From 7edb0d59a06282c19c721b9a024aa87871e5c5fe Mon Sep 17 00:00:00 2001 From: Motz Date: Mon, 20 Jan 2025 20:58:27 +0900 Subject: [PATCH 1/4] feat(autoware_ekf_localizer)!: porting from universe to core (#174) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * refactor(ekf_localizer)!: prefix package and namespace with autoware (#8888) * import lanelet2_map_preprocessor Signed-off-by: a-maumau * move headers to include/autoware/efk_localier Signed-off-by: a-maumau --------- Signed-off-by: a-maumau * refactor(localization_util)!: prefix package and namespace with autoware (#8922) add autoware prefix to localization_util Signed-off-by: a-maumau * fix(autoware_ekf_localizer): remove `timer_tf_` (#9244) Removed timer_tf_ Signed-off-by: Shintaro Sakoda * chore(package.xml): bump version to 0.38.0 (#9266) (#9284) * unify package.xml version to 0.37.0 * remove system_monitor/CHANGELOG.rst * add changelog * 0.38.0 --------- Signed-off-by: Yutaka Kondo * fix: fix ticket links to point to https://github.com/autowarefoundation/autoware.universe (#9304) Signed-off-by: Esteve Fernandez * fix(autoware_ekf_localizer): publish `processing_time_ms` (#9443) Fixed to publish processing_time_ms Signed-off-by: Shintaro Sakoda * fix(cpplint): include what you use - localization (#9567) Signed-off-by: M. Fatih Cırıt * chore(package.xml): bump version to 0.39.0 (#9587) * chore(package.xml): bump version to 0.39.0 Signed-off-by: Yutaka Kondo * fix: fix ticket links in CHANGELOG.rst Signed-off-by: Ryohsuke Mitsudome * fix: remove unnecessary diff Signed-off-by: Ryohsuke Mitsudome --------- Signed-off-by: Yutaka Kondo Signed-off-by: Ryohsuke Mitsudome Co-authored-by: Yutaka Kondo * chore(package.xml): bump version to 0.40.0 (#9618) Signed-off-by: Fumiya Watanabe * feat(ekf_localizer): check whether the initialpose has been set (#9787) * check set intialpose Signed-off-by: Yamato Ando * update png Signed-off-by: Yamato Ando * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fies localization/autoware_ekf_localizer (#9860) Signed-off-by: vish0012 Co-authored-by: SakodaShintaro * feat: add autoware_internal_msgs repo's link to build_depends.repos file Signed-off-by: Motsu-san * chore: delete the needless file CHANGELOG.rst Signed-off-by: Motsu-san * chore: initialize autoware_ekf_localizer versioning on autoware.core Signed-off-by: Motsu-san --------- Signed-off-by: a-maumau Signed-off-by: Shintaro Sakoda Signed-off-by: Yutaka Kondo Signed-off-by: Esteve Fernandez Signed-off-by: M. Fatih Cırıt Signed-off-by: Ryohsuke Mitsudome Signed-off-by: Fumiya Watanabe Signed-off-by: Yamato Ando Signed-off-by: vish0012 Signed-off-by: Motsu-san Co-authored-by: Masaki Baba Co-authored-by: SakodaShintaro Co-authored-by: Yutaka Kondo Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Fumiya Watanabe Co-authored-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Vishal Chauhan <40782713+vish0012@users.noreply.github.com> --- build_depends.repos | 4 + .../autoware_ekf_localizer/CMakeLists.txt | 82 ++++ localization/autoware_ekf_localizer/README.md | 211 ++++++++ .../config/ekf_localizer.param.yaml | 50 ++ .../ekf_localizer/aged_object_queue.hpp | 71 +++ .../autoware/ekf_localizer/covariance.hpp | 28 ++ .../autoware/ekf_localizer/diagnostics.hpp | 49 ++ .../autoware/ekf_localizer/ekf_localizer.hpp | 199 ++++++++ .../autoware/ekf_localizer/ekf_module.hpp | 156 ++++++ .../ekf_localizer/hyper_parameters.hpp | 108 ++++ .../autoware/ekf_localizer/mahalanobis.hpp | 31 ++ .../autoware/ekf_localizer/matrix_types.hpp | 28 ++ .../autoware/ekf_localizer/measurement.hpp | 32 ++ .../autoware/ekf_localizer/numeric.hpp | 37 ++ .../autoware/ekf_localizer/state_index.hpp | 32 ++ .../ekf_localizer/state_transition.hpp | 31 ++ .../include/autoware/ekf_localizer/string.hpp | 34 ++ .../autoware/ekf_localizer/warning.hpp | 48 ++ .../ekf_localizer/warning_message.hpp | 33 ++ .../launch/ekf_localizer.launch.xml | 40 ++ .../media/calculation_delta_from_pitch.png | Bin 0 -> 56991 bytes .../media/delay_model_eq.png | Bin 0 -> 4906 bytes .../media/ekf_autoware_res.png | Bin 0 -> 69064 bytes .../media/ekf_delay_comp.png | Bin 0 -> 147442 bytes .../media/ekf_diagnostics.png | Bin 0 -> 145097 bytes .../media/ekf_diagnostics_callback_pose.png | Bin 0 -> 17825 bytes .../media/ekf_diagnostics_callback_twist.png | Bin 0 -> 17945 bytes .../media/ekf_dynamics.png | Bin 0 -> 5346 bytes .../media/ekf_flowchart.png | Bin 0 -> 146302 bytes .../media/ekf_smooth_update.png | Bin 0 -> 146470 bytes .../autoware_ekf_localizer/package.xml | 47 ++ .../schema/ekf_localizer.schema.json | 52 ++ .../schema/sub/diagnostics.sub_schema.json | 63 +++ .../schema/sub/misc.sub_schema.json | 23 + .../schema/sub/node.sub_schema.json | 44 ++ .../sub/pose_measurement.sub_schema.json | 38 ++ .../schema/sub/process_noise.sub_schema.json | 28 ++ ...imple_1d_filter_parameters.sub_schema.json | 28 ++ .../sub/twist_measurement.sub_schema.json | 28 ++ .../autoware_ekf_localizer/src/covariance.cpp | 56 +++ .../src/diagnostics.cpp | 226 +++++++++ .../src/ekf_localizer.cpp | 463 ++++++++++++++++++ .../autoware_ekf_localizer/src/ekf_module.cpp | 459 +++++++++++++++++ .../src/mahalanobis.cpp | 32 ++ .../src/measurement.cpp | 61 +++ .../src/state_transition.cpp | 102 ++++ .../src/warning_message.cpp | 60 +++ .../test/test_aged_object_queue.cpp | 108 ++++ .../test/test_covariance.cpp | 84 ++++ .../test/test_diagnostics.cpp | 213 ++++++++ .../test/test_ekf_localizer_launch.py | 170 +++++++ .../test/test_ekf_localizer_mahalanobis.py | 229 +++++++++ .../test/test_mahalanobis.cpp | 66 +++ .../test/test_measurement.cpp | 86 ++++ .../test/test_numeric.cpp | 54 ++ .../test/test_state_transition.cpp | 101 ++++ .../test/test_string.cpp | 31 ++ .../test/test_warning_message.cpp | 67 +++ 58 files changed, 4323 insertions(+) create mode 100644 localization/autoware_ekf_localizer/CMakeLists.txt create mode 100644 localization/autoware_ekf_localizer/README.md create mode 100644 localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp create mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp create mode 100644 localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml create mode 100644 localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png create mode 100644 localization/autoware_ekf_localizer/media/delay_model_eq.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_autoware_res.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_delay_comp.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_pose.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_dynamics.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_flowchart.png create mode 100644 localization/autoware_ekf_localizer/media/ekf_smooth_update.png create mode 100644 localization/autoware_ekf_localizer/package.xml create mode 100644 localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json create mode 100644 localization/autoware_ekf_localizer/src/covariance.cpp create mode 100644 localization/autoware_ekf_localizer/src/diagnostics.cpp create mode 100644 localization/autoware_ekf_localizer/src/ekf_localizer.cpp create mode 100644 localization/autoware_ekf_localizer/src/ekf_module.cpp create mode 100644 localization/autoware_ekf_localizer/src/mahalanobis.cpp create mode 100644 localization/autoware_ekf_localizer/src/measurement.cpp create mode 100644 localization/autoware_ekf_localizer/src/state_transition.cpp create mode 100644 localization/autoware_ekf_localizer/src/warning_message.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_covariance.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_diagnostics.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py create mode 100644 localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py create mode 100644 localization/autoware_ekf_localizer/test/test_mahalanobis.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_measurement.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_numeric.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_state_transition.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_string.cpp create mode 100644 localization/autoware_ekf_localizer/test/test_warning_message.cpp diff --git a/build_depends.repos b/build_depends.repos index 0b81f20483..6bab4a0055 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -3,3 +3,7 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: main + autoware_internal_msgs: + type: git + url: https://github.com/autowarefoundation/autoware_internal_msgs.git + version: main diff --git a/localization/autoware_ekf_localizer/CMakeLists.txt b/localization/autoware_ekf_localizer/CMakeLists.txt new file mode 100644 index 0000000000..6ace0b413d --- /dev/null +++ b/localization/autoware_ekf_localizer/CMakeLists.txt @@ -0,0 +1,82 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_ekf_localizer) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Eigen3 REQUIRED) + +include_directories( + SYSTEM + ${EIGEN3_INCLUDE_DIR} +) + +ament_auto_find_build_dependencies() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/ekf_localizer.cpp + src/covariance.cpp + src/diagnostics.cpp + src/mahalanobis.cpp + src/measurement.cpp + src/state_transition.cpp + src/warning_message.cpp + src/ekf_module.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::ekf_localizer::EKFLocalizer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) + +target_link_libraries(${PROJECT_NAME} Eigen3::Eigen) + +function(add_testcase filepath) + get_filename_component(filename ${filepath} NAME) + string(REGEX REPLACE ".cpp" "" test_name ${filename}) + + ament_add_gtest(${test_name} ${filepath}) + target_link_libraries("${test_name}" ${PROJECT_NAME}) + ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) +endfunction() + +if(BUILD_TESTING) + add_launch_test( + test/test_ekf_localizer_launch.py + TIMEOUT "30" + ) + add_launch_test( + test/test_ekf_localizer_mahalanobis.py + TIMEOUT "30" + ) + find_package(ament_cmake_gtest REQUIRED) + + file(GLOB_RECURSE TEST_FILES test/*.cpp) + + foreach(filepath ${TEST_FILES}) + add_testcase(${filepath}) + endforeach() +endif() + + +# if(BUILD_TESTING) +# find_package(ament_cmake_ros REQUIRED) +# ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test +# test/src/test_ekf_localizer.cpp +# src/ekf_localizer.cpp +# src/kalman_filter/kalman_filter.cpp +# src/kalman_filter/time_delay_kalman_filter.cpp +# ) +# target_include_directories(ekf_localizer-test +# PRIVATE +# include +# ) +# ament_target_dependencies(ekf_localizer-test geometry_msgs rclcpp tf2 tf2_ros) +# endif() + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/localization/autoware_ekf_localizer/README.md b/localization/autoware_ekf_localizer/README.md new file mode 100644 index 0000000000..a46ea71813 --- /dev/null +++ b/localization/autoware_ekf_localizer/README.md @@ -0,0 +1,211 @@ +# Overview + +The **Extend Kalman Filter Localizer** estimates robust and less noisy robot pose and twist by integrating the 2D vehicle dynamics model with input ego-pose and ego-twist messages. The algorithm is designed especially for fast-moving robots such as autonomous driving systems. + +## Flowchart + +The overall flowchart of the autoware_ekf_localizer is described below. + +

+ +

+ +## Features + +This package includes the following features: + +- **Time delay compensation** for input messages, which enables proper integration of input information with varying time delays. This is important especially for high-speed moving robots, such as autonomous driving vehicles. (see the following figure). +- **Automatic estimation of yaw bias** prevents modeling errors caused by sensor mounting angle errors, which can improve estimation accuracy. +- **Mahalanobis distance gate** enables probabilistic outlier detection to determine which inputs should be used or ignored. +- **Smooth update**, the Kalman Filter measurement update is typically performed when a measurement is obtained, but it can cause large changes in the estimated value, especially for low-frequency measurements. Since the algorithm can consider the measurement time, the measurement data can be divided into multiple pieces and integrated smoothly while maintaining consistency (see the following figure). +- **Calculation of vertical correction amount from pitch** mitigates localization instability on slopes. For example, when going uphill, it behaves as if it is buried in the ground (see the left side of the "Calculate delta from pitch" figure) because EKF only considers 3DoF(x,y,yaw). Therefore, EKF corrects the z-coordinate according to the formula (see the right side of the "Calculate delta from pitch" figure). + +

+ +

+ +

+ +

+ +

+ +

+ +## Node + +### Subscribed Topics + +| Name | Type | Description | +| -------------------------------- | ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------- | +| `measured_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input pose source with the measurement covariance matrix. | +| `measured_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | Input twist source with the measurement covariance matrix. | +| `initialpose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Initial pose for EKF. The estimated pose is initialized with zeros at the start. It is initialized with this message whenever published. | + +### Published Topics + +| Name | Type | Description | +| --------------------------------- | --------------------------------------------------- | ----------------------------------------------------- | +| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. | +| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. | +| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. | +| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias | +| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias | +| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. | +| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. | +| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. | +| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms]. | + +### Published TF + +- base_link + TF from `map` coordinate to estimated pose. + +## Functions + +### Predict + +The current robot state is predicted from previously estimated data using a given prediction model. This calculation is called at a constant interval (`predict_frequency [Hz]`). The prediction equation is described at the end of this page. + +### Measurement Update + +Before the update, the Mahalanobis distance is calculated between the measured input and the predicted state, the measurement update is not performed for inputs where the Mahalanobis distance exceeds the given threshold. + +The predicted state is updated with the latest measured inputs, measured_pose, and measured_twist. The updates are performed with the same frequency as prediction, usually at a high frequency, in order to enable smooth state estimation. + +## Parameter description + +The parameters are set in `launch/ekf_localizer.launch` . + +### For Node + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json") }} + +### For pose measurement + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }} + +### For twist measurement + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }} + +### For process noise + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json") }} + +note: process noise for positions x & y are calculated automatically from nonlinear dynamics. + +### Simple 1D Filter Parameters + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }} + +### For diagnostics + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json") }} + +### Misc + +{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json") }} + +## How to tune EKF parameters + +### 0. Preliminaries + +- Check header time in pose and twist message is set to sensor time appropriately, because time delay is calculated from this value. If it is difficult to set an appropriate time due to the timer synchronization problem, use `twist_additional_delay` and `pose_additional_delay` to correct the time. +- Check if the relation between measurement pose and twist is appropriate (whether the derivative of the pose has a similar value to twist). This discrepancy is caused mainly by unit error (such as confusing radian/degree) or bias noise, and it causes large estimation errors. + +### 1. Tune sensor parameters + +Set standard deviation for each sensor. The `pose_measure_uncertainty_time` is for the uncertainty of the header timestamp data. +You can also tune a number of steps for smoothing for each observed sensor data by tuning `*_smoothing_steps`. +Increasing the number will improve the smoothness of the estimation, but may have an adverse effect on the estimation performance. + +- `pose_measure_uncertainty_time` +- `pose_smoothing_steps` +- `twist_smoothing_steps` + +### 2. Tune process model parameters + +- `proc_stddev_vx_c` : set to maximum linear acceleration +- `proc_stddev_wz_c` : set to maximum angular acceleration +- `proc_stddev_yaw_c` : This parameter describes the correlation between the yaw and yaw rate. A large value means the change in yaw does not correlate to the estimated yaw rate. If this is set to 0, it means the change in estimated yaw is equal to yaw rate. Usually, this should be set to 0. +- `proc_stddev_yaw_bias_c` : This parameter is the standard deviation for the rate of change in yaw bias. In most cases, yaw bias is constant, so it can be very small, but must be non-zero. + +### 3. Tune gate parameters + +EKF performs gating using Mahalanobis distance before updating by observation. The gate size is determined by the `pose_gate_dist` parameter and the `twist_gate_dist`. If the Mahalanobis distance is larger than this value, the observation is ignored. + +This gating process is based on a statistical test using the chi-square distribution. As modeled, we assume that the Mahalanobis distance follows a chi-square distribution with 3 degrees of freedom for pose and 2 degrees of freedom for twist. + +Currently, the accuracy of covariance estimation itself is not very good, so it is recommended to set the significance level to a very small value to reduce rejection due to false positives. + +| Significance level | Threshold for 2 dof | Threshold for 3 dof | +| ------------------ | ------------------- | ------------------- | +| $10 ^ {-2}$ | 9.21 | 11.3 | +| $10 ^ {-3}$ | 13.8 | 16.3 | +| $10 ^ {-4}$ | 18.4 | 21.1 | +| $10 ^ {-5}$ | 23.0 | 25.9 | +| $10 ^ {-6}$ | 27.6 | 30.7 | +| $10 ^ {-7}$ | 32.2 | 35.4 | +| $10 ^ {-8}$ | 36.8 | 40.1 | +| $10 ^ {-9}$ | 41.4 | 44.8 | +| $10 ^ {-10}$ | 46.1 | 49.5 | + +## Kalman Filter Model + +### kinematics model in update function + + + +where, $\theta_k$ represents the vehicle's heading angle, including the mounting angle bias. +$b_k$ is a correction term for the yaw bias, and it is modeled so that $(\theta_k+b_k)$ becomes the heading angle of the base_link. +The pose_estimator is expected to publish the base_link in the map coordinate system. However, the yaw angle may be offset due to calibration errors. This model compensates this error and improves estimation accuracy. + +### time delay model + +The measurement time delay is handled by an augmented state [1] (See, Section 7.3 FIXED-LAG SMOOTHING). + + + +Note that, although the dimension gets larger since the analytical expansion can be applied based on the specific structures of the augmented states, the computational complexity does not significantly change. + +## Test Result with Autoware NDT + +

+ +

+ +## Diagnostics + +

+ +

+ +

+ +

+

+ +

+ +### The conditions that result in a WARN state + +- The node is not in the activate state. +- The initial pose is not set. +- The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_warn`/`twist_no_update_count_threshold_warn`. +- The timestamp of the Pose/Twist topic is beyond the delay compensation range. +- The Pose/Twist topic is beyond the range of Mahalanobis distance for covariance estimation. +- The covariance ellipse is bigger than threshold `warn_ellipse_size` for long axis or `warn_ellipse_size_lateral_direction` for lateral_direction. + +### The conditions that result in an ERROR state + +- The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_error`/`twist_no_update_count_threshold_error`. +- The covariance ellipse is bigger than threshold `error_ellipse_size` for long axis or `error_ellipse_size_lateral_direction` for lateral_direction. + +## Known issues + +- If multiple pose_estimators are used, the input to the EKF will include multiple yaw biases corresponding to each source. However, the current EKF assumes the existence of only one yaw bias. Therefore, yaw bias `b_k` in the current EKF state would not make any sense and cannot correctly handle these multiple yaw biases. Thus, future work includes introducing yaw bias for each sensor with yaw estimation. + +## reference + +[1] Anderson, B. D. O., & Moore, J. B. (1979). Optimal filtering. Englewood Cliffs, NJ: Prentice-Hall. diff --git a/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml b/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml new file mode 100644 index 0000000000..e00d5e1c10 --- /dev/null +++ b/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml @@ -0,0 +1,50 @@ +/**: + ros__parameters: + node: + show_debug_info: false + enable_yaw_bias_estimation: true + predict_frequency: 50.0 + tf_rate: 50.0 + extend_state_step: 50 + + pose_measurement: + # for Pose measurement + pose_additional_delay: 0.0 + pose_measure_uncertainty_time: 0.01 + pose_smoothing_steps: 5 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 + + twist_measurement: + # for twist measurement + twist_additional_delay: 0.0 + twist_smoothing_steps: 2 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 + + process_noise: + # for process model + proc_stddev_yaw_c: 0.005 + proc_stddev_vx_c: 10.0 + proc_stddev_wz_c: 5.0 + + simple_1d_filter_parameters: + #Simple1DFilter parameters + z_filter_proc_dev: 1.0 + roll_filter_proc_dev: 0.1 + pitch_filter_proc_dev: 0.1 + + diagnostics: + # for diagnostics + pose_no_update_count_threshold_warn: 50 + pose_no_update_count_threshold_error: 100 + twist_no_update_count_threshold_warn: 50 + twist_no_update_count_threshold_error: 100 + ellipse_scale: 3.0 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 + error_ellipse_size_lateral_direction: 0.3 + warn_ellipse_size_lateral_direction: 0.25 + + misc: + # for velocity measurement limitation (Set 0.0 if you want to ignore) + threshold_observable_velocity_mps: 0.0 # [m/s] + pose_frame_id: "map" diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp new file mode 100644 index 0000000000..2b6f209c71 --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp @@ -0,0 +1,71 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ +#define AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ + +#include +#include + +namespace autoware::ekf_localizer +{ + +template +class AgedObjectQueue +{ +public: + explicit AgedObjectQueue(const size_t max_age) : max_age_(max_age) {} + + [[nodiscard]] bool empty() const { return this->size() == 0; } + + [[nodiscard]] size_t size() const { return objects_.size(); } + + Object back() const { return objects_.back(); } + + void push(const Object & object) + { + objects_.push(object); + ages_.push(0); + } + + Object pop_increment_age() + { + const Object object = objects_.front(); + const size_t age = ages_.front() + 1; + objects_.pop(); + ages_.pop(); + + if (age < max_age_) { + objects_.push(object); + ages_.push(age); + } + + return object; + } + + void clear() + { + objects_ = std::queue(); + ages_ = std::queue(); + } + +private: + const size_t max_age_; + std::queue objects_; + std::queue ages_; +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp new file mode 100644 index 0000000000..018b93f86d --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp @@ -0,0 +1,28 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ +#define AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ + +#include "autoware/ekf_localizer/matrix_types.hpp" + +namespace autoware::ekf_localizer +{ + +std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P); +std::array ekf_covariance_to_twist_message_covariance(const Matrix6d & P); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp new file mode 100644 index 0000000000..b194c3e956 --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp @@ -0,0 +1,49 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ +#define AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ + +#include + +#include +#include + +namespace autoware::ekf_localizer +{ + +diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated); +diagnostic_msgs::msg::DiagnosticStatus check_set_initialpose(const bool is_set_initialpose); + +diagnostic_msgs::msg::DiagnosticStatus check_measurement_updated( + const std::string & measurement_type, const size_t no_update_count, + const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error); +diagnostic_msgs::msg::DiagnosticStatus check_measurement_queue_size( + const std::string & measurement_type, const size_t queue_size); +diagnostic_msgs::msg::DiagnosticStatus check_measurement_delay_gate( + const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, + const double delay_time_threshold); +diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( + const std::string & measurement_type, const bool is_passed_mahalanobis_gate, + const double mahalanobis_distance, const double mahalanobis_distance_threshold); +diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( + const std::string & name, const double curr_size, const double warn_threshold, + const double error_threshold); + +diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( + const std::vector & stat_array); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp new file mode 100644 index 0000000000..84018c043c --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp @@ -0,0 +1,199 @@ +// Copyright 2018-2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ +#define AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ + +#include "autoware/ekf_localizer/aged_object_queue.hpp" +#include "autoware/ekf_localizer/ekf_module.hpp" +#include "autoware/ekf_localizer/hyper_parameters.hpp" +#include "autoware/ekf_localizer/warning.hpp" + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace autoware::ekf_localizer +{ + +class EKFLocalizer : public rclcpp::Node +{ +public: + explicit EKFLocalizer(const rclcpp::NodeOptions & options); + + // This function is only used in static tools to know when timer callbacks are triggered. + std::chrono::nanoseconds time_until_trigger() const + { + return timer_control_->time_until_trigger(); + } + +private: + const std::shared_ptr warning_; + + //!< @brief ekf estimated pose publisher + rclcpp::Publisher::SharedPtr pub_pose_; + //!< @brief estimated ekf pose with covariance publisher + rclcpp::Publisher::SharedPtr pub_pose_cov_; + //!< @brief estimated ekf odometry publisher + rclcpp::Publisher::SharedPtr pub_odom_; + //!< @brief ekf estimated twist publisher + rclcpp::Publisher::SharedPtr pub_twist_; + //!< @brief ekf estimated twist with covariance publisher + rclcpp::Publisher::SharedPtr pub_twist_cov_; + //!< @brief ekf estimated yaw bias publisher + rclcpp::Publisher::SharedPtr pub_yaw_bias_; + //!< @brief ekf estimated yaw bias publisher + rclcpp::Publisher::SharedPtr pub_biased_pose_; + //!< @brief ekf estimated yaw bias publisher + rclcpp::Publisher::SharedPtr pub_biased_pose_cov_; + //!< @brief diagnostics publisher + rclcpp::Publisher::SharedPtr pub_diag_; + //!< @brief processing_time publisher + rclcpp::Publisher::SharedPtr + pub_processing_time_; + //!< @brief initial pose subscriber + rclcpp::Subscription::SharedPtr sub_initialpose_; + //!< @brief measurement pose with covariance subscriber + rclcpp::Subscription::SharedPtr sub_pose_with_cov_; + //!< @brief measurement twist with covariance subscriber + rclcpp::Subscription::SharedPtr + sub_twist_with_cov_; + //!< @brief time for ekf calculation callback + rclcpp::TimerBase::SharedPtr timer_control_; + //!< @brief last predict time + std::shared_ptr last_predict_time_; + //!< @brief trigger_node service + rclcpp::Service::SharedPtr service_trigger_node_; + + //!< @brief tf broadcaster + std::shared_ptr tf_br_; + //!< @brief tf buffer + tf2_ros::Buffer tf2_buffer_; + //!< @brief tf listener + tf2_ros::TransformListener tf2_listener_; + + //!< @brief logger configure module + std::unique_ptr logger_configure_; + + //!< @brief extended kalman filter instance. + std::unique_ptr ekf_module_; + + const HyperParameters params_; + + double ekf_dt_; + + bool is_activated_; + bool is_set_initialpose_; + + EKFDiagnosticInfo pose_diag_info_; + EKFDiagnosticInfo twist_diag_info_; + + AgedObjectQueue pose_queue_; + AgedObjectQueue twist_queue_; + + /** + * @brief computes update & prediction of EKF for each ekf_dt_[s] time + */ + void timer_callback(); + + /** + * @brief set pose with covariance measurement + */ + void callback_pose_with_covariance(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + + /** + * @brief set twist with covariance measurement + */ + void callback_twist_with_covariance( + geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); + + /** + * @brief set initial_pose to current EKF pose + */ + void callback_initial_pose(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); + + /** + * @brief update predict frequency + */ + void update_predict_frequency(const rclcpp::Time & current_time); + + /** + * @brief get transform from frame_id + */ + bool get_transform_from_tf( + std::string parent_frame, std::string child_frame, + geometry_msgs::msg::TransformStamped & transform); + + /** + * @brief publish current EKF estimation result + */ + void publish_estimate_result( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, + const geometry_msgs::msg::PoseStamped & current_biased_ekf_pose, + const geometry_msgs::msg::TwistStamped & current_ekf_twist); + + /** + * @brief publish diagnostics message + */ + void publish_diagnostics( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time); + + /** + * @brief publish diagnostics message for return + */ + void publish_callback_return_diagnostics( + const std::string & callback_name, const rclcpp::Time & current_time); + + /** + * @brief trigger node + */ + void service_trigger_node( + const std_srvs::srv::SetBool::Request::SharedPtr req, + std_srvs::srv::SetBool::Response::SharedPtr res); + + autoware::universe_utils::StopWatch stop_watch_; + autoware::universe_utils::StopWatch stop_watch_timer_cb_; + + friend class EKFLocalizerTestSuite; // for test code +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp new file mode 100644 index 0000000000..36fc9053ef --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp @@ -0,0 +1,156 @@ +// Copyright 2018-2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ +#define AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ + +#include "autoware/ekf_localizer/hyper_parameters.hpp" +#include "autoware/ekf_localizer/state_index.hpp" +#include "autoware/ekf_localizer/warning.hpp" + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include + +namespace autoware::ekf_localizer +{ +using autoware::kalman_filter::TimeDelayKalmanFilter; + +struct EKFDiagnosticInfo +{ + size_t no_update_count{0}; + size_t queue_size{0}; + bool is_passed_delay_gate{true}; + double delay_time{0.0}; + double delay_time_threshold{0.0}; + bool is_passed_mahalanobis_gate{true}; + double mahalanobis_distance{0.0}; +}; + +class Simple1DFilter +{ +public: + Simple1DFilter() + { + initialized_ = false; + x_ = 0; + var_ = 1e9; + proc_var_x_c_ = 0.0; + }; + void init(const double init_obs, const double obs_var) + { + x_ = init_obs; + var_ = obs_var; + initialized_ = true; + }; + void update(const double obs, const double obs_var, const double dt) + { + if (!initialized_) { + init(obs, obs_var); + return; + } + + // Prediction step (current variance) + double proc_var_x_d = proc_var_x_c_ * dt * dt; + var_ = var_ + proc_var_x_d; + + // Update step + double kalman_gain = var_ / (var_ + obs_var); + x_ = x_ + kalman_gain * (obs - x_); + var_ = (1 - kalman_gain) * var_; + }; + void set_proc_var(const double proc_var) { proc_var_x_c_ = proc_var; } + [[nodiscard]] double get_x() const { return x_; } + [[nodiscard]] double get_var() const { return var_; } + +private: + bool initialized_; + double x_; + double var_; + double proc_var_x_c_; +}; + +class EKFModule +{ +private: + using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; + using TwistWithCovariance = geometry_msgs::msg::TwistWithCovarianceStamped; + using Pose = geometry_msgs::msg::PoseStamped; + using Twist = geometry_msgs::msg::TwistStamped; + +public: + EKFModule(std::shared_ptr warning, const HyperParameters & params); + + void initialize( + const PoseWithCovariance & initial_pose, + const geometry_msgs::msg::TransformStamped & transform); + + [[nodiscard]] geometry_msgs::msg::PoseStamped get_current_pose( + const rclcpp::Time & current_time, bool get_biased_yaw) const; + [[nodiscard]] geometry_msgs::msg::TwistStamped get_current_twist( + const rclcpp::Time & current_time) const; + [[nodiscard]] double get_yaw_bias() const; + [[nodiscard]] std::array get_current_pose_covariance() const; + [[nodiscard]] std::array get_current_twist_covariance() const; + + [[nodiscard]] size_t find_closest_delay_time_index(double target_value) const; + void accumulate_delay_time(const double dt); + + void predict_with_delay(const double dt); + bool measurement_update_pose( + const PoseWithCovariance & pose, const rclcpp::Time & t_curr, + EKFDiagnosticInfo & pose_diag_info); + bool measurement_update_twist( + const TwistWithCovariance & twist, const rclcpp::Time & t_curr, + EKFDiagnosticInfo & twist_diag_info); + geometry_msgs::msg::PoseWithCovarianceStamped compensate_rph_with_delay( + const PoseWithCovariance & pose, tf2::Vector3 last_angular_velocity, const double delay_time); + +private: + void update_simple_1d_filters( + const geometry_msgs::msg::PoseWithCovarianceStamped & pose, const size_t smoothing_step); + + TimeDelayKalmanFilter kalman_filter_; + + std::shared_ptr warning_; + const int dim_x_; + std::vector accumulated_delay_times_; + const HyperParameters params_; + + Simple1DFilter z_filter_; + Simple1DFilter roll_filter_; + Simple1DFilter pitch_filter_; + + /** + * @brief last angular velocity for compensating rph with delay + */ + tf2::Vector3 last_angular_velocity_; + + double ekf_dt_; +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp new file mode 100644 index 0000000000..02958199cf --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp @@ -0,0 +1,108 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ +#define AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ + +#include + +#include +#include + +namespace autoware::ekf_localizer +{ + +class HyperParameters +{ +public: + explicit HyperParameters(rclcpp::Node * node) + : show_debug_info(node->declare_parameter("node.show_debug_info")), + ekf_rate(node->declare_parameter("node.predict_frequency")), + ekf_dt(1.0 / std::max(ekf_rate, 0.1)), + tf_rate_(node->declare_parameter("node.tf_rate")), + enable_yaw_bias_estimation(node->declare_parameter("node.enable_yaw_bias_estimation")), + extend_state_step(node->declare_parameter("node.extend_state_step")), + pose_frame_id(node->declare_parameter("misc.pose_frame_id")), + pose_additional_delay( + node->declare_parameter("pose_measurement.pose_additional_delay")), + pose_gate_dist(node->declare_parameter("pose_measurement.pose_gate_dist")), + pose_smoothing_steps(node->declare_parameter("pose_measurement.pose_smoothing_steps")), + twist_additional_delay( + node->declare_parameter("twist_measurement.twist_additional_delay")), + twist_gate_dist(node->declare_parameter("twist_measurement.twist_gate_dist")), + twist_smoothing_steps(node->declare_parameter("twist_measurement.twist_smoothing_steps")), + proc_stddev_vx_c(node->declare_parameter("process_noise.proc_stddev_vx_c")), + proc_stddev_wz_c(node->declare_parameter("process_noise.proc_stddev_wz_c")), + proc_stddev_yaw_c(node->declare_parameter("process_noise.proc_stddev_yaw_c")), + z_filter_proc_dev( + node->declare_parameter("simple_1d_filter_parameters.z_filter_proc_dev")), + roll_filter_proc_dev( + node->declare_parameter("simple_1d_filter_parameters.roll_filter_proc_dev")), + pitch_filter_proc_dev( + node->declare_parameter("simple_1d_filter_parameters.pitch_filter_proc_dev")), + pose_no_update_count_threshold_warn( + node->declare_parameter("diagnostics.pose_no_update_count_threshold_warn")), + pose_no_update_count_threshold_error( + node->declare_parameter("diagnostics.pose_no_update_count_threshold_error")), + twist_no_update_count_threshold_warn( + node->declare_parameter("diagnostics.twist_no_update_count_threshold_warn")), + twist_no_update_count_threshold_error( + node->declare_parameter("diagnostics.twist_no_update_count_threshold_error")), + ellipse_scale(node->declare_parameter("diagnostics.ellipse_scale")), + error_ellipse_size(node->declare_parameter("diagnostics.error_ellipse_size")), + warn_ellipse_size(node->declare_parameter("diagnostics.warn_ellipse_size")), + error_ellipse_size_lateral_direction( + node->declare_parameter("diagnostics.error_ellipse_size_lateral_direction")), + warn_ellipse_size_lateral_direction( + node->declare_parameter("diagnostics.warn_ellipse_size_lateral_direction")), + threshold_observable_velocity_mps( + node->declare_parameter("misc.threshold_observable_velocity_mps")) + { + } + + const bool show_debug_info; + const double ekf_rate; + const double ekf_dt; + const double tf_rate_; + const bool enable_yaw_bias_estimation; + const size_t extend_state_step; + const std::string pose_frame_id; + const double pose_additional_delay; + const double pose_gate_dist; + const size_t pose_smoothing_steps; + const double twist_additional_delay; + const double twist_gate_dist; + const size_t twist_smoothing_steps; + const double proc_stddev_vx_c; //!< @brief vx process noise + const double proc_stddev_wz_c; //!< @brief wz process noise + const double proc_stddev_yaw_c; //!< @brief yaw process noise + const double z_filter_proc_dev; + const double roll_filter_proc_dev; + const double pitch_filter_proc_dev; + const size_t pose_no_update_count_threshold_warn; + const size_t pose_no_update_count_threshold_error; + const size_t twist_no_update_count_threshold_warn; + const size_t twist_no_update_count_threshold_error; + double ellipse_scale; + double error_ellipse_size; + double warn_ellipse_size; + double error_ellipse_size_lateral_direction; + double warn_ellipse_size_lateral_direction; + + const double threshold_observable_velocity_mps; +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp new file mode 100644 index 0000000000..c1538a72f5 --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp @@ -0,0 +1,31 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ +#define AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ + +#include +#include + +namespace autoware::ekf_localizer +{ + +double squared_mahalanobis( + const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); + +double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp new file mode 100644 index 0000000000..fc75dfe72b --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp @@ -0,0 +1,28 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ +#define AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ + +#include + +namespace autoware::ekf_localizer +{ + +using Vector6d = Eigen::Matrix; +using Matrix6d = Eigen::Matrix; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp new file mode 100644 index 0000000000..b8db07015e --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp @@ -0,0 +1,32 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ +#define AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ + +#include + +namespace autoware::ekf_localizer +{ + +Eigen::Matrix pose_measurement_matrix(); +Eigen::Matrix twist_measurement_matrix(); +Eigen::Matrix3d pose_measurement_covariance( + const std::array & covariance, const size_t smoothing_step); +Eigen::Matrix2d twist_measurement_covariance( + const std::array & covariance, const size_t smoothing_step); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp new file mode 100644 index 0000000000..253da4eb7f --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp @@ -0,0 +1,37 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ +#define AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ + +#include + +#include + +namespace autoware::ekf_localizer +{ + +inline bool has_inf(const Eigen::MatrixXd & v) +{ + return v.array().isInf().any(); +} + +inline bool has_nan(const Eigen::MatrixXd & v) +{ + return v.array().isNaN().any(); +} + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp new file mode 100644 index 0000000000..86fe83ec4a --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp @@ -0,0 +1,32 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ +#define AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ + +namespace autoware::ekf_localizer +{ + +enum IDX { + X = 0, + Y = 1, + YAW = 2, + YAWB = 3, + VX = 4, + WZ = 5, +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp new file mode 100644 index 0000000000..e6ce18e76a --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp @@ -0,0 +1,31 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ +#define AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ + +#include "autoware/ekf_localizer/matrix_types.hpp" + +namespace autoware::ekf_localizer +{ + +double normalize_yaw(const double & yaw); +Vector6d predict_next_state(const Vector6d & X_curr, const double dt); +Matrix6d create_state_transition_matrix(const Vector6d & X_curr, const double dt); +Matrix6d process_noise_covariance( + const double proc_cov_yaw_d, const double proc_cov_vx_d, const double proc_cov_wz_d); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp new file mode 100644 index 0000000000..0146176b7d --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp @@ -0,0 +1,34 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__STRING_HPP_ +#define AUTOWARE__EKF_LOCALIZER__STRING_HPP_ + +#include + +namespace autoware::ekf_localizer +{ + +inline std::string erase_leading_slash(const std::string & s) +{ + std::string a = s; + if (a.front() == '/') { + a.erase(0, 1); + } + return a; +} + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__STRING_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp new file mode 100644 index 0000000000..f43c5e3413 --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp @@ -0,0 +1,48 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ +#define AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ + +#include + +#include + +namespace autoware::ekf_localizer +{ + +class Warning +{ +public: + explicit Warning(rclcpp::Node * node) : node_(node) {} + + void warn(const std::string & message) const + { + RCLCPP_WARN(node_->get_logger(), "%s", message.c_str()); + } + + void warn_throttle(const std::string & message, const int duration_milliseconds) const + { + RCLCPP_WARN_THROTTLE( + node_->get_logger(), *(node_->get_clock()), + std::chrono::milliseconds(duration_milliseconds).count(), "%s", message.c_str()); + } + +private: + rclcpp::Node * node_; +}; + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp new file mode 100644 index 0000000000..b379e35763 --- /dev/null +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp @@ -0,0 +1,33 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ +#define AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ + +#include + +namespace autoware::ekf_localizer +{ + +std::string pose_delay_step_warning_message( + const double delay_time, const double delay_time_threshold); +std::string twist_delay_step_warning_message( + const double delay_time, const double delay_time_threshold); +std::string pose_delay_time_warning_message(const double delay_time); +std::string twist_delay_time_warning_message(const double delay_time); +std::string mahalanobis_warning_message(const double distance, const double max_distance); + +} // namespace autoware::ekf_localizer + +#endif // AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ diff --git a/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml new file mode 100644 index 0000000000..76ac35bcba --- /dev/null +++ b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png b/localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png new file mode 100644 index 0000000000000000000000000000000000000000..0fa459f96dd7113388f9aabb59fa36ec5de9946b GIT binary patch literal 56991 zcmdSAWmp_d*R~5GK!6}Yf8Qk5SP2T6epLg#+ z`}gy;j2&I{?2RBytZl4}s2vRKjf|`vOl=&`pgMTo|HNpf zsOl(SZ=~mFW@G(L(ag%|y$}L|fsTQ3r@4-fZ8trHo@F3aCZ@fj zScrXFeh7$f5MqLSimvI$t6r{(JMCw0jff}Wd_UJ0yWyTjGzSJlVvAQ9bAt!Fwgk;Z z6^OpWkRi*#Egv zb@4|>gvfv*eVGwb2f+A)TQXM+oZs!!V-XRfMTJL&)A-EIpqI}XE{%4Z>ldOx6#h^D zv$$YA)5u$e_}>CMtKZq8|JnDq5CRn)?!P-jP~gJ;dnD1vZ+tQTo`xv!Q_TOFhd~%r zK7N7XNe?!!B5;q6)}(d?UFT8YkV-TBrrYwK`kEidq!xNiAFcBH3YQb#VARk`vL6Lw zaTPfXEPPN%kuFKHQ-UY&_+`a~H>mh@endfKoT8&V2C2Wt^uxfIsB}g(5Ecvs|ea$#sk%xH>yOK)%|xj-RMX#etEC@Q778q3sTTw z;ejsoTtIMDR^)=TSqZh_puhgH-zo4uBY455D)A-KdPWrATG7>ZW=5Y|HQ?k*G(9vc zv0F(MS$WcR3jFe8R>I&yoWQe^=tDoYr9|s==-Ru4*FPR15v;TKZaOGw$m&CsU<^yRVOgBZ{m@?2E zxPFPzXE#hqp+7}WJ5DPUT(5%85;JO|JppB zgqm5hH^Zn>P3;4%cyk!tZqB)d5Op6W@$*S6T+#*J#2E7IO@!|ZtRs8SH1Rb5Z?jdd z49IXJG?Bd+VN*luUdlV49%7?9<@8inW%~wkKoHI)QJ7+1z`)bH(*!BtAmYG<{%d9t zHD3tj@Ntaorq}hVbp+y#eiq_4lh%&y~CQ$26>&w99gG zAt|QcHV6>Ru42WK>1LE4&Db>sc8GAP-wyI#XeT9^u;_~lYi$cFHM9(56rks}yqk8dWKTC=%ZO!Z`%jPhV#7EP+1k^kH4UaT7S0b0DX+)(JQn zPy+;svSiEtQVnCSW-bDEE5rDo2l96nv_}3hy*M=jI@{ z>Q-=U{xGm+#NX4g9yp>EFw@LTyw1cS9s|q!ou?!`M9$sScByvsYHx=Qd7oC9K-xh! zP?(u-2=tGxRM9j>8|?uLGqatqP)Wau;kaSbc}APq+1={t_I=(7M>=1Ru1>b)Nrh}n&XvCc(dFZJ-LUO1?`)ITmfsf9W! zH}h)Y8(#$&5C~-YXMWf!$*@+x@j^9hX)i5thJe(9yW$0x@*G;)&n_=07v6FRPp%!m zredfgsZf{)HwiZ00$ ztH(e~?QovvDvtHIIqz(~!mAvlm=+Jr7C?kFz`r zpXRA|U6Hu^8PU^be9NSpqHLv4yxEk>t^gB^>7%Yy$+hdU0g z$Wq_Q^Hts|6qbn|DsuaAZW*iq zzyscPt@qSNU4Sox)soNUhd24M^G*yZ?xT1&E-p*Sj`FD&r;hjO}~YKVW@!Mm5hWor@EB8 z=(#IlH%Q7+b>3bFTVkPLfeI`WqSm_j3>ln&w@h84#=7{+sS2tzuFegly&4iqEL5|I zgY6`BwLN>u(6V-k zI|`dve;%?bb!SU;Me`*y1guLE@7vknIb&Ib?a!3 zVHI~!#RBqiYe|gN+#H`}_&J)WcaL4l*HCvMl}hSJxw(<=a56S?q9+QqoMC^pENp9w z|KpY;OH7mT=Td%XSYj|^m3i*!%Gi!5(wiEtc3O>Xod3^EbH1AY{4&T0dRV7s1Az={ zx7@(Qh+8BL*Ui8MlG4O{qYd{6Ky7exv_b2?S8p=Nx&2dbjiVt!MP5ry{55y|6H`Y; zveK2xd2N6G|r+|2na@>CO2@QOiG2sqk&Y$I|tB}rJ#t|&$@oZ#l^ zs046ScwvRv+;`8H-Y&j%i_i4rH+XPdPW7#XQF5jr&I1T%C5!{zutuL@PDy&^M4SC% zM@89rtQD`))PRwkDQ$vARXDWFFLx8hTQ+{>?$d8LI}-Ix*(3h9%w*o!-l-eiFJ~S@ zhQwlVIXkX)=a{K%sMM=P%}(0HZ%G_q6V=J zrUYiu=vrk&KaQqVj~%WC&tCmLkK7C<) z=L&Z8!CI(eetFm7mHb;n_{u@R!PYAK zmnQmSP@S-WX^WyqRfAl|lY?G`17x;NU8RJmV~XCSIRn+#sa=xn2Y0r}v;G;w8fBx{ zixCb2B$aIqdOi5jZZp6#Pq{!z1BJH>PDq%6k#rNe0Q|51OI2*-^&J;rJDM>`LSnEA zO*rcCtAcGX!5OcBEB{zWKz$c18Of{b>dxo|_G9f|W-mMM~2d$V!m;Hbb>f8diB2vYd%dTyS3dQ445m8X2g)^mIkP;Vpj(_gXWG>&=n& zul=0~Hzn8mPd!vIuN0M5+vQW~NQpPiD*`g(oKtIeS9HjgZ_hV|}NH%75A- zvv0oevFyhd?VDjn4`V>dLZP9Uq?1ESM-uwx+6wy_22gMC#^EY?#qC8Ep=wQhC?8u9Qv-swgX zkA6l7HF#QJoAcip^GpROKJ=Uh3MHNbk2b|VG0uo%mqB{cEuy3=&kKw+O{^k*ehIJ= zg=e*g{}$DQ%@L-l%|*C;p?kdL1$CkS#)cJ!ZJhkH5S&=&FF*CC9o?uCt09`wlr*q1 zycDT28sR^q*d8Zi!+=~eZVu`R96UFa^iK?u8D#;B>2>MOTNkbut}g=PIqL0okb(yj zT8q=Bf)A@wZEAN&NJ(kqTm)QM9v2zW$Mjq#{KVq=TP>KSr+mP9DC_fjXrP>mf%W%7 zAiHMLEqhaIPUgkOZVaJdZ+V@knY?L8t$poV~)@6&^(G4K40)&rcZ9o>UyqOjpQa#9H6aEO@jA-9zA+0 zJ>98yB2@5rLOz}pdBMA$2R-%+zF>H6MKp)*LmrhlefH}3*BJ4!-i=ZHbEDaM6Csb& zx!SjO@J=zU-0BRWBjZITcJd|-p!xydsQkrje6|anDQ-)wZ8+lKD{=xY^XJOn_3-8p zA@Z`q_Y~J8pY7f^|zThpjD(KKX7^dceD#7>S`|$T3O^M^@Uv<{~hG^U*I+ zKDkG08%IUQ^I(MTQ1Gjy$X@)sU!@eG@C_&5KOqU>$q*Ut)+Z3QskTk$S?%PuZ_fdg zO@X&;-&M2Hy{ssOd7)<}j3?srF(HE4wO?-S@0gURolMu$kZCO>)F@1Y)k(Uh!bm0l zjlj1s^P%fItmQA(DVIEKF6DYB+L#pYqXDBDs@aiMxC<C8Qz}{{FaF02|j1ABB){Bc@K?1D}v;y7v)^pk|{Q@p%^jp4H6Q^g) zzr_Ektsvmt-kD8LWr)o__$Iv=)qieFZioiAyOZ66s*R1uKl5z69XiXML7@{b0^?(! zR2f1qTCDS=W*R0G3%e$;{d>)!w9~V0Z?aDcnTSJS_e^AM+3qv<$G*UO&Gc?a(1N!QC_15KF`Ot4!61tEBrUa?XJrQ8FE?p;rvH;)-LWbIzFbWd%wJl zBF|H>mjuq+Q4Tbf&md7y$v>l+?}j}A-US!=35FEaZ+ErfjjqF$ zb=2WT=GAme_&>lk1}@LZ7>s)49B3SNcKI3$nsc$hsg+;3HYB|ZU8Hw+Qy#`X?*qhlluKn@3Y0XZ3N064kM z2bW^5h5jMKHHzE7N}oSoUKk&uP%?tzTOmB#9^3^MP$pGWgdBkCQeFPbUGsOBt#jwC zcgI@en-S1l*DuV+1U>wgT1Dhe?PKpg!k3)irp*AXXEusrE`nEu9e`qQnl=P}sFyNb zM+=t|v)(DWZA;jY0Yx^E*<1u)pn8(XsuS(E${!b?_2x(9`3cvCJ!jv;Y|vOx|4z15 z#4gUKiGQL9n@e<;d|z}`K`B&uAMVZ8>U@K1!m0_*2oQ=ZkZu8u5f9_c8?f;uDd?3Q zZRpL~K;+kBi_PB^d$w4B+YGhma+bPr-!P8#VghP_Di0=gHUXuvRdt?6Y3l0E4BqIYmk;Vx1JiQ7)~dlrGr6q)qoA9@yXn}=$FxB461Z4 zTZ`O&7+}$3N&9k0*}z@^J zqx-0F7rk&MR8?7Q@}HXjePIJCr3aONWR`0c6a&U`w*>&yPMoS5jRExr_4`gZ=pE6C zbHm8%Lo)@IPg2s2KRW6i60goX78lNLYCMeKvq;8CFTNs{0)wKX+5=Y0ax+pQ4z^&9 zy$LfJDX^Xhe`Z&2S6L;*DRF8o=%{ykF&m?vO@7IHyx&(vqc-t_Gqz_n(ciaRzEk=A z13nO9Y<|2`fbIBAaijs(Se)sP>V|AoenB z;E^jFH8^~gGR}3{l=OmyI^C-4wGwLFP1ll(^390RtXn(RS~qnO_hGMJv)p}F>M9X> z#iahXW71bp73{bUnhbwAg2}j?K=r}1Lri!tpd!0huJ1A*N0QORwu~k9cA6#CYE5?? zD`~8uZJST2WD@t9%vEmHXr!a{Gde=hXaNOz9Q{tzoqN*M}Uon3akhSQPAL1W#Zn= zbaGlx{2uysiU(V&!N(IkZ#msOBP$H*;48O%5Im|$>ICJ9E01gR?zDHvRO}@`0fK?Z zec*q?F7`^o=#X?>lD9TTCEj}EVhRG$CwpG5(k-+>g5u>dbtd9&!>Jlc+i|L8X7jV@|w31F~TXF)KAW5>4g|FZfEgL#so!7qu64F^Q;EB zH+PIDi!@XAviGP~%@r>>wnD2VDu&E$C2EZ^^ili045z7OjousH=Mwhg<+y-{j?X+K zbW~uW2gX6HKL0mEv?rZ4zQJJ(Rq#!YjF!m58RgjgxWR3LDu_(Eef39I}vLmOZ#@i=}A9mR7-IVwORFbo~+El4aCKxr) zF@h8e_}o@^Wj`Q=IC}vHVUBP*Q5^Tzcx5*k7d5oRoz1yY5qQ$2v?~2bqw;s46*Umt zeKLh(yv4rk0IKOO$^#w)l#YS58xQIMdbj4z1Y|}=&))z5IpLa1270G8u&;R9vd6)a zg$br?J8g8(bUm5LD$~4j_1g_hs?5`5&yP4QbE7@HRnhd^e=WJuy23C#q zuK*|gJ|a|yk8j50rg_&@L707QriM+p0OxwmS;q3?g{xP#X-Y9Je|v&2Vf1k1-djVr z&!ofAHd|d@Gp}N2^!UkcEx;M&Yr>#-yE1;6bPV?gA{OSB&al&-+ zZeeiXy8RRTS?|H+#4SdTDSreHq{0fbBlzD}2@Zq#d)jByMlAWi`JNu; zy+bK(w10!$fhhA#|9^QR93lRYvOi}|)6N9wR(Owad8;`8W|%faWl8>xe19T>NO33q z-z|O;GSvUQgzrb8|K0d5=>PrSQ}BO+{QsQf|Bl1@BAlWAr>d`s&6<^y*8YEcU8TXr z#l@FZ@Bpk3=9t}PyD?r?#-`*EJ4au{Pi59nau*)nP5iA;f(w{WL_Gs+cY|M|@BqEo zHk5lbf{Z-Qs0!B1v1|r7TR(nb@_(MXJy~Y=xIH#y75M91&X*wKvIsI!;Z%#HM2$yR zy{HH&5(bm+3ZfQC=?wuS4W5G>(l0YN2Y^ZE!)W+Dq(Hsy7LjD``rWSr|6bTfL2?i`RJ|{@h`G6GM4?{~V^^jwbH zP_>x|zFC9|_}l*HLOsmX41AM&MwT@N@-<@%t$h=FPpWoc9~1wzp4gR>_>;xqnDHl9 zMI6SUk&2Y`#mnzV55uh}`gK~ivULxiQ#2S;rkqL_gOm?5vx4Z^!*iDu9QUP?ts{3O z4X|;)l3aG~X8Or8^*Q~>Ut*D+vv-pDcL4Y6`**$=tA0q*m;C+!#UlEx6owPXT|kW3 zA$~w|?U&Z%qO;nIO+IWTl0Yo2J@ZC~ZBUWgibM8xP;L4{H#RBta?r~Nwx)>p_!;hT zy1NV7?!Lo)v2s(ogLl6{a)Ijk+g3!ZkanCmyM6CGMn({-;E0DKE(fjq1 z#<{&M{P+n*rFq~!PjL*tJnqjNe~6r86fx}h??+;Tv!vYjW<2<#of%p^Jg8I`XSa36KQEey5ItBS{H$hObx)Ed z`^99lp8m{DK?_3{%0QHWId^{rAJ!l<0k|#z&=}l`Z|gyEb@u5k@m?d3{U+rz`9Bh= znf41GJ%e+;>;57jO`gSdvS;nnp5bZAdkcCxA@%j&(oBGp5Q@k&Izox@6;z*}r?H+s zCHK9px{eJd{S$54#9==jZvdWEl%#qVE0Bar4e8QmKp z#!EE=tSax)^XZaB_WH=3%a6zs4I{u!hybBTxDd`9BEFcW;}hG$%Q3;R;4K@mICOlO z3*A%M!|^MY{z%F;00%Q=)%h0sGu1*>s-V>V-OsXtWurWNH0-n_{jft9TH6)GDE)s&rC#H2G&2mc^5cR1fYs=r51$j1~W zCzD@g!Y?nt#z#vU6u30KA_V5@8c?^4whrPP?oPx!a6%nqNZn3+a3a3_%Asl5xM>nta1^ zjj-d>1A9Dzn}KpOZDx?ecaO62(;}_p{F?X`80G4}Wv+r;YeZV9yIC&59;^J{SMeH7 z7MDas3wxPtSX?6Tb%PD+l1V?e<8Ri4L@b8BOip9%S?3;$cnluX)`w^ES{}P#gU5AN z$J?7jy?h#f9WE13G7tq~{aR)mjLH}!&j&;J)&poEn%`4Udy?P}68Rv6E$TrU{rO@1;0tETpw^@?3wjUZ z+n|m<$GJm<*GE2NOD8*H3&4{ZIk5wRp~|h!XXST)CF+9fJUmOG@mpMt*{mTBf5&TU z?=g41>v`*e?fLLeWR$mX^O2hMl>aE*sz7du#NurlmpsYG7E-}-c-iagEQQ-1_(Vg? zz1~Y^tYFoUmOLXuHJQ1K&M0$vV#T9(FzJ`oGgRCC5!#54Jv4Y#?$73OaPqb1j_%WC zksbB&@EUe3>iZ**^_tANJbrsk_Ic5n4sF@^HEBIYSK=BqE9+Jax94+jdgi+y%7Gdo zmOqjfP$B{M9b656%elhjgZ2*D3Wf9BkU0{hN+9E`O|}Gs`-+ zt}m#xw#r_ctF$a}wWFf{m5^uY-P1Q=z)m?xirN7zcAj$2NdUo*$b(d_Tw|Z?6NVz_Bzs4a^BEJWQ0>5Qc;_?jEu^T`t99o~rUOP2nHeXL}3%yazb$_RE64KdkxOs^}iy%G05-*W-i zyx3=6df4aD^a(y5*I?r9&UK{ZfXj03M$6*4EonEE!rYRE%j6xqNU6IfxNBR!_~j}i z(sH(0v}21nC%}^ahP`6Ex$QbKctBMb$bRRGdo&z;j?z-(jX5`8TKv{2wXA~jj(1F# zJANID6v1_R!1{|#yao^}eq0JZY2;ito*2^{;x_Oz+Tx%V- zUzjD1XmxGsw2SUucSRr^t_#k>WUjeI{ouT1nQj)KMlCs^V}-Y){uMQ z1cZ8yd8zhIH$P#$#kC)25c?2(;SZs_7)&}j=GZ8_d1gKKIrm|39x+vfi}Llwd`|#x znZUMl!`E<_@+e9i02^!1Ra(g;5lMM63mL+O+LP9H*foVG^<<6B29wc(cl{BLfZ-)7 z^;AsGaADHSvhtciJ{(x;2yWhGh&o9J7S0-IbE%~8l#TXxoJVS)>YU|L;rFs99h=-L zcTR*>sW(|Ow-+^KtMY;!&*Uo$bKSRLPEmI~yrUMc# z<7UO;xid0@6Pa+cYv&GzTLVPZVP{?Unm`|~K1ra-z#Pn_a=A%k*^x6+DzZ}b)4DkU zf#<=p_1*#1_-5#+R6B5ajbe%*9JynD9G8r`@=p;-p3d42vPdNmTk&~Hwa3(!qD6zGAt{pd!mIF^a>skU;=29jh1kFs}bYX>pmEw_^ zxT-wN&c@-_0g5Bz4NN(GG)8Bae5?k7j)|yW-U(D)?S#tg6+iP!WMT{PKVflJXv*IGSzC|UR>OLIum(Sbup(K>xP#eRL|9U z-br99kS?DiOzp;!ntBi8x^}+W%I2MbNOS9$99q+3jGOhc3o<^x%azudT8=5m2zghOo5>Oyx>x~9ZDT_3K@Br zyWRgDEBB9yz;wRqn-q=$$>C_K4K@Ua4nFF3bedqHv98%--N}tIOPUl#_}b z^*-94pd=#P8H|n_H%bVla0IVRtv9!W@m6&7sfyQNE;B2#e~ip!&LfbUUdEl963mJK zHj#hwY*tJ;ksR6wB4?r285ft!{xD!aMY3 zoxg8;rz^s(J%U!|PZUGS^D@PbS8x53lNss9dY;`h&Lz?lt&L;BU7bSU6U`nzI#)FV z7OE6o>;*r$4W8BROP=!3UpfQjb9bhy+*j`)+8ge$nlQ6I(Y{|N#}$?NEp5K#YF%=o z-Wv4d9fwHmYX5;g5(qvc{G~o*#oqxIfDHbSEjHl|t;z=@*x{LUwuUZs9fUOIeTBHf6x2gF^3&mNoPL-w9%a+rc8lpN zrebZ=Y?ohYyQONIpMsD7nYYV_Ndu1k`)O9ss}s1Mamk&So7v}Q!u+LF6n)3%i)YsO zmKCUu3y#a84$bxUw=;y@wg(#E_-oel{8>~VA(j{3Vr*Az60Ccczq2#aa-t*6;Avhp z(f#kl^R0?)+LkuOR^>G5*GkhRP)FutEejI$+P%ea~v)m;%9sl8z`!Py)|fYrg^wO|(X} zg=uQ|RH}F3C3~egRmHm%Nny`ixLW;sJeeMQjtMl&7!lq>ieIJb)kEY{j56qb-VEOtd)~B@{7Ua^-I^G?8EtYn2tO zC#p!Ovy5G!J3Ot(XNRA3pjKR}(!uo~a1b7VmPQ)|*7-tZ;ly3#0$y|htJ;L4ESMt< zzqIdaI;uVw;hesb#3|_uwlV~zcWZm!*)W%<)T6)9ogVBQeH{cLP#fWrJC$V9$LTbu zMM(5d$JUWW3&ut5Ai$fwRwetFHpkN*KCoYHsl+ZSw`bHzBrSyu>I=7$1aYN>y_}G8 z$@Jxj@Y&R5&$p06@&>%atYQk-9FZx{URq1IExW(63ad-!M7%DLQWdU56?qvcGYCy_ z7tS1XE3RTM45N8AxCM7$DFl0~*JE;|hufyk+B07x_H22EIaOGpW_cc+Me<=Z3U~QNqr&`7B3kdZHNZ!tYp10EJ=kH17GbSpD<0_iciU4jmHIjwsPJU;JdF*m?vLPfAFs2dbtc> zfq;j*!;%|nFWz@$V{D&CPxz?dd45B?YEbOg@xCO=Ct9)HbO*i)>K7q8gM5iIJe6u#cDH)ov*qa%j}n@ zt56ddvaqPiJZT^2VK*-ZAPV-zRa;A+9dK4V40wBD-e_nBtmNRR*N@3agku)E__(T! zl#v6q!*Zu{kdq+IV+XxSM?TdIN(^SI2w##T`w(>Om8+2Ch|tR4P2=- zJ?itz$9oi2LRK{dcB=7EO~|v8Q_@Ne-rjGHnYoUu8Al+gg3C#1L8&uYdI=*?S>?8U zKEoV56wAR%fWZ{!WV;j&mK#~3HeOrM#T#LTS?_mif;925Nio;mVH~v07?TGnN0`da z3`cIkD$Tz~R4XYbCu`*MQ1~@}?9pm=x;11F&f)Ly4oQAaElZiAB;jgFjVFidP;fAr z?`Ogf-DSI=sQllt`eTGF9siq_qrqB zCSy^6kV#pIK8;(%1Xi7)CtJE$PK|ED_a&|dCchnl{x=ir{pfDT(p-PxpEcB1?q5&T zSPd;!+gG148_%a$?3v!K%;+|eZjiI&+X>6ym|61*sPw_whFGF)zX!p{CSxtnV@zki*{FZB>`FX8VMlYf zDQ_62Q0A7L$_eg*7TO=U7b0jdYMyC)G&3vB%`XW< z-NNpi-AG1!cnf0T;=z*azi3T!tv$uZqhZZ*<8tM>+dL}jlhY`pb@i!3n~cVFeWQ!; zSh{f+sX24^e}W}^Qdt{)^;^n&^q;R?-X}t&Pv!BiA>-ee;pHTFr>R=RyxI!|Sii8r zSyfo^l6`4$pfPJa$sX7#1oa6yd+y)$mleA}8H|qL%V*?EtGu?)$FbD=dI=q1q0?2eRI2VqD>CW6L#b)PXn@mk^o#>E+5!reR@YVj{gh}1*d(|#|zC!v{zkmt^IKG%NJM-SUfs;Bt`8}J0{Q|nUhWSF90?8p zR&Va)UnKLbU^t%NilKu{v>#Lh9}V=|tECiOXlHt!QMQ{E`zNVZDUo*CjxY?C!8~AFEtZyZl!z}0-GD|<#qk;w6WOC6O}Q* zrcuH0u=M5?nCjy`_9V@SKd@Up+PwFw3o4{XbS6#Zp`p3wb?qZ4B}U5}H_Cfx!X00n z$n5Wp$wnY}r;#n30EAiTc*mE9IkzhW=Hq+P>0U;X)HFP}$1iaA7a5KdmJT`ugL#vB zsTtC92nB7Es)Iu%5EO*W?E7w_Z$(|HG#jo_oB_Q-KYJbeM_=l@`ZB}T4{er2!WUHP zQiEzEwD`Y65L)>hd(GFyIdxTyfcYhK81Frm%EiSua(*t&~DQvW`VR z!69jAG5PH07C4!1Y=*!!*<~GWEv37BIlhJewd_u!v$Xh5!~5-}Ik7ww&e-?B_KX>y zj#$upPyW6iF;7HqDt5>|b1GFb|xjS9t!?23%4EpJYj6g2A;>TNcgiwevSAQq% zT*u^7cmVB~OR?YXm;!<$K*VTd2X>|sNVZE7+xGzyHUT5*95SvWG#3M#N=!oUb$4Cd zYjJZrOB^v+B)55pEnP`j~ky{9U+kuQW1x;)IX@f z<3ev#r!N-TjO#uRzw5(Vx3gPaBFD@ZQ;2(Z`|}L#4I*D)Aq88n0=-`Kbz2^eJONS^ z-evoA=cz!~?9jEtUaTwit{{X#q@m3q2@(4K$=I6c%LIcq{RhLt6cnE=MWvndjcz<1 z&tyiEF*=`D&)xAXz|!dB^5ra~GS>XLhqvhBg;u`y=nhc_M=#u&ONzZmdAaxl>pHE^ z0|M)cEtJpeRn~iMnQE&qax0t`w7%IJE+`~)v3lm6glp3lW8?F*EGY8kbQ>}^ryPaH z{%6^yLrO#h_UZNn_k=Vur0u}vH|tB(q_wah(@S+^ekyU&>kIJBf&&nB=3$f(Q!sVv zydHtQjh6I2kIE3ylzN1jl8N=98k8(EbO$ebpdN8k9uNy&@=r@1U0HotCoISg47>F< zc3Ib95LcMGhPjqo|J+pa)*haq&?iycxl>QTXW?-KnoLevPy5VF*Kcz>vE#|jI@3t)PQR1qa(HtY*6D8znQix4+v6>G z=%qg?T|sQFV8nxAf5^!N%8nvpf&M>)MGB947(62MWtnNBZfof@WvLH#p!CtJVE;QJ zyWXkSfW|JIA`~c;^Nr^Pgo_rxhW%cZ)|h%yd``kv&zI*0{nzR$IKcZXuJjK@ zM}nvdqsGRt*Z>MaXbViOX3FO^+z&frPL>)bTRHr&<`&d|Vdgm5RBvd?x=_*g>B1o$ za#`MwFpGPN(tnL+Yl+ zVLR=2u|))zLGD!It(A_owIIvB(|NZq4E9LxEmP+Ui|-&tZ!Y)Dqkb&KL~z%&Z5Zo_ z$kgIbspF)@B5pGQn?&G}ME`cmAWMbLl2jv`r>owWuo6c}W_l@~mDbm8WQ-cgq5px0 zhuygQKmkr#W^rh!k`d8h`e6^#azsZbyoe?#n5X!go$&{>*@>HHb%{TU7<+>`k_K{g z6=3lO18gBA%mQrknKYB%Y-%~94+NwAUUbX^?aQ-!@m1FEJnkOJbo#0)@Iu$f}4aXC*f*N+1#HbXFJk+ znjpp`-9Z>f1mh{4DgeERv1R`HP%`#SAM4IB(A0S690)Mm2u;GPYir1aMLvUHgDrp> z??0QsJ0xD38AYeTanDA3&4#&-g8*jrt&kLQ6=jdFbWf(gWwm=mhu4g}0bczfPdC;f z4pGQH^|*dO=4JS(fxE!UC?N$$&8$Ie#XZC7fV}fKy7casD3mFASQ@`Hl&_Ll%}Nd9 zbqZ`I@)1A?q3Frl!mxiX!cNxn_JJTKga1IUo>2TR3*aAo^bq}LWM!V2v61*LZTzO0 z18ZTx6As(_+e75wN*0!YV-;%Hw5arGuP&s}g8rJCbHZ<_F#XGqIy?`>C<=%uU&rf+ zwA>gnURGLpN&_2JTWoNK6%etQ%3OEyYc%Cf`2!N`rtb8xvpS<5n(xmBMTO)vl zh1GC1WJx2ZrR}$5$(ui#G_RkTnUPge>V3Cg`n1uR+1bU!RAyKO2qh&Yi1>sAIW;vg zQPEG{-i@bcSJ&?CCycy`AW>=(soFRR$~=;1edFqDy{q6-4kV)f#)? z^NJofTvomo6MC!r9T%BpHUHCh=hreSEw(RaS4^>t)02cNBB|tI=Y?geJMk*2?zTjf zF3hL*LFB)ix%4h~3Jtqd(Y-(wlS8MB8I+_rD#s z@0Lng0y4!eRiuuJxB^mMlb9trZtxg^lw`SfE-f;R>vwAu$~Mw`X)VFD@{lCY1eznI zM&dkp9q3lDNoWsJYTe3a)WdJ7qW0dTgPa=WKjJ(?Gn;)2IwEZ}ogJEgLwj;5j32VH zIGC#Bo_NYdr4OutK|?D~91Yx=hl|J$1J@M8^JhdqIfH0x6mV>QlYdI7O8!Cn6GfvX zQK!(7-{VjNG^k};a!`vtvJ$y`v3&lu?5#RDo!Dc7zzifMc0bbld@<|FuWqdZ4!XPU zlSKjDD>NXjb`I62iH)@%d!2tazH|Vd2fN9UwU#|JP(=t0qp?*xqM5mO>hmXQg!ok< z!H{`NYSd!QbqozWpP?cu-Ni6TrXXZC&xGK~vR8>8{(;Mo0HUgO#3EfHy6Km?mwRc;x@A}#Y z@OqtdJ_-ADb#bz|vhqo%fSR2h%V2h-;knz%vbtt zq{WE0wY{DD3QuP5}=;|Ki-7NScsWBqa(rH}{v6l)b~lmg#9?7Z(>f zIXN(ml4oUQ!8@Ygzay0yRbAb-?by2#t~Wk5K0d#&ASNPmD~3j?ZE$ce?g!)fUOVY{ zjSEYA1ZjI`CrX)47(5N_+8^B0^`RWM)f5-o;4BLc^B%+TpJsO-%+iM?`WLdt;zm2N z=aih4hT#7&YCJ6~b&O4~e5CihlEF*)cx6P=%-{4&kElho{mH)g^S}6#(kz7!-G8}b z(|$gso2)+NNbm1kIy^&_uUy0>_&ZO<_~}yK;TK zvicMOBzboScE^FZq$lm9PyF_u7&YTE-v5|) z%2s;hA`||Qs5Yu8O&q|-Q!!GWTP~0o3{ve-`ywk99*$at|6|VZl5anC*>q`_I&XH_YUIV9pS$O4FuZ&B4uS=CzqqutR2@q; z+OMXj#wItZ(eSq^yRw17?7ZRkf~rvfz?UyYbab9%N=LMfk5?rdr0=}jTacWz&^I%q zLPA24PZJ_8)A5=-*2S{bi_T#oQ?B=W)oy|_Q(sqIR;EC+Vw?H0e1>it6|0NPh?c)Z zUTU6HzS4&~pnzFUjUv`bQ<~A=j&;61B_UJ(gMpUXXr34))sJFk0n)_V4N*p;yb*|1 zm&=(AP>gzcet$6bi_|^__0+}rN^*(G146u)0tEdO&@C$6C8S z*;ZPkbv1#?@#qT0X$k82UFyc^N3aW0l5|C%tr8^z{P zmP2#Qs2O!l&GtkNi#L!P`_n4?`C*Ikb}Fl?$YMI}-@R)c9>(S8=hsbR_3-dOz(7$^ zyK%`&J-x6_(~R2MFV)q2R@Tua?E3C`x?OfYunm8&UAY|i zRpyZ`BH)gb4=*o0KcN#g36}4VQqNF7gN8@q0%3R z&1Kh=6}h%LEO6doCqo~{ahXoYNHibBMiW#}Gg`Wq&KcSnpoKLt^Skv;GIv}esfE!N zX`3JKAi4`j^gBa_8ZKtzH~VBxMIkIh{zR{O;XzZEfwPr6ogF0$LW9obqx!#Io}& z&CUJ(D*EvyeJmjEP=%er)YMe5PJyed>q`RzyF8p9d3oZ|ls|s_D6XhzH)Ms4QSkN_ zs;a62L%u|INdEq{6b>({H#`H8iB0ow=BqnJa5*T=vvANS2qE%lm8h z_Z@EEzKtONR%PeeMV?r9MIZUu<|r*?@g@&;$uF6%8nb>NH%IE147wH)Tm5f$jNIJZ zpni#tj<$DphU^m!XuY`WgT{SPOV>$wp+@u}t#EZfQhn zys5lJ>lZW1SXT}saV*_c%nJ2A#F`_OPu48nY%OW2yWvH{52dowyd5?u&z5#$i!#~Qg`#`;T-Lhn&#MYkfs)k90K5|G zWh{+$(gn=si6?J)IA$(F2|t&<{==+-wk*MPoi75mUdr`9m`;j{inm$BCet=3yu#|U70GmFKKb=Ch}+n1&PC?!~rBRFfhtD$YOs~l*{2G_9Xdz z6LFt;w8qeB7AIw@a1qXAH(CmfFS%&tJt``y^g+vx?r!lc6*iMLbaDy`n@J0_X(bZ= zm|Uby?Ud@U0)I5^vD(Y6C1&T8TW42qV zb*7b;vCjW_%WTnSJmfJ++n($fYiEEObc?7qv3TFce8=;%!fb*0P}E(GP^3Ovv!OoY ze~N~!q%h-iYyUBtHk*rJ&GqNL(VBzP=HfoJtB%Bfe=}Wg9I@98Y^bivinEt3q%gMS zGsYNctTxnkKD%c?$?CAsf)Y+DY^(cZWQyi{qDn3$Ik|7+#|IR$e{dULN{ht<35N_b zumyF@87@Td+LI%hOA>h0_0x2*gH9)5fUN+_7T#3)-SO9&Nhr!U zf#*TuQjyYOR1@1>0e*Ft&l6R{=C+5%HIdx5&=)+pORkr=%CBpEi`m}urs&NsfAD1F z$eFrkQ$A412kPYj8JC`c;X@m0+6sv{lpm0~>FMeJ?e8~1u&!yb{>`tfBuG&VP|R7p zJUduBa^Kk4m_T>b`B_@pJUAF7`tkm_^EvyIFklCe`yuu^Oxc$lc*O%SsGdE0f3Vu` z2uCM4ICug*9bVbd+iSMe5jA?C@~*SQq(!#TGZzcc!Np zs0s)p+5H?Vr$Eb`)H0WU&3s0eQ(2768hx$9(^sUoZMpn8mSEoMA|7`|+4O#u-Lnri zGm?sihR+;S=tl7FeE5uuk2JTqsgPXoQ}8z7jIF^pXHI|7%~A6b8(ltzHowNGf-OF@ z{juDZdro_&+-#-ep^7;a6cis3$98D_O--zuyZgfGYWsVnJAmM;e{)sAQ>3b|-xoz8 zUAda-QMp-IGeHcrDP!1*j*(F!XDEGila7I*`3=`(d8J)MX(@-xtQWUQTWGr7Z2jlB zxajzJMBqMu{v4nO5@ujPz=JyvFid~HM?!zXi41rGzy#zZtGc>+m~C?t@n(x4LPGMM zE?%~PEv2NQDskD>hx38}DJui=ffgxmL!%8t#AP62>UteGIp%xVI zo&EjNdBYi_n^hor0XTDVa=seHgL?`vTs=InpFHV;wdZkMK~GFf#KFadS~_UZvIXk! zyy0L6c$SaSwJv6ks^uxmya1aoD^5XsNocy`wvy@Q9^NYFpTWw9`!9A?CVM?0< zHf&N$t{0rlR0nT#R5a97`kq_GRx@*kCsNFqjtAMi5yT2O*kQC!{{1(o!a`n6TN`nX zc%0TE3;sYE^%xe?*Vh*r4b5cWt7!R!hnpK4Odj>6@CU#e7_vsDq$u26U+LZ>)yTum z90ZucI6FIoC_~_Ym6cVo7UO7LYaP&eRDWNi=1*@&^<3TpyefX-5w*2thD=p{@tkzj zl5=9kf-AWM)(e94?t=%a>gtlOU*~SK+1lEoKjq5TO_lJS@oRGpoj)zsDDMGCN*xVX4#YHBcRB`q%A{JbKs0WVR$?e~W}DCp?lK*BL;4}W`p zxbE!n1U^Uk<;(Z4m@Rq|*kH**0gP3Yl|P838y>C=h7z#dwy;>W)!t8vjrEtxoF7OR zhmv{R*_w#Y$ud5I3Bi|rpE;!<2j5MP_q@3}0R{%=MD~9LH9`ZZy8JZ!0ePD2SvcXz z&8Kg>8l_MEdAn0%Gg}i86Quq2i!@Q

2ekEU zJtvLFe(u)M(UHia3Wtx6k5o8OP(#BFE}1e1C<;;$B)y2bgg+xi&?62Za)90d+!odu zbTXq7EhsWKokaf1M^k>5qXOw|X?Ypebzr_;>i)+MkbYEERD2^MFe#)$4O;>qPl3|c zvFrc|>iGCLB{g}_l9HD1N0AEFj=O@3ujqdV9l1^lGS9$ANMTSM z!PopgY=y_7KUL7p>-V%bxiW|PU-I-MtqU^cPHu@N^WJ`Hq8^ zYV<=Es}5OfDX_Hm{{DO6qO4%Ha@8$!)rWl5uCJl~&bm~mAVHqm!O^j^r{@<_w*!#% zXU}c{&w1{OMsS(;{pP#q;O5`1ts`H|cRE&XSH!$9cPTg=CapI+{9Gfq~9DcDgx_nQ4Uj~!pU zz`~HgxAk*Rn$c*}g@n=LOo7X*ES0;#>au)_JJ|0;x>N}~-z3OmfWo4ty z2&n4be-vN!mVi`Os*ah$?-Ksu&I9&$8)_i&!i(1bvfYCW4QxM^0>SJ>L4GmJBLT7n zF{tmpPIVuXWD4N28t%nNTQBe&>6@$`uJYqO;_#E_zJw72cSoqG{y7g-Rz45+F#Cqv5&cak?$^7> zYZL7fnuysiy%a@qieERnQl-qOBV-Edi>eEyu3zS$u^B6 zM_rwrqM3umcC$jaCT+u-12FAYqyAsM=#@a6!rtqP*_(_(OP;q2cR${LxDX{xB3hsk zqUX6|xPScteRsC?BaiExV9#Rp`K@Z}CDXPxf00$v-`8VzY3>8kGZJy<*SmeCCsCmj4y%cR*VqCBOu zNs_LZ^`rlX@lSzy>mI#?uLsf-zJaIm)&j*;YFFvl@r2k&n%{g8^{c_23k|a}9Xe*_ z6=0ozM@A;%93PShB-HHIUj!33^q6x1SAs$_IxS5J5Y)`fEJf#dSRK+A{4AuNMj+r& z4E+Wc5!3m1-ijJR97tJY=futH>z+i8@_vE$fq}@>ieF^xiz{E^?ch*j*vxxYu4rNf*}u_wF>$0$iztRDJbQ>Gv*6;YXU>z_(KYI_ za4|x|_~g&ReLcRKhN&QZ_Qw}Ak3qOB_z!RI316R507^i@oCh{7jwwj#y!Y7FM7x#{ zx9?|j7+Iia3)aXL^N;w|zk*MmJYgk3M<73Jnz;C#Xi7H2-?u=>&^g*fh*B9Dw?8(D zh>Cu&c~A;P2*xh^$TSoyz-AEKTtnkid_4Z0`{>WOxhurG`%T#iAZs6h;>FA(SEXf?4D?)83HQ{hoC_uD@KCpTfBY6^p(f(rG4qcHC3r;)Th#EF z^kn{Smu!TB{`yOY3CuoZm78AP?H;<|kGDjM76s~0;` z!%XT_Z=s{jK=tqU8buF8_WqSJCJwClTBURJP={(>>@L^GUfP?RMJP%?^4mc`-r85_ zk)wo3HTMhO^Z<(r3JZhutb&Mr(b~lG)K9r}f?>Ai5cE*<9Ig)mku@&Ud24U~ySqCC zu++Fji^pY$2&z(e=wCVoHkzeFPQ~z5dm{+YQ(k2t&13 z$CGse*n%|;69GssXD)6$x#*ZO4{HP$Nq$d&@SCBDA5QPI$BV!0ivi2TJwWo1#|0E6D4qNNo$ zX!)(Yd}Ku6+qYK+Sf-(WFDAlp4HRN7jpw|y(|PRk?W?5dDRya~?PBGp#URh;5EetK1ZMj!RLIq}N~VWWEI+?+kk19Aven#Is!6B^i%R}F|HmGAN6zE0LY z;Wn^;iFIWvFt3THTwahJDb9~I9+ebS{{435s~`h=oR~$L$4{MN+ti3tEn+SO-%Ldf zxq8d1>~(O*Tx3I_NM@s8H}W?tCCNG>7Igw;?1e<{ zG`k@;(`Vb=y+nM8;Ul-d(j28d{mMeSo7{THdJiYNcrQ<09)rHE|7pO+zM1!^N4<{2 z_;q82@bLUe$Ui- zAljQVGc%w~m&avHGb^SE_44o5Hm|1n%uK2pwS^Kg>Xzs0#vjz}wLPu9KHr>nuARwN zqaWmEA_a!K0_DZZuFs7}Q4iIsU5uNh4fScCvGu+~liAlR%O{uxGVR|8+W9*-6Q@Rm zQ$A;fdUHK)PH3$q^+*^U`Iga8OFQU6lvkcVpX$YOu(j!t#N4F>dZ%OiiwMNs?Wu&{gyv9q z{VtoWZ+!8BJ4RzVWpAHLxGr=*znGuVJ- z{O@rBJ5@=McgIEl{R&jBLc3Ijdap#I0~h09ogRL1=YJPIzg!ihnOADI(O7FAznBt6 zRqoa8Tq2z{e0QFuIlVj1v}J&IKcVAnG_S{?B<4#}`6o>C z5fsS_-0MvW1%P^Zh6G`47*};?{RUSXnjnIGuSgRs`cYJrQ(2j?*d9><;xuR(w6wIp zXJ+c#U0652zkh!Vhye;JYEx(D`VWQg%MQE%s#z+pJ;DJ2qoc8ox5ht8WkN46s)VF>F?Uko| zxukBxuA@#dZ59$5SMFG{n5aayi>vw&AD-|sG_m!MLD(V*>A+QGVyyMaSEiZfuGMU^ zWpgpL+j*&O35{N1ma0O=M-S*Mk36)l^id;jvLuI9<`wnb-RWl6kalTT>Q5PCGSz5% z+}SzPexBE*EPb<`8|S4Kn%zg8XP!QBu)H~N( ze7`+GI^^WZ;(|kZw+1%m2yZ+Yt3X+pTQe?Q*1L?t{8xSeSOWSUrWGJ#9yNXzH4%zOF(WBT7`L0`piUQ zz93Z1)SR3+pn-h(@&!}KTk^z5ntmk4>m>lf}W!*wlfPWJIUs(hOooS#@!{xZC|qD4|a zcwb-NLqaI&H1}#j<6Fkn{zDC=poK76l;sWr7_IJ%wrS5k9wy$=J?;g-j zHg{DVe|>OiUbraiQ;j1*7rUtSYe!!!PH|=22Y0_U_@R8wE^bpYMr7%0rnIFy!L&1{ zm)Pc$4tP}FA>3FCd|~YxSuqDim}e_zNAegUjY^5#e7A5QRR@W)P$@7_)42I;WG>%tjP&R<`y3Y(Pa zBntZob;mI+&Igd(u8L zUCj7IL_MK|90>w$?Bbu$8+&^Tn#l&w4pz^$O8Z@p$1SuQyahoayF4FlSScITH@Q6B z1ABw5EFd7l#4I=#(kZd8$v<$%Pr=wB&-dQF#TDJfTMx>Js!*{Ue`y1R_qd9NUy+L}B_NJC>F;C)8 zb?JkK7dVb-Xf+vWp*VZD=236msa`0LW78v5wK7%}!Ec$;oIrg^sn*YEVaqB48#r3e z5Z|O%)MPh)EpEc{qut=ufD~0+bbFf8GcI$Yh=3ZCpH8C!xS>AIBkJNAZOsyUPEU(! zt|xmbql2I5JR#rCHt5epG__%BCt=;_!|#?M+l*J?+OdRI;gtJN*?Dx0{e(Z%WfX zaH$nQYBoFArnGU_F%enCmfRXf^)(f35qi|J(enzu{ZB`6XerafE%c!hPIkukI8tg7 zleuA>=18PoPV1Xrb`o+J{r)L$bB^u7zyyQ73pR~+k0pBQCqHcRMAow5%nmBQM+Q8f z^Hy^f{U2f9&3gSU<=)FjUc2h$+o~1rON8^d+O{|S(HnIk{t&t zpH1=YY%$!Q4}YnuYO*P)_Ue^9lspaBM@59ZKf?;ceC^Q!gMz9GztYmv2jlCz&fo7_ zTN#~-p@AX@Bwes&O#Pr4>}_jo{4g-^5|{wE)M^Xge+Prx|3n8jC*rfbQYik%-GZ$sN>*nH6y{tLu)9PZ2sc z%Bm6cyI;HMOLPtn4(>RJ&Sq@{H!{(Dcx*kN+7qI{m)9%6+qg zp5#f%kLk0GUpmi_gVCO@k{z_3+%Fv6NId}lzChoY5}M6gR%6bH?7|FEN<~3vC^`f! z1X^2ncXxS+QiJ!EyN8wU02Qi##xRD+D7*8PRw~qgBniX4d2UtO=H}FdgoGf9xbRRy zgI63Zt*>Vr8<9dilgrz~`*i*Rd;r4T0|ockm=-7$trj!H zTh6ad9}Yl~2}PuhL4PuLQGkme!_w@eN^%?uVaLE0<)V%Ych=A4yjSM^b~XE=8`){U z74V*{QpOZ|$;Cu6Vh|DL%Z)joAUwbQX*7(Cp`g^T zxgW00q$WLc8VCH8Ra9JoW*~9(O=g5p7sy<8|MG2ZLEr_yfV(>%h$+x#C>yUlcYuxo z_+WGRx7-DlfS*oQv2`rE;#@D6`yfLF}2^qk?8k;8_t$Bt4!|Y z`uIR;L1yxT{PltU`k(!rV;Lxh?qg(Q(WCz!rjPAH4~r#YM`>LimcuL5KQgK3HKx+N zC+nYzTAAUaS_=0jv>7%I*NOAz>Us2JClP=A5R4(5y}Ifa1VFY7+{uHM7t)x`%@ z4*Xm?Pd39f_ZPW&8*vBfkNil;5DOO>8!M@zf;H=NBPf>@4ccF-&$Zk6$?hzO&VJ0$ z4WOiL{|%Yc}G#>xX70pQQu8c5F{NI>=peeygw zGV&2d0UOGONi<;?ub^aI{xj?9*C{Yl4v7Jv^5J()* zYvpl2q=j$ufW-AZtS=}$5;Bxyhg!R-PxH-6H>h63{X3qtJ2@r#Q@;JI{kE&nZ%39k zY>%*z(X}MO%ZnQow&mTqn9r?#!mh-)bfdDUYU$CUpQr*3(Xoeitvwj8N}PV-{iZ@z zKZqs`c=7ycb{?nGpw(p2t8El-dR#1b`6@zF0+C_!YGd+6OWQ?*tD?HYJc`fP^|VNJ zWC35q0&T3TQiY<m}yrS3e#5gC*8Aw7-M z8(v8DThm|8_e+u(yCR{XsV;WE+2Ypfn98>FmhU@8uYczhh0G~MzRwP6OEwejyP-E@ za6$D}*3!!ro*K1}f%ce*caP5e`1j z+1WHO6WK$oW~k(X(W}0&%FV;$;9oQ5!Qqe+_T$GNpnKHU*EfnDbm%T<;C)5~%{PnQ zr02JwbO#AK8Mc`H?Se$P-K@8s<6}SF)<0P4X3G2L4C07=W2|5 z%f0?gbBOshx7cq7i0VCMw2e|@=K};iwDS6!ap{3Gb4h@Ca{aYm3m3rCc6w;A4h&k zd(kFKfojImTk7vY68JjbxJzMa=yTrZ`^2*?m*b^DPlZ!wci&V;Ea)3IJ;iS(o+xP^ zvCfN~vKvp;kx{J1JLgK1U}|a$&tKc=I-^Gxi@*|%vhU`Fcn4pDP{a9f(O8`aH#8pS zjz$eEW@_C41dfjn@20=-K3}Jq@xHL}KB<{4u^wfHGk_FH83brlYBfxc_}|Bm9}im5 zNtJ?OBpd~s`tb0VogC1)G;avl)0eTi^G>=SAzl&w;;c z9mksZKX-VZ9hjZh%Erfu%QpI)G`{2_3c^_ns#9oqcN?b(Q=bI(GMi}ypzsy4{<&G)~rR-%d2IEHcm6Um9jFr zgj?#DLt*OXb!`23-!8Bdo>C*Z*K1V=hONifHTiqEE-x#D4Zp456W~tg^;h2SC=FZv zv_7Y!uj4W9VIpHOZJpdv{2qrZBHoE$31>j;2DY+G@0-kW(kso4u^M<0)}x<56FXG?O|o?EZ=&o!9?M*5`cm_odJVwNxL<3nf17-YKTd2%t}A4ES|t z-O~D2yx~gy1zt=IogT8=+lMbAgnPR_hM7=DxV^WJy3AR+f~-$#&mZdR)_mlwOAY;t z!+xuiKXlx#t~L5Saf?@3&eK(Tw(I55#MBEu1JftJZ)cZQEooUcXhx6+Q>EFFE!C;# zUo-lDIm9XF7FI}%jzrmG)Tw>HCptZbEr)8p)3$wT;~Fx2GbY{_C1@GJIh#%Cxng{M zY9&C%6i;#7CZM~Y*1@mqg>tj0n?IQtUcUS#>R$~@Dpj|>(SBriyXK>-Nv1dI1!iXx zy+mC~%gL8`5h0-3EyDoSPtBPBKl41+oa;N62Zu!OMga9{b_7$Y!g*nDOI4e7_OT3 zNUEp>D{-3Vevl1{fiAd=!O$gMpaG*}<6waF_xC5B=LOxa{&0_ zED#$^BA5g!QQq|X@A>&X8iGz>?Luhvrlw2JKQ)EraC z!&d*bAB}qJA^YxV(*HNoA|fn&|Kfq(4O^jRH`{bA0TEH?&pP5Ncav16#KR@im9I?C zKZM|WH~YSHbKde~U0QJv%WGbO9?^iIT9>t8pI?1(Bx=ZQ7CWk73=6{)L4$jumg`cN zL}c{Ae#veB8&NtVbAY>*_oZ1r7Aj%*v;`p@XM0&E@*faB}}=-y<^RNq|U1 z*9%;Fkg8UHoWxLe9`j}nTS51acxHd*4OdKZa!6VlDb(}`+(u+OM7tCpKb|2Dt=wsA zj16qwgm_(-X+&pF+o<9=wrN$v{=r*P$QTd!WDSMwx#2a6>{ky)PA5-IOIb;oS8ck6wbm z4*HD(SBFC&;$&CkP$5r~g8>o>RA`0Rx7wV{`UnFekgrvJ0QL+DPnFe6gke)G{rC8I zB8*_b)Rv5%-t@aLgkuk3;@#UbI{i04HaWRCH*oAz1fD5K>7-#&9~E;+0%E5&0Dm0v(U6^aWz(AxS z>%hQ({V??~RE;#y*9M!%;`(~fe}ilL)$s)SBv?ngvp2!0WqH$F7JWou$>tYG{eKQ3 z3*cA-nL7Fc&|Ts{c-zUz-92=C2bh9GLZA;#2JhF^)umApM!@C^za zEn;*4PWu@Ik&c%EbCM%9H8F`L zxrUOOn)+Rh-urT|U1OFzxfd*BP;tC{_inkcW+wyqMzg50V*~{p5jYt#a&ik(RgQjs zeyotdbSq|)s(df=J?VSi->JlW;@{x0imCZ_h2RWV!Qk+~;_p{xBKiMJ$D)<#JC%qH znK)PCyqPvGff+-c=@DY^s6dtj%P+(W;>3Zs2Bs($!1VlzxnU)ory`@NNen)B4A?D{ zC}ldmpXpTp9UZ|$5{g&_G<=HhNyG=BoJ=`l0y|C7*ZHdsmAqxX17ctad@bPC25+m4 zY;0YfS4HUX<=OqP-Y;+yLx^HdGr%cSokn0EaCY8_E2$O-hJ=EQJh#*tqsfStUs$-( zTX4Fp|+H!k@A0z^bamX?-tP&tFu z2Rzb-c07Q_3*?8uNGM>8{R?7Ga_57XV9XK3-5FsWU!7l-U z!F7R~*lP~f28acOa{;EiS9%h~O-)Ue1d0ELZ=#h(ws~LIV3>i2mlxsMb#P$EXMXkd z+c&?zf7Kviz+$h$9)j@$Y`g)$#$n)9RrO8gnVO$EvY^4yffr`2?bq zg6RURWChIm;l%t>V4>kl!T8_c4wS@*8e2`xNz&vmHjU!g_0G~#%cqA=U7?glh?dLF zB78pA0)SqC^0#1IPD0{t47CDmZ&5|gh_#MJE&xNw*DX9vZSB|Azx6@O+$e`paBya( zB8w$GWz$qsEA}|C1!E^f#R6RbWNvxc zALexjJ9iDeyf>GsjQ%O@8@81fFq(U-9AueqCGRM{qXULso(Id)R-o zp2HfQfB#%xU7W3DMrc*qlL59^fa9F|^0`%nN-n~7^hL-kX<}kR<6va-2tpCzoB6Js z$(kq+g0~7hN*)md9bNj@ukT^357G<)sN)erhUl7N|K|lbr-j2*q4&)ggitK42_n7Arqvg0u2QF?TI(=mIYz-TG+#a1Yf=G=4SQxEsm}4&nn+n7U$AZ zi)(2_JIDONs=&g1QHpcmtheD&v@-qcJZ_{e`>dPOuIjKZsS-Dik~Y%x>$8k!^c_N5 z9QhoqtPR5NDZY2?sH~p3o(5R-oqajcUSUleb!#xNlb4r=tOVzr-FAwn@Ku!G0kYLZi@TdsP;6*(1cFDotlrOxFpFq)$`urI&R)$ayQT-P_ zbUdkyhj}s>K#7#g0x&o3*BN<%{fF%=FSjTj{%2x=6dEVQw5fByVITu_1)bT>%i z&qAVe#i}lhg~Ei!o2kku0Cl0uf6XKUs@u&21Cap3FashkCUzSR92mEN|Jpk`n!vz| zn07H(^}w#ZvN4<|Aua8Awr>WR9}Hh};}&VlUIr%BrJ2feg0J}cKVn{Kil zx)dFpcP7-mDWYT$PCXFxARd6;c7R1TZ&(HJNG_|XrN!^(PxhXk9#&4yZ$KIl^FZL4 zH)Yq3Agz%ZMNkevn8(+4u+*lQM{p|IPe}3c+XpkHgMx!$)aETbNTX)X`q_O}&0%l>kv~2F&KaiENFl)V0{Kr0@@1*KMqZrr*C2+p?h5_ z951r$5%z$cPx?hUaJ0eFjL`h3|%}`GucT23xYeJ_$%m zFwF}K|0GOm%s`b<;Y4PrMZZ8JCM6|IBM&I}9W=C%3&#wJiC$GDK}mUebeP4FPhkB3 zvf^ya)y_m&$aIZMOj42@pgK4rn=H!9%c1Txw6f}gtARRB_ZFjMC=piXbnyU4)_$wW z@U|^260Y^H5#~uIQ1Ky?MMg%7yn00h6J)Qd93;o2V;;c_(s)6;I>-#!3dsbJiowUQ zGg87IEJ5BlHbwx7BRENc*NAbMDkwaJAsWAcfS9d)z+^kR}Q50YqtgaenJ zJmcZ1l@H zYb;efW|MIzrHKt|yo0GekoXf>Rt$pKdhTs+alR){HsfPs48JKzXR*4New zAXuSQ8O)WMn43$zdsk-IlsB{vp^}}QEmb)Ke?thF*xH5%1);>n#Q|tTQ6>(@7B1cZ zDF?!hj-Fl&=H&)0-+y|Ob!@7|86*t~;5RVflai**>Lt!Jw*hNFWSTyxcicSwKvOwyn8`0A74XjyCVAltt&bMX-igv4Rg-&Q51<2mLSEn}=H}+KIH>0Rsb0Dj zZ7ZuDJ5yEQFRs7be-X#1?OR%UAQ;x*K|42=?DK4`fsh+t9WT<=6uVSO+em$M!dVBa zqSs=?pqbXvJI`wP+x0$EvNx}k*4F6OjUkq^%Xkg_>g}MtjX1Or4jIP#oM#WIUaQca z?%0?!jf*ZYoo8`zM-{VRqwr(3CD~nfca>lkY5koR-ub_TQQdTh2}cr=%-nCJrsn3( zt}d~H`m>LJpilrWHq_U*)`s)&(eN05kBs1b9U^3bUs#6V&7`FL(Cat_IGe1qiIEN%b^{37EdVaER0V z{QOFXWz;8O*{ugv&oM}aLZKo6mwZZa13&03FgJrz?+lo9_x}Cz8eO<}9OYo8_rELi zgm2C;Vd%SlRd2UC_`E|$gY*qGmNxJF_VQg`{J^>&*<}nru3tYF?Uf+M=EwIGNcrA( z8atL}CGuh+-tOlFe{@lH1vBo^Q9{#a{Qb^A6pE6sZ__imRcp7>(-<^VzMkr86jjq< zX;tsJCk<@zj-&9JI4d{~g-x;8^oRm{g>kNm$~m*DHaLx&R!6Ok|@;=DB`DlZ>8 z*KTBK83_F?IID=<1T@|rs(Qru8l+gnFbYfkDLDi)@q_`4>gFh>EWr7Jq~$o@bPvul zALl1v+Yr-65a6&!MsME87wOkQt@RD6I>_~+epShaIMDEP>=$(D_k;V_$jLmu|NM#N zFV^@&J&)vj#UivkVN@32ABdtapdrB;nI`<yQu&V`!ChT)ja!;|!>H36JEkvZw3FCFnDwgt5)-vU&>uz3VnSYr;4N`n zRYb&kXXj%fM`vgAt+A5Or`+K{eh|?C_5etVo?s=a1*a`B9t8|jAj*t}%YC$XW<7E? zHsGb7F~Z>adZ4@Kwj8Tj{OcFc+WXMx1u~nPpT879>itYW;0tirY4w+&cf-%v!+b9pA*9KPqhh8}Cq<~+B* z!>5(E70_RlZlDYtF$>mh2Pn@h(=S{?GJff^S(sjw%lP*)~`0Sj{L;qEMHmP#kE zE~K$i3rwi3RzXLz8m;%fI?}Aax%MzNHilao7AMNAZOpHxx+2NMwSJnSG&VMh@xm-F z{ijc#0Ke~}6Z{4*DuJ-K08}>l`gKWm4Oivyll${^7g96ISghAy1KgomVJ3BV>(&c*_+zhr2aqEefM9FZU4WSRidaA zrJJpUN~LH?dub>kEfr1LX%W&M8nlO|*7tc{_kDftzv27-!Q*my z&+|OS>-Aj6Od71?m2GWAS@O|ZF8wP2J5-woJH5y4L>XgWWX!W7ePrg4SFCZnBc(se z7$4HKv}@0b?eBY$kUt&&k;Mn}4V5UNYJ(bQ zClT8M>4T5M#1{0ECIBT7y;iKfTI4WEdoh@P7#IuoHxvbJ$&`k!1ZIe(!JwzeUQJyc zt0pGOA<H!D)b#YeJ0+-si9!@SNKRg{rt-C=Yr48hAUuhg z_$izd=)+vA0&mh)cG|T%JF{y_?h1ysXEmfbk4n`3X-rX^H2cyEv5Jn{tZac*&!>(& z6D;MUvxB2lCk^}qN;$SWlkk`y^561$W`CT2%ZM72^^JfxzIT2mtEyRln!6FmbnxCW z6`lC|4W7cGFU=2FdvL4yD^T;~*YE4P#M|CGlc?#DbH+KSN{6=NxW@O4I$jc)B)R`C zIH?Wdr=*mfokgG()5EW>s;MbBa7|o7LjAq%3H;qWrwQAw;<&g##D z+hqPSURd+7IsuDf4wv^?j|dOn<8eteekzD5Oec$4{ukbhd9Q3aB`O{f`1gsvp6~~2 zJbZ$;FIi~Qp?V5B~b)Cza%M zoYW{5d2-klp1@2CBOsSp-# zAR+aho2$C`9!T@BX1rie-~^C)Hew&!{Q={wz06&#eB-bABSi~DH__105Ln#Ce7a=L zt?Io1`r%A7fC`3N^ny?*t{k2d{C7pbi2MW_+u+Zi6#yFH87=huu{S8krPoaH-Rt4n zl#jyv2DX(>j$dw#w1j~_pe^ZAZkm7%5&|F0%N?jcCKe6G98LNCb1w{(V+fXC(vi{Dht$Vj>pz&{wlN$SOS_-)sM|SN$+7FLc z|KEl2bCs#xsN)D3k$RqSkG<5F>wgcUnHGr3x9TanaZ2ARrXRqso~dd3RAXp?6MWm~ zqMrdb!dbf6&VP)P)?SEQVXceg)inl8i^g(>P*Z}VK|NtT{vz$iI7oyO+}weZ=5U>}?J#f0F0c7az)7lnlMaj@P0QB1$a~#~)!7UUVNj{xtQVlH)8eSzgDs|>>McL>YiaWmFWW?yMF{Sz z9qiO3@z;zhHB`!LB;eP79-&kHWqV~snt+Z$@ckl|2yyWeS+;~J3V$vxE+SeCj259wg8Lz#L+G6M?L|;( z*2KS|Zo(RE#&}3wO%2Y>x>s3cL{%huSQA(v7LpNE)xfwOvL!feV_;wyvUN_c8NY<9 zN$6s5B~c(F3Nz%rfwgrDuIDL!{uGQ4p!#?Us49w1^TJ31EdY&O0uTG~JB_dcEU&H>a=6ga(3~=?I}pLGSp%j3 zmQq6_qtlL4S|2N4`A@l&MMp)=_(`ta2l_>{$#5k}qxp;NLO+sgP`e*MHX-9fC-MFY zdkg>wq7s6H%doI&FPXY3vDV@;Ah+etRw5-K5D-0x9Ni91{`>2;O@i_o*L^wM+W!sHj z1G?Y&J^396vr)x^Jz6DB$}_$q=x~Fpy1(5R#~?yS3>DlPs<8Zmhrz)_WYXohGoiT2 zUIZbBdkKmWOdL^D0^)Kw=1MfgM16AjuxFct5j${AAtEq-XKZp3B zjD|mWeyXR~+eC3l|2W1R@mo3$Ch5;v;Y3Q8qbhs63ukSr@gG=v&-zuJfSjz@7_v>W#{J`Va(&c z%zmT}aN%^S=y{NRhWpv@#O5U9;&(wOVY9PGl$BGvN7wy+u&|0)8C|4(#@YYj;&}AH zx>ADaA`R!m&Z_Q-f;6X82S1{$TW+RX{bc3iZR9m#UO_HYzsOz^d15W8)a`dKM%SBHOlmU?haV*tT2MC*#|Gz_^o{+=U{tOfx?^K?|)Kl)@O{}_qL;r>Sv%tPj z6Sc`sBOSA6Vs6(f1+j369?oxmAd_)e(&LnWvAKn++Cs!uG7_0imGS7M&aB6|bB0s9 z9@*I6@wq_FVp(y4systKt?=+z)pUEFFh%}>lr%;$(4qf%q&9R@C%piYkyXAC1724@ z8f}Ml>4Iu369FEe&joTuppD3?`to(4;2daMUEN?%QkeAMyz(mz;v_xk>FDSzEG)8f zbH_dpWh5s{)zPCbmQK1lQ!BY~kUDbl(1mW@7*TI@K%vpmm(alUZ=z1~0_`LuBvcqr zj`joHtQ5>Ww1FgvFf`m5LpU`X|;0J{>q@Wp<2EYKwGOh=J zwF6?D%x5AAP&3H-S2wea!QE=p-qg&v5GbhX`1Mz&ky_G)@An-KfYc^rz!+Pn z0EY2Yw|_m;w8Hjk|K_LSbXxhh-|O`!E?G6I^5<22k_r5~zjjJsQ>8#Rq59{fKN*wC zd8XR3vg%e1GoLUO-A=1$y$VW7HhssLE)sqDo98AzN>phy>8lo1(d&Dq`(|WtK&WK(y%3O@ z7w644Hj|x#_)nq-5e={ZdJIi3koDu3-6$4oK7D$5Wwu`xoD!xWRG4pFDNupR7#gww zp(hkKgM;2uNxyBVTGs*I`Mr3-j#3f53aa|guWs@}MIC^~stq3O1cFFHiKhrg41gRE zS)0WP^~aAN6S@OTc)X74*sr1hj6Ohf$*3_x;VbCvvwu zILA{3?Uq~H3g%Xhp^zm|0jxc{bl9cFq-NeQN4?f=s% zwv%D(UoF5tOF)0ZK3NdZ7M*YXA+XX{4=bYdw4?(rvhPIuT`ZZWW0Iq+rJ zB0yE!y{s;I{@m!*WKXOL@`#+A-W`8~Eq4a0_1^EXzs{#-aJB-OLb-A->jzMYoVRZc zfv5ozC~&5KevJe24e(q(n5dYSaEYM>x{3&EW7pLnrf~VwfX^x_h`t3u9b(tZR8>@< z{S-lv3evBLAhY}T@3#+32rHtKApk4jTwX7JkBrpxZ7d2C3b9)~;J$&w%7BUf+$dCv%`TrXU_0Tx@4}Y`__zTc>&|acl!&>>l#F&Yd@(93w$*C zOIsFGMq+t~L5gP<$^>842FWrybD7z5i6t!m@$}c#IcF9_LB=<+t9ZAE z46AqgOv}28nr6ty@S}o!oNRFS27H2ol9B)_B{$djp}ct)so#4T!7~;XT!1_YdaMzKu}TAwv!uIr`Kd~lyRGm6 z8wT$31(HK7SlC++uQ|~RLFxyXhqAHe1Q2l7C1av=fB!yzhPj9mmke{C$o7$8x~>0O z6S_#|)8h*+NdlK4iB?hh%1CKp`mRrqmJH+M7#|z8^O=l{3`PNgr@&3F9eB&l&F#E0 z90`BL)9hXh5aN^-ILHWL5Vt5puQiGX5GCF3?s%ixCTi4h&YPmwD@L(ZWM*3WEn=Hd zz`8;lG=ZgEe03rZqfXDlqWg>VZyMIHcDE^W`PE{66J><^ldl-QKN|#LmcgpCGuEl^MARb19MR ziG>XnV-V&C;9>j#-6>OAw{ld2>AAUt9vK+Whh*7DICAFVBZDG3u!rJ*8u`KX7pfsD z-v8ml<0zL~JGew!6vz13LSkApF+KQMJH1N525CGiE_W~-^W6Ep!} znv8wRfZLD~{URhVckbMYL&)FTw{KTzEXM_m_#i2HihhEEfgxD_`$q3I9I<46v$h&o zHe=XJggSv80lIrc+{xxoU7b0w<l*5p;)C~!y`JtZ7#E7+ zdx?(be@L~=P*O^*Nj7SBY_u~#GiRHG`?^O?+$Fd}dI@RzI> zE{txaK74pjhcrar7-j*7IkAD(m7a+c*)-xf;isyoiqdWrP ziAafaIDPfs!FDjzRUvqvEbvWY#A9Ra{-T76EInQNw@_nKlX|w^*7N7jW0||m9vgE? ze_L09BZ(0j|LT+ z2Dr8=h+H)_yQtEdF|>$qGic(_sQ~KoI%g+I^fK2^Cf!vB`N+=0V|7zC3{57a3ZPl+ z-%Gr!^Tr)@tHgD)qV#|EF?~#*!r!sHZfF*^4Dw+m{tAx^8sLkV3<${Rfyv90U|=72Ju94Q4usZcN2r34bY$pz{Lbs7`b&j z$+K%2KyVxn?T87HV}a6+7_WAAhf4iDQqVpTvE*l0C-@27EF*d1u0ZJ0C=MN}!qp@g zE-by=8lM%OUjz7B8zX2Qg~p5^QTh2Pu@HdAMUu@gxHqZWcsV!@=K7&}#3fuCRr0)r ziM2F1Gv&4Kk5__TLk#zX+8QZmsfNeR@971(%ryZVo7Q{dXO&blu9w$GZu!4Wx!m1F zh8l;E?e`u%+J_B+*gZi@6Ro#Bc5pzwxP}DZ3HAkS?}3J9kCfEs&u4KF5F-9% zmsI-%DRGbqCe7sparFZqrX9-Vkr%y^_H`5yn&ylTSm9^@CHw5;Rc)D?9Y9K@Med`&qv(CJH1>VGpm5w#8j-0751t1#dGn3d0Q8FbxbUzF z<@%*~*qDAgB(J2DUQ%+jREKvrJFW**tuUx4KthCN2v<_dW^{L-3H7P><=i9^EHx+! zyTL=z1H z5DT+ydFALS3`S7xh+k%*`Q*qlo_R^`iTrakAOK6T4iQpbY`U0TM892Jlpt|HPCII~ zTG?>Aw8{4ey^(ZS%e!#Ouo3HDGrFRYSFUSlbe?*Aj-nPJ@eWM;u{l9s|g}Y z=Q&!n_L)r2+Qp@FS6P23?c4PB;&Wlx6_z=h_$&C&_N&Spn$OakGe$0uCLR2B>E`|X zQn5kSl>wf;UzsdFXG(=$%NW8@BZP>VJYG%!azvo^L>x-jf`015E`mB#HC6P~GB|ESKc5WPFml7Cw8? z(ZsMxervJU^^?`GbRh1X03b1Kt{P({*_o9LwKQ_z711By&e9w?q7OM2z+`BHrXtj2 z=((UMYDZcCtkc8NY!rcTaUr_}$kkD(O078)C)uH~!grk|&P@TBWe_ak3y3#AY+!p} z^ge!}qsBEw+xS|azR0P#olU8#{esr=r0m4#6q-%moMNv3zyQei^bZ}v9bI(PZJlL z&;(+D9ph7%fH@lD3C%T*aiSS%iiK&wB)EF@87x_sl$2lxIs%8)&peb2Nu}-=H5v>3 zJlWFos_YL$T!=4^AGUpe`~a#alttghWHe5O6Ke_dy11V3v*@GniBaA31!>Diu$K@P zOg{Z^TTkyCKsj~}j*tJ5%i<=wmc;gB76ipAJJUN>BRL>L5x-a_!ysg}!$D2q}87X)@}zsbQiLDN{skE?(oJe=NM2 zrtkDyr%$gI5B{dV%x<8@VE?2);qA!R=XuuE8m%UlMooj3mltlFwoogh{$;Nj^))oA zBI2}DvyS|(os{%>^jRa4c}7!@|KzffX?Zhzn|J7??+T65=6Glf8QN z0Pq7UR;6pVR~2O~#%}Zm{|!fMbLxc)^V5 z6aX1N875TOsDE~D#R)4kXd8KS%Nnsx5fR~-g*{gDl1O01n2JJ367Uo3?hYIc+#DR2 z>Z0rrl!fAC*u>m5H!!gN%~p@}mXhKm@l{US^p9)PrDud~RbG_c^{dm|=}O$r$2F27 zF>g-jJ+kBEbKAV*+v?f9q5@q)z!-g*@ky!3v$YkxPrkUNJdoa{N&V>h>DTc;TYOCq z=hBe1ofez1wyqCVl)fFhH$30B%lOtcM=zzJgWWzU?-Em|_f}au@0KrP3%1!`aFU8+ zkM>l{ywczox6sEE%SYNId!>2r7p=sZCI84XyD3V0SGSE}pGi}D&Aap_{l9giPNlR` z%aU!m)5G442OB=iOr47~d4~o7OMwjxi2#y2^8+FN!Z!F?BY!VsHvfq;mDT}Xe!9$p+9%V3SJ%`nOE)6-}!Mlyjy`Fp?_PG4R=k83CW;I;W2lXWN8Sfhu+vwW; zD(wlHZJr=!RNuAuRrR2oLiZwXmeD{hqlMgVqv_Kp?&=)$6n@yP7-?>V?HRu7_vQ^V zBZTf6dYwr7@wS1nu}@G0qqHRlW~2}5@U>cw7x0ZIadDRs7)6|f*Iwex5ArTPz#7#% ztOdSkNDC~xYLHC(fa~+bbM^Oqg=BiEaHkwb$s6&X>UftDd9Z&Jd*I`fI0^W|BxwE?$uFo zr|g~+L@-!M5ER#=M+%SZ zr&sfSZCy7BPkhw*&FiSaSJ&KfP3Pgpok4~iV)l~2E(ER}s%(4SGN8|SktyHE_Fm@MNlu>6y(W zNrRHwnfcYzO{#4n^acJ#Dz&HDF9fCLh-FpQrK`_-?5#$&8M?YRpBJMsfYd%bgVLYRf081P#hy}wDySehccQ+9U3%~f1J0_ z1J>8WkN1DB%DXcX6+3>&C%e&+)Sx8MSb9F*>uT=w_XvXmpM}BkJrZw8`p%wHK4YFP zxL4{*HxtE5=Dy+n;>kZL{_0Bt_;sg@SI%GG(&4J!erS_7kaP5Bhd{o5N9XSmzuaKi zG6NcZ5AFfk`iWJA%KQ+T`p`Pd87Jd|u}rirw;j&JQb`8-Wv-2gBo+n4@5$6y&N zxN_{PQ#?!EF>xoCS=NfYF8fZaThlEOgS+<7b8nA-^7*ib*YR)f(j%C@Jmr2cO>CZ?=}=t+#S#S-YH^P`4s;p?(6Gj9ieftdv)W%8R-xnt|mqhIX9-g}r3Q^z4tx{-_G;3%o=!0VX# zqp>kpR0U=0A9x(9i$2>{7}+n7q+tAO?U&l(6_-c$0x#`u?YCqaaoRo5rIhQ~+e2!0 zW9UTffkfMeR=U}$zAdiPX8NTw<;(o*DKyucHVuCZu!mK2tVG%@PU+S!>C?@c^Lw*I zhj>m6UDlkI=BhckX0;{rqIFYLs8FgWg*+c43$MDg!Y@iPlf`Lfah_wpgoS_h&a)|e zb?V)pni8rpDBel!_>_gMI@`L(uEL<;fQP{H$Y007&a>OnxeRp!NE#>acz&Zc4}3C| zYU5CLtodV#`EH2<`aY^WW7JY&`M737B(Tq<_e$GZ@sz zHo5fZ_JK!3%SxIGmz7D)(^pj7*`F>jKk4{hIFUZiO_-c{GJ z6`%d_`pDO{-Y-v|BpgsGQLKJ>Nz-3xo2#%%$%PkkN|)F~EZAP%Y7Q$D37NNlwOd(Z zaAG7V(w%;kL;h#5$w0SCeWYMZ@dGX7$%K>a_k8V8h zi#M_UrZZxfx=%Yrt!ikLELxUxEn1O%SD)SS5>1(8C!s3~1~;Pi8ZN$*9P``mtc7&$ z`L9L~7$hs3AC8at8~Daz8jPy@Wq%<5}g+*mRw+CliKVIYp~=%Uej4$8rMUydu$C zfZEYh>;ZFuunJ;FE)q!F{j|R6l5J5rQ>+iv3%T+-@3NF1J`{g!x_h%Wmx?LW;vV&2 zx6zRHV>b1U&c3Z=r^mNxK9p&*Dtml4B8=YC*YG)s!03c#*~2?!j;BQ;ItNd4+}pAw z{xi5br1uO*A;Wmf8IvPI%ygtyg8Js_EDvS);@G$io1M%B>XRnK4+P8aig|E_%hg&m zQqqc`#-Gk@b6mXxWBxx=LE~>amGvLYW&G79?b`AxsIhy z?PxTkkQb<0V-7Le)%wwLzu5js!z9f?HV!fMGtLKBgR-yyk6Ok$kN@mAm35vaH}P#k zhRycIQ`Y%jO& z>u|lpTy`v4aIE!G1j*e~&dgh->9R)i52!Yg8k$Rq$La)L6uQOeT3K)^eKbb5t2US8 z{>0@yCSOekc33Y``l=k$t(h->kn+^|;M&4@A;r5^@BB_;KW#|7QM;5g$NP15Q}mgE zcFELns+D88jAxnNn=>5@*{D9*=9{7S`{<(Yq*3#;8uDCeH6f9Z%uB0k?|DM*@ve8> z?0ME|(e0{rK;1y0bncs~XFOv@` zvs1i}x5{`jffRyk8BaTlX=uog@I62vo*w8ah%T3x$~SwYSc)it;KK=+qWWs(=Of|h z{yQ8w@9H==?ov`xLT?Qpo7K|#aVA?%Ol(Wz%Nm-Rd3qnW(K`AVhc`e)VQI}ZcU4cH zrMjhze43QOwj4x|^YT@n>_4%wEqddZ=tS*9R>Aa{2bFR@0e`Se&hkt9fHG3fxLur>Fko3E}iRCP6-X znJBD2PLNr~RAt>FZQkMW^|g)OwU!!P0X<2-E4qD${Ap`qDua4P=S$G)XhXyEf7&-FUzuxY&OS)HfuaLmg(S!ds~DynD2RK`9AZPkZ%3baCFO-V=phs zoWEYuT<-ou+pHz7iP0ji1CEmA90%tunkh?30g{!@JxAA41!xAww_J}~vE5E*F?~wM zHYGdLT%ggjeZ5JhD4wT}0xfCDOvOGo1p8#ZG0@Zd0NW!WKE;8#=%@ogf4((egZi8x z*;LSW0%@gAlleb7*BcKx zpE0HIcL=1j|7Uib!PRzBX$|=n{o#8Pt3RKk*DnMx&W3b-YI&;9C|tKR(DedpB=(NWFTGQD_}yY0){H>dj^Hj(Swlu5br?-{9~v*7EC63RR^`L??I z{iVw>tlf4`K3_IZ4T}vG$a!)*?v20Nsm#M+v^TG?np?@K?RqMh{HCa4DR}3Ott*TH ztXZ{>4QldS7vqc^E1f4-|9GfGefeY7oh#rca^disQo(Nm_cL3J>^!tIwU)P->oAIx z?%bKTk3-}7rr236xFiWh2i>-u}__s~CX;4XaF#Ojz4 z{Yld0g-Z&_X7b|8msHf6g{vP7*-U)g>xzZbMRV9_-^Fz5#`^{~$`*v~@!xX!OV!d` zTy&=D&nx|>`R?#ctnddb?e49gHs7t<7=3ShxJAz|zdDP(o}U}UOkDOiTvK?_qwW2w zO=)0`kwq**#4ufxqpOSlP;6r=*QW~6q2BK#vpKW(b}22Wnz={!M2OQi2!F|T3n>UKo11f%ul7tk&DFCJWF~~p!^M5;Jd~`LKUfHnFLx~gMv&7+KkX2;E*z~zC5h830Avy@b zx@{`Sq(!Fyx7h{dZ$ch@=gd*?*tD^ewmeE+F6PNx%nFR5b;Ez?7qxz`806{~l20rt zw3K&iSEP`jKGw_Ft-Fi~W0S)Xyu=EU!5^-pI{pm2EmpP8Qg-y#1qxy!Yg$ zc--R?D?_YLRod)V)SpE(S-XCyV-cQ~qWO7eSMYb!jHHPq!P1E)>Fwv9ZB>%^eDmrd zo4ne|?W7aY>h4^FIj2k#$a>#Y=CuTpiy3FpIa2D$f9$>3@zA+mBSDw%b6)u&ei7#m zHJz;A1#6Avr6+0l(ng-dc1|n0{OEn>QaRQC@NDJGpmm1P`kaMRN23(_qF(FL?AsFgJN3I5?+tR}u+?j)Solb{ zm-qRN*LDoWxWxJjor)%>3j6c-0$Hp^IMe`L~MuTepO#Pe&9H&a;O0y;@f3UdW=5y^a`D3t0ztvB|xM_ zpSSbHhfEOqK=`X&7cFp%SsfrY5x3=2@coFSGhMjz^Fd-kfe;gOrGJo6l)&w4s}wap z1am*pTN(?uqz13D`n>M0&B*La!Uu21HwKJ`Ig3jKW*@X-;?yOQ*}6SeC*4V8Gcz;Q zGF73$zHMgq6LxvJc>_13X*r40r(KSgQda(AB&fAH6s9El$`6_vzsiCBvel_U&Az{F zA&ZVV)^jHP`6FVU83VdylzaVUeCtOec*+xLjeqWPa_^ZKw=Jgxsi)<` zRjqdI1E0dq;rND@5BWx%z4z|B%Qioc+`afba@3fY_fF1O5QWy2kJ+a4bT(y-U(T42|F^Ltkt&h_Gz;0%@_P3`a7fx@7+JaA3M<@Vg1wmq;+{ll95U4 zD}85m@D_Kl%Hqt89`oJbkTTP8xqZ?BhXA|OZ|T2fX=!;mM!+A3QJ=OS`?ghk1}3%5 zXE=uyyCu{=pO(s&B)~!mzxeZH3T};B5YJ~^7h9WNA$;Z`5K1`1z%)nu`jQaQx`Y`F z=u7cJuG#I|NjW*_9D|^}mH|U36dO1)V*KAD8C*+Lt=h#dtN)$L=zp)LFs*RlfFvRIEva(EY_Oi6bejJSZzWLnRe+;g7 z;Y38tHs5de`UP36JTpfu?T*}|m>K-Def#Ki-vZsb99^@lP^0_0uVqZ-=dzb2AJz>& z`h?VFKUq(?*4BHQ?JR{jFIDzLw1Vzs$6rZ{3$`c!S{fg_vhj8Ms|TO7LW3vYFW}a$ zS>G7gPjlv`mVjX9x^v!;gwk;E>dPH_dwI&TNczuZ2axPu?(+8PT^gF+y^SoTw6o&) zGNmd)qDPZj`3U60tLlRR|=zC=Y2y3ezGST?hXVt z{jgU1HoFm{Qn@r+ag!j^^f+_7 zmBp%fQb@;jGM~N+K-jF4IF|WS7z54qlHOlhTPxn(DYgGu^bE81&#h5#f$$NlXlXS* z*h5LO?$oLRy7bq>X$9^~pvrpiY7jXp2rCIdkfhB_|3@82#8`VEVX&Wa#Sv75)1MHY zCx~|(xs3cVG%4rdFY(p4X)gBmGiJ%-nS4?%@ldNEsHL#iD;Y7{B|5xVCfY58kQyWS zd)*UsGzQx8$#^g(Z}a*z?Cb>g`*{;dzDTk;KdtaaiC7APMHtUq;!v~vX}q~rZ%f~4 zlG@9zU9VhU50$@rzv){ft^JYCMrB1ZKR#S0BD^JUB~m+$HISbtuJT+|uG;Ef-TLXQ zln*bQMo8yh>g(``WQ?nqTl0sz=82S6lZAE+{jx7VUZ5DTt7O?tFW!XV@3#|ShhKfa z=kC$HX)CQ`UFzZX?fcHiEgE5&A1~M4s;1quEbg>_dugC5`SR@Q`>RQJ)Jfx3MAURU z@0lo^cq2yoa?Dj#gG?@wQ8`2;C8{Z&?2Yyhdo@GF-HZLRPD%zWT{+|p9P`I0w(8Z7 zWN^pMIx0#RKhEC$AzM%PNwE8+v$Ew}&mH0^e|fekuPl>jEuCesI42QznWH_8#-_bC zp_E?D_72T(?Rr+wlJuv#h1@6Rou5Th7Ks=FP3zM9AC@3j7+F{zKq7J4d2WbNkS2l8 zNItRe+cd&WOcLEA;NgrSY}Bihg?S$9E>mTzRz5P7>;eLB`^?@1nI)&DvcPV!0wxUu zXr1TA_T{lxSvJKz0zyKB#SJkyNWaiWo$dBZtdEhGHyEyEtVB(ShB@=s)B2_y%S~B4 z3B=a4ef?O5O8Raxvg%)dpl%`-fnBAWP#Y|2X8afcF;}uWRlGKKvm77#0HJ@j0Fz*x zYJ74+;Shzpcgd1x?jZ_)Qf6j}u-8F*lkdd_P`@e?@LTxVsrtiwi-Bg*M8!^Hg~N1h zH-1i1?O1u?YIXQk0$t~|oUhuE1z*ldM+W78$@!wqqvh@--h2M6?~yJqy}qXk8|tSX z*3_|z?c|)G@eqz>;C()~B`R_##8sKXP;;otY@6o->!+oKoGez|LXuMVc<;Nnvzaoc z7Os3-T-@=^+W4ywLloDUNW-0*O?4ITKOePN*8J{zSaq^UC%rRl=i)fsJD=Ua{mzxJ~K=42WBe3mTJv|#I2-W$O~*K*zOO}|OAwXK!q zchRDvbK!a=5Vm5yvz_e2_{XoC``mVOouTeHJ)^RudP0J#vf$l|?h#8*NzzjPBDYd9 z&8vnqB;cCZn3+>*ah{?oa>%4<>F9FQxVqi`G(Jc2!m41!-P?M0ckN5IR365F+>z@&wqaI#}Ts%t#jJrRZCmdH>W zO^fAmE(RX?hp-8PCj0|)b~J`oE-`>{kObDA(=Tcd9Sqe`v*pn8U~HNxd8*K6`AY3i z9jz^OXTAIL;78xSG07KQZ+NF$Uma2Q_(rh!rxfzcThToi+N6h{O6ESUkX+0Ow)$Co z`SF~}s@>N2n`OR&N<}k{*Z10qw<*XTT6_I?j=Js7?|Aj0vTsJ49-9vZ3krr0>j|%Y zE7kEA)2oS&?BX}oxLVaIYdrJgn#**`b?vunP347gUY9x5H&xGjw#3*EYwQiXzuoB2 z`n#8|SASf)*x`NR`pSnor>FS}q6w1xB9dGm%(gA$SB>UmG?pyRmt zBCdAPTPiN6zi;7Cu*1F#_jewu6=^PdE?a%JOR%lf9BGp(M2u#fqDfW*f3Mr0EAR|N z3z}0w5lu|~xB2-C#Vt4*gNjS-1N5edd^P~vOQ_h93fp9CQ2*q_nWOuCcHKNLC$}4! zx-i?`=|9(}y-Tddi2<2*7{=r;8E)Vo5vEYy*8&1pY?aCX@mqW-6}Lte+_aqrU5JdP zE?fS&50MXQ;Nc1C3+Ni%XAhj!P`#a8{IhwrAygs1T63{7@>}m(g+#Tac@Fgl3;fNz#mCEDy>MsGg`wly z@4w}m2sLtwImxc|+aRy$@+a?DcAZlX21_q5+Q&MXWrYc9YCYx3&2b*(%YD-Hc___T z^RT_n_VG_#7Teu3>4XAKE~(UQi8!Q@>s;2!|LoV_ZJe@7Pp{^`-SLC-eX2#?pw?5L z?-S|ziH}}R(yy`Z6B!SvE4db!O1am0!~Z1Jrt66t=JnDIiX!fI{rIQ1vVtsKM_y zb&Zh8P_i--i&6`syq9B)2SYizPbXfnwoWz;&2NxRx^I8`bZj5biC0;VMDMaz-*9dJ z>vT5SpIY1b2-O6qLWjn9vfY<+pLUVPm3LREI8!70e$)C-a=Oiph$ms4M!KxqyN*>` zxW8Jin16ka?9CWw?i-^muZKoNPH$;w-Ilv5I$7l=Wa&7&wyyZvL-Ep|ksile) zI%>_tW;Xt|i#>G1PbF?DRtpKUnB)~Cll&NTzd51h){Hy+B;KMwD=TFz`0%^#(#tN2 zO-XtMTWQYxvGwbXy?x+g^)qRvd+l!WiOsdf`$-ZHd%iZ@lnbXig7ISRHO>1dxQH8X zop(Ps@W#8Gu+1t}vyG5o`%_7vD&5mb4pZba%$3|KuyT#gSFoh%6@4ibp}eRi65d63 zs--z;+0(4uZu+pPVUN#3@0GRu+^D$gHrB6ppWWbL7gWu5+JU zNIs4)5T}PzDv5ver(`3}`$06zAkw0VBMz}hq1?IOHA$Q}H|RsHLm2mZUJ@Zw#Q8z2 ztbABvz|H$M88hRYS-;9JlV0*~%FuDaZuk+AB(4^87)>aKQCry{iEU%0#dH6=++=AK zR>)pEE~38f_ojfT<{;xn2JXebSKnMBvUISj5$*%DW&br!zlR)v5G6rC2!lR0(+afT z&LAccVP#m@QW!KG4TYun%!lpBB63{Z=zM>dP0V3J56LHpfS~rPL^|Y{T>P85AD!?S zH)eURn?thsw>-y8= zXBy05)pWV6^5>Yt;O#jB#ccg!-%jgzubmZ7bedWDn5~v`LaRphb<3kwo9!N7^%6WK zdzHEc1o9<4ejZ?u><8B4P0rsos@h1sskSX&+^pf2w{UEvWN)YE;GfX8pVjWqwt5>+EC4+o#MhqI{S|@ee!_g z?P16+IQtWx7`789d~lRKO!R#zIr9h(UqL{K6QLvO>f7+ev6YzPK*qoaRYPosKK8?a z&CH~=r|Ua%72n^eY6*H5!GTNd#xx`_Tr|cAK7x>)$j2z@-O5A5`fi>JXf;?Vd_?8gj}2?+QnT;M=w+B3IJ;r)(^+C3y>4^W$GbnQQI+fYarw_Hl-pFkr z{+E#SLibC^lVJ7Mv39H^6DHD4vG6ds&mTnPO;5B_l3hSreicwfFHYi_s_kwg!9=kjkj`M+|Jj^L+=nRa+ehv$}&Up zOps=$fIGp?*^JAIq|-s@952TTk=;YGtB(7^4Wje};7|!m6HGD1G3kVG|E5aVqbG@$ z6_3IzT=$^^s1qCyI6P*rHMDe?Vk?|dc0y*BW@b!)z7jXreyuBRhK5p8Qc8mv$U3jA zps-ITD-uU?v0jO(!X?^u^bkyIr*F5WHa|bZ^dmWFIBWZ8k`WDw??J9v2?V)il`hg^ z$RnWbD2BU^PQpt+bi!pd;#se6eXo&l8XKEg{$P9YbhV@DO7KIi;tPhdzaVQyK!!1# zZitbvS3Qt%XLi8=J`3P%@O9M!Bq_2qx3VJa&i}Fg-L|k8!i@!;Qq*$E5r+@qxC3A0 zjKZ4s?CkZq{9K%fL`;52$8x$R3GEvOMbNxHTJgFY{aJn9=B~%08r$dO**$YYIJ;`p zWQOLn@}CidFW&tO?l0oeaGWvYCMyZeWqmy3%Omjfz%xReIv7-C?Y(2^}k zEHYK=XdG4JRLvBo3?2V)m^@%Vy?7lKvv#Z;!aa7BX#8piY_x1I#b`0Wm5g8;0yRoY z!{|P9AFw*G9$d58Ol$W?=utzFtO~yu2C*BI5=2TdUQfAu2aT8m7ev!)TvS#?qpavF zF8+Nh!_&~Wx#37$rUVJs?5;_qT7b5F9eS1v%k2>kR{jXX6EaM;>+hJ(hxScRud$Yv zmC^fEev~GckhylPHQedUk@GmUDE;dt6%|TA5fGN^(;)v?8lTh{ClZF%7igBk-Mjoa zX$qz3K}yOLdTv{7F#>Hhp}z;zlDd4^$4luStIqo=QrD~VSRo<^#2>er82SRYDUk0+ z#CBD#U$qUym8Scanu{K5fvKp*w6(h*!*`~Uzop-ymzB|)Z0i^B@+${&sivIJy zp&#iMpZx|r18~Ioog*jH&3d%T7yll3LuXYOi&`1}g$sYL${6mpdOsWydX~s;4K-Jk z)6_M1fr0zaV~9?6+~eQB?6`WBV jKGflVul)b)i*GWpwT^l1*{K}01&>RziZXAc^t}EbGE6Cp literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/delay_model_eq.png b/localization/autoware_ekf_localizer/media/delay_model_eq.png new file mode 100644 index 0000000000000000000000000000000000000000..41777d756b9745cb874eed3d5175470e76ecc8b9 GIT binary patch literal 4906 zcma)A2UJsAvjzcypeW4BO(NEVhO^UU!$I~(&EA*t-o{JDZKFxK7Q-)9d0|Cih_$&aah!V_tPVo4r8S#$OL zvyQ@_UUtShd7l^yOcA#S%=|G63vc7W&H6%?_Y4aQe;8ax%h)INN1E$Xaj0;!bGiG7 zy>~1d2mtZp4)-CwyO`Q)Jv7}emFQx&Ex5+&JnQm|INuRyss6bcV(9AniNnI2D=q8tWztznyYGQ@Bc3R&Z?`x^ao z^`rjmrWXk4?-l*SX#%7XTRw*nf{35#H^q+#cO|ld(7L+01FJGGa@7C9O6TKFc043c z=jYqE9D=2Sdg?(bJ+8{z!qvW4J>~aA@LQ+T2%U->r$JvC(g`fNJ1?smZKdQJ7Z)ln zp|(_316-c%Eska`5Ok7kTQ|t`J`vJ;Hs&g>-3-s%PvBKDR?r-rd}~An(+d0nHV&mA z7fze+B|H@6r}vh1jO3=oH~n_zqPMNkURQRay8@rQCK^Nugo-*j_X$Q;YgPOnR4T>7 z@@J(7SEfo_78GgTWU8$RrZw`eIGYv7@;$}S!{sy4$|bQqLhH)TrlQb*80C(BPO?(GZH)e6>KJK443)PxipLVdC`}dm z$v@FwC@xJeUs7>@F!+^jU-NF+xFgIk!4ZjK370=%=rm2&Zv9eU$PTd@mfayL+eewr zN>iQ4k43%{(vTd5+R|k03cW7+D2*d?(W#&{iyL>K;X<2*JERz+-n)h`Ro=j-%#jgB zFN35o&!TZJ+@^>%jzr3+5?lnx7739tGdDU;_-0dP^_Rdf)|nq3kUWCo^z8kd|Ei@s z>reOCtBi#XUloaWQ=)WNPiljrJ!-U6GLDuv{}Z&GUnZ6-aa-~TSudc>vB=x()r z`v9Fa;#sKQk`X=xpHeVewHmc zt2w0Y#EXxoGh}*P?au>Kw_EcyT_j5cI(2Nw8y_nzS9`XE_)sd4K91p&iUu5o^>Nb+ z*`95y^~cWt7+c}FYe-vR^cVzJSM`7P@~HBllXI(1NwHmey6`yvOwJ$jjG=&vq?ClT z`7^X7K8NsAXC9XVHbR7TwC$41{n&|}h9}gE-ywD}AU?kLa>&njI~XQk9*0Y`P`(G?NxpyX`Wxxo=0R zX3(ihEuOYMZ&jscR2IDDBrK&iObqI!6WEh%S}_M zJjaH;eq_pvs4y^Q?k4ls?PKz2g?BJ2Z{EF8FYp*HbHXn7xoX?V{_dGFS7W3yA^=8{ zqXWAa<HIdhh<;KT1vmNw-ujp-ly(*^fS-3`~+=cNbcU*en+{zqM#k^XL55 z2P`{ME;XHeCfaLUSTDmTEr0|>m%oHsz6}BE(J}td(7$E3e|7G9u8PIS?D|i(XfNn@ zn>@kxl3P^et_||*?JfxrN18SK?Vq{r+CDD{*em=Un8Y74Anr2wU4`(qZr3rI(Dm)GzUSPoc}sa|KHhIS zxA?S1zik#qNqpO!Se&Ov_f9PLN+6SzIkl)O8qSGP>+8KV33}=S`@B)c?s2VvaW#rt zJlIbUb;7isy=F*J(mzNC@zaPfpu1A0PNqZ@mb>w*-lH~eK-sYh2qEQFL%&wC+fbR1 z@$-u)mHS$y-L+r$q3jIxnSoA=$=5xZ={BxjA4bw`=~aatwEcRq&HenHPy@LJcG))C zO(vkME6sGuR*}I1Ms=~ZI?!45ek8<#<8sqO6&d0=6e*CQI=3So4ny76PQmf_&=Ls$ zh)&FXoDZW3G|WN?GK^DGlwhI{2)wDQwSledialpS-*(Sli@+pw5&?4J5_QrZp{(0G zT*%lfqE8p}^=b)%J6RuS^%|OZBIOL#z5xH?l$|j)43Kv1q7c{<`b&?i*Xs|y-tls;@Svm1qj36G;eTYTb6@(`M`A6gct2CDO zLsCb?EpNvG`3K|xTB38S7ho@{cQ#eyW#q)mFoL;Vd^4*TI!Q3gJqsoHi+|JlzQGfJ zJohsX_ZaX6Mj-ERo5mEm8=d|=lVO5$KnVx8Td8AYqhaJO7R-kI%; z37s`AmIJRbUkSd~uaXZXtzUaa$ik0O?(A!Qc>KpMp1H7k0t5r+PK^6n7hG7KvmFqY z%c-yH#+dNW0H>Ye%j_EGhpflm^R6>PNxvxV&1$a~1w@u$h@?RJ7#G{YG>m#w|0rrA zOmG4y0ecP^VlqC@xcb^zLIMo~1>V8a@;@H~h}P#^j=rj{PfeP4+@jOATI8<%*;XnV0Dv^NcF>Q zGr@JW)R{YjSkK?s*5!_Tf@AJEY4Og_jVOLWRtAD;<9qhVPoRYK5qc(bpG%?CQD#(k zpTAdqM$A75ck5Y3V4bunHdb}ob~m)07p9p={J-)X;ZKVlPxlL6Xd8>bw#Iff8%KbY zegm`e=|#gc@6#l7_xs|;41{{nt(GK)4EvV^z3#mEN08K~w7dSMD#gRV# z@8u(v*_MIB%zWD~iO4;hre=bs*~7~{L%9?Gsjq)PrA2Aa6P||I6RT7C)-UI<8E+jk zyDd!Rfp>EG0g*tP?vyV9mYrN@thLqO)wW7wuV1*xn5cG1!#~L03sW+fx6aYF?3^oY zw~p=%uSF>8L3u-v7BpwUxpNA&ida({2X7Z!N4okY^z)*qtkRq6xmq0Cw}e7pwjE<6 z9Ti#>GdX$hvI1>V*tlDv;9Qx7U4FAdKFQu#%c1HuBGwV1)s>I${?k13Y%d9)eupD- zx>Q>|U5kU74bX104a2F00B}$ynm#Avcd?VzQ6Zf*yzc>g)X##W;ShR3H~`yD!Y84x z9OB5(rlU(}HgyHT!p0|id1izUtY0uyx)K6-fU8%#uyUi#cB`)bL z@%1Uwi=PKx%zw5m(ZmGO%O0Ok65IJqG6!EN!XI^K` z24%K2a;)qj10pqagi}bT?SSRb7-r7I#Ik7tR(<}M2STgtZ#?m$o18+60wnLxhoQKe zUwBN0Yff|}T88UVq7Yps1aJfw@waMNbt?(~WCV1`YMyj9X#Ze>Fp{}<5TmO-b!Yqk z6|es}9wgy+553O`N^4Zkw;DZQCOnV1o!k@mk(5K>grQFSN0R(6@8^H==RZV5QM#2} zPLe@_*ANe-?I`A()rMJ$2+pQ)F)UQcP-Zn#;&MwQsFq;-$TxrXHmbVgB`(}8J@rHi zcR>=BP?8J(bg9sDvcne+jt0id6a{m=a~Uqe4Brcp6NkzBfyNCJWcrTRWH$JMDB~g| z4cFlum9LE#C2lO^K;R@vL$-9?4}Xi&vxkJIuQ-8OBl~&a^@@%{-TV`^1e(WjMAu_z zX#CEI>5~bDHu8#LL7TcV0S$AiJgU$v;U%?P4|97MbGU{AstXWZ2+Ij|CTz*5>$Q$G zKfWnc4CMc$*b=X0+l3#e5{Mqhk;UDsQ{Vh=JW74Q&~8YQ{4T;VMKfczC5sSRq34B- z%YQO`_{zg=lk!lO)2EyLZ$Rc>j#FBa4SzP#!*Z;yUD2LyQSak{b0^-`G>E!2eMY3v zJ{({5>Bu=tsGnW_*h;1b@cV_Gw}&LLtn-io9ymwh2}aK^<{6r4mPx~j_2P0j8YWZe zpFgS#x;%aI5IKd$x+7l(j0arK=v(^|vjAM9Yhc_sMyM?#M`Me2?)`k+I)MvrU3|c; zQN-qP3954USd8Oyx%O&loL zgDT(3w%tE0S4(Sq-Bmiimfm*+`DS8??`{tLEP@&pcN4|w2g)=|s3sU$rvmwp^@AF2 zetfqCMAQ8weHku=&q?)~dU?P52LGDy=L2C&n0;80BC%Rw!_2;V4^fbsqJPtF!%gbv zH=@mHwWPySGw)?P|9HiL2c$>>6K`-aLo!{rHcYrN4{7D$ep={IzL8em4OmCXT{92-sFwkA-gwvOV^v}YHLF{B1VZS- zM3=%s6%7YCR5S2?AgxC)+JBVz!yPzu>0!O^JVQFrKH)u5XnPFS=npZoqXLDIRgB;M zVX6kMCBVJ?h&q=}}7W4;9cWuDLMwX4`W7Ma8vyT5-5%1G_R8b~?*^z2+=@ zzRM`)Ecf-zRiLqMfh73_Ca=yyO$rZu@A z5I$;o?|x9>D%bwn`f54)A?hL``FT8`Dg8>LgPy{BF@xEz-Tk?{%W!+5>rv zVo;lnQ2=?vQkr>OUg@%!w1hXcKmAq%`i0H!H?LL{u$VpJ0B2X&S2ENUi>Af08^|H7pQJijl2j0~GWSOt99@ z^uWkhTW_1IvU1Snr=FdTJ8l}tDQHXv71BTKX*Ofn%6^};#~*y|g6kUT6lq)G{|g*8 BgHr$i literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_autoware_res.png b/localization/autoware_ekf_localizer/media/ekf_autoware_res.png new file mode 100644 index 0000000000000000000000000000000000000000..c771e3620b1610a08b0a064a51bc762f7152347b GIT binary patch literal 69064 zcmeFZWmH%1^Dazxw;(N`ba$hGfFRP1AOh0ejnX9z0wSf--6bjAUDDm1&;7yg@Bj1b zb6%Vm=hazfE!Xn1Znt~id+wQQX0DmpK`-T{&{2p{prD}8pG!Y|1qB6{4h02^i39^y zeDM_Zp`a+Bo<9{+c81=bMb#crxfQux>g??K+Ntt7C7p7HHcOciixpop%bsgmUr|@3Qx}*5Zky#_WZ`2~(xT225MmGwnJ&`sCJi{Xp$!#7#a2 zXGGzo5oy(|X}`F8>YR_i9`U6?{XQXO^n_|m}#(oTnYKPOYKe6?=eS{3iqG?|IY;mg6;@^-J&W2%0TeUCEgk5 zubTuO>_7PZ@c;RT1!0)LgPAp*#pi$BgrdF0_<#2L`*QCqB#L&sG^ZdspMSp$WW#^H z8szf-x8Z-J_kWLsoqfCs)r$?DJ%5gz=EwP$IiVHZTU<`sQyXdT7JKaIs3E4TVUw$8^ls#Cs~jPB^ei zcMSvx4Js`1(l%Jw!Xypr#p)A7ij(TUh15{~%YcxM^Pvpt8cy10|5DxKY_L8z@@)1W zOZ$(qU#dc}>CU?@S^l-|ssz@pHosW@=fZ#P=fU7jRA^Oi!}HgA{S&ax(~I$E~pSNfNj5IzF2`W#mbsQx97Q+TYU$+KpSzm{R2 zLmeF;3{8t`{dsN!OEAgY7W_7gaJk&v+>T4_Vg8XXlDTPUY2{P+W3gVTsGMB&750nV zePXF|Ia&?Er7JPpdBkloWq*5paW?0sK*e^(fscpx#@IL~D{GJ>h1W)$DhllZ`y)V__16dA9X-3l$Z0 zuXeA&bU1s^RWgkD8SeY{@6TrJFe#U>_8QZKJuaup&2kjd8eERvHWbNZ+3xRx3tU`W zYMu5xPbZC$DMv>~+uGW;CE3{6hI16GtgJ*FHb=H6OViwTtJl)JJV(E)l!@Bf9)3V4 zFW+r(TL;lygu*j z?DX~Zt=+8&F{1ia1^ib>{!5%cwB!b~Sf|#Jl;1uu8@#)0fD(@Q z>GmWpIe9;#vwvhu0Os9M+TA1n8K-%VIJUVYE;BjW=zL?BilQ%|c=3EqyAFr483n%m0WmEK&s?0@Q z6Y4s@-kvCy$r@7qwYj-jS6A1Y%ri~z?S2I_LEhhh*(d&AH4<%Ffs2!TznmAGH$kLU z%vNv)BX~K%*~36jui4;UO^pQanJl}C-A=9Hrnbp;a_)7}Ka>9cnBdz3A7J5)O&Zi#M1b@mD z%ezSwM>Lcta*kjM<c5xuDUd1JNu;e%E#Ch-tkKtlVoUWP|Mb@~ zYa|@j5_)Fk`-(pW4n$PM;$4rseYL>&C;rc9>kntYpp*ZkkNJRvq}FChQoJ+!MKTU9 zZjOA44AQsn-!DDZ#sNh15zYa?YYoDkEO*3#K&030wcB1jT~xwVA_@vhNoncu(9n9A z{3l+@DCrMq4{(TyYpj3$`1M-{}ak5 za9JPFZs&bW)U#gk zStHs-flGk4&el4KTy2;7M*`(tTr_aZ06?%YoKsm@na1z%4j6DhK&zvEk;ZqU^qLfW zd@d~?&^h->INqXpb;!muGij78PZS$2bwu1PM=L-qnrIIwt7e(WAVXo@VUEbnbNW~^ zVRz^G29LWFy}M^frk0kT2W^B>5o9Ux@f|SI0_dwG3%;hU&dlep1|I$Oiem)2-FnhU zQIBKhzCWs_9o02O>;ovfTO~d!E1UjHCoF6EFQp_3Fmtb@b0N+m$W= zYfM@dp{tA=*IzaouUA-tf`X#y6#9C4-msBTw#xfma93#(v!&+NW0xWRSM8hp;6lsa z?>M|SAg{_YC#-LM^VNKqoWPBbvXy~Cl9;H4+1%2yAU8K7U~X;>h&5wladB}pS8Z>u z-VM0by!~pswZp?hBuZ)k+9IBU-8n&|0*=~^o;OWCu)gl%(sFV=i5$kd9w(zfQ|AsD zyB~;ny1#kzMog?($7!~W-Gb)JmoLC^mb+gZiriiFS9D>C2L}g#&&`cz)G#RT(Xy(4 zc7@DE+`CoS*eCuHk;J^b&$H)g=y=3=71w{w#XASJY#hJDyO$3&I(;aJc$xS|hjXpt z4!`|6mPOM{wcUobjCg0NklW(Y(gjommhJieF9<^TM_%pL_OrKZmA(!8`KIKAk)`q4 zR$Kew7EYOpT)rwHA>lO2&+}Yv%Nggr`mr~5VEX>sHmwi z;GyKU@b-V=JDPQx7rI=}zzKT9&3(Gi?3Y&DxL>5*9@9CZYP~mw=6@f7 zPw=QcjD*K(t`3-Nd+W>?lvr`DT4BkBkFV18YZaBz)17HEGcy5xejFT}+x-9$b8w^m zUoGZTN+^t|a9$6Z_>a(e zp&DkWX}VpGABj@&v6oA0+R#f-%^B4M_P;s+1@{!mIrpQ7 z@$yAq=aE$X$wadisWoUPnyB&7sUhVv061rOkn%02*m zsXu5ZkqUqKfX$#aC(YA!Ij8XAXl-x4F|9G=2H}WC=TR6@|1({k#h~N)AA;Or{T2G=eEU-=srcB~6Dtyg z*4g{yfeh<~LzJYr+;)gJQEMwoAX7wt!ech;phYTwQ8a^7curz;&$TiI&X;|T7xchf ziw!$2&us=G#yb|ONdG(|3Me04NLmw8^_BR)I0P{XQF2s@_ANu}8H~TySx~_GGi_z` zKLv;+`Z)rm4<~HAmWY3?6T)jdVIC{x$m>*DQ!+C%v$96Q*xTE?pZ^M&cRvbKrcVJ` z!N@ly)7$ym)5`F03^LQPJdIc1V)`ll6Xddi6S~`P!6YRm1pz7kr#8wzw~r9)eGuI6 zL`_zUB(lWvGbhQ;HVHIg*ugt9v*F?4jRt?tb`Ih&2DO6i_4NcUGgULQExI)K9|m>c zu9fBGiiKTWT|kfT4&xikmfbe8;v3EvQOh-Nz>$%#rDkE;{*jU*__ZZ%c5aeZ+F5Q%J-zwYyA3IPEDCZ;f~5|D=A(#cCd`ba79!T-Yt zX6-6gdir22cH_Q>-P0BmMLsvdmM#Q*9<&Qz*yezSq`Gc?J3h8YH~`LEuhCP8gJals z_!1y>D!vv#PY@j-V3PINsxM-CowoqIi69fI0m)HZ5Zu3H5(#9I3h(TXWf+!<^{U=2 zpPgEk|JBNjA07b#FuI+&`m0IfG_G+~9UX0LxmzrcTtj^;6+5QS}IGi>J_hteJ`g()Cf@&Kuce zbKg%;Nl8i1bt4Oyt|o0XGIQfvs@vP11TiERpf1L}NnEdg_-AHjPL>)E8|dolf-G@6 zvJv21T8fC*?cH_%-N@)@{ZXI5e5gk`gn?3}9XdWRPy`Yoo_Y6ZFYoa1aDXc-%gfud zwQBjQ@i8%Zn&s~XzdUn)Al@lO?qR0OGKA`HN>E1WdYh6Y|iQd@33m z87i ziL9n8EP(68KtW+A4$G^ijSli;6h2>o{if`Cxcn2G#ib7-*~{F~JT%JXr3jH!5ijAi zrKdG{c|Ae7g8Mko4Tva#9&ZB0ot!?F|@; z&F8vV8Xpo8RvNUSbSt@sYvuz~$ga0=Zx}rWPHKO`Fk(;%Y==8h4#AI-mUa~!BuIFY z1YK;El}Fk_2y?%GmywkvcU?~h=Ecd$=?>gTadEM(E;HeGb&vKJDSE03*y7tx6q7aI zlP?P3)n2`_1@8gagoi?|G3^e30XRK4P|O|033{_TQ*B?j0>bqGOmffN8NS;b=V1&ZjQj-r`C@stx16RCx7X(`s5xC_v$WcqT|~Onf@6CqnY>=2|dHlr9FxmxPgioJN<#m5=ttd`c3&T_GsgOQqH5q@XWiDLa%!8 zpn0Iaz?ULXUcc;bZEdBN3RhNDZ8#az^6~M3XjMo^h||v0igfv7LzSj-gF4{8%F-n> zY(QiH!kkoI8!DaD6TnS;;;~BAX72Cq<{&}?BoB*QW?WpHg2;_M2+|lqZqbZLURGWX ze607|B)M#W^~8^dd_Jqcf4?UFhx^eNMUs~KzT0(~{zS?wZ&21x`7lsDM{NX8aF5h! zrr4k@7(`j}39Mq)!C0@9m1B~U{z-MaOHb|45MU|&3nJ4}Qf@%(S9}Pvw&^m{Xz_F+ zj<<5w*86|~GJE%~2od(khUyoPbPA&L^+88}nn+qg0;X)OAGzqTDB^OFoBxhz#;mTMgvtTMZ;-X#b8lyw$;;4BB3j{k6OW0uj4e zC%-tcKSFr$6ASRY3VB3bf6#G|SF_duw<)-?9AN+Jr42yf5`-_|^4D?!xJ|#qJh~>r zzXKZ4JU~Ab8$8DR_i~d1xJ~tLtyuRTF$3ghAfS`!RMA%cl4w-{xXri+kI94o3hJJ> zCYU(4g*HfuF|2uyzeW;ZAR8=k7p78CIA<%Jq>8||~%&qjYqxfMtam*K%JI60~$j;gJ*0#*Qt<8cd&Nc zZ_)H0#g~WJB@RaXy;+JjB9+AusMoWQ)R>+yvj1ZQsnp)ZNvTH#2bqvZ%!oCq8)h~3 zsb>@p@0xTCc2OIE4d_zG64h*Au#ois&Uxhly=NDUPWbz_X{ZAZs+(m3=ChN6mKLyD4WO_H2_Hj;ZT6Zzq{Ayx$d`#y7ya7KX$&GNB6A1?=m5$P;?KOJS( zyj7I0*np3(l@9(Z!@iYPnm0uw3o{CoU7P7t+1>$5Mg@qOanPV8|N+m&1GRbKNZWQ8fow!D6D%fy9x z`5&{`1{IW2KR>14`>BPAyP`TCT9Bh7^J{l|7pl9W@}RmnX=|X z+_`mQ>UZ3e`&)R|LNtGzCu9xMC9tpwbHl|u%ty$b$>Ds`m;Eqb-%nW6SSdWNkJ5gZ zprW9Q$x3>{&KK*;X*^T4$fKKdRxO&Sf4mBXKiWCb9>|IbnY9B$LQv7rGOfxoGL}G$ zbq!de%vT#_AiD(2^U>XDWut?={l1mQKUuTb??~!WR1}N)C$)iJ+9aR%+Y+E%>R|_= zT&p`%TV(>SMLe(6=4D_7?L>4vwm?DXo!8{hSFFpVfyQw}a9iT%rj!T?-2f zSJ%rd+4woE?lMjW zYC0Zfl8*3RggPEuB@)K*r2M(3@ofQDMg(feM$RGLgDf7JN)efN0jNiVM zd4v=992XR%1iLlSdOxyMFFL4xWzQ)L5~*&_FhKXT(p z*!wu5o{}QLwF9${6L9pTG$>gMV;(Lt)@F#9@IsNCJsG5~oYx#<>tWTGaYHaJPxFAh z0QV4;G<>JnEamjh>j7!>bEL^eeMZXV+(Stn4_QkW>fEr?bE7wE1AK1abb&Aj+dACu z1+kzA1IyKJW@0h{>Ym9~4L=+6|MzoT*RO*nd8@-c|4MRQj-1#rUFLR0Xj@x}#my;# zpBLz5_j02nzujq6)EjMZItlxbEF}N&wcn!?e@5l6ZXu{As?EUk<%xJIhb>Ass@F-BIT_(_xwj%ySWx*D1H^fKz;Iz4^ zHBUd%kF@df(thji{54-8t0RSG-?1UAWE`Y;9<;>8B_bfk8a6UAx~3eefP?#95loqeEE=lFo8X<`_cBjCEl6WWm*c)(VS*8dCu61ZQ9GKR z=+l!2+|mTh4+wJO=8f1N2xsy)(u=snBh z4f;7f#Z+7P+j#@Voe?Q7h?xK%eC;Wumu}nhiuUcKv*s&nsqR$Ch6L7p)#&HN%j3C8 zwq@o4^(5#jJ6^MlH;3LUUl>=*RZioIZuy&Wk}B`KdfXYxlgcm-vQiw}@5oZpJ9x57 zzTF&sZ;-Hm=B_qn^Dh#?3L-#cMKL7XMX zV)MFWl<107x}sq7?X7p{fsBlde5xRyao?v5sfeMf-Q$g6VPWBS<(gDcJt+e51#x^f zi><#}0@4JW!o5;xXlMXcUHZ0nllCDq#IY~T!BqNYO$WTxL=TYrAVa(`_&E24*ZC%) zRC0r0S72QWB4(Pwtw{LKmlsPx$;AW$vbeMoG_~JWo`_)xlsWwDjUy^ie=hu*UHS5p zyosO{87X}fgNC3fyK=<_rW<^#G_0YCOK!icLb29##7z%F;iF8VLVM=ckGVAdMc-UG zhqkmOSJ394#K#e>b|N6#pQcPH$alOMx^OlPdR@JO&Ul*fqPMev*Sd~gc*e@LYH#Rk zsd=4Q~$59apR^JJ}n~+ip~6 zUK4j$|E>Dds`LkRVzMG zx^2=h=w3FfZb8PafRtYAgP56THf&tnQ2WaUQG@US>4fRl$Ux_gkXsjnHM`!gtks2q zsMR}UN9&ZxvK5i{?|%e!03AYS$%1BMG{9^1EJM)!usYyX`b>jZ>Q<&DeIED5 zP{h+ij{7ufo{3!GWc7Acr#-U5Qp~E==>S{YwwnY4Pi?S3ocm$SZbgTYKVbjkt z@>i@}QH0d~b#|wR8Mow@Lfo18bs6O|Z{9Vq)zqJ=^}4)Kn_E#@^+_oydMTFBdx>eP z;_F1mE8D%V<1Tw6v5xhk*%PhiQdLJH1o!B8eMCUQ)Kk{fXJKO^-6boL!PPPFH+g-W z*z~!*U5kO`Y*Girj-WWAZr2u7nK8U^t`Q!tz4*(Bg7y>^s+bI~bm~`2P3FVuL2zb6 z-bBRd8jf8DxWy)CI(p#)rCjAbs-BiE5ev(D0X!S+5| zpru&fPggL`V=~AMEn3SO41CHq#X!+MVryoE*Ss#%u-5DRtWZJLK#0%Wnl`tz5|>dQ z7w)aEyB(pb1nMlqr`}h&=I=zTXX-LwXFZsyuTUs`%tdU#4uxkFc36&7X~-?=u2j#* zP2{{D_h`M=)%Jhy($>P$9&un%$h66-i~_@VB;7YHaDzlis0AxwRE}r7UnJ%ifKEmr z)ONfSmYcRQMbDg6izOgcPb}}y`GY1HdG$`IavZ;6Tw^V>KClcmD%=mh&b}d@1>oSF zZ!wyWu+@*bk2GfiMb`1NAM&H0J2?D35Q#id1by!-5@$kLdqnKSz}t>V#Is85Vms3aXwx&$;k%=e==QTK2@09bT3UR%(X(F{@72SsiJnms)b4Rs<3*zvo)q%EGMQWJq?E4D&1_|gh@!wu9F z1PH1ETkA=2_Eu1ycvR$X?OnF`cQB@kC1gQv4Kjj_^TQxjSZ+_E^c#6T*Wto0lJj1K z8gn}VK=qEf{g%e9cw8L9H@T>w zhK2?m=FdYh8C+xQSz`1+1Qy@(jWQ~%zBFFD(u?p8kCB;R zAlTXy6EXGh$4ppS**{7*;@DmrD2{heENf-uo|jXb@3JiOYF3Y9Ss(lot8HRJ#7(bR% zAbk*)Et6Ne3y!`@AScC#f}JN-ER@S1VR37Ug3dW9L!ph#d zy>&L9;FflBlwO-6D`~i@TY9>RnwJ?K4Y`@dT)d=5+y$f54vW&&&yibO0`DC?R!7qq z7d>9$*y1O~e7RH?71-j79p~R~mSbaMF+&?Q<~}{xl{&gWiXP(@nu#wA+vT&Y?&oEa zyX%z#WJx#o{(Fn8Nl8?uEO>`0(p4jRv*UJc52XTC;!J}Oi}ekarHC{1&|};!$?H1!bl%5j<&Gy+xMIjRg+OeNT+_K8!_n;> z#w9vp-1E*Nu}#H&n~;20s*-A<7H(sQp1U16sUzu^{txG8^RG0mxy}mnaAS8wJKK9@ z{FME%h_4a_j^7q3q)@{YC*W@^$eHK85ymVpFhC1z)a@pBrw2kGrCJ>ywhEX zJ34lK+0&3S{po$egc@?O57ijUjdS3E<&`r%=J5Fq7xohkAlfn8h`%d*~D@a4(1@ie`HLg6C;n#e% zL#KAt%_u>unUn7>wQG_i7vbKX*Y2s~_-M*hB|e9d&Eb-uY%6boHj5Lhp?!a+=4^KAp} zI?FkaC}iakN>(L((5|ed!wFuqII+FX3t>h)3tg*Jw`?<$bZQd#;#Qi%rn3Nf0o%2u zcOr=sZSv=-JXg@k`H??W8zzjGyU$LI^LVCurmQCM+vPQACr}fB%^fzF>tVv)rk#Twvx^MaZn&mzO2X!rex!FC=_xaTky!b#8Arugu{nD3{Bz zBX&+bdS*UestRzdoU#zfp2d{nb~1&bYC{h@Usg{@a4STl*{OpHc}zy^JrQB&UawkQDS2P1umtlZ{b72{Wayx@VG2!9R6Nn6 zuGLwYK(MaOZ^S;^p0rwY=>BUr)8Ql^*-d_cSn}4|;PMvVVTZ?Qy(;3LrU##~m_ZTZ7?qM1AxS?=$W`BkJ^g?#ulPwlg9I5JIx~=HvM>o6D#? zCcJ%n5uC9E;#!(;g4T7wk#%bc#8X2EO-`%ICMnl;?IXOW0ONI}Myiu+ z?n$|R&~UPrxJRl0QkdgXZ+$sh%GS-Ve9fCreCPX8+z_U)rKDyCxx_K>^l1GK*h6wBY#C3@9IqM4HwH(ICiuSq zzZQ7>F#hRtNC@_y8Jhu2nCk>NPf^<0hELok&NIzq$eZUKOC4`Y5*;$8%~W~TZh(U1 zE%Th+oF+eSlqFue(yU5LDQDP-gWaZobg4^WuAtcV{pYnu>;sLyFsozLM7N`=*PqNn z9p2lct^HV#aSeH?vGZf$+JbNuur&{Pb)Ur>{@RBJ*(G!R++fI(# z5x|H1(Dh86)~SNtdd$`HA1k*Eq~B^7wh(LhX|%N3HdGJ2ls+5s)~oykxsFIEhq7v| zR_UJpNleB`l2Jh4+c#?N#rBy~3czOT?T(3ZtSns8UBY_(@s{v!fY>*}u{np9&JfD# zQ26fCIZ-6B(0~YNNDQZow?H>r%+#$xTU(4dZq#v?+KUn>v!CK1yUSyBL2sfy8%`t zQT-;={pj6CwlrFmk-KK&+5KM>CQ1$2FW{B!Px9?`oZ=+cmKU^hjz>IP3k4)~xmqzYSsxwP-Eu!p znhTwF(n_pYoqC)u)Sn%n+cF*#Fb|A>=DKTlw z=qn~F%5-ur9Wmb*b$W;`{@tn2!4;l3CpiEWQW&c81=RgNZG^1e@aNEpbM!|t zG!~aFjGJ3oh`4B-J$a4!d(6T!Je74(b4du!*Y>ni-M^wEeVfhej~xYbrUaxSOgUz! zY<#dv#BK(GRROOSN6KDU|GW`S*NiCRd1waSAx;B9xA0Fc(tv!sGX zw{-_-VCvKG%`@HUG9Mqun70(~%GKc7e*ozG<~rlYVe?{(M^3=i;A>kz_LxuCfT+45 z9#(0OaU*i6%)65Q;^UhyQwom7T&&8f)9wZyCOVX1$Kl-XCJJ2Pxf%yXbI#6{g$Oo^ zU0kpIh|DYN9#oy%nt=d-NZg6YJ21>X{buWlmLT;!|9C)_>4C7QWQ5 zFqEaCth_~QmOqjHK}WfAxb-bg<)Za$qW~ukT@(X?1)iX0G|sYJ^#qQBbsz4WS-?)A zO##><3XQ<1A1u46cjflL10Osc%3)j4Yy1dks zzA>7b9c_h&{yR^;t8*n5J}1Ktfj4x)$^?4U51z5cw@0i1>QcNcO)PmosQ9@VqgUf{la`+%+KXPoR9H(m)p7o{j@TUHhA=MH_ID|yAkxEUN}h?8 zo2$Yb*Jp|mWitG)9Mr}zU+`&y3gT^TRvGAD3-K6o^CygjlsROf*yfsC^-P%HC zf!V^{1uIMDMJK|E6aX5)=m4KblY$Z650uaEfGOJL%^n9QH#c^^~$pa)Xrz3)MPYle5CY}Z?xB~p3>j@3TeUgd-J zoVmg*(tYX6`URx7;`hYCXD_((1H+U?kGC2K&a>tZ8nJx~8n{ZUWCm;Wc?5u(;87%DSO-W>Y6yTI8^jQ*ev5uJI;<5t)BDZIHw;VNZ@sAJoUOrp+}5${ zoi9cop1GMP6aVvcRV}6nIi#vUDDsA&Pe%)x|WJM`RmO%%R`4_%*_b74_(>U@69(aHOgVMDcu0CommiW|hrK-w-D$Vf83^Jt<*M|HK zT{n}}8yE~r|E8{Cf1n_o(ks!CIFTjtFVO<9h#te(Kc^&K9Sr)0_%nvi_=Z070x9`? zN=eqzpmkOBLiuwFz)wtoXs9WKpcYzD1^p~%Z z1?<omNa*i z!W;))16C23yQsUF2?vPB>Yy5nP#`lJZ`GF_2}X+jhk1%-w&izNGLCjlQhfC+c4mw-DB=K6*lS#4n=mRr9y-h8J<5Xzdl{LX&$lMzNe8HElXxb6+Pp2}@JRy5n47 zF@J(vDNT!hghbg+EYwKLG!F&AQ>3aesLO+yRh30CfZ)?`a9(>n59pH>@{G0SW>rTf zVJnJ)rxY3haC^>?=CT{BWKQX|W7Nv2&k{l_?bX;z`1m{)9e?=h>Zb!b6JjunF@YM$ zWA*q2zOgUv9JjKLDXrzpaF5|v=m_>Sc%>wN55P`_J&^F_28PfFY5M3xR|6df%uG!R zHGsNIM2k1UOnsUjgV0)Zc=oLRe|iDx$TZZSL1B~c)_OJb0>0TVdG;V4HGA%N5&Q}1 zx5aLN7*05!CE`bK*~`OuJ^@wK&bp;eXoK_DE z)sEx!6f6MDm%rA7%MSJrKmzsxMnKyl4ze;*?7B%>DwdBz@HO}czPSSIC)hxC-D6^j z3g^UhD;VDWOwC=)P(y^j`OCaN&P_w zZq4Nwh|-a|*7AaTG`OCdn@DBU0(c2liPrEA_~rzo_0TmOsDWNvJMZn4G-M96$^|Xw zcZ#G43R@PJd1e==BqC{3+5NU}DpD2Pg8?gxH58L;(KT3t5(NRM1$mhD4!fMnAY;&@ z(F4<7BM$8kYDXBQB-*Q@R5yObgihe<2DZm!Haw$iHL!p)|G?{pu@qvBU9V+c6!0ULB4=Rx5> z(yJL!AQFQMc{)U z99#laW4`$Ah2&*QLX?gTm;?r(u;GXb;(E^049b~{h56mFZ9^{qu6H6yMLP>CPo|j# zZSO-_Sp^+)bijAfz8w`jIO1yD&|di}Uz>4h90iiLHR4pyJcLJ(ek3$)U>>k%v*{~X z`}WY>GSOma5dx3VITgk?ZsV&Ft*nqq!hX`*Qx#;46U!Wd*0C(NBtvW3qo*)16>t+3 zC}1m~sbc+%dP_5Bt7LyZ9e&)aco@&?b5*dUeOljzr*dx^0Rnl-q82Usr-wt=JmMf5 zZ2HYy<>Xq;zEUU%ciuizn+J_)BF-BTci2UrFqX=uR7`TC?i<4vl7N%dKC1t$0{jFa zjQwWH=K=lquOgSufAyXa@t>7%eM9fvm}NS9*0dnkF^?)E?k(@ttHBqfcMuq{J91kB z$g!#B+l6{`b2FLf*NVx)3}xno8)*ATl<6f?@0%~wBnvv3tiV*dC#(79az*K2zOmQn zC$(jvQ&{$$rUUw^_ehSvyJCR<@b>gD5rh+b=It;!c;UcgB(PE7WS@fneITV=#hfYc zV;oW3?aKr^;6!p+d54vRGo1T$3BW)z7zsxDpfEfTK5yo;XKKt)vY(t2(DiOUiS61T z_u}eOw0O@eM(AcGtK2_wUeDt$!91@(_-lL`>?kA&T}K6n-2ywsihCd?EB z?+lb}pF=?9K>+r`q*IFq(gfk>EsGL%j9m??3BeS{+dF3ikKw`hv=T8Uc4}~r+F*0;NzJ3Ph12N2kPv3H_ zR*cV!w0OsDq@3zO4m}2XhQ1fs(q@Rlz|0crZ&?gIcg0Zcv`U?;mT*;-oh&%5`2k`c z;4{9Gm-4@zH*ucVen496@{=KOZ>~d=5raR22mmNQMETZqKGT565+52c<`nUk?sT2@ z`;km}IOMzWw-G4KGh~`UekrhVPIz+lAo-D{S{D6$1=Dwf`~iLKZS?Wf@v3yhZZ*5} z1Vx*F^9LnTKth$m*a?TtHQiYQwKHIf+im0>0k(Jy8TxJ*X|D%{i49}F(sMd(SeL4) z{*3j+@($)mnyKPpTA->ULAf@c-S3u9gDo*YEq=CwQ_t*(Gd#c`H?MPVQMWi0IT^IW z6s)peqJFJ)s9|W5CQ_lIPazG|hnX4V&TV>FNr=$>IQrBa^|>4*3gn-a_Ucrgm+gh$ z(99v@c`oBO7Rm4ss|#O>F;hElc$al-y^xet&^=gft^aGwyBF^+C0+x(R?n1*xBT%j znfY*W01Zjho6vgpuiizb-SzczFvZt+u}bnyncrfn3=Eo;&=uPS$5Q$)gF#R*-|dHp znJVD43r2A+lpvgl2W=Ap1Q#lMo0Vuv=jzD!+(+jpJ?rkjt3h|(@!RQ6r%@EXJ10l4#(pD=XYMmw>Y#~swXKnqR0kLb($vxtxmd;} zSeoQ(YfOiXNAH12PS5~3IXGAhzM#QnHrA6Wl+5A{bPDA3j9;T6Z3RTcBOqW&tMW_9 zO-v4ueva2go6=X^Uc{!neOT67w0nK|zBy422N`6t-u9XFAQ=XeJGkNnE0tFw-2NZ} zYaGyueKelANvsKn@n8~PFP3LpkF~EF8pe0Z8VPj00CWHwx0ozh`IeI^qo81{aQ;8@ zgGy9UMRG|+K+IqOa-z}ePL`z}Op4iy2S!Bnn-$i7Ad0x4fCg1|kc=e+h&%w}Mu3g1 zrj6zHei3R@Af!63szHpusBHnVBR(E&cxWCh&@l<0nU@Qcfos0Xv21oP3UO)+MXSpZ zR2I3uft(PZu{u#}E}^IrPS&!fIk$sav`Glg|KKBo;3$|RlR--4JF3Vx1&xvHpi>mg z41yUcFhg{>Q)UOgU%|j&W@Qx-9-hs2Ht*&2;ze)eyk|EGq`T+X2Z|)?=PsAvE(Pj+ z7Syx&y@=_edL^t+hq>xIh(-)XmjNA@#1avRKCR?mt^y~+>+em1dfu7?SOa8Aixtw3 zlo3C2JNVcuVGRl-OQD6I1O9Qw ztv*p31<`g62zUEv!Io_feAur-o(_`gW<|@ z(Bx>G>H_)~r_2gLqt&3mH4SN2kFEc)=AEV*>@a))8 zzl0BAY-n3~`4rV1Va1LcnL9rvj!ja$Q}Xpr?jL;)3`?O?)srsd^M;D%%9xHqqIGAwiS;fo?qSKsAx@E9gDCttjF@ z+6e?nF=0cTLgCv+MbPnF!iD+i+!^KcS)^3!cXo_vi_hIDWz?&-77k$uVsayH`*O@n z847w0_SsowP4?H(QFdOrfq@(kV!~$9a>2m_gdelBR6mzaef6MXWi^6UT-r$KYE8v& zxMRsHKHPIa@Q7peYk0XWR%x~YOJRH~w}aG}SCzyF@^^L;({?f!h;?{ltmUDr8h&q~mF;K<_h-Ivh*swvK7 z>i78i@v^mtJZ~_KD08@+p@9LW5h_4!g`w5DGhf^p`W+>1k6#lH=icmpIg|_(cFNe+ z(Q6mcmC50#tFG!&my~{gl+5NquR}HTHzWopNUf(>eQ0fCWog>L$>GebpGW#4o6_1~ zj^cT0k7?{pqc)gZv~cegw9f8Bl9}s>VTo+t+}OB)-3YCt^711h+yA%mki2ifE-5Jq z+?E?N?J#hp&Dwo4rrsMz>pdMz;+VgLK42q*A?CjR!)jpC+usD}Qt-<|uRxJ37#WnM z@W@pcX7L+lh+gobmo%s4-}7*CFbCWL>JXq$aW@5+uX6KoZyZ?`S2@7Qb1&%oW=F7S zM@-rkDkEue5L~RN7EhW)XfHg1#&MVp0qeSC@UZ|`DT`u zI>^hnH@v}5aQ@3CTH444fnOA18OEIH6V&zWoe~QOnwattBvP^J>TigyQN~hzC?M#G z>s!U5kgBW38p@dmrycmKWu^pl0k0{VNr`CDJW6JeAh8!7Rq-`u$6JVPRLM0&3G3Bc2^CzevT(6C*Qc*bx8q`mpn!^ zP5GfD$Mi!3prLh~gFIBgh3ye8}DXP&W*q}x%nJbyow?s7zFkk>}qZ-cPHrV}iayBBM z!Rfjg5FxY~SSVE?o{dgjtPd=Qz&~GHt00u3xIVQAP@v(eNQi)L&thMQx+j>Ku_Ovr z!fhzg;~AV;f#5}A&ig7#A$1H@UZ{S4Kmd=!q$F(F{K)k>%}*FMWkOp@wGvtQ@{y(i zB~8+Yk2;r1m=aD3m%4|yJRYw_GMovK!cd%cmj8m$MV@QPd~7XwqaNipBj2mO?H@|O z8(8P})e#F_@qdtS{!-oyJ)4EjNM~r`8l3DJ%`>vnmw3%j8Tzq^rQp)O?bQ;E?~|)~ z(h3LB)#ML(FJl#|W>J0Jod|9`l{l{E|F24}BM%Bw+qv zR!orGhDS=nf|=vdK~xqSBxwT-F#(}aY$&wJXkz`)f-_M1z*d;&@uis8mEZX@;3@7Y z9FT+)NkxwRQSKqr*t>H6(8(kv&YDm?S@6_#B>Gy0byh1#`IJ?tT#MTcT+!>N6cYBr zrut`xxz8r3c2gsCf`*nh(rDtS(>CR;&MTyzBa_@}CcEkmF814JO);ui-N7c|SW&b%MXTg-5^uszq~oRr*t{xk?}M7xuzo)C>#5PP0_gF< zWvJ5@gXj}k(6p^c%UOl4N0hNpOF-pv%7*NH-1{1X+u^M6d?XWDFqc-}bCr1m8+!Ta zglHI1FG#;GaZY2E;CxaVV(_V%QNW6!PIekA5Z+#?+%IyQU!)l!{|25 z#&{v0m})tg?M*A!vr;*>aZgjvwaj|tj(*W$XZ<&9OmAL{M+5W~i%F5*=5PvRu$qE~ zj?7vWZ*shJ0UaULQcZrC%kcR}sEo6exsQ|bQXkUey2uY*jsbQUqa|~m>u*rWg&Fuy zyHL%M!>d=73DGMN;x+Ef$Kg!Cq^{P;Lyfz=YX;J?(MWdCT@fJ?m*`QqP$6761reUp z7M2^Fz_>VLHEAzuH@sgCRVsb*z`-h$sAOhf)`eqYn*FRn%aarCaLKa|gy_l?Q-c~* zA~uIl--H0;i(K{zn!&~enX0o*mf+RcB`FRZ6KJq%jGtAi!q-N?wQzv(i?7BWGhDw@%9`~{frP?9WgmHiyX%@!$KlHddY1m`C+As&i87b z`)WjHPXq2IEh%}Ll;4)pG*Ac58wW$Igc}j#CbKIo={fj~`Wp;PNZiGOXyu&ncicjH z{KHCUr=FAtf!0a}#HEiw#MCfC%tgbr#7(@~6>(vMe#!=sH60{gu3h++6T9waoV

-1Yz)bkHS z6||^kQ?s^y-HEsnz|4okMz!d#N}eRTTu+gBM!PM^-ugY~{*a16t<>4HyMF_H>p1F+ zy?F>k(1U42BImDs){r_ybPP%g-k-9?T%g{50`v>iocP!#*RNTfd}d$`K0BAk>~u64 zD9vx=EzlVi5p$jIKaVo5BsaX=PPY}2q5};xl=ryCcxx` zw;)pE#R6}bNUE_);8_14RO9o5phrwIS=t}r2x(|bTYF`1V*W&(RzM44uEcaxeh7{T z-T|_cp<(Zq+~rwqI~k z9=pA-t?XB*@$4_s4*i=gS2Cu0J6l#!{(|8R+T(hQVr-O`B_3r844u3cKYj;m2x9tl zr&hQa-%A(k7cfFH07j%17=!wa&bF8%&4Tr%Uq{#XtN}?|Mv_N0l>f(rXm0L6GEqja zlZEW{&5SJC3b=dvtnIf^{h*#t(6h=7P|^5>2|6UhCq`3*lZ>vVV3Q&UIBa&p!Tmp+jfj zE$Y*?P`$J5gYVzH_EbbE2jL$;-z)0#1G=Zve&X`}MB$443O=RqH9U;?z%FJ($IsoXgP`J@C^5ZO(JVGhzPW20yhWoZQTci0Fii`e@H5}Z}aw_6vRIHxPu`kA{1&r*^}V_Mmyx%!KR^?3yP;>l4Picfitgr zVhC13m5@o9dEGMw(Hj&c3x!ff#W87e&_8nIp5nGGSq4uK22+5Fcs8~p5eExikzFum zxp5%4-i-auRGX+9{zc&8)yE$jZ?!_tErf; z8%OI``0O36eMB02GgFBC%39awvL8yLk$Ka; zN1PI5uZ*ec)4dkR{okK_)VEZ7OZ+q?`@+-yA=5`rroCYT9TmljP^k&u} z%6f;IsHv7NT~3n<3xY7-a+{Zi_2On$Gx0c*=lo}LOfmp!=2DK zUU#OhL%dP5d5VGPVXTW#qjL6W+>bu_)X;&uA>A1Caps2FcSeay&i0vwu^f`Qh*e?H zC0TV0h0bTBtSIE3i1>ZMY4&Ty&yC{Scb$(I7q%<~@7u}W)Y9FXMgK9>gaer-5%DS0 zPZ@#vS;e!D&4n<$_cVDiFOYqBS=qBC;a$c`e$`2-?N-#pE?cK^1&-syK-V8G^Rdlq zPhT3_xli!`%BFjPetBWWN;KlJs#0)T*Va)~^}@#C5w>4Y=g^;Y8Nwqp;G$7XI$&!F}CmbY{M ze_jB}g`S^IThbPIW$taQUkA$n(#kK_D@BVCqI{P>@Sf%v|Cn&TAQp|a#Qgk4qwR^! z+QalZ|mB*hXsNDB;q^ZtAa}(9ex!msO zEpG$2?)nMa;gXx3{H12BNVj&iR(*-17>RQaUSR}4$Zs3tEknr<>hybeXs;J9g!5@x zZRor^R(L(9ZEkcZOFqT_Wc=?fv(Os1xtz4z$zBcn%Kfc}75?`emXt|$cfOp>UGUP! zItt!G()S+m^ZjsPI_0m}lMC#UrE1ir0n?6`FW^Rso>IcNcXdw?e02;yP3hz;llGt7 zYh9k;mtM3FmL4}WQ>A(-SlqqM+rAMJ^VN#RIV`flBe`+GR1DuE_5D+!`0h**cin1b7sK~k zEqy1gOdT1)`1%y^I%(i_exAN%K$_29w-9#3hkF8Zqr@D;atm1fPp5)ZBW6;|re0F; zF9lzyz-Kq9Akrs6%|ty z96*G7Iv@ytnMBy3AqE-i2tiPGzg55K*!s7;oOW?PoXhD_ii(MGP8NyD_xtPj^L-go4E8)Ow^QDtc&yNh8;HzP@e$ z^CP8Te25PCR+H0clsVko?L_@DAptQ!;IL*aw&6tj zD0pHy8sZ81tN7#6yDRmK+5f)c^18Ip0Po^jng3J-oT6{^iL^(Y4G!2b=ccjC!FS;e6ojQo5--o>!-szEkX* zE)@7*g)2qY%g?Kru2s~prgTjya+kk9JtDXI=Mjs$E@p{9X*+H{Aa{u6h)egQRoqXW z5I!8UX$`yC8mZbbvG>!!CVEr!_7VL554j=s{k6V6ly} z_|ju{K2**tq$cK0{^lW=fLZK}_9GmjA+MOFolqa;qPX&0*+Q;N-b^t_!C(Y(HZW=!#RJwyxv!!>>BRVD*UFQc;k4!=%RmZ6Ymb6#Yi+PPH z_6gS;c0NNqyqkkI(c(Ym@-Du`r%rNFBs0w`=QEoU=g#RkF8LJOvyg=Gh#AhF@-%09 zombK#_Qt<|65CX0i`X+Gsy^*m>VH6GIAk|ZFju+RL*cuI%OO=|pQyyK@x0Wb?}ozP zfyOY16rFr(zxF#G&1H$YQH>jKX6tRQ7T37rUtEJXoR#-`#rrbq89Zc=WO*L%VISBi zWNKd85?HPj%SOyJJEW+2S}PuK`Qimk)WI!}e(2$UqwYQ#lCMr>SN*4WM3MroTAJzg zXT(?0;~|s62lq$i{Y|}ZBvp&5;3VrLyi$Z`GG;7tvub+{T(qA2<}t$=8L$ya^e7AGq<>K# zdN;H#t$+-venCODPS#&|revJHSdl*NE&s+wL+t z)?kQ9ecx9b?AC`{EA7b=ri^xg;&bSJAdH;Y#*%{tPjU`#Pye!vS;-H*C=-&)*dbrD z_~H|HP#-Gnu)t4eFbQP8T~{jE?bkW3Ji67Cy%L`Fwzd;5uC(!066&|2A$mAp?EWyr zj~}0p=gVFF9x_iWbPvbt6EV?>ZPm`s4h#TJOG#mbfw2?BmE$$mlQl3Z*YDeJ7;zdI z5mBHuV@P3f2Py2j_d-P_blfTd)D9T?`02xkx=H_=nD-ufcJw}TTa)N zpz%>D&d*-;?Tpmf@}V9U9ySl+(gG!|YTw0yu`~(Wj79XGqT11|Hm?Eu-lKlIDs^9` zgB8(xq$&u6TTpu6g1Nal3^;^QCJVaAD#jkxrIfq}u|J43LP1xXJ>*15R31!Fp3e()r=5i%e` z@`Yb#zj(xqOK11pIU}c5QFbe4A69@0$vkmZJ*uJ-r#>HWGj*ki#e(I&Kpv(eVnE?; zh^BmI@$2gHZ5a4hA}5m!9X=JQcIcX&gbS7$Vq!M>Nb=#9HOos;j>0+&Bt5LC5Uk}r z++EeHa?IDwm2lpghmlD~W8bVJqN2=hMwteFGw=%zu01(e+`stXZJjA@9v?1bDnL)_ z0<|i!s$!NV+K8&OuUcd`{Yp_I(SL=f&kOUa4d};(>pS&8K!WUv-<{&*LzJVHJX+Xd zb>-QeSD%VjxG&{Zv%)b$P!NsTih0-P!E|gG`o8vS>6MF`nwpAAAIu&n!~516$^vs! zBe-h*$)IIrLXiSPK6T&m^U%7w_;8Ef0dihR zBiH0=m$&-5QT!c`{;o>(hs6ORDS#c!9c)+k^?$!dg4Nz|qGP<0nr?i;+)TrZDP zzHa-?#xR%UsYDMGTq-*B`frXf-n9Yd@Amff2?rT6*a%(eOedn?;u8>f|Lu24NeLOd zD(tbK!F$ut!u3jsQ@iYi*DW*!1%)DYj=4^qZ9Ec-*o1_xwv{*VaJjTfepKHYFduRW z$ro5lY*|#~_|=f(gMZQIgO?xoHWjbm!{tNbkz3UCcSpN8o#xtb%7nBEHg82~E-y-s z#s>!V$>7ot&XA2nTCa}}IpEy0%oWVPv?$r6gEa7(xao_C%p1*BY$r-?^$?tM@<#i89ArXy$7*=s_r7J;es z?A<3m#npKRRd6y(ii=^@$LjZw41A8TL7@vaE0N;8xzAVu6U4t6+@McMOneF|Yl6o~ zxl|HN{n{+?C!BjB6c2;kQ8Rd9h%AGT*wI=eOhRGj;))k@x>-v_pOT#1n2H@kiv=Im z;{4c|WXit>mnT+N_{A@KsqbYW<2NOkO+-lIYA4zxY9*A{Vsn2Tca-1zD5MjAI7+zp z4!`OL1&N~?Rhg$joOEXvqj=R4E6MR}>^6|a<8MXsCk9|uocik^&eb)BlM@qPvnHerF zu8xk*$_?66)-ZY^0`y4jIe>I_%62Q(p70$^R~qYu&(aB9FV;%D@Uq%h^OuRQ-p*td zZ;l>Y2UPE~mwqg_ zA`oL1EgIU&_k4uUxv^>)w!MuNnh-u`_;~;3&6~GQ_6#eW{(QewI2;=pN#R|3KiHdkSLgR*iL%$}l2Ybm~U&r1jT9Mb~0v}cvSY82P+ zW64NL%;{AZEZLjyYXbY(lXL@BHmH*Te5(B27pXY3W)o?9X%>ge)nI?)UTezcY*6;+ zrdZ7V@Smdj&9B#`=%lcGsHY(v!HSDb4G;0H#$0`);L5#)Z6rO+Q1^gowZrtRl20FF z3RT}MTm0(6afIQkj>K_1z6; zpm%7tUvG)ikLTOdVBw-@fYO-e)Gtu$9N5m=#L!B_`Wy4f??BqLmUT)Bq z6&lFRy$va-B0X`^ZaX;O;GSh%5l`PyeUvS=+%+GCnii z$%OuOHhdc9Wyw(yrS!YKVibIqQj&Ry2Dcy<^_zAV5cRlusj4aanF}ct9-l>>IZ<^p z*+I|>l0L1E6TW7v4w404PN~rO{w)K=!~#}%`cT$KDdjQuOB8qiq&k#Yb$pXpia3_f zX-rAw4khdu)n@Ie-QbeUx};x4*!ZEal?YnRYaVQ#2>n|`k* z|0mi8u?L=>k^sVSx0(~R9@0t96$vS5Dy3i9EZ!vB!QB5WNs*MZ|D{l)UmnTU4viwF zuI*3b$R=+MoiEa9#Dg08Nms}7D_YLlzhkQx6rvrPnu8hw6z_QzpgfS7iZeiO4m$kOi^hRSjI-jR;;oncX6L(RMACuvMM%ebjWt zopO1*cr9ncCOtDfrI^i}f2&sfU{;JaF)xi7$rbA;G{3A(SSJ9o&mf-L*?SKYu7{&5gz^E%lbGs4z)~P5}dM3{`N;r(#jr(Qt z;XtDYo)I({L%5Kj@n1JX)tp%=x!B%iZg^_t7W^B`_}Oh za3rtdgk+F5O5qt5_Cv{eoo#t{P0!(CJ?>IgnFf6*Ur?N49sISrh}c_=ea>?1aWS~IQ*O4c0*%W%?d*o4q1R&l#O8fI zN|w;69BpFx%hWw_;!dg?r+gls|Kw*=q*oq3e4OYFE~0G&$DlC&S~IC7fx%CX@p6gW zUr|b>rkNBynSXu?K#_V|`_em9-3CYREg5UOy#6Xd_qLj;0M>Lq`Se46@z|V(n@btp zsJldk{-@vym5DZ!IhJ~kt%%e^gU(N{JJ72=f$bC--w)HT=BnBteI8m~z-43Jnzww0 zzEF|8NYdzGgcS3`l>3pZ!hKoS+LU>y*&zA&@YFZGvc#!KUcDYCoolZC_LNz(ejACztY- zSm^AkEogQxz-A&qDsXyu_u4PeK)j9Vx@4 zKWMZ*QXgwN+Hhb>U4zeJ3=onHz=J~ZyxxPc^7(Bo>a?%xzd2)S>4;R(BNX-L&2-J+j7lK~vlk9Jj3fBCvuNsC;r36$ z2f7|U<;D~Ph|7Ju=04CoWkyX1IS2QXe*PkMs7fzQIn}U#IolTIb?MTJ*0i;aJ**a{ zPO>DL=G*SQRhJgOOH6}u4ZAL~-t+u>W=Ta1Zj9%ESuG^=d;_^IlTw(s=`q>ua z#K~^nT6sBZ#lLi_(pL4&=4SSjzNh_szQne~fACZH)r^w^?6_^jkxeNO=sr~~Q`$`- zEMGE<^Od3HY8ZVg%ntXk*4bc;T@@UXHiC^914Y&8rvtJNUfu=aGX{($g#jH{D z?nvm6>GCX9a53Z9GY3kXcg|m!pK%*hJ*?H3msG$7j$L8g>VkkH3b@sa*W2Q*y;XDw zvR8dwt1ooE67b#wNS>L_R#s}RB8t&1_7(v$mT9jlGsdkR3foz`Jr^0j`FgxQm5yi; z#ibvUc&;BZ)ES!=c#W0h}dB^%IpMJw3ZI%~x8p<73)GX7g8s1H1{Q zr{1W=|K>7RXTpP^t&Sq7!YNqZ)xk`U@HCGv+qw-R>=V!P&Np!Ruu3*o7Ob5GPW^a&&yaFYPgOU^~a>t zsDCU}9;va>>Cnd29{z?ep)8!d>V|$Cnf1*t=L4<1@V{I%w(eTDbe@r1tVpyaz;&IP zr^Uo%f?@X$N->~80WID3#QQFiO07T(RZpJ&6eowy%!-zcgUQY(?AZO_ac#jz|+y zY|?hq@Mk&C8Tl8$O*7QlUajK&GwL2P+obZHaRMRMw?O`U`&wk9O8X$#oo>_vn1geV z)PvW&*sgdgTJ}rHT@Cm}vy+f^9j)x>YPd4>$C+&s^g!Wx5~5cH&tc$H8axIOLqtK7 zd`fmxjpe%z29Gr#*XqHiDeLqVxDWV=bF}lApo&ZnW}M`&`oW_QU8!_*E6FQfIU%9F1$3A+urJ zRllqb@EX0F8?{SkdlUMnS9PDS49OLCLL!Cxc6{m}aP3~8l9VJ8;TXi?Q|WmNd7o}x zdk$4qGk4+YI;bkJbw)T-GY&4(>wRdEvo?_wKaUlXpHLi>D0^C!n0viVE2-3dJ=^N_ zdBLnqg3y7l!|ehOA<;>}%jbR^BBacREHe>s$Xypwa`#lz2%G6`cF3`{sTfNY7x?#p z9-hImc{kpH^qfS7n@gvm(nco9jpyJ_iWNS`=abNr0K76xM+x?}3&;k$knRr8F1M{3Dpb}J=PMpvZoXZ=Lk`R@YW1l9>lj~pAB8%hFlMi~PWbkS`B=rC zERMDj;1@gP^;y>A7LShDE!5jEUm@uk(@Sp0dd<1G5}&_7y4P53CpY%XnuN_liGU5( z75Uy%4>1emIZVO}I`2H`u<~Z#(^=z-@LxvE28qPzE|{Es#da9Bqg~+{1n*{x#*6YP zwqaYtsEQrI9+l=C%(ltl5(i>bjDj7dFhUHti{I@*q9?2S!En{R+i^($N|D_WtI-J! z)IAu_7enM;$!yJcJ0X#Z;L+<|K_2jmAXF8-%MCLV$~*V{I?WvR(P^{SOWre6)8YeJ zx&g(&%e01=wpS?X76m_iucH^&E3|Av$`}?HztFBRogd*tZ6e3aSzvzo0H#5Dxbl9* z4ycEc35!R~_VK=rjXv^)$V^=~M+a0m-tBFg;(~&SNsiz_6rm0L_x3I^)#*N)f3Iw^ zn7hT_PdH)>!kehV$lZRGOZ;?pgsBv+>=ytVhET2qYH*CV`f<+3}+O3KE{?pDN#L4UfC&r)+)B6o*5kMfL4s;W;+r%NO@;0U;T&1O~PrtRr`VI@CmX3-% z(YmlOW6t6pQ9CLxr&}ElPKU7he5jdqZujFdJ28JJE81O=v-`jd5VKgH|4cAWvwI+9 zgq%x6?_}aV8#xJsT`qb&<|CW{`F_^YB6Sq&Hhh!tv)1*dbk}dTXY%)Dym444hcY}ONCo;sIsmDpOB^kvkpzzHI z>I~@0>UIm2grTnS&ei;$Oa5?;t#Z}wiefk8cy*)7gFuE(Vz%>Z%qI6kHhN}zorb!7 zL)=7N*cWkjt;*hC^iz?4Erd&Oz77C+x72gwDYFj*!`o`Em+70n7L2-_%(NY_KVNjM z<-Iz7ladA#bqOf=Xb1wt&@12Uef-Z0pp?$%V9DeYz&5m0xqGLOPgx+-dA|eE;oYM5 zOghYg{q!;GS%3q8FNym5U#TiAKw-x{dr2ywMRUn*7?Ko0Xi2USZX$3el2{+EazD6H z6#N)HVnsW;c4YTR!9JMDK?R>CU5Xi{Vn#$tAc@4j7sj4?dg=S*~4j zWww2ZnEu+mm+XK{-Iu?4sO!z~SeOaCx$&maRhW8~;P)1hFAs_$$fJI{g3Vc{+ZZ~V zyKX~V@qzg{@EK#}Nht-a?DJxd<)gv+@6!mMpOH-P_#b%vw#<-X-k+)Hw>u`w(b^o} zw19vnYGQ4E`2#y)0tph65yCtj7hjMVdd0@gQ+}~v!xzf0Az$=ACR@XlKM_TJrc)L9 z^?y+Z##JSLkagekzj*e6w(G?d3nXHh#@y*D&SIE=89Xb|X3Z;N5}BPbh2jbl1cN6> zEgUzJr9R*wWeU z3yfhJlhD2+^dc4yF~~*NeVQ?ER}mc@os*L@d3v(T*E}t>;>Qx7H@Xblx^ll6pxS3N z0_F@UuA-J!7iwk~-OKEE2TD@nctIJ2i=dn6(JNwSRny3H`!Gix;689LWx|O}M7@{K zOBmk2&Z=Ho~E;~T5TF6OE~*(u9sw5iy%Rs+hk#bX$&-@^_Yk<3chO=%4~ zx@*!H$fZ|PWiiP0@w>fyMzGG(3#sq$$FvJT=Sv1`<%a$2`IkvQDw3U8Fc2K} z%l#(KK>kXJ}gXNACh;Ou)nx#R5Z7n~+8_e#ha(ntCHi1do z@wj&~{-)9d&3y6aWbs>uUK1^Ae%1T4F-!X@iPd;2F8bdbS(M`~Ei7QaEowKV=^AQ5 zB&-r(BgOl8-wqbV_8IZu33Z$3E_UxluwRPkgxYz17Pp_Mv`&S_D$#_-1 zx8Cnp<32eEm6P&aSNFI3TYKqqk@@Aje#77wqb0n}glV86seVJZzMHU`$K?q z`UIAM`h0+U3ri_iVU6Smxl~xS2)iBO(kF9PqjZ)c&1~2TyfhHqF$=d3Hh7}$H_B<_ zM{GM};RwZ2H#)7u!@fanWw(&FwyxR=;I_Wl(nQuJOiAP1yob{4A$(KnK>RJRSy(!? zwc6&c8Edn*r~rg}+|wUfSpqmK?(`s?ysro^c~n-L1|da6q#7`H=TFi*+JnEDxwD;d zqV7kI$vt}@i5i)h^zBT%DlRRB)>-#}UC_4MpA}H?8t;`6y^@Yai%V^-SmrUKVa_fs z5(YupnA43^0p$YnH^l%ihFUqC zwy`|FF)<@W>3?JP=qKR@fK_yvUiXYmqbg~%Q%Z9wY|5xlk#mqBL^YY5{eUuZuSyf8 zLb0tFphpf2fIn>RyqCV2r$|ai6a%o;V6#T1|4ZPVK3)`_UlrkqnQYZeN~g0kb*I&TtAae-TXgkD;hU?__XT#VMi%-4tRFN$a6f|U z#@D{RuG1kC*YQ;s+E^c|0t*XD=9f1@I<&*A^ZzPlK%W3*lO;Gc6DnSxq0iExrF(NB zOB1sjcPnuKd}aa)(D~*S_?;NeKbT5@NYp^kNTDQ*?tLP-!cZU(cb7q3?_!zoc(#1P z(D3mY$Ut$ws_4@1i)@ybB3rl<^(O!*M}9#?VBA~!)qF|>=w5)gN%k&E?YiP#C=#aV z37O5E?dnRwL3!iI5f|6yANFSO>Tt!XjM8=1ZHiNnofo9w`&0DH$r=zU*(z(=H_B-g z`s6I26!yumkG+HDei*;`E*1qjYAh!G7}gd&rB@AuJoqAA&GQd8G}?D#pX{p7b0|to z)=%#y=4QmFLf^Gs4A9mNqc=Fp8d#*x9Y=ILfB%sQcHh!-m38U|^zvOl0{SrDc_}jU zWtWJ?6ATGRL5BuYKd@(0Bo41FF=s2T9*uKCCE5E60t9f2^&P!-#&Ts}girrocJBNU zZtwVNuEGDjI`i~=fjNJ;^PY4ecS3G|n^phpC=+bf5_LcU8=H+0XH z2Q)+jMIy;70j{{?(|FzWs*~M2RGUQw9oRI09cq1L0cqlefa7n#1({wzl4%QZsTV8;s4IwVdAQAh6Ew zD~MOuBuSEMkMt^7xT~iDNi8jgah6SdH6vm&uB`2&|8Ogrnh2R7scuju8_HY_x%!sK z^I}ct0#~|vF%KWU$}WPrb^?wEQwT8f?w&G}P1B`Y=|6OS&I5NF5yifqQzBvfAMPZ2 zkJ1&g4?j+Oh>1479Eei<<@aN=e2XvA$EYJ5<|XKhO2E2b z{n12p%zKZ(0MtYr&CnWTaaPfxSfLkc>zp{oVs{4h^1m*D!7MI+*yT$RR50YD7s7cv z8C+3sL2%rzufo2QY}xIIk&*Fe#i4ey2d$EBii=L}hu_r$+Mt!oY8!WYZ7ZA$4(U$@ z*G$X|a1~F-yU)2>I=U{`;vd*XgkpB{~dYiYIGbf zk0UHQ5gujH>L9)K9hjg!cA{oV<>Ve$SP~06qpO!oMw<-sYsJAZ>qty#YO9160XIE2 zRhGISU=B_cyMKWg&2lC|A)njA(|@~C=@3}%s$u0@rVGmh?2EadMwUBg%KBy|vvh>? z`{f zSMer0l`Z!h-?8Lz_rJxcbazo9iv89xVD7!R=?Z?}BpcY3Z7BGUoWViihR_dK2jk7* z;bC&{1%}J|=g>9O1!R|T?v8}ig&K#U%j8otKLsv~Ql3kPkX3z==oOS&CE25f*1&;^ z48&udC@?n9vL;G?ou_jx!+locFKI?Aa#|xn1Rn6Ai{`Kza#&F&&o*sr# zFjxR&?}%0ig4B7t=6foWN5m|EdM=lD*HpCa))CbaB>OK(r zMK^s>(ZbkFNqw96^w0k&0x*Kh+O`e%4j*0m#+1P0@Uy)3PnR|5BiA(P0&Yx{+s-{g zZ7|36kd)bCc}6O-%46oHU3{*r@Rv1fL<4R8DYcacMc<6Pkp2r{o4*YL`2XDNOVwE zlQR;A5$tRG|Cn%z-6UYbI~C@e>rWU2P<&QNQ1#K(5Q|@oL_|UGNW{vuZ@C}s!7eU5 zlcIUqyGWqW_N*sS9VGEvN1E8LHKGSUzcc)ghGYTTuIsNtYCYQ8MD|fAY%D-{kC>uV?M7M@Z8 z_+U`TY>sMu3VMipo(wWco?g$Nu-!2TzO}*kzi<7>1gHk$e)SUPhRvXg&xaH87|Z%? zJLDY?$E9zJP9N>>^k_{Y^j(8wkg^I2v3zDB3e564ppD z+1~wlZDtxY*z3XYzmO$&(cFi4!ON3v5K$C^j&7LeQJ}UOKP9@co4p#S%XR z<~1FQqL(ZtS5+AG@@luwjm_eCR8~{dnG@Jit2|x^j~6Reu`T zJ9EJ~qAnjQGIjb7qZ!C0E?o_c4C1UFcSgCDo)|^`@oS3ub!Ow?5Y6B z64*_F&Bd)_+lMGCm5P<-KVbR!o@dR_B&hVpmeHClL{dW4#C|==vs{LBJ|E5#y7cqs z+1A>b{RiI}g7>VvtMi$sTq0&ck!HKUJvJtpFr^=1oaGk5qkEoWp_~AfJB~~RNgrq^ zA1oh>)t6z7^PJc8I#%$zL}J88R-%aA^_ruN_IFp^g@}c_=N?{q@u}!l=s*ic2Z(PS zy;ad6NO9Z;^O#aJCAobF$(C!nMuiAFlH%TV%uA?O8RkmL1EanmKX^(yq9|l7 z<<3+K%a`Mq4e^1f%U=ke4XRkvCNg&B0V-$_M^gP|ON6Ty-dU14me>Pt7 zDn9%>tv*>f#G$zGGfG{)uas=(-;p!WK4uR9z|yFFRk1CJFXNc)mw6 zS0NZ#_a)?iS+czQDZiEVfiE5EbHOROTD_}lZvL0secfMlrOXiQp^%a<-Sy6Ss|?^U zY*tU>N85}hlnbf+AW+y@vEs5CA&ku`p8n^QLxa9A<{4#F;UvI|687r#32$Q{k*bi= zXz3Ywc{hs(bwyqG*1kT;B)B597MgJM2PW!>+0F($74FXecz=^5ZoUa1}O%f;E8Jv$M@KK(0v#d=O*b0_y??E)y0eXYFKnjL>~(bFe= z{`{L8mdEDkR9?WoV`MZF=PxDz8BH^+Wr0WrFPdVaZ6}%~y1P>A|l2(RUq555C$3 z3_`I78XCf{mWDXBO2jt4Gr$-+)W$(9*4JEbWX~Hb&ztJ(GRT4{G;8MC3@6gQN(EnZ zeY}BD)s(?>OVa?F#Qv4bFD?P1bY6_K|QJFr`Gn!Z>V#~uDjv;;)$$mSs*&ktA) zF{1TPc`Qdumch)QH*D!J;WP)85Wq8B`qb1^*z&u!G+daiY9S@{`h!<@=>y!YQV#ue z=)Q1_O&!j<$(QMjOAl^#^lI-jJlpJ#`0xAcal>X(Ssz*L7ah;_-E!-QB0K&flAkw} zrgm9tkf~#YW=zb9X~eEIQWB{zpZ$0;l==b74S8PB5&q#h$+{RY=e3>;wgkHkM%&~R=a%2n z|Bd2?P*Fg{gB)Y`mFCYoPZ_at-d9Sw=x01W04kG4%<;v^(LSW)>h6={!_-G+rrhrf zr9XRCw0vI42NNdv_OK6#f;)PDXluOFi2k@oC7JLKhcsLwGWpJu^)>leAKq3L>?uF9vwF6#1^ z2lJ8XD$vdeQvR5iguv^(CVB?gLSdcq&2Y^*R>=%31cSZLV5*of>mx)=O?yHrTjvKC zQO>hYm-C=22`Eqa@WAotqeGW$991to1uzurXwW4VLTtYW6D23^o43ptt9!Q4PToKk z*Z*j{P0AzBi{!g<&JqKqmw@2-0cFC0xCKyigWkfnnIWIJw9qDkUAKwX|>e& z9DWXO$)R}r)Gv_i+BQO>?w?Uc`Y|>5N5y=@gO)Xf_5V^kiY)oy3BExQL*8laMVYG$ z!}ZuXEQuXDZ@+Ubp zf;E&3g@HtzYX>wv%r&7r3$MFTpR*iv_ld_mM+fHqwOx&9J7L9&2xj_}jK8X<31Ao5 z+SdA!9xO7s9wS21O8oin9q;o zX-waLfXNB0Z|u+qrbXuxt^2LrI>zbYKnr!m*+>Pd&Kcww5sm^dGap$C)Tf|hkw2|5 zw{iRwxg2BSWpRK$T0$q*PXKw30?zh9u@0xyOF*YgwBv(lr9N%y@7`^#RX2(6;t{;v zRfJeR!0=Nvbz(+tw+&_cysFgi%>J)@am&wcM}9xF?P`>@e$LhLJoTS1GkpJ2z2Kzu z&)uc@`O46QKJ*TQ&(F+A`I)aREbOt#=e{9SBB?QN;8ve@Xun07 z>kL#epaUgJ(BU>Gd2_T#ac=wOXVY$-A%0sh5L6qDcL_8r^o!V&;@#pUb?F%$ z8#lHKw5o_FVPS32Dkipdw6|OKf4!GdO2Yeyc70%LuanWFczr{B@@8{J+iu2yYf;(B!2wy{7n?Qlmb5C9%z_ zm@RU{+5|CsQ{HdrhN%MJx-YMxDJb@hnz0*}0i9s>=3IV0P1f3L=$VrF#<(mCBC`yb6Z zH?EG-KY1LBxzcC|edA-r1Pv2TML)HGVc>YS)K4uWRNGF`TAU4HYOk*?lz*5CP)S_G z&1{#K$Wz*JOJ zpehuf(e2zfJ_*;1!?3xz$$f37@o%S2fF5at5#NgtF}LK20t0w$Fkx8YTlpL4ooU~J zQj5vZ?(0rrQJpWU#q$nkKZkPZcb>Xm94(y6-{yY3d79*V*3NQ(K~G%w#Wk6Y(C6y0 z>o^8P_{tYz*EYPctEF+g)!Y4Rc=m$l6ltad8VlyN3hif8Lig6*+b+%bhmj^9Z~??m z)7iVa)ndlu$8^KP=bN2cHrTx}nfVmj0qfuJc{sK5IYmUGMg{mDzo@!_Q}}2^!q6~I zozvRFLMzLl=Dbt?$GaDy`R#>}TH&h4DGy$WTQV{)Lj+WnCX(=hQi9mK zAjb~w-qeXW1*1^jR%gJhYd9yvl|A;tfV51w=Z$97PNtW$Z>%q$!8Ds-WPPKHTS!BM zzcMd=#=sj7tDTNM6Pk}WUh3=;8pXb-d$5f|s-$eTw-?I6%NKa2vAd){#2TRzULH<_ zTuQ$kHgD|X_e_@IP1|$XS+VCHB@Wf=Cz)+zbPP)~C(NN!C_62Ui-ThZT90nW^Cpg& z#JI1)B*(g%8b7H|+Y9A-oaCeuc!wo1QVF+NWZPc_!N6?^n1nV#?q%L-S!nKrKIGhz z97eB0bmYFcj)dWnx{6}#1vCytmc=x6&;IM@yGKzrgZxQEsVc7Ci~`6P#D#`BvH?j* zKtLiPx;gf)y1Lp=Qfx(o_B_eJ%ucuzbGU%*C#ZZ>ZvWBIJ^V1C-(n5-Yt|@L$@5{5P_cO zUfmY6ZKXU1^&hp%E0Q)R>ulkLam_q)l^ZuO7#{ys#CzJ=M#w($=s zi|%3kY<~%=;2AFq0(|75ZrIjN7b>t@AJa*vgcYbjVcQXgUe4qwx$sJhq#iT@^%vUJ z1=8DGrH*l(FPxpV>>cb&Ut4p0_oLcC*rw4<`&{u3@#XwYa)?Ho=4}4DZD{-2G`+=~}&Pd0kW6p=jzn&p_n8*ZgMm{O%bS2rd z3m5t+6*@oiFJ;8E+BYwckcOF2ezer7EaFB+hv;e`BUo6(5{L@%#8D<9{ z$3ky5f!jV&vtd_+%BjFrI*vkr>UEH-x0+?0hOP%NFhoxbI4gHzJhhQ-G|kZ2TP0IK zKivrZm@78S4EBWXzBeFFxq@hu}!VVRZcZ;2Dm|ACi5Xe4YBA+PdGl-2xKo{GAm zCQ)KTPrH1mPB*&E^KY;&K?FW-MoFzD8aiW_Z*JdtC{6Lr-EUkJ7>(n_^gG?sq0P&L z2|VP>@S0GuLZpT2Dv1QdKR}^_JPO)qY|W~M&`lchnrrIQgJ)pK!M|@m$VKA<09(md zl~_ikf3aBbr%1tJIBC^%4S(^ZcMt^-_?ITK9!u*=lz{8;3uHqmOGR=Al2Hfz>t8zI zJw<}XrpMb-;+3Kl7qhL3-ghb%OJRp)QR(nse|z&OCC}UWkVjkWe6+((#z6B5rSONw z1UWTz;2{ZF+RG?PdvYx)$~6GyI3IjWKc0|4gT#o5bX|b_je#ijnKK3@>cyiBltAoZ z)kZ{tQvGFng{I;*vR9>lk=Ha*%v zZZ|-E(8{jA`j0sW7d3*z+<1vU%6i%&y*YpSmms&jJm+`5ytBFK%WMtrAKmnhmO{TQ zbgTR+(|{*n1PN+_>CG!^DKE?0UoJ?ins#ks=-$^rkJ1UEBS}B~x2OsCB*FFuBn{dm zy3(jL4eh3L+Ij^_e?gT8%Eax?AB)d5VPQ1GfSu_c>^wT`?v$#DNE2Z`m>wFciRygb z0n;9GA`yQY2Ch&Y6sd@O@50=GNaOX!{OPFx`7H|Ng^$0=LRcmU+@j8Z(07(5M`b4zC|(I+QX+p$aJKH)d%1(tq+Qx($+H317gksy?G(w)_xQ&kAVBmtU1wo{q~E zi5^A`{GD=wMybrPy7h$8nTmE|x4XvEtuoJgTadyF*j65`9#{Whb^3AdCo+tUJZ@NB zUgmdyui?d}5UL2seS+y$=C^-k_!C%+YF_(9fv>*l(~hm&R!Fq}!S$0m_JsEv9B5X! zMH#ooymLbFec0&Sdg}~Z(=sklWy$`-Eq@Nh{3BKmOnx{AhD79bLt(9PpI~6|U0mrERa7#U*%0PIXQg8T+3ypl=c^RK=6YyGic|JWOh!{SUc^68L9Ijf(l|?Mw4Ofsgq|jKtmR{Zm#qITn&sy zOB`Sh6_+!Xz-SR;6&{AqoIE|dsPhca8Zez&6orjg(j4>A|8yuIM2-K-3NXrwQ)e)j z^z>`pJwIr0GY`^< z2s<&h9|#@M0H)=y1OdtPjG?zyZM$>L=1WQjZ5(Ogr#w|T1Fh);xM_hlPeIUe@j9D3 zgF28cwY=1p@3G0hyDP%q<^GaYtU`{RL&l4Og&zM5JP+}g2N#P49Fb`W&VuRYl2*}o z;|X}b9}3`LmO;X}`O9zI9UzHtB1H%!;+_`ONzfxne9eS7x7rj4cKb}^elxl>ONOaSY zfZ<`RgU(-jb1RAH{Y8SMKZ)(_05y$kXZcFs{+TEvg9q``jP1z*757z67@n1?kD;qz zb<*`m_o(yT1G*0|mgQldO0%}}`1ugetv(sc4Rj7)xitFo81}kY z*S?IWxVUlqu$l+Y=VI6vxw-#-8CV?6=mV8mB<`oLSzS;T0q&8uCIF;2aE7k~r|=#E zN34Pr;5RMvcnyc~Yr;1x94w&883+nQhqm9VA`{d6Y2n`zECBnX59+cWP8vkGuq4{0 z`+3nHfCB-~tIo4>c~Xi_JSq1;(w2``N>9HPOE)>N4C^=k5jWu25a+;G_h?*+x3#)^hmpo;{=85dJi8`9 zQL^@c&8kh=!6HA+^-)z6Ev9h7^Fy$a2D7hU9xL_9gJ-I(eAfCJ+BsvJlh=6Q#$!RCd zSbCCM;LaQ$NC^2IS~*aTk$2*z62d^s4{SZp@L9tMFy{tRp}Y?NB+dI8*Aq;UC;xR& zf{dg~KbX2VxV&)jb}|~@P?YZX-%cWD3Ta^_28vaiZ*)e z(UyhRPTmZ+3O(z1^$#2~Qqt=+S7}cX9)&IJP!Ih{xO>^~ozTMY zO4Btycji32=~dh8e=~`AV=DnattEHy@J$4u{KSIu?gG@M2t=F}tR#O$E_reL)E-)q z6PQ(a{UUa~-hDA2dHJ@rBK8-7-rV03XnZ+;nIOE^YNZHmLT)f3iHmVt zA2C!TS|3rIq(146w3$z`3(Fl0(FD8=l%B<>#96=XjK5uaf`HEJ6Fe784w2>)nBI6$ z7{cY4DMGg4F#I8n#hO$EG>WqrmWUXXbZ?yi778^TN^FR@9N{UAYq1$vUYbQ+YF}eZ}-W$I37^jGQ#es#?sr^2zO3(ZmcteZyMA!27 z%|?og@H<0bWI|V}7TN5rBc%r@k16(65Z~)4_u|!A=moQ{HAb#%TzM8DQl?EB%{`n- zj2`cWwE4Jy5^9(`wJRURcHQ*_2fmRE`L&JnJK7Z5CYix119N8nh8+9q2YqemYx>3z z%NK^rz!Ru^#Vuw&x| zDw{xv0u0qf`K!~OJKhH@#YKor{?*ArJ$z)*4V=ke7X9k6p^Tg1<1AwtsrzI4y?zm+ z0*w*6d^r1ji@K@hTQSg7;XsU*g?bv$6Tvc`W)U8(=fP)mt_1%p3~XgU5;6azYHPK? zzOf|eH)c9%C47f*V*wK4Kz|{d0vux5|vy(a~vu!p}`-Uem zBe-<$Zu}j4h<3dJ>1Yh~^NuXYdc0W5^iFE)99cT|L%3{-GNF&tG+O4*xIX_7%P6XQ zycc{ecLEqh&;~QI@NWp^ANT#h9_o;?t0GNQ5zq`>-ZmA`=!0KO%Q`pZct(vP6*!8O zgW*K>KlOiYfzu^|vNO7ci4b+BZIWrg8K>VC??Ck~5Z%Yvx@hD68_%V4k6f$7TurZm z1p3czWjuW+?FVt{#loQZs$u(j(BfS#Iny$%@cGE0JAVo+4k`;mxsRt91{-%y9dqM2 zI5))6vnN*_YZ7y)A`%?8@BSVwm6)R2x^NY}%VH*m8NyfdQ`28RrsC2m?vBNCT+tov z?xCYOCeGsG7ck-OYDgnJE3{M`{p+bF^lKButzX3!d83>ofOK5&+d@4P#vPLAj%K0(CRSt4FPi^Rh@P@&Mw1@iBVz`_GiRXC%B0+6H}v?5@NP;TzkUXlO9@G$G`?wa1*ygc{qxdO|a%*?yofxWatYbjkCP=)W? zbuTGPa7ovK>0+yKF;1eoPfi57^W8l#5+^VvNdLqN%s}g068XU^XzilAv`rO~(~m8) zaC%>Fi>YSba~d~of2#Qw9?sQTcvuD4U@)_%e1CVrETGP|pHxv;zn~9Yp7yU<0!CLh zWpf?3D7v?0aXK+(@NolI?ous{O#qTIkhL0!&_J49TPt@CSr^W8kw z+Og1^C&&CaO7FKJg-|59$4VT%Rd;4({C`_eJ3Ix`jBfv=Qu^A{H`Og!vRACisP}}Q z<;Ztqe8d%K8*gk(6S)Pgvk2XNS124U4(i1#y{F@4z)xGAYW|J`lfanlREE^9KN>#4 zFa~x03I0Cd+#_rJS6z0YTZBiaXl#-j@Z#^#+Yv}7vITty#qBaZ6ENUU;(Hio2C#*E zAXzf1WV*-acIIzGI$Gz5m{U83mj^sbs<%>?{n8-6}snY zJ%Li!gqdOPvo+jK7`}xO8|mI*HuUSIM0Wfros(CFM7don$1(q#WvzbB^4RRe6^b|d z{PZ8B_Lh|<tfW&J%THAUlRMfGsC3E$9 zjRC6Jb8k7Le6QCa>uavxihO?i%RtIBcPk1d`@R&*Nk&oH}8 zstE0Z1Xl`U%bQy|XXW>wtN*&7lHQ@G1%L9hq5K6==6U2F^}>oz|7` zz4Z@d7xjU5t2;P;Fm9}s73tU-uNrBCbk>6`$LLL7xy*|Y%`!e@tuMg=#sETj7o5_4 zAX&~-U*|JyL!=trxhDrxD2ZymdSynBlASwOva;Je(b&Wy2~5sB(^f`_?}szCa2bxe zKlq#b(rasP?pgkX=~8WL&{Wi$WmwmqtTe4unY4-3@&X}>DLiS{>NFUpf8GBD;+|dG z6{3Uf8)(G3SaUOc<`8uUM}lsKC|s;pf(X;r;meph>&wP0{F&>~fv$`HUqiK2b#w-X zhGO2lxeWgSx0*s1QCT<6Xc0QPpYO!Kcu&O%xnF+gzlj?-W4PaWd=z{Ka5(YuE)r#Z zWbb^L?XY>WNHb`!In`3zyb5V9MXFPJf@WPPWWVB(LS;inTvr~#y z!SA-+^J;6)$LsBHtL-=>88C4!c%6VhhypM}e5O{H>juj=7dtEYwYxkvXwsgo75(;1 zjTA(DVPT)sGyJcdG~nr{=1}ej{glm?d^0~Is3+TW#H{OP*WS;pxiBszitYZG%d6C# z(l&|T;J)_KxBDL5^X0@j8*V1QNeo}5f4|I2JQG))F6f0-HGtuYep6Yo?-a)5x+ty z_RY2ZuJ~AR=l0F zq(Poyt3}l8vL!?@kDtFlA0V9K2=kjL;&P8Yb>ie~7A|frN>>LTv&9Q0d>P~W-Rxh! z$v(;QfTLSSi7qh7l;YcOKc0AF7I9}@_eXK3qdE)9Q6{jIb6n0+cd+=P36b~-3@rG= z`vR%@DBT{BUT6)K%wR5E|nxRO`=#PYIz7d_?}YUiWCBde)hlIH`; zVUJ{_o70+AwshH0s)VI>!-5S_#Q#2rfrZHks~lSOtomXpTO3zM_tp4g@9mKdf6g>2 zqDN2pZwHtx;x4t9=4Y$8lw%c43pv=D%S0(4MYacuSCMkj;S;n+hkh4*jiLR>e(sFy z*0paREE<29G5)&$#zaJ&R(Uiw$Abu($4?@?u8w4OCNb;YnTVqk%v_nni>fYOe$kN4 zixg3wICu29MZ6^CXy0>rXZFTASAGK+Q1MBX@ezzmqmbX6? z*%i8)@9VCu+vJkJy!CSIvKsa;t^MXYe^y97E6(6Q5w7>SD^V|F_;(7ZPss|8DzJ%2 z{=It)tR42@@cM0yp6_2Xj8U)T%P~*iFsw%0xGY=bPhjy%*L-}*uX%bY`t-VuC?}(! zUtQUxh~LE<2R|*LBFc3J#2$f8u-N5&2_S6qo*rH=;~NnZcOUh z`haQkBg|^V^N6>Dg7!rl>4ORm9C}-h&wQu2NN*t>mPeQl?w4o@vxf?W&zhJtx0Jp& z+|-@I)XvXGv!wcbr<>{muvCOk!k#Q-Izst$JyM3S% z7+4ZovDvL5#fhq~vg$)}9Tv}S(L~7G>@nunHBB)x;81x#SxTU?SW6!1-|Ttu+lyKE z`%j*ehsWYZzEKc>Y$6Vl&xj!onh-1dZ7RaSSkgM0lUT{a90>9+*d?MgoAkZ)x$T^ zhq^6)G^Zdo1ZOG@bY4AuLks}_>*V%rmNUi4mq%XX5#pyWvg$tid9hUL;MOoN{WBw7 zLiYL5c_EI!NnCaEO4GNh{R6Y`{P}P{oHQsI4y$iobJvsNj@i&ISc#f1-BWp`fDCf$ z5}^HS(7_(*U(9^)`1al>Su#Zhns+WW$n0lpqyz;xT-cUL!{n^K_|AZFvMORDg8Y<( zKQDkfcHCNd9FCT+JbU6l)(8H;`RujDhTPg5{T0g3#uu~UbiJS;q%5)Yb=tYBH>YUd z)bVa<3#MM1>(G*7W?jBV=q^$|y;;bQLS|38B>lXEwqbt_*&=Z!vlLHQz3!l>6_5MMZA!bD)*xZ73mTdZfrRjXLn%5;br5C4`h9H#XM)#l=P;Y6$k5P z%t&TgKv1JA^RxB7oX9AMSCx{oa^Yrl@=#4WRTTk$qbzvrH;X&oEOAC?PEhFXmHQD! z*N3OA-6IML*%1!ur1izc9TxFJVfwoI$oFk~fAWx+vh245P z`Fs9%)yv}5M`wt^g1%A5+RMa029&nDzOpqk-I*Y6dK4RfA+WJUa+-mmmbc%scgBgY zoWFFlbehrN<@s^_WHMrnt=GJMPHA(OWreHcna@ic$XWnfrpKN@N3xBTjox~^z--idhNOH)dj!GufM6)%&a@RVJ5<% z^yI)~UhwiFziTt@_dQ!;8)Vf56%2>NS@tRT$riv~8wnX;o!p&mx0Vb#9Nr=-`Jb&& z9ti2>=i>M5CYoMzXt>o-=8P2RLXGCtFP^g>3}mEP6)TnJ4kV!fCq5`gIxRm?o^OLdm-y3nRBpa;e?Hp^RIgsZI zln^KM+VjiEbot)`O$Q4EOSOHn4h%qbyTo<5sgSa^Qu|%r554yiL)rqU#DbZlS&;_^ zPb6OP6eMhCYtyh;<#OQFtc~0J?}m481(?JZDq-k8M4ls@E}jiQJo#~H)1P&mCtTS`PE$Mou7hggQa8y!ca9Tkka$$5KgrWv;FwxEwMRso z)Z}@@<+W(UFh`%}Q8>IloUf!)^|S)-PDi{pk?&od-CGe0e~~y{qxQOdD|be4vn$|V9!d|y=jRbRcg2=lgO>~~5ew+r4?^Hz_w;vOEZDYkZjl;`+&ice*i zRoo5Rbk!R9`JOte`k_v_{BGx-v@$AJ#?XbLR+2RYteJuv8oQn;Pe1l7pK`(Kr$3Mi z@e97#qC+IRJdP&pHlKe8fBSISTuA-b+Zc-KllY_Q@9Jp2|0w8Mu=KET0Y})(h7xvP z&^V2lnGCeL^k~nSmo2fTF-+*q$>G5xyK;jY?22lGr7B-9otup*T-2&+wC|gG{9lDE zwKU)TKwCn~N+-|g8pUxrDW>^CfMk=gLGM6jgESL4bQBm^ZsaW-1r+c3cdyO=@U48R z?p9-Rhe`WZ0RMxW;mppjgIexpZF$wJ8+(l}+Up=L|E-twrrM4Lc_{MY75o@-5-aZS zl%zgqx8|cB_}GzE5VN)o-}sFdMP$V96S~p?{9YUGr4Bcom2Noa_&zi_6R}uct`hpn z?V*ZZMk3vTYX%*r!zRC@a4+KWC!Dcu8-yU3kf$#N*Wdj-yN4 zGD9053uu(1mhdWd^lc>V2X0YADs_`a+}ohPyIA*(E`jng{dz>4^kcYT>=}7Ul3ZmZ#rEMA=U>0N1hkzK%b(sMLKR)o3;IA3{Jw+lpi$&>N+S(z zOqfikqh&fg)eV^oLQEdJJ6T)O3I`{3AS-%`YK6gDv{kNALriM*wb!mb|+YG zvY-t9qhEcrFf^AeKbJH^KAg;TdzLL~sC(@6;o+XZ*vI1xi+o#ddcWpfTQ=`=m7cfc zpO9)_EARC`^-?vhlSq zT~gI^1y?&H!lxVjJB)FY&o?cIJ8j=XpDTY zPA(bUpPtw@^`6DIa%BS-7uChmIo}Y0*dkXOaE=jm6nW4?rgrxAv4n{M;<1>hD|e*u z>LdKaGXm~Jl0*?hQgDX89m(PS^^z65sz=$(6F^~8t$#ezhCJnowSUJKJSKXLjO@KSG&yIX8egK3(L zYf)SYeMIxL7O}dzdj0x!c$nahd}HB>AJzq8z=sraoTcQq*4EVQ1ZlP#?j4XU~%HM${8mNm2W;Wikqv|?jtOFR7V;z zCux)4UhXC(1uCk()vKd>?bf(BzI|XQrh9o=?mlpkuRFac-Zbv2hmD5u+vrM4O3KRq zNLEVRLe%Gl`+l`5)H+}8sVtWUKoFIqlK!{zWD}n+4OowaS1S$uV)pBLM*W{@uu~vXN#xQGeS6d;9tLmukVaQ!2lfzj$-C4t+e|ZH?7BK)mdj zO(gkK3&Un+Il!6aRH&LZ;}c4QK|F+3c}z^!_hvzR!W2tcj@N@Ig9)3sGDN>ig+~9z z{C=+X6|1{X?64K8_OKKzM{8g4l<#DJJZ1fr(x&Dm84T>PdHgtgz`E-`!HcR7IHI-& zus`D*=l#81LeY(3U^?4msS8K`3Qaj#z~z*}#0dDT2);Y_rsa@lzQ0s_qwL0{r)}S@ z`RLwo^2wMF5Zt7f|HfNo)s^2ACHA8dyEa!VG@xtbBjI0T;A4$-kDloNu@kYFtokL^ zAUiW$;!Ea^tkR692&p5aOCFmihx*aVPm-kb~)xvFBXfm`-xSZQc&LjFuq`*3AF#QwlkuUM~ zApPFttCnK%MaY9e^yc|6nXsQskr>!u0{XO9#&6cvkAAq5z>!h%xPg2!lm>b^I2fUQ zLf_JIHY}Y!I9n<1zKL}8!~dY&s&?*D7s}PNCokMHP^*|vBoMG3yC5=$xPFnm;8%Ra z8viZ#d*H6U>)^s}qU15&Q4VQaS+H-RKD6~-&6of%ph2lJoqOP;a+Brr;@0j7tSWRl z&7)&1ZBISZR7x9zu0ZOz0qf@add(693g$^jKkQ7^=*zc?fZ=KIPKdt##}4zT%lc2g z^zBa9U3pEuCa9j2aeV**i=~|eb>YeYmB2j$i2nbB7`DFiNYdhJ} zNQg;JG~zb`x&7bDHdu%IrSv`SY%L+#wSGZz!(+UsD)o~|K8y6G7NK&_%onYt)TLoK znS2Igvd`tLGlyZV;x$4=UW2ZxWX0N7sGr8mpvXFt$mw+YE)w^@Aa7B^a_CtRO-GTL zP(y(6+@D##4k4)tSvo1e}=+V9@1Hpvvv^sKU z^K1lv-^>?4f2ciCWN|@TrDC<3b~OuCG)bpaNSYxs5V7~;M+px;L!Iicer(}LqKVMW7amK!~?=3)9LVQf~hEtbaKmRZ*N&4OS>X`q1iUVTUp^67N zr;U|Z+MvSYZoR;U=#+25rBq=z1Zk}Y0M(ofNSRW|GhNVB&Vhx#;#)myEGJ?ACniHm zOR=HU6><_OS&nS-P0~l{Sv|o?;G_kO!%ZQ(&+I%CZGLaJz2OdJTA%(edIRBd`P?ea z(cX|M&9*eDsE&x}j2JQ1-O3hOVPXcqN%QYlj)dY0w)RlHma3`RQ1`5cZHRC+e_-I8q8)($~AUt~cCp>~u zLl|4f=kSVl&#{aOFwJY#9A3Ae5E!Sk@GEY4kRK48yu!ZPwP2yhI zk;x_Lo^23mhLA<~oOh1#wZB@LpeuTR`y$p?{HqJP5NwtD6UGDLMB5n-AYGL;`<<_G z-y*NZYcXMu%VUo>0s@l}apu@PKe<=I65O>@;c6@0_<_Kpv4>a7fjzKB?bJg}Kh#cb z`g--uhcc!0M-kO+%_6eG<&9WpkJ956e{q2S#xJ)!I{P<}3+mNcbYFKHS#RIfaEsTQ z__!_aiz@QpSSw7k48DzAy)%@2%7MhDa_rnLt1ei~(sWHJb%i#5$Mi$g1*A?qm@CneGnWeOA;{%Jvf8a4e%c8F|G5B`A&8A%gYLaG}Elv1+0nNd3x@}x(% zS4)I8-4P#W=9%f;Z=aVrLwEI|=I7hv)78(@Yj22SgDzFf>_|WJ?Io+WvMcXXN~sV1 zd8dnPB?q#;h)0L^?E;ZD+VGA68i5+ioej{Bi<{9AvY|73d7ECIy}9GF=W9O{cZUWG z>eH`@ukuJ0zFvs3Vr*PI_T)>x&K8FDo=lfH+Tep>EI=byMezn)t~^HJe;EVl(?O`F zt^yaht#8vnyczt|{-l8D{J2Bp7EH)56RU7VJdWXU$ds(l9v+S1*uN;77c~zQ*U@BTO+m<5`MXU8UBSa_Uh2<+T zj->lL+A4H4(`y;YeaU7KS)6YH0S03g=N_ssKJ9tx#m_gdt`ivu>rK=EN&*mGqW{AE z2D7z0$m>qtvsrIbi%4aK^{NX`9a=>IqTsA@c%S>-(w`eIW?B#mt&h0E4_5KM^Dduv zHKOb;*chE@(-hl2ACIz*o*n6T?OoRt$x6Q52Dwb5d3GcYl^n4YdSG8g7Ih;bs?J~7 zhSVkgR1K12_i|x1LYGM>l>*D532WsU%NJ=lF2~x;^qPmG9T5mXd8B;!Q6-L(n1_L^ z_XD(a=|S~svo!x^U&!kP!GiA=-Bec)L||_UdYEeQ&*cr0+Q8|$RFb_#cq0>Z4u2S< z3TJ9{47>*2A46}e<5sgd|Lcc&l|3JpkVL@b>SwSiXlySOjqOctBmQZA_JhYS2^LdN z`^zHD_>bW&Pz&KI`*h!#a3Lc3zB95Y@SCScB7+T!Tqf2O23TV1{8ATxO$EDd`DeIJ z%3lYzcAQ*ar#LP|2;UzP7pu1A?OxYTIWF)|FkNh4zB2Q zicXIF7hDa12%yff$53bQHx#fO&i$bgm3(H`sEByge)8ufcf?QM3Yf&sxQ&Ecu-ztz zHorJIw=7%off-ej8P9$s@>94|HEICIKs2sTEqrmM*0h3{c+~mIC3ZiGcbiEsEIiiL zCL<8$(((?mL)HEOl=7qA;~qPY3wN+qkQ`vRTd9bxWzL5-zV)%zcjIKPo#D{d>S2fd z+mY}%DO!P%mg;P#PwDHhK_*+#J6u1Or{VxCG=t<|B=MXy8h9?e6r?gSVm5%ciMRyV zrhCVX9EoB^K3aCnyF9Wr)6PqgWMs4edFMdQaJVo^H(vTmouPZb(wJ1K5tOAC(=Z*y zj<}ZlTxc z#94YmVNk0`7L@;##WHAeNCq6+yTrq)++Zm4;6l+_H5ewhH@gq>G*5>xN3$6<9XTeS zA}>uhqc&8kY;iP~dDFR|*IPPUDhVNOYYK~#(AP34yKIlr*~-1-`2NNCRj7IcfYEWE z1A-O@GFjoYx?^@J3_qzx&7QA$Ff-?Co^;~UH`==LDz@60jyC-?Tam=F+-XguOG*1c z2re^9+fU%;(ZQI&!Q2k!G6Sp(GWSv!xwZ}`UtjQgCNkeXeAhE%t6hHjxsQ1eMNu9X zP8TlHOt>C<2=u~do@iH)(8t}(L?-d(M!59Elnd~w1}{3ui#2gw(ai`;=)RY(H3B;R z$iVYsMI;;_Z*&=G z5L!0;I4A2l&I%c_1*l3+&V=u|0FvbroC_&{Y4;_@r)(l!7A!&A{Pe0Oq5W^uQ=q(X z?%1j>#G>KVA9`1Ryd_El1WRl!<*Vf+#n7xnhvlc(kKE&4lo@Iwd3qAcy^(`upOVv+ zWrYFwfF%uyzp0)f3q9tuN7y0Y%HX5nFmFoDX1ShvP144GVnv%jlt7JUKOh2vqc{a* zVcFZR9P`)3<5wL5>LL&#HAhupB60DBxL9)ZA~;I@Fq2E-`n$FncyZ`L<38kEdGaF<2L z74{^Go^oxgEcc)uud#Uu3j;Fw3@9$9t2WanflcJZO8sK(&QSt|nSwD}5G-}++-5;> zFSwWcKo+$!UK3;U;qr2S2rk#A^IDNPvHtbO`2@EksTZ$^^3r{vBn2t?%TmE7^5^=m zJFDFcaPsc5(sN7_K}R{-kB~br0D23!w%z1O0+%V;X@evlH6uOdlwe@Qu(q3#@z&Io ziwYZi71gNUcRvbxrPDi}^dMi{;@exHLekZeBnwY^8OL)NM-Htde#HcQeq-PLPQZqgw6+^kQ2uj>cedNFkBTi|rSGRGPN3$bTuH7JM z#=rgLm^?nxt#D|>53ctw`bL$QNx$XHu&@_O*^JKv7FgXu1A_RiIZPn4joeZ>wB{Hv zBL?EGu4Xaiq@MQ!hJmM zc;>{+n;ZReqa_-dKgXy#5DT>8Nx*S zs6es3ubG*P8>mrYVqzE<$v=pQ6Ln~PiZ)~p_9PlWb|mjjiVi1U6W&D!plE-fyZl3=~%oA!;#UHJb2|7J@?LS zSzbgKe*JmkOPrjR*4AYc;TAAENG(+zwX@t@9KHHTyT=p~77j+>qydJeED!97!RlqN z+GC|~EH|RN`(vux7c=RL2)!5$T7(Ce#vAAn!`_jRv?5>5((pxIw`1k!?|S%~F4RRJ zo`)g`M!>0i(()Sr{1q=(zFxX8O+tuf&U|hvVntCesebwPmC8;;yW#jRAzHls2f+}@ zgZ&E0Xm2(%iRQ;VO4@Ca9bXN~axH1EYrxc;ODh;82?9{LXO;W^h`r8ab(qU5C^&N2 zy292tF53Kxh)y}*EM0xguP$yPs806S&V3HZjTLi_g@#^UL)iB0HtW7w?7?UgBEzR0P+(B=(siMf|N8YF z>w+150a^m$>$b@1&NQt?<7F7K1ib6YnT+y5gDeCbY}aW(r~oYchJFfQcYB>)(0=Mm zO8T$Fl^e#!33lZ*-PJEMMC0(KAC5%!{p@@WxbWmq!m9-Vbw(Qah6Ic*kdu;37V#)%wEw$GaTLDgyaKI|0)c=#-VmLwyu_Ue zr;@z;t0z|iL^@X6v_h3JlM8Y%*!fihU<_t@$x=NG81wxOPkT#`RS}8>yn1!MZ8h$b zDE7yum%cw9Qu7)I^eNGOuMMDLVuXPzB8I{aDi9U*HLOM;u8bxwu|{h#;vMtqU+vMQ zWZ)t!47qJQzvr2wdtRT*!TM86(d4>l9U^ov{()Jg`jx@zbb2F`g1(&WY;qo5VOyjW z@rP>`onTswo1@Q@k}9dIo91b<-3f~|Uvo4E=zMN&Zh5jiYNU(`0xBRs>x zk~AHKRLoD;LWV3D0Yyl2868R8=+)uEF*Fx%K=;-mFBOe2Y)GTCd6#+0F>0{ zyfIT`)HR3!g-58*To}FWo5cNwcS~@$KYnUu{>8_uwO73Y~nQVb>`4c4DwXaVu)uwtE#cg{l z)MIluf-vP~d%|RCT3he^H%`;*pRkWPEutxT2)A>l5uJc!cx(>iE#sIhep-`UNE01z zVv)N$#d`OT>7CIg;9zh85NlEt&!J=B_ljzF4)t+Qdto@oOA`<1cR)YsHK9t}J3shV zF}>#9#Vfi_QQ$uAOSAj2F;0wK-jy(Rq82^EW-hdpqj`W^G2{F9mbrrKXXacTcl)l5 z4!)vXcv6_fx~Fuba2dM>FeLa_zqO&{NTDpa&%oX1zPY)44ADl19AEyiU;v;LBL7h0 zuxNkZnF5=ow%99aB*t1P214<9mro|_JdqUIw!tGu+zEJp2jAXkIa05E=h>WIdns7| zQ(Fm@eI6~dQ7wekDvc(B1|-rCVgFIpq-fID>TTV>*bw9#aQ^zmpNz%sU=BH!Ggm?@zhF$m{TBSVe^i2t^dh z^=8Kf1LrfOI&P2*?MH0H7U3of7j&Zowk9%7Lh_Vn8i4Uce|b!BJa)w7M8}SRHYki| z(HCji7zh_|PU5Z3zbv(i8J;#cmZ$==s~lUI-Db5#s7LA}zotRS;KRsqE^KE;5?&8> zjx~e<@{ni>8ozrH9b*^<$!?_yLw2v9HeI((v#VN-C~ay%r;$x4R^5!7k;e~z2wmRb zS1kR#+R!}r!eggAG4I?^hid+pAt8en8j{gf!7J>3CJG8neqAZVYzNdl*bOC)Hz>Ud zouX7~d=$X3uB#R&TZx$l-%&R2rcSZAKnimD)48K%cdMFGYadoLh$$Jn~Ir~{N;-qTzD;kG??1Ca^Ge+ui&g}bhs zsr&T^Rfo@Jbt$K&f*6V*p>e0SCkb?KE^b?-I$Avj6PmGY6SeD*xAC$xy~v??;Z=Jv z#tc4a?UoYuqz6U?#kK$OBTsRG&_TcPOCoRS_HqQr+0J6`X>^h?Ps+VuDFi+oaE?bK z$7S~>8Db)uMwz`?_1=JPX-(3=Y`F(e(jK@Qmgu;@j;M@4P<&s+IJPQ7ys#IE$qrX( z(@Y|UHlAG(>WL|3tlicw&e;oli2{toXlS`vN8kuR7q95XEEq&NbX2wp1-`9ksx2Ni z(@`Nk57K0V)baXu`j}(~Z~=$fVsjYV(1~xjl&N+*Qh@Q&YP0-AZhS^i^)~G@repv3 z$qn&IGflbI9)NvTwv3Cf22t|d&Cc})g*@cd?y^3hizesw_|i)_0Q`udd5a1f;!&zc z_oqmX{VN;jCUNtj1F#AT(9Q7%BMXRS+G8k}@Vm!Ym?tnR*<*EokP=&% zCHns15N34b+GEWiN*4I9M6VlbdmlfIn`Dm$2nRg+KYlA|ZC$-Nm$APs9Wd#sqF8M;A%5v&w#!=_*X_!(zY8h$wylhEFKwL>(@6*3 z(LA{TlalKnWsZ&?=fWd1OcybGt-`9o%w_ts*FrmWFYCw$P~6FphDP|KPsZ{9h3sRW zqN+^P_qhg@kM~|s@?4z=x_5Yy@XZQr^rtM$Or$K#HZ0%E1UOaNRUDTdBAl}rUArwn z^DGEX!+T|`V}B0aMDPjo_*G-Yc!4YwI!VlEXgLFdrxx~k$rtrxK|lT&Uj^qv3kCX9 zRcygB0bQXcPX&+fiO3CeU`-O(h}m5WXUg>dS7TQm4(0m(kCtOAOCqw5P!v%VSrVn} zJ7sNBDl*ExjG-dQAxVz}%s znfHC(=Y5{%zCZW<`P_Fv&jqB0;+q$-%v1eFD)WeW@gu+3*g|@*z9OsX0D5wtQhJ=1 zLnQOpnsy!JHudi3))cXTb<>2|Keo}GQh;^&`bP8UD9xXvbBSnk(BVwXu5G1yO!+dP zr`m=?T>AHmMmuH867WL_(eKhLP{t#OqvbeC=r_@m+APizAQ??^F9H zJa>=+jhnV^_@=`q@b{AwzCe~y&q6eN`g_qbg*Eu5`%d&E1pCCZUTk=dH*yE}N}ePn z<}T=pi#pN?L+(?rFgUD-bum}oVkjSJ-m_kaX+!X^@iV3un=RV;nTrvMq?MTo4UkC^ zP0M{ZnfEvkoAs|RroFxa**CYZaaIsTlT>v@;(1ccB5yIzrRSDO*?fDBIVwBs9{q`) zFO8yUSU2DEmqlR1HfbnxFb`m6&nLg)=j5@d$L59M&TSlT>`uh&iYYyn!MrMKkFf+h z`nGZQ2`m%{H~=I4jfyi>fax&Y62fa1EK9}Dt!@@y+`nyn2NIu|uB9HwJS_B%s1&8H zYlIl;X4v`T3s(09PVIg@02P1r+rl87)BFDbuPJ9eL znmr++c4LpWcFoI|a;mBe?#|0!J8Ye?rc5MGFv60G_p2}2Ha?wjxDz-ozfb7Qc4=vC z@k4HD?ty0F!iVE*ot-lh5&+}3wYR6*zXg5r|D{;no)%y;-s249^RszaLNJ#

E)5NI5OOd+(ksi^z-pY-TVlbT|$dvNXpk79b%jtFP?} z8qK5LBSxN{g>Tz673RGRoD~p2-4IrGjgkZT;c_b~)Vuc@uEJ)J$>9Uhh?9h8Q{UrR zOY0M;g<0h!F$HQV0?1YNAvwZDRg)#x9^5QG|XTaxS$xj)eauRVIhSk_p4XWRryikLa9<+ z&H1IJKe|gUKp{)$fJSF9Vc=$rn)EMk-mxq^P%hR>S+I3R`vL`}FoKEoDG_%3C)=Kn zXa_xr6Vu0!TC}ICsaLLfy=~LI@H29`a3q>vehQdW-@m(7^%ve1<+>9Eeck>SXUYFq zz<6HnjvYG$6dby-4ro9RKK6wi(-jasm?m`TMjTYj9!S`hFzZA+$or#{N2vkNKl56v z?XfM=E3i=-5hXc-4a3a`HYqqxdMsz^2qk=cG;LV$H6dxu=+S-y--n(G>Kf82P5Dhn zJo{e!Fm-YiEPvM&JB%LZ zZ3uc2prG@i)U>TMYX0!7*`_2`5nL{h_xo>IJWAY0JxwJ?9yRKo_gA`?J=~6Nrh5`_uuiin7? z$@i_h&HnNdDwh%4AriGPYa!Oxmga`F~Spq zGaO13mouHlaXZs|a^|8J(Db#+lZ$9IY4RhV412L|&Oi7`fyL#^Q&rll)GxqX8Tx88Rv9b&0+@NzN#+4^@jBG^Fs@p{NCKv2&`r26^=jnW=`@S>;fm)xpQ2SaK} zuVrEH#NE@lPHGu*>I51Ca5ThbfWvjwR<5XguWwQ7ioO0 z=qOWL2OZZBus^zh#JeQ#qupix-WtQa-g}=ej{x230_h{V;?^p77Ts?5*O*W)5TV%_ zTh|eFfYQF55{+-$dCUN_?I~!tB%bWAjNW)fvy{D2QLDE}e?H`|xxAVe_54*e(AU1x zQ?^#0MB;0Oy*Icd2VaMo43|yGRgP5_@vFEo+yVPB`KGC|Wl(-p_-8S}6_zb^`n9R4 zIgsu-X7>Q(sq%ALyvf3gR}bcZhf+tbxcHpeLJvCCYG{BdcPYyEeA{N32k9>@9lK4m-RRp_P2@LRg9?YRXe ztcbZ7MK4Uax#8W}81+L`PG-wTvz73S^nRwn3l#4|jWHH^c(wSN7ap(XQThsFo(%y> z4b6?r!{t%lR6@!fOSA>>XB(na_3qL4;!Zqn*;ME7sehU0aDI5hAY2pyG2B$)R#mdz z8lu>L-hHAWAawY-67!JRF0l~i3?TCFE{E#3x4(4}NArt_QTW%*(-I2HeUL;9l($~@f0nyeuh@U=|^TneczVdm2)7QLfwNdlyXU@m@dIK+$_jOkF8G-tA5`QyL+x_BXb2kEdq)5s=;Q zXJ2=mR962AV{HidJ#}a0KcZOh2{!M~R5d?Mc|jj;+00=01e1z80U#7gN2<#-9cuUa zw80-ccsq=!H?$x{PpBC+j2yKbP}hm+IwE_O`R2!uG9EK;t188}Ln_6T!L8Axy_eN= zix!2XA_X$ymk*u5FyZy%wLF`Gh8fB*^DEvUb}kvTim2eElM)sAmQIo-{;p}*s`qG;8gRzWjTwF6tQ^W{V20M6GrWSXFV53IYSe3)_-tcdEWg_^ zwiY4LjS(2~nM(Bk;_GaghhLDpHT6IrF3i0h$Haj8jYW#{MTg4C=aQ&w(CswjTM>QJ zY7SkJixX^XiQ_~6!%Sd+E6@@Zy%ODTo`;WcPIhQd9V_k>^kytVmQZB5CNokIbU2P; zIO?DWJxLini%^!G+XcMCXTItGGSha9-Idp9`<3g_i*(1?M#ybFs6Y3EIHfI=UxWZn zSW5ihXd49EZ#{b!IVO!Hnrz(|%QV#cFH3vArkk9y*XKa7n#_DO{!suPyo!E&_W2(tK!*7aQE<^RkQ$D$w1YvKKZek|F2WCy!nN&X_l`@E{w9Qo4@J zO;2V#7?!mavW;?yvIwB7NFu;)0mpD)wX9QOqKJniL{oaoOb?K7;b9@%Jpn1s<+oQE zs{g#zPnekq%J1wmw^eMn&6R)J&U~mGtPV36W^jEu=77Ja=X$;8MB+PPQOD`a`AT&> zEhM4y0;9}v6t*qlVQOlvsi`su$U{Ro6qIQld3bb}=HL5yvldj`Wy#p2&IptL_c7i` z4mt#0jP!oLrEKoqFPY%Q?edlce>?ZD`Od;K@jRsMKX-m&UYtB^yIIOAbD~~=&vSa| zL)ipS((2V~2fFt(d8hF*iD4K!(Uh^|fwR(it1VPhqo3I_|Ja2mT$n_`cq&hP zeBO{DN^4XM{d3vU@hMj|HCu7D3$tpAt2>SXjm)cq6lQ}9aYNZ!f0gC7C&!pi7%257 z07|BR`7#8_Fr9tu8|UE_^h?N$xWdH7g3m{_S&;a((h(EpafThw1b*bE14hdm|Ci3L zw=jS$x13?yDIhRHCj0yO0iakA9{736%Iaa%QIXg& z&W&QbAV>lWqUx{KgHY<7QHKfIIbZtlcs8*pq;cNrs7SE< z$kMEC0r?R8#TlrC5-sxt`)L!BN%>90mFLoXxFgncnvjO#K`F()S5G$*2U;X z4(Y1<$;nF%e5NzG7V%m$wVPoEx*WWXU0oTuwH2rADSOqGHixt<^)s2jdxEEH)sHp{l z#H3A|9lXo>I0pLgp5p+CoZLRIoigvlIOCN4T~>MnP)mJk)#ukF>WBt{PO4y>f5rG3dYrT4Uj<~%S* z5#~F`JMtY#Lj5;hh*4$yXw)%4W-rWPwrbYCWUNtX6Gi!P&}IE`BhtJ^?SPyd?Jq#N zP>%=})NMI)-1Q}i&R$X%cGzrn^w#4$&5Blu)bfzQ&t1_iy{H<3&)Da0-;iB(nOa=W zoF{&t*O+%BgDB-n*|`qUYpV7z>3}O_5a~6;^B`!t+X5w>`Z63Jbd__mN@2E<%eE+ z?`)%InQL+lg&H6PA3=&W1O>0uZNcKS6U7=dQaJ(-i6ZC*6`18-t9;%QIzx?)r^sdzd7c4Emd@XbD!rGJR#4Wn_w4&~w*3r?qc8vn< z0TO@!fjy@ZL>+Yz%*W71v3CDcRn@FbV2`xH^LvYaS)lYb#|S~2AlpiT$dwXqq?W@D zgBT*0wv?2v9+$Y*O12{UjA+zpOH0eW$pK>TPc}~aEyKosi6J0Md(_p{sm}8<3Hwx4 zUze42{BS%mR)9lh9rhb&y0H)0FQz@9&f{Ra)Z{z*DT|?kdHovL2OaA5@5v1eD zJ+dNg=|``h7(Ro%Z~r^OR)^Wz=y@$utvSNE0#2*P8g2aV_5zI{7_ zbJxpLfZ+3$gDYEGT26QE&rsm**oHX^UvYd3J9gPV5N5edPj@CiI-Kp`Q{X_0s9fJPvMX z;Wb7h_CJJ=tPOEvqGDoJ7`u>y!W>gpc33mNZeEg`5n5SY9SZY8yLXTyx1hkNrie%+ zit+LBImAV`5$1J1kb@(dB9aiDKV~_%^Kn0$NtQ30&_AF__(gZv=V}uv8%G`rXK%KI zw0g-otdxGN)h$y41BiC0gTj!N^Y19h7%dR8`+AJyvaia&=#Jruv4`Bq{z%No2O-|S z=v6jhu@3!QFMqts~Gf2nv7YUz(Vh z05b)>&ouj_ADS#l2pH5ap5L!^uL8XiGJ4$0@!O#!v7C2CJpIiw`I{_vnxr z;jl#&?BA%+wlyd;23!YW?a+{)__I?f-34b$A?ykigdA0+(sNio8KZ-rZ}HSt|CEtI zfRGE0SR27m^DnGQ+(}!!u5SPG>JH;nsyP>Mc6HYfP_e*9tiVEPomp~BWG#V0e+)uR z#4e|(*jT?+fCGJgz1M_~czU2vyW;!$`tl1a4QkTe9=l1JiOw2-s3+}u5xYCbaiBp% zBQ#Rz>~ZyP!bxk*jMD@Tc6j@~Pc$V6lLM!Ej%8s8w}w2y`CyngkcmceiGJ!751PQ{nr6gCN7E)t+X}%Rx}^uo6c8^_ zb&T{v=MpmT5J&nYSwllSul_2p?Lfoa+?=XMcQL$cm!J2V+t5^oHD2jE^h~v@cSdui zwI*nO93r49a&j-RSPC?Er7dFU{?E7+Bv!|bjfzxWP6hQ`Od9KtgwqS8if1h>lmli4 z!7$-x>Nvr+v5cik3d4%7C%Lsq(kd*q7&dvOPmQEP-rNPf{{rW}pP5hU22LEKPajmw z6GFLaEr8TUzx;kpL3MRCM7w}7H&h{-%>82m`?%jz8+ z*SD+@$==rdnYBa$t-8{2O}rtbyuq2Ea^e_~Yrqp{Yh~r?>U!Js_oCjzf$}m4m?+OH zSJ?AMKk~P-Ds{cDpAl3llIgcssOooea!OB67vtw2?)W3dIa#pnr?(zAGqn6IyqaT1 z%gH$#S|Kob_iTdBfQtX^%K(0@qk}d$qhYh)qQ+?JQ+YOcxuf~u<^KOKthZ2xnE!>r z*)D{GHwwiGqg$+P9aWGGY(;w*op;8^ukxNTHr}4C=|?z`smvJf@fuL;%nPd=Sx?)t zA;WE*0<#MWJRp)ORT+xk{gy!&11n2`ZctxeT>*K?U*_wn>RMKiB#3`1-@+KPgveGI z<0lUj5=iwesA*c@WJz;K`6I($qnWV@Tb#x7Khs*j-zZzE7CLBgs^8eyIOz2D?c3p0 ze%<3y`5bo(POcCr>xi(hu$Tj;kd3u<-V^XT0-@g(9ab6+$GPtp_?F0oT56l#8Isng zF;YNK*|i0QS?+~C+6DHwkFLsPIGi?gc7$%3T~5K2lgotj^^xEqq-mjPMqQ@RY4Tm7 zJU4_-VX3#bw-bUF!T2nLjnd_a>?+4-}*gnS`R(}j~2E$hQ2%ilQXae$27T` zTS`U6+O~S~&-Xx|%je%W&yxS45itUUJ-CEBy zj~cr`!%}$VPS9bCvC+W+@SW(S5D8VdcMpF7MVAm*S)?{z&GlcfJ**vATfjN5j@!cf z;fBoF0R#*x;|PjqX{tF~dBG`j%DC#+e%f-%#mw8=+vQx&-xS~z`h(!Y=olG&VA$bx zQ(iT2-_OraT_koI=H>0%x29T4uA`X;e`N!7IRX})_vvzl|6O;7#|!L#ls0{-4fv=n zZEcGSm-20}Pn0e+F@OnpDyX9D^<@o>fjRCs|FDUn{Tj*NFhA`2RtOmQdyWb*pA8a& zSa|(7Wc!9t(v}$c<1uc16(1yG%TL9dSj1`>UaGJ4@;0pgX;9B}-Y=U~B;ML2N-{8-glO}qFCtPm+ E2Ti?D7XSbN literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_delay_comp.png b/localization/autoware_ekf_localizer/media/ekf_delay_comp.png new file mode 100644 index 0000000000000000000000000000000000000000..54d934caecc921be967da733cb2287ae2208e8d6 GIT binary patch literal 147442 zcmeFZXH-*L_b=>oI0ugfkwX&@P*gzb0qGE;NRuiZLQ{H4=sgq_kq#mP(gmc38b~N1 zAR@g<377;3y(M%)=)6(SdG7o5e!1h`G5+gAlD)^?tIW3M{LQ%%{ZvPd?lSx33l}cX zJyBQIzi{DV`h^R>TmAVP^^Q&Pbx-OSjknSh!$1H06F;jvL%n44Q8D!~aCh+Wf9_>} z!O_hfVlV7%>t%26=I!L}vq{scc;UjW3s00E83tsLrouc%DcPIH_5LaQu*%g#mwA!~ z-K2^TmWN(8R>6a1^-FqRS|0Rm+6IqxQ>^b3O=YjhC=cE0J}n!*2Wc@rZ*ZUZYLeyY zUX3pFV&4dgakvD!-RPsd=ZfYsjm7@WqRrpi_*NaFUI7W7cMtdTJ+CIW1Ml|JUz}Cs zP6k%*4O5N}&#r4(5$XxKO~Hzy)cOBxW7Px{p7GzS8QO06fBv~ZBnWZ*^Ybb3e{TOI z#s4vyT=j?k5WF94NoC&3W@+S^9kYoTFvO>?rqqk#F-<>N>~qIDHl8 zX;p4;r9n>z9^y-Fo#d%fbKJuv!_Bq{#v{%gmJNX2zrDTMNv7<%pKjrxt-aCRJHVsU z0m0Vlz(v-xFD?h|z!Ju!hhUO9@MMMY)Eb!Evr_z9n`Vq}gb|SOYF29mon1jy-LZ9| z{pLZxN7e1V7Uv@l;m)Q@o$*z68~Z*lpilP6BNN4kH_mB)ilE1GNd7r-m&T0YklHsM z#&%vGuR76g?EyH6IJd9ZX$?E2KP#@9=HvN69EtryLr2HAeV%Rqd(o=)P>d;uEu7Xgg#Q9KIzhpJSPwakHM9+ zG&E+u;i$mcF0_(<*KxjWZQRHZ#TO~ZA#*?so;qU+99wf%J^m4i-o3JYK?tNK$je^FSY zko=*gV;_SFnE3dM(y!hW7VgoK#j;96l%S6%u09HAh)Dt8xKH z-c&kV#1I&hx+As^b98se55Za(Wc>#^KV6t*&+Fg#ii!iVF9Cz(oNyX5qC=H?eV6l% zYb5+i@F&qb`IYWOxo<8HqRO4ft&^j>7PSL^cL5yR6Xi20`<-5XLmLSR#lab}%z@9- zymue5yAx1LLEEk>Iul)c{iag8q2ivr?25cR`ISC_T;xM8Z|vIU{@x3MZ%?>uhTPC< zZ&PK`C}f74sxBJH2N!;On0Q1X^Iio_tezoLVxrUsCx~7fveV;@ z?ICuxeI~h=frK>B+}_51I-jCgnx!>qJ?Kth)fPE-W0+UGJ*#R0)8JSFBO01}T*>(kmb2u z@E%COS1etIBmUYw{fKMwM;Ir6*n=Rs>p{biiq-btSSpomJ`hHKs>;lU*{8AS?gMf# z`T2bAqROYUSm~%{cU`Gqq4x~t<}hRR(g9(-KY+C;Gc zG1!vm=Du8}jkoA#CWHO7_OdEt^^_;NE{Sd!Npc zfVkh`$)SJ${WgVJQ5Rd~1TzPScsFduKU|RQQm*maFNhPd(bx75KF50h=X@7En`bAW z8GwE`Hi=7=E}kx1-(b`F8l+L7vbP{swH&cvna#3=y3Y~Ici8ol5HCLoU%7c$ z1@`IL&V|lv$9x%TL=V554BS0by(Pu#HT!Hd#P?n-=t!K$boxA6VFkajMDoW}`<-mP31Qh6vG{`XZS(|GXLerFM9@q2ETFow&B~fStQq$h@{@ zaeHt&xyOu>6!g5HW((ss$(q|2`qz*ov*Po~1En< z+{*gI1re{DTdid!*H@`N`whg+kMW`DOoxnnP2BC}@A~tMnMwNm4r}=Auv^X>dsmhayCopbEXB z2P3Z>dr+8Z*GgYb@2g2k0qn%sesCj0s4t@~6+oaHTCMvjwjP@SV`ic}=R-qPt&~1& zn%@a^=H72jME*p)T(RGg2# zGrjhJAt@;H_^_>)((Od*7}s!Yk-3B)ul#b4pDh@^M)wicojbU8m`|4bHirljZvJGJ%lMtH&_#v4 zyxnh9hX@hYypuT>cD|)sKnRe0ust3YNO{vXTEP+4=PDJ|WRI+N;ThDwd1j}WJCxYE z{(wU{UC!&Ij(~pR-71qcw7gr&rG5Vdc=i=FYpn9M8Co3-OQV-(Vz77hkjTxwdXY)Z zq%64G$s<#MXW#KklI>SmjA?ELoO2BR$9wzb-Ff$84VYrt#!TE-Vd?;UK^C#aZ*1s{ z@h*`eDFe8_B}t$)#hpPR>s1a1Y}zrXxXXcD7FddD8Y>^y4MDff0_7pB1$mqirr$my zTg(6&1It5x-!Dg&yIq-f+7nWH5UifbmBY?tuSzPeB;Lq^5LfGi_e(DpN|-`mqy&r< zEO5K{KkPuF!jOWp zxbsgTN8e~`eH$@N0iBJO7%AaFuFx9l2Dpf`6P?nelY-RtNp2I2!@wJ6`_Q&=XIO6Zu=;F*E4P{ zE#Df5>vel;U!2gOQJU{U7{;9IU_~kutrEDlD+HNq1YmM+iX93Uqnn$^v?=3-f7cz5 zTi8}T%y`Oipj`USX^!mgy$5P{!qwz0G&S>b1EEewcGIgP8ik)@AelfPzuv=}A;qn( zP%}lCi{)njhp&8({BIv3Ha1+$3!~b~0ls%r1;DEXv)@MTU!rU%Y6%SkJhZj8{zK2; z9ucZ)N4frKA~|iOcrD=VdHY9Y$Xblcb-i+&ff_A=P55edD1DTTt304Dnlm1W?cHAt z*y)~u8n_kCN}q0|*thcky-Ql$ZP#TL$(>u1S&-sTHq1PJSnWfaP*a=UNZ0p3=L<^- z7qlwQS(|@PdW6^{t?9nEjyMSjYB*P^DhL>5E1#|}B8(Tzj*qZa);H3>epB@xGN0^I z?%q4_YzlziylO#@U~wobr^Gd+f54R=FT?01Wl*cXc!+51Po44H`{j&S+hiA`_H>_CCz0bK@ zPrA-4hc*)o03dX?jeA(3^M?1V9IBNla6bgcsG~78Q_Ij1BB(Sb%Gcau=lrni zVo0nC)$U%i#wS~b=Pv9{MDm65;hT{d%6bBF$_<4j1+{1!#F+UhhKyCPE1Q)aUi0zg zT-$;mOZ(7y>XB2o;HIwfH{(K-Q$se*OsUTSPs-6uI_o)pcM|qDh3b5+cbtutV@eN$ zLp1`+*H>5V8!@${Sw~36B~$-54up;akJ6`O&)n#Ar`pM;X87wBd`5>(Rb9ALR#ldk z6Y1IHQ0wjavUcv=^<5LCiViVabMw03{>2>ajyR(lpsZ^ISTUDdSTrnW(L}Qs4lcCP zyE={?=@~xjikZ+cG-3`nlUGo%?VNAdO^b=uq{qg%r&UgUJp)fmJ8D|+<(wI%?*^1Z z?49pagw%E-4^N!R3*L*Hqmx!0OGti3?}Hd>VXi^hp;Y_3Jo?E0el!x%QQVTbQq5|! z5>s!X2+SdQGE3!ybNrMGw@j{<5ic@dsaGA!SD8~p|1UE=|jn4ZVm)JyT_^Dm`jP`*8DDsNcd$yDsJQMnouSm-W3 ztV#9*Mz=-mSd2k0H zu4PGN(A!}FOeV@ zf~KS_u1ON+Bb4_*cYQQ+ch4Z4+uPfTBWVP-1T^PlZP}cRueL#rv24iwlO=Mo+r%{VX*9iw+_6+1MejYE|eXu zdaSslBthlsjV+pMdh`^604W*p>Z;1Lsazv>qvQJH$ocTo5VfFd4aHe#TKDsn1E-@M zbsnjJ{DPfrejPOfXZAFGjGy1`o4gn2JP8}741AF?n@1g zT;5~@UxUv2^%WY_qo0ZYB=&`+A*DWep_L@_V;6wDRnQ$~P66eTnA*U{hyy)kFh`w| zerkM|t+eDHg>7I*q_#3q2U@S7j{eT705Df7?fSyU*RE_|QS7@Y z^th}?wZQR8re&pb?Q$0nPkvKkvwz@1_N=K-_4(qs5^Y9Y=arsZn^CC&E+JN|v`lP| zEe}_pF?+E~rAA(Z4f4Il1~u-|sHy7ECz&V~C7Rs0%LD(iSeB70H_pl}ZI`_Hei4av z^4Tek;&-*c=wwGlnc)|NUSp}C4s*N1u|rzL4qZWpaO&LSjGFtD*rqX1fFMU;jl809 zh$8b1CJY!+;pGG?7PXMGx2EgBu#!m!leyddPv(3S%md`+Cd-Zb$$Y9Z5^8y=7C;W} zN(t6*ETY3~F-k~NC^@XxzN>3vi{WQrd12-n$b+h>?512=i|?ZSF9Su9puP-Hznh9} zsoRkfTm!Q#EPkUe^h5f`(v584WW4|p=HNSW-mgQOs-7;uoDvQB^(*J*JmA-Z1nA8w zjBF@ot364v5l=AESXjgt9v+)o)^N}%+77PNSO=d3$v%-3=&0{Uc4|B+ex&!FL!sou zM@3TkJI>fBduL~nQi?&LriZ7D*})?-7xZj;ePwlNM7eBWp1yFc4Ya|=xw-p&K`z%f zd4&z7D`_NMd4%M^dX;K2GdJsG&dxDXW8k==JI+E#fm6&BLQj}scsYh=Ph-{T`K}Jv zZ$sq`JHY&a{ABz3K2AlRUqUqbM4IFIxB|MIsov`TAMO()r8elbrC z+>R!mHqDV3|EiU3&!_Z1u^r$XgCld1>>%$g`R;R;6PtxonsRF}=4J z11pg>62xWWQ{X}fL!e8CP0bBExc&i1PEg!4wNKY_|Fu8X**1cXX{8{-%l3)&lj#0b zGY&(8$C%X{0H04G-)zMd8 z0Lggp%uk!Km?o;U^YO)Y3}gZ}GIfc2;MJ@Az40U8)8W|Rxxh+M`61@}8t86BPe|e# zPYNiy|M_yv?Ea>ON<~IwY}8n$M)ILDx3B}&zE}sIzB(`n>vgDQzIM7K`iRZgk909PMin$&Y8P81(v)0_5fx;%X(fbV|JVATpr!K`+0WwFW&(6P!Tpds4tjw$| zV;T0g?~ZV{kbC8zn+CeAL(6xA!Pu@y0o_got}} zN%wgB;bzUV6(4c)&^KhQ9V$*y`nl~?iqcY9>5g)c@ET68s&j(gS=6*I(_BYJ3Z>Fw z3`6t9Yi1sL!G&+->MS zb2zvIi5_hwEL%yMU!r`j{MKxbEi}l=)Fir~Nr7?tjQ&jjYzm`aK*wSnm$C(X)c-ck zCiby2!dz+?Y88#wtb-j36MQdAeufxLjPSC08nxW-x+ejvsHqER*?|Jd?U|&A7 z%ilBi3_uPc-_G3R*DOy}x{-~}7&PQmh^2LPmTiNT?$Hf7@){wH?VKn46LVVLwG2o3 zY&S5~7T%~6&@3OHD}@4mM~gRh3x#|e{Ex%8$2@YY0v;DxZC-1!zLBSPtjqdtp4Md9 z8SO8Qc%H(LItXY4L~SE?V*SX=;F_gwN35=(npZMEwr=<~So#qnoG_16EMR}9c#FI;lZCpWmGM~ZXp4+t0(d0tQ z5~M1AY6yN0DwbX*ck48C)eFQe0IRZ|Hne!8r~5V1^&^FHlOMSbXgiIll((%}!G3A3 zD$$88yDlW~2k55aLFx0}}oEF}_EEsNtSa>Sv z|GDVh)1B#g>QdtF#G`9$i8t?;mTng(XCRCI?$EmHRn!ZfKhy4Ghs4JtJ3GnQ5kjM7 z5Psgoo->1kZHbf{G;#|3_0D+iH5P+&*2du(vIIMImWrOSc94`;&Y!oo=?R}J1zCB zuGYLfTYHXF9J7wYV8|c?It9*O{QTSux^Cvj8?;5N+|N_$E&3iDDbM-f2>Km~V1f$W zO*}j)TC-5@~b zV^<(;aSHZXCKVmAe6}0&0nG3%u32nt?6&v-z9Laq2VOhLw zlgtZ?=*F&ib8w`65ZaH=ar|PWHvKO4KZ&;K&PmScmag)l;UCRfQ$@-hN=rI6#_TH= z77Mf%I|WNWPY>=$;org7zb(53sp#3GQTEQy%Zh_&Frk4w%mIbfriE=JoN(;?%b%Ok1GPRoL+Ol=X_I%guM;Qovvrx_pm0p>sHGg6AbP#S@W^H}=QIgBx@A%3 z?hX~ZU%%nBJEkH3Cm_^GmvU&vIH7fr9^NrI-i#sU1ksn^acIFS=4@+w3XBzRd5CNY zFUtO{1?VwBqpY-}SJHQfyYEf;boE81fwa>Njahr_k8-xjXzRdFIiwK8-$O@5`t&!w zlhGb*J#&E`=_cwQg#LV6>|(hx6npFS6;2md7_$#ke1It4Xs8vAIM8<-`8~m zEck18ehk`4VOi(6*v{HZuRN5sN<2AIb+6%vHr6jc)Rwrxpm)>UatT})Qj1*1IF*6N zsX4RFI~mJl{o8@Zp%Z(uf(e7HcyPyeGIT)OdXpq?F#TS2DC-J$@YmH~9)-h?N|=+2 zpv_>FrhLS@pyJxfZn@{ik(>3&$Qa&PC|L%Ja!ocqnfil>g!5gdh4zhqxtt&LrPbDC zCK%i0ja}&3uuLdQHTmo4vh`5kvWf6 zgAZShOih-XdJ1}SWLIztt6b_SVUKIm@?WAekX29LTe?%wW6s5GfBt0M=gn8a@oa%D zYZ=ig_hS(W^&*J`r{no(k%_vdXDW!wYOFD?oX&s(e#$v?En#p{DHrv(4mE$E8@PF- zJ~Z~u!@hK?=FzB>47ek1=$S7!nhJVH<|0$#4Io4bNH(QA1?vcCfVv!S8lBA&>-}C8 zyUXqe*F5n&tkDg7WQiB+YwTWDE8t8hRjKKeITY4R`$Hjw7VSHkEG8=v472PZE z2h<$!Pkw+bRN(3I6-xow=^f_86|ae=FQKf*w8c4vJFd%eayKWfWMH(I<}Ys6#OkWQ z1r1WKN}@uadYYtJyCQS|$|{n0V;oqpe93tTxVGL>Kk}gdZz>vAeFr8A+J3u3O$dP1 zYHs097G}mCc*{0S$(@=TRAr=rAbl0ayL*G{Yir2Wv>lCV#EItfr~QJQI9_dY*LoJw zN;9HH-12T3O6omC7a=F*gd4A%o4O&`3hUE}L%HvaB(@lbUUER;Oq8Zm42sJ^5ZFyB zwvL~3uFt3-Bl>Ey%YAgW^E5+TOV*?pcV_3TWi*JH(kI71F{cX`{I#_w?1z%z--m;4 zNt_IR4C{+ic3+w?f}CzYIyW}=WKbBcEsgD2h_G7&m6jWul_AI-`4`>b^i^$3#4En# zf<}b3O}@Fu!z)jNZOB0T(s2f^tLt?!QK#F;9v4@J;o6>D)q-VJcx}D?(>k?Dq<&|a z49I-*sc_j`Kof9$qDVM9XsH*PbHk9D0m?5vsm;0K8x9PTTQPSO3AJj?(8`MC8{{+S z2p9XAW*R+hF+%7i18zGy1904v5ED9{M(~mik0)m&K~l-hZ?&wn>^0V1nRev}NqJ5~C%%`YP0g)i$-qryiuK1D@Y1Q_j=n(3 zeN-`1?fyd2_oowknvD$zN5bh?84a2PoH?oikK^1B{b;VVyHM7<+F%jENH-+#)K zOanH0tOrfjj1X-$A>HE*y`>PZMydCIjC$9Y68}s*5K(^R{-yxPsneXMVcoYTtG70g zT4o) z9DFVH2F4e)2kAs8ceo~ET#{PgaKv&Q3c^3>pAYntN@{+u;pjW{v4qZ;_!wE_n{mv+ zHPM?vbShs~W-=%CwO4kvznoA?8r@FPT5 z{4p2{73+8PD)*Ok_m*WDQe^don1_8~4n;`IT-R<+*0A>#D_JTW@084dW=_-=zE6gk z)0|eB$$G%_nuQnu@1uSW;P_q9;7QXnf4BjmNEFJ?1Z({4{nK{H;Z%-MsxAL5~X_Q2^;3 z<8P@YYhm@vFJ!y#$*pT&6s3k3_*bRU=B^?fEvzfi}p-#DOhw8N1<&@4eB-CzWFk%|CZaj+`tsa>PUj6= zt*uR(>ABi=*KJ&BCGAxH7IVPu_r1|k{DSBfZHa#t_Rwg#MbsUVMj_-}g{v&o61pQD z7tYVD7h6Le;rdWTtT7e?%lrIU2-a?Y@l{ee#tH!w{+rQkA8>0o2o>gJgOSG|CZLhV zA-{su&%cq!2|bPHcX@UefvKHU(YBE?e(LiR3uizEhQQ^LW<*F!@kben3Pr}iJ6YLh zI=p+T5-3w|oWs}2MyRj5Of+nNQ?rV2 z&IczEdKS-l@3{AM-SOHuh93b32|{~81Bmk-qFdLSDue7cr3nP_GRShRoCNuN z5@nf`61zJ}i5m4*aJ5|CSHwDr#}$bxhgXrJb2Rq5pmnk=uLM;)Zi#1XZC>kSZB&rg z-oL1&}GQjF5`?r$F=RFrNvZApHCQX7GxXZ-1`i z)zo~(MTSy!aRH@5|wYJ0uA)=sP~;S$j0wWGzPUt()2($r5FN% zOfuiwp{VcEDjt@48x+o+v3C9MNz!Kf-ZS~?l>Y6S#M*R z$!kSinQZA=T_XcAM8zow#w6G0=d%IGHeb6E0?JTXIR~=oih$}wj}cBTeZ9JOqg3|D zGm(nznQEzO+U}kyy@fnQEYqC%`t;KNl!b@(6RK1Vii#@7>3jC)oS`Ez={2j}a|Gil^u>9R6&O{xF9VZ+I zi9WIk$!hDOC*4p-J1m-Tmrpg$Ud@|_98(G&MHbU`b&a;k(qdJbD(tIZ2W%ny*PHp* zQU?dM3)f3B7cTJo?Xp2!} z{-cMe{qDAwJUc&^s`bnQDO_4ws75yT;1Uy_{di1yl4Jp42FRWyi11JylX8A36r{J* z8f)j6)F=O12(>?!Sx!fVa~|oX;Vk7(^J?$heg*!ehm+qT9hG@ec80s|XQp;%wP1#> zI~9IUen0+;5y(4z_1;yTAu0TxCw918#7p>Fu=NxZuWo?W-DI}x8%4!D1TwhJERKR< z)8fx|4uW{RujC=iQd#|rN6jqv4$eAD zcVVtaZu-jb^u4c-qN1F8mzA%wTru0{RC);=(37IX1&?{xJJ$StAOCoMw?+L|q4Vdd z-4w*m?2v|UZ%S|mGsEGRwB-;*n1V12C7*b4{vzpG^ufjA227M`+W|ZV^ zoOH)`J2Ca=mR)g8O^EgC@w)H%V}cqY!^Z(o8FO}6xzlMey^gk-gHgn)9`5=!Kk$8#3J!rS=AV+ z@}}u#M zd#<_dapiar;>d8pP9lgW%f)HiExkexMlZzNTRP#f00pius)rf_8#lN)tYg-h?y7lZoVJp+)-y7ph#&uczm&@)W#xP_%=P)J9h zI`1%R5OdFJff+;6f`2v(YV_EpEO->Vpbq*9|DGSE9*)7?^19D1?1vpsMqm7`l*6xz zS`AwDmh_@^*U&5@L>SjHZ3ADAj*E^eAzFgacDnntF&snpXb4w|9Ng&YU;me^zwH1O z`M7hE5|h0)8cffX`onlB=h0E!z;pf3!`+^sby1;rbe6djuMH{tsmS@4QQvVOghsYP zzkE{@?O&*bP0z~c0Hlm?=k^%Z!|7IO)fNI$9~~v5u)+LtBTvV~6*vF)s>z#ULR2r~ zqp-()mGi^Xrx(c(H-c^U^aSWPXePTZvcWiAoA!xyjGB(>1G>r_zMDKew8hZO3Q9!4 z@=|=eIj8YsUa{*MmClsP6;egZ^`f@nLmRcRkZKB1yB$9{AT>%YKpAG7JuotoU+~uc zeJ>UON%U2-jv|?D#zDM6bl9&?oxaa)SCZ%~{_08Um=+oQCoxi8eGc%Zykr) zY=PE0dPZjLeOOydU5}k!51f46T~O3?oVw1|gx_tTu>G&)O$M4&S{!aChMjDnHbakA ziy5ng%;0vIGNUlENtk4-{9putzHZN6kpA!QIGseFitN!&aVmPq=7_(B65p=1sS&9c z;GO6E;OH9!-;9WALJuH(ru`#idH$soOGYxE?%6>XFlT=*MUXmLqu1HVp?m0Vre>;8 zI)Uv*f5L!HA8ECqqiE1m5W6C{epVy0c?}gf7olz0zUe!a&SvbdxB|TX%{bY9;`+Z- zfA;8bI5CtdURC9*o%rdZ_1U6H%T5aLq#bxN6HYH;(cp2kw@MxErebhIK|w)Y-g7R# zJQ+OUYGVo>ukI$}XUvMvP9N6p$%-%b@_*i1@+$P-qZVJbcXQ8!dAhC8LB8hZ_zX!` zuHdal1;Y)&hdZr@nXTA*_uL-4qrFkxu!DB)>GkxOsBVlCg>hgoQs`%8t}`}c$&wKJ z$%i4SUyvi70wJLVj!FTkO-*vH>UT z!qdkGot+osI#r77iT>oAbllzoNTIr_!&z|Me@JtVrJ=S+AmP@ zg3wLI+vFdFTgTTA1ykBCa-X1Dk5ML8fs0fA1kRf`CmTHHmlfN@vE4b^!ss-^-I-0bfI$=9r!9_Uo z*$c2fKnY_nDpe*=TRHmy9VSGTU(vh-;J+RXGE6ADC)YR~7cFh<+TcmskOzXc=?6W} zHm98=Fu-6_gRAj5Gyt#iT7UJr;**U?CL+6$@?A!3ZD}Fpm8o=KaE0;wiu(EXGZYMX z)fL@c3&aR;I!1>BR(8TsSi49Er3Ta}im{p~L9*lz1{ zvb70&EtSI`5*VEAm8=9PAqKFp+8QIjao6+im#kr@fKcP&zt4evYS}GMgiF<+1|Ih-u2RS z58D&LFTYO?yqVMDC`V(iWK|pWDX4Wcv)|18*ru(5kz-@4WsEeL$sE2qnA<}5Uk8VN z^CYifqJcuzEzP~v7rBGCCL6sw+IE$6eE@Tp22vF>q?NQEV-Tcj0k0L(Qwkbv2%SvU#SHy)0#zI`3edM)|e5yFjEFNN&Y2* z`&aVl#UD03@9y#J#9E)^A63%>Po64ow4R>@W@(`1C313&j#MCC{V_-n>&)@Dm&5!g zIwOU7H4SzPvR~%Kg(jo)*D&{i9Lj6VgGh1_njh*~LZN75@E z%up4#T!Iu%ugK3G%$i>BL+7@kbuHox&G5>@yFsL93#R^*jc0rI{vEW~df`K*TJJDJ zY1f=(T-~CvkrC7IJi&GKX4wHl$E}#Cau*2RCi}2*`*vp33Qtp%_ydoDsm9WCxBu>a zEKzUXygA-%J)chmo<)WoMDpbX*o=#%iCD_{Z)8OUlVR4U!Hy;`A0Z$+e&8Lyo2jJ6 z7w*eBEhhL=yaj-xEY+AG4#0)TWJt=K(1ddeYF0TU8l8^Ou*5#n*R0#8u|ka8zpa1(%We_I^h;Jay_r>7aD(|`fc!TCV?r*`ecqZ?3@w?+@1PC0yW@KQk0NYbHIFO zd@g07h^_CgsMacfe&xO&aMsXkb)mzB6X>QXmD0isxA3mu&wV2CR}~It7cpuj8pOlJ zk$KdVGr-bUS%FjyU+I~(3%tE=DwNuQExP}K)9lw_qzly^KNg3P&{iJI0YDG7X0Nb{ zoE%NGvLtDyiJ(vS@saf0XXL6dhy;5pxx#&FF#^H&6v}{ z0(oKYwFzxfoMc`jhMrIQ9fopgmo_PCzA9cvE2daGuOlbqR>9g1Sh5fE@%*XTQg+|# zTqn4~x3NG~s>khu(@+tKfa)-%1&uL^`a~=Xr=D9rPGtBMLr}LyeCsJ*G-Op1c($Dg zJeUc$?JA-SHk_Xww;m3->y-Z`o498>Aq{%PJfdbF;<$AmMRB&CAx>p;uoswHCKR&t z#5)YCC>6h31BD$ss3?DGb8vmT62V0%a4vT71rUk`TF{w#Rn$QFIDvd9#Sz*1Tsr=q z?d(%1prARO%Wa^mv!{zigNRW8wBx zAH}`paEa>fmW1h!t z8(PLDhD54QTbrGI41zGC;mj55)$Re-x6V{=A-=$-($~NkvdxNm2$Zrt({}pEx6~3p z&Ji*Q;ix_OatFQqo2AXLpUZxB==s|T;Pp#4Yh5&hd3YQsNuy$2x5H-a!e$QR-2OH< zmcv`^BY;KBX{Cns`&akV@$?iGU7xP24)`G5XP?~xxG}*3Il+h1$Y1d4FVu#Sk+uM76 z7pj)67Y4JTLt1m~4>k|8hW_z5YX7_AUXYRhH}1Lc;{W2?TVdd-CNkBb*45O^l=XH9 z2xx%8h(+3&S83ayC0?PD{4?|M$?g!<3vDaZOylL_i;Rfqv4c~i5BmL&FJKFD-+zSY zgN3D~rHze^NF)*t*RPtma+_BtYh`0Y@%#LbgZUmE?Ck7@0!G@}+JS+MSTKu{R*pho z^~FCd?y+VLNPV}xaABs?PCUKep*AfoP0R08_%$30zQQ6T6MW!dVPWCm;9zKIxarN# z!NDDRFk4hqg#p_fX#s4i2V1OA8e;q4pDhLoC0nOh8dlQB-t@ zdPb2VySTWRsCZO@1&1E5*C)SwM;rR~vwzc>B8cXK2immWZ3=GR*W24m3%zAh(9&Wh z(3>M>`z9^TWRp>drEeMyZ9QD#DAYI8(-WJa`GGaij^W)~(E;0Yot>R+T-}(G($X4J zA*CpDx5f?(=27mO!NEZ^l)@$J^@&QEq9TXS7yq!G2cOh2%XnKvdN5a{XCTZq+$jhnzw3jrgu=75^aO!G~~ zF&AG4hob8|{QOb*U>V^b9nU<}(a~{rg;7~JR%!qM0HC?gYD`;B_s!F_Sgv3H+iRiw zCHHOW++Xzh%zeFtw%S}@$1hP|@oH3%kqP)-{hS78Po7mFN{HDJk8Q`rQzQxp(iLm6cVk;}F*Y!w(KOXsH%#Q#+syf8PH=?B&asXx(Zo zSRkdWxtZFdjI3i>hRguFtxMHLq>_oqL&7!*wH z?1BiMN)BozF~$W=9yjNdx-m>7W3gDJsE;2%I*%679b9Z7L*X#Z{ySON6+Zp$g>j#|nqAxWirO+7G(IFi=MkJe=nf>hPzCqE|y@MBh zOEW{P7u-Oq1vNi~7;7g^veH?kvP8@^5AdtumEna_r%GTCaNeO>sJnJ`Z zIeB^F+8Pdr150HV7Z>lHY0|IyH1+msR2btim_;IygPB> zm)6$-&%gYB+?hz78GC%EBCRvrwZ`-ZW-|NbkK3;!BfGvvGosPxJ2ZAJL@ z?W2AvRS{4qsHv%`vhr&b3U&R9lZ3H}Nqv1i)lt{g9qR7xj*5zEbiNM#NX2tYYG+^l#TN3?1|X<3;*4CB=pyz(ut zrltm<=nN7{g~Q=g6Hro8^8NdFO^aS9i88~or6q@K9lqqA-)Ly&=jIdu0NpH^VJvoa ze*S^yoN}XuNOo3sHiS@QRj9wXu%K>2eVf{@E2%GQp7&hPc}4Z6&NNF69UOnOiHQl0 zcq;g^GC%K4tf((4ENn!fxMe(UNlVuk7OE5sOGrv~batMdECada{mQjEe@hEB(bMxh z*m`~pmx)(pWMJ5y=ROahLQNWlUU(#Ac_??2L?W%MtdK}q4;%++=oOynHn}SZq^zwB z7Z5^^A>Q8JRJ*0F-ff@@kn~>a-@reRl8{i??SF8Qp34FW#zu07t}HJvZ|Pr-n4_|R zDqivN@k)RC`}&b&7!WnmbB*G>?Ku&AiN zuP>QQ4mn&*i?~je5IsG;uv4NnmY<4U%7jy6H}}?4DLy{6yr&TP5n+!ns;TkZTNxe#P$r`o?$AQVq$B3$=4`tXvSq!C(C8_LT4#w2 zs(}HXY_&&6M^hz|3O@=63R0Q;zQx(JIbb`6S@6@R<2Rq4^6zgFMAuPPW@fVB@72pW zP?7uhd(NJWI@D%Uu@*<*F?Myd*rWnPUdnX$%gy(n`1Z|%^u30P98zUiUGm}d^fXny zKPUuxJ%663Q=BR7Zbi|hqprix-oEhq7Z(IoGS=2ys6;|riE3}!i<>DaeX%}2nwXiH zISb=>@l(H*{u~}3Pfbcn%FYHj4rb+^?G-7Zp)nb6P40D`!L5o43wPRzuzZT*)gxB7lEcF4 z^6$Geh}cJu`rT$n@ZWP_R~24WR8pel)fMtxUq!UU(taE7vx3OHY15`FP$AqVZ-6r% z0eG42DIAISHH?uhTkNvABRR9)*4O8QC!?aGqzYqVW4p10K0i3@e6Ep;mv^nBe0^wo zdL2xy>eEx_*dy$^-j5}}eO`nBl$u$FyKYZON$Fo57XA72XLr8CMtA@EBFT3{f`emp zyY!#4@eevXM_q~(u3k$wD?LA{?YO2k}iw`S9SZ|$`L;jG->|hpm8O7+N zYNkI@Kg}X%Vlps4)}r?O%rY*%+d5ZjWA%6NA>O%}8EtHp#i{NEPjBo_Ev=3pp(W*< zkzYZm+&~yP6g))FKQu6~@5qr7ldAjNU$eWry81ju7!hSL68VVv%^%Eaqe7S@#RUa_ zQ~Umr_3&86)X?wW|N0__W~SlVRDS=qZQG)vqm2eF<1|%O8GjzRB ze|lix`s8bAmF}visTK;Zd&fg=A zS{w&39-hd#G$xqN-dMB1fPgOF-8SuMdu9Io`IDyoZeUx+?d=p49c&@;Io{;O@$qp5 zCXZ`adCeaV3z{p(2wD9eu6HPz4NyeZ`2TB8TeIu#S=()0Tuir*N1YBBk{PJ&eOJGaA7!tqB1HuH%)A7*gH z+-Qc&%9>f|Fp~COaRCC=Fn5v_2lBgm^{1NeO3SBDaRfdB5u||mZ_SBH+}zy#-b)6YInRkW zWRmt$Hc)XZNik8K>l@XcJtY$v#r8kAZuC%~UjFx)wD0=&ccxfbdD}bpAwU)C`^^0K zP|f7UgAiC*DZAsU5Ir_3r<>ES_t}9R>?r2^dZ;)7%u06ck)EmN49Qk zB+=J?zH{desc0etfh0!xjm?oq!NE!wFMf+WWJc;MEq?uaut|YAS0QO%a*Q$PFi>?q z%E}LDKAPt|Rc3c^AT_;KXnZR8w%Qe-BRDvifq@}$TA-$;=CyoC(ez4XQrmcMv3nS! zgxhf4Q}u}ASFc_n0`>796A@YTT_5oU@#&M(d1T+d=D{YUlZA;6-?^F-m*1*-Prj@6 zTva!(k2y#~V=P23Dx zQz>`tD*D_|wRi7cNIlO^nJF$M&5wV%mW{CAH?hHIhoRec=jXi>&qobU{zUQ`8%u7o z1Zl*;`Q?y|c6xh82A{Na`Mv!o7W?jJrKhWKofM@HVUMsv@a!10mj}W!@?L1elvjr` za#Ko)ifXNtbgl`}(nik?R!d_yLnUZT)E#5$;N<7`9f@;41(bLBGPBpD0PYJyT1@~Y z1J5BPOUqF#0xyU6Z2l+dL*A;!U3Yd4zJH(fOF#sQJja|C>)fYLpE5Es=J$Epgasbh zb@#pW=i6I%Pi`pq4%|C|E5CjFw$J=)=7pf;qM{-M$FkMATBOJJ*4Bi?#QHdirIhXL zcBecJs6G2{AhlU&eQIoU_<+wk#8VIzte=be!mc|nUHjdurA2o2HdLn- zM4Dy;$}T7OlIDK@Mm}pLI|r%0t!-@VFLbu>@hMYG^hB96I5@cd$MN~})zwvmbyOzj zy4C;^-eqN7eBG4r=FQ@CP#j)(^ytykr-zXv*9tV=ytnTa$BIL7vxaw!&B~2&A7PP0 zYOB&6Y-?}F_20O0qb^o7Gt3YY?!Wz(4i3_eKm6k3`yU(@^gN?sWR%%4fedMnT<=x= zlgJ4X>?-%~-ShbKGtldq!>OkUSNuFYJRpN1>MCBiP&m#*PI?x6x3~BCacg^q zlj$QYiEjJiDcuZ5-tmbEQHQ?OkGuKjE%mPE>S8|wG2l9Mbz@vk^6^b0()0210_K>L zIBhH}Mu-J6-Rre7ZEn_G`5Ao@Le?6!5x``uF@y>^nS3mkcc|u2aA8dK6R<6Bp3z-#_ z4lW<4(%X9tI6ouNegI0qc@>p7{Pn@oD3qaW3ZcMVAB;~XBqZpYMoAVRBco`2qx`hl z^lKt&X|6~b6QsSxlr2ax#nT8a#nabsa3+64AszYn@ps$2hYugx@FbyhGBYzn2@^eC zrmm@JE)q+9MC|BY5-nSFtwIQW+iSm9qUo9v7!+jI3(`!|J|!6$8K@vbC8kFW;#mBj zh}h{`Sy?TG?GlMiPfJsd*@B`(^7!#YcLRBZJ(QdCE`iYpW&W$XP!JVwVWOZgc1&&? z$EfdRlb_$AEFmubSTV8F_PLOiI!Y05Gd*kKky5F&{O1owquTf+Ml?wyWpvasP&hq$ ztaPbQ@4aP{yXtaLi=|LvVj{5i&5gCCwY4>*kcJ7*h$*lD9>0fGVuX?vdYu5$aUpNt zT9}x;(s<9}zhloHf|jk~JGghR(^9Ydgi8@(B8s<)iV7QjXB3keb)cRy>8Pp`de_ zOn#e~*eTkcm70|F(DS~^(^Esuf(IoKsBnqM64pX7L`*cgXA}-pIQpp>?ZJa! zUNV6lb8-anoq&LnDNdORs3*O!y8`zdZXW!DK$p0s(=c~7?$>n>7Z(>};}=bqNQINR z`BfLWBI9q)U67amoEUA9qQMoXy0lcjvDVygeZ#{80Kq4T1NL0FaA9^~VamI#%{orlMstY``&HfMMxnkGSOsFc`DkK9Wo7Tsm^3F`pzR(r zTbk~b*@4{1UJMqg)8F5pP&AiPa-BySa`W?dvmh_@k}m}&h|o7RHHpXZadC~)*UCZ2 zK8V4st;@!oQZtIT_Vs0Grsia4Tie)FhcWx|y1Q?y45aoQPk!t9m}VzSD6=%5|IFgz zw1Ka;0HTMJlM}AvP_P*?A+4Uujb$Qs*!L7*?}O}lyHl&Tm8w@$7|*y1LeC^L&D}hh$t_ zT{#cjZ*FeJzR7`M668C}+Ze_-&#+dNw zz8{^-G(Sm)YArT47Qo}s;lmywroU%rFQ}^K@vD?R0oODb|#yMMdn# zk9&`(6z6APiHSK6KhR7y$TB{Q)m(Y%cTZ1`*L2}qayZ}sik@982_#)lUo~Tq*v5G2 z{;n>1Yy%Jz?{-LWb1U&hQ!`7IEGa6hUzA3uIfs{7-rZ*HiY=g_@wifr@=)+`6wxc5 zFP01?{Bl^}cd5P~96T{G;qC2>Ov&$?o!T;{8ZVXJG6te+TQ-}s3GsL(B-{zaU9~t- zEIFvZ!k`M5LH>Yv_gW#$O*?M

DdA*J7GsW>`=Voz%@6<)K-{Ajmq&=Wuxj zgHd6s_Wfnvr=Ifg@YuE{U5egFyMO;a%5Fp%AWCZYco;8Xl*h-)aYe*tKdoLplo!Vfy4 zuRKvAwjLByM^DcY5RTg9W1F;y<3x{GVsg^b0Co1CP~AgGS-LuG)69Mh^eh4`)x_DA z3(|IPGuo_?TD;d+JtAscrnDly?$2<^{LKWK>*D3hrn$PPoqf)Qdt(Igkdyl)EF$i* z4~*EZyR7W&=Bs~ZsiYrFfjI;N*;|~9eg5VRdx$)n{|-t@*FP#1cqMUYN6QhT z@S-v7ki|Z}g9uKig@uH`r6Jp**x@{S^v9g&PFowB2=N19bOIlLmU*lt#J^dZnwr9w z(c*GkUYFGV0w-to^|6g@sX8cHEv=E^;i$)tUCxD<3ORxQ2?+`seVcD{)Xd!6&CM;8 zPQV1$S1Ro@zOa&(mPQP|(X`b`I%IWM@i-b2P_D@MlioVy>;8q#BjR=0yoYKLRsCrY z%xGUS|ck1|}pg^0;Q$<;MvhVxZ=B}=kCQB?(Pqo{LK5idAd|0$=DK08Ptqkm= zclq-ELx=LfPfPJPO-X~BdX1v2ANAdk)1lzz3oUCR&|(8uTClCpf6?a*BsBX5{7Nh0)+w7df!) zR4Rx<*RNkE(f36~9l|jgSm5ZUx}brGSEo%p>Ew_sK-a>$1<@g5&G&+*t;U&Ho0c`{2ua0yg#Oiavl zBlYr-Dop%F0*1Y3au#F1WZEtH(f9oI$^SAe&tH! zd*>#A3C0E;=j+!oaAD_e!*+ zKD zc=(Wpv!t)ww_M{Zn`8$7fVj(--d^vI{yTe3T_P289r~r>R28BqEo6z}KubddH~j|S z8k@)+9G}dNbWJ_zT3E$2G&HEbOnu8&R#wvW^7%kzF3E`8`S370+9Fq1R#uik>dnpB zfKHgg<4RFTe)gT&iAhP8*b~;dE1oskn>TMpY!c(h7kR3T${fH=@%(x1TWt zDkeAI#ZC+OY;t|=usM$lvy9DBDwvuMf<{BV{Z8tJ2gDhzT2RWE4Z!EQ*;yUpdf#J^ zQ7oluqyPaUR4jejg`7iBaZCp@AA#8T_)#Xd{tzAv4Bg+pWr2Kz)`n5}Lne<54Iz)Y z0fIu&!l+b!{OFl!e}rz^9TrK+HIRzHvDA|D59e7@6BCaM3SMT9xEmPQt)*tKKFmztUjYHIN)&rsyfd#>p@lwMI+SHE(_we(u&uDdeU z<8%iPw!Jn~+;R0JT^|(2YG&UOg@}iKeiX^d)!p6QKdICZA2KsC@^sS$&Fiw_XMP4U zORfJITohr)cL55ZoCl%P8&43k1j`K;+k1ZBEh%F0yfJ^LO~hW%n03~bB*1w&DKNdMcW4;to&GD)s1b~}vx`n6^2*2IK_^G)NR+ge&%ujO>g$jW;0&_N?P zuclT`o-Stec?hvHIVmX!Oq76$93Z#6ygXtP5+N=I)N9Q(PEJlN)>6a8x;<1>QJOnq z>djNzx(1s-JwZWU=zDSr1MlxICok^??ZckF<=eNJDq5pwl3toS_A)SVM|z2hhyZnf z(`sLDcpM$Av~fwrHS2%90Hb}z3F+x}9T^7ra_=i2sUb4EVqQQn=9pGfS)F@>@+~gga0lh{gZsl7ct zV8Mp#W8F(zllQ=K>b3@hF%JjF_k4%`rLrYS&f30rrV3tO#rk~Il$2B9KLL5-&v?us z&^l}TUs6|Z{`T#t9d$%R1g<6&)EU2Fi5QYVMn;2qPJO)ehImX&z}>qSjtjF#fKG7r z{c`P8x>30lJNuiZYz@RQ5R`Zw6bXjrvYsBf=0rR;)()1*-af=LjPo1SIBQ>=#a^lr zZReXI^YY8ruk@#{|AL%M{*(Am#{(XQ3YGNKRBj0gy+n1aaHXGd@~=-j{`ePZ5h}wa~gxld^; zZFfd#=~{?r-^1D==|3N+j~J!{Izk`j_{{9a5*$fZ6;SR~dChP{s3 zHv(WpgYVs|sjaQ8sVV&3AW=+fneg_lLtn`@s_@#YbHRCb-NO?TUJyaC#jjY0 zgHfGDM?g_=v5}Wo%L~cw+wyhG8<|pj57{EZ~bkY2U7_XTW@;EL2cX0A4}i{NC~s3g`FlUed_$MTap- zdKw$`(`Dpo(7(^c zU9CYifcZQXTMzmSsuI13?f0*d+|tmuz-hs>lBhR6Bybf>PJhjjBfgu%wf#utOrePXIthbIb50JM7WrC^%@uocdo>vV67s<}p( z6=okt8+vjI3g#&2+n+f2eYz_*bx9V3g)~htF&V`kV?zv3TfhPXGWwFc`xQwW=)=&= z(Dy)$AxcX;AMd@`iGcIAV*+7)ad{*@(BJ=jPETJnur*?xZn_A_hL;z6kUs?k1Qu7d z_#lS4J>J|1?H0-5CPbt%5Me-3Ycqk;fEm2p+}-c3B4l1_=a`3R9BtE6R<6TPqV5OD zc@i7~JWKR@0{oSLgUb!+o>Y)Z|` zm)RD+#DdYsCY2ANAIeIEm&pg zF&FW`&1BF8zTI~D^-x@vWPw5uX(2SER;pwWT$Xt~Jt#8dXJ= zFZ=TfwRm;)2`(<{vF1d`f7Db|z}1i*_#tMeYo;o*Lp~~oMsrzRoi8d8C2JZ4MktuI zQM^hpIW#nYhfq>hMkMup`uK5cF^d7S=lb$UN2ZZ4pyq`L_JyfP752+ugt326$D;PZ zBEwFDK<@$Pf!JzBRfDZabY$dIUnv+g5Kg@gVXZit)6+Or6i(ibuJV`U{q zMA~WK6ZcJ}XLohefd{HB;=SL%O|ZJk%Eks#mDCs`%#Eavnk9-eMn-Tb7(^s-12_;!4k|^0bbAOGpKB96-=sc%=uuRZ2tp}95aFA{X2fa* z6L##_uUp%h&MPTRtp9Aa&IM9RHz>w+bi?I?{M+>ETz;<`%98^vUScP}J%~yKSH05U zLRJLD(9_!sJrfm2;uWa(hRGV>ICRrBsj0(QWCONr+h#bqF$z^5O%6SX+!P=wUeCCTV4H@EK87VB=>T1oa$Sz*(zFEenTE_p3X9FFGa<# z#Acfg`MILMVFrd02(+o`rFyc9cpP@YdesOd7kme(X zscrw+xnQXp8#_!-Kc2-Kn~;~cctU#lf}vrbGd9b2(=dDwsi*Ka)>ZT&D)DFLf9*{- z-aR?a$~u51zd>*qePkBU@fh6T1-e3kY+Dw8&D1L#2QcvL5gwkNz}{U(*8xtPodL@b zu*=HI;5UdKwVy?Z-568z1)3ov^@(8_0KOr4FJoU~2g3s})?q!cUYmWFMl&@Ra%!>$ z{hn=*oW1`kefBi3%47_JjExNdm3ltpBpR|;s(P}no*pb%&{}{Yu~I?WUV6rxRS}_O(nfJkQTxsu~W$&{B0Uh-*Nx(bq4rYYJ&btQfM9`|h@8f4icwr<^e+BS7APHhh~|L=Pi z_EC4jIrXj@w6>!vW)8*2Y1XZf$$ z$S^-hr1-~=kJXR!hbt(ZIdjH-c&s!mtg%Y>r$N*Eyn=!P00Ee-u0j;FBp#zMW;w%p z21CY*R{2WgV>4i)MRYVXs^o;>`!`3_2a-gDU`$D}4p_}!YB%W17VeHkOmDMXpZvp2n<2GxqtsU%VHy?mZ1=YSo5 z|Bm3&Zj6(7tC>phu}N&DV?rV#NH?fS<$)~7QeL2#i;B=3b3R_yjnpS;-I}zX6kZ5) zx_|%v&I6c~A1lqBogOf%BH3N74Cstb1OIyAZd)_eLkM^fOs;McTTufS4D4|6;zgkP zQiA}P8}<3}NfgTf40SQW6V1YNS|f;bPsClh7#ID{$|cfK%;V(T>!aUT`1vz`{klf} z@a@|-m`q^X1b3&w1<~mMm{T~L))@ktEYp&cIXO5WoPi<-YV|BF+pu>xz-)4Ga>AZ8 zR`%Qp#y7xk;03(+>J_5@Am%hb+I9XVvVsrEtH1cZ$Wfp)Iyv7Xb`Wr!_TQ!p<=?v=@mbliWJ)f^`R;zw}z(l@u(A zz5L?EQ7hRvSPe4ER>tqr8jhA#UNr)V_>ov<%W>8e^QRHGM>hkfK{CL#68`747g(V{ z=g)ygfEQSWg|YALhQ3BNr{qhy!{`F&hpB<-0CjI3)CTZyu=_p5xCRH;g2CFgdpCKo ztO0C^9RLBM2vScjGq|tO@wQZ;3c&ezD1EE{kqx6^iC_)W;(Z2j|D)3X8H^##5$?FP z7v<#}`_<0OBEb|4?K&%+qb6I02q+A3eSJ_t$ux;@kEoeVZ$C z|L?v4&j-W{#N*ljX;Xtf`hR-e|Np1|8y$>EA=M&<{l5nf9>jJ>?nPLHQVh%uARw~? z+XPhO;-n6sH{9N^SpYs4!MVK%qz>P#c}^z?YSrgwk~O$M=s+idXAY_;V5wL_Yz zuGk=rXMQWgh@sCHk81!>J48>v@|nSbfd3FHxi!W&DD>%6)wSRL-5dyB4I( zzMG18tdFN=!g;oU4qa9r9_1ZC>`h%=);XO(*V`RR@IFzg?8&mL@3ehZTH@DnNn=j> zscql|iwX*koj8H?q9tBn-9{LRL0SMTF>jW_Z;?_^^rH_TO~3Gzq-1IJEJ7@Fq^HV+ z76wT|aXTCkHDHn9QHK#=&!6)cAA8noo!)G)X&{RuB9hO>)&t5zCj!O=_YQO1QAQ)= zJ`Bb-(8y#R4k}%gd#+cV#YVYjgMqg@uKInH?3t zjrGhY)lMsLMRK7Hrmam_Ts-C@!591}dUKJZ;o0fI;b9SzPdnV4;Qyq%ajkO=M@Yem z12L54=uzWOL3;s75k7yF9WpHAE*$vfCt0!60=SGuN+FZCcQ4}zQ~!4QJE74h1rz#Jg!F@>Ri09f8r zaS}YVBB2x6>*8V(y`titJo!G@1m7?4A$Hd~lRR2n?Cqy3l+$o`ehiV4wV}}P0}FuG`Jw%g_RA{=z}Z_csk#NS}r*SsZgF+a8eZ2_ZL z!OAyQ+GdRg25HyvRyY=Mpq61K$!89OjBrJ`PEiu9Gd(Fi63cfRZyc73>fH_k7Ha9` z%a^eexc#B5c>JyxC0Yp(q2O?S2TYDCm{x}4z$f}3819GQnZC3 zGa=y<#y%OW7noz+Y1o z9HL59htjg$hk#3Wf_TWEe>rADmF27_!d(VGvcy%}-sa|y^DqteXne_b_?JrSsN$1J zY+Z_uXr=jmSAn}I?76OWioQ^)vxF%OjMKL3C-E{xM%D3b+amnvv|sEloyCx06KzpRe9V#%K1Uc1w;%|pr>~`Y460eam$FVgw z9VRxMpUqs{C1HatnZVu8$oIa(iq}thxq%xQLQ93>&OApQOWIo>hqQmR)W* z81zUJR4DStaKG0L?e@~39JuJ2LID!iPuS^qjZmpce9|=04rF9z2!wuukp$E`T41B z<7csKdWtVg9*%DRd(H_3 zg$1Pi|DOH-pZ=e5`2TK9Rvvw}WSC?ju49xzneszjUji~v6r3`vA6}@InCPxMsF+H_%KEP~SKY#MPN~ZQ9(xwQ zIsVtJ-Eqx1)U6WO(SCtGgwX*1c;vomy~M=NOF94h8YA{Sg`>B2bX(zi!5i{k&>`>Z zZjdzMnH%TKJj4Dr7g1#N>1~(D`!()Q^FfMFFrYYOSHx}>*rRt%6n%{?4vjio8xzUE zwBu?S5pTrGX(6m~i|%51^^e)$Z3(tBt>&){2Swf&)R&hO+9+j+l(!eme)#r*iQV3i zSd%}vhT7;7k9vJ}>?nSF<3?fe`Dz8q$VO&fs>mnJzm;*p6JhS_H_ukQ2qk{Pq{99C zm4t}flZU5I@SY2#r(F5G;muLeV&m46##7sqZC+cH)}UZcrW_D+5`29g`AR=gnlw!# z^C_@~6hCG~ojo-i=B5_=gU|o_qtx0|0mEM2_qtQURQvvZw)JGz>fnp6-k#@4s~5fO zqnlok)|2orG2f%f%aZ)2Eh~dDpQ&n%L-vcFMo~>s(e@=(KqR@?pJu7CV3g`){_!H( zcAfF=^yS<)soy!!);WYjk5Dufzqv(h#Xo#z^@rjNrAx+~W8YoaA>jTw<^bx7qZAk9 z&T35epke}S#^6p&phpAdH=9eMR2}v__tvVKP7Qvw^1n~FWwmn?gv4EkmtnH}%0)jXO$n`dzI<|=xlxcp~2o;%nkF^|y~v_7oocn@Ku9>c`xrfl{h&JarL_D)=v&kLl?*e#mcg zfoTNkQTuG%*p0hqcU`FQfE9}?J z7K%D~t@pRk-Iyn`k=BoEkxqm8F}I60`Zqka!pEjLLzi56F1ti-h}M=36iq&Rc4Ukh zi5AEZCApTMK5mqP_G)e?RW!ZSs^;ZBlf!+T9P6SfW&Y5TS^P6st@A23W&EW*3V5Cl z1yHM5HVCih|6VBAk^hBadHr`l)%Sm29z&{9MG@eboQSkwKsCEhO%u4pa|d z?$@dTpw7&G+TS5^llZ=kHZ%PGK)bJtj9#yGc<7dZFd?HPYfH<5`TdFeU$M!ocnA5h z{oOI@MYJ~O6&}6nWmcY53H?nYlZ0PK)NMJ@`T3)#QrDKH(W8YlGKue=C+AOcof=d5 z*ikt&^xluVG`W;R?-ANIX!(&HC<;1tifoJT&of)t(2Ex(usO?no)N0;`2KjNL1H_+ zm-C*bP<1Lt#uq#}YeVndJ6y1Lb1wljD5^baZIr`YeQ!kdCs?|ZPiOk@k5<{)VagP{1r$I#d4X)z*&x2^3ibWmC@+sj$#J20d{Qi#o=$J_r zy=i5y*R!z^PI5;IORV#I#0u*N8y5S&c)j)9xDgc}KXTAPXv#6C8jJq#wNq%Fb;!1t zOeddFNNv_d-zn|88)+SzIm_OC*r417dscHxOPh5rm^etwsEng|beacQ6@XjZCZEul zpm1hknWy{kgD^f)Z1g7v3-g%|3B^aY+)Rndt)ko(r=$E}q5OV5)6^03POvk;h1Jy~ zDf~oi?6DP+pNRJ8;w|i=DplF>lbzOTu+&GWQuNeJdAKnkzo(}sRQmbXsC%nSaLW#0 zN(r*(;KAemNtv1asPBl5a#Y&=PSuQe=B+7+jds+(;DJd9>A*BUwM%sEwT-Y+FG`zn zjm1liNV#=@Lr z-9N@u-P=2*(PiBfy6csncGK;xya)DPPX6cqu1%-6UC4g)u#$Y0MSaT|js4#?Nc(jr zbhsNo8dk<_^ms7646a?<-idl1Hkrfo8t4k0?93sN8;IGa2n%C)c05PFnDiiOV=>|N zlLHaQQ_a7W#GPC9L&afcVG%Fw``q_19o-WYbo=)^gOG)F4Axvcs0z>w!+P5`i~lc# z2`grJX68HOSWlk^H^6Ki%|G_qu6W?OWd0Lo~TAd^{Sxp$XB!@quHA!S@?mK`^ zLRN0>RG4;spZ_~B7SsQj%8b^ z(`ufV(@b5!K~Xr7W1P%%4b~%wdBh^_IRP&_$fCC`h_3glOf-I+y#9Ah-8e$Y;q2hh zo)ru=1Z6d);ETU1X|MTjBI{Go9n`RHv3M)IEbS<1&dRE#nPnRzB&o~gyl-DP77e^_ z)J$i-=i8o#s^#gq0_HieoVPaHMBt+=-PxIVHiYm&vwxpTywIsETOqAHdHArRTpuk; z@F$YD{k;Mp5$D9p$Cpx;i(&-z?%BWj-l!Il9V){L*DMbFfG}liWyQjJ>t7lMhFFNQ z_B~=`RfZqy|6Tq84Sit^L&4`-hu?3rnHPKH^~8LuU_+hSz}VT^o-*^0@D~oZ!Xb0{ zu66hhRzj6X#}q%Va;G$Pyr0)d-J`qtTo~=@$7;?~ z6;A(p71NXH6~`=4}qd&=Ga54N3)IAiagY;ycS z{>@*5lW02JWbt?GnGOr{O2+73hAaV!h6Kb^<{XWsuL_NcvF#QjKnon$ab`vtt8EC+v{%1h3zS{0NrG}_| zdn-@EJO^=CEWZfHFaqy%0ZNbxrU_2bq$@OFvEyl|8*XT^5xW{{Gm^j z)f6DjVUUu7V~n+lu}F`C>GfEqv zqD%8V{Yp>x&eH+kiAK-j&)F02U%shQmLstjE*A~(OA+7bx0dS?TP~JfbNa1dOi<8~ zs)Q#zI>NGxjg9E?3)q?MftiOvJD{lYkn>hLkN?KYzo=A)ZEWXawBR)#`%>SsxWhl= z)qDCI##`yq;tx!$_1?wme5>*On-$L93UzDVZ!5FIG~eRy9a6Beswb<&$F=|3s91PH zBqN)FYfS3+g%>h8UeYUSu;8b|_3BL&VW7wH2DXNa_4IuWo0mAkm`2_^=XMO2WC(UV zpp1(OP-Pugd1t12+dZO(=D*)~`Q8ypby+@nc*45D_W1vc7m!CzJtYt)8pHO5D<;yf zYp(i%0u7Y1^4q)fZ)DtY>V=Lek|>9f)@*;2m!`h(vqJNduFnRfJozx^mAm}=5B?af zGnOUFYYK|uWSgl@os`o~mmJ>h+gtN&OQXC}v`R!#7E&sG2xwxk*5jk2H2388-SZzT zK!Y#x<5?0&TeNnGv%8AZdNw0?D`8lo%QEGfBm#keDg+Jm|g#2;(At+?M0?}nx3Tz&hQ)P ze8{$Hp0`Y{yKr6(vOlzVQPCxMD&>wH3WhB7$;1iLIAjf+H=@tS>{toG33Ut2B^U=# zsM*DDGfw!IsKAUZHpd8Wdt7*uONhBQ@AYY)O8(cL(JohSZoaemu>0c6@^@vPOM!*< z{I=(xe^La?#u|6HGE((e57!VAAY6dB1ch{!f>ym&RdS+B%-C_}}!C!DS&+H8A9zpqaz zZ{Oe9+qRO?mj$qq_foWq>HkjbqZlOO)Kwf*vb@G{IKTta3b^&jfq{=<(dUoBcsGXz zCkA?YG@PMFWp9+3PSn)s=#TALJjF0RA_#h&IZ_eiM`V*9x0>j9Mq=xD>0?fno%qy! z^-1{uTbNmgDk4t{If9`K4tE;Ku|7Z<9JZ&aEc^ri2sm+m4Z~dWQYS=fVG2y z2F0ZQu)l)zoS~B=&l-Marg{tAxo?Z86lW+7w2jjGw3hrbT_8~(&VPO~qsG!}t~{o% zVSKb*Z`*^_jJ}z#(Nmc>I~%rln#SENj~mHe>gdBN-+Qe)*s##|ckplatpzze6Vnn_ zeZjFy8%Y~AK>;6mGkNY)&zk9MnwXRlaBEW9i1gA?lWQ&UW|}zZptpG}tZbZ{X2(a- zsFWss`xiKXm&N$D=#<#n+_0cLT% zCmKAhx;Yor`ts9Vsu{*+f9CfswQca(4p-V-{+W8~pZ<$6XI-Z-^)W0)%iC>GI+Q;Di0I7Fn$d2D zJsc!nO`D%v?H3x_`x!@n-I?6^d_ekGv00gryudluLp#w1;x_qxmN+wKWCYGTNJ2QI z#~c1J;tZ{+vu@0Auj6#Ya-1TBE}xedOR#K-W1F}$OKu-!pztPQr?gUj-<(fbQPO8e za`G$s%BQKk|BH*wDYIzTYC`VauTS)hFBoaJ+v843F!T=nr*X|F zn_=%>t6lxi$}N?S-#wA8zwwOvwH04|XYN$)$B(sv++9cMQ`mjcC$Fl`vQLhhDv>JpNHSqx;hSCnX{RCwrzg zt^Ov^;i|^v=&`kujQcj9%h=L3J4wpPd6jn@>KO0W8KswOsIh&=ls+sakyzT?MBdog z9=130UPL{Wng2hV_6m!N;@G$s(C`S@R$NSmTbsbn#r+AAu)jivloL`Or<^G`O9bhe zoRYXUkKvf`pf_L6Ie$DN`}uxQl7VTmwa`$UpxfV4qwG|7;g2&~-CcUasxt@5#bg&< z#Mt(+R^^F$kA037jUKNQJ;JkWEEOM8Ry=!GYcL|;Ze=R({Q%`px$zQ437=Ml(rCTe z>M~>Z!O-_fT4B>&TID9*a&w-YLu({b*%6xZ>7fNF+0yW2kBzs{(i|Du%*t{JS_Nu~ zeVTs)=iksSURmXjHz+?Gd1$@)mNz+gBPz`}C}}yBx0`E0ihq*3Gp;?ht1R*fQ||SR z6MAl?kp&IaC#It(3Y%5B?{l89T3cDZBW3XOvuNIx*jIg$y4hCdq`b!rS|x|2eQQHS zMbe*aoMn|gW*&6jsK`!XJoHia!CNM*tZVl}nsP+qJ4;D*-Ip%i(F}H<^_nQnxvo{S zyO?XeFSaqlC+ki^-$p|~?}Gh3J*CjKJooe{_x|%>tQ~X$8TmScjQNCJu@FRAKmEwLb(vlWkY*8I5yNnn<3GKwou1}Yh z*q6oAo^yI}73BAT_9M<&gIbiX$-Nid^021DkRv9xCtqDY zIX|%_iaL8t)1xt)DnUSd<847KbvD}?qx8*&!H6q{Hy;`p8I>a<_ODI59y(+wV=jN4fm)Z4&TgLd8kL+D8*x@VD zn477ySw5&X@}Twp{RbHqTC&jrt@OEN)`mH0c&Xj1&Q4up#;$`}?2l>H zVM&3A!2#bD!=K?z_5*@#BPk09`n=?i(BbG#k^~lEMPn1{afN#ULBsy1>z;_6pPwZ0 z=?X_ICupn5-Fp7Y*Xy%giZAJ{AJk*Ck%14G<%eMaRE47&|_t?=Rvd+zi3LI| z`Pz{;wb7!4A3b}ZreUIfy^G(-;B?2x^YwFwJJs$OIgw<#WLva+;gIZiABi&3T?bjp478dqPU90%e@J4mN zfMMC@?)+Zwo_nq1?5_QCRrb@`$B8nSDfCUOO~5e)F+(vuP2Zn^ixVmKu7NqRfg{?| z<+EoaEb3wg_`#pF4O3w+8S|u^MAx zZNGKKtkPBQOYdEmrz?kQ1NPoMh!T)nB;j1&bFQ3Q?@I5bh7H^?y}*zfM(U2&(tZ-H z_h)RlM=jsh!$a$5e+!dggyTYB@IXITEBRQ)YGuHuAODJq2C#UK`6fD?S^w5Im(e>! z3JKaqnqXS}F%__z2VZVm>l4zuEiO&{+{Hj3W9tf|39RY8k2{le0z(3ca#=Kwhl?OXL`FXop7-CzgOEpx1Gm&p~g zzufoEoz0%{imxa2k|V=l<;BYu&ik9xVxGpvwtAZMly0+nQl_*t<5kQsT{dlEjaK%u zHV##}1d@hmlkr*?Zis^V)@Ng<$xFrU8)07)PQ3chS%_jJQnBs(cWty8^rdwz)dcpb zmCF4x@=mmy_>jJO7rX$Ja(Hbk`0r}FzA>$d0{sNLF|uX(^JSSNodvX^YcnY@0<+ooo0yOMWd zatMc*z%uQc#g!*|p491IZwW;7d`h%XRBAoYM;eRa=HlO|yZe?jzT~#V`s(#Hmt|$E zyXFSh%e@&>mAG5k+4;D3rT)gP`BDBU2pZzmxz;SWhxnZrnDKvCqwVA#2U;x9xt*w< z>szk&i_FlRyYJHfVQr^QJNQ-a)O-PhKmju-yjL-Olz*%z|h&p8iZDY*dz3=<%twWFuYWu4jPqimFO^&6D}K@eiBr&D-xs?mzGA()}hPe_K+R zeV1mM1#7eB`m-xXNUL7OwDvXJ2c=p|{vWE|JRHlm`yRifQc5VKghHew$xw)r$kaq; zQJFH&WUeSGNit7Krc9Yhh7uBzIkPB{slhD#)}{CJec#{x$8+>_9NqUdoaa9GUVH7e ztZHX|Xv08#<;{2FGfZW_i>MkG5JU+9zTnO&i!WDr)z8Ubo@;zl_9Da%^UT@>H(whP zbJzZJTW8u6^L#7geakc_MZ6Bi$!*3t*_+&w*l^bDw`aeLCHLpW24;_f^Mb?ugWDgt z4LVA1&{CA+vgxi0=sl>^_1Z$-zS8dc{kJ_uZGU{IWoq^v0 z6-p=1SFY|`wST!iDNcN4uu}TiOS!nWvt-!+ZFjnr<#k2HMTe{Ub6j_*XIJ(twKkn7 z_&gnXd2U2G?43V*dV{-17t?9`=|jx}lo}a{)+?bttxDa+D88NS-@3Z;ol-OFgth$u$_O0@J2n$v8rS?= z{&0cm`U)}Xg@8;`fp5J2GC~JFZ`7Re{U+k1B5yMlveKPDI`>dnZ$y5Gg{}Da?Xt3B z$&>=tu<*r`Uw-{m)^_^N)|Z!{nQq*@=5~BgUsvHTf5tC=%k~EqUKw4uC+hgbqiFE= zp|-t}VH4&BUjt^AV#n$a>Wz2)ZR0Q4c)_p1;=tciT7}%!OUr+{J~+9ZDD^Yj7T;#s zY46sP__~`lc0Kp{H1@Cj@}38dvE_|OIeqoWOFy4({CZ8iil~K)@u|*39uuCAoc@;d zu&gi^-=iGt>&xY|s!pVoTC~K2BAntf@{EmBhTfensZ@}8Cu#@+{boD)^XKX4{rDDa z9+P}nBA@#uaOxOJ2^oL|gGVhfA4?8Ij`!)Nt8EKZ-S1%ivO;w9*h37QaRj~xM|)<{ zGD`#Vi6>>y^5Dy_Sh@bZdE|j?JT|TB{=B7POhQdeSdyqLli$S4gS{0HCIe*LyjdFs5w$*0md%_Dhxp~C*eSN)TaUL{KE3Re< zY_1TXm3$i_|9@NnL2_2ecC!>yflI<+ zerJZb=DwFXiyz6?XovDrt!bVD*H*x`EU$YA%vM1S#77zhA(d?f;{i3gMhwTeFFHw3 z5NseJO(cX~=6FUG)#d)4 zy~XVXZa1s5(}IFnAFJGcQ*P5u$@g=Dk)2QC=R*GfYl4(LIkxdJPjUnM@*`iUlh8n4 ztu7Cw&VHyS_#7|i?SU8*Mr;C?Y#Ajr=%>bUzZylNcqKn~)Nj-SrBNXfBzwbkwTbf0 z@d<)Fv3o8gRI#t8I12 z(YN4~?b^s)SMCn+u6{Lhzd^d>;FBRY721_1mHj$woXY-BUZNd_Hi5mZtswJeFm98l z0Y7AA1+IL#B5Fuk{&W>--8`jRas`XiyyD!&vF}Op^MX$2OEU)iYb^gd39MUl6E7>B zn`{gd#HnnJbRPa6M-(u{Qc@i8z=0_vj9*15@TlK988ALE)d*eOul@bInK1Bo|Jt={ zceP$-J$>rs`*&%{Ld268rd`cR4pxYot$ts*$(4MK05!YV=%&jf!^&CzKUC;qiYibt zNZ&Kv_wj{j`MNbHv0N~a+L>o&Rdz*9O-)yqmHs%o?;>tnh{AQNUmYDu@}_~KV9c}(hR=Qpe;=kdL6!C2t&LQRQ{IFp9|d=9XY6}sRuaCdohyC zNbQpzOHEj=%J&4Mh>Mtc9fa~(^}Bc7-}><_kV`s~&~#U9FZuh-r;o;eJCVSjqtlf! zuAIg5pVBPsiyjm*P;j3}QT_ct>9J(x1k{f)Fa=!=@EXs`xStfM&Bj=w--8Fajem%8 zeR4sRb3Vh=g`D3|HFt)B;hq6E-P3z|2Q=R(*?Jq4zdso%tX5q!)QtzwB@XoowN!H2 zoK>!^y&WS?-+|S|&=`@#4PvIL#jta+WI`@D?geU|*eP$WJ>EM6F0QsSif3Idwi|y7 zkXaDVco?J{+yAZ%bl))yb)&8QzAWmf%~iCZ1^gLE{13!tG@8&mfjQ#9B>91a&riCT zt;7TkxmTPS0R8nfsGtk!E*J5tPFZ*8+0Iio>C4eRmLDHHns}y3IktDto-dHE*z@em z;20ibeWWNU2x*F8KP(n1*AIEIA@;Ody*%DWr-Nrjk184!Iri;H9~yf9`PW0U!RVv~ z@!yA_hyi6p$OXMC+q`L$qP%>#n8S~rI*fxT?hnR1|2-KFh@n!=I}_Grt4}hyAW3Jj z@fVBCJF!m>{I=}r8VKjWl?qEi2J6SjWhDcbOwW0C`FZW)_-pI-nb3J-H@rd zwo~lm&~5W{wa7=0^t(W%!eKl9H}9p{(I39hywtS(kT^yjKLdRP9?plCOp(y$?L+?`B!Pp+q~#Gpda$5L5h9< z$B9kZNy?FTf>%Ai*)B1v)3`l4ewr-SuCThc6JKi=kr6E(cz`zarP%y%tB~1q>yD-S zh5q8j5w!F8#B7d8= zs{phOFlmShnO8fE|77TuEkkJf*U5Ytj-tq=J>+}T7eYaHz4Qu`=F}I~V{#unhsAr- zCx+FWTJ+9ePTn6Guc7vBs5d!Z;)tL7p$>oF2eN~hfp^FFWS*9?3`ZbIU_W>eJoswM zb884%DsufZSE8Xh$DTMxJG)(Zg8zl7kf=krg&=RCCz_mYA<9bwW6-M}opxC^79yEZ zXc6Kc$S}Eo4qnOZNaK0-G!hcG2-kpcTysqOc-SAt=4S^=XY>i!?Q#OEAFGngB(~nK z#1}$U08^4P9t?!@zSVcN&yj@czFNNha@WWC{%_w$h5>HqurG;c-#~z&ztS#;pY)Q` zPzk-EqmuY3&6pWdnR_vwD#f;Imy!&=5{&%)!3wUHW$#y}|M(}iUtT=EGJgDjJ1IRe zprzAxuuA^L^*=B`6))40oWEHr?UdObj_~IG`;W@s?+I48E1!x9MsDQ@gMXYCuY(SH zyrH(!GP$T|N_Q6r=K9;|3`=+BXuQ24syY+S=&JbNRVl&z`gJ~ zwdK2aK7Mh@U}<4`wZpAqgJ|7;4h?;9?}`4#Hv6~-zEE@GhIsujfw2qdN7Dt~pOKSq zn1;d)DaeiyQEMBUtPvTC^0WV<0S?+P!H2r~YA^gb^yf)coNT@sU(%sjy2dp9D%qgh zv3t0=(bL%MvLDJkRYBxxA-axgrmjqHw_rW!FT+4jf4J^_Y0kayZJ>W8TueDQL`85? zwt?g2bz$iLj{nJwfCrQ#uE{UnxDDL0IU6?U^(Lxu!INh?D$q?wriMPPo@di6Cu%y3 z@07p6Ja@p3BUSvXtR1hr@2=*>6ec(9Yi-Go@ZI+oo!~E_)Q}(V_Y51z$bYk$LSJST zp^dNb5)Ad#`A=7FBvHq~CjE+@PgY`O6vLO{Nq!EFk0$A+LgT3d*0LPWoPu?<-(yPNhq3#NybK83j438&Ylay&oJPt$bJD5W(EI`nb+GxrUGOGV%um zCdw*k$nBv=CY68eoUV>pvZ;W&u(ixrUdCKA*U+YrV;e7@v-e~BZjd=&Q4#?WKllh? zK!4@-YAcdpqv6gGROH%_%noZlrVtZ$;OiZBNf&n@7Q$XxlzU$>h zXe(_eWLJw70o$I-Ll6Ha%Ww|=o6bcr_>!&R@c^ceGnycKAom8gYs) z-;{kjlTPD2{*JG9OI{5%*~jld-%<8i7s*JX$vPu2ym#XsC28Mt%JHxATf5`7`z&S+ zSLP?6bcJrmJd{{W^TY%M1cZd3inCHGrH>dn)sPKM9=1gLGqzC5(Wq>Z^( z!}tp`?_rb$8?r5Al9~+-3{=(BW>_!m50?2lGExL952zw77Ji3lJ!X24N&21P2&{`a zzId`86a|7Xm;Y}z(7xDOBVW2D)%ZgUwUO`pRgnx#jpEkArADDn(Ao+iZWu?s0;9LI zQWmEMs0s68c9_V=DC3OtPU7W})vLRRt6Psm>|s!SQAZjD=O-wZK$U-4E~%Lw#1Gq| zD8mj+fdjMY?JdR369_y9815|=+DS{Vi8YMpC3AIsp;vD-1#9ybKbp)N5+g~xP-oyp z+yz73#H7CgbFRk_!!W)GS!l2Tp+E{74g^vX3aYf(C1sAQGWoFH*?e`-WRaz`&WBzx zsrlDQkqQBjM4(<~+n0jmvaU`kSiu2ALP+s0nnYo0d>#r(8;d1ZSB?m))}K(rPRd}h zjHH6s0aH#otUQsDZ~T1gjGz^0{fT>)_4U{kZJPg=AVZA53HdHgC-r!j8F52&PweKtra!@{1XDzB@mb3 z({Tj zd3p4KCwAk-%R)6CljmNGYuB!QjT#O|ER++^r>J7El?K`n;0=s76Xm|Q$<%u6+MM8a z*-{8xz!73An4O!}ukCOTfn<$gEyPKk&?#EfxDGRl^d} zz@%GIZSQK|y6^IPZz2TlHaRM5igtkv#|4abV)7Q#_yV(2zklN>!z8@742O;VyXv*X zDmQ?(Gr{qGOJH~Rom~QM;hW-5_kFlikw!7_XYx$Dv(Yi}QVHTSCb-s2aM{^E*4JfoZc zDh7HD-OV{vRa52a>vtx;5tqe!%+|Y)r@OHchxUcI^M!Ev`Fow{r@u+Q5RZ&R{^rFS zx=R3B{Pm_BnyPb(uWB=bb_d6L(Pm$XIS{j{WFCvm>3aXw*0&==a48911DkD4yH4K5zb= zPt2BdhsjwyM3+nIlP(;TA9R>YF!|_rCgCEDR2r&YU(3D*;FJidPa{HNgm+l{Z9sET z`t@nHixkGs*XJFZjLPcLUo!jR-_v(pOE{!dF(#JVeUI9YaXyY`81e!&9H-^%)D#`i z7+ul~%x4o$VO=&Vg6;5oQbEJ`hIlI2dxosT?Kz(xWpOM&O?n_*bk@A#WIS5u9 z)f#fscbDlTOw~Krw1Ty`2@vt2-g!2s$D+&^vRH z`!df^+pVRdqFvyHcxTYy(GWwJikVB1=pRwYgQ_Vnotr~TG9@Q}?q|xV|9Jg=z)gRC z?i$@LB5c%J$Fm%jIr>TK`17~AX4Qot5}~H2+Olik!Gn1kd@^6Ze96L)IJ7|IGF#}$sE%A`>|n%z)K~T=mySd)KW@10-{zRUPIJbjJ@jfpe*RYMA}H_dsCQZjf56 zo(uGtpF`={(A!KdL@#lC?Jwk^V;Ni=P+h@zHVzQ-A%S+6kumYMLogsw)^>h7$HJhV zl$nHfx!&;TXtDiBQ&NnJ!ajyhn`PqX`_GbtTn*q)}jZO4x51u0}aEia*SR4sN;-+Dnw zNl8ILp^w8B4;Kdj5&=MttOs8ZD$BwFK2jnh(S9&IK#>kJsq5{2l;wl}RvFLj8ZlXJ z^HvR0t-69kAw7E6lEQu6bhFCe?>pjluZIVE-w<4c5Pgxy(gKcNKNG}sRQae=E1NiQ z2}JzqyIO;Nk59|s>5;lzLG^N!P&=dz6JBVafpq9no!$5sOcKmJp#_}Izb2P178qnFP%5T6-VS1FZSc=2}0)e>5@9?2k$bH^%$lIGYc%a9{=eL zkUg1My$9V9y`kT7x2k>Bt7`;Fj4e?&Y5Gw8)rI^UV|IUUWxZ%zr8#!ER9Oc+y1H7( zNs8qT9jeWx+V7xq&g#Y_=V2|eWGnx%xS#R`0lDAf&e0S7B4ifazXe$3|HFs&JR_Wb zrG}4>YmMstE}Al_*0%~QEA~C2#nKwmZC4e+bcDX1+7aryWAmE@_?~|zA5lO+h~=N{ zNy5jz+smp<2L6LZGGl%nZL$7ddkk#obLt}%QJh41|LVOwT7S?E*(C>M)IycFv-n@$ zN_V@<>VIhdlu{3li-t3fc_)t1Z{kH<0@MFgf{44LR?rG%yPaKG+=QTzv$lRE4cF3w;qJLmFjbkr|Hy{mA6iIv{xy)H@s zbt5k6dt`6v=Unpt(kcDc3Q0w|A3iJ6drCqv$x@C>pO6pA|h0sj81 z)~Uz}|Bt%p=Jq;076m66zNdDS)|Dtq@^fs@^7REbw2N{j_?#a3>Fa9v%?mKa(bZLa zPbCI^2YCgAejpzOp_}a`pv`$(_Pn#OF=Y z)EIi{^fL0NAg=_TCWyP)*}rE7F)NdrmZk&m80cSvpuU*&8T3$cY#{6quAh*Q>1$=d z4hyC!;T0L(ea8REYq|r|kH9i2EnSAfDMkd;QiFYAUkGo%DOeL8+1%_z1^p@-77J?8S-kY~ZTge3ONP`6YfHXra%*}CNK^6=vg0!H_(@L+rdUAFB2>fWlNQv%Y-Lflw;k&nl ziXT1lHcmDst<^ZHDaz`{7rhVvOVEWUL^#$Uaq8hdO!UI)p$>-b3GO>e;;zXWa2A?#1Zsk>DQjw7K8tJ zx*T|!M&BgMl> zt|f!}4)=GD;Av-{rhtRtA|$-wf!rN^aqasCGy%?{EURKFilv$QgCytsZiy~ad)`=Q0w zppW+2IaOZBm!mN-$pJUKVRnPrz*^F?5@>w!`F(D14Ex8een5>c6W5GpY+oonaU=D0 zW}%TzWaEt1GeukPcjj3hy6G!pxrwDEqLnlM%lF0DAvO_?{rMbZaFASghrJuU5@q?Y z51yxfOIK79e}*t!BSR6$Cp9W<+L3KKqMkNdeQ|jc`x>o}w@v<_aVP1~I?Vo1vn|im zEd)FjSA|Rqjlq4vAFxiUs;j%K9m&ON9Sa7lgkAj^8Dy(N-eOb1vzKTR51kz;rfI9c zp&QzzgqF-DU8Cg|RO9zX1S=W*f;3=6458xS=xFzE9~hU%pr{E|VW6515ea3*$p{*+ zeZe1KYV$MJ?{}6A@`@j2J?lI4#LY%QuhpbiH}MJOm!o(UU2ZYnU(0kK%KAse#fwu?{G?bI7@jP{;?2i zd-d}%#gO!f9m|b}ACB&!^|M~u^?m+J+L?XugqdHM6Ggzr)ZpKK;2D6>K|t>OvICu< zovV*hqoDU0Ni{ll_2*KxpRWT$-A21Qm7S+bSQ%8fM53a{@lV{QTh-n26=fjtgINa| zv}#G)5KYZ_h{Y;$1+?VA{R4u)WcF7P0QL9X&miuIB$HeM9(V4guJ?cQ!z2Epip%p; z4Zo;%+=0`WjKL>6xtWP5I;O)NRwGXBySV3%@wrJ~#eA9D(lq9j=GTOgASE34V4pZX z1Ex4F*)Z|Ckd~O>w7nXy{K}pA;!S?Z*>6nlAM5A_Py&4(U*9WXxL^=kmYo3#gQs4m zIt9Tjpac5t*ChqGgHm81+5hG?lzCQ10YJ9D@+v1-VJ|uE&}IFQyku*s2&=FJos!pk zYn^in;m^{){Rt!$5ANFsye+lt>67bx?^TXk>Qv?*sqhg=2yy~4Ssf3>qsUJi&HB|mcz zOhPPOoHB@#cW3NJzTl}90AiDfWZE)oXAgn)Gjyg@~ z;8D{nM~ex=)k9KcwL&O%DtQ|xS1(Y9rYF@w%k6v`=V6wiu1=!YQyypcF;rDnCL|^< z%+GgtWD`XGT`~aW{`eH3cxcC5Z0b&>Biv$}g|lZ~kvTZ~8@}S~?8m-VC;LJogLB-T#jZz_D6MT=Ni(r z5$7$A$`OP(S-c1==HW6Nq@gyt#X!is#Npn7lwpCsYnGhX z?5B^v80qMidQ7X{$3bM{q-ys}bhK2>j*}vUgyrhH<^C_Ebc7xtE!tMWdcr>*v;|NX z1s{p}+vC~frrWB&FpwML`)tjwAWpV7CxRNXC+DISXlZFt=h3pwub;Ylzj6TQankeW zKTAFrKm!{fC4vZSF5DZKckbK?({Gp1OXNay-la1l;I8%pR}`KuBO`r3h77KE%Rcn< zl;q?zSGx7AKeCo!zOZ_6TX1Up4}^2ybPDub5qm8Z$@MgLKOa&5?Kv&nUN3xbh|JK!bT9nWLh0Dj4JHHm$?|6HEHoZLScP@(@#qH>jcM7~ZyK%#Y{sK>P zOG_wIK^qA>J3s6&`9`}#fp0}8L~PqW&2)f1aCJDkz3X^OG%I)oa|0onjPOmdIC2TW zm6F`IXGEXYInXt}<@vmw1bAFlL?!lk&rce%MgDn($Pl16yu*4vO+N{VM%0ct|0D|* z)PQaw$LqpYVfcgE`AXq}K7AV+Q89CGdrgJb6rP^@fqU@6w1U_+r5ZyKXNVyNS~ld6 zm5>)z{C`*-8BX6>+D<;&$$JCP%^t?3rK?`Aa^eAL?%8uCxfUvR)hhz8)EX!W=iRGM zR0mJARP$Qv=J0|)<+{7j%|lHQoci^i+4O#ghG|Q)N1^-d)2>Nx2%`IK!W{`Qv$V7^ zSOLnwIRY*-LMD|BHr+ADUFUv5lNgS7u(sJv2c+((=jGQYMhq#S?y#Q||xDfiCNl}dvce2DZVL{)` z!9ocAZ4E3dlbVsC@T#UG<9MLSiSVv6&1=buXiH=>k7P4ncXBG|Fn6@Iz1ksXog??3 zVQ5TlnOa(MV~bW^wIPEHjc*QVwQ%If{G}vMXwpNHA2d>Y0KCG35zki=T>Q{FNRYE1aWRTjAToVGX+|;e!?`u^RnF^WBNb3i@XH4>0_Rxc|0Q>kq zeZo)9aB&3sPF69~8P75n@YRyGtRkL(@)lQje)i^lc2q)U5u2sA}Sn!D+KS_wTtCm^csZ@0zzOm4%9TCUHo(gtKxEO^7cJiYqh}K?LM!uEWx8}+VSDf}k^vgB(w4nP zVK{-Txf+_jAM5KO$iS>ux@qk#h{VCN0FD(8eS1Aumf!-2HKT^=GWf&t_H1(4Dgp+c z%T%QKG(SM3tjn43vKxrZgQp&>5%7U%pA1L1#0|l|G1nqdM+=Mevq|Fa zC>@%U{7j(h=3d`<_1A7sQRD;=n8KRy8boia3rEN68-JLfG#+?nj$sj3;HGlyBCtYq zl^=IpU3#Up(s5nc-4y`H_x&z5iF_j))%doe4ZG{O3kMHRQhK_-6bl{QBjlAZUM-zm z=W^qQ1ympLK5}!XaI(4`k%Q3}lH@ywEWtRtLB7Yap&7vf&zw8%-$l0Syt3y#a9|WO zdzv|$F!+JV6&Z79c3I)MkSd48RLsTT@s{nWV2f5-dL?Ug#sk5(pOL4+l|TV9;E3e=AUl zI-{K8V)6gnb7YNq{o+mZPGwsShXNkV(v=-m5tE8y+_(;^($>q3P=}s97%KXIbnvi~ zlT7IUu(O|&LB@u{)=-m&ho?(o1DY;mdfk8W!=)emA}oi5Sorg_rK=)Ny=KL^woQ8d zofrS!y}9HlJ%ZN}L||BeaITO-(b#NIGlf@J-kaiDgKTK`pa_c1)!;*xK;H7lC^*7W zSKDAc;3M;Oa*|Xn#LgiZwK6a$DZm(WsaK?72bjj_q923sMPcFGit*$}$_TNXJ2zv! z=`7E9t$oBQ|Kv0sBi;7oXIC$spucIF-eRgK-ptf>w)I!!^^v;8e3QN#awAIGog-aY z>3J7JZ*8JZW@Jcudg}zE{7Je;?i<%;_jvR5v2W+Rx`E$(V16mMd$HR!R*~V{!|ySq zrzERmN4zwS zF=^+MZLl$@X4ld@1VA(_DEW6W{IOVw$5WtU^$Pgp@5 z7S<&w-1wNx;BFFDDZ2r;=W?;ze6%NgZ)rzjn-y<{`h~{jR~=*Ow~nbgXP&^zl9iqTkYZ;EM6vtGA@rweM{4ziQE|{H;F!;UT@3k_WgJ?-niH7p}5jxOOf@ z6^fs5X8{NFf;Ji}YMGZ=w{8{8-`0#SwAO311uE}T^ka5amFn@wk7o%OOTrO z_fs~*FVeK*;$;_#1Vq=_4E?Sro?;U1AMXc%yH#dvA6x=NVdZnUh|`-cf>|KcpH4bJ zQQFkW&`I%$n3>3UnJO%;2^DfOBc6IbPc3+N|9VBDr+eUYj-F$d zb@eBANvZ4PuY=McwjlQOy5JX?hikFb(f>uHmdxMgYRx6Tru`XD!1(HrrKIF z)gd2T@g8rso{xN4GAY->--hh|Ju|KM;+^hR8y@25uO!>FG)|*+*B zgv#zUYZ&pVsfkn_g(<@6_(p<=J_}794<)4sP(ump#dj+23agdf5LX?nnMin9>kTdW znSW5)UZrFlWahu~kZYAxTgQWmFl^%EMP|q2N4_b z*KjvU>J?;ufasrgxuo;Wn=4a8Vs1J*I=JX-*Wv>YFGM1&vIfhqUU8h9x|{Y!;#Sq9 z7DFE3^Iu@c0_#HPQg`BW$J2aA&o}xP((zw z<$JH&<6T8Z2B+by^F5~t{g=L>*P_8K;RyyQvp$?uu6w#-i%7i-92%p+dn3 z79IbK#dURcFvr6&YGG(7%zZ>|LtN4u?+-}`M03@L;{&D{?sPx}y8Y89f&kd3mvz<0 zqge8jl-t}-v;nZhQ^t2~fuNB&oP*6pT+NLn+-}{zjUyJ^7t&}CFe&XBV|4$>-*$9d zQx4#?+UOn`IHiZLnCw+{jQ&ockKKl(XUEI-o}MN6wspfBRepbzc0iA#4lRLbi*_XJ zrUtB!#!Fp6#C@U9k08ai>54-9>RVt8%ykq=ir6 za9J%JEnyGT=dozv;E<=opVVj~!FEVc&=%H1O5Ao2hQ$AhSabrNL6eirr7>;^i-+IN z5|6o9R`XyGdr}>-_I;lv_I(nC|DHrH9_dBd#3`3{%iG$0*w9yWeDx>&drZxfFGo z6mQn}?0M*Z<-G?FkX4OnDATT9X3bs(YWP7g9n=yM3th}RIc-t;JbplgMIR@RtSm~^ zT~Z#qh?rmc)m0Chrm%J>$d!9e3>F?ZDu5Hmo!=K!0|qnyBD#x^t=)v4<>t+9fA3Rk ztM+|UTv17X-n%vN#LU~g^~#n$rhcI}?+xZ&O*oTC={0A}$F}lg5Dr}Hra8E{3|=0_ zbHd~$7O%aS`@r68UUW*Kb9_=(c6}>*RHq4=3IhY#mOWy?)U%@5$UyjMn+$s|+>9s) zNWF&DLKprNSRQB2KpebbP;W{h-B#~rZtlr-MCm;(!Ww*h58t356*3-aa+V9Ym7Tz5 z@FLF}ms@B)fXg$&a+uN!RuQhQt}EX(iKj~s!A^(9Jj?|#n{d37G3BcNTQSDzwtJ_w zMI)DV2ytE&w=9M5%V{r6n_nLd&_BGmGr;$GCuL}`XqOQ2Q$e7*;^S0fhPdQ~p3}|} zyJFF@Jk?bG`(>s=28tnVRw5n`|#UW8ys+(6zO$ zbw8J-E`2RkZ2CQP`A0fU9U zMF@c3U0!|yDmb_e3NO|D<5JEr4lRRq)9Uo!5A4vgmF2}v+xg9VUIp*`>$R}m3}b1L zrIL?W$BjQ;ZKCL3vYvA$s_IU>8Ab}vwwxC8Y zz2W%!IzvwHm^0A4W@H?3adn05%;+hj1hkMKT=op&2k3HuNec)DET~EFtd?%)?%Hua zEsoZ%o>^##dDE@sd6&pjr?aho@4c9CmaEy%V5jN!>IXBwc3v(w$dP;9YV%+r|GciQ zg_{Os;0R|ImxonRB)!gj~f{NZgM+2XCJbW6;N4cclTxjD+95Dd2FNtrjb8< zLPOgtdU=thRNq9-_i5X8z?bmNg3*{;^7;T)3W=m8`WWWU%aphk!M22NnAB&jKvRGI(K`c+icN_VrO&pB znpG+O>8O3J`QvhHQEY>Ou`yU9O(QU-w)2s;0d`HgGA;jsM-G(E*AqBZ*q3F=cgXbb z9R_hLFMx-~KCXe~is9O$$Byk-ubKOE`6`Wjn3=R_RApPv?&0MOCE6HjA}#H+P$%7B z>``o6G-5gC!>? zr={^hV;QH%lJ*Y-4puTsVnrr@yNGq+&%Js#va0)a5X*;CoIJDcNY*8sD@>a@)o7Xr zTRa>-D8*Ztppv&^$H>G)3_R#MI_AHH>XH7x_?4vqG53YsQj>M;I}bPa z+h}fQ7wX^{la#;ufl6GXwO1F9Mp#BPX!f7QAdts=WeQO3>q72*nTQJSD+nJfQlvN69n}A=t_(9gp*+lQt2$g5z>(>IeHsuO7KEs!bdReH0Qt zK>EF|4(ixR`J|(ftnA0I!?#_EK?X%v6}>5L9-hU81*mxaaefWoHCSxEP|1gZ4w#Qp zMxtJ;dn9HJW%lQb2_oqlj{gdQ{5qR!mRknuY_CAN(tYkq$nwckDk{xnOPqt_ndiCJ zaPaJf*($n*9D&I>IYHEBykO1%#|?Xr6!q}xMhJ?7y3hM{Z0z+*l{-E7>y%GM75&}# z`TIf~MoF>Zfp;i!Z6%X)a0&b$K17ynyK)7fAT%RYpX#lGZf%~EklVvUkcenrt<$6j z`<4REY}uZ2aq(K*Skl#S)sE20%L1+Db^^xK=bTW`rPq)mmMxC_p~bMtfb@LZ+qVPD zf1GdJ*vrk0v~82mTf{)NfbX~jQfd8%*jDnZr*^NNF>9bn>4|b3rV^+Zs^ogjN9*}i zRE2`dM6Mq-dY%;hwl8?cM6GSE;Lp*I`dL-AZDVSZ0i2;;LQVPFnWmQJ9mH6A#X9PMkM#7l%g`LupZjtXp=qyR0 zgK(;^zdw9Dj!0(D4qSy*#kX&J={9_|Jw{j;b<4d*3MO4amO*hm zCt!82#9eIt<<>8qnO;4vzORbYRtXBaHYG0#FFVY=7#lxdyP>Z*fMUxAI|}_bsyV{V z?{~9DUWo!uWudDZ?c-AkH0SQGT+SB|O#Ym84bn-QT16jKUOf(LZWQW3euX?phz#f{ zFtryKQ(~$#^g1X{uXx{!ty4YjG&*nL)*nt=etntw<0dlgG1>LX`PVZg?gNlMdR!aw zsMG3q0xH%i?S;FulRkE*Bql^C$DUmG;CsS)F!+EA4lU{1hP`QdIVMWM!!2*vF%KoZ zuE1XGI9T5j61zfeNx*@D%!~%3mAG+KQxb!IV+W~D@15RHyfkVa+Nh-KZ11Dcj`Fy) z^}vN6jz$iB=A-UBEv6^J6dBEAZtVXpShhHp#4!t$=9hRlh_i9$HLxkVx;7E#6gU=9 zPW%%heQ`F4lHd;(z9WNYGKu;c+O>m0}-t*&DWP z<-zGlnLibV*Q*?g6aYnTh2LEp0bV1AJJ~_j`S{@*e#UZ8Cn?lj*il zFD9NSy^4x%=LkJ9T{*v7dgujh;W8YdQaw=oOp!>NdbTV9%W~XwyW#nrBpSX z?eFKdg(jbq!#&4M<{5AJTzJ!;<$dL+X6oP@_)mKo#U)z4`Ngo0TUX!sYslkM5|~cl z{IVoE|2WdZ^zykBGj;d`J{fk(?M3dAvsKk5zO?4Bc%-gP{5TrXr|&b-ziTc{7Dw4kge9HW;P0f`Doft;{R-esDQz69X?f6$)`rp8 z?+lkLB3?%-6sn~CYLa-kZFXW3CY9w#NbtE^Z+Ia112Pk2Dd@i}$>N{{fN$FP=dM_n zNt0|9EUt8^DK*B1+Kw>(Qpgzz5hY>=qabr^YDv$Cwh-#YnlU}9pqZ)K@ZXr~3k1UA#B zedRhL(k8FtfB5*TS{Q`z66F!f_kXh5*H>--9=@c0XBQzYQP-<$YG`~#P@f2{Z8LUY zml;R*>R#tt1HpN>W&C_f@F%RMxqf3;H&}h*o}qV#d*a1JWBb5zjM1Y3S zX8}GN|KH>2nh=i!z0Tr#8EJwjYjxVzv81fG<#_t;7q`2mu97t%f*z5)jv0Uj6^nJ& zygu6(qlb5_&>mQF{$d%u{Uh6a zW{JCU7GOQ-qwUyo*A9Il5C)VC;;T=p1Z~cX$~dy_CG%*}Zf}AN@;kpzDf+XFAeT$0 zAhz>ISMCxzoA>2YdPnZr@Q?0~M*yr4FZ1#eE@OfJo_FI^!MzsV_+tc6UdDFzikzsZ zsATN9^gZ!vsRkn1hGb=$e=+b`Own3`(>?Wo zRl&I*60`(RtV4HRMHOHs7sucb z1$|-=DFI)ltcd)Y!yp?nbQoU&PzuWC*y3U!mbdj4%gr$n%BL}ZTWeU}JXxpqQRs-0 zDW_1#>T_zJ@@cZPygfv%?IJ|<*ByBjH_;HGJo)5$^1IokshaNPk^be)`4#zDS-;Ry zn3@tg!t%MxK*$~Dr^xUR5I>zIuvLJl6UjIn@yX0Qr=S3KY7lBaV5e{d0y0B{MMR*d zC4km`Z|`~G!!9SD*%E{z)wOGNMec{VXh_rxkK-A0jiHk&qix>vAR3;t=PSgDN0%vN zdTO|=X4*xMD-_4k8|6^Uxp_D{J45QwqjI}DZ{4GW{in!02vf^btm{(rS(Np~e3)NZ z-kvD6dRRg|oZOVfb2EX`|KYrlch&mko>LqA%@*o@>(^&bGnBldIu;k-O2<1%QDlC5 z{N=G-TVfkx4_{l~s`#!DbJ7=&Q^;+({bpE?McS~dNGHSN8fLOJHFpqb!=95;N^ND6 z@^F*k5!rJ?c!w{By8n3utcp_?PWnHmCpJ56A8Dwfk#X3)zgmQoyhWD}7nUfe8)SAG zq@+=LsV8ozPxXd4ux0;_H6b(l3SK&!4+ftPuRdSf8+I{bN}I0d-tvqYdv{-!!TXEB zdoBcAQ&UwP7N>rebn`6l&5seKqTXASykx1Ox16AP`s^mtiMB07xxb$KKs647t| z`Xtxd3(;9@oW$-I2yt(o0qaJIFb+p0co+Il(XJ)7-T1?oDx#i8N0c8~D{*RK;>h>6 zPm22cH=dSznlwGlo4|7;P*%%IYRwOuI)G-&tn1L+i*3lv%$!_#z#ZXiuO;kj3MFd- zawC}zJ88-p%2kt8h~(?L&DyilUUqDdzP5%;UTiE-Da*1+t@T<_4eStQAkMcY7InP% z^-?tI#mDsF1BpLh9ufAaq^MU)&ds}+@?0S&C58uG7<`zRnA{}$!2fa9-Pr2=ZtgTY zlqd1IiF}46m5kciqLf3LN?8sY=DNXOvL@Uvn3>^{C;F|Aa=IV9{nfTeEfr!BN<&Z0 zZc09MEp^c>ocfmS|7o&v{l7Q*V+ZYIo>X&A?v(eXvB$O>rQf-)*Coif zJSFY5oz3%V%U~Efrby)%{P9PaQpY!s5T80b7v{E04{DuL)H9F z=;{}6e`0)>Zp~^Lb6z#9IP-*7Yet)ugmt*vfhUF)akR|cpAzH`sZo@_>KKx>?EqE9 zwy0bGnkBsDkZgchw5*%6cWVvCq%!r&&N|c&{h42XAnza_pKL}FTi)6PG@RilNX2r^ z%4!8%Mv4dQEP;+}JmZIhq}}_4!+LehH+onQvh1 zWyyR%LA)?Z$j-i4=2K&U@C&Q>{myOG1ttTdmk1*4hY4kw%1lKIg*>IdLeiyc?dIOH z?91t=HXOgQaJQ(13H9xd@HDGU&pE;;tdhRbm)2EYc3)RS9X#Q7+R7-Ln%Kpse0ihD z3`1Bz!zaTWtO1~l1N|CvXj7vLUB`=YdzjkxoAfIJBu zcEed)*6{Kq93Kt9U#gd_goV^Np6Wao3rVShCS!q zJmov>jRPIGtDWnU987)uvXD5DOl7ffMdG#S=Ph0J_5KatU2o7_jQ8S}2xfqCx3)qA z@9-I{|4T&vj*})WtHs~DLa923*ms{9-f51>f4VNj!+*^FG^=6_bU3&wQ71sSLZEAH&_V(WR_ zW6iZjb?d&*wEQ{c4%{!(PBhZ|woI<0^kF9St7`j&JkxmY;ePfAJ$!EZEO=SMTf7MHC-KmuuCpXX>A=hzLF@U_uvc5x;tqvbu$}Tl+A6ocN>FiP9 zC*w=?Wzw|Zh$67Ojl@#uEgjLWztQJY=_A-K-R~)j%a=?!F0J0O?S3VsTZo-3cYXU) z@(##lSj?)_zg?%s?%h4Ud#iLs=BJ;dhCaR9!)9PSl9Vd2QFI=xyYS$eWdHbkG z#`-nNz_z3s+qPbGP0vWmjcfl9^<~hUP2h%*bkj0To>kAQOBXKeVY)9jVT-C37)l|^ zB0oR0Jzv`l${HI3EXaHFrsZt_(T_^jR>kE-$3l6h(!K?%mMDtAmsXt3Yodlu^|M>o z$dT)DPf4QVuZC|;4<9;uIVPMw@G`2t*h(WW%Ap{kUK5JmQGLi3c04)$bG(eA{PSZj zYhxda$h-IR%rTjG=<;R)zlJ!q6zXU!7>-f*YsI<6ClUUVnnBhJkJys+aOn(iL%2iR zi!H_M{UnERuyw?(-OLZ@<*)SQ7?kjCQoVSdl6hW!G_@e>4PrROY7AG1YhpVX%+B}N z&p?Ojqw10CdH26ciRbhEc4Qv#EIYVifzPvyon{pmiVX{%pP!>QG@L$`iTwPvXbevZWZto%MWgs#s*C z3vHOpyUSZX-ReEa_(_X`*v;(bekOh@K>ebhdEgnSrza=$Ae@3mQf+YE={6*U9K=}f zSMCh@U<3N&`F-$5L$y4t$4Vq~?7>OQZTEHbsixY~$G0L9RYpzjY&8;NCFCgyecR1r zvK#y*R<{Ui%Ed@EK5_d?ZRwvVi0Jhh&9}Sw)em%8WxwYpmVaK(fUi63kAYoOxN5Nl zRDb^i&7(!90oPp!^HShFfRK?~fRR12eGc#y|4TMY0E1vM6{t?BXY2$}&HaHE*REmq z=@?)0iBnBKUnln-THPw!?nuX(SX$1^&Uz-tV`2j2#VN%`f5C4IDHbo=o@^w9qC+ev zsiupJntlW<&+))Ew*UR!;x9?TPw6T$cL*G?)fdxNr7DB%!O?ok%(Z2y!N9mQA$Zc992RjYXUT4btKpF6~K2@M@AeHXj-Am4JJJ2NoZTBlt7=_W5hbAswA#rYmy zjV$};hhG+pNncy-ec8mRB+h4@cg$7I7;dHTO4;bGY+ND~F!*kKQFt1?Ok5<|%rLZ6 zNBP5=G3tRoVQzzXX){>$MeMsZTucE>AH_p6Gdqx13E#ZwAEXEAF68`z5NxpfKO7O= z4wW)YvzefUN+OBmrlcK3F@@$ZoPw7`f#2a18WLjJnOjpkYI(#g`m8##?tk60-rfu& zEhlk_1AoGmgYzSr9O#?tMWib7a)w7M@^LNjt$cyuLG%OKM>EST`+wi`Bog;BEK#a% zO|D}pY`@ON*FnQXS^VmPpShjgpU}%LBaIWCH8p=_5~xzL6)w!!o7wk_L>bd~|pqI^;*`C=lZ zrLV7VZ=V||4}KPS-KjVz1z?UdxUh)9od)g^zn>^u;ESKO=(fr?dzWJ z5eoTfwOiUG%rK35?$D`G|_KWzRb@KRqfNMi|&nHieXnNapHRJcEL zq)e)=brUTu2p9nM;`gVpH!m+Of+<7j!(I`}k^!D?uaK+)@J(Yqm%~kI-|7o6@oCU8 zG8!VW-F;VuVixO5c&C4O_znc;FZ2HxCmYFmC*;3GKgLQumR#Ib(F4Fo5@#fu;3C4p z;~hD2{Go~o?lq;CL*nc9zP>vcPq~w@t}|&^_cAuNKHs2`=JGelvw<0~jnwS^WX;b) z@agE+SQerAW};yl7(T9gJKjLB16Ta#_iti1>UE5fWKEQ@BS{Ad~ zlR5Tl2_Nak)Zw`B2q~k{Gv1%9-;hPzX8?v7<~F^`2_A~_r>x{pO@2wurlZZ7eOt&R zqsO4#p0Zqe!bL6l(=frdyRNkhTt4_0vE}TG{1K=eZ0_vp%Hr|drX?>w9}br~U{@9t zY$r7M)J#l<5d@2L+&osnhzJ6I(#LRA4&L^Veu;LyI2Qw7pntVSl%pFz=#5 zT)IZCLrw=C!7-y#-m{1Y5Qgw5|9QFkaCg?Ll9J=cj)j}97evETZi4^nF1TCoGzGpE zCl|j_Mp5*Lj=2xr&Q0VFq6vt!D6wK?kbfdZSPwNBzY@?;I-lIHb^FzYwEE%{zM`I) zac=D*g<0L3Q*L`xS}7!y!W6IMbOiM2djBY}tawMK2ciw0>Fqy!WMX%!HWMkE9zM7mYFTe<`l5d`U$ z7LYD!DM3mB0ZFBE(;ati&;7pf-7zl1KhANed+)W^df)jz^Lc&~`bEtt+fJ^o1|Z&m zZL_BGk>iwL*Kb7$0>r2#yNL9e>~VZqT*l=|UtqF>0*1isBw?;X{4hSgmIvn`uXg{F zS4ARkw^3xhdwzkpm(BFc_~``2t-u$D8g@D*Y99yNP^d+X#oRSgx_Mflun1fHWVw@g z$`l9*%ebT@sOQ=xQ=ieJeJ@bw-QeWRnEX9DTBuj!2z`9$Cp;Ct1n5RGm#8W?9>+*LIiMj#3W$HgX*I5+qbk}3_lo_3_eiM z1($Y=zpXOw6yG-dQ#jtIaMx*N`}$MS==Z9{Eo=uU0lJ@*cpn+})&GtsZwia`aam#5 zdg+`tGT)4Z&&>Y^^!DYKn{Apqp88s%yusDM%4W9|gW2k0|0N@lG*Z-|7fhLe!#JFx z;mgNr=LG>8wwl?mo^aV_@O-fD;}ZvV-^M|>_HNgUzgGf@AfC-g@3ZQdZa-Wnpt{WG7Cr(6mR5M=3l(Bp222|PX2o~R6J;>~p zKhihx;2svgeRXhR%Ap_!Z7m4H4p=;n)lOHTmN$EB6^$jaoS4G8^M?raQtImNS0i^{ zUmiLct~yz`B9s4aI3gX8=57v*jud@(fjRJ9U|9oLVHZb{>6w|RgajzA)S*n*)P&mL z(eC#Q7}2bXZ?m$pvcCpBRYTwNJ(zOwv#$?zxR81dtxeb?Amoemo0o(By|`#DmMZ?! z>Hgy8>)KW%XulNScg%C3cf6x>;f+(ncnZtJmBt@ae{L-ZTIvK{Cq@P+_81;*bx>b` z+9zlLpoj0@JM2A-27>8<$`Qs;H_W#Yb6L zS=|bP{$UQ44=EhzKmQ%`CVWx5@piYPAI05JNE9b>vXTY)0X1bNOmIm&$sdAS(>X>N zN&{%PJJ!%6@MMd*EUUY@xxunDGU7hp9S`g0&!0bGU>r=XM2K*oLUtW|UQhvN+!PE7 zeh^ztNF5NTZz1pB;-==};B%E=vc>JIY8o!W#JX8cEdg6TD zq{KmB_(zXvkzUOf=rE@fD4&qmtG8lyIl|j7oN3+Q8LNF>6P|$++LlOBXKeNe&+p6i zg_&w23>ZNu}S?t6TDHDHz z#Zq^X@W@B{nbNNmO=iq&MUxUOE?Ly{$d$b7r>t@eub=+V!eAt9%koaW64sVjdee4c zGzKq@Ogrj5H68!U4wDjAB?5!kI0Kiy4y&DQ%AEFM^8jukmWZ0MoPKlu&}wIwDQ&*< zv*j+K$L@pAPGTF5RKKWr>=)qZ=JYG(Sf48^^m;1fz{|$u3=(+@!Fpo;VH}M2C`gE$ zAN!u8z%&820l2B&8>e$u8YBI1@0}btc=M9igMtL35P|=1fUDV>EWY|0t(BVJ)Y5=j zO%F4%VTvWpq>$LGU!t-^A@zHTO5=;I?QO96V;Dj612@(KtRs04(c$ELS~d!2p^V2I z?}D3{@NwBci${

s-8aaUWOPX;0!P{I$b$#8+kcyUW#%Hd6Mol1J~8K1{VyFtpWP zh7r`u34_E6GvR||4df1XZNj$`LitEC>u3_R-I>l4;~IEqer_{L7agA5a}VjbUf{x% z$&EvUr#9K!nJ4rliT>dbIf1w?O`Sl9GilfuHS@Hjrjq>p578pix$@chM#clbEE()( zOqEb4vA0v6kI6P2bDI(gk^acTj&CDH-z7Iz2?-n?YwOSDyrUmsaNt-7O?q6kJ0u=e zGj?ASMSi=E`Hn52>vI=v==%DDWH!~*f*1)?=*3UdkUENdlAh5M*>&7s2 zl1t09^0KsME#bXeeal@S&w00h{}1uzp<|%I@rl!U(g)JVFV}C$+l4sNOrC)_a`U;% zVoaGy$l-jS{SJdp2V}y-Kq)W=II{K zgu$|7!CDRF+rN~)s-YojZcgA$+5PsxRps4tR&n1#EJQ-qKFLjQ`91fh|JZH9sDQf& zLckZ`T}hRh6T50ahK+C^SFzFO{gLrWak|@_*d^2$8$ofg?zyj&iSuG3a}9j;XW_nv zY-_1wslKyq4F${Z`nArhcZ&AuN62YWNE(mOhOdx`ZMT1@1)cS=Y2;3A>-2TcJ)hJ@ z?wdQ!k)vEjNW>vt7sYMDBU3`AUN7FW700;a$)z&iWV_C1m`%sJk7ok@s!b`3)5TMv z5JZ5TF$;evfH?0E?_(Z81LOH<*K}1|(=@S94NnQSABF(UYlq_jrwdlCO_T??vL`&Z zHlLq2M|S)zsQ2_`J{AAQb=H60TiIHF>rA(oK`wtHVw&!KQ=a@(w9X7I{ke>k;qqS9 zhoHvU@(sbvIfhpbOTsMcyy@wTYon!{l_$P|K%3-3$j;m)B9aVGGz`b%0 zoSBT}1C07>nfQFUe9o<3{PbEjOQPOXlUP05$t+SZ5!(pCJMhB!vq>=d?CA3#ZO1gR z-Hv|l{0jG2U*+8bQI*Iq&HhKH`wKz!D*=Y02_LG(*9WZzlgZPl%oxbo=I8Aaf9(^9 ze`91ruPiL)6~95;0r&eyn3nqc@7x?Hc5@30IVu*AVSryqT8~Fb{dFbH#4#{5fhCLN zF2TTCa~D14ryFdOe6etfZ0Ga31cl~}OB^=KluN(Qt&V5)l=Cx-rjJY$S*xU;+k5Gh zl&Tis_-O{P>HLwoe;*40^ARl#kgy@KfcSlymYKm`YB2WPNj}mX>o@Yn93(rbU2{`w zVbY@JFp_Y>8ludYZxW0*3HCiPTz|%Z;kWV5SMU+SZ6WKJYd|^v!1vzH%)TK?%T@5= z5*az2G{SyKLlsrqs)pc(kMUY4bt`kk+_3dN@_W51Jov1MPLBPXhuHA3mpI-0PWIL=t3Fr>M@WXZB?uPt`G}Hm+WuLUBh>q}#EzjVF_mm%Avu z<;D-soZGQ$_(M^(R#BT=i9>hM#KxbiyL$;?uKqJt)i>N1Lbq-DRxt2VN@pI1dsE-O zn7~rrAxn#}Pe-!!9ponVrd=BW_1`4soTFXQtH$zPU-?h-7}p%p3er)1ZZJ37L&b znRb5Um2bNV(K@)E!F90$;uNXur@?H>?yv*a)O;rW@Mza0{a$-2M$p&^S*picI z@o?|neE3G83xj?-yI6*}RaB5f0{ftksY$EW;`9F3xHy`3&2}udxlyY6aAenF=wFnl~-47%d)D=aj7xSh4y1KoB}bk$@3mu z|4M~lA2q{z5{PwV7zIf^)@c(ZC2l`%q5ypS3tw`6j|w&=BF5411~7NAyc@7~PxCfN z88%Y2&oIug2k{lUhV0ool&}wuFJh5;efy49vcex`sht7>6QpuTCBStb01yLcKmq_C zW_Y=`axUk?5hEXc54kDeU%XThJMSRYvsR;(rI=r?{kP&zmVlzRS=1XA?rIUrK+oyY zEz^2jWYWN7$=K{(`+hJu@ht+TqChbF^iKlKCUsIWFYZpRPXpJWj=Au4z{yuw`1Qu zTQhr{?fc9c9oOrqW=@OsudnOBeSb+%FyFu1Bec(R<*Y^8ZKULz<5NjDt~&BTsWqV`pAt=gWpW*JGU=Mb60D-nP2` z@d9+_@f9W7oOv;M64`;q(*O9Mf}QTt#V=0PwPXCbL96Ap=f2x39Le)k^OgS}_p{Gk z!Pc2SzuDfJQM_j14lKr?qARj)gElDB4kRy*xwXG0b1esf=@htJD%m)7uIH<0$amC@HR67<6uJ;35=$*i7r^9fsahF?dY) z7btEz!nl}L1b3Lj`PH~LkBDkqVoXYOR8(~Q_F8YZ-Tvx}8HwJ@!NYf0s1c%&{^7rY z>wSfZTLB>kqz<_`jO&dK?e)CDM_!B_qT+k+8`1R=01>0(<6o?g3q`VE_%Xc#Poa#o z^oD!go!6{~3+w-{=K4<^^fe|KOYj!-DP~$sEvgbyXF2At!b51+xn@ZadcNNsR_+&3 z{tEDH&M^8sk;11LVEu7oulh?rELwBZe4k%!p@T^%^C4t#qkosb;SU&vKMxF zjapZ)SO!PYU!hT%q1gK6$$Kv$kuN^@m-gINH4)5SF!A$o>G?a4xBS70@l^0B^HXX) z)bmXgZ>X<0P3r^Ciw2XCN4tBO738VBHRnvS>nzChVdIAn{Jy!Ip=~S@jgKSrO^|8F zFfJnkruAyUl}B%CGrh&5@Q%Dt9S*aO2)x|Tez3Zl10R9W_Zbo@Gtu93P;#c@!6Dxj zpd`>Rs?Z@u{!fIcR=(hDx%}>N@JCI+=HJQ?z1-yEb7w5_x%(|{4wzRHU+1WRi~Q$x ze|>2ZGKC(cXg%YZ)<1!(>&V zgA|vS18rWn!3*}t!^?(Vo1p50YdyGQ2CX(U`J-W1pF!M$_)_>;`H$lC-&Ypq7h2`!BB6YF`k&6im%#R{)vATDVAeUo78SF zlQ%w7Pap3skFAd%s`p9C4_H$kHn5>M>f)vfaGUuVTY6M8xxea=9Zas>_)7eCYTMNE zDDm*?RBQ3B?n@&7+OruO9tE(8_RNESRg?JC^loUOnPmT|o}#FGHe&R=E&CUaB)WQRB|A628k8dClDr)L==Jb{bw z+z9Z%%`-hZLak9y>5{~MONjt;+WB5pNP>Ir4qd=J46#QhHeikn6b5)EmU2;YK z{9S~lQPv;vuN0;eD`BL$&;|LkDv8L1uTa}vk#mr(xZiH)Jezq7F^MTr5S*1JW zP}y=EHDetD^e7aNiSV2mmxB?lr&ue7Vu0k4F=H#Vy%vT%~fy$rJNT zp;s?Lt`-ar0WRRps{J(P*~l4@Qp8e0s$FpFD$J~h#ub?2KYik`4E;aCu%{0b^zp%> z1Yl6W({X|P!O2Ny{|Riw4`gKC{jB@(%3-A1(@mo@U$zpvuk&pvk?S*d%L@Yor9rdh zK{mYZSctvUaM3*D$=SEPg;!GsaUD??wg(2b^rJ{t<@9R=*!W%?r@V`c8?LNpOxasL zyX$M*+Vyf0lfhYl(CM9NOhf>&?o2%fQccd=dY4|Q$4l7xxnxiyclo8PoQe)>-}LJa z;t}n%x);f7)$W{8RGp(#eXjGi1}V<%-nnd+m36rS{};n66zAFQBX?d~)R+3aBJ8SX zt=KgZ3aX|$VZJB76Fx8prjEGYSKG=9&{W%(b~odBjXz&@iMvh6OhIRmB)xWz6_@tR zqU~JB7_}_=TEWZlBXhvPyR>yn_AW(X&e>k&-wcm{Q0?J4CiQ4^fuM*V&k2XTw({j8 z1-ZkUd?vD%w1`r93z;CgLDrKhUQE7qvY%Auk(RML$7N z$HK;Q%`eB6N8Ev_;?ov z)X0}!F*!{Oe98R@wUu>rb2wPZkn!8QJwCHrsqI{qI)!JTT|+B5*NzY^e4~8}5JYVz zDfySK9D}z604lhn^1`^Nz5`7e9Rg+b3^2m~`*<6NFiK60Z$Rw3h3Z9;bqsRf@k(#2 zI$y&UGFz>!X64sc*gL{k#~p&c@002$MsCMa+vPD`try8MN7>qg6v%&O-!Nk){Fr1R z>F8eBOYF~uO~N*pfb zw)U@hq4N{Z<)wo9S{=FIzzn;MN?wY}Mprj~N!y);1+^=cY&rAv6H$Hk8wS)>f}HXj zN)i{GY2-f;-eLH5IcWXN*>1kA8>@!JcxCZQO2mj=?>=+PYH#Q6qlb@rxrn~IO?Coxc}^-zx@V@ zR${s5N+tD_XYIq<4#oq8#dXrhduK((G7s@F1y|4P`zmn)T~jo2F{nkF2|dM0m47!_ zq1H=jBbhgRud+J~ACn&iZTF`ZT_r*V?RYiA1yXa`TYt#rzp_YIw-&lKW=KeDQrPwX z-a3$4k^%My0@DozI5@gSN8^8kIJFCk7|?fsoR0L)(xh z(=w=6WzUzPC!4395ElpDfwyNv6*@M`%A|<>U3%Q7J7)uOQkIRKu`z?3c9px=vqV;@ z&pw+LVLNf*w`eb67_S#!vNGqVeJzcNKm+~hPhMS)=ubnItWg%3@oAC|v$o*Q{-0A` z#t%#^EPx(^k3KL}x==$?LxTeQDj9xzW@_5M4gu8b5RTp{`V6qZf8iXNG10eiDJcwv z8VY1Vo7V|sUjZ%c#wC8*9v~_&{$K_+gDyC(NGtbd@R{W!S>*2}+gex%sSSVgh`wAB zyT4we+nLVnLIA1GBA}V&7d2c!Af)SGwQnxoa!X^g5W+qyYinR`d0sY};p^h2S z&>dyk<8C45887%f=xose3^hfHtXK$8OK!cj>)>dj+dhc7umLTN_)+SDFY;|w%yiQ< z53WMw6FWnl>+S(f30pFRP zJG=0!jbp3+WbNDO$5n>eowT?ZTFZuY))zC`auwiIyyzs?}$^slHt}>%VG?ZjBoz+0B2g9sAYN zGWo0|XKDCyr%Z{fCip_jMbudaLTWA+X=OlWJ1s2@s3~8*Bv@*$EiXgS2O*6#44eD+ zTcF_M)&G+D!yIY)`SUhV03fwaIu`#gC6Ax}=c8ep>J;->8W{F5CA_^)+wFucA9(+% zPbGAE+>eIR%m9?8-9L48KN2m7;NJ+9RF_amr=&EzY;J+`sY0#lXM_G?d81?wU!k+9 zn78UwJcqY%^u59?6YjS|0oN`(;pEWj?=sEG#EfCeFU2Vh;c67;k$I*miQTtfG&{L4 zxgh`S#od&omc)hIB+)m}S56jrI*PA^n>z0*;Ib@7RaY5N{CBr-%B(G;u`=SIgY-h) z?_$xMsC#$WqXeL-34jG-F97TIJW$A7Pn+%_!OfuE%jVUmur2 zox7f81X{3xqvlk9z4BW#JAq$V9Xw6(^+MmA-_6{;bO~)uVxV~oUj)sEUls_Y?`nOS z5>47Nc=w(ye6T{8;Loy0EX?qaMhdv1CiS(o3D7GA(5RqC1ZxEtA$WO}(^crjysDwn z1||)_+`z{KGiwK*K*tD-D{v>fV~cu0UYuzspQJ@|rXC;Ok~tBLIP=KlB>I6Lx%o*` z2b?_46 z(P7i00rf1$u>; zzcs=n?+9UBbx}!RxaSORlH!GoOMY{W&EPM~b$!zSmgAlO=bM53R%86^V{G6dG~9nxoXh5EHr$fC0c zglA!T3?yBdb^mb)AngdPVDt!@^RxZNDo7-b77Pv$WU0kRM*ajmhuJf*IX!%M0m;4V zTE%_2cFd&XGJJgH3kA0V`h(bRnr+?XkN@4zGmJ$=oPGiR#q#_dbDr{!9UT`zp@LVsH3xE6p%oXyH3xm7Nt)=Jb9c*BEZiN z{0>|^ys@z{T^*e}{QMBSHmGsLLCh8ZW>4q{CU#a^ zv7gL@Z_D2)Jg3fTmk{vTaY+agHHOeH4gxpWebS6;6YA6dUDxyu$>-1K0OOxKYjr2F z-g4;Ei%_Yldn^|IG^I3&VEoHWz5>=R@6V+UNg9e`Ikz@$v7_&#i#YIzg|R{^gW@&p zQ_y<0F*g3OV6C7K8Wz@bMMH1a#zZ&?vD(j0K@AuNr?EKI+UqM>SST^L^&+wV19No=Do7>)j z(y6K+ZKD7Y7R@vut70?@0a$d90%BsavLO&If#Yd-xU!Mabjx@dIJd#Slbs!W!B~MM za?%WU83yV=6Gj#jQVOm0}G5U^ua1A|M z7+`GPHmKuElxX(g;&R;gEAQ;QiUw)EU^FFVDpeUrj}M;cby${fkP;K&>a=YD`EhkDIzy2<~`mwPksVcUTpScU=Y4}N1EUES~v4Q_7k_HQmwi2*7y6@#Bv ziHQunHShz}KZx8+RXb!r=CY^9ril(q8`ERq<9VyaBTvWctYgO%ftJBj)zP`TcDo~f~dU&62tN`a3 zbUw(cK{7{2Rdur&kI{Oh*cgnw%t@as^^cX(SKrFz@gd{2Jz2PQi+#I^U1$7N`Q?uW zj-?FQ_TXW7s{gPEn)&~x$sm4>jg7FP*4LlHRRP3D=$kjN1i}PLhRc@)wRCnMwdR3W z^!&DVDh2@mz2C~=Ekf=hH)eo=iil1!U_wcy) zL_NrPC#y%x>2nyd3ocSDXlAX|M3^jpn`Yk{1^JvORSA0q$vB9(eylUQ3klWgXm9q@ z^G6~EM6@^=y6uCXs6DcqjV^FSw$HxZ|A;ODNul!CnFclo>=~drgXs>n@)gp<0GS44 z={caJcsMvLEiAyjx8TS8peNx2=4cz8UV$Xf)WFpA+#L@sfpm2aH=Z+Q*t37^>hOyy7)F)3!a*aid{I10S*-4 zIB-Pc4tX_b-HHEe2RGUW^LyO#knZ{rTq28(<>?H5bfiq9KF&_RB8jb*;$a zs8%c%;`iNAYwMQ1N2!d59SZG(oemS6yg8}CLg5Xz2z6ERD^o2@UQ2?}H02n`UESM) zT+=)kBZ-bC*6P(c3gH736nuD?h3RhuBV>`A9sYSkn2D#aD)++)0yT)Q2udgWUXgI@~9Sp(~h}j$u^_SP{>^$AD@9iwMA0>(Bl2cN0!=esWfb zGP2RzCywcYHSNihXq`eR4mSh2myGr5Jt)y`vq|v?B?o(ZfbbbZG$8eoHOHTX3kHCP zJ2n0VQbZYGRd+rpA6E6=i|~&g?rne=~A$QxLtiLyZyOS-CHe^JhF& z!YRiwEt(IJ(B($_4)`+-0-_E5PBE8RD(WEz2RoNeqmQUdv70J+bY4g=_eV-=04GhG zwv1DM(_NM9w-6oktkBViZ~*{XIb^YEW^MXM5nTN~r(g_lbYLMW<$*e;#m-qJx1Ipx zEQJg90CSO-KtB!+-V-_~)ACMJ(a@N>*tXu-v!=umt(NsMkGn{MiF!p~KS$+8?q~>! z3}BZQ78VAUcA$P%ySi#IkR7)EP;t3*_+p5JeU(~`fbP;$AG&)K=`zUY@3L<9;Pb(X zU?IQai8-o>>Gid_cY8f=$~U-6q~E!jwCKKb!!2PtB==2#y`3s~)}dm}%tN8E6xx~V zMmBm)p1%w2RxX!lS&Mu%EdzS*In`}tl0X@Z$V5?PIjl9?#ji&FkO@s2kg%#~?jacevDfkw2xHb0V>6Nra0pvG=6t87JSSJ~X~tJC*Vym31%5=?QcQPGUi!A}u$;F$4x5I7 z0j${q3AKe+paTpq40Cp1;t2e7Y~YB^=StkU($w0|mKD;Di`9Z$prv;1ceq#}BP5Os z1=$P{6l4=2@GR9cb8xVSH9+0j zb8z?$Mfjg7cW^d?T&=6C=qopUAYTXD7rY~S5?2B2z&heD(Fh_vC2{9v zJA&1LSkmU+Bc{dCphZJE@Y+ksY1twE0L)Y^U0nb}POMpo;paW{EtF@|3@j_uFc)7G zOn78>pqhC!U#d9%>tY*;y{R3^?c|wn>wJ+MA>34<0KA0@3|BXo+s?sZ)4i<}n7es+ zushywErtF8h98SOl<2Ak{$B`tPYIBwE*eaYebMjNn2ZE2F$7iW+}&p@HtaukO8fVK zE_M$7{J90&Jy2xofnDWYwQmEqR*ha!0l1A82r`9k2upg=7SzK&4NR{HAO5oFq*3;h z(3qz5gUiuW1%-5zY6;;7~QwqNkWMN9(R(UtFsdWDbW&< zNO@=lv#c$|y1BboB}NH;dcc^k=Z+6us+?k17%QyBkelYkigLF2vov3ppV(AAik)12 zOfm)~#@LwW2unB=grM^y;1tIV^nU~+zjuy3lQWu)ZZ10CLyT^Bhy;U97kjLPg;0w` zOavMuSBRYx{JL1{^gKuGLy+qdJ^! zx-mLd-;N%<-z!^Yy#;l0U*Gn}68 zPvzwR+}i@!Hvb0ypob|Rhl>NP`pHuk5w8vVZ7e?4-nb3CD^I`TahjRuzpT6f`!RZ* zOFudBLKdf9UqL*!Sb|4%)wJl5-1D^s@#h}SqYWRQ#$zB+Be!D_O1M=T8U!qrSFUb>&B?0H*^RkB*H7R)RkJ(e6 ze6hu73jg%-3dtX&=_8#~z0w`L_}>Y8&o1%BcY`X{1DGNh*Vyji2PY?!k`Z_|fc7}T zLJ3Jufy5Udw@UpVNL5knv=9#sAc)qi7B2yMLBv9zP+!Th1PJfu;n7E&M18pMtWhMD z&zJVQ`}mK5KjzJGYu^rrwX+m$4wl(ykYeg$M^oie8B}6-f&gSB-!r|MEbN970t!S~ zif=xSC14%>@}z|*1Gl&YeW~F^q9FN&kIX}+%7{71Bf3Tyah?dU9crp)#E`g}ZZb+i z8P)dl!O^Bcik)R=eGX4>W1}yuI8azldGG62=)htG!6X1Uf_w{f;?MfErk0iuE4=6n z+|#0?DR*mR;uW)pEJv;P`f*4*_Ro`2&roC&Lk=ehii8 zS8m0C!mUh!mY%M`;mw|Hx4JR=(b_Q1Z3KVUbf4rIosiB=0|SZG@0u7A#li~{WKP0m z7+sB`yMvFRxd#S(K#^aF>V&EZ8)A#-A2^o19~^|t)CD3UY@|X5TERWfZXbJPZemaq z1;cwj1@l>Z!UV*hnwy(3{nO5;;hYAtS^m)SBp%SmGzzr-%+BsaaMBQ!sbW;*q^<1T zoPn?0ujISPzg5G-g#FS5utyrsnuHc+yps>O@aCPw^pU@vg8(7&oBtVJ$KgTZp6M*I z^b-n1;XddQ0iggY9{9;q*8zb2>5)skB5U+R(C**|2h$(U?Eqv9X`u-l7Hp2!3MjxK zx~GCcM3twp%kq5S?#P{s|8vF_BZ{lQK%P`p39Ui;=eJwV6eAxQVj4>q*2 zGADS{A!!Fsl#vnB&_PLFo_xj+7}pCw(8ls`cPIL_lGI}g8V!~ogP4@k+HG9RB=NtD#3r64w`)o5wxd<)1DYjIsHRK zJ;TktPSaO=hCNM2_XykFZ~eE?IJj-kDg$Zr|ZF5Tn(;kw9&PyAeO^`KtRnxo9$ND#3JP4e9ulmN6yo; zrVRsJTU~DM4G7!5*IS3M;lehA<}55NyNrm&{7%wGd6DBoC@4Og`j39V__A|@Mg1?) zNMFZ)4;HPX z>VCzmOtmMVmVlsmoCE}-oS!Pd{)Q?mFW|TO*@eU&hJxj97X#YM1ahCJEn{;N&l(v~ z`(YR%{aEHG?8=@i=Bp05)xcddr$=9hK@CVLLHyp6kzYU{ z8U1m!%V6Ein<$jYu&}Zc_B|6ps$olUcYpirlsWx}Ik3h(!4U&Pl+j>2Gza<3n~!^= z;YHVLr{$>4Gb7F^y9pZEgliA)>GcHIQWh&2cYfZ~z4qT@!lkl{WxSzP8BB(#(|-}z z?@Q+#ZCuTAQAj`I7@WFdWEB4?fP&=84P;T}R`8qW;hA*;(TyK9^79JCo~VpzO`%>t zC`&Mnm+K?$>dZR}#X>Cyg0>K?#Nvyq?e$SxYcP7u&+ zwM6fPoC3I!qUO0@mMck+ahs5?DNxV-oB5>Q=3etqm$dmr6JcS9nC3^I`!3 zqWo_}n37E_4N*HtBv;7Ejp6HFtq3O{o-^_#hYz|*<7c31jo54BD!5{FSl7jX0~0lqxUQ`^d(Q&-6^!3RbP-lcgs_%XuwcDln1@0xFT_O>VX4QAY9Xm|{9|vt2_-SvK z>F&+GC1k{^^1~g*axuLML0N~xO(})m@=4b%>rH+AcOI@y91TwyXw+BQPd^$P9p+zi z#6qxZNh?l|pc-m3*~F*2v&WOGBybzr3Yz$uyi=Tdi41NOB}b z>L^<2?(xzg3~5$ELqy5VMwwYzE-XDU+Q0>vcpmfc-2O}(5(cUCz-v^`(niZi9_I%5U_9-%k&J^Mk9Vpc^6Na#xzniQz3$;QWHaHVnVo@yg)9p@Hx91k zE?={~(;b)7{^`mKNy%n^EIb5!jNo>GAbWL9%@Yt$otYEddzg}%ghz!8|kCZl#l8kb~8U3Z|(`MFU2Hj!kE{I~se!j{^g z+;=y{Mq}rJp^s zR$3-)FevV)gIeTMG>(H{0qDtIEZ<&6v@eJnVfGyUC`gbq7_(ziE z&g6Ampuw!5d}YVQq>-X^JMo_SmHH6pgAL=CQj%oSD2YmP`ABf0!EkaFj%dK345Cwg zT)LH9A|gp0Ghq{-`WFYNY$EgL&4Vsc@>uZ8Sm~MISGA&H!AfULzvO84D53c&b11iwV(0^&`CDI* zk3^F#oEOQWI$@R%J|UrJ@fn}_HI>&+V#mX0C?BqTYg?RRssr5M2j^GCTs!Z#IVSe8 zTo=T%(MAay-|IL(vQX61VSh|rDWrJ!yUSOufBmPYGvGvKb9$6ooo!vFms_!eh2$v} zzt~=4PrfWZR-EwtN_pp-DfM^o>rsxC~n!Nw_Kg^ap1%fP|5V*jT~H#ErZB3?X;E(#$!&fcZ0^C}S09q^p!yRA4mq z>-PeLB^M8f{LK=3vsoMyG!*ppYx$wck55v<4H#)yS){e)?RfXY?rCk4RYlLPPbAnE zOWd|xp?CVUa_#+vRfFHrXLFzReeq|*_dU?77{7rJ2p-|$hpR*9qA5S`qGI%`V|wrq zU)fi_E<#A|hc_i7lQ829^kooT@C^PPB#v6@tb^9m2N%O**hwfm$7V$-rBYIQN71cY zcoxO@`9Tf>8zxxIfsu4+;dC}i`JY-#m362tg_Ol*yUq~ zzKh!GJE_+#3BJ$0jz0A#bq&~wZCUnznSC1`dBN~E<$;m-ZpC#RO?4*viHdi(3TY9p z0-U(_=xZw)4{8O7c%?pfJ(bpPR1ge}I$`+X2EQE8F5;P0t}@1G8k(L4c^P;I;FY<2 zIrc|_4o|Ev(Ea|y00GW>$b5ndtzgE*hN+Oo>!hmP2s_$x{fT3dsHdDG`HF3`hjqnQ zT1O4~zgjhpSx~VfUhwx#O5Dq{A1N#6+%BDRp9#bJ76)^=J~BYli1b#s`>!s`0v(li zFTd{BnHN~-@_w>>*DiZ_K`xRd`Q)S6x6eN?%c)pT_tkjmBKa%gDmR8Q74}&{+De|H zyG(gk$>?EZHq`)T$_r0B6ftcro~qx2t^#;^_rE_aV% z(uT3V<;^rms1({Ss|s-sahi&kd8*`joFwi1Y=y7E&A{}TmrR9aTr38X_Nntt_=O}> z$;ix}@-%_d&$K44YfEmXTA-X}W0I}yWc)Cn-O5byEuSCHbo&@Ep4Wz7M^-7ufe(f6oF-p5m*+TfVu?WgPM zl)mS`%Y5%@D7c5fawpSd&C&T#$pa?!JhW^celO~h@w`SiRobO}QOHU~ot?~dS0#*rG zi?4}!FSCt*ByxK}8$C_vc` zJL$m~Voa4gLrDtC-l+Jfth_9Xl>@@6)uV4bOBwv{$G!x)1sr&ZU%e=y8&zp*(fvN* z47G9SD{cj2vsp0G*39pH5m*+-3Fyy_doKN0Ri^#NnrfE7(#yQ}_hV2ovvu`5a-Xf- zwYsIG)MDOyJo6lkHqay%^Ms4V+AYNEb+Fl;`uO}ziALO6*Q?skp6Cyj-(7AGd1oEb zDZy*^_9!*gIN)pf;(cGH@!^;;~PL4X)(0Hh=r9(gixI#vD)96?hOegX21PIKdCM}tC_-NBRVpzu6$nuLAk)X8wLmBho zcsMsZ_NPKarpd6bH}lIP2Bp4lQx~ZoAx(wn)?*$8zeKn;^^O={st0W0mB_!Bv}1f5 z7LI?&kwl90$hxvc=dBt%@U5~l*jEOam9#fp-+i7u5;@`^Z^2Mgb za?-z1Edx(i5gk4X3c~BZj17~8X=X4Hgwa+>cY)3u*H7?o)g#tC_P$4FD>3}9^+y^j zgNW2@??*-@og{Ycx2#5nd!gtm%2V@u$-#J}EO?}WlkZx;`S7PZr zFj7c}V~o_Y-wPKVQmbrx&_H{jxW!gdI~;Aj4PmA@1WF&=1F$Ss*^E(LzAWo4rwSH8GqZC&o)|@K4!1Fr zv|AW{J$@Ubth{{-qY1Zh6G3%;4uUj5l>_tC}dZm@t% ze`cg+md@$i+N$I8B8fXLdi6^ZE5qXQVY0RgF0aL1WxQVquf5S5wK3wm+BH18VO8m? z-OP9`LTPhr3*BN05BH7BQtM#|^IrwQ0`Jw^bFd?wpDc)rA4~_r@iVX)j&J+x6Zz^K z$3)N$INnETazwMp188f>I7ZX}n_Smq{aMmQ|EvDke!m1+d#PzF3AGnx{XWSkMu+Ae zu1_yLnqLh=HS+Mw*bx|aGiK&+XlzS+`9bx#BO0|DEYgMMkdaEt`h$AcpXK;w>?HOC?QRctscqm`uQ+kAmHZO zmF3D%q47*>A)1xj)06^vhGq(J4Yz#5*3L;7mBgoNY4OFqtO^<(BJ^j4SArCCg`zlV z9S=|X3w1A37yXrOpk#mcNjk^LDmZcC05zs*(u}19V}tP1Lt-K$KdRio4;U%87>ME41(}qbj0|0F!wgsJ-{r5F@ZnS) z8Hwim0I%(IcZT;-g~uKI^J`@Zc4@Z=s0s+Dvm0&c_6_InW0$f6c?-Ts&zUem2Ga`1 zniFVL2;!EOe8ERAh*URu>692=Jo&UA?t&nl0XM|o1>#Kn2>8J|ASk!9bbZ;i=4y?E zDT1FY@8hJs*HYAFdjIwi(`O(zX59(N-#qI$&+1p zCBs_RFb@tgd=SDtVaNjXi`T}gz(Y6=1G!*ICCJJEMS?|5-Om%~wccXEfHRRYEUI zZ~!w5hY5eiriq*78LnzVnZUFA+rN6=8xy{4ITh@fJ}_vg&u`S@WRJ!u=^sW-N?REE ziVK@s$Xnp}>G#-OBOvo{`05$#etftk$sf7MKKw#*0}?g= zc3b&4Uf!yWjNIIJ+$Ae11Y4ENM&G7LKmCk!q}(_S@LCrd-zJHT)v%21TdzslAl#{E z+YoP2kn@w{`t;-Lw8M+9yf-&e^6O56uwQ+8AfRJEL?U!t5xMgFJYncu+|rkm{Rze` z&YO#q`+AEr9cD3aKEGDCUnn&Fa&)xEL4SKEw0?UI{e-9gfRor0Lqk#o4w~zRGIk&| zvdFJb)K&q8>^s(!z?fJDS?_J+3XDYlP3SXzdBL&g+wr$?kAt=P5*akD5Jr%1M7Z6D z)v4ca17*iAFZbl=iVy{2KRqy||M34|>aF9V+`9MSK?D>8lx|c?Nf8M_N|X-i29cDO zR9X>Gq*J;z1LoGt?P=irEwh(mZ|*% zu_HCihED#`QUWu`!U$u3Ou4albl7-2I!7eQNdaOo_yM0I&*uU#$=S&XASM{OSerOw z-_zZNzATMWS&T+g@S8X91sxbtlqvB8AkWn1biGNHdIa=mPS*r^FE@H_rzeO8RN=8M zE@)tVAd*gGq?-alJ((V+*ah*67t`|0DFSmTYO0BK7(#Pp$i3u`g>9j251@lXP{lBjke4BRJRUiTrL}-oQ#c zHvSbZbrbN)J11ZG4k?=O2n7w>5i%Ia`A!-4nZ{qa zHO3;wkffv}C=98pUJ0#=*`7!E-Ieov#x3|gymLCFd#^b&^M1yokXt{RpzQ&CT3{ms zFi+_B70h0tPz75F zVrq64IE?MAt??1I0!hkwfNmNa9^PSqGAVku)E6~$>I)h+At9GcmuaD;0#Z&m=g(8& zfxIn94^9I_9_rI=@=VNfQ1wt84q3swfBLvGv39e%HLR%lVgJh=(py-F2Wj_6cZ^ED zb2A^6>fawXIP`jj(EQ!5x;eiV#$r)4rcOm|9OHSLP2||c&0g8bOKYp7r#5GvIizZT zIz}-X1)7UAm4a z-iF-ihu~p&Sy1qVs2|9_U(Tm|c>e090b;}JOvU$I86ESh((kC0_Z%j;tTV}|Iq&@s zX1?f**D1a_A-+04g3=3k6g}8Hmitip;_tW*9V6aUYF&@Satt)c2$lHwnkFxzn6dQ| z1qs`8FTY$OIXsEdYwU6|%Z~)(PU7^hMmfIjoSPtZV=*u^ym-ToL=fd%EB4;&cg1_V z&L=f2ud;94b=w|$dR)U=L^M{JZ9Ja9c6kHwkz>pMb(s$vKMmnPR=%ZNu{&R?r_rlR zewMs0pW=Rm8entkaMMC1o7~lk>3E>*neyO#mXfR1C#3QE!$^GWG>LJLfjfN z`LOXGyJeoBIbU6n!e$ssUjT460viP)i;$}TUM|qh0?by%ql1rFv*6pq{)*vIg@VM- zpWCpXp%=2kaW9$eOGnLs#WP>4#RxL8nBBX5%k<68*?;6aL>118?`NO8 zzpy0yOK|zBc0GY%!alzz&xFq}Pa~&wDpixW4-_tVd*czRix0bC%!$VZd~X#a33SO^ z6OgW{6DxLc$#@eA2nc|L_X&n%Wc4(Jnh%h85V3#g0pXYn875E|Q^M6y6F@|)WCT*H z*W?r&-;i)Lt}|Eztf&A$U}1E{&o;v$umY!;(dXdzsa6*s)g@?mIqEb%i-I02b#-h6 zU`;~8!_m-GDgcGFa@}LIC;KM^on6&KE#rp|OJ&OnER3sqrOS5st{@OSuT&6shJI0f zi5#5^*(Y(*Ja45*f14cf#trwPm;aN!ft}{+2O53nuR4-lMm%0!vL<|#lB92!{2*pW z)v2p2?fLJZhcd&G-qxSRJp*#9yQm!wFWR2`;lV;|PzDBUNJPcP*f!Q{#hg5|?n2Ze zId0wVkAGx%x?dxjvi2|;on7wka%PxM%xS@;6aO3@7*-uE^+`Rl! zdp17kF)N8?xFJ8pe?HJt?U#`|o%|h}hIZ>gg|8_$drCx|nkULCT!;@Kd}KH~Q5fZ6 zy!!(Fa1a<+MIUR6F#riyBE3caGQpHw;@6DgGnptG^jrjEXRm>bp}L@D9@eLCG?sEK zw>L)MkFSMSf14#|zF*;dAMXUnsU!UPm3P8bj@0dkyMHnU9%hSGf9y#uwC3&-Ws5?H zo3)ov#bZ&LQf~X$ZaE{T8~{na?4j6Vi}D5JnHzEzjxv$mSpEL6koIW+BRAL-F{=FwvqY#0?k76$v1lB5P4g+ z_hm8-8q!$~zqqJqncMiwtDi~szY?8vkH7E_O!%9B%aY@yNb3=1VKc0g-%Q}M4E#0& zLX+4~@_2IMjDXdAKbp3!qR%Y-C+*4)sxHHZg0Y5?Fn=FS?a8&9TwBlW-F7`r0ZasR zvPp@FAD955%G0><3Yuc-N^G7yX(*a>w?6ur#_a1Wd|Ekf!DTW(N4b~Br9b_|%kz8F z#+S3$GjfOJHKzQrNrhSDL12;c_fwnfM{_hus*xHojRfbfCDnSz`VP9ws4XQ#cg!cU zNNmstNb<0(yl_x>PwPs0-Au-V-4^AVeRaC>+~+<)Gw-btVy_l->G|G*Us9#L+*^ew zuRi*+GFzr7PV^N$8NJx(U*pAq+~qg*m%KicR?lWv^VK&xsl4>^!RLqpWQ90>2cZh? zBf<%+s0$}I1bf&vr+t0njXl^`&s`ooH`zPXMK%^TO1C=idf&X} z(_VASRPS)A@>ox5$S(ux!v^t*>oiqN*Y2|2{rv&|`8gAb9q@))1Bp_Y#D4rW$u#7+ z{u$7a4|K!VBQIEm2<)Th*joXs2=NpoUcJzpKxC1%RZ$&wE!?>PAMC2I5I$LHhSwtzi1<$P@-}w2q5auyWSujw(Ga(0Jvg&fcHa0cEV)36~HcL-zE}XqGY1 zbq*}L&=FZ0;OEkMiU+%$$MH6(YHZ^10S>sp-U=Mnom&B zcc&6t0yGW)7RbwMQW?bAa7RD`6B=gzT(qz--PLt~{VWQo6}64M$q{0Jw$Ip5^%YoX z-mBfuK_W!}LnI=C%+K$Tu|ENzE1M?%?zIdoZKuUR2%REEl(D^un#5?zvwUuM_Z2asy*GUp*TcA7T7{)b3);eW zlQZ;xgkQAw6$zug$6j{J=vW_M@R$at!2JBhtTfc)TP|*HpQ+k410`@M-Yc?(w|nkX zGTpff?HQ!8{|8X4%5%E#4htnL+f)>m+OtU7tz~`bcuP~Ba6_odU5cTVX9|kHfq}R= zYIi~V0NA@fxg`TnJ@D$bhci0Z+2J5)LTes>dIi86kU*0ulf{IUz{LRy45A>h4#op8 zTbEpFY`>EPoT`!Ud@UL)qO3%+|xLlC9*O1X<2D+X2J4k6tJ&11AK)O=jlj!Jk{Ee%)`9^TR$;elptSaL1)P_o~r54fI)gwZ+yXodaXm zvIc;he|1wMb}nU3xM@CA-N z%PohFN8ZJaISVHtUFJ*N(~uLWV?BnT8m<_|6|q1@IZ$>NfwmGuLzN-%S65}DR-mll z2iqw~K-rJi^|iOlWc8hZA}Vk;r;D*e`!WT$0Tng%h)Dlm$iwU2YzXJNj==!QL9%(k+$YW@xON4C;PFL^j&Vm>eTgR)l6<~Lr$JZY6|ri zRNSHco00bxW>B1O^4zb%6h*gYJF(B512SwZiF^%cH=G3;X{hJ0u$Tio?tD*Lo;+cN zP7%bQqM&sOC^*yFTmMa`6y-dm%c2^HfP=6(Vqw_pJ%wA+a$(<3N#aX1oTO2-=U#Nj z?XL{`qb?e=jj1>z<(G2>-RmFWt^T0;q`cxT_2U*3rY`K!4~?9nYoq^fBHcTh|A>!e zVLk9YHu-}R)w;2Y^Mm1;uZ*;`D9FG0YYe2<)SVT5kdFPM3ZN&T0Z#njO6$@ zNnJ)2W*yEwqLwBmn->NHd+RQoSO)w~``0vkAyg2wZ2=(%uIbBBE}N0KOQi!{m)wg} zaXlXMKAu%{`r?%;>N_Q_taMR$V02Rpx#CgjQNqW|-PHAW%!NMc2zYp*;+C45I6E71 zd#$h@_nL)X`%wcO=i!;1ZV>F)+jAp0jhh?Yua14|?{@-{en^a5!ezR3%Mn_KU?zt@ zHo^Gc(7h86;AiMH0l1zjiiXet%Xw~8xHxM9k&Y)o`q?s}@m`vx&3CFjEzqy;wHOPx z!c;t7vvP!(XSJ(lJvi<%A0cjGN4g?zc~!L4Wm%h%Vu=2OKeYj<)ds>^fLTDV(V?e{XZK6$34H3-{E5hzUgne(RznC=qhgf`P6{LK2Udnp>>Pw6@F z3j8g;A8)*u#_c05tTFUVf3%l{X>I%H&1MrqxwIWcL_{P-Tv=P&0x~p!FK5yv!`vlw zE2l$e(6>k?$Rjin9~~Ur0|iiJW#uMfnoEIzJcIRof?+wmk~*EdwphrH{2_tm$QIn> zBi0l0Rc#1!iUtQ*t)>dO0wHC|sL;5znENA#^05<$TYXXd9~y0=n1dJuR{r6QUo&u6 z_N0nF`}6vK#)5MrRR1a}wni+|3>#c-B3#_v=OG(nX$j&Ns@S#xpA27-x42#I#leiL z(Z+PMQ2aa9f5K(AU~G9KPok@el-1Spun>q?B-c+=+-`T&Oa0JyiTpQlD&7hH`t|c| zU6-qq6Gk!`z>U3MU}UjAe*eA{$qAI#@MbfD)U>qR062oUdf^F>j6feF^cjOTFF5eu ze*6H-A>?&X1}uQ=v4Dt-1Ufn308E(^^L&TiiPge&0eP$FDoE{Roz&gye*Ld=bzu`) zSMPi;uy=RpiPS(1PIx}jchyfa&N;dY21=PK+_-pXg(t!&Kj;1gscRAlJ8_b{MWllo zZ&MQrCgMjE`JAX=^Zi3+)_*T3JOeb`vGIV(2?Ae1hY8!0HyJQF-~gfJa?^ImKLOV@ zcYNorhp6ObZUUo&l-Z;q{9b&-oqfp=$R9-@ zwha^3YAz{o(<6MI_8Ofv=@$qz`W8*6umH%&*_WbF9p7Ag*)wyP)FnwD2*`oU3y@7% z;IZWNSp^Z%dn^~%;?j8m3=d#ei1!dNG8wY`yYKyV$WGx0fRixs(v~TTS-V)zb-E37 zgNYb=Tt+{;&eDXd7kezNkf|Rvyl8|93mxlfBo7_t#Y9tplWZmbElzd-Hwveeiy4(S zUhKRo7EnIyUk#0`SNqnHH@XfrO%%sd)5pdk1)B?9!Q|x7q>Q+H;XHWF&>acO3YrYj zAPjeGyN`hfrlk=hKxnZD=KBFB&A$n71*xlzhrpeC*uB_( zO?OSdoHJTbjOutV`wv2c2yRmFHLO-+?q4-|k_yl~0{3S|gAkVZzS@845hzWmt1ffxZy!#3?j~GKhLqWoEwe5Vjkwdh_NDWPA1)>p?yFuJc^7 zsAml{#1<5Qup1p+QE@T!)RfQulR`Nd9lyhx;{8?{iOF;^@dZIXUt3 zLzo(_O#JP+WJS0yrE9rEGXc`Lbmn}qyj$C&Yn&LdB>^nU) zmK(%z{eMH90740nNc(jKt}#%kjYJ~DmmB`RpUWO(;G@@0`ar6BY;89+VMXwfJoI-O z0boZgpc1N^>X>HFoK$5XPVlm=-N#%uQ4xAkq$QCC`)M3bs_KFWgOWv~l}{Ca2$SO@ zy`g)@%_5}z)-$QnA!9Jfe0)EL7urCAB7oB9y@1{50r#bUBPWxUnfYXWq6wPsmD?{6 zw&(hMXCDfTfhrStEV$>-gGhdjdKz}pdiUGH{IljnO>q-;650> z+vTr~bygJF;47&#^WWg#75p{F#6U2#I#D6hS8eTq5IHUZ0hky1MgLsoN-btVkDs z?|Z~mHbZMVf%+PHb#@l85pXo|WbnS#OVTtPr{+~j2>V&^*MTqtr_Dnmlw?&f-dy~o zU}X>s(fhP)*#G_P$D=#idf-9p$KCrLK5g-(>`z}Tjnsghp>ln0vlKDHW-c-0=}`MW zn@xq}SA$JXz<%6nrOiJ3=OVPDgR%Bm9^}Hn&4FJ7ddQssI*KI!D`RtQN2eZ23Txgn zU+H`U9P6r-ygcPl=+S==%r8ZukY!30 zdIm*}ox2kt1o8fT9V}OX&p(o>(p#-}MyEB2goal%?u(zLuyiO=+}8Cw|C!{iELp&V z%cM9g8k`w*5)T9Z1di(U{$%>)tI|5S=a*WO&cKl)lat9%Ht%cfs?vdtA@)03P4|INy-Ng1OVY$k0hiD0uALH*ZFo2_(Tx zwg=ujG4G=);}?)%k_dtqyZwjOM(o~YtpU&6b=mZX(Ixn2pFZ>&nNY}yuEbFaviEGF z?#V^sKU)RDR9mkj?EDPQ?|_Z*k%|l5E~~9`({*cYM~?3rEsnL)?1$j5P7B?Q><_|a z+a)k4+tcaJNX+dCT{L;&bpJWBll>lLK!AieAk`JD89;nI_0~GwPgDwYvfRk-rVS=t{9cmGLOYR1Pw8X?a;3rR!7mStQ+Zsx&q{ zqw=?kXB5VBLyd8+PqtqMJ{;Ub{9OIwug^Islu~%4!yNGX{Q2`$4iQ{WM=H#LLPsE} z_+bQer6AYEybi!?2ohybk&yTZ%i96E+hGUU;|9h>#Db6*YTD;;y1!}GqT^bJo;Lrp zH~a0R+!qOjkI9kiTY$+dLlpwUqZOg9fb#P8=|E=%NAnK{*>Wj=#Yq*S`t79%ElL|I zkhj<92f|T3!V2%UaK;wfk=vCcC$LEb1_d3L3&WK@%I+Gi!{jKnOdD1=U`t@pwGJmH zxO=eEbW=6#QC1;5q!63gh*fKz=Xfc)@=wxdy-AcKad~=_^^sb`k=mustZq!ux7@X>m9 zpp&xxrn=$I$+y6D1BzSQZ2N()UsLHbzylp#?+pAk`XqG1WbWzEYvl%Zp>Ni=YigYP zKxJ?;6q-z-9+SFO1u^er=+t9@Lhz|2;x$({OU??cTj$ATlz$zEov#aj%{X#dzji+Z z&(a9Mq-}9{aJweoDv(HZN}HXFwd2lq3$Hm=v=rE6%V|M34*dC56mlOX-96M@&;7Ms zl+}-BIJIBNS50;FT1|ntLq2D*t!%mfc#tQV51H3Wp^Z$a$JEQoz`%ZbnDs7NW+R4! zY)I7IAZwz%G+lB!^yl~iMzVO8U4lf%0MQ?Vy z$&j#517{|x+D02D6ObPS648$iQzCDIs|;8g1$jBSP0vuw+kSXxR_i(4UBDDC_J>I6 zV3*BRYF~tBmHgK3QndGd_JU<}L-p1w4|{lhV>8pW)IU>FHvTEbu-lz&Y_{u$5h4)6 zA{8s#3$Kx9D!SwjzN$CnK5a%3Y2(sQ7@l^lErrl)swg{t4b;~&m}A|knn)t?n0}lz z@+(1Y1xj5&>nRAlIwd8_YL6eM4=o$k*p7JbqlT_`gNO(KPZBz3E5=r#1%&^D5!~%m zV~XRD__lAiikr5An$@dp|8_1s_d4eI^{r<2_p?3v?Ami0S{i}|6YaQ~&(XU>>07H& zCCx`mK@1)rpkcPH31+Wfjbt2ZAlY$f5-lzFyIfe#n|`kFPtmh0b0=Fz72l6~w(cRr zJ=Q#%zEWIuxBGG!-;O)(X}7R@QGn^4m~Rj&<)9B{AML z^r=E*4*?|}Aq^Qd^`cY#9>5}iW+%RrWwH5qElXDb9zyutXVcVUW1hRJtFbY?olZ}A z6o~hI@^aiw9!_cFxWcs=&L&Bs6)^ zdWkqTDFN+ED_Dt+=2OF+=e+SsgQK%)c?ypweYGfsmc1qSHtIfls^2fArZO`qr^FEC z0dRg47&LfV;nw!;YEc3nJ64q=oKGhjUv$QCb@ud3f>_L4S5lG~FVLS%c&<0CRCI>q zV+^>EFTo&#i0UdKFS3-^!O1t;^G2Zw-}Wt;86BAwqGP4jYNE-=NbGZ@OEuojdm#EF z(_d!th2h1_l{i!2&M0}!iB!N$x1Xuj`MMFP8{D6_9Hv)VPV{pMwfsGGDJSX8AB0lc zL;D4YLST%NmphQGdP1B9ou5Z)wrSuWV0uGgbDV${s|=|iFPn1U*SYt6V+u;v<(Rz! zk@C&BMq`ey;Nr7YMyHk2KfznM#3_z(@Lwy=YNe3<4SeKY1J;BePg>{q&S)|c5~ua1 zeM~tPR}&_4FBl+X3{2W65)WNvFp?`Tb8mJ?qK|cVOR`e6R2JR?KzP4fWZes(3C&1Q zDr;G-8IumBF&9>HUzdw!m4o(o}(PZ!Wqan^5vF z=Mker+IV4Xblxgz(A>G!f$f*UolQTX z;P_*!4*2ov8+dUe>MMOC6}Fz~H*bH{&{{-!|N0qOxdO;445tqiWOq>D7`(stVhc90 z&|=W(L~Mk^L^m>L#QP=80=|G@sH7Vc5(Ttc`yhAr0f@M3X3!R5M~tT2>t=@M!8CRg z=(IetsMF&r53;SBt{7n4N zp?#H2oS~Xp1w6W_=N^XO4xAOtzXWV`T6|8sPl^EjhM^h;XSo>((nw7}Kuk(XI#vqg zwup37{K^Eofrn9GTs;DR(wMHL=4SQlmej(d2=jwcob5LnOqSwjTrZ&Z)b$fB+x5OO zWM3LdMq}1cr7a;6TW<0t5Z)DXa}9PN=3=8J5AXo?Cp;aXBmLbrNS}#AN)y)nJ|z8{ znIJWXoDLJ=uAhl=D*%xs#KII!X=qO)o}%e`ByeN9m0pAac?6rrckFx<*cQnLCeWup zPW@GD)TdW^_6B@3AI*zYisFALD8Se$Xzykov8{ni6VcpR_y?x}>xS|6;3Ed#lg&1q zQ6N|bsy_g-`+(Lwb96^ca`HX%?=jE?RwIM)Mt8BI&Hsl5kg)7~-nHUX-|Yxp&ugK2EQu#V0t>>@91p@ohPlu_zGH z3-5q|!l2&j>U5$y%wR`Nxc9;dR@Z12W@e^GF9FAzkIxx^DS7L(zzC@yfCsM*}9hH+I&^y&bOW6VFn%)Ik|;RJbDrUb64|$ zsHf}IN+Mt?Nl8e+cjH-vbOStPjSi=2TZk^uIsvcS#R`mzL6NJRLIX-VPW5p0LAW$f zD0slS^KJ)jKkElC;r@JD8&*o7g&nJOa>#kVZ}dgaiF-iK{DMs>gZNVa%$ek>u$7Nb zb2bFHDT^QpArJ}2pt{zrSO`i~wt!aRo`^5c%Ijz0dXzuvcbeLyQ< zNJD;0OScir4M!&Ne&(pdBX|;ZuzTk5d-xYbBW<49(WBThn*3K_viJ9^$zf*|?d=ll zgxT63eVF}b(HYr=bv&`|`-PyHX~@u>UJ|p}I$FdVx{WY}->U#mcanXDB7Agp56m>M zn3bI3Z!{#ci{EfCoUYkobx5&h*HHgm%&z{xH@eyz-3!0AdJq>{^LtD{l)cw=L_1u6 ziJj%<8v8@SM`cpg_OT4T8KsK+?W@a-vTx}U4W(rO3WAtQzQibYl3-X%Tg| zny-#g>ZHBQ8Tq>%1#{9;c1~|L0xZ16!zrvwgGugF7+(tgW1BkFEhVHjj3Z*|vxc_p z{KkIf`s;>7w-Wf1#FKRygKQMi9eCq9p$CJFc%VVW*Mqb#zE)iheu3cD@-vKD>Tyfd zjxwvLa^{CWk?0C=Lohi29im_e7I!^ZLTUI5YAlr`HYwRf9V;Tg<;xS_8GrLPzCj4H z8^>|ISnhtWF~l!I4K~0q(tP^98B`Yz=aRq@MU&CfpMrR|k?Vlw=yTat;~Qv>R%7Q; zWhSIpWOi9I{#NJ2GUiUY(>iEo_;qKB)vL+IkM2$g=MOT=?K%2lLZk++3fttgKY#u} zI~+#5ItqBgUtc6`MxUMV^%s!JCjW8xhh5s}FJfCup~}wzg(Abn0LM zrXWY~%T!XY{E{-IT>8Se^gQymaetXU*+9#+K5o%;!?Zi+N30B0Nn2w7KFjBaJKBem_2K#5%-Ub1 z!`TuzgBKj|@%ggvfG0-?gU<=3;tU!GAVrb!464~{^=y#Ds8Xq0!fFj4YO5DMNyv_t zbki{oHT)KA3wNDfc`KnfxZ&%vQ^84kqiYuf!6i+w2fHzIOz`PyASbQmR*&!5HqgE~ z3a3O}XJUftNJ31E%U)hU>tdX^Lc#EEWX_2(R{58rrqU;sGMIDn-5#N@5Lptfj%}Cc z+~t3H?f2l%)g2h^-qddueGR#u_Y%A2E|Rjs4%TWRVlL9ox3xp_dy)S$4N0b--`-79 zIEkO}doEWB&y-dMDk^KJ7$MS=u6If+z?;GlJwQa_>I!Tq(-;$kIZobj(sr$k)vo)V z&HK{qKgVDq4mPLtNB-{{Z#ZcQL6RF<<>tf1j=t5lPebIg4(b(rtDBg0k2%in#}O{R z+J6p-g}+D3)y}mF7*kNO=(4Cp*<;e{T^7#3umSFpUh?3R@b-0|edHvNfcChDV;&xJ zSZRY(@)P_D%=TSSzz*za0!f%v2o#QL{UGw(yx+8rgNLV3P+Hpa?Hi{1(jmMZ3mf-j zBS@T1$T7V<7URRh@i8CV^K{_9gHqYC{r=)lHV|c>bs{Gtt3$03(hAs))vQL!Fyt2( z+cmUL)4PxJ`kXw6%US*Y_j^RIaK%cA1-MepS3SWAcSpHuo0*wSOJRV3z~&0v`=Gpi z2#w)o?U)x1hhO(A@P6;YRtGtwt53haxdI-U`#TwE;hK~5$K}$k$cD_pty{O4nO}=C zV9XU9F8Dh!3u*v2e59#Ke&x!uF}vDo4-jMe49RmA99&$WVu`qliB{l{$diae<;29r z$5FEhr#}YG`zWZ8p6G#<`+FFi$N0My zo!r|2zm^A!J;B*9u0Z~;Bdok3XImE@$ z;N^{!o63L(1x~{9-`E*kg{vKqT7)1J*nFh5F;NBPn8)~V7m0{`mh$sJ-|7_D&SIb` zAvP8x&$8L~$sZ5%6Hp+<)%xE|o`1)Qv`M`4R83x99+(-H1`1(QJKkC3bDH@EVI?7> z*!V*Kzq3P{p^pdI85|at3g3r%Icxx3f|K{)_FrLa1m;K~`y0z+{+XV|gvoCGJzQMO zM*jP!UsxC?CW|9OEOsyjlv(W%E7BTbZpZK4?yzY%W=}AfaDSndMF4-hB>@*KfOde8YH)%!?miV*8#< zGqQxjM{r>#>5y9u*D;SlX$2_(NW*{&U4OJx=v`maN1j0#VGgSiKxYN8&`;Ok$Dt*d z$NCrm^5nL*TtaYqC`LKIn9PsFe6uQZQIm%dXpInl%Efhc?*m5-5tzaIn9%zOvji4y zTYW&~Co~$B_VG{MgWRF`=2uc_?Pn!tu=-^&kqU&|r{YJLT!qic0fcAw_Q##i7)9^g z*#URDI2#xm)zU9RH*|Tyq!9icRkIR6j zwl{DoLgjM{=9i}0MO^H{T4I|orP&~hlCp- zth`}$oxsCT8a=-T(2&Lc9O(QDK+B*f_M78VQ+;4cO`gmN!kf5pV*%Q&<9DD8wK7`W z2{->@K1Fcc@e78a^!er!boiR!onLDPKcq39U~k9srU@v&e*Z3?MSz*yj;eKK>jpaU zs1C5=+j=v{Ft17)8jfnl>}iEvtd2EZg#i{8siCK*XK1*J?(^JPxI#k%|2EXqTSE82 z2BfGMk_|2qRLanlQ;tFqeSr0O@uD6rQ>#}D>Mc<&Gv6YC;2BMMnVR}(ljzG^zf7j_NI!ghdjl4-+P|yZ20y--QC`!T7*VGI~@R%i+9&XR4t*hf+qMFhV zQ?e9A*yUtq{uv(<0y=5*ntMz19a!qH+f`W_7Ec}3h!{`e;^2Ux&PN(eLbL*}=jiAt zGxIt+oIBrreS+d$>xbnrAS2n>a13vE-dRwE4{izw44U1BiBS)maySFrF-Y+O-ce2M z54ul@Ro&LMC>wOerJ6~uKqoH=$sac);i1^~!-lEOW3V*6rrD&|I@kVKbSFdB5+;i) zBy0|SUGje3yvfYWeD&%_bQaQ}WNFFzT`LI%1q>Wm&v1ZV+`Mz=mo~kahs}gVuc{ zY7N~7wCi3ensh`#Xqk8yh`NuCJd(iC7&#I50RN_Q_I83IutT0P8ukPFqtOVHD1p2& zTE-oTvacPp71&?s`-09&D}`cy%5(y30L{7ASDq7n1Rq`#>~MN^UaAK>FK=H@7OjuB zK4doZ^=%Gz?O*}_u)uDfv|ZVS9+zUChx~g-gC7X)eJOSDrhM*(gbDr)opoH|K-l;Z zRCuHfCuwLopEnszwrfkzvNu2eWL=F(HTmvryEez~gCqAiK;H5z@Zcd3#TST(7&f`G ztT72COr~u+W&L3AK4yD`u;%aJ8vv7GAQ?bf2TP5Ofj3B7>xSE~Wwm)H1wd_`W@M#m9e#vIr;R4Lg11*_R z_6>`ySvDARAlv{L*?|R;?wPD`v4X-v0%GD8ATkXt$#LeRHN>14OV}xbYY{Bp-t&7= zZK1T5e{T@M{T&c5EMRzJV#wg`#&s|e&*MgDCZHE_`?0)xv<4{1@|qegH7lzHNMSMS zazeS6syPC)eYto63=F)K(D;3DV4}@#Cji%=SNuNcU;w?p1>bT=53w&1+#l6C)DVx- z(1&S2{U>K%i-Z<9z$6O`ABjvJhONJbmgONM&*Ch*N0|3BrO^VB85(qO8&LLg-0_9! z=^t$chJO7z;9gf^{RuYP$aA$Ckg!=Ct7Z@lgh3l43-#_5b(q&LlgtykEGEZlbvOgb zE|ZawQBhd|P?@@EbCq@%-Hfu|_h^!C@&@`A&tqxw$F*aGbSUfUqlso!Fo5Rc;{b=g zwbbIlXgqld+jpbF`rwsPlE7*ptvzG_qrhR>1*>1t*yy#lGBSBQv5y%JFgCEwWObhJ z^``dmwy7L}L8xoyH`^g{^0xUU-u!#0w#{e?^U;d0hoqz=E-nE?Y9e?9DJau$Q33Ps zWRny^;D;Z8&^#I(UErb=e6N)y?W03FPk&u-Vf%b3*E5j59Uq@JVE}Q_Fa;rCh zcX}S@U~8H9!CBz0rSz>jGl~tjPbHl#Z%IjAAQeE9K9a=nVd@5B=^>0|n98)BXsj}&P=;RGQiIq$AwoY#dLHTEby0IxzSsg+zC^pD!6!J~v!d(F!L%$gK31`k%; z05tTh7NDk+$S{d?Ux&hlm4;>t&EE%+`Q2Fo>0{VkCZ3lS6f8mZ584uW%WlEQL@;s0 zqJ!lJ3(SfO+zPF0mkL5kE+X{c7cx*esT`ppj*E#oS#|L3?CRn#E9>sGcEPeTt{r!J z*FL>CRGQWo07F*^kGR3#$sp$S{L!OF)4&w~(BOD+@C9)PanqT=&Zgcr4`vn!zwb^d zDv4*T(W=cAj`x85s=Ni#_E{8J@>MxWZ}W?L?g5CatCKA)(7gu@%P>#uJiGwUg8|h5 zLOqndNF9m=f9#ufwXzi8$>+0SeM8f0KP2I4D{X7Xn#?+)XzlAvAcq;Kg_kb1VLl?^ zZh27)-R`pSP?PeGh>?Eo=xw=qGUwwkgai^I$49VtWzWpawE4rXj!BDx7cOM>?eetz zGFZ^Q)TIIq!}KYI&=PD^l!!5fNPONci2-|`wcnq2)+Z;2^uF4Pjo_@sY8#C}b3Vk@ z?$b->5O>_oa+m|ctz{pYy!qKWlILvw1BK>2(?Rr>kdTn9xFNIKLLFhN#T2W76-f-R zt$}faZ*^0Bj-F=ONDR6DA<(qd9@dl|dTF2U(sZxgJY2AW$VL3H^u`B4Uz*?NpfUsy zrun(K27{925@ZR$RV~GjM?kx@9B_TPToB#k5-b&GwtP4-r9W1zHm}%=s1EAmcU71} z?8<7HmnqaGlBG-#@ne0I1AhQAd=T|G00m}yD6RWKZw73~1rRiJM6tYl`BGYY zNcUeDkiIN@Fj+8~rQj>&d7J9-5NX9Q|AIE=PIGHCJkzueZnU0#Tu|%PT?Hml2wI`w zcH@Q>yby4hL;J|F5X!1GsxsOsjkK5Zdkb~)?LtP?W>2MeOSV1XH62{1N1zWN`%r5; zqNb}$O+s=TLKeu;QX8tyOUH$}O%u2ENR9oJqw$f*7R{O*eb!P*;Nr`h(z%0dL zV_svk;SkCVi@qwa5pA7=#L1|+Hhw64@aM(Xkxv(w&R??*7VZD#4uMh71F5*%@Y#&9_uAb(E6~%~5uA93m z)CleRDq0-Zr>eMLK`d0kWU>D)ZeOQbtzVrZt@Uaxw`9rewNf0RuhYEX%FS%nw0Y3& z<-U2K77#AHn)Q0r$8GId4gagP>)V4( zWtiGK#bl$F4B1b`S3UJ)CbbQ7CJV3;2Fw+5=$^yC!-c@!^gF8R^r7>zASyXengPYvs=CN zi7G#;6mE$Mxpdj<? zPe%7P8y7D06!qaEuwmV;CM%>f!BB-eKQ&fge{z(unxeq57rg2ff`^c(?R`S}t(Sv5 zWx`S9sv0(fwoV0e%5VX8PoEf)^ukiH7@tcAkDgqWOHf-?0+DUP~L^|?{*lw*TDNI0kj~cm=!Iko&y)QS+d!if4OMXOI`(!u|*!S=V z>8teL(B=75nq5>i%pu~^8o_ND3L+q(%6X4eW*sdUD({i4!ur@Ve0;@j=Bu`_Pj}ZF z%$b)lXKv;8vXW|DFPvMro1*J(kfEJ2*(?SAOmxM0c*p0mls)f1j`3i|xCUW`PI(34 zH+Jw7IDI&;P=0@+z3?a?JgQcDAV4jpfI#Eyt+fLAui9M|9za$ExsF&d%?~uZ+&g$TDn_fT_LooVzQ68nLa|Zy2K<+iH9&u=vdyR zF~n|o9ThT2R1%xbpv_UH-5K;*=H}GSGMS&Vw)TL0-0EHKd2!~OPl`Be;=%>iK4Ke$ zjP`5&c{(Ji>BCj26ltn2Ms_)W!{$_-2HwD(?*a=8li41+_kYb}1zZwnxSGt?^DMR` znonUuPcBN%L@roa`;mh`0k&TWB;Z${&SyoD?Mnp^@i&mU@U2OWqV?rycGB=2sSF7l zqPJ9BXLu@vV>bTn6T)x58w#JW4QR?+>^3}%oDSi>FyG^BU`{(bo_%C3$2us~u45M1>-cqtd`UHRGQe|7siF4$QtotTe z@8E{~F+L_7QZVyu%3i|?Rh^6-nTW7j_tiS&iMGO)Nc!t7g2QR`|4gsmzl*z%|6Xf6 zRDS+x1pI!bbN`p~ljsNf1;ffX?0eUYLY>8Cz;}}hYn%6PmflqN2%9?H8j{ zt&YDHDekJdbf|NYuKJ@<^y0OT_09Px^Jz=sz)XqGRg_aInCcoNc~9T|xGvK_L+xy_r(v>JFx!%pTJE!)7)tPy z4)^4X3qK5RAct+8vaNbYP(io0Ycsx)=A-1ymclX<=^=L-tt2Hi;1+!9oDhc?4WzUZ zudi%^|JZ714e=Tnhdu=^YOCA3++48uF7U$H($l?%uK`o3T&$l+wTQOm)2cahT>DIx zbjRy#P_MMMWb}CV%c5kI=4S1}8@-&W$WqR%jiw99 zxLZV|qwePw7wvj989CSuCZF$!yCXhtc1=G`zCvyjojTx{?zS8)mDAh7VW<>*F_t8^ z_@2v_uC7YXaQ4?Uix+)!$}1alT($?%Z08|iZN5rW)Hv;sS=={X zlfj*rp*Eq4ta0+R*fEVPIF8Ir{B zuFX`cF{Fv!)vI4G`eDY?EI{cIfZMG)9&Sc^Bi|&{ZK6`R`Qe0zzm3hq{vT|)tzMo% zPcKeA`JW+Uc@Qc`O_JFlPp?;0K^VpK%qnx{%t9q2yD_C+d4wdI#7-&g_MN-=Pb+Z> znV#7m&5T7qVSX{*O=1ardy)DAg)`66EKHj+i^sOiLRDy}Cs)dtSYEtQdU&_~q1`d- zW--NEH>F6TmWeB*s|zzR8A|JXTv!G|NB@~Jmaj$>yc^HRn~Ijs(R-_u_!9+vVXZ}u z-|Wy`iy`~{#%hnu#c{jv&!#-D?J{_bJzK&o{@78y)70l*PK0OzBzRXyKY=5i7UqJ2ZM5N)hxWxDa0q9C70jKySLPR%-X}$+V)jIbcvHQ-i%0N z@_3f6h{@MAPOIKLw2U#*jKEbkV7A*SU+x&Uwz6?%rm3-(f(x}6*5dnOFpV|s-c$X( zMm|lN<%OF!uP>$^ZkINt*9O;++>?c9qo9fX^iga*Y)l_%9-@jiY(|;;nm3+~>`2s) zap}MQat(%N`xjQT?cW_7p(iV^@a$WY`D`$Ko|snEN%f^XTe+;CbX`OaT_fmKyLQ(l zU*ok2Ctd$Po<&-6(kBtmlg8`EoRjvf93A#nKMq~x;pySh?;p0{Nvh@L+gGHWy&EON z`aL>67UdLLH1;AZ_9@{bC`R(`&L(1SN(oCsgCon?xPWT)LRM6v9BJz%GOTPjF&UXHC(JbBlAQ z7GjOYvhiobDJ`p2XHBIU3ds_O*_(TGqmc_dcjtk`BvM#(NvfIPPoRKulO;6IHnRtq;q@)c)Vh%*v1jpNtJ zGDZMH0RLwQ9-1m%cMkx^!KB|#kMGE{ZQ+4b_ATOTxZRvo3@QRhx6Kh=M>W z^J3!s-mB|lp%+9=HZc9v1J}G;>$!EG1s8U`kJ(NI7ehB{J^N$DI&OJAdKto$TK16{ z5>DHz`4GlvQ;pSwiTKR^e$>HP=*GkZviK8ZGi+)jep#F9?&xc`XyOPm(ByhOB|f;f z*J$@weVH^uELm_e(S1~rS9VDEW-sE5SyPENrR5~*Y+W021s~ElG~Luu%e*-@y(XmW zhZ#BG4|;1qr!6vuyv;F)%PvY=mrLk(L_ud|CQfEfDdq#al(SBMwRi>3 z(a@;<_R=(PES56k$hInh#L?~Ku07__>w^KXuKrdc7pS3Mz!)|CmXbu`Yv$9fN*z0% zx8vrwA8k5AH|~z$H=%Aw3`!c15;>J!O+QI|GHSb2ZxF%J3M=^4KM3M$Rs9HTr87OE zw$*_>j4-~veC0qxC?YMX@VU%_?N})9GADp`R~$f9C}~V;21t_5)(e6}5N7P@!gMSW z^8j>Ag%Ljv&+2e&83f(Q36WOZ1EW;I@LW7!wgaC5y^GKWnA1n-l)%JzVg090-U-#9 zE^ZF=^n^b#0Ci#R-uzV&WB2X5?6(WM&v|LXsSyy1>p>428tV-c^(`AB6WYE{V$In{ z-L>Hq=36E(Mgw|+dyA6g9J(FuR_}My$>q!UH*qDMXva~@3gh4I)cw|MEwbLD zRvnT?Mk3PU6I!@8CZW~t)muyjoC6?;6(UH-fs|jR2ZMlUIU>2vep%6E^hy}=lB8`- z6gKz9qcEFu&@B8FLAZU896&6}G!5ciX+>>X80RH&mL=NKF=2 zZDi}z>6UoSO$22o8mg!EKH9gn>RuppsK)!+%BoZPIZ0#dWi!*I!G9xMR(9akHMI%` zu+1ScZdlL*;mWzzx2HR zd_LU3UeTv>ec83{Ljdq`0uGB`I!5iy?CJ_%oFZzNqgom1hfJ#%Ot_RYPA6Q-Dj$g$bs#d)a^XD-3Z%fctXFB7+z zHKLeS`)q+a-m!PcBa~pHg;%SM7d$XObY(LmCj40jzC;XYJzDxeY{|D-Al|#;nviJG z!--JMA_wB|IZtY28IZkrEBAgmmO*3lS?(T&A5#R(i_jny?6gj_uyFKTP>h0MZrq5| z_I&I_GJhd2Syqs5aWr`+#?&RR<5GD|7-^{D2E?(*aS13;$)@?Gd5^YPiw{aLQja_d zoXjs3XDiq?$*lyx0eoiD=^!xT-NiHp&ys+}%%AZRW>)t!x+1Zr$)mfI_Q071 z#<`%8`CmegS3$x6Mm<#KQW50TGjAH1RljR$x7?Zxj{&|X%pGA)4~4|qTKUe-xT{<> z>l|y&Rb(u4r`a?}2&-dfv{pOpHdk-rCfJ5LO(zI?YvyRw?~!KSfYA<0Y~uw1zZ=nd zK^&$i1|(pBtVDc zac(a{_$9pG#0{^FEX2Ase{_Orry6`zgxI3i8+%OZzxG;yqBP;6Y`k-1q0)TdHmP=XrJfBHWxxlVpK2)IT^yEU3bzni~g^ic7 zaZMuavAlehGUbsF;RKUXrk8gsV^hXopFUR4wg131qhiBmY}(GFx`#P30_-{)8zZCBAk+v0kpkTz13Z9FLudo$RHj&B8U(U>2 zk6~<>*kK1Kpg0coll1z*Pq6xOm1qtJQ`J*U0iI%p)s2y*=8TK3CCWc*q&DngPDtZb zfTyp~mrSNH%wJ=_xF`*>7?=t?f{epI$+5a+#;6-Qzo`~6)^mosN(q&*+B$x3GTXVa zAc4*&r)`P#uIINFX`iffD)4ZKoWHjD_%ZgW+b+g7VOdqx*l@Iz5Iv)Xbdz3OP3t0q zUQzBwt?ltsH^ZLOQyleX!%^AS8woQ#8B6+PpTg8eKxP`!O znR@lfK2^&2%^4~UlZ;XhNutk%sR*pKleQfa8y*>l;iRz-xK?=DJE#OQ+-{Wd<7ZIS zT8^ebca5pVpGz|?@%p0bwk|h+(FOMO%raUSW~zytn}o)-wi2?`UXA;JnkMGFmb{y4 z^y3(Q(#=s3JT6UFDO9sQVYK)tAAj1=%6GR!kCzc&yEG z_>Kj~phe`*WLajL?sWO!n?KIza5;?+EzhjyA7^z4egkR2EkhYbZ%;6o> zASKGa!45QP9A46dBww0$mAN1dDIoTsPZh~zqPI$Stp=HO!JbP6MQQ5SvFT~*hpIbw z#a_8oxy0ug6HN1VFF9HO7xfe8c2cAY6Y6@>z0^?)I#edKQ5C15xI7%sFX7@`L%TMT zUY1^z)X=`LkM?CL8ZK=Pa8fLTB9U;$jB7l0MyYdp4xkW_uG~&6}t(t6|S-h+~7jy+H1X z>!yf!7)Y*GJ`B{l$m#~4UM!fX25OLOt#^H*9T+@)!StL1sA&;om!e}~TSFsBFFd_F zGCX46Bvb!ccxK~|=ky9^I%L-W__!*nXZcQgkCe-ucdONRC39Y4;mTn%u1QVCh=%f` z;M@VhaX%5QVNBK5s!x22la^S^3zIwPHcZ?PSnr{F0Bss}T`}bPACBuPFshw-^jLEQ zTxvD<88UUot!A^omZ;w~q7Hz4yw3(@m`x}}Ek?A1T{(S@{JZCrNpPDHrbB5WHakAu zN~ydJ-6GrKgGQcP>xVTtZX{5aI6G(0)VFbQ%z46P@S!BqtQ(iq4rA1yvTu`2*V$Jw zX^$4l=%!P{v^wqurv4pvu#kBIqgz$Y(E{U(ov0m_Z1_IuR(T&-bt~}!(HaA1O8w_@ zTG8m_6v+&7u#5SP*Y%>?sfr42H1Afzj+#%#LH+Y#PcP3?C~!)xp<(jGr9-$VWGAb7 zar*M?j8UE@Nxf|{SAfx z601jQ8Nl6npF9zs8OdsB@3%=X9igVCj1>}Hn~e7T6$3Y>c}6?YY>E+w#w~4pU9dGaDF_8?q~#izHBrpu_TF5IkAI89Ym_3$ zW44+TK1b)caB|gQm|TUVH$=y*4k+5{iVv-CkTIjIMOaZ^*$hgx*cF=PhB+3>hAF0a zA!@CLQG&u8E0gW6TM<@R&X{LpuM3GJ_dtqH%)|OOBm0wer|~jOy`t-4Ut3)CGADAA zt3aH-9_Hbj497&{VKgA>1|LUV;{Y4C&9H`-;kNQ1R4d(vgHoy}Vm`tHaGezAL~aYD z^rY>lca@eT*ftWnh4Hwa@E%7w_g-r#(q%^SGKQ|pq ztC=e)hN>t9h8+)5nw3{}h%g;0?xhOr`K-uA0y(&Zvl|Y1v|uHCHAJS0f8gk%p!_ z^~LEVMRY&y$qAIP&Q73^tJC|sj|}#e?};)qrn|fJLEYO~I`pYS)EJ3-ww`0hy3KnV zDNYZT>=iBRtnCR=xl(Ui8B*fgIZe%R>ydWjQt|9b78k!y#f?`Bd6gfp=WM;j&xpygyu#i4#=KzpW>EQo9MM zXxb|^5H~6XWjKqL#CVEQDQv^+LZbwGJU{WZ*fd9F*tvMb4L?qE;Fv~yd6c>PSX1D@ zlVRN9cSzOn!9q@nQKAE#=YFU`sBX6S7~EjZ(wpar1MSYGf`M%sq{e&@Mi!R7P2I>T zYIM|8aOWbS8$y;SC8ekiC#mqk$-2gPafeBK!zVj2*qyV5=augAke#&zKhJRfm*<6d zlaKfMl;pHl6nj=isMy-#&4Juepy9F&9KuFbFoMrmfLx*1eL++E;mX`=K6FUffdu+7ME_;^#u6EV1ZR? zClpDgaWC$jwYT?9m4DDeYh<%7OTZJyI`|?vuEEgAEqb14K;X@@U zS0?sBfQF`)s5o*S$q5ok>$KZ@5Kzj?v*N`)6gE0r%hM zKOBj)bLV-wxH4H{N*7S1el7#nb5G`RySo7p0Wc3&11zfz5M4-OI;D56yh_gS%@Wt3 zI0b8p==(c`ZvzWi2%i)h7AokO?5V^#qmcvFqpd;tQ<*}=S7lg_Q_N4yEMEIVnVz(n zq!xOI-8XYH5|~@A@66W3ew1D2dIbrRSXK7emV}?8Xnki4g8(^^JFx)m^M`s<;Fmyep1PLgteu3Ocb&o7DoQK_N z=Oag&La}q*K7Hg=^`HP6YZBpPbvUmkpD9VD>C&>UtHYmF65ba~o7!=y$J;&=(U5%S z{N3xWcZ23hf?Peg@SZ$A?xuLPp8u0KLi3y;F|v8Ox7$A&Q;hh4DYcQ@A7lL1L*&)e z*2bJFAR8XE8|4SpoTg|)eL-J-91K)*IF~lRCUUyI4xO!Dewg~QRa1}>(LN1dc!5#vWCTGDW_UYH@G0}oZIu%H zy`yaP@BHywB05*$m8w28VrD65ej4jhAsEUDb@p^c-XdEoD9HWBXC=gj<&-9dWNuQ? z%2I7W&)oU8mn+!VmS8=fb3R_^f2YHEGOa zVzpvqD5q1}EOvQq8LyK2E=JCpxfa@-uV1dI0Ca05(59CM>$7h-*>LK%+y>w1d-BIXo~Oi8gBp6k+9%tb37e%%)^FqDiJiC&<)mm* zfp^5$zW2nE^5lg%Yy~$@ck+R@t8h@(!^~v7nD!sW_ijAlCK`knI?+)-JN(ZRSO3*>XFqL8Kf}W3ZI;3~Xg*H$D6e z$d&p}E&POOrM`Ry5p~VQ3M!tc%31!$wZ+h`bocw;}{3|8{&!zkBCgay0 z4)(I<922?@gXmh2#(70K=ZuU&0xUe>;TNu~5d6B82Fa|PV)d>0qGwYZc8f0ik^Z5c z>#|Q5xq2|cZ^a5gp3kpSMWkOEe|hVXQ5sdJ;6qtguaX#(UIF(I&g^?FrdhagXfU}G zt-R0TK$qB$WmnEgYFj)BegCn`gtV|Eav-&4?7$GH-4WZrIFzT#fu{s(tK057c+g+4RA=>Xwy?DzxSjpz5BThcwh_o;t27%Ge%$WeEGMm-1y@jN!s>K1MM{$=)^=4UDg%ktQc|^O z;zw9sKFktG4RyIjCk#oePRPU}h8#|8o~S@cBSoa)gAY=p(vceT28qU>P1K;Of<(Y*+dTN0{nvP>!~ZYohSYe(SOr1ORV*LiAG~mdWL*^vp;ns z889TkzR~jmv6l_crLkMZH0^e&9oEA$`PPEiouuSp_m`#sg!c4SnK37@sEXIlH4*Zp zHm?Zfq~qK4@U?o#M|r8*qB((A>MIr*eQm*RM$#Af$0?F;9!PF;V4hP_pD4DCos#>y z(2K;xQlB^9uhN|PML^B%rT35lgS={fN8KE5&51R2t92)Qf$t)VvJtCAD7NDpz24~P zITQp=D9nk}K(vvZ($GB0+Q-SlLS!5qT)qeQhF8?b)7|Z|geAWDj8-|nwwwdIE!!B> z{c&eOw1oKqZ56KU=y9uv_Ra3NrI0L5+Q23)XQ4qi15Xw+yV(^JNckh z4^MRaD-M(gC=FI<19_hDXI0OWiBVEJ5!i)Gh-IAhsIS-xZn@IFtj}KbSXO#}&`GZ?x?_4bU6U zyv5F(Xhos)^BiVRPIIAE46S!}&TVM#*2+r72+7I#Xu@TnZu9hZzB7N; zh4Oodk$r=roY?N7@2qI&Qg)Lw6UI6RTZA(c-m7}$rtBEI>HsCCc=Qtr(>Ot9RPHRX ze_rbkQm^_xlaw8C7>~Q2Ya8Lgg7~qusup|vd?+SJO+%|U<=th0?A`%&!0v*?@c0l; zZ(HyN#^AF%bXLFM-Df(nifhx)d}uHL!zK(w;5u?|*^zz6yzHbV+T(FQ`DOm@3?U>! zJBXtq{Q5|=4>$Ki!K;EvfbF`TWtB~&qY23j@A@_+`V{Sn%Sau)@Dp;XkjINK?10#GsjUOSs z!H&sql-ukBd4!&{8C*8T_A6Ouh4+q-mSM*>J{?{ERxw$?*;72viX|gPGJ3e>$|oXp z95%`C;@TgAkE>*8x9V!1nnj?*M2H!%Y1;?&HK(^QiC@66IMpOhk=r(HL`DjgEDckV z_zWMd1?QhV_uAn)nuETfXlc5frffuES4(o(-!Fz?qzMYAif|H3q=!mj;yqF>P4VOn z+9>*CkG}qoJv!15^BZkGZptXq4#J0Zf)l;I4b%JdLftV<*WYL1l8ZVApo_ z;3wWNoWfM)f!^r4xF>J5@0X>5x&Y=W9`x@8><=A_yEcx0P=p>{&12s8Q)0?ko?JP$ zRAut2%|~L_+9^kMA1z%rJsQNP39!RxKO>FNijr_a()*ln=%7YKdc=RwSzr0%!4(l1$Qn zJmR6p=+c{faG6%t;jXwnD@^oc>Y#eP34od3Q{mDgg1u{S7}AA z&z3metECB;YtNkHZeIZxLPT&kY^qN`LWVOBR|lU8vBU5-Ztpn8+j;C_5Bj^R`BiT9 z9&*@ovCiX5!F-HL4+HbhFG0H=J)+e;l_lkbA!j~q#b&P(X0AUk@Xw4rK78dgBbZ(a zvvvi)vvZ59Qp<)lsO{FsmQ5H#nJsKHZuHDmyoub%shB=PXko#- zseO+ae8eV;38I>V7NokmQ!x-v@edD|M%T7y$jLV&N~0hmSf?ZUK^vW}XqW4>#&aBt zO`!;`m0QKjDK2xe@BWYP$Y)~XIb5P$S_I0f<#)Q88fO0yV ztANAZ#mJiB{wKTx8?YmUEO+`*&U`mMNt}pxmZ4Wu!hqLpXwQKV0$fO|!P}nJi<#V= zUkSco)WsGM`Ye^|(Se?$t%ynJAAR$h`64J{aL-uzljXku%8YjuE4uuPy7u;3tIP`) z!u2KZ2e-`g8TSC+w^F!Gv>!$4UBO>s`ye2u)Mabr!;8$eQk@>9+DK`G%0tN;Bj7h< z;+TLk%c%193%Qqv&!raXt*iZFG-i&g=$1oVB=%enLriSUp}FPgs35nuZG=Kc?#Z9HbHBwr)%<0xo>ti#!yWq$v9Z%5oX7s3 z)oOkx(6dY4d{@Fx)L`gC4*4-yNkxrV#ZlCK$*MHL4(7=qsZoTWf7=CpEa&(mcAkorT^zKdeDH@kT*=AT zd`aVyKS%Fq zQOVF?2~oE;<|sSux;r}yi=0u>?!&WT05we206{N)zH>HW@hx<6;Fj!y-ii8Lyn6i=lZ?Yf^n4k1$I>i@CM9IlJot-C-ZzH7O z^{e{l_Q~nky!S@K_ohJuHf0+wI)q_UuT*%3el(XD-VTA6+y7H{Z$l0G{S&)iYuP$b+@OauL{>G=WuzBp>P z{g1aHec%sLD!V!Q0lC~UqVuj;G|A~!xfb_29zC*RMqBiGsAc4LT;mwMBk^)IJ1NQ~ zU16T`CY#s59(Lnv z_4FMUajROqW%2JRmH&9(d=bE4`z6u*^hiIQKe&ODZqN{MxJFN|g!`}~`G!Q@5s=Gn zEEFcoQtmONRgnYwYHZo+ZkU*{J#>HSC4MN0IA@k}KDX*v#XQD)ya{+p;0 z^37H@FaRG<|ITLdQg521xVF(tAYr}`g=Tcg>$Nia@rsb!a14cWbHWGoiu3s2-Ct!Z zdPy^TszDe`fYH&1gw{#3asVPl{9x_~;6iyAN+Z1&g@kp-P|x(>KM3Ae{nM(PHzY2r znsa}baGxQ^X^f@A+R2==uaeeS`&e(7z}V;Sx&nV~6~U6(x~9&83|e3Q@kGZ@=rSuJ z*|O^I#SvPylKJT0gLQ6BI-)dculS$lctrkJhV-cl{}k@w{UNHjB{>wc*JX<%emDvL zp8*a71C-7BNt%_RKZfdF=H3n23i3E~6zx0ojuMc+n~w&dT{%4)H9J1l zUfGp7w|Y0bhcayQO^Cl*7V)pwYdL&x5~D?Y8xFLa3j;vS{xc2Mz%;;XirMCUL$mHk zHETmRiT|fFCVbs@=Y>Viz=L$WE(s2geAh3o8q6hu(J#>Kby0o?1<``Vm?;By`{ z?!#xd_+%2Q@Q(yz0oW6KgW{OFtuMjo-wRO>*=rIYFKWBIjwI|2?)%B^9(`vX5U0>p z@IgA65&^U9o>%c_yP;=|MEFLy8Fg==OwZubIjYFt-Z%Ri>S7@!lG5E@HfZoT$a`8E zuNoS?2~O_rZ7hF<@JaE7{d>aHNPM3!4<&WruYVDq`ujhW1|n6(=wnVAuSbJE9gAzv za^C-2a({hAuio?ju7$tARlCU_5b)pMrszL0{QvI9ZIpb*j?l^N>)gf8Z_inHkJ=ch zEz~w>Fge6!TDPuDR!V{IfUmu1;v;R=b(H(^qbF#iM^|9XJ3iFQ!uJR{rqtB?S}~U3 zz>{;ehr^BFyTs?!j(D1yvKom1(scoA55%|?z@+a9oZWiv+> zik5z$Nx2MKx%C0@NA&bLsvrK(Zp?ahFI4$HebDHxCPw<2GOE-H?6`(^8++7N>@e8y=j(1 zZe7D(TFGuywR>zJtMVKhW)dlNd1a7xMqD4vK}-^UJ9wU!1rLev<=?gLWl{_@>#X|h z;}n}H%f`Cj@{@sgv)^1VFdud0z8ab6Ib~kOe;$E1;a-U7>w|HSq|3UV&HkZ5dUl7dA@t z{#>QKuj@VGpZVj)#L0T5FD9aNg(35LEOW*lcK7A753aU6XR1?Qye1OC%W(l5=uqzR zA#?;4YC_3QT)$Zv8z#1_51nTRo})^cV>z1A&mp_CyKVqg*=?-%{%(pP_9xfS@Fz#~ z?{ev4)qBUy#Dg5fgY5OPT6QP37p-cuo1W{lYH52Nwhh{>?Dz|sWlODldMn3h{64=- zi;J{fK79KSk5le4$jT0{dXXk@6NVQzBx=AB9o?oh8r!G*EXj?p7U(#f^s#49W-oMm za?YeBz0?+84`@tF95#M_A;*wAV^aJp8h4ZXGO`(Xf`#~%oY5J2$HOFFf~q7%X+!I| zR@cCTm9SW=@|~25A3t|^Pc>&y(CMw=$l-FZQu=nE+68c1h1!EOM#Fj2;>t;1h_eWl zySemVE%_QI)?n4`7`|~FB?W_}QL*jg>&fIaZ-`!j@{yie!J-jNSXsj zVvrz9ltEOK-iIGNL8k%oilF_N$MVNiXFD3r5a@EpOfDN*z^S{@f{gUi_Brhtvfi@# zzPbl;+$8Ne(yQ*?6YDR6pM=O3w;a^5Zq{YZ&Zu*Q&?&PI3_N!iIM$!9#X!PTWGs`#3mwlabJv0qxW&golX{{ z4)@g@j9jFMji2+d#(!+)xfRN34QjKQDGS~1L~m1dfge41eBFkZiuTR@jUXV)V31q= z!Q_K)wpg_ti!gHeRK;K7hN$i?Ly=lw@U8O)5P>H`+lVr)`_HByn3yP6W1uf#t6Ntr zp}wzt_yFzI;ds_RLMrPv*&&N=3U2(+*U2UFAYkos+nG!>@3pEJQmiDW#r4`t78wW7 zq2zE_0rsm3m#fE^UxH;;6^caPt`%O)jTD| zUb-L=){fx^ME%`$_8{VSJ2ZnK zHQu66UkMpyzK|*eA=R;r4L&)$Qn6@&ZAZB@@TuLfv)w(%iSW#e%#cs9-e@jCH`**L za#6akEKw64;MaxTsrRee?VJziVio|R`H8h9npO05iwCICx`|!cdj*Fm+=P8yEicwUbJl3RWo`{xV zJeh7K@+=+I!_zj%04ACpz77k$*1Gow|8bOHf6wEcd+!jDnFY?#dT7_#+9-FC2G*SM zsZ8!+V@VrjVxO8vajm01g3aOyevIob{;~MB1y+w~-PWU57JKW~^LbqRU@IjAWVL(L9LT6&2_4P8GavWee0M zidZ7I;XZxHLH)!rp_D^n40NK=fcrvkp1B}%{~aV3SN^y?Wn|$~y%WmT6V*4nx19S* z)vK^jgawH51mP?lskvwE0aqG4hd-YWLc`<_Q;br~S=7p!NfE zPSzVxgXzJ}!fYS)DJX8MhYyrQ9%=`2fEnl8QMLkeZ3aEIWC`%wg@n+%%!A$b`yN0= z@=hs9$G4^6Ty7W~?#=8w;dzL@rOi<1^97U4F?U%@^m?Ex_4-ZR7JlQFmdEi*&>)6pLa-H1#qgX-CkoMNx^jLf_5~(*6NlV*3 z$L)Blf=WG#6KommD4JDU`~iEn-Qu$~D<6>8OyLsCOL!PT<;%cJ2uW<6Ep>M3shK-P zH%Ohj#IrrSw(dd7J9kiw$TcJO+Cz(FEn(intg6|9^jFK~8B6JsX_@2@DXG)W{gcur zg+s+8BjPMr5@(08r%^3oo;HHNE$gds0%w~=82^^S(GJR|03n=f4;gf?{mR|OWj{i@ z;?+FGFF`)2lJxdjlAM0p@E-jic0Gwbd#9ACpfXl|wpl?>cl6~hPD?r=>Q{XfGJ~+04mRZuDsV&#p0Gfp~DcNhRgs_?FdtjdPVT(cAL29 z!qTKx->}CM&Fi*R(pUVKUp(EsVQsUgmk+WfzW2skX%J#2Fo#VRgpO7`8+e~l!$>st z2ZrB%Q7M5OUeD>KSN05PE4cqBQzY%{0fx!u8=~_{Ta182-#2D+tUaTz-!p5))kSh5 zG!4*WcwY+g7OS(Gy^?!npGWzE(x7>YOlWcPOkZm~W71M-s3K120vr1$nB+A*sqG6} z%~z`Y9ES-ycGdUE=5&Ixv^R=IJ4DQMFh4A=;{SY_y0l@Wzu*5qR493&jny!%hs3J}t4(qS$}6Ud)WOPzPb)yjmmfYL(<-nJxlgHZ^2 zzT#nc>Zxo{-qaR8)|>i)zDR>MsnhS`X5_Um9@%`{e1`re#EOD4#q{OFwRKLt?h2M> zg?!vsXxxM=;07892Vq;>%agsyHDB|mQNJk-dQ^O85PE4H%h;tQU}pilQ;&wd0roHN zBU)3U<(YUfBm6N+SsyEn3B)VhGXZOkeBwIJnLQk2k5e8-5V z<;6j6LRRYrb-(gX<4EzlGZ)qK){d$w;$uTijq|!MJFIWo#QQf3MLn~Yr;uU+Iii#X zaB7ZW%7nShlAlLu8ZnEvSJ{wlo%)xsFm7PE%+3zBE)k2(k3j@7`;;eX$N{8VZsZaM%1&FIe37ZqQ zw~B|)=Mp846WH6hTt^;0!{TA_(-F$^2%?jhCLp};H$`(tat^oPFq%d~E6!xzOry^t8U*8@+RSvA~*)Ui;q516K{cUY$^Oia4z_(b~)iM=}FG+qmb4B1$cf}*d4ZQZ> zKyr143AU?;Fj^W)io4NXMYJG?*vXMdQfS(x|DBtwtdR>SU^~!%x+P7adipmWpF2ix ztVhdWLrwlx3-Zf?{sCoSXyrnWk|KQ~ryQA&nWogfnP;>cE-cXiDur|fF{T%@sV(8s zmyR6xY`IFtgm#SWdRONnUfCQ@!$V^@^j-TKGulhT-)OchVSh+KHhr_P2QRW1i~@Ty zXvoe}67feM-TOX;h#KW81yV*pBxT9GEpmUhU9X%6pZCnv9ISU;*dl)TZy)^ZjU2j6 zo$0BQqJP-E;=JxlxABHC^^WbHFvGcuSb|`7IBW1-rB+hJWp|_h7*{u0it`WEc~avq z@fQ$M7v&6tm#Y{U@e`{H6J9Ju+Kx-Qcui8yA5Nle$!Kd#Sao@r1!LvNo?Q2QPD2t| zFdW~!YR(9YhUPv*iG z0Q78O%9F$NKBN`_i~K__{JMf1qX05K|`NXWfNV8 zq;g4_#6Oyvr}A37`>Q9J$)$f5-e0k_=OYlwzy>7;eCY64xW)noaOg@32LKb*sph6y zHGZ7Kf8$^f#e+Ggkm?!U9tL}QXwOX34E|&p(Koe`TZ#XQ|LUI}JA(G==E}3h@bK3D zho~%*#Mk@#8m{QyR5jTA*<$+=stP0BdsiyDB8=!}f9+Si-c+wVSAvNS4ELe%T+^lr zQDmp>?d5YH`7sS`51J&7za3x14wu*k7BchS2F1&xeOT-pN^YDml}^`3I(m#BdQy@` z)wPN+D!vkl$MjPV)-%}nL-0$mK_QDH_-Vs@lw2DCe+^XM7k2QDk3$biZ zN&DjqPQCf#1ulgn6JX0WVH(Y6K5$j`pk;BE)gjLDv-S{SUy@{)nvO#x0c+eR>Vu=l zd~V*IO}pjh2+S#0W^z&DU2oBR`@M@OFY(?nplpYTYyH%Qynv`}Po4HMKD~R1sPsYR7OBknx`IDKU7>MB19;3zVE-lnXf$?hv?8EF_ zid3zS)L*o_b~F^!tzFALe&<-*P8QM_?d+A$SwGySQ)33kl~y@>te=#@b*Vprx=JFngq*>&?tf6u`J z%$J=_jgRxE-+`OMJLWUFa)uFS=}Ij|d+)Mrcijt1&-WZ_7WTxq_pS%3rXx$~^$en{ zMICo07gm0yG`4a!cDzS>Wv6z!Yf=uTbpk61*uCpMa9@|2MAbr3M^)Rh(Vr?l=b4J* zXsA8!>gedeQb9Ue?9q`XeP$mRsw(_{L)~7`ehR>+S}2n>hy<{%AZOzv+ZSHw^Af)C z_t17pqEGi?j}U1YDdrZDw))WlquQ+ygJW=jq^I9NRDHeLmll|1u@R*`OcmT)y|*9*%f%dikNfZXeruMJ4%!&I^W0z z>rpRGClUVA|AS~Xg)z+y(%oqq0BO)=6%JQMk@?EJqEDR5zXocIU7TAePbgh998w?L zf78e2G6VmxywUo@G`JbjbjAv#`&PI%;s*xR{K=U%1zDOJ{mDJ{04mCHaX|j>xz6r6 zd$xUc53Dh&T6yqk-5vq?%l)mn1n1EEtZm*z!_}QD0^r;VO`z_yez~X{=3CO!9+oUJ9MoBt#s6>(l`mAZ49fjUqrS0Ew$@Q=;Caf;o> zv7MMwK&N9XH9*Y-Rqxn0_*w2#+40+55)(5HWTIM?$CvaTFp9hL99Frfy?tf7GekLw zD;{k)1|<$qukYnRJDA(PT-g!bRyTXqH-9mb*L1ds+>kWc&;Q>r(6*`OuG{B+g|D^P z9xy)A8Jljog-V@{>WGYQ>OcoH(Mxmq-4`B?&sAy#eWIeKu;Shb6;PgNjo{r!x9uWHvH%>(G0It9mOss!eaKzI?uK;q%_*uk{~91Y=Z|7H=C) z5_<aE3Z@fcSYWT%K-fSQ2 zX!b4zrq-m9T%ZGY6!{N9^B3lqUGe-c)Axt(<6Hhm3IApPPO1M9M*pAx=$zFZEyPZo zIBZZ%c(^rQ<*675K#;13!6b2M25B6`iFLB8&tafV2=JZQW%dnv;%(SP7>gN53? ze1G}TiBkdHeavj75%iqcYYN~!tvxOF z25p-9^4VWr>q-M?!;%aZcWeg5Zq2DP^Bg3Q!Ia}d^C(jhMf*TMW*@)9t1n(~DkXRVuyUQytE zf`q^DGN%0T{%KJde17MY`am(Yz{8>ulE#YGG`%7E2O4hD8uWYT78JLp2P3xztD|L? zAucbjyhYPXh-0Yz{r?a4-ZQGHuX`5-QBWz0fGAZ%6A+M&RFwcqReA^Mz4t02T|m0D zfK=(dgc77l38D8EdJR2<7T|1t@B9AmId_bEznpWv{rSLP5cX#6wbzlIzVXhF4(VSUT$vS)6kGh63|(EB34@dT<{0pLcVPgS zYbM|}Tk!r(?(RJ0T{_~^S___M>K7Ly%Q{4Lf^0bPu5{OnhWnWlTG>Kw9xk{;gZh(# z33Cn?(zr$N7L7P-J%||W%|N;3W3tzI$s3qr@*m{BMHAP>$eG_gj{rve-rtR*DQDae zqPv|H?ewBl=slN0^~~X?q7siY{!J6==0ilh)dOS$BostkGc6i-OirvV0oX3v#I`OTvz1s z%2)h^>du#jX786o;Xm`{0e*Z#8IljN!p@2N`y%U3dm}HoF5X?4nN=g1gve8VTuuH7 z$eVqO!4^FY^@iq19>y_B)}gnIpsX{?6zmod<@A*$);q1?S2DZYL@%;8n=K}j*2}b3`4g%fQ%TqNDkh+Qm2|u7PF(3BD<#_ zYpWkbN+i-+*~dR;ofnj0K>?$B`q3Q|*)o#fF0SxZ6DeSml9#+YQ-IUvC?qhn_ixyh zU2}b`Qh~QY>CU(9G3-}o;cC6$oO4CstmRv_C1EcgCTkFwe?~2~^6(1=wV@*=fKp=& zJ#Gz)$-nUB$I*mCLSlD_Z^ahd5P|I@B{bz%awJ8_--lm}Eml09ntZN@Gu`_0W8O|tvDDUX}GfCy9MWg%ztjUDDTSM`iNQsn; zSbd_cM;(7LS?j}#wUM`Cw>Hx~_$9d-Ouo3Elp-?4j=> zg)O}8>HWesMM{r++21C5UGRguecYLrHIS8X3u5@`Ul|_SJT%Dm^A!RGb-S(#z>IvT zs<$kBHpL&8u5+7_L!vr3YU@_pnNwx=r{sz0^rcdE(9B-Z5&;J&i^-x8y9GpGH|y71 zp<>PQ2KB&AX2XQvO9f1nxxq>Im!|Bp%$~C^%)sHx_jCfTUkOexjX1b|8d%{@)a`m) zL`YpyGI588()fVJkmxTyvF0{91-{SMwE|!sQQ*@mnZxi>r=r|4wL)vzA&%nPW!NH zBVQxKyOZdgtp=V0q!DO6Jx0J)`^r*H_lk1*mIy7+kNSu3m2b7`T%mX`j;&Rn987ky zCTfn>3T(DL5q(N$kZZGGVt*^#I#o{Eky46N+~rPr>9G2mV2rCCyALa$eRmNW8>a?F zF>w-^I=zEuyuz)RpTN8uoX8{>R8Yv`vvuu-dYmFEI^{|Cb|R_O^UaHtSAIJH@`*WD zsZild?qE97A!UBn7B&^H0jyP6if=f-(ujASCZXbI6a|^U5pT1SZn*ig>JMakwsSce z@4yT85}c;*Y89|7as5yJAW9K%w)>MQ-u8F}s$NYBrdMWnzRU9@2Rb?>m6S){*U(@K zk+&+Ow~3)a=e9fi9r=(B8LU@QvH3FPx=?%CmOI4xzrDptp2f*3Rv={EN2orh?GYOg z;H==kVE+lQjo8b>@d!zlo13uAbw!X67#GBolVwPcq z82QI;syy-T{D!~+XW=H%E?t62hVI5Q(3de-uG~rnHpX8=xXC-McTR!B)y=Y4VRtv5 zMVK5%-5aYj+L%$}qm}B!KDRRtb7l15F|u)vxC!5gtb7pGhxn{F7+TldR6CDO^I?o+ zir;U(GIEO747Pa^`H%16RCD;9Y&F`al>fHQ?^9K+YlI!k4DA=h+t+=qd)KV-3xyFX zc{0WDYD9|L7Nu~|6SWrdb-%t&%i1ZrQ(h%bwIPLSWj^lLe(o3jh|@4w{qx3J!5*pT zUYzeAMo#bc1K>Pgmd#D-IoA@yI^HC|mu$rG=FXy{(r0Il=+*ao`7!)Yyut2(kPQdt z|G|(N%9ONrDk{>1kL8fn~)J;XQI zpJF`>-2AOGcRU~kV!2RmYz~{BzpaX_Js)Dv{2kH8%=j$s1EqMHeBRk->(4Jh7?VcO z5Ba>M%}Eu_056c0wTP7rUihv#O6#{Ic9zS+bv0bMNQTg!QRQahsq zLPHL6nW0GMf~>zk{8BMi#XGbS^g-!K z^31Yr^?BEAy9d(9e)}IAo>oW96Ib)8Z~h|>5Q9ed$zVA?4X4fu+hL9&aIm7Za_oGy z8ojq-sZP=Jq)-w@W?K`JzbaZ%MTs$TM1Kjxrw;0}=xbC`G{VEurW;}eDzE~{`+gI7 z3QBHFIR6EoUHuN2Nsd0BRGC|ufA-yZ@x9eE7q$Q^_oLv7j@sW5@5TxPW+V^T&xnXzs)!!2RJ+>DO7R+@AWWSt?I`TSgRHV+gOxQHJEhU2ZBjhh-(U_K~JZV^TpJUqEV zHJ}{<1*zI5+-9JQSXXkX%N}~`*9Y_m#4%L>(3+t(;JXor!@o9zngYeECCcTqi&ye?2rnn)`$C+shHVUHVt5_@Yrc_c-Mr+MN#-4ao)U2O( z1pb|o5h$vqfIwnSAPv&_FQ3L}2s1zWzAe_O@zd@lO(!@CWi_AmY>XC*IZfurZ*eYO zR%K)@Q^vKiaGQAM%r@!8%w-RKI@Qu@H=^AZ7aM#}c4XYkQDpjL?&He+>JkMK*1dwK zT=ze?3;ceC-=H7%eUIOndD1azsO}9pskc#JqbJjM-mdBXsPq-xtP2nCy{YFqHNi`H z1qE(9Hda3(j}{@2eM7~mCXPK!rcr6AReqKFf~@^T*n!xSK&0JvdRi?Ism7}Py>Y!` z>m2?u$9klnc_l`?JpymP6ws-u1cK0$w+bH5+Re%X&>%R4Bv?cQuDKU zw|-db!2(+s7QeVhFv~pz=<3wVw!za>COC&yN$zC>bqIj{;C8#;REC;Sa-ItJ?hU1a z=Eg0bc!4u&JJ+7g5&U)gHXr~`ZrS^_K!vN7$OO>gZ60_3jS``__tE8K{vYphq(Ga{ z-HYY1t^^NT-5x-ch@SbxB!W4oxdn)oEr*+8Z{P_afR3Ysa68HK4(*iUKeHyLL+WSb zzomE)I^e>X34{T(BLBF=fT&mdjdEI7h_ue^hReNB{?=buJ%eo*t>B)P(3z5P#ik<3DOzv z{D#Nhn2)8at8XG!1wFU`5USj0yS>v3H34*KR9K8a#8~kDj7f-Oh*&?B)cc1Cg~q8Z z-sR;P)D`{ab5T@Mj~}W_>8)d0W;4<}+>>`Ulq*SX-rQ6ePdjq%0KboOW$?Vc`i`<069mWFv6En)Ay92iw{6c#*wu% z1!_I-9s$Jwrf29lz7L>)cq&AtC^qO}mhu>Nv+d$ym}WB1jVBg)3rC&6D9+9NvFj%j z0+CA{7q!Pgae{s_B9^MpWuUhrPf~Y=emzRr4NTNhMdcDq`|7yVD8IRzJHF}rSvfEn zSn#oWN9x_#IA0p_{lif%YoAO*3?9@^6jV~YQ%7@L4X)atGJ!A=0y$m;=>I`B=h!Xr ze@7-sMhN)L344p%7ln8zkZ0LHfW87|@psp!?7O(XEJ~ZxE6@%zUbsb#7vret2SZD0 zpHs}j_OSnwuKvSUKi90+|2KK|2Ae^+|Gx;C|6$htAOCRZdSL!Cq*iS&n%@5oj|YLU zP{4hbSHJRAH(1Hsdhz9w{a+eW_Wdl6zbE(el?a!`de9V`MUlUUPSBj)*Nky4i=xb& zudyWY(jQYU7jr4%r5*V2xpwz{`txri}|nqi`BwT|J8p{U54{t<;;QV#arF~ zs(A}spiK+?PZP&CMGXJ+#J#!Af8YGSr{$mJ^xv!H|K=v5xNi%zDE?Pn0G$7u|LDJO z{{LeksW3+td*UI+2J5-hGrDilo^|bu4risz?lrm|6@|?7-cejPEH> zj4(IZy(`}?=cIwgHP`rBQ2eS#*{lqXi}NQiKKX$1-IY`6rQHBoGYbSNgw2@BMLK!w zy~k3l_(5o|PsTQOnmGwD{RS-$UNz!k;+@L~zo!LuT9GVL3*3@cfxv%>_$%0u9{)TX3DGURX`k$a`4| z(6oq}*$#3!Aw$gV!>lG$ncLN1GCj?whYEJpt&k5_O=((W?yDi^LvI!~=Hv6<`MlP5 zcKA(VkZJs&_ZH3{Ja-3+#lIHzi}X-kGya6{Tvz2!00F;!?sA6ip)Y+ZR#JlE?pH6dTnOcAK5aBH20dl&?8BjF~+2OS^Dg%Umma8$>i(bOD`9myU>gB zC7CczZ-x!-%T&0eCzvl8L>UmFkDu5j!57Ojwohg^`XXJ<3gh;Up#ok%PW(eePF~Yo zc**#4`YC&GMQ)F>JpIu1H)H3xUaz!^OA3B1(9Cx+-l-xZEM}L~zUm|~KXQWFA9e33 zyzKFD>RojZf;`dJj+;eH4VhmE(>p_TIS0smFYWs%q@mtnQ+4lHK=$Ta~Xym-gbraPbnlxO2 z-#7hozJWJ~@PX&-hV66U8aiO}ZFrhmZX+%qr+P8Cv~8h*hrERJGvsq#nsa{Qn#+K3 z^PbO!&9jIC&ss6C>erOd<*>OWIOdxPg|Q49CUGVRo*~8-&6OqzXYRmG$8E57=~5#S zec#3X3nw3Po-B*`4(QTczl2zdW?Gh$3DiO-+0#ivM9`*+;75BH;OV+xkVSg%R`V?j z$_Kf@id++toFUmq1{G=VcmF!%1Jlt7K!*E4PbWkz`JIq?biXTk8=KO``S@G2^A_Iafs8HRw&i*IE?!C*iRg*QfRSqs z^1f9kA>A9hlnjCeSA`Sk5)6uu-;d2yw$4musYgg8oza?^iSs!#hpX+B}zi!Mq zAs%Agl0PCmblnSBJK?dJH>zn*B$k{|BHVG0wd4k{H%68wTCX}^gSz>G+g(KXSoS)M zW#?zf6Z!Gl(Ve0jJ3J=hr^1+&=6$ksuV`ck82PT^c1P#+X!^VH-@Yftp1CEt#(R3A z2RU6kPW7{pd4JuMbNjsdJ(VQL=8g~WtWYr}$lYdYg+zNh4!0haidYr(eD9X_&s^BO zEv>)fL#oW&CmC{=N)+e8+ZFwg{By2mN)8<*ueGP%W_;TIW-jiv$Q@vu&Grcr&(P2N zSOvE6?kIi&C1;og{S2t1KZst|X2(jWRg&m@$GTz1lAzazDkmN=43$Oc# ziJQ%c8qmG&Xiw-u&i9JwGi607y!7YK6p=z3n$+|g6=mS_k-FL#twv-%BIS4jHMsJ1 zJG=by8Ckxg>Xl^aw%zNe{vq`#)+5)-wqPSu4LcSyOq>lL3?FbD&wyz5CvtdQ_oJuU z!lf*|l0I)}e?}-GPWp{3r$i=zVuOhT>qlpMAw>D1BUE8Y>W!jKAHnf^mz|pPD`IL|Jvx^7jSi4e4uYiU?Hh%Xp^0jHY=6l)0{L+AqvSrLgMM z3G-F&n~P@*tY3!`(VloU@;5g0W$W*8m+g(6+4%9gi<3O*q#AFGP$;-yF_(D>4ED)) z+p5iVE(=grl+rBgMR{v~xiIx0xWkf!V~o|=jq|sNRN7j1bn32-c*c35jkE2vS1v70 zC?lLwSI=iApJMB+C2jD~uOwl}38M2bJEsRWVUg4i%mqsJ^sAO;J&^uVsLK9m;`&G8 z!1%0kYL#8Qx$sYC^N5mCsm=UW?O&14#y~dv@jhJ@%2>u#bKY2g?_gnt>&!=-{&iWQ zaJwC?Y$QbAhyiA-KO)}8-!8m%Om{@=lhV6>RPf+Z7Ce1xQ35{R*dXLq>7qP{2vjfN z09OUW*hJX*{Jz=!3JWay=uLpX-a^ZUd9vzj&IC+OT%0)5QnfTJlE{S|zK=#*Rb3gN5ibXp7J& z6UYb#(}f-XZ7W2zMFfY2ioY_j&(v+Q2@Q22;M41c#9K?#Jfj{4ebba)eTZGp1-za>eKY$(PE*!tSITfrXenvli$>2(zF>2Y<^ zZEa|tjpjYPPJ`&ztH1bVWniG`a&403q>=LbjJZ8p)nsA8>y4GmQ!nlwx#(OG<#cq!44tw$f2A8qa%X1xksaPNH=v8SXd)i3b z_miQbvtoJryq`j6s{SMQ+oHWBZn-d_;{bbWc3WR--5q3XA(=u+U2B#9l?)q9Z&4FnDya^?eq3W8UNWgKb69PxI{C zuTz%Z+u%#+>T}p0M6ZU@x)&ZFH1_x`^-ew~{WN}-Ic9chkPf+a`@A@_+ICOm^^QFy z=}`28goOS6Hj0+!RG9TPQ{QyYr2yPr^#n$vUqNZ0$N7z?_kLPUwItq%MCs#kql`d^Kn?z*#jW))5W45p3c(9XCf>GPF{y&wxc_H-hI=K zQMNDK%SOX6>J00|q%pPO!9WSNpws#}iS(C6 zJ!VmZk$kQW6jn+{1Opb+iveL%XF-!~MxfMzq&$D=g(jsHAE4JgQtQ4WNnl%wRSPYd~a`N)2ZQlF&WErQi0jozx_ zKZ>~^#H2*RBgPEWWPPay(?N=JCtf+P-kYir2Ep5Vy{b^^KObDCh>a%RiuMt|?mDba zKX%?~g&rG`M;jd3d zy7@{$;iN^(U~=PfY&DutOV8D(@+Grn;aci_iSQ(1VJun2aQIPC*jYusD``yWF(JN! zROea8w>mb1w1M^QwaR7Vc>(V>ex7S80gruv)_XDV*5vM&_1r&||HiXRr3 zsYC?b5`iDqQWwO*In`1oHtv%bfl|Xsrc6f^@h=;8y}hp#7sY>d-t%_0z1mdPdwkL4 zH#j=eENSqPk_|nO(7pN&p<`c4Pm(I7;?GGmHCMp!ah!8XWau4VY1HFrq(obQ8!74b z&h*rP)#-O;(3WOFE&XnqQJ}ctdS&j+_L%G5szU{rsfHN=M`P_k&_r}y9y2qwXMI(w zFcj6&hss0U-WYL37R6MqvBztP7@Q=&UkG@X6sgSVZNrpd;5SE3dW<$X{$q$7&%cwW za^_>p+34`LaX!=u*b=`Vk?x?+9WpN2G~b8$=_JH8@p|fpg$g(Lt#Rnqi)*RmVAFxN zXvob4&4bc_HK(bwgo<`qu&R!f(KM&w^ICTLQ8@!W0Vyy^{2YgoMrbGo?b7+jE_w+x zyq5mEzTJr5M_MhIvNJWRDE11YVL-ks#7Rg-7(|&*msV2zbE&&9J)&497qL>AgscXG zr+vuO>LRb9uO>M_2~ZSsD$LEqHjme2hqSuCM7Su%urc%nvIZepgu>p@1LriJmrfcn zmF;OS{-x)5Sh|JR`KLm(&ElUOB}b~JK#5q78}Tavxv}bE>bo480~sz~hJy{n~6)z4vAH_^RfK_{>R8>Q(rB)U`N|h&Y%!Yi@r*K<%4*E-|*6!+d<|>!t)HbY&5Tx)U_se2)z4c|R zd%-c|diLWcK?JbMiPtMN7}ohnWAIwvA4?se+TeMi?^FHHPnOJs45h(GYS*>=+-4`5 zNCKTs<{BvKSe7@$C?V4QmqSaTrW$6_l}3h7Tf49wkBhI|rMyQTZLK_J>~;DE6Z<)Wr2Htbf8Z6qZ@mY#|p zczSTNOppBXYo5=zB!@JzF7dr9yIs`co`N@U5&wQox*ARL)K$1C1yRaO*%ejPn;SXb z9vr%ImGn|9u+Q(K%5JnOf|}@ifD$Do?0&RpbG8QK`ZP9>OBFUCOqtpYA^$XfBzXns z50FRC<-&5-*9$X1zt6b7eLsBA&_{Ri4y%IqYd4$;VJ8W8a#!hG*D(cU$nb);P8V{s z)m%Z-$pIfjy0t;)YE4`0oA>pEb+lF$izbvov2yv!sVGcvYz6f_;Fx>!yXY`g0QpC& z$m;-D&+5GCZ_glvDT*;JCTrW_{ARES@LqWJ*;jMoDKMwNiGnt`uj;vhPN(4X=3t2)xg*&7jHnJ_~7o&wmK*lTXJ47MQqh1$5IwTxffPVP}ul8)a4t# zqBRJ5D#(3N5g3#|S(dB9KhRXgDf74`@*9_T(S>@@n($(jU|m=`jVvNvpDL-IE^Hk< zeU8sLN^^(yS3q1!C}T_5OSKYD7MTqUNhyB?q)5zh%IQ$mby=X<022+G5Dn14--^P= z`64rq+wKtlo>PUUAm#r1Eh|v5lXmNRlPsgVvB06uSr)W&duS!)x8$$EMFse^3Zs`! zN5M%(8P$V?z1*-ccCt8)bHdMmhjr0{q(fLPB2}3mitJBNDj;aadUnDH=#%fSBZ}ip zG0Ufbzo71r2|E9jXUazUA=mn^Pd;~Oj(z`_GJG=!OdDU zP*^INTf<5kV`C>G*`p0|WM=_E0?lkc$is`baAqvewTa#FU(?*DRR$$*n8%>cza~!} zTS$XNo^DB$ZwA|SChdiXnrZQK6csOQOGr z&TRRe$k9sbZJtAr`@nuSY5<6JwB-$SqUwXm@NAOMEb8mnupjJMz z#n&#X zj4eb42S>Cat+&6%ln_tN8Mh~xilpd!6&_3=#yf)IC}wtPcH#r+7$uP%U;oswqc_e@ zO=0`JnB6~vMUsJ(w=i+$aS|-b)}X?=z4z%v369<9Ny#0q1QEACTP0L{GrB34ccTK; zSRL!E$Vhuut?(}~^RVfIW;o9bFxgmFDR8ac5pfW`;)wg~!?n4iAWAI1KvajMVF9M`LC>{GLg>k;k) zI;f2*_xZpDU(6}0@0_WgzRg)sO88xC%65Bgj<1-6Af=PYmJkm_lT1raU6<7W-XTHX zf<^&An21<3R2GhDQuB3G6Y+LkGnI2*i$#7nK)W{3Z=(oxX)ar)a#J+6?V^Xp#?1Fr zg`ogg{M5gBt^x^v2}SR1_DZmWKh^NLBj)DRu3;MW*i?_YvU%pYAorU5ST#Xv3vF9@ zt)|hIX7F}%-ZuGcX6*rWbcZI6!1><(1%?ngy~c~+Ux8U zX`!=nxv0C@#t!F!xK#>Hg6q&kcxe6{1E?}lRs%xe=Jd_(Xu)X<(j};yzy4;-u^DmsXiml56X%aXYx8$s z|EwZJzly-qA2vA$-eanlKcwJE_KoVAY0g#(azy zLk^p1=|oE5+QJzBBt_9px2FK~Mh!dHD)w`8n8;pI6|P}kLVKXS64uZj(}Z$r*N@bT z$e4FG1U{3JI$9TA$)=?=GGA{`Kf8ZOGq_D&+B_J;liZt95}C&nl!x}%lJ5Y!xO*S0 zd0o_79Nkgc20=SCoVR;WXzXlcn(u^L#j6MIiWRvHYCFYP8^CJPmVBF1NG3MNO<60| zn}!}qKC~c-`=mNDKy+#l(LWC%L_Rr!r~>#oO4mpMI8~9->n|?eWvXlvh?Wv-6zj&a zr={(6mH{n%k-1XfX_qSaR>dslXX1q`VBOEBGp?tdK(Bbu7E!Z;6&-Uc!^g?F+q}zV z7HgZW74Fh_b0Wg7h10Fo9&bO55TE?r9#5O{ zl<>9ObyEbZHh!k7p0%rU0uI_^6tpULi!=!!+zs>Qy&7EE1qKSeWAp~!~0vG+g zKA%@)Fgl%cj<|a6q_?5R9R~|2 zOZOPA{=x}?xGVDdU7e=`RGkt^_;{}v9NV@nC66DW(Qovt^PfP&N@#!TD-UQ^+uzKztd7b(SbAig?8F?7#T=qN#v4EbX_DZjUWd!B=|~LYY5(^ z$~ntwe;-7p_biKOIxkP(=dM00n>w^Qrq&2(soH@b6MfAqg>|))` z0{Y17lT zii}Kb(g^hy?5*8>e`$VeMK)E{RA=4~Vc%1rwJx1E5ZT?lG90OiYTUpI4&~1DOnOuL zO5_|)N_EOYQ4dW5%bPSQqDL8Ii zdeb#JHgj-RM#eCg_g?tW^d(DH2Fclkx%7=4VRtii>qD85_1)SJU4F{&I~O}}M?OEN zg+zuo_Dq=OL&Rb5*E#B|fOW^{M=>=ng)#6$>xilh7BE;skkoHZWh#`nU)ejMte*A3vDU5@9_u~Dn#2h*4*bfj8xW1hdd@UqZt0~>zG zR%$u7d`7ww1;F@9Y@xh&PfW(P@26UyYtL*FrCj^mIFGL>&$L$T_zv}?)6AaLFAm`M zhHoDTNsTKPT-%OSO31WHtb*gO)Au!{x;a5b$z#(JlXl3NVmWUjy|7DAY92jVS#=<6 z0d71pw7S9-(<+H}dhz%_Tmaee*s4AGzk*r=QNo{(QoY}}IeAUVFV;b*Yorbc%ISPh zmS)oFbR%t77WXJ|GILiG^ThRg!`>&gwCuk^rr%}+RYsNr_#b|M3J{BU*>ST#shy83 zNt*-c7sEX01W~wr&@r4sd-2i7`XeQx#}MiYNhsQ?xmUL) zMNB8y>LA>}U3RU7%y@zqG-Cym_CUYW)OT-7keiA$qS+UHms~y8$j>!Q9`pV3kwmWT zR19BxIX#bx1QnNys@j#qqx`z-@2s&A{uBz~-Pa&zxz~{C{Nmv)+8J-vTNvfUt03as1{?<*6l#_NTQ>PHrz6{uDDmi^)^DQ3uf6f+}Nacv8= zr&iVrsL;U5g6&uyr8c#jBnf}c23~6ISTlW%o&$7dw4p;WFtj(L_<*7JHNM*NtINyeLdV}-=231yP zyy~69^(xrO$jk&&KR^B=Lk+bVU9SE*;5nwv?B;88B`rOT_lq}GKU!pze&cbBJUXyo z%OwB(QZpG{cG-0ewC#g3ls`XoMZIVbi|D)tLMHeX(q^$he-kPvBRsbYJ4kgE&^cX& z`ysBH6Z5uZ!Q+n(3hN^C*O|rTMzP0#UsaY&)=O!d5t$nPv3serX>-E-N}{vAGuxj)v2#mm-`A2=5+C(&^!q3uiNJIg zlc`^mRw$kbjy|BSZVxQt_AWQT`7&Oe7}e~`wx8jl2o@0+K5O%8C{F&817U72{2JJb zTNYb`#>!;#B6FxONg<&$yC?2I)Nwu}ulDZM)mg{rdQ}xNR~OT_X5pV%Zc;Ct*~5YG zX^1ELq;v;M8);MX0ou9WHO63%g})bN$ts5B-{&n$AICD!T-#Oe-K*Q~S=3CQO{48) zwQYH12|JVhgk1ZjmdfR#O&PP2#LGV<&wPFWID|QK6aI%WvN>}pHOBcoA1;2;JN;Ro zIo0TwIxnaaR{-1f%d3^i3>zp)?S>0QUh(=;5VZZe8hjfwYlLn*#R^8eCOwkx)_DpQ zn|&?S?rX@~$RlFrR`t{j*CQteF75kw3fCYtrzI^}F2YZkd{Q*rLA%|afH;4}@5%N9 z{m4soQQNiHij(sTWN5B`L_UU6pPs>19ZAXrIvDtCW=E0K*I{lTvf2_$+l0~pIdN6k zn4i1AXES*hGB(LAU4+zN6VlinApYJ@9vpp;8^e`^^=i6Cd0_2$Vurq#%ty|X@1QpJxtXjt zr;=_ZiAR`+d#9Xvx}CaMY^e*!JXGou*t`D;Gt)Pbn2ltV67WjY2{?iNs8d+cw?Sd| zbq~}YC1{I6o99dylktwbRY_Q#OI;8C7 zs~syhUoU*B$j6c;G1qcNUY@Kt*|(OKqN4(eZQ`~^KC7`Lm`z^uj@NOHc)zR8=f%$A z3b|)6DkkJL|FEaC?AyDHVx)Bj^tJcF?8dNIOw__gi-1qTA2-zgg4JLN^zgnVut+Z^TTq=1_1Pr zhKLW%AWG`!6=FaLNF?W;>|C$+#nN`K56fM1kvBXV2;<=*BAAYlgOLuV$DY|$UmKWS zxVl?zoehpEkeZUf#LIi4RqB*Za;~^s4&s#S6Xf(;_#BuZWJ8K1MDei@k>az+0v2!4 z6CS9J1{Z!;wjkUI5ZqOj5g}$De_AWZSBP0lRT`NEfs#Azvo`rJD4bm*GS3XE+7G9G zt&cC8_W}8@E3dR*{yo%4q_J50XC-@zlyFo6zL|0E9y9-=DWjQ>`4$b5wF}n zcFx8uzs&2MV1TYnv=F;z4qMC(xi)-^rCm9wt2>O+2>YFF%uYdH7Cc}D0x255 zN-Q}w!o*-{8RK`Yg|}|-U2iykoT=_Tgd7=S`;xQEc+Y$@`CcKEH8<7Nnmgu zIGz-XRute~thp|nD~}@n=0C9RpHAXNAyXiL*x-pI@%2Tl_fDkg`HZn~7V_y$%p`>V zmJB>P_>l3)F@-^H`$Ei3Gc5G#@ZFr1R%E0{L~GnI@lmGMH2u#0pig1myLf+LHE8%n zgrpt_G(MA{mO6lhE~$Zrx$8gbhqTDxKd{UlP9;!Sese(eb(i|Wucm28fE9}+Oi|^x zV551l6QMjT{>r}vvo~Jkct)F{PE@PfsQ-Hx@2bb1#YeWI;K5(EB>VdR;uC01=i&hu9E6a5nGXayPv_Z=f$Bbgc_{(X2aDfF@~2@t~LH zEkp3vsSEM|MgecCj?dgnj)M3@eQ4akI>Wk}n)zgcWWf|&LL|vX?tCdY9iop|SD`;o z2(7-;=AUSb8dwb*@j9q~RotF9rDjuycNIntABa<+`$cWFw7@nFu|GUX8OzB7fJ@c= z2pfdE!j6XDV&!v?lZB0EmGfPk%sVBD63wd&Bz)U#D~DFiEq0>MSfi%bw&A%Fc09#w z6t9)#P1*Jm@PiSRExI0aI-zFivNhI)r%mL`=oP10ryjuwx!TRO=Wt;Qi_XjYeoe}- zVzIl0?feY&w1z^Fy?0+{43sHmr~^y^DcNmS{C49-K>!-I66|YF)FP@=)$kOu($H_` zN1B|*q)=DOes*ZIb4mRhU?lb0_4+&|)fSczW}KU;$!bc%v3lf+*K$}sTd+yMvHe4f zh?#%8^SxAB)rVKk{*F01;Ewtx&BkR4zo%94K(6Jqwqf`?d@P~%yn>ck9pQO&c5#Ha z1IqHDC&wFC&hU4gCW)>g84)(2+6nR+%z(Vy`=A3>3EMPucO0MktR2FUefr&GXR^DE z-t{`?$x`_5Y_j7A2_eGyzmWt2QwL*8ctKik&PW8fMdl|Z)8m_-hONF z**0sMc-zEbqdiDM5DScqQ%KfqUllyda*3zn}b~Km=O;7cUqqI}{<8xtD2lS%} zD)D)#EG)IXlBODKfAJMl8uB^{s!8D2Z5=*5sRqOZ@u3!YLt7FS<(t+(*3L{sa4P#BtPf#110HSj=sJtSe%Z3v!gDYJrBQ5lsBp*x$j4)UInaH9x0ss9t(26 zHIB=q_^Dyj*Y|njr|Kkt2UP^GGRDg%wEe|5C%Q%NA)?E>gDlZ?6GxtUy3PQpQ%nRP z*AQ(G=r$Dr7*XX>1o+4_NEtB)8{gv}qdlhUsSk?o>!kU=r6jdHQeaMrh^-vG+4wu3@`!3m!!u*ZIVx*af$t(#!+mbaWDKwdwNFqdcY zctJ#v@61*q?Fb;37#Q@M@AVn5_uq}rqdz3pO)i^GF3B#C*h&6sS;W zr-b9kw410u?>OMBqq-%45*LuPEX2e{G!Hv3HRrf7r~M?{MOSE-JU?%`00^nBK1NIe z=r<7kuOarfmXoMPFP*-LB#rsS9vhtfKL<@VIMG=veb=dSWnrFvKfr(}=8wTgFT1U( z9HHYY%3J=CH@}*E4aj2X#CisTSzrSnQtkIMW-kD-!~R5E7)(sSU1PL0pf&Co5_Jm) z=PD79%6Q}yn=WPOqOK=&y%dtUqKI8kuAaaJ<&8XHPz@{|JyVC}w|TnSG@a`^I5?-N z&p2`RLr;N*r(-{)m;v3+LRkmvlsxnL==b)kU(v=D?BYCtvL`c* zA!A_A_36Kr8aR_gC;uD5p1;gaRRaw)Bq7`MDx1xmy~uV&cG06A)};2uNu-3geUhBI z#(8!~15}Lie`dA=k8C(I{zzrOgN8(7KyIjyIU?6w5enRg9c{Y%i^A4e1oCsX0U-Da zVLUng>KgCN6eLFdwvRfgHOc)2tC`I00vNp6C&)1A$4Y);(|bEEd+q=SvwwX}K!kcB zrs{to+G9xk#hko9!=6B(hAVc8L6B6hZ{e2{K(;UX%WO1nwtb|cZ_@Pk*UYas{C6qF!-I0A z9oJ7(k}|-O@pn$P59Ycu5Y0c6mY}MTeXh$aaQt^;(mbNbTdTSS)=*&~Co@VL5T?Ws zGgZ*aa?-#!X&Yw0M)sQ2l(aiL|DX8Ry@}n7Ygf(%*9CL{ZG7?{7W$Fub?!-4*x&xZpd==7?xt#HXlhmV0LE2( z%?YXtVL3lX{$#(Mdh)2sK1lH=T@rlNtGG(=mFSU5bAx3eBe90ZTQ5sYNko2>i`Oh? z2>gaTzBjd4uopWM73^->wcS#%_W#LYo-L*Plh{a`?!^SK(t(}u8en`!yJF7YwbOSF zo9el2N4ap3`r6lD7eM;EbOH58^wh+4uPUm}ivmT?6nkcACNwy)=?KLDBkhNo3vN&V z)`0_5$9MesC5sWHamAj?&qHj*Nl5sb0v@(vN8}Dr(L;*%Bzm@5^yH+G%^pi1fSGWp zp9NUv5qr|x(pkx=&dXfKC&@RjpnVnd(>GtADx+~sesJ0*ElsXVoQmW!yKZFJZO0i( zw~e}#u{h1nbqSn0tC7c69YhSEk41NZ&&YeR0|(Gbk=xFK!8b|+688=G`JE3g&__=y>%Y_Xfwl-_<_a&}Pz{V@YD@fESi z^Iv=?X*WM-MD%Jq?MAAI0laMgy$vN(|1o*v)&J4nd4Dyvb^YFRJct#HGzAd_=@3+^ zL_i^c(t9T$y+?Wnk%I;hI7pLb04Y)e(g}ee0@4#&fY3s(0i-9?yLp~_-{-yeFStLv zdt{7c?6I@5v-aF;%{ljHepg5|>}07B*0O$XA~@`iyuvey!@K*Vsz9wl{{iq!etyvp zC^7hA~Z&2z9;_S=L^=}G*UbBwcABAG-~>p0VF)oOn=}iwLg`k$kcU> z=bO<=4>0_@+dM1h@qmM?LL2$l8jjq3+48o&!n==u@C0h}QHSjv$K5huQJZ(@a0?Gp z>SSTdmyXQbz8(z8mHi4So>Z`&&U?F<2qfKFys>TJ@w5gk@99{;?L|H<&m36SRiMTq z$~<@hkTx%`Zkz3<*^U6H|6Tl%_!>2&<4u$lD&CLyftd80rtG&UxEpGszx>{A`vpBK!5T`n^(n`->{j-LQ^02CNUL zV8Gj)iKFo=GCKFv>@Flf65%xBjq>ZSpOiC3Z!fA0s6_xiE@AYurihC%#4?Tc21Xt# z2E+($pE!>G9Wu#&WY-Kfszd|mv8DTn*yQq)-ThgT)3BD8_lUDB6MI!uQdrtL#(ALQFO||oVT<VB+t>sKh5n17Cw_{& zQg+LI^&%;m#ou<@>oLwCZOZm`z~c%RQQ9T}x7E|_ju#*RMD$t!j~o1=69o0+-W#q3 zrQ_kO(ZfnZ7$#mx?Wb&1+n%DLsw3ZgJnPy_NXqNP`oDE|8Y}B;#TtI+fH_yy{HSwp zH-I=}_@KG)97|SLJKU4cHNQ$G^p`Jm=}XEg0z5l)KA_6tb1q|TVg0*7roCiy?CjvR zz}zajmgPRxTJTx{uc1mC#l6)FNcv@OI{R#gJp2}k*lrB94{o>UQ-o&T5W&s~Z@`Hp zi9sV{jP+=@595LPoo3AfT7dI4g2R34ge|rLRHbifapn|=gVPni0`8dSWuU#- zea%$!TiWX1F^1%T)D#w2bz-81f18G%gG07Uaw99-mO+m~cfGUkqYNRD*43ZIuwG*! zXsx3UTSTa|H)%Y2VJSv9Evt(oK6?%ZueIC6_Q?RF3OC@mROoO)v9m2l#LeZlh};|n@J=g_(UnERz-gAjAA~}(mQiu}3F!POld%u8(p>QCDYuR0qr=0N8UsM)Yti`(;iQB{M=Wq=la|ZFB7K$1oHe zDCyI{vyB5cH~?h>l&zE385{!ZEr#0Hp2{!+uYwIAiE1BxKStj@$O@ zsS-OsM#=-o_DJ8(5MmD8OX=u)3=9PHe}{?)Is6x%`+J+CttOqlY7AJb*^^Df5||A4 zhktgzM|3pDk6rdZeFspz6lj~!1kM&BzWG>njZUL=gK@TQ=w0SmsY-Mi?#5_;;oi?( z4}OJ2lZt0_N+dIc^9(&6H)f<&f%nUH|(;ts}r6A?M10~LP z6-F2Wxe%aEp{%Q@HkDro7#w6#k%+1zrLN-H;s+2GWB16}kyjS!qbZsOD)GS*)s(Hb z1OQz>c(KLjD3Rj2N%_BFaxzz5;jj887YhhzQf@1_sET}?F575cTN#wTRN)$(vX*i4 zYViMqtLHpYh{})zNMQjJxpV~Mr?&Oe6`R6;1g$?PLVM<5UyH?*arrq4u)ry=C(9#% z)$jO{-OiL}-lbMi*I*(7BT!zKQY%&4{X6T!)9r1Z^82`k$t#Lfxe_$iJILmAL%w*%p=fn7kGsF?3e`%$2mWG!*V>TN~s${1=ibAJ92>5GUM@tjbnRXYlp-|9^JxaTyVQPXVbcfZ5- zY#sGJe4P{EdUy1BI{>hjd<`~^w`EZX>$2no`h2I;v5AL3{8cY;`Di0(T93BT`fbFPjCl#t9`r4|34B{pdc z$YI_Pg)*?w1xLR;iI|ExLcFg#w05dgjrn{Q`rr8QLv%V#M+nnU29R9+J-%9>@vIaI zWfxBW>j;mIs@*2Ki@Kh*#{ecmbSo_%%~=Szt05y(Va_oP=;- zDN^V=UPQZq`hy6P$IO39EF5JCReFBok<_CU)vX*#il;bwSXD?n7gVjWi@yGm&71xL)E`Bi(yyEvvKotJ~@vv9JpZE+mX!ZKjxf)b{F99cdUJl)0(LfNsg zD9KSC_3vQ-PmUSn>%AM?J5MX|(pJnfc`9>I_4V^A<(wkpv+cFym%aG(?ejT0fK&j5 zI^SmspZu{?akk;1T5hD&>PW#e(Qk6jO}vHMZ;ENa=tZU&9O`JY z+`Mq%9{LsZh2BG!GoG5}7NkT#U*>jgAyC$aKOSJW25OM$ zjS1`|EuN$z@ITC-KMMEYHHI4Uf|Y5s3R;SZWG4^zlKRE}gKtl)raGrm*UCR40085I zK-0?Q7<0CCzfh0gMhjhpGx#Q*!no8xdz>7tz{lnY@w)GSa`;8lH#CQpyt@BnJ^I@` zt#-!?8;_fj_o`IrHxe0j3c`lnEao##A9(B3jmbEmE}6{BhqEugreWo5>UhAUllxrW zrcR6I)<0Q)h-5ThW1^hNf3jAs5GH!$m|>BIN+#<#Tu-e1m(0w)zo$@qe6}W-M8qh% zKKaUDKskCBv*^KwG-nZMwT%4TO-W9Ian<-pJB|R{{|SMg1%tOey%tLm-IuW}eS#sI zPZZ#RNeCI1XgDPx{t_+E{;uz1Qz-joJ>zk9{GpsuyHbx^2r*gy8(pOPF?RiGYJ4_jw1MD7Q>GYs%+ zZ8#GqQ_~|Arl&{W8a8MBnYPhIZSknV!AOpRuLUxuLQAtzH)v|l8vDkabIX6K;M*!` z;(bWd@lmSkJB{KFb-7orTAiSuz(oxU24i0yJzqw3xd>UXe`=J-Ectdj@Ll%E2=mg0 zxeCWMRZumBHPQBoaLD{=6)1B7NJHxhnroikL~5rVY+;s545!JLOvZUb7Fci=u)6n!fn=rF#kSIY;bfB;PE=cb~KD5<6xhC<`uO~sW@c}}dMWLE8!K!5i77YBO2O9>} z4c=q8NJG!msf+IsHceOALwq?yYGZvLxXJwi&huU|(JxRBG>$|tW~d7oqA3%>cD5vW zF+8M2q2OosMdzk|+Dr9~4`pK*rJG1$FjDh^?0-E4%i|QBe!YRfPfM-erzD zMtRlTpRG7Naw5yu3bk<0+UV@Cu@{zycsxkbfN)xo3&~?(c1 zU!@M4d_E#6R|VNMdk^w8eIq9_qfV=wx-p`IzKUjc_rDWvF4gmoPhHNtld9`Fon;6d zft8}P$9I?wmma7G>(`f@MkQ9)I)Xvkb{2|d4GPuK2r0p8S3!l`>P@u2hZbSx7D%~^ zH>Yufy$_l}N#zP(YEoTfDGsSnU;h%;=q%@0@|{c$GJxvg!NsdO2FbP(+{x=6^yIP* zQ%EKb@Z$n6Ipyk93MoW(g!eR7>#K;OqJ9UI7e#f8`Ib$75D@MoyGXn(uD#{9C!hu3 zgsCwLk^;g>3?mDB`vRcAMVZY=yxqW>rbE{hZvHB8eJm|vn17C1*GId~WmX4%)Ba1n z5+(1rygDu)l$Bg>x>B(&CL$<(L|b&0xo2dDK}ZqLCW@uMy{>~^B~B=C{;7GfoXlb_ zYY*X^9gvnTZt_|ybFl{={+X*Tk=hJ%3$o_h(G$#LVwhdQ+HvzW=frA@Mk^0S`{QEi`ixL@c z`;FxM%f&n;cFrz2u~%^U5kR0$TgflGGtUs3L4LEp*G@3kecM$mw)2_`i|*(9@QICb z>vZ7MWc+tUWkfT<2=bLn2L^6UuH(zRlKh@dcMnI~I`~yRpAwyyH2o~r{T2v+oJGdt z3qH}aUMJ}x6}BFlv9qtI>-P)ah~GYo{djEqJ0=(d^Y*Q3)SDWGXj5<6`}%E1|3d`h zCR5{oygf>aHJ@ru;Lz+jp2%$%@vg;iYK$4Z7M>4b0>vBd#;#^MyP^2QZ>4OU2Dd3+ zYl}8S$8_yRBM_KDVNRWng%LV6h!b5Vv^CFLZ_>n}SmdS!oO@zbKg+S&qdc)@`+?bT zU#<128+Y7b{K2K8P|{4z)Mad-tcS2U$P~{qu9UJ-3esY6$9Sh8q^RxAv_0ZcS&lXO zd@<(1rU?2Wtx!Spip)h@#T0Gv5%pHW%rF${5x3rT>4h(g^;(i*WM+TjxQ}0K(uPn` zjmbz=(GICoI%9y#WIb()*k3bc0OmHWLt3Q4i-)Aw->mHPx~<9*8@3+02y@5S`uV4o z<+HJ`@oIabAo>BK<5F8`V));2cSuQ*k=^~o^wi^UFY*iN{q;7{_4fyvGv#p#`h&DJ zDR0|$6`MAD_8Jf`F>d=tn37nXkTYHovTUviQK?sycjKYWWc_tOohc_dO4NsN$-HZC zXfN7|Wh8GGd~j&aP2j;@IvO{TGxlEH*x!qzR($$d|8?p(i2+;7wW0{pHmQA0o?Hkq zj#SP4N7Y=@5L{Bw&}_ZfT98U6yd*P}0Rv%fL0P_HBJa)7F#g1IVV44uT(}tff8Xqk4P9nC7IS2Qnx#!S8`(Y0 z-E-zS)vd8=b-0UETi;Q}BA{iz66nc26KZyDcC(wj)s11IOJF*VqC1~TO!v4)jb0}$ z#SLTCa`y{vI2V@$(X{iscujb?q5@RB!*!+tzGY)o>K2N#uzwd~e|wEVb_me&I~=zE-alP3 zbWh@HU4s_0w=;u`;ZIsBRbN@(nVQN+KNL}VvzoGXu~%h_&eL&tYo>FqrQ)+Xu5E6_ zx^l#-^N2{X=WVFn-dbxh7(5k(Y{iA!moBy0QgG@@8i9NIfw<$wrqV)U9xP%`Xqyjk z1%EIn{W|E9i;q049V0qdADZEUxAtX#_R!Ru`E7?RIN?Y3BL?!f z$1C`qrK~;TOKFa1SmjB(I9f(VRAfN*<}(B9KS`BUCq2Y}PE8zktNR?9amS2t__jGY zwe}F4ed!ktwR~PU&Y-k(%IgMQJXvsNy5JQit4Fe(ljY|Z!rTBlq3o0d-OEWVYG=XD zU$gKaVvFKjG89ECZU?Ja?(9nsq)4Cl#c4TyWS-TZrW6GT!m?@}_gnMT( z%5B(bO43A#2BeamFkBmPq0MLZVodFTx^7^#j(y$_KkyOJDkh#Kb3ZB{nrkVd*ElJE z73~sJ9Wn-WI)nQ#dt7st^<}HS1>!YalIMu&yZ)8(roAPN{?~%1fBbA02ol_s-+Vs6 zyR`^&Moi?xe>f>i zR*MvtxUsXexn5PS)QTVJk;FmZ9O{gqSGdlFcCD_*{E4I>`2mw?=zt)VP_CO6s5 z#wjL>d-w;bBcRZGB15phYejBOltIZ9!e`-68L6F&P{{4uP*P%p=+ zL(riC_-O8Xf$l>NNGLycP87<@#z`y}6s5j82RgAWE~rt>4m@_Q*%vtGxdUM&+X&&KRvutg9W zX$s$Ftm$>px`M>%1FI|-b#FI572EHP2_yz4wBG>n?hvTU7eS!lxtj9bOR5XQz9F|@ zx-PuW`~89}1yNoJQq%|&{orOW_|dp=wY+09zXXpf+q1vkE3kQ!)hGX&Z z4v)?U*Ej-+pHssMyf>l7R*L&8W$~#D>naln;#uJTz#5WXsR&&kGu*S$d2j~1Q#KDv4RROa;V)GHt(WTfc329B4cWTQ$eR+c@G5sCc-MAYrHNDqpe z=Qu7SX6O(V^2TQV8<-OfSz)KYDVP9^QM=sX7tP3y6SaIP zrYb2K^mj|c$@?B|+`4;9Z>%Ho)>qx55uRtTd?%%%V8L?ha3xzN+Qx%~NY=;1pj87U zXzs{rsPqG3fWS;FjAm^;d-8hlEx>`|)pu#Xe(pwR=*=3$)F)G)+Ok0P9Mul*j>^Ba zV%rK6t{zbTq*+k>)#zaGfEmy|u+z`rM+*KL-oq`;*R*=Z0^^>Be*=KIM7WSKqht9$ zUWMLyrPs6r9Z@y!iIQAjwEu-gk-b@!-vP&HJkyyw4GLM+EUQPg@D_*YE4aJurHM!G zwzM~-Atqwfdh|CSp|)0s<%sUv&rAr`j@Vy114i!!;nUw9a8dDgT|_*UmB|1vx0s&Zc?~&nCoKTrISWZ zt9I4eh+5ySEy+m|~*zy`<`CNY-mnc1Sw|P3d9up;gm;^X9ScPf zcbC4#KUId7aD@+R$T3Ym=blI{eh!5WAn#2rxOq0o=yJ7W&JK($MAe4&k+?X0$i)t} zD34F^@K3RbfXU6ZDS3fmfg#wJ!cJE7Va+WLqd;a;=e+cmSJ0-?lGPQ#K}Th%@x?O3 z$>yNMUS=RtJUYO4x<)SD1$^r-vbUv+qF?TBcTU@P4y>iJRBqwlg(Hbd1Po*dtHUCC zIPX#GnwTrB<5sde$JMsfz;k-5fwGwts-dxOVSj9I?en54yhVW)sRS7?Qeo|W zvmgT@16Re`KK2rCh)LtlPIx=6fWuz2#%{=ua3q@Lv*{r+hC6O!2-_*g6rZBxG&CC} z8POs+JuM&7YW0jU;@^QX;=}R&jv(|faiy^GLoiG7&w^l;^Pn^dh6`X?>DAd%oVs_H zYPd2fvJbeq&;0~M23FV(qpS0FiScqZCmVUB>XR8Y4_;&lzyyq%VTeE?C?jx%HDM*H zn^|h7e6)e9_|L!_Z;b76G}lw43M*HeToy~o1sjb#oy z+tZ!2Px2wF@Y4iRzTp?iTDWHB(_0yz@%B$1vEwxnflq*Hk7lZ>sO+D~?fk6vETf%7#13xPw;&xqHgLDl0y(%^6{K zXz;klVgDe?b-cVXoENK7dKLMUh>o7ow2DQ9IP{tJ)ZoIxWVtz4M3itT?Qd~k=Uc}= zDBs%;#IQ*r-(OW_zfKbfy}I8+obIR|m~QLj{Iun5QuKiMTMq~TStc-)0kp;&bR~yI4$o+6rbqv3kQg1f*`6+T35hFSg@i+Se47r zLSZW`&Az zUBYz(Ugm}>&_wS5pTn|x#JBJ{G_R=$_f+k$%VZ%Gx_$+p-wsR_wsgFP>p?41^X`?$ zafYG+>XphOjW-SMoQCEmufDXL4fnV(l$WUU$)8}eUOmIs zG+e%x`WDcFwtr!%w)~=t{CiJstW|66&TM-GGrbxUM`bkT7%P5rBFsE-d?4-i0z<>r!w)aJ(JRk2{aaw&l_O$+YT0lh zaRMHhJvAV?7=qVwailgCmMbjyeOFzXd{4AqUic%nhPT1)w>ZO-;UNQcG*k?~+}pZ* z52XD?wW-9Vp;^nyA6@>_gyO#3`Pq4)uIsW|FWn~p@IOO5ZQmO*q|A$7@DXG-DJ>>V zRJfDN!lxCnlE!4BE^Zf08buKnJmFqtw?K2dF;T&Z$|YedQ9%?}i6MSKno3czv1~w# z+vUEss^hSxe!f4j?X#-`iv}hIVBXAKj9V1gtm}RhaN}!bMv(^oP0-#K7Plb1sXBAX z10%o+k`y?@$~IAsuO-3n(mb@!x~j7hz24h}1`e2g<|xs7pUjc@28}32z=$-Kw+oIF)k&eKRif&i=Z1l}~$!OSB!8gjDN^IjUFPTsE&P z3V))YTR22-J@fTmrLM<;XsUAT@Z8pkx7VS8)8UYk2+Dkh`bhdTxnNYb2wdERIi5Cw z^92Zs2R|UoS^5asiPnmu-;GP(zI`ekpUSo;+e_@ak(XP3on`%p!>oqYcKBQ0vTWwc zRH_s;h6nX>ZMH!horJaM9iWA;UkoQ?D^qk3F|+sx(G ze;6H)`B4zIRS@F%N(t&Pj!tt*O_3y~2lt!R`LU|w-xudmFGO9HJD+EM;J1)}*AkEj)Zl#Z3ELO1Y_Y5gkjZ}q-qGYXAgC%S;zo>J6 z{klncCX=?qmw-kxOzz%eV~v|s4Q6<>Y8;f+98%#$ZBHmJ7>^q2DiTiU3W-f!X*|1}uWWzp6ua{lzPuw)KS(z0BRW-FYhtjahm^D@YNjG!}qpP!*P4m$X;)xTmBL=iWy7Ia(&eNeip z3Xx)Ny2CEJ@z|R?+8@*Rn*BaEwXUU(uaK>6$p;ZQ zMO|OJ5BsvHJSNtnzaj2SfF#(I=4>hl?+4PZe}H(oC-DfK;jrk8?Nd&OghcjV97~JA zb3gG+Xn|9O%sqBic28&sb6ZH(bPZB8*49mOZudv)NDEfh91TshGqEECUP&)GEiMbA zJYTOIwF2&q%H51;UOT1m=bHc*sxxpd6u@jW1LN%Zb$niFveM<9;f z{QarM1%MX|0H+B+Ds~cX)*!NY6dB0!3@n58$|DJFm>WT!c^qes-D#{ zCw%2luB3S!8*zf#`qSsak4h^G89DbsP%mUV8{X|aoTc6RFRA)zn!XKo^vx$`8izZg zEK5jlt1k+;lToT14gQRb*x)$rJE}^iy>y}KAw+ij^+QvwFZAs#GI;67BDbvmC1n3w zzAyHp`j?7Cc8=hsp!$u2fd?Tqq!Sg>aSpmTv+k%T3KnXA*MIR&yKn*ji5(JXWd*BJ zu#O*GtkmdEw{pIXUf%g{3jF_W9oU^k0R1-w{(ql1 zu=}lnve17N_!0jN)ctqA0*3$!{K+?f_w&uc``>+b{uvefKaHRF1F-#1xBUNaEeB_R YtlgmHTP>k3pI@?9iW<;TdCPbI3oeq14gdfE literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_diagnostics.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics.png new file mode 100644 index 0000000000000000000000000000000000000000..a1561c3f5270709791a19557b874dfae1d6f56ba GIT binary patch literal 145097 zcmdqIV|Qi2yD!?^LC3aj+qTuQosMnWwv&!Jwv&!+yW^}lE9N@sv+o}FzwbEb3*35B z6IC@ao>}$7Gb5E0B;jFjV7`3$0xvBkrt;;>*Rn5Pz8ynBejcGWh_L#sz@0^;)u29$ z50q)d=RUTJxTcG$y}66Kk(1dM3p;yTGkRweCo?lUXG?pRE3jUH&ql0PYML&hPG&|f zR`zy8YF4&pp9jBuVPRrnJ8W-aW;x1FCk*)Jjx7WV>^rpW9B$6OEPgcpZfBJ z=!>+Nu$o8C`Icvn{5|N;%}V?0`RmUxBe>xD+A)PRI#I16C9(U|h?JrtvUeFNX_*F! z21aTV1Kd}J*H!GWzN*LV+mCl<6GFHO3g5i=5nsO3Y5wC|?ql6!U%~vDS091(BJpT& zab+~|F;TfM@HlKwWoLy{QAJcMSRVkGe;eb~Y7Q!B;>tig^qkKsg-;TK^0PhpjB=m! zzi!TI4lk5?S`*jDI;FlstIfi-_<+? z1KXjSx(82A|Jz3iU_ zB;1$X^SfgzB&Ag1jgNEsA5sE!QJ%674u_?Ws+#kxIK3#onwcMz(H@!yEZ!P#;~fL( z?F*?+WRttq!^|NbnoONfs+U`??ue#dDA~tyly+A`yqC8|9rxb*d|X))eT8hVmr(vQ zoYKl4UhaqrR^d;snw(ib7~~4V(HobdeTFI*8je@0_#X*B?tLp$0DSvbihV5f&p%go zfE&++buZ#dY#mUA1nc>msuY!iKNTtwF_K*tw&p_IJ&=o{Lw3#HlEvTj?o47X)&u8` zPp@xc4y*K8aua7#N4Q)8irch;*xihGRP*Vc5& z$=>R$w`xd=y{{}kKxs4|xLl4rAlp9efy!wjzsg&UG@}xqtM)3uyGGhgg4tlBjV;BJ zBtn6S?~eb_)Hc$55Ti!ZQ(0vp72=O+dP?b|mDapt&>kbna(~lXFSiYsL)LBN$ZGeg zg+#1Zbg7>f$Yud?diR|pmHK2qXo)`q+O1_Xt(Z-yW!7sF8 z4L};!vye58yuDgQ5HiRoosa!}tgB_}bx?pnRIGrKqY*-*H%QH9E0|}R&#D> zJVO}??KW_PAyrS=akE8#e>ko{@n|OkP(rj}&<{bgpVsKiA;Q#}Z6tws->S>7eZug` zi8B~>zCmzgbyl|cX0wFtr}>?GAOn(vO}-OgMza{r?)IlA4e_TKa>`Z^0^?3pd|FO> z1unI-86pf;V@o6dGym~mUs!8#J-UB*tOjn1Q{KISYl$1Ozpm|NNSfVnw%`T%{W`Ri zsqjvi8eJA5At$VP<#%H8?Ca$!(X|~!N^glp($QWRLfh%~R2oc9mZMb2lBlt85Xw%ZfBPokMSU)T_czNf-=Yxs%Hm6qgJ%SNvBI&n} zd)h@>jEL+h^!)1vmn)YfARE%UWdWVUwWRC1-Q1JGJX|aITTds&+NsZ z&MxWN!aY_ufG(t+?4 z6!;;QYEXjpUw85fDHj;qHIq&S_@5uPraIbKK^eJ&SbHj4cMn?C~QR zw2^ibU}mrr&s^0=C)MKzS1l4-WF_Hx| zHa?F$dfzV*VB((^n=U4X=i~rT%WO1lt}?)-MD^A{HE{lQr=9FNJ#W#BifFC({1U=I zLW14vg5qz@j_o!|O@biJ(;(}1zDmsNcAoGQnM*dlM}huQn<`5}GL70`K1}y)yTqf_ zYLn$NOO>Ay#50;>ik#?@3F@lVr0JsXwVhe_TSOYZ3#*zcZ}L62Xuw0Wg-cbAjSNwf?D0{F61GNJ)q2%lpr z<=!_c0$P4@sAFQ!Ss`&zkEJTF6>E0ztYXYbp_hPYGF3295U(RAb6({QF2cN;aVKY9 zT#!{O?|~I6>jzG(Jer=}mc*c^UFIEwEjoPg6F;wN5@ESb;-s%=NryZtobdeN3LNrS zimPwYV1%$wwhtw=8*)8iV(n>rbg9;_m+OJOE{vQQm8aO|Bx(h2_MY}9ETpOCcDW9! zmEdG%6|d^{h3Af~YR=5b=I)X@ZneC8Z{@p6!VWx2P&AWlPdcV-R)lHI8L9G-lBdx& ze13a!%n(o|;>T|UejmeJI>jTaP!SL7KhzMV2|Hyib)KiA29%ThSQJjf#J*yRWhlyAL4Lf*+cJ67~ z+kxl9SLQvK=}H06cnTCX zSfcxyfcMgsrRmE%y1DqB&rkdr_F%KR%u37mV$C)O4?y|+{z%Hjq;dc_t~j*#l5Xtc zQ-fn3LW{dxf7_yu2@jI_L1p}HE?K&#s`&XwkxUA**m3_eEVnr>_S?_vQ`l6d;^Z#s zJV6%1Up7pVYK6w-U++w(bL7F^(Qx-r9g33KK;keN>}<~9TYEJ`dt|$YA_#hpkl$!D zh{vJ!qz)#Z!&3=MoV^w(;&5nHYD-t{>k%G*FM3ag4o+oDIh^Kfw*`Wmh@UQBclh#& zDVpA2V|o_J5sUbA-!R^NV@-0IUtn>{7pJhucwdK&QLvrj+;J~-cqsoxW^aCO9b18w ziYRDr0OTYbFtXsW0<;raJL9eXIWi^uy+j{>ahjb)*nFBgROe5sb2$qt_mo6N2S1+9 z>6GNin$E1&;m&N2?n~XOU$a@Y;n=M79VW~y<8nMbT|!H;=#r`2wXk}=Ak$~C>pauH z(y)tLs29wW$Mp5+vg5X6+?t*#QTs*QubPqOU}yWtMMh1iFl@nt&A z>NPWNS8xk;e5SvTnvxyM(A`Ez(*YW(Z`=suRv5HeKirDWzO64Y6*`ZIj>dW~5hCe* zZ#om#2f>z6x)!eKbe3~^aIv0>?_Wq*6D^YpW2oyH@XqRQICN%K ze)jSmm7;byF3h`qJca3f?5cwwwew5n_e^$gR5v!==v1VRagKvxxlF^D%J{^b za@B@?UOv>rC<#alM9MuBvmI%BG$=n*$qgujiLJsXt zA>3v4E=%Njw&$7mBPsWEdih}n-3@3=I7}%t;&sj#vg#BIH8-*D2H#&fY{|(R@a-Qg zB_L1@d*!}zUU)govk6IJ5|;%OL8*WN0eWodpX zqld8{s9kAsb#xU@VsvU9>5>bbP#wPgW}RkBTr7N8MM#}AI9`%HN7|{f{yK9sj19%` zBg)Vhhc^ylwza_kp?c!H1MTNj26gqdUlDn(b_i0J3)50JL6?vGL`U4W3}?q23Rx?e z4n4#BdHP=~wLYq6WA)ak8+c~Vb^aPS5?BFnD8S4)g>5G)_ZRYm&6$H<*`nu4>ug(oY9j78$7%4y1t)JH*!h;`}G3?QI{CJ zw(I3o8$M2I$77jRLYVJN`Xb`vh+sKe_g)fmx{8Z;CB%n6P~T(+D1aW^4+Tp-R@tj3 zCI?})Q%&8I^-P>+F_%Mx%1oNo`q%-NXe0+$pjkngGoXhLp;QYv(1iza?btyj2Nc!w@ zM8jdbHNJcSt=rQA%Q`fk+TUP}2iBW0(NJ=m$z_IaVb|^M#kLo#f5`nI?!E30WR+E? zGxph8?&4UGO73A)<g3rS(xbivxkN3&dfG|xQ^)c`sPDb zGaKHx!ivZvms^;OM!Ec6ePMN4?aX)9&PKe>9*@j!t7qpbtbD%PaKs`-+0Gt)$!2Idk~CV~uW zs0gndBe+ma#o(g@v}oYhXyb5On4iRC)WJ+Tzmn~``g)&@mH-j_4Wy^(V5^? z^9SL-tf3(^+!T}DwSOdveAF1TWDPAbij1>)X!yy_i`&UYAUP7?P%P0w9nk;*ALsK5 z9~59ZDTzvmjaXBcD7p>BaxxCv>^h2M;vDfdO8UUZ4pC5 zibX$N6P0@@w^H5;3|6Uj+$tH#gSLi@8zL10qvpNm$P*_ASUT-dsnPcs%!8Hb?0QhN z+qztG9LQ)B|MVD8xYbZScU6v#c;j(WikZIA=mo)PNMhIa+9;02Yl!8PrH@Kh(@Oa< zMq|aAJKiIt1(g_^4L+O?1~+X1MUO|wddtM+I0PeqgDPyAcCxA|Nv0bcey-lCR43G~ z(%GS?brs&_G^y6;^0(okkdQg&-bFUZM1Eus`qkQWpWm{U>VQQ;-y=nj(On9QmmKLt zlS$85fjV-YpS8v;5E3m)b1~inQNFoIYu^;I(dARuJd;U4X=@PwbewPzS036=eaABnMj^@x5&M>R&wAD_n_qN+jm=qkI|}qTSyoO3 z!tkuqQB($Ew7aC}g(o{4q%aq(K}AJT4Bp$cX)xLrV$D}etMCRP6<B{cMy~h7WWP~zDG7zY--S@Scve9X z>oa6bF+7E&7fRPspSRcF@A3`&PGnRTq(D=w#E#BpG@47bT=k_1Z>%IrZ(;tpA5MXD z9Qk=m;s0EA!g>1zuy)^hCgL{z?z7d5*}KYfy>QigW0rsH*`Y-@)5Vt{U73ChFe!U_ zDB;Y^cJcOb!pk0-P;4?$KN0fF+zJO?ws(nq#s)~7ThSnef_1|yB23svRCG{$VUX9Y z>yz2!d=Ha$#gvaBHbOBLW70@c{BVefU^w>o6fdI7DrlE7+_fCLGDCrv=d*@S??yo8 zcWmH0EQZdK_92;&J_OF8?CBUtnOvMScyOrzI!oMmdyC8s8JS-z?U9C<1AZ<>A4Rz(DJA+E4J?BBcYM_Z8uF_h zw(^K1oTV{voN+ERcu-uFO;y;_YEFFaikUsm_v}?=+%$FFfMCi|uka3?|5w47d{$hq zksgf>EOxJLlnd1!O`&33LbZm|s?w*p*)BcZCoM=`oL>i%QL@LIKXLmESEMyQ7S78s z@p}a}TG=@fM^qraB`?d6j;veVB8uxH0aR&>EbpB7ThvXaBjUuuKgl8pE~uidt8tDY z4xdm;%XzuW3#_%oJoT{7Vv0MxUANYk+tBTue`F z-t;U0Xe@#Hh>_fQq~9662&f)fQq$blbPtDsV3bcg;z&mGrPV*z_~ea3B0-aTDnSJY1+;DSrpCmLklVYb+n&;mS1w=Igtk%=L_yX&_4* z*lbY(GtvCcFyzG!IqtH%au3eehE(0-%B+`^`1rt}8L`Gpu4>3dg=%yu#Q)S=ljbE15gfMNgZ$)4zw4h7HYKZC<5U7$ zXZs!my3e0sX3q@x6tVda-;iqj5`UTEv$5(6_@!9g(KLs5PudImk2uPqc^31^zuDN_ zFAB}Kc`$>yP%3<7(~xQPjHO8AoLv5`MTKn(ZVj=m(~wneln*?7Y<%{;WYX8-%Kaf| zXKFk_l!sNHb!Zj_Tq}pBTV;yv!#`p&*%#q}gSVKJ-NM4Or!*LFKiTOaTYf_B0uFiQ zNU4A8Zx)Ag){bC|UdTlEjWN3Ss1P;tv3ts4{)O}PQL2hlQXF+mm%~;dSfBj7I6Ew&3RN~ahZx|Kqz;Z794KqXR#sFoJEMICJM)UY_ zQ;M;|kaKdv^W(!oz+x3>S}MUl+dLNJ!N;pJPcA>5$Cch4BOG;3pdw#|V@$WIs;;L+ z#~6wQJ|(+8J&F@7lfR_E$2O>IUSQ)M!4>aA%x~ZRYUjyUKbQK@Umk#Y6o3UXyu7Y;e9FLs2}@~V z_@}A~j7u6h`9^&{rn{B0`IUmq>t!w7zOoEjDUaO}Ewek-eB7(c(Vah6LZ>tn$+Ta(M^UOmjeEuur>`tSU6W6ty-cqI zkXlYPWAS>9w9+K##Wd>Y|~(V(cXW8H_LKUV9blau13=wEO5S8K#F`aO&$)waDm_@0|g z1{w7xfxZB6i5~@S)hKKCH)Uhx=yY#gyw#^Gza+Mf_%wQn#JS@!tKkrrr6o zRX8?L+g;*Jx1u8&m_x8?OZ^REt+*R8K!lB)bVtdQpK*4BGczb4KGI5AS1Uw0T%$F@ zSx@Yq={6uFwU8+HT0rLy=NZT8C#_N$PZL#i@E18NRkzLMjS27(3f1&=x^ePMI}>Av z($JPAE~FhFbk}h6&)3@7pUX_uWnd}Oq0R#>$tl$#meQ7SC#Hm94OlHSQ~S{{QAZWM zS@ZFre#)L{*W)R0%}HKITo&_N)SB(&_Mj(R1CIOd-aGqGtaC_sf6|l#hurk+1a12P z@cL(*`L7o*IQ?_Z2(UeAxujWMHKt5}oW+_Be+Ai=p5K$iFdm}G-LAFI5pDA=H1CYO zd3-;0G&7WFT5IeNA8W{3A4|yss&P^>dkD%`909wzoa2v20oET59jxt>+vvRwm)D29 zrA53bN7w56SR#CM8G3KjkCz>t-&y!0r<_YsTOap!lC~KtI<68V-?-MEJ$*^uwwQ3?u;9#f`M@Hmek7~&OI}X|_Bxsgzhjwnx*6WJ^Z4+Ya95_w zSsXZ%1Mj{RAK{3Z&K04-IQzRA-F;6xM$IPRrZyUeA>5T zHgQBG`|af|py$WY={-DMBh7E6*U5(baj7}Q(RG`8)C`d>#DFAtD*hAWVPI%a#vyb2 z&F%STS&~9OCVM?Lo1FNzX*d3CJnQc`_~2#?()iPW+@)H~{$JP*womkB7rfX@zxfh{ z^E9V0bl+iA+7G=a6-Vt}0g@TFcHXDy@noX|VQZ(-4mS^SJbBHvos20N-lZ(>TJ9W? zvefBZEtlRMpQc61md{QzZ?d9UbHimvIdMXV1&uvhr4X?or|vtfYUNq0O}k4tLhGcj z&k7w{Jd1rDn=}z?ESn?`tp4>tft6(z>=dOz&(*%rbmK>5%_75IeC1T`?EI9+ZCUr` zB4k%X@>qAa63-%7b~GmOQ1+KhUl$Gu94z3D+?Gj-|?qDC}? z2FUnMH^&V$QcE>1ctqTk6O&P!Lq^Z(Zz=g?gC)0)f58$rp|1sdhsoEI zCu_%%!O|G7%O7)VVYQ zH&xqNk*lo@6at}_Mv;T|T!E^rsy#;h-(p2xGJ|#5UQv;$a}=eB{Dz70xC#F}kZ(~R ztd0cPm(@MR7`ogHuPg`yJz0A`aHONXlqlWUUN1Plk;3jKdIX@Gc+Z{`DER0iMhQqc zkNlPCp!DFzD3PlReI(Z$kxLJEx=+g7UR}? z3Ap(@lIe5$XLxRz0NRT&b{Ggn@D1RTzE&+_Hv}QaZhZmE+qHYtdX{tZ!I2GqR8(yR zNtyq+`McV$2w3Sskj%l&SZ5%FH&|ITSX84jVKj! zVozy%oTe=4K>d8+LftoAefF4@*VY2rzi#GkP(umz>1~vlK>nIl}PMEMSo{q|4|Bt;U zLH#zYJ%)zNPbxpp+A``*F8_@p((4&h+9hiAFmrxd5*6-a9*_=){3_vD)+RmMb(o2r zPVQ^P3C&4jnDVxjE;~F_0c;AV$e5Ur>};gjci5 z8C}wD(%5ejk>}kKmvw4J9O36UYWh{r28nGc)|g@lzWVZ2J@}?}r%PuhsR0Vfrn|U@ zgRH;mW7b^@=!%NzNr3T9OtRQ zu_4Z~a-T@$T;9cWRkUf6E0OpgCJXZ1j1TQ6m7RY%zUy4p>a7#gr!`LwpzKY2cSD|2 z9Ob;<8f;xsdhe2paYap+FgdLH2>ATUWb&Ni(~`r?nGD+;XGL6G-op&uUaa;6 zd=l*jFdY9T-FoQ=$?gJEb95lHhQjWF3@sP#LBuIu)u(^$ztE{yablR$h%ZpW0>>^z z-+H`IH#RjKWV&wddj>1mE7$H{p_j{`N;4?f;#f#9S8j)7^`0%46{a`rsWv=9Cn~-% zw5|-9Huj}f!jhYt)2FOH4v&9UQqO`5ql;tuGB6hk(eir9({c2jV|+ci!#z7Yb+F$v zA!#WYpuoYP##r@Benj!wnltVm?zIRi_ik__*cduDATFJz9k1uH3;tZ9jW)WJXwh}q z>vaT!9**iV7&v=yq~}juGU%H6LzvcZYl-5ff!IWr`(}j=bzp}lH_i0gjER-Io>lSb zg498eZcZKHTj|Q33zf@`oDFfa6dpJ#oFQE!#Th84_%HKcwn4&lwdD8?{5FDYXt*C& z@|>-)&X>|!j7K13_#306l?ST&ejluO>)h)%$wkvHC*6{q=~m+n za-Q9k@Un3wKR&`UeiFO$n5_&%o$zooUQ*@cEry!gUleWs-JLAQjFdd3fowh>3)IyR zIzCXWowLn?)jN(acy8Xu5Q_S!gc@GKrPxdt8!3lyrT8Z@ur6#1u+R>9)JPq3m5QHpIb4l)SR_BW zmesem$fSMm89J{IS!eL~nmS?>WLPH6GTmsg_Sp4$dVKB_Kzu;0Z-e0wuO1A`Y!=nO zSB>{TB@%p%ry%1-JE>OAZc^IR{~DR*@)KF)dcIHX(d&AXPacflTinQb7npL>^(V_r zXVg*&n>K)~-U(oSH(HbOz=5Ls8?A3zi%u(3u5*|(E`)ov)ryun@xr4~l9eXo%c~ho zn^h|WrQQtpu9)CGD!)N~wBqBCkM7Lt3pXozu}w^*qt2tSDQ?jeqEFi=bTRU0(U}o4 zTyqM+?&~pQx}R7n`bcJEvGZpj2w=fD9`c((vO}4k^o>Lj?mJ+7!V{#}0(x($M5@!n z7|-H!jY<|%9A4L~8%sI++b;xuCq4{yo|8PW-- zyK5uc&2zK2@|uD9Lcu%?Y)!@Q)lMG0`3j_-uCfFG^=mZsz^LX<GvGaZv@z z+Vh9E8t-FLPVOM5Hq+-hTUhhu^#+0HvKgF?;QK3j9o6h6P(MeH8+!_-#|oRSn8R5S zU%;#TzWWQt4*n2i^*;8@A&B)T*6@t;pUZp5f16A~kH*?*Wv`uLoBwq+k-{EWvR-*t zlh+@DY2xX7N4KX=XEAq2sM$nFB8xHLb!`zAr~PMrN@uOZjFWPqMnmC0T?9vGy@PMP zcmB~@(=T0{{n@1dbpB%nw@U$uhO~H&Zr%j{Vi9K^$Q8e|OepETLLMDYnQg7y#g?Yb;VoLUFlzAH51)Z3>D1w?u{~I?IB4V*v(ep9Lg`l=akAMh z5{YE_t^paTi_3+>a#cHLZ;=pDH+Xxp&^NuIU&L8`WDI%2C|V!To)1%V4R0s0huo%* z*E}dE8h|+3OZ~O?;=4$C%H3@a=1jezUL|x-tJAqElkO~}o4ulQvkO=5+uO#Z89b61 zIbQk~Fmmvdq^3PlE44wzp!JzFHDu&tEiLwQ&kFTX4I2zjXqs&$FNJk#4ZF?Leu?K6 z9banXa|VoLc^??HlP6xs0yj2qe#SL4$n%FxJBz}iPBdXDl>%ELzkT;BBh zq&`tWFbW`Kx8?iDewT?DSPcUSkOJN0TiMxXE2rEnoh!jUIl#(s17Ix%Z()EvnJ`ps zIr~$Jj`-KDrf`S~|3z^{^GC`p?P#&d~fH37p3@CJN)CX-R*sXqW5X12SnC`Q@e01oenN z$LOMVr!Q;r5U9yTtWCi2spB|gteNkI${ZV6>$W01J{W#pCE0d)!54$>b&Idr&8cW;c5i%zK>jeByX9lz)x zEF6d;a_l>aa=mvh;VBy>B2 zsrnX#aDw+*kDE(zwBODBUSS8xM*A$24FYH%S+$=nH;%BDUKxfVUJhtjHx~IG^=aMN zs)sQ#;;L&9iWJezc><9yx3bgv*5glAdHM<6qp_pCiIkT%ZUMkXPMgZ)wg*}L8bZ;C zaP;VC!o(#nR>2#uf`o%ew#HAY_Vuxabxi1ZFee@$=t6ac@X1+pw#!nqL|N0#|8Phy zOHAYYC@lw>*8!hqgSk*jXAkR1LOj|HIXeHM>W5Kum)23xM~7c;?k7HV zXgVU&$XsAbHau*?TM)ToCVR0JcqHIrVERXOU!zij#>~q;*LhUf!V+txN_G05OTVQ{ zMDnm=0tXk%Q}6YsMj{$)jsL$)ZanlxzP_DrYSEgMO5x+_7fXu|$OO2m6ifzA;G5RO-DEduLvoWo9L0>yKoc=;(w7*!_XDg;G zOeAiz#$hNVuxw3J>7te|f^0OIA@I}j33-&k3=84%+qn3m3X#PT_vfHJZLmAivS(Ke zQg?54_ks@V;~VtloXvB=rrtP862^Uj!nx(chAp@RMnCDz7uw;6f;r*br#1pKb~2W; z!!SNU02hyX7Z`lbntuxIZ{kua7@=YPJ@cBrMS!<;87iLV>YoTCC z4(9G9B|i-PFYvcf*LE+2-nUlPM$r?}#ISe6k-vPyfuz_GM>11^y$uhKQ|G+CG0;<6 z&h_Qs9R=ch>6i#?3{q_D(bQ&_C%QjMxJ~f#P zx09i`RS`4T(aS;#gr&+o(CdsbzcZL|KeD?0)kIjeReSdUlYG3|9sL+!r*B-UaiYR4h;|`JJ+JZak|`ys%sn#;eK>x8gXNGj zaR}$0Ty0B$A2|E#m@co1abG+T4$HN#o^~vFCj9<);cc^)kTnkGTLJGJgwTNHsq?n_#nK1xMyicUEbCAs4Il%SF%PKB;7^ef(-JENlI?u; z%3}xV{{{XXk=89=U<63ISrJ#+GZprdIh>K<^GPKk zl$MvBY&DY3@GZnReQ>G`RHK;{%NOLE^kq=vNlkcdI8tY#eGN`W)Q3!H>bBX*|B*3p zIoi%;!ggU$6-iq`hyTVrG5@F1$YT9~Gk`VlJ)9MJD)&@x`>4ciX0}D0*zTOW%S6kr zgbLI4+t^>5pIFr|K7R^?gR$=X?0MV)3TJy1a?I#dwhIY&hdz(@<_v-)^0uEVpEg6F zum|^Jqc;fOuC&xRC6?LI=}aIZhJxqirP4BF=Ry<@q=JZ%!=gT4>jUN2mzYAOnp&Da zoJ@_g93jJujna_)SaV+bQ zz?j#k$nug9S0SeNGaRR{C-ZCStuhf`KmcShSC$FuxR7RcdgT3zgQ@9XrjWU#!y|CZ z0O~AY$=2)v$^vhC@z3rsHtf0-T-5tZ%{28OhN~u$&0o$x?cB#9Uy#tw!#lGHhYT{O zJim%s>TCmWVpC?x>kvP4a6dyI4 zwS2-6H}X9K?RcUO9<+%hbT=r?iaAanHY=1s;^Cz>R1K? z=+l(EH}rTR>_5J*boksYDCJe+#f9H~qfBNC+Jx8b5S*3WmfgP0ss#d;*fh?m?s`fP_cdlt~bm4Ep|+AfD38D85wU6wlpA(`XbA7JX2`a7clj~?5adz_O*LnwBFs8mig=doUtB1R3zyD!aZGxAo z1MK7Yx~q7>QAes7^`MD(h4k`ImxXeZz(Fim!dBeYTAt>MPa4@R)$4VB?wCYZ|Kqt0rW;`=buc~!&vOVjr;jTGOdwiqw z&pOg_0^>=cHwQm~+juQwx-T@LZ$MO4cce2G(7^|~xF;Lne;~Lt&#U*h@WbDPV@NmO z270B9fq_u#Zq!cs6D5K+3OUo?+itVR7jCn6N6&9lE;f0r<;%XWQY--eP;;k%h+Z|& z4(Cjv3Z9Rnsr`h%yTrY(#wwuR-fZW5sBwa2rTUaiJ+4pqYhQNUpWnm)cr$i`U$2+e zt1R<99WZ>eQ;8=h!j_i86Ut>=@_Y{RWXpn+RUHZEN}a%a7%+6Zf~Yi)sCzaYo6${= zpZ19P9zDo<7}Pg|qf}mp607*#C-QQ?KfgJ`W|bPzT;tGQuEnQ~CmGpakJTZbfCdoG zp`;xNuhn8%#6ltVE`IjyVMw`brDHczb6aOVY_zm1BvH;!mKIt;Zf;DIk%rHlLaUwt zHIYTSbeXdCuAv!4ll4_sle0`9zRt#f$jwNkQe#}kcP_;Y(Fc_Oyuf1e7PR6_^Y{Fo zyd6lNYVp&eTKAkzSVRWeYwuMwqWQoOb0;*S)+telQyJwW&rsM93Y}hvfJ5 zxkaUvPYA`bUmdc?J5n(({|KmBZU99oL}jjqjF4L*YYLP%r!f6KSXsSeb|g+J5Gtd* z&YM~suFCX^`<2*A8S!*5&b)U^!qAkM4+XK#*ai^?e=#!tOn9!6cb@Jk43q2+1l(t) zFSotbk? z5+<$(mIhCGeFLwr%>4o?jjr5-Qy)LvOM|-VSYtDF-H$+`(*g<%d+%D1s z6L1ORS710w{K59s4IOd#K}QLialND}6V{3&|nD#1nHGkbrf3?!n!I zVuksFLtf6z`TgSwqFemo*@gF7r#qrfm_Q(T+06e1eAauv_t*3FVS2|qpPmc*`Sl=4 zyu-l?;!S7CNj=|#u)5y9?P-TTuH^2$J*!p$G`?n&)w^6PrIkXDg(EsDd^a(b9Huvr ze2Xj2(b`DIA|1`Ng2U+vMKf{qqUWA02P12b@1$@~WHj{f$&ZI~2ekGhk1H zWUo~1bVQ|rJlsp8D|-Tfh8=6hj^*C#@SAA`6&klquvVFJcS;%d-bh)t-~Z2uH79yG zn)x^Kl(FvIIWCq`{g)CG@0+QP!K%wYO;c4n=8|Nw&AujeRybjQIOOLc8xIQqs@L3Go($Ti!%!yz%PdNCo|eKG=(|A=Kf!WTP0F;N+mLv#y+y)e%%{C9 zG30B$ZVwk{YZ)YeSEpuw=2>QiX>2ia{{?^VH$pJ*5bN2B0#Y?xncv2-F-)Hdl}E#8 zPlZj9rzqU2I_B_910;W0U-hlyW>G4}XifoHM4xRI!7*$yhW{csXVg0q>NZ}A?nS#pPlqPlZ30u zLkE+DAJ36cu?hjrpTQbTF>)=WMrC&b>e8LIlllN_x%lX{p zA^HExb$`)vyWk5(h#1JbZMgRTPl)VVhv1D+!i&1<&xJa-S+RX+tN-&6&ej@z@8}JW zl!8=7s`R?A9nH8nXF+4a{{Yu1=b#ii6TZHV#jmZ24%dhD$ zt|{FMBz}UBR4J1Ck>!V@SZb+BN&?*}x#(ttE7Sev2aZ7}0T{mr5V|Alu_7aDeJQR7 z*W0!dZ<9V=+`LSIzayqvMReyBjOu0Ktz=x%4fJaEVUmJz+=@=F6~g-Hv(5Aa1jZfo zWXdd-xRoQHXJadI6GHTZL0K|I6}NH}%gv=QUW8GkXKc6Q{WxR)H5O2^nNn^MMMAM2 zMS)#)@*~cChe8)o3ER5-T1)h7upQq@zd97PpQ4M0Dp=-?HKi`$-e(VXqx;>2C=|xacycAJwG(ZK22<-s-xc@_ zj&yz%S*eJ;9>e=IBQR1*1#(QInX*E039#>YG`-8=N~4c98LIhp_6R8|uzq(b^pPuS zx%L1?L8mz!Wd@tc^ApaIk}y$#pMZ%=8U{Qi=EMJCnztkBr}f`n*4DDe>=1BKXlQm} zp(qISuU{dQk#Qr6H0uhw9<`K&p?Z!*ePL)g=%|9AsGy?QguU!Zppl^2W07P;#;0=M z-yMU&;SMNBE~f0OtA=pQr`H-E+b!}Nj%|Wu9uiwTVP8uys_py}BljVZG{htAG?4DI zx#k+(ug{L)Wcrg%I8Ib4J`7mQ*^0b;#~E2wPMqcWc9)HTz&ImEjv`xr|0r-JqfKTn z5>amo)I%x?&ReEsOTjzQ<54OBe5~ht+|3Oh41aflS45f|KO9K~y|M-4Hqd}{myZtY z&kFu3ZKm|lji|^7`!UxQ4hqe$+O`B9k0u0H2|^k2$fq$}Mo6k$u4g<{qk>`VERj0; zIpcTfI>umiY{s*95I#>H7C52QFfeGyu{^g=;jkG3<;WNzCOysVe9M!4xjL&&?@%A` zyw}&fs@R_0_-aV_+i#iN_V5KJ$y9hXq6g?yBKtatNI%;sz=CgOgfR8`dTN3R0Mnfkfyg=gJ-uQxvPjD@wJrSrAM66fP- zN3G?z#XRHSDu|h>4U6ezD$9|lJNGbIV(VA0|9AfFb(Lp= zglbazDlAdXk+o{{0-LEymmYh*R~p+P=vqYro1$l&zZD-7@HEOqTxwEkg&y!M!chQ z?RP9bH){RkS7$;}PG8b&cf!h-?P!$3yK8+voz7UWVPZl^NDwR5G{9J5XP^^b)N$E< zC>ZroH>rX_29r-=Yj&LtkkAjDzom~26lPBZqx0P-s42$}7~l*F-dKUFGU|^&-Ouj?9(4B4J?W*{?D9 zbU7&aa^eYxs2w!5B?;-jwgGcLJCQaRrRvEqCnEZXZ1}Wm_Fk zTDj52b@TfsbORKIH&zT)VXU)3byM&!m(*~l^I2i_Mo(*Wn!W>(z5k23cMg&)TDN_x zy36dcyKLL+vTfV8ZFJdImu=g&ZDiTF)%)Ci&U>qIk4$NRZRYApdiCO(Gh4w$Qg@_7M#7{zd-B%RQ5_| zt~Z%odsyjCgHR_=c6LzkcAEMN#VUI+qN$<4IR~fBhe@iHYs3UA#uYFg-bjBjpj}^y ziATFbT;pxDcwpbyg>WdRGk$qgWfzCyKPs9y8yhD3ztwL6~ z=xPCa-LSb`ap*Yqocq=O{_Mc?`cC-qsAji1J$1{RFiOrZ8@pdK1QGA4Zq(bK$HDvK` zm0l9^V;@9^ZIB(s@_Ntr24L zBlb@Or<{yne?yq$EHe@Ns#baan%y8Epi#TmG=PMOh;@g>6t#3?S3kbEQHrM7-6Xcr zF+h>sg{UHggoKQnZZ2+bs*qgwAQ7!HjVCig>^cUU#aoq;gqq1{8VU5eEZwTJ4Dp<& z7O1!PcnM-B?jMrj@cK>Oiq=?Jnf2D2Ps~uQiJKIBa~_T;GndZDN5CwY`mI1Y07Ohw zG-2Q5P*iNe=Bvk$W^dSX{QM}=G`f$?(!t@ei?>MRN;ZxCBXWpo)ttfmoNiy*QjR7F zpk-W6&g`oKxD1tO8hWy4#5A_Xo{to?H)IK*^hO!5#5>@{Y}EZM@*A1xB=2*x`Gw)G z%)to_GCqO9WCcmNXldj#N%b>QetUDWS!J-M&!~8#OS#VDRhgktCZ|ck&Tu3oa%=lw z9E`3BeYBSQb!3$(yzCt6@gvod%OFAwwX{p-*JsiIC5&c z-1x5A+0gM+o55i=b+(FzggYHqxP4$&o{h-@Cc7X}fDe3gJw?iS5qJ^Sre_4Bc)VV6 zMbvxIS(!Ftj8=j-U#1+A+Xn%9u|>MI>SP;tB`!_;v}(?kN!w)MSWj||7R2S%m%43M zbnTuppYsWyee3pvwXMu^%HUSp;5ddov;k7)tvMo~MQtBv)KGj&^s0ApVPP(1zQfR% z=5VFRxW6G2U}DMRhI+CTP?Ih%Cbcp8!pfmvp$!WLc7*NXOtOL~nK0+Qn}^D;7)Zd& zxR&y+!VmkHan96igSXMgTwn=ZwurL5TA#5HXs0ge+pQMn4}qmLQ3H38YQl6rm$Ep(4NotxF~C&&jyz z?&>s!`uBIb6?P%n`lJIa2?Xj4ns;|Z17L}ZwUae+2q|&ZF3*jvIbAAxN1r!o#PRLT zreJ0diIo~V=%8;&sN5|bemK+BE7Tdt+?6KuHiGbo0&fseosk?-0OPlxtfKfL(390< zIVQF43pDG;*cs1w$!f@>h(q0OprOqxiJfKP+hGi|NmPU);1XrvuB`?MLuTr4S513~ z6&Ce|JED17wX{%~8RhGBoU(rhwLgEJU8K`c(v|#tD?M8CMtR2A&1lyaYvV&^ex>r|(3p3yhhr(rRXDrW_5&rE|JB4*viV+A$qxbg295~*e{LH|>u%=teHHxrRT;Z=3M{4nSQla|f zPK39C6HdG^7<8c|ySExV2s8eTXdgW=eU{xPCMJe&bgcWrdk5me!~wkp&8a?3GU7iA zf3;__Rl5XQxuNjnY0cAG8#m9 zj+*kCIu3HWyTOrm`BS;aFpamzj|AD;*=n;_ z57-fnrbNizo`@u{uZ2Sj;NgcrPF_&Z-XH%CekIz(k+HInUb5AW@d2f2(YgO#=$4h5 zgzWHS8|KnjnUp0RgNiPh116s^T6B?BIL@HLoD2&KGx=RzQe##7Q2(HP0Gqn&@WTrj z+L@zyw{%}2=?eBku;Cj4U&4S6fdS#b);S~*M6-3hCFPfk^taL1Dlz%JBrU%bzNHC1 zVAHm3WWinqD~ALQ5R2FCgV=E-?;)gL6grfj?xp6Mx@d{-f|5 z5gUgP!P{6a(dsV0{~U{kUXEX131XCHgtj6{A0c+viJ>;Cixh~@LDaMY=>Qu(luY}r zex4bhEJTpBAvrp8RqP!|N*1ogK)fcjnb_;D;lK}488W<*T8_WrV27PpzVU+l1Xwua0UqzM{-CtvEt7 zY}}hplPMwaF8yRiVMo)gzEO-X>=22j!JwDuxV6bB8I2z2tG|llwK-27iFUF1ji5qEmgs~kmV`lp|5W}WA6NP$Gav0(pim8 z>65YH;d_1YOTZ!TMa-0pF(JLaP4)_1=)Qo;^F|_de}MDe$lw=KMce@M8twm-7>pEF ztde;)5{B}s3?p4vm(<>*rz(=}%`8;Zh7`=Kb8Uu1i_=p_5w2gbq>v8kOc z@r1VNZhX>m!tEmj)bmPEB~3_!e0XyI2Y)|{`B>BvD+!<9#i*Vqn&vZR9f+rC4_ z6Y5&Q8(2mh>hz8e-v)U$6ARRNns08|j3e-QREzma8=V^N97#Mm=x)wfo12`dJ}x~U za246!nWE9{n!(VxNKUzLQ079K^p7;Wj@`$2Q!ln+uD3qZAH0t=8liESJsvDi)?04H z&^{BA3moCTo4f4fXYjpD4)5QlM=s1V$~8Jeh*@bLuqvqVZ1Bc=;}7Dyfq^A+2=f&G z)i+vP;9W_Rd$?BFy2g4&zl<5LW26t;iZPXHlI2mXXSccne%e^&&T7GGh-|9T2U|yX zDULjg+@!p1JGHmh-^jv9l;OYKx#8wT-TwM3W{}Wg9OClNw~~a_3-RZT$HBv=M$wjt z-7qXAB>I$AeEuq-I0y{Nz3EM>fLhDwi35mCz)@COfGGDbKk5?amg}I7ZF= zepx<;&U-~-iYe1yMf9OgeuzrAvWw~FEcn7HD-HIhIPQB(9r9O?n9-qH|5Z~kG;EV> z4(j!$Gc9p_fAvgU_c7}foQb0}G#U+;i2gss4kr5h;mS_r!o>)>* z3PUh71d*w8paGLvRX_I*wc+Vp&*g7AxG#IXBG>PtEH}N*Z4xiv@DqM+j@ei=+2yE< z_-0(PXTIz3_DppA+&*zZjdzijd1KRXIy3yF^B2kTPF*6k*}gIxC11Pw>E*FL;A=8e zSJPbNgn^!c3v=X1pAXpCh|Xm@YufDz^C%s*_OO$0-L^XoUMvy|K~Bo1q1;pRob28% zw?DVAb}`K=NFDmbZlW)_dV)1N&*V|RzWjR1LO(YW+&`C zBKB(qYnWdJGkbltKt&)DW2;#9>$8gF*0t}(priqBcN9K`X5-4ny5k)--1-v@Nq8WR zUJrtH-I?>jD8jYz@D(gB{M8NBV~Zf9x9!oMQ3ohlo7cUhF{O zxMI8>#^mX|f(1S=UqM>%y?W=TbWM%rOGA^|rT@wuzsG1F2R$}y_kv|9tZsaUUt7-s zWcB9IRG6V-1!qtAFR*4jm0cPyyR4Cy$|{~rp1`yar>cLjSn@la(6ihpd{>cBWvN9H zv(tN0qgH(<2<>Wx&qqDXh+|(GC_O@?rwppqmL9FjvQwFPFl%?!kT3^dt$7uhD;SIS zY`hMAoGdrRn$tcPI^)29QmuFrVa-3{Oy^=yHnOO?V@m8{ZOS*>P!9xMu33HyvtEtr ziI3_RB>=^})3b6gCA84U(30bS z4*AS>%2DC-C{r~8>C`TXEWU0)tk)Y$2foA_6Gi9~JAYQ0`9f=q4+zCx35L!IY%lu5SK5-gBaZg+HZQ&yI7R%|N*F^W@nk&g4SM&NewU&ky5 zF-qEYPnI}C4MRkk72DjZiU_6oTF#8(TABE3gr1j4SoJfOBZF*ypcbPpqsZP3lWZP6 zC(Mh&M?}5;wwd z{T#k3rP{^)Ngd0tEF-KoLC)$^tFTT$Ac8hB7nXIFRo>;NKbIhjk5m~dq0GIc`mImD zKsx{oQA0Z#)xFI#F+ZZ&Wn^th6*PgZ_e@kkz@Lcek{n<~iS(ESIZL@pB%az&+v>*@ z`hXNKz;tBApqGtiW;o_NEV4l$NZC}ZlcFHt`BpFoo|@;OcXoO@Ld&I2@O|uF&x~xU zlI)tPgZ(>^{I3LZK67T#-+_UGV&2Bl35xh1C)u3%;GS0Gyf!xL zXT)oH&e$0$WFk|L^Ae=|Gk11vuIow9Hx43xDPg>YO15zdGBJg@yH+Agq`qdCENn zjD+>I2g^{ z-=_3HEHN&Fcfg|<_BeHLt>u(=ElbocMO$x&56M;q+5J5IIg)dNdH*JN?A>>8w(582 z%g{x#4VGwxJw~>&*S*E)Na+m;V`&bBmxX}>liR+~CRKH)5aXzw_31!4xw?w4#hkq|8r0}!R;L$Ibw0x84v+ghJ--?U zrOH9xfJ?3i5^jP8bDz4FuzZZkldfCk(U5X|GzykhD00nt3(0b#K*aGxfhEp*+mn~d zeG>$=os}s{g`aoIc?JQQ`q)iWVJNC}vNv~Fjc?(@#oYyRAPI4~PUqy=LEb4O;;+Xc z08tOjrI&?jT~h)MR+B85uGvid8rCu}Z2Cs87($Ob>aFk{9)5q!^zqoAxhLyEfL#Ex zef?~^@=*4e;eDxA^9(!NEk8{iSpspi-!0S+yE;lQ6%?#WqXKF*;b^!dW%w({A+ngc z`llV6Axe!U)25+V!8Su3WDa(<7892oTQKSR`277t<<9DYa%W4|Tonfg>rQew=%8_o z6j9ByO_R;pE4O4($bdC^pDTmxXc0K`?>bRJ1Qd@@UhV2*B)fEzB%8_S3+bD}*g#3xE% zgnvQ_WUW+jnbr8lhW&$QiO^2~+2->;r}E?zZOq3NYy@fLPK31e`ZqG%ICtI=se1~T z=Y+(fFy>*qvhrn1s2_Ln-@qxLh!x977nqm|`NGL*u0QyV>I{^CI9h!X%TXhm$Ohp@h@#axaOq;307$rD`g&0G$Lt$^z!0jg{cf>!a-Z2F=g0qbSA{S?LWI~ zdx1DUJ?PkJ;S6TxS=nnFk>A?v$6)h=L z4Id@oCX&@FE_WMT=2DhUyCl^#C8yE}LhXBHQddw`|D

YbpvNBYf`F%rAI);i#Bl z;O*09jjl_wrtF!{PQy#ovD9D5iCz;7#>nKOXRbeIGZOZ}9&*%MB1BVgiYl8CxWIpg zA9NMp>`e6hsr4FvvIZ^eoM`5nfsq%OtU-5wcVHv`LJ=@HlAj@2+tI=%_|?-h{w!js z3EsZAyst?eG`1I6y+;nWGl_`>izAB9nR)DS#}KeY$qN#5r731DWYnN!hI{j=1xbFW z>!E`U<^4^fBz)hO(yrSdCA5ig{!I4VIl`UlMt3Fl1YGV-a<)0Rse;CveSmX~5r1XVIwAcMri|+N^y5E?8=P9ySJ>In%RhFW8o4>55Lf;El4eTGPnm$jH6;*7F z1p8{aHD$$;oPo*Ba2Zo{b}F`$9}N*UL`W6=LvJ1T80xWp=iq zso7G5OPkS^k9T<*wSylvJVp<45XZ|ASOF-PUYt+wDZYj5UfQl19)R|EEUZ@y1Me!b zrMMOZl}1PsK=N}r@5gs?wV^lS=fFm5k={>tDyRP!m02l({r{25h_i%gl^r|>8w01W z->vY^2qk}K#Eol3RrfE81r<@m& z99{E;fd5+i;N)mEeoNbm9Q8;2j}z|aoMQrlkj_L8LMDE*T^BXVmQDo` zGo>{esQ7-KkGcfq2M?+t$~K+Aw~{SKK+?%420p;&HlIqhna|k!x^#Vxif_E;aV)ak zp0mjx%WAHtxR<`E(~^bf z=RM!96i{b94t+@Wrl;@2{daOs`9NZh)Spw*yGOLIKg#^pPz2ver0>pg-dfoM;;M;S zVP6u$K9eIcqW*kEqsJnVUo??qnj2Eu+YMARqD(cWvh(T~mQ?<8jI>ZzXZW8|q=b;r zBm<~oYb|il=b>t061%Yoh13swiK+AP#f&2#)oySZ$3nIGME`S1I0Qk<{Kj=xFN1H$ z%az!JtOmG;Fa1E#Z;dH#w@bf`q6$Y6S!X$vzcZcka7AASaL&=KOX@kZ480N9Hbc$q z;u@{)inULd!8!>rLBY9NE|xDCEqBNj<)i#Eq18R#(-JE^2%zMRF=#~J4RC@gFxOC# zkTK~k{!ZBC9pIrcvBBQ z;1}(mS_K*0Cri{IQY)q#`IK^LVPM?uv*X{?_bcwsFwZd_!JUsL$Uk#s+BlZ&m+EXU zr!0Ap`7-y*PNvt*JU8I+MA)mHfB{?!=~y<$<2W)tlI{VdDNFz@YdG?zy#rc0s~ZK) zMssu*$CHVxhI@1_BZ?_vH=G-Xkv!w6Eb6Z%1bI$&vv1-OCiVC(Xgm{;M7J>H8EYa^(DnVmuv=yThHcA!KH=ZL4vYcfSHbVA zPR7L3e!c zyhmq!bocEsNR9(s*r8n->=)S>-d-B`lsO*3|GTANf#ci0tZ{48jU0&6{s6h}ezo1+@W)UE>eH_j%Y<_z`LrXqgN@Pih@9{QmOrE8WX{GGbUBp_$yloC@ z85A)%InqjQaSJpJ700`TvDyGK;$K+@H+;TRW6l%wFNF^r$|&Z;-QhCFaHE6(yZ@vd zU0Ezby zcFR`|B(@s?2CB~8>G$wE+wD8+?otfb^avo&sx>ddzn6Cqcr-nl1;DijJD>B9mpXy< zcvw7pF{eAX$PNLwH_KzaV(W*pWDZ_nv<|==7&bZqQsm`UAAKyW$8E)QeU8g6Nk2;4FdjCX!zqxJS{*okS&J1Vb-`-LYPm;BaUWbwASOkf3(9Mvdn-dLcR}n{ zUH1J6VlOtFbgDUR5gZrKEl-ZWDKlADs`tXA-CT@Y^>aS|m|;4(AGDrtopHWb5YbR^@yKM#ft@zqIBKTHP(9c6ydFMrCxW;^;B8e_A}K zIB-ylu-rV)ZJ1&ngiQPtyg+SYFkFS>GDe9m#~w4_t}3#Vq~lSB=D|;%v0i2nuRXfW z{$QOU!B4{rK`GN=yJn3tjz}+E3(xAgOMaOy5#rAHaQ*^n1X%YwV;yL(HQNaA2C-G^WDd8tReU?iIBV-@w!!O+-W_DzKMzv)RaC2S~;1$dk%T5PQqR z5)Clrr6(73*d#%EP)Zb5799QGV`^81->6gng-JunO+e;z9g4M;YUburm5WH z$epLwevD*uRwFXvPlC<|kmoLx%F_E&>Ex!WYlI*~4OjpA_PmyU5y4R{h3Kq;fVrg$ zDXa>jvGOd!xtIP>F?{hAqGb%44^$bC8xEw(Ggi0P7u^|IeYkS!u=~ti*-(b1*boz3 z#ExAXNwt1jDouYc>{;h|XY%L1q_pL4y+l;gG~TQ}G;XbERtGVXYvPj8x{&a#9r(~yw+-Zry zGU++lLTHBv!3j8=t?nz@Izok9s}(lkpoy*W5W)XGU#re|Bl*9=ce3l0HOg?H6e^2?7o@J~0*K7{IaykriEAn0Lw?Ryn2y4jk zuQRg8XRH%qZ`}XPJl`Di?#W}4#`=9SNx}%8A%}pHR4pke7);2XYItT1XK1WoY>$Xz zw+ly25C<_KiK>#RYZ={=dPBBe*Ip6|@;%=Diw2>e<##H~Y9k(*!t_~R*)D5a;v2G-&ssn%c* z6$+G!+TGscJ7I_^o_3ML;J7XDF{aP4X zZnS3xcd`XMXK3^?C)oeyvZSU7jEme_QAy=bfb}RO1VwUgD;%^Mux$F2@jTjHLFHZ$ zJsto2)Ia^X~r8CHt?w|=-pyN~S3 zxhjfpG)+!4Wm$dT9B4es^ucSRE1y|y;JL*=E0cc{4*2}I96*` zUt!a=S9Du1#~`^-VcqmqrD*XFG8wbPO^w0|ivrT11!E!n<5n!-1o^C1!K$pf(n$xD zwXjOU;)&w(AZ;ZeoGtC%-hEcr_m1mvb?#J^S80>eG+fp9#RlzpuMEsaIr74SS;Y9@Bd z7mWgtCt|b68~1D7&D2pCsnH4xfr2bEIO69Srv0&Inv)WrP)9&ax78W59=%H}-7Ek5 z79pjAI#z`)H^w)V=0(quSBYCLMr!iIs~tpur4}`J=1*$66h7DjvP7vh?hfnJvQwkJ zG#-~jfsPpq`WALnbsna0von|49UT?D{6HMWPLq6A>Ao=*a~2P(KPH!kD)cGo^+Y3; zzjuQ?xtwuC$~Kxiq0i3MM$jI`rK@MmHjG7MezhZsm0H=cw^To3{WV(w#cbSI>Jf=wX~lz z0T)8kf*b!b!l^5|*$#zG7)xw~7%l?Sek0gVq4KQFN(DKhWAnKi>Dy@z3PDt_U zBPO8`Er;S?A$~4gkf$P$Z(mZAUBi^j?uvn(0{Vusfq+ZkEJS(_penIMOQ znN<>C;xw7&`Dn=aoU_d&Eu{g+j0bj`)sbsoh`AB0WdfzMh9^=tvRMM}$<|pia4kK=@gUMu4Ih6Jkvkt8n zt?(!ok7nIi5b9om43$OAJ6#awOpqy&fvLE3j{PHrSTyqZggpYHU=GZG1} z79^e9TM>JEGs4wpwr%tOv(+D#)e)e>Y9fo6B-q5C&2ar0N1uLKkIJ9W>P!8&ZF9UorNRKe5b+)x z`p!8sZB|6b8PP|PvMRM|XAnXHqBQ@9JfqbK2YDa24>Pr&npWEAWsI7;j#0xQ>r)RH zmun``ct#njmXTfXM@`hK{oZ{Pq^xe6J^EIpSIQaEcea}~{lf{JUrEeKBr2PtXR5H% ze_pTH2H`Iy`)nD5R#vcYBf57e1S5PB%pypy1*%x)A!o?gwrkYtl#}%yg;S%IVKO^> zYhql8OOoI#-?*Yz^h4nn$$ytx{p|)Iv*9A&USKb+a3Z=mv){o{q-%8u~Nve@W#&F3v#&@$Mq1MRlEn*dh-Tzt_+`Wra)L9iTw-cSZ`+lw>k zr;~{fM^p4@jtntnztrhwW6g~V%u^2s$JlrK;J4=AG2k1Lx645L!@zK7e*Mfg0tqEW z;kQK^^2Q39RQCtTFOW=$cbA`TBxSe6?KcC}v z)4%ev9^8;!{lyvP59cehEe=QVG#})&Vkg*O^OwCM?0$Edu_H&U7$J_CVYLmvM9pt0 zx>8%eHe^V>gKp{9i2Z^!u~Q|%8PYarGJKLJTpu$JkjALWm}|e@^5dT`ON5oq3l)RX z?;Zg;LmC=?99?=BV_B6WbJO=|mFz!axkz|jacF5PxRCp1%^`TbHbah~ofJL(iKJrf zuGvW0M?b903Y0JftOh-Ep31TJ6ylP58ta)THrg6l508nj_4qMD9;^weD{kmO%NV=t zk34&9|JlO-0=52c1X(aghW|#&^uCA?VrIt{7vJ7*UBp+JUs;{@3;w0m39wWVKG$XP#H})i*9)IM5Uit01*_q*Q)1(st1#G_oTe)W z_2qG8!*iYW6HJp;hj^UevLiG8m(HUjTQx7%{IxaNQSq~-S=&9a_?hKA*#~P+=jt~I z^>?7LO$@$}eh5!Xp1?(mp^d6Zy{cqV%cLToF^7%#Fvxm?TSyX$52zQJVLlO)tvjFV zT`Zd``B7wsb)#}`9)t+_tolQgkMm4kB8`t$sxMr*AY}4c;B&RVG;sH%`%Q-V&4L~2 zW9iEJaDQ`b6xYXCD_R%Y7I8;K)cW)rkDD_+uT5rexZOsW?2syZITC9@dHxUR5ByGK zfcC^bLQ{?78i=ygvDAD|mD^i%a*Fe?pzVe+5h#wqwU9tj^C+bek`;F@Pm%bDPG zVSv{KJYtYrDA_Sn={AcX7i#U)qbtwmwNrBC2+RU+5<&+G{+!TB3AL66yhDY$N?T>? z73EQDEtx!Z8%rr>Y+2@1#^AWin|IMEzJ+r(T|TE~|1jEz z?WR1Ta&$Y;2S%uCP5`eh?dNkLgoW$(G~yRqHUoH}hiY*V|f+AlxjJWy0hi1F1c(AV_RFF7RB#*K!iwB-o-|4@=ccHzg?K-*EoD@_Ru@BS0B+nZH^8S3%jVF|=eTb^ z)Z`Gb|5(v=`wIWPqza|(c`xR<@Mav8)b?N5JtB07S<}s4#^Ei+q==oyEVWI|M9_i& z2cL$!SX$SgW&gMsFok*rm=zfReZxg@9j*FMcodCbxaxx@(z$r9(4Db-BiyCdTj!XU zaqQiDxq1sUtMTchcZP;OHM0jZcl<(`^N#S*_BeRUc%Ez$8`vZzU;jkqot7d#Bv7Rk zrK$p%>;smKCW^0ocsCrNx)0XU*t0GJE_2KVATwHiCci4vXUPLQdU`-Y z$8T-lKMpcl+#70NaAuZRcy z?Pj65++JUdaJ{|r7<)GP&u0Ct@{ixa{!f8}OH3~NU4@5}5x>$ICC_|@hy)~;dV<($ zk%{GlF$|UGE9OAi3WqdlN=gD+NiCrk`$^XHoUJZR9T!hXPrcH&qnTOs*wLMN%|j+W zypkG0NCOtnA?#T2eE?xLnbxGM4P&O5qVf8GsgC?GdEcHb2U>>Phj_=>7I#EfMvTg? zc=44qd}N|#`X*OS(&HGVv2!u?aEey%ON*_rovQ0gw`kmW?`OXcRX5DXP=0dz#V&!p z)2lw6{k@IRGYtM#x{7OUcLXq4ESJNeiFrqUNlX2Qh(MG@wB0aWQ6?df#~aI%K@1U) zMZJcHMGPqdVG28E*LH3b(zMY2{a?l$%F2NecVPY*bWr(>Px0AZt~DvFS-5Q{rW4mE z@Ej=rK_}7cP}WaOa2Z)MOW*AfvqCGNpBFIj1$aRvwg3@Af(4dq9<${2Z(hu8Anb%h z!+NOH1y$o@hzK(W-3e{|CHQ1gp1u12m}(>Y|62m#_?ZDPB3MJtb@LPy#yGE2o+ec3 zN-Z^7>Ylory`L)@@x*>6o?k#zf@b~|+sQr~9F}g!Q?#sLz3u&Gm6q2y~qfYK_J;e%i0@_&fihbsn16ja|0w3xlSo2>=$8cK|%1#@3M0!>;O@K1dhl9+%7myrcC4 z@n2pjtkXbKWbCVUo4=D_T0}ks_cKn<$HniO3cMh27o=^|0;-url`SRQ*Uq36p>Q@I z;~7n0(=}qqa7*|%P{_I06`~Lo?n~lO`0Zu{{KTJAn{FX0a-KGC8*4W107%H+0;Xbk zOeeYG0HJW?6FdS6DMdm4=h?&}e@8*S(gaz7s#$&k2{L@5uLt+zWoH+!wLh=`;t#W~ zcdn^}nTaIEx;h8v!;DN;u-GG-ZMY4DRc~zNk6HLlne_%q%`VLEgutR^p&giE!=iHl zdq)EMD}ZI}*WtDTvDRp1us0ZmyYduBBQ^Z8#4A~_hBRC(Mo z0`VyqV(Tsc=WU@TGIHFAx$!5DjVczC#dr=5K=tfbk29WmAnl#_I!qul>%3mt_N zgb<6^STed_+Ohs^pd5M_7#OLaxX4rNW|(?CS_se|1_n?G*_%gtzJhRpK;XPY7>U<&KBV0Gl1OV{m`lYWmi)j9Y}9XBhrHv^fori2kkF z>qE~#N(Cm#p2Y93w&%Ol%YpYIb+c2Q+QQQ3W`fvUL1Qa^u2mLF%c#Gk2yeyNl&#qP zDdm+spX3PH#-OmjKIb#8$#kD+=K;_mw>XIkyrHr!Y`1T|#R3CPUm|7Uh;;|LsO6Of zszto6P7guNaW^>R0H5cI8Hl+1@rL=G2Q%igf+s40wRAH|G@>Ii9?d|{b)o3%(sK1` z>}N!>b$Kz;5EJj+99ppvKC&G!A7Qua)4;4%wa3x&65|UmMc%Li)CBCienN<3zTR<*#)7_=kA~oH_ z$QB4jkb0R6o*vEC^^39f3Gy+=0ebS@eYty>d-4*; zWk*^A68tl@p`lHD=Fd2>LM~BEDn$jxgT>HUohW#+o55xXfHsF>S32a@mVk{haj0-Q zWGj1?*iw}CNANZ@19qg!@*<1BQ`MWBj^pfT)KPY7`hcdoabipvNQa1%9aw@^sDEel zz*V&3{h4mFuOz;6Fwyb=F5Cd)AJPD)&ZyD+qRgLtFf&XkMOmouPcMMgVWJcIQYAxs zxzn^-Yp&*;-qZbffDdZ35n}YjNd!mXMeb5c5Am_Vxu{p;CJU+g_rXRu|F%L@_4GJX z=10WHn2SDelj^5@V={m_aK$8;cH*l3d21P2Ic6aiYqSg$;uO!*iRICJa1R|NCpc$1cN3mf?ha?FC(0^*x-ObGgSuYUf_g_akIK9r zJ)!~ZNbCO|f_$>g; z8pR^tdZYD^MiX3VLcPDhNuYhhSz6;l37pP`PRhGBx8hZ8NUHF6#t;VdpILqd1JpTl zO?{I<4C6h|+_a_a0c8Fp{x5G#HOjE^y7V;@dvmLh-gP{cp)frY+paQZpjfxOu%1}9F zT7;8rgs}-J%}#h;%-`^jPZT+PwHGO%ewZq`fYG9mFTFH#P^ETu;BKJgCWVUqUX-ZUN4!sq-b_seG<-E9Lhfq)!O^cp)N-r2xao3 znM;@{(S=`O^`PW>wQYJ+GSMRcyNAsLP3!Lxk7qgG5>1i=JqvS`Z@{v*lZx6%Vwg1c z#$Fl}c(O(p1HQA9^UygtH+r8|BMDG{T;lfMi7kx`eyP~#yd>Kfr3&DIz>ax+puq+c zzV)k!L11<=USJBv4UTQqm0}_@F|*y5ss?`H*vhjWM2b0foHvR(aW@x*H3gNu1WFRZ z+Qx_6^ajQb@z=SfiP-|=^1EH%E2cQG59UfLB_I^kN~#NhjL+xIc>{%?e5_GYtXo_$ z`K3O`GuMX9IgfYoliB!|}Cxlizxx zR2*Ww3tVpYW)$oY&Cw+xc(a~3XVUy?-NG(9>iu22_1Bn@HN$=&mTJOa?=8VW$;Yo1 zhD3`_zM<8BnDi~T+8`d6hCZHPuL&+E8!C|Ex4|dFw5#>EfCaqy+_zK7;FERX05Otv z^btUr85xB8Vv1*$8d2fX*7AxP|DSK{hk?1F1U#E!;_Zx8zzsl3oxhqX)kZrs<&NmD zr`ZoiDv#E8S05$hA!Sc)@gEN!-i7l;zfwLfHp168i#t?h-$1=6X(Wul{{Layvb4nb zDRna$rtyw-hB-ZVB0oR+lf}tQm)=Y^>3%Z_-VTAGB7?wMOoZl{vJG4xD1j*6;Z!F= z5{%3{otsl4udx$Xn9EoIBbWEGy#plUz_e3TQ%^l7$*tyI9p!z+r?ND&@nXmKPiQIS zVEs_7l5RWikdFijqlClQORn2doT5UyD)}pb%*~~boaocRc_@U4K~8%QuNuj&C*OqU zA-^#zk)XX3=yOd~{hCM4F$~kjLZ^-0y+0{0ahqqCW11zyNb#l(o>`K)4l!<2dPDljNBg1@m!2zQp2hdE+pDAo#5k{q{)kS9oP zWGL=Dp^fzETRn=1HS-CD^X3N6FUvoB)cC{6EWR0 zgs~H>e|#aVX1nM1k|P)mIm8a9}A8|+( z{m2JjzvDP|wKK@Dw4KA-Wzb4gB9m#~sn&vD(00E0JaG!$SBgBAYG$hh{F9APE zXZz!#Ru0WX&Cy>?ZPoZ3KvG!|2@nDGz@Tu#{<@Wab|>QxxB;H}n24TrpnpO|n%34q9Sbvj627F@>Auob&o z)6kHcGhaW!_V>AT6m^E%^w?Ki)i-~WrKz{h<^#Vxy56;s7FtNLQC!KuT<-9z&^3MP zQgImjdc@PCFLiL$4;kxkmlOWr|KZyzui{9~ilURX62m;E((P`8nNt!CXC;AFVJt~d zH2^7dJrJoAw$ovvZu^vEtf?%SQ@pnvQg^(pf`JwB( zQ-U!BQW9tqL%jSZHXy=b$A1Ko%_;=f4v}?DAFn%1{|zthp-RZL9O6&ATxBHaJW6S9 zTq=<9#XuZ!?67}epjJc;y*h{@&mYYZ1pjNE%R`Wyvp^I!&v!)B`syIv$ezJ_k>3W| z!1%xvzAK?qS9~EdB)Yr(VJS}oL&vv0vW_sG&b*@uZLZrhi1|J%0hCLN|AV)846?21 z(zQ#wY}>YN+qTVJwr$(CZSSgGwr$(^>Uq0Q#~X3FBff}p;^eQzoNLXTGcw1O_dP~I zX)2jz{4Il>xKwJ!y72AFSg8T|-K~*P$f|@OV5KxUw$X+6^&P=;EjN5@7 zdT=tDhIp7-;T@P#-IX%3tXu^IO@o8;K4})hCIa#S5J^}P2*jahO#dXF4J>WyBE`#)@|h7&5< z)A)I?qR$LMGu4h}%oJAf*S{nIt+cGj0nlr628X2q;0@@>BUDU(q6x_EM5d}?sy4Sn ziY*Bh(EdZ^Hpe$cc}f64!0(Tb?#q1l_MTB^Pja!>IU zR?Ly5e}^j?FCr3o+Ncp8VPVN~fvA;~T<;w;<+&_WFh4mDhrO9;{Cysrkt}=}qia!U zB@7D?xWH)MbSzV(XwG*FV>1xBIW~rRBLUVjOi?#b5Nnj9QPIHP%;s#owla%d?F4@m zs)nTQ5Fn6@#mq_acxK(4LD8pn=bD+>k=1Zk4-^y^o;HR=Vv>=XOWE3uH$^Ru`T5Bd z&ioe!GSln>wnb_g2n0x;%T1mWV*|+ww>0?pSG3+5O9RO!_$1~=$CAS2ABQA`j~Dr< zQ^scCX*u&^a{Be?MxuKpRED~uAAfQ*U1cbXXRQ&t+^MO+oGI2S_A5Hf2!)^V8+B)3AWNXoS{W4*S+59WclBm>z1|vm-IP+wrX$$< zTKb|cW+?RStZj3EFq93ztSRow6PFc?Ne2_`^a_>fg$b!e z1ej3xJjYq#t!6t*Y6-a&AYHH(Fn?U7ywF&}$${i&UdeOfFcWuBbNJF`Zor`|SiKQZ zf3<*DmhWpGB)nK>N7%G_A5cgP9vXr!%LZ2HP9kBt z6!OJaHO%(tJj@q8hd?5A7N3#?7%e5zgxiXWHKG=RDw*_Yj)59$9L+U8+SHUK9Y zXlo*0-OojCqw40KeClWP3b0~4ihsB9Ya^daa6NW#T<@)43y|C!%y9Ed1${mr)9V6R zywj}W9x|UK?=LX`AgztB;Lsby$(yXjO4zdl884LPu_AcQI`krUgo9OcKlC=pEvra0BbDa9yIG9_t#YdI_;rGT|$ZWexqi2Q5EWLHo%pRfpnt2)TQDn10-GH z%=Shb`6~^|75J%5qpb8^VLe#Q12kK)33kdl@05e!o9E4f`#DQVYu)p7EZ_LE?jjQo zJnv{Xpm+sX5>T&TKmt_kOxGC-@GVf-fN_V32*%J1+2F>`c2bxEF6WtQsd#t-# zbIBThcqzUpW;AhQ?Qb6@Pf8G&z+TSDy+ehJIK)DC76v=y#KDu`>XSSGl$dKr#}Qxs zhA3$SZtnwPC3LyURyMQXu&iu!4R3PRQnUxtynySz#h+}n`m_B`0Q!Wg&()!~U{JEa z@}V)qDF)voE6aX{Ne=IOSN5L2`n_+juN4}PpoQ-N_YxcP$!F1!LRH<+S6Fghe(KKB z3P=k;WI%#By}6@#;GRbG$;tK44P&T^k7RR={Rsi}zkU|+{`^ZF{STe#&)m;Si{MHn zLP%Gwb5z{?>k&c>MwDQuCu(f$;_ti2PR3I&IgmMet|cmT;cZ+t=fEfNt951y{d*p| zE0c~S2E(BZ6(by|7gxS$$F?I38VXMtrY%~E&B%dE3z(~S&3wg(xd-DF)_9wk=>ABF z`?$y==$ESq^-F9t1+ooRm3VU9o=BFIy=d>H#);aHEgJN8S6F2?W`xFwnt#m~a#nce z-9m4r)wFPvgDHZUMu>N<(e6Kl1^f;T>mLfkSc?-Jll649`QC65_YbL}ihG|#6Uv{W zASB!)N&gq+alwDiqze(uo=4O3y8X|O75*g6rTc+92R`>0W0gNHM zGA{c+vCe4bPYwx3g1xQb?iF7`#AhC@0yUmzLpLLY)~DLOkk8b(i*2mJ^<>Je3Z#E^ zLKoHQb&wRnC&nVQo-;^qGMWuUOaMuU^j`WnI8(oEa2x+(h-*83r_FhQdWzZORVPE0o*|a)yGgt)R8X`+;lA2oMTT9r?p6RAujnbT1v+jI7?D6dkP~ zS+U=6%@cU*Ix_=twE14S6zJIckyVwM3?>uiP16+qe^hV`=m5kc`^r#x>W6CZdcLbM zs-~v;%?dRON*DE3R!TvTV=n2BW9zZy;u0!^2Z=N<`*G~(kJ%Orv5Zsek4`AhzkA*|C8MP$fINka%& zP$g$y4vhdbz9qrNIX2>mqC13)3aX$v3FK z6XU$R+4(O?R)HbHe5rbECw^ zqT^{}D0xM?zn!QdVl~YA_Xuv_lDrK4KJ_n1bPI`KW0|b^kfOJtABBCw zAqis;=@<9kxzFm4KCS7yLRhBH_+I0?iD%~%Rd;4r8|-n!j*P6Ivz*IvH}}Bl1o@ie zdCfOGo&}7pF!!TxCPUGPC~(U#9$`A;fLPG%oS7U;IMW{1%KZs^$>NPUW4&+%@4Y13 zID`4YB|BVohtcDc5K|hftNFnx*HR!279|0lnyrT1U5OJAky>GkYDMuuc(NtIX8vl5 z00LE?P3@5EBbo9FOr_gtEN&E8S2WlcMOMd10>-kF-7fuhu~$-rPinHiFU-ySl?+s7 zZ##O(KnUd`YrM3?>(uB{qGsXy)}f(D;wSIn!0(0`tyWT(ff+>UR~UmKE*Yh_5@iZh zcK1!)YJeh`2vC+%k7s_pOUcgx1LDpXKxk~TelObR7rldN zrH_kUN9Q${%K5=vHvd2`b%zZF)M_YdA|fT^*yqf>M~kX*2BSR!CFbS%X>KgSgJJ8lLP$K^d}#6^#Y4L^jr&>MgVIw4C=lc%d21 zIoBFmjgKFZUCC)`MKSZtpmp$7RENpZo0E_U(CQeKv=!c_Sl0SMq73A`FPt3V5tf++u z>eS~4(-V&gq_(K&(JR8fA%d7z8|SgomMVMyq6EL9HFnO^%Axfolvy+fcLgke+cNtH z;}cFAFu=USvn?cu85{fYdHZCRj{Y$FM!09w^IkXK&E|$x8M7g_=E`AatJG%XEwEa_ zLF@hO^z)bn`+hOc3YJx{-^eF}`>Tua$14#hgw<^ADSp+o%($T@>p~4H`m^># z?#c^@m~>;eg-ehEgm0d|2pN0f_^|>L7H9A4sFx%U1;4O`-o*q{6o$2Io3~Sm4*xhR z9^|eyI5&&4MH0whEQLr6Z&7ZMH;0GA87fGGZf~$psx8YER_&?CZz9oTtA_DyQ6#R0 zx+qwc=NEKv00!U$UWEz$6Qo{|5lR3-o5k)3a{}&*NLO3@5`fpoc>=D9@Jm7tE+giE zk{3O47SMUO62{()f67~2V#?GtN)GLB7SXn^8RWh!@6)Mz z?_`74<4FeU*vUG0@`>@?1N7VdD+oLoR5Ka?K8{%FSd~B9|Mi{6#w2Rn8K7srbSE_U z+`(zz3HsyS^+L}bND3<)9)h1o7Y zU5)C^q~V7o^feEX=lq3&;~(RPT7y8TpUoXbx4A(hDVLLwjD0wx=XB>6n^T&Lu+%)t zO;j98v_TdKcNQ`MkC+YTXjLQ1Y;#Wa8S^{@0P%#eTd9Jv(+aQI-)>?_(|l>l$%0|- z0@=V;9wQ2M2M4tep&Bb`ssujO0**B`1`v=ILiIELp?hyGHSd zFXY2XJ|>$&1P;)>c}5rZ4rAPNI;{h&S>___PEVh*kHGiInQE3j<($ zvV*6WGIh3>dM`Dq)o6EuUr|#M0R*Gq{DDQERtUIMK$Ln(R7QZ!YAni(?+{vyPljU& z;!PMAkqiHToV6yoL&+HUsAq&sB)=LY)tzn!wp+({{D*Di!07W>{8E`;K_F#yyH2co zOx!cOiT-8g)d0{EVG+N&x+CaSc0=Oy*~p*8_Rr2ZR+xB0V@YNk0@)*;N`&z-_ruGP$BUdaM7kl1u9Mf`_28zJQ$2< zRaW7ZXCPOSv;B~N;wSqDE_-Fby+HGg@u#5HL#XzD7OcF;xQhziL4Z^)S7Mf_rgb3r zy4%s43LeTBSjt_n+WCF}z|f!o@a79d_`eKkhTjPwj)p4O)x;!W(6MexW~(UM(PWf36|je z5d9eLxCuq5f|8sl-8!NHkbl9+=VY2mh5?Y5(VXs`3Q8qY-1b#$QR}iM7-Pak*NA)f z1c7%8;^*Z_Ws-DJWCXmMFne&ifz=7d@nt^(5tM28d{AJL-%Xv>JWTM^=G7M@HsVY! z0y$sP8Vk;r(=h91PnW>9yI9(sob3u)Mc;@E2HoCavo=g`isctZHzL_QP*Pra*c*{b zV7k3ULbgNTX?8qmj~*QGtxQS?fJ15~ft!4a!eE>g7Xpy*gkHF(F~=h?M3E$y9DoR@ zCC=BNGD(w@*qeBIQUX9yN_Duk&rkK>s1+fnz#II<&1?`iW%BZ)LV-75v;l4uH@!X) zL;I=a=6XCrouG*53JaB|3IOPD2?fTvuBBKg-#G3XPc2##{xe7j+!!ltcW1FM=7luF zPfA}qH8xNjRT(tRUxOI&l8RlECOACiNG}Mk#R(G}{lWX+qr+G(^oG~8wz_XLohglZ zYo&axB*!j(a4x^aEnqG!y@vE!FZVjG*BgqKVq}i=e2FOtoNdrFtt@YRhfe}?#KYqD z+Dj_2RGyk&SI>mFonKsiRR6|wH00jOhm>ohsY&k~1pC^*=YU^r+(7Z!sbqNA;PY|B z-2$CW4mA#Efv{*xxeLT+1z|J61-ZP!X8K@3>yZGY6}~NV)p={${e<{1`+?GBn*lRt zjVddRRb1RCe&%%or@yD-_GGmY;$PNuk2S zG32?x3Op#Jj8TcG3#b?2dare2rq@CWg4|gV4Ur7$>_dIcftg_$+`Wpg`K#7@A&oed z17ov+ES{xJ%HcJEI;4T*^9RC$(;j_flA09yH?|;5muMJlCZA7q2f@~Yl)}Kb10Bay zZy+jy>-3L9?GWEGgc!;yP=P>Jm~s4UNg_461AsZFG{foEK>Ag3gM(I(%{Qp=NqX}h zDL}A-WYz<5nBMXYIMhyH#>AzO^sliXecuTU-G8FZ>2Sni(5k)=i2SgOS)A*ZFOYTW z?a>68M1|3TCNPV)P=K^200y&VeZy^5bMz%-9Z}km%ZOY^$>&cBfVLj zUJN45-bma=+k!JTthxu_TrVO_1U5Py(UK{!;>}#5YJPj+b$2cL+Cao}(BOQ_Pk|NV zS3p(U48JoEfIt0#oyYa3onPkbWq@0kte};N75n!v>o=2JZ@wC4uM;aRHdt6}wjX~+ z$ebj8yX57nDSaT@MdM-_)wjLQn@WA>5=Ou$OYU58K2)qBNEvm}6Mt}_CD0U}=w?1?NQ?sjOS0obbVPFs6ziFFaxrA46%!qhpV{qb5ck%o{QEC`3c-J` zIZ0+k4ud2pd?GYmnEx927)knHT7Vkiot54=rYDoNe*_};rbPcQ1Ss#?VQsDsbWgcq zL*COVCo0q3=v(ST)t^*#2Hzya@6RJAF2%b26-ajQUVfEe&wDGuSanrw@H8K~hBn=K zR!pzltlvF2zB(*Ig}1;8gI#&uIi)l|hfhxHhtIg{Zv8%f2#NdR;^boQBP-+a z>AEo|%XBfM8YonFgU z4Pz?*)vb*1Oe9(u(F`ezXFbYiHrD_6SU6kIMMeFS7UHHd67C3Fs6Sxkl%1m)Fe}NU zNjK-s-fATIF>U4%C#iugaA^afc>6Sj!c*_!Z`VbZE|hSXVZYr4s}0%iaxL#b>AcU# zpNjAD9Zv%I0`l&HW+)TmEoEY1nv)Pzqu4&989MdvbvAIRw_lrDF~eUE0WQ7%!J8So ziGd{ahL3>Qua1xdh(`rR_x0>)Tm}TXpMcq#UcrtiyrUgLqxDukXynT<{P(dfd;LbG zQhW>$)m(IgI-iAzei-kgc^b#LadXzBF4(J)#ev!NW<#AP^(RM0QzT&VP@IK}4}awk zpOK}9S|D=uRYYl`vU)+!QDa0Wo1)P-eaL-$;~Tk#5wVzccc!mH8HSdlTTFjY1gaB- zQf_xI-0@_V7g)r9M@vk3xe=~|O->V4Zo+4UZr1v~oB0&TU5>qN7L%H+?p&S$tWpW@WLvGuB{$>^N`*sp=tr*iX`gJ2Yn`}k#N$Af? zMwXLn4l0^kxS+V73$dEt({9vyg-KVo`gVGBEjmtNe9Q~8_1CN!xZ%>aKHL5o5qftM zgP)0QC5=2R`H3&jLWc_BWAD5sbz0uCJS|z-G)~sd7Xm#ECQQD|x$V_-*($o&nDM^n zj!Rm!(bY^Xy ztS|IQ(;wdHXFH3WDU$vg@0eKr`b5ar*Y_>eW{@NGo`Vcr+1%#jqt50;!};zPW_m4j zK!7F{7^nKV`K%!WQgOkh%G%SrT3}!f%He}(=~6NMBE-Vo&5k; z9SxTi+AXx}-#&#OQ>TEbtxHNuuB>*vUdL$eCX&vU)SQkswr2R7I-^%xTNiJh(8E>E z7k6!r9w6Zky)Ajg8ah)Elvn(Fr;jP4OtR;zdGihCLqo&+A6+T-sL)}$tblx9 z({5{MkoRydHb2=;=AmhRYFwk&8mzZS!Nr#RL|9z_Z#(}H3D)BI$9+A+Q6d5^R#F% zl6E!-@$ks*?WpXb8WIaOQk}sPP*#^6NRjlAUW6cF*u{l4ykE^$s``Tkg!MIQlqC*W zq1`;aG^1Bg^1Rl7C;$M00w3JSaciehf9s@J?)|sj_IO6z3G1Q(=vc) zH2VueK$^mle0WAINy^zKO=RyraJ|o5i52NYCy>C5_63y=zv}J9%vf>h-y*& zuU(Ktp+DT=L}t+VOb+JC948=vkfpNfC}ewD9CYfSsws?u>LB6 z1{45upTfive!CY4S>j~+U18-c)%f5*Rf9f#DhP221@J2N#1F6VRq&eK)XD%wo(^ql zd97-KrAlanw0-41R0~ZCeQt+h%ulp|qQIp_%a^5HW!w%nM1*j7A_X92RIUQG@KWFb zD3s3^LHH>6B-n$qR=+lG_x_n%(4s|*q&2@#D0R@I<;8FoFrnO*-+?+4LD)Ok(>c$x zgoQ;$1obX?oNCX3it_}|(wo(>abbu6Mr!-ZYH14}lj`MOi3K6H1$uW%uPCd`&w-_y zF*!%|owS?~60)JP7WmI{AYQD^P^4cu#tb8#J0aD~B(0Lb_Cc*s3e=6+Z61D;#z{_?OIsU5o6Vyb7G#AOMU7X8L# zZELazAq^(u;chVwwJqcLqIb#F2;ENE8i;X&sF<^v&Hv4yofxO)h*)$i?mBDEQZg4_ z68I|`6cf;oI32r}I3ufO9E~Q_RrvJ-7(j(0C=G4#6cSD*DS}zvPqoq?z%L=F^uYZf zr^>uDi8iqQs}9UmEED> zHyjPW;v3Hefbq`Mkf1b7rEH%}CUiUAmcep~sg*pbCW$2yBYKur$5 zUU;q`zuNiTcTg1(iIc85K(oCk@$s>46(D9jJ^90-%anmY#Kof`Mu1gAo&Q~AG&vjw zEH-L%Cv*%#&drstcRyWk_9!8Zg%j?i5DlrbEmXV*ovFN3*DMbZe%ofx3#%vt2QCUM zycmh$SUw(-7ogf#a{*GM&N3WYxb0sE36Cedui8S^MH9*HKY-Y>Bnkd!B-#-zZh*0_ z5D>KDd$FvJ-G$+h7T2w5=tNI*e_rBzmaU1$ryIln5h46!yYLTHU#}+l1u|Nky&;JY z&nnbD6#^M*?T7_Yo_$T!jH2XD!}vpfvm4g39Xdd#;Xk)Bp}d>2*dron)k-^FxlTqu zqMw^Ln~T_~f{FFad@havlolMG`Zm<4m|l&L%Ou4KP8CpG^q=|T`2AU+9`{1Ren7i? z)jBlhGNw~<+8D%d_w>K3;qi-Ngy)r?Y0KTv%m8U!NJQ%~L&G6b2)B6bqyWPcOP=U% zpud_)bhvfQ%Nc(~R-aAonGi{o+|HatEF4RP%}{{=L3T803}hBi+-QpymIk^4P=UP8 zYtX?5WE_s>7WflhS6xX?Z`?y-QgL#u&uY`iKVJ!wa_6im0*qANuPzWQ%T~ka@MxP? zBj7?9V$n?-5WR1BBXh2?bIpp@77WyYv6&_m`Iq*V#bK#0&ov)&l9GM*+sZ-;%Fh%C zlb^F${*kA{`9*%pVLUxp6do03KwZvELI(b`mFd!))-OQePqn^&40`#4D-UJ4-d(ig z71afUXgsaQ3DYNU0Be-_^Hf@4CJ58J3-NT2^Yk~fu^PoCB{n#y{WJkVKq_dkPps`E zq6H@@w?!IGw2|VMO&2F+TxMrRCL?QDbuW5}IsrWYfc@1}0Fys`hk!#%a(JoR5LqQ* zwDh2{Y-)LUpqkEWxN4FI51LB^b~QykUz=#}vv97$BNbj*O+O|TR&ShYf|?+p*!+&h zv5~oywa|%9l*NizOffdTyEoR~{!_`vnit)Iye{_|*x5pJP-oe)@CIilOet~8n(F+J zC$l5Akt~^jh_}K0w-6z-{ovidN>5O((eL?HYhiFfWrWsB3alAy`_qF4E{9_jY5lm~ zE{>%6aP(GKApG~-J_G`B%W`*}^Kz ze$!{E+nMs#HS_fLPmvhZy~gFtaI;7b2+OvVy8uEC2o6(R@XI?K)=yUSlD0OE3g2$v z_0mVt?71a+-akQWG~m^|TERSjI|h{i!$7f;Xpf;Ot|+H+BSl+;M3}L9z^V9P0w5vV zT-1ZSvB(NMZS>eJ8{*Q^0Gl20D^eSTO&LrLlZxMVpS%CwYOKpA(NBvCS`$K}Ufsai z_>B;haA^JC;fPB9|Gzn++}i)h5%;_lEBVL1diBRfqZLLJf*;!0jn&x&?8Luaw|P-4 z(BciQg5l**uEccuR;l3hHAta9ebpoF&dwvac>wrv!gjG-jQZn7z@6aZQb_wK>KH<( zSE6ACf%8G}S6YUXND61Wx}Y8kaI!X%hApKS8G{Rj%K?ATlOTD4sncj@HD5pL-{*Sc zdEkh+sZ0e;#V1J@Ji1JQn<-s~zV?waWdaaoJm)

al zc{iPD7#_IEDsurMEI9#Ya_GJHLdgml#J*e(k(KF z3!>HcI=aE71^lE3h)wsl0;(2dP(a#p9`mQFmA|uEWMkgBufZUK*LDxf78X0M6)jq^ z?gw&IX}$i5zSq+v_eIBR!{2!SOQXzund$r&+x5$UVKR5T-Q1vou@S6EU-s_-)Q%5V z^mtTH3^KZr9@3{je?GXj2#<}2UN18pC@3&e+3W@}ULlfSYvF4Ro{#3m#oNPmd~t>D zsPs0+!kF|_1F}2$ETc9elGJQtp^MNbAm#<(g93ad;h?vOpfpfNw3w?)1y0)01$6za-eso zb{KtxIFuEG;+ya4D(FhL(?_uVMx@(I)rFBCo5pcD!Ype}v4?>c%BA3Pp!xOS5pQb9xYL2i4ox zSB)nNbaI3VVXKZ{%z>?&smNz=4YHf8dHMZ`VtjOI%pJ>tLz$n{h|**UGjZW9-~8!j z-4m}y5uD0)yoQIq$Ow+R#A!Zhy?dth%R5DkPq}`gs{wX@O(i6?8J1IuEy;=#x;Mu? zPR^DaV)W=iBzx{@#%f{*@qxjm2(>pf!M0{N?1)9aMpzdkTfSr#-iz&!s0sYZFIg4L zYFg5q%>eA`VA2jnc|e~^E^ojD)J;*a<$GH3$5(4o5j!I)$2u}Uv!>n z7R>aHmtp(f4rnF1eTfRN4^|6N&&$}Po$7we!CnDC!62J!}TxF{va!3RXN6bq_1D+1_TVmfT$gcl7BRRf<^B7h6XmCgY^G^i^0@mF>*xs{8ztHvuZ zStpXIaVvaprexB3-{0b)N4ya&k$|AcI>OE>NDAxN{utQmBa&jt+j1B?fC(l|n zG(Z+fK(2MLq_J9Sf1jD&&V1rb%&2hR)aX)Gb|1FN(pZlI0D$t3grd*^ zG;#V}+?_t)#LX{YBO>O>L84c(=qk@9fO#Y(l#h0*2qNH-Sb%I1 z5kMG02u`^}76EA}P={X@MlPx1aV_F;%@fTph=16<`TiLX04NA)xV_E60rqscmEP`Y zc6Bwe*`9D~We4#D9ygnqiAevOQ9rj~-U`z8X0cgau=VCcs5aN_EV*U)5DBO|nNZ zR&*rQymKCF92CZ1m%T8q^I8bm^N;<6Ibtc0`V@b`b1EeC+5xy`p6))8f%u_FVdLOmrAnUB!HnK`@cw41s zCRCO#TZ z^e)uP82?R z@6oebC#hDeGfb(GjyS)}eeT=vN-pCGYlVDsA4BsM1AdgZ{Ii|Ia8lHmXqK*S>~Nts};fVH4&|Iyq9=aZCMW zRfzW1&`=G^t?NB8J#*IFBx&6=U_r6NVTS%hZFh;}Pq~$l^h#=X(u_JVPKJ;5%_4F? z7yoK4+5Cd|t~@xB3CIYJD6^Def`Z>?D-;V4-WQw&0R(=boUB930P0ohFwZ>zhLpP5 zmcvo_r$r^k1SN*bm6!p5yKBRd+9;6L_t~xe*_JGS4S|}9+!C5R;{fx9>#d!v3c7S| zA!r5MR%@jB3IntcC384>pkH|81I3BLh~i%&F^lZX_G_qzcElQUY$!}Y9nHZy*lvgL z(=S$Du+rNf4H^wWq=z-<^JADI*xB2T^>HPLd_$`(j#umVxhX{@TTi8(Tf1Z%9QTgV zERc`(#rPUKVcyaK0IK*b1#*+Ki^U=R_U4Q8akD&D1lMa@ho+Bh&erAXW{yi)5tviDL z3hl^B&+eT3zqA0T`-2X6H>*`F)bCF8e|^;_Ml(_G7I?gXi_~q@kpW<2u&r^{6H`rb zM$|iajC3u<#wLopUN@AV1fCAmeJ(HI`S;MQmr>CEIvne#1G`_ElVV%1IMA-N zXk`^sY8>2^iEqMuAV2&K2ANJ+c5%lRb~G~<9MEsh-yic?BUKj=7QeSy+NductOe>Y zd?fawcjLZ~CxEb>#eAXhqjYU@VU?mQ(}yHt9YJw?#Z-1sjf+~8&h-g{W=2evGuo0s zk=|9V-V5CmC#9vzs3|n9yL}NTX?hTJ$THf>k}+;iD*fFAL7W(5HGINujBGR#WiVky zH`95|k4vNE#79ZtP=snVOr=+K@TY$D0i2~kM|(I+1uZg;Wm#4gwNJ%mQnyb4483by zo^_}{oTyZu0e-;=U&zBX-!W7Z`L7N7YjY|zBGQENC09)D&!)?Yf}l22Hz0b*URq~{xI+O^XG;ppI?{q|3ApGtwtRxUA18j>mORQRQchr2PR zyLm$xj7Dxoq`Xh=rCloyUrS2v)%FhX{6al~KEu4w?Q7qeyD2l}fpAS;`tH~z7$ZSb2Dg_(5huwU zR}Ap$4(W4h3fBw?=LR>6YZ8EyQjD@%cK<&$c*!2L&igsB*a99KIk z!_Jxj80+wzM+7)Cd8MLW9XVMk*CkJJla%?KImf2`f@1s0w8p?K8Q%+th+L~4m1fk2 zKnl6a00Egvv+Vss9`lu)Jw|rF-W;zB82IM53rX3Ty{ZY&2;&3BR{9<(fzMWA5)3#o z^M^x^)E7~y1*Gl0cf3IaG3#0cVR{v=cDibAc7Lm)Nd!iJ&%Q5nxneG9?1RBsJfZ9( zCei7qCEUOyrdiLqAO)YE7g6W^pnE^|R<^;W)X^C{CK<1VgqwpeP-V|R1#(^T>2%!` zfxA=2&s3?3i%p-lcBQ}lj1Y_L+D}r1qvYuAWlgD(9QX*an?LH&@iQf!H2=x;2)o@-XOuUC;iK^T4LtGT&LQ^x9}m_eRc;!@*F?yr_4b;VG5@GDnLs*@NZ%WK6q%84Ag zasDj$0g{iIN`)(Ux8BbEHa&EV(D@H(znaRL3k(9!QQ`eS#k?lU}e?Y+}W6DD9xzLU#QC$kBl&gb)0N?f=%EPe(0Eolne znzvuE*E7|s>`Oy9Rhk_MJgJ)ywd$#&$w2e~C6aVZMv{EE)Q2$TXyOxh1Djbf6>f7U zpUKqeGqEG}0_>}FjtnyWWDS@Kyd73=T68@g{t|(#4MR=o_~NxE==%x?f%#qhD`y1J`)ZsMXKc$1&zSIN5v=Rc;(Uj3PB+ z*?Q~mF$<0gAVx*dt7(s^sxqZF8$6nFWPDd8t-e#R2pWIg>W}zQwI|QV`h<? zAJ?Y%Nx26>eb2wpHQnOz6I`(V-IZ}l2A_+`I^56zlLf42w%rPiFU-xq;42M1JK0c! zG!##Z`8L;B|vsq=@PTbsRx`p6t0M#cWQvM z`fK#Jhsdtmejr%0uQ4p9HMU#XP*(0GUt&Jop1(Qpr&?~60^qm;kLb<2XL$0Vk6nu` zFtL1}n0z=Y0tp(NMVMbX22C&KbieE@X^o4sOunB6i9aKsnipng+qpU%=L90PrUzh- zC8F1d2Aa*jUzj1!7*wfOBn-zbQob9416UQOG#UI7c=Lx?F$YJwS|Jx^Up)yWs(h~* zDndK<5BB7w=h0qo&9}572+&p^P8*vl5JOTEQOvd#7fxAYR3KVQ`v0(h@C0TG?;r04 zd7c0}VfF4VB?&IW-hD<+QlK3~EFMXiH;Z9(ziec$C!1s&ZJN=|HygMMdUuz7J_#uE z*Iewbr*bJaCecl)l66Tc7k-AlW_8>mmpj*ety=k7|0t#isL{lUwBvefRwB$=9CxlHJN)Y&37;y z-*3Y933{vb?LS%hJAwC!xTz`7x8z#x`To#jIP9ZRsD16gjdUq8GW#nE>j@I4LDJs* zsPKiHe~mJv<)Yu|+NbN@+i}Cyci^v(*6g4+*S$w-Umr?J&rH-6)cD=o!67r9OY$Th zoT2=?n8Q|22wFjdXDe~FzVQ0!%iLC4k6cvI@rk`4k)-jncV%3PMu2Q#>3vDBy~|=K zG}d~suD_?on>0EoGBw7j`Z@Qgn2_XNLPu(PVJK5wVE7yuZ^1ZB3<&qx5EeTk4mk;(5 zmWyRJ?+~x9NmUaithW#pufrMcuBdQ|Js|!+-tICuj^;rVyd{glVzQW-nVFdxEoQKo znVHosW@ctt%*@QpvRGQZb2A$gF*|Yp-HY4&R@E8VU6GZY-M@G$6QNd1hqT6;+5KiH zKf%3ol)O8ckCljYdV`ECQI;oCHSTcAm-@BZ^wWpfIiy$B>wTl&(jnfDN!ED#o;N{F z1*>(=ZuxO|2$xD)(wDt9ZG3khmuz7zHtw0c-uC!yY*V(tLk1f9-UTgkgbHtw-50~xMsjFBhvm2GPYQS(#-=KO|hg&`s$ZWc3+Omlz2R-1ACPt4*<&=w#v)NHGpw7SBhs`oQD{*ejb0~Q5?5_yk=0tYp0#{AIR7j^+6TDwBClA*0A1JhO!1ao zN39NMch_E*u=frx3MNh|=u%d1KWg(HBijqdDUA5YMJw?9kirJqooNcB*V zTB!hHD(I=eJzKskBW8*KqolY=<^v#A9;pxYMF*-NW4OAAiF=Mz1DHE|y!@2a7cC9w zze*Q~BB7Gs(4*1j;*lvT^ml%Macblst8y~tR%r;JCe}ZJJ%^V|wlbz+>3R<=Es(&3 z?dphc@&kz(+}j%d-Y4bMNQ6f~A({meQJ{z8*6N-ojMY*^Xso}J_RM9_{!!7=)5un2 z!D`J+^pM#sKO@{E+)?79lJT;Z`kSNen}?%px6nGkOOQI5S-98^>E!r{T5*T%San7^ zP2TQ9vHN!$jB`JZ2biea1W!+G3a$tYByI9=ro_LbF3i#;1vkS`I_OU_-L(-=fZIJs zq2QZb@#t=M8tv{lo0Md1la@H42#<(Ji3m)UC<-%vTh$KW1tn=vNfLo*50?~V2pLtD zp1Z9HC%9?C5&>aEKcj_J77<}-?YIRGcOG2~?>!_1@wwbZ{Qy>symYda-s$iDbx`L0 z=$fzPkY2;0WS6hAi_e`gh4!#K(S`ItLYk=>X`N6mkPZSQ;kVHp334c-KiptArSH^j z_}tA)>o+5lOM5?GH&EqeCB^>aij6ulj;VMl;R=pMSy+lc0136V)8itp|sgqaG#!<7AovKoSaB~kSQL}Uw+wMH{>$} z4epo?{PIBR|6>od0PuR|IO8O^T55R zZ8-O*Nqod0Zx{(88pCC}a>CI+D;pjep(0c>yd89BemHQjjI<>Xn91QJM(10Fs|wOM z4~{uJs14nkB#=4U)ORTT!+XcM+KyRrF!aQ(yF#JDXspDdyK>oaf4YAp)RBpNarc(a zr0~%yspc}bN)$m#8_IqVRq*VyEGORVNhmc@p49AavD0LDO0M>~`{ve4rjAH20f?@t zWI#rxetRdPyy#zCCMI$Ic=>m#@Uk$SXUR5?gU7=pUw3w3qBwiHt7nz;e*<){xNL+8 z&QH9hR?1+)e)qaS$~?Tp8)ut51H{im{Lw7xjIa_%R#sV@?lm&!59xJ2TT>exqWD8Z zcMo?u_JXV=gj3D_#TRVJ&Pd?6zDH!YBocVw6PufMlitX)pma*Lmd3#B_AgFAIkoB6 zw;0GFrn`w%6K~Pgrx2GoSEP37;H}7Kj8ZSXQkxuq(jJ^D=bfT=Eth(VPvX(o>IJvS zS@mAwuOQWq47n5(_Wf0pxoOPWpQwTkiB!TVTZ~qDr1GhYRbq;$qA~+(qh^qov`7~l zz&TzBk^hfIX#VZLBSLvJ=XAZ^W)FBNfItJPQk6Lc-$E&p1=vi>?;GTw_BK~6FAFe( z6C2sPJ4o|5wf-_7lI?vL&pW8#_GJPS5p)#hB%~y0nuE^!w`624m0{fga{t_&BwIFr z?;nV?(bP+~EfP059+h=z-)ISAM52XG-ik=Rs{ybWw&!w)WdowNIYu_WTe#0pN=>j$ zK(oNyFmo$2<>B#e0sq9`2cU=g{Z~wU*7dADSmC_6i)4Yh>zSYrs!2%3thq-1DYTm0 zz=L5nVaQs7ZvBlm_$lajOH**;8WU0=JuT!t>7ptK97lVrLB|zaX}&VUp+~-EqdRT4 z*E`n(eN>*qT=R-MZ-|f|PuswRu+VDjA7BT%*d6&Q@)-=oWR2r$thF?fz+T@92TLLpJss}@5*gs)G z4d9ahl`l^_82y=Kms;^_wfroN*A=yVsZ+{C8srwFCNWucnIPnCEK)V;+$BQnvV~Og zDMql9&%ikY!5JdzU_>hm=gpD9jh}hE3Pp*Y9iYHe-MQ z+o{&s74m|Jo3m&T*+mAcPV)oSp2(r55*SfIA}P1B!4oTmd)tF1F7iz657L2wwGjg* zQK|(cCd)-Vym%-h_ys{ATH1mP%S0J|(DL#Fc8rzEfGehU2ov2Uqh+V8j9=e)2#?S4x>% ztDY_(Yzv8a4$5zc#?B;PNf+q;Utz^NNHFxWVh%?lSVf)EwMVq9^VM{^2Wh2({^j6! zLnagP-V!rTpV1%24!gsYDsW(|xWjRqy2tCe=mQZPi)d0ut~$xRGj?Q*{EEVi$+=pj zOFSg77B?eqY;G~JJ}Xlrs`Q9f$g?h!CO5U9Sy4c0rN$^|QE8*zf)kt(3K{8J`l;=m z;7|~fcY^j<z(uM~so7%JR zzSa=42A5Cz`hRt<6$5IyrQS8Z7%HCLG0b?Hb6qN|iG1 z+054q4xRW#buQ27^9hY5SjGap-2mS3$)pG>7vj@Jl?pP}Kf%gF@_RiZZmmo$#vg-& zTUFgL7X4TJJ)%ySg%L-rP?QuAAS&E04|E8?hyX#Pb4_sHMh%UK#deb5^vpmFtmD1~ z*c%-OiWYXa483Goia~KKzU%L5Q5yq!{s-5-6W~LIsI#o!{cS>Texsqp;9lJ*RNjz4 zq!KJEhw=Z$l4V3fR|L(krST4R-oLBbaxmQ#pn695Gd0$~urFN_-Mu{?Kz>a-TcVt{ zD6U)>06QA2;&ZHwApUVRxsh4HZ8l4~}er zFAd+5eaa;q<~W;Haw)PDp(!+u*!gW+#w#vKH7#U`>G;sN$)tYc3T`opUB1Dv1-r|O z-t@z`3JJeEv^fTRr^4*$qr_71GmSDiX6|6lc76$&yUQxD?tuc;t(TBV>CnG}QOqh8 zA^r&#ySII^<@WB6$oGh@L@Zuo2P9(x-=WzR@iC2bgaiv z#!l_7$99J4abW7ROLQXtIp!_@^a9L3KN?gGDhJ~2-}O$-P!Gy|I;N(*zG%3FJQz7( z>!V)aY`K*7`gP)_cRqXn)M{pS9;b>@9aZj|lUO~O78XbVK38<_Lqqzt0~}9_aX3^mya`6tU6=f0%xZdgqKzlR|pZVs5FqGu!mFqRxu- z68$9)E@AR8bX7an{?jCIW9L>;&G(s%S;@$))_dUf(OYQ-lxQ3oM^`Oiqr%9Uo^GM7 zgSZ^Uv2vVq*JR>J@7AE8nj^h(SFa+W!N)xXXBfJ4a``Eyp#q0&Q;v)gvvOCnBag-R z1A7JFl25>SGX|Kg)U&v8Z48?+Mwv1)DeUdR-~a7zb>m9sQ(nxU^pbM^EvoqkhseD0 ztsrltpJrL?M2uT~wjM=wV>K0NhqaLkoRQ;gQqHVu;YbetflO8}TzXweY&NDsfBO;W z2t^PaQadn%Uq&kl7Fm5sd_NLQmgGHW+$*;=3Bds)QV=O{MYAJvKqC5(*yMzicIx_a z-cBnLz8{lQgiQ|tKrL{zyG)(^U`~-N1s-0UC>dpnaYL=E-q!hC4(#ZX^Yqj_rA+@? ziW(VZpA0=vaGcIZsm+$%-E#n(QYXhe1V^7it8Fm`l^>%XQ&w&lNkfW?^_)=oYq^ma zzcA3TITH6hF!wiqg`1j;{{3@uMOywO-XE&SiyhP(mf~Tt^^$NAlGc|WN_9rwC(i>u z4*P~EMq5ZpmdZeg%Cib6zQTEkY1k(&J|N*|Xg z(mn6AagdNC`8kBMtWYU8*~(kc%c*oXb*aN!1JIaarjpgyRO5H?)ELus`{~QN?w{Qf z_ag=p?*G*94~UOS`9+FaZx$Bx&dnLiPjUcjZSsCsVH5k?9-iM2?Sfc5-Zs~fKX??} zU_Cz%h!;q;#B!v|7(GCxEQh`fds0u1bOu3f&=Lq~Hkilryj}lk=BVJlO)#d-)i-D6 zlfKS*?SPfBa%f&r!u?0Q$UOLpzw+rGuSYT&X0&?)8Q(SI%$@+@!yol&cRK0(KCXeE z95FVZdpme@oT*E*iM^?E+12~eTB2Hwb2DFj73dq|lt2yS_X-oXaOWmhRvPr)Sdt{S z+t=b5`hiO{MPVrn3FX@;{0!P z=(7KM*x>PS%3qH6Z)^zj?`){mXt|KB0{_o7_(Hz4xcd$-ah?#y|5GPe7=g5#z3S}3 z<(`%Ns{(FjH}03QeZBw8^I9(Vf1LURe(gq1Rh4Oab{c)oWtpRu9iw7T)dtntkqXXF zWBRISmJxL>Pn-IxKhchnH9GT9zEXFEY774|S9h;p6B<%rZ@lrd>6|~%ET7y$PikxE zI}6>V{=lkDs056KV71u5XFvJCt7_9|dLwgM`(J|8e2*Kc*RT#(^Hz_DiE{S3*OK&~ z@=e9SuGe%q!s#s_Opk*B6R);&(N$daa=edSJATPf*RSI_`rAQBSPtMb`Bjd=RzElH z>b1sa{F~cy{3GYT3XfNrfV?gLxMata_cesX``9(VKEc)CKW|N+eKr>zgS$Hu7Hhu< z?C811vH?xkKFOJrtBxK7;&~cn2fExg}*dCvNqd>|4KuCN>&(Jr8s9W?9X8W!XpZ9d{ zWc&dGHOy!MpmM-5w%t+a`^oPYsihvc5LklC}$LPsv@rC`eh>$ie#7CICHIyHb>h-#|1_+&ibL;}ar=LFNe z!2|lHE`8welHL%l>SzK9X(WMJdNX0jG8vT~Agc2wE&aZUV&ZLNh=J>PWDNJ5c#>3>Fxl=0AtSxwJ+}y(P@Y_op(knr zJN^`Sydp7u8ZW|U`mVHxtHe?g`fpYlF=`IvyP;X|JNg4@A|{=Vb|b=*5nTbxJVJ#Y zsm&&;9Ug0(>`vm6t9a>bIkid9_DJ;unjOM<1%J1}6OyRO$2aUm>#RRon&%_0(E%%x zphkJ5{drIj`X>)oMeARC?fKm@rQRnBd0Za}7hHRAh3u`8MLifVqrQ^k56&M^$){?r7O%1i z=6RBD>a_g}TEd&0zu)!rQ(8B^4m>ILQ)t+U%CMD$Ef6aNe35nq0fi~FuTfRM z)z=l8%!Q5aCOEB63@KYfh$=)O&$<@@l|>u+?Futfi73c!B1&iwRKimTuE=gr+-1LD z@X5+Iyn!NMm*k@`k97VI2~0%GQZ@l3uB*x&n=M(2vdrWz%077&*}F)A)j8#WJ|a>oA^{+LM2-fDOTSC4G~G}hg^|N!>Nk0-COBmacSCQn z8RLByxl=~>>Z(w;&>-oP5{8>v%9TLd_i#sVd`|q^1%Rm3uywrV;6H6zs zK;_F@MUxZBP00=&<-&}9BVP&VJ209q_0~UQtVmMXt#gY;$?5GLosqG9k{cU(^gfJs zSEJ>f_bsdGO-f3~Ww)WBrG9C45-;z1@c$=0PCu>{K4CX8{K z(4};N{DaWM>Iq%O&t<`?7188l!5w&DjbP8`hUAnpo+&tdu9{4C+~WUM${qD7OXN*YN`NYQ>H6>F4kMGK%{glqEKt%=(UD0x2n6*PCVVa;W!*EF*E?79dOKc z-Zob5I)anqv4thGw9{pFYcne}+Y+Mr`NcI8?QQNH+4Ndfk21S?2U=U^#!t{96su}& zE{P`1QKgR96?nduy?0BXBe8#3`bc7fR$ufTo!`2hEe}){m)}MF{!vL@W3*@Lf*X6( z~+yVgL86B{byutA5V%Y+S?hP-b&1W7krm|a_TvQ932^t$$K%)2>-Kg( zi@1>Lk)QA?q{X<7g$?f6|4wWDOR3Ra6|}TrQ!CmBB{F38<@23~15X zl^u))@r@!qckndgWAan&>5g1VZZN_y=mS8l*{d0!Q1+|sPlR~V9g|yHP?P)&Kpmq$ zCPDmLq71xNk7%@=9-XB>emcK6M0P#ooTZ#|6RmTUmbH zn7N&vaA7ryZ9~irx6A}F-qz2w@UNHA)}2%oO^_#>yfD}hZ$BS$oLi7^hL$@>k%Wzz zwFbEImz!@r8j)4ZdDBL)QR=BPKCl5UD@c-Nf2K98BffGRD9n4T3i1v-Q(!{Rx!c;E z5QVY?S}>IAEU4M1^ID9;f0h|)^q3hzu>>_ z7^vUA`z%-?T7Wr_B*Xz-A6Zwd(_j?ofBipm>O_<6E=Nt|yJmnURz-%MWA7ez@wp39*J;T5X_sZIVvSGlTB3^6gm{{+G#x?^1? zjLTZd@ncI!oIW`C-khNmcY|}EsrVYN8*E*+d3i879Ll+K^$lUe4<&^f6d2wJv3ls# zE7>aMC6-M%k)j}AvU38weFfy%hNtMo-$Ho^i8sgEoZvzv96&j$8>dZUDN5ExW{s1Y+em7@3e#jS6Exu}i-Efu!MSvcCSA z{gFhv`pToRHoM$7QT?_Z*v9}=s?T$VyF;;p_VbBN5vAbyOJ()F8t zlW{K3G>mxVfzo%4;^NALr4!Htf@T!H8{=p53B z8N{CtGwK5jyk{5oru8LXN=Sz&!WZ!a;@3ZextFMm(_*nVDBbS#^NM+mt&}d6EN&Z zDSu#&B0&bd6fxs4O!1Wi{gbw&m*cwS&!csS07auB@31d|p4Xz(d_~Q(^0jWvX)2A| zX;}%AOwl6>}Zi;+|!iuVl zRi^4VAzT-So*iWtc=U9f`VQ220Iek>v^mm2$EV)5>1`!a9ZOSaAVHVOn2Z~~tmEjfyDe9Q1_McxR3-@cj5w9r~?G)FN1Us`eZ5*fUko4dg` z9P!5*eq4b8Tl(<=u@7gu8olR-Mj=#1jx{C&CQ1r(9Ug}S6%b`>RjOrFl3!@q@-NZU zpDPlg;IU2FbylBxE?4U#lbPHrt-m;lEj6w!U!eg$UKz*OhrfD8*psdixg+&)$E23j zc;;9;paSbbjrn`9A{Givp}7I6l?N}UejZ-n)N&k(opPe%X{9>FT#NbC8V4cm(A{TEH7efD&pr*793i~V`KI0?7%+FfR(ia4-KZgR?!5_*=3g#SID zFNS)JBE?wwb!pLpV zyCN?X`5a*uh_J76J9XRAE%=or(8|kTv7Xf^3tkoJr5J#$NUGqm7CP5HNXAU`Q`PcH zrpYLAylj_4PC!94_CN!E}U)}7Ek+=(zrL?nfVKhaY zCcw+5cdCIn&T71lB)+Mb#Mz{$(0O}h6-?32&_wF8@~riY<5?%A5SzVUmqJ7hIS{5Q zs1UWgt1ctt1sr(7k6CQ@chMFI3M&~IG8q~~yS+QgFEES#R_mq`kAXh46-F|#&LKqQ z4mnDk7!xKe!qn_VN4yE3yGyA`P?a_vE5P_E8MdNo*;!9dE-^|d&hI0^Q;9TdxIR_q zHIsU44NqSy2A`m+?if@=mk3fwv#Wdd6%w6sd_Ku^QJOual_kf=U@gwta{Ynqbp7Xc zb-b|dz8&dSAxBdPFPj#c6K!nyBSgi)CHc0KFCKjCXl#i0*T6twThvOrdwwPO2!({5 zsHcNZ^6K1{kB+dmF5q0#k4hK|V{6mFzcoqm0ThgswtL@Z;klrIbuu*QN0c9-m8 zX{Or#I;{7Q!Unyy%uk8nEPz3xQ|IXPWrs|p5t%<3)aI8f$afW#QiQU8#410G%Covq zaw{7F$`AMaL=-H1nJ87HK}e)7;W-lPcz*Zf`4DhepO*&8t3lbb#+`0PJoCjKXE{@xSo94H;hPO)zFbuqe06{Y>RxDqqkjtv3ZLOY z=~@R~;eBPKEur@f;whW;RL{*=i`Jbg`lZ%TyX>1?)h7X`mB@LJOE%@k; zk+vw*%Qu+&@cgmZ%n}w)@hx$(|m+8NN9I6Logpc7$=H#yklaNKH^N;S29x20&6s(Ec@3HVQi-ybf=lak_J z<;X7d@;^?!eLc_qE}xsw;LB>&j7!w&MxAAjn8z>r)xujb#eG__35k>Am0V2mTbA7> z>*U9DWZkBoh%2DCRLJ;83;)5#TuUFlFkr4~s6I;Du}eXdSa4X1bL`_HRPv>{OsZ3C z_bUy?>3vaM75)|2#h2Lu&Mn{{pPxy)4gB!xsJ<>Oz3T7X9DwC;J7EgNpfOSx92vgU zZvFJBQ-jMXkf*4P9;~TlfcE^bFgJT@sYL)OESouMXYO`VxBCiSLrWUHd&VmA&f}6} z_!?z&4abTz!*v4bifAIRE^`o0`Ain^6RAYwOcJ`i_vpr2v~*be|oT zQwDC9xG?kln)BaBO|^%Co}a1_O-Z?Ud+)30sG_|pyP9hHnxlz?VyJHTkQewTS!z{!QA2lg-OGx&QJMKzyPic5PcCgj&JC?vBC?m6 z!+s4ewZKc38W50&X@7BxvNC1vGD(L!w%15}?NYb<6Hzpf55JDE^cqX^!YqZMX(&+S zx!s_)WgCAZY{sg7ZqO75FlLpBN3cEy{S^c@0q{%|$YMAZ5yO@io8+6TR};k#yxsh6 zGH|#dZ<|q;S;=w)2-nq{n6r?H3f8Kaj_bYSN*&oncvEM0b%SazAv{@{i{shOq#_i- z7rxz0Ve%j4edMTq`%*pgUT&6%k`f9jaj@-kmB6A0UPcLsHTFva*kodCwuBrD5}VB) zLo_B=Ya{U#gKOWgB2`+~u#TpCG%mP|(Y8I!r{qcr8G`;oDz~&d%H|$pRhO8`^r6wM z7<)Rj^>-e|BA~$^cKW%dsU_gjx2oFb2Qr@fagr1~iNS44;=Ow{(`ehNKzXlhr^zc( ziH+_AQS84CF9{Ll-Sl!xa`oPm?e|_aoL85VS-$mGKA~)tA&gFASXCLk_U$f7zrve; zv_ZHg_XmbkYz~A|>?xG;9P_SCG_rb;I-lQ)}k>O zFsQ@j4;|EeZ*V5Ke1>y{qArjhnZ3^%4VLd&aazG_Hzy0S<$8~Q3377>+CHo@dn~HS znXTG0lQ9Yqa>3#AHl|H(p)DYL`P_ar!C~VIg!#c55Kf^Zeu*HryNSRAw})r+bFHqoz#z~;JKq+&KDD_4!EDGDHDbVXmL-PQRy{- zt(RSF*o&TMN;g(uikzMe8(GcYFjovSsQ=~4pJ=mC4n|Tkb zv(FXoyOOd|TEEZ9R^~gNKq8{a1k)nUNFh0nwStu7B2%^wh_Ng+H8pwcd9M@`tqhBo zig_R!B=87Y6qOtT2^AIWlK05dHzzp69!a_OPCK$u<8jmJ@5kSjqqVJ?sTH6MkBH+g z&C83_zV%Z?x=GXA;AD7yTC%lh)eA>`jB!GGN^fwzm0M}bXcPUWpIDfLx>ZZK8ZHj^tdab?FjVufAgWhxIcW7vmbN!w; z`%0~Z!Hw{QEU7m8p{-_(A@bMlD`E#eR$QB-(%)2RximYQU9hw`B-Wv9$iCLN{>HYVpC3qR@i(^Ye#;8D%L&VMtb2CpE@N4=?jNO)3^@s%zo`=5Rt(n4-|ukvQR5 z0p*bX#C~d&LSmfVH7=e=IxOYP&)L~TNQaDO7woo;*3aV*l9#W3kxZcdq~M^XcqMivk>v&wv)4(67!=9L3F zaYTbeyR)v>S2R8#0J~s?GF%3WC+bAI5^S(zq{Qce!R8%EsBbMMsKXhm^80759>AlD ziUKqa$9(z`oGTO!U?CxPxl>xnbzj(P6vAxHOh* z5JIl`@kSaQKsbf0EjZ)6Z=BcthbB`Kfa__Z1+^mjt`MgJ3o3Z zXlqEex@Rw}&Z+&(vj8jl2J(T=tU&t z8r)n+0`WbA#I@D)pPGQ@r!nPlyN;lqD3Ozf^{YL#eDGGMf~fXv^kJLTU1Q6&zp%Jp z(6W47IJ_-W8TsPBhgolj{s<<%E2`TcPyVKrChH>j4S`1i92X`Wwu_ifId}|u9M}j# zjT{3HP!QLb<%aELHzJB5hLGWh|6vow`D_Sg$XFM( zkMU1vuAih{?xGq`+3@ppPWsWrK2*kzYv zyiR2M^=~#P=pbVY03E5Jj9^9GYD@?f7Bjv%joxD*^-WH%3ty#=vT%tIR}uO!sOf z)T^mn0)}_jQ~b;Z@lEr7Vtht4V-NI$(9CVb{#qtEw>yC}Sw_E0zy6{kaTE6gJi+V3 z_DIYnds;BmEsn4`W(E1#6Ubk(!)={%+(7b)qxYsmrUNxN@rlZaIQz7Rs!V*K&mWxn_)31!GEJF1kSpfZs zoh@E$B#KO--Pin(AfL5;f?$14my_RYu8<<23A$D-{6_`!;4ayv)1o_-vYgAG@KffbfVi) zaSf*?4pUvRo!;twexLuPlFrOFKD662Klokj-2NJ$LZ?fWm!Dt#tWYlPSgs)X(ZPyD zUnS1+9QKZ_pC6KAi-`EKf1RPYY564^Dkcr8~CQ+149 zwXZK5T3^zy!oj;Ed{}2MVngL!@m$=XEG(R_q(~WO- z(CT)#qG08)pp5_L_-}4u!WNGDg$wU$R^nGneEi}sL0{U z5cBXA1wva-E?xz*%n$4S9{*=1+QFLF9`uM!_}Gzqi`Kc^xZG@o&ljZpF{{7&vHiYU z|CUxatqstK?dnjF!xqcG7=(=qJw4rGRntDDd{-~A*$w!$g66L8H+tg!y>xF!Zo;RY z({Sij+b(*2bWk*zhPI&LUyC1?9DS{x3o250SdyO0u1wWH$kmo4 zkDyFQ8>owc1pL|hETc7mha+@VSVWXuh!Y8wy z1l2Mt!xL(>Gt(`Z%NRh%qnof)jNJInG_M>Y_S)$8G4y!*4^VM*S`&Hb!pIN2)ft8lxAL7uxk%5(ZX<6l#0Vs2n!)93o#cdDzV>f9*I86nNYZvt$F^X% zgxFhG%WcAwl1VQluuER|{T2aV$YbI~jSDKOXm`r%8d`7}jFUSPnf^S{MSa?+ptyqlj+r9)0w5jBsv%u_zz9F;ApwNtfjSZ`^*T zU1C$>WdxW37JIf90(uR4c{vg$>8B2-ovC$*UOn3~NJ%6IPiDYTzZo3dM>z1@C}85D zqsVn3HMpA+-5i})N1E_90v*06&oym7da@M%>kKk7y2x&smr6qNOL*|I**8k_ z`gP823^~EL=zYGy=xD-lN4b|HeY^!?L%f+C!}0v|Tv_%owfS`>R}r&o(iDyi{o7Je8 zWLZ;C>!2T_l3@(_HLAdEmRC)ku!HHZIqO_mVnr=mEu~A*Il0KY{V}Ii!oazmH!q+Q)W!_561KqDR zk%7z$ku@C1r7@Hj1|?k=SW00vrV{PgupJVFC{b=2%<8V~h-UK^Lo zy_wl5(i?BQGH$eWjQ}f)hgn;8fv!mfQC8f#E24zNgx^Pq(`u-yP>aq@Zp`Fo%+@EZ zxNs$pgbbpIw1XizhzW`u4y>L*4c^OS{_Aytj#n>HhkV#k4<)P zI^l*N^{)K!A0w}yasR0(KUJhZmes-TicJnX&M~Hmqs16(sL0sS{uR=4;i^d(ID3ps z%8J~afHh-HBrY#zYFMLw%Tj)8Mn=C<_}ULRtV9uQipgwi!1{P!{viyCh{zK0T+Mn$ zphTz5d|+f^_#kQHjp>pR@AckbW;WsiDzZCkA|i8WLHmf(!;*0owv%!(c#I!XZEFM zZyk(nG%qsWM~k8OG6hG?mAke2L&xJziR06gg@P{1rjIx2FtB<=MpK>?n36FUzB_kT zz5W{KPaO#N#@1|Q%2K^z84w{9U#!?uxzQVo z!zM?DN5tuX?(I$L$mTUL&a`In>!@FGT&jsk-5aPW&NL!3w%xbF+MyzCvW9V0!yqcE zf99T&Il8a&VoN5{N_cR&UGMNoTo3%C@0~x>pDjgbb4AX=E=@rhsnOETGuwNvsJ5y{Zi`Oz@5IY-@Bqs5 zUwguqhF^VIzh~zrYwtG1mfIx?%8_J$x8PNHhHYhu_x@e59!4UdtF_qpdhFAd*ryup z{=tod3k-|*F?Qq6bAw1zrEc$6Y?b# zC$>xCYB~=oWO4*6Qo?X7#n}3|Wads%%X8GAbij{17m%(4AAbt(U&U zgC#fTd@dQ|(ksAKmgLLDRyYqg3fStX)rh}B)!j^5S^UcYL_%HGln9Rvcg3`H3vP+!DsCLiLk~ zI=+~&ICQ2yWf!hd_Br5YhTnFn57gH7(lEzxNiN9i1*>>z+@S0PN~tr|{p{n){UOvu z=7TZux2k;fq;5%m=sKz0%xC970r%!m;wP3MWH*bC&l&AuHtGTX_WMEG7O`&QxrD)< z__O(~p&HvqQufl(TxUJPM^_CEYv(d=xjh^0_mLs|Y~QCp(SKR>|EC1eGZoZmM*ig@ z;pcj^_78@od9ek-IyC+5)xn-gWTJE^Yjz@PZ?OeP!{&J)|38Hw2j$~y_-j#e|BD_m zw$z8~u>Us(s^d-iuME^~nl9$zJfsTY!0F!^E_zg>X|t`79m4uR0K);m5V=y{GC5za zjlzA0k>}?I@->cOW)Fjiuw4s>_Qks^YdRiExvKx~F;ET#sZOI2t<#ju;KBwPRt@gP zQ193`7&WT_G42;G_)@zBfeC`O14FSWtbYW`{ixB*%~ZqpCwJ=3n#*v_l(_S;^EY=O zPgYDs*0orC%do))Un2dI$!hD;Z`wgJ-tfx2KTVIGrnc&(vt88R+eLRQHu|IRe;Ce* zPv@(Dzb`Q+C5bI@cQB$!!75KnvG2eqExzBKQ z62cN0k$abBRquZ9ygEZB0J)eMWq~Y_Y+%=s-@RX;5^DB8sC&z>xS}mvG=u;_g1fuB zyF+kycXxLJ!JWcAxI=J<;1ure?(X_3r{B3>_w7FYzJB-pdF$t{U90x4wPnsR#~fqh zRQ9(X+1cLJ-bqSiRgcUbpc?(GHFOGg9EleA^f@BpcS%t2__GT|TQt|8U* z)^>y_)2(z!kkDk7#7y1YL64qOk85ja*tk@urH1!wy11clSpD@h&SAtaDb#sVWsUI8sVdPzJ@vZ|kn zU-05Qcc|YOOk;|Xa^l%|k=0iU6SH-Wuh`Uv=zmXNrX0zQ~`@^WUAlT@^N9bpVPIDLsT z4@@>5+PLTS@9vl{feE`}IShU#E)No~bWbJ)X2x(1!W{~%4%RB>U4B*yxVQ6)roDD!Zh2}gu@ z@8)pd*Xoc0rl}gM^tzWxo*siXW?_IM?aaE?HgWJ%FZyF)2|?r+_Ht#5}teOolK=t(^GS$VZ{4dZ&!{8!5mE> zSRY(^*^q*T@X}M;1vOz01(}X`R+k#LoT)@Kl(IkKm~|q{(%JL193Aa)JsH&OCv(A0 zZ9H(-bzzH^ALGX*NQvk2(1(nmc~2@j<*x;?(SFzeb$wfmk)1QAxoQmBE3~V7Osda_(#XlcuM2vzd6c-tRy zBxzF}R+U}3M+n1bOkg4V=4;CEET`SeGe-UB;<_dEKIg(2DJ2s;gTik@5Bq(#XnHVx zczt}h>H}}Haa8~t8?8VIk|I7uZhEUXF%^Q&JVDLMuAxJi9^kag7%D9jJeMz!;xEtJ zt#`DdxpdbBzMA~FnLM2h3hM6q|J|W&YlIt85at zGugZ!FH*W5l34ETOz;G$nqk}MNb&WI|14eT zOj~J9i}iNhxgz@5KUmR4c~Jv4p6!=!^?JO$ebgTBM(dfDJ6YW;wBF(m(I~S!)u~Fe zvf5GHLlm!i@^0^mS(q@86O;_e+8BS-ijih^{fQToUQ(Xtd9_bl_0H*;n@}EO32HqX zs4cx#Z+fRWrXp{8=xg#a&VIU5;aaD(`%lmv8!GNcn)wMQ%KLHAiB!rWXNL>x+VRVd ziDOTf5W>1;WjO7_DSFG4H;f;NB*0x!)UuL zXBV$`3?8c*RlDJ)q+C*_Eg}*CX>RrPXGaWmMoxuLQl4p3aYfgO|1*%U&PwZl2=cuj zi;x)@AFQ}CNg(gXY@pK>qS2ej<-kkc8~n-pEEv~d#9D(eS6CJcYxWZfYC-|q-9PE# zVHfqp0&Q9?c4vxQ)qy3$0miEPMZ3zjz{`kzg1s`Js~qBIcc8ZeX_kKWSni2hv*`VU z3!AhAAZjKbmXcc2;{O!n)35wvRh*^PDIJ>}9|ZNZxo^;ScqlUFHgPo>tnQ?I{j)WKMJZ)*5SPPrti3w^W=y%3%MH zFOtvblQo7ZL;pB;K8R4PsxW~hV2OBU^}K1|^oOMaE7tdS=8QVU)BPg|ec3AVt-pL^ zXrH442%4jiH(B+`Nm80S_A~qJhqx&YEinh@u4yY!41tUX!JuNPS#eNelWKh+W^Yw} zUR})bqrUzbGwM6smGwAa;8dWp#waToeZpXPO_V>K)r=}}ed{!$r|C@XJO7pI!{^Fb zGqr|!HMalh#-mfd6V3JP+~{xp zq{{qkxxr{OmC4`F;pqERZ{M6zwZiHR4kb`F)pr z4&x6-(N2>4<)G%*mzkdL;zREf5rrvej<0p-Jzsk!cS#%<$wkj=g@_fzC2H%whT9Nh zFMLDKj^03du_*+;MGh}GDvlnTp%X$cosz$PZV$?r0~H}-t2V+}A`pdlBgX7GP-Bok z0|_(v)`B#XzX0UE@G~C_+e`IQyG50e+!D$l_>(ZJ5Q%m(UsY7o#;uBdY+MH;`Zuai z^L(B7RajP+5K@Kh>yZ=>uTMu%LSeke#}8S`VzY2P zFmBL}OWWkUS=F!OSAI-h*6U+Szz=zzqrhzR$hu&}VdyJQ>HJTU8to!tqM{%Y@QkjH zXF&zzE0w<6HO3qXv8bph-_>j;T&~_6xa1Hy$JWUXEga~7B2JIuA+*U$t&$Kncf?rN z8}B*2N!0LplK+U8$tJEhE4gHq{0yYUj#?(Bk7V{)!C$(6Jk+HEWawkjEJUgFj3 zpuRc^c0RsY+8b89G%lK=ZNDPa^mH!@`y{^}h$#ce!$PBC@(waHyV@k1f|1Y2gD63q z1o(X*!9#pp+@J0_`zehJ(eju|2Y|{rsAi;SjeRnY+XuObJdfhv7#H+NXHv?1Zp$-$ z$^an)Dp}ymt6030Bh? zN%UD~z^^e<2lz8J{Dsq-J|Q6zN?D}XVgJDW$?2hTZD*PTTlN)*$}CsCy$4Ay>c&gp z+n$OGqrqXyyyDb7dq~G#RFIIKHkx?9Q0dt!F!1WEnYq{$pG32xc_*hVgX&~5#w~|N zAjs9vY-;}*8ai~5t&>ljEZ%^ST`f8uQk|-4#$$V$$r+&u zRNF0!WjT=`PqW0*;cN>@u`0EB*~UXJDmk>~o2XSz%aq<23!>yGSjF>UKlk6$^P2p7 ztfi>a_kP08bwPmIu;7eHd9vGC?>%>TQqs8J{$L_KXA@2=^_U|?BG9Cyr+X`%dj4wW z$*UgQ2dvZ6a#tfWM2CH*Zf}iI3H@i(Emx1LD&uCm4p)6C^%I@j0YGi&xUQ#8e01B4$Hz)p-7Fl z&c`1Ow}LFPlW9-2E`?ycy(=_hxDP(Rj{3NzE1%SN*1g^rgBp+<&JAZ%j zZKoxbSwCrHf4cVWA3H>2{zsDi9X=Ro(ndGue6-E)wo(^9OEl!C=cw5r< zMQ%0QrtRJHkWL4vlkM0VM-k$PUE!6gN=N!FkDSIDR`-M&GCA^AD>`ntr$p6ad)Moq zQSJ#)&-P2;jljn>-2ZCgGAS0movNEk_W*6cpj-`Grd{Qo01)BW{W zRzbT2J*%A-6yL9G=>zfdY_B@38h4fzXNX03=FS#a0O=MM*nH z9|{U{#C%e%1OF|GCzPHA7)tE!P3@eMG8oN>I#x%RnV-PA?l(j2OLCSFD@HnQ$fx@M z3dN($m->G~@u(f^dia&O3!jDsV6y%bO_nuVN3BBD`Y~H)X;K2|^TvB| zbU<)sow1JQPJuNGYKPS~kua=7xBV^U=W@RE85Tq1cI`9s=-A<-hdsC0aKUKC_;lpv zbSDQBhsUwJNpU>NY*PG21rd`aKe(_LHE~%&=E{i!nIYCmC zD$66ACYUef1IIPJ@sGS-jz1V#UmC%2mUQNON#=zsK2yqU`@^~$i1p}{;~R#2!d}Pt z0gvxKjZi>A$ho_F!xA*0q96hVotRcYI z7khs8C*`J%9%6^SZ%U2vAhX*o4e#5j!}Bb?u@5m6;?f@kJecqMvZlZ^nl)WR_9X}~ z-b+C=7fMq4$CzdrGKW;7rPz>Od8kJ}`XNM=O1)Y+g*?!ujgkmw7(HalN>}4%vZ>1T&S)S^I*sl=v z@)OMEE`aSiUVCs;d-dRmZ4>`=eUa(ZaYvCBK)Xu=#GPFwUFS3^q` z`WbgS-orqu;NfwPT31)?ll2^Zc&JjJYagCYEJwrcc=_`s80<@J=pheBxrMTVP7dN< z?pGtCctYFPDn)tGd1zF*TGB~~NFo}B6sm^-9oewSw;Hfg+!qyA4q`@LN`A?DXd?RX z$M|nSg^Ol&V)Rn!mnZznnY7L`8ehpgBP=eQ*y6jte}QP$U;6!iA}#=+rNs{*p6sP1 zg(f;G4<{O7_^SHVkcV59_mm7)Py!Tb5bRRuL{H~HBMnnssYcbs#RaX?>9E>j(B)x2 zLTBBYZ-)=*5`_dEMzAm9wTnr_r8rpMv~cE95}TeI6Km)fm`_2rggUTF^sHX34Ai&W=_pNW}QF^a&W=<6Azo2rd z1Hhwt=m zWx$95p`k!zx@-&@{Sqn}c|bx!6Hs)-oyvv%?lreFNdZ*t&Doz`CJ7)D%i#6j4#z<# zM&a0=!V*czg@NMP3y<%tP7cU-P<~YCmCv#=ezjE&EOozt9XLP%scw8v|q!7WwS(6q-* z;lSeiI{8D{1a3(d;YWs4v-jGbjE`0dV8*4;OR*p{UVAKO8(GGLt8|~^)`X#*M<`AJ zLF%GV;yztL&}X{wpL7=q_xs1T@9?8bw>1RCt;p4i1&Oi0BdtwBX~J)pR_|Y4WJiBZ zl&f*QgPF$%4pO}OE!S5m-%?|Ty0w4Icw}23N7XrHC(=UeQ>5V%?QD2+pZMWPcO`Fm z;M@R5M|(H5Gl~qybsCMoR#!76LO5>RXvGewI4S~x?O~_dDE7MWN)rBl8a$y3#w5^; zyN-&EASpOOa$4lV$ZH`b& z_2EaR3Ny@_Ba;sO;Lmn4!j>t!9_(a)_ON@`w;BzGI8VtQmUbqjY#7t$M%~4&e5bGA z6!JSyZb%+!q`bbqak39gPC%<7_zQ`*Pb4YR$}K-|x*IZ(XBy$@P0uw|R?Ve&%kes| z<$Gr@Wzk3Rgpw+a4{sdw*Vm8+Xapt>q9F(J2qZdhvs=T$5%i4)HpgB3&Y`Z`WXz^g z)~-4SAF}_)P@3L<1*N5KDK`WB+3?2mkd?P?gAme2dXO4QZ)=Kbo9b#${GpoZ9%4hp zAxaawC3g!GTpk(8%<6}i3X;;bZL8xV3vjtcx1`D3y`G(){H4pDY>WTX*MO7P&H&q- zj}Bp(wKQKvQ@3C_Vr5X77DjxPIO`qWPLk(>FiH1==Z|fRKZr3m)R9SE{TEA9l%#Uq zN5#N!Z@ZlYjb@6;=P_-O(r!yog4!hc4K$*?!7De~*%Glc>k}pZZg`ng0@}xvyS3rl zPDqM?#!i(8tlVFQ9JV{2mc#Tv<~f-R{3l0lty^+zg4pxJF2+=S_sB76<_1z}us19H z&CIzc=AmgFyXAqAI1;UzePFPXI*a10I4BV3?_^2vFM-PEy!cnw#H_U#2?#0$>45)0 zGt=ZdqD$~b$S1AwnzCcAm9Mn|s?l38>3|L>fAevIS9>t+Qk}yRT!N?O=1vSos?=2I ztY4x{kp=Uh5vJiz!AQpR?OhGn5jw@O-CvqRgl^`vG2?swv~Xx`p+XKqmeA#&eoW+WOUOPP!IRe(`_-Z#1qu2cu~XDh1%lw zjnAf_BJB^0qU)tQyCEa@Ccef`aYcEivmf7P6MUwIgGjL~ucr)A|1|E<9b=M`I#YCx zv?8OfLuzLa#d> zRhhSua3h)^c0cLk(jp+wEJs_`G5j{3p@)I0-?I1zjmakbAPiaTv1;s;8g-~sv2WEr z2yY>q*}h-GtAjHOH50muAiSC`*cilPf_%)!UcGY~$;A6wo7^dwvH0OsfCx9f{^*77 zKz~QcGc#UylsL@NaBAs*uRS0-V|Xfe9hI$8x&M9qYV4JhI{9bH&f@Dj_`R6>3K6-R zeXn#m17RDaGGFr#l(zT5P+#|i77GmJJY8uzXom5(z8l|lvu+5y^SR@hKXkDPgU(DI zNxP?zyuwz9j#ZSj=w?}jTqFcUJSeEUAu2+;AQI@Q82RCnJ{P-$cuqW@^F*o)BMb#_CLWy!}k6j=V z2FF9aVt zRy(-OVs7ut6PkY~;&d<2PNYdxxR?F!lc&NwN=o5R;-f`4{rXs0@PZ0)`U*}$+^SSs znzNxZcm4dcG}(W05%P2Mzi{g+CaGHULvTzgDn@ipLWnUn`=hKzek*i&AG@Nr4l`)Y z@vmMMd@RmkJX#61dAd^$p-mfnCTP0xWf(+;A2NR!eDm-Gf|TRmWir?Tz4o;WBL8xf zZU1y`7P$AXNrsGqGMSv1W!|qqGqEY0N$GziGb7h~e~ASVE#PgHt2MU7tL zyIKY%uT3y&S^w?`{+CD1xFI6T8FHn>=Px=Nr~jzRYpBKvHIDQ~VLlwD69@6T=U30wh|9mH6#D_DNI&1pS)XYbcHtFjl@yWSZrp};w(C~M%U9Wvd!T>hd4-7|8bxWD&F;?ea;#QOX1CDc*bw#n`$Ze1gsUrkHD zCC~eAqg%{^-YKXliXO;jMw>SJ^lDA1II(Ha_J=shv^`EMId=+zI+D`#4{L| zY!gIv=@Xdg*TI?Rnoh(#4h2e&ger|Nq?S$PI5uk>S#ez|iu2}OVv>FZZ2KjMZf-ao%uX^O7Wzy<@I81ofXEZ&x;6$tC<^YU|UPV z<36>oX99A%wiQZ8f{1V7hq?v0mYbbeGpGwK+6`s?_iLR{ef3FfzgNJhG;;P|!XcaE`{ODcPq z>(^Jm?@Tgs&G*vPpS{gL-AIuMPzUD*y;lhIBVSM8l(>YpuY|u4(wjTHUK+ydKS^_Y zV=4aQNzQ5qH9cJ@E#~5K%SN!C;3^4|!pQgwc4oqx(cucKGn{GNGWsv;pXeOucf;;L z(w20=RowRFpMjqgwEnQ(ZB}E5dped~n;u7~@U;I6;>!}4)TknBgZb-zxJxTAO5|^B zH7rpGCr8YXRnQyCrD)_ZOitJ2L?@4CLhihKxdqs0F|FzqqwCNHJ)Q`}L3@TI=Ooy? zwEI9|@m!yA1>1k%CsF^1S++m>by>+%8T$8rU;BBl^7qCEbtil;WhriMZeA(;#|L}? z^Y-i5Qs3mP7pgjBt^RR8;D9Q?mASK<1%;x2H!OxGOZhqLG_2fNc>n8w?t7unxMVN9 zll*ToI~4C&Y!3&A3F{Hx#o(TnpN-JOtq2o-+Oe>r=~Hc-s@=?~rzf0?G7R8Jk-3 zRFO5fN=E5vLV9Mn0c_`~3=au`yodY`l~0KzEu5DWI^wNYh!|R};q2PHfw5s#fJTP} z2i6jWW`jw&nwL(#%YSHDkn*BQ4iRrrn7B0MK>?5^y%xh7EvEPIRPO0UXN`ElL^#oS zd61lmj~QgHP|wbbgi|?}9+B@I<6LdeP9Vavv|JqVdssu z1uyAVFcKy6MdAM_>NKsI+57h)p4f<2%S#$pJGkp>CSyA86X32yj|o}#F7SoOf0t}dzaio71xM#op={NavcqpVW1{H?IAG$+ruriU-frGSv5(qTt>t;zL?|2`}Ls@8=`1dUc z>UOnb*x2HqvFi(5Pv-0G)*_(FS_n^kN>*xJr_3wUk?q#I`vzAO1o}{*@{ypbwc4AB zV{cem4H|DvLMffG=`o~shxX@N%n}LR1CUU9<34%IK>eg zeG^}FJfpf%iz--%oRREK+kB3HTvp;tCfTz3Auz9Am7;x~78i|2z~94?fM8JfMS+6( zE7uO@5j%y>FmFmy!Cj-!$#e3iV}(m<@m7VQ>c)`3L?+QA<^*#K>>9US^YBKLS#Nfw zRUUO90ua4Ie}INd9K2Fe9^o(I2x9a<>cJ)LYJxQ##DRpL1A~b%|4e#c1fg4D6A=;F zx*z!XlUn>pgfQ;5_nWBWMaW3=9`Eoz$kZNR6>;m4RFZucRY9d6?62{4M15m``t3hv zL5(^&M@AUvpwEIya#_czY|gi-dH@gP8a^h=V1$1IT)ZUrX2yqja&GdTBrYHkoiMeJWzE>wA8Nofk`7kX061AgjBO)LpDSg?vl39OKlJ*HDRBu0|fNHt%?dI{Q`p} zn<66KM$8y4BYr7}2fa6rUasmb#>IjYVG|H7KD`Ks7pY?TOgTyihTa1j|;bh08{vXtxx}9;H z8DWd#Ls5cS&F%OIaHQvBWkx zKho;mRlm&1w~j@jWQ6Htt>{(|h79kRNc(}gwTa*^St9%2*W-S8M$NJkM@YM;Wl$5x zaHh@o&>8^5m182_nx?Z#>tf{an-<45eveF1MfaWZ3nrUjJaXSzADJ~sJ+!F9`jkoz ztLyd|osr$J*tKsUUk6nHk&w;;edgC?eO`QMQW{R0bd#&w+QLV`S;!O<+9L9n&k(pZ zAadMvEzipg1Zu;_is$RhiodxN*hjUrX>>iIX0Q)zEAU#bRg&QcuM#Y_@{F~sp4PA& zA}VIxgLnq%H~yrDd5pBIM^kAAKjSWK{i#)Kx=HL`1#RZDY{aQNX8i&2mAVR~k-97Q z#)AV#7dgeUK^XX8rr{+DvBk;yLLx&F6M_**`ocISXJ#k-IK-MZex>MYVnW|e2b-X= zIk!1M&jmjdf>39O{^h83z8=QU;^h$eb#pWHj++L^*pOvzN3y;M5U8-|kxspAJdJ}} zf+VI(#)&Lclto{~E5`- zNGpbJ1VhAkFWo`S8Z}y#8oI)mt+XgFg*Sa4(#iLk+Vjd)I8@)xiXv#h@Q&6;gVDNd zjQiWNZ94ZQL#d1l@iNO?jS_?Kj#&(3GdiDs)Y0>OAF(EUcI zVS{+GiL)86-C85dS-gXL4G;cmlGQVyKP4fEzj5S(LCI)NG;^lYOrfQ}e0mWTNCEb-N+#LpKRdrsW!@KDsI z+%aaWzrk)V))FTJ5q=*B#HN5jKsiFe$CLjs>m?tb)%;%U;s_1bGlDd-wMg8aP{Vy^ zh1Jshz^PIp-eA?`Unc(OxMFL{uvrxq4*7nznrx^EV*_$KE)tdiz-X-ZLTx4w z4R?*kkw82zr!NH{C)P@TgBBXa|<7G(VvV7g6UeM|_Wx0|bA!(&M9BS0ZQC zXdjgd;G;l#xr#09(0^wuQ*HnGxqqdfvh2d(iAq|ukK9|ol7t*Ws74}#N!zs=&$QTG;C z8X(IkkhV+}S)Ee4$>@J?_$L=&pjb*l9{=bxvP`47$(v%h1hUNKLJ|+9q`SkTAOS&a zG-JpGw%9KC@hj zEsm|O!(oA`GDL%}*C&#_DH4v{@~Jfm1XCuI5P@$3{mWzedaa?t%OBIW4C+^b zE-`;^n7$}py1Sha8AS{|vkGo^p6iWAjk?Hi%U+zz5i|Qkt%~hpGW;F5BACb?g+}d` z_P~RsjHiB5)Gp0#Ylu>@AyGihF`xn z-~Q~tRc!7Crftio#4glqzfIj*`U}u4-x?UaP-BAi+jLi8mOP#6m125L=iuZT1W8Ks-XJ78g#u-7qSEFwfAF>qioNUg|{<26& z7TkqD*XZ4lYV@^efA)L}%x&jwxL>wK{Uy2Fk^pe zPM+;&DXO%sB|&v9yLU>45;-?3EV{)X%XcyO?cEiPclhc$X-bzqht|JA#kHj$WJH-Q zHS~z9ic<^J#1UkdUU8h}e1)!SRovNIqfC=5Fo6l+(>v&Y(Y^UN-`p+sJ>tJp*m{Xd z26bkeB2(obUk*{D2zB#gvTV1+0fI4m4mt8@{GN{pxw+lR+zXunqhI9kdBk;c;mM*O zg`+RCQd}2!C?pTIuZ(eNZYy<226j)oj_SdoFaRvS_jQP%{jDDSvgP>+BrF2ZIxmD=AyfwdineFDhMhUGc?-%PLt{+9{%&Od#z1!CH+`HFdjr^D8ov(G{& zw${u@vuL;+@dJ~G#`~o;+CFHzeaV@c$3JrR|2pA3@i=Uh7Us%T( zu%%@63Cg}bhj3Di+tcB-{IEr_zdP;zL!oa9gr=A=S$w#DI#g_b94M~fdQmS-LUEcI zclKCt1i-3kDuv-M#0g$}ZS`^aeTjnd5A{JZ&V$S#I@s&b;(t-K9~+u*cRX3tmEd{hQ^voL z+MzbRg!T%`amu6-nMPo|=;voG-Hk2phsbgI=6RV^*oS6RjR$N?eOS(SX)pd9z(42d zr+oA+BTJ{)Y11JwgpGB^Y}=;Dqgu%Ni4;#-W=}!O>4F&74OdAbEBb+Pzpiu$A*Ga~ zf&uI~*Ae7fXl+SgQ$Ak zNNJMoeiUR}MM2P~arBi%t8F(Wp?69%cJeKFO~uQCGk={xI%)E2S^Bj}qDqJn60_6r zl>IgC`d8HPL7$;VDsW6}pSVLsq$d_^BHux%+mknadRDI>!-)w4;X=k?b%y>*gkmK# zlhG8t`3&Ti;MnBU@~)vUL{$Zy!Vz^~Ubw_~Iz?ecnN(W*6o8Ic>-D4Hrz#TMp6O^v zMF!woM3|dqql~{wy81N=MuOPtTW^6`hGZ>MIcCfFZsnws$x4*rbY5PyhAcg@N=JGk z8%^LbgNXk)u!~ZC{OvlKceOt7QDbZyT|-O@K7&33aE;=&R{_`(D*N>~v{|@N2Wo*S zDsfXP&dg~}i!yS8jguOK9A4=n4-=7&f9mKE6+)`+ge7C3$Rh_jw}xi~VhZQP&5@Co zj69hJeJO`HsR+~l=m+RZ9K(NKb-%VbAXj2pm0ukdXKI0zXmHCn8D23ikT%i0V$|+q zsqeh?@=enD{XtK1^JtVdd4dmpQy%l5FI&qQB-7~t}{`y4@97>W#%epN{Uykkx(s$Z7b`bEYkEs zwUINrAiDOv4Ux3U>xz3}_#Ci^-9xESN-v8h)C1M4wK2IqL$$oo;c!(|<>C`>%V^CZ zR{L#_N-}}e;ISd$PLEx3`+83CJ_X?qw|AV7`qPn&jf=eqZ?0j_B4-znqxuPB;uD5F zOL%@vj9k3M0Y}|aRQSM|)@IsAR<4q@R?39Y$pBx|DGrZohf$A;fm0sYV8Wq8zEL5w zCkwWu>C#J%Lto-B0(kk(#o2d{j`Q~V-7j5q@X0FTV5A&r;E@75FD$vYhwDFh>na@m z-rGhyO!imJv#2f(L>+zwN|7L2-KBQid+b{mPxndf{1%ZOe;q z_obn*xvKcMV|4rD=K`LA;>^|Ri9?khA%7yr+R@JlYgsHGUlEYIjcC?yWB3wKM{462 zt`)MqoBXTTSD=nRid>9E$#d6f8<`Npf2C#BR`-)J&6`1N;3~bEAVP z28pfXfr+%brV=&wX+kRk^=;!NB$TmdS$!tT(I0N6c-HPKSN0oOW>qj+N~|MId&1{( zc?*TVO8s08r*IdDr8*!U&V6b>D8I+z8%}tiHP2OI{8^1T`c9AN??6qbi>A-4H>x1R}0hJ2;@m>kYI|2n3#dyU@> z6}xRzf3C-LtF|;ROpCy8SNC+!@;g&n2`e&n@6}#W^KbKOs7g za|u?(XA@C&uVGCNfcHBFpb4B2-u$7?o8VD+V-5_L}F&p-%sB`{ufvS=X+VIC`gu==lit#l~8p|dp2_rL}YgU{N0rGJsEugrD#2l z@CJKy3C>a!n7!|xuxs;2w{>!-EGqC%B(6Dc@s$~VhTS|J@gJ`FbFe4P)IXB@`lVYi ztzC>Ys$VP>n)oXTG6uBYco!eWi0@MX?oM_OQZ06~Z1ou-^HPG}TREH!`x#a=uBs?9 zsy(L-hc%EXItN<&FPvS~={;QXzH2j3k``v=UQ_xlA`gdN$n5yTF4R5G9B9;8ps_U4 zA6&)d?Qw@judWh*re=kL2SZgqzV}Y2M}w7_LuF|wM|;PgZAe1FQcAyM>7EiP^>X3svnYJb?siVvhdZE)(J`W~vfxfDrNb(_V$-%UYOHN#NqO zG<{=~PenjdI9!E{$&T9W47{@Sv`eyldkz@B*{Ip%bX8nYKpTt!IV&%w8mUuDVzPc_ zotQX-&#LMqGM5V@*f+#BI{W9MFEe}H`^|B~wbjXSCbm+=p)ZqMN_*RRniVoo6K=kT zhsuxQ@&6iiKo7Mh{bq%!SZ|W-%N)9RDqQ7QF7jq29*2v}B67rHhpY$!06Msn4ST=O zG=(5B8nAvcak_W;jEzl2ArHt4sBvN#h`|#6cwZ~I(Ep8v=F=MW%Rd!tFs<6-srPLW zZtE6*HbOhl8Aj;tx?36o$UXeN*sf~XR+$(={NEuB{vu^=pjeE;$^s=lv98AU4s!aY z%Q;hPWO;_3)e1fQNUmyu9;B3J|DN&wH8KTlTZMM6R2M?dZbfeT&e3yR5kBk3Z>hZ- z9X(0Y)xf~KlFi?S&R;9MEh$Isd{Oa!h|;BUt!WK^1JQ5^r0Izgye`S`bSNSWCG0nj>`4fB69wd zI-}?W(B(?n#Ma4Z?x4`d@Vf7~0(lQTnmh#^0pMVqEk`~<2n~CMRIbFRH9>@d!B1-V zv_Sd4;{YIVb!z!9Y<)W5$-T9)MiM>9j)uLZ4W$34Ml&u05ntB zkXGkQ_5pT6{(N+Xm`t$=AY9 z#7NywI7^M-69V+@68OCDU+XLeUxsh9uMC^Xwt?X=b}Jz)Oi)tyTGC%!Y5}+T_tP2M@+*>sSZgdhJASoFViU8 z3w7K^M0&~P*u_W53*jXf_&}fXsB^9z$( zCM%DSkBB^|CV%2cz>K2bM$?fzZontbA!x?`o<>rv-cIyWOC?^=y$&-|#IzcxlHgSILXWv>ugb`z8n?G0STt#tv)0sO$LBBuQ zT05$cWBfirW^*)wOhO`^vgu~W*0w2A#1xxgncJHJ{G#+AS9q8St{&yi3u`jWdzBGu zYTq1#FfmU%aaX}%_bw=XmC6;LkEc9&U(r9OI-y4|&rz{_sG#M{76^0AOsReeig3SU zs^tbPQa_P-@dksLolgfOqVZjd>7Z-fz69Xg1pw^wzw9-NW5Bkeso841O4Nlj3} z#^rEwD`Y7#J7ss=krNjaj=J<@V7g*WCFb#VXGLUVa!}vjTJ8J61}OKuhyp?XRlLC2 z&Kp^7xU}Bj9^nxc|7YJTnre;?PqBw;!i2(DH6xAstkqo;W?Xz$|0{vp_Vd(TW>^C2 zet-5obg!n;tuJb0_@ZI>Nxwkp@JD9bG?%2=XNp+7{7DOYwrG&M-c0;=EndkZ^!izo zQ$1DB%`1dQBbmF;(KZx!uZ}TzG_N*v&XY+>-roiP%GulPSGmX)q0ev{=iIxOJJMJ| zg!ucXZ;8F>LL2p!*@(X;aUX%Q>eb*wSc$)uu-qS<5m{W7+D+%x(;|N-&=0WVkPbD< zQkIb!)h`H%0V&mYfv?#m!}oJj@R2Hkb{XWlRk-Ha@oHO(>O3g;w=`Y^RykR%^A+;^xq!4ojwD>w%|~&|dC=;kZ=cPo ztc@Gnv%qQ)G6K&#)bMyj^#018cKF=+UYhv|ii!r8`*aE@eYS%wHkZ?KgE5Cc-&0v8 z;PMsPdCkk6y}ip_{$(HLOnmYEXb8e4!=v0B0h0fTT3U`XO=+StW#W76c0UKd>DW>i z^|ze347cpwwwMGT5w$1Oyg@e7NuEG@0=#yz{u}-8NT8h6vD>2c9&5Ocz?QNhlYU%L ztCkH}O=kbf{G+!G_5q-#^1qJeAakZc?DpZI*vG`)4ELD?>U5E-*$V4>b%B%5lGJ^Y ziJ`RY`I^Z2a&gHfhFm4Pq79YDmz*6^>y$Gxsxw+^HPA}hbLW;yy!|~nF~HL8dM_)? zLtj5#+%aCxK^saifj%UmdgIkp{)1xoAVj%2<(-$@Zt)BR0c&*M-38NbC(L8Bh68Mc z_==)_Ekg(6Pr`z}b{P@|l7L=yw4uO^kx~M^BI`5eW^LW8>S@3hf&GD0F8dyK+lICD zukK*{8xYNfo#h^ioX>>-?M_6HRDf+b+9h}U@>yg8FPSanr8~9oR4T% zRkic4aT?mC_MdDy-~RmGb!_E*VNtiIK3^VhI-K&SzoO^BjvW2AbF}*5U*MWOz@WWw zbyq^@=UavH(>$vK*s|+%dh_n`vB^0Qm@Q0S=QPdPIc76{ljA!GV9+np9FT8c^=6F( zNKdhICQVQociz^nr@r(e@@pAYy%UoNs|YzJ(d&~%k`r@TXD8N{QJad3OE-pDTzw?K ztBEltrZC~u+6^C&5-*!BF~2EV>H+0-WY8TS5E9aD$$J#oyDti7Dbz@7Wy?^fNz|(DpL=A+*=q4RG_EZ{}Zg0`2h6<9sm(_mDh7eV8eC$rzF{(~` zS=w04_W8uREDWZ0S1H@VAZEvNGdoT)O~?%3K((7rNJ9w&f--M;P)@=ST2Gog@R9oC zVDawQ#&GoFbAZvF+ODiqq94Z`O`mx3D1RnaBu)}ue3OyxIdZ)p;w6@r(pd=hr|I@G z;b)XMPJK0;jK(I;ljwct3IW~rvARs(b{F0~?a=nlwn33A7jM~BMo-Pe%X$gF@lp2KI*9;qt@J?MfFs{8+qW{Q7Qc8eusfykq z4IHAgo6oV^4-a0np!&VcF3vDxJ8XS{Jxa>r2~Iu_TyO z^3V*HL@ke(vAQU*OzhxNMZCR6S1@$Tr}B1D*;0qNu|&nOl1h~B>S4Za0)i|ublAJVYFou{bhsMk?9Gxs zkz%@9^(E_Z1Dm?B$mx-`$$Hgcq^s7MEs<60;@08yj9V!2Y1T>ZVDgQH^Vdbiuh^d} z&PlJHurR)72%0Whz0LBd)Vk3lb{X5@xzY7!e(Ih~EuV^TBZ4CvW-T^%f+uW{q9~le zrJuy^>^OC)Bp&>x0x%W4mKP#QckIhwnNr~kQZcIrC}Pa2e(u>9V&Xae|0$%TEh3MM zE|}Q&8W$dEa&zK({9&oRKEy1rb=o-?UDBK-NREY;e{Mk`9EnOXows=k6VQWhpgB=% zUy1U0K4*1Mo{Y;=@1n!BcR}f-{~~jnFBHAsf+2rQ*Wz*z|0)J>zxnF1ZZTMC-T7hP zSsDU}eh5%BJ1XY9WPA9vx?2CbX$>!$e=vjKoCAU%vJ|6b(S43XZKc*j8aptwX9m^k&Tt5m-9Jc^ zPXH8M*D{Z!xVQp0#ao2^AAXUS_--jeQK6RD?kRlY0P|p%v*w%qMB$fx&sd{!o~#q+ zaZelh3IG7U{?!jpJ9Cz;%MWXmwb6H(ht0idBVaV=7+|a#2ww~e%QtI7r@le@bZ)1Xd-N!^Y zIk8Jq;iJyX8yG2t3$um9{VKRSlJrGSb6yMQW!wA9ft2>}+jO~FGXq*gVEp`=# zt6ydN%%~=ifI9#YdCu&;AEpBE4iiB5|JHH*bg3;kH1C(bgY>VZ8f&QG%zyKD$xQx5 z9xN4%7x}2cQ%>PhTvpBP{bP?(_xi_vhJ&vb39ryE|8|y~NSLslPc+`k0{ec-!r3l4 zPcB7rH21wDv}6%_k)~MYA3)pY8ua=Ig?a&XC0|pM863v!Lh)C2Y;$7kPML;N(a;n> z=c||yZ4;dv;uT_h7>Aik_kBliaEyzqgX6XVBa6 zT7bRIMWYyu& z2nSk?DRnK>^p@J9n)35!n0@S%)sYN7XV~NcB$g5*Mrfe;Qx|YFiZ1{^rXTEjbh~ro zYVt{D4GvX5=PI7%af66t9&H#p)0E|D*rkP5JG15(diBr18#4S%LB`LCKYq3L7XGnp>1xU$L(ZmrP(s?C zcV+zY{ybRE>P)LjuSF_zJ76@TI7?6yOnwiYpJ%rnkId8FNCuDCDMlf;8ES&{((Bbg zz?LP8-<^9KR{coDhbY$kvul_^x&A=En5L_pqRwo^r^KSPw=dhO_}wEkLvFZdjw5hl zg>}1IPbQRguf}_vBSUihx7r{0zAMSUSr)-!0hHZNfI&XXK&~XuD_-9y7l|{ z=LvLs3$GdJ0PM~SJ5>Rx-N~NMtUphiIw~q98MO&4qu@(vpUq(<=8GKNTaYqIl=yXmH zvWS%N5`{y^82v6zGuLdj@n_HvCYA)g9dcxJbdlL|18jCrRxb;zk5HmeKgmtxC~|UR z?XO6waIk3Z^-oiN+<-SCpWeQt%l8zIe0>VWw#|49OXgpV9{Vl}7O13jByvD4OGeV6 z7N3{D8{DT0T(T-e6Rl1nV`j#J64ZzjJ^Qhfiia+uG)u$7Yxz0agZ%Fk?@c?i8uMAsx$^bm(jsdmY8S9{axHEY zHeF4BGK}Sz8?umV>@2|o_Cniyu;SB4W+1MF`129wgh;{Z>o`~fyF zg`|3x8BVQW2QxG;RK{7Rf=cxJKhvTFYAxZr+VXShr;t1iAUEZ&4(*7%C&Z*|$q-Un zoo+$mHB0W@y<@j0$46?B20>!PYQ;RArE){p8i~~aYVpW6r^38!bu=_PtJ~ZRXUQgV z&`6Nf7YH~tOs(UkeTyO1%d#u-qfLc?rhA`r26B9d3+JjI3B|So zt|-X6cVBl_s6Q6+tSySsDi4ZFw}o(ykF0j(ZfozTtH;w5=Yi(xpN%v}nNzRtAZ3vm z;Vmj2!WbD{1S-X#!q(3I4K(UZa)u3B)Tv6|a6b=ndsRYf4-p}_>giQR> z+quuwTW8{1`ugliIbpLFOQ{37)Hw=86SVX1XuuqdL|8@>hevzzq8uF7(nEoy59XXg zCZ0WtR%P2Z@)z)M{d-*tYBwNp4b|)2=&Vu>RU%m<#+fze%3?%;FQ%<%`cnx z-ih3@uSK>%=RW{Nez{Z4a+u(=9$UCq?)fUJi}S}V@8L;tU{hLmdWs4G3Z3vhh>(J9 z_hweW@t7$pkszAU+lH+w7X?UqbGOz24d<+~2-)Y%Cai3F zTSBrqr;yy>zHAsO+UGB(K^dm0A$KXHh8kkmF|kMus7k;)y)3?xTabgOckl2JD-d&I z$^iCrL$_w6raTQJq;w2{;TSCWokYcmWxIOz$oZl8r1+oM2<_!33eoe#4hY3+S&AWP ziC1O!|5$El{@ZdB78?2(K0Eo(72}e#GB%y7cJSXsP0nBfNpBM^o96VX`~Svg+Wk+W zCgJ}@)U;cLu}+bo|8iQ-cxS z#ACSJTaDG;**dT5L+Ja(+9mP$z|iuzX65jL1&>h=U#+=(Zgpk*Tu2}$meH1rh- zNCf=oMZ)wlU9IbpSaqkl&a>}PVT{z%1TND+l$+n5nr*lC@!-wd>#aLadvk{!g50Ef zG5BgUTOF9KR~jE2KjMyv7d2gTVZ1DzF@^?aGo{NeFbI{BaiLuJk02NJVw>vT_k@x| z__gYqB3G1Wcy>Y|#f8}aV_$hfO2y@bm@Oyk0qV=~3!voVjVpf|jweFho?AueOwQ)XzKSP20%dWhiqxd_mbH`WTc~E?&*q zLctgcm3UapZpl^tn{Vs58_6Cd9km)fl#1o3I~dud3rk$@MQ`o{%J;qIb`&kfFj;R; zL<^XI8(M6z)(hZ_ILPK-#%0t|D3aVHnllH9nxTT{~LGWYNebcOK*+tpKxG*X;rj5>Y zsg8_Jb6qYUE~_Nyr+K4k>iycQOo`th@j00^^$-SgBpALtG5gRzZqn$C0fyK##_weGf~aMBm~eFzL(CG#LiNI84|Oi zV&hO}br__O=Z;B?1Ydw-G1<4xckp$5`~btdi9XVP8u4Bl<;3A11o}$f5w@;e9fQPS zufnaMrgpC;NmEo_JJj?T~MjEJeF=E4NF%c%YJlQgPNQPR=k&Qyi_?G)B6&dIurMx+wU zkhe|7o_SX_WRv3&kwO0i=ULBI0Th(O9}r8nU1AZK0KGjVr;3_bO$b2$@ z8SI~L`05x|SQ1f1>xS5B{A zdl&bJ&9QC+>n1qA8xmp~*Y-qJx{X47Mm`$fsL3%L4d$Ulr}dupy8F_);thg~{O&U1 zbMttbOLG7V|IZMYQ`g73rbIc0{h=&X^H5~v7lJpPs`a=c?fCHQCUp3a+AGC6a<++w zMXM&1-K74paVjZ{dk54n%Kp%_3BtjUX|pA}iT6PI$n@@U6-QxUF)^j}^w#yu_-0MG zc0H(Z7v6q}@M(m*U!~#&W%;kS^t!brhKOBkks_ibWIPcHU*Ho%jb$

??p*h8I}VrmECFrBqvrs$pT4H_@s{?J%QscWNa=Kk%7}XeC-9HNsMv?H;P|? z#7Lvk!%{#k%S;_#8fli9i$5#i z@`55_lvBTqT*i5aPmA>b0F`GYP>X&xU~@BTKT}a}Wn$)9C4wx;+YXCc0O1%py9bDO z%- znidBR5fLU;ZHg$Tg;u&ey9(@I67F{vHEwXi6k(FOE-eOg<=@HejAtnJ+#C=SYkS!`O0?iPlI2>a@jCV0BDP~liR?24-|w-<>2VyxT#4xM z&$xg7*gPxd>cbPb?ZD{QpBu7B_T<0CM_8Wu6RV#tHxY8P%lf?YSP^$ze5I5U4s_>f ze1XFe6m^GI__rO1{&&hBC(IqmGiL@3<-GCDIWoi_qd|uScCD7_>6SMr!xCtK)L62i zb&IlAS$>#mv44cq2zBZz75-vdDitrzfyNq#8b9Sb8c>ft#rhd(;%D!$Y5|BQ9fTYc z;TR@4LRPAo`u2;|k6`_CaB}f5lp??oW(vZ$rQIb5hKtHr=znhLca3A^9&EDQse>+p zhH`D_f(hG}2>9_D!s?&YkZDB$Uj^|yRFFe-DP_XtWG3HN1ej>URq7G7=qhbuM!QH| zQDu_tb#LjE=4@69Z}{ij%+oOpGz<8rdsqffA+>Om+ud`eTc<&W0=zv7zWxjc#2AYL z6SR8HVr~7wJ5D^)0$Ps=4cnZtP+hxmCJF#QNu-7^NFX~IdkAK zO7Emm>LNoX#hY$j!-3Y%KlZPn=}GId7L>`@^D!;8%Mo^!juX(nMV4a!}LSe(ReJ{0E?dqk?6eo@|n@Om+mcB3ASWZUIP|+sJ z`w`DZMAuH%+s^9y;ol#=+mdVEax;bcesnJXltO6E@@&YY{N1j%AL(5Fh7?Hxb`kzBZ4!~HW~*X*j#JBrnR=6N}sU>+7>iewUBmpxW)`bnLz zD73*(ajEGNUPGSv{JfAb_rT)d$jwVgLh@s55Z4EKKLJ;OJ^)WsIG9PLSci@T^PV6$ z?0s`>B4NZAiUMc?pFdOi zfB(vMvmXE591a%N@3X==@AWJ46AoUx#^CV`-gXv`yU}x{0)5~H-w%Ov zo*S)ajMu6Y2hQp^?OrL%Bx1JVtMS6ljs8Aax9DL z(eKG?nJ!Yrg}alXJ~+4~UhE6_8)H6eeMc;mu}PO6&MM z)7FDK%=g(lMS@;1A8QbCbt`A0Qh|z-2U_bm(!^YWKsb8?VRPtFrp$8<P%#6^t8LDk}_3;;*wqxilR&j z7{)mI>EtJOwLBw$wMWg5gw!`TA6S;(bh%=Ug|EYAt{{oj3PUkfrlP3Ph(FYE_`6P3&^u#+q{wW{5Na?K{E>Nq$yh^xvC<7pB7gZX)DS#D>d zPpO*atkWRndfL{wdUa@j40p+%XM#zfl4z=IDc zjR5E*8wSH`LaT3?%;;%VFD@%SxO?F1PFMW{4NQMya}XrUq}Z&e>FMN7?RYH6Msn!c zHr-u$0%bhgEA#x*92!eJl6yS%@Pt#vd^|=j`4TdECf>uqz2y>p*GOpW?g>N{<4n}g zv&`r7tZ{_qT@B-2P_2Qd3{NJDbes!hj{dfN-Kaagq6#yPpW1dK^u+pgAj30e=vz9# zeJpgdW`MPNE3)d>BicIj;l&wKbS1w`!GyuyC99F$?XgV6dSa>We5~dtN?F!dQ`D1U zKCx@bEXpHTQe!Mzq%zSR=V~VAXLC_nBwZ^&%>^;iup6PJs{QDq6!FMHBtX zmZ>Y);7@H)hW;jVVJ(Kb`!`cN{o(vhZQWye3^1rlO8Jxo4cU!>jf%Q?V&&vK^BpV` z4Q0L`e@Pol!=>OxK}PPulNFG*4>?N%gMK~~nU6|li$QH4xqgbJ{?M)4oSRp=VvR{n z=$C@)D%zn}|4{ z3rezTV=*qLyG@(>D~6P_xoixL>*E=ZliY1=7(L%$`ix-XjVu63&-MH1i=4a`w{mF6 z3GGY>CfM*_#WRu3rhg#PPyc1D zHpBE~wyne+J~enfcf=9g>cGw6*DME|o&X zpVJv#w%T#2H(uA=Uy7#`-A29b2hikCXTG|>l0BK4@+_Nb;zHV%SXl`Ga9;Mybw(q) z|J7*J{b|fP2_cZHcxY&-`#;r`kv=eKYqZ#KPO^}u;n(v2R9ZfW)fdCB@<0z!jBSG|1?E5dHP+up#-wLUcN zP~i)w#2S?&G$b16u6!%m17q-~Ybd}iEPN;EyPP(wDSj$5dlW?E)*T{~I-2VnMJGaA zq8dmKlTW5TKcG~-G=tkYr2fcfm-b_#6h8vd>{w!$SJ#dw6C?_V-Ad*s`Et)Nl{@%B z)Uz$Jy!+%rH?g1*6^m9!-wBi8C3^pb#Ig@3FW0fs=t`C|Y`#|-!u3B`fFG8jl z%M&kW*XZ9O^J37PJzrS2{A3rGJ>*NrENCOCNckn0hD|abvtlc$x6N$A6@P0#dDg|3 zE7Um+MGC#xTo@!c)%T58;>iSg17q7!_%&M^tZ6gLA&A=(Uz^*ihc)h=tGBSLAQXpHDTg4yKX9R@UBsMYIPf4_^!JmhP$(@))6_kQ+^DW+R4r4V@fS>7Rf*ksK@5}QGc z2|Ggn1cP*IZ9P`mg?`jttINGA@sBDs9iKI#K645Xkdx%-;c{EOkmUkj4eEI$DG*Yl zvV#QdPw|KvpL|G6Dv9-FlJHqzB0hP^?&ywtIkT7~cgXip zc1={p-K^-U%gQF%*2gDaY+MW5PJ_K3+s!##q$VRflF7?fp+LKy(Uq zWRh1anPM=Rd)O=ox5Tp>Z1-~G1H*DyzKp@+ZiTWiv*B(1x;}!Nc3z#es+~n}hei*j zcfh>FKA~0f3XfJpmVPfCmY0z zL&8;H51zomoIiUbSdPfkp-g;Sj$1s&4XMf@%hapji4OV9=<;EWb z7v=z=B_6XdJ-YhhI+J_4spm%8W4)MA^Tn7@EDbG8e2>D zbM>PH7YKw^T!LYM5Od`KyAJPIO?Cp8N`VtRPby3lL2>afpR^Ei>Pcv*k}O1#{D+?m zT&{UMl4J^8-j_0zKc0}~sn{4!l)@KioL<_p*j-P1C&?Uw6j@|9bfSi~C*K?MLG{@+ z#}`I*maDcZ3Y^&%(Z%QF?SqX)b0hBt*8ucvWmD>nBEdk+&g<`d&xZ%fq?!^{6 z3gn#=1M*;&^k#deZZeKW!~IezQc}yEu`*~$E_7eAjmbh+ ze7~-G-_MP_zSFA8RFG=1!{1VXA`(SxLQ1dSy}A6MQ1>k{(?K0FFp7LRR5+6dSgI)YP?ii6R)tV)DN6>p`>x4hNq#)2`jzb~hl|*ECz5vt?ZeIs zo@7*p8vUO{?yaD%#FLg1{{q^bP7rr%6v?;2b0R*r(1HfmZR6%XJ~LRc zOP$Yn7&l6X^Vvn`Ts4)#-6lAC!b6L=z}oh-**}r$AMr}2I(gB*+feG_E*aGWR{ zr#!^l0tvkO>(4~w_MPk$K{4)Z{wBU3qQ5hOQ1ll|?pG6#2`8bK@jx!R z#EfbF=|G6oNRl7Ib+vv({pG#3hM6qGuEKR(qLoBRq;rs(D$D9{b_k=+rT#7--Ezb+ z@Ago&)TU!R$w*PXnI8s^u-F0q;8Xd0GT}g2iIFtUp>H(oRz{^zYTR z(UoNfh?v_Sh{-l&bY%_!s;3IuP^mnU8B1-TaH3ZGzx`}gEG^rQx6uRdzID{@Vqy2J zr91##Jnxt4|E#<9(*KhGQor=)Q;0c`+Sh!{0rI@^+PNb=cEW)*JagH|6oDNNW;v!Z zU$($)Vm%iHpM@vKi3%!ok-@U1_S5*6M|0c{1fZ+y)DEr;!b*g7pB(L~D4-mLVRo&z zp_KH66jx)q|GT8TX<|71Shml0qGZ8=)f`$9;=>#gjrL?r*uW9YY80;JT-Q0Q3_GVu zKli|$!7DTrDeHCS#BHHx>&V(Yobm$(ilw5DR@vtQ?Tq-B{G$eI-)zm70@#rjt*DMd zwHW4No4Zz}9Z#8`z8uR}i`EfeQ7fdZqKJ^Ou_q~^BkZ+b9bb6goUg^E5g;uL&yO%= zbW;7U5XhclxRM61H^4fzSn%mF?pCUn!P;d^e5yDIjT#X^gTX;^5C0)|yALWdg42C! z!^|Yy+A5qfAaj58Y|>KRny12`U6rMWyJI_fGcLI{2sIh200XQ(cIwiZKVsT;CMlsf zP+!e@Y#=+`p*e83s1xtfFSyI0qUFaL z%tgY{BTrAsRkbv6!p<;L67#Y)xfQHL+rKA63f>#23{*CfB#_ix+ zE?cR&N=$`#SB6K(Nt~+Bek1O8jd*k8FSCZznOU2OcBrYGcEmdySVMpHyhwE`% z@U%;xW*IU^&LdY^>gz0d+e2mSn*MOWwcA8sYOjlriEgDBu-8(Z%TC@oHHn<|XcT?C z^>QLp2sUsfDYFZSj0H6xIQ1qDeT|~jV?}6&5i-J=ci20g|BAS-o<7R=v;U5D^@N?M zpdiYbQl%j)jW)ckJseS(i8D+tr@N)qB_3=Y98dzQE2#-1@)LOlBYT9bTtrs7j862s zqxG}}DATmbBY&;}O-v(eTrtQXcvC^=n8SvSuIxEPM<7CPXD_5MC#1!ab1B-x)aL41PR0evvr6=&$oEjHeP zi9qe(-`4cmx+)@d3nN4}nK>Icx5*8?iyXoZt5a!`9LmzdBgupLHedjwA z8yAmSST`Z(g96Y%G7W@D*X|+;gLLWaf)+ncx%KX%K^xfoXTZnzIe(lMvpfp$;HGZ=eEbV_?|HpT|HgvO0MjPsTljh`2A}Aqk8!G2E53e8qff_dokNT{ zlriWyMEOenom$_9kRBDuDEVjmp8Tj0FOvJXTK^)w-ovtSY(`8JXyW6o#yVu+buRes zY<-Bv;>6tuR4pzRET>@gFayd0lDa`^~1%Vn!%F_5rHYZV-Utg+C}chJAI!yl!Kx zSg;z`ziNxe@5%Sa7(KJaTOSvf@T*81a8R;BwU z#3WRH7A@a@wene|1#T<-ZImE)RjCY-x-*g`%?gyvAyvgQgPpKt8}Rb zx0rdEt~@%;1MWi&Zg}Y|Mz@|%i&e&k2TeDbc7AQ(>fLmKp628p z$s9yrI)Q@<%XKJ17r}JaolrMfd7nu|*4&qg6@ziB3~4#6Ydox?|AhV>QQB-Lbk z1Et$%k~$xTVMuS+zm8=WuhKm-2u@yBo7{%)^Xn z30lTCjeNse+p}qGh*s$u5Dnr!ll!U#`LKuTi)csLfx#k&apqUB%1(FW_SojFI>KA~ zE##X#sOHiA2OI#=3elc+8;nMhx+RhR^|t$b`EQ*uHa6BL_8+YV=N*x?U7Z>2IHMuv zpB5Rpof{bU&UfCh(rF6L_;3A^^`PJ%bmwv?7eE1d&9_LgD4$)v;_mQ_{yt%A{-2I2 zBJTX!g!db^wYNJCZ0-ocVt56?A;cr_${mVq}O(Q{lb#f@w&jxeq zMnJj?M6D%qP~Kmq91od%k+ZFLj=@|WDr9D7pM#=YlcSUHh&y*Ds_D@FSFN(re`Utr z95HjGWmDaOlfO8@F}+;t<@^iR4c6cCY%r0GcQg+?HmnJ!E%8q0cod^+hM!Tw=j zx{FVCdpJ_N%l^^9hLM@XUJE@v8R-g6dx$(k$H2o;IUxQu=h-!&F@JfgabraKk*q6) zN{RKY9Bl$%^!C#R3CX{&?Rx2wpV^fbPqRBs(QJXU-W@+UypEoXTs6PN@bo$L+rhL1 zpe`)Z$1m5D(+vYLx;!x5=j%6}=hSYmt}Dh8%*TpC?)AN6M%yWo28Ypii?5}zHpu6e ze=R1Tp6zqh74Pb8SL+)}m7y6HBs-e&zwS_)oxXLexUMuBcpvjZ2`DUHUe5f1;nK4J zixjd~*Rt-P8w}Kqdrl0gpkFpL1F350z4(?ub1$KiHh9}U0fhM#>G;mpd#21cG*O1T z)jhq1P6kI>W0)|SFrMWuMlTGPF1IInCzKib^e5`I8dAL|DW-3C3)0S^KdqiVS)I## zc`OFaQPR_E^Z)kN!oCBz{B~XAf4^7_PJ}3>RHFVHV&8krmBU8~DlWmK4jV9z=dX03 zP4`s>@Ej0qY4!R0;NHa>&;7DV1Qq5_+d`PseLNIr?~%bB3Pz6^GV5c_wQHBemez?$ zJ!w{%K`+oB>IF5nt#40`pTV7kQ;P&cA%;r9-n6#3qrn@^eMdvI>v(gq-m=e+N3GL` zyKp1HO$Lia!yQZx*x!t36m@VV+i6`8$4>sVe*y%P&on*{t{%UAgfISVYrTaf>T(h_ zHcr=}KKB(^k}n>XXn7&4&*%Mo2&Ef0bkaTan?EyWQR4ZLDlbgjxgUPJdL|Sc^DT~y z*nIoFpfQs8Fu>@cN%NlKRIyreHo~OP4&YMDmImx0`6-y*O|fEwPRvnUa-*zXXJL-y z)?w^+>C}Xt-$Og@w>5o|8ExdbF`zI$CMxYrpzwB?do{Neq3cs`pf6RbvaEd?3C*{gqgsxA_^4`wD>*_PFX6v zyiy(SrA+F8seD&!oY%-(#?tivQ&2@qHUA|nTsKh_GnH8uo((b1ju(yt{=n~*46R=x zGCufFI`@tXus}z)s5?yoh^Ga*hE;-8R)=SkDK>N&FvDli=C7GwnP#-TunoSY+Rnx? zAm{01@bCcF4KXO*8INw}qftD#UDDa?@?SQ5ofVq>t2tM&fTrLdd&@G(21)vd%8OVu zL6*qKw@=8A`*Tq!`(R4r`uK-nrv%k*0P(^c%q=c5ayY55CsAh~6mZEB#p9h?0TNgK z9TOw(5hknhh_oXhaXs6g$eiPuK`4~cTn{R7aym0%lDV}%+@Azv9Htkza?NLc``F^4?D(%cqA|uQ7bvk z^HWIawCPeZjeckr@$H!Gw6{)gwKLsYc+ya+}q%u1j zl>tBR8lUvUdd((-WdRAp2S4u+kBqURYPJ-G=-i2XNM1_MKD;f!g?WoQuig$FQu)wv zTC{7#+30kQW}>LWt}L|IY-ke&DIqw;MyDPpC@ioHghScXNBJUru&&+Jo+s%&=&%3X z1BuYCer_-E@{EG!x+B`~^(Es0;34(9^*f{~juQHd03oFihv85_MtlK%j4VCrLLj2mZZg>6W`j zqth%N%sUHS%DiSfbQ`%~o>#PbCER+kx?OLQd~$|_s;aOYto}wznNrR2yoa{NxTVW7 zG*BcRbKbUd4hXA$K3`efJE#jwGdk-Z?p;VKvNuugwUV;9&eEZTEpkzbYtPb=+v zD)LsB z+MKn*s&tFXHN%CnYtNhcj|~`q2CsMa_pK#g#=jvS3AS zm-w<{TdVmbX!d&*%7Vd6GLbJ{OWvd55&9ET@T6yWBIsU_yXDZ5yj>ud;31wr$(CjjnIseNNxTz7e-0dj8ILMrKAvzB8XO<`@FeX-z@W;8!}| ztij#Weghy#@UpqFk^X57N!iYaiHyx@{Xq><85@m%Vb`0PDl4hEEO|89GCl2}Apa9y z{?;^9lrqU`6A|iT+p4e-aL8AGoR_CLsB;-|RT(J9pz0iX3s;qp;2Ky!qoYWDPi1=@ zZeNOLWIvv-rzFvlAUMn9T8Wvgr9Z0SJojE)7*N||0)b)0=*#ctM*`Z$^bw72wqC^z$z!Gfw-?v*-A=tjjO+=B+k#8wekak_Q61lis~w50vJ3{l&VO`^2=^7w!Gk= ze>_j;vWhOaD=K;0%#jR4Mi-HLE85Z)eM1!ha0@3}Sz%yu^D=fHcc0o~x?hl7Dz(C+ zo8v89g{52OB#wD;;j^tY12}v#MZUEv=xwSsfKDma5h!O%Fsvstd=SK`A50ZQKdG3E zCcB7p;Wt4J*67SxQ2pbxpxHfoR6LB4`)CNP0od%&W+H>BH({)iUt)qMT3aRD*m?dC_kb?ccrEz z5+x{G6CO6UA>+f|?$C-?9c@O`+N3gSL}T{BYFZRU7;@wLBhdta#T}mWFdD*EE}7kf z8WWYf(3(qeQ9e)@X8mh-y^BBZ%35qjho$(alMpo_b(M!~V?@G4SR)22gU47akhKGq|SF8P!h zuT!V)nVt0y1^)wx&pDYvWl?5aKH3buO!zi}%Jy#b-{kk|ySMbwThH_IoZoDp`FgT! z9v$tX=Q{1>cgQ<@xD*NYnh>u?t1-DoB74*xt@E;6<-TN0;7%-i4S=S($lS3NSCJYEm5feDp}$wEF$-wit6`JVEqR6 z&81Mqq$GM%bUm&|1p9GsE5Rvf{ArqO8P>z;jm^aGdtZeMZv)(wnl zdcyXWT;zt zCm}HgELs z@^ueVw>r&{&+L)`*)i^x6cz$Grc42s?nQWK7_fxpO@-$MdmaOYB)@5!K7V#lH7^?0Dv z$I*Dx&;hEBqn`nchrvJJASW2q8bE}PXFEkdvP5`_&kh*T^6K*=5}dlgu}(Ud@uMC? z4tR~u-o>ld%&UBTFups@08Q#(+4y&hwz&@i=rLVAr{^AqI2`WYOs+5v7e+7l=9W@RfkZ-@s?@XLc~QBCK$=j7+c2-w0JAVs;{s`T8xq z7*z8$S=6e{Vs z7A7mrc*v8jKo-iilKzFO#$u%`4A}^XH&ZUBtXzXL(s}4t|H+0*3v4|lAoo{2Uo3Px zcaG4?N|~lOzp40X9>%LcKbmPBvJ@#pEmhvc6Ro=McVso6$%DNdw%#)#bhsM+^&(|E zKdVXjd{Eo~b<@+|&PB{#MBKE9@nnL|bJy%MB^De4ws)-_Os6|&u;?~tGC|G4vZ-5t zcr)Ap;WSL$g0y(vw09Y~EQbm#Xe_0;uwrlV%vBxCE%c;c#0K9}u4IlCv99@Yw0cn) zQF<8OE~_rok2Rw|hUXyCi=&jJ;EwAjosMXrR5LVHAT0pk$A`Dzc8!u~q1s!Z#>wB# z&5G5$_g5#o=9=&_cdDD+7LFoXVlLD*AMIy5*o!O2zPv3_NJsWTr66I-A(rNrbwqbL zIUkt6ng{DKEV0haKCDmwnc9B)-+)HcnexbC_MXAuSZi0?z#Lp)}jqN8_ zJ{EWW#>U{wTbHZr%dFiTUmc1mRyU*nQBw{)OkrF;P*VPH_YTN-_;a(DJI#i>8GT;v zY#Zaw8|adO@$>Lchb#Q(tyUCNDwTr0>TCzsb?Osspb~@&KTKp;a5yrWd+;p`uJA~3 zI0VLX(5PC_N~IAcKS<`VH8{2j9NJ15cb`pK2?mHStz#3?BNmbcuo`+ zU&KsaIk}rNHvccc_t%{7bI(q1WPTa9Bvmxyd8+{e3oHTME_&kjwR#&T{vn_4*vRnV zInxJvjwg&!=3cIztR#Ba{I#IzpG27Biq(cRbz$)P*Fr29k5WwMpY>%Pr4Hp_Ko&C^ zW0Mp{SCcvkd4b`bqd;epsWa;T(!34kXE)CmlLiQ;upi|}^2QaFn8tiCZ``pxQS|HQ zd2QY0@P6@xn55#e{~Tar6T2XuMG;60wl2Yzn;@q+j{2?rM(BkFVkpD+>mYa%r}Id} zPR%fF`9=&pB|Yje{nb%7F`eM`n(L6>05m;I+mAJy_~%8UOpHLIW}R;wK)-J;U|3SmwD|{ozp0-$}3JmTY?x_jkO5jUBJw z0gh@$#A;x~OH#FXQ+}B#8zVP+o>AKsC~%21`MP_U#(NU}Dld+x>mQv6;#!^n9g~ zLOm|U<*`83nb3V{`m6Dpo`%ZpAloyRDl^K)_%h)@Cx?mf|Ep8`du5BfkfJjT!*H-y zEp?Zgo$+~aN$E*$WJK|Z`s7Df;f&x` zUssH6WCz7V0`40w^>(@NMgw2NRWd1Z# zzE#mTc98rdJ-~;Uu>0V{TQvI|^j0T%#hY!~0wzPJ)tvF1JPw)+vA^8QvcJd@tEw~I z*l%sh-_#}4PGKzhY=U=xk36WI$75lUj`PoPj!u#o$YvjT`UMkY4gl>}vr3{tFVki2 zKAie*6Q*>`e+Bj=ilbM`T9_r!eE&K&^0eYQrkVe?Vf|XC*n-i?9^C2Hj1~v^_W`k@ z=>L*9e2{|pIIUOf4u6ti|LNJ*^)q3Y3Kq&#G%`B)NrwHWskR&Ve;B#RX-O1*4#{^l z%RT6h=Du{MU*rC_P69Xi|1fRufNSki(4m5}xof z$FS|LPGAG{N zj1^51*B2F?O~x|=sp&ya)#w&k$S7J2I~t`qmLn%V){XbLgTl-?J8`aqmEX!ZzXz4} z3i&^Y5cky*Snc1{s9VmLDcSDNfpn((_b;cYD2L6_t)nn>8;FL|1O^K97T_HEhUb!Y zoyDmgl)0|vykVpHtxJ#OyK|4gN5hHw*^c1B%ZqTkANP#2AD7js7f60<51?x);a`K- zqW_#F9+kagc5Z))Sz6S49HeqptwkU9!zsj;2Y;SDpw!FRqhiIYCz4??&Cv-fVaa7c zS=U6JptYN2bJ!%Xf}GLSyYEzIH|gxt77!=N#Ya-~u&mxwk<`XQbK7-uoPFl+<*JFd zSKPC0JQ=PKg_kn`8l23z#HsjtHDnfY)W?H2{Vu%OsIo4&6l*Prip506al;Y!(D25Lk0kqRuf7ml z&w)25z`9l5MsDf8vAunRkWsU6DFF=Y5HA^}J6q=1j1_#$MaBq)DYleLty^0BDM#q( z&oq%6l?R8dE0uHsQ*0}o&yu@=@dXvSFe0B8q2hF zUIA@=J{YfmYmISI6O>-0arzFAdFYwe_0BTKP|=drWO}!(p;Vw{oV!13 z8u*f3b341M8ZNF|fUG9jG7;^exjZfo(@1bwQhRNwt#5e+mkNp@ux}py>0JF6^(Jba zWhzfhKbeu*si!8Tb0|<^qs+TMrP|i2*(yBFe2;7Ou6a2}5Iv^w)BjT_lL%m6%`6zD z5oSfX%1)*f0hPD%Dv@|&SBiE)c&HPVkO8#DXnKxOs!A#H5B@Ij@8;O-svd%}{iPH| zrRw9YGnS4bSc_WifJ!>EN&pqc!J0`{9QIRfzwdq3nEqc>+B5k}Gk1fRsVq<4GsGt5 z!kL$b1LOOiffZD99{Kyu^IR{^F#$^+>wrGyy zoN;mm`mO2jpVD}P?hbJY#vSZ# zl&Y;YCJ?9(Ds=Q-(dr=;EsbYFir}D+XJAVr#)3~aOIE+c7F%b_#`if;2>Bg1LptzN zgOO&E3mK0&FukHmY8x5UrfTh`u&O?HpSQWjI$DD7ldEHDj=k_4{WXXA_CE)2OP0b1 zGRDPFxYHtZr>8c-IpSSoK{IiEwVoz0hVNW^8#i&HviT=Z?}t-nHvn7f!dCgUc6N_< zTQ4#hvruoTf+gwezV?(A;@}t?gPuOkup@^f3*ND9T|< z<9)9wj%p$ys>SA3VQZ7S^%5B$EsUVFdzjd=BxeJZKLWzU93kpVc#fmxSOMvNNpbkm z_^mEdyrpme{F4LW8_97V`rNqY?%Pu<4M#y|{oKpGT0GJ(BvsGOdt;m>x83u?n4}mH zKie#nP2jrV?V};IEiZ3GW3owoyH|hruEZAl;M=J}zKP6*3%}F`RBe5Qz~75_-R1YE z3bXL&#|jJQ?3pFp!NY2qLys36on}~4GTOsbXiRkCj)dAV7c>r%6nLd-Ql_^A&6GXlgIE;$gBb-RcsV!&v?P zlt0DQnu1!=Y0kPi@02FVi2iD}GkMlgP_EJWNSn&yLK#e|v40;G9pQ6H8YgW+%HL7D z2MuPa7md}t*!BVm&jrI>1J@^s*9}%CDY2m+qTvy011f>M*mT6BrYbE5S6C~_!3e-; zVgyE{J~o`@|9}=^&Dw0A))$lwviUSWs{&q^eDEkj6bp>#l*gg&amETblOL7^x8Rac zweiE6?hUwAn^nwpwC%&i?_xdppRLQ^(?8p{#g#p6KRR7B**dR^kbm}XBWX~8i69jG zq9>A!1@I4L0R;sN%JDAz3qi#n8x{IMgewHAOe8Al8<>PAB=l>&^ZE0$77&QWNFHV2 z-7V`y&*6DuqLtb4YJ-!T-e1!*NYTXC0nX+~!##(p1idSB11sydxI-DtH@m5UyZCho z3OacLxj^IK{CIam~(ek|CP*AezLOAJ6 zIN>nFjIACyi=*kK>9m}iw0Uc%_z)J?0abnNPax&SO(A< zCr)VB3Q2&yn9{}9qE0I)zq1+vu;J+YO?j8}24i*YT`kOiApwNmlq@5EV!flCGZ1N= zXSBOrA_} z(*u4>_E@-+@RePD4ZSUimYDDA-=pLj2J9d}Fa{a0sQLRQZBYE(IDClEd`YLtsQiNs8~gbSK3LJ6am3 zNt&P7nT5pg8B7`;P0XwhQpOe0@DXK#k`{`XxM6Q6Ph@gLGq83b6|;uHP<>)p*NR}$ z5d3b7Z@ArC3*i;v3EDg5Yhlel1izdoZ?fWGC37C&Ee1&Sz4YQ>O6{5EjXK)gV0Vn= zRLXI0@#ZudGG+mFmbi}afiyYljUqX^e96f zeVNK_AOxhT>St)Bs$*=r`ynHWIy54_3nY@r3k!ZAJdv*WvdrVIk8D6_!(%_f>!f+g zXL`P4AT?B!tY~$tX3T4hK}uqT)i>LV*_6zHwwhm-AJquvtQxMhb->G3or6ME|6^hA z%h57_3<58X@`8xW1(sEpo^c_uZf_powcf39-~FPw+Kb@IX4jD%EGtzRAQ}PdGJYmM zM)Xgmv`8d&)JRvr4Cw)X;y~FAJK@{1aHj$p&PEeBd$>2b_J$wst$Uz&pt=|C=P#Dr z7rlFl46a*l14BbZZ0vAi$F^Q^P26i+4&Tx0lij&5?vJlw2^{)2kBiz%3`JGw<{vAW z-Ya*>3wb-+HP6Y`ywC|Ru>9I|;3U3}UuKjwLyhJs`ST}9Iug;r`34h1iUwdHfx@vt z&TPM*Gpg844rRzYKU86tnoyt)3Pk9GO}B6I^~HRutAP+~I4neiEyreEsSUK7IA?AY zF{m$sQiBWo+_<`UVi`@yb@Rp2;WfqxfO72RU4JX{HIgaYk|q-50-hBsw;w3HbSMC* zpt!28kNc`7610dRIh{np$j9Wxd1Y>XEsU^`u=Y_H=|?_(Sn`M>E=4 z-=hAHlDM}lqmaJ%_|+bD0-Ey-1O6rwkrcPPdW{9hoSa94Um}WKa}|h|O#%jj=Twy@DP&>ZX zq@2|8;p?0V=NID+%6)2$3E`x-1D(vtCL_gAH!*UWUbJVp=JlM41H^K)$MI92Qn1^gpneQzUd+?eo~c!Bbr&q=sLi%-vDb@# z@~ip~#I{K&wGZ>?zMNn&$1a~ugLqj8_jD@AL{P+=vJmXCEg=ydj^Mm`oxyz8YBFcJ z*>8`{ZR@Lw!|*DPw^FAI&(YmzOu$t?8L~RhuuA`wj_#%_O3KvL_3286`tAf5>0S;D zNyM6IjRIJ2{n4Vg6QR@K!brGqHb0p+8T`nAl86%vHpo}=Q+ z4B{gDVg@wpaRl$$ECK3z2I7hV8y$KAbOAipr#B^%bP>h``@XlXdz@1q4Y38(QKk}T z*~^;2YY+AJLHJSzf4`XX6M+P%><+lbVOk;LObfkmQ}m#~G;d}Lf6*e@Ut4Fi9HqAs zn2h!XqFUuKSjQoxR~3}81{_V4esH8o|7P)EujnA`j{a$AVN#PJH|vrwBtfC_ijcsg}(x|%pG;-y@qVfF=!gg{vk1Zx)g?%_4K`3vY`I*kZ&EepF1Eey zv#6v?z8OoMfc^0lGWix)i^JM%{=Y+#6iCe`cx*kxjT*#LQh4`~o(M@r1#dg^Q| zdAE@;xSw3&F*xJ2wk0Y`7S(sA+x_SrLpSed^7%wh9Ur~^MHe{SG5~;?MfA|o>*nse zEsxnLW%DEsH!AI!Y_BpqJ_gRjNJ~Bx1^`i*y|pqlL;+24_O zz)AX#J27$3Hz+75S`Rarl`W@$Qo4vYEr`g3V?-a38sA}Wk^oQV92s!E$x z*tWvIsPawkBG9j-LT0$jbo9F8?|`GJJ=?ImokH<3zhX7t&vaipKhq&aoHTRde`ZPU zMx8WK!Eb)i-ODyw`*v+XRPZtE5&C$w{qX?M_MmB{G#s6;3i0>vWA5#~HBR;a8GVjZ z#Hupw&X;e+XSq2!IX7B46X~+S;$X!;X|_HkSWrJ>8hotd)yUPz4vXDpgI^gQ6cjYb zhxO+-LQYN%OtySv&7aQvV_EV4nvXdIDdXqFey)@=VW;3{#+;jp+lTJshrp5W^{_&0 zI0BiffL`JB-Vr4n^`DfEDBWO}<6E_bQZ0;R;vl@yI>XFWf z{&s_#cQ?ewcPBBk(cwFOM`M15r3#B9BSM>N8=SX&D6RC4NR{XWVR<>%m}8?u65_*U z$P<1i8Z!ED(Il82obc5EFoT1E>zdCxQH5U5Baa5^eW+?I;Tp!zRSsK$wi{$V&tor7 zE-&6GR37Xux+ZvN6d=r4d+qkS(|6OOg5_iuIL=v;ggM;)Uy>kTbR@6S}F!Q(te-9TRY z$~Kemb=^G^zsQ1;FT-UUZWRkN8l1tqc25~fc~SDPX|TMy@^xYG;bhZ)fK1|RzTIz! zfk?P-sq{kmfN{RVEPYmkpDkVmyP4kOd)Z$B{>FZzrBl6(K9y3{za3zkxqO4s-hRV_ zY*sDdoPDYJBRkQ)3X}cafyMvuJhTPBo^u?X90sCnJTUEzTq%z4`_1iG^F}AFK=EH* zfaAYrah%|r>k&g)nrv%&R4PxlL4M~>u3ke>6)$bfO6BkQi|v+IAT@m}^fS5hC|V_q zP~ocdeIdD~x5mRVDV}?fe12;*sf61*wQj=nPfwJ@F(sc9BpB`7_t6WQ7J2b9($n)6h#(LO*io2AI0+{0diQ=o+ z@I*KsGFc_*c+|_JImpzVtkv$rJg^Y242UI^2DelB?Jl3n#N6aP_5>@WJ~bUq=MKyI zq*F2TV(sm7FvNSf#q|j-?o!o1ca`+SiS4h(ng{&dybM;HE@Nj>j74K;m#0#hyTu#2 zi#u$mEkrmfl=XE++7_Bal|!ytJW5iJ$=g80>i=sxsot&E>ac4BGvf7)mW|?Au=6Jp zdm2E+hAGQKY6go17uWhWzKD)|FjXQAgS!fA(Vv+6!{}7GS*25u9S~)6d#5b@bpw4d zVNud;Mlio(v| zQVO0NcTq$9P04&zpZ}-881^}VlfO1#vlA$~tVb|{j>frLRNNgaqhy|I24gNF04+mL zX0~&Ziy<6%O_X6^I?+8c&AnM*3A;Huh{hZzW`eW#^_tB%bk+~6l6Uiy>Ly74Je6); zp(#lGnV0%Gf#mRTX!W&28aS{Ywt~yBy~J8b_<1YuKwL(iyr6|popKNvld$v zLa803&VZBn5s0Eh>i$xiz2XPl4(&K;PD|vN9gE@X%5s&^oRz$l5w~!s7dZLNW3MUt z3S_E+Er<9TP;z>JHL0o27tLKl3p-_(<9K1Aiz4w>Qfs6Ddg}|V%AGf*y zGQ5|Xp9O@IMRO=--QN(tir?t6K1r}}CcfoMd3G1Gf298Ii;%?eYV`9uaWg<@H-TxPIudol_6QYg-)SKhxUkKf7Ew!C!5v?^ zK0K}~b8_>G(Kjz1E7&Qc6#nk_3=rp2D-!$qchZ*!hSY1A%O-iyrv)_>UJRdmxCF!x zysXlm&}k&pUGjFE>Q^^WsD2j*AWNv%MKEJ0T3?fN8xyx%B!$hOjTSEItKqjA3Gkk@Ajszp?U^K)3 zT~>^VOa1$Dt6eku3bQn^x z3LOQ9f-~q}Vj0QfPHXgmj3Q0&v7Ap%!N`Op%mGizmhCxh0U3xWhiv2o4Da6d#rAoH z4GU$uw&^LfEd9mBf(V=G*AdUmXm3trbP6>^j^gXjtMlQ+{Dl7jdmLA-C&(=hK!)@7 zhFtNRWJAL%S}}QQ@1ijNrR^_qN*mnvrvqkmHn3jbZZ-elnF!{Y~+wo>i+Y!e_cU#?XqF@L$P*%Bxu^*th}0h<_$U?vjhhMz zIghZB6r1drsL%{8(f|7z_HW>0$f|8*;;)XSJ@V9F}L0U{)0-(C2paPZN17#Imm4EL#^lxdQF=R>4 zI!cbzs7t{KX`vd+h%e!@UTqKnTpZj+2Hfc0UCltfXCn895&-Vd8;dz)YpHU8dr%yn z1Tfdmu;uhtfta`&^G*E&9F0iWWs*>x%Gt_NN65l-`>P#&tz^K{G0%p3Bti)HKraUr zG6YaaboyNB>8g;Np0wLpkLp9G2=qs~VF>2Q;jfnB{B!eHpRVzv9=KKZ>E4jf6h(IEVu>8&k z)AqR}U=QAiDjUM}uRxYGY%M6QlPEKaF(yLBtkav0NQiXrfjV@}?hTXYk|C@L&MRt2 zaZ)e|pf5zUJMV0Dt!=FteP5x?j_w!-<&|(<;9+h~kPJBhfsq85;D{(b;+Ik}c?X{Qf`YT`KCKEh0fS*z? zbP>Y+Y-VRo08%nGgA>_Rgv$3oe6J&@y523o-7>cWu{Z+nLYfT^$o7`=W)CSffRu2H zvp4jGz1jM?@4P`2Z>pf&PuDiJeH-W_rel z0TL7Z3zRS^j9Ud{q{Y%I{ASmI^Tq)1iEB713s?FR0v8TgAi(f3vgFb-rA-$8H!*Wk z$@N?Zd>dF9!QganF+Z7rf~rXLNHE2#hp$CKwLGj05P_+Y0QM}tVO|~rDl1_A)?bnD z5itfRUk&Tjm4gCTtub%_RGRLw!NZpXq-^KOAhHpFf`UJ4we0XH3ngleL<=M08f9RO zZ!&#jhPR=gJV0D1J0EL*UbOFo)l%4%2Um`*ec-5ZOloH-ZP}Cu^mAAJ^sxu}$6>MBSXQ^*)YHQFfxex1~Rs zme5T23NZC?v6tIm_>-%DTcD|DnB_n@iLuJ_nI*FxGShPm9bF(mJs525aRO(KP997w zMNaB(&o^{qL}<^PEW#D?BF@q2cG_S{#$9@D2zh54EwLAFK0@LY7wPOAQ2;qni)A$4 z@Ft78OK7adISBp}y6(r?8tQuPQLBd+u0&u3;lw@f*7j{dikm~hli7-;a0=T9i}^8M zA>&JE(OAXbaJ zieRv?t=K_D3$P9tXgX=krjRJ)H}AI~1f%!i0{nr{DLD_0*j%^2a1M6wwO#3AN5=be zmfsi8b=^}G2=U6*3|&M{Nf2Z6_OX!k9iyMQhgIui~A7`t_eesh<} z%Ze=fyF|Yh(C-PhSd(qhn(&%}e8IlKss@T`tsVRHup(blIjR3yvkCp)1;)s?Y{dC> zcO%v1FEjReIGZQ$iiI-}G+r74Ae4VpRoB-;T{8(<=#Y$797XJF`s%W#u(%;+aA0s< zMMx45$XYi`z%7zFAA9&Dk4QM|Y*dvPu=b-x*cER}Qy>gWxTTK?I=fV!-&i3Xe>AIn z8%y?OWReJ&{I#=-q6Yq0^waUoSy96&1AkdT7x`-L&4Ce{9op3>R{h6H9D@GQ=(L4A zxv&3HI3c3+t7JZcdnkdE^vfk{s>7Q`7itNS65vHES7gw!>76mUpMM$4yLE>Rsl2Gc zM+4Zx*#-uJR-%65=LrQ=AeAq0)9MaQ+^VI=41vFI@ZxZGj=Idjcc+2wPg{0|`oiwr zGmJ4NDukfy_6+)JgSuCeBO0XOG~M`p_@>7qaQXr~St*L0B0hZ>!pW8;?|r56MOJ#+ zP&SvF90)~8<_YeJxJz`DR-AG8Wr$IKEL%jtZ#tXfUzPRrA36c z_xqb+>tVAYkMqUT^mW8EO&U#o^X;aCM%yy}m|J?2<6$zcn%MEw(Y7wlSP{$p$3*gJ z8TGhKyo&vM5&o-=Hv1VBjQ+#rM17pq$mmCFIXr7uwcW;C<;L4QM%P7U?shtLiUy1M z0sdzK>m{ywv&-XI!Lk$7zAG;=Y+tQ1XzY zEuVxVl#A^7B>K3ALiOzIYB$$HiDwpOCKV%cNnv<`nCr?5u7 zdk*%a1!`jySW@L;Qan5wr?8Ci1G=^vbx#o7AHHKu=2RDVMsU_r0eW!RC$;$Z5i8!1 z9t1FKoRUUI)74#e{H{v>;)<2IUo zbJ<2oVUK8n;7+Ds&8qc;-&0cOVz-NBd`?bQqnx5H-%F>)IIB%upP7Fa);t(r2DdVr zxPy{f$C`FT#ySw&Lk-=Vj-+6*Y6mTG)rJ*GK)9Q96%3+CQeA?jLYfU&`AscE{qlyg zuD%l0nith6R+R4or%&*@z*_RaK zvJioyqQ&Kvs+AP+kl|Dt>1O4KO+aeCnSauM_%kP0XkXy6n5E?;@n+fkmox(S6e$_j zGd9sPqXbpd0;dCGBZvFDnfULVVZ-^XSG3A7R_b*4IeE=G^x^4YPOfBSakvYoitR>x zy)2K(+fsJ|KXL||^HZ^9A>oE|yiu=8*CnxrTS|lBy6CFQ@54;>zFz6E`Ar#d@ox=J zuRFXVRD6B~Dwoe{YRflH1=Hi+og(4a`&JJRYYDc4iu@0{J5aFJlM+YD$mQz+6!Lm`njJg_LvwzQG;~GX@MbD~IlIEs&F%ReX{ye1*pzBm zoG1E8*>ZLS91wtsxf~a34TN+4EIOUGs)qIo^V(^Ly;aQ)ab9`#w^ZJ{hp7S&N8t`{ zYdb0sdi#&ydbN!Dw(uP5U;;4n%vm_Fx45w0V;**2Sa0?T+(He+gc4d?PiRDltEVSTf*?RY_Cx4@xV+yFS;xe~%*e~n|IW3b_!&I-6!%B*yRp6I8!h(VO1%G2_OHc@wMOWl zmbo89pR)0^{z>5>^FQXpk+f5g`x&lBa{m8D^TYGsS@Xz5^fuHj*M$E+pq&f-do>g~S-cLlTJ z6XPQibjfqRXKGVAXwcM|032yd;ITquk-Ph!#*^}QCr!J=+nK6v${0bg=d&a4!3v=H zcl%wohKuKy_qBTK<%`KfBFeiT#Ef0ol`gtKlD{0u$q|CoRd0u99b1~)4-M{5RLr&= z5x$yF&-S4ezDTo_R^3*Z8}Y#+zwnRne|eRVM7}Q2Jea+6y+vyIZlhAd1`Y3ULdrD7 zIvNo-kr@$wzHnJ_KVS2roNfnTlCxJ2r%qsVGhQ+k8{eL%xCNBC$_6XM zdC_yH#3fMH4BWGg^!6{G8E^V^+ZUM@w`Y{wt+CxeA#3o$EYIcH2l!0h=T*L)rTdiH*~J65sdeLlGGX&Hg0Qh>jA@mp#%GO2k%U z*9U2928;+H&-V*}WlIT5{M6Lni9(1-sRg39V<+p}#;?5NMc{6xL7B-| z4_0Fy8Vkq8-3As^KfbcalP#_=buc$og+ee>ct71CZ$x*VT;+r+FuRhDeKqe@7o34Q z?k22J7uF2i$b}BJU^XpJy=N9%QlICiSd;1%NkrIEJIocHG#cQ}_R7OhNQ@nvlshXb z8@U!m_myjPJ4JIP+gTo{X6H>R-UL^eT_2^ZVXmTxj+uS2sPWju${Xc6JA^SOKYiN? z>%xjhtt`(XbAreD13k`WE1Xoj=Gw6pgu!Ac+{d;Kc7_dCZ)&DRO+@csjmBX2 zXM$iCoc=$MK_t*_Z{^7+ME+&ISz4K7@e?KwGhqu5M7)|)N1*kI??k2yN9WBeIT_%O zSh%>nz-q0du2+rHmNg){=ywNwy%!rLSW<2ra^*|2gUwjrmEFA+!1WwC+91LoTBXY+ zr7qA$o%Zi)zZ9nUrh@v{878Lxa%D1q_O02y^zC=h>JpRM?ti;C8)WL?x2>3$*xwkn zs?599f!wC~(|(@NqAedHp3M9Ky$?SPJ=N+wsal?!q7B{E=HG8BSQo=zN}`Di>Zm(( z?2_+>*}Q0QVgRX^KUm&Kc5W9>OKo8d)9#a+os<#gHU$n4T6Y|>M>bbnB{APywAQUN z?Z11Nu`GS2m=5OcK4>a$ZcN1^Vs|_zLGN0QNQ8M>SaGY-`bEhFMR2iZw+qX+%)?UGZ4W@iOA)7?MfAjvBQK83o&uO{7ykEd!DOtg!c+@E=uC49uCVp}bw)}8Y)HFwd z#~4e)(}Va!*E<@c)SIodzWjH&Oq+BQWLCkjk6I)uiXD&29pkS~`bfWK;$)m*IWF@= znEo5iZzTO4`~L;bCsBBqz6H!zAcq)IzZpbZAPojTCS9Z{p6}ev{EWuTa z z1t%9g{N23+RUwy4)E{iEFL>)-_Tco~wSKLoIk}7aH`+{!keLlm&#h7b!X0Z&*(fJG z4G4sb{VmLNq9CIw1$P5PNN&E;3U;YfJ(llk@uegHR?}ptD36Ii?)*aVc>TMI zq2`y!yrf;6V(b6G+&c!@8nkJ;W!vU1+ctOEwr%aQ?b>DAwr$(CZB2b&cSp~e?&&i# zXMUWYD`Q1Q=2|P>m2uryK2KdcpR&J*`r71)2$^&o(!CGk&zX>9oV}iu)hwuwM@UWM zo2Z*TzGorh9b5#E?U6wanK4Z);*`yV)=H?e3DHz5iCjBl45E@}oo=+v!|xPppCUWu_{-wm>Vk9Fe#rASQ;{jNgAQAi>@D>rN*X~}<$L>8Bx?m2|D zB~~NZUAwzYL8a>LRQF(ZKp`--8VpYH%-JDewUQ2?Zp&AHPu@`zd~Ig+3JaS}MF4Ww zdwm7Th?eA^Xi1YxN3MB!hi$n{{waJyet!j~)s_@qAcQ)4Vj@FEWa-8r*<$d z0~=t;c<%Od!pvMmOC15yW7|ZJ`6#@$>BImw;8Gh}9I6lEDPs=hI+Jc zp2v;og94O{>~%C7qPRv!n!Nf5pO>zth0x&)+2fs#QMgAwzQ}R=;y8q6jA~3!qwCBl z&{~s`QFMfCA%1OKA(g8^KjPxJlr}&w&%pN!-U2HMI7i-B#A9d?5T|!Y^tt&syk-P# zPZ5-?^Z-a`q>3lY*RkoBw`9v$5L+h=jF5!`r2-od_?Y>_EG`hlCKqG?y)FpT>-(2F z0d)-R4Y{L2SNi7{=?E^E2o7Hes8hZ7XhMrn@XJcW6@w#0#ju|RGEddg$?{A~@YE!O%MD}Mn7@q?|FT0E z!XHmR8z%@-SfEct%fmoj4=BT;BcK`koRA(~3?45;T^qMj7uFxFxyD#e1Z43KY(6@^ zSP}rgOy90hGJ(L*VGQ#NrOIq>q2XAom4zJ2!L}{VwxJl5eb1YH|h*)vSbiIOqDF&vjmm` za$F+7>C~7ggZ{MHdC<`Y06^5)b(YrwoyiDZIA7vw$Y~6y+F`?a*#u#Pf9I|IgQUSu63ub$`fCobkPsL?Re&9m~B3#F8ww&jK z#h0`O*`3)jXaoo+;uUsDsb`|tXBa;yP!HWt<`O6eET?H+;FG=n-UsJ$ToJ+JmXgt- z&W_|q@L{77>PEZPd%Pr509pcDHf(JH!A`PP=zYV-cb?o|%oDbf42>m`97Yo^v2vQ= zdGGP((&(Cn$|^_OziTT@k#9jvCPDq+?C={Rp-Bf2k2h8;{m>m+=Q-=CRP*~6+`lEn z`~G50>Jg}cgp|1El%9@!1nr9WqalJ@|%PKLL{qLYY$3e<}3#_yebi2zKdFb2%r}) zx4JV#bsX(JHAiGIoRVJ^+OYXr-4y~}6) z3=J)Bhc7AhbpR1}NA=zL!}dtss+sOgs*-I}a{9Io_YT7XUvW zB5@TQj1c)Z#cR(cOIt?pfl^;(JR)cAFKjHgSB#u^h1kE8z=hQ4Bc-F_2|r?{2fq^L zjv)vuSs}{#GSW{nM1bL`=O)Op!mlK$Wpx13zQ!D6@^F}`^z*1{PVBvs5H@zXuTiJb4f`#^-qZ~rEhP<2DxXc(DnjgHEuY!%(E#0 z^UsKmx>wmPgQVBiiGI~&B81imT!IXMBU-Qk1Tr!jAR|ckZIhr0TvI;^!|(cpWlIzu zBpbK{Cx^8V4is|r26q|Q)|oXmoPH9D9a|9N!AH#V;aQ+E?(4Pou&Y0TI^Bc22wf)T zCW67jwqg$w%fT|JrQxhJlR_$;UANbQ=!f2g^W_AgTW}T{y1Ha{@qpC6!EU;q3>3?J zE4e9f=&_avjjeVZ@6ode%9GYd2advnYbdAp2bbp9_?9Ps97G~|$m8cPaD4~u@HCa3 z96(04P_yFC@#;TKl6KY{;TnT<#-RZCF>gBC<8-Dt%an{cJiCoO7<`8L!AiodlJTc9 z|0J{5*KWm&=RE0^uR>D0nF$6O11~QwXX`vA4FJuqgh?WiF#0gPyIY=^QTNBr$R$0_ z{77l<$tLtVM3cuRwW%RywS;T4i)K0HI?}V9;LB^Vex$nJsoERV>64VnZ6DlA!l!ed zO>7!Sn8Kawn}HBsZizB1g$F)(Z(ijI1-W8%ie+_^+7)qrR2eq3LJ!z z`c-}>I`AjY>D!!>PCQ;kv6DR(aRULfGY7@g$4JvJ+VdfR#=>a`4O6VhE2kNV2Fq9C zc_T?LD)Yw&n6eQIeN?jr=)fHP#oA%BI)mrlI^&}1>v2Y`TynrO8^ORLDP0@!L&O%W!RAXD!z^p0nHeTcW>NwHdZ%ZpuEv_D%PdC9MuLTgyF??U-1jufzjvcOepG_3a8nLs`-mKn9jrU zU*mDv! z`=T#ysRVBaRzDv{(oRs~j`~tUU8}uphJz+^;jaNWg|NZ1n-3{`oyxbfNs78tioB!G z%x#cL-ou+i4Ra)AG+ISIUqjdR=?vHQ7P>>zQ*I&Bf~M8Kid-Bk&bM&&z~G%W4=+HJ zL&*m~^-MijGUY74rY$VvP6~DTDPQSAv2vLBaYEkW+*1IGzq?qrH6wXN|58Q(_SBPi zQi!q23e%OQweeR={%de6rR@(i=|cUdC$aRQzFM;f;n0IsR5BK`V8k+KPINH@1Q4@^ zG$h@-QVF*c;t{-M(2w8G-tB|kbR`MkMU{IsPM4G6Mf)TSJKRUbsFfZy7`T)*^Y=1f zw7*P2+`LPHI z-XyyuU8L*nO)K7*WCF1NP8IK-_UlA9{1jjo!X2n(NVjcQbcHOiYZ9We9PW z=q!i_IC>E7pd1;iIJJKe27=-ioVOU;`eH7e5_NqG>ei4JmT5VZZ<$H3f^L*QLkQul ziyyB?-(eFL5+({%iqznrV4}1Y?%AD2#oL(%N_nU+cLjAY+lzcyN2^Lm^ zMX1Af<8|vQfca|-$?h)coa}WETY#?6eX_1VaxUMF;0*!wCM$BKt?4#9OK-vB{fu@u zUjJI7a7;B_{?q`A+Dfz2>_?H{>X&4ViKq2|&mu0(x|grCOlOVWCc4}06Pmhx$eK?w_mXpBs_c|JxygK9%h279~0NH8~ybKSF>X z*B-CcVXe_}`Csk)V<6)#PeyJ=c9EahM`-b%F#xaJ(Ii+E5sR^yHc|Yu|7+>H4pVG;J%4otu*CL#_Rlvv{L70hxjhQ$Ad&kvLk1N@ zFZSkDBA@)v!dfOB>m1_a?#@9T@Hx>Ek_U+-!StdBF9d)Y9QIsSyjLBVJ6R<$! zJuhc#;O9R#eng}O2gwSgzO1^=-_q?aZ#a$ylY0@9moOBLAxEwFP=ATf-7{!@COiwr z|2ijXK1;*6`&8XIgHejPa1cY=DZQg!`n}5#hsgIX-GGN1BAPwX8%W7kW77xWWDAS| zFDn`VuCtr$)QQEyrxp{y1AU#vWX>7!eZC1!6`+wbg{yoEl##j)Z7uc@?6CP}u(PlW z@dPgj8dVrM&KJ|SQdxDvVM9BFZM(a&ahq}@BUUn=IW#eZ_Nsbhw4bC2KC#9Q_81;q zcya=dj|ec9d%cIzFwx1Ca!}r_Cl_N&*kq>UG>P0}G79qw7Bh)Gwxs{%G+X*(+UZT| zK>v{^q9|lCSpr~%WtbB%6`&0s4aDR<+ND|giAk9xvsB#K507P_{sU38LXHCK=DH2dds zEg1RMM{|ndtJv^{IvUnXAl&Z@oe9r5`7?1X>R|>TH(J0xUJ1Zlvj?9eg&Wa2cpHGX zdw_x{`vqWVi~r|*Tt!KfBCDLwJ3-p=Z*H%=SmRRIkc6$nE-F*?_Zu&^%3X1~j?mBG zR$^Msc5_H71>e9htDK!Zi&!IUVRe3zMzTVM)>0G^|0T4dn?T*tmtd9_`%g;^WkU*h zaEnFGwilKCoJVz%pP~@Ld@Q#o!-=I`vQD>$*YV_h!ki@69~RMq<${G%8vSpZ-Nv~7>Q=E?<>ljCCHwLXi)fb1g z6v`>WB#A`~<--O)ksbujPNXK3-Mqw5exiCbuS>6WJnycGwe{Iszhs)Te|XXN^7Lq8N5iAK^?ywm&#fUdKn;g<2%|G=J9iY z)As<*#Fjexu6Nzql~>lp_IXat%KFWiAP5AgKu$>LB+QQ>Tt+~Uhhn}5iYhPPD}z$4 zg?Jc#h>Q~Za|M43a!xQoJPu79NKl+O5JbUb>Q6TxsUJYXgm3NEE6?=H&cOt&Wp(E= zheu`oGM#H&SaIE7Oc|_VBD@R-_)d^9M#D6-JBFF>+Cu6bWztSG*=ML!yT^Efz;Hrf zwA+pfdebeT2b3HmcmMLL_yd+ITs(0|q)%`f(_U+u7SM6JkCFg75{R zR;hoe*kn-akjppCVCd(x@dqJ)7e>FU6lQJF%fyQzoQsMuP*MiVQjaxRW*j))ud=EA zbT%5@aU{mB^-%1peO{Y1Bx8PnfH28%Ro7*Cd{KzskIa#H@_f2Q4V0U2mf_Z94l{|Z zW#Vg>lZQJTI;HM*Zy?Oiv)aeS%V{9cN`kAovyho{W`(iG}~7D?Eis{ zuKsj)Xa*Y~YI{(Lx-Q(%h7kvDm=RH8iP?}f%%Y3{Y+s&A8;rS>}BE^Qv_6^AWrdJ_&D;Aq@$wlpW|@ZoZ7Gir0lhDk>9 zj{Wq67I<^OV|!&#B^5tNO-`Qca7*R#j1p*Ml>CinifC+7i90FI0^#f>!>N}W&k@4I z4Vqh~FFCB;k!aYj6nHT0CwXsM{;dL~3Rn0WNI6%igCFJKR_k$(ExHfmz65I$tJ@f4;3UPMq#~|06Zo zo6jT-D1E*2=jfW0g7`-o@Dvh3?QG;{&5QBEl98f~xN9z)irR4->|6ci$Ch{X5;W&2%g1l5K76ss8_KznFqydvXuEODx_*LvM zDqs<8nbu5ZDDQ8e<8X4+6mH=4PhP(SZG4g(SEQ7XU6M01pX> z8zIzA*v^28poKn*OJNu75jv<}8=W{vSVy zhiExkz3D7wwOql2excbdSs<84`h#268DH{^W^A#GK^qK%S0ld#Brmsmb?Jd8te9z6u9wV5=B}Tsf)ku1{m)&`H3!{1h~!@*9D93o0`f$>*%JsSnt-cT< zP0|>I0>;IFPisyI`|238kF_>8x~%x7sg@EA-_`~!_t75Ae;~MS@Q1Yp|x66Dt z))*jmXW0Tm)ES}*;fuVt-FQViP)MWpx-&PW=H-`C96YhUApQdFYN%`0CzKdqda=M? zXnsEhd36*_MnDL*0p2^9w&l`THWf2OWbHqA>LxS;E&BNSnz{IEkzVk!O;5eItNRSb zhFiGLJMM{xlhibRpPsd@zD!WRC%mw9*hMiB+_8up> z5N>ysK3tz1F4S)cvo!8;o9H%T{&-z>-l#+#JcH|hq~VC~2HYNgm?Gvke-5Vpd{HqX z#&G_>4+x3tG5A-TQ{Osi`yBj2?DxGdXle{Fe{ZAm$ z)dcH!oW+05fJnZ=4Nf&@#EqE7yzY^_=GH&Uqp9XJjP)k;^pe|15M9HP7q z&9W2}3V_3qBAf8iT%oP6)|A(M zgpTd4%Q5{A1&{{E1pQhFGaFc>zy7lwf22#irFu&X zbq&`Y?N3fzfE^tepq#-v9DGsVs4a`dr5cFd~0K@z`kMAy=iz9+U$cER)d~-C{W2~mUOvyQWMrpXM z;Pi6y(q|_C=x~+GI6b|St=YQV#xa7+#>S%EvNR*+UVnoJObS#!88*|+sVOAhYoDAT zYXt!Qbb90;-AIO}9WlCfkA_*8>DNksG&EEnmX!n)Xnr@LS0=3_Gp(!7Hlh-mn;*8y zixH3>Wly2XfJjiF^&0=`YVrk7bd{9(O?wpQnyx^`p9`z^$(s4X|Ni!nz<N}06}0dLp6R!r}PrBXLD&+1uP&89du-9c-eIH z^;Pj;*w6Fl`OsxMERiC6Ll$2f_bIb2GJSdSh>6ClGy-dQ04V;h`lHAP_HDr@IvqNr z<;%TRjJ>rs2~f782|0}7e!?{Kv>Z;qnS!eIdBjMA$^M+v`+YaT>a;pfH>R4h;<&(Jm&s+Wy>>Wb zV;jZpKHXCWq3eX%i)u**HyZ9yY6eZauMi1-0p`h9#6_%p6uZWIjlQA$9QHhs$jpC# z=Dbj3$RneKm8lAIC8Llwr5x^ZvIX+@(ojZ*@^+O9dspd0t@_W_)i^Q z+%VbYi9TNf$POrw0pb4Q18x}{-f(Cbf%>j$gWU@G5)#0&(Bc}WcOt2aWu#qE$RG~V zzfUdy<^ud7cP{r6owN|tJ#f1he|hR%XsyoikRpJoLoCvx!Qy^~J&L>zPVq%5xL6B} z;+pT-aX0((%~Ns?#{ZK4Jq&#-dd&`k86KAz2X9>i{&$>TuDkkXKO6+c0^1M3n!&-b zTEMU>M#Y(1-q^9j!(i?C+EDJ??xYT$$bMf1r|Tl` z<*2ip#oaqD5$Bhe9fee0N6?|u? zbCwW;>!F94>d_Q|^>=Q15#6`zT|A0`z%>AO(}sT=oz*a% zqUI{56*{d}i`~TcRGWII5@|EvcOb-(!ENaK&6~{o6oPd9Z#6zs1pn`7IBnJKuPm=} zG^32K3O;vfKB)E(##7GSfC9{uqm|RMzQONbK3(?ysL4J&VaQ|`*=&U@$E(>JKG0fT z@47|5*kH+IGirRy%DVuew01XXwUoxPZ8HKf^Ow*K7qS&v!NF*$`g*p@U-%kryP3WZ zx|E?Q7qXoI3KPCATw3gIpAURo<_CkIf0p~vKg-PuyfS8) zu&^*6Ii`P(W&hh)Rjl|ww+N?7{<c!^bP95CEGjf_WjK1!=W`a`Y&@I zzT9s+mXU_bSP$ea{$?+1=&7G}4o+2H={BNh!r_eQ@wPRz%kMT({qqW;;?;}?uCOul z`dB>E<{oYRuH7O%i8vo{IwKG|YtM!2^ANwvz)O5|~ml1n~vBdBI z-?3j=)P{Pz1eJXC)ytk-^jRI9kZKp>HKen<^U%3W9y+r z)K1Cx^!25rxS5!_;Dg+JepUJLxir}g)_tjT=K~S+zHDHq!Rr85IZ%|~v)}Jrwk?QS z=P1uI(K`i?Cv;Cwhp{1DvU~{YnQibrLYISb%YO3-F-APsc%rCZ)we)t58 z%}~1mn+H1tiYiHOu=;$fM<~jFNB@Rj&I-Syako#~_^T?i`$%W`I#4#7;)S!3^~vM8 zrv=UD_Cf>gSJZv}nx|0Iov)@rnxgrO}_K9=3+R^YkzG%U?^@nz& z4CN$&0P=Pu0GXdVBdq7~0%^W0dqGlA^DI88puf`yxqNLih~Mpz~)dSKvo=AN{idBoelTvb*qeO0H2Rva!M& zUK8kVce`e;*MgG`%FOY&IxCB{j(V%J4P#oc9+pZ=@8OISa_`+lNhyx)o+pY|O1o08 zIC;D*SWLf{lbH%b3*v`GK0V0^PByPKb!e$*zuN&H5Oa+1h89(E`Q9jAM?c)PR9Ru1 zidBv$XI{24S`L)d>uAWDA8pnJsZ8d;;p?rftkXJS7fK!uk82lMAR1 zC3y@m_X_iucKUnTCfP62m6CMrFAtDp&gKJibvVzs{a13v=RYVpwo5^@T$&%LLtcMx zyDhQ)Q7B)U(W@9dg6|$mG&jaZ4}xA5vz5G5{E`pinH*4vr#@_jReVu9Uwc@zJhcfo zdf&x&G<8w8JXE6fd9-&4ua-^-`9Y#&laF}E9gZqG8uvi!OXUK(0l`0mz~{~fC9=;9 zvZca9GI9L0AiKAeWe~h;3FP6IyE#F!de{5~87Q}3w#OoGY zBUE>bT|ZT9xu|f5`P;8)#uBAE9;Lr^8P(6WQyRSP7Mqh5+ou#$8<~z?8;1|q99R%wU!g;buR?bB9C_l>0fIj}G&H4=2_6s-`|@ zaBor>^({*JBTxpzs14lL^=15lpH=jYKZUGnlZan#ad9Ic5r4pM$N+6_+(D!6zR8E{ z`b$vq1ZU`^%>)aCa%RWddc~O7&ML$9S99*2k$fflic+&kNoWG(%PpwDGY!AdIo~&j zmLOa@oy{bWA~wd`*0RylhW8z`oIEfbuQx6d<|#+QH~v+BitpNOZ=FTv&fMFsnk|ZO zH!`wJgs-zw`s$LeNjltN|5pQZ@G4{8QahcW2Mv_tGVdTnB|)HHQQIucy^13LO!=o1 zUNt#7L>WvM%*}Jb)&qztdfcF82-C{?L`|D~B*as}Pr=$C`-dUHtwejum7(Lj#-@u( z4Z5_6t%cwIc9h7p;U>K)WF?)dp3jaI+*;3d1msA(I>VHCY^O<|0=sagr!2rv! z*CORln@rUdL7}w8raqL5;<=J}HbHZ%hQr=z4hmZ@4)^3^ zD0=)l>-admt}GUd;h0dSJZpsqu0C%SHk__LRg=z)!zEV&!veOQAk4O@cay1-IL0|I zkLStu@&qMZc&J34Mw8CNG`g6WrrpS+N?g3O^UCwuKM1_q8ml}n@-)F(H``qC5crCU zp!RrmXb2X_XIo>VWwQ?|&w|Kn+O=#-M~zpid+~wCP;-1S$l~@%C23Y;A9hZ%+k`-7 zc_h2_JscwWbMHQvV?B*&YJB81A7QiR!NGGWN_IFu?-sL^2~XE1sPS~0Xa+l(&#H7H z#IOtppYt;_w_2{2>5DWk*%5W``t@ZWs@q-`o6BBbp_I|lA>m`ajoq|XWZ)^dy)wqE z@sPgJ;lbX;85v?}y#3dEGXs-)aIK?l!!v@M1DnC)l|haXyo&8aFcIc#>$BI5o!s}L z^Ywn_0C(t2?+Y&p?66Fs{xi08PE(Qo*Kv7yuNXn@)5@YaUv^Mr=XFjcx}4Jia!36M z5Xvi#!kh&EZm^4OuHk<+7dTy@?cu-$o=7%{bZVi8L5oE zie?kS!91~Zig&xG1%`smv>34oAXOJnzt&OIr>Y=$Jk1QhiVG@o@$9fEcmCy9$BfB$ z)ZzFhz5Qr>hR$-jU#~z-)*LRXr*yQ{S$?Zz5`fjwDNl~1jC4mk#m(vLsWb9HocpZ1 z1}d~rcL}#Ho@M=A%7w+K&QgxHKrZ-P(fh;j`cK4PE_H4iHP`#iH6Q*!&YiVtKD6i@ zsiP?_-S7j8z$sr_b?HyXxtD>M!#*OSLoOXC`Cv4~H4cON;Ec%h+usCf79aRr806;IuS?uz&CkRGpX?2);r%yn2Tl{4Ki z(V7?$9#ieyp+bDsR3*5T7^L0KbHo~cE7RhRS`Y*}8^UOI0*`;f?+>b2#6VQCU!bf` zhg&9l&wp5VS`N-g^^c|MtgaB%NM7bUm3_v|&th#im-VbU^3Rtgg_eFSv!{DhxjYI-C z+1bqvI-Ie&XqSNS;)21$0p#4C_*yq}lHJfTo;p)#?YA~6ATBfW_tp*ZGg z@%;6ez{vRT7dJf|sVrUy7-+GBfO+fFghW9Ut@1u3^v}S8Y#M@yn)Acp8EC-K2M9D{ zO5coVrqd_Q{H62UV9?TW9sXgBts58!fy%Wg1{Y^M6oeqqpccn>TamG8G5bW{qTjX; zQ47GaIrElR?1lCJ%UrzDJXozE+A+k}zanB4&Q_|Rrs`x%4OYXuFS-E5YTX?sJO+_B z51_s2axnL@J+`m};X@Cec^+svdZM>vsrTlAk&w9qPNTC4ngm2m&9~eITpYA>Ys-O> zFh@jExCB6>J}y;L8d>~r;^v3ws(SK8a^=sCTm*HM5#jSph1ej*c{^4sNDVxqhL77X zN1Ec>GS#zf(6t{=uQv4utN9{Div7wFd8|oHoZwsJtIOcBG+cmA(eLF`ykMwwqlNFd zI%nU##Mp#T3G}Lo4|P{PBl^DZ%iD_53iq}61BurE3W&=o&z6R79B`wGI(b!Ke#&=R46%jZp?Z{DHy6;b8^*q3D!l78@~S;M*VGev~D!K)-TEN~75WeoA{!nkdQx z>;}o;U-BDlfWJ&nw5oO5GHl^~04H7O26)Z)5sm{8^j0q-M4lmN^{z?Y*kHP#Uu&!V z&nUVd;~*uvFHqqgwX)F&2*C!z`v}vCj+pbltzbmT3Dma_^n^yJeLrtslOSIM<~v@N z)n&kb{jlNKPzTpl?<3`Sy1E9?`>Vq>fa#mdlwVd7o49-iYZK~Y3LG&INCPJg2!u!+ z?s9Hf03Hwa?jq0VN|zIs1KbG2A1frV3r|RVn=dfkmn>iE)LXr3m6_4vo8AP&n?)UH z!8WOZ@&JRJ^>@UqH+D!yw_!GT!SVnVfE*YR`;T+3xXq}##IkW06Deou+qWa!&=)(( zFD?&`r-~N@*~(YAb@Z#@j;`iz6tilZkn@C2UZsGmvIznDFm59wG+^>}0fjnyhKQR= z)8MJA>I!jPZlFxjkI)y)bb3>9Ba&r6EJGAdo@XC7Q&$Wy8g0J>xye)h^z=B1(0TpJcI2{93b}gem~~;v>ffZZ5uT7oNWVN z%vgH<6~=c(1qOor>bT_&j`76$JXiImBg&TTO|=AJj$$y|Q{(2<188HuX)!n0rroFH z3JxW;zljGJ{|AXTyxO$3PudsWE}K)N`t{S$R|rT?nj=y-+{&k3?V>>fO7#ASCD%Vv zQL=leNeh&mGrINOwFe0B`322Pj>f)`XJOLPdXZES_+ARI_sug&36LRXL{1J&ZNz`y>9lGXy z!rpVXAHB~Vk1C0b!twFvsy|KXAs2;ejn}=-NTX)HaxBR7k@XD3=*nNU zFQwl`BsN2Yh#?+n?Z9VmEyaa&4n7-^0f!z5Bz*e!(cCYMW>F<);ef7`1cI#tu!cmX zsK!$&w#bv-R|{g&J9v_WuANAdLZBh}0(Bgkz#h|wtLMBd(D1U+&51u?y$OHSnR2c0 z1c0phCI;31*m>m0&}x_ovwgbhyf!gxOe)VKf@E|}K8W+dzScXkhD zjpe1eF4b6;fqjT^7pY2)*g@=6WR5H0wXpaIl~lov(Q%?$Vs3eJWWM zJ-kroLv(Hq`%sNKDQYjzj15A_9Qo%n$I*E{?D2P(S7mJG%%*1RX05I97}@i@m}-bu zG41}5bN#E7r0!YX5JRnR!3S0Mscr!8WA^?LP`m_K_t}+5^HQ~AzbyEl8@<R@=2Xe;>;5%P z;&xB(A+)eEt%GJ@{}M=VUt8+6ktk^0{ZBuvVD7F!bz=)<&m9_8`+L27eWq56dkJsG z2ExtFbSA=8`;-vF)>XTo!o4qf^ADA3T+ZyA3rqr&5plkw|^n0r3aaO>k1F57tKuqDIv=0o4bsl zuho?d#3n&GI>=q91jAw}hxCd=UMK1DqIbTcI>AGR2(SvIP>TSY_6p$GZzm+p0ikGT z)!(0DrfQInP(dl~r2Bxz0*?`h3S&;KXUW2oT?BK@FkvAmqN%ak8=sHj*8R#)Ec_x*bcS zdHFc4GDE2l(Ki93?FY|&)XbF(0lR6-r?D8d-!5BFM(Hac23XXUgtiSdKo3c@cHJzd$vNKEg+(!V?!TBHvF3Z2( z0q-7M3gG+;4|@*G9U#_XCyWkl_c0`$Kscj+iv~N+tq!9ow5X-pD`5MRJd-Of^PU|~ zadj`C4R%tFQPJ+e4ol+0aMpT5RgIl+>UVY^@_B-hX=Mr8rgHAo3Fyo2rHObZFN8L} zJK{Nah{4s^^Gwx5roh^l5I_x%z?`3;*7_qW=P;Y-{?K7I8b|Q25y{%D;brg!p z!@DP{3Ab7(hpda(^Xzs`%P^T5Oa1esD}eJYa;?*CeM#%H^n=e0Vux1_T-LWYq)v3F z(6YktkGP}H)E_;Pzl6BvzM82Mj+$9U-N z)DgkHbOygmz1}ll$(}1UQWfMA>|xp7qb;usU^;z6=;^%&iqM zrZ~JFmqpc;!@R>YS-|vnKhE|{7;sE^!dcmRYpa?s3!SS_HsQ41Suk`r4QyltHyZZ*U7VvC32WvDHhz`kBi9db6LZtj^>lc!-GKjyGc*{Swq^BW_ytv|s}_-N z)#iz%sX{``^-axMy&5s@6ZM|djW@>OIX4P_)HX?Pu-m%rM)dj(@gGwVh2Q=zM?|Of zrZe@wX9y09=7P`ZV-rLfT_Bqk8**YQ<6Ug-BWP3WU`C6Wrtc7v|4$J&gb`=>&*U$$k%ITf=s7^FB zkjc;I->E zC)E5sUWkjj=&?4#KVv_X>0Tgnm|uAwPTv8;-(-3}N^`~2`5=+;ub@AxtlcPz(vE5s zN5Ot8v`z%*@(ttJvz$~aDjwsGkqRB(MoKA6?OvtI)+%~2Z92QZEm%x_RnwVDApRza ziFkXJRgK`L1@vyq%QW_S++r z4-0+3)vP&KsE0-SpV`K8rN4Uh<;NVlwz@eiUr$Oujsyb%08r(A3kxVYv((gcHoF=p;J~5q{+d=Pb652X0 z(jAAYR2WijWXZ&DT-+*fonbyY=wHI#C;v0EeegSTDf8$p^Yvk)zoF1XDJ7dZL6&DB z_)*ByY^KEg2G+2g&86;d^by-=Uw;Nu6Y_cbX6bC(EC$k`$56FFv>@3Ttzr~a2>bPG zRwVRofz0t>Y)h7>_ZFcJMYfAe0*gj!?H?#`X88PO8Oi6^;7I0Dh!V`lI~@(mzdrwc zOmZ0Ci02VA>8x|{DIJY`E(FQOhbn0OFuq|~JNn;6B0K*ciR?*bMvvEIrH!d@(z$$7 z=2t}hK=;+etT&I>-T&6xSp~(xZCMz1CrIPaSaA2o-2w>&Y23Zhpur(n(4dVIG!PO9 z-jD=ug8sM%NN8L;SR=z%8pRPp8he*4lu42UZi1Z58L9+L6En zquH0N2@N+|IbX&i({V_7lS9mZ%HHu^G$5~Tcj&y!nCHJnhJQG&t#j`D~^%CoY%|0PRx+xS5@s40e^TY^Z-hyf+LEmT9 z98Q-uh%O{V>%E=;qd~RQEJn5r-JjC~9SaFsPdi+|IVRwo7mz)6C8=zDnkR0ObeJjr z^BO+N&uh1OjBBeUQ?h=M_jei^rX(e8P$oAW(sBJQ+9!T#sAwQ^wK5#LzxEDt(EaLs z0iPIz5e?X}oHNk_^}PF~t3FBZr?GQO%fzU!P{a~j{JHVSc1kZmb0+wDdL8^Mjma+$ zY_TZCGiqtV$%W_EeY<0Pe_SKH;$6!F0M~gP1#Gdq;Ndwxs{AYHklUkKk6JvknUH*! zi>YkKoVUNuWs@O)F|&#xPe@A}p-~N0#pMUy;o$a&=a_C-+$+(GpMw1)2rivhohi&h zvQl_HK;Qp1HDfF_=$f9Nf6IfeEOK`LP+VG>*2VaaPMs5SL8`y3WgQVOUO&fXZrFmW3m$WeHgQ-;_NwaLX~`LsZNh>< zu9K~Zl;$SN02u+`G1SU`dhN%qtK^*EHBxM?A^_2s{4qV}br^@a%6Sbj)s4YuOCM&9 z=M^2Pj6ntXS})%_zZnbiwT;l^XJY8uLLyg4c3I<>0gTOty8)n0*{*FsV9I`HC% zq3XG(T-P6pre|DRLvO*KLl>J}N;y9sE~czvQ#BF}Ovb(OxxMnaZE~b2NPLm^XO8c^ zDbfYx$o#k%Gycnq^V0;gpChS)LXsWP&or)nejWe}kMu-GBlCCaas7)Fh8AJgK76i( z5=U3$(_J^pnSwUUIrf3s_nT*XfV|h`Pfqp{Tos(z&h1FTL%I^P@EMJ3M7<~loPL+H zC;%Ws)iMWQ;}CPhA+bwNo6FBzQsK8`P70f8%YmnS3zw&0({QDz&Nb6|h1}%AQ3u_w zb==K8blnKZ;#lbIl761gt%-w!$B>S&+oUf6uL;8|Zqb|xM&s8h>xD_8L*qY33xsQU zskTmXtv82~yf8dz!g31Y4t~T9TitS}{C?XLz#v{Nv_H0}`81nM#+y|i@rwm9BZnl- zF$nRc=A6*`P@2^?+@9aub?eqI_mx^Bjd|!4sB>zh8mIeg3HNj{Ke;_WAJAd&OV_~xeY-Si zallvz8z<5XFkD~7OztI;8qGlD69gjTz}^1E4a?09E4GSy(1Qo-De%t!#!?zDSQ?+1G$jT;jT>dV zkr3uBlWLC66UW{DGLA#w24717tVnG;|AV-U1|xHqoNvSkO`6g9ufsO=hItiY!sof& zk*O`P4FFlRc?-S$!JZs93jra)aqoo9e?=+>v@vz$<{*ELM^{pI@f!IE_Q7Hn4zE!{ zSP=ITN-MIADPC?3hmI@`^=c~t^us-WieC3!0v(HPO)lW+I1FJBq6- zx%?67e5g9%W<`56GSul(OPfhwII{Xrx)@Jyp@kCbbRs^xFQ7Q+O?WSvxRpY!n=w9$!8ecIG@xIcOcv3?)+by^W!e;TG z+zq#`eqVLyz<#utDt^AEib`pls{Qdb!$RH#>p-tm)-5AO#3S6y_94yK(r-w#%dN1> z__+hr7ayO83)}C%@hW&D7qAp_JnI_jd=!cq!p^&d>q;f?($TskJ<$>q`}(Iu&nhcfo(N(P z>z1*YZ`~1noE0Rw?-X|0oS7**Z<8&J$C>daWz-JMQBqS|Lcoc<=g(-(!L?31ZkbgW z+1|i<3`xMpQroWGE94O3B$z8O53~E*d%|I($n>UxN^Vig>)u$FW~}U4rJ`O#038-q zercv?Mn)x?xF-#_8BIomiwy}f=Di5(Fj4))aJ~05D{$XVBK9d>m0Ks=r;autCa8Z0 z%d{}T%$j|R!1HZKNC#T^-%bWfn^TF=qEL(hgY@oTl9%t{kunT=P%K5XlOquf%wD7P z7tR|Ei>~RjQ?zn0eul4t)#|EYz#sxe_*h))m6`_@ErOa`FPTPqsi3Nrv3UenWI*3bIebbK@!rJ7@ig z!olb*CxNKocSMi#>ALt=7XH&$mkQBg~w9r*=o@BD7A-{cxfPM=@mwU`5_Sh>kQPE69ZpFIqx+-H1OB=Mm2X;V-uqG7wF_89A31PS`FNO zqaje23%_c4H;hYDf{y)cQ#u|jRa$l>MLV104!O|PYNw42_-U&M%g)>d5bC!MNFwp} zB_t(?B;)A>j1isuWms9)hX`D>`;gR@Vp~&Je~^IaXyGm@@fUh0t$w#~m@JlK^gE13 z<_2rtCK9TOZXj~`JDO0$3|0)p6h{ipJKZgq&Yey_SDZZT0qACH?ZfjA4!9Oa(ve7E z=#IU?3lWm-r1H8hN6N#tgJXBU_Bt5YSKC)O4YvGF2A#kYZNF`|A9rcKx&%vkKBJ`A zM3Vzbh`Py^4g>*csg*0%`z+E0&wDqch>Vvr702< z{xcNF(o6Qke;M~ONegL!sc_&}rAlmc;;XG2V$vCsC3m8!gmt{#P_=$TpSpIgU{X~3? zxyE*QODE5GE@cxF@;MQTOHT}i8$(UbvdV~ekJbwD;p12stD_Ktgvb-M>Rs^XS9{+6 zHO|qkI}`%hL8VTgaQT{K&GptI|4hf1Sz1C&8=ojqGQ6=8;IJY?h~30!rAaJb zvnz^}P58x-A02F!$TMZlac=(b0ZmHH5W+HJ!UpJD=pARBH{LID_VaOzVqf1gwR73${(N0SJ#U; zHF@K7%~I*K8Z7&!H)Xe#0U`x4E{FplyA7PyaAr{R2G1PqNTM~F5gRf46gspDC-gst~*;L=U+!2UzIs53{tX0 zXj$>&8Kyl|qlgP2(Vqi9?c~KAi^Xj-QPNJ$`2AE;=25c$d?}&Nst@R%``N`K{j}Y& ze)(n0>eORE=GY34kuT!orRyTZNo@%u9)$uVKGP5t4)Y5nj(PpHk)+%_MDnJcRiF^m z2Z^YiT6fi0Hbo&JzJA8oK;!%T7B59Fb%b(_HuPfG+;oHu;nn8s*jcfg4-Gv+Hcc@Lw zur(!tqR&1q&eCde10J%IqXV-Ow)=HMuppU53% zXSaL%7VE@{k8$`LqR_Ef?gPl5LuwJFgHmJal7;HN?Qm#JiGhQ60ttX1l?ij7<0Bi zvKsHOxTl8;j5>0UbjIJP-$)<(ZUhcRory${=xni(%V!Ac6Y$TC8`hIc2g@xheC@pe z2V5m=ze*nay`s#9qw>df@B@%>XtY*>p(^mq`+Xl7MxL`JJdR9xlmy*b9|QtzB&p!B zZesx?Re&}=zA{C&1b^2!k98l!MX*jC53J$c^u!~B?;|8v$^2UWG|;JQkC z@2UuSSur?hENB1#04E_XtOx)A$^TqOL4yAr*-ZNbeomlHf)dJ*KbtqCarnuvzvjV3Bb(O&c=ks$;i>f#Ma5&&iNXom-i3{_e*Z4upV(Mm zADEto2Lb}(*zR*aVP)H-C_Ulo3G-;)MZdpaSH?Nc>;|h|m(C z@;^@(L6bDN-ts(Es&U^J6wTaIlufwL5q4Ezj++B0+H+v_9a`l}=ik;FtvuTF z*E-rB-FobIH|oKMXGs$s=1)3ejkWdxR!v2;kckAkRwdDel5Cba*{Z&1UQL9w+SRDws zGKNnkXPc87QBdL#FRG8W(j~sF=VXZ{R-8lukKjT?7)Em)f#ouDGMt9^w@n(U2M z9KKIxWEz|Ww(7-7s~d}VN^;BEu;p>M5-i{FJOsXR$PVF)mYKNg?zuC8|X9-;4WZ@CkR- zUhf#@I*ru8UE2C)1py=TU;>Z4eO3EVGs#Jg9wZ|@N=UpdoF`R0h?~X)U+$V}Sh3Q! zaUE#DyZe?1QZZPbVt!p)uU;2EU$YzDXnbAO0mKsWXqe$VqJ8%6IOAL$MQf8(^ceaj zH)EKS_?xKxwyCok9r?mRzUiOZUbn=^FkviW;bAP!o?2~b))AOyQ-J+?1A7uwmxf@` z>L8)H*15+~`=Mi`4Y(|?0Sz?}rJ4yq5kqAHd?GQ=z2Ym}Fc1-7U%*>|2~dM6M!1c( zZa5HoVg`>1=LJy^&iLun@uzqHw+#E61EMpD*uMHvEC>GXO*C(r(k2u-CzX3}@Lmxg z9l`4!EzLGIp|Zxr8s9WKPZPgJR)t|#_{!@&nlDtt2mANX zC_H*<4f&co`Bzu^Cy1GBhvp3P* zDH(tsUCj3?>WxHOzr4}E+l}Kv-5G_^cvE{8?e{i(oxGL)E>5`T=h3dUBc2NhHGev9 zV~%NdmON1A@p4gdd2|HEd~4sqy%arn6X6FAjlr%mZ1ej^WKtXxYvQ6&`gS?|_zU}h zU{OGb5)|zA6Y&niw_IdY)c(;_)+_hxu6L-01gJ7Bo=(cNdm>lF8eTp$;|y|5;Jt>x*rfjLKVyNca+$oXAp!+)#1EHh`Y&(qSt&+ zBE<@$MuK2Wx#s$aUuHP2{n7dDcxF4iC_*$e4!XEyXq4NMc#Jvs>&RyPiFP4oVFmZ!F0K>D3yqhhRP5gFV%1%amyK!WEA7e?RAI?=r?xXu zQPs;U?2?6s+um+;J^MtNyA$4y|0L&(gCH19_xp8W0N4c?9QXa@M$;Uc$$h<3o9(-+ zt@<7IN{$rW@7D{{uXY0r1ibB;nBE6d4JlkIKcCn?n=M)Y$@KJB%Rh%V&)D{XztNBG zo;z{YhXsW~pA^y3BvWqR#t?EmpIUxXXkG|TGxHAC|7!lY&A>(bX{Kf#@@CIWbv`>D zzq!En+PUARe~TSr^2dnr8akjsmSDVJG9KJIfFQ(?%c2oiNWuPV2{UDUr6yZxEdoZi z(V{yL;-CsIuk;>_BF&hKTAx(_l3Wk{ILwvi@cg~wpp2N9D&refFnP=;l!&;peO&r6`$p-{UU&6e$?GgV^IqriAvQ*oT&m-JRHx0c*Lm5&iEn0LWI?)uLo@{k0?!RlRI$n zJ*X_)2iZvfwqR!t1hPbM)l0L<=qk3^f4|aH&2kPgJ;LB`Y^Jh>fJmL4Yd@vy${u|l zb~mIBY7W5h82UR2sHo;hQJ6t})CS0CPt;6Xg2%A`O)gCtwwKT%s|e!Tg(Av>v(Jd) ze#x1lZmMD;VtVPypYVd1Q_~8~6E$Ypbbl~Poi(k>n!NL({x`CFXtBQ?&6guHM)|K@ zUzuPAVm9#MevH%ANuhBlTu6GX@t<^Dds{P!3(XNj>?_1<>7-kGRS_GD$o76@=P6&J z*{E9naw%Oa8IMl*if@^0wGc*)46X6^chMbha9Z($6CdV#WP9TE-rodldVz?&YiA)F zF|d5PfSPNSFsz}ZqAVA3 z6jTMeG8@^)#|OVI^5$XS#^3t4`r&1Lx9SO1MJ**Y`^~~IW0pWVjZ7W6KJL8iP$$@x zrh`#lZ1kCwp>KkVazMN_rw3e|C>0f9e6LoV56NYTSBpHmp=V9L6dZ*w-wyNJykW`i z*;feGzzF)#+<$%2=V_Q?&LJVSS+PgeR;UYraN=51kI&x|Xi33Y{h>#`pH zti7~-5F{>i)Q=`;#d&`wcG>al;#$vB#HQC{+S)C+IhSBVYomBBv;!He)v(f21Dk*m zTA@~a&qEN@)(rc)@aM*LfC$jcWOIXdpRAdkW=*2wz$Bx&L51dVH<8w8^dxhW#3l0# z$tzOr84h`$E+c~rWI4=r1^JL_h?_9JRG!pw+5Lc=X1v z8TvPhE>c+L&6qA3CWuE5to%TutsRAOI&s!yp=fp0XG!M~h7v_0o=H>jCcuiOBQ;&`uW*#Jk=As(4uLy!28xyX*1A{mT z$uy;dKdra;+n)TNY7ckUq*T4rj*+vaY0{VJyuk%`Ht^`%p}cUpf1xyHTZWp!=r*Xc zbt;cwy8Wp;XyOOgUXegSSsAdtv@nts1(m-fG60h?Vlyz+`&tebuL1oDq-FQ~%~eAx z-EMDa?AIzAZs6Rdr2t4@6^wt5;l#qs8O?*fAh)hFW>tkcSaNg3V1N!;!g8798v=z< zz1uO=-!C6T!{-X8ZRoZX3J^9Ais?yqq7<%8SKkn< zmXKP##Q7B>pfZ?QxfD{+5}N%wzhjAF)~dTn-LlgQhit}_!8D`y{Q6p8eyl?7rT8n} zm6R^u>Z!C_ryU1&O-E{YZ*8ErQo9o*ZC1op^nml_;kmzB+R$H=cX&J@WF6A4cr@I~ z{NrHMc=MnpUAP8j$FSFmEORZ#^phM!1$X}SkS;0u+}}i4o?QK7ETBTIWd3iACu|L9 z*}Avy`rNM+ljb}yd`<%XnHW&bN?+k2^ah3riOf7JS9 zsPM%?_nyVuN4Fi^zVtKn9?gAWd7_E_r47Le$UOUGs1ij!dW0T~�{PnX$FjeS%=s z1OJdp^M5*Xlzy`SfzJ)+9~yIN%SuF>Lxq>MPo6RS9PkO3^rW3(m;beoC5-U|scL{gCI-duo@(TB zK$H$MFPCNdYo70yf)Z!`)GCL1s}q8&t#+VDr=1XzI+nn^#AFsbgjQU(u<#I+wrBj( z%5iI!*;renK0EJ@RoJr6xll)PJ>HD&&=xV6Zcp|j`Knb|{{*e7BPpv{bUvu+9G+*|&J^D$zKZXqI2fyN zx~-cQ)!7@}tMRhC*f@In^zzsej>u)J%YWya9!6l8k3V6Cbn^v$ z;*_tPoZ>9T2Vv;B9|gZpEX(XG_-YG^@J}514e{m#dpO!sh_zNr@{z$*BwK2-zcpAF z$+fYlk~&EfCLCEMY3Tgqp0cAeU3Ph;>bqS*%~Q3cTv2_Z+ChaOoT0}KBS(5W^w2_m zX*l|)v4|om8AbN4)%OwepsG~#`mg_b_v=E!su^kYL7UM>vz}0@V`HIcNs&*2Bu>jK zgGJl)Qc-4ObSK&pGzm*8`~$gafX?xjc%CUJz^e*`n{?DRujQqGU63Y93zz;Lml)1Zu$mokxBDNf(U<=V}SiVCGnCji0q?lbJ) zH{K9WA+*^!vZ+2h<;xmLtR%*8xC;>H8N1S^Nf2YfI|%!ymW<$)GW2S^MBipC)glG) zRFx}~TO4Bj)g)qLQk|~$&X}9vnp3)*hL^flqFp48oLuG6Ymjgd>u}YbItYA7BA$9~ zKMuR9!u%%;)0~Me`&GrWOAjY)c+llrg>fJalM?u2)toL64U-$sk+F7bwwWf5gec8Z z#~QH^?00LK>)Rx!C=S9Z?(R!x<#L*n1GSWEy7r8on1l82kI|3blT#v|FCENNlg)HZ z?0}%>0F@qrgMc{s51IBT5yaqcSO;L?{|BQ91{T-aL4${;7}e2CBoF^?TKhyF)|ppNfnvzXCZ*RLih7(4E9^?<>-$l_^=XZ<%NX5eJ#!U{W0;u z5_U5~=H>JC9qOe1^a}am{ZcD|Xu-*YqLcYBT*yVpR7e2nm(xq^&zpC_A~ydo8AYA` zR?NEnZN+#Y^%`&Zk4}QS{)<#32B-jlfHVR02RM@XZ{Wz&0Wd|ib}mJFIh6yI(Ay*i zW`}*^>`Jcqs^i_gZ@XL_3sy#Sxvm*)r3J<7`hx}NAj%(0;Y>Q5lOT0kv5#wd5m-Nw z9C#_`IRa1yw*{f-Ak@tlXV*LntfLCj-QL!YkBfD5V(P0W1}8)zU`7qg<}M*Fd^~pu z6YQPAJGw6+AacMxx#&Q9@0q5}T&Hnjc#=8_T_q4!Pi+2a)S&Thxu0Kq{K_DJtet`} z-Hi$V;6;TS-4dDF-PxO2-8K8RvJ@S5o%4CihtpU-?Z{Wm1;e;E0>YHJ3QzLTU z1ES@z4=n`-%-eelIx*+{5skAuHZ+97MCy(0yLq}Ecv{7Sg+p!Ch8n;on(^AzBV9Xp zlJLrtd(zB5sFmpCn3a=h-Oh5Vz0Tm2?s~CNv9!s$f9~W^f-c?J`DE?gW>2E&w*JLv z4ugM?<&o~uA``1KVVi6D_OLUooat_0n1bU{D&jqk*i5rQ9b1y!k(zV42#e{HEHRVz z?M}kQd8T3JsjO=F??C3_@Xyp=5CX`7EW#O~7YtG_AKaf8F;jqIp|nKwI)b&$y00Wc zBa6!hms%0BS>aZs&5+&Ca(g$jN^p3&e-E|y4XKh(^wD9i{?q@tKkA?*D>5|4#BsKq zTot8>N5Ss#z%9Mral%)@dF7{u-T&yhUr92GnB&kNa5^rLEh|2}T`+8rkZ_@9h9Am@ zmu`Rk#B(dIDc~M--~-P*V_cgd;q~0tbB|iJ>H_FYjSTX^*;>pubkU(*Qxg4-tszH&u-R(2p1=YTe(# zEEXiFKvRq=sYV?|nA%Q!>_fX|wY_!(G;%%gM+m$vl@5VU#Mk9Sp+lR%-jwW#`>#=+ zTEnOo(Te_gGG*I~1(kD-S2w@h(4@*Z!v$Y1c$i|zZpmzcbciCy8EfuNh>x2KWI1B8 zgP{h{M&HN@n+FJ?YpigB65rnOC51d1j6mHIN;WSBL|#4tD31@=z>Z3u8Vsnw3&yw? zG6m6^RgN83evBo~cI`RD#G+T5odO(-WSYP0(NEvu)CRWf3JPYSQNoKUsT)t51%G#` zv#{aP>AUp@g1^Gq3bxU;l^^=?`QjM{zIOCKuvJhr#ScS$9?J#7V|e(#FOF${%@-o< z@mdBoOhXTCiHG{V(}VKZMBw%NU>J@)YMOJ_G4)V&;uZ-)-(6r6#eTd&{h`FlPyRH* z$#{e^-KGkf^RW_wAPMyJj(*~E>$_nUGQe6u_AMv7*&y556&wplpPL6teC1Z1W(SsO z*LT-Ddi=cx(|ew$@M}Dl+e0Sa-&38kH}vfD`T0irK(J&dQRR^`T}p7o}y( z!!(fWbx+ZEu@H8vnt5^kwZXD9V$*@m2a3a%imyf^I@S{nO%fOPV|&kQ=h{Tt^jP}2 z-AvJK8QQs^L{y}@nk)$0XG+L|Lz4({pf~;R$U|2!7^KrVoW&DJ)s^w5T&pNzupfg1 zSt0?X;P1~?;Idcbp6ZG*9*P=b0ent`+iz!VFadX?kJh^YN}oBOF9l}rFN=`LitEoQI26!bnTH+d{MkMZ0?_GiXQm%N>Al(E4E|{-+++TmXeh=2pFKds)vt~x zC>Q++m|yMMrJDCZetwapMwa3~1}Y&pAE6ZA03Uc1RB8;i=q-yJF!;7lvSgCmrRLFJ8I+F3LxjkIfat>xoN84sZi>J z_6v^vALF`d;7$s&S_VamOqYcEbp4+fo|N}%C*F@m-8=*UGP~n$)f55(5D0E(BoVF#P9AckQ);A*p}K|h zTTxe%h-c#;M}-l^lVVwKjQm7MiMh1HfhR_lg`g3v&80Vi5y?jA4b9!c;*{&}X=W+V z0?uyce>2=n=DkyttTg2Vg{z$is8nf30T^sOo!mt0L(@j-Ik;OsAiqwoC1FB@#j(Ks z9J56elTq5d%qh-@y0{zM%ASuBY%I@AU!W7tzlRj|-F9?fDtc2ASuVhR^gNwsER3%y$atVcS@(HN%f zp+A^&rXb1bZoK{YH-54kAm!S@6odwdg(~JNV2c|qnfdVbFhlqXTQOQvVkQ&C?_Vb? za>2v?>?ioVbHa}5l6>Mr6)QtxIq@NcUqeu3pnS@~iIHgLw0FOwCE}Un$A|I=UiDbI zZ(h3r8^jAa)L0^%UxxsQ#JDI{-gdBU;TZ8k{EL5Ujox7aU8Mq5K;~JJ$CPxY-S#X1}d0nH8OOzySFl2^S7Ajn+3WJ#?w|978a%o;b zIkFoD+fH}m{#)xz85Rdq*2ol~!nv@eBI7eWcV!?^3XoSS+C`_+;x* zVM!x!VzJoTOza>e;pGSm>V?9c;t28R}jfbV}4%PG7n4p2hG&jbH!nhwR^z%TwDV1AWH z!G?S^^Il$hW-r5@G&VrQ30Gpd^Pga)FdaGL<~Cv|H`1@G%bN zR;365X}uEeY%?!r%4u7uK9HAJ@~1*C>(}H zW=Z-3ldY~H!#}vbU^j2gIW;p;0Y!d__eMmt$25(MW#~ae$;zXWbBlDnDJT2writoj zlidlA23#Gib$x z@ALxcytfgS)#*IKZkBX}zP2RyjC7TNOpDOVi^-)0T|i*>?2*uNENZw9B?@SR>}AN-P|w^|xEH8hZO}t85CBpKR1tW2R715?u+> z(48wwSb}q$rcy-?6kJ>!5=50_)1*xK$#Ib%@H#z^B+bJWB(t@&h+#7%kc44BHS(y< z`wrt;eIT8}8{e(AGnKCI$?N~;`|@gi8+Kl!ex3~Cm3;;4r)@BrZ<8j(@|G%0!z(i;Ot_k{9~9)*hgEd=!3;#B8$>F!*E2{4nP#N&|+U2i7d zzH1eQ25Ovx9}d*{Ev6@Mkby1k1TE0m?^O3v)F4j^G+h#;pXLgIF_S&4<5{SfRj>Y` zh5u5~HS4pC9PL#K%w3`dxzi5UNmnvJl23THNSiW;N5=eZfx!Aj53s>r7M${=xz!!q zlLv}t)-)#ublm-Fv|uwuunlnBX8pGxCLV9It3~_kYJ9SijcMQZs)>Ye=&WetMn(zk zNd`9@-k^H!ao?j&xfsHi%O0{fxV`ruuol>+mh|X6-T3a_&@;WalJzeB5Ejg@r7NT!$Zq(uZy zjm@hpcXKpn6;=K;=E+C1PXSa;08zK-yVjUc+JB@ITGGor0mlb>u3VK|vjmP;w+oH0 z#ooPLD(+_he0TfZ3{i0-@{aG8|H-!nFM#-k^40tFA5q1Z=ywlb98`O|6&}X#6$-oN zBTSLIn|eflKb=0<#|3d@Mb(s<)o%@x$5i;AUAxBFn1J-@GQ8fUj|~rEaPLwtoj(@B zzjIZZ+wHJC!xG4R4)hRDRS(%&ST6oJ5r*TYtq|=G_%cv z!1)Od^(0nP;3cg4pYDs*OF;*EVzJ=d@ApQZTWR)N3HrrEP?>f*`y)P_ec1nS@PUY`D0G=3akd%_Mt)lKj8zc0D0YtGh|+95DFII z&C3KT#YQGcTQEl%DMhAW?%p|9!Rv%i(I#SWjfIV z7ED_TZfJEx21Gn#;h&{I+1~;xA4E8;!0~qbr5&8)P0b9Se_;E6H)8TKd7#- ziEfoPpl{ro15~R6LW~rYEtufXix{5@4zbnmCCr$s{voJY;Vx=ox20S}gS9S9badMg zZhLLu!+X+HX@e+~t~mc_PVOL*D;kU(P6Vj&$aqGog?fwRG^_|taeS|t05I1j*VVcI zzfiyoCuxSR|7JGw#;GYdM2TVX>YhrLcY6Qdx;<2*5Rbl&E4%9mGJP?@aB?Kv7H&a2 zv3MdL4F+kCGhd$=J9iPn8LC@g$TT$G?}C?;85nm{y*CMBba<;+Lu5I>JCOYq-RyX1u|?0u%FPI)UyvZ?(R~3o#IQG!0xxr1 z^ir0}=GyqQl7uX8lzU6EH;-g^A|k)Nhuxjs526>i!24#Lp|E{*f^Fu4740A(uu+il z%6I<}|8~76ScJ=pm=ML){`l0#bprG9#SSJ_GYPiC5AGYdV5Ow~r_s#itBDg69zO>e zw-E?-epTdzkI{9Ks_?q4_+UK?B32na_*{A3clsq7jlYOs&_FglX$!q!hB49sWbn)T z53BDM50VQmF#!;usf^13;SXygXuf|;>!B3uwm;KONWom`vx41)b5(_9j23q9VEVL+ z!=N{+6sM=)Z!rVeQBU`8bBTvCx?8^}tNx4ev)tSQF@cnNud z$WU^~*!k?0%$loN1d}D9&gd6bvrYt|Q14(~QWSy1jxj9e26VTMtdR)@0{J|x{`)wH z{NoF5sNjVnjYi4oeXiemg@hJy(6{ED(t2A1m*u~gNB`G$QES-*@(GujeyFG&PYSZk@$dLm}-6?_ZZP2ok3^Y({?kECS@Egf^PSEpU!{vu?y` z4FZumIoW)`&}B_bzP?EdO?5W!431-@O2K#VO(%Jj@!bb$kN?C7PE+>hk%vkY1QK~l zGEe?JvG$aG@V@$GLido>g{g*@)%a9iOiau>=7S(Lf08f59i@~uh?_QnCOf$CxC5J)a~HH@?04U_4uPL&=t}?WYpn^M1guL)2#*0 zO{L~2bp3Rcui^xtso87XAe&{T};6H2ZsAWr?G+w(|^9zK@U7zPv{%$Hy>Cy zBs3~!8+ID0S{N4p8@0EFGN#|tDY8V?X#PYRHlmFN{8kTsaH#Ebz4zp=sEHMRyW2n_#B!T}h#?u!Fxm z_DXM>@L^(Fr5nKru!5ob|VSzyEn!k$xz!ZVZIJ@JyyWpZLIL z0VdFc2=zq1cRaKe;rtE38jOwDgGhKaF#X8x8&BU#slCu}lNfvNxtsU=H$*lI5cKo% z3EElq%yt@HzX?cy4N{w}4o*y$6J~OBw?>K{*QDkmx+~mzz8IBT+vNu|i!}`2F|CAu zcEXyTP8IO@`p|A)O_I2kGMFYnpZe*F8)&T;LGU8ko=OSa_DE&5o(%{$%Y=`~YM^8v zN&N0QJPtghun^jx0ZD|q1P4et)hVwy>H0IGUub#2w~y6ZXNT5mQkg`aRy~9RDGl)b z1gVJ8(HVFnsXIvB1x$N5J}3qCOU^eW6wR{8U_m$CsU3h3PAOHmk`8~PiZo}nBSxXd z_JZnz5M`9NaXqIjx}hpk5HCaDk0O(q7N%33YJNa4XiTVFvR-I|i3XqvqyiTr%0Oai zgd1Nn4=24O+gBI(8Q-T0UeDR=Rwp{xT>_Gw>cc9th^nY@6&kKBxjo0ICS=I?gut|5 z%xSU}D#parJy_rpbxdIMoTJK1CwU&& zM|BGZni+i6S>Rl*Wd)A~tPpipEB~QA**hj9HrjEhitz@nbwGt8RQqo%a2DOOP1GCB zm`>s@!Gow#&Ur6Fke328FTES7#}H4RqlNxvQZsnZ-CFIsK(OwCeMzGQx?DO;e^>y= z;YJDwPdc_|BdK&qOhL(h5XI5^frp>xb8TSu>ntwBs~FjaAgV9yi5QU+5)#6>-C&>+ z$<`6hf%E=GnBQMvq_-MiJYB4ZlkiOqJaz6Nd+*vMe-kGr_5?lu4C(3bURD)PQAp&N z`pIrys-87kgQ=<)p(Q2Zs{Gx>U|5L7{Nk88v%$~ ziGaKzwy#gREALgV^JJZ_h;W#0#9Q{mNr__J zEGE1FLMBfSGS7;wHG@;1@sLd61kBE3DOQRr@s;Vy4C%xph)uS3?8M~XG@_Ofdv3lqW&TG+; zH_5$-QyY!-;aC|nF}{tX$;XF}gTsZ3FN?08T_@MFGcmF5Ov)S{pYi7X$wo{jH$!BJ z7wnHb5@qxsi17X6{VL=?ps!Fk;4RN!r~nB_p2y8h?nvr%5d<6VKUnha6ya6K_l!J| z@n21x>*Un)5{bldBws^TEkxZ&$o%i$=y)WEd$)3}f{0&!;X>~JEldADDAxb4j7nL- z_IkQ_<=XiDqsZ4>tWY_(tE8F%Km$76uD`M}{}bx@VFgSM@P0cj^%LU?W*f@o@v8HB zwyoEJ{N~KqINFiO2KiqJ`2Xv7=u-NRm)Ex;VFp-1d4JLvP`AXCfnsp!F@G~4kEqch zh6Zo2yL}+znc7`h)gIU0ro}e@Fry;SM|16GNi22d7&~gGhgti{v z(+`XeKP-P9wBzt5@dVywJ_*C93wS|YCc1dxIFH$Br>@> zV_{-DlJV2)Qrtr_lLzMtjzp;^k(-0<5S+VIo@Nr!JNfl<%E7-2dTJ#pE*!q}W^8ge zJN$SOr*`PY(L*{o%Gy%z6(BF? z9aA4pg5*9dvDU2b;8S3@bmQJQyb&_q+UkF%#IifgiJn9AJUDenlu%w$?O2{N+0(38 ztBx+>uxFJ@3^L^8=F@Lqy?z9{B5K*!vKx~{rLm6t#ct}#`+c)~SH-PDu}62Yc*>ni z$LV0$?G9h$%ML0FmFJec$uNvZV87@xJ#0*g)~!BQ&(2FWyKK?lRa%N_hUl++62Dts z)x2H-kyUB)W&k&A@%g_S8@(ngnLy5qR%LFm`cpMKj_;R~0+NTj64!O6;rKc>kII$K zO^?t9NeF&>{Sb1kShUvVMETxNFzMb2R3l9WCVF0HOO~4LX{HmWrRgjm?Gv#18kZ^N zYX)FSPUWLG&Dlbk-NTB!u}zC*Wi9rm@r2ydyKA)uR)=U`ahx^q}sNz3rsZhE{aKGpRo#q^eHH8GP)cUY%yGYzm@ zohk4|x8`M|T`8c?d5=VE#=GeJJZ;S@$L?H^(27Z_$<&j>92vwx$}gA+<4R9#=O4F) zzge2K`|Er3k->O3fWTt0k37=e+E7^Zdn(@M6U*aapP+)8%iiQDuIUvXqv=VXKW?eZ z%CJUPJ9P4dFLOasD`iJ_lA0jbs-sOo$&fh?6NXjSag+4v_SvvTwFS5jZUq2aQ zKtKTb)ipFsMEDjXqDyA%&}O$iy2w%&eb_2#;qz(LNC#izYphYc^K-mueG8c#oixS`g;QHAEWwz$OA&l}!O=w+~O? z?&?D0CYT&Ype@!M!HunWLI%gM*xUodHca$qMHH*{tVo&ftTM3Aw5>@N{(gElWL>_5(8oe^aEl-7ENvW6Q^_S$Xtzo4}+*e&t)&jN;D zK60?k`HsPLH?hIGJZp!WQKW7y)B)6vTEf2JCt{Xmir2fY)|Rn%s5M_Vjo#rr=kNrv zfcU__LP+j=I$$Y0sI{fA96+~mK-gkoRh?qaCi1`42Xg*4&fwsI0E*HKE>=bnnT>%t zJxzRM7O`AfY{B72u>d>KaP!`-tUY>pup$R(Wv7P#uU7uWGX}V@29=vV#%T6- zJ{*g$NBJ2#C#qJFDe#nnE>Fa;tFfQrj@gRg7YFvt-1g(vs4h)mje06wTn5-z+&oJ8 z!J;{r=XRd{?+8FNxR ziF5c+H7;jG(cZxCgGtcLN3Sty-tPqP+ww)0L78=9)*kg8Wm?Q&Vb6IV$H(-#uZY|K z#RDn^CT`=V-J}LE3)ARxA&~q&RW}-E$#lAS9P{@6pjvK9fE-JVG2I$7!DO^>vhyV8 zm%yF`%DVpZZHS5d${zAM{*K6N#xr76q@f5VxRLCHH^!`+HNuIG{Cn+oDDEd=-R*WTwiaJxxO}J?<6|ExWxOjJ$Qv zXD8pWdG+H<_`IsU;_JzbkE-#ll&lnTeS9@WeMX7gofnK-9#`gjZs}%lj*c}#aVGdO zt;)-pf?6AC@>-e^be2e7ZWWAxM$Q@1n(7NF>p)7YR;P-PM%(vSbg7Lj`Xx~uIXsj0 z+x?_X*4tVS@YxzDQ&0vt$|EqE;rp%Uj(u3^t|l8km+x94h-JDybW|)KY}%OL4J7vn zTjnj)eePT`?{V)xMknmeK|vOCKkUU?VrIRAl&mbvV6^&1*D8FOp7`_99C5;AG5JH7 zGM%l!=veZfEP`m^F7x%VWbrryvP->4)YHBZuUD3Y454H3IbyO)cV*hzz6tRD`gbTI zz*_u+X91K|>sNans`kc@cQR6XPyqe;=MV^_>`|a7B1g_o%;yik>}4$bY`hMopdl0|4)$(cIgt8UMDv|w1;H2?%MdGE$2H}!SO)*q5KHQ z3LC>6<8f3g4@Vdah*v^bkru`9^@*fag1H$(@ZF6+ADVuLBh;w%ey7OSzz%oAVEPsN z2SEvMtK_RWmKJzeq6&AZh_by_4ecftc)fu{r`?P*e`QJe-CnpK zcTc}+1>u>}5GGp`q$7_a&1)GrG7Ja5)(b_^c{_1^tkC7f$6Pm6Ek?SjyMPbJY0E#0 za8BRd?lgjz9_`h7E!0xu@7BR0_IUTZY}Fmn7jFeIGzX^sDZ^p161F(6Y3xv*;{4P5 zjdJwg6%U9qiO^i53ym@?MO;VspS|;^W%g!sOj)y?$rr@V5mtc{YM5wE9t@pGW4PdK zdlU>?q>>G1ArwBieCECR5e{`PT9VHq?>{OtEDZ!kUyS>Y*UC2lN|V@VSdJCn+cm#q zuFmQJ)ht~eCptvOqaBjr3B5W>iPQ5$N8Ygf_Bp{yiSM*EYj6UAqNU%JoaPOy&d5`S&|I;h)MS_8v{%)SApQRR zlb(zld^$$d=xAU#ovDn{`4o4`=|xJQhU}T_* zjwoPcA7##F6Su3=9<%4g9xyVq6_+HXN#MB-kzV)wnzu8MR`6gMVCN>XtMK5W-QkEG zH|-rF3C%LDTKO_r9(JG;RY%#u%;`*?Bh>(jQkeQAxHX-n;CSXreX0b!<~PHF#d1T8 z2PGGj3~FU(x4Mgj$DMpnC)5yJnFaUD=lL`a0#Gb0MkL@E&{sXPB|;O0K!GPuR1k<9tWMWN7>L zuXA$>VI6&Y^+MyOEw?tXD*+t**Q5tbfQ)GR1DZUGFr0*MxQt)bfDMs;S38bV>##s7 zGi15qQ-*9Ntmt3Bd`gClJ%6MEQU7Zih9n{s1EZuHZVcUM+~~_~p1%GJ?@PYMocGKe z<1R0rSIFM}j_dB-657dGQSgU3o9eYM=n>2E5xI7cEr5h-@#K?X`+61Vdig1cGp_@B z8Zrn7kZ5l??5Rx;1pS^!e)yVs-AVuuIhuw}_~ikurhzH|l%W*~T3TU8B<_H}VoQAZ zH7I|=h&s#lnqO9mq%|TtL|ZBUaIVh0fzj_jc-~4_UU$j+C0X0D6VT?#Y2#`v9VP9)md~$m68C}%;|xX~TCY(rRl2o~VyrcHh_;w} zFnX(he1mi8P7aPvBr1@H_-L63J!+n^Q$jH>NnSpwW2*A)@=N|KMX>pwbpf(5hP&|# zY*+Y$IyD&QLPS8P&IqQmWD~7`qrRaVN)0J9Izr8{Oar5ILqo$ub2(DRc?4pYalvGm z9G<2LNTvfx1BZDMhPgn3xkLEc5;9(I%?ZQ*?29`jUC>KpG(`J#Ouqc`Q*)?f14n|B z(uUrSHqI{6&F4Vu0bf_0Xe2abyn56DwJ5pj$EhMr$LQ|AB6z_*b}X2fZy}9>E9F8n zt3s2Sck#w)5yjSj&%S4v6n=Yg9Gj3BwVjJk=iSuwIeDqyZVh_f$1yK7a4}V4_oOxg zFGVVX^4un}z7=apC0Yp&W#J8hjYAPa5pGOSdlD&C&+~>`oM{=3yBo?ntWs~zJd4}T zzi6N~oD$f4*3i10++hzxa>edRe(&5h;s2Uh=NP0+sie!x82pvDF78EK(L=1<)ZR)}Ur&Ag zS8U(cUOQ}A#huwY_PkqIux1k*D;{Tjx`Fq`3ibxOImZ5KZqG7EDw@H9Jihv# z-TwmYXZbWQdh+?)yJ!vd4Vzf?_B|B4bo$=1k`{pAZ@gFHLGL}5neSFnwWN$OX*%iG ze88^upoWckxOm~`hgZhnGzT#8>2hk8zsa2iiI@YYv-+4W#Gc*81O#@jPT7|@!moBQsXgfNembqOsSG4z;ok)z?PD^SmUOR;+O;47}te8vM~o zpa2K9E#>~J3dl^3!y2O#=jun^*fLh`4L3PITjx)vAS;D<-Gaq%;K>=o&982x~B zy7i|@W=_bbZ=#JD&4M-7iN}}Eh11_>M~FkDlS-g5srYieIBf=Y&tNVut86l58gSjC>|Nv-Zfo>&{xCl^vfx%!DEBt!v%_ zu77d;k^R-Wsf@F%$Id|zqqwaF381Bcccx!NuE&94HE?)x8F$y)N7n)b|Ego&jl=1e zU}7fpr+Dgo>h~Yr|J{lC3F8G2*u|PBOBkAN$F#ZdT`+_98oPdl>hTFQa>wcMRCKLGwdHK_elI9OK%z_4}E?(ukV>G6q9_si59z>%07*qoM6N<$f;*c~+W-In literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png new file mode 100644 index 0000000000000000000000000000000000000000..4608a90e5522005fc9eb6ff7b3629b64fe2024d9 GIT binary patch literal 17945 zcmdSBbCBoIyYBmK_q1(K+qP}nn6_=(#HL@6o4EZy8LH-H* zDPuZ`s5>dynmD-{I2Z#=ZEUTLX&j9ljE!v^&1{{nL3((9PGT}wR(BF|Fg9>9x3wWq zHn%qZ*$DtJ(lat2wl&go9A$>lvmB)s5iqbG{S9EEKMV_@XE`oOaLOOe1^@^E62bz? zZkZRG&Q2(5*x)y&OKewokiQ7U30hHIW$egNQd9O+OBKxg74zKkP$cc4KwI```+z|u zZ+8e02nSVGkGBD8Y81E>MHxyLJH6cnbWd z68DdnTi*_x00Kx`T$N!yEH;}D+Y})L(A}znmlkLO$bg$>Bp_u3P{JHx04k`!KQcsq zFad-+2~hc;t9u~4_Shmk>h!bpi!j zI*aOms%g((zOYM!qMXe97#N9;V?pGHj>|*}%s||2#mjl#87z!k>2_e65*_z78qH?X z+YUst<3Tq{8kv`Q+ps$1qQt@Stjk!i%{gb>5~4E1E7lhTfsm6at| zY{oUwdl7ph024ev3G~|=+A*N{97=*=XRbqC^KC0f)VHhX`CDE(?dzqK|9S^a4K%oVS#Vguqj`^<7TQ!p45#lgFEJyPgZ z9H@N`17b0a5qcJdvlZc2Y;75?{H*%EH2gUJvkhX*?SsDwvK=zyzm{+Idzu(v83mIpFoFnCqv++Wt}NwskNgHkgO6j7+oc! z%OpBXf3BvREmqZd@oejz5(J4Zf{s}J2HeXI^~A~EB{#iPT8p66FAA7m`u7$G-kvvf zD%yKlh%Hng_z6}&)h?9gxjqbV>GX{Fr^kQB;-vZoS6K|DuR||#_@ZlOGcObU27!_4eG8gRMHacIjWlG-3LPtrxl_q zh)5=7w!q1b;tsKC8cax=v0}5bg+0}tp5`J1juGr0?HosZ8k{=j$_|GOgb}+luK8sr z!-srZJ%fkrD%NE;X2wnr8k}sNGtcr47HifY9vdm7c88ofaguh=5Hood+CG%2pVtr| zCQr}%c8Qdb&BD*z9AzFL36x#ivcO-}6ykY`hS7E9@pfx4j6aXvyI4j^nmyItGToY( zw%o%I0JYlJKZi<^0W)IjYr+(w-x~GWhgVC>h2&`niIEU*CE1sf9V0J}L@W`jI*xQ# zd#p<S5E`y3+C)6K1VA@|qfG&o^64|s5*sI~ zeJBQ>`IrjaYkr1yVcfG?9J{578mFCZzM))-+#Q`!)VP#eql+eeq2E2#1+2M!iQGx#{`PG zJ6%)ytS%%{F57G%$R$v0Yz+9PN8me-v^7rawPH#kN5fzv^IM0$!xQBrxmkC%HB@ma(OryIkyERgH7xsUTWVm*2ljktUGp zW~#>0#w2s>CfzOu&N=;Uz-FImmxiC(a7r6-q1&6Wcv?uo88D)lo_D=!$SOPX+*qk$ zr}5r8yvsN>AEGg+l^yp;j4f&z0uvqn+wcnh=fFK4nab>x$Bqtm!idLw=hb#QFS;61 z%d0sq!{u@>B^kQ))KC*j0=@aZg~rqUV1>};vy5(B^GyBqJd)Yid1LTDm5#&}$;~}E zKB$NmUXM6JnASCgM!>-qGY|zcZ@))paX&s--m?h7;Sy!vTlvXYotCqV}Qsa-bEcl zjKi?#ua1|z*z|1ti$9DK1G5SbYM!;n#nS74$ehWxU6N^EnLi*uAqO(G!rlYnt_%yf@l?cqGy3)Bo};uTvW=0Y^<3mx#S3nP#_dL~C7cw%t z&lnzbmtuGQK~M{5XVW_2)2w@s_!jc#GttyR$&Cp{ObtxYj&9vQ=4LAi%hVNGpjGY;Q3-*?O%OHbx90{ z!U?~d!_QtF7ro>b(vB$Wsp+1Xwga*VJu!6)f&zKPdf~ZZOALDWt zE#`njsCy7#bg675K&n`I=o(=9GgZOKchsx6-WKowG1FK2SuYA|z@bQC(ac3yg-|2M zF$(^TvZ{zfZ%f7p7-RZ9aE~8f@AS=eL*jV@!IH`dnSt=Bli>~qxd_>_OoPSQU$^vO z)Jn$sWRw&nTZ)qYTHz(a_-p~&ODr2lRGdRB4*Pqu^!fboe9ykvf8i7B_}&R+fl4sm z7E6=}y1+v3^R3<3Jee5`%$mJs`l_L77Kk=mQR}rL&rHz;xP(UCF$Q)oE0O-kkM@p8 zub1sVbxFE^+OchP<+`|A6ghIFFv)Pm5~1JD4dKnl3CNj!zgcX+*Ah$tQaR0AsqI9E zGUaV0k!o#|bUWo_CWKf8mmh7TSX-(azFyDX`FPHn9WbEewNb+it~4gz_yie|EzUJe zQxl+A)Z4%p1&IRHZw+xim+OQ4g+?Md zAa@DWMsTOeU!Ex5+0!<_j$@J~V(mJM-=)@HZ8!)XKoN2!O{o7#v3a zkEN5~ZxnsSf_wW1$z`YzP|MxnuCZ<~4@6F`lw(FC8*;3{blo3zR`Sq(NiY=SvEIo} zxDNQi0>}Fa#Qvc1lK%LUWlVh7U!o$Y03%>1EyE}MaK2UAI^y&Ft4u;_!OZ;A6g30Emke zmSD|wrIsgb)-=6B9X;SjB9rh9?8Z{@e_z1z0FQ$MxCZP8+A**^Bc=MjBQCV$cEfGv zyTzp7QRBRRQH8LGVA_hUta1!=DAP1v^8iCnOOqwYgDd%L1pF=;K=e5xx+39=HG_g6V;@7Wbzc<_ChbN!#fY@di5}*3 z{OvWf2FLcB2muk%KP<8ZvF1j!ETK7Ul@)oriYH8IcNdZmJv_)%qEsQ@3)762dhi7k zyUummgj&M~L4nS)tK0hivb3W;Xe%g@2ReTDH@!%Zd{ z2t)TbY6V1N|Bgo9N}VsCOZ7V#--pXna^x;*wam>xJ7%e?EmS+)s$c0xb|2-%?g2UB z+YVM`tQ(BuPb8ej82|?-a?m7ee77QGyH zrsea}T~3Y7Kp$=Ga3UVYuNBJpf+f(A-Ht{78tf7VlYGPq*RSBgK%T?iuGxt3es?vR zPdHU~dXRt{;BM1zL83$d|N~LGOXGnsdZi){({Dllw42 z6$?!&NR3Xxf;L5~*o;(y7cQD+H)SAnvLrn><1eMUJ?E1y0tJaK9r-XY>{| zxE|rx6FXz^;6%3_%%h_1qTl&ycb|6)z)zJ&oT(qGVVEX0$kx>!l3Pkz}F4 z@m6oXJ>Ee4omeAH6n}KCq#*<%sFS>{BQbrs1s7whlY+NoLAj{vM75bE^?QY^@Dtj`0#~En?4sPlIy%|mTRs@R`1J=`zZL=Z;mHoU%Z*HqK(Q@g;O)V zRwOYiUqLJzyU#Q<>U|rLCP9hlA`qSkRsH87ws}&$D7Dr?R}zmkmBVGR_)s)X1Ojb66yGNI}3P~yXX8_!wJC*PssA)M1SXP(46 zMY#lKzMU_8kNT7zWSRvFP4?HisX-%V`gp`hh*}?eQ_WHoW%H`j1KeIpAvPw}sl8VB zyoq1hTbj>jKFY0i+cAw;d|j;p1%hMq>#}0WYXP#|Dz9H-TIM6-DUZ`#li!iqJahY# zn(?~Blc&xI^bZ8;huFe6UywsvDIMyd0x#1DAOt@W&MPr+DZzoj+0m7qym-w<5s3s6 zu`@t4G~B-LJD=?VMHgX<+RFhN-Da>iX^}dzFtEbczE$gEe+cQz*!B*XDd1)}&I*c< zzI3KX2WA)c{yDS1r*q|e{F_aC@a(pL{&;1(fxqx{L)*!64S)PPA{h}(;N|^;2I%2% zNLNpTnf;YHMK(KlyXKRp!hHN$R)2j9lAHNpe<0)?a=Q+5Yb<`EHQ@w@*A81{H?_e8XXZ0bhqhn17y;sZh2X|kRpojPf6g^8rYX}Pk+3cO&77@Q;e{N zC4A6CPZW37;y65gO+4!*5~_+q6uTSLegLzbn=KC#lcIMkK!)bx#>Q;e`)=^F4K}aE zJn*n?I28?%bWd(VG}hH?H+P=j_Bgn=+3_ZnBjY0`3?lef|2jb^UMV8tHblYfif1Xy zoz{oy2zG>6eB5}e5Fv#;(I4Vs2+uy1oB*o4efmFcrtHZ*VHAswnhg|8L<+mH{@Y$* zicj|JjIPwf5D)`yH}u0P%fJcFG4Avpzu%T^V;^NVZ-+j@AsZzIH%F#!lzP&{=2p#5 zR_uYOMQsM=wuT(E70xh&k=Lfz{p%JN{0f5;Yv8LF9tW4T;Px}?P|M5w3yt3Gi5@8~ zVnupankg5=hr@rH`bF$3jH~v4PMrSjr>`5gyMV%o74gI#K!&$}&12$5T|F$B%9jry z=rpf~&kgS}8hbXl!Epjq^pwAic?5SmbM>=*ZmUotgr>Cg))}=Bsy&bI_nTNKpK<{S zacO}7u$G=grB6fBm|XFB)0Z(g$sPXhIj!SsJHW;wVEKK${gQJc7W6s+^By%dH-hr9#YApwqO2q~PQ1785t>O+R zw@;ykwC%bW;cw8nU@@BA`mDX?gw6AWH@ZHPQ<%Q3kv(CurZJERAU;fim`7)rGQiX| zCS*QS#%?yy+yA`ok6RWCkoZR`bM66IT`_b^!*zS}CVSDU0z28!BAQ4HPy#z-`|c`%zhhiRS68p9?ec zsd+?9C_sUy6h%^vI+H&ah^+h83RPhOQZxrMJn;-HpOwTqt(#5ZLeDv-aD7 z)mwKIZ&B2?H^yA$<`}(d)_XRZn+Flu1NtOBto0?eJuCq?-N_1cvQH(g!H$Pk<(H_? z@|@YyAXup2@y@a{;*Iq>Z|Ea6YAvi;0FY7(f!DMd3NIJ5qYH^?&QEW*?fhw~d34XJ zcWbgnrRbseM=yiF4*2lYL)X24im266Mk6ftCW$6xIeiR`>Gxe`;b87)!82nl3_DV%PF2 z8-VNB5_gsvK!|<9z>*uZE?8PbJoPk)Uy8oTaQBvJDr#FpaUUs3SeCM> z=e@{%VPk!}&Fre({(BjeH&@5-D~w<%a^$P)F{aT&7KZ zM2`kG_gC`^nI0)ws(8j5d`~_f97r6m3GmCUwCp9EJS3ubakMmLye~03Z!hfQ>1c_l zN3M28nj+>DYVrlk3Ic6ex}QIRib>*?egbpn=%9u4f4xm?4pDw2|B`Q20E^ymiwcVd zT?CcH3|a0cLFLc$Z}3IP z{1KjiFoN%Hk24eE=VFM$cnHK^pzOoO8NzTql%i|%)dl&t9SMm)c$jCo6e3fsu!@M%8F?gqFnkOw<)UawR(Chf@cPG4fuFy4@uey_5B)_@7V5zA7K z@~n&AFzUW2D1C2m(W>5H?}wd*cd71Y3f{OdYB?y^MN}qS*$nj)t5*&_Nt#381mfHh z3J5y8>U)q!dqIS}N=moZ*fk8Q4B(sjz;=X6W* zili8pPI&@D3z%%?8E&_xeqG47(O)`SoLOm~ATOjdO=C(Vl&LK{IE@o{teKU~uFqDP zkvwU71ezoqWsI+sl=E#`IVqPpHQqxR-W!a&F)%3A$-ukmi}JBjAIe%rM_536dVnh% z?)y`v*&8L`;7{p=vKr-Pkg#ZKd8FD-$_ducb98y3mn@b<8llRv8+$crNT+f%6_YIb zbhX|3zYaYo{AO?J=25}hZ2hW}o}0j)w@@sw96*(m*sp53Q0h;phV3~X4O;Fw|6xCD zQgA@be=WD0ib26}xi`vEiPwUu_q_iy>t&6ldxT56(zR0wlv3Si@W~Jx^KLEWd|`#h zJvdQlW(HfSBoWLOPciE<#ydPPHrJ&>N{D#&+*K;(v2WsH*k|iS{EBpX2mK zB#+N-4@F;BOT@A=L}D76in-$Zg1@xQ2@)bEg!t#=%+#IEh7wm^MKiq3uU?SKEu`#!ZW&Q14*zM2f=Hu7YLHTf59kyH za}C!enshz)ROwZ|AQ9yht2XlVy9U5odgK(XX^SD+gBfeqt{k-0_pg8(x-nkAv1g8! zycECmWZqYQ9&Xem=EK*;S5Q10)g(!YY0X66oeox{yobXZA@I2evYx8)JmOOgZwF8% z@iBN`BQiCxJjziySuAtTZ<6t{pO&)!Sbe~&8Wl&Dze3d{UH2E2`ds`)g5m6X% z_;8~`U;yO~W~==W7Q}`letS1%bBH;#T%j)yDi;YvXnA_h@apTWy&Ylr<=#G^WuPz2 zK;fX$=(0rI!EsJaGiBa+)U*yPyLY$9Vevrsmm+3|m43vh3N9NI7y^Y`oiUv}lDZyU zEZnGDrL%=FPPiS|S4ms21`(9A849P^N_+kSP{T0wH;j_K zR9c#w4HOrAM;XxvnkTZ>XY#uLHm*Z(!fN245v1(G+WE9m(a$mGD)NM7KXx!kUF%{0 zs6{N16%(jFdmN+IK3hd*H=WD>6HYX(R;>1xJ6UO*w(ueZ`fMKB4u53y-v2DG%-tu1 zux0b}9aLgtWJ?B?XZL5Cri^&Mt*rzC6+q%mBims@DwE3IR-f({;%u^&zv>jTKVJTe z{1lHna@YQ}ASeVwH#SN_D}VAO%@v=x=#z^jfv-gxJGSwvKAS@NXrLoDO)^3HU}%)3 zG@0KxK9Bpw=|_B4Lr9?6hLyoameE-LyM$Cq%awgBUHEzgv$Rx{)z6lNHnnoVo}Hte zm@Zv%V_(5FrwdHt%>lRRkzro3J}TYmnf07-KV!=FIZAP@F0a#w-@@&6>cw|RWXkN6 zJJtm)gx|#(E}Z^qcMO@*GFL0UtkP*cM&$jUSJEoPOreUE?N5)8d)m%In~OR=uGN|+ zg?Y8|TvN~ENMN$C{K=BPDj?I%j=EH`POB0i#gmv>o$Q@+i!}4ASLvcsB=$$;)CCJl z66NeuD6sj}x`f3oQt&)OhLg5emt|zA)bvtdpz?DHLXe0x7qUjNhu1Tg2h)*=%P&4O zs(g%CAsq@Bl>kLJlQLbA@-!-?MMwYR1t`+PjXQm`LZWy@=_xl9`9(lXLW84yYE@9A zcshb81~cJ|mi=cec-88ty0}~12<~rt5_YrAQTnT1y(fuj`2)~J$CvIK==_haerfy6 z`ebaMg-Ye^6C?-a777(`Gd=nglpOxc&4QG`Ja4%u>$n`4uQ$JHz4ohO*u11W0gUEQbPH@L6i}wVHQpVM2ApJM`Z9dL);lk z@IDW^Zm*zTo)mbhC~|=Ik@kz*7wGvUT=J54AOh@jr{GR-+MSA_*&57EvIVi(l~`PB>eB#WjjcRd^HFQJOLQm~n83VoMjYUDczfFHoyONlGUmSS zCx=I<+Z-&{#@|ZCRJ}D3)}b+<@_}$JcQME|sm#vqP0tzJDDWJMzVEQBt8Vu~?gM2% zy$h@bwxKmOSWY*-J3V@BaL}Cg!51cn5ahe~y&5n!n8?Kzw|4-IjtjUKvN}@(tMUyG zY9104wz+^Ky9H$vK!E!9y=);JH4p-1JhSi0qP=;M=kW$`HA)aDV&iPV8=1=K0W4~nM^wBa- z2-)x3|E&i9W1rZ?e>eh@AKoA9lTm+~k6m$ilMvIVu4OK${j8`y zVd290{x_*87pt!s3zz1U+iUTY50|ph`C-BDpD$J2Y=!FSS3%~k8UfQ@e&dSS694hU zOrmfA5oLo9>SzMD=t3Uz^wgIW z)BoNJ6}_>q57Nx@6U+aY&W`?&GMe;v32SMqVU$(()ukR0NLk48Ay2c?R}!lFWdS-yz4 ze&UhlLuK0QpUXRuXM^OGRh=n!uDyrp-=UEM3=>_9@RsTb${T+Sd3hmU{c^ zAj=!EBPZiez0F=pS-rMUqbXnd7BwN7mcVUDIt)*<8XK=JGNYciZUX~#p{bSu3ztmD zVt8F&zlzE)OxfS)!R3&0cAjSSW@;)~;@l8>9cG<6&BI!T0H|L zI_JB^ub`?fPeFn)gZ)#Fw_o8280?XUL(^Kc~Xl?iOCvsT(K6B=ZFj)UX-0qKe4Sk8pSYK5PLj9v0C&Z`v-akY?YvY z@9rqWyjQZkwPy~j+2F|+>h@PRh31_-LN7U!!%WV*sVC2NoBZ5M^i^6?!|q{S%S!E^`?NXWP;p3c>?cgSS<XI2sKb94=QEL}AzEy1?wa$ci+(;HAXA6qrTW= z((h(Kk_jkKo2SQ5bHA+ZEr)Lt&#+!_#5VPyp+OOfebq!)0#A( zU9T;m3!m!myr96l!~)2gR^-pd{RXV7PO{Qls5S9|Jsd9Y@F zM_&>QR~V+P>(KCXqMMa83fn^^Vq(OZ9!<1lSqSb)b(podW{iiliC`Hm7%bE;$xt29 zH^suZdacTbzbKh}j));#$1@wdsnQZ@`toM>Y$<-&0EF8-kXhbYDBR`iVF(gu-#o7x zMjami`P-*bg&yGSBI^If+g9A+O!g-1S=|2O#w1<}<4=qBsvKCMCSFmuJy!yQRTvmF zm4rk8$dfXmfZefEjZv21ufp3TaBJ^=XnHxYerwqLaUvr6CM@3D)pP?Brr(_F4L^7$ zbnaI`Tn4u=C>Rv{R_M5rB|j{IHCi`yxpeD|Rpj7hPX4-@7J{(`98WiXfT#_8?a{m( zqDQ2AC(bZrAYlj1B02sBPH?g8Kvq}eP2v+{;oQKj`49<4(}U}T?k$EwJ=Bn9qcBDC zFEY~SUa<;VA&p8JQm+N@?lLY0`+tJk00&Kd3foA5Z!n5ot-AAO%s6WK%0fL_Sh;_U zxs*I8*eTC~yA!_`6G%3+nFM1&$Dyoeh&)hJ;ISh}i_mku^MEt64P9iOxE~Z!;va#R z1_O({5xL)hv82;OX25-FWjVusU54ygWJ43|Z`lSi=qKZSvdW27m_Cw+u`)Ej8no~B9jO%A&_}oCEP66Z?^qr`@^ODkOhlof`(w9l*%XAQw>i0%d z{kSQBYDfd=%Ux+o@ktG5Zyo^Y$m5LUdfLITyJc=^2fSk0$~{0@AK{`k^9OF zEsVSvUDLgI?ZCI{1EXA7&ycNfq;93+`5S}yW$m^a=)gpGHJBwmY*mi6fE>}-!gqvR z&QvsUZ9GW}%B+7(w@D!pl+;|*(Eguz7?=h?4-WB^8FH}9QO4g6He5*+ ztB^8WvO}Yt8z=eH!QDBHp)HcbpV5KxQ$u*wHZisJPQs&K=eI8`HPmcbn4wV3XfvAZ z1xB4Q_dPrK#-RJGqZpj3Qr1CUm*t=I4&D3e|fKTzo}XE0KX*D0$nz-q}}bK;c(!_ z+%Tcr)4jUy5>t_}pGLDc+5GCiD(O~78#Y`wEvTE?fW&WX9+(V+6c!dH*xR!nl*&F~ z&&P%mkrwT6?HSyo@vQT`R;~Q7$8*_4PThh2&fOr3PkO-gpr0=cjW6M)N@i8Kvm$wM z%T9mhJx{hPO4byRD9cM$G5}vPo1_?lov=VUZ9~!B{y^pG*_ShwVo9dtvEGcR*Y3K? zbp3iAj6S_!2QT98k*( zV8tKLs&hz56rV1-8(s>((5%4Fsbp3z|55EIhuQ;G?^V&J>3y7$MhBti)902)11Ntb zp-`S#YoDs+5q5Ynr@q@5PthHZkR=|>M^dp<7IJr8{)m1wCkI-|*EQ0Rabmmj5xB<_XqGS>oGyl_kB)#sZ2Aj9ck z^-ai`q!`KF9Ro$Hk4;8kCC5AkQ`rwbkrnQOFUOkqFIqz&hpE9``B1ybJ zeB{uSQvWEv)9&|I!RS8-LMjaKmSZqDtMDb?JNpuzbJuUy+ zY(+HlEFt}{NFrejvD=VU3qdy$GWVMh4UYuj;MO)(5aG)=Ov&xPJ?H-yJNo}G4<&D6 zzdv7pll>%&0rCVE%hjK;hso9eFhB42r%$0F1W*BT3|r}+GF|t}UJiNaP0C7-FW=MU zI#~?#Zgir()mP#mMkxWLAa6K;5;7o8j>r!xfZ!kzGWS0!{(~lvvTS(YWSE_HtZ83r z5W@;bIg<8;*NmYmXp}FH0LI?+&R*HLTT)vqSoZYxzOA+8Pf{$r1!A^m;pE^T7+-%$ z{~l1bBW2hf!jmz8i0cd8(Go&{JkZA2T0uO1d3Qx#} zvom{z&Sz>Kt?OcB+V7j1Ej7FjyUI{%pe}lyrJ%-MMwX#`=^yF_6~*)M2`be7f*rs{ z4Q(jGV+}6PJzx0kmO1pyxW0d`mvn9{J^j~!^*ef2R0T-LHyym%H_D-lt5@SK^7O9^ zJyYZzniH>YWKUZablS%OQuD;$Ai8d?@O%3pxrS6$ec-(x<0GF1w9nN={8I%@+3rD! ztmn2Jk{(#g08U3=T9Yvlup3aM82q3oAyQ{QSwVR*!5sbWhpY9Bg#+bQM%^#IREGV9 zOalz8IkX5Ph#Lh8RLZEesQpb?x23ybzFWr{UiI^N6qQN-o&kA$3-iJlF);`8&XY)I_E7ddqb$r9Exq>YUMZ9io$vb_qu`9L9NvN%_C0vFhpW#EA zzEcZFaP*Iy7@xX-zKw#7J$|{~a&P?pbh+PZzn}fRdkWP&>)(5yT0cW@#S~W<@9N?` ze%17GTDmNMeKM`N*>hOUHT(cya(y6IIW*+uajQk%1}HW3qt$!4n*Nfa6fMlsq0 z29p(a%7kK?7Rt(6>vYvhs`8q z4CF$0>$muvUD$v(&5EIdRf>#3J9{{46W&D+)#K{6V)IjBVl!unHWRuu*02%IVU0l^ zyekujQQ(0$&Ot%mb*&IxN-DAWK@q;i>@Z1Cq)kT7=VF}2zee9^?pu5Na%wJnYe`YZ zjl(%syoc+i>}Tl-#cK1;K`&3Va|*-5omZx)&?4{Kvh=)Z2}7S`=a-(l}Y_3VcCbGi=HLLF$v;YS6nZug)| zb88Lj#pqOoBQ{2Se00rUhm=aMjDHn+nsbwzDSJMd3hMS+^D?kmNO*T8e*Z1mr`oI- zIoiH{B#S48#eo7NARqt?eP|mHA~N*Ai*A|})SdLI5SLcv$+kv-M2Z$@eCDlSN&!T* zxmv*>rndN<%Hd>bRp~eRLaq7W_&?w9_w@x?-T&4Y_`Ii^@tMQ+6Xgh+p95q*V2RDO z=X@sb6}5|Cxg(2`m$wJ7G@RKFPv&1fp9@;;-hZLEOx5-oeY82U4tp`fYS9w&n^q0Z zca+q*c#*+qBZ2|PT~muabK=sQ>#!SEK^4@>0MmZ*B6ndw_eXd-R3A#Ny)vx9>Vyd` z!`jiRppk6&LC6uWlsj5j@*5b5J`|aW!)@JASwRnUIj%5Pk#S1%!YcWkBYA^!xd!jf zZIa2awD&69gD%6>^u9E+%-ZkD9B5;Mb-vjQKF(L%h=lP`*RKit1eK0hlqz2B%Sw+? zol?=mO7Agq8V)4O7CGn~tQ85AIz$$=80-1Am?ouS~awP2x+ zIc6zl_s|{1jjQ)vynN+P`N{raSNvl8mbk6Ds2Gs2m8Evq?9VJrYYYKTLU^j~xaOR$ zcltQ$_P73^PG<}%rCEm32oyCev1IiLOnN`y5N?HBdp+c%h{rnnz<<+@siAbOdjpc;%syz#m@o`U)2gxr@hFIOn? zHHtZbdF$W;Ts4Up)>5`Zz;S6vlI(tK1AGBk`4#@)s`UrHkD5)iRn0f&j}p(v-Nd!n zYVXh1lq*sBr(-F(Z)WDScfMg_*)TPR(j^0uMM7@)i>rlVdhUjqKDZvH#i~v-eb%7l)qmNHW<@ zmkU*ixIev{Bg1Dy9fw;ht!~Lly_53Y4pTvhsG9$|IHJl_6p{-Dm23w*X*!<2YNX-} z&CqT=TsDQzGL9xSc|8Z?kyDI>+Dj_YS>OV%)^ERCDNOt|hOj!wdWgwp@S>Ko#L=)E ztl4lmU>=CA-cOC*EPHZ`wJbPXwxXN!`Y~yC&VhLMCtp^ULY)kn=e@fTeW190Z-g3C z)2N&8XYiC}VegVAjP|P0`o+66(~GgAX5NcmBZ9#SLNGofZfh|{n4h1H2C;t(6!;Grr= z#4Ye)Rvu9bG2@qs8ZgYJr30k85Eg2cdYz0}vEGyT3%-=<-es?lMI{g;XKLCZDy_A5 zbOzxUdHDjAfxXiG1}j6n94n+$g{my*K;bWf0I2%io=9ZZ2U`VGb_tk zE0!I%lU%M0C610>Ui1{!Af&&~)>H=B7lmS7sRncta=n~z##3+wleGEG#j8)aEg3>Q zE=6+`pJvRRYN@tRl;qNK?d=1Fj%)?*ct0M-@yVAQ0a$A$D!-AhtT4htvRZOq;4|nO zf*n2J<%d7H;0d(U_}B4hn!e=`u_s7F0catVDx^aA=Q*Dro)*tzm^k8$D_wJU0SKJt^DJ8po z(VtHv(z7~pC7K){%h#ZCrtthDVwa3gr^srSbywpH?613l$`krdHj7y)!IQ#j$h8^5JX`7KG96@c4_OC`aQOK6r13e2+OH^8HmaQg|9<5gdlMNruk# zYAGemx%?eyOL8@41uG=pQ&+9P2?Poj3ya9c<9-H+!T_MyRnNm?`94u{cs;!X{G*`` zHFb-=0hN4M5fWV%1M5y;9Y=6t^AT0_&*dEN&8&KTna>dV2I|b2*uDX6G*Jh zenrCVPK>35rQZUP;<>#ZvwfSBcWLgecg4HmID@3tZ1wHmC(29YiLRcZ>anv(uXW&@ z=SvnSmCR{O)Tbk~mBXJoZ^k6dyBZkxApQIBte!3PFR>5vebOTDTU*C=af=F#J>V{i z7ljQaGL~)ktS{WAOQ@qUswf12BH8Kx3mwz4sgDgu5P z>F#*6h`?2V8%3PyV#FW> zq2JyPnh_e!Efl<+8){&eS0UG|hN&d!b#tIN!t=>osxX4u+i&Pr-V2UcT^mpZqJKr2 z(vj#m>H9;SD;0o}O|G>BD~WJB%P8sk4XP)T=JyMkcVuVl^G4vFs4Zre@e3&14QziO z%+vl*le`^WQP8Io{`{E-yus4ak+^z;-Y)^w;^`CP+Vv{P_54LJOG?+>G^h^%2xrG` z$4r&>>+e4JUh8--EuP|n+u7dOz(&#y=p+$ElnBz7z*IhonvGk>GLIc)zX%UT2NJhG54Vn=_qA6-JUHTh@t?7e6IA1I1x%X{|2v5hS0G%-j*6di zS637#xHS&^)c}6`EQibl@md;*7u!OyUs-4(CJyO?o}SIc#2lU zs!z6)XMByM83^;JRsCg?J<2j*8M=B3yWZz6rvpwIHAn_{6UF7p&qPeD2(W-BQE>F$hl6BKtDbKL-0&v2MRW zh;mz98jgyXymA%z$h{-sGXMZg`9J>!7@9HX@zAQl69-?h5^WuO-rbJA#4Ao^u`JWOQ)M83c5YWU z3O34)$?-QnZf4<<1_b|;1C7*Xgbp6JKOF^mDHMF**n>w|sbzPfIGhJO+e%94EH2f4 z@4=uFg9jzJPgv-|0cZ6yab1hBh1tz+*HN4*J65M8g5K!B(~VLZo>^NokQUmPM=eN# z$A+m@zT=f)klPhz_-B-d0`2~S26`@Qui=uAb43&HBNo#BXYQLV$W{&y6pO9qj_WOC z`c9EAMMoVrhk|J30+-#c*Z&GM1k3w9TA)Qj_B^EiUt1=vs4QNM53a}IK64P%4WHxV zP5IdTWi;kbOM(Iw0+YvMwDJq&=d6WcaTa{szj`1LDzA(IxUPJGqg6Gi zIsQ-lt#CcwtqjM)EpOm4W2Xzo*8kvN`@cfq{dU~*&7*_o@!m_nLB+QgVRd2?D$2^* zpO7#p@?Jy^lAuqYhneOH`2B)Kh+mtH*sCR2k^cz{nSa6eLscG(0o3g%z*}dABPqrR zU&mLdD0vfkJ7tV{WfCGK71X9^#F#pNZk5nWD##`)qKv)(Y#9IWV66SaQY=fz!;JU< z)PMFTEPv-LOw%60y$T==nTntOFb|op&c*XlYmhnY9R9p?9Zp8i!G<&);OTnxNQ2}j zvyreV4@>8bf&UUaRQp~=?gui`H%`Y0wF=Ud#du;>2J)YH24OFJ7y6^?v84D09)5ie zM%_k}Wxw&bh(xlrZWmvgoWLOg3e}1~2gl9gA8T7lwy^fYmCUr88KhOH4KmX{eI-Av z?bzz=DBP&%7ZFRV!H*hkFh`7=!;PPIwEehmV{%=7#|);tt`_wbOgu#Y&$RZ z+AHMZ<$bU5$D<<{=p$414P(rtbu4%GUPNl!td+++qfs$ zSh0o6rrBu;^`)#<=o=ErgzqfpE_ZDqT{wCCcQa^@3ZtJQQPKp^WE;=9zdgu~m)>fv z9jABj#VJV~9;BsOB~jK5qRE=X35&M!jGH2oCx6S$*QgD&#zkt=n!#Eh`iCcR`YU^H9%EgH8hAyd+e)B)cZ(iRVL<4X zbbHVrK`IEI=#SXE8%~nD<0Wi)G8Hd;(&F}M<^JbUQuH{6^w$>3K%bu=2wrh_CQvw0 zfA%D*s@xZoG{!4#+M@2Hfj&P$5WL|IB~X84ZEHrBw}w+0kzH~f+1?t@+XnjlzCli0 zh2xG@{XGpqxa)|ENI?*UKI-)hRNUTJa7V<2Ab5~K#jTA6cSKwWLJtWvB_-vK-d|Y| z1mSKY_CN(e5c)_YP(cucJ`xF35Cox*L;@8ALFglqKm|b%`sjZM)<)5;rm?920000< KMNUMnLSTZNm!rV| literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_dynamics.png b/localization/autoware_ekf_localizer/media/ekf_dynamics.png new file mode 100644 index 0000000000000000000000000000000000000000..63c81261a718e8c4dcc4e9ed6283aa6e9a2bf56d GIT binary patch literal 5346 zcma)AcT^MWw?*k79g$u`2)$l98E+h!jy9E$IdM5-$dK08X ziGXwv5CJLiMepyub?^Jj(vXml&_N7!%}GcubCHl- zav>uno_Y9Wg_5|FF*CN*`}OM=@$mouk^WTtkjQ2THiue}=(c|waTToklyhH>(K69# zn)M11qV_km4k96;@B96|^hBJV7?@Q9qN{Bgn!i&J<;~q6(!ch;UFe(A6zEknf#0HC z)C?ftGw_0jL!+&dhdfoML@|kAf#XozWEBnb!~uLWj@IQ83yNi|u~g>&%9U^#_+omgC_Xfp2< zM-5*oV(R4oy7685BDEP56}-?}ebKqtWTy_di4Y8a7q7G25vp;_HnbgS!P3y>2tO8B0F3D`R$B~@UDbjo*zD@ zg8l~jen*m_k`F`r4}TD3=7!GJgnd}Ny~G{s*OIAlvd@&x6jQ>4eP(RHP~R%Mc`a$r z+U*yf`%-_O+xu^Q?^a`^6VuvL2_NSp%WmaxCTzqFzAItsb z;;Rve(s<+l_~W_QNe=e7_T1Uv6!>7x)-^4vkdHP3YunmEpTebuh}dkCZGoOwTqNR@$bS@ zB>luo2U;aQy;bdq^Ezs@q+T7Tu@Ao80PObOdzi`A5EI~U;Kqw>kTEx!p7Ys#;c*@r zIii_A>Ns^u<(Ds%+|neU&C~oS@!sxES4F41*6|RVrf)}H4$`irZ&NMFJy5Eir8)w` z{!Su)VH5n;w2rMw&MNYLv0ySj?W^^bsqv~_3$QmcPSNvQ=9I;`S&b?5VSLt!ORf#{&0(1^AouR)KaqaHSR)l**a z^GIio%9jexnb8knXA*9^D8Y6`_+iiMWt*lRA47H8q2o8~sMP4z%Y5wUn?I2@XYqrp z)&p|Vq9;u9y9i~ir-dBpL*01cd(p%5lOKw|W)V8_uBpUiry7|=Qd~Gg8y5BaIjZcN z^g^J9mS-U87FPEDQu+ptI=oCaPsOb*7t7j)A2*#*AW4S%{nmtLSH%ICQU6f*mG)cr z4y81v@BADlsR+LgweV{_n*tSCjCm~l`uH|kFT?1I+)kTh`zZC30K;l+rr+2DR7N(t)DCB&xAxaIIn`-c3o7ESYPI@| z{Z3~7IovzCq`rE&p(%R$jjN9<+V#1gjcR8v&!p~|R~CcZDwV>j%)-&98`n!JjRJF3 z%IZ@%ocrmH_#8Nqrm~q!lW~pG^YvT#WueNZvTNSy$B=*O}OHK7@SN-Lo-~ zALgRCi6Fap?dbz15Q9(9p`3U(L8aOD037{e;+D!t$1^u^5jKPjv}aGSFsku+-^0As zL-&!IULLcltKQ8sJwCpXq-VMj@fz=i_GipxmWH*TcQe#aNqoA~`DK${SUJ@#;B6?P zKxGkqEngA7Qd>b7FI+8kZ}7{~lOOPZtxh2#ydK$Uea?uxiTIk!J*`s0dDz5M4f4W! zd^VqvlHCVwJjVgM3HMI$Zx>l(S)_tPpGOs|arE$fHBfr%oG|4-{d6D#RMy&7mY{=^ zeVEHN+a!N&R<7$3L)g4YZB$}TK~(NXe_E}qQdN;ma(MO5EGhPdZ7jShyaaCCaO*tK z*LvA+WOG`z$wvKc*VboiZqdE@ZS9-IsdYz_LDlEl#Abx8y(+8qFb%p=@bsSJ@+|7( z(V-LyW1g5(h4BjXMbDL~idZ5>-za-ATzTnMVu_yD^(Z`kMlG9$DL!Ltxj_5NhMDkj z{YsxYrPeyHQ-be>fC47|H^D6G7;tu5s^YbP@hzCvO{32n2)PK>U<@DjN&+X`G{KXh)u0qg7cLtt( z3Y`c&Z{$g^IJF;rxA+|!g<0T@pS+V68I#xM3^M*ca4W;+D>j4 zZS@HDlp{PFc6OV05E*NpTeGrLrPlwVGOjwhzcb>cxfTQVIB!X?R!!fpN5*a^Y_KB# znc7s-bD^}Gx2Ua2xfbnP(QC0rZcWuly6v=?klQ#{=>b2@O;HoL;tHfsrBYBpw3cu& zP2v#ekuT<(RMoTVK3tEZKZ`$Kr7fHccC(GFT;aZzk<6N=a{WaxER^_$5xA~-qu>*i9uF9Tc7c}b!rP%jIKPD9UhS5qq zS9xU99$j{q^zmp|vQXWkHM5S<{--3l zTD#m>XHF(+VB)BGS%@#8M<0Ch4$mLEr}&bEOq=mvTZXUUU>^-6#}LheUcAgMH@_$vgbR37 zZd~f$e+ea**uz5!83bI0a|1+KzU?v&3jaEI=cAtY(~n@9-MKdnjAVSANgcSpPE#IS zx+OU@+QL=Wt`le1w08TB)CRt$wCUMjW8o*(xJp)ZCbj;l_a(wdHCr@?L*Hr|u9LB? zbPlL&(YhjpPrDX2Z@{;P)sz}_&XCjoJSXW}*99!=vmSMM#FVE7bzVoga-EobWfq_@ z8~5Gd^eVS1H%@PVuY3$1(AwRjIO|k<(HcT=|x#wyb(Uv8$Rph(I@h$uv9Sd%<<^2 zZ<4DtytH*{AHa_<*_#aOmEy-W&tr3#2#G0xOK>uPFbxngh zKma6%eL~l^iat?Gg$2R%_PzM!B`Gf>cZ=3Of68!$BvL(FbKuhxh`U^#A`f#^Adp5# z^(cfg-gTL!X*@m<(yg|Hl5;$*HGlM@vRr4$&#SmMA?*`SsXnjM(Rf>6Vys$ieaD44 z&=}63$PGdE73C-Xhw!-;K`iU^6H|63HH#`$=@&y)0AaEo(zeqI{8u zn4!$YOOnxW6n$d%XsJx8Gu(hwtVIq+>m!zZ*e*ouNCCZsdG;6njr5ZsWH0fJlAW`{ zx4OjSD=HG+Cjcvze?YEI&XE;tc;2exsQV=i;?6Ux^bb5Jjp3EFBT^y6@O&^wnX}FT zPKh&Q6(}<&CZMZanzR+q+4d*Q@XY2hffJ<|Vi-P@qs&p~1UG=FS%Wn=L>o$M5AYZB zZjqPL-~@@Yx3HaMmVLttE6(iOKN5(SoRH$+5s4?Yb4q(j^ zJVMDtw$e`mk%I}27)L!xxi!}L#MyG=XRmwb>Eey8k$u@}mioar)_9yn!M~lTae#d6 zzTS+$zOY-VoE+6yi8ETRbq64xeCGC>ou4@Pp1%W`W;D2R`12sUfPledM>7Qh*vp>tEPFGMtf6QfKrv}0<158Ha%8gx!Gs;gD^RJD$H;RwYKCTFc zhyaql;Xqn*bRJk_aEv%M+XVFS&Ya8a>$nI*kruh|xwz~a*{0o&i2?bpau!<-ly|RY zQ2lC@FU7lTB3}n(A~S#~M0H69Ywimd;C(%m-%tZ3PwwcSNnI;CK|}pvhHt3PHgxnp za5qSW<4sjDPXq>l>h1V8XeuERi8i~Cj0*Ve-;>qVx+<%gg>(~0&hnAtCi!5i63xfMg^R=Bm zZ=xb4mISN@lP(#lYI6us$K7(j9u5%!2?3&s8bG4R2PV{YDg*_K{Ur4!6@)(y9GggN z$#o_tq5nCIkCTSP#4@z%2zt=a=>Um8|9Wcu{SeC#JTNU%Mv-w*mmIp~X7i0dSnvVF zL&?raOKUS2=LH(oO5bEK#!>a``2b=&JcELV6`8?M;X&s5)HoUDXctpfqHQRQe(w#4 zYot1S_1jBTDT%iGGj|t}aXe%338}N`qUR_i;BHg3XM}X6OxLyMP0R=qbM^I1) zBFU(48>Tyu|F8Fkf0!Ff;}cgSZRwjG)tQAL{BS?V$8|KmrF=CRy8dl8xR?SP-f3X| zRnBluhzz`5cJ}&W>$+r1Jvi1>Xh2vVtM7<)JGw!-iunZP|FS915)JUnbi&_#X$zi&^PjYkvgAlMGh5wjrwk zwo&5nD04tWg?C&w(EiNe5)8)B^TC6CDk%UKq;SXu(YOgx;O0+^2eER}r|asl($G;F zmI}}y;zO2N`*~4{N6C@C0nF{a%i0gL*!hjtYsCJYFF*k3s&{kw{Z7in@oq*NMoz28^3Bp! zkK-qxlLPj$ru7yAtem**@`NQ;ZY?@wh6%BCm=S2w``+rOn8`F~Epfbk@0;ts8e+JW z570K@C$2_$1*`#_^g^Ju!@t;wwG!DUOx*9*zJ#jLmW<~L?0(L9n)e(VNhF*Gx2Zmg$A$A+IU7n_6^KE%(pjE^{ltaG+GY4%;)Ga9)gL?j- ryU|P00BXQ{9_I3K{($eI3g=p#){#rCKmoDee^WyApt?0+hnW8YJM!+Q literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_flowchart.png b/localization/autoware_ekf_localizer/media/ekf_flowchart.png new file mode 100644 index 0000000000000000000000000000000000000000..0a80cb06b85f00cce2b295834a9c2fe94c727f2b GIT binary patch literal 146302 zcmeFZcT|&0*e@ElTSbwwML?yAQj{vvK|n!7ML?H9@IT zLk$pmmrz1)A<3D*{=Re1z5m>G&$;WYv(`6@CGpL??>qC%(|*5shTxaV3KW-aT!KI# z6wjVMeg%PC{2Kx}e}U{TaHTrlK@9vl>n!{1H5nP%*o?|F`0sTWc}*8Jdovd|Lnl*+ zxt+bODX+7!lc}klvxU72_H2VR1acGd?D3=5?un}tzTPM({D3$tCRZ%btE4~~(P5@( zV|D-A^=l4^ZQ&1HojTPhr83oUSF+eGIN4X!EUGTAGDfc^L{810{ocCz_+g9VRl24w zijHp_o{ob?=R3|_t{!Yb`05&`+uWmeFW+C^Pw=fTV!`ew(~H(jv@&}&OlsNM+MWR; z1#LD*W$^6j$De7p0#C0}>lj@-y;jQpUzh$%5+n)ymrnejZwd|;6(|)cUT)Cxu^VH_ z>+6rY_mzIPcaU0ckrK;Sf#f)GF6Y)q8oYK=cg%sOgLqyMxO`#(ej`_!AP_Rc<;o97 zW~QJ~+2=Gr*@j&?hHh16;-I&$GCgBx3W;D%5LmO zVP@t+nCRq3PdebUmRSfhEKbg(w!OWbk$i4em`w1c8lO}fCEj%qkhG2#fLrXn>o zGE!~U9WOfNEr@Z1K>o-pi!XdFD=V963ZlAxpAE+ zr0%hDp2&3v)!Ic9wryW$b-bZ=VPR>fyQ7`uwS-fn`qa1KZ|J$-sH5C$lK4z_nP6iB zaprUe!uPZg=~2cg#k_ zi^RQ$K6y}kPD_1p?2nba9)4>U4)ceET=VdFhlL6)#YnGQpJgbt+#a5nmySo?)f)!|L(M0=)rbD{hszwRb@mh=joWU+><8MxFV9ML=D2@@waTjus_u zdSp_S#a?91kbIES*Tt5BJZn3hy}gZrNGtuZk@_E{c7(3$OB46qCU-&_?UH!1@x}p4 zxk}5>%3*yW$Gri2pMsrMlevEI<59k(QtWdO^Tor9ajIWz#hE6%+Y$}`nW^)tJ$ofe zWtboKc5#P1s|)6Ebl^rAWp~`uoR?rdh3e2A$Xzrsb}n<&T3fZB5+Ur>I5$+c(c38T zArAB6v4g@`=A~EN?dsqMTDjl-&9SAR#!Wqz?XQU{%YiIOZ2k7(QVQ0cd{3J(Vcd^Lv-(ALFf$p)2HL*+Sip~RNHO{d@nc8wk zaUN0jIXO9nqdFlS%)$$OZFz2NOL}fYtLC!5`3mZd*XIpc{i)AWPARlm+Sael=8e6{ zk|Rs=b!=gerZr^`@DNWk^(iYY+WXR?l-pas`XkSmrNU@)KGM!RD&hC~NAF$1;zR-5 z@=Hy9En&OY?d=|{(Kfmg_Urv768?*s16;*Cx~e*A^|)WlS#i;{YOz_eWUQ)UTam%) z8A0^)Y_gq4Sw}6-OFVW~&qVp*g;u(reP!2a>!5{$8N%wKLmWDCzk9gFi}SYLm(4aF zC!&;A43tH9@(cB1USvmw+UFJAwa|4qT=)IlT{)a6v-u9Z_OqU*>t=IaAA1YuLeOic z?zzyV?qbC(wXl7qf{|+DmL}mA#4l{}QnHubVpp8b51aM}UF&1}jgBly4t))KQkWcz z3uhsz`@fMgd@{spwe$28{KU5hE}BCdgAt3}qt!F^to}@ru3g^*GV=2B%F6Cz1XwAL zb*@AFe4hG$rev)&LC?pEs(UY#)>OT@>gr8@*m5_jLC|oJ0-8(xN^y}_Q$w)Eg5SJ@ z`_MuDnMEEpMclL})sU8U32GfUm?3C(EX^cK=0Q6U%Uf$Yvc6{1QL$q7CP@^!+4@;q z#Ah)w9>3;GukBe05m>yOby1v)_phI13c#%zHYr?Y zkT&|&v>nT%eNEQF+8VbR;d|W5VDF7lO9}B5`m=fJLDA7B{VS0(vs%s#2%U@Mtp1PN zzu#5oG@a}#Nq4lbs`nI)>^5}w(0Zn7xXG@Tb=k{&<$0ojX~#kf@S5m)i}nz_B$O-q znyAlu>{O|sq5fzrHbq+EA6c@(_8MophTUJ;t}4S+c3^B5Y<%+m)Oo8 z6f%FZ)~d(SU;Xv2$Z>bE;fF7YReu{yVgK|^EK=*R>)EtPDomUpV_JFvx?o1N#J8zeK+ z-wr!RAPe;vWXTMlb`N$+PWj)*M#k?k*SKz`t0y4>s>VH*l5$_;h_{7@U*y%#NBJBb znEwMD{^$MydAI27Ti~;U678Vv(m&|jQDV~hgKc=NhPp}+jOy7pk8?b-FrXxqjYHuR1rQwxm9+7t~iJr9V zN1O?D(8)PhMg z|63~F3t*mJ-r%T^(7J;~fxa*u7beEstQO}*6koo*g?5yUa;A3wj2`yVw>w-D&Yg{} zoU~LOlwpOe6-5R_C$a!me-|g)``bpFpJ(0dv<_nGXVYh?<7LU(p(_KdY_eo&-xsqw zMu&jGvDP?Xa%Qz?={3R|-g>v3%jmdN7k_hNM;8~XXk(Ko$r(LxIOfWxgXZs1l&<0s zyyJzgab8N7552!ab(tIIzQEqs1JIk7W5;xQeo@>GT+1zhny^>ZfIk{;kjB=pPdHs4 z`2a%6!~J=-+B*V43bo7ctT`uz>Po%nU#|td3pmt+56XOrC1YiheVYBlEctn%JWe84~$>8oSWl({pJm< z`e03q2X1MMgW7eIXX{luOr@ClI9q9W%_Swf&jzoJRRvLpOJH*HiwQ7a|Xn> zuf7{{rn}rX7+@^2IfaExQl2iZKUkKV-jyibfn`9jc_r)mydovR>n05xvkdzZQG_ZoW8dEzPd`^hCjnsD(YM58A!rfADqU^|o z%b)sH{-P3t!PEx6jZRl}9JW!!ud%lq7+Cxjx-D3m&6(o8#qWElXojB=AYNVOfk1lo zdiZxsQC4QKBX$3*VRbhl|_|@kfE^ z>q843q|CGczKkASiw#k$EmAE>aP2PoIYS|G@jk@pn@s{jp6G{W( z3pMB1wsL!r@LQP)*c^Pc;5-BI!*9JSM;nh=7sG#eY%f{_y<>h(0tioIm9c1-5?|Po zp{4QKc)*4D5RsxBui9;mS1KYxrbe2oTFXV9b^32w_V+m`>s5$a@{bJt)PG)to!=dtO~~$Eu`rbE*R%5) z$wjq#$mFaPun8l5OdJ;v8@IVSTqkTq1!~Lk?)XzTwxUO!Ba@QLJP4~TaURNfdD6u` zIxV$2NPecTQO;XAmJQ2gI+-GsOO?ljwXyqwRO;%K?e%X&S9)4|B3_6p%h$`z5a? zOO=T^LkF=-J=%wR%wLsJllNe=XC=904Ade$ke%)GFg>;*nNkA6y4YtvDTnj=)dkJp(Ofdv}S8$bC(RIbwx}qM#UxNE*>vy}C zd(lGH{gvA&*ZW4ELtV?;03dz7lPgwSf*)P|qGq4h)k(?vouNUn)U1b@r6|*KPngD> zAf2SIVNfMAH(w?9WNK#NMM)4#=x;vV8Xv%>)sdQ z=dq?_)$_&q=k3x2QH_^c;!}g&l=)UL2?Ja4@qL2Xe2PIXb6ufauS9iqwDiAOD6wk{ z4M~f6Z3-^WDlYZZ3crB8byZU&<3}dBs*P5JhSGcp)VSQeGW*H?neIIgCnr=FW`<(h zIoeYBXl(SrPKMe=RA&ZBu2 z4Ia<$KL`shWUNI|a!jSMM;w~9fjox0@fid%4LO!`#mU6z1FUDk`L9tqd`V77{$Zi6{JYQmskgYWc}b3kzh~b+emYN^tg5OilB3g9kwqhCy(m3e@+Z7K zdMWxU07t3)N5xQPe>UkXW{1W*UR!RTI`ZJ%)LKL&R+^bnf#oU|@lY>Yc4r_j4 zAur}SSaraw+%xQr4h6{zUveGdhv(GT-To-s$$F3e@6Y0Pc@6MSHgmCIuFL@A^H+IW zc5rvE$dSeBxsD!e&SfxP@MPBb|H>jqGwp(*P`|6^rdzANg<%E%@smT6LL8|z#{l<4 zY7cElUX|4TXD|IstFS})8<#mnbaY5@Wgn%v3=Tjb@Nm+L82^FcR}As&2FH>$P<-=G)Ae3dRITyePK+Fwe5arV>x#@q;tn1s>Nz38kz6T`yyUhD=YoRlCX>l?9x}e$4pFVkcc~zCaf7YpKLcMI;v#4ds z4$avn4>7IsZa$`He(ftuCK@4zke_KcNupIqw;lVzt5s&w9?5?80wtrU-T23UZl9-Q zytexi!ua{|j22OMWGHlbYPi^mMF2AWl0@bC-9`seFfe;>{JOy6T~blu0^siLC!c-#yh-tv#zRDgAXL848>*lufT+HL|sQhPX8mK zyY8EH0db+a zJ>|NfLfNTs7UFr~M7N|O6GF}~as)T`t>q7{@UnhSfQjW|0&A4&CYHF9JZqMNV-u1O zMpv=jNz%TPyi4=)_wPU+E|G+vYVNEi;3voZCCY+$raycqd|pmNupEbck3ikvihf!XL}!w zA9uxi6MN-$Eg^pTPeJMdF=|w5flwBrcFJX{_tH|>RK(mmM2XI5PNXNddnU|lEIL*h zC+|$gTA*`pJ58t6_lE@wr(&YI4_=G40wpczJc*%}eVXWC*R5p0C2lfs76Ok2I!P@@ zVkSRONnhK&TH-5WGvZL9T={?3rNhI+3oBg^xT>qsFxPHA3%_!rq|aufP7j9oqiR0M zs}nw@DR7Kw$)%R<3^5>z?2g{jVgC!Fa0xKKHv<8E`=v(uyk~iMLI{)Z@un*BFKYTx z_Tg@K^NXEghO!Id!7U9>gQ)wF(ovVwRvnP%A-w_8s#HKH9LRQ8hOrd`%AuZ@{JuR+ zRNG$uN3T9cL-+LvV!Xl;KNC*|c{`hbCGP0# zYzt?q18H0|w+3^w;MpDRfQ5{ZT5kd3$oSsSN@0-c4T#_RKR`o`a#B+tUe4f@xFcY* zG5rf5a9~R>?CjPNQxrd8PZM8OS4qBGI1s0SI6U4`0$Y027tWnKx3I7<*BZtk=J0l~ z9MY`edJA(A^x_EF|ggoYTF{bmmy*nq*p^Ax1z2&Dy}tpNqZTNUi1k5%yh*gKn{7G zSZu6#MV0D2r1{Ak9UYxPLC}>^HbK-rS;+F0nNO!igQ_>iDJSqYSVJ;BqTloFqD$M3qBeTj;qS!3&!BZZoW zUAxNz=F>ml#qGxMCS))HW!Y2I(HUEO%~dYFH)0H~c-|qc{l^9xWii(BkuohH`&3TL z(b`H7R?B-jJ40Qs{YfK<`zGNMIk_NdcLDl^5-1dI$##n%9x;@E<9=v;ef?axBp=!^HRwbg4?u?2+0k){wZdlN=or0}&J5O|Hh(6UQ!tbY zw(+4)`7bGwzkoDPr9S!~0dw6L={I;R2?pq*)`az~5|8dEAR$Nqm68=t)Hwib33bi3 zb7J%u0R;F`Tv@rRuuZTx^Vw?WjQ#rcu_Vhy{fu;w3f}m8241&l8oE>_;phM-e}qeEyQYR zW*pSga#_nfiFWNlZ^ntJ?FE1f0y{S5C~LybPQ5tM;QJhS&Qd)1AJsZe-)y46mxzSz zl>@vkm2_gaw}$oHChle@MrslB)_vCxi{nUnY{hNBIjqB~oLYQ)j^CI~fUyz}B8b<3 z=~vu-q!K%XLecF4kwAh}xT25H!w3?Q!n?fzms74g78K@8@_t^S1|G3zI|kbuNIBkG z3YADcY@|nQ{Gx*0Yy5JP`6QkUkCvHscEt&%08S~~JTO8Gcbh((Wec&dAVv#P2~>Wu z-SLpI;tI2lFr$SESpSn+fFn?q~BzITACrq-h4qelfeuSsw~;epNt5?9|alDK6!d3=%6Za@|&!r z%mO}P93cfJOK@olq&V3Q!$NoZ6e4a2Vv!dJ1tEvXmM#tL5dRcbByF;A&`1*w+X0*nE({?8Vo?Je}n_jk)WOKRFXb@ zbpYsp z&$CQP*$`+7wE$t5n3}F_+w#MAUMVXpYZNCtb=<9~sks2<1KV#TBm!V&&^dBCAz@+A zjY?{#S6?5FMc^nWA44D$rU~F*5RDB1n!#>e27tyv>l%dm;_1Tr+~MbsI0io9!jluV zc}prInCfl;MCUF8s8o2Acma}%J57T2)+Th(3uX5pH)TnF7zE}w`udZ_1`TH=_a>&C zE<>jMPEn^z=R4uT_wV2L_xFF0z6^ON`k$9u?s>8O1?eM&XrQ1m>FMd98(zw4yxK7c zJk!ta-*1ZWygDB)P%(=+OtaoN4@s3g9YL+N@BV`aB}uerAe6UGC$N44M5|}dp6yTZ z1NZ#pUvW@PV0BKRo78vkuGJ_~6a-Y>AA)i)t}gr5f8az&32DA{&W@T5Fnnt`lh?Jy zGmsI<(?{b6k`xiTbmt+Atp5r?#lyn`blf8(uTN=%`F=hf?ufmYy&j18nVFeEwqO=; z60-&t#ojBzaGi9&_`mn-026)m=#fS-`u0B{3qG|;#*dD3t0ciJQg#0Z$c8^5 zr{jGGRtLLtNX}osaZlwhND2L^+%Fh`M2nrB-Aj5(o$V~-qyK5|GwAKfxBmiG6EF;XWQcgIZ-gf!1QISr%6}F$vS0^IER;8dEJjKUK|JTa zd$+x3Z@~TIrv?}pISw^AC}clbzm(z&?{&BZlK^0O- zA52HGD@tz$t9)XXl4xX2b30iUi7GIQAQqT=O9(9}X=GAKc91n}UpD`m>}Y1Wd_6cZ zk*p2S{vRV#e05<2$ChkLapG~d{mL-@Q)--+fW7-1i6KUh57l`wzg~TTk~q?RqBrg@UG-0KySQ8E^hup>;+i;Wnh)%vbo8O;VRaGv*-=92M#Co_0 zkE%jc0{$l4JX~`9AVLE__S;z|F*=%d<}J{s$8C&WtL9ckhp~<{1T2;B#;TxF948U1 z?v&?BVah=>Cl@z&1{0O%S&|h`^ETinuHRUPEJmIi4J`V1XJ&+jPMXwpj@66 zk2nc)VFrYb0bgDG?}$bG!b0qQ6~aNA458D2aNn~3`>KshevsU61ClDb${e<8jlg6va12O>_QA18Z~B(d=QNw8Mc8U9IvTjM$i5j|jd)6*CryX-uE;_8yL?_d%9LbA`^XtDPK zH-o6%C)ax)1xT~H>Aj*e<$1i>CdvH9fUulTOlb#35az%J!ujf|^OH&MmEj0U#LaC7 z;Ko6**EXovy0-TE6kYe`S5{VbCyH-_vIFDAnbNk!iLIexjpOZx$C4l)FLmp0&-Pwp zn0kQkqB3FrQBmQI8=IOeGgYimd&EOB^M}PEz$mhlJ-N#HxL{a~Y~S*OK~}I+3`)cL z_(k_a)riK8ZPLje2blcgopgGhfU1Eegn~maC`{(MNqy+LMgw&gJXGhVzg53SN}<*3JW21 zcMnQTgt6dgSmg(sR-XaJ`DLeBA{|E(QWHaCu3V?XcIik2ViaxnA|5-j+@~VS1 zd*1}*Y&p^z9L{IP$^*axaam6MvP8+p)l=XLrl}x#dB=t18GCgAETf5&2QI6A$-mJ8 zghD@f{=rg&2^~^uf1H%L0v*I$f!fxt#a)R7f2QCCsAWuMlWu>r?&|@je zowp~CFthFZo=}X-x;Q=8rr7m2~wo+)1PVQOzGlLzOMT1_UpQgMjS|qOs`;KC3m3h6at=`dlzsIOC&Gsci=S> zK>sTDwV4m9WTuZ2#J~xmKg~4c=MkLcKh$n9-Xo3wV*>~YtmR@N{Pqs2juqg(hx-&P zj;>~NNNPY@KqLH7!TfnTgO*vYER9VCt_5L%Vh&G%+&?09F4&x*fbU<)_4HnHy;x{_ zVS2Sz^=igTN{RUo%=}X_Jt8pM-_&AbGl$1bZ8&cjLfSm4%~jvaSK8;*hpZIKcc@n+ zt%@sN{_ufD`A^~`u-INMC7EAftiteTsrdi=`m8Bf#$g^(55^g-zW3 zhcf&=kk)VSWI&2Ol#EVFnqZ|<3`>9&oYR&Emmnt9AW{HN>Xo~>E*b~)#Wii2zxJ!4 zgTq&ns|p;$3(RS0X<5DiMAC(s5#tCYib~SNtEl_3p88+dYutUOFg9oGTBp*ZI+wht|rF$bJK5G+@rW%K}7WXOb;Ry7vNm zybR%coR=3{nuaIOuIKHU=@ttbI`@8ge z(*75K82X=)X4$*m@+2Cum13NL4Tua@;+LuW!&%Op3@@pb21Q&_;%glYM>5-3<2ePP zxip$i?s_q-1Eag`LV56agRf^GHwUUoWhxJ!bcXNqFp6(ZawZ?{-oAaqTyiKzsjlIE zVJPg zIcCpBKaCY%6Ryv(pNf)jT^TGLdj<~)(sfy&*#D}5g8LR;9pXub4n*I+Kq;1MT&1iv zK`0vbW2M*g7%OO5nY16y%4u_BG?<)i4aNkNH@FUss8H}o!-w0G%4?HGtbdBrhc(P3 zZ_$E1sha7KaPc7j^zhdJ(CGw4r`xu(!ei9VWYF;xR%C1 zP_|H5td(*Z9}m0xsYOEQQ~Kkp>9qTw;4a#xa%bs=Y|&-L5ohHqx3iRLJW!DoUaqPM zD|w>B>cu&CQiS1C-z){05p#`n$!oOg-L+ffqP#hiw)>Cu)1kFS;Y(D^(yOcQ-Fco54i&(%((^Sw4Xt{Gsu1K)$U7Q$l--=2@dm(^tvyq1%0|Ea!-ai^a{f;;$>-lp4qSN+r^)h z?9&vyWcu>rjDw~KCdNnO?;9WCx93=o##)Ee^F@Y&sILr}4u=;gbrBbsJ~)FyU5A|= zNt}GzUT|Dy=M`4})r0A0qI!`bNqP>hcH1CKL(t?T)BV|Jtf;5fG6c7doftL|#lNqX z+UzRGj8^6Gou8M?`ou8U&{^7t+IO{0)O1-pXyxFMcJKHw<@I*lZ=`6BjV3x%t*FM< z4(jtUPqFyWNp*%lYaY9qZ?1Q^HgF@MtsMxOi#ST{f6A`=LL5gtoy^tW7#8FH@hmV5hC+(L4j?uzgYx#W2hS= z!<-j+6xrm+^pLnVNjq`k%^naWE96N|58^PGW1znKs>!=#Bo~hp#Vvhle{4Ehk3N1D z@#ev1ckpfU3s>j&R}92%7N=pK^CfubSlZtAr#1>u>x3QtW>(T9W0jP4cN(n^YTfGs z8*2%GA)cS?j7&tMQh;Bzus_wDP;{AAsAzUzX=CVTBs zSG8=~Av>}REG#u{j3JPkmn*4Uq|)bCvsbpkNTYGp7Uv6M_AD45+X~&+?y-uoJj^+j z*YaTs-z3t^o$K0qQe0R5eDFxuFtxNa#Y}q`+b2n|p}IIc<_I3InxgtKDfku|=mke` z1R~W(mE=SjX|Ev11s94!0!QCWC@3et?48Z>U^ieKvZ1Ht)!TU7l+mcnB)Q(W*pc;h zm5{=$_EnonO0TpYrV-N7p-$mEu=NC%SDksgS>e<5QH%&rja6TiFa^%w<^A+bJbAH? z3qeig*mWU<-oV3U_L1~A5SlC$9)J@MkegBR3Dzh?g-v^XKNgvrWBVj(p|E|+)!_!; zPFw8)hw1C3H53E&lrJaBk#O|ARl(E+WAi0i{q(cIF=l)u1;*5g&<@4gXqJ(z(am3K zpg5#v!P1a*KIK*KaY5dED`q!rF7|nG&1^6}$zm)%P|Kn{ewQKro)~nvISd*m%JC^l zw|7|8J#Q-e}hK8>p2j$zmeWEZSfCQbgOg9eI6xnju-j+ z5^Hm9vrcu>+X{g`F?Db#;!d%2@3tK}k&Kn!pBhue78z#fw4ZQGk{L;n2J=l=wN*44 z{^h*qfCH#>O3gH;+wuddkt^5h9jzdj~~LwKUMa!u_qWD6Vlhh zK3KFBMO9E&KeP5VRI;-#z!;URVhxHU367Y6@jdj zGOQ^lm(^PTY9;0!sQTAz(1nqpEVJ0hhU{?y^m+(=;>9X#&-pvtgX_=|}2(SSv5O~ zzQ@*ZxQ3xadYc?BQp^5v-}BdbepIyuocKdYV>43Xa^a5aWR5DuuDVZ4;ugLe5t1C| zIA<%^k)j(lk}=RBSzMiJsHw4;-x0I^RdYMa1Nq}f@Rcbu$WvA&V_7rL2W>lZ>`B< zWG!6e+3V;@_vPO>jmO|z2lvs|VCm+B237J_3;7MJ?B+SqFk;6z=4b-NL8G3j;j@UT zNvNf#U96JUpZO}uDe{7HY-gmBU85^+TuRTV`~BDxJ#lNLyycFRd$vXm6DZdev^%o3 zx!;3)fBym4-%Zuq>;lRI(Po9U-*(0p9d-?KiLlF6*b&xJw8hFD{seqDT3QIaQ|h>e zF^|<467I_H=wWcQA1!Ptm7;oi?@(ue&f7`b^cF~2;-%8uCwG1=?IN*PLiLNaaE*DG zZq?sC4Et-#c;>sgdA4hp3lBbeb*_6`&g&uBWIyJ07BeBGgR=*f3A3l;c7cZ}|6{s4jxrvHSWScX55T;j7U_;pm9s z-0{lVw>$7{gdnT5xpLF{JLt&}ml`>{LsNMq1IL8^53VnlS)aewc(ZzVP@>s@R3`Q` zsa9~baCfT}6POqJZ*{aoH$YpRF}pf;lC&~bJJQe8W7-@V$UusLRTqrtE2+lvGv z#}+_L6cj76rQe|obz9c!ZE*NgqR8=r=X$^M6mx+pGBjJJw9Mp@rR8CINM5CIW$+!k z&Q8gNu3z-wjG~quA7Q1`S2kPAxc;ehf@#|IHTxQfAE6JO3D%SS*}&&knpyi?ZJ9mv zIilCUXSK5s)k3pF}41G)ZD%etvO&etu74c|L-U&gc8aswPj& z`pbtLFG)cf(#t2c+1ZwSG?Y#{h&b`cPi}6lstS(Z`_T~4fI`*(SdE(sr0!wX)ZMB< z?n^9xcTqTt7Ci-IYh58rDLAde@orz7b?pa8&@d*NTVEG$HNwfqEVx%LUQ@Fiezrp6 zR9@&P7Q(a_@_0|Qj(>T)W;^bzbU#jxMLNxSiEs13akMRyo57)%V87IJR0T-0LeVO~ z)x~S*7ZrLG8XkfQgyNK=p$_`wx|zk|Jwk8L0K*lF>{E5UU_c{ zU)bMEl{$s3y{NVE8fR1!)lmJO6~;8>_AOZFAUsn!EElePmr_^utV_(gkVLAN6Tjh%fyW~&p*`_}p&VN)aCUnST zw}Rt*JypcDccN8xO7?93rdyESEchO#mgq4Xo9l?B@^SBgin{*kWrct7yKVD!Q#^{p zAnJy_#~e6e)R(c`eYS%C-({&F9!K;KrYgoBP>A~M9?V6k*fZbc4ZIAWR*U`gJWKO0@2JFq&-ol(aW;zy(dpE523;bW;jIv*<2eW;*{SvYKj{!4-TybN$^V{iKULYeSf&I{ zs2a)eq^OZfv6|IA!E&c?fXjt82(eU4hY=&e;mYkH3^=nBI>F;l7e>zccZ&fg{wVOe zbopX0<3H2C|2sicHUL5ZXy~vO4L2s8cne3U>&KQ^Jx}@_enyGa$cwSjm)j$lemSt{ zy7JJGv*I>_q>VWLf(V{?^6Agd0&}EGb3KP5x3t{!1S$@?LhVvCXfh=S-*qr=b<_BFZRrJU94+5Je)uC@WpL66fCphA0 z=_&9Q#ZfA&-v$6B6y-_lYcm*K)vdYVv|Zj!=bLNYq;q5fikgpv$<1^n2{h(=__}cM zBnelX!&KUB&T(P$(JYg4uc|u&=C7;fNV>*_uvRBy9USICVDn1B?7fXnMwKk?vZ`Um zQ#7IO@?>Zm+u%9aE9eDXNgP^h);}Bgsn)Tz5skl^R@l&gepfiue7*K(6fRlZdsTfO zsRMoMyqS*XRKyaWx92z??MdY>j~NdNyG6gT6T>{$nZ7e~T9@IVd6kZ8H4bj2cHbX> z`u3M22dcU}bW~}4Y#BMy=+`2K^RbJfUxk7n8}0w#&?-N$*3gqGH;TB#sj88XlV6yp z`SR#zS8zGAkA-)GPf7=EVLZMia*QQ^bjZf0D0fm<4c~PvP83*{l<}H=%a`R!SkrhB zci6QK*Qm(#9G%6OhITT46SqW-+lL`#t|Bjl<}FRaTE32Q@8v+#yP-n~^lvoycv8fD zHs<>kuuOHsH4@E6fY1AMWmh$auWqZ%x-;KxB?n`b2Y!+hCCz``CSOvvTx7C-#Dgla ze9aQjO>R#Nx+v&&E>xsY=ZE`5SqnKA^Kl9%2NhYRDa~`l{VGq532;QpXl9j`ypvw0 zWP@Ifd|!O|m!2gkA5HM;UgGHX@EAVFAySY#UXr!7Stf4G{0)c4OQ+g7x8ODOp;PJc zQrg9V_7MTjW(ueLjD!ld{rPS#Z3YQP8mK5RXe77q%(Pg?Y}XbaGo|JXT-!|59vU z{7v$%Zv@rhl~DUTHJhdJ;O|L<(}%|i*){(><}0-ri0{bm=wRW8FOqMz!?itFq1(lW zJO1KBK%HYWgp786m#eIyS>Qi+~#b0;7DnYdkN5=1Srn6d@q%uDiG$mZn9p#TTm;1)ank%s2`$j*y>S;FcnpnmZn z@9}+A@qCllM*0}tI-&Xj)g8~4HG}FO^%5xT?8Ox3H(#fu9w%6Hv2ZIYeIMI7P#W&K zp)UY!fcC8`*dD*KE%r6-fex6x31}2hYfYSLFz3nhVck_HOS791wc}=TRp^d3h|^(O zkujR}H^grl?ULTh>s!WgiM7-OO;O(VM%Tc>qDV;Fb$E#(p=6wJn?w1Uk3P{o=*}jl zBa^82hA>h&SNDQxynmOC%dWv?u#0p)tahJ8^}g%KsQIE>C_AA(Yb&^ai_<#&NO(b% zYU-+bSAw?7op>d`AE!|r5+py1WLSB{q-j^2Tn8m*Drb-=D^%&y*4DT;yUyahe>5Yt z&%+`TtyGg%07mA*0_z<2aMQ0I(@hFivxmF39w5gn+~r2V{6%}NOZ)cQ$#;faSdWjg zYTSDA;I)986EW*-M1pr4bU`E9+Y+@Js{<9SuRSNK@=VxpGc+4X>|^>+Ct4T}TZt0& zSuDG*zMJ;rIIFHT?6`-$R1=#{?iKX;j_t^I>t7!9RM^qgcl+Xfi457_kJ2a(TuYj&UK&hzVj$&UW2r=@I^>HiM!>8ZgPC>;g;jwx7(2Mm8pk{&v+1Pd9P{cxD)U1FGYO%1Gk=NzN=Quo$z`qv!=4W zInpcZfp>d()n&2XDzenI?Gp?R5o5d(nv(N0TDkO*yt(KA;;|x~`n=NJ1h17zCC#UR z3Y|JuYNsxn%fRxEWn5HbDsjMM?1y9Hm}Kvlx-S-V%-gjc7uTq_Q_FtT6I=T=5nuB4 z*fFB(+aR}&_RGX_MYRD20IC{qff zd2X)6M+#Y{Q@E;tWajfGS5EUeM$gIxHN>XoEikg}Cn|R=39K(hn~D?ee~-iUN$LG~ zs|W5<~%Z~ZkqA?xEX}G$yNJDK}Yl2W|$*7VMJ)vPU zSD9NI;b5ufoUp@JV`ub8u=B!Yo-W{sJ{ROleeB>9nGcQHJA7_RPn$ec!t+LKCX{}C zJNiL}Z^PiTjN00X8`U2g`YFg`iYT*?1GKT$LdK}j7l=TL2~DR0vllF?St+3 z__15feD!&0@UaSa!YkWrpC6rOM-IOq2iIcQoz3;7Tn=cRt-;|+>IMfiZ$<*P(I}uP zNLYXz9!i!C(U4GFwaypbMbpRXzAt;yxRW3zxU zL$x7U#CfV}n998tgu5(5T?a+0ei3$=J@p9)MdM9A3WHI;4}n5z_e|U7C|0WMCx&>L zj-#LO7wRTSC{O-$RrlznkaDGI4C;57~MJiqvD^3 zxVe)pL`bids@5~*QJg&;%Y({Q1+}Bf4OZRNLBe4-lh<19Ypp91^@zNBo<3P+cy?kO3%R-%Ee!D3VVo1HQpNQJ#)6W8)R7D;Mqy*a zkJCz8P?!G$p8iau@8rHAWqLGR%n~={l=gWTZtWbJ(Y!*TG?dkrt+#!EOUW1dE%8ZKie@qz-E`M~l+u`Xn{RbWm$Nj8En(x9c@I-(E~Y z`eT=A-dC<_7w7_-w8KqA^;{~98@iR$#NDbn-Z9y+%s($raGgM8WKKk?R$%4&;t}Da z9#Qmm-W!dmzt39`|7F!7Z{0TQ?I@DkP~AG(RVx?6s(=jREg#>o8QrNmD`PZVzn**6 zuD}cL(9_%zE}CqiI1z(Sv@lNJLdgZz5UVE$2vGI_v$zecpMiD`xWF;y&XNE8gBPbv_Go%?1B!?jnakxF; z@0{;j=bv-ex@+BU|KW0mz4vriS65e8)$_Ffch{$GO;ou;JKV!7HhS^dt`)tjgN_+_ zZuXrlp*ABq&6aK3M^(Knc)@kApm;)X1{xCsMHM>8B9yz9+i7d5Sw{V#qaWRc@dxKt zvx@VCi!y1sDuaTYYkYFXLf!Wj<^?;%#Pr9duY#S%PX!RjL9+PnQfqDWSj&mVQL&+3 zzYl-SHy58NBVXysLd=p5r|LlY58fmcBWG`m<^Q!@wsY4Tg(Rl1$JftBe} zfe}m>Kef$3yw*z6ROxbi=)70O{&bUEz9CYouB;{Y!>zS#$;+QE{N3EO-r%D0wE^~8 zwq^B8VG@KTLksI$fo#turaO(-jaMPlbnBnq*06tBRn<@g{eoKVKp2nAWM$0XiDYGc zCg`lJgwPp#mN0(VnF5kGp{Y}|JCxBp>8s5`yrXLtl+MW-4j}3~pmK+-+sNfr6LCku znT4!yKL`$pM`Q~-I&}nVrkcmhyE%!!O)a*@YWH|~s1v#_*6T9m zy03ZnRbcZ#EmZZ|qe@gzx9N6o`S?#?im{-Moc zUE#aXh|kYsruqz35Kb6IPIb?z_Y(|JGsOkb*TEXa3^GqKh4i>wTZ*EI*-syt26HAg zz}&{KY)PM{su*j`5;enJ3rFauUCJ-SmN4L1QThvlPnU99T)m4U3l^T$!yCB3dL?Jv z=w}C8YnJ*RZ$V5YT=KA5Ww?mdU9!?LR|{dWmspxwd5?UmCg#Syon)7l_wVoyL06;0 zz-j>;k()7oAnb?BVftvLq1Cc{SRyI?efL6@;Mm_t?`rYFPu(d`ui2a`(+ z{;miM-Ew~N>PJ$C+%|bpUKmm1?1*2sd-oXZt+g(?79i*SOl3UnLyWlS{2f|?GTUy7 z7wQCC&4S_pLh@oIkZrz)c-;zTg6(SLlJEB31ltw6hj1^u&mQWJ+YULu?dRyXt}Z+_ z_MB}Lv|S3l<~$;&K3r73ASLe5{N6P1`c@>7tG|)%!Ouy&D}77G?YLQ72|`C}+dVNh zLVFxfuKGo)+-@jk{MPNxb%e{b^K7fX&GW|+55P99&Z_CSW4sTtwPUI_C2%wcOjLQB z;_UtPlcrtn@FZQbAiNM)yNttWPV)(Sx_XJ!UzzQ01xcsssOvKTmu4oPScOwe26O2< z$$5w`K3IV^fck z;|zIb(7D>G1}~*@?KTGswGn!itRz9J9=+(xCt<<FCZ+4T$W$$!$cQWv}j83WTZ~ZAhdGo||*7tS|l3{wgL1uMmlNjf=|8r|VlrZgO zy_br;A>;M(H26`vq{pAd!je=ETqBtdx)#F~Ua#iu@mS8@@D51r_EL&~lnGW^12+o6 zdF@j$u%Gld1SxAbRQNqHWTXmn#kk5NGPb$csDw>dr_pPT|Jpj1=}?1I)@j{uP`(l` zZB*{H)~cc&;?6B%*4L-ps&cSZo8ghC?B);m6qIw^#bo5dqfu|9e)rlMGi{+C&UjjzP0B|FDPaEACt=Y zzeqC$Ko@IgBWi9XyBiUCmOFVAwWz)qiB==-~YuvcH`F-&TOG}Z~?|32Sc{Bg(x z>;I5I?{BQ0vjf!4cXTL4OidQtxac-E{_=zC68IZB{cmKPjUJOkeY_O4au)IisSw;A z5|PttII{`D^y8P$S6q8dkk%NQ2G#s$@pF%*77BcXpL&5JCFZ|G#v|A`s6SITK-Y;O zkO_RqoMv+XQ}7}%R&^Z(SBUzrFB}@Xcr}}z2I{=f!-Vi-LpcTP08&j{&_Y6Pt0ggq zDhT?+|7NS?QyrVHwJfA0Q=j(E5<-WOxx&Ps+z|T*4d*0IqVt~#gN;+xMIIgfjpMJe z9ZX8oJ9qKkdk=0&^gD%toK)5z23eBtv89v0S*B*-GV>8NkbKpO`)@YMP!d}5>P@)Mu}_7nK$(!dJ)mF&*40s*tSvb^so-y9>!~HH^$TaCH3F z{H&DnyD3Ff8@|B*R`W=42T#D>a_oIB)K)7ELT^WQdG0v<O7@!^1aI&QQ~ElZfv z@$-=VaVIy$al@N2eih|dc;;TEz@?R-!T|MsC% zPs>duw*iLb+f@K0@woA44^V~T>gIZdrR0j-F~oBMXgUfjg%}LHX0zAd?`X}wy9Dm> zGy7BoN2nn3f~MaE5?EAJ1T^Ho^kj|ghuaZMk6=7sLrwey4Uya_lp{<(oRXUW5MSH1 z4@CY-%52j-qR!uSGu!;u<22Ni-9J@XA6|ok%5G3CyF_$xEe=0FfBC@TO+k6;>vyW6 zqGn1`*nDMqshZ<4ibCyD&$(>(DPLjKw}2;0SpXf#!Nx`J;^6mq%EeN#vKTzKr1H;N z;`v)t7-)xv?I+946oPNk0ksc!lA)p615{|MIZTR5=A}M-9^_sDtt~!{tk^1rVI#$6x6*&We%&p91xIVeB(zW3Tdp{S@ax z{Oi}l{Z0nyE=>0+pX?`5Q;?JAfN?f%%fgrCem6yCDn#W-XBon6 zQN_a^S27t+tmHe zSZ#v|HIei*tCgPe3d32pP(<$rwZKC`50K+@Ukw4T2jD#n0GdE-fEi)|kgF`vmGhTb zZ31i#n_ymP=_$x>f>8sQCH0z3?p~>rf3F6+L;pZ?{z&Vy#L<({CVHb>Siblg|Or&U{A&)J*7_+Z5#o{CxSs*3T}G$B7X4;$n1Q7 zjTCQKZprX{@v+184$$F=5jKLSN)3Vh^EW}E1k7zM2`zEHr}^HW?T$gGA9Pv1m<1S< zESueqoq15<%?yF>YA>x~vRXxfQnrRGLg;_pI2SIz*Ulp7Xz(pip&{x$@&i99T|o9N zU}GJI=}B>#n(y{kh66en1H2y6T;mJG>!-*vfE1M@4V=4q+h|E;JQh;j=?_N`ULIgn zt+9ca?t)@ZPC?u+1t~s&(%zYW8-8YgBjo{H?Y=_fvj~tAm)QA^0QCUkOA(hq?dd9o zbb8H9(87z^ST(7G4>S%>Pd3RnnhyK{m4=8CAObSSYmZICZ#Dm8bkUbH%>p&`k*e%z z{_7M`-O3TpZ{9Q>4wtsRD&LWR_v~yjjeIdSHU=stoO{zGHMorp;03D+($66H=VVG7 zj$s(7Er<#?0JhD8vixjb0Ny!M%bkwyZustqK6v8`?nF%q(e0+A%!f)4Ht-xhnHtV! zKKv-zNc9Wf+|Hnyni>7Cr{}UvNKAC^l2UPd&3o`t*1w=Uw<&(RQR8=p>#spgQNkltvggM`MhzM=|)NqcuSZ zU77vFvgM?EFF(R?yy_30z`8YxA-(nKr>3(N@i%D9>AWz)6HJ%vA5Xa7{-+keXatG$ zUqQpt(QB1>X=)1L=D6McPa>;_ZC`L#R#uk6*6Vu#tmMp&UHNiW`FMVe6g3~AU|5xL5Kkd1OSe55{^r3c9prciQv;_>8w-~m~lb)CYV}?nD#%QdSr^l zZ*%+b@GvKc;jk|lKcsHE&djtHco_#60?LBVo!kfsX=(qx)v>uBrbCK5t)E zL&#M-9jBoRfNFkQ$J@QR2@L=R6-JJ$m}xim{gWAVu~)QaWA$zMOAh!wV1PRDIGW%o zol>9Q2l3nzr>!)ln8pHtv`jymT$rRLiKN79(IbAZ-DTGwM8XYw`%lkFkbl32#-BRX*B-U$Zf#HjEJJW!XbFeF7wW1S{6@5x#hXSOaOYlDg zcTZGBe!riYnZdv8KEuJU@;2c5i99+3*nEGyi~@2%!vPZzjf@At*|@KcZuW>{vOu*a z41))BqApyB{Dl92a-Sl)7Z(?|gPD>>IT1vDT3uZQy>EOHd{gCgSAxeX`K%MckHA`n zUvSs&5G+N<$H!CqEIwfn+wS5AH6{cm+~-RtzVd;V3*U15_5XJ*+W*A{=6`xQ-T#;_ z{0&b%(#J}lZc9TDCvM8NQ{EW(kO?4S^FJI+*Bf7*WjOVSqL;ksD*`~-=V6BpsgY9S z)8wh+d0$~b$>OP82z1B=I1{u3&p{RPPkZ3w0N^1*;1#07X@y_y?V=BWXLJtTBKUqp zDPZ*+yN;5cCb_8v5bN4!RiFeLIH{+}!*FkRV0k|M)i(4L-Xa8|bx5xeWJTj=EkOV_ zF+F`MS1mno0vmY8nt*`e)A{!o-#Dgfr%U;6ZEq91l7qV8b16>;&`zRmst{fz7&ymt zeZR2OpQ+&FPcQ^a*q(5mk%m?YIUM?Wa8 z0Qc^EOE2;qxFJ{35ZC1)JcueQ^}G?Mp=<26_SrGE}cD)gEO2n7BL`7!=G&@-%FObIX?-RE*}+;D>+>fJGTwvut`zpcRF zHEi%D7~-nO=l!~AO4XJ{c6ne_rsl~*!1-Dbq+vEaOUF@Y`o1{ zkF?UGB{w9iM^%>#plF*iTk` z;3SOH?P3)!AD3BqXqOtdJo?IeE5whpJZkO_(!eVJVzF&x-TZqNvp-qkRddr8maU}T zl!UVt54mi|rTn`#k{{o(yF`zjz-?NT7?-Xjt=PiSLok2hi1TH{Wmr+-zJ6JV8Kd+IiibqXGbKN3190SBhaBx`1Q=JP0Cjbd- z+JAP1X53(q^7->CI#WNKT99pE_`)Jt^O-?jWJt=vBOw9x2eA8%N1JU73iZGrCrHr; z$9tp;SPzit7?=tr?|S)WbzZndZhAKKJBk__v7K{()?dtL-!aP;%-8Sk3ji>l2fivO zxE&4tyAO`7Xjm>NoSB`yZ%7f)^Dj_buxxUGlHCb_fG*6>U-GQ}{P{D(DS7$W*p^}Wx4^x=JLcN}`!5~OCCRN zTy7#4Zw8xzZm_7Ot?nE!B{CcEj!BG3Fg1xtF$Mu~Ov893m@Pb>h2O&|kdmqhTXvo7 z{QUT2Jy0;XVCu9Jwx%;t4QLAtVI1VZU!LRxB$rRM2p^pb>1!ey(8N!j;;?|TT5*L% zEY%@{mDTf&Qb)YTt`}~e0yO*~wWLM(90gL>&k2>UF%AaM`-$=JEr|xyO$Fesj_83UmrBUK`M4Ip(Mi-m&0gcdTFq4GFF*^_ z0KCL>z{LPIDxn#&_3|cGXZjEL2(6Q#fScmt)tgm*e83a$@~lxyP9r~iAiCSq`4${Mls@kaXTK{|KcpO{|>S8uSs2j&=TMk9bHSFBr^ zrR9Kc?|AUb2!WWm%VHlO6VVTrre)XN}u|yuzzIt7qb5i7ZsyJhymUE zS_(LF=FL$grb~Q;7^;t&#cCI z40eAJM#WGy;aQ$|_K(xQB-An-f3-p-0UPu2DPWeodkfEO>S72U<~ieVy34qQJHkK! zPs`}Yk_)28GvEPUJ_|Af=84??$2FO4KQH@Bcx+4qznoG3Hc#!jx&-X|01iH#t5*xD z00j&BM`!8r*v?Z5038c>yrMu6;qB7W5yo97us_@AdjxerQIEw0JPtn-{rBg{K9JVd zP`ezQ57hT?H{&YHvCFHhFudsR3cvapa@CoEn)lV~jW+yd3~W83Ij>O`oh$zhYhysH z(h<+DmL@@Uyg46U*B+|@+69{Y;a|Aa-rHU=tI6`6UgGcU98$byT3C}ERz`bQ~gv~^Qr*j#dxYtf#9Wk*j z)mOYt+vh^1@VZxcDwX*HJC3K^3$c^@e)q}wFNKVknLfeKQ3J=O%gX-SzX0hcqamKj z?E^U1CeM2vbek#hivJ|kKDl=x%u4S2SDEuC9~R{0S<&5fQf-~wXE3}ob~f}s4Z&-$ z^Afkn$e0-MlM1j2-C7C_XbLn{7;)4#VC{d2}yFEKTr%-3s=4C@$w{Dp1A!u27Qa%aosR~nt(T8pB4 zQln^~u^=2vGv*cWHuA5=lKguKm`5_ZQ!t|#A_Zm7#PwBw3eed&z$JGQ^%(#s>=6dR z@LwNt0`#kZPLg93dOTDAiyXKF1Uq-ZBCxvH-{c0u<*&moToF58jh?gsV!wApzILlo zT+|fj{Z3O6QoAMuR^xx(KEmHB@b}hcV2!j44e9KXHFD&kcv~}F#ib^6l?G510SCb0 zzuo)x;#H~B<870p(DvB-`uLgcsF#z~33v=IPdLTW5VBJyVJaq)5KM{7k-vi{&74E5s*N#o4_8Mt%Gn9p&XCZ=4X0V6Y0%+a}YD|G5kB=`^)IJQMAWhnYLy{F|Vv z?+B-#{Z-=Qajy>%5AZjCe>8B&Jz9#u9sc}C8qIly^6Ou_;s^X1-Lj@Lb4vMg{8Tit zpn#<45@qdw{+^U`ndZL2(*6ImV`&0+dE&5FkHGT%xq98j0xFji;PG6CF5$yD0dKQ? zd&_{ymMi<;P5o7UdZasl){^gh;6NT=6-<)TOuvtvFSb0ts@(`lqt(yWmhS<#$;br3 zP5=E4U%*0Hymq#Hm@pAs$)2ULjHtV7vwvCrheA$bL3GI#0v<|m?iOG@lJoV?5XJ;i|7iQuOpR`53KH=l~KLH+m)>*!Vg_DEV?8Dd|z;BPfS zzPRglVPRmC6YKdQl@^c;6QIr|9R^^>NByn7f&+hi4WMd|CB!D z5SO_%F;(TeXU@K*Q}pn7yZmV)SWkF({?h^5qNcly8Dhp<+k0ZEHMI(4!$D(xADyW>!2)NCKxfQXQWE=9jIx*TVG5QQ;cmm2@i|u| zN;0?Qf_;*K7AAeH%WYBc6c-5ZZU*zFkMpmC8KqLuMbE;RF?+F11u)V%Omf|S;a-z)2P{^`k{ z&HP||OYrzz9&1!>GiDr&I-P<2vk&km_byi%Q7!cS(P;CLQ&MoLLitsjkF-tK;%H}=HI@5Z@lmGu>Mgemy#@K4SJ|$s{>eE& zKh#Tz7c%!*{T!`sCf{b9AZFWi-COHPu-SnTw_bvvZHHRm%1*qrE z!{p_O7^r;v)nYknxD2#b#n4CnguTa#V{SS-8-y7jqIx)p(DWBD^|mrdxBXu`oG28r zuWt$%{41<~_k0BJGp&>O%v29YIrnBSY}!|14vWoIiAmpD_YCkwg@p9D40c=S`q%Rm zHB~z(?iKKkXv=yRa+)wYz(FM{*2Y5~9(qlaf zj4Dg@zj$HBXIK`fU=xAb`YAQj!g7MYh5X^KXO(8Vt|Ac|wXSxjxUB+>3^F-c(&+gd z3-#2_5*1@4Uq|{pL}DzzkNRjp&QrfY?87yc0*r4W#ur&K)2!958&%9*@2;1Kkw335xWGT4MKuiw;T1mqx@+;)%)nq=1GzT3OQ?0ZfhF} zCOs8X3+=@1g8YpU%{T~0g%q@Uzo~>mLG~YTUFY_8+9!vVztVx;a%z!uQygly-TMXdFKl^bPkQ8I$S-qf za%>CIIX%99>j+Y1Z><<`C(!dSJnoN^SHI@eQM@%Kbv)Dmq7U~!q8vj5aFm12htCMs89EVO-`nZAG8Q>g{T-{{zz> zTq4cQRteV;81{aRn4nmV{ljkTW&FDe1-*~Wo-$sJPjHpp9ieqRdZ&ODPv3WKdZzRE zO``GKQTea&3^}SOvEhJ+*XEaE!_9)j^cF;2`kW0&N&0=}I&rN26}G!o)0c;+O1;Y- zm4?>4pVSKa%ey)S z>^XKq^1PKheYTx%*Bfi0_TFp+!T8poMXyu$fpS`+-mUf(I=6@{Y^vBYR8?Vov*}zV zT>bY7t|KlDg_1$dHQ10YO3#;9JL&B`5$T`GEehcpiJ7yIB7?HKh-U8F8wpY`92Zu1 z`6m!CWQtnxzf7iw)^#*O6kT8XHcuL+syBtlI+Y}otg30YM^M@)`*HL=3*oHa_7zkG zaXtZbY z4qOWB;qg~lz#cL3?NM|Z?;FZLblo6B?8~>6eQhmAQcO;|^ezvl#`2KxW}#tqtL0xp zLqg{L4u~bYh}_6C^iKtb5Sg!aVh@_OI%4K@`Ex(tX8s(L`=#{*xeZKv9s7J|H9T|U-=c#EYeOH=4(zeFDAZ>z>Rjj*J56A#~A z#tE}|3o;n~tVRz@xvK;^p|>N6wkMcO88d`?{oNF7bwqa~GB^d-YLL+48ssH4ElaPB zgPEI(FFWUL9Y&6POc$J2R$>PTef`fCDapSc3dS%&5L57+L-X)x-Rz!mzAq#;Bm_q> zw%xkhAl{pBy7I3oN0vc6f?5388}iu0zOC?Seb?ev+$*i%p#DMUks`yB{jEvw%I*2y z)yBm3(VZ?T&P~Pcrbv<=mR(#Q!N=D348g1#mi5>rx;g(636EOb+EmV-4*;g@dhTxP zNROJ}W!!@r3Arz(l}zuA z)lUg0cAc6|yxG|%*C--VV|b-mu;1ErNYVxgHu`K50XUEbbHGy*D&4)EaxS$TphKEY04o z)?7zdU!&muRrU#oHY~e-j;TgYFZBI{0kg%VkM8J2?5?6{G0x+^DhMS(YfpO`olmr( z&fd(5;Xr0!OLo(5(l&Fn=ZSR%PjSxSQ>#D1W?NbGI+2QsX?HqIB8NPhEwoML*f}LF zR2ADUK`PAk7U2zu9jVTDjJe!)#@WssT=rg{AI$c>O=u$6Wo;*|H)i=$QT04G|Ix`e zYDi7tLsE?xSg*_--<1VvRmD|5IyhfL_Dd(ig#Xk6P<@(re))R5s@5SfB!rJGXU^e3 zo`&+r1L%t`em{Dgb`&p*+6~k~64JYfX+gtQlJkUOmc@wNZ&5v!*Yl0LZ%@yoeU>?w z#vf(xi*2nth=w0^h*sw=9Sr2TmP#yohibr5Vs9cm z^r$21s;s8_QjBhP6m{-NvzVFucz7YlU@Xx>3Cl~Cj_jO|D28W}ZbeMoeQfEC6ML`J zVCwogNdu8b4UDMEEaithia`U1g>_pO;rF^qmqJyepFbOr;#k5k&JsyxixpGY1h^8C zs)t{bjG&`Vzcn==v5pOU5Ec@GD3Nk0cKx92J#J7ZaL*`fA^Lvro}y@~-?_iaiTjO@ zOAuUq$9I%&_fh}4?Zu2n^(_VCJ@_?FWzDv*i3UbSvF(NlRq2|M_A7!rdlJ*7hh~Zp z7Gg2oDeHZqwUZe0us6buz6q5IOkLb=zcMaIjoMPn%4W6e@3v(WNRt=eR-bt`XsKHY z6WxaH43#g4krO7X3lySjfd zNXk!B4I_QW+(UUJPp}~AX?Vyl#p-ITX4P$n_dllh4qwVOyDcrx#tu~Cyv}r2_}sWr z-pv`CH`K1pkk870qny8h4pwQ38m4Q30S~4_V4}DkKB_id^r3b|geOf~E>vAnlgrP| zsM`4Gl)p{S<+Ftz8Vo-krBJHfR}gn~qjOjFO}zi_%@D@kKB~0nk>p*nCDA!p*;nwi}iX*J0P+tQI?JuNK>Nw^WHC6Iv4BN2}sOmP|fK1cHqMO3&-*nO%7Iz~}g~ z*P}aQG;4#*Dz;0>u3i_kY*X!3KN3w~*InL@<&QW%MegNfJ^492OP^FdzfQ3;8+%*+ z+;Bemj%75&D;2@ln%jJpmY1Hq%bd$5OA7hbKQrK)6cU2=vb0d!maL{G%O!?O5euYA zcxt<@vX8&vxkLW|t#1HrfPsaZu^YZzeIJaL$oA^$oSFkl<3Kv%bZxwxS@=FLSFP-J z{QRF$xTTS~^VIz7P{HG`*`6;XjoadAZprO^;InzAj72mR>xW z^x)==5JqpNd%UbJ_pQ?k0wv{j)@c1FbV(0m;y=c|XfDYeIr6R-*=;;bn15+zn`OsS ziZSSBhBqiBga~iTrGc2tWB}dQ|Lj8+taEaTqm%9b zN#jgT`Q{v{m@Ik!nDka&iP#<7j8)ow1-PvxX4neWyfokU}QV6_P~Kft!8 znqmjeeZz-$&jNJ;Z)FeUM(nRKGR`2dxnzm zAgqJ8OMgMcoK|Bb=FpY1?fUz4<^1;Q^;736*9~ig-go0|ulCm5tpqf@BBPD#QRYlN z-99gxhiypg;2V;{Vq$z|=ES%2!%k(IPJ$=fBr zD(RE>M7_~f37QML@lnT{RZo~~s^tJ*+6@^IAxTRk8DgyiV{YdUFuJOfNccC~j0bAU z_THbEvsEBV#Zdp=NJpf$H*hd({mguQUU+3ky2R?u zgHcSgOwL*HtlSH);j~+lpJz9MHdArYZjvoxmmpQeO;D#68e# zbo=U)SPJ8`4SR#EJ3QzmFqHFSWmnqRn_Reh?fTlf5OPwjm}4(Uu?%=)mxydthNy>I zOT?E}&gSKvzw?qHR-%`DRYt=b9FPVEHx88ADBe<{iLQ*6^w|CSr-L8`-9MMT`UEXWqy<)eR!a9{?Qz6 zM2bCh7kyv>Jkvrw>u#T_hV6bi*=?Po$~n6mt@o6+8oK^KtJJ=TvU65VF)wIfON*AD z2h4kOO0VR|kzMFaS%Iy+9P#d0oxALO;~PIGe4@f6Q+e%<_r4(wMya#HTUJ(9db?>7 zjqO`uS&)k^cPjs;{q@ZRbmN|ORNR-#H1w)Ob7BRysA5(PzAd2yQQH;0bz&7squELA zxWssyDv6nY<(`YpHdH6CtE@U9ub92-*&SMgMrhGNsssFy_o+IKh9D18Nc0rqSz6U|3dQN5FDWeAgN`8+ROX%?~OVkscBQa)jz z%)n{v6*0T?y0eO1O6C~wIl+XlTyan_yb$JN5yTxwPdYY?cEG;3(cv!|(cpV-nvLP|yWv)NqV$hd5? z?0yL9iSZ_4^!3C0OCJdS`b&;Cw&!)zJ>UjpB>lb6v7Y(iz1nahSSo4a>r%GeJjM*K zLfm5Ua#bV{{1=3&{d!fcD&bBgl3W^B6HW%%2eSiKWA6g7)h~E}Gi&-lRM*bSxLsj+ zr`}C4B*d+uxv@YdE;)j@N0^;AKMLZ$NKr#;s9{@}Qk_c7oiWJL%l;B3WU2QocUC`r zvf=R8WW#fXRAxvw4I27(>dtJ+R08~yy;wzttB>f~&==!xecvof+}4FSPh8OnfdwH} zQb?}!!fhqq*0H*kbl*`iAsNJLg~nf<6%1Wf+z)p{LoNwSJA$q-v7Fi0!j3%rUMcyZNT;-hmkjgPo_%B7N#Fkd{)O8CTRq%*MDf%v|rHy453MYu|(Qob3 z2&m*TB%7p2bc?kmNJ1<+H5F$oj6JmUp&5(2C+OJ==Bq#BzEnQ@CU=;Sc^YhnXLfe5+mQXP7+8Oaix+nH*$0!#-K zBL`!mm84`Obv*K=mx7CJN0MMDWz56&F&cv}#0^FU_1y=?S0~fVcH5E#`j^_MXGm{% z4_cb{Bqv5swvkXBaSX^&&r2c{zI;NI4C&5p+lt9ScvKn(#C*HPR&7_iCW#<(5`KM~ zZAkXQo7y8oUNkgAu}KfT;C|swGg)zemaO?LEW1)1&u!7<*$0U1$Y2$vVj;hnFrihe#Y|fY*8582{CtDKndE%*vP^Qf#IX{xD*k`fUyZWS7zEZ47;gt>@@lz|g-*HJJX*&Nl>dT@%&(?otAAMSy(%_;u^v-ifXCEl5&b8|71CP~t3heBIN#A)Y?d-$%ui0TP_)IUjP9XE+ zhukCb^&k&LkaBhLj1BJWF9DCk&a#we9|!{f7Lc8N`v0H>a_5OQ{OkVDAG&+nk*i*W z4S$IhmkAA=<(kiK#hsT;oVDWreD3UP{6GIM8n~Mtz}|aS5iZDBnWZTE6ET&RD9FAv zGr9;ahH$mIo&>~jF|-)tE}3pw`JkmuUV$hq5-wt`t=)JMK<#$QXj7bNHP+l!7~9&` zCQlp|8X3U=NsIS9?TEREOHcj6=9#MZmzU3St0^P+OE<`Bs23}6xP~lKaF&$1dXA3{G8?$U2lh&u z_-klCyJs&waf*r#R1^tv`1L0B{ss<(NMqkE*DkhILE%8R>1uLZi;)oZTs| zo*PQ?ZPc+A=5u85B~1QIz_MR852i<#HD`ZXyI(p)O-ZFjQu8IwNKNYqn^@#?*Lh?p zYo9?@0f>X1ga-0V5oT?QtCaLZ`PMcaGHMok`uNzn43*_AlALwc_>*zf;KW+XrgSrH$B4^EluEj9AhQQsWYWzJSszW_P7_+_luy{qJ(B)tWvVNU~b<yT8v3AH^hoD>Cob>eSW523e%BW;lV38&C+di?}K|Um1RA#a#Un^F#Z`T;hZjUC;TN=RHsR#X#xGissF(GgKhPA6^l&@5X zs;wn-S@Jj`^AA(5js~iCf`h0#p4*Z}+$TF}`dwJ+tEu+~~F8Bnc*EPQUKDS>gGca@Hlsb)1SX!`rL!PFH&PF~98@t1BKWRz>4(n<}6<^Ur@_(rus_3BLAD5F$a@L*C=mrvb z6`r8a$DyIpTDv%(Bac8D9@u=z)FwkXn*z{FS<7D@B^9e&W=BMFu5(i+x^>2+B!dt(;!>N=z^YWj z2;s4l3(<WZmJ9TO>QQ4lW?m65(E$oc96V+E)J8fXU z{Ek#|f+n;`)JwWJCmQQDkPlDU2|3-zC6hvWKJ8ZI?k6N1ef#!cn+5tt>jAUtfrDk! zP9&@OcVk=t)8}yNb@XrFp7HwqRY;lC#xWPC`4?r+o0g{Q458w=#loMp@Q{KK6{n7I_U~1wu zt4E39ZDz($(S@|<$6p&4`b!Mq`S@=-vQ|@Qc0pB4_2H))6xyILodbJS*5xo7(%R47yCT8FEhb1p($Y|6<(V7u^u~zR-f??I(3d}}tJSaH z78GQ2RhF&`@O^vLfqwppqyb74IioY7(oya2`@6@)KY!?WK^!#W)n}NWFAws@erGzT z15C%J5T(+zW)~)wo&yH6+{U*@Fh7B&a)4;SVZFW*(bQuUo9P&+4D$8*>7zre*GNg2 zcwvj}9D%B`KPz2bJ)azrM)x^aO{hzXB39*M&XTNPaz0Y~_eamQ9}%L^9_xt3?wr0` z&SLOg2YsYnhl{6`QVswvLZhbGxTM(_8A&U)*B5cc2tNlmiw#EwI`Ny;z9k0LK5hEL z!P0qv%4;2(p76#~Y4MX3#P{g(g=-%a^)km@*-4_=6ETi!W1Cw!!!=l}oxYgz`bAWD z!=h)l2xS^2Ks~rjIV+b>#@d6bjD7b6as9zEvEWLf+Q}4AtVuTu|RNt}G8Oq?({J-L}Pf@1Sp8K5P7 za{sKN8%W4YmeP&uA*+r%MaiPs>=V{9Z2e90k8Gy|J3d=o-=&;Lsazz3)I9zvn(++!vi?s9qu+vl z+Vs|Xsr~a;olv6T`08)HRR~R;t7_jr#fW`7S_{|7O@lp?Q>@mj-zy;{QGb!c93&>{ zJH7d#1W|MNsH`;cRpZEQXy@STuxus;=Q@3<*uais8?_f&^k#+E{!HiORmO z)LHXQ(e^mYQ|e!$z+8dau$qE?6hp<>#GT2y`IG6gr)@Wwrri;G1`R0P1B$4c5+kkZ z!JF6eCO;>-$KUr)XDfg$j$~D|Cv=71=oBRHbjifgPVsf9Jwv(Nx$Xh~_EfcB!kkI} zhrx$OzVHEullIV%JSl&xPA7S@+8LGyRAkp8c}Fobq_NHBdLJ%jGG=^ynp$J@^8w?9 z(%iXcvCKb%QTaVq&z@(g#sCS3?g|KEFqkmnekiMA`txaL*ZR;O)mnRDVRBb<`%b}FN#1gR~dyysT+H{gV(;n>?jeDAy87nXetc-5*xW zEx+T8SOH4S--FS=gQYygFujkOJuoq!QGWIFlU~*ED83<)8?_V?qeNH0{eEe@Z**P5 zzx=u8A;~5n@?9kTe!^<4rG$NF(sQ}YyAZWq8vR2W{dC5#Rkwm(%Ldbt(R$fE6bl(7;2n_iRSm!M@nrvjsG*@~`y#o&^2WxyC%C`PxPLD@9^`npEM9NM%1Z6}hBaDX zXJt$X=uKr!DqmIUD7wfz==SBtd&qWl=bUnc`9uffd!zPh;XD>;DhhtZojF{z(RY{k zh_inxhdVl9!U($#oV1Q{E5s5O16#gl*D{+_%JmGh8(YXXT*+39sl2YH*LV7H{iy8m zMK(|S5zS}i1b6NeYgXk|hq8`cQ?H5nO4GrLx?a82I-RoDq}=_s#1dtmcWc*}lH(HA zqOr|#BNNf6E|vtX;gsBedH}>0{;t{Jn@h@1$u6$+nf9VsdN>~bdn^I=jEvgM!wTKq zjneQ_<}V7eoI8~eX4m!|S4eYr^U}WCl&1SYRj6eA-2KQewq&#ZlbNJbgGGu=^cGd; zpbWveD#(s(BmQg}0()?zJ+#(k^Cwb8v3i2ZJU^$X4kzhdH@b+Vc*Pb|uZKa+;p|~8 zhBQ~mRP)lh+tj|3yNVpy5BJ8Z5vOLg)74mBO$2M78-Njk=bUT%%`2>PL{9z{?zv>H zka@@VH#bF^zdcB8rdl7YDZUia0DcRmg6%EoWU^vu(>6TIP6gN_oF==K)T^77wpS+$ zSGZ-0XlN7fF&R82oj>CTdcfyed>MC%EF9$|m z`*z~k!0e{uZDr2Fktx8It@ER%qb8WOLS5S?nCXp7Scp-E&8Ux)cj~2`@$)*q{BAyM zmEm_*U;9|f`Y(hw)pb~SFA8F8uax}P3@W&ym+eyH-PHebPE-QJ`TMau3}q(H;;QSr zadVmMeq34ftCCr!@5H62DxPCb95rucZc6bJ$G^TU0$*4$IyUu6(n}x&ES2n3lnK^t z!tBcyX1{f<^ssC<#R#lZ3>vW_%ufk68J9_R%+@mAv&+*Lj zrGg$@UO0sw(LpC4r`~RIOp315h!5E_-JXlOH<^?mphs`gkq7=&Qi;Wo&?49~5q zm6y3mbI^m$CEDpun?L8$%^YC;QEat7xSOBXP*$^_uN0A^-$ZPTI;A9m6)pBuj&FTv zw~5x!I6`XbpJD={j%2&*pTz@tySFGM!Y3nZ&UdZ?Ur(&c_$G`H-lLT?hs!LlSQYSu zHM-oo`3W@>>8e$Hw@G{o*PnU|IFdp zVXY>h6XN3YvKR4L;msEN5LoS9R~XY~UB8=!8=Co)3K#|_6>QcPy|;FK2T$Pjvg}he z=YIc9x%tm!mjs-6JX@yQf?2M3&?c6_)(hIL5zTX3HEYJSd_OD%k}r#~jkE;h*^1uw zkAofNIX!u7^4vKXWqp6}Jwz=>{NYKvt*-iNC=#c5S(;YddT9-DbjB!u`xMoWm@r(RhtOx?qMJ4YUijQu(>5L#pyMZtgDVy zsv%D~PZvqml#hKb%0_ZSW39cYqFj|r!2=pIma~y+04BcLQ#Qq|93PSTL=YEc0Y9Mir+LXH;(GbT_!B2Zmn7l|72z# zM5UFxUWKTfxD_m`7KMiNXkN^1VQX_L({a0|g!}H!ia7#~Tn|)?kFa&ZMfcHaJo?ns zK2x;u4ldNkgV-+Rk!z%# z>Sp&|J9V4uM$WSUHrcerIBXtn?_|1^SrQnmlNR#&K|9Sgn4WYLv&g)3?%C9R;Y)N< zit>|C`|-;~9gdy6t!@MLZRXW4(X_iEtOAO}wXCo0JcHPzXTQ270Iyruw z#pf7SF>d>Ea9FClBopTPSLv}&AH8r{)YK;y=B#Ph_eI-1(@kG9;U;OtA&>poAy1eP zAK$#P>QV)wsrO=PCo0-kyL@v#skv$ZG-5`T_qJJFENyb8^V1VnuiI_m4DZxOn_HRh ztgnlhyT_WJ)Qfr!#g*HG*XZgX8y8>_k|10lgZT*dKaqjJ%JHj{z~&&rX31Jo{@BFi zSusWUo3Hhl)^&-uA}2dRwR$0owdC0>%ssXJj~}~jlRmW1F01>P*j>m)Ab zF*#bdsgkfe*Q)wsy%L?))yG}D?#OhPw&M8{MhEtghpg_GtUR#X&|C1!&c^b43Ct<) zn;BcJkJh*0A+JJG>)+yB4$Ufjot^vO!ZFe0^6%+(_9nH}PM6U<$A9@B1GLA(S>zL&-ksnbC_t}TxwxtMhsq~s{yeGmp?I#!64J_mTT#Cf&M- zIieonIH#_cuG}$mGOw$7eD3jFx|lB&vC1@-;^dyT9TZW%MBi8WeU7>?!@+fEXXa4f zzGa!9s+5`;*4QYFoRoLB16esjvOO0Nq;oCIW?+U5G+&CkHElmG>C?Ej@Db>@ms&_i z5DO3wW>^l642}I9`h6VYF_hTMyPOnf79RGxRbE*EsC%MW(+Ud<*0SOqTQwPdoq^wk-dAs{n|LdMlSwO^$t!Ax$!;-!| z*BbXx#bp_kcxX6h>WIah>Eg+NB>voJC{27__{zR}6(-iHlUfV^YKupM)RYro(P8`h zSpL$<0E??wZxqUyXsH=Q;$6me-vdHPAu$HBg#i72mj6sVOYH`U?%$ZK zf36iEeyqjZVM`xOYs=Fb`QgxU72g#lkxjOl1$>_v%kb~X&hHHSKZ#-fdF%T}{%$`8 zquL>X@qO24W@iBwp>x*C*c^=gaU^Wt!h@`9|S`t)A*@ z&XpU^r{YT=Mmg8STB!a+hbYQPKsQ{%%q=TPpyHf2w&{V?VqAabozv9;RYRC0-up zAP>(k7?gl@&wc{{aj>?riE>ixR5*V=_4Snvzq`BZ>FEIiizQm9GH88#pY<)@KNs{p z&yhBK6C#@2HrT@{nA7*^-J*@7q?BtBQB06bcGSDuNwmf-pg=n@M?v*=+vf#C_ zJ@^-BfK>Or-wSj73j~Pi;w)R(fd`i##`Hcvncy>%f~;<557n3zFrt#XK#ITp(yKr4k{&!3E_%aBT6g( z2@=yZM2(%kAa#!+*EAp&S5q<|h9R`*#kE?OvHk;#qmj`0eL3_a$9nQR5|&;V3{>;I zu>8uE%xdkXZkvX@w;tc}yk1k-BpAQJ9Ms!%sc3LV^x4d>T9Pe2i?>D0b z?(gze+X-dU*}fv*KeZEu+T*ET4EFaD62R*S!dtvQwV1Ry|`3d_Vu zVvE)B1c%S@PNRqd0E7yU!~)%^wf@5LWt($A#{-9h1ET*DuCPSzi;4}H1yJ$9~27+)M-09cAG!Kaf} zTi3QniSa=}MveNb6B%09R#in;`a?@XxNs@sV{5D1pm zhg|sj3~76u$a1}$_C+2BzyB$~d%s&Ste-6XwWa~}dsjVf*JwJYvGtpOs3qkjc@< z=Vy%m%jxoK)vKR`5m=tr?wH=e*Nx}`V}>(s6a7|E+!jLI8gWKB@QYNgRa=MDb zpp`~W$VC;Tw(_Y`r@7X>d&&1zTl_Bm=T9!Vhpmb6Sl4Vazb-L{XP$?np6qaxlh+qd z4uEQ(9~e0pA?fvJwvdWdbIsc-Ak5zPB3wTNaPf6Fy{aN~17S(GrJpBet(-1D%6%1s zz0hly4NoGYhVAdkni~o4sHlYXTYElnWo$bWk+te{!UvE$Z}y9_p*sPzf+RXkbg*L! z+$|99{pwn7-D$uC(9~4s9q<4E0HLL$gZE<6Ng8d+zyUeS{Y>F`r$_a{ugeJwKy&slUyr1+;`Og6Q)7U^U=%`u5yoiZY~M31NJs_0wg2W%K`qXg zd#>JBT2y#o$St($x8{ro;Oy@aWs`ICUtf&-Ba;Q5&NyG6;IfSmfH^GUqlDwT*jsr< z=kHdj7}mb7vZcBA6>s+_XlHZpu&|FKX_i32!;5YnMnep|_!b>I4nZZvdX1L(1}xY& zor$!985bF{O2{8&$Z9yMG2nmuj_cQ@sS|;IxSqlRD{=I(-QxGA{2xLASALd-ZsUR7 zztwRjCaPCHfk4aAf>}2n4>yT7hk}2`mM#bTgTYn0Z~Op+wtfQ7qcL2+eWeTl4-&`} z3i@58FPJF(;qOp#CGx?(=~PU8^A>;rAX3uC*?susJFUGd z(lo^-`*x%?r;K58vuyR4nu_Y~sBZk%>w($J$!OE;d#|Gt-&5T0`yG7OPD2Omw(?mI zzQ3~Zxad+mSze{R4#eWMe zd{B*6Hn#0IT7Am4_lcfd!32&Ne2$R`vJx_RrGDmb2T$->oxsyC#EQ< zZ)F1W@p|d=>O%@wCcO-eoV5ihRFAA z_YEJs&UygAsd@|1uBMsS&<4fK2QT@@K(IEV`a9k`&L3zo1c^52=vhl<`;3 z?ID!(+1<6D_N0w!4biv&$JKgu;i9m*S$2mokF=Z$97(hnePUL+_N`mnf=I3bC?|(I zuO$z2oK051__Vygqlf~2IMeXif$g%PfxY)K|J@wX99^gok)-!9A?`5KJG61?_s%n( zS{dwx>3^|?maI5@H0SgBjV>=F2;?G4#DSfdpRYu6?5SJnn^5O#tNZ27(9jStWT8Xq z+b<|br{}{62q^SAapdUNVZa2+rn_xO^*+Ib-?ff5fYmuG$0hbo29uso2rGP_X%b9c zQzym?E9FMmIq0zH>y7Zu{%R;arui&MSvL1;+O-C!}iZpe}4~*!w0Wv2}*B z=8FP?{zi0(qUl{Qsm%e*F~#2(pCF$vhWn!k?oV26bcCoPz~hfkA|k&;Q+=5>M=Y>q zmGv~M?Esd4G5o0O$sHA5!Cw))`SVR>`;)^fRJ6&{Dke~aF6zZS!n%Plut~G3zJ~qN z+{8b&R@lfpCvP*)6IS^(HJDPcyX`ZEw>Of%)&_T5$OG%9$#ga&;%>G5{%g_H!m$$e zO0Nz8BV7H63VAwY-intBn_mQGDrW7|?(M+`IM83@H7NBal=qKM2}QLR*-sZ45%*la z)UX(dS^S=+Bb?`kB?-0q;gDe?oV7_e zRcmqNp8U0hST2$8j5xG7ScnK6c(IHd?o6XrklQm=auF-!4Fq zytsL=ktg8a`W-YzwF#J)5fx?&TI}V|)s@I%DWidyFPW4ix*d%*0h!ry`x3-YYtmOS zbef5#8aDR2=7W|y38c2MHp?L<3!)^7DBp^k#3Xd- zcE^<(J4T9Kz`WSygX2&VD_EyghXnYaBvdwMmcIHYtxbGN-@~nD?bW7IHV##M$X$2A z=%{0cW4sIsSLFOv@!e+^4eX2VzbxUljnWG46jcZy(Z{=kLyzZyi!t)^O z4hy^0@_tcHAuQ-W=C|6g*PH0El4R~(zp$*0SLKkL6IVYR57oYi&So@QSiaO=p~Bxe zPMc|_r59~~Z1_6~V)=`iO4M649Ur|3f5TX8sZZQU

igjpiJwv z!h(Q(5JKVYP(Ipaz=J4^x~ZQr!039*xd-6gn$2b3oDIJr#J$QV;cmP!VA4(Xd44Q< zkFp(qclPJyaIUrMv2?B~PxMjL7V14A^ToQ)Gf;NnFbO6iJ7Zu+{=M`#>>i~5AMSw@ zP{Z-Z#-GRy!V_$Xc5ymeK<_YRIL@2vEn%^yn0y#9RVPJi+U~Ap{Y9#MDWT#@`E*zD zQAZE1!P_#PjtcKsFV=8bh&i^>D=BB3^~!zd+D5nwugp7MPneB4EKfJwsm~SHQXS8T z_IXtra$DWqq8Iih%*xKZHLm&wXJd@@JA&r##Hlv|hS(&Pu!96x-oD z8dsB1Hci~HyyCQT_15R2<*0YfrRvr$wClup=ZxnHvHdxwopAqbq zC|#bKQ?^!|$r<^8YakcnTqQeYeSLZP?ir5wL`@#IFEfvGCy`Ah?$_>JM}dJ=<4UXy z2hRuKn1a+mx1nL#Fjn1YD5!VV!r-RMn|>@&NH)&JIkzHoYqVE~?49Ib)wp+g+^C)y z>A4vtm&EXy%QsE-<}4((bRGu~#Cc+O`=TBPy!SklVEkCk#`w;AFlrj%-*DQl^65E5 z==|IVI7aFuTBQ1sc_o>|{wu8YI@FRYo@drnAs`c3-ZBAvV` zvk|v8JOQQ;sRDTta#f3c9onSla>OfKJSA=iCE8!iubW2#I^_; z9%fl{DuSg-nee_AX?Hl?v^qlsBqXVt_Q@h&gdsF|@qlLW)c(}@zVsVEm|Ye_nbJWu zbN%vN^90n4igI(AE;1Y{VsX#H%bp^P$#FC<1a- zJmoUb?@;bqXM=Zm)m9X#0EgNjlH5EM4I6P#Hqbu0sTm+Yqu-J1N{i5YlwY5&noQ=*cOg~b^Od5`>#Rba&hhyZaEY=jg9jGa>IJT^+9Z{`t}WdULH0_2(DX zS6zMN#|_4>PrrWjXLlMJrX&FZ`hl6R_g(jQ(3woQ{ri7?0mK*XHPQj5VKb_`Rd$GY zmK@(|u6t5~ul;AiSZ&t*o16@?yYUQn5vrZfQZAb(H_4pB*qo|!hi1IHjb$25I3lzP zk1ly&+LZ@;@PakVaUmLrEM~zoquH1guf=hMJDjfNiq4gsDY%x!HLmxPSvCY-J zs8QuHs-L?^I407)nc0ja)fG{=fYvo$JzKvDE+=pHR~$aH2RUfzjTzr{D&2EO0q5IiaZ{^s**5gg$eg?=AH-mz_Vq`{7Sn~t zYVXm0pQeu}OFd4voGTpH1|=}5-YC+zs)!~!I9GzvEand+W>ii*n$Gd%+?*fbG+G&C z58RZVD!;?bI_6@UvR$33D5=2sDO6@sxE|-n%pD4UmivBbz(?r?4+?N_u&O)vn#5E> z1OFU%~#cTWMn8^{wAfZ6>>kdp8l!!7GasUSYo;pXT?-5hiFL#SMxG{4MK9Ldhv)K)Pie;(hga+I+wzi@R-NxQ z2Ce#UGD_t9mvg&LXsQ0#av8BS<#X|p*T!<2#fo!s4C}tLlB(RUw)gC5uX#aG+aJ&p z?(Tse_cZ-#A~-gr7(IST?B_S-@>7VFG?(zZ${4gB0;!5jMx|FITU*mi^J)XnsC3vi z_U#bel8V_K^ysGPoK z4uMyB!}HdM?fk?&&45Y%o!okFb!n-u_w7m(y8+jsDccsq#I$<(&G+!DvuxznqW&WfQ zHbF(@d^b7ay_N=WCUe-@(Jv0_u%67lx^CuFV_%$&LMD3P%K6M(VA1-*EY_{<=PSC^ySkJ16Lsn4wD6s>78MBbwP-a!>-XD{qxQPjk;| zek@U&N5uI`L5A5!->mhrsMdP?NK)IKNmGw!3I&2!9czV=Q>KzG`tb1r9j5;uj%GIPw2yZ|!QR58^K)w{adhfD!8zH93>&6%p_HIkh2C0*Fx34!zIxGNQYi5I{ z%mJ)VoLYas6)g4Ky18mOmo1eR9wXVd8h{{{Sf^4B1V@#3W`LZh|e(?r{uahx&mzN@F zx^*#eekQ89Op@R!p;`jP=bmxbyN12c`)OAYupn&@KV3|T@@~T+z&hTtvXST0%;>fD zl^N+KLA;;m?CdzQHdAKL=7019dfM}0tb<>O%-FKYFyV$xFcvL?zsZuc%2fhtO%Zz2 z+=B{jOna4yZw z;#uhO^LkaZm{p^OP8*CYeY9s(eE_Z1b5{ks|)LUjeFP?jvZAAJ4q7n`c0V&-|6 zIu}C|02wlGd9x%+2d(9O4{C!$fEF?AAM+s@PIJ%I?qt3ADDs(1j5+BTq>%~B=+MNW zmV1qb>d(5K=ckSr&F_2n`wDO2Kq3X4xJCPsm$HRuaSF&^*thwHph584LF)Ar-BYli zA~xOeGhGM~!Qu|bDn2TtmiqPy7GAUaJCFQ|MTFXdPfNa2AtoUceC#bXii!;NgqKNr z`DHIJQ4|NVvK6hIwNNdo+UPkR1*txGXeSaBxrCo~S7SbZ8Dpo(%>ev8I`cDgI6Ev! z3aF;f#^jS2x&dW!KjXl5bnh%WGOQ!-PXMv@m!{vZOMDDko7J}aXc;J<`+dx(FFZSy zxj`9@8DOs0d7mCU|u0k zP4-Eg(x4c_%kDGlToPqTrL}WO5#QCPhur!EK`4t-ONA?!i-}V6)w8j03Kj!;PS5+3b!|^mB64(om~rJ(6K(72G=%DBv0QsrHapT`7P=}!$M^;lCBt?h zd{1l*h{T_n zGm%Sfx;A=_s z+AyC1EuMi>ya|2%x8{3G+t_OYt+z-ChKamoOd%!zFlkTe{m^{ z;i*W%lZngQ+F0T<3F-f!sI!PC7fi+teV-Y%GO7bxSsE5HFAxX$iOZ|BF%iUe$sF8a^J`n_dnv+ z?rQSmK7|;UH1!R-mafxx^&HJ0~Ugrha97y>C;>aL~!7b?(x z8thsKLdB|xTt}jML*K8Q*F}(3e_@F$gVRik!IUD+ZO#5a*AbSe2T!;bU!9B1wnHo0 z{bU2P}=c;lf%qCSVnJLRX zsyXJ2gohWem+}H@Ks=jPR5$3a_47X^z02j$x&QbO8!{XHt;L-pVHiW(Jz`!qi9sX) zdsa#r1rV;8f1QGjndx@KS`;@nJo|s6Bk#DNVi7)kz2IM>=MOTh+uTfl4h2jFY3Nyx zbW6<*96YHZ+);#GDYNKnqlDJjBm6KQyKUe|ab*u-2Ls9<{PJUhms5yb+J>bPpnf7%F)QzedE+`d+~N+gL#y|P3J z%BH!Hsw!2Ff5Gb551V$}9<{nQ+?JpUgiJ46d)6^9NQACgSNR*N;B?#R&n69$w@Gi{ zXKV5NQ2mU-cSHm^VssXU*it>th5_s|?9T69nN#(xc9Huk^pf7F>^obZwQy{Kh?7t# z*>NIW(xULD2U4QmSG%x?h*D@+BdfUc`zV|%ipdrmq@<~!fquBD(SLYIv5ek@HoyB( zY(SM33=h}m4BM1ak@;C}PbOA@#O6BrAnl-K;xXo@y9JvOQ4M>}x3?go8M!GFe21D& zrN`wXS#R&PY=;)WHAgIL>^Ip5GhSPqYt*=a#sl&J2^ge>>H_;nymOb*Dpd+4;`vGn~UFO zN6nX#foyHINdo(|l>^vCG34??_NroGc=)&m#}oqjZaGLQx(n40{)U!%drGA<=ODae ze#PYbQ{?S;&>*V5xZ^OsFlrqxDZ+_|WYhy*_4)ERBoGl94hoQ454Gs<4l~m#bP7L* zRgnQ}6bh6xeTciudNd$MY9)(X@YS^Gn-_V0KxjN$A^TG1i7|oxv#`vZL>2k0kL6)s zO?B^*$QvUz%@$ZZES`G+7+$b32{;}ti2<3E?qHm-R$5!A1)oqI@~!}5-rr;T^7~&e z+ov7Yw_t@DGComz6Kufdx3RH#7kEZ?kQUI;Qr!iZDiH+HP)pl=o<05%xaq%>b^}mQ z(qRtH7W=r?r8%SXYFkP(AW#o#{H0w^p#@Hjv}QPii%6^ugDfW&NuRosEPlZF!QS{k;IFXY5&C*{r))q^obQo;<_o1QeeRA-sH+FPAfLG2IRK+e1x(a@THR9z5a+t&ryV$vvW*nfG;c? zrH=7P6(HSi7GqBWl@WYV3nIeBN5p(n6Q+V*iN1C2u|V#?>{rzz>If3yz8B%7qaY;c z_WRM;5DAZlCY>LuWi^!%L^F#`5vJR!X+XVes5WjUEtYVI`VNFz#UX2*Pvi1bIN_q< zI);d)zwt%D_^}4RuMmMa7E*W0659k*nJE8DL+;~W*Oq1NfHgr>Kcc_$(DZ!(3+w}= zw6sxo34g3Pkw^oLD*%+f?CZNHp^lY|c#!?e-^RuDS5M3%34t}I&9d8{Z*WHDKsgql zyc|zALcSspztTQtbC^~bhUt>i0aA#~vI=T%$vcp6qpFR&NNI*STU8U`rRvP@{zk^B zvsFu{*|_GurNY}_ZPa`%F_O)^z@HDYUn|7$^pma6q%SFP$5LnSiBzV%Kr0^_g9Ixz z&}sT8FoO>U?b%h?=`$=;xyD^sL&>24_0c5u8kLh07Pyq*qb*Cx9auwdo38#rbjiuU z&l!2&TuB&Y7qJ^a2>K)P(;%hA2BX;{0S^>2ryK_IJI}ay186n2&Uh^>%!o@47fMUj zq79`)bRBwd3QO-t735Zgq+{614=874r=$Wwol3#WPeNjP$v_HKp@^A7blj6-3|pKE z*vx8PS}2fEDdRk*I3TbzPF>ni4&*-tZlsjXp75H+!~Aul`j1c1e}0@$0aKatRy3{K zD_FHT+d_HRFMCJ##3->awaxS>RmoSoER;O1@5yMKS8Fx#NO0?FW?0f$Vm)n%I+s@4 zZl5z+A;&Fajr)+X$hO8_)Z|%ora*yQj z*=3B_eReB$VZCllDF4%dELX({AAei|V#>oxxkF&sAa}(&Gs( z4wIEH7cmEY6ZNkjmx4kUO#YwY0-Unmgd6JO_nJEo;QI9GE_-P?W18UdhIfnGZ;+2B zoaG$1u8hKp6D3*H4l_+!z{cGos;j96e$97N+!LBXBjlJb3g(&UfJdp(D%e8Vd!1kL zkMm2Lm!*mmeQ#Abt&Y~7cxqg#nOWZbgOx!33Mo{&o%o&TQ$j9-Zl(%l=uE8Jp!hl?gtV=1~=@Mq^8UY|d`QX3yj*PSgdHg}6lVgC;EQLE+;|B`UP{ z(^GWY0u$xM(usF>&KK(keGh7UCGyFao>UCNetbE2p$Isl9`Q&EUFn}&g{U@uC^i+l zETA|y-e6X#1@A!1CEn%YHZmIjkfi{M)x!0?OZm^T|DQxS#axX&yZxzP>OHV=Ce>En zvgeiFIrI;aIW*XOo58L0CXWr&S(#B)yhigdQ?rqJemS7kR-H#Cg_R~l4_sX>hvU&m zR#(7_O_HN|7sv_YU4WHKFkytk*3_^4Bc*h6hRJEjl6yIVv*TA9Me;y`#V1>dkatpK zgJzzh08 z4p9(PO`WZb+|$J?eMOHo2^gFy*HG-%TgU3zu(RoPL8*=sDejLm0>M8>kGt_jA_kq4 z6%P`>1<_n9bto68dhN~6tBC>m2!y;X$_QHnIC7>B650}!jA;2j^pbgGck2!^A$JQ@ zB3l?3MH=Q}0*QJvPg`=w`;j_C3oFy(ve5ItGIBgZgwv zD3Jc~mHQtoVILK+qg=qNY7RFT5rc@l4 zL~865gk4uC?e0l`S-TtwgSxe5G2)R81tLl)ELc>K$q^y0Fw*domYAhg)5m1w%XQre znr;wdPgS|KZ-vtcCjK0M;0CH3s$2TP{JYu!J6fb74hnQg-{=ll3xZ-MkTk_t1kunn z_mB!Qbsb7|^QW)rcI!rlomAO=PFhKQ>9a(H@>3|yG%F6r!~`dsU2IU*jaw}*l8G9! zC$d-hVd>`YbEi&}mZ0UmYYXU3_-PHd!Uji_aA+E%_^W!+duk6fiAKX+g_hNzjcXAQ z;zB=z?J{eLh4bNwBayx!+zR7@+mzH7f;i8jUvrNu`)O;*is=%kF@;W@C#t!h{sh%!MR$hf9( z|M^Kc&6MUCu#TWM_~YG<(`||ssDz{-qBP7IGUgbDlyI$WA!+C$LywthXT`S#BuH-^ zD3+G9f1VrW5Hu?OVA(91mtL$Uz>tWVtEJNIb$p5E(!v<9+`~;w%v8cY`KyZ^s7VoW?X!xy6ch#zf!ngHaHf@{F-;Y)~@hB~4F5(Md zwKFPX@K}jz$HWKD;6dpX!?->DR9M?Mu0;#bpmI)IuTs|_JysD0*rfZGdbjLhTu^UW z^HwO`Aq>cGEQ*+9`ck%fDvp_ChJEUXBDIN;P@>O}qPgJU*-)^lb7SGRDV&Y0Xh@`r9(=m#KF&0ksu)|3iU;Y&w(G_iPZhd<+rj^g>L6m_Wt#` z5IikESYQ+zQdUuVm7MfbhuldLtZ5jfBC^Qc$rF`8rVM{8wY9V>A_s5>Dv7clTyu^; zwd$lGg$VKw6&)6X*-9Z@Pkl5B2ziIvRrn!t70`yj0 ze*Dp-?6DnnSIuAZf7YmO)E4W}Y@)%U#U&gR%`x|IBDeB(09~T&fkwxOo7~Aq4EDhT z38B+bNq*z0!uY{AWD26m!1gZi`tr=-*sd?XqI*r~?mzO)Y_7M)a&D z{%@LX;hyiBqK~m$ztGGg2MxSUVx@wQIZ|#2?b?rDC zLb3A)7c4kAxk#w=8a^b%qy}Sy490lq%<$2c4v}s@m_x?MK&V32yp~R(gZ|yUaq27% zC=>7#(_?&=X2yA2``k;eCS^DM_w;xsHM(x!}%$H+gcQVdJMVrOq!XXj18o+Ccvv^wY1 zeuIuJZXzsY9~*Jf5ehkPUb`0GZ*&V3ShE3p_1wIxjv}S(r}>kQ0)xgzjol|&JfQMR zm^i>6BvRtxHO1yPO7eyC6Kr$&2N2%jlJz;jjcjH=?(v?!U6l20Kc?nvW6sOX6Z9&MhFBm2iyD|ii8G`fLrTfz=coFMI`$wqtXKB{PF71(l zFcPZ5gWTRg;b0pa>z{~`G3ia19u%f6(D0@0jUQG+x+JJftz1uj%OK3gFgUl5gZe!< z&GM~bw{Z&!%9fb0b4dvFC7XMKn%yzqQ2lYXy5Z2kXPm3FU;Ide!x1)P(zT5AUE~%SC7?gd{@>9Ja-bZ{A0*X&1}A z1;vclEv@~gc??G&CjO!lm-pdGZ)*yXUtizJh6Q&@bx2sro(~Fy%9un!J!nz5jNi}T zqnPn*6+eJ1V(4(scbam&nRxLQIzT9-AWRWQxub5{jFSQlRUXx=rS2vXH!f}gj!`ea z(QJIGIB1~vJV$guS@O87`3B>v_xpm0NP*a%(k?*>I+@Uw(a zMSNIF*;q#d;TRuEpnZ5ahf%*X6xe7MPamj`+AMra|NJP$!ZWV0l)OJkti;?EtwGM+ zt#fzYs|4pO+_NZG>7PpD4h^Rzdk!MIjpyh^SdbXh6+5qP}kT3XM!(prvj>7cT6@G(7VCQVC&F-uv8x2WJv2%wzsl9OpQ4^xn4pd-U-tp8@( zpj-!p(PJ(K!YqDVSTSo>cZ6nt?e8$y2?+5n-GLalC+c3KF306z8n-J<-USZ>ZnI7Qei+)K=n0FgU`v05 z0HKG=|Jb*0jTN#R4eR13;nwBF!3i_$Ps^d+W*4t_nmWZAeV^4^rL!XO5!s9+xbJn*DLfvK;X;5LLE$*Z4teWawSui+ZOX= zK}jr}5W~T=+{A7YNCnN0U5Zd!##`!X!WLi%Ii!`YodOHFw;g| zNKotCKD^5fdw=Ip%bCpo!^7>ITX@FrQT&*jzn({!e+P@?#;Mc)fqbCfjL-E##E!@n z*XAD>L?D9gkPQ5vgFG$s%7V!n*m1{k9@9ao=HaJ}niaS^Py0(Usoq9)C|-6br^T395aXc*91~U|_D;!|5SQhe3Ayw9x9>v3ge@2XQ7tL?iB7fuSVDrFb74?UZekZws z^H)Z2Y08DQ`@NO>WdBOcr5*pA^#^=U-zDED0^hC32n}woEBGq;05eFl83>)O{>3>$ z{41G-A&~zM61owj{FOeI6XZ2*$GszTKSEi7_y$_fM zlzKr7rkiz9!@hR_?$FA)@g5BXMP!)qs08z*<7MG1f=kYPbxnnd zL}>o%v-Z$D*E)Oow};;KafgRvi!Sm9WBMBdBvv3Gqbqm(+e`da6P@25|sD z2t(jIcBUN)^@YE|f896MnWW};_Yj^KlZ3X-K_4pZy*9zPx-A9nWW?-Rk1JpL@({={ zel-!CW$^tKP#%L6-yUa^E-|@`1A-1DyrbK6m}=98BUw^hD!DiCt+|3Lj1!>sjpp(Zl8Nm;R4Yckullhr-;p9px+ z6g@r;xp`L^V~R&4>Dg=`y+!D%n!tOhRL&#=*}tvvoZ!&teJh{+2@@V@xbV4z8U0}o zlX{f->)rg6@2!Z2DPo&4ntk7p=!Em({MPIZOLUOq-*n(Le4`p_)b)HwT@?P$zH<}vK5sX^A7)%Hs?N{43eX)X0sPHLsf6&H!^<2*} zH2`R^&R>Oo789`-=Ey=H#muvNP)6WbI~~!dPjvXL+QxattQM#3!hbnB7nm-@7956~ zFE4Xz`=A`EI*g*?5M^6z(U#(Eh`{TfMy#fC$klA&FpEm^$tzeM@^#m-wU9FQJ>@`z zRS!%tKfu?yj_8w7 z&q*?bguScT#n}hcqezrYy?oi4Ok^{bD@S*6HfmPudOwi^(j-az=?+n$XXImC9f?+x zilcnW2uZ>t+RfoExcDxV|G^8@!8q3fp8ImxI>&3S0VyjrDlJQTEy%vK~87~+7 zrlcURMl1x*X5EE0KW;`&*yyWCG{({&q($-SXh=|3d;d-S|7->sKy$AUi)spo^pbm( zQFTtJ51D$K`P@aU+&y)l9gVJmy^ci@1h6rb(1K561OlWKxVCfmPC!8RZS?DA1&Z-= zX&nOyEk>|C`I*KIGUd2jEOpq|g-S z3GoZ;GD$AY{C>9raWw$0iF#o!rEZUhgLjOrzXw_2)~eyU>6hH2(%m=t=FQ%V&}6pG zt%)FPG7?&^RjaRSz;{+lacL`V{&@!;2LY;DrXH@|3=SlnZKyX@GG}I~2KD%?i~;Uc zhBewP6HXLlu|x?i7X}I{)WZ(~G<%nFi-u}T%Hb^q(vPwZlg;vNRIUpmGFfmij%W#J z(cE_G$NE1<<~idn8z(2-HIKE=fib@KQ1D`*;#))ENcYezg@j^4q-`pQAh%v6}I3Q}(T!n^(W9vbyt%^&M>oD|LUX42#x~T!e-x)+=MXGEos9XMS{QZ#~5Z7s3b}D)X3C4S6?A-EK8XcRgxcxcHPJeiQ`}AJZPRajO%OO7W ztJN3f1U|om>W#Azx~Urr<06|I$tn-I@CEyj_ za6ZW;hdKGSlM~rzqiWBNm&l99XN?y2E8=%olUYMACMX6;&h+8`ua=+4TuO>Oi(tw zF~xJRHm0ef(TEqubK`CVw+pu?J3xNWa~B*2Bv4}B&9X4_M6@`a*yQXKrONTeBX4lh zrjD1(GEISyfr4ajnXB>NiV-+c_rK{a#l;@OqK{X-V?vfHOImFS9we%_V5yiS;i2@0 zuzCjV)#-1G_7)AL`$+9iMsq6?bDIe<)PW1Kspa{@LXNhz81e=->&B`a?AHjujZ3Dz zr2baI4qL8TKx!$yVmzbk0hHfky-w$+;Qjo+j{qfq|(N&*b%z5^&ED@+wD*+=x| z&+4N|!tVw~{SKR5mlF8x6zGX-2b__dFY#n;;MLf-XXWpC4+1#3*Oe^St!*#}_W$k`N`fkMBt<64twu6@@pQ>(FV( zOVeDlgk+-jQOqC$4yIHLx}fzH@$#i9NKm0&nC4q$o5<6Syo=gz(egM<&~qzga5LqP zj8Orde<)vmQa}R_PrO3L-*EV%Y#UNlN84F_GqXvKA7WY%Eh9KHXkMD?R~(5s2Xriw4GKC#}DC1y2W=zBz)>U;+N;& zmbi`!Wn-PGiFm#GaRXI^i*beBmP&P^)BMus#hrfFr+er_H+lfqUw_~_AKpTa_zv=c zVZJpS7WipBXUj&_aKo@jF6Sb5I}HG0=M%L3`yZ4)_={!_zf2DtNf0k#jbMx?an3i? zhNC&PKUp>VynGMwxW~!3X~K{&sD=+z`+7MeTGW#MeR$v!$=Ph+eQK;2ziR7~&ULdh z2BgaYlvEQffAdG>e|%q}D#c4OgmBl_n<+y+C{Dy|JTqZ=h99+WJJ9Ai+!o~R5kLm? z4lV5ly_ok^y<1)>(UK|!vGtF$TSHdlaiFWO#Hn(VQoAQkJX~$IjPw8<=EWX{0WOOw zV#XQ9RmE^Po5GHd?-ek_f4&^3XiQ4^fsBb0&E|N5O}3lkm2X^4bas_%AW=_D45QRL zY(d47eMfs(L})78msMhon}|unL&&N56CCQBNwRscD>u)9BxxZ$GO=gp1D(Vp!|vN` zZWmUbrbhG^6fc%`$0CC+)ZO7o}egOJe z0ugyiG?R0DOOOfBGsSXZtX;)c0P^PSMgJ`pg+gB z%^r&uX`C@^+D!^YT6^sy5J1dbgxf{<0X5uEudc#h0X0+ic-AlX?BRashj$*{(-CNI z2jLK^zhDNQleTfq;*QoA-&4E}j z=F?HiKaf9=dd>Px>18huT9xeYM1dSq07ka&Zb*A6yqTQ$Umb&(47>hDRquVe4pXx%{r+|wU)7l)iPtcC7Z+0P>x<+-*Kyp3L+#XB zs*cps`bnVpNU`FgZ^uiKVRyZLtdHI(v^Ha=1(~D#zS4|POZouxNu*A-Exfn;LV`(% zF3tZvZCWk2e@x2IDl3fB(JytbCtWXOu;GP7m8I@5OUr;S-`4G-(--?7OKqD?aCu11 zTR1+huNt3|X0du>cBT6{LqFoDpi)&#(y!jFG^y|;?vNt(H`6hCoKG3~=zK+i7`L$% zLpzOUmB$FvH2}tCOy7m+an$l_`8Hg-na_x0s*%%X;}h#D#Cr(T4UQh@lCqGm;BM;C z;3QwStF;Js!v;;FD*u8kBjQZ?bJEd9UpgMo+Kq_O@~5ze;|*C0sa+;{XAYZ<{p8ce z9_F7hZ4FjVas&RGmozlyLWVKVzEb?gkx{2kzl}Q*L*4X+5;(h$Ev1dYf9-adKs2xC zYTjYdBu$Ta$XMInjhSTHEdlDw3(CuUtrLZoe|4E2ed2{IP7KHL&Pr+Y&*tmeQQlg8 zYF8}cjbw5M(-S-mf^E0n$ri4M36jnC8vm|D(ctuKHB&2=Zzv(RmJ=L898 z^TV2c6z4pPF-W~I6YeeJAR(F^Achnp>@ZA?yTVg|V#`$6?5gy9L- zwf@bH)r-HaQ<+}bu@aW`ef3nDRl{5GGVFlr${PC!fRO)6M#TkpkU1rzx*Aj8_6;e-wDmnDGCih}zryPJW#X(27;Hz_UCDSE$ zYZl__WOLBhd-AY9+q<{>_b1xs{)d%ggGOJZyXu!8fldJAeC=p-n=IbF1qM6;OmT-sT zr`q2A?^tX|_~xR?XtNBOlY{Pdt_;_`i(@PHBRIouEuonPYSu)H1a zrj&?Ght-B(5(LJm{YO(9#Xslo>Nz< z1wn&;lvio;UQE&VU1A|TsjZYW?N)b`*~V8aXDn1#n@VRiuEu+U*eFhEL642|u;7z2 zXrAd!WNp%smxToW*wJ6K!UJ@_c3kzLf#++R`NK4Y_9cw5*Zp&)xw+j!sq%b@i2Dp7 zFRxj3Eb=YI{O;$^i{+!Z)-~8!G=jJDrOaue|DS*2gfh-b*A)X)n<4JWjS7$+Cp{N(}B9JxqWzEwTxQRE&07Nl3b%3 z>Y{w4J3@2_x8ZUNXHFM1`cdxtJ}qXqey`GZzJUQWVU@di{`tHeYoV>7&B;^yu1FQv74Wv}iX<%v$d`UgXG@q&qxDK0KnIh&y$g70Ix207xQ~& z*3W$FN6`8l#wY`|nvH3C?UZM1H+Ei1MT^c+Iw|7;tsUvS!$;Y|C?PeGmEExc>x-Y& z-&J{ghi+eU>ldvB)GN~aL(xXDx163UzD-h7K;Oe?_4qqNeOkuF0s^Rg9GxSqG=~n7 zxF-O>s3XsF>pVP%c$Rws^|sPXG^X#q%zXM$3h_q^rVTeYSX)80-=!yQ&a>J_62p?j8}BsTc<)T)?@ z#@L6uh`I$G$efgL-up^?(`o%Tf!oAum27QUIn#~M)v)i=AET7rU$>f}1B%R_@R}gcjJanjqRg z!@p5$)&w$@u0KUuYtw#O{4|~*ts-Hg-nZaX;DbCLTY^mv9bn1Yy)4;>97z^DG&*@I zT;OL!3Fer?sx|Qm>7BkPdY{0 z=_}p8Ep_R3DD_Fkv7DK*@8yF3Aoqt%jyz>gb5?lK&*PQN4L3>cCiP2ExBu*lIq7ex zm+~__3(~^>SpA;fgHD`z^E+C`QQ2_YZe1t1T!#x4 z@4Oxu{TEv+Sd&ZQtl;!3p_sEq8a~Cvz-3d#3O+|GNZ1eUZN}~Kr)`}j zvPu|!m8&ysYE$<*MQp5z31p#kLI#l!J=;^$h$H07epS`deAnqk*#Gbi?r<450Ag3? zRkQLgAt^(fSc{8|Pkewm6t>6G4^jl4L|_o<(*^G1Vh$^ZpO{aCYvBd1 z)ytISV$C7cG=73OSbi{6=0hzhL}zzSsL_*I`t>Uo^5`kW*?g#+%vtN~#Ej3sz?PQA zETcuM2)_ZdBi>SH0ljU6CKNyZIAa_DwYUsrSFv_!UCrO68;;rP{sQOlEND26b`O94 zH@{ZI&uhL2$>pX7x%LYEU^DTpxwv3(<(--moY%#$9J1&H-lxWBkr>^UP;mnyy5>1_ zI}3u%{vrAvte1u@aaCg|j4xux#o6;BE)OsnhX54elP){4VM$)r z^aBvIR8`_kBlK_U%8729jL_VOmrBXtQjM!sDoUY=YOTty?w zq@hfKB!)2b6%y`bK-Qfi`+iew+{R*|7a9&TW#oA0Qc~-lgu8eBA^E2mSVSpM<2mLu zz)OBG8n#EBL9viT1dz^NMj7wB11S=O_hFuOBy%FOmeswIteNm|BRfQ{5PpO zQoZSsYBITC98~1sTP)4mt>dfEYq8K^Rk_CgCH$HSy_iEw&F($c0()U$K%q2C-QSvm zeKr7Kq+g&3spo9Yg1?q@M#Y>Qwa!2rbN=6(3tec2L5Y z)skAZD&iua2?cpraE@7`r{bQwU&s_L1CXJrzRmZD_Y4iC_WPSOwkw+-lA@aXGI|+= zzn}v3^05h&8e65@=5pu*FSAkcFV`tIZPv|ZWkdCTR7i1DUJ~#*R-Mxb|7ml(7FLcQ zq)bAR|L8kX$}$JaCzMNq_*Nx>=J5rn0y5EvYj`=DC@B_%;h)Jp>?H@g8c9uKsPOD< zBep_LGE5EnBrqQkVIh9XVK&b%56^hF@ba;R8k(s&QP5DGxi<^g$ z&}J6q4xx2+&|Db*~~#vjT`sf~QBK%=5(^YUo2+$Oy5z_1e|yu@Cikls*6M$0KyI zDy_5n(rtREk=Gc-zKZWg;_FUt7Rx|}l8<8{5!;{(7}?v|%-zaUug#{V>3~v>LznNh zwxm?e$f5b|cK;o<*~ACAnLI`sC!_jN+`GwE z%;Norm+sKzNQtHQFD7jcd%yZJnU<|aSWAjhs2uNhl2<|mZ~9X@9OYTN=ah%8qK175 zy!-GcrISTmYwiUj4ZFeI(o`v1qVzNOkj}m&@=L;1USV>5*LMeCULz7f=A)>pKtNSX z$q*t?#b8j-i9mMQf7Vfd+k=wsJ++Mi+{rf}LIcW|v%2Gj5u#%nC)3^t0H{--+*DWx z%wkeRUGD9PUF5ITr^ln5wtk(Y`CZQqod^4Me|JDD#(PJ^uz?qp#&EkY-Nr#AUwvNp z+wk^0a8(5Ic+A=2D9U-v8M~DM7Zj2lyVvow@ID-rGocPnms>O)T|9t)dd%9o->ecj)>1OHj;mBX&Pwi{0Hb^LWH~J?8 z!rlyOwNi}G0Q@7qnsjR`lQr!Y#qsttfe9H0(oOGBCCl^z3ty@$-i67!3s?TX_~w3sNMx`gj)a zp>Q#gd1^A-Gnta0C_bd?uf>P;2n=%QoNh(s zJ=Npl@&thF9;Z@#K;);+&+iruo)Gdl{u`d?iwGxiCry!}3#vi!Xap|0bWLs2Pw^YWyRb_OJil z@e_8KdPU|zE1MbZf1YM;u6Su5)-Fqs^!xsvXZ>N|K}Wt`0wwk?D2FZU+Xw|a>(F1N z)%Bp9=8g|a2xKX;jjwGxbL+@2C*1w3uOztu5Hg-!&O>-i+Ed^^M8eOr33rMrW?A^f z{LS`vS$_mGa$qy-3(S`%yW>3Sz`SU3dw(`S#hg>8LkDO)W3-Kh_NYX39R{5rWcAgh z(LE_V3a-=pOx^B{3g(m{cT7ajso+Hclg zJ#&GUtuCUP&uO?8{aduWMSNK66mOG>K{XX#e1=>&e#mQ4-}DqiUE_SaCn?Cq1Qy5W z>H~h>eB*_Q@KWnWPLxq@%fnQ>wji&U%!3ghog3ju(=OK}-(ZGtn)N>UmbY^$e}#K? zq1>13sM&sy@!(8oEsjE(`Ow;7r&cnnRrdXf8E~$zZCf-I`d~%JNI!cT^S;rwKMM^V z@i5x=XwCHO!v<$ZO}B}va8_K*pXeV-{-;Idj950_#1Me=&r?4s`s9sWNtA%E<3e&C zE*m0L&B#Xne`WIt3}fZ7@=Oi0ueW zX!32Wp)x*1ciq6hm$forr@-}>2h1N!+Yu}tm*s`AF6%-(IE78Z~aK= zguh25*>N`M_kq-0?sWZtpOb1L5co7A&P0ufDxgxoFRw-+2oEE&YpFIg7fckua>zR8 z0s7SpYntU@_RQ5`0m_@T!WX0vDr<3<&gChjI9%h#99+vVXm z-S$?az#@nrO5Wo{V@Bcn$M`CebE$g51Bdmq35!4g)6aHL2> zKsLcXzpGI;G5HsSM(nr7+7ja@q2rzj(QjAbm`2TYZMSK3yzpbd;sF=pu4!OA6`jkW z#2L1y*In|IKaaSPu&w6rXxu}t4hnfLob=&9htOp>mW zpX8cQ^dyhbrz4u2hQ@|jZ+JjaRa1vH9Eygoc{#CRTq2N>vgOLDEZ8|D1yNXG1Wp4W zIcob7^F4t8nT(i!xv78Gq78=>_r(}%z`0V`5RBaArYo0fx9u3F(L)QRRr`)-FYdqq zbb95oSz?GMilUEgE!B$X4dx;BaR9V)CtbBq|(#}36Vv4tNAYait zyft;trB1)avl+B{OgISyd8kDU!1SM3e+uhcGxNXmb$E`^mhtl1S#qT%YdvqWD`V?( zyoSIEaOD%C3PVnxC)inO8sxA?&9{g`FswzAJ2%l?u#{-m&Ax^076}AXugh%or6@O3 zu>hz}e7Y33O*ly(yU~e8)$%`pE;C}G%tufNcfNsHzMtkhUR=%0%p4u7`;708*rOOe z?Tv-SVPrXR&s#gshoM`&^S~Iz4y)yCS+_ZU8lBXI00KlzY#ByBFz3+{Ngz^a*+@+C z@i<;Q7csPO%R=|y+be}hty^Afx0LGf6@3WKuX2NC1LcNof_jUizKfUr;U ziG!-m&%*m)+|UF~>YD8;`*Au;Ncc6)pyPU{-G2%*%en^X@6Zj`xh0?1$pOmKSMn_h zrum~XcNAulO%*ycjqip3*dTzfg%6{HNJ^Q-cNuI}1R}|QaBmO6TU!wr%0y=j(vrEgDsX@fO}U#WJF3b z%r~m9`Nmx6=6YZohH__^{Xq$y6axx&5yXUYJhyAdg=#e!u)@vmFSf^p9&Nq6_{^2k zv9#@)3N!cn1={7kRSPq0VI-O)K95xg$&S&#vP9bq4bnlT6zUeH*vIwKWoQlQB|t0z>ZZ|c#v)^?@Y8;Ol5+7S%+7-dPDq)PhF+nS zJS};{bGFyImDqIW=d$pm&%cJ*ZL4dH-t0;RJE20Nv}uMdPFoG)eG=%UF}=^H9csqK zy|cKGnbX*?Q$_-l6|2mI_3RssZ8>Y!zhlZ~UAXsr!5!`y0#ettZ*L{(@ZeN1H$q`#V~q{!TD3#@8 zyx~L2Y^U`nrQqU2O)4gBy(7I;z9j|aJa4|_E|2p^po-=F&$CU<^78gx_r28vG~2wc zn_UmpD>K(kMBqs|xQVJDZndO#?f+n>&%t%0+AdLzU!Eupt0XFOS9&qm;UFhAkR*J5 ziIbIxtIg>{6w$q268AY?X9~r(`$;eBvy;)%?x1`ZFE&8QP= zx6A0T;_Q(#8p%ns!_eY}UDN*4ccX^+%{tuc_rz$$5%mRC)7iJ*frki({$2GZlOeW~#$OpUFCxIx+TwA+gKwmdo6h%MJ2qhRk)|PgdXgk{sBs?x7%n%rAM` zynTzKkO`8XH|tmd!3PCJl=cRNjB9A$xa-HUNR#S~JELDsNj|U~# z%6oTePUrD~cJ7DSjT&vPI~!XLMALeMW#>WCoyGdzL&|rA1$Uto2bB!d(+78*d%s5@ zfnJ%gXjOWi9*6jRrKA~`D*2Qh)soA6MXK`-k>ry(6l5J`~YCZ2D%;77JhTm3ERb2TG^oG>Z(7<%XES@=4`T(U6t7YdLbsTBArY!s35$K#T) zTwH4tv9_Yr&J}+QOR)qxyXq{6_3Zdbd{+xVx11!l#;qTo2{buPLco)cd2Qnr8eclX zBFDfY=3RPu;?fD|6iNFR+3>lKtVDHIX44xc6r=3VzvU66pv9YqQO|1V{vNkVYyk&qnQSU%0oe@PW=Y1RwF_UGaPib zFzf3_waa@4Oi~VN7Mx%Z_7FrRlj!q%J~R-1*vor!BO2{j^Db?X-uw%QOaD&ao5>oe zu}ho7XbwC=?6wi$D^EKKrNTpcv$P6o1`OF;${O*Cnw5b2_pdxTnp6f}6~BIWAp)J_ z^unEj7J;z|vzEVjk^Kxa9PG+spKDYF5|-DYJ@1*@7K8JUvAiEC9Res-2@I;(*bjNH zZ6rKP9RKF!kuPzJeR$_85r&4fGzy!yX>waY|3V@cAVtmeA#7@U+*TEPM|Q7dJ+R1H zzMLM3Q%cy@QNOvnN@UV!lCI?GUd--a@SrXhU*lYJRuTWdFK}Y28y~FL9MK2txpudT$Yy z>O##)qJ8J_AVQjm>udkQpd~%hn0>I)@W-it2jz|TT3o8y{G9Le*5;0EUuW!yS;;gVju-y z?aKw`#w>1_ZX{ir^95x>snBBS#8QN0TF>H3Nfxdl!bh)2(@3%B8ts&aPN9~ssLgR$ zPp7Xhr@D<0Z_$>s663L}%Ihye#|NSZji1yK^gEmW3e% z%|5^0n6b~#OTP=bf$`BoVh9mqV`DqJV_ojusNY~=otxuj^2%3(ZIndc<3sj^p^|8Z zqEv?IRcmdilMdcndhtzfpvn|M&v|PB2`_Yl=WFow{&EI1jiaZ9&3^op#2RnbOUrJS z&3j4xERWX#6v3;Bqm$PRCWe8sjmH-N@Lc!%e7|zZ?m+4F^XWu({H1X% zqP0SB>8y|0?|h8VCfa_W{woA#5L{yMzuIJljx@Xn7m z3I82od5cj&e3$40|1fpt8e1~OG<-PaLjZb*!r$%kpu3HC6BNOZdTXk_g|q$-+y3vv z2_(T6DR;v2nSDGakgqd@b68RCHy`EeuS;F$;f|k#X zP9W6Do;|5hp1Fz|K12ZYwtdEhK0Wpg@oM`IB5jtI#|R3yc7@B|#W-TlC*%Gvm;Nq_ z{7L(k{&zhLD|d#US%Xl$Sd3U~@r3TT;)tL3q?}jZy^VY90j$0Pn%{lKp%|Dw7rF3) zJTHeGFE+3+@TdH*rNXT93P2}>yUUNeBjnwOuPmz;k-=EZ5CD3*hJ8lieEz`sH#=)^gE^WG5^9wLE6UMr7b<+D1)=D2IxiG$n+bS{C*Ulew(-FeY- z1S`VxqoVMm?Gn)fWHLH!|59w9LpMS31K|!)5XCGq1m9<-@6Dn`makid&R1|)k@K^& zoZ%^>ZyMg~`e3$<6&nuxxlv00wc`&l!{gGtMOB;%vDPO} zE%P#&6vgtmHxp%Z2y2w;peZit^>9nK(OC9ndo}KV%jYty4CTfDbyASN1rNJe5`OfZ z-;~CB@$d5G#Mix>*;#_r@|$0>at4p8So+~;pjdzHdJ}ID-wgSfD~)5zid8NOpTkc@ zsfK~@&FDMJRe;X#pQ+b|3%`y~p=RM%c@eP~G=KkW&JYxM@+WG4HupI`9Of2?i<~zG z1!&@b!ta$$NkJj-cvM@aQTbM)ZMT^bG<_W+$LhG|?L^@nJ4HCfF4v}lg6b8`%!KOS zSN6e^UK#$6_Hjjm$AmzI3J*^6+cQRmoIxj!IK`5dYxqnE!T*<=q1u2osIavFbp2cI3)g{DLNL;MGzIN~|04y$O) z)f+_D{}81f!jimAH>ry-qBpay>25O`*uA$ef>6W23IE@RRoKGoIC|$**#F&XV6*tN z(1VC2+-i8PG1G7s-|)pY)ZpnXun&dV!#4c+J@2I!~T(ouKfp1CjqzS$LvQjpe=uvEpk>dO7C9P5TfRl%a3YA-(=+j2w6aeK?kI zjp2FHCb2WYd;j+ zjc_kf9R*o&s~v@4@u zyz;pU*XDb==JIUfzMLH-&$>-{0OOa?lU$}4fXpU!iZmwFobVz4_@A`V#p(Gg%#lrN?o|W@L`Vap#-8ytgN!J&* zI0p)k9%#NJWJ0&vyd^(b>P$@(>rPM0>78$kFRcG!AUYg6Px&3VXJ(7nxQOOt_d-XF zk1&~S-Z%C4SBTkG4GOrqEKH1l#9kyY7d2QFuft9f2 z^9irf3M2k4rxGIeTbK`3%%}h9DdVQ|Oq2cGd+bio;#U!q_ShVqRm1TFq9 zA)7{%?c5D9U$kBN87IU!Zlj%--YG85G#T5|b;T^9e}^_H&Z{T3g#L=5OtP!mwgcZD zQWTPZZP&0}!>}FKx9Wwhm8{Y8$}rSa|Ap}KRcI3Xie=CS)6-o20IC=_<)Dexfd8r7 zQJtCYz2})or6eOMtqizc{Ca#4qNPRuZTUKJgoFz8zs%|Ts+agryTwJL)4rS4D)FJ) zx=rUy8NWjS4(XN`f9^71MJ;k3uH4#w%J=~Q6d@S*o?2z<@QKPtY7XADYd-yoV)~bd z7bK3_F0riKu12>x4!gwG)BxZprsbzUNB5bm4PNZ|tK66hR!j8v>@wLl+WjM1yMsLg zYl!EQlg@Hdq8dJ?(V@m3Pc02YC}Fa37gfpIBMY zf0Ql-feLhImaSYhXJ}C|tJ3xj(-=PQ`js|%Y62TJG`#Wj=vjkhU#bJ^VVcIxn4-TO z3YIIF$NhjH(eF8_SwW`8G#M!Ieel_K^JYN;;tlQe?cK~}ozMx1kaV3=BdJiJx-L0k z#%l`=(p4j(@;-xaeYb7WZsJH_uQiioXmmWO@WRRvD(Q$gHRCI)$e>rl?+&erV zpt7_vA7xFzKuzf%1)$noac;MbP6RNZ3phT$!oue?NigZ{rTfG(i|xGx%nG744;WEP zz^`KdFD^9UgN4wfE3Bi&ifUkq#~D*Befx}j5TPO8#Zpy4=b9~CC2zv#%BI0mS5QIW zE~lNjh9V*$T>lW}T0-t^M(E8gMP?MQY4fmGY`i#FBUWzz<8z#emm2_|{A z`Nw~6>Ghxh5ri2jMiZ(6OpN_M1pEmw$oA+?#7oMF&ocEcR~C_V!Yi)E4u{BE_0#zu zQ2Oe^!e)PDj{UNvM!msv+hI7Os%gyV7sM4Gm^-=C*M8xa(ANL z1*foclm7hzez?@=h>BI1YibxMvV7y{S$@O%X1kA`)zQ9qve5mKKXYL^I4C z-+xMZTBJjPfY(Hdvi=?h3s|RoY(NT_m6{L3u2>{dOdp$%Ky7ya{+y+op6rK3>O$Oo zkO{xK`Jcjj_kRlS-iD@I6!PVc?D=0c?KS#kV;c?v9$H7Gl%~tpo-_p#5TNd3K)wS3 z{5%;unXIq$dH5zN42YyZjS@$Og2Znip>%E@8vz0kvpapM^}Xs1)Q43skW+^75pB00 z2wDlBkzIXXj|z~C)bVIbF&Z&>g2faCa>Uq~-V&%69KKK5k(sA+zMS4WtYwWexQ@l#W#2*mCrGF-M7=VE{0A9Nk zSx}eQr;}KEf-CB6FiJLZVR?&aTH}46Dj3nk-0{vi)sFuR%liumDd(}iZC-T}Y^e{W zQ)HCr+njzC3eQa9i*wk)viL$ZhWi?^>Mx@YfycTq*voQL#9CE%F_@DZ{-i2hw@oc}=XU8dIgoyL#SuUPRMzsW$d4D5F9e_Q8ZnD4Rf@=bjTiaotj zVSzAF2Zy#Wr*`!$XU@c7U8#4CkarJ$8sdw6-=E3>WZ6}h43ZU_aMfaF&O^ijoj+Tk+g*$F37AbkwFBv7OdyrP@IORkNsb)1d{BRs&Y zx|gTJ;zacSFncV*w+iM-ZOiCir%kdNV|hpJSu01D(BNy%%%cecQClvsQ<;AAN!z?% z8RDH-BkkZ$O10AO?0ENpq;9$XXy;p7nszVk}1 zO-{xI?y^z4j?)N+O@i1D>X={!FU%Y=5XL{EgM5ElIBr;`K!JX*JEBcbi2;yLq&QZ= zT^o|4!1(iPws7i6PSipMGv)*ueA(RZv%8?BtOn5ycH;$0_Ex3sU0fEBxCVI#GgRbc zUU}K%u57K_H}e&Ou>v7tpo(A3WmD3{>(bL~=&l2wuol_zjq=)_ zd`N*Fk?tBM=nbxJW$lc8i2~~%OUKz`SHttTrtvKyD6w=hgadp_M3a148X*^`TFN94 zuSi)?OQ0-QvzVTsCi!n0l$wQ+yOzgi6WSyV{KVqux@)%ud3Hau*Ioa((BJqtGxwtYQv4^%l+HMX@g;I-Lc?! zI%s*&=Zte94$2;7Ybs2RcR}#c$t1St0G4?*jOZ_z`K0zv=#+K}HW{5zz>*Krhg4gq z2b9^3A+@CQSw9Qz$={@knH2Wbv1)xs|0DeQ5AFt!4*D1XOP$Cm=8Eg1=n?<4h!l>u z)V66Ai4=&)4C#@1Cs`V0tYpFiHQ_ZbE67PKLOr<5$RzX{)Ir2e`2!!&C%Z=m?-$Np z*hEc?6$|I^ROL*hURCgwvS%;b4)x9@3_MX^@Ld?4ZA5KkJ+ zr}_XLw$t*cT&>GA*@JrL09^!YiEy36>gs_NxR(Mtuo3*8lz+k5lu(o|yNayRL>sk3gJ+=(8c(|ouKahJ(R-mgHsZLZnw z8(QOMed}vYE7x{8J+ueo#jy|@PT8bA@e#BnL_JU_9Dui&J1$aapWcM~7)Z?_o-&-@ zEpz>A8->>T<15n7OP3Suo#pb>=wjB=^VESn<|z`21*5toS=i`TQag?5cq6h42yweP zOmDxx&_rZ63(SkFvn@c)WNu*b5u}0h{wC*U=qD#uH<-E!^K1LtR_v>5v2zav4lk@~ zyN7rFnbUW;7G_=oU+v^|sy+pcoAE%L2O!f!6;{E536>Pu{WZA=Lnd(0J*M+X`T|wN z&u#(CmaU$$`~H1-rr7ccKZl+C`O6vbg21h&vL>SiW68oEAo0l(QOUezs=uFvPKQos#6f{cMT9T@#m7E#BvIx`KO{x;z8N%1isWy`jF>G$h z=#=jA?*8~_IXA9Uu3UJ8%WC0*_Xq<*-)xqRI~&gr5&CPKtWeusd^~X+p!ZuWTJtt| zo#`?B+o@{IwczX4bGM}Q#%|1ZZu2zRAhrcBu`i*QXsencJ?RIl(nhJWh8@%K%<~1M6KW?l$h&IchrzDHgVjnHnn>;Bd&1u@odCA?Y>yx3l z=-1$}3hT*bJM-GS51NxVwudw7gI0VnT_xqB$Cl$nuQK8!tEx6bbuN3YB-h`=e8rldf}M+Vz9m z=9xF4cLngwZ9eQgP46N?gA}T&x=Eq{8!kg6pf7wW-DF00d$CSH!e5CA6X|VeeXQ)T zFSSBECSk3bBkE`E_dAmMPw(!ZW2oPG|EwFq{FVV!;Y?B|aA=|yLit&-@UT(WpTk&L z=S_-^RY`k%5;;WgRb7%=O^tS7x&x8;}bjY}#uw2D}qoY|hg)2mbG z1m%leHooso(q+ggy%F1ivzFqIrk${uu#Gk8#3GaD;%{CSftrM` zf8BTnJ8$qr}N#ZCTvPN5oQ z4%7#w%r8YAVrJfmoMS+hGmuo4k~F89M&Uv<5lOk(H~aS1+UdvUmB%M5CevRt{+Q#H zmlf^xE`zdnvt|bXipEH`GU@)eW1ESg(HP$q)>zDS*zZMi== zF2Z*_Pb&Dk5lIAnF(Yltga_{dgdPy#-Q;>KMEBihhH@y!4I0hg029d z$niOvh9nf|w&q+ZC;DviiM+x%VX&t8tc~BLPzO{1un?T!w?8v32h@=dQ_{XSNb{itx0O42I%y_&+3kj8 zS0UL#n2QNlkyIx`}rsIH?5U8ffdZ-Lw-sVbGI$t2Wr73v}qc337h zSd&X5&Qq88yiI(Kh3nav9G$5FxwzW6JR~wyhT#7V=Y5b?Y-MP^OAmo5Md!Jiu=05T z;?dEvcc8JYZ4$>GVG?@NNz#Iqk>Nv8^Z30Rs|DfiUK54)#RpbVUd2I-N-Uu0kJv|F z(2oz3C?EXCQ!gqLQs1R%5NC8?oI|}k%z2aPf&CW!Z^TX(PCn+R%-2Xz1%En`AnT=U zqK(hRm3=Mm_i9w^7qDf%Tek$66yl)lAe%JHIbI8@iB;W9_n4>y-COKMaOLY*AXg`m z7Xn`)LmKSo{0jBT<^Cu{TaH_^XJ-yt-X*}# zg9AwOe=|}J$;47q5dz-uxxSw3G!xI+i0{#&A`T&f>zLEW-N}To6Iq>(eX@<R=*zBoOO)K5D7VQkh!Xn2XC>1f_-U{50h z=6^CVS{dEZKl~9;uwm=tKeg`!=451eRXPh`%PcOb&vEda+`T=aF3@JWnA)X>UisBoKMG8mZbN^+w0oowKZ&EpS7v100M0! z+kwk}Ray|#-xzHk1sjK+&h(6&Zw-V9@aadl-IuHK`30(bnsw41v&wWRBB#nj<$=WH z;cxr`&>wKxkq=z6t&Aj`Rp`Cy%(a*Kv-5+3SB@Ny*3!O<&3Aub4Crw@~|fh8i3D}DpsX2t%d3qz5>XKbuo&9N81i1 zF6un?{^HY%4Y=;Rq(Ym>>Dl*XY%&!I@CnTVU4?Z|%A+q#kB~;&UN1%Uf8hByzoM(W zoN-N_-F3{I^n{%L*orP(Q42n^*$)oU4W#eONW4~vG#9~ZCf?`%$$v4Srdm{wmf$G4 zo1s5Exsn|bqbrsKjfYBTclr9a4hQIk%67e@i{`SifUJZ^WFA)JwA1T^7n4#cNd=a{nHj;VgmbVA{?y%Z>2X#(!gq%UDbXW z`Hb_0u%xmI1e!{sy**j_GDt1C$sS`}ScdN+GP6`+Ui}pfAx{96;E}WFCqzvN1PXJ4 z45|Ks-cWy&Mzv5g`Hr+?Y}%QRUJapIQv`qhF4D%1-#5JCb0&e1wZ0SBAwfN%Tb zhIc|K)M10DH2B$w@8~FD3j77>95hUV(f+UPX?NYy_2AO0Ne_s6Rx7 z--ba>FkB5kzeK{|{(IDO$0!slHG32@0Z8lnasRuThF=krw^~X98voGTx^i{_SL#%* z^+s|S{R!yh_o`vclJ3HRx@E8neOI=nD=CwMCV=qN-$qU)&x^A)H=`saW_j3si- zrv#;k&tY2wV1)TMpvgbTLSY!NLN0w6G)j~w0ifXKM_$AMrte;&uqiv>vCY$6)pZP6y*l3aMPf*OCFh#3Ski+DEWHF#a}i&9&ZFHe*?711V6l!??&Hk(`}cF^^|igKIn3ZtzjO z1~}J*j~Lin$}P7?W>_CrO3kgL960&N>atN<{8mOVHy+PN?08(3ww(|a-{($(OS>Jc$GaS2P(x%sRH*HJHw_^0lpJq~!ldtxO~ zsgghqvA%9%K=w`8;Fcu7^6)iG@gl`1c)vjr&}WvysQx^ols>q5J`dy}VE>_mp6|jz z8T^5YXvZXl0cO=UYh0%qoDl*AZy2@8>kh`Adf?biPd9^o&f&Ql<$v9rBi#!$t_C@l zt+WDL;}UJ~QZYaAmQtj2qlCT&ff!TM2!G_-TkUXd^t@P9^7=_4FZN|7?%I%xb~CrP zoqfF+l`d7z2IVT0=sB!`n~kFJM)|}08Kt?N=315T!f7`d^$*$u`BVT-8x|b^W6v%- zJ&7l&Ab@rkwGOb| z>;QW@)OZ6$!j#CVPHT`&%6z|oq{ykyd(WwjF5m5R3Y&yxd6jnDPTH}l?zG-}=RQ{S z`2#k^ITeDhxFUSlRPA8bMD$4N({_FAVx;#9l}gc_(LuXQ((-sAy9A79(mDVJcTapl znd>Ypj!(O5kR?rP8@KH@JSM0mHic!m3XVUh6!Kb*=!ds1FyH z9;G)f!zHz|Hoczgixp*>x|;d)coMukl7IpOoO1OpUuEm$#Wncd*GhaapL{zDA&SS2 zNnq%kXAwe4h)tZ30MTyN%smj$-0VjtG%oLqJ6>?8`mCZ5w5#`TC3#&Qt-&%;G|QJ9 zQ2_~suR)-hIfb3=Cn}LexO6%9L;OV8g@XkqBIYK)o1)TvGr7yF{ZduyN>h4_^pDxr zCqUsjvS|xUrX9*?L;-fU26z84=66Z%Li89&t;yhc(IfKU1uJIuL7tz^~7YKQY8~pVLD6;UEZaugn0{o zwIiI*DLWXUrEbzUGa~^FV=^HAjOv@)z!If!LMz{4F32&wD)}8NK}Yr{QzAeJK4aSAN3U$F3rOwXtBa74+v%yn3XX2y{1!C{NInn$VO zdtBT!mUM#)9OxZv+8~{+(JV^8_;G-%h2wY!IvIeC zM9kA~TDw{&XGUgiyy2nW_J0X;33U8ZK;wnoJ+M=?)o5$gQYZvl0Dbr>tf6@M;ZVEdw(jmHwbuJ36uZeKD=y16>{@)Zr3FAi z0yo*{ws8Ni)`g4e@~uCF`pSQP#{f|Rjtq#$8YD#@uN}87{9Oh{SnAHP}aS_`Pr>v(OH?UBHj0g_@mnm z#q@Cf5P=s=Z@gF@41RGq+-80n9rOoO@)L-nNB4_%+tDBSi(-1Q>aW>9c2=%9CcQPo z1X6$qFzH}!P@1~)n?~F9en>&#;zefn@}DF&oNmtP;SM2g89>RN`i5r1(meZI9r0%j z*gq59m~x*HqBK!$Q%Z|zg?WCaq>`57R(8lCBcPibkN9{g-QNa3C&{Ju+BxEDoRqv& zTJ%@4AWhtAR`Eb<>OtC(OvUb;gb-%qD*V)w`whZ3KwD;9DR+2kxO!M#4QyG_fnZ)q z=vd4=WzYLFGNHK@t643d^uRRECiiROaq=6eENy>(vg4YcX2N)t8}_4L`_RXBcIqCV ze#CLZg%aiqoFAdo^q-a5{oDS^vPb1#ey_Uo_@k4Id6O{nKL;0hvt)_|Rl9cK-yPQ$ zj`5b9#Lw7H6nd{;$_THOsT0PaqlHWL&nGZmexm9|-Jrq0|1r37i3FKnQl?D4>n-c* zT2zG}SMD2xyJaRNHR$mRq$cN$t1xg_lZQx z^@E}N4Q{XcKG0JY*+m*l2c$lq={CDk^043(+7Qe!AANQ!Dev{QijL03a-qU!jY}5W zO;6i?Pb)JP6az5|vuk{QPcoBzv%~|JG8O)-wFGr`+_n{T>|MIOoq79)0fP`u38;+b z?qR^Id1<>>EnAVKB_5=ia|>4NkSq(Njp+-W1Xq=d^~>?nL*@RkP&ZTYVV;piFd=?D zaeeK3q=j~2Vh}3RQ<3Si3R|@?6&lw8ifM?(;wF3V^P0aZ3dgf@hf`32inWRbOMQ*L zi@aUNT_VTSNdBva)1EVUdD_(9%dOwam1IRo2`^_STnH`ipV~y)Li^%u%+}E8thi+S z{oa9^xQ3Ac)d)1-v@kyRl3+40`rs?$o9-{ZX@?rbF09ci>^bJRfHeU6ZAaPt_exO4 zy}@-ZLlO}t6O)mnV{hU1(dT>W4HgJmZ| zyYqjr0N0gQa1>}!t|ins-*JKPrQpuTzYi$Y$AP5Js;jG?C&Pf6`hPWLH$S<;?W!es z*9mjY+qQFHdc|E>H6>bm(rCw2nn})3QJ^tpvoc|PxgyBGkN$Cc{=9efp4BHAtNqMF zJ6c=bE3RSHiv=x8;c6DcLgro#|#4@E?VTkUAl)K5|| zL0T-km76=yhOU1+@M913lF6U<(ME(fHidh7;2rBT+8fof8q z43^Bl{h7J=vk;H3k|r=_iw@ca?~FDU9eF?AohHL%z^=pFZhG%d(YmgfIaHCYn6y4x zt4(@@$-0^<@55X)f|dxfHCnj(PIFAQIMfVE@A+jHuFa!8g2nlw?$+k}KeqI|tn76F zGvLaBw3L19A0A#-`-}Vz6AMz4K;~i8bRgVQ+~rE7gYzL%qI^thRpllfA*%*CQEt*% z!FC8GY?~L9`|HAe%+%XT1{VIoaW9XP-4LbX5xFo8>i6iZ7AgBt?Z0^0)dpQefM(;S?B=0ib@B0*99xcOpGdy4gUKN*?mJ+#~AAbRL5Cf%BK@bH2 zE-RPiGHGmvGyK;e?s3>=uk=$7n=o_zrLU2ZC>#YPC04FBupN9VYH2&K`T4zWWha=B zBNe=(K^L^KJGy;sE-N-(hZ{ISZ#jLIYipg4ms|N-TW*k{L8Zcf831y!>W5wplG*U0D&K%#*KhgsVJn6;|3F8$McFm%cY$@A&gVw1%_gdIH|jjxsAv zvzPh&P#JW11osBs(KTgH^(VIuoV}T)`|a9ySHpVNAP&qJePAqKke`5KLVCm2dK(w` zi;IfZIZ!~3q1C2io72+^7!+~@jGsa6ZoYWwVx4o&Uj%l><{Ccg+12wCFQcbW!tEwF z04@;+LzkkfFdXa6)lpRYJjjOn?;@$xSd*#cbob^Mm*y(0u8=Q{PQ`eo0Ap zrzO@d)Bdwx>5~f#$Wi+rl9EkxT@SgN+)6jG2GEqI-sd2}phwsK8a@|%j;r(YWHw8z zcDIbosO)czonOCsJ&;4~>QG40nvSKd^^$zUdlPRrq%@2l6{1u-~(Qq#4<_n7lHbPAutwn#_-ek8#(iBB!mqKZP` zi=a#fq{a0wY`x81Ha50B+kE|*SAz0J{CAW0$7Nf+;3zX7=?ba)1Rov`Pfz>mL`s9wmp7D0`!}{+1dM1 zZNI%pGcFjwiPxHqXMOa0efk~&ukoIc>)Lcrq{h&LzFi;0E$zhC%wvnqK{(BlA7Hot zeA3=?R=fo<@a_gV`sB+$yKVLnHJtXReK~{>ZHT{p{&F{_{1EunrYtXSTlrW*zXbE@lMYEa(Ra8{;5&5Lx>oqyYg5X@3uD_3c(!KjRUXlNV!~=4qiKo}SbB2t@>v^s<+g>iR zfunY};`P!P^sy$5yO*j{%cQWzB_A@BQ%u$>}X!GE3x> zW5S9RsG|``?TZYONhEqSJw+VzdKmA$%k_SZjCXN&P#%fH^lioUHv$n+x@2^|yNhNxZXI?SPW4R3);N$rHBmo~0TKZHCV_>4DbZ=P z2NKa1>TP$*3OPNT`_vnG+6Mnj=10=5(lgi+F#yfh79|s|T@lKLaC-VM01>;Wh#n9N zkwi32cWWdm& z{GO|&eBS9@%dH;rKCILmk1oNxz|6MY(3l&27)=FzM4!NxND`Sf4tPGoXxub$EXnZvejA?Y=~peD(-3l;Ueh;q%xo zt?|)oag7RYX=!=B>WTKGc;#Ey)t(0|%W9KE?gX};r`>dsDxg>hnPGe|;C_d{f%%px z9Av?o#AZ3u)7O^`f1ueLxFq1V&ua6qK|GnSnGDe9?@zHiW94#>@!e}5z$hq@&(f{~ zLkr2r3aP>$P=C@_b4#xI3C2;AP(R7c=hL}M>r%L#?KwT z3%2cEhqIOF@K0XLek1NW4p}{2sYWZc=Ldi`uN>>SY)}sU;&9h`vAJMQGnU5Jt?PMK z_`G9MED<7-cKRHj@Svr{HiSN26iZ`}uF1IFX6L!{YISZr{cV1^<_M5P>2dANuWz^F z{dn_s8qMqeQoCXI7v@mBZkuOglJSa!_hlk1qId+tHV^j6-k9=C{lwGb4i!YK#ewzw z2tMZgMJU2PM*u-O-%-{ts~y3?Z`zbWpa#EBt?s|*bS~zr$V|s#Fvh<=-Ve&hGw8(3 z*4sw%R=(kgB=X_BSZ=Ck_*Ak@&(FD)`MXm8L2MtvyMF0vxO%MAi>9`&Zf4K1Ext|6 zYrO|xZLBvip5oA}edW!HRbC-3X2B?38)+PQ!qjzB)c`i3YI1C@3gLSw}-- z>a==+TT`p#z;VG|=i!j&YjdpYgF^N4Pd<@eVq8xQo;yvSHoA#!JPuia2`A42(wyj$ z1>_!GLTe9E+8jEORaI3lPkjVr9@Xu=Fr0mEpex5{S2-|2j)KSPdS0=|FP1jYbo#=W%~r=*p}Vi@_u6$128YO-@%UH|vg9TI$IO}XO-(}}d zlZLJrdMxtv~uxa~DqRakEn zuFKL5=yxdruj@%q2!@E`{h#`vfX20V4`sf8T?`OtQ74kVJ6MA9T?AtD^Urgo(^JDm zwz|;JS8wIXCm!LLyppd4l`(oYe*F z1ms^DLsY&g1C(=#Z(4p{U9aL6_tjXsz_sNP!EbjY5+!*bqqCTxMSHo;j<5Cf9(2Y# z5#^2x{HB_4Xmixm&fcwFJCKDC%GI(=ulp;Ezx`XsInLCGyMNuT;I#H_3!+z4T%5e9 z|82iBh$t~c@)pF0_t(aHi45q^E?v`lZC!Rj-`76hPid*C`FOeA?wy@Y^1g=t0RAe7 z%FRxDRvvl#mZ0AS%e#Ou#U0=cy)Ey?jpD^X3MFaU_LBsJjAD2`Uh*PB&zq>kPoIu> zW#=~Hw5L$UTt8>+4~^At@3j}EzmXPESNB_$dq-@TMVL$iSggSDzh&6}?Fp&Tuvh4K zrT`HGcZHAMTIVZmQP`D`)jS{x&j`vT{Ox;uZfBk6C+M4q?rMIo1aa^)x9a0bW*0OZ z!qubWO`kOKXaaOYG{9hRua|hp9j*Ek6t2rU@y^c9ylLH!x+8~ac@@57eAXKuPp8*w z8+M`GMHhZB&KB-l=3qa}dqhM5UHkn@?HNI6Z(v+jNZRiS-7Xf}i3HRfhdrlk%8fMP zuG@#?C|004QnJ)WE3 zZJe=Yke~7U%Vrv=3(8kwJ&a)zr07gxW#*cHqx3Oth0K=OG!^BNgvb;yMhv}^R&rvb#1dqwjx ze9L{BAfN&SS?(_MyN*zHcwj+}m}Qt7z<*E;yt5Frm+52(R0=AxcK<`jQ;(XhQH zn$_B>|A$CHjtu`{k$*nyu!g^V3xs}vVu47)B1nGFc>i;81``lV+ZCF*L<8g>D_N^_ zJcEjl2Ed2}5uuCuIjJX(a)wzlA5Pu`j~)0^{1apS`|DLen)#M>W8opwt`N_c_I&P` zG5nv~uF?apz9Vk_oWkb~9+Bob1f;w)$m&0e=kHalD8@K~@s)UCzdTLN+J#7({tYp| zeEEe4&{L|4NlK)sZ(zWxO##9ECi5vdiRkEz3Z&>Eq%JU2rWAR{<`u7W8>uW4O@4v} z*GbTWNxkijr?MQq%q`15(@f+tgoGoYAe=-8^TL2b^n4AJroP3LKtnWUN1Y{->m)GH zu--8$fX`6hH1Jx;u4|>vEuVF#uq!)jt+%|%<$bxM>l+bt$&NS1JuN*oR?#DK7e{d% zjVOX2+_WHFELxNKUtG}4>)1Vs4c8f8*5pRSToarxdfg<(B?AV!sXQ?(o9mM z{r=QFE;x7z_m~2hhF4$3B_^Jggc?vji~QUxLirJFmCS|?N%cd&X1_ixp^x+6mQ;xg z50>B=yNr@^uTQjvK3Fb^2~dm{@_Tq4Dnj@wDzZl&D=P&p`NC#{p;Z~1N8tnN8}iax zR5UKSJ!<+OK~|n(i~}ZhLQ&sz5z-UXU{6vgk{C33@?6_`)_dy3Hp^FEKWsW-pv}EC z>M8bnAO%Os3qCkc0Ri#C^#8CAq5bVX6P=sAP_OvFey`nr z8%w|1K$WPu;v{-wy}XLrxKt!?mhyj^pa{S;noH&$aZU*{y}j1V-}^)@O(=~Gsx*-r zldHniz%xHlRfnfU0)~wJ$c(B9Mj*!4Guj%-=B;9?M~qe>QEYcbRd>J8@X9pML$@Ybqt@&b zRlxRYF^^Ug)}vGL6;>hic4}eiOcd^4{Q9_Lsj6AcJv6}vIr{rtXw;1|>#`AN%-`oS zhGvom2b@3XvPhSV$-ixG`f3RzXs{3ADMzy>X@Yyz$ir}}+eY^`a%LHN{n^lUp~tx4 zlG0Pfb^i)ER}6Y@hY5#1l?o4~thhZ*u!)S&HbSk2ga}wOqYIs0mZl0_yMSYU{Q)1M zDOb(EA|(>W(LJvjt!SH_Kpqg!HKwpl3KnD1oVNJ>Yd>D(mo00x$R?fgNSI2%pm7^G zsI|+23Ab*0H`K~#I$y-{;mqY1EINEFyta!d53MGmAxmhm|3rUmqFtwm2rFX_Mq5`2 z7oAdU!=#uLIVU^QRP*0POuxd$R z!gK5H$4YX+Ght-M$Xk}mRs9(rri+X?Z9VImk+ri+rlm!@EsC=lkW8D+ph-yoQNu`Q z;ht3%Q?h`*!BJ$NZowE|z)E7w2l1CA5n$XLwq+fm)VGtFU{xLb6em?XU>P<}Q-1OB zaP-0nP6M2^X2<1rFx3`L7~i6k&dNt^TprH%BQ5EDI?HuaJ{CN#0S-8>KT|K=_)Lv% zWc~-M@=SwY~kHVuDpa`ifUT9WN$Z}dDiZUHFcZXmgLQ% z-#z*R3zyP;)4-9O!{0-aME477_vR10P}CXyFpD~Y#8ilJh|F9@!%rEt5Qynqzezts z4p)&_B<=LU_YnW8eof{-VtkgYc(XW8+47wh{T!7dq(J@hI_~6Bo#Z2nuCBPFDT+wT z2Tfq+=~c{^*{ZkhHdUJvP^OSVwl-Alnekg28T|VhG;)(%-=_;1Zcj5w>R@aaOD!i= zJ9_#ZuQl4iBeJkg8q|{Y5K4X5BUEkJm+Bmxdaq_BDJRBHlU_}4sH!s?o;3WjMfq>z zdw+#=fVUM_wI+!>gwJ5W!Afq!?ShcbMnt7dJ0N4-!kcPkqcimx@+Yqw+2#wLvbtHR z95|EH-q<7?*a8ktSoI%{9akcbn#|LVwXv!o0BaitmCLF`Di@lH4)|k2?l|ZD*!G>3hT*sdWRn@Q zvcfiHvA|$k)w69eSsXMprn5#|{Ipm!w7KvDwY{>Epj}o|ubw~4zbLVC8LX8Mqf}a% zNvINLx1CS+5!S!NP9z8S1MxHb_5!+<&juklqCJa@jXw$&KXXpqbUORB`I3S0O4MNM z@0djc$a&DvF!Dld@8TLm^bXd^0}J!S#U%%cMQ}`fH>1xA5`U^hHE^V0v@P zgX0iFf`^lpYPXQH(c_ovl+|%kV$RW${uiT|!Nut7`YZC`lGt(|M?}$l)5-O(r#5*~ zopksAh+s3sV5*r|+Zm^En>cR(2IJvH&vp^eo|fRKN2!$zSu3P7Zp3eIV-r3$mJG+> z%`EZ?nur8jCRd_MYj)$OY|d8|X9Z*#4NvH7lmYb+ly)4iY_z)#(M{N^vE#USqKlPt zs?pb9C3}%(yK{>XlY*;kAo~XbT}r8K!Ogm8Y|`Vy8~&lYZiAy52bI=2)T)faA}U6V ztX5vZY@4_mV3P(Vw4#{rAt_j`;}g4;K}cfwXi<(?Qge4bqtZ^t?LV#C$}ZG$_mP|1 z`WGv7mZtxpCzp@ZqN7ErymxS-8d_pj#^~IlgzRirjx33me0t|Htq=H1|7pMRfXVSw zr0h;Aba?1-Qh%!&sKd7u+Vit%LGwxq_w%x01!qWbk3O}iw5+c}Ap$lAU_$i1vh>Je z2HUI};md{pgdNmn>1FTzWvZQ2O5PM~Rn^q!K2kKsfdQ-}`m((pW`UAj?q|2m%zmf$ z9t{;gJfJ6jRAkb%n7Pg(TWRjAaT+1J8~R1gn6I-Vog*p_whF6cBB5ChafJz6Du6@1L+q8`hYXvJF_w8%2d7-Vhqrv1W8(;>;xM+U3Q6*j z4Ei<7$7OkYOR2aK@1iBE&B9W@hy1$AJMcePfS{4M3FhSR*6p9Z!xue0r%gG0>{W>q zrf^#@#aUnyRSeZ4J7znGH-ypN&4DE-1?zk9PeTm{xtTmH{@13OxRa|-ok(bNQaa~{ z37yQE(rZDl2XNMBFk7JBVZ>H($YAA(2c=w8u8D{|L+eGoR53ryZG8u!7+?RysKj7eGGkiB$vWGL!$1nS|4x!GA&RjEwtm9Q*gQ)XJHud~T1;~&(?MO% ztTn`2FmZaOLZaf2?Dxd<96F1gO?t6PR-Qg4`RKaIL3B&L9BF|ZX$o*9Ev-&&5@BIt zVH^ibT!Jq!IQa0jFqE{2Oof!wpIGEyMX`;E zao!19};PziIQb$(VFL1&zQ9* z#o}@F1gN|X{>M8JGoq zHfazK|KGI){eBgrzeJ?Gf=U^OJyZ8p7+?4Ljb-moBQGvAG!|ZZh)O~=HL*z^wN;o9 zzs}L!Gh@3N;%hN}KK&)^0OR~21SfnYy(wd;6@m$@>Zucw7jtSSG97 zN?xQs1kouVO56)&)2#B=t||h*Rt$`W7NWYCr)QN}>8p)1nZYq1+|RJcrWgi@4p`wH zys$FsZW*`N-=ifcm1PxcHe$bJ$9q>Cm}&kh?_ES5+5l4w{wj+l)jY3@DX0jp5!PJ_ z3Ms46v9c_8+7f%+iv2&sb9@U7FMW0lGEF)wr(ScMIiq8p1~@~M-!-F)2p1Q<4(m+v zR&~OosPlf2mJBW$Qx{hp&Yxsy^`fFx!cDBJ<19?(a?bOOkBF}Kjl|o3(&VTL?^#BN zP-x7ZCD*FXa^sZv<*ZS232)ZmosEcyi0^YCDbFm4<`GbkfM?7ojY9e@W-ZA9ty$RX zxC)Cq$LTaI0NL7&REv2(qKkpu>y@^3m$Nf50(o@S`bFm>AyRVbXt`8a+Ev?(U)z=f z{-3c3CTAiYKpAy!>O?E38P(MtM3I>wLg<3Kr|4({&1fiD>s>gQd{l=Ab-LlA7GKM4 zTXW^z;T3uZbjOi{xJr#Fcvw*+DdSN#mcNbY7&Z2$;-BLm&U=Q^)oN&2w1kdq<7)>h zW&o~>h|!#71*+y*xXDf|ayRGMms}MIqv?Z4)VYhhS8>5T7}J9XI^&A8>H_tnKjMqf zF@UMEcNB$O`$IbVH_J5Ljem)2+jLvStuxz@5>YoteOCiEX8vuy_`7f;v=C)~jR*|Z2(K8(&xraXT#8Vk zRg$-ko3LzSv(GcW7(l-(Py_qTnea+W20m9|pk=3&Se=(p&6rp>dLT@R1Tu?=$Q9?7 zblYajZf?ZrI1S=m(s_5!T{bR~3TLwB*cAS6jd9@5Ttb0^jmZ@g9Bg%Wp_;dSKs6J? zJ1!4a7Ne8km^t<$J9Vff-!dL?2FHbm47jPM9S>TSts}{r`HFy}#7*lsu}41Dmt|;x z%Pi-6lmsC5u0gT^BQUiV>Lv-?^IQX_Vs_Rz%^ZBz9*E&mcJBT%>-oXKUdldXZW&U) z=+Fj|n5$(*cn9;OSEd#(Q-4X0(2ey|QWW)w7;#`?;ULMfBW>JJt9Ijp>wXt-{Gp@W z$cvDTVLvyL)fa<@D)!?pe{a-9lKl`8T%eO&S$Io5 z*~BH>=QZ+LTvWcN=YQEty9AWo?yvMU*4HH}e*|kxTF4HQOHU>Z*o?YrMLYW%ONZSV z{B(!t5*55zbH`|=H#Cg4&eS;Xoed7q8ejC6IN~qaGLu{ifBMKgV_-N?$0B(iSeeND z%Y2$nda_zXWc`b(gf4C`edUbsU6<5A?4SfrUSjs@k%1O|d`Rn|En3t_Lb5(y=G@kvXEaBR%8&JPn6qnX%%rd} z^w&sYaPiSfP!oG3ZdDL-Xj{@6hXi}7N*1phU7{GO*g0S(+9qfiTuQ4%%aQlWC`$yC z)Xrv%jSdc1|2}D0jJ3=A=~x;|mQQ79r}P_9$Tqrpccd+SVfMj|RpPZDJVo@$S)oa^@=N zls)>%lcN)9<$kwVl7a23ME+3o_3X#uqa%PP-d3t)g`*%&jE1NM!40$kpzQZ-`&Ct! zSb){eLQd>enYBiOi5P9jE@~8mIu}M2Ega^MHJ!=KG*=>ky=^m%CoS=0RYfhp^!Nr% zG3biba+Fc@$Bz=ZtckD$+;=RRd>uCxTHnSLa5!6BecX?N$KpH#k8g34qc6bqp+H^xP-_tzl+F;YZf*#$`_ARR{*Y^ z7`>#K0{_6~SA)T7^vYgLG)3d2A73LvnFU6QIAPTfW3l$H69D@Hjop;T+rK|;{zsE8 zZu5u~Aj1cU@3_XJ)`-1hsq^WH-OAZ<&|LpPpm4V#IgB58)c(y99R#?v@0%1b4SUa6Pya+=9EiyPj#jd+&elyv)6bohaZdN9y7sQ>UB9ZTP`!_}O=RO$bRe%jk()S@Goq@fISP$aSpD&co~Ql8o`HH1 zUB3@~c{(LI=O8~S1wP6^nV^+U@b-(G2CJ+>nx~D|ywpKQ!PHzht;Y>=2ZJK+SU&u5?t(@76mf= zykVh~)QeU_ZyqFjhvjA*>M?$DGLuurgeF&Fv&#PRn@pACR95ho`<+ox%7x?{gs2+C zqV1Jvb}T0P%c(kdUr@*AdT-b+IvISf4St$83zM+y?t1i zvZm}dn$%WdQbc8X*t0vh_JK+`HR6hh9ARm4_2%tvqE*IzUOTCK^>x1gu`$7w3{i;Ws|YKo5yQ|VO$tO z8!Xeif`tCFL5rYRX(U|s<;(0uH(0hmBCRdg-^D!e!(|rh0V~@t?oXn@>jvj}qL;Yv z2oA=0v!Ar;KdDycmlPNh36`u@UeUVFeMy;1`|yF)_!ol~_Pwo>dE53LuB>|7h(I)c z+z%TzQ>JzdIfjG~`55U@HZ1GSEx;GK2wgly4l24n*VT3`w{c z`HalW*T*E;v(!0!`&b9~?3}JVfMJCi^?brE*_WB0R%D_mY%RkkkGZcLw;h)AV^YB$ z_QehbFURS-}UuW4iC_lwJ}y{qg$r&>oUJBUm=)( zAIqdbpwBYK$?gD->O$SdT;~3jA^Feo#SYlE2DvD5T^iJk%y+^?gai*P*U}lw&Se+H zsfI{OJYEq0*XwaMG7#I~=r5N|{XMb3fAd-5Igs*}_SUvLnRP<8|BU#*uADtmDfeHl z9YCru0^t_RXm=L{Gmg~{{}}*qUi13zP~%=GqMNsP?|gW8O?@~*T3K#=VdAOSxIMs; zVMzN+Ltc!-#26CKh~Yp@F#i?845%+DH;*CVz1T!8Bo}^BQg%!PFw7J&GUf4BatRoE ziD;yg#R}3@M^N@u_P>Go*D*BKPsX+TCdT>xartrjeq5ahrN8sdBPz+9q8I>A777ZG zo4U}f=76#>|MRQ8&XUr3!-$Ai92Lj1gvYzSDRrA4tC2NO(U3GOzg=q*z>QuSP-0Qe zlg^2M>GG@kJv3laA0#UAdykqo``ohums^k@FV$@KGX}m7ct}^L{)@-o3j7+*i4PAE&;-K9;vh12G?gRsn#178Hbq?u;6HI~!&;Us8goj$6W{SIOP7a&gEE5N^lJ z%>cS5NJ7(|RN(;{r~L;u1^&A$0e~DM^=Bb|IUheKtC`y0;zwC(c?jzzmv|dPgiXZZ zL($CwC>IV8Dc5_tJnt4JdN_xh0;1U$#BkZNNCXtbtaKhdG`)g>PC4VxiYzA!_pUe8 zDaiio0C5_Lhfl=kw)AK1hmh~XSu!%8GC;wco9sM$M+Lzl9wj6!B~T_Bsz4GhlHf~t z{k^-oyT7e|2aOw@K$>5HY!Ij;xFo>4P@<8ynQ2~Zr{i9&IO za=uc}l}Sn5t2rL3s;Za1FDJ}GL%(<;1iyETWbl~@)@_zLxcO{vPH`LeYa*6bQN&J^We-SqGe>(4-fnXo4E^c{+D49gM<24=llG}>-d<|@_kp?X@O*>a+Ss$nqiJpK8i1H z8+G|fCRy5OL~N-5YBX;DFEIKtL(u!?UqBqM_s#F_bpTE880ngtauy-3(i(Or+A|Fn zyoU^Uv=y@349OdGIs4q{w>d!`0xql6n#mb?*?N3h zj=*Ub_#D8z3grOQ31Mzad$|EvQ{)Pw4Q9kvhb3R5K>)cs!$!)ENEh}m|Gc{L{21Ae z1JTpfl@-Ib7z3VM+xg=YEFvx-j0@sQ=O>jX=Y@7ny%wzzeI%r&+xfd)hn;~6?hgR7 z!p6s8>av$OLV9{9BPqsksCDb6bG1aRhN`g5PYkL>{bzmHg8{I0CMG7Xv=Q@~`@8ea z>FH?zb8MUkZm{A!Cg=nfprQG*x=N}VB=mlA66v zP6l~MZf6MSR|DynIIQ}`0oV|S=K(Oi{0c{2a~$*yO@&e~7KE4c5QTxKvCyD$m{ti_ zB*5W4x_U;c#$7h={6dA;NN@7&Jt~_NYI)gDy38lV=hH(2&~_sHYt%d-badY9bNAOM zsYt#Y{RY1rztwJ7<6hiK-9^T>#NMAr#<9>fk}b>vvt~9Tj?en14}Zlc?*1<8$;-=#_lvk+zwp}}rm;9U zoVEi+{7-8+*HPufFyAhRXffO`Vk(wvf$5H3zMK$vn{9`0525JQl@z7XK5oWrX(r8Z z8v$#nfzHEVF0P>j=3DNtMSIegH85@>qaiw;3$yzOt&R2ty)>{`+#|bX0KG>V&8O3D z24zk*0PYZ=3rSKd)AaV{D*YLJgMgiGHC^4ulZA%Cm%EHpCD1s^-3K7V4dr$Qh{ z>x5_{>uz#VI!?c|PhBI^5NzxT;Brre2bBPIcsseuBzRBg?)X6d6OhyvH--!5OLf2< zM7L);7tlb53a`s9SpHYbQU(}Gk(mB>_`x5@g2B8fduhkdH+qpj^bF~I3YIj@&CTuY z?c?Y}P@28BXnMz+Pj4SWz#aRlj%YS)X zhih2zI#g;X4Fy)Q_KcfTz}PJH{sPcv!SZ!(3{d;d(=og>1d3OeYj$P^=n})~J96OP zmN@AzGPcNm`Y5v(;O!c0c4t?2 zPj~vdPug}#r7LpbzhxTt{8{TsN(2la+Qjxy((G>qMq%GnfN5rUK33n}F6X|Uop&Dp z4uv-H=^!M_=K$ikIXHM}qfur$Pf~B)Hnsnxmo^dwx9Vtd1c}(>Ms@jA0#`Jnh{JJo zKdN&B2c*ViN4=sW#P#Erdq$86NioW|pHP>*hOOAJ=I&6SzNi)#7i-nq&Ub!;14oFW z#?YdQKY33t#uX`CUR>;O6M{I_ry3l3A|)XiH#de<#RuF?cPGuK2HwY<&BPH+E;jw) z!&#<&JyE{CaD5O%Q9vL%{_jK@*j(n8#~8F|fTW+|l7p_)X~ENU5BeEkm3m6HY2JVA zCiS3!X19mZ11K|p(?T0Mb*udW_t{o;UELvve7AcIh5um90KK+vLLfGD1l?g2^EzqoWiyNRI!#o1ZF_ z2;nlP%Uo#%gdVUHOT9pX)^Gjh#8s*B*bM$QKK~OUbaF2%G@x^nW9Zj!Pi1RV@R)An1Xq zCY;QPRH2~e2&tO7bwqs35O~0-bx_L;Vem3G&2kPJVf>V$NQrfueyjA`%tB)DYq4}V zs6CMEXNVLB%X=CDGB@qus@iF`9{Y*1=okdli?~o260!l}kAwJCwDW}uklExz=SFga zF%0x7{>|rCiwVG8(hr6*?{1+YrPw%cv%c1k5QH6$ehl+Y^LEp~9TLo-pc|49%g@+- zkfLr~9Bv47bDwfXq==VmP3^nkNd9HyAIod%K&!CBIP_m>D^<(FWD8%0oxFDdF)G*A&nwoGGt;@ZS|%=E(-ts? zr*eFKq@|1f^OZ`Rx^P!p_fd3#v8gVMppMNlIjcwV{lz)ryNrD8*c@i7q(x?MTz~R+xvW0+P>pv+`8V#6=W9pS-S~>@*WWvHX_;S&3mWd%Dl1J>0OQOGk z{JZ%wNbsqcozoqVP}VtayLcR@;1aDdEqe2h?bNWVxYByfYl&D7xC$s^!iN4B;O?*Pj1_SrbvJ%hpR;Q+ zLsvd+65_kz7~&)JDNQ_7-RY%raL|K`*B$m|*b!`soVJ>vXPe4W)w?zi4X-h_=rbh( zU+~OQS2D7jm|KsAa35fO`+rAWIcdJ+IIbc4wA-1nx1nQ$f3N45IurY*v0>KlsTR48 z4mHMGV(#`8aN2f;0WxzHmsl?R`?qM)Swnm%m870)laOEpA)~JXDlo%llGk;_-@xRpKJ_dhT{gBBwCZEojR;}v&VGOa9Y{e zH?_s5Bwg<;D){Lb7@lqx9l+=MpF&2`NQZ2QKzofvnNf;yu?&!DsZgO^_aQuo0Co$FcJyb{R++*6YnxTAL|!i)J15HCM`*Fc*DKaMFNl&X zM~zh#6PqasIq}Dc6Nh0^owkFKUEwu>I=H)%QetMWbnpOI(y}q`uV|G|Dixa^Q=E+0 zXn1v&eA7tE14bg_1m$S>Is1+n_fs5h5v^Gwl^wIJSR{v>AhjrEl61>}vVl1(q079E zD(^f>zKwa<_5Hv|x|99?0jV`_Oo{x51$YJ4>eqMPartg+0YOU!^q&=ag7hi{?_%%S zunWvL>m!FVaAxdBb@HpLAC_!Qqz>YRESb%GpU`P>4#LY z+*}j=g3*8uUYhdjmU;PbBq9}AZr}%E2m&JZ0h53GM(8%U+2H+Db83$*J^H||gBG`@ zgxJK-1Kv_k>4fQ#k3FRa2&*Lhmgtj(SGP{ zVJZsrzBmW|@y~1`TH)y04f3*!07jwDh`1CU%3l>jr27vjRBC^Q+b$qd9D|VY1LI8u z;n}bEPuQy|nP;89R86f)`zu>U96oQv{AisuusJ@dtG>CdX`Rmy&QS5^Ou>b26~!FA)y?xarVNdKRpp30s*R zMih;F)SpKL74qV4PO52aRrOwKQb7^`o0{Iw%zZfDbf7>a`M~$ zq-DZh+27}3pnV`s8T3R(>*)f-gK?MQzMS^(pZp+Ai}1fvW{niZ-&{HLe*u&kp=IDW*Sw*${%bE#Jz%T$yuF!W^mtg7(wtH+YTw0X6Q z_c1og?hXkG8pu(vb1^#iep&8XaSOYgdBh<7)H?Xg;AMduTteNf?UZKM>+lE1qTt-M zVKa=xp4&5xAqdr}*A-@DG`E#xYLrPZl&Il^UlR0LqkMBq=u?dQSxc^+&-%vE2H(&0 zn#7ixne#c}E!XP0D!=y~gbS@9Hpy*K4b|N5L`Bf5IJBW8}t0 zvs;Jsms~G@PoEPfdXxaaoA51xig6N@;kxv}%vK^yD$Q`X=-G6{jL7NNM_Vdtfe8>D z89ALzD;u#wrZ;N(y6K~=s18~TPe0_nwDFtl!##G=HsEIY%z5ifa3{!mL27L5!`462 z9^H%4SXege;gia-{zm-9X zi3%m4;^E#Il)-B*{-bV?eMlfF9@Kw{+^6F3E^u`lSIC;@?sMbfmP^hywu8s;$@a0L z`z=rPmi-_jms3!`cxYy>YeAnXECDRYGBKrYv4sTMX;Pa~i>$;bvmwI|9u$vi?*7ZS zJA>>kw|O4Rk<0|^h)h!1;WDGDJltxXHU|IUFyq{o4kz=_%sVN+M~5YGD?LqbQJ-}J zZFm!xF`jgOb&)?wn7{{)CYF%`Gg@`TJe$*TqpG zGkB}e#8(ZYQYmr?zl=eKns7x_Rpa_MC-x=2*r1u+!Mr?ADabDQkF7ljr-5sI8;e?F-eG`z#na7hLJ+>ma73OoTcFaBp zLiWh<3AQuO*3K9PDA{`LVYT4z+bEG-4Bg6B4G=@UrLRphU6H7 zC`3@)WnwHjs_UH^9X!;>IQPb8;I^UcSOVBM9X&OfA`RqSr!sa?ppJa(g(i9~^~O{m6b@a+sxx5L#OTSg(pSFx)#Z;=Ech>dLczNofYeckh}q5b)I74mXB zVTUTdV=P%8n|$h9afvFHvjqJ_#w-4E2JxMFB88ma?{S&W={=d;MN#sa-R#wW2UL#2 zs@nttG;v!6UZ?lC3jN#eHW2UMT%YD3W&RQd>%N@z;&T6OlE_h#0MP|6zsIvL5T9B+ zjh?Wy_>SDbn!X(-lt~|suQPweSXcXQS!E%;nm-K$f=_&+5z;zxlGT#3aZ-1U!%Tie zEK%Upd&w{8)y<9Ag8TC%Kxu1_`c|ij^aq*(WQxR$E=yHun^*bzrZZMjl5cT_L3XA3 zogeRu`wy61JUd{KfDn0Lsljr%+jV{wqW}8 zW$Ne!RD1TNKlw)7rS0E>)@QcF2L=1AySq^tM+Dg?k#Ql-D7-Ttn&*t8f4C)0q+Boz z$tO}fJD*0hQu)vJ@kd91vX#=Z*d*K(Wm$A_szC2y^-h7p3hIPO17j@ft7YLVmSenn z7aX~RTqCDmb0NawF4Tj`QGKCmgF?w!!qi>G>Z?Ujnjnysz16--5llb7k+{I*7Ltga zUYw23UsF%MB-PlnH(!W>WkwPxw*a&j1^MjquX^60Us`g9h~`A%#k}xIzKpM|_}v`M zPuL-e@5B(p&&AdK{i^^jNM?0T6h$`(d7fBgX^O%pG4^gA$1up6M6<>ke19*lqJ`9a zGp$)2F_*lJ$oj-ajCl#P(t%$0X`%#PRf0j#xP}vDi$4wJY|P`(s$;*wHf>t{ALhKUo>83cb{y& z-vNyn9TJ*$>(X2otErHUT`^^2tkU?17vQ1j*#t>^P&{YE0BN*azP~;(h&n3zG>Tp3 z`x94U%3{0l%KZlmfxX`r@l2It)w<%=f|S77*Tt#xo`YNtzr^je#hY&xr}Unkc=mC# z$BBp0n~l5^<--R%AvKM49<3Q0IbJEWN33p>+m?s=eVZ-=C>E(^=JrwzY=c-688jw0 ze0Ys2RA$N)@|YrewsVIOweHWvVT+8-cyt^Ok7PqS2a>Wx+c)1HWy47jEr?pGoKHRS zaz5BrrCwj=lgfjup!tGC!6_6=k2MObd6&CmG4>`jpjSUf*uBT{LEI@{Uk_`rQ9MU! z`01W`Ys{Y@t14f}?m_J3%c5NawY7OP@csDnE`8Oa>ZYBZKs=%L=X=z+Tnn2}SF1(x7ZehagW3%Y2(^(j_tZ`uDGs$n z`GwAV3d3|5Au!U_Zv%{$(}m;H^OKn8z#SarNbA2R)`J^QPmlURMdG0bhu!Q%1A6rn ze@1p2IXJydvIr#d!t&Ln0!6f9O+r_d{dflLe(2~V+wW4dgL*#CjYX%FXh_=lbRluR z;Voa27vVRo@S7+6AvQ+Koanl>Yq_yJ0@7L*VC>j)CGc6JBw3M{BUV0!dC5 zSyjfZIs&Vxv)ueFhH;;SQ@r{YKhXjo2fxu%=UQIz%9;IvUkc0G6^5GeUMWO^gRCnD z>&zd+@8oYuCmozqTDHiH<^>UNP@`nuX99m!~qN zN&1_eBE`xkuxLq#$BRPk#qew1IQb?>w3ddK6V6fw!#=Oyf6CD)eXHFoHQd^O0BoyH zC(vtdjV;V8yXpYTv%!F8_B9; zkQ)KSKEAcodp+9PfPsvR47uwU2FWF}d@#H5&08h{o?4fs>Iwgb2V4iRPriNoXfc}K zhLSgcyNvZ!+C`UdJJCcXr1z|1)A_MwZe^d-X^I<9g=RBFL9&!JQ%yRyi=Ts9F58;h ztkP$S@P(_Hfxn0=^aEsjd|B^6jhrS7cpu%Tt?rqQKd$C?~U?NU@3Hq z@zq#dSA1NNBXpC~f+EAckLJ+Php)Y=KFgavGy&1B@lK<|pE8`nLj{-%anmRg1uZnr z67$$Fd&N%C@Ha{JbXXO+UY5Y7-r=KS^QGC#ycn6Uz7}msmat^}4tl_>Ac!rgcF1QkX zy=iAfH$vpS0Nv^H{FU_It4}#gPD`Aw)_O~*+hZA<8EiT(O+$e2*Q5DQ@Rs|47eWP1 zhF?|3#28TuW0lFL%4Mmd_|S1wLBwT!`*TG~G+2XWP}fL=k1QGH4#)Mu!MMTkydsr$ zOdE@!fRu#8yU$rU4grljcYaYPk>-voZM~k4p=*NLy`;PP)SkDnfuMJ=cbb~}f-fbT zl*%f%ku>2b;vaK{pDWE)pK{`#9WuH;Ug;@efZb}0DWE}G_CGT{lc@7MofEZ4Oy7e& zW8S^@GnjKk_#HjPHX7G+d>%Shtli-~N&Ev8l=`@hM)HPhUhS;u7l=Zs|FU1dJWk;B zJObuND5Q16Hl}FHL*3vaN(0)#z`q|MLy_TKIdVN3dlk6~-F`#l-(O8vSh-r??my0W zYJLC1FN7xVlrPrBzlsPFiCk&A)LfVc`WjyVY0kEmL#C-9?3eg0Ro&<0|QLq7n`FSA~$0n;Qt;aw1YpyIZ8v z0lq{IQkcSrry*ttUlU`_t9Tpm5AeBej5asBaJ0{vKXE9&Qy+~3{H4E%t(52tqae|Z zY^3W*mB(yKhotB44F!TpjL87CoQa8Ysj zz_mxN%#YGob0cmGD0G8j*Mzp=0wOX1H6<=8zP7Rk^=#U|2f?^!kb*XN?0IOt@my0o zFS>-_{K2i;PSY!T89u^`cU`U;5Lb5#5qmFx$&5J<-ss}LlWcp`TwLYkJjQ@8^UN{H zR6i7Bqh~ut*l(!{=O{GX*NT-oS+VcLgk}QmtBh`DGDfFc;2lgy1i(r&n zJoQbWWw>VCs=sqD3x!iU0tnjm1cb)3eJ%^kb5oAXD;e1LXHViHTlY0EApX_tb_HQ3 z4HK<~F<-W$Ny$-Oy{K9D&Q6x_XJTxugJ^1;m%>h=szDgn7HE)^>U%Wb>{<@}L{zq0 zYx64?C*vK$nt0HA68A=qf*G;epaK)C`r8bmJ001u3KFnYi%IP z=sO=J&cH(0#>r!kgTwBAm4WE19w7ud$%^(?ItG|$3fYnhAC_20coD#dwU+f~SUDLR z=TTh4&!INwE(nCuT!Brg2e-`?>M^++YF++FVVW3si!Uya8{QaWlSaA?yck{cmFeX` zK4}UsK<`hPOR$sMPT~->$p4h}6yC}^Fy($1G{a&DAK>8`L*u2uc_oz%v{g8nDqsn~ zI`e?paP|HK!h0rr&hA#hP!6@9l;I#e1>PPppr1WHL}76Q9fT0f28nn<6z5r6$0eW&$_ zp{Y`9BTu<;`m=`@JJ!`Hr)fBZgr%(Wc@Lky^KBqh>jy4qnYH}p`x(=Uj7~tu|b z1=;Kpr2o;JWd!!a&0@0aCf1-I&@-Gkhe0b1fiM|1NxPS1 z=uBtGhJ9|*Gzb~@%G&JjS2Udw6>pD}{y6A^XJ&>g$w{8+&2t$rV-;Ioq%@q&Ns3~i z@^NmB_?fdUpc(O_3~*6JuGHoQ44^;b;PUpXFk=x!Rg0qq?p!<-{a$%j7uS&{UhfP8 zQuAV}DpmeXL@kX$$b`g5v>mY2@iI7T(G{byX55_|dLC~(U`R!;yD~{V%a`UQP_;48 zrM~C^Et10_WTg?(ZXT63GniX(W}mrTC)5eOc=tptYdRqgZv0}GZ)-g)P{XkPj#|Gy zuRH*T=I?xr6Z+eg%A(LiBQ-kMzlvMhre^e(x{vW?yFVyaG)Fv7!$BQRi3!9Qo0Yo; z|Fe$#dpTiC3?<47XPZ$HGOEkCNL@uj+hF$h3BIkIZ`9)cgdd?KyJq4(&99)y4i&&t z{zbFAsRplmTd1(E{fP4Ylev9o)+HmVbpiqz2l(E7@R<5da)NFh`z&ECA1w5M&7vC5 zCcXlG=}gi7MT2fS>f)2w8u#J!cJLA0^@4Xo)o_nZzW!a$;Y-JQ6CM{4u0592mF^fi{-!FCK5n0trO1>4vd)Mc`nvi9#yxm zHBRoC^rz`&1x2*fqKHP-`(a96g2 zvR}Z#L546rw-@04=lRq*8-J^;bG0y9$F*wiw*^+3R@2(fo@iUSjJiY4Ly=2koA{F( z!bAK*XM=4C2ipY&L(RN)l)Li=TVPyIWehzV74sI0Dux-GcqA$BH3kQWJ{Z^#q3SeU zwh2GtC>l>mvXU{p$r~_m(E{2sPw+5LY7xF*<&gN1G${YV5{b;Q^k;(nm{vsduuvb= zPIF}C-lVRwMCBlIZybe(3HZusyO>mZK*uo*PWrcIy`JJ7-Xw)zH;Ix$se#p#Zq1Zr z*#Up5dz{v~C7YwouM53lusRKwVnf)TUdaB?^)3I9+EpQ=yT7h#=HKe1x`S!&C?+7~b!W@={Ui*IE%s!K2-}cYqwniR;8@fW<18KZ zD}#U^Ac#3D#Qap^7cMS|fLiw9b}qWb+^vH2P_?Kg`^VF-kzU$iCe*unYVXjbOnbWC zlvFbgh2O2hgTBYrZ^VJ{mfd8b_$ZM$xedQf8DNm@#fi`_@en6<#b18^ftIawfP0M` zfm`Ml_uOie*gunKNFjFCv~nhKhuLQ-$A4T;?KO7>PQW=%>otH5_1irWr3TI9uO{&C zg+H!K+~9u3-A%@LXbq8V1z{Zsn1oru=m_Z*rrP$SKU$Vwr-v#92=HBe8GBCbqyFrGo9ROR-CACfo@F7ZW*m9KUgSGh>{~EL5C0VeN;RAR z`PB7AU$qDAq)V$93p6MG=s|5`pgoNE{-ff3X(maC$=|+Xltn)IG12ZcZ`%LumHhL} z2l2iJOA`sx{0+{aej?R8_MS17nxfgnqX7l0Q(1x~FJ)Hj-+3H^ogeU8Olm!uPQzNk zeUF?niGg2@60DEEC4T*6-)@nm3=2A-KEAP1_gO0;F|FulMXo{H*zWyHwJP>DWhM z`GfSWLN+DlEMxG8A^e9%mFqWgwpHG5khdv4WAK3+$|M?Lfx0W{qE0@lt|)kSQzsoO z+ISl}D*PPMHf=H-=>s8k1ET7E`03;c&UqF`(!2=F`<$Y&d|%AWmakXj=d{cMU+7EX z-|Z0Yl(f%5muLhER;IEqlGf|dEHG7( z)Ix1XT1CfcT6W3K%>QlOxr0Cd^1HCZq(a_Z6^ru~W0&xidS1m6PcANtm{F>A)I%t(P-~<7^OLQQKqMx< z?FWMD(cmg@IiI}V6ig%X5he7Y>J!gNagh11=cxvH@-Mxt!@V)SkQ&pFr~7Me|Hq8e z$eLqtvzvXp&puf|PztJ$v6pRannV|i?0;AQ_O~9ZK1o%2Fv&rWOwCS3OYwXTKR=Lr zazRAfi{Oldoc1&+x;HC^ZPMw^Y}q$R>0kc@^ws2<2&d6I#jS#26- z0we4g5G$|%^=-%C`CX4&au*4IEqIt8^A4`-PuIRMmj!zcqY$gyi?s|eQQ3iym_jSR zc_Ce#W^viA-sC=c-nPA2eO$S<*V7-{E`zj`A$JHvE`=c%N$o9;*vfsda41B@Wo58m zR()>;FNfLlmebFnkmIEO_1f@Xi}L2Tu-h-PFOohmta4YgGk4{DU#1 zV|T@pVr(Z%KG~(eHj48T(}ML-s?Xy0fwwk?f4EB{hPfAnA%}HikcE@l$exH7*QKsKc#YzNSs!DjkG#Rf%VOd zW!#PeOGZr0Kf^FSSUXvM+^TQ+B+U=)&5A@I(y2WSo@=!RFN)?~{`?^_iaUHCO`Y@K z&B`g@mq;vy(BEK|UAxX?Vi8^Kp(ATjzT7<*yiSSjLUP!Zk~PC&7Nk2HS?j?V7zfdB zz$U>Qb^1?w>m8PXX7!}%DLBw@1&ZH6?bQh5OiDS!IXL)|*~;;kRt5bPx=4bqtEZua zqAWZ71-9Atv;~1r6jY8p1wydd=BdJ8sxeN1bd%9NgiV@6{LR^xRkQEsb{VWz^q|ky z_S5axZ4AIvMndIFQlk0!4vc`Cl998HZH`m{SCZKh^tZC6_w6@%yiB}4%ZO1ftYLz6 zoMo7&$B~DmkY-=D4`av76BG9dzy-clVd04hoZkF2D#M}lUk0<1?<1$K-~L=N?Y3Hzvl`29suoTx69Qo5bJrY*c4V1=-FeQ>lk8WK%izcse1D;WXFDQA>_xc=RVun%9g9T*>}z5O4nwWO9@8$^VdJ)*9` z`$N?^tu$8$COdU#*%vbv2*~wu+43dzfkX~@Uu3f6$BYI213|1vZ?Z@94-Zv^w#v)M zL1_JEh1Z%tJ$j72R`4kTzRK%a&R<=$Jp*l2TdN!%6I-zHt>1#+)r1}NOp>TsZvq+B z)k!nwUWB{&hcKN{G<-dB54thcL!9IG%{hVHQBfs;rw9{^95~(*=|25E z1HzeH-hMNwW%Um`FMrc#9xgJ*OfB}!%$OGi;(uqS`y|~pBz`hEi*2x>~-8W7bfUEX;}u!0NcdNzK1Mw5UQd8TO=g$Wp>rg|N8{vwq*ap-4+7ItNmbvQz(2UQ&gJ(h0;OWY)G~&? z(Hoqo1;bBPyF_WNjxqE+JV^vq6RvAP>V^00<}Vy>7sQxU5E{Q7UqrdXaQabHW{lFg zyEfOuIPG*dK%VmHF8$x7g+nvA$SDu2o&-@G9H^Hbp5_55x-0^J_(ONtP`{Q5dtvB& z!Ccm9#2LX>f;P;VUjyn{K#;6lRn;ZFu|`)aX2-Q2_pe38D5j;?yF7z_j=XF3V{ufu zEo$)lp;)n3x<|zS&o~O1Y~&rm6{POx=*6`T{hC`UeyRPxa;lF=$Dww)@d)Y_4{q0E7rq%8c^Hq@U zzW!bLr~L|#K`XW8wbiVm8BXRi(hc&-Psuf>>z(EPG^;v=PWw|(AWZ>ZvhQ&Z1P$+4 ztad2j1F(uq4=)e*HxI=@pHFvH9uX%AXckYAWCFg9`1Jbrxqgu~u#cXvC8Ku#^l=~u zl{w3^J6{D9s|3!=H-HYHmDZDZo8&Sp27WrG^94Ts>@*vmR+?o6CW?xZH{-t?kwGbP zSh}nM1Cz@eDPf>^#Ju6^QH8LE-{+Y1-tHUZU!VMIY&PA?_3AdYvO|vZ7{}*uECn{{ z7FC-zC?Cu9>`o6c{O6mFM$BGF`ig%@iLT6KH@x^RjvCufeRxa^;&x&W2_I7GoPFnW z@XJObw!|HiIen*lBo5lO=#7;6ZQIwF3cEKTbCjeBNCqJypsMz~cvQAmWFNkA&F=K> z2tZZ9KMh@Q0^c6e%vyM`TF8mKs2;#<{f5053@ za{R@Z^mST1p3BPHr^B_FYol+Nu|$?Jc6IdAP9(RmuCNK`)V&<~3hH2Dn6GOZi^o9T z5Ipm^*&$ypod3d}ZU(6^gYZ*6CnP{mGynGTLS0?(y}%91rh)PGDJU~ljJ_VXSKU~{ zq(dk#i_vwPxvJF&?wO%-u!(CZ%ym(e=*(HgGILQd|CNX>JyW&|FZ#3?EuvswYXCsuKHgFz} zlabYEv0ZhT5W{~!dOw3}A*{3Hdw`}(D3}nHDbsA%Yu}$kG?LwJ`v1_29=BD~>k0EAYsbXogRR-f{dOuUs?~k4-hc4#t`_%3 z6hK;d<FSDQc$V&^{{mks8}22qvx6(WzSpIBju5Lh4fPM2g>jK#L! z)Pe%SjHE*E4m{CYFI~B38n@j~^I@0bUrr$-2h2eiWnaO90`JR%n3Bqvmo`65PA(NV zbE@KD2<&<_e?`R*`C{k2l4yXY1uk#-Ibph!JcXGcN3+JSY;dj|05XI^soCP7 zdx_V~C#0jDbFmLgKLic994WPbTU^R_PMVF+#k0?Aef-6;Mr`k%2n_A<;~fnzPV_Qc zYYe!kO4zHT_6JgFkHo&~e8s)XL($9&ok=ym9K6GnbjIw){VVWf^BjFC0QJkew1u_d zeYM!+)^7o3NIae~VcTfI4Xm)Du9M{}mH1)7q(S;oOi&4BpG%N%3EqsU zE|{TRXT>phl2JQ0A+^{P{|8s6d!O=on`XS&DpU<^^lpRLkFTHr^q8`t6%UGzQI6kt z*h%@u=m>hhTs4R;BQT^)?)#$jf~VNbOzDrEHG|s#6G8KDg7q+*RNw0QV}>=C(2w7l z7~f{7ZdpTWgrwewarP$KArjW#x`d#w8k(`po1!vtO;j2Oec)uxyk|lewksAit|-QR z??pf3NVcRPOW~^%SP`>b&ak74@7jl9(xhjV_b4R}Rs@N@gu9xXef54^f;#O)1E!$^ zt2AOGt%hzX#Y~nPdD>fVVi^Jrz*9`-26BW_p)K zy}p|7DwJCE4)NVT(n>F3fz+4Ze7jnJWzZ0Ae+57DmoD6I&D?4>x3+f58g#3(7*J)5 z`TD(p6olF+Z^;9=?IWdAENAngh*E# zS?00>|#{q#~m99%i=38^0c?Va1A{#8rW z7Ns7hNM|sHL@)P%CMBtTYac6*5rnpSnh`~K(Zo;{+in}8s?nv!i}Dghk~(v+dr>;; zSop?|40h0MF4HSp_hTi#?oC>1#@((iE6>zE9hud4W_8s>M%ZATg=uQlN+yFYr04P4|{qK+<#-NqtI=snI^X{OOA!;i+op%lB9%Xu}S1n zIV?y2bx^&4ZNUz8v|A_&JoIF*oM!Ah z=DAh`ow~-Z*r$N3Iy;1-_Z!-lFoQ_nEF?nEgLSH;}YBizVu(^^vV% za3$>OT<))B9FoOk2uXibr*tWE`R=*BbqtsEHuP4g z=7d(mZX;I!|KcI!;v`6Vd)nA00UXGyNYOk=s(y}qMghuG%<7{Y%>Rg!X_(e_ipj?3 zFC%ig3`7_Toe4@`puZ>;%pEexc9vTTKb>E%kr}oEuXTAy7EZHFGeN1aGR@7f2aR zF92kU1t>en*ZSaWMEH5oOx^@qRqCQ(koQ@tBMb%GVVqpZ4{;A0OVGF=|@v6$|?iW0`pH>!5&yA6GbH zUS76XIwMgzy>8q50-sFz27cm!tBu|W6u{j_E$dP3<2Z?R>_%z9T=MfZ zD_N&?Wp?N=Zo*@v(T@`jWLpUbS(i!(H$U4TNK`@Qe_R0*`C;hHrpoG$uU z6~3SCI}4^IUW>ha;5&nIU4H;bY}KL|AF!7HabLDr7U%crG(?jIcK5e+R3$O%m?>Jc zGZ3PIx$ZwIeO$c9PUYpaOP)&KR#*tidK>rVt;}ur)Aly_KKn{9QzS-gHu@h_IxXMY zvtAMT{cTlpI;=Hwmg2CMYm(4$w0+ydpOQfw%hOBT!)@`|2a)9uFVvmy-Ap=u$o=CN6Xvz2e%NP4lOjvJa-YWfExCYEW5C_D zC;I=qh-vTp0>6{X1R~F~%M}YyNOBp+o-Ign=qv2AnaW!0h^{3>Gh=$bw|D8~tCa;6v@yKRU+=V^LII8NK zT6)%m>}|f7>$^{^_eM>&r*?CDp%Xt9Cep|r4UcjGOf1h>U8!gc+T#1!cI%UEWzK^Ey_cN82lGOU0k5uMPmNC(RC*MJ7qvC4}Rlka+ATa;-$LgP35wW1K z!=LDs7p}KwXIz2|lA}1pICC9Tv4a%R4&7^#<8UX?qDW7(G>vgHQ0QFa==xN=rk>Iq z9Sp0k!cDgk&*T10ay64UxJ?3i;(QGPL9|N|KqcGIKGEuJUrLFrOwQyEY&qk}o=bn1 zGylo>m_?pyDJWH^vEs|<{mg00RQqKf#vMmK;EnAO#rv=C3`ltbN&i(_reEKOGCh3H zYVaXP)xQn*Xy~5Hej*(8Svx4MR*ZDgj_7ttCnfv2R$Z8y)u0KzxeKG5$7W7eDjXZ1 z9Mv_H>M|$`Zw|Vbh>fq*IQfgPi+5H)a>$!{*J=i`Inrh9&M&lb7++yGX!@c$XtC=b&0+B@V_Z;oi) z!@s&M&(8KidXdHy?QYkCeQqa)GY~_E39RQiH*ZMAzR31&*|(3uZxNn2lq{V6DpsJE z=+fnt4)ta_t?fdTXTK@*L7~6*%MZ9-!4RKpAdUPv+AA~kzosgeppqpgL)Pq@vzaC#aKVRc}KTg4+3RulTYV)3nWPFwc;9%uenPSB!^cTts$hL{i>ax_ROktIRXP43lKD{ow7X@4{kNqtrF9=> zw+6|+xt@}_&}CnL@)w6qX3DXCSdFJevbQ#0W??;+7|bVl2TP9Te@&@!um{HHjt{ zm?Xp|n{6S&xFNAbp+SD%t! z>z={N^{|Mt#Xc7RhY4BAYqQ#jv8LE+gQ<~xJGQZFj(3XVdNLTWmjcjs_u4NI&eq{cca(hl~HV8|XMFzz$@o33_-nP&azf4y7N~V8) z2THS?ER_CkhY`O-UmFklk6AHk4`;9T_f7Zg@enD#!vs0t3TSZp!63t0iab`RaWaXv zc3PKVQf>75OC%aKnCQ!4lxD!S;(mS(pb{M?b5)9K{{|2)!}Pr0^FoghTVHaJVWu zu`ZM+>+$Nmq0n$;G|<_{dq);CcpD+_nt4L1YAZ#kMXwa7Zp!eBUD88@@MtO~9T8vZ zbon9kY`vUGAf=?7-1Yhch86DLxzUlMfq3iC2?JCQbm%0=MzgAd|Q2bRvR#54u_D z!F6+E=b!kxmtu9|a<9JJBX+%*LBDkVMLFlj(q6)Nsb?L9jo@#T@MNAph|l4Gg}_Of z72ZkAxwJp=e`I`VSt5qZu4%8021$)`nj;^4^(eHcn@|LOj89>18|AWiOhgaPVcIyB zu^)#m_s2ev65$N^GMAI27-<>^Wxlc0=&YY?Mfe8npzne5T=}e(gy7kX^Ek~;b)lv} zBetXZPaKnX1H8BJy?Q0LZ~@`6Sv-q$p=2T>5`N3ZF7$o{OP=fRh0wJh2GM{ZT|5zx z4-Eub{soH&cmhjD2{C|li}W=r3}jXyS-0EU+Z(GaKB`q&gQaq_w^$j42mWzXu>EN% zi;2&DKlr(3`Ofy$%C@~z7A=_e)_I0N2=izcdo_s{E7-NuyKF{z4kVTF2n$0tJ94(} zsQYkiq{=<|FFN?VCFs>J3kr~4HjKy)gaKi^*1bmjeArs;_zcSuW+p2^3}}l}`-vQA zHH;f3Cc9{{QX;<`M5sIU9m;lH)AhdYZ>W&F@r?a-4pWfF z`T$pb(y^ouDBv>&>yeh{B})*g#d8cgV0^#7lJ|E8b(z#0U~W%3#~6>uzyJ$ zM@87;lCe@!`H>-6d=RgaS1@X$3x7)UTa zh!?#~4zBam5B|PJgOL3vM(}6Uv+1m!W|7?}S#DZapbYfpmUOZW%8U+DnQqDdNA8_z3DIf4O4CNpWC@KW5!(#->^t@p zmoCB4ScV9@fN*E(;vzo&pPimQD>mobbJE1&8*`_1C10#^ikTK<9MBu+nlPEivU9;y z+wE1$11*x!A8Te9uz`0p$Z!T_foRP_6|gD3JP0Gb5oE2h(E7hz04h*+=+y8pvClLI zl~9d&usKrJ(l!+cs3mYU_kA8V8lH^1sj>+^WHy=hTxO}8ra||aK^yWiScYNtw+-vl z#S^9Oc@t{M^vAavy#%w#Ji1<{ulP=zx}yGq)JP}ck}k-g5&x@DJfUa6i-Vc{3ve4o zdj+j3e{}g#^$WI^OpMHPXE9l>^nUXz33vaXq7LXP2~q08pqZssc-&5?fXf1AUeMhd zbGJ0VJ3;Z$Qs+jfWPstcf`GGf@NSI8V7r?1Rq zCm8_yO39OjfJO`+b&?d{bek~{k2Al`Q>ytUM0Sr>uBU@R%T05ha9aF!c)!rxWp4S< z%J*6s4kZ&vFOVSqpE5waz{~k}uz&r7=YnZ=?2He~c0RMpxsu;T9S`M!D z7D|c5zUjGM$cW$%`8ng`n@YM`**nLz$loa#>H7u8En5ww(+wg(<8S ztK(rr01?ukT$6X^PNM~+*y^(qGwX~dQ~$P^Gz0-ofL-c+k~w)$@|8iF8XVq9cpq0y znzO_Yb}Jiu1A>yo^=cXWS=e#|XT6#IvBJ|`T>&&wE0Q>Jp zZ&gg~X?(d)1P-d9tNxFv0r}3tHp|-D6e$$nAoqM$tu{FwPE%J{_>_*)jp-X-XLW8r zL>M1h)SA6AxGno?S7|+KB;GbceuupxB>D&A9T)KrxCCyU~Q zxJ$Kl>F9)C$O}zTxo*zs4<<}@ZG8Jj8cAgf&UWQwLO8%V^WGZm6G|uR@@&fmzo-@c zanD=xw>VWR-!Y0pXKi>CNW@;cKiHcNM0mI}gm*#By=Hi=eP>xBjf}T>KUMDuQI<7m zK8qNM?|-$Xbo$#=vNuF(2$MacR#WsO#SWrA!BDZ+q1nY1g7|rmzt6soEIan?RD#_? zrcXqsw*63+&frfb;w&4uO+MAQZ=3Psd4b{*%M*^SqZ5A7L5WE(Hz}mFs#l%FaTDX> zX^-&-F*2uZm=ew*_Bn-)I7{#CKZgAB8L+t4&!V$2G+)1TMzL7xY9oV0L=NIuE|G+P~bQPel9ott#HoLm(%4=)d>)p$n#kRUzS1J-n+|D8g*Nr&b#h2fr>X@s-??L z)Y?$iNbNZ3-GiRI>B2sHAI{?;xoc;1PE}Q90kUfv=6_+S=)+~xr7LWw=fd%gOMFWP zorGrq$(x7SCKLR1uuNd`fSE-qcbBJ*5R~8j^*RyGmzYZGSIhbDC&HNehr9PViw?iY zgQy*4WXs-uO0w5CxfW;XiZ#?yN@+jSEJ$KU9JXz_^ag>X+y4+58xAIiIU%7;?{r{} z{23eHRW<>Y6inLvh%YA!pk`$J5TI$GrhY~RGINT#^uIC&IPU$t!=CDiBb_s;Cv;9#cs5g<+9dR zUbo|UuasuJ;$^*UIB_di$fHB0Xuu&(+G_bnBLT-zj0|y`Q^Uc2(r{b)siT7pFRcKGo0w_ zHnP2>f*r8KykcaZ07~@c))5d|+fKe-mgM}*FOTC=TM5T9&io&%)(p9Bso{PmN-AF ztm`l&1&*3CA_5i&<~Vc$Lz1))-ESpzYn`xV*q!d%vB=o;i-vHY!E2=8iwnoy?~tM8 z7ff=03dnG^u7>9C&+qz7r%xALUryx}_fHH9AqnLDb(`9O$ZRautX|n za4-CfYpQy(>3%LPaaSJ4w|i6?DlE{(858OODzi+Bh$`<`l>T$^nIb57{WqNq5_y@_ z^|X65SLVDoPH+;un)|lWwy->np4KxA39s%tb3NeY;4?}l*f3ucyNkGr;~L))w>u-{VJFI@(OL0f2Rj_Or8uuze=@cO0|rR6*S*lymso%ndp)?|a=;25xtpfE zaR$!NDTNxG%ba#g*J0HY!fR7yFWuB*@VuYJ5r+UF-_AxJtUH*t~3P%#$RxU-HkBPsz&=ko14`Cq2PkgRPcT zH!E9jf~TtgpfyJD44qiL8W~^6x`#$DjS*+6OEm4ei>FB5!3{luN^15_Rrg+IGHOzT zmTAFVp1zh8FxW>p%t@v<)sO7bQ(78bQzz#b=Xt&S^coFDEEt2`4C5wp+;m(i zlq#yvn7Y{^jf3dFY&LG%Z=h61D+#m&VFLZUW;wetZ&oq~9W;44XV^ZP=Qxff430_u zxI1e$iFLa<-ihZ~j<^3k9Xj!eSt&7z1M!=%P>#M8Co3Y-i=`;l=S`66-`ehr)hs?=AYG>*1F6b>h3HlqbHh29F z%%@Xj?1>K|loni59e;-J8^{kcJ@&f9az^x?6FVMa--1||QM_f@C}a*JIcb<*hNDG9 zk-BJX7a>rs*z}MP*D6A1OKl3@oL=1|3XKZY=@&uP+2Xsg-(7O2x5O}{1&%MNywUMA> zu*Qkb`(oEt(g5HQE?9P_0Af2r$9p^`o0Z0i(NU|t@f1b=^FTRjEZ*Flf|^o8gE?FM zzTsz10&P3%>5Y#ly53@vUV6eurQc?Cs$xAP&K?Ylx=2Pue4DU~HFH}j!ruR&WUF&m z-xFsK?j_@~z(NRsNwQ(>i&G$`&UKZEw}x+KV$LL%pCMNBw@)kXJZfg4V)b3Ai%FBHh=(X(3teDtM&bu@bzAIMt z&-OM^lW214(4}wv1+;ZP2AdoG!)Q@4>}ebP->x}DQf<|T%rp_(HOLnI)jR7Sn`XNg zOj}vdibFX2oNC!*;TT@3Fjev+zwAeT(@I-E$5WKRq0(9erP zUSSzgm_S?|#BmaLTP0Go8)0|-qj@2#&sPS4is0fJIumh=U@5|e*QdrMcXZp0u0xV% zP#YHJYrdkOF)p+8d)-U*2dh^%L<1GsHI4T}p;u^P$IfA;kz#6( z25y+Q#T}z|8J%8_kLG{3ss{Sl?@>UYj_+(?04lO*|6G{{8VPT`+sSfraxwt&Y#?-w zo)fxea+5^5`hkRhZE0O|!^Cdqs3~H!bCrOB0vsz&cRLu=9F@cZmH<27rk&c@E#9~V z3FlwT@gx*vooJB|9Go1HVXyk25ld@$^IV! z4Lcot(lm8(F-jDzrje`kcY}hTd8WUHhN?Z=S{jRUMNln|EcogdER*1IuIQPWa}V*# zqlGQU`<6=)aHiDQmBcO1E*j-9#fWwn=0PBcO#{J*9(*e+tdwA5%A2^g=RRXDzb|fk zM38v%rYSRpm=y6+y_(IJO67NbS^cX(bJMQc2XE%-FmkZ;-<$L(B+?WT(a8RFwbL`s z$$mTBKti+TQEZIwUZ16=<`xXNWBm`9%Z%r{UX~q-9gm(R;a@kF85ySAXehEy@Q!&N zf}HdMSLLaV#QH<2*fg^K9ORF0C-BsK#sp)Iarsr#^loT@sWD|U%-*!P7P+14`OWa% z!?=ZHLEJ=m$Tj0G1?x>{IhdEY3r|Z+af{hQlCmW73)Lk-I82?HUxUc@+nz}7l zA6}!D#SadRS!{cFGjz=F(QdKwbgHm_ynB`<9NmRmRA{qZH6S=^6%-8=qCjA(1Avv0 zNd6VjUX2+Y9SsZ&jQ-Kq+&m6oQv%xZ-@@C^G9dio&r^c& z3HKi`mR45mH#+qW93BP+BJh$Jbq1SWQ~%zcqbVE=DBSp`cK92(;W2wS^!6Vr-rXzs z=PppCbuv7GP0m)tOl=vZ*K5k$`Cu&M(>TYRQ^F|*ZS}O2bel%SZ?a~J=+@{fj|#f{*+ydzvsisb zvstXaR&Z0(Q){_Cqqg&jyt6*XcAwIhd#8ujv{&RTh^aJ8nu(JBs(O|exViIK$3gUZ zgRlY6zU|e)@8?^6YvUw?@+ukt6CDUkr}I4DO0ay)FDSsl#l`$RTcV;-u1W5~{T*%; zIQ0)g)&h{_ffoSFo(X_l>+5T(B7?FGp6^6$p+R!h#rSW3(ECBN=%PdWFN)uOWjBI@ zu}X(U_B^Q^_;)2J^5?&r7x-J1`W+8v{;!Y!aG3xk<&O4t;J+Xtf6)*=WMo}&8JlGS zFgOLwdmIg2Mj_~PQDO}+LWl^50SWO*1q0F#84r(1m)qswSB_{1wL<#A{{H^qArG#e zAPDq~KypgVf z7QtqbfEU9C^GcNZue@ItWLp1dyZsdo*O7|2~@gznSs?@HgJQdnY3KoB8Fo>y=>T zHR&a>#nYZ{5ZHkSWgfpaQJ)7!CFrPaDOlZ5qi0|#5{D%3WrLze>bc^$(qgnWPA^w~ z2wsi&ec8s&&U$h>-@2*r?}`)9?O0ya=rL4c1qEy(j8uQPoAQ6TJZaiM`d42?$QzI8 zO8%7r7Y7c1&+qwqVRTd`C-1;rd*W6k#PC;5pWZ>J;V+ZDGoH(_4?siW=uA-{>gLVz zoLZaTbL%e*7-YMNiPe-DxH6N9>xSg*<`sKjF23W&8VP&>u-!5;7+tV|AD%0(bB(<^ z^bZ_Bpy1|nENcF{KX2p&VDOU}7#K;@S$@yY+wBa;hz!Ako*_?x?;5nDeklRN6BPNk zOd#HZIV=0sW^$k}hosPft$+X!Fc`drNoxbmYnxuwMdhs8J-LCHpif5`a8 zBG)z4Ip6+G6)^u$_^rp`X587InAKPeSjr)7+bkE;rc>gs%MO@;-^r}=Q^A7%G~UIP zrN?om`2LJHz~l9bEoGbmA{PN37*hAjzn9LzM_|5|%gW2;q@)hw^nh9uUY?%!_xIN$ z>prkRdGZ5KJ)K=ea0rR!}!fpea7^*I)f%SU|-f9_Kwd`uHPQ z(1G;{T?I^cz&A0DZihbyJL5$?4uG=_zwy5tyYu+?xV^o7Zz7EgS1kYpdLRU@Ms|== zg+umibaSiQAMa}bx_vtWVA=&36<^01{##>~+3ab;Zcqr&=TCDZOCH}rIo*iIApM4m zO)bm)Q2eZ@p$Oyjz-UBJ_R4?nBT-EWunR%q0*(L})G(`nO_1z2fH|1|xAoyat*`%D zzasx@HT=l%&duXDoMHh05C3lJNsC}LifQF(fRp?QHwMvvnPhPT1{Q?u_TLSt^%QH! zZax`5V*39dTnJT9aAfNhS<-;#CvS6zetpNU9#Hp}pnp@<{iToj-5?e(E+`-eAz>bb zz)e{S6U@)>j&sL>ri*DS6hCJhXhQkVqvw1#z#JbNd%ueg1A0i$i*vrZNGPsHU@^R( zOeVm6;s3W1EIMs9&A4d752aO#)gp*6AkmGtIsc?r03XEC^8V>^swh9de{k^O{+=8Q z!69j`0C6drtqw)50*e>(KqGpR>A;srf0FVcnzgP~Bc==w_%#y{O~A#}n=%5Xi%}#I z*5~N?^t^uR2SAn){(pJkuecG@%e@Jr2yG!yFUzbeOaOVXfRbvI36bH)?gYZ%lxYv( z%u<<>S!0*{JOE*iqZKBbdGR;h(8Su(%zFcXivE^pGpXdxidUu-msR`esfj7>w640g z-or39g5UIa;_-#u#5%7=dV{B>M|Q|QCD972nR+5_qGeE8^m1Br3JV6 zl)3x@cw!6;chkdsB{TKB@p1-%d5!uF*0M=iZ(pT5dp+GKQq!aIzmPDkg4R<%b`VQ@ z&VS22b(09`;RWP`@!h);cum0s!|Ik8H5)OEhlPe(?=W$wLl}^?TNIt4;e$u@RG!PR z?d4ZLqe$uVR(Tm_)#6%q&|(P8wQU_MOLuhDMqnU=-}1+s()s*N6f!=PcyOq!E$#_d z>gQE16#v+T2^97BqR`8?e}1L!%BxhTRgFb=~~r|`-(o@}#%O+Op;2;0RK zV0KhK^!K3EML@Z?>Urq1bm$&$GeK?YD^3H@EbEcLunagbcF#;Y)gG~TWBFe!$b4tP z=6ub1M!W4==kPB`inahoOo#dKx0cT6T1QMPV^=jQ#P}8}-pU#}Ysa7coi;1F@4CW1 zF>tKZ<=kr;-+AFk_InJTuAy5ng2C^XLP!8(o|Do*j!xUg!aEsV*sQY%)m)8{BIpUvQPc9WTH}^CL%<9s0AFV zg68nkq?tO&$6_yaaG-x?d310Q?^`45NKDMU&$unE||qeNdCGkQ*LDv>{Z__8f1QVe(mG2 z3Kv{TvCZ#m7E~oQPItIyIc659sTsvqM+m{FJT|R*NDsPA)%y1xEB?0^;*r<}K#zlS z94@8tN#>pk)zu^>+mBw3AsGiU@nQ5?S-ViS)34r)<%631EF_C7)pB556k;N7qvAcCPv<`lp8_=UXZdg;VOD*g9eAm3SLIxsUh=t zH=h2sPJS-PTyGJwL43tIbWH=|#qL_0{@U)W+yK;>acA&-maX$4Z3Ox;bFG@7bl>=k zGjh*i`%-sPT=^cf%Bs-8><9_10yfi&50t1_GfQb44O4^0>u(XCXYJr@Vd}TYJF2Pr z^g`_g^&^i92CZF7OEbu!G51d*_CCgmy9~qvw?$9IDNc}(SURM ze`^>}(UjWP*UA&h*kF0iN5>5YhfTGLLU>lT!M!5i@B$_KsZSW0rotQ-XjPo$KVUtS zMo#efP|M-Q=;@|+*y`D+ig{>?na-x>cNip^OYpFZa;SQ^pTSHpo&S42l6>!4%eVzix}V%0rI5V#w9Zn^UmeYMaOD`d2i`5EwjrnzEwSn)Z}sL| z3quriQj^qElM=Gxn*Q3SQtLyGqPX#AUChxa!-ebL=Z19WRK5{+s%4k(hNK362uTg2?tF<5f zj^EWruPbVDE|`V7tUT)fMPXramb!F$Hi5ZfRJrM%5V=4V)%;WnRrfN{slmUk>MQHM zY|{Zx^!DuNuU|Nx+9nfN3M!6bDvp%quVKe|D{xdc=ZWSb^Gy$}i_U8BT4C@lJXB|; zZj1+iIWUUUne^_gyu^LeLb`>temC!DRb8?piVjR@&uJ^>E;eBPrJ3Jdj^`V|V*QpRk(NcS55R zDl6ZCS7v0px~A*e8i88XAH3M)uT6-K2QAW#-;mO^)Zc8;EIMC%eEYB!Kf&Yb1&*Qg zh;!0=TtPBkHNLf@yY!%~Q<&N-%1;!d^vr7_0`Y#G`6qCZwIW+KUn)v!*i1ZqWZ+vE zL-kqKmNGZ%Y3^bP#ai3DIucLuinN*;R3^9)#Xdfz=gZ|4ZdsVkW1vX(^fmG@76v$cKO>7x z=c*E?0vO=%tw+<}A5pOv9MiR1KC1GcE(*dvl4($|QHF3==I{#mNzzL8OAY>rW3%-W zbSel7r`f(QP9C|a{w2gkgGk$VXcdkmsJfSF#ACbufbKcd6+SO-zI?3PkM1Z&tdm^* zcaDF}!&6K%d&MJIQ+|`?umy(!qewxgfogH-q~hl_e7TL6$6ud~FymHLm3n6SIuXf! zHAs0hT4o20&?>cqtCz)}+IC(64A$C1@*Zbj5}F@z2SoKWYFeY?NF;M4vZ(&y6HhjZ zLQsCfK74icKdGhcU=15}y;^59RFrGCSeekd%<;#MvIVx3Rt$<-oug-WnV@${?$B1C zo}bBOQc&gU5ZbL-`kq8E{5|h7hK`C>_hkD2w3JC3 z++CIWynLd%e20p90o(z9>&O*nsJ0F@zRs%=ERSJVq+D^yYI8`~LC;)$XuQ6h6id$y zmgqdqYaRj&*0hoBNWRnEB?QA{YX*Jm^6o+IJNn+N)IBgHwVvjpHl7EEHfKuOO~HC6 zG*k>ZrD+NKAG!C?GVpfKc6?0}*-X^c@5QiG8!8*wNC*v`+{IDH!ob+>B%599Hv`|A zzZ|r+s6ukz2J8J9Z11iVsd08BRJ^wWcN8`z7N?C=SH-t*h>3mTVUsX=_(u0GO82jq zS!!Z2^_hcsY?Jxz4Kke#3pvN&hS_> zf4ALG2DUVI#O;N1z0&4nXNKaZ7@NDLNn36z)tukc!}iULwhUe{Mr`kYP_$yNpJlnL zzo=LUPkoA0O<^q14$U>j*74hK>kOpuRT~T^yR@40|1Q%qShU-bm(+ED@z7uTO(NHM zsRf=7PTN;DUm@C;qe?;XpT$4ALNsG#rmtx#XS4Gl7-+{c=yY^7Pz9gZf#n3%+P=M4 z*;`)V_{1gMz%_p|KT~7FuP$R`t6o>wDwiB<4>#@EQ#lQ0mlX)Ugl8wQ zH+WToImqdc4Bz;Nq4Rk>^8HkxpeiK;eB_Ret6ggq&Q*Xg?@QxlS7(1zdE|HRrUT7q?vvo4ErLQhow_`t}w3;Y=f?WKqr&FjJSxkQcYTHjWp6ZsY zs2Yxq|7!=kP5gIZvbO1~N1VYc(b2H@f5cE>oaJ}xL#6gUi_1`HgF7TD_J$M4!KW@u z(l1VQ*Bq>?eEBK8kUOstrFN^AWbuFs=7vqRx`a0Xk9?$B}~ogFBbUTh%* z1?uZ%jE)3K4(8|s$kgz_s>NWdo-nQW%GOr)XeorrH?eDI`_mC&NHGbYJ)}1@loG~2 zeCMpW`Kb129^P~IFzwz>tL7={cG(nY40Tk_FOuLv$Kb$yy_{&DC#i4XP2D;?rHmUD zF-dYS?ig+!WYXY9$2fEixs1>j$m7%Maeu@2Myzox5CelXvu0&Wq`e3cA;e3H$+bgQ z>lS|_S0dpx&Sx8uZ^gVf^r#kdoz3)($*mj1)JK3m6b(*C&@oD8RBGia7_%2FiFToG zYoq_VI;~;A?oalc9?1S-P;${aok-}=*vhQ^CUnb zKRfxM&&HzgjR&(jDJ<)EKW)#3yyGe-cfNTCBiW$dD0>#+EcT1_YZyZPq}EEhaqXDF zTlCe})G#12;+Q%U^Iaq{R4mdzRmHj)r~I#r1=@Xc@t)l|GoC-uT83Nc2u9~f##S#% z!8`Bp7T$3-n%s$Vd3TgDY3P~UHQ4*r@XMwwjl3qzX`p0@>!>Wv+yag%IQIXnKE9!k ze(05@{{pp>yLTWtN7kfL`=5=?%E{kL(sKW#&CDED1EtOEl1%4#j<1DHyvk$L-R-3T z_F*EfK~7QYQ@RKfOEzS~?)T{T-+JP_yBOxdpNM}KXrsuQ9>;DXXE4j#P`F#mAFG=x zEtM8m-mJ=cDU^ny#JT#2G%?E#U}CWP$tE=#d z{%u5Jl`mDuJtmevj}=A<^B#v}U3cp)ls!&u9OKYsKP(*utUcq zyb}}K;O79QMyB@{EUXzvAFgc@f|Z(~bg8Yq!|`MKy-*jyL%CNjP{2zzGc*67`3yl< zbu`TzaE;=4796|&B>SBIDSG3hg{FqLyPJ1lj&gM9%$$W?hGOeHmpM_ureql%zbtS+ z@8sTD8=QqjjvPKwHaV1RVR+5}eROHcj7j;%n8-aMUD2`DG!&cfMux){(vLXYQTSo` zb*H8oR%7%e^QxT`#NNNF>ssN?Wl>lC;4-2I&|E+Y%L+j)`w%MR`q zC%Y!#GFRwnP05@Mz20UGo!=!byANN-Z>RXj%MO-nh=Il}nX<&HQ(x(Rs=WY%s|&Ft zpvmu6MvWJ<@R+vxhvxg$$@z{C=Eh<@E!w$v9cCngYqH4QO+!PQvBYWQkqb|E`05*D zE^ZgWX!gulQ!9&0f1~yW)o+(+)To~DC@wSREpw#IQUzb5b+5ymu(*!E`z>|yw_36~ z>+#Knoo#)H0V_uIbJ}3A@oJH0+Uay1n(|$k{AXwHJ>x!2r)cO+%o@$V$qP|QQoBU_ zen@I2)_)g-;F=DzA@Hp8H7XPtkkbg!D++3+49SydAGg726J92HyIupD$!Uwd%>^Zh zL=g*uB=wn7fvn2*;;W7Bs2`qk%ZuAev($IB`5|n;e{f3LIb2Ij3cj-6 z1f7GI2K4L=8BdeDR@{D6Je7qqva>IVx;rfAUll$_)bxR7_-&p?kPDy_#H!pubA1I6^ zXB?R|{-3Z54Kxb|i z&Y*Xv4OmD`8$Y>toX&=hW0SU=t+}V`j`|LPw@zsC`Kh1ZMS$VJx0chJ=U7}Kb2buj zJR+uZ5;a}VWj68UlUwJ`Q{$miiij1T^Q}sWy2hC=8-^Ao>@I`p!=T@U*p)fl9d)eI>LlX3N*P5eDDSPR%fGQPcef z+~%mv8Z!b1SmlNmbur86a~Lr%?We>_MeIMKKFw)&_GrrTwICg7Ro19&UUL#I(g#mO ziQ|LmA}Q0vjhJVPc<5RE0*Sz$~vNANs)L4pn&z> zGefFY<%838jO6Tn)`=Mf(4DO$r5ayj6Y=z*PUB;+gXk5zOTu8N> zu#br#u_`SR-FWxI=IxZFQgg$O7;_*F43 zmY;1N{N*E(Lj}2qWg_qYs$`p!qlq(JdcqNYKT~>l%9GNymGb5OlO$qER6gVzt;WS| zHMuC&AMj$%V9R-Q#+Q#5eXpy=gNW-=cGh$y&Ol07qsQq zC)Xcf5qM5~sSi$$rc!HC{Rv6LCYBc`ezVqUK{&)1F;Z*;6>$l)*M!$v;JEi|ha3%p z1bbErKHY!yr_Y09tXCBYD>CJ#{_yLlt(|xOwyrn7Hypfwbgu;!H6B2nGklX3k|A*{A0_4WXg4trz#qF0XPu{hRX-zM#qJaCOasSUsOfBk~ zKzi%gqyAuzAl--{U07Mw!-K`TxuhyQP&;m)8@%N*KtR7kRg~b_Ci-y0^xMUMPJj_D zqL1BQ9RV$Xb$SoE4~-aNc2+(fF<8OYjc(L#ep32=+2sePJA;ue;NAnW3c3s1$MJ8Y z_vtc5Mym9Bmk_d(B5@Wg-L+aKX5)&x5k#}ZKCpZr5g5mCy!Td~3vXsB!ghwIErEaP zF~-B@&x_mG@|rlW;@GjIQ!8W?96^ION+-$Cwi@DV;bv3q!8jbHvl`w|4cZ8&psNTo zU95DU$~hmWCWymWdTUgLa&7O{4B)02Bf)cLC1@^Cwe zi~%siP<{Vw9dC=Uk|r$N$g%1}*VfE-qt}>5Y>!RCMFa*YJd0^$BL0sP*^Cd%`>y-) z{Mt3lk`**y(W00J!!dVRc@)ZT) zjpZUHydXgYy|i|$=IXtojY0+nK?V@X7mIXvaS3Ri(eQirGYcw_P2g>#;<)~~YA}CM zoVS`~kQqlmHA=@-Ly(qK`02V?3e1{cGHLDq$GKpp52|WW++;j;+INkKDCyv={JY(Xo?z#oxkMuPH@A^?_lBX*?CA? zT|Jlp6_Lwjydjo@JQCBax6~JZGr@og4MjauYvfB^oSqF*9P$@n<+WlG70Wlbo@(sK zjbJRlXE2oabZxUq9Hyb>6a$07m0+ zlWf)WQCJzD|Hzk>pR7!IJx7yix_ml1*+&pXrtQuB0aKDasVdrWW@`T|1^uC#s6xBs z$M0!XO_W+XinGO|%zwV^yDNVTGU15{?5Q#g=rL};6nhsF9ZFBnGa{ansyg;TbuUfI zaxL}2ioB7v#lDj4IqxVlBoN?wRV;BC5U?^d%xX+=J}#|(TekV>m|xZKyOA8>(~o1@ zBv_3Pzc3t+e9t!@x2V|MC5r&5(O0wYdgRn8#H+YP(004c-Nf`_DT6citf~`h?&*W` zatzzDBDzhvFjdwy>CHtUIRR+IcE8hdmnoCia#-sU(^XGo)-1~en zQ_`4LXxT*&0bz96sMkn=NQnpC@Q}2XXw<&7A|A=)B<*Gw7T^6*#qZkB56u5xdv6^T z_47RrFQOQf0umyipaLQ#NT-yFfQXcoNQrbei=uQ$cPb#=os!bsv2-lWQcLVUv&;Ma z`Tf3sJbymte4leZb2zdt^P1P4JGbwh8IV0A!J1u={QxCPCTMSa#IG&BsrK-%u|s{{ zW{>0u--qTrB?>GlG->~mFc|&HsSugpW<-_rX+A*e`4|A3ji>C0|J$#3cI3C)c)$%7 zA!CgbJCqDGy}_(YSu7oLmnVKtgrvhabMV%t`o!u)U**2;fIs-I8g+Zksy@&t`Qv$A zVt48~q16YqAK^YP@;fI&vUr3S<5?ZMkG@e;u0&|t$?q)x|j3kp1@;^v8& z@v2rGap|;-zC$BBH>UZOl*y?5(TDG=3MXqT2aStp;O#fufj#g`)2$YHS?%Xz-q9gq zTswHs6Q$svm#7KoJ|6uJ?jSb5=J2`wv}j^4w8^P5X>pN`xh~>5so>>iL%MSz<_5{P zmA8c#%9&jjG>x@h8g`iYlZ%j&fsGv3{ zHjAWWBXi#;g{r4M9RK=YDP1fxI%&40|3G7s($CNUC@;%u%(r|b@dJFf`(ryV;Wq}#YiR4;ZQygC^>*JH z?`-{yDYSOE1<03SO+)3$`(w@3#;B+~h4w`*U6RoqGqeEZ!bFn=HN=bR0mgHLIR9m~ z4s84a(EL(^HfBWk?$eBJb>vjmrO52;HwmUCoFmIcM|+%4aNlIPX8+n$iGOr7-0+=B z?oWTn+52&z*3CL)9|ZIL2wL)Cc^RbXGWKpJQ@fO(-@86LVVRMah}bTE-hB1BNPPIf z7R~rx$#?&!wnRnpc;c`~x3Mf$O%M#!>gk{$k%dpzCvUwtYrGv}cQ>1jsqO*oXlMBv z&ZB$wx1plFx0~5rS@ZMUbSO1KbJU_$T82$t)d?u1`==jhQrKxhl8IkjYP|H2o<6l| z zqW$U)PYcForc1S2G#i_g(#;(9Z)36*Jm{ULMT`9FPDPBAdmwpoAbXD4{Lqz2lL7eGFhE^_~703P=yAYg2qQj3~k^z$N4PjC1X&0$B z5kGs9Nwwf*oxg=gOk&&ibjj)%xDiFwP&U9pB_AFat@n*r=C-w0^W`%P&Gd+j)1in6$zUTT5 z=z_68y6^;~G}V&tcpSu%nrR$EB7I7s9&#=pK2I&}$j#xu}mM2f2qLpEJ zIxrk4xe^X_>8|A;`=be;+a{}Jeos|V8L#KBlxY3;fcW|$BAU-VUQ$wX!D(|X^=zu< z291nlfW`*3p9ZevLvgV{sCzYASEg`zM*HGRiU-jB#=C1N$&BRA6=oiX-SK~giL z>9=6han3j?^sN2(tMfnGlM{8mvAQh=E&re4=!3GAn`BA zcs(e1w?`csz>xQNfy%*7O@GXkIP-R)k#Z$fhwHNyvNYGF)Q@RpZj5D5o;AHzhjM3ePJW7k^_L2d` z3lfsIB~P+SqP|ve=w$vDZ@XM~izVuZ7;wqOgLi{{@&AI;h7`aeJso5aeST|p>0S!n zrf*G7K>Q7rJ2isxu@y|Y=lTjj+0Dt!Z_wRZp|i@UHhx4OTJgPQ^M?QWA4B^sT`L!X z@#l9UM#(^KRhmcCe)4Rr=cx1V^Dyh@VXuW4?1RVLIX=3miocA%^pod`{oV)!Qtpkd zff4I{xk!z+dsC#}zl?h)Xpl_*0l9vO%N2$=x}*~o&B;avB2Gd3NTE`0)lNk>tJd|F zT%M2djfYGyqH?3Lf_uj1kwN>WFX5>_-dX#zu)JT{s=d!1M&=);Z09Vm@gwH#k8w^W z7xdV)3+Y77Pd>|qpw+Os%-ew=TmE&w`O<>Gn0Tl3-jM@xL)He1o zes*#0oL_VkCqH>^`CL3Q=(vjQie$5+g^#8jsD9bM6@q{}43sL!7{<@N$Y)V}6v-6W z%PH??yEM`OkCHQEB81gRDA#gmO}_x6vijSUO-=ON|KMqD5zaM8Stk~ms3I|>7Ewsg zE%6|50_r|#N+06V?7vs8@>`8Q?-4sIXRuFnWsgOP?e29;ptUaPhg2V_2p>JSzApPt zCoxVl(Ztoy>e@_ft!jS(Pk*z0*VM0}=vPwKoSmv41b?`$^JlsqXfJ(Mxb914&b)j3 zuFe-$@8rBsJ z_}LvZ;ZCdO7rzF4+03;?aQ=ko+RzBp{nX!*R}OKNd37=eI!#16#Ir#S`?Gx3-qO?P z{k9nxa#xJs3IVnH=a0A_vk0#z!`H(ihF5Ik6LlXf=m+)8pzilFk)gu2ty@T1UlwLC z-4jsF?CMsHh#y&ns|Qi~4*l7^b!3d=M?v;Q-Yq^h%xkk}VPoE5F{?x%sQGQoPnozX zHi+el{#IX(IpBGPH$A4(Ih8L$um7ly!sQEh8T3%yhYfqGWqA~F& z-^BJVLx`NMeca3mx62X8Oh|k=pZZm^@P#TfQ(eX{3t%>MtTR62_`CEOv%pxy{aX0Q zYCMm3F{X-oY=4NxB?8HqWqaU-pLgUc^-jNnS`{z#H3MG-yB2?b}EE^qq6KGsc!*pk#mV!GRDjGr(kE(C=0MaKbzZLpo_m} zDwKdM+VKylwIB^CEq&nB#+K4VB?(F;h**LxB|{5>d$zSalqK+f|Ihkfyz$4&|Ffpo z2|Slt0m@Lk4WE&4eyOe#rTp^vr^Itq3N9Tq`laN;7W6|?dhT=Y!Av_VaNO<@!>#XU zbK?z2h3hmuG;bI?>2#DEZ@px&sRO5{zcYuPpiH}4>udj%mv6tO7IwBp*N(=HErG*k zd{&WixYY_MD>0F+q1T<* z)x*rEk~c$9&sUl?ec}}_;I=f;g-H~f`@MkfC*l%(;CUBu`cnI)v9kEy0BhTreecMo zM(KlGKc5$iH_31L_+koh`@AiGf?t@18?CfYt=Q2Q4su(aI&*U|)FgLj*O^LFKti3= ziOwLqBoMglCi|_F4k>z9Jo3i8A2y%q^q=TG8O|Q*wGp|S6D`>7l=`j0Sx!nk zih|?=eA)M0)DIPKoI9CS?D$ny?}5V0yZ=GTy|7~ofeO`pwNRBVIKP>=;VW^&Q&q>d zEob(2I?|V*I{%wt*RiD8K{fANdr7qu_S?P_pMW1h6xlRn=_F}`1m&{^l zX!zV40&!^fxy6)9gd6eqzN1SBjE;+IrWdu5y_YqCuzMo&(f8c(su3?T{)(T^8;1vt z5WK6Iu3Fm4V_)_iiV-(nv6%F(jY$ImwkAnYZoD@uD(&SY`<>{P7xMyf3Mh@gMtz-t zp4VcAyG&-joV%gH3#P%b>^uVWP(acib!}UA**-xhQaLmA~^M0 zcLF=3*sfDwhwO*RMyb`^5BcyJRIow_l=NEF5QJ05Vnxx+hzT?C}@YOdL0 zO6w&!4SkkNdj@r!&iji?)ubO$MtcF@0pUuX5J7;q)>qM#S>!o-Bg@vNt7_1-?St|yL%h|y~= zenCM5jo7{9kt_CnlSC4|2IL@L=f$v))5nSHVmKyzG_|mCat$V8RUcm(H!EBKHaP3PD!)3U5H?zU?0J!CTRHZ=h?I2wH}1of;jgFD#oLD z5oN2ndb>tET->QZYTg?`?mguh6)w>+G1sYyAyc3j9jvt_wRNRyv(GKbp`oGu{HePs zO<-;aE0yJg^-r=-7M(`Dw=k?ggeB=&o{i1TC2M{dYJPR)fP(EBfOFrM?sI7?iI{>2@|W5Zavs`Q z;lpU%r(49O?_UdlNokITl~TJTy%Ufh`{2CE`70a8`S<>}xer!ui;C_Z(_)6k2Ddrb zeJqmrwD%T>OB-8paaC-%9Fh&p;(ySA8I}L7LUhc1JyAb*$w6xVX6A1Fr_SFRbco)@&9_T>Vanmz;mLJ*rdx z`0T4iHDQmju8`i-*V#yIgj*m6Bd%aB@mYNB<#f~!+E6+CHZ4FbY$}MHhyl82I1xhk zErFX{4!4t>z$_riaoEaOkIAqX4{TO?mL^NzcW)(F%v4xOjQxNlkM294AO5PRR&8`V zS<9gEy2bN=;|}M?=GV|B{i#OwAe8lPYQZkRTQAWHl_25yQave8wBX#ys@~DW#O`LW zXcrj|rNsn>v%J5C_Eg8H{eMKG;HG zcgNMTQA~$`7~+Vn4F~7YeESA&<@{oil*O0ndPJkUfa9SpD?6QnL_LAIFNVkfvx3o7 zs84=23|~6%4#-&5y6g0`0ZOvW$m8Lm?K!1@xlc_RO`RX%Q}-s^^p#Y=6YVaq&sIr7 zl|3JGgy0n=^_(Be`Rdx$R(?TrcVF%P8>e26AHDx01wLKv0u!-02`|`f@Yn-{2zxz~ zgNC7f{&u`NYxDX3T;?)l8e5AFvGuR4MCzdSD10Rw(dx%7{RzzN-QC@d(pMnD)(4*# z!2Y6+PWc_^tF!@8G_tqR>oQFst+4aRU4Y7YJ)J}}(g@6~LgFeqVsZ%Vjsyxw0c>JT zX{uDJ<1(Bvvgj=@7Dc@Qi-uPeEb?ZLuux5?dZ~(s3CN!`&ccxq68b8uh1M--jnh^e z-8Z5ec;8G^^Uc8)xmFg{W6`K5I`>1yu2GXfZ0Rnfr51_rB0Cg`FRJs!M?Nyb{A`li zRKl}B5l4*oyj;F~F0kUW-EDM6M8vR3eyt%!`MmouP}9KJP37fdK2sA@W^z^K^S3|Q z@3rg}izQqq9a>5Cwu>ov5(Rm!7yo9Ef7{!ngZ`dI8dn;82)uI9BWolhZAoY(BdT|WjGa$_A0I%y|BsBv zC4KbT@nBe$^~sZCQK-Pt!n%o$@NvFdG(8^253OqFgN2+fV6nm1*>{2isJNC(N42R1 z?Q;sgh#Ni0&Czz`47Er)-Svj1r%%;5DFGsPPLa=;L>iLRfBaD@xz|+;B@;-ko7?0% z=j3&$!)!2H<81>x_#v6!=41#^!}26i7;R{8B7><=Etlf*&Y7(Lu{~GYx!&mr;DYPa zB-ehw*DBT3nu4wqm~6=(9L7BRy)1YMa-lP1@4--q z`cA-J26CoP3F!NYIy+LGd%KA)TS%LYJ1m82tH~!`F)`yT{!tT?vPe;fZC6C~=hA}v zI0Sb^6Hcv0Ma!s*W=BE|pxO^fe7_N8MHvds9nGgQxx0^n%_O2Hv**9MeX9^mIzly? z)%Kg`0ktoo3bXm2B)QM8*GnnNeha(-an@bbL7%9m=mCl5Auj!dTy(dY^iJS%J^Gv- z{ldluk?9xaO^nLU+S^Z)-S`{AAVuGw%;J5CgS&u`Q1mSM91i=Qr0@140;#>Urqs$! zdCSSgCI5ZtE1`E)zp67cGuQg=OQi5XksF*NBaN+tay@y$@3L9gwR0F#fucVGHuiQ(_E?Uq-du~TS4++OWUu7)@gKu zW6Hv%n`%ojN|R;gpO^XQ@9L`y%}bHhbYQ%>119eY*I)4QzQrIdgvg=ak6F2l6t)M>GJOE|;UVy#8_D6ht{Nkb_wa8~8sHE*IG(zhcjP_Z_ zl=kBmKS_u~cLYn+I=kkosaxjhRyDhj(AjPqU45sbczz%yCzxu-fkn>w(nsN22|({d zQ{0gq%6hE?LHe`=8Zedkvz4B39q6<0H;KYVTkp2-kIC4;+zu7}qs|w)e}Q?x4^E)z zTi0@O-A;~rF&dlZjt9pcG0pLVbzD6yn9p~1g=i*H?$kO?BrkDWzQR$3B5gtQL3cWqYOxkdhRkjqA*$6F2*ad2@x z1ixU7-2KF)q@>{BUa*_+a2sZkb4Pc7J--_WIF=V5Abk_joO+4wCu`%yMhH9i4>t=* z{Lv)k=BFcaE4}E~lJC36c}Mby&YOz43{QSG(cmQmyVvzBrRaDps&!^(90!r;q;lW% z-T6u(^OkI6zN5*g=rJ>c(^c#2#|kn}T%CX&@r{UZHZN;%ZN_b76C>zWd~Pu`CPDih zT3_q_giGkP%^bC!G&3a8^#~RuCB-)JaJwc#R}p6tlKXuYv~}AeE`rsCWuTkOb}fU< z?8?YJn=o_jD%-XB@AwA?6hHvQpZ7Y@L^UUJ4noCO=^l_!i_>5B5YhFriv}e3d{m*^N^>HQCgZXE9XhM% z{XRMda`|xnYm~ReOnA+w-q0YQ91SWQn}5U-v#ft=I`=E@Sh62>stRDlu9|42bLpYMXu7#JA1fsgO|2|kp`qLOn{ApVc88jJ)N zY$Vj-DE747Z&E9zg)cuoXg}sQK8f5xKkOrntWir zp#Qe-4TLSFN$MN%j<`?p$;z_Gg2s~VB6)P}4l{w391tX0)g!l*m1x? zTuRd9aNhqU-bmU^X|jG?Z~lg+9ahhtvD*x1Sqt_qfDVkac5r)2bPoTaA~o@iaxrjB!Y$is6uV5J@GGC47EorVmu z&xxHk5N~+iFrf{~a&w7s-v$08{k0xg?Dr;itNR~5KqU1I4S5cBjqgJp?Z=2xqk4&= zQQu&5o>xT#T?-DJxy}MOJyKrT_6no+#(}+NX7G?)AhJ5J*Y7%J*R1V71s!0ctFQOy z!d9XZ8j*0)yc=3HV8L;X=9__`;WEeC{rt8JC*du(?b@>E-V7WzHjnrgk8r*q6e1J& zcIDb*lwc@geEdH*pII-yV5CsZ&zzyvR`S-p12(+k{U_LhN5#ce>`jwEXKzacMYU{a z4G$|v1O}?|<@usvc27pGog0T&R$kHjqo&3Y@I5y-cjcXhZ(v}bIN=k5rq_rB&Ta>3 z8!lD*`M4yg!06CWv(?>E@Q)nuBgq8BJhVCVo=|!f78DeGpu~5{9J0wO2g;&P5r_y| z3ap_9@aQ?#6eLe9D1e!J^at~vL}fjZV`{?Gp#eq30m|M}wo zy#s+2gY;C@Zl%?Nmq!S;|9)dPH7^p_5HY|#CwTkM$PG6gdWDZDCsp$_Z*h=dI(leV z*!nI}FE1}QN?+o5abf9z11Rn`akL%+cjIyZ#^He^X8>Zh2QsE^`Xq|=Upo}UhnsyR zQ$rYJ_BK2J*{J97=huNHTNeTD>c7kIVU_yXXEInr7pC?CLaE7CKJ?-Nro%;m0#mn4 z&1FdNe>%KJe=RL5Bj+IT_=Arv*Z@zRvOlx-cg$w+_1x0Z1y$g@JGbt}G4<6<+Q9yP_r#i5mQ$^Yp%iE$n>Em)4rii?Xej^yWm zF;Xx)H>YcE-cw%RQlyI+lw;OSRqFs~YgdaPP0BD`QS|;Gd%Y%b5<$;n^x@XCs*b&e(;d=lx+`MWC}Y)D zZ{EB-L~=j*E9)Cm{I5i;V<~<#G*%_b;C>|&qh{Tl31=~y_nGMyg+FO>CZ2ENWT_Za z-fo_|$AtHd*;wkDDQcORLCPL=%m0ua4{}RQUP( zgSbbHUh+%QCV;W!`JCdOj;^lP2~q4CceVj!d>&b>8ay>fL-=o1&?`{wd#3T5)zSJc0 zY&&%bIc3wk2~KUOak&S9p5v@LT|xEhcbr$h>Se^&hC1D zhVv#K7J7TO+WmncUhhqysz(-rTZO^?J$UW@{MY)kN_sny?HUA7_<9MrUv6TsXPBXs zAy24NyEFfF1+7`gHX{r!j+at2GuvDU?s=VHV{Hw1kb0Z;nim#snV&Mj=Ep{5qIKxH z1VM-9YB0F_p$=D8nd!>}cJN}revU_C9L<33llfmMDAX^;(@mi{{KBvdjPItd6H=h;(9(P7hc889O?Q+vDILs+| z{5=xRQtyby^YxXSuUgOZcObqjjYU4t`gIju5>xdiW|H?_Y}X-r%+Q?3 zh$D2F`kOZ#1|8v3Q&Wzr;tiOU^Ke$xvQw5I&VKm_>bR|?aE@}oKE`1(T7#N~qDKR% z*S94s_u3g1VxB%^XJ?;LzR80jzGQ8Ga@M+&;ryUG&mJFG_9hC~JMM=h331exmGR5~ zVf1aT_7h8%%Gt-5A=<404!Q=5YDrsGIm-H8#g@G;=>x5R@318fzu zUkmlxPO2ZqQ(`!;K_uR3Ii?)ueyZg#eb7p6A*onmrg6~a4HeiXR?ymClJ)D|pgs}+ z62J?1;KGN0dn4I3CU#z{sEpW+YB?;&7`0a1h^5A$<^yaGfv~7O81bfaKOQ$qk`pcl zikogmuvFtnsoolS9F!n(Yg-5cxl_D3S$^((n1g0^u|L|HCR8B5eOoS?<32E9TXp*g zu$i0FVIZ`27ut^2N4Ng~6}FyR{#GGR3vmK{jp}JoaC7d8V(T%R?<4}MKcJ{TZUH*H%yj%|t685AcGRninwml&)y0_TIA30WZU!2e6yP7H zxk|KpiKTe2c1F~`=z3S(IS6i$9=(P@=HF>(RPROHmW`^}-y2BVt}S=lj(YX#6|0s^qXD3C>JWjM^n0773EKpA36 zMNWui^j156Fg4)_u`fH(4Ds@F4 zfz1v*^)jEX!te`_Mk2eD*EEcc*UpfLpGmXOwv&sI3Q**U>^U(*P> z(K9kKZt+9f1^^UU+2!VwDq6L6CUyrSX2Y2h2Qud0D$3{Q=X>3@Y=Gzy4iPjKX)a)x z<-r^gCX-rFu+zbkUvswC2@V}9{P5@NL)l0Wp5Hk4ij9pe=do}%K`d90UxHXRg7b+E zR{Qm48@{Z>+XO+$A%TGy$!EDZFgSP$^i{b93|M!{@80DAjCIF8%dbbB0HrsdhzDud zjR3a+bueexZqERGYylxT*pS>$0u%-$=!;73`!sjrQ0EG}^$|j9o*bQe_a-kw5Woks z*LWH;RSCpff}p514ye5i)HF9Yrw{qt)z#J0vjvn|8_I&e1c&s&^$h1DGYqN zEQ?to(C(>WM#Z#0SfIg&Ymu1QgCdGGGbH!&7jxWDxWU-sq*3dw~nNupq&E z7yq*DzyWzHD)tx702cfG&&%48D@oAH&<+D#h*-@(-@Wt()~3UjYX!7}0%+si3o_(; z=j{@s`tl{_uR((VFp2vZRSkwB;`OS0LICkez*1>LN=Hu*8#6P1Gp~_>0U&R&jeo{% zn*HNRyqj=-a?sh+Ba){Ffe^jI68$X4{`x383(NXVm{Uy~z+m{rNOSz*9T7=M?BG3t zU;g=uO2qY89QG5OyC3-NpRbr7Kkn%572R>cBfMk#u@yWYeeoAvY9YrR9PQ1EdHYU) zdEdK0o%dz~g*yi5PeT6yr*SdqntD|?aFs`&<3DTZ3s!C$feZ}|1vrVH<%B>^87`*% z;LrgX)!7K~ke0fb#0z~Rqp0w3*Twdn91MSddUr8&P#>7L=-%sk_w%CSVm+|b1qv5X z$o#%oY8O#1u#y!3@{OP8kXI?*jm$P!|%QA%t4Q)v;;3{5zQbkAJ$d zV5hH;&$3xF?30SDz~ohnpB3UE_qn*vx?5#K1|zEqv@I zDgKUBfm;X&^t&Q^jS7b%h;0Fi7Qnh5%fG9f*ZrcRx?PsnFuuk?*Pw!EEl{f<8v;TN ztpbFXu+-k&1FWf1)A1rNZ%bZBG` zjbJL%d!V5l>JSOk7B#>=3$h~q_9$O!3M1>~e*^2MAmv->=VAEzsKQCd(n16f?;m-O zxmKoKCu!)m$CwWava;ZZn3D zC(1?FVCGfGlEK~=!mcX`4qJ7nTN4u#z&uuB#1L+G3#j%m>WU5#Fw)n5T{YL5%BF>V zln!XRv(|4G4(slp;d7wVN>>c&_JdDw3>7C=R-jR*>u`7~(<@oo>XQiz+mmKkOD#Bf z@$kN|@HqhgGYs`>s0o-~sZ~`1GcWsoVKkdqaRDGNU|(kRB+;HxIe-*qGAH1ED(Jzp zOdC15Zp`s?!08HmgoUj!-~Awa=zhrGv-xPKj|0$=ci#mk*7j^@gbIirO<~Lv;5%_^ zVaV)e9dI?mBO=mzDBN{zf&HSk0#xk%O2;WtjA7^pz^DQN?Ka`7v5zsr@fxfXxc?d& z)KZGT(Dxz`W(S50#PWrF$F`;P_WTesElS(Zf#Bc4!8wj;L>acCrFQGUUk9;;z6AGH zMkVhE7S*k>LWUX6K1u8ZkMDdOGtNl5wGEm`u-Y0#61koqw4Gp86Ci0P=5I+A#VN3}!lqeG(Aa z|6dG?(?a)?zf&a}0pO=g)=-6JGU^^TOgS>>Z&%NY&Yl;7 zYjm{ysVxw(PyZ@s&yImxT91Ungm&Uc_?^rU3T*I^l`b1^A`q=p>#ZT>B7!6{TN_}k zD>2frDecnCRM&p4;P4sOrPVsES9R7J>IPGBKvJ-%Vnsant2N)6#+ni6sjFF0dRA7} z+4{;#=%5)z(8s83r2PJ zupe&dy+`V$_Ty(6hA790fFeJAGAYHDjq4N&TW3>4_xTxZ7ZjN{xFm6LAwi<$FEJ6! zPu3(((|7?@hjsky-KU3@2Rf9In*8V0X-m63mmr_MVRehgBNmH>aJ0kvsjBBg3Sj{k zC$kz)@Ln3MHIU4_&a*`)dWus0o||~IH|bJa;=0$6bAe;~QK3q7(i_23zr)OO1EN}& zX>pOfGV6YcaxE_B4=+dU8JE%x$}L7qj~e>XLdX<~$HWefdxe~g2EPo9ei^JJs)Fk} z9o|KVDhnWEWqYW{s!iGsW5(6NT5VP(I#2Y~)A7y)$-uXXoy0QHZ0*W68Cs%-`sg9z zcA>Qet*h?tUEhptRLw-E+96_Li-K5$#g^10w$!FFMoNJQg?Wx6mtPQ!!b-U-(Q@~A z;GwdMuyUy}I7Ul_)%El8{=hC5ZKZ>4e<9LL$$Gf!rK+pR$zHkWnXTDyx?h&u?Ir(2 z*I)Z(Y!Y=&Fi$0EvW;!hK~lwVO%b!HhrHc0g7FVw+T}H-(|bkZ#1TPtD->Mpg2IJK zqQsEP&#@Z))5OH`0}{pX03h^6?w(m^GDK+ZSm@kQtrDV=^8Gsh#mK(BQ&vGGoL#G~ z=qVM5JPq#+Sm_O{2)S(c)%-;LmJ1G~L-Yo}`(=)dPE>t2P+p-CRTIyYHSxBx&b2>u zFH4{7;b_D(r=g^EPqD-1DJkiAKYUG3`fPnFYl2B}XeFMjicDWddA(Cd`)wWb0iDU_ z#`P%qtx8MyxHTo@vfMvlmepw;xL@k*6g(j*rOT#^-XGf2|Ffg9U2imBU`~i+Qr}(7 z9o4o2(PP?1;lBYlKndxMyTV7#7wA_ zmIkU1*CzY$oRnyMuM)wM3Rr4iTU9RMq@RRbN^#C38!E64^L_xn5ACFd+RlkUyV8p) z{jH^^5OMrUhitlvWOjE1mSn zM=7e(^q!vEQ41d`omQiD=L&S)X7Y7A$#aFOh&zmBy0cg5RII zhM1dzw>qncn6@`kT29f2$W+>lVW|CPm0zih!_Q_e@5F?p6UB&NH?!5-gDcA5xC}#I zT3mm`(doxYFE5oa+c-(cwMi8E1};WS20Ts=?uvEy*=D5_IS4tGp}5=j%(rK{>Mm1h z0=O^U`JFOQr|;A&ANmE&la$uWGhrh!7oe%k4{`x5X^dhHOAy8qrYG5fM@g+{D^)$&P z5oSMa{~9uiI!U1-78Wo;?R9wVMYvYiY!vPlwQZryGjQ}QDo$NgiTQ$b!tfxMv5^(X zr*MHl=uYXW7k8r0%w0aKhhc&+(J~R0IK*i{tRw8V@6p3i_Biy=6w(0EvCRHy^<(=1 zKHbSlAF{VM8ZjvAcc&K$?yuUl0_X=O@iJ?S&??Ql`Wm2K~dAk!lj+Ummzs`a4FHXO(ojA;#lG)4(E*lAf< zOgZmRQ$J!EQKely2wX>w9Ty6HU!b-}AVKOQ-p442I z{tZA}ikR7Xrro|cl6792{keT0ig<3IprZx<@gW+X6_G!T4%pWguBO?UYzgvBm90Z} zryS5Bpt4bP9cg9|F`J7>#pNtB?dlWu!B;9d)3DmhEYS15sdKNQ+6PfxCkJ3)HGcHC z!GU;|<*d3ek;St2kO~`gFJwUQk=*ghWCsynwwe2!qALNUFW|y6`|@~W_$R8mG<8X# zN2@O1<+^z+|L(F8QQCJYMeDheNkfZ?6&3>}sHO_6(N8)^WaSeZLAKU==kAK@ywh4I zeYvoNI#aZ&>q8w^cir>s1m^=GR8%SsL@o;JR^9x)|Hbp_%5YND>snNLW!zzqY-xnS zU~9nf1cQbGop8>|AE=t5Vw7BQtIk>O_-#72cgnKqI#$Ee2e63|a}*^t(QQ+~k8QVHWI~^2af|QS#m@ zGbdofW=S~&3z-=v*__xhe~NoiS8RSTZ;(ABFYSbzF2uoq5>=@n)efZO1aVXzG25d~ z!PC~vrY%}k0khZbUD_)IRAWE&wCP`|y2q+0KFJ4W}qxschlclxGIBq&?tX`uFs{K`d-|GLzVuY3|Efn1Bdz)g;1`{LDY zRyrHE^Civp4g-UFjl(~k-zDnLcXBMEOqsi13(G$ez0(vbsN}sbsomBOb8(g4o8KkQ zeZqcf;505H!dz?lmynCDrm&Z@LRYuPgSkE-?&x6GK}1FSwv=Mg=iyYRZ1VH&$pM64 z+l=#e?Py|x%|6|A$hX&6VR20@b>&!{J)Y~djkwEo4{4B%t||QN@-#$MZAfo+7Qa=? z{$O>!1|X*SR5;V{)LTzY?x{M|O0BwVGgY!z*1g2CK~#u)VU8aWS^r*JQ9a^yFAEdg zu4gvnXI_oHsg<^E&LZLQa<6u^>A*&tJHG=eG%b77Jjb=V=(7viLlUR&S^^I1c0J<^ zUV$`RIV**yl8}3v|B2={Se1YPW4_y_NhTst$$V|#Al&f?cqh7*yI#I=k9nmPZP(JG zf(Vunj|>tmg;2$Pf0>V^a!%9xQ7v=>31AAul%j9=KYTGsQ*< z0kXjRxVAB_6eX~6&Z{xohjor-t*xz}a&alGm`!Fa&;X6%ZK7d!uJdscgy6SH{`HQ) zE)@_w9?89MeTqQP7NqCWdz_q{{*Qm8`sU3KftpHGpkovUkC|#m8D7Pdcrw^DTI1-= zCT$Jms~QXt1>yCFpW%H~cI#f$v=DD>aHer|N5hlQqE20FQy#>kxvBDN-=ljgK{i&S zWQWC#j|7zjfcuuOkR-CUww8%FbLwps1R+-<#idq46K$OY0SXEVOp=ui>q+XEn`7d^ zN-K;jD0>hU#w7VXBzCiPMCy!s6Pf&qii+?EC~qF!{gj1up4BOzeSY`;{d+R0XV0G1 zCn4gnIa%=>=mNVed40Hmj^&>#zLNAa!hN#HHG*uf}p?0Q$tnR(CuPuHKMRECJX9i5a^EFG3LLfq1z6&doiat5xDP z&q1HUzf)+hg0%7-Y?wx~#B9LuQEQS#Tu?e6Yl8l@jwc{suua%A@t$s;Z-YR`35gwB2h(^mM#e z+p6U@Cy^&MdMjo#1ab=?ueStZE>KXgq10Pbwl_SgQWq;wZUPhGEzh-Jz6t@SE&-1l zoAwwc9R0GnnS@$P5;>~uO*mG*iH$aVN*Az$W42z2p3M=1E4VWA@@7ucShwq{m(E`R z%3_oTK?ppeyL=!$3X0Gw%EjJbNd@`p0SSe+Bd`#gv|V>w0GjLeI#^E6qAGzX(6j@w zIY6VhSBcKX+C<2Y$gg38fZPrsBaDf{aesP4CbhJ*M9pJ527+(ta&aIpL4L#y>;RBu z+${`t%Sld726>nvC57(xc3+oU7XtNIEML3U`2c?V=mrouK{4c3nEgqhc`RH6H!*1m z^Dq$Yfix7pQ&n{U(ks1(cgj-2%E}5P^gRrFB0yXM)Bc;sz+mCOi5d(R{!0v4Ec~w^ zhF8I$Y6vuOb`&u{2HDBK*mFXwxaRKPI#sHOYdcZ!di zmmoNkK*LXw#u8kFre@VX_oqt5@tDnP13v@ACABbryNH=t27oPD=5vkTq37#53$&LY zx*gr!!k}nM literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/media/ekf_smooth_update.png b/localization/autoware_ekf_localizer/media/ekf_smooth_update.png new file mode 100644 index 0000000000000000000000000000000000000000..7ac26fc604c6f38b2a4fb4a99af3541237666aae GIT binary patch literal 146470 zcmeFZg;!MF+dj_o=z{?WNJt3CAR#Rs0*W9A(%ni9F$_I4Dj^*zAT13;$Izt+f^;`S z*U&I@d^ewuKJV{8_^o%X_bivr;LJH^-}}0*`?~MF4?)U`G6c7&ZsXwK5WJL?QpLf! z$%un<-S_6-;3pmYZ+E~y*Bm8Zs^7eMb7EF$2E3(olGb)ogPS`c-Z+@ySlGg0W*m+t z4rXSyj!?MM*0n})9GnL@FQuNTyC$wr*}Hzi)?Z#C_=`pJSCUi;8C5?Q*F@3UW!(6z zE<8f7Up4SRl;M0%m@jq{YKN8|cgxzSDr6Xv(6%4R5_w(XUZnBh4UVG9`AaKxP0xI6g1FQxnsrnNUAk-L_cM zj0{EO{^5qFhQ9P3_1)StGDJ7uSg^d7)=2#z>6w~dId8HoR997M;I6^W%7q=&(RXVn zxZj_bqat%C0W$77;^}roIduKswRryn2q0djs4B^89A5e1%jY$ zHTe+of?ZgMRXd(X^Shao+K^x^!4|Ik^Pz|1!{pRkRCcN5Q?r^4&A;!fby_1zP|9e# zijLrgS{d1AO2sV`Y*Y~K+5=@KQF``+L?bkb895Bi}JJnP-0%Z#pr!T zv*?J*V{dg`R4!L??{}rx(_gx*76vCZTw1V#hulUqJHujqJB7dXrAcG*OxOC0)6M_hOB190;xfTT zt)AMoLZoBn&nL$7-ne?lB1JN1hwUSq)>p;G~oT()r)7P>`*ryJe z@-0y?Czy9X;`GWXTy2W%Gvw%B&tuioH${C36&8N+sYSDH|6(n`UCVG?uA zbIU4TO4X7ua>9D``nA&*{{e*;CW_&G&{A^pTCD;f;d~2J%8FV`>&5NRIiP~pYBc@L`LB2JEqo^o(=B%v=pW!hb+_D~rW&;QNo#6#=t=H*{| zc^b((W?Eeh-I*f87*((IP@@MHJe)LElcfDMLo7=lTS$i6m$n3SksPGTkdlHc@9 zS4>YIs>GhCq4V3+T5@ZnO`MKDOs(mKRPu|d8Q34rLG;$tlu)GIM*1~1B>r_=oOwW7D>ApMCD)LCHnLIA;FHfap|q7}#-M=rSep%zl^{^# zsAj-1G3s?-v(*r0R#w)am!vgKA-1(aF&)KBlj|K_nnj#Ii==_NE6qpxmMj~{t-WwH zk^q=y2$OIzt(OZP;-BkU3%g#oH<+J-C=?`G74u-_wu_b%xHF-*mD-A8T#gH4Fqd&_ z78X1&8;-ALsJHyWdq8V>Mi|SF$Ux*ecC0lsc)k1$RsF8QvvcY}eT|2lkdL9#5v|gk z&;Z{+tE437HrJUFufFo+oJ*NPWYxcBGb<16jLQt4%K7nKWwY}W@Dso`Z$Agq&QpsRViAlCId2hNiMCS@sjE8 zwR^I6Jv@`iVq%i4HNhejw9+Kwh_Wv$himPJq!T3HRT}6E?cU3;pfs1hyOZ7rjg1+_9Da7{i0O}#@8>Dfqw_WHuB0I7pCF?? z3TSC=@JQ;Df?|9tLSv9avkp2^nDFxTwUnYXQlVhD0QTOK5uO#(AUo6q%3G%OdVqcz zs>xVD7D5~5bkLYQI-y*WQLxccK&_?y&u@SQP;51sbha2eW!~_Q9$TD{xbH8ncgetC zkymAv?36%|*3Fq`X{FHhVMXjNvd1&c$bfS6M6DK*Mp`u@P~Lh%C$kmie{B&Dw{6&|J^KI2i+I+ z*Ft?gVI^YXJ(@*qQKrPv*fdmrMj~~lS zKG{$tYT&?rpMr1VX^F<>69i9tR2U%-uv(FougKB(UZOzj9A?8G*QU zkxrz2*(M8`g376^<`7oU$Yqi&S6Ft?YnS3~VRizU@E+$mi#}d&Yc*TyjJGy~g_(Ij zz5_!anS5}Y(GQQGT8@+c?b>Eooq!x#)KYisn!Ofsw$(ZB=He|+%EdnRsF7gQ`s@}x z(L>`FF(@*SH?V+2LVm697Az+VliOwA@F24|FLCTf+0In^V8i2M)S6>SJy15UkHpav zu8LymgFP*a1agIGfyN$R9}9H;Qm>C=#1_;!mAv49L+uFTbH9$(72Sy)^K>zt-+hqW+eTf%>JmwRU9$NKex)t&=KMIE-u`~Asmykd8xQg5;Kr|ks8I4C zsr~5?6_fg+2JcZuUwqB2fHkMCAR2ftqm72D$$1AYsBm_Fovpo*tOkm4&J_6a zKU<1-{>y@yH9N8e0?1PIML~}T?3!jcf1^Lu!u4`Rks_^}d6P_eC zyn3>|fGM{oeLhi>PWQq}&%WX=(uDfr%cnfVA;yI>BVfTp_qizV zrdBCq6@xSCvvJSuiQYqVCsjip)tQ-5yNpA1#JaKvrn>;kRtArWG}2E@u5~OI6OoJ< zTgT_4S-I?UQ9@a?-c-;yw2CO$(qu~i*2Q5oXY-r#g|D@wryrz^ZcdDjSD=Jevy|F5`$qk;Q3xLL2i9=n-MjgoKL`& ztHU`G=oV^{%Aw%|DdjSWyoBmmizLP^vUJC;t1o|?i>myo>7e2GuFLzwKum0X)HD7? z0{x~RE$G||n$(LRQd~#-_G6dzJf@aMK1exORuJ($#iR=e#Wv)}jaMZ9Gj)``jg>2RZhxp+De`^Z`P@twhs z>s>;3;Sxlc%f8pBuJ#z~jD_*rc>QcbC>h+C6H0*CcvWR+N2#3}dM8w=aMf_a$|=V& zxQy|+7dtPmOISE<*OzGGuq^UtcUyF!G$kZM=5*EH{8dN|k{;?FX6@ef9WobFntULa z%0Y&L(riR^n2KMO&)|65(aeJH=8a-GzH`_N{-DxY7-nN)3^-<|U>vhCvYx#wxh{MQ zMkKeNY!$k-8@c_wskD;7UcF46Nk&YpL6iE4y@=VQ&mhSo_njoj8Z3mCrUkuNhVKUN{~sGf*g~FJnOEV ze?Lrl$99_PcBS+k>GY%$ZAfa^5{nNzt-NzKYKSv#RTO$MlB3wv%W1sQbwX14ZhRW2WySs~Jv-_WkfglV;x= z2Yss{S-nM$JH*#7^-lcP(*#pQn#bU2H5ChT^~uY33-P#{i;oIKqXnU2*F1#3kj@{A zsC4i7%a$M0aTIw!x=&YYdA(ig@M*j5*-DEIPSjux$uj(Rf}2^hCtD`)&Hd+&*1KkB zBQuy1-~RU#B=Z@}i<+JJyECCC*OUR~=&sv4TVGmpiOYIbQeQ~_A#H)+{Md2d+OpN_ zCvf%GL@f{c5jr2QX}R?Jix|Z}Furg3D5LOo%STo8bm&A@PQ{q?@Txig2=ud{?;~}wk6hau9GwtM>cEPV(jI|&=1Y9c@_Uh zCIcUS{KIaP?o61UV5-U-;Vz-&znQ#8fIf60EdP?9WfBm&@hwwN)Ck%a?UjTS!}2Gn zIg;<{V?`@Q#JO!oza~86C$LHIrZ>X>J;Ju&I(oKKPY-u?0rH5j=l|g5IlCkMO!>y$ z8V=f_p0ACdn5Kr_^r0RzPGMukUjE{^y}S`+^|-y-E?z4f=dUL{oPTUEA*x+4FkoQNbnj0OrL?wmFTizz$!98FBNIX1 zRW~-^R1yKVz`wy}WL{};KKOlXSp9KHh1arPb|Z8Dc+`n-k2!VQEuc{yO0Dj%8Mc@s z1EosCwg_Qv4|sMP+Dp>=2IELEU6dq*S$YGF(7t?o$&|L~VVh%_ePyJNZ?$WxSBBvo zKgk-&zgui8v9XDvsP%>~=V`xl=<8xOQTWOoaUB)x=SE9Cz4G+-!+vRkY%31Y=G8Z5 z6J5i^)DdK-knFKYWVRco?b*8u6Ki>-v2$t}iwV0o$P$wjjtZ+OCP@sP^0L<}%k^iZ za9{{-zW#sY{F{~? zXDBRn;NyvLIX{2WRwEHdgM`DI0jb|}rSDw0UiVGY1#W*5wAV|Lw|1bvvXWmhQhBjB zxRUp6P2ZTh#9MhmQ{Wx2LbH`>;n*Op zKoBeAQfZd(Eo~#W0M;{cE#|N~^J%FCae?w|t>}t@I+DhNpXJ z6i;n{>+ZywSMw5!Oakj>o;8Vdb#D-r?ooSiO?~s7>7NO-26V3sMD`qtJbD*Z4A}Hn z-5$;okX^hfQhK6|{mS+6TwWW>C1)@%1y!>frH&re(5i9pN|>|bl-=qi4oMMBmsG($ zcpywglf~v+KS!+PWBw`hM9bs+Mrj7QK`PP%`CJSV1a*~{x7ocZO#0ucdz;rsmMkb+ zn7*_~l`V|5)*40lL@h2E_b_126W-5?MYZ+0*74GA1WFzF`6iq>M-=Lc{8U{rlqgQ? z4&_0Y8SZV@8{HnhVU@SFLN}qXuDhi>munqv{(>neJo1u0doOA*!%yGin0M&Fv2|D` zm##&mx&P9HXU->$b22w5FedOtc=*q2TgRM--vm@QnL~A9hV<=jGPEm<92+qoNuEXM}1O?Ta5h$iq zG`I^z=nhBN<+eKehL14Yz4;H&Rti(kV0tiYmMrAa$H6(8KBtr=k2UMq3_0QPa;sFw zA>MDYOI@#|B)QZ%k{ioywJ!69Ppy!xZ0~+6irtuq2iXd2LR;Xp!{#WTlLh`{(8Kma zK}4p@4nL@v&Bfq{A*(yk%=||lUeDlGt~&M?yKUSA;r#9&28(oIjx^zJ0(uvbZuk|Y zMua2HE7$?*{rC?FEU&%oJdo1qqJl$RA5XLodO*RAcnU# z$Gi-Ar_PEq7cMcRsuL+P^sAL#5LNjtsjwMqZ2j8IiU|ER-ePP6@BV?#(z5{ueDjgL zjpmWE+SbPleLlWv@m))Gp{#hnsM04oEHV^zO6|8b)?i+p;w!w1IvWU~B>Af^Iwe)y zpfY(5|6rVqapH9NESM>Qjv5yYI9+1vK7lTIjW!&Ff0L#r1!hcO!aOPUPTW0X&Rm!n z)@<_+64@rA#T%bVNqw%KZrVI3P;#d^z85c&Q>Gu?Qz7LtT#MK6O8N1x-6?8B#UR>3 zYk;9K2xR9!O2|ki(42mf#6givZFtb@o(mqR?*Q-BHuU4dm3R zXU@*M*~)$8r2+!mTxTO|6*bIrUL$!sI$!yE1BGwfs zfr~*)h00e}JK?gXJ`dgbqISN)Hl6kK4D+7&eE2Q1h2r;WGS0PR9lMs5BU_NRMdxzA14$D-Wy-Pv-~l$+ij`ifkoTb@eU&!Z2m0)+uOK^ z3Moh*R7+BxHQ1_zTzg|Lse92ZS$cSHB)^f)cj(kAWHr|cotHWs?kY*j-(!UuOA0An zzHcI5GF?{U{6=TyI3SCLqkyK*Rg%QlD)|kYgV5BWmh0w9ZFKNstyQBcS&TxUX~(Pb zj6h>HkBT8|I@4tlwXbON22F`;MAkxlL0NEcY*oF)uE?$ot89I`14bON!syc+qukLT z%a`1Xj}%7hLb+Tx4_&o{I&q0r6s(ZR(?5D~e!O;;m{6^QC|^3LaZgf-Q7P?DrR%t4 z=M6e4jXnJfcVb*YFIr~gG(j)j;Fd~(z=sZgiy2&Gh}H9n{2`?y-&t9{)JN6k^4_Ua zv#eA#k3S5ZFSr~sz!ZwEzZccjW$1%GiR$H(RvGfNPAzCF`LUrhTWZi7um0cgQ}DLi zMHf_Y8V--r*ctKr)*d0-ggp+{T}N<2c{id})pR~FLDGa$!fbuEdE%S?o4)PFj`vN7 zqlyd=L5hdj$heTTw3j8~ll=|f9#4KM)!p{S^vBMn30WNy|Jm%1){qoGnZO`JIm$vmItk7V?W?zu7?6F0fFwraRjj};U z!oR9M|GU~0x`OhF7Q0lETBw1`%_hxN$=pAbolW9dWFn68;`(LH_Os@C%dFE zV*qWCV8dOx1q=a(>d#jlrs?*jmP==uWIg`#?avg-&k2SOIXM$;c@*0o zD<AOQJhA|vUcc; zbW8WX{tstS$ssj1O^hw<48NH)c8-;H+u|UOf?xW2p3>nOrZ{}+tkVcT(-}94CD{Pc zdBwy zJIgm!j#Ez3K;8PL(BGzOGDDD(@k7<$G0CaWor)PIAMD}t4FZmLWL^q$1c&4v0*v_x zzynS`${Lf?=kJzTB_|+y&Dd_dMCDWpGGAGQUYGB?ZPVCg@lRgJz`%oStL0Mco33^3 z*@B9=8bbeg0gYIJ4_5J&g-Iio(9gpMj6F+|3_iJV&^XS@smT}Lx2i6H?_cyeq|{c;E$*%@c87JS6LVCh3Vc>h?6E~( zd_`>;46(5W>o;T(T(kwF1c-&lSI~F0$cNyB(RylPu@d!FD}66~9K#$J{r|axD=k%i z{w^l^-LQqh`BvZeA;LmJ>xy3^x>m9K^%WKFX3`}cT6@Jk^=17`5Ca8%>hD2MMp|j~ z>UpK47D|u-Jhc`HvYRbNPhYQ>B;WnbANHE@#m=7)h-0i7Y;VJdXdVlJY@LmK8BU9F zmES|f1Uzk>lkUsX(kmaM?Wv=$m6f^1g-e24d$^+xNE6(3TKtoBr&S@fK{_Ou_O=bo zD&HV3{H~P2g2Pgf%U7}fku>JMB+_<`SCj@5wA0fQ)Oh-@M(o`s zXZT2ejncnVh$`u!mb!l!GnUEG+dF({J&_j%3;0iu$t7shkEwsrNQB;k=u>vC%tP9( zP3tUaUx`EZ3Y}0AhftC+jHoLJsY7j0hk3@f_fzGt8BHc>|y)*gi zgvfZ|mk@G!Xqx{B>77EZ?3HC=;+H>6yyzsQUinTl8y9Q0QQK7;ZxTHC^{aI{dfwpr zf2P05Y$f2I-D$mRJ*O6q=VLFG|Lg@2p@;D7)I2V-D9m;;G{9y(bxoS0pKZz#aPDjE zr(EX4P-8nCUFn?SdxTk9AtBFHJ)Zp>ax;sjPLw_-XVg;p2y39z;Ag}gXD$1+*1WkU zmRivDZ3gpAxvbGWr14-371qUnug1s;nf;8BLQ2Y}gLTTWr^_L9_&Cea@D*lg|5X`I z>)rq1=~#nJg5AI3UTOK1rjSdgDzwG@@r6i!u}T9W(RS=>S-U9 zRz)=>@Sg%d&0NgvWC|GS&mC0b11ynWmaFUb^rwGHVen6BchzBqdG4(PC!@l9tS6!` zoeuHa?*;Jabq46!*hT2ZcUEQ}m z$~b4ksFttN-)DbBUK0!2*T0+Bg_K>BS|uzNB^5{8ki4#o{Ie&b4N|1MG|3Ec*d_>S zqmK>#%DkD*B+^uhI3mvxZyZ59b zH>RaWN=iyaf!z0D_=_96{)Nie_<%30A3>W30*Okwr?=iReJ?G}fElv!m{`6+nmFo7 z9=}os1F78B$yaGl%vs+aCtDd<0b&eVieH0K20hoxu}W<*&AWLJ7?^`+(5?T{X6JYy ziJ9Rd`|mzSk87NS{}a~Q3A$L2iGu>y#~uz({5XTfIeZFiliBJx-P-T*_#&i3K4ge| zuYUNe|ChqW*HPAv#4$|{9<-X?#AJn)n)J@uR|}nzmQm`dsln0vedf_xh2=qkLQghz zE^26o3QNEIeA6F}vh`won0JleEi+HR-_v^7nr(8CP~F4FV9h5d$4)-ix^T=iQd>r- zijlO(aj3{8Fpwg6ip{1WyLpH)L@!n}KfqPb(Ztj{8lj1TFLad=gs&MD5>$_zHW&@o ze6JrgUpp@rE3bYunJbdQj==h}94G&}u_mc>gN>ZLGM}Y_>Ml%_N{@qf%O<7q`NQ@Z zPEJuz#^1e+(3ObBDkrt*9t3_**MjfZ%(u{mQ^j3$n2e~QSwAh_m zHy_X1li*vch2&0#F(-?|d3os?agkV2(LI^2rMLOHxA;ahV4C@5Ayb(5Lx*G01{w-5 zRB9Kt;mHR?oX33k#sRbEJDA?N=-e%pK~KG%U-2jW(S`3XbQ6{Ma5IoDYVrfT9C8g) zZV^7G=?7Vi{2$k8+@=`7Vn#=IS`D+;JDQ7lh4=+sn>{g9Pay}_%dM5KLMiyLBwd|z zjPd~98x>eL8S0yJcP~$4U~6Gt75-wPn1@T9^>2@1H+G5v#`&JZ(qI!C33CU>VMkp` zsF4B=C&Rxxc{oS2={ka3fJba+``ms!Z$R+2jeok24Y zCue7xC$4sNc@&I#PqGpd<0AZ8Yr{i`>d>Eg-@AnwD$?VogOVH<= zh#Q2oPrOc?&};+QN-3gkYJj=$CmeDEj<^ls0+B5iO1pQ z`7EK2kk`q6NkP+Vm(Qen0d(Evql0+sjKuDR$gJ#PkBF(s!|xx*ho7U;)n?lcaIJ=q zllDN`Vf=U77WYT=*^*$YvaHlArh&tT!+L7ls#$9EQR~k9&%-TrqvLY7${zn~Aocsy@~#U9WHCWhu(6lBuFEcO~ry;zN47y%3k(qY|Ir?Sr@Z({9U24aIM! z>)fKFqxY73QUqY}eNc85mZNWk-rH>q5no{)e7>#Y#4q%>Gw@xsEwD6+Xd^;FPrgmmfE7ac4!M@@CjpzUL- zu+~-S%n01{mr;eqTQVVd*;HYl6nO6y?ru=kHK}QhUdmdQz-H>mdi>_R{(8=%{-&$s z32FaFdvubpuyAXCtlHLw)n3sfjtZSut@qO{&7-U}rYcq<2}#iv(`CiIJY!J4E_Mek zLFdroVp8tzFX-Qs{~)j7!E6Avt#-A;Vzo@RLc&4O2y7BLF$@{TG*+p zkVb847bEu<$uSN}$KSP~YR?CHFz^WZeu$;v|? zGo3wJH0K@}z0q`^o8|Zm{XA9K$r^*3ZOpQtpBEd8^b-AXY!`NF-XdZ|MjUj5Ee5oh zLY#xL>pHF0ZP7K4lo!XT+y%<9?=BuujEA!>A7UW537F(xbE~bJUSW%jQJI29-{o)X zqcArv2cp5!y8eWds^I2TWzW8hsnb9<)Faebb+PQ&RUJrMNo!T>(}WPcUnaI`%el~8{;?E&F2`}O%TJLAaIsE3Po ziIK?ZL?_b5D#vL_I>EcaYUh4PyK4FVh1F$vl}l8%s>9H;MrtVsGDdk5V&XnXk-7(Y zHy@>A=qH7&T=I~XIXAP6uq2cedkiV8gH^5jHK)&$M?tQjqa}qvsD9RWw&M?ev;~nM zw9Dmg{GHyLws-gTPQ8V^&yLD12TJ)xz0X|D=j}}mHEZiLL`u_3a)n8)?gSX>(s||< zZhm{ZqJtPFpmqv*QeW<>Aj>N%7NI4AmyblUr1__?7EDKBIf9>&636LjR(HB@s?2u@ z5cf&(5id>>PcE!P-w9>?ALev)bR>Y`2azyeoHky1VAqD4D^^!lM$0TB0zH>S(beTc zW^a^X@^#j+t|PXQKWKf9y~qf-)Q9rzhPbHggTKdS`L7B1-Nltr*gHU#-7r+B>*%@Rs4Y|l1d9;aNo zZT8LojJRA9Y$T34J3DI$xo5OC7qAi}b3mvo_7e0d^$hYKnnYb=D6q|thfrbeKC-JZ zH`Ba(J3vOi)l#!WOsl-YPQGVm1SJI#^ZI7R#urF#8D^>oU9q&ZtR4L)?XA4uzXhWv z`nVgBsF)qNK3(t896)e-xFzAXn-S>bT}|isNUJa ziBH1!i%>Gg@y{M7XhdBM8I}{0l&I)`WElY<-GTBY-G4Z*U~MHC4|!Qo%bfltV>n6n z99aW)MD$bUxbZN=%C;tG-qXn<*VwvC97UbcB zw1+MjT`U?gDa7yBg5-X*GtX7e=alsIky_T-_6Lde2_1KQOAZtw7Pl1Nf)y|C8sS9! zrOM`|w*fZod#^*RNr3dnsU5LztuSKeX9^lY5XeW1vc;EBAFt!{662vY_q2XtPoH}X zBda>LFxTAFx*wzNl~aQxmX=mFafT$?1I7DM%688+3}PqF-ws%@sXrXtceRurMRs!) z=~z07&F%$=U8D%(A>1bM3bJ~P3%bG-Jm!YU{@QxqPzYO$a6dzwQg3pF!|g?P85@{K zDNr6-QeFxBBLt!1|6*{t#Ad9t+HtwzWGxT4msgEKfR0yAqa%hRfzPu4i&kXlhe|#( z(Hx{9acyaiKzXxfSt@-MgYrEkXs{Iri-VY^!MSW)0elO$MW;Ho4omEFMCRiZGa@Wf zc3*vji&}6=a|m`j--txnVl;`(Gxg_G1+BH4S}i=HQIoy%deBe#sNy^Ai|BQFK=L(}HFU zwgr;nWW7!m)}horR%Y?D_RltRBg&uQG@`&G?XM1SNq6GRRMI!tU>fBFOG-tY)W7SHLDxpMQ{A7`HCsU}34+ ztig1{Tn^U9F3-`INrG@g9i6e+<_}zMaX2Se<^Fc`?BVHF4W_Wc$I55%zJzxj+@Tp( zIc3gA)dP!s#RTpcdu2LS*Vg8^uCDjmNkdC3_VZ_OK_gWenGb;!_yIO-kFFeIu-|zR2Y>*64HTsum(jhCm5bS~K|raY8)J``0i#bb&Z zlN*V^*>N&p6BQiH%rYvU_2Bi+qqrs7?017G@Nvt=o;a@!%Inj<<-5wg+)Lew!UMy@ z2YoVhQ=WTWptc5O=yJvJ(R>8jZJ8#$?+YyW3Nvr>l;Q9#y33=V)dU#Dn@TAJbUy$l0p~ zu~(kAN`GUz{&X-`jfCk{6{fH@0Ji<@2Hn{P+=nEJ8eX?EfxbA%EV$G3;Hu&Cx)X&$ zB?;L}O4&A^AAnD9PU5zkI!si+AjW)D@Y;}tu8|~0=bS%4?Hb(gv{E3opp+m08+_d1zEpf@%*yW892M4Z>c1gC}GeD|Y=-JyL#5%Kftqr2U=Q@jpz07pO2 zc^|birv$cP0gdLv1ecbUHm7PUYim9FGhTusRuN8q4)Aoizn@|4y4NKr{V?v;3$RI@ zj}>BcIzD1sy%_WI6I0lU44BobGe8*t_A>xDBhQ_dk%j|QrvxRRf~e<_osv?|a*B_* zWq$^6*L8JuJB5c<_JBc~o0|x<*C7~6J2=ih&4zF_0IL7+*s4c>QYkSp5$-up4QjaN zV$7xfOYxJHbin&Waj)^$+zZRg*_Xv~n2ilFr+>TJ+q$KA>yzYHHNa#yo=$BYpg_NB-{|sW1WZo()=0g_A+3_M_wk8| zQ$uwPX8_a@{pRN3CdR8r^Gq`H@-PLJ)9&D}E3yD>@IG11zB)tWVf|M0=g(mF>`xCi z-~cV)>Z1b#BoRO1fK5J^hdz~KHfJU)cdvL$2dH@^Nk9idsHByYz~0*G%ZpRcDMAko zVXrXQ^zK@=ViFi{1b~3^Pa4D|h{^Ir`f)G_PmtiWE5rReS7_R5IJGr2oL(EsyT`5_ zS)I8DK6cpqoX}q~wH64KR^!PKn2-+}Ygd>=S&t;Z8z@6sq)fp{s;jF3FYJWwN69V# zLR^gt&>!n`de6``wZ8rw%mq;tAiax|6F~OleboJ$KsyUF>bR0I8Z5 zmsk4Iea`0TfW{uqf{|YwFN=wZUG>+%-Aw<3N4~$m&nF;oaDKX$9w9FG@NVUlOTq}| z3azeMUK&ss%nQH|K-6_@FqaD`cV`^$RZmeXUt2|4*>0sb6@7Ve2*$eklg`HzFa?y2 z)6OFXz^JQfIM?OTvi*#p^VvX+9BiR4fvnJodme$b;RYnrqANby)(+snpw>l0Qa$eRWj)8Arp^@#Ti;Ig23JT911lNv2XZ<=JOx1fJwx;WO;?@NlkGo7F z#LR7NlcS<`K1iIUmY47MralKnE;#2{jdNaOX;QMi3#Fc#4sV3VoDpz=G{7CSD<- zqi4Q+;L9mK7uDI>%WOq;JeK_rbJb4(@vc%gxKGSTQBPaj*MU`_?#4WEz`%@^n8+9y zBvn=-Y;4veJKgeE*VoSu8!xA(r!QKm;YUYDHsj@%%iT#NN92^{8zkXeGnxl@~-QB$+&aY^;l9Cd5!|~FOAd;@m&O7&owt>WVCW*$@*noy~ zK&7jzt0zz`_4Z+Kc%2?xb^C!DBnZOq+`2{Yr>(6mBrHrnio?B21Rg=AaKG&j0l_}O zVyuVrQyYXC{rvp>yS_Z0A4gdOCxcSVo~U!%`|gj&!NGx8AGP0IcDO$rz zXDgX%cX@HnteDsf680o50&#A1#teh7j(z)%4;H0W?=C#u~Ph@PRLVRBfQf|=RkilWDLbxlq0gE0$fX=(NM z`Hv{@Tm5d42*9V$p6&$1#KeFUC@3y|0W2IZzcC!%2)J3)aKg&K@ciN3YM?tn=0VWF z*)P}fima@x_^863KH#>mFc}6*6?sS`n07p5Vl2>e-GZz;tdzyt`MtfpZ{NO+kEe>3 zla4mnc$qh3ZeekWF}kb)!>@712*AcobE^0E2b5xCV|}ngT7wZ{34&kZ;@sTbRjF@; zy?CBvnE+hMTuTTI4b6uQl50)p^dJRt@3XS9UM0Psv>u&AHeUf+xG6&AV>!hx&-T=^ z6;b8o5B;1Fh=jN}a624&75Q3yo&}nEAk%4RWUA)Y)YeW-P8yq-balR%m6&p1m!iD@nFgdf$B-8alpedNwwT{x1`M_5#SWMi&}2PH*!I`Xg!f zueb%~axmt3(FpjOwKWDLhVD4t>=7@Z5TM1Vr>mPIrvn5BA0Pid0#z&`B2rpf`rg+! zJuMA5Q+mH&zMH4dJUu;uSo%CU-yg6-)xa%hfD!uq`SZ0Kcfi8)6EL#+3sv);WEdQd zo|@WNU%yXEDs^7Ag#n%>YhX1%>}uhssc0Cq4Uau9@VM%FF?n`uY;06vE+BJpHJ*Kx zlODogr>3TWP&|0>b!6C=2=b{NM3Rb{I+qaxgppY(`3bAMW{^~xIxC2k!n)QyBBJe1 z-ku+=t?}N9A>;4;KYWnrt##R)w1mUqHwBbeoNE02rNM}&Y7u}7O8gGJKqQj7zkQ?U z;VFe*@&bL*)MSd11tHg99ok*&_&Kk&0N4nm+~@KXJ!T`oFNrn5VBwwp{XDF!YY5

DVKZ*K5)vBvIJ~Tu|LNZYK z{5en)C#U_zj#w`*FOP79vvblDHwO?zfLeh2jkx(&so!nftAt5oAVI6NE^74;ZoORZ1$VwZ%mJ}v_{H@A?G>&%B=rlmS%=9Cplz}{He*bG{s&S{E+Lqoxe$J*GsV$q0}mX^=u z`5~Yc@GE_NeO`!Ea4zGLFYX>br#T?OkVtlRcAjK?yn@0R^5*sTGcz-wYy}dXJP(PI zeRy}(sb+iIZtc1l{g2L0_QzL8-%0_{zF2mhv_2>ji7eMG2np$U&ZXloIlDTLZDL}= z{OSw$5#r^;k3h@t?s3|n8^qYz*Q2!zA3vVvu35uiv3e%6ll^( zcze#&j*X8iCJOB|L}!7z=&E#l-tZk5EVA4GgtX|EnJb_}z!fB)Ki6T`?C}}ZEfC=4 z-2-6ai39C*vx|!huRVC7VZ9tIikwq_6wN0mCwG&cmX;Qj7PPM2INX2#$7dM3xVYT9 zbqlbnz7?>mV|niuJ*adM_V$#W1yH_tUtizGMjtJ$dkJ01;$Ah6NG3oUi{a42rG!@j z7Xxfwi?O|hg~gjUZ$O$YQrno1s;oTR^11YAKIohQ3Nm=NqLG2u>oEmBXDnuBrgv%z z+_jDStp};ft}{*V_V=Aox?)XcU{W|^eL%9lCX@W-)e>+ySN)fFbX3H|&(iyHi~@BF zK<8m;?--KsYCPVen5Yq44>!Z_CY6aOw`}r4+j=c1yp!O6qArmt* zGb6sjLRwlHZZa=GLsNQK$D%k$IbLOwMFzE5>Z~s>(KQDxuem3urjnA9qUFr&?1~>@ zj)6n)ImZ}*`1pnjCW;~ob8>R>^5h{=`ZZ3u@b-%x7JyYy3Dx78@#v_i5Yzu?Z@1h& z<;TMdX=-{}pqV#h1u&z)t}A~tHzx;l#kg!Is~+2B<}NLnqjc-t_LkmlEp2R^_serl z2~J0T`LZ%MC#jJIdI;jK+YjjdIu@xEevM$T2L}iBa`HnXBPkL-4He**MofBwga9Ve z3+;NcZ)p`WXv9>m&E8-?k4yiftE&L6NrV&ng85L$Ycf}DwLFzenhOa!-6sCnt5!jtUruP5)u-!vn_nyd^|hz zM4A~DKEDIMTHBX)HT1OtE(Hst}_P$*<03+!OCSi zY>SNo#Zb(4bZ`g`3?vF^advhlJYOkE*P?$Q2cY`w*{C3pWpTL%eT4LlR$bp zywA?c3OGSd|B##84%EnAgd5HXgi*b_M&8iL@iFC;8Hr?us-?6vpzZF#fxrnAhvH2j zXjq0ug5n`7i;0>#0c6C6mYq|E*bew~-J{qJfJ2$m=TCvn)7GZIX6^yMB~eI{vV}Q2 z-czSuxFOdFv$4s~&Fx!t^7i)j(qoZe5lBc%Ote{{?W02~VOztf74XHe&KGBHv=K5l zL3_sAWPcu%U2AJ=M@O#BfrdqJ7_8p=T!j7yuxn5&NdQ$7lXSVv;Najju9#kcg#P|3 zPhx%gpCxNt0E659@4L*=hoXzgx_WxRXYo^orKF_v6?J@Q2NF&~LXum0s#Ro26U{Wl zke;5-AR&PU-HWNI^LG#t5VnGXff$k)gYWF5nL_vjX5kdd)sn~yzTt-t7{i+kk) zTIXP>-%`S;-bP1jfc)w+#f7^H5;-UsfwF+KLRj8g1n#+@0LjI}R@S+_ zV^CxO5zTT)^AL7i>I7{Icg=9sydm&W;355p?tC!e(*-t%hP8nC$`c-3TLd=HkBFDI ztbt?rDx7bLR6zzaGAinWW+|myJWY5HngW2M;D?;C)^coBH_V`#g5|)%0bLn#=-jUr z77^)==f}JgQQZgG2^1p$_MlA%95vmF+C4HduvY{Z7q@iGhLxMQQ008|$|myBGLeVm z<>loPT2rjAuan-q4y>?WWMm{!`YIkEQWj4i;H>$6wQBC?Uy*iT1KKWw4$ijSfAYdD zP*@Gl?i3dnH{1yMVQddN<*~6^Xn!VW!+O(^0Jw4Ba zbhUPl&%k6R2|Jq46t?-AT3gq;W35Q$2>^i9#d;gMs6k#;W_fs?p*S))sIH|YBPB(_ zI*U|CzJLE7jHtU?(Z}azidhagY?KZ^3N?E49YOx(!@#1E>PUWOACN{D|b` zyhV0SArn1 zAD94~ww|8YjzzynQ0f~p8#sw1DYF30c+pt6xZ?^&{)tIp4P{#IdFhltlk3&;^01MNDFW=M4(ce zUtP5Vh8EEB*p&{^Qr>qS7x^cm>H6J>EC9Q<4V zA%dia2HDWxZ?4oRK@jx%1yfT~LB^<8{ITLB^8eU-^KdNRwrluml8OvPB1AHlBtsb@ z^E@Y0rX)j|B2$J^NFgLsQpud55HgmK6iJ38b4Vc~W&GB8xu5rb-|zeT`|rKBXM48o z*Xp-MbwC z@JvkcDJj*Cor34ijUqxu4j+3KQa?1!MZbl^20sZI)$b7Rfdd9v2B;{cH-C4Rh^2dl zH4C<}5jMVXAy0p#PE(3CB&+Z>2 zPkO^*81OttMxE;xR!RE^LdN?0$27ko>QCQkAL@*aj-E4mrYA`WgiEe4cY@A&{aT@I zar3QPh#}xzub7l3M$}n@-$-!Vd|l4Uu2*)V(}(}SfeLUS2yTn@EPxr24fZOgq zFG}0C!!Q&Uwl&v~g^^K-^)$i;k|1DUFhR}u>gq;SR{DWkYB@g#luQT{_oa4EQv^nZ zkP&@3jut$A#U>NDJ6T(!K@R?z_yXDxAfc+Ns&c!Nh^Qzl&|_otem`|4zSy@c;!e2b z+e3CRG4aw;ViPhmGcz7Ec|G6~!6xkkz6fi9@?)Cb*~P`hsKD}Nrj$vVUK(=nxpSL0 zZOSz+3|{az5`Gb6W2814d$!T?OPZ)s~7s^K*}my&k&ThYZ`dF%F76O% z>FDU_P7@s)yFW^0)~E7e$UU{RZYV_{N^Sl|H4JUJ{_4Sl2j+FB51CgWanGOtqp2I+ z5V$#r*fu&J?Lb&GB|F#HIswQaYR9n7#kTO+A*=RY974M za$g!8bav;DV|%pn-??WQBmzs{xnomQrQ_$f4B`YO{qoY%+omS4;$>z|C}MBkM46n? z_8rik$ef4#o`WbUZZybg_ls%M*V8jIGg}b52-XL`27wGA(fP^~9A;RBzm{DLp&c9= zl26kt!V6XK=FKerM^H_FV)tS5bU@Yp?%nL%9BZ}#6Onseue6L3@fNiSA`y^k+8{M} z=f_no9&T>q9(RG57onvX71~mV)PDCZ!MD79t0ox7vU8^a*u{i|#&2#zLqpP1QXAK= zOV*0Kb&DttS|!9jG_5Qz%7C^C4h}|;*PW(F(720=`15D18R$IUWVUkuWgmV0wjJ71 zRAM)bX!yc`lu5nnJg^k3vo(Q4xU@CFKLlro&-Nv_dAg|oqbx3c^b0qk* znFrLDCb}Ww{2?fEJ35x@a#1NMz>gPfZJ#3`LAHSe5Yg??)!lu3?vp-<3pY>CsWN#G z9#eCa8!FBFa9fcx=l4?tSvfjNnn#FAW6dTF3=Cj<-?VX~&Z5Xeol<-kh%n*(`>&6; zS?-NeL6N3U5j6ctUwd~YOJqY%Ru-YG0vdo_0=@*ZqnbPom&{>0~JWk_grKTSaLNsHum%^;Rw??b*jX3 z$~?L^V-9&LI~ah*k47zYKhf!+=|Zs(g3l7ifqGhhYo?xRc+& z0@}V$1gD{I@%ds|&+5{s4D!d&{_DxK^eikW()Y$RHmAt2@7QsMDNcopP;^i?K#Gx0 z^=lp)9E3a@la%zOt1GkBj%s!1&9JblrI{v#3NV-IX?nH!oT8#AJ^lsLMj$X279N?~ zTw6bYBoIQwZd>>nH-%|e*$63;ja;PCCu`Ac-Rb}>at6tq>LJ!SyO$U%5X z_dP?5KmY?zoq92*(FV59YOiVQzBoG(6It0B;J42L+vao!M@JiM3o9!sR{oS!>+)0( zHWs)Fo|u*CanU0k5`6ceieFa^b1E-Qn5e034OdzOukTRgdtZaw(ZL~FEe$FZxR-%f z*UbbwZ?nF$6aol8`i#AqD4Y*f&VEEG4B{wVEBOVYfTX148Ubr)XjlaedO4X2suDPw z7q~-6TakN?J+pn!Tx^nz8Y>||m0?|1iL-^Hqd;T>SX@vMM+tAop~_E%pXFs`WzU~K z4^@)D#gDHG;YCM6vm?@7SoMNGbg5_K>0B;n@yTXUzoRG*D@{_8Vbg3n&g# z^|A>5RZq{{=lgyT7(g`$(*m(?p^?PBx1Fzy1=MqJc(k6$q1dPOk)m|m6L*Qqsc4V) ziJ~Z&q~)0@gcEMHjG}P%!~gkNq_ur-LWxo0l$?=~(O4aHm|s{J&@Tq4;2*^GOnF-i zzqxiC(%M?W%#T!{oh(rdyp3c5H3V?#*RNkV>MYCAP!KDhKGn@KxG&-Hwxz`x*|)d1 zH+cC$Lc(Y0O3Hs~6W&6%1Mf%(B)D?yltSF$?4uJ;&oqcIzfadpT4;KMJ+=V533jd5 z-(Oa!G2q(tba#iTVF9EWc$}LN5qViz#~?p~o@IopkE0nA^BZy{Q?HY~J&0389|N#f za2lY9!g@idK%M-=yt3Qwz69wODY12R-#SuYh@qL;5+sscyLN$)h9ClU?2t*(o4!5^ z?ii5s(~t;1arV~LorQ)49uXReh|f>CTtlMFz_~?QAY2NFav%fXR$2ge$i096?t?Dg z%g_Tm^P9f8rS4b+gMBwX-flKD9E5XZWD8(wxL{~C_7eDOq+`&Nez;XMe;1hqfU9k7 zN3a~g7RCpVPDTN!Mp{x@Yzy%d{gT zdVx@%ZQZ&xb1)ks8SDc3z8=3=Odwxssj4s|32%!-Hw;-li@VQ;tLjxn~dScO*v znsgh=7ua4R;UIyO>?2*0nQ7OVcbb8L0k{Yp$Bi2|up5V5j{5yz*iiFE7B*(fPK!k0y(VGy-jDx0#-JJD_mhoo$@3bl;tW{_fZ@n9oIF2lk(8Dmc6M8oUg1KS`YsnYz2x za!b)`h8#&!?|}6RzX%cp;hCInV26%KID%kZ+{eiYkE5-7W3~bRVn<&_4`{>$u#OPW z2w%tiNe7Rw7Sd_T`+8-4&hG|^4M+zrBrEbs+jj**#Q?5HTMnWjnCCzxCnBWc1EHKD zAFGQc9i+cu4oeuaGKlU!Ir&x09sgMX!<;mK8vfX@mzMa|u1EKzDjNIh=0HFxO-&8* z!C_1-EG&E|e8JH%hZun(f>ymRU&^Osjue}`AN?&UAu;PCUEK7;qhbq5iD{f~9f|5N z!EVJy@M>_!j8_REO-P7~cQ!W*a&y5 z<_pKq8vu&~x+2@Xs;$MY#S7BLUHDD_@kGVM^wc|QLuiy0761MHtE2qj2{cz*UHwRu zAsXDjJ1dgLoSS4b+K%msXubPY>1(O0`~gNVV@+VT0eIWn33?ea^b8a+l{yv(!qwoe zAYS`l_H%Bw6k>Basr^lG_DNZ{egOL2oRv8Y0}pSC#bm;IPGIH_ANKCt3Xo0Ba2q9` zd49>WXOHfd@yCuM2jGm3T@{Va9HGXM00SJHM`7^nL1m@1M}(?ioIb;~V5zPe>!(;P z9Xs+cX$o0UXVhoEW@dzE?H}BI0!Ar#{|}U*chvTG+})?jyYqQb5$r4oRPwW-3ps~( z>eJs)Ae20p;j2;~`0jG60!OSpBLK#ykf0?PpPs7Z8jcPRqx8m}mcOw3$dM!5G4_s* z>dCwL1Oxz62q#x&^X#b%VAp5QKBCe^!RONd2GTNiGvtgT`SK;Wvh`PF zAL@Xs5SNx-Ms8aDL`6yI;_12Th64EX zh9Tt2e50qkM< z$|dY0f4a^9fFkOm#g{18aJ-1vd*Om+YAehXmNYOclxqt=C5j#}fCH&%7>Ir_kKg!CN!!XpzqyED_U%Td!3r|`(gz5=US z6d}L^qJXbf4q|`ai}&e#uEA=;ZKa>nJ~1%?_yayxDRu5%dp>ncw`b?!Z;(vgd z0Kf>p4Dm$CmlJR8c!<#{HTl8bVeJV*}ozMA&xz`%0IS-v8hK zA_+095tsk@Crf_fJO9_K#(^>Qrmt0gi%=zC*91EhUs#}FV=~6Q%JG(JE z?cKyhSQgm%RQltmEEA4uh|<%jorDuKD1zWq1vFtToQU{}?xS@Jq{U@K1pf+p~QX zDV1=VDRSx}Ai>9=?At+J(xB@;YG+RQ`>$ZZ01VGEJ#4kxzI{7DEF>e&C_7Xj0HfD# zBV37!h=9!Y^qg-^Iz)c&><=IVn07!NiQYmU5=(k-Td1$EkI1kbSG@$E>UG-a`}YMI zZ^DxZI5zg4plwL~S2%iwl#mbzvo1jd<+~?BuC2Ja9SRlmnBI#>gvh&z}WuS9WTiy>s=I4wGt+NL6 z9vDbsyr~!tEC-69IQ6h5@smg~AC!I9Ti!zfh_*vOC*SQbj>Gs!FNd4%;_{1ElPr;t z*fhX)pq%e?)H%SY|1Ea?`t_(7l+KuwKSh4aKk74|V2@nb9#&_a%~}M;@joGIND)2g zeJ4Pco0zCkZlR?71upgbF>=hL5*-%5#lsmjhDsiC6hQjs2jtJI7d@U5@T21(L;@KZ z8RCxJC+Bq{mNAJVP=WzQ0S0j$L@yU0sGooN3NJ^6I(I)>! zucF-!X$ybcXMcKEs&Gm8%x0FA{c|~I)nxPR(Id{Q(Q4$c2}(E2p+P?l ziX~XA!U&ZW>j3>6c^XTB1(D8oc63}s4d+9>ee)Grke4BA?-epo%245@dIH4-tOca2 zyTHWYnom$hHGSJ9Xodt|QdkIE#5lt#w4RsZVvLNsTpC!g7*qi&Dk@AJ=g3PY#Vlx1 zMMz)Rr>KJQANOcEW7SX-?5Dp$R0pa1f?ke!FJn9HVr7+vb${T#k)a{uT*#|eudr@JE#;4fg4QiD z3LoS?IE#1h--mb@8ayu^P?rBmUKJ8W|HOo5MjOO}ii@LK$y#wxIT2~lHc|qZ{|qL4 z)OBQ=6*V+|j_haxN-U;0)1pU;x&#)(axT~(w+Tn6bksxFZnv2Y|=i+%EL_zn=S*+GPxi)de&BQSEjOH~GaxQf zX!jts5Uig^OPyOzDrlV3BkxL5{jLNJTahAg z>ud3Zqz~Xce@^5};#F#L1g`ljEc=z~z!Y&QH9JGaYnG`Ce(>`1(^GETcZ{4uNkVm` zX$k`k@}Vccz18A*@w#SN^3~tkwf@Qjr# zT!U&-BClEck595_!C!{ zw!xWbDadlAk@$z2)Xl`7_!Z{zZ4mb&{sje^IZvLP7y8_>^FM&J{@JTnatRt@Z*E2nlHWtKZkl4ObHl`8 z#0-jRUvE2mr>Ej=pTWDR@yS_l(>}Ic8-Yzz(@DHaMqy0U($?m=2EVM!(R=2d@SRizk(X)% z7_)`g+qXY>!qcmtYlw!!-%lIZSpI=8!K()1;$4^?^{0aoGT~2cjo(T9yOf^J|BTBZ z{`3C=`u{&m7-5!)HPA(@bWQ4$($e^bq4rOo&|T5rZ;6e7|Ic_+wEOq^K#pMIwAOU( zk846chnj}uj+#N)SAuvii9{3JFa#%fd0t+#ke;ET66Ju)Q4AFU$Gy8UYhBF;d7@0S zJOEQkPjx`G?B20sOgnZII(?Pcvz{EO0$n-8#XZq5^C@M+h7IuKa6Cp!(Tf)*dudU& zZbtcvSE__EiAjxI9^N_#+<`wwLi4kLfCB%d4?0R*Dc5S=`lI}XS7={-b3?hVyorT3 zJUkrIm-G4a;Ek!bZ?C7=+#hv?JdNT^Q{L(FOiOu7%YL*^J%jEE0c2%}eN{zG4gFH^ zn4mMff7&ZmdJS;~UeS3;fwqyi0{OF4Vzj`SlfbW;FHuqf%CshMlBh(<;iLXGI8#6y zITby+;tMHO z6<~8D)!OxMb%=UzBMf4ZqV$$eaaEQ7wRCdEAPu2GbrG^oX8y_+j`L!WJYPJ08bzxI z8<)9xl~rvpe2r1}=r!B3N(w}mGIe;BX1LGID!lK5@&L^DNb+l&1Psrf?dR;+(LSIdU6Pe`gH|q1)b#7WyRGK-+*w@L z?2OqY?kaosn}~WIXILWkZ1)yYjok_Io}ERd1f2?!eFUxE>C@7`>OO742ktve_^FYK zQqU=Qh?WwzZQ>@IXCy+kO-K93nTG98jVdrU4khV1mHU|n`~m1tg*Z@~uEa&}Vb(j) ze(7G`q=;GlZP6n(??*0N*Slo!Tbh-F3dS*x1UO_R$m^(NeB#7QG<&fhPjP0-%Fbqf zkj4C;;zUS@EfU5=WlB{I4Ut5-3AlGqLxM1>09jj5@Zoi~8g>H;N#LlH{IQ=xi;G2r zUj7YlI+&84g0?$*?TU0-9(Fm(sF@p?5x)c`>Q0qtmMoq6xbAoRccY`}`Fnr;Fb2+clawrPU8@FaysYiELj~;Y z6NN)A_|kitlIq)PX+*;uTFr)vGEgX-3 z-qUYWbvqQLVKghd0{~)5gMt0XuT8p*rO>nrF%{T~JWiIOl+>1F|#3Y6Lgj zDKoP@?W`tT^!RIhH?15BTJ*#m4P&<|#kGM(hLxr^6yz}FM*KIVGep>$?>xjd47{Q{ zk(i({QWN)e{%TdpdpL!fns(f*`xJWpdL2wQ@Kk~g(MWAw@ysf?{T4?L!|NOa~)StUrl=ha84q2V((>ed$B$YHH7(KiAUKjBWY` zhG)_v2Dv+&Mf~_Hi_)ntB~x&dU!xUEVr5`Zylx6_Cpc87o@k4N&JAYZ59R6_bE47k z%?*+umF_w@%GAnej;u#biK2p05_iiZzMY^%+Y8q<0E)$4Ar#QqQ%|0}6B?YFVrOBI z#3*%h`_I+1v2=2w2@Fp!F^yF@?NHsk8h3M@<r==wglAaE)V{yPQUo%C|3u<7aP z4WAgb_E|l;cI_I%3w$mps=%nw%Grr@!^8|rCzeRreS9A<;H|AuM76tpjS!I%icHBJ!6m7rl3A zv(eX;yLppK-@+uzw{S3r+!*{-EhZ{TCr8-b%1uE9q^ZZjVNd<90ZR>9EJ574*Dp-e zLyTT7wDN~vx}&WkCC96o6MkYOrr&Ep&>Z=qFJM*rWf{TMfB+2=kRTIPs=e3O#6wK5-uj}ggc7}oc1A&fU9(?WEt-l+|XMjx! zm2B+Go{K`Dyg_iw$Cot?O~Z=l2TNS`B>|3WXVcHx{IDa9AJFW>n9+cV`?4TSDG=T|T=yY?2L4}H9Xr=IJ!MWwXcQ?C)Ho z9o!>T8c9hy!%E(JwbQi>TH9nu2@woFx)7!UjrvN5^oX9$X zu@XS6kSNfXBvVs#Po9!PfrG1mb?!-|+)E22Zd*#X%U=*BcoV9(TqU0kTQslRI$>E_SWa84& zquCVDJo)+f8sEJ`_(Mn3XPhUBwi6Ez#j3@E@qyQ_dqJHdC@t+Q*n7ANb8-auG&!UW zb6nFf)~ZNfO7VQ5$)$Dt@h>L2cFj08?yrYbcfNq=*VAKmJVpETD;r@@8(7h-`wlek z_^ugs(VyhWdb=-X@%yHO+548>S_mRSkPUNi%%$mJj)H`=H2T|z|pE;uIU1pXV z>2e@|{lfYyfwaOd1pr~TgqLM?2Gi+md%)zcekaGjeab8+ zOYf>3WG8uCf!kK)9T`IRTVeOX(l7T0O)9<=EL6aS5VWf>$^_^PNDzDGWzX}fsuj3) zzzG*Br9M=;?B|D1$EvStn_h2LdNj^;?e>Fs|EaSRvK6lyD;+zw-q#ZU49K`9AJfF0 zw^I1aPC2#5UU2XJ49e=TjrB_(kDCZ`Eb;5bDt}V5wo)Hib+lvKOgckayPAGL%FWyN zz^MMfpD-O-Cd$#&=krvbNYkT}LwNq?_HVV>W=brZ6At2zV*%l7}KVOMK z0C)K6Kkn5i`fKX;XVXVBSrY+O$FozXE=V^n1uTF3zK+DUg$(24A7^FRqg5ZL{!=7$ zu$JSCKWW9TuYg(o^y$;jujQQubx=z+w6w&0&cfFJpQA3Q^EIi=Y?2gWPstHrLo$U`}s;NqO4L+yb(bRKF7_7$Y*tUFO?B>=@iiCz`lLm&b)sKN0E?( z0e2f5!k}F7s_Y&6`Ln`xsGj481)25`I*$%n8=idgtew?C2%jM!Ehwk?6eicOeWbBD_5mq!Le9-Ur%vbcCY>3OyGx5=q_$K2z6 z%XX$I@2fr^3S;015AyCWFwwB`-YRMoL^`!s`MRb1QJT>ycKJ}s_{~h)BNw4Om*xHN zIQ{$M7wUVC_d6Gt8R>XvTxV$MvJULFGyzo;@UH*iX)y>eq3(o_F0stmJ>7%Cg zFl&H$kTAqa{i?xJ-E3c&9p@`ketki2UVe|@z369`>7rD>YMSg~k7cVAE;zM=2;O&bd$RB)=ZFeP4n2xI4Ta0wHEr{BbNN&hmt# zlM}iNenGp0W6mOA44-bR8-6E&?sUj5BZ0HsTmMO%csnC6?auILWvb%07NGq12SGu# z=(mJN!0U%1v(LHwDCHHd?p=?w4YXc|*=A=dhXv(~sdumLh@$&LUpkT3yNM*h0U^Af z0%wdd3ZPriN3&{<>; zv}xkzFMs^he+j7r2rVu)_C}~)))L0T?cTZ5y~Qa7zb0_qUO;^qrrd)p6TLmYip1V~ zM=x-8F_HS~GsCc?k})@_pAPI^{a0}5uwR;Y{fh`s;AqnSQl)P9?^L4V#MztO0)xZ* znyUuOZrk4>^;{%|shOR7A)qSqMgv1S$w|(51mcc z;^FL^+W#vR;TGbu$l=3J)6)sEpp1PX9)pr-@5fWa1* zmOuO$7T}z46rO+dOhe&y!r1{56&>+aDp2*%%h(vx*{O}eB=9j$Jul76)5>WN3k^|j zIr4P7I{pIsBR~-&9Y%pb5q3kv6}q@aCJ8S{sW^;@#U>Z@^rBx{($e8Tp}v91^v&Dx zbmuM!&THE;Y?f-jTI4nFJ*BSTPsKyB{6);ir*edmAMsbxZCHgEYK-LQNx^|t5+8)`_{n=kKSrQ0fDBXW05l!9lTDRe#MnaQoB^9>Gf`z3 zqB%xm5UvN<6P`a8g9wbdIlewVy=EB6CakPJO*O^BBMEcRvuwp&_rpLV>%#Zwt6t-2e@Sq_r zM-V@~0;BaBUcUw!$^SBfN}r7l4zu1ec;B$wjJg)$N%=j<_Na(T?dgOf9V?xN0fSX&zMx5 zlusztxO@1>>&A>PH*URnR{?;?#K?GQbc45M>K=Z#B(*}*fTQPH&CX1SoxJC_yMtt@ z!bu!1KO|pRn$d2F{LMKCU;~G_GMl%;L!DXwN3g78m>!1KU=k2UKvau3!q={v9>oqn z_#>s%@0Z_THX*h>;ihqyApCg>7`8ynDZMY{{mk2k;C1~U1@pI7?X3%GXZ2M(&Oo<& zVDFXHgXY^LFO?J*!zOczu$m|;UJpejB!&Ht;(NZ|yykOBol}MG4jWYS7n}o1PHhOh zLOkY5=nfpH>FMcgQeFjBRptr?{Ot(NgfYnaHRZ(;v3>%ej6`nTzI~EjEFKCR8gMY$ z3pC*Iy?gsHRwx;DaCHe$oApG5nf+^^$m+NeYQ%T;aZaX^+Q|fiSk*JJOJ{;KOa$>O zIT6x8j|fW#oUyW+hDkmbu0+@=M=r3FD0UII{R6%aO_8m{d>7m>;%I^8St=+H@@3;5 zKhcoLn4F z$6unTlTl}*c#m))SZC z-5?hBF(!D}<1n*Ea-+Qq_(n5c=w-!eYEJ&x?D_Rj2KXlV`a}(9g_`!jaI#B|g zkC^#7-uAxTW2UI^a5c}u2ijG{A!`z8!&gLb%=t)8{@UXI=LqsrbIAXZsnpe*Fz8Y0 zzyaKpW{vmT4dK;Lj$}K@yAwf?Fh{hkE@>B=_+2zcCN|IC6&1qfliBA>WShyF++fM1 zkD>M1{&t&4!BWJIA)$a|VPW}l_VggQRLrj{D=iIugS-rf#i7$LY$OPa8%zh!cxNYs z&x#SJ19eL%nh7e+iDm&s1qF9=Nz4io6cxoVjW89IYiK7bV|Ut(g~HnU#_!)uN?!Kn2dL=u7h;Wxnox4ogDp^3y!zbH<~RXt&Ck@|t=NB0l; z8oheh$h+&J!sAA(M;-xln@I9Z#O|&6TT{9;fL!-~(2ieeJ~c4lia|^=vmfL&Qn3#LUvjyaE-$X*Km4|J{_ME5 zYm)o2PK@p|8a4Z>P_EcpUrx;=pOQ6{l@0uCLd>Zm|G)~kAvw{pClNx;`pLmVLE$yN z1&Gk$g7g6;Da1~XrPawpa~S?G`MGcuO;ViJ=gyTN2P3bU8X37~A?H(X-AW$?UpY=6 z<_TH94lTz{KxWpiJC(;h8X3^BXyI^J&G72c(i=fJnaV``yPKdSCQ>HlKJ&_p?zEGW zAZ}dGe)7JB&|``rlboPqq}y=|$@6?bFP>e{+9Oj3Dgvb*sC$LiXthR12T|%_{E{bO z5tX$7(rnCTT3!{EypY^ydD`D3TP-cSXvi+9`1JBHHFfWR{H!EcAT^#qZ;&_ag612%|a z%lJ$tLBIk9h5XJ=v>>@HTE3_jV%R{Mq_BXRP7#KF&8g3Y4YO#TE05!gEoC1|*2-A? zRZF88qzF4cjIW(fjL)F!V6qCI73h!V#luTN@k^~>X zB(#6tg9jPtFbsgGbEXID_9@*GTHEWZ_9zk5)fdrGF#h9*qRqSb!;s{#pm}KFfn^x} zXG}7}>+81zsJbw~w*w6zRID3nZWCK(%o&6~Og8W(h<~MsuVSa!vPG9aHvK9hEgE0% z+`)L5I54o^-0^0jZ^o#HM#R9_zueQuc(5o$-Rur^G%Y7l?tT!DaRo>CN%yklV9H0#r-n6+y~=~1D-e+<2Hh>5T~YvCK?(RmMCO( z)i{YrZwp^gq=Og#4Y2dyFjMzl{UyHa{k>!QI5{01nBMrlw)TvXRP9F6GC^B?&;~jJ zODhQc-A&j=&>e%__eCEAdYT}*fbfP-1OOHtaWV(2DPoosfLJ-L(*Q&izVYrmt!VLa z#lqj(V>)Y<$I<$Gu>{?23_Z_2nKROyoTJ10u7|*MA0ojMfu@9#je+upbO}=4Gbr*W zMn*cC_;5vNV>~mii?Rsibl`DMlndZIJm390f?V?EjS6fvDPAv3a?y0oreq~wtW~v8 z7#bRsv+)US@tH+`9vZr+Z5faEwp9%*rp@n8&Edf%!yx_S3_m}<-0~>qR!gHqM*XI# z86JuhX^UuulHozw;`+b=qL%s)f&qTV(Y*vGK+kLqETF&9c7j==?_>T}qOhswC$m%5 ze)_kCR;=ivdTKA84v2qY6O-EacEy>PsxOoZ&JYud%`m1)f#`=(7X^o!NDvALCl8!K z*|LG`#uR3yR9yw|XK1J;=Bm8;W@?ui-Nd7)Flo`H*<~rbV#U|A%kM_&z@4?n6$amg z8iE14P)eR1H%_g`Gcc z17cYv!aOvsaVm=DGVTQWia!kz73|x`wl?Tsio}#19K0cTx9V{T62s~r3AkxXx) z?}Bqe5lhfTV(>j65+7&>C}qTY_B+AUegT0LXcJ9`JLurZLq8be$JZV|YAvlQPEJjw ztRtb_PaB^31cincI?H$v71!*cN^?xH4p{o@N{0z6@iGA`xX(t}>qrzw@grp;Azb4_ z{ICNtbO#tN1;Y+tT>)Xjx(RhZC?OSfb;tAPchVu#V0tf3c+cCg0E@{xh55G%;_4mv zj`Gt8PFAHi?|rd{F6!`+g+fA^?4RUw5WK0!A+}wb0i#FvpmP~JA-$aHt^+CX#I>m) z66q@@k)cdH2itbTeMDG9d2}6Ooa#Z7qD(}aef#$D@xjcZrT~uvsyavzdf<$z@N#+KX&m3!zl9Hk6|`fYgFX0kpcj89vA+N$ib9_qIh-)aBZ zh1Y6n|7Iql{xsfMUotnNLr@_?IwA%){%qnqe!kWF+?iOj;~bl{-fYlTubFyXk2}5% z%nruw@1nz{nq*&zY9k4i{xW4DeQ1a248Rx^G-J!S}4a13l)+iM` zBOo!OmE-4)`C<0zyEtWW2Vb0jY8dubH(TvXWJE!n^2%!)!bi`vXZsUIzx$z~F(G#8 zp+QL^ENRVq6*C@ZYpnb`(KfG~Dj=`9?G?J@;Re81_K%>}di*w!oQTKo^-};JfUo78 z>ABc~8uS04$FoD9m=rr;y41*bw>O2ZxA*&UjRrk`BF+%r{?X=6I(u#K;kNxQNnMUU z(ga3hVnSI;!*Y4o+rJ_CQ=T)oUG>xU>Tea!71(xRwYVhr{W8cBi)#O67}(#nA0YJ$ z67`?c?K^k42=saSRq%GO1kh*DF)s3Px1ZhHw(yu&EQbQl*z@X?jGcW)^|bRg!H`&f z$m~$ABH`5%B@r~{cGuTDaiM8fx)gm+3-x-^WULxzjFEUyfAYuH-tvBJ*V(YxQjuf;Tt4e+?$QElU z*gXDmkX)P!ri`IzBl!`;ol7zh*Z1pM89&nC+tMNM)Iur|j4;WUax-0&#D5CCdzTk0 z*h#YN1Ya5&3V=X>D&i3Y8c94_vwzO(0`(E$4(KAeFh5kKou-60=RmnR6^ZE`Vyk5- zAyv5a*I+{FBJt=1a6w4*oR8Wa&<^$@S6fx}aJauwk)3X}7-77&beT5e<FtfL1eL{6sx)gXg{%I=nPD>>>uHNyqhJ>9Zh=wb#b(3gl2!O3tA z;URg8WF!U77F?!QywJncn*W`N1Pkv|Sv7RqBzHT!Oyyo5nHk+{>wi5p2h0)PiXx1cZY=i;&}?k11~2mpkx zIXDEI^H9~D#>s#W3z!D*9drK&z#M=SMPKgV;K!+OVplO;Mi~QCsdzr}#mcB3o5a}@ z_a0@X582)9uC)5tZJVJe`kBB==@}VE!k9@Ek~jiPjKD!?vO)glNNwdM5FtAKKx~!9 zo^)QN^+K5O@iD|uprRsVYB1j`;{+bBdC+;-&rwAsRQL5!@1RFdyFcDO#Cb3xrdz4& zW@yYCoF%RMQpRRx=j#noc5K9^r*g%$!h{JYDJCoIAjAT~!*TkBL9Ss^IoabPZ;YW* z1WynlePQ3vq^Tb-^n#R9iScHj&inG;uOlrGh=b}Zh#&Y9U~1Y)cU|raa77U$7M_ps6Wy{)%gbx!NZ^3tL!EeYSPh6-E&m_#$&Yx> zUGR1=SHJpSqL3n(D_3`SD(ns_sv>NBPe*(;DVV6zBk@QX(5>n3vAm#WE|mwH{cntt zh3Q7p>^kB;p<`+03@ZLOfD^1zkify^UgWV7Rrp0MN%ls$%T1<~%nxoVN7b zosbaaQD)f1h|w2#)Cn}atLTP1e;z#|e`aUz9XS^P`67XNGpWayhz0#SckN1g6%4N& z9suBeARFV6@sb9PCAwfU+E9;b5tN2up4l6-6MpFbQsKh{4yypxV@dL+rYqq7rDQq@pQh~ic` ziM*Hc0nrf#%ZrK(6i{*B#aJAAdWh~92%tWqfDEufi#WRnEUK193SPo8iuzX`_z9j$ zqDlh!1Z0nSHHX7X;0b}r7o%wBGIdkmp}MbGB7TV_tngx$ctl6#9nE`3(GW)%Zk4r( zH}3_N5fdN(_dlik8}w#EXaUeBa~>NAlAP*5dV;nh#!hF&2}85+(KR=3UQa$`3kHZZ zcvc(6z@So7umQ{?3VUha=O~fzK4P&8+}}Nfwa@p)9@OrdhbU2a08nTBZ)K0tEhaj8 zdf0=ZIkH@w-$Y_^A^+&_@k)5m*IcwXc9V>V$v8GUd<#do*9AZ z<)5N8p8x<<1c^-4qUE0X_DA^m>;W3S3hvHr`wne76pd)JjyH*)5FCPGxR{xP$>42z z)R5rNRgKnvf^rC4N8Yp7Fj6Hxo~do21w#}uwu(%__@Y2L&AA!%07_g=P^GBxN9@Tb zgti^i2-_WY(9(fCj2^dIdU_A1yzW*E*{B<$oqV;dg<@B9Cd#=B{0X(1Wnkt%sW`$2SA@_0DG z�-r#bfj|_Aw}7_6nZzvL;+cB%;F@W2aGfLA!)BmT(DV+v384l7fQJGvZrov}1o? zv8mi2ezLQg;^S!8@l!K9zFo-(r>P{kVFY-Lt|lZ$;+!L?|LfjFqB6u)e#l=_OR?M- zKhMvJasm(*T(V8czB`z+2^0g%u$i9Tqs||&4CA>T3zcVy8y}Q#sc@L*Mrfwe+tRGT ze*O+MRJit42C*{74e)2f0&ryubEofi*_j)R$S(63hor*BMOBuR4s(! z3Bm%G>)o^i=1RPn$b%gE|LkOSqG1uyA6~g`y*zYLON$Mn)K=lNy%+CgJ6!KfOSF*M z!N>@Y>-(+)Xp;xV3|w&m*2gX&RDcn9z|c)2e(9&t?@Qzz&+C{;Ke3IIQ;Th;KiX+) z#i&Y*ZkX0VmifvhVIAT`d4?d!E}--Ce^-Zgi#wUw*l=BZNC;PB7Z=RzpU~4KyeMs8 zo;s$NcxWy*I)!&#%bckrDse)vS_o^kBW7daD9g(Sh2l9uxn^Z<2yEE?J-NiaVxkaC zp#|t>C_WP@+M(v^60@L|)iGy^BlD2Z5-0K43`0PU_;}3w;p0Tt9Q+EPNXb;*T3QYd zGozzB*8db?2L@I|HHkKsE#yO>0MSx z3@_nzd~p&#Mur-j3?a?lI`%ItRAe_wsESc{3;o1CHkEj2YNgw- z?_5qHjuEy3_`Qg&Sw_e!=$<`8p-n-2tC0A)zLxxmfb+AP_}=U!Tw`M*i)B%mgEd#Ak!21n?E4-vYo8i_QQ1SJegIQXFFw=)I_LMDbGuL0`0fQ#p|?vO7F? zU+?>r{v*Q901+cjyHNm7r!kRc`G06O`lz=*HNK>#U~^5r(XXlZZ6>!*XEdJ#Fy4vHv*g(mGH_pmZkVJolzE!5vO+!Kn{jO=-18b ztaaEo)F_c;X^N5*Qv^5%=L)=9=p4^3u5hPbzNqtd#*bB?B){Y6#tRi+#Irk8;Xyfm zAm(o0L>h5H{mKa3oR2Wxia^+|GZamZ|Lz7~R@C>nIrMmBalOV_Olbb^cX)bvFjB#}yG__Z zFSRq8V(M2!!3hNoWli!A#}*vZ>PX_`%!{$<`82t$Vzj6w*CxAyd*Fi*IL4ki}ay*>h z?Mt7!KNTDKVg=EGN=*6-SZGVZ$2oWFll`bZ7t`=`uS(w%A}Qi|40DcgIL4uKETn#J zR(-BxrGE@Z`nfqj8treFc-q-B;Oo)MG!w(sUnW^WsFQ(KEp{T47(*&5TAY=os!$)n z%EHFBf{a4=)%WjDgXe;a%LeHO4*|+(V?e+oYX>*q1XHs(d0ar_)sqTmf^_oc1&#finKa_vS-s15?)01Z>4ox2A;FUPg z9_Q5cyM>0!|U;}D2&+mEd|HQx|`r}gXOz=%S!1hdf-#-=)wjN78cZKy+OFsA> zQgAFVcxh=V+1P@Se$O%K^Hir3cQ8^h@f14ZnO}>OlBhdixWwPhIv3)`L}IaC9I-D$ zs#MG%?4(ih_EmSjm7MBL2lQC9!IaxgJo^PsRE&mp){5^r_~y=44LZ7( zO`i9~ce3BD&vyDV$`ifDd8k6dCvYDM3E(~g>a=H{geM10)nusC1E?cQv%W-Cu0X`F zsU+l^bp#wqK94`0ge7B~nv?U-nJI_d>yMJS^@aJ4b5ftQ9&#ByMJ{m^Fw>tK010X_ zr!WLo)Ls~nDr5wSSr%(7OY>8dekILL949ghMv9Lt5yyYs*(l{Xng!A)%sEjbOMZGl zl3k35#g@Duzq^Bmwj%H|@6IqnuE7{h$TfsB(1o1T-_@UBtmKK)zH^TKz_A!7$M&U* z?A3H<*mkyDAN=Wi>eQsYOOR@F2qHgT8c@mrIEqXz5dJGXrw32ta)Wn{;Hv}kfLi+v z>)-K;AFZG><>CzRwOy?A4&;@2T9Qf}>Km0KY!!6)l)w`hGK}$B7vRUoJ?BK(g(0ko z5E$Z#D*J^pZpd;T=c!rmlFUZ!JO2+=e;pOo`u>l@qbME&6-7F9Kw3arKrlu?QV=QW zln{_c(f|fQ5NQyR7D15il5Xkl?(X_sdw74I?|SwhXPqUmXV1OwxZ)LV(|hr_s2Q&n zsw5)d8VW^bLQpCN#2xgbfhC6P32z{6_&xRI4-|bSU*S=Z0(;$@Cu{n_6L!3CcD1~# z*RNXvH4dp@+b^WoK*d!bGy?tZpGH|Q!0-PUzOh|k|KVx247263Z4i#_i6_<-p-6IB zP-Bt1%c1eo`JG6gd|{EV8fn9jW&l!EN|FbZ;}N}3a)Rf-PXky0+1fOpc*gIw$^JT+ zK6fqew;vRkpqI1FZ24sW{fyO}f`wA2N0+~Sahs+au@jA51r8GQvY|zX9s}tz2rZ$I z>}w0B?PDa$D|M+K!4HU`z19;F3AaJboa+?0_eYdG8H3?|t~a0nAm##zBtAIv0BF<| zabq{kb+5itivx=V*$F^ofaVaWsv1o-!wsd88~Ty|ikqpGya^(N3 z$%=?imq-cZeC^KfkhM$+fcw-j-lt%_^d#|Ha*NcTaO3bgwyJdshO zxj|#*nlj5!FG~l(40M=_-?#!Qq~bys*aFKIHq(2rr?{VbcVt>P0A@lu5EKUCR$ zB&|Dq)n*x%RW#qsB{)*i3nS#x5OkN(;|a6Ldt9{IF(HF z$t%K-&(1DucW27$g1hn2Wp&r>+h|K+oBjDZhe2Ls`CZc96Y_sKNr2{Tdx44TW2NbW zaWh0_6Lb_uy6&V^A%$b8$i7)4By0^Ch)F>}ts3n}X!S1y_j^tD2ln4v2XLE^!N>xO zWpYt;^G&E|5;6=Qy*dw_I;1IEA#XL5+)i|1e`O-PtwY4KWsN*OLoum(*HeflQpxJE z_N>2Bl!Hzmdv(4a_4qtZ!R_6m(J61TmMU`H;QY?37HDN(!ED@?4l@ZeN=h8ga~YO!QA-Za+(x5C z7pEK~bEZ|KRr8F;8>4zVo$R!9pJ~)qQm}6}ZG9V2OEjKd8DbGwFQm%V52U zY8vmCqx9h;caERa9QGwA-Efghd$QY`-(q>4@UBa~{?M3`AH|?SDzL)bele zpDdr>MojGI821m;kas*o5fDs~X~&XgAi4E0UC}o4OGU1ybS%x+4KBsdXb~vMA;1#S z?}0kEbsDiUL*iw+PKt|ewi&_tFV)^;t5#SCfuAY$rUou+bV(qM`8Tey^yi|8I7 z4gV~4Z``}`LHYCEsz7xIUyeR$;QG++LZ&O9J5h#ymHFWZJGxTB$lNh~8nM!Unss4z z8qz%WXOH)*pFI!M5-OP-*1T`F(Q7@@lXEs<+r^iK#=KEwgllDP?xpG=5;;*?{W%IGf znEcm(oZqW+J>#ULLM=x94@A_h@Zs><10LC9JEj=QPiSAQU&? z)hR^=GFJ0N6($*_u|aA~Y@AqeZ4J3hMw*rFB_U#&+2!pA)4RTbW~bKQhn(HN_X$f% zfRFgU(xGt-RXt0!Bl>?DT^lhFT>C%HZ z2!`(%Z#RoYs8RpA?36ZS4)iucfAGT|5>khK+>ZkpC|yM`2KSo`nIK*X zQ)DI#4}iKP0B|0(&Zp}>0eqwk0Ekbf$>>X2d?_kD$H;X9f~JThSnNwkyOxw$sMfBeN5v}soaj~OmP?|}Jl4dY(^KA89(E4+Q-fUo{J^ zZxU2o{Z!Jx#qHgFh9(|szq_OAb$40n;q)m2o*LiC;*yg0t2%OWnR!j$_%hcQo(}6# zvMm07o`!O@W6>R29ar~!&_SwPfE=TbMQv<0K|D%24fu?X%HlL zAUWl&iaT@ejO;9r=OjlXwr{8(kCpUVY#m>@;y9TnH=Dbb64DyoyX7j-aHp5gl`({-@RA%+e{%Z}wP5s7*W2{UKT!L6fDvErGl zeSSgAEdEn6c(l|6R}S4t+j7kAwau#DAd8@}p_yFo?;uB>7C-xhGGPr8%m8*uxDWN- zK~X493-j_SV!lO2PB(_Nry&zJ4Y$In>d*FnJ(4Fnke}OnHav6QPxAWdY z*he2KSNqO9wDq_SdzzQ;T2uPsd=yi7%7)6ZtwLGjo#S;&(V1ky;GHNHLh>=LUnN3( zx|(ZmBFBqLO)o7uL>nO!Wke7F%iwYhh{a)Vkb>9*&2)&9!89QS`hOQMLb+BLiaQ`j z4Oq>K7ePxNfi+D4=L$fGJa)^lt=vEslSH6PscfAiw@Z!S8>Sl2^|2gyH8~@!-POkv zJzDB@;k(89SYzx|F)_(eYw%*>kS_}xkHG%fW0&=u?k-!_Un6-7i!Eb=-}jgE*yV?W z^(Uv+U)fvtDW+XHu&d>XHTrscvhnx+*u<5W<83+SLx~&VLM$6W9d~4RnPg36gbVNJ z4)+UwGZekEb^fqDC)@qyS3l8Z#*O|gc}(S9i~01}qyFOzS{aIBo^nRpCE@nJxy9>i z)i)KbVGzo+pa^*bFcVM{M!Gx>Gtr)1X`0JpV}N=z(bk48Q7SYPz%+`@FsXCy|6#UJ z7P1gxe0Vw69{Wf~>@{eYFFqiwbF@h~4mO`E)(pHhY1{DpuHHTT6zAO!+3d%a#_>uk z-fzm;x18*&x(2y%&_YF)}dU6 zG9W5J3qjFiJO?}rc5VjG!jDyUDtn4a*4FE*uH5`{BD`q?77HQ5fxb%`8u((JvPX4n z_cLeK)0W&V>MK=W(v}2Ss9O8l71So8< zEBmd;1x*N!O4#hSeS^9i^|^}sTz~mglUD>4agn8`8PHWG7OkrcJU`@+^y#ji82Fqk zXI{HA9Ff~)>iua&mmdj!Py=iq%Kv~=3JAxC@dClE1cZTrnm5z}mVvg`3sIhJ5M?M$ z5R?_iZuA$iux)twpRO*t68p%7issm}>6Ujumq0{vCN+1|y{&9Hr^Z1fXhdD&h5j}i zXOLJSFeNbK1C{w%SOLRGo~0#2JY|L=?F$r^eeLS-PM(=l-k1CdhR%FnDo97c-neRY zF}fsHf%#Y@@^#v8eu_iSKPtjYu?iPDf36;tx0s5^cT8I9_btxTM2wlG$$utaMxsHd z5T2TrbsMWYyf3WA0?MEB#`46fW1tik9CiolZ`fUjFB`T5CRd znxXm{0QXv@kwxP2*o#v$kpMSo!8UK@N zT5pP_hV!VW#CpAk(w71KfAp8{}LshHcW| zr;~Rc3Q}<82$znhbQZl9d(JDZ2$fRv0Yahq-18ARn2#kiL`AKsjJw%8F>f+sj+|-d zaTS9H>;MA=zZGlnVnsT(NYgjXWs?Q!yGX~U4E5JZ;z1NA@om#ymrBO)KOI`?uTVc85OrEUu9aR=~ky07j3r7x9 zrk@#UHrGqFe;ch{T(Qd(aGWwt#YPZK1#x?~+0C&F9Ct7u9#TJ(NU~0ziBNl-*#_v^ z^%p^zd}a~OHLj14w@9i192CH;HGjX)f(F7b)RmxN0}j_X^y?)IvKZUd0tx$#+znac zW2;RRF$x{)5#7S}1v|0;MMXZG|64A|eA zWSpk%zZ)1r{zUZN7DxXzGchA0$6r=ZM+5%z^=UQtNu#fLH_4jm%BRSZwwRqO6p)%&-_&EFE3%V4w2E-^!#11oZYSc z%0&=g?*mvGQ2LClpk0fracEcI!zX6uAbZA-G$$x^0hbRn=5aWCFlz-(bta+Az$>R<+enFpPYjg;!*)<7VZ$BnBm)t8o*c{D8vMj^y|b127x7EPVas*(jZ+1AHf=KN}tw-0A%{ z{vycF!$bD!xc_2*mIyHqNmcQxZ3eGhV4|P6}?I%+E5icM=BUkl*s3psjt9vCwM{S2pqp0=*58J z2`?X?AV0rp&!16n!b3LIksOYaQ>6a|mZvRZ1*oYHryWWd{ywJJB=5AIlv0(qR7~pr zl=qV?fjr9ayC&hj!h%?7`14?Lf#}lspKvFIUfQ20#|+AX&;Z~wBU~< zw?EZ;ixOsgJ$fk~@rdyzVeLh_vRz&6PuN$lrR{fJj>4)km$LJ8#pvcErX8>c?vGrV z3%9hV(!$4gqT6yaz7{RNNv>mn<_#8JI)pbMbcHzbq zHS#dai2udD(1yNSqp4oVsoz72cpb)RTwef`>{9H$nK*Sk|}WZU9fwifp#k8b;ND}@y@ zRfg2+6xWw~n>$x7=hDUd927M*l}rwDRCUmt zC-hf%+d}FF{sIXJ*IK~|AhMennGPr+?oCH))=l3(@2~|M&nb>p$2xS;E{68@J2Xct zp2wS|Mvc>Se(4Tr)?1I3}i51 z45Y^iG1k3kB!L4HAMv?u@k3!kLOb&NVUN^=r6Zm$3K(~{@=fFMcP(JqjSl-K*ez^g z;aA5=r{LhaWXKy4_Mvqhzor*58L=S{q<~8(i?>Ou=O*^YN6qIWPT{-(*jo0`ztwkX)reNE}?}ph@jla2t0Yd;4Eh7>qEN(P-vG zIhjjvO=7K~7mSznrg`%c)SI`1+hz95@t*pwAUR1k>$nN

3>RLdLTE|`d3y~27El=5pk0fZ~@gB;2me*69!uV z{3tm!l^zUUCOX)VO%XN1U_^7U`Tg{?pJFv@Qb&UG1XT4b zoeY$-Gyp;b@M-Xu0SV$=5S)(QgzXmw8$(1%$r@0n_U~lOg?_Ld;svelU@*nV^PomX zktFr$Z}{b(KWCuTP3-NCg@_U4nVE^bp|t~6T9DxO_xFSDma{?dV-PEZ{=K?7Rc7-w zzncCM=fY%7+~cBrjOP}2>v`w@i{RrA{fxmpPY{TOk##$N0qUeu@{k!PDQFbgztPfi z!$RvGP%41sM?f8?!B_|YXdosJ#Jj#eRfAmobKndJ$SpTF6iF8H@<3?QOtEp~VWC;p z?I3}dSnNT%8Z)Fd6-e=NyQ8P4)@e>Nu^l8TKo1YlVBfz}8-N-XKnzX6b*S_85w~q& zaYhDU#sHYWNefMIopk^bkfE zoYs3xdC}qE%mqLc@K%3tGjBN?xhsleY1f-^FE`F5Y9qTNHFo6;tdAn2j^0O$0>4;j zSS1JM+mM-8eIL1X2SDn4!mA3BZi zgSi@D?j$8ILTh|T$O{Af5(Mk{e>bfI4is zdwO5tYp@3FgK22;@+>UxZb-{jnX;FUuY!I7 zkol@~RTa!RFy5&Kx8#M781AG`Af-$%ysw0f1i~&VLqZWT005A%kEHCO1h6!nH)6 zuuC9f8|Uxb1HdUjTBabamb-aXDoXeeEMlNB9xp#@T>xmk``~~jBvb@c70}X-j(*2< z8GwbrO@rniIPgUFa^Rl9=OJ{58XxNEO)%<1`vpv^9P;ig!H?X4)u^?W(Z2|25yN!l z?cd;Q4bmRVi;Fgolr9-Kzd(bQHYg;4jN9WD2)ZUFCkFxa4=YYTvln7QooW(R<(tIb zpuG{SdI& zU|g`iivY`E9?cCP>l2O(CyNOJu-pjrW1QW5i@tWjUB>t#{4@H|5Q;+uy6Ds*E(ZX4 z=8gD_1<^Dh*MkW-i1P!659{zD`7eGzU1dr*IWaM>gbD`pQ6ip`{PTaX^}{uy0X`0S zYN=H^(BTDrLF)8sQ(myTd^=KyV=pymg%m=MJZQTs9d z_uqe4F96olcIHLu1&UX-d%wWTA~x`zaCltnEAalJHHRmKtC|9^Z!iw+?T;~VLO=}( zm>hN?fE@$d5^6t&fVyu(w6OLokvESn1Zf3miGuf)BfHZ{dNb{p+qd$+1Q zTl>SHnW0NJLk!T*_EXd9$5&T^ai5GLg<=U{Wuf{4J|c~^@J0f@eg#cT=Ek zTp;jz_Vh#078(axbb5brwGPzOvK=`n(aK*QhOm%gIqU$w^6pK6D2HdKk#E zG87l%H7}Tj#IPSMEy-Zu>m|r13E3`$!bDMK_5E{;pWpsu>qs@GhMDyj_z4^jL4*wv zLC(wD0U8hn4glEc0Kc|9QpydUQ-47+8u+Y)whmWd;YUA1(=fN#9>+$7#1;O$81!E*dvevg!`ucCJV-$^y@qchg@(=yH?dyag4btM`SG}tM%1b%P49??#cS5W=OI@Hd zA`D*g+}s_I!>gzxWeSkILL^RLoB-!%TNp_OdU&wMfJ{=O#y|Km2QeJ^q;(Dgj6@*A#lmZM{d%=nx13Il5GSD+WotP*$#$A~Q%=h9>|JJH>wTc~G;6 z1hE!Cyo1XjnFGk+&|Ry8768c1sP&)hr+K2X4EvtsTUU(NHsX5ICm85j2)ClZ%8rqZ z4MHkF?lfW_+!O~!;xg`AjXXl85chAzLf2y#gJe835DsC|55gg%-rwmA+dWvRZ!M@q zG>KwNc?Id|MVW(q4}EYYUleuFcbQ*1_xG#sn%C4;Z3E*@o^h2*Y;FaV4gd(QR%Gw5 zg6$j}ybs~T?b~M^AHq2MI3pjJg@~`3^0I{#LUjg|QH7)6XmvhraFL@Am<78~2xSfd zFa->CLNYSM(w5Nf87WQ&2?F0D+eLCNFig*czXfLB!VoUH;Yi9h`e}dBX7*g^1|&-m z3t~EyAML&|iH0JcKSnTzN>U`G`fL8up|%xZfHLH&bHCBz{hRY?Zhyst7VH3@|ZZU&XbcD6r_ z5)mtotekpgf4b@A-guIE^Kj??8isiuu5Pt{c(VIR<`pVw%!zP zA0Ilj0dqQ6m{bC2zA44Fa%h5hJX?rKx-z&Y*6Hm5M;%zYAaJjftqM7pOr$`S-ZfTY z6F`n!^U?!7Ng14!6P$F6oxbINZrRdGM>y0ZIY=^be5)53^WWtA>mhM`jM&2C<{D`t z#2#g}5Ex(Q1-63eK%Rfi_}y`X%zNzY%Md1!f1Uzwy90O&p{yS(M!}LDTQvsQYo#qn zAmP%Li0~kn^uiLSQc?4A*gL7_1$T%=h4!shlHWoqGAPnqp#-W*z5Z*_s25{vivfU>nH1Bh+w|7F%EtRc z%)%fu?B0lFK13tU0&}=UkMc-=+eC{t?)LAsZ$U={ou`}Y8;tBEfe$`dLxzhAB#9ya z4bv^w5Rr%#I-MooB$di}yFOU$R zK0sA6NMaHcJ|L$L^#{5D#Eg!eN-tgz${`vtdnY^Ho1gI&F+Uwm3uo}N=f#}^(cNFq zP1m&ZvUEm92UB3I|16~|CL6+YfX+z+;Nl^iJOwA89vFrwsjGw6Ef|5C7*v8DC18L- z^9^=Ppl88lr}+Yme?f{C0|juI*U0yR2^j<#=;PPz4KEGo8V}xG;`^yC_Ff#RXuu-% zpwPQ}&3}kRbg&v6v;ISNv1)cCYg4kb+lJ!+He1|@AOvLiYhDwGNu`z5K5!<}I*mbF zz-*`}EHspV<8MX=r~9Lam`Bmi(EfQpY;Ye;$^h9Bc4p*rO~QR*idL(y`tu1MbJ1t< zsE2~jzC04^l(s&*o(Q8`&4YZR91vC>MT1zYsku2jVSZsDX#8-46Fih~eZxVy^9Zbf zxgwf?0s=rvXs?3RjX`F9Ny+!#{C73upg7X0pLX(=tBZVnFN3)a$e(q0Z@>FB-xPAp z*=`?v_#ymt(L;>wk<-4<%+SAV9?fixe9KS{S8~{jz9D;mKJfMPA$EWT*cdW2Gz4r5 zo%9~?98%VY+#VWVu0T!$p1|DZp0=YHsFc~m*#P!(GIJ;UfAx)G4PcY60+7$Zm7myK zKVA9g+x9Nlo1MLwbLls*J(?OCXwfI-fbJ|LHZDDbeECOEuZL|Aa?Iz?uXAylbg`x@ zfBW)iKC z8q09lBq8|(b8;{T1kX570RdbAEy&&@!6y`5)SaF0Yaby&)kolLYP~msF$c6B3k&Rk zjpC3cV9;c5NM_&=MvQ{}#oszQf>av^^0wew>H;%z&=mw69u!P`5X}pihR|#SPgX1- z9&K=`DNK8w1=YqVSRbLJu)2J%&<7-eiv=(bU}&${KZPfO^BQ9Au-yibxm3w94O3u_ z1ZjcT1>k1DMNg94sR|5u1qBcftMYQG229;&gpb$|x4zZ^x}9bp-{4V|SMp5WBK6G8);& zogWNu;653(tz~XSB*s{f_*QjphH#yOQz082;8}#ZUh#GVL0>@q}tvf zE-B!0umeZ)f~_DSsH3JTr=ww5Z{95HL|7Vb4aj$jg;NO1XkOTcNqYEm0A6@{0@WQN z1)#HWhJhvdbrA7w6f`q7mS+xvV%XyB>@74OUoL=c#p%96phoh)PYhLtiX4*Hy?iOi z!SMhC5Ml_pphZ<~Z46%sIhl#!I0TmnLjMOhd%$KQDvE{+fSkw$kkg%&QP|~+}TdS8j5V5)oy=%mVXQpw|i%Lo)}i&_6)5 z1;IVAd|zPR2Guzv9tCT-H{cui8bNJxBp_qv4HZ&Cunu>Weh&AALP85H!Whtwg(DUC zwD+=~oZM{&3T&`_Ln9|teNvgV3-a_Rhbgk?XESqM@EcmJNWwh@r4Il;pvj%L-GL1` zHKKVmsR^ruOWFDt<{??tlWQ@U&2!U#Ij?G18( zgkGnlY^3by?EK7G^$@99pE`A_`PKgt^fX=q=OfBZ+iQey=9leaFuW|;^FK4)$t7n( zMJaNgYsfdTE=gcusf38rfpYPf1%K*1?!35;%zU7dkwmrdk$-+$d{p9q=U0Q&Q;};s zy6+(pk^TFd{XzRf1>ba1>bHUoJpD9dZZtX^as$NTj)Y_ysw3fMFwM1`kWu#7*xZD0 z9;Ox9XHm2~BN3c#v}Rc+2+X;i2NrZ$=s!>*0p1|s^x=ds0HLZTopef&9?k_G#h>5gjRxzZ z6`ps9FZ$Iuj=GbmwX);Bf)9<-ktl}fJIAA*vj4uxa!o&P_&o9F)FXIDP)@$+fam57 z>lBy}-vQW|n;U`!Ljhi{P^FTj($;kE%f2 zr)Y6Q$-n;zW`aaWwfEb9#`zDWJDZIlo0W`UDJnzV6l(K;3IDRr-Dck z;VskQl0zsh;$lbho=G8US!C0`mdJZDNaHg5BS$UUbreo!vd*vCzmx)U2ZjW7oe024 zhMB6rp<)4wCcLDV8f#%I2WhNK%Sj1Hc(XVm!3V4pEEn)rhH#2(V%7dp^ol!)Mp@%Y zytZ@RRB>%&U_E8BYouJ^omC&QQF)z%Az6o}E6I%;;Ib%YfAg9b7+yiDq{7;T4Y7A{ zfYUk%3-kpL9Egh2gqC>3=hA%KD6D81R9&LB&hg=`DmSHz`F;uxMw-Md2!c@8uYOlO z&0hiCC|IOWz1-i2ZLrAz2#m0{VcQfQp@M3b(Ea-~`hK{3aonAi(kR!U|HYEn^Ld-q zm|qq%ye$yz|beCnRIeD}PQ- zy^+yZ+~oN(4=_;jHgEP*+t5F6lXJCIljog`DFMobtndCCHK^_p2Cjy^nYiFMdHI$% z)K@_56rY-gdRV7B$^)w zEu5^Z4XE^pj*p0J!Q;XEggm>#_@u}+A~lyYJGV94>caQ*`6E6XqWrCz&y=Q$@-*=f z2G`kGSr2MJX*IUA_mo?D{f`|5ZMBf*()o{@K1CxeB;4HPDlC?oE%_TJMh57ws%|u+ z`3z;wwUd_lYQokNpzvjxFC-v<6q6yeshHb*>kO$G2#+=y(4vXGvq4GO3zMN$etMec zWP$;m32K4Z%Y*g@bqXxG;}^)xzKr7Up84v@5N7VLzk( zv5g@VZF~f-d#``-p(Cs0(fs4j=lSM{LZg z!EYo;0uV?>?;bqB7-#Q6o@-`ms`u#}K0fIF$;dRDq!oigwoydW)a-27*RL7o!zIv( zxq;I=gxumx08Qw^Qle8%cx(o~P>~l_fS@B)_pisPE6Yne&bx~&Sm?kNWGJC_$cS$z zc&Ik`Qobg2i78yDH6%EwjLR!zOV?oOIsD7qN~y^fGEYILy7_nM{d@)WkCzm_%Pvg% ztwkudh7a?CVp+`h_iM8SO*VkIcAtlh72BZyCULL%<=4G7!A~Cjx4UHZ)rciGR41uI z)S5LW%EuC@$Sw)_8SZ4{y>ZMU5X-G{-?Mbq&y`iC2;A5B$`(#i25;x#U;bVbF=G!l zvUn%2{D1a$>|TCie8n6xFUZd3Y^OruKlm(%ftIZU>RkBem0s^FI~ulc=UYvhpo43Q z0FZ>=SrYOUQ}R52An9RD;Ol(jgj&@v&H7IkQ`4U}Et5bgaJcD{|>3fgdift5~QPg1|K+fa~! zIRgx1IKcrG*|Y32ecYJ2R86r!!Cot-sU*s$^o^ilT8l5KJC z1Yc`({2vw|KVR%Z*0Dbi_dV|5sfPZYHk+s4>hT^o{5H%C=vqq6!ml>#3B0qh_>-N5 zKm5+~;7P`d!&quH%ip8pK6y=N@sE2prZd`h^@>uz&ELJ9XO)Q4Kl3wg9!Fk!G8_M>bBNBMm66x8B8R-Rp+(Iu?iTNzalS5(wuASwnOux3 z4{F~vw!D|;)2q&YK}>l^@Q+IM`NAwavh{)`SHsJmk2_jZ>iu0TDwWVpKBJ@^pAOpa z*wq(Tio>I(TD;z_Ruq53>!s;l=`QiVbAC)HeP;By;*=CC@0H-Sflv;3ffzJ6{v<_E&|krAW^N6kO;aE#0g4HB*47-fuy3u5 zR^VDHF^gO=R6+1opc_RW1IE-)bkm_~NN;NNkfOKcwRZq@t;6JlzA)BXguN_Rie6}GiA^%H zm<@9{wm0YH4YO<==5t!PvJ#R7<>z<*mNRE&Tl`euJijoI_475zLsf4yemS@B{V|3> z?BYk74h7R9DtR@LFZr2`SHH3;O(velU;dWP#WcIUpHqChy@+Z)FYnf}c*ig^Gw+#e zgxOX4|8e)*&lkM~#VGki7cy|j;|Q;Mnh$HwoFqZhZAWo7tyBc7dud@^`zv zN_hnZcWV~ock6n?yeN|eN=L}KZVp)IJ#(S6YxkQy%P^;6#268tW`f^+gOl8g|69_x zTicfhHv9}EO-AuN336Yq$@Z@f_;I0)h3kGVOwk=0HZO|1VfoYhbK`ddwtf~h3Qzp4 zX}3!$bdGkFS0nOVAj)+RTUZRCED&M}ly2H9fAXFBpxLR;cY(AfN>)pL4SiXKf_zyu z{Q}CP>;T`*|1Jv?2;uq2UneAtmQTXYTyfp0fcj=+$B7kgnK+2)h=BPpkn*>Yvaxp+ z6rjYVrS-Q0podxqX4&9x7;1O-F|-0;L%$FC&{>dHWM>qhrG2Zp)q0Q-nf{a#jjmXI zpJAqL@b;Q#y$3O`T8UnkRZK8ubvaL%gH0e%B0D5i)##LGkCS$cwS^IVVJDJJD`s5t zl-A4TY+1s)9xpefA5^H9;hWO9(UEud9p&5Fn$O=7iO;(h{j-?0#7lo18~kxduF_9^ ze?sQjv$yd+ar(M;n;TIG(?9#qctiak&G(54qHI0GkD=CggO`zcmzvf;H6Yg2TfF zpd26;2FYutp)4fKplDNyw6j!)%-%ZJ>QQ*VxbTz<^ruU^O=oV~mxZ)=tLZe|OQ!k6zj zb-8MFlUjJ=s@;_1aRK4T1zhzKJD0Y?z%fVv}y z(G00CgI!EO9pu!yx&5F~J7zx)QJLtB$3|SYCi8)Uc3|9UDRXUFT#veuoGE&rN?(na z(BI;_lnR0H|Usjv`k56wYi1ote^!h!@JTwx8vwu zCVwSiY^V?Xl;LN`B0QA4%(tuWD&zR?Fow)dIBw#PSI@hrr9(vXu1fKq<^!^Y*#S$J zP#>W*f`J$a02QXZAXrsH=TQj7w!7y*TdmpnB=~Uy5p788B_t)G=N;w`;w6&tZP392 zY4AK~omj*_Q1Q_7d=!?(k?@47DNVa(aquQ(G&AFu$4v*5VfWHJhMa?2S7u8F=DYrp ztg{>iZ;dy8Xb9@H3(461J0WdOXZ}`Kgsd|^jNMFdt()o|MH~(Nkgm&v+)n$b5W>nU zH_^jCNh~czU(W2^5-JeHLlJIy6nzFI7X7!q4py_a5;&$dj5@g|U7zc!(q^WgH zS{zOrtz!K-ub~+#)$>QI{C&5E<6@-U5O`r?dQcp*tL?n?r$6hv*Vn&4edl&U!y{3~ z3!gQJDszlkSUg3xmw5$KlG4&G^v*gABi ztQkrvHlst2Szv$0_H%ATaI5`%Rbo|AHJGN;dhJ#(1v9g!d9x|cQRCuu>cPlUZoq{s zdj@^MHvJ_#dbMVHt*c=_=TN%B@VX7DAQpS+T-&23=|=k_u8TVLIuyZ^9?x)PMzZ4K{R?atyl81-`W}fTrS$6^*FZ| zU|(rxaGj7WOyoQ&k6@nZ)Kx+dD?`vy5ORZOF9Q9`v0v4JVhyOUxIbD&L{?#AeB8}@ zhm}=D)(C) z_Z=7SyGZ=e%@nbZWqrN<&X7dC?@KWAMs}8Qy)etqj`e_{=D@et3D0-yV~Srq-?bGr z7W1&a%%gcn(6WejF#s<*LjPRqq`~rpVchG!jl#wO!)<+rPxW0-bsxX49nyZrG7+!p zBGr8PyeIb6J67G%64T9+tV)C4wP!N9ISZMeejGRY^k=8(Y$&Z_rrxPvm^BgO41P69 z5$F9rk7`r@tXKm%fUpntWe3Q{S_i_eGhfmV;5GO3`TG9!*Novno%wSps0RdmYcfDI zwB+RcHAF~_t?~z;bpVCJGiT0(N+sY}6es<43UCjZp6(tRO6{J9Jf09aGoUgYpN1PX zRCPpxaZ5r2>q`=oUm|B&f2ha~C;v%I6pNQ<3aST<69YO94ya(KfO!GnsG5yQP}NaA zB%CorO}wf7m2~H5#~7v*zNus_FXHX~8u%8gxOVv(TV2ooG#}^fTsv!fbn*yISBiT6 zr&7I;biBv9`YKWShHMu*mZaDniyy3p;FZYg$Gz@(nQ(1tK_uqcD z14DCJ5>7|HKe0pn%(+Fu&X^Y#Bb*E?UU@#b4VGP9dJE_b)umoapxe#`{r$vndEw}} zOK;*n(O~6yBDTISnRbqfeeWGjFRuP@i53(y@836`%qb1LaghBmPlo?*4lyd=n)fa@ zUl|^_bOluDfD59JpP${49n@?P0L|ulHysc8XK26z7zSVh21ubUA4+Zj9kS%NJD3M& z3&=rwO{s0qL76U~&c%S@N@{6oluATre}6=i?L+xjyb&OS1$APz43#H<2v<@fA(W03 zfEMK7E&-qk`WLrAo9j~K)EI#1B6mgRplPkl8oW+10}fX6^XnTM(3NUFUIO{CM$HEx z+m@D@nF*gzF?wl#bc7OcI)Evx(gD5YrrqI4EF7IY92{j(EL(e40b&%t6`}P6a<0>^ zc2Mtu9UBqk!fb#(*9CXl1^T@isUb}>3JLK|=1tq7yZlw2F`5Zj5>H>KFvZKOC@LCo zhJ_MBNj*pc^i((2U2j#g=k81fH%vm2QQ)|+@F3*nRMLAB*L*O>1GV*E>!pGyH!Cd{ zJShQ4wl$qrpFq&8sY%0y{=agE*nz$h+8=|6Iu)dq?16zj=yV`{HsDAPVN5X_4UkIO-p zG)#+L3%e&|Y7v?nsA~4C(CqQ6=T6nG_YXJj+kHW5QKStkwKwP!0QCtKGUy2yh*_W1 zDv}hC=50X%0Bzt3)eHZH#Xbu0RlNTFL6C!0p1KvWfX%WQ{K!r7>KZ<&?0}$IURbz_ z@F{LSm&*6hsQ~#%$a6sx$eiZ2K;@o;7GuxU%!>gUMoQ)@T{ z*isLJDxtMhjaF$Gr`DE9mK$YcjJw&A2zYXCx0_ z72`2?_V6KzXaca?bSDrlY3o@$n01sz(TP4IHwvU`p|se>W*Ssr^~J z+O%ga+v1r`dp2_5NSr;7tzBx?6;`zHq?AaXC=s6OL@)aCa_u zm1WOY|FIIc1R6Jrj$>N6%Sp3)qjRcP)LduC4}|d=fq+Y+QK;1(xbR3C3u2=}4E>kN9nIIW=6{E;BXt!ne)aJ!8op+CfNl7h&~wYP`$ zm@+p@DMb3_c6_1DERFg}$r>dRRHXy$y#4**<7TH_^@cm`8HaS{)1TL5Ge0mOEwm3%iPa0jkeZR9H2C-dEts!;zZej>)LF9S^aoZ^KUByG#zK(#$&LWRFU@ zlozryF%#VQ#TUa*6vXE3%uu){?$VTePww$|_AaN?e|`7b2r|mVcE6s|YJ`wPH?$NR z{wqmc%nH4%(w<5o6nbO)TLSJKqD1vLNC6>Y13Nu*u>|lDYZ?)eQaI%R)(xnD&``pm zd{94x(kl9EonEsE35p);fmbT>Bil29CaG4lX2Es0Izc49`Y_SIrzF?J=TkQyRh}qB zclAR)I$i$uy8HeK`n8L8^i2OT%$E4=L|eLO}&)ud$xr1l^%8LLYH`mmKTK zK6}iVDUe#g%AO~4pcmG09OC#6#gPiv09geE z1etXdM=PnIz(VEf)bK7gYFtpy<6URZfGNZLYKW5x`=B$PZ@Jd(u>l@4h3Tmxn;#G2 zUvsD~mwdw3YKGq$C7}$O4p|CH9Sk&y z0skS`%*jRZ=($=4CGLr(&;SMn>?AaQLF6@C_aC5IKot*w7Z4}pEmP@ns({5KYzV+J zh4n+ss(h84oE-e$u3lYXq&Nq$gM=PD*5SvNqw!mw(v)b`(C^v28%u%~6{0=teX2o` zfklNLkK);t;D0F1?e_kGZ3+{OsA| z=&+XCgZE#YM$un^7()hADup>-r8yoQTwlyMHn9Rh` zW&GE6{f*qveil#Ajlqbx#|$*epGA42ME8D2CH#Narw5>GQE@UuZZ*$7QXX3m%_8W zbcf?|(x@a?*IDXaev#=#>8FJ{=kQJyMvn}Sa|(|eGOGvC zZ{^L@ki=y|vd>hHC3T_B>e~0)-h`sm|6^Lc&T0ywmSsf?Zk9sac!vBWbAV{(Y(R_D z+Q`4(#BOM$cG_-1M1HHc+WlW?gy9GU%sSzHDq(Tk*ZYY0_E)YckENlJ|(@Lllg`9wVI?M-~3&72$ISk zurqUt{H{IZ60u%fEPD5G_Lw{(HZ{&Y!^geZp$f%e`~RL-CR>-oRNUUn-fk&)t~{FI zITlOa-0;41zra=Fm9;VK3(&4sZ({`D-|+Yw#GB4fJ+Di5xL4fb|u_GkI59uhP6ncV-n`X zhOPh^Kzd4H?{yIpvqsJaZO6w3)_} zu6=e7dMN|H-DYo+u9(0_-9!Ut6nD9uZ`Q-N~X|yjUTj*0U3VSo`=BkJRk$yAsyu0!x57stMcVJWG7X#C1kI za8eX~;qql$qf+GijNkZwF9He)|AvN|4Ki&8H4+Vr3o06`qEJ+AC z`6?3npA=C|9B~Gg3wggr-$gfKOWOb5Q)?7SIojYgO&W3G8$uBa)K* zM23ZR-_W?0)GehxTcDFd5>Dtd11t`Al~uO(^}Pj<2p|W+7LRmeYb!_f_eoa{LdYri zW}3HNy`}(F`E$}9$~Cij+kpJ(^)rCtz+I%inNG<{)1IXRY z4Gqa@X~O`N07k*t(*Q+*sw$v$paa!NoB%+FDjf;rK35O{UfkuQq?o)3ASgiL0JIR; z%)0o!rnY)|dLU&V^TazrD(vqi3A$_OuMLy`!=5;Yh7kZ@zS)!-Xnc(ZTz)lHHY6yH z^8Z`YC_}5|yiv0htIX`ytbFbl4>G?WJq>}nP(uj2l7a#lYbF7HhDZ($yzdXfD0H(qKA``wadlnb1yO8O9;6o4-9qkKZknbjB0OOuFw1N^=z3+*JxJLee z)5U9VLJ%07k*dUUSJNARC*edSJ7n;w=g&(TpQp&{J9*=QcT-=Q#36XlNqhw0IAG>M z(el0D-`gmNw+9?-O>cS^&EX)AL;wG8I=n>!2r}CLcFr`O;S&2}2cvrn*Wd*IUIwJO zJ21=-AKtkG;{Fj80B%mv`E1DJy1h|73q-z}Dk?-u3q*}x78T=>;B(Yrd2`QADeZk@q-abAX0DZ8z*8HD#T{}R7S!>e*zEpeSYyJ@^Ap`YsnnYMsdVF|d z;w>;+U%!5Q^UcH2|Jq=ZLGORGVi5HWd~@1DHadLON5QQFI5lQkBz0}=?P;iGpukp+ zDhz;VMB3}uDvD5m14<1vn^Eu@hw#?O}l!vu#z2?(dMu|c%wAz;t?q;{$|RYW2&JQD(8V1h?RK4<-RSF`UY zm*e%jM>ke|1J6puPTxw!%OcTkBh3?7i|mNW)LjZ#_p7e&oZ45KG*wm}GF2X$4;VIk z)w<7*_&AbOPH|<;I$xix3%Y(aq@2166PJY>kA)?E;oUo{AMYF&54&i~NfLwpyo+ym zA9$o{E$zDK|I6j(al_JXz*ey~X3%Qlh!Q@XV7kh&2ZFVvRrduPLNcg5vdkPK2>2&L z3-O7G=vq0%x~1k#!6&>z`h9mGc(P9CJZnZW69xlY?+_ZaLmTmJxy{}+41EF zAd=%Oswj~TzzBkBqCtd)qT94Dc(V?p4+9eRlVR~{CluYGwSOa5xpBu!e z&~;AwGG#eifIGt~j!4$Uq715klQYJUQ*_f@wxB}{SP?KtpTS`UnItN8 zoJs*|*M2lqBy2js2^cP8U9t}i4Jd1O5Xy1{OOARlTx0>iX8vFATOxgVrON8+sDnBz zV5}pTR{c8Mrz9zJ)sN?J|{5u&(>M9oMVr%S6#uq z#~UoK0bB|-5VSE+(gklp!xO>JtWm#U%!y=+B>`Cvmp~53HxSt!77T5lw;6w*n0V8D z73>glfj|Qy1MZzKKvR$EHT}%k7_cXm5p=5o#3Tf?Kmm|W2Mf=SAHKQu{Tv;A{pwX^ zQYsM4FTi7Stm6p&QgE4QKA5lvD9I#LYMT6gt*xyA0B`8{E6UQ^8hj%F-CFJT9GQg{ z4KI8R5^0ol69BovT@KDvLSMjs?shZBxv7eQK_LoUy0rU%J6U}c8=PZdp1XCIKfHIZ z3d#$=ep%!Vjh927;}7j5$ZqMxp0XfHM}5IM5OkpS51JIdW!BaCpvGvrN@7@Sx(jp)!V>`sAO9l*&;b$cGc|e1_tZX~k z$jSUyuuTihDjz$Tc;K1!f#o*B1PFs*x+Hq*mMdUO@1Juil6ABLXi3_y2EdbGjOge& z?ob6EIu?9qn3;bAY?WAP2S9`G1s*AbXVcTC<$X(_xIYV8>3vHWWzc#pIbvplE9&Nh z1yv^)ELgN~Sqj3~Z+QwnbhZ5)`rV8IP@-*fW5{(WJWN+Hyc4!nAD z|MwC0@A0(Kz6l~k#09}jEu}H0FS}K&IBrBcP;_Cf0Fl_~!CP+JHn1xNU2|dB1bOMP zVYfLs47~KL^iWX`$y5UVF09S5l$c2DSoo*Qv%bqaT*wbOIp5z)o!%(N8vQ1sK?ENp zxlY55R4MJI#g#WU8L-sqbWKe!;d_3(dIA{F_i$(?C1GY{Wm%w@HKm@g+JJ8ZScdgq zO7N|-7b!u8Xz}pWsOoA6KTH?Yp9;e(A~I^m|Io()b{lQ6YGPm3lJhh9kv%uCc1`i({4l-c80)C?p_!UOq{BcA0 z!O#}&q?s-)1@eLH?Dy?G8!j(S;iJGv^Hd)KUJF1=OB+)Et;C*z-_(sd#MxJmj(&W>Cq0WI%BQTg0aGt$;2Snq=BBSb(oE%G7 zGPSj}bT_xP@+xw26pK@atD?AqfW7zRcV~e*6@*|uq{JVq@z2tQ+DNhw$1oa!VyBf8H?Bma7}~d zfvQx)BKD|1zma87<1!DS7-5Tb#fsZmMN%X-ZRuzs8x1#k4}cUNRpw@j7!=>z|1(B0f>4!5zoz?B4Lujg=H^sH z18KWvRYn?G`i+QaMay6=W8e_x^GqSY1_2Koeo}=UVR1F^urr;ofq=sR-%A1>pou}+ zg7TT&n5@pr%_YBny+a(Brbsb!4 ztV-_{HqM9B3_ra+K0eOFLxp<1NREj!UWaoqtf7x7ICP&X6fs}*AFCvcxqG3_U{n|Q zv7M&&6C}cbuY3n~HE`N#vgvnWJda$y;s{5IV|Rn)*TjG~4mwiM_sZgM0{A{`iaZ<~ zW*w4QXd$pQN1dGVfum@&08atf`d-qecUdFF>(Hv} z&um0w zmp<~RS&cG$1^yBRYv%AI#Af|g6Rf;j;{YXBR2-&AnPIBc0!z5 zPnAnp=2`LO4TK(To7445x|ljTI>c)RS&yOci2y8fL6axb>THU0MoIoFOyFNnD1Dm; z^bL;LCj$ssvni7jY&RtG# z1yrMA1c*g2HeR!$UUR_Rx*H$=4Iv^zI%Ij>GHCfrW*h=(Prpk5uRMi{JNU58q*fuj zMF4B%6Jc1SPa5wCnvN-S6|13+4M?KstQr7UsN;N3mub$==Qs)e_va71Iv$}eYNkRH zY4XDm!=e-@b{{Qh%pZ%*zzn5xHF;qisi=590vj?K1XV;WKEtag;n4Jia3Hmpd=2nl z6aurd(>;BCsQd!hVvP`@R84{^2&!xj^r6C*e{*d43gvH?zRQk?S(TO;=JfgQ$C2t7 zyax^lGlnSV;$Q*ZZ~;=1eP=jwKM^uw8!pBIe)MN0q2jP9++GUk*{E(CLgs9q=se&O zj5B?g(mVs(Hap4|UgagRP;t#TRLo zzd>~#0n^P2{t2$-I?EUBXF}WcId9L?8!iNc&V1>6-#zTsz<}9Iszf3SuGK{t&sp~) zWEIaTQC}K$VZ;e&X{AVPxOLeYUdhgpd59OTa?nuSq z`V?p6zsZ4`AI6|zP{DE=EJ{X#zjR6+PF=&rbQ9N7BHed=Yk-4VBf|`mAQJ*-NJ&xA z3;2E1wWkRbl1FfC{@#!pcx9oNfO>IiVx=e0$AWkeG%sL_feWy;G44A5e#K1)VnEoU z0Em+dwvDg^wcp%)R(+@_)#`^zZ3Zgun3^_2yM_bkx;1>6=vo0|B=m=7L}qzkh(n%#mQ3t@9|`J|Mw5W&Sk9_x<(;c9G_x?Eee2&2qvqM?qpK?AQ6k! z0-W_Oh}oCZ&%trE@pr6*);rNpaAq&3Pg_?=0sanQ;;vn+D`wEt%HmL#2{JwV zMFGB9WAMpU82ri3E1(3ilb}M67ttjZ5IBpQGd1@H#ng;)2p0uO8~LUE|)1V0f5 z!JM$k&?oCaRW@e~aOD5Z@>yKxb=#odC*i?bi8)+81{aVCY@eRP*02Q$mJi>@9;%y` zxIvwr%FVM3=M_LG8wc>%?CjVW<#~m@;9F4fL;ym+)r|iH4TKn=O_JWXQ;TXfbAf_*wZzF|2o69u zAu0=K&8X4DCZNt4S^;eIqo+MKpA4XB*fzfnyy$G044@TC9n(4Qa^%2f`wd3I?RFN7FSediSzHcn3W$beEui60K{kjQd75!5XpklE`C_^{c0 zc|jiwUsd-i2c$at)-dwZknTZk6nh&)lol2jm3N05Y8QHWyj*F9QjIFc9R#UiGN#N< zeXO|hsj)WZXAx`>c2NTNUfx*6DTU~J+yU0_-I~G4)3!EwX(dI>gJ?F`_M!-*I}!tR zi!6W>y$hoRaAS}CPZs}eh~ldo{vZknpm7a!+-LGo?}aG8dd8=)&gn%yAB0&jLt%^C zi;muCTZID#oZGv%4#BXlkVtY{7N40Bb(^|?g6cy^L}DE&0m27DE}y2IP)GeCn0-l9 zwGvnU?>_hUDi84C5hbOi)srZ!0xA@OYgv3~bmEpDAgdrNg^9*Jq~?F+zf);cFWs?k z8@2$9e!I$-Y?@K--2c|dXoU3Sd%4EOY6EUam}B6l#s8g1b;83x@dX_E`YR!WLBPS} zsv!={8n}#AEN0$k8o`8wwF}BR;&kj@1w``;s3M0OLBqw#n!lyFd!EPo*!_Z)@&keTE;)yUPDxjOTymp|J>_b2cjug z*NQBT)oMu339v&E4#GyjEk+dIOHEGh>=;!X&U>bGWDoZWGrQJ*^Xnw#an&>FXRsua z4NIg7u**w(KX`queB5gV!hr^dd3x z7#qegD_{lm=={N2T#}v$aXS&pw{7z-kR?NURYC~%pax)XYHDw%sfZEPT5USH&1%VD zxh3LX9KFk@C}sXM&^lixqznhwZ)lWs?E3SPAYPXVj?EBBtg4-ULkl`WV{H@fg;$5O zfu@Np2q+BY=7I(wCOX>w0W2^u7%MWa7ls)zk}xRS<%eOc?I27OWbnZb{7LX>9P9+C z_c!b-CsHuYprwKxio_KV^X-|8`+4bKFRy5Oeukh|{KoL6B2n8hTwes}gKVakg zvNSQoo6w0nVw{ zK+@u-1sxj+feqTOWyK{jC)|G9uxiSFn@P~@sJNQ4(YI8t9BrhcZj_-G+wx;D1H~|cW14t z(E612x4k9cGz7W5(ZwG$_TD&q;ERVG$7}$8AN_81pfQ*R!=>MRv78+@45(TPK68)S;X^j)um}(5r-BTf^#B@&4OME&AyEJF-%VDJf%#S}@c+2+#>@-12vZ zYMVezbUyQc0nABlY4gRz(k|2#1R(kGkA1?ScV(cg;H5D&vmkjGZLv`jq75yKkBW0y z^tQ_V8xB1Y&N5%FrL7McFyi9+8di5pw?vc`{#I46;|o_kf7SV-^{Q@tll#?cL~hTT zKtB(m5RPwN9(;oQ-}5Sf;S84P&*U>fmAeD-i>x0kGf|6DxWZ`EvQE>yr;Mj)E#l;z zjQnvym)tI&tlTDTEq3#5I@QlrPB27|HP|PAhBHy$a`5KQX%)r1unY62xHK9PziF%G z#`NKWEdcxNp{yiY3>D`yVy-z(tO*u+?(s6sAb-idq7H33lm)XR@$_IyOuja%&I+5M z49d~BX94{Z$(SXrZZ8K<+4YqT&xjz!#LUpVe7r^C6^EcmKcn;E`b-{qU3B-f8}T6Q zkp#CGe{Kgdpe|tLC0~65cF=mLJp;n#dzm&&9Bc|S*>iTAGr^n6l6bAS_JnRvbf2f3 zB*-b{pYd2SglKkqVVaY?C#_LudXDo6-2#i(AxHpYXXuSrMirFg$nmk!wx2MqrvA4D zuJ*y~&R(QJ=})W~L`L$qClXA0d8whHAud3qvBgMlGm+Kfo(yWPI zWtO|+uB%aX4QzkHIIrnlCk`=-++)1I@+(t-S!cBF*Sub^IOgiy6d@vazRa@yCUtT` zKV|j~`Lg&=Jm%A_~%iV?gghZNhl}n|H-f zDKo8cVI;c(Itd`3V-TUB=;m!_m3oz-C6N4fb@qxY2dNt;u8<;jSmSn@d|PinYu0@B zrYZke&?2_r7Ut2qn0tYhx8@w|3iHyqto_!t7{qqrY(amHaee2`KAuwCp_mdp$LMc) zNAbs@1&=$b|nRT#FnB@r&KGY%ZPr4gzRh(mP>`tqUvP+I!h>KG{I zPDPIxS7`$$|D8`pDzUUr#M2N?jr;fD{qsxJ--a$qZI8AzGOR@F)YE5Tr>H282t zm9x3Dwf+(AM*WSo<8{!8G;wj?`>Xtf&xBO6d&Bt2=5UzNYQ{tj59AU^WaxT*iJ!K; zBQRC63|d$Coky3a^F4b`V!UKjm8zXjW;_waKc&JBr09I1Zc<{! zWDsN)>9BJ@+cvr&!13%^ph(&!#;QzsHSN>w#7DNs0mFDbT*Q0QFWM1SWQe01#4;7< zHC47eXu0#|vcPWw^a9$q2S| zArZ9hmL4wI@(ZeG8T=_3;L{~UEVvE+qU}q&P`^hBGi)57OyogzD(>zbMaTbTm(B&p zD9!!OuC8haGNm0jcGiM1a4aY(NpzRE$5k7yBdCQLKkz3$-A-zIi(zcB6j5_9|9xvt zA|_KteuOVUwBElXCz>GN=-ZBcQNIBKH@-6Xmd%;OkEW0)(_i1YY>p)S@-oAGS9*2R zlLc`)GZ8wc!h`gYe$x$CpJQzd8W)p^R?V&V=*Uwx;Zw;3`|F)X-CnJvX!6>?>z~LJ zKqDr*y(JTVmBz(~RZH^uTbb5cjNp?QKi}bqf}ej7UTR>dGezT|xG{+^qm7cgnoUQu zFJ;$c4zzmENwRvRpwJF^l)=4wGJsm|iomi-4N+SyjfM9bDUKWtD?Uej<0|$8eg*r1ZYE2HB;=Q; zkqb5mLFE*c*0%)egfA2x99ko82O?fIE0y7uNKsx;{y3w*pcbuSe!@#@Bu;oQRlO%b zFaWztnB|A^#9{DO>s|aMr=!BjhrT`>aOCkZK1vjK?V{}QKYp^5 z55sOXtCZmp&=^U`n;s!9><~I3E_AYgHw5tGPeLHcI5`hM!18h$H@JWQa1<&TP|Tsb zWv#I;&urHLk>mX~rZXXjSjA6_cNOfzrNu^`^tUkI+jfmB`2msvKX0m0Yp%7U!k81N z64XKuU<~@L!)ZrUHZvGIn0B+_3sgBWK`)zwxvOZhD;f7C5=;|TqT~H=sAUv(O*j}u zo8@<%zVyj{^UEP)@|ON`1wQF1G6~s6kGO(gE-a_xM?Fr^L3H_GU&;Ji$dA}EqCqMS zv~DKJh&eG#M4hO?@bN6|%(Vj}y5v#IGfMXKjhc_j{AOQXBFyN6=i}sxWZT&yugCk_ z9AU;fs@4%auSRb8Qtr`tsqykwCXjfb=?IcPcr+T8ilrn!mTeN>Pig)myfdnd1|B1a zxi()E;i{tk($zq@{V9fE8o6iITDqZT3G4I+ZRMd6)xWpxRmNgYn&rf!_mui6E$Fy9 zzC+0euunnBoep5(5F;`p3JD4HKORw2>vCuu;A(aJj&fHX|zdntZ2hNvOP&0+HO@^a4D^u38KADog z{E!*{=icX4<(BO`SV_c5#Fh+Gr$(Msw}?ID@MM$CXei$J3>liI2i5q6N#YKp-ORb= z;`h7^cZfJ8ye)v4^lC<&O82uebyP9lOxVz0O2DYGNrsB_rC{1K9tz)jSQ`9%P;#IME<(fs=Y=$KyM2|*n8xRBui86 z44Hq8-4nZyP8`=>dkyjZ4L^axnIIf9BOzwYmgyOoLgf^=S3Ax5tq?b1OX3gF#2scF z#^1#q>ui-o4Qu0?~v;^>6kn`J&(#--iK;8wsuB%`#ca9 zaOEclcL!K*lOh^TW^WqPXafC@?24`6+aFtBzCUo;3?dC_#y(+rcj}BNi&0r@M)n8E z@}O64(+2Yp8SehX>i^qH^Rk)&9~+7p%Gm;xDK~4?ppOQ33R-;y z(BGH2*oiwU(3@rCh#EZS$ddl`y@yyEd0Jg$s4Adyf%$pSqeJj{7IG}|Wgo1`w5*wI_wVB@jZ%&9Eo@@{hYYZSuMWY>tmTa^yDs|cxpTG z*C=g@x9?WL)EnJj|Lhu;eC=229fwjUQ^LveCW5%E^tiI0y$9-RFKSy???HE<^qXVS9$NDuZch zQw+O()sy=^9!k1UlS4Bo9!dE_t)z>Oi7uXof{4nz<=p}|B`AEDl#bd}0^xWTnuw?x zHXXDMPBOLX&{R#sj;N;b+3KncoleUG@bs07vNMAf)9eOP5_bKH6rjvgXYG^ZjBxoo z3aM96=L?$mX#IvJKPwq3ofYup`yXw4Ch!;j{zO+!NX<<8nE6TUTX$k5fjJ7z*57O^ zvh`Jib(mx93h9VhPOl#1sgbG9qhLqwqHHuCzdXid2;VP~c-)>(_;M!)fK<_ebLsh zAPkmmS+eavRpSm;*dWF4#2<4G%LqLb{c`0q3kzcTmpKhi4<#=8mutj5^QDfj5A7VE zN>g_-8jFZMZbI`Hn+=Ly;YCp23YQt#?9+A@`*DtE&WA)E8>v1B;yR}I0$m0roHfpY z{cLZd1}g+oJu;mhDmy{86ZnAy2wb1BzZP@^1T64P4&?CU(!V^UfbtQ|^r*hxo107v zJ+~Ml7^$fJ?SthWi97tBlZq;%c;AjIZrn=J=QXo_!x~`9(9ll$4R(k9|(&>e^WMtMOY!d5Vg6_hl(tmEoK6gg(L5YYsiK?Vlh%K(1q1!tpAGzeE^D%m0{hUyEfH`w=xJ zMw=5yuqqes?CqL^EZeJJo?@mEe@1QL{ImU|y95aCahsV?bD7}G3VOqExw2{89m+N* zueg>#`l?TKT+~!J%=2t16OZX0o|46gAz2jCTt+)ug$bWmm}{sQ$d}>8ljMi`%A7qm zrweU8Y!%+L7*r1-mCqpG40Q>3R)*U{pn5KxxY!~{Mt!Z#q?Xm^`pQe4jdTrQA4y@h%{e_ z4_Dv5G%Z_nlhzZD4%eRNynA(^n_9hFdXoRBD)w1in{>@VTW$TL;?yvz$Q~7guv22m z58G)@_xqL8(I>sey4nRvTX(mU6}Th3nErO(xf(;Vs9Wxxbf1cJct(M$RyVoa$)2HB}UPH|>ZA9|jYG~PN_p>a)@s=F+hLX`{{T>LSN*{MaU zg{RSpMf?0Pl=_|#IBp)H#k@bpj!K-U&I~hb{@LNKhfG10x`&7M31kmH$cv9ub3)a~ z%95SgeJ7!ku$2vy29q^^KRw8m9g%X=kU?v7+5Ct6uU@D|Whj)PsS%q~G^orUp);}< zd8;-;PRE~vCfkqJ9j~PN3S!qTk1#3z$4ti_EP+?6cKCB-iHV=0nOAPcAn8R;q6mID z#azBXt-tlpo0?nmC*hl;A{jWN@0E#8$z+4KSlW1Nn!;_p*w+{_(K_8&rtp6gAK8-} z*pQ{SnqnU^+Bov(R3^_kKd^g5kH#8ihJj=r!#!jaZ3-g=11miWWB@rnr;a5iT@Wef zmp@ZzOHSR=DJn=?-bAMeeJsu^Uw#`#hFf_iOS~&bik7=3xrTt}5r0e*@!cx_L1+us@Fl_E zgB-q)+zL*fA%6VR=YK?V-TiWj?jYCY&S&SwqTuxBub5`c#ZPI9mOE^7rTk&MO&>}c za*CM3$5Ls}pzBtfQ17v02YE9+5;D{nr!S(xS~FyM-ekgr8&K zp3ZST%M%=&l>8I)NP>1UQ=t7VMeRYN(=#RoaSSLfiha=!A?*+U(e6%P!iPqn(auEi z-rI8N(lWpAW}NKEwfq1KJyu$y`O?;SoXqInwgj}Lxs&UCO=2RKJ6O;I56jMf$FwiLTP2(bZ=U16Yj*Ib zkrgIvd?)A_bjn-l!op2!_GT*nJNatUiA6@`CIR<&zyI$nE;6jDC*3~iKkesAQG+Y-d=JOyg!MDCjiql>K2`Q>wW41h zZ~&Al@7pI7g*ra0Z#CpXMLNPccA}mwl|nieDN||=R;>8xf-tC^_&}mj^P=hoL5I^ z;eVqa_(X@buUY41c|l7d9r6gymOIjMnMAI)-N=Uh8`s?OPt6rE^zp^@NsI-wA75*t zyC+G!PufM1=HM_xv%znZffv1<M4)sNn5NftH!7-4d<4^)E!(O*1jJXIJv>|2o62Q738ogT}q8zjwR);gwTM1cV$vqqozW*UjXv32J}oHf7wv z>1Rccw50oZuhqBc6cr86EI@y8(qb>z3xWZRYB zc~f0){xS}M1Wt|}$5XzuhUEzoH_9_Q{9{H;DS6&^$No7QQ!Nz>pAtd>{%BW=_skf1 zEamJeR+wqgih0lfCDKxLjJVA%ZE&Gop`81+_uxxHHMftGYnt1Nz0kUktL;G1lv~9E z{>f`9T8+DTr49x9*YGoWWat=kWU7>|{A~1zK;kZDx&Me(q4U~(p7o%XLc4Kp{i6ljC5wV*LaD)S-&U)5l|lMyoyxd2(b54`*flO$^p0E0L#jyyjH?tHyfn z^*;!BzFd*E)@m#qk}RzAchPnG7r>Xex& zAeEm(e=9vI>`$Nf2|Fg6Q6pT6;(*4ynFJxv3p<`KzJ-{)mTd4P?b#BOc1ub)^dX?t zkZo|7%Qr~LzZYRc8+$@TQWNx%BH3lRH#= zYDQ-w!^`mGcw<7%v~IZb9iA(j-j;kB=iuZ+Nxbgu`|YMN;W5IF^8KQQEiwFmlz6QX z)Q|Ap(XVr7kQ6LkPFoGTJ?p)f zdHZ?O#Q7S-J6|`GQ#SnfJUxrk$AfZz$a#JCngn0wIgP5Unfg2QBoC#pn+lEQ^cd}} z2bypEySLQQSVws{YWy4#1=PLu^EZ^oXvUeA z&C?^p-tfoS^}2Qkc=gQj1~1`Se%g1DBU+;z>ueWpG9F!S!Sd>1Ojan89UIzwv9UU1 zY21;N)%6?inLKuAtHpCU?Q$Is&}&9~>FVmrG5tKbK^V~vEn{ zMU2wTd2)@N7&kHt7s;5}dzM8S@(Aaxv_kjwaf`3YtJB8UJ9Wvt;xfG{BtPizl6wpo zlDv*PqS}Zeics<*tgiC585mrI`1-BzMs&MLsPH3N~eTYwu0LBcEK z_67~DU;>`fXQKS*Eh-6TDZXc4eW+FNxr{<6FvI|wOx*bA=96!qMr8?#h+qKlL}2B5 zX~6cXn|NyP$hi$76QfTvt>J7e=ep_E<d{wYTlr6BYR5!+|h>To} zO1g)+{*HUP^>FRo@%j%QZOte_h0=h>1K*XlRIko*OmFK@>m08-*2+wa?Ka0cd4FDD z@E8xA5kCH!ef9EA)dh}*sLrK8nO>Tk@oJV6>EwZ)^V+Y!u6_W#+fO$8ZS|4>A^C6u zm@C5=cK)do`z~8?!_`!OnNz|&T$5O7+AA3E&9z0u-ykVc*$@{Dh)t3ob6%HR>%VQZ zVwPj&mQ%c^v3xB0+Le&;u}txYUWE+Xbgdgh-J2uAL?ML9v@m(4 z(dtBPiWBUwQ;bgKzcwu^@Xt>8Gcpy*TS5^K>$dRu9==oJFU9<<#w zW0`7PA5bkvlbvYm+U)Z`tQ|_NPLh(~6uDFN#Fa|p7K4wabq}uoMR_`TQ{9@><2A1D z4=%n&5Hb47*<&LeE}F2uMe6UTm-`G&fsMk>@A9_*adT2-#{A`)F@f2n$*NSE@C|1YRP>v> zFw9lAsr{R`6`4?Q4|)rm?nTbKq=O90ADc9Ft?53b(prd1WkR<}M!Rs^bX@L^$q&%DW}1 z6tj$%riaFULgA_-t)J*LFJ;FtwsgJX+TKPC*PBs~9P6Uq!>Im)a0p?QE2u)h4MCbEO#Dzu#|f+`IDPYmZQ7QTe(XZf$0H zHao(|WHY~tnUqcQn^0qQ;XZ4*^^e{tKOXOQutzYqSfcw4E?DEL9WrdUxb@_G&GkrS zU(nVXq8kgG#!6Hw#Q%2SK?F6l!+)NA2=$IYHQ{LTXnuK^j( z^O`GTHp`m`xHMdKKSa8v|0O0RvVR@<38IIq#j44h)bQ)7Rd5WuTEuf7jkKl&4@;P@ z6@89SbL2{sWU#<`>)Gy4tj2%yP2ou0?Har~xrElv%rblxHO3GvsBG{)Ge8StJcY*e zp&SBw<-+s_G*Ds7cz$O|`#m(+Os#U}n(kn+Vvc)0DZtFARC+6Apwb?HLJ%0{CWJ{h zxD_FGb!k?i4DWG3TPPV}EB<`@vgyfNyicf0cM(;i+WaIvl-$fKhdY4}&@L$8bh1OyU zdC8Y6-Aw52xWlcrbp0)Y+~v!yl8G_O7Hm#8UnuBSU^OqSeCdR#kNfRJBlxAkZ7H=el<`pBB@Rm*(hudrjPU0)a@Zs1n9p z$&R@8EP`*^{$t@w#7o=7sKc40fTN?-wPZfSYT7E2my6$d>b3?V0{A&&Dk_GXx1(~K zHlBXiH7axD+fVEfy5U^tO(bzRSm{~IyWm*+28E5TBYizwO+vbb;Um1CYfU%x!Dftd zrN-!-`a5%cIbuZMwbVyPBiq9OQBQ@B4h8Pn0#?-c*Ftljv~*B!o?x<&BR?U`8PF+E z$r|Q`Ap(lWuz}+6TenD~RRI9k1e1`CMcG?S#3$@2+RR2#y($(y1Fe}Z; zmmWopMrL#J7c2SR7>xIGqMh~n292p7v8?rf#?mxmJcXu|HXe+Y&tuCSxg{KrfqN(V z23^beBG~wjSJo-@68t0*omILq`pmu5n1otG2wWVVJ>n81AM0$BMjM%eeX>)Kawy&a zp%mVXZ6VfheLF2^J?Q9 zME8AHeF#;`37dvQPj6^EpmZbR9yg}T7lMKv%M@lH&pV0Xs=<&uRtX=;4wXARq3m7h zi&ZRE9>TcKi&rwmw5)I5J760g;r<4ZE){oW7uQlMcvS>>H_Q9AmN@$tf9-*TBIB~o$Rv4| zAK{OT>WdVnEOVyDd%s=x*Rw3poU9t0$tK^@eQB1k@iM_pzkXptoQBjIX^#B|@C@^u z5R;`$4CLOf{PS?qD!*W5Mf@GTu;+LM zk^5^={tpX$UL1j~3fgiXXZBYgMJJyxe6T9z)-$?$ZJ!7@B@81QLkl;mHa^VsxA(-Q z`L4WOtBQTt!ym8*7!uajw1KiMIN%;Tjy!c3!U zPSwb^Q8Z{3Z@h~02;i0H&O zqKC7r*OBLKsSp%w4t5Yw$0~{(Zp0hGkS(MC;d9M{l9A)2wJau>6(?D@sCKsAZKwN8 zjMopdi#(?J+su)Qz(u_*k>T^Hm))KJhXu(0oE-ZA=YJ@M#I0qvwf+Z2wlPe04^3P5 z??SVLM=-pbHK%*~uJXM}x9LU3r@TDe%;r>h-y>+lw)Q%v6z-~LlVD^}XfP^}w>>iN z4GxY`_IZOu?rWvoda@aa`Jh~U^t8CT?djv9_SMYK532uI>;`MkOfEP0nn!s1trUuk zG9<+ddv1R5NR10E6>Q@sHzdmJ^OiEPs;cHi)9S)h)5GKMc&-a}{;9g7 zebef@-`RM?NZ{v&qR$%goBNdqVfk18jb}TaDGaB5$)xfE&)Y+@etD105B9lhu!9P1 zp`fdg%XTc^Lj;Tq0*rC%V`7PrqmZPPWDKgSkF@$D2vUjjLk)s&T`#j_-rwA$LBA?K z#{MmNhyHO)YjqzB9htl)?nw59!f+t1Etg~Z*bYbW!cC(0g}Xma5j=qLi;M8LSPNZ3 zxOsfhjQ!kAD9%eh#i!EEDN7RK?lRoE)6wzvbi6Fqy7zpBX?d8pNo`}2dfd_djL1#% z{zykP>stRFk!Y3NLAJNZ+e0Q47$sACb#ohLnD*}{jn!kwSGeV4-bO1UDMATn!4r$E zl??CoR3F#b?q&=wGqZLex&w~13ig}GR*EuIeJ%waief)>5QO&88YS<{h7#1G9_GF? z;ySX|m??hhD0GuPWQ2OHtWIR5t7r4FJJR+|3C|aNUi% z-|X;Gy^NJDC8%yFPbyOIJ>gIP?JrS0iFk}(=MxO=^`5ar?Eb38yGriQzL8eBc3<+c zf9mmLW#zC{>7%bjN`be%{Dv;B-_ogidT*v8kK!!glKrxNU*uWEx(!eK`-C5s82jx1 z5nA$ZZITW*%nY?YuP%QfZLF?o^khEtJ)xHA7qt_&-aDnw_q^7h7n$DtsRr~f&IifH zycCGk-rS*%IRVl1dab~D9^-9pL`pf752m$8P1F+Rr76FP=R-;S&8*`HBP}6N77!lw z#%nTIOC>NEuSQ~zY*lLt3YSJCB)w+Tmd{#u4;p@`$rbU3-EhCq$Mv1qu)psbsOSu9 z`k6d^9F8pbWD`d}o}B()L)h9C|DHSM^s9+F5g~JS#27oX|G-ZcFL`>=D&=xQ1SZ|D z$4m=G{T-gZ`8^AXR^twXG#FM1Rf9F6e8ZW=ZcBL{t@>9yIluhYnMi8i`rO;jdM5oi zzgB}n)Di!FYhcN=wEy5`-%Mkdko)W7O`4cQp{Sf*8Gfo9l0kKg~bL&(LX&V zdUA`;OAJqqpLnGGm=#{3Kfk+i;Amg}V7$qF@Z4u$Ki9ajqpD;q>w4imLmgdR<{5;N zDw2i$>+K&~ahR$#rsxTO1EdeSB*ny*F#IyMz0>+m3GOyjf30Wm-0V_%ru|4kw~`R@n7)YWB~QYAb7=2W4~5-5P}Lr@l$P=r!<( zlY9NP_F@Syf2`JF@z*sZAo1vc4 z$p6S9>AlkNc*xYWx3XsE;(5AtEa6^WYW!S+^x>3iD?J8daly>h(^o&lSOp-qCy+4D5K7&*kSK=ExxhDe{v^lDAjx;SAul zVnz~wFMA(sEAw4tt|&YVtI+vgIpoq>wu17BRtc`eH%b1g@^goYN21S#>k!y;exJ>< zW++;kzZse!M@^bvC*o8+xjXMlOOe#jI`0yh)m>hs!M1iA+9_Gi_x82q$F*XF9>#cPWfh0nw^W`DY!8wg8A2vMdIiha93AsxY;c?|NWSCe> z1T~H>lV&_hy`yEuL5kSkHM7ZBTgBJs!WAT_%x|?4V6?Z{hAf9Ihn?S8y`r0jlS<+w zVOf{l8rsu4mg)Lr=izW#zb1|dt)9?B$*Fraj%B9d3pjU{GOLIW)FQRY7=x!>ey{Lz zzxmQSWUn6ZrZ@(_z{$YOhbMTk*-={=m_rJb;?c}poTfNYA7O797U#0GjSj(Gf)5ZNAt7jj2Mrb=K!A_{!3pl}G9*|6!67&V zcXu5mxVz6laCc{h?_uq|-o4NH-gVCWc&>T4fbOpDs=BMXyYBazZZBLny7g!{{FYnr zZEbXgnGE9dmqNZ~qIZ{sYu6dQk@(znJkjPSgBwOu`u?3}lK}gJME@(XBq6-DY?*quJC2Kbg1ei81c1$f%RJ&dmH< zyepM-1pcbY$JqI~HW3h!Aog+FpxzkL-$gH~)eZn8GprNsr}&^vQ;E4h(-((7L@6n* zjvQfT*w)>FD0n<_-{R-DHB;fpK$DPEQS0nxnI|~@Pb8BtKFTZ>qvNuPRUIu|q4__N z5E-g;0@#ev!~uO_iB-~39>qsS)h@N12}=dRJDFJW{`?9HVxbFWK5YfT;Y)S`MQW^4 zwL?d|7RR91?F{QL&7L})PVr%xEL@W0pu*U>e&981QSvkv<8?Gb#q&?Kj>)B=HDh$| zc_p4nx>{n&k7a;s9P?NMvnhvI(kQ51=KXVcY^KWR_xO@R4JeDJ#3CH0ej#IAud%Cr zC{*x{-U&}`y12Y^8uNw0>4QxwseA+L`*c0~ZzSJ{J@ngfP0!ILbh3p=Zn&TGv(1^$ zpO3@pgc-6bnQiG2effGQts~DG?+Pgy7CZFX11M1RCmPQAC?1m7@nR}p(P_}WDaAck z#$xb~@U8!Tj8RQ}OQt>hz?2u{pGCiIx@eoaz~zjk*!HV2iG8{zj^C~H@vjofb;&$2 z^txtD5$o(~)i#%^_ggiYEojctWy!wtb56;T;v(dUPjC&1q@+)p(q}n<|pp)!`F0G?r`0c-Odvn1biDmM^8{>rGfI>dQ7wNKT zTBAU#ISi)0s*1G{>Cg;>t?tEf**tfxnMz2K1>c{0Z|$_InJg)O;8zSS81 zh2$y9_IXH2!fe>=sATS&B{Z+fYzz9OR%o2pvBnN7AX&h|)0s;6tSur1M60N1ld6n} zU{^@Ts@gd}(O4n%1;2lGZ3Xm81gwL9-&U6J-x9+15n;+5UvrSleqXOmz(+dwe2KH& z9W~5B!^hXcDsE@q?FEUQwo%6R6xL)+>~`ICfck*|sIty!wf z^?B{4TCD@-adyl<9H2t5e>9zG^22H?m8BR~$^8ev3eu5~X_MC#`+~zP%Sij#Zj8?> zf0#x0ITv62Fn$sdAWnw4_`yG0l9#%OJOfvPmcHFO2*JYEnRkV=-chC(Fi)U1-fKFH z=^?@t*AHA*ToND%HZ!yNaz?6sR+bWgAeq2kWP9{v`BwsHkM!GvU3CUQ10l?Dl)Am8 zz$=bH{t4BnYPvJIRpl^WB%fJSYnh#zyS($Ku*`K<0Tzaj)f8Oi49cN_Hq=hF5~7qD zSm_vc9Ulqj-Qx-6EODQ-JA)i1m-rg}%BYzQi4(t;eHu~l6{f*MO(!R!kJlFpn(N3L z@;l>6=JiFhGE0Kvvg2)fynVewsGF~Vx<`uT4A@tFi9Ho&8Ht>ON#Ghx>iZ4%?dMFQ z$<;5?`8kxZw%Gc>vQPe@lu^^Nr9!H1? zQexLFk0=Exz+(g_c7rOZgUw_oX*cjgvuHkK61fP)WTNoXOrucHOe2FkM=DSB8tLO!>y&2U`JK?!zX|Be!?qs?qG@MOQhdq4bo2Jae(lH?eY;t zKO{lkn=kkQ^VsUNzBUsJxlQTMZ9%OTM1tsH4gw`@_V~`-zk-3n1V;H|NrH9mGo=!w z`hd{+iF9DPxU}o|p)<;6T@1Sf%o$66mWwd7fqA^riVv4?dd-*D4E^CXFU z)E8pfB4v(^5S3;^FRBHCvTHt5+>X~deio!vsxQpQCkz?DXe$1N7s< z^1ueXt<3SjnXit)=;j;gByDz zydA6zA+gaK?(a{ ziV_9( zk*pKf&A)qo@zm9gs^Qu923k0K^nnvA)&FdZHS2hNJo@&DB%Y(?++pFe>7}!syu?Do zC#%a-oAcn;jn>(c&#K3JJEHk{&O%%g^`A@Vye!K0E!-0BR0eQBG?tA9#T%xHHqGrl z$Njxo*lY6jUb+E^7-szRru5iBkqqD93j+=iupK!Xjs_IjJjRf~!1}+{g&%7geC$1%en`$;Fo-eaV+bR55|A3-h{RJ88i` z8M}Ze2VZ(dX9PYc&Qx-K6lWmnKbL7Y=^0+tIGN)P8|g7V`Kew(+NKM0N}iOA{uUvX z_r}#ad5C%<&4TyBp`2K`Q(m%5;#EP4MhXAIgu7qR7CnoY|0WtGUITcUYO(bB^n<^Y zB!)l22apvB8}LOxz3B@Opp+IYd`T>&Mz+0viB>SG+$qUhp^7a8om9!r8P9@-Yd2j|r;5eeppxoJ(BqHT}p19}?Oa>i)%kMKCUoc)s4`zB2 zc^-;}O>)%qe)Oz7^?OW__Knv!(R8u96zCJ)gyRev!#p2(j;*S(70(c;1%pj(ah257 z-TKc12WOmkZ4*kR0Q6Tgpgyj{Y5+7j&hEg85o~5V$TVpt>*+0e>Ic+LhM=q0xZ!4+ zKc)AO`z6X9!%xKZS{Z6KRth{w*d{m=0rL^^6hO9xPq<`BiD>Z=K9+5IuNPhOkc8X8 z%X$9HzWCOq-z{qwejqZmm>%H`vX`a!6%yQ{PoxE!2tN@)SOYf*f+X#F4cGj}nTn{- z@1e)v&fNL#A;-8lH_G)qLwH~k;QTUZ`5r6W7(7Rj>UrE&2JC(Bxd6m$=TkJ?Bd{oeYYN(4~ByNN{4Q0rbHrzS{JWFBL`+d0*tnI~Q}?Qq#|i??w76ekfzs zF$gZ_Ng?Fo&pS@>FZ=Cg=|4KVf2w!1Y48~>ejn=ZKnhq+>!3A(uep4IC?C+j;f1g`B>#pe-8YHtq2(u-%5-O z)G!>4VC59d9jZDj{pu7QOjBOvE=C@7gUam}V}k@yZ;gL65@akPrb=!ICiU7K9)#`q zVyVr`<44;YF!Q?3d2rB2ZV(yR4E)%0@YmO5z~gJc`Ta6Q z-~)m5b)Yil{42oAum?1^mu|2;Sqk*P<#;ZGu_`|8QweQ*JaT4zzfN^%eE|ZK{0}&_ zw7ge&Lnk?+BuwpN#C(-0jF%~EMS*}1C*(b|`^iicWfcqm6G5=250RA5z&*<~c>Z-w z0IhNu_kG?Uq9`oI_ohA{&vz);amuKgrERT@6?K?}jr^#u0is|1#Ux}ow5{V)Xunp| z9?gS^&f1!qsXZ6g*tY=^C`rU0)6$Vy7rdX)+7HAxvr>Q7S~M0{NhW-D4sa=hrZd%| z-nSOG=B66%641dMj;PN}NQTQMvUb5S?OY(JqsQI6_B}4q*uK zyRhOf@&1u042rP(cI`fF**A*(2eWtJ?pgA)T@yzp`_58y*3ZJJmg4u#C)m=m7Tn}e zV$*i#d@%`7J{zHe6XoV%EgZQ5AgK7&Sban54gSu!Ew3-S+IYDWMc`omevO#Bp)!m! zc!{&-y~U$cK4>Z*q2#MXQ;at>CscA;wJLf&kXUuio!2GruxCb~|K$j~E zwgkZ2_;eG7bK#hY#~5&#-Nhk3N6t3{ld^e#(t}a?n}XyNAbntAi}3VYT3gD@wC`;f z7pvT_{|X+~@U!#)!-j^thW|tZfKdKKB-#?}MW*vZbb*p&n9ejYj~lC;W;jnUKxd|Q zXZW^y3lXGJocp?zBOb6N@4?`0PL&hh1(#pxnWY@;pnO!2y2yZx!MV<@b!o9vu0Wy6 z1u9!-S?Y;aw(%K^maw4C1UJTd9e*&;f?eACd6B7CqCWqR1Te-&nhC>SG_#?@3S#|W zVFgT;D-Q=-7>l!eC{shZI8a z_4G5q!p#%xywXsrjq;R>!KbzPlm2bL%QWY14IgyLT6c{>GYxu87S0gv+So|=4+g$x zP%`gqimp60;H2TsvSqd-k08$X#uDb+I#CN)>_Z~9x^jvf1gtw)B;OA?^?K5|TrDk9 zGpy%|F{j+s#?m^wvCBAM4UJ7YkMk&y2?&LF9s=s&{PkJP_6OLKe4aGI{Gf6pG$37= zl6(OxZzVl=$7?akCxIVSMrCiz>aPjHk`td8Zm1p31Wb13A^=sq_VbQ1Z5BPZ@IhnUC)l$UsFh=y^+>>(D;(R3h z1Ox3?i()t6FZH`Zh0`X)!w+ALAhR}7tk}sz=&>9Uq}Bv6PZ$6%JD1oR>TAOy@yr$K z>CgNNslaMYM@e4r5=)M>&YnC~d; zM0Se~iXiNYSW}jAIisds#iyHkuRXukObp6KS*B7B-#hlzD!WfRDE{FKYEWu*!je!N zw@lq5*nYWKI?7> z==y(w90TGjdZ+OQK~NtUi;Dg}4}tS<)wqu?fK)@0-U?T8byaouFt`#E^$Cou1epRj z|3ce`e1#{S9|e>6-R`ph1dd-W+N^D5;4!IL1pk7E;x^Q=uF(5d&(PGcwKi=0RI5DbOvz;lHIJ1D-p;dg6zf^ zb&RM{_?_~P*sZ8lZCB_8ia<$+2L@nT+0Sa+ZJ&f30s^V~Da3be4_h*L6;^25K8Whe zhp$5DY(7r*585JITA|~+xj&ldzzt024V|V5As4fZTLosVmqu}Cpic^aE3_pPh$G^h zDq0k$0o!KETX5d$HPcAkmL#aK4U1kHJPCX=>K$_+X7TZ5;R86Qm!+O-P9to#W~;y+SLy3LSD4QhC?@k)QgB2}Dj(-EXUF>= z4UF*ANyf*96Nb%6bTf2C-XV-MYl;Eu)R=@-bE{2oU=ns?>nb{v=p7!vSfxlQeJ=A4 z_H(R|1A%|Wq+dPqgz*V>!DZ_7w)r1+Z&e)2=V;Lftc;Hxdjkd6FcMs73aQBQYS2jM>Rs{CPl7+wy=mojEj}O z;hbu7iPO=Z0}S+<)Zo>AoM2uzgV#I$_d!#@MA%@mNxz`|diH}qE{d605PL3Pxy$8D zckq>B8R;v_u<|fmJZ*d#DqxD|g-?xS&_O`L@jcjacz$((fm@?fHeX>9uo55+Fbhn2 z@#QZ|-ZemjjC_AJ0m0_KG4#Ew0RW1}M@o3~n(9`mpwHvLqJYa#aS75$y zV8+MijSIX`JSQq^LSf&YmqO5_Ki`99-T<~|MX*3rdhg}I*P`6aQV*{U)gS`E?ST_o zzFfV~c7{C`v1MJH;nZ}pn04rSkJtY_X9rc^NI5*l>`9eUG%o+QhAJ*DcmPIn?g1&jS;qTn? z3ig1hUljsT{7J2%7{}`9h@!Na1tC-e*dwyheN6ocX>i~w{&6}T|~VE0A1ndr zh+t|wPweqr>5G=Lc6=4Jzs~~vZu+WIEEr3V@++!KnegL*>;oHDNj^hzZz>q8^FiieXG56 zg5i|jqNsn2aiGYVzI~E2A#VQK4P(M^9-=yZ9QZ~erMB2!S2-0aQg2#&wsvqijoe$;SYig10+ig*hBV?$^Yg_k*dw zGhT+kM*4x+cA;_pDRJVFzGS0QrrOcjWJ!Z6SFXx_)5xj!Dg!Vg>TLl40aA{Q~$kO z-)|tYW8JuY48K^46Tv&UdaGT!if^U@f4UCUWVd_N17x(I{yS;E092m_WUEsNKWb~` zx^ml^88w0cd_ZTp9kyf6N}D*Bpcgye4^Dhn5Rgsj48X+mLciY@=?Nf3l8K{5j^?## zPR%^O>Ip5!-bN>wuR&X=uOMB40J98Q!I=7elcSxkn_OkZoST?W0cfU^hZy1nGXCP1 z3ocx~Hb7F+io$@ythm_8;aTlmRVx3bgPNyj(hUM+)QW#`&Zqv{$#fNzcosr#0j5?= z`*IQpcPAnHV6WUQNk%CBq1JX<0chl}M8rvrBM?Qn7ZsC%{|Ok-J4|*s&^SxyiLFiF zRCOb=wSdh3cSagAYg59vd2ie;Ih-$^FTwi2BSkIvK>V&XRSV3@k^%RhYa0#u=DQD_ z44-uizsTILhFVl-=@&Ou=K*LyayDB$dS>YN<_Fk_6NS*Wys|o4KXzTQVmA{`-osyV zUrmIwbZ(e|xIu4-+V)UiWc+O$@uaNnBG^VliKG;04^(Hx48i@m0%{HX+*6?jz5X(A zukpYZ<~BDLz@Ul^Bwja5)Kr5~*MS%Za~sEi#mvGSwpGk`pJ>)rvpv>?;IuRk8ZVD1 zyp|;ays_ZJznTLp&iXAu$3yVX-U&Mc!Cr$?qlpJAu&`hGS_;wQfc(T=9}8z1vnl?A zb~0%+Q2jAUK zP;)itWO+Sb@=_!s;3}0Yz9~I&MQ{M_l3(mZ0hj|oU`ic;pRtF+)=6S(2PJcXi{=UZ zmlb-}@t&qhHTG^j?bH=PFBkI;CK`b@l8Du7JWfak(WJ!2igIZF0a*1YN;}=hitBBS z1z5lO5!sCq{5*|~%}sl|;^>o`fx8Sjh+w7WRDRG>>C!g1c&c`55r`I$JO!fns4&-q zhH>9|cN4tS)Fw#^BmwF{&SE?wcrZ<^EkG|?F8j+!GfS|}`+d5}B%7lnz;i>5Lb3cj zB+@heKn;sp?Yq6}%8h0K%W8zJY$w572-q7g&(&Z{3^;jL7?XN#6e(2Xb3Fd=MS&~S zWPUf>?KeOU1xNoCOc^B~IL%sTqGjC>&3_5|#(84nakytaRHoeN>FQk#Ms;GbJ#1Xe z4y<>D*+x@=+)06~U$;2fv|3^O`t;5o;DhzM){0?Gs^ozT{cZT>UXlNltemD1uv-Eu zy#|eM?OskyQD)4_8Lmcm_XQE!Xbw4sFgHJ;5!n;)=u`Q$f-@qk)%Jptxbx}nzOGRH zZi2Xc0jTlLoJV=qfcx>+6C;4?EtXXSa>hcYu&%`W{Kx^s>%0#|%saHt3=X?oJn8O# zRHtM9%>?BeV_2$76Li>P&4bfN2b3r9)Vk@<`S;*a$tF3H10uo{JFl~5#6UI(a%sR2 z1*Em2yLujeHZB@2aEP5nEK+s5=F%`xpvST5>-l^~3uJal7U%Qvw;HfhV>n52p0-$c z#v!0YodP@+$z8Q5w!ou)S*(w+zK6yW@$84Zf;nIb$FJ5#(N` z9qgvjRGppYGJRmLXIHWBmg*b{eDu~N#1m4E=s(zvokU4Jk2Dy|Us(nEBhy(HnxDY@ z$E*Hu(H!UyZCnZZaad6dm54vBZA2)ztqcDwY0rk3f;Hgbo8{l=8~I$%4zP|{9Vl( ztSk!eJj1l6g|h!bjptHpIdq9NMW15-GlG31b7Sp&m`_Ql8l>x)BvkABLDv`dhye@? zpRT2hoa;Y4c6I0og?9MeV`|w9*hby`Z$Ti#H zBR<}<PMD{U)q3JD4R+o9teV74zI|pAHD1-WNrti{zYtW?wo7eh zn@JJZI!a0yKrl+~UA6Rx{IaX?nfQJq%IL_MQrvSeXON6P1Ceay}QXcAbSA~D5S#;g-j7Q;bX z3}4F|POBx1iitk5;<;qH2G3NnYuY=+XG9oCsr&{OhfqsRiT0I~9>MDerdfX!s&2Cs zK4UJC%;I#<^xyt&sdtXweeZv3#k^DOy-G3*9-7$+8zom?dSnv!dZe%9ufCA|H228R zBO-fhsu22OfK96LH%JNed<82~cf5iu-74U{#WCV&o1BSU-R-^`QkvStD0jL$5pOhk zHLKw#)^6>a1IQk(o&7Wd+Bx0gO3}>s`NET{Ky_y!5KyrWLy~oHl7d~6l$iJ>P-__| z_&b7uB_SAoj4@Vv3U6AT=rZpu#Lczk^NE~Y3;eulGD3I~xX^v(2%j?bvG+L{&?gKy z{Tr+5`XGQ;FxwA|06@w$3j81&A% zpJ|P`f+C%NzC=zAFGdkL{v2hR>7funm6C=LciFa(*s*!0&9=auVlsf25JM`NUO`k`-KW`2J+0k9d|g&XRThoe90cpsachGbl2V01#=u00V?cn zcb16x-)fvXH_7!3KD9OG>0sVKW@b#PE8Zm+8pUtMx_b+=ga@lKMy%X|KZu=?7VZ!qQE z6?0@Hik&=gP_$<-a5_N5{tpSJzL|hTpbWaG3MAuVeu z?2QjUssoHB2>N(riptF%Rj@v5%<==hu&W%B@4GIQv_L-J2=QFmFD6-iyn}&o{h0FL z_1h-lDvywf*=snoSvF&d*L5OL%usc>%6xx!C8=>%ye6V?aJi6uE-2;Lt*k&Hzslcp?&7U6(8A0CPo`@p?7S46j7DdVcP8%dZcXI*Mj&}p9 zj)&2SQ131iIjHVr3ZxK?Ip;J%OLcAC-M2D(tC+r?;;-zVed3e?r+$ifeP>V4kDvGx z*!hBE2akUJ%=6nbyPfQn9%E&ktj@fO(>znsn z0~LsJc1SWEo>qXoVvCjfY)VU!68zFz1OwzN$@_}=;*4mu{Ht&c=K=Fu$-M%eMwU?f zd82b~uAAqtcl}InrN7VhD%v?b1ij#>9I#JyrZf&aA#p9He>6Jpda?F%+l7XfxRgCH zAtR!p;7JLX;}a3GkCf@H?!zXXk{`c&Lk}9$UV%VyY;)0`fcDlmOPPo<^;~ECiqI-> zWj-S?#sPh|(^-E}5q474fz{f1z89AosohaL??U6|(4xuV*uT3$(B?g;Hh7+@` zJ+m!#dvUgA5Z7$F0tUVP$HweyQ99ox6XenNwOz91(V(##x51QFum>V5j^%mv@Zg)7 zS*%72U_i?FIkicfRT)eE2#eUA3;C5r;*)FSesg+Dizq;00DKr3KLZ?H0Lj=d3_^dN z43D?|PAGS6pP4chu2jEo-6WH_hK3NRaJ@zJY=!Xep25Q`o)26NF2opkWWT3Md0{zg ziJtRwnuO(8SL-FebC#&TK}_FfojEQfT6M-ww-avq+_?v$+Hf=GuAZakc6NugZzu@?~);^!!Qr8NA>el1p{^HsSp%HsgI;hqr7# z&(wAo%iON(Hi@#|i*Xr?PYqQTE8rq8&x@EUyYR-D!XTZa zeftIbX9{jCUS@L5k=070i_Kw^eEx(?cv7`d$B^oWHB0@>d$*Bgx?qJ?nyO1tv(U?g z;mOu!zg}TBD)!(F_3oF5B|G_!ug*K(0Zr^qHf8(oz77pySntPv#9=zC^vpDWYo`PC z@dk)nlmKF$dm;dUl?EWV3WH1bgwyWX(r4ic5YV`_Jn`IuyHG}NaNHVWa6DQ#YCA8w z3gE5B)JxrZE@m;{!)(}@8l0CO!W9=jKL5iVq7`BPWD&wNP~~`4)p^I`@Q{KHxyDG_ z55BOSzuK-?_!{hYGxgMQL{abT_(WxP*p`#3*$mNVE~xYN0j@8nm$OY*ViS(e@mCpj z_R!bvZ9~?a>_dy5yW`%RxfkJdU0ER-c5ImGj0c2N^XHq~CY&ibFJpISBX71V40A92 z>JujMg?tp~GZKDOwt^VdzymJbC$ z8jVkFrRR#Q=oI_)b1U?aagmRbuC|baTht)mh=i1vHk~bTday=|dEv06h{*hx`(6f( z_A^!4(19NoZtClgPFUWs&6V5EKd|lXF6x9RDCyPOcjDqIwZu=EreTZ)36z1-;wm{$ z#vdm&=Z`(2C{7i%T!Ec|FE|#3lTd%m?o`O5b!6;e)*>bxyXLY>2UBXs&}!_H_|k6r z`rV&$AZ!693;AJ-7Zr5ckx`M&C$Y&$f-Wex zJ}a7YK3toHv6>>hI;(!{o(&su&On3vyzxK$Wt-NW0n!RuAr~}H(kxWIBzAxqbtaP@ zm2^;qgbnU9uhm>(%MyxD2QZtp0Gv1l-^@`B0HnGf;+`0{N1EL)J$3 zO!pcxUmOXXP66Uqcgl&E| zO~v)&!26z;*=?~-bDC{)c4i|?I=@0GtnTz>V7TU6r}&7>PDM|aLUY^@4v~|is$Dqg z>i+ZJyFA)MgX~K$Keq+DD<)}^q-s=Ob}m?@N$5Rit@XZE74^tTKl)~4^2Wo>Whg(I zNti^_lQ|h4SGh;(BsSQWxaefOxLY)k@QU@^cHZ4n_BrNA3oPA>C`&_q%jq2mMs|H|XRR=ZC@7|vd;QTO#W%Wis8z;x)(jPs3!l2W|q$Gc&gTC@U>Y>0c zKQ$+4nXF57O&=c{+h;8lueW#9O4oe_>Wsa0!Q+q9)N6#oc_T|_q3rZrhMT%Gk}Rq_R(CImK>y;dhC6s7a`@-tj(FP$GC4EjyYvBy+P5=$lX*! z93-Fg@gNlbh#Onm!J-0EUXo`XjX$I1P!!*d zR-nV}JNlP;jseVhl@%3$dIE&3-J{`yqSZk8^{A+*h=>S)YizoW4wp&;sO@=Ab`Sbh zFLQmb&nLrTg!;?v0Y^tiZFKKg0n!2m1%>{V5OVhIG3U>Qh9a>sd9FNEOF;0J)$gRD zg51$g*2VnQ^#Su&P6mO#^XOp1^UYI1@-Qi}q!qyL}kA25C6P5Z+Y?njpOHHi3SPzzFadZz~ zm56Kg^(zWre&t<>=VjMhRUlgfiNx{$HBuq~k^1AgEiW&prs4xEH(2KySoP0=W2@gt zUR)JBUM;!99N%n|pn}X+-nVpLNq*X@gK&US~yp-q+1dh&!mFpYm|HUR&_r5 zu=$iz^X#oh--y|}4toiM^W#Y&MQhzpy$@cuH+{r?TH|%BVlF#bDU9VdT+7eB$FuUT==yWT%0J#Gun&`Ki*hxn9Dsg&3Yu6&igm zYQ@+6n|Xa^MGtt8T1NiV(Y=tnx1sqMzVAv=1yXdo+l{z@%c}edeT7~_Vh!#H8M62? z7FT$`d8kqt?#%4IY-UELK+H~#X~`YC$P1*Q%)Q3l4?#kZfq|hdnkR2^TR%J?B8iw6 z^D%15a*a6#Ia8zS>L<-6wQBB-$B#8SsB2*kds~0EccjWIHhnrGd3cK~E4GwxRb8kGzSTELG zv=VEZwN4T<(QjT6{u=sllfz#JdVW@vc3jAH5i507%#5t#iz<^>CYs*Y&KeMBK0d;pD9V+gP*8~>7=(95?iwo`V?3HuQuOyg&ik7O^_}Ual214ujtH?C9|dzT!cxG6qkdzH&^80mYH| zlC*&vGt)L>o$HVUDr?tMCIs_aVQtZE0r>%n-IqjT<{v#l^iEu>eyHxV zBmO_`Jlx(qvCMDwO0O#`>v7ZhCR>MSxf|+pM|5_6Zz)tabwv!oyR3 z2YU<7rwyV2!2elWVPngz!tp)z<=r_}bor_VKtv>NZ~c3Z)d6;^C=1hb{rSdJ_-ck! z zUuA+^W_~nw9Z`f3?k`q54vS~<{wd*oReEQk+4n+yc{(VZMnsL;WqPdfAqffN4|L3M znnlQJMTFg5^j1e3)!3s(emQd%kqS=N>C~pLs!tK@7sbf_B#1jt*zvY#yPgyRTUNk7 z`{FpoOp`>S$Jel2L*u89%XvOPI;{TjBS8OtdJ02w3NiQuhlBtm^l19~3-y0_c7WO! zD35Lly5~veF;gxJ8pjbQl8}(lq)QWacL2OPJUl1@8AdGqa>kH8Yy2Go2NWoZJ?OuL zr$5Z){U!{Vz&Q++fY9N+xMk9IBL=-G_EVT1okcNP5b$2u&fL-pP2+=`Nn(6UM9uRe zEF#F9M)zb6{i~PZQhy;1LsoB#ll4I+CMJ(&AH?<9{{wLJ3=I*SYxK0f|McnV_GB2< z4Ir5WIGOxJlGSFc`1;7Ou<5tqz|E7ttjoV15vdvXN1XrrXCn6->;L|hG00)#BQV|1 zGC{GK6?#;%!PmgAT4(;}Pp%?aV0J;v<%?d!oWBoz7VNsyf<1f~#snE4gTGgKZ@!BB z@Xe%}(Yw_!rDw<*E^ng)F(CRxv@CxYx6z?dDdQEM&#R$(68T^L%kG_mV*{j3wZClQ zaHRS89Q}P3fCdH`2&)5Wf3GSz?OC?GjnNNhTr$Hr2a5qzEm&KgRnY$##8&NP#Udv= z6k_p};VD~JL`2Qu)-ECz1UeB4`Ap)|99O&R!}gSIeLpl;WJ7Oo7&(bB{~j3M_A;>7 zRjg*eWBg~1Ws1+iZ1?^DduLf6V;)XQlnF=$^lECd@&V;Jw&-BDOeSHJ8IFzgz(M^$=l-(tz6 zrqGaAu1a!)KG^6`J_NGBkJCgvT|X-fEY8wGB+g6a=#mdlO>@Nt8pPN+?nj<{bSlKu zbhSB^%YEOEm)PcnrSn=_+*KLYFeUu~J9w$|%3@^*4*Zj&UZR1U#t(+&FedQ1F1l~U z^nO^qvm~)zy|aOa#z4ox!sY-4GDn;{!i1i|{}PCN{$4U$xdWaM*E>T_T9t)bn|{wU z=*?Wg^BkRF4tK5_JkVZ~7^KGB;7Q%=PRpeQ93B^nqFjHobtN`$CuM(dP~(++v!AnO z$O_Z+xm(fdM+3cpoI`xh3tjt2xcHl|_Mx@bnnE&>ce!aIx9^Fc7F|LPir=oiSU=*2 zUawa=*H%-a_lpMy4sf%Zuq>&um<>Mahx zJ$)KGKoFyjVSwgpBOaN=ez5OxF$jm}3zsdI%ka}2O{~^m5A~&$&RVCnY)`u0HLnaR zDk;`NTGrFowE6{++V;t$UX#zjx+2_bwMn{nizzC!VNyAufuOt7Zq7F)h>Ovvs1(-E z@^IY~xR|Gvj{Ww@9kL~BX^|=YMo;Ui-841wNV-(i3C?}+;R)M()!s@tT-&vj5z^6d zA=Ws&+uZoTYZepgy)Qdfd51)1l`n*bN;S^XoG|5Uskn=T4y_K+^l+}2K(988PlV5G zO@`hD55tDr2c*NO9_FL%`hAWj>8cVWV#0LKE!aG3oNy zcbyb9-nnyw6{gg0e@~e0zc>&Z5PRXNY;|kL4q7bB%JLubIkLs!K{dx9k@zMCoVfp6 z#HUJDV--;71n#A674kl3w_009H3b-^>H3du z9Chcs=d=_9BC$K*PbNS&#nxdWx&pgrca^db;9hei#vLN3^ zCf@30{Dq|#>@$~HF@Z_=V-}y{2cCj%({FD*thZBCNkgY4{_Jj*do3^LaEbcm48+d} zDBBz^$xb8iDXP?2QGRn=r71p3yWO)4&u;FLe)l~5skZtDZd7>eQLc@2`Vp25s?Xr7G^YJ!sqdxMGB9JgiCj_kh z3H#u1GF=cJrvXZFXF=w?`S-~F%k6EYvAC8t9h56&RdPe_{^+a(2C?||5vq$emDikA zlHrhRTdXI6*LM<|iO2~-3-Or9TZVg8UxbvNZ`_%#^wsj2aJnPl zkOT^<%}6KgXXrCM?hqeK>8Ly0v61DDM&Sw{zkjRv{Q=a!T{GuLALP)p*vN~Pv-P=G z_~8ok1{8AwNufV}EW2^%CdDVtoqq;VMDuvskL`9A>Wfw^Z(La4I=Ub`IES#7ehE=x zq}?Ggb7yChYKlCw46bU93(3*-c*^rHIOLmMXEoCuY^M-}&~p2oF?Y)#Kh&k0W!xN1 z$CFwYk0&~rp;Sdg1d_CAg23+Cd^VLVcLb3{Vmk8vnCHKi3-tGii*LvT@097wgTbpZ zSe8OC6yFAq<5jr zXKr24VY*5TZ)VShxoWP9Nwq(+c%IhzINieYg6Ed>WD0~OkGr)fDzrEHA-CnORHtM{~JBT zeO6U9jJ#Wx2j|>gmoR&NLV6}azj-Zv=?P7vnXSIrT%w9LboQ%SB7_`X5Rze+tL`f* zY9fPV#C*7JzNanMCRF0%+;k!ini8Aiyp6gJP^4G}g5d7F(A~G|k83+E4WKT!(SrxE zov@o*JOZpxnxfX_yVa&>uZ=?$Zj&dcn<(2ZL2cRZQrf*MTu-hEt1r6$^exktLVRBl zhCO$0ysRV)|B*~Ptmad`Rx9@5Cwn8Oa~=75h>WP$-b2rYv8#tD9M5?bZ_XhOeEag6 zkr~{vUWa{Y1gxJMM4~vToem0O^RFNt=gWGD>TC)$Y`heZrmM9*Q=3oFD(*Bk4uxE4 zW90en;@MGoer0rnZsId$GmJ4jAUS=XRQY>)uX9&FmO{PuYLjY2>tATS6t+MAQ*Dc| zxb75}Ifo`zI-tXZ%WS$j3h5A5gP5Gf!Zfv~gRk-!92IB0pwx6k@q67E;P134V3^b4#hY{#^Z}3dB>Hrt#{gr_i?4Ydge! zM{H-=f^!ax@%ho+&JIPI&vJ9@1vLGeV*F8SAHVwG8vJ=L{1DlCPHhYTXxqX?~99sd>Y>#8Dvwo)mfk`o%}pjXZ!>vcbeyOpS@&!uX$Sgd0IIN zd%5AJyQ8Hz{+8;q+Hm!`^iYNPirs3(LOPpFR|jr$`Ds|=-E4T8_wnoPf{UAB3(mpU ziC_GQ{)GQuQ2?-C|NjF1{%G$8Q9iU_ss)Yid=()DG)IhYZEcO_;%>GPI>T2YtaK_i z7;}@Fm}6StlAZEd4{V1$RPxr2L)#xe-v3M=r%y-Ku8c(jg$-u3oMT0w^Cv+n_=}Vi z-NJ_lPol|pf$WH4iBXz{08b6iBLp6Gr z6H(wB6$B1A0=8xT=QG3nga3bCK%mw)2Ea-8|9tpxR`CDx z1}an0ZvJ;$zJixQkjtRbmh0_YF~k-exd$g11?XMX55A>(-4iptk#aqNA=Wq{pAIzi zEw2EsI=x#=2SU0^fFJLB~Y^zJ4Nv1@upfV0&5 z<=-9kE#53eZkO)EngL?(MJGX>1C5%WUZM~ndh?J$(IRyq+%~qcDSbn$Z3Bw| z1QNyxf&8+*D~E}87V4`S^{du$*ekTjD zEOn(RJM+3BLv-qmp5Nud>_M$7zE?5-o^QI4MrgL}T>|-?@_~T9{PlU7`EuLFEuh+J+J)`5w6v5$8z^oq zP~6>VA;sOD;_e=-v;~5@TXAZnR-p9ZB>q1|D7%pGv|4~h2&hiTecI{0UKtiVa6{uW&VE}Wcw1WE z{qR8;%DKy=}5X1Jv#tz(=0f#$=19X+*70!gv{ z=Js*%u>MN((xGHq_H&Ox*CdUf#>1Ki|J)swUUL=adfwU!ifibhyN;4!bx3BiZ##? zUhCRJNbIjHTGMzrwlWZ;l zfL^PEcfG8RxJ(8~pwvhD^z#Q_EYx_U)~F}{-2O@HZTuFlP#lgiL=|G+i7m`|1gE#E zRGj-Ot57ql|L_~Lc#!((pH@Ce=zY2W0dY-@-1S(C>*d_Cp9YIOuz^3cx}Ikwu7jx9 zB*Ouh{=4K3i}i!eEeE)EcH`<5caaX#LDoO;A0ZF)qKrL*&nt{|cxaANHEe&O09x7qjEg zlzv-caQ(J_>l~sCk;J|O-(LW+e=dOQ=t-Rh@7%M#v-ZrI5y4v-~ z^#=!J-w>xJDL<)l*&O+y17rFm2@w$_J{rv0Awss~2kGw?NBr6Y`6GgHS&q|brrwl} zYn8cr-hCk(jnTup)0#CGHdxMUkQc>A5nHrv6Cpj|OWut)c4T-#$ylFtA3Z{ew`2Co zS0X0WtLM{Ov5#XKPQ#&>Zst{)^AY!fyl5hCs_8U*`#Qq81 zXTL*-8d^8OA^@CfZ8bU0caWXhxL8vtlDct`LUFZ|ZkTE+u+2X-Kizpe)3sis15=$U z;NMtj9&rxRe|>?hW63cE63vOCrI{!VtJ5{LnWH|M!9UMgA2$K{=R_*cC4*Q_RBRfi z>8v*hT<6cDvyY=WwG!9XYHCw#7H32Xwg>#LoH^KV-G#ek3Q_zgTQ%n;$a}8nDt-o? zm9H_K?zE*Z54q{E)zq{wy>67ZJ18oRvRO|u1zkY#uG^+cQYt1x~O6g6eJV#2$$$NF+r~H*3iTuJ#ZW$h3V{+41 z0y0WZn?we(d3pF*hb^qIYLBm-4R%;Pn`yg*KxO_ma{kM1fp_hrzka<*eKt0$BOC7D za%1tc$%E(GOLybe*v?(}u-w?Y3#Zh}!?@)Ljn5?Cm4jz?Wz7#gjg5m1+@z@7K)zsu zsGPnA$*_)1+5xng#HY$sgg2xsmZl|+- z{#UEWEBR%qvhHbSrlyN~X(|&hf43>8t})&Rt{6<+V3zz}pKnIMvun21+3hO^ZMC~o zIiIcCx3Xmr`&{b2yvX(NoFmuewZQ~~sff0B%G^t%W|wSFe|i`@+s_JqN_ye_DwVH< zPTA8b>-g7uwYcIr87rKTk;7jZfqhFQ!%(o;-LMru%j>as4z(l2;Dn^5#UC>QSZ7kw z==%mhAR&}1LrVX|H@&=3nYYBa)bCocxj9pcudqQkAYW3I3>Vb1^vWP&B5)(SXJM}@ z1wHqPvU~Hw6focP*Ig(X8&Og+o=#wbLGVar{-=edC9vg0sOCwXm?|ssEUs;<5Vj$hzXeq`@*-$slAG<%(lZa_%~su9~il_`5X-^ zA0-AKe_63^V0b6sf_-ef*ZoeyYqu=-Bn&z=IU!&9TB;k zi<>r1aLOD*pU0v3?=8@?*FnBQfhL^7?7wwa31|3D+Pp5#2JVb@3}=bg#;d zZ*1w#<@?<(`LLgSMhi-j4*-kT3?)fw+T&=mh#G!^9QO7P*Nk2;_=wqhrP97e>;q|h z6c6m|H!-MF__%QH?)-|~d_z%kOiF+ez`XOcR^lVe{eSL$HmNyxu^)wiiSX&;s9qaG z)$yW0-7IU5p8C_GzQ$&(bABa0*xMz9*q2kwQJj$Z!?=KWOy4T$jXOAg*qd2#I<{_8 zflL3Xe_UuPswpyQ_h=jgJx)FQbQ>5qs;FZkc90H-NC|O3EL`G65*o0<{n3IF;cjpO zfVxy9mgBWBi`ckBW%iE4PI3%Dyob^uW@DaN18{;JO`~JG6rLL`-i7rfK0V_DOoqn= zfM>Y@LzHbA--UU&B?+9L>Y6Xc;4ESUJnEAih{hYijQ~-o;6X1K0@$ZTqI`wY!wE(T z604~M^6We7uO)kQ*l)%o$nBvvu`Z1(Ff;Pyc-v1*_AX{K#SZI`c#C|utx#*Wmm-oA zlxr{yaQs>CaO^D2MspY6?4GXV{yRQnk{dV*j+YBw)Z8GUMk)gq{B>Z(# zLmiLoB9D)yx9mX(<=-x)&I(-k{ zr1fyGo40Gl&dhxt&@7ZudT;~VL3GXe(BoxMi17?mTO8oSEeTWR#z42Ri$JT3J;mN> zWBn{j8$GheM@8s^!%DrjBDB1C3*+IGg~4o)w29j zr*w8~nNRyNTBxRq8dz`pW1-q)tAA1;C_Cb$&X7hH`1-CBNBh&bBC(ZdKC-b_wyZ@~ zr|TOn=4x|_e;iU$7=m`-Pnt7R;vIvNVTU5zn zg=X+2C6a-_#{7}|sEHMeX#V~CeQs0<47Os-Wr|q6mZotr8LqbQq%0%7uk!|XGJ7BW!LNqt$pc`vp__jHnGwKJU>dtKe;4UfnWSiG@UM& zXTdgxgkQ?8c{iMz2=}Gx;AK^_$t}oSWdHYQ_gW0mDJI6s$tzwfDb*K@PgkDOW_bHN z7;Fy;MQr&<*Zh9hY^<}uTppf4E)&*e5>zdARaC=}MDq%ZcXD{kF)`kUs%4h5ddA#J z?{f6>DI(M-0G*L6aLaNFbI2uhLX3{3rb<=9G{j;(S+)Wus{;qii3;-dw+Y)?ahWg7 zvX}dTZSS*ocmVP|&g|mJMf;2|GhP8uj1^Hc9r@(TyB{dhD{K2d!mJy{`u1FkLz!dL z`2)GWgwfaMUwmSwzvpzXJzfi!-cfi*3fY;uu;fXR+3DoU@F>TRM4wXnO3ZIj+p>?U zE6cdnDJ*TNoZ_`3hLLVAN`VjNQkSP0?0@r|Fd|jc)9M(L${8MJrz4v`CiXl@r{29OH7|&Gto3?T< z3j>yO6`QLOks;IV>$(}vC@-+}(DsR@YUHf@wiH{@?8z&3ROD4nv~icKiA47)+UAD? zqjX1TjcWZ(&iUgRjv<8|nvR15bMx5?xrMh4aAd`L?GArw`^+~? zInWTaTPI}z&i zfi*WL&lDF6=I7Et@&ZOzzNf@yU2>Hg_?#D0V3;2R$+4)wFoYV!zTI3)MM*_8*oMBb z$PLjstP4F2xdF9~SP}3$roGVoHKE~Sa2)w~OVxyZRfofMkU;m9C5Z?{Se*O%h;HfG zz_&M=VP}XhOe4${>kSl}gDT$1HO5@a(>R?=q4iXn0=!@mBtW%!sk>#^8Nt_qLcHI7 z4KF69G>lR4ppWd~#9<=X1+_aQIeQIL$t%aSxVihsY_s$sIFOyKodC#G)FisY zoq8^0E5HIJCDxdCs4}78>x%@xKQ2HvQAzhQZK(T8x3u1$TLGqyMiU1@&IVCn)EvaR zEm0AhkZRdeG?f?Zh1qt91&(E;_?1p0r0gk@^Q5wT9hX64yW;Hv8$ZQS`*JZjD}caY zfV^?Kc~{8lnwWXWMKcGZc(|97itv7RqD{|F}y}AaZwg*4tDJRmgM$MT`xh-#U|_c9Hqv;ufTa50tAc(d~$FU zXWM``64ArG*GAf+C=8-{Z?FIWOdy%))J*TudArA?Cy4IdtF=?9STNOLY*(H}a!biJ z-vEWNBCwlCLfr2 z3M677di)&1!00n``$BbsI)$;9d`V(kgi+)^;CQ+|!t9o3F_j+H{Wp3Z0}n{lBQ13X z2m$gO4dYiwW$n{-loHaw3&$g4YO|Boo{}Z1%;6_cnREbv zctyWhm{eSlVeVW9t3@b{_*o{$+q8q!QwoUD>1rvFL{$0BO=m~id1f(psR@(NZ}fZ6 z@%1A5yH5O`bSdlh!A<-0WsI;zR9BahCC#hG$k>LP!DT5%WB>7Gf&{x6kOF#To;POF zHJudYO{$1H%yrToBnBJT>X{pq-ECIP8AoZbDkZm%zU0AAe3naKl}R}O1SWsnQE7yU z%=yn4Xd5R;_T)YaxIr4ku65b>d1!A8cmJwq_4BHTdc4?)Mt^_M@?40Chf;09d1}9b z*al5QYrgXB%ocOcE%5t{G0V~Yc*>QlH{q#liOKMt$VaoRgH!nls3P`ubMA8+Uc$DfG8+~Q3zcO1!o^DrNp5iw zM+qk}a-VqK5+1xDGzJ3QcSD=V_G!tc)1#ZDjZp&*e8Gp&efG}eM~lx$lp`%Q2BcIB zLow3OCwt8;E9#+>WhcVYXmkC$VWsc^{+>m!oyD;`X)-GIU#G1By7qQj3I`J?5?Aleo+pQ{_C^iqa5Dy<5Kf= zZ1GQ>FCsnO@7yga6zIpz4!rk{qd^Ide*>#L^?u#=`gvVmPmSg$WO26(1q5KvVhCxj zQbJ*-*j2IW;g8~^{n9&dsauoJ`?#A~FHW5o^G8eryGMA$FH9=poearkF)jf&SpFJf z{XeK?4ACQlV0Os1-iGa_O5L{Bd)8Nbc)`k@9y`eifJ(3Mf*<%1w{yUd!Cw3F+2UVi z$7M8}EZy;ClGVh=k4uz08_mUfZnuFoITei=1=N@h$X ztzy~0muK4R4 zdJ#jI{vop>Or72}ASxXrJA%zjcYY83$G^ju+ zxzJQuteR8=P?_j&l3Gn3nI>fljn7g`gG+fSQoUC2St&65)NXBcVw^7bbKusvELS*& z0MD-Tu{d|$sW)!EWu=tskB#qixVU)a*&W>Y1FJ$ZKJga=Q~Ey21oa3Eh^-hm?_l=S zu(uVAGE8g%wb(FlfwTx-v$k|6A~uk8A?whVIP}K0+%Q%}%x-ybfaG!&=L^(ba>3aq zdTJ?t$0H|pg4Nulg&_VxLyCyMyd6?Kzl9@+`~zZtKg6ID_VzcB`Aolfcl{FLDSelo zay#N(=t5O?dJR+Eg7Vz#wv6b)?w^S9NXuD8?Bab)a1xaR5=AWEfWGs;$~OH&Q}3Jf z|9hgVHB4LoXFumbO7jT?$woKW7s34wtOP_j9VP?DgOJL6N z81Kf&lFJp(n6Vu%l#^XE)gerKKm{v4>`G>aK2Uy@z_onJaEB;CM&(*dr{zQ1mc@L{ zGzRL__ssnCw#{esukXhH19TRKiKE&r(5B?1kV20|vYX&Hn}G{UPsy0|*AYMAm%Lho7KGhk4qhU(08->ZTJdos#P@bWyNy4_E_DZ%i($+>cz8u%V#BKWVyU@v}# zgzQW1X^oH>Hw0le+h3e;J^EcQtvsIu-nl-G_W>9wwB61_Ss;MiJ?aF?3=jLF+&S)4 zLwC#2xMUFqtfT{XSqFSv6$Di!sh4@H2{ z=%-GTO%vk#wm(3I0<65;`y^%3euB?riB(nnhH}gr8p(!!8BVW7LuM*Re17qX_YkQd z0k#fZc&&0f%sz~z!dy7yY4A^4R-Q@sP?-1?3)zKb!MQaTlr(sLt?&%dtVb@rWScRf zz4Y)7$6X0HnmSO=h2>cC8pmMy%hR$J+lBJX|ymjY)eXd;UL_r*nSIv$A z*wU>p7WK=hH{5rw$6|J1B_wp2$!$-~?``v>jkA=i-`!3+1X9Iwv8qKRf>wp75^$=l z8-UewueZKeb_j4#=4mtJ(yS{m-=U6Aq3cC4k`eGu8}+KnI|!&ag7Tt zyGS=$)caHlA81fi@C8^ zoVfg?w(CR(K_W~T>NLP$wH{NWu>+)V{Jl?|D8uP(Kj((KHCQMyU3Exhh6U=YwMcPz zGg(O2s?`wS?q9U71iq}`HHdxJ>@eRA-aGEce%_aFO5Cgtm|K1~VVxl|;GHX%x0eHM z%6S!WWS^zAdh~tjJuoXZWo~oqizpS&uNS~C-Mgu*U34y zAVX5E)W?Qz3F8Nc8Is1k!Bn>ajP13Ml^|t7J;jKq=o5H{%<(kE>s*@3NfM zQ1=cxA||9ouL4t!fYnAa9II(!BMd#Q$4B-kIjJYEI(sgB*(L!ecxiXYD5A6bfi|e$ z&}(;Ijg+2$oq(YU4Y9>+9kv3y2-$VN3Dt^k+D_u<=OmG)J(H#cC!|pJuaRCMU!t#E z`H|3Qm#0<4B<1?ej+k^`>qgmju1!~JeN#-falO=aF3^fKcb8I*;Hef4Zbp~Zp|_Eg zdW_*_yj9az{qdtix|~w3w#Gul(G*qB710{*?{@xR9FbFYRf-oc-s~M-Dc|8iq3E06 z7P_LR$=t10BbCkSF|bQ{K~bGu0WL}*I!oS?#~rFx^YED*DafzS)txhmYpz$pqq6jd-bw-6(O{&XQu5rr2R4 z)db?SXEDfx8JKP4;x*Pu?-7yXqH}iw=%-@jVg&f0jP=6h<~>TWxskzGxO;D5l2d9L3p1K5}CAUh}&=X3du+JNt93sD0735&_SC*RFZ*bT6P-8QkUrR0?hh4@&?DPaXf2^`D_5AVV3}|wjayB z_8(p|%^!U2Lec-|J{HaGf>?lr`NNL|f24dR6-s_kz0*gcoLUTEv~;e@lu51eLeEKG z+b==@U@g-pfSlc#hX+^QinB`y@g`AdZJw7OdbyyCYC0K=MY>P%nx%*}!lFuJdq(-? z3GLLL1j>F}?kXj*evCBXv=nX}XC4w*ksy^Cuh&J?*4Z7ROZL0;lQh44o`=0C?9W+l zAs86MDIRY6=oS^B$>0E+eS?L?LOMM&;tgzutKR0v?0m$@Pt0j#eVzDhXAWQU*^`{g z(PjJH!e^0DMLj9&?z}@a0oYqUZ|4M+&OhW+I|Lf-FXZrv0<#FWCeG%syf_(Qy496x z<7`1!ePX6Gdprz7sy>TWk)d$4AWZ%-d&OB!c$vnjmAQAjmkj*4m36z{i1 z;2TE+xjEqg)F>3~GNNi!cF}CiEn4E0kFI~<>-zzO5|PyLi47l|r|dpw(6C@hh@AQ9 zO`>e}5xlpPA~Pa$Rc5DEeS^oibircc>;;;%e>-ZT6VIzu%F`@u?Scg=Hb6vP^Wq`l zkA>TeHyCS`36`hpy!m4~rv4;Z8Z4r0frQ!Xie?$gS2pi5JE`7P)$x^<41aVNw2w1( z<0njwmm+bY_}WI^TVmZeOe8lV{gx$^DhZL>mC0towLQ1XdkcSz_`ev5T(AngLZ5+o zjE0rAiXI;ucMR^Va2s?5l(|ktexeDW*L79G$Y*u3chGs}y=`h%?Vew6KIGSx2meJv<|!x>ZiE*VhGXbLTL!(#~LNQf)9n3B%xE8g=QDKEE~ybyfNzM9%NL2e5o#m`U16~D9pc`Ma$bK`0imaqKGpQuKJ zUjR#H{+YDSSa!$R5zBb>ETCc-5|IjiM?>O>8X-m~to{2M$k7IKwo*jwidqQ?Eb;G1 zN4poE{6Q4@8~K)k=2%B4cQf;=_Agb>Bw+_V=|8nIhsDSz3AHf>F8FOk`VNf>7#bFv1?u>TsytFW~bJ6W>q~LN#uNztHEnHoZ0-cBRkVLmw%oy+*1&PeU;c^ zgs?$8jTkRg-Fnqy*xQ+iKm2dSat^YVhP*DD)(i_)z z^e$H^FXPP&!;BYp?7VrBH9o~EYK&QO(KEoN!uL+%4ZKNzS+U|>^bgqD@+GhKf2FKm zZsci?@bN)<3y-rd>|(;<@fJ4)v&g2w((j5`lV{j~e~y4> zqc4)>N0r>gku3Y{>v6@eHBgW+Y?_{Px26d}M_x)BTJ~7=!iAF@%NHXG-ooR@Zfa;x zk`WVn6<5Inqj{7jkJ5M4>t+O9zX8Th;x$4(?bM*Gv@OBK;|MiG*Rr$`4K#4a$sfkO zFbSpKLK$fMI;<+>leN7o1M1=2Ge-;xEI)in@Ve9m>-GevJP7OezV^-!&%N8ZD?#{j zUDw$@_`Ct&+oRmS2E{>-TK&2P^MF!Ut?7sAEKCSu&@+8JeKDD`%~Gf7 zQ^`M$9bngqZ{*<8BB-McO_{tD$?O^W4H##kI;BqWXrga&d!7cYp zo!Sl`B)R8dPYr0%Rr9uTes)3OB=SZ+0L)b+{!}>{9D4~u>e8-pcc)L7YmX9r@{E}5 zZD=RL-4izRcEIi(GYVog#xW*+TC3~*x@YrltOpXu`uUFA`y#^132uPEYmQs(vVzyJR$yZ*QM zVYFi+J)-tYfJaluXL@S>J)%ptk_p}ylc0*BF#kr@ErhpKrv8uS_rNJU`QXRGi9zGT z?Y9KCW1lxh#A*-;|(W7xMg(3aR_t1YD{RG0qPfh)qpD;FA|1^6Jxz_?Ws8BH_N!Gj_9b;dp){ z&`>w^BW0sDXyA(X-nl7t)$|tFcJH#559V7aQ(C{Vb;9F6OqkKLva((#s5#6iA3K`; z41*kLPF(!B+VVqgb|~6rxAffQZr0N*yplM4)hyHO<2@eNyzj8fdDK{LQ}1~416DPc zf%~!92Pa9oW@y@DtIi3Dg$ zq@Ag=c7^nJtLDgq5U4;_eb?q&WS2vWfZ=pEZ+B(YtEyu(v__-V9jB_vC~{DJwVo!T zy9PS?GE;)@mb&4RxLfKU>6USk2M4-a{EZMmO}ff0K`kOHh{5kf&uo|R^mr>Ld#%6- zFI!9zM2{a2R9LHRgw1XNtS?3}t_ZRwd~a}iPU)cqXUi7GYsoKXr54Q)9< zu6W?d!AcuKv-LD9?TE*KFWf?Yb7&-DYTOZR4CT_7=A$Sx)fn}ld?4_e)sMfo+vW_wO za$iTsb{IbvIwhsSMo};ri~)1e&_UU0C=T6VSI?4SA+Bc{=EahM0+He6iOVK@D_|Bo zXwdDZbJ9wD9tQxCB_Ey8gX>V%bu4X1T=eg*{_t+)z`K3J=ce_Rl=T1OJq6`%y?Rm7 zN$pZFuXia7{?)XjQ>Q48y+-Lb85;O;o7-X=={{u) znhhz_3^}2_&XQwO_hoeSEHvs>jjbfJeu9&!%Nqcrvjqo-wes-8<*oraF1G^4JM z3UhUf#UsUoo0-@UyT0^{?T&?eLnd7A_r-y0sSbnk{*GBQP0K;0;5>nbeOz@O_g`<6GN$k-o!^2Px7Dr?OR<>>Tv_4 zI1}AN&*0CZn*h&)UvlTHBy46`Z~_2E!k$FVu!%3zMlkO-u{tGtibcUWZajET56IjT zmnqc_#Id#G&iLNS*(8(H0hsmQ+ij3-fA{qXx#QtIzLoMOP730hI`p!Wm~iju8FzXz zonwm-DSi%~{>J^VmG+1aa6K{$X8ww^$LC8_zniP25so&7X#X4dHAQvRT4+md1lXY6 z2LWQTt!f7o@FK45v(8O^t3HG4u{*s3p~TqWsN^)0*uF{J2uC)A8A7`@K~DO0&*M-o zsJx9I7?OA=!=0?u`naW$CoT5O;n@^oWED8qTMGmB2Tq0_8XlBA>gc)s5*!P3|AVfrpUkk#-g{W zOYF{?GzYYtjZrs=SABGm@Ly|RxDiL@Sv0HX-ywh<4KG4$0*yRy4PvWdzX9ZoIes4- zh-g?cv+CHH9Q0blT&F&TVBqVJf>+M9_9MWEfckW#=GyGTR4Rm0^*cJ9%<&^>_mz%u zXdr+HpSsM8cr?kGRgS`bdGivkCDGwKd8)qrK~61+EwaZsT)NIbqtS!?gA{F_`OikB zJ-xP>gxCa1ax^4Fq>9l=lSKD2yt2!XJA8-4yBIJxFb9Ha%uJwVW6JI3(x9`E9BCuK zQSOFvwH7oq)d!Pi!2b(o%t$8Fj-6_LIOrFtT^8&Yawvl?+SjfEmSM$SZc+P+l1b204kNq3-Wz;fDo25LVDlDS7k zGIuSJHZB%$`2NT8Qstn@Esr@i`pX|LqmL9ToL}3_$Bd*rW2M5r*BaKey^ZBmXYyTOi;KhvO#pd{6A=pQFbto8*&G=~oi<{~l! zh=99=xZ2B7HNqI#o`W4tWGh4Vs++?7`=nI`4Yaq7*g=f1+%?#h!!+`)q%aU4ij`O& z`Y5WG*=kWq0g5!Ges6GbBT8^YHA=cG+;VnR3wg8N^$8@L0CzRIEH^?Z9E`-spFfgM zb)<`_$50#{w-;vaW+fFaRIob@6jqRQQ&e1GF-sd8H=?bHN*ypB`Qw5;Xeb`X&XGk^ z)5XP45;x>zL07uBt|ITPud{!*zT_ayPNV%wK^kr(C{n8s7h*c~jXhn(eY-FAKXaV& zF#v0)yB-|c9!GY-i)`~OVUDryqR{ER(yR7~5y^owgrQPiAnNkl8jCA@{>K?(9U9z4)TUP^_b#G9%WQvr-v)l*F8C+dpR12>;ByviO) z$hHS9v({!7tFIEA?`2FHvf+n>LTPl%uq|P}B5A6pr5;F7^~9vkbq@Ch-nLHR#;^3x zVr=qvrj%%8FM*|MM4!G6#0@HPq?Bx4V!-&1m)Ta0ux>v81I)U912f1+v_~xx-!~mK zpRg*y(;R@v&Mhys%&oK#{j$EH65I+Tf0i4PF*JJNP-{bR^Gf!q%I=_Ur1-*H2&G6r?Xm^&xk9c7jWY9m*EyiFMo1@1Pa$-TOyUmA9rXZla46JM1j$+wIlXCMUpB#1UKVz6>peCKqo{E?l~D{ zADlcf98yF4C@6$S(t8uW!~4F&`DYG*-@Re=JjDgiSwnFFdwW}gqzjtS-V${#1|hBp z!<>7#v>1b!5rzYsdKRW;6{4wy%0s`qvn6Q4zQ@FZWN`5V-ub>vpDn2RBv^zU9&@m& zMCHi*I`ycI(xZdq1#%8wbqP+BmZI{Dq*!vXmdgTa_`0yC|L#12)Rr?E2}f_pm)3Xz zP7d34Rqo7iN5k`BJr{k7SIN))bA^_|{Dnxuf*UtqdVeprIXvGkk?scAMV|f`nRS)z zwOSS#&t7Oue3;7g&yY!t^6QZ4n+%mbr?94FCsT2;n;yji-Y=6Wo}0_~icrcT3O0 zgy}=vjYb{bO1obQvvy=(Y*HgOcMU|`i35oB$M}RVwMN|`%(i-li=Lvp{hr9#M^pXn z_`0Z;I+1T~wu}5`CA~P78`ArFt|P*#>=O_>tu=k*{;*|>?#%TRDt{ITbtMv-QPW*ZUuB&rh*Ol41geI&KV&(kX5mp zs0Lku&xtErg}$K>)Y>%Bi}W8et7kz7oAn((1v^{Gtu#vlWv?Z>>flQUcEWruYQECk zQc4;VS$*FA8--4rGw@_n+#d?Kiqzl-x-3CiVT3!>UsEP(mJ78?b@lm;D5plA0^-gZYY(>2iQOe`^Qw|ZyR8iz|mPdwRZZGj1veqgG-u~n5y4*Tqi zT%9!OEXPps$oD|0SfkKkU8P{?U`U-{a4FvRf7xS!1*I>XAo>nawaZ&xf#yVR(hN(E zN)_(UB((jxkN<8*W!C=#>nnH#z$*%6aNAvBp3oCGOQvBUCvAIgnA_tGDmsp_-JEUx z*_cBFBjF?5yctcWuuQQEq*I`Xd8YfU%c*VyD_00eJ{f90>|6ee+QMWsheP2~g2`5t zfGg42TjKI-y+p!)?}LT(KW$H#gQ59VzlBxisMU_=gX?%Jmr&a_lRtUR7&XAm3*qBr zeX=Ny>?}t@Huf(Sb#R^bXWlDmN}`2WIGfTpN8r^KQ?4-uU2>N9LfajOVP;iu#ON{C z|HOL0X?E|rbD!79Jf&>rOoCK2zce#Fz_xyf12ilJ>{PF^?z*xb_58sJG9Q`re%H~Xy6Jrd!!g-%s8~t>^^~6flq+4%B zJl|reJRtZiKve)SaD>+_ydq2-xk&7T?}D%7EPnJE&l_cVPhrBtBohVjakXN{!7YC}gZj$_0h=`m!5;TRM`9WK^|q)T zEj)b(bK?q9hv;+1Rv8t8s4>rOzig64amC-UViLkoPac|u!>DWtId8zVE7;KJs_86C z0PxxiC{9-#8u_w838A7rc1tV1%T&ve`}vW-X6_NI7^E-G z{yueWc9NYf0cO^#HRs(=XjBJCS&!dUNYA}x3Pow?pH65ko-JPb8vHHw{h=CMwk0vr z5c;V|zejVUKREvMYv8qR@Cl5<+);*MTM+HsdYF-S0mrJYuORd)m3+z)T zvssu0i{d1R`1VYf6|V4B7W%O6yzqY^jDi14VXW`v(%*WPeXUT(U`N61PuzPH3+l)G zp<*ZV@}^(6a6NnGBC5ax5@L3*7bw*8MU|=>`G8R%L&q^t&}T~F`w8Ok@ZSRcU+w7n zhu+Qq%T)ei-mcSz^7w(Y#HmL6d-{Q6Mp_=^^+@%yJQw@U#? zi2VMCw#QEytPiw#^lAt!2hRM{#@kegJjVBtG#lDPcqhfaiIYhs-Y$tDhXUpB_4L1? zps4+9d(O`k4kL-nx|mvzoZde3C=)ccZ)$|ycrEPcz}y%9Qq4ABum8!0+`rN9it#r0 zKM{{f_Cv`gil`}<8}7UQuZ1#|z1P!HXWVz_jYlD~AErKK9fx!qf@_2MF@|$x_0=xZp!p8q zBSF~Drw7ol!uJ#I5s%iA2th543)@=Mhj$A4ZyGTs_k>zo0I*c)I+q5-ym+leH;KQG z{OkKK>i*x_TWiY@}v(CmN`)~fp~V0pN;LP#g(Jw@TU8UV6@C8 zt+xt_Q*slq+izh!lIl~wAR*``$am3w=%ZR>TsdVZC`W>~|1e>nUGt8mJ) zM!bj71Fuy3T_e+S97x(7)Z^7BBFHn}0JZe8qA2z*SB6qE9C!T;pS75?;DGHorJ^v* z7F%zRtV1gIcw5@%8-Dg9YeFm=?%7C!SW4S{@tW> zh)%iOZd7TU4&$&;ewF{yBAy9Mpwg|h8lGo!q@qIhVAAYQd-&|lX>6RFld~bh;I|px z<2_Do56pVkf@|L_z~SP*>X6wcE5ct|Fa-4+G%y$nsm#^577V_|7;Wbg-r2cXxn;StFbQJH|P z(%BMPlw=ooW@c0}4d^#fMvu5Cznfcwj0BAx?u*g>ouflZ2b7==xJs+HLjQd736aAS zZ$@?}4i@`JK3_s66 zUyT{+UpG3~!3hCJ<|h^2%d$gG^RP(QjPc9)l_zP!bq7XLGlH*OITs_UChr)idPGRG zsr|9rN0GOpMUA5azZG6(V>b|sZ@5jEh5gdcuh6?gfv%pu_NIGvZQ4(3aco1C*;i*( z%JpDU=y%p;abb7jb1PuwBVtvUke7;z=&15(oF}RmnWvLI=py7zB(z?(HbTao=)v8$ z4D?46jhb(^?V%?3a?){e5+#OTuIhN-j#`31FDB)=ckdQS=R9UWJf{{SjkTj!+8SZ& zRo>`|(6cI6=KcaaxzQ;!9>mHCzyb8 z%n>ZjXN=!EdsqM~4cdzNA;vb@8-~r!hrs2FF8ic)(yr8lJVd6H3f4Ni~@6 z@w{~g1Kje^Muh^MRiEJ|4W#PmsW~NTpI*slr@uIHDwLj`@@NjW7Lg#(243+sSRnuu zWjDv6reK0GXBPx$7$eTrjDf@c#eVtiBkDK^Ygs>Aj_OpnXEY5f+r8%XCK;mOf>z~9 zzMcLU0C89s2X-Cne%UKPZ=5Pm3Bv@o z7~Bw~An2drMw+qO?xA1+;WfCVrYFs?wmE=oZfeSSg@A{T7etg~&b%?g)!c|8@A%Wi zrhY+(E>S(FP!{BHjBI>qoBJ5%!Dh+3++>&$HGG_RpU;;*9X!_6`638-L1-{da=df} z1ePZaS*B9ks9aN(1~+FieZh$p>ACi~wa2U;b{IYu6j7$QVyuHS#R_us94>8cT5w2{ zX@vA^Llwfjmp$Dww;GxZZ2GG3Q5H;XzlN*?Yc5w!h6K7}jc255(wzR76~(KrQT%?@ zWO$T#v-?xzu|+m4KjMNwefuyZ1+!1`CrnDJQE=N`Sy2;Jag4lH(^!MWF>_f@x0WoT zr!(!Ku3m#ySpcgphIIX)Wp7e#b#d~ic5qCY*hFZxCrr(D5fVs{-tu0y|Wgk~C;pfLhL( z*}magEV=8zDun3d$I}4tunVSns<{8^wxa2m7T}PfL{Xm;xS8Y?>&pY!G=!>J`K~ zLdaO@-N+PDZNUrAa>Z>^oDb<^Y0@;@#0>GmFKKX=jMUq;a9YtjJpLq5nNv%-cw_qn z-a&Fpc%;SIq z$z8V_V(S>vYh8-iz$_uSAOidD)At;;Gg(DomN6@^Zg&AlXj4dyWwU124u8_^y3;MF zvBiDKq8;O{@==jBfzOPSLCxYa(1Ia}l6_{AzdpIcMS_&Q-c>Tq_7~{{8IAZpD>|vU zQ|^1Xd)+9oOyzQZM2bQelc})kRnGQF9skn=XG%ghAt3O=byFm<-p_+ltuR}oFCQPE z+aRjekhn+s;Gpr%{O`h!hKAvZcA`Kuy+l>#BHfE*^j2gOo1dxb>cw^3c?Zhf6;I6{ z1llugIP=RaGy&H=Yi$7wDNx2Hc7wOuLyM> z6jiWR4Lh6|CDu}}fB{1fVVh-Ycf}XV`AfRJ*0m=WhN~hpWK6Z)8A3wrNH|U8Oa4nF1Lhol| zv70wDqIj)Ph7!zjJ=EHHg(gFa35e*{M0_U56yKhkgD9F zu7nz|P~8NwI8WIuK0JHMx8K&=s~NGGs9A>aVt*uibh-Eu}P2 z+*;Bi#oeJT!QEYoyE_5eQXqJ74+RPoclRPG8Z5Y52<{T>o_^)M_s9DOylZ8_I*>DG z&dlt+XZC*fv*Xi$hwh#^1H!6prxD3fn9QUcP^Xd0pqu{0g*(7m$UcL@F#ApfW9|h)GllM`)V8{sRQjN#? zd4m?bnI2lL(16mml7-C`>msIUMF-OI^l5TvqD@cD`5L<8M&XCj!UsR*x~=j(o7P=f zisQrHN(l?CjrORaXz~|K-m$RxYXg&%v^tBlWG21LcK&kwTTl$4Z?dGG<(Fssnwd1J z7*%3Y32*D6s+B7YTbi*xmf-5^fvY-W8a4j4d(mU`br>q~D2A9#sDMpMRuBtt+1i)6 zWSE1xD2^TXHz^Up_PP0p9YLKGT}!K|7dcc})$wB;y$>tO7gQhI5yUzAFOOFB>ZnMt zc-Sp(-M;CH*iKZ>>*47w{Xd(1X$L(3aS}I(g*6t}u({?%v)I>8*aM_Cafaf69$eZk z&3trZ;ryp>&59w9Fitmxy(Vu?qL>S>Ns71=o~E7{bPT;qcd`!I*XYV`LTyYcr>c{M z6oEifitmK-#9QIg3I4}DzdI+S^;RzrEpyN?c;!=|X@8zrmh@gt|I}nG3;yK{tsCfo zWr5)fyk8MYw4fy^LhgsKpRvHZnLn;wQ>99-C{N{FT4NI2IC`!DMg3OzvU?U|leq`n zQ}%x9B80Vfpy2JThugY2R|g(!OeM+sYBVp+mbvC!o*w)Crz+KB%>z_I&a&y+Hz^(H z?v~|+CQ6rpvv&C8jyoCrzg`ffJW)0m{$;FDy9Yg?z)rZBj0^C zK7ph8tgX?93z=~?lUCVs+Y)^By^IsNSNA~Cj`r4@=7+zL;6X9aLfNRff#SjwU~;N% z+BT-T@rHmPLg-~2-_ctCm~Xu3(vg}-#W$A+w}Mn|ii1t|ifQh6(&Hz2jKfH%6 zQanK(V&6I1&wgX|9w?1e!pM13=ddf<+qNfiraX*gimfAkdK*osh`dY{c@bhcw8PH^ zy8864vOA4eF8ZF;zWu=6SYOxI5FbPZxS!Ba5kBr-J;h9pNHL!nS?*_t172 ztOeji+qk@wUg@fht2KD1!V=l&*Yx7z_X>2;iE^=;uIEog+7`1Ww(rkT0n;7JU;jCl z>^q#=ykCR?amL-S6Uk_XTWRfW<8byCNsU3pZ@a~stg*6C(M=JiLn33M4+6{S|A-do zENh!%TJN5HQZ8dNZesi8DVioPGjC9h}g*TB+bl9i z=>E(8@pm*A&4SPV->jzhd29>+8RdWdO8@;o7WeP9>(l>H1%EI9@7eJ0)t&#n`OcmH z9kBmhB>yWI|9{G0Uon#wJ*3J|C@0*t6_e5wIoi=S$(}iuUL5Ab zToh19C%zCf$0CiD7+Tq=-sMj2AD`#_{Vp0i_kBt$y*%f?SO8OwofD>_9rq>oXISR8 z)~Rdh#wpWjlSW4yIzQ%1dHrx-M^t^l!&lxR0q|3!Pup&d1J*pr0~%ILDZC9|$5vlg z_Lx@ahl@ll-)(cZ=I7yo6$Uj`y)J)Zw-i1F^ujQ;XV+c%&P_g`CnIu1+*0IeV=vD8 zW9L|8WXJZ!CjxK9Rkh_!!qHW3cD1q(_M@`r^pmcTs6QQZERWk18bmStoTN9x#U0}na|dDA%65A3@#^5{ ziBls8@$3R^%BRES+3Rs4!BJ=(ejumH>!1wrndE1MQk*~Tk!VdzyJ9KXb?3iXG6-jh zV0+HW)X&={`jrT0t{*?z(fV|FRF5_`iLYr!{N6c2nnmsbt74$XwYAG<%D9I5q!Cz> z5Rje=H|G%bx=3gK>~6twF73FkVgA^kld^^AnZc8{jEbsGF?%}n$EudSjJrnCcNXhM z$H%riOpm)~QFzcnP4UZA&I43Kp!clmLhwf%&M((?*WcRtx-&@9Zy8=<-Q_;*TE!z_r>e)EEbgx} zE+%AXH<2QHo_g14pVtjszxkTl9R2TKWwQlMJ^G9Wx8frL3HDjzCSdLd8(Flm`RVfq zRBvK#;b$s$u5g?*7?DT%SpTm>bUk!UU!wAe_i~Ig>cu6dJNEzNmv7VvhnVm#C%wM? z^~@q22J2_0ta`EY3Ei~sv`GENS2VeO)D7PF@A1KTc7$7IR}~zcEDK+`^eOfk$Q3r< zV!S^%!76u?G)q$aa)En7@KkpoqX5UEh&Hyz)LlX3*TuU+QS0$jg(@d5e<7DyTaKN^ z7sD_q9G?N;8&wuY+h>Qe5&dEd`Ed~n@bZ}=^CL!ZbZB;|H{hp@L@-Ph0bi^{(eek+ zCqEOlyi%Rg)nu*PZocdX9$sik?R{x|TrN@QB4!Re?_`di`ApK$NU>w!O>eNT2Jk15 z8?!mERmDM|BFi(%P3D&Qo%p-xELlx|%7Qlu4#``4w^<|+(<&^I~Eq3xxi%J`~B&qw_XKpmAHm9kIRsPI8f*vg(2%D?Bh~ zA{1fPJdxZFG#~1)ooZP#Tx05=fz!gTX1%LIeEm9KgT=P&;wIEV#W@x91P=%a`TZL%Eg(GagT4floEP~Nkb zI2Q%J8^&uZFI8fLf#F7=Dn<;0eM)KpWc$Ko%G)ltWSC9Amc%Xyu5 zhg~qq^0VE)O8al84xNxWh0(#3Iq6et^^4?)ozm$db5-`x2Fa57qOki5aVwt_u%A}z zOu18w5v`LO3DX^aR%Z|=ET%QM6laf!cWoe;LP=nOSuF-k`%WpnDXKci%|PI`DjKQ- z(T<*?e%qHUrL_J@O+U^;g>#pY&BCPiOVeq`#0tW*L0gye4kpb$a=F5%i*qTgIy01H zAuT4H$#M$K#(Rp>XGy@kU!2r;=Pgc$UZp;=2sPN`PA+Q6;HHuBwO-(BsMaL3es_g| zp*Pwj@`PPyHB||x>H#C*YRM5#r-O5Os$uJVboRj9pYc=|SaBS>cBRw7^Unsa4I1-m zJ+AJ3PVaaUc_s$bvcD%e9grN&co5NC(Q}zq+h4>JVv=gAq}w#%$}Qs2vl3_9b;o&( z`0BMbVKS~M&H!iH`Ui)t*HJgJGbG2yVtIZ1MwKalhqM?N(uK#I!=Yz(mZILk5MWLo z#>1*MV0BhCHPThA>;xdI{EUE>?EBvMX1>*4rzK|D3*i?Am1omM>%v&j0FYwd^y#BP zX+=rZB~Cl%;JhyoKC$&dVJ_(Pit?++e$%zA#0=Q-q@JBj&zZRRa|yg6e<#f-*?kzQ zE6spwUZ5KV)|pM~EfUFy@N-%^_e(|D0xy0#Az|*vNW|VK#Ch1z?2!RPU#3r~&wR%_mk4jv&@$f;aH{_|5EORsiK4Qqw)|B(o#`FERkxzVM##q^|@0t+xT<*x&1wz;Gj~)08 zHdvXN>T>;)9oc9U{<+f8IUcO*1UW5l>@yn`TQGsv#_FXosQ|GO-1-vi}sf<7A}1qJm|FCbw<#ri|{8O%6JspU|X z1a82<3MkKnd3+cw9Ug^ge5QU~{AJ+6M&}do(3`E1jk_AU%GY0V^z1SEA)sjS7vCa? z&TiE78MhdZ&^gN!L7g=S2_&Kbo~1rP%iGW#(&_mrdkRKLqL0-z zJRaWm>T*(AJxQT*<%{H_prbQJ@@(M;wi1kX(`qs$FhJ+R7yWB1Er!PBtHupq@ zUMMW$6d*aGrhVrx>Rw+}n9yj+u+AqEsa{e=^0?uCSZibgnNPOD_zHoHrk5BbU(tvH z#2R(ez~%QDCUsMH=n*0QTgP945RcH%jLff)t>EeQ79-F{9rLCky3mjLflMlki3RaY zaC8WaGWFe_LsSVriF(k%(^^UKNLVZ)HlBRqaCb;*nKN+(CbkPCMG+~BEIU#-(eJUA z5I?PV&<}?(?OwFX%92N3={`nxa@VfFiq6Ew!44F2)4xKGn`&DdMiboK#?k55l~t3Y zLmTYD*%=dpa92;0*wmAmoHNRR_SZwd~%%LHHqu-wga3yHJS(Sr61Gcr&6|4 z%TodjvikE%UeqnTuQ_QH_7g|v#yJY*mnUgS)z-HfNK#Wqj_hu0UtfPv?Ej6Uzea6( z*ce8B7xBJkNT|b#;#i0LaD%W){{t&=Dxb1~(gQ0c7V17&qNHr_;E5q39{e2fsbY1-kIG7hKjpy=cIKj-cgPWDCdJTlO3(UDHMYl zPt__Z97<=%34@t@RqB<1eXGpuUnma&L(8A{iDR7QZ?&6g#NJvR{Q1TEF^nOnUC!;u z>D!lqsXv=0nMX8*7+WGlXZlJ1S4~szn$~D%sXZ2TIn;$iVbtSClNXI8=7Tg5ZUTNSLNL|X*1{J`*n@dEptOP$EGIy2K+pm?fe2I6i!mu zM~B|K1?R2Emw@UsHcFK6fAa9yH?zS<4T0)@Jv_A796fu*AOYE4we`gzQj~UkoY1TO z=~q7xh^*!EE*taIUrUGe>;>g2a?%*n+Tc50x|6n&c!tHqy90-%* z<7qj!VE8T6*I9yLkCfiSXp>LjYQ=WO>D0_U0{mB zKp+=ZHMoL)G9Mt7BItPLtgY**F2lqGKlu&GIK4?$XGmwC!vJkBBeF9WDIE@+K&VQ! z)V+0c)Qc3PP0H2fqr9NtZ z8IzyW3NS->F0=zm^4vea$l|`b@*n2SQMGNOAI3}lBZR)@Fn*Cjt#hPRS61Gu%y?(C zF0!-bq>qTkxK}fWh+Saehr{`k(%N9@Ji2wTtZXX_Vd3=9y6N%7qjo2`>B%Vgnz80_ zwunobdzgOYa7JhsaxV4c^aZHALzU1*+t6EauPx@RwOlUW+NI~B?E@V43)vd|RaiHf zPYUveQnizXf8WmP;zTmcduy!!7WK1I_Yd<;#;-ic7YBkaZVUWMhn{d4AG?wWgTpUM z+=yivlV>d)EQI6K;&~@aIZFH->_b{xve?{{y4395N(Ps74q+qS@y9-_8d<>=mtdhpC=-vSFeev2>XV}mI zG$48|vwqTt1~k0rxrV79M3d`09SmHjYYJBv&*j6+=Y&gA#Uoxv`H`YL-26OiDlW)u z^z*XX&6h#@Q&d!gcy<5%7$MAls4D#A?M6y-!lWRANZM!7mkDbVws_m6uJt>ua5!V+MbzI{|mO4_Y5mv}? zpDm6kLDE0;75!eYOkZg!(@WjpQogHrjBJO;+_9xyDH&%=c25QZ zkvsNFr%!ZP%ln)y`{D#-+4Z7($g#*OaX#p~rBT_`n{e`(L}KIt1R@;MiBr-S*5!A} zlz3jl*E$#}pLnUlE@q@2{PXuHL`w8Mn^)H1SGsecFZa33OW?@k9|PB!YclKQUwD;aYd z)1Pr^SoJd)mXNcqef(k)y0vXd-)yzUC8HQdSA7vWJ|>**;em=23w8QzQq)@0w$*z6 zFcP*hw=glwSo4zJ{b%UKBcSG9X20fBFpcbW`||J@NCI+&IpiUn(54=l@WQGoh*aCiz<7B`z6rtV&Yv; zL6LwsUhAYg&@VL7CPvk`9pOF#b_r;5GBc$CWEf`3v%nm){Ka`CD+kTJU}W@1mEKl$ zXw(L-6;PDz${%-bARbiadxRTt)Zs@%qY+I_v=?jd`sL$p-m?4%u0v*tN&(}|sx9iS zS@s+yYR5o8(#sSq&8C4bCfPl%+FP?uPPY5-5o67)^@wGacc)v6=Rv(^i+}}FMp#sw z2zwGyf`q@Ce=KAp?LA~n)hT6i2pW+2U}gSWKM1sUozDXxB3KE-lpFNQ(w#iAp^f=F z8$E);3uRt<%y|d6IzvXjJmcd~u`sj20UzKz&{<1lgGe^SELB>!v`;z~P2p0f2SdOC z1GLhO<-Xc`Y~JFiXL9(|y%2T%5>HKy0NDYm0k{i&$9xF$-bt`OZd2=Bff^#*Ih7D8 zp&ek>polo$S$xSVq6nr!NGG*=8c`NXYunF@l)E8qjBj|!k>5;0(YQQ#t+b+ih9M%! z^&=?XH>HcvQ?>xR5p}WeOQUeCfB2MJ)+OdvJ`j}O7d;YoI5NEU62u-nGojhcR(h@| zJNAUR!BJSgbCp+8A3ES6=QT>lnYC?PxBR4`t91U!pQ26hhXi2j$&oCF$rk+>9SliZ zEvSTh)aUnQD3p1)JhC@G1#K29na2Og@>HxHzt@iu)Kq_c<=3nx zcZ#Kqe`p@V#7@&|D%-`aMQH0OQriNTMbJj7Yd#1$4WI#8DUPgJ#8_i*S1Xen(B-{* zfyS*t>kBSr(+)b>3qnb?^{f|#Sd~;}+2#DrYgp_y){Rx49pzVO84_4jgZM!Es|S&n}Oe2DD?$ z?crEwH3oC!etjR1wC_OTFwzV@CXy9PnW`1e5(J!OypO6;TGq6xGoDR80u5DlY-_vh zdK!po$-q{ZWFME^lzXoHY1iSfk*F>B*A%*oi0OND4w98#H1lhM>T|h7Z#|XscUHS; zKAHSxC^deq6DDqNUfAOK;`wzZh^}rhp;nqKs&Js|hHWy5b1((`-aByp)G3Qizsj{zStr0H4mMSwZ6GoPM}a z(M3u13h|xoEPLfun3QVjUhK?wZSKAwJY5;bmzRa2__HkpLco$3o^W||@tlqb-o&H+TMC~?>vEoP9q%a8M%^69DQ)1#IFR9CBjeO*mu-R4njL2U=O$?bDPy_F)>m zMP1p-@h}2?3;pVq{z|``68Ra@NYwP;_sJWh%4Xl>*yg>l=W?c{lID;LwJUe0A9=*m zJ}LP=boCpzA~nZ-SLf0uJ~&qa0B%d*^i{N42&^YK4Y!4|3fSz8#PqxbMgO3GOtLn5 z;E8z?MHIF${HqTm^hy9P^yk~`1C>?XF!4Rh&XC^n$UzLJwv$eQNYA`h$bK4nDT8@F;)megw?+TIJeNO5lyhOC{<~d_ds0ACuXcv~~;K@mXwHpfGQS?Qu_~k0uj0S~Mdw-p)T_#b6f2DnTUc7rXB;$HO&TH}k0c4{6n}~% zf`ns5yDM=GMJEB+r&k#^_EaY!>CH@`=#m!>m}Z>!mAZ!s$B{WrZ=#J-*n+e*q{wgq zW6h>r!%4GaP_h0nP|m%#+U?IVb&gwc@iS#v+E_BsRwdBa-#u;TK6h`m5fX}4^^_49 zjW|DvpFyk)#4Z2O@sb{pSTiZ8M20}(Zn{NXooK!NX9lBU1Bn|h8hlax{SZi8-Zbu_ z?O+G@Lyb{9PDm$qySh10if^faf8i4oJ`dP)7U4<5?Co3b{5#V#6hd;C{tK(#ttq5b z*KdpxZ1eW>9i_I>|0`5%FVbppR~~-&Rr(aC5&-5#A1K>n?cc@H8M~u1AJGwZ-H(yq z6Fn;^toxTF(MDqOK1`(U#mppVqb!tCKe-2IvwUTrXAr!3f+SpHERR~}Lg zv)OXuBk%9ouVCV!@lMm3YBBw3ymMN7)B&YQ9)n2Gm`&p^lQV`#^BGPUa1L$$d(~?@ww{95cqzq19zbYwN`!p!!3cA~EZn zwyKK_;ND3sZtp#tD%#OUX7!nldeNw$^&(^{(C2yyfDSiA5kGg)XbDtRPHyEO135KS zpVAb0$DHBPfkzUE*QpalRKZ8JYRjGzQwgk?#p094e$8!NO)izoWTl}^DOXO;tNl)w zHwH5zE?!e#6gOE&H=gwSttB%3oWpzEtS}?8^?8}}!j$$3!4pC9AhkG`ylSEX0`(OK zxJmnTw?s+}syySe@`;A$pR! zENnptmujReNph45?2wL-qBwnr0(%x_C^IN_;)4 z>AB${hR(QL4ZSZNu%1^f_{S`F?lPFZ@Qk`-_XWU)_W-a(+tzM`weEmte6A{Yvz9f9 zc|Et!R?}QPKIyJ!N~TH>P=JZkHpa^vwm8hqPMz<5ikJ6Ii4Fk z^I2Qx58gy5Z{1H3Hy(jW9p4FVnk>17YR*XW@t-A|k|fn;Hid7Bss0{^W>j1Mnh6a! zHkDxQO+cs4O*&XF%GX(g8l(seXtR7*wyCv&I zJa8C&Wx=L;TSkk(SxLW(4t9O@Va`ND=>(?b#g+5x8xmsN55)=!ara(;th#WBNo<7P zeCjHqGko^`kX`(WE53z5cD4DbWd2OK9K1)85Dt6JzirEcA4Pk_@>nu|!5AZSfOu(P zf%v46;enZOa+KSs;ii^i=d^-^SGiSBd8hbISB#iZH@(tHErp?{>z6Y<>z{Jgs(d`C z(!6*>29N-X=1Pdh!K9i=Lrd`8e4xw=1c+Y&Ka8v1jmK!tm6Yph)6j&yI_bGzq3-Z( z2dQ=ZVP{xNNHCRe6@F=Lf8)({qb1KAtlGDfd>g+1xY;DJG%~~XTH{7SOFw$Xe(IFK zwfNleJ`Ss^cB;E=B+B4V(>3DD$XkKpW8r`u%YVq9eT$JfPff1R_&6+DG1WL62z*!r zz;n+R9&6^!GwTzZRF!)o&Py34ker+g1FZ83X4G`xsMu)gl1OdHTJb@?;?<5`@{Q3T zrx3p1FA!)8Kj*`gbu|aD!1~iIE1a_IOTt8QE(7Z%oTRC(3)I85aB5#ZNnL?HLoNOn z3!sSA(_aciS)QAZmx|J!`|-INf)!kS3hm30H_-Nzbv>1g_8m}H!2O!$aG=}>trKH? zF>g$5qu};GV(ngnzlNjq;K&tgIDnA%Q%;a^X;V}kUZ`#2Z7M%G)Zhw#y(Ur@rn!Ch zy$@CCPc9nctU7J?D&b^x-$&J$krPRgES253iSY~zDPDoqsYhP&eGcAD^f#udn$ZrK z@mFQXeMPcmb{vA$iOMbUgzjtw9D4XBlHD4ry{BB%k|ZUQ^6$L*unwHewk@`e&*(^m zsm_MWH;QeKy&-~Y=8(9kAp4&oNh{$FD?I5uk`@u!gSi5NqGh8=^}}voiYPQw0~66+ zR3?nf@m{`_(A4BDA5FoIa_bpFd_fA^nrc?gZn7PxlVF~9H|A((q`ZIgixyJ(;@p)9 z^zsCnmi1u7(P&v_Xl}n7bgl`Yz+6MwIl&_-^AEHdBrBmrC*Nh4EY{(j%Xm_x{oVF- z+zPH#sDlRE0k4b;@pYO(fjOKD69>^Uga(Btg|dQEnGA ze>w~f)qL#xjMw>lV>WdE`hiXetG{7_KiTQqyzL?ux`{Q3rbewQ9`&5jnJPr+MHN7n z^QZe_Gl)&pGsQ&@BIbJW=^9v&gUxwr2G$AKsOF`dgCZnh-TG6#(Xq?&Kh9jGnozEj#`8)@YV!d8OI(#Cky(Tyc3KmLVAu+)^@F@K1B_`dT zJa%K2JqRyzWluS;tMr)Ov6Y_Y=ctKMvG0~zn289TtEnn8=_YvA?xI85NZ2zU3YnN? z!Lh3CSVBPLPSskhoronYSc8L{s`;jR*j*}B?+Pks$e*QX^fnDglQ9*J`!z6kl-td^ z2m)cbdRAUPSh>dh!n=t#6bFjHXB9QJHw=tER+j!ylE=+=gg|j{-r)F*TMKlB0|2mx z*i(&04RuoOT;EnC^q7XgI_-7YKWeA-Dob3bF~ONzGBf+~UuGn|;iu#oi7Bs>u_>RV zj7S=Fv%Sn{GV0vm0Y)vW%GcsY+mTgf*`?KQ2=s>!T3}x?Z`(?NUjev|#xHKB>(Q*?KhL z!pn6VEYYc_xlX5m5;~^Ovv1Hx6?OScqvQfay<-$KGlqDHp73_)8tXkV&ey1!# z`kXFAN@OJ;dhCLg;A@cSTwU}SRgcAmR821rn$cPd?c}X-)E6KP)8;ZiY_O4}ky|&v z8~cM?vW5Qw!jWz#41_fD18dX8)Sr%SRH0E6l}|jO_-(S{VMr+X1mJ^SvpN}gx?`@< zjgwcx1LI3Jeq=;gK%FuyQBy{mEe5w!f(jW|nrLIDviDqEcq07-^ z)V4LXtTt16+4toY)I)ls_6pk%MnE2mE102lIqZa!B(X9NhZpnoO{d6Jr4g`$9WQOg z*O2Wdz@_P%(^3J`v@CNAH#z_AkqVoO%=gH0sy;t_lnxzhPi)lz^ZcS0o-s6C`YyH# ztAZT6<48)#v>}wtF-*%r&#WP6fc* ziN^!sU0XayOTUvQ&_|K|bEWj>?5(B2^chcsS1?;gpm@t6H0M5k>mW(NQ|`Y-{BXxw zO9iQ;X01=G^~cfhx>aMyFF=E0U4T}u9(ivQ_>Uj zA@s?`d>z@uw58;A?^F50j8Fi?Ld8{p!O~Vr-7ww_1X+bF3sTNl7GY7&O)Je${6#_e z`96KTnou;~~^R>4A`!vh(VRwTM z$jit~HD+|0I@7UWH_VR-X55#tPgbTrGCsre5cq_6g(}>_8@BSf#SvX@<38TRGM~X%xPF z#`?6M_dS9s)IsZ2)-lp$XVg?0#c4)%`;nr*47kYQ z^#;US58Jyz(J6JhzNUS7=$2^w~(sEHKi51Iq8L zYW-EgTT#40%)rluZ?cfM6hV_(?P9S7E!d1xLXbw5>!G#-D zZy+BP3#z9pB7ND^i`vJjzB+jDdC}-Z1SJ+~Rug4l9rR1t0Hvy4B*yK{nbK6A)Jx#v z*@QZJD(5c_Pv{v})90aRQnAjJr&dDXd~}+0EcGt8^(-hc5nY(egl7(YqUTHWXnrbD zkTr(f>Mq`NW;@TGZ;F5u*YyzixCIOEE^G8pbZan+ocZd3jV0$w;PRUH?yyEed9Xd- zFOPmobW-Cev{v_Y#D$w`jPXTQ)A?lE*JUom$iAUa4b?7;w#_W?OeG#V|DNYElCSdd zM1PKembxFwYy)|N=OZ99Q5$}mx}=|{F9Z@!N^LOkkB~MsZM9qEUg)P5babCk`s;zi z{TU~5Ie%(9$TQVlRhBuv@?P-CqdkGG<&!=edr2Bam}g>3hy7&4ur~R#oW@jbhZ9nR zDe|MGlwuYH3fPSfSxyD&^2_RsF*>JG^yCyP1hzz#8gqM|nmt$Iq) z#@s8>JV7S74aYp&^*hgaY<_$CTviaJ-qxJHkGh|0#80?}HM&?w4@-MmDSjn~EQMb3%mQ=F#nUTH{FB z4-RV)p4XuxV#jO(E?{v$P&OLUWJHHMHfC8FA_(FL)Dsc*DcrBRI&EfZMRw*wzU8!P2y-WQo*&f;D$B&KK8S|I1pxN?T1c2W*8 z`Plvo*p7e0%ZJ544qkb1djZXO%WXVz!R~RAVpfW5hfy&xG1-_pVHNgPW3?jG0>#~_ zj3IGXpNvbO#otr(&W-+@OnEN~6N9s=)v`Qa#cf~zEU;d^j|_BJCPWKVA0MLH;$aeR z(vDwdked}<)L6OH$Y%IoF^7P1ZqVe|H%(6ZpLj&hY8dxj1TJ3`fk)lO zbXklQ4v3A&D@@jenNOhsKDV7Q3bFIZ`JpE@av21mtQB(5P#Ld+P6*4jJ?JPv7g@l zOTVX#puhx>H%+cP=A$fI8E#x1xBtn8x-U_l{lV)wJi3o+#4+h;Nq#(~7HTUj=#-rr z9YZ3>K?cACPn&n9((EeItv+4%Ms$9u!GCu14S^Cr=Hoardy`Ig^AoAw$hq6S(a&ds zu?J(1)TNA6CinUYp?UkgwCs{@I+^xX=FZd+))FniRV0tlP&|-c}cKd`eKNrwE*Y3g~wo>hI=utGvC>-yfEX|4v;>Gx6EiLlo*!O#c7qNg zLuSfD?gPle2`cpxVE}m+7uhNIBIiTC-piZC4dYzn;j%;!NHzDiVCIKt9z{6JbB|Sh z%K$s1%*2n-B1VSlws!)otKM@mPm?hOIXWcpfieGu&Jh4e@i%*n+wf;DMNy64@z;Up z09MFCEI!Aw`JMBy@{~%E@xc!3puqv(Y;i?cB`P{d3qeKz?3H9}OjD zBnlvi>nop?ASAUy0Htu?Zi%WSfd2_c2)z7YLNlbxL!8DqZ(WwLbmOY?++KN`xT|D@ z)|J0IyT13ZW?n1V@jZ(h)%aW3b%=(ty4R0^XnA|wCZXNcXi=_&jJ&wG+M=JE?Y2Hx#ljDz3 zu0!DGLgMW&&wj&*!}-{{zAzX}Ml_a*KQ6H^o3UrTLf|%`+M7{0m2*bf&1KO~Bh42r zq2;pP?a|NTB$7xz1w5eTV#|E|EbTVzja^Kx-N;5m{T@1<4uQTJJQCs;Mqi{0MOj`- z#DvLKmTs;!EMRcbWCi+!{cp8UYt9T8HR?w@+bT3!?&9X7D}Ha6c_a%O&2S8Zx!=kz z9HfI$3kO|__hcXfUscupf9f*~k^X`usJuDixWA-<471r@9CyBJ_M=ns~7NZbeagkVgK}5FHLT z_w4dQ>7g&IptBli~SU~IYI)?3h;0aQ!XqC7Ryo37rmH7VesR3D|O zZ_;;{q+?Vy)8MUr&YAW&ix}X1gQ8=&iPMO7iPE|~_##-ni-iuWprb88hAJj~{=$vV zY--I;HExtV9(UWLZWtP=Mr0lj@F+WX6#Dj^1xFs4FjW+C#K-5R3d(0Ua+H-^W-pZN zDi+3VS)&HTatN&*^eGTdyN3G=AWTTV`h?d}bk%8MdAx2fkerD{f{N8_>rvsHC&e1| zCQrIHpC5Sg%mSs1{c{>dbnBS)=+3*4U)LU8dzr0}opIV&tv$-dhpw5cbQTAf^0xH( za3JSwyf}pG<9(VAE8S6DQ%(uXOKZe5@%V10#^pczu@Y-USy3WtP;)T!~+~i7Rhb`1SIWagK~2SM~&# z_i=noRPEtD%!2ab5!X0?S8z(p*`7U5{_dZcX(KZ$vsHeD2u3)}I-KYEVZxLyVth@r zc0(KaDD}3ox$S5d7WpD8li;B(MEfW4_7CF6O|Vh8Q3&$xrYbf9Txu@O!QJZesiKvi zRjzH?G3JE}Ud|Vf5LONEC@c&R!!T&cXP$v~3Mf?le5IyYO;m;3S+f?0sz6 zT`~kQk5Dx@1sd#;+E|n!zlg+*qT57fSG&8WGA3ipWQpia? zA1`9JPsQ5u)lCcu#?j}TU3|6ZM$3Eb0hoM(cXAR;rw2^T6fz5Cvm2^sAl5BGfWCTDwDMFel$+yTE`WiAarObPNjjg zF3y<@4NQ}^oFB!LxEU!-bIalkLB2RbJMEvipsbc+QBxN{gK%d!IO?<>^13QTh zU+h9WbK`QR1J_ct$5NFl1K%S;i~OTACo`MnI(oJ{I|4uu$s_;v_z4#4x<-V`OuZBX z8;;SsjkmnvxxG`JYeRRsx4DQC?=In$d$1hUx5hUpk==V|{Pf!L7Jg*KPQ$w!wYRWo1poFs zQOw*@pfuQmli*8a#M$HhOQmo;VSmqtAJ9aiUXzW#IpH^-cMT}Y1_y~x9EEtD918=i zM)ug(7n;ru1@ZiKlr9lO_#Hwt%TJ5}Iyh8C>@B>9xJwB1dg{)Vf$+PR8pttk*4S!s z2| z5jfIq>~~}BxshGPY)nB;wK+fi;$LJuZJd402P}8scB1mnTewpGpk)clEFWj9qCIa( z&(k@6YqHQi56s&eGjtJo1M#nmzd!sI&VBz&i*v`4_`iHBKo&B~;eUxc?)=bS{U0W}_l%s2lP`Kh*V_K>&bi3plWGf$5q1h3zCx={Mp3G7Uo{Sn_5Y9NCxH!rf zB=$>RtoiLw557(?x&K+CzE^vrxAR( z{bx{*jPhEmt8WoVcWp^nII0ye>o$Uz~%FeFVT~iit3zm-M zd98V_4S^gzz)Zokak2j`{H@SPs0Umqo=mV*5Md9+4ph)$ZQO@kf_a;eaZVV!_F zU1&e6c68;?)%)@mx_Ri|r&@=0Fc3L$zCA??Qz_=1b=?=E?yf|EW4byS9OPdI7w`O^ z_P#T!sjcl6^*wry3K~&Rio6D;9zdii)e;0jK)RF=8=-^rnxLW>nuriWXb~_VHDG`M z5dwz}(n2pGw15Fa3oVr7i~8Ps|J*U|xcBe<{_U}|ch(-ye%4y^nRD&AGREyo$lV;Z z#C*|PX)MFMPTJzWp?&lynj|(ky%|)w84tIv(7U9>j5m)^V5|m&*!Ki$_IOd($W!_8 zGnTYDNyrxWeWFyxf*7>7{Sg`5{21iGH;)$vY%Rq&L2i^be%}bP=k`HHC?6&)T>YT* z)*&wY_Kv-|`hw1wnD-9W%m^P-TwQNxV)9N1pKOM9udG#NYFtGNO3zDje)v?|mn@jH z6mn2@N&3^oc6`H2hC}?qjrdj~Yzm1_q^hJ|rFKh}WQy+kass^axW6p07zg1O)kFQY zsr!i4ocsGZ<`HZ*qbJm$^A9fq-^n_EML14E+>EQCw9(n(O>G;)eglJyuVUF)bxHWzCW?KFnD=<12&W}vX6+PLIeN?h+*eWDzjvGSk`!w^`ArRz_hqG7 zfus^N)y#cunk5S|t-B^6G?8d}pCFjqqxv|bzz>}5L)<_22|mg$YYFKaj?|PN-csYQ zM8KFowjwo%y6a37_4PVyP=rD{A)7IjR~?(S^Pp|DEDIRl(g$m z1fmL=yJYJ)7WO#50U*0<@^x{Wp;~UXqXDafX;ZVD*UM(F zcTZfn0~(n8K5@TkQEK=@ou*;vTZPmTx!u;$=~~)7bP_a$TU?Np$LbQQF~c59AMF4B ziZ=^Q_1qAWjVrWiTx&-9X7b4Z`WnmZp0ecu1hRiEc_LdZo(8{nciY8m@scg}eM$Y! zDV1aHUsy7Xq}YoCvTNVxjoqqELHJ1ALI?3cM0j$Ax#^p3f_$|ZKq?(w(ABCY5u zv9uSIR8GWP$U)%@TX4E#pKY+DQk((Bic8P71r^vg{nPXp$qQpif0yfp=^^xpvHu>f z>TN=VV|xBpK|mi4YV^ELLVT`o+6R5MzDIfUPw^kxbr8EDvqen9`n?+Dq+2QsxjgVV zQrpIP=B%CUGeyNOUngFZd2<4>HkJ@)nWgL9HKKHBu&`*WjqQ0IGx{8IzU1tayQ%cK z_{7FqAaI_TKeYE^)&fR!@gOk_N-dJ>ydsetGHe0SMLlKFPQrhU5^Qn%Z=eKzpfj+5e5;eEjja8&O z+%j6dvh=IBG;05{yFUW44jFZJmsgrEEL+$Q8HBuZ%Y- ze#UcA0kn-Q0G^JcLh_^0K9=A0@`lctElnV5W^!}n|&o+ekyYI?hsiQIMh>d+LXQSDPdpVs3o;-nbxk5s&9c)D$o zJEWtjHK z?WGzH}i7Je@U^l&a8Oimg41%J!Mfx(dKA(T_=BLg}hxzz2|%A zX3TE@Rj=f+nUab>O(_O}Cgz`K&x>+Ktvgrdgm6};5I4H_5p)6Ws2AjD=y?79L`W%n zkiPeH&#=)|wlM*#2r=!ru5L=&K1VtOAY8aN5D%Aw1IQGhr%j@%bv!+!jw;|dD+-LRoDvax=O}AuaHIn` zmKBxya-Lj`(0}Xox4C)KfT?BLfJ;70rq}gqDD-?ab{h3Wa$~)Um7DsJ z*y?_0aNAxhEzU%q`tR%jJ@X1=f^3E1rb1i?>7;YgnNWMayBcO33U1i!(x^A-jJI$C z2&QNll~B*Vxw;ueD+J+Lk&-?hMHY2qIu4v8?}Zc0RIh}=u&cRDUb(H8{;4ao224r- z&s5aY-#*hjIb$kk;rSsqY#i&V?nEKR|IGZ;c`$T&;;~G^lS?Rw$|!96(OilHvHiUI zvNiC7iNvy1B~s#|bV!8P8@KK5R@@a2K!uys7ZTjVj?vcp82l;4Bn(-q3o5TKd$BA~ z&7W3nXV+n^6!l8~t&U%jW>tEvDl+Uc`CRN*=uqo~(pl~7s1Z7j9~-sEAa5)+hj|Xx z@C~6KuHSWEjKyhJB}+kej7V0*_VNHJfb^UUb6fBUCrS`Bz;4U0Ei9OE4*IP3DJ2Sm z!}Qc<-Ill3(IEd!2^zN-W#!L!%RfOxrBU8r$Hdji@W!%N(EJzeMDA;!;#$XW#6I8C^~E`&s#^=#o^ zIyPc^sS=^@t+;It%W@6(Q&kiuo>8TIx#s~E?n+=`vCZ~dG0(e(4L}U(!L$rmZ-}AC zms3(4Vcyi9=P~;7ghjiI!k|8j5Z@D}2Zs3HX zhK>4{1f-#Ooq=WQwD1U+=%$FQ^N2xIwi0CI{++!GQ;-2jKOV~|e$&Kl<~cGw7NH;S^|9fCYqFyhAo#tF zv+Gr>%@rHUrltYE%Ydow3L#{XP%-+iuE4aH5pas!`ayF8N>9=Ys%HB#3`xxQy9G+B zaQfJgr(u{eA#c5si2Vk4vy}goV_sdjXmmMTHbXADs+gU@+aY!8`8axjaug%)R{Y+R zL^6pw3!PlY>^nCmWIfREDGIIir=9hw zeuY2`FL_veogBr2n!2qWPOhxJefJ$0Fu(h)qskT@FrN$F-Mn)pWxbHN72e|+s8V`R z{8|ne-=T-fY->W6j$YczK=<{&*k*N$vK!1-AepS?zv7;#7P$s8D)nf?b4p@-%EzmH zzo*IpKXjJtnSEKuq(v_eV^d7_mj+%6YG~c%Oq0@UcY>cVly!q+>uwEXY>EwFbltiL z4_(jFR2GRZ5r`n-S0J$2UYlg~xuU_DcgBI~B$YZ;9r85IsMn9s_YRz{>EYt3vA4-e zWHT~)yu|*@6ge2)*pHaswU)=oMpxB3)b_EeYbQ(A9ZVkcRO3xmhC7qtCQo}#`l}XH zYb_}0COio^5L~pAZSvp^*B1C;x_(uQHS~ysQLi0(nWffa0?+WgkH$L@t+uWArh+q< za_{sL)rH?kalz&lWY)de9gwTZ^YxCofr_U6h}-k?_vh!o(Ks4d2499&p!eK^h;52p z8T3zC8HJcadCGXHm0_i{bjkS5RIj6`G6qZ0a%0E=WzUr*2sFZFeg*mn$_zaG4z&Jgq! zQM(cuR15XFz}{m#H$nelR>sOgCWQb1JA>fJik23uD%m6CxD#i_+X*LcN4PeI|^HA;<6BBm^k@a$<589K-A#`!+>eyYjCB69d+$c zr3{W|$Oet|hCXL;aP6Fl?b|$M#TXV8xaklv8f7~*R5UBj->Nrf8o-7E*NnopmUi}Q z-Dh$V*>U% zD`(XBqn65c0$JZGm=R2Rl$X=eaQ0{I*Xv0#-JY7fCfHqyouxOj&-2{Zbo6mg)#$FX z+2{sBYlK()xDJ+|d$-rj8jc^0nU|z)NaFGBhHSZ@YEA=fRXCBZ$DQ&ebmAfdtlm6G zzpywlXCeaMgYobf{AY)}(%_g=!ba0(QpJ)*<#!Y1276E5;hNr**5eTR+9*MQ=^(#i zH7r8U2%rJe$~>2Vd7{Lutcq)x9V|Q)$_tJ{WZ2c-UWrVq>=#oP%|PURAv{e08$^%N zPqp-Wn2^8pJ>Fc8m5M8TVy=FYny}iY^R)fGeDI}@MC>ZH?0bbIq2Re&mvyGUOYzya%UT_e6}K3m5V(x@)Hxb;4B=gQT*H z`b=8gKJWt9pL;WXwGQU@czBZD|29!~ces?%Q6zM$liEEO4eS_s?5?~;n|y3z09q%^ zTcgC|WjX$Yzoy)K>4~I-@Yfre7`P*GSUqf! zNe+4jT}Q&boED}Fd5_MZBw3@6kP+m*m`Zo}?nXz*aG+#sNwHA8LX%1DcgosARwuPM zkY_Kg@1>x+mO`eHa@)HkV_lc=%&8N-#VVNKjZ!Svlw&TBzWZU>7^(ij|5*Bf_A(a6xSRY9%D^6xRawKjV|C$&y3r?s#uA$LeT(G^=S( zQqOA)*s)D0#YO2J*__S6wmZplQ!8Mr5Z@3u^CsK*m|o&iQFu6%ro!CcpQ9d5P{6Z@HiO{Z!PlcyNv<;qyL+m=kZGCo zI$&$Qx$T&@9Y{y{J0v{Gp&h| z^d23r7b#Eea=JFduuQq0vXN!C$6x2|Eq z3tEp6BlHt@?qG6Jv$7Lt?cgv!c7nc%^F|jk*CI6+^eH7eJmZ{=Tg7|He58bP&G`4^ zYB}p5Wic&PzqPa<2Cbz`rgdWuL;zI&Qk?BCnLs|glD_E%WYMQdu`OaFomVbviyRNn zJZD-*xO)ejrnzKXY!3QCT-yQLStTEKelxBfD*vpinGNx~>Ze$C=CSHp-_#V9pLL8r zq53o;>Wi&((}d&5DaL*{kjr}KF=Y=4F1P4WMKA>2ki#!2v^Ww}@7gxsdC!E~Vf(kU z$>BeKbj92`*7z4yzlyu6;(iF0sU|w!&p5J9#cOcMKi|wo>+zH`CwM?jzaW=pqo)B^}h$5ku0VqB)U?%%*)jFvDPr3i66 zZO0I`a}HWIJi*`EweDb`w0j?KtswX3-yMIll`76mDddxFe)4#ePg80m9c*B>iA~z|cmO{ho))3sb!cG!m12kV?l82q&yP^^R!o7BS z$kn&4WmhPo=ZO^-cwbMMhZl4#4enV7ZI#W=NpP1sSbUEe%Mfi1P8Xr`b0c*bMbK)N zaIPEQzY5@P4-?PV^<5?IVy(|uho-haX?i=`%2VPA^02qtu5ss>qt!dC4X)MI@F8N^ z5|~YL;D~xTOJ5w4&A){OiJ~9+B@^F<@3&fVrr(kYCMUo+X$gPn2bs6JiZ>kke<)dX zuYt@LMhq^+_^#|K2V%2ocyoFl*0J?bUYAV=&3H9_^04aLlF6Y#1Q$ldH&4r5`OAVR zC`1nSX(OYqzIraTOb+shYGf%^{6@Ril?l^uuhIqmp*^|t+ zcogsmIAF^`Vo#q=+@C&yZ%6Apej@z^o6fh(A9n+_BAxdy?9tKNK1%_jLxXEI{c$F66a)w z(QVWVgA!!8U+H6fDxtf4Z@5wxcE0t9Fz%82-4f%wTd0=1NJ7swH8tG5z~^DwDuIsI z%c<)%C(uN+{VlElJ-wa#fv|9Q%ftRN+)opoDXPQ2zH+Vn$)!MrL|H^&p3Y8)-=YSRl$?sQ80_y`1z@rSl&E?5Q^+#4)7omt8ZC{lL{)VyKUQKwy)n32HwkK+yB&3m zWXm+_4I|LOCBV+_?)@2PpLCDfJ_b(a z?5ys@S*#nBqR$Lv^TiouocJl=0#jWW6VEBgmga{}P;;hv-|*o&hc32sVl|4NvLPmX zF<#-5w%ekJoivCU{=RJ@<@^o6>ZXfXo8t=2Cma1+;3p*Z9aze376x1v-`Bmi<( literal 0 HcmV?d00001 diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml new file mode 100644 index 0000000000..0f31dd1ee1 --- /dev/null +++ b/localization/autoware_ekf_localizer/package.xml @@ -0,0 +1,47 @@ + + + + autoware_ekf_localizer + 0.0.0 + The autoware_ekf_localizer package + Takamasa Horibe + Yamato Ando + Takeshi Ishita + Masahiro Sakamoto + Kento Yabuuchi + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Ryu Yamamoto + Apache License 2.0 + Takamasa Horibe + + ament_cmake_auto + autoware_cmake + eigen3_cmake_module + + eigen + + autoware_internal_debug_msgs + autoware_kalman_filter + autoware_localization_util + autoware_universe_utils + diagnostic_msgs + fmt + geometry_msgs + nav_msgs + rclcpp + rclcpp_components + std_srvs + tf2 + tf2_ros + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + ros_testing + + + ament_cmake + + diff --git a/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json b/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json new file mode 100644 index 0000000000..61fbcc2973 --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json @@ -0,0 +1,52 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration", + "type": "object", + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "node": { + "$ref": "sub/node.sub_schema.json#/definitions/node" + }, + "pose_measurement": { + "$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement" + }, + "twist_measurement": { + "$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement" + }, + "process_noise": { + "$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise" + }, + "simple_1d_filter_parameters": { + "$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters" + }, + "diagnostics": { + "$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics" + }, + "misc": { + "$ref": "sub/misc.sub_schema.json#/definitions/misc" + } + }, + "required": [ + "node", + "pose_measurement", + "twist_measurement", + "process_noise", + "simple_1d_filter_parameters", + "diagnostics", + "misc" + ], + "additionalProperties": false + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json new file mode 100644 index 0000000000..eda9e7d06f --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json @@ -0,0 +1,63 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Diagnostics", + "definitions": { + "diagnostics": { + "type": "object", + "properties": { + "pose_no_update_count_threshold_warn": { + "type": "integer", + "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times", + "default": 50 + }, + "pose_no_update_count_threshold_error": { + "type": "integer", + "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times", + "default": 100 + }, + "twist_no_update_count_threshold_warn": { + "type": "integer", + "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times", + "default": 50 + }, + "twist_no_update_count_threshold_error": { + "type": "integer", + "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", + "default": 100 + }, + "ellipse_scale": { + "type": "number", + "description": "The scale factor to apply the error ellipse size", + "default": 3.0 + }, + "error_ellipse_size": { + "type": "number", + "description": "The long axis size of the error ellipse to trigger a ERROR state", + "default": 1.5 + }, + "warn_ellipse_size": { + "type": "number", + "description": "The long axis size of the error ellipse to trigger a WARN state", + "default": 1.2 + }, + "error_ellipse_size_lateral_direction": { + "type": "number", + "description": "The lateral direction size of the error ellipse to trigger a ERROR state", + "default": 0.3 + }, + "warn_ellipse_size_lateral_direction": { + "type": "number", + "description": "The lateral direction size of the error ellipse to trigger a WARN state", + "default": 0.25 + } + }, + "required": [ + "pose_no_update_count_threshold_warn", + "pose_no_update_count_threshold_error", + "twist_no_update_count_threshold_warn", + "twist_no_update_count_threshold_error" + ], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json new file mode 100644 index 0000000000..cc36a5bf41 --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json @@ -0,0 +1,23 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for MISC", + "definitions": { + "misc": { + "type": "object", + "properties": { + "threshold_observable_velocity_mps": { + "type": "number", + "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)", + "default": 0.0 + }, + "pose_frame_id": { + "type": "string", + "description": "Parent frame_id of EKF output pose", + "default": "map" + } + }, + "required": ["threshold_observable_velocity_mps", "pose_frame_id"], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json new file mode 100644 index 0000000000..cbaf34de6e --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json @@ -0,0 +1,44 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for node", + "definitions": { + "node": { + "type": "object", + "properties": { + "show_debug_info": { + "type": "boolean", + "description": "Flag to display debug info", + "default": false + }, + "predict_frequency": { + "type": "number", + "description": "Frequency for filtering and publishing [Hz]", + "default": 50.0 + }, + "tf_rate": { + "type": "number", + "description": "Frequency for tf broadcasting [Hz]", + "default": 50.0 + }, + "extend_state_step": { + "type": "integer", + "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.", + "default": 50 + }, + "enable_yaw_bias_estimation": { + "type": "boolean", + "description": "Flag to enable yaw bias estimation", + "default": true + } + }, + "required": [ + "show_debug_info", + "predict_frequency", + "tf_rate", + "extend_state_step", + "enable_yaw_bias_estimation" + ], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json new file mode 100644 index 0000000000..d2bc313d4d --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Pose Measurement", + "definitions": { + "pose_measurement": { + "type": "object", + "properties": { + "pose_additional_delay": { + "type": "number", + "description": "Additional delay time for pose measurement [s]", + "default": 0.0 + }, + "pose_measure_uncertainty_time": { + "type": "number", + "description": "Measured time uncertainty used for covariance calculation [s]", + "default": 0.01 + }, + "pose_smoothing_steps": { + "type": "integer", + "description": "A value for smoothing steps", + "default": 5 + }, + "pose_gate_dist": { + "type": "number", + "description": "Limit of Mahalanobis distance used for outliers detection", + "default": 49.5 + } + }, + "required": [ + "pose_additional_delay", + "pose_measure_uncertainty_time", + "pose_smoothing_steps", + "pose_gate_dist" + ], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json new file mode 100644 index 0000000000..37a8c248ed --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json @@ -0,0 +1,28 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Process Noise", + "definitions": { + "process_noise": { + "type": "object", + "properties": { + "proc_stddev_vx_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0", + "default": 10.0 + }, + "proc_stddev_wz_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0", + "default": 5.0 + }, + "proc_stddev_yaw_c": { + "type": "number", + "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega", + "default": 0.005 + } + }, + "required": ["proc_stddev_yaw_c", "proc_stddev_vx_c", "proc_stddev_wz_c"], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json new file mode 100644 index 0000000000..00679ee92a --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json @@ -0,0 +1,28 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration of Simple 1D Filter Parameters", + "definitions": { + "simple_1d_filter_parameters": { + "type": "object", + "properties": { + "z_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Z filter process deviation", + "default": 1.0 + }, + "roll_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Roll filter process deviation", + "default": 0.1 + }, + "pitch_filter_proc_dev": { + "type": "number", + "description": "Simple1DFilter - Pitch filter process deviation", + "default": 0.1 + } + }, + "required": ["z_filter_proc_dev", "roll_filter_proc_dev", "pitch_filter_proc_dev"], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json new file mode 100644 index 0000000000..7b80133cb3 --- /dev/null +++ b/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json @@ -0,0 +1,28 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "EKF Localizer Configuration for Twist Measurement", + "definitions": { + "twist_measurement": { + "type": "object", + "properties": { + "twist_additional_delay": { + "type": "number", + "description": "Additional delay time for twist [s]", + "default": 0.0 + }, + "twist_smoothing_steps": { + "type": "integer", + "description": "A value for smoothing steps", + "default": 2 + }, + "twist_gate_dist": { + "type": "number", + "description": "Limit of Mahalanobis distance used for outliers detection", + "default": 46.1 + } + }, + "required": ["twist_additional_delay", "twist_smoothing_steps", "twist_gate_dist"], + "additionalProperties": false + } + } +} diff --git a/localization/autoware_ekf_localizer/src/covariance.cpp b/localization/autoware_ekf_localizer/src/covariance.cpp new file mode 100644 index 0000000000..9ed3a83fbf --- /dev/null +++ b/localization/autoware_ekf_localizer/src/covariance.cpp @@ -0,0 +1,56 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/covariance.hpp" + +#include "autoware/ekf_localizer/state_index.hpp" +#include "autoware/universe_utils/ros/msg_covariance.hpp" + +namespace autoware::ekf_localizer +{ + +using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + +std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P) +{ + std::array covariance{}; + covariance.fill(0.); + + covariance[COV_IDX::X_X] = P(IDX::X, IDX::X); + covariance[COV_IDX::X_Y] = P(IDX::X, IDX::Y); + covariance[COV_IDX::X_YAW] = P(IDX::X, IDX::YAW); + covariance[COV_IDX::Y_X] = P(IDX::Y, IDX::X); + covariance[COV_IDX::Y_Y] = P(IDX::Y, IDX::Y); + covariance[COV_IDX::Y_YAW] = P(IDX::Y, IDX::YAW); + covariance[COV_IDX::YAW_X] = P(IDX::YAW, IDX::X); + covariance[COV_IDX::YAW_Y] = P(IDX::YAW, IDX::Y); + covariance[COV_IDX::YAW_YAW] = P(IDX::YAW, IDX::YAW); + + return covariance; +} + +std::array ekf_covariance_to_twist_message_covariance(const Matrix6d & P) +{ + std::array covariance{}; + covariance.fill(0.); + + covariance[COV_IDX::X_X] = P(IDX::VX, IDX::VX); + covariance[COV_IDX::X_YAW] = P(IDX::VX, IDX::WZ); + covariance[COV_IDX::YAW_X] = P(IDX::WZ, IDX::VX); + covariance[COV_IDX::YAW_YAW] = P(IDX::WZ, IDX::WZ); + + return covariance; +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/diagnostics.cpp b/localization/autoware_ekf_localizer/src/diagnostics.cpp new file mode 100644 index 0000000000..45468abf72 --- /dev/null +++ b/localization/autoware_ekf_localizer/src/diagnostics.cpp @@ -0,0 +1,226 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/diagnostics.hpp" + +#include + +#include +#include + +namespace autoware::ekf_localizer +{ + +diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "is_activated"; + key_value.value = is_activated ? "True" : "False"; + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (!is_activated) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]process is not activated"; + } + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_set_initialpose(const bool is_set_initialpose) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "is_set_initialpose"; + key_value.value = is_set_initialpose ? "True" : "False"; + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (!is_set_initialpose) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]initial pose is not set"; + } + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_measurement_updated( + const std::string & measurement_type, const size_t no_update_count, + const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = measurement_type + "_no_update_count"; + key_value.value = std::to_string(no_update_count); + stat.values.push_back(key_value); + key_value.key = measurement_type + "_no_update_count_threshold_warn"; + key_value.value = std::to_string(no_update_count_threshold_warn); + stat.values.push_back(key_value); + key_value.key = measurement_type + "_no_update_count_threshold_error"; + key_value.value = std::to_string(no_update_count_threshold_error); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (no_update_count >= no_update_count_threshold_warn) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]" + measurement_type + " is not updated"; + } + if (no_update_count >= no_update_count_threshold_error) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat.message = "[ERROR]" + measurement_type + " is not updated"; + } + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_measurement_queue_size( + const std::string & measurement_type, const size_t queue_size) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = measurement_type + "_queue_size"; + key_value.value = std::to_string(queue_size); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_measurement_delay_gate( + const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, + const double delay_time_threshold) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = measurement_type + "_is_passed_delay_gate"; + key_value.value = is_passed_delay_gate ? "True" : "False"; + stat.values.push_back(key_value); + key_value.key = measurement_type + "_delay_time"; + key_value.value = std::to_string(delay_time); + stat.values.push_back(key_value); + key_value.key = measurement_type + "_delay_time_threshold"; + key_value.value = std::to_string(delay_time_threshold); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (!is_passed_delay_gate) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]" + measurement_type + " topic is delay"; + } + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( + const std::string & measurement_type, const bool is_passed_mahalanobis_gate, + const double mahalanobis_distance, const double mahalanobis_distance_threshold) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = measurement_type + "_is_passed_mahalanobis_gate"; + key_value.value = is_passed_mahalanobis_gate ? "True" : "False"; + stat.values.push_back(key_value); + key_value.key = measurement_type + "_mahalanobis_distance"; + key_value.value = std::to_string(mahalanobis_distance); + stat.values.push_back(key_value); + key_value.key = measurement_type + "_mahalanobis_distance_threshold"; + key_value.value = std::to_string(mahalanobis_distance_threshold); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (!is_passed_mahalanobis_gate) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]mahalanobis distance of " + measurement_type + " topic is large"; + } + + return stat; +} + +diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( + const std::string & name, const double curr_size, const double warn_threshold, + const double error_threshold) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = name + "_size"; + key_value.value = std::to_string(curr_size); + stat.values.push_back(key_value); + + key_value.key = name + "_warn_threshold"; + key_value.value = std::to_string(warn_threshold); + stat.values.push_back(key_value); + + key_value.key = name + "_error_threshold"; + key_value.value = std::to_string(error_threshold); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (curr_size >= warn_threshold) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]" + name + " is large"; + } + if (curr_size >= error_threshold) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat.message = "[ERROR]" + name + " is large"; + } + + return stat; +} + +// The highest level within the stat_array will be reflected in the merged_stat. +// When all stat_array entries are 'OK,' the message of merged_stat will be "OK" +diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( + const std::vector & stat_array) +{ + diagnostic_msgs::msg::DiagnosticStatus merged_stat; + + for (const auto & stat : stat_array) { + if ((stat.level > diagnostic_msgs::msg::DiagnosticStatus::OK)) { + if (!merged_stat.message.empty()) { + merged_stat.message += "; "; + } + merged_stat.message += stat.message; + } + if (stat.level > merged_stat.level) { + merged_stat.level = stat.level; + } + for (const auto & value : stat.values) { + merged_stat.values.push_back(value); + } + } + + if (merged_stat.level == diagnostic_msgs::msg::DiagnosticStatus::OK) { + merged_stat.message = "OK"; + } + + return merged_stat; +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp new file mode 100644 index 0000000000..5638a5416e --- /dev/null +++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp @@ -0,0 +1,463 @@ +// Copyright 2018-2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/ekf_localizer.hpp" + +#include "autoware/ekf_localizer/diagnostics.hpp" +#include "autoware/ekf_localizer/string.hpp" +#include "autoware/ekf_localizer/warning_message.hpp" +#include "autoware/localization_util/covariance_ellipse.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::ekf_localizer +{ + +// clang-format off +#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl // NOLINT +#define DEBUG_INFO(...) {if (params_.show_debug_info) {RCLCPP_INFO(__VA_ARGS__);}} // NOLINT +// clang-format on + +using std::placeholders::_1; + +EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) +: rclcpp::Node("ekf_localizer", node_options), + warning_(std::make_shared(this)), + tf2_buffer_(this->get_clock()), + tf2_listener_(tf2_buffer_), + params_(this), + ekf_dt_(params_.ekf_dt), + pose_queue_(params_.pose_smoothing_steps), + twist_queue_(params_.twist_smoothing_steps) +{ + is_activated_ = false; + is_set_initialpose_ = false; + + /* initialize ros system */ + timer_control_ = rclcpp::create_timer( + this, get_clock(), rclcpp::Duration::from_seconds(ekf_dt_), + std::bind(&EKFLocalizer::timer_callback, this)); + + pub_pose_ = create_publisher("ekf_pose", 1); + pub_pose_cov_ = + create_publisher("ekf_pose_with_covariance", 1); + pub_odom_ = create_publisher("ekf_odom", 1); + pub_twist_ = create_publisher("ekf_twist", 1); + pub_twist_cov_ = create_publisher( + "ekf_twist_with_covariance", 1); + pub_yaw_bias_ = + create_publisher("estimated_yaw_bias", 1); + pub_biased_pose_ = create_publisher("ekf_biased_pose", 1); + pub_biased_pose_cov_ = create_publisher( + "ekf_biased_pose_with_covariance", 1); + pub_diag_ = this->create_publisher("/diagnostics", 10); + pub_processing_time_ = create_publisher( + "debug/processing_time_ms", 1); + sub_initialpose_ = create_subscription( + "initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1)); + sub_pose_with_cov_ = create_subscription( + "in_pose_with_covariance", 1, + std::bind(&EKFLocalizer::callback_pose_with_covariance, this, _1)); + sub_twist_with_cov_ = create_subscription( + "in_twist_with_covariance", 1, + std::bind(&EKFLocalizer::callback_twist_with_covariance, this, _1)); + service_trigger_node_ = create_service( + "trigger_node_srv", + std::bind( + &EKFLocalizer::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2), + rclcpp::ServicesQoS().get_rmw_qos_profile()); + + tf_br_ = std::make_shared( + std::shared_ptr(this, [](auto) {})); + + ekf_module_ = std::make_unique(warning_, params_); + logger_configure_ = std::make_unique(this); +} + +/* + * update_predict_frequency + */ +void EKFLocalizer::update_predict_frequency(const rclcpp::Time & current_time) +{ + if (last_predict_time_) { + if (current_time < *last_predict_time_) { + warning_->warn("Detected jump back in time"); + } else { + /* Measure dt */ + ekf_dt_ = (current_time - *last_predict_time_).seconds(); + DEBUG_INFO( + get_logger(), "[EKF] update ekf_dt_ to %f seconds (= %f hz)", ekf_dt_, 1 / ekf_dt_); + + if (ekf_dt_ > 10.0) { + ekf_dt_ = 10.0; + RCLCPP_WARN( + get_logger(), "Large ekf_dt_ detected!! (%f sec) Capped to 10.0 seconds", ekf_dt_); + } else if (ekf_dt_ > static_cast(params_.pose_smoothing_steps) / params_.ekf_rate) { + RCLCPP_WARN( + get_logger(), "EKF period may be too slow to finish pose smoothing!! (%f sec) ", ekf_dt_); + } + + /* Register dt and accumulate time delay */ + ekf_module_->accumulate_delay_time(ekf_dt_); + } + } + last_predict_time_ = std::make_shared(current_time); +} + +/* + * timer_callback + */ +void EKFLocalizer::timer_callback() +{ + stop_watch_timer_cb_.tic(); + + const rclcpp::Time current_time = this->now(); + + if (!is_activated_) { + warning_->warn_throttle( + "The node is not activated. Provide initial pose to pose_initializer", 2000); + publish_diagnostics(geometry_msgs::msg::PoseStamped{}, current_time); + return; + } + + if (!is_set_initialpose_) { + warning_->warn_throttle( + "Initial pose is not set. Provide initial pose to pose_initializer", 2000); + publish_diagnostics(geometry_msgs::msg::PoseStamped{}, current_time); + return; + } + + DEBUG_INFO(get_logger(), "========================= timer called ========================="); + + /* update predict frequency with measured timer rate */ + update_predict_frequency(current_time); + + /* predict model in EKF */ + stop_watch_.tic(); + DEBUG_INFO(get_logger(), "------------------------- start prediction -------------------------"); + ekf_module_->predict_with_delay(ekf_dt_); + DEBUG_INFO(get_logger(), "[EKF] predictKinematicsModel calc time = %f [ms]", stop_watch_.toc()); + DEBUG_INFO(get_logger(), "------------------------- end prediction -------------------------\n"); + + /* pose measurement update */ + pose_diag_info_.queue_size = pose_queue_.size(); + pose_diag_info_.is_passed_delay_gate = true; + pose_diag_info_.delay_time = 0.0; + pose_diag_info_.delay_time_threshold = 0.0; + pose_diag_info_.is_passed_mahalanobis_gate = true; + pose_diag_info_.mahalanobis_distance = 0.0; + + bool pose_is_updated = false; + + if (!pose_queue_.empty()) { + DEBUG_INFO(get_logger(), "------------------------- start Pose -------------------------"); + stop_watch_.tic(); + + // save the initial size because the queue size can change in the loop + const size_t n = pose_queue_.size(); + for (size_t i = 0; i < n; ++i) { + const auto pose = pose_queue_.pop_increment_age(); + bool is_updated = ekf_module_->measurement_update_pose(*pose, current_time, pose_diag_info_); + if (is_updated) { + pose_is_updated = true; + } + } + DEBUG_INFO( + get_logger(), "[EKF] measurement_update_pose calc time = %f [ms]", stop_watch_.toc()); + DEBUG_INFO(get_logger(), "------------------------- end Pose -------------------------\n"); + } + pose_diag_info_.no_update_count = pose_is_updated ? 0 : (pose_diag_info_.no_update_count + 1); + + /* twist measurement update */ + twist_diag_info_.queue_size = twist_queue_.size(); + twist_diag_info_.is_passed_delay_gate = true; + twist_diag_info_.delay_time = 0.0; + twist_diag_info_.delay_time_threshold = 0.0; + twist_diag_info_.is_passed_mahalanobis_gate = true; + twist_diag_info_.mahalanobis_distance = 0.0; + + bool twist_is_updated = false; + + if (!twist_queue_.empty()) { + DEBUG_INFO(get_logger(), "------------------------- start Twist -------------------------"); + stop_watch_.tic(); + + // save the initial size because the queue size can change in the loop + const size_t n = twist_queue_.size(); + for (size_t i = 0; i < n; ++i) { + const auto twist = twist_queue_.pop_increment_age(); + bool is_updated = + ekf_module_->measurement_update_twist(*twist, current_time, twist_diag_info_); + if (is_updated) { + twist_is_updated = true; + } + } + DEBUG_INFO( + get_logger(), "[EKF] measurement_update_twist calc time = %f [ms]", stop_watch_.toc()); + DEBUG_INFO(get_logger(), "------------------------- end Twist -------------------------\n"); + } + twist_diag_info_.no_update_count = twist_is_updated ? 0 : (twist_diag_info_.no_update_count + 1); + + const geometry_msgs::msg::PoseStamped current_ekf_pose = + ekf_module_->get_current_pose(current_time, false); + const geometry_msgs::msg::PoseStamped current_biased_ekf_pose = + ekf_module_->get_current_pose(current_time, true); + const geometry_msgs::msg::TwistStamped current_ekf_twist = + ekf_module_->get_current_twist(current_time); + + /* publish ekf result */ + publish_estimate_result(current_ekf_pose, current_biased_ekf_pose, current_ekf_twist); + publish_diagnostics(current_ekf_pose, current_time); + + /* publish processing time */ + const double elapsed_time = stop_watch_timer_cb_.toc(); + pub_processing_time_->publish( + autoware_internal_debug_msgs::build() + .stamp(current_time) + .data(elapsed_time)); +} + +/* + * get_transform_from_tf + */ +bool EKFLocalizer::get_transform_from_tf( + std::string parent_frame, std::string child_frame, + geometry_msgs::msg::TransformStamped & transform) +{ + parent_frame = erase_leading_slash(parent_frame); + child_frame = erase_leading_slash(child_frame); + + try { + transform = tf2_buffer_.lookupTransform(parent_frame, child_frame, tf2::TimePointZero); + return true; + } catch (tf2::TransformException & ex) { + warning_->warn(ex.what()); + } + return false; +} + +/* + * callback_initial_pose + */ +void EKFLocalizer::callback_initial_pose( + geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) +{ + geometry_msgs::msg::TransformStamped transform; + if (!get_transform_from_tf(params_.pose_frame_id, msg->header.frame_id, transform)) { + RCLCPP_ERROR( + get_logger(), "[EKF] TF transform failed. parent = %s, child = %s", + params_.pose_frame_id.c_str(), msg->header.frame_id.c_str()); + } + ekf_module_->initialize(*msg, transform); + + is_set_initialpose_ = true; +} + +/* + * callback_pose_with_covariance + */ +void EKFLocalizer::callback_pose_with_covariance( + geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) +{ + if (!is_activated_ && !is_set_initialpose_) { + return; + } + + pose_queue_.push(msg); + + publish_callback_return_diagnostics("pose", msg->header.stamp); +} + +/* + * callback_twist_with_covariance + */ +void EKFLocalizer::callback_twist_with_covariance( + geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) +{ + // Ignore twist if velocity is too small. + // Note that this inequality must not include "equal". + if (std::abs(msg->twist.twist.linear.x) < params_.threshold_observable_velocity_mps) { + msg->twist.covariance[0 * 6 + 0] = 10000.0; + } + twist_queue_.push(msg); + + publish_callback_return_diagnostics("twist", msg->header.stamp); +} + +/* + * publish_estimate_result + */ +void EKFLocalizer::publish_estimate_result( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, + const geometry_msgs::msg::PoseStamped & current_biased_ekf_pose, + const geometry_msgs::msg::TwistStamped & current_ekf_twist) +{ + /* publish latest pose */ + pub_pose_->publish(current_ekf_pose); + pub_biased_pose_->publish(current_biased_ekf_pose); + + /* publish latest pose with covariance */ + geometry_msgs::msg::PoseWithCovarianceStamped pose_cov; + pose_cov.header.stamp = current_ekf_pose.header.stamp; + pose_cov.header.frame_id = current_ekf_pose.header.frame_id; + pose_cov.pose.pose = current_ekf_pose.pose; + pose_cov.pose.covariance = ekf_module_->get_current_pose_covariance(); + pub_pose_cov_->publish(pose_cov); + + geometry_msgs::msg::PoseWithCovarianceStamped biased_pose_cov = pose_cov; + biased_pose_cov.pose.pose = current_biased_ekf_pose.pose; + pub_biased_pose_cov_->publish(biased_pose_cov); + + /* publish latest twist */ + pub_twist_->publish(current_ekf_twist); + + /* publish latest twist with covariance */ + geometry_msgs::msg::TwistWithCovarianceStamped twist_cov; + twist_cov.header.stamp = current_ekf_twist.header.stamp; + twist_cov.header.frame_id = current_ekf_twist.header.frame_id; + twist_cov.twist.twist = current_ekf_twist.twist; + twist_cov.twist.covariance = ekf_module_->get_current_twist_covariance(); + pub_twist_cov_->publish(twist_cov); + + /* publish yaw bias */ + autoware_internal_debug_msgs::msg::Float64Stamped yawb; + yawb.stamp = current_ekf_twist.header.stamp; + yawb.data = ekf_module_->get_yaw_bias(); + pub_yaw_bias_->publish(yawb); + + /* publish latest odometry */ + nav_msgs::msg::Odometry odometry; + odometry.header.stamp = current_ekf_pose.header.stamp; + odometry.header.frame_id = current_ekf_pose.header.frame_id; + odometry.child_frame_id = "base_link"; + odometry.pose = pose_cov.pose; + odometry.twist = twist_cov.twist; + pub_odom_->publish(odometry); + + /* publish tf */ + const geometry_msgs::msg::TransformStamped transform_stamped = + autoware::universe_utils::pose2transform(current_ekf_pose, "base_link"); + tf_br_->sendTransform(transform_stamped); +} + +void EKFLocalizer::publish_diagnostics( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time) +{ + std::vector diag_status_array; + + diag_status_array.push_back(check_process_activated(is_activated_)); + diag_status_array.push_back(check_set_initialpose(is_set_initialpose_)); + + if (is_activated_ && is_set_initialpose_) { + diag_status_array.push_back(check_measurement_updated( + "pose", pose_diag_info_.no_update_count, params_.pose_no_update_count_threshold_warn, + params_.pose_no_update_count_threshold_error)); + diag_status_array.push_back(check_measurement_queue_size("pose", pose_diag_info_.queue_size)); + diag_status_array.push_back(check_measurement_delay_gate( + "pose", pose_diag_info_.is_passed_delay_gate, pose_diag_info_.delay_time, + pose_diag_info_.delay_time_threshold)); + diag_status_array.push_back(check_measurement_mahalanobis_gate( + "pose", pose_diag_info_.is_passed_mahalanobis_gate, pose_diag_info_.mahalanobis_distance, + params_.pose_gate_dist)); + + diag_status_array.push_back(check_measurement_updated( + "twist", twist_diag_info_.no_update_count, params_.twist_no_update_count_threshold_warn, + params_.twist_no_update_count_threshold_error)); + diag_status_array.push_back(check_measurement_queue_size("twist", twist_diag_info_.queue_size)); + diag_status_array.push_back(check_measurement_delay_gate( + "twist", twist_diag_info_.is_passed_delay_gate, twist_diag_info_.delay_time, + twist_diag_info_.delay_time_threshold)); + diag_status_array.push_back(check_measurement_mahalanobis_gate( + "twist", twist_diag_info_.is_passed_mahalanobis_gate, twist_diag_info_.mahalanobis_distance, + params_.twist_gate_dist)); + + geometry_msgs::msg::PoseWithCovariance pose_cov; + pose_cov.pose = current_ekf_pose.pose; + pose_cov.covariance = ekf_module_->get_current_pose_covariance(); + const autoware::localization_util::Ellipse ellipse = + autoware::localization_util::calculate_xy_ellipse(pose_cov, params_.ellipse_scale); + diag_status_array.push_back(check_covariance_ellipse( + "cov_ellipse_long_axis", ellipse.long_radius, params_.warn_ellipse_size, + params_.error_ellipse_size)); + diag_status_array.push_back(check_covariance_ellipse( + "cov_ellipse_lateral_direction", ellipse.size_lateral_direction, + params_.warn_ellipse_size_lateral_direction, params_.error_ellipse_size_lateral_direction)); + } + + diagnostic_msgs::msg::DiagnosticStatus diag_merged_status; + diag_merged_status = merge_diagnostic_status(diag_status_array); + diag_merged_status.name = "localization: " + std::string(this->get_name()); + diag_merged_status.hardware_id = this->get_name(); + + diagnostic_msgs::msg::DiagnosticArray diag_msg; + diag_msg.header.stamp = current_time; + diag_msg.status.push_back(diag_merged_status); + pub_diag_->publish(diag_msg); +} + +void EKFLocalizer::publish_callback_return_diagnostics( + const std::string & callback_name, const rclcpp::Time & current_time) +{ + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "topic_time_stamp"; + key_value.value = std::to_string(current_time.nanoseconds()); + diagnostic_msgs::msg::DiagnosticStatus diag_status; + diag_status.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diag_status.name = + "localization: " + std::string(this->get_name()) + ": callback_" + callback_name; + diag_status.hardware_id = this->get_name(); + diag_status.message = "OK"; + diag_status.values.push_back(key_value); + diagnostic_msgs::msg::DiagnosticArray diag_msg; + diag_msg.header.stamp = current_time; + diag_msg.status.push_back(diag_status); + pub_diag_->publish(diag_msg); +} + +/** + * @brief trigger node + */ +void EKFLocalizer::service_trigger_node( + const std_srvs::srv::SetBool::Request::SharedPtr req, + std_srvs::srv::SetBool::Response::SharedPtr res) +{ + if (req->data) { + pose_queue_.clear(); + twist_queue_.clear(); + is_activated_ = true; + } else { + is_activated_ = false; + is_set_initialpose_ = false; + } + res->success = true; +} + +} // namespace autoware::ekf_localizer + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ekf_localizer::EKFLocalizer) diff --git a/localization/autoware_ekf_localizer/src/ekf_module.cpp b/localization/autoware_ekf_localizer/src/ekf_module.cpp new file mode 100644 index 0000000000..02c9f8ee30 --- /dev/null +++ b/localization/autoware_ekf_localizer/src/ekf_module.cpp @@ -0,0 +1,459 @@ +// Copyright 2018-2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/ekf_module.hpp" + +#include "autoware/ekf_localizer/covariance.hpp" +#include "autoware/ekf_localizer/mahalanobis.hpp" +#include "autoware/ekf_localizer/matrix_types.hpp" +#include "autoware/ekf_localizer/measurement.hpp" +#include "autoware/ekf_localizer/numeric.hpp" +#include "autoware/ekf_localizer/state_transition.hpp" +#include "autoware/ekf_localizer/warning_message.hpp" + +#include +#include + +#include +#include +#include + +#include +#include + +namespace autoware::ekf_localizer +{ + +// clang-format off +#define DEBUG_PRINT_MAT(X) {if (params_.show_debug_info) {std::cout << #X << ": " << X << std::endl;}} // NOLINT +// clang-format on + +EKFModule::EKFModule(std::shared_ptr warning, const HyperParameters & params) +: warning_(std::move(warning)), + dim_x_(6), // x, y, yaw, yaw_bias, vx, wz + accumulated_delay_times_(params.extend_state_step, 1.0E15), + params_(params), + last_angular_velocity_(0.0, 0.0, 0.0) +{ + Eigen::MatrixXd x = Eigen::MatrixXd::Zero(dim_x_, 1); + Eigen::MatrixXd p = Eigen::MatrixXd::Identity(dim_x_, dim_x_) * 1.0E15; // for x & y + p(IDX::YAW, IDX::YAW) = 50.0; // for yaw + if (params_.enable_yaw_bias_estimation) { + p(IDX::YAWB, IDX::YAWB) = 50.0; // for yaw bias + } + p(IDX::VX, IDX::VX) = 1000.0; // for vx + p(IDX::WZ, IDX::WZ) = 50.0; // for wz + + kalman_filter_.init(x, p, static_cast(params_.extend_state_step)); + z_filter_.set_proc_var(params_.z_filter_proc_dev * params_.z_filter_proc_dev); + roll_filter_.set_proc_var(params_.roll_filter_proc_dev * params_.roll_filter_proc_dev); + pitch_filter_.set_proc_var(params_.pitch_filter_proc_dev * params_.pitch_filter_proc_dev); +} + +void EKFModule::initialize( + const PoseWithCovariance & initial_pose, const geometry_msgs::msg::TransformStamped & transform) +{ + Eigen::MatrixXd x(dim_x_, 1); + Eigen::MatrixXd p = Eigen::MatrixXd::Zero(dim_x_, dim_x_); + + x(IDX::X) = initial_pose.pose.pose.position.x + transform.transform.translation.x; + x(IDX::Y) = initial_pose.pose.pose.position.y + transform.transform.translation.y; + x(IDX::YAW) = + tf2::getYaw(initial_pose.pose.pose.orientation) + tf2::getYaw(transform.transform.rotation); + x(IDX::YAWB) = 0.0; + x(IDX::VX) = 0.0; + x(IDX::WZ) = 0.0; + + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + p(IDX::X, IDX::X) = initial_pose.pose.covariance[COV_IDX::X_X]; + p(IDX::Y, IDX::Y) = initial_pose.pose.covariance[COV_IDX::Y_Y]; + p(IDX::YAW, IDX::YAW) = initial_pose.pose.covariance[COV_IDX::YAW_YAW]; + + if (params_.enable_yaw_bias_estimation) { + p(IDX::YAWB, IDX::YAWB) = 0.0001; + } + p(IDX::VX, IDX::VX) = 0.01; + p(IDX::WZ, IDX::WZ) = 0.01; + + kalman_filter_.init(x, p, static_cast(params_.extend_state_step)); + + const double z = initial_pose.pose.pose.position.z; + + const auto rpy = autoware::universe_utils::getRPY(initial_pose.pose.pose.orientation); + + const double z_var = initial_pose.pose.covariance[COV_IDX::Z_Z]; + const double roll_var = initial_pose.pose.covariance[COV_IDX::ROLL_ROLL]; + const double pitch_var = initial_pose.pose.covariance[COV_IDX::PITCH_PITCH]; + + z_filter_.init(z, z_var); + roll_filter_.init(rpy.x, roll_var); + pitch_filter_.init(rpy.y, pitch_var); +} + +geometry_msgs::msg::PoseStamped EKFModule::get_current_pose( + const rclcpp::Time & current_time, bool get_biased_yaw) const +{ + const double z = z_filter_.get_x(); + const double roll = roll_filter_.get_x(); + const double pitch = pitch_filter_.get_x(); + + const double x = kalman_filter_.getXelement(IDX::X); + const double y = kalman_filter_.getXelement(IDX::Y); + /* + getXelement(IDX::YAW) is surely `biased_yaw`. + Please note how `yaw` and `yaw_bias` are used in the state transition model and + how the observed pose is handled in the measurement pose update. + */ + const double biased_yaw = kalman_filter_.getXelement(IDX::YAW); + const double yaw_bias = kalman_filter_.getXelement(IDX::YAWB); + const double yaw = biased_yaw + yaw_bias; + + Pose current_ekf_pose; + current_ekf_pose.header.frame_id = params_.pose_frame_id; + current_ekf_pose.header.stamp = current_time; + current_ekf_pose.pose.position = autoware::universe_utils::createPoint(x, y, z); + if (get_biased_yaw) { + current_ekf_pose.pose.orientation = + autoware::universe_utils::createQuaternionFromRPY(roll, pitch, biased_yaw); + } else { + current_ekf_pose.pose.orientation = + autoware::universe_utils::createQuaternionFromRPY(roll, pitch, yaw); + } + return current_ekf_pose; +} + +geometry_msgs::msg::TwistStamped EKFModule::get_current_twist( + const rclcpp::Time & current_time) const +{ + const double vx = kalman_filter_.getXelement(IDX::VX); + const double wz = kalman_filter_.getXelement(IDX::WZ); + + Twist current_ekf_twist; + current_ekf_twist.header.frame_id = "base_link"; + current_ekf_twist.header.stamp = current_time; + current_ekf_twist.twist.linear.x = vx; + current_ekf_twist.twist.angular.z = wz; + return current_ekf_twist; +} + +std::array EKFModule::get_current_pose_covariance() const +{ + std::array cov = + ekf_covariance_to_pose_message_covariance(kalman_filter_.getLatestP()); + + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + cov[COV_IDX::Z_Z] = z_filter_.get_var(); + cov[COV_IDX::ROLL_ROLL] = roll_filter_.get_var(); + cov[COV_IDX::PITCH_PITCH] = pitch_filter_.get_var(); + + return cov; +} + +std::array EKFModule::get_current_twist_covariance() const +{ + return ekf_covariance_to_twist_message_covariance(kalman_filter_.getLatestP()); +} + +double EKFModule::get_yaw_bias() const +{ + return kalman_filter_.getLatestX()(IDX::YAWB); +} + +size_t EKFModule::find_closest_delay_time_index(double target_value) const +{ + // If target_value is too large, return last index + 1 + if (target_value > accumulated_delay_times_.back()) { + return accumulated_delay_times_.size(); + } + + auto lower = std::lower_bound( + accumulated_delay_times_.begin(), accumulated_delay_times_.end(), target_value); + + // If the lower bound is the first element, return its index. + // If the lower bound is beyond the last element, return the last index. + // If else, take the closest element. + if (lower == accumulated_delay_times_.begin()) { + return 0; + } + if (lower == accumulated_delay_times_.end()) { + return accumulated_delay_times_.size() - 1; + } + // Compare the target with the lower bound and the previous element. + auto prev = lower - 1; + bool is_closer_to_prev = (target_value - *prev) < (*lower - target_value); + + // Return the index of the closer element. + return is_closer_to_prev ? std::distance(accumulated_delay_times_.begin(), prev) + : std::distance(accumulated_delay_times_.begin(), lower); +} + +void EKFModule::accumulate_delay_time(const double dt) +{ + // Shift the delay times to the right. + std::copy_backward( + accumulated_delay_times_.begin(), accumulated_delay_times_.end() - 1, + accumulated_delay_times_.end()); + + // Add a new element (=0) and, and add delay time to the previous elements. + accumulated_delay_times_.front() = 0.0; + for (size_t i = 1; i < accumulated_delay_times_.size(); ++i) { + accumulated_delay_times_[i] += dt; + } +} + +void EKFModule::predict_with_delay(const double dt) +{ + const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); + const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); + + const double proc_cov_vx_d = std::pow(params_.proc_stddev_vx_c * dt, 2.0); + const double proc_cov_wz_d = std::pow(params_.proc_stddev_wz_c * dt, 2.0); + const double proc_cov_yaw_d = std::pow(params_.proc_stddev_yaw_c * dt, 2.0); + + const Vector6d x_next = predict_next_state(x_curr, dt); + const Matrix6d a = create_state_transition_matrix(x_curr, dt); + const Matrix6d q = process_noise_covariance(proc_cov_yaw_d, proc_cov_vx_d, proc_cov_wz_d); + kalman_filter_.predictWithDelay(x_next, a, q); + ekf_dt_ = dt; +} + +bool EKFModule::measurement_update_pose( + const PoseWithCovariance & pose, const rclcpp::Time & t_curr, EKFDiagnosticInfo & pose_diag_info) +{ + if (pose.header.frame_id != params_.pose_frame_id) { + warning_->warn_throttle( + fmt::format( + "pose frame_id is %s, but pose_frame is set as %s. They must be same.", + pose.header.frame_id.c_str(), params_.pose_frame_id.c_str()), + 2000); + } + const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); + DEBUG_PRINT_MAT(x_curr.transpose()); + + constexpr int dim_y = 3; // pos_x, pos_y, yaw, depending on Pose output + + /* Calculate delay step */ + double delay_time = (t_curr - pose.header.stamp).seconds() + params_.pose_additional_delay; + if (delay_time < 0.0) { + warning_->warn_throttle(pose_delay_time_warning_message(delay_time), 1000); + } + + delay_time = std::max(delay_time, 0.0); + + const size_t delay_step = find_closest_delay_time_index(delay_time); + + pose_diag_info.delay_time = std::max(delay_time, pose_diag_info.delay_time); + pose_diag_info.delay_time_threshold = accumulated_delay_times_.back(); + if (delay_step >= params_.extend_state_step) { + pose_diag_info.is_passed_delay_gate = false; + warning_->warn_throttle( + pose_delay_step_warning_message( + pose_diag_info.delay_time, pose_diag_info.delay_time_threshold), + 2000); + return false; + } + + /* Since the kalman filter cannot handle the rotation angle directly, + offset the yaw angle so that the difference from the yaw angle that ekf holds internally + is less than 2 pi. */ + double yaw = tf2::getYaw(pose.pose.pose.orientation); + const double ekf_yaw = kalman_filter_.getXelement(delay_step * dim_x_ + IDX::YAW); + const double yaw_error = normalize_yaw(yaw - ekf_yaw); // normalize the error not to exceed 2 pi + yaw = yaw_error + ekf_yaw; + + /* Set measurement matrix */ + Eigen::MatrixXd y(dim_y, 1); + y << pose.pose.pose.position.x, pose.pose.pose.position.y, yaw; + + if (has_nan(y) || has_inf(y)) { + warning_->warn( + "[EKF] pose measurement matrix includes NaN of Inf. ignore update. check pose message."); + return false; + } + + /* Gate */ + const Eigen::Vector3d y_ekf( + kalman_filter_.getXelement(delay_step * dim_x_ + IDX::X), + kalman_filter_.getXelement(delay_step * dim_x_ + IDX::Y), ekf_yaw); + const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); + const Eigen::MatrixXd p_y = p_curr.block(0, 0, dim_y, dim_y); + + const double distance = mahalanobis(y_ekf, y, p_y); + pose_diag_info.mahalanobis_distance = std::max(distance, pose_diag_info.mahalanobis_distance); + if (distance > params_.pose_gate_dist) { + pose_diag_info.is_passed_mahalanobis_gate = false; + warning_->warn_throttle(mahalanobis_warning_message(distance, params_.pose_gate_dist), 2000); + warning_->warn_throttle("Ignore the measurement data.", 2000); + return false; + } + + DEBUG_PRINT_MAT(y.transpose()); + DEBUG_PRINT_MAT(y_ekf.transpose()); + DEBUG_PRINT_MAT((y - y_ekf).transpose()); + + const Eigen::Matrix c = pose_measurement_matrix(); + const Eigen::Matrix3d r = + pose_measurement_covariance(pose.pose.covariance, params_.pose_smoothing_steps); + + kalman_filter_.updateWithDelay(y, c, r, static_cast(delay_step)); + + // Update Simple 1D filter with considering change of roll, pitch and height (position z) + // values due to measurement pose delay + auto pose_with_rph_delay_compensation = + compensate_rph_with_delay(pose, last_angular_velocity_, delay_time); + update_simple_1d_filters(pose_with_rph_delay_compensation, params_.pose_smoothing_steps); + + // debug + const Eigen::MatrixXd x_result = kalman_filter_.getLatestX(); + DEBUG_PRINT_MAT(x_result.transpose()); + DEBUG_PRINT_MAT((x_result - x_curr).transpose()); + + return true; +} + +geometry_msgs::msg::PoseWithCovarianceStamped EKFModule::compensate_rph_with_delay( + const PoseWithCovariance & pose, tf2::Vector3 last_angular_velocity, const double delay_time) +{ + tf2::Quaternion delta_orientation; + if (last_angular_velocity.length() > 0.0) { + delta_orientation.setRotation( + last_angular_velocity.normalized(), last_angular_velocity.length() * delay_time); + } else { + delta_orientation.setValue(0.0, 0.0, 0.0, 1.0); + } + + tf2::Quaternion prev_orientation = tf2::Quaternion( + pose.pose.pose.orientation.x, pose.pose.pose.orientation.y, pose.pose.pose.orientation.z, + pose.pose.pose.orientation.w); + + tf2::Quaternion curr_orientation; + curr_orientation = prev_orientation * delta_orientation; + curr_orientation.normalize(); + + PoseWithCovariance pose_with_delay; + pose_with_delay = pose; + pose_with_delay.header.stamp = + rclcpp::Time(pose.header.stamp) + rclcpp::Duration::from_seconds(delay_time); + pose_with_delay.pose.pose.orientation.x = curr_orientation.x(); + pose_with_delay.pose.pose.orientation.y = curr_orientation.y(); + pose_with_delay.pose.pose.orientation.z = curr_orientation.z(); + pose_with_delay.pose.pose.orientation.w = curr_orientation.w(); + + const auto rpy = autoware::universe_utils::getRPY(pose_with_delay.pose.pose.orientation); + const double delta_z = kalman_filter_.getXelement(IDX::VX) * delay_time * std::sin(-rpy.y); + pose_with_delay.pose.pose.position.z += delta_z; + + return pose_with_delay; +} + +bool EKFModule::measurement_update_twist( + const TwistWithCovariance & twist, const rclcpp::Time & t_curr, + EKFDiagnosticInfo & twist_diag_info) +{ + if (twist.header.frame_id != "base_link") { + warning_->warn_throttle("twist frame_id must be base_link", 2000); + } + + last_angular_velocity_ = tf2::Vector3(0.0, 0.0, 0.0); + + const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); + DEBUG_PRINT_MAT(x_curr.transpose()); + + constexpr int dim_y = 2; // vx, wz + + /* Calculate delay step */ + double delay_time = (t_curr - twist.header.stamp).seconds() + params_.twist_additional_delay; + if (delay_time < 0.0) { + warning_->warn_throttle(twist_delay_time_warning_message(delay_time), 1000); + } + delay_time = std::max(delay_time, 0.0); + + const size_t delay_step = find_closest_delay_time_index(delay_time); + + twist_diag_info.delay_time = std::max(delay_time, twist_diag_info.delay_time); + twist_diag_info.delay_time_threshold = accumulated_delay_times_.back(); + if (delay_step >= params_.extend_state_step) { + twist_diag_info.is_passed_delay_gate = false; + warning_->warn_throttle( + twist_delay_step_warning_message( + twist_diag_info.delay_time, twist_diag_info.delay_time_threshold), + 2000); + return false; + } + + /* Set measurement matrix */ + Eigen::MatrixXd y(dim_y, 1); + y << twist.twist.twist.linear.x, twist.twist.twist.angular.z; + + if (has_nan(y) || has_inf(y)) { + warning_->warn( + "[EKF] twist measurement matrix includes NaN of Inf. ignore update. check twist message."); + return false; + } + + const Eigen::Vector2d y_ekf( + kalman_filter_.getXelement(delay_step * dim_x_ + IDX::VX), + kalman_filter_.getXelement(delay_step * dim_x_ + IDX::WZ)); + const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); + const Eigen::MatrixXd p_y = p_curr.block(4, 4, dim_y, dim_y); + + const double distance = mahalanobis(y_ekf, y, p_y); + twist_diag_info.mahalanobis_distance = std::max(distance, twist_diag_info.mahalanobis_distance); + if (distance > params_.twist_gate_dist) { + twist_diag_info.is_passed_mahalanobis_gate = false; + warning_->warn_throttle(mahalanobis_warning_message(distance, params_.twist_gate_dist), 2000); + warning_->warn_throttle("Ignore the measurement data.", 2000); + return false; + } + + DEBUG_PRINT_MAT(y.transpose()); + DEBUG_PRINT_MAT(y_ekf.transpose()); + DEBUG_PRINT_MAT((y - y_ekf).transpose()); + + const Eigen::Matrix c = twist_measurement_matrix(); + const Eigen::Matrix2d r = + twist_measurement_covariance(twist.twist.covariance, params_.twist_smoothing_steps); + + kalman_filter_.updateWithDelay(y, c, r, static_cast(delay_step)); + + last_angular_velocity_ = tf2::Vector3( + twist.twist.twist.angular.x, twist.twist.twist.angular.y, twist.twist.twist.angular.z); + + // debug + const Eigen::MatrixXd x_result = kalman_filter_.getLatestX(); + DEBUG_PRINT_MAT(x_result.transpose()); + DEBUG_PRINT_MAT((x_result - x_curr).transpose()); + + return true; +} + +void EKFModule::update_simple_1d_filters( + const geometry_msgs::msg::PoseWithCovarianceStamped & pose, const size_t smoothing_step) +{ + double z = pose.pose.pose.position.z; + + const auto rpy = autoware::universe_utils::getRPY(pose.pose.pose.orientation); + + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + double z_var = pose.pose.covariance[COV_IDX::Z_Z] * static_cast(smoothing_step); + double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast(smoothing_step); + double pitch_var = + pose.pose.covariance[COV_IDX::PITCH_PITCH] * static_cast(smoothing_step); + + z_filter_.update(z, z_var, ekf_dt_); + roll_filter_.update(rpy.x, roll_var, ekf_dt_); + pitch_filter_.update(rpy.y, pitch_var, ekf_dt_); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/mahalanobis.cpp b/localization/autoware_ekf_localizer/src/mahalanobis.cpp new file mode 100644 index 0000000000..f7e56674b1 --- /dev/null +++ b/localization/autoware_ekf_localizer/src/mahalanobis.cpp @@ -0,0 +1,32 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/mahalanobis.hpp" + +namespace autoware::ekf_localizer +{ + +double squared_mahalanobis( + const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C) +{ + const Eigen::VectorXd d = x - y; + return d.dot(C.inverse() * d); +} + +double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C) +{ + return std::sqrt(squared_mahalanobis(x, y, C)); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/measurement.cpp b/localization/autoware_ekf_localizer/src/measurement.cpp new file mode 100644 index 0000000000..63db7d250f --- /dev/null +++ b/localization/autoware_ekf_localizer/src/measurement.cpp @@ -0,0 +1,61 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/measurement.hpp" + +#include "autoware/ekf_localizer/state_index.hpp" +#include "autoware/universe_utils/ros/msg_covariance.hpp" + +namespace autoware::ekf_localizer +{ + +Eigen::Matrix pose_measurement_matrix() +{ + Eigen::Matrix c = Eigen::Matrix::Zero(); + c(0, IDX::X) = 1.0; // for pos x + c(1, IDX::Y) = 1.0; // for pos y + c(2, IDX::YAW) = 1.0; // for yaw + return c; +} + +Eigen::Matrix twist_measurement_matrix() +{ + Eigen::Matrix c = Eigen::Matrix::Zero(); + c(0, IDX::VX) = 1.0; // for vx + c(1, IDX::WZ) = 1.0; // for wz + return c; +} + +Eigen::Matrix3d pose_measurement_covariance( + const std::array & covariance, const size_t smoothing_step) +{ + Eigen::Matrix3d r; + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_Y), covariance.at(COV_IDX::X_YAW), + covariance.at(COV_IDX::Y_X), covariance.at(COV_IDX::Y_Y), covariance.at(COV_IDX::Y_YAW), + covariance.at(COV_IDX::YAW_X), covariance.at(COV_IDX::YAW_Y), covariance.at(COV_IDX::YAW_YAW); + return r * static_cast(smoothing_step); +} + +Eigen::Matrix2d twist_measurement_covariance( + const std::array & covariance, const size_t smoothing_step) +{ + Eigen::Matrix2d r; + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_YAW), covariance.at(COV_IDX::YAW_X), + covariance.at(COV_IDX::YAW_YAW); + return r * static_cast(smoothing_step); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/state_transition.cpp b/localization/autoware_ekf_localizer/src/state_transition.cpp new file mode 100644 index 0000000000..f6a50b5839 --- /dev/null +++ b/localization/autoware_ekf_localizer/src/state_transition.cpp @@ -0,0 +1,102 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/state_transition.hpp" + +#include "autoware/ekf_localizer/matrix_types.hpp" +#include "autoware/ekf_localizer/state_index.hpp" + +#include + +namespace autoware::ekf_localizer +{ + +double normalize_yaw(const double & yaw) +{ + // FIXME(IshitaTakeshi) I think the computation here can be simplified + // FIXME(IshitaTakeshi) Rename the function. This is not normalization + return std::atan2(std::sin(yaw), std::cos(yaw)); +} + +/* == Nonlinear model == + * + * x_{k+1} = x_k + vx_k * cos(yaw_k + b_k) * dt + * y_{k+1} = y_k + vx_k * sin(yaw_k + b_k) * dt + * yaw_{k+1} = yaw_k + (wz_k) * dt + * b_{k+1} = b_k + * vx_{k+1} = vx_k + * wz_{k+1} = wz_k + * + * (b_k : yaw_bias_k) + */ + +Vector6d predict_next_state(const Vector6d & X_curr, const double dt) +{ + const double x = X_curr(IDX::X); + const double y = X_curr(IDX::Y); + const double yaw = X_curr(IDX::YAW); + const double yaw_bias = X_curr(IDX::YAWB); + const double vx = X_curr(IDX::VX); + const double wz = X_curr(IDX::WZ); + + Vector6d x_next; + x_next(IDX::X) = x + vx * std::cos(yaw + yaw_bias) * dt; // dx = v * cos(yaw) + x_next(IDX::Y) = y + vx * std::sin(yaw + yaw_bias) * dt; // dy = v * sin(yaw) + x_next(IDX::YAW) = normalize_yaw(yaw + wz * dt); // dyaw = omega + omega_bias + x_next(IDX::YAWB) = yaw_bias; + x_next(IDX::VX) = vx; + x_next(IDX::WZ) = wz; + return x_next; +} + +/* == Linearized model == + * + * A = [ 1, 0, -vx*sin(yaw+b)*dt, -vx*sin(yaw+b)*dt, cos(yaw+b)*dt, 0] + * [ 0, 1, vx*cos(yaw+b)*dt, vx*cos(yaw+b)*dt, sin(yaw+b)*dt, 0] + * [ 0, 0, 1, 0, 0, dt] + * [ 0, 0, 0, 1, 0, 0] + * [ 0, 0, 0, 0, 1, 0] + * [ 0, 0, 0, 0, 0, 1] + */ +Matrix6d create_state_transition_matrix(const Vector6d & X_curr, const double dt) +{ + const double yaw = X_curr(IDX::YAW); + const double yaw_bias = X_curr(IDX::YAWB); + const double vx = X_curr(IDX::VX); + + Matrix6d a = Matrix6d::Identity(); + a(IDX::X, IDX::YAW) = -vx * sin(yaw + yaw_bias) * dt; + a(IDX::X, IDX::YAWB) = -vx * sin(yaw + yaw_bias) * dt; + a(IDX::X, IDX::VX) = cos(yaw + yaw_bias) * dt; + a(IDX::Y, IDX::YAW) = vx * cos(yaw + yaw_bias) * dt; + a(IDX::Y, IDX::YAWB) = vx * cos(yaw + yaw_bias) * dt; + a(IDX::Y, IDX::VX) = sin(yaw + yaw_bias) * dt; + a(IDX::YAW, IDX::WZ) = dt; + return a; +} + +Matrix6d process_noise_covariance( + const double proc_cov_yaw_d, const double proc_cov_vx_d, const double proc_cov_wz_d) +{ + Matrix6d q = Matrix6d::Zero(); + q(IDX::X, IDX::X) = 0.0; + q(IDX::Y, IDX::Y) = 0.0; + q(IDX::YAW, IDX::YAW) = proc_cov_yaw_d; // for yaw + q(IDX::YAWB, IDX::YAWB) = 0.0; + q(IDX::VX, IDX::VX) = proc_cov_vx_d; // for vx + q(IDX::WZ, IDX::WZ) = proc_cov_wz_d; // for wz + return q; +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/warning_message.cpp b/localization/autoware_ekf_localizer/src/warning_message.cpp new file mode 100644 index 0000000000..0c1e127747 --- /dev/null +++ b/localization/autoware_ekf_localizer/src/warning_message.cpp @@ -0,0 +1,60 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/warning_message.hpp" + +#include + +#include + +namespace autoware::ekf_localizer +{ + +std::string pose_delay_step_warning_message( + const double delay_time, const double delay_time_threshold) +{ + const std::string s = + "Pose delay exceeds the compensation limit, ignored. " + "delay: {:.3f}[s], limit: {:.3f}[s]"; + return fmt::format(s, delay_time, delay_time_threshold); +} + +std::string twist_delay_step_warning_message( + const double delay_time, const double delay_time_threshold) +{ + const std::string s = + "Twist delay exceeds the compensation limit, ignored. " + "delay: {:.3f}[s], limit: {:.3f}[s]"; + return fmt::format(s, delay_time, delay_time_threshold); +} + +std::string pose_delay_time_warning_message(const double delay_time) +{ + const std::string s = "Pose time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}"; + return fmt::format(s, delay_time); +} + +std::string twist_delay_time_warning_message(const double delay_time) +{ + const std::string s = "Twist time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}"; + return fmt::format(s, delay_time); +} + +std::string mahalanobis_warning_message(const double distance, const double max_distance) +{ + const std::string s = "The Mahalanobis distance {:.4f} is over the limit {:.4f}."; + return fmt::format(s, distance, max_distance); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp new file mode 100644 index 0000000000..dc9ef00833 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp @@ -0,0 +1,108 @@ +// Copyright 2023 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/aged_object_queue.hpp" + +#include + +#include + +namespace autoware::ekf_localizer +{ + +TEST(AgedObjectQueue, DiscardsObjectWhenAgeReachesMaximum) +{ + AgedObjectQueue queue(3); + + queue.push("a"); + EXPECT_EQ(queue.size(), 1U); + + queue.pop_increment_age(); // age = 1 + EXPECT_EQ(queue.size(), 1U); + + queue.pop_increment_age(); // age = 2 + EXPECT_EQ(queue.size(), 1U); + + queue.pop_increment_age(); // age = 3 + EXPECT_EQ(queue.size(), 0U); +} + +TEST(AgedObjectQueue, MultipleObjects) +{ + AgedObjectQueue queue(3); + + queue.push("a"); + EXPECT_EQ(queue.size(), 1U); + EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 1 + EXPECT_EQ(queue.size(), 1U); + EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 2 + + queue.push("b"); + + EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 3 + EXPECT_EQ(queue.size(), 1U); + + EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 1 + EXPECT_EQ(queue.size(), 1U); + + EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 2 + EXPECT_EQ(queue.size(), 1U); + + EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 3 + EXPECT_EQ(queue.size(), 0U); +} + +TEST(AgedObjectQueue, Empty) +{ + AgedObjectQueue queue(2); + + EXPECT_TRUE(queue.empty()); + + queue.push("a"); + + EXPECT_FALSE(queue.empty()); + + queue.pop_increment_age(); + queue.pop_increment_age(); + + EXPECT_TRUE(queue.empty()); +} + +TEST(AgedObjectQueue, Clear) +{ + AgedObjectQueue queue(3); + + queue.push("a"); + queue.push("b"); + + EXPECT_EQ(queue.size(), 2U); + + queue.clear(); + + EXPECT_EQ(queue.size(), 0U); +} + +TEST(AgedObjectQueue, Back) +{ + AgedObjectQueue queue(3); + + queue.push("a"); + + EXPECT_EQ(queue.back(), std::string{"a"}); + queue.push("b"); + + EXPECT_EQ(queue.back(), std::string{"b"}); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_covariance.cpp b/localization/autoware_ekf_localizer/test/test_covariance.cpp new file mode 100644 index 0000000000..cab09367d6 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_covariance.cpp @@ -0,0 +1,84 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/covariance.hpp" + +#include + +namespace autoware::ekf_localizer +{ + +TEST(EKFCovarianceToPoseMessageCovariance, SmokeTest) +{ + { + Matrix6d p = Matrix6d::Zero(); + p(0, 0) = 1.; + p(0, 1) = 2.; + p(0, 2) = 3.; + p(1, 0) = 4.; + p(1, 1) = 5.; + p(1, 2) = 6.; + p(2, 0) = 7.; + p(2, 1) = 8.; + p(2, 2) = 9.; + + std::array covariance = ekf_covariance_to_pose_message_covariance(p); + EXPECT_EQ(covariance[0], 1.); + EXPECT_EQ(covariance[1], 2.); + EXPECT_EQ(covariance[5], 3.); + EXPECT_EQ(covariance[6], 4.); + EXPECT_EQ(covariance[7], 5.); + EXPECT_EQ(covariance[11], 6.); + EXPECT_EQ(covariance[30], 7.); + EXPECT_EQ(covariance[31], 8.); + EXPECT_EQ(covariance[35], 9.); + } + + // ensure other elements are zero + { + Matrix6d p = Matrix6d::Zero(); + std::array covariance = ekf_covariance_to_pose_message_covariance(p); + for (double e : covariance) { + EXPECT_EQ(e, 0.); + } + } +} + +TEST(EKFCovarianceToTwistMessageCovariance, SmokeTest) +{ + { + Matrix6d p = Matrix6d::Zero(); + p(4, 4) = 1.; + p(4, 5) = 2.; + p(5, 4) = 3.; + p(5, 5) = 4.; + + std::array covariance = ekf_covariance_to_twist_message_covariance(p); + EXPECT_EQ(covariance[0], 1.); + EXPECT_EQ(covariance[5], 2.); + EXPECT_EQ(covariance[30], 3.); + EXPECT_EQ(covariance[35], 4.); + } + + // ensure other elements are zero + { + Matrix6d p = Matrix6d::Zero(); + std::array covariance = ekf_covariance_to_twist_message_covariance(p); + for (double e : covariance) { + EXPECT_EQ(e, 0.); + } + } +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp new file mode 100644 index 0000000000..5ce39df484 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp @@ -0,0 +1,213 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/diagnostics.hpp" + +#include + +#include +#include + +namespace autoware::ekf_localizer +{ + +TEST(TestEkfDiagnostics, check_process_activated) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + bool is_activated = true; + stat = check_process_activated(is_activated); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + is_activated = false; + stat = check_process_activated(is_activated); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +TEST(TestEkfDiagnostics, check_set_initialpose) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + bool is_set_initialpose = true; + stat = check_set_initialpose(is_set_initialpose); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + is_set_initialpose = false; + stat = check_set_initialpose(is_set_initialpose); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +TEST(TestEkfDiagnostics, check_measurement_updated) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + const std::string measurement_type = "pose"; // not effect for stat.level + const size_t no_update_count_threshold_warn = 50; + const size_t no_update_count_threshold_error = 250; + + size_t no_update_count = 0; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + no_update_count = 1; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + no_update_count = 49; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + no_update_count = 50; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); + + no_update_count = 249; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); + + no_update_count = 250; + stat = check_measurement_updated( + measurement_type, no_update_count, no_update_count_threshold_warn, + no_update_count_threshold_error); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); +} + +TEST(TestEkfDiagnostics, check_measurement_queue_size) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + const std::string measurement_type = "pose"; // not effect for stat.level + + size_t queue_size = 0; // not effect for stat.level + stat = check_measurement_queue_size(measurement_type, queue_size); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + queue_size = 1; // not effect for stat.level + stat = check_measurement_queue_size(measurement_type, queue_size); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); +} + +TEST(TestEkfDiagnostics, check_measurement_delay_gate) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + const std::string measurement_type = "pose"; // not effect for stat.level + const double delay_time = 0.1; // not effect for stat.level + const double delay_time_threshold = 1.0; // not effect for stat.level + + bool is_passed_delay_gate = true; + stat = check_measurement_delay_gate( + measurement_type, is_passed_delay_gate, delay_time, delay_time_threshold); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + is_passed_delay_gate = false; + stat = check_measurement_delay_gate( + measurement_type, is_passed_delay_gate, delay_time, delay_time_threshold); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +TEST(TestEkfDiagnostics, check_measurement_mahalanobis_gate) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + const std::string measurement_type = "pose"; // not effect for stat.level + const double mahalanobis_distance = 0.1; // not effect for stat.level + const double mahalanobis_distance_threshold = 1.0; // not effect for stat.level + + bool is_passed_mahalanobis_gate = true; + stat = check_measurement_mahalanobis_gate( + measurement_type, is_passed_mahalanobis_gate, mahalanobis_distance, + mahalanobis_distance_threshold); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + + is_passed_mahalanobis_gate = false; + stat = check_measurement_mahalanobis_gate( + measurement_type, is_passed_mahalanobis_gate, mahalanobis_distance, + mahalanobis_distance_threshold); + EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +TEST(TestLocalizationErrorMonitorDiagnostics, merge_diagnostic_status) +{ + diagnostic_msgs::msg::DiagnosticStatus merged_stat; + std::vector stat_array(2); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat_array.at(0).message = "OK"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat_array.at(1).message = "OK"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); + EXPECT_EQ(merged_stat.message, "OK"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat_array.at(0).message = "WARN0"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat_array.at(1).message = "OK"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); + EXPECT_EQ(merged_stat.message, "WARN0"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat_array.at(0).message = "OK"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat_array.at(1).message = "WARN1"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); + EXPECT_EQ(merged_stat.message, "WARN1"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat_array.at(0).message = "WARN0"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat_array.at(1).message = "WARN1"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); + EXPECT_EQ(merged_stat.message, "WARN0; WARN1"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat_array.at(0).message = "OK"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat_array.at(1).message = "ERROR1"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); + EXPECT_EQ(merged_stat.message, "ERROR1"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat_array.at(0).message = "WARN0"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat_array.at(1).message = "ERROR1"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); + EXPECT_EQ(merged_stat.message, "WARN0; ERROR1"); + + stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat_array.at(0).message = "ERROR0"; + stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat_array.at(1).message = "ERROR1"; + merged_stat = merge_diagnostic_status(stat_array); + EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); + EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1"); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py new file mode 100644 index 0000000000..1db0863636 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 + +# Copyright 2023 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import time +import unittest + +from ament_index_python import get_package_share_directory +from geometry_msgs.msg import PoseWithCovarianceStamped +import launch +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.logging import get_logger +import launch_testing +from nav_msgs.msg import Odometry +import pytest +import rclpy +from std_srvs.srv import SetBool + +logger = get_logger(__name__) + + +@pytest.mark.launch_test +def generate_test_description(): + test_ekf_localizer_launch_file = os.path.join( + get_package_share_directory("autoware_ekf_localizer"), + "launch", + "ekf_localizer.launch.xml", + ) + ekf_localizer = IncludeLaunchDescription( + AnyLaunchDescriptionSource(test_ekf_localizer_launch_file), + ) + + return launch.LaunchDescription( + [ + ekf_localizer, + # Start tests right away - no need to wait for anything + launch_testing.actions.ReadyToTest(), + ] + ) + + +class TestEKFLocalizer(unittest.TestCase): + @classmethod + def setUpClass(cls): + # Initialize the ROS context for the test node + rclpy.init() + + @classmethod + def tearDownClass(cls): + # Shutdown the ROS context + rclpy.shutdown() + + def setUp(self): + # Create a ROS node for tests + self.test_node = rclpy.create_node("test_node") + self.evaluation_time = 0.2 # 200ms + + def tearDown(self): + self.test_node.destroy_node() + + @staticmethod + def print_message(stat): + logger.debug("===========================") + logger.debug(stat) + + def test_node_link(self): + # Trigger ekf_localizer to activate the node + cli_trigger = self.test_node.create_client(SetBool, "/trigger_node") + while not cli_trigger.wait_for_service(timeout_sec=1.0): + continue + + request = SetBool.Request() + request.data = True + future = cli_trigger.call_async(request) + rclpy.spin_until_future_complete(self.test_node, future) + + if future.result() is not None: + self.test_node.get_logger().info("Result of bool service: %s" % future.result().message) + else: + self.test_node.get_logger().error( + "Exception while calling service: %r" % future.exception() + ) + + # Send initial pose + pub_init_pose = self.test_node.create_publisher( + PoseWithCovarianceStamped, "/initialpose3d", 10 + ) + init_pose = PoseWithCovarianceStamped() + init_pose.header.frame_id = "map" + init_pose.pose.pose.position.x = 0.0 + init_pose.pose.pose.position.y = 0.0 + init_pose.pose.pose.position.z = 0.0 + init_pose.pose.pose.orientation.x = 0.0 + init_pose.pose.pose.orientation.y = 0.0 + init_pose.pose.pose.orientation.z = 0.0 + init_pose.pose.pose.orientation.w = 1.0 + init_pose.pose.covariance = [ + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + ] + pub_init_pose.publish(init_pose) + + # Receive Odometry + msg_buffer = [] + self.test_node.create_subscription( + Odometry, "/ekf_odom", lambda msg: msg_buffer.append(msg), 10 + ) + + # Wait until the node publishes some topic + end_time = time.time() + self.evaluation_time + while time.time() < end_time: + rclpy.spin_once(self.test_node, timeout_sec=0.1) + + # Check if the EKF outputs some Odometry + self.assertTrue(len(msg_buffer) > 0) + + +@launch_testing.post_shutdown_test() +class TestProcessOutput(unittest.TestCase): + def test_exit_code(self, proc_info): + # Check that process exits with code 0: no error + launch_testing.asserts.assertExitCodes(proc_info) diff --git a/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py new file mode 100644 index 0000000000..29afd49535 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py @@ -0,0 +1,229 @@ +#!/usr/bin/env python3 + +# Copyright 2023 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import time +import unittest + +from ament_index_python import get_package_share_directory +from geometry_msgs.msg import PoseWithCovarianceStamped +import launch +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import AnyLaunchDescriptionSource +from launch.logging import get_logger +import launch_testing +from nav_msgs.msg import Odometry +import pytest +import rclpy +from std_srvs.srv import SetBool + +logger = get_logger(__name__) + + +@pytest.mark.launch_test +def generate_test_description(): + test_ekf_localizer_launch_file = os.path.join( + get_package_share_directory("autoware_ekf_localizer"), + "launch", + "ekf_localizer.launch.xml", + ) + ekf_localizer = IncludeLaunchDescription( + AnyLaunchDescriptionSource(test_ekf_localizer_launch_file), + ) + + return launch.LaunchDescription( + [ + ekf_localizer, + # Start tests right away - no need to wait for anything + launch_testing.actions.ReadyToTest(), + ] + ) + + +class TestEKFLocalizer(unittest.TestCase): + @classmethod + def setUpClass(cls): + # Initialize the ROS context for the test node + rclpy.init() + + @classmethod + def tearDownClass(cls): + # Shutdown the ROS context + rclpy.shutdown() + + def setUp(self): + # Create a ROS node for tests + self.test_node = rclpy.create_node("test_node") + self.evaluation_time = 0.2 # 200ms + + def tearDown(self): + self.test_node.destroy_node() + + @staticmethod + def print_message(stat): + logger.debug("===========================") + logger.debug(stat) + + def test_node_link(self): + # Trigger ekf_localizer to activate the node + cli_trigger = self.test_node.create_client(SetBool, "/trigger_node") + while not cli_trigger.wait_for_service(timeout_sec=1.0): + continue + + request = SetBool.Request() + request.data = True + future = cli_trigger.call_async(request) + rclpy.spin_until_future_complete(self.test_node, future) + + if future.result() is not None: + self.test_node.get_logger().info("Result of bool service: %s" % future.result().message) + else: + self.test_node.get_logger().error( + "Exception while calling service: %r" % future.exception() + ) + + # Send initial pose + pub_init_pose = self.test_node.create_publisher( + PoseWithCovarianceStamped, "/initialpose3d", 10 + ) + init_pose = PoseWithCovarianceStamped() + init_pose.header.frame_id = "map" + init_pose.pose.pose.position.x = 0.0 + init_pose.pose.pose.position.y = 0.0 + init_pose.pose.pose.position.z = 0.0 + init_pose.pose.pose.orientation.x = 0.0 + init_pose.pose.pose.orientation.y = 0.0 + init_pose.pose.pose.orientation.z = 0.0 + init_pose.pose.pose.orientation.w = 1.0 + init_pose.pose.covariance = [ + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + ] + pub_init_pose.publish(init_pose) + rclpy.spin_once(self.test_node, timeout_sec=0.1) + + # Send pose that should be ignored by mahalanobis gate in ekf_localizer + pub_pose = self.test_node.create_publisher( + PoseWithCovarianceStamped, "/in_pose_with_covariance", 10 + ) + pose = PoseWithCovarianceStamped() + pose.header.frame_id = "map" + pose.pose.pose.position.x = 1000000.0 + pose.pose.pose.position.y = 1000000.0 + pose.pose.pose.position.z = 10.0 + pose.pose.pose.orientation.x = 0.0 + pose.pose.pose.orientation.y = 0.0 + pose.pose.pose.orientation.z = 0.0 + pose.pose.pose.orientation.w = 1.0 + pose.pose.covariance = [ + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.01, + ] + pub_pose.publish(pose) + + # Receive Odometry + msg_buffer = [] + self.test_node.create_subscription( + Odometry, "/ekf_odom", lambda msg: msg_buffer.append(msg), 10 + ) + + # Wait until the node publishes some topic + end_time = time.time() + self.evaluation_time + while time.time() < end_time: + rclpy.spin_once(self.test_node, timeout_sec=0.1) + + # Check if the EKF outputs some Odometry + self.assertTrue(len(msg_buffer) > 0) + + # Assert msg to be at the origin + self.assertEqual(msg_buffer[-1].pose.pose.position.x, 0.0) + self.assertEqual(msg_buffer[-1].pose.pose.position.y, 0.0) + self.assertEqual(msg_buffer[-1].pose.pose.position.z, 0.0) + + +@launch_testing.post_shutdown_test() +class TestProcessOutput(unittest.TestCase): + def test_exit_code(self, proc_info): + # Check that process exits with code 0: no error + launch_testing.asserts.assertExitCodes(proc_info) diff --git a/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp new file mode 100644 index 0000000000..3f867470a3 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp @@ -0,0 +1,66 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/mahalanobis.hpp" + +#include + +namespace autoware::ekf_localizer +{ + +constexpr double tolerance = 1e-8; + +TEST(squared_mahalanobis, SmokeTest) +{ + { + Eigen::Vector2d x(0, 1); + Eigen::Vector2d y(3, 2); + Eigen::Matrix2d c; + c << 10, 0, 0, 10; + + EXPECT_NEAR(squared_mahalanobis(x, y, c), 1.0, tolerance); + } + + { + Eigen::Vector2d x(4, 1); + Eigen::Vector2d y(1, 5); + Eigen::Matrix2d c; + c << 5, 0, 0, 5; + + EXPECT_NEAR(squared_mahalanobis(x, y, c), 5.0, tolerance); + } +} + +TEST(mahalanobis, SmokeTest) +{ + { + Eigen::Vector2d x(0, 1); + Eigen::Vector2d y(3, 2); + Eigen::Matrix2d c; + c << 10, 0, 0, 10; + + EXPECT_NEAR(mahalanobis(x, y, c), 1.0, tolerance); + } + + { + Eigen::Vector2d x(4, 1); + Eigen::Vector2d y(1, 5); + Eigen::Matrix2d c; + c << 5, 0, 0, 5; + + EXPECT_NEAR(mahalanobis(x, y, c), std::sqrt(5.0), tolerance); + } +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_measurement.cpp b/localization/autoware_ekf_localizer/test/test_measurement.cpp new file mode 100644 index 0000000000..99dcc1744c --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_measurement.cpp @@ -0,0 +1,86 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/measurement.hpp" + +#include + +namespace autoware::ekf_localizer +{ + +TEST(Measurement, pose_measurement_matrix) +{ + const Eigen::Matrix m = pose_measurement_matrix(); + Eigen::Matrix expected; + expected << 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0; + EXPECT_EQ((m - expected).norm(), 0); +} + +TEST(Measurement, twist_measurement_matrix) +{ + const Eigen::Matrix m = twist_measurement_matrix(); + Eigen::Matrix expected; + expected << 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1; + EXPECT_EQ((m - expected).norm(), 0); +} + +TEST(Measurement, pose_measurement_covariance) +{ + { + const std::array covariance = {1, 2, 0, 0, 0, 3, 4, 5, 0, 0, 0, 6, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 7, 8, 0, 0, 0, 9}; + + const Eigen::Matrix3d m = pose_measurement_covariance(covariance, 2); + + Eigen::Matrix3d expected; + expected << 2, 4, 6, 8, 10, 12, 14, 16, 18; + + EXPECT_EQ((m - expected).norm(), 0.); + } + + { + // Make sure that other elements are not changed + std::array covariance{}; + covariance.fill(0); + const Eigen::Matrix3d m = pose_measurement_covariance(covariance, 2.); + EXPECT_EQ(m.norm(), 0); + } +} + +TEST(Measurement, twist_measurement_covariance) +{ + { + const std::array covariance = {1, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 6, + 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 4}; + + const Eigen::Matrix2d m = twist_measurement_covariance(covariance, 2); + + Eigen::Matrix2d expected; + expected << 2, 4, 6, 8; + + EXPECT_EQ((m - expected).norm(), 0.); + } + + { + // Make sure that other elements are not changed + std::array covariance{}; + covariance.fill(0); + const Eigen::Matrix2d m = twist_measurement_covariance(covariance, 2.); + EXPECT_EQ(m.norm(), 0); + } +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp new file mode 100644 index 0000000000..080ce01f31 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_numeric.cpp @@ -0,0 +1,54 @@ +// Copyright 2022 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/numeric.hpp" + +#include + +#include + +#include + +namespace autoware::ekf_localizer +{ + +TEST(Numeric, has_nan) +{ + const Eigen::VectorXd empty(0); + const double inf = std::numeric_limits::infinity(); + const double nan = std::nan(""); + + EXPECT_FALSE(has_nan(empty)); + EXPECT_FALSE(has_nan(Eigen::Vector3d(0., 0., 1.))); + EXPECT_FALSE(has_nan(Eigen::Vector3d(1e16, 0., 1.))); + EXPECT_FALSE(has_nan(Eigen::Vector3d(0., 1., inf))); + + EXPECT_TRUE(has_nan(Eigen::Vector3d(nan, 1., 0.))); +} + +TEST(Numeric, has_inf) +{ + const Eigen::VectorXd empty(0); + const double inf = std::numeric_limits::infinity(); + const double nan = std::nan(""); + + EXPECT_FALSE(has_inf(empty)); + EXPECT_FALSE(has_inf(Eigen::Vector3d(0., 0., 1.))); + EXPECT_FALSE(has_inf(Eigen::Vector3d(1e16, 0., 1.))); + EXPECT_FALSE(has_inf(Eigen::Vector3d(nan, 1., 0.))); + + EXPECT_TRUE(has_inf(Eigen::Vector3d(0., 1., inf))); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_state_transition.cpp b/localization/autoware_ekf_localizer/test/test_state_transition.cpp new file mode 100644 index 0000000000..667c6b5ef2 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_state_transition.cpp @@ -0,0 +1,101 @@ +// Copyright 2018-2019 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#define _USE_MATH_DEFINES +#include "autoware/ekf_localizer/state_index.hpp" +#include "autoware/ekf_localizer/state_transition.hpp" + +#include + +#include + +namespace autoware::ekf_localizer +{ + +TEST(StateTransition, normalize_yaw) +{ + const double tolerance = 1e-6; + EXPECT_NEAR(normalize_yaw(M_PI * 4 / 3), -M_PI * 2 / 3, tolerance); + EXPECT_NEAR(normalize_yaw(-M_PI * 4 / 3), M_PI * 2 / 3, tolerance); + EXPECT_NEAR(normalize_yaw(M_PI * 9 / 2), M_PI * 1 / 2, tolerance); + EXPECT_NEAR(normalize_yaw(M_PI * 4), M_PI * 0, tolerance); +} + +TEST(predict_next_state, predict_next_state) +{ + // This function is the definition of state transition so we just check + // if the calculation is done according to the formula + Vector6d x_curr; + x_curr(0) = 2.; + x_curr(1) = 3.; + x_curr(2) = M_PI / 2.; + x_curr(3) = M_PI / 4.; + x_curr(4) = 10.; + x_curr(5) = 2. * M_PI / 3.; + + const double dt = 0.5; + + const Vector6d x_next = predict_next_state(x_curr, dt); + + const double tolerance = 1e-10; + EXPECT_NEAR(x_next(0), 2. + 10. * std::cos(M_PI / 2. + M_PI / 4.) * 0.5, tolerance); + EXPECT_NEAR(x_next(1), 3. + 10. * std::sin(M_PI / 2. + M_PI / 4.) * 0.5, tolerance); + EXPECT_NEAR(x_next(2), normalize_yaw(M_PI / 2. + M_PI / 3.), tolerance); + EXPECT_NEAR(x_next(3), x_curr(3), tolerance); + EXPECT_NEAR(x_next(4), x_curr(4), tolerance); + EXPECT_NEAR(x_next(5), x_curr(5), tolerance); +} + +TEST(create_state_transition_matrix, NumericalApproximation) +{ + // The transition matrix A = df / dx + // We check if df = A * dx approximates f(x + dx) - f(x) + + { + // check around x = 0 + const double dt = 0.1; + const Vector6d dx = 0.1 * Vector6d::Ones(); + const Vector6d x = Vector6d::Zero(); + + const Matrix6d a = create_state_transition_matrix(x, dt); + const Vector6d df = predict_next_state(x + dx, dt) - predict_next_state(x, dt); + + EXPECT_LT((df - a * dx).norm(), 2e-3); + } + + { + // check around random x + const double dt = 0.1; + const Vector6d dx = 0.1 * Vector6d::Ones(); + const Vector6d x = (Vector6d() << 0.1, 0.2, 0.1, 0.4, 0.1, 0.3).finished(); + + const Matrix6d a = create_state_transition_matrix(x, dt); + const Vector6d df = predict_next_state(x + dx, dt) - predict_next_state(x, dt); + + EXPECT_LT((df - a * dx).norm(), 5e-3); + } +} + +TEST(process_noise_covariance, process_noise_covariance) +{ + const Matrix6d q = process_noise_covariance(1., 2., 3.); + EXPECT_EQ(q(2, 2), 1.); // for yaw + EXPECT_EQ(q(4, 4), 2.); // for vx + EXPECT_EQ(q(5, 5), 3.); // for wz + + // Make sure other elements are zero + EXPECT_EQ(process_noise_covariance(0, 0, 0).norm(), 0.); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_string.cpp b/localization/autoware_ekf_localizer/test/test_string.cpp new file mode 100644 index 0000000000..b1fae1f88b --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_string.cpp @@ -0,0 +1,31 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/string.hpp" + +#include + +namespace autoware::ekf_localizer +{ + +TEST(erase_leading_slash, SmokeTest) +{ + EXPECT_EQ(erase_leading_slash("/topic"), "topic"); + EXPECT_EQ(erase_leading_slash("topic"), "topic"); // do nothing + + EXPECT_EQ(erase_leading_slash(""), ""); + EXPECT_EQ(erase_leading_slash("/"), ""); +} + +} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_warning_message.cpp b/localization/autoware_ekf_localizer/test/test_warning_message.cpp new file mode 100644 index 0000000000..791e86c050 --- /dev/null +++ b/localization/autoware_ekf_localizer/test/test_warning_message.cpp @@ -0,0 +1,67 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "autoware/ekf_localizer/warning_message.hpp" + +#include + +#include + +namespace autoware::ekf_localizer +{ + +TEST(pose_delay_step_warning_message, SmokeTest) +{ + EXPECT_STREQ( + pose_delay_step_warning_message(6.0, 4.0).c_str(), + "Pose delay exceeds the compensation limit, ignored. " + "delay: 6.000[s], limit: 4.000[s]"); +} + +TEST(twist_delay_step_warning_message, SmokeTest) +{ + EXPECT_STREQ( + twist_delay_step_warning_message(10.0, 6.0).c_str(), + "Twist delay exceeds the compensation limit, ignored. " + "delay: 10.000[s], limit: 6.000[s]"); +} + +TEST(pose_delay_time_warning_message, SmokeTest) +{ + EXPECT_STREQ( + pose_delay_time_warning_message(-1.0).c_str(), + "Pose time stamp is inappropriate, set delay to 0[s]. delay = -1.000"); + EXPECT_STREQ( + pose_delay_time_warning_message(-0.4).c_str(), + "Pose time stamp is inappropriate, set delay to 0[s]. delay = -0.400"); +} + +TEST(twist_delay_time_warning_message, SmokeTest) +{ + EXPECT_STREQ( + twist_delay_time_warning_message(-1.0).c_str(), + "Twist time stamp is inappropriate, set delay to 0[s]. delay = -1.000"); + EXPECT_STREQ( + twist_delay_time_warning_message(-0.4).c_str(), + "Twist time stamp is inappropriate, set delay to 0[s]. delay = -0.400"); +} + +TEST(mahalanobis_warning_message, SmokeTest) +{ + EXPECT_STREQ( + mahalanobis_warning_message(1.0, 0.5).c_str(), + "The Mahalanobis distance 1.0000 is over the limit 0.5000."); +} + +} // namespace autoware::ekf_localizer From 3a1ebc12139d19a6751acf4cc47ca88de35bddcb Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 21 Jan 2025 19:39:25 +0900 Subject: [PATCH 2/4] feat(workflows): bump version workflow (#176) --- .github/workflows/bump-version-pr.yaml | 80 ++++++++++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 .github/workflows/bump-version-pr.yaml diff --git a/.github/workflows/bump-version-pr.yaml b/.github/workflows/bump-version-pr.yaml new file mode 100644 index 0000000000..5f3a931e90 --- /dev/null +++ b/.github/workflows/bump-version-pr.yaml @@ -0,0 +1,80 @@ +name: bump-version-pr + +on: + workflow_dispatch: + inputs: + version_part: + description: Which part of the version number to bump? + required: true + default: minor + type: choice + options: + - major + - minor + - patch + +jobs: + bump-version-pr: + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v4 + with: + ref: humble + fetch-depth: 0 + + - name: Generate token + id: generate-token + uses: actions/create-github-app-token@v1 + with: + app-id: ${{ secrets.APP_ID }} + private-key: ${{ secrets.PRIVATE_KEY }} + + - name: Set git config + uses: autowarefoundation/autoware-github-actions/set-git-config@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + + - name: Setup Python 3.x + uses: actions/setup-python@v5 + with: + python-version: 3.x + + - name: Install dependencies + run: pip3 install -U catkin_tools + shell: bash + + - name: Bump version from humble branch + id: bump-version-from-humble-branch + run: | + git checkout -b tmp/bot/bump_version_base + git fetch origin main + git merge origin/main + catkin_generate_changelog -y + git add * + git commit -m "update CHANGELOG.rst" + catkin_prepare_release -y --bump ${{ inputs.version_part }} --no-push + version=$(git describe --tags) + echo "version=${version}" >> $GITHUB_OUTPUT + shell: bash + + - name: Create target branch + run: | + git checkout origin/main + git checkout -b chore/bot/bump_version + git merge tmp/bot/bump_version_base + git push origin chore/bot/bump_version --force + shell: bash + + - name: Create PR + id: create-pr + run: > + gh + pr + create + --base=main + --body="Bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}" + --title="chore: bump version to ${{ steps.bump-version-from-humble-branch.outputs.version }}" + --head=chore/bot/bump_version + env: + GH_TOKEN: ${{ steps.generate-token.outputs.token }} From 73aa9870f4508a6f8089609a38af1ebecdaae056 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 22 Jan 2025 16:05:31 +0900 Subject: [PATCH 3/4] revert: revert "feat(autoware_ekf_localizer)!: porting from universe to core" (#178) This reverts commit 7edb0d59a06282c19c721b9a024aa87871e5c5fe. Signed-off-by: Ryohsuke Mitsudome --- build_depends.repos | 4 - .../autoware_ekf_localizer/CMakeLists.txt | 82 ---- localization/autoware_ekf_localizer/README.md | 211 -------- .../config/ekf_localizer.param.yaml | 50 -- .../ekf_localizer/aged_object_queue.hpp | 71 --- .../autoware/ekf_localizer/covariance.hpp | 28 -- .../autoware/ekf_localizer/diagnostics.hpp | 49 -- .../autoware/ekf_localizer/ekf_localizer.hpp | 199 -------- .../autoware/ekf_localizer/ekf_module.hpp | 156 ------ .../ekf_localizer/hyper_parameters.hpp | 108 ---- .../autoware/ekf_localizer/mahalanobis.hpp | 31 -- .../autoware/ekf_localizer/matrix_types.hpp | 28 -- .../autoware/ekf_localizer/measurement.hpp | 32 -- .../autoware/ekf_localizer/numeric.hpp | 37 -- .../autoware/ekf_localizer/state_index.hpp | 32 -- .../ekf_localizer/state_transition.hpp | 31 -- .../include/autoware/ekf_localizer/string.hpp | 34 -- .../autoware/ekf_localizer/warning.hpp | 48 -- .../ekf_localizer/warning_message.hpp | 33 -- .../launch/ekf_localizer.launch.xml | 40 -- .../media/calculation_delta_from_pitch.png | Bin 56991 -> 0 bytes .../media/delay_model_eq.png | Bin 4906 -> 0 bytes .../media/ekf_autoware_res.png | Bin 69064 -> 0 bytes .../media/ekf_delay_comp.png | Bin 147442 -> 0 bytes .../media/ekf_diagnostics.png | Bin 145097 -> 0 bytes .../media/ekf_diagnostics_callback_pose.png | Bin 17825 -> 0 bytes .../media/ekf_diagnostics_callback_twist.png | Bin 17945 -> 0 bytes .../media/ekf_dynamics.png | Bin 5346 -> 0 bytes .../media/ekf_flowchart.png | Bin 146302 -> 0 bytes .../media/ekf_smooth_update.png | Bin 146470 -> 0 bytes .../autoware_ekf_localizer/package.xml | 47 -- .../schema/ekf_localizer.schema.json | 52 -- .../schema/sub/diagnostics.sub_schema.json | 63 --- .../schema/sub/misc.sub_schema.json | 23 - .../schema/sub/node.sub_schema.json | 44 -- .../sub/pose_measurement.sub_schema.json | 38 -- .../schema/sub/process_noise.sub_schema.json | 28 -- ...imple_1d_filter_parameters.sub_schema.json | 28 -- .../sub/twist_measurement.sub_schema.json | 28 -- .../autoware_ekf_localizer/src/covariance.cpp | 56 --- .../src/diagnostics.cpp | 226 --------- .../src/ekf_localizer.cpp | 463 ------------------ .../autoware_ekf_localizer/src/ekf_module.cpp | 459 ----------------- .../src/mahalanobis.cpp | 32 -- .../src/measurement.cpp | 61 --- .../src/state_transition.cpp | 102 ---- .../src/warning_message.cpp | 60 --- .../test/test_aged_object_queue.cpp | 108 ---- .../test/test_covariance.cpp | 84 ---- .../test/test_diagnostics.cpp | 213 -------- .../test/test_ekf_localizer_launch.py | 170 ------- .../test/test_ekf_localizer_mahalanobis.py | 229 --------- .../test/test_mahalanobis.cpp | 66 --- .../test/test_measurement.cpp | 86 ---- .../test/test_numeric.cpp | 54 -- .../test/test_state_transition.cpp | 101 ---- .../test/test_string.cpp | 31 -- .../test/test_warning_message.cpp | 67 --- 58 files changed, 4323 deletions(-) delete mode 100644 localization/autoware_ekf_localizer/CMakeLists.txt delete mode 100644 localization/autoware_ekf_localizer/README.md delete mode 100644 localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp delete mode 100644 localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp delete mode 100644 localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml delete mode 100644 localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png delete mode 100644 localization/autoware_ekf_localizer/media/delay_model_eq.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_autoware_res.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_delay_comp.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_pose.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_dynamics.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_flowchart.png delete mode 100644 localization/autoware_ekf_localizer/media/ekf_smooth_update.png delete mode 100644 localization/autoware_ekf_localizer/package.xml delete mode 100644 localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json delete mode 100644 localization/autoware_ekf_localizer/src/covariance.cpp delete mode 100644 localization/autoware_ekf_localizer/src/diagnostics.cpp delete mode 100644 localization/autoware_ekf_localizer/src/ekf_localizer.cpp delete mode 100644 localization/autoware_ekf_localizer/src/ekf_module.cpp delete mode 100644 localization/autoware_ekf_localizer/src/mahalanobis.cpp delete mode 100644 localization/autoware_ekf_localizer/src/measurement.cpp delete mode 100644 localization/autoware_ekf_localizer/src/state_transition.cpp delete mode 100644 localization/autoware_ekf_localizer/src/warning_message.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_covariance.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_diagnostics.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py delete mode 100644 localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py delete mode 100644 localization/autoware_ekf_localizer/test/test_mahalanobis.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_measurement.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_numeric.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_state_transition.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_string.cpp delete mode 100644 localization/autoware_ekf_localizer/test/test_warning_message.cpp diff --git a/build_depends.repos b/build_depends.repos index 6bab4a0055..0b81f20483 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -3,7 +3,3 @@ repositories: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: main - autoware_internal_msgs: - type: git - url: https://github.com/autowarefoundation/autoware_internal_msgs.git - version: main diff --git a/localization/autoware_ekf_localizer/CMakeLists.txt b/localization/autoware_ekf_localizer/CMakeLists.txt deleted file mode 100644 index 6ace0b413d..0000000000 --- a/localization/autoware_ekf_localizer/CMakeLists.txt +++ /dev/null @@ -1,82 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_ekf_localizer) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Eigen3 REQUIRED) - -include_directories( - SYSTEM - ${EIGEN3_INCLUDE_DIR} -) - -ament_auto_find_build_dependencies() - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/ekf_localizer.cpp - src/covariance.cpp - src/diagnostics.cpp - src/mahalanobis.cpp - src/measurement.cpp - src/state_transition.cpp - src/warning_message.cpp - src/ekf_module.cpp -) - -rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "autoware::ekf_localizer::EKFLocalizer" - EXECUTABLE ${PROJECT_NAME}_node - EXECUTOR SingleThreadedExecutor -) - -target_link_libraries(${PROJECT_NAME} Eigen3::Eigen) - -function(add_testcase filepath) - get_filename_component(filename ${filepath} NAME) - string(REGEX REPLACE ".cpp" "" test_name ${filename}) - - ament_add_gtest(${test_name} ${filepath}) - target_link_libraries("${test_name}" ${PROJECT_NAME}) - ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) -endfunction() - -if(BUILD_TESTING) - add_launch_test( - test/test_ekf_localizer_launch.py - TIMEOUT "30" - ) - add_launch_test( - test/test_ekf_localizer_mahalanobis.py - TIMEOUT "30" - ) - find_package(ament_cmake_gtest REQUIRED) - - file(GLOB_RECURSE TEST_FILES test/*.cpp) - - foreach(filepath ${TEST_FILES}) - add_testcase(${filepath}) - endforeach() -endif() - - -# if(BUILD_TESTING) -# find_package(ament_cmake_ros REQUIRED) -# ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test -# test/src/test_ekf_localizer.cpp -# src/ekf_localizer.cpp -# src/kalman_filter/kalman_filter.cpp -# src/kalman_filter/time_delay_kalman_filter.cpp -# ) -# target_include_directories(ekf_localizer-test -# PRIVATE -# include -# ) -# ament_target_dependencies(ekf_localizer-test geometry_msgs rclcpp tf2 tf2_ros) -# endif() - -ament_auto_package( - INSTALL_TO_SHARE - config - launch -) diff --git a/localization/autoware_ekf_localizer/README.md b/localization/autoware_ekf_localizer/README.md deleted file mode 100644 index a46ea71813..0000000000 --- a/localization/autoware_ekf_localizer/README.md +++ /dev/null @@ -1,211 +0,0 @@ -# Overview - -The **Extend Kalman Filter Localizer** estimates robust and less noisy robot pose and twist by integrating the 2D vehicle dynamics model with input ego-pose and ego-twist messages. The algorithm is designed especially for fast-moving robots such as autonomous driving systems. - -## Flowchart - -The overall flowchart of the autoware_ekf_localizer is described below. - -

- -

- -## Features - -This package includes the following features: - -- **Time delay compensation** for input messages, which enables proper integration of input information with varying time delays. This is important especially for high-speed moving robots, such as autonomous driving vehicles. (see the following figure). -- **Automatic estimation of yaw bias** prevents modeling errors caused by sensor mounting angle errors, which can improve estimation accuracy. -- **Mahalanobis distance gate** enables probabilistic outlier detection to determine which inputs should be used or ignored. -- **Smooth update**, the Kalman Filter measurement update is typically performed when a measurement is obtained, but it can cause large changes in the estimated value, especially for low-frequency measurements. Since the algorithm can consider the measurement time, the measurement data can be divided into multiple pieces and integrated smoothly while maintaining consistency (see the following figure). -- **Calculation of vertical correction amount from pitch** mitigates localization instability on slopes. For example, when going uphill, it behaves as if it is buried in the ground (see the left side of the "Calculate delta from pitch" figure) because EKF only considers 3DoF(x,y,yaw). Therefore, EKF corrects the z-coordinate according to the formula (see the right side of the "Calculate delta from pitch" figure). - -

- -

- -

- -

- -

- -

- -## Node - -### Subscribed Topics - -| Name | Type | Description | -| -------------------------------- | ------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------- | -| `measured_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input pose source with the measurement covariance matrix. | -| `measured_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | Input twist source with the measurement covariance matrix. | -| `initialpose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Initial pose for EKF. The estimated pose is initialized with zeros at the start. It is initialized with this message whenever published. | - -### Published Topics - -| Name | Type | Description | -| --------------------------------- | --------------------------------------------------- | ----------------------------------------------------- | -| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. | -| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. | -| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. | -| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias | -| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias | -| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. | -| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. | -| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. | -| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms]. | - -### Published TF - -- base_link - TF from `map` coordinate to estimated pose. - -## Functions - -### Predict - -The current robot state is predicted from previously estimated data using a given prediction model. This calculation is called at a constant interval (`predict_frequency [Hz]`). The prediction equation is described at the end of this page. - -### Measurement Update - -Before the update, the Mahalanobis distance is calculated between the measured input and the predicted state, the measurement update is not performed for inputs where the Mahalanobis distance exceeds the given threshold. - -The predicted state is updated with the latest measured inputs, measured_pose, and measured_twist. The updates are performed with the same frequency as prediction, usually at a high frequency, in order to enable smooth state estimation. - -## Parameter description - -The parameters are set in `launch/ekf_localizer.launch` . - -### For Node - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json") }} - -### For pose measurement - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json") }} - -### For twist measurement - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json") }} - -### For process noise - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json") }} - -note: process noise for positions x & y are calculated automatically from nonlinear dynamics. - -### Simple 1D Filter Parameters - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json") }} - -### For diagnostics - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json") }} - -### Misc - -{{ json_to_markdown("localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json") }} - -## How to tune EKF parameters - -### 0. Preliminaries - -- Check header time in pose and twist message is set to sensor time appropriately, because time delay is calculated from this value. If it is difficult to set an appropriate time due to the timer synchronization problem, use `twist_additional_delay` and `pose_additional_delay` to correct the time. -- Check if the relation between measurement pose and twist is appropriate (whether the derivative of the pose has a similar value to twist). This discrepancy is caused mainly by unit error (such as confusing radian/degree) or bias noise, and it causes large estimation errors. - -### 1. Tune sensor parameters - -Set standard deviation for each sensor. The `pose_measure_uncertainty_time` is for the uncertainty of the header timestamp data. -You can also tune a number of steps for smoothing for each observed sensor data by tuning `*_smoothing_steps`. -Increasing the number will improve the smoothness of the estimation, but may have an adverse effect on the estimation performance. - -- `pose_measure_uncertainty_time` -- `pose_smoothing_steps` -- `twist_smoothing_steps` - -### 2. Tune process model parameters - -- `proc_stddev_vx_c` : set to maximum linear acceleration -- `proc_stddev_wz_c` : set to maximum angular acceleration -- `proc_stddev_yaw_c` : This parameter describes the correlation between the yaw and yaw rate. A large value means the change in yaw does not correlate to the estimated yaw rate. If this is set to 0, it means the change in estimated yaw is equal to yaw rate. Usually, this should be set to 0. -- `proc_stddev_yaw_bias_c` : This parameter is the standard deviation for the rate of change in yaw bias. In most cases, yaw bias is constant, so it can be very small, but must be non-zero. - -### 3. Tune gate parameters - -EKF performs gating using Mahalanobis distance before updating by observation. The gate size is determined by the `pose_gate_dist` parameter and the `twist_gate_dist`. If the Mahalanobis distance is larger than this value, the observation is ignored. - -This gating process is based on a statistical test using the chi-square distribution. As modeled, we assume that the Mahalanobis distance follows a chi-square distribution with 3 degrees of freedom for pose and 2 degrees of freedom for twist. - -Currently, the accuracy of covariance estimation itself is not very good, so it is recommended to set the significance level to a very small value to reduce rejection due to false positives. - -| Significance level | Threshold for 2 dof | Threshold for 3 dof | -| ------------------ | ------------------- | ------------------- | -| $10 ^ {-2}$ | 9.21 | 11.3 | -| $10 ^ {-3}$ | 13.8 | 16.3 | -| $10 ^ {-4}$ | 18.4 | 21.1 | -| $10 ^ {-5}$ | 23.0 | 25.9 | -| $10 ^ {-6}$ | 27.6 | 30.7 | -| $10 ^ {-7}$ | 32.2 | 35.4 | -| $10 ^ {-8}$ | 36.8 | 40.1 | -| $10 ^ {-9}$ | 41.4 | 44.8 | -| $10 ^ {-10}$ | 46.1 | 49.5 | - -## Kalman Filter Model - -### kinematics model in update function - - - -where, $\theta_k$ represents the vehicle's heading angle, including the mounting angle bias. -$b_k$ is a correction term for the yaw bias, and it is modeled so that $(\theta_k+b_k)$ becomes the heading angle of the base_link. -The pose_estimator is expected to publish the base_link in the map coordinate system. However, the yaw angle may be offset due to calibration errors. This model compensates this error and improves estimation accuracy. - -### time delay model - -The measurement time delay is handled by an augmented state [1] (See, Section 7.3 FIXED-LAG SMOOTHING). - - - -Note that, although the dimension gets larger since the analytical expansion can be applied based on the specific structures of the augmented states, the computational complexity does not significantly change. - -## Test Result with Autoware NDT - -

- -

- -## Diagnostics - -

- -

- -

- -

-

- -

- -### The conditions that result in a WARN state - -- The node is not in the activate state. -- The initial pose is not set. -- The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_warn`/`twist_no_update_count_threshold_warn`. -- The timestamp of the Pose/Twist topic is beyond the delay compensation range. -- The Pose/Twist topic is beyond the range of Mahalanobis distance for covariance estimation. -- The covariance ellipse is bigger than threshold `warn_ellipse_size` for long axis or `warn_ellipse_size_lateral_direction` for lateral_direction. - -### The conditions that result in an ERROR state - -- The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_error`/`twist_no_update_count_threshold_error`. -- The covariance ellipse is bigger than threshold `error_ellipse_size` for long axis or `error_ellipse_size_lateral_direction` for lateral_direction. - -## Known issues - -- If multiple pose_estimators are used, the input to the EKF will include multiple yaw biases corresponding to each source. However, the current EKF assumes the existence of only one yaw bias. Therefore, yaw bias `b_k` in the current EKF state would not make any sense and cannot correctly handle these multiple yaw biases. Thus, future work includes introducing yaw bias for each sensor with yaw estimation. - -## reference - -[1] Anderson, B. D. O., & Moore, J. B. (1979). Optimal filtering. Englewood Cliffs, NJ: Prentice-Hall. diff --git a/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml b/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml deleted file mode 100644 index e00d5e1c10..0000000000 --- a/localization/autoware_ekf_localizer/config/ekf_localizer.param.yaml +++ /dev/null @@ -1,50 +0,0 @@ -/**: - ros__parameters: - node: - show_debug_info: false - enable_yaw_bias_estimation: true - predict_frequency: 50.0 - tf_rate: 50.0 - extend_state_step: 50 - - pose_measurement: - # for Pose measurement - pose_additional_delay: 0.0 - pose_measure_uncertainty_time: 0.01 - pose_smoothing_steps: 5 - pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 - - twist_measurement: - # for twist measurement - twist_additional_delay: 0.0 - twist_smoothing_steps: 2 - twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 - - process_noise: - # for process model - proc_stddev_yaw_c: 0.005 - proc_stddev_vx_c: 10.0 - proc_stddev_wz_c: 5.0 - - simple_1d_filter_parameters: - #Simple1DFilter parameters - z_filter_proc_dev: 1.0 - roll_filter_proc_dev: 0.1 - pitch_filter_proc_dev: 0.1 - - diagnostics: - # for diagnostics - pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 100 - twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 100 - ellipse_scale: 3.0 - error_ellipse_size: 1.5 - warn_ellipse_size: 1.2 - error_ellipse_size_lateral_direction: 0.3 - warn_ellipse_size_lateral_direction: 0.25 - - misc: - # for velocity measurement limitation (Set 0.0 if you want to ignore) - threshold_observable_velocity_mps: 0.0 # [m/s] - pose_frame_id: "map" diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp deleted file mode 100644 index 2b6f209c71..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/aged_object_queue.hpp +++ /dev/null @@ -1,71 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ -#define AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ - -#include -#include - -namespace autoware::ekf_localizer -{ - -template -class AgedObjectQueue -{ -public: - explicit AgedObjectQueue(const size_t max_age) : max_age_(max_age) {} - - [[nodiscard]] bool empty() const { return this->size() == 0; } - - [[nodiscard]] size_t size() const { return objects_.size(); } - - Object back() const { return objects_.back(); } - - void push(const Object & object) - { - objects_.push(object); - ages_.push(0); - } - - Object pop_increment_age() - { - const Object object = objects_.front(); - const size_t age = ages_.front() + 1; - objects_.pop(); - ages_.pop(); - - if (age < max_age_) { - objects_.push(object); - ages_.push(age); - } - - return object; - } - - void clear() - { - objects_ = std::queue(); - ages_ = std::queue(); - } - -private: - const size_t max_age_; - std::queue objects_; - std::queue ages_; -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp deleted file mode 100644 index 018b93f86d..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/covariance.hpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ -#define AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ - -#include "autoware/ekf_localizer/matrix_types.hpp" - -namespace autoware::ekf_localizer -{ - -std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P); -std::array ekf_covariance_to_twist_message_covariance(const Matrix6d & P); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__COVARIANCE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp deleted file mode 100644 index b194c3e956..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/diagnostics.hpp +++ /dev/null @@ -1,49 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ -#define AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ - -#include - -#include -#include - -namespace autoware::ekf_localizer -{ - -diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated); -diagnostic_msgs::msg::DiagnosticStatus check_set_initialpose(const bool is_set_initialpose); - -diagnostic_msgs::msg::DiagnosticStatus check_measurement_updated( - const std::string & measurement_type, const size_t no_update_count, - const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error); -diagnostic_msgs::msg::DiagnosticStatus check_measurement_queue_size( - const std::string & measurement_type, const size_t queue_size); -diagnostic_msgs::msg::DiagnosticStatus check_measurement_delay_gate( - const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, - const double delay_time_threshold); -diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( - const std::string & measurement_type, const bool is_passed_mahalanobis_gate, - const double mahalanobis_distance, const double mahalanobis_distance_threshold); -diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( - const std::string & name, const double curr_size, const double warn_threshold, - const double error_threshold); - -diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( - const std::vector & stat_array); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__DIAGNOSTICS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp deleted file mode 100644 index 84018c043c..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp +++ /dev/null @@ -1,199 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ -#define AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ - -#include "autoware/ekf_localizer/aged_object_queue.hpp" -#include "autoware/ekf_localizer/ekf_module.hpp" -#include "autoware/ekf_localizer/hyper_parameters.hpp" -#include "autoware/ekf_localizer/warning.hpp" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -namespace autoware::ekf_localizer -{ - -class EKFLocalizer : public rclcpp::Node -{ -public: - explicit EKFLocalizer(const rclcpp::NodeOptions & options); - - // This function is only used in static tools to know when timer callbacks are triggered. - std::chrono::nanoseconds time_until_trigger() const - { - return timer_control_->time_until_trigger(); - } - -private: - const std::shared_ptr warning_; - - //!< @brief ekf estimated pose publisher - rclcpp::Publisher::SharedPtr pub_pose_; - //!< @brief estimated ekf pose with covariance publisher - rclcpp::Publisher::SharedPtr pub_pose_cov_; - //!< @brief estimated ekf odometry publisher - rclcpp::Publisher::SharedPtr pub_odom_; - //!< @brief ekf estimated twist publisher - rclcpp::Publisher::SharedPtr pub_twist_; - //!< @brief ekf estimated twist with covariance publisher - rclcpp::Publisher::SharedPtr pub_twist_cov_; - //!< @brief ekf estimated yaw bias publisher - rclcpp::Publisher::SharedPtr pub_yaw_bias_; - //!< @brief ekf estimated yaw bias publisher - rclcpp::Publisher::SharedPtr pub_biased_pose_; - //!< @brief ekf estimated yaw bias publisher - rclcpp::Publisher::SharedPtr pub_biased_pose_cov_; - //!< @brief diagnostics publisher - rclcpp::Publisher::SharedPtr pub_diag_; - //!< @brief processing_time publisher - rclcpp::Publisher::SharedPtr - pub_processing_time_; - //!< @brief initial pose subscriber - rclcpp::Subscription::SharedPtr sub_initialpose_; - //!< @brief measurement pose with covariance subscriber - rclcpp::Subscription::SharedPtr sub_pose_with_cov_; - //!< @brief measurement twist with covariance subscriber - rclcpp::Subscription::SharedPtr - sub_twist_with_cov_; - //!< @brief time for ekf calculation callback - rclcpp::TimerBase::SharedPtr timer_control_; - //!< @brief last predict time - std::shared_ptr last_predict_time_; - //!< @brief trigger_node service - rclcpp::Service::SharedPtr service_trigger_node_; - - //!< @brief tf broadcaster - std::shared_ptr tf_br_; - //!< @brief tf buffer - tf2_ros::Buffer tf2_buffer_; - //!< @brief tf listener - tf2_ros::TransformListener tf2_listener_; - - //!< @brief logger configure module - std::unique_ptr logger_configure_; - - //!< @brief extended kalman filter instance. - std::unique_ptr ekf_module_; - - const HyperParameters params_; - - double ekf_dt_; - - bool is_activated_; - bool is_set_initialpose_; - - EKFDiagnosticInfo pose_diag_info_; - EKFDiagnosticInfo twist_diag_info_; - - AgedObjectQueue pose_queue_; - AgedObjectQueue twist_queue_; - - /** - * @brief computes update & prediction of EKF for each ekf_dt_[s] time - */ - void timer_callback(); - - /** - * @brief set pose with covariance measurement - */ - void callback_pose_with_covariance(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - /** - * @brief set twist with covariance measurement - */ - void callback_twist_with_covariance( - geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg); - - /** - * @brief set initial_pose to current EKF pose - */ - void callback_initial_pose(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg); - - /** - * @brief update predict frequency - */ - void update_predict_frequency(const rclcpp::Time & current_time); - - /** - * @brief get transform from frame_id - */ - bool get_transform_from_tf( - std::string parent_frame, std::string child_frame, - geometry_msgs::msg::TransformStamped & transform); - - /** - * @brief publish current EKF estimation result - */ - void publish_estimate_result( - const geometry_msgs::msg::PoseStamped & current_ekf_pose, - const geometry_msgs::msg::PoseStamped & current_biased_ekf_pose, - const geometry_msgs::msg::TwistStamped & current_ekf_twist); - - /** - * @brief publish diagnostics message - */ - void publish_diagnostics( - const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time); - - /** - * @brief publish diagnostics message for return - */ - void publish_callback_return_diagnostics( - const std::string & callback_name, const rclcpp::Time & current_time); - - /** - * @brief trigger node - */ - void service_trigger_node( - const std_srvs::srv::SetBool::Request::SharedPtr req, - std_srvs::srv::SetBool::Response::SharedPtr res); - - autoware::universe_utils::StopWatch stop_watch_; - autoware::universe_utils::StopWatch stop_watch_timer_cb_; - - friend class EKFLocalizerTestSuite; // for test code -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__EKF_LOCALIZER_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp deleted file mode 100644 index 36fc9053ef..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_module.hpp +++ /dev/null @@ -1,156 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ -#define AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ - -#include "autoware/ekf_localizer/hyper_parameters.hpp" -#include "autoware/ekf_localizer/state_index.hpp" -#include "autoware/ekf_localizer/warning.hpp" - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include - -#include -#include - -namespace autoware::ekf_localizer -{ -using autoware::kalman_filter::TimeDelayKalmanFilter; - -struct EKFDiagnosticInfo -{ - size_t no_update_count{0}; - size_t queue_size{0}; - bool is_passed_delay_gate{true}; - double delay_time{0.0}; - double delay_time_threshold{0.0}; - bool is_passed_mahalanobis_gate{true}; - double mahalanobis_distance{0.0}; -}; - -class Simple1DFilter -{ -public: - Simple1DFilter() - { - initialized_ = false; - x_ = 0; - var_ = 1e9; - proc_var_x_c_ = 0.0; - }; - void init(const double init_obs, const double obs_var) - { - x_ = init_obs; - var_ = obs_var; - initialized_ = true; - }; - void update(const double obs, const double obs_var, const double dt) - { - if (!initialized_) { - init(obs, obs_var); - return; - } - - // Prediction step (current variance) - double proc_var_x_d = proc_var_x_c_ * dt * dt; - var_ = var_ + proc_var_x_d; - - // Update step - double kalman_gain = var_ / (var_ + obs_var); - x_ = x_ + kalman_gain * (obs - x_); - var_ = (1 - kalman_gain) * var_; - }; - void set_proc_var(const double proc_var) { proc_var_x_c_ = proc_var; } - [[nodiscard]] double get_x() const { return x_; } - [[nodiscard]] double get_var() const { return var_; } - -private: - bool initialized_; - double x_; - double var_; - double proc_var_x_c_; -}; - -class EKFModule -{ -private: - using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; - using TwistWithCovariance = geometry_msgs::msg::TwistWithCovarianceStamped; - using Pose = geometry_msgs::msg::PoseStamped; - using Twist = geometry_msgs::msg::TwistStamped; - -public: - EKFModule(std::shared_ptr warning, const HyperParameters & params); - - void initialize( - const PoseWithCovariance & initial_pose, - const geometry_msgs::msg::TransformStamped & transform); - - [[nodiscard]] geometry_msgs::msg::PoseStamped get_current_pose( - const rclcpp::Time & current_time, bool get_biased_yaw) const; - [[nodiscard]] geometry_msgs::msg::TwistStamped get_current_twist( - const rclcpp::Time & current_time) const; - [[nodiscard]] double get_yaw_bias() const; - [[nodiscard]] std::array get_current_pose_covariance() const; - [[nodiscard]] std::array get_current_twist_covariance() const; - - [[nodiscard]] size_t find_closest_delay_time_index(double target_value) const; - void accumulate_delay_time(const double dt); - - void predict_with_delay(const double dt); - bool measurement_update_pose( - const PoseWithCovariance & pose, const rclcpp::Time & t_curr, - EKFDiagnosticInfo & pose_diag_info); - bool measurement_update_twist( - const TwistWithCovariance & twist, const rclcpp::Time & t_curr, - EKFDiagnosticInfo & twist_diag_info); - geometry_msgs::msg::PoseWithCovarianceStamped compensate_rph_with_delay( - const PoseWithCovariance & pose, tf2::Vector3 last_angular_velocity, const double delay_time); - -private: - void update_simple_1d_filters( - const geometry_msgs::msg::PoseWithCovarianceStamped & pose, const size_t smoothing_step); - - TimeDelayKalmanFilter kalman_filter_; - - std::shared_ptr warning_; - const int dim_x_; - std::vector accumulated_delay_times_; - const HyperParameters params_; - - Simple1DFilter z_filter_; - Simple1DFilter roll_filter_; - Simple1DFilter pitch_filter_; - - /** - * @brief last angular velocity for compensating rph with delay - */ - tf2::Vector3 last_angular_velocity_; - - double ekf_dt_; -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__EKF_MODULE_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp deleted file mode 100644 index 02958199cf..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/hyper_parameters.hpp +++ /dev/null @@ -1,108 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ -#define AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ - -#include - -#include -#include - -namespace autoware::ekf_localizer -{ - -class HyperParameters -{ -public: - explicit HyperParameters(rclcpp::Node * node) - : show_debug_info(node->declare_parameter("node.show_debug_info")), - ekf_rate(node->declare_parameter("node.predict_frequency")), - ekf_dt(1.0 / std::max(ekf_rate, 0.1)), - tf_rate_(node->declare_parameter("node.tf_rate")), - enable_yaw_bias_estimation(node->declare_parameter("node.enable_yaw_bias_estimation")), - extend_state_step(node->declare_parameter("node.extend_state_step")), - pose_frame_id(node->declare_parameter("misc.pose_frame_id")), - pose_additional_delay( - node->declare_parameter("pose_measurement.pose_additional_delay")), - pose_gate_dist(node->declare_parameter("pose_measurement.pose_gate_dist")), - pose_smoothing_steps(node->declare_parameter("pose_measurement.pose_smoothing_steps")), - twist_additional_delay( - node->declare_parameter("twist_measurement.twist_additional_delay")), - twist_gate_dist(node->declare_parameter("twist_measurement.twist_gate_dist")), - twist_smoothing_steps(node->declare_parameter("twist_measurement.twist_smoothing_steps")), - proc_stddev_vx_c(node->declare_parameter("process_noise.proc_stddev_vx_c")), - proc_stddev_wz_c(node->declare_parameter("process_noise.proc_stddev_wz_c")), - proc_stddev_yaw_c(node->declare_parameter("process_noise.proc_stddev_yaw_c")), - z_filter_proc_dev( - node->declare_parameter("simple_1d_filter_parameters.z_filter_proc_dev")), - roll_filter_proc_dev( - node->declare_parameter("simple_1d_filter_parameters.roll_filter_proc_dev")), - pitch_filter_proc_dev( - node->declare_parameter("simple_1d_filter_parameters.pitch_filter_proc_dev")), - pose_no_update_count_threshold_warn( - node->declare_parameter("diagnostics.pose_no_update_count_threshold_warn")), - pose_no_update_count_threshold_error( - node->declare_parameter("diagnostics.pose_no_update_count_threshold_error")), - twist_no_update_count_threshold_warn( - node->declare_parameter("diagnostics.twist_no_update_count_threshold_warn")), - twist_no_update_count_threshold_error( - node->declare_parameter("diagnostics.twist_no_update_count_threshold_error")), - ellipse_scale(node->declare_parameter("diagnostics.ellipse_scale")), - error_ellipse_size(node->declare_parameter("diagnostics.error_ellipse_size")), - warn_ellipse_size(node->declare_parameter("diagnostics.warn_ellipse_size")), - error_ellipse_size_lateral_direction( - node->declare_parameter("diagnostics.error_ellipse_size_lateral_direction")), - warn_ellipse_size_lateral_direction( - node->declare_parameter("diagnostics.warn_ellipse_size_lateral_direction")), - threshold_observable_velocity_mps( - node->declare_parameter("misc.threshold_observable_velocity_mps")) - { - } - - const bool show_debug_info; - const double ekf_rate; - const double ekf_dt; - const double tf_rate_; - const bool enable_yaw_bias_estimation; - const size_t extend_state_step; - const std::string pose_frame_id; - const double pose_additional_delay; - const double pose_gate_dist; - const size_t pose_smoothing_steps; - const double twist_additional_delay; - const double twist_gate_dist; - const size_t twist_smoothing_steps; - const double proc_stddev_vx_c; //!< @brief vx process noise - const double proc_stddev_wz_c; //!< @brief wz process noise - const double proc_stddev_yaw_c; //!< @brief yaw process noise - const double z_filter_proc_dev; - const double roll_filter_proc_dev; - const double pitch_filter_proc_dev; - const size_t pose_no_update_count_threshold_warn; - const size_t pose_no_update_count_threshold_error; - const size_t twist_no_update_count_threshold_warn; - const size_t twist_no_update_count_threshold_error; - double ellipse_scale; - double error_ellipse_size; - double warn_ellipse_size; - double error_ellipse_size_lateral_direction; - double warn_ellipse_size_lateral_direction; - - const double threshold_observable_velocity_mps; -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp deleted file mode 100644 index c1538a72f5..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/mahalanobis.hpp +++ /dev/null @@ -1,31 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ -#define AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ - -#include -#include - -namespace autoware::ekf_localizer -{ - -double squared_mahalanobis( - const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); - -double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__MAHALANOBIS_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp deleted file mode 100644 index fc75dfe72b..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/matrix_types.hpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ -#define AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ - -#include - -namespace autoware::ekf_localizer -{ - -using Vector6d = Eigen::Matrix; -using Matrix6d = Eigen::Matrix; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__MATRIX_TYPES_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp deleted file mode 100644 index b8db07015e..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/measurement.hpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ -#define AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ - -#include - -namespace autoware::ekf_localizer -{ - -Eigen::Matrix pose_measurement_matrix(); -Eigen::Matrix twist_measurement_matrix(); -Eigen::Matrix3d pose_measurement_covariance( - const std::array & covariance, const size_t smoothing_step); -Eigen::Matrix2d twist_measurement_covariance( - const std::array & covariance, const size_t smoothing_step); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__MEASUREMENT_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp deleted file mode 100644 index 253da4eb7f..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/numeric.hpp +++ /dev/null @@ -1,37 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ -#define AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ - -#include - -#include - -namespace autoware::ekf_localizer -{ - -inline bool has_inf(const Eigen::MatrixXd & v) -{ - return v.array().isInf().any(); -} - -inline bool has_nan(const Eigen::MatrixXd & v) -{ - return v.array().isNaN().any(); -} - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__NUMERIC_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp deleted file mode 100644 index 86fe83ec4a..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_index.hpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ -#define AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ - -namespace autoware::ekf_localizer -{ - -enum IDX { - X = 0, - Y = 1, - YAW = 2, - YAWB = 3, - VX = 4, - WZ = 5, -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__STATE_INDEX_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp deleted file mode 100644 index e6ce18e76a..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/state_transition.hpp +++ /dev/null @@ -1,31 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ -#define AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ - -#include "autoware/ekf_localizer/matrix_types.hpp" - -namespace autoware::ekf_localizer -{ - -double normalize_yaw(const double & yaw); -Vector6d predict_next_state(const Vector6d & X_curr, const double dt); -Matrix6d create_state_transition_matrix(const Vector6d & X_curr, const double dt); -Matrix6d process_noise_covariance( - const double proc_cov_yaw_d, const double proc_cov_vx_d, const double proc_cov_wz_d); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__STATE_TRANSITION_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp deleted file mode 100644 index 0146176b7d..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/string.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__STRING_HPP_ -#define AUTOWARE__EKF_LOCALIZER__STRING_HPP_ - -#include - -namespace autoware::ekf_localizer -{ - -inline std::string erase_leading_slash(const std::string & s) -{ - std::string a = s; - if (a.front() == '/') { - a.erase(0, 1); - } - return a; -} - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__STRING_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp deleted file mode 100644 index f43c5e3413..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning.hpp +++ /dev/null @@ -1,48 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ -#define AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ - -#include - -#include - -namespace autoware::ekf_localizer -{ - -class Warning -{ -public: - explicit Warning(rclcpp::Node * node) : node_(node) {} - - void warn(const std::string & message) const - { - RCLCPP_WARN(node_->get_logger(), "%s", message.c_str()); - } - - void warn_throttle(const std::string & message, const int duration_milliseconds) const - { - RCLCPP_WARN_THROTTLE( - node_->get_logger(), *(node_->get_clock()), - std::chrono::milliseconds(duration_milliseconds).count(), "%s", message.c_str()); - } - -private: - rclcpp::Node * node_; -}; - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__WARNING_HPP_ diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp deleted file mode 100644 index b379e35763..0000000000 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/warning_message.hpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ -#define AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ - -#include - -namespace autoware::ekf_localizer -{ - -std::string pose_delay_step_warning_message( - const double delay_time, const double delay_time_threshold); -std::string twist_delay_step_warning_message( - const double delay_time, const double delay_time_threshold); -std::string pose_delay_time_warning_message(const double delay_time); -std::string twist_delay_time_warning_message(const double delay_time); -std::string mahalanobis_warning_message(const double distance, const double max_distance); - -} // namespace autoware::ekf_localizer - -#endif // AUTOWARE__EKF_LOCALIZER__WARNING_MESSAGE_HPP_ diff --git a/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml b/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml deleted file mode 100644 index 76ac35bcba..0000000000 --- a/localization/autoware_ekf_localizer/launch/ekf_localizer.launch.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png b/localization/autoware_ekf_localizer/media/calculation_delta_from_pitch.png deleted file mode 100644 index 0fa459f96dd7113388f9aabb59fa36ec5de9946b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 56991 zcmdSAWmp_d*R~5GK!6}Yf8Qk5SP2T6epLg#+ z`}gy;j2&I{?2RBytZl4}s2vRKjf|`vOl=&`pgMTo|HNpf zsOl(SZ=~mFW@G(L(ag%|y$}L|fsTQ3r@4-fZ8trHo@F3aCZ@fj zScrXFeh7$f5MqLSimvI$t6r{(JMCw0jff}Wd_UJ0yWyTjGzSJlVvAQ9bAt!Fwgk;Z z6^OpWkRi*#Egv zb@4|>gvfv*eVGwb2f+A)TQXM+oZs!!V-XRfMTJL&)A-EIpqI}XE{%4Z>ldOx6#h^D zv$$YA)5u$e_}>CMtKZq8|JnDq5CRn)?!P-jP~gJ;dnD1vZ+tQTo`xv!Q_TOFhd~%r zK7N7XNe?!!B5;q6)}(d?UFT8YkV-TBrrYwK`kEidq!xNiAFcBH3YQb#VARk`vL6Lw zaTPfXEPPN%kuFKHQ-UY&_+`a~H>mh@endfKoT8&V2C2Wt^uxfIsB}g(5Ecvs|ea$#sk%xH>yOK)%|xj-RMX#etEC@Q778q3sTTw z;ejsoTtIMDR^)=TSqZh_puhgH-zo4uBY455D)A-KdPWrATG7>ZW=5Y|HQ?k*G(9vc zv0F(MS$WcR3jFe8R>I&yoWQe^=tDoYr9|s==-Ru4*FPR15v;TKZaOGw$m&CsU<^yRVOgBZ{m@?2E zxPFPzXE#hqp+7}WJ5DPUT(5%85;JO|JppB zgqm5hH^Zn>P3;4%cyk!tZqB)d5Op6W@$*S6T+#*J#2E7IO@!|ZtRs8SH1Rb5Z?jdd z49IXJG?Bd+VN*luUdlV49%7?9<@8inW%~wkKoHI)QJ7+1z`)bH(*!BtAmYG<{%d9t zHD3tj@Ntaorq}hVbp+y#eiq_4lh%&y~CQ$26>&w99gG zAt|QcHV6>Ru42WK>1LE4&Db>sc8GAP-wyI#XeT9^u;_~lYi$cFHM9(56rks}yqk8dWKTC=%ZO!Z`%jPhV#7EP+1k^kH4UaT7S0b0DX+)(JQn zPy+;svSiEtQVnCSW-bDEE5rDo2l96nv_}3hy*M=jI@{ z>Q-=U{xGm+#NX4g9yp>EFw@LTyw1cS9s|q!ou?!`M9$sScByvsYHx=Qd7oC9K-xh! zP?(u-2=tGxRM9j>8|?uLGqatqP)Wau;kaSbc}APq+1={t_I=(7M>=1Ru1>b)Nrh}n&XvCc(dFZJ-LUO1?`)ITmfsf9W! zH}h)Y8(#$&5C~-YXMWf!$*@+x@j^9hX)i5thJe(9yW$0x@*G;)&n_=07v6FRPp%!m zredfgsZf{)HwiZ00$ ztH(e~?QovvDvtHIIqz(~!mAvlm=+Jr7C?kFz`r zpXRA|U6Hu^8PU^be9NSpqHLv4yxEk>t^gB^>7%Yy$+hdU0g z$Wq_Q^Hts|6qbn|DsuaAZW*iq zzyscPt@qSNU4Sox)soNUhd24M^G*yZ?xT1&E-p*Sj`FD&r;hjO}~YKVW@!Mm5hWor@EB8 z=(#IlH%Q7+b>3bFTVkPLfeI`WqSm_j3>ln&w@h84#=7{+sS2tzuFegly&4iqEL5|I zgY6`BwLN>u(6V-k zI|`dve;%?bb!SU;Me`*y1guLE@7vknIb&Ib?a!3 zVHI~!#RBqiYe|gN+#H`}_&J)WcaL4l*HCvMl}hSJxw(<=a56S?q9+QqoMC^pENp9w z|KpY;OH7mT=Td%XSYj|^m3i*!%Gi!5(wiEtc3O>Xod3^EbH1AY{4&T0dRV7s1Az={ zx7@(Qh+8BL*Ui8MlG4O{qYd{6Ky7exv_b2?S8p=Nx&2dbjiVt!MP5ry{55y|6H`Y; zveK2xd2N6G|r+|2na@>CO2@QOiG2sqk&Y$I|tB}rJ#t|&$@oZ#l^ zs046ScwvRv+;`8H-Y&j%i_i4rH+XPdPW7#XQF5jr&I1T%C5!{zutuL@PDy&^M4SC% zM@89rtQD`))PRwkDQ$vARXDWFFLx8hTQ+{>?$d8LI}-Ix*(3h9%w*o!-l-eiFJ~S@ zhQwlVIXkX)=a{K%sMM=P%}(0HZ%G_q6V=J zrUYiu=vrk&KaQqVj~%WC&tCmLkK7C<) z=L&Z8!CI(eetFm7mHb;n_{u@R!PYAK zmnQmSP@S-WX^WyqRfAl|lY?G`17x;NU8RJmV~XCSIRn+#sa=xn2Y0r}v;G;w8fBx{ zixCb2B$aIqdOi5jZZp6#Pq{!z1BJH>PDq%6k#rNe0Q|51OI2*-^&J;rJDM>`LSnEA zO*rcCtAcGX!5OcBEB{zWKz$c18Of{b>dxo|_G9f|W-mMM~2d$V!m;Hbb>f8diB2vYd%dTyS3dQ445m8X2g)^mIkP;Vpj(_gXWG>&=n& zul=0~Hzn8mPd!vIuN0M5+vQW~NQpPiD*`g(oKtIeS9HjgZ_hV|}NH%75A- zvv0oevFyhd?VDjn4`V>dLZP9Uq?1ESM-uwx+6wy_22gMC#^EY?#qC8Ep=wQhC?8u9Qv-swgX zkA6l7HF#QJoAcip^GpROKJ=Uh3MHNbk2b|VG0uo%mqB{cEuy3=&kKw+O{^k*ehIJ= zg=e*g{}$DQ%@L-l%|*C;p?kdL1$CkS#)cJ!ZJhkH5S&=&FF*CC9o?uCt09`wlr*q1 zycDT28sR^q*d8Zi!+=~eZVu`R96UFa^iK?u8D#;B>2>MOTNkbut}g=PIqL0okb(yj zT8q=Bf)A@wZEAN&NJ(kqTm)QM9v2zW$Mjq#{KVq=TP>KSr+mP9DC_fjXrP>mf%W%7 zAiHMLEqhaIPUgkOZVaJdZ+V@knY?L8t$poV~)@6&^(G4K40)&rcZ9o>UyqOjpQa#9H6aEO@jA-9zA+0 zJ>98yB2@5rLOz}pdBMA$2R-%+zF>H6MKp)*LmrhlefH}3*BJ4!-i=ZHbEDaM6Csb& zx!SjO@J=zU-0BRWBjZITcJd|-p!xydsQkrje6|anDQ-)wZ8+lKD{=xY^XJOn_3-8p zA@Z`q_Y~J8pY7f^|zThpjD(KKX7^dceD#7>S`|$T3O^M^@Uv<{~hG^U*I+ zKDkG08%IUQ^I(MTQ1Gjy$X@)sU!@eG@C_&5KOqU>$q*Ut)+Z3QskTk$S?%PuZ_fdg zO@X&;-&M2Hy{ssOd7)<}j3?srF(HE4wO?-S@0gURolMu$kZCO>)F@1Y)k(Uh!bm0l zjlj1s^P%fItmQA(DVIEKF6DYB+L#pYqXDBDs@aiMxC<C8Qz}{{FaF02|j1ABB){Bc@K?1D}v;y7v)^pk|{Q@p%^jp4H6Q^g) zzr_Ektsvmt-kD8LWr)o__$Iv=)qieFZioiAyOZ66s*R1uKl5z69XiXML7@{b0^?(! zR2f1qTCDS=W*R0G3%e$;{d>)!w9~V0Z?aDcnTSJS_e^AM+3qv<$G*UO&Gc?a(1N!QC_15KF`Ot4!61tEBrUa?XJrQ8FE?p;rvH;)-LWbIzFbWd%wJl zBF|H>mjuq+Q4Tbf&md7y$v>l+?}j}A-US!=35FEaZ+ErfjjqF$ zb=2WT=GAme_&>lk1}@LZ7>s)49B3SNcKI3$nsc$hsg+;3HYB|ZU8Hw+Qy#`X?*qhlluKn@3Y0XZ3N064kM z2bW^5h5jMKHHzE7N}oSoUKk&uP%?tzTOmB#9^3^MP$pGWgdBkCQeFPbUGsOBt#jwC zcgI@en-S1l*DuV+1U>wgT1Dhe?PKpg!k3)irp*AXXEusrE`nEu9e`qQnl=P}sFyNb zM+=t|v)(DWZA;jY0Yx^E*<1u)pn8(XsuS(E${!b?_2x(9`3cvCJ!jv;Y|vOx|4z15 z#4gUKiGQL9n@e<;d|z}`K`B&uAMVZ8>U@K1!m0_*2oQ=ZkZu8u5f9_c8?f;uDd?3Q zZRpL~K;+kBi_PB^d$w4B+YGhma+bPr-!P8#VghP_Di0=gHUXuvRdt?6Y3l0E4BqIYmk;Vx1JiQ7)~dlrGr6q)qoA9@yXn}=$FxB461Z4 zTZ`O&7+}$3N&9k0*}z@^J zqx-0F7rk&MR8?7Q@}HXjePIJCr3aONWR`0c6a&U`w*>&yPMoS5jRExr_4`gZ=pE6C zbHm8%Lo)@IPg2s2KRW6i60goX78lNLYCMeKvq;8CFTNs{0)wKX+5=Y0ax+pQ4z^&9 zy$LfJDX^Xhe`Z&2S6L;*DRF8o=%{ykF&m?vO@7IHyx&(vqc-t_Gqz_n(ciaRzEk=A z13nO9Y<|2`fbIBAaijs(Se)sP>V|AoenB z;E^jFH8^~gGR}3{l=OmyI^C-4wGwLFP1ll(^390RtXn(RS~qnO_hGMJv)p}F>M9X> z#iahXW71bp73{bUnhbwAg2}j?K=r}1Lri!tpd!0huJ1A*N0QORwu~k9cA6#CYE5?? zD`~8uZJST2WD@t9%vEmHXr!a{Gde=hXaNOz9Q{tzoqN*M}Uon3akhSQPAL1W#Zn= zbaGlx{2uysiU(V&!N(IkZ#msOBP$H*;48O%5Im|$>ICJ9E01gR?zDHvRO}@`0fK?Z zec*q?F7`^o=#X?>lD9TTCEj}EVhRG$CwpG5(k-+>g5u>dbtd9&!>Jlc+i|L8X7jV@|w31F~TXF)KAW5>4g|FZfEgL#so!7qu64F^Q;EB zH+PIDi!@XAviGP~%@r>>wnD2VDu&E$C2EZ^^ili045z7OjousH=Mwhg<+y-{j?X+K zbW~uW2gX6HKL0mEv?rZ4zQJJ(Rq#!YjF!m58RgjgxWR3LDu_(Eef39I}vLmOZ#@i=}A9mR7-IVwORFbo~+El4aCKxr) zF@h8e_}o@^Wj`Q=IC}vHVUBP*Q5^Tzcx5*k7d5oRoz1yY5qQ$2v?~2bqw;s46*Umt zeKLh(yv4rk0IKOO$^#w)l#YS58xQIMdbj4z1Y|}=&))z5IpLa1270G8u&;R9vd6)a zg$br?J8g8(bUm5LD$~4j_1g_hs?5`5&yP4QbE7@HRnhd^e=WJuy23C#q zuK*|gJ|a|yk8j50rg_&@L707QriM+p0OxwmS;q3?g{xP#X-Y9Je|v&2Vf1k1-djVr z&!ofAHd|d@Gp}N2^!UkcEx;M&Yr>#-yE1;6bPV?gA{OSB&al&-+ zZeeiXy8RRTS?|H+#4SdTDSreHq{0fbBlzD}2@Zq#d)jByMlAWi`JNu; zy+bK(w10!$fhhA#|9^QR93lRYvOi}|)6N9wR(Owad8;`8W|%faWl8>xe19T>NO33q z-z|O;GSvUQgzrb8|K0d5=>PrSQ}BO+{QsQf|Bl1@BAlWAr>d`s&6<^y*8YEcU8TXr z#l@FZ@Bpk3=9t}PyD?r?#-`*EJ4au{Pi59nau*)nP5iA;f(w{WL_Gs+cY|M|@BqEo zHk5lbf{Z-Qs0!B1v1|r7TR(nb@_(MXJy~Y=xIH#y75M91&X*wKvIsI!;Z%#HM2$yR zy{HH&5(bm+3ZfQC=?wuS4W5G>(l0YN2Y^ZE!)W+Dq(Hsy7LjD``rWSr|6bTfL2?i`RJ|{@h`G6GM4?{~V^^jwbH zP_>x|zFC9|_}l*HLOsmX41AM&MwT@N@-<@%t$h=FPpWoc9~1wzp4gR>_>;xqnDHl9 zMI6SUk&2Y`#mnzV55uh}`gK~ivULxiQ#2S;rkqL_gOm?5vx4Z^!*iDu9QUP?ts{3O z4X|;)l3aG~X8Or8^*Q~>Ut*D+vv-pDcL4Y6`**$=tA0q*m;C+!#UlEx6owPXT|kW3 zA$~w|?U&Z%qO;nIO+IWTl0Yo2J@ZC~ZBUWgibM8xP;L4{H#RBta?r~Nwx)>p_!;hT zy1NV7?!Lo)v2s(ogLl6{a)Ijk+g3!ZkanCmyM6CGMn({-;E0DKE(fjq1 z#<{&M{P+n*rFq~!PjL*tJnqjNe~6r86fx}h??+;Tv!vYjW<2<#of%p^Jg8I`XSa36KQEey5ItBS{H$hObx)Ed z`^99lp8m{DK?_3{%0QHWId^{rAJ!l<0k|#z&=}l`Z|gyEb@u5k@m?d3{U+rz`9Bh= znf41GJ%e+;>;57jO`gSdvS;nnp5bZAdkcCxA@%j&(oBGp5Q@k&Izox@6;z*}r?H+s zCHK9px{eJd{S$54#9==jZvdWEl%#qVE0Bar4e8QmKp z#!EE=tSax)^XZaB_WH=3%a6zs4I{u!hybBTxDd`9BEFcW;}hG$%Q3;R;4K@mICOlO z3*A%M!|^MY{z%F;00%Q=)%h0sGu1*>s-V>V-OsXtWurWNH0-n_{jft9TH6)GDE)s&rC#H2G&2mc^5cR1fYs=r51$j1~W zCzD@g!Y?nt#z#vU6u30KA_V5@8c?^4whrPP?oPx!a6%nqNZn3+a3a3_%Asl5xM>nta1^ zjj-d>1A9Dzn}KpOZDx?ecaO62(;}_p{F?X`80G4}Wv+r;YeZV9yIC&59;^J{SMeH7 z7MDas3wxPtSX?6Tb%PD+l1V?e<8Ri4L@b8BOip9%S?3;$cnluX)`w^ES{}P#gU5AN z$J?7jy?h#f9WE13G7tq~{aR)mjLH}!&j&;J)&poEn%`4Udy?P}68Rv6E$TrU{rO@1;0tETpw^@?3wjUZ z+n|m<$GJm<*GE2NOD8*H3&4{ZIk5wRp~|h!XXST)CF+9fJUmOG@mpMt*{mTBf5&TU z?=g41>v`*e?fLLeWR$mX^O2hMl>aE*sz7du#NurlmpsYG7E-}-c-iagEQQ-1_(Vg? zz1~Y^tYFoUmOLXuHJQ1K&M0$vV#T9(FzJ`oGgRCC5!#54Jv4Y#?$73OaPqb1j_%WC zksbB&@EUe3>iZ**^_tANJbrsk_Ic5n4sF@^HEBIYSK=BqE9+Jax94+jdgi+y%7Gdo zmOqjfP$B{M9b656%elhjgZ2*D3Wf9BkU0{hN+9E`O|}Gs`-+ zt}m#xw#r_ctF$a}wWFf{m5^uY-P1Q=z)m?xirN7zcAj$2NdUo*$b(d_Tw|Z?6NVz_Bzs4a^BEJWQ0>5Qc;_?jEu^T`t99o~rUOP2nHeXL}3%yazb$_RE64KdkxOs^}iy%G05-*W-i zyx3=6df4aD^a(y5*I?r9&UK{ZfXj03M$6*4EonEE!rYRE%j6xqNU6IfxNBR!_~j}i z(sH(0v}21nC%}^ahP`6Ex$QbKctBMb$bRRGdo&z;j?z-(jX5`8TKv{2wXA~jj(1F# zJANID6v1_R!1{|#yao^}eq0JZY2;ito*2^{;x_Oz+Tx%V- zUzjD1XmxGsw2SUucSRr^t_#k>WUjeI{ouT1nQj)KMlCs^V}-Y){uMQ z1cZ8yd8zhIH$P#$#kC)25c?2(;SZs_7)&}j=GZ8_d1gKKIrm|39x+vfi}Llwd`|#x znZUMl!`E<_@+e9i02^!1Ra(g;5lMM63mL+O+LP9H*foVG^<<6B29wc(cl{BLfZ-)7 z^;AsGaADHSvhtciJ{(x;2yWhGh&o9J7S0-IbE%~8l#TXxoJVS)>YU|L;rFs99h=-L zcTR*>sW(|Ow-+^KtMY;!&*Uo$bKSRLPEmI~yrUMc# z<7UO;xid0@6Pa+cYv&GzTLVPZVP{?Unm`|~K1ra-z#Pn_a=A%k*^x6+DzZ}b)4DkU zf#<=p_1*#1_-5#+R6B5ajbe%*9JynD9G8r`@=p;-p3d42vPdNmTk&~Hwa3(!qD6zGAt{pd!mIF^a>skU;=29jh1kFs}bYX>pmEw_^ zxT-wN&c@-_0g5Bz4NN(GG)8Bae5?k7j)|yW-U(D)?S#tg6+iP!WMT{PKVflJXv*IGSzC|UR>OLIum(Sbup(K>xP#eRL|9U z-br99kS?DiOzp;!ntBi8x^}+W%I2MbNOS9$99q+3jGOhc3o<^x%azudT8=5m2zghOo5>Oyx>x~9ZDT_3K@Br zyWRgDEBB9yz;wRqn-q=$$>C_K4K@Ua4nFF3bedqHv98%--N}tIOPUl#_}b z^*-94pd=#P8H|n_H%bVla0IVRtv9!W@m6&7sfyQNE;B2#e~ip!&LfbUUdEl963mJK zHj#hwY*tJ;ksR6wB4?r285ft!{xD!aMY3 zoxg8;rz^s(J%U!|PZUGS^D@PbS8x53lNss9dY;`h&Lz?lt&L;BU7bSU6U`nzI#)FV z7OE6o>;*r$4W8BROP=!3UpfQjb9bhy+*j`)+8ge$nlQ6I(Y{|N#}$?NEp5K#YF%=o z-Wv4d9fwHmYX5;g5(qvc{G~o*#oqxIfDHbSEjHl|t;z=@*x{LUwuUZs9fUOIeTBHf6x2gF^3&mNoPL-w9%a+rc8lpN zrebZ=Y?ohYyQONIpMsD7nYYV_Ndu1k`)O9ss}s1Mamk&So7v}Q!u+LF6n)3%i)YsO zmKCUu3y#a84$bxUw=;y@wg(#E_-oel{8>~VA(j{3Vr*Az60Ccczq2#aa-t*6;Avhp z(f#kl^R0?)+LkuOR^>G5*GkhRP)FutEejI$+P%ea~v)m;%9sl8z`!Py)|fYrg^wO|(X} zg=uQ|RH}F3C3~egRmHm%Nny`ixLW;sJeeMQjtMl&7!lq>ieIJb)kEY{j56qb-VEOtd)~B@{7Ua^-I^G?8EtYn2tO zC#p!Ovy5G!J3Ot(XNRA3pjKR}(!uo~a1b7VmPQ)|*7-tZ;ly3#0$y|htJ;L4ESMt< zzqIdaI;uVw;hesb#3|_uwlV~zcWZm!*)W%<)T6)9ogVBQeH{cLP#fWrJC$V9$LTbu zMM(5d$JUWW3&ut5Ai$fwRwetFHpkN*KCoYHsl+ZSw`bHzBrSyu>I=7$1aYN>y_}G8 z$@Jxj@Y&R5&$p06@&>%atYQk-9FZx{URq1IExW(63ad-!M7%DLQWdU56?qvcGYCy_ z7tS1XE3RTM45N8AxCM7$DFl0~*JE;|hufyk+B07x_H22EIaOGpW_cc+Me<=Z3U~QNqr&`7B3kdZHNZ!tYp10EJ=kH17GbSpD<0_iciU4jmHIjwsPJU;JdF*m?vLPfAFs2dbtc> zfq;j*!;%|nFWz@$V{D&CPxz?dd45B?YEbOg@xCO=Ct9)HbO*i)>K7q8gM5iIJe6u#cDH)ov*qa%j}n@ zt56ddvaqPiJZT^2VK*-ZAPV-zRa;A+9dK4V40wBD-e_nBtmNRR*N@3agku)E__(T! zl#v6q!*Zu{kdq+IV+XxSM?TdIN(^SI2w##T`w(>Om8+2Ch|tR4P2=- zJ?itz$9oi2LRK{dcB=7EO~|v8Q_@Ne-rjGHnYoUu8Al+gg3C#1L8&uYdI=*?S>?8U zKEoV56wAR%fWZ{!WV;j&mK#~3HeOrM#T#LTS?_mif;925Nio;mVH~v07?TGnN0`da z3`cIkD$Tz~R4XYbCu`*MQ1~@}?9pm=x;11F&f)Ly4oQAaElZiAB;jgFjVFidP;fAr z?`Ogf-DSI=sQllt`eTGF9siq_qrqB zCSy^6kV#pIK8;(%1Xi7)CtJE$PK|ED_a&|dCchnl{x=ir{pfDT(p-PxpEcB1?q5&T zSPd;!+gG148_%a$?3v!K%;+|eZjiI&+X>6ym|61*sPw_whFGF)zX!p{CSxtnV@zki*{FZB>`FX8VMlYf zDQ_62Q0A7L$_eg*7TO=U7b0jdYMyC)G&3vB%`XW< z-NNpi-AG1!cnf0T;=z*azi3T!tv$uZqhZZ*<8tM>+dL}jlhY`pb@i!3n~cVFeWQ!; zSh{f+sX24^e}W}^Qdt{)^;^n&^q;R?-X}t&Pv!BiA>-ee;pHTFr>R=RyxI!|Sii8r zSyfo^l6`4$pfPJa$sX7#1oa6yd+y)$mleA}8H|qL%V*?EtGu?)$FbD=dI=q1q0?2eRI2VqD>CW6L#b)PXn@mk^o#>E+5!reR@YVj{gh}1*d(|#|zC!v{zkmt^IKG%NJM-SUfs;Bt`8}J0{Q|nUhWSF90?8p zR&Va)UnKLbU^t%NilKu{v>#Lh9}V=|tECiOXlHt!QMQ{E`zNVZDUo*CjxY?C!8~AFEtZyZl!z}0-GD|<#qk;w6WOC6O}Q* zrcuH0u=M5?nCjy`_9V@SKd@Up+PwFw3o4{XbS6#Zp`p3wb?qZ4B}U5}H_Cfx!X00n z$n5Wp$wnY}r;#n30EAiTc*mE9IkzhW=Hq+P>0U;X)HFP}$1iaA7a5KdmJT`ugL#vB zsTtC92nB7Es)Iu%5EO*W?E7w_Z$(|HG#jo_oB_Q-KYJbeM_=l@`ZB}T4{er2!WUHP zQiEzEwD`Y65L)>hd(GFyIdxTyfcYhK81Frm%EiSua(*t&~DQvW`VR z!69jAG5PH07C4!1Y=*!!*<~GWEv37BIlhJewd_u!v$Xh5!~5-}Ik7ww&e-?B_KX>y zj#$upPyW6iF;7HqDt5>|b1GFb|xjS9t!?23%4EpJYj6g2A;>TNcgiwevSAQq% zT*u^7cmVB~OR?YXm;!<$K*VTd2X>|sNVZE7+xGzyHUT5*95SvWG#3M#N=!oUb$4Cd zYjJZrOB^v+B)55pEnP`j~ky{9U+kuQW1x;)IX@f z<3ev#r!N-TjO#uRzw5(Vx3gPaBFD@ZQ;2(Z`|}L#4I*D)Aq88n0=-`Kbz2^eJONS^ z-evoA=cz!~?9jEtUaTwit{{X#q@m3q2@(4K$=I6c%LIcq{RhLt6cnE=MWvndjcz<1 z&tyiEF*=`D&)xAXz|!dB^5ra~GS>XLhqvhBg;u`y=nhc_M=#u&ONzZmdAaxl>pHE^ z0|M)cEtJpeRn~iMnQE&qax0t`w7%IJE+`~)v3lm6glp3lW8?F*EGY8kbQ>}^ryPaH z{%6^yLrO#h_UZNn_k=Vur0u}vH|tB(q_wah(@S+^ekyU&>kIJBf&&nB=3$f(Q!sVv zydHtQjh6I2kIE3ylzN1jl8N=98k8(EbO$ebpdN8k9uNy&@=r@1U0HotCoISg47>F< zc3Ib95LcMGhPjqo|J+pa)*haq&?iycxl>QTXW?-KnoLevPy5VF*Kcz>vE#|jI@3t)PQR1qa(HtY*6D8znQix4+v6>G z=%qg?T|sQFV8nxAf5^!N%8nvpf&M>)MGB947(62MWtnNBZfof@WvLH#p!CtJVE;QJ zyWXkSfW|JIA`~c;^Nr^Pgo_rxhW%cZ)|h%yd``kv&zI*0{nzR$IKcZXuJjK@ zM}nvdqsGRt*Z>MaXbViOX3FO^+z&frPL>)bTRHr&<`&d|Vdgm5RBvd?x=_*g>B1o$ za#`MwFpGPN(tnL+Yl+ zVLR=2u|))zLGD!It(A_owIIvB(|NZq4E9LxEmP+Ui|-&tZ!Y)Dqkb&KL~z%&Z5Zo_ z$kgIbspF)@B5pGQn?&G}ME`cmAWMbLl2jv`r>owWuo6c}W_l@~mDbm8WQ-cgq5px0 zhuygQKmkr#W^rh!k`d8h`e6^#azsZbyoe?#n5X!go$&{>*@>HHb%{TU7<+>`k_K{g z6=3lO18gBA%mQrknKYB%Y-%~94+NwAUUbX^?aQ-!@m1FEJnkOJbo#0)@Iu$f}4aXC*f*N+1#HbXFJk+ znjpp`-9Z>f1mh{4DgeERv1R`HP%`#SAM4IB(A0S690)Mm2u;GPYir1aMLvUHgDrp> z??0QsJ0xD38AYeTanDA3&4#&-g8*jrt&kLQ6=jdFbWf(gWwm=mhu4g}0bczfPdC;f z4pGQH^|*dO=4JS(fxE!UC?N$$&8$Ie#XZC7fV}fKy7casD3mFASQ@`Hl&_Ll%}Nd9 zbqZ`I@)1A?q3Frl!mxiX!cNxn_JJTKga1IUo>2TR3*aAo^bq}LWM!V2v61*LZTzO0 z18ZTx6As(_+e75wN*0!YV-;%Hw5arGuP&s}g8rJCbHZ<_F#XGqIy?`>C<=%uU&rf+ zwA>gnURGLpN&_2JTWoNK6%etQ%3OEyYc%Cf`2!N`rtb8xvpS<5n(xmBMTO)vl zh1GC1WJx2ZrR}$5$(ui#G_RkTnUPge>V3Cg`n1uR+1bU!RAyKO2qh&Yi1>sAIW;vg zQPEG{-i@bcSJ&?CCycy`AW>=(soFRR$~=;1edFqDy{q6-4kV)f#)? z^NJofTvomo6MC!r9T%BpHUHCh=hreSEw(RaS4^>t)02cNBB|tI=Y?geJMk*2?zTjf zF3hL*LFB)ix%4h~3Jtqd(Y-(wlS8MB8I+_rD#s z@0Lng0y4!eRiuuJxB^mMlb9trZtxg^lw`SfE-f;R>vwAu$~Mw`X)VFD@{lCY1eznI zM&dkp9q3lDNoWsJYTe3a)WdJ7qW0dTgPa=WKjJ(?Gn;)2IwEZ}ogJEgLwj;5j32VH zIGC#Bo_NYdr4OutK|?D~91Yx=hl|J$1J@M8^JhdqIfH0x6mV>QlYdI7O8!Cn6GfvX zQK!(7-{VjNG^k};a!`vtvJ$y`v3&lu?5#RDo!Dc7zzifMc0bbld@<|FuWqdZ4!XPU zlSKjDD>NXjb`I62iH)@%d!2tazH|Vd2fN9UwU#|JP(=t0qp?*xqM5mO>hmXQg!ok< z!H{`NYSd!QbqozWpP?cu-Ni6TrXXZC&xGK~vR8>8{(;Mo0HUgO#3EfHy6Km?mwRc;x@A}#Y z@OqtdJ_-ADb#bz|vhqo%fSR2h%V2h-;knz%vbtt zq{WE0wY{DD3QuP5}=;|Ki-7NScsWBqa(rH}{v6l)b~lmg#9?7Z(>f zIXN(ml4oUQ!8@Ygzay0yRbAb-?by2#t~Wk5K0d#&ASNPmD~3j?ZE$ce?g!)fUOVY{ zjSEYA1ZjI`CrX)47(5N_+8^B0^`RWM)f5-o;4BLc^B%+TpJsO-%+iM?`WLdt;zm2N z=aih4hT#7&YCJ6~b&O4~e5CihlEF*)cx6P=%-{4&kElho{mH)g^S}6#(kz7!-G8}b z(|$gso2)+NNbm1kIy^&_uUy0>_&ZO<_~}yK;TK zvicMOBzboScE^FZq$lm9PyF_u7&YTE-v5|) z%2s;hA`||Qs5Yu8O&q|-Q!!GWTP~0o3{ve-`ywk99*$at|6|VZl5anC*>q`_I&XH_YUIV9pS$O4FuZ&B4uS=CzqqutR2@q; z+OMXj#wItZ(eSq^yRw17?7ZRkf~rvfz?UyYbab9%N=LMfk5?rdr0=}jTacWz&^I%q zLPA24PZJ_8)A5=-*2S{bi_T#oQ?B=W)oy|_Q(sqIR;EC+Vw?H0e1>it6|0NPh?c)Z zUTU6HzS4&~pnzFUjUv`bQ<~A=j&;61B_UJ(gMpUXXr34))sJFk0n)_V4N*p;yb*|1 zm&=(AP>gzcet$6bi_|^__0+}rN^*(G146u)0tEdO&@C$6C8S z*;ZPkbv1#?@#qT0X$k82UFyc^N3aW0l5|C%tr8^z{P zmP2#Qs2O!l&GtkNi#L!P`_n4?`C*Ikb}Fl?$YMI}-@R)c9>(S8=hsbR_3-dOz(7$^ zyK%`&J-x6_(~R2MFV)q2R@Tua?E3C`x?OfYunm8&UAY|i zRpyZ`BH)gb4=*o0KcN#g36}4VQqNF7gN8@q0%3R z&1Kh=6}h%LEO6doCqo~{ahXoYNHibBMiW#}Gg`Wq&KcSnpoKLt^Skv;GIv}esfE!N zX`3JKAi4`j^gBa_8ZKtzH~VBxMIkIh{zR{O;XzZEfwPr6ogF0$LW9obqx!#Io}& z&CUJ(D*EvyeJmjEP=%er)YMe5PJyed>q`RzyF8p9d3oZ|ls|s_D6XhzH)Ms4QSkN_ zs;a62L%u|INdEq{6b>({H#`H8iB0ow=BqnJa5*T=vvANS2qE%lm8h z_Z@EEzKtONR%PeeMV?r9MIZUu<|r*?@g@&;$uF6%8nb>NH%IE147wH)Tm5f$jNIJZ zpni#tj<$DphU^m!XuY`WgT{SPOV>$wp+@u}t#EZfQhn zys5lJ>lZW1SXT}saV*_c%nJ2A#F`_OPu48nY%OW2yWvH{52dowyd5?u&z5#$i!#~Qg`#`;T-Lhn&#MYkfs)k90K5|G zWh{+$(gn=si6?J)IA$(F2|t&<{==+-wk*MPoi75mUdr`9m`;j{inm$BCet=3yu#|U70GmFKKb=Ch}+n1&PC?!~rBRFfhtD$YOs~l*{2G_9Xdz z6LFt;w8qeB7AIw@a1qXAH(CmfFS%&tJt``y^g+vx?r!lc6*iMLbaDy`n@J0_X(bZ= zm|Uby?Ud@U0)I5^vD(Y6C1&T8TW42qV zb*7b;vCjW_%WTnSJmfJ++n($fYiEEObc?7qv3TFce8=;%!fb*0P}E(GP^3Ovv!OoY ze~N~!q%h-iYyUBtHk*rJ&GqNL(VBzP=HfoJtB%Bfe=}Wg9I@98Y^bivinEt3q%gMS zGsYNctTxnkKD%c?$?CAsf)Y+DY^(cZWQyi{qDn3$Ik|7+#|IR$e{dULN{ht<35N_b zumyF@87@Td+LI%hOA>h0_0x2*gH9)5fUN+_7T#3)-SO9&Nhr!U zf#*TuQjyYOR1@1>0e*Ft&l6R{=C+5%HIdx5&=)+pORkr=%CBpEi`m}urs&NsfAD1F z$eFrkQ$A412kPYj8JC`c;X@m0+6sv{lpm0~>FMeJ?e8~1u&!yb{>`tfBuG&VP|R7p zJUduBa^Kk4m_T>b`B_@pJUAF7`tkm_^EvyIFklCe`yuu^Oxc$lc*O%SsGdE0f3Vu` z2uCM4ICug*9bVbd+iSMe5jA?C@~*SQq(!#TGZzcc!Np zs0s)p+5H?Vr$Eb`)H0WU&3s0eQ(2768hx$9(^sUoZMpn8mSEoMA|7`|+4O#u-Lnri zGm?sihR+;S=tl7FeE5uuk2JTqsgPXoQ}8z7jIF^pXHI|7%~A6b8(ltzHowNGf-OF@ z{juDZdro_&+-#-ep^7;a6cis3$98D_O--zuyZgfGYWsVnJAmM;e{)sAQ>3b|-xoz8 zUAda-QMp-IGeHcrDP!1*j*(F!XDEGila7I*`3=`(d8J)MX(@-xtQWUQTWGr7Z2jlB zxajzJMBqMu{v4nO5@ujPz=JyvFid~HM?!zXi41rGzy#zZtGc>+m~C?t@n(x4LPGMM zE?%~PEv2NQDskD>hx38}DJui=ffgxmL!%8t#AP62>UteGIp%xVI zo&EjNdBYi_n^hor0XTDVa=seHgL?`vTs=InpFHV;wdZkMK~GFf#KFadS~_UZvIXk! zyy0L6c$SaSwJv6ks^uxmya1aoD^5XsNocy`wvy@Q9^NYFpTWw9`!9A?CVM?0< zHf&N$t{0rlR0nT#R5a97`kq_GRx@*kCsNFqjtAMi5yT2O*kQC!{{1(o!a`n6TN`nX zc%0TE3;sYE^%xe?*Vh*r4b5cWt7!R!hnpK4Odj>6@CU#e7_vsDq$u26U+LZ>)yTum z90ZucI6FIoC_~_Ym6cVo7UO7LYaP&eRDWNi=1*@&^<3TpyefX-5w*2thD=p{@tkzj zl5=9kf-AWM)(e94?t=%a>gtlOU*~SK+1lEoKjq5TO_lJS@oRGpoj)zsDDMGCN*xVX4#YHBcRB`q%A{JbKs0WVR$?e~W}DCp?lK*BL;4}W`p zxbE!n1U^Uk<;(Z4m@Rq|*kH**0gP3Yl|P838y>C=h7z#dwy;>W)!t8vjrEtxoF7OR zhmv{R*_w#Y$ud5I3Bi|rpE;!<2j5MP_q@3}0R{%=MD~9LH9`ZZy8JZ!0ePD2SvcXz z&8Kg>8l_MEdAn0%Gg}i86Quq2i!@Q

2ekEU zJtvLFe(u)M(UHia3Wtx6k5o8OP(#BFE}1e1C<;;$B)y2bgg+xi&?62Za)90d+!odu zbTXq7EhsWKokaf1M^k>5qXOw|X?Ypebzr_;>i)+MkbYEERD2^MFe#)$4O;>qPl3|c zvFrc|>iGCLB{g}_l9HD1N0AEFj=O@3ujqdV9l1^lGS9$ANMTSM z!PopgY=y_7KUL7p>-V%bxiW|PU-I-MtqU^cPHu@N^WJ`Hq8^ zYV<=Es}5OfDX_Hm{{DO6qO4%Ha@8$!)rWl5uCJl~&bm~mAVHqm!O^j^r{@<_w*!#% zXU}c{&w1{OMsS(;{pP#q;O5`1ts`H|cRE&XSH!$9cPTg=CapI+{9Gfq~9DcDgx_nQ4Uj~!pU zz`~HgxAk*Rn$c*}g@n=LOo7X*ES0;#>au)_JJ|0;x>N}~-z3OmfWo4ty z2&n4be-vN!mVi`Os*ah$?-Ksu&I9&$8)_i&!i(1bvfYCW4QxM^0>SJ>L4GmJBLT7n zF{tmpPIVuXWD4N28t%nNTQBe&>6@$`uJYqO;_#E_zJw72cSoqG{y7g-Rz45+F#Cqv5&cak?$^7> zYZL7fnuysiy%a@qieERnQl-qOBV-Edi>eEyu3zS$u^B6 zM_rwrqM3umcC$jaCT+u-12FAYqyAsM=#@a6!rtqP*_(_(OP;q2cR${LxDX{xB3hsk zqUX6|xPScteRsC?BaiExV9#Rp`K@Z}CDXPxf00$v-`8VzY3>8kGZJy<*SmeCCsCmj4y%cR*VqCBOu zNs_LZ^`rlX@lSzy>mI#?uLsf-zJaIm)&j*;YFFvl@r2k&n%{g8^{c_23k|a}9Xe*_ z6=0ozM@A;%93PShB-HHIUj!33^q6x1SAs$_IxS5J5Y)`fEJf#dSRK+A{4AuNMj+r& z4E+Wc5!3m1-ijJR97tJY=futH>z+i8@_vE$fq}@>ieF^xiz{E^?ch*j*vxxYu4rNf*}u_wF>$0$iztRDJbQ>Gv*6;YXU>z_(KYI_ za4|x|_~g&ReLcRKhN&QZ_Qw}Ak3qOB_z!RI316R507^i@oCh{7jwwj#y!Y7FM7x#{ zx9?|j7+Iia3)aXL^N;w|zk*MmJYgk3M<73Jnz;C#Xi7H2-?u=>&^g*fh*B9Dw?8(D zh>Cu&c~A;P2*xh^$TSoyz-AEKTtnkid_4Z0`{>WOxhurG`%T#iAZs6h;>FA(SEXf?4D?)83HQ{hoC_uD@KCpTfBY6^p(f(rG4qcHC3r;)Th#EF z^kn{Smu!TB{`yOY3CuoZm78AP?H;<|kGDjM76s~0;` z!%XT_Z=s{jK=tqU8buF8_WqSJCJwClTBURJP={(>>@L^GUfP?RMJP%?^4mc`-r85_ zk)wo3HTMhO^Z<(r3JZhutb&Mr(b~lG)K9r}f?>Ai5cE*<9Ig)mku@&Ud24U~ySqCC zu++Fji^pY$2&z(e=wCVoHkzeFPQ~z5dm{+YQ(k2t&13 z$CGse*n%|;69GssXD)6$x#*ZO4{HP$Nq$d&@SCBDA5QPI$BV!0ivi2TJwWo1#|0E6D4qNNo$ zX!)(Yd}Ku6+qYK+Sf-(WFDAlp4HRN7jpw|y(|PRk?W?5dDRya~?PBGp#URh;5EetK1ZMj!RLIq}N~VWWEI+?+kk19Aven#Is!6B^i%R}F|HmGAN6zE0LY z;Wn^;iFIWvFt3THTwahJDb9~I9+ebS{{435s~`h=oR~$L$4{MN+ti3tEn+SO-%Ldf zxq8d1>~(O*Tx3I_NM@s8H}W?tCCNG>7Igw;?1e<{ zG`k@;(`Vb=y+nM8;Ul-d(j28d{mMeSo7{THdJiYNcrQ<09)rHE|7pO+zM1!^N4<{2 z_;q82@bLUe$Ui- zAljQVGc%w~m&avHGb^SE_44o5Hm|1n%uK2pwS^Kg>Xzs0#vjz}wLPu9KHr>nuARwN zqaWmEA_a!K0_DZZuFs7}Q4iIsU5uNh4fScCvGu+~liAlR%O{uxGVR|8+W9*-6Q@Rm zQ$A;fdUHK)PH3$q^+*^U`Iga8OFQU6lvkcVpX$YOu(j!t#N4F>dZ%OiiwMNs?Wu&{gyv9q z{VtoWZ+!8BJ4RzVWpAHLxGr=*znGuVJ- z{O@rBJ5@=McgIEl{R&jBLc3Ijdap#I0~h09ogRL1=YJPIzg!ihnOADI(O7FAznBt6 zRqoa8Tq2z{e0QFuIlVj1v}J&IKcVAnG_S{?B<4#}`6o>C z5fsS_-0MvW1%P^Zh6G`47*};?{RUSXnjnIGuSgRs`cYJrQ(2j?*d9><;xuR(w6wIp zXJ+c#U0652zkh!Vhye;JYEx(D`VWQg%MQE%s#z+pJ;DJ2qoc8ox5ht8WkN46s)VF>F?Uko| zxukBxuA@#dZ59$5SMFG{n5aayi>vw&AD-|sG_m!MLD(V*>A+QGVyyMaSEiZfuGMU^ zWpgpL+j*&O35{N1ma0O=M-S*Mk36)l^id;jvLuI9<`wnb-RWl6kalTT>Q5PCGSz5% z+}SzPexBE*EPb<`8|S4Kn%zg8XP!QBu)H~N( ze7`+GI^^WZ;(|kZw+1%m2yZ+Yt3X+pTQe?Q*1L?t{8xSeSOWSUrWGJ#9yNXzH4%zOF(WBT7`L0`piUQ zz93Z1)SR3+pn-h(@&!}KTk^z5ntmk4>m>lf}W!*wlfPWJIUs(hOooS#@!{xZC|qD4|a zcwb-NLqaI&H1}#j<6Fkn{zDC=poK76l;sWr7_IJ%wrS5k9wy$=J?;g-j zHg{DVe|>OiUbraiQ;j1*7rUtSYe!!!PH|=22Y0_U_@R8wE^bpYMr7%0rnIFy!L&1{ zm)Pc$4tP}FA>3FCd|~YxSuqDim}e_zNAegUjY^5#e7A5QRR@W)P$@7_)42I;WG>%tjP&R<`y3Y(Pa zBntZob;mI+&Igd(u8L zUCj7IL_MK|90>w$?Bbu$8+&^Tn#l&w4pz^$O8Z@p$1SuQyahoayF4FlSScITH@Q6B z1ABw5EFd7l#4I=#(kZd8$v<$%Pr=wB&-dQF#TDJfTMx>Js!*{Ue`y1R_qd9NUy+L}B_NJC>F;C)8 zb?JkK7dVb-Xf+vWp*VZD=236msa`0LW78v5wK7%}!Ec$;oIrg^sn*YEVaqB48#r3e z5Z|O%)MPh)EpEc{qut=ufD~0+bbFf8GcI$Yh=3ZCpH8C!xS>AIBkJNAZOsyUPEU(! zt|xmbql2I5JR#rCHt5epG__%BCt=;_!|#?M+l*J?+OdRI;gtJN*?Dx0{e(Z%WfX zaH$nQYBoFArnGU_F%enCmfRXf^)(f35qi|J(enzu{ZB`6XerafE%c!hPIkukI8tg7 zleuA>=18PoPV1Xrb`o+J{r)L$bB^u7zyyQ73pR~+k0pBQCqHcRMAow5%nmBQM+Q8f z^Hy^f{U2f9&3gSU<=)FjUc2h$+o~1rON8^d+O{|S(HnIk{t&t zpH1=YY%$!Q4}YnuYO*P)_Ue^9lspaBM@59ZKf?;ceC^Q!gMz9GztYmv2jlCz&fo7_ zTN#~-p@AX@Bwes&O#Pr4>}_jo{4g-^5|{wE)M^Xge+Prx|3n8jC*rfbQYik%-GZ$sN>*nH6y{tLu)9PZ2sc z%Bm6cyI;HMOLPtn4(>RJ&Sq@{H!{(Dcx*kN+7qI{m)9%6+qg zp5#f%kLk0GUpmi_gVCO@k{z_3+%Fv6NId}lzChoY5}M6gR%6bH?7|FEN<~3vC^`f! z1X^2ncXxS+QiJ!EyN8wU02Qi##xRD+D7*8PRw~qgBniX4d2UtO=H}FdgoGf9xbRRy zgI63Zt*>Vr8<9dilgrz~`*i*Rd;r4T0|ockm=-7$trj!H zTh6ad9}Yl~2}PuhL4PuLQGkme!_w@eN^%?uVaLE0<)V%Ych=A4yjSM^b~XE=8`){U z74V*{QpOZ|$;Cu6Vh|DL%Z)joAUwbQX*7(Cp`g^T zxgW00q$WLc8VCH8Ra9JoW*~9(O=g5p7sy<8|MG2ZLEr_yfV(>%h$+x#C>yUlcYuxo z_+WGRx7-DlfS*oQv2`rE;#@D6`yfLF}2^qk?8k;8_t$Bt4!|Y z`uIR;L1yxT{PltU`k(!rV;Lxh?qg(Q(WCz!rjPAH4~r#YM`>LimcuL5KQgK3HKx+N zC+nYzTAAUaS_=0jv>7%I*NOAz>Us2JClP=A5R4(5y}Ifa1VFY7+{uHM7t)x`%@ z4*Xm?Pd39f_ZPW&8*vBfkNil;5DOO>8!M@zf;H=NBPf>@4ccF-&$Zk6$?hzO&VJ0$ z4WOiL{|%Yc}G#>xX70pQQu8c5F{NI>=peeygw zGV&2d0UOGONi<;?ub^aI{xj?9*C{Yl4v7Jv^5J()* zYvpl2q=j$ufW-AZtS=}$5;Bxyhg!R-PxH-6H>h63{X3qtJ2@r#Q@;JI{kE&nZ%39k zY>%*z(X}MO%ZnQow&mTqn9r?#!mh-)bfdDUYU$CUpQr*3(Xoeitvwj8N}PV-{iZ@z zKZqs`c=7ycb{?nGpw(p2t8El-dR#1b`6@zF0+C_!YGd+6OWQ?*tD?HYJc`fP^|VNJ zWC35q0&T3TQiY<m}yrS3e#5gC*8Aw7-M z8(v8DThm|8_e+u(yCR{XsV;WE+2Ypfn98>FmhU@8uYczhh0G~MzRwP6OEwejyP-E@ za6$D}*3!!ro*K1}f%ce*caP5e`1j z+1WHO6WK$oW~k(X(W}0&%FV;$;9oQ5!Qqe+_T$GNpnKHU*EfnDbm%T<;C)5~%{PnQ zr02JwbO#AK8Mc`H?Se$P-K@8s<6}SF)<0P4X3G2L4C07=W2|5 z%f0?gbBOshx7cq7i0VCMw2e|@=K};iwDS6!ap{3Gb4h@Ca{aYm3m3rCc6w;A4h&k zd(kFKfojImTk7vY68JjbxJzMa=yTrZ`^2*?m*b^DPlZ!wci&V;Ea)3IJ;iS(o+xP^ zvCfN~vKvp;kx{J1JLgK1U}|a$&tKc=I-^Gxi@*|%vhU`Fcn4pDP{a9f(O8`aH#8pS zjz$eEW@_C41dfjn@20=-K3}Jq@xHL}KB<{4u^wfHGk_FH83brlYBfxc_}|Bm9}im5 zNtJ?OBpd~s`tb0VogC1)G;avl)0eTi^G>=SAzl&w;;c z9mksZKX-VZ9hjZh%Erfu%QpI)G`{2_3c^_ns#9oqcN?b(Q=bI(GMi}ypzsy4{<&G)~rR-%d2IEHcm6Um9jFr zgj?#DLt*OXb!`23-!8Bdo>C*Z*K1V=hONifHTiqEE-x#D4Zp456W~tg^;h2SC=FZv zv_7Y!uj4W9VIpHOZJpdv{2qrZBHoE$31>j;2DY+G@0-kW(kso4u^M<0)}x<56FXG?O|o?EZ=&o!9?M*5`cm_odJVwNxL<3nf17-YKTd2%t}A4ES|t z-O~D2yx~gy1zt=IogT8=+lMbAgnPR_hM7=DxV^WJy3AR+f~-$#&mZdR)_mlwOAY;t z!+xuiKXlx#t~L5Saf?@3&eK(Tw(I55#MBEu1JftJZ)cZQEooUcXhx6+Q>EFFE!C;# zUo-lDIm9XF7FI}%jzrmG)Tw>HCptZbEr)8p)3$wT;~Fx2GbY{_C1@GJIh#%Cxng{M zY9&C%6i;#7CZM~Y*1@mqg>tj0n?IQtUcUS#>R$~@Dpj|>(SBriyXK>-Nv1dI1!iXx zy+mC~%gL8`5h0-3EyDoSPtBPBKl41+oa;N62Zu!OMga9{b_7$Y!g*nDOI4e7_OT3 zNUEp>D{-3Vevl1{fiAd=!O$gMpaG*}<6waF_xC5B=LOxa{&0_ zED#$^BA5g!QQq|X@A>&X8iGz>?Luhvrlw2JKQ)EraC z!&d*bAB}qJA^YxV(*HNoA|fn&|Kfq(4O^jRH`{bA0TEH?&pP5Ncav16#KR@im9I?C zKZM|WH~YSHbKde~U0QJv%WGbO9?^iIT9>t8pI?1(Bx=ZQ7CWk73=6{)L4$jumg`cN zL}c{Ae#veB8&NtVbAY>*_oZ1r7Aj%*v;`p@XM0&E@*faB}}=-y<^RNq|U1 z*9%;Fkg8UHoWxLe9`j}nTS51acxHd*4OdKZa!6VlDb(}`+(u+OM7tCpKb|2Dt=wsA zj16qwgm_(-X+&pF+o<9=wrN$v{=r*P$QTd!WDSMwx#2a6>{ky)PA5-IOIb;oS8ck6wbm z4*HD(SBFC&;$&CkP$5r~g8>o>RA`0Rx7wV{`UnFekgrvJ0QL+DPnFe6gke)G{rC8I zB8*_b)Rv5%-t@aLgkuk3;@#UbI{i04HaWRCH*oAz1fD5K>7-#&9~E;+0%E5&0Dm0v(U6^aWz(AxS z>%hQ({V??~RE;#y*9M!%;`(~fe}ilL)$s)SBv?ngvp2!0WqH$F7JWou$>tYG{eKQ3 z3*cA-nL7Fc&|Ts{c-zUz-92=C2bh9GLZA;#2JhF^)umApM!@C^za zEn;*4PWu@Ik&c%EbCM%9H8F`L zxrUOOn)+Rh-urT|U1OFzxfd*BP;tC{_inkcW+wyqMzg50V*~{p5jYt#a&ik(RgQjs zeyotdbSq|)s(df=J?VSi->JlW;@{x0imCZ_h2RWV!Qk+~;_p{xBKiMJ$D)<#JC%qH znK)PCyqPvGff+-c=@DY^s6dtj%P+(W;>3Zs2Bs($!1VlzxnU)ory`@NNen)B4A?D{ zC}ldmpXpTp9UZ|$5{g&_G<=HhNyG=BoJ=`l0y|C7*ZHdsmAqxX17ctad@bPC25+m4 zY;0YfS4HUX<=OqP-Y;+yLx^HdGr%cSokn0EaCY8_E2$O-hJ=EQJh#*tqsfStUs$-( zTX4Fp|+H!k@A0z^bamX?-tP&tFu z2Rzb-c07Q_3*?8uNGM>8{R?7Ga_57XV9XK3-5FsWU!7l-U z!F7R~*lP~f28acOa{;EiS9%h~O-)Ue1d0ELZ=#h(ws~LIV3>i2mlxsMb#P$EXMXkd z+c&?zf7Kviz+$h$9)j@$Y`g)$#$n)9RrO8gnVO$EvY^4yffr`2?bq zg6RURWChIm;l%t>V4>kl!T8_c4wS@*8e2`xNz&vmHjU!g_0G~#%cqA=U7?glh?dLF zB78pA0)SqC^0#1IPD0{t47CDmZ&5|gh_#MJE&xNw*DX9vZSB|Azx6@O+$e`paBya( zB8w$GWz$qsEA}|C1!E^f#R6RbWNvxc zALexjJ9iDeyf>GsjQ%O@8@81fFq(U-9AueqCGRM{qXULso(Id)R-o zp2HfQfB#%xU7W3DMrc*qlL59^fa9F|^0`%nN-n~7^hL-kX<}kR<6va-2tpCzoB6Js z$(kq+g0~7hN*)md9bNj@ukT^357G<)sN)erhUl7N|K|lbr-j2*q4&)ggitK42_n7Arqvg0u2QF?TI(=mIYz-TG+#a1Yf=G=4SQxEsm}4&nn+n7U$AZ zi)(2_JIDONs=&g1QHpcmtheD&v@-qcJZ_{e`>dPOuIjKZsS-Dik~Y%x>$8k!^c_N5 z9QhoqtPR5NDZY2?sH~p3o(5R-oqajcUSUleb!#xNlb4r=tOVzr-FAwn@Ku!G0kYLZi@TdsP;6*(1cFDotlrOxFpFq)$`urI&R)$ayQT-P_ zbUdkyhj}s>K#7#g0x&o3*BN<%{fF%=FSjTj{%2x=6dEVQw5fByVITu_1)bT>%i z&qAVe#i}lhg~Ei!o2kku0Cl0uf6XKUs@u&21Cap3FashkCUzSR92mEN|Jpk`n!vz| zn07H(^}w#ZvN4<|Aua8Awr>WR9}Hh};}&VlUIr%BrJ2feg0J}cKVn{Kil zx)dFpcP7-mDWYT$PCXFxARd6;c7R1TZ&(HJNG_|XrN!^(PxhXk9#&4yZ$KIl^FZL4 zH)Yq3Agz%ZMNkevn8(+4u+*lQM{p|IPe}3c+XpkHgMx!$)aETbNTX)X`q_O}&0%l>kv~2F&KaiENFl)V0{Kr0@@1*KMqZrr*C2+p?h5_ z951r$5%z$cPx?hUaJ0eFjL`h3|%}`GucT23xYeJ_$%m zFwF}K|0GOm%s`b<;Y4PrMZZ8JCM6|IBM&I}9W=C%3&#wJiC$GDK}mUebeP4FPhkB3 zvf^ya)y_m&$aIZMOj42@pgK4rn=H!9%c1Txw6f}gtARRB_ZFjMC=piXbnyU4)_$wW z@U|^260Y^H5#~uIQ1Ky?MMg%7yn00h6J)Qd93;o2V;;c_(s)6;I>-#!3dsbJiowUQ zGg87IEJ5BlHbwx7BRENc*NAbMDkwaJAsWAcfS9d)z+^kR}Q50YqtgaenJ zJmcZ1l@H zYb;efW|MIzrHKt|yo0GekoXf>Rt$pKdhTs+alR){HsfPs48JKzXR*4New zAXuSQ8O)WMn43$zdsk-IlsB{vp^}}QEmb)Ke?thF*xH5%1);>n#Q|tTQ6>(@7B1cZ zDF?!hj-Fl&=H&)0-+y|Ob!@7|86*t~;5RVflai**>Lt!Jw*hNFWSTyxcicSwKvOwyn8`0A74XjyCVAltt&bMX-igv4Rg-&Q51<2mLSEn}=H}+KIH>0Rsb0Dj zZ7ZuDJ5yEQFRs7be-X#1?OR%UAQ;x*K|42=?DK4`fsh+t9WT<=6uVSO+em$M!dVBa zqSs=?pqbXvJI`wP+x0$EvNx}k*4F6OjUkq^%Xkg_>g}MtjX1Or4jIP#oM#WIUaQca z?%0?!jf*ZYoo8`zM-{VRqwr(3CD~nfca>lkY5koR-ub_TQQdTh2}cr=%-nCJrsn3( zt}d~H`m>LJpilrWHq_U*)`s)&(eN05kBs1b9U^3bUs#6V&7`FL(Cat_IGe1qiIEN%b^{37EdVaER0V z{QOFXWz;8O*{ugv&oM}aLZKo6mwZZa13&03FgJrz?+lo9_x}Cz8eO<}9OYo8_rELi zgm2C;Vd%SlRd2UC_`E|$gY*qGmNxJF_VQg`{J^>&*<}nru3tYF?Uf+M=EwIGNcrA( z8atL}CGuh+-tOlFe{@lH1vBo^Q9{#a{Qb^A6pE6sZ__imRcp7>(-<^VzMkr86jjq< zX;tsJCk<@zj-&9JI4d{~g-x;8^oRm{g>kNm$~m*DHaLx&R!6Ok|@;=DB`DlZ>8 z*KTBK83_F?IID=<1T@|rs(Qru8l+gnFbYfkDLDi)@q_`4>gFh>EWr7Jq~$o@bPvul zALl1v+Yr-65a6&!MsME87wOkQt@RD6I>_~+epShaIMDEP>=$(D_k;V_$jLmu|NM#N zFV^@&J&)vj#UivkVN@32ABdtapdrB;nI`<yQu&V`!ChT)ja!;|!>H36JEkvZw3FCFnDwgt5)-vU&>uz3VnSYr;4N`n zRYb&kXXj%fM`vgAt+A5Or`+K{eh|?C_5etVo?s=a1*a`B9t8|jAj*t}%YC$XW<7E? zHsGb7F~Z>adZ4@Kwj8Tj{OcFc+WXMx1u~nPpT879>itYW;0tirY4w+&cf-%v!+b9pA*9KPqhh8}Cq<~+B* z!>5(E70_RlZlDYtF$>mh2Pn@h(=S{?GJff^S(sjw%lP*)~`0Sj{L;qEMHmP#kE zE~K$i3rwi3RzXLz8m;%fI?}Aax%MzNHilao7AMNAZOpHxx+2NMwSJnSG&VMh@xm-F z{ijc#0Ke~}6Z{4*DuJ-K08}>l`gKWm4Oivyll${^7g96ISghAy1KgomVJ3BV>(&c*_+zhr2aqEefM9FZU4WSRidaA zrJJpUN~LH?dub>kEfr1LX%W&M8nlO|*7tc{_kDftzv27-!Q*my z&+|OS>-Aj6Od71?m2GWAS@O|ZF8wP2J5-woJH5y4L>XgWWX!W7ePrg4SFCZnBc(se z7$4HKv}@0b?eBY$kUt&&k;Mn}4V5UNYJ(bQ zClT8M>4T5M#1{0ECIBT7y;iKfTI4WEdoh@P7#IuoHxvbJ$&`k!1ZIe(!JwzeUQJyc zt0pGOA<H!D)b#YeJ0+-si9!@SNKRg{rt-C=Yr48hAUuhg z_$izd=)+vA0&mh)cG|T%JF{y_?h1ysXEmfbk4n`3X-rX^H2cyEv5Jn{tZac*&!>(& z6D;MUvxB2lCk^}qN;$SWlkk`y^561$W`CT2%ZM72^^JfxzIT2mtEyRln!6FmbnxCW z6`lC|4W7cGFU=2FdvL4yD^T;~*YE4P#M|CGlc?#DbH+KSN{6=NxW@O4I$jc)B)R`C zIH?Wdr=*mfokgG()5EW>s;MbBa7|o7LjAq%3H;qWrwQAw;<&g##D z+hqPSURd+7IsuDf4wv^?j|dOn<8eteekzD5Oec$4{ukbhd9Q3aB`O{f`1gsvp6~~2 zJbZ$;FIi~Qp?V5B~b)Cza%M zoYW{5d2-klp1@2CBOsSp-# zAR+aho2$C`9!T@BX1rie-~^C)Hew&!{Q={wz06&#eB-bABSi~DH__105Ln#Ce7a=L zt?Io1`r%A7fC`3N^ny?*t{k2d{C7pbi2MW_+u+Zi6#yFH87=huu{S8krPoaH-Rt4n zl#jyv2DX(>j$dw#w1j~_pe^ZAZkm7%5&|F0%N?jcCKe6G98LNCb1w{(V+fXC(vi{Dht$Vj>pz&{wlN$SOS_-)sM|SN$+7FLc z|KEl2bCs#xsN)D3k$RqSkG<5F>wgcUnHGr3x9TanaZ2ARrXRqso~dd3RAXp?6MWm~ zqMrdb!dbf6&VP)P)?SEQVXceg)inl8i^g(>P*Z}VK|NtT{vz$iI7oyO+}weZ=5U>}?J#f0F0c7az)7lnlMaj@P0QB1$a~#~)!7UUVNj{xtQVlH)8eSzgDs|>>McL>YiaWmFWW?yMF{Sz z9qiO3@z;zhHB`!LB;eP79-&kHWqV~snt+Z$@ckl|2yyWeS+;~J3V$vxE+SeCj259wg8Lz#L+G6M?L|;( z*2KS|Zo(RE#&}3wO%2Y>x>s3cL{%huSQA(v7LpNE)xfwOvL!feV_;wyvUN_c8NY<9 zN$6s5B~c(F3Nz%rfwgrDuIDL!{uGQ4p!#?Us49w1^TJ31EdY&O0uTG~JB_dcEU&H>a=6ga(3~=?I}pLGSp%j3 zmQq6_qtlL4S|2N4`A@l&MMp)=_(`ta2l_>{$#5k}qxp;NLO+sgP`e*MHX-9fC-MFY zdkg>wq7s6H%doI&FPXY3vDV@;Ah+etRw5-K5D-0x9Ni91{`>2;O@i_o*L^wM+W!sHj z1G?Y&J^396vr)x^Jz6DB$}_$q=x~Fpy1(5R#~?yS3>DlPs<8Zmhrz)_WYXohGoiT2 zUIZbBdkKmWOdL^D0^)Kw=1MfgM16AjuxFct5j${AAtEq-XKZp3B zjD|mWeyXR~+eC3l|2W1R@mo3$Ch5;v;Y3Q8qbhs63ukSr@gG=v&-zuJfSjz@7_v>W#{J`Va(&c z%zmT}aN%^S=y{NRhWpv@#O5U9;&(wOVY9PGl$BGvN7wy+u&|0)8C|4(#@YYj;&}AH zx>ADaA`R!m&Z_Q-f;6X82S1{$TW+RX{bc3iZR9m#UO_HYzsOz^d15W8)a`dKM%SBHOlmU?haV*tT2MC*#|Gz_^o{+=U{tOfx?^K?|)Kl)@O{}_qL;r>Sv%tPj z6Sc`sBOSA6Vs6(f1+j369?oxmAd_)e(&LnWvAKn++Cs!uG7_0imGS7M&aB6|bB0s9 z9@*I6@wq_FVp(y4systKt?=+z)pUEFFh%}>lr%;$(4qf%q&9R@C%piYkyXAC1724@ z8f}Ml>4Iu369FEe&joTuppD3?`to(4;2daMUEN?%QkeAMyz(mz;v_xk>FDSzEG)8f zbH_dpWh5s{)zPCbmQK1lQ!BY~kUDbl(1mW@7*TI@K%vpmm(alUZ=z1~0_`LuBvcqr zj`joHtQ5>Ww1FgvFf`m5LpU`X|;0J{>q@Wp<2EYKwGOh=J zwF6?D%x5AAP&3H-S2wea!QE=p-qg&v5GbhX`1Mz&ky_G)@An-KfYc^rz!+Pn z0EY2Yw|_m;w8Hjk|K_LSbXxhh-|O`!E?G6I^5<22k_r5~zjjJsQ>8#Rq59{fKN*wC zd8XR3vg%e1GoLUO-A=1$y$VW7HhssLE)sqDo98AzN>phy>8lo1(d&Dq`(|WtK&WK(y%3O@ z7w644Hj|x#_)nq-5e={ZdJIi3koDu3-6$4oK7D$5Wwu`xoD!xWRG4pFDNupR7#gww zp(hkKgM;2uNxyBVTGs*I`Mr3-j#3f53aa|guWs@}MIC^~stq3O1cFFHiKhrg41gRE zS)0WP^~aAN6S@OTc)X74*sr1hj6Ohf$*3_x;VbCvvwu zILA{3?Uq~H3g%Xhp^zm|0jxc{bl9cFq-NeQN4?f=s% zwv%D(UoF5tOF)0ZK3NdZ7M*YXA+XX{4=bYdw4?(rvhPIuT`ZZWW0Iq+rJ zB0yE!y{s;I{@m!*WKXOL@`#+A-W`8~Eq4a0_1^EXzs{#-aJB-OLb-A->jzMYoVRZc zfv5ozC~&5KevJe24e(q(n5dYSaEYM>x{3&EW7pLnrf~VwfX^x_h`t3u9b(tZR8>@< z{S-lv3evBLAhY}T@3#+32rHtKApk4jTwX7JkBrpxZ7d2C3b9)~;J$&w%7BUf+$dCv%`TrXU_0Tx@4}Y`__zTc>&|acl!&>>l#F&Yd@(93w$*C zOIsFGMq+t~L5gP<$^>842FWrybD7z5i6t!m@$}c#IcF9_LB=<+t9ZAE z46AqgOv}28nr6ty@S}o!oNRFS27H2ol9B)_B{$djp}ct)so#4T!7~;XT!1_YdaMzKu}TAwv!uIr`Kd~lyRGm6 z8wT$31(HK7SlC++uQ|~RLFxyXhqAHe1Q2l7C1av=fB!yzhPj9mmke{C$o7$8x~>0O z6S_#|)8h*+NdlK4iB?hh%1CKp`mRrqmJH+M7#|z8^O=l{3`PNgr@&3F9eB&l&F#E0 z90`BL)9hXh5aN^-ILHWL5Vt5puQiGX5GCF3?s%ixCTi4h&YPmwD@L(ZWM*3WEn=Hd zz`8;lG=ZgEe03rZqfXDlqWg>VZyMIHcDE^W`PE{66J><^ldl-QKN|#LmcgpCGuEl^MARb19MR ziG>XnV-V&C;9>j#-6>OAw{ld2>AAUt9vK+Whh*7DICAFVBZDG3u!rJ*8u`KX7pfsD z-v8ml<0zL~JGew!6vz13LSkApF+KQMJH1N525CGiE_W~-^W6Ep!} znv8wRfZLD~{URhVckbMYL&)FTw{KTzEXM_m_#i2HihhEEfgxD_`$q3I9I<46v$h&o zHe=XJggSv80lIrc+{xxoU7b0w<l*5p;)C~!y`JtZ7#E7+ zdx?(be@L~=P*O^*Nj7SBY_u~#GiRHG`?^O?+$Fd}dI@RzI> zE{txaK74pjhcrar7-j*7IkAD(m7a+c*)-xf;isyoiqdWrP ziAafaIDPfs!FDjzRUvqvEbvWY#A9Ra{-T76EInQNw@_nKlX|w^*7N7jW0||m9vgE? ze_L09BZ(0j|LT+ z2Dr8=h+H)_yQtEdF|>$qGic(_sQ~KoI%g+I^fK2^Cf!vB`N+=0V|7zC3{57a3ZPl+ z-%Gr!^Tr)@tHgD)qV#|EF?~#*!r!sHZfF*^4Dw+m{tAx^8sLkV3<${Rfyv90U|=72Ju94Q4usZcN2r34bY$pz{Lbs7`b&j z$+K%2KyVxn?T87HV}a6+7_WAAhf4iDQqVpTvE*l0C-@27EF*d1u0ZJ0C=MN}!qp@g zE-by=8lM%OUjz7B8zX2Qg~p5^QTh2Pu@HdAMUu@gxHqZWcsV!@=K7&}#3fuCRr0)r ziM2F1Gv&4Kk5__TLk#zX+8QZmsfNeR@971(%ryZVo7Q{dXO&blu9w$GZu!4Wx!m1F zh8l;E?e`u%+J_B+*gZi@6Ro#Bc5pzwxP}DZ3HAkS?}3J9kCfEs&u4KF5F-9% zmsI-%DRGbqCe7sparFZqrX9-Vkr%y^_H`5yn&ylTSm9^@CHw5;Rc)D?9Y9K@Med`&qv(CJH1>VGpm5w#8j-0751t1#dGn3d0Q8FbxbUzF z<@%*~*qDAgB(J2DUQ%+jREKvrJFW**tuUx4KthCN2v<_dW^{L-3H7P><=i9^EHx+! zyTL=z1H z5DT+ydFALS3`S7xh+k%*`Q*qlo_R^`iTrakAOK6T4iQpbY`U0TM892Jlpt|HPCII~ zTG?>Aw8{4ey^(ZS%e!#Ouo3HDGrFRYSFUSlbe?*Aj-nPJ@eWM;u{l9s|g}Y z=Q&!n_L)r2+Qp@FS6P23?c4PB;&Wlx6_z=h_$&C&_N&Spn$OakGe$0uCLR2B>E`|X zQn5kSl>wf;UzsdFXG(=$%NW8@BZP>VJYG%!azvo^L>x-jf`015E`mB#HC6P~GB|ESKc5WPFml7Cw8? z(ZsMxervJU^^?`GbRh1X03b1Kt{P({*_o9LwKQ_z711By&e9w?q7OM2z+`BHrXtj2 z=((UMYDZcCtkc8NY!rcTaUr_}$kkD(O078)C)uH~!grk|&P@TBWe_ak3y3#AY+!p} z^ge!}qsBEw+xS|azR0P#olU8#{esr=r0m4#6q-%moMNv3zyQei^bZ}v9bI(PZJlL z&;(+D9ph7%fH@lD3C%T*aiSS%iiK&wB)EF@87x_sl$2lxIs%8)&peb2Nu}-=H5v>3 zJlWFos_YL$T!=4^AGUpe`~a#alttghWHe5O6Ke_dy11V3v*@GniBaA31!>Diu$K@P zOg{Z^TTkyCKsj~}j*tJ5%i<=wmc;gB76ipAJJUN>BRL>L5x-a_!ysg}!$D2q}87X)@}zsbQiLDN{skE?(oJe=NM2 zrtkDyr%$gI5B{dV%x<8@VE?2);qA!R=XuuE8m%UlMooj3mltlFwoogh{$;Nj^))oA zBI2}DvyS|(os{%>^jRa4c}7!@|KzffX?Zhzn|J7??+T65=6Glf8QN z0Pq7UR;6pVR~2O~#%}Zm{|!fMbLxc)^V5 z6aX1N875TOsDE~D#R)4kXd8KS%Nnsx5fR~-g*{gDl1O01n2JJ367Uo3?hYIc+#DR2 z>Z0rrl!fAC*u>m5H!!gN%~p@}mXhKm@l{US^p9)PrDud~RbG_c^{dm|=}O$r$2F27 zF>g-jJ+kBEbKAV*+v?f9q5@q)z!-g*@ky!3v$YkxPrkUNJdoa{N&V>h>DTc;TYOCq z=hBe1ofez1wyqCVl)fFhH$30B%lOtcM=zzJgWWzU?-Em|_f}au@0KrP3%1!`aFU8+ zkM>l{ywczox6sEE%SYNId!>2r7p=sZCI84XyD3V0SGSE}pGi}D&Aap_{l9giPNlR` z%aU!m)5G442OB=iOr47~d4~o7OMwjxi2#y2^8+FN!Z!F?BY!VsHvfq;mDT}Xe!9$p+9%V3SJ%`nOE)6-}!Mlyjy`Fp?_PG4R=k83CW;I;W2lXWN8Sfhu+vwW; zD(wlHZJr=!RNuAuRrR2oLiZwXmeD{hqlMgVqv_Kp?&=)$6n@yP7-?>V?HRu7_vQ^V zBZTf6dYwr7@wS1nu}@G0qqHRlW~2}5@U>cw7x0ZIadDRs7)6|f*Iwex5ArTPz#7#% ztOdSkNDC~xYLHC(fa~+bbM^Oqg=BiEaHkwb$s6&X>UftDd9Z&Jd*I`fI0^W|BxwE?$uFo zr|g~+L@-!M5ER#=M+%SZ zr&sfSZCy7BPkhw*&FiSaSJ&KfP3Pgpok4~iV)l~2E(ER}s%(4SGN8|SktyHE_Fm@MNlu>6y(W zNrRHwnfcYzO{#4n^acJ#Dz&HDF9fCLh-FpQrK`_-?5#$&8M?YRpBJMsfYd%bgVLYRf081P#hy}wDySehccQ+9U3%~f1J0_ z1J>8WkN1DB%DXcX6+3>&C%e&+)Sx8MSb9F*>uT=w_XvXmpM}BkJrZw8`p%wHK4YFP zxL4{*HxtE5=Dy+n;>kZL{_0Bt_;sg@SI%GG(&4J!erS_7kaP5Bhd{o5N9XSmzuaKi zG6NcZ5AFfk`iWJA%KQ+T`p`Pd87Jd|u}rirw;j&JQb`8-Wv-2gBo+n4@5$6y&N zxN_{PQ#?!EF>xoCS=NfYF8fZaThlEOgS+<7b8nA-^7*ib*YR)f(j%C@Jmr2cO>CZ?=}=t+#S#S-YH^P`4s;p?(6Gj9ieftdv)W%8R-xnt|mqhIX9-g}r3Q^z4tx{-_G;3%o=!0VX# zqp>kpR0U=0A9x(9i$2>{7}+n7q+tAO?U&l(6_-c$0x#`u?YCqaaoRo5rIhQ~+e2!0 zW9UTffkfMeR=U}$zAdiPX8NTw<;(o*DKyucHVuCZu!mK2tVG%@PU+S!>C?@c^Lw*I zhj>m6UDlkI=BhckX0;{rqIFYLs8FgWg*+c43$MDg!Y@iPlf`Lfah_wpgoS_h&a)|e zb?V)pni8rpDBel!_>_gMI@`L(uEL<;fQP{H$Y007&a>OnxeRp!NE#>acz&Zc4}3C| zYU5CLtodV#`EH2<`aY^WW7JY&`M737B(Tq<_e$GZ@sz zHo5fZ_JK!3%SxIGmz7D)(^pj7*`F>jKk4{hIFUZiO_-c{GJ z6`%d_`pDO{-Y-v|BpgsGQLKJ>Nz-3xo2#%%$%PkkN|)F~EZAP%Y7Q$D37NNlwOd(Z zaAG7V(w%;kL;h#5$w0SCeWYMZ@dGX7$%K>a_k8V8h zi#M_UrZZxfx=%Yrt!ikLELxUxEn1O%SD)SS5>1(8C!s3~1~;Pi8ZN$*9P``mtc7&$ z`L9L~7$hs3AC8at8~Daz8jPy@Wq%<5}g+*mRw+CliKVIYp~=%Uej4$8rMUydu$C zfZEYh>;ZFuunJ;FE)q!F{j|R6l5J5rQ>+iv3%T+-@3NF1J`{g!x_h%Wmx?LW;vV&2 zx6zRHV>b1U&c3Z=r^mNxK9p&*Dtml4B8=YC*YG)s!03c#*~2?!j;BQ;ItNd4+}pAw z{xi5br1uO*A;Wmf8IvPI%ygtyg8Js_EDvS);@G$io1M%B>XRnK4+P8aig|E_%hg&m zQqqc`#-Gk@b6mXxWBxx=LE~>amGvLYW&G79?b`AxsIhy z?PxTkkQb<0V-7Le)%wwLzu5js!z9f?HV!fMGtLKBgR-yyk6Ok$kN@mAm35vaH}P#k zhRycIQ`Y%jO& z>u|lpTy`v4aIE!G1j*e~&dgh->9R)i52!Yg8k$Rq$La)L6uQOeT3K)^eKbb5t2US8 z{>0@yCSOekc33Y``l=k$t(h->kn+^|;M&4@A;r5^@BB_;KW#|7QM;5g$NP15Q}mgE zcFELns+D88jAxnNn=>5@*{D9*=9{7S`{<(Yq*3#;8uDCeH6f9Z%uB0k?|DM*@ve8> z?0ME|(e0{rK;1y0bncs~XFOv@` zvs1i}x5{`jffRyk8BaTlX=uog@I62vo*w8ah%T3x$~SwYSc)it;KK=+qWWs(=Of|h z{yQ8w@9H==?ov`xLT?Qpo7K|#aVA?%Ol(Wz%Nm-Rd3qnW(K`AVhc`e)VQI}ZcU4cH zrMjhze43QOwj4x|^YT@n>_4%wEqddZ=tS*9R>Aa{2bFR@0e`Se&hkt9fHG3fxLur>Fko3E}iRCP6-X znJBD2PLNr~RAt>FZQkMW^|g)OwU!!P0X<2-E4qD${Ap`qDua4P=S$G)XhXyEf7&-FUzuxY&OS)HfuaLmg(S!ds~DynD2RK`9AZPkZ%3baCFO-V=phs zoWEYuT<-ou+pHz7iP0ji1CEmA90%tunkh?30g{!@JxAA41!xAww_J}~vE5E*F?~wM zHYGdLT%ggjeZ5JhD4wT}0xfCDOvOGo1p8#ZG0@Zd0NW!WKE;8#=%@ogf4((egZi8x z*;LSW0%@gAlleb7*BcKx zpE0HIcL=1j|7Uib!PRzBX$|=n{o#8Pt3RKk*DnMx&W3b-YI&;9C|tKR(DedpB=(NWFTGQD_}yY0){H>dj^Hj(Swlu5br?-{9~v*7EC63RR^`L??I z{iVw>tlf4`K3_IZ4T}vG$a!)*?v20Nsm#M+v^TG?np?@K?RqMh{HCa4DR}3Ott*TH ztXZ{>4QldS7vqc^E1f4-|9GfGefeY7oh#rca^disQo(Nm_cL3J>^!tIwU)P->oAIx z?%bKTk3-}7rr236xFiWh2i>-u}__s~CX;4XaF#Ojz4 z{Yld0g-Z&_X7b|8msHf6g{vP7*-U)g>xzZbMRV9_-^Fz5#`^{~$`*v~@!xX!OV!d` zTy&=D&nx|>`R?#ctnddb?e49gHs7t<7=3ShxJAz|zdDP(o}U}UOkDOiTvK?_qwW2w zO=)0`kwq**#4ufxqpOSlP;6r=*QW~6q2BK#vpKW(b}22Wnz={!M2OQi2!F|T3n>UKo11f%ul7tk&DFCJWF~~p!^M5;Jd~`LKUfHnFLx~gMv&7+KkX2;E*z~zC5h830Avy@b zx@{`Sq(!Fyx7h{dZ$ch@=gd*?*tD^ewmeE+F6PNx%nFR5b;Ez?7qxz`806{~l20rt zw3K&iSEP`jKGw_Ft-Fi~W0S)Xyu=EU!5^-pI{pm2EmpP8Qg-y#1qxy!Yg$ zc--R?D?_YLRod)V)SpE(S-XCyV-cQ~qWO7eSMYb!jHHPq!P1E)>Fwv9ZB>%^eDmrd zo4ne|?W7aY>h4^FIj2k#$a>#Y=CuTpiy3FpIa2D$f9$>3@zA+mBSDw%b6)u&ei7#m zHJz;A1#6Avr6+0l(ng-dc1|n0{OEn>QaRQC@NDJGpmm1P`kaMRN23(_qF(FL?AsFgJN3I5?+tR}u+?j)Solb{ zm-qRN*LDoWxWxJjor)%>3j6c-0$Hp^IMe`L~MuTepO#Pe&9H&a;O0y;@f3UdW=5y^a`D3t0ztvB|xM_ zpSSbHhfEOqK=`X&7cFp%SsfrY5x3=2@coFSGhMjz^Fd-kfe;gOrGJo6l)&w4s}wap z1am*pTN(?uqz13D`n>M0&B*La!Uu21HwKJ`Ig3jKW*@X-;?yOQ*}6SeC*4V8Gcz;Q zGF73$zHMgq6LxvJc>_13X*r40r(KSgQda(AB&fAH6s9El$`6_vzsiCBvel_U&Az{F zA&ZVV)^jHP`6FVU83VdylzaVUeCtOec*+xLjeqWPa_^ZKw=Jgxsi)<` zRjqdI1E0dq;rND@5BWx%z4z|B%Qioc+`afba@3fY_fF1O5QWy2kJ+a4bT(y-U(T42|F^Ltkt&h_Gz;0%@_P3`a7fx@7+JaA3M<@Vg1wmq;+{ll95U4 zD}85m@D_Kl%Hqt89`oJbkTTP8xqZ?BhXA|OZ|T2fX=!;mM!+A3QJ=OS`?ghk1}3%5 zXE=uyyCu{=pO(s&B)~!mzxeZH3T};B5YJ~^7h9WNA$;Z`5K1`1z%)nu`jQaQx`Y`F z=u7cJuG#I|NjW*_9D|^}mH|U36dO1)V*KAD8C*+Lt=h#dtN)$L=zp)LFs*RlfFvRIEva(EY_Oi6bejJSZzWLnRe+;g7 z;Y38tHs5de`UP36JTpfu?T*}|m>K-Def#Ki-vZsb99^@lP^0_0uVqZ-=dzb2AJz>& z`h?VFKUq(?*4BHQ?JR{jFIDzLw1Vzs$6rZ{3$`c!S{fg_vhj8Ms|TO7LW3vYFW}a$ zS>G7gPjlv`mVjX9x^v!;gwk;E>dPH_dwI&TNczuZ2axPu?(+8PT^gF+y^SoTw6o&) zGNmd)qDPZj`3U60tLlRR|=zC=Y2y3ezGST?hXVt z{jgU1HoFm{Qn@r+ag!j^^f+_7 zmBp%fQb@;jGM~N+K-jF4IF|WS7z54qlHOlhTPxn(DYgGu^bE81&#h5#f$$NlXlXS* z*h5LO?$oLRy7bq>X$9^~pvrpiY7jXp2rCIdkfhB_|3@82#8`VEVX&Wa#Sv75)1MHY zCx~|(xs3cVG%4rdFY(p4X)gBmGiJ%-nS4?%@ldNEsHL#iD;Y7{B|5xVCfY58kQyWS zd)*UsGzQx8$#^g(Z}a*z?Cb>g`*{;dzDTk;KdtaaiC7APMHtUq;!v~vX}q~rZ%f~4 zlG@9zU9VhU50$@rzv){ft^JYCMrB1ZKR#S0BD^JUB~m+$HISbtuJT+|uG;Ef-TLXQ zln*bQMo8yh>g(``WQ?nqTl0sz=82S6lZAE+{jx7VUZ5DTt7O?tFW!XV@3#|ShhKfa z=kC$HX)CQ`UFzZX?fcHiEgE5&A1~M4s;1quEbg>_dugC5`SR@Q`>RQJ)Jfx3MAURU z@0lo^cq2yoa?Dj#gG?@wQ8`2;C8{Z&?2Yyhdo@GF-HZLRPD%zWT{+|p9P`I0w(8Z7 zWN^pMIx0#RKhEC$AzM%PNwE8+v$Ew}&mH0^e|fekuPl>jEuCesI42QznWH_8#-_bC zp_E?D_72T(?Rr+wlJuv#h1@6Rou5Th7Ks=FP3zM9AC@3j7+F{zKq7J4d2WbNkS2l8 zNItRe+cd&WOcLEA;NgrSY}Bihg?S$9E>mTzRz5P7>;eLB`^?@1nI)&DvcPV!0wxUu zXr1TA_T{lxSvJKz0zyKB#SJkyNWaiWo$dBZtdEhGHyEyEtVB(ShB@=s)B2_y%S~B4 z3B=a4ef?O5O8Raxvg%)dpl%`-fnBAWP#Y|2X8afcF;}uWRlGKKvm77#0HJ@j0Fz*x zYJ74+;Shzpcgd1x?jZ_)Qf6j}u-8F*lkdd_P`@e?@LTxVsrtiwi-Bg*M8!^Hg~N1h zH-1i1?O1u?YIXQk0$t~|oUhuE1z*ldM+W78$@!wqqvh@--h2M6?~yJqy}qXk8|tSX z*3_|z?c|)G@eqz>;C()~B`R_##8sKXP;;otY@6o->!+oKoGez|LXuMVc<;Nnvzaoc z7Os3-T-@=^+W4ywLloDUNW-0*O?4ITKOePN*8J{zSaq^UC%rRl=i)fsJD=Ua{mzxJ~K=42WBe3mTJv|#I2-W$O~*K*zOO}|OAwXK!q zchRDvbK!a=5Vm5yvz_e2_{XoC``mVOouTeHJ)^RudP0J#vf$l|?h#8*NzzjPBDYd9 z&8vnqB;cCZn3+>*ah{?oa>%4<>F9FQxVqi`G(Jc2!m41!-P?M0ckN5IR365F+>z@&wqaI#}Ts%t#jJrRZCmdH>W zO^fAmE(RX?hp-8PCj0|)b~J`oE-`>{kObDA(=Tcd9Sqe`v*pn8U~HNxd8*K6`AY3i z9jz^OXTAIL;78xSG07KQZ+NF$Uma2Q_(rh!rxfzcThToi+N6h{O6ESUkX+0Ow)$Co z`SF~}s@>N2n`OR&N<}k{*Z10qw<*XTT6_I?j=Js7?|Aj0vTsJ49-9vZ3krr0>j|%Y zE7kEA)2oS&?BX}oxLVaIYdrJgn#**`b?vunP347gUY9x5H&xGjw#3*EYwQiXzuoB2 z`n#8|SASf)*x`NR`pSnor>FS}q6w1xB9dGm%(gA$SB>UmG?pyRmt zBCdAPTPiN6zi;7Cu*1F#_jewu6=^PdE?a%JOR%lf9BGp(M2u#fqDfW*f3Mr0EAR|N z3z}0w5lu|~xB2-C#Vt4*gNjS-1N5edd^P~vOQ_h93fp9CQ2*q_nWOuCcHKNLC$}4! zx-i?`=|9(}y-Tddi2<2*7{=r;8E)Vo5vEYy*8&1pY?aCX@mqW-6}Lte+_aqrU5JdP zE?fS&50MXQ;Nc1C3+Ni%XAhj!P`#a8{IhwrAygs1T63{7@>}m(g+#Tac@Fgl3;fNz#mCEDy>MsGg`wly z@4w}m2sLtwImxc|+aRy$@+a?DcAZlX21_q5+Q&MXWrYc9YCYx3&2b*(%YD-Hc___T z^RT_n_VG_#7Teu3>4XAKE~(UQi8!Q@>s;2!|LoV_ZJe@7Pp{^`-SLC-eX2#?pw?5L z?-S|ziH}}R(yy`Z6B!SvE4db!O1am0!~Z1Jrt66t=JnDIiX!fI{rIQ1vVtsKM_y zb&Zh8P_i--i&6`syq9B)2SYizPbXfnwoWz;&2NxRx^I8`bZj5biC0;VMDMaz-*9dJ z>vT5SpIY1b2-O6qLWjn9vfY<+pLUVPm3LREI8!70e$)C-a=Oiph$ms4M!KxqyN*>` zxW8Jin16ka?9CWw?i-^muZKoNPH$;w-Ilv5I$7l=Wa&7&wyyZvL-Ep|ksile) zI%>_tW;Xt|i#>G1PbF?DRtpKUnB)~Cll&NTzd51h){Hy+B;KMwD=TFz`0%^#(#tN2 zO-XtMTWQYxvGwbXy?x+g^)qRvd+l!WiOsdf`$-ZHd%iZ@lnbXig7ISRHO>1dxQH8X zop(Ps@W#8Gu+1t}vyG5o`%_7vD&5mb4pZba%$3|KuyT#gSFoh%6@4ibp}eRi65d63 zs--z;+0(4uZu+pPVUN#3@0GRu+^D$gHrB6ppWWbL7gWu5+JU zNIs4)5T}PzDv5ver(`3}`$06zAkw0VBMz}hq1?IOHA$Q}H|RsHLm2mZUJ@Zw#Q8z2 ztbABvz|H$M88hRYS-;9JlV0*~%FuDaZuk+AB(4^87)>aKQCry{iEU%0#dH6=++=AK zR>)pEE~38f_ojfT<{;xn2JXebSKnMBvUISj5$*%DW&br!zlR)v5G6rC2!lR0(+afT z&LAccVP#m@QW!KG4TYun%!lpBB63{Z=zM>dP0V3J56LHpfS~rPL^|Y{T>P85AD!?S zH)eURn?thsw>-y8= zXBy05)pWV6^5>Yt;O#jB#ccg!-%jgzubmZ7bedWDn5~v`LaRphb<3kwo9!N7^%6WK zdzHEc1o9<4ejZ?u><8B4P0rsos@h1sskSX&+^pf2w{UEvWN)YE;GfX8pVjWqwt5>+EC4+o#MhqI{S|@ee!_g z?P16+IQtWx7`789d~lRKO!R#zIr9h(UqL{K6QLvO>f7+ev6YzPK*qoaRYPosKK8?a z&CH~=r|Ua%72n^eY6*H5!GTNd#xx`_Tr|cAK7x>)$j2z@-O5A5`fi>JXf;?Vd_?8gj}2?+QnT;M=w+B3IJ;r)(^+C3y>4^W$GbnQQI+fYarw_Hl-pFkr z{+E#SLibC^lVJ7Mv39H^6DHD4vG6ds&mTnPO;5B_l3hSreicwfFHYi_s_kwg!9=kjkj`M+|Jj^L+=nRa+ehv$}&Up zOps=$fIGp?*^JAIq|-s@952TTk=;YGtB(7^4Wje};7|!m6HGD1G3kVG|E5aVqbG@$ z6_3IzT=$^^s1qCyI6P*rHMDe?Vk?|dc0y*BW@b!)z7jXreyuBRhK5p8Qc8mv$U3jA zps-ITD-uU?v0jO(!X?^u^bkyIr*F5WHa|bZ^dmWFIBWZ8k`WDw??J9v2?V)il`hg^ z$RnWbD2BU^PQpt+bi!pd;#se6eXo&l8XKEg{$P9YbhV@DO7KIi;tPhdzaVQyK!!1# zZitbvS3Qt%XLi8=J`3P%@O9M!Bq_2qx3VJa&i}Fg-L|k8!i@!;Qq*$E5r+@qxC3A0 zjKZ4s?CkZq{9K%fL`;52$8x$R3GEvOMbNxHTJgFY{aJn9=B~%08r$dO**$YYIJ;`p zWQOLn@}CidFW&tO?l0oeaGWvYCMyZeWqmy3%Omjfz%xReIv7-C?Y(2^}k zEHYK=XdG4JRLvBo3?2V)m^@%Vy?7lKvv#Z;!aa7BX#8piY_x1I#b`0Wm5g8;0yRoY z!{|P9AFw*G9$d58Ol$W?=utzFtO~yu2C*BI5=2TdUQfAu2aT8m7ev!)TvS#?qpavF zF8+Nh!_&~Wx#37$rUVJs?5;_qT7b5F9eS1v%k2>kR{jXX6EaM;>+hJ(hxScRud$Yv zmC^fEev~GckhylPHQedUk@GmUDE;dt6%|TA5fGN^(;)v?8lTh{ClZF%7igBk-Mjoa zX$qz3K}yOLdTv{7F#>Hhp}z;zlDd4^$4luStIqo=QrD~VSRo<^#2>er82SRYDUk0+ z#CBD#U$qUym8Scanu{K5fvKp*w6(h*!*`~Uzop-ymzB|)Z0i^B@+${&sivIJy zp&#iMpZx|r18~Ioog*jH&3d%T7yll3LuXYOi&`1}g$sYL${6mpdOsWydX~s;4K-Jk z)6_M1fr0zaV~9?6+~eQB?6`WBV jKGflVul)b)i*GWpwT^l1*{K}01&>RziZXAc^t}EbGE6Cp diff --git a/localization/autoware_ekf_localizer/media/delay_model_eq.png b/localization/autoware_ekf_localizer/media/delay_model_eq.png deleted file mode 100644 index 41777d756b9745cb874eed3d5175470e76ecc8b9..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 4906 zcma)A2UJsAvjzcypeW4BO(NEVhO^UU!$I~(&EA*t-o{JDZKFxK7Q-)9d0|Cih_$&aah!V_tPVo4r8S#$OL zvyQ@_UUtShd7l^yOcA#S%=|G63vc7W&H6%?_Y4aQe;8ax%h)INN1E$Xaj0;!bGiG7 zy>~1d2mtZp4)-CwyO`Q)Jv7}emFQx&Ex5+&JnQm|INuRyss6bcV(9AniNnI2D=q8tWztznyYGQ@Bc3R&Z?`x^ao z^`rjmrWXk4?-l*SX#%7XTRw*nf{35#H^q+#cO|ld(7L+01FJGGa@7C9O6TKFc043c z=jYqE9D=2Sdg?(bJ+8{z!qvW4J>~aA@LQ+T2%U->r$JvC(g`fNJ1?smZKdQJ7Z)ln zp|(_316-c%Eska`5Ok7kTQ|t`J`vJ;Hs&g>-3-s%PvBKDR?r-rd}~An(+d0nHV&mA z7fze+B|H@6r}vh1jO3=oH~n_zqPMNkURQRay8@rQCK^Nugo-*j_X$Q;YgPOnR4T>7 z@@J(7SEfo_78GgTWU8$RrZw`eIGYv7@;$}S!{sy4$|bQqLhH)TrlQb*80C(BPO?(GZH)e6>KJK443)PxipLVdC`}dm z$v@FwC@xJeUs7>@F!+^jU-NF+xFgIk!4ZjK370=%=rm2&Zv9eU$PTd@mfayL+eewr zN>iQ4k43%{(vTd5+R|k03cW7+D2*d?(W#&{iyL>K;X<2*JERz+-n)h`Ro=j-%#jgB zFN35o&!TZJ+@^>%jzr3+5?lnx7739tGdDU;_-0dP^_Rdf)|nq3kUWCo^z8kd|Ei@s z>reOCtBi#XUloaWQ=)WNPiljrJ!-U6GLDuv{}Z&GUnZ6-aa-~TSudc>vB=x()r z`v9Fa;#sKQk`X=xpHeVewHmc zt2w0Y#EXxoGh}*P?au>Kw_EcyT_j5cI(2Nw8y_nzS9`XE_)sd4K91p&iUu5o^>Nb+ z*`95y^~cWt7+c}FYe-vR^cVzJSM`7P@~HBllXI(1NwHmey6`yvOwJ$jjG=&vq?ClT z`7^X7K8NsAXC9XVHbR7TwC$41{n&|}h9}gE-ywD}AU?kLa>&njI~XQk9*0Y`P`(G?NxpyX`Wxxo=0R zX3(ihEuOYMZ&jscR2IDDBrK&iObqI!6WEh%S}_M zJjaH;eq_pvs4y^Q?k4ls?PKz2g?BJ2Z{EF8FYp*HbHXn7xoX?V{_dGFS7W3yA^=8{ zqXWAa<HIdhh<;KT1vmNw-ujp-ly(*^fS-3`~+=cNbcU*en+{zqM#k^XL55 z2P`{ME;XHeCfaLUSTDmTEr0|>m%oHsz6}BE(J}td(7$E3e|7G9u8PIS?D|i(XfNn@ zn>@kxl3P^et_||*?JfxrN18SK?Vq{r+CDD{*em=Un8Y74Anr2wU4`(qZr3rI(Dm)GzUSPoc}sa|KHhIS zxA?S1zik#qNqpO!Se&Ov_f9PLN+6SzIkl)O8qSGP>+8KV33}=S`@B)c?s2VvaW#rt zJlIbUb;7isy=F*J(mzNC@zaPfpu1A0PNqZ@mb>w*-lH~eK-sYh2qEQFL%&wC+fbR1 z@$-u)mHS$y-L+r$q3jIxnSoA=$=5xZ={BxjA4bw`=~aatwEcRq&HenHPy@LJcG))C zO(vkME6sGuR*}I1Ms=~ZI?!45ek8<#<8sqO6&d0=6e*CQI=3So4ny76PQmf_&=Ls$ zh)&FXoDZW3G|WN?GK^DGlwhI{2)wDQwSledialpS-*(Sli@+pw5&?4J5_QrZp{(0G zT*%lfqE8p}^=b)%J6RuS^%|OZBIOL#z5xH?l$|j)43Kv1q7c{<`b&?i*Xs|y-tls;@Svm1qj36G;eTYTb6@(`M`A6gct2CDO zLsCb?EpNvG`3K|xTB38S7ho@{cQ#eyW#q)mFoL;Vd^4*TI!Q3gJqsoHi+|JlzQGfJ zJohsX_ZaX6Mj-ERo5mEm8=d|=lVO5$KnVx8Td8AYqhaJO7R-kI%; z37s`AmIJRbUkSd~uaXZXtzUaa$ik0O?(A!Qc>KpMp1H7k0t5r+PK^6n7hG7KvmFqY z%c-yH#+dNW0H>Ye%j_EGhpflm^R6>PNxvxV&1$a~1w@u$h@?RJ7#G{YG>m#w|0rrA zOmG4y0ecP^VlqC@xcb^zLIMo~1>V8a@;@H~h}P#^j=rj{PfeP4+@jOATI8<%*;XnV0Dv^NcF>Q zGr@JW)R{YjSkK?s*5!_Tf@AJEY4Og_jVOLWRtAD;<9qhVPoRYK5qc(bpG%?CQD#(k zpTAdqM$A75ck5Y3V4bunHdb}ob~m)07p9p={J-)X;ZKVlPxlL6Xd8>bw#Iff8%KbY zegm`e=|#gc@6#l7_xs|;41{{nt(GK)4EvV^z3#mEN08K~w7dSMD#gRV# z@8u(v*_MIB%zWD~iO4;hre=bs*~7~{L%9?Gsjq)PrA2Aa6P||I6RT7C)-UI<8E+jk zyDd!Rfp>EG0g*tP?vyV9mYrN@thLqO)wW7wuV1*xn5cG1!#~L03sW+fx6aYF?3^oY zw~p=%uSF>8L3u-v7BpwUxpNA&ida({2X7Z!N4okY^z)*qtkRq6xmq0Cw}e7pwjE<6 z9Ti#>GdX$hvI1>V*tlDv;9Qx7U4FAdKFQu#%c1HuBGwV1)s>I${?k13Y%d9)eupD- zx>Q>|U5kU74bX104a2F00B}$ynm#Avcd?VzQ6Zf*yzc>g)X##W;ShR3H~`yD!Y84x z9OB5(rlU(}HgyHT!p0|id1izUtY0uyx)K6-fU8%#uyUi#cB`)bL z@%1Uwi=PKx%zw5m(ZmGO%O0Ok65IJqG6!EN!XI^K` z24%K2a;)qj10pqagi}bT?SSRb7-r7I#Ik7tR(<}M2STgtZ#?m$o18+60wnLxhoQKe zUwBN0Yff|}T88UVq7Yps1aJfw@waMNbt?(~WCV1`YMyj9X#Ze>Fp{}<5TmO-b!Yqk z6|es}9wgy+553O`N^4Zkw;DZQCOnV1o!k@mk(5K>grQFSN0R(6@8^H==RZV5QM#2} zPLe@_*ANe-?I`A()rMJ$2+pQ)F)UQcP-Zn#;&MwQsFq;-$TxrXHmbVgB`(}8J@rHi zcR>=BP?8J(bg9sDvcne+jt0id6a{m=a~Uqe4Brcp6NkzBfyNCJWcrTRWH$JMDB~g| z4cFlum9LE#C2lO^K;R@vL$-9?4}Xi&vxkJIuQ-8OBl~&a^@@%{-TV`^1e(WjMAu_z zX#CEI>5~bDHu8#LL7TcV0S$AiJgU$v;U%?P4|97MbGU{AstXWZ2+Ij|CTz*5>$Q$G zKfWnc4CMc$*b=X0+l3#e5{Mqhk;UDsQ{Vh=JW74Q&~8YQ{4T;VMKfczC5sSRq34B- z%YQO`_{zg=lk!lO)2EyLZ$Rc>j#FBa4SzP#!*Z;yUD2LyQSak{b0^-`G>E!2eMY3v zJ{({5>Bu=tsGnW_*h;1b@cV_Gw}&LLtn-io9ymwh2}aK^<{6r4mPx~j_2P0j8YWZe zpFgS#x;%aI5IKd$x+7l(j0arK=v(^|vjAM9Yhc_sMyM?#M`Me2?)`k+I)MvrU3|c; zQN-qP3954USd8Oyx%O&loL zgDT(3w%tE0S4(Sq-Bmiimfm*+`DS8??`{tLEP@&pcN4|w2g)=|s3sU$rvmwp^@AF2 zetfqCMAQ8weHku=&q?)~dU?P52LGDy=L2C&n0;80BC%Rw!_2;V4^fbsqJPtF!%gbv zH=@mHwWPySGw)?P|9HiL2c$>>6K`-aLo!{rHcYrN4{7D$ep={IzL8em4OmCXT{92-sFwkA-gwvOV^v}YHLF{B1VZS- zM3=%s6%7YCR5S2?AgxC)+JBVz!yPzu>0!O^JVQFrKH)u5XnPFS=npZoqXLDIRgB;M zVX6kMCBVJ?h&q=}}7W4;9cWuDLMwX4`W7Ma8vyT5-5%1G_R8b~?*^z2+=@ zzRM`)Ecf-zRiLqMfh73_Ca=yyO$rZu@A z5I$;o?|x9>D%bwn`f54)A?hL``FT8`Dg8>LgPy{BF@xEz-Tk?{%W!+5>rv zVo;lnQ2=?vQkr>OUg@%!w1hXcKmAq%`i0H!H?LL{u$VpJ0B2X&S2ENUi>Af08^|H7pQJijl2j0~GWSOt99@ z^uWkhTW_1IvU1Snr=FdTJ8l}tDQHXv71BTKX*Ofn%6^};#~*y|g6kUT6lq)G{|g*8 BgHr$i diff --git a/localization/autoware_ekf_localizer/media/ekf_autoware_res.png b/localization/autoware_ekf_localizer/media/ekf_autoware_res.png deleted file mode 100644 index c771e3620b1610a08b0a064a51bc762f7152347b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 69064 zcmeFZWmH%1^Dazxw;(N`ba$hGfFRP1AOh0ejnX9z0wSf--6bjAUDDm1&;7yg@Bj1b zb6%Vm=hazfE!Xn1Znt~id+wQQX0DmpK`-T{&{2p{prD}8pG!Y|1qB6{4h02^i39^y zeDM_Zp`a+Bo<9{+c81=bMb#crxfQux>g??K+Ntt7C7p7HHcOciixpop%bsgmUr|@3Qx}*5Zky#_WZ`2~(xT225MmGwnJ&`sCJi{Xp$!#7#a2 zXGGzo5oy(|X}`F8>YR_i9`U6?{XQXO^n_|m}#(oTnYKPOYKe6?=eS{3iqG?|IY;mg6;@^-J&W2%0TeUCEgk5 zubTuO>_7PZ@c;RT1!0)LgPAp*#pi$BgrdF0_<#2L`*QCqB#L&sG^ZdspMSp$WW#^H z8szf-x8Z-J_kWLsoqfCs)r$?DJ%5gz=EwP$IiVHZTU<`sQyXdT7JKaIs3E4TVUw$8^ls#Cs~jPB^ei zcMSvx4Js`1(l%Jw!Xypr#p)A7ij(TUh15{~%YcxM^Pvpt8cy10|5DxKY_L8z@@)1W zOZ$(qU#dc}>CU?@S^l-|ssz@pHosW@=fZ#P=fU7jRA^Oi!}HgA{S&ax(~I$E~pSNfNj5IzF2`W#mbsQx97Q+TYU$+KpSzm{R2 zLmeF;3{8t`{dsN!OEAgY7W_7gaJk&v+>T4_Vg8XXlDTPUY2{P+W3gVTsGMB&750nV zePXF|Ia&?Er7JPpdBkloWq*5paW?0sK*e^(fscpx#@IL~D{GJ>h1W)$DhllZ`y)V__16dA9X-3l$Z0 zuXeA&bU1s^RWgkD8SeY{@6TrJFe#U>_8QZKJuaup&2kjd8eERvHWbNZ+3xRx3tU`W zYMu5xPbZC$DMv>~+uGW;CE3{6hI16GtgJ*FHb=H6OViwTtJl)JJV(E)l!@Bf9)3V4 zFW+r(TL;lygu*j z?DX~Zt=+8&F{1ia1^ib>{!5%cwB!b~Sf|#Jl;1uu8@#)0fD(@Q z>GmWpIe9;#vwvhu0Os9M+TA1n8K-%VIJUVYE;BjW=zL?BilQ%|c=3EqyAFr483n%m0WmEK&s?0@Q z6Y4s@-kvCy$r@7qwYj-jS6A1Y%ri~z?S2I_LEhhh*(d&AH4<%Ffs2!TznmAGH$kLU z%vNv)BX~K%*~36jui4;UO^pQanJl}C-A=9Hrnbp;a_)7}Ka>9cnBdz3A7J5)O&Zi#M1b@mD z%ezSwM>Lcta*kjM<c5xuDUd1JNu;e%E#Ch-tkKtlVoUWP|Mb@~ zYa|@j5_)Fk`-(pW4n$PM;$4rseYL>&C;rc9>kntYpp*ZkkNJRvq}FChQoJ+!MKTU9 zZjOA44AQsn-!DDZ#sNh15zYa?YYoDkEO*3#K&030wcB1jT~xwVA_@vhNoncu(9n9A z{3l+@DCrMq4{(TyYpj3$`1M-{}ak5 za9JPFZs&bW)U#gk zStHs-flGk4&el4KTy2;7M*`(tTr_aZ06?%YoKsm@na1z%4j6DhK&zvEk;ZqU^qLfW zd@d~?&^h->INqXpb;!muGij78PZS$2bwu1PM=L-qnrIIwt7e(WAVXo@VUEbnbNW~^ zVRz^G29LWFy}M^frk0kT2W^B>5o9Ux@f|SI0_dwG3%;hU&dlep1|I$Oiem)2-FnhU zQIBKhzCWs_9o02O>;ovfTO~d!E1UjHCoF6EFQp_3Fmtb@b0N+m$W= zYfM@dp{tA=*IzaouUA-tf`X#y6#9C4-msBTw#xfma93#(v!&+NW0xWRSM8hp;6lsa z?>M|SAg{_YC#-LM^VNKqoWPBbvXy~Cl9;H4+1%2yAU8K7U~X;>h&5wladB}pS8Z>u z-VM0by!~pswZp?hBuZ)k+9IBU-8n&|0*=~^o;OWCu)gl%(sFV=i5$kd9w(zfQ|AsD zyB~;ny1#kzMog?($7!~W-Gb)JmoLC^mb+gZiriiFS9D>C2L}g#&&`cz)G#RT(Xy(4 zc7@DE+`CoS*eCuHk;J^b&$H)g=y=3=71w{w#XASJY#hJDyO$3&I(;aJc$xS|hjXpt z4!`|6mPOM{wcUobjCg0NklW(Y(gjommhJieF9<^TM_%pL_OrKZmA(!8`KIKAk)`q4 zR$Kew7EYOpT)rwHA>lO2&+}Yv%Nggr`mr~5VEX>sHmwi z;GyKU@b-V=JDPQx7rI=}zzKT9&3(Gi?3Y&DxL>5*9@9CZYP~mw=6@f7 zPw=QcjD*K(t`3-Nd+W>?lvr`DT4BkBkFV18YZaBz)17HEGcy5xejFT}+x-9$b8w^m zUoGZTN+^t|a9$6Z_>a(e zp&DkWX}VpGABj@&v6oA0+R#f-%^B4M_P;s+1@{!mIrpQ7 z@$yAq=aE$X$wadisWoUPnyB&7sUhVv061rOkn%02*m zsXu5ZkqUqKfX$#aC(YA!Ij8XAXl-x4F|9G=2H}WC=TR6@|1({k#h~N)AA;Or{T2G=eEU-=srcB~6Dtyg z*4g{yfeh<~LzJYr+;)gJQEMwoAX7wt!ech;phYTwQ8a^7curz;&$TiI&X;|T7xchf ziw!$2&us=G#yb|ONdG(|3Me04NLmw8^_BR)I0P{XQF2s@_ANu}8H~TySx~_GGi_z` zKLv;+`Z)rm4<~HAmWY3?6T)jdVIC{x$m>*DQ!+C%v$96Q*xTE?pZ^M&cRvbKrcVJ` z!N@ly)7$ym)5`F03^LQPJdIc1V)`ll6Xddi6S~`P!6YRm1pz7kr#8wzw~r9)eGuI6 zL`_zUB(lWvGbhQ;HVHIg*ugt9v*F?4jRt?tb`Ih&2DO6i_4NcUGgULQExI)K9|m>c zu9fBGiiKTWT|kfT4&xikmfbe8;v3EvQOh-Nz>$%#rDkE;{*jU*__ZZ%c5aeZ+F5Q%J-zwYyA3IPEDCZ;f~5|D=A(#cCd`ba79!T-Yt zX6-6gdir22cH_Q>-P0BmMLsvdmM#Q*9<&Qz*yezSq`Gc?J3h8YH~`LEuhCP8gJals z_!1y>D!vv#PY@j-V3PINsxM-CowoqIi69fI0m)HZ5Zu3H5(#9I3h(TXWf+!<^{U=2 zpPgEk|JBNjA07b#FuI+&`m0IfG_G+~9UX0LxmzrcTtj^;6+5QS}IGi>J_hteJ`g()Cf@&Kuce zbKg%;Nl8i1bt4Oyt|o0XGIQfvs@vP11TiERpf1L}NnEdg_-AHjPL>)E8|dolf-G@6 zvJv21T8fC*?cH_%-N@)@{ZXI5e5gk`gn?3}9XdWRPy`Yoo_Y6ZFYoa1aDXc-%gfud zwQBjQ@i8%Zn&s~XzdUn)Al@lO?qR0OGKA`HN>E1WdYh6Y|iQd@33m z87i ziL9n8EP(68KtW+A4$G^ijSli;6h2>o{if`Cxcn2G#ib7-*~{F~JT%JXr3jH!5ijAi zrKdG{c|Ae7g8Mko4Tva#9&ZB0ot!?F|@; z&F8vV8Xpo8RvNUSbSt@sYvuz~$ga0=Zx}rWPHKO`Fk(;%Y==8h4#AI-mUa~!BuIFY z1YK;El}Fk_2y?%GmywkvcU?~h=Ecd$=?>gTadEM(E;HeGb&vKJDSE03*y7tx6q7aI zlP?P3)n2`_1@8gagoi?|G3^e30XRK4P|O|033{_TQ*B?j0>bqGOmffN8NS;b=V1&ZjQj-r`C@stx16RCx7X(`s5xC_v$WcqT|~Onf@6CqnY>=2|dHlr9FxmxPgioJN<#m5=ttd`c3&T_GsgOQqH5q@XWiDLa%!8 zpn0Iaz?ULXUcc;bZEdBN3RhNDZ8#az^6~M3XjMo^h||v0igfv7LzSj-gF4{8%F-n> zY(QiH!kkoI8!DaD6TnS;;;~BAX72Cq<{&}?BoB*QW?WpHg2;_M2+|lqZqbZLURGWX ze607|B)M#W^~8^dd_Jqcf4?UFhx^eNMUs~KzT0(~{zS?wZ&21x`7lsDM{NX8aF5h! zrr4k@7(`j}39Mq)!C0@9m1B~U{z-MaOHb|45MU|&3nJ4}Qf@%(S9}Pvw&^m{Xz_F+ zj<<5w*86|~GJE%~2od(khUyoPbPA&L^+88}nn+qg0;X)OAGzqTDB^OFoBxhz#;mTMgvtTMZ;-X#b8lyw$;;4BB3j{k6OW0uj4e zC%-tcKSFr$6ASRY3VB3bf6#G|SF_duw<)-?9AN+Jr42yf5`-_|^4D?!xJ|#qJh~>r zzXKZ4JU~Ab8$8DR_i~d1xJ~tLtyuRTF$3ghAfS`!RMA%cl4w-{xXri+kI94o3hJJ> zCYU(4g*HfuF|2uyzeW;ZAR8=k7p78CIA<%Jq>8||~%&qjYqxfMtam*K%JI60~$j;gJ*0#*Qt<8cd&Nc zZ_)H0#g~WJB@RaXy;+JjB9+AusMoWQ)R>+yvj1ZQsnp)ZNvTH#2bqvZ%!oCq8)h~3 zsb>@p@0xTCc2OIE4d_zG64h*Au#ois&Uxhly=NDUPWbz_X{ZAZs+(m3=ChN6mKLyD4WO_H2_Hj;ZT6Zzq{Ayx$d`#y7ya7KX$&GNB6A1?=m5$P;?KOJS( zyj7I0*np3(l@9(Z!@iYPnm0uw3o{CoU7P7t+1>$5Mg@qOanPV8|N+m&1GRbKNZWQ8fow!D6D%fy9x z`5&{`1{IW2KR>14`>BPAyP`TCT9Bh7^J{l|7pl9W@}RmnX=|X z+_`mQ>UZ3e`&)R|LNtGzCu9xMC9tpwbHl|u%ty$b$>Ds`m;Eqb-%nW6SSdWNkJ5gZ zprW9Q$x3>{&KK*;X*^T4$fKKdRxO&Sf4mBXKiWCb9>|IbnY9B$LQv7rGOfxoGL}G$ zbq!de%vT#_AiD(2^U>XDWut?={l1mQKUuTb??~!WR1}N)C$)iJ+9aR%+Y+E%>R|_= zT&p`%TV(>SMLe(6=4D_7?L>4vwm?DXo!8{hSFFpVfyQw}a9iT%rj!T?-2f zSJ%rd+4woE?lMjW zYC0Zfl8*3RggPEuB@)K*r2M(3@ofQDMg(feM$RGLgDf7JN)efN0jNiVM zd4v=992XR%1iLlSdOxyMFFL4xWzQ)L5~*&_FhKXT(p z*!wu5o{}QLwF9${6L9pTG$>gMV;(Lt)@F#9@IsNCJsG5~oYx#<>tWTGaYHaJPxFAh z0QV4;G<>JnEamjh>j7!>bEL^eeMZXV+(Stn4_QkW>fEr?bE7wE1AK1abb&Aj+dACu z1+kzA1IyKJW@0h{>Ym9~4L=+6|MzoT*RO*nd8@-c|4MRQj-1#rUFLR0Xj@x}#my;# zpBLz5_j02nzujq6)EjMZItlxbEF}N&wcn!?e@5l6ZXu{As?EUk<%xJIhb>Ass@F-BIT_(_xwj%ySWx*D1H^fKz;Iz4^ zHBUd%kF@df(thji{54-8t0RSG-?1UAWE`Y;9<;>8B_bfk8a6UAx~3eefP?#95loqeEE=lFo8X<`_cBjCEl6WWm*c)(VS*8dCu61ZQ9GKR z=+l!2+|mTh4+wJO=8f1N2xsy)(u=snBh z4f;7f#Z+7P+j#@Voe?Q7h?xK%eC;Wumu}nhiuUcKv*s&nsqR$Ch6L7p)#&HN%j3C8 zwq@o4^(5#jJ6^MlH;3LUUl>=*RZioIZuy&Wk}B`KdfXYxlgcm-vQiw}@5oZpJ9x57 zzTF&sZ;-Hm=B_qn^Dh#?3L-#cMKL7XMX zV)MFWl<107x}sq7?X7p{fsBlde5xRyao?v5sfeMf-Q$g6VPWBS<(gDcJt+e51#x^f zi><#}0@4JW!o5;xXlMXcUHZ0nllCDq#IY~T!BqNYO$WTxL=TYrAVa(`_&E24*ZC%) zRC0r0S72QWB4(Pwtw{LKmlsPx$;AW$vbeMoG_~JWo`_)xlsWwDjUy^ie=hu*UHS5p zyosO{87X}fgNC3fyK=<_rW<^#G_0YCOK!icLb29##7z%F;iF8VLVM=ckGVAdMc-UG zhqkmOSJ394#K#e>b|N6#pQcPH$alOMx^OlPdR@JO&Ul*fqPMev*Sd~gc*e@LYH#Rk zsd=4Q~$59apR^JJ}n~+ip~6 zUK4j$|E>Dds`LkRVzMG zx^2=h=w3FfZb8PafRtYAgP56THf&tnQ2WaUQG@US>4fRl$Ux_gkXsjnHM`!gtks2q zsMR}UN9&ZxvK5i{?|%e!03AYS$%1BMG{9^1EJM)!usYyX`b>jZ>Q<&DeIED5 zP{h+ij{7ufo{3!GWc7Acr#-U5Qp~E==>S{YwwnY4Pi?S3ocm$SZbgTYKVbjkt z@>i@}QH0d~b#|wR8Mow@Lfo18bs6O|Z{9Vq)zqJ=^}4)Kn_E#@^+_oydMTFBdx>eP z;_F1mE8D%V<1Tw6v5xhk*%PhiQdLJH1o!B8eMCUQ)Kk{fXJKO^-6boL!PPPFH+g-W z*z~!*U5kO`Y*Girj-WWAZr2u7nK8U^t`Q!tz4*(Bg7y>^s+bI~bm~`2P3FVuL2zb6 z-bBRd8jf8DxWy)CI(p#)rCjAbs-BiE5ev(D0X!S+5| zpru&fPggL`V=~AMEn3SO41CHq#X!+MVryoE*Ss#%u-5DRtWZJLK#0%Wnl`tz5|>dQ z7w)aEyB(pb1nMlqr`}h&=I=zTXX-LwXFZsyuTUs`%tdU#4uxkFc36&7X~-?=u2j#* zP2{{D_h`M=)%Jhy($>P$9&un%$h66-i~_@VB;7YHaDzlis0AxwRE}r7UnJ%ifKEmr z)ONfSmYcRQMbDg6izOgcPb}}y`GY1HdG$`IavZ;6Tw^V>KClcmD%=mh&b}d@1>oSF zZ!wyWu+@*bk2GfiMb`1NAM&H0J2?D35Q#id1by!-5@$kLdqnKSz}t>V#Is85Vms3aXwx&$;k%=e==QTK2@09bT3UR%(X(F{@72SsiJnms)b4Rs<3*zvo)q%EGMQWJq?E4D&1_|gh@!wu9F z1PH1ETkA=2_Eu1ycvR$X?OnF`cQB@kC1gQv4Kjj_^TQxjSZ+_E^c#6T*Wto0lJj1K z8gn}VK=qEf{g%e9cw8L9H@T>w zhK2?m=FdYh8C+xQSz`1+1Qy@(jWQ~%zBFFD(u?p8kCB;R zAlTXy6EXGh$4ppS**{7*;@DmrD2{heENf-uo|jXb@3JiOYF3Y9Ss(lot8HRJ#7(bR% zAbk*)Et6Ne3y!`@AScC#f}JN-ER@S1VR37Ug3dW9L!ph#d zy>&L9;FflBlwO-6D`~i@TY9>RnwJ?K4Y`@dT)d=5+y$f54vW&&&yibO0`DC?R!7qq z7d>9$*y1O~e7RH?71-j79p~R~mSbaMF+&?Q<~}{xl{&gWiXP(@nu#wA+vT&Y?&oEa zyX%z#WJx#o{(Fn8Nl8?uEO>`0(p4jRv*UJc52XTC;!J}Oi}ekarHC{1&|};!$?H1!bl%5j<&Gy+xMIjRg+OeNT+_K8!_n;> z#w9vp-1E*Nu}#H&n~;20s*-A<7H(sQp1U16sUzu^{txG8^RG0mxy}mnaAS8wJKK9@ z{FME%h_4a_j^7q3q)@{YC*W@^$eHK85ymVpFhC1z)a@pBrw2kGrCJ>ywhEX zJ34lK+0&3S{po$egc@?O57ijUjdS3E<&`r%=J5Fq7xohkAlfn8h`%d*~D@a4(1@ie`HLg6C;n#e% zL#KAt%_u>unUn7>wQG_i7vbKX*Y2s~_-M*hB|e9d&Eb-uY%6boHj5Lhp?!a+=4^KAp} zI?FkaC}iakN>(L((5|ed!wFuqII+FX3t>h)3tg*Jw`?<$bZQd#;#Qi%rn3Nf0o%2u zcOr=sZSv=-JXg@k`H??W8zzjGyU$LI^LVCurmQCM+vPQACr}fB%^fzF>tVv)rk#Twvx^MaZn&mzO2X!rex!FC=_xaTky!b#8Arugu{nD3{Bz zBX&+bdS*UestRzdoU#zfp2d{nb~1&bYC{h@Usg{@a4STl*{OpHc}zy^JrQB&UawkQDS2P1umtlZ{b72{Wayx@VG2!9R6Nn6 zuGLwYK(MaOZ^S;^p0rwY=>BUr)8Ql^*-d_cSn}4|;PMvVVTZ?Qy(;3LrU##~m_ZTZ7?qM1AxS?=$W`BkJ^g?#ulPwlg9I5JIx~=HvM>o6D#? zCcJ%n5uC9E;#!(;g4T7wk#%bc#8X2EO-`%ICMnl;?IXOW0ONI}Myiu+ z?n$|R&~UPrxJRl0QkdgXZ+$sh%GS-Ve9fCreCPX8+z_U)rKDyCxx_K>^l1GK*h6wBY#C3@9IqM4HwH(ICiuSq zzZQ7>F#hRtNC@_y8Jhu2nCk>NPf^<0hELok&NIzq$eZUKOC4`Y5*;$8%~W~TZh(U1 zE%Th+oF+eSlqFue(yU5LDQDP-gWaZobg4^WuAtcV{pYnu>;sLyFsozLM7N`=*PqNn z9p2lct^HV#aSeH?vGZf$+JbNuur&{Pb)Ur>{@RBJ*(G!R++fI(# z5x|H1(Dh86)~SNtdd$`HA1k*Eq~B^7wh(LhX|%N3HdGJ2ls+5s)~oykxsFIEhq7v| zR_UJpNleB`l2Jh4+c#?N#rBy~3czOT?T(3ZtSns8UBY_(@s{v!fY>*}u{np9&JfD# zQ26fCIZ-6B(0~YNNDQZow?H>r%+#$xTU(4dZq#v?+KUn>v!CK1yUSyBL2sfy8%`t zQT-;={pj6CwlrFmk-KK&+5KM>CQ1$2FW{B!Px9?`oZ=+cmKU^hjz>IP3k4)~xmqzYSsxwP-Eu!p znhTwF(n_pYoqC)u)Sn%n+cF*#Fb|A>=DKTlw z=qn~F%5-ur9Wmb*b$W;`{@tn2!4;l3CpiEWQW&c81=RgNZG^1e@aNEpbM!|t zG!~aFjGJ3oh`4B-J$a4!d(6T!Je74(b4du!*Y>ni-M^wEeVfhej~xYbrUaxSOgUz! zY<#dv#BK(GRROOSN6KDU|GW`S*NiCRd1waSAx;B9xA0Fc(tv!sGX zw{-_-VCvKG%`@HUG9Mqun70(~%GKc7e*ozG<~rlYVe?{(M^3=i;A>kz_LxuCfT+45 z9#(0OaU*i6%)65Q;^UhyQwom7T&&8f)9wZyCOVX1$Kl-XCJJ2Pxf%yXbI#6{g$Oo^ zU0kpIh|DYN9#oy%nt=d-NZg6YJ21>X{buWlmLT;!|9C)_>4C7QWQ5 zFqEaCth_~QmOqjHK}WfAxb-bg<)Za$qW~ukT@(X?1)iX0G|sYJ^#qQBbsz4WS-?)A zO##><3XQ<1A1u46cjflL10Osc%3)j4Yy1dks zzA>7b9c_h&{yR^;t8*n5J}1Ktfj4x)$^?4U51z5cw@0i1>QcNcO)PmosQ9@VqgUf{la`+%+KXPoR9H(m)p7o{j@TUHhA=MH_ID|yAkxEUN}h?8 zo2$Yb*Jp|mWitG)9Mr}zU+`&y3gT^TRvGAD3-K6o^CygjlsROf*yfsC^-P%HC zf!V^{1uIMDMJK|E6aX5)=m4KblY$Z650uaEfGOJL%^n9QH#c^^~$pa)Xrz3)MPYle5CY}Z?xB~p3>j@3TeUgd-J zoVmg*(tYX6`URx7;`hYCXD_((1H+U?kGC2K&a>tZ8nJx~8n{ZUWCm;Wc?5u(;87%DSO-W>Y6yTI8^jQ*ev5uJI;<5t)BDZIHw;VNZ@sAJoUOrp+}5${ zoi9cop1GMP6aVvcRV}6nIi#vUDDsA&Pe%)x|WJM`RmO%%R`4_%*_b74_(>U@69(aHOgVMDcu0CommiW|hrK-w-D$Vf83^Jt<*M|HK zT{n}}8yE~r|E8{Cf1n_o(ks!CIFTjtFVO<9h#te(Kc^&K9Sr)0_%nvi_=Z070x9`? zN=eqzpmkOBLiuwFz)wtoXs9WKpcYzD1^p~%Z z1?<omNa*i z!W;))16C23yQsUF2?vPB>Yy5nP#`lJZ`GF_2}X+jhk1%-w&izNGLCjlQhfC+c4mw-DB=K6*lS#4n=mRr9y-h8J<5Xzdl{LX&$lMzNe8HElXxb6+Pp2}@JRy5n47 zF@J(vDNT!hghbg+EYwKLG!F&AQ>3aesLO+yRh30CfZ)?`a9(>n59pH>@{G0SW>rTf zVJnJ)rxY3haC^>?=CT{BWKQX|W7Nv2&k{l_?bX;z`1m{)9e?=h>Zb!b6JjunF@YM$ zWA*q2zOgUv9JjKLDXrzpaF5|v=m_>Sc%>wN55P`_J&^F_28PfFY5M3xR|6df%uG!R zHGsNIM2k1UOnsUjgV0)Zc=oLRe|iDx$TZZSL1B~c)_OJb0>0TVdG;V4HGA%N5&Q}1 zx5aLN7*05!CE`bK*~`OuJ^@wK&bp;eXoK_DE z)sEx!6f6MDm%rA7%MSJrKmzsxMnKyl4ze;*?7B%>DwdBz@HO}czPSSIC)hxC-D6^j z3g^UhD;VDWOwC=)P(y^j`OCaN&P_w zZq4Nwh|-a|*7AaTG`OCdn@DBU0(c2liPrEA_~rzo_0TmOsDWNvJMZn4G-M96$^|Xw zcZ#G43R@PJd1e==BqC{3+5NU}DpD2Pg8?gxH58L;(KT3t5(NRM1$mhD4!fMnAY;&@ z(F4<7BM$8kYDXBQB-*Q@R5yObgihe<2DZm!Haw$iHL!p)|G?{pu@qvBU9V+c6!0ULB4=Rx5> z(yJL!AQFQMc{)U z99#laW4`$Ah2&*QLX?gTm;?r(u;GXb;(E^049b~{h56mFZ9^{qu6H6yMLP>CPo|j# zZSO-_Sp^+)bijAfz8w`jIO1yD&|di}Uz>4h90iiLHR4pyJcLJ(ek3$)U>>k%v*{~X z`}WY>GSOma5dx3VITgk?ZsV&Ft*nqq!hX`*Qx#;46U!Wd*0C(NBtvW3qo*)16>t+3 zC}1m~sbc+%dP_5Bt7LyZ9e&)aco@&?b5*dUeOljzr*dx^0Rnl-q82Usr-wt=JmMf5 zZ2HYy<>Xq;zEUU%ciuizn+J_)BF-BTci2UrFqX=uR7`TC?i<4vl7N%dKC1t$0{jFa zjQwWH=K=lquOgSufAyXa@t>7%eM9fvm}NS9*0dnkF^?)E?k(@ttHBqfcMuq{J91kB z$g!#B+l6{`b2FLf*NVx)3}xno8)*ATl<6f?@0%~wBnvv3tiV*dC#(79az*K2zOmQn zC$(jvQ&{$$rUUw^_ehSvyJCR<@b>gD5rh+b=It;!c;UcgB(PE7WS@fneITV=#hfYc zV;oW3?aKr^;6!p+d54vRGo1T$3BW)z7zsxDpfEfTK5yo;XKKt)vY(t2(DiOUiS61T z_u}eOw0O@eM(AcGtK2_wUeDt$!91@(_-lL`>?kA&T}K6n-2ywsihCd?EB z?+lb}pF=?9K>+r`q*IFq(gfk>EsGL%j9m??3BeS{+dF3ikKw`hv=T8Uc4}~r+F*0;NzJ3Ph12N2kPv3H_ zR*cV!w0OsDq@3zO4m}2XhQ1fs(q@Rlz|0crZ&?gIcg0Zcv`U?;mT*;-oh&%5`2k`c z;4{9Gm-4@zH*ucVen496@{=KOZ>~d=5raR22mmNQMETZqKGT565+52c<`nUk?sT2@ z`;km}IOMzWw-G4KGh~`UekrhVPIz+lAo-D{S{D6$1=Dwf`~iLKZS?Wf@v3yhZZ*5} z1Vx*F^9LnTKth$m*a?TtHQiYQwKHIf+im0>0k(Jy8TxJ*X|D%{i49}F(sMd(SeL4) z{*3j+@($)mnyKPpTA->ULAf@c-S3u9gDo*YEq=CwQ_t*(Gd#c`H?MPVQMWi0IT^IW z6s)peqJFJ)s9|W5CQ_lIPazG|hnX4V&TV>FNr=$>IQrBa^|>4*3gn-a_Ucrgm+gh$ z(99v@c`oBO7Rm4ss|#O>F;hElc$al-y^xet&^=gft^aGwyBF^+C0+x(R?n1*xBT%j znfY*W01Zjho6vgpuiizb-SzczFvZt+u}bnyncrfn3=Eo;&=uPS$5Q$)gF#R*-|dHp znJVD43r2A+lpvgl2W=Ap1Q#lMo0Vuv=jzD!+(+jpJ?rkjt3h|(@!RQ6r%@EXJ10l4#(pD=XYMmw>Y#~swXKnqR0kLb($vxtxmd;} zSeoQ(YfOiXNAH12PS5~3IXGAhzM#QnHrA6Wl+5A{bPDA3j9;T6Z3RTcBOqW&tMW_9 zO-v4ueva2go6=X^Uc{!neOT67w0nK|zBy422N`6t-u9XFAQ=XeJGkNnE0tFw-2NZ} zYaGyueKelANvsKn@n8~PFP3LpkF~EF8pe0Z8VPj00CWHwx0ozh`IeI^qo81{aQ;8@ zgGy9UMRG|+K+IqOa-z}ePL`z}Op4iy2S!Bnn-$i7Ad0x4fCg1|kc=e+h&%w}Mu3g1 zrj6zHei3R@Af!63szHpusBHnVBR(E&cxWCh&@l<0nU@Qcfos0Xv21oP3UO)+MXSpZ zR2I3uft(PZu{u#}E}^IrPS&!fIk$sav`Glg|KKBo;3$|RlR--4JF3Vx1&xvHpi>mg z41yUcFhg{>Q)UOgU%|j&W@Qx-9-hs2Ht*&2;ze)eyk|EGq`T+X2Z|)?=PsAvE(Pj+ z7Syx&y@=_edL^t+hq>xIh(-)XmjNA@#1avRKCR?mt^y~+>+em1dfu7?SOa8Aixtw3 zlo3C2JNVcuVGRl-OQD6I1O9Qw ztv*p31<`g62zUEv!Io_feAur-o(_`gW<|@ z(Bx>G>H_)~r_2gLqt&3mH4SN2kFEc)=AEV*>@a))8 zzl0BAY-n3~`4rV1Va1LcnL9rvj!ja$Q}Xpr?jL;)3`?O?)srsd^M;D%%9xHqqIGAwiS;fo?qSKsAx@E9gDCttjF@ z+6e?nF=0cTLgCv+MbPnF!iD+i+!^KcS)^3!cXo_vi_hIDWz?&-77k$uVsayH`*O@n z847w0_SsowP4?H(QFdOrfq@(kV!~$9a>2m_gdelBR6mzaef6MXWi^6UT-r$KYE8v& zxMRsHKHPIa@Q7peYk0XWR%x~YOJRH~w}aG}SCzyF@^^L;({?f!h;?{ltmUDr8h&q~mF;K<_h-Ivh*swvK7 z>i78i@v^mtJZ~_KD08@+p@9LW5h_4!g`w5DGhf^p`W+>1k6#lH=icmpIg|_(cFNe+ z(Q6mcmC50#tFG!&my~{gl+5NquR}HTHzWopNUf(>eQ0fCWog>L$>GebpGW#4o6_1~ zj^cT0k7?{pqc)gZv~cegw9f8Bl9}s>VTo+t+}OB)-3YCt^711h+yA%mki2ifE-5Jq z+?E?N?J#hp&Dwo4rrsMz>pdMz;+VgLK42q*A?CjR!)jpC+usD}Qt-<|uRxJ37#WnM z@W@pcX7L+lh+gobmo%s4-}7*CFbCWL>JXq$aW@5+uX6KoZyZ?`S2@7Qb1&%oW=F7S zM@-rkDkEue5L~RN7EhW)XfHg1#&MVp0qeSC@UZ|`DT`u zI>^hnH@v}5aQ@3CTH444fnOA18OEIH6V&zWoe~QOnwattBvP^J>TigyQN~hzC?M#G z>s!U5kgBW38p@dmrycmKWu^pl0k0{VNr`CDJW6JeAh8!7Rq-`u$6JVPRLM0&3G3Bc2^CzevT(6C*Qc*bx8q`mpn!^ zP5GfD$Mi!3prLh~gFIBgh3ye8}DXP&W*q}x%nJbyow?s7zFkk>}qZ-cPHrV}iayBBM z!Rfjg5FxY~SSVE?o{dgjtPd=Qz&~GHt00u3xIVQAP@v(eNQi)L&thMQx+j>Ku_Ovr z!fhzg;~AV;f#5}A&ig7#A$1H@UZ{S4Kmd=!q$F(F{K)k>%}*FMWkOp@wGvtQ@{y(i zB~8+Yk2;r1m=aD3m%4|yJRYw_GMovK!cd%cmj8m$MV@QPd~7XwqaNipBj2mO?H@|O z8(8P})e#F_@qdtS{!-oyJ)4EjNM~r`8l3DJ%`>vnmw3%j8Tzq^rQp)O?bQ;E?~|)~ z(h3LB)#ML(FJl#|W>J0Jod|9`l{l{E|F24}BM%Bw+qv zR!orGhDS=nf|=vdK~xqSBxwT-F#(}aY$&wJXkz`)f-_M1z*d;&@uis8mEZX@;3@7Y z9FT+)NkxwRQSKqr*t>H6(8(kv&YDm?S@6_#B>Gy0byh1#`IJ?tT#MTcT+!>N6cYBr zrut`xxz8r3c2gsCf`*nh(rDtS(>CR;&MTyzBa_@}CcEkmF814JO);ui-N7c|SW&b%MXTg-5^uszq~oRr*t{xk?}M7xuzo)C>#5PP0_gF< zWvJ5@gXj}k(6p^c%UOl4N0hNpOF-pv%7*NH-1{1X+u^M6d?XWDFqc-}bCr1m8+!Ta zglHI1FG#;GaZY2E;CxaVV(_V%QNW6!PIekA5Z+#?+%IyQU!)l!{|25 z#&{v0m})tg?M*A!vr;*>aZgjvwaj|tj(*W$XZ<&9OmAL{M+5W~i%F5*=5PvRu$qE~ zj?7vWZ*shJ0UaULQcZrC%kcR}sEo6exsQ|bQXkUey2uY*jsbQUqa|~m>u*rWg&Fuy zyHL%M!>d=73DGMN;x+Ef$Kg!Cq^{P;Lyfz=YX;J?(MWdCT@fJ?m*`QqP$6761reUp z7M2^Fz_>VLHEAzuH@sgCRVsb*z`-h$sAOhf)`eqYn*FRn%aarCaLKa|gy_l?Q-c~* zA~uIl--H0;i(K{zn!&~enX0o*mf+RcB`FRZ6KJq%jGtAi!q-N?wQzv(i?7BWGhDw@%9`~{frP?9WgmHiyX%@!$KlHddY1m`C+As&i87b z`)WjHPXq2IEh%}Ll;4)pG*Ac58wW$Igc}j#CbKIo={fj~`Wp;PNZiGOXyu&ncicjH z{KHCUr=FAtf!0a}#HEiw#MCfC%tgbr#7(@~6>(vMe#!=sH60{gu3h++6T9waoV

-1Yz)bkHS z6||^kQ?s^y-HEsnz|4okMz!d#N}eRTTu+gBM!PM^-ugY~{*a16t<>4HyMF_H>p1F+ zy?F>k(1U42BImDs){r_ybPP%g-k-9?T%g{50`v>iocP!#*RNTfd}d$`K0BAk>~u64 zD9vx=EzlVi5p$jIKaVo5BsaX=PPY}2q5};xl=ryCcxx` zw;)pE#R6}bNUE_);8_14RO9o5phrwIS=t}r2x(|bTYF`1V*W&(RzM44uEcaxeh7{T z-T|_cp<(Zq+~rwqI~k z9=pA-t?XB*@$4_s4*i=gS2Cu0J6l#!{(|8R+T(hQVr-O`B_3r844u3cKYj;m2x9tl zr&hQa-%A(k7cfFH07j%17=!wa&bF8%&4Tr%Uq{#XtN}?|Mv_N0l>f(rXm0L6GEqja zlZEW{&5SJC3b=dvtnIf^{h*#t(6h=7P|^5>2|6UhCq`3*lZ>vVV3Q&UIBa&p!Tmp+jfj zE$Y*?P`$J5gYVzH_EbbE2jL$;-z)0#1G=Zve&X`}MB$443O=RqH9U;?z%FJ($IsoXgP`J@C^5ZO(JVGhzPW20yhWoZQTci0Fii`e@H5}Z}aw_6vRIHxPu`kA{1&r*^}V_Mmyx%!KR^?3yP;>l4Picfitgr zVhC13m5@o9dEGMw(Hj&c3x!ff#W87e&_8nIp5nGGSq4uK22+5Fcs8~p5eExikzFum zxp5%4-i-auRGX+9{zc&8)yE$jZ?!_tErf; z8%OI``0O36eMB02GgFBC%39awvL8yLk$Ka; zN1PI5uZ*ec)4dkR{okK_)VEZ7OZ+q?`@+-yA=5`rroCYT9TmljP^k&u} z%6f;IsHv7NT~3n<3xY7-a+{Zi_2On$Gx0c*=lo}LOfmp!=2DK zUU#OhL%dP5d5VGPVXTW#qjL6W+>bu_)X;&uA>A1Caps2FcSeay&i0vwu^f`Qh*e?H zC0TV0h0bTBtSIE3i1>ZMY4&Ty&yC{Scb$(I7q%<~@7u}W)Y9FXMgK9>gaer-5%DS0 zPZ@#vS;e!D&4n<$_cVDiFOYqBS=qBC;a$c`e$`2-?N-#pE?cK^1&-syK-V8G^Rdlq zPhT3_xli!`%BFjPetBWWN;KlJs#0)T*Va)~^}@#C5w>4Y=g^;Y8Nwqp;G$7XI$&!F}CmbY{M ze_jB}g`S^IThbPIW$taQUkA$n(#kK_D@BVCqI{P>@Sf%v|Cn&TAQp|a#Qgk4qwR^! z+QalZ|mB*hXsNDB;q^ZtAa}(9ex!msO zEpG$2?)nMa;gXx3{H12BNVj&iR(*-17>RQaUSR}4$Zs3tEknr<>hybeXs;J9g!5@x zZRor^R(L(9ZEkcZOFqT_Wc=?fv(Os1xtz4z$zBcn%Kfc}75?`emXt|$cfOp>UGUP! zItt!G()S+m^ZjsPI_0m}lMC#UrE1ir0n?6`FW^Rso>IcNcXdw?e02;yP3hz;llGt7 zYh9k;mtM3FmL4}WQ>A(-SlqqM+rAMJ^VN#RIV`flBe`+GR1DuE_5D+!`0h**cin1b7sK~k zEqy1gOdT1)`1%y^I%(i_exAN%K$_29w-9#3hkF8Zqr@D;atm1fPp5)ZBW6;|re0F; zF9lzyz-Kq9Akrs6%|ty z96*G7Iv@ytnMBy3AqE-i2tiPGzg55K*!s7;oOW?PoXhD_ii(MGP8NyD_xtPj^L-go4E8)Ow^QDtc&yNh8;HzP@e$ z^CP8Te25PCR+H0clsVko?L_@DAptQ!;IL*aw&6tj zD0pHy8sZ81tN7#6yDRmK+5f)c^18Ip0Po^jng3J-oT6{^iL^(Y4G!2b=ccjC!FS;e6ojQo5--o>!-szEkX* zE)@7*g)2qY%g?Kru2s~prgTjya+kk9JtDXI=Mjs$E@p{9X*+H{Aa{u6h)egQRoqXW z5I!8UX$`yC8mZbbvG>!!CVEr!_7VL554j=s{k6V6ly} z_|ju{K2**tq$cK0{^lW=fLZK}_9GmjA+MOFolqa;qPX&0*+Q;N-b^t_!C(Y(HZW=!#RJwyxv!!>>BRVD*UFQc;k4!=%RmZ6Ymb6#Yi+PPH z_6gS;c0NNqyqkkI(c(Ym@-Du`r%rNFBs0w`=QEoU=g#RkF8LJOvyg=Gh#AhF@-%09 zombK#_Qt<|65CX0i`X+Gsy^*m>VH6GIAk|ZFju+RL*cuI%OO=|pQyyK@x0Wb?}ozP zfyOY16rFr(zxF#G&1H$YQH>jKX6tRQ7T37rUtEJXoR#-`#rrbq89Zc=WO*L%VISBi zWNKd85?HPj%SOyJJEW+2S}PuK`Qimk)WI!}e(2$UqwYQ#lCMr>SN*4WM3MroTAJzg zXT(?0;~|s62lq$i{Y|}ZBvp&5;3VrLyi$Z`GG;7tvub+{T(qA2<}t$=8L$ya^e7AGq<>K# zdN;H#t$+-venCODPS#&|revJHSdl*NE&s+wL+t z)?kQ9ecx9b?AC`{EA7b=ri^xg;&bSJAdH;Y#*%{tPjU`#Pye!vS;-H*C=-&)*dbrD z_~H|HP#-Gnu)t4eFbQP8T~{jE?bkW3Ji67Cy%L`Fwzd;5uC(!066&|2A$mAp?EWyr zj~}0p=gVFF9x_iWbPvbt6EV?>ZPm`s4h#TJOG#mbfw2?BmE$$mlQl3Z*YDeJ7;zdI z5mBHuV@P3f2Py2j_d-P_blfTd)D9T?`02xkx=H_=nD-ufcJw}TTa)N zpz%>D&d*-;?Tpmf@}V9U9ySl+(gG!|YTw0yu`~(Wj79XGqT11|Hm?Eu-lKlIDs^9` zgB8(xq$&u6TTpu6g1Nal3^;^QCJVaAD#jkxrIfq}u|J43LP1xXJ>*15R31!Fp3e()r=5i%e` z@`Yb#zj(xqOK11pIU}c5QFbe4A69@0$vkmZJ*uJ-r#>HWGj*ki#e(I&Kpv(eVnE?; zh^BmI@$2gHZ5a4hA}5m!9X=JQcIcX&gbS7$Vq!M>Nb=#9HOos;j>0+&Bt5LC5Uk}r z++EeHa?IDwm2lpghmlD~W8bVJqN2=hMwteFGw=%zu01(e+`stXZJjA@9v?1bDnL)_ z0<|i!s$!NV+K8&OuUcd`{Yp_I(SL=f&kOUa4d};(>pS&8K!WUv-<{&*LzJVHJX+Xd zb>-QeSD%VjxG&{Zv%)b$P!NsTih0-P!E|gG`o8vS>6MF`nwpAAAIu&n!~516$^vs! zBe-h*$)IIrLXiSPK6T&m^U%7w_;8Ef0dihR zBiH0=m$&-5QT!c`{;o>(hs6ORDS#c!9c)+k^?$!dg4Nz|qGP<0nr?i;+)TrZDP zzHa-?#xR%UsYDMGTq-*B`frXf-n9Yd@Amff2?rT6*a%(eOedn?;u8>f|Lu24NeLOd zD(tbK!F$ut!u3jsQ@iYi*DW*!1%)DYj=4^qZ9Ec-*o1_xwv{*VaJjTfepKHYFduRW z$ro5lY*|#~_|=f(gMZQIgO?xoHWjbm!{tNbkz3UCcSpN8o#xtb%7nBEHg82~E-y-s z#s>!V$>7ot&XA2nTCa}}IpEy0%oWVPv?$r6gEa7(xao_C%p1*BY$r-?^$?tM@<#i89ArXy$7*=s_r7J;es z?A<3m#npKRRd6y(ii=^@$LjZw41A8TL7@vaE0N;8xzAVu6U4t6+@McMOneF|Yl6o~ zxl|HN{n{+?C!BjB6c2;kQ8Rd9h%AGT*wI=eOhRGj;))k@x>-v_pOT#1n2H@kiv=Im z;{4c|WXit>mnT+N_{A@KsqbYW<2NOkO+-lIYA4zxY9*A{Vsn2Tca-1zD5MjAI7+zp z4!`OL1&N~?Rhg$joOEXvqj=R4E6MR}>^6|a<8MXsCk9|uocik^&eb)BlM@qPvnHerF zu8xk*$_?66)-ZY^0`y4jIe>I_%62Q(p70$^R~qYu&(aB9FV;%D@Uq%h^OuRQ-p*td zZ;l>Y2UPE~mwqg_ zA`oL1EgIU&_k4uUxv^>)w!MuNnh-u`_;~;3&6~GQ_6#eW{(QewI2;=pN#R|3KiHdkSLgR*iL%$}l2Ybm~U&r1jT9Mb~0v}cvSY82P+ zW64NL%;{AZEZLjyYXbY(lXL@BHmH*Te5(B27pXY3W)o?9X%>ge)nI?)UTezcY*6;+ zrdZ7V@Smdj&9B#`=%lcGsHY(v!HSDb4G;0H#$0`);L5#)Z6rO+Q1^gowZrtRl20FF z3RT}MTm0(6afIQkj>K_1z6; zpm%7tUvG)ikLTOdVBw-@fYO-e)Gtu$9N5m=#L!B_`Wy4f??BqLmUT)Bq z6&lFRy$va-B0X`^ZaX;O;GSh%5l`PyeUvS=+%+GCnii z$%OuOHhdc9Wyw(yrS!YKVibIqQj&Ry2Dcy<^_zAV5cRlusj4aanF}ct9-l>>IZ<^p z*+I|>l0L1E6TW7v4w404PN~rO{w)K=!~#}%`cT$KDdjQuOB8qiq&k#Yb$pXpia3_f zX-rAw4khdu)n@Ie-QbeUx};x4*!ZEal?YnRYaVQ#2>n|`k* z|0mi8u?L=>k^sVSx0(~R9@0t96$vS5Dy3i9EZ!vB!QB5WNs*MZ|D{l)UmnTU4viwF zuI*3b$R=+MoiEa9#Dg08Nms}7D_YLlzhkQx6rvrPnu8hw6z_QzpgfS7iZeiO4m$kOi^hRSjI-jR;;oncX6L(RMACuvMM%ebjWt zopO1*cr9ncCOtDfrI^i}f2&sfU{;JaF)xi7$rbA;G{3A(SSJ9o&mf-L*?SKYu7{&5gz^E%lbGs4z)~P5}dM3{`N;r(#jr(Qt z;XtDYo)I({L%5Kj@n1JX)tp%=x!B%iZg^_t7W^B`_}Oh za3rtdgk+F5O5qt5_Cv{eoo#t{P0!(CJ?>IgnFf6*Ur?N49sISrh}c_=ea>?1aWS~IQ*O4c0*%W%?d*o4q1R&l#O8fI zN|w;69BpFx%hWw_;!dg?r+gls|Kw*=q*oq3e4OYFE~0G&$DlC&S~IC7fx%CX@p6gW zUr|b>rkNBynSXu?K#_V|`_em9-3CYREg5UOy#6Xd_qLj;0M>Lq`Se46@z|V(n@btp zsJldk{-@vym5DZ!IhJ~kt%%e^gU(N{JJ72=f$bC--w)HT=BnBteI8m~z-43Jnzww0 zzEF|8NYdzGgcS3`l>3pZ!hKoS+LU>y*&zA&@YFZGvc#!KUcDYCoolZC_LNz(ejACztY- zSm^AkEogQxz-A&qDsXyu_u4PeK)j9Vx@4 zKWMZ*QXgwN+Hhb>U4zeJ3=onHz=J~ZyxxPc^7(Bo>a?%xzd2)S>4;R(BNX-L&2-J+j7lK~vlk9Jj3fBCvuNsC;r36$ z2f7|U<;D~Ph|7Ju=04CoWkyX1IS2QXe*PkMs7fzQIn}U#IolTIb?MTJ*0i;aJ**a{ zPO>DL=G*SQRhJgOOH6}u4ZAL~-t+u>W=Ta1Zj9%ESuG^=d;_^IlTw(s=`q>ua z#K~^nT6sBZ#lLi_(pL4&=4SSjzNh_szQne~fACZH)r^w^?6_^jkxeNO=sr~~Q`$`- zEMGE<^Od3HY8ZVg%ntXk*4bc;T@@UXHiC^914Y&8rvtJNUfu=aGX{($g#jH{D z?nvm6>GCX9a53Z9GY3kXcg|m!pK%*hJ*?H3msG$7j$L8g>VkkH3b@sa*W2Q*y;XDw zvR8dwt1ooE67b#wNS>L_R#s}RB8t&1_7(v$mT9jlGsdkR3foz`Jr^0j`FgxQm5yi; z#ibvUc&;BZ)ES!=c#W0h}dB^%IpMJw3ZI%~x8p<73)GX7g8s1H1{Q zr{1W=|K>7RXTpP^t&Sq7!YNqZ)xk`U@HCGv+qw-R>=V!P&Np!Ruu3*o7Ob5GPW^a&&yaFYPgOU^~a>t zsDCU}9;va>>Cnd29{z?ep)8!d>V|$Cnf1*t=L4<1@V{I%w(eTDbe@r1tVpyaz;&IP zr^Uo%f?@X$N->~80WID3#QQFiO07T(RZpJ&6eowy%!-zcgUQY(?AZO_ac#jz|+y zY|?hq@Mk&C8Tl8$O*7QlUajK&GwL2P+obZHaRMRMw?O`U`&wk9O8X$#oo>_vn1geV z)PvW&*sgdgTJ}rHT@Cm}vy+f^9j)x>YPd4>$C+&s^g!Wx5~5cH&tc$H8axIOLqtK7 zd`fmxjpe%z29Gr#*XqHiDeLqVxDWV=bF}lApo&ZnW}M`&`oW_QU8!_*E6FQfIU%9F1$3A+urJ zRllqb@EX0F8?{SkdlUMnS9PDS49OLCLL!Cxc6{m}aP3~8l9VJ8;TXi?Q|WmNd7o}x zdk$4qGk4+YI;bkJbw)T-GY&4(>wRdEvo?_wKaUlXpHLi>D0^C!n0viVE2-3dJ=^N_ zdBLnqg3y7l!|ehOA<;>}%jbR^BBacREHe>s$Xypwa`#lz2%G6`cF3`{sTfNY7x?#p z9-hImc{kpH^qfS7n@gvm(nco9jpyJ_iWNS`=abNr0K76xM+x?}3&;k$knRr8F1M{3Dpb}J=PMpvZoXZ=Lk`R@YW1l9>lj~pAB8%hFlMi~PWbkS`B=rC zERMDj;1@gP^;y>A7LShDE!5jEUm@uk(@Sp0dd<1G5}&_7y4P53CpY%XnuN_liGU5( z75Uy%4>1emIZVO}I`2H`u<~Z#(^=z-@LxvE28qPzE|{Es#da9Bqg~+{1n*{x#*6YP zwqaYtsEQrI9+l=C%(ltl5(i>bjDj7dFhUHti{I@*q9?2S!En{R+i^($N|D_WtI-J! z)IAu_7enM;$!yJcJ0X#Z;L+<|K_2jmAXF8-%MCLV$~*V{I?WvR(P^{SOWre6)8YeJ zx&g(&%e01=wpS?X76m_iucH^&E3|Av$`}?HztFBRogd*tZ6e3aSzvzo0H#5Dxbl9* z4ycEc35!R~_VK=rjXv^)$V^=~M+a0m-tBFg;(~&SNsiz_6rm0L_x3I^)#*N)f3Iw^ zn7hT_PdH)>!kehV$lZRGOZ;?pgsBv+>=ytVhET2qYH*CV`f<+3}+O3KE{?pDN#L4UfC&r)+)B6o*5kMfL4s;W;+r%NO@;0U;T&1O~PrtRr`VI@CmX3-% z(YmlOW6t6pQ9CLxr&}ElPKU7he5jdqZujFdJ28JJE81O=v-`jd5VKgH|4cAWvwI+9 zgq%x6?_}aV8#xJsT`qb&<|CW{`F_^YB6Sq&Hhh!tv)1*dbk}dTXY%)Dym444hcY}ONCo;sIsmDpOB^kvkpzzHI z>I~@0>UIm2grTnS&ei;$Oa5?;t#Z}wiefk8cy*)7gFuE(Vz%>Z%qI6kHhN}zorb!7 zL)=7N*cWkjt;*hC^iz?4Erd&Oz77C+x72gwDYFj*!`o`Em+70n7L2-_%(NY_KVNjM z<-Iz7ladA#bqOf=Xb1wt&@12Uef-Z0pp?$%V9DeYz&5m0xqGLOPgx+-dA|eE;oYM5 zOghYg{q!;GS%3q8FNym5U#TiAKw-x{dr2ywMRUn*7?Ko0Xi2USZX$3el2{+EazD6H z6#N)HVnsW;c4YTR!9JMDK?R>CU5Xi{Vn#$tAc@4j7sj4?dg=S*~4j zWww2ZnEu+mm+XK{-Iu?4sO!z~SeOaCx$&maRhW8~;P)1hFAs_$$fJI{g3Vc{+ZZ~V zyKX~V@qzg{@EK#}Nht-a?DJxd<)gv+@6!mMpOH-P_#b%vw#<-X-k+)Hw>u`w(b^o} zw19vnYGQ4E`2#y)0tph65yCtj7hjMVdd0@gQ+}~v!xzf0Az$=ACR@XlKM_TJrc)L9 z^?y+Z##JSLkagekzj*e6w(G?d3nXHh#@y*D&SIE=89Xb|X3Z;N5}BPbh2jbl1cN6> zEgUzJr9R*wWeU z3yfhJlhD2+^dc4yF~~*NeVQ?ER}mc@os*L@d3v(T*E}t>;>Qx7H@Xblx^ll6pxS3N z0_F@UuA-J!7iwk~-OKEE2TD@nctIJ2i=dn6(JNwSRny3H`!Gix;689LWx|O}M7@{K zOBmk2&Z=Ho~E;~T5TF6OE~*(u9sw5iy%Rs+hk#bX$&-@^_Yk<3chO=%4~ zx@*!H$fZ|PWiiP0@w>fyMzGG(3#sq$$FvJT=Sv1`<%a$2`IkvQDw3U8Fc2K} z%l#(KK>kXJ}gXNACh;Ou)nx#R5Z7n~+8_e#ha(ntCHi1do z@wj&~{-)9d&3y6aWbs>uUK1^Ae%1T4F-!X@iPd;2F8bdbS(M`~Ei7QaEowKV=^AQ5 zB&-r(BgOl8-wqbV_8IZu33Z$3E_UxluwRPkgxYz17Pp_Mv`&S_D$#_-1 zx8Cnp<32eEm6P&aSNFI3TYKqqk@@Aje#77wqb0n}glV86seVJZzMHU`$K?q z`UIAM`h0+U3ri_iVU6Smxl~xS2)iBO(kF9PqjZ)c&1~2TyfhHqF$=d3Hh7}$H_B<_ zM{GM};RwZ2H#)7u!@fanWw(&FwyxR=;I_Wl(nQuJOiAP1yob{4A$(KnK>RJRSy(!? zwc6&c8Edn*r~rg}+|wUfSpqmK?(`s?ysro^c~n-L1|da6q#7`H=TFi*+JnEDxwD;d zqV7kI$vt}@i5i)h^zBT%DlRRB)>-#}UC_4MpA}H?8t;`6y^@Yai%V^-SmrUKVa_fs z5(YupnA43^0p$YnH^l%ihFUqC zwy`|FF)<@W>3?JP=qKR@fK_yvUiXYmqbg~%Q%Z9wY|5xlk#mqBL^YY5{eUuZuSyf8 zLb0tFphpf2fIn>RyqCV2r$|ai6a%o;V6#T1|4ZPVK3)`_UlrkqnQYZeN~g0kb*I&TtAae-TXgkD;hU?__XT#VMi%-4tRFN$a6f|U z#@D{RuG1kC*YQ;s+E^c|0t*XD=9f1@I<&*A^ZzPlK%W3*lO;Gc6DnSxq0iExrF(NB zOB1sjcPnuKd}aa)(D~*S_?;NeKbT5@NYp^kNTDQ*?tLP-!cZU(cb7q3?_!zoc(#1P z(D3mY$Ut$ws_4@1i)@ybB3rl<^(O!*M}9#?VBA~!)qF|>=w5)gN%k&E?YiP#C=#aV z37O5E?dnRwL3!iI5f|6yANFSO>Tt!XjM8=1ZHiNnofo9w`&0DH$r=zU*(z(=H_B-g z`s6I26!yumkG+HDei*;`E*1qjYAh!G7}gd&rB@AuJoqAA&GQd8G}?D#pX{p7b0|to z)=%#y=4QmFLf^Gs4A9mNqc=Fp8d#*x9Y=ILfB%sQcHh!-m38U|^zvOl0{SrDc_}jU zWtWJ?6ATGRL5BuYKd@(0Bo41FF=s2T9*uKCCE5E60t9f2^&P!-#&Ts}girrocJBNU zZtwVNuEGDjI`i~=fjNJ;^PY4ecS3G|n^phpC=+bf5_LcU8=H+0XH z2Q)+jMIy;70j{{?(|FzWs*~M2RGUQw9oRI09cq1L0cqlefa7n#1({wzl4%QZsTV8;s4IwVdAQAh6Ew zD~MOuBuSEMkMt^7xT~iDNi8jgah6SdH6vm&uB`2&|8Ogrnh2R7scuju8_HY_x%!sK z^I}ct0#~|vF%KWU$}WPrb^?wEQwT8f?w&G}P1B`Y=|6OS&I5NF5yifqQzBvfAMPZ2 zkJ1&g4?j+Oh>1479Eei<<@aN=e2XvA$EYJ5<|XKhO2E2b z{n12p%zKZ(0MtYr&CnWTaaPfxSfLkc>zp{oVs{4h^1m*D!7MI+*yT$RR50YD7s7cv z8C+3sL2%rzufo2QY}xIIk&*Fe#i4ey2d$EBii=L}hu_r$+Mt!oY8!WYZ7ZA$4(U$@ z*G$X|a1~F-yU)2>I=U{`;vd*XgkpB{~dYiYIGbf zk0UHQ5gujH>L9)K9hjg!cA{oV<>Ve$SP~06qpO!oMw<-sYsJAZ>qty#YO9160XIE2 zRhGISU=B_cyMKWg&2lC|A)njA(|@~C=@3}%s$u0@rVGmh?2EadMwUBg%KBy|vvh>? z`{f zSMer0l`Z!h-?8Lz_rJxcbazo9iv89xVD7!R=?Z?}BpcY3Z7BGUoWViihR_dK2jk7* z;bC&{1%}J|=g>9O1!R|T?v8}ig&K#U%j8otKLsv~Ql3kPkX3z==oOS&CE25f*1&;^ z48&udC@?n9vL;G?ou_jx!+locFKI?Aa#|xn1Rn6Ai{`Kza#&F&&o*sr# zFjxR&?}%0ig4B7t=6foWN5m|EdM=lD*HpCa))CbaB>OK(r zMK^s>(ZbkFNqw96^w0k&0x*Kh+O`e%4j*0m#+1P0@Uy)3PnR|5BiA(P0&Yx{+s-{g zZ7|36kd)bCc}6O-%46oHU3{*r@Rv1fL<4R8DYcacMc<6Pkp2r{o4*YL`2XDNOVwE zlQR;A5$tRG|Cn%z-6UYbI~C@e>rWU2P<&QNQ1#K(5Q|@oL_|UGNW{vuZ@C}s!7eU5 zlcIUqyGWqW_N*sS9VGEvN1E8LHKGSUzcc)ghGYTTuIsNtYCYQ8MD|fAY%D-{kC>uV?M7M@Z8 z_+U`TY>sMu3VMipo(wWco?g$Nu-!2TzO}*kzi<7>1gHk$e)SUPhRvXg&xaH87|Z%? zJLDY?$E9zJP9N>>^k_{Y^j(8wkg^I2v3zDB3e564ppD z+1~wlZDtxY*z3XYzmO$&(cFi4!ON3v5K$C^j&7LeQJ}UOKP9@co4p#S%XR z<~1FQqL(ZtS5+AG@@luwjm_eCR8~{dnG@Jit2|x^j~6Reu`T zJ9EJ~qAnjQGIjb7qZ!C0E?o_c4C1UFcSgCDo)|^`@oS3ub!Ow?5Y6B z64*_F&Bd)_+lMGCm5P<-KVbR!o@dR_B&hVpmeHClL{dW4#C|==vs{LBJ|E5#y7cqs z+1A>b{RiI}g7>VvtMi$sTq0&ck!HKUJvJtpFr^=1oaGk5qkEoWp_~AfJB~~RNgrq^ zA1oh>)t6z7^PJc8I#%$zL}J88R-%aA^_ruN_IFp^g@}c_=N?{q@u}!l=s*ic2Z(PS zy;ad6NO9Z;^O#aJCAobF$(C!nMuiAFlH%TV%uA?O8RkmL1EanmKX^(yq9|l7 z<<3+K%a`Mq4e^1f%U=ke4XRkvCNg&B0V-$_M^gP|ON6Ty-dU14me>Pt7 zDn9%>tv*>f#G$zGGfG{)uas=(-;p!WK4uR9z|yFFRk1CJFXNc)mw6 zS0NZ#_a)?iS+czQDZiEVfiE5EbHOROTD_}lZvL0secfMlrOXiQp^%a<-Sy6Ss|?^U zY*tU>N85}hlnbf+AW+y@vEs5CA&ku`p8n^QLxa9A<{4#F;UvI|687r#32$Q{k*bi= zXz3Ywc{hs(bwyqG*1kT;B)B597MgJM2PW!>+0F($74FXecz=^5ZoUa1}O%f;E8Jv$M@KK(0v#d=O*b0_y??E)y0eXYFKnjL>~(bFe= z{`{L8mdEDkR9?WoV`MZF=PxDz8BH^+Wr0WrFPdVaZ6}%~y1P>A|l2(RUq555C$3 z3_`I78XCf{mWDXBO2jt4Gr$-+)W$(9*4JEbWX~Hb&ztJ(GRT4{G;8MC3@6gQN(EnZ zeY}BD)s(?>OVa?F#Qv4bFD?P1bY6_K|QJFr`Gn!Z>V#~uDjv;;)$$mSs*&ktA) zF{1TPc`Qdumch)QH*D!J;WP)85Wq8B`qb1^*z&u!G+daiY9S@{`h!<@=>y!YQV#ue z=)Q1_O&!j<$(QMjOAl^#^lI-jJlpJ#`0xAcal>X(Ssz*L7ah;_-E!-QB0K&flAkw} zrgm9tkf~#YW=zb9X~eEIQWB{zpZ$0;l==b74S8PB5&q#h$+{RY=e3>;wgkHkM%&~R=a%2n z|Bd2?P*Fg{gB)Y`mFCYoPZ_at-d9Sw=x01W04kG4%<;v^(LSW)>h6={!_-G+rrhrf zr9XRCw0vI42NNdv_OK6#f;)PDXluOFi2k@oC7JLKhcsLwGWpJu^)>leAKq3L>?uF9vwF6#1^ z2lJ8XD$vdeQvR5iguv^(CVB?gLSdcq&2Y^*R>=%31cSZLV5*of>mx)=O?yHrTjvKC zQO>hYm-C=22`Eqa@WAotqeGW$991to1uzurXwW4VLTtYW6D23^o43ptt9!Q4PToKk z*Z*j{P0AzBi{!g<&JqKqmw@2-0cFC0xCKyigWkfnnIWIJw9qDkUAKwX|>e& z9DWXO$)R}r)Gv_i+BQO>?w?Uc`Y|>5N5y=@gO)Xf_5V^kiY)oy3BExQL*8laMVYG$ z!}ZuXEQuXDZ@+Ubp zf;E&3g@HtzYX>wv%r&7r3$MFTpR*iv_ld_mM+fHqwOx&9J7L9&2xj_}jK8X<31Ao5 z+SdA!9xO7s9wS21O8oin9q;o zX-waLfXNB0Z|u+qrbXuxt^2LrI>zbYKnr!m*+>Pd&Kcww5sm^dGap$C)Tf|hkw2|5 zw{iRwxg2BSWpRK$T0$q*PXKw30?zh9u@0xyOF*YgwBv(lr9N%y@7`^#RX2(6;t{;v zRfJeR!0=Nvbz(+tw+&_cysFgi%>J)@am&wcM}9xF?P`>@e$LhLJoTS1GkpJ2z2Kzu z&)uc@`O46QKJ*TQ&(F+A`I)aREbOt#=e{9SBB?QN;8ve@Xun07 z>kL#epaUgJ(BU>Gd2_T#ac=wOXVY$-A%0sh5L6qDcL_8r^o!V&;@#pUb?F%$ z8#lHKw5o_FVPS32Dkipdw6|OKf4!GdO2Yeyc70%LuanWFczr{B@@8{J+iu2yYf;(B!2wy{7n?Qlmb5C9%z_ zm@RU{+5|CsQ{HdrhN%MJx-YMxDJb@hnz0*}0i9s>=3IV0P1f3L=$VrF#<(mCBC`yb6Z zH?EG-KY1LBxzcC|edA-r1Pv2TML)HGVc>YS)K4uWRNGF`TAU4HYOk*?lz*5CP)S_G z&1{#K$Wz*JOJ zpehuf(e2zfJ_*;1!?3xz$$f37@o%S2fF5at5#NgtF}LK20t0w$Fkx8YTlpL4ooU~J zQj5vZ?(0rrQJpWU#q$nkKZkPZcb>Xm94(y6-{yY3d79*V*3NQ(K~G%w#Wk6Y(C6y0 z>o^8P_{tYz*EYPctEF+g)!Y4Rc=m$l6ltad8VlyN3hif8Lig6*+b+%bhmj^9Z~??m z)7iVa)ndlu$8^KP=bN2cHrTx}nfVmj0qfuJc{sK5IYmUGMg{mDzo@!_Q}}2^!q6~I zozvRFLMzLl=Dbt?$GaDy`R#>}TH&h4DGy$WTQV{)Lj+WnCX(=hQi9mK zAjb~w-qeXW1*1^jR%gJhYd9yvl|A;tfV51w=Z$97PNtW$Z>%q$!8Ds-WPPKHTS!BM zzcMd=#=sj7tDTNM6Pk}WUh3=;8pXb-d$5f|s-$eTw-?I6%NKa2vAd){#2TRzULH<_ zTuQ$kHgD|X_e_@IP1|$XS+VCHB@Wf=Cz)+zbPP)~C(NN!C_62Ui-ThZT90nW^Cpg& z#JI1)B*(g%8b7H|+Y9A-oaCeuc!wo1QVF+NWZPc_!N6?^n1nV#?q%L-S!nKrKIGhz z97eB0bmYFcj)dWnx{6}#1vCytmc=x6&;IM@yGKzrgZxQEsVc7Ci~`6P#D#`BvH?j* zKtLiPx;gf)y1Lp=Qfx(o_B_eJ%ucuzbGU%*C#ZZ>ZvWBIJ^V1C-(n5-Yt|@L$@5{5P_cO zUfmY6ZKXU1^&hp%E0Q)R>ulkLam_q)l^ZuO7#{ys#CzJ=M#w($=s zi|%3kY<~%=;2AFq0(|75ZrIjN7b>t@AJa*vgcYbjVcQXgUe4qwx$sJhq#iT@^%vUJ z1=8DGrH*l(FPxpV>>cb&Ut4p0_oLcC*rw4<`&{u3@#XwYa)?Ho=4}4DZD{-2G`+=~}&Pd0kW6p=jzn&p_n8*ZgMm{O%bS2rd z3m5t+6*@oiFJ;8E+BYwckcOF2ezer7EaFB+hv;e`BUo6(5{L@%#8D<9{ z$3ky5f!jV&vtd_+%BjFrI*vkr>UEH-x0+?0hOP%NFhoxbI4gHzJhhQ-G|kZ2TP0IK zKivrZm@78S4EBWXzBeFFxq@hu}!VVRZcZ;2Dm|ACi5Xe4YBA+PdGl-2xKo{GAm zCQ)KTPrH1mPB*&E^KY;&K?FW-MoFzD8aiW_Z*JdtC{6Lr-EUkJ7>(n_^gG?sq0P&L z2|VP>@S0GuLZpT2Dv1QdKR}^_JPO)qY|W~M&`lchnrrIQgJ)pK!M|@m$VKA<09(md zl~_ikf3aBbr%1tJIBC^%4S(^ZcMt^-_?ITK9!u*=lz{8;3uHqmOGR=Al2Hfz>t8zI zJw<}XrpMb-;+3Kl7qhL3-ghb%OJRp)QR(nse|z&OCC}UWkVjkWe6+((#z6B5rSONw z1UWTz;2{ZF+RG?PdvYx)$~6GyI3IjWKc0|4gT#o5bX|b_je#ijnKK3@>cyiBltAoZ z)kZ{tQvGFng{I;*vR9>lk=Ha*%v zZZ|-E(8{jA`j0sW7d3*z+<1vU%6i%&y*YpSmms&jJm+`5ytBFK%WMtrAKmnhmO{TQ zbgTR+(|{*n1PN+_>CG!^DKE?0UoJ?ins#ks=-$^rkJ1UEBS}B~x2OsCB*FFuBn{dm zy3(jL4eh3L+Ij^_e?gT8%Eax?AB)d5VPQ1GfSu_c>^wT`?v$#DNE2Z`m>wFciRygb z0n;9GA`yQY2Ch&Y6sd@O@50=GNaOX!{OPFx`7H|Ng^$0=LRcmU+@j8Z(07(5M`b4zC|(I+QX+p$aJKH)d%1(tq+Qx($+H317gksy?G(w)_xQ&kAVBmtU1wo{q~E zi5^A`{GD=wMybrPy7h$8nTmE|x4XvEtuoJgTadyF*j65`9#{Whb^3AdCo+tUJZ@NB zUgmdyui?d}5UL2seS+y$=C^-k_!C%+YF_(9fv>*l(~hm&R!Fq}!S$0m_JsEv9B5X! zMH#ooymLbFec0&Sdg}~Z(=sklWy$`-Eq@Nh{3BKmOnx{AhD79bLt(9PpI~6|U0mrERa7#U*%0PIXQg8T+3ypl=c^RK=6YyGic|JWOh!{SUc^68L9Ijf(l|?Mw4Ofsgq|jKtmR{Zm#qITn&sy zOB`Sh6_+!Xz-SR;6&{AqoIE|dsPhca8Zez&6orjg(j4>A|8yuIM2-K-3NXrwQ)e)j z^z>`pJwIr0GY`^< z2s<&h9|#@M0H)=y1OdtPjG?zyZM$>L=1WQjZ5(Ogr#w|T1Fh);xM_hlPeIUe@j9D3 zgF28cwY=1p@3G0hyDP%q<^GaYtU`{RL&l4Og&zM5JP+}g2N#P49Fb`W&VuRYl2*}o z;|X}b9}3`LmO;X}`O9zI9UzHtB1H%!;+_`ONzfxne9eS7x7rj4cKb}^elxl>ONOaSY zfZ<`RgU(-jb1RAH{Y8SMKZ)(_05y$kXZcFs{+TEvg9q``jP1z*757z67@n1?kD;qz zb<*`m_o(yT1G*0|mgQldO0%}}`1ugetv(sc4Rj7)xitFo81}kY z*S?IWxVUlqu$l+Y=VI6vxw-#-8CV?6=mV8mB<`oLSzS;T0q&8uCIF;2aE7k~r|=#E zN34Pr;5RMvcnyc~Yr;1x94w&883+nQhqm9VA`{d6Y2n`zECBnX59+cWP8vkGuq4{0 z`+3nHfCB-~tIo4>c~Xi_JSq1;(w2``N>9HPOE)>N4C^=k5jWu25a+;G_h?*+x3#)^hmpo;{=85dJi8`9 zQL^@c&8kh=!6HA+^-)z6Ev9h7^Fy$a2D7hU9xL_9gJ-I(eAfCJ+BsvJlh=6Q#$!RCd zSbCCM;LaQ$NC^2IS~*aTk$2*z62d^s4{SZp@L9tMFy{tRp}Y?NB+dI8*Aq;UC;xR& zf{dg~KbX2VxV&)jb}|~@P?YZX-%cWD3Ta^_28vaiZ*)e z(UyhRPTmZ+3O(z1^$#2~Qqt=+S7}cX9)&IJP!Ih{xO>^~ozTMY zO4Btycji32=~dh8e=~`AV=DnattEHy@J$4u{KSIu?gG@M2t=F}tR#O$E_reL)E-)q z6PQ(a{UUa~-hDA2dHJ@rBK8-7-rV03XnZ+;nIOE^YNZHmLT)f3iHmVt zA2C!TS|3rIq(146w3$z`3(Fl0(FD8=l%B<>#96=XjK5uaf`HEJ6Fe784w2>)nBI6$ z7{cY4DMGg4F#I8n#hO$EG>WqrmWUXXbZ?yi778^TN^FR@9N{UAYq1$vUYbQ+YF}eZ}-W$I37^jGQ#es#?sr^2zO3(ZmcteZyMA!27 z%|?og@H<0bWI|V}7TN5rBc%r@k16(65Z~)4_u|!A=moQ{HAb#%TzM8DQl?EB%{`n- zj2`cWwE4Jy5^9(`wJRURcHQ*_2fmRE`L&JnJK7Z5CYix119N8nh8+9q2YqemYx>3z z%NK^rz!Ru^#Vuw&x| zDw{xv0u0qf`K!~OJKhH@#YKor{?*ArJ$z)*4V=ke7X9k6p^Tg1<1AwtsrzI4y?zm+ z0*w*6d^r1ji@K@hTQSg7;XsU*g?bv$6Tvc`W)U8(=fP)mt_1%p3~XgU5;6azYHPK? zzOf|eH)c9%C47f*V*wK4Kz|{d0vux5|vy(a~vu!p}`-Uem zBe-<$Zu}j4h<3dJ>1Yh~^NuXYdc0W5^iFE)99cT|L%3{-GNF&tG+O4*xIX_7%P6XQ zycc{ecLEqh&;~QI@NWp^ANT#h9_o;?t0GNQ5zq`>-ZmA`=!0KO%Q`pZct(vP6*!8O zgW*K>KlOiYfzu^|vNO7ci4b+BZIWrg8K>VC??Ck~5Z%Yvx@hD68_%V4k6f$7TurZm z1p3czWjuW+?FVt{#loQZs$u(j(BfS#Iny$%@cGE0JAVo+4k`;mxsRt91{-%y9dqM2 zI5))6vnN*_YZ7y)A`%?8@BSVwm6)R2x^NY}%VH*m8NyfdQ`28RrsC2m?vBNCT+tov z?xCYOCeGsG7ck-OYDgnJE3{M`{p+bF^lKButzX3!d83>ofOK5&+d@4P#vPLAj%K0(CRSt4FPi^Rh@P@&Mw1@iBVz`_GiRXC%B0+6H}v?5@NP;TzkUXlO9@G$G`?wa1*ygc{qxdO|a%*?yofxWatYbjkCP=)W? zbuTGPa7ovK>0+yKF;1eoPfi57^W8l#5+^VvNdLqN%s}g068XU^XzilAv`rO~(~m8) zaC%>Fi>YSba~d~of2#Qw9?sQTcvuD4U@)_%e1CVrETGP|pHxv;zn~9Yp7yU<0!CLh zWpf?3D7v?0aXK+(@NolI?ous{O#qTIkhL0!&_J49TPt@CSr^W8kw z+Og1^C&&CaO7FKJg-|59$4VT%Rd;4({C`_eJ3Ix`jBfv=Qu^A{H`Og!vRACisP}}Q z<;Ztqe8d%K8*gk(6S)Pgvk2XNS124U4(i1#y{F@4z)xGAYW|J`lfanlREE^9KN>#4 zFa~x03I0Cd+#_rJS6z0YTZBiaXl#-j@Z#^#+Yv}7vITty#qBaZ6ENUU;(Hio2C#*E zAXzf1WV*-acIIzGI$Gz5m{U83mj^sbs<%>?{n8-6}snY zJ%Li!gqdOPvo+jK7`}xO8|mI*HuUSIM0Wfros(CFM7don$1(q#WvzbB^4RRe6^b|d z{PZ8B_Lh|<tfW&J%THAUlRMfGsC3E$9 zjRC6Jb8k7Le6QCa>uavxihO?i%RtIBcPk1d`@R&*Nk&oH}8 zstE0Z1Xl`U%bQy|XXW>wtN*&7lHQ@G1%L9hq5K6==6U2F^}>oz|7` zz4Z@d7xjU5t2;P;Fm9}s73tU-uNrBCbk>6`$LLL7xy*|Y%`!e@tuMg=#sETj7o5_4 zAX&~-U*|JyL!=trxhDrxD2ZymdSynBlASwOva;Je(b&Wy2~5sB(^f`_?}szCa2bxe zKlq#b(rasP?pgkX=~8WL&{Wi$WmwmqtTe4unY4-3@&X}>DLiS{>NFUpf8GBD;+|dG z6{3Uf8)(G3SaUOc<`8uUM}lsKC|s;pf(X;r;meph>&wP0{F&>~fv$`HUqiK2b#w-X zhGO2lxeWgSx0*s1QCT<6Xc0QPpYO!Kcu&O%xnF+gzlj?-W4PaWd=z{Ka5(YuE)r#Z zWbb^L?XY>WNHb`!In`3zyb5V9MXFPJf@WPPWWVB(LS;inTvr~#y z!SA-+^J;6)$LsBHtL-=>88C4!c%6VhhypM}e5O{H>juj=7dtEYwYxkvXwsgo75(;1 zjTA(DVPT)sGyJcdG~nr{=1}ej{glm?d^0~Is3+TW#H{OP*WS;pxiBszitYZG%d6C# z(l&|T;J)_KxBDL5^X0@j8*V1QNeo}5f4|I2JQG))F6f0-HGtuYep6Yo?-a)5x+ty z_RY2ZuJ~AR=l0F zq(Poyt3}l8vL!?@kDtFlA0V9K2=kjL;&P8Yb>ie~7A|frN>>LTv&9Q0d>P~W-Rxh! z$v(;QfTLSSi7qh7l;YcOKc0AF7I9}@_eXK3qdE)9Q6{jIb6n0+cd+=P36b~-3@rG= z`vR%@DBT{BUT6)K%wR5E|nxRO`=#PYIz7d_?}YUiWCBde)hlIH`; zVUJ{_o70+AwshH0s)VI>!-5S_#Q#2rfrZHks~lSOtomXpTO3zM_tp4g@9mKdf6g>2 zqDN2pZwHtx;x4t9=4Y$8lw%c43pv=D%S0(4MYacuSCMkj;S;n+hkh4*jiLR>e(sFy z*0paREE<29G5)&$#zaJ&R(Uiw$Abu($4?@?u8w4OCNb;YnTVqk%v_nni>fYOe$kN4 zixg3wICu29MZ6^CXy0>rXZFTASAGK+Q1MBX@ezzmqmbX6? z*%i8)@9VCu+vJkJy!CSIvKsa;t^MXYe^y97E6(6Q5w7>SD^V|F_;(7ZPss|8DzJ%2 z{=It)tR42@@cM0yp6_2Xj8U)T%P~*iFsw%0xGY=bPhjy%*L-}*uX%bY`t-VuC?}(! zUtQUxh~LE<2R|*LBFc3J#2$f8u-N5&2_S6qo*rH=;~NnZcOUh z`haQkBg|^V^N6>Dg7!rl>4ORm9C}-h&wQu2NN*t>mPeQl?w4o@vxf?W&zhJtx0Jp& z+|-@I)XvXGv!wcbr<>{muvCOk!k#Q-Izst$JyM3S% z7+4ZovDvL5#fhq~vg$)}9Tv}S(L~7G>@nunHBB)x;81x#SxTU?SW6!1-|Ttu+lyKE z`%j*ehsWYZzEKc>Y$6Vl&xj!onh-1dZ7RaSSkgM0lUT{a90>9+*d?MgoAkZ)x$T^ zhq^6)G^Zdo1ZOG@bY4AuLks}_>*V%rmNUi4mq%XX5#pyWvg$tid9hUL;MOoN{WBw7 zLiYL5c_EI!NnCaEO4GNh{R6Y`{P}P{oHQsI4y$iobJvsNj@i&ISc#f1-BWp`fDCf$ z5}^HS(7_(*U(9^)`1al>Su#Zhns+WW$n0lpqyz;xT-cUL!{n^K_|AZFvMORDg8Y<( zKQDkfcHCNd9FCT+JbU6l)(8H;`RujDhTPg5{T0g3#uu~UbiJS;q%5)Yb=tYBH>YUd z)bVa<3#MM1>(G*7W?jBV=q^$|y;;bQLS|38B>lXEwqbt_*&=Z!vlLHQz3!l>6_5MMZA!bD)*xZ73mTdZfrRjXLn%5;br5C4`h9H#XM)#l=P;Y6$k5P z%t&TgKv1JA^RxB7oX9AMSCx{oa^Yrl@=#4WRTTk$qbzvrH;X&oEOAC?PEhFXmHQD! z*N3OA-6IML*%1!ur1izc9TxFJVfwoI$oFk~fAWx+vh245P z`Fs9%)yv}5M`wt^g1%A5+RMa029&nDzOpqk-I*Y6dK4RfA+WJUa+-mmmbc%scgBgY zoWFFlbehrN<@s^_WHMrnt=GJMPHA(OWreHcna@ic$XWnfrpKN@N3xBTjox~^z--idhNOH)dj!GufM6)%&a@RVJ5<% z^yI)~UhwiFziTt@_dQ!;8)Vf56%2>NS@tRT$riv~8wnX;o!p&mx0Vb#9Nr=-`Jb&& z9ti2>=i>M5CYoMzXt>o-=8P2RLXGCtFP^g>3}mEP6)TnJ4kV!fCq5`gIxRm?o^OLdm-y3nRBpa;e?Hp^RIgsZI zln^KM+VjiEbot)`O$Q4EOSOHn4h%qbyTo<5sgSa^Qu|%r554yiL)rqU#DbZlS&;_^ zPb6OP6eMhCYtyh;<#OQFtc~0J?}m481(?JZDq-k8M4ls@E}jiQJo#~H)1P&mCtTS`PE$Mou7hggQa8y!ca9Tkka$$5KgrWv;FwxEwMRso z)Z}@@<+W(UFh`%}Q8>IloUf!)^|S)-PDi{pk?&od-CGe0e~~y{qxQOdD|be4vn$|V9!d|y=jRbRcg2=lgO>~~5ew+r4?^Hz_w;vOEZDYkZjl;`+&ice*i zRoo5Rbk!R9`JOte`k_v_{BGx-v@$AJ#?XbLR+2RYteJuv8oQn;Pe1l7pK`(Kr$3Mi z@e97#qC+IRJdP&pHlKe8fBSISTuA-b+Zc-KllY_Q@9Jp2|0w8Mu=KET0Y})(h7xvP z&^V2lnGCeL^k~nSmo2fTF-+*q$>G5xyK;jY?22lGr7B-9otup*T-2&+wC|gG{9lDE zwKU)TKwCn~N+-|g8pUxrDW>^CfMk=gLGM6jgESL4bQBm^ZsaW-1r+c3cdyO=@U48R z?p9-Rhe`WZ0RMxW;mppjgIexpZF$wJ8+(l}+Up=L|E-twrrM4Lc_{MY75o@-5-aZS zl%zgqx8|cB_}GzE5VN)o-}sFdMP$V96S~p?{9YUGr4Bcom2Noa_&zi_6R}uct`hpn z?V*ZZMk3vTYX%*r!zRC@a4+KWC!Dcu8-yU3kf$#N*Wdj-yN4 zGD9053uu(1mhdWd^lc>V2X0YADs_`a+}ohPyIA*(E`jng{dz>4^kcYT>=}7Ul3ZmZ#rEMA=U>0N1hkzK%b(sMLKR)o3;IA3{Jw+lpi$&>N+S(z zOqfikqh&fg)eV^oLQEdJJ6T)O3I`{3AS-%`YK6gDv{kNALriM*wb!mb|+YG zvY-t9qhEcrFf^AeKbJH^KAg;TdzLL~sC(@6;o+XZ*vI1xi+o#ddcWpfTQ=`=m7cfc zpO9)_EARC`^-?vhlSq zT~gI^1y?&H!lxVjJB)FY&o?cIJ8j=XpDTY zPA(bUpPtw@^`6DIa%BS-7uChmIo}Y0*dkXOaE=jm6nW4?rgrxAv4n{M;<1>hD|e*u z>LdKaGXm~Jl0*?hQgDX89m(PS^^z65sz=$(6F^~8t$#ezhCJnowSUJKJSKXLjO@KSG&yIX8egK3(L zYf)SYeMIxL7O}dzdj0x!c$nahd}HB>AJzq8z=sraoTcQq*4EVQ1ZlP#?j4XU~%HM${8mNm2W;Wikqv|?jtOFR7V;z zCux)4UhXC(1uCk()vKd>?bf(BzI|XQrh9o=?mlpkuRFac-Zbv2hmD5u+vrM4O3KRq zNLEVRLe%Gl`+l`5)H+}8sVtWUKoFIqlK!{zWD}n+4OowaS1S$uV)pBLM*W{@uu~vXN#xQGeS6d;9tLmukVaQ!2lfzj$-C4t+e|ZH?7BK)mdj zO(gkK3&Un+Il!6aRH&LZ;}c4QK|F+3c}z^!_hvzR!W2tcj@N@Ig9)3sGDN>ig+~9z z{C=+X6|1{X?64K8_OKKzM{8g4l<#DJJZ1fr(x&Dm84T>PdHgtgz`E-`!HcR7IHI-& zus`D*=l#81LeY(3U^?4msS8K`3Qaj#z~z*}#0dDT2);Y_rsa@lzQ0s_qwL0{r)}S@ z`RLwo^2wMF5Zt7f|HfNo)s^2ACHA8dyEa!VG@xtbBjI0T;A4$-kDloNu@kYFtokL^ zAUiW$;!Ea^tkR692&p5aOCFmihx*aVPm-kb~)xvFBXfm`-xSZQc&LjFuq`*3AF#QwlkuUM~ zApPFttCnK%MaY9e^yc|6nXsQskr>!u0{XO9#&6cvkAAq5z>!h%xPg2!lm>b^I2fUQ zLf_JIHY}Y!I9n<1zKL}8!~dY&s&?*D7s}PNCokMHP^*|vBoMG3yC5=$xPFnm;8%Ra z8viZ#d*H6U>)^s}qU15&Q4VQaS+H-RKD6~-&6of%ph2lJoqOP;a+Brr;@0j7tSWRl z&7)&1ZBISZR7x9zu0ZOz0qf@add(693g$^jKkQ7^=*zc?fZ=KIPKdt##}4zT%lc2g z^zBa9U3pEuCa9j2aeV**i=~|eb>YeYmB2j$i2nbB7`DFiNYdhJ} zNQg;JG~zb`x&7bDHdu%IrSv`SY%L+#wSGZz!(+UsD)o~|K8y6G7NK&_%onYt)TLoK znS2Igvd`tLGlyZV;x$4=UW2ZxWX0N7sGr8mpvXFt$mw+YE)w^@Aa7B^a_CtRO-GTL zP(y(6+@D##4k4)tSvo1e}=+V9@1Hpvvv^sKU z^K1lv-^>?4f2ciCWN|@TrDC<3b~OuCG)bpaNSYxs5V7~;M+px;L!Iicer(}LqKVMW7amK!~?=3)9LVQf~hEtbaKmRZ*N&4OS>X`q1iUVTUp^67N zr;U|Z+MvSYZoR;U=#+25rBq=z1Zk}Y0M(ofNSRW|GhNVB&Vhx#;#)myEGJ?ACniHm zOR=HU6><_OS&nS-P0~l{Sv|o?;G_kO!%ZQ(&+I%CZGLaJz2OdJTA%(edIRBd`P?ea z(cX|M&9*eDsE&x}j2JQ1-O3hOVPXcqN%QYlj)dY0w)RlHma3`RQ1`5cZHRC+e_-I8q8)($~AUt~cCp>~u zLl|4f=kSVl&#{aOFwJY#9A3Ae5E!Sk@GEY4kRK48yu!ZPwP2yhI zk;x_Lo^23mhLA<~oOh1#wZB@LpeuTR`y$p?{HqJP5NwtD6UGDLMB5n-AYGL;`<<_G z-y*NZYcXMu%VUo>0s@l}apu@PKe<=I65O>@;c6@0_<_Kpv4>a7fjzKB?bJg}Kh#cb z`g--uhcc!0M-kO+%_6eG<&9WpkJ956e{q2S#xJ)!I{P<}3+mNcbYFKHS#RIfaEsTQ z__!_aiz@QpSSw7k48DzAy)%@2%7MhDa_rnLt1ei~(sWHJb%i#5$Mi$g1*A?qm@CneGnWeOA;{%Jvf8a4e%c8F|G5B`A&8A%gYLaG}Elv1+0nNd3x@}x(% zS4)I8-4P#W=9%f;Z=aVrLwEI|=I7hv)78(@Yj22SgDzFf>_|WJ?Io+WvMcXXN~sV1 zd8dnPB?q#;h)0L^?E;ZD+VGA68i5+ioej{Bi<{9AvY|73d7ECIy}9GF=W9O{cZUWG z>eH`@ukuJ0zFvs3Vr*PI_T)>x&K8FDo=lfH+Tep>EI=byMezn)t~^HJe;EVl(?O`F zt^yaht#8vnyczt|{-l8D{J2Bp7EH)56RU7VJdWXU$ds(l9v+S1*uN;77c~zQ*U@BTO+m<5`MXU8UBSa_Uh2<+T zj->lL+A4H4(`y;YeaU7KS)6YH0S03g=N_ssKJ9tx#m_gdt`ivu>rK=EN&*mGqW{AE z2D7z0$m>qtvsrIbi%4aK^{NX`9a=>IqTsA@c%S>-(w`eIW?B#mt&h0E4_5KM^Dduv zHKOb;*chE@(-hl2ACIz*o*n6T?OoRt$x6Q52Dwb5d3GcYl^n4YdSG8g7Ih;bs?J~7 zhSVkgR1K12_i|x1LYGM>l>*D532WsU%NJ=lF2~x;^qPmG9T5mXd8B;!Q6-L(n1_L^ z_XD(a=|S~svo!x^U&!kP!GiA=-Bec)L||_UdYEeQ&*cr0+Q8|$RFb_#cq0>Z4u2S< z3TJ9{47>*2A46}e<5sgd|Lcc&l|3JpkVL@b>SwSiXlySOjqOctBmQZA_JhYS2^LdN z`^zHD_>bW&Pz&KI`*h!#a3Lc3zB95Y@SCScB7+T!Tqf2O23TV1{8ATxO$EDd`DeIJ z%3lYzcAQ*ar#LP|2;UzP7pu1A?OxYTIWF)|FkNh4zB2Q zicXIF7hDa12%yff$53bQHx#fO&i$bgm3(H`sEByge)8ufcf?QM3Yf&sxQ&Ecu-ztz zHorJIw=7%off-ej8P9$s@>94|HEICIKs2sTEqrmM*0h3{c+~mIC3ZiGcbiEsEIiiL zCL<8$(((?mL)HEOl=7qA;~qPY3wN+qkQ`vRTd9bxWzL5-zV)%zcjIKPo#D{d>S2fd z+mY}%DO!P%mg;P#PwDHhK_*+#J6u1Or{VxCG=t<|B=MXy8h9?e6r?gSVm5%ciMRyV zrhCVX9EoB^K3aCnyF9Wr)6PqgWMs4edFMdQaJVo^H(vTmouPZb(wJ1K5tOAC(=Z*y zj<}ZlTxc z#94YmVNk0`7L@;##WHAeNCq6+yTrq)++Zm4;6l+_H5ewhH@gq>G*5>xN3$6<9XTeS zA}>uhqc&8kY;iP~dDFR|*IPPUDhVNOYYK~#(AP34yKIlr*~-1-`2NNCRj7IcfYEWE z1A-O@GFjoYx?^@J3_qzx&7QA$Ff-?Co^;~UH`==LDz@60jyC-?Tam=F+-XguOG*1c z2re^9+fU%;(ZQI&!Q2k!G6Sp(GWSv!xwZ}`UtjQgCNkeXeAhE%t6hHjxsQ1eMNu9X zP8TlHOt>C<2=u~do@iH)(8t}(L?-d(M!59Elnd~w1}{3ui#2gw(ai`;=)RY(H3B;R z$iVYsMI;;_Z*&=G z5L!0;I4A2l&I%c_1*l3+&V=u|0FvbroC_&{Y4;_@r)(l!7A!&A{Pe0Oq5W^uQ=q(X z?%1j>#G>KVA9`1Ryd_El1WRl!<*Vf+#n7xnhvlc(kKE&4lo@Iwd3qAcy^(`upOVv+ zWrYFwfF%uyzp0)f3q9tuN7y0Y%HX5nFmFoDX1ShvP144GVnv%jlt7JUKOh2vqc{a* zVcFZR9P`)3<5wL5>LL&#HAhupB60DBxL9)ZA~;I@Fq2E-`n$FncyZ`L<38kEdGaF<2L z74{^Go^oxgEcc)uud#Uu3j;Fw3@9$9t2WanflcJZO8sK(&QSt|nSwD}5G-}++-5;> zFSwWcKo+$!UK3;U;qr2S2rk#A^IDNPvHtbO`2@EksTZ$^^3r{vBn2t?%TmE7^5^=m zJFDFcaPsc5(sN7_K}R{-kB~br0D23!w%z1O0+%V;X@evlH6uOdlwe@Qu(q3#@z&Io ziwYZi71gNUcRvbxrPDi}^dMi{;@exHLekZeBnwY^8OL)NM-Htde#HcQeq-PLPQZqgw6+^kQ2uj>cedNFkBTi|rSGRGPN3$bTuH7JM z#=rgLm^?nxt#D|>53ctw`bL$QNx$XHu&@_O*^JKv7FgXu1A_RiIZPn4joeZ>wB{Hv zBL?EGu4Xaiq@MQ!hJmM zc;>{+n;ZReqa_-dKgXy#5DT>8Nx*S zs6es3ubG*P8>mrYVqzE<$v=pQ6Ln~PiZ)~p_9PlWb|mjjiVi1U6W&D!plE-fyZl3=~%oA!;#UHJb2|7J@?LS zSzbgKe*JmkOPrjR*4AYc;TAAENG(+zwX@t@9KHHTyT=p~77j+>qydJeED!97!RlqN z+GC|~EH|RN`(vux7c=RL2)!5$T7(Ce#vAAn!`_jRv?5>5((pxIw`1k!?|S%~F4RRJ zo`)g`M!>0i(()Sr{1q=(zFxX8O+tuf&U|hvVntCesebwPmC8;;yW#jRAzHls2f+}@ zgZ&E0Xm2(%iRQ;VO4@Ca9bXN~axH1EYrxc;ODh;82?9{LXO;W^h`r8ab(qU5C^&N2 zy292tF53Kxh)y}*EM0xguP$yPs806S&V3HZjTLi_g@#^UL)iB0HtW7w?7?UgBEzR0P+(B=(siMf|N8YF z>w+150a^m$>$b@1&NQt?<7F7K1ib6YnT+y5gDeCbY}aW(r~oYchJFfQcYB>)(0=Mm zO8T$Fl^e#!33lZ*-PJEMMC0(KAC5%!{p@@WxbWmq!m9-Vbw(Qah6Ic*kdu;37V#)%wEw$GaTLDgyaKI|0)c=#-VmLwyu_Ue zr;@z;t0z|iL^@X6v_h3JlM8Y%*!fihU<_t@$x=NG81wxOPkT#`RS}8>yn1!MZ8h$b zDE7yum%cw9Qu7)I^eNGOuMMDLVuXPzB8I{aDi9U*HLOM;u8bxwu|{h#;vMtqU+vMQ zWZ)t!47qJQzvr2wdtRT*!TM86(d4>l9U^ov{()Jg`jx@zbb2F`g1(&WY;qo5VOyjW z@rP>`onTswo1@Q@k}9dIo91b<-3f~|Uvo4E=zMN&Zh5jiYNU(`0xBRs>x zk~AHKRLoD;LWV3D0Yyl2868R8=+)uEF*Fx%K=;-mFBOe2Y)GTCd6#+0F>0{ zyfIT`)HR3!g-58*To}FWo5cNwcS~@$KYnUu{>8_uwO73Y~nQVb>`4c4DwXaVu)uwtE#cg{l z)MIluf-vP~d%|RCT3he^H%`;*pRkWPEutxT2)A>l5uJc!cx(>iE#sIhep-`UNE01z zVv)N$#d`OT>7CIg;9zh85NlEt&!J=B_ljzF4)t+Qdto@oOA`<1cR)YsHK9t}J3shV zF}>#9#Vfi_QQ$uAOSAj2F;0wK-jy(Rq82^EW-hdpqj`W^G2{F9mbrrKXXacTcl)l5 z4!)vXcv6_fx~Fuba2dM>FeLa_zqO&{NTDpa&%oX1zPY)44ADl19AEyiU;v;LBL7h0 zuxNkZnF5=ow%99aB*t1P214<9mro|_JdqUIw!tGu+zEJp2jAXkIa05E=h>WIdns7| zQ(Fm@eI6~dQ7wekDvc(B1|-rCVgFIpq-fID>TTV>*bw9#aQ^zmpNz%sU=BH!Ggm?@zhF$m{TBSVe^i2t^dh z^=8Kf1LrfOI&P2*?MH0H7U3of7j&Zowk9%7Lh_Vn8i4Uce|b!BJa)w7M8}SRHYki| z(HCji7zh_|PU5Z3zbv(i8J;#cmZ$==s~lUI-Db5#s7LA}zotRS;KRsqE^KE;5?&8> zjx~e<@{ni>8ozrH9b*^<$!?_yLw2v9HeI((v#VN-C~ay%r;$x4R^5!7k;e~z2wmRb zS1kR#+R!}r!eggAG4I?^hid+pAt8en8j{gf!7J>3CJG8neqAZVYzNdl*bOC)Hz>Ud zouX7~d=$X3uB#R&TZx$l-%&R2rcSZAKnimD)48K%cdMFGYadoLh$$Jn~Ir~{N;-qTzD;kG??1Ca^Ge+ui&g}bhs zsr&T^Rfo@Jbt$K&f*6V*p>e0SCkb?KE^b?-I$Avj6PmGY6SeD*xAC$xy~v??;Z=Jv z#tc4a?UoYuqz6U?#kK$OBTsRG&_TcPOCoRS_HqQr+0J6`X>^h?Ps+VuDFi+oaE?bK z$7S~>8Db)uMwz`?_1=JPX-(3=Y`F(e(jK@Qmgu;@j;M@4P<&s+IJPQ7ys#IE$qrX( z(@Y|UHlAG(>WL|3tlicw&e;oli2{toXlS`vN8kuR7q95XEEq&NbX2wp1-`9ksx2Ni z(@`Nk57K0V)baXu`j}(~Z~=$fVsjYV(1~xjl&N+*Qh@Q&YP0-AZhS^i^)~G@repv3 z$qn&IGflbI9)NvTwv3Cf22t|d&Cc})g*@cd?y^3hizesw_|i)_0Q`udd5a1f;!&zc z_oqmX{VN;jCUNtj1F#AT(9Q7%BMXRS+G8k}@Vm!Ym?tnR*<*EokP=&% zCHns15N34b+GEWiN*4I9M6VlbdmlfIn`Dm$2nRg+KYlA|ZC$-Nm$APs9Wd#sqF8M;A%5v&w#!=_*X_!(zY8h$wylhEFKwL>(@6*3 z(LA{TlalKnWsZ&?=fWd1OcybGt-`9o%w_ts*FrmWFYCw$P~6FphDP|KPsZ{9h3sRW zqN+^P_qhg@kM~|s@?4z=x_5Yy@XZQr^rtM$Or$K#HZ0%E1UOaNRUDTdBAl}rUArwn z^DGEX!+T|`V}B0aMDPjo_*G-Yc!4YwI!VlEXgLFdrxx~k$rtrxK|lT&Uj^qv3kCX9 zRcygB0bQXcPX&+fiO3CeU`-O(h}m5WXUg>dS7TQm4(0m(kCtOAOCqw5P!v%VSrVn} zJ7sNBDl*ExjG-dQAxVz}%s znfHC(=Y5{%zCZW<`P_Fv&jqB0;+q$-%v1eFD)WeW@gu+3*g|@*z9OsX0D5wtQhJ=1 zLnQOpnsy!JHudi3))cXTb<>2|Keo}GQh;^&`bP8UD9xXvbBSnk(BVwXu5G1yO!+dP zr`m=?T>AHmMmuH867WL_(eKhLP{t#OqvbeC=r_@m+APizAQ??^F9H zJa>=+jhnV^_@=`q@b{AwzCe~y&q6eN`g_qbg*Eu5`%d&E1pCCZUTk=dH*yE}N}ePn z<}T=pi#pN?L+(?rFgUD-bum}oVkjSJ-m_kaX+!X^@iV3un=RV;nTrvMq?MTo4UkC^ zP0M{ZnfEvkoAs|RroFxa**CYZaaIsTlT>v@;(1ccB5yIzrRSDO*?fDBIVwBs9{q`) zFO8yUSU2DEmqlR1HfbnxFb`m6&nLg)=j5@d$L59M&TSlT>`uh&iYYyn!MrMKkFf+h z`nGZQ2`m%{H~=I4jfyi>fax&Y62fa1EK9}Dt!@@y+`nyn2NIu|uB9HwJS_B%s1&8H zYlIl;X4v`T3s(09PVIg@02P1r+rl87)BFDbuPJ9eL znmr++c4LpWcFoI|a;mBe?#|0!J8Ye?rc5MGFv60G_p2}2Ha?wjxDz-ozfb7Qc4=vC z@k4HD?ty0F!iVE*ot-lh5&+}3wYR6*zXg5r|D{;no)%y;-s249^RszaLNJ#

E)5NI5OOd+(ksi^z-pY-TVlbT|$dvNXpk79b%jtFP?} z8qK5LBSxN{g>Tz673RGRoD~p2-4IrGjgkZT;c_b~)Vuc@uEJ)J$>9Uhh?9h8Q{UrR zOY0M;g<0h!F$HQV0?1YNAvwZDRg)#x9^5QG|XTaxS$xj)eauRVIhSk_p4XWRryikLa9<+ z&H1IJKe|gUKp{)$fJSF9Vc=$rn)EMk-mxq^P%hR>S+I3R`vL`}FoKEoDG_%3C)=Kn zXa_xr6Vu0!TC}ICsaLLfy=~LI@H29`a3q>vehQdW-@m(7^%ve1<+>9Eeck>SXUYFq zz<6HnjvYG$6dby-4ro9RKK6wi(-jasm?m`TMjTYj9!S`hFzZA+$or#{N2vkNKl56v z?XfM=E3i=-5hXc-4a3a`HYqqxdMsz^2qk=cG;LV$H6dxu=+S-y--n(G>Kf82P5Dhn zJo{e!Fm-YiEPvM&JB%LZ zZ3uc2prG@i)U>TMYX0!7*`_2`5nL{h_xo>IJWAY0JxwJ?9yRKo_gA`?J=~6Nrh5`_uuiin7? z$@i_h&HnNdDwh%4AriGPYa!Oxmga`F~Spq zGaO13mouHlaXZs|a^|8J(Db#+lZ$9IY4RhV412L|&Oi7`fyL#^Q&rll)GxqX8Tx88Rv9b&0+@NzN#+4^@jBG^Fs@p{NCKv2&`r26^=jnW=`@S>;fm)xpQ2SaK} zuVrEH#NE@lPHGu*>I51Ca5ThbfWvjwR<5XguWwQ7ioO0 z=qOWL2OZZBus^zh#JeQ#qupix-WtQa-g}=ej{x230_h{V;?^p77Ts?5*O*W)5TV%_ zTh|eFfYQF55{+-$dCUN_?I~!tB%bWAjNW)fvy{D2QLDE}e?H`|xxAVe_54*e(AU1x zQ?^#0MB;0Oy*Icd2VaMo43|yGRgP5_@vFEo+yVPB`KGC|Wl(-p_-8S}6_zb^`n9R4 zIgsu-X7>Q(sq%ALyvf3gR}bcZhf+tbxcHpeLJvCCYG{BdcPYyEeA{N32k9>@9lK4m-RRp_P2@LRg9?YRXe ztcbZ7MK4Uax#8W}81+L`PG-wTvz73S^nRwn3l#4|jWHH^c(wSN7ap(XQThsFo(%y> z4b6?r!{t%lR6@!fOSA>>XB(na_3qL4;!Zqn*;ME7sehU0aDI5hAY2pyG2B$)R#mdz z8lu>L-hHAWAawY-67!JRF0l~i3?TCFE{E#3x4(4}NArt_QTW%*(-I2HeUL;9l($~@f0nyeuh@U=|^TneczVdm2)7QLfwNdlyXU@m@dIK+$_jOkF8G-tA5`QyL+x_BXb2kEdq)5s=;Q zXJ2=mR962AV{HidJ#}a0KcZOh2{!M~R5d?Mc|jj;+00=01e1z80U#7gN2<#-9cuUa zw80-ccsq=!H?$x{PpBC+j2yKbP}hm+IwE_O`R2!uG9EK;t188}Ln_6T!L8Axy_eN= zix!2XA_X$ymk*u5FyZy%wLF`Gh8fB*^DEvUb}kvTim2eElM)sAmQIo-{;p}*s`qG;8gRzWjTwF6tQ^W{V20M6GrWSXFV53IYSe3)_-tcdEWg_^ zwiY4LjS(2~nM(Bk;_GaghhLDpHT6IrF3i0h$Haj8jYW#{MTg4C=aQ&w(CswjTM>QJ zY7SkJixX^XiQ_~6!%Sd+E6@@Zy%ODTo`;WcPIhQd9V_k>^kytVmQZB5CNokIbU2P; zIO?DWJxLini%^!G+XcMCXTItGGSha9-Idp9`<3g_i*(1?M#ybFs6Y3EIHfI=UxWZn zSW5ihXd49EZ#{b!IVO!Hnrz(|%QV#cFH3vArkk9y*XKa7n#_DO{!suPyo!E&_W2(tK!*7aQE<^RkQ$D$w1YvKKZek|F2WCy!nN&X_l`@E{w9Qo4@J zO;2V#7?!mavW;?yvIwB7NFu;)0mpD)wX9QOqKJniL{oaoOb?K7;b9@%Jpn1s<+oQE zs{g#zPnekq%J1wmw^eMn&6R)J&U~mGtPV36W^jEu=77Ja=X$;8MB+PPQOD`a`AT&> zEhM4y0;9}v6t*qlVQOlvsi`su$U{Ro6qIQld3bb}=HL5yvldj`Wy#p2&IptL_c7i` z4mt#0jP!oLrEKoqFPY%Q?edlce>?ZD`Od;K@jRsMKX-m&UYtB^yIIOAbD~~=&vSa| zL)ipS((2V~2fFt(d8hF*iD4K!(Uh^|fwR(it1VPhqo3I_|Ja2mT$n_`cq&hP zeBO{DN^4XM{d3vU@hMj|HCu7D3$tpAt2>SXjm)cq6lQ}9aYNZ!f0gC7C&!pi7%257 z07|BR`7#8_Fr9tu8|UE_^h?N$xWdH7g3m{_S&;a((h(EpafThw1b*bE14hdm|Ci3L zw=jS$x13?yDIhRHCj0yO0iakA9{736%Iaa%QIXg& z&W&QbAV>lWqUx{KgHY<7QHKfIIbZtlcs8*pq;cNrs7SE< z$kMEC0r?R8#TlrC5-sxt`)L!BN%>90mFLoXxFgncnvjO#K`F()S5G$*2U;X z4(Y1<$;nF%e5NzG7V%m$wVPoEx*WWXU0oTuwH2rADSOqGHixt<^)s2jdxEEH)sHp{l z#H3A|9lXo>I0pLgp5p+CoZLRIoigvlIOCN4T~>MnP)mJk)#ukF>WBt{PO4y>f5rG3dYrT4Uj<~%S* z5#~F`JMtY#Lj5;hh*4$yXw)%4W-rWPwrbYCWUNtX6Gi!P&}IE`BhtJ^?SPyd?Jq#N zP>%=})NMI)-1Q}i&R$X%cGzrn^w#4$&5Blu)bfzQ&t1_iy{H<3&)Da0-;iB(nOa=W zoF{&t*O+%BgDB-n*|`qUYpV7z>3}O_5a~6;^B`!t+X5w>`Z63Jbd__mN@2E<%eE+ z?`)%InQL+lg&H6PA3=&W1O>0uZNcKS6U7=dQaJ(-i6ZC*6`18-t9;%QIzx?)r^sdzd7c4Emd@XbD!rGJR#4Wn_w4&~w*3r?qc8vn< z0TO@!fjy@ZL>+Yz%*W71v3CDcRn@FbV2`xH^LvYaS)lYb#|S~2AlpiT$dwXqq?W@D zgBT*0wv?2v9+$Y*O12{UjA+zpOH0eW$pK>TPc}~aEyKosi6J0Md(_p{sm}8<3Hwx4 zUze42{BS%mR)9lh9rhb&y0H)0FQz@9&f{Ra)Z{z*DT|?kdHovL2OaA5@5v1eD zJ+dNg=|``h7(Ro%Z~r^OR)^Wz=y@$utvSNE0#2*P8g2aV_5zI{7_ zbJxpLfZ+3$gDYEGT26QE&rsm**oHX^UvYd3J9gPV5N5edPj@CiI-Kp`Q{X_0s9fJPvMX z;Wb7h_CJJ=tPOEvqGDoJ7`u>y!W>gpc33mNZeEg`5n5SY9SZY8yLXTyx1hkNrie%+ zit+LBImAV`5$1J1kb@(dB9aiDKV~_%^Kn0$NtQ30&_AF__(gZv=V}uv8%G`rXK%KI zw0g-otdxGN)h$y41BiC0gTj!N^Y19h7%dR8`+AJyvaia&=#Jruv4`Bq{z%No2O-|S z=v6jhu@3!QFMqts~Gf2nv7YUz(Vh z05b)>&ouj_ADS#l2pH5ap5L!^uL8XiGJ4$0@!O#!v7C2CJpIiw`I{_vnxr z;jl#&?BA%+wlyd;23!YW?a+{)__I?f-34b$A?ykigdA0+(sNio8KZ-rZ}HSt|CEtI zfRGE0SR27m^DnGQ+(}!!u5SPG>JH;nsyP>Mc6HYfP_e*9tiVEPomp~BWG#V0e+)uR z#4e|(*jT?+fCGJgz1M_~czU2vyW;!$`tl1a4QkTe9=l1JiOw2-s3+}u5xYCbaiBp% zBQ#Rz>~ZyP!bxk*jMD@Tc6j@~Pc$V6lLM!Ej%8s8w}w2y`CyngkcmceiGJ!751PQ{nr6gCN7E)t+X}%Rx}^uo6c8^_ zb&T{v=MpmT5J&nYSwllSul_2p?Lfoa+?=XMcQL$cm!J2V+t5^oHD2jE^h~v@cSdui zwI*nO93r49a&j-RSPC?Er7dFU{?E7+Bv!|bjfzxWP6hQ`Od9KtgwqS8if1h>lmli4 z!7$-x>Nvr+v5cik3d4%7C%Lsq(kd*q7&dvOPmQEP-rNPf{{rW}pP5hU22LEKPajmw z6GFLaEr8TUzx;kpL3MRCM7w}7H&h{-%>82m`?%jz8+ z*SD+@$==rdnYBa$t-8{2O}rtbyuq2Ea^e_~Yrqp{Yh~r?>U!Js_oCjzf$}m4m?+OH zSJ?AMKk~P-Ds{cDpAl3llIgcssOooea!OB67vtw2?)W3dIa#pnr?(zAGqn6IyqaT1 z%gH$#S|Kob_iTdBfQtX^%K(0@qk}d$qhYh)qQ+?JQ+YOcxuf~u<^KOKthZ2xnE!>r z*)D{GHwwiGqg$+P9aWGGY(;w*op;8^ukxNTHr}4C=|?z`smvJf@fuL;%nPd=Sx?)t zA;WE*0<#MWJRp)ORT+xk{gy!&11n2`ZctxeT>*K?U*_wn>RMKiB#3`1-@+KPgveGI z<0lUj5=iwesA*c@WJz;K`6I($qnWV@Tb#x7Khs*j-zZzE7CLBgs^8eyIOz2D?c3p0 ze%<3y`5bo(POcCr>xi(hu$Tj;kd3u<-V^XT0-@g(9ab6+$GPtp_?F0oT56l#8Isng zF;YNK*|i0QS?+~C+6DHwkFLsPIGi?gc7$%3T~5K2lgotj^^xEqq-mjPMqQ@RY4Tm7 zJU4_-VX3#bw-bUF!T2nLjnd_a>?+4-}*gnS`R(}j~2E$hQ2%ilQXae$27T` zTS`U6+O~S~&-Xx|%je%W&yxS45itUUJ-CEBy zj~cr`!%}$VPS9bCvC+W+@SW(S5D8VdcMpF7MVAm*S)?{z&GlcfJ**vATfjN5j@!cf z;fBoF0R#*x;|PjqX{tF~dBG`j%DC#+e%f-%#mw8=+vQx&-xS~z`h(!Y=olG&VA$bx zQ(iT2-_OraT_koI=H>0%x29T4uA`X;e`N!7IRX})_vvzl|6O;7#|!L#ls0{-4fv=n zZEcGSm-20}Pn0e+F@OnpDyX9D^<@o>fjRCs|FDUn{Tj*NFhA`2RtOmQdyWb*pA8a& zSa|(7Wc!9t(v}$c<1uc16(1yG%TL9dSj1`>UaGJ4@;0pgX;9B}-Y=U~B;ML2N-{8-glO}qFCtPm+ E2Ti?D7XSbN diff --git a/localization/autoware_ekf_localizer/media/ekf_delay_comp.png b/localization/autoware_ekf_localizer/media/ekf_delay_comp.png deleted file mode 100644 index 54d934caecc921be967da733cb2287ae2208e8d6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 147442 zcmeFZXH-*L_b=>oI0ugfkwX&@P*gzb0qGE;NRuiZLQ{H4=sgq_kq#mP(gmc38b~N1 zAR@g<377;3y(M%)=)6(SdG7o5e!1h`G5+gAlD)^?tIW3M{LQ%%{ZvPd?lSx33l}cX zJyBQIzi{DV`h^R>TmAVP^^Q&Pbx-OSjknSh!$1H06F;jvL%n44Q8D!~aCh+Wf9_>} z!O_hfVlV7%>t%26=I!L}vq{scc;UjW3s00E83tsLrouc%DcPIH_5LaQu*%g#mwA!~ z-K2^TmWN(8R>6a1^-FqRS|0Rm+6IqxQ>^b3O=YjhC=cE0J}n!*2Wc@rZ*ZUZYLeyY zUX3pFV&4dgakvD!-RPsd=ZfYsjm7@WqRrpi_*NaFUI7W7cMtdTJ+CIW1Ml|JUz}Cs zP6k%*4O5N}&#r4(5$XxKO~Hzy)cOBxW7Px{p7GzS8QO06fBv~ZBnWZ*^Ybb3e{TOI z#s4vyT=j?k5WF94NoC&3W@+S^9kYoTFvO>?rqqk#F-<>N>~qIDHl8 zX;p4;r9n>z9^y-Fo#d%fbKJuv!_Bq{#v{%gmJNX2zrDTMNv7<%pKjrxt-aCRJHVsU z0m0Vlz(v-xFD?h|z!Ju!hhUO9@MMMY)Eb!Evr_z9n`Vq}gb|SOYF29mon1jy-LZ9| z{pLZxN7e1V7Uv@l;m)Q@o$*z68~Z*lpilP6BNN4kH_mB)ilE1GNd7r-m&T0YklHsM z#&%vGuR76g?EyH6IJd9ZX$?E2KP#@9=HvN69EtryLr2HAeV%Rqd(o=)P>d;uEu7Xgg#Q9KIzhpJSPwakHM9+ zG&E+u;i$mcF0_(<*KxjWZQRHZ#TO~ZA#*?so;qU+99wf%J^m4i-o3JYK?tNK$je^FSY zko=*gV;_SFnE3dM(y!hW7VgoK#j;96l%S6%u09HAh)Dt8xKH z-c&kV#1I&hx+As^b98se55Za(Wc>#^KV6t*&+Fg#ii!iVF9Cz(oNyX5qC=H?eV6l% zYb5+i@F&qb`IYWOxo<8HqRO4ft&^j>7PSL^cL5yR6Xi20`<-5XLmLSR#lab}%z@9- zymue5yAx1LLEEk>Iul)c{iag8q2ivr?25cR`ISC_T;xM8Z|vIU{@x3MZ%?>uhTPC< zZ&PK`C}f74sxBJH2N!;On0Q1X^Iio_tezoLVxrUsCx~7fveV;@ z?ICuxeI~h=frK>B+}_51I-jCgnx!>qJ?Kth)fPE-W0+UGJ*#R0)8JSFBO01}T*>(kmb2u z@E%COS1etIBmUYw{fKMwM;Ir6*n=Rs>p{biiq-btSSpomJ`hHKs>;lU*{8AS?gMf# z`T2bAqROYUSm~%{cU`Gqq4x~t<}hRR(g9(-KY+C;Gc zG1!vm=Du8}jkoA#CWHO7_OdEt^^_;NE{Sd!Npc zfVkh`$)SJ${WgVJQ5Rd~1TzPScsFduKU|RQQm*maFNhPd(bx75KF50h=X@7En`bAW z8GwE`Hi=7=E}kx1-(b`F8l+L7vbP{swH&cvna#3=y3Y~Ici8ol5HCLoU%7c$ z1@`IL&V|lv$9x%TL=V554BS0by(Pu#HT!Hd#P?n-=t!K$boxA6VFkajMDoW}`<-mP31Qh6vG{`XZS(|GXLerFM9@q2ETFow&B~fStQq$h@{@ zaeHt&xyOu>6!g5HW((ss$(q|2`qz*ov*Po~1En< z+{*gI1re{DTdid!*H@`N`whg+kMW`DOoxnnP2BC}@A~tMnMwNm4r}=Auv^X>dsmhayCopbEXB z2P3Z>dr+8Z*GgYb@2g2k0qn%sesCj0s4t@~6+oaHTCMvjwjP@SV`ic}=R-qPt&~1& zn%@a^=H72jME*p)T(RGg2# zGrjhJAt@;H_^_>)((Od*7}s!Yk-3B)ul#b4pDh@^M)wicojbU8m`|4bHirljZvJGJ%lMtH&_#v4 zyxnh9hX@hYypuT>cD|)sKnRe0ust3YNO{vXTEP+4=PDJ|WRI+N;ThDwd1j}WJCxYE z{(wU{UC!&Ij(~pR-71qcw7gr&rG5Vdc=i=FYpn9M8Co3-OQV-(Vz77hkjTxwdXY)Z zq%64G$s<#MXW#KklI>SmjA?ELoO2BR$9wzb-Ff$84VYrt#!TE-Vd?;UK^C#aZ*1s{ z@h*`eDFe8_B}t$)#hpPR>s1a1Y}zrXxXXcD7FddD8Y>^y4MDff0_7pB1$mqirr$my zTg(6&1It5x-!Dg&yIq-f+7nWH5UifbmBY?tuSzPeB;Lq^5LfGi_e(DpN|-`mqy&r< zEO5K{KkPuF!jOWp zxbsgTN8e~`eH$@N0iBJO7%AaFuFx9l2Dpf`6P?nelY-RtNp2I2!@wJ6`_Q&=XIO6Zu=;F*E4P{ zE#Df5>vel;U!2gOQJU{U7{;9IU_~kutrEDlD+HNq1YmM+iX93Uqnn$^v?=3-f7cz5 zTi8}T%y`Oipj`USX^!mgy$5P{!qwz0G&S>b1EEewcGIgP8ik)@AelfPzuv=}A;qn( zP%}lCi{)njhp&8({BIv3Ha1+$3!~b~0ls%r1;DEXv)@MTU!rU%Y6%SkJhZj8{zK2; z9ucZ)N4frKA~|iOcrD=VdHY9Y$Xblcb-i+&ff_A=P55edD1DTTt304Dnlm1W?cHAt z*y)~u8n_kCN}q0|*thcky-Ql$ZP#TL$(>u1S&-sTHq1PJSnWfaP*a=UNZ0p3=L<^- z7qlwQS(|@PdW6^{t?9nEjyMSjYB*P^DhL>5E1#|}B8(Tzj*qZa);H3>epB@xGN0^I z?%q4_YzlziylO#@U~wobr^Gd+f54R=FT?01Wl*cXc!+51Po44H`{j&S+hiA`_H>_CCz0bK@ zPrA-4hc*)o03dX?jeA(3^M?1V9IBNla6bgcsG~78Q_Ij1BB(Sb%Gcau=lrni zVo0nC)$U%i#wS~b=Pv9{MDm65;hT{d%6bBF$_<4j1+{1!#F+UhhKyCPE1Q)aUi0zg zT-$;mOZ(7y>XB2o;HIwfH{(K-Q$se*OsUTSPs-6uI_o)pcM|qDh3b5+cbtutV@eN$ zLp1`+*H>5V8!@${Sw~36B~$-54up;akJ6`O&)n#Ar`pM;X87wBd`5>(Rb9ALR#ldk z6Y1IHQ0wjavUcv=^<5LCiViVabMw03{>2>ajyR(lpsZ^ISTUDdSTrnW(L}Qs4lcCP zyE={?=@~xjikZ+cG-3`nlUGo%?VNAdO^b=uq{qg%r&UgUJp)fmJ8D|+<(wI%?*^1Z z?49pagw%E-4^N!R3*L*Hqmx!0OGti3?}Hd>VXi^hp;Y_3Jo?E0el!x%QQVTbQq5|! z5>s!X2+SdQGE3!ybNrMGw@j{<5ic@dsaGA!SD8~p|1UE=|jn4ZVm)JyT_^Dm`jP`*8DDsNcd$yDsJQMnouSm-W3 ztV#9*Mz=-mSd2k0H zu4PGN(A!}FOeV@ zf~KS_u1ON+Bb4_*cYQQ+ch4Z4+uPfTBWVP-1T^PlZP}cRueL#rv24iwlO=Mo+r%{VX*9iw+_6+1MejYE|eXu zdaSslBthlsjV+pMdh`^604W*p>Z;1Lsazv>qvQJH$ocTo5VfFd4aHe#TKDsn1E-@M zbsnjJ{DPfrejPOfXZAFGjGy1`o4gn2JP8}741AF?n@1g zT;5~@UxUv2^%WY_qo0ZYB=&`+A*DWep_L@_V;6wDRnQ$~P66eTnA*U{hyy)kFh`w| zerkM|t+eDHg>7I*q_#3q2U@S7j{eT705Df7?fSyU*RE_|QS7@Y z^th}?wZQR8re&pb?Q$0nPkvKkvwz@1_N=K-_4(qs5^Y9Y=arsZn^CC&E+JN|v`lP| zEe}_pF?+E~rAA(Z4f4Il1~u-|sHy7ECz&V~C7Rs0%LD(iSeB70H_pl}ZI`_Hei4av z^4Tek;&-*c=wwGlnc)|NUSp}C4s*N1u|rzL4qZWpaO&LSjGFtD*rqX1fFMU;jl809 zh$8b1CJY!+;pGG?7PXMGx2EgBu#!m!leyddPv(3S%md`+Cd-Zb$$Y9Z5^8y=7C;W} zN(t6*ETY3~F-k~NC^@XxzN>3vi{WQrd12-n$b+h>?512=i|?ZSF9Su9puP-Hznh9} zsoRkfTm!Q#EPkUe^h5f`(v584WW4|p=HNSW-mgQOs-7;uoDvQB^(*J*JmA-Z1nA8w zjBF@ot364v5l=AESXjgt9v+)o)^N}%+77PNSO=d3$v%-3=&0{Uc4|B+ex&!FL!sou zM@3TkJI>fBduL~nQi?&LriZ7D*})?-7xZj;ePwlNM7eBWp1yFc4Ya|=xw-p&K`z%f zd4&z7D`_NMd4%M^dX;K2GdJsG&dxDXW8k==JI+E#fm6&BLQj}scsYh=Ph-{T`K}Jv zZ$sq`JHY&a{ABz3K2AlRUqUqbM4IFIxB|MIsov`TAMO()r8elbrC z+>R!mHqDV3|EiU3&!_Z1u^r$XgCld1>>%$g`R;R;6PtxonsRF}=4J z11pg>62xWWQ{X}fL!e8CP0bBExc&i1PEg!4wNKY_|Fu8X**1cXX{8{-%l3)&lj#0b zGY&(8$C%X{0H04G-)zMd8 z0Lggp%uk!Km?o;U^YO)Y3}gZ}GIfc2;MJ@Az40U8)8W|Rxxh+M`61@}8t86BPe|e# zPYNiy|M_yv?Ea>ON<~IwY}8n$M)ILDx3B}&zE}sIzB(`n>vgDQzIM7K`iRZgk909PMin$&Y8P81(v)0_5fx;%X(fbV|JVATpr!K`+0WwFW&(6P!Tpds4tjw$| zV;T0g?~ZV{kbC8zn+CeAL(6xA!Pu@y0o_got}} zN%wgB;bzUV6(4c)&^KhQ9V$*y`nl~?iqcY9>5g)c@ET68s&j(gS=6*I(_BYJ3Z>Fw z3`6t9Yi1sL!G&+->MS zb2zvIi5_hwEL%yMU!r`j{MKxbEi}l=)Fir~Nr7?tjQ&jjYzm`aK*wSnm$C(X)c-ck zCiby2!dz+?Y88#wtb-j36MQdAeufxLjPSC08nxW-x+ejvsHqER*?|Jd?U|&A7 z%ilBi3_uPc-_G3R*DOy}x{-~}7&PQmh^2LPmTiNT?$Hf7@){wH?VKn46LVVLwG2o3 zY&S5~7T%~6&@3OHD}@4mM~gRh3x#|e{Ex%8$2@YY0v;DxZC-1!zLBSPtjqdtp4Md9 z8SO8Qc%H(LItXY4L~SE?V*SX=;F_gwN35=(npZMEwr=<~So#qnoG_16EMR}9c#FI;lZCpWmGM~ZXp4+t0(d0tQ z5~M1AY6yN0DwbX*ck48C)eFQe0IRZ|Hne!8r~5V1^&^FHlOMSbXgiIll((%}!G3A3 zD$$88yDlW~2k55aLFx0}}oEF}_EEsNtSa>Sv z|GDVh)1B#g>QdtF#G`9$i8t?;mTng(XCRCI?$EmHRn!ZfKhy4Ghs4JtJ3GnQ5kjM7 z5Psgoo->1kZHbf{G;#|3_0D+iH5P+&*2du(vIIMImWrOSc94`;&Y!oo=?R}J1zCB zuGYLfTYHXF9J7wYV8|c?It9*O{QTSux^Cvj8?;5N+|N_$E&3iDDbM-f2>Km~V1f$W zO*}j)TC-5@~b zV^<(;aSHZXCKVmAe6}0&0nG3%u32nt?6&v-z9Laq2VOhLw zlgtZ?=*F&ib8w`65ZaH=ar|PWHvKO4KZ&;K&PmScmag)l;UCRfQ$@-hN=rI6#_TH= z77Mf%I|WNWPY>=$;org7zb(53sp#3GQTEQy%Zh_&Frk4w%mIbfriE=JoN(;?%b%Ok1GPRoL+Ol=X_I%guM;Qovvrx_pm0p>sHGg6AbP#S@W^H}=QIgBx@A%3 z?hX~ZU%%nBJEkH3Cm_^GmvU&vIH7fr9^NrI-i#sU1ksn^acIFS=4@+w3XBzRd5CNY zFUtO{1?VwBqpY-}SJHQfyYEf;boE81fwa>Njahr_k8-xjXzRdFIiwK8-$O@5`t&!w zlhGb*J#&E`=_cwQg#LV6>|(hx6npFS6;2md7_$#ke1It4Xs8vAIM8<-`8~m zEck18ehk`4VOi(6*v{HZuRN5sN<2AIb+6%vHr6jc)Rwrxpm)>UatT})Qj1*1IF*6N zsX4RFI~mJl{o8@Zp%Z(uf(e7HcyPyeGIT)OdXpq?F#TS2DC-J$@YmH~9)-h?N|=+2 zpv_>FrhLS@pyJxfZn@{ik(>3&$Qa&PC|L%Ja!ocqnfil>g!5gdh4zhqxtt&LrPbDC zCK%i0ja}&3uuLdQHTmo4vh`5kvWf6 zgAZShOih-XdJ1}SWLIztt6b_SVUKIm@?WAekX29LTe?%wW6s5GfBt0M=gn8a@oa%D zYZ=ig_hS(W^&*J`r{no(k%_vdXDW!wYOFD?oX&s(e#$v?En#p{DHrv(4mE$E8@PF- zJ~Z~u!@hK?=FzB>47ek1=$S7!nhJVH<|0$#4Io4bNH(QA1?vcCfVv!S8lBA&>-}C8 zyUXqe*F5n&tkDg7WQiB+YwTWDE8t8hRjKKeITY4R`$Hjw7VSHkEG8=v472PZE z2h<$!Pkw+bRN(3I6-xow=^f_86|ae=FQKf*w8c4vJFd%eayKWfWMH(I<}Ys6#OkWQ z1r1WKN}@uadYYtJyCQS|$|{n0V;oqpe93tTxVGL>Kk}gdZz>vAeFr8A+J3u3O$dP1 zYHs097G}mCc*{0S$(@=TRAr=rAbl0ayL*G{Yir2Wv>lCV#EItfr~QJQI9_dY*LoJw zN;9HH-12T3O6omC7a=F*gd4A%o4O&`3hUE}L%HvaB(@lbUUER;Oq8Zm42sJ^5ZFyB zwvL~3uFt3-Bl>Ey%YAgW^E5+TOV*?pcV_3TWi*JH(kI71F{cX`{I#_w?1z%z--m;4 zNt_IR4C{+ic3+w?f}CzYIyW}=WKbBcEsgD2h_G7&m6jWul_AI-`4`>b^i^$3#4En# zf<}b3O}@Fu!z)jNZOB0T(s2f^tLt?!QK#F;9v4@J;o6>D)q-VJcx}D?(>k?Dq<&|a z49I-*sc_j`Kof9$qDVM9XsH*PbHk9D0m?5vsm;0K8x9PTTQPSO3AJj?(8`MC8{{+S z2p9XAW*R+hF+%7i18zGy1904v5ED9{M(~mik0)m&K~l-hZ?&wn>^0V1nRev}NqJ5~C%%`YP0g)i$-qryiuK1D@Y1Q_j=n(3 zeN-`1?fyd2_oowknvD$zN5bh?84a2PoH?oikK^1B{b;VVyHM7<+F%jENH-+#)K zOanH0tOrfjj1X-$A>HE*y`>PZMydCIjC$9Y68}s*5K(^R{-yxPsneXMVcoYTtG70g zT4o) z9DFVH2F4e)2kAs8ceo~ET#{PgaKv&Q3c^3>pAYntN@{+u;pjW{v4qZ;_!wE_n{mv+ zHPM?vbShs~W-=%CwO4kvznoA?8r@FPT5 z{4p2{73+8PD)*Ok_m*WDQe^don1_8~4n;`IT-R<+*0A>#D_JTW@084dW=_-=zE6gk z)0|eB$$G%_nuQnu@1uSW;P_q9;7QXnf4BjmNEFJ?1Z({4{nK{H;Z%-MsxAL5~X_Q2^;3 z<8P@YYhm@vFJ!y#$*pT&6s3k3_*bRU=B^?fEvzfi}p-#DOhw8N1<&@4eB-CzWFk%|CZaj+`tsa>PUj6= zt*uR(>ABi=*KJ&BCGAxH7IVPu_r1|k{DSBfZHa#t_Rwg#MbsUVMj_-}g{v&o61pQD z7tYVD7h6Le;rdWTtT7e?%lrIU2-a?Y@l{ee#tH!w{+rQkA8>0o2o>gJgOSG|CZLhV zA-{su&%cq!2|bPHcX@UefvKHU(YBE?e(LiR3uizEhQQ^LW<*F!@kben3Pr}iJ6YLh zI=p+T5-3w|oWs}2MyRj5Of+nNQ?rV2 z&IczEdKS-l@3{AM-SOHuh93b32|{~81Bmk-qFdLSDue7cr3nP_GRShRoCNuN z5@nf`61zJ}i5m4*aJ5|CSHwDr#}$bxhgXrJb2Rq5pmnk=uLM;)Zi#1XZC>kSZB&rg z-oL1&}GQjF5`?r$F=RFrNvZApHCQX7GxXZ-1`i z)zo~(MTSy!aRH@5|wYJ0uA)=sP~;S$j0wWGzPUt()2($r5FN% zOfuiwp{VcEDjt@48x+o+v3C9MNz!Kf-ZS~?l>Y6S#M*R z$!kSinQZA=T_XcAM8zow#w6G0=d%IGHeb6E0?JTXIR~=oih$}wj}cBTeZ9JOqg3|D zGm(nznQEzO+U}kyy@fnQEYqC%`t;KNl!b@(6RK1Vii#@7>3jC)oS`Ez={2j}a|Gil^u>9R6&O{xF9VZ+I zi9WIk$!hDOC*4p-J1m-Tmrpg$Ud@|_98(G&MHbU`b&a;k(qdJbD(tIZ2W%ny*PHp* zQU?dM3)f3B7cTJo?Xp2!} z{-cMe{qDAwJUc&^s`bnQDO_4ws75yT;1Uy_{di1yl4Jp42FRWyi11JylX8A36r{J* z8f)j6)F=O12(>?!Sx!fVa~|oX;Vk7(^J?$heg*!ehm+qT9hG@ec80s|XQp;%wP1#> zI~9IUen0+;5y(4z_1;yTAu0TxCw918#7p>Fu=NxZuWo?W-DI}x8%4!D1TwhJERKR< z)8fx|4uW{RujC=iQd#|rN6jqv4$eAD zcVVtaZu-jb^u4c-qN1F8mzA%wTru0{RC);=(37IX1&?{xJJ$StAOCoMw?+L|q4Vdd z-4w*m?2v|UZ%S|mGsEGRwB-;*n1V12C7*b4{vzpG^ufjA227M`+W|ZV^ zoOH)`J2Ca=mR)g8O^EgC@w)H%V}cqY!^Z(o8FO}6xzlMey^gk-gHgn)9`5=!Kk$8#3J!rS=AV+ z@}}u#M zd#<_dapiar;>d8pP9lgW%f)HiExkexMlZzNTRP#f00pius)rf_8#lN)tYg-h?y7lZoVJp+)-y7ph#&uczm&@)W#xP_%=P)J9h zI`1%R5OdFJff+;6f`2v(YV_EpEO->Vpbq*9|DGSE9*)7?^19D1?1vpsMqm7`l*6xz zS`AwDmh_@^*U&5@L>SjHZ3ADAj*E^eAzFgacDnntF&snpXb4w|9Ng&YU;me^zwH1O z`M7hE5|h0)8cffX`onlB=h0E!z;pf3!`+^sby1;rbe6djuMH{tsmS@4QQvVOghsYP zzkE{@?O&*bP0z~c0Hlm?=k^%Z!|7IO)fNI$9~~v5u)+LtBTvV~6*vF)s>z#ULR2r~ zqp-()mGi^Xrx(c(H-c^U^aSWPXePTZvcWiAoA!xyjGB(>1G>r_zMDKew8hZO3Q9!4 z@=|=eIj8YsUa{*MmClsP6;egZ^`f@nLmRcRkZKB1yB$9{AT>%YKpAG7JuotoU+~uc zeJ>UON%U2-jv|?D#zDM6bl9&?oxaa)SCZ%~{_08Um=+oQCoxi8eGc%Zykr) zY=PE0dPZjLeOOydU5}k!51f46T~O3?oVw1|gx_tTu>G&)O$M4&S{!aChMjDnHbakA ziy5ng%;0vIGNUlENtk4-{9putzHZN6kpA!QIGseFitN!&aVmPq=7_(B65p=1sS&9c z;GO6E;OH9!-;9WALJuH(ru`#idH$soOGYxE?%6>XFlT=*MUXmLqu1HVp?m0Vre>;8 zI)Uv*f5L!HA8ECqqiE1m5W6C{epVy0c?}gf7olz0zUe!a&SvbdxB|TX%{bY9;`+Z- zfA;8bI5CtdURC9*o%rdZ_1U6H%T5aLq#bxN6HYH;(cp2kw@MxErebhIK|w)Y-g7R# zJQ+OUYGVo>ukI$}XUvMvP9N6p$%-%b@_*i1@+$P-qZVJbcXQ8!dAhC8LB8hZ_zX!` zuHdal1;Y)&hdZr@nXTA*_uL-4qrFkxu!DB)>GkxOsBVlCg>hgoQs`%8t}`}c$&wKJ z$%i4SUyvi70wJLVj!FTkO-*vH>UT z!qdkGot+osI#r77iT>oAbllzoNTIr_!&z|Me@JtVrJ=S+AmP@ zg3wLI+vFdFTgTTA1ykBCa-X1Dk5ML8fs0fA1kRf`CmTHHmlfN@vE4b^!ss-^-I-0bfI$=9r!9_Uo z*$c2fKnY_nDpe*=TRHmy9VSGTU(vh-;J+RXGE6ADC)YR~7cFh<+TcmskOzXc=?6W} zHm98=Fu-6_gRAj5Gyt#iT7UJr;**U?CL+6$@?A!3ZD}Fpm8o=KaE0;wiu(EXGZYMX z)fL@c3&aR;I!1>BR(8TsSi49Er3Ta}im{p~L9*lz1{ zvb70&EtSI`5*VEAm8=9PAqKFp+8QIjao6+im#kr@fKcP&zt4evYS}GMgiF<+1|Ih-u2RS z58D&LFTYO?yqVMDC`V(iWK|pWDX4Wcv)|18*ru(5kz-@4WsEeL$sE2qnA<}5Uk8VN z^CYifqJcuzEzP~v7rBGCCL6sw+IE$6eE@Tp22vF>q?NQEV-Tcj0k0L(Qwkbv2%SvU#SHy)0#zI`3edM)|e5yFjEFNN&Y2* z`&aVl#UD03@9y#J#9E)^A63%>Po64ow4R>@W@(`1C313&j#MCC{V_-n>&)@Dm&5!g zIwOU7H4SzPvR~%Kg(jo)*D&{i9Lj6VgGh1_njh*~LZN75@E z%up4#T!Iu%ugK3G%$i>BL+7@kbuHox&G5>@yFsL93#R^*jc0rI{vEW~df`K*TJJDJ zY1f=(T-~CvkrC7IJi&GKX4wHl$E}#Cau*2RCi}2*`*vp33Qtp%_ydoDsm9WCxBu>a zEKzUXygA-%J)chmo<)WoMDpbX*o=#%iCD_{Z)8OUlVR4U!Hy;`A0Z$+e&8Lyo2jJ6 z7w*eBEhhL=yaj-xEY+AG4#0)TWJt=K(1ddeYF0TU8l8^Ou*5#n*R0#8u|ka8zpa1(%We_I^h;Jay_r>7aD(|`fc!TCV?r*`ecqZ?3@w?+@1PC0yW@KQk0NYbHIFO zd@g07h^_CgsMacfe&xO&aMsXkb)mzB6X>QXmD0isxA3mu&wV2CR}~It7cpuj8pOlJ zk$KdVGr-bUS%FjyU+I~(3%tE=DwNuQExP}K)9lw_qzly^KNg3P&{iJI0YDG7X0Nb{ zoE%NGvLtDyiJ(vS@saf0XXL6dhy;5pxx#&FF#^H&6v}{ z0(oKYwFzxfoMc`jhMrIQ9fopgmo_PCzA9cvE2daGuOlbqR>9g1Sh5fE@%*XTQg+|# zTqn4~x3NG~s>khu(@+tKfa)-%1&uL^`a~=Xr=D9rPGtBMLr}LyeCsJ*G-Op1c($Dg zJeUc$?JA-SHk_Xww;m3->y-Z`o498>Aq{%PJfdbF;<$AmMRB&CAx>p;uoswHCKR&t z#5)YCC>6h31BD$ss3?DGb8vmT62V0%a4vT71rUk`TF{w#Rn$QFIDvd9#Sz*1Tsr=q z?d(%1prARO%Wa^mv!{zigNRW8wBx zAH}`paEa>fmW1h!t z8(PLDhD54QTbrGI41zGC;mj55)$Re-x6V{=A-=$-($~NkvdxNm2$Zrt({}pEx6~3p z&Ji*Q;ix_OatFQqo2AXLpUZxB==s|T;Pp#4Yh5&hd3YQsNuy$2x5H-a!e$QR-2OH< zmcv`^BY;KBX{Cns`&akV@$?iGU7xP24)`G5XP?~xxG}*3Il+h1$Y1d4FVu#Sk+uM76 z7pj)67Y4JTLt1m~4>k|8hW_z5YX7_AUXYRhH}1Lc;{W2?TVdd-CNkBb*45O^l=XH9 z2xx%8h(+3&S83ayC0?PD{4?|M$?g!<3vDaZOylL_i;Rfqv4c~i5BmL&FJKFD-+zSY zgN3D~rHze^NF)*t*RPtma+_BtYh`0Y@%#LbgZUmE?Ck7@0!G@}+JS+MSTKu{R*pho z^~FCd?y+VLNPV}xaABs?PCUKep*AfoP0R08_%$30zQQ6T6MW!dVPWCm;9zKIxarN# z!NDDRFk4hqg#p_fX#s4i2V1OA8e;q4pDhLoC0nOh8dlQB-t@ zdPb2VySTWRsCZO@1&1E5*C)SwM;rR~vwzc>B8cXK2immWZ3=GR*W24m3%zAh(9&Wh z(3>M>`z9^TWRp>drEeMyZ9QD#DAYI8(-WJa`GGaij^W)~(E;0Yot>R+T-}(G($X4J zA*CpDx5f?(=27mO!NEZ^l)@$J^@&QEq9TXS7yq!G2cOh2%XnKvdN5a{XCTZq+$jhnzw3jrgu=75^aO!G~~ zF&AG4hob8|{QOb*U>V^b9nU<}(a~{rg;7~JR%!qM0HC?gYD`;B_s!F_Sgv3H+iRiw zCHHOW++Xzh%zeFtw%S}@$1hP|@oH3%kqP)-{hS78Po7mFN{HDJk8Q`rQzQxp(iLm6cVk;}F*Y!w(KOXsH%#Q#+syf8PH=?B&asXx(Zo zSRkdWxtZFdjI3i>hRguFtxMHLq>_oqL&7!*wH z?1BiMN)BozF~$W=9yjNdx-m>7W3gDJsE;2%I*%679b9Z7L*X#Z{ySON6+Zp$g>j#|nqAxWirO+7G(IFi=MkJe=nf>hPzCqE|y@MBh zOEW{P7u-Oq1vNi~7;7g^veH?kvP8@^5AdtumEna_r%GTCaNeO>sJnJ`Z zIeB^F+8Pdr150HV7Z>lHY0|IyH1+msR2btim_;IygPB> zm)6$-&%gYB+?hz78GC%EBCRvrwZ`-ZW-|NbkK3;!BfGvvGosPxJ2ZAJL@ z?W2AvRS{4qsHv%`vhr&b3U&R9lZ3H}Nqv1i)lt{g9qR7xj*5zEbiNM#NX2tYYG+^l#TN3?1|X<3;*4CB=pyz(ut zrltm<=nN7{g~Q=g6Hro8^8NdFO^aS9i88~or6q@K9lqqA-)Ly&=jIdu0NpH^VJvoa ze*S^yoN}XuNOo3sHiS@QRj9wXu%K>2eVf{@E2%GQp7&hPc}4Z6&NNF69UOnOiHQl0 zcq;g^GC%K4tf((4ENn!fxMe(UNlVuk7OE5sOGrv~batMdECada{mQjEe@hEB(bMxh z*m`~pmx)(pWMJ5y=ROahLQNWlUU(#Ac_??2L?W%MtdK}q4;%++=oOynHn}SZq^zwB z7Z5^^A>Q8JRJ*0F-ff@@kn~>a-@reRl8{i??SF8Qp34FW#zu07t}HJvZ|Pr-n4_|R zDqivN@k)RC`}&b&7!WnmbB*G>?Ku&AiN zuP>QQ4mn&*i?~je5IsG;uv4NnmY<4U%7jy6H}}?4DLy{6yr&TP5n+!ns;TkZTNxe#P$r`o?$AQVq$B3$=4`tXvSq!C(C8_LT4#w2 zs(}HXY_&&6M^hz|3O@=63R0Q;zQx(JIbb`6S@6@R<2Rq4^6zgFMAuPPW@fVB@72pW zP?7uhd(NJWI@D%Uu@*<*F?Myd*rWnPUdnX$%gy(n`1Z|%^u30P98zUiUGm}d^fXny zKPUuxJ%663Q=BR7Zbi|hqprix-oEhq7Z(IoGS=2ys6;|riE3}!i<>DaeX%}2nwXiH zISb=>@l(H*{u~}3Pfbcn%FYHj4rb+^?G-7Zp)nb6P40D`!L5o43wPRzuzZT*)gxB7lEcF4 z^6$Geh}cJu`rT$n@ZWP_R~24WR8pel)fMtxUq!UU(taE7vx3OHY15`FP$AqVZ-6r% z0eG42DIAISHH?uhTkNvABRR9)*4O8QC!?aGqzYqVW4p10K0i3@e6Ep;mv^nBe0^wo zdL2xy>eEx_*dy$^-j5}}eO`nBl$u$FyKYZON$Fo57XA72XLr8CMtA@EBFT3{f`emp zyY!#4@eevXM_q~(u3k$wD?LA{?YO2k}iw`S9SZ|$`L;jG->|hpm8O7+N zYNkI@Kg}X%Vlps4)}r?O%rY*%+d5ZjWA%6NA>O%}8EtHp#i{NEPjBo_Ev=3pp(W*< zkzYZm+&~yP6g))FKQu6~@5qr7ldAjNU$eWry81ju7!hSL68VVv%^%Eaqe7S@#RUa_ zQ~Umr_3&86)X?wW|N0__W~SlVRDS=qZQG)vqm2eF<1|%O8GjzRB ze|lix`s8bAmF}visTK;Zd&fg=A zS{w&39-hd#G$xqN-dMB1fPgOF-8SuMdu9Io`IDyoZeUx+?d=p49c&@;Io{;O@$qp5 zCXZ`adCeaV3z{p(2wD9eu6HPz4NyeZ`2TB8TeIu#S=()0Tuir*N1YBBk{PJ&eOJGaA7!tqB1HuH%)A7*gH z+-Qc&%9>f|Fp~COaRCC=Fn5v_2lBgm^{1NeO3SBDaRfdB5u||mZ_SBH+}zy#-b)6YInRkW zWRmt$Hc)XZNik8K>l@XcJtY$v#r8kAZuC%~UjFx)wD0=&ccxfbdD}bpAwU)C`^^0K zP|f7UgAiC*DZAsU5Ir_3r<>ES_t}9R>?r2^dZ;)7%u06ck)EmN49Qk zB+=J?zH{desc0etfh0!xjm?oq!NE!wFMf+WWJc;MEq?uaut|YAS0QO%a*Q$PFi>?q z%E}LDKAPt|Rc3c^AT_;KXnZR8w%Qe-BRDvifq@}$TA-$;=CyoC(ez4XQrmcMv3nS! zgxhf4Q}u}ASFc_n0`>796A@YTT_5oU@#&M(d1T+d=D{YUlZA;6-?^F-m*1*-Prj@6 zTva!(k2y#~V=P23Dx zQz>`tD*D_|wRi7cNIlO^nJF$M&5wV%mW{CAH?hHIhoRec=jXi>&qobU{zUQ`8%u7o z1Zl*;`Q?y|c6xh82A{Na`Mv!o7W?jJrKhWKofM@HVUMsv@a!10mj}W!@?L1elvjr` za#Ko)ifXNtbgl`}(nik?R!d_yLnUZT)E#5$;N<7`9f@;41(bLBGPBpD0PYJyT1@~Y z1J5BPOUqF#0xyU6Z2l+dL*A;!U3Yd4zJH(fOF#sQJja|C>)fYLpE5Es=J$Epgasbh zb@#pW=i6I%Pi`pq4%|C|E5CjFw$J=)=7pf;qM{-M$FkMATBOJJ*4Bi?#QHdirIhXL zcBecJs6G2{AhlU&eQIoU_<+wk#8VIzte=be!mc|nUHjdurA2o2HdLn- zM4Dy;$}T7OlIDK@Mm}pLI|r%0t!-@VFLbu>@hMYG^hB96I5@cd$MN~})zwvmbyOzj zy4C;^-eqN7eBG4r=FQ@CP#j)(^ytykr-zXv*9tV=ytnTa$BIL7vxaw!&B~2&A7PP0 zYOB&6Y-?}F_20O0qb^o7Gt3YY?!Wz(4i3_eKm6k3`yU(@^gN?sWR%%4fedMnT<=x= zlgJ4X>?-%~-ShbKGtldq!>OkUSNuFYJRpN1>MCBiP&m#*PI?x6x3~BCacg^q zlj$QYiEjJiDcuZ5-tmbEQHQ?OkGuKjE%mPE>S8|wG2l9Mbz@vk^6^b0()0210_K>L zIBhH}Mu-J6-Rre7ZEn_G`5Ao@Le?6!5x``uF@y>^nS3mkcc|u2aA8dK6R<6Bp3z-#_ z4lW<4(%X9tI6ouNegI0qc@>p7{Pn@oD3qaW3ZcMVAB;~XBqZpYMoAVRBco`2qx`hl z^lKt&X|6~b6QsSxlr2ax#nT8a#nabsa3+64AszYn@ps$2hYugx@FbyhGBYzn2@^eC zrmm@JE)q+9MC|BY5-nSFtwIQW+iSm9qUo9v7!+jI3(`!|J|!6$8K@vbC8kFW;#mBj zh}h{`Sy?TG?GlMiPfJsd*@B`(^7!#YcLRBZJ(QdCE`iYpW&W$XP!JVwVWOZgc1&&? z$EfdRlb_$AEFmubSTV8F_PLOiI!Y05Gd*kKky5F&{O1owquTf+Ml?wyWpvasP&hq$ ztaPbQ@4aP{yXtaLi=|LvVj{5i&5gCCwY4>*kcJ7*h$*lD9>0fGVuX?vdYu5$aUpNt zT9}x;(s<9}zhloHf|jk~JGghR(^9Ydgi8@(B8s<)iV7QjXB3keb)cRy>8Pp`de_ zOn#e~*eTkcm70|F(DS~^(^Esuf(IoKsBnqM64pX7L`*cgXA}-pIQpp>?ZJa! zUNV6lb8-anoq&LnDNdORs3*O!y8`zdZXW!DK$p0s(=c~7?$>n>7Z(>};}=bqNQINR z`BfLWBI9q)U67amoEUA9qQMoXy0lcjvDVygeZ#{80Kq4T1NL0FaA9^~VamI#%{orlMstY``&HfMMxnkGSOsFc`DkK9Wo7Tsm^3F`pzR(r zTbk~b*@4{1UJMqg)8F5pP&AiPa-BySa`W?dvmh_@k}m}&h|o7RHHpXZadC~)*UCZ2 zK8V4st;@!oQZtIT_Vs0Grsia4Tie)FhcWx|y1Q?y45aoQPk!t9m}VzSD6=%5|IFgz zw1Ka;0HTMJlM}AvP_P*?A+4Uujb$Qs*!L7*?}O}lyHl&Tm8w@$7|*y1LeC^L&D}hh$t_ zT{#cjZ*FeJzR7`M668C}+Ze_-&#+dNw zz8{^-G(Sm)YArT47Qo}s;lmywroU%rFQ}^K@vD?R0oODb|#yMMdn# zk9&`(6z6APiHSK6KhR7y$TB{Q)m(Y%cTZ1`*L2}qayZ}sik@982_#)lUo~Tq*v5G2 z{;n>1Yy%Jz?{-LWb1U&hQ!`7IEGa6hUzA3uIfs{7-rZ*HiY=g_@wifr@=)+`6wxc5 zFP01?{Bl^}cd5P~96T{G;qC2>Ov&$?o!T;{8ZVXJG6te+TQ-}s3GsL(B-{zaU9~t- zEIFvZ!k`M5LH>Yv_gW#$O*?M

DdA*J7GsW>`=Voz%@6<)K-{Ajmq&=Wuxj zgHd6s_Wfnvr=Ifg@YuE{U5egFyMO;a%5Fp%AWCZYco;8Xl*h-)aYe*tKdoLplo!Vfy4 zuRKvAwjLByM^DcY5RTg9W1F;y<3x{GVsg^b0Co1CP~AgGS-LuG)69Mh^eh4`)x_DA z3(|IPGuo_?TD;d+JtAscrnDly?$2<^{LKWK>*D3hrn$PPoqf)Qdt(Igkdyl)EF$i* z4~*EZyR7W&=Bs~ZsiYrFfjI;N*;|~9eg5VRdx$)n{|-t@*FP#1cqMUYN6QhT z@S-v7ki|Z}g9uKig@uH`r6Jp**x@{S^v9g&PFowB2=N19bOIlLmU*lt#J^dZnwr9w z(c*GkUYFGV0w-to^|6g@sX8cHEv=E^;i$)tUCxD<3ORxQ2?+`seVcD{)Xd!6&CM;8 zPQV1$S1Ro@zOa&(mPQP|(X`b`I%IWM@i-b2P_D@MlioVy>;8q#BjR=0yoYKLRsCrY z%xGUS|ck1|}pg^0;Q$<;MvhVxZ=B}=kCQB?(Pqo{LK5idAd|0$=DK08Ptqkm= zclq-ELx=LfPfPJPO-X~BdX1v2ANAdk)1lzz3oUCR&|(8uTClCpf6?a*BsBX5{7Nh0)+w7df!) zR4Rx<*RNkE(f36~9l|jgSm5ZUx}brGSEo%p>Ew_sK-a>$1<@g5&G&+*t;U&Ho0c`{2ua0yg#Oiavl zBlYr-Dop%F0*1Y3au#F1WZEtH(f9oI$^SAe&tH! zd*>#A3C0E;=j+!oaAD_e!*+ zKD zc=(Wpv!t)ww_M{Zn`8$7fVj(--d^vI{yTe3T_P289r~r>R28BqEo6z}KubddH~j|S z8k@)+9G}dNbWJ_zT3E$2G&HEbOnu8&R#wvW^7%kzF3E`8`S370+9Fq1R#uik>dnpB zfKHgg<4RFTe)gT&iAhP8*b~;dE1oskn>TMpY!c(h7kR3T${fH=@%(x1TWt zDkeAI#ZC+OY;t|=usM$lvy9DBDwvuMf<{BV{Z8tJ2gDhzT2RWE4Z!EQ*;yUpdf#J^ zQ7oluqyPaUR4jejg`7iBaZCp@AA#8T_)#Xd{tzAv4Bg+pWr2Kz)`n5}Lne<54Iz)Y z0fIu&!l+b!{OFl!e}rz^9TrK+HIRzHvDA|D59e7@6BCaM3SMT9xEmPQt)*tKKFmztUjYHIN)&rsyfd#>p@lwMI+SHE(_we(u&uDdeU z<8%iPw!Jn~+;R0JT^|(2YG&UOg@}iKeiX^d)!p6QKdICZA2KsC@^sS$&Fiw_XMP4U zORfJITohr)cL55ZoCl%P8&43k1j`K;+k1ZBEh%F0yfJ^LO~hW%n03~bB*1w&DKNdMcW4;to&GD)s1b~}vx`n6^2*2IK_^G)NR+ge&%ujO>g$jW;0&_N?P zuclT`o-Stec?hvHIVmX!Oq76$93Z#6ygXtP5+N=I)N9Q(PEJlN)>6a8x;<1>QJOnq z>djNzx(1s-JwZWU=zDSr1MlxICok^??ZckF<=eNJDq5pwl3toS_A)SVM|z2hhyZnf z(`sLDcpM$Av~fwrHS2%90Hb}z3F+x}9T^7ra_=i2sUb4EVqQQn=9pGfS)F@>@+~gga0lh{gZsl7ct zV8Mp#W8F(zllQ=K>b3@hF%JjF_k4%`rLrYS&f30rrV3tO#rk~Il$2B9KLL5-&v?us z&^l}TUs6|Z{`T#t9d$%R1g<6&)EU2Fi5QYVMn;2qPJO)ehImX&z}>qSjtjF#fKG7r z{c`P8x>30lJNuiZYz@RQ5R`Zw6bXjrvYsBf=0rR;)()1*-af=LjPo1SIBQ>=#a^lr zZReXI^YY8ruk@#{|AL%M{*(Am#{(XQ3YGNKRBj0gy+n1aaHXGd@~=-j{`ePZ5h}wa~gxld^; zZFfd#=~{?r-^1D==|3N+j~J!{Izk`j_{{9a5*$fZ6;SR~dChP{s3 zHv(WpgYVs|sjaQ8sVV&3AW=+fneg_lLtn`@s_@#YbHRCb-NO?TUJyaC#jjY0 zgHfGDM?g_=v5}Wo%L~cw+wyhG8<|pj57{EZ~bkY2U7_XTW@;EL2cX0A4}i{NC~s3g`FlUed_$MTap- zdKw$`(`Dpo(7(^c zU9CYifcZQXTMzmSsuI13?f0*d+|tmuz-hs>lBhR6Bybf>PJhjjBfgu%wf#utOrePXIthbIb50JM7WrC^%@uocdo>vV67s<}p( z6=okt8+vjI3g#&2+n+f2eYz_*bx9V3g)~htF&V`kV?zv3TfhPXGWwFc`xQwW=)=&= z(Dy)$AxcX;AMd@`iGcIAV*+7)ad{*@(BJ=jPETJnur*?xZn_A_hL;z6kUs?k1Qu7d z_#lS4J>J|1?H0-5CPbt%5Me-3Ycqk;fEm2p+}-c3B4l1_=a`3R9BtE6R<6TPqV5OD zc@i7~JWKR@0{oSLgUb!+o>Y)Z|` zm)RD+#DdYsCY2ANAIeIEm&pg zF&FW`&1BF8zTI~D^-x@vWPw5uX(2SER;pwWT$Xt~Jt#8dXJ= zFZ=TfwRm;)2`(<{vF1d`f7Db|z}1i*_#tMeYo;o*Lp~~oMsrzRoi8d8C2JZ4MktuI zQM^hpIW#nYhfq>hMkMup`uK5cF^d7S=lb$UN2ZZ4pyq`L_JyfP752+ugt326$D;PZ zBEwFDK<@$Pf!JzBRfDZabY$dIUnv+g5Kg@gVXZit)6+Or6i(ibuJV`U{q zMA~WK6ZcJ}XLohefd{HB;=SL%O|ZJk%Eks#mDCs`%#Eavnk9-eMn-Tb7(^s-12_;!4k|^0bbAOGpKB96-=sc%=uuRZ2tp}95aFA{X2fa* z6L##_uUp%h&MPTRtp9Aa&IM9RHz>w+bi?I?{M+>ETz;<`%98^vUScP}J%~yKSH05U zLRJLD(9_!sJrfm2;uWa(hRGV>ICRrBsj0(QWCONr+h#bqF$z^5O%6SX+!P=wUeCCTV4H@EK87VB=>T1oa$Sz*(zFEenTE_p3X9FFGa<# z#Acfg`MILMVFrd02(+o`rFyc9cpP@YdesOd7kme(X zscrw+xnQXp8#_!-Kc2-Kn~;~cctU#lf}vrbGd9b2(=dDwsi*Ka)>ZT&D)DFLf9*{- z-aR?a$~u51zd>*qePkBU@fh6T1-e3kY+Dw8&D1L#2QcvL5gwkNz}{U(*8xtPodL@b zu*=HI;5UdKwVy?Z-568z1)3ov^@(8_0KOr4FJoU~2g3s})?q!cUYmWFMl&@Ra%!>$ z{hn=*oW1`kefBi3%47_JjExNdm3ltpBpR|;s(P}no*pb%&{}{Yu~I?WUV6rxRS}_O(nfJkQTxsu~W$&{B0Uh-*Nx(bq4rYYJ&btQfM9`|h@8f4icwr<^e+BS7APHhh~|L=Pi z_EC4jIrXj@w6>!vW)8*2Y1XZf$$ z$S^-hr1-~=kJXR!hbt(ZIdjH-c&s!mtg%Y>r$N*Eyn=!P00Ee-u0j;FBp#zMW;w%p z21CY*R{2WgV>4i)MRYVXs^o;>`!`3_2a-gDU`$D}4p_}!YB%W17VeHkOmDMXpZvp2n<2GxqtsU%VHy?mZ1=YSo5 z|Bm3&Zj6(7tC>phu}N&DV?rV#NH?fS<$)~7QeL2#i;B=3b3R_yjnpS;-I}zX6kZ5) zx_|%v&I6c~A1lqBogOf%BH3N74Cstb1OIyAZd)_eLkM^fOs;McTTufS4D4|6;zgkP zQiA}P8}<3}NfgTf40SQW6V1YNS|f;bPsClh7#ID{$|cfK%;V(T>!aUT`1vz`{klf} z@a@|-m`q^X1b3&w1<~mMm{T~L))@ktEYp&cIXO5WoPi<-YV|BF+pu>xz-)4Ga>AZ8 zR`%Qp#y7xk;03(+>J_5@Am%hb+I9XVvVsrEtH1cZ$Wfp)Iyv7Xb`Wr!_TQ!p<=?v=@mbliWJ)f^`R;zw}z(l@u(A zz5L?EQ7hRvSPe4ER>tqr8jhA#UNr)V_>ov<%W>8e^QRHGM>hkfK{CL#68`747g(V{ z=g)ygfEQSWg|YALhQ3BNr{qhy!{`F&hpB<-0CjI3)CTZyu=_p5xCRH;g2CFgdpCKo ztO0C^9RLBM2vScjGq|tO@wQZ;3c&ezD1EE{kqx6^iC_)W;(Z2j|D)3X8H^##5$?FP z7v<#}`_<0OBEb|4?K&%+qb6I02q+A3eSJ_t$ux;@kEoeVZ$C z|L?v4&j-W{#N*ljX;Xtf`hR-e|Np1|8y$>EA=M&<{l5nf9>jJ>?nPLHQVh%uARw~? z+XPhO;-n6sH{9N^SpYs4!MVK%qz>P#c}^z?YSrgwk~O$M=s+idXAY_;V5wL_Yz zuGk=rXMQWgh@sCHk81!>J48>v@|nSbfd3FHxi!W&DD>%6)wSRL-5dyB4I( zzMG18tdFN=!g;oU4qa9r9_1ZC>`h%=);XO(*V`RR@IFzg?8&mL@3ehZTH@DnNn=j> zscql|iwX*koj8H?q9tBn-9{LRL0SMTF>jW_Z;?_^^rH_TO~3Gzq-1IJEJ7@Fq^HV+ z76wT|aXTCkHDHn9QHK#=&!6)cAA8noo!)G)X&{RuB9hO>)&t5zCj!O=_YQO1QAQ)= zJ`Bb-(8y#R4k}%gd#+cV#YVYjgMqg@uKInH?3t zjrGhY)lMsLMRK7Hrmam_Ts-C@!591}dUKJZ;o0fI;b9SzPdnV4;Qyq%ajkO=M@Yem z12L54=uzWOL3;s75k7yF9WpHAE*$vfCt0!60=SGuN+FZCcQ4}zQ~!4QJE74h1rz#Jg!F@>Ri09f8r zaS}YVBB2x6>*8V(y`titJo!G@1m7?4A$Hd~lRR2n?Cqy3l+$o`ehiV4wV}}P0}FuG`Jw%g_RA{=z}Z_csk#NS}r*SsZgF+a8eZ2_ZL z!OAyQ+GdRg25HyvRyY=Mpq61K$!89OjBrJ`PEiu9Gd(Fi63cfRZyc73>fH_k7Ha9` z%a^eexc#B5c>JyxC0Yp(q2O?S2TYDCm{x}4z$f}3819GQnZC3 zGa=y<#y%OW7noz+Y1o z9HL59htjg$hk#3Wf_TWEe>rADmF27_!d(VGvcy%}-sa|y^DqteXne_b_?JrSsN$1J zY+Z_uXr=jmSAn}I?76OWioQ^)vxF%OjMKL3C-E{xM%D3b+amnvv|sEloyCx06KzpRe9V#%K1Uc1w;%|pr>~`Y460eam$FVgw z9VRxMpUqs{C1HatnZVu8$oIa(iq}thxq%xQLQ93>&OApQOWIo>hqQmR)W* z81zUJR4DStaKG0L?e@~39JuJ2LID!iPuS^qjZmpce9|=04rF9z2!wuukp$E`T41B z<7csKdWtVg9*%DRd(H_3 zg$1Pi|DOH-pZ=e5`2TK9Rvvw}WSC?ju49xzneszjUji~v6r3`vA6}@InCPxMsF+H_%KEP~SKY#MPN~ZQ9(xwQ zIsVtJ-Eqx1)U6WO(SCtGgwX*1c;vomy~M=NOF94h8YA{Sg`>B2bX(zi!5i{k&>`>Z zZjdzMnH%TKJj4Dr7g1#N>1~(D`!()Q^FfMFFrYYOSHx}>*rRt%6n%{?4vjio8xzUE zwBu?S5pTrGX(6m~i|%51^^e)$Z3(tBt>&){2Swf&)R&hO+9+j+l(!eme)#r*iQV3i zSd%}vhT7;7k9vJ}>?nSF<3?fe`Dz8q$VO&fs>mnJzm;*p6JhS_H_ukQ2qk{Pq{99C zm4t}flZU5I@SY2#r(F5G;muLeV&m46##7sqZC+cH)}UZcrW_D+5`29g`AR=gnlw!# z^C_@~6hCG~ojo-i=B5_=gU|o_qtx0|0mEM2_qtQURQvvZw)JGz>fnp6-k#@4s~5fO zqnlok)|2orG2f%f%aZ)2Eh~dDpQ&n%L-vcFMo~>s(e@=(KqR@?pJu7CV3g`){_!H( zcAfF=^yS<)soy!!);WYjk5Dufzqv(h#Xo#z^@rjNrAx+~W8YoaA>jTw<^bx7qZAk9 z&T35epke}S#^6p&phpAdH=9eMR2}v__tvVKP7Qvw^1n~FWwmn?gv4EkmtnH}%0)jXO$n`dzI<|=xlxcp~2o;%nkF^|y~v_7oocn@Ku9>c`xrfl{h&JarL_D)=v&kLl?*e#mcg zfoTNkQTuG%*p0hqcU`FQfE9}?J z7K%D~t@pRk-Iyn`k=BoEkxqm8F}I60`Zqka!pEjLLzi56F1ti-h}M=36iq&Rc4Ukh zi5AEZCApTMK5mqP_G)e?RW!ZSs^;ZBlf!+T9P6SfW&Y5TS^P6st@A23W&EW*3V5Cl z1yHM5HVCih|6VBAk^hBadHr`l)%Sm29z&{9MG@eboQSkwKsCEhO%u4pa|d z?$@dTpw7&G+TS5^llZ=kHZ%PGK)bJtj9#yGc<7dZFd?HPYfH<5`TdFeU$M!ocnA5h z{oOI@MYJ~O6&}6nWmcY53H?nYlZ0PK)NMJ@`T3)#QrDKH(W8YlGKue=C+AOcof=d5 z*ikt&^xluVG`W;R?-ANIX!(&HC<;1tifoJT&of)t(2Ex(usO?no)N0;`2KjNL1H_+ zm-C*bP<1Lt#uq#}YeVndJ6y1Lb1wljD5^baZIr`YeQ!kdCs?|ZPiOk@k5<{)VagP{1r$I#d4X)z*&x2^3ibWmC@+sj$#J20d{Qi#o=$J_r zy=i5y*R!z^PI5;IORV#I#0u*N8y5S&c)j)9xDgc}KXTAPXv#6C8jJq#wNq%Fb;!1t zOeddFNNv_d-zn|88)+SzIm_OC*r417dscHxOPh5rm^etwsEng|beacQ6@XjZCZEul zpm1hknWy{kgD^f)Z1g7v3-g%|3B^aY+)Rndt)ko(r=$E}q5OV5)6^03POvk;h1Jy~ zDf~oi?6DP+pNRJ8;w|i=DplF>lbzOTu+&GWQuNeJdAKnkzo(}sRQmbXsC%nSaLW#0 zN(r*(;KAemNtv1asPBl5a#Y&=PSuQe=B+7+jds+(;DJd9>A*BUwM%sEwT-Y+FG`zn zjm1liNV#=@Lr z-9N@u-P=2*(PiBfy6csncGK;xya)DPPX6cqu1%-6UC4g)u#$Y0MSaT|js4#?Nc(jr zbhsNo8dk<_^ms7646a?<-idl1Hkrfo8t4k0?93sN8;IGa2n%C)c05PFnDiiOV=>|N zlLHaQQ_a7W#GPC9L&afcVG%Fw``q_19o-WYbo=)^gOG)F4Axvcs0z>w!+P5`i~lc# z2`grJX68HOSWlk^H^6Ki%|G_qu6W?OWd0Lo~TAd^{Sxp$XB!@quHA!S@?mK`^ zLRN0>RG4;spZ_~B7SsQj%8b^ z(`ufV(@b5!K~Xr7W1P%%4b~%wdBh^_IRP&_$fCC`h_3glOf-I+y#9Ah-8e$Y;q2hh zo)ru=1Z6d);ETU1X|MTjBI{Go9n`RHv3M)IEbS<1&dRE#nPnRzB&o~gyl-DP77e^_ z)J$i-=i8o#s^#gq0_HieoVPaHMBt+=-PxIVHiYm&vwxpTywIsETOqAHdHArRTpuk; z@F$YD{k;Mp5$D9p$Cpx;i(&-z?%BWj-l!Il9V){L*DMbFfG}liWyQjJ>t7lMhFFNQ z_B~=`RfZqy|6Tq84Sit^L&4`-hu?3rnHPKH^~8LuU_+hSz}VT^o-*^0@D~oZ!Xb0{ zu66hhRzj6X#}q%Va;G$Pyr0)d-J`qtTo~=@$7;?~ z6;A(p71NXH6~`=4}qd&=Ga54N3)IAiagY;ycS z{>@*5lW02JWbt?GnGOr{O2+73hAaV!h6Kb^<{XWsuL_NcvF#QjKnon$ab`vtt8EC+v{%1h3zS{0NrG}_| zdn-@EJO^=CEWZfHFaqy%0ZNbxrU_2bq$@OFvEyl|8*XT^5xW{{Gm^j z)f6DjVUUu7V~n+lu}F`C>GfEqv zqD%8V{Yp>x&eH+kiAK-j&)F02U%shQmLstjE*A~(OA+7bx0dS?TP~JfbNa1dOi<8~ zs)Q#zI>NGxjg9E?3)q?MftiOvJD{lYkn>hLkN?KYzo=A)ZEWXawBR)#`%>SsxWhl= z)qDCI##`yq;tx!$_1?wme5>*On-$L93UzDVZ!5FIG~eRy9a6Beswb<&$F=|3s91PH zBqN)FYfS3+g%>h8UeYUSu;8b|_3BL&VW7wH2DXNa_4IuWo0mAkm`2_^=XMO2WC(UV zpp1(OP-Pugd1t12+dZO(=D*)~`Q8ypby+@nc*45D_W1vc7m!CzJtYt)8pHO5D<;yf zYp(i%0u7Y1^4q)fZ)DtY>V=Lek|>9f)@*;2m!`h(vqJNduFnRfJozx^mAm}=5B?af zGnOUFYYK|uWSgl@os`o~mmJ>h+gtN&OQXC}v`R!#7E&sG2xwxk*5jk2H2388-SZzT zK!Y#x<5?0&TeNnGv%8AZdNw0?D`8lo%QEGfBm#keDg+Jm|g#2;(At+?M0?}nx3Tz&hQ)P ze8{$Hp0`Y{yKr6(vOlzVQPCxMD&>wH3WhB7$;1iLIAjf+H=@tS>{toG33Ut2B^U=# zsM*DDGfw!IsKAUZHpd8Wdt7*uONhBQ@AYY)O8(cL(JohSZoaemu>0c6@^@vPOM!*< z{I=(xe^La?#u|6HGE((e57!VAAY6dB1ch{!f>ym&RdS+B%-C_}}!C!DS&+H8A9zpqaz zZ{Oe9+qRO?mj$qq_foWq>HkjbqZlOO)Kwf*vb@G{IKTta3b^&jfq{=<(dUoBcsGXz zCkA?YG@PMFWp9+3PSn)s=#TALJjF0RA_#h&IZ_eiM`V*9x0>j9Mq=xD>0?fno%qy! z^-1{uTbNmgDk4t{If9`K4tE;Ku|7Z<9JZ&aEc^ri2sm+m4Z~dWQYS=fVG2y z2F0ZQu)l)zoS~B=&l-Marg{tAxo?Z86lW+7w2jjGw3hrbT_8~(&VPO~qsG!}t~{o% zVSKb*Z`*^_jJ}z#(Nmc>I~%rln#SENj~mHe>gdBN-+Qe)*s##|ckplatpzze6Vnn_ zeZjFy8%Y~AK>;6mGkNY)&zk9MnwXRlaBEW9i1gA?lWQ&UW|}zZptpG}tZbZ{X2(a- zsFWss`xiKXm&N$D=#<#n+_0cLT% zCmKAhx;Yor`ts9Vsu{*+f9CfswQca(4p-V-{+W8~pZ<$6XI-Z-^)W0)%iC>GI+Q;Di0I7Fn$d2D zJsc!nO`D%v?H3x_`x!@n-I?6^d_ekGv00gryudluLp#w1;x_qxmN+wKWCYGTNJ2QI z#~c1J;tZ{+vu@0Auj6#Ya-1TBE}xedOR#K-W1F}$OKu-!pztPQr?gUj-<(fbQPO8e za`G$s%BQKk|BH*wDYIzTYC`VauTS)hFBoaJ+v843F!T=nr*X|F zn_=%>t6lxi$}N?S-#wA8zwwOvwH04|XYN$)$B(sv++9cMQ`mjcC$Fl`vQLhhDv>JpNHSqx;hSCnX{RCwrzg zt^Ov^;i|^v=&`kujQcj9%h=L3J4wpPd6jn@>KO0W8KswOsIh&=ls+sakyzT?MBdog z9=130UPL{Wng2hV_6m!N;@G$s(C`S@R$NSmTbsbn#r+AAu)jivloL`Or<^G`O9bhe zoRYXUkKvf`pf_L6Ie$DN`}uxQl7VTmwa`$UpxfV4qwG|7;g2&~-CcUasxt@5#bg&< z#Mt(+R^^F$kA037jUKNQJ;JkWEEOM8Ry=!GYcL|;Ze=R({Q%`px$zQ437=Ml(rCTe z>M~>Z!O-_fT4B>&TID9*a&w-YLu({b*%6xZ>7fNF+0yW2kBzs{(i|Du%*t{JS_Nu~ zeVTs)=iksSURmXjHz+?Gd1$@)mNz+gBPz`}C}}yBx0`E0ihq*3Gp;?ht1R*fQ||SR z6MAl?kp&IaC#It(3Y%5B?{l89T3cDZBW3XOvuNIx*jIg$y4hCdq`b!rS|x|2eQQHS zMbe*aoMn|gW*&6jsK`!XJoHia!CNM*tZVl}nsP+qJ4;D*-Ip%i(F}H<^_nQnxvo{S zyO?XeFSaqlC+ki^-$p|~?}Gh3J*CjKJooe{_x|%>tQ~X$8TmScjQNCJu@FRAKmEwLb(vlWkY*8I5yNnn<3GKwou1}Yh z*q6oAo^yI}73BAT_9M<&gIbiX$-Nid^021DkRv9xCtqDY zIX|%_iaL8t)1xt)DnUSd<847KbvD}?qx8*&!H6q{Hy;`p8I>a<_ODI59y(+wV=jN4fm)Z4&TgLd8kL+D8*x@VD zn477ySw5&X@}Twp{RbHqTC&jrt@OEN)`mH0c&Xj1&Q4up#;$`}?2l>H zVM&3A!2#bD!=K?z_5*@#BPk09`n=?i(BbG#k^~lEMPn1{afN#ULBsy1>z;_6pPwZ0 z=?X_ICupn5-Fp7Y*Xy%giZAJ{AJk*Ck%14G<%eMaRE47&|_t?=Rvd+zi3LI| z`Pz{;wb7!4A3b}ZreUIfy^G(-;B?2x^YwFwJJs$OIgw<#WLva+;gIZiABi&3T?bjp478dqPU90%e@J4mN zfMMC@?)+Zwo_nq1?5_QCRrb@`$B8nSDfCUOO~5e)F+(vuP2Zn^ixVmKu7NqRfg{?| z<+EoaEb3wg_`#pF4O3w+8S|u^MAx zZNGKKtkPBQOYdEmrz?kQ1NPoMh!T)nB;j1&bFQ3Q?@I5bh7H^?y}*zfM(U2&(tZ-H z_h)RlM=jsh!$a$5e+!dggyTYB@IXITEBRQ)YGuHuAODJq2C#UK`6fD?S^w5Im(e>! z3JKaqnqXS}F%__z2VZVm>l4zuEiO&{+{Hj3W9tf|39RY8k2{le0z(3ca#=Kwhl?OXL`FXop7-CzgOEpx1Gm&p~g zzufoEoz0%{imxa2k|V=l<;BYu&ik9xVxGpvwtAZMly0+nQl_*t<5kQsT{dlEjaK%u zHV##}1d@hmlkr*?Zis^V)@Ng<$xFrU8)07)PQ3chS%_jJQnBs(cWty8^rdwz)dcpb zmCF4x@=mmy_>jJO7rX$Ja(Hbk`0r}FzA>$d0{sNLF|uX(^JSSNodvX^YcnY@0<+ooo0yOMWd zatMc*z%uQc#g!*|p491IZwW;7d`h%XRBAoYM;eRa=HlO|yZe?jzT~#V`s(#Hmt|$E zyXFSh%e@&>mAG5k+4;D3rT)gP`BDBU2pZzmxz;SWhxnZrnDKvCqwVA#2U;x9xt*w< z>szk&i_FlRyYJHfVQr^QJNQ-a)O-PhKmju-yjL-Olz*%z|h&p8iZDY*dz3=<%twWFuYWu4jPqimFO^&6D}K@eiBr&D-xs?mzGA()}hPe_K+R zeV1mM1#7eB`m-xXNUL7OwDvXJ2c=p|{vWE|JRHlm`yRifQc5VKghHew$xw)r$kaq; zQJFH&WUeSGNit7Krc9Yhh7uBzIkPB{slhD#)}{CJec#{x$8+>_9NqUdoaa9GUVH7e ztZHX|Xv08#<;{2FGfZW_i>MkG5JU+9zTnO&i!WDr)z8Ubo@;zl_9Da%^UT@>H(whP zbJzZJTW8u6^L#7geakc_MZ6Bi$!*3t*_+&w*l^bDw`aeLCHLpW24;_f^Mb?ugWDgt z4LVA1&{CA+vgxi0=sl>^_1Z$-zS8dc{kJ_uZGU{IWoq^v0 z6-p=1SFY|`wST!iDNcN4uu}TiOS!nWvt-!+ZFjnr<#k2HMTe{Ub6j_*XIJ(twKkn7 z_&gnXd2U2G?43V*dV{-17t?9`=|jx}lo}a{)+?bttxDa+D88NS-@3Z;ol-OFgth$u$_O0@J2n$v8rS?= z{&0cm`U)}Xg@8;`fp5J2GC~JFZ`7Re{U+k1B5yMlveKPDI`>dnZ$y5Gg{}Da?Xt3B z$&>=tu<*r`Uw-{m)^_^N)|Z!{nQq*@=5~BgUsvHTf5tC=%k~EqUKw4uC+hgbqiFE= zp|-t}VH4&BUjt^AV#n$a>Wz2)ZR0Q4c)_p1;=tciT7}%!OUr+{J~+9ZDD^Yj7T;#s zY46sP__~`lc0Kp{H1@Cj@}38dvE_|OIeqoWOFy4({CZ8iil~K)@u|*39uuCAoc@;d zu&gi^-=iGt>&xY|s!pVoTC~K2BAntf@{EmBhTfensZ@}8Cu#@+{boD)^XKX4{rDDa z9+P}nBA@#uaOxOJ2^oL|gGVhfA4?8Ij`!)Nt8EKZ-S1%ivO;w9*h37QaRj~xM|)<{ zGD`#Vi6>>y^5Dy_Sh@bZdE|j?JT|TB{=B7POhQdeSdyqLli$S4gS{0HCIe*LyjdFs5w$*0md%_Dhxp~C*eSN)TaUL{KE3Re< zY_1TXm3$i_|9@NnL2_2ecC!>yflI<+ zerJZb=DwFXiyz6?XovDrt!bVD*H*x`EU$YA%vM1S#77zhA(d?f;{i3gMhwTeFFHw3 z5NseJO(cX~=6FUG)#d)4 zy~XVXZa1s5(}IFnAFJGcQ*P5u$@g=Dk)2QC=R*GfYl4(LIkxdJPjUnM@*`iUlh8n4 ztu7Cw&VHyS_#7|i?SU8*Mr;C?Y#Ajr=%>bUzZylNcqKn~)Nj-SrBNXfBzwbkwTbf0 z@d<)Fv3o8gRI#t8I12 z(YN4~?b^s)SMCn+u6{Lhzd^d>;FBRY721_1mHj$woXY-BUZNd_Hi5mZtswJeFm98l z0Y7AA1+IL#B5Fuk{&W>--8`jRas`XiyyD!&vF}Op^MX$2OEU)iYb^gd39MUl6E7>B zn`{gd#HnnJbRPa6M-(u{Qc@i8z=0_vj9*15@TlK988ALE)d*eOul@bInK1Bo|Jt={ zceP$-J$>rs`*&%{Ld268rd`cR4pxYot$ts*$(4MK05!YV=%&jf!^&CzKUC;qiYibt zNZ&Kv_wj{j`MNbHv0N~a+L>o&Rdz*9O-)yqmHs%o?;>tnh{AQNUmYDu@}_~KV9c}(hR=Qpe;=kdL6!C2t&LQRQ{IFp9|d=9XY6}sRuaCdohyC zNbQpzOHEj=%J&4Mh>Mtc9fa~(^}Bc7-}><_kV`s~&~#U9FZuh-r;o;eJCVSjqtlf! zuAIg5pVBPsiyjm*P;j3}QT_ct>9J(x1k{f)Fa=!=@EXs`xStfM&Bj=w--8Fajem%8 zeR4sRb3Vh=g`D3|HFt)B;hq6E-P3z|2Q=R(*?Jq4zdso%tX5q!)QtzwB@XoowN!H2 zoK>!^y&WS?-+|S|&=`@#4PvIL#jta+WI`@D?geU|*eP$WJ>EM6F0QsSif3Idwi|y7 zkXaDVco?J{+yAZ%bl))yb)&8QzAWmf%~iCZ1^gLE{13!tG@8&mfjQ#9B>91a&riCT zt;7TkxmTPS0R8nfsGtk!E*J5tPFZ*8+0Iio>C4eRmLDHHns}y3IktDto-dHE*z@em z;20ibeWWNU2x*F8KP(n1*AIEIA@;Ody*%DWr-Nrjk184!Iri;H9~yf9`PW0U!RVv~ z@!yA_hyi6p$OXMC+q`L$qP%>#n8S~rI*fxT?hnR1|2-KFh@n!=I}_Grt4}hyAW3Jj z@fVBCJF!m>{I=}r8VKjWl?qEi2J6SjWhDcbOwW0C`FZW)_-pI-nb3J-H@rd zwo~lm&~5W{wa7=0^t(W%!eKl9H}9p{(I39hywtS(kT^yjKLdRP9?plCOp(y$?L+?`B!Pp+q~#Gpda$5L5h9< z$B9kZNy?FTf>%Ai*)B1v)3`l4ewr-SuCThc6JKi=kr6E(cz`zarP%y%tB~1q>yD-S zh5q8j5w!F8#B7d8= zs{phOFlmShnO8fE|77TuEkkJf*U5Ytj-tq=J>+}T7eYaHz4Qu`=F}I~V{#unhsAr- zCx+FWTJ+9ePTn6Guc7vBs5d!Z;)tL7p$>oF2eN~hfp^FFWS*9?3`ZbIU_W>eJoswM zb884%DsufZSE8Xh$DTMxJG)(Zg8zl7kf=krg&=RCCz_mYA<9bwW6-M}opxC^79yEZ zXc6Kc$S}Eo4qnOZNaK0-G!hcG2-kpcTysqOc-SAt=4S^=XY>i!?Q#OEAFGngB(~nK z#1}$U08^4P9t?!@zSVcN&yj@czFNNha@WWC{%_w$h5>HqurG;c-#~z&ztS#;pY)Q` zPzk-EqmuY3&6pWdnR_vwD#f;Imy!&=5{&%)!3wUHW$#y}|M(}iUtT=EGJgDjJ1IRe zprzAxuuA^L^*=B`6))40oWEHr?UdObj_~IG`;W@s?+I48E1!x9MsDQ@gMXYCuY(SH zyrH(!GP$T|N_Q6r=K9;|3`=+BXuQ24syY+S=&JbNRVl&z`gJ~ zwdK2aK7Mh@U}<4`wZpAqgJ|7;4h?;9?}`4#Hv6~-zEE@GhIsujfw2qdN7Dt~pOKSq zn1;d)DaeiyQEMBUtPvTC^0WV<0S?+P!H2r~YA^gb^yf)coNT@sU(%sjy2dp9D%qgh zv3t0=(bL%MvLDJkRYBxxA-axgrmjqHw_rW!FT+4jf4J^_Y0kayZJ>W8TueDQL`85? zwt?g2bz$iLj{nJwfCrQ#uE{UnxDDL0IU6?U^(Lxu!INh?D$q?wriMPPo@di6Cu%y3 z@07p6Ja@p3BUSvXtR1hr@2=*>6ec(9Yi-Go@ZI+oo!~E_)Q}(V_Y51z$bYk$LSJST zp^dNb5)Ad#`A=7FBvHq~CjE+@PgY`O6vLO{Nq!EFk0$A+LgT3d*0LPWoPu?<-(yPNhq3#NybK83j438&Ylay&oJPt$bJD5W(EI`nb+GxrUGOGV%um zCdw*k$nBv=CY68eoUV>pvZ;W&u(ixrUdCKA*U+YrV;e7@v-e~BZjd=&Q4#?WKllh? zK!4@-YAcdpqv6gGROH%_%noZlrVtZ$;OiZBNf&n@7Q$XxlzU$>h zXe(_eWLJw70o$I-Ll6Ha%Ww|=o6bcr_>!&R@c^ceGnycKAom8gYs) z-;{kjlTPD2{*JG9OI{5%*~jld-%<8i7s*JX$vPu2ym#XsC28Mt%JHxATf5`7`z&S+ zSLP?6bcJrmJd{{W^TY%M1cZd3inCHGrH>dn)sPKM9=1gLGqzC5(Wq>Z^( z!}tp`?_rb$8?r5Al9~+-3{=(BW>_!m50?2lGExL952zw77Ji3lJ!X24N&21P2&{`a zzId`86a|7Xm;Y}z(7xDOBVW2D)%ZgUwUO`pRgnx#jpEkArADDn(Ao+iZWu?s0;9LI zQWmEMs0s68c9_V=DC3OtPU7W})vLRRt6Psm>|s!SQAZjD=O-wZK$U-4E~%Lw#1Gq| zD8mj+fdjMY?JdR369_y9815|=+DS{Vi8YMpC3AIsp;vD-1#9ybKbp)N5+g~xP-oyp z+yz73#H7CgbFRk_!!W)GS!l2Tp+E{74g^vX3aYf(C1sAQGWoFH*?e`-WRaz`&WBzx zsrlDQkqQBjM4(<~+n0jmvaU`kSiu2ALP+s0nnYo0d>#r(8;d1ZSB?m))}K(rPRd}h zjHH6s0aH#otUQsDZ~T1gjGz^0{fT>)_4U{kZJPg=AVZA53HdHgC-r!j8F52&PweKtra!@{1XDzB@mb3 z({Tj zd3p4KCwAk-%R)6CljmNGYuB!QjT#O|ER++^r>J7El?K`n;0=s76Xm|Q$<%u6+MM8a z*-{8xz!73An4O!}ukCOTfn<$gEyPKk&?#EfxDGRl^d} zz@%GIZSQK|y6^IPZz2TlHaRM5igtkv#|4abV)7Q#_yV(2zklN>!z8@742O;VyXv*X zDmQ?(Gr{qGOJH~Rom~QM;hW-5_kFlikw!7_XYx$Dv(Yi}QVHTSCb-s2aM{^E*4JfoZc zDh7HD-OV{vRa52a>vtx;5tqe!%+|Y)r@OHchxUcI^M!Ev`Fow{r@u+Q5RZ&R{^rFS zx=R3B{Pm_BnyPb(uWB=bb_d6L(Pm$XIS{j{WFCvm>3aXw*0&==a48911DkD4yH4K5zb= zPt2BdhsjwyM3+nIlP(;TA9R>YF!|_rCgCEDR2r&YU(3D*;FJidPa{HNgm+l{Z9sET z`t@nHixkGs*XJFZjLPcLUo!jR-_v(pOE{!dF(#JVeUI9YaXyY`81e!&9H-^%)D#`i z7+ul~%x4o$VO=&Vg6;5oQbEJ`hIlI2dxosT?Kz(xWpOM&O?n_*bk@A#WIS5u9 z)f#fscbDlTOw~Krw1Ty`2@vt2-g!2s$D+&^vRH z`!df^+pVRdqFvyHcxTYy(GWwJikVB1=pRwYgQ_Vnotr~TG9@Q}?q|xV|9Jg=z)gRC z?i$@LB5c%J$Fm%jIr>TK`17~AX4Qot5}~H2+Olik!Gn1kd@^6Ze96L)IJ7|IGF#}$sE%A`>|n%z)K~T=mySd)KW@10-{zRUPIJbjJ@jfpe*RYMA}H_dsCQZjf56 zo(uGtpF`={(A!KdL@#lC?Jwk^V;Ni=P+h@zHVzQ-A%S+6kumYMLogsw)^>h7$HJhV zl$nHfx!&;TXtDiBQ&NnJ!ajyhn`PqX`_GbtTn*q)}jZO4x51u0}aEia*SR4sN;-+Dnw zNl8ILp^w8B4;Kdj5&=MttOs8ZD$BwFK2jnh(S9&IK#>kJsq5{2l;wl}RvFLj8ZlXJ z^HvR0t-69kAw7E6lEQu6bhFCe?>pjluZIVE-w<4c5Pgxy(gKcNKNG}sRQae=E1NiQ z2}JzqyIO;Nk59|s>5;lzLG^N!P&=dz6JBVafpq9no!$5sOcKmJp#_}Izb2P178qnFP%5T6-VS1FZSc=2}0)e>5@9?2k$bH^%$lIGYc%a9{=eL zkUg1My$9V9y`kT7x2k>Bt7`;Fj4e?&Y5Gw8)rI^UV|IUUWxZ%zr8#!ER9Oc+y1H7( zNs8qT9jeWx+V7xq&g#Y_=V2|eWGnx%xS#R`0lDAf&e0S7B4ifazXe$3|HFs&JR_Wb zrG}4>YmMstE}Al_*0%~QEA~C2#nKwmZC4e+bcDX1+7aryWAmE@_?~|zA5lO+h~=N{ zNy5jz+smp<2L6LZGGl%nZL$7ddkk#obLt}%QJh41|LVOwT7S?E*(C>M)IycFv-n@$ zN_V@<>VIhdlu{3li-t3fc_)t1Z{kH<0@MFgf{44LR?rG%yPaKG+=QTzv$lRE4cF3w;qJLmFjbkr|Hy{mA6iIv{xy)H@s zbt5k6dt`6v=Unpt(kcDc3Q0w|A3iJ6drCqv$x@C>pO6pA|h0sj81 z)~Uz}|Bt%p=Jq;076m66zNdDS)|Dtq@^fs@^7REbw2N{j_?#a3>Fa9v%?mKa(bZLa zPbCI^2YCgAejpzOp_}a`pv`$(_Pn#OF=Y z)EIi{^fL0NAg=_TCWyP)*}rE7F)NdrmZk&m80cSvpuU*&8T3$cY#{6quAh*Q>1$=d z4hyC!;T0L(ea8REYq|r|kH9i2EnSAfDMkd;QiFYAUkGo%DOeL8+1%_z1^p@-77J?8S-kY~ZTge3ONP`6YfHXra%*}CNK^6=vg0!H_(@L+rdUAFB2>fWlNQv%Y-Lflw;k&nl ziXT1lHcmDst<^ZHDaz`{7rhVvOVEWUL^#$Uaq8hdO!UI)p$>-b3GO>e;;zXWa2A?#1Zsk>DQjw7K8tJ zx*T|!M&BgMl> zt|f!}4)=GD;Av-{rhtRtA|$-wf!rN^aqasCGy%?{EURKFilv$QgCytsZiy~ad)`=Q0w zppW+2IaOZBm!mN-$pJUKVRnPrz*^F?5@>w!`F(D14Ex8een5>c6W5GpY+oonaU=D0 zW}%TzWaEt1GeukPcjj3hy6G!pxrwDEqLnlM%lF0DAvO_?{rMbZaFASghrJuU5@q?Y z51yxfOIK79e}*t!BSR6$Cp9W<+L3KKqMkNdeQ|jc`x>o}w@v<_aVP1~I?Vo1vn|im zEd)FjSA|Rqjlq4vAFxiUs;j%K9m&ON9Sa7lgkAj^8Dy(N-eOb1vzKTR51kz;rfI9c zp&QzzgqF-DU8Cg|RO9zX1S=W*f;3=6458xS=xFzE9~hU%pr{E|VW6515ea3*$p{*+ zeZe1KYV$MJ?{}6A@`@j2J?lI4#LY%QuhpbiH}MJOm!o(UU2ZYnU(0kK%KAse#fwu?{G?bI7@jP{;?2i zd-d}%#gO!f9m|b}ACB&!^|M~u^?m+J+L?XugqdHM6Ggzr)ZpKK;2D6>K|t>OvICu< zovV*hqoDU0Ni{ll_2*KxpRWT$-A21Qm7S+bSQ%8fM53a{@lV{QTh-n26=fjtgINa| zv}#G)5KYZ_h{Y;$1+?VA{R4u)WcF7P0QL9X&miuIB$HeM9(V4guJ?cQ!z2Epip%p; z4Zo;%+=0`WjKL>6xtWP5I;O)NRwGXBySV3%@wrJ~#eA9D(lq9j=GTOgASE34V4pZX z1Ex4F*)Z|Ckd~O>w7nXy{K}pA;!S?Z*>6nlAM5A_Py&4(U*9WXxL^=kmYo3#gQs4m zIt9Tjpac5t*ChqGgHm81+5hG?lzCQ10YJ9D@+v1-VJ|uE&}IFQyku*s2&=FJos!pk zYn^in;m^{){Rt!$5ANFsye+lt>67bx?^TXk>Qv?*sqhg=2yy~4Ssf3>qsUJi&HB|mcz zOhPPOoHB@#cW3NJzTl}90AiDfWZE)oXAgn)Gjyg@~ z;8D{nM~ex=)k9KcwL&O%DtQ|xS1(Y9rYF@w%k6v`=V6wiu1=!YQyypcF;rDnCL|^< z%+GgtWD`XGT`~aW{`eH3cxcC5Z0b&>Biv$}g|lZ~kvTZ~8@}S~?8m-VC;LJogLB-T#jZz_D6MT=Ni(r z5$7$A$`OP(S-c1==HW6Nq@gyt#X!is#Npn7lwpCsYnGhX z?5B^v80qMidQ7X{$3bM{q-ys}bhK2>j*}vUgyrhH<^C_Ebc7xtE!tMWdcr>*v;|NX z1s{p}+vC~frrWB&FpwML`)tjwAWpV7CxRNXC+DISXlZFt=h3pwub;Ylzj6TQankeW zKTAFrKm!{fC4vZSF5DZKckbK?({Gp1OXNay-la1l;I8%pR}`KuBO`r3h77KE%Rcn< zl;q?zSGx7AKeCo!zOZ_6TX1Up4}^2ybPDub5qm8Z$@MgLKOa&5?Kv&nUN3xbh|JK!bT9nWLh0Dj4JHHm$?|6HEHoZLScP@(@#qH>jcM7~ZyK%#Y{sK>P zOG_wIK^qA>J3s6&`9`}#fp0}8L~PqW&2)f1aCJDkz3X^OG%I)oa|0onjPOmdIC2TW zm6F`IXGEXYInXt}<@vmw1bAFlL?!lk&rce%MgDn($Pl16yu*4vO+N{VM%0ct|0D|* z)PQaw$LqpYVfcgE`AXq}K7AV+Q89CGdrgJb6rP^@fqU@6w1U_+r5ZyKXNVyNS~ld6 zm5>)z{C`*-8BX6>+D<;&$$JCP%^t?3rK?`Aa^eAL?%8uCxfUvR)hhz8)EX!W=iRGM zR0mJARP$Qv=J0|)<+{7j%|lHQoci^i+4O#ghG|Q)N1^-d)2>Nx2%`IK!W{`Qv$V7^ zSOLnwIRY*-LMD|BHr+ADUFUv5lNgS7u(sJv2c+((=jGQYMhq#S?y#Q||xDfiCNl}dvce2DZVL{)` z!9ocAZ4E3dlbVsC@T#UG<9MLSiSVv6&1=buXiH=>k7P4ncXBG|Fn6@Iz1ksXog??3 zVQ5TlnOa(MV~bW^wIPEHjc*QVwQ%If{G}vMXwpNHA2d>Y0KCG35zki=T>Q{FNRYE1aWRTjAToVGX+|;e!?`u^RnF^WBNb3i@XH4>0_Rxc|0Q>kq zeZo)9aB&3sPF69~8P75n@YRyGtRkL(@)lQje)i^lc2q)U5u2sA}Sn!D+KS_wTtCm^csZ@0zzOm4%9TCUHo(gtKxEO^7cJiYqh}K?LM!uEWx8}+VSDf}k^vgB(w4nP zVK{-Txf+_jAM5KO$iS>ux@qk#h{VCN0FD(8eS1Aumf!-2HKT^=GWf&t_H1(4Dgp+c z%T%QKG(SM3tjn43vKxrZgQp&>5%7U%pA1L1#0|l|G1nqdM+=Mevq|Fa zC>@%U{7j(h=3d`<_1A7sQRD;=n8KRy8boia3rEN68-JLfG#+?nj$sj3;HGlyBCtYq zl^=IpU3#Up(s5nc-4y`H_x&z5iF_j))%doe4ZG{O3kMHRQhK_-6bl{QBjlAZUM-zm z=W^qQ1ympLK5}!XaI(4`k%Q3}lH@ywEWtRtLB7Yap&7vf&zw8%-$l0Syt3y#a9|WO zdzv|$F!+JV6&Z79c3I)MkSd48RLsTT@s{nWV2f5-dL?Ug#sk5(pOL4+l|TV9;E3e=AUl zI-{K8V)6gnb7YNq{o+mZPGwsShXNkV(v=-m5tE8y+_(;^($>q3P=}s97%KXIbnvi~ zlT7IUu(O|&LB@u{)=-m&ho?(o1DY;mdfk8W!=)emA}oi5Sorg_rK=)Ny=KL^woQ8d zofrS!y}9HlJ%ZN}L||BeaITO-(b#NIGlf@J-kaiDgKTK`pa_c1)!;*xK;H7lC^*7W zSKDAc;3M;Oa*|Xn#LgiZwK6a$DZm(WsaK?72bjj_q923sMPcFGit*$}$_TNXJ2zv! z=`7E9t$oBQ|Kv0sBi;7oXIC$spucIF-eRgK-ptf>w)I!!^^v;8e3QN#awAIGog-aY z>3J7JZ*8JZW@Jcudg}zE{7Je;?i<%;_jvR5v2W+Rx`E$(V16mMd$HR!R*~V{!|ySq zrzERmN4zwS zF=^+MZLl$@X4ld@1VA(_DEW6W{IOVw$5WtU^$Pgp@5 z7S<&w-1wNx;BFFDDZ2r;=W?;ze6%NgZ)rzjn-y<{`h~{jR~=*Ow~nbgXP&^zl9iqTkYZ;EM6vtGA@rweM{4ziQE|{H;F!;UT@3k_WgJ?-niH7p}5jxOOf@ z6^fs5X8{NFf;Ji}YMGZ=w{8{8-`0#SwAO311uE}T^ka5amFn@wk7o%OOTrO z_fs~*FVeK*;$;_#1Vq=_4E?Sro?;U1AMXc%yH#dvA6x=NVdZnUh|`-cf>|KcpH4bJ zQQFkW&`I%$n3>3UnJO%;2^DfOBc6IbPc3+N|9VBDr+eUYj-F$d zb@eBANvZ4PuY=McwjlQOy5JX?hikFb(f>uHmdxMgYRx6Tru`XD!1(HrrKIF z)gd2T@g8rso{xN4GAY->--hh|Ju|KM;+^hR8y@25uO!>FG)|*+*B zgv#zUYZ&pVsfkn_g(<@6_(p<=J_}794<)4sP(ump#dj+23agdf5LX?nnMin9>kTdW znSW5)UZrFlWahu~kZYAxTgQWmFl^%EMP|q2N4_b z*KjvU>J?;ufasrgxuo;Wn=4a8Vs1J*I=JX-*Wv>YFGM1&vIfhqUU8h9x|{Y!;#Sq9 z7DFE3^Iu@c0_#HPQg`BW$J2aA&o}xP((zw z<$JH&<6T8Z2B+by^F5~t{g=L>*P_8K;RyyQvp$?uu6w#-i%7i-92%p+dn3 z79IbK#dURcFvr6&YGG(7%zZ>|LtN4u?+-}`M03@L;{&D{?sPx}y8Y89f&kd3mvz<0 zqge8jl-t}-v;nZhQ^t2~fuNB&oP*6pT+NLn+-}{zjUyJ^7t&}CFe&XBV|4$>-*$9d zQx4#?+UOn`IHiZLnCw+{jQ&ockKKl(XUEI-o}MN6wspfBRepbzc0iA#4lRLbi*_XJ zrUtB!#!Fp6#C@U9k08ai>54-9>RVt8%ykq=ir6 za9J%JEnyGT=dozv;E<=opVVj~!FEVc&=%H1O5Ao2hQ$AhSabrNL6eirr7>;^i-+IN z5|6o9R`XyGdr}>-_I;lv_I(nC|DHrH9_dBd#3`3{%iG$0*w9yWeDx>&drZxfFGo z6mQn}?0M*Z<-G?FkX4OnDATT9X3bs(YWP7g9n=yM3th}RIc-t;JbplgMIR@RtSm~^ zT~Z#qh?rmc)m0Chrm%J>$d!9e3>F?ZDu5Hmo!=K!0|qnyBD#x^t=)v4<>t+9fA3Rk ztM+|UTv17X-n%vN#LU~g^~#n$rhcI}?+xZ&O*oTC={0A}$F}lg5Dr}Hra8E{3|=0_ zbHd~$7O%aS`@r68UUW*Kb9_=(c6}>*RHq4=3IhY#mOWy?)U%@5$UyjMn+$s|+>9s) zNWF&DLKprNSRQB2KpebbP;W{h-B#~rZtlr-MCm;(!Ww*h58t356*3-aa+V9Ym7Tz5 z@FLF}ms@B)fXg$&a+uN!RuQhQt}EX(iKj~s!A^(9Jj?|#n{d37G3BcNTQSDzwtJ_w zMI)DV2ytE&w=9M5%V{r6n_nLd&_BGmGr;$GCuL}`XqOQ2Q$e7*;^S0fhPdQ~p3}|} zyJFF@Jk?bG`(>s=28tnVRw5n`|#UW8ys+(6zO$ zbw8J-E`2RkZ2CQP`A0fU9U zMF@c3U0!|yDmb_e3NO|D<5JEr4lRRq)9Uo!5A4vgmF2}v+xg9VUIp*`>$R}m3}b1L zrIL?W$BjQ;ZKCL3vYvA$s_IU>8Ab}vwwxC8Y zz2W%!IzvwHm^0A4W@H?3adn05%;+hj1hkMKT=op&2k3HuNec)DET~EFtd?%)?%Hua zEsoZ%o>^##dDE@sd6&pjr?aho@4c9CmaEy%V5jN!>IXBwc3v(w$dP;9YV%+r|GciQ zg_{Os;0R|ImxonRB)!gj~f{NZgM+2XCJbW6;N4cclTxjD+95Dd2FNtrjb8< zLPOgtdU=thRNq9-_i5X8z?bmNg3*{;^7;T)3W=m8`WWWU%aphk!M22NnAB&jKvRGI(K`c+icN_VrO&pB znpG+O>8O3J`QvhHQEY>Ou`yU9O(QU-w)2s;0d`HgGA;jsM-G(E*AqBZ*q3F=cgXbb z9R_hLFMx-~KCXe~is9O$$Byk-ubKOE`6`Wjn3=R_RApPv?&0MOCE6HjA}#H+P$%7B z>``o6G-5gC!>? zr={^hV;QH%lJ*Y-4puTsVnrr@yNGq+&%Js#va0)a5X*;CoIJDcNY*8sD@>a@)o7Xr zTRa>-D8*Ztppv&^$H>G)3_R#MI_AHH>XH7x_?4vqG53YsQj>M;I}bPa z+h}fQ7wX^{la#;ufl6GXwO1F9Mp#BPX!f7QAdts=WeQO3>q72*nTQJSD+nJfQlvN69n}A=t_(9gp*+lQt2$g5z>(>IeHsuO7KEs!bdReH0Qt zK>EF|4(ixR`J|(ftnA0I!?#_EK?X%v6}>5L9-hU81*mxaaefWoHCSxEP|1gZ4w#Qp zMxtJ;dn9HJW%lQb2_oqlj{gdQ{5qR!mRknuY_CAN(tYkq$nwckDk{xnOPqt_ndiCJ zaPaJf*($n*9D&I>IYHEBykO1%#|?Xr6!q}xMhJ?7y3hM{Z0z+*l{-E7>y%GM75&}# z`TIf~MoF>Zfp;i!Z6%X)a0&b$K17ynyK)7fAT%RYpX#lGZf%~EklVvUkcenrt<$6j z`<4REY}uZ2aq(K*Skl#S)sE20%L1+Db^^xK=bTW`rPq)mmMxC_p~bMtfb@LZ+qVPD zf1GdJ*vrk0v~82mTf{)NfbX~jQfd8%*jDnZr*^NNF>9bn>4|b3rV^+Zs^ogjN9*}i zRE2`dM6Mq-dY%;hwl8?cM6GSE;Lp*I`dL-AZDVSZ0i2;;LQVPFnWmQJ9mH6A#X9PMkM#7l%g`LupZjtXp=qyR0 zgK(;^zdw9Dj!0(D4qSy*#kX&J={9_|Jw{j;b<4d*3MO4amO*hm zCt!82#9eIt<<>8qnO;4vzORbYRtXBaHYG0#FFVY=7#lxdyP>Z*fMUxAI|}_bsyV{V z?{~9DUWo!uWudDZ?c-AkH0SQGT+SB|O#Ym84bn-QT16jKUOf(LZWQW3euX?phz#f{ zFtryKQ(~$#^g1X{uXx{!ty4YjG&*nL)*nt=etntw<0dlgG1>LX`PVZg?gNlMdR!aw zsMG3q0xH%i?S;FulRkE*Bql^C$DUmG;CsS)F!+EA4lU{1hP`QdIVMWM!!2*vF%KoZ zuE1XGI9T5j61zfeNx*@D%!~%3mAG+KQxb!IV+W~D@15RHyfkVa+Nh-KZ11Dcj`Fy) z^}vN6jz$iB=A-UBEv6^J6dBEAZtVXpShhHp#4!t$=9hRlh_i9$HLxkVx;7E#6gU=9 zPW%%heQ`F4lHd;(z9WNYGKu;c+O>m0}-t*&DWP z<-zGlnLibV*Q*?g6aYnTh2LEp0bV1AJJ~_j`S{@*e#UZ8Cn?lj*il zFD9NSy^4x%=LkJ9T{*v7dgujh;W8YdQaw=oOp!>NdbTV9%W~XwyW#nrBpSX z?eFKdg(jbq!#&4M<{5AJTzJ!;<$dL+X6oP@_)mKo#U)z4`Ngo0TUX!sYslkM5|~cl z{IVoE|2WdZ^zykBGj;d`J{fk(?M3dAvsKk5zO?4Bc%-gP{5TrXr|&b-ziTc{7Dw4kge9HW;P0f`Doft;{R-esDQz69X?f6$)`rp8 z?+lkLB3?%-6sn~CYLa-kZFXW3CY9w#NbtE^Z+Ia112Pk2Dd@i}$>N{{fN$FP=dM_n zNt0|9EUt8^DK*B1+Kw>(Qpgzz5hY>=qabr^YDv$Cwh-#YnlU}9pqZ)K@ZXr~3k1UA#B zedRhL(k8FtfB5*TS{Q`z66F!f_kXh5*H>--9=@c0XBQzYQP-<$YG`~#P@f2{Z8LUY zml;R*>R#tt1HpN>W&C_f@F%RMxqf3;H&}h*o}qV#d*a1JWBb5zjM1Y3S zX8}GN|KH>2nh=i!z0Tr#8EJwjYjxVzv81fG<#_t;7q`2mu97t%f*z5)jv0Uj6^nJ& zygu6(qlb5_&>mQF{$d%u{Uh6a zW{JCU7GOQ-qwUyo*A9Il5C)VC;;T=p1Z~cX$~dy_CG%*}Zf}AN@;kpzDf+XFAeT$0 zAhz>ISMCxzoA>2YdPnZr@Q?0~M*yr4FZ1#eE@OfJo_FI^!MzsV_+tc6UdDFzikzsZ zsATN9^gZ!vsRkn1hGb=$e=+b`Own3`(>?Wo zRl&I*60`(RtV4HRMHOHs7sucb z1$|-=DFI)ltcd)Y!yp?nbQoU&PzuWC*y3U!mbdj4%gr$n%BL}ZTWeU}JXxpqQRs-0 zDW_1#>T_zJ@@cZPygfv%?IJ|<*ByBjH_;HGJo)5$^1IokshaNPk^be)`4#zDS-;Ry zn3@tg!t%MxK*$~Dr^xUR5I>zIuvLJl6UjIn@yX0Qr=S3KY7lBaV5e{d0y0B{MMR*d zC4km`Z|`~G!!9SD*%E{z)wOGNMec{VXh_rxkK-A0jiHk&qix>vAR3;t=PSgDN0%vN zdTO|=X4*xMD-_4k8|6^Uxp_D{J45QwqjI}DZ{4GW{in!02vf^btm{(rS(Np~e3)NZ z-kvD6dRRg|oZOVfb2EX`|KYrlch&mko>LqA%@*o@>(^&bGnBldIu;k-O2<1%QDlC5 z{N=G-TVfkx4_{l~s`#!DbJ7=&Q^;+({bpE?McS~dNGHSN8fLOJHFpqb!=95;N^ND6 z@^F*k5!rJ?c!w{By8n3utcp_?PWnHmCpJ56A8Dwfk#X3)zgmQoyhWD}7nUfe8)SAG zq@+=LsV8ozPxXd4ux0;_H6b(l3SK&!4+ftPuRdSf8+I{bN}I0d-tvqYdv{-!!TXEB zdoBcAQ&UwP7N>rebn`6l&5seKqTXASykx1Ox16AP`s^mtiMB07xxb$KKs647t| z`Xtxd3(;9@oW$-I2yt(o0qaJIFb+p0co+Il(XJ)7-T1?oDx#i8N0c8~D{*RK;>h>6 zPm22cH=dSznlwGlo4|7;P*%%IYRwOuI)G-&tn1L+i*3lv%$!_#z#ZXiuO;kj3MFd- zawC}zJ88-p%2kt8h~(?L&DyilUUqDdzP5%;UTiE-Da*1+t@T<_4eStQAkMcY7InP% z^-?tI#mDsF1BpLh9ufAaq^MU)&ds}+@?0S&C58uG7<`zRnA{}$!2fa9-Pr2=ZtgTY zlqd1IiF}46m5kciqLf3LN?8sY=DNXOvL@Uvn3>^{C;F|Aa=IV9{nfTeEfr!BN<&Z0 zZc09MEp^c>ocfmS|7o&v{l7Q*V+ZYIo>X&A?v(eXvB$O>rQf-)*Coif zJSFY5oz3%V%U~Efrby)%{P9PaQpY!s5T80b7v{E04{DuL)H9F z=;{}6e`0)>Zp~^Lb6z#9IP-*7Yet)ugmt*vfhUF)akR|cpAzH`sZo@_>KKx>?EqE9 zwy0bGnkBsDkZgchw5*%6cWVvCq%!r&&N|c&{h42XAnza_pKL}FTi)6PG@RilNX2r^ z%4!8%Mv4dQEP;+}JmZIhq}}_4!+LehH+onQvh1 zWyyR%LA)?Z$j-i4=2K&U@C&Q>{myOG1ttTdmk1*4hY4kw%1lKIg*>IdLeiyc?dIOH z?91t=HXOgQaJQ(13H9xd@HDGU&pE;;tdhRbm)2EYc3)RS9X#Q7+R7-Ln%Kpse0ihD z3`1Bz!zaTWtO1~l1N|CvXj7vLUB`=YdzjkxoAfIJBu zcEed)*6{Kq93Kt9U#gd_goV^Np6Wao3rVShCS!q zJmov>jRPIGtDWnU987)uvXD5DOl7ffMdG#S=Ph0J_5KatU2o7_jQ8S}2xfqCx3)qA z@9-I{|4T&vj*})WtHs~DLa923*ms{9-f51>f4VNj!+*^FG^=6_bU3&wQ71sSLZEAH&_V(WR_ zW6iZjb?d&*wEQ{c4%{!(PBhZ|woI<0^kF9St7`j&JkxmY;ePfAJ$!EZEO=SMTf7MHC-KmuuCpXX>A=hzLF@U_uvc5x;tqvbu$}Tl+A6ocN>FiP9 zC*w=?Wzw|Zh$67Ojl@#uEgjLWztQJY=_A-K-R~)j%a=?!F0J0O?S3VsTZo-3cYXU) z@(##lSj?)_zg?%s?%h4Ud#iLs=BJ;dhCaR9!)9PSl9Vd2QFI=xyYS$eWdHbkG z#`-nNz_z3s+qPbGP0vWmjcfl9^<~hUP2h%*bkj0To>kAQOBXKeVY)9jVT-C37)l|^ zB0oR0Jzv`l${HI3EXaHFrsZt_(T_^jR>kE-$3l6h(!K?%mMDtAmsXt3Yodlu^|M>o z$dT)DPf4QVuZC|;4<9;uIVPMw@G`2t*h(WW%Ap{kUK5JmQGLi3c04)$bG(eA{PSZj zYhxda$h-IR%rTjG=<;R)zlJ!q6zXU!7>-f*YsI<6ClUUVnnBhJkJys+aOn(iL%2iR zi!H_M{UnERuyw?(-OLZ@<*)SQ7?kjCQoVSdl6hW!G_@e>4PrROY7AG1YhpVX%+B}N z&p?Ojqw10CdH26ciRbhEc4Qv#EIYVifzPvyon{pmiVX{%pP!>QG@L$`iTwPvXbevZWZto%MWgs#s*C z3vHOpyUSZX-ReEa_(_X`*v;(bekOh@K>ebhdEgnSrza=$Ae@3mQf+YE={6*U9K=}f zSMCh@U<3N&`F-$5L$y4t$4Vq~?7>OQZTEHbsixY~$G0L9RYpzjY&8;NCFCgyecR1r zvK#y*R<{Ui%Ed@EK5_d?ZRwvVi0Jhh&9}Sw)em%8WxwYpmVaK(fUi63kAYoOxN5Nl zRDb^i&7(!90oPp!^HShFfRK?~fRR12eGc#y|4TMY0E1vM6{t?BXY2$}&HaHE*REmq z=@?)0iBnBKUnln-THPw!?nuX(SX$1^&Uz-tV`2j2#VN%`f5C4IDHbo=o@^w9qC+ev zsiupJntlW<&+))Ew*UR!;x9?TPw6T$cL*G?)fdxNr7DB%!O?ok%(Z2y!N9mQA$Zc992RjYXUT4btKpF6~K2@M@AeHXj-Am4JJJ2NoZTBlt7=_W5hbAswA#rYmy zjV$};hhG+pNncy-ec8mRB+h4@cg$7I7;dHTO4;bGY+ND~F!*kKQFt1?Ok5<|%rLZ6 zNBP5=G3tRoVQzzXX){>$MeMsZTucE>AH_p6Gdqx13E#ZwAEXEAF68`z5NxpfKO7O= z4wW)YvzefUN+OBmrlcK3F@@$ZoPw7`f#2a18WLjJnOjpkYI(#g`m8##?tk60-rfu& zEhlk_1AoGmgYzSr9O#?tMWib7a)w7M@^LNjt$cyuLG%OKM>EST`+wi`Bog;BEK#a% zO|D}pY`@ON*FnQXS^VmPpShjgpU}%LBaIWCH8p=_5~xzL6)w!!o7wk_L>bd~|pqI^;*`C=lZ zrLV7VZ=V||4}KPS-KjVz1z?UdxUh)9od)g^zn>^u;ESKO=(fr?dzWJ z5eoTfwOiUG%rK35?$D`G|_KWzRb@KRqfNMi|&nHieXnNapHRJcEL zq)e)=brUTu2p9nM;`gVpH!m+Of+<7j!(I`}k^!D?uaK+)@J(Yqm%~kI-|7o6@oCU8 zG8!VW-F;VuVixO5c&C4O_znc;FZ2HxCmYFmC*;3GKgLQumR#Ib(F4Fo5@#fu;3C4p z;~hD2{Go~o?lq;CL*nc9zP>vcPq~w@t}|&^_cAuNKHs2`=JGelvw<0~jnwS^WX;b) z@agE+SQerAW};yl7(T9gJKjLB16Ta#_iti1>UE5fWKEQ@BS{Ad~ zlR5Tl2_Nak)Zw`B2q~k{Gv1%9-;hPzX8?v7<~F^`2_A~_r>x{pO@2wurlZZ7eOt&R zqsO4#p0Zqe!bL6l(=frdyRNkhTt4_0vE}TG{1K=eZ0_vp%Hr|drX?>w9}br~U{@9t zY$r7M)J#l<5d@2L+&osnhzJ6I(#LRA4&L^Veu;LyI2Qw7pntVSl%pFz=#5 zT)IZCLrw=C!7-y#-m{1Y5Qgw5|9QFkaCg?Ll9J=cj)j}97evETZi4^nF1TCoGzGpE zCl|j_Mp5*Lj=2xr&Q0VFq6vt!D6wK?kbfdZSPwNBzY@?;I-lIHb^FzYwEE%{zM`I) zac=D*g<0L3Q*L`xS}7!y!W6IMbOiM2djBY}tawMK2ciw0>Fqy!WMX%!HWMkE9zM7mYFTe<`l5d`U$ z7LYD!DM3mB0ZFBE(;ati&;7pf-7zl1KhANed+)W^df)jz^Lc&~`bEtt+fJ^o1|Z&m zZL_BGk>iwL*Kb7$0>r2#yNL9e>~VZqT*l=|UtqF>0*1isBw?;X{4hSgmIvn`uXg{F zS4ARkw^3xhdwzkpm(BFc_~``2t-u$D8g@D*Y99yNP^d+X#oRSgx_Mflun1fHWVw@g z$`l9*%ebT@sOQ=xQ=ieJeJ@bw-QeWRnEX9DTBuj!2z`9$Cp;Ct1n5RGm#8W?9>+*LIiMj#3W$HgX*I5+qbk}3_lo_3_eiM z1($Y=zpXOw6yG-dQ#jtIaMx*N`}$MS==Z9{Eo=uU0lJ@*cpn+})&GtsZwia`aam#5 zdg+`tGT)4Z&&>Y^^!DYKn{Apqp88s%yusDM%4W9|gW2k0|0N@lG*Z-|7fhLe!#JFx z;mgNr=LG>8wwl?mo^aV_@O-fD;}ZvV-^M|>_HNgUzgGf@AfC-g@3ZQdZa-Wnpt{WG7Cr(6mR5M=3l(Bp222|PX2o~R6J;>~p zKhihx;2svgeRXhR%Ap_!Z7m4H4p=;n)lOHTmN$EB6^$jaoS4G8^M?raQtImNS0i^{ zUmiLct~yz`B9s4aI3gX8=57v*jud@(fjRJ9U|9oLVHZb{>6w|RgajzA)S*n*)P&mL z(eC#Q7}2bXZ?m$pvcCpBRYTwNJ(zOwv#$?zxR81dtxeb?Amoemo0o(By|`#DmMZ?! z>Hgy8>)KW%XulNScg%C3cf6x>;f+(ncnZtJmBt@ae{L-ZTIvK{Cq@P+_81;*bx>b` z+9zlLpoj0@JM2A-27>8<$`Qs;H_W#Yb6L zS=|bP{$UQ44=EhzKmQ%`CVWx5@piYPAI05JNE9b>vXTY)0X1bNOmIm&$sdAS(>X>N zN&{%PJJ!%6@MMd*EUUY@xxunDGU7hp9S`g0&!0bGU>r=XM2K*oLUtW|UQhvN+!PE7 zeh^ztNF5NTZz1pB;-==};B%E=vc>JIY8o!W#JX8cEdg6TD zq{KmB_(zXvkzUOf=rE@fD4&qmtG8lyIl|j7oN3+Q8LNF>6P|$++LlOBXKeNe&+p6i zg_&w23>ZNu}S?t6TDHDHz z#Zq^X@W@B{nbNNmO=iq&MUxUOE?Ly{$d$b7r>t@eub=+V!eAt9%koaW64sVjdee4c zGzKq@Ogrj5H68!U4wDjAB?5!kI0Kiy4y&DQ%AEFM^8jukmWZ0MoPKlu&}wIwDQ&*< zv*j+K$L@pAPGTF5RKKWr>=)qZ=JYG(Sf48^^m;1fz{|$u3=(+@!Fpo;VH}M2C`gE$ zAN!u8z%&820l2B&8>e$u8YBI1@0}btc=M9igMtL35P|=1fUDV>EWY|0t(BVJ)Y5=j zO%F4%VTvWpq>$LGU!t-^A@zHTO5=;I?QO96V;Dj612@(KtRs04(c$ELS~d!2p^V2I z?}D3{@NwBci${

s-8aaUWOPX;0!P{I$b$#8+kcyUW#%Hd6Mol1J~8K1{VyFtpWP zh7r`u34_E6GvR||4df1XZNj$`LitEC>u3_R-I>l4;~IEqer_{L7agA5a}VjbUf{x% z$&EvUr#9K!nJ4rliT>dbIf1w?O`Sl9GilfuHS@Hjrjq>p578pix$@chM#clbEE()( zOqEb4vA0v6kI6P2bDI(gk^acTj&CDH-z7Iz2?-n?YwOSDyrUmsaNt-7O?q6kJ0u=e zGj?ASMSi=E`Hn52>vI=v==%DDWH!~*f*1)?=*3UdkUENdlAh5M*>&7s2 zl1t09^0KsME#bXeeal@S&w00h{}1uzp<|%I@rl!U(g)JVFV}C$+l4sNOrC)_a`U;% zVoaGy$l-jS{SJdp2V}y-Kq)W=II{K zgu$|7!CDRF+rN~)s-YojZcgA$+5PsxRps4tR&n1#EJQ-qKFLjQ`91fh|JZH9sDQf& zLckZ`T}hRh6T50ahK+C^SFzFO{gLrWak|@_*d^2$8$ofg?zyj&iSuG3a}9j;XW_nv zY-_1wslKyq4F${Z`nArhcZ&AuN62YWNE(mOhOdx`ZMT1@1)cS=Y2;3A>-2TcJ)hJ@ z?wdQ!k)vEjNW>vt7sYMDBU3`AUN7FW700;a$)z&iWV_C1m`%sJk7ok@s!b`3)5TMv z5JZ5TF$;evfH?0E?_(Z81LOH<*K}1|(=@S94NnQSABF(UYlq_jrwdlCO_T??vL`&Z zHlLq2M|S)zsQ2_`J{AAQb=H60TiIHF>rA(oK`wtHVw&!KQ=a@(w9X7I{ke>k;qqS9 zhoHvU@(sbvIfhpbOTsMcyy@wTYon!{l_$P|K%3-3$j;m)B9aVGGz`b%0 zoSBT}1C07>nfQFUe9o<3{PbEjOQPOXlUP05$t+SZ5!(pCJMhB!vq>=d?CA3#ZO1gR z-Hv|l{0jG2U*+8bQI*Iq&HhKH`wKz!D*=Y02_LG(*9WZzlgZPl%oxbo=I8Aaf9(^9 ze`91ruPiL)6~95;0r&eyn3nqc@7x?Hc5@30IVu*AVSryqT8~Fb{dFbH#4#{5fhCLN zF2TTCa~D14ryFdOe6etfZ0Ga31cl~}OB^=KluN(Qt&V5)l=Cx-rjJY$S*xU;+k5Gh zl&Tis_-O{P>HLwoe;*40^ARl#kgy@KfcSlymYKm`YB2WPNj}mX>o@Yn93(rbU2{`w zVbY@JFp_Y>8ludYZxW0*3HCiPTz|%Z;kWV5SMU+SZ6WKJYd|^v!1vzH%)TK?%T@5= z5*az2G{SyKLlsrqs)pc(kMUY4bt`kk+_3dN@_W51Jov1MPLBPXhuHA3mpI-0PWIL=t3Fr>M@WXZB?uPt`G}Hm+WuLUBh>q}#EzjVF_mm%Avu z<;D-soZGQ$_(M^(R#BT=i9>hM#KxbiyL$;?uKqJt)i>N1Lbq-DRxt2VN@pI1dsE-O zn7~rrAxn#}Pe-!!9ponVrd=BW_1`4soTFXQtH$zPU-?h-7}p%p3er)1ZZJ37L&b znRb5Um2bNV(K@)E!F90$;uNXur@?H>?yv*a)O;rW@Mza0{a$-2M$p&^S*picI z@o?|neE3G83xj?-yI6*}RaB5f0{ftksY$EW;`9F3xHy`3&2}udxlyY6aAenF=wFnl~-47%d)D=aj7xSh4y1KoB}bk$@3mu z|4M~lA2q{z5{PwV7zIf^)@c(ZC2l`%q5ypS3tw`6j|w&=BF5411~7NAyc@7~PxCfN z88%Y2&oIug2k{lUhV0ool&}wuFJh5;efy49vcex`sht7>6QpuTCBStb01yLcKmq_C zW_Y=`axUk?5hEXc54kDeU%XThJMSRYvsR;(rI=r?{kP&zmVlzRS=1XA?rIUrK+oyY zEz^2jWYWN7$=K{(`+hJu@ht+TqChbF^iKlKCUsIWFYZpRPXpJWj=Au4z{yuw`1Qu zTQhr{?fc9c9oOrqW=@OsudnOBeSb+%FyFu1Bec(R<*Y^8ZKULz<5NjDt~&BTsWqV`pAt=gWpW*JGU=Mb60D-nP2` z@d9+_@f9W7oOv;M64`;q(*O9Mf}QTt#V=0PwPXCbL96Ap=f2x39Le)k^OgS}_p{Gk z!Pc2SzuDfJQM_j14lKr?qARj)gElDB4kRy*xwXG0b1esf=@htJD%m)7uIH<0$amC@HR67<6uJ;35=$*i7r^9fsahF?dY) z7btEz!nl}L1b3Lj`PH~LkBDkqVoXYOR8(~Q_F8YZ-Tvx}8HwJ@!NYf0s1c%&{^7rY z>wSfZTLB>kqz<_`jO&dK?e)CDM_!B_qT+k+8`1R=01>0(<6o?g3q`VE_%Xc#Poa#o z^oD!go!6{~3+w-{=K4<^^fe|KOYj!-DP~$sEvgbyXF2At!b51+xn@ZadcNNsR_+&3 z{tEDH&M^8sk;11LVEu7oulh?rELwBZe4k%!p@T^%^C4t#qkosb;SU&vKMxF zjapZ)SO!PYU!hT%q1gK6$$Kv$kuN^@m-gINH4)5SF!A$o>G?a4xBS70@l^0B^HXX) z)bmXgZ>X<0P3r^Ciw2XCN4tBO738VBHRnvS>nzChVdIAn{Jy!Ip=~S@jgKSrO^|8F zFfJnkruAyUl}B%CGrh&5@Q%Dt9S*aO2)x|Tez3Zl10R9W_Zbo@Gtu93P;#c@!6Dxj zpd`>Rs?Z@u{!fIcR=(hDx%}>N@JCI+=HJQ?z1-yEb7w5_x%(|{4wzRHU+1WRi~Q$x ze|>2ZGKC(cXg%YZ)<1!(>&V zgA|vS18rWn!3*}t!^?(Vo1p50YdyGQ2CX(U`J-W1pF!M$_)_>;`H$lC-&Ypq7h2`!BB6YF`k&6im%#R{)vATDVAeUo78SF zlQ%w7Pap3skFAd%s`p9C4_H$kHn5>M>f)vfaGUuVTY6M8xxea=9Zas>_)7eCYTMNE zDDm*?RBQ3B?n@&7+OruO9tE(8_RNESRg?JC^loUOnPmT|o}#FGHe&R=E&CUaB)WQRB|A628k8dClDr)L==Jb{bw z+z9Z%%`-hZLak9y>5{~MONjt;+WB5pNP>Ir4qd=J46#QhHeikn6b5)EmU2;YK z{9S~lQPv;vuN0;eD`BL$&;|LkDv8L1uTa}vk#mr(xZiH)Jezq7F^MTr5S*1JW zP}y=EHDetD^e7aNiSV2mmxB?lr&ue7Vu0k4F=H#Vy%vT%~fy$rJNT zp;s?Lt`-ar0WRRps{J(P*~l4@Qp8e0s$FpFD$J~h#ub?2KYik`4E;aCu%{0b^zp%> z1Yl6W({X|P!O2Ny{|Riw4`gKC{jB@(%3-A1(@mo@U$zpvuk&pvk?S*d%L@Yor9rdh zK{mYZSctvUaM3*D$=SEPg;!GsaUD??wg(2b^rJ{t<@9R=*!W%?r@V`c8?LNpOxasL zyX$M*+Vyf0lfhYl(CM9NOhf>&?o2%fQccd=dY4|Q$4l7xxnxiyclo8PoQe)>-}LJa z;t}n%x);f7)$W{8RGp(#eXjGi1}V<%-nnd+m36rS{};n66zAFQBX?d~)R+3aBJ8SX zt=KgZ3aX|$VZJB76Fx8prjEGYSKG=9&{W%(b~odBjXz&@iMvh6OhIRmB)xWz6_@tR zqU~JB7_}_=TEWZlBXhvPyR>yn_AW(X&e>k&-wcm{Q0?J4CiQ4^fuM*V&k2XTw({j8 z1-ZkUd?vD%w1`r93z;CgLDrKhUQE7qvY%Auk(RML$7N z$HK;Q%`eB6N8Ev_;?ov z)X0}!F*!{Oe98R@wUu>rb2wPZkn!8QJwCHrsqI{qI)!JTT|+B5*NzY^e4~8}5JYVz zDfySK9D}z604lhn^1`^Nz5`7e9Rg+b3^2m~`*<6NFiK60Z$Rw3h3Z9;bqsRf@k(#2 zI$y&UGFz>!X64sc*gL{k#~p&c@002$MsCMa+vPD`try8MN7>qg6v%&O-!Nk){Fr1R z>F8eBOYF~uO~N*pfb zw)U@hq4N{Z<)wo9S{=FIzzn;MN?wY}Mprj~N!y);1+^=cY&rAv6H$Hk8wS)>f}HXj zN)i{GY2-f;-eLH5IcWXN*>1kA8>@!JcxCZQO2mj=?>=+PYH#Q6qlb@rxrn~IO?Coxc}^-zx@V@ zR${s5N+tD_XYIq<4#oq8#dXrhduK((G7s@F1y|4P`zmn)T~jo2F{nkF2|dM0m47!_ zq1H=jBbhgRud+J~ACn&iZTF`ZT_r*V?RYiA1yXa`TYt#rzp_YIw-&lKW=KeDQrPwX z-a3$4k^%My0@DozI5@gSN8^8kIJFCk7|?fsoR0L)(xh z(=w=6WzUzPC!4395ElpDfwyNv6*@M`%A|<>U3%Q7J7)uOQkIRKu`z?3c9px=vqV;@ z&pw+LVLNf*w`eb67_S#!vNGqVeJzcNKm+~hPhMS)=ubnItWg%3@oAC|v$o*Q{-0A` z#t%#^EPx(^k3KL}x==$?LxTeQDj9xzW@_5M4gu8b5RTp{`V6qZf8iXNG10eiDJcwv z8VY1Vo7V|sUjZ%c#wC8*9v~_&{$K_+gDyC(NGtbd@R{W!S>*2}+gex%sSSVgh`wAB zyT4we+nLVnLIA1GBA}V&7d2c!Af)SGwQnxoa!X^g5W+qyYinR`d0sY};p^h2S z&>dyk<8C45887%f=xose3^hfHtXK$8OK!cj>)>dj+dhc7umLTN_)+SDFY;|w%yiQ< z53WMw6FWnl>+S(f30pFRP zJG=0!jbp3+WbNDO$5n>eowT?ZTFZuY))zC`auwiIyyzs?}$^slHt}>%VG?ZjBoz+0B2g9sAYN zGWo0|XKDCyr%Z{fCip_jMbudaLTWA+X=OlWJ1s2@s3~8*Bv@*$EiXgS2O*6#44eD+ zTcF_M)&G+D!yIY)`SUhV03fwaIu`#gC6Ax}=c8ep>J;->8W{F5CA_^)+wFucA9(+% zPbGAE+>eIR%m9?8-9L48KN2m7;NJ+9RF_amr=&EzY;J+`sY0#lXM_G?d81?wU!k+9 zn78UwJcqY%^u59?6YjS|0oN`(;pEWj?=sEG#EfCeFU2Vh;c67;k$I*miQTtfG&{L4 zxgh`S#od&omc)hIB+)m}S56jrI*PA^n>z0*;Ib@7RaY5N{CBr-%B(G;u`=SIgY-h) z?_$xMsC#$WqXeL-34jG-F97TIJW$A7Pn+%_!OfuE%jVUmur2 zox7f81X{3xqvlk9z4BW#JAq$V9Xw6(^+MmA-_6{;bO~)uVxV~oUj)sEUls_Y?`nOS z5>47Nc=w(ye6T{8;Loy0EX?qaMhdv1CiS(o3D7GA(5RqC1ZxEtA$WO}(^crjysDwn z1||)_+`z{KGiwK*K*tD-D{v>fV~cu0UYuzspQJ@|rXC;Ok~tBLIP=KlB>I6Lx%o*` z2b?_46 z(P7i00rf1$u>; zzcs=n?+9UBbx}!RxaSORlH!GoOMY{W&EPM~b$!zSmgAlO=bM53R%86^V{G6dG~9nxoXh5EHr$fC0c zglA!T3?yBdb^mb)AngdPVDt!@^RxZNDo7-b77Pv$WU0kRM*ajmhuJf*IX!%M0m;4V zTE%_2cFd&XGJJgH3kA0V`h(bRnr+?XkN@4zGmJ$=oPGiR#q#_dbDr{!9UT`zp@LVsH3xE6p%oXyH3xm7Nt)=Jb9c*BEZiN z{0>|^ys@z{T^*e}{QMBSHmGsLLCh8ZW>4q{CU#a^ zv7gL@Z_D2)Jg3fTmk{vTaY+agHHOeH4gxpWebS6;6YA6dUDxyu$>-1K0OOxKYjr2F z-g4;Ei%_Yldn^|IG^I3&VEoHWz5>=R@6V+UNg9e`Ikz@$v7_&#i#YIzg|R{^gW@&p zQ_y<0F*g3OV6C7K8Wz@bMMH1a#zZ&?vD(j0K@AuNr?EKI+UqM>SST^L^&+wV19No=Do7>)j z(y6K+ZKD7Y7R@vut70?@0a$d90%BsavLO&If#Yd-xU!Mabjx@dIJd#Slbs!W!B~MM za?%WU83yV=6Gj#jQVOm0}G5U^ua1A|M z7+`GPHmKuElxX(g;&R;gEAQ;QiUw)EU^FFVDpeUrj}M;cby${fkP;K&>a=YD`EhkDIzy2<~`mwPksVcUTpScU=Y4}N1EUES~v4Q_7k_HQmwi2*7y6@#Bv ziHQunHShz}KZx8+RXb!r=CY^9ril(q8`ERq<9VyaBTvWctYgO%ftJBj)zP`TcDo~f~dU&62tN`a3 zbUw(cK{7{2Rdur&kI{Oh*cgnw%t@as^^cX(SKrFz@gd{2Jz2PQi+#I^U1$7N`Q?uW zj-?FQ_TXW7s{gPEn)&~x$sm4>jg7FP*4LlHRRP3D=$kjN1i}PLhRc@)wRCnMwdR3W z^!&DVDh2@mz2C~=Ekf=hH)eo=iil1!U_wcy) zL_NrPC#y%x>2nyd3ocSDXlAX|M3^jpn`Yk{1^JvORSA0q$vB9(eylUQ3klWgXm9q@ z^G6~EM6@^=y6uCXs6DcqjV^FSw$HxZ|A;ODNul!CnFclo>=~drgXs>n@)gp<0GS44 z={caJcsMvLEiAyjx8TS8peNx2=4cz8UV$Xf)WFpA+#L@sfpm2aH=Z+Q*t37^>hOyy7)F)3!a*aid{I10S*-4 zIB-Pc4tX_b-HHEe2RGUW^LyO#knZ{rTq28(<>?H5bfiq9KF&_RB8jb*;$a zs8%c%;`iNAYwMQ1N2!d59SZG(oemS6yg8}CLg5Xz2z6ERD^o2@UQ2?}H02n`UESM) zT+=)kBZ-bC*6P(c3gH736nuD?h3RhuBV>`A9sYSkn2D#aD)++)0yT)Q2udgWUXgI@~9Sp(~h}j$u^_SP{>^$AD@9iwMA0>(Bl2cN0!=esWfb zGP2RzCywcYHSNihXq`eR4mSh2myGr5Jt)y`vq|v?B?o(ZfbbbZG$8eoHOHTX3kHCP zJ2n0VQbZYGRd+rpA6E6=i|~&g?rne=~A$QxLtiLyZyOS-CHe^JhF& z!YRiwEt(IJ(B($_4)`+-0-_E5PBE8RD(WEz2RoNeqmQUdv70J+bY4g=_eV-=04GhG zwv1DM(_NM9w-6oktkBViZ~*{XIb^YEW^MXM5nTN~r(g_lbYLMW<$*e;#m-qJx1Ipx zEQJg90CSO-KtB!+-V-_~)ACMJ(a@N>*tXu-v!=umt(NsMkGn{MiF!p~KS$+8?q~>! z3}BZQ78VAUcA$P%ySi#IkR7)EP;t3*_+p5JeU(~`fbP;$AG&)K=`zUY@3L<9;Pb(X zU?IQai8-o>>Gid_cY8f=$~U-6q~E!jwCKKb!!2PtB==2#y`3s~)}dm}%tN8E6xx~V zMmBm)p1%w2RxX!lS&Mu%EdzS*In`}tl0X@Z$V5?PIjl9?#ji&FkO@s2kg%#~?jacevDfkw2xHb0V>6Nra0pvG=6t87JSSJ~X~tJC*Vym31%5=?QcQPGUi!A}u$;F$4x5I7 z0j${q3AKe+paTpq40Cp1;t2e7Y~YB^=StkU($w0|mKD;Di`9Z$prv;1ceq#}BP5Os z1=$P{6l4=2@GR9cb8xVSH9+0j zb8z?$Mfjg7cW^d?T&=6C=qopUAYTXD7rY~S5?2B2z&heD(Fh_vC2{9v zJA&1LSkmU+Bc{dCphZJE@Y+ksY1twE0L)Y^U0nb}POMpo;paW{EtF@|3@j_uFc)7G zOn78>pqhC!U#d9%>tY*;y{R3^?c|wn>wJ+MA>34<0KA0@3|BXo+s?sZ)4i<}n7es+ zushywErtF8h98SOl<2Ak{$B`tPYIBwE*eaYebMjNn2ZE2F$7iW+}&p@HtaukO8fVK zE_M$7{J90&Jy2xofnDWYwQmEqR*ha!0l1A82r`9k2upg=7SzK&4NR{HAO5oFq*3;h z(3qz5gUiuW1%-5zY6;;7~QwqNkWMN9(R(UtFsdWDbW&< zNO@=lv#c$|y1BboB}NH;dcc^k=Z+6us+?k17%QyBkelYkigLF2vov3ppV(AAik)12 zOfm)~#@LwW2unB=grM^y;1tIV^nU~+zjuy3lQWu)ZZ10CLyT^Bhy;U97kjLPg;0w` zOavMuSBRYx{JL1{^gKuGLy+qdJ^! zx-mLd-;N%<-z!^Yy#;l0U*Gn}68 zPvzwR+}i@!Hvb0ypob|Rhl>NP`pHuk5w8vVZ7e?4-nb3CD^I`TahjRuzpT6f`!RZ* zOFudBLKdf9UqL*!Sb|4%)wJl5-1D^s@#h}SqYWRQ#$zB+Be!D_O1M=T8U!qrSFUb>&B?0H*^RkB*H7R)RkJ(e6 ze6hu73jg%-3dtX&=_8#~z0w`L_}>Y8&o1%BcY`X{1DGNh*Vyji2PY?!k`Z_|fc7}T zLJ3Jufy5Udw@UpVNL5knv=9#sAc)qi7B2yMLBv9zP+!Th1PJfu;n7E&M18pMtWhMD z&zJVQ`}mK5KjzJGYu^rrwX+m$4wl(ykYeg$M^oie8B}6-f&gSB-!r|MEbN970t!S~ zif=xSC14%>@}z|*1Gl&YeW~F^q9FN&kIX}+%7{71Bf3Tyah?dU9crp)#E`g}ZZb+i z8P)dl!O^Bcik)R=eGX4>W1}yuI8azldGG62=)htG!6X1Uf_w{f;?MfErk0iuE4=6n z+|#0?DR*mR;uW)pEJv;P`f*4*_Ro`2&roC&Lk=ehii8 zS8m0C!mUh!mY%M`;mw|Hx4JR=(b_Q1Z3KVUbf4rIosiB=0|SZG@0u7A#li~{WKP0m z7+sB`yMvFRxd#S(K#^aF>V&EZ8)A#-A2^o19~^|t)CD3UY@|X5TERWfZXbJPZemaq z1;cwj1@l>Z!UV*hnwy(3{nO5;;hYAtS^m)SBp%SmGzzr-%+BsaaMBQ!sbW;*q^<1T zoPn?0ujISPzg5G-g#FS5utyrsnuHc+yps>O@aCPw^pU@vg8(7&oBtVJ$KgTZp6M*I z^b-n1;XddQ0iggY9{9;q*8zb2>5)skB5U+R(C**|2h$(U?Eqv9X`u-l7Hp2!3MjxK zx~GCcM3twp%kq5S?#P{s|8vF_BZ{lQK%P`p39Ui;=eJwV6eAxQVj4>q*2 zGADS{A!!Fsl#vnB&_PLFo_xj+7}pCw(8ls`cPIL_lGI}g8V!~ogP4@k+HG9RB=NtD#3r64w`)o5wxd<)1DYjIsHRK zJ;TktPSaO=hCNM2_XykFZ~eE?IJj-kDg$Zr|ZF5Tn(;kw9&PyAeO^`KtRnxo9$ND#3JP4e9ulmN6yo; zrVRsJTU~DM4G7!5*IS3M;lehA<}55NyNrm&{7%wGd6DBoC@4Og`j39V__A|@Mg1?) zNMFZ)4;HPX z>VCzmOtmMVmVlsmoCE}-oS!Pd{)Q?mFW|TO*@eU&hJxj97X#YM1ahCJEn{;N&l(v~ z`(YR%{aEHG?8=@i=Bp05)xcddr$=9hK@CVLLHyp6kzYU{ z8U1m!%V6Ein<$jYu&}Zc_B|6ps$olUcYpirlsWx}Ik3h(!4U&Pl+j>2Gza<3n~!^= z;YHVLr{$>4Gb7F^y9pZEgliA)>GcHIQWh&2cYfZ~z4qT@!lkl{WxSzP8BB(#(|-}z z?@Q+#ZCuTAQAj`I7@WFdWEB4?fP&=84P;T}R`8qW;hA*;(TyK9^79JCo~VpzO`%>t zC`&Mnm+K?$>dZR}#X>Cyg0>K?#Nvyq?e$SxYcP7u&+ zwM6fPoC3I!qUO0@mMck+ahs5?DNxV-oB5>Q=3etqm$dmr6JcS9nC3^I`!3 zqWo_}n37E_4N*HtBv;7Ejp6HFtq3O{o-^_#hYz|*<7c31jo54BD!5{FSl7jX0~0lqxUQ`^d(Q&-6^!3RbP-lcgs_%XuwcDln1@0xFT_O>VX4QAY9Xm|{9|vt2_-SvK z>F&+GC1k{^^1~g*axuLML0N~xO(})m@=4b%>rH+AcOI@y91TwyXw+BQPd^$P9p+zi z#6qxZNh?l|pc-m3*~F*2v&WOGBybzr3Yz$uyi=Tdi41NOB}b z>L^<2?(xzg3~5$ELqy5VMwwYzE-XDU+Q0>vcpmfc-2O}(5(cUCz-v^`(niZi9_I%5U_9-%k&J^Mk9Vpc^6Na#xzniQz3$;QWHaHVnVo@yg)9p@Hx91k zE?={~(;b)7{^`mKNy%n^EIb5!jNo>GAbWL9%@Yt$otYEddzg}%ghz!8|kCZl#l8kb~8U3Z|(`MFU2Hj!kE{I~se!j{^g z+;=y{Mq}rJp^s zR$3-)FevV)gIeTMG>(H{0qDtIEZ<&6v@eJnVfGyUC`gbq7_(ziE z&g6Ampuw!5d}YVQq>-X^JMo_SmHH6pgAL=CQj%oSD2YmP`ABf0!EkaFj%dK345Cwg zT)LH9A|gp0Ghq{-`WFYNY$EgL&4Vsc@>uZ8Sm~MISGA&H!AfULzvO84D53c&b11iwV(0^&`CDI* zk3^F#oEOQWI$@R%J|UrJ@fn}_HI>&+V#mX0C?BqTYg?RRssr5M2j^GCTs!Z#IVSe8 zTo=T%(MAay-|IL(vQX61VSh|rDWrJ!yUSOufBmPYGvGvKb9$6ooo!vFms_!eh2$v} zzt~=4PrfWZR-EwtN_pp-DfM^o>rsxC~n!Nw_Kg^ap1%fP|5V*jT~H#ErZB3?X;E(#$!&fcZ0^C}S09q^p!yRA4mq z>-PeLB^M8f{LK=3vsoMyG!*ppYx$wck55v<4H#)yS){e)?RfXY?rCk4RYlLPPbAnE zOWd|xp?CVUa_#+vRfFHrXLFzReeq|*_dU?77{7rJ2p-|$hpR*9qA5S`qGI%`V|wrq zU)fi_E<#A|hc_i7lQ829^kooT@C^PPB#v6@tb^9m2N%O**hwfm$7V$-rBYIQN71cY zcoxO@`9Tf>8zxxIfsu4+;dC}i`JY-#m362tg_Ol*yUq~ zzKh!GJE_+#3BJ$0jz0A#bq&~wZCUnznSC1`dBN~E<$;m-ZpC#RO?4*viHdi(3TY9p z0-U(_=xZw)4{8O7c%?pfJ(bpPR1ge}I$`+X2EQE8F5;P0t}@1G8k(L4c^P;I;FY<2 zIrc|_4o|Ev(Ea|y00GW>$b5ndtzgE*hN+Oo>!hmP2s_$x{fT3dsHdDG`HF3`hjqnQ zT1O4~zgjhpSx~VfUhwx#O5Dq{A1N#6+%BDRp9#bJ76)^=J~BYli1b#s`>!s`0v(li zFTd{BnHN~-@_w>>*DiZ_K`xRd`Q)S6x6eN?%c)pT_tkjmBKa%gDmR8Q74}&{+De|H zyG(gk$>?EZHq`)T$_r0B6ftcro~qx2t^#;^_rE_aV% z(uT3V<;^rms1({Ss|s-sahi&kd8*`joFwi1Y=y7E&A{}TmrR9aTr38X_Nntt_=O}> z$;ix}@-%_d&$K44YfEmXTA-X}W0I}yWc)Cn-O5byEuSCHbo&@Ep4Wz7M^-7ufe(f6oF-p5m*+TfVu?WgPM zl)mS`%Y5%@D7c5fawpSd&C&T#$pa?!JhW^celO~h@w`SiRobO}QOHU~ot?~dS0#*rG zi?4}!FSCt*ByxK}8$C_vc` zJL$m~Voa4gLrDtC-l+Jfth_9Xl>@@6)uV4bOBwv{$G!x)1sr&ZU%e=y8&zp*(fvN* z47G9SD{cj2vsp0G*39pH5m*+-3Fyy_doKN0Ri^#NnrfE7(#yQ}_hV2ovvu`5a-Xf- zwYsIG)MDOyJo6lkHqay%^Ms4V+AYNEb+Fl;`uO}ziALO6*Q?skp6Cyj-(7AGd1oEb zDZy*^_9!*gIN)pf;(cGH@!^;;~PL4X)(0Hh=r9(gixI#vD)96?hOegX21PIKdCM}tC_-NBRVpzu6$nuLAk)X8wLmBho zcsMsZ_NPKarpd6bH}lIP2Bp4lQx~ZoAx(wn)?*$8zeKn;^^O={st0W0mB_!Bv}1f5 z7LI?&kwl90$hxvc=dBt%@U5~l*jEOam9#fp-+i7u5;@`^Z^2Mgb za?-z1Edx(i5gk4X3c~BZj17~8X=X4Hgwa+>cY)3u*H7?o)g#tC_P$4FD>3}9^+y^j zgNW2@??*-@og{Ycx2#5nd!gtm%2V@u$-#J}EO?}WlkZx;`S7PZr zFj7c}V~o_Y-wPKVQmbrx&_H{jxW!gdI~;Aj4PmA@1WF&=1F$Ss*^E(LzAWo4rwSH8GqZC&o)|@K4!1Fr zv|AW{J$@Ubth{{-qY1Zh6G3%;4uUj5l>_tC}dZm@t% ze`cg+md@$i+N$I8B8fXLdi6^ZE5qXQVY0RgF0aL1WxQVquf5S5wK3wm+BH18VO8m? z-OP9`LTPhr3*BN05BH7BQtM#|^IrwQ0`Jw^bFd?wpDc)rA4~_r@iVX)j&J+x6Zz^K z$3)N$INnETazwMp188f>I7ZX}n_Smq{aMmQ|EvDke!m1+d#PzF3AGnx{XWSkMu+Ae zu1_yLnqLh=HS+Mw*bx|aGiK&+XlzS+`9bx#BO0|DEYgMMkdaEt`h$AcpXK;w>?HOC?QRctscqm`uQ+kAmHZO zmF3D%q47*>A)1xj)06^vhGq(J4Yz#5*3L;7mBgoNY4OFqtO^<(BJ^j4SArCCg`zlV z9S=|X3w1A37yXrOpk#mcNjk^LDmZcC05zs*(u}19V}tP1Lt-K$KdRio4;U%87>ME41(}qbj0|0F!wgsJ-{r5F@ZnS) z8Hwim0I%(IcZT;-g~uKI^J`@Zc4@Z=s0s+Dvm0&c_6_InW0$f6c?-Ts&zUem2Ga`1 zniFVL2;!EOe8ERAh*URu>692=Jo&UA?t&nl0XM|o1>#Kn2>8J|ASk!9bbZ;i=4y?E zDT1FY@8hJs*HYAFdjIwi(`O(zX59(N-#qI$&+1p zCBs_RFb@tgd=SDtVaNjXi`T}gz(Y6=1G!*ICCJJEMS?|5-Om%~wccXEfHRRYEUI zZ~!w5hY5eiriq*78LnzVnZUFA+rN6=8xy{4ITh@fJ}_vg&u`S@WRJ!u=^sW-N?REE ziVK@s$Xnp}>G#-OBOvo{`05$#etftk$sf7MKKw#*0}?g= zc3b&4Uf!yWjNIIJ+$Ae11Y4ENM&G7LKmCk!q}(_S@LCrd-zJHT)v%21TdzslAl#{E z+YoP2kn@w{`t;-Lw8M+9yf-&e^6O56uwQ+8AfRJEL?U!t5xMgFJYncu+|rkm{Rze` z&YO#q`+AEr9cD3aKEGDCUnn&Fa&)xEL4SKEw0?UI{e-9gfRor0Lqk#o4w~zRGIk&| zvdFJb)K&q8>^s(!z?fJDS?_J+3XDYlP3SXzdBL&g+wr$?kAt=P5*akD5Jr%1M7Z6D z)v4ca17*iAFZbl=iVy{2KRqy||M34|>aF9V+`9MSK?D>8lx|c?Nf8M_N|X-i29cDO zR9X>Gq*J;z1LoGt?P=irEwh(mZ|*% zu_HCihED#`QUWu`!U$u3Ou4albl7-2I!7eQNdaOo_yM0I&*uU#$=S&XASM{OSerOw z-_zZNzATMWS&T+g@S8X91sxbtlqvB8AkWn1biGNHdIa=mPS*r^FE@H_rzeO8RN=8M zE@)tVAd*gGq?-alJ((V+*ah*67t`|0DFSmTYO0BK7(#Pp$i3u`g>9j251@lXP{lBjke4BRJRUiTrL}-oQ#c zHvSbZbrbN)J11ZG4k?=O2n7w>5i%Ia`A!-4nZ{qa zHO3;wkffv}C=98pUJ0#=*`7!E-Ieov#x3|gymLCFd#^b&^M1yokXt{RpzQ&CT3{ms zFi+_B70h0tPz75F zVrq64IE?MAt??1I0!hkwfNmNa9^PSqGAVku)E6~$>I)h+At9GcmuaD;0#Z&m=g(8& zfxIn94^9I_9_rI=@=VNfQ1wt84q3swfBLvGv39e%HLR%lVgJh=(py-F2Wj_6cZ^ED zb2A^6>fawXIP`jj(EQ!5x;eiV#$r)4rcOm|9OHSLP2||c&0g8bOKYp7r#5GvIizZT zIz}-X1)7UAm4a z-iF-ihu~p&Sy1qVs2|9_U(Tm|c>e090b;}JOvU$I86ESh((kC0_Z%j;tTV}|Iq&@s zX1?f**D1a_A-+04g3=3k6g}8Hmitip;_tW*9V6aUYF&@Satt)c2$lHwnkFxzn6dQ| z1qs`8FTY$OIXsEdYwU6|%Z~)(PU7^hMmfIjoSPtZV=*u^ym-ToL=fd%EB4;&cg1_V z&L=f2ud;94b=w|$dR)U=L^M{JZ9Ja9c6kHwkz>pMb(s$vKMmnPR=%ZNu{&R?r_rlR zewMs0pW=Rm8entkaMMC1o7~lk>3E>*neyO#mXfR1C#3QE!$^GWG>LJLfjfN z`LOXGyJeoBIbU6n!e$ssUjT460viP)i;$}TUM|qh0?by%ql1rFv*6pq{)*vIg@VM- zpWCpXp%=2kaW9$eOGnLs#WP>4#RxL8nBBX5%k<68*?;6aL>118?`NO8 zzpy0yOK|zBc0GY%!alzz&xFq}Pa~&wDpixW4-_tVd*czRix0bC%!$VZd~X#a33SO^ z6OgW{6DxLc$#@eA2nc|L_X&n%Wc4(Jnh%h85V3#g0pXYn875E|Q^M6y6F@|)WCT*H z*W?r&-;i)Lt}|Eztf&A$U}1E{&o;v$umY!;(dXdzsa6*s)g@?mIqEb%i-I02b#-h6 zU`;~8!_m-GDgcGFa@}LIC;KM^on6&KE#rp|OJ&OnER3sqrOS5st{@OSuT&6shJI0f zi5#5^*(Y(*Ja45*f14cf#trwPm;aN!ft}{+2O53nuR4-lMm%0!vL<|#lB92!{2*pW z)v2p2?fLJZhcd&G-qxSRJp*#9yQm!wFWR2`;lV;|PzDBUNJPcP*f!Q{#hg5|?n2Ze zId0wVkAGx%x?dxjvi2|;on7wka%PxM%xS@;6aO3@7*-uE^+`Rl! zdp17kF)N8?xFJ8pe?HJt?U#`|o%|h}hIZ>gg|8_$drCx|nkULCT!;@Kd}KH~Q5fZ6 zy!!(Fa1a<+MIUR6F#riyBE3caGQpHw;@6DgGnptG^jrjEXRm>bp}L@D9@eLCG?sEK zw>L)MkFSMSf14#|zF*;dAMXUnsU!UPm3P8bj@0dkyMHnU9%hSGf9y#uwC3&-Ws5?H zo3)ov#bZ&LQf~X$ZaE{T8~{na?4j6Vi}D5JnHzEzjxv$mSpEL6koIW+BRAL-F{=FwvqY#0?k76$v1lB5P4g+ z_hm8-8q!$~zqqJqncMiwtDi~szY?8vkH7E_O!%9B%aY@yNb3=1VKc0g-%Q}M4E#0& zLX+4~@_2IMjDXdAKbp3!qR%Y-C+*4)sxHHZg0Y5?Fn=FS?a8&9TwBlW-F7`r0ZasR zvPp@FAD955%G0><3Yuc-N^G7yX(*a>w?6ur#_a1Wd|Ekf!DTW(N4b~Br9b_|%kz8F z#+S3$GjfOJHKzQrNrhSDL12;c_fwnfM{_hus*xHojRfbfCDnSz`VP9ws4XQ#cg!cU zNNmstNb<0(yl_x>PwPs0-Au-V-4^AVeRaC>+~+<)Gw-btVy_l->G|G*Us9#L+*^ew zuRi*+GFzr7PV^N$8NJx(U*pAq+~qg*m%KicR?lWv^VK&xsl4>^!RLqpWQ90>2cZh? zBf<%+s0$}I1bf&vr+t0njXl^`&s`ooH`zPXMK%^TO1C=idf&X} z(_VASRPS)A@>ox5$S(ux!v^t*>oiqN*Y2|2{rv&|`8gAb9q@))1Bp_Y#D4rW$u#7+ z{u$7a4|K!VBQIEm2<)Th*joXs2=NpoUcJzpKxC1%RZ$&wE!?>PAMC2I5I$LHhSwtzi1<$P@-}w2q5auyWSujw(Ga(0Jvg&fcHa0cEV)36~HcL-zE}XqGY1 zbq*}L&=FZ0;OEkMiU+%$$MH6(YHZ^10S>sp-U=Mnom&B zcc&6t0yGW)7RbwMQW?bAa7RD`6B=gzT(qz--PLt~{VWQo6}64M$q{0Jw$Ip5^%YoX z-mBfuK_W!}LnI=C%+K$Tu|ENzE1M?%?zIdoZKuUR2%REEl(D^un#5?zvwUuM_Z2asy*GUp*TcA7T7{)b3);eW zlQZ;xgkQAw6$zug$6j{J=vW_M@R$at!2JBhtTfc)TP|*HpQ+k410`@M-Yc?(w|nkX zGTpff?HQ!8{|8X4%5%E#4htnL+f)>m+OtU7tz~`bcuP~Ba6_odU5cTVX9|kHfq}R= zYIi~V0NA@fxg`TnJ@D$bhci0Z+2J5)LTes>dIi86kU*0ulf{IUz{LRy45A>h4#op8 zTbEpFY`>EPoT`!Ud@UL)qO3%+|xLlC9*O1X<2D+X2J4k6tJ&11AK)O=jlj!Jk{Ee%)`9^TR$;elptSaL1)P_o~r54fI)gwZ+yXodaXm zvIc;he|1wMb}nU3xM@CA-N z%PohFN8ZJaISVHtUFJ*N(~uLWV?BnT8m<_|6|q1@IZ$>NfwmGuLzN-%S65}DR-mll z2iqw~K-rJi^|iOlWc8hZA}Vk;r;D*e`!WT$0Tng%h)Dlm$iwU2YzXJNj==!QL9%(k+$YW@xON4C;PFL^j&Vm>eTgR)l6<~Lr$JZY6|ri zRNSHco00bxW>B1O^4zb%6h*gYJF(B512SwZiF^%cH=G3;X{hJ0u$Tio?tD*Lo;+cN zP7%bQqM&sOC^*yFTmMa`6y-dm%c2^HfP=6(Vqw_pJ%wA+a$(<3N#aX1oTO2-=U#Nj z?XL{`qb?e=jj1>z<(G2>-RmFWt^T0;q`cxT_2U*3rY`K!4~?9nYoq^fBHcTh|A>!e zVLk9YHu-}R)w;2Y^Mm1;uZ*;`D9FG0YYe2<)SVT5kdFPM3ZN&T0Z#njO6$@ zNnJ)2W*yEwqLwBmn->NHd+RQoSO)w~``0vkAyg2wZ2=(%uIbBBE}N0KOQi!{m)wg} zaXlXMKAu%{`r?%;>N_Q_taMR$V02Rpx#CgjQNqW|-PHAW%!NMc2zYp*;+C45I6E71 zd#$h@_nL)X`%wcO=i!;1ZV>F)+jAp0jhh?Yua14|?{@-{en^a5!ezR3%Mn_KU?zt@ zHo^Gc(7h86;AiMH0l1zjiiXet%Xw~8xHxM9k&Y)o`q?s}@m`vx&3CFjEzqy;wHOPx z!c;t7vvP!(XSJ(lJvi<%A0cjGN4g?zc~!L4Wm%h%Vu=2OKeYj<)ds>^fLTDV(V?e{XZK6$34H3-{E5hzUgne(RznC=qhgf`P6{LK2Udnp>>Pw6@F z3j8g;A8)*u#_c05tTFUVf3%l{X>I%H&1MrqxwIWcL_{P-Tv=P&0x~p!FK5yv!`vlw zE2l$e(6>k?$Rjin9~~Ur0|iiJW#uMfnoEIzJcIRof?+wmk~*EdwphrH{2_tm$QIn> zBi0l0Rc#1!iUtQ*t)>dO0wHC|sL;5znENA#^05<$TYXXd9~y0=n1dJuR{r6QUo&u6 z_N0nF`}6vK#)5MrRR1a}wni+|3>#c-B3#_v=OG(nX$j&Ns@S#xpA27-x42#I#leiL z(Z+PMQ2aa9f5K(AU~G9KPok@el-1Spun>q?B-c+=+-`T&Oa0JyiTpQlD&7hH`t|c| zU6-qq6Gk!`z>U3MU}UjAe*eA{$qAI#@MbfD)U>qR062oUdf^F>j6feF^cjOTFF5eu ze*6H-A>?&X1}uQ=v4Dt-1Ufn308E(^^L&TiiPge&0eP$FDoE{Roz&gye*Ld=bzu`) zSMPi;uy=RpiPS(1PIx}jchyfa&N;dY21=PK+_-pXg(t!&Kj;1gscRAlJ8_b{MWllo zZ&MQrCgMjE`JAX=^Zi3+)_*T3JOeb`vGIV(2?Ae1hY8!0HyJQF-~gfJa?^ImKLOV@ zcYNorhp6ObZUUo&l-Z;q{9b&-oqfp=$R9-@ zwha^3YAz{o(<6MI_8Ofv=@$qz`W8*6umH%&*_WbF9p7Ag*)wyP)FnwD2*`oU3y@7% z;IZWNSp^Z%dn^~%;?j8m3=d#ei1!dNG8wY`yYKyV$WGx0fRixs(v~TTS-V)zb-E37 zgNYb=Tt+{;&eDXd7kezNkf|Rvyl8|93mxlfBo7_t#Y9tplWZmbElzd-Hwveeiy4(S zUhKRo7EnIyUk#0`SNqnHH@XfrO%%sd)5pdk1)B?9!Q|x7q>Q+H;XHWF&>acO3YrYj zAPjeGyN`hfrlk=hKxnZD=KBFB&A$n71*xlzhrpeC*uB_( zO?OSdoHJTbjOutV`wv2c2yRmFHLO-+?q4-|k_yl~0{3S|gAkVZzS@845hzWmt1ffxZy!#3?j~GKhLqWoEwe5Vjkwdh_NDWPA1)>p?yFuJc^7 zsAml{#1<5Qup1p+QE@T!)RfQulR`Nd9lyhx;{8?{iOF;^@dZIXUt3 zLzo(_O#JP+WJS0yrE9rEGXc`Lbmn}qyj$C&Yn&LdB>^nU) zmK(%z{eMH90740nNc(jKt}#%kjYJ~DmmB`RpUWO(;G@@0`ar6BY;89+VMXwfJoI-O z0boZgpc1N^>X>HFoK$5XPVlm=-N#%uQ4xAkq$QCC`)M3bs_KFWgOWv~l}{Ca2$SO@ zy`g)@%_5}z)-$QnA!9Jfe0)EL7urCAB7oB9y@1{50r#bUBPWxUnfYXWq6wPsmD?{6 zw&(hMXCDfTfhrStEV$>-gGhdjdKz}pdiUGH{IljnO>q-;650> z+vTr~bygJF;47&#^WWg#75p{F#6U2#I#D6hS8eTq5IHUZ0hky1MgLsoN-btVkDs z?|Z~mHbZMVf%+PHb#@l85pXo|WbnS#OVTtPr{+~j2>V&^*MTqtr_Dnmlw?&f-dy~o zU}X>s(fhP)*#G_P$D=#idf-9p$KCrLK5g-(>`z}Tjnsghp>ln0vlKDHW-c-0=}`MW zn@xq}SA$JXz<%6nrOiJ3=OVPDgR%Bm9^}Hn&4FJ7ddQssI*KI!D`RtQN2eZ23Txgn zU+H`U9P6r-ygcPl=+S==%r8ZukY!30 zdIm*}ox2kt1o8fT9V}OX&p(o>(p#-}MyEB2goal%?u(zLuyiO=+}8Cw|C!{iELp&V z%cM9g8k`w*5)T9Z1di(U{$%>)tI|5S=a*WO&cKl)lat9%Ht%cfs?vdtA@)03P4|INy-Ng1OVY$k0hiD0uALH*ZFo2_(Tx zwg=ujG4G=);}?)%k_dtqyZwjOM(o~YtpU&6b=mZX(Ixn2pFZ>&nNY}yuEbFaviEGF z?#V^sKU)RDR9mkj?EDPQ?|_Z*k%|l5E~~9`({*cYM~?3rEsnL)?1$j5P7B?Q><_|a z+a)k4+tcaJNX+dCT{L;&bpJWBll>lLK!AieAk`JD89;nI_0~GwPgDwYvfRk-rVS=t{9cmGLOYR1Pw8X?a;3rR!7mStQ+Zsx&q{ zqw=?kXB5VBLyd8+PqtqMJ{;Ub{9OIwug^Islu~%4!yNGX{Q2`$4iQ{WM=H#LLPsE} z_+bQer6AYEybi!?2ohybk&yTZ%i96E+hGUU;|9h>#Db6*YTD;;y1!}GqT^bJo;Lrp zH~a0R+!qOjkI9kiTY$+dLlpwUqZOg9fb#P8=|E=%NAnK{*>Wj=#Yq*S`t79%ElL|I zkhj<92f|T3!V2%UaK;wfk=vCcC$LEb1_d3L3&WK@%I+Gi!{jKnOdD1=U`t@pwGJmH zxO=eEbW=6#QC1;5q!63gh*fKz=Xfc)@=wxdy-AcKad~=_^^sb`k=mustZq!ux7@X>m9 zpp&xxrn=$I$+y6D1BzSQZ2N()UsLHbzylp#?+pAk`XqG1WbWzEYvl%Zp>Ni=YigYP zKxJ?;6q-z-9+SFO1u^er=+t9@Lhz|2;x$({OU??cTj$ATlz$zEov#aj%{X#dzji+Z z&(a9Mq-}9{aJweoDv(HZN}HXFwd2lq3$Hm=v=rE6%V|M34*dC56mlOX-96M@&;7Ms zl+}-BIJIBNS50;FT1|ntLq2D*t!%mfc#tQV51H3Wp^Z$a$JEQoz`%ZbnDs7NW+R4! zY)I7IAZwz%G+lB!^yl~iMzVO8U4lf%0MQ?Vy z$&j#517{|x+D02D6ObPS648$iQzCDIs|;8g1$jBSP0vuw+kSXxR_i(4UBDDC_J>I6 zV3*BRYF~tBmHgK3QndGd_JU<}L-p1w4|{lhV>8pW)IU>FHvTEbu-lz&Y_{u$5h4)6 zA{8s#3$Kx9D!SwjzN$CnK5a%3Y2(sQ7@l^lErrl)swg{t4b;~&m}A|knn)t?n0}lz z@+(1Y1xj5&>nRAlIwd8_YL6eM4=o$k*p7JbqlT_`gNO(KPZBz3E5=r#1%&^D5!~%m zV~XRD__lAiikr5An$@dp|8_1s_d4eI^{r<2_p?3v?Ami0S{i}|6YaQ~&(XU>>07H& zCCx`mK@1)rpkcPH31+Wfjbt2ZAlY$f5-lzFyIfe#n|`kFPtmh0b0=Fz72l6~w(cRr zJ=Q#%zEWIuxBGG!-;O)(X}7R@QGn^4m~Rj&<)9B{AML z^r=E*4*?|}Aq^Qd^`cY#9>5}iW+%RrWwH5qElXDb9zyutXVcVUW1hRJtFbY?olZ}A z6o~hI@^aiw9!_cFxWcs=&L&Bs6)^ zdWkqTDFN+ED_Dt+=2OF+=e+SsgQK%)c?ypweYGfsmc1qSHtIfls^2fArZO`qr^FEC z0dRg47&LfV;nw!;YEc3nJ64q=oKGhjUv$QCb@ud3f>_L4S5lG~FVLS%c&<0CRCI>q zV+^>EFTo&#i0UdKFS3-^!O1t;^G2Zw-}Wt;86BAwqGP4jYNE-=NbGZ@OEuojdm#EF z(_d!th2h1_l{i!2&M0}!iB!N$x1Xuj`MMFP8{D6_9Hv)VPV{pMwfsGGDJSX8AB0lc zL;D4YLST%NmphQGdP1B9ou5Z)wrSuWV0uGgbDV${s|=|iFPn1U*SYt6V+u;v<(Rz! zk@C&BMq`ey;Nr7YMyHk2KfznM#3_z(@Lwy=YNe3<4SeKY1J;BePg>{q&S)|c5~ua1 zeM~tPR}&_4FBl+X3{2W65)WNvFp?`Tb8mJ?qK|cVOR`e6R2JR?KzP4fWZes(3C&1Q zDr;G-8IumBF&9>HUzdw!m4o(o}(PZ!Wqan^5vF z=Mker+IV4Xblxgz(A>G!f$f*UolQTX z;P_*!4*2ov8+dUe>MMOC6}Fz~H*bH{&{{-!|N0qOxdO;445tqiWOq>D7`(stVhc90 z&|=W(L~Mk^L^m>L#QP=80=|G@sH7Vc5(Ttc`yhAr0f@M3X3!R5M~tT2>t=@M!8CRg z=(IetsMF&r53;SBt{7n4N zp?#H2oS~Xp1w6W_=N^XO4xAOtzXWV`T6|8sPl^EjhM^h;XSo>((nw7}Kuk(XI#vqg zwup37{K^Eofrn9GTs;DR(wMHL=4SQlmej(d2=jwcob5LnOqSwjTrZ&Z)b$fB+x5OO zWM3LdMq}1cr7a;6TW<0t5Z)DXa}9PN=3=8J5AXo?Cp;aXBmLbrNS}#AN)y)nJ|z8{ znIJWXoDLJ=uAhl=D*%xs#KII!X=qO)o}%e`ByeN9m0pAac?6rrckFx<*cQnLCeWup zPW@GD)TdW^_6B@3AI*zYisFALD8Se$Xzykov8{ni6VcpR_y?x}>xS|6;3Ed#lg&1q zQ6N|bsy_g-`+(Lwb96^ca`HX%?=jE?RwIM)Mt8BI&Hsl5kg)7~-nHUX-|Yxp&ugK2EQu#V0t>>@91p@ohPlu_zGH z3-5q|!l2&j>U5$y%wR`Nxc9;dR@Z12W@e^GF9FAzkIxx^DS7L(zzC@yfCsM*}9hH+I&^y&bOW6VFn%)Ik|;RJbDrUb64|$ zsHf}IN+Mt?Nl8e+cjH-vbOStPjSi=2TZk^uIsvcS#R`mzL6NJRLIX-VPW5p0LAW$f zD0slS^KJ)jKkElC;r@JD8&*o7g&nJOa>#kVZ}dgaiF-iK{DMs>gZNVa%$ek>u$7Nb zb2bFHDT^QpArJ}2pt{zrSO`i~wt!aRo`^5c%Ijz0dXzuvcbeLyQ< zNJD;0OScir4M!&Ne&(pdBX|;ZuzTk5d-xYbBW<49(WBThn*3K_viJ9^$zf*|?d=ll zgxT63eVF}b(HYr=bv&`|`-PyHX~@u>UJ|p}I$FdVx{WY}->U#mcanXDB7Agp56m>M zn3bI3Z!{#ci{EfCoUYkobx5&h*HHgm%&z{xH@eyz-3!0AdJq>{^LtD{l)cw=L_1u6 ziJj%<8v8@SM`cpg_OT4T8KsK+?W@a-vTx}U4W(rO3WAtQzQibYl3-X%Tg| zny-#g>ZHBQ8Tq>%1#{9;c1~|L0xZ16!zrvwgGugF7+(tgW1BkFEhVHjj3Z*|vxc_p z{KkIf`s;>7w-Wf1#FKRygKQMi9eCq9p$CJFc%VVW*Mqb#zE)iheu3cD@-vKD>Tyfd zjxwvLa^{CWk?0C=Lohi29im_e7I!^ZLTUI5YAlr`HYwRf9V;Tg<;xS_8GrLPzCj4H z8^>|ISnhtWF~l!I4K~0q(tP^98B`Yz=aRq@MU&CfpMrR|k?Vlw=yTat;~Qv>R%7Q; zWhSIpWOi9I{#NJ2GUiUY(>iEo_;qKB)vL+IkM2$g=MOT=?K%2lLZk++3fttgKY#u} zI~+#5ItqBgUtc6`MxUMV^%s!JCjW8xhh5s}FJfCup~}wzg(Abn0LM zrXWY~%T!XY{E{-IT>8Se^gQymaetXU*+9#+K5o%;!?Zi+N30B0Nn2w7KFjBaJKBem_2K#5%-Ub1 z!`TuzgBKj|@%ggvfG0-?gU<=3;tU!GAVrb!464~{^=y#Ds8Xq0!fFj4YO5DMNyv_t zbki{oHT)KA3wNDfc`KnfxZ&%vQ^84kqiYuf!6i+w2fHzIOz`PyASbQmR*&!5HqgE~ z3a3O}XJUftNJ31E%U)hU>tdX^Lc#EEWX_2(R{58rrqU;sGMIDn-5#N@5Lptfj%}Cc z+~t3H?f2l%)g2h^-qddueGR#u_Y%A2E|Rjs4%TWRVlL9ox3xp_dy)S$4N0b--`-79 zIEkO}doEWB&y-dMDk^KJ7$MS=u6If+z?;GlJwQa_>I!Tq(-;$kIZobj(sr$k)vo)V z&HK{qKgVDq4mPLtNB-{{Z#ZcQL6RF<<>tf1j=t5lPebIg4(b(rtDBg0k2%in#}O{R z+J6p-g}+D3)y}mF7*kNO=(4Cp*<;e{T^7#3umSFpUh?3R@b-0|edHvNfcChDV;&xJ zSZRY(@)P_D%=TSSzz*za0!f%v2o#QL{UGw(yx+8rgNLV3P+Hpa?Hi{1(jmMZ3mf-j zBS@T1$T7V<7URRh@i8CV^K{_9gHqYC{r=)lHV|c>bs{Gtt3$03(hAs))vQL!Fyt2( z+cmUL)4PxJ`kXw6%US*Y_j^RIaK%cA1-MepS3SWAcSpHuo0*wSOJRV3z~&0v`=Gpi z2#w)o?U)x1hhO(A@P6;YRtGtwt53haxdI-U`#TwE;hK~5$K}$k$cD_pty{O4nO}=C zV9XU9F8Dh!3u*v2e59#Ke&x!uF}vDo4-jMe49RmA99&$WVu`qliB{l{$diae<;29r z$5FEhr#}YG`zWZ8p6G#<`+FFi$N0My zo!r|2zm^A!J;B*9u0Z~;Bdok3XImE@$ z;N^{!o63L(1x~{9-`E*kg{vKqT7)1J*nFh5F;NBPn8)~V7m0{`mh$sJ-|7_D&SIb` zAvP8x&$8L~$sZ5%6Hp+<)%xE|o`1)Qv`M`4R83x99+(-H1`1(QJKkC3bDH@EVI?7> z*!V*Kzq3P{p^pdI85|at3g3r%Icxx3f|K{)_FrLa1m;K~`y0z+{+XV|gvoCGJzQMO zM*jP!UsxC?CW|9OEOsyjlv(W%E7BTbZpZK4?yzY%W=}AfaDSndMF4-hB>@*KfOde8YH)%!?miV*8#< zGqQxjM{r>#>5y9u*D;SlX$2_(NW*{&U4OJx=v`maN1j0#VGgSiKxYN8&`;Ok$Dt*d z$NCrm^5nL*TtaYqC`LKIn9PsFe6uQZQIm%dXpInl%Efhc?*m5-5tzaIn9%zOvji4y zTYW&~Co~$B_VG{MgWRF`=2uc_?Pn!tu=-^&kqU&|r{YJLT!qic0fcAw_Q##i7)9^g z*#URDI2#xm)zU9RH*|Tyq!9icRkIR6j zwl{DoLgjM{=9i}0MO^H{T4I|orP&~hlCp- zth`}$oxsCT8a=-T(2&Lc9O(QDK+B*f_M78VQ+;4cO`gmN!kf5pV*%Q&<9DD8wK7`W z2{->@K1Fcc@e78a^!er!boiR!onLDPKcq39U~k9srU@v&e*Z3?MSz*yj;eKK>jpaU zs1C5=+j=v{Ft17)8jfnl>}iEvtd2EZg#i{8siCK*XK1*J?(^JPxI#k%|2EXqTSE82 z2BfGMk_|2qRLanlQ;tFqeSr0O@uD6rQ>#}D>Mc<&Gv6YC;2BMMnVR}(ljzG^zf7j_NI!ghdjl4-+P|yZ20y--QC`!T7*VGI~@R%i+9&XR4t*hf+qMFhV zQ?e9A*yUtq{uv(<0y=5*ntMz19a!qH+f`W_7Ec}3h!{`e;^2Ux&PN(eLbL*}=jiAt zGxIt+oIBrreS+d$>xbnrAS2n>a13vE-dRwE4{izw44U1BiBS)maySFrF-Y+O-ce2M z54ul@Ro&LMC>wOerJ6~uKqoH=$sac);i1^~!-lEOW3V*6rrD&|I@kVKbSFdB5+;i) zBy0|SUGje3yvfYWeD&%_bQaQ}WNFFzT`LI%1q>Wm&v1ZV+`Mz=mo~kahs}gVuc{ zY7N~7wCi3ensh`#Xqk8yh`NuCJd(iC7&#I50RN_Q_I83IutT0P8ukPFqtOVHD1p2& zTE-oTvacPp71&?s`-09&D}`cy%5(y30L{7ASDq7n1Rq`#>~MN^UaAK>FK=H@7OjuB zK4doZ^=%Gz?O*}_u)uDfv|ZVS9+zUChx~g-gC7X)eJOSDrhM*(gbDr)opoH|K-l;Z zRCuHfCuwLopEnszwrfkzvNu2eWL=F(HTmvryEez~gCqAiK;H5z@Zcd3#TST(7&f`G ztT72COr~u+W&L3AK4yD`u;%aJ8vv7GAQ?bf2TP5Ofj3B7>xSE~Wwm)H1wd_`W@M#m9e#vIr;R4Lg11*_R z_6>`ySvDARAlv{L*?|R;?wPD`v4X-v0%GD8ATkXt$#LeRHN>14OV}xbYY{Bp-t&7= zZK1T5e{T@M{T&c5EMRzJV#wg`#&s|e&*MgDCZHE_`?0)xv<4{1@|qegH7lzHNMSMS zazeS6syPC)eYto63=F)K(D;3DV4}@#Cji%=SNuNcU;w?p1>bT=53w&1+#l6C)DVx- z(1&S2{U>K%i-Z<9z$6O`ABjvJhONJbmgONM&*Ch*N0|3BrO^VB85(qO8&LLg-0_9! z=^t$chJO7z;9gf^{RuYP$aA$Ckg!=Ct7Z@lgh3l43-#_5b(q&LlgtykEGEZlbvOgb zE|ZawQBhd|P?@@EbCq@%-Hfu|_h^!C@&@`A&tqxw$F*aGbSUfUqlso!Fo5Rc;{b=g zwbbIlXgqld+jpbF`rwsPlE7*ptvzG_qrhR>1*>1t*yy#lGBSBQv5y%JFgCEwWObhJ z^``dmwy7L}L8xoyH`^g{^0xUU-u!#0w#{e?^U;d0hoqz=E-nE?Y9e?9DJau$Q33Ps zWRny^;D;Z8&^#I(UErb=e6N)y?W03FPk&u-Vf%b3*E5j59Uq@JVE}Q_Fa;rCh zcX}S@U~8H9!CBz0rSz>jGl~tjPbHl#Z%IjAAQeE9K9a=nVd@5B=^>0|n98)BXsj}&P=;RGQiIq$AwoY#dLHTEby0IxzSsg+zC^pD!6!J~v!d(F!L%$gK31`k%; z05tTh7NDk+$S{d?Ux&hlm4;>t&EE%+`Q2Fo>0{VkCZ3lS6f8mZ584uW%WlEQL@;s0 zqJ!lJ3(SfO+zPF0mkL5kE+X{c7cx*esT`ppj*E#oS#|L3?CRn#E9>sGcEPeTt{r!J z*FL>CRGQWo07F*^kGR3#$sp$S{L!OF)4&w~(BOD+@C9)PanqT=&Zgcr4`vn!zwb^d zDv4*T(W=cAj`x85s=Ni#_E{8J@>MxWZ}W?L?g5CatCKA)(7gu@%P>#uJiGwUg8|h5 zLOqndNF9m=f9#ufwXzi8$>+0SeM8f0KP2I4D{X7Xn#?+)XzlAvAcq;Kg_kb1VLl?^ zZh27)-R`pSP?PeGh>?Eo=xw=qGUwwkgai^I$49VtWzWpawE4rXj!BDx7cOM>?eetz zGFZ^Q)TIIq!}KYI&=PD^l!!5fNPONci2-|`wcnq2)+Z;2^uF4Pjo_@sY8#C}b3Vk@ z?$b->5O>_oa+m|ctz{pYy!qKWlILvw1BK>2(?Rr>kdTn9xFNIKLLFhN#T2W76-f-R zt$}faZ*^0Bj-F=ONDR6DA<(qd9@dl|dTF2U(sZxgJY2AW$VL3H^u`B4Uz*?NpfUsy zrun(K27{925@ZR$RV~GjM?kx@9B_TPToB#k5-b&GwtP4-r9W1zHm}%=s1EAmcU71} z?8<7HmnqaGlBG-#@ne0I1AhQAd=T|G00m}yD6RWKZw73~1rRiJM6tYl`BGYY zNcUeDkiIN@Fj+8~rQj>&d7J9-5NX9Q|AIE=PIGHCJkzueZnU0#Tu|%PT?Hml2wI`w zcH@Q>yby4hL;J|F5X!1GsxsOsjkK5Zdkb~)?LtP?W>2MeOSV1XH62{1N1zWN`%r5; zqNb}$O+s=TLKeu;QX8tyOUH$}O%u2ENR9oJqw$f*7R{O*eb!P*;Nr`h(z%0dL zV_svk;SkCVi@qwa5pA7=#L1|+Hhw64@aM(Xkxv(w&R??*7VZD#4uMh71F5*%@Y#&9_uAb(E6~%~5uA93m z)CleRDq0-Zr>eMLK`d0kWU>D)ZeOQbtzVrZt@Uaxw`9rewNf0RuhYEX%FS%nw0Y3& z<-U2K77#AHn)Q0r$8GId4gagP>)V4( zWtiGK#bl$F4B1b`S3UJ)CbbQ7CJV3;2Fw+5=$^yC!-c@!^gF8R^r7>zASyXengPYvs=CN zi7G#;6mE$Mxpdj<? zPe%7P8y7D06!qaEuwmV;CM%>f!BB-eKQ&fge{z(unxeq57rg2ff`^c(?R`S}t(Sv5 zWx`S9sv0(fwoV0e%5VX8PoEf)^ukiH7@tcAkDgqWOHf-?0+DUP~L^|?{*lw*TDNI0kj~cm=!Iko&y)QS+d!if4OMXOI`(!u|*!S=V z>8teL(B=75nq5>i%pu~^8o_ND3L+q(%6X4eW*sdUD({i4!ur@Ve0;@j=Bu`_Pj}ZF z%$b)lXKv;8vXW|DFPvMro1*J(kfEJ2*(?SAOmxM0c*p0mls)f1j`3i|xCUW`PI(34 zH+Jw7IDI&;P=0@+z3?a?JgQcDAV4jpfI#Eyt+fLAui9M|9za$ExsF&d%?~uZ+&g$TDn_fT_LooVzQ68nLa|Zy2K<+iH9&u=vdyR zF~n|o9ThT2R1%xbpv_UH-5K;*=H}GSGMS&Vw)TL0-0EHKd2!~OPl`Be;=%>iK4Ke$ zjP`5&c{(Ji>BCj26ltn2Ms_)W!{$_-2HwD(?*a=8li41+_kYb}1zZwnxSGt?^DMR` znonUuPcBN%L@roa`;mh`0k&TWB;Z${&SyoD?Mnp^@i&mU@U2OWqV?rycGB=2sSF7l zqPJ9BXLu@vV>bTn6T)x58w#JW4QR?+>^3}%oDSi>FyG^BU`{(bo_%C3$2us~u45M1>-cqtd`UHRGQe|7siF4$QtotTe z@8E{~F+L_7QZVyu%3i|?Rh^6-nTW7j_tiS&iMGO)Nc!t7g2QR`|4gsmzl*z%|6Xf6 zRDS+x1pI!bbN`p~ljsNf1;ffX?0eUYLY>8Cz;}}hYn%6PmflqN2%9?H8j{ zt&YDHDekJdbf|NYuKJ@<^y0OT_09Px^Jz=sz)XqGRg_aInCcoNc~9T|xGvK_L+xy_r(v>JFx!%pTJE!)7)tPy z4)^4X3qK5RAct+8vaNbYP(io0Ycsx)=A-1ymclX<=^=L-tt2Hi;1+!9oDhc?4WzUZ zudi%^|JZ714e=Tnhdu=^YOCA3++48uF7U$H($l?%uK`o3T&$l+wTQOm)2cahT>DIx zbjRy#P_MMMWb}CV%c5kI=4S1}8@-&W$WqR%jiw99 zxLZV|qwePw7wvj989CSuCZF$!yCXhtc1=G`zCvyjojTx{?zS8)mDAh7VW<>*F_t8^ z_@2v_uC7YXaQ4?Uix+)!$}1alT($?%Z08|iZN5rW)Hv;sS=={X zlfj*rp*Eq4ta0+R*fEVPIF8Ir{B zuFX`cF{Fv!)vI4G`eDY?EI{cIfZMG)9&Sc^Bi|&{ZK6`R`Qe0zzm3hq{vT|)tzMo% zPcKeA`JW+Uc@Qc`O_JFlPp?;0K^VpK%qnx{%t9q2yD_C+d4wdI#7-&g_MN-=Pb+Z> znV#7m&5T7qVSX{*O=1ardy)DAg)`66EKHj+i^sOiLRDy}Cs)dtSYEtQdU&_~q1`d- zW--NEH>F6TmWeB*s|zzR8A|JXTv!G|NB@~Jmaj$>yc^HRn~Ijs(R-_u_!9+vVXZ}u z-|Wy`iy`~{#%hnu#c{jv&!#-D?J{_bJzK&o{@78y)70l*PK0OzBzRXyKY=5i7UqJ2ZM5N)hxWxDa0q9C70jKySLPR%-X}$+V)jIbcvHQ-i%0N z@_3f6h{@MAPOIKLw2U#*jKEbkV7A*SU+x&Uwz6?%rm3-(f(x}6*5dnOFpV|s-c$X( zMm|lN<%OF!uP>$^ZkINt*9O;++>?c9qo9fX^iga*Y)l_%9-@jiY(|;;nm3+~>`2s) zap}MQat(%N`xjQT?cW_7p(iV^@a$WY`D`$Ko|snEN%f^XTe+;CbX`OaT_fmKyLQ(l zU*ok2Ctd$Po<&-6(kBtmlg8`EoRjvf93A#nKMq~x;pySh?;p0{Nvh@L+gGHWy&EON z`aL>67UdLLH1;AZ_9@{bC`R(`&L(1SN(oCsgCon?xPWT)LRM6v9BJz%GOTPjF&UXHC(JbBlAQ z7GjOYvhiobDJ`p2XHBIU3ds_O*_(TGqmc_dcjtk`BvM#(NvfIPPoRKulO;6IHnRtq;q@)c)Vh%*v1jpNtJ zGDZMH0RLwQ9-1m%cMkx^!KB|#kMGE{ZQ+4b_ATOTxZRvo3@QRhx6Kh=M>W z^J3!s-mB|lp%+9=HZc9v1J}G;>$!EG1s8U`kJ(NI7ehB{J^N$DI&OJAdKto$TK16{ z5>DHz`4GlvQ;pSwiTKR^e$>HP=*GkZviK8ZGi+)jep#F9?&xc`XyOPm(ByhOB|f;f z*J$@weVH^uELm_e(S1~rS9VDEW-sE5SyPENrR5~*Y+W021s~ElG~Luu%e*-@y(XmW zhZ#BG4|;1qr!6vuyv;F)%PvY=mrLk(L_ud|CQfEfDdq#al(SBMwRi>3 z(a@;<_R=(PES56k$hInh#L?~Ku07__>w^KXuKrdc7pS3Mz!)|CmXbu`Yv$9fN*z0% zx8vrwA8k5AH|~z$H=%Aw3`!c15;>J!O+QI|GHSb2ZxF%J3M=^4KM3M$Rs9HTr87OE zw$*_>j4-~veC0qxC?YMX@VU%_?N})9GADp`R~$f9C}~V;21t_5)(e6}5N7P@!gMSW z^8j>Ag%Ljv&+2e&83f(Q36WOZ1EW;I@LW7!wgaC5y^GKWnA1n-l)%JzVg090-U-#9 zE^ZF=^n^b#0Ci#R-uzV&WB2X5?6(WM&v|LXsSyy1>p>428tV-c^(`AB6WYE{V$In{ z-L>Hq=36E(Mgw|+dyA6g9J(FuR_}My$>q!UH*qDMXva~@3gh4I)cw|MEwbLD zRvnT?Mk3PU6I!@8CZW~t)muyjoC6?;6(UH-fs|jR2ZMlUIU>2vep%6E^hy}=lB8`- z6gKz9qcEFu&@B8FLAZU896&6}G!5ciX+>>X80RH&mL=NKF=2 zZDi}z>6UoSO$22o8mg!EKH9gn>RuppsK)!+%BoZPIZ0#dWi!*I!G9xMR(9akHMI%` zu+1ScZdlL*;mWzzx2HR zd_LU3UeTv>ec83{Ljdq`0uGB`I!5iy?CJ_%oFZzNqgom1hfJ#%Ot_RYPA6Q-Dj$g$bs#d)a^XD-3Z%fctXFB7+z zHKLeS`)q+a-m!PcBa~pHg;%SM7d$XObY(LmCj40jzC;XYJzDxeY{|D-Al|#;nviJG z!--JMA_wB|IZtY28IZkrEBAgmmO*3lS?(T&A5#R(i_jny?6gj_uyFKTP>h0MZrq5| z_I&I_GJhd2Syqs5aWr`+#?&RR<5GD|7-^{D2E?(*aS13;$)@?Gd5^YPiw{aLQja_d zoXjs3XDiq?$*lyx0eoiD=^!xT-NiHp&ys+}%%AZRW>)t!x+1Zr$)mfI_Q071 z#<`%8`CmegS3$x6Mm<#KQW50TGjAH1RljR$x7?Zxj{&|X%pGA)4~4|qTKUe-xT{<> z>l|y&Rb(u4r`a?}2&-dfv{pOpHdk-rCfJ5LO(zI?YvyRw?~!KSfYA<0Y~uw1zZ=nd zK^&$i1|(pBtVDc zac(a{_$9pG#0{^FEX2Ase{_Orry6`zgxI3i8+%OZzxG;yqBP;6Y`k-1q0)TdHmP=XrJfBHWxxlVpK2)IT^yEU3bzni~g^ic7 zaZMuavAlehGUbsF;RKUXrk8gsV^hXopFUR4wg131qhiBmY}(GFx`#P30_-{)8zZCBAk+v0kpkTz13Z9FLudo$RHj&B8U(U>2 zk6~<>*kK1Kpg0coll1z*Pq6xOm1qtJQ`J*U0iI%p)s2y*=8TK3CCWc*q&DngPDtZb zfTyp~mrSNH%wJ=_xF`*>7?=t?f{epI$+5a+#;6-Qzo`~6)^mosN(q&*+B$x3GTXVa zAc4*&r)`P#uIINFX`iffD)4ZKoWHjD_%ZgW+b+g7VOdqx*l@Iz5Iv)Xbdz3OP3t0q zUQzBwt?ltsH^ZLOQyleX!%^AS8woQ#8B6+PpTg8eKxP`!O znR@lfK2^&2%^4~UlZ;XhNutk%sR*pKleQfa8y*>l;iRz-xK?=DJE#OQ+-{Wd<7ZIS zT8^ebca5pVpGz|?@%p0bwk|h+(FOMO%raUSW~zytn}o)-wi2?`UXA;JnkMGFmb{y4 z^y3(Q(#=s3JT6UFDO9sQVYK)tAAj1=%6GR!kCzc&yEG z_>Kj~phe`*WLajL?sWO!n?KIza5;?+EzhjyA7^z4egkR2EkhYbZ%;6o> zASKGa!45QP9A46dBww0$mAN1dDIoTsPZh~zqPI$Stp=HO!JbP6MQQ5SvFT~*hpIbw z#a_8oxy0ug6HN1VFF9HO7xfe8c2cAY6Y6@>z0^?)I#edKQ5C15xI7%sFX7@`L%TMT zUY1^z)X=`LkM?CL8ZK=Pa8fLTB9U;$jB7l0MyYdp4xkW_uG~&6}t(t6|S-h+~7jy+H1X z>!yf!7)Y*GJ`B{l$m#~4UM!fX25OLOt#^H*9T+@)!StL1sA&;om!e}~TSFsBFFd_F zGCX46Bvb!ccxK~|=ky9^I%L-W__!*nXZcQgkCe-ucdONRC39Y4;mTn%u1QVCh=%f` z;M@VhaX%5QVNBK5s!x22la^S^3zIwPHcZ?PSnr{F0Bss}T`}bPACBuPFshw-^jLEQ zTxvD<88UUot!A^omZ;w~q7Hz4yw3(@m`x}}Ek?A1T{(S@{JZCrNpPDHrbB5WHakAu zN~ydJ-6GrKgGQcP>xVTtZX{5aI6G(0)VFbQ%z46P@S!BqtQ(iq4rA1yvTu`2*V$Jw zX^$4l=%!P{v^wqurv4pvu#kBIqgz$Y(E{U(ov0m_Z1_IuR(T&-bt~}!(HaA1O8w_@ zTG8m_6v+&7u#5SP*Y%>?sfr42H1Afzj+#%#LH+Y#PcP3?C~!)xp<(jGr9-$VWGAb7 zar*M?j8UE@Nxf|{SAfx z601jQ8Nl6npF9zs8OdsB@3%=X9igVCj1>}Hn~e7T6$3Y>c}6?YY>E+w#w~4pU9dGaDF_8?q~#izHBrpu_TF5IkAI89Ym_3$ zW44+TK1b)caB|gQm|TUVH$=y*4k+5{iVv-CkTIjIMOaZ^*$hgx*cF=PhB+3>hAF0a zA!@CLQG&u8E0gW6TM<@R&X{LpuM3GJ_dtqH%)|OOBm0wer|~jOy`t-4Ut3)CGADAA zt3aH-9_Hbj497&{VKgA>1|LUV;{Y4C&9H`-;kNQ1R4d(vgHoy}Vm`tHaGezAL~aYD z^rY>lca@eT*ftWnh4Hwa@E%7w_g-r#(q%^SGKQ|pq ztC=e)hN>t9h8+)5nw3{}h%g;0?xhOr`K-uA0y(&Zvl|Y1v|uHCHAJS0f8gk%p!_ z^~LEVMRY&y$qAIP&Q73^tJC|sj|}#e?};)qrn|fJLEYO~I`pYS)EJ3-ww`0hy3KnV zDNYZT>=iBRtnCR=xl(Ui8B*fgIZe%R>ydWjQt|9b78k!y#f?`Bd6gfp=WM;j&xpygyu#i4#=KzpW>EQo9MM zXxb|^5H~6XWjKqL#CVEQDQv^+LZbwGJU{WZ*fd9F*tvMb4L?qE;Fv~yd6c>PSX1D@ zlVRN9cSzOn!9q@nQKAE#=YFU`sBX6S7~EjZ(wpar1MSYGf`M%sq{e&@Mi!R7P2I>T zYIM|8aOWbS8$y;SC8ekiC#mqk$-2gPafeBK!zVj2*qyV5=augAke#&zKhJRfm*<6d zlaKfMl;pHl6nj=isMy-#&4Juepy9F&9KuFbFoMrmfLx*1eL++E;mX`=K6FUffdu+7ME_;^#u6EV1ZR? zClpDgaWC$jwYT?9m4DDeYh<%7OTZJyI`|?vuEEgAEqb14K;X@@U zS0?sBfQF`)s5o*S$q5ok>$KZ@5Kzj?v*N`)6gE0r%hM zKOBj)bLV-wxH4H{N*7S1el7#nb5G`RySo7p0Wc3&11zfz5M4-OI;D56yh_gS%@Wt3 zI0b8p==(c`ZvzWi2%i)h7AokO?5V^#qmcvFqpd;tQ<*}=S7lg_Q_N4yEMEIVnVz(n zq!xOI-8XYH5|~@A@66W3ew1D2dIbrRSXK7emV}?8Xnki4g8(^^JFx)m^M`s<;Fmyep1PLgteu3Ocb&o7DoQK_N z=Oag&La}q*K7Hg=^`HP6YZBpPbvUmkpD9VD>C&>UtHYmF65ba~o7!=y$J;&=(U5%S z{N3xWcZ23hf?Peg@SZ$A?xuLPp8u0KLi3y;F|v8Ox7$A&Q;hh4DYcQ@A7lL1L*&)e z*2bJFAR8XE8|4SpoTg|)eL-J-91K)*IF~lRCUUyI4xO!Dewg~QRa1}>(LN1dc!5#vWCTGDW_UYH@G0}oZIu%H zy`yaP@BHywB05*$m8w28VrD65ej4jhAsEUDb@p^c-XdEoD9HWBXC=gj<&-9dWNuQ? z%2I7W&)oU8mn+!VmS8=fb3R_^f2YHEGOa zVzpvqD5q1}EOvQq8LyK2E=JCpxfa@-uV1dI0Ca05(59CM>$7h-*>LK%+y>w1d-BIXo~Oi8gBp6k+9%tb37e%%)^FqDiJiC&<)mm* zfp^5$zW2nE^5lg%Yy~$@ck+R@t8h@(!^~v7nD!sW_ijAlCK`knI?+)-JN(ZRSO3*>XFqL8Kf}W3ZI;3~Xg*H$D6e z$d&p}E&POOrM`Ry5p~VQ3M!tc%31!$wZ+h`bocw;}{3|8{&!zkBCgay0 z4)(I<922?@gXmh2#(70K=ZuU&0xUe>;TNu~5d6B82Fa|PV)d>0qGwYZc8f0ik^Z5c z>#|Q5xq2|cZ^a5gp3kpSMWkOEe|hVXQ5sdJ;6qtguaX#(UIF(I&g^?FrdhagXfU}G zt-R0TK$qB$WmnEgYFj)BegCn`gtV|Eav-&4?7$GH-4WZrIFzT#fu{s(tK057c+g+4RA=>Xwy?DzxSjpz5BThcwh_o;t27%Ge%$WeEGMm-1y@jN!s>K1MM{$=)^=4UDg%ktQc|^O z;zw9sKFktG4RyIjCk#oePRPU}h8#|8o~S@cBSoa)gAY=p(vceT28qU>P1K;Of<(Y*+dTN0{nvP>!~ZYohSYe(SOr1ORV*LiAG~mdWL*^vp;ns z889TkzR~jmv6l_crLkMZH0^e&9oEA$`PPEiouuSp_m`#sg!c4SnK37@sEXIlH4*Zp zHm?Zfq~qK4@U?o#M|r8*qB((A>MIr*eQm*RM$#Af$0?F;9!PF;V4hP_pD4DCos#>y z(2K;xQlB^9uhN|PML^B%rT35lgS={fN8KE5&51R2t92)Qf$t)VvJtCAD7NDpz24~P zITQp=D9nk}K(vvZ($GB0+Q-SlLS!5qT)qeQhF8?b)7|Z|geAWDj8-|nwwwdIE!!B> z{c&eOw1oKqZ56KU=y9uv_Ra3NrI0L5+Q23)XQ4qi15Xw+yV(^JNckh z4^MRaD-M(gC=FI<19_hDXI0OWiBVEJ5!i)Gh-IAhsIS-xZn@IFtj}KbSXO#}&`GZ?x?_4bU6U zyv5F(Xhos)^BiVRPIIAE46S!}&TVM#*2+r72+7I#Xu@TnZu9hZzB7N; zh4Oodk$r=roY?N7@2qI&Qg)Lw6UI6RTZA(c-m7}$rtBEI>HsCCc=Qtr(>Ot9RPHRX ze_rbkQm^_xlaw8C7>~Q2Ya8Lgg7~qusup|vd?+SJO+%|U<=th0?A`%&!0v*?@c0l; zZ(HyN#^AF%bXLFM-Df(nifhx)d}uHL!zK(w;5u?|*^zz6yzHbV+T(FQ`DOm@3?U>! zJBXtq{Q5|=4>$Ki!K;EvfbF`TWtB~&qY23j@A@_+`V{Sn%Sau)@Dp;XkjINK?10#GsjUOSs z!H&sql-ukBd4!&{8C*8T_A6Ouh4+q-mSM*>J{?{ERxw$?*;72viX|gPGJ3e>$|oXp z95%`C;@TgAkE>*8x9V!1nnj?*M2H!%Y1;?&HK(^QiC@66IMpOhk=r(HL`DjgEDckV z_zWMd1?QhV_uAn)nuETfXlc5frffuES4(o(-!Fz?qzMYAif|H3q=!mj;yqF>P4VOn z+9>*CkG}qoJv!15^BZkGZptXq4#J0Zf)l;I4b%JdLftV<*WYL1l8ZVApo_ z;3wWNoWfM)f!^r4xF>J5@0X>5x&Y=W9`x@8><=A_yEcx0P=p>{&12s8Q)0?ko?JP$ zRAut2%|~L_+9^kMA1z%rJsQNP39!RxKO>FNijr_a()*ln=%7YKdc=RwSzr0%!4(l1$Qn zJmR6p=+c{faG6%t;jXwnD@^oc>Y#eP34od3Q{mDgg1u{S7}AA z&z3metECB;YtNkHZeIZxLPT&kY^qN`LWVOBR|lU8vBU5-Ztpn8+j;C_5Bj^R`BiT9 z9&*@ovCiX5!F-HL4+HbhFG0H=J)+e;l_lkbA!j~q#b&P(X0AUk@Xw4rK78dgBbZ(a zvvvi)vvZ59Qp<)lsO{FsmQ5H#nJsKHZuHDmyoub%shB=PXko#- zseO+ae8eV;38I>V7NokmQ!x-v@edD|M%T7y$jLV&N~0hmSf?ZUK^vW}XqW4>#&aBt zO`!;`m0QKjDK2xe@BWYP$Y)~XIb5P$S_I0f<#)Q88fO0yV ztANAZ#mJiB{wKTx8?YmUEO+`*&U`mMNt}pxmZ4Wu!hqLpXwQKV0$fO|!P}nJi<#V= zUkSco)WsGM`Ye^|(Se?$t%ynJAAR$h`64J{aL-uzljXku%8YjuE4uuPy7u;3tIP`) z!u2KZ2e-`g8TSC+w^F!Gv>!$4UBO>s`ye2u)Mabr!;8$eQk@>9+DK`G%0tN;Bj7h< z;+TLk%c%193%Qqv&!raXt*iZFG-i&g=$1oVB=%enLriSUp}FPgs35nuZG=Kc?#Z9HbHBwr)%<0xo>ti#!yWq$v9Z%5oX7s3 z)oOkx(6dY4d{@Fx)L`gC4*4-yNkxrV#ZlCK$*MHL4(7=qsZoTWf7=CpEa&(mcAkorT^zKdeDH@kT*=AT zd`aVyKS%Fq zQOVF?2~oE;<|sSux;r}yi=0u>?!&WT05we206{N)zH>HW@hx<6;Fj!y-ii8Lyn6i=lZ?Yf^n4k1$I>i@CM9IlJot-C-ZzH7O z^{e{l_Q~nky!S@K_ohJuHf0+wI)q_UuT*%3el(XD-VTA6+y7H{Z$l0G{S&)iYuP$b+@OauL{>G=WuzBp>P z{g1aHec%sLD!V!Q0lC~UqVuj;G|A~!xfb_29zC*RMqBiGsAc4LT;mwMBk^)IJ1NQ~ zU16T`CY#s59(Lnv z_4FMUajROqW%2JRmH&9(d=bE4`z6u*^hiIQKe&ODZqN{MxJFN|g!`}~`G!Q@5s=Gn zEEFcoQtmONRgnYwYHZo+ZkU*{J#>HSC4MN0IA@k}KDX*v#XQD)ya{+p;0 z^37H@FaRG<|ITLdQg521xVF(tAYr}`g=Tcg>$Nia@rsb!a14cWbHWGoiu3s2-Ct!Z zdPy^TszDe`fYH&1gw{#3asVPl{9x_~;6iyAN+Z1&g@kp-P|x(>KM3Ae{nM(PHzY2r znsa}baGxQ^X^f@A+R2==uaeeS`&e(7z}V;Sx&nV~6~U6(x~9&83|e3Q@kGZ@=rSuJ z*|O^I#SvPylKJT0gLQ6BI-)dculS$lctrkJhV-cl{}k@w{UNHjB{>wc*JX<%emDvL zp8*a71C-7BNt%_RKZfdF=H3n23i3E~6zx0ojuMc+n~w&dT{%4)H9J1l zUfGp7w|Y0bhcayQO^Cl*7V)pwYdL&x5~D?Y8xFLa3j;vS{xc2Mz%;;XirMCUL$mHk zHETmRiT|fFCVbs@=Y>Viz=L$WE(s2geAh3o8q6hu(J#>Kby0o?1<``Vm?;By`{ z?!#xd_+%2Q@Q(yz0oW6KgW{OFtuMjo-wRO>*=rIYFKWBIjwI|2?)%B^9(`vX5U0>p z@IgA65&^U9o>%c_yP;=|MEFLy8Fg==OwZubIjYFt-Z%Ri>S7@!lG5E@HfZoT$a`8E zuNoS?2~O_rZ7hF<@JaE7{d>aHNPM3!4<&WruYVDq`ujhW1|n6(=wnVAuSbJE9gAzv za^C-2a({hAuio?ju7$tARlCU_5b)pMrszL0{QvI9ZIpb*j?l^N>)gf8Z_inHkJ=ch zEz~w>Fge6!TDPuDR!V{IfUmu1;v;R=b(H(^qbF#iM^|9XJ3iFQ!uJR{rqtB?S}~U3 zz>{;ehr^BFyTs?!j(D1yvKom1(scoA55%|?z@+a9oZWiv+> zik5z$Nx2MKx%C0@NA&bLsvrK(Zp?ahFI4$HebDHxCPw<2GOE-H?6`(^8++7N>@e8y=j(1 zZe7D(TFGuywR>zJtMVKhW)dlNd1a7xMqD4vK}-^UJ9wU!1rLev<=?gLWl{_@>#X|h z;}n}H%f`Cj@{@sgv)^1VFdud0z8ab6Ib~kOe;$E1;a-U7>w|HSq|3UV&HkZ5dUl7dA@t z{#>QKuj@VGpZVj)#L0T5FD9aNg(35LEOW*lcK7A753aU6XR1?Qye1OC%W(l5=uqzR zA#?;4YC_3QT)$Zv8z#1_51nTRo})^cV>z1A&mp_CyKVqg*=?-%{%(pP_9xfS@Fz#~ z?{ev4)qBUy#Dg5fgY5OPT6QP37p-cuo1W{lYH52Nwhh{>?Dz|sWlODldMn3h{64=- zi;J{fK79KSk5le4$jT0{dXXk@6NVQzBx=AB9o?oh8r!G*EXj?p7U(#f^s#49W-oMm za?YeBz0?+84`@tF95#M_A;*wAV^aJp8h4ZXGO`(Xf`#~%oY5J2$HOFFf~q7%X+!I| zR@cCTm9SW=@|~25A3t|^Pc>&y(CMw=$l-FZQu=nE+68c1h1!EOM#Fj2;>t;1h_eWl zySemVE%_QI)?n4`7`|~FB?W_}QL*jg>&fIaZ-`!j@{yie!J-jNSXsj zVvrz9ltEOK-iIGNL8k%oilF_N$MVNiXFD3r5a@EpOfDN*z^S{@f{gUi_Brhtvfi@# zzPbl;+$8Ne(yQ*?6YDR6pM=O3w;a^5Zq{YZ&Zu*Q&?&PI3_N!iIM$!9#X!PTWGs`#3mwlabJv0qxW&golX{{ z4)@g@j9jFMji2+d#(!+)xfRN34QjKQDGS~1L~m1dfge41eBFkZiuTR@jUXV)V31q= z!Q_K)wpg_ti!gHeRK;K7hN$i?Ly=lw@U8O)5P>H`+lVr)`_HByn3yP6W1uf#t6Ntr zp}wzt_yFzI;ds_RLMrPv*&&N=3U2(+*U2UFAYkos+nG!>@3pEJQmiDW#r4`t78wW7 zq2zE_0rsm3m#fE^UxH;;6^caPt`%O)jTD| zUb-L=){fx^ME%`$_8{VSJ2ZnK zHQu66UkMpyzK|*eA=R;r4L&)$Qn6@&ZAZB@@TuLfv)w(%iSW#e%#cs9-e@jCH`**L za#6akEKw64;MaxTsrRee?VJziVio|R`H8h9npO05iwCICx`|!cdj*Fm+=P8yEicwUbJl3RWo`{xV zJeh7K@+=+I!_zj%04ACpz77k$*1Gow|8bOHf6wEcd+!jDnFY?#dT7_#+9-FC2G*SM zsZ8!+V@VrjVxO8vajm01g3aOyevIob{;~MB1y+w~-PWU57JKW~^LbqRU@IjAWVL(L9LT6&2_4P8GavWee0M zidZ7I;XZxHLH)!rp_D^n40NK=fcrvkp1B}%{~aV3SN^y?Wn|$~y%WmT6V*4nx19S* z)vK^jgawH51mP?lskvwE0aqG4hd-YWLc`<_Q;br~S=7p!NfE zPSzVxgXzJ}!fYS)DJX8MhYyrQ9%=`2fEnl8QMLkeZ3aEIWC`%wg@n+%%!A$b`yN0= z@=hs9$G4^6Ty7W~?#=8w;dzL@rOi<1^97U4F?U%@^m?Ex_4-ZR7JlQFmdEi*&>)6pLa-H1#qgX-CkoMNx^jLf_5~(*6NlV*3 z$L)Blf=WG#6KommD4JDU`~iEn-Qu$~D<6>8OyLsCOL!PT<;%cJ2uW<6Ep>M3shK-P zH%Ohj#IrrSw(dd7J9kiw$TcJO+Cz(FEn(intg6|9^jFK~8B6JsX_@2@DXG)W{gcur zg+s+8BjPMr5@(08r%^3oo;HHNE$gds0%w~=82^^S(GJR|03n=f4;gf?{mR|OWj{i@ z;?+FGFF`)2lJxdjlAM0p@E-jic0Gwbd#9ACpfXl|wpl?>cl6~hPD?r=>Q{XfGJ~+04mRZuDsV&#p0Gfp~DcNhRgs_?FdtjdPVT(cAL29 z!qTKx->}CM&Fi*R(pUVKUp(EsVQsUgmk+WfzW2skX%J#2Fo#VRgpO7`8+e~l!$>st z2ZrB%Q7M5OUeD>KSN05PE4cqBQzY%{0fx!u8=~_{Ta182-#2D+tUaTz-!p5))kSh5 zG!4*WcwY+g7OS(Gy^?!npGWzE(x7>YOlWcPOkZm~W71M-s3K120vr1$nB+A*sqG6} z%~z`Y9ES-ycGdUE=5&Ixv^R=IJ4DQMFh4A=;{SY_y0l@Wzu*5qR493&jny!%hs3J}t4(qS$}6Ud)WOPzPb)yjmmfYL(<-nJxlgHZ^2 zzT#nc>Zxo{-qaR8)|>i)zDR>MsnhS`X5_Um9@%`{e1`re#EOD4#q{OFwRKLt?h2M> zg?!vsXxxM=;07892Vq;>%agsyHDB|mQNJk-dQ^O85PE4H%h;tQU}pilQ;&wd0roHN zBU)3U<(YUfBm6N+SsyEn3B)VhGXZOkeBwIJnLQk2k5e8-5V z<;6j6LRRYrb-(gX<4EzlGZ)qK){d$w;$uTijq|!MJFIWo#QQf3MLn~Yr;uU+Iii#X zaB7ZW%7nShlAlLu8ZnEvSJ{wlo%)xsFm7PE%+3zBE)k2(k3j@7`;;eX$N{8VZsZaM%1&FIe37ZqQ zw~B|)=Mp846WH6hTt^;0!{TA_(-F$^2%?jhCLp};H$`(tat^oPFq%d~E6!xzOry^t8U*8@+RSvA~*)Ui;q516K{cUY$^Oia4z_(b~)iM=}FG+qmb4B1$cf}*d4ZQZ> zKyr143AU?;Fj^W)io4NXMYJG?*vXMdQfS(x|DBtwtdR>SU^~!%x+P7adipmWpF2ix ztVhdWLrwlx3-Zf?{sCoSXyrnWk|KQ~ryQA&nWogfnP;>cE-cXiDur|fF{T%@sV(8s zmyR6xY`IFtgm#SWdRONnUfCQ@!$V^@^j-TKGulhT-)OchVSh+KHhr_P2QRW1i~@Ty zXvoe}67feM-TOX;h#KW81yV*pBxT9GEpmUhU9X%6pZCnv9ISU;*dl)TZy)^ZjU2j6 zo$0BQqJP-E;=JxlxABHC^^WbHFvGcuSb|`7IBW1-rB+hJWp|_h7*{u0it`WEc~avq z@fQ$M7v&6tm#Y{U@e`{H6J9Ju+Kx-Qcui8yA5Nle$!Kd#Sao@r1!LvNo?Q2QPD2t| zFdW~!YR(9YhUPv*iG z0Q78O%9F$NKBN`_i~K__{JMf1qX05K|`NXWfNV8 zq;g4_#6Oyvr}A37`>Q9J$)$f5-e0k_=OYlwzy>7;eCY64xW)noaOg@32LKb*sph6y zHGZ7Kf8$^f#e+Ggkm?!U9tL}QXwOX34E|&p(Koe`TZ#XQ|LUI}JA(G==E}3h@bK3D zho~%*#Mk@#8m{QyR5jTA*<$+=stP0BdsiyDB8=!}f9+Si-c+wVSAvNS4ELe%T+^lr zQDmp>?d5YH`7sS`51J&7za3x14wu*k7BchS2F1&xeOT-pN^YDml}^`3I(m#BdQy@` z)wPN+D!vkl$MjPV)-%}nL-0$mK_QDH_-Vs@lw2DCe+^XM7k2QDk3$biZ zN&DjqPQCf#1ulgn6JX0WVH(Y6K5$j`pk;BE)gjLDv-S{SUy@{)nvO#x0c+eR>Vu=l zd~V*IO}pjh2+S#0W^z&DU2oBR`@M@OFY(?nplpYTYyH%Qynv`}Po4HMKD~R1sPsYR7OBknx`IDKU7>MB19;3zVE-lnXf$?hv?8EF_ zid3zS)L*o_b~F^!tzFALe&<-*P8QM_?d+A$SwGySQ)33kl~y@>te=#@b*Vprx=JFngq*>&?tf6u`J z%$J=_jgRxE-+`OMJLWUFa)uFS=}Ij|d+)Mrcijt1&-WZ_7WTxq_pS%3rXx$~^$en{ zMICo07gm0yG`4a!cDzS>Wv6z!Yf=uTbpk61*uCpMa9@|2MAbr3M^)Rh(Vr?l=b4J* zXsA8!>gedeQb9Ue?9q`XeP$mRsw(_{L)~7`ehR>+S}2n>hy<{%AZOzv+ZSHw^Af)C z_t17pqEGi?j}U1YDdrZDw))WlquQ+ygJW=jq^I9NRDHeLmll|1u@R*`OcmT)y|*9*%f%dikNfZXeruMJ4%!&I^W0z z>rpRGClUVA|AS~Xg)z+y(%oqq0BO)=6%JQMk@?EJqEDR5zXocIU7TAePbgh998w?L zf78e2G6VmxywUo@G`JbjbjAv#`&PI%;s*xR{K=U%1zDOJ{mDJ{04mCHaX|j>xz6r6 zd$xUc53Dh&T6yqk-5vq?%l)mn1n1EEtZm*z!_}QD0^r;VO`z_yez~X{=3CO!9+oUJ9MoBt#s6>(l`mAZ49fjUqrS0Ew$@Q=;Caf;o> zv7MMwK&N9XH9*Y-Rqxn0_*w2#+40+55)(5HWTIM?$CvaTFp9hL99Frfy?tf7GekLw zD;{k)1|<$qukYnRJDA(PT-g!bRyTXqH-9mb*L1ds+>kWc&;Q>r(6*`OuG{B+g|D^P z9xy)A8Jljog-V@{>WGYQ>OcoH(Mxmq-4`B?&sAy#eWIeKu;Shb6;PgNjo{r!x9uWHvH%>(G0It9mOss!eaKzI?uK;q%_*uk{~91Y=Z|7H=C) z5_<aE3Z@fcSYWT%K-fSQ2 zX!b4zrq-m9T%ZGY6!{N9^B3lqUGe-c)Axt(<6Hhm3IApPPO1M9M*pAx=$zFZEyPZo zIBZZ%c(^rQ<*675K#;13!6b2M25B6`iFLB8&tafV2=JZQW%dnv;%(SP7>gN53? ze1G}TiBkdHeavj75%iqcYYN~!tvxOF z25p-9^4VWr>q-M?!;%aZcWeg5Zq2DP^Bg3Q!Ia}d^C(jhMf*TMW*@)9t1n(~DkXRVuyUQytE zf`q^DGN%0T{%KJde17MY`am(Yz{8>ulE#YGG`%7E2O4hD8uWYT78JLp2P3xztD|L? zAucbjyhYPXh-0Yz{r?a4-ZQGHuX`5-QBWz0fGAZ%6A+M&RFwcqReA^Mz4t02T|m0D zfK=(dgc77l38D8EdJR2<7T|1t@B9AmId_bEznpWv{rSLP5cX#6wbzlIzVXhF4(VSUT$vS)6kGh63|(EB34@dT<{0pLcVPgS zYbM|}Tk!r(?(RJ0T{_~^S___M>K7Ly%Q{4Lf^0bPu5{OnhWnWlTG>Kw9xk{;gZh(# z33Cn?(zr$N7L7P-J%||W%|N;3W3tzI$s3qr@*m{BMHAP>$eG_gj{rve-rtR*DQDae zqPv|H?ewBl=slN0^~~X?q7siY{!J6==0ilh)dOS$BostkGc6i-OirvV0oX3v#I`OTvz1s z%2)h^>du#jX786o;Xm`{0e*Z#8IljN!p@2N`y%U3dm}HoF5X?4nN=g1gve8VTuuH7 z$eVqO!4^FY^@iq19>y_B)}gnIpsX{?6zmod<@A*$);q1?S2DZYL@%;8n=K}j*2}b3`4g%fQ%TqNDkh+Qm2|u7PF(3BD<#_ zYpWkbN+i-+*~dR;ofnj0K>?$B`q3Q|*)o#fF0SxZ6DeSml9#+YQ-IUvC?qhn_ixyh zU2}b`Qh~QY>CU(9G3-}o;cC6$oO4CstmRv_C1EcgCTkFwe?~2~^6(1=wV@*=fKp=& zJ#Gz)$-nUB$I*mCLSlD_Z^ahd5P|I@B{bz%awJ8_--lm}Eml09ntZN@Gu`_0W8O|tvDDUX}GfCy9MWg%ztjUDDTSM`iNQsn; zSbd_cM;(7LS?j}#wUM`Cw>Hx~_$9d-Ouo3Elp-?4j=> zg)O}8>HWesMM{r++21C5UGRguecYLrHIS8X3u5@`Ul|_SJT%Dm^A!RGb-S(#z>IvT zs<$kBHpL&8u5+7_L!vr3YU@_pnNwx=r{sz0^rcdE(9B-Z5&;J&i^-x8y9GpGH|y71 zp<>PQ2KB&AX2XQvO9f1nxxq>Im!|Bp%$~C^%)sHx_jCfTUkOexjX1b|8d%{@)a`m) zL`YpyGI588()fVJkmxTyvF0{91-{SMwE|!sQQ*@mnZxi>r=r|4wL)vzA&%nPW!NH zBVQxKyOZdgtp=V0q!DO6Jx0J)`^r*H_lk1*mIy7+kNSu3m2b7`T%mX`j;&Rn987ky zCTfn>3T(DL5q(N$kZZGGVt*^#I#o{Eky46N+~rPr>9G2mV2rCCyALa$eRmNW8>a?F zF>w-^I=zEuyuz)RpTN8uoX8{>R8Yv`vvuu-dYmFEI^{|Cb|R_O^UaHtSAIJH@`*WD zsZild?qE97A!UBn7B&^H0jyP6if=f-(ujASCZXbI6a|^U5pT1SZn*ig>JMakwsSce z@4yT85}c;*Y89|7as5yJAW9K%w)>MQ-u8F}s$NYBrdMWnzRU9@2Rb?>m6S){*U(@K zk+&+Ow~3)a=e9fi9r=(B8LU@QvH3FPx=?%CmOI4xzrDptp2f*3Rv={EN2orh?GYOg z;H==kVE+lQjo8b>@d!zlo13uAbw!X67#GBolVwPcq z82QI;syy-T{D!~+XW=H%E?t62hVI5Q(3de-uG~rnHpX8=xXC-McTR!B)y=Y4VRtv5 zMVK5%-5aYj+L%$}qm}B!KDRRtb7l15F|u)vxC!5gtb7pGhxn{F7+TldR6CDO^I?o+ zir;U(GIEO747Pa^`H%16RCD;9Y&F`al>fHQ?^9K+YlI!k4DA=h+t+=qd)KV-3xyFX zc{0WDYD9|L7Nu~|6SWrdb-%t&%i1ZrQ(h%bwIPLSWj^lLe(o3jh|@4w{qx3J!5*pT zUYzeAMo#bc1K>Pgmd#D-IoA@yI^HC|mu$rG=FXy{(r0Il=+*ao`7!)Yyut2(kPQdt z|G|(N%9ONrDk{>1kL8fn~)J;XQI zpJF`>-2AOGcRU~kV!2RmYz~{BzpaX_Js)Dv{2kH8%=j$s1EqMHeBRk->(4Jh7?VcO z5Ba>M%}Eu_056c0wTP7rUihv#O6#{Ic9zS+bv0bMNQTg!QRQahsq zLPHL6nW0GMf~>zk{8BMi#XGbS^g-!K z^31Yr^?BEAy9d(9e)}IAo>oW96Ib)8Z~h|>5Q9ed$zVA?4X4fu+hL9&aIm7Za_oGy z8ojq-sZP=Jq)-w@W?K`JzbaZ%MTs$TM1Kjxrw;0}=xbC`G{VEurW;}eDzE~{`+gI7 z3QBHFIR6EoUHuN2Nsd0BRGC|ufA-yZ@x9eE7q$Q^_oLv7j@sW5@5TxPW+V^T&xnXzs)!!2RJ+>DO7R+@AWWSt?I`TSgRHV+gOxQHJEhU2ZBjhh-(U_K~JZV^TpJUqEV zHJ}{<1*zI5+-9JQSXXkX%N}~`*9Y_m#4%L>(3+t(;JXor!@o9zngYeECCcTqi&ye?2rnn)`$C+shHVUHVt5_@Yrc_c-Mr+MN#-4ao)U2O( z1pb|o5h$vqfIwnSAPv&_FQ3L}2s1zWzAe_O@zd@lO(!@CWi_AmY>XC*IZfurZ*eYO zR%K)@Q^vKiaGQAM%r@!8%w-RKI@Qu@H=^AZ7aM#}c4XYkQDpjL?&He+>JkMK*1dwK zT=ze?3;ceC-=H7%eUIOndD1azsO}9pskc#JqbJjM-mdBXsPq-xtP2nCy{YFqHNi`H z1qE(9Hda3(j}{@2eM7~mCXPK!rcr6AReqKFf~@^T*n!xSK&0JvdRi?Ism7}Py>Y!` z>m2?u$9klnc_l`?JpymP6ws-u1cK0$w+bH5+Re%X&>%R4Bv?cQuDKU zw|-db!2(+s7QeVhFv~pz=<3wVw!za>COC&yN$zC>bqIj{;C8#;REC;Sa-ItJ?hU1a z=Eg0bc!4u&JJ+7g5&U)gHXr~`ZrS^_K!vN7$OO>gZ60_3jS``__tE8K{vYphq(Ga{ z-HYY1t^^NT-5x-ch@SbxB!W4oxdn)oEr*+8Z{P_afR3Ysa68HK4(*iUKeHyLL+WSb zzomE)I^e>X34{T(BLBF=fT&mdjdEI7h_ue^hReNB{?=buJ%eo*t>B)P(3z5P#ik<3DOzv z{D#Nhn2)8at8XG!1wFU`5USj0yS>v3H34*KR9K8a#8~kDj7f-Oh*&?B)cc1Cg~q8Z z-sR;P)D`{ab5T@Mj~}W_>8)d0W;4<}+>>`Ulq*SX-rQ6ePdjq%0KboOW$?Vc`i`<069mWFv6En)Ay92iw{6c#*wu% z1!_I-9s$Jwrf29lz7L>)cq&AtC^qO}mhu>Nv+d$ym}WB1jVBg)3rC&6D9+9NvFj%j z0+CA{7q!Pgae{s_B9^MpWuUhrPf~Y=emzRr4NTNhMdcDq`|7yVD8IRzJHF}rSvfEn zSn#oWN9x_#IA0p_{lif%YoAO*3?9@^6jV~YQ%7@L4X)atGJ!A=0y$m;=>I`B=h!Xr ze@7-sMhN)L344p%7ln8zkZ0LHfW87|@psp!?7O(XEJ~ZxE6@%zUbsb#7vret2SZD0 zpHs}j_OSnwuKvSUKi90+|2KK|2Ae^+|Gx;C|6$htAOCRZdSL!Cq*iS&n%@5oj|YLU zP{4hbSHJRAH(1Hsdhz9w{a+eW_Wdl6zbE(el?a!`de9V`MUlUUPSBj)*Nky4i=xb& zudyWY(jQYU7jr4%r5*V2xpwz{`txri}|nqi`BwT|J8p{U54{t<;;QV#arF~ zs(A}spiK+?PZP&CMGXJ+#J#!Af8YGSr{$mJ^xv!H|K=v5xNi%zDE?Pn0G$7u|LDJO z{{LeksW3+td*UI+2J5-hGrDilo^|bu4risz?lrm|6@|?7-cejPEH> zj4(IZy(`}?=cIwgHP`rBQ2eS#*{lqXi}NQiKKX$1-IY`6rQHBoGYbSNgw2@BMLK!w zy~k3l_(5o|PsTQOnmGwD{RS-$UNz!k;+@L~zo!LuT9GVL3*3@cfxv%>_$%0u9{)TX3DGURX`k$a`4| z(6oq}*$#3!Aw$gV!>lG$ncLN1GCj?whYEJpt&k5_O=((W?yDi^LvI!~=Hv6<`MlP5 zcKA(VkZJs&_ZH3{Ja-3+#lIHzi}X-kGya6{Tvz2!00F;!?sA6ip)Y+ZR#JlE?pH6dTnOcAK5aBH20dl&?8BjF~+2OS^Dg%Umma8$>i(bOD`9myU>gB zC7CczZ-x!-%T&0eCzvl8L>UmFkDu5j!57Ojwohg^`XXJ<3gh;Up#ok%PW(eePF~Yo zc**#4`YC&GMQ)F>JpIu1H)H3xUaz!^OA3B1(9Cx+-l-xZEM}L~zUm|~KXQWFA9e33 zyzKFD>RojZf;`dJj+;eH4VhmE(>p_TIS0smFYWs%q@mtnQ+4lHK=$Ta~Xym-gbraPbnlxO2 z-#7hozJWJ~@PX&-hV66U8aiO}ZFrhmZX+%qr+P8Cv~8h*hrERJGvsq#nsa{Qn#+K3 z^PbO!&9jIC&ss6C>erOd<*>OWIOdxPg|Q49CUGVRo*~8-&6OqzXYRmG$8E57=~5#S zec#3X3nw3Po-B*`4(QTczl2zdW?Gh$3DiO-+0#ivM9`*+;75BH;OV+xkVSg%R`V?j z$_Kf@id++toFUmq1{G=VcmF!%1Jlt7K!*E4PbWkz`JIq?biXTk8=KO``S@G2^A_Iafs8HRw&i*IE?!C*iRg*QfRSqs z^1f9kA>A9hlnjCeSA`Sk5)6uu-;d2yw$4musYgg8oza?^iSs!#hpX+B}zi!Mq zAs%Agl0PCmblnSBJK?dJH>zn*B$k{|BHVG0wd4k{H%68wTCX}^gSz>G+g(KXSoS)M zW#?zf6Z!Gl(Ve0jJ3J=hr^1+&=6$ksuV`ck82PT^c1P#+X!^VH-@Yftp1CEt#(R3A z2RU6kPW7{pd4JuMbNjsdJ(VQL=8g~WtWYr}$lYdYg+zNh4!0haidYr(eD9X_&s^BO zEv>)fL#oW&CmC{=N)+e8+ZFwg{By2mN)8<*ueGP%W_;TIW-jiv$Q@vu&Grcr&(P2N zSOvE6?kIi&C1;og{S2t1KZst|X2(jWRg&m@$GTz1lAzazDkmN=43$Oc# ziJQ%c8qmG&Xiw-u&i9JwGi607y!7YK6p=z3n$+|g6=mS_k-FL#twv-%BIS4jHMsJ1 zJG=by8Ckxg>Xl^aw%zNe{vq`#)+5)-wqPSu4LcSyOq>lL3?FbD&wyz5CvtdQ_oJuU z!lf*|l0I)}e?}-GPWp{3r$i=zVuOhT>qlpMAw>D1BUE8Y>W!jKAHnf^mz|pPD`IL|Jvx^7jSi4e4uYiU?Hh%Xp^0jHY=6l)0{L+AqvSrLgMM z3G-F&n~P@*tY3!`(VloU@;5g0W$W*8m+g(6+4%9gi<3O*q#AFGP$;-yF_(D>4ED)) z+p5iVE(=grl+rBgMR{v~xiIx0xWkf!V~o|=jq|sNRN7j1bn32-c*c35jkE2vS1v70 zC?lLwSI=iApJMB+C2jD~uOwl}38M2bJEsRWVUg4i%mqsJ^sAO;J&^uVsLK9m;`&G8 z!1%0kYL#8Qx$sYC^N5mCsm=UW?O&14#y~dv@jhJ@%2>u#bKY2g?_gnt>&!=-{&iWQ zaJwC?Y$QbAhyiA-KO)}8-!8m%Om{@=lhV6>RPf+Z7Ce1xQ35{R*dXLq>7qP{2vjfN z09OUW*hJX*{Jz=!3JWay=uLpX-a^ZUd9vzj&IC+OT%0)5QnfTJlE{S|zK=#*Rb3gN5ibXp7J& z6UYb#(}f-XZ7W2zMFfY2ioY_j&(v+Q2@Q22;M41c#9K?#Jfj{4ebba)eTZGp1-za>eKY$(PE*!tSITfrXenvli$>2(zF>2Y<^ zZEa|tjpjYPPJ`&ztH1bVWniG`a&403q>=LbjJZ8p)nsA8>y4GmQ!nlwx#(OG<#cq!44tw$f2A8qa%X1xksaPNH=v8SXd)i3b z_miQbvtoJryq`j6s{SMQ+oHWBZn-d_;{bbWc3WR--5q3XA(=u+U2B#9l?)q9Z&4FnDya^?eq3W8UNWgKb69PxI{C zuTz%Z+u%#+>T}p0M6ZU@x)&ZFH1_x`^-ew~{WN}-Ic9chkPf+a`@A@_+ICOm^^QFy z=}`28goOS6Hj0+!RG9TPQ{QyYr2yPr^#n$vUqNZ0$N7z?_kLPUwItq%MCs#kql`d^Kn?z*#jW))5W45p3c(9XCf>GPF{y&wxc_H-hI=K zQMNDK%SOX6>J00|q%pPO!9WSNpws#}iS(C6 zJ!VmZk$kQW6jn+{1Opb+iveL%XF-!~MxfMzq&$D=g(jsHAE4JgQtQ4WNnl%wRSPYd~a`N)2ZQlF&WErQi0jozx_ zKZ>~^#H2*RBgPEWWPPay(?N=JCtf+P-kYir2Ep5Vy{b^^KObDCh>a%RiuMt|?mDba zKX%?~g&rG`M;jd3d zy7@{$;iN^(U~=PfY&DutOV8D(@+Grn;aci_iSQ(1VJun2aQIPC*jYusD``yWF(JN! zROea8w>mb1w1M^QwaR7Vc>(V>ex7S80gruv)_XDV*5vM&_1r&||HiXRr3 zsYC?b5`iDqQWwO*In`1oHtv%bfl|Xsrc6f^@h=;8y}hp#7sY>d-t%_0z1mdPdwkL4 zH#j=eENSqPk_|nO(7pN&p<`c4Pm(I7;?GGmHCMp!ah!8XWau4VY1HFrq(obQ8!74b z&h*rP)#-O;(3WOFE&XnqQJ}ctdS&j+_L%G5szU{rsfHN=M`P_k&_r}y9y2qwXMI(w zFcj6&hss0U-WYL37R6MqvBztP7@Q=&UkG@X6sgSVZNrpd;5SE3dW<$X{$q$7&%cwW za^_>p+34`LaX!=u*b=`Vk?x?+9WpN2G~b8$=_JH8@p|fpg$g(Lt#Rnqi)*RmVAFxN zXvob4&4bc_HK(bwgo<`qu&R!f(KM&w^ICTLQ8@!W0Vyy^{2YgoMrbGo?b7+jE_w+x zyq5mEzTJr5M_MhIvNJWRDE11YVL-ks#7Rg-7(|&*msV2zbE&&9J)&497qL>AgscXG zr+vuO>LRb9uO>M_2~ZSsD$LEqHjme2hqSuCM7Su%urc%nvIZepgu>p@1LriJmrfcn zmF;OS{-x)5Sh|JR`KLm(&ElUOB}b~JK#5q78}Tavxv}bE>bo480~sz~hJy{n~6)z4vAH_^RfK_{>R8>Q(rB)U`N|h&Y%!Yi@r*K<%4*E-|*6!+d<|>!t)HbY&5Tx)U_se2)z4c|R zd%-c|diLWcK?JbMiPtMN7}ohnWAIwvA4?se+TeMi?^FHHPnOJs45h(GYS*>=+-4`5 zNCKTs<{BvKSe7@$C?V4QmqSaTrW$6_l}3h7Tf49wkBhI|rMyQTZLK_J>~;DE6Z<)Wr2Htbf8Z6qZ@mY#|p zczSTNOppBXYo5=zB!@JzF7dr9yIs`co`N@U5&wQox*ARL)K$1C1yRaO*%ejPn;SXb z9vr%ImGn|9u+Q(K%5JnOf|}@ifD$Do?0&RpbG8QK`ZP9>OBFUCOqtpYA^$XfBzXns z50FRC<-&5-*9$X1zt6b7eLsBA&_{Ri4y%IqYd4$;VJ8W8a#!hG*D(cU$nb);P8V{s z)m%Z-$pIfjy0t;)YE4`0oA>pEb+lF$izbvov2yv!sVGcvYz6f_;Fx>!yXY`g0QpC& z$m;-D&+5GCZ_glvDT*;JCTrW_{ARES@LqWJ*;jMoDKMwNiGnt`uj;vhPN(4X=3t2)xg*&7jHnJ_~7o&wmK*lTXJ47MQqh1$5IwTxffPVP}ul8)a4t# zqBRJ5D#(3N5g3#|S(dB9KhRXgDf74`@*9_T(S>@@n($(jU|m=`jVvNvpDL-IE^Hk< zeU8sLN^^(yS3q1!C}T_5OSKYD7MTqUNhyB?q)5zh%IQ$mby=X<022+G5Dn14--^P= z`64rq+wKtlo>PUUAm#r1Eh|v5lXmNRlPsgVvB06uSr)W&duS!)x8$$EMFse^3Zs`! zN5M%(8P$V?z1*-ccCt8)bHdMmhjr0{q(fLPB2}3mitJBNDj;aadUnDH=#%fSBZ}ip zG0Ufbzo71r2|E9jXUazUA=mn^Pd;~Oj(z`_GJG=!OdDU zP*^INTf<5kV`C>G*`p0|WM=_E0?lkc$is`baAqvewTa#FU(?*DRR$$*n8%>cza~!} zTS$XNo^DB$ZwA|SChdiXnrZQK6csOQOGr z&TRRe$k9sbZJtAr`@nuSY5<6JwB-$SqUwXm@NAOMEb8mnupjJMz z#n&#X zj4eb42S>Cat+&6%ln_tN8Mh~xilpd!6&_3=#yf)IC}wtPcH#r+7$uP%U;oswqc_e@ zO=0`JnB6~vMUsJ(w=i+$aS|-b)}X?=z4z%v369<9Ny#0q1QEACTP0L{GrB34ccTK; zSRL!E$Vhuut?(}~^RVfIW;o9bFxgmFDR8ac5pfW`;)wg~!?n4iAWAI1KvajMVF9M`LC>{GLg>k;k) zI;f2*_xZpDU(6}0@0_WgzRg)sO88xC%65Bgj<1-6Af=PYmJkm_lT1raU6<7W-XTHX zf<^&An21<3R2GhDQuB3G6Y+LkGnI2*i$#7nK)W{3Z=(oxX)ar)a#J+6?V^Xp#?1Fr zg`ogg{M5gBt^x^v2}SR1_DZmWKh^NLBj)DRu3;MW*i?_YvU%pYAorU5ST#Xv3vF9@ zt)|hIX7F}%-ZuGcX6*rWbcZI6!1><(1%?ngy~c~+Ux8U zX`!=nxv0C@#t!F!xK#>Hg6q&kcxe6{1E?}lRs%xe=Jd_(Xu)X<(j};yzy4;-u^DmsXiml56X%aXYx8$s z|EwZJzly-qA2vA$-eanlKcwJE_KoVAY0g#(azy zLk^p1=|oE5+QJzBBt_9px2FK~Mh!dHD)w`8n8;pI6|P}kLVKXS64uZj(}Z$r*N@bT z$e4FG1U{3JI$9TA$)=?=GGA{`Kf8ZOGq_D&+B_J;liZt95}C&nl!x}%lJ5Y!xO*S0 zd0o_79Nkgc20=SCoVR;WXzXlcn(u^L#j6MIiWRvHYCFYP8^CJPmVBF1NG3MNO<60| zn}!}qKC~c-`=mNDKy+#l(LWC%L_Rr!r~>#oO4mpMI8~9->n|?eWvXlvh?Wv-6zj&a zr={(6mH{n%k-1XfX_qSaR>dslXX1q`VBOEBGp?tdK(Bbu7E!Z;6&-Uc!^g?F+q}zV z7HgZW74Fh_b0Wg7h10Fo9&bO55TE?r9#5O{ zl<>9ObyEbZHh!k7p0%rU0uI_^6tpULi!=!!+zs>Qy&7EE1qKSeWAp~!~0vG+g zKA%@)Fgl%cj<|a6q_?5R9R~|2 zOZOPA{=x}?xGVDdU7e=`RGkt^_;{}v9NV@nC66DW(Qovt^PfP&N@#!TD-UQ^+uzKztd7b(SbAig?8F?7#T=qN#v4EbX_DZjUWd!B=|~LYY5(^ z$~ntwe;-7p_biKOIxkP(=dM00n>w^Qrq&2(soH@b6MfAqg>|))` z0{Y17lT zii}Kb(g^hy?5*8>e`$VeMK)E{RA=4~Vc%1rwJx1E5ZT?lG90OiYTUpI4&~1DOnOuL zO5_|)N_EOYQ4dW5%bPSQqDL8Ii zdeb#JHgj-RM#eCg_g?tW^d(DH2Fclkx%7=4VRtii>qD85_1)SJU4F{&I~O}}M?OEN zg+zuo_Dq=OL&Rb5*E#B|fOW^{M=>=ng)#6$>xilh7BE;skkoHZWh#`nU)ejMte*A3vDU5@9_u~Dn#2h*4*bfj8xW1hdd@UqZt0~>zG zR%$u7d`7ww1;F@9Y@xh&PfW(P@26UyYtL*FrCj^mIFGL>&$L$T_zv}?)6AaLFAm`M zhHoDTNsTKPT-%OSO31WHtb*gO)Au!{x;a5b$z#(JlXl3NVmWUjy|7DAY92jVS#=<6 z0d71pw7S9-(<+H}dhz%_Tmaee*s4AGzk*r=QNo{(QoY}}IeAUVFV;b*Yorbc%ISPh zmS)oFbR%t77WXJ|GILiG^ThRg!`>&gwCuk^rr%}+RYsNr_#b|M3J{BU*>ST#shy83 zNt*-c7sEX01W~wr&@r4sd-2i7`XeQx#}MiYNhsQ?xmUL) zMNB8y>LA>}U3RU7%y@zqG-Cym_CUYW)OT-7keiA$qS+UHms~y8$j>!Q9`pV3kwmWT zR19BxIX#bx1QnNys@j#qqx`z-@2s&A{uBz~-Pa&zxz~{C{Nmv)+8J-vTNvfUt03as1{?<*6l#_NTQ>PHrz6{uDDmi^)^DQ3uf6f+}Nacv8= zr&iVrsL;U5g6&uyr8c#jBnf}c23~6ISTlW%o&$7dw4p;WFtj(L_<*7JHNM*NtINyeLdV}-=231yP zyy~69^(xrO$jk&&KR^B=Lk+bVU9SE*;5nwv?B;88B`rOT_lq}GKU!pze&cbBJUXyo z%OwB(QZpG{cG-0ewC#g3ls`XoMZIVbi|D)tLMHeX(q^$he-kPvBRsbYJ4kgE&^cX& z`ysBH6Z5uZ!Q+n(3hN^C*O|rTMzP0#UsaY&)=O!d5t$nPv3serX>-E-N}{vAGuxj)v2#mm-`A2=5+C(&^!q3uiNJIg zlc`^mRw$kbjy|BSZVxQt_AWQT`7&Oe7}e~`wx8jl2o@0+K5O%8C{F&817U72{2JJb zTNYb`#>!;#B6FxONg<&$yC?2I)Nwu}ulDZM)mg{rdQ}xNR~OT_X5pV%Zc;Ct*~5YG zX^1ELq;v;M8);MX0ou9WHO63%g})bN$ts5B-{&n$AICD!T-#Oe-K*Q~S=3CQO{48) zwQYH12|JVhgk1ZjmdfR#O&PP2#LGV<&wPFWID|QK6aI%WvN>}pHOBcoA1;2;JN;Ro zIo0TwIxnaaR{-1f%d3^i3>zp)?S>0QUh(=;5VZZe8hjfwYlLn*#R^8eCOwkx)_DpQ zn|&?S?rX@~$RlFrR`t{j*CQteF75kw3fCYtrzI^}F2YZkd{Q*rLA%|afH;4}@5%N9 z{m4soQQNiHij(sTWN5B`L_UU6pPs>19ZAXrIvDtCW=E0K*I{lTvf2_$+l0~pIdN6k zn4i1AXES*hGB(LAU4+zN6VlinApYJ@9vpp;8^e`^^=i6Cd0_2$Vurq#%ty|X@1QpJxtXjt zr;=_ZiAR`+d#9Xvx}CaMY^e*!JXGou*t`D;Gt)Pbn2ltV67WjY2{?iNs8d+cw?Sd| zbq~}YC1{I6o99dylktwbRY_Q#OI;8C7 zs~syhUoU*B$j6c;G1qcNUY@Kt*|(OKqN4(eZQ`~^KC7`Lm`z^uj@NOHc)zR8=f%$A z3b|)6DkkJL|FEaC?AyDHVx)Bj^tJcF?8dNIOw__gi-1qTA2-zgg4JLN^zgnVut+Z^TTq=1_1Pr zhKLW%AWG`!6=FaLNF?W;>|C$+#nN`K56fM1kvBXV2;<=*BAAYlgOLuV$DY|$UmKWS zxVl?zoehpEkeZUf#LIi4RqB*Za;~^s4&s#S6Xf(;_#BuZWJ8K1MDei@k>az+0v2!4 z6CS9J1{Z!;wjkUI5ZqOj5g}$De_AWZSBP0lRT`NEfs#Azvo`rJD4bm*GS3XE+7G9G zt&cC8_W}8@E3dR*{yo%4q_J50XC-@zlyFo6zL|0E9y9-=DWjQ>`4$b5wF}n zcFx8uzs&2MV1TYnv=F;z4qMC(xi)-^rCm9wt2>O+2>YFF%uYdH7Cc}D0x255 zN-Q}w!o*-{8RK`Yg|}|-U2iykoT=_Tgd7=S`;xQEc+Y$@`CcKEH8<7Nnmgu zIGz-XRute~thp|nD~}@n=0C9RpHAXNAyXiL*x-pI@%2Tl_fDkg`HZn~7V_y$%p`>V zmJB>P_>l3)F@-^H`$Ei3Gc5G#@ZFr1R%E0{L~GnI@lmGMH2u#0pig1myLf+LHE8%n zgrpt_G(MA{mO6lhE~$Zrx$8gbhqTDxKd{UlP9;!Sese(eb(i|Wucm28fE9}+Oi|^x zV551l6QMjT{>r}vvo~Jkct)F{PE@PfsQ-Hx@2bb1#YeWI;K5(EB>VdR;uC01=i&hu9E6a5nGXayPv_Z=f$Bbgc_{(X2aDfF@~2@t~LH zEkp3vsSEM|MgecCj?dgnj)M3@eQ4akI>Wk}n)zgcWWf|&LL|vX?tCdY9iop|SD`;o z2(7-;=AUSb8dwb*@j9q~RotF9rDjuycNIntABa<+`$cWFw7@nFu|GUX8OzB7fJ@c= z2pfdE!j6XDV&!v?lZB0EmGfPk%sVBD63wd&Bz)U#D~DFiEq0>MSfi%bw&A%Fc09#w z6t9)#P1*Jm@PiSRExI0aI-zFivNhI)r%mL`=oP10ryjuwx!TRO=Wt;Qi_XjYeoe}- zVzIl0?feY&w1z^Fy?0+{43sHmr~^y^DcNmS{C49-K>!-I66|YF)FP@=)$kOu($H_` zN1B|*q)=DOes*ZIb4mRhU?lb0_4+&|)fSczW}KU;$!bc%v3lf+*K$}sTd+yMvHe4f zh?#%8^SxAB)rVKk{*F01;Ewtx&BkR4zo%94K(6Jqwqf`?d@P~%yn>ck9pQO&c5#Ha z1IqHDC&wFC&hU4gCW)>g84)(2+6nR+%z(Vy`=A3>3EMPucO0MktR2FUefr&GXR^DE z-t{`?$x`_5Y_j7A2_eGyzmWt2QwL*8ctKik&PW8fMdl|Z)8m_-hONF z**0sMc-zEbqdiDM5DScqQ%KfqUllyda*3zn}b~Km=O;7cUqqI}{<8xtD2lS%} zD)D)#EG)IXlBODKfAJMl8uB^{s!8D2Z5=*5sRqOZ@u3!YLt7FS<(t+(*3L{sa4P#BtPf#110HSj=sJtSe%Z3v!gDYJrBQ5lsBp*x$j4)UInaH9x0ss9t(26 zHIB=q_^Dyj*Y|njr|Kkt2UP^GGRDg%wEe|5C%Q%NA)?E>gDlZ?6GxtUy3PQpQ%nRP z*AQ(G=r$Dr7*XX>1o+4_NEtB)8{gv}qdlhUsSk?o>!kU=r6jdHQeaMrh^-vG+4wu3@`!3m!!u*ZIVx*af$t(#!+mbaWDKwdwNFqdcY zctJ#v@61*q?Fb;37#Q@M@AVn5_uq}rqdz3pO)i^GF3B#C*h&6sS;W zr-b9kw410u?>OMBqq-%45*LuPEX2e{G!Hv3HRrf7r~M?{MOSE-JU?%`00^nBK1NIe z=r<7kuOarfmXoMPFP*-LB#rsS9vhtfKL<@VIMG=veb=dSWnrFvKfr(}=8wTgFT1U( z9HHYY%3J=CH@}*E4aj2X#CisTSzrSnQtkIMW-kD-!~R5E7)(sSU1PL0pf&Co5_Jm) z=PD79%6Q}yn=WPOqOK=&y%dtUqKI8kuAaaJ<&8XHPz@{|JyVC}w|TnSG@a`^I5?-N z&p2`RLr;N*r(-{)m;v3+LRkmvlsxnL==b)kU(v=D?BYCtvL`c* zA!A_A_36Kr8aR_gC;uD5p1;gaRRaw)Bq7`MDx1xmy~uV&cG06A)};2uNu-3geUhBI z#(8!~15}Lie`dA=k8C(I{zzrOgN8(7KyIjyIU?6w5enRg9c{Y%i^A4e1oCsX0U-Da zVLUng>KgCN6eLFdwvRfgHOc)2tC`I00vNp6C&)1A$4Y);(|bEEd+q=SvwwX}K!kcB zrs{to+G9xk#hko9!=6B(hAVc8L6B6hZ{e2{K(;UX%WO1nwtb|cZ_@Pk*UYas{C6qF!-I0A z9oJ7(k}|-O@pn$P59Ycu5Y0c6mY}MTeXh$aaQt^;(mbNbTdTSS)=*&~Co@VL5T?Ws zGgZ*aa?-#!X&Yw0M)sQ2l(aiL|DX8Ry@}n7Ygf(%*9CL{ZG7?{7W$Fub?!-4*x&xZpd==7?xt#HXlhmV0LE2( z%?YXtVL3lX{$#(Mdh)2sK1lH=T@rlNtGG(=mFSU5bAx3eBe90ZTQ5sYNko2>i`Oh? z2>gaTzBjd4uopWM73^->wcS#%_W#LYo-L*Plh{a`?!^SK(t(}u8en`!yJF7YwbOSF zo9el2N4ap3`r6lD7eM;EbOH58^wh+4uPUm}ivmT?6nkcACNwy)=?KLDBkhNo3vN&V z)`0_5$9MesC5sWHamAj?&qHj*Nl5sb0v@(vN8}Dr(L;*%Bzm@5^yH+G%^pi1fSGWp zp9NUv5qr|x(pkx=&dXfKC&@RjpnVnd(>GtADx+~sesJ0*ElsXVoQmW!yKZFJZO0i( zw~e}#u{h1nbqSn0tC7c69YhSEk41NZ&&YeR0|(Gbk=xFK!8b|+688=G`JE3g&__=y>%Y_Xfwl-_<_a&}Pz{V@YD@fESi z^Iv=?X*WM-MD%Jq?MAAI0laMgy$vN(|1o*v)&J4nd4Dyvb^YFRJct#HGzAd_=@3+^ zL_i^c(t9T$y+?Wnk%I;hI7pLb04Y)e(g}ee0@4#&fY3s(0i-9?yLp~_-{-yeFStLv zdt{7c?6I@5v-aF;%{ljHepg5|>}07B*0O$XA~@`iyuvey!@K*Vsz9wl{{iq!etyvp zC^7hA~Z&2z9;_S=L^=}G*UbBwcABAG-~>p0VF)oOn=}iwLg`k$kcU> z=bO<=4>0_@+dM1h@qmM?LL2$l8jjq3+48o&!n==u@C0h}QHSjv$K5huQJZ(@a0?Gp z>SSTdmyXQbz8(z8mHi4So>Z`&&U?F<2qfKFys>TJ@w5gk@99{;?L|H<&m36SRiMTq z$~<@hkTx%`Zkz3<*^U6H|6Tl%_!>2&<4u$lD&CLyftd80rtG&UxEpGszx>{A`vpBK!5T`n^(n`->{j-LQ^02CNUL zV8Gj)iKFo=GCKFv>@Flf65%xBjq>ZSpOiC3Z!fA0s6_xiE@AYurihC%#4?Tc21Xt# z2E+($pE!>G9Wu#&WY-Kfszd|mv8DTn*yQq)-ThgT)3BD8_lUDB6MI!uQdrtL#(ALQFO||oVT<VB+t>sKh5n17Cw_{& zQg+LI^&%;m#ou<@>oLwCZOZm`z~c%RQQ9T}x7E|_ju#*RMD$t!j~o1=69o0+-W#q3 zrQ_kO(ZfnZ7$#mx?Wb&1+n%DLsw3ZgJnPy_NXqNP`oDE|8Y}B;#TtI+fH_yy{HSwp zH-I=}_@KG)97|SLJKU4cHNQ$G^p`Jm=}XEg0z5l)KA_6tb1q|TVg0*7roCiy?CjvR zz}zajmgPRxTJTx{uc1mC#l6)FNcv@OI{R#gJp2}k*lrB94{o>UQ-o&T5W&s~Z@`Hp zi9sV{jP+=@595LPoo3AfT7dI4g2R34ge|rLRHbifapn|=gVPni0`8dSWuU#- zea%$!TiWX1F^1%T)D#w2bz-81f18G%gG07Uaw99-mO+m~cfGUkqYNRD*43ZIuwG*! zXsx3UTSTa|H)%Y2VJSv9Evt(oK6?%ZueIC6_Q?RF3OC@mROoO)v9m2l#LeZlh};|n@J=g_(UnERz-gAjAA~}(mQiu}3F!POld%u8(p>QCDYuR0qr=0N8UsM)Yti`(;iQB{M=Wq=la|ZFB7K$1oHe zDCyI{vyB5cH~?h>l&zE385{!ZEr#0Hp2{!+uYwIAiE1BxKStj@$O@ zsS-OsM#=-o_DJ8(5MmD8OX=u)3=9PHe}{?)Is6x%`+J+CttOqlY7AJb*^^Df5||A4 zhktgzM|3pDk6rdZeFspz6lj~!1kM&BzWG>njZUL=gK@TQ=w0SmsY-Mi?#5_;;oi?( z4}OJ2lZt0_N+dIc^9(&6H)f<&f%nUH|(;ts}r6A?M10~LP z6-F2Wxe%aEp{%Q@HkDro7#w6#k%+1zrLN-H;s+2GWB16}kyjS!qbZsOD)GS*)s(Hb z1OQz>c(KLjD3Rj2N%_BFaxzz5;jj887YhhzQf@1_sET}?F575cTN#wTRN)$(vX*i4 zYViMqtLHpYh{})zNMQjJxpV~Mr?&Oe6`R6;1g$?PLVM<5UyH?*arrq4u)ry=C(9#% z)$jO{-OiL}-lbMi*I*(7BT!zKQY%&4{X6T!)9r1Z^82`k$t#Lfxe_$iJILmAL%w*%p=fn7kGsF?3e`%$2mWG!*V>TN~s${1=ibAJ92>5GUM@tjbnRXYlp-|9^JxaTyVQPXVbcfZ5- zY#sGJe4P{EdUy1BI{>hjd<`~^w`EZX>$2no`h2I;v5AL3{8cY;`Di0(T93BT`fbFPjCl#t9`r4|34B{pdc z$YI_Pg)*?w1xLR;iI|ExLcFg#w05dgjrn{Q`rr8QLv%V#M+nnU29R9+J-%9>@vIaI zWfxBW>j;mIs@*2Ki@Kh*#{ecmbSo_%%~=Szt05y(Va_oP=;- zDN^V=UPQZq`hy6P$IO39EF5JCReFBok<_CU)vX*#il;bwSXD?n7gVjWi@yGm&71xL)E`Bi(yyEvvKotJ~@vv9JpZE+mX!ZKjxf)b{F99cdUJl)0(LfNsg zD9KSC_3vQ-PmUSn>%AM?J5MX|(pJnfc`9>I_4V^A<(wkpv+cFym%aG(?ejT0fK&j5 zI^SmspZu{?akk;1T5hD&>PW#e(Qk6jO}vHMZ;ENa=tZU&9O`JY z+`Mq%9{LsZh2BG!GoG5}7NkT#U*>jgAyC$aKOSJW25OM$ zjS1`|EuN$z@ITC-KMMEYHHI4Uf|Y5s3R;SZWG4^zlKRE}gKtl)raGrm*UCR40085I zK-0?Q7<0CCzfh0gMhjhpGx#Q*!no8xdz>7tz{lnY@w)GSa`;8lH#CQpyt@BnJ^I@` zt#-!?8;_fj_o`IrHxe0j3c`lnEao##A9(B3jmbEmE}6{BhqEugreWo5>UhAUllxrW zrcR6I)<0Q)h-5ThW1^hNf3jAs5GH!$m|>BIN+#<#Tu-e1m(0w)zo$@qe6}W-M8qh% zKKaUDKskCBv*^KwG-nZMwT%4TO-W9Ian<-pJB|R{{|SMg1%tOey%tLm-IuW}eS#sI zPZZ#RNeCI1XgDPx{t_+E{;uz1Qz-joJ>zk9{GpsuyHbx^2r*gy8(pOPF?RiGYJ4_jw1MD7Q>GYs%+ zZ8#GqQ_~|Arl&{W8a8MBnYPhIZSknV!AOpRuLUxuLQAtzH)v|l8vDkabIX6K;M*!` z;(bWd@lmSkJB{KFb-7orTAiSuz(oxU24i0yJzqw3xd>UXe`=J-Ectdj@Ll%E2=mg0 zxeCWMRZumBHPQBoaLD{=6)1B7NJHxhnroikL~5rVY+;s545!JLOvZUb7Fci=u)6n!fn=rF#kSIY;bfB;PE=cb~KD5<6xhC<`uO~sW@c}}dMWLE8!K!5i77YBO2O9>} z4c=q8NJG!msf+IsHceOALwq?yYGZvLxXJwi&huU|(JxRBG>$|tW~d7oqA3%>cD5vW zF+8M2q2OosMdzk|+Dr9~4`pK*rJG1$FjDh^?0-E4%i|QBe!YRfPfM-erzD zMtRlTpRG7Naw5yu3bk<0+UV@Cu@{zycsxkbfN)xo3&~?(c1 zU!@M4d_E#6R|VNMdk^w8eIq9_qfV=wx-p`IzKUjc_rDWvF4gmoPhHNtld9`Fon;6d zft8}P$9I?wmma7G>(`f@MkQ9)I)Xvkb{2|d4GPuK2r0p8S3!l`>P@u2hZbSx7D%~^ zH>Yufy$_l}N#zP(YEoTfDGsSnU;h%;=q%@0@|{c$GJxvg!NsdO2FbP(+{x=6^yIP* zQ%EKb@Z$n6Ipyk93MoW(g!eR7>#K;OqJ9UI7e#f8`Ib$75D@MoyGXn(uD#{9C!hu3 zgsCwLk^;g>3?mDB`vRcAMVZY=yxqW>rbE{hZvHB8eJm|vn17C1*GId~WmX4%)Ba1n z5+(1rygDu)l$Bg>x>B(&CL$<(L|b&0xo2dDK}ZqLCW@uMy{>~^B~B=C{;7GfoXlb_ zYY*X^9gvnTZt_|ybFl{={+X*Tk=hJ%3$o_h(G$#LVwhdQ+HvzW=frA@Mk^0S`{QEi`ixL@c z`;FxM%f&n;cFrz2u~%^U5kR0$TgflGGtUs3L4LEp*G@3kecM$mw)2_`i|*(9@QICb z>vZ7MWc+tUWkfT<2=bLn2L^6UuH(zRlKh@dcMnI~I`~yRpAwyyH2o~r{T2v+oJGdt z3qH}aUMJ}x6}BFlv9qtI>-P)ah~GYo{djEqJ0=(d^Y*Q3)SDWGXj5<6`}%E1|3d`h zCR5{oygf>aHJ@ru;Lz+jp2%$%@vg;iYK$4Z7M>4b0>vBd#;#^MyP^2QZ>4OU2Dd3+ zYl}8S$8_yRBM_KDVNRWng%LV6h!b5Vv^CFLZ_>n}SmdS!oO@zbKg+S&qdc)@`+?bT zU#<128+Y7b{K2K8P|{4z)Mad-tcS2U$P~{qu9UJ-3esY6$9Sh8q^RxAv_0ZcS&lXO zd@<(1rU?2Wtx!Spip)h@#T0Gv5%pHW%rF${5x3rT>4h(g^;(i*WM+TjxQ}0K(uPn` zjmbz=(GICoI%9y#WIb()*k3bc0OmHWLt3Q4i-)Aw->mHPx~<9*8@3+02y@5S`uV4o z<+HJ`@oIabAo>BK<5F8`V));2cSuQ*k=^~o^wi^UFY*iN{q;7{_4fyvGv#p#`h&DJ zDR0|$6`MAD_8Jf`F>d=tn37nXkTYHovTUviQK?sycjKYWWc_tOohc_dO4NsN$-HZC zXfN7|Wh8GGd~j&aP2j;@IvO{TGxlEH*x!qzR($$d|8?p(i2+;7wW0{pHmQA0o?Hkq zj#SP4N7Y=@5L{Bw&}_ZfT98U6yd*P}0Rv%fL0P_HBJa)7F#g1IVV44uT(}tff8Xqk4P9nC7IS2Qnx#!S8`(Y0 z-E-zS)vd8=b-0UETi;Q}BA{iz66nc26KZyDcC(wj)s11IOJF*VqC1~TO!v4)jb0}$ z#SLTCa`y{vI2V@$(X{iscujb?q5@RB!*!+tzGY)o>K2N#uzwd~e|wEVb_me&I~=zE-alP3 zbWh@HU4s_0w=;u`;ZIsBRbN@(nVQN+KNL}VvzoGXu~%h_&eL&tYo>FqrQ)+Xu5E6_ zx^l#-^N2{X=WVFn-dbxh7(5k(Y{iA!moBy0QgG@@8i9NIfw<$wrqV)U9xP%`Xqyjk z1%EIn{W|E9i;q049V0qdADZEUxAtX#_R!Ru`E7?RIN?Y3BL?!f z$1C`qrK~;TOKFa1SmjB(I9f(VRAfN*<}(B9KS`BUCq2Y}PE8zktNR?9amS2t__jGY zwe}F4ed!ktwR~PU&Y-k(%IgMQJXvsNy5JQit4Fe(ljY|Z!rTBlq3o0d-OEWVYG=XD zU$gKaVvFKjG89ECZU?Ja?(9nsq)4Cl#c4TyWS-TZrW6GT!m?@}_gnMT( z%5B(bO43A#2BeamFkBmPq0MLZVodFTx^7^#j(y$_KkyOJDkh#Kb3ZB{nrkVd*ElJE z73~sJ9Wn-WI)nQ#dt7st^<}HS1>!YalIMu&yZ)8(roAPN{?~%1fBbA02ol_s-+Vs6 zyR`^&Moi?xe>f>i zR*MvtxUsXexn5PS)QTVJk;FmZ9O{gqSGdlFcCD_*{E4I>`2mw?=zt)VP_CO6s5 z#wjL>d-w;bBcRZGB15phYejBOltIZ9!e`-68L6F&P{{4uP*P%p=+ zL(riC_-O8Xf$l>NNGLycP87<@#z`y}6s5j82RgAWE~rt>4m@_Q*%vtGxdUM&+X&&KRvutg9W zX$s$Ftm$>px`M>%1FI|-b#FI572EHP2_yz4wBG>n?hvTU7eS!lxtj9bOR5XQz9F|@ zx-PuW`~89}1yNoJQq%|&{orOW_|dp=wY+09zXXpf+q1vkE3kQ!)hGX&Z z4v)?U*Ej-+pHssMyf>l7R*L&8W$~#D>naln;#uJTz#5WXsR&&kGu*S$d2j~1Q#KDv4RROa;V)GHt(WTfc329B4cWTQ$eR+c@G5sCc-MAYrHNDqpe z=Qu7SX6O(V^2TQV8<-OfSz)KYDVP9^QM=sX7tP3y6SaIP zrYb2K^mj|c$@?B|+`4;9Z>%Ho)>qx55uRtTd?%%%V8L?ha3xzN+Qx%~NY=;1pj87U zXzs{rsPqG3fWS;FjAm^;d-8hlEx>`|)pu#Xe(pwR=*=3$)F)G)+Ok0P9Mul*j>^Ba zV%rK6t{zbTq*+k>)#zaGfEmy|u+z`rM+*KL-oq`;*R*=Z0^^>Be*=KIM7WSKqht9$ zUWMLyrPs6r9Z@y!iIQAjwEu-gk-b@!-vP&HJkyyw4GLM+EUQPg@D_*YE4aJurHM!G zwzM~-Atqwfdh|CSp|)0s<%sUv&rAr`j@Vy114i!!;nUw9a8dDgT|_*UmB|1vx0s&Zc?~&nCoKTrISWZ zt9I4eh+5ySEy+m|~*zy`<`CNY-mnc1Sw|P3d9up;gm;^X9ScPf zcbC4#KUId7aD@+R$T3Ym=blI{eh!5WAn#2rxOq0o=yJ7W&JK($MAe4&k+?X0$i)t} zD34F^@K3RbfXU6ZDS3fmfg#wJ!cJE7Va+WLqd;a;=e+cmSJ0-?lGPQ#K}Th%@x?O3 z$>yNMUS=RtJUYO4x<)SD1$^r-vbUv+qF?TBcTU@P4y>iJRBqwlg(Hbd1Po*dtHUCC zIPX#GnwTrB<5sde$JMsfz;k-5fwGwts-dxOVSj9I?en54yhVW)sRS7?Qeo|W zvmgT@16Re`KK2rCh)LtlPIx=6fWuz2#%{=ua3q@Lv*{r+hC6O!2-_*g6rZBxG&CC} z8POs+JuM&7YW0jU;@^QX;=}R&jv(|faiy^GLoiG7&w^l;^Pn^dh6`X?>DAd%oVs_H zYPd2fvJbeq&;0~M23FV(qpS0FiScqZCmVUB>XR8Y4_;&lzyyq%VTeE?C?jx%HDM*H zn^|h7e6)e9_|L!_Z;b76G}lw43M*HeToy~o1sjb#oy z+tZ!2Px2wF@Y4iRzTp?iTDWHB(_0yz@%B$1vEwxnflq*Hk7lZ>sO+D~?fk6vETf%7#13xPw;&xqHgLDl0y(%^6{K zXz;klVgDe?b-cVXoENK7dKLMUh>o7ow2DQ9IP{tJ)ZoIxWVtz4M3itT?Qd~k=Uc}= zDBs%;#IQ*r-(OW_zfKbfy}I8+obIR|m~QLj{Iun5QuKiMTMq~TStc-)0kp;&bR~yI4$o+6rbqv3kQg1f*`6+T35hFSg@i+Se47r zLSZW`&Az zUBYz(Ugm}>&_wS5pTn|x#JBJ{G_R=$_f+k$%VZ%Gx_$+p-wsR_wsgFP>p?41^X`?$ zafYG+>XphOjW-SMoQCEmufDXL4fnV(l$WUU$)8}eUOmIs zG+e%x`WDcFwtr!%w)~=t{CiJstW|66&TM-GGrbxUM`bkT7%P5rBFsE-d?4-i0z<>r!w)aJ(JRk2{aaw&l_O$+YT0lh zaRMHhJvAV?7=qVwailgCmMbjyeOFzXd{4AqUic%nhPT1)w>ZO-;UNQcG*k?~+}pZ* z52XD?wW-9Vp;^nyA6@>_gyO#3`Pq4)uIsW|FWn~p@IOO5ZQmO*q|A$7@DXG-DJ>>V zRJfDN!lxCnlE!4BE^Zf08buKnJmFqtw?K2dF;T&Z$|YedQ9%?}i6MSKno3czv1~w# z+vUEss^hSxe!f4j?X#-`iv}hIVBXAKj9V1gtm}RhaN}!bMv(^oP0-#K7Plb1sXBAX z10%o+k`y?@$~IAsuO-3n(mb@!x~j7hz24h}1`e2g<|xs7pUjc@28}32z=$-Kw+oIF)k&eKRif&i=Z1l}~$!OSB!8gjDN^IjUFPTsE&P z3V))YTR22-J@fTmrLM<;XsUAT@Z8pkx7VS8)8UYk2+Dkh`bhdTxnNYb2wdERIi5Cw z^92Zs2R|UoS^5asiPnmu-;GP(zI`ekpUSo;+e_@ak(XP3on`%p!>oqYcKBQ0vTWwc zRH_s;h6nX>ZMH!horJaM9iWA;UkoQ?D^qk3F|+sx(G ze;6H)`B4zIRS@F%N(t&Pj!tt*O_3y~2lt!R`LU|w-xudmFGO9HJD+EM;J1)}*AkEj)Zl#Z3ELO1Y_Y5gkjZ}q-qGYXAgC%S;zo>J6 z{klncCX=?qmw-kxOzz%eV~v|s4Q6<>Y8;f+98%#$ZBHmJ7>^q2DiTiU3W-f!X*|1}uWWzp6ua{lzPuw)KS(z0BRW-FYhtjahm^D@YNjG!}qpP!*P4m$X;)xTmBL=iWy7Ia(&eNeip z3Xx)Ny2CEJ@z|R?+8@*Rn*BaEwXUU(uaK>6$p;ZQ zMO|OJ5BsvHJSNtnzaj2SfF#(I=4>hl?+4PZe}H(oC-DfK;jrk8?Nd&OghcjV97~JA zb3gG+Xn|9O%sqBic28&sb6ZH(bPZB8*49mOZudv)NDEfh91TshGqEECUP&)GEiMbA zJYTOIwF2&q%H51;UOT1m=bHc*sxxpd6u@jW1LN%Zb$niFveM<9;f z{QarM1%MX|0H+B+Ds~cX)*!NY6dB0!3@n58$|DJFm>WT!c^qes-D#{ zCw%2luB3S!8*zf#`qSsak4h^G89DbsP%mUV8{X|aoTc6RFRA)zn!XKo^vx$`8izZg zEK5jlt1k+;lToT14gQRb*x)$rJE}^iy>y}KAw+ij^+QvwFZAs#GI;67BDbvmC1n3w zzAyHp`j?7Cc8=hsp!$u2fd?Tqq!Sg>aSpmTv+k%T3KnXA*MIR&yKn*ji5(JXWd*BJ zu#O*GtkmdEw{pIXUf%g{3jF_W9oU^k0R1-w{(ql1 zu=}lnve17N_!0jN)ctqA0*3$!{K+?f_w&uc``>+b{uvefKaHRF1F-#1xBUNaEeB_R YtlgmHTP>k3pI@?9iW<;TdCPbI3oeq14gdfE diff --git a/localization/autoware_ekf_localizer/media/ekf_diagnostics.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics.png deleted file mode 100644 index a1561c3f5270709791a19557b874dfae1d6f56ba..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 145097 zcmdqIV|Qi2yD!?^LC3aj+qTuQosMnWwv&!Jwv&!+yW^}lE9N@sv+o}FzwbEb3*35B z6IC@ao>}$7Gb5E0B;jFjV7`3$0xvBkrt;;>*Rn5Pz8ynBejcGWh_L#sz@0^;)u29$ z50q)d=RUTJxTcG$y}66Kk(1dM3p;yTGkRweCo?lUXG?pRE3jUH&ql0PYML&hPG&|f zR`zy8YF4&pp9jBuVPRrnJ8W-aW;x1FCk*)Jjx7WV>^rpW9B$6OEPgcpZfBJ z=!>+Nu$o8C`Icvn{5|N;%}V?0`RmUxBe>xD+A)PRI#I16C9(U|h?JrtvUeFNX_*F! z21aTV1Kd}J*H!GWzN*LV+mCl<6GFHO3g5i=5nsO3Y5wC|?ql6!U%~vDS091(BJpT& zab+~|F;TfM@HlKwWoLy{QAJcMSRVkGe;eb~Y7Q!B;>tig^qkKsg-;TK^0PhpjB=m! zzi!TI4lk5?S`*jDI;FlstIfi-_<+? z1KXjSx(82A|Jz3iU_ zB;1$X^SfgzB&Ag1jgNEsA5sE!QJ%674u_?Ws+#kxIK3#onwcMz(H@!yEZ!P#;~fL( z?F*?+WRttq!^|NbnoONfs+U`??ue#dDA~tyly+A`yqC8|9rxb*d|X))eT8hVmr(vQ zoYKl4UhaqrR^d;snw(ib7~~4V(HobdeTFI*8je@0_#X*B?tLp$0DSvbihV5f&p%go zfE&++buZ#dY#mUA1nc>msuY!iKNTtwF_K*tw&p_IJ&=o{Lw3#HlEvTj?o47X)&u8` zPp@xc4y*K8aua7#N4Q)8irch;*xihGRP*Vc5& z$=>R$w`xd=y{{}kKxs4|xLl4rAlp9efy!wjzsg&UG@}xqtM)3uyGGhgg4tlBjV;BJ zBtn6S?~eb_)Hc$55Ti!ZQ(0vp72=O+dP?b|mDapt&>kbna(~lXFSiYsL)LBN$ZGeg zg+#1Zbg7>f$Yud?diR|pmHK2qXo)`q+O1_Xt(Z-yW!7sF8 z4L};!vye58yuDgQ5HiRoosa!}tgB_}bx?pnRIGrKqY*-*H%QH9E0|}R&#D> zJVO}??KW_PAyrS=akE8#e>ko{@n|OkP(rj}&<{bgpVsKiA;Q#}Z6tws->S>7eZug` zi8B~>zCmzgbyl|cX0wFtr}>?GAOn(vO}-OgMza{r?)IlA4e_TKa>`Z^0^?3pd|FO> z1unI-86pf;V@o6dGym~mUs!8#J-UB*tOjn1Q{KISYl$1Ozpm|NNSfVnw%`T%{W`Ri zsqjvi8eJA5At$VP<#%H8?Ca$!(X|~!N^glp($QWRLfh%~R2oc9mZMb2lBlt85Xw%ZfBPokMSU)T_czNf-=Yxs%Hm6qgJ%SNvBI&n} zd)h@>jEL+h^!)1vmn)YfARE%UWdWVUwWRC1-Q1JGJX|aITTds&+NsZ z&MxWN!aY_ufG(t+?4 z6!;;QYEXjpUw85fDHj;qHIq&S_@5uPraIbKK^eJ&SbHj4cMn?C~QR zw2^ibU}mrr&s^0=C)MKzS1l4-WF_Hx| zHa?F$dfzV*VB((^n=U4X=i~rT%WO1lt}?)-MD^A{HE{lQr=9FNJ#W#BifFC({1U=I zLW14vg5qz@j_o!|O@biJ(;(}1zDmsNcAoGQnM*dlM}huQn<`5}GL70`K1}y)yTqf_ zYLn$NOO>Ay#50;>ik#?@3F@lVr0JsXwVhe_TSOYZ3#*zcZ}L62Xuw0Wg-cbAjSNwf?D0{F61GNJ)q2%lpr z<=!_c0$P4@sAFQ!Ss`&zkEJTF6>E0ztYXYbp_hPYGF3295U(RAb6({QF2cN;aVKY9 zT#!{O?|~I6>jzG(Jer=}mc*c^UFIEwEjoPg6F;wN5@ESb;-s%=NryZtobdeN3LNrS zimPwYV1%$wwhtw=8*)8iV(n>rbg9;_m+OJOE{vQQm8aO|Bx(h2_MY}9ETpOCcDW9! zmEdG%6|d^{h3Af~YR=5b=I)X@ZneC8Z{@p6!VWx2P&AWlPdcV-R)lHI8L9G-lBdx& ze13a!%n(o|;>T|UejmeJI>jTaP!SL7KhzMV2|Hyib)KiA29%ThSQJjf#J*yRWhlyAL4Lf*+cJ67~ z+kxl9SLQvK=}H06cnTCX zSfcxyfcMgsrRmE%y1DqB&rkdr_F%KR%u37mV$C)O4?y|+{z%Hjq;dc_t~j*#l5Xtc zQ-fn3LW{dxf7_yu2@jI_L1p}HE?K&#s`&XwkxUA**m3_eEVnr>_S?_vQ`l6d;^Z#s zJV6%1Up7pVYK6w-U++w(bL7F^(Qx-r9g33KK;keN>}<~9TYEJ`dt|$YA_#hpkl$!D zh{vJ!qz)#Z!&3=MoV^w(;&5nHYD-t{>k%G*FM3ag4o+oDIh^Kfw*`Wmh@UQBclh#& zDVpA2V|o_J5sUbA-!R^NV@-0IUtn>{7pJhucwdK&QLvrj+;J~-cqsoxW^aCO9b18w ziYRDr0OTYbFtXsW0<;raJL9eXIWi^uy+j{>ahjb)*nFBgROe5sb2$qt_mo6N2S1+9 z>6GNin$E1&;m&N2?n~XOU$a@Y;n=M79VW~y<8nMbT|!H;=#r`2wXk}=Ak$~C>pauH z(y)tLs29wW$Mp5+vg5X6+?t*#QTs*QubPqOU}yWtMMh1iFl@nt&A z>NPWNS8xk;e5SvTnvxyM(A`Ez(*YW(Z`=suRv5HeKirDWzO64Y6*`ZIj>dW~5hCe* zZ#om#2f>z6x)!eKbe3~^aIv0>?_Wq*6D^YpW2oyH@XqRQICN%K ze)jSmm7;byF3h`qJca3f?5cwwwew5n_e^$gR5v!==v1VRagKvxxlF^D%J{^b za@B@?UOv>rC<#alM9MuBvmI%BG$=n*$qgujiLJsXt zA>3v4E=%Njw&$7mBPsWEdih}n-3@3=I7}%t;&sj#vg#BIH8-*D2H#&fY{|(R@a-Qg zB_L1@d*!}zUU)govk6IJ5|;%OL8*WN0eWodpX zqld8{s9kAsb#xU@VsvU9>5>bbP#wPgW}RkBTr7N8MM#}AI9`%HN7|{f{yK9sj19%` zBg)Vhhc^ylwza_kp?c!H1MTNj26gqdUlDn(b_i0J3)50JL6?vGL`U4W3}?q23Rx?e z4n4#BdHP=~wLYq6WA)ak8+c~Vb^aPS5?BFnD8S4)g>5G)_ZRYm&6$H<*`nu4>ug(oY9j78$7%4y1t)JH*!h;`}G3?QI{CJ zw(I3o8$M2I$77jRLYVJN`Xb`vh+sKe_g)fmx{8Z;CB%n6P~T(+D1aW^4+Tp-R@tj3 zCI?})Q%&8I^-P>+F_%Mx%1oNo`q%-NXe0+$pjkngGoXhLp;QYv(1iza?btyj2Nc!w@ zM8jdbHNJcSt=rQA%Q`fk+TUP}2iBW0(NJ=m$z_IaVb|^M#kLo#f5`nI?!E30WR+E? zGxph8?&4UGO73A)<g3rS(xbivxkN3&dfG|xQ^)c`sPDb zGaKHx!ivZvms^;OM!Ec6ePMN4?aX)9&PKe>9*@j!t7qpbtbD%PaKs`-+0Gt)$!2Idk~CV~uW zs0gndBe+ma#o(g@v}oYhXyb5On4iRC)WJ+Tzmn~``g)&@mH-j_4Wy^(V5^? z^9SL-tf3(^+!T}DwSOdveAF1TWDPAbij1>)X!yy_i`&UYAUP7?P%P0w9nk;*ALsK5 z9~59ZDTzvmjaXBcD7p>BaxxCv>^h2M;vDfdO8UUZ4pC5 zibX$N6P0@@w^H5;3|6Uj+$tH#gSLi@8zL10qvpNm$P*_ASUT-dsnPcs%!8Hb?0QhN z+qztG9LQ)B|MVD8xYbZScU6v#c;j(WikZIA=mo)PNMhIa+9;02Yl!8PrH@Kh(@Oa< zMq|aAJKiIt1(g_^4L+O?1~+X1MUO|wddtM+I0PeqgDPyAcCxA|Nv0bcey-lCR43G~ z(%GS?brs&_G^y6;^0(okkdQg&-bFUZM1Eus`qkQWpWm{U>VQQ;-y=nj(On9QmmKLt zlS$85fjV-YpS8v;5E3m)b1~inQNFoIYu^;I(dARuJd;U4X=@PwbewPzS036=eaABnMj^@x5&M>R&wAD_n_qN+jm=qkI|}qTSyoO3 z!tkuqQB($Ew7aC}g(o{4q%aq(K}AJT4Bp$cX)xLrV$D}etMCRP6<B{cMy~h7WWP~zDG7zY--S@Scve9X z>oa6bF+7E&7fRPspSRcF@A3`&PGnRTq(D=w#E#BpG@47bT=k_1Z>%IrZ(;tpA5MXD z9Qk=m;s0EA!g>1zuy)^hCgL{z?z7d5*}KYfy>QigW0rsH*`Y-@)5Vt{U73ChFe!U_ zDB;Y^cJcOb!pk0-P;4?$KN0fF+zJO?ws(nq#s)~7ThSnef_1|yB23svRCG{$VUX9Y z>yz2!d=Ha$#gvaBHbOBLW70@c{BVefU^w>o6fdI7DrlE7+_fCLGDCrv=d*@S??yo8 zcWmH0EQZdK_92;&J_OF8?CBUtnOvMScyOrzI!oMmdyC8s8JS-z?U9C<1AZ<>A4Rz(DJA+E4J?BBcYM_Z8uF_h zw(^K1oTV{voN+ERcu-uFO;y;_YEFFaikUsm_v}?=+%$FFfMCi|uka3?|5w47d{$hq zksgf>EOxJLlnd1!O`&33LbZm|s?w*p*)BcZCoM=`oL>i%QL@LIKXLmESEMyQ7S78s z@p}a}TG=@fM^qraB`?d6j;veVB8uxH0aR&>EbpB7ThvXaBjUuuKgl8pE~uidt8tDY z4xdm;%XzuW3#_%oJoT{7Vv0MxUANYk+tBTue`F z-t;U0Xe@#Hh>_fQq~9662&f)fQq$blbPtDsV3bcg;z&mGrPV*z_~ea3B0-aTDnSJY1+;DSrpCmLklVYb+n&;mS1w=Igtk%=L_yX&_4* z*lbY(GtvCcFyzG!IqtH%au3eehE(0-%B+`^`1rt}8L`Gpu4>3dg=%yu#Q)S=ljbE15gfMNgZ$)4zw4h7HYKZC<5U7$ zXZs!my3e0sX3q@x6tVda-;iqj5`UTEv$5(6_@!9g(KLs5PudImk2uPqc^31^zuDN_ zFAB}Kc`$>yP%3<7(~xQPjHO8AoLv5`MTKn(ZVj=m(~wneln*?7Y<%{;WYX8-%Kaf| zXKFk_l!sNHb!Zj_Tq}pBTV;yv!#`p&*%#q}gSVKJ-NM4Or!*LFKiTOaTYf_B0uFiQ zNU4A8Zx)Ag){bC|UdTlEjWN3Ss1P;tv3ts4{)O}PQL2hlQXF+mm%~;dSfBj7I6Ew&3RN~ahZx|Kqz;Z794KqXR#sFoJEMICJM)UY_ zQ;M;|kaKdv^W(!oz+x3>S}MUl+dLNJ!N;pJPcA>5$Cch4BOG;3pdw#|V@$WIs;;L+ z#~6wQJ|(+8J&F@7lfR_E$2O>IUSQ)M!4>aA%x~ZRYUjyUKbQK@Umk#Y6o3UXyu7Y;e9FLs2}@~V z_@}A~j7u6h`9^&{rn{B0`IUmq>t!w7zOoEjDUaO}Ewek-eB7(c(Vah6LZ>tn$+Ta(M^UOmjeEuur>`tSU6W6ty-cqI zkXlYPWAS>9w9+K##Wd>Y|~(V(cXW8H_LKUV9blau13=wEO5S8K#F`aO&$)waDm_@0|g z1{w7xfxZB6i5~@S)hKKCH)Uhx=yY#gyw#^Gza+Mf_%wQn#JS@!tKkrrr6o zRX8?L+g;*Jx1u8&m_x8?OZ^REt+*R8K!lB)bVtdQpK*4BGczb4KGI5AS1Uw0T%$F@ zSx@Yq={6uFwU8+HT0rLy=NZT8C#_N$PZL#i@E18NRkzLMjS27(3f1&=x^ePMI}>Av z($JPAE~FhFbk}h6&)3@7pUX_uWnd}Oq0R#>$tl$#meQ7SC#Hm94OlHSQ~S{{QAZWM zS@ZFre#)L{*W)R0%}HKITo&_N)SB(&_Mj(R1CIOd-aGqGtaC_sf6|l#hurk+1a12P z@cL(*`L7o*IQ?_Z2(UeAxujWMHKt5}oW+_Be+Ai=p5K$iFdm}G-LAFI5pDA=H1CYO zd3-;0G&7WFT5IeNA8W{3A4|yss&P^>dkD%`909wzoa2v20oET59jxt>+vvRwm)D29 zrA53bN7w56SR#CM8G3KjkCz>t-&y!0r<_YsTOap!lC~KtI<68V-?-MEJ$*^uwwQ3?u;9#f`M@Hmek7~&OI}X|_Bxsgzhjwnx*6WJ^Z4+Ya95_w zSsXZ%1Mj{RAK{3Z&K04-IQzRA-F;6xM$IPRrZyUeA>5T zHgQBG`|af|py$WY={-DMBh7E6*U5(baj7}Q(RG`8)C`d>#DFAtD*hAWVPI%a#vyb2 z&F%STS&~9OCVM?Lo1FNzX*d3CJnQc`_~2#?()iPW+@)H~{$JP*womkB7rfX@zxfh{ z^E9V0bl+iA+7G=a6-Vt}0g@TFcHXDy@noX|VQZ(-4mS^SJbBHvos20N-lZ(>TJ9W? zvefBZEtlRMpQc61md{QzZ?d9UbHimvIdMXV1&uvhr4X?or|vtfYUNq0O}k4tLhGcj z&k7w{Jd1rDn=}z?ESn?`tp4>tft6(z>=dOz&(*%rbmK>5%_75IeC1T`?EI9+ZCUr` zB4k%X@>qAa63-%7b~GmOQ1+KhUl$Gu94z3D+?Gj-|?qDC}? z2FUnMH^&V$QcE>1ctqTk6O&P!Lq^Z(Zz=g?gC)0)f58$rp|1sdhsoEI zCu_%%!O|G7%O7)VVYQ zH&xqNk*lo@6at}_Mv;T|T!E^rsy#;h-(p2xGJ|#5UQv;$a}=eB{Dz70xC#F}kZ(~R ztd0cPm(@MR7`ogHuPg`yJz0A`aHONXlqlWUUN1Plk;3jKdIX@Gc+Z{`DER0iMhQqc zkNlPCp!DFzD3PlReI(Z$kxLJEx=+g7UR}? z3Ap(@lIe5$XLxRz0NRT&b{Ggn@D1RTzE&+_Hv}QaZhZmE+qHYtdX{tZ!I2GqR8(yR zNtyq+`McV$2w3Sskj%l&SZ5%FH&|ITSX84jVKj! zVozy%oTe=4K>d8+LftoAefF4@*VY2rzi#GkP(umz>1~vlK>nIl}PMEMSo{q|4|Bt;U zLH#zYJ%)zNPbxpp+A``*F8_@p((4&h+9hiAFmrxd5*6-a9*_=){3_vD)+RmMb(o2r zPVQ^P3C&4jnDVxjE;~F_0c;AV$e5Ur>};gjci5 z8C}wD(%5ejk>}kKmvw4J9O36UYWh{r28nGc)|g@lzWVZ2J@}?}r%PuhsR0Vfrn|U@ zgRH;mW7b^@=!%NzNr3T9OtRQ zu_4Z~a-T@$T;9cWRkUf6E0OpgCJXZ1j1TQ6m7RY%zUy4p>a7#gr!`LwpzKY2cSD|2 z9Ob;<8f;xsdhe2paYap+FgdLH2>ATUWb&Ni(~`r?nGD+;XGL6G-op&uUaa;6 zd=l*jFdY9T-FoQ=$?gJEb95lHhQjWF3@sP#LBuIu)u(^$ztE{yablR$h%ZpW0>>^z z-+H`IH#RjKWV&wddj>1mE7$H{p_j{`N;4?f;#f#9S8j)7^`0%46{a`rsWv=9Cn~-% zw5|-9Huj}f!jhYt)2FOH4v&9UQqO`5ql;tuGB6hk(eir9({c2jV|+ci!#z7Yb+F$v zA!#WYpuoYP##r@Benj!wnltVm?zIRi_ik__*cduDATFJz9k1uH3;tZ9jW)WJXwh}q z>vaT!9**iV7&v=yq~}juGU%H6LzvcZYl-5ff!IWr`(}j=bzp}lH_i0gjER-Io>lSb zg498eZcZKHTj|Q33zf@`oDFfa6dpJ#oFQE!#Th84_%HKcwn4&lwdD8?{5FDYXt*C& z@|>-)&X>|!j7K13_#306l?ST&ejluO>)h)%$wkvHC*6{q=~m+n za-Q9k@Un3wKR&`UeiFO$n5_&%o$zooUQ*@cEry!gUleWs-JLAQjFdd3fowh>3)IyR zIzCXWowLn?)jN(acy8Xu5Q_S!gc@GKrPxdt8!3lyrT8Z@ur6#1u+R>9)JPq3m5QHpIb4l)SR_BW zmesem$fSMm89J{IS!eL~nmS?>WLPH6GTmsg_Sp4$dVKB_Kzu;0Z-e0wuO1A`Y!=nO zSB>{TB@%p%ry%1-JE>OAZc^IR{~DR*@)KF)dcIHX(d&AXPacflTinQb7npL>^(V_r zXVg*&n>K)~-U(oSH(HbOz=5Ls8?A3zi%u(3u5*|(E`)ov)ryun@xr4~l9eXo%c~ho zn^h|WrQQtpu9)CGD!)N~wBqBCkM7Lt3pXozu}w^*qt2tSDQ?jeqEFi=bTRU0(U}o4 zTyqM+?&~pQx}R7n`bcJEvGZpj2w=fD9`c((vO}4k^o>Lj?mJ+7!V{#}0(x($M5@!n z7|-H!jY<|%9A4L~8%sI++b;xuCq4{yo|8PW-- zyK5uc&2zK2@|uD9Lcu%?Y)!@Q)lMG0`3j_-uCfFG^=mZsz^LX<GvGaZv@z z+Vh9E8t-FLPVOM5Hq+-hTUhhu^#+0HvKgF?;QK3j9o6h6P(MeH8+!_-#|oRSn8R5S zU%;#TzWWQt4*n2i^*;8@A&B)T*6@t;pUZp5f16A~kH*?*Wv`uLoBwq+k-{EWvR-*t zlh+@DY2xX7N4KX=XEAq2sM$nFB8xHLb!`zAr~PMrN@uOZjFWPqMnmC0T?9vGy@PMP zcmB~@(=T0{{n@1dbpB%nw@U$uhO~H&Zr%j{Vi9K^$Q8e|OepETLLMDYnQg7y#g?Yb;VoLUFlzAH51)Z3>D1w?u{~I?IB4V*v(ep9Lg`l=akAMh z5{YE_t^paTi_3+>a#cHLZ;=pDH+Xxp&^NuIU&L8`WDI%2C|V!To)1%V4R0s0huo%* z*E}dE8h|+3OZ~O?;=4$C%H3@a=1jezUL|x-tJAqElkO~}o4ulQvkO=5+uO#Z89b61 zIbQk~Fmmvdq^3PlE44wzp!JzFHDu&tEiLwQ&kFTX4I2zjXqs&$FNJk#4ZF?Leu?K6 z9banXa|VoLc^??HlP6xs0yj2qe#SL4$n%FxJBz}iPBdXDl>%ELzkT;BBh zq&`tWFbW`Kx8?iDewT?DSPcUSkOJN0TiMxXE2rEnoh!jUIl#(s17Ix%Z()EvnJ`ps zIr~$Jj`-KDrf`S~|3z^{^GC`p?P#&d~fH37p3@CJN)CX-R*sXqW5X12SnC`Q@e01oenN z$LOMVr!Q;r5U9yTtWCi2spB|gteNkI${ZV6>$W01J{W#pCE0d)!54$>b&Idr&8cW;c5i%zK>jeByX9lz)x zEF6d;a_l>aa=mvh;VBy>B2 zsrnX#aDw+*kDE(zwBODBUSS8xM*A$24FYH%S+$=nH;%BDUKxfVUJhtjHx~IG^=aMN zs)sQ#;;L&9iWJezc><9yx3bgv*5glAdHM<6qp_pCiIkT%ZUMkXPMgZ)wg*}L8bZ;C zaP;VC!o(#nR>2#uf`o%ew#HAY_Vuxabxi1ZFee@$=t6ac@X1+pw#!nqL|N0#|8Phy zOHAYYC@lw>*8!hqgSk*jXAkR1LOj|HIXeHM>W5Kum)23xM~7c;?k7HV zXgVU&$XsAbHau*?TM)ToCVR0JcqHIrVERXOU!zij#>~q;*LhUf!V+txN_G05OTVQ{ zMDnm=0tXk%Q}6YsMj{$)jsL$)ZanlxzP_DrYSEgMO5x+_7fXu|$OO2m6ifzA;G5RO-DEduLvoWo9L0>yKoc=;(w7*!_XDg;G zOeAiz#$hNVuxw3J>7te|f^0OIA@I}j33-&k3=84%+qn3m3X#PT_vfHJZLmAivS(Ke zQg?54_ks@V;~VtloXvB=rrtP862^Uj!nx(chAp@RMnCDz7uw;6f;r*br#1pKb~2W; z!!SNU02hyX7Z`lbntuxIZ{kua7@=YPJ@cBrMS!<;87iLV>YoTCC z4(9G9B|i-PFYvcf*LE+2-nUlPM$r?}#ISe6k-vPyfuz_GM>11^y$uhKQ|G+CG0;<6 z&h_Qs9R=ch>6i#?3{q_D(bQ&_C%QjMxJ~f#P zx09i`RS`4T(aS;#gr&+o(CdsbzcZL|KeD?0)kIjeReSdUlYG3|9sL+!r*B-UaiYR4h;|`JJ+JZak|`ys%sn#;eK>x8gXNGj zaR}$0Ty0B$A2|E#m@co1abG+T4$HN#o^~vFCj9<);cc^)kTnkGTLJGJgwTNHsq?n_#nK1xMyicUEbCAs4Il%SF%PKB;7^ef(-JENlI?u; z%3}xV{{{XXk=89=U<63ISrJ#+GZprdIh>K<^GPKk zl$MvBY&DY3@GZnReQ>G`RHK;{%NOLE^kq=vNlkcdI8tY#eGN`W)Q3!H>bBX*|B*3p zIoi%;!ggU$6-iq`hyTVrG5@F1$YT9~Gk`VlJ)9MJD)&@x`>4ciX0}D0*zTOW%S6kr zgbLI4+t^>5pIFr|K7R^?gR$=X?0MV)3TJy1a?I#dwhIY&hdz(@<_v-)^0uEVpEg6F zum|^Jqc;fOuC&xRC6?LI=}aIZhJxqirP4BF=Ry<@q=JZ%!=gT4>jUN2mzYAOnp&Da zoJ@_g93jJujna_)SaV+bQ zz?j#k$nug9S0SeNGaRR{C-ZCStuhf`KmcShSC$FuxR7RcdgT3zgQ@9XrjWU#!y|CZ z0O~AY$=2)v$^vhC@z3rsHtf0-T-5tZ%{28OhN~u$&0o$x?cB#9Uy#tw!#lGHhYT{O zJim%s>TCmWVpC?x>kvP4a6dyI4 zwS2-6H}X9K?RcUO9<+%hbT=r?iaAanHY=1s;^Cz>R1K? z=+l(EH}rTR>_5J*boksYDCJe+#f9H~qfBNC+Jx8b5S*3WmfgP0ss#d;*fh?m?s`fP_cdlt~bm4Ep|+AfD38D85wU6wlpA(`XbA7JX2`a7clj~?5adz_O*LnwBFs8mig=doUtB1R3zyD!aZGxAo z1MK7Yx~q7>QAes7^`MD(h4k`ImxXeZz(Fim!dBeYTAt>MPa4@R)$4VB?wCYZ|Kqt0rW;`=buc~!&vOVjr;jTGOdwiqw z&pOg_0^>=cHwQm~+juQwx-T@LZ$MO4cce2G(7^|~xF;Lne;~Lt&#U*h@WbDPV@NmO z270B9fq_u#Zq!cs6D5K+3OUo?+itVR7jCn6N6&9lE;f0r<;%XWQY--eP;;k%h+Z|& z4(Cjv3Z9Rnsr`h%yTrY(#wwuR-fZW5sBwa2rTUaiJ+4pqYhQNUpWnm)cr$i`U$2+e zt1R<99WZ>eQ;8=h!j_i86Ut>=@_Y{RWXpn+RUHZEN}a%a7%+6Zf~Yi)sCzaYo6${= zpZ19P9zDo<7}Pg|qf}mp607*#C-QQ?KfgJ`W|bPzT;tGQuEnQ~CmGpakJTZbfCdoG zp`;xNuhn8%#6ltVE`IjyVMw`brDHczb6aOVY_zm1BvH;!mKIt;Zf;DIk%rHlLaUwt zHIYTSbeXdCuAv!4ll4_sle0`9zRt#f$jwNkQe#}kcP_;Y(Fc_Oyuf1e7PR6_^Y{Fo zyd6lNYVp&eTKAkzSVRWeYwuMwqWQoOb0;*S)+telQyJwW&rsM93Y}hvfJ5 zxkaUvPYA`bUmdc?J5n(({|KmBZU99oL}jjqjF4L*YYLP%r!f6KSXsSeb|g+J5Gtd* z&YM~suFCX^`<2*A8S!*5&b)U^!qAkM4+XK#*ai^?e=#!tOn9!6cb@Jk43q2+1l(t) zFSotbk? z5+<$(mIhCGeFLwr%>4o?jjr5-Qy)LvOM|-VSYtDF-H$+`(*g<%d+%D1s z6L1ORS710w{K59s4IOd#K}QLialND}6V{3&|nD#1nHGkbrf3?!n!I zVuksFLtf6z`TgSwqFemo*@gF7r#qrfm_Q(T+06e1eAauv_t*3FVS2|qpPmc*`Sl=4 zyu-l?;!S7CNj=|#u)5y9?P-TTuH^2$J*!p$G`?n&)w^6PrIkXDg(EsDd^a(b9Huvr ze2Xj2(b`DIA|1`Ng2U+vMKf{qqUWA02P12b@1$@~WHj{f$&ZI~2ekGhk1H zWUo~1bVQ|rJlsp8D|-Tfh8=6hj^*C#@SAA`6&klquvVFJcS;%d-bh)t-~Z2uH79yG zn)x^Kl(FvIIWCq`{g)CG@0+QP!K%wYO;c4n=8|Nw&AujeRybjQIOOLc8xIQqs@L3Go($Ti!%!yz%PdNCo|eKG=(|A=Kf!WTP0F;N+mLv#y+y)e%%{C9 zG30B$ZVwk{YZ)YeSEpuw=2>QiX>2ia{{?^VH$pJ*5bN2B0#Y?xncv2-F-)Hdl}E#8 zPlZj9rzqU2I_B_910;W0U-hlyW>G4}XifoHM4xRI!7*$yhW{csXVg0q>NZ}A?nS#pPlqPlZ30u zLkE+DAJ36cu?hjrpTQbTF>)=WMrC&b>e8LIlllN_x%lX{p zA^HExb$`)vyWk5(h#1JbZMgRTPl)VVhv1D+!i&1<&xJa-S+RX+tN-&6&ej@z@8}JW zl!8=7s`R?A9nH8nXF+4a{{Yu1=b#ii6TZHV#jmZ24%dhD$ zt|{FMBz}UBR4J1Ck>!V@SZb+BN&?*}x#(ttE7Sev2aZ7}0T{mr5V|Alu_7aDeJQR7 z*W0!dZ<9V=+`LSIzayqvMReyBjOu0Ktz=x%4fJaEVUmJz+=@=F6~g-Hv(5Aa1jZfo zWXdd-xRoQHXJadI6GHTZL0K|I6}NH}%gv=QUW8GkXKc6Q{WxR)H5O2^nNn^MMMAM2 zMS)#)@*~cChe8)o3ER5-T1)h7upQq@zd97PpQ4M0Dp=-?HKi`$-e(VXqx;>2C=|xacycAJwG(ZK22<-s-xc@_ zj&yz%S*eJ;9>e=IBQR1*1#(QInX*E039#>YG`-8=N~4c98LIhp_6R8|uzq(b^pPuS zx%L1?L8mz!Wd@tc^ApaIk}y$#pMZ%=8U{Qi=EMJCnztkBr}f`n*4DDe>=1BKXlQm} zp(qISuU{dQk#Qr6H0uhw9<`K&p?Z!*ePL)g=%|9AsGy?QguU!Zppl^2W07P;#;0=M z-yMU&;SMNBE~f0OtA=pQr`H-E+b!}Nj%|Wu9uiwTVP8uys_py}BljVZG{htAG?4DI zx#k+(ug{L)Wcrg%I8Ib4J`7mQ*^0b;#~E2wPMqcWc9)HTz&ImEjv`xr|0r-JqfKTn z5>amo)I%x?&ReEsOTjzQ<54OBe5~ht+|3Oh41aflS45f|KO9K~y|M-4Hqd}{myZtY z&kFu3ZKm|lji|^7`!UxQ4hqe$+O`B9k0u0H2|^k2$fq$}Mo6k$u4g<{qk>`VERj0; zIpcTfI>umiY{s*95I#>H7C52QFfeGyu{^g=;jkG3<;WNzCOysVe9M!4xjL&&?@%A` zyw}&fs@R_0_-aV_+i#iN_V5KJ$y9hXq6g?yBKtatNI%;sz=CgOgfR8`dTN3R0Mnfkfyg=gJ-uQxvPjD@wJrSrAM66fP- zN3G?z#XRHSDu|h>4U6ezD$9|lJNGbIV(VA0|9AfFb(Lp= zglbazDlAdXk+o{{0-LEymmYh*R~p+P=vqYro1$l&zZD-7@HEOqTxwEkg&y!M!chQ z?RP9bH){RkS7$;}PG8b&cf!h-?P!$3yK8+voz7UWVPZl^NDwR5G{9J5XP^^b)N$E< zC>ZroH>rX_29r-=Yj&LtkkAjDzom~26lPBZqx0P-s42$}7~l*F-dKUFGU|^&-Ouj?9(4B4J?W*{?D9 zbU7&aa^eYxs2w!5B?;-jwgGcLJCQaRrRvEqCnEZXZ1}Wm_Fk zTDj52b@TfsbORKIH&zT)VXU)3byM&!m(*~l^I2i_Mo(*Wn!W>(z5k23cMg&)TDN_x zy36dcyKLL+vTfV8ZFJdImu=g&ZDiTF)%)Ci&U>qIk4$NRZRYApdiCO(Gh4w$Qg@_7M#7{zd-B%RQ5_| zt~Z%odsyjCgHR_=c6LzkcAEMN#VUI+qN$<4IR~fBhe@iHYs3UA#uYFg-bjBjpj}^y ziATFbT;pxDcwpbyg>WdRGk$qgWfzCyKPs9y8yhD3ztwL6~ z=xPCa-LSb`ap*Yqocq=O{_Mc?`cC-qsAji1J$1{RFiOrZ8@pdK1QGA4Zq(bK$HDvK` zm0l9^V;@9^ZIB(s@_Ntr24L zBlb@Or<{yne?yq$EHe@Ns#baan%y8Epi#TmG=PMOh;@g>6t#3?S3kbEQHrM7-6Xcr zF+h>sg{UHggoKQnZZ2+bs*qgwAQ7!HjVCig>^cUU#aoq;gqq1{8VU5eEZwTJ4Dp<& z7O1!PcnM-B?jMrj@cK>Oiq=?Jnf2D2Ps~uQiJKIBa~_T;GndZDN5CwY`mI1Y07Ohw zG-2Q5P*iNe=Bvk$W^dSX{QM}=G`f$?(!t@ei?>MRN;ZxCBXWpo)ttfmoNiy*QjR7F zpk-W6&g`oKxD1tO8hWy4#5A_Xo{to?H)IK*^hO!5#5>@{Y}EZM@*A1xB=2*x`Gw)G z%)to_GCqO9WCcmNXldj#N%b>QetUDWS!J-M&!~8#OS#VDRhgktCZ|ck&Tu3oa%=lw z9E`3BeYBSQb!3$(yzCt6@gvod%OFAwwX{p-*JsiIC5&c z-1x5A+0gM+o55i=b+(FzggYHqxP4$&o{h-@Cc7X}fDe3gJw?iS5qJ^Sre_4Bc)VV6 zMbvxIS(!Ftj8=j-U#1+A+Xn%9u|>MI>SP;tB`!_;v}(?kN!w)MSWj||7R2S%m%43M zbnTuppYsWyee3pvwXMu^%HUSp;5ddov;k7)tvMo~MQtBv)KGj&^s0ApVPP(1zQfR% z=5VFRxW6G2U}DMRhI+CTP?Ih%Cbcp8!pfmvp$!WLc7*NXOtOL~nK0+Qn}^D;7)Zd& zxR&y+!VmkHan96igSXMgTwn=ZwurL5TA#5HXs0ge+pQMn4}qmLQ3H38YQl6rm$Ep(4NotxF~C&&jyz z?&>s!`uBIb6?P%n`lJIa2?Xj4ns;|Z17L}ZwUae+2q|&ZF3*jvIbAAxN1r!o#PRLT zreJ0diIo~V=%8;&sN5|bemK+BE7Tdt+?6KuHiGbo0&fseosk?-0OPlxtfKfL(390< zIVQF43pDG;*cs1w$!f@>h(q0OprOqxiJfKP+hGi|NmPU);1XrvuB`?MLuTr4S513~ z6&Ce|JED17wX{%~8RhGBoU(rhwLgEJU8K`c(v|#tD?M8CMtR2A&1lyaYvV&^ex>r|(3p3yhhr(rRXDrW_5&rE|JB4*viV+A$qxbg295~*e{LH|>u%=teHHxrRT;Z=3M{4nSQla|f zPK39C6HdG^7<8c|ySExV2s8eTXdgW=eU{xPCMJe&bgcWrdk5me!~wkp&8a?3GU7iA zf3;__Rl5XQxuNjnY0cAG8#m9 zj+*kCIu3HWyTOrm`BS;aFpamzj|AD;*=n;_ z57-fnrbNizo`@u{uZ2Sj;NgcrPF_&Z-XH%CekIz(k+HInUb5AW@d2f2(YgO#=$4h5 zgzWHS8|KnjnUp0RgNiPh116s^T6B?BIL@HLoD2&KGx=RzQe##7Q2(HP0Gqn&@WTrj z+L@zyw{%}2=?eBku;Cj4U&4S6fdS#b);S~*M6-3hCFPfk^taL1Dlz%JBrU%bzNHC1 zVAHm3WWinqD~ALQ5R2FCgV=E-?;)gL6grfj?xp6Mx@d{-f|5 z5gUgP!P{6a(dsV0{~U{kUXEX131XCHgtj6{A0c+viJ>;Cixh~@LDaMY=>Qu(luY}r zex4bhEJTpBAvrp8RqP!|N*1ogK)fcjnb_;D;lK}488W<*T8_WrV27PpzVU+l1Xwua0UqzM{-CtvEt7 zY}}hplPMwaF8yRiVMo)gzEO-X>=22j!JwDuxV6bB8I2z2tG|llwK-27iFUF1ji5qEmgs~kmV`lp|5W}WA6NP$Gav0(pim8 z>65YH;d_1YOTZ!TMa-0pF(JLaP4)_1=)Qo;^F|_de}MDe$lw=KMce@M8twm-7>pEF ztde;)5{B}s3?p4vm(<>*rz(=}%`8;Zh7`=Kb8Uu1i_=p_5w2gbq>v8kOc z@r1VNZhX>m!tEmj)bmPEB~3_!e0XyI2Y)|{`B>BvD+!<9#i*Vqn&vZR9f+rC4_ z6Y5&Q8(2mh>hz8e-v)U$6ARRNns08|j3e-QREzma8=V^N97#Mm=x)wfo12`dJ}x~U za246!nWE9{n!(VxNKUzLQ079K^p7;Wj@`$2Q!ln+uD3qZAH0t=8liESJsvDi)?04H z&^{BA3moCTo4f4fXYjpD4)5QlM=s1V$~8Jeh*@bLuqvqVZ1Bc=;}7Dyfq^A+2=f&G z)i+vP;9W_Rd$?BFy2g4&zl<5LW26t;iZPXHlI2mXXSccne%e^&&T7GGh-|9T2U|yX zDULjg+@!p1JGHmh-^jv9l;OYKx#8wT-TwM3W{}Wg9OClNw~~a_3-RZT$HBv=M$wjt z-7qXAB>I$AeEuq-I0y{Nz3EM>fLhDwi35mCz)@COfGGDbKk5?amg}I7ZF= zepx<;&U-~-iYe1yMf9OgeuzrAvWw~FEcn7HD-HIhIPQB(9r9O?n9-qH|5Z~kG;EV> z4(j!$Gc9p_fAvgU_c7}foQb0}G#U+;i2gss4kr5h;mS_r!o>)>* z3PUh71d*w8paGLvRX_I*wc+Vp&*g7AxG#IXBG>PtEH}N*Z4xiv@DqM+j@ei=+2yE< z_-0(PXTIz3_DppA+&*zZjdzijd1KRXIy3yF^B2kTPF*6k*}gIxC11Pw>E*FL;A=8e zSJPbNgn^!c3v=X1pAXpCh|Xm@YufDz^C%s*_OO$0-L^XoUMvy|K~Bo1q1;pRob28% zw?DVAb}`K=NFDmbZlW)_dV)1N&*V|RzWjR1LO(YW+&`C zBKB(qYnWdJGkbltKt&)DW2;#9>$8gF*0t}(priqBcN9K`X5-4ny5k)--1-v@Nq8WR zUJrtH-I?>jD8jYz@D(gB{M8NBV~Zf9x9!oMQ3ohlo7cUhF{O zxMI8>#^mX|f(1S=UqM>%y?W=TbWM%rOGA^|rT@wuzsG1F2R$}y_kv|9tZsaUUt7-s zWcB9IRG6V-1!qtAFR*4jm0cPyyR4Cy$|{~rp1`yar>cLjSn@la(6ihpd{>cBWvN9H zv(tN0qgH(<2<>Wx&qqDXh+|(GC_O@?rwppqmL9FjvQwFPFl%?!kT3^dt$7uhD;SIS zY`hMAoGdrRn$tcPI^)29QmuFrVa-3{Oy^=yHnOO?V@m8{ZOS*>P!9xMu33HyvtEtr ziI3_RB>=^})3b6gCA84U(30bS z4*AS>%2DC-C{r~8>C`TXEWU0)tk)Y$2foA_6Gi9~JAYQ0`9f=q4+zCx35L!IY%lu5SK5-gBaZg+HZQ&yI7R%|N*F^W@nk&g4SM&NewU&ky5 zF-qEYPnI}C4MRkk72DjZiU_6oTF#8(TABE3gr1j4SoJfOBZF*ypcbPpqsZP3lWZP6 zC(Mh&M?}5;wwd z{T#k3rP{^)Ngd0tEF-KoLC)$^tFTT$Ac8hB7nXIFRo>;NKbIhjk5m~dq0GIc`mImD zKsx{oQA0Z#)xFI#F+ZZ&Wn^th6*PgZ_e@kkz@Lcek{n<~iS(ESIZL@pB%az&+v>*@ z`hXNKz;tBApqGtiW;o_NEV4l$NZC}ZlcFHt`BpFoo|@;OcXoO@Ld&I2@O|uF&x~xU zlI)tPgZ(>^{I3LZK67T#-+_UGV&2Bl35xh1C)u3%;GS0Gyf!xL zXT)oH&e$0$WFk|L^Ae=|Gk11vuIow9Hx43xDPg>YO15zdGBJg@yH+Agq`qdCENn zjD+>I2g^{ z-=_3HEHN&Fcfg|<_BeHLt>u(=ElbocMO$x&56M;q+5J5IIg)dNdH*JN?A>>8w(582 z%g{x#4VGwxJw~>&*S*E)Na+m;V`&bBmxX}>liR+~CRKH)5aXzw_31!4xw?w4#hkq|8r0}!R;L$Ibw0x84v+ghJ--?U zrOH9xfJ?3i5^jP8bDz4FuzZZkldfCk(U5X|GzykhD00nt3(0b#K*aGxfhEp*+mn~d zeG>$=os}s{g`aoIc?JQQ`q)iWVJNC}vNv~Fjc?(@#oYyRAPI4~PUqy=LEb4O;;+Xc z08tOjrI&?jT~h)MR+B85uGvid8rCu}Z2Cs87($Ob>aFk{9)5q!^zqoAxhLyEfL#Ex zef?~^@=*4e;eDxA^9(!NEk8{iSpspi-!0S+yE;lQ6%?#WqXKF*;b^!dW%w({A+ngc z`llV6Axe!U)25+V!8Su3WDa(<7892oTQKSR`277t<<9DYa%W4|Tonfg>rQew=%8_o z6j9ByO_R;pE4O4($bdC^pDTmxXc0K`?>bRJ1Qd@@UhV2*B)fEzB%8_S3+bD}*g#3xE% zgnvQ_WUW+jnbr8lhW&$QiO^2~+2->;r}E?zZOq3NYy@fLPK31e`ZqG%ICtI=se1~T z=Y+(fFy>*qvhrn1s2_Ln-@qxLh!x977nqm|`NGL*u0QyV>I{^CI9h!X%TXhm$Ohp@h@#axaOq;307$rD`g&0G$Lt$^z!0jg{cf>!a-Z2F=g0qbSA{S?LWI~ zdx1DUJ?PkJ;S6TxS=nnFk>A?v$6)h=L z4Id@oCX&@FE_WMT=2DhUyCl^#C8yE}LhXBHQddw`|D

YbpvNBYf`F%rAI);i#Bl z;O*09jjl_wrtF!{PQy#ovD9D5iCz;7#>nKOXRbeIGZOZ}9&*%MB1BVgiYl8CxWIpg zA9NMp>`e6hsr4FvvIZ^eoM`5nfsq%OtU-5wcVHv`LJ=@HlAj@2+tI=%_|?-h{w!js z3EsZAyst?eG`1I6y+;nWGl_`>izAB9nR)DS#}KeY$qN#5r731DWYnN!hI{j=1xbFW z>!E`U<^4^fBz)hO(yrSdCA5ig{!I4VIl`UlMt3Fl1YGV-a<)0Rse;CveSmX~5r1XVIwAcMri|+N^y5E?8=P9ySJ>In%RhFW8o4>55Lf;El4eTGPnm$jH6;*7F z1p8{aHD$$;oPo*Ba2Zo{b}F`$9}N*UL`W6=LvJ1T80xWp=iq zso7G5OPkS^k9T<*wSylvJVp<45XZ|ASOF-PUYt+wDZYj5UfQl19)R|EEUZ@y1Me!b zrMMOZl}1PsK=N}r@5gs?wV^lS=fFm5k={>tDyRP!m02l({r{25h_i%gl^r|>8w01W z->vY^2qk}K#Eol3RrfE81r<@m& z99{E;fd5+i;N)mEeoNbm9Q8;2j}z|aoMQrlkj_L8LMDE*T^BXVmQDo` zGo>{esQ7-KkGcfq2M?+t$~K+Aw~{SKK+?%420p;&HlIqhna|k!x^#Vxif_E;aV)ak zp0mjx%WAHtxR<`E(~^bf z=RM!96i{b94t+@Wrl;@2{daOs`9NZh)Spw*yGOLIKg#^pPz2ver0>pg-dfoM;;M;S zVP6u$K9eIcqW*kEqsJnVUo??qnj2Eu+YMARqD(cWvh(T~mQ?<8jI>ZzXZW8|q=b;r zBm<~oYb|il=b>t061%Yoh13swiK+AP#f&2#)oySZ$3nIGME`S1I0Qk<{Kj=xFN1H$ z%az!JtOmG;Fa1E#Z;dH#w@bf`q6$Y6S!X$vzcZcka7AASaL&=KOX@kZ480N9Hbc$q z;u@{)inULd!8!>rLBY9NE|xDCEqBNj<)i#Eq18R#(-JE^2%zMRF=#~J4RC@gFxOC# zkTK~k{!ZBC9pIrcvBBQ z;1}(mS_K*0Cri{IQY)q#`IK^LVPM?uv*X{?_bcwsFwZd_!JUsL$Uk#s+BlZ&m+EXU zr!0Ap`7-y*PNvt*JU8I+MA)mHfB{?!=~y<$<2W)tlI{VdDNFz@YdG?zy#rc0s~ZK) zMssu*$CHVxhI@1_BZ?_vH=G-Xkv!w6Eb6Z%1bI$&vv1-OCiVC(Xgm{;M7J>H8EYa^(DnVmuv=yThHcA!KH=ZL4vYcfSHbVA zPR7L3e!c zyhmq!bocEsNR9(s*r8n->=)S>-d-B`lsO*3|GTANf#ci0tZ{48jU0&6{s6h}ezo1+@W)UE>eH_j%Y<_z`LrXqgN@Pih@9{QmOrE8WX{GGbUBp_$yloC@ z85A)%InqjQaSJpJ700`TvDyGK;$K+@H+;TRW6l%wFNF^r$|&Z;-QhCFaHE6(yZ@vd zU0Ezby zcFR`|B(@s?2CB~8>G$wE+wD8+?otfb^avo&sx>ddzn6Cqcr-nl1;DijJD>B9mpXy< zcvw7pF{eAX$PNLwH_KzaV(W*pWDZ_nv<|==7&bZqQsm`UAAKyW$8E)QeU8g6Nk2;4FdjCX!zqxJS{*okS&J1Vb-`-LYPm;BaUWbwASOkf3(9Mvdn-dLcR}n{ zUH1J6VlOtFbgDUR5gZrKEl-ZWDKlADs`tXA-CT@Y^>aS|m|;4(AGDrtopHWb5YbR^@yKM#ft@zqIBKTHP(9c6ydFMrCxW;^;B8e_A}K zIB-ylu-rV)ZJ1&ngiQPtyg+SYFkFS>GDe9m#~w4_t}3#Vq~lSB=D|;%v0i2nuRXfW z{$QOU!B4{rK`GN=yJn3tjz}+E3(xAgOMaOy5#rAHaQ*^n1X%YwV;yL(HQNaA2C-G^WDd8tReU?iIBV-@w!!O+-W_DzKMzv)RaC2S~;1$dk%T5PQqR z5)Clrr6(73*d#%EP)Zb5799QGV`^81->6gng-JunO+e;z9g4M;YUburm5WH z$epLwevD*uRwFXvPlC<|kmoLx%F_E&>Ex!WYlI*~4OjpA_PmyU5y4R{h3Kq;fVrg$ zDXa>jvGOd!xtIP>F?{hAqGb%44^$bC8xEw(Ggi0P7u^|IeYkS!u=~ti*-(b1*boz3 z#ExAXNwt1jDouYc>{;h|XY%L1q_pL4y+l;gG~TQ}G;XbERtGVXYvPj8x{&a#9r(~yw+-Zry zGU++lLTHBv!3j8=t?nz@Izok9s}(lkpoy*W5W)XGU#re|Bl*9=ce3l0HOg?H6e^2?7o@J~0*K7{IaykriEAn0Lw?Ryn2y4jk zuQRg8XRH%qZ`}XPJl`Di?#W}4#`=9SNx}%8A%}pHR4pke7);2XYItT1XK1WoY>$Xz zw+ly25C<_KiK>#RYZ={=dPBBe*Ip6|@;%=Diw2>e<##H~Y9k(*!t_~R*)D5a;v2G-&ssn%c* z6$+G!+TGscJ7I_^o_3ML;J7XDF{aP4X zZnS3xcd`XMXK3^?C)oeyvZSU7jEme_QAy=bfb}RO1VwUgD;%^Mux$F2@jTjHLFHZ$ zJsto2)Ia^X~r8CHt?w|=-pyN~S3 zxhjfpG)+!4Wm$dT9B4es^ucSRE1y|y;JL*=E0cc{4*2}I96*` zUt!a=S9Du1#~`^-VcqmqrD*XFG8wbPO^w0|ivrT11!E!n<5n!-1o^C1!K$pf(n$xD zwXjOU;)&w(AZ;ZeoGtC%-hEcr_m1mvb?#J^S80>eG+fp9#RlzpuMEsaIr74SS;Y9@Bd z7mWgtCt|b68~1D7&D2pCsnH4xfr2bEIO69Srv0&Inv)WrP)9&ax78W59=%H}-7Ek5 z79pjAI#z`)H^w)V=0(quSBYCLMr!iIs~tpur4}`J=1*$66h7DjvP7vh?hfnJvQwkJ zG#-~jfsPpq`WALnbsna0von|49UT?D{6HMWPLq6A>Ao=*a~2P(KPH!kD)cGo^+Y3; zzjuQ?xtwuC$~Kxiq0i3MM$jI`rK@MmHjG7MezhZsm0H=cw^To3{WV(w#cbSI>Jf=wX~lz z0T)8kf*b!b!l^5|*$#zG7)xw~7%l?Sek0gVq4KQFN(DKhWAnKi>Dy@z3PDt_U zBPO8`Er;S?A$~4gkf$P$Z(mZAUBi^j?uvn(0{Vusfq+ZkEJS(_penIMOQ znN<>C;xw7&`Dn=aoU_d&Eu{g+j0bj`)sbsoh`AB0WdfzMh9^=tvRMM}$<|pia4kK=@gUMu4Ih6Jkvkt8n zt?(!ok7nIi5b9om43$OAJ6#awOpqy&fvLE3j{PHrSTyqZggpYHU=GZG1} z79^e9TM>JEGs4wpwr%tOv(+D#)e)e>Y9fo6B-q5C&2ar0N1uLKkIJ9W>P!8&ZF9UorNRKe5b+)x z`p!8sZB|6b8PP|PvMRM|XAnXHqBQ@9JfqbK2YDa24>Pr&npWEAWsI7;j#0xQ>r)RH zmun``ct#njmXTfXM@`hK{oZ{Pq^xe6J^EIpSIQaEcea}~{lf{JUrEeKBr2PtXR5H% ze_pTH2H`Iy`)nD5R#vcYBf57e1S5PB%pypy1*%x)A!o?gwrkYtl#}%yg;S%IVKO^> zYhql8OOoI#-?*Yz^h4nn$$ytx{p|)Iv*9A&USKb+a3Z=mv){o{q-%8u~Nve@W#&F3v#&@$Mq1MRlEn*dh-Tzt_+`Wra)L9iTw-cSZ`+lw>k zr;~{fM^p4@jtntnztrhwW6g~V%u^2s$JlrK;J4=AG2k1Lx645L!@zK7e*Mfg0tqEW z;kQK^^2Q39RQCtTFOW=$cbA`TBxSe6?KcC}v z)4%ev9^8;!{lyvP59cehEe=QVG#})&Vkg*O^OwCM?0$Edu_H&U7$J_CVYLmvM9pt0 zx>8%eHe^V>gKp{9i2Z^!u~Q|%8PYarGJKLJTpu$JkjALWm}|e@^5dT`ON5oq3l)RX z?;Zg;LmC=?99?=BV_B6WbJO=|mFz!axkz|jacF5PxRCp1%^`TbHbah~ofJL(iKJrf zuGvW0M?b903Y0JftOh-Ep31TJ6ylP58ta)THrg6l508nj_4qMD9;^weD{kmO%NV=t zk34&9|JlO-0=52c1X(aghW|#&^uCA?VrIt{7vJ7*UBp+JUs;{@3;w0m39wWVKG$XP#H})i*9)IM5Uit01*_q*Q)1(st1#G_oTe)W z_2qG8!*iYW6HJp;hj^UevLiG8m(HUjTQx7%{IxaNQSq~-S=&9a_?hKA*#~P+=jt~I z^>?7LO$@$}eh5!Xp1?(mp^d6Zy{cqV%cLToF^7%#Fvxm?TSyX$52zQJVLlO)tvjFV zT`Zd``B7wsb)#}`9)t+_tolQgkMm4kB8`t$sxMr*AY}4c;B&RVG;sH%`%Q-V&4L~2 zW9iEJaDQ`b6xYXCD_R%Y7I8;K)cW)rkDD_+uT5rexZOsW?2syZITC9@dHxUR5ByGK zfcC^bLQ{?78i=ygvDAD|mD^i%a*Fe?pzVe+5h#wqwU9tj^C+bek`;F@Pm%bDPG zVSv{KJYtYrDA_Sn={AcX7i#U)qbtwmwNrBC2+RU+5<&+G{+!TB3AL66yhDY$N?T>? z73EQDEtx!Z8%rr>Y+2@1#^AWin|IMEzJ+r(T|TE~|1jEz z?WR1Ta&$Y;2S%uCP5`eh?dNkLgoW$(G~yRqHUoH}hiY*V|f+AlxjJWy0hi1F1c(AV_RFF7RB#*K!iwB-o-|4@=ccHzg?K-*EoD@_Ru@BS0B+nZH^8S3%jVF|=eTb^ z)Z`Gb|5(v=`wIWPqza|(c`xR<@Mav8)b?N5JtB07S<}s4#^Ei+q==oyEVWI|M9_i& z2cL$!SX$SgW&gMsFok*rm=zfReZxg@9j*FMcodCbxaxx@(z$r9(4Db-BiyCdTj!XU zaqQiDxq1sUtMTchcZP;OHM0jZcl<(`^N#S*_BeRUc%Ez$8`vZzU;jkqot7d#Bv7Rk zrK$p%>;smKCW^0ocsCrNx)0XU*t0GJE_2KVATwHiCci4vXUPLQdU`-Y z$8T-lKMpcl+#70NaAuZRcy z?Pj65++JUdaJ{|r7<)GP&u0Ct@{ixa{!f8}OH3~NU4@5}5x>$ICC_|@hy)~;dV<($ zk%{GlF$|UGE9OAi3WqdlN=gD+NiCrk`$^XHoUJZR9T!hXPrcH&qnTOs*wLMN%|j+W zypkG0NCOtnA?#T2eE?xLnbxGM4P&O5qVf8GsgC?GdEcHb2U>>Phj_=>7I#EfMvTg? zc=44qd}N|#`X*OS(&HGVv2!u?aEey%ON*_rovQ0gw`kmW?`OXcRX5DXP=0dz#V&!p z)2lw6{k@IRGYtM#x{7OUcLXq4ESJNeiFrqUNlX2Qh(MG@wB0aWQ6?df#~aI%K@1U) zMZJcHMGPqdVG28E*LH3b(zMY2{a?l$%F2NecVPY*bWr(>Px0AZt~DvFS-5Q{rW4mE z@Ej=rK_}7cP}WaOa2Z)MOW*AfvqCGNpBFIj1$aRvwg3@Af(4dq9<${2Z(hu8Anb%h z!+NOH1y$o@hzK(W-3e{|CHQ1gp1u12m}(>Y|62m#_?ZDPB3MJtb@LPy#yGE2o+ec3 zN-Z^7>Ylory`L)@@x*>6o?k#zf@b~|+sQr~9F}g!Q?#sLz3u&Gm6q2y~qfYK_J;e%i0@_&fihbsn16ja|0w3xlSo2>=$8cK|%1#@3M0!>;O@K1dhl9+%7myrcC4 z@n2pjtkXbKWbCVUo4=D_T0}ks_cKn<$HniO3cMh27o=^|0;-url`SRQ*Uq36p>Q@I z;~7n0(=}qqa7*|%P{_I06`~Lo?n~lO`0Zu{{KTJAn{FX0a-KGC8*4W107%H+0;Xbk zOeeYG0HJW?6FdS6DMdm4=h?&}e@8*S(gaz7s#$&k2{L@5uLt+zWoH+!wLh=`;t#W~ zcdn^}nTaIEx;h8v!;DN;u-GG-ZMY4DRc~zNk6HLlne_%q%`VLEgutR^p&giE!=iHl zdq)EMD}ZI}*WtDTvDRp1us0ZmyYduBBQ^Z8#4A~_hBRC(Mo z0`VyqV(Tsc=WU@TGIHFAx$!5DjVczC#dr=5K=tfbk29WmAnl#_I!qul>%3mt_N zgb<6^STed_+Ohs^pd5M_7#OLaxX4rNW|(?CS_se|1_n?G*_%gtzJhRpK;XPY7>U<&KBV0Gl1OV{m`lYWmi)j9Y}9XBhrHv^fori2kkF z>qE~#N(Cm#p2Y93w&%Ol%YpYIb+c2Q+QQQ3W`fvUL1Qa^u2mLF%c#Gk2yeyNl&#qP zDdm+spX3PH#-OmjKIb#8$#kD+=K;_mw>XIkyrHr!Y`1T|#R3CPUm|7Uh;;|LsO6Of zszto6P7guNaW^>R0H5cI8Hl+1@rL=G2Q%igf+s40wRAH|G@>Ii9?d|{b)o3%(sK1` z>}N!>b$Kz;5EJj+99ppvKC&G!A7Qua)4;4%wa3x&65|UmMc%Li)CBCienN<3zTR<*#)7_=kA~oH_ z$QB4jkb0R6o*vEC^^39f3Gy+=0ebS@eYty>d-4*; zWk*^A68tl@p`lHD=Fd2>LM~BEDn$jxgT>HUohW#+o55xXfHsF>S32a@mVk{haj0-Q zWGj1?*iw}CNANZ@19qg!@*<1BQ`MWBj^pfT)KPY7`hcdoabipvNQa1%9aw@^sDEel zz*V&3{h4mFuOz;6Fwyb=F5Cd)AJPD)&ZyD+qRgLtFf&XkMOmouPcMMgVWJcIQYAxs zxzn^-Yp&*;-qZbffDdZ35n}YjNd!mXMeb5c5Am_Vxu{p;CJU+g_rXRu|F%L@_4GJX z=10WHn2SDelj^5@V={m_aK$8;cH*l3d21P2Ic6aiYqSg$;uO!*iRICJa1R|NCpc$1cN3mf?ha?FC(0^*x-ObGgSuYUf_g_akIK9r zJ)!~ZNbCO|f_$>g; z8pR^tdZYD^MiX3VLcPDhNuYhhSz6;l37pP`PRhGBx8hZ8NUHF6#t;VdpILqd1JpTl zO?{I<4C6h|+_a_a0c8Fp{x5G#HOjE^y7V;@dvmLh-gP{cp)frY+paQZpjfxOu%1}9F zT7;8rgs}-J%}#h;%-`^jPZT+PwHGO%ewZq`fYG9mFTFH#P^ETu;BKJgCWVUqUX-ZUN4!sq-b_seG<-E9Lhfq)!O^cp)N-r2xao3 znM;@{(S=`O^`PW>wQYJ+GSMRcyNAsLP3!Lxk7qgG5>1i=JqvS`Z@{v*lZx6%Vwg1c z#$Fl}c(O(p1HQA9^UygtH+r8|BMDG{T;lfMi7kx`eyP~#yd>Kfr3&DIz>ax+puq+c zzV)k!L11<=USJBv4UTQqm0}_@F|*y5ss?`H*vhjWM2b0foHvR(aW@x*H3gNu1WFRZ z+Qx_6^ajQb@z=SfiP-|=^1EH%E2cQG59UfLB_I^kN~#NhjL+xIc>{%?e5_GYtXo_$ z`K3O`GuMX9IgfYoliB!|}Cxlizxx zR2*Ww3tVpYW)$oY&Cw+xc(a~3XVUy?-NG(9>iu22_1Bn@HN$=&mTJOa?=8VW$;Yo1 zhD3`_zM<8BnDi~T+8`d6hCZHPuL&+E8!C|Ex4|dFw5#>EfCaqy+_zK7;FERX05Otv z^btUr85xB8Vv1*$8d2fX*7AxP|DSK{hk?1F1U#E!;_Zx8zzsl3oxhqX)kZrs<&NmD zr`ZoiDv#E8S05$hA!Sc)@gEN!-i7l;zfwLfHp168i#t?h-$1=6X(Wul{{Layvb4nb zDRna$rtyw-hB-ZVB0oR+lf}tQm)=Y^>3%Z_-VTAGB7?wMOoZl{vJG4xD1j*6;Z!F= z5{%3{otsl4udx$Xn9EoIBbWEGy#plUz_e3TQ%^l7$*tyI9p!z+r?ND&@nXmKPiQIS zVEs_7l5RWikdFijqlClQORn2doT5UyD)}pb%*~~boaocRc_@U4K~8%QuNuj&C*OqU zA-^#zk)XX3=yOd~{hCM4F$~kjLZ^-0y+0{0ahqqCW11zyNb#l(o>`K)4l!<2dPDljNBg1@m!2zQp2hdE+pDAo#5k{q{)kS9oP zWGL=Dp^fzETRn=1HS-CD^X3N6FUvoB)cC{6EWR0 zgs~H>e|#aVX1nM1k|P)mIm8a9}A8|+( z{m2JjzvDP|wKK@Dw4KA-Wzb4gB9m#~sn&vD(00E0JaG!$SBgBAYG$hh{F9APE zXZz!#Ru0WX&Cy>?ZPoZ3KvG!|2@nDGz@Tu#{<@Wab|>QxxB;H}n24TrpnpO|n%34q9Sbvj627F@>Auob&o z)6kHcGhaW!_V>AT6m^E%^w?Ki)i-~WrKz{h<^#Vxy56;s7FtNLQC!KuT<-9z&^3MP zQgImjdc@PCFLiL$4;kxkmlOWr|KZyzui{9~ilURX62m;E((P`8nNt!CXC;AFVJt~d zH2^7dJrJoAw$ovvZu^vEtf?%SQ@pnvQg^(pf`JwB( zQ-U!BQW9tqL%jSZHXy=b$A1Ko%_;=f4v}?DAFn%1{|zthp-RZL9O6&ATxBHaJW6S9 zTq=<9#XuZ!?67}epjJc;y*h{@&mYYZ1pjNE%R`Wyvp^I!&v!)B`syIv$ezJ_k>3W| z!1%xvzAK?qS9~EdB)Yr(VJS}oL&vv0vW_sG&b*@uZLZrhi1|J%0hCLN|AV)846?21 z(zQ#wY}>YN+qTVJwr$(CZSSgGwr$(^>Uq0Q#~X3FBff}p;^eQzoNLXTGcw1O_dP~I zX)2jz{4Il>xKwJ!y72AFSg8T|-K~*P$f|@OV5KxUw$X+6^&P=;EjN5@7 zdT=tDhIp7-;T@P#-IX%3tXu^IO@o8;K4})hCIa#S5J^}P2*jahO#dXF4J>WyBE`#)@|h7&5< z)A)I?qR$LMGu4h}%oJAf*S{nIt+cGj0nlr628X2q;0@@>BUDU(q6x_EM5d}?sy4Sn ziY*Bh(EdZ^Hpe$cc}f64!0(Tb?#q1l_MTB^Pja!>IU zR?Ly5e}^j?FCr3o+Ncp8VPVN~fvA;~T<;w;<+&_WFh4mDhrO9;{Cysrkt}=}qia!U zB@7D?xWH)MbSzV(XwG*FV>1xBIW~rRBLUVjOi?#b5Nnj9QPIHP%;s#owla%d?F4@m zs)nTQ5Fn6@#mq_acxK(4LD8pn=bD+>k=1Zk4-^y^o;HR=Vv>=XOWE3uH$^Ru`T5Bd z&ioe!GSln>wnb_g2n0x;%T1mWV*|+ww>0?pSG3+5O9RO!_$1~=$CAS2ABQA`j~Dr< zQ^scCX*u&^a{Be?MxuKpRED~uAAfQ*U1cbXXRQ&t+^MO+oGI2S_A5Hf2!)^V8+B)3AWNXoS{W4*S+59WclBm>z1|vm-IP+wrX$$< zTKb|cW+?RStZj3EFq93ztSRow6PFc?Ne2_`^a_>fg$b!e z1ej3xJjYq#t!6t*Y6-a&AYHH(Fn?U7ywF&}$${i&UdeOfFcWuBbNJF`Zor`|SiKQZ zf3<*DmhWpGB)nK>N7%G_A5cgP9vXr!%LZ2HP9kBt z6!OJaHO%(tJj@q8hd?5A7N3#?7%e5zgxiXWHKG=RDw*_Yj)59$9L+U8+SHUK9Y zXlo*0-OojCqw40KeClWP3b0~4ihsB9Ya^daa6NW#T<@)43y|C!%y9Ed1${mr)9V6R zywj}W9x|UK?=LX`AgztB;Lsby$(yXjO4zdl884LPu_AcQI`krUgo9OcKlC=pEvra0BbDa9yIG9_t#YdI_;rGT|$ZWexqi2Q5EWLHo%pRfpnt2)TQDn10-GH z%=Shb`6~^|75J%5qpb8^VLe#Q12kK)33kdl@05e!o9E4f`#DQVYu)p7EZ_LE?jjQo zJnv{Xpm+sX5>T&TKmt_kOxGC-@GVf-fN_V32*%J1+2F>`c2bxEF6WtQsd#t-# zbIBThcqzUpW;AhQ?Qb6@Pf8G&z+TSDy+ehJIK)DC76v=y#KDu`>XSSGl$dKr#}Qxs zhA3$SZtnwPC3LyURyMQXu&iu!4R3PRQnUxtynySz#h+}n`m_B`0Q!Wg&()!~U{JEa z@}V)qDF)voE6aX{Ne=IOSN5L2`n_+juN4}PpoQ-N_YxcP$!F1!LRH<+S6Fghe(KKB z3P=k;WI%#By}6@#;GRbG$;tK44P&T^k7RR={Rsi}zkU|+{`^ZF{STe#&)m;Si{MHn zLP%Gwb5z{?>k&c>MwDQuCu(f$;_ti2PR3I&IgmMet|cmT;cZ+t=fEfNt951y{d*p| zE0c~S2E(BZ6(by|7gxS$$F?I38VXMtrY%~E&B%dE3z(~S&3wg(xd-DF)_9wk=>ABF z`?$y==$ESq^-F9t1+ooRm3VU9o=BFIy=d>H#);aHEgJN8S6F2?W`xFwnt#m~a#nce z-9m4r)wFPvgDHZUMu>N<(e6Kl1^f;T>mLfkSc?-Jll649`QC65_YbL}ihG|#6Uv{W zASB!)N&gq+alwDiqze(uo=4O3y8X|O75*g6rTc+92R`>0W0gNHM zGA{c+vCe4bPYwx3g1xQb?iF7`#AhC@0yUmzLpLLY)~DLOkk8b(i*2mJ^<>Je3Z#E^ zLKoHQb&wRnC&nVQo-;^qGMWuUOaMuU^j`WnI8(oEa2x+(h-*83r_FhQdWzZORVPE0o*|a)yGgt)R8X`+;lA2oMTT9r?p6RAujnbT1v+jI7?D6dkP~ zS+U=6%@cU*Ix_=twE14S6zJIckyVwM3?>uiP16+qe^hV`=m5kc`^r#x>W6CZdcLbM zs-~v;%?dRON*DE3R!TvTV=n2BW9zZy;u0!^2Z=N<`*G~(kJ%Orv5Zsek4`AhzkA*|C8MP$fINka%& zP$g$y4vhdbz9qrNIX2>mqC13)3aX$v3FK z6XU$R+4(O?R)HbHe5rbECw^ zqT^{}D0xM?zn!QdVl~YA_Xuv_lDrK4KJ_n1bPI`KW0|b^kfOJtABBCw zAqis;=@<9kxzFm4KCS7yLRhBH_+I0?iD%~%Rd;4r8|-n!j*P6Ivz*IvH}}Bl1o@ie zdCfOGo&}7pF!!TxCPUGPC~(U#9$`A;fLPG%oS7U;IMW{1%KZs^$>NPUW4&+%@4Y13 zID`4YB|BVohtcDc5K|hftNFnx*HR!279|0lnyrT1U5OJAky>GkYDMuuc(NtIX8vl5 z00LE?P3@5EBbo9FOr_gtEN&E8S2WlcMOMd10>-kF-7fuhu~$-rPinHiFU-ySl?+s7 zZ##O(KnUd`YrM3?>(uB{qGsXy)}f(D;wSIn!0(0`tyWT(ff+>UR~UmKE*Yh_5@iZh zcK1!)YJeh`2vC+%k7s_pOUcgx1LDpXKxk~TelObR7rldN zrH_kUN9Q${%K5=vHvd2`b%zZF)M_YdA|fT^*yqf>M~kX*2BSR!CFbS%X>KgSgJJ8lLP$K^d}#6^#Y4L^jr&>MgVIw4C=lc%d21 zIoBFmjgKFZUCC)`MKSZtpmp$7RENpZo0E_U(CQeKv=!c_Sl0SMq73A`FPt3V5tf++u z>eS~4(-V&gq_(K&(JR8fA%d7z8|SgomMVMyq6EL9HFnO^%Axfolvy+fcLgke+cNtH z;}cFAFu=USvn?cu85{fYdHZCRj{Y$FM!09w^IkXK&E|$x8M7g_=E`AatJG%XEwEa_ zLF@hO^z)bn`+hOc3YJx{-^eF}`>Tua$14#hgw<^ADSp+o%($T@>p~4H`m^># z?#c^@m~>;eg-ehEgm0d|2pN0f_^|>L7H9A4sFx%U1;4O`-o*q{6o$2Io3~Sm4*xhR z9^|eyI5&&4MH0whEQLr6Z&7ZMH;0GA87fGGZf~$psx8YER_&?CZz9oTtA_DyQ6#R0 zx+qwc=NEKv00!U$UWEz$6Qo{|5lR3-o5k)3a{}&*NLO3@5`fpoc>=D9@Jm7tE+giE zk{3O47SMUO62{()f67~2V#?GtN)GLB7SXn^8RWh!@6)Mz z?_`74<4FeU*vUG0@`>@?1N7VdD+oLoR5Ka?K8{%FSd~B9|Mi{6#w2Rn8K7srbSE_U z+`(zz3HsyS^+L}bND3<)9)h1o7Y zU5)C^q~V7o^feEX=lq3&;~(RPT7y8TpUoXbx4A(hDVLLwjD0wx=XB>6n^T&Lu+%)t zO;j98v_TdKcNQ`MkC+YTXjLQ1Y;#Wa8S^{@0P%#eTd9Jv(+aQI-)>?_(|l>l$%0|- z0@=V;9wQ2M2M4tep&Bb`ssujO0**B`1`v=ILiIELp?hyGHSd zFXY2XJ|>$&1P;)>c}5rZ4rAPNI;{h&S>___PEVh*kHGiInQE3j<($ zvV*6WGIh3>dM`Dq)o6EuUr|#M0R*Gq{DDQERtUIMK$Ln(R7QZ!YAni(?+{vyPljU& z;!PMAkqiHToV6yoL&+HUsAq&sB)=LY)tzn!wp+({{D*Di!07W>{8E`;K_F#yyH2co zOx!cOiT-8g)d0{EVG+N&x+CaSc0=Oy*~p*8_Rr2ZR+xB0V@YNk0@)*;N`&z-_ruGP$BUdaM7kl1u9Mf`_28zJQ$2< zRaW7ZXCPOSv;B~N;wSqDE_-Fby+HGg@u#5HL#XzD7OcF;xQhziL4Z^)S7Mf_rgb3r zy4%s43LeTBSjt_n+WCF}z|f!o@a79d_`eKkhTjPwj)p4O)x;!W(6MexW~(UM(PWf36|je z5d9eLxCuq5f|8sl-8!NHkbl9+=VY2mh5?Y5(VXs`3Q8qY-1b#$QR}iM7-Pak*NA)f z1c7%8;^*Z_Ws-DJWCXmMFne&ifz=7d@nt^(5tM28d{AJL-%Xv>JWTM^=G7M@HsVY! z0y$sP8Vk;r(=h91PnW>9yI9(sob3u)Mc;@E2HoCavo=g`isctZHzL_QP*Pra*c*{b zV7k3ULbgNTX?8qmj~*QGtxQS?fJ15~ft!4a!eE>g7Xpy*gkHF(F~=h?M3E$y9DoR@ zCC=BNGD(w@*qeBIQUX9yN_Duk&rkK>s1+fnz#II<&1?`iW%BZ)LV-75v;l4uH@!X) zL;I=a=6XCrouG*53JaB|3IOPD2?fTvuBBKg-#G3XPc2##{xe7j+!!ltcW1FM=7luF zPfA}qH8xNjRT(tRUxOI&l8RlECOACiNG}Mk#R(G}{lWX+qr+G(^oG~8wz_XLohglZ zYo&axB*!j(a4x^aEnqG!y@vE!FZVjG*BgqKVq}i=e2FOtoNdrFtt@YRhfe}?#KYqD z+Dj_2RGyk&SI>mFonKsiRR6|wH00jOhm>ohsY&k~1pC^*=YU^r+(7Z!sbqNA;PY|B z-2$CW4mA#Efv{*xxeLT+1z|J61-ZP!X8K@3>yZGY6}~NV)p={${e<{1`+?GBn*lRt zjVddRRb1RCe&%%or@yD-_GGmY;$PNuk2S zG32?x3Op#Jj8TcG3#b?2dare2rq@CWg4|gV4Ur7$>_dIcftg_$+`Wpg`K#7@A&oed z17ov+ES{xJ%HcJEI;4T*^9RC$(;j_flA09yH?|;5muMJlCZA7q2f@~Yl)}Kb10Bay zZy+jy>-3L9?GWEGgc!;yP=P>Jm~s4UNg_461AsZFG{foEK>Ag3gM(I(%{Qp=NqX}h zDL}A-WYz<5nBMXYIMhyH#>AzO^sliXecuTU-G8FZ>2Sni(5k)=i2SgOS)A*ZFOYTW z?a>68M1|3TCNPV)P=K^200y&VeZy^5bMz%-9Z}km%ZOY^$>&cBfVLj zUJN45-bma=+k!JTthxu_TrVO_1U5Py(UK{!;>}#5YJPj+b$2cL+Cao}(BOQ_Pk|NV zS3p(U48JoEfIt0#oyYa3onPkbWq@0kte};N75n!v>o=2JZ@wC4uM;aRHdt6}wjX~+ z$ebj8yX57nDSaT@MdM-_)wjLQn@WA>5=Ou$OYU58K2)qBNEvm}6Mt}_CD0U}=w?1?NQ?sjOS0obbVPFs6ziFFaxrA46%!qhpV{qb5ck%o{QEC`3c-J` zIZ0+k4ud2pd?GYmnEx927)knHT7Vkiot54=rYDoNe*_};rbPcQ1Ss#?VQsDsbWgcq zL*COVCo0q3=v(ST)t^*#2Hzya@6RJAF2%b26-ajQUVfEe&wDGuSanrw@H8K~hBn=K zR!pzltlvF2zB(*Ig}1;8gI#&uIi)l|hfhxHhtIg{Zv8%f2#NdR;^boQBP-+a z>AEo|%XBfM8YonFgU z4Pz?*)vb*1Oe9(u(F`ezXFbYiHrD_6SU6kIMMeFS7UHHd67C3Fs6Sxkl%1m)Fe}NU zNjK-s-fATIF>U4%C#iugaA^afc>6Sj!c*_!Z`VbZE|hSXVZYr4s}0%iaxL#b>AcU# zpNjAD9Zv%I0`l&HW+)TmEoEY1nv)Pzqu4&989MdvbvAIRw_lrDF~eUE0WQ7%!J8So ziGd{ahL3>Qua1xdh(`rR_x0>)Tm}TXpMcq#UcrtiyrUgLqxDukXynT<{P(dfd;LbG zQhW>$)m(IgI-iAzei-kgc^b#LadXzBF4(J)#ev!NW<#AP^(RM0QzT&VP@IK}4}awk zpOK}9S|D=uRYYl`vU)+!QDa0Wo1)P-eaL-$;~Tk#5wVzccc!mH8HSdlTTFjY1gaB- zQf_xI-0@_V7g)r9M@vk3xe=~|O->V4Zo+4UZr1v~oB0&TU5>qN7L%H+?p&S$tWpW@WLvGuB{$>^N`*sp=tr*iX`gJ2Yn`}k#N$Af? zMwXLn4l0^kxS+V73$dEt({9vyg-KVo`gVGBEjmtNe9Q~8_1CN!xZ%>aKHL5o5qftM zgP)0QC5=2R`H3&jLWc_BWAD5sbz0uCJS|z-G)~sd7Xm#ECQQD|x$V_-*($o&nDM^n zj!Rm!(bY^Xy ztS|IQ(;wdHXFH3WDU$vg@0eKr`b5ar*Y_>eW{@NGo`Vcr+1%#jqt50;!};zPW_m4j zK!7F{7^nKV`K%!WQgOkh%G%SrT3}!f%He}(=~6NMBE-Vo&5k; z9SxTi+AXx}-#&#OQ>TEbtxHNuuB>*vUdL$eCX&vU)SQkswr2R7I-^%xTNiJh(8E>E z7k6!r9w6Zky)Ajg8ah)Elvn(Fr;jP4OtR;zdGihCLqo&+A6+T-sL)}$tblx9 z({5{MkoRydHb2=;=AmhRYFwk&8mzZS!Nr#RL|9z_Z#(}H3D)BI$9+A+Q6d5^R#F% zl6E!-@$ks*?WpXb8WIaOQk}sPP*#^6NRjlAUW6cF*u{l4ykE^$s``Tkg!MIQlqC*W zq1`;aG^1Bg^1Rl7C;$M00w3JSaciehf9s@J?)|sj_IO6z3G1Q(=vc) zH2VueK$^mle0WAINy^zKO=RyraJ|o5i52NYCy>C5_63y=zv}J9%vf>h-y*& zuU(Ktp+DT=L}t+VOb+JC948=vkfpNfC}ewD9CYfSsws?u>LB6 z1{45upTfive!CY4S>j~+U18-c)%f5*Rf9f#DhP221@J2N#1F6VRq&eK)XD%wo(^ql zd97-KrAlanw0-41R0~ZCeQt+h%ulp|qQIp_%a^5HW!w%nM1*j7A_X92RIUQG@KWFb zD3s3^LHH>6B-n$qR=+lG_x_n%(4s|*q&2@#D0R@I<;8FoFrnO*-+?+4LD)Ok(>c$x zgoQ;$1obX?oNCX3it_}|(wo(>abbu6Mr!-ZYH14}lj`MOi3K6H1$uW%uPCd`&w-_y zF*!%|owS?~60)JP7WmI{AYQD^P^4cu#tb8#J0aD~B(0Lb_Cc*s3e=6+Z61D;#z{_?OIsU5o6Vyb7G#AOMU7X8L# zZELazAq^(u;chVwwJqcLqIb#F2;ENE8i;X&sF<^v&Hv4yofxO)h*)$i?mBDEQZg4_ z68I|`6cf;oI32r}I3ufO9E~Q_RrvJ-7(j(0C=G4#6cSD*DS}zvPqoq?z%L=F^uYZf zr^>uDi8iqQs}9UmEED> zHyjPW;v3Hefbq`Mkf1b7rEH%}CUiUAmcep~sg*pbCW$2yBYKur$5 zUU;q`zuNiTcTg1(iIc85K(oCk@$s>46(D9jJ^90-%anmY#Kof`Mu1gAo&Q~AG&vjw zEH-L%Cv*%#&drstcRyWk_9!8Zg%j?i5DlrbEmXV*ovFN3*DMbZe%ofx3#%vt2QCUM zycmh$SUw(-7ogf#a{*GM&N3WYxb0sE36Cedui8S^MH9*HKY-Y>Bnkd!B-#-zZh*0_ z5D>KDd$FvJ-G$+h7T2w5=tNI*e_rBzmaU1$ryIln5h46!yYLTHU#}+l1u|Nky&;JY z&nnbD6#^M*?T7_Yo_$T!jH2XD!}vpfvm4g39Xdd#;Xk)Bp}d>2*dron)k-^FxlTqu zqMw^Ln~T_~f{FFad@havlolMG`Zm<4m|l&L%Ou4KP8CpG^q=|T`2AU+9`{1Ren7i? z)jBlhGNw~<+8D%d_w>K3;qi-Ngy)r?Y0KTv%m8U!NJQ%~L&G6b2)B6bqyWPcOP=U% zpud_)bhvfQ%Nc(~R-aAonGi{o+|HatEF4RP%}{{=L3T803}hBi+-QpymIk^4P=UP8 zYtX?5WE_s>7WflhS6xX?Z`?y-QgL#u&uY`iKVJ!wa_6im0*qANuPzWQ%T~ka@MxP? zBj7?9V$n?-5WR1BBXh2?bIpp@77WyYv6&_m`Iq*V#bK#0&ov)&l9GM*+sZ-;%Fh%C zlb^F${*kA{`9*%pVLUxp6do03KwZvELI(b`mFd!))-OQePqn^&40`#4D-UJ4-d(ig z71afUXgsaQ3DYNU0Be-_^Hf@4CJ58J3-NT2^Yk~fu^PoCB{n#y{WJkVKq_dkPps`E zq6H@@w?!IGw2|VMO&2F+TxMrRCL?QDbuW5}IsrWYfc@1}0Fys`hk!#%a(JoR5LqQ* zwDh2{Y-)LUpqkEWxN4FI51LB^b~QykUz=#}vv97$BNbj*O+O|TR&ShYf|?+p*!+&h zv5~oywa|%9l*NizOffdTyEoR~{!_`vnit)Iye{_|*x5pJP-oe)@CIilOet~8n(F+J zC$l5Akt~^jh_}K0w-6z-{ovidN>5O((eL?HYhiFfWrWsB3alAy`_qF4E{9_jY5lm~ zE{>%6aP(GKApG~-J_G`B%W`*}^Kz ze$!{E+nMs#HS_fLPmvhZy~gFtaI;7b2+OvVy8uEC2o6(R@XI?K)=yUSlD0OE3g2$v z_0mVt?71a+-akQWG~m^|TERSjI|h{i!$7f;Xpf;Ot|+H+BSl+;M3}L9z^V9P0w5vV zT-1ZSvB(NMZS>eJ8{*Q^0Gl20D^eSTO&LrLlZxMVpS%CwYOKpA(NBvCS`$K}Ufsai z_>B;haA^JC;fPB9|Gzn++}i)h5%;_lEBVL1diBRfqZLLJf*;!0jn&x&?8Luaw|P-4 z(BciQg5l**uEccuR;l3hHAta9ebpoF&dwvac>wrv!gjG-jQZn7z@6aZQb_wK>KH<( zSE6ACf%8G}S6YUXND61Wx}Y8kaI!X%hApKS8G{Rj%K?ATlOTD4sncj@HD5pL-{*Sc zdEkh+sZ0e;#V1J@Ji1JQn<-s~zV?waWdaaoJm)

al zc{iPD7#_IEDsurMEI9#Ya_GJHLdgml#J*e(k(KF z3!>HcI=aE71^lE3h)wsl0;(2dP(a#p9`mQFmA|uEWMkgBufZUK*LDxf78X0M6)jq^ z?gw&IX}$i5zSq+v_eIBR!{2!SOQXzund$r&+x5$UVKR5T-Q1vou@S6EU-s_-)Q%5V z^mtTH3^KZr9@3{je?GXj2#<}2UN18pC@3&e+3W@}ULlfSYvF4Ro{#3m#oNPmd~t>D zsPs0+!kF|_1F}2$ETc9elGJQtp^MNbAm#<(g93ad;h?vOpfpfNw3w?)1y0)01$6za-eso zb{KtxIFuEG;+ya4D(FhL(?_uVMx@(I)rFBCo5pcD!Ype}v4?>c%BA3Pp!xOS5pQb9xYL2i4ox zSB)nNbaI3VVXKZ{%z>?&smNz=4YHf8dHMZ`VtjOI%pJ>tLz$n{h|**UGjZW9-~8!j z-4m}y5uD0)yoQIq$Ow+R#A!Zhy?dth%R5DkPq}`gs{wX@O(i6?8J1IuEy;=#x;Mu? zPR^DaV)W=iBzx{@#%f{*@qxjm2(>pf!M0{N?1)9aMpzdkTfSr#-iz&!s0sYZFIg4L zYFg5q%>eA`VA2jnc|e~^E^ojD)J;*a<$GH3$5(4o5j!I)$2u}Uv!>n z7R>aHmtp(f4rnF1eTfRN4^|6N&&$}Po$7we!CnDC!62J!}TxF{va!3RXN6bq_1D+1_TVmfT$gcl7BRRf<^B7h6XmCgY^G^i^0@mF>*xs{8ztHvuZ zStpXIaVvaprexB3-{0b)N4ya&k$|AcI>OE>NDAxN{utQmBa&jt+j1B?fC(l|n zG(Z+fK(2MLq_J9Sf1jD&&V1rb%&2hR)aX)Gb|1FN(pZlI0D$t3grd*^ zG;#V}+?_t)#LX{YBO>O>L84c(=qk@9fO#Y(l#h0*2qNH-Sb%I1 z5kMG02u`^}76EA}P={X@MlPx1aV_F;%@fTph=16<`TiLX04NA)xV_E60rqscmEP`Y zc6Bwe*`9D~We4#D9ygnqiAevOQ9rj~-U`z8X0cgau=VCcs5aN_EV*U)5DBO|nNZ zR&*rQymKCF92CZ1m%T8q^I8bm^N;<6Ibtc0`V@b`b1EeC+5xy`p6))8f%u_FVdLOmrAnUB!HnK`@cw41s zCRCO#TZ z^e)uP82?R z@6oebC#hDeGfb(GjyS)}eeT=vN-pCGYlVDsA4BsM1AdgZ{Ii|Ia8lHmXqK*S>~Nts};fVH4&|Iyq9=aZCMW zRfzW1&`=G^t?NB8J#*IFBx&6=U_r6NVTS%hZFh;}Pq~$l^h#=X(u_JVPKJ;5%_4F? z7yoK4+5Cd|t~@xB3CIYJD6^Def`Z>?D-;V4-WQw&0R(=boUB930P0ohFwZ>zhLpP5 zmcvo_r$r^k1SN*bm6!p5yKBRd+9;6L_t~xe*_JGS4S|}9+!C5R;{fx9>#d!v3c7S| zA!r5MR%@jB3IntcC384>pkH|81I3BLh~i%&F^lZX_G_qzcElQUY$!}Y9nHZy*lvgL z(=S$Du+rNf4H^wWq=z-<^JADI*xB2T^>HPLd_$`(j#umVxhX{@TTi8(Tf1Z%9QTgV zERc`(#rPUKVcyaK0IK*b1#*+Ki^U=R_U4Q8akD&D1lMa@ho+Bh&erAXW{yi)5tviDL z3hl^B&+eT3zqA0T`-2X6H>*`F)bCF8e|^;_Ml(_G7I?gXi_~q@kpW<2u&r^{6H`rb zM$|iajC3u<#wLopUN@AV1fCAmeJ(HI`S;MQmr>CEIvne#1G`_ElVV%1IMA-N zXk`^sY8>2^iEqMuAV2&K2ANJ+c5%lRb~G~<9MEsh-yic?BUKj=7QeSy+NductOe>Y zd?fawcjLZ~CxEb>#eAXhqjYU@VU?mQ(}yHt9YJw?#Z-1sjf+~8&h-g{W=2evGuo0s zk=|9V-V5CmC#9vzs3|n9yL}NTX?hTJ$THf>k}+;iD*fFAL7W(5HGINujBGR#WiVky zH`95|k4vNE#79ZtP=snVOr=+K@TY$D0i2~kM|(I+1uZg;Wm#4gwNJ%mQnyb4483by zo^_}{oTyZu0e-;=U&zBX-!W7Z`L7N7YjY|zBGQENC09)D&!)?Yf}l22Hz0b*URq~{xI+O^XG;ppI?{q|3ApGtwtRxUA18j>mORQRQchr2PR zyLm$xj7Dxoq`Xh=rCloyUrS2v)%FhX{6al~KEu4w?Q7qeyD2l}fpAS;`tH~z7$ZSb2Dg_(5huwU zR}Ap$4(W4h3fBw?=LR>6YZ8EyQjD@%cK<&$c*!2L&igsB*a99KIk z!_Jxj80+wzM+7)Cd8MLW9XVMk*CkJJla%?KImf2`f@1s0w8p?K8Q%+th+L~4m1fk2 zKnl6a00Egvv+Vss9`lu)Jw|rF-W;zB82IM53rX3Ty{ZY&2;&3BR{9<(fzMWA5)3#o z^M^x^)E7~y1*Gl0cf3IaG3#0cVR{v=cDibAc7Lm)Nd!iJ&%Q5nxneG9?1RBsJfZ9( zCei7qCEUOyrdiLqAO)YE7g6W^pnE^|R<^;W)X^C{CK<1VgqwpeP-V|R1#(^T>2%!` zfxA=2&s3?3i%p-lcBQ}lj1Y_L+D}r1qvYuAWlgD(9QX*an?LH&@iQf!H2=x;2)o@-XOuUC;iK^T4LtGT&LQ^x9}m_eRc;!@*F?yr_4b;VG5@GDnLs*@NZ%WK6q%84Ag zasDj$0g{iIN`)(Ux8BbEHa&EV(D@H(znaRL3k(9!QQ`eS#k?lU}e?Y+}W6DD9xzLU#QC$kBl&gb)0N?f=%EPe(0Eolne znzvuE*E7|s>`Oy9Rhk_MJgJ)ywd$#&$w2e~C6aVZMv{EE)Q2$TXyOxh1Djbf6>f7U zpUKqeGqEG}0_>}FjtnyWWDS@Kyd73=T68@g{t|(#4MR=o_~NxE==%x?f%#qhD`y1J`)ZsMXKc$1&zSIN5v=Rc;(Uj3PB+ z*?Q~mF$<0gAVx*dt7(s^sxqZF8$6nFWPDd8t-e#R2pWIg>W}zQwI|QV`h<? zAJ?Y%Nx26>eb2wpHQnOz6I`(V-IZ}l2A_+`I^56zlLf42w%rPiFU-xq;42M1JK0c! zG!##Z`8L;B|vsq=@PTbsRx`p6t0M#cWQvM z`fK#Jhsdtmejr%0uQ4p9HMU#XP*(0GUt&Jop1(Qpr&?~60^qm;kLb<2XL$0Vk6nu` zFtL1}n0z=Y0tp(NMVMbX22C&KbieE@X^o4sOunB6i9aKsnipng+qpU%=L90PrUzh- zC8F1d2Aa*jUzj1!7*wfOBn-zbQob9416UQOG#UI7c=Lx?F$YJwS|Jx^Up)yWs(h~* zDndK<5BB7w=h0qo&9}572+&p^P8*vl5JOTEQOvd#7fxAYR3KVQ`v0(h@C0TG?;r04 zd7c0}VfF4VB?&IW-hD<+QlK3~EFMXiH;Z9(ziec$C!1s&ZJN=|HygMMdUuz7J_#uE z*Iewbr*bJaCecl)l66Tc7k-AlW_8>mmpj*ety=k7|0t#isL{lUwBvefRwB$=9CxlHJN)Y&37;y z-*3Y933{vb?LS%hJAwC!xTz`7x8z#x`To#jIP9ZRsD16gjdUq8GW#nE>j@I4LDJs* zsPKiHe~mJv<)Yu|+NbN@+i}Cyci^v(*6g4+*S$w-Umr?J&rH-6)cD=o!67r9OY$Th zoT2=?n8Q|22wFjdXDe~FzVQ0!%iLC4k6cvI@rk`4k)-jncV%3PMu2Q#>3vDBy~|=K zG}d~suD_?on>0EoGBw7j`Z@Qgn2_XNLPu(PVJK5wVE7yuZ^1ZB3<&qx5EeTk4mk;(5 zmWyRJ?+~x9NmUaithW#pufrMcuBdQ|Js|!+-tICuj^;rVyd{glVzQW-nVFdxEoQKo znVHosW@ctt%*@QpvRGQZb2A$gF*|Yp-HY4&R@E8VU6GZY-M@G$6QNd1hqT6;+5KiH zKf%3ol)O8ckCljYdV`ECQI;oCHSTcAm-@BZ^wWpfIiy$B>wTl&(jnfDN!ED#o;N{F z1*>(=ZuxO|2$xD)(wDt9ZG3khmuz7zHtw0c-uC!yY*V(tLk1f9-UTgkgbHtw-50~xMsjFBhvm2GPYQS(#-=KO|hg&`s$ZWc3+Omlz2R-1ACPt4*<&=w#v)NHGpw7SBhs`oQD{*ejb0~Q5?5_yk=0tYp0#{AIR7j^+6TDwBClA*0A1JhO!1ao zN39NMch_E*u=frx3MNh|=u%d1KWg(HBijqdDUA5YMJw?9kirJqooNcB*V zTB!hHD(I=eJzKskBW8*KqolY=<^v#A9;pxYMF*-NW4OAAiF=Mz1DHE|y!@2a7cC9w zze*Q~BB7Gs(4*1j;*lvT^ml%Macblst8y~tR%r;JCe}ZJJ%^V|wlbz+>3R<=Es(&3 z?dphc@&kz(+}j%d-Y4bMNQ6f~A({meQJ{z8*6N-ojMY*^Xso}J_RM9_{!!7=)5un2 z!D`J+^pM#sKO@{E+)?79lJT;Z`kSNen}?%px6nGkOOQI5S-98^>E!r{T5*T%San7^ zP2TQ9vHN!$jB`JZ2biea1W!+G3a$tYByI9=ro_LbF3i#;1vkS`I_OU_-L(-=fZIJs zq2QZb@#t=M8tv{lo0Md1la@H42#<(Ji3m)UC<-%vTh$KW1tn=vNfLo*50?~V2pLtD zp1Z9HC%9?C5&>aEKcj_J77<}-?YIRGcOG2~?>!_1@wwbZ{Qy>symYda-s$iDbx`L0 z=$fzPkY2;0WS6hAi_e`gh4!#K(S`ItLYk=>X`N6mkPZSQ;kVHp334c-KiptArSH^j z_}tA)>o+5lOM5?GH&EqeCB^>aij6ulj;VMl;R=pMSy+lc0136V)8itp|sgqaG#!<7AovKoSaB~kSQL}Uw+wMH{>$} z4epo?{PIBR|6>od0PuR|IO8O^T55R zZ8-O*Nqod0Zx{(88pCC}a>CI+D;pjep(0c>yd89BemHQjjI<>Xn91QJM(10Fs|wOM z4~{uJs14nkB#=4U)ORTT!+XcM+KyRrF!aQ(yF#JDXspDdyK>oaf4YAp)RBpNarc(a zr0~%yspc}bN)$m#8_IqVRq*VyEGORVNhmc@p49AavD0LDO0M>~`{ve4rjAH20f?@t zWI#rxetRdPyy#zCCMI$Ic=>m#@Uk$SXUR5?gU7=pUw3w3qBwiHt7nz;e*<){xNL+8 z&QH9hR?1+)e)qaS$~?Tp8)ut51H{im{Lw7xjIa_%R#sV@?lm&!59xJ2TT>exqWD8Z zcMo?u_JXV=gj3D_#TRVJ&Pd?6zDH!YBocVw6PufMlitX)pma*Lmd3#B_AgFAIkoB6 zw;0GFrn`w%6K~Pgrx2GoSEP37;H}7Kj8ZSXQkxuq(jJ^D=bfT=Eth(VPvX(o>IJvS zS@mAwuOQWq47n5(_Wf0pxoOPWpQwTkiB!TVTZ~qDr1GhYRbq;$qA~+(qh^qov`7~l zz&TzBk^hfIX#VZLBSLvJ=XAZ^W)FBNfItJPQk6Lc-$E&p1=vi>?;GTw_BK~6FAFe( z6C2sPJ4o|5wf-_7lI?vL&pW8#_GJPS5p)#hB%~y0nuE^!w`624m0{fga{t_&BwIFr z?;nV?(bP+~EfP059+h=z-)ISAM52XG-ik=Rs{ybWw&!w)WdowNIYu_WTe#0pN=>j$ zK(oNyFmo$2<>B#e0sq9`2cU=g{Z~wU*7dADSmC_6i)4Yh>zSYrs!2%3thq-1DYTm0 zz=L5nVaQs7ZvBlm_$lajOH**;8WU0=JuT!t>7ptK97lVrLB|zaX}&VUp+~-EqdRT4 z*E`n(eN>*qT=R-MZ-|f|PuswRu+VDjA7BT%*d6&Q@)-=oWR2r$thF?fz+T@92TLLpJss}@5*gs)G z4d9ahl`l^_82y=Kms;^_wfroN*A=yVsZ+{C8srwFCNWucnIPnCEK)V;+$BQnvV~Og zDMql9&%ikY!5JdzU_>hm=gpD9jh}hE3Pp*Y9iYHe-MQ z+o{&s74m|Jo3m&T*+mAcPV)oSp2(r55*SfIA}P1B!4oTmd)tF1F7iz657L2wwGjg* zQK|(cCd)-Vym%-h_ys{ATH1mP%S0J|(DL#Fc8rzEfGehU2ov2Uqh+V8j9=e)2#?S4x>% ztDY_(Yzv8a4$5zc#?B;PNf+q;Utz^NNHFxWVh%?lSVf)EwMVq9^VM{^2Wh2({^j6! zLnagP-V!rTpV1%24!gsYDsW(|xWjRqy2tCe=mQZPi)d0ut~$xRGj?Q*{EEVi$+=pj zOFSg77B?eqY;G~JJ}Xlrs`Q9f$g?h!CO5U9Sy4c0rN$^|QE8*zf)kt(3K{8J`l;=m z;7|~fcY^j<z(uM~so7%JR zzSa=42A5Cz`hRt<6$5IyrQS8Z7%HCLG0b?Hb6qN|iG1 z+054q4xRW#buQ27^9hY5SjGap-2mS3$)pG>7vj@Jl?pP}Kf%gF@_RiZZmmo$#vg-& zTUFgL7X4TJJ)%ySg%L-rP?QuAAS&E04|E8?hyX#Pb4_sHMh%UK#deb5^vpmFtmD1~ z*c%-OiWYXa483Goia~KKzU%L5Q5yq!{s-5-6W~LIsI#o!{cS>Texsqp;9lJ*RNjz4 zq!KJEhw=Z$l4V3fR|L(krST4R-oLBbaxmQ#pn695Gd0$~urFN_-Mu{?Kz>a-TcVt{ zD6U)>06QA2;&ZHwApUVRxsh4HZ8l4~}er zFAd+5eaa;q<~W;Haw)PDp(!+u*!gW+#w#vKH7#U`>G;sN$)tYc3T`opUB1Dv1-r|O z-t@z`3JJeEv^fTRr^4*$qr_71GmSDiX6|6lc76$&yUQxD?tuc;t(TBV>CnG}QOqh8 zA^r&#ySII^<@WB6$oGh@L@Zuo2P9(x-=WzR@iC2bgaiv z#!l_7$99J4abW7ROLQXtIp!_@^a9L3KN?gGDhJ~2-}O$-P!Gy|I;N(*zG%3FJQz7( z>!V)aY`K*7`gP)_cRqXn)M{pS9;b>@9aZj|lUO~O78XbVK38<_Lqqzt0~}9_aX3^mya`6tU6=f0%xZdgqKzlR|pZVs5FqGu!mFqRxu- z68$9)E@AR8bX7an{?jCIW9L>;&G(s%S;@$))_dUf(OYQ-lxQ3oM^`Oiqr%9Uo^GM7 zgSZ^Uv2vVq*JR>J@7AE8nj^h(SFa+W!N)xXXBfJ4a``Eyp#q0&Q;v)gvvOCnBag-R z1A7JFl25>SGX|Kg)U&v8Z48?+Mwv1)DeUdR-~a7zb>m9sQ(nxU^pbM^EvoqkhseD0 ztsrltpJrL?M2uT~wjM=wV>K0NhqaLkoRQ;gQqHVu;YbetflO8}TzXweY&NDsfBO;W z2t^PaQadn%Uq&kl7Fm5sd_NLQmgGHW+$*;=3Bds)QV=O{MYAJvKqC5(*yMzicIx_a z-cBnLz8{lQgiQ|tKrL{zyG)(^U`~-N1s-0UC>dpnaYL=E-q!hC4(#ZX^Yqj_rA+@? ziW(VZpA0=vaGcIZsm+$%-E#n(QYXhe1V^7it8Fm`l^>%XQ&w&lNkfW?^_)=oYq^ma zzcA3TITH6hF!wiqg`1j;{{3@uMOywO-XE&SiyhP(mf~Tt^^$NAlGc|WN_9rwC(i>u z4*P~EMq5ZpmdZeg%Cib6zQTEkY1k(&J|N*|Xg z(mn6AagdNC`8kBMtWYU8*~(kc%c*oXb*aN!1JIaarjpgyRO5H?)ELus`{~QN?w{Qf z_ag=p?*G*94~UOS`9+FaZx$Bx&dnLiPjUcjZSsCsVH5k?9-iM2?Sfc5-Zs~fKX??} zU_Cz%h!;q;#B!v|7(GCxEQh`fds0u1bOu3f&=Lq~Hkilryj}lk=BVJlO)#d-)i-D6 zlfKS*?SPfBa%f&r!u?0Q$UOLpzw+rGuSYT&X0&?)8Q(SI%$@+@!yol&cRK0(KCXeE z95FVZdpme@oT*E*iM^?E+12~eTB2Hwb2DFj73dq|lt2yS_X-oXaOWmhRvPr)Sdt{S z+t=b5`hiO{MPVrn3FX@;{0!P z=(7KM*x>PS%3qH6Z)^zj?`){mXt|KB0{_o7_(Hz4xcd$-ah?#y|5GPe7=g5#z3S}3 z<(`%Ns{(FjH}03QeZBw8^I9(Vf1LURe(gq1Rh4Oab{c)oWtpRu9iw7T)dtntkqXXF zWBRISmJxL>Pn-IxKhchnH9GT9zEXFEY774|S9h;p6B<%rZ@lrd>6|~%ET7y$PikxE zI}6>V{=lkDs056KV71u5XFvJCt7_9|dLwgM`(J|8e2*Kc*RT#(^Hz_DiE{S3*OK&~ z@=e9SuGe%q!s#s_Opk*B6R);&(N$daa=edSJATPf*RSI_`rAQBSPtMb`Bjd=RzElH z>b1sa{F~cy{3GYT3XfNrfV?gLxMata_cesX``9(VKEc)CKW|N+eKr>zgS$Hu7Hhu< z?C811vH?xkKFOJrtBxK7;&~cn2fExg}*dCvNqd>|4KuCN>&(Jr8s9W?9X8W!XpZ9d{ zWc&dGHOy!MpmM-5w%t+a`^oPYsihvc5LklC}$LPsv@rC`eh>$ie#7CICHIyHb>h-#|1_+&ibL;}ar=LFNe z!2|lHE`8welHL%l>SzK9X(WMJdNX0jG8vT~Agc2wE&aZUV&ZLNh=J>PWDNJ5c#>3>Fxl=0AtSxwJ+}y(P@Y_op(knr zJN^`Sydp7u8ZW|U`mVHxtHe?g`fpYlF=`IvyP;X|JNg4@A|{=Vb|b=*5nTbxJVJ#Y zsm&&;9Ug0(>`vm6t9a>bIkid9_DJ;unjOM<1%J1}6OyRO$2aUm>#RRon&%_0(E%%x zphkJ5{drIj`X>)oMeARC?fKm@rQRnBd0Za}7hHRAh3u`8MLifVqrQ^k56&M^$){?r7O%1i z=6RBD>a_g}TEd&0zu)!rQ(8B^4m>ILQ)t+U%CMD$Ef6aNe35nq0fi~FuTfRM z)z=l8%!Q5aCOEB63@KYfh$=)O&$<@@l|>u+?Futfi73c!B1&iwRKimTuE=gr+-1LD z@X5+Iyn!NMm*k@`k97VI2~0%GQZ@l3uB*x&n=M(2vdrWz%077&*}F)A)j8#WJ|a>oA^{+LM2-fDOTSC4G~G}hg^|N!>Nk0-COBmacSCQn z8RLByxl=~>>Z(w;&>-oP5{8>v%9TLd_i#sVd`|q^1%Rm3uywrV;6H6zs zK;_F@MUxZBP00=&<-&}9BVP&VJ209q_0~UQtVmMXt#gY;$?5GLosqG9k{cU(^gfJs zSEJ>f_bsdGO-f3~Ww)WBrG9C45-;z1@c$=0PCu>{K4CX8{K z(4};N{DaWM>Iq%O&t<`?7188l!5w&DjbP8`hUAnpo+&tdu9{4C+~WUM${qD7OXN*YN`NYQ>H6>F4kMGK%{glqEKt%=(UD0x2n6*PCVVa;W!*EF*E?79dOKc z-Zob5I)anqv4thGw9{pFYcne}+Y+Mr`NcI8?QQNH+4Ndfk21S?2U=U^#!t{96su}& zE{P`1QKgR96?nduy?0BXBe8#3`bc7fR$ufTo!`2hEe}){m)}MF{!vL@W3*@Lf*X6( z~+yVgL86B{byutA5V%Y+S?hP-b&1W7krm|a_TvQ932^t$$K%)2>-Kg( zi@1>Lk)QA?q{X<7g$?f6|4wWDOR3Ra6|}TrQ!CmBB{F38<@23~15X zl^u))@r@!qckndgWAan&>5g1VZZN_y=mS8l*{d0!Q1+|sPlR~V9g|yHP?P)&Kpmq$ zCPDmLq71xNk7%@=9-XB>emcK6M0P#ooTZ#|6RmTUmbH zn7N&vaA7ryZ9~irx6A}F-qz2w@UNHA)}2%oO^_#>yfD}hZ$BS$oLi7^hL$@>k%Wzz zwFbEImz!@r8j)4ZdDBL)QR=BPKCl5UD@c-Nf2K98BffGRD9n4T3i1v-Q(!{Rx!c;E z5QVY?S}>IAEU4M1^ID9;f0h|)^q3hzu>>_ z7^vUA`z%-?T7Wr_B*Xz-A6Zwd(_j?ofBipm>O_<6E=Nt|yJmnURz-%MWA7ez@wp39*J;T5X_sZIVvSGlTB3^6gm{{+G#x?^1? zjLTZd@ncI!oIW`C-khNmcY|}EsrVYN8*E*+d3i879Ll+K^$lUe4<&^f6d2wJv3ls# zE7>aMC6-M%k)j}AvU38weFfy%hNtMo-$Ho^i8sgEoZvzv96&j$8>dZUDN5ExW{s1Y+em7@3e#jS6Exu}i-Efu!MSvcCSA z{gFhv`pToRHoM$7QT?_Z*v9}=s?T$VyF;;p_VbBN5vAbyOJ()F8t zlW{K3G>mxVfzo%4;^NALr4!Htf@T!H8{=p53B z8N{CtGwK5jyk{5oru8LXN=Sz&!WZ!a;@3ZextFMm(_*nVDBbS#^NM+mt&}d6EN&Z zDSu#&B0&bd6fxs4O!1Wi{gbw&m*cwS&!csS07auB@31d|p4Xz(d_~Q(^0jWvX)2A| zX;}%AOwl6>}Zi;+|!iuVl zRi^4VAzT-So*iWtc=U9f`VQ220Iek>v^mm2$EV)5>1`!a9ZOSaAVHVOn2Z~~tmEjfyDe9Q1_McxR3-@cj5w9r~?G)FN1Us`eZ5*fUko4dg` z9P!5*eq4b8Tl(<=u@7gu8olR-Mj=#1jx{C&CQ1r(9Ug}S6%b`>RjOrFl3!@q@-NZU zpDPlg;IU2FbylBxE?4U#lbPHrt-m;lEj6w!U!eg$UKz*OhrfD8*psdixg+&)$E23j zc;;9;paSbbjrn`9A{Givp}7I6l?N}UejZ-n)N&k(opPe%X{9>FT#NbC8V4cm(A{TEH7efD&pr*793i~V`KI0?7%+FfR(ia4-KZgR?!5_*=3g#SID zFNS)JBE?wwb!pLpV zyCN?X`5a*uh_J76J9XRAE%=or(8|kTv7Xf^3tkoJr5J#$NUGqm7CP5HNXAU`Q`PcH zrpYLAylj_4PC!94_CN!E}U)}7Ek+=(zrL?nfVKhaY zCcw+5cdCIn&T71lB)+Mb#Mz{$(0O}h6-?32&_wF8@~riY<5?%A5SzVUmqJ7hIS{5Q zs1UWgt1ctt1sr(7k6CQ@chMFI3M&~IG8q~~yS+QgFEES#R_mq`kAXh46-F|#&LKqQ z4mnDk7!xKe!qn_VN4yE3yGyA`P?a_vE5P_E8MdNo*;!9dE-^|d&hI0^Q;9TdxIR_q zHIsU44NqSy2A`m+?if@=mk3fwv#Wdd6%w6sd_Ku^QJOual_kf=U@gwta{Ynqbp7Xc zb-b|dz8&dSAxBdPFPj#c6K!nyBSgi)CHc0KFCKjCXl#i0*T6twThvOrdwwPO2!({5 zsHcNZ^6K1{kB+dmF5q0#k4hK|V{6mFzcoqm0ThgswtL@Z;klrIbuu*QN0c9-m8 zX{Or#I;{7Q!Unyy%uk8nEPz3xQ|IXPWrs|p5t%<3)aI8f$afW#QiQU8#410G%Covq zaw{7F$`AMaL=-H1nJ87HK}e)7;W-lPcz*Zf`4DhepO*&8t3lbb#+`0PJoCjKXE{@xSo94H;hPO)zFbuqe06{Y>RxDqqkjtv3ZLOY z=~@R~;eBPKEur@f;whW;RL{*=i`Jbg`lZ%TyX>1?)h7X`mB@LJOE%@k; zk+vw*%Qu+&@cgmZ%n}w)@hx$(|m+8NN9I6Logpc7$=H#yklaNKH^N;S29x20&6s(Ec@3HVQi-ybf=lak_J z<;X7d@;^?!eLc_qE}xsw;LB>&j7!w&MxAAjn8z>r)xujb#eG__35k>Am0V2mTbA7> z>*U9DWZkBoh%2DCRLJ;83;)5#TuUFlFkr4~s6I;Du}eXdSa4X1bL`_HRPv>{OsZ3C z_bUy?>3vaM75)|2#h2Lu&Mn{{pPxy)4gB!xsJ<>Oz3T7X9DwC;J7EgNpfOSx92vgU zZvFJBQ-jMXkf*4P9;~TlfcE^bFgJT@sYL)OESouMXYO`VxBCiSLrWUHd&VmA&f}6} z_!?z&4abTz!*v4bifAIRE^`o0`Ain^6RAYwOcJ`i_vpr2v~*be|oT zQwDC9xG?kln)BaBO|^%Co}a1_O-Z?Ud+)30sG_|pyP9hHnxlz?VyJHTkQewTS!z{!QA2lg-OGx&QJMKzyPic5PcCgj&JC?vBC?m6 z!+s4ewZKc38W50&X@7BxvNC1vGD(L!w%15}?NYb<6Hzpf55JDE^cqX^!YqZMX(&+S zx!s_)WgCAZY{sg7ZqO75FlLpBN3cEy{S^c@0q{%|$YMAZ5yO@io8+6TR};k#yxsh6 zGH|#dZ<|q;S;=w)2-nq{n6r?H3f8Kaj_bYSN*&oncvEM0b%SazAv{@{i{shOq#_i- z7rxz0Ve%j4edMTq`%*pgUT&6%k`f9jaj@-kmB6A0UPcLsHTFva*kodCwuBrD5}VB) zLo_B=Ya{U#gKOWgB2`+~u#TpCG%mP|(Y8I!r{qcr8G`;oDz~&d%H|$pRhO8`^r6wM z7<)Rj^>-e|BA~$^cKW%dsU_gjx2oFb2Qr@fagr1~iNS44;=Ow{(`ehNKzXlhr^zc( ziH+_AQS84CF9{Ll-Sl!xa`oPm?e|_aoL85VS-$mGKA~)tA&gFASXCLk_U$f7zrve; zv_ZHg_XmbkYz~A|>?xG;9P_SCG_rb;I-lQ)}k>O zFsQ@j4;|EeZ*V5Ke1>y{qArjhnZ3^%4VLd&aazG_Hzy0S<$8~Q3377>+CHo@dn~HS znXTG0lQ9Yqa>3#AHl|H(p)DYL`P_ar!C~VIg!#c55Kf^Zeu*HryNSRAw})r+bFHqoz#z~;JKq+&KDD_4!EDGDHDbVXmL-PQRy{- zt(RSF*o&TMN;g(uikzMe8(GcYFjovSsQ=~4pJ=mC4n|Tkb zv(FXoyOOd|TEEZ9R^~gNKq8{a1k)nUNFh0nwStu7B2%^wh_Ng+H8pwcd9M@`tqhBo zig_R!B=87Y6qOtT2^AIWlK05dHzzp69!a_OPCK$u<8jmJ@5kSjqqVJ?sTH6MkBH+g z&C83_zV%Z?x=GXA;AD7yTC%lh)eA>`jB!GGN^fwzm0M}bXcPUWpIDfLx>ZZK8ZHj^tdab?FjVufAgWhxIcW7vmbN!w; z`%0~Z!Hw{QEU7m8p{-_(A@bMlD`E#eR$QB-(%)2RximYQU9hw`B-Wv9$iCLN{>HYVpC3qR@i(^Ye#;8D%L&VMtb2CpE@N4=?jNO)3^@s%zo`=5Rt(n4-|ukvQR5 z0p*bX#C~d&LSmfVH7=e=IxOYP&)L~TNQaDO7woo;*3aV*l9#W3kxZcdq~M^XcqMivk>v&wv)4(67!=9L3F zaYTbeyR)v>S2R8#0J~s?GF%3WC+bAI5^S(zq{Qce!R8%EsBbMMsKXhm^80759>AlD ziUKqa$9(z`oGTO!U?CxPxl>xnbzj(P6vAxHOh* z5JIl`@kSaQKsbf0EjZ)6Z=BcthbB`Kfa__Z1+^mjt`MgJ3o3Z zXlqEex@Rw}&Z+&(vj8jl2J(T=tU&t z8r)n+0`WbA#I@D)pPGQ@r!nPlyN;lqD3Ozf^{YL#eDGGMf~fXv^kJLTU1Q6&zp%Jp z(6W47IJ_-W8TsPBhgolj{s<<%E2`TcPyVKrChH>j4S`1i92X`Wwu_ifId}|u9M}j# zjT{3HP!QLb<%aELHzJB5hLGWh|6vow`D_Sg$XFM( zkMU1vuAih{?xGq`+3@ppPWsWrK2*kzYv zyiR2M^=~#P=pbVY03E5Jj9^9GYD@?f7Bjv%joxD*^-WH%3ty#=vT%tIR}uO!sOf z)T^mn0)}_jQ~b;Z@lEr7Vtht4V-NI$(9CVb{#qtEw>yC}Sw_E0zy6{kaTE6gJi+V3 z_DIYnds;BmEsn4`W(E1#6Ubk(!)={%+(7b)qxYsmrUNxN@rlZaIQz7Rs!V*K&mWxn_)31!GEJF1kSpfZs zoh@E$B#KO--Pin(AfL5;f?$14my_RYu8<<23A$D-{6_`!;4ayv)1o_-vYgAG@KffbfVi) zaSf*?4pUvRo!;twexLuPlFrOFKD662Klokj-2NJ$LZ?fWm!Dt#tWYlPSgs)X(ZPyD zUnS1+9QKZ_pC6KAi-`EKf1RPYY564^Dkcr8~CQ+149 zwXZK5T3^zy!oj;Ed{}2MVngL!@m$=XEG(R_q(~WO- z(CT)#qG08)pp5_L_-}4u!WNGDg$wU$R^nGneEi}sL0{U z5cBXA1wva-E?xz*%n$4S9{*=1+QFLF9`uM!_}Gzqi`Kc^xZG@o&ljZpF{{7&vHiYU z|CUxatqstK?dnjF!xqcG7=(=qJw4rGRntDDd{-~A*$w!$g66L8H+tg!y>xF!Zo;RY z({Sij+b(*2bWk*zhPI&LUyC1?9DS{x3o250SdyO0u1wWH$kmo4 zkDyFQ8>owc1pL|hETc7mha+@VSVWXuh!Y8wy z1l2Mt!xL(>Gt(`Z%NRh%qnof)jNJInG_M>Y_S)$8G4y!*4^VM*S`&Hb!pIN2)ft8lxAL7uxk%5(ZX<6l#0Vs2n!)93o#cdDzV>f9*I86nNYZvt$F^X% zgxFhG%WcAwl1VQluuER|{T2aV$YbI~jSDKOXm`r%8d`7}jFUSPnf^S{MSa?+ptyqlj+r9)0w5jBsv%u_zz9F;ApwNtfjSZ`^*T zU1C$>WdxW37JIf90(uR4c{vg$>8B2-ovC$*UOn3~NJ%6IPiDYTzZo3dM>z1@C}85D zqsVn3HMpA+-5i})N1E_90v*06&oym7da@M%>kKk7y2x&smr6qNOL*|I**8k_ z`gP823^~EL=zYGy=xD-lN4b|HeY^!?L%f+C!}0v|Tv_%owfS`>R}r&o(iDyi{o7Je8 zWLZ;C>!2T_l3@(_HLAdEmRC)ku!HHZIqO_mVnr=mEu~A*Il0KY{V}Ii!oazmH!q+Q)W!_561KqDR zk%7z$ku@C1r7@Hj1|?k=SW00vrV{PgupJVFC{b=2%<8V~h-UK^Lo zy_wl5(i?BQGH$eWjQ}f)hgn;8fv!mfQC8f#E24zNgx^Pq(`u-yP>aq@Zp`Fo%+@EZ zxNs$pgbbpIw1XizhzW`u4y>L*4c^OS{_Aytj#n>HhkV#k4<)P zI^l*N^{)K!A0w}yasR0(KUJhZmes-TicJnX&M~Hmqs16(sL0sS{uR=4;i^d(ID3ps z%8J~afHh-HBrY#zYFMLw%Tj)8Mn=C<_}ULRtV9uQipgwi!1{P!{viyCh{zK0T+Mn$ zphTz5d|+f^_#kQHjp>pR@AckbW;WsiDzZCkA|i8WLHmf(!;*0owv%!(c#I!XZEFM zZyk(nG%qsWM~k8OG6hG?mAke2L&xJziR06gg@P{1rjIx2FtB<=MpK>?n36FUzB_kT zz5W{KPaO#N#@1|Q%2K^z84w{9U#!?uxzQVo z!zM?DN5tuX?(I$L$mTUL&a`In>!@FGT&jsk-5aPW&NL!3w%xbF+MyzCvW9V0!yqcE zf99T&Il8a&VoN5{N_cR&UGMNoTo3%C@0~x>pDjgbb4AX=E=@rhsnOETGuwNvsJ5y{Zi`Oz@5IY-@Bqs5 zUwguqhF^VIzh~zrYwtG1mfIx?%8_J$x8PNHhHYhu_x@e59!4UdtF_qpdhFAd*ryup z{=tod3k-|*F?Qq6bAw1zrEc$6Y?b# zC$>xCYB~=oWO4*6Qo?X7#n}3|Wads%%X8GAbij{17m%(4AAbt(U&U zgC#fTd@dQ|(ksAKmgLLDRyYqg3fStX)rh}B)!j^5S^UcYL_%HGln9Rvcg3`H3vP+!DsCLiLk~ zI=+~&ICQ2yWf!hd_Br5YhTnFn57gH7(lEzxNiN9i1*>>z+@S0PN~tr|{p{n){UOvu z=7TZux2k;fq;5%m=sKz0%xC970r%!m;wP3MWH*bC&l&AuHtGTX_WMEG7O`&QxrD)< z__O(~p&HvqQufl(TxUJPM^_CEYv(d=xjh^0_mLs|Y~QCp(SKR>|EC1eGZoZmM*ig@ z;pcj^_78@od9ek-IyC+5)xn-gWTJE^Yjz@PZ?OeP!{&J)|38Hw2j$~y_-j#e|BD_m zw$z8~u>Us(s^d-iuME^~nl9$zJfsTY!0F!^E_zg>X|t`79m4uR0K);m5V=y{GC5za zjlzA0k>}?I@->cOW)Fjiuw4s>_Qks^YdRiExvKx~F;ET#sZOI2t<#ju;KBwPRt@gP zQ193`7&WT_G42;G_)@zBfeC`O14FSWtbYW`{ixB*%~ZqpCwJ=3n#*v_l(_S;^EY=O zPgYDs*0orC%do))Un2dI$!hD;Z`wgJ-tfx2KTVIGrnc&(vt88R+eLRQHu|IRe;Ce* zPv@(Dzb`Q+C5bI@cQB$!!75KnvG2eqExzBKQ z62cN0k$abBRquZ9ygEZB0J)eMWq~Y_Y+%=s-@RX;5^DB8sC&z>xS}mvG=u;_g1fuB zyF+kycXxLJ!JWcAxI=J<;1ure?(X_3r{B3>_w7FYzJB-pdF$t{U90x4wPnsR#~fqh zRQ9(X+1cLJ-bqSiRgcUbpc?(GHFOGg9EleA^f@BpcS%t2__GT|TQt|8U* z)^>y_)2(z!kkDk7#7y1YL64qOk85ja*tk@urH1!wy11clSpD@h&SAtaDb#sVWsUI8sVdPzJ@vZ|kn zU-05Qcc|YOOk;|Xa^l%|k=0iU6SH-Wuh`Uv=zmXNrX0zQ~`@^WUAlT@^N9bpVPIDLsT z4@@>5+PLTS@9vl{feE`}IShU#E)No~bWbJ)X2x(1!W{~%4%RB>U4B*yxVQ6)roDD!Zh2}gu@ z@8)pd*Xoc0rl}gM^tzWxo*siXW?_IM?aaE?HgWJ%FZyF)2|?r+_Ht#5}teOolK=t(^GS$VZ{4dZ&!{8!5mE> zSRY(^*^q*T@X}M;1vOz01(}X`R+k#LoT)@Kl(IkKm~|q{(%JL193Aa)JsH&OCv(A0 zZ9H(-bzzH^ALGX*NQvk2(1(nmc~2@j<*x;?(SFzeb$wfmk)1QAxoQmBE3~V7Osda_(#XlcuM2vzd6c-tRy zBxzF}R+U}3M+n1bOkg4V=4;CEET`SeGe-UB;<_dEKIg(2DJ2s;gTik@5Bq(#XnHVx zczt}h>H}}Haa8~t8?8VIk|I7uZhEUXF%^Q&JVDLMuAxJi9^kag7%D9jJeMz!;xEtJ zt#`DdxpdbBzMA~FnLM2h3hM6q|J|W&YlIt85at zGugZ!FH*W5l34ETOz;G$nqk}MNb&WI|14eT zOj~J9i}iNhxgz@5KUmR4c~Jv4p6!=!^?JO$ebgTBM(dfDJ6YW;wBF(m(I~S!)u~Fe zvf5GHLlm!i@^0^mS(q@86O;_e+8BS-ijih^{fQToUQ(Xtd9_bl_0H*;n@}EO32HqX zs4cx#Z+fRWrXp{8=xg#a&VIU5;aaD(`%lmv8!GNcn)wMQ%KLHAiB!rWXNL>x+VRVd ziDOTf5W>1;WjO7_DSFG4H;f;NB*0x!)UuL zXBV$`3?8c*RlDJ)q+C*_Eg}*CX>RrPXGaWmMoxuLQl4p3aYfgO|1*%U&PwZl2=cuj zi;x)@AFQ}CNg(gXY@pK>qS2ej<-kkc8~n-pEEv~d#9D(eS6CJcYxWZfYC-|q-9PE# zVHfqp0&Q9?c4vxQ)qy3$0miEPMZ3zjz{`kzg1s`Js~qBIcc8ZeX_kKWSni2hv*`VU z3!AhAAZjKbmXcc2;{O!n)35wvRh*^PDIJ>}9|ZNZxo^;ScqlUFHgPo>tnQ?I{j)WKMJZ)*5SPPrti3w^W=y%3%MH zFOtvblQo7ZL;pB;K8R4PsxW~hV2OBU^}K1|^oOMaE7tdS=8QVU)BPg|ec3AVt-pL^ zXrH442%4jiH(B+`Nm80S_A~qJhqx&YEinh@u4yY!41tUX!JuNPS#eNelWKh+W^Yw} zUR})bqrUzbGwM6smGwAa;8dWp#waToeZpXPO_V>K)r=}}ed{!$r|C@XJO7pI!{^Fb zGqr|!HMalh#-mfd6V3JP+~{xp zq{{qkxxr{OmC4`F;pqERZ{M6zwZiHR4kb`F)pr z4&x6-(N2>4<)G%*mzkdL;zREf5rrvej<0p-Jzsk!cS#%<$wkj=g@_fzC2H%whT9Nh zFMLDKj^03du_*+;MGh}GDvlnTp%X$cosz$PZV$?r0~H}-t2V+}A`pdlBgX7GP-Bok z0|_(v)`B#XzX0UE@G~C_+e`IQyG50e+!D$l_>(ZJ5Q%m(UsY7o#;uBdY+MH;`Zuai z^L(B7RajP+5K@Kh>yZ=>uTMu%LSeke#}8S`VzY2P zFmBL}OWWkUS=F!OSAI-h*6U+Szz=zzqrhzR$hu&}VdyJQ>HJTU8to!tqM{%Y@QkjH zXF&zzE0w<6HO3qXv8bph-_>j;T&~_6xa1Hy$JWUXEga~7B2JIuA+*U$t&$Kncf?rN z8}B*2N!0LplK+U8$tJEhE4gHq{0yYUj#?(Bk7V{)!C$(6Jk+HEWawkjEJUgFj3 zpuRc^c0RsY+8b89G%lK=ZNDPa^mH!@`y{^}h$#ce!$PBC@(waHyV@k1f|1Y2gD63q z1o(X*!9#pp+@J0_`zehJ(eju|2Y|{rsAi;SjeRnY+XuObJdfhv7#H+NXHv?1Zp$-$ z$^an)Dp}ymt6030Bh? zN%UD~z^^e<2lz8J{Dsq-J|Q6zN?D}XVgJDW$?2hTZD*PTTlN)*$}CsCy$4Ay>c&gp z+n$OGqrqXyyyDb7dq~G#RFIIKHkx?9Q0dt!F!1WEnYq{$pG32xc_*hVgX&~5#w~|N zAjs9vY-;}*8ai~5t&>ljEZ%^ST`f8uQk|-4#$$V$$r+&u zRNF0!WjT=`PqW0*;cN>@u`0EB*~UXJDmk>~o2XSz%aq<23!>yGSjF>UKlk6$^P2p7 ztfi>a_kP08bwPmIu;7eHd9vGC?>%>TQqs8J{$L_KXA@2=^_U|?BG9Cyr+X`%dj4wW z$*UgQ2dvZ6a#tfWM2CH*Zf}iI3H@i(Emx1LD&uCm4p)6C^%I@j0YGi&xUQ#8e01B4$Hz)p-7Fl z&c`1Ow}LFPlW9-2E`?ycy(=_hxDP(Rj{3NzE1%SN*1g^rgBp+<&JAZ%j zZKoxbSwCrHf4cVWA3H>2{zsDi9X=Ro(ndGue6-E)wo(^9OEl!C=cw5r< zMQ%0QrtRJHkWL4vlkM0VM-k$PUE!6gN=N!FkDSIDR`-M&GCA^AD>`ntr$p6ad)Moq zQSJ#)&-P2;jljn>-2ZCgGAS0movNEk_W*6cpj-`Grd{Qo01)BW{W zRzbT2J*%A-6yL9G=>zfdY_B@38h4fzXNX03=FS#a0O=MM*nH z9|{U{#C%e%1OF|GCzPHA7)tE!P3@eMG8oN>I#x%RnV-PA?l(j2OLCSFD@HnQ$fx@M z3dN($m->G~@u(f^dia&O3!jDsV6y%bO_nuVN3BBD`Y~H)X;K2|^TvB| zbU<)sow1JQPJuNGYKPS~kua=7xBV^U=W@RE85Tq1cI`9s=-A<-hdsC0aKUKC_;lpv zbSDQBhsUwJNpU>NY*PG21rd`aKe(_LHE~%&=E{i!nIYCmC zD$66ACYUef1IIPJ@sGS-jz1V#UmC%2mUQNON#=zsK2yqU`@^~$i1p}{;~R#2!d}Pt z0gvxKjZi>A$ho_F!xA*0q96hVotRcYI z7khs8C*`J%9%6^SZ%U2vAhX*o4e#5j!}Bb?u@5m6;?f@kJecqMvZlZ^nl)WR_9X}~ z-b+C=7fMq4$CzdrGKW;7rPz>Od8kJ}`XNM=O1)Y+g*?!ujgkmw7(HalN>}4%vZ>1T&S)S^I*sl=v z@)OMEE`aSiUVCs;d-dRmZ4>`=eUa(ZaYvCBK)Xu=#GPFwUFS3^q` z`WbgS-orqu;NfwPT31)?ll2^Zc&JjJYagCYEJwrcc=_`s80<@J=pheBxrMTVP7dN< z?pGtCctYFPDn)tGd1zF*TGB~~NFo}B6sm^-9oewSw;Hfg+!qyA4q`@LN`A?DXd?RX z$M|nSg^Ol&V)Rn!mnZznnY7L`8ehpgBP=eQ*y6jte}QP$U;6!iA}#=+rNs{*p6sP1 zg(f;G4<{O7_^SHVkcV59_mm7)Py!Tb5bRRuL{H~HBMnnssYcbs#RaX?>9E>j(B)x2 zLTBBYZ-)=*5`_dEMzAm9wTnr_r8rpMv~cE95}TeI6Km)fm`_2rggUTF^sHX34Ai&W=_pNW}QF^a&W=<6Azo2rd z1Hhwt=m zWx$95p`k!zx@-&@{Sqn}c|bx!6Hs)-oyvv%?lreFNdZ*t&Doz`CJ7)D%i#6j4#z<# zM&a0=!V*czg@NMP3y<%tP7cU-P<~YCmCv#=ezjE&EOozt9XLP%scw8v|q!7WwS(6q-* z;lSeiI{8D{1a3(d;YWs4v-jGbjE`0dV8*4;OR*p{UVAKO8(GGLt8|~^)`X#*M<`AJ zLF%GV;yztL&}X{wpL7=q_xs1T@9?8bw>1RCt;p4i1&Oi0BdtwBX~J)pR_|Y4WJiBZ zl&f*QgPF$%4pO}OE!S5m-%?|Ty0w4Icw}23N7XrHC(=UeQ>5V%?QD2+pZMWPcO`Fm z;M@R5M|(H5Gl~qybsCMoR#!76LO5>RXvGewI4S~x?O~_dDE7MWN)rBl8a$y3#w5^; zyN-&EASpOOa$4lV$ZH`b& z_2EaR3Ny@_Ba;sO;Lmn4!j>t!9_(a)_ON@`w;BzGI8VtQmUbqjY#7t$M%~4&e5bGA z6!JSyZb%+!q`bbqak39gPC%<7_zQ`*Pb4YR$}K-|x*IZ(XBy$@P0uw|R?Ve&%kes| z<$Gr@Wzk3Rgpw+a4{sdw*Vm8+Xapt>q9F(J2qZdhvs=T$5%i4)HpgB3&Y`Z`WXz^g z)~-4SAF}_)P@3L<1*N5KDK`WB+3?2mkd?P?gAme2dXO4QZ)=Kbo9b#${GpoZ9%4hp zAxaawC3g!GTpk(8%<6}i3X;;bZL8xV3vjtcx1`D3y`G(){H4pDY>WTX*MO7P&H&q- zj}Bp(wKQKvQ@3C_Vr5X77DjxPIO`qWPLk(>FiH1==Z|fRKZr3m)R9SE{TEA9l%#Uq zN5#N!Z@ZlYjb@6;=P_-O(r!yog4!hc4K$*?!7De~*%Glc>k}pZZg`ng0@}xvyS3rl zPDqM?#!i(8tlVFQ9JV{2mc#Tv<~f-R{3l0lty^+zg4pxJF2+=S_sB76<_1z}us19H z&CIzc=AmgFyXAqAI1;UzePFPXI*a10I4BV3?_^2vFM-PEy!cnw#H_U#2?#0$>45)0 zGt=ZdqD$~b$S1AwnzCcAm9Mn|s?l38>3|L>fAevIS9>t+Qk}yRT!N?O=1vSos?=2I ztY4x{kp=Uh5vJiz!AQpR?OhGn5jw@O-CvqRgl^`vG2?swv~Xx`p+XKqmeA#&eoW+WOUOPP!IRe(`_-Z#1qu2cu~XDh1%lw zjnAf_BJB^0qU)tQyCEa@Ccef`aYcEivmf7P6MUwIgGjL~ucr)A|1|E<9b=M`I#YCx zv?8OfLuzLa#d> zRhhSua3h)^c0cLk(jp+wEJs_`G5j{3p@)I0-?I1zjmakbAPiaTv1;s;8g-~sv2WEr z2yY>q*}h-GtAjHOH50muAiSC`*cilPf_%)!UcGY~$;A6wo7^dwvH0OsfCx9f{^*77 zKz~QcGc#UylsL@NaBAs*uRS0-V|Xfe9hI$8x&M9qYV4JhI{9bH&f@Dj_`R6>3K6-R zeXn#m17RDaGGFr#l(zT5P+#|i77GmJJY8uzXom5(z8l|lvu+5y^SR@hKXkDPgU(DI zNxP?zyuwz9j#ZSj=w?}jTqFcUJSeEUAu2+;AQI@Q82RCnJ{P-$cuqW@^F*o)BMb#_CLWy!}k6j=V z2FF9aVt zRy(-OVs7ut6PkY~;&d<2PNYdxxR?F!lc&NwN=o5R;-f`4{rXs0@PZ0)`U*}$+^SSs znzNxZcm4dcG}(W05%P2Mzi{g+CaGHULvTzgDn@ipLWnUn`=hKzek*i&AG@Nr4l`)Y z@vmMMd@RmkJX#61dAd^$p-mfnCTP0xWf(+;A2NR!eDm-Gf|TRmWir?Tz4o;WBL8xf zZU1y`7P$AXNrsGqGMSv1W!|qqGqEY0N$GziGb7h~e~ASVE#PgHt2MU7tL zyIKY%uT3y&S^w?`{+CD1xFI6T8FHn>=Px=Nr~jzRYpBKvHIDQ~VLlwD69@6T=U30wh|9mH6#D_DNI&1pS)XYbcHtFjl@yWSZrp};w(C~M%U9Wvd!T>hd4-7|8bxWD&F;?ea;#QOX1CDc*bw#n`$Ze1gsUrkHD zCC~eAqg%{^-YKXliXO;jMw>SJ^lDA1II(Ha_J=shv^`EMId=+zI+D`#4{L| zY!gIv=@Xdg*TI?Rnoh(#4h2e&ger|Nq?S$PI5uk>S#ez|iu2}OVv>FZZ2KjMZf-ao%uX^O7Wzy<@I81ofXEZ&x;6$tC<^YU|UPV z<36>oX99A%wiQZ8f{1V7hq?v0mYbbeGpGwK+6`s?_iLR{ef3FfzgNJhG;;P|!XcaE`{ODcPq z>(^Jm?@Tgs&G*vPpS{gL-AIuMPzUD*y;lhIBVSM8l(>YpuY|u4(wjTHUK+ydKS^_Y zV=4aQNzQ5qH9cJ@E#~5K%SN!C;3^4|!pQgwc4oqx(cucKGn{GNGWsv;pXeOucf;;L z(w20=RowRFpMjqgwEnQ(ZB}E5dped~n;u7~@U;I6;>!}4)TknBgZb-zxJxTAO5|^B zH7rpGCr8YXRnQyCrD)_ZOitJ2L?@4CLhihKxdqs0F|FzqqwCNHJ)Q`}L3@TI=Ooy? zwEI9|@m!yA1>1k%CsF^1S++m>by>+%8T$8rU;BBl^7qCEbtil;WhriMZeA(;#|L}? z^Y-i5Qs3mP7pgjBt^RR8;D9Q?mASK<1%;x2H!OxGOZhqLG_2fNc>n8w?t7unxMVN9 zll*ToI~4C&Y!3&A3F{Hx#o(TnpN-JOtq2o-+Oe>r=~Hc-s@=?~rzf0?G7R8Jk-3 zRFO5fN=E5vLV9Mn0c_`~3=au`yodY`l~0KzEu5DWI^wNYh!|R};q2PHfw5s#fJTP} z2i6jWW`jw&nwL(#%YSHDkn*BQ4iRrrn7B0MK>?5^y%xh7EvEPIRPO0UXN`ElL^#oS zd61lmj~QgHP|wbbgi|?}9+B@I<6LdeP9Vavv|JqVdssu z1uyAVFcKy6MdAM_>NKsI+57h)p4f<2%S#$pJGkp>CSyA86X32yj|o}#F7SoOf0t}dzaio71xM#op={NavcqpVW1{H?IAG$+ruriU-frGSv5(qTt>t;zL?|2`}Ls@8=`1dUc z>UOnb*x2HqvFi(5Pv-0G)*_(FS_n^kN>*xJr_3wUk?q#I`vzAO1o}{*@{ypbwc4AB zV{cem4H|DvLMffG=`o~shxX@N%n}LR1CUU9<34%IK>eg zeG^}FJfpf%iz--%oRREK+kB3HTvp;tCfTz3Auz9Am7;x~78i|2z~94?fM8JfMS+6( zE7uO@5j%y>FmFmy!Cj-!$#e3iV}(m<@m7VQ>c)`3L?+QA<^*#K>>9US^YBKLS#Nfw zRUUO90ua4Ie}INd9K2Fe9^o(I2x9a<>cJ)LYJxQ##DRpL1A~b%|4e#c1fg4D6A=;F zx*z!XlUn>pgfQ;5_nWBWMaW3=9`Eoz$kZNR6>;m4RFZucRY9d6?62{4M15m``t3hv zL5(^&M@AUvpwEIya#_czY|gi-dH@gP8a^h=V1$1IT)ZUrX2yqja&GdTBrYHkoiMeJWzE>wA8Nofk`7kX061AgjBO)LpDSg?vl39OKlJ*HDRBu0|fNHt%?dI{Q`p} zn<66KM$8y4BYr7}2fa6rUasmb#>IjYVG|H7KD`Ks7pY?TOgTyihTa1j|;bh08{vXtxx}9;H z8DWd#Ls5cS&F%OIaHQvBWkx zKho;mRlm&1w~j@jWQ6Htt>{(|h79kRNc(}gwTa*^St9%2*W-S8M$NJkM@YM;Wl$5x zaHh@o&>8^5m182_nx?Z#>tf{an-<45eveF1MfaWZ3nrUjJaXSzADJ~sJ+!F9`jkoz ztLyd|osr$J*tKsUUk6nHk&w;;edgC?eO`QMQW{R0bd#&w+QLV`S;!O<+9L9n&k(pZ zAadMvEzipg1Zu;_is$RhiodxN*hjUrX>>iIX0Q)zEAU#bRg&QcuM#Y_@{F~sp4PA& zA}VIxgLnq%H~yrDd5pBIM^kAAKjSWK{i#)Kx=HL`1#RZDY{aQNX8i&2mAVR~k-97Q z#)AV#7dgeUK^XX8rr{+DvBk;yLLx&F6M_**`ocISXJ#k-IK-MZex>MYVnW|e2b-X= zIk!1M&jmjdf>39O{^h83z8=QU;^h$eb#pWHj++L^*pOvzN3y;M5U8-|kxspAJdJ}} zf+VI(#)&Lclto{~E5`- zNGpbJ1VhAkFWo`S8Z}y#8oI)mt+XgFg*Sa4(#iLk+Vjd)I8@)xiXv#h@Q&6;gVDNd zjQiWNZ94ZQL#d1l@iNO?jS_?Kj#&(3GdiDs)Y0>OAF(EUcI zVS{+GiL)86-C85dS-gXL4G;cmlGQVyKP4fEzj5S(LCI)NG;^lYOrfQ}e0mWTNCEb-N+#LpKRdrsW!@KDsI z+%aaWzrk)V))FTJ5q=*B#HN5jKsiFe$CLjs>m?tb)%;%U;s_1bGlDd-wMg8aP{Vy^ zh1Jshz^PIp-eA?`Unc(OxMFL{uvrxq4*7nznrx^EV*_$KE)tdiz-X-ZLTx4w z4R?*kkw82zr!NH{C)P@TgBBXa|<7G(VvV7g6UeM|_Wx0|bA!(&M9BS0ZQC zXdjgd;G;l#xr#09(0^wuQ*HnGxqqdfvh2d(iAq|ukK9|ol7t*Ws74}#N!zs=&$QTG;C z8X(IkkhV+}S)Ee4$>@J?_$L=&pjb*l9{=bxvP`47$(v%h1hUNKLJ|+9q`SkTAOS&a zG-JpGw%9KC@hj zEsm|O!(oA`GDL%}*C&#_DH4v{@~Jfm1XCuI5P@$3{mWzedaa?t%OBIW4C+^b zE-`;^n7$}py1Sha8AS{|vkGo^p6iWAjk?Hi%U+zz5i|Qkt%~hpGW;F5BACb?g+}d` z_P~RsjHiB5)Gp0#Ylu>@AyGihF`xn z-~Q~tRc!7Crftio#4glqzfIj*`U}u4-x?UaP-BAi+jLi8mOP#6m125L=iuZT1W8Ks-XJ78g#u-7qSEFwfAF>qioNUg|{<26& z7TkqD*XZ4lYV@^efA)L}%x&jwxL>wK{Uy2Fk^pe zPM+;&DXO%sB|&v9yLU>45;-?3EV{)X%XcyO?cEiPclhc$X-bzqht|JA#kHj$WJH-Q zHS~z9ic<^J#1UkdUU8h}e1)!SRovNIqfC=5Fo6l+(>v&Y(Y^UN-`p+sJ>tJp*m{Xd z26bkeB2(obUk*{D2zB#gvTV1+0fI4m4mt8@{GN{pxw+lR+zXunqhI9kdBk;c;mM*O zg`+RCQd}2!C?pTIuZ(eNZYy<226j)oj_SdoFaRvS_jQP%{jDDSvgP>+BrF2ZIxmD=AyfwdineFDhMhUGc?-%PLt{+9{%&Od#z1!CH+`HFdjr^D8ov(G{& zw${u@vuL;+@dJ~G#`~o;+CFHzeaV@c$3JrR|2pA3@i=Uh7Us%T( zu%%@63Cg}bhj3Di+tcB-{IEr_zdP;zL!oa9gr=A=S$w#DI#g_b94M~fdQmS-LUEcI zclKCt1i-3kDuv-M#0g$}ZS`^aeTjnd5A{JZ&V$S#I@s&b;(t-K9~+u*cRX3tmEd{hQ^voL z+MzbRg!T%`amu6-nMPo|=;voG-Hk2phsbgI=6RV^*oS6RjR$N?eOS(SX)pd9z(42d zr+oA+BTJ{)Y11JwgpGB^Y}=;Dqgu%Ni4;#-W=}!O>4F&74OdAbEBb+Pzpiu$A*Ga~ zf&uI~*Ae7fXl+SgQ$Ak zNNJMoeiUR}MM2P~arBi%t8F(Wp?69%cJeKFO~uQCGk={xI%)E2S^Bj}qDqJn60_6r zl>IgC`d8HPL7$;VDsW6}pSVLsq$d_^BHux%+mknadRDI>!-)w4;X=k?b%y>*gkmK# zlhG8t`3&Ti;MnBU@~)vUL{$Zy!Vz^~Ubw_~Iz?ecnN(W*6o8Ic>-D4Hrz#TMp6O^v zMF!woM3|dqql~{wy81N=MuOPtTW^6`hGZ>MIcCfFZsnws$x4*rbY5PyhAcg@N=JGk z8%^LbgNXk)u!~ZC{OvlKceOt7QDbZyT|-O@K7&33aE;=&R{_`(D*N>~v{|@N2Wo*S zDsfXP&dg~}i!yS8jguOK9A4=n4-=7&f9mKE6+)`+ge7C3$Rh_jw}xi~VhZQP&5@Co zj69hJeJO`HsR+~l=m+RZ9K(NKb-%VbAXj2pm0ukdXKI0zXmHCn8D23ikT%i0V$|+q zsqeh?@=enD{XtK1^JtVdd4dmpQy%l5FI&qQB-7~t}{`y4@97>W#%epN{Uykkx(s$Z7b`bEYkEs zwUINrAiDOv4Ux3U>xz3}_#Ci^-9xESN-v8h)C1M4wK2IqL$$oo;c!(|<>C`>%V^CZ zR{L#_N-}}e;ISd$PLEx3`+83CJ_X?qw|AV7`qPn&jf=eqZ?0j_B4-znqxuPB;uD5F zOL%@vj9k3M0Y}|aRQSM|)@IsAR<4q@R?39Y$pBx|DGrZohf$A;fm0sYV8Wq8zEL5w zCkwWu>C#J%Lto-B0(kk(#o2d{j`Q~V-7j5q@X0FTV5A&r;E@75FD$vYhwDFh>na@m z-rGhyO!imJv#2f(L>+zwN|7L2-KBQid+b{mPxndf{1%ZOe;q z_obn*xvKcMV|4rD=K`LA;>^|Ri9?khA%7yr+R@JlYgsHGUlEYIjcC?yWB3wKM{462 zt`)MqoBXTTSD=nRid>9E$#d6f8<`Npf2C#BR`-)J&6`1N;3~bEAVP z28pfXfr+%brV=&wX+kRk^=;!NB$TmdS$!tT(I0N6c-HPKSN0oOW>qj+N~|MId&1{( zc?*TVO8s08r*IdDr8*!U&V6b>D8I+z8%}tiHP2OI{8^1T`c9AN??6qbi>A-4H>x1R}0hJ2;@m>kYI|2n3#dyU@> z6}xRzf3C-LtF|;ROpCy8SNC+!@;g&n2`e&n@6}#W^KbKOs7g za|u?(XA@C&uVGCNfcHBFpb4B2-u$7?o8VD+V-5_L}F&p-%sB`{ufvS=X+VIC`gu==lit#l~8p|dp2_rL}YgU{N0rGJsEugrD#2l z@CJKy3C>a!n7!|xuxs;2w{>!-EGqC%B(6Dc@s$~VhTS|J@gJ`FbFe4P)IXB@`lVYi ztzC>Ys$VP>n)oXTG6uBYco!eWi0@MX?oM_OQZ06~Z1ou-^HPG}TREH!`x#a=uBs?9 zsy(L-hc%EXItN<&FPvS~={;QXzH2j3k``v=UQ_xlA`gdN$n5yTF4R5G9B9;8ps_U4 zA6&)d?Qw@judWh*re=kL2SZgqzV}Y2M}w7_LuF|wM|;PgZAe1FQcAyM>7EiP^>X3svnYJb?siVvhdZE)(J`W~vfxfDrNb(_V$-%UYOHN#NqO zG<{=~PenjdI9!E{$&T9W47{@Sv`eyldkz@B*{Ip%bX8nYKpTt!IV&%w8mUuDVzPc_ zotQX-&#LMqGM5V@*f+#BI{W9MFEe}H`^|B~wbjXSCbm+=p)ZqMN_*RRniVoo6K=kT zhsuxQ@&6iiKo7Mh{bq%!SZ|W-%N)9RDqQ7QF7jq29*2v}B67rHhpY$!06Msn4ST=O zG=(5B8nAvcak_W;jEzl2ArHt4sBvN#h`|#6cwZ~I(Ep8v=F=MW%Rd!tFs<6-srPLW zZtE6*HbOhl8Aj;tx?36o$UXeN*sf~XR+$(={NEuB{vu^=pjeE;$^s=lv98AU4s!aY z%Q;hPWO;_3)e1fQNUmyu9;B3J|DN&wH8KTlTZMM6R2M?dZbfeT&e3yR5kBk3Z>hZ- z9X(0Y)xf~KlFi?S&R;9MEh$Isd{Oa!h|;BUt!WK^1JQ5^r0Izgye`S`bSNSWCG0nj>`4fB69wd zI-}?W(B(?n#Ma4Z?x4`d@Vf7~0(lQTnmh#^0pMVqEk`~<2n~CMRIbFRH9>@d!B1-V zv_Sd4;{YIVb!z!9Y<)W5$-T9)MiM>9j)uLZ4W$34Ml&u05ntB zkXGkQ_5pT6{(N+Xm`t$=AY9 z#7NywI7^M-69V+@68OCDU+XLeUxsh9uMC^Xwt?X=b}Jz)Oi)tyTGC%!Y5}+T_tP2M@+*>sSZgdhJASoFViU8 z3w7K^M0&~P*u_W53*jXf_&}fXsB^9z$( zCM%DSkBB^|CV%2cz>K2bM$?fzZontbA!x?`o<>rv-cIyWOC?^=y$&-|#IzcxlHgSILXWv>ugb`z8n?G0STt#tv)0sO$LBBuQ zT05$cWBfirW^*)wOhO`^vgu~W*0w2A#1xxgncJHJ{G#+AS9q8St{&yi3u`jWdzBGu zYTq1#FfmU%aaX}%_bw=XmC6;LkEc9&U(r9OI-y4|&rz{_sG#M{76^0AOsReeig3SU zs^tbPQa_P-@dksLolgfOqVZjd>7Z-fz69Xg1pw^wzw9-NW5Bkeso841O4Nlj3} z#^rEwD`Y7#J7ss=krNjaj=J<@V7g*WCFb#VXGLUVa!}vjTJ8J61}OKuhyp?XRlLC2 z&Kp^7xU}Bj9^nxc|7YJTnre;?PqBw;!i2(DH6xAstkqo;W?Xz$|0{vp_Vd(TW>^C2 zet-5obg!n;tuJb0_@ZI>Nxwkp@JD9bG?%2=XNp+7{7DOYwrG&M-c0;=EndkZ^!izo zQ$1DB%`1dQBbmF;(KZx!uZ}TzG_N*v&XY+>-roiP%GulPSGmX)q0ev{=iIxOJJMJ| zg!ucXZ;8F>LL2p!*@(X;aUX%Q>eb*wSc$)uu-qS<5m{W7+D+%x(;|N-&=0WVkPbD< zQkIb!)h`H%0V&mYfv?#m!}oJj@R2Hkb{XWlRk-Ha@oHO(>O3g;w=`Y^RykR%^A+;^xq!4ojwD>w%|~&|dC=;kZ=cPo ztc@Gnv%qQ)G6K&#)bMyj^#018cKF=+UYhv|ii!r8`*aE@eYS%wHkZ?KgE5Cc-&0v8 z;PMsPdCkk6y}ip_{$(HLOnmYEXb8e4!=v0B0h0fTT3U`XO=+StW#W76c0UKd>DW>i z^|ze347cpwwwMGT5w$1Oyg@e7NuEG@0=#yz{u}-8NT8h6vD>2c9&5Ocz?QNhlYU%L ztCkH}O=kbf{G+!G_5q-#^1qJeAakZc?DpZI*vG`)4ELD?>U5E-*$V4>b%B%5lGJ^Y ziJ`RY`I^Z2a&gHfhFm4Pq79YDmz*6^>y$Gxsxw+^HPA}hbLW;yy!|~nF~HL8dM_)? zLtj5#+%aCxK^saifj%UmdgIkp{)1xoAVj%2<(-$@Zt)BR0c&*M-38NbC(L8Bh68Mc z_==)_Ekg(6Pr`z}b{P@|l7L=yw4uO^kx~M^BI`5eW^LW8>S@3hf&GD0F8dyK+lICD zukK*{8xYNfo#h^ioX>>-?M_6HRDf+b+9h}U@>yg8FPSanr8~9oR4T% zRkic4aT?mC_MdDy-~RmGb!_E*VNtiIK3^VhI-K&SzoO^BjvW2AbF}*5U*MWOz@WWw zbyq^@=UavH(>$vK*s|+%dh_n`vB^0Qm@Q0S=QPdPIc76{ljA!GV9+np9FT8c^=6F( zNKdhICQVQociz^nr@r(e@@pAYy%UoNs|YzJ(d&~%k`r@TXD8N{QJad3OE-pDTzw?K ztBEltrZC~u+6^C&5-*!BF~2EV>H+0-WY8TS5E9aD$$J#oyDti7Dbz@7Wy?^fNz|(DpL=A+*=q4RG_EZ{}Zg0`2h6<9sm(_mDh7eV8eC$rzF{(~` zS=w04_W8uREDWZ0S1H@VAZEvNGdoT)O~?%3K((7rNJ9w&f--M;P)@=ST2Gog@R9oC zVDawQ#&GoFbAZvF+ODiqq94Z`O`mx3D1RnaBu)}ue3OyxIdZ)p;w6@r(pd=hr|I@G z;b)XMPJK0;jK(I;ljwct3IW~rvARs(b{F0~?a=nlwn33A7jM~BMo-Pe%X$gF@lp2KI*9;qt@J?MfFs{8+qW{Q7Qc8eusfykq z4IHAgo6oV^4-a0np!&VcF3vDxJ8XS{Jxa>r2~Iu_TyO z^3V*HL@ke(vAQU*OzhxNMZCR6S1@$Tr}B1D*;0qNu|&nOl1h~B>S4Za0)i|ublAJVYFou{bhsMk?9Gxs zkz%@9^(E_Z1Dm?B$mx-`$$Hgcq^s7MEs<60;@08yj9V!2Y1T>ZVDgQH^Vdbiuh^d} z&PlJHurR)72%0Whz0LBd)Vk3lb{X5@xzY7!e(Ih~EuV^TBZ4CvW-T^%f+uW{q9~le zrJuy^>^OC)Bp&>x0x%W4mKP#QckIhwnNr~kQZcIrC}Pa2e(u>9V&Xae|0$%TEh3MM zE|}Q&8W$dEa&zK({9&oRKEy1rb=o-?UDBK-NREY;e{Mk`9EnOXows=k6VQWhpgB=% zUy1U0K4*1Mo{Y;=@1n!BcR}f-{~~jnFBHAsf+2rQ*Wz*z|0)J>zxnF1ZZTMC-T7hP zSsDU}eh5%BJ1XY9WPA9vx?2CbX$>!$e=vjKoCAU%vJ|6b(S43XZKc*j8aptwX9m^k&Tt5m-9Jc^ zPXH8M*D{Z!xVQp0#ao2^AAXUS_--jeQK6RD?kRlY0P|p%v*w%qMB$fx&sd{!o~#q+ zaZelh3IG7U{?!jpJ9Cz;%MWXmwb6H(ht0idBVaV=7+|a#2ww~e%QtI7r@le@bZ)1Xd-N!^Y zIk8Jq;iJyX8yG2t3$um9{VKRSlJrGSb6yMQW!wA9ft2>}+jO~FGXq*gVEp`=# zt6ydN%%~=ifI9#YdCu&;AEpBE4iiB5|JHH*bg3;kH1C(bgY>VZ8f&QG%zyKD$xQx5 z9xN4%7x}2cQ%>PhTvpBP{bP?(_xi_vhJ&vb39ryE|8|y~NSLslPc+`k0{ec-!r3l4 zPcB7rH21wDv}6%_k)~MYA3)pY8ua=Ig?a&XC0|pM863v!Lh)C2Y;$7kPML;N(a;n> z=c||yZ4;dv;uT_h7>Aik_kBliaEyzqgX6XVBa6 zT7bRIMWYyu& z2nSk?DRnK>^p@J9n)35!n0@S%)sYN7XV~NcB$g5*Mrfe;Qx|YFiZ1{^rXTEjbh~ro zYVt{D4GvX5=PI7%af66t9&H#p)0E|D*rkP5JG15(diBr18#4S%LB`LCKYq3L7XGnp>1xU$L(ZmrP(s?C zcV+zY{ybRE>P)LjuSF_zJ76@TI7?6yOnwiYpJ%rnkId8FNCuDCDMlf;8ES&{((Bbg zz?LP8-<^9KR{coDhbY$kvul_^x&A=En5L_pqRwo^r^KSPw=dhO_}wEkLvFZdjw5hl zg>}1IPbQRguf}_vBSUihx7r{0zAMSUSr)-!0hHZNfI&XXK&~XuD_-9y7l|{ z=LvLs3$GdJ0PM~SJ5>Rx-N~NMtUphiIw~q98MO&4qu@(vpUq(<=8GKNTaYqIl=yXmH zvWS%N5`{y^82v6zGuLdj@n_HvCYA)g9dcxJbdlL|18jCrRxb;zk5HmeKgmtxC~|UR z?XO6waIk3Z^-oiN+<-SCpWeQt%l8zIe0>VWw#|49OXgpV9{Vl}7O13jByvD4OGeV6 z7N3{D8{DT0T(T-e6Rl1nV`j#J64ZzjJ^Qhfiia+uG)u$7Yxz0agZ%Fk?@c?i8uMAsx$^bm(jsdmY8S9{axHEY zHeF4BGK}Sz8?umV>@2|o_Cniyu;SB4W+1MF`129wgh;{Z>o`~fyF zg`|3x8BVQW2QxG;RK{7Rf=cxJKhvTFYAxZr+VXShr;t1iAUEZ&4(*7%C&Z*|$q-Un zoo+$mHB0W@y<@j0$46?B20>!PYQ;RArE){p8i~~aYVpW6r^38!bu=_PtJ~ZRXUQgV z&`6Nf7YH~tOs(UkeTyO1%d#u-qfLc?rhA`r26B9d3+JjI3B|So zt|-X6cVBl_s6Q6+tSySsDi4ZFw}o(ykF0j(ZfozTtH;w5=Yi(xpN%v}nNzRtAZ3vm z;Vmj2!WbD{1S-X#!q(3I4K(UZa)u3B)Tv6|a6b=ndsRYf4-p}_>giQR> z+quuwTW8{1`ugliIbpLFOQ{37)Hw=86SVX1XuuqdL|8@>hevzzq8uF7(nEoy59XXg zCZ0WtR%P2Z@)z)M{d-*tYBwNp4b|)2=&Vu>RU%m<#+fze%3?%;FQ%<%`cnx z-ih3@uSK>%=RW{Nez{Z4a+u(=9$UCq?)fUJi}S}V@8L;tU{hLmdWs4G3Z3vhh>(J9 z_hweW@t7$pkszAU+lH+w7X?UqbGOz24d<+~2-)Y%Cai3F zTSBrqr;yy>zHAsO+UGB(K^dm0A$KXHh8kkmF|kMus7k;)y)3?xTabgOckl2JD-d&I z$^iCrL$_w6raTQJq;w2{;TSCWokYcmWxIOz$oZl8r1+oM2<_!33eoe#4hY3+S&AWP ziC1O!|5$El{@ZdB78?2(K0Eo(72}e#GB%y7cJSXsP0nBfNpBM^o96VX`~Svg+Wk+W zCgJ}@)U;cLu}+bo|8iQ-cxS z#ACSJTaDG;**dT5L+Ja(+9mP$z|iuzX65jL1&>h=U#+=(Zgpk*Tu2}$meH1rh- zNCf=oMZ)wlU9IbpSaqkl&a>}PVT{z%1TND+l$+n5nr*lC@!-wd>#aLadvk{!g50Ef zG5BgUTOF9KR~jE2KjMyv7d2gTVZ1DzF@^?aGo{NeFbI{BaiLuJk02NJVw>vT_k@x| z__gYqB3G1Wcy>Y|#f8}aV_$hfO2y@bm@Oyk0qV=~3!voVjVpf|jweFho?AueOwQ)XzKSP20%dWhiqxd_mbH`WTc~E?&*q zLctgcm3UapZpl^tn{Vs58_6Cd9km)fl#1o3I~dud3rk$@MQ`o{%J;qIb`&kfFj;R; zL<^XI8(M6z)(hZ_ILPK-#%0t|D3aVHnllH9nxTT{~LGWYNebcOK*+tpKxG*X;rj5>Y zsg8_Jb6qYUE~_Nyr+K4k>iycQOo`th@j00^^$-SgBpALtG5gRzZqn$C0fyK##_weGf~aMBm~eFzL(CG#LiNI84|Oi zV&hO}br__O=Z;B?1Ydw-G1<4xckp$5`~btdi9XVP8u4Bl<;3A11o}$f5w@;e9fQPS zufnaMrgpC;NmEo_JJj?T~MjEJeF=E4NF%c%YJlQgPNQPR=k&Qyi_?G)B6&dIurMx+wU zkhe|7o_SX_WRv3&kwO0i=ULBI0Th(O9}r8nU1AZK0KGjVr;3_bO$b2$@ z8SI~L`05x|SQ1f1>xS5B{A zdl&bJ&9QC+>n1qA8xmp~*Y-qJx{X47Mm`$fsL3%L4d$Ulr}dupy8F_);thg~{O&U1 zbMttbOLG7V|IZMYQ`g73rbIc0{h=&X^H5~v7lJpPs`a=c?fCHQCUp3a+AGC6a<++w zMXM&1-K74paVjZ{dk54n%Kp%_3BtjUX|pA}iT6PI$n@@U6-QxUF)^j}^w#yu_-0MG zc0H(Z7v6q}@M(m*U!~#&W%;kS^t!brhKOBkks_ibWIPcHU*Ho%jb$

??p*h8I}VrmECFrBqvrs$pT4H_@s{?J%QscWNa=Kk%7}XeC-9HNsMv?H;P|? z#7Lvk!%{#k%S;_#8fli9i$5#i z@`55_lvBTqT*i5aPmA>b0F`GYP>X&xU~@BTKT}a}Wn$)9C4wx;+YXCc0O1%py9bDO z%- znidBR5fLU;ZHg$Tg;u&ey9(@I67F{vHEwXi6k(FOE-eOg<=@HejAtnJ+#C=SYkS!`O0?iPlI2>a@jCV0BDP~liR?24-|w-<>2VyxT#4xM z&$xg7*gPxd>cbPb?ZD{QpBu7B_T<0CM_8Wu6RV#tHxY8P%lf?YSP^$ze5I5U4s_>f ze1XFe6m^GI__rO1{&&hBC(IqmGiL@3<-GCDIWoi_qd|uScCD7_>6SMr!xCtK)L62i zb&IlAS$>#mv44cq2zBZz75-vdDitrzfyNq#8b9Sb8c>ft#rhd(;%D!$Y5|BQ9fTYc z;TR@4LRPAo`u2;|k6`_CaB}f5lp??oW(vZ$rQIb5hKtHr=znhLca3A^9&EDQse>+p zhH`D_f(hG}2>9_D!s?&YkZDB$Uj^|yRFFe-DP_XtWG3HN1ej>URq7G7=qhbuM!QH| zQDu_tb#LjE=4@69Z}{ij%+oOpGz<8rdsqffA+>Om+ud`eTc<&W0=zv7zWxjc#2AYL z6SR8HVr~7wJ5D^)0$Ps=4cnZtP+hxmCJF#QNu-7^NFX~IdkAK zO7Emm>LNoX#hY$j!-3Y%KlZPn=}GId7L>`@^D!;8%Mo^!juX(nMV4a!}LSe(ReJ{0E?dqk?6eo@|n@Om+mcB3ASWZUIP|+sJ z`w`DZMAuH%+s^9y;ol#=+mdVEax;bcesnJXltO6E@@&YY{N1j%AL(5Fh7?Hxb`kzBZ4!~HW~*X*j#JBrnR=6N}sU>+7>iewUBmpxW)`bnLz zD73*(ajEGNUPGSv{JfAb_rT)d$jwVgLh@s55Z4EKKLJ;OJ^)WsIG9PLSci@T^PV6$ z?0s`>B4NZAiUMc?pFdOi zfB(vMvmXE591a%N@3X==@AWJ46AoUx#^CV`-gXv`yU}x{0)5~H-w%Ov zo*S)ajMu6Y2hQp^?OrL%Bx1JVtMS6ljs8Aax9DL z(eKG?nJ!Yrg}alXJ~+4~UhE6_8)H6eeMc;mu}PO6&MM z)7FDK%=g(lMS@;1A8QbCbt`A0Qh|z-2U_bm(!^YWKsb8?VRPtFrp$8<P%#6^t8LDk}_3;;*wqxilR&j z7{)mI>EtJOwLBw$wMWg5gw!`TA6S;(bh%=Ug|EYAt{{oj3PUkfrlP3Ph(FYE_`6P3&^u#+q{wW{5Na?K{E>Nq$yh^xvC<7pB7gZX)DS#D>d zPpO*atkWRndfL{wdUa@j40p+%XM#zfl4z=IDc zjR5E*8wSH`LaT3?%;;%VFD@%SxO?F1PFMW{4NQMya}XrUq}Z&e>FMN7?RYH6Msn!c zHr-u$0%bhgEA#x*92!eJl6yS%@Pt#vd^|=j`4TdECf>uqz2y>p*GOpW?g>N{<4n}g zv&`r7tZ{_qT@B-2P_2Qd3{NJDbes!hj{dfN-Kaagq6#yPpW1dK^u+pgAj30e=vz9# zeJpgdW`MPNE3)d>BicIj;l&wKbS1w`!GyuyC99F$?XgV6dSa>We5~dtN?F!dQ`D1U zKCx@bEXpHTQe!Mzq%zSR=V~VAXLC_nBwZ^&%>^;iup6PJs{QDq6!FMHBtX zmZ>Y);7@H)hW;jVVJ(Kb`!`cN{o(vhZQWye3^1rlO8Jxo4cU!>jf%Q?V&&vK^BpV` z4Q0L`e@Pol!=>OxK}PPulNFG*4>?N%gMK~~nU6|li$QH4xqgbJ{?M)4oSRp=VvR{n z=$C@)D%zn}|4{ z3rezTV=*qLyG@(>D~6P_xoixL>*E=ZliY1=7(L%$`ix-XjVu63&-MH1i=4a`w{mF6 z3GGY>CfM*_#WRu3rhg#PPyc1D zHpBE~wyne+J~enfcf=9g>cGw6*DME|o&X zpVJv#w%T#2H(uA=Uy7#`-A29b2hikCXTG|>l0BK4@+_Nb;zHV%SXl`Ga9;Mybw(q) z|J7*J{b|fP2_cZHcxY&-`#;r`kv=eKYqZ#KPO^}u;n(v2R9ZfW)fdCB@<0z!jBSG|1?E5dHP+up#-wLUcN zP~i)w#2S?&G$b16u6!%m17q-~Ybd}iEPN;EyPP(wDSj$5dlW?E)*T{~I-2VnMJGaA zq8dmKlTW5TKcG~-G=tkYr2fcfm-b_#6h8vd>{w!$SJ#dw6C?_V-Ad*s`Et)Nl{@%B z)Uz$Jy!+%rH?g1*6^m9!-wBi8C3^pb#Ig@3FW0fs=t`C|Y`#|-!u3B`fFG8jl z%M&kW*XZ9O^J37PJzrS2{A3rGJ>*NrENCOCNckn0hD|abvtlc$x6N$A6@P0#dDg|3 zE7Um+MGC#xTo@!c)%T58;>iSg17q7!_%&M^tZ6gLA&A=(Uz^*ihc)h=tGBSLAQXpHDTg4yKX9R@UBsMYIPf4_^!JmhP$(@))6_kQ+^DW+R4r4V@fS>7Rf*ksK@5}QGc z2|Ggn1cP*IZ9P`mg?`jttINGA@sBDs9iKI#K645Xkdx%-;c{EOkmUkj4eEI$DG*Yl zvV#QdPw|KvpL|G6Dv9-FlJHqzB0hP^?&ywtIkT7~cgXip zc1={p-K^-U%gQF%*2gDaY+MW5PJ_K3+s!##q$VRflF7?fp+LKy(Uq zWRh1anPM=Rd)O=ox5Tp>Z1-~G1H*DyzKp@+ZiTWiv*B(1x;}!Nc3z#es+~n}hei*j zcfh>FKA~0f3XfJpmVPfCmY0z zL&8;H51zomoIiUbSdPfkp-g;Sj$1s&4XMf@%hapji4OV9=<;EWb z7v=z=B_6XdJ-YhhI+J_4spm%8W4)MA^Tn7@EDbG8e2>D zbM>PH7YKw^T!LYM5Od`KyAJPIO?Cp8N`VtRPby3lL2>afpR^Ei>Pcv*k}O1#{D+?m zT&{UMl4J^8-j_0zKc0}~sn{4!l)@KioL<_p*j-P1C&?Uw6j@|9bfSi~C*K?MLG{@+ z#}`I*maDcZ3Y^&%(Z%QF?SqX)b0hBt*8ucvWmD>nBEdk+&g<`d&xZ%fq?!^{6 z3gn#=1M*;&^k#deZZeKW!~IezQc}yEu`*~$E_7eAjmbh+ ze7~-G-_MP_zSFA8RFG=1!{1VXA`(SxLQ1dSy}A6MQ1>k{(?K0FFp7LRR5+6dSgI)YP?ii6R)tV)DN6>p`>x4hNq#)2`jzb~hl|*ECz5vt?ZeIs zo@7*p8vUO{?yaD%#FLg1{{q^bP7rr%6v?;2b0R*r(1HfmZR6%XJ~LRc zOP$Yn7&l6X^Vvn`Ts4)#-6lAC!b6L=z}oh-**}r$AMr}2I(gB*+feG_E*aGWR{ zr#!^l0tvkO>(4~w_MPk$K{4)Z{wBU3qQ5hOQ1ll|?pG6#2`8bK@jx!R z#EfbF=|G6oNRl7Ib+vv({pG#3hM6qGuEKR(qLoBRq;rs(D$D9{b_k=+rT#7--Ezb+ z@Ago&)TU!R$w*PXnI8s^u-F0q;8Xd0GT}g2iIFtUp>H(oRz{^zYTR z(UoNfh?v_Sh{-l&bY%_!s;3IuP^mnU8B1-TaH3ZGzx`}gEG^rQx6uRdzID{@Vqy2J zr91##Jnxt4|E#<9(*KhGQor=)Q;0c`+Sh!{0rI@^+PNb=cEW)*JagH|6oDNNW;v!Z zU$($)Vm%iHpM@vKi3%!ok-@U1_S5*6M|0c{1fZ+y)DEr;!b*g7pB(L~D4-mLVRo&z zp_KH66jx)q|GT8TX<|71Shml0qGZ8=)f`$9;=>#gjrL?r*uW9YY80;JT-Q0Q3_GVu zKli|$!7DTrDeHCS#BHHx>&V(Yobm$(ilw5DR@vtQ?Tq-B{G$eI-)zm70@#rjt*DMd zwHW4No4Zz}9Z#8`z8uR}i`EfeQ7fdZqKJ^Ou_q~^BkZ+b9bb6goUg^E5g;uL&yO%= zbW;7U5XhclxRM61H^4fzSn%mF?pCUn!P;d^e5yDIjT#X^gTX;^5C0)|yALWdg42C! z!^|Yy+A5qfAaj58Y|>KRny12`U6rMWyJI_fGcLI{2sIh200XQ(cIwiZKVsT;CMlsf zP+!e@Y#=+`p*e83s1xtfFSyI0qUFaL z%tgY{BTrAsRkbv6!p<;L67#Y)xfQHL+rKA63f>#23{*CfB#_ix+ zE?cR&N=$`#SB6K(Nt~+Bek1O8jd*k8FSCZznOU2OcBrYGcEmdySVMpHyhwE`% z@U%;xW*IU^&LdY^>gz0d+e2mSn*MOWwcA8sYOjlriEgDBu-8(Z%TC@oHHn<|XcT?C z^>QLp2sUsfDYFZSj0H6xIQ1qDeT|~jV?}6&5i-J=ci20g|BAS-o<7R=v;U5D^@N?M zpdiYbQl%j)jW)ckJseS(i8D+tr@N)qB_3=Y98dzQE2#-1@)LOlBYT9bTtrs7j862s zqxG}}DATmbBY&;}O-v(eTrtQXcvC^=n8SvSuIxEPM<7CPXD_5MC#1!ab1B-x)aL41PR0evvr6=&$oEjHeP zi9qe(-`4cmx+)@d3nN4}nK>Icx5*8?iyXoZt5a!`9LmzdBgupLHedjwA z8yAmSST`Z(g96Y%G7W@D*X|+;gLLWaf)+ncx%KX%K^xfoXTZnzIe(lMvpfp$;HGZ=eEbV_?|HpT|HgvO0MjPsTljh`2A}Aqk8!G2E53e8qff_dokNT{ zlriWyMEOenom$_9kRBDuDEVjmp8Tj0FOvJXTK^)w-ovtSY(`8JXyW6o#yVu+buRes zY<-Bv;>6tuR4pzRET>@gFayd0lDa`^~1%Vn!%F_5rHYZV-Utg+C}chJAI!yl!Kx zSg;z`ziNxe@5%Sa7(KJaTOSvf@T*81a8R;BwU z#3WRH7A@a@wene|1#T<-ZImE)RjCY-x-*g`%?gyvAyvgQgPpKt8}Rb zx0rdEt~@%;1MWi&Zg}Y|Mz@|%i&e&k2TeDbc7AQ(>fLmKp628p z$s9yrI)Q@<%XKJ17r}JaolrMfd7nu|*4&qg6@ziB3~4#6Ydox?|AhV>QQB-Lbk z1Et$%k~$xTVMuS+zm8=WuhKm-2u@yBo7{%)^Xn z30lTCjeNse+p}qGh*s$u5Dnr!ll!U#`LKuTi)csLfx#k&apqUB%1(FW_SojFI>KA~ zE##X#sOHiA2OI#=3elc+8;nMhx+RhR^|t$b`EQ*uHa6BL_8+YV=N*x?U7Z>2IHMuv zpB5Rpof{bU&UfCh(rF6L_;3A^^`PJ%bmwv?7eE1d&9_LgD4$)v;_mQ_{yt%A{-2I2 zBJTX!g!db^wYNJCZ0-ocVt56?A;cr_${mVq}O(Q{lb#f@w&jxeq zMnJj?M6D%qP~Kmq91od%k+ZFLj=@|WDr9D7pM#=YlcSUHh&y*Ds_D@FSFN(re`Utr z95HjGWmDaOlfO8@F}+;t<@^iR4c6cCY%r0GcQg+?HmnJ!E%8q0cod^+hM!Tw=j zx{FVCdpJ_N%l^^9hLM@XUJE@v8R-g6dx$(k$H2o;IUxQu=h-!&F@JfgabraKk*q6) zN{RKY9Bl$%^!C#R3CX{&?Rx2wpV^fbPqRBs(QJXU-W@+UypEoXTs6PN@bo$L+rhL1 zpe`)Z$1m5D(+vYLx;!x5=j%6}=hSYmt}Dh8%*TpC?)AN6M%yWo28Ypii?5}zHpu6e ze=R1Tp6zqh74Pb8SL+)}m7y6HBs-e&zwS_)oxXLexUMuBcpvjZ2`DUHUe5f1;nK4J zixjd~*Rt-P8w}Kqdrl0gpkFpL1F350z4(?ub1$KiHh9}U0fhM#>G;mpd#21cG*O1T z)jhq1P6kI>W0)|SFrMWuMlTGPF1IInCzKib^e5`I8dAL|DW-3C3)0S^KdqiVS)I## zc`OFaQPR_E^Z)kN!oCBz{B~XAf4^7_PJ}3>RHFVHV&8krmBU8~DlWmK4jV9z=dX03 zP4`s>@Ej0qY4!R0;NHa>&;7DV1Qq5_+d`PseLNIr?~%bB3Pz6^GV5c_wQHBemez?$ zJ!w{%K`+oB>IF5nt#40`pTV7kQ;P&cA%;r9-n6#3qrn@^eMdvI>v(gq-m=e+N3GL` zyKp1HO$Lia!yQZx*x!t36m@VV+i6`8$4>sVe*y%P&on*{t{%UAgfISVYrTaf>T(h_ zHcr=}KKB(^k}n>XXn7&4&*%Mo2&Ef0bkaTan?EyWQR4ZLDlbgjxgUPJdL|Sc^DT~y z*nIoFpfQs8Fu>@cN%NlKRIyreHo~OP4&YMDmImx0`6-y*O|fEwPRvnUa-*zXXJL-y z)?w^+>C}Xt-$Og@w>5o|8ExdbF`zI$CMxYrpzwB?do{Neq3cs`pf6RbvaEd?3C*{gqgsxA_^4`wD>*_PFX6v zyiy(SrA+F8seD&!oY%-(#?tivQ&2@qHUA|nTsKh_GnH8uo((b1ju(yt{=n~*46R=x zGCufFI`@tXus}z)s5?yoh^Ga*hE;-8R)=SkDK>N&FvDli=C7GwnP#-TunoSY+Rnx? zAm{01@bCcF4KXO*8INw}qftD#UDDa?@?SQ5ofVq>t2tM&fTrLdd&@G(21)vd%8OVu zL6*qKw@=8A`*Tq!`(R4r`uK-nrv%k*0P(^c%q=c5ayY55CsAh~6mZEB#p9h?0TNgK z9TOw(5hknhh_oXhaXs6g$eiPuK`4~cTn{R7aym0%lDV}%+@Azv9Htkza?NLc``F^4?D(%cqA|uQ7bvk z^HWIawCPeZjeckr@$H!Gw6{)gwKLsYc+ya+}q%u1j zl>tBR8lUvUdd((-WdRAp2S4u+kBqURYPJ-G=-i2XNM1_MKD;f!g?WoQuig$FQu)wv zTC{7#+30kQW}>LWt}L|IY-ke&DIqw;MyDPpC@ioHghScXNBJUru&&+Jo+s%&=&%3X z1BuYCer_-E@{EG!x+B`~^(Es0;34(9^*f{~juQHd03oFihv85_MtlK%j4VCrLLj2mZZg>6W`j zqth%N%sUHS%DiSfbQ`%~o>#PbCER+kx?OLQd~$|_s;aOYto}wznNrR2yoa{NxTVW7 zG*BcRbKbUd4hXA$K3`efJE#jwGdk-Z?p;VKvNuugwUV;9&eEZTEpkzbYtPb=+v zD)LsB z+MKn*s&tFXHN%CnYtNhcj|~`q2CsMa_pK#g#=jvS3AS zm-w<{TdVmbX!d&*%7Vd6GLbJ{OWvd55&9ET@T6yWBIsU_yXDZ5yj>ud;31wr$(CjjnIseNNxTz7e-0dj8ILMrKAvzB8XO<`@FeX-z@W;8!}| ztij#Weghy#@UpqFk^X57N!iYaiHyx@{Xq><85@m%Vb`0PDl4hEEO|89GCl2}Apa9y z{?;^9lrqU`6A|iT+p4e-aL8AGoR_CLsB;-|RT(J9pz0iX3s;qp;2Ky!qoYWDPi1=@ zZeNOLWIvv-rzFvlAUMn9T8Wvgr9Z0SJojE)7*N||0)b)0=*#ctM*`Z$^bw72wqC^z$z!Gfw-?v*-A=tjjO+=B+k#8wekak_Q61lis~w50vJ3{l&VO`^2=^7w!Gk= ze>_j;vWhOaD=K;0%#jR4Mi-HLE85Z)eM1!ha0@3}Sz%yu^D=fHcc0o~x?hl7Dz(C+ zo8v89g{52OB#wD;;j^tY12}v#MZUEv=xwSsfKDma5h!O%Fsvstd=SK`A50ZQKdG3E zCcB7p;Wt4J*67SxQ2pbxpxHfoR6LB4`)CNP0od%&W+H>BH({)iUt)qMT3aRD*m?dC_kb?ccrEz z5+x{G6CO6UA>+f|?$C-?9c@O`+N3gSL}T{BYFZRU7;@wLBhdta#T}mWFdD*EE}7kf z8WWYf(3(qeQ9e)@X8mh-y^BBZ%35qjho$(alMpo_b(M!~V?@G4SR)22gU47akhKGq|SF8P!h zuT!V)nVt0y1^)wx&pDYvWl?5aKH3buO!zi}%Jy#b-{kk|ySMbwThH_IoZoDp`FgT! z9v$tX=Q{1>cgQ<@xD*NYnh>u?t1-DoB74*xt@E;6<-TN0;7%-i4S=S($lS3NSCJYEm5feDp}$wEF$-wit6`JVEqR6 z&81Mqq$GM%bUm&|1p9GsE5Rvf{ArqO8P>z;jm^aGdtZeMZv)(wnl zdcyXWT;zt zCm}HgELs z@^ueVw>r&{&+L)`*)i^x6cz$Grc42s?nQWK7_fxpO@-$MdmaOYB)@5!K7V#lH7^?0Dv z$I*Dx&;hEBqn`nchrvJJASW2q8bE}PXFEkdvP5`_&kh*T^6K*=5}dlgu}(Ud@uMC? z4tR~u-o>ld%&UBTFups@08Q#(+4y&hwz&@i=rLVAr{^AqI2`WYOs+5v7e+7l=9W@RfkZ-@s?@XLc~QBCK$=j7+c2-w0JAVs;{s`T8xq z7*z8$S=6e{Vs z7A7mrc*v8jKo-iilKzFO#$u%`4A}^XH&ZUBtXzXL(s}4t|H+0*3v4|lAoo{2Uo3Px zcaG4?N|~lOzp40X9>%LcKbmPBvJ@#pEmhvc6Ro=McVso6$%DNdw%#)#bhsM+^&(|E zKdVXjd{Eo~b<@+|&PB{#MBKE9@nnL|bJy%MB^De4ws)-_Os6|&u;?~tGC|G4vZ-5t zcr)Ap;WSL$g0y(vw09Y~EQbm#Xe_0;uwrlV%vBxCE%c;c#0K9}u4IlCv99@Yw0cn) zQF<8OE~_rok2Rw|hUXyCi=&jJ;EwAjosMXrR5LVHAT0pk$A`Dzc8!u~q1s!Z#>wB# z&5G5$_g5#o=9=&_cdDD+7LFoXVlLD*AMIy5*o!O2zPv3_NJsWTr66I-A(rNrbwqbL zIUkt6ng{DKEV0haKCDmwnc9B)-+)HcnexbC_MXAuSZi0?z#Lp)}jqN8_ zJ{EWW#>U{wTbHZr%dFiTUmc1mRyU*nQBw{)OkrF;P*VPH_YTN-_;a(DJI#i>8GT;v zY#Zaw8|adO@$>Lchb#Q(tyUCNDwTr0>TCzsb?Osspb~@&KTKp;a5yrWd+;p`uJA~3 zI0VLX(5PC_N~IAcKS<`VH8{2j9NJ15cb`pK2?mHStz#3?BNmbcuo`+ zU&KsaIk}rNHvccc_t%{7bI(q1WPTa9Bvmxyd8+{e3oHTME_&kjwR#&T{vn_4*vRnV zInxJvjwg&!=3cIztR#Ba{I#IzpG27Biq(cRbz$)P*Fr29k5WwMpY>%Pr4Hp_Ko&C^ zW0Mp{SCcvkd4b`bqd;epsWa;T(!34kXE)CmlLiQ;upi|}^2QaFn8tiCZ``pxQS|HQ zd2QY0@P6@xn55#e{~Tar6T2XuMG;60wl2Yzn;@q+j{2?rM(BkFVkpD+>mYa%r}Id} zPR%fF`9=&pB|Yje{nb%7F`eM`n(L6>05m;I+mAJy_~%8UOpHLIW}R;wK)-J;U|3SmwD|{ozp0-$}3JmTY?x_jkO5jUBJw z0gh@$#A;x~OH#FXQ+}B#8zVP+o>AKsC~%21`MP_U#(NU}Dld+x>mQv6;#!^n9g~ zLOm|U<*`83nb3V{`m6Dpo`%ZpAloyRDl^K)_%h)@Cx?mf|Ep8`du5BfkfJjT!*H-y zEp?Zgo$+~aN$E*$WJK|Z`s7Df;f&x` zUssH6WCz7V0`40w^>(@NMgw2NRWd1Z# zzE#mTc98rdJ-~;Uu>0V{TQvI|^j0T%#hY!~0wzPJ)tvF1JPw)+vA^8QvcJd@tEw~I z*l%sh-_#}4PGKzhY=U=xk36WI$75lUj`PoPj!u#o$YvjT`UMkY4gl>}vr3{tFVki2 zKAie*6Q*>`e+Bj=ilbM`T9_r!eE&K&^0eYQrkVe?Vf|XC*n-i?9^C2Hj1~v^_W`k@ z=>L*9e2{|pIIUOf4u6ti|LNJ*^)q3Y3Kq&#G%`B)NrwHWskR&Ve;B#RX-O1*4#{^l z%RT6h=Du{MU*rC_P69Xi|1fRufNSki(4m5}xof z$FS|LPGAG{N zj1^51*B2F?O~x|=sp&ya)#w&k$S7J2I~t`qmLn%V){XbLgTl-?J8`aqmEX!ZzXz4} z3i&^Y5cky*Snc1{s9VmLDcSDNfpn((_b;cYD2L6_t)nn>8;FL|1O^K97T_HEhUb!Y zoyDmgl)0|vykVpHtxJ#OyK|4gN5hHw*^c1B%ZqTkANP#2AD7js7f60<51?x);a`K- zqW_#F9+kagc5Z))Sz6S49HeqptwkU9!zsj;2Y;SDpw!FRqhiIYCz4??&Cv-fVaa7c zS=U6JptYN2bJ!%Xf}GLSyYEzIH|gxt77!=N#Ya-~u&mxwk<`XQbK7-uoPFl+<*JFd zSKPC0JQ=PKg_kn`8l23z#HsjtHDnfY)W?H2{Vu%OsIo4&6l*Prip506al;Y!(D25Lk0kqRuf7ml z&w)25z`9l5MsDf8vAunRkWsU6DFF=Y5HA^}J6q=1j1_#$MaBq)DYleLty^0BDM#q( z&oq%6l?R8dE0uHsQ*0}o&yu@=@dXvSFe0B8q2hF zUIA@=J{YfmYmISI6O>-0arzFAdFYwe_0BTKP|=drWO}!(p;Vw{oV!13 z8u*f3b341M8ZNF|fUG9jG7;^exjZfo(@1bwQhRNwt#5e+mkNp@ux}py>0JF6^(Jba zWhzfhKbeu*si!8Tb0|<^qs+TMrP|i2*(yBFe2;7Ou6a2}5Iv^w)BjT_lL%m6%`6zD z5oSfX%1)*f0hPD%Dv@|&SBiE)c&HPVkO8#DXnKxOs!A#H5B@Ij@8;O-svd%}{iPH| zrRw9YGnS4bSc_WifJ!>EN&pqc!J0`{9QIRfzwdq3nEqc>+B5k}Gk1fRsVq<4GsGt5 z!kL$b1LOOiffZD99{Kyu^IR{^F#$^+>wrGyy zoN;mm`mO2jpVD}P?hbJY#vSZ# zl&Y;YCJ?9(Ds=Q-(dr=;EsbYFir}D+XJAVr#)3~aOIE+c7F%b_#`if;2>Bg1LptzN zgOO&E3mK0&FukHmY8x5UrfTh`u&O?HpSQWjI$DD7ldEHDj=k_4{WXXA_CE)2OP0b1 zGRDPFxYHtZr>8c-IpSSoK{IiEwVoz0hVNW^8#i&HviT=Z?}t-nHvn7f!dCgUc6N_< zTQ4#hvruoTf+gwezV?(A;@}t?gPuOkup@^f3*ND9T|< z<9)9wj%p$ys>SA3VQZ7S^%5B$EsUVFdzjd=BxeJZKLWzU93kpVc#fmxSOMvNNpbkm z_^mEdyrpme{F4LW8_97V`rNqY?%Pu<4M#y|{oKpGT0GJ(BvsGOdt;m>x83u?n4}mH zKie#nP2jrV?V};IEiZ3GW3owoyH|hruEZAl;M=J}zKP6*3%}F`RBe5Qz~75_-R1YE z3bXL&#|jJQ?3pFp!NY2qLys36on}~4GTOsbXiRkCj)dAV7c>r%6nLd-Ql_^A&6GXlgIE;$gBb-RcsV!&v?P zlt0DQnu1!=Y0kPi@02FVi2iD}GkMlgP_EJWNSn&yLK#e|v40;G9pQ6H8YgW+%HL7D z2MuPa7md}t*!BVm&jrI>1J@^s*9}%CDY2m+qTvy011f>M*mT6BrYbE5S6C~_!3e-; zVgyE{J~o`@|9}=^&Dw0A))$lwviUSWs{&q^eDEkj6bp>#l*gg&amETblOL7^x8Rac zweiE6?hUwAn^nwpwC%&i?_xdppRLQ^(?8p{#g#p6KRR7B**dR^kbm}XBWX~8i69jG zq9>A!1@I4L0R;sN%JDAz3qi#n8x{IMgewHAOe8Al8<>PAB=l>&^ZE0$77&QWNFHV2 z-7V`y&*6DuqLtb4YJ-!T-e1!*NYTXC0nX+~!##(p1idSB11sydxI-DtH@m5UyZCho z3OacLxj^IK{CIam~(ek|CP*AezLOAJ6 zIN>nFjIACyi=*kK>9m}iw0Uc%_z)J?0abnNPax&SO(A< zCr)VB3Q2&yn9{}9qE0I)zq1+vu;J+YO?j8}24i*YT`kOiApwNmlq@5EV!flCGZ1N= zXSBOrA_} z(*u4>_E@-+@RePD4ZSUimYDDA-=pLj2J9d}Fa{a0sQLRQZBYE(IDClEd`YLtsQiNs8~gbSK3LJ6am3 zNt&P7nT5pg8B7`;P0XwhQpOe0@DXK#k`{`XxM6Q6Ph@gLGq83b6|;uHP<>)p*NR}$ z5d3b7Z@ArC3*i;v3EDg5Yhlel1izdoZ?fWGC37C&Ee1&Sz4YQ>O6{5EjXK)gV0Vn= zRLXI0@#ZudGG+mFmbi}afiyYljUqX^e96f zeVNK_AOxhT>St)Bs$*=r`ynHWIy54_3nY@r3k!ZAJdv*WvdrVIk8D6_!(%_f>!f+g zXL`P4AT?B!tY~$tX3T4hK}uqT)i>LV*_6zHwwhm-AJquvtQxMhb->G3or6ME|6^hA z%h57_3<58X@`8xW1(sEpo^c_uZf_powcf39-~FPw+Kb@IX4jD%EGtzRAQ}PdGJYmM zM)Xgmv`8d&)JRvr4Cw)X;y~FAJK@{1aHj$p&PEeBd$>2b_J$wst$Uz&pt=|C=P#Dr z7rlFl46a*l14BbZZ0vAi$F^Q^P26i+4&Tx0lij&5?vJlw2^{)2kBiz%3`JGw<{vAW z-Ya*>3wb-+HP6Y`ywC|Ru>9I|;3U3}UuKjwLyhJs`ST}9Iug;r`34h1iUwdHfx@vt z&TPM*Gpg844rRzYKU86tnoyt)3Pk9GO}B6I^~HRutAP+~I4neiEyreEsSUK7IA?AY zF{m$sQiBWo+_<`UVi`@yb@Rp2;WfqxfO72RU4JX{HIgaYk|q-50-hBsw;w3HbSMC* zpt!28kNc`7610dRIh{np$j9Wxd1Y>XEsU^`u=Y_H=|?_(Sn`M>E=4 z-=hAHlDM}lqmaJ%_|+bD0-Ey-1O6rwkrcPPdW{9hoSa94Um}WKa}|h|O#%jj=Twy@DP&>ZX zq@2|8;p?0V=NID+%6)2$3E`x-1D(vtCL_gAH!*UWUbJVp=JlM41H^K)$MI92Qn1^gpneQzUd+?eo~c!Bbr&q=sLi%-vDb@# z@~ip~#I{K&wGZ>?zMNn&$1a~ugLqj8_jD@AL{P+=vJmXCEg=ydj^Mm`oxyz8YBFcJ z*>8`{ZR@Lw!|*DPw^FAI&(YmzOu$t?8L~RhuuA`wj_#%_O3KvL_3286`tAf5>0S;D zNyM6IjRIJ2{n4Vg6QR@K!brGqHb0p+8T`nAl86%vHpo}=Q+ z4B{gDVg@wpaRl$$ECK3z2I7hV8y$KAbOAipr#B^%bP>h``@XlXdz@1q4Y38(QKk}T z*~^;2YY+AJLHJSzf4`XX6M+P%><+lbVOk;LObfkmQ}m#~G;d}Lf6*e@Ut4Fi9HqAs zn2h!XqFUuKSjQoxR~3}81{_V4esH8o|7P)EujnA`j{a$AVN#PJH|vrwBtfC_ijcsg}(x|%pG;-y@qVfF=!gg{vk1Zx)g?%_4K`3vY`I*kZ&EepF1Eey zv#6v?z8OoMfc^0lGWix)i^JM%{=Y+#6iCe`cx*kxjT*#LQh4`~o(M@r1#dg^Q| zdAE@;xSw3&F*xJ2wk0Y`7S(sA+x_SrLpSed^7%wh9Ur~^MHe{SG5~;?MfA|o>*nse zEsxnLW%DEsH!AI!Y_BpqJ_gRjNJ~Bx1^`i*y|pqlL;+24_O zz)AX#J27$3Hz+75S`Rarl`W@$Qo4vYEr`g3V?-a38sA}Wk^oQV92s!E$x z*tWvIsPawkBG9j-LT0$jbo9F8?|`GJJ=?ImokH<3zhX7t&vaipKhq&aoHTRde`ZPU zMx8WK!Eb)i-ODyw`*v+XRPZtE5&C$w{qX?M_MmB{G#s6;3i0>vWA5#~HBR;a8GVjZ z#Hupw&X;e+XSq2!IX7B46X~+S;$X!;X|_HkSWrJ>8hotd)yUPz4vXDpgI^gQ6cjYb zhxO+-LQYN%OtySv&7aQvV_EV4nvXdIDdXqFey)@=VW;3{#+;jp+lTJshrp5W^{_&0 zI0BiffL`JB-Vr4n^`DfEDBWO}<6E_bQZ0;R;vl@yI>XFWf z{&s_#cQ?ewcPBBk(cwFOM`M15r3#B9BSM>N8=SX&D6RC4NR{XWVR<>%m}8?u65_*U z$P<1i8Z!ED(Il82obc5EFoT1E>zdCxQH5U5Baa5^eW+?I;Tp!zRSsK$wi{$V&tor7 zE-&6GR37Xux+ZvN6d=r4d+qkS(|6OOg5_iuIL=v;ggM;)Uy>kTbR@6S}F!Q(te-9TRY z$~Kemb=^G^zsQ1;FT-UUZWRkN8l1tqc25~fc~SDPX|TMy@^xYG;bhZ)fK1|RzTIz! zfk?P-sq{kmfN{RVEPYmkpDkVmyP4kOd)Z$B{>FZzrBl6(K9y3{za3zkxqO4s-hRV_ zY*sDdoPDYJBRkQ)3X}cafyMvuJhTPBo^u?X90sCnJTUEzTq%z4`_1iG^F}AFK=EH* zfaAYrah%|r>k&g)nrv%&R4PxlL4M~>u3ke>6)$bfO6BkQi|v+IAT@m}^fS5hC|V_q zP~ocdeIdD~x5mRVDV}?fe12;*sf61*wQj=nPfwJ@F(sc9BpB`7_t6WQ7J2b9($n)6h#(LO*io2AI0+{0diQ=o+ z@I*KsGFc_*c+|_JImpzVtkv$rJg^Y242UI^2DelB?Jl3n#N6aP_5>@WJ~bUq=MKyI zq*F2TV(sm7FvNSf#q|j-?o!o1ca`+SiS4h(ng{&dybM;HE@Nj>j74K;m#0#hyTu#2 zi#u$mEkrmfl=XE++7_Bal|!ytJW5iJ$=g80>i=sxsot&E>ac4BGvf7)mW|?Au=6Jp zdm2E+hAGQKY6go17uWhWzKD)|FjXQAgS!fA(Vv+6!{}7GS*25u9S~)6d#5b@bpw4d zVNud;Mlio(v| zQVO0NcTq$9P04&zpZ}-881^}VlfO1#vlA$~tVb|{j>frLRNNgaqhy|I24gNF04+mL zX0~&Ziy<6%O_X6^I?+8c&AnM*3A;Huh{hZzW`eW#^_tB%bk+~6l6Uiy>Ly74Je6); zp(#lGnV0%Gf#mRTX!W&28aS{Ywt~yBy~J8b_<1YuKwL(iyr6|popKNvld$v zLa803&VZBn5s0Eh>i$xiz2XPl4(&K;PD|vN9gE@X%5s&^oRz$l5w~!s7dZLNW3MUt z3S_E+Er<9TP;z>JHL0o27tLKl3p-_(<9K1Aiz4w>Qfs6Ddg}|V%AGf*y zGQ5|Xp9O@IMRO=--QN(tir?t6K1r}}CcfoMd3G1Gf298Ii;%?eYV`9uaWg<@H-TxPIudol_6QYg-)SKhxUkKf7Ew!C!5v?^ zK0K}~b8_>G(Kjz1E7&Qc6#nk_3=rp2D-!$qchZ*!hSY1A%O-iyrv)_>UJRdmxCF!x zysXlm&}k&pUGjFE>Q^^WsD2j*AWNv%MKEJ0T3?fN8xyx%B!$hOjTSEItKqjA3Gkk@Ajszp?U^K)3 zT~>^VOa1$Dt6eku3bQn^x z3LOQ9f-~q}Vj0QfPHXgmj3Q0&v7Ap%!N`Op%mGizmhCxh0U3xWhiv2o4Da6d#rAoH z4GU$uw&^LfEd9mBf(V=G*AdUmXm3trbP6>^j^gXjtMlQ+{Dl7jdmLA-C&(=hK!)@7 zhFtNRWJAL%S}}QQ@1ijNrR^_qN*mnvrvqkmHn3jbZZ-elnF!{Y~+wo>i+Y!e_cU#?XqF@L$P*%Bxu^*th}0h<_$U?vjhhMz zIghZB6r1drsL%{8(f|7z_HW>0$f|8*;;)XSJ@V9F}L0U{)0-(C2paPZN17#Imm4EL#^lxdQF=R>4 zI!cbzs7t{KX`vd+h%e!@UTqKnTpZj+2Hfc0UCltfXCn895&-Vd8;dz)YpHU8dr%yn z1Tfdmu;uhtfta`&^G*E&9F0iWWs*>x%Gt_NN65l-`>P#&tz^K{G0%p3Bti)HKraUr zG6YaaboyNB>8g;Np0wLpkLp9G2=qs~VF>2Q;jfnB{B!eHpRVzv9=KKZ>E4jf6h(IEVu>8&k z)AqR}U=QAiDjUM}uRxYGY%M6QlPEKaF(yLBtkav0NQiXrfjV@}?hTXYk|C@L&MRt2 zaZ)e|pf5zUJMV0Dt!=FteP5x?j_w!-<&|(<;9+h~kPJBhfsq85;D{(b;+Ik}c?X{Qf`YT`KCKEh0fS*z? zbP>Y+Y-VRo08%nGgA>_Rgv$3oe6J&@y523o-7>cWu{Z+nLYfT^$o7`=W)CSffRu2H zvp4jGz1jM?@4P`2Z>pf&PuDiJeH-W_rel z0TL7Z3zRS^j9Ud{q{Y%I{ASmI^Tq)1iEB713s?FR0v8TgAi(f3vgFb-rA-$8H!*Wk z$@N?Zd>dF9!QganF+Z7rf~rXLNHE2#hp$CKwLGj05P_+Y0QM}tVO|~rDl1_A)?bnD z5itfRUk&Tjm4gCTtub%_RGRLw!NZpXq-^KOAhHpFf`UJ4we0XH3ngleL<=M08f9RO zZ!&#jhPR=gJV0D1J0EL*UbOFo)l%4%2Um`*ec-5ZOloH-ZP}Cu^mAAJ^sxu}$6>MBSXQ^*)YHQFfxex1~Rs zme5T23NZC?v6tIm_>-%DTcD|DnB_n@iLuJ_nI*FxGShPm9bF(mJs525aRO(KP997w zMNaB(&o^{qL}<^PEW#D?BF@q2cG_S{#$9@D2zh54EwLAFK0@LY7wPOAQ2;qni)A$4 z@Ft78OK7adISBp}y6(r?8tQuPQLBd+u0&u3;lw@f*7j{dikm~hli7-;a0=T9i}^8M zA>&JE(OAXbaJ zieRv?t=K_D3$P9tXgX=krjRJ)H}AI~1f%!i0{nr{DLD_0*j%^2a1M6wwO#3AN5=be zmfsi8b=^}G2=U6*3|&M{Nf2Z6_OX!k9iyMQhgIui~A7`t_eesh<} z%Ze=fyF|Yh(C-PhSd(qhn(&%}e8IlKss@T`tsVRHup(blIjR3yvkCp)1;)s?Y{dC> zcO%v1FEjReIGZQ$iiI-}G+r74Ae4VpRoB-;T{8(<=#Y$797XJF`s%W#u(%;+aA0s< zMMx45$XYi`z%7zFAA9&Dk4QM|Y*dvPu=b-x*cER}Qy>gWxTTK?I=fV!-&i3Xe>AIn z8%y?OWReJ&{I#=-q6Yq0^waUoSy96&1AkdT7x`-L&4Ce{9op3>R{h6H9D@GQ=(L4A zxv&3HI3c3+t7JZcdnkdE^vfk{s>7Q`7itNS65vHES7gw!>76mUpMM$4yLE>Rsl2Gc zM+4Zx*#-uJR-%65=LrQ=AeAq0)9MaQ+^VI=41vFI@ZxZGj=Idjcc+2wPg{0|`oiwr zGmJ4NDukfy_6+)JgSuCeBO0XOG~M`p_@>7qaQXr~St*L0B0hZ>!pW8;?|r56MOJ#+ zP&SvF90)~8<_YeJxJz`DR-AG8Wr$IKEL%jtZ#tXfUzPRrA36c z_xqb+>tVAYkMqUT^mW8EO&U#o^X;aCM%yy}m|J?2<6$zcn%MEw(Y7wlSP{$p$3*gJ z8TGhKyo&vM5&o-=Hv1VBjQ+#rM17pq$mmCFIXr7uwcW;C<;L4QM%P7U?shtLiUy1M z0sdzK>m{ywv&-XI!Lk$7zAG;=Y+tQ1XzY zEuVxVl#A^7B>K3ALiOzIYB$$HiDwpOCKV%cNnv<`nCr?5u7 zdk*%a1!`jySW@L;Qan5wr?8Ci1G=^vbx#o7AHHKu=2RDVMsU_r0eW!RC$;$Z5i8!1 z9t1FKoRUUI)74#e{H{v>;)<2IUo zbJ<2oVUK8n;7+Ds&8qc;-&0cOVz-NBd`?bQqnx5H-%F>)IIB%upP7Fa);t(r2DdVr zxPy{f$C`FT#ySw&Lk-=Vj-+6*Y6mTG)rJ*GK)9Q96%3+CQeA?jLYfU&`AscE{qlyg zuD%l0nith6R+R4or%&*@z*_RaK zvJioyqQ&Kvs+AP+kl|Dt>1O4KO+aeCnSauM_%kP0XkXy6n5E?;@n+fkmox(S6e$_j zGd9sPqXbpd0;dCGBZvFDnfULVVZ-^XSG3A7R_b*4IeE=G^x^4YPOfBSakvYoitR>x zy)2K(+fsJ|KXL||^HZ^9A>oE|yiu=8*CnxrTS|lBy6CFQ@54;>zFz6E`Ar#d@ox=J zuRFXVRD6B~Dwoe{YRflH1=Hi+og(4a`&JJRYYDc4iu@0{J5aFJlM+YD$mQz+6!Lm`njJg_LvwzQG;~GX@MbD~IlIEs&F%ReX{ye1*pzBm zoG1E8*>ZLS91wtsxf~a34TN+4EIOUGs)qIo^V(^Ly;aQ)ab9`#w^ZJ{hp7S&N8t`{ zYdb0sdi#&ydbN!Dw(uP5U;;4n%vm_Fx45w0V;**2Sa0?T+(He+gc4d?PiRDltEVSTf*?RY_Cx4@xV+yFS;xe~%*e~n|IW3b_!&I-6!%B*yRp6I8!h(VO1%G2_OHc@wMOWl zmbo89pR)0^{z>5>^FQXpk+f5g`x&lBa{m8D^TYGsS@Xz5^fuHj*M$E+pq&f-do>g~S-cLlTJ z6XPQibjfqRXKGVAXwcM|032yd;ITquk-Ph!#*^}QCr!J=+nK6v${0bg=d&a4!3v=H zcl%wohKuKy_qBTK<%`KfBFeiT#Ef0ol`gtKlD{0u$q|CoRd0u99b1~)4-M{5RLr&= z5x$yF&-S4ezDTo_R^3*Z8}Y#+zwnRne|eRVM7}Q2Jea+6y+vyIZlhAd1`Y3ULdrD7 zIvNo-kr@$wzHnJ_KVS2roNfnTlCxJ2r%qsVGhQ+k8{eL%xCNBC$_6XM zdC_yH#3fMH4BWGg^!6{G8E^V^+ZUM@w`Y{wt+CxeA#3o$EYIcH2l!0h=T*L)rTdiH*~J65sdeLlGGX&Hg0Qh>jA@mp#%GO2k%U z*9U2928;+H&-V*}WlIT5{M6Lni9(1-sRg39V<+p}#;?5NMc{6xL7B-| z4_0Fy8Vkq8-3As^KfbcalP#_=buc$og+ee>ct71CZ$x*VT;+r+FuRhDeKqe@7o34Q z?k22J7uF2i$b}BJU^XpJy=N9%QlICiSd;1%NkrIEJIocHG#cQ}_R7OhNQ@nvlshXb z8@U!m_myjPJ4JIP+gTo{X6H>R-UL^eT_2^ZVXmTxj+uS2sPWju${Xc6JA^SOKYiN? z>%xjhtt`(XbAreD13k`WE1Xoj=Gw6pgu!Ac+{d;Kc7_dCZ)&DRO+@csjmBX2 zXM$iCoc=$MK_t*_Z{^7+ME+&ISz4K7@e?KwGhqu5M7)|)N1*kI??k2yN9WBeIT_%O zSh%>nz-q0du2+rHmNg){=ywNwy%!rLSW<2ra^*|2gUwjrmEFA+!1WwC+91LoTBXY+ zr7qA$o%Zi)zZ9nUrh@v{878Lxa%D1q_O02y^zC=h>JpRM?ti;C8)WL?x2>3$*xwkn zs?599f!wC~(|(@NqAedHp3M9Ky$?SPJ=N+wsal?!q7B{E=HG8BSQo=zN}`Di>Zm(( z?2_+>*}Q0QVgRX^KUm&Kc5W9>OKo8d)9#a+os<#gHU$n4T6Y|>M>bbnB{APywAQUN z?Z11Nu`GS2m=5OcK4>a$ZcN1^Vs|_zLGN0QNQ8M>SaGY-`bEhFMR2iZw+qX+%)?UGZ4W@iOA)7?MfAjvBQK83o&uO{7ykEd!DOtg!c+@E=uC49uCVp}bw)}8Y)HFwd z#~4e)(}Va!*E<@c)SIodzWjH&Oq+BQWLCkjk6I)uiXD&29pkS~`bfWK;$)m*IWF@= znEo5iZzTO4`~L;bCsBBqz6H!zAcq)IzZpbZAPojTCS9Z{p6}ev{EWuTa z z1t%9g{N23+RUwy4)E{iEFL>)-_Tco~wSKLoIk}7aH`+{!keLlm&#h7b!X0Z&*(fJG z4G4sb{VmLNq9CIw1$P5PNN&E;3U;YfJ(llk@uegHR?}ptD36Ii?)*aVc>TMI zq2`y!yrf;6V(b6G+&c!@8nkJ;W!vU1+ctOEwr%aQ?b>DAwr$(CZB2b&cSp~e?&&i# zXMUWYD`Q1Q=2|P>m2uryK2KdcpR&J*`r71)2$^&o(!CGk&zX>9oV}iu)hwuwM@UWM zo2Z*TzGorh9b5#E?U6wanK4Z);*`yV)=H?e3DHz5iCjBl45E@}oo=+v!|xPppCUWu_{-wm>Vk9Fe#rASQ;{jNgAQAi>@D>rN*X~}<$L>8Bx?m2|D zB~~NZUAwzYL8a>LRQF(ZKp`--8VpYH%-JDewUQ2?Zp&AHPu@`zd~Ig+3JaS}MF4Ww zdwm7Th?eA^Xi1YxN3MB!hi$n{{waJyet!j~)s_@qAcQ)4Vj@FEWa-8r*<$d z0~=t;c<%Od!pvMmOC15yW7|ZJ`6#@$>BImw;8Gh}9I6lEDPs=hI+Jc zp2v;og94O{>~%C7qPRv!n!Nf5pO>zth0x&)+2fs#QMgAwzQ}R=;y8q6jA~3!qwCBl z&{~s`QFMfCA%1OKA(g8^KjPxJlr}&w&%pN!-U2HMI7i-B#A9d?5T|!Y^tt&syk-P# zPZ5-?^Z-a`q>3lY*RkoBw`9v$5L+h=jF5!`r2-od_?Y>_EG`hlCKqG?y)FpT>-(2F z0d)-R4Y{L2SNi7{=?E^E2o7Hes8hZ7XhMrn@XJcW6@w#0#ju|RGEddg$?{A~@YE!O%MD}Mn7@q?|FT0E z!XHmR8z%@-SfEct%fmoj4=BT;BcK`koRA(~3?45;T^qMj7uFxFxyD#e1Z43KY(6@^ zSP}rgOy90hGJ(L*VGQ#NrOIq>q2XAom4zJ2!L}{VwxJl5eb1YH|h*)vSbiIOqDF&vjmm` za$F+7>C~7ggZ{MHdC<`Y06^5)b(YrwoyiDZIA7vw$Y~6y+F`?a*#u#Pf9I|IgQUSu63ub$`fCobkPsL?Re&9m~B3#F8ww&jK z#h0`O*`3)jXaoo+;uUsDsb`|tXBa;yP!HWt<`O6eET?H+;FG=n-UsJ$ToJ+JmXgt- z&W_|q@L{77>PEZPd%Pr509pcDHf(JH!A`PP=zYV-cb?o|%oDbf42>m`97Yo^v2vQ= zdGGP((&(Cn$|^_OziTT@k#9jvCPDq+?C={Rp-Bf2k2h8;{m>m+=Q-=CRP*~6+`lEn z`~G50>Jg}cgp|1El%9@!1nr9WqalJ@|%PKLL{qLYY$3e<}3#_yebi2zKdFb2%r}) zx4JV#bsX(JHAiGIoRVJ^+OYXr-4y~}6) z3=J)Bhc7AhbpR1}NA=zL!}dtss+sOgs*-I}a{9Io_YT7XUvW zB5@TQj1c)Z#cR(cOIt?pfl^;(JR)cAFKjHgSB#u^h1kE8z=hQ4Bc-F_2|r?{2fq^L zjv)vuSs}{#GSW{nM1bL`=O)Op!mlK$Wpx13zQ!D6@^F}`^z*1{PVBvs5H@zXuTiJb4f`#^-qZ~rEhP<2DxXc(DnjgHEuY!%(E#0 z^UsKmx>wmPgQVBiiGI~&B81imT!IXMBU-Qk1Tr!jAR|ckZIhr0TvI;^!|(cpWlIzu zBpbK{Cx^8V4is|r26q|Q)|oXmoPH9D9a|9N!AH#V;aQ+E?(4Pou&Y0TI^Bc22wf)T zCW67jwqg$w%fT|JrQxhJlR_$;UANbQ=!f2g^W_AgTW}T{y1Ha{@qpC6!EU;q3>3?J zE4e9f=&_avjjeVZ@6ode%9GYd2advnYbdAp2bbp9_?9Ps97G~|$m8cPaD4~u@HCa3 z96(04P_yFC@#;TKl6KY{;TnT<#-RZCF>gBC<8-Dt%an{cJiCoO7<`8L!AiodlJTc9 z|0J{5*KWm&=RE0^uR>D0nF$6O11~QwXX`vA4FJuqgh?WiF#0gPyIY=^QTNBr$R$0_ z{77l<$tLtVM3cuRwW%RywS;T4i)K0HI?}V9;LB^Vex$nJsoERV>64VnZ6DlA!l!ed zO>7!Sn8Kawn}HBsZizB1g$F)(Z(ijI1-W8%ie+_^+7)qrR2eq3LJ!z z`c-}>I`AjY>D!!>PCQ;kv6DR(aRULfGY7@g$4JvJ+VdfR#=>a`4O6VhE2kNV2Fq9C zc_T?LD)Yw&n6eQIeN?jr=)fHP#oA%BI)mrlI^&}1>v2Y`TynrO8^ORLDP0@!L&O%W!RAXD!z^p0nHeTcW>NwHdZ%ZpuEv_D%PdC9MuLTgyF??U-1jufzjvcOepG_3a8nLs`-mKn9jrU zU*mDv! z`=T#ysRVBaRzDv{(oRs~j`~tUU8}uphJz+^;jaNWg|NZ1n-3{`oyxbfNs78tioB!G z%x#cL-ou+i4Ra)AG+ISIUqjdR=?vHQ7P>>zQ*I&Bf~M8Kid-Bk&bM&&z~G%W4=+HJ zL&*m~^-MijGUY74rY$VvP6~DTDPQSAv2vLBaYEkW+*1IGzq?qrH6wXN|58Q(_SBPi zQi!q23e%OQweeR={%de6rR@(i=|cUdC$aRQzFM;f;n0IsR5BK`V8k+KPINH@1Q4@^ zG$h@-QVF*c;t{-M(2w8G-tB|kbR`MkMU{IsPM4G6Mf)TSJKRUbsFfZy7`T)*^Y=1f zw7*P2+`LPHI z-XyyuU8L*nO)K7*WCF1NP8IK-_UlA9{1jjo!X2n(NVjcQbcHOiYZ9We9PW z=q!i_IC>E7pd1;iIJJKe27=-ioVOU;`eH7e5_NqG>ei4JmT5VZZ<$H3f^L*QLkQul ziyyB?-(eFL5+({%iqznrV4}1Y?%AD2#oL(%N_nU+cLjAY+lzcyN2^Lm^ zMX1Af<8|vQfca|-$?h)coa}WETY#?6eX_1VaxUMF;0*!wCM$BKt?4#9OK-vB{fu@u zUjJI7a7;B_{?q`A+Dfz2>_?H{>X&4ViKq2|&mu0(x|grCOlOVWCc4}06Pmhx$eK?w_mXpBs_c|JxygK9%h279~0NH8~ybKSF>X z*B-CcVXe_}`Csk)V<6)#PeyJ=c9EahM`-b%F#xaJ(Ii+E5sR^yHc|Yu|7+>H4pVG;J%4otu*CL#_Rlvv{L70hxjhQ$Ad&kvLk1N@ zFZSkDBA@)v!dfOB>m1_a?#@9T@Hx>Ek_U+-!StdBF9d)Y9QIsSyjLBVJ6R<$! zJuhc#;O9R#eng}O2gwSgzO1^=-_q?aZ#a$ylY0@9moOBLAxEwFP=ATf-7{!@COiwr z|2ijXK1;*6`&8XIgHejPa1cY=DZQg!`n}5#hsgIX-GGN1BAPwX8%W7kW77xWWDAS| zFDn`VuCtr$)QQEyrxp{y1AU#vWX>7!eZC1!6`+wbg{yoEl##j)Z7uc@?6CP}u(PlW z@dPgj8dVrM&KJ|SQdxDvVM9BFZM(a&ahq}@BUUn=IW#eZ_Nsbhw4bC2KC#9Q_81;q zcya=dj|ec9d%cIzFwx1Ca!}r_Cl_N&*kq>UG>P0}G79qw7Bh)Gwxs{%G+X*(+UZT| zK>v{^q9|lCSpr~%WtbB%6`&0s4aDR<+ND|giAk9xvsB#K507P_{sU38LXHCK=DH2dds zEg1RMM{|ndtJv^{IvUnXAl&Z@oe9r5`7?1X>R|>TH(J0xUJ1Zlvj?9eg&Wa2cpHGX zdw_x{`vqWVi~r|*Tt!KfBCDLwJ3-p=Z*H%=SmRRIkc6$nE-F*?_Zu&^%3X1~j?mBG zR$^Msc5_H71>e9htDK!Zi&!IUVRe3zMzTVM)>0G^|0T4dn?T*tmtd9_`%g;^WkU*h zaEnFGwilKCoJVz%pP~@Ld@Q#o!-=I`vQD>$*YV_h!ki@69~RMq<${G%8vSpZ-Nv~7>Q=E?<>ljCCHwLXi)fb1g z6v`>WB#A`~<--O)ksbujPNXK3-Mqw5exiCbuS>6WJnycGwe{Iszhs)Te|XXN^7Lq8N5iAK^?ywm&#fUdKn;g<2%|G=J9iY z)As<*#Fjexu6Nzql~>lp_IXat%KFWiAP5AgKu$>LB+QQ>Tt+~Uhhn}5iYhPPD}z$4 zg?Jc#h>Q~Za|M43a!xQoJPu79NKl+O5JbUb>Q6TxsUJYXgm3NEE6?=H&cOt&Wp(E= zheu`oGM#H&SaIE7Oc|_VBD@R-_)d^9M#D6-JBFF>+Cu6bWztSG*=ML!yT^Efz;Hrf zwA+pfdebeT2b3HmcmMLL_yd+ITs(0|q)%`f(_U+u7SM6JkCFg75{R zR;hoe*kn-akjppCVCd(x@dqJ)7e>FU6lQJF%fyQzoQsMuP*MiVQjaxRW*j))ud=EA zbT%5@aU{mB^-%1peO{Y1Bx8PnfH28%Ro7*Cd{KzskIa#H@_f2Q4V0U2mf_Z94l{|Z zW#Vg>lZQJTI;HM*Zy?Oiv)aeS%V{9cN`kAovyho{W`(iG}~7D?Eis{ zuKsj)Xa*Y~YI{(Lx-Q(%h7kvDm=RH8iP?}f%%Y3{Y+s&A8;rS>}BE^Qv_6^AWrdJ_&D;Aq@$wlpW|@ZoZ7Gir0lhDk>9 zj{Wq67I<^OV|!&#B^5tNO-`Qca7*R#j1p*Ml>CinifC+7i90FI0^#f>!>N}W&k@4I z4Vqh~FFCB;k!aYj6nHT0CwXsM{;dL~3Rn0WNI6%igCFJKR_k$(ExHfmz65I$tJ@f4;3UPMq#~|06Zo zo6jT-D1E*2=jfW0g7`-o@Dvh3?QG;{&5QBEl98f~xN9z)irR4->|6ci$Ch{X5;W&2%g1l5K76ss8_KznFqydvXuEODx_*LvM zDqs<8nbu5ZDDQ8e<8X4+6mH=4PhP(SZG4g(SEQ7XU6M01pX> z8zIzA*v^28poKn*OJNu75jv<}8=W{vSVy zhiExkz3D7wwOql2excbdSs<84`h#268DH{^W^A#GK^qK%S0ld#Brmsmb?Jd8te9z6u9wV5=B}Tsf)ku1{m)&`H3!{1h~!@*9D93o0`f$>*%JsSnt-cT< zP0|>I0>;IFPisyI`|238kF_>8x~%x7sg@EA-_`~!_t75Ae;~MS@Q1Yp|x66Dt z))*jmXW0Tm)ES}*;fuVt-FQViP)MWpx-&PW=H-`C96YhUApQdFYN%`0CzKdqda=M? zXnsEhd36*_MnDL*0p2^9w&l`THWf2OWbHqA>LxS;E&BNSnz{IEkzVk!O;5eItNRSb zhFiGLJMM{xlhibRpPsd@zD!WRC%mw9*hMiB+_8up> z5N>ysK3tz1F4S)cvo!8;o9H%T{&-z>-l#+#JcH|hq~VC~2HYNgm?Gvke-5Vpd{HqX z#&G_>4+x3tG5A-TQ{Osi`yBj2?DxGdXle{Fe{ZAm$ z)dcH!oW+05fJnZ=4Nf&@#EqE7yzY^_=GH&Uqp9XJjP)k;^pe|15M9HP7q z&9W2}3V_3qBAf8iT%oP6)|A(M zgpTd4%Q5{A1&{{E1pQhFGaFc>zy7lwf22#irFu&X zbq&`Y?N3fzfE^tepq#-v9DGsVs4a`dr5cFd~0K@z`kMAy=iz9+U$cER)d~-C{W2~mUOvyQWMrpXM z;Pi6y(q|_C=x~+GI6b|St=YQV#xa7+#>S%EvNR*+UVnoJObS#!88*|+sVOAhYoDAT zYXt!Qbb90;-AIO}9WlCfkA_*8>DNksG&EEnmX!n)Xnr@LS0=3_Gp(!7Hlh-mn;*8y zixH3>Wly2XfJjiF^&0=`YVrk7bd{9(O?wpQnyx^`p9`z^$(s4X|Ni!nz<N}06}0dLp6R!r}PrBXLD&+1uP&89du-9c-eIH z^;Pj;*w6Fl`OsxMERiC6Ll$2f_bIb2GJSdSh>6ClGy-dQ04V;h`lHAP_HDr@IvqNr z<;%TRjJ>rs2~f782|0}7e!?{Kv>Z;qnS!eIdBjMA$^M+v`+YaT>a;pfH>R4h;<&(Jm&s+Wy>>Wb zV;jZpKHXCWq3eX%i)u**HyZ9yY6eZauMi1-0p`h9#6_%p6uZWIjlQA$9QHhs$jpC# z=Dbj3$RneKm8lAIC8Llwr5x^ZvIX+@(ojZ*@^+O9dspd0t@_W_)i^Q z+%VbYi9TNf$POrw0pb4Q18x}{-f(Cbf%>j$gWU@G5)#0&(Bc}WcOt2aWu#qE$RG~V zzfUdy<^ud7cP{r6owN|tJ#f1he|hR%XsyoikRpJoLoCvx!Qy^~J&L>zPVq%5xL6B} z;+pT-aX0((%~Ns?#{ZK4Jq&#-dd&`k86KAz2X9>i{&$>TuDkkXKO6+c0^1M3n!&-b zTEMU>M#Y(1-q^9j!(i?C+EDJ??xYT$$bMf1r|Tl` z<*2ip#oaqD5$Bhe9fee0N6?|u? zbCwW;>!F94>d_Q|^>=Q15#6`zT|A0`z%>AO(}sT=oz*a% zqUI{56*{d}i`~TcRGWII5@|EvcOb-(!ENaK&6~{o6oPd9Z#6zs1pn`7IBnJKuPm=} zG^32K3O;vfKB)E(##7GSfC9{uqm|RMzQONbK3(?ysL4J&VaQ|`*=&U@$E(>JKG0fT z@47|5*kH+IGirRy%DVuew01XXwUoxPZ8HKf^Ow*K7qS&v!NF*$`g*p@U-%kryP3WZ zx|E?Q7qXoI3KPCATw3gIpAURo<_CkIf0p~vKg-PuyfS8) zu&^*6Ii`P(W&hh)Rjl|ww+N?7{<c!^bP95CEGjf_WjK1!=W`a`Y&@I zzT9s+mXU_bSP$ea{$?+1=&7G}4o+2H={BNh!r_eQ@wPRz%kMT({qqW;;?;}?uCOul z`dB>E<{oYRuH7O%i8vo{IwKG|YtM!2^ANwvz)O5|~ml1n~vBdBI z-?3j=)P{Pz1eJXC)ytk-^jRI9kZKp>HKen<^U%3W9y+r z)K1Cx^!25rxS5!_;Dg+JepUJLxir}g)_tjT=K~S+zHDHq!Rr85IZ%|~v)}Jrwk?QS z=P1uI(K`i?Cv;Cwhp{1DvU~{YnQibrLYISb%YO3-F-APsc%rCZ)we)t58 z%}~1mn+H1tiYiHOu=;$fM<~jFNB@Rj&I-Syako#~_^T?i`$%W`I#4#7;)S!3^~vM8 zrv=UD_Cf>gSJZv}nx|0Iov)@rnxgrO}_K9=3+R^YkzG%U?^@nz& z4CN$&0P=Pu0GXdVBdq7~0%^W0dqGlA^DI88puf`yxqNLih~Mpz~)dSKvo=AN{idBoelTvb*qeO0H2Rva!M& zUK8kVce`e;*MgG`%FOY&IxCB{j(V%J4P#oc9+pZ=@8OISa_`+lNhyx)o+pY|O1o08 zIC;D*SWLf{lbH%b3*v`GK0V0^PByPKb!e$*zuN&H5Oa+1h89(E`Q9jAM?c)PR9Ru1 zidBv$XI{24S`L)d>uAWDA8pnJsZ8d;;p?rftkXJS7fK!uk82lMAR1 zC3y@m_X_iucKUnTCfP62m6CMrFAtDp&gKJibvVzs{a13v=RYVpwo5^@T$&%LLtcMx zyDhQ)Q7B)U(W@9dg6|$mG&jaZ4}xA5vz5G5{E`pinH*4vr#@_jReVu9Uwc@zJhcfo zdf&x&G<8w8JXE6fd9-&4ua-^-`9Y#&laF}E9gZqG8uvi!OXUK(0l`0mz~{~fC9=;9 zvZca9GI9L0AiKAeWe~h;3FP6IyE#F!de{5~87Q}3w#OoGY zBUE>bT|ZT9xu|f5`P;8)#uBAE9;Lr^8P(6WQyRSP7Mqh5+ou#$8<~z?8;1|q99R%wU!g;buR?bB9C_l>0fIj}G&H4=2_6s-`|@ zaBor>^({*JBTxpzs14lL^=15lpH=jYKZUGnlZan#ad9Ic5r4pM$N+6_+(D!6zR8E{ z`b$vq1ZU`^%>)aCa%RWddc~O7&ML$9S99*2k$fflic+&kNoWG(%PpwDGY!AdIo~&j zmLOa@oy{bWA~wd`*0RylhW8z`oIEfbuQx6d<|#+QH~v+BitpNOZ=FTv&fMFsnk|ZO zH!`wJgs-zw`s$LeNjltN|5pQZ@G4{8QahcW2Mv_tGVdTnB|)HHQQIucy^13LO!=o1 zUNt#7L>WvM%*}Jb)&qztdfcF82-C{?L`|D~B*as}Pr=$C`-dUHtwejum7(Lj#-@u( z4Z5_6t%cwIc9h7p;U>K)WF?)dp3jaI+*;3d1msA(I>VHCY^O<|0=sagr!2rv! z*CORln@rUdL7}w8raqL5;<=J}HbHZ%hQr=z4hmZ@4)^3^ zD0=)l>-admt}GUd;h0dSJZpsqu0C%SHk__LRg=z)!zEV&!veOQAk4O@cay1-IL0|I zkLStu@&qMZc&J34Mw8CNG`g6WrrpS+N?g3O^UCwuKM1_q8ml}n@-)F(H``qC5crCU zp!RrmXb2X_XIo>VWwQ?|&w|Kn+O=#-M~zpid+~wCP;-1S$l~@%C23Y;A9hZ%+k`-7 zc_h2_JscwWbMHQvV?B*&YJB81A7QiR!NGGWN_IFu?-sL^2~XE1sPS~0Xa+l(&#H7H z#IOtppYt;_w_2{2>5DWk*%5W``t@ZWs@q-`o6BBbp_I|lA>m`ajoq|XWZ)^dy)wqE z@sPgJ;lbX;85v?}y#3dEGXs-)aIK?l!!v@M1DnC)l|haXyo&8aFcIc#>$BI5o!s}L z^Ywn_0C(t2?+Y&p?66Fs{xi08PE(Qo*Kv7yuNXn@)5@YaUv^Mr=XFjcx}4Jia!36M z5Xvi#!kh&EZm^4OuHk<+7dTy@?cu-$o=7%{bZVi8L5oE zie?kS!91~Zig&xG1%`smv>34oAXOJnzt&OIr>Y=$Jk1QhiVG@o@$9fEcmCy9$BfB$ z)ZzFhz5Qr>hR$-jU#~z-)*LRXr*yQ{S$?Zz5`fjwDNl~1jC4mk#m(vLsWb9HocpZ1 z1}d~rcL}#Ho@M=A%7w+K&QgxHKrZ-P(fh;j`cK4PE_H4iHP`#iH6Q*!&YiVtKD6i@ zsiP?_-S7j8z$sr_b?HyXxtD>M!#*OSLoOXC`Cv4~H4cON;Ec%h+usCf79aRr806;IuS?uz&CkRGpX?2);r%yn2Tl{4Ki z(V7?$9#ieyp+bDsR3*5T7^L0KbHo~cE7RhRS`Y*}8^UOI0*`;f?+>b2#6VQCU!bf` zhg&9l&wp5VS`N-g^^c|MtgaB%NM7bUm3_v|&th#im-VbU^3Rtgg_eFSv!{DhxjYI-C z+1bqvI-Ie&XqSNS;)21$0p#4C_*yq}lHJfTo;p)#?YA~6ATBfW_tp*ZGg z@%;6ez{vRT7dJf|sVrUy7-+GBfO+fFghW9Ut@1u3^v}S8Y#M@yn)Acp8EC-K2M9D{ zO5coVrqd_Q{H62UV9?TW9sXgBts58!fy%Wg1{Y^M6oeqqpccn>TamG8G5bW{qTjX; zQ47GaIrElR?1lCJ%UrzDJXozE+A+k}zanB4&Q_|Rrs`x%4OYXuFS-E5YTX?sJO+_B z51_s2axnL@J+`m};X@Cec^+svdZM>vsrTlAk&w9qPNTC4ngm2m&9~eITpYA>Ys-O> zFh@jExCB6>J}y;L8d>~r;^v3ws(SK8a^=sCTm*HM5#jSph1ej*c{^4sNDVxqhL77X zN1Ec>GS#zf(6t{=uQv4utN9{Div7wFd8|oHoZwsJtIOcBG+cmA(eLF`ykMwwqlNFd zI%nU##Mp#T3G}Lo4|P{PBl^DZ%iD_53iq}61BurE3W&=o&z6R79B`wGI(b!Ke#&=R46%jZp?Z{DHy6;b8^*q3D!l78@~S;M*VGev~D!K)-TEN~75WeoA{!nkdQx z>;}o;U-BDlfWJ&nw5oO5GHl^~04H7O26)Z)5sm{8^j0q-M4lmN^{z?Y*kHP#Uu&!V z&nUVd;~*uvFHqqgwX)F&2*C!z`v}vCj+pbltzbmT3Dma_^n^yJeLrtslOSIM<~v@N z)n&kb{jlNKPzTpl?<3`Sy1E9?`>Vq>fa#mdlwVd7o49-iYZK~Y3LG&INCPJg2!u!+ z?s9Hf03Hwa?jq0VN|zIs1KbG2A1frV3r|RVn=dfkmn>iE)LXr3m6_4vo8AP&n?)UH z!8WOZ@&JRJ^>@UqH+D!yw_!GT!SVnVfE*YR`;T+3xXq}##IkW06Deou+qWa!&=)(( zFD?&`r-~N@*~(YAb@Z#@j;`iz6tilZkn@C2UZsGmvIznDFm59wG+^>}0fjnyhKQR= z)8MJA>I!jPZlFxjkI)y)bb3>9Ba&r6EJGAdo@XC7Q&$Wy8g0J>xye)h^z=B1(0TpJcI2{93b}gem~~;v>ffZZ5uT7oNWVN z%vgH<6~=c(1qOor>bT_&j`76$JXiImBg&TTO|=AJj$$y|Q{(2<188HuX)!n0rroFH z3JxW;zljGJ{|AXTyxO$3PudsWE}K)N`t{S$R|rT?nj=y-+{&k3?V>>fO7#ASCD%Vv zQL=leNeh&mGrINOwFe0B`322Pj>f)`XJOLPdXZES_+ARI_sug&36LRXL{1J&ZNz`y>9lGXy z!rpVXAHB~Vk1C0b!twFvsy|KXAs2;ejn}=-NTX)HaxBR7k@XD3=*nNU zFQwl`BsN2Yh#?+n?Z9VmEyaa&4n7-^0f!z5Bz*e!(cCYMW>F<);ef7`1cI#tu!cmX zsK!$&w#bv-R|{g&J9v_WuANAdLZBh}0(Bgkz#h|wtLMBd(D1U+&51u?y$OHSnR2c0 z1c0phCI;31*m>m0&}x_ovwgbhyf!gxOe)VKf@E|}K8W+dzScXkhD zjpe1eF4b6;fqjT^7pY2)*g@=6WR5H0wXpaIl~lov(Q%?$Vs3eJWWM zJ-kroLv(Hq`%sNKDQYjzj15A_9Qo%n$I*E{?D2P(S7mJG%%*1RX05I97}@i@m}-bu zG41}5bN#E7r0!YX5JRnR!3S0Mscr!8WA^?LP`m_K_t}+5^HQ~AzbyEl8@<R@=2Xe;>;5%P z;&xB(A+)eEt%GJ@{}M=VUt8+6ktk^0{ZBuvVD7F!bz=)<&m9_8`+L27eWq56dkJsG z2ExtFbSA=8`;-vF)>XTo!o4qf^ADA3T+ZyA3rqr&5plkw|^n0r3aaO>k1F57tKuqDIv=0o4bsl zuho?d#3n&GI>=q91jAw}hxCd=UMK1DqIbTcI>AGR2(SvIP>TSY_6p$GZzm+p0ikGT z)!(0DrfQInP(dl~r2Bxz0*?`h3S&;KXUW2oT?BK@FkvAmqN%ak8=sHj*8R#)Ec_x*bcS zdHFc4GDE2l(Ki93?FY|&)XbF(0lR6-r?D8d-!5BFM(Hac23XXUgtiSdKo3c@cHJzd$vNKEg+(!V?!TBHvF3Z2( z0q-7M3gG+;4|@*G9U#_XCyWkl_c0`$Kscj+iv~N+tq!9ow5X-pD`5MRJd-Of^PU|~ zadj`C4R%tFQPJ+e4ol+0aMpT5RgIl+>UVY^@_B-hX=Mr8rgHAo3Fyo2rHObZFN8L} zJK{Nah{4s^^Gwx5roh^l5I_x%z?`3;*7_qW=P;Y-{?K7I8b|Q25y{%D;brg!p z!@DP{3Ab7(hpda(^Xzs`%P^T5Oa1esD}eJYa;?*CeM#%H^n=e0Vux1_T-LWYq)v3F z(6YktkGP}H)E_;Pzl6BvzM82Mj+$9U-N z)DgkHbOygmz1}ll$(}1UQWfMA>|xp7qb;usU^;z6=;^%&iqM zrZ~JFmqpc;!@R>YS-|vnKhE|{7;sE^!dcmRYpa?s3!SS_HsQ41Suk`r4QyltHyZZ*U7VvC32WvDHhz`kBi9db6LZtj^>lc!-GKjyGc*{Swq^BW_ytv|s}_-N z)#iz%sX{``^-axMy&5s@6ZM|djW@>OIX4P_)HX?Pu-m%rM)dj(@gGwVh2Q=zM?|Of zrZe@wX9y09=7P`ZV-rLfT_Bqk8**YQ<6Ug-BWP3WU`C6Wrtc7v|4$J&gb`=>&*U$$k%ITf=s7^FB zkjc;I->E zC)E5sUWkjj=&?4#KVv_X>0Tgnm|uAwPTv8;-(-3}N^`~2`5=+;ub@AxtlcPz(vE5s zN5Ot8v`z%*@(ttJvz$~aDjwsGkqRB(MoKA6?OvtI)+%~2Z92QZEm%x_RnwVDApRza ziFkXJRgK`L1@vyq%QW_S++r z4-0+3)vP&KsE0-SpV`K8rN4Uh<;NVlwz@eiUr$Oujsyb%08r(A3kxVYv((gcHoF=p;J~5q{+d=Pb652X0 z(jAAYR2WijWXZ&DT-+*fonbyY=wHI#C;v0EeegSTDf8$p^Yvk)zoF1XDJ7dZL6&DB z_)*ByY^KEg2G+2g&86;d^by-=Uw;Nu6Y_cbX6bC(EC$k`$56FFv>@3Ttzr~a2>bPG zRwVRofz0t>Y)h7>_ZFcJMYfAe0*gj!?H?#`X88PO8Oi6^;7I0Dh!V`lI~@(mzdrwc zOmZ0Ci02VA>8x|{DIJY`E(FQOhbn0OFuq|~JNn;6B0K*ciR?*bMvvEIrH!d@(z$$7 z=2t}hK=;+etT&I>-T&6xSp~(xZCMz1CrIPaSaA2o-2w>&Y23Zhpur(n(4dVIG!PO9 z-jD=ug8sM%NN8L;SR=z%8pRPp8he*4lu42UZi1Z58L9+L6En zquH0N2@N+|IbX&i({V_7lS9mZ%HHu^G$5~Tcj&y!nCHJnhJQG&t#j`D~^%CoY%|0PRx+xS5@s40e^TY^Z-hyf+LEmT9 z98Q-uh%O{V>%E=;qd~RQEJn5r-JjC~9SaFsPdi+|IVRwo7mz)6C8=zDnkR0ObeJjr z^BO+N&uh1OjBBeUQ?h=M_jei^rX(e8P$oAW(sBJQ+9!T#sAwQ^wK5#LzxEDt(EaLs z0iPIz5e?X}oHNk_^}PF~t3FBZr?GQO%fzU!P{a~j{JHVSc1kZmb0+wDdL8^Mjma+$ zY_TZCGiqtV$%W_EeY<0Pe_SKH;$6!F0M~gP1#Gdq;Ndwxs{AYHklUkKk6JvknUH*! zi>YkKoVUNuWs@O)F|&#xPe@A}p-~N0#pMUy;o$a&=a_C-+$+(GpMw1)2rivhohi&h zvQl_HK;Qp1HDfF_=$f9Nf6IfeEOK`LP+VG>*2VaaPMs5SL8`y3WgQVOUO&fXZrFmW3m$WeHgQ-;_NwaLX~`LsZNh>< zu9K~Zl;$SN02u+`G1SU`dhN%qtK^*EHBxM?A^_2s{4qV}br^@a%6Sbj)s4YuOCM&9 z=M^2Pj6ntXS})%_zZnbiwT;l^XJY8uLLyg4c3I<>0gTOty8)n0*{*FsV9I`HC% zq3XG(T-P6pre|DRLvO*KLl>J}N;y9sE~czvQ#BF}Ovb(OxxMnaZE~b2NPLm^XO8c^ zDbfYx$o#k%Gycnq^V0;gpChS)LXsWP&or)nejWe}kMu-GBlCCaas7)Fh8AJgK76i( z5=U3$(_J^pnSwUUIrf3s_nT*XfV|h`Pfqp{Tos(z&h1FTL%I^P@EMJ3M7<~loPL+H zC;%Ws)iMWQ;}CPhA+bwNo6FBzQsK8`P70f8%YmnS3zw&0({QDz&Nb6|h1}%AQ3u_w zb==K8blnKZ;#lbIl761gt%-w!$B>S&+oUf6uL;8|Zqb|xM&s8h>xD_8L*qY33xsQU zskTmXtv82~yf8dz!g31Y4t~T9TitS}{C?XLz#v{Nv_H0}`81nM#+y|i@rwm9BZnl- zF$nRc=A6*`P@2^?+@9aub?eqI_mx^Bjd|!4sB>zh8mIeg3HNj{Ke;_WAJAd&OV_~xeY-Si zallvz8z<5XFkD~7OztI;8qGlD69gjTz}^1E4a?09E4GSy(1Qo-De%t!#!?zDSQ?+1G$jT;jT>dV zkr3uBlWLC66UW{DGLA#w24717tVnG;|AV-U1|xHqoNvSkO`6g9ufsO=hItiY!sof& zk*O`P4FFlRc?-S$!JZs93jra)aqoo9e?=+>v@vz$<{*ELM^{pI@f!IE_Q7Hn4zE!{ zSP=ITN-MIADPC?3hmI@`^=c~t^us-WieC3!0v(HPO)lW+I1FJBq6- zx%?67e5g9%W<`56GSul(OPfhwII{Xrx)@Jyp@kCbbRs^xFQ7Q+O?WSvxRpY!n=w9$!8ecIG@xIcOcv3?)+by^W!e;TG z+zq#`eqVLyz<#utDt^AEib`pls{Qdb!$RH#>p-tm)-5AO#3S6y_94yK(r-w#%dN1> z__+hr7ayO83)}C%@hW&D7qAp_JnI_jd=!cq!p^&d>q;f?($TskJ<$>q`}(Iu&nhcfo(N(P z>z1*YZ`~1noE0Rw?-X|0oS7**Z<8&J$C>daWz-JMQBqS|Lcoc<=g(-(!L?31ZkbgW z+1|i<3`xMpQroWGE94O3B$z8O53~E*d%|I($n>UxN^Vig>)u$FW~}U4rJ`O#038-q zercv?Mn)x?xF-#_8BIomiwy}f=Di5(Fj4))aJ~05D{$XVBK9d>m0Ks=r;autCa8Z0 z%d{}T%$j|R!1HZKNC#T^-%bWfn^TF=qEL(hgY@oTl9%t{kunT=P%K5XlOquf%wD7P z7tR|Ei>~RjQ?zn0eul4t)#|EYz#sxe_*h))m6`_@ErOa`FPTPqsi3Nrv3UenWI*3bIebbK@!rJ7@ig z!olb*CxNKocSMi#>ALt=7XH&$mkQBg~w9r*=o@BD7A-{cxfPM=@mwU`5_Sh>kQPE69ZpFIqx+-H1OB=Mm2X;V-uqG7wF_89A31PS`FNO zqaje23%_c4H;hYDf{y)cQ#u|jRa$l>MLV104!O|PYNw42_-U&M%g)>d5bC!MNFwp} zB_t(?B;)A>j1isuWms9)hX`D>`;gR@Vp~&Je~^IaXyGm@@fUh0t$w#~m@JlK^gE13 z<_2rtCK9TOZXj~`JDO0$3|0)p6h{ipJKZgq&Yey_SDZZT0qACH?ZfjA4!9Oa(ve7E z=#IU?3lWm-r1H8hN6N#tgJXBU_Bt5YSKC)O4YvGF2A#kYZNF`|A9rcKx&%vkKBJ`A zM3Vzbh`Py^4g>*csg*0%`z+E0&wDqch>Vvr702< z{xcNF(o6Qke;M~ONegL!sc_&}rAlmc;;XG2V$vCsC3m8!gmt{#P_=$TpSpIgU{X~3? zxyE*QODE5GE@cxF@;MQTOHT}i8$(UbvdV~ekJbwD;p12stD_Ktgvb-M>Rs^XS9{+6 zHO|qkI}`%hL8VTgaQT{K&GptI|4hf1Sz1C&8=ojqGQ6=8;IJY?h~30!rAaJb zvnz^}P58x-A02F!$TMZlac=(b0ZmHH5W+HJ!UpJD=pARBH{LID_VaOzVqf1gwR73${(N0SJ#U; zHF@K7%~I*K8Z7&!H)Xe#0U`x4E{FplyA7PyaAr{R2G1PqNTM~F5gRf46gspDC-gst~*;L=U+!2UzIs53{tX0 zXj$>&8Kyl|qlgP2(Vqi9?c~KAi^Xj-QPNJ$`2AE;=25c$d?}&Nst@R%``N`K{j}Y& ze)(n0>eORE=GY34kuT!orRyTZNo@%u9)$uVKGP5t4)Y5nj(PpHk)+%_MDnJcRiF^m z2Z^YiT6fi0Hbo&JzJA8oK;!%T7B59Fb%b(_HuPfG+;oHu;nn8s*jcfg4-Gv+Hcc@Lw zur(!tqR&1q&eCde10J%IqXV-Ow)=HMuppU53% zXSaL%7VE@{k8$`LqR_Ef?gPl5LuwJFgHmJal7;HN?Qm#JiGhQ60ttX1l?ij7<0Bi zvKsHOxTl8;j5>0UbjIJP-$)<(ZUhcRory${=xni(%V!Ac6Y$TC8`hIc2g@xheC@pe z2V5m=ze*nay`s#9qw>df@B@%>XtY*>p(^mq`+Xl7MxL`JJdR9xlmy*b9|QtzB&p!B zZesx?Re&}=zA{C&1b^2!k98l!MX*jC53J$c^u!~B?;|8v$^2UWG|;JQkC z@2UuSSur?hENB1#04E_XtOx)A$^TqOL4yAr*-ZNbeomlHf)dJ*KbtqCarnuvzvjV3Bb(O&c=ks$;i>f#Ma5&&iNXom-i3{_e*Z4upV(Mm zADEto2Lb}(*zR*aVP)H-C_Ulo3G-;)MZdpaSH?Nc>;|h|m(C z@;^@(L6bDN-ts(Es&U^J6wTaIlufwL5q4Ezj++B0+H+v_9a`l}=ik;FtvuTF z*E-rB-FobIH|oKMXGs$s=1)3ejkWdxR!v2;kckAkRwdDel5Cba*{Z&1UQL9w+SRDws zGKNnkXPc87QBdL#FRG8W(j~sF=VXZ{R-8lukKjT?7)Em)f#ouDGMt9^w@n(U2M z9KKIxWEz|Ww(7-7s~d}VN^;BEu;p>M5-i{FJOsXR$PVF)mYKNg?zuC8|X9-;4WZ@CkR- zUhf#@I*ru8UE2C)1py=TU;>Z4eO3EVGs#Jg9wZ|@N=UpdoF`R0h?~X)U+$V}Sh3Q! zaUE#DyZe?1QZZPbVt!p)uU;2EU$YzDXnbAO0mKsWXqe$VqJ8%6IOAL$MQf8(^ceaj zH)EKS_?xKxwyCok9r?mRzUiOZUbn=^FkviW;bAP!o?2~b))AOyQ-J+?1A7uwmxf@` z>L8)H*15+~`=Mi`4Y(|?0Sz?}rJ4yq5kqAHd?GQ=z2Ym}Fc1-7U%*>|2~dM6M!1c( zZa5HoVg`>1=LJy^&iLun@uzqHw+#E61EMpD*uMHvEC>GXO*C(r(k2u-CzX3}@Lmxg z9l`4!EzLGIp|Zxr8s9WKPZPgJR)t|#_{!@&nlDtt2mANX zC_H*<4f&co`Bzu^Cy1GBhvp3P* zDH(tsUCj3?>WxHOzr4}E+l}Kv-5G_^cvE{8?e{i(oxGL)E>5`T=h3dUBc2NhHGev9 zV~%NdmON1A@p4gdd2|HEd~4sqy%arn6X6FAjlr%mZ1ej^WKtXxYvQ6&`gS?|_zU}h zU{OGb5)|zA6Y&niw_IdY)c(;_)+_hxu6L-01gJ7Bo=(cNdm>lF8eTp$;|y|5;Jt>x*rfjLKVyNca+$oXAp!+)#1EHh`Y&(qSt&+ zBE<@$MuK2Wx#s$aUuHP2{n7dDcxF4iC_*$e4!XEyXq4NMc#Jvs>&RyPiFP4oVFmZ!F0K>D3yqhhRP5gFV%1%amyK!WEA7e?RAI?=r?xXu zQPs;U?2?6s+um+;J^MtNyA$4y|0L&(gCH19_xp8W0N4c?9QXa@M$;Uc$$h<3o9(-+ zt@<7IN{$rW@7D{{uXY0r1ibB;nBE6d4JlkIKcCn?n=M)Y$@KJB%Rh%V&)D{XztNBG zo;z{YhXsW~pA^y3BvWqR#t?EmpIUxXXkG|TGxHAC|7!lY&A>(bX{Kf#@@CIWbv`>D zzq!En+PUARe~TSr^2dnr8akjsmSDVJG9KJIfFQ(?%c2oiNWuPV2{UDUr6yZxEdoZi z(V{yL;-CsIuk;>_BF&hKTAx(_l3Wk{ILwvi@cg~wpp2N9D&refFnP=;l!&;peO&r6`$p-{UU&6e$?GgV^IqriAvQ*oT&m-JRHx0c*Lm5&iEn0LWI?)uLo@{k0?!RlRI$n zJ*X_)2iZvfwqR!t1hPbM)l0L<=qk3^f4|aH&2kPgJ;LB`Y^Jh>fJmL4Yd@vy${u|l zb~mIBY7W5h82UR2sHo;hQJ6t})CS0CPt;6Xg2%A`O)gCtwwKT%s|e!Tg(Av>v(Jd) ze#x1lZmMD;VtVPypYVd1Q_~8~6E$Ypbbl~Poi(k>n!NL({x`CFXtBQ?&6guHM)|K@ zUzuPAVm9#MevH%ANuhBlTu6GX@t<^Dds{P!3(XNj>?_1<>7-kGRS_GD$o76@=P6&J z*{E9naw%Oa8IMl*if@^0wGc*)46X6^chMbha9Z($6CdV#WP9TE-rodldVz?&YiA)F zF|d5PfSPNSFsz}ZqAVA3 z6jTMeG8@^)#|OVI^5$XS#^3t4`r&1Lx9SO1MJ**Y`^~~IW0pWVjZ7W6KJL8iP$$@x zrh`#lZ1kCwp>KkVazMN_rw3e|C>0f9e6LoV56NYTSBpHmp=V9L6dZ*w-wyNJykW`i z*;feGzzF)#+<$%2=V_Q?&LJVSS+PgeR;UYraN=51kI&x|Xi33Y{h>#`pH zti7~-5F{>i)Q=`;#d&`wcG>al;#$vB#HQC{+S)C+IhSBVYomBBv;!He)v(f21Dk*m zTA@~a&qEN@)(rc)@aM*LfC$jcWOIXdpRAdkW=*2wz$Bx&L51dVH<8w8^dxhW#3l0# z$tzOr84h`$E+c~rWI4=r1^JL_h?_9JRG!pw+5Lc=X1v z8TvPhE>c+L&6qA3CWuE5to%TutsRAOI&s!yp=fp0XG!M~h7v_0o=H>jCcuiOBQ;&`uW*#Jk=As(4uLy!28xyX*1A{mT z$uy;dKdra;+n)TNY7ckUq*T4rj*+vaY0{VJyuk%`Ht^`%p}cUpf1xyHTZWp!=r*Xc zbt;cwy8Wp;XyOOgUXegSSsAdtv@nts1(m-fG60h?Vlyz+`&tebuL1oDq-FQ~%~eAx z-EMDa?AIzAZs6Rdr2t4@6^wt5;l#qs8O?*fAh)hFW>tkcSaNg3V1N!;!g8798v=z< zz1uO=-!C6T!{-X8ZRoZX3J^9Ais?yqq7<%8SKkn< zmXKP##Q7B>pfZ?QxfD{+5}N%wzhjAF)~dTn-LlgQhit}_!8D`y{Q6p8eyl?7rT8n} zm6R^u>Z!C_ryU1&O-E{YZ*8ErQo9o*ZC1op^nml_;kmzB+R$H=cX&J@WF6A4cr@I~ z{NrHMc=MnpUAP8j$FSFmEORZ#^phM!1$X}SkS;0u+}}i4o?QK7ETBTIWd3iACu|L9 z*}Avy`rNM+ljb}yd`<%XnHW&bN?+k2^ah3riOf7JS9 zsPM%?_nyVuN4Fi^zVtKn9?gAWd7_E_r47Le$UOUGs1ij!dW0T~�{PnX$FjeS%=s z1OJdp^M5*Xlzy`SfzJ)+9~yIN%SuF>Lxq>MPo6RS9PkO3^rW3(m;beoC5-U|scL{gCI-duo@(TB zK$H$MFPCNdYo70yf)Z!`)GCL1s}q8&t#+VDr=1XzI+nn^#AFsbgjQU(u<#I+wrBj( z%5iI!*;renK0EJ@RoJr6xll)PJ>HD&&=xV6Zcp|j`Knb|{{*e7BPpv{bUvu+9G+*|&J^D$zKZXqI2fyN zx~-cQ)!7@}tMRhC*f@In^zzsej>u)J%YWya9!6l8k3V6Cbn^v$ z;*_tPoZ>9T2Vv;B9|gZpEX(XG_-YG^@J}514e{m#dpO!sh_zNr@{z$*BwK2-zcpAF z$+fYlk~&EfCLCEMY3Tgqp0cAeU3Ph;>bqS*%~Q3cTv2_Z+ChaOoT0}KBS(5W^w2_m zX*l|)v4|om8AbN4)%OwepsG~#`mg_b_v=E!su^kYL7UM>vz}0@V`HIcNs&*2Bu>jK zgGJl)Qc-4ObSK&pGzm*8`~$gafX?xjc%CUJz^e*`n{?DRujQqGU63Y93zz;Lml)1Zu$mokxBDNf(U<=V}SiVCGnCji0q?lbJ) zH{K9WA+*^!vZ+2h<;xmLtR%*8xC;>H8N1S^Nf2YfI|%!ymW<$)GW2S^MBipC)glG) zRFx}~TO4Bj)g)qLQk|~$&X}9vnp3)*hL^flqFp48oLuG6Ymjgd>u}YbItYA7BA$9~ zKMuR9!u%%;)0~Me`&GrWOAjY)c+llrg>fJalM?u2)toL64U-$sk+F7bwwWf5gec8Z z#~QH^?00LK>)Rx!C=S9Z?(R!x<#L*n1GSWEy7r8on1l82kI|3blT#v|FCENNlg)HZ z?0}%>0F@qrgMc{s51IBT5yaqcSO;L?{|BQ91{T-aL4${;7}e2CBoF^?TKhyF)|ppNfnvzXCZ*RLih7(4E9^?<>-$l_^=XZ<%NX5eJ#!U{W0;u z5_U5~=H>JC9qOe1^a}am{ZcD|Xu-*YqLcYBT*yVpR7e2nm(xq^&zpC_A~ydo8AYA` zR?NEnZN+#Y^%`&Zk4}QS{)<#32B-jlfHVR02RM@XZ{Wz&0Wd|ib}mJFIh6yI(Ay*i zW`}*^>`Jcqs^i_gZ@XL_3sy#Sxvm*)r3J<7`hx}NAj%(0;Y>Q5lOT0kv5#wd5m-Nw z9C#_`IRa1yw*{f-Ak@tlXV*LntfLCj-QL!YkBfD5V(P0W1}8)zU`7qg<}M*Fd^~pu z6YQPAJGw6+AacMxx#&Q9@0q5}T&Hnjc#=8_T_q4!Pi+2a)S&Thxu0Kq{K_DJtet`} z-Hi$V;6;TS-4dDF-PxO2-8K8RvJ@S5o%4CihtpU-?Z{Wm1;e;E0>YHJ3QzLTU z1ES@z4=n`-%-eelIx*+{5skAuHZ+97MCy(0yLq}Ecv{7Sg+p!Ch8n;on(^AzBV9Xp zlJLrtd(zB5sFmpCn3a=h-Oh5Vz0Tm2?s~CNv9!s$f9~W^f-c?J`DE?gW>2E&w*JLv z4ugM?<&o~uA``1KVVi6D_OLUooat_0n1bU{D&jqk*i5rQ9b1y!k(zV42#e{HEHRVz z?M}kQd8T3JsjO=F??C3_@Xyp=5CX`7EW#O~7YtG_AKaf8F;jqIp|nKwI)b&$y00Wc zBa6!hms%0BS>aZs&5+&Ca(g$jN^p3&e-E|y4XKh(^wD9i{?q@tKkA?*D>5|4#BsKq zTot8>N5Ss#z%9Mral%)@dF7{u-T&yhUr92GnB&kNa5^rLEh|2}T`+8rkZ_@9h9Am@ zmu`Rk#B(dIDc~M--~-P*V_cgd;q~0tbB|iJ>H_FYjSTX^*;>pubkU(*Qxg4-tszH&u-R(2p1=YTe(# zEEXiFKvRq=sYV?|nA%Q!>_fX|wY_!(G;%%gM+m$vl@5VU#Mk9Sp+lR%-jwW#`>#=+ zTEnOo(Te_gGG*I~1(kD-S2w@h(4@*Z!v$Y1c$i|zZpmzcbciCy8EfuNh>x2KWI1B8 zgP{h{M&HN@n+FJ?YpigB65rnOC51d1j6mHIN;WSBL|#4tD31@=z>Z3u8Vsnw3&yw? zG6m6^RgN83evBo~cI`RD#G+T5odO(-WSYP0(NEvu)CRWf3JPYSQNoKUsT)t51%G#` zv#{aP>AUp@g1^Gq3bxU;l^^=?`QjM{zIOCKuvJhr#ScS$9?J#7V|e(#FOF${%@-o< z@mdBoOhXTCiHG{V(}VKZMBw%NU>J@)YMOJ_G4)V&;uZ-)-(6r6#eTd&{h`FlPyRH* z$#{e^-KGkf^RW_wAPMyJj(*~E>$_nUGQe6u_AMv7*&y556&wplpPL6teC1Z1W(SsO z*LT-Ddi=cx(|ew$@M}Dl+e0Sa-&38kH}vfD`T0irK(J&dQRR^`T}p7o}y( z!!(fWbx+ZEu@H8vnt5^kwZXD9V$*@m2a3a%imyf^I@S{nO%fOPV|&kQ=h{Tt^jP}2 z-AvJK8QQs^L{y}@nk)$0XG+L|Lz4({pf~;R$U|2!7^KrVoW&DJ)s^w5T&pNzupfg1 zSt0?X;P1~?;Idcbp6ZG*9*P=b0ent`+iz!VFadX?kJh^YN}oBOF9l}rFN=`LitEoQI26!bnTH+d{MkMZ0?_GiXQm%N>Al(E4E|{-+++TmXeh=2pFKds)vt~x zC>Q++m|yMMrJDCZetwapMwa3~1}Y&pAE6ZA03Uc1RB8;i=q-yJF!;7lvSgCmrRLFJ8I+F3LxjkIfat>xoN84sZi>J z_6v^vALF`d;7$s&S_VamOqYcEbp4+fo|N}%C*F@m-8=*UGP~n$)f55(5D0E(BoVF#P9AckQ);A*p}K|h zTTxe%h-c#;M}-l^lVVwKjQm7MiMh1HfhR_lg`g3v&80Vi5y?jA4b9!c;*{&}X=W+V z0?uyce>2=n=DkyttTg2Vg{z$is8nf30T^sOo!mt0L(@j-Ik;OsAiqwoC1FB@#j(Ks z9J56elTq5d%qh-@y0{zM%ASuBY%I@AU!W7tzlRj|-F9?fDtc2ASuVhR^gNwsER3%y$atVcS@(HN%f zp+A^&rXb1bZoK{YH-54kAm!S@6odwdg(~JNV2c|qnfdVbFhlqXTQOQvVkQ&C?_Vb? za>2v?>?ioVbHa}5l6>Mr6)QtxIq@NcUqeu3pnS@~iIHgLw0FOwCE}Un$A|I=UiDbI zZ(h3r8^jAa)L0^%UxxsQ#JDI{-gdBU;TZ8k{EL5Ujox7aU8Mq5K;~JJ$CPxY-S#X1}d0nH8OOzySFl2^S7Ajn+3WJ#?w|978a%o;b zIkFoD+fH}m{#)xz85Rdq*2ol~!nv@eBI7eWcV!?^3XoSS+C`_+;x* zVM!x!VzJoTOza>e;pGSm>V?9c;t28R}jfbV}4%PG7n4p2hG&jbH!nhwR^z%TwDV1AWH z!G?S^^Il$hW-r5@G&VrQ30Gpd^Pga)FdaGL<~Cv|H`1@G%bN zR;365X}uEeY%?!r%4u7uK9HAJ@~1*C>(}H zW=Z-3ldY~H!#}vbU^j2gIW;p;0Y!d__eMmt$25(MW#~ae$;zXWbBlDnDJT2writoj zlidlA23#Gib$x z@ALxcytfgS)#*IKZkBX}zP2RyjC7TNOpDOVi^-)0T|i*>?2*uNENZw9B?@SR>}AN-P|w^|xEH8hZO}t85CBpKR1tW2R715?u+> z(48wwSb}q$rcy-?6kJ>!5=50_)1*xK$#Ib%@H#z^B+bJWB(t@&h+#7%kc44BHS(y< z`wrt;eIT8}8{e(AGnKCI$?N~;`|@gi8+Kl!ex3~Cm3;;4r)@BrZ<8j(@|G%0!z(i;Ot_k{9~9)*hgEd=!3;#B8$>F!*E2{4nP#N&|+U2i7d zzH1eQ25Ovx9}d*{Ev6@Mkby1k1TE0m?^O3v)F4j^G+h#;pXLgIF_S&4<5{SfRj>Y` zh5u5~HS4pC9PL#K%w3`dxzi5UNmnvJl23THNSiW;N5=eZfx!Aj53s>r7M${=xz!!q zlLv}t)-)#ublm-Fv|uwuunlnBX8pGxCLV9It3~_kYJ9SijcMQZs)>Ye=&WetMn(zk zNd`9@-k^H!ao?j&xfsHi%O0{fxV`ruuol>+mh|X6-T3a_&@;WalJzeB5Ejg@r7NT!$Zq(uZy zjm@hpcXKpn6;=K;=E+C1PXSa;08zK-yVjUc+JB@ITGGor0mlb>u3VK|vjmP;w+oH0 z#ooPLD(+_he0TfZ3{i0-@{aG8|H-!nFM#-k^40tFA5q1Z=ywlb98`O|6&}X#6$-oN zBTSLIn|eflKb=0<#|3d@Mb(s<)o%@x$5i;AUAxBFn1J-@GQ8fUj|~rEaPLwtoj(@B zzjIZZ+wHJC!xG4R4)hRDRS(%&ST6oJ5r*TYtq|=G_%cv z!1)Od^(0nP;3cg4pYDs*OF;*EVzJ=d@ApQZTWR)N3HrrEP?>f*`y)P_ec1nS@PUY`D0G=3akd%_Mt)lKj8zc0D0YtGh|+95DFII z&C3KT#YQGcTQEl%DMhAW?%p|9!Rv%i(I#SWjfIV z7ED_TZfJEx21Gn#;h&{I+1~;xA4E8;!0~qbr5&8)P0b9Se_;E6H)8TKd7#- ziEfoPpl{ro15~R6LW~rYEtufXix{5@4zbnmCCr$s{voJY;Vx=ox20S}gS9S9badMg zZhLLu!+X+HX@e+~t~mc_PVOL*D;kU(P6Vj&$aqGog?fwRG^_|taeS|t05I1j*VVcI zzfiyoCuxSR|7JGw#;GYdM2TVX>YhrLcY6Qdx;<2*5Rbl&E4%9mGJP?@aB?Kv7H&a2 zv3MdL4F+kCGhd$=J9iPn8LC@g$TT$G?}C?;85nm{y*CMBba<;+Lu5I>JCOYq-RyX1u|?0u%FPI)UyvZ?(R~3o#IQG!0xxr1 z^ir0}=GyqQl7uX8lzU6EH;-g^A|k)Nhuxjs526>i!24#Lp|E{*f^Fu4740A(uu+il z%6I<}|8~76ScJ=pm=ML){`l0#bprG9#SSJ_GYPiC5AGYdV5Ow~r_s#itBDg69zO>e zw-E?-epTdzkI{9Ks_?q4_+UK?B32na_*{A3clsq7jlYOs&_FglX$!q!hB49sWbn)T z53BDM50VQmF#!;usf^13;SXygXuf|;>!B3uwm;KONWom`vx41)b5(_9j23q9VEVL+ z!=N{+6sM=)Z!rVeQBU`8bBTvCx?8^}tNx4ev)tSQF@cnNud z$WU^~*!k?0%$loN1d}D9&gd6bvrYt|Q14(~QWSy1jxj9e26VTMtdR)@0{J|x{`)wH z{NoF5sNjVnjYi4oeXiemg@hJy(6{ED(t2A1m*u~gNB`G$QES-*@(GujeyFG&PYSZk@$dLm}-6?_ZZP2ok3^Y({?kECS@Egf^PSEpU!{vu?y` z4FZumIoW)`&}B_bzP?EdO?5W!431-@O2K#VO(%Jj@!bb$kN?C7PE+>hk%vkY1QK~l zGEe?JvG$aG@V@$GLido>g{g*@)%a9iOiau>=7S(Lf08f59i@~uh?_QnCOf$CxC5J)a~HH@?04U_4uPL&=t}?WYpn^M1guL)2#*0 zO{L~2bp3Rcui^xtso87XAe&{T};6H2ZsAWr?G+w(|^9zK@U7zPv{%$Hy>Cy zBs3~!8+ID0S{N4p8@0EFGN#|tDY8V?X#PYRHlmFN{8kTsaH#Ebz4zp=sEHMRyW2n_#B!T}h#?u!Fxm z_DXM>@L^(Fr5nKru!5ob|VSzyEn!k$xz!ZVZIJ@JyyWpZLIL z0VdFc2=zq1cRaKe;rtE38jOwDgGhKaF#X8x8&BU#slCu}lNfvNxtsU=H$*lI5cKo% z3EElq%yt@HzX?cy4N{w}4o*y$6J~OBw?>K{*QDkmx+~mzz8IBT+vNu|i!}`2F|CAu zcEXyTP8IO@`p|A)O_I2kGMFYnpZe*F8)&T;LGU8ko=OSa_DE&5o(%{$%Y=`~YM^8v zN&N0QJPtghun^jx0ZD|q1P4et)hVwy>H0IGUub#2w~y6ZXNT5mQkg`aRy~9RDGl)b z1gVJ8(HVFnsXIvB1x$N5J}3qCOU^eW6wR{8U_m$CsU3h3PAOHmk`8~PiZo}nBSxXd z_JZnz5M`9NaXqIjx}hpk5HCaDk0O(q7N%33YJNa4XiTVFvR-I|i3XqvqyiTr%0Oai zgd1Nn4=24O+gBI(8Q-T0UeDR=Rwp{xT>_Gw>cc9th^nY@6&kKBxjo0ICS=I?gut|5 z%xSU}D#parJy_rpbxdIMoTJK1CwU&& zM|BGZni+i6S>Rl*Wd)A~tPpipEB~QA**hj9HrjEhitz@nbwGt8RQqo%a2DOOP1GCB zm`>s@!Gow#&Ur6Fke328FTES7#}H4RqlNxvQZsnZ-CFIsK(OwCeMzGQx?DO;e^>y= z;YJDwPdc_|BdK&qOhL(h5XI5^frp>xb8TSu>ntwBs~FjaAgV9yi5QU+5)#6>-C&>+ z$<`6hf%E=GnBQMvq_-MiJYB4ZlkiOqJaz6Nd+*vMe-kGr_5?lu4C(3bURD)PQAp&N z`pIrys-87kgQ=<)p(Q2Zs{Gx>U|5L7{Nk88v%$~ ziGaKzwy#gREALgV^JJZ_h;W#0#9Q{mNr__J zEGE1FLMBfSGS7;wHG@;1@sLd61kBE3DOQRr@s;Vy4C%xph)uS3?8M~XG@_Ofdv3lqW&TG+; zH_5$-QyY!-;aC|nF}{tX$;XF}gTsZ3FN?08T_@MFGcmF5Ov)S{pYi7X$wo{jH$!BJ z7wnHb5@qxsi17X6{VL=?ps!Fk;4RN!r~nB_p2y8h?nvr%5d<6VKUnha6ya6K_l!J| z@n21x>*Un)5{bldBws^TEkxZ&$o%i$=y)WEd$)3}f{0&!;X>~JEldADDAxb4j7nL- z_IkQ_<=XiDqsZ4>tWY_(tE8F%Km$76uD`M}{}bx@VFgSM@P0cj^%LU?W*f@o@v8HB zwyoEJ{N~KqINFiO2KiqJ`2Xv7=u-NRm)Ex;VFp-1d4JLvP`AXCfnsp!F@G~4kEqch zh6Zo2yL}+znc7`h)gIU0ro}e@Fry;SM|16GNi22d7&~gGhgti{v z(+`XeKP-P9wBzt5@dVywJ_*C93wS|YCc1dxIFH$Br>@> zV_{-DlJV2)Qrtr_lLzMtjzp;^k(-0<5S+VIo@Nr!JNfl<%E7-2dTJ#pE*!q}W^8ge zJN$SOr*`PY(L*{o%Gy%z6(BF? z9aA4pg5*9dvDU2b;8S3@bmQJQyb&_q+UkF%#IifgiJn9AJUDenlu%w$?O2{N+0(38 ztBx+>uxFJ@3^L^8=F@Lqy?z9{B5K*!vKx~{rLm6t#ct}#`+c)~SH-PDu}62Yc*>ni z$LV0$?G9h$%ML0FmFJec$uNvZV87@xJ#0*g)~!BQ&(2FWyKK?lRa%N_hUl++62Dts z)x2H-kyUB)W&k&A@%g_S8@(ngnLy5qR%LFm`cpMKj_;R~0+NTj64!O6;rKc>kII$K zO^?t9NeF&>{Sb1kShUvVMETxNFzMb2R3l9WCVF0HOO~4LX{HmWrRgjm?Gv#18kZ^N zYX)FSPUWLG&Dlbk-NTB!u}zC*Wi9rm@r2ydyKA)uR)=U`ahx^q}sNz3rsZhE{aKGpRo#q^eHH8GP)cUY%yGYzm@ zohk4|x8`M|T`8c?d5=VE#=GeJJZ;S@$L?H^(27Z_$<&j>92vwx$}gA+<4R9#=O4F) zzge2K`|Er3k->O3fWTt0k37=e+E7^Zdn(@M6U*aapP+)8%iiQDuIUvXqv=VXKW?eZ z%CJUPJ9P4dFLOasD`iJ_lA0jbs-sOo$&fh?6NXjSag+4v_SvvTwFS5jZUq2aQ zKtKTb)ipFsMEDjXqDyA%&}O$iy2w%&eb_2#;qz(LNC#izYphYc^K-mueG8c#oixS`g;QHAEWwz$OA&l}!O=w+~O? z?&?D0CYT&Ype@!M!HunWLI%gM*xUodHca$qMHH*{tVo&ftTM3Aw5>@N{(gElWL>_5(8oe^aEl-7ENvW6Q^_S$Xtzo4}+*e&t)&jN;D zK60?k`HsPLH?hIGJZp!WQKW7y)B)6vTEf2JCt{Xmir2fY)|Rn%s5M_Vjo#rr=kNrv zfcU__LP+j=I$$Y0sI{fA96+~mK-gkoRh?qaCi1`42Xg*4&fwsI0E*HKE>=bnnT>%t zJxzRM7O`AfY{B72u>d>KaP!`-tUY>pup$R(Wv7P#uU7uWGX}V@29=vV#%T6- zJ{*g$NBJ2#C#qJFDe#nnE>Fa;tFfQrj@gRg7YFvt-1g(vs4h)mje06wTn5-z+&oJ8 z!J;{r=XRd{?+8FNxR ziF5c+H7;jG(cZxCgGtcLN3Sty-tPqP+ww)0L78=9)*kg8Wm?Q&Vb6IV$H(-#uZY|K z#RDn^CT`=V-J}LE3)ARxA&~q&RW}-E$#lAS9P{@6pjvK9fE-JVG2I$7!DO^>vhyV8 zm%yF`%DVpZZHS5d${zAM{*K6N#xr76q@f5VxRLCHH^!`+HNuIG{Cn+oDDEd=-R*WTwiaJxxO}J?<6|ExWxOjJ$Qv zXD8pWdG+H<_`IsU;_JzbkE-#ll&lnTeS9@WeMX7gofnK-9#`gjZs}%lj*c}#aVGdO zt;)-pf?6AC@>-e^be2e7ZWWAxM$Q@1n(7NF>p)7YR;P-PM%(vSbg7Lj`Xx~uIXsj0 z+x?_X*4tVS@YxzDQ&0vt$|EqE;rp%Uj(u3^t|l8km+x94h-JDybW|)KY}%OL4J7vn zTjnj)eePT`?{V)xMknmeK|vOCKkUU?VrIRAl&mbvV6^&1*D8FOp7`_99C5;AG5JH7 zGM%l!=veZfEP`m^F7x%VWbrryvP->4)YHBZuUD3Y454H3IbyO)cV*hzz6tRD`gbTI zz*_u+X91K|>sNans`kc@cQR6XPyqe;=MV^_>`|a7B1g_o%;yik>}4$bY`hMopdl0|4)$(cIgt8UMDv|w1;H2?%MdGE$2H}!SO)*q5KHQ z3LC>6<8f3g4@Vdah*v^bkru`9^@*fag1H$(@ZF6+ADVuLBh;w%ey7OSzz%oAVEPsN z2SEvMtK_RWmKJzeq6&AZh_by_4ecftc)fu{r`?P*e`QJe-CnpK zcTc}+1>u>}5GGp`q$7_a&1)GrG7Ja5)(b_^c{_1^tkC7f$6Pm6Ek?SjyMPbJY0E#0 za8BRd?lgjz9_`h7E!0xu@7BR0_IUTZY}Fmn7jFeIGzX^sDZ^p161F(6Y3xv*;{4P5 zjdJwg6%U9qiO^i53ym@?MO;VspS|;^W%g!sOj)y?$rr@V5mtc{YM5wE9t@pGW4PdK zdlU>?q>>G1ArwBieCECR5e{`PT9VHq?>{OtEDZ!kUyS>Y*UC2lN|V@VSdJCn+cm#q zuFmQJ)ht~eCptvOqaBjr3B5W>iPQ5$N8Ygf_Bp{yiSM*EYj6UAqNU%JoaPOy&d5`S&|I;h)MS_8v{%)SApQRR zlb(zld^$$d=xAU#ovDn{`4o4`=|xJQhU}T_* zjwoPcA7##F6Su3=9<%4g9xyVq6_+HXN#MB-kzV)wnzu8MR`6gMVCN>XtMK5W-QkEG zH|-rF3C%LDTKO_r9(JG;RY%#u%;`*?Bh>(jQkeQAxHX-n;CSXreX0b!<~PHF#d1T8 z2PGGj3~FU(x4Mgj$DMpnC)5yJnFaUD=lL`a0#Gb0MkL@E&{sXPB|;O0K!GPuR1k<9tWMWN7>L zuXA$>VI6&Y^+MyOEw?tXD*+t**Q5tbfQ)GR1DZUGFr0*MxQt)bfDMs;S38bV>##s7 zGi15qQ-*9Ntmt3Bd`gClJ%6MEQU7Zih9n{s1EZuHZVcUM+~~_~p1%GJ?@PYMocGKe z<1R0rSIFM}j_dB-657dGQSgU3o9eYM=n>2E5xI7cEr5h-@#K?X`+61Vdig1cGp_@B z8Zrn7kZ5l??5Rx;1pS^!e)yVs-AVuuIhuw}_~ikurhzH|l%W*~T3TU8B<_H}VoQAZ zH7I|=h&s#lnqO9mq%|TtL|ZBUaIVh0fzj_jc-~4_UU$j+C0X0D6VT?#Y2#`v9VP9)md~$m68C}%;|xX~TCY(rRl2o~VyrcHh_;w} zFnX(he1mi8P7aPvBr1@H_-L63J!+n^Q$jH>NnSpwW2*A)@=N|KMX>pwbpf(5hP&|# zY*+Y$IyD&QLPS8P&IqQmWD~7`qrRaVN)0J9Izr8{Oar5ILqo$ub2(DRc?4pYalvGm z9G<2LNTvfx1BZDMhPgn3xkLEc5;9(I%?ZQ*?29`jUC>KpG(`J#Ouqc`Q*)?f14n|B z(uUrSHqI{6&F4Vu0bf_0Xe2abyn56DwJ5pj$EhMr$LQ|AB6z_*b}X2fZy}9>E9F8n zt3s2Sck#w)5yjSj&%S4v6n=Yg9Gj3BwVjJk=iSuwIeDqyZVh_f$1yK7a4}V4_oOxg zFGVVX^4un}z7=apC0Yp&W#J8hjYAPa5pGOSdlD&C&+~>`oM{=3yBo?ntWs~zJd4}T zzi6N~oD$f4*3i10++hzxa>edRe(&5h;s2Uh=NP0+sie!x82pvDF78EK(L=1<)ZR)}Ur&Ag zS8U(cUOQ}A#huwY_PkqIux1k*D;{Tjx`Fq`3ibxOImZ5KZqG7EDw@H9Jihv# z-TwmYXZbWQdh+?)yJ!vd4Vzf?_B|B4bo$=1k`{pAZ@gFHLGL}5neSFnwWN$OX*%iG ze88^upoWckxOm~`hgZhnGzT#8>2hk8zsa2iiI@YYv-+4W#Gc*81O#@jPT7|@!moBQsXgfNembqOsSG4z;ok)z?PD^SmUOR;+O;47}te8vM~o zpa2K9E#>~J3dl^3!y2O#=jun^*fLh`4L3PITjx)vAS;D<-Gaq%;K>=o&982x~B zy7i|@W=_bbZ=#JD&4M-7iN}}Eh11_>M~FkDlS-g5srYieIBf=Y&tNVut86l58gSjC>|Nv-Zfo>&{xCl^vfx%!DEBt!v%_ zu77d;k^R-Wsf@F%$Id|zqqwaF381Bcccx!NuE&94HE?)x8F$y)N7n)b|Ego&jl=1e zU}7fpr+Dgo>h~Yr|J{lC3F8G2*u|PBOBkAN$F#ZdT`+_98oPdl>hTFQa>wcMRCKLGwdHK_elI9OK%z_4}E?(ukV>G6q9_si59z>%07*qoM6N<$f;*c~+W-In diff --git a/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png b/localization/autoware_ekf_localizer/media/ekf_diagnostics_callback_twist.png deleted file mode 100644 index 4608a90e5522005fc9eb6ff7b3629b64fe2024d9..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 17945 zcmdSBbCBoIyYBmK_q1(K+qP}nn6_=(#HL@6o4EZy8LH-H* zDPuZ`s5>dynmD-{I2Z#=ZEUTLX&j9ljE!v^&1{{nL3((9PGT}wR(BF|Fg9>9x3wWq zHn%qZ*$DtJ(lat2wl&go9A$>lvmB)s5iqbG{S9EEKMV_@XE`oOaLOOe1^@^E62bz? zZkZRG&Q2(5*x)y&OKewokiQ7U30hHIW$egNQd9O+OBKxg74zKkP$cc4KwI```+z|u zZ+8e02nSVGkGBD8Y81E>MHxyLJH6cnbWd z68DdnTi*_x00Kx`T$N!yEH;}D+Y})L(A}znmlkLO$bg$>Bp_u3P{JHx04k`!KQcsq zFad-+2~hc;t9u~4_Shmk>h!bpi!j zI*aOms%g((zOYM!qMXe97#N9;V?pGHj>|*}%s||2#mjl#87z!k>2_e65*_z78qH?X z+YUst<3Tq{8kv`Q+ps$1qQt@Stjk!i%{gb>5~4E1E7lhTfsm6at| zY{oUwdl7ph024ev3G~|=+A*N{97=*=XRbqC^KC0f)VHhX`CDE(?dzqK|9S^a4K%oVS#Vguqj`^<7TQ!p45#lgFEJyPgZ z9H@N`17b0a5qcJdvlZc2Y;75?{H*%EH2gUJvkhX*?SsDwvK=zyzm{+Idzu(v83mIpFoFnCqv++Wt}NwskNgHkgO6j7+oc! z%OpBXf3BvREmqZd@oejz5(J4Zf{s}J2HeXI^~A~EB{#iPT8p66FAA7m`u7$G-kvvf zD%yKlh%Hng_z6}&)h?9gxjqbV>GX{Fr^kQB;-vZoS6K|DuR||#_@ZlOGcObU27!_4eG8gRMHacIjWlG-3LPtrxl_q zh)5=7w!q1b;tsKC8cax=v0}5bg+0}tp5`J1juGr0?HosZ8k{=j$_|GOgb}+luK8sr z!-srZJ%fkrD%NE;X2wnr8k}sNGtcr47HifY9vdm7c88ofaguh=5Hood+CG%2pVtr| zCQr}%c8Qdb&BD*z9AzFL36x#ivcO-}6ykY`hS7E9@pfx4j6aXvyI4j^nmyItGToY( zw%o%I0JYlJKZi<^0W)IjYr+(w-x~GWhgVC>h2&`niIEU*CE1sf9V0J}L@W`jI*xQ# zd#p<S5E`y3+C)6K1VA@|qfG&o^64|s5*sI~ zeJBQ>`IrjaYkr1yVcfG?9J{578mFCZzM))-+#Q`!)VP#eql+eeq2E2#1+2M!iQGx#{`PG zJ6%)ytS%%{F57G%$R$v0Yz+9PN8me-v^7rawPH#kN5fzv^IM0$!xQBrxmkC%HB@ma(OryIkyERgH7xsUTWVm*2ljktUGp zW~#>0#w2s>CfzOu&N=;Uz-FImmxiC(a7r6-q1&6Wcv?uo88D)lo_D=!$SOPX+*qk$ zr}5r8yvsN>AEGg+l^yp;j4f&z0uvqn+wcnh=fFK4nab>x$Bqtm!idLw=hb#QFS;61 z%d0sq!{u@>B^kQ))KC*j0=@aZg~rqUV1>};vy5(B^GyBqJd)Yid1LTDm5#&}$;~}E zKB$NmUXM6JnASCgM!>-qGY|zcZ@))paX&s--m?h7;Sy!vTlvXYotCqV}Qsa-bEcl zjKi?#ua1|z*z|1ti$9DK1G5SbYM!;n#nS74$ehWxU6N^EnLi*uAqO(G!rlYnt_%yf@l?cqGy3)Bo};uTvW=0Y^<3mx#S3nP#_dL~C7cw%t z&lnzbmtuGQK~M{5XVW_2)2w@s_!jc#GttyR$&Cp{ObtxYj&9vQ=4LAi%hVNGpjGY;Q3-*?O%OHbx90{ z!U?~d!_QtF7ro>b(vB$Wsp+1Xwga*VJu!6)f&zKPdf~ZZOALDWt zE#`njsCy7#bg675K&n`I=o(=9GgZOKchsx6-WKowG1FK2SuYA|z@bQC(ac3yg-|2M zF$(^TvZ{zfZ%f7p7-RZ9aE~8f@AS=eL*jV@!IH`dnSt=Bli>~qxd_>_OoPSQU$^vO z)Jn$sWRw&nTZ)qYTHz(a_-p~&ODr2lRGdRB4*Pqu^!fboe9ykvf8i7B_}&R+fl4sm z7E6=}y1+v3^R3<3Jee5`%$mJs`l_L77Kk=mQR}rL&rHz;xP(UCF$Q)oE0O-kkM@p8 zub1sVbxFE^+OchP<+`|A6ghIFFv)Pm5~1JD4dKnl3CNj!zgcX+*Ah$tQaR0AsqI9E zGUaV0k!o#|bUWo_CWKf8mmh7TSX-(azFyDX`FPHn9WbEewNb+it~4gz_yie|EzUJe zQxl+A)Z4%p1&IRHZw+xim+OQ4g+?Md zAa@DWMsTOeU!Ex5+0!<_j$@J~V(mJM-=)@HZ8!)XKoN2!O{o7#v3a zkEN5~ZxnsSf_wW1$z`YzP|MxnuCZ<~4@6F`lw(FC8*;3{blo3zR`Sq(NiY=SvEIo} zxDNQi0>}Fa#Qvc1lK%LUWlVh7U!o$Y03%>1EyE}MaK2UAI^y&Ft4u;_!OZ;A6g30Emke zmSD|wrIsgb)-=6B9X;SjB9rh9?8Z{@e_z1z0FQ$MxCZP8+A**^Bc=MjBQCV$cEfGv zyTzp7QRBRRQH8LGVA_hUta1!=DAP1v^8iCnOOqwYgDd%L1pF=;K=e5xx+39=HG_g6V;@7Wbzc<_ChbN!#fY@di5}*3 z{OvWf2FLcB2muk%KP<8ZvF1j!ETK7Ul@)oriYH8IcNdZmJv_)%qEsQ@3)762dhi7k zyUummgj&M~L4nS)tK0hivb3W;Xe%g@2ReTDH@!%Zd{ z2t)TbY6V1N|Bgo9N}VsCOZ7V#--pXna^x;*wam>xJ7%e?EmS+)s$c0xb|2-%?g2UB z+YVM`tQ(BuPb8ej82|?-a?m7ee77QGyH zrsea}T~3Y7Kp$=Ga3UVYuNBJpf+f(A-Ht{78tf7VlYGPq*RSBgK%T?iuGxt3es?vR zPdHU~dXRt{;BM1zL83$d|N~LGOXGnsdZi){({Dllw42 z6$?!&NR3Xxf;L5~*o;(y7cQD+H)SAnvLrn><1eMUJ?E1y0tJaK9r-XY>{| zxE|rx6FXz^;6%3_%%h_1qTl&ycb|6)z)zJ&oT(qGVVEX0$kx>!l3Pkz}F4 z@m6oXJ>Ee4omeAH6n}KCq#*<%sFS>{BQbrs1s7whlY+NoLAj{vM75bE^?QY^@Dtj`0#~En?4sPlIy%|mTRs@R`1J=`zZL=Z;mHoU%Z*HqK(Q@g;O)V zRwOYiUqLJzyU#Q<>U|rLCP9hlA`qSkRsH87ws}&$D7Dr?R}zmkmBVGR_)s)X1Ojb66yGNI}3P~yXX8_!wJC*PssA)M1SXP(46 zMY#lKzMU_8kNT7zWSRvFP4?HisX-%V`gp`hh*}?eQ_WHoW%H`j1KeIpAvPw}sl8VB zyoq1hTbj>jKFY0i+cAw;d|j;p1%hMq>#}0WYXP#|Dz9H-TIM6-DUZ`#li!iqJahY# zn(?~Blc&xI^bZ8;huFe6UywsvDIMyd0x#1DAOt@W&MPr+DZzoj+0m7qym-w<5s3s6 zu`@t4G~B-LJD=?VMHgX<+RFhN-Da>iX^}dzFtEbczE$gEe+cQz*!B*XDd1)}&I*c< zzI3KX2WA)c{yDS1r*q|e{F_aC@a(pL{&;1(fxqx{L)*!64S)PPA{h}(;N|^;2I%2% zNLNpTnf;YHMK(KlyXKRp!hHN$R)2j9lAHNpe<0)?a=Q+5Yb<`EHQ@w@*A81{H?_e8XXZ0bhqhn17y;sZh2X|kRpojPf6g^8rYX}Pk+3cO&77@Q;e{N zC4A6CPZW37;y65gO+4!*5~_+q6uTSLegLzbn=KC#lcIMkK!)bx#>Q;e`)=^F4K}aE zJn*n?I28?%bWd(VG}hH?H+P=j_Bgn=+3_ZnBjY0`3?lef|2jb^UMV8tHblYfif1Xy zoz{oy2zG>6eB5}e5Fv#;(I4Vs2+uy1oB*o4efmFcrtHZ*VHAswnhg|8L<+mH{@Y$* zicj|JjIPwf5D)`yH}u0P%fJcFG4Avpzu%T^V;^NVZ-+j@AsZzIH%F#!lzP&{=2p#5 zR_uYOMQsM=wuT(E70xh&k=Lfz{p%JN{0f5;Yv8LF9tW4T;Px}?P|M5w3yt3Gi5@8~ zVnupankg5=hr@rH`bF$3jH~v4PMrSjr>`5gyMV%o74gI#K!&$}&12$5T|F$B%9jry z=rpf~&kgS}8hbXl!Epjq^pwAic?5SmbM>=*ZmUotgr>Cg))}=Bsy&bI_nTNKpK<{S zacO}7u$G=grB6fBm|XFB)0Z(g$sPXhIj!SsJHW;wVEKK${gQJc7W6s+^By%dH-hr9#YApwqO2q~PQ1785t>O+R zw@;ykwC%bW;cw8nU@@BA`mDX?gw6AWH@ZHPQ<%Q3kv(CurZJERAU;fim`7)rGQiX| zCS*QS#%?yy+yA`ok6RWCkoZR`bM66IT`_b^!*zS}CVSDU0z28!BAQ4HPy#z-`|c`%zhhiRS68p9?ec zsd+?9C_sUy6h%^vI+H&ah^+h83RPhOQZxrMJn;-HpOwTqt(#5ZLeDv-aD7 z)mwKIZ&B2?H^yA$<`}(d)_XRZn+Flu1NtOBto0?eJuCq?-N_1cvQH(g!H$Pk<(H_? z@|@YyAXup2@y@a{;*Iq>Z|Ea6YAvi;0FY7(f!DMd3NIJ5qYH^?&QEW*?fhw~d34XJ zcWbgnrRbseM=yiF4*2lYL)X24im266Mk6ftCW$6xIeiR`>Gxe`;b87)!82nl3_DV%PF2 z8-VNB5_gsvK!|<9z>*uZE?8PbJoPk)Uy8oTaQBvJDr#FpaUUs3SeCM> z=e@{%VPk!}&Fre({(BjeH&@5-D~w<%a^$P)F{aT&7KZ zM2`kG_gC`^nI0)ws(8j5d`~_f97r6m3GmCUwCp9EJS3ubakMmLye~03Z!hfQ>1c_l zN3M28nj+>DYVrlk3Ic6ex}QIRib>*?egbpn=%9u4f4xm?4pDw2|B`Q20E^ymiwcVd zT?CcH3|a0cLFLc$Z}3IP z{1KjiFoN%Hk24eE=VFM$cnHK^pzOoO8NzTql%i|%)dl&t9SMm)c$jCo6e3fsu!@M%8F?gqFnkOw<)UawR(Chf@cPG4fuFy4@uey_5B)_@7V5zA7K z@~n&AFzUW2D1C2m(W>5H?}wd*cd71Y3f{OdYB?y^MN}qS*$nj)t5*&_Nt#381mfHh z3J5y8>U)q!dqIS}N=moZ*fk8Q4B(sjz;=X6W* zili8pPI&@D3z%%?8E&_xeqG47(O)`SoLOm~ATOjdO=C(Vl&LK{IE@o{teKU~uFqDP zkvwU71ezoqWsI+sl=E#`IVqPpHQqxR-W!a&F)%3A$-ukmi}JBjAIe%rM_536dVnh% z?)y`v*&8L`;7{p=vKr-Pkg#ZKd8FD-$_ducb98y3mn@b<8llRv8+$crNT+f%6_YIb zbhX|3zYaYo{AO?J=25}hZ2hW}o}0j)w@@sw96*(m*sp53Q0h;phV3~X4O;Fw|6xCD zQgA@be=WD0ib26}xi`vEiPwUu_q_iy>t&6ldxT56(zR0wlv3Si@W~Jx^KLEWd|`#h zJvdQlW(HfSBoWLOPciE<#ydPPHrJ&>N{D#&+*K;(v2WsH*k|iS{EBpX2mK zB#+N-4@F;BOT@A=L}D76in-$Zg1@xQ2@)bEg!t#=%+#IEh7wm^MKiq3uU?SKEu`#!ZW&Q14*zM2f=Hu7YLHTf59kyH za}C!enshz)ROwZ|AQ9yht2XlVy9U5odgK(XX^SD+gBfeqt{k-0_pg8(x-nkAv1g8! zycECmWZqYQ9&Xem=EK*;S5Q10)g(!YY0X66oeox{yobXZA@I2evYx8)JmOOgZwF8% z@iBN`BQiCxJjziySuAtTZ<6t{pO&)!Sbe~&8Wl&Dze3d{UH2E2`ds`)g5m6X% z_;8~`U;yO~W~==W7Q}`letS1%bBH;#T%j)yDi;YvXnA_h@apTWy&Ylr<=#G^WuPz2 zK;fX$=(0rI!EsJaGiBa+)U*yPyLY$9Vevrsmm+3|m43vh3N9NI7y^Y`oiUv}lDZyU zEZnGDrL%=FPPiS|S4ms21`(9A849P^N_+kSP{T0wH;j_K zR9c#w4HOrAM;XxvnkTZ>XY#uLHm*Z(!fN245v1(G+WE9m(a$mGD)NM7KXx!kUF%{0 zs6{N16%(jFdmN+IK3hd*H=WD>6HYX(R;>1xJ6UO*w(ueZ`fMKB4u53y-v2DG%-tu1 zux0b}9aLgtWJ?B?XZL5Cri^&Mt*rzC6+q%mBims@DwE3IR-f({;%u^&zv>jTKVJTe z{1lHna@YQ}ASeVwH#SN_D}VAO%@v=x=#z^jfv-gxJGSwvKAS@NXrLoDO)^3HU}%)3 zG@0KxK9Bpw=|_B4Lr9?6hLyoameE-LyM$Cq%awgBUHEzgv$Rx{)z6lNHnnoVo}Hte zm@Zv%V_(5FrwdHt%>lRRkzro3J}TYmnf07-KV!=FIZAP@F0a#w-@@&6>cw|RWXkN6 zJJtm)gx|#(E}Z^qcMO@*GFL0UtkP*cM&$jUSJEoPOreUE?N5)8d)m%In~OR=uGN|+ zg?Y8|TvN~ENMN$C{K=BPDj?I%j=EH`POB0i#gmv>o$Q@+i!}4ASLvcsB=$$;)CCJl z66NeuD6sj}x`f3oQt&)OhLg5emt|zA)bvtdpz?DHLXe0x7qUjNhu1Tg2h)*=%P&4O zs(g%CAsq@Bl>kLJlQLbA@-!-?MMwYR1t`+PjXQm`LZWy@=_xl9`9(lXLW84yYE@9A zcshb81~cJ|mi=cec-88ty0}~12<~rt5_YrAQTnT1y(fuj`2)~J$CvIK==_haerfy6 z`ebaMg-Ye^6C?-a777(`Gd=nglpOxc&4QG`Ja4%u>$n`4uQ$JHz4ohO*u11W0gUEQbPH@L6i}wVHQpVM2ApJM`Z9dL);lk z@IDW^Zm*zTo)mbhC~|=Ik@kz*7wGvUT=J54AOh@jr{GR-+MSA_*&57EvIVi(l~`PB>eB#WjjcRd^HFQJOLQm~n83VoMjYUDczfFHoyONlGUmSS zCx=I<+Z-&{#@|ZCRJ}D3)}b+<@_}$JcQME|sm#vqP0tzJDDWJMzVEQBt8Vu~?gM2% zy$h@bwxKmOSWY*-J3V@BaL}Cg!51cn5ahe~y&5n!n8?Kzw|4-IjtjUKvN}@(tMUyG zY9104wz+^Ky9H$vK!E!9y=);JH4p-1JhSi0qP=;M=kW$`HA)aDV&iPV8=1=K0W4~nM^wBa- z2-)x3|E&i9W1rZ?e>eh@AKoA9lTm+~k6m$ilMvIVu4OK${j8`y zVd290{x_*87pt!s3zz1U+iUTY50|ph`C-BDpD$J2Y=!FSS3%~k8UfQ@e&dSS694hU zOrmfA5oLo9>SzMD=t3Uz^wgIW z)BoNJ6}_>q57Nx@6U+aY&W`?&GMe;v32SMqVU$(()ukR0NLk48Ay2c?R}!lFWdS-yz4 ze&UhlLuK0QpUXRuXM^OGRh=n!uDyrp-=UEM3=>_9@RsTb${T+Sd3hmU{c^ zAj=!EBPZiez0F=pS-rMUqbXnd7BwN7mcVUDIt)*<8XK=JGNYciZUX~#p{bSu3ztmD zVt8F&zlzE)OxfS)!R3&0cAjSSW@;)~;@l8>9cG<6&BI!T0H|L zI_JB^ub`?fPeFn)gZ)#Fw_o8280?XUL(^Kc~Xl?iOCvsT(K6B=ZFj)UX-0qKe4Sk8pSYK5PLj9v0C&Z`v-akY?YvY z@9rqWyjQZkwPy~j+2F|+>h@PRh31_-LN7U!!%WV*sVC2NoBZ5M^i^6?!|q{S%S!E^`?NXWP;p3c>?cgSS<XI2sKb94=QEL}AzEy1?wa$ci+(;HAXA6qrTW= z((h(Kk_jkKo2SQ5bHA+ZEr)Lt&#+!_#5VPyp+OOfebq!)0#A( zU9T;m3!m!myr96l!~)2gR^-pd{RXV7PO{Qls5S9|Jsd9Y@F zM_&>QR~V+P>(KCXqMMa83fn^^Vq(OZ9!<1lSqSb)b(podW{iiliC`Hm7%bE;$xt29 zH^suZdacTbzbKh}j));#$1@wdsnQZ@`toM>Y$<-&0EF8-kXhbYDBR`iVF(gu-#o7x zMjami`P-*bg&yGSBI^If+g9A+O!g-1S=|2O#w1<}<4=qBsvKCMCSFmuJy!yQRTvmF zm4rk8$dfXmfZefEjZv21ufp3TaBJ^=XnHxYerwqLaUvr6CM@3D)pP?Brr(_F4L^7$ zbnaI`Tn4u=C>Rv{R_M5rB|j{IHCi`yxpeD|Rpj7hPX4-@7J{(`98WiXfT#_8?a{m( zqDQ2AC(bZrAYlj1B02sBPH?g8Kvq}eP2v+{;oQKj`49<4(}U}T?k$EwJ=Bn9qcBDC zFEY~SUa<;VA&p8JQm+N@?lLY0`+tJk00&Kd3foA5Z!n5ot-AAO%s6WK%0fL_Sh;_U zxs*I8*eTC~yA!_`6G%3+nFM1&$Dyoeh&)hJ;ISh}i_mku^MEt64P9iOxE~Z!;va#R z1_O({5xL)hv82;OX25-FWjVusU54ygWJ43|Z`lSi=qKZSvdW27m_Cw+u`)Ej8no~B9jO%A&_}oCEP66Z?^qr`@^ODkOhlof`(w9l*%XAQw>i0%d z{kSQBYDfd=%Ux+o@ktG5Zyo^Y$m5LUdfLITyJc=^2fSk0$~{0@AK{`k^9OF zEsVSvUDLgI?ZCI{1EXA7&ycNfq;93+`5S}yW$m^a=)gpGHJBwmY*mi6fE>}-!gqvR z&QvsUZ9GW}%B+7(w@D!pl+;|*(Eguz7?=h?4-WB^8FH}9QO4g6He5*+ ztB^8WvO}Yt8z=eH!QDBHp)HcbpV5KxQ$u*wHZisJPQs&K=eI8`HPmcbn4wV3XfvAZ z1xB4Q_dPrK#-RJGqZpj3Qr1CUm*t=I4&D3e|fKTzo}XE0KX*D0$nz-q}}bK;c(!_ z+%Tcr)4jUy5>t_}pGLDc+5GCiD(O~78#Y`wEvTE?fW&WX9+(V+6c!dH*xR!nl*&F~ z&&P%mkrwT6?HSyo@vQT`R;~Q7$8*_4PThh2&fOr3PkO-gpr0=cjW6M)N@i8Kvm$wM z%T9mhJx{hPO4byRD9cM$G5}vPo1_?lov=VUZ9~!B{y^pG*_ShwVo9dtvEGcR*Y3K? zbp3iAj6S_!2QT98k*( zV8tKLs&hz56rV1-8(s>((5%4Fsbp3z|55EIhuQ;G?^V&J>3y7$MhBti)902)11Ntb zp-`S#YoDs+5q5Ynr@q@5PthHZkR=|>M^dp<7IJr8{)m1wCkI-|*EQ0Rabmmj5xB<_XqGS>oGyl_kB)#sZ2Aj9ck z^-ai`q!`KF9Ro$Hk4;8kCC5AkQ`rwbkrnQOFUOkqFIqz&hpE9``B1ybJ zeB{uSQvWEv)9&|I!RS8-LMjaKmSZqDtMDb?JNpuzbJuUy+ zY(+HlEFt}{NFrejvD=VU3qdy$GWVMh4UYuj;MO)(5aG)=Ov&xPJ?H-yJNo}G4<&D6 zzdv7pll>%&0rCVE%hjK;hso9eFhB42r%$0F1W*BT3|r}+GF|t}UJiNaP0C7-FW=MU zI#~?#Zgir()mP#mMkxWLAa6K;5;7o8j>r!xfZ!kzGWS0!{(~lvvTS(YWSE_HtZ83r z5W@;bIg<8;*NmYmXp}FH0LI?+&R*HLTT)vqSoZYxzOA+8Pf{$r1!A^m;pE^T7+-%$ z{~l1bBW2hf!jmz8i0cd8(Go&{JkZA2T0uO1d3Qx#} zvom{z&Sz>Kt?OcB+V7j1Ej7FjyUI{%pe}lyrJ%-MMwX#`=^yF_6~*)M2`be7f*rs{ z4Q(jGV+}6PJzx0kmO1pyxW0d`mvn9{J^j~!^*ef2R0T-LHyym%H_D-lt5@SK^7O9^ zJyYZzniH>YWKUZablS%OQuD;$Ai8d?@O%3pxrS6$ec-(x<0GF1w9nN={8I%@+3rD! ztmn2Jk{(#g08U3=T9Yvlup3aM82q3oAyQ{QSwVR*!5sbWhpY9Bg#+bQM%^#IREGV9 zOalz8IkX5Ph#Lh8RLZEesQpb?x23ybzFWr{UiI^N6qQN-o&kA$3-iJlF);`8&XY)I_E7ddqb$r9Exq>YUMZ9io$vb_qu`9L9NvN%_C0vFhpW#EA zzEcZFaP*Iy7@xX-zKw#7J$|{~a&P?pbh+PZzn}fRdkWP&>)(5yT0cW@#S~W<@9N?` ze%17GTDmNMeKM`N*>hOUHT(cya(y6IIW*+uajQk%1}HW3qt$!4n*Nfa6fMlsq0 z29p(a%7kK?7Rt(6>vYvhs`8q z4CF$0>$muvUD$v(&5EIdRf>#3J9{{46W&D+)#K{6V)IjBVl!unHWRuu*02%IVU0l^ zyekujQQ(0$&Ot%mb*&IxN-DAWK@q;i>@Z1Cq)kT7=VF}2zee9^?pu5Na%wJnYe`YZ zjl(%syoc+i>}Tl-#cK1;K`&3Va|*-5omZx)&?4{Kvh=)Z2}7S`=a-(l}Y_3VcCbGi=HLLF$v;YS6nZug)| zb88Lj#pqOoBQ{2Se00rUhm=aMjDHn+nsbwzDSJMd3hMS+^D?kmNO*T8e*Z1mr`oI- zIoiH{B#S48#eo7NARqt?eP|mHA~N*Ai*A|})SdLI5SLcv$+kv-M2Z$@eCDlSN&!T* zxmv*>rndN<%Hd>bRp~eRLaq7W_&?w9_w@x?-T&4Y_`Ii^@tMQ+6Xgh+p95q*V2RDO z=X@sb6}5|Cxg(2`m$wJ7G@RKFPv&1fp9@;;-hZLEOx5-oeY82U4tp`fYS9w&n^q0Z zca+q*c#*+qBZ2|PT~muabK=sQ>#!SEK^4@>0MmZ*B6ndw_eXd-R3A#Ny)vx9>Vyd` z!`jiRppk6&LC6uWlsj5j@*5b5J`|aW!)@JASwRnUIj%5Pk#S1%!YcWkBYA^!xd!jf zZIa2awD&69gD%6>^u9E+%-ZkD9B5;Mb-vjQKF(L%h=lP`*RKit1eK0hlqz2B%Sw+? zol?=mO7Agq8V)4O7CGn~tQ85AIz$$=80-1Am?ouS~awP2x+ zIc6zl_s|{1jjQ)vynN+P`N{raSNvl8mbk6Ds2Gs2m8Evq?9VJrYYYKTLU^j~xaOR$ zcltQ$_P73^PG<}%rCEm32oyCev1IiLOnN`y5N?HBdp+c%h{rnnz<<+@siAbOdjpc;%syz#m@o`U)2gxr@hFIOn? zHHtZbdF$W;Ts4Up)>5`Zz;S6vlI(tK1AGBk`4#@)s`UrHkD5)iRn0f&j}p(v-Nd!n zYVXh1lq*sBr(-F(Z)WDScfMg_*)TPR(j^0uMM7@)i>rlVdhUjqKDZvH#i~v-eb%7l)qmNHW<@ zmkU*ixIev{Bg1Dy9fw;ht!~Lly_53Y4pTvhsG9$|IHJl_6p{-Dm23w*X*!<2YNX-} z&CqT=TsDQzGL9xSc|8Z?kyDI>+Dj_YS>OV%)^ERCDNOt|hOj!wdWgwp@S>Ko#L=)E ztl4lmU>=CA-cOC*EPHZ`wJbPXwxXN!`Y~yC&VhLMCtp^ULY)kn=e@fTeW190Z-g3C z)2N&8XYiC}VegVAjP|P0`o+66(~GgAX5NcmBZ9#SLNGofZfh|{n4h1H2C;t(6!;Grr= z#4Ye)Rvu9bG2@qs8ZgYJr30k85Eg2cdYz0}vEGyT3%-=<-es?lMI{g;XKLCZDy_A5 zbOzxUdHDjAfxXiG1}j6n94n+$g{my*K;bWf0I2%io=9ZZ2U`VGb_tk zE0!I%lU%M0C610>Ui1{!Af&&~)>H=B7lmS7sRncta=n~z##3+wleGEG#j8)aEg3>Q zE=6+`pJvRRYN@tRl;qNK?d=1Fj%)?*ct0M-@yVAQ0a$A$D!-AhtT4htvRZOq;4|nO zf*n2J<%d7H;0d(U_}B4hn!e=`u_s7F0catVDx^aA=Q*Dro)*tzm^k8$D_wJU0SKJt^DJ8po z(VtHv(z7~pC7K){%h#ZCrtthDVwa3gr^srSbywpH?613l$`krdHj7y)!IQ#j$h8^5JX`7KG96@c4_OC`aQOK6r13e2+OH^8HmaQg|9<5gdlMNruk# zYAGemx%?eyOL8@41uG=pQ&+9P2?Poj3ya9c<9-H+!T_MyRnNm?`94u{cs;!X{G*`` zHFb-=0hN4M5fWV%1M5y;9Y=6t^AT0_&*dEN&8&KTna>dV2I|b2*uDX6G*Jh zenrCVPK>35rQZUP;<>#ZvwfSBcWLgecg4HmID@3tZ1wHmC(29YiLRcZ>anv(uXW&@ z=SvnSmCR{O)Tbk~mBXJoZ^k6dyBZkxApQIBte!3PFR>5vebOTDTU*C=af=F#J>V{i z7ljQaGL~)ktS{WAOQ@qUswf12BH8Kx3mwz4sgDgu5P z>F#*6h`?2V8%3PyV#FW> zq2JyPnh_e!Efl<+8){&eS0UG|hN&d!b#tIN!t=>osxX4u+i&Pr-V2UcT^mpZqJKr2 z(vj#m>H9;SD;0o}O|G>BD~WJB%P8sk4XP)T=JyMkcVuVl^G4vFs4Zre@e3&14QziO z%+vl*le`^WQP8Io{`{E-yus4ak+^z;-Y)^w;^`CP+Vv{P_54LJOG?+>G^h^%2xrG` z$4r&>>+e4JUh8--EuP|n+u7dOz(&#y=p+$ElnBz7z*IhonvGk>GLIc)zX%UT2NJhG54Vn=_qA6-JUHTh@t?7e6IA1I1x%X{|2v5hS0G%-j*6di zS637#xHS&^)c}6`EQibl@md;*7u!OyUs-4(CJyO?o}SIc#2lU zs!z6)XMByM83^;JRsCg?J<2j*8M=B3yWZz6rvpwIHAn_{6UF7p&qPeD2(W-BQE>F$hl6BKtDbKL-0&v2MRW zh;mz98jgyXymA%z$h{-sGXMZg`9J>!7@9HX@zAQl69-?h5^WuO-rbJA#4Ao^u`JWOQ)M83c5YWU z3O34)$?-QnZf4<<1_b|;1C7*Xgbp6JKOF^mDHMF**n>w|sbzPfIGhJO+e%94EH2f4 z@4=uFg9jzJPgv-|0cZ6yab1hBh1tz+*HN4*J65M8g5K!B(~VLZo>^NokQUmPM=eN# z$A+m@zT=f)klPhz_-B-d0`2~S26`@Qui=uAb43&HBNo#BXYQLV$W{&y6pO9qj_WOC z`c9EAMMoVrhk|J30+-#c*Z&GM1k3w9TA)Qj_B^EiUt1=vs4QNM53a}IK64P%4WHxV zP5IdTWi;kbOM(Iw0+YvMwDJq&=d6WcaTa{szj`1LDzA(IxUPJGqg6Gi zIsQ-lt#CcwtqjM)EpOm4W2Xzo*8kvN`@cfq{dU~*&7*_o@!m_nLB+QgVRd2?D$2^* zpO7#p@?Jy^lAuqYhneOH`2B)Kh+mtH*sCR2k^cz{nSa6eLscG(0o3g%z*}dABPqrR zU&mLdD0vfkJ7tV{WfCGK71X9^#F#pNZk5nWD##`)qKv)(Y#9IWV66SaQY=fz!;JU< z)PMFTEPv-LOw%60y$T==nTntOFb|op&c*XlYmhnY9R9p?9Zp8i!G<&);OTnxNQ2}j zvyreV4@>8bf&UUaRQp~=?gui`H%`Y0wF=Ud#du;>2J)YH24OFJ7y6^?v84D09)5ie zM%_k}Wxw&bh(xlrZWmvgoWLOg3e}1~2gl9gA8T7lwy^fYmCUr88KhOH4KmX{eI-Av z?bzz=DBP&%7ZFRV!H*hkFh`7=!;PPIwEehmV{%=7#|);tt`_wbOgu#Y&$RZ z+AHMZ<$bU5$D<<{=p$414P(rtbu4%GUPNl!td+++qfs$ zSh0o6rrBu;^`)#<=o=ErgzqfpE_ZDqT{wCCcQa^@3ZtJQQPKp^WE;=9zdgu~m)>fv z9jABj#VJV~9;BsOB~jK5qRE=X35&M!jGH2oCx6S$*QgD&#zkt=n!#Eh`iCcR`YU^H9%EgH8hAyd+e)B)cZ(iRVL<4X zbbHVrK`IEI=#SXE8%~nD<0Wi)G8Hd;(&F}M<^JbUQuH{6^w$>3K%bu=2wrh_CQvw0 zfA%D*s@xZoG{!4#+M@2Hfj&P$5WL|IB~X84ZEHrBw}w+0kzH~f+1?t@+XnjlzCli0 zh2xG@{XGpqxa)|ENI?*UKI-)hRNUTJa7V<2Ab5~K#jTA6cSKwWLJtWvB_-vK-d|Y| z1mSKY_CN(e5c)_YP(cucJ`xF35Cox*L;@8ALFglqKm|b%`sjZM)<)5;rm?920000< KMNUMnLSTZNm!rV| diff --git a/localization/autoware_ekf_localizer/media/ekf_dynamics.png b/localization/autoware_ekf_localizer/media/ekf_dynamics.png deleted file mode 100644 index 63c81261a718e8c4dcc4e9ed6283aa6e9a2bf56d..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 5346 zcma)AcT^MWw?*k79g$u`2)$l98E+h!jy9E$IdM5-$dK08X ziGXwv5CJLiMepyub?^Jj(vXml&_N7!%}GcubCHl- zav>uno_Y9Wg_5|FF*CN*`}OM=@$mouk^WTtkjQ2THiue}=(c|waTToklyhH>(K69# zn)M11qV_km4k96;@B96|^hBJV7?@Q9qN{Bgn!i&J<;~q6(!ch;UFe(A6zEknf#0HC z)C?ftGw_0jL!+&dhdfoML@|kAf#XozWEBnb!~uLWj@IQ83yNi|u~g>&%9U^#_+omgC_Xfp2< zM-5*oV(R4oy7685BDEP56}-?}ebKqtWTy_di4Y8a7q7G25vp;_HnbgS!P3y>2tO8B0F3D`R$B~@UDbjo*zD@ zg8l~jen*m_k`F`r4}TD3=7!GJgnd}Ny~G{s*OIAlvd@&x6jQ>4eP(RHP~R%Mc`a$r z+U*yf`%-_O+xu^Q?^a`^6VuvL2_NSp%WmaxCTzqFzAItsb z;;Rve(s<+l_~W_QNe=e7_T1Uv6!>7x)-^4vkdHP3YunmEpTebuh}dkCZGoOwTqNR@$bS@ zB>luo2U;aQy;bdq^Ezs@q+T7Tu@Ao80PObOdzi`A5EI~U;Kqw>kTEx!p7Ys#;c*@r zIii_A>Ns^u<(Ds%+|neU&C~oS@!sxES4F41*6|RVrf)}H4$`irZ&NMFJy5Eir8)w` z{!Su)VH5n;w2rMw&MNYLv0ySj?W^^bsqv~_3$QmcPSNvQ=9I;`S&b?5VSLt!ORf#{&0(1^AouR)KaqaHSR)l**a z^GIio%9jexnb8knXA*9^D8Y6`_+iiMWt*lRA47H8q2o8~sMP4z%Y5wUn?I2@XYqrp z)&p|Vq9;u9y9i~ir-dBpL*01cd(p%5lOKw|W)V8_uBpUiry7|=Qd~Gg8y5BaIjZcN z^g^J9mS-U87FPEDQu+ptI=oCaPsOb*7t7j)A2*#*AW4S%{nmtLSH%ICQU6f*mG)cr z4y81v@BADlsR+LgweV{_n*tSCjCm~l`uH|kFT?1I+)kTh`zZC30K;l+rr+2DR7N(t)DCB&xAxaIIn`-c3o7ESYPI@| z{Z3~7IovzCq`rE&p(%R$jjN9<+V#1gjcR8v&!p~|R~CcZDwV>j%)-&98`n!JjRJF3 z%IZ@%ocrmH_#8Nqrm~q!lW~pG^YvT#WueNZvTNSy$B=*O}OHK7@SN-Lo-~ zALgRCi6Fap?dbz15Q9(9p`3U(L8aOD037{e;+D!t$1^u^5jKPjv}aGSFsku+-^0As zL-&!IULLcltKQ8sJwCpXq-VMj@fz=i_GipxmWH*TcQe#aNqoA~`DK${SUJ@#;B6?P zKxGkqEngA7Qd>b7FI+8kZ}7{~lOOPZtxh2#ydK$Uea?uxiTIk!J*`s0dDz5M4f4W! zd^VqvlHCVwJjVgM3HMI$Zx>l(S)_tPpGOs|arE$fHBfr%oG|4-{d6D#RMy&7mY{=^ zeVEHN+a!N&R<7$3L)g4YZB$}TK~(NXe_E}qQdN;ma(MO5EGhPdZ7jShyaaCCaO*tK z*LvA+WOG`z$wvKc*VboiZqdE@ZS9-IsdYz_LDlEl#Abx8y(+8qFb%p=@bsSJ@+|7( z(V-LyW1g5(h4BjXMbDL~idZ5>-za-ATzTnMVu_yD^(Z`kMlG9$DL!Ltxj_5NhMDkj z{YsxYrPeyHQ-be>fC47|H^D6G7;tu5s^YbP@hzCvO{32n2)PK>U<@DjN&+X`G{KXh)u0qg7cLtt( z3Y`c&Z{$g^IJF;rxA+|!g<0T@pS+V68I#xM3^M*ca4W;+D>j4 zZS@HDlp{PFc6OV05E*NpTeGrLrPlwVGOjwhzcb>cxfTQVIB!X?R!!fpN5*a^Y_KB# znc7s-bD^}Gx2Ua2xfbnP(QC0rZcWuly6v=?klQ#{=>b2@O;HoL;tHfsrBYBpw3cu& zP2v#ekuT<(RMoTVK3tEZKZ`$Kr7fHccC(GFT;aZzk<6N=a{WaxER^_$5xA~-qu>*i9uF9Tc7c}b!rP%jIKPD9UhS5qq zS9xU99$j{q^zmp|vQXWkHM5S<{--3l zTD#m>XHF(+VB)BGS%@#8M<0Ch4$mLEr}&bEOq=mvTZXUUU>^-6#}LheUcAgMH@_$vgbR37 zZd~f$e+ea**uz5!83bI0a|1+KzU?v&3jaEI=cAtY(~n@9-MKdnjAVSANgcSpPE#IS zx+OU@+QL=Wt`le1w08TB)CRt$wCUMjW8o*(xJp)ZCbj;l_a(wdHCr@?L*Hr|u9LB? zbPlL&(YhjpPrDX2Z@{;P)sz}_&XCjoJSXW}*99!=vmSMM#FVE7bzVoga-EobWfq_@ z8~5Gd^eVS1H%@PVuY3$1(AwRjIO|k<(HcT=|x#wyb(Uv8$Rph(I@h$uv9Sd%<<^2 zZ<4DtytH*{AHa_<*_#aOmEy-W&tr3#2#G0xOK>uPFbxngh zKma6%eL~l^iat?Gg$2R%_PzM!B`Gf>cZ=3Of68!$BvL(FbKuhxh`U^#A`f#^Adp5# z^(cfg-gTL!X*@m<(yg|Hl5;$*HGlM@vRr4$&#SmMA?*`SsXnjM(Rf>6Vys$ieaD44 z&=}63$PGdE73C-Xhw!-;K`iU^6H|63HH#`$=@&y)0AaEo(zeqI{8u zn4!$YOOnxW6n$d%XsJx8Gu(hwtVIq+>m!zZ*e*ouNCCZsdG;6njr5ZsWH0fJlAW`{ zx4OjSD=HG+Cjcvze?YEI&XE;tc;2exsQV=i;?6Ux^bb5Jjp3EFBT^y6@O&^wnX}FT zPKh&Q6(}<&CZMZanzR+q+4d*Q@XY2hffJ<|Vi-P@qs&p~1UG=FS%Wn=L>o$M5AYZB zZjqPL-~@@Yx3HaMmVLttE6(iOKN5(SoRH$+5s4?Yb4q(j^ zJVMDtw$e`mk%I}27)L!xxi!}L#MyG=XRmwb>Eey8k$u@}mioar)_9yn!M~lTae#d6 zzTS+$zOY-VoE+6yi8ETRbq64xeCGC>ou4@Pp1%W`W;D2R`12sUfPledM>7Qh*vp>tEPFGMtf6QfKrv}0<158Ha%8gx!Gs;gD^RJD$H;RwYKCTFc zhyaql;Xqn*bRJk_aEv%M+XVFS&Ya8a>$nI*kruh|xwz~a*{0o&i2?bpau!<-ly|RY zQ2lC@FU7lTB3}n(A~S#~M0H69Ywimd;C(%m-%tZ3PwwcSNnI;CK|}pvhHt3PHgxnp za5qSW<4sjDPXq>l>h1V8XeuERi8i~Cj0*Ve-;>qVx+<%gg>(~0&hnAtCi!5i63xfMg^R=Bm zZ=xb4mISN@lP(#lYI6us$K7(j9u5%!2?3&s8bG4R2PV{YDg*_K{Ur4!6@)(y9GggN z$#o_tq5nCIkCTSP#4@z%2zt=a=>Um8|9Wcu{SeC#JTNU%Mv-w*mmIp~X7i0dSnvVF zL&?raOKUS2=LH(oO5bEK#!>a``2b=&JcELV6`8?M;X&s5)HoUDXctpfqHQRQe(w#4 zYot1S_1jBTDT%iGGj|t}aXe%338}N`qUR_i;BHg3XM}X6OxLyMP0R=qbM^I1) zBFU(48>Tyu|F8Fkf0!Ff;}cgSZRwjG)tQAL{BS?V$8|KmrF=CRy8dl8xR?SP-f3X| zRnBluhzz`5cJ}&W>$+r1Jvi1>Xh2vVtM7<)JGw!-iunZP|FS915)JUnbi&_#X$zi&^PjYkvgAlMGh5wjrwk zwo&5nD04tWg?C&w(EiNe5)8)B^TC6CDk%UKq;SXu(YOgx;O0+^2eER}r|asl($G;F zmI}}y;zO2N`*~4{N6C@C0nF{a%i0gL*!hjtYsCJYFF*k3s&{kw{Z7in@oq*NMoz28^3Bp! zkK-qxlLPj$ru7yAtem**@`NQ;ZY?@wh6%BCm=S2w``+rOn8`F~Epfbk@0;ts8e+JW z570K@C$2_$1*`#_^g^Ju!@t;wwG!DUOx*9*zJ#jLmW<~L?0(L9n)e(VNhF*Gx2Zmg$A$A+IU7n_6^KE%(pjE^{ltaG+GY4%;)Ga9)gL?j- ryU|P00BXQ{9_I3K{($eI3g=p#){#rCKmoDee^WyApt?0+hnW8YJM!+Q diff --git a/localization/autoware_ekf_localizer/media/ekf_flowchart.png b/localization/autoware_ekf_localizer/media/ekf_flowchart.png deleted file mode 100644 index 0a80cb06b85f00cce2b295834a9c2fe94c727f2b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 146302 zcmeFZcT|&0*e@ElTSbwwML?yAQj{vvK|n!7ML?H9@IT zLk$pmmrz1)A<3D*{=Re1z5m>G&$;WYv(`6@CGpL??>qC%(|*5shTxaV3KW-aT!KI# z6wjVMeg%PC{2Kx}e}U{TaHTrlK@9vl>n!{1H5nP%*o?|F`0sTWc}*8Jdovd|Lnl*+ zxt+bODX+7!lc}klvxU72_H2VR1acGd?D3=5?un}tzTPM({D3$tCRZ%btE4~~(P5@( zV|D-A^=l4^ZQ&1HojTPhr83oUSF+eGIN4X!EUGTAGDfc^L{810{ocCz_+g9VRl24w zijHp_o{ob?=R3|_t{!Yb`05&`+uWmeFW+C^Pw=fTV!`ew(~H(jv@&}&OlsNM+MWR; z1#LD*W$^6j$De7p0#C0}>lj@-y;jQpUzh$%5+n)ymrnejZwd|;6(|)cUT)Cxu^VH_ z>+6rY_mzIPcaU0ckrK;Sf#f)GF6Y)q8oYK=cg%sOgLqyMxO`#(ej`_!AP_Rc<;o97 zW~QJ~+2=Gr*@j&?hHh16;-I&$GCgBx3W;D%5LmO zVP@t+nCRq3PdebUmRSfhEKbg(w!OWbk$i4em`w1c8lO}fCEj%qkhG2#fLrXn>o zGE!~U9WOfNEr@Z1K>o-pi!XdFD=V963ZlAxpAE+ zr0%hDp2&3v)!Ic9wryW$b-bZ=VPR>fyQ7`uwS-fn`qa1KZ|J$-sH5C$lK4z_nP6iB zaprUe!uPZg=~2cg#k_ zi^RQ$K6y}kPD_1p?2nba9)4>U4)ceET=VdFhlL6)#YnGQpJgbt+#a5nmySo?)f)!|L(M0=)rbD{hszwRb@mh=joWU+><8MxFV9ML=D2@@waTjus_u zdSp_S#a?91kbIES*Tt5BJZn3hy}gZrNGtuZk@_E{c7(3$OB46qCU-&_?UH!1@x}p4 zxk}5>%3*yW$Gri2pMsrMlevEI<59k(QtWdO^Tor9ajIWz#hE6%+Y$}`nW^)tJ$ofe zWtboKc5#P1s|)6Ebl^rAWp~`uoR?rdh3e2A$Xzrsb}n<&T3fZB5+Ur>I5$+c(c38T zArAB6v4g@`=A~EN?dsqMTDjl-&9SAR#!Wqz?XQU{%YiIOZ2k7(QVQ0cd{3J(Vcd^Lv-(ALFf$p)2HL*+Sip~RNHO{d@nc8wk zaUN0jIXO9nqdFlS%)$$OZFz2NOL}fYtLC!5`3mZd*XIpc{i)AWPARlm+Sael=8e6{ zk|Rs=b!=gerZr^`@DNWk^(iYY+WXR?l-pas`XkSmrNU@)KGM!RD&hC~NAF$1;zR-5 z@=Hy9En&OY?d=|{(Kfmg_Urv768?*s16;*Cx~e*A^|)WlS#i;{YOz_eWUQ)UTam%) z8A0^)Y_gq4Sw}6-OFVW~&qVp*g;u(reP!2a>!5{$8N%wKLmWDCzk9gFi}SYLm(4aF zC!&;A43tH9@(cB1USvmw+UFJAwa|4qT=)IlT{)a6v-u9Z_OqU*>t=IaAA1YuLeOic z?zzyV?qbC(wXl7qf{|+DmL}mA#4l{}QnHubVpp8b51aM}UF&1}jgBly4t))KQkWcz z3uhsz`@fMgd@{spwe$28{KU5hE}BCdgAt3}qt!F^to}@ru3g^*GV=2B%F6Cz1XwAL zb*@AFe4hG$rev)&LC?pEs(UY#)>OT@>gr8@*m5_jLC|oJ0-8(xN^y}_Q$w)Eg5SJ@ z`_MuDnMEEpMclL})sU8U32GfUm?3C(EX^cK=0Q6U%Uf$Yvc6{1QL$q7CP@^!+4@;q z#Ah)w9>3;GukBe05m>yOby1v)_phI13c#%zHYr?Y zkT&|&v>nT%eNEQF+8VbR;d|W5VDF7lO9}B5`m=fJLDA7B{VS0(vs%s#2%U@Mtp1PN zzu#5oG@a}#Nq4lbs`nI)>^5}w(0Zn7xXG@Tb=k{&<$0ojX~#kf@S5m)i}nz_B$O-q znyAlu>{O|sq5fzrHbq+EA6c@(_8MophTUJ;t}4S+c3^B5Y<%+m)Oo8 z6f%FZ)~d(SU;Xv2$Z>bE;fF7YReu{yVgK|^EK=*R>)EtPDomUpV_JFvx?o1N#J8zeK+ z-wr!RAPe;vWXTMlb`N$+PWj)*M#k?k*SKz`t0y4>s>VH*l5$_;h_{7@U*y%#NBJBb znEwMD{^$MydAI27Ti~;U678Vv(m&|jQDV~hgKc=NhPp}+jOy7pk8?b-FrXxqjYHuR1rQwxm9+7t~iJr9V zN1O?D(8)PhMg z|63~F3t*mJ-r%T^(7J;~fxa*u7beEstQO}*6koo*g?5yUa;A3wj2`yVw>w-D&Yg{} zoU~LOlwpOe6-5R_C$a!me-|g)``bpFpJ(0dv<_nGXVYh?<7LU(p(_KdY_eo&-xsqw zMu&jGvDP?Xa%Qz?={3R|-g>v3%jmdN7k_hNM;8~XXk(Ko$r(LxIOfWxgXZs1l&<0s zyyJzgab8N7552!ab(tIIzQEqs1JIk7W5;xQeo@>GT+1zhny^>ZfIk{;kjB=pPdHs4 z`2a%6!~J=-+B*V43bo7ctT`uz>Po%nU#|td3pmt+56XOrC1YiheVYBlEctn%JWe84~$>8oSWl({pJm< z`e03q2X1MMgW7eIXX{luOr@ClI9q9W%_Swf&jzoJRRvLpOJH*HiwQ7a|Xn> zuf7{{rn}rX7+@^2IfaExQl2iZKUkKV-jyibfn`9jc_r)mydovR>n05xvkdzZQG_ZoW8dEzPd`^hCjnsD(YM58A!rfADqU^|o z%b)sH{-P3t!PEx6jZRl}9JW!!ud%lq7+Cxjx-D3m&6(o8#qWElXojB=AYNVOfk1lo zdiZxsQC4QKBX$3*VRbhl|_|@kfE^ z>q843q|CGczKkASiw#k$EmAE>aP2PoIYS|G@jk@pn@s{jp6G{W( z3pMB1wsL!r@LQP)*c^Pc;5-BI!*9JSM;nh=7sG#eY%f{_y<>h(0tioIm9c1-5?|Po zp{4QKc)*4D5RsxBui9;mS1KYxrbe2oTFXV9b^32w_V+m`>s5$a@{bJt)PG)to!=dtO~~$Eu`rbE*R%5) z$wjq#$mFaPun8l5OdJ;v8@IVSTqkTq1!~Lk?)XzTwxUO!Ba@QLJP4~TaURNfdD6u` zIxV$2NPecTQO;XAmJQ2gI+-GsOO?ljwXyqwRO;%K?e%X&S9)4|B3_6p%h$`z5a? zOO=T^LkF=-J=%wR%wLsJllNe=XC=904Ade$ke%)GFg>;*nNkA6y4YtvDTnj=)dkJp(Ofdv}S8$bC(RIbwx}qM#UxNE*>vy}C zd(lGH{gvA&*ZW4ELtV?;03dz7lPgwSf*)P|qGq4h)k(?vouNUn)U1b@r6|*KPngD> zAf2SIVNfMAH(w?9WNK#NMM)4#=x;vV8Xv%>)sdQ z=dq?_)$_&q=k3x2QH_^c;!}g&l=)UL2?Ja4@qL2Xe2PIXb6ufauS9iqwDiAOD6wk{ z4M~f6Z3-^WDlYZZ3crB8byZU&<3}dBs*P5JhSGcp)VSQeGW*H?neIIgCnr=FW`<(h zIoeYBXl(SrPKMe=RA&ZBu2 z4Ia<$KL`shWUNI|a!jSMM;w~9fjox0@fid%4LO!`#mU6z1FUDk`L9tqd`V77{$Zi6{JYQmskgYWc}b3kzh~b+emYN^tg5OilB3g9kwqhCy(m3e@+Z7K zdMWxU07t3)N5xQPe>UkXW{1W*UR!RTI`ZJ%)LKL&R+^bnf#oU|@lY>Yc4r_j4 zAur}SSaraw+%xQr4h6{zUveGdhv(GT-To-s$$F3e@6Y0Pc@6MSHgmCIuFL@A^H+IW zc5rvE$dSeBxsD!e&SfxP@MPBb|H>jqGwp(*P`|6^rdzANg<%E%@smT6LL8|z#{l<4 zY7cElUX|4TXD|IstFS})8<#mnbaY5@Wgn%v3=Tjb@Nm+L82^FcR}As&2FH>$P<-=G)Ae3dRITyePK+Fwe5arV>x#@q;tn1s>Nz38kz6T`yyUhD=YoRlCX>l?9x}e$4pFVkcc~zCaf7YpKLcMI;v#4ds z4$avn4>7IsZa$`He(ftuCK@4zke_KcNupIqw;lVzt5s&w9?5?80wtrU-T23UZl9-Q zytexi!ua{|j22OMWGHlbYPi^mMF2AWl0@bC-9`seFfe;>{JOy6T~blu0^siLC!c-#yh-tv#zRDgAXL848>*lufT+HL|sQhPX8mK zyY8EH0db+a zJ>|NfLfNTs7UFr~M7N|O6GF}~as)T`t>q7{@UnhSfQjW|0&A4&CYHF9JZqMNV-u1O zMpv=jNz%TPyi4=)_wPU+E|G+vYVNEi;3voZCCY+$raycqd|pmNupEbck3ikvihf!XL}!w zA9uxi6MN-$Eg^pTPeJMdF=|w5flwBrcFJX{_tH|>RK(mmM2XI5PNXNddnU|lEIL*h zC+|$gTA*`pJ58t6_lE@wr(&YI4_=G40wpczJc*%}eVXWC*R5p0C2lfs76Ok2I!P@@ zVkSRONnhK&TH-5WGvZL9T={?3rNhI+3oBg^xT>qsFxPHA3%_!rq|aufP7j9oqiR0M zs}nw@DR7Kw$)%R<3^5>z?2g{jVgC!Fa0xKKHv<8E`=v(uyk~iMLI{)Z@un*BFKYTx z_Tg@K^NXEghO!Id!7U9>gQ)wF(ovVwRvnP%A-w_8s#HKH9LRQ8hOrd`%AuZ@{JuR+ zRNG$uN3T9cL-+LvV!Xl;KNC*|c{`hbCGP0# zYzt?q18H0|w+3^w;MpDRfQ5{ZT5kd3$oSsSN@0-c4T#_RKR`o`a#B+tUe4f@xFcY* zG5rf5a9~R>?CjPNQxrd8PZM8OS4qBGI1s0SI6U4`0$Y027tWnKx3I7<*BZtk=J0l~ z9MY`edJA(A^x_EF|ggoYTF{bmmy*nq*p^Ax1z2&Dy}tpNqZTNUi1k5%yh*gKn{7G zSZu6#MV0D2r1{Ak9UYxPLC}>^HbK-rS;+F0nNO!igQ_>iDJSqYSVJ;BqTloFqD$M3qBeTj;qS!3&!BZZoW zUAxNz=F>ml#qGxMCS))HW!Y2I(HUEO%~dYFH)0H~c-|qc{l^9xWii(BkuohH`&3TL z(b`H7R?B-jJ40Qs{YfK<`zGNMIk_NdcLDl^5-1dI$##n%9x;@E<9=v;ef?axBp=!^HRwbg4?u?2+0k){wZdlN=or0}&J5O|Hh(6UQ!tbY zw(+4)`7bGwzkoDPr9S!~0dw6L={I;R2?pq*)`az~5|8dEAR$Nqm68=t)Hwib33bi3 zb7J%u0R;F`Tv@rRuuZTx^Vw?WjQ#rcu_Vhy{fu;w3f}m8241&l8oE>_;phM-e}qeEyQYR zW*pSga#_nfiFWNlZ^ntJ?FE1f0y{S5C~LybPQ5tM;QJhS&Qd)1AJsZe-)y46mxzSz zl>@vkm2_gaw}$oHChle@MrslB)_vCxi{nUnY{hNBIjqB~oLYQ)j^CI~fUyz}B8b<3 z=~vu-q!K%XLecF4kwAh}xT25H!w3?Q!n?fzms74g78K@8@_t^S1|G3zI|kbuNIBkG z3YADcY@|nQ{Gx*0Yy5JP`6QkUkCvHscEt&%08S~~JTO8Gcbh((Wec&dAVv#P2~>Wu z-SLpI;tI2lFr$SESpSn+fFn?q~BzITACrq-h4qelfeuSsw~;epNt5?9|alDK6!d3=%6Za@|&!r z%mO}P93cfJOK@olq&V3Q!$NoZ6e4a2Vv!dJ1tEvXmM#tL5dRcbByF;A&`1*w+X0*nE({?8Vo?Je}n_jk)WOKRFXb@ zbpYsp z&$CQP*$`+7wE$t5n3}F_+w#MAUMVXpYZNCtb=<9~sks2<1KV#TBm!V&&^dBCAz@+A zjY?{#S6?5FMc^nWA44D$rU~F*5RDB1n!#>e27tyv>l%dm;_1Tr+~MbsI0io9!jluV zc}prInCfl;MCUF8s8o2Acma}%J57T2)+Th(3uX5pH)TnF7zE}w`udZ_1`TH=_a>&C zE<>jMPEn^z=R4uT_wV2L_xFF0z6^ON`k$9u?s>8O1?eM&XrQ1m>FMd98(zw4yxK7c zJk!ta-*1ZWygDB)P%(=+OtaoN4@s3g9YL+N@BV`aB}uerAe6UGC$N44M5|}dp6yTZ z1NZ#pUvW@PV0BKRo78vkuGJ_~6a-Y>AA)i)t}gr5f8az&32DA{&W@T5Fnnt`lh?Jy zGmsI<(?{b6k`xiTbmt+Atp5r?#lyn`blf8(uTN=%`F=hf?ufmYy&j18nVFeEwqO=; z60-&t#ojBzaGi9&_`mn-026)m=#fS-`u0B{3qG|;#*dD3t0ciJQg#0Z$c8^5 zr{jGGRtLLtNX}osaZlwhND2L^+%Fh`M2nrB-Aj5(o$V~-qyK5|GwAKfxBmiG6EF;XWQcgIZ-gf!1QISr%6}F$vS0^IER;8dEJjKUK|JTa zd$+x3Z@~TIrv?}pISw^AC}clbzm(z&?{&BZlK^0O- zA52HGD@tz$t9)XXl4xX2b30iUi7GIQAQqT=O9(9}X=GAKc91n}UpD`m>}Y1Wd_6cZ zk*p2S{vRV#e05<2$ChkLapG~d{mL-@Q)--+fW7-1i6KUh57l`wzg~TTk~q?RqBrg@UG-0KySQ8E^hup>;+i;Wnh)%vbo8O;VRaGv*-=92M#Co_0 zkE%jc0{$l4JX~`9AVLE__S;z|F*=%d<}J{s$8C&WtL9ckhp~<{1T2;B#;TxF948U1 z?v&?BVah=>Cl@z&1{0O%S&|h`^ETinuHRUPEJmIi4J`V1XJ&+jPMXwpj@66 zk2nc)VFrYb0bgDG?}$bG!b0qQ6~aNA458D2aNn~3`>KshevsU61ClDb${e<8jlg6va12O>_QA18Z~B(d=QNw8Mc8U9IvTjM$i5j|jd)6*CryX-uE;_8yL?_d%9LbA`^XtDPK zH-o6%C)ax)1xT~H>Aj*e<$1i>CdvH9fUulTOlb#35az%J!ujf|^OH&MmEj0U#LaC7 z;Ko6**EXovy0-TE6kYe`S5{VbCyH-_vIFDAnbNk!iLIexjpOZx$C4l)FLmp0&-Pwp zn0kQkqB3FrQBmQI8=IOeGgYimd&EOB^M}PEz$mhlJ-N#HxL{a~Y~S*OK~}I+3`)cL z_(k_a)riK8ZPLje2blcgopgGhfU1Eegn~maC`{(MNqy+LMgw&gJXGhVzg53SN}<*3JW21 zcMnQTgt6dgSmg(sR-XaJ`DLeBA{|E(QWHaCu3V?XcIik2ViaxnA|5-j+@~VS1 zd*1}*Y&p^z9L{IP$^*axaam6MvP8+p)l=XLrl}x#dB=t18GCgAETf5&2QI6A$-mJ8 zghD@f{=rg&2^~^uf1H%L0v*I$f!fxt#a)R7f2QCCsAWuMlWu>r?&|@je zowp~CFthFZo=}X-x;Q=8rr7m2~wo+)1PVQOzGlLzOMT1_UpQgMjS|qOs`;KC3m3h6at=`dlzsIOC&Gsci=S> zK>sTDwV4m9WTuZ2#J~xmKg~4c=MkLcKh$n9-Xo3wV*>~YtmR@N{Pqs2juqg(hx-&P zj;>~NNNPY@KqLH7!TfnTgO*vYER9VCt_5L%Vh&G%+&?09F4&x*fbU<)_4HnHy;x{_ zVS2Sz^=igTN{RUo%=}X_Jt8pM-_&AbGl$1bZ8&cjLfSm4%~jvaSK8;*hpZIKcc@n+ zt%@sN{_ufD`A^~`u-INMC7EAftiteTsrdi=`m8Bf#$g^(55^g-zW3 zhcf&=kk)VSWI&2Ol#EVFnqZ|<3`>9&oYR&Emmnt9AW{HN>Xo~>E*b~)#Wii2zxJ!4 zgTq&ns|p;$3(RS0X<5DiMAC(s5#tCYib~SNtEl_3p88+dYutUOFg9oGTBp*ZI+wht|rF$bJK5G+@rW%K}7WXOb;Ry7vNm zybR%coR=3{nuaIOuIKHU=@ttbI`@8ge z(*75K82X=)X4$*m@+2Cum13NL4Tua@;+LuW!&%Op3@@pb21Q&_;%glYM>5-3<2ePP zxip$i?s_q-1Eag`LV56agRf^GHwUUoWhxJ!bcXNqFp6(ZawZ?{-oAaqTyiKzsjlIE zVJPg zIcCpBKaCY%6Ryv(pNf)jT^TGLdj<~)(sfy&*#D}5g8LR;9pXub4n*I+Kq;1MT&1iv zK`0vbW2M*g7%OO5nY16y%4u_BG?<)i4aNkNH@FUss8H}o!-w0G%4?HGtbdBrhc(P3 zZ_$E1sha7KaPc7j^zhdJ(CGw4r`xu(!ei9VWYF;xR%C1 zP_|H5td(*Z9}m0xsYOEQQ~Kkp>9qTw;4a#xa%bs=Y|&-L5ohHqx3iRLJW!DoUaqPM zD|w>B>cu&CQiS1C-z){05p#`n$!oOg-L+ffqP#hiw)>Cu)1kFS;Y(D^(yOcQ-Fco54i&(%((^Sw4Xt{Gsu1K)$U7Q$l--=2@dm(^tvyq1%0|Ea!-ai^a{f;;$>-lp4qSN+r^)h z?9&vyWcu>rjDw~KCdNnO?;9WCx93=o##)Ee^F@Y&sILr}4u=;gbrBbsJ~)FyU5A|= zNt}GzUT|Dy=M`4})r0A0qI!`bNqP>hcH1CKL(t?T)BV|Jtf;5fG6c7doftL|#lNqX z+UzRGj8^6Gou8M?`ou8U&{^7t+IO{0)O1-pXyxFMcJKHw<@I*lZ=`6BjV3x%t*FM< z4(jtUPqFyWNp*%lYaY9qZ?1Q^HgF@MtsMxOi#ST{f6A`=LL5gtoy^tW7#8FH@hmV5hC+(L4j?uzgYx#W2hS= z!<-j+6xrm+^pLnVNjq`k%^naWE96N|58^PGW1znKs>!=#Bo~hp#Vvhle{4Ehk3N1D z@#ev1ckpfU3s>j&R}92%7N=pK^CfubSlZtAr#1>u>x3QtW>(T9W0jP4cN(n^YTfGs z8*2%GA)cS?j7&tMQh;Bzus_wDP;{AAsAzUzX=CVTBs zSG8=~Av>}REG#u{j3JPkmn*4Uq|)bCvsbpkNTYGp7Uv6M_AD45+X~&+?y-uoJj^+j z*YaTs-z3t^o$K0qQe0R5eDFxuFtxNa#Y}q`+b2n|p}IIc<_I3InxgtKDfku|=mke` z1R~W(mE=SjX|Ev11s94!0!QCWC@3et?48Z>U^ieKvZ1Ht)!TU7l+mcnB)Q(W*pc;h zm5{=$_EnonO0TpYrV-N7p-$mEu=NC%SDksgS>e<5QH%&rja6TiFa^%w<^A+bJbAH? z3qeig*mWU<-oV3U_L1~A5SlC$9)J@MkegBR3Dzh?g-v^XKNgvrWBVj(p|E|+)!_!; zPFw8)hw1C3H53E&lrJaBk#O|ARl(E+WAi0i{q(cIF=l)u1;*5g&<@4gXqJ(z(am3K zpg5#v!P1a*KIK*KaY5dED`q!rF7|nG&1^6}$zm)%P|Kn{ewQKro)~nvISd*m%JC^l zw|7|8J#Q-e}hK8>p2j$zmeWEZSfCQbgOg9eI6xnju-j+ z5^Hm9vrcu>+X{g`F?Db#;!d%2@3tK}k&Kn!pBhue78z#fw4ZQGk{L;n2J=l=wN*44 z{^h*qfCH#>O3gH;+wuddkt^5h9jzdj~~LwKUMa!u_qWD6Vlhh zK3KFBMO9E&KeP5VRI;-#z!;URVhxHU367Y6@jdj zGOQ^lm(^PTY9;0!sQTAz(1nqpEVJ0hhU{?y^m+(=;>9X#&-pvtgX_=|}2(SSv5O~ zzQ@*ZxQ3xadYc?BQp^5v-}BdbepIyuocKdYV>43Xa^a5aWR5DuuDVZ4;ugLe5t1C| zIA<%^k)j(lk}=RBSzMiJsHw4;-x0I^RdYMa1Nq}f@Rcbu$WvA&V_7rL2W>lZ>`B< zWG!6e+3V;@_vPO>jmO|z2lvs|VCm+B237J_3;7MJ?B+SqFk;6z=4b-NL8G3j;j@UT zNvNf#U96JUpZO}uDe{7HY-gmBU85^+TuRTV`~BDxJ#lNLyycFRd$vXm6DZdev^%o3 zx!;3)fBym4-%Zuq>;lRI(Po9U-*(0p9d-?KiLlF6*b&xJw8hFD{seqDT3QIaQ|h>e zF^|<467I_H=wWcQA1!Ptm7;oi?@(ue&f7`b^cF~2;-%8uCwG1=?IN*PLiLNaaE*DG zZq?sC4Et-#c;>sgdA4hp3lBbeb*_6`&g&uBWIyJ07BeBGgR=*f3A3l;c7cZ}|6{s4jxrvHSWScX55T;j7U_;pm9s z-0{lVw>$7{gdnT5xpLF{JLt&}ml`>{LsNMq1IL8^53VnlS)aewc(ZzVP@>s@R3`Q` zsa9~baCfT}6POqJZ*{aoH$YpRF}pf;lC&~bJJQe8W7-@V$UusLRTqrtE2+lvGv z#}+_L6cj76rQe|obz9c!ZE*NgqR8=r=X$^M6mx+pGBjJJw9Mp@rR8CINM5CIW$+!k z&Q8gNu3z-wjG~quA7Q1`S2kPAxc;ehf@#|IHTxQfAE6JO3D%SS*}&&knpyi?ZJ9mv zIilCUXSK5s)k3pF}41G)ZD%etvO&etu74c|L-U&gc8aswPj& z`pbtLFG)cf(#t2c+1ZwSG?Y#{h&b`cPi}6lstS(Z`_T~4fI`*(SdE(sr0!wX)ZMB< z?n^9xcTqTt7Ci-IYh58rDLAde@orz7b?pa8&@d*NTVEG$HNwfqEVx%LUQ@Fiezrp6 zR9@&P7Q(a_@_0|Qj(>T)W;^bzbU#jxMLNxSiEs13akMRyo57)%V87IJR0T-0LeVO~ z)x~S*7ZrLG8XkfQgyNK=p$_`wx|zk|Jwk8L0K*lF>{E5UU_c{ zU)bMEl{$s3y{NVE8fR1!)lmJO6~;8>_AOZFAUsn!EElePmr_^utV_(gkVLAN6Tjh%fyW~&p*`_}p&VN)aCUnST zw}Rt*JypcDccN8xO7?93rdyESEchO#mgq4Xo9l?B@^SBgin{*kWrct7yKVD!Q#^{p zAnJy_#~e6e)R(c`eYS%C-({&F9!K;KrYgoBP>A~M9?V6k*fZbc4ZIAWR*U`gJWKO0@2JFq&-ol(aW;zy(dpE523;bW;jIv*<2eW;*{SvYKj{!4-TybN$^V{iKULYeSf&I{ zs2a)eq^OZfv6|IA!E&c?fXjt82(eU4hY=&e;mYkH3^=nBI>F;l7e>zccZ&fg{wVOe zbopX0<3H2C|2sicHUL5ZXy~vO4L2s8cne3U>&KQ^Jx}@_enyGa$cwSjm)j$lemSt{ zy7JJGv*I>_q>VWLf(V{?^6Agd0&}EGb3KP5x3t{!1S$@?LhVvCXfh=S-*qr=b<_BFZRrJU94+5Je)uC@WpL66fCphA0 z=_&9Q#ZfA&-v$6B6y-_lYcm*K)vdYVv|Zj!=bLNYq;q5fikgpv$<1^n2{h(=__}cM zBnelX!&KUB&T(P$(JYg4uc|u&=C7;fNV>*_uvRBy9USICVDn1B?7fXnMwKk?vZ`Um zQ#7IO@?>Zm+u%9aE9eDXNgP^h);}Bgsn)Tz5skl^R@l&gepfiue7*K(6fRlZdsTfO zsRMoMyqS*XRKyaWx92z??MdY>j~NdNyG6gT6T>{$nZ7e~T9@IVd6kZ8H4bj2cHbX> z`u3M22dcU}bW~}4Y#BMy=+`2K^RbJfUxk7n8}0w#&?-N$*3gqGH;TB#sj88XlV6yp z`SR#zS8zGAkA-)GPf7=EVLZMia*QQ^bjZf0D0fm<4c~PvP83*{l<}H=%a`R!SkrhB zci6QK*Qm(#9G%6OhITT46SqW-+lL`#t|Bjl<}FRaTE32Q@8v+#yP-n~^lvoycv8fD zHs<>kuuOHsH4@E6fY1AMWmh$auWqZ%x-;KxB?n`b2Y!+hCCz``CSOvvTx7C-#Dgla ze9aQjO>R#Nx+v&&E>xsY=ZE`5SqnKA^Kl9%2NhYRDa~`l{VGq532;QpXl9j`ypvw0 zWP@Ifd|!O|m!2gkA5HM;UgGHX@EAVFAySY#UXr!7Stf4G{0)c4OQ+g7x8ODOp;PJc zQrg9V_7MTjW(ueLjD!ld{rPS#Z3YQP8mK5RXe77q%(Pg?Y}XbaGo|JXT-!|59vU z{7v$%Zv@rhl~DUTHJhdJ;O|L<(}%|i*){(><}0-ri0{bm=wRW8FOqMz!?itFq1(lW zJO1KBK%HYWgp786m#eIyS>Qi+~#b0;7DnYdkN5=1Srn6d@q%uDiG$mZn9p#TTm;1)ank%s2`$j*y>S;FcnpnmZn z@9}+A@qCllM*0}tI-&Xj)g8~4HG}FO^%5xT?8Ox3H(#fu9w%6Hv2ZIYeIMI7P#W&K zp)UY!fcC8`*dD*KE%r6-fex6x31}2hYfYSLFz3nhVck_HOS791wc}=TRp^d3h|^(O zkujR}H^grl?ULTh>s!WgiM7-OO;O(VM%Tc>qDV;Fb$E#(p=6wJn?w1Uk3P{o=*}jl zBa^82hA>h&SNDQxynmOC%dWv?u#0p)tahJ8^}g%KsQIE>C_AA(Yb&^ai_<#&NO(b% zYU-+bSAw?7op>d`AE!|r5+py1WLSB{q-j^2Tn8m*Drb-=D^%&y*4DT;yUyahe>5Yt z&%+`TtyGg%07mA*0_z<2aMQ0I(@hFivxmF39w5gn+~r2V{6%}NOZ)cQ$#;faSdWjg zYTSDA;I)986EW*-M1pr4bU`E9+Y+@Js{<9SuRSNK@=VxpGc+4X>|^>+Ct4T}TZt0& zSuDG*zMJ;rIIFHT?6`-$R1=#{?iKX;j_t^I>t7!9RM^qgcl+Xfi457_kJ2a(TuYj&UK&hzVj$&UW2r=@I^>HiM!>8ZgPC>;g;jwx7(2Mm8pk{&v+1Pd9P{cxD)U1FGYO%1Gk=NzN=Quo$z`qv!=4W zInpcZfp>d()n&2XDzenI?Gp?R5o5d(nv(N0TDkO*yt(KA;;|x~`n=NJ1h17zCC#UR z3Y|JuYNsxn%fRxEWn5HbDsjMM?1y9Hm}Kvlx-S-V%-gjc7uTq_Q_FtT6I=T=5nuB4 z*fFB(+aR}&_RGX_MYRD20IC{qff zd2X)6M+#Y{Q@E;tWajfGS5EUeM$gIxHN>XoEikg}Cn|R=39K(hn~D?ee~-iUN$LG~ zs|W5<~%Z~ZkqA?xEX}G$yNJDK}Yl2W|$*7VMJ)vPU zSD9NI;b5ufoUp@JV`ub8u=B!Yo-W{sJ{ROleeB>9nGcQHJA7_RPn$ec!t+LKCX{}C zJNiL}Z^PiTjN00X8`U2g`YFg`iYT*?1GKT$LdK}j7l=TL2~DR0vllF?St+3 z__15feD!&0@UaSa!YkWrpC6rOM-IOq2iIcQoz3;7Tn=cRt-;|+>IMfiZ$<*P(I}uP zNLYXz9!i!C(U4GFwaypbMbpRXzAt;yxRW3zxU zL$x7U#CfV}n998tgu5(5T?a+0ei3$=J@p9)MdM9A3WHI;4}n5z_e|U7C|0WMCx&>L zj-#LO7wRTSC{O-$RrlznkaDGI4C;57~MJiqvD^3 zxVe)pL`bids@5~*QJg&;%Y({Q1+}Bf4OZRNLBe4-lh<19Ypp91^@zNBo<3P+cy?kO3%R-%Ee!D3VVo1HQpNQJ#)6W8)R7D;Mqy*a zkJCz8P?!G$p8iau@8rHAWqLGR%n~={l=gWTZtWbJ(Y!*TG?dkrt+#!EOUW1dE%8ZKie@qz-E`M~l+u`Xn{RbWm$Nj8En(x9c@I-(E~Y z`eT=A-dC<_7w7_-w8KqA^;{~98@iR$#NDbn-Z9y+%s($raGgM8WKKk?R$%4&;t}Da z9#Qmm-W!dmzt39`|7F!7Z{0TQ?I@DkP~AG(RVx?6s(=jREg#>o8QrNmD`PZVzn**6 zuD}cL(9_%zE}CqiI1z(Sv@lNJLdgZz5UVE$2vGI_v$zecpMiD`xWF;y&XNE8gBPbv_Go%?1B!?jnakxF; z@0{;j=bv-ex@+BU|KW0mz4vriS65e8)$_Ffch{$GO;ou;JKV!7HhS^dt`)tjgN_+_ zZuXrlp*ABq&6aK3M^(Knc)@kApm;)X1{xCsMHM>8B9yz9+i7d5Sw{V#qaWRc@dxKt zvx@VCi!y1sDuaTYYkYFXLf!Wj<^?;%#Pr9duY#S%PX!RjL9+PnQfqDWSj&mVQL&+3 zzYl-SHy58NBVXysLd=p5r|LlY58fmcBWG`m<^Q!@wsY4Tg(Rl1$JftBe} zfe}m>Kef$3yw*z6ROxbi=)70O{&bUEz9CYouB;{Y!>zS#$;+QE{N3EO-r%D0wE^~8 zwq^B8VG@KTLksI$fo#turaO(-jaMPlbnBnq*06tBRn<@g{eoKVKp2nAWM$0XiDYGc zCg`lJgwPp#mN0(VnF5kGp{Y}|JCxBp>8s5`yrXLtl+MW-4j}3~pmK+-+sNfr6LCku znT4!yKL`$pM`Q~-I&}nVrkcmhyE%!!O)a*@YWH|~s1v#_*6T9m zy03ZnRbcZ#EmZZ|qe@gzx9N6o`S?#?im{-Moc zUE#aXh|kYsruqz35Kb6IPIb?z_Y(|JGsOkb*TEXa3^GqKh4i>wTZ*EI*-syt26HAg zz}&{KY)PM{su*j`5;enJ3rFauUCJ-SmN4L1QThvlPnU99T)m4U3l^T$!yCB3dL?Jv z=w}C8YnJ*RZ$V5YT=KA5Ww?mdU9!?LR|{dWmspxwd5?UmCg#Syon)7l_wVoyL06;0 zz-j>;k()7oAnb?BVftvLq1Cc{SRyI?efL6@;Mm_t?`rYFPu(d`ui2a`(+ z{;miM-Ew~N>PJ$C+%|bpUKmm1?1*2sd-oXZt+g(?79i*SOl3UnLyWlS{2f|?GTUy7 z7wQCC&4S_pLh@oIkZrz)c-;zTg6(SLlJEB31ltw6hj1^u&mQWJ+YULu?dRyXt}Z+_ z_MB}Lv|S3l<~$;&K3r73ASLe5{N6P1`c@>7tG|)%!Ouy&D}77G?YLQ72|`C}+dVNh zLVFxfuKGo)+-@jk{MPNxb%e{b^K7fX&GW|+55P99&Z_CSW4sTtwPUI_C2%wcOjLQB z;_UtPlcrtn@FZQbAiNM)yNttWPV)(Sx_XJ!UzzQ01xcsssOvKTmu4oPScOwe26O2< z$$5w`K3IV^fck z;|zIb(7D>G1}~*@?KTGswGn!itRz9J9=+(xCt<<FCZ+4T$W$$!$cQWv}j83WTZ~ZAhdGo||*7tS|l3{wgL1uMmlNjf=|8r|VlrZgO zy_br;A>;M(H26`vq{pAd!je=ETqBtdx)#F~Ua#iu@mS8@@D51r_EL&~lnGW^12+o6 zdF@j$u%Gld1SxAbRQNqHWTXmn#kk5NGPb$csDw>dr_pPT|Jpj1=}?1I)@j{uP`(l` zZB*{H)~cc&;?6B%*4L-ps&cSZo8ghC?B);m6qIw^#bo5dqfu|9e)rlMGi{+C&UjjzP0B|FDPaEACt=Y zzeqC$Ko@IgBWi9XyBiUCmOFVAwWz)qiB==-~YuvcH`F-&TOG}Z~?|32Sc{Bg(x z>;I5I?{BQ0vjf!4cXTL4OidQtxac-E{_=zC68IZB{cmKPjUJOkeY_O4au)IisSw;A z5|PttII{`D^y8P$S6q8dkk%NQ2G#s$@pF%*77BcXpL&5JCFZ|G#v|A`s6SITK-Y;O zkO_RqoMv+XQ}7}%R&^Z(SBUzrFB}@Xcr}}z2I{=f!-Vi-LpcTP08&j{&_Y6Pt0ggq zDhT?+|7NS?QyrVHwJfA0Q=j(E5<-WOxx&Ps+z|T*4d*0IqVt~#gN;+xMIIgfjpMJe z9ZX8oJ9qKkdk=0&^gD%toK)5z23eBtv89v0S*B*-GV>8NkbKpO`)@YMP!d}5>P@)Mu}_7nK$(!dJ)mF&*40s*tSvb^so-y9>!~HH^$TaCH3F z{H&DnyD3Ff8@|B*R`W=42T#D>a_oIB)K)7ELT^WQdG0v<O7@!^1aI&QQ~ElZfv z@$-=VaVIy$al@N2eih|dc;;TEz@?R-!T|MsC% zPs>duw*iLb+f@K0@woA44^V~T>gIZdrR0j-F~oBMXgUfjg%}LHX0zAd?`X}wy9Dm> zGy7BoN2nn3f~MaE5?EAJ1T^Ho^kj|ghuaZMk6=7sLrwey4Uya_lp{<(oRXUW5MSH1 z4@CY-%52j-qR!uSGu!;u<22Ni-9J@XA6|ok%5G3CyF_$xEe=0FfBC@TO+k6;>vyW6 zqGn1`*nDMqshZ<4ibCyD&$(>(DPLjKw}2;0SpXf#!Nx`J;^6mq%EeN#vKTzKr1H;N z;`v)t7-)xv?I+946oPNk0ksc!lA)p615{|MIZTR5=A}M-9^_sDtt~!{tk^1rVI#$6x6*&We%&p91xIVeB(zW3Tdp{S@ax z{Oi}l{Z0nyE=>0+pX?`5Q;?JAfN?f%%fgrCem6yCDn#W-XBon6 zQN_a^S27t+tmHe zSZ#v|HIei*tCgPe3d32pP(<$rwZKC`50K+@Ukw4T2jD#n0GdE-fEi)|kgF`vmGhTb zZ31i#n_ymP=_$x>f>8sQCH0z3?p~>rf3F6+L;pZ?{z&Vy#L<({CVHb>Siblg|Or&U{A&)J*7_+Z5#o{CxSs*3T}G$B7X4;$n1Q7 zjTCQKZprX{@v+184$$F=5jKLSN)3Vh^EW}E1k7zM2`zEHr}^HW?T$gGA9Pv1m<1S< zESueqoq15<%?yF>YA>x~vRXxfQnrRGLg;_pI2SIz*Ulp7Xz(pip&{x$@&i99T|o9N zU}GJI=}B>#n(y{kh66en1H2y6T;mJG>!-*vfE1M@4V=4q+h|E;JQh;j=?_N`ULIgn zt+9ca?t)@ZPC?u+1t~s&(%zYW8-8YgBjo{H?Y=_fvj~tAm)QA^0QCUkOA(hq?dd9o zbb8H9(87z^ST(7G4>S%>Pd3RnnhyK{m4=8CAObSSYmZICZ#Dm8bkUbH%>p&`k*e%z z{_7M`-O3TpZ{9Q>4wtsRD&LWR_v~yjjeIdSHU=stoO{zGHMorp;03D+($66H=VVG7 zj$s(7Er<#?0JhD8vixjb0Ny!M%bkwyZustqK6v8`?nF%q(e0+A%!f)4Ht-xhnHtV! zKKv-zNc9Wf+|Hnyni>7Cr{}UvNKAC^l2UPd&3o`t*1w=Uw<&(RQR8=p>#spgQNkltvggM`MhzM=|)NqcuSZ zU77vFvgM?EFF(R?yy_30z`8YxA-(nKr>3(N@i%D9>AWz)6HJ%vA5Xa7{-+keXatG$ zUqQpt(QB1>X=)1L=D6McPa>;_ZC`L#R#uk6*6Vu#tmMp&UHNiW`FMVe6g3~AU|5xL5Kkd1OSe55{^r3c9prciQv;_>8w-~m~lb)CYV}?nD#%QdSr^l zZ*%+b@GvKc;jk|lKcsHE&djtHco_#60?LBVo!kfsX=(qx)v>uBrbCK5t)E zL&#M-9jBoRfNFkQ$J@QR2@L=R6-JJ$m}xim{gWAVu~)QaWA$zMOAh!wV1PRDIGW%o zol>9Q2l3nzr>!)ln8pHtv`jymT$rRLiKN79(IbAZ-DTGwM8XYw`%lkFkbl32#-BRX*B-U$Zf#HjEJJW!XbFeF7wW1S{6@5x#hXSOaOYlDg zcTZGBe!riYnZdv8KEuJU@;2c5i99+3*nEGyi~@2%!vPZzjf@At*|@KcZuW>{vOu*a z41))BqApyB{Dl92a-Sl)7Z(?|gPD>>IT1vDT3uZQy>EOHd{gCgSAxeX`K%MckHA`n zUvSs&5G+N<$H!CqEIwfn+wS5AH6{cm+~-RtzVd;V3*U15_5XJ*+W*A{=6`xQ-T#;_ z{0&b%(#J}lZc9TDCvM8NQ{EW(kO?4S^FJI+*Bf7*WjOVSqL;ksD*`~-=V6BpsgY9S z)8wh+d0$~b$>OP82z1B=I1{u3&p{RPPkZ3w0N^1*;1#07X@y_y?V=BWXLJtTBKUqp zDPZ*+yN;5cCb_8v5bN4!RiFeLIH{+}!*FkRV0k|M)i(4L-Xa8|bx5xeWJTj=EkOV_ zF+F`MS1mno0vmY8nt*`e)A{!o-#Dgfr%U;6ZEq91l7qV8b16>;&`zRmst{fz7&ymt zeZR2OpQ+&FPcQ^a*q(5mk%m?YIUM?Wa8 z0Qc^EOE2;qxFJ{35ZC1)JcueQ^}G?Mp=<26_SrGE}cD)gEO2n7BL`7!=G&@-%FObIX?-RE*}+;D>+>fJGTwvut`zpcRF zHEi%D7~-nO=l!~AO4XJ{c6ne_rsl~*!1-Dbq+vEaOUF@Y`o1{ zkF?UGB{w9iM^%>#plF*iTk` z;3SOH?P3)!AD3BqXqOtdJo?IeE5whpJZkO_(!eVJVzF&x-TZqNvp-qkRddr8maU}T zl!UVt54mi|rTn`#k{{o(yF`zjz-?NT7?-Xjt=PiSLok2hi1TH{Wmr+-zJ6JV8Kd+IiibqXGbKN3190SBhaBx`1Q=JP0Cjbd- z+JAP1X53(q^7->CI#WNKT99pE_`)Jt^O-?jWJt=vBOw9x2eA8%N1JU73iZGrCrHr; z$9tp;SPzit7?=tr?|S)WbzZndZhAKKJBk__v7K{()?dtL-!aP;%-8Sk3ji>l2fivO zxE&4tyAO`7Xjm>NoSB`yZ%7f)^Dj_buxxUGlHCb_fG*6>U-GQ}{P{D(DS7$W*p^}Wx4^x=JLcN}`!5~OCCRN zTy7#4Zw8xzZm_7Ot?nE!B{CcEj!BG3Fg1xtF$Mu~Ov893m@Pb>h2O&|kdmqhTXvo7 z{QUT2Jy0;XVCu9Jwx%;t4QLAtVI1VZU!LRxB$rRM2p^pb>1!ey(8N!j;;?|TT5*L% zEY%@{mDTf&Qb)YTt`}~e0yO*~wWLM(90gL>&k2>UF%AaM`-$=JEr|xyO$Fesj_83UmrBUK`M4Ip(Mi-m&0gcdTFq4GFF*^_ z0KCL>z{LPIDxn#&_3|cGXZjEL2(6Q#fScmt)tgm*e83a$@~lxyP9r~iAiCSq`4${Mls@kaXTK{|KcpO{|>S8uSs2j&=TMk9bHSFBr^ zrR9Kc?|AUb2!WWm%VHlO6VVTrre)XN}u|yuzzIt7qb5i7ZsyJhymUE zS_(LF=FL$grb~Q;7^;t&#cCI z40eAJM#WGy;aQ$|_K(xQB-An-f3-p-0UPu2DPWeodkfEO>S72U<~ieVy34qQJHkK! zPs`}Yk_)28GvEPUJ_|Af=84??$2FO4KQH@Bcx+4qznoG3Hc#!jx&-X|01iH#t5*xD z00j&BM`!8r*v?Z5038c>yrMu6;qB7W5yo97us_@AdjxerQIEw0JPtn-{rBg{K9JVd zP`ezQ57hT?H{&YHvCFHhFudsR3cvapa@CoEn)lV~jW+yd3~W83Ij>O`oh$zhYhysH z(h<+DmL@@Uyg46U*B+|@+69{Y;a|Aa-rHU=tI6`6UgGcU98$byT3C}ERz`bQ~gv~^Qr*j#dxYtf#9Wk*j z)mOYt+vh^1@VZxcDwX*HJC3K^3$c^@e)q}wFNKVknLfeKQ3J=O%gX-SzX0hcqamKj z?E^U1CeM2vbek#hivJ|kKDl=x%u4S2SDEuC9~R{0S<&5fQf-~wXE3}ob~f}s4Z&-$ z^Afkn$e0-MlM1j2-C7C_XbLn{7;)4#VC{d2}yFEKTr%-3s=4C@$w{Dp1A!u27Qa%aosR~nt(T8pB4 zQln^~u^=2vGv*cWHuA5=lKguKm`5_ZQ!t|#A_Zm7#PwBw3eed&z$JGQ^%(#s>=6dR z@LwNt0`#kZPLg93dOTDAiyXKF1Uq-ZBCxvH-{c0u<*&moToF58jh?gsV!wApzILlo zT+|fj{Z3O6QoAMuR^xx(KEmHB@b}hcV2!j44e9KXHFD&kcv~}F#ib^6l?G510SCb0 zzuo)x;#H~B<870p(DvB-`uLgcsF#z~33v=IPdLTW5VBJyVJaq)5KM{7k-vi{&74E5s*N#o4_8Mt%Gn9p&XCZ=4X0V6Y0%+a}YD|G5kB=`^)IJQMAWhnYLy{F|Vv z?+B-#{Z-=Qajy>%5AZjCe>8B&Jz9#u9sc}C8qIly^6Ou_;s^X1-Lj@Lb4vMg{8Tit zpn#<45@qdw{+^U`ndZL2(*6ImV`&0+dE&5FkHGT%xq98j0xFji;PG6CF5$yD0dKQ? zd&_{ymMi<;P5o7UdZasl){^gh;6NT=6-<)TOuvtvFSb0ts@(`lqt(yWmhS<#$;br3 zP5=E4U%*0Hymq#Hm@pAs$)2ULjHtV7vwvCrheA$bL3GI#0v<|m?iOG@lJoV?5XJ;i|7iQuOpR`53KH=l~KLH+m)>*!Vg_DEV?8Dd|z;BPfS zzPRglVPRmC6YKdQl@^c;6QIr|9R^^>NByn7f&+hi4WMd|CB!D z5SO_%F;(TeXU@K*Q}pn7yZmV)SWkF({?h^5qNcly8Dhp<+k0ZEHMI(4!$D(xADyW>!2)NCKxfQXQWE=9jIx*TVG5QQ;cmm2@i|u| zN;0?Qf_;*K7AAeH%WYBc6c-5ZZU*zFkMpmC8KqLuMbE;RF?+F11u)V%Omf|S;a-z)2P{^`k{ z&HP||OYrzz9&1!>GiDr&I-P<2vk&km_byi%Q7!cS(P;CLQ&MoLLitsjkF-tK;%H}=HI@5Z@lmGu>Mgemy#@K4SJ|$s{>eE& zKh#Tz7c%!*{T!`sCf{b9AZFWi-COHPu-SnTw_bvvZHHRm%1*qrE z!{p_O7^r;v)nYknxD2#b#n4CnguTa#V{SS-8-y7jqIx)p(DWBD^|mrdxBXu`oG28r zuWt$%{41<~_k0BJGp&>O%v29YIrnBSY}!|14vWoIiAmpD_YCkwg@p9D40c=S`q%Rm zHB~z(?iKKkXv=yRa+)wYz(FM{*2Y5~9(qlaf zj4Dg@zj$HBXIK`fU=xAb`YAQj!g7MYh5X^KXO(8Vt|Ac|wXSxjxUB+>3^F-c(&+gd z3-#2_5*1@4Uq|{pL}DzzkNRjp&QrfY?87yc0*r4W#ur&K)2!958&%9*@2;1Kkw335xWGT4MKuiw;T1mqx@+;)%)nq=1GzT3OQ?0ZfhF} zCOs8X3+=@1g8YpU%{T~0g%q@Uzo~>mLG~YTUFY_8+9!vVztVx;a%z!uQygly-TMXdFKl^bPkQ8I$S-qf za%>CIIX%99>j+Y1Z><<`C(!dSJnoN^SHI@eQM@%Kbv)Dmq7U~!q8vj5aFm12htCMs89EVO-`nZAG8Q>g{T-{{zz> zTq4cQRteV;81{aRn4nmV{ljkTW&FDe1-*~Wo-$sJPjHpp9ieqRdZ&ODPv3WKdZzRE zO``GKQTea&3^}SOvEhJ+*XEaE!_9)j^cF;2`kW0&N&0=}I&rN26}G!o)0c;+O1;Y- zm4?>4pVSKa%ey)S z>^XKq^1PKheYTx%*Bfi0_TFp+!T8poMXyu$fpS`+-mUf(I=6@{Y^vBYR8?Vov*}zV zT>bY7t|KlDg_1$dHQ10YO3#;9JL&B`5$T`GEehcpiJ7yIB7?HKh-U8F8wpY`92Zu1 z`6m!CWQtnxzf7iw)^#*O6kT8XHcuL+syBtlI+Y}otg30YM^M@)`*HL=3*oHa_7zkG zaXtZbY z4qOWB;qg~lz#cL3?NM|Z?;FZLblo6B?8~>6eQhmAQcO;|^ezvl#`2KxW}#tqtL0xp zLqg{L4u~bYh}_6C^iKtb5Sg!aVh@_OI%4K@`Ex(tX8s(L`=#{*xeZKv9s7J|H9T|U-=c#EYeOH=4(zeFDAZ>z>Rjj*J56A#~A z#tE}|3o;n~tVRz@xvK;^p|>N6wkMcO88d`?{oNF7bwqa~GB^d-YLL+48ssH4ElaPB zgPEI(FFWUL9Y&6POc$J2R$>PTef`fCDapSc3dS%&5L57+L-X)x-Rz!mzAq#;Bm_q> zw%xkhAl{pBy7I3oN0vc6f?5388}iu0zOC?Seb?ev+$*i%p#DMUks`yB{jEvw%I*2y z)yBm3(VZ?T&P~Pcrbv<=mR(#Q!N=D348g1#mi5>rx;g(636EOb+EmV-4*;g@dhTxP zNROJ}W!!@r3Arz(l}zuA z)lUg0cAc6|yxG|%*C--VV|b-mu;1ErNYVxgHu`K50XUEbbHGy*D&4)EaxS$TphKEY04o z)?7zdU!&muRrU#oHY~e-j;TgYFZBI{0kg%VkM8J2?5?6{G0x+^DhMS(YfpO`olmr( z&fd(5;Xr0!OLo(5(l&Fn=ZSR%PjSxSQ>#D1W?NbGI+2QsX?HqIB8NPhEwoML*f}LF zR2ADUK`PAk7U2zu9jVTDjJe!)#@WssT=rg{AI$c>O=u$6Wo;*|H)i=$QT04G|Ix`e zYDi7tLsE?xSg*_--<1VvRmD|5IyhfL_Dd(ig#Xk6P<@(re))R5s@5SfB!rJGXU^e3 zo`&+r1L%t`em{Dgb`&p*+6~k~64JYfX+gtQlJkUOmc@wNZ&5v!*Yl0LZ%@yoeU>?w z#vf(xi*2nth=w0^h*sw=9Sr2TmP#yohibr5Vs9cm z^r$21s;s8_QjBhP6m{-NvzVFucz7YlU@Xx>3Cl~Cj_jO|D28W}ZbeMoeQfEC6ML`J zVCwogNdu8b4UDMEEaithia`U1g>_pO;rF^qmqJyepFbOr;#k5k&JsyxixpGY1h^8C zs)t{bjG&`Vzcn==v5pOU5Ec@GD3Nk0cKx92J#J7ZaL*`fA^Lvro}y@~-?_iaiTjO@ zOAuUq$9I%&_fh}4?Zu2n^(_VCJ@_?FWzDv*i3UbSvF(NlRq2|M_A7!rdlJ*7hh~Zp z7Gg2oDeHZqwUZe0us6buz6q5IOkLb=zcMaIjoMPn%4W6e@3v(WNRt=eR-bt`XsKHY z6WxaH43#g4krO7X3lySjfd zNXk!B4I_QW+(UUJPp}~AX?Vyl#p-ITX4P$n_dllh4qwVOyDcrx#tu~Cyv}r2_}sWr z-pv`CH`K1pkk870qny8h4pwQ38m4Q30S~4_V4}DkKB_id^r3b|geOf~E>vAnlgrP| zsM`4Gl)p{S<+Ftz8Vo-krBJHfR}gn~qjOjFO}zi_%@D@kKB~0nk>p*nCDA!p*;nwi}iX*J0P+tQI?JuNK>Nw^WHC6Iv4BN2}sOmP|fK1cHqMO3&-*nO%7Iz~}g~ z*P}aQG;4#*Dz;0>u3i_kY*X!3KN3w~*InL@<&QW%MegNfJ^492OP^FdzfQ3;8+%*+ z+;Bemj%75&D;2@ln%jJpmY1Hq%bd$5OA7hbKQrK)6cU2=vb0d!maL{G%O!?O5euYA zcxt<@vX8&vxkLW|t#1HrfPsaZu^YZzeIJaL$oA^$oSFkl<3Kv%bZxwxS@=FLSFP-J z{QRF$xTTS~^VIz7P{HG`*`6;XjoadAZprO^;InzAj72mR>xW z^x)==5JqpNd%UbJ_pQ?k0wv{j)@c1FbV(0m;y=c|XfDYeIr6R-*=;;bn15+zn`OsS ziZSSBhBqiBga~iTrGc2tWB}dQ|Lj8+taEaTqm%9b zN#jgT`Q{v{m@Ik!nDka&iP#<7j8)ow1-PvxX4neWyfokU}QV6_P~Kft!8 znqmjeeZz-$&jNJ;Z)FeUM(nRKGR`2dxnzm zAgqJ8OMgMcoK|Bb=FpY1?fUz4<^1;Q^;736*9~ig-go0|ulCm5tpqf@BBPD#QRYlN z-99gxhiypg;2V;{Vq$z|=ES%2!%k(IPJ$=fBr zD(RE>M7_~f37QML@lnT{RZo~~s^tJ*+6@^IAxTRk8DgyiV{YdUFuJOfNccC~j0bAU z_THbEvsEBV#Zdp=NJpf$H*hd({mguQUU+3ky2R?u zgHcSgOwL*HtlSH);j~+lpJz9MHdArYZjvoxmmpQeO;D#68e# zbo=U)SPJ8`4SR#EJ3QzmFqHFSWmnqRn_Reh?fTlf5OPwjm}4(Uu?%=)mxydthNy>I zOT?E}&gSKvzw?qHR-%`DRYt=b9FPVEHx88ADBe<{iLQ*6^w|CSr-L8`-9MMT`UEXWqy<)eR!a9{?Qz6 zM2bCh7kyv>Jkvrw>u#T_hV6bi*=?Po$~n6mt@o6+8oK^KtJJ=TvU65VF)wIfON*AD z2h4kOO0VR|kzMFaS%Iy+9P#d0oxALO;~PIGe4@f6Q+e%<_r4(wMya#HTUJ(9db?>7 zjqO`uS&)k^cPjs;{q@ZRbmN|ORNR-#H1w)Ob7BRysA5(PzAd2yQQH;0bz&7squELA zxWssyDv6nY<(`YpHdH6CtE@U9ub92-*&SMgMrhGNsssFy_o+IKh9D18Nc0rqSz6U|3dQN5FDWeAgN`8+ROX%?~OVkscBQa)jz z%)n{v6*0T?y0eO1O6C~wIl+XlTyan_yb$JN5yTxwPdYY?cEG;3(cv!|(cpV-nvLP|yWv)NqV$hd5? z?0yL9iSZ_4^!3C0OCJdS`b&;Cw&!)zJ>UjpB>lb6v7Y(iz1nahSSo4a>r%GeJjM*K zLfm5Ua#bV{{1=3&{d!fcD&bBgl3W^B6HW%%2eSiKWA6g7)h~E}Gi&-lRM*bSxLsj+ zr`}C4B*d+uxv@YdE;)j@N0^;AKMLZ$NKr#;s9{@}Qk_c7oiWJL%l;B3WU2QocUC`r zvf=R8WW#fXRAxvw4I27(>dtJ+R08~yy;wzttB>f~&==!xecvof+}4FSPh8OnfdwH} zQb?}!!fhqq*0H*kbl*`iAsNJLg~nf<6%1Wf+z)p{LoNwSJA$q-v7Fi0!j3%rUMcyZNT;-hmkjgPo_%B7N#Fkd{)O8CTRq%*MDf%v|rHy453MYu|(Qob3 z2&m*TB%7p2bc?kmNJ1<+H5F$oj6JmUp&5(2C+OJ==Bq#BzEnQ@CU=;Sc^YhnXLfe5+mQXP7+8Oaix+nH*$0!#-K zBL`!mm84`Obv*K=mx7CJN0MMDWz56&F&cv}#0^FU_1y=?S0~fVcH5E#`j^_MXGm{% z4_cb{Bqv5swvkXBaSX^&&r2c{zI;NI4C&5p+lt9ScvKn(#C*HPR&7_iCW#<(5`KM~ zZAkXQo7y8oUNkgAu}KfT;C|swGg)zemaO?LEW1)1&u!7<*$0U1$Y2$vVj;hnFrihe#Y|fY*8582{CtDKndE%*vP^Qf#IX{xD*k`fUyZWS7zEZ47;gt>@@lz|g-*HJJX*&Nl>dT@%&(?otAAMSy(%_;u^v-ifXCEl5&b8|71CP~t3heBIN#A)Y?d-$%ui0TP_)IUjP9XE+ zhukCb^&k&LkaBhLj1BJWF9DCk&a#we9|!{f7Lc8N`v0H>a_5OQ{OkVDAG&+nk*i*W z4S$IhmkAA=<(kiK#hsT;oVDWreD3UP{6GIM8n~Mtz}|aS5iZDBnWZTE6ET&RD9FAv zGr9;ahH$mIo&>~jF|-)tE}3pw`JkmuUV$hq5-wt`t=)JMK<#$QXj7bNHP+l!7~9&` zCQlp|8X3U=NsIS9?TEREOHcj6=9#MZmzU3St0^P+OE<`Bs23}6xP~lKaF&$1dXA3{G8?$U2lh&u z_-klCyJs&waf*r#R1^tv`1L0B{ss<(NMqkE*DkhILE%8R>1uLZi;)oZTs| zo*PQ?ZPc+A=5u85B~1QIz_MR852i<#HD`ZXyI(p)O-ZFjQu8IwNKNYqn^@#?*Lh?p zYo9?@0f>X1ga-0V5oT?QtCaLZ`PMcaGHMok`uNzn43*_AlALwc_>*zf;KW+XrgSrH$B4^EluEj9AhQQsWYWzJSszW_P7_+_luy{qJ(B)tWvVNU~b<yT8v3AH^hoD>Cob>eSW523e%BW;lV38&C+di?}K|Um1RA#a#Un^F#Z`T;hZjUC;TN=RHsR#X#xGissF(GgKhPA6^l&@5X zs;wn-S@Jj`^AA(5js~iCf`h0#p4*Z}+$TF}`dwJ+tEu+~~F8Bnc*EPQUKDS>gGca@Hlsb)1SX!`rL!PFH&PF~98@t1BKWRz>4(n<}6<^Ur@_(rus_3BLAD5F$a@L*C=mrvb z6`r8a$DyIpTDv%(Bac8D9@u=z)FwkXn*z{FS<7D@B^9e&W=BMFu5(i+x^>2+B!dt(;!>N=z^YWj z2;s4l3(<WZmJ9TO>QQ4lW?m65(E$oc96V+E)J8fXU z{Ek#|f+n;`)JwWJCmQQDkPlDU2|3-zC6hvWKJ8ZI?k6N1ef#!cn+5tt>jAUtfrDk! zP9&@OcVk=t)8}yNb@XrFp7HwqRY;lC#xWPC`4?r+o0g{Q458w=#loMp@Q{KK6{n7I_U~1wu zt4E39ZDz($(S@|<$6p&4`b!Mq`S@=-vQ|@Qc0pB4_2H))6xyILodbJS*5xo7(%R47yCT8FEhb1p($Y|6<(V7u^u~zR-f??I(3d}}tJSaH z78GQ2RhF&`@O^vLfqwppqyb74IioY7(oya2`@6@)KY!?WK^!#W)n}NWFAws@erGzT z15C%J5T(+zW)~)wo&yH6+{U*@Fh7B&a)4;SVZFW*(bQuUo9P&+4D$8*>7zre*GNg2 zcwvj}9D%B`KPz2bJ)azrM)x^aO{hzXB39*M&XTNPaz0Y~_eamQ9}%L^9_xt3?wr0` z&SLOg2YsYnhl{6`QVswvLZhbGxTM(_8A&U)*B5cc2tNlmiw#EwI`Ny;z9k0LK5hEL z!P0qv%4;2(p76#~Y4MX3#P{g(g=-%a^)km@*-4_=6ETi!W1Cw!!!=l}oxYgz`bAWD z!=h)l2xS^2Ks~rjIV+b>#@d6bjD7b6as9zEvEWLf+Q}4AtVuTu|RNt}G8Oq?({J-L}Pf@1Sp8K5P7 za{sKN8%W4YmeP&uA*+r%MaiPs>=V{9Z2e90k8Gy|J3d=o-=&;Lsazz3)I9zvn(++!vi?s9qu+vl z+Vs|Xsr~a;olv6T`08)HRR~R;t7_jr#fW`7S_{|7O@lp?Q>@mj-zy;{QGb!c93&>{ zJH7d#1W|MNsH`;cRpZEQXy@STuxus;=Q@3<*uais8?_f&^k#+E{!HiORmO z)LHXQ(e^mYQ|e!$z+8dau$qE?6hp<>#GT2y`IG6gr)@Wwrri;G1`R0P1B$4c5+kkZ z!JF6eCO;>-$KUr)XDfg$j$~D|Cv=71=oBRHbjifgPVsf9Jwv(Nx$Xh~_EfcB!kkI} zhrx$OzVHEullIV%JSl&xPA7S@+8LGyRAkp8c}Fobq_NHBdLJ%jGG=^ynp$J@^8w?9 z(%iXcvCKb%QTaVq&z@(g#sCS3?g|KEFqkmnekiMA`txaL*ZR;O)mnRDVRBb<`%b}FN#1gR~dyysT+H{gV(;n>?jeDAy87nXetc-5*xW zEx+T8SOH4S--FS=gQYygFujkOJuoq!QGWIFlU~*ED83<)8?_V?qeNH0{eEe@Z**P5 zzx=u8A;~5n@?9kTe!^<4rG$NF(sQ}YyAZWq8vR2W{dC5#Rkwm(%Ldbt(R$fE6bl(7;2n_iRSm!M@nrvjsG*@~`y#o&^2WxyC%C`PxPLD@9^`npEM9NM%1Z6}hBaDX zXJt$X=uKr!DqmIUD7wfz==SBtd&qWl=bUnc`9uffd!zPh;XD>;DhhtZojF{z(RY{k zh_inxhdVl9!U($#oV1Q{E5s5O16#gl*D{+_%JmGh8(YXXT*+39sl2YH*LV7H{iy8m zMK(|S5zS}i1b6NeYgXk|hq8`cQ?H5nO4GrLx?a82I-RoDq}=_s#1dtmcWc*}lH(HA zqOr|#BNNf6E|vtX;gsBedH}>0{;t{Jn@h@1$u6$+nf9VsdN>~bdn^I=jEvgM!wTKq zjneQ_<}V7eoI8~eX4m!|S4eYr^U}WCl&1SYRj6eA-2KQewq&#ZlbNJbgGGu=^cGd; zpbWveD#(s(BmQg}0()?zJ+#(k^Cwb8v3i2ZJU^$X4kzhdH@b+Vc*Pb|uZKa+;p|~8 zhBQ~mRP)lh+tj|3yNVpy5BJ8Z5vOLg)74mBO$2M78-Njk=bUT%%`2>PL{9z{?zv>H zka@@VH#bF^zdcB8rdl7YDZUia0DcRmg6%EoWU^vu(>6TIP6gN_oF==K)T^77wpS+$ zSGZ-0XlN7fF&R82oj>CTdcfyed>MC%EF9$|m z`*z~k!0e{uZDr2Fktx8It@ER%qb8WOLS5S?nCXp7Scp-E&8Ux)cj~2`@$)*q{BAyM zmEm_*U;9|f`Y(hw)pb~SFA8F8uax}P3@W&ym+eyH-PHebPE-QJ`TMau3}q(H;;QSr zadVmMeq34ftCCr!@5H62DxPCb95rucZc6bJ$G^TU0$*4$IyUu6(n}x&ES2n3lnK^t z!tBcyX1{f<^ssC<#R#lZ3>vW_%ufk68J9_R%+@mAv&+*Lj zrGg$@UO0sw(LpC4r`~RIOp315h!5E_-JXlOH<^?mphs`gkq7=&Qi;Wo&?49~5q zm6y3mbI^m$CEDpun?L8$%^YC;QEat7xSOBXP*$^_uN0A^-$ZPTI;A9m6)pBuj&FTv zw~5x!I6`XbpJD={j%2&*pTz@tySFGM!Y3nZ&UdZ?Ur(&c_$G`H-lLT?hs!LlSQYSu zHM-oo`3W@>>8e$Hw@G{o*PnU|IFdp zVXY>h6XN3YvKR4L;msEN5LoS9R~XY~UB8=!8=Co)3K#|_6>QcPy|;FK2T$Pjvg}he z=YIc9x%tm!mjs-6JX@yQf?2M3&?c6_)(hIL5zTX3HEYJSd_OD%k}r#~jkE;h*^1uw zkAofNIX!u7^4vKXWqp6}Jwz=>{NYKvt*-iNC=#c5S(;YddT9-DbjB!u`xMoWm@r(RhtOx?qMJ4YUijQu(>5L#pyMZtgDVy zsv%D~PZvqml#hKb%0_ZSW39cYqFj|r!2=pIma~y+04BcLQ#Qq|93PSTL=YEc0Y9Mir+LXH;(GbT_!B2Zmn7l|72z# zM5UFxUWKTfxD_m`7KMiNXkN^1VQX_L({a0|g!}H!ia7#~Tn|)?kFa&ZMfcHaJo?ns zK2x;u4ldNkgV-+Rk!z%# z>Sp&|J9V4uM$WSUHrcerIBXtn?_|1^SrQnmlNR#&K|9Sgn4WYLv&g)3?%C9R;Y)N< zit>|C`|-;~9gdy6t!@MLZRXW4(X_iEtOAO}wXCo0JcHPzXTQ270Iyruw z#pf7SF>d>Ea9FClBopTPSLv}&AH8r{)YK;y=B#Ph_eI-1(@kG9;U;OtA&>poAy1eP zAK$#P>QV)wsrO=PCo0-kyL@v#skv$ZG-5`T_qJJFENyb8^V1VnuiI_m4DZxOn_HRh ztgnlhyT_WJ)Qfr!#g*HG*XZgX8y8>_k|10lgZT*dKaqjJ%JHj{z~&&rX31Jo{@BFi zSusWUo3Hhl)^&-uA}2dRwR$0owdC0>%ssXJj~}~jlRmW1F01>P*j>m)Ab zF*#bdsgkfe*Q)wsy%L?))yG}D?#OhPw&M8{MhEtghpg_GtUR#X&|C1!&c^b43Ct<) zn;BcJkJh*0A+JJG>)+yB4$Ufjot^vO!ZFe0^6%+(_9nH}PM6U<$A9@B1GLA(S>zL&-ksnbC_t}TxwxtMhsq~s{yeGmp?I#!64J_mTT#Cf&M- zIieonIH#_cuG}$mGOw$7eD3jFx|lB&vC1@-;^dyT9TZW%MBi8WeU7>?!@+fEXXa4f zzGa!9s+5`;*4QYFoRoLB16esjvOO0Nq;oCIW?+U5G+&CkHElmG>C?Ej@Db>@ms&_i z5DO3wW>^l642}I9`h6VYF_hTMyPOnf79RGxRbE*EsC%MW(+Ud<*0SOqTQwPdoq^wk-dAs{n|LdMlSwO^$t!Ax$!;-!| z*BbXx#bp_kcxX6h>WIah>Eg+NB>voJC{27__{zR}6(-iHlUfV^YKupM)RYro(P8`h zSpL$<0E??wZxqUyXsH=Q;$6me-vdHPAu$HBg#i72mj6sVOYH`U?%$ZK zf36iEeyqjZVM`xOYs=Fb`QgxU72g#lkxjOl1$>_v%kb~X&hHHSKZ#-fdF%T}{%$`8 zquL>X@qO24W@iBwp>x*C*c^=gaU^Wt!h@`9|S`t)A*@ z&XpU^r{YT=Mmg8STB!a+hbYQPKsQ{%%q=TPpyHf2w&{V?VqAabozv9;RYRC0-up zAP>(k7?gl@&wc{{aj>?riE>ixR5*V=_4Snvzq`BZ>FEIiizQm9GH88#pY<)@KNs{p z&yhBK6C#@2HrT@{nA7*^-J*@7q?BtBQB06bcGSDuNwmf-pg=n@M?v*=+vf#C_ zJ@^-BfK>Or-wSj73j~Pi;w)R(fd`i##`Hcvncy>%f~;<557n3zFrt#XK#ITp(yKr4k{&!3E_%aBT6g( z2@=yZM2(%kAa#!+*EAp&S5q<|h9R`*#kE?OvHk;#qmj`0eL3_a$9nQR5|&;V3{>;I zu>8uE%xdkXZkvX@w;tc}yk1k-BpAQJ9Ms!%sc3LV^x4d>T9Pe2i?>D0b z?(gze+X-dU*}fv*KeZEu+T*ET4EFaD62R*S!dtvQwV1Ry|`3d_Vu zVvE)B1c%S@PNRqd0E7yU!~)%^wf@5LWt($A#{-9h1ET*DuCPSzi;4}H1yJ$9~27+)M-09cAG!Kaf} zTi3QniSa=}MveNb6B%09R#in;`a?@XxNs@sV{5D1pm zhg|sj3~76u$a1}$_C+2BzyB$~d%s&Ste-6XwWa~}dsjVf*JwJYvGtpOs3qkjc@< z=Vy%m%jxoK)vKR`5m=tr?wH=e*Nx}`V}>(s6a7|E+!jLI8gWKB@QYNgRa=MDb zpp`~W$VC;Tw(_Y`r@7X>d&&1zTl_Bm=T9!Vhpmb6Sl4Vazb-L{XP$?np6qaxlh+qd z4uEQ(9~e0pA?fvJwvdWdbIsc-Ak5zPB3wTNaPf6Fy{aN~17S(GrJpBet(-1D%6%1s zz0hly4NoGYhVAdkni~o4sHlYXTYElnWo$bWk+te{!UvE$Z}y9_p*sPzf+RXkbg*L! z+$|99{pwn7-D$uC(9~4s9q<4E0HLL$gZE<6Ng8d+zyUeS{Y>F`r$_a{ugeJwKy&slUyr1+;`Og6Q)7U^U=%`u5yoiZY~M31NJs_0wg2W%K`qXg zd#>JBT2y#o$St($x8{ro;Oy@aWs`ICUtf&-Ba;Q5&NyG6;IfSmfH^GUqlDwT*jsr< z=kHdj7}mb7vZcBA6>s+_XlHZpu&|FKX_i32!;5YnMnep|_!b>I4nZZvdX1L(1}xY& zor$!985bF{O2{8&$Z9yMG2nmuj_cQ@sS|;IxSqlRD{=I(-QxGA{2xLASALd-ZsUR7 zztwRjCaPCHfk4aAf>}2n4>yT7hk}2`mM#bTgTYn0Z~Op+wtfQ7qcL2+eWeTl4-&`} z3i@58FPJF(;qOp#CGx?(=~PU8^A>;rAX3uC*?susJFUGd z(lo^-`*x%?r;K58vuyR4nu_Y~sBZk%>w($J$!OE;d#|Gt-&5T0`yG7OPD2Omw(?mI zzQ3~Zxad+mSze{R4#eWMe zd{B*6Hn#0IT7Am4_lcfd!32&Ne2$R`vJx_RrGDmb2T$->oxsyC#EQ< zZ)F1W@p|d=>O%@wCcO-eoV5ihRFAA z_YEJs&UygAsd@|1uBMsS&<4fK2QT@@K(IEV`a9k`&L3zo1c^52=vhl<`;3 z?ID!(+1<6D_N0w!4biv&$JKgu;i9m*S$2mokF=Z$97(hnePUL+_N`mnf=I3bC?|(I zuO$z2oK051__Vygqlf~2IMeXif$g%PfxY)K|J@wX99^gok)-!9A?`5KJG61?_s%n( zS{dwx>3^|?maI5@H0SgBjV>=F2;?G4#DSfdpRYu6?5SJnn^5O#tNZ27(9jStWT8Xq z+b<|br{}{62q^SAapdUNVZa2+rn_xO^*+Ib-?ff5fYmuG$0hbo29uso2rGP_X%b9c zQzym?E9FMmIq0zH>y7Zu{%R;arui&MSvL1;+O-C!}iZpe}4~*!w0Wv2}*B z=8FP?{zi0(qUl{Qsm%e*F~#2(pCF$vhWn!k?oV26bcCoPz~hfkA|k&;Q+=5>M=Y>q zmGv~M?Esd4G5o0O$sHA5!Cw))`SVR>`;)^fRJ6&{Dke~aF6zZS!n%Plut~G3zJ~qN z+{8b&R@lfpCvP*)6IS^(HJDPcyX`ZEw>Of%)&_T5$OG%9$#ga&;%>G5{%g_H!m$$e zO0Nz8BV7H63VAwY-intBn_mQGDrW7|?(M+`IM83@H7NBal=qKM2}QLR*-sZ45%*la z)UX(dS^S=+Bb?`kB?-0q;gDe?oV7_e zRcmqNp8U0hST2$8j5xG7ScnK6c(IHd?o6XrklQm=auF-!4Fq zytsL=ktg8a`W-YzwF#J)5fx?&TI}V|)s@I%DWidyFPW4ix*d%*0h!ry`x3-YYtmOS zbef5#8aDR2=7W|y38c2MHp?L<3!)^7DBp^k#3Xd- zcE^<(J4T9Kz`WSygX2&VD_EyghXnYaBvdwMmcIHYtxbGN-@~nD?bW7IHV##M$X$2A z=%{0cW4sIsSLFOv@!e+^4eX2VzbxUljnWG46jcZy(Z{=kLyzZyi!t)^O z4hy^0@_tcHAuQ-W=C|6g*PH0El4R~(zp$*0SLKkL6IVYR57oYi&So@QSiaO=p~Bxe zPMc|_r59~~Z1_6~V)=`iO4M649Ur|3f5TX8sZZQU

igjpiJwv z!h(Q(5JKVYP(Ipaz=J4^x~ZQr!039*xd-6gn$2b3oDIJr#J$QV;cmP!VA4(Xd44Q< zkFp(qclPJyaIUrMv2?B~PxMjL7V14A^ToQ)Gf;NnFbO6iJ7Zu+{=M`#>>i~5AMSw@ zP{Z-Z#-GRy!V_$Xc5ymeK<_YRIL@2vEn%^yn0y#9RVPJi+U~Ap{Y9#MDWT#@`E*zD zQAZE1!P_#PjtcKsFV=8bh&i^>D=BB3^~!zd+D5nwugp7MPneB4EKfJwsm~SHQXS8T z_IXtra$DWqq8Iih%*xKZHLm&wXJd@@JA&r##Hlv|hS(&Pu!96x-oD z8dsB1Hci~HyyCQT_15R2<*0YfrRvr$wClup=ZxnHvHdxwopAqbq zC|#bKQ?^!|$r<^8YakcnTqQeYeSLZP?ir5wL`@#IFEfvGCy`Ah?$_>JM}dJ=<4UXy z2hRuKn1a+mx1nL#Fjn1YD5!VV!r-RMn|>@&NH)&JIkzHoYqVE~?49Ib)wp+g+^C)y z>A4vtm&EXy%QsE-<}4((bRGu~#Cc+O`=TBPy!SklVEkCk#`w;AFlrj%-*DQl^65E5 z==|IVI7aFuTBQ1sc_o>|{wu8YI@FRYo@drnAs`c3-ZBAvV` zvk|v8JOQQ;sRDTta#f3c9onSla>OfKJSA=iCE8!iubW2#I^_; z9%fl{DuSg-nee_AX?Hl?v^qlsBqXVt_Q@h&gdsF|@qlLW)c(}@zVsVEm|Ye_nbJWu zbN%vN^90n4igI(AE;1Y{VsX#H%bp^P$#FC<1a- zJmoUb?@;bqXM=Zm)m9X#0EgNjlH5EM4I6P#Hqbu0sTm+Yqu-J1N{i5YlwY5&noQ=*cOg~b^Od5`>#Rba&hhyZaEY=jg9jGa>IJT^+9Z{`t}WdULH0_2(DX zS6zMN#|_4>PrrWjXLlMJrX&FZ`hl6R_g(jQ(3woQ{ri7?0mK*XHPQj5VKb_`Rd$GY zmK@(|u6t5~ul;AiSZ&t*o16@?yYUQn5vrZfQZAb(H_4pB*qo|!hi1IHjb$25I3lzP zk1ly&+LZ@;@PakVaUmLrEM~zoquH1guf=hMJDjfNiq4gsDY%x!HLmxPSvCY-J zs8QuHs-L?^I407)nc0ja)fG{=fYvo$JzKvDE+=pHR~$aH2RUfzjTzr{D&2EO0q5IiaZ{^s**5gg$eg?=AH-mz_Vq`{7Sn~t zYVXm0pQeu}OFd4voGTpH1|=}5-YC+zs)!~!I9GzvEand+W>ii*n$Gd%+?*fbG+G&C z58RZVD!;?bI_6@UvR$33D5=2sDO6@sxE|-n%pD4UmivBbz(?r?4+?N_u&O)vn#5E> z1OFU%~#cTWMn8^{wAfZ6>>kdp8l!!7GasUSYo;pXT?-5hiFL#SMxG{4MK9Ldhv)K)Pie;(hga+I+wzi@R-NxQ z2Ce#UGD_t9mvg&LXsQ0#av8BS<#X|p*T!<2#fo!s4C}tLlB(RUw)gC5uX#aG+aJ&p z?(Tse_cZ-#A~-gr7(IST?B_S-@>7VFG?(zZ${4gB0;!5jMx|FITU*mi^J)XnsC3vi z_U#bel8V_K^ysGPoK z4uMyB!}HdM?fk?&&45Y%o!okFb!n-u_w7m(y8+jsDccsq#I$<(&G+!DvuxznqW&WfQ zHbF(@d^b7ay_N=WCUe-@(Jv0_u%67lx^CuFV_%$&LMD3P%K6M(VA1-*EY_{<=PSC^ySkJ16Lsn4wD6s>78MBbwP-a!>-XD{qxQPjk;| zek@U&N5uI`L5A5!->mhrsMdP?NK)IKNmGw!3I&2!9czV=Q>KzG`tb1r9j5;uj%GIPw2yZ|!QR58^K)w{adhfD!8zH93>&6%p_HIkh2C0*Fx34!zIxGNQYi5I{ z%mJ)VoLYas6)g4Ky18mOmo1eR9wXVd8h{{{Sf^4B1V@#3W`LZh|e(?r{uahx&mzN@F zx^*#eekQ89Op@R!p;`jP=bmxbyN12c`)OAYupn&@KV3|T@@~T+z&hTtvXST0%;>fD zl^N+KLA;;m?CdzQHdAKL=7019dfM}0tb<>O%-FKYFyV$xFcvL?zsZuc%2fhtO%Zz2 z+=B{jOna4yZw z;#uhO^LkaZm{p^OP8*CYeY9s(eE_Z1b5{ks|)LUjeFP?jvZAAJ4q7n`c0V&-|6 zIu}C|02wlGd9x%+2d(9O4{C!$fEF?AAM+s@PIJ%I?qt3ADDs(1j5+BTq>%~B=+MNW zmV1qb>d(5K=ckSr&F_2n`wDO2Kq3X4xJCPsm$HRuaSF&^*thwHph584LF)Ar-BYli zA~xOeGhGM~!Qu|bDn2TtmiqPy7GAUaJCFQ|MTFXdPfNa2AtoUceC#bXii!;NgqKNr z`DHIJQ4|NVvK6hIwNNdo+UPkR1*txGXeSaBxrCo~S7SbZ8Dpo(%>ev8I`cDgI6Ev! z3aF;f#^jS2x&dW!KjXl5bnh%WGOQ!-PXMv@m!{vZOMDDko7J}aXc;J<`+dx(FFZSy zxj`9@8DOs0d7mCU|u0k zP4-Eg(x4c_%kDGlToPqTrL}WO5#QCPhur!EK`4t-ONA?!i-}V6)w8j03Kj!;PS5+3b!|^mB64(om~rJ(6K(72G=%DBv0QsrHapT`7P=}!$M^;lCBt?h zd{1l*h{T_n zGm%Sfx;A=_s z+AyC1EuMi>ya|2%x8{3G+t_OYt+z-ChKamoOd%!zFlkTe{m^{ z;i*W%lZngQ+F0T<3F-f!sI!PC7fi+teV-Y%GO7bxSsE5HFAxX$iOZ|BF%iUe$sF8a^J`n_dnv+ z?rQSmK7|;UH1!R-mafxx^&HJ0~Ugrha97y>C;>aL~!7b?(x z8thsKLdB|xTt}jML*K8Q*F}(3e_@F$gVRik!IUD+ZO#5a*AbSe2T!;bU!9B1wnHo0 z{bU2P}=c;lf%qCSVnJLRX zsyXJ2gohWem+}H@Ks=jPR5$3a_47X^z02j$x&QbO8!{XHt;L-pVHiW(Jz`!qi9sX) zdsa#r1rV;8f1QGjndx@KS`;@nJo|s6Bk#DNVi7)kz2IM>=MOTh+uTfl4h2jFY3Nyx zbW6<*96YHZ+);#GDYNKnqlDJjBm6KQyKUe|ab*u-2Ls9<{PJUhms5yb+J>bPpnf7%F)QzedE+`d+~N+gL#y|P3J z%BH!Hsw!2Ff5Gb551V$}9<{nQ+?JpUgiJ46d)6^9NQACgSNR*N;B?#R&n69$w@Gi{ zXKV5NQ2mU-cSHm^VssXU*it>th5_s|?9T69nN#(xc9Huk^pf7F>^obZwQy{Kh?7t# z*>NIW(xULD2U4QmSG%x?h*D@+BdfUc`zV|%ipdrmq@<~!fquBD(SLYIv5ek@HoyB( zY(SM33=h}m4BM1ak@;C}PbOA@#O6BrAnl-K;xXo@y9JvOQ4M>}x3?go8M!GFe21D& zrN`wXS#R&PY=;)WHAgIL>^Ip5GhSPqYt*=a#sl&J2^ge>>H_;nymOb*Dpd+4;`vGn~UFO zN6nX#foyHINdo(|l>^vCG34??_NroGc=)&m#}oqjZaGLQx(n40{)U!%drGA<=ODae ze#PYbQ{?S;&>*V5xZ^OsFlrqxDZ+_|WYhy*_4)ERBoGl94hoQ454Gs<4l~m#bP7L* zRgnQ}6bh6xeTciudNd$MY9)(X@YS^Gn-_V0KxjN$A^TG1i7|oxv#`vZL>2k0kL6)s zO?B^*$QvUz%@$ZZES`G+7+$b32{;}ti2<3E?qHm-R$5!A1)oqI@~!}5-rr;T^7~&e z+ov7Yw_t@DGComz6Kufdx3RH#7kEZ?kQUI;Qr!iZDiH+HP)pl=o<05%xaq%>b^}mQ z(qRtH7W=r?r8%SXYFkP(AW#o#{H0w^p#@Hjv}QPii%6^ugDfW&NuRosEPlZF!QS{k;IFXY5&C*{r))q^obQo;<_o1QeeRA-sH+FPAfLG2IRK+e1x(a@THR9z5a+t&ryV$vvW*nfG;c? zrH=7P6(HSi7GqBWl@WYV3nIeBN5p(n6Q+V*iN1C2u|V#?>{rzz>If3yz8B%7qaY;c z_WRM;5DAZlCY>LuWi^!%L^F#`5vJR!X+XVes5WjUEtYVI`VNFz#UX2*Pvi1bIN_q< zI);d)zwt%D_^}4RuMmMa7E*W0659k*nJE8DL+;~W*Oq1NfHgr>Kcc_$(DZ!(3+w}= zw6sxo34g3Pkw^oLD*%+f?CZNHp^lY|c#!?e-^RuDS5M3%34t}I&9d8{Z*WHDKsgql zyc|zALcSspztTQtbC^~bhUt>i0aA#~vI=T%$vcp6qpFR&NNI*STU8U`rRvP@{zk^B zvsFu{*|_GurNY}_ZPa`%F_O)^z@HDYUn|7$^pma6q%SFP$5LnSiBzV%Kr0^_g9Ixz z&}sT8FoO>U?b%h?=`$=;xyD^sL&>24_0c5u8kLh07Pyq*qb*Cx9auwdo38#rbjiuU z&l!2&TuB&Y7qJ^a2>K)P(;%hA2BX;{0S^>2ryK_IJI}ay186n2&Uh^>%!o@47fMUj zq79`)bRBwd3QO-t735Zgq+{614=874r=$Wwol3#WPeNjP$v_HKp@^A7blj6-3|pKE z*vx8PS}2fEDdRk*I3TbzPF>ni4&*-tZlsjXp75H+!~Aul`j1c1e}0@$0aKatRy3{K zD_FHT+d_HRFMCJ##3->awaxS>RmoSoER;O1@5yMKS8Fx#NO0?FW?0f$Vm)n%I+s@4 zZl5z+A;&Fajr)+X$hO8_)Z|%ora*yQj z*=3B_eReB$VZCllDF4%dELX({AAei|V#>oxxkF&sAa}(&Gs( z4wIEH7cmEY6ZNkjmx4kUO#YwY0-Unmgd6JO_nJEo;QI9GE_-P?W18UdhIfnGZ;+2B zoaG$1u8hKp6D3*H4l_+!z{cGos;j96e$97N+!LBXBjlJb3g(&UfJdp(D%e8Vd!1kL zkMm2Lm!*mmeQ#Abt&Y~7cxqg#nOWZbgOx!33Mo{&o%o&TQ$j9-Zl(%l=uE8Jp!hl?gtV=1~=@Mq^8UY|d`QX3yj*PSgdHg}6lVgC;EQLE+;|B`UP{ z(^GWY0u$xM(usF>&KK(keGh7UCGyFao>UCNetbE2p$Isl9`Q&EUFn}&g{U@uC^i+l zETA|y-e6X#1@A!1CEn%YHZmIjkfi{M)x!0?OZm^T|DQxS#axX&yZxzP>OHV=Ce>En zvgeiFIrI;aIW*XOo58L0CXWr&S(#B)yhigdQ?rqJemS7kR-H#Cg_R~l4_sX>hvU&m zR#(7_O_HN|7sv_YU4WHKFkytk*3_^4Bc*h6hRJEjl6yIVv*TA9Me;y`#V1>dkatpK zgJzzh08 z4p9(PO`WZb+|$J?eMOHo2^gFy*HG-%TgU3zu(RoPL8*=sDejLm0>M8>kGt_jA_kq4 z6%P`>1<_n9bto68dhN~6tBC>m2!y;X$_QHnIC7>B650}!jA;2j^pbgGck2!^A$JQ@ zB3l?3MH=Q}0*QJvPg`=w`;j_C3oFy(ve5ItGIBgZgwv zD3Jc~mHQtoVILK+qg=qNY7RFT5rc@l4 zL~865gk4uC?e0l`S-TtwgSxe5G2)R81tLl)ELc>K$q^y0Fw*domYAhg)5m1w%XQre znr;wdPgS|KZ-vtcCjK0M;0CH3s$2TP{JYu!J6fb74hnQg-{=ll3xZ-MkTk_t1kunn z_mB!Qbsb7|^QW)rcI!rlomAO=PFhKQ>9a(H@>3|yG%F6r!~`dsU2IU*jaw}*l8G9! zC$d-hVd>`YbEi&}mZ0UmYYXU3_-PHd!Uji_aA+E%_^W!+duk6fiAKX+g_hNzjcXAQ z;zB=z?J{eLh4bNwBayx!+zR7@+mzH7f;i8jUvrNu`)O;*is=%kF@;W@C#t!h{sh%!MR$hf9( z|M^Kc&6MUCu#TWM_~YG<(`||ssDz{-qBP7IGUgbDlyI$WA!+C$LywthXT`S#BuH-^ zD3+G9f1VrW5Hu?OVA(91mtL$Uz>tWVtEJNIb$p5E(!v<9+`~;w%v8cY`KyZ^s7VoW?X!xy6ch#zf!ngHaHf@{F-;Y)~@hB~4F5(Md zwKFPX@K}jz$HWKD;6dpX!?->DR9M?Mu0;#bpmI)IuTs|_JysD0*rfZGdbjLhTu^UW z^HwO`Aq>cGEQ*+9`ck%fDvp_ChJEUXBDIN;P@>O}qPgJU*-)^lb7SGRDV&Y0Xh@`r9(=m#KF&0ksu)|3iU;Y&w(G_iPZhd<+rj^g>L6m_Wt#` z5IikESYQ+zQdUuVm7MfbhuldLtZ5jfBC^Qc$rF`8rVM{8wY9V>A_s5>Dv7clTyu^; zwd$lGg$VKw6&)6X*-9Z@Pkl5B2ziIvRrn!t70`yj0 ze*Dp-?6DnnSIuAZf7YmO)E4W}Y@)%U#U&gR%`x|IBDeB(09~T&fkwxOo7~Aq4EDhT z38B+bNq*z0!uY{AWD26m!1gZi`tr=-*sd?XqI*r~?mzO)Y_7M)a&D z{%@LX;hyiBqK~m$ztGGg2MxSUVx@wQIZ|#2?b?rDC zLb3A)7c4kAxk#w=8a^b%qy}Sy490lq%<$2c4v}s@m_x?MK&V32yp~R(gZ|yUaq27% zC=>7#(_?&=X2yA2``k;eCS^DM_w;xsHM(x!}%$H+gcQVdJMVrOq!XXj18o+Ccvv^wY1 zeuIuJZXzsY9~*Jf5ehkPUb`0GZ*&V3ShE3p_1wIxjv}S(r}>kQ0)xgzjol|&JfQMR zm^i>6BvRtxHO1yPO7eyC6Kr$&2N2%jlJz;jjcjH=?(v?!U6l20Kc?nvW6sOX6Z9&MhFBm2iyD|ii8G`fLrTfz=coFMI`$wqtXKB{PF71(l zFcPZ5gWTRg;b0pa>z{~`G3ia19u%f6(D0@0jUQG+x+JJftz1uj%OK3gFgUl5gZe!< z&GM~bw{Z&!%9fb0b4dvFC7XMKn%yzqQ2lYXy5Z2kXPm3FU;Ide!x1)P(zT5AUE~%SC7?gd{@>9Ja-bZ{A0*X&1}A z1;vclEv@~gc??G&CjO!lm-pdGZ)*yXUtizJh6Q&@bx2sro(~Fy%9un!J!nz5jNi}T zqnPn*6+eJ1V(4(scbam&nRxLQIzT9-AWRWQxub5{jFSQlRUXx=rS2vXH!f}gj!`ea z(QJIGIB1~vJV$guS@O87`3B>v_xpm0NP*a%(k?*>I+@Uw(a zMSNIF*;q#d;TRuEpnZ5ahf%*X6xe7MPamj`+AMra|NJP$!ZWV0l)OJkti;?EtwGM+ zt#fzYs|4pO+_NZG>7PpD4h^Rzdk!MIjpyh^SdbXh6+5qP}kT3XM!(prvj>7cT6@G(7VCQVC&F-uv8x2WJv2%wzsl9OpQ4^xn4pd-U-tp8@( zpj-!p(PJ(K!YqDVSTSo>cZ6nt?e8$y2?+5n-GLalC+c3KF306z8n-J<-USZ>ZnI7Qei+)K=n0FgU`v05 z0HKG=|Jb*0jTN#R4eR13;nwBF!3i_$Ps^d+W*4t_nmWZAeV^4^rL!XO5!s9+xbJn*DLfvK;X;5LLE$*Z4teWawSui+ZOX= zK}jr}5W~T=+{A7YNCnN0U5Zd!##`!X!WLi%Ii!`YodOHFw;g| zNKotCKD^5fdw=Ip%bCpo!^7>ITX@FrQT&*jzn({!e+P@?#;Mc)fqbCfjL-E##E!@n z*XAD>L?D9gkPQ5vgFG$s%7V!n*m1{k9@9ao=HaJ}niaS^Py0(Usoq9)C|-6br^T395aXc*91~U|_D;!|5SQhe3Ayw9x9>v3ge@2XQ7tL?iB7fuSVDrFb74?UZekZws z^H)Z2Y08DQ`@NO>WdBOcr5*pA^#^=U-zDED0^hC32n}woEBGq;05eFl83>)O{>3>$ z{41G-A&~zM61owj{FOeI6XZ2*$GszTKSEi7_y$_fM zlzKr7rkiz9!@hR_?$FA)@g5BXMP!)qs08z*<7MG1f=kYPbxnnd zL}>o%v-Z$D*E)Oow};;KafgRvi!Sm9WBMBdBvv3Gqbqm(+e`da6P@25|sD z2t(jIcBUN)^@YE|f896MnWW};_Yj^KlZ3X-K_4pZy*9zPx-A9nWW?-Rk1JpL@({={ zel-!CW$^tKP#%L6-yUa^E-|@`1A-1DyrbK6m}=98BUw^hD!DiCt+|3Lj1!>sjpp(Zl8Nm;R4Yckullhr-;p9px+ z6g@r;xp`L^V~R&4>Dg=`y+!D%n!tOhRL&#=*}tvvoZ!&teJh{+2@@V@xbV4z8U0}o zlX{f->)rg6@2!Z2DPo&4ntk7p=!Em({MPIZOLUOq-*n(Le4`p_)b)HwT@?P$zH<}vK5sX^A7)%Hs?N{43eX)X0sPHLsf6&H!^<2*} zH2`R^&R>Oo789`-=Ey=H#muvNP)6WbI~~!dPjvXL+QxattQM#3!hbnB7nm-@7956~ zFE4Xz`=A`EI*g*?5M^6z(U#(Eh`{TfMy#fC$klA&FpEm^$tzeM@^#m-wU9FQJ>@`z zRS!%tKfu?yj_8w7 z&q*?bguScT#n}hcqezrYy?oi4Ok^{bD@S*6HfmPudOwi^(j-az=?+n$XXImC9f?+x zilcnW2uZ>t+RfoExcDxV|G^8@!8q3fp8ImxI>&3S0VyjrDlJQTEy%vK~87~+7 zrlcURMl1x*X5EE0KW;`&*yyWCG{({&q($-SXh=|3d;d-S|7->sKy$AUi)spo^pbm( zQFTtJ51D$K`P@aU+&y)l9gVJmy^ci@1h6rb(1K561OlWKxVCfmPC!8RZS?DA1&Z-= zX&nOyEk>|C`I*KIGUd2jEOpq|g-S z3GoZ;GD$AY{C>9raWw$0iF#o!rEZUhgLjOrzXw_2)~eyU>6hH2(%m=t=FQ%V&}6pG zt%)FPG7?&^RjaRSz;{+lacL`V{&@!;2LY;DrXH@|3=SlnZKyX@GG}I~2KD%?i~;Uc zhBewP6HXLlu|x?i7X}I{)WZ(~G<%nFi-u}T%Hb^q(vPwZlg;vNRIUpmGFfmij%W#J z(cE_G$NE1<<~idn8z(2-HIKE=fib@KQ1D`*;#))ENcYezg@j^4q-`pQAh%v6}I3Q}(T!n^(W9vbyt%^&M>oD|LUX42#x~T!e-x)+=MXGEos9XMS{QZ#~5Z7s3b}D)X3C4S6?A-EK8XcRgxcxcHPJeiQ`}AJZPRajO%OO7W ztJN3f1U|om>W#Azx~Urr<06|I$tn-I@CEyj_ za6ZW;hdKGSlM~rzqiWBNm&l99XN?y2E8=%olUYMACMX6;&h+8`ua=+4TuO>Oi(tw zF~xJRHm0ef(TEqubK`CVw+pu?J3xNWa~B*2Bv4}B&9X4_M6@`a*yQXKrONTeBX4lh zrjD1(GEISyfr4ajnXB>NiV-+c_rK{a#l;@OqK{X-V?vfHOImFS9we%_V5yiS;i2@0 zuzCjV)#-1G_7)AL`$+9iMsq6?bDIe<)PW1Kspa{@LXNhz81e=->&B`a?AHjujZ3Dz zr2baI4qL8TKx!$yVmzbk0hHfky-w$+;Qjo+j{qfq|(N&*b%z5^&ED@+wD*+=x| z&+4N|!tVw~{SKR5mlF8x6zGX-2b__dFY#n;;MLf-XXWpC4+1#3*Oe^St!*#}_W$k`N`fkMBt<64twu6@@pQ>(FV( zOVeDlgk+-jQOqC$4yIHLx}fzH@$#i9NKm0&nC4q$o5<6Syo=gz(egM<&~qzga5LqP zj8Orde<)vmQa}R_PrO3L-*EV%Y#UNlN84F_GqXvKA7WY%Eh9KHXkMD?R~(5s2Xriw4GKC#}DC1y2W=zBz)>U;+N;& zmbi`!Wn-PGiFm#GaRXI^i*beBmP&P^)BMus#hrfFr+er_H+lfqUw_~_AKpTa_zv=c zVZJpS7WipBXUj&_aKo@jF6Sb5I}HG0=M%L3`yZ4)_={!_zf2DtNf0k#jbMx?an3i? zhNC&PKUp>VynGMwxW~!3X~K{&sD=+z`+7MeTGW#MeR$v!$=Ph+eQK;2ziR7~&ULdh z2BgaYlvEQffAdG>e|%q}D#c4OgmBl_n<+y+C{Dy|JTqZ=h99+WJJ9Ai+!o~R5kLm? z4lV5ly_ok^y<1)>(UK|!vGtF$TSHdlaiFWO#Hn(VQoAQkJX~$IjPw8<=EWX{0WOOw zV#XQ9RmE^Po5GHd?-ek_f4&^3XiQ4^fsBb0&E|N5O}3lkm2X^4bas_%AW=_D45QRL zY(d47eMfs(L})78msMhon}|unL&&N56CCQBNwRscD>u)9BxxZ$GO=gp1D(Vp!|vN` zZWmUbrbhG^6fc%`$0CC+)ZO7o}egOJe z0ugyiG?R0DOOOfBGsSXZtX;)c0P^PSMgJ`pg+gB z%^r&uX`C@^+D!^YT6^sy5J1dbgxf{<0X5uEudc#h0X0+ic-AlX?BRashj$*{(-CNI z2jLK^zhDNQleTfq;*QoA-&4E}j z=F?HiKaf9=dd>Px>18huT9xeYM1dSq07ka&Zb*A6yqTQ$Umb&(47>hDRquVe4pXx%{r+|wU)7l)iPtcC7Z+0P>x<+-*Kyp3L+#XB zs*cps`bnVpNU`FgZ^uiKVRyZLtdHI(v^Ha=1(~D#zS4|POZouxNu*A-Exfn;LV`(% zF3tZvZCWk2e@x2IDl3fB(JytbCtWXOu;GP7m8I@5OUr;S-`4G-(--?7OKqD?aCu11 zTR1+huNt3|X0du>cBT6{LqFoDpi)&#(y!jFG^y|;?vNt(H`6hCoKG3~=zK+i7`L$% zLpzOUmB$FvH2}tCOy7m+an$l_`8Hg-na_x0s*%%X;}h#D#Cr(T4UQh@lCqGm;BM;C z;3QwStF;Js!v;;FD*u8kBjQZ?bJEd9UpgMo+Kq_O@~5ze;|*C0sa+;{XAYZ<{p8ce z9_F7hZ4FjVas&RGmozlyLWVKVzEb?gkx{2kzl}Q*L*4X+5;(h$Ev1dYf9-adKs2xC zYTjYdBu$Ta$XMInjhSTHEdlDw3(CuUtrLZoe|4E2ed2{IP7KHL&Pr+Y&*tmeQQlg8 zYF8}cjbw5M(-S-mf^E0n$ri4M36jnC8vm|D(ctuKHB&2=Zzv(RmJ=L898 z^TV2c6z4pPF-W~I6YeeJAR(F^Achnp>@ZA?yTVg|V#`$6?5gy9L- zwf@bH)r-HaQ<+}bu@aW`ef3nDRl{5GGVFlr${PC!fRO)6M#TkpkU1rzx*Aj8_6;e-wDmnDGCih}zryPJW#X(27;Hz_UCDSE$ zYZl__WOLBhd-AY9+q<{>_b1xs{)d%ggGOJZyXu!8fldJAeC=p-n=IbF1qM6;OmT-sT zr`q2A?^tX|_~xR?XtNBOlY{Pdt_;_`i(@PHBRIouEuonPYSu)H1a zrj&?Ght-B(5(LJm{YO(9#Xslo>Nz< z1wn&;lvio;UQE&VU1A|TsjZYW?N)b`*~V8aXDn1#n@VRiuEu+U*eFhEL642|u;7z2 zXrAd!WNp%smxToW*wJ6K!UJ@_c3kzLf#++R`NK4Y_9cw5*Zp&)xw+j!sq%b@i2Dp7 zFRxj3Eb=YI{O;$^i{+!Z)-~8!G=jJDrOaue|DS*2gfh-b*A)X)n<4JWjS7$+Cp{N(}B9JxqWzEwTxQRE&07Nl3b%3 z>Y{w4J3@2_x8ZUNXHFM1`cdxtJ}qXqey`GZzJUQWVU@di{`tHeYoV>7&B;^yu1FQv74Wv}iX<%v$d`UgXG@q&qxDK0KnIh&y$g70Ix207xQ~& z*3W$FN6`8l#wY`|nvH3C?UZM1H+Ei1MT^c+Iw|7;tsUvS!$;Y|C?PeGmEExc>x-Y& z-&J{ghi+eU>ldvB)GN~aL(xXDx163UzD-h7K;Oe?_4qqNeOkuF0s^Rg9GxSqG=~n7 zxF-O>s3XsF>pVP%c$Rws^|sPXG^X#q%zXM$3h_q^rVTeYSX)80-=!yQ&a>J_62p?j8}BsTc<)T)?@ z#@L6uh`I$G$efgL-up^?(`o%Tf!oAum27QUIn#~M)v)i=AET7rU$>f}1B%R_@R}gcjJanjqRg z!@p5$)&w$@u0KUuYtw#O{4|~*ts-Hg-nZaX;DbCLTY^mv9bn1Yy)4;>97z^DG&*@I zT;OL!3Fer?sx|Qm>7BkPdY{0 z=_}p8Ep_R3DD_Fkv7DK*@8yF3Aoqt%jyz>gb5?lK&*PQN4L3>cCiP2ExBu*lIq7ex zm+~__3(~^>SpA;fgHD`z^E+C`QQ2_YZe1t1T!#x4 z@4Oxu{TEv+Sd&ZQtl;!3p_sEq8a~Cvz-3d#3O+|GNZ1eUZN}~Kr)`}j zvPu|!m8&ysYE$<*MQp5z31p#kLI#l!J=;^$h$H07epS`deAnqk*#Gbi?r<450Ag3? zRkQLgAt^(fSc{8|Pkewm6t>6G4^jl4L|_o<(*^G1Vh$^ZpO{aCYvBd1 z)ytISV$C7cG=73OSbi{6=0hzhL}zzSsL_*I`t>Uo^5`kW*?g#+%vtN~#Ej3sz?PQA zETcuM2)_ZdBi>SH0ljU6CKNyZIAa_DwYUsrSFv_!UCrO68;;rP{sQOlEND26b`O94 zH@{ZI&uhL2$>pX7x%LYEU^DTpxwv3(<(--moY%#$9J1&H-lxWBkr>^UP;mnyy5>1_ zI}3u%{vrAvte1u@aaCg|j4xux#o6;BE)OsnhX54elP){4VM$)r z^aBvIR8`_kBlK_U%8729jL_VOmrBXtQjM!sDoUY=YOTty?w zq@hfKB!)2b6%y`bK-Qfi`+iew+{R*|7a9&TW#oA0Qc~-lgu8eBA^E2mSVSpM<2mLu zz)OBG8n#EBL9viT1dz^NMj7wB11S=O_hFuOBy%FOmeswIteNm|BRfQ{5PpO zQoZSsYBITC98~1sTP)4mt>dfEYq8K^Rk_CgCH$HSy_iEw&F($c0()U$K%q2C-QSvm zeKr7Kq+g&3spo9Yg1?q@M#Y>Qwa!2rbN=6(3tec2L5Y z)skAZD&iua2?cpraE@7`r{bQwU&s_L1CXJrzRmZD_Y4iC_WPSOwkw+-lA@aXGI|+= zzn}v3^05h&8e65@=5pu*FSAkcFV`tIZPv|ZWkdCTR7i1DUJ~#*R-Mxb|7ml(7FLcQ zq)bAR|L8kX$}$JaCzMNq_*Nx>=J5rn0y5EvYj`=DC@B_%;h)Jp>?H@g8c9uKsPOD< zBep_LGE5EnBrqQkVIh9XVK&b%56^hF@ba;R8k(s&QP5DGxi<^g$ z&}J6q4xx2+&|Db*~~#vjT`sf~QBK%=5(^YUo2+$Oy5z_1e|yu@Cikls*6M$0KyI zDy_5n(rtREk=Gc-zKZWg;_FUt7Rx|}l8<8{5!;{(7}?v|%-zaUug#{V>3~v>LznNh zwxm?e$f5b|cK;o<*~ACAnLI`sC!_jN+`GwE z%;Norm+sKzNQtHQFD7jcd%yZJnU<|aSWAjhs2uNhl2<|mZ~9X@9OYTN=ah%8qK175 zy!-GcrISTmYwiUj4ZFeI(o`v1qVzNOkj}m&@=L;1USV>5*LMeCULz7f=A)>pKtNSX z$q*t?#b8j-i9mMQf7Vfd+k=wsJ++Mi+{rf}LIcW|v%2Gj5u#%nC)3^t0H{--+*DWx z%wkeRUGD9PUF5ITr^ln5wtk(Y`CZQqod^4Me|JDD#(PJ^uz?qp#&EkY-Nr#AUwvNp z+wk^0a8(5Ic+A=2D9U-v8M~DM7Zj2lyVvow@ID-rGocPnms>O)T|9t)dd%9o->ecj)>1OHj;mBX&Pwi{0Hb^LWH~J?8 z!rlyOwNi}G0Q@7qnsjR`lQr!Y#qsttfe9H0(oOGBCCl^z3ty@$-i67!3s?TX_~w3sNMx`gj)a zp>Q#gd1^A-Gnta0C_bd?uf>P;2n=%QoNh(s zJ=Npl@&thF9;Z@#K;);+&+iruo)Gdl{u`d?iwGxiCry!}3#vi!Xap|0bWLs2Pw^YWyRb_OJil z@e_8KdPU|zE1MbZf1YM;u6Su5)-Fqs^!xsvXZ>N|K}Wt`0wwk?D2FZU+Xw|a>(F1N z)%Bp9=8g|a2xKX;jjwGxbL+@2C*1w3uOztu5Hg-!&O>-i+Ed^^M8eOr33rMrW?A^f z{LS`vS$_mGa$qy-3(S`%yW>3Sz`SU3dw(`S#hg>8LkDO)W3-Kh_NYX39R{5rWcAgh z(LE_V3a-=pOx^B{3g(m{cT7ajso+Hclg zJ#&GUtuCUP&uO?8{aduWMSNK66mOG>K{XX#e1=>&e#mQ4-}DqiUE_SaCn?Cq1Qy5W z>H~h>eB*_Q@KWnWPLxq@%fnQ>wji&U%!3ghog3ju(=OK}-(ZGtn)N>UmbY^$e}#K? zq1>13sM&sy@!(8oEsjE(`Ow;7r&cnnRrdXf8E~$zZCf-I`d~%JNI!cT^S;rwKMM^V z@i5x=XwCHO!v<$ZO}B}va8_K*pXeV-{-;Idj950_#1Me=&r?4s`s9sWNtA%E<3e&C zE*m0L&B#Xne`WIt3}fZ7@=Oi0ueW zX!32Wp)x*1ciq6hm$forr@-}>2h1N!+Yu}tm*s`AF6%-(IE78Z~aK= zguh25*>N`M_kq-0?sWZtpOb1L5co7A&P0ufDxgxoFRw-+2oEE&YpFIg7fckua>zR8 z0s7SpYntU@_RQ5`0m_@T!WX0vDr<3<&gChjI9%h#99+vVXm z-S$?az#@nrO5Wo{V@Bcn$M`CebE$g51Bdmq35!4g)6aHL2> zKsLcXzpGI;G5HsSM(nr7+7ja@q2rzj(QjAbm`2TYZMSK3yzpbd;sF=pu4!OA6`jkW z#2L1y*In|IKaaSPu&w6rXxu}t4hnfLob=&9htOp>mW zpX8cQ^dyhbrz4u2hQ@|jZ+JjaRa1vH9Eygoc{#CRTq2N>vgOLDEZ8|D1yNXG1Wp4W zIcob7^F4t8nT(i!xv78Gq78=>_r(}%z`0V`5RBaArYo0fx9u3F(L)QRRr`)-FYdqq zbb95oSz?GMilUEgE!B$X4dx;BaR9V)CtbBq|(#}36Vv4tNAYait zyft;trB1)avl+B{OgISyd8kDU!1SM3e+uhcGxNXmb$E`^mhtl1S#qT%YdvqWD`V?( zyoSIEaOD%C3PVnxC)inO8sxA?&9{g`FswzAJ2%l?u#{-m&Ax^076}AXugh%or6@O3 zu>hz}e7Y33O*ly(yU~e8)$%`pE;C}G%tufNcfNsHzMtkhUR=%0%p4u7`;708*rOOe z?Tv-SVPrXR&s#gshoM`&^S~Iz4y)yCS+_ZU8lBXI00KlzY#ByBFz3+{Ngz^a*+@+C z@i<;Q7csPO%R=|y+be}hty^Afx0LGf6@3WKuX2NC1LcNof_jUizKfUr;U ziG!-m&%*m)+|UF~>YD8;`*Au;Ncc6)pyPU{-G2%*%en^X@6Zj`xh0?1$pOmKSMn_h zrum~XcNAulO%*ycjqip3*dTzfg%6{HNJ^Q-cNuI}1R}|QaBmO6TU!wr%0y=j(vrEgDsX@fO}U#WJF3b z%r~m9`Nmx6=6YZohH__^{Xq$y6axx&5yXUYJhyAdg=#e!u)@vmFSf^p9&Nq6_{^2k zv9#@)3N!cn1={7kRSPq0VI-O)K95xg$&S&#vP9bq4bnlT6zUeH*vIwKWoQlQB|t0z>ZZ|c#v)^?@Y8;Ol5+7S%+7-dPDq)PhF+nS zJS};{bGFyImDqIW=d$pm&%cJ*ZL4dH-t0;RJE20Nv}uMdPFoG)eG=%UF}=^H9csqK zy|cKGnbX*?Q$_-l6|2mI_3RssZ8>Y!zhlZ~UAXsr!5!`y0#ettZ*L{(@ZeN1H$q`#V~q{!TD3#@8 zyx~L2Y^U`nrQqU2O)4gBy(7I;z9j|aJa4|_E|2p^po-=F&$CU<^78gx_r28vG~2wc zn_UmpD>K(kMBqs|xQVJDZndO#?f+n>&%t%0+AdLzU!Eupt0XFOS9&qm;UFhAkR*J5 ziIbIxtIg>{6w$q268AY?X9~r(`$;eBvy;)%?x1`ZFE&8QP= zx6A0T;_Q(#8p%ns!_eY}UDN*4ccX^+%{tuc_rz$$5%mRC)7iJ*frki({$2GZlOeW~#$OpUFCxIx+TwA+gKwmdo6h%MJ2qhRk)|PgdXgk{sBs?x7%n%rAM` zynTzKkO`8XH|tmd!3PCJl=cRNjB9A$xa-HUNR#S~JELDsNj|U~# z%6oTePUrD~cJ7DSjT&vPI~!XLMALeMW#>WCoyGdzL&|rA1$Uto2bB!d(+78*d%s5@ zfnJ%gXjOWi9*6jRrKA~`D*2Qh)soA6MXK`-k>ry(6l5J`~YCZ2D%;77JhTm3ERb2TG^oG>Z(7<%XES@=4`T(U6t7YdLbsTBArY!s35$K#T) zTwH4tv9_Yr&J}+QOR)qxyXq{6_3Zdbd{+xVx11!l#;qTo2{buPLco)cd2Qnr8eclX zBFDfY=3RPu;?fD|6iNFR+3>lKtVDHIX44xc6r=3VzvU66pv9YqQO|1V{vNkVYyk&qnQSU%0oe@PW=Y1RwF_UGaPib zFzf3_waa@4Oi~VN7Mx%Z_7FrRlj!q%J~R-1*vor!BO2{j^Db?X-uw%QOaD&ao5>oe zu}ho7XbwC=?6wi$D^EKKrNTpcv$P6o1`OF;${O*Cnw5b2_pdxTnp6f}6~BIWAp)J_ z^unEj7J;z|vzEVjk^Kxa9PG+spKDYF5|-DYJ@1*@7K8JUvAiEC9Res-2@I;(*bjNH zZ6rKP9RKF!kuPzJeR$_85r&4fGzy!yX>waY|3V@cAVtmeA#7@U+*TEPM|Q7dJ+R1H zzMLM3Q%cy@QNOvnN@UV!lCI?GUd--a@SrXhU*lYJRuTWdFK}Y28y~FL9MK2txpudT$Yy z>O##)qJ8J_AVQjm>udkQpd~%hn0>I)@W-it2jz|TT3o8y{G9Le*5;0EUuW!yS;;gVju-y z?aKw`#w>1_ZX{ir^95x>snBBS#8QN0TF>H3Nfxdl!bh)2(@3%B8ts&aPN9~ssLgR$ zPp7Xhr@D<0Z_$>s663L}%Ihye#|NSZji1yK^gEmW3e% z%|5^0n6b~#OTP=bf$`BoVh9mqV`DqJV_ojusNY~=otxuj^2%3(ZIndc<3sj^p^|8Z zqEv?IRcmdilMdcndhtzfpvn|M&v|PB2`_Yl=WFow{&EI1jiaZ9&3^op#2RnbOUrJS z&3j4xERWX#6v3;Bqm$PRCWe8sjmH-N@Lc!%e7|zZ?m+4F^XWu({H1X% zqP0SB>8y|0?|h8VCfa_W{woA#5L{yMzuIJljx@Xn7m z3I82od5cj&e3$40|1fpt8e1~OG<-PaLjZb*!r$%kpu3HC6BNOZdTXk_g|q$-+y3vv z2_(T6DR;v2nSDGakgqd@b68RCHy`EeuS;F$;f|k#X zP9W6Do;|5hp1Fz|K12ZYwtdEhK0Wpg@oM`IB5jtI#|R3yc7@B|#W-TlC*%Gvm;Nq_ z{7L(k{&zhLD|d#US%Xl$Sd3U~@r3TT;)tL3q?}jZy^VY90j$0Pn%{lKp%|Dw7rF3) zJTHeGFE+3+@TdH*rNXT93P2}>yUUNeBjnwOuPmz;k-=EZ5CD3*hJ8lieEz`sH#=)^gE^WG5^9wLE6UMr7b<+D1)=D2IxiG$n+bS{C*Ulew(-FeY- z1S`VxqoVMm?Gn)fWHLH!|59w9LpMS31K|!)5XCGq1m9<-@6Dn`makid&R1|)k@K^& zoZ%^>ZyMg~`e3$<6&nuxxlv00wc`&l!{gGtMOB;%vDPO} zE%P#&6vgtmHxp%Z2y2w;peZit^>9nK(OC9ndo}KV%jYty4CTfDbyASN1rNJe5`OfZ z-;~CB@$d5G#Mix>*;#_r@|$0>at4p8So+~;pjdzHdJ}ID-wgSfD~)5zid8NOpTkc@ zsfK~@&FDMJRe;X#pQ+b|3%`y~p=RM%c@eP~G=KkW&JYxM@+WG4HupI`9Of2?i<~zG z1!&@b!ta$$NkJj-cvM@aQTbM)ZMT^bG<_W+$LhG|?L^@nJ4HCfF4v}lg6b8`%!KOS zSN6e^UK#$6_Hjjm$AmzI3J*^6+cQRmoIxj!IK`5dYxqnE!T*<=q1u2osIavFbp2cI3)g{DLNL;MGzIN~|04y$O) z)f+_D{}81f!jimAH>ry-qBpay>25O`*uA$ef>6W23IE@RRoKGoIC|$**#F&XV6*tN z(1VC2+-i8PG1G7s-|)pY)ZpnXun&dV!#4c+J@2I!~T(ouKfp1CjqzS$LvQjpe=uvEpk>dO7C9P5TfRl%a3YA-(=+j2w6aeK?kI zjp2FHCb2WYd;j+ zjc_kf9R*o&s~v@4@u zyz;pU*XDb==JIUfzMLH-&$>-{0OOa?lU$}4fXpU!iZmwFobVz4_@A`V#p(Gg%#lrN?o|W@L`Vap#-8ytgN!J&* zI0p)k9%#NJWJ0&vyd^(b>P$@(>rPM0>78$kFRcG!AUYg6Px&3VXJ(7nxQOOt_d-XF zk1&~S-Z%C4SBTkG4GOrqEKH1l#9kyY7d2QFuft9f2 z^9irf3M2k4rxGIeTbK`3%%}h9DdVQ|Oq2cGd+bio;#U!q_ShVqRm1TFq9 zA)7{%?c5D9U$kBN87IU!Zlj%--YG85G#T5|b;T^9e}^_H&Z{T3g#L=5OtP!mwgcZD zQWTPZZP&0}!>}FKx9Wwhm8{Y8$}rSa|Ap}KRcI3Xie=CS)6-o20IC=_<)Dexfd8r7 zQJtCYz2})or6eOMtqizc{Ca#4qNPRuZTUKJgoFz8zs%|Ts+agryTwJL)4rS4D)FJ) zx=rUy8NWjS4(XN`f9^71MJ;k3uH4#w%J=~Q6d@S*o?2z<@QKPtY7XADYd-yoV)~bd z7bK3_F0riKu12>x4!gwG)BxZprsbzUNB5bm4PNZ|tK66hR!j8v>@wLl+WjM1yMsLg zYl!EQlg@Hdq8dJ?(V@m3Pc02YC}Fa37gfpIBMY zf0Ql-feLhImaSYhXJ}C|tJ3xj(-=PQ`js|%Y62TJG`#Wj=vjkhU#bJ^VVcIxn4-TO z3YIIF$NhjH(eF8_SwW`8G#M!Ieel_K^JYN;;tlQe?cK~}ozMx1kaV3=BdJiJx-L0k z#%l`=(p4j(@;-xaeYb7WZsJH_uQiioXmmWO@WRRvD(Q$gHRCI)$e>rl?+&erV zpt7_vA7xFzKuzf%1)$noac;MbP6RNZ3phT$!oue?NigZ{rTfG(i|xGx%nG744;WEP zz^`KdFD^9UgN4wfE3Bi&ifUkq#~D*Befx}j5TPO8#Zpy4=b9~CC2zv#%BI0mS5QIW zE~lNjh9V*$T>lW}T0-t^M(E8gMP?MQY4fmGY`i#FBUWzz<8z#emm2_|{A z`Nw~6>Ghxh5ri2jMiZ(6OpN_M1pEmw$oA+?#7oMF&ocEcR~C_V!Yi)E4u{BE_0#zu zQ2Oe^!e)PDj{UNvM!msv+hI7Os%gyV7sM4Gm^-=C*M8xa(ANL z1*foclm7hzez?@=h>BI1YibxMvV7y{S$@O%X1kA`)zQ9qve5mKKXYL^I4C z-+xMZTBJjPfY(Hdvi=?h3s|RoY(NT_m6{L3u2>{dOdp$%Ky7ya{+y+op6rK3>O$Oo zkO{xK`Jcjj_kRlS-iD@I6!PVc?D=0c?KS#kV;c?v9$H7Gl%~tpo-_p#5TNd3K)wS3 z{5%;unXIq$dH5zN42YyZjS@$Og2Znip>%E@8vz0kvpapM^}Xs1)Q43skW+^75pB00 z2wDlBkzIXXj|z~C)bVIbF&Z&>g2faCa>Uq~-V&%69KKK5k(sA+zMS4WtYwWexQ@l#W#2*mCrGF-M7=VE{0A9Nk zSx}eQr;}KEf-CB6FiJLZVR?&aTH}46Dj3nk-0{vi)sFuR%liumDd(}iZC-T}Y^e{W zQ)HCr+njzC3eQa9i*wk)viL$ZhWi?^>Mx@YfycTq*voQL#9CE%F_@DZ{-i2hw@oc}=XU8dIgoyL#SuUPRMzsW$d4D5F9e_Q8ZnD4Rf@=bjTiaotj zVSzAF2Zy#Wr*`!$XU@c7U8#4CkarJ$8sdw6-=E3>WZ6}h43ZU_aMfaF&O^ijoj+Tk+g*$F37AbkwFBv7OdyrP@IORkNsb)1d{BRs&Y zx|gTJ;zacSFncV*w+iM-ZOiCir%kdNV|hpJSu01D(BNy%%%cecQClvsQ<;AAN!z?% z8RDH-BkkZ$O10AO?0ENpq;9$XXy;p7nszVk}1 zO-{xI?y^z4j?)N+O@i1D>X={!FU%Y=5XL{EgM5ElIBr;`K!JX*JEBcbi2;yLq&QZ= zT^o|4!1(iPws7i6PSipMGv)*ueA(RZv%8?BtOn5ycH;$0_Ex3sU0fEBxCVI#GgRbc zUU}K%u57K_H}e&Ou>v7tpo(A3WmD3{>(bL~=&l2wuol_zjq=)_ zd`N*Fk?tBM=nbxJW$lc8i2~~%OUKz`SHttTrtvKyD6w=hgadp_M3a148X*^`TFN94 zuSi)?OQ0-QvzVTsCi!n0l$wQ+yOzgi6WSyV{KVqux@)%ud3Hau*Ioa((BJqtGxwtYQv4^%l+HMX@g;I-Lc?! zI%s*&=Zte94$2;7Ybs2RcR}#c$t1St0G4?*jOZ_z`K0zv=#+K}HW{5zz>*Krhg4gq z2b9^3A+@CQSw9Qz$={@knH2Wbv1)xs|0DeQ5AFt!4*D1XOP$Cm=8Eg1=n?<4h!l>u z)V66Ai4=&)4C#@1Cs`V0tYpFiHQ_ZbE67PKLOr<5$RzX{)Ir2e`2!!&C%Z=m?-$Np z*hEc?6$|I^ROL*hURCgwvS%;b4)x9@3_MX^@Ld?4ZA5KkJ+ zr}_XLw$t*cT&>GA*@JrL09^!YiEy36>gs_NxR(Mtuo3*8lz+k5lu(o|yNayRL>sk3gJ+=(8c(|ouKahJ(R-mgHsZLZnw z8(QOMed}vYE7x{8J+ueo#jy|@PT8bA@e#BnL_JU_9Dui&J1$aapWcM~7)Z?_o-&-@ zEpz>A8->>T<15n7OP3Suo#pb>=wjB=^VESn<|z`21*5toS=i`TQag?5cq6h42yweP zOmDxx&_rZ63(SkFvn@c)WNu*b5u}0h{wC*U=qD#uH<-E!^K1LtR_v>5v2zav4lk@~ zyN7rFnbUW;7G_=oU+v^|sy+pcoAE%L2O!f!6;{E536>Pu{WZA=Lnd(0J*M+X`T|wN z&u#(CmaU$$`~H1-rr7ccKZl+C`O6vbg21h&vL>SiW68oEAo0l(QOUezs=uFvPKQos#6f{cMT9T@#m7E#BvIx`KO{x;z8N%1isWy`jF>G$h z=#=jA?*8~_IXA9Uu3UJ8%WC0*_Xq<*-)xqRI~&gr5&CPKtWeusd^~X+p!ZuWTJtt| zo#`?B+o@{IwczX4bGM}Q#%|1ZZu2zRAhrcBu`i*QXsencJ?RIl(nhJWh8@%K%<~1M6KW?l$h&IchrzDHgVjnHnn>;Bd&1u@odCA?Y>yx3l z=-1$}3hT*bJM-GS51NxVwudw7gI0VnT_xqB$Cl$nuQK8!tEx6bbuN3YB-h`=e8rldf}M+Vz9m z=9xF4cLngwZ9eQgP46N?gA}T&x=Eq{8!kg6pf7wW-DF00d$CSH!e5CA6X|VeeXQ)T zFSSBECSk3bBkE`E_dAmMPw(!ZW2oPG|EwFq{FVV!;Y?B|aA=|yLit&-@UT(WpTk&L z=S_-^RY`k%5;;WgRb7%=O^tS7x&x8;}bjY}#uw2D}qoY|hg)2mbG z1m%leHooso(q+ggy%F1ivzFqIrk${uu#Gk8#3GaD;%{CSftrM` zf8BTnJ8$qr}N#ZCTvPN5oQ z4%7#w%r8YAVrJfmoMS+hGmuo4k~F89M&Uv<5lOk(H~aS1+UdvUmB%M5CevRt{+Q#H zmlf^xE`zdnvt|bXipEH`GU@)eW1ESg(HP$q)>zDS*zZMi== zF2Z*_Pb&Dk5lIAnF(Yltga_{dgdPy#-Q;>KMEBihhH@y!4I0hg029d z$niOvh9nf|w&q+ZC;DviiM+x%VX&t8tc~BLPzO{1un?T!w?8v32h@=dQ_{XSNb{itx0O42I%y_&+3kj8 zS0UL#n2QNlkyIx`}rsIH?5U8ffdZ-Lw-sVbGI$t2Wr73v}qc337h zSd&X5&Qq88yiI(Kh3nav9G$5FxwzW6JR~wyhT#7V=Y5b?Y-MP^OAmo5Md!Jiu=05T z;?dEvcc8JYZ4$>GVG?@NNz#Iqk>Nv8^Z30Rs|DfiUK54)#RpbVUd2I-N-Uu0kJv|F z(2oz3C?EXCQ!gqLQs1R%5NC8?oI|}k%z2aPf&CW!Z^TX(PCn+R%-2Xz1%En`AnT=U zqK(hRm3=Mm_i9w^7qDf%Tek$66yl)lAe%JHIbI8@iB;W9_n4>y-COKMaOLY*AXg`m z7Xn`)LmKSo{0jBT<^Cu{TaH_^XJ-yt-X*}# zg9AwOe=|}J$;47q5dz-uxxSw3G!xI+i0{#&A`T&f>zLEW-N}To6Iq>(eX@<R=*zBoOO)K5D7VQkh!Xn2XC>1f_-U{50h z=6^CVS{dEZKl~9;uwm=tKeg`!=451eRXPh`%PcOb&vEda+`T=aF3@JWnA)X>UisBoKMG8mZbN^+w0oowKZ&EpS7v100M0! z+kwk}Ray|#-xzHk1sjK+&h(6&Zw-V9@aadl-IuHK`30(bnsw41v&wWRBB#nj<$=WH z;cxr`&>wKxkq=z6t&Aj`Rp`Cy%(a*Kv-5+3SB@Ny*3!O<&3Aub4Crw@~|fh8i3D}DpsX2t%d3qz5>XKbuo&9N81i1 zF6un?{^HY%4Y=;Rq(Ym>>Dl*XY%&!I@CnTVU4?Z|%A+q#kB~;&UN1%Uf8hByzoM(W zoN-N_-F3{I^n{%L*orP(Q42n^*$)oU4W#eONW4~vG#9~ZCf?`%$$v4Srdm{wmf$G4 zo1s5Exsn|bqbrsKjfYBTclr9a4hQIk%67e@i{`SifUJZ^WFA)JwA1T^7n4#cNd=a{nHj;VgmbVA{?y%Z>2X#(!gq%UDbXW z`Hb_0u%xmI1e!{sy**j_GDt1C$sS`}ScdN+GP6`+Ui}pfAx{96;E}WFCqzvN1PXJ4 z45|Ks-cWy&Mzv5g`Hr+?Y}%QRUJapIQv`qhF4D%1-#5JCb0&e1wZ0SBAwfN%Tb zhIc|K)M10DH2B$w@8~FD3j77>95hUV(f+UPX?NYy_2AO0Ne_s6Rx7 z--ba>FkB5kzeK{|{(IDO$0!slHG32@0Z8lnasRuThF=krw^~X98voGTx^i{_SL#%* z^+s|S{R!yh_o`vclJ3HRx@E8neOI=nD=CwMCV=qN-$qU)&x^A)H=`saW_j3si- zrv#;k&tY2wV1)TMpvgbTLSY!NLN0w6G)j~w0ifXKM_$AMrte;&uqiv>vCY$6)pZP6y*l3aMPf*OCFh#3Ski+DEWHF#a}i&9&ZFHe*?711V6l!??&Hk(`}cF^^|igKIn3ZtzjO z1~}J*j~Lin$}P7?W>_CrO3kgL960&N>atN<{8mOVHy+PN?08(3ww(|a-{($(OS>Jc$GaS2P(x%sRH*HJHw_^0lpJq~!ldtxO~ zsgghqvA%9%K=w`8;Fcu7^6)iG@gl`1c)vjr&}WvysQx^ols>q5J`dy}VE>_mp6|jz z8T^5YXvZXl0cO=UYh0%qoDl*AZy2@8>kh`Adf?biPd9^o&f&Ql<$v9rBi#!$t_C@l zt+WDL;}UJ~QZYaAmQtj2qlCT&ff!TM2!G_-TkUXd^t@P9^7=_4FZN|7?%I%xb~CrP zoqfF+l`d7z2IVT0=sB!`n~kFJM)|}08Kt?N=315T!f7`d^$*$u`BVT-8x|b^W6v%- zJ&7l&Ab@rkwGOb| z>;QW@)OZ6$!j#CVPHT`&%6z|oq{ykyd(WwjF5m5R3Y&yxd6jnDPTH}l?zG-}=RQ{S z`2#k^ITeDhxFUSlRPA8bMD$4N({_FAVx;#9l}gc_(LuXQ((-sAy9A79(mDVJcTapl znd>Ypj!(O5kR?rP8@KH@JSM0mHic!m3XVUh6!Kb*=!ds1FyH z9;G)f!zHz|Hoczgixp*>x|;d)coMukl7IpOoO1OpUuEm$#Wncd*GhaapL{zDA&SS2 zNnq%kXAwe4h)tZ30MTyN%smj$-0VjtG%oLqJ6>?8`mCZ5w5#`TC3#&Qt-&%;G|QJ9 zQ2_~suR)-hIfb3=Cn}LexO6%9L;OV8g@XkqBIYK)o1)TvGr7yF{ZduyN>h4_^pDxr zCqUsjvS|xUrX9*?L;-fU26z84=66Z%Li89&t;yhc(IfKU1uJIuL7tz^~7YKQY8~pVLD6;UEZaugn0{o zwIiI*DLWXUrEbzUGa~^FV=^HAjOv@)z!If!LMz{4F32&wD)}8NK}Yr{QzAeJK4aSAN3U$F3rOwXtBa74+v%yn3XX2y{1!C{NInn$VO zdtBT!mUM#)9OxZv+8~{+(JV^8_;G-%h2wY!IvIeC zM9kA~TDw{&XGUgiyy2nW_J0X;33U8ZK;wnoJ+M=?)o5$gQYZvl0Dbr>tf6@M;ZVEdw(jmHwbuJ36uZeKD=y16>{@)Zr3FAi z0yo*{ws8Ni)`g4e@~uCF`pSQP#{f|Rjtq#$8YD#@uN}87{9Oh{SnAHP}aS_`Pr>v(OH?UBHj0g_@mnm z#q@Cf5P=s=Z@gF@41RGq+-80n9rOoO@)L-nNB4_%+tDBSi(-1Q>aW>9c2=%9CcQPo z1X6$qFzH}!P@1~)n?~F9en>&#;zefn@}DF&oNmtP;SM2g89>RN`i5r1(meZI9r0%j z*gq59m~x*HqBK!$Q%Z|zg?WCaq>`57R(8lCBcPibkN9{g-QNa3C&{Ju+BxEDoRqv& zTJ%@4AWhtAR`Eb<>OtC(OvUb;gb-%qD*V)w`whZ3KwD;9DR+2kxO!M#4QyG_fnZ)q z=vd4=WzYLFGNHK@t643d^uRRECiiROaq=6eENy>(vg4YcX2N)t8}_4L`_RXBcIqCV ze#CLZg%aiqoFAdo^q-a5{oDS^vPb1#ey_Uo_@k4Id6O{nKL;0hvt)_|Rl9cK-yPQ$ zj`5b9#Lw7H6nd{;$_THOsT0PaqlHWL&nGZmexm9|-Jrq0|1r37i3FKnQl?D4>n-c* zT2zG}SMD2xyJaRNHR$mRq$cN$t1xg_lZQx z^@E}N4Q{XcKG0JY*+m*l2c$lq={CDk^043(+7Qe!AANQ!Dev{QijL03a-qU!jY}5W zO;6i?Pb)JP6az5|vuk{QPcoBzv%~|JG8O)-wFGr`+_n{T>|MIOoq79)0fP`u38;+b z?qR^Id1<>>EnAVKB_5=ia|>4NkSq(Njp+-W1Xq=d^~>?nL*@RkP&ZTYVV;piFd=?D zaeeK3q=j~2Vh}3RQ<3Si3R|@?6&lw8ifM?(;wF3V^P0aZ3dgf@hf`32inWRbOMQ*L zi@aUNT_VTSNdBva)1EVUdD_(9%dOwam1IRo2`^_STnH`ipV~y)Li^%u%+}E8thi+S z{oa9^xQ3Ac)d)1-v@kyRl3+40`rs?$o9-{ZX@?rbF09ci>^bJRfHeU6ZAaPt_exO4 zy}@-ZLlO}t6O)mnV{hU1(dT>W4HgJmZ| zyYqjr0N0gQa1>}!t|ins-*JKPrQpuTzYi$Y$AP5Js;jG?C&Pf6`hPWLH$S<;?W!es z*9mjY+qQFHdc|E>H6>bm(rCw2nn})3QJ^tpvoc|PxgyBGkN$Cc{=9efp4BHAtNqMF zJ6c=bE3RSHiv=x8;c6DcLgro#|#4@E?VTkUAl)K5|| zL0T-km76=yhOU1+@M913lF6U<(ME(fHidh7;2rBT+8fof8q z43^Bl{h7J=vk;H3k|r=_iw@ca?~FDU9eF?AohHL%z^=pFZhG%d(YmgfIaHCYn6y4x zt4(@@$-0^<@55X)f|dxfHCnj(PIFAQIMfVE@A+jHuFa!8g2nlw?$+k}KeqI|tn76F zGvLaBw3L19A0A#-`-}Vz6AMz4K;~i8bRgVQ+~rE7gYzL%qI^thRpllfA*%*CQEt*% z!FC8GY?~L9`|HAe%+%XT1{VIoaW9XP-4LbX5xFo8>i6iZ7AgBt?Z0^0)dpQefM(;S?B=0ib@B0*99xcOpGdy4gUKN*?mJ+#~AAbRL5Cf%BK@bH2 zE-RPiGHGmvGyK;e?s3>=uk=$7n=o_zrLU2ZC>#YPC04FBupN9VYH2&K`T4zWWha=B zBNe=(K^L^KJGy;sE-N-(hZ{ISZ#jLIYipg4ms|N-TW*k{L8Zcf831y!>W5wplG*U0D&K%#*KhgsVJn6;|3F8$McFm%cY$@A&gVw1%_gdIH|jjxsAv zvzPh&P#JW11osBs(KTgH^(VIuoV}T)`|a9ySHpVNAP&qJePAqKke`5KLVCm2dK(w` zi;IfZIZ!~3q1C2io72+^7!+~@jGsa6ZoYWwVx4o&Uj%l><{Ccg+12wCFQcbW!tEwF z04@;+LzkkfFdXa6)lpRYJjjOn?;@$xSd*#cbob^Mm*y(0u8=Q{PQ`eo0Ap zrzO@d)Bdwx>5~f#$Wi+rl9EkxT@SgN+)6jG2GEqI-sd2}phwsK8a@|%j;r(YWHw8z zcDIbosO)czonOCsJ&;4~>QG40nvSKd^^$zUdlPRrq%@2l6{1u-~(Qq#4<_n7lHbPAutwn#_-ek8#(iBB!mqKZP` zi=a#fq{a0wY`x81Ha50B+kE|*SAz0J{CAW0$7Nf+;3zX7=?ba)1Rov`Pfz>mL`s9wmp7D0`!}{+1dM1 zZNI%pGcFjwiPxHqXMOa0efk~&ukoIc>)Lcrq{h&LzFi;0E$zhC%wvnqK{(BlA7Hot zeA3=?R=fo<@a_gV`sB+$yKVLnHJtXReK~{>ZHT{p{&F{_{1EunrYtXSTlrW*zXbE@lMYEa(Ra8{;5&5Lx>oqyYg5X@3uD_3c(!KjRUXlNV!~=4qiKo}SbB2t@>v^s<+g>iR zfunY};`P!P^sy$5yO*j{%cQWzB_A@BQ%u$>}X!GE3x> zW5S9RsG|``?TZYONhEqSJw+VzdKmA$%k_SZjCXN&P#%fH^lioUHv$n+x@2^|yNhNxZXI?SPW4R3);N$rHBmo~0TKZHCV_>4DbZ=P z2NKa1>TP$*3OPNT`_vnG+6Mnj=10=5(lgi+F#yfh79|s|T@lKLaC-VM01>;Wh#n9N zkwi32cWWdm& z{GO|&eBS9@%dH;rKCILmk1oNxz|6MY(3l&27)=FzM4!NxND`Sf4tPGoXxub$EXnZvejA?Y=~peD(-3l;Ueh;q%xo zt?|)oag7RYX=!=B>WTKGc;#Ey)t(0|%W9KE?gX};r`>dsDxg>hnPGe|;C_d{f%%px z9Av?o#AZ3u)7O^`f1ueLxFq1V&ua6qK|GnSnGDe9?@zHiW94#>@!e}5z$hq@&(f{~ zLkr2r3aP>$P=C@_b4#xI3C2;AP(R7c=hL}M>r%L#?KwT z3%2cEhqIOF@K0XLek1NW4p}{2sYWZc=Ldi`uN>>SY)}sU;&9h`vAJMQGnU5Jt?PMK z_`G9MED<7-cKRHj@Svr{HiSN26iZ`}uF1IFX6L!{YISZr{cV1^<_M5P>2dANuWz^F z{dn_s8qMqeQoCXI7v@mBZkuOglJSa!_hlk1qId+tHV^j6-k9=C{lwGb4i!YK#ewzw z2tMZgMJU2PM*u-O-%-{ts~y3?Z`zbWpa#EBt?s|*bS~zr$V|s#Fvh<=-Ve&hGw8(3 z*4sw%R=(kgB=X_BSZ=Ck_*Ak@&(FD)`MXm8L2MtvyMF0vxO%MAi>9`&Zf4K1Ext|6 zYrO|xZLBvip5oA}edW!HRbC-3X2B?38)+PQ!qjzB)c`i3YI1C@3gLSw}-- z>a==+TT`p#z;VG|=i!j&YjdpYgF^N4Pd<@eVq8xQo;yvSHoA#!JPuia2`A42(wyj$ z1>_!GLTe9E+8jEORaI3lPkjVr9@Xu=Fr0mEpex5{S2-|2j)KSPdS0=|FP1jYbo#=W%~r=*p}Vi@_u6$128YO-@%UH|vg9TI$IO}XO-(}}d zlZLJrdMxtv~uxa~DqRakEn zuFKL5=yxdruj@%q2!@E`{h#`vfX20V4`sf8T?`OtQ74kVJ6MA9T?AtD^Urgo(^JDm zwz|;JS8wIXCm!LLyppd4l`(oYe*F z1ms^DLsY&g1C(=#Z(4p{U9aL6_tjXsz_sNP!EbjY5+!*bqqCTxMSHo;j<5Cf9(2Y# z5#^2x{HB_4Xmixm&fcwFJCKDC%GI(=ulp;Ezx`XsInLCGyMNuT;I#H_3!+z4T%5e9 z|82iBh$t~c@)pF0_t(aHi45q^E?v`lZC!Rj-`76hPid*C`FOeA?wy@Y^1g=t0RAe7 z%FRxDRvvl#mZ0AS%e#Ou#U0=cy)Ey?jpD^X3MFaU_LBsJjAD2`Uh*PB&zq>kPoIu> zW#=~Hw5L$UTt8>+4~^At@3j}EzmXPESNB_$dq-@TMVL$iSggSDzh&6}?Fp&Tuvh4K zrT`HGcZHAMTIVZmQP`D`)jS{x&j`vT{Ox;uZfBk6C+M4q?rMIo1aa^)x9a0bW*0OZ z!qubWO`kOKXaaOYG{9hRua|hp9j*Ek6t2rU@y^c9ylLH!x+8~ac@@57eAXKuPp8*w z8+M`GMHhZB&KB-l=3qa}dqhM5UHkn@?HNI6Z(v+jNZRiS-7Xf}i3HRfhdrlk%8fMP zuG@#?C|004QnJ)WE3 zZJe=Yke~7U%Vrv=3(8kwJ&a)zr07gxW#*cHqx3Oth0K=OG!^BNgvb;yMhv}^R&rvb#1dqwjx ze9L{BAfN&SS?(_MyN*zHcwj+}m}Qt7z<*E;yt5Frm+52(R0=AxcK<`jQ;(XhQH zn$_B>|A$CHjtu`{k$*nyu!g^V3xs}vVu47)B1nGFc>i;81``lV+ZCF*L<8g>D_N^_ zJcEjl2Ed2}5uuCuIjJX(a)wzlA5Pu`j~)0^{1apS`|DLen)#M>W8opwt`N_c_I&P` zG5nv~uF?apz9Vk_oWkb~9+Bob1f;w)$m&0e=kHalD8@K~@s)UCzdTLN+J#7({tYp| zeEEe4&{L|4NlK)sZ(zWxO##9ECi5vdiRkEz3Z&>Eq%JU2rWAR{<`u7W8>uW4O@4v} z*GbTWNxkijr?MQq%q`15(@f+tgoGoYAe=-8^TL2b^n4AJroP3LKtnWUN1Y{->m)GH zu--8$fX`6hH1Jx;u4|>vEuVF#uq!)jt+%|%<$bxM>l+bt$&NS1JuN*oR?#DK7e{d% zjVOX2+_WHFELxNKUtG}4>)1Vs4c8f8*5pRSToarxdfg<(B?AV!sXQ?(o9mM z{r=QFE;x7z_m~2hhF4$3B_^Jggc?vji~QUxLirJFmCS|?N%cd&X1_ixp^x+6mQ;xg z50>B=yNr@^uTQjvK3Fb^2~dm{@_Tq4Dnj@wDzZl&D=P&p`NC#{p;Z~1N8tnN8}iax zR5UKSJ!<+OK~|n(i~}ZhLQ&sz5z-UXU{6vgk{C33@?6_`)_dy3Hp^FEKWsW-pv}EC z>M8bnAO%Os3qCkc0Ri#C^#8CAq5bVX6P=sAP_OvFey`nr z8%w|1K$WPu;v{-wy}XLrxKt!?mhyj^pa{S;noH&$aZU*{y}j1V-}^)@O(=~Gsx*-r zldHniz%xHlRfnfU0)~wJ$c(B9Mj*!4Guj%-=B;9?M~qe>QEYcbRd>J8@X9pML$@Ybqt@&b zRlxRYF^^Ug)}vGL6;>hic4}eiOcd^4{Q9_Lsj6AcJv6}vIr{rtXw;1|>#`AN%-`oS zhGvom2b@3XvPhSV$-ixG`f3RzXs{3ADMzy>X@Yyz$ir}}+eY^`a%LHN{n^lUp~tx4 zlG0Pfb^i)ER}6Y@hY5#1l?o4~thhZ*u!)S&HbSk2ga}wOqYIs0mZl0_yMSYU{Q)1M zDOb(EA|(>W(LJvjt!SH_Kpqg!HKwpl3KnD1oVNJ>Yd>D(mo00x$R?fgNSI2%pm7^G zsI|+23Ab*0H`K~#I$y-{;mqY1EINEFyta!d53MGmAxmhm|3rUmqFtwm2rFX_Mq5`2 z7oAdU!=#uLIVU^QRP*0POuxd$R z!gK5H$4YX+Ght-M$Xk}mRs9(rri+X?Z9VImk+ri+rlm!@EsC=lkW8D+ph-yoQNu`Q z;ht3%Q?h`*!BJ$NZowE|z)E7w2l1CA5n$XLwq+fm)VGtFU{xLb6em?XU>P<}Q-1OB zaP-0nP6M2^X2<1rFx3`L7~i6k&dNt^TprH%BQ5EDI?HuaJ{CN#0S-8>KT|K=_)Lv% zWc~-M@=SwY~kHVuDpa`ifUT9WN$Z}dDiZUHFcZXmgLQ% z-#z*R3zyP;)4-9O!{0-aME477_vR10P}CXyFpD~Y#8ilJh|F9@!%rEt5Qynqzezts z4p)&_B<=LU_YnW8eof{-VtkgYc(XW8+47wh{T!7dq(J@hI_~6Bo#Z2nuCBPFDT+wT z2Tfq+=~c{^*{ZkhHdUJvP^OSVwl-Alnekg28T|VhG;)(%-=_;1Zcj5w>R@aaOD!i= zJ9_#ZuQl4iBeJkg8q|{Y5K4X5BUEkJm+Bmxdaq_BDJRBHlU_}4sH!s?o;3WjMfq>z zdw+#=fVUM_wI+!>gwJ5W!Afq!?ShcbMnt7dJ0N4-!kcPkqcimx@+Yqw+2#wLvbtHR z95|EH-q<7?*a8ktSoI%{9akcbn#|LVwXv!o0BaitmCLF`Di@lH4)|k2?l|ZD*!G>3hT*sdWRn@Q zvcfiHvA|$k)w69eSsXMprn5#|{Ipm!w7KvDwY{>Epj}o|ubw~4zbLVC8LX8Mqf}a% zNvINLx1CS+5!S!NP9z8S1MxHb_5!+<&juklqCJa@jXw$&KXXpqbUORB`I3S0O4MNM z@0djc$a&DvF!Dld@8TLm^bXd^0}J!S#U%%cMQ}`fH>1xA5`U^hHE^V0v@P zgX0iFf`^lpYPXQH(c_ovl+|%kV$RW${uiT|!Nut7`YZC`lGt(|M?}$l)5-O(r#5*~ zopksAh+s3sV5*r|+Zm^En>cR(2IJvH&vp^eo|fRKN2!$zSu3P7Zp3eIV-r3$mJG+> z%`EZ?nur8jCRd_MYj)$OY|d8|X9Z*#4NvH7lmYb+ly)4iY_z)#(M{N^vE#USqKlPt zs?pb9C3}%(yK{>XlY*;kAo~XbT}r8K!Ogm8Y|`Vy8~&lYZiAy52bI=2)T)faA}U6V ztX5vZY@4_mV3P(Vw4#{rAt_j`;}g4;K}cfwXi<(?Qge4bqtZ^t?LV#C$}ZG$_mP|1 z`WGv7mZtxpCzp@ZqN7ErymxS-8d_pj#^~IlgzRirjx33me0t|Htq=H1|7pMRfXVSw zr0h;Aba?1-Qh%!&sKd7u+Vit%LGwxq_w%x01!qWbk3O}iw5+c}Ap$lAU_$i1vh>Je z2HUI};md{pgdNmn>1FTzWvZQ2O5PM~Rn^q!K2kKsfdQ-}`m((pW`UAj?q|2m%zmf$ z9t{;gJfJ6jRAkb%n7Pg(TWRjAaT+1J8~R1gn6I-Vog*p_whF6cBB5ChafJz6Du6@1L+q8`hYXvJF_w8%2d7-Vhqrv1W8(;>;xM+U3Q6*j z4Ei<7$7OkYOR2aK@1iBE&B9W@hy1$AJMcePfS{4M3FhSR*6p9Z!xue0r%gG0>{W>q zrf^#@#aUnyRSeZ4J7znGH-ypN&4DE-1?zk9PeTm{xtTmH{@13OxRa|-ok(bNQaa~{ z37yQE(rZDl2XNMBFk7JBVZ>H($YAA(2c=w8u8D{|L+eGoR53ryZG8u!7+?RysKj7eGGkiB$vWGL!$1nS|4x!GA&RjEwtm9Q*gQ)XJHud~T1;~&(?MO% ztTn`2FmZaOLZaf2?Dxd<96F1gO?t6PR-Qg4`RKaIL3B&L9BF|ZX$o*9Ev-&&5@BIt zVH^ibT!Jq!IQa0jFqE{2Oof!wpIGEyMX`;E zao!19};PziIQb$(VFL1&zQ9* z#o}@F1gN|X{>M8JGoq zHfazK|KGI){eBgrzeJ?Gf=U^OJyZ8p7+?4Ljb-moBQGvAG!|ZZh)O~=HL*z^wN;o9 zzs}L!Gh@3N;%hN}KK&)^0OR~21SfnYy(wd;6@m$@>Zucw7jtSSG97 zN?xQs1kouVO56)&)2#B=t||h*Rt$`W7NWYCr)QN}>8p)1nZYq1+|RJcrWgi@4p`wH zys$FsZW*`N-=ifcm1PxcHe$bJ$9q>Cm}&kh?_ES5+5l4w{wj+l)jY3@DX0jp5!PJ_ z3Ms46v9c_8+7f%+iv2&sb9@U7FMW0lGEF)wr(ScMIiq8p1~@~M-!-F)2p1Q<4(m+v zR&~OosPlf2mJBW$Qx{hp&Yxsy^`fFx!cDBJ<19?(a?bOOkBF}Kjl|o3(&VTL?^#BN zP-x7ZCD*FXa^sZv<*ZS232)ZmosEcyi0^YCDbFm4<`GbkfM?7ojY9e@W-ZA9ty$RX zxC)Cq$LTaI0NL7&REv2(qKkpu>y@^3m$Nf50(o@S`bFm>AyRVbXt`8a+Ev?(U)z=f z{-3c3CTAiYKpAy!>O?E38P(MtM3I>wLg<3Kr|4({&1fiD>s>gQd{l=Ab-LlA7GKM4 zTXW^z;T3uZbjOi{xJr#Fcvw*+DdSN#mcNbY7&Z2$;-BLm&U=Q^)oN&2w1kdq<7)>h zW&o~>h|!#71*+y*xXDf|ayRGMms}MIqv?Z4)VYhhS8>5T7}J9XI^&A8>H_tnKjMqf zF@UMEcNB$O`$IbVH_J5Ljem)2+jLvStuxz@5>YoteOCiEX8vuy_`7f;v=C)~jR*|Z2(K8(&xraXT#8Vk zRg$-ko3LzSv(GcW7(l-(Py_qTnea+W20m9|pk=3&Se=(p&6rp>dLT@R1Tu?=$Q9?7 zblYajZf?ZrI1S=m(s_5!T{bR~3TLwB*cAS6jd9@5Ttb0^jmZ@g9Bg%Wp_;dSKs6J? zJ1!4a7Ne8km^t<$J9Vff-!dL?2FHbm47jPM9S>TSts}{r`HFy}#7*lsu}41Dmt|;x z%Pi-6lmsC5u0gT^BQUiV>Lv-?^IQX_Vs_Rz%^ZBz9*E&mcJBT%>-oXKUdldXZW&U) z=+Fj|n5$(*cn9;OSEd#(Q-4X0(2ey|QWW)w7;#`?;ULMfBW>JJt9Ijp>wXt-{Gp@W z$cvDTVLvyL)fa<@D)!?pe{a-9lKl`8T%eO&S$Io5 z*~BH>=QZ+LTvWcN=YQEty9AWo?yvMU*4HH}e*|kxTF4HQOHU>Z*o?YrMLYW%ONZSV z{B(!t5*55zbH`|=H#Cg4&eS;Xoed7q8ejC6IN~qaGLu{ifBMKgV_-N?$0B(iSeeND z%Y2$nda_zXWc`b(gf4C`edUbsU6<5A?4SfrUSjs@k%1O|d`Rn|En3t_Lb5(y=G@kvXEaBR%8&JPn6qnX%%rd} z^w&sYaPiSfP!oG3ZdDL-Xj{@6hXi}7N*1phU7{GO*g0S(+9qfiTuQ4%%aQlWC`$yC z)Xrv%jSdc1|2}D0jJ3=A=~x;|mQQ79r}P_9$Tqrpccd+SVfMj|RpPZDJVo@$S)oa^@=N zls)>%lcN)9<$kwVl7a23ME+3o_3X#uqa%PP-d3t)g`*%&jE1NM!40$kpzQZ-`&Ct! zSb){eLQd>enYBiOi5P9jE@~8mIu}M2Ega^MHJ!=KG*=>ky=^m%CoS=0RYfhp^!Nr% zG3biba+Fc@$Bz=ZtckD$+;=RRd>uCxTHnSLa5!6BecX?N$KpH#k8g34qc6bqp+H^xP-_tzl+F;YZf*#$`_ARR{*Y^ z7`>#K0{_6~SA)T7^vYgLG)3d2A73LvnFU6QIAPTfW3l$H69D@Hjop;T+rK|;{zsE8 zZu5u~Aj1cU@3_XJ)`-1hsq^WH-OAZ<&|LpPpm4V#IgB58)c(y99R#?v@0%1b4SUa6Pya+=9EiyPj#jd+&elyv)6bohaZdN9y7sQ>UB9ZTP`!_}O=RO$bRe%jk()S@Goq@fISP$aSpD&co~Ql8o`HH1 zUB3@~c{(LI=O8~S1wP6^nV^+U@b-(G2CJ+>nx~D|ywpKQ!PHzht;Y>=2ZJK+SU&u5?t(@76mf= zykVh~)QeU_ZyqFjhvjA*>M?$DGLuurgeF&Fv&#PRn@pACR95ho`<+ox%7x?{gs2+C zqV1Jvb}T0P%c(kdUr@*AdT-b+IvISf4St$83zM+y?t1i zvZm}dn$%WdQbc8X*t0vh_JK+`HR6hh9ARm4_2%tvqE*IzUOTCK^>x1gu`$7w3{i;Ws|YKo5yQ|VO$tO z8!Xeif`tCFL5rYRX(U|s<;(0uH(0hmBCRdg-^D!e!(|rh0V~@t?oXn@>jvj}qL;Yv z2oA=0v!Ar;KdDycmlPNh36`u@UeUVFeMy;1`|yF)_!ol~_Pwo>dE53LuB>|7h(I)c z+z%TzQ>JzdIfjG~`55U@HZ1GSEx;GK2wgly4l24n*VT3`w{c z`HalW*T*E;v(!0!`&b9~?3}JVfMJCi^?brE*_WB0R%D_mY%RkkkGZcLw;h)AV^YB$ z_QehbFURS-}UuW4iC_lwJ}y{qg$r&>oUJBUm=)( zAIqdbpwBYK$?gD->O$SdT;~3jA^Feo#SYlE2DvD5T^iJk%y+^?gai*P*U}lw&Se+H zsfI{OJYEq0*XwaMG7#I~=r5N|{XMb3fAd-5Igs*}_SUvLnRP<8|BU#*uADtmDfeHl z9YCru0^t_RXm=L{Gmg~{{}}*qUi13zP~%=GqMNsP?|gW8O?@~*T3K#=VdAOSxIMs; zVMzN+Ltc!-#26CKh~Yp@F#i?845%+DH;*CVz1T!8Bo}^BQg%!PFw7J&GUf4BatRoE ziD;yg#R}3@M^N@u_P>Go*D*BKPsX+TCdT>xartrjeq5ahrN8sdBPz+9q8I>A777ZG zo4U}f=76#>|MRQ8&XUr3!-$Ai92Lj1gvYzSDRrA4tC2NO(U3GOzg=q*z>QuSP-0Qe zlg^2M>GG@kJv3laA0#UAdykqo``ohums^k@FV$@KGX}m7ct}^L{)@-o3j7+*i4PAE&;-K9;vh12G?gRsn#178Hbq?u;6HI~!&;Us8goj$6W{SIOP7a&gEE5N^lJ z%>cS5NJ7(|RN(;{r~L;u1^&A$0e~DM^=Bb|IUheKtC`y0;zwC(c?jzzmv|dPgiXZZ zL($CwC>IV8Dc5_tJnt4JdN_xh0;1U$#BkZNNCXtbtaKhdG`)g>PC4VxiYzA!_pUe8 zDaiio0C5_Lhfl=kw)AK1hmh~XSu!%8GC;wco9sM$M+Lzl9wj6!B~T_Bsz4GhlHf~t z{k^-oyT7e|2aOw@K$>5HY!Ij;xFo>4P@<8ynQ2~Zr{i9&IO za=uc}l}Sn5t2rL3s;Za1FDJ}GL%(<;1iyETWbl~@)@_zLxcO{vPH`LeYa*6bQN&J^We-SqGe>(4-fnXo4E^c{+D49gM<24=llG}>-d<|@_kp?X@O*>a+Ss$nqiJpK8i1H z8+G|fCRy5OL~N-5YBX;DFEIKtL(u!?UqBqM_s#F_bpTE880ngtauy-3(i(Or+A|Fn zyoU^Uv=y@349OdGIs4q{w>d!`0xql6n#mb?*?N3h zj=*Ub_#D8z3grOQ31Mzad$|EvQ{)Pw4Q9kvhb3R5K>)cs!$!)ENEh}m|Gc{L{21Ae z1JTpfl@-Ib7z3VM+xg=YEFvx-j0@sQ=O>jX=Y@7ny%wzzeI%r&+xfd)hn;~6?hgR7 z!p6s8>av$OLV9{9BPqsksCDb6bG1aRhN`g5PYkL>{bzmHg8{I0CMG7Xv=Q@~`@8ea z>FH?zb8MUkZm{A!Cg=nfprQG*x=N}VB=mlA66v zP6l~MZf6MSR|DynIIQ}`0oV|S=K(Oi{0c{2a~$*yO@&e~7KE4c5QTxKvCyD$m{ti_ zB*5W4x_U;c#$7h={6dA;NN@7&Jt~_NYI)gDy38lV=hH(2&~_sHYt%d-badY9bNAOM zsYt#Y{RY1rztwJ7<6hiK-9^T>#NMAr#<9>fk}b>vvt~9Tj?en14}Zlc?*1<8$;-=#_lvk+zwp}}rm;9U zoVEi+{7-8+*HPufFyAhRXffO`Vk(wvf$5H3zMK$vn{9`0525JQl@z7XK5oWrX(r8Z z8v$#nfzHEVF0P>j=3DNtMSIegH85@>qaiw;3$yzOt&R2ty)>{`+#|bX0KG>V&8O3D z24zk*0PYZ=3rSKd)AaV{D*YLJgMgiGHC^4ulZA%Cm%EHpCD1s^-3K7V4dr$Qh{ z>x5_{>uz#VI!?c|PhBI^5NzxT;Brre2bBPIcsseuBzRBg?)X6d6OhyvH--!5OLf2< zM7L);7tlb53a`s9SpHYbQU(}Gk(mB>_`x5@g2B8fduhkdH+qpj^bF~I3YIj@&CTuY z?c?Y}P@28BXnMz+Pj4SWz#aRlj%YS)X zhih2zI#g;X4Fy)Q_KcfTz}PJH{sPcv!SZ!(3{d;d(=og>1d3OeYj$P^=n})~J96OP zmN@AzGPcNm`Y5v(;O!c0c4t?2 zPj~vdPug}#r7LpbzhxTt{8{TsN(2la+Qjxy((G>qMq%GnfN5rUK33n}F6X|Uop&Dp z4uv-H=^!M_=K$ikIXHM}qfur$Pf~B)Hnsnxmo^dwx9Vtd1c}(>Ms@jA0#`Jnh{JJo zKdN&B2c*ViN4=sW#P#Erdq$86NioW|pHP>*hOOAJ=I&6SzNi)#7i-nq&Ub!;14oFW z#?YdQKY33t#uX`CUR>;O6M{I_ry3l3A|)XiH#de<#RuF?cPGuK2HwY<&BPH+E;jw) z!&#<&JyE{CaD5O%Q9vL%{_jK@*j(n8#~8F|fTW+|l7p_)X~ENU5BeEkm3m6HY2JVA zCiS3!X19mZ11K|p(?T0Mb*udW_t{o;UELvve7AcIh5um90KK+vLLfGD1l?g2^EzqoWiyNRI!#o1ZF_ z2;nlP%Uo#%gdVUHOT9pX)^Gjh#8s*B*bM$QKK~OUbaF2%G@x^nW9Zj!Pi1RV@R)An1Xq zCY;QPRH2~e2&tO7bwqs35O~0-bx_L;Vem3G&2kPJVf>V$NQrfueyjA`%tB)DYq4}V zs6CMEXNVLB%X=CDGB@qus@iF`9{Y*1=okdli?~o260!l}kAwJCwDW}uklExz=SFga zF%0x7{>|rCiwVG8(hr6*?{1+YrPw%cv%c1k5QH6$ehl+Y^LEp~9TLo-pc|49%g@+- zkfLr~9Bv47bDwfXq==VmP3^nkNd9HyAIod%K&!CBIP_m>D^<(FWD8%0oxFDdF)G*A&nwoGGt;@ZS|%=E(-ts? zr*eFKq@|1f^OZ`Rx^P!p_fd3#v8gVMppMNlIjcwV{lz)ryNrD8*c@i7q(x?MTz~R+xvW0+P>pv+`8V#6=W9pS-S~>@*WWvHX_;S&3mWd%Dl1J>0OQOGk z{JZ%wNbsqcozoqVP}VtayLcR@;1aDdEqe2h?bNWVxYByfYl&D7xC$s^!iN4B;O?*Pj1_SrbvJ%hpR;Q+ zLsvd+65_kz7~&)JDNQ_7-RY%raL|K`*B$m|*b!`soVJ>vXPe4W)w?zi4X-h_=rbh( zU+~OQS2D7jm|KsAa35fO`+rAWIcdJ+IIbc4wA-1nx1nQ$f3N45IurY*v0>KlsTR48 z4mHMGV(#`8aN2f;0WxzHmsl?R`?qM)Swnm%m870)laOEpA)~JXDlo%llGk;_-@xRpKJ_dhT{gBBwCZEojR;}v&VGOa9Y{e zH?_s5Bwg<;D){Lb7@lqx9l+=MpF&2`NQZ2QKzofvnNf;yu?&!DsZgO^_aQuo0Co$FcJyb{R++*6YnxTAL|!i)J15HCM`*Fc*DKaMFNl&X zM~zh#6PqasIq}Dc6Nh0^owkFKUEwu>I=H)%QetMWbnpOI(y}q`uV|G|Dixa^Q=E+0 zXn1v&eA7tE14bg_1m$S>Is1+n_fs5h5v^Gwl^wIJSR{v>AhjrEl61>}vVl1(q079E zD(^f>zKwa<_5Hv|x|99?0jV`_Oo{x51$YJ4>eqMPartg+0YOU!^q&=ag7hi{?_%%S zunWvL>m!FVaAxdBb@HpLAC_!Qqz>YRESb%GpU`P>4#LY z+*}j=g3*8uUYhdjmU;PbBq9}AZr}%E2m&JZ0h53GM(8%U+2H+Db83$*J^H||gBG`@ zgxJK-1Kv_k>4fQ#k3FRa2&*Lhmgtj(SGP{ zVJZsrzBmW|@y~1`TH)y04f3*!07jwDh`1CU%3l>jr27vjRBC^Q+b$qd9D|VY1LI8u z;n}bEPuQy|nP;89R86f)`zu>U96oQv{AisuusJ@dtG>CdX`Rmy&QS5^Ou>b26~!FA)y?xarVNdKRpp30s*R zMih;F)SpKL74qV4PO52aRrOwKQb7^`o0{Iw%zZfDbf7>a`M~$ zq-DZh+27}3pnV`s8T3R(>*)f-gK?MQzMS^(pZp+Ai}1fvW{niZ-&{HLe*u&kp=IDW*Sw*${%bE#Jz%T$yuF!W^mtg7(wtH+YTw0X6Q z_c1og?hXkG8pu(vb1^#iep&8XaSOYgdBh<7)H?Xg;AMduTteNf?UZKM>+lE1qTt-M zVKa=xp4&5xAqdr}*A-@DG`E#xYLrPZl&Il^UlR0LqkMBq=u?dQSxc^+&-%vE2H(&0 zn#7ixne#c}E!XP0D!=y~gbS@9Hpy*K4b|N5L`Bf5IJBW8}t0 zvs;Jsms~G@PoEPfdXxaaoA51xig6N@;kxv}%vK^yD$Q`X=-G6{jL7NNM_Vdtfe8>D z89ALzD;u#wrZ;N(y6K~=s18~TPe0_nwDFtl!##G=HsEIY%z5ifa3{!mL27L5!`462 z9^H%4SXege;gia-{zm-9X zi3%m4;^E#Il)-B*{-bV?eMlfF9@Kw{+^6F3E^u`lSIC;@?sMbfmP^hywu8s;$@a0L z`z=rPmi-_jms3!`cxYy>YeAnXECDRYGBKrYv4sTMX;Pa~i>$;bvmwI|9u$vi?*7ZS zJA>>kw|O4Rk<0|^h)h!1;WDGDJltxXHU|IUFyq{o4kz=_%sVN+M~5YGD?LqbQJ-}J zZFm!xF`jgOb&)?wn7{{)CYF%`Gg@`TJe$*TqpG zGkB}e#8(ZYQYmr?zl=eKns7x_Rpa_MC-x=2*r1u+!Mr?ADabDQkF7ljr-5sI8;e?F-eG`z#na7hLJ+>ma73OoTcFaBp zLiWh<3AQuO*3K9PDA{`LVYT4z+bEG-4Bg6B4G=@UrLRphU6H7 zC`3@)WnwHjs_UH^9X!;>IQPb8;I^UcSOVBM9X&OfA`RqSr!sa?ppJa(g(i9~^~O{m6b@a+sxx5L#OTSg(pSFx)#Z;=Ech>dLczNofYeckh}q5b)I74mXB zVTUTdV=P%8n|$h9afvFHvjqJ_#w-4E2JxMFB88ma?{S&W={=d;MN#sa-R#wW2UL#2 zs@nttG;v!6UZ?lC3jN#eHW2UMT%YD3W&RQd>%N@z;&T6OlE_h#0MP|6zsIvL5T9B+ zjh?Wy_>SDbn!X(-lt~|suQPweSXcXQS!E%;nm-K$f=_&+5z;zxlGT#3aZ-1U!%Tie zEK%Upd&w{8)y<9Ag8TC%Kxu1_`c|ij^aq*(WQxR$E=yHun^*bzrZZMjl5cT_L3XA3 zogeRu`wy61JUd{KfDn0Lsljr%+jV{wqW}8 zW$Ne!RD1TNKlw)7rS0E>)@QcF2L=1AySq^tM+Dg?k#Ql-D7-Ttn&*t8f4C)0q+Boz z$tO}fJD*0hQu)vJ@kd91vX#=Z*d*K(Wm$A_szC2y^-h7p3hIPO17j@ft7YLVmSenn z7aX~RTqCDmb0NawF4Tj`QGKCmgF?w!!qi>G>Z?Ujnjnysz16--5llb7k+{I*7Ltga zUYw23UsF%MB-PlnH(!W>WkwPxw*a&j1^MjquX^60Us`g9h~`A%#k}xIzKpM|_}v`M zPuL-e@5B(p&&AdK{i^^jNM?0T6h$`(d7fBgX^O%pG4^gA$1up6M6<>ke19*lqJ`9a zGp$)2F_*lJ$oj-ajCl#P(t%$0X`%#PRf0j#xP}vDi$4wJY|P`(s$;*wHf>t{ALhKUo>83cb{y& z-vNyn9TJ*$>(X2otErHUT`^^2tkU?17vQ1j*#t>^P&{YE0BN*azP~;(h&n3zG>Tp3 z`x94U%3{0l%KZlmfxX`r@l2It)w<%=f|S77*Tt#xo`YNtzr^je#hY&xr}Unkc=mC# z$BBp0n~l5^<--R%AvKM49<3Q0IbJEWN33p>+m?s=eVZ-=C>E(^=JrwzY=c-688jw0 ze0Ys2RA$N)@|YrewsVIOweHWvVT+8-cyt^Ok7PqS2a>Wx+c)1HWy47jEr?pGoKHRS zaz5BrrCwj=lgfjup!tGC!6_6=k2MObd6&CmG4>`jpjSUf*uBT{LEI@{Uk_`rQ9MU! z`01W`Ys{Y@t14f}?m_J3%c5NawY7OP@csDnE`8Oa>ZYBZKs=%L=X=z+Tnn2}SF1(x7ZehagW3%Y2(^(j_tZ`uDGs$n z`GwAV3d3|5Au!U_Zv%{$(}m;H^OKn8z#SarNbA2R)`J^QPmlURMdG0bhu!Q%1A6rn ze@1p2IXJydvIr#d!t&Ln0!6f9O+r_d{dflLe(2~V+wW4dgL*#CjYX%FXh_=lbRluR z;Voa27vVRo@S7+6AvQ+Koanl>Yq_yJ0@7L*VC>j)CGc6JBw3M{BUV0!dC5 zSyjfZIs&Vxv)ueFhH;;SQ@r{YKhXjo2fxu%=UQIz%9;IvUkc0G6^5GeUMWO^gRCnD z>&zd+@8oYuCmozqTDHiH<^>UNP@`nuX99m!~qN zN&1_eBE`xkuxLq#$BRPk#qew1IQb?>w3ddK6V6fw!#=Oyf6CD)eXHFoHQd^O0BoyH zC(vtdjV;V8yXpYTv%!F8_B9; zkQ)KSKEAcodp+9PfPsvR47uwU2FWF}d@#H5&08h{o?4fs>Iwgb2V4iRPriNoXfc}K zhLSgcyNvZ!+C`UdJJCcXr1z|1)A_MwZe^d-X^I<9g=RBFL9&!JQ%yRyi=Ts9F58;h ztkP$S@P(_Hfxn0=^aEsjd|B^6jhrS7cpu%Tt?rqQKd$C?~U?NU@3Hq z@zq#dSA1NNBXpC~f+EAckLJ+Php)Y=KFgavGy&1B@lK<|pE8`nLj{-%anmRg1uZnr z67$$Fd&N%C@Ha{JbXXO+UY5Y7-r=KS^QGC#ycn6Uz7}msmat^}4tl_>Ac!rgcF1QkX zy=iAfH$vpS0Nv^H{FU_It4}#gPD`Aw)_O~*+hZA<8EiT(O+$e2*Q5DQ@Rs|47eWP1 zhF?|3#28TuW0lFL%4Mmd_|S1wLBwT!`*TG~G+2XWP}fL=k1QGH4#)Mu!MMTkydsr$ zOdE@!fRu#8yU$rU4grljcYaYPk>-voZM~k4p=*NLy`;PP)SkDnfuMJ=cbb~}f-fbT zl*%f%ku>2b;vaK{pDWE)pK{`#9WuH;Ug;@efZb}0DWE}G_CGT{lc@7MofEZ4Oy7e& zW8S^@GnjKk_#HjPHX7G+d>%Shtli-~N&Ev8l=`@hM)HPhUhS;u7l=Zs|FU1dJWk;B zJObuND5Q16Hl}FHL*3vaN(0)#z`q|MLy_TKIdVN3dlk6~-F`#l-(O8vSh-r??my0W zYJLC1FN7xVlrPrBzlsPFiCk&A)LfVc`WjyVY0kEmL#C-9?3eg0Ro&<0|QLq7n`FSA~$0n;Qt;aw1YpyIZ8v z0lq{IQkcSrry*ttUlU`_t9Tpm5AeBej5asBaJ0{vKXE9&Qy+~3{H4E%t(52tqae|Z zY^3W*mB(yKhotB44F!TpjL87CoQa8Ysj zz_mxN%#YGob0cmGD0G8j*Mzp=0wOX1H6<=8zP7Rk^=#U|2f?^!kb*XN?0IOt@my0o zFS>-_{K2i;PSY!T89u^`cU`U;5Lb5#5qmFx$&5J<-ss}LlWcp`TwLYkJjQ@8^UN{H zR6i7Bqh~ut*l(!{=O{GX*NT-oS+VcLgk}QmtBh`DGDfFc;2lgy1i(r&n zJoQbWWw>VCs=sqD3x!iU0tnjm1cb)3eJ%^kb5oAXD;e1LXHViHTlY0EApX_tb_HQ3 z4HK<~F<-W$Ny$-Oy{K9D&Q6x_XJTxugJ^1;m%>h=szDgn7HE)^>U%Wb>{<@}L{zq0 zYx64?C*vK$nt0HA68A=qf*G;epaK)C`r8bmJ001u3KFnYi%IP z=sO=J&cH(0#>r!kgTwBAm4WE19w7ud$%^(?ItG|$3fYnhAC_20coD#dwU+f~SUDLR z=TTh4&!INwE(nCuT!Brg2e-`?>M^++YF++FVVW3si!Uya8{QaWlSaA?yck{cmFeX` zK4}UsK<`hPOR$sMPT~->$p4h}6yC}^Fy($1G{a&DAK>8`L*u2uc_oz%v{g8nDqsn~ zI`e?paP|HK!h0rr&hA#hP!6@9l;I#e1>PPppr1WHL}76Q9fT0f28nn<6z5r6$0eW&$_ zp{Y`9BTu<;`m=`@JJ!`Hr)fBZgr%(Wc@Lky^KBqh>jy4qnYH}p`x(=Uj7~tu|b z1=;Kpr2o;JWd!!a&0@0aCf1-I&@-Gkhe0b1fiM|1NxPS1 z=uBtGhJ9|*Gzb~@%G&JjS2Udw6>pD}{y6A^XJ&>g$w{8+&2t$rV-;Ioq%@q&Ns3~i z@^NmB_?fdUpc(O_3~*6JuGHoQ44^;b;PUpXFk=x!Rg0qq?p!<-{a$%j7uS&{UhfP8 zQuAV}DpmeXL@kX$$b`g5v>mY2@iI7T(G{byX55_|dLC~(U`R!;yD~{V%a`UQP_;48 zrM~C^Et10_WTg?(ZXT63GniX(W}mrTC)5eOc=tptYdRqgZv0}GZ)-g)P{XkPj#|Gy zuRH*T=I?xr6Z+eg%A(LiBQ-kMzlvMhre^e(x{vW?yFVyaG)Fv7!$BQRi3!9Qo0Yo; z|Fe$#dpTiC3?<47XPZ$HGOEkCNL@uj+hF$h3BIkIZ`9)cgdd?KyJq4(&99)y4i&&t z{zbFAsRplmTd1(E{fP4Ylev9o)+HmVbpiqz2l(E7@R<5da)NFh`z&ECA1w5M&7vC5 zCcXlG=}gi7MT2fS>f)2w8u#J!cJLA0^@4Xo)o_nZzW!a$;Y-JQ6CM{4u0592mF^fi{-!FCK5n0trO1>4vd)Mc`nvi9#yxm zHBRoC^rz`&1x2*fqKHP-`(a96g2 zvR}Z#L546rw-@04=lRq*8-J^;bG0y9$F*wiw*^+3R@2(fo@iUSjJiY4Ly=2koA{F( z!bAK*XM=4C2ipY&L(RN)l)Li=TVPyIWehzV74sI0Dux-GcqA$BH3kQWJ{Z^#q3SeU zwh2GtC>l>mvXU{p$r~_m(E{2sPw+5LY7xF*<&gN1G${YV5{b;Q^k;(nm{vsduuvb= zPIF}C-lVRwMCBlIZybe(3HZusyO>mZK*uo*PWrcIy`JJ7-Xw)zH;Ix$se#p#Zq1Zr z*#Up5dz{v~C7YwouM53lusRKwVnf)TUdaB?^)3I9+EpQ=yT7h#=HKe1x`S!&C?+7~b!W@={Ui*IE%s!K2-}cYqwniR;8@fW<18KZ zD}#U^Ac#3D#Qap^7cMS|fLiw9b}qWb+^vH2P_?Kg`^VF-kzU$iCe*unYVXjbOnbWC zlvFbgh2O2hgTBYrZ^VJ{mfd8b_$ZM$xedQf8DNm@#fi`_@en6<#b18^ftIawfP0M` zfm`Ml_uOie*gunKNFjFCv~nhKhuLQ-$A4T;?KO7>PQW=%>otH5_1irWr3TI9uO{&C zg+H!K+~9u3-A%@LXbq8V1z{Zsn1oru=m_Z*rrP$SKU$Vwr-v#92=HBe8GBCbqyFrGo9ROR-CACfo@F7ZW*m9KUgSGh>{~EL5C0VeN;RAR z`PB7AU$qDAq)V$93p6MG=s|5`pgoNE{-ff3X(maC$=|+Xltn)IG12ZcZ`%LumHhL} z2l2iJOA`sx{0+{aej?R8_MS17nxfgnqX7l0Q(1x~FJ)Hj-+3H^ogeU8Olm!uPQzNk zeUF?niGg2@60DEEC4T*6-)@nm3=2A-KEAP1_gO0;F|FulMXo{H*zWyHwJP>DWhM z`GfSWLN+DlEMxG8A^e9%mFqWgwpHG5khdv4WAK3+$|M?Lfx0W{qE0@lt|)kSQzsoO z+ISl}D*PPMHf=H-=>s8k1ET7E`03;c&UqF`(!2=F`<$Y&d|%AWmakXj=d{cMU+7EX z-|Z0Yl(f%5muLhER;IEqlGf|dEHG7( z)Ix1XT1CfcT6W3K%>QlOxr0Cd^1HCZq(a_Z6^ru~W0&xidS1m6PcANtm{F>A)I%t(P-~<7^OLQQKqMx< z?FWMD(cmg@IiI}V6ig%X5he7Y>J!gNagh11=cxvH@-Mxt!@V)SkQ&pFr~7Me|Hq8e z$eLqtvzvXp&puf|PztJ$v6pRannV|i?0;AQ_O~9ZK1o%2Fv&rWOwCS3OYwXTKR=Lr zazRAfi{Oldoc1&+x;HC^ZPMw^Y}q$R>0kc@^ws2<2&d6I#jS#26- z0we4g5G$|%^=-%C`CX4&au*4IEqIt8^A4`-PuIRMmj!zcqY$gyi?s|eQQ3iym_jSR zc_Ce#W^viA-sC=c-nPA2eO$S<*V7-{E`zj`A$JHvE`=c%N$o9;*vfsda41B@Wo58m zR()>;FNfLlmebFnkmIEO_1f@Xi}L2Tu-h-PFOohmta4YgGk4{DU#1 zV|T@pVr(Z%KG~(eHj48T(}ML-s?Xy0fwwk?f4EB{hPfAnA%}HikcE@l$exH7*QKsKc#YzNSs!DjkG#Rf%VOd zW!#PeOGZr0Kf^FSSUXvM+^TQ+B+U=)&5A@I(y2WSo@=!RFN)?~{`?^_iaUHCO`Y@K z&B`g@mq;vy(BEK|UAxX?Vi8^Kp(ATjzT7<*yiSSjLUP!Zk~PC&7Nk2HS?j?V7zfdB zz$U>Qb^1?w>m8PXX7!}%DLBw@1&ZH6?bQh5OiDS!IXL)|*~;;kRt5bPx=4bqtEZua zqAWZ71-9Atv;~1r6jY8p1wydd=BdJ8sxeN1bd%9NgiV@6{LR^xRkQEsb{VWz^q|ky z_S5axZ4AIvMndIFQlk0!4vc`Cl998HZH`m{SCZKh^tZC6_w6@%yiB}4%ZO1ftYLz6 zoMo7&$B~DmkY-=D4`av76BG9dzy-clVd04hoZkF2D#M}lUk0<1?<1$K-~L=N?Y3Hzvl`29suoTx69Qo5bJrY*c4V1=-FeQ>lk8WK%izcse1D;WXFDQA>_xc=RVun%9g9T*>}z5O4nwWO9@8$^VdJ)*9` z`$N?^tu$8$COdU#*%vbv2*~wu+43dzfkX~@Uu3f6$BYI213|1vZ?Z@94-Zv^w#v)M zL1_JEh1Z%tJ$j72R`4kTzRK%a&R<=$Jp*l2TdN!%6I-zHt>1#+)r1}NOp>TsZvq+B z)k!nwUWB{&hcKN{G<-dB54thcL!9IG%{hVHQBfs;rw9{^95~(*=|25E z1HzeH-hMNwW%Um`FMrc#9xgJ*OfB}!%$OGi;(uqS`y|~pBz`hEi*2x>~-8W7bfUEX;}u!0NcdNzK1Mw5UQd8TO=g$Wp>rg|N8{vwq*ap-4+7ItNmbvQz(2UQ&gJ(h0;OWY)G~&? z(Hoqo1;bBPyF_WNjxqE+JV^vq6RvAP>V^00<}Vy>7sQxU5E{Q7UqrdXaQabHW{lFg zyEfOuIPG*dK%VmHF8$x7g+nvA$SDu2o&-@G9H^Hbp5_55x-0^J_(ONtP`{Q5dtvB& z!Ccm9#2LX>f;P;VUjyn{K#;6lRn;ZFu|`)aX2-Q2_pe38D5j;?yF7z_j=XF3V{ufu zEo$)lp;)n3x<|zS&o~O1Y~&rm6{POx=*6`T{hC`UeyRPxa;lF=$Dww)@d)Y_4{q0E7rq%8c^Hq@U zzW!bLr~L|#K`XW8wbiVm8BXRi(hc&-Psuf>>z(EPG^;v=PWw|(AWZ>ZvhQ&Z1P$+4 ztad2j1F(uq4=)e*HxI=@pHFvH9uX%AXckYAWCFg9`1Jbrxqgu~u#cXvC8Ku#^l=~u zl{w3^J6{D9s|3!=H-HYHmDZDZo8&Sp27WrG^94Ts>@*vmR+?o6CW?xZH{-t?kwGbP zSh}nM1Cz@eDPf>^#Ju6^QH8LE-{+Y1-tHUZU!VMIY&PA?_3AdYvO|vZ7{}*uECn{{ z7FC-zC?Cu9>`o6c{O6mFM$BGF`ig%@iLT6KH@x^RjvCufeRxa^;&x&W2_I7GoPFnW z@XJObw!|HiIen*lBo5lO=#7;6ZQIwF3cEKTbCjeBNCqJypsMz~cvQAmWFNkA&F=K> z2tZZ9KMh@Q0^c6e%vyM`TF8mKs2;#<{f5053@ za{R@Z^mST1p3BPHr^B_FYol+Nu|$?Jc6IdAP9(RmuCNK`)V&<~3hH2Dn6GOZi^o9T z5Ipm^*&$ypod3d}ZU(6^gYZ*6CnP{mGynGTLS0?(y}%91rh)PGDJU~ljJ_VXSKU~{ zq(dk#i_vwPxvJF&?wO%-u!(CZ%ym(e=*(HgGILQd|CNX>JyW&|FZ#3?EuvswYXCsuKHgFz} zlabYEv0ZhT5W{~!dOw3}A*{3Hdw`}(D3}nHDbsA%Yu}$kG?LwJ`v1_29=BD~>k0EAYsbXogRR-f{dOuUs?~k4-hc4#t`_%3 z6hK;d<FSDQc$V&^{{mks8}22qvx6(WzSpIBju5Lh4fPM2g>jK#L! z)Pe%SjHE*E4m{CYFI~B38n@j~^I@0bUrr$-2h2eiWnaO90`JR%n3Bqvmo`65PA(NV zbE@KD2<&<_e?`R*`C{k2l4yXY1uk#-Ibph!JcXGcN3+JSY;dj|05XI^soCP7 zdx_V~C#0jDbFmLgKLic994WPbTU^R_PMVF+#k0?Aef-6;Mr`k%2n_A<;~fnzPV_Qc zYYe!kO4zHT_6JgFkHo&~e8s)XL($9&ok=ym9K6GnbjIw){VVWf^BjFC0QJkew1u_d zeYM!+)^7o3NIae~VcTfI4Xm)Du9M{}mH1)7q(S;oOi&4BpG%N%3EqsU zE|{TRXT>phl2JQ0A+^{P{|8s6d!O=on`XS&DpU<^^lpRLkFTHr^q8`t6%UGzQI6kt z*h%@u=m>hhTs4R;BQT^)?)#$jf~VNbOzDrEHG|s#6G8KDg7q+*RNw0QV}>=C(2w7l z7~f{7ZdpTWgrwewarP$KArjW#x`d#w8k(`po1!vtO;j2Oec)uxyk|lewksAit|-QR z??pf3NVcRPOW~^%SP`>b&ak74@7jl9(xhjV_b4R}Rs@N@gu9xXef54^f;#O)1E!$^ zt2AOGt%hzX#Y~nPdD>fVVi^Jrz*9`-26BW_p)K zy}p|7DwJCE4)NVT(n>F3fz+4Ze7jnJWzZ0Ae+57DmoD6I&D?4>x3+f58g#3(7*J)5 z`TD(p6olF+Z^;9=?IWdAENAngh*E# zS?00>|#{q#~m99%i=38^0c?Va1A{#8rW z7Ns7hNM|sHL@)P%CMBtTYac6*5rnpSnh`~K(Zo;{+in}8s?nv!i}Dghk~(v+dr>;; zSop?|40h0MF4HSp_hTi#?oC>1#@((iE6>zE9hud4W_8s>M%ZATg=uQlN+yFYr04P4|{qK+<#-NqtI=snI^X{OOA!;i+op%lB9%Xu}S1n zIV?y2bx^&4ZNUz8v|A_&JoIF*oM!Ah z=DAh`ow~-Z*r$N3Iy;1-_Z!-lFoQ_nEF?nEgLSH;}YBizVu(^^vV% za3$>OT<))B9FoOk2uXibr*tWE`R=*BbqtsEHuP4g z=7d(mZX;I!|KcI!;v`6Vd)nA00UXGyNYOk=s(y}qMghuG%<7{Y%>Rg!X_(e_ipj?3 zFC%ig3`7_Toe4@`puZ>;%pEexc9vTTKb>E%kr}oEuXTAy7EZHFGeN1aGR@7f2aR zF92kU1t>en*ZSaWMEH5oOx^@qRqCQ(koQ@tBMb%GVVqpZ4{;A0OVGF=|@v6$|?iW0`pH>!5&yA6GbH zUS76XIwMgzy>8q50-sFz27cm!tBu|W6u{j_E$dP3<2Z?R>_%z9T=MfZ zD_N&?Wp?N=Zo*@v(T@`jWLpUbS(i!(H$U4TNK`@Qe_R0*`C;hHrpoG$uU z6~3SCI}4^IUW>ha;5&nIU4H;bY}KL|AF!7HabLDr7U%crG(?jIcK5e+R3$O%m?>Jc zGZ3PIx$ZwIeO$c9PUYpaOP)&KR#*tidK>rVt;}ur)Aly_KKn{9QzS-gHu@h_IxXMY zvtAMT{cTlpI;=Hwmg2CMYm(4$w0+ydpOQfw%hOBT!)@`|2a)9uFVvmy-Ap=u$o=CN6Xvz2e%NP4lOjvJa-YWfExCYEW5C_D zC;I=qh-vTp0>6{X1R~F~%M}YyNOBp+o-Ign=qv2AnaW!0h^{3>Gh=$bw|D8~tCa;6v@yKRU+=V^LII8NK zT6)%m>}|f7>$^{^_eM>&r*?CDp%Xt9Cep|r4UcjGOf1h>U8!gc+T#1!cI%UEWzK^Ey_cN82lGOU0k5uMPmNC(RC*MJ7qvC4}Rlka+ATa;-$LgP35wW1K z!=LDs7p}KwXIz2|lA}1pICC9Tv4a%R4&7^#<8UX?qDW7(G>vgHQ0QFa==xN=rk>Iq z9Sp0k!cDgk&*T10ay64UxJ?3i;(QGPL9|N|KqcGIKGEuJUrLFrOwQyEY&qk}o=bn1 zGylo>m_?pyDJWH^vEs|<{mg00RQqKf#vMmK;EnAO#rv=C3`ltbN&i(_reEKOGCh3H zYVaXP)xQn*Xy~5Hej*(8Svx4MR*ZDgj_7ttCnfv2R$Z8y)u0KzxeKG5$7W7eDjXZ1 z9Mv_H>M|$`Zw|Vbh>fq*IQfgPi+5H)a>$!{*J=i`Inrh9&M&lb7++yGX!@c$XtC=b&0+B@V_Z;oi) z!@s&M&(8KidXdHy?QYkCeQqa)GY~_E39RQiH*ZMAzR31&*|(3uZxNn2lq{V6DpsJE z=+fnt4)ta_t?fdTXTK@*L7~6*%MZ9-!4RKpAdUPv+AA~kzosgeppqpgL)Pq@vzaC#aKVRc}KTg4+3RulTYV)3nWPFwc;9%uenPSB!^cTts$hL{i>ax_ROktIRXP43lKD{ow7X@4{kNqtrF9=> zw+6|+xt@}_&}CnL@)w6qX3DXCSdFJevbQ#0W??;+7|bVl2TP9Te@&@!um{HHjt{ zm?Xp|n{6S&xFNAbp+SD%t! z>z={N^{|Mt#Xc7RhY4BAYqQ#jv8LE+gQ<~xJGQZFj(3XVdNLTWmjcjs_u4NI&eq{cca(hl~HV8|XMFzz$@o33_-nP&azf4y7N~V8) z2THS?ER_CkhY`O-UmFklk6AHk4`;9T_f7Zg@enD#!vs0t3TSZp!63t0iab`RaWaXv zc3PKVQf>75OC%aKnCQ!4lxD!S;(mS(pb{M?b5)9K{{|2)!}Pr0^FoghTVHaJVWu zu`ZM+>+$Nmq0n$;G|<_{dq);CcpD+_nt4L1YAZ#kMXwa7Zp!eBUD88@@MtO~9T8vZ zbon9kY`vUGAf=?7-1Yhch86DLxzUlMfq3iC2?JCQbm%0=MzgAd|Q2bRvR#54u_D z!F6+E=b!kxmtu9|a<9JJBX+%*LBDkVMLFlj(q6)Nsb?L9jo@#T@MNAph|l4Gg}_Of z72ZkAxwJp=e`I`VSt5qZu4%8021$)`nj;^4^(eHcn@|LOj89>18|AWiOhgaPVcIyB zu^)#m_s2ev65$N^GMAI27-<>^Wxlc0=&YY?Mfe8npzne5T=}e(gy7kX^Ek~;b)lv} zBetXZPaKnX1H8BJy?Q0LZ~@`6Sv-q$p=2T>5`N3ZF7$o{OP=fRh0wJh2GM{ZT|5zx z4-Eub{soH&cmhjD2{C|li}W=r3}jXyS-0EU+Z(GaKB`q&gQaq_w^$j42mWzXu>EN% zi;2&DKlr(3`Ofy$%C@~z7A=_e)_I0N2=izcdo_s{E7-NuyKF{z4kVTF2n$0tJ94(} zsQYkiq{=<|FFN?VCFs>J3kr~4HjKy)gaKi^*1bmjeArs;_zcSuW+p2^3}}l}`-vQA zHH;f3Cc9{{QX;<`M5sIU9m;lH)AhdYZ>W&F@r?a-4pWfF z`T$pb(y^ouDBv>&>yeh{B})*g#d8cgV0^#7lJ|E8b(z#0U~W%3#~6>uzyJ$ zM@87;lCe@!`H>-6d=RgaS1@X$3x7)UTa zh!?#~4zBam5B|PJgOL3vM(}6Uv+1m!W|7?}S#DZapbYfpmUOZW%8U+DnQqDdNA8_z3DIf4O4CNpWC@KW5!(#->^t@p zmoCB4ScV9@fN*E(;vzo&pPimQD>mobbJE1&8*`_1C10#^ikTK<9MBu+nlPEivU9;y z+wE1$11*x!A8Te9uz`0p$Z!T_foRP_6|gD3JP0Gb5oE2h(E7hz04h*+=+y8pvClLI zl~9d&usKrJ(l!+cs3mYU_kA8V8lH^1sj>+^WHy=hTxO}8ra||aK^yWiScYNtw+-vl z#S^9Oc@t{M^vAavy#%w#Ji1<{ulP=zx}yGq)JP}ck}k-g5&x@DJfUa6i-Vc{3ve4o zdj+j3e{}g#^$WI^OpMHPXE9l>^nUXz33vaXq7LXP2~q08pqZssc-&5?fXf1AUeMhd zbGJ0VJ3;Z$Qs+jfWPstcf`GGf@NSI8V7r?1Rq zCm8_yO39OjfJO`+b&?d{bek~{k2Al`Q>ytUM0Sr>uBU@R%T05ha9aF!c)!rxWp4S< z%J*6s4kZ&vFOVSqpE5waz{~k}uz&r7=YnZ=?2He~c0RMpxsu;T9S`M!D z7D|c5zUjGM$cW$%`8ng`n@YM`**nLz$loa#>H7u8En5ww(+wg(<8S ztK(rr01?ukT$6X^PNM~+*y^(qGwX~dQ~$P^Gz0-ofL-c+k~w)$@|8iF8XVq9cpq0y znzO_Yb}Jiu1A>yo^=cXWS=e#|XT6#IvBJ|`T>&&wE0Q>Jp zZ&gg~X?(d)1P-d9tNxFv0r}3tHp|-D6e$$nAoqM$tu{FwPE%J{_>_*)jp-X-XLW8r zL>M1h)SA6AxGno?S7|+KB;GbceuupxB>D&A9T)KrxCCyU~Q zxJ$Kl>F9)C$O}zTxo*zs4<<}@ZG8Jj8cAgf&UWQwLO8%V^WGZm6G|uR@@&fmzo-@c zanD=xw>VWR-!Y0pXKi>CNW@;cKiHcNM0mI}gm*#By=Hi=eP>xBjf}T>KUMDuQI<7m zK8qNM?|-$Xbo$#=vNuF(2$MacR#WsO#SWrA!BDZ+q1nY1g7|rmzt6soEIan?RD#_? zrcXqsw*63+&frfb;w&4uO+MAQZ=3Psd4b{*%M*^SqZ5A7L5WE(Hz}mFs#l%FaTDX> zX^-&-F*2uZm=ew*_Bn-)I7{#CKZgAB8L+t4&!V$2G+)1TMzL7xY9oV0L=NIuE|G+P~bQPel9ott#HoLm(%4=)d>)p$n#kRUzS1J-n+|D8g*Nr&b#h2fr>X@s-??L z)Y?$iNbNZ3-GiRI>B2sHAI{?;xoc;1PE}Q90kUfv=6_+S=)+~xr7LWw=fd%gOMFWP zorGrq$(x7SCKLR1uuNd`fSE-qcbBJ*5R~8j^*RyGmzYZGSIhbDC&HNehr9PViw?iY zgQy*4WXs-uO0w5CxfW;XiZ#?yN@+jSEJ$KU9JXz_^ag>X+y4+58xAIiIU%7;?{r{} z{23eHRW<>Y6inLvh%YA!pk`$J5TI$GrhY~RGINT#^uIC&IPU$t!=CDiBb_s;Cv;9#cs5g<+9dR zUbo|UuasuJ;$^*UIB_di$fHB0Xuu&(+G_bnBLT-zj0|y`Q^Uc2(r{b)siT7pFRcKGo0w_ zHnP2>f*r8KykcaZ07~@c))5d|+fKe-mgM}*FOTC=TM5T9&io&%)(p9Bso{PmN-AF ztm`l&1&*3CA_5i&<~Vc$Lz1))-ESpzYn`xV*q!d%vB=o;i-vHY!E2=8iwnoy?~tM8 z7ff=03dnG^u7>9C&+qz7r%xALUryx}_fHH9AqnLDb(`9O$ZRautX|n za4-CfYpQy(>3%LPaaSJ4w|i6?DlE{(858OODzi+Bh$`<`l>T$^nIb57{WqNq5_y@_ z^|X65SLVDoPH+;un)|lWwy->np4KxA39s%tb3NeY;4?}l*f3ucyNkGr;~L))w>u-{VJFI@(OL0f2Rj_Or8uuze=@cO0|rR6*S*lymso%ndp)?|a=;25xtpfE zaR$!NDTNxG%ba#g*J0HY!fR7yFWuB*@VuYJ5r+UF-_AxJtUH*t~3P%#$RxU-HkBPsz&=ko14`Cq2PkgRPcT zH!E9jf~TtgpfyJD44qiL8W~^6x`#$DjS*+6OEm4ei>FB5!3{luN^15_Rrg+IGHOzT zmTAFVp1zh8FxW>p%t@v<)sO7bQ(78bQzz#b=Xt&S^coFDEEt2`4C5wp+;m(i zlq#yvn7Y{^jf3dFY&LG%Z=h61D+#m&VFLZUW;wetZ&oq~9W;44XV^ZP=Qxff430_u zxI1e$iFLa<-ihZ~j<^3k9Xj!eSt&7z1M!=%P>#M8Co3Y-i=`;l=S`66-`ehr)hs?=AYG>*1F6b>h3HlqbHh29F z%%@Xj?1>K|loni59e;-J8^{kcJ@&f9az^x?6FVMa--1||QM_f@C}a*JIcb<*hNDG9 zk-BJX7a>rs*z}MP*D6A1OKl3@oL=1|3XKZY=@&uP+2Xsg-(7O2x5O}{1&%MNywUMA> zu*Qkb`(oEt(g5HQE?9P_0Af2r$9p^`o0Z0i(NU|t@f1b=^FTRjEZ*Flf|^o8gE?FM zzTsz10&P3%>5Y#ly53@vUV6eurQc?Cs$xAP&K?Ylx=2Pue4DU~HFH}j!ruR&WUF&m z-xFsK?j_@~z(NRsNwQ(>i&G$`&UKZEw}x+KV$LL%pCMNBw@)kXJZfg4V)b3Ai%FBHh=(X(3teDtM&bu@bzAIMt z&-OM^lW214(4}wv1+;ZP2AdoG!)Q@4>}ebP->x}DQf<|T%rp_(HOLnI)jR7Sn`XNg zOj}vdibFX2oNC!*;TT@3Fjev+zwAeT(@I-E$5WKRq0(9erP zUSSzgm_S?|#BmaLTP0Go8)0|-qj@2#&sPS4is0fJIumh=U@5|e*QdrMcXZp0u0xV% zP#YHJYrdkOF)p+8d)-U*2dh^%L<1GsHI4T}p;u^P$IfA;kz#6( z25y+Q#T}z|8J%8_kLG{3ss{Sl?@>UYj_+(?04lO*|6G{{8VPT`+sSfraxwt&Y#?-w zo)fxea+5^5`hkRhZE0O|!^Cdqs3~H!bCrOB0vsz&cRLu=9F@cZmH<27rk&c@E#9~V z3FlwT@gx*vooJB|9Go1HVXyk25ld@$^IV! z4Lcot(lm8(F-jDzrje`kcY}hTd8WUHhN?Z=S{jRUMNln|EcogdER*1IuIQPWa}V*# zqlGQU`<6=)aHiDQmBcO1E*j-9#fWwn=0PBcO#{J*9(*e+tdwA5%A2^g=RRXDzb|fk zM38v%rYSRpm=y6+y_(IJO67NbS^cX(bJMQc2XE%-FmkZ;-<$L(B+?WT(a8RFwbL`s z$$mTBKti+TQEZIwUZ16=<`xXNWBm`9%Z%r{UX~q-9gm(R;a@kF85ySAXehEy@Q!&N zf}HdMSLLaV#QH<2*fg^K9ORF0C-BsK#sp)Iarsr#^loT@sWD|U%-*!P7P+14`OWa% z!?=ZHLEJ=m$Tj0G1?x>{IhdEY3r|Z+af{hQlCmW73)Lk-I82?HUxUc@+nz}7l zA6}!D#SadRS!{cFGjz=F(QdKwbgHm_ynB`<9NmRmRA{qZH6S=^6%-8=qCjA(1Avv0 zNd6VjUX2+Y9SsZ&jQ-Kq+&m6oQv%xZ-@@C^G9dio&r^c& z3HKi`mR45mH#+qW93BP+BJh$Jbq1SWQ~%zcqbVE=DBSp`cK92(;W2wS^!6Vr-rXzs z=PppCbuv7GP0m)tOl=vZ*K5k$`Cu&M(>TYRQ^F|*ZS}O2bel%SZ?a~J=+@{fj|#f{*+ydzvsisb zvstXaR&Z0(Q){_Cqqg&jyt6*XcAwIhd#8ujv{&RTh^aJ8nu(JBs(O|exViIK$3gUZ zgRlY6zU|e)@8?^6YvUw?@+ukt6CDUkr}I4DO0ay)FDSsl#l`$RTcV;-u1W5~{T*%; zIQ0)g)&h{_ffoSFo(X_l>+5T(B7?FGp6^6$p+R!h#rSW3(ECBN=%PdWFN)uOWjBI@ zu}X(U_B^Q^_;)2J^5?&r7x-J1`W+8v{;!Y!aG3xk<&O4t;J+Xtf6)*=WMo}&8JlGS zFgOLwdmIg2Mj_~PQDO}+LWl^50SWO*1q0F#84r(1m)qswSB_{1wL<#A{{H^qArG#e zAPDq~KypgVf z7QtqbfEU9C^GcNZue@ItWLp1dyZsdo*O7|2~@gznSs?@HgJQdnY3KoB8Fo>y=>T zHR&a>#nYZ{5ZHkSWgfpaQJ)7!CFrPaDOlZ5qi0|#5{D%3WrLze>bc^$(qgnWPA^w~ z2wsi&ec8s&&U$h>-@2*r?}`)9?O0ya=rL4c1qEy(j8uQPoAQ6TJZaiM`d42?$QzI8 zO8%7r7Y7c1&+qwqVRTd`C-1;rd*W6k#PC;5pWZ>J;V+ZDGoH(_4?siW=uA-{>gLVz zoLZaTbL%e*7-YMNiPe-DxH6N9>xSg*<`sKjF23W&8VP&>u-!5;7+tV|AD%0(bB(<^ z^bZ_Bpy1|nENcF{KX2p&VDOU}7#K;@S$@yY+wBa;hz!Ako*_?x?;5nDeklRN6BPNk zOd#HZIV=0sW^$k}hosPft$+X!Fc`drNoxbmYnxuwMdhs8J-LCHpif5`a8 zBG)z4Ip6+G6)^u$_^rp`X587InAKPeSjr)7+bkE;rc>gs%MO@;-^r}=Q^A7%G~UIP zrN?om`2LJHz~l9bEoGbmA{PN37*hAjzn9LzM_|5|%gW2;q@)hw^nh9uUY?%!_xIN$ z>prkRdGZ5KJ)K=ea0rR!}!fpea7^*I)f%SU|-f9_Kwd`uHPQ z(1G;{T?I^cz&A0DZihbyJL5$?4uG=_zwy5tyYu+?xV^o7Zz7EgS1kYpdLRU@Ms|== zg+umibaSiQAMa}bx_vtWVA=&36<^01{##>~+3ab;Zcqr&=TCDZOCH}rIo*iIApM4m zO)bm)Q2eZ@p$Oyjz-UBJ_R4?nBT-EWunR%q0*(L})G(`nO_1z2fH|1|xAoyat*`%D zzasx@HT=l%&duXDoMHh05C3lJNsC}LifQF(fRp?QHwMvvnPhPT1{Q?u_TLSt^%QH! zZax`5V*39dTnJT9aAfNhS<-;#CvS6zetpNU9#Hp}pnp@<{iToj-5?e(E+`-eAz>bb zz)e{S6U@)>j&sL>ri*DS6hCJhXhQkVqvw1#z#JbNd%ueg1A0i$i*vrZNGPsHU@^R( zOeVm6;s3W1EIMs9&A4d752aO#)gp*6AkmGtIsc?r03XEC^8V>^swh9de{k^O{+=8Q z!69j`0C6drtqw)50*e>(KqGpR>A;srf0FVcnzgP~Bc==w_%#y{O~A#}n=%5Xi%}#I z*5~N?^t^uR2SAn){(pJkuecG@%e@Jr2yG!yFUzbeOaOVXfRbvI36bH)?gYZ%lxYv( z%u<<>S!0*{JOE*iqZKBbdGR;h(8Su(%zFcXivE^pGpXdxidUu-msR`esfj7>w640g z-or39g5UIa;_-#u#5%7=dV{B>M|Q|QCD972nR+5_qGeE8^m1Br3JV6 zl)3x@cw!6;chkdsB{TKB@p1-%d5!uF*0M=iZ(pT5dp+GKQq!aIzmPDkg4R<%b`VQ@ z&VS22b(09`;RWP`@!h);cum0s!|Ik8H5)OEhlPe(?=W$wLl}^?TNIt4;e$u@RG!PR z?d4ZLqe$uVR(Tm_)#6%q&|(P8wQU_MOLuhDMqnU=-}1+s()s*N6f!=PcyOq!E$#_d z>gQE16#v+T2^97BqR`8?e}1L!%BxhTRgFb=~~r|`-(o@}#%O+Op;2;0RK zV0KhK^!K3EML@Z?>Urq1bm$&$GeK?YD^3H@EbEcLunagbcF#;Y)gG~TWBFe!$b4tP z=6ub1M!W4==kPB`inahoOo#dKx0cT6T1QMPV^=jQ#P}8}-pU#}Ysa7coi;1F@4CW1 zF>tKZ<=kr;-+AFk_InJTuAy5ng2C^XLP!8(o|Do*j!xUg!aEsV*sQY%)m)8{BIpUvQPc9WTH}^CL%<9s0AFV zg68nkq?tO&$6_yaaG-x?d310Q?^`45NKDMU&$unE||qeNdCGkQ*LDv>{Z__8f1QVe(mG2 z3Kv{TvCZ#m7E~oQPItIyIc659sTsvqM+m{FJT|R*NDsPA)%y1xEB?0^;*r<}K#zlS z94@8tN#>pk)zu^>+mBw3AsGiU@nQ5?S-ViS)34r)<%631EF_C7)pB556k;N7qvAcCPv<`lp8_=UXZdg;VOD*g9eAm3SLIxsUh=t zH=h2sPJS-PTyGJwL43tIbWH=|#qL_0{@U)W+yK;>acA&-maX$4Z3Ox;bFG@7bl>=k zGjh*i`%-sPT=^cf%Bs-8><9_10yfi&50t1_GfQb44O4^0>u(XCXYJr@Vd}TYJF2Pr z^g`_g^&^i92CZF7OEbu!G51d*_CCgmy9~qvw?$9IDNc}(SURM ze`^>}(UjWP*UA&h*kF0iN5>5YhfTGLLU>lT!M!5i@B$_KsZSW0rotQ-XjPo$KVUtS zMo#efP|M-Q=;@|+*y`D+ig{>?na-x>cNip^OYpFZa;SQ^pTSHpo&S42l6>!4%eVzix}V%0rI5V#w9Zn^UmeYMaOD`d2i`5EwjrnzEwSn)Z}sL| z3quriQj^qElM=Gxn*Q3SQtLyGqPX#AUChxa!-ebL=Z19WRK5{+s%4k(hNK362uTg2?tF<5f zj^EWruPbVDE|`V7tUT)fMPXramb!F$Hi5ZfRJrM%5V=4V)%;WnRrfN{slmUk>MQHM zY|{Zx^!DuNuU|Nx+9nfN3M!6bDvp%quVKe|D{xdc=ZWSb^Gy$}i_U8BT4C@lJXB|; zZj1+iIWUUUne^_gyu^LeLb`>temC!DRb8?piVjR@&uJ^>E;eBPrJ3Jdj^`V|V*QpRk(NcS55R zDl6ZCS7v0px~A*e8i88XAH3M)uT6-K2QAW#-;mO^)Zc8;EIMC%eEYB!Kf&Yb1&*Qg zh;!0=TtPBkHNLf@yY!%~Q<&N-%1;!d^vr7_0`Y#G`6qCZwIW+KUn)v!*i1ZqWZ+vE zL-kqKmNGZ%Y3^bP#ai3DIucLuinN*;R3^9)#Xdfz=gZ|4ZdsVkW1vX(^fmG@76v$cKO>7x z=c*E?0vO=%tw+<}A5pOv9MiR1KC1GcE(*dvl4($|QHF3==I{#mNzzL8OAY>rW3%-W zbSel7r`f(QP9C|a{w2gkgGk$VXcdkmsJfSF#ACbufbKcd6+SO-zI?3PkM1Z&tdm^* zcaDF}!&6K%d&MJIQ+|`?umy(!qewxgfogH-q~hl_e7TL6$6ud~FymHLm3n6SIuXf! zHAs0hT4o20&?>cqtCz)}+IC(64A$C1@*Zbj5}F@z2SoKWYFeY?NF;M4vZ(&y6HhjZ zLQsCfK74icKdGhcU=15}y;^59RFrGCSeekd%<;#MvIVx3Rt$<-oug-WnV@${?$B1C zo}bBOQc&gU5ZbL-`kq8E{5|h7hK`C>_hkD2w3JC3 z++CIWynLd%e20p90o(z9>&O*nsJ0F@zRs%=ERSJVq+D^yYI8`~LC;)$XuQ6h6id$y zmgqdqYaRj&*0hoBNWRnEB?QA{YX*Jm^6o+IJNn+N)IBgHwVvjpHl7EEHfKuOO~HC6 zG*k>ZrD+NKAG!C?GVpfKc6?0}*-X^c@5QiG8!8*wNC*v`+{IDH!ob+>B%599Hv`|A zzZ|r+s6ukz2J8J9Z11iVsd08BRJ^wWcN8`z7N?C=SH-t*h>3mTVUsX=_(u0GO82jq zS!!Z2^_hcsY?Jxz4Kke#3pvN&hS_> zf4ALG2DUVI#O;N1z0&4nXNKaZ7@NDLNn36z)tukc!}iULwhUe{Mr`kYP_$yNpJlnL zzo=LUPkoA0O<^q14$U>j*74hK>kOpuRT~T^yR@40|1Q%qShU-bm(+ED@z7uTO(NHM zsRf=7PTN;DUm@C;qe?;XpT$4ALNsG#rmtx#XS4Gl7-+{c=yY^7Pz9gZf#n3%+P=M4 z*;`)V_{1gMz%_p|KT~7FuP$R`t6o>wDwiB<4>#@EQ#lQ0mlX)Ugl8wQ zH+WToImqdc4Bz;Nq4Rk>^8HkxpeiK;eB_Ret6ggq&Q*Xg?@QxlS7(1zdE|HRrUT7q?vvo4ErLQhow_`t}w3;Y=f?WKqr&FjJSxkQcYTHjWp6ZsY zs2Yxq|7!=kP5gIZvbO1~N1VYc(b2H@f5cE>oaJ}xL#6gUi_1`HgF7TD_J$M4!KW@u z(l1VQ*Bq>?eEBK8kUOstrFN^AWbuFs=7vqRx`a0Xk9?$B}~ogFBbUTh%* z1?uZ%jE)3K4(8|s$kgz_s>NWdo-nQW%GOr)XeorrH?eDI`_mC&NHGbYJ)}1@loG~2 zeCMpW`Kb129^P~IFzwz>tL7={cG(nY40Tk_FOuLv$Kb$yy_{&DC#i4XP2D;?rHmUD zF-dYS?ig+!WYXY9$2fEixs1>j$m7%Maeu@2Myzox5CelXvu0&Wq`e3cA;e3H$+bgQ z>lS|_S0dpx&Sx8uZ^gVf^r#kdoz3)($*mj1)JK3m6b(*C&@oD8RBGia7_%2FiFToG zYoq_VI;~;A?oalc9?1S-P;${aok-}=*vhQ^CUnb zKRfxM&&HzgjR&(jDJ<)EKW)#3yyGe-cfNTCBiW$dD0>#+EcT1_YZyZPq}EEhaqXDF zTlCe})G#12;+Q%U^Iaq{R4mdzRmHj)r~I#r1=@Xc@t)l|GoC-uT83Nc2u9~f##S#% z!8`Bp7T$3-n%s$Vd3TgDY3P~UHQ4*r@XMwwjl3qzX`p0@>!>Wv+yag%IQIXnKE9!k ze(05@{{pp>yLTWtN7kfL`=5=?%E{kL(sKW#&CDED1EtOEl1%4#j<1DHyvk$L-R-3T z_F*EfK~7QYQ@RKfOEzS~?)T{T-+JP_yBOxdpNM}KXrsuQ9>;DXXE4j#P`F#mAFG=x zEtM8m-mJ=cDU^ny#JT#2G%?E#U}CWP$tE=#d z{%u5Jl`mDuJtmevj}=A<^B#v}U3cp)ls!&u9OKYsKP(*utUcq zyb}}K;O79QMyB@{EUXzvAFgc@f|Z(~bg8Yq!|`MKy-*jyL%CNjP{2zzGc*67`3yl< zbu`TzaE;=4796|&B>SBIDSG3hg{FqLyPJ1lj&gM9%$$W?hGOeHmpM_ureql%zbtS+ z@8sTD8=QqjjvPKwHaV1RVR+5}eROHcj7j;%n8-aMUD2`DG!&cfMux){(vLXYQTSo` zb*H8oR%7%e^QxT`#NNNF>ssN?Wl>lC;4-2I&|E+Y%L+j)`w%MR`q zC%Y!#GFRwnP05@Mz20UGo!=!byANN-Z>RXj%MO-nh=Il}nX<&HQ(x(Rs=WY%s|&Ft zpvmu6MvWJ<@R+vxhvxg$$@z{C=Eh<@E!w$v9cCngYqH4QO+!PQvBYWQkqb|E`05*D zE^ZgWX!gulQ!9&0f1~yW)o+(+)To~DC@wSREpw#IQUzb5b+5ymu(*!E`z>|yw_36~ z>+#Knoo#)H0V_uIbJ}3A@oJH0+Uay1n(|$k{AXwHJ>x!2r)cO+%o@$V$qP|QQoBU_ zen@I2)_)g-;F=DzA@Hp8H7XPtkkbg!D++3+49SydAGg726J92HyIupD$!Uwd%>^Zh zL=g*uB=wn7fvn2*;;W7Bs2`qk%ZuAev($IB`5|n;e{f3LIb2Ij3cj-6 z1f7GI2K4L=8BdeDR@{D6Je7qqva>IVx;rfAUll$_)bxR7_-&p?kPDy_#H!pubA1I6^ zXB?R|{-3Z54Kxb|i z&Y*Xv4OmD`8$Y>toX&=hW0SU=t+}V`j`|LPw@zsC`Kh1ZMS$VJx0chJ=U7}Kb2buj zJR+uZ5;a}VWj68UlUwJ`Q{$miiij1T^Q}sWy2hC=8-^Ao>@I`p!=T@U*p)fl9d)eI>LlX3N*P5eDDSPR%fGQPcef z+~%mv8Z!b1SmlNmbur86a~Lr%?We>_MeIMKKFw)&_GrrTwICg7Ro19&UUL#I(g#mO ziQ|LmA}Q0vjhJVPc<5RE0*Sz$~vNANs)L4pn&z> zGefFY<%838jO6Tn)`=Mf(4DO$r5ayj6Y=z*PUB;+gXk5zOTu8N> zu#br#u_`SR-FWxI=IxZFQgg$O7;_*F43 zmY;1N{N*E(Lj}2qWg_qYs$`p!qlq(JdcqNYKT~>l%9GNymGb5OlO$qER6gVzt;WS| zHMuC&AMj$%V9R-Q#+Q#5eXpy=gNW-=cGh$y&Ol07qsQq zC)Xcf5qM5~sSi$$rc!HC{Rv6LCYBc`ezVqUK{&)1F;Z*;6>$l)*M!$v;JEi|ha3%p z1bbErKHY!yr_Y09tXCBYD>CJ#{_yLlt(|xOwyrn7Hypfwbgu;!H6B2nGklX3k|A*{A0_4WXg4trz#qF0XPu{hRX-zM#qJaCOasSUsOfBk~ zKzi%gqyAuzAl--{U07Mw!-K`TxuhyQP&;m)8@%N*KtR7kRg~b_Ci-y0^xMUMPJj_D zqL1BQ9RV$Xb$SoE4~-aNc2+(fF<8OYjc(L#ep32=+2sePJA;ue;NAnW3c3s1$MJ8Y z_vtc5Mym9Bmk_d(B5@Wg-L+aKX5)&x5k#}ZKCpZr5g5mCy!Td~3vXsB!ghwIErEaP zF~-B@&x_mG@|rlW;@GjIQ!8W?96^ION+-$Cwi@DV;bv3q!8jbHvl`w|4cZ8&psNTo zU95DU$~hmWCWymWdTUgLa&7O{4B)02Bf)cLC1@^Cwe zi~%siP<{Vw9dC=Uk|r$N$g%1}*VfE-qt}>5Y>!RCMFa*YJd0^$BL0sP*^Cd%`>y-) z{Mt3lk`**y(W00J!!dVRc@)ZT) zjpZUHydXgYy|i|$=IXtojY0+nK?V@X7mIXvaS3Ri(eQirGYcw_P2g>#;<)~~YA}CM zoVS`~kQqlmHA=@-Ly(qK`02V?3e1{cGHLDq$GKpp52|WW++;j;+INkKDCyv={JY(Xo?z#oxkMuPH@A^?_lBX*?CA? zT|Jlp6_Lwjydjo@JQCBax6~JZGr@og4MjauYvfB^oSqF*9P$@n<+WlG70Wlbo@(sK zjbJRlXE2oabZxUq9Hyb>6a$07m0+ zlWf)WQCJzD|Hzk>pR7!IJx7yix_ml1*+&pXrtQuB0aKDasVdrWW@`T|1^uC#s6xBs z$M0!XO_W+XinGO|%zwV^yDNVTGU15{?5Q#g=rL};6nhsF9ZFBnGa{ansyg;TbuUfI zaxL}2ioB7v#lDj4IqxVlBoN?wRV;BC5U?^d%xX+=J}#|(TekV>m|xZKyOA8>(~o1@ zBv_3Pzc3t+e9t!@x2V|MC5r&5(O0wYdgRn8#H+YP(004c-Nf`_DT6citf~`h?&*W` zatzzDBDzhvFjdwy>CHtUIRR+IcE8hdmnoCia#-sU(^XGo)-1~en zQ_`4LXxT*&0bz96sMkn=NQnpC@Q}2XXw<&7A|A=)B<*Gw7T^6*#qZkB56u5xdv6^T z_47RrFQOQf0umyipaLQ#NT-yFfQXcoNQrbei=uQ$cPb#=os!bsv2-lWQcLVUv&;Ma z`Tf3sJbymte4leZb2zdt^P1P4JGbwh8IV0A!J1u={QxCPCTMSa#IG&BsrK-%u|s{{ zW{>0u--qTrB?>GlG->~mFc|&HsSugpW<-_rX+A*e`4|A3ji>C0|J$#3cI3C)c)$%7 zA!CgbJCqDGy}_(YSu7oLmnVKtgrvhabMV%t`o!u)U**2;fIs-I8g+Zksy@&t`Qv$A zVt48~q16YqAK^YP@;fI&vUr3S<5?ZMkG@e;u0&|t$?q)x|j3kp1@;^v8& z@v2rGap|;-zC$BBH>UZOl*y?5(TDG=3MXqT2aStp;O#fufj#g`)2$YHS?%Xz-q9gq zTswHs6Q$svm#7KoJ|6uJ?jSb5=J2`wv}j^4w8^P5X>pN`xh~>5so>>iL%MSz<_5{P zmA8c#%9&jjG>x@h8g`iYlZ%j&fsGv3{ zHjAWWBXi#;g{r4M9RK=YDP1fxI%&40|3G7s($CNUC@;%u%(r|b@dJFf`(ryV;Wq}#YiR4;ZQygC^>*JH z?`-{yDYSOE1<03SO+)3$`(w@3#;B+~h4w`*U6RoqGqeEZ!bFn=HN=bR0mgHLIR9m~ z4s84a(EL(^HfBWk?$eBJb>vjmrO52;HwmUCoFmIcM|+%4aNlIPX8+n$iGOr7-0+=B z?oWTn+52&z*3CL)9|ZIL2wL)Cc^RbXGWKpJQ@fO(-@86LVVRMah}bTE-hB1BNPPIf z7R~rx$#?&!wnRnpc;c`~x3Mf$O%M#!>gk{$k%dpzCvUwtYrGv}cQ>1jsqO*oXlMBv z&ZB$wx1plFx0~5rS@ZMUbSO1KbJU_$T82$t)d?u1`==jhQrKxhl8IkjYP|H2o<6l| z zqW$U)PYcForc1S2G#i_g(#;(9Z)36*Jm{ULMT`9FPDPBAdmwpoAbXD4{Lqz2lL7eGFhE^_~703P=yAYg2qQj3~k^z$N4PjC1X&0$B z5kGs9Nwwf*oxg=gOk&&ibjj)%xDiFwP&U9pB_AFat@n*r=C-w0^W`%P&Gd+j)1in6$zUTT5 z=z_68y6^;~G}V&tcpSu%nrR$EB7I7s9&#=pK2I&}$j#xu}mM2f2qLpEJ zIxrk4xe^X_>8|A;`=be;+a{}Jeos|V8L#KBlxY3;fcW|$BAU-VUQ$wX!D(|X^=zu< z291nlfW`*3p9ZevLvgV{sCzYASEg`zM*HGRiU-jB#=C1N$&BRA6=oiX-SK~giL z>9=6han3j?^sN2(tMfnGlM{8mvAQh=E&re4=!3GAn`BA zcs(e1w?`csz>xQNfy%*7O@GXkIP-R)k#Z$fhwHNyvNYGF)Q@RpZj5D5o;AHzhjM3ePJW7k^_L2d` z3lfsIB~P+SqP|ve=w$vDZ@XM~izVuZ7;wqOgLi{{@&AI;h7`aeJso5aeST|p>0S!n zrf*G7K>Q7rJ2isxu@y|Y=lTjj+0Dt!Z_wRZp|i@UHhx4OTJgPQ^M?QWA4B^sT`L!X z@#l9UM#(^KRhmcCe)4Rr=cx1V^Dyh@VXuW4?1RVLIX=3miocA%^pod`{oV)!Qtpkd zff4I{xk!z+dsC#}zl?h)Xpl_*0l9vO%N2$=x}*~o&B;avB2Gd3NTE`0)lNk>tJd|F zT%M2djfYGyqH?3Lf_uj1kwN>WFX5>_-dX#zu)JT{s=d!1M&=);Z09Vm@gwH#k8w^W z7xdV)3+Y77Pd>|qpw+Os%-ew=TmE&w`O<>Gn0Tl3-jM@xL)He1o zes*#0oL_VkCqH>^`CL3Q=(vjQie$5+g^#8jsD9bM6@q{}43sL!7{<@N$Y)V}6v-6W z%PH??yEM`OkCHQEB81gRDA#gmO}_x6vijSUO-=ON|KMqD5zaM8Stk~ms3I|>7Ewsg zE%6|50_r|#N+06V?7vs8@>`8Q?-4sIXRuFnWsgOP?e29;ptUaPhg2V_2p>JSzApPt zCoxVl(Ztoy>e@_ft!jS(Pk*z0*VM0}=vPwKoSmv41b?`$^JlsqXfJ(Mxb914&b)j3 zuFe-$@8rBsJ z_}LvZ;ZCdO7rzF4+03;?aQ=ko+RzBp{nX!*R}OKNd37=eI!#16#Ir#S`?Gx3-qO?P z{k9nxa#xJs3IVnH=a0A_vk0#z!`H(ihF5Ik6LlXf=m+)8pzilFk)gu2ty@T1UlwLC z-4jsF?CMsHh#y&ns|Qi~4*l7^b!3d=M?v;Q-Yq^h%xkk}VPoE5F{?x%sQGQoPnozX zHi+el{#IX(IpBGPH$A4(Ih8L$um7ly!sQEh8T3%yhYfqGWqA~F& z-^BJVLx`NMeca3mx62X8Oh|k=pZZm^@P#TfQ(eX{3t%>MtTR62_`CEOv%pxy{aX0Q zYCMm3F{X-oY=4NxB?8HqWqaU-pLgUc^-jNnS`{z#H3MG-yB2?b}EE^qq6KGsc!*pk#mV!GRDjGr(kE(C=0MaKbzZLpo_m} zDwKdM+VKylwIB^CEq&nB#+K4VB?(F;h**LxB|{5>d$zSalqK+f|Ihkfyz$4&|Ffpo z2|Slt0m@Lk4WE&4eyOe#rTp^vr^Itq3N9Tq`laN;7W6|?dhT=Y!Av_VaNO<@!>#XU zbK?z2h3hmuG;bI?>2#DEZ@px&sRO5{zcYuPpiH}4>udj%mv6tO7IwBp*N(=HErG*k zd{&WixYY_MD>0F+q1T<* z)x*rEk~c$9&sUl?ec}}_;I=f;g-H~f`@MkfC*l%(;CUBu`cnI)v9kEy0BhTreecMo zM(KlGKc5$iH_31L_+koh`@AiGf?t@18?CfYt=Q2Q4su(aI&*U|)FgLj*O^LFKti3= ziOwLqBoMglCi|_F4k>z9Jo3i8A2y%q^q=TG8O|Q*wGp|S6D`>7l=`j0Sx!nk zih|?=eA)M0)DIPKoI9CS?D$ny?}5V0yZ=GTy|7~ofeO`pwNRBVIKP>=;VW^&Q&q>d zEob(2I?|V*I{%wt*RiD8K{fANdr7qu_S?P_pMW1h6xlRn=_F}`1m&{^l zX!zV40&!^fxy6)9gd6eqzN1SBjE;+IrWdu5y_YqCuzMo&(f8c(su3?T{)(T^8;1vt z5WK6Iu3Fm4V_)_iiV-(nv6%F(jY$ImwkAnYZoD@uD(&SY`<>{P7xMyf3Mh@gMtz-t zp4VcAyG&-joV%gH3#P%b>^uVWP(acib!}UA**-xhQaLmA~^M0 zcLF=3*sfDwhwO*RMyb`^5BcyJRIow_l=NEF5QJ05Vnxx+hzT?C}@YOdL0 zO6w&!4SkkNdj@r!&iji?)ubO$MtcF@0pUuX5J7;q)>qM#S>!o-Bg@vNt7_1-?St|yL%h|y~= zenCM5jo7{9kt_CnlSC4|2IL@L=f$v))5nSHVmKyzG_|mCat$V8RUcm(H!EBKHaP3PD!)3U5H?zU?0J!CTRHZ=h?I2wH}1of;jgFD#oLD z5oN2ndb>tET->QZYTg?`?mguh6)w>+G1sYyAyc3j9jvt_wRNRyv(GKbp`oGu{HePs zO<-;aE0yJg^-r=-7M(`Dw=k?ggeB=&o{i1TC2M{dYJPR)fP(EBfOFrM?sI7?iI{>2@|W5Zavs`Q z;lpU%r(49O?_UdlNokITl~TJTy%Ufh`{2CE`70a8`S<>}xer!ui;C_Z(_)6k2Ddrb zeJqmrwD%T>OB-8paaC-%9Fh&p;(ySA8I}L7LUhc1JyAb*$w6xVX6A1Fr_SFRbco)@&9_T>Vanmz;mLJ*rdx z`0T4iHDQmju8`i-*V#yIgj*m6Bd%aB@mYNB<#f~!+E6+CHZ4FbY$}MHhyl82I1xhk zErFX{4!4t>z$_riaoEaOkIAqX4{TO?mL^NzcW)(F%v4xOjQxNlkM294AO5PRR&8`V zS<9gEy2bN=;|}M?=GV|B{i#OwAe8lPYQZkRTQAWHl_25yQave8wBX#ys@~DW#O`LW zXcrj|rNsn>v%J5C_Eg8H{eMKG;HG zcgNMTQA~$`7~+Vn4F~7YeESA&<@{oil*O0ndPJkUfa9SpD?6QnL_LAIFNVkfvx3o7 zs84=23|~6%4#-&5y6g0`0ZOvW$m8Lm?K!1@xlc_RO`RX%Q}-s^^p#Y=6YVaq&sIr7 zl|3JGgy0n=^_(Be`Rdx$R(?TrcVF%P8>e26AHDx01wLKv0u!-02`|`f@Yn-{2zxz~ zgNC7f{&u`NYxDX3T;?)l8e5AFvGuR4MCzdSD10Rw(dx%7{RzzN-QC@d(pMnD)(4*# z!2Y6+PWc_^tF!@8G_tqR>oQFst+4aRU4Y7YJ)J}}(g@6~LgFeqVsZ%Vjsyxw0c>JT zX{uDJ<1(Bvvgj=@7Dc@Qi-uPeEb?ZLuux5?dZ~(s3CN!`&ccxq68b8uh1M--jnh^e z-8Z5ec;8G^^Uc8)xmFg{W6`K5I`>1yu2GXfZ0Rnfr51_rB0Cg`FRJs!M?Nyb{A`li zRKl}B5l4*oyj;F~F0kUW-EDM6M8vR3eyt%!`MmouP}9KJP37fdK2sA@W^z^K^S3|Q z@3rg}izQqq9a>5Cwu>ov5(Rm!7yo9Ef7{!ngZ`dI8dn;82)uI9BWolhZAoY(BdT|WjGa$_A0I%y|BsBv zC4KbT@nBe$^~sZCQK-Pt!n%o$@NvFdG(8^253OqFgN2+fV6nm1*>{2isJNC(N42R1 z?Q;sgh#Ni0&Czz`47Er)-Svj1r%%;5DFGsPPLa=;L>iLRfBaD@xz|+;B@;-ko7?0% z=j3&$!)!2H<81>x_#v6!=41#^!}26i7;R{8B7><=Etlf*&Y7(Lu{~GYx!&mr;DYPa zB-ehw*DBT3nu4wqm~6=(9L7BRy)1YMa-lP1@4--q z`cA-J26CoP3F!NYIy+LGd%KA)TS%LYJ1m82tH~!`F)`yT{!tT?vPe;fZC6C~=hA}v zI0Sb^6Hcv0Ma!s*W=BE|pxO^fe7_N8MHvds9nGgQxx0^n%_O2Hv**9MeX9^mIzly? z)%Kg`0ktoo3bXm2B)QM8*GnnNeha(-an@bbL7%9m=mCl5Auj!dTy(dY^iJS%J^Gv- z{ldluk?9xaO^nLU+S^Z)-S`{AAVuGw%;J5CgS&u`Q1mSM91i=Qr0@140;#>Urqs$! zdCSSgCI5ZtE1`E)zp67cGuQg=OQi5XksF*NBaN+tay@y$@3L9gwR0F#fucVGHuiQ(_E?Uq-du~TS4++OWUu7)@gKu zW6Hv%n`%ojN|R;gpO^XQ@9L`y%}bHhbYQ%>119eY*I)4QzQrIdgvg=ak6F2l6t)M>GJOE|;UVy#8_D6ht{Nkb_wa8~8sHE*IG(zhcjP_Z_ zl=kBmKS_u~cLYn+I=kkosaxjhRyDhj(AjPqU45sbczz%yCzxu-fkn>w(nsN22|({d zQ{0gq%6hE?LHe`=8Zedkvz4B39q6<0H;KYVTkp2-kIC4;+zu7}qs|w)e}Q?x4^E)z zTi0@O-A;~rF&dlZjt9pcG0pLVbzD6yn9p~1g=i*H?$kO?BrkDWzQR$3B5gtQL3cWqYOxkdhRkjqA*$6F2*ad2@x z1ixU7-2KF)q@>{BUa*_+a2sZkb4Pc7J--_WIF=V5Abk_joO+4wCu`%yMhH9i4>t=* z{Lv)k=BFcaE4}E~lJC36c}Mby&YOz43{QSG(cmQmyVvzBrRaDps&!^(90!r;q;lW% z-T6u(^OkI6zN5*g=rJ>c(^c#2#|kn}T%CX&@r{UZHZN;%ZN_b76C>zWd~Pu`CPDih zT3_q_giGkP%^bC!G&3a8^#~RuCB-)JaJwc#R}p6tlKXuYv~}AeE`rsCWuTkOb}fU< z?8?YJn=o_jD%-XB@AwA?6hHvQpZ7Y@L^UUJ4noCO=^l_!i_>5B5YhFriv}e3d{m*^N^>HQCgZXE9XhM% z{XRMda`|xnYm~ReOnA+w-q0YQ91SWQn}5U-v#ft=I`=E@Sh62>stRDlu9|42bLpYMXu7#JA1fsgO|2|kp`qLOn{ApVc88jJ)N zY$Vj-DE747Z&E9zg)cuoXg}sQK8f5xKkOrntWir zp#Qe-4TLSFN$MN%j<`?p$;z_Gg2s~VB6)P}4l{w391tX0)g!l*m1x? zTuRd9aNhqU-bmU^X|jG?Z~lg+9ahhtvD*x1Sqt_qfDVkac5r)2bPoTaA~o@iaxrjB!Y$is6uV5J@GGC47EorVmu z&xxHk5N~+iFrf{~a&w7s-v$08{k0xg?Dr;itNR~5KqU1I4S5cBjqgJp?Z=2xqk4&= zQQu&5o>xT#T?-DJxy}MOJyKrT_6no+#(}+NX7G?)AhJ5J*Y7%J*R1V71s!0ctFQOy z!d9XZ8j*0)yc=3HV8L;X=9__`;WEeC{rt8JC*du(?b@>E-V7WzHjnrgk8r*q6e1J& zcIDb*lwc@geEdH*pII-yV5CsZ&zzyvR`S-p12(+k{U_LhN5#ce>`jwEXKzacMYU{a z4G$|v1O}?|<@usvc27pGog0T&R$kHjqo&3Y@I5y-cjcXhZ(v}bIN=k5rq_rB&Ta>3 z8!lD*`M4yg!06CWv(?>E@Q)nuBgq8BJhVCVo=|!f78DeGpu~5{9J0wO2g;&P5r_y| z3ap_9@aQ?#6eLe9D1e!J^at~vL}fjZV`{?Gp#eq30m|M}wo zy#s+2gY;C@Zl%?Nmq!S;|9)dPH7^p_5HY|#CwTkM$PG6gdWDZDCsp$_Z*h=dI(leV z*!nI}FE1}QN?+o5abf9z11Rn`akL%+cjIyZ#^He^X8>Zh2QsE^`Xq|=Upo}UhnsyR zQ$rYJ_BK2J*{J97=huNHTNeTD>c7kIVU_yXXEInr7pC?CLaE7CKJ?-Nro%;m0#mn4 z&1FdNe>%KJe=RL5Bj+IT_=Arv*Z@zRvOlx-cg$w+_1x0Z1y$g@JGbt}G4<6<+Q9yP_r#i5mQ$^Yp%iE$n>Em)4rii?Xej^yWm zF;Xx)H>YcE-cw%RQlyI+lw;OSRqFs~YgdaPP0BD`QS|;Gd%Y%b5<$;n^x@XCs*b&e(;d=lx+`MWC}Y)D zZ{EB-L~=j*E9)Cm{I5i;V<~<#G*%_b;C>|&qh{Tl31=~y_nGMyg+FO>CZ2ENWT_Za z-fo_|$AtHd*;wkDDQcORLCPL=%m0ua4{}RQUP( zgSbbHUh+%QCV;W!`JCdOj;^lP2~q4CceVj!d>&b>8ay>fL-=o1&?`{wd#3T5)zSJc0 zY&&%bIc3wk2~KUOak&S9p5v@LT|xEhcbr$h>Se^&hC1D zhVv#K7J7TO+WmncUhhqysz(-rTZO^?J$UW@{MY)kN_sny?HUA7_<9MrUv6TsXPBXs zAy24NyEFfF1+7`gHX{r!j+at2GuvDU?s=VHV{Hw1kb0Z;nim#snV&Mj=Ep{5qIKxH z1VM-9YB0F_p$=D8nd!>}cJN}revU_C9L<33llfmMDAX^;(@mi{{KBvdjPItd6H=h;(9(P7hc889O?Q+vDILs+| z{5=xRQtyby^YxXSuUgOZcObqjjYU4t`gIju5>xdiW|H?_Y}X-r%+Q?3 zh$D2F`kOZ#1|8v3Q&Wzr;tiOU^Ke$xvQw5I&VKm_>bR|?aE@}oKE`1(T7#N~qDKR% z*S94s_u3g1VxB%^XJ?;LzR80jzGQ8Ga@M+&;ryUG&mJFG_9hC~JMM=h331exmGR5~ zVf1aT_7h8%%Gt-5A=<404!Q=5YDrsGIm-H8#g@G;=>x5R@318fzu zUkmlxPO2ZqQ(`!;K_uR3Ii?)ueyZg#eb7p6A*onmrg6~a4HeiXR?ymClJ)D|pgs}+ z62J?1;KGN0dn4I3CU#z{sEpW+YB?;&7`0a1h^5A$<^yaGfv~7O81bfaKOQ$qk`pcl zikogmuvFtnsoolS9F!n(Yg-5cxl_D3S$^((n1g0^u|L|HCR8B5eOoS?<32E9TXp*g zu$i0FVIZ`27ut^2N4Ng~6}FyR{#GGR3vmK{jp}JoaC7d8V(T%R?<4}MKcJ{TZUH*H%yj%|t685AcGRninwml&)y0_TIA30WZU!2e6yP7H zxk|KpiKTe2c1F~`=z3S(IS6i$9=(P@=HF>(RPROHmW`^}-y2BVt}S=lj(YX#6|0s^qXD3C>JWjM^n0773EKpA36 zMNWui^j156Fg4)_u`fH(4Ds@F4 zfz1v*^)jEX!te`_Mk2eD*EEcc*UpfLpGmXOwv&sI3Q**U>^U(*P> z(K9kKZt+9f1^^UU+2!VwDq6L6CUyrSX2Y2h2Qud0D$3{Q=X>3@Y=Gzy4iPjKX)a)x z<-r^gCX-rFu+zbkUvswC2@V}9{P5@NL)l0Wp5Hk4ij9pe=do}%K`d90UxHXRg7b+E zR{Qm48@{Z>+XO+$A%TGy$!EDZFgSP$^i{b93|M!{@80DAjCIF8%dbbB0HrsdhzDud zjR3a+bueexZqERGYylxT*pS>$0u%-$=!;73`!sjrQ0EG}^$|j9o*bQe_a-kw5Woks z*LWH;RSCpff}p514ye5i)HF9Yrw{qt)z#J0vjvn|8_I&e1c&s&^$h1DGYqN zEQ?to(C(>WM#Z#0SfIg&Ymu1QgCdGGGbH!&7jxWDxWU-sq*3dw~nNupq&E z7yq*DzyWzHD)tx702cfG&&%48D@oAH&<+D#h*-@(-@Wt()~3UjYX!7}0%+si3o_(; z=j{@s`tl{_uR((VFp2vZRSkwB;`OS0LICkez*1>LN=Hu*8#6P1Gp~_>0U&R&jeo{% zn*HNRyqj=-a?sh+Ba){Ffe^jI68$X4{`x383(NXVm{Uy~z+m{rNOSz*9T7=M?BG3t zU;g=uO2qY89QG5OyC3-NpRbr7Kkn%572R>cBfMk#u@yWYeeoAvY9YrR9PQ1EdHYU) zdEdK0o%dz~g*yi5PeT6yr*SdqntD|?aFs`&<3DTZ3s!C$feZ}|1vrVH<%B>^87`*% z;LrgX)!7K~ke0fb#0z~Rqp0w3*Twdn91MSddUr8&P#>7L=-%sk_w%CSVm+|b1qv5X z$o#%oY8O#1u#y!3@{OP8kXI?*jm$P!|%QA%t4Q)v;;3{5zQbkAJ$d zV5hH;&$3xF?30SDz~ohnpB3UE_qn*vx?5#K1|zEqv@I zDgKUBfm;X&^t&Q^jS7b%h;0Fi7Qnh5%fG9f*ZrcRx?PsnFuuk?*Pw!EEl{f<8v;TN ztpbFXu+-k&1FWf1)A1rNZ%bZBG` zjbJL%d!V5l>JSOk7B#>=3$h~q_9$O!3M1>~e*^2MAmv->=VAEzsKQCd(n16f?;m-O zxmKoKCu!)m$CwWava;ZZn3D zC(1?FVCGfGlEK~=!mcX`4qJ7nTN4u#z&uuB#1L+G3#j%m>WU5#Fw)n5T{YL5%BF>V zln!XRv(|4G4(slp;d7wVN>>c&_JdDw3>7C=R-jR*>u`7~(<@oo>XQiz+mmKkOD#Bf z@$kN|@HqhgGYs`>s0o-~sZ~`1GcWsoVKkdqaRDGNU|(kRB+;HxIe-*qGAH1ED(Jzp zOdC15Zp`s?!08HmgoUj!-~Awa=zhrGv-xPKj|0$=ci#mk*7j^@gbIirO<~Lv;5%_^ zVaV)e9dI?mBO=mzDBN{zf&HSk0#xk%O2;WtjA7^pz^DQN?Ka`7v5zsr@fxfXxc?d& z)KZGT(Dxz`W(S50#PWrF$F`;P_WTesElS(Zf#Bc4!8wj;L>acCrFQGUUk9;;z6AGH zMkVhE7S*k>LWUX6K1u8ZkMDdOGtNl5wGEm`u-Y0#61koqw4Gp86Ci0P=5I+A#VN3}!lqeG(Aa z|6dG?(?a)?zf&a}0pO=g)=-6JGU^^TOgS>>Z&%NY&Yl;7 zYjm{ysVxw(PyZ@s&yImxT91Ungm&Uc_?^rU3T*I^l`b1^A`q=p>#ZT>B7!6{TN_}k zD>2frDecnCRM&p4;P4sOrPVsES9R7J>IPGBKvJ-%Vnsant2N)6#+ni6sjFF0dRA7} z+4{;#=%5)z(8s83r2PJ zupe&dy+`V$_Ty(6hA790fFeJAGAYHDjq4N&TW3>4_xTxZ7ZjN{xFm6LAwi<$FEJ6! zPu3(((|7?@hjsky-KU3@2Rf9In*8V0X-m63mmr_MVRehgBNmH>aJ0kvsjBBg3Sj{k zC$kz)@Ln3MHIU4_&a*`)dWus0o||~IH|bJa;=0$6bAe;~QK3q7(i_23zr)OO1EN}& zX>pOfGV6YcaxE_B4=+dU8JE%x$}L7qj~e>XLdX<~$HWefdxe~g2EPo9ei^JJs)Fk} z9o|KVDhnWEWqYW{s!iGsW5(6NT5VP(I#2Y~)A7y)$-uXXoy0QHZ0*W68Cs%-`sg9z zcA>Qet*h?tUEhptRLw-E+96_Li-K5$#g^10w$!FFMoNJQg?Wx6mtPQ!!b-U-(Q@~A z;GwdMuyUy}I7Ul_)%El8{=hC5ZKZ>4e<9LL$$Gf!rK+pR$zHkWnXTDyx?h&u?Ir(2 z*I)Z(Y!Y=&Fi$0EvW;!hK~lwVO%b!HhrHc0g7FVw+T}H-(|bkZ#1TPtD->Mpg2IJK zqQsEP&#@Z))5OH`0}{pX03h^6?w(m^GDK+ZSm@kQtrDV=^8Gsh#mK(BQ&vGGoL#G~ z=qVM5JPq#+Sm_O{2)S(c)%-;LmJ1G~L-Yo}`(=)dPE>t2P+p-CRTIyYHSxBx&b2>u zFH4{7;b_D(r=g^EPqD-1DJkiAKYUG3`fPnFYl2B}XeFMjicDWddA(Cd`)wWb0iDU_ z#`P%qtx8MyxHTo@vfMvlmepw;xL@k*6g(j*rOT#^-XGf2|Ffg9U2imBU`~i+Qr}(7 z9o4o2(PP?1;lBYlKndxMyTV7#7wA_ zmIkU1*CzY$oRnyMuM)wM3Rr4iTU9RMq@RRbN^#C38!E64^L_xn5ACFd+RlkUyV8p) z{jH^^5OMrUhitlvWOjE1mSn zM=7e(^q!vEQ41d`omQiD=L&S)X7Y7A$#aFOh&zmBy0cg5RII zhM1dzw>qncn6@`kT29f2$W+>lVW|CPm0zih!_Q_e@5F?p6UB&NH?!5-gDcA5xC}#I zT3mm`(doxYFE5oa+c-(cwMi8E1};WS20Ts=?uvEy*=D5_IS4tGp}5=j%(rK{>Mm1h z0=O^U`JFOQr|;A&ANmE&la$uWGhrh!7oe%k4{`x5X^dhHOAy8qrYG5fM@g+{D^)$&P z5oSMa{~9uiI!U1-78Wo;?R9wVMYvYiY!vPlwQZryGjQ}QDo$NgiTQ$b!tfxMv5^(X zr*MHl=uYXW7k8r0%w0aKhhc&+(J~R0IK*i{tRw8V@6p3i_Biy=6w(0EvCRHy^<(=1 zKHbSlAF{VM8ZjvAcc&K$?yuUl0_X=O@iJ?S&??Ql`Wm2K~dAk!lj+Ummzs`a4FHXO(ojA;#lG)4(E*lAf< zOgZmRQ$J!EQKely2wX>w9Ty6HU!b-}AVKOQ-p442I z{tZA}ikR7Xrro|cl6792{keT0ig<3IprZx<@gW+X6_G!T4%pWguBO?UYzgvBm90Z} zryS5Bpt4bP9cg9|F`J7>#pNtB?dlWu!B;9d)3DmhEYS15sdKNQ+6PfxCkJ3)HGcHC z!GU;|<*d3ek;St2kO~`gFJwUQk=*ghWCsynwwe2!qALNUFW|y6`|@~W_$R8mG<8X# zN2@O1<+^z+|L(F8QQCJYMeDheNkfZ?6&3>}sHO_6(N8)^WaSeZLAKU==kAK@ywh4I zeYvoNI#aZ&>q8w^cir>s1m^=GR8%SsL@o;JR^9x)|Hbp_%5YND>snNLW!zzqY-xnS zU~9nf1cQbGop8>|AE=t5Vw7BQtIk>O_-#72cgnKqI#$Ee2e63|a}*^t(QQ+~k8QVHWI~^2af|QS#m@ zGbdofW=S~&3z-=v*__xhe~NoiS8RSTZ;(ABFYSbzF2uoq5>=@n)efZO1aVXzG25d~ z!PC~vrY%}k0khZbUD_)IRAWE&wCP`|y2q+0KFJ4W}qxschlclxGIBq&?tX`uFs{K`d-|GLzVuY3|Efn1Bdz)g;1`{LDY zRyrHE^Civp4g-UFjl(~k-zDnLcXBMEOqsi13(G$ez0(vbsN}sbsomBOb8(g4o8KkQ zeZqcf;505H!dz?lmynCDrm&Z@LRYuPgSkE-?&x6GK}1FSwv=Mg=iyYRZ1VH&$pM64 z+l=#e?Py|x%|6|A$hX&6VR20@b>&!{J)Y~djkwEo4{4B%t||QN@-#$MZAfo+7Qa=? z{$O>!1|X*SR5;V{)LTzY?x{M|O0BwVGgY!z*1g2CK~#u)VU8aWS^r*JQ9a^yFAEdg zu4gvnXI_oHsg<^E&LZLQa<6u^>A*&tJHG=eG%b77Jjb=V=(7viLlUR&S^^I1c0J<^ zUV$`RIV**yl8}3v|B2={Se1YPW4_y_NhTst$$V|#Al&f?cqh7*yI#I=k9nmPZP(JG zf(Vunj|>tmg;2$Pf0>V^a!%9xQ7v=>31AAul%j9=KYTGsQ*< z0kXjRxVAB_6eX~6&Z{xohjor-t*xz}a&alGm`!Fa&;X6%ZK7d!uJdscgy6SH{`HQ) zE)@_w9?89MeTqQP7NqCWdz_q{{*Qm8`sU3KftpHGpkovUkC|#m8D7Pdcrw^DTI1-= zCT$Jms~QXt1>yCFpW%H~cI#f$v=DD>aHer|N5hlQqE20FQy#>kxvBDN-=ljgK{i&S zWQWC#j|7zjfcuuOkR-CUww8%FbLwps1R+-<#idq46K$OY0SXEVOp=ui>q+XEn`7d^ zN-K;jD0>hU#w7VXBzCiPMCy!s6Pf&qii+?EC~qF!{gj1up4BOzeSY`;{d+R0XV0G1 zCn4gnIa%=>=mNVed40Hmj^&>#zLNAa!hN#HHG*uf}p?0Q$tnR(CuPuHKMRECJX9i5a^EFG3LLfq1z6&doiat5xDP z&q1HUzf)+hg0%7-Y?wx~#B9LuQEQS#Tu?e6Yl8l@jwc{suua%A@t$s;Z-YR`35gwB2h(^mM#e z+p6U@Cy^&MdMjo#1ab=?ueStZE>KXgq10Pbwl_SgQWq;wZUPhGEzh-Jz6t@SE&-1l zoAwwc9R0GnnS@$P5;>~uO*mG*iH$aVN*Az$W42z2p3M=1E4VWA@@7ucShwq{m(E`R z%3_oTK?ppeyL=!$3X0Gw%EjJbNd@`p0SSe+Bd`#gv|V>w0GjLeI#^E6qAGzX(6j@w zIY6VhSBcKX+C<2Y$gg38fZPrsBaDf{aesP4CbhJ*M9pJ527+(ta&aIpL4L#y>;RBu z+${`t%Sld726>nvC57(xc3+oU7XtNIEML3U`2c?V=mrouK{4c3nEgqhc`RH6H!*1m z^Dq$Yfix7pQ&n{U(ks1(cgj-2%E}5P^gRrFB0yXM)Bc;sz+mCOi5d(R{!0v4Ec~w^ zhF8I$Y6vuOb`&u{2HDBK*mFXwxaRKPI#sHOYdcZ!di zmmoNkK*LXw#u8kFre@VX_oqt5@tDnP13v@ACABbryNH=t27oPD=5vkTq37#53$&LY zx*gr!!k}nM diff --git a/localization/autoware_ekf_localizer/media/ekf_smooth_update.png b/localization/autoware_ekf_localizer/media/ekf_smooth_update.png deleted file mode 100644 index 7ac26fc604c6f38b2a4fb4a99af3541237666aae..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 146470 zcmeFZg;!MF+dj_o=z{?WNJt3CAR#Rs0*W9A(%ni9F$_I4Dj^*zAT13;$Izt+f^;`S z*U&I@d^ewuKJV{8_^o%X_bivr;LJH^-}}0*`?~MF4?)U`G6c7&ZsXwK5WJL?QpLf! z$%un<-S_6-;3pmYZ+E~y*Bm8Zs^7eMb7EF$2E3(olGb)ogPS`c-Z+@ySlGg0W*m+t z4rXSyj!?MM*0n})9GnL@FQuNTyC$wr*}Hzi)?Z#C_=`pJSCUi;8C5?Q*F@3UW!(6z zE<8f7Up4SRl;M0%m@jq{YKN8|cgxzSDr6Xv(6%4R5_w(XUZnBh4UVG9`AaKxP0xI6g1FQxnsrnNUAk-L_cM zj0{EO{^5qFhQ9P3_1)StGDJ7uSg^d7)=2#z>6w~dId8HoR997M;I6^W%7q=&(RXVn zxZj_bqat%C0W$77;^}roIduKswRryn2q0djs4B^89A5e1%jY$ zHTe+of?ZgMRXd(X^Shao+K^x^!4|Ik^Pz|1!{pRkRCcN5Q?r^4&A;!fby_1zP|9e# zijLrgS{d1AO2sV`Y*Y~K+5=@KQF``+L?bkb895Bi}JJnP-0%Z#pr!T zv*?J*V{dg`R4!L??{}rx(_gx*76vCZTw1V#hulUqJHujqJB7dXrAcG*OxOC0)6M_hOB190;xfTT zt)AMoLZoBn&nL$7-ne?lB1JN1hwUSq)>p;G~oT()r)7P>`*ryJe z@-0y?Czy9X;`GWXTy2W%Gvw%B&tuioH${C36&8N+sYSDH|6(n`UCVG?uA zbIU4TO4X7ua>9D``nA&*{{e*;CW_&G&{A^pTCD;f;d~2J%8FV`>&5NRIiP~pYBc@L`LB2JEqo^o(=B%v=pW!hb+_D~rW&;QNo#6#=t=H*{| zc^b((W?Eeh-I*f87*((IP@@MHJe)LElcfDMLo7=lTS$i6m$n3SksPGTkdlHc@9 zS4>YIs>GhCq4V3+T5@ZnO`MKDOs(mKRPu|d8Q34rLG;$tlu)GIM*1~1B>r_=oOwW7D>ApMCD)LCHnLIA;FHfap|q7}#-M=rSep%zl^{^# zsAj-1G3s?-v(*r0R#w)am!vgKA-1(aF&)KBlj|K_nnj#Ii==_NE6qpxmMj~{t-WwH zk^q=y2$OIzt(OZP;-BkU3%g#oH<+J-C=?`G74u-_wu_b%xHF-*mD-A8T#gH4Fqd&_ z78X1&8;-ALsJHyWdq8V>Mi|SF$Ux*ecC0lsc)k1$RsF8QvvcY}eT|2lkdL9#5v|gk z&;Z{+tE437HrJUFufFo+oJ*NPWYxcBGb<16jLQt4%K7nKWwY}W@Dso`Z$Agq&QpsRViAlCId2hNiMCS@sjE8 zwR^I6Jv@`iVq%i4HNhejw9+Kwh_Wv$himPJq!T3HRT}6E?cU3;pfs1hyOZ7rjg1+_9Da7{i0O}#@8>Dfqw_WHuB0I7pCF?? z3TSC=@JQ;Df?|9tLSv9avkp2^nDFxTwUnYXQlVhD0QTOK5uO#(AUo6q%3G%OdVqcz zs>xVD7D5~5bkLYQI-y*WQLxccK&_?y&u@SQP;51sbha2eW!~_Q9$TD{xbH8ncgetC zkymAv?36%|*3Fq`X{FHhVMXjNvd1&c$bfS6M6DK*Mp`u@P~Lh%C$kmie{B&Dw{6&|J^KI2i+I+ z*Ft?gVI^YXJ(@*qQKrPv*fdmrMj~~lS zKG{$tYT&?rpMr1VX^F<>69i9tR2U%-uv(FougKB(UZOzj9A?8G*QU zkxrz2*(M8`g376^<`7oU$Yqi&S6Ft?YnS3~VRizU@E+$mi#}d&Yc*TyjJGy~g_(Ij zz5_!anS5}Y(GQQGT8@+c?b>Eooq!x#)KYisn!Ofsw$(ZB=He|+%EdnRsF7gQ`s@}x z(L>`FF(@*SH?V+2LVm697Az+VliOwA@F24|FLCTf+0In^V8i2M)S6>SJy15UkHpav zu8LymgFP*a1agIGfyN$R9}9H;Qm>C=#1_;!mAv49L+uFTbH9$(72Sy)^K>zt-+hqW+eTf%>JmwRU9$NKex)t&=KMIE-u`~Asmykd8xQg5;Kr|ks8I4C zsr~5?6_fg+2JcZuUwqB2fHkMCAR2ftqm72D$$1AYsBm_Fovpo*tOkm4&J_6a zKU<1-{>y@yH9N8e0?1PIML~}T?3!jcf1^Lu!u4`Rks_^}d6P_eC zyn3>|fGM{oeLhi>PWQq}&%WX=(uDfr%cnfVA;yI>BVfTp_qizV zrdBCq6@xSCvvJSuiQYqVCsjip)tQ-5yNpA1#JaKvrn>;kRtArWG}2E@u5~OI6OoJ< zTgT_4S-I?UQ9@a?-c-;yw2CO$(qu~i*2Q5oXY-r#g|D@wryrz^ZcdDjSD=Jevy|F5`$qk;Q3xLL2i9=n-MjgoKL`& ztHU`G=oV^{%Aw%|DdjSWyoBmmizLP^vUJC;t1o|?i>myo>7e2GuFLzwKum0X)HD7? z0{x~RE$G||n$(LRQd~#-_G6dzJf@aMK1exORuJ($#iR=e#Wv)}jaMZ9Gj)``jg>2RZhxp+De`^Z`P@twhs z>s>;3;Sxlc%f8pBuJ#z~jD_*rc>QcbC>h+C6H0*CcvWR+N2#3}dM8w=aMf_a$|=V& zxQy|+7dtPmOISE<*OzGGuq^UtcUyF!G$kZM=5*EH{8dN|k{;?FX6@ef9WobFntULa z%0Y&L(riR^n2KMO&)|65(aeJH=8a-GzH`_N{-DxY7-nN)3^-<|U>vhCvYx#wxh{MQ zMkKeNY!$k-8@c_wskD;7UcF46Nk&YpL6iE4y@=VQ&mhSo_njoj8Z3mCrUkuNhVKUN{~sGf*g~FJnOEV ze?Lrl$99_PcBS+k>GY%$ZAfa^5{nNzt-NzKYKSv#RTO$MlB3wv%W1sQbwX14ZhRW2WySs~Jv-_WkfglV;x= z2Yss{S-nM$JH*#7^-lcP(*#pQn#bU2H5ChT^~uY33-P#{i;oIKqXnU2*F1#3kj@{A zsC4i7%a$M0aTIw!x=&YYdA(ig@M*j5*-DEIPSjux$uj(Rf}2^hCtD`)&Hd+&*1KkB zBQuy1-~RU#B=Z@}i<+JJyECCC*OUR~=&sv4TVGmpiOYIbQeQ~_A#H)+{Md2d+OpN_ zCvf%GL@f{c5jr2QX}R?Jix|Z}Furg3D5LOo%STo8bm&A@PQ{q?@Txig2=ud{?;~}wk6hau9GwtM>cEPV(jI|&=1Y9c@_Uh zCIcUS{KIaP?o61UV5-U-;Vz-&znQ#8fIf60EdP?9WfBm&@hwwN)Ck%a?UjTS!}2Gn zIg;<{V?`@Q#JO!oza~86C$LHIrZ>X>J;Ju&I(oKKPY-u?0rH5j=l|g5IlCkMO!>y$ z8V=f_p0ACdn5Kr_^r0RzPGMukUjE{^y}S`+^|-y-E?z4f=dUL{oPTUEA*x+4FkoQNbnj0OrL?wmFTizz$!98FBNIX1 zRW~-^R1yKVz`wy}WL{};KKOlXSp9KHh1arPb|Z8Dc+`n-k2!VQEuc{yO0Dj%8Mc@s z1EosCwg_Qv4|sMP+Dp>=2IELEU6dq*S$YGF(7t?o$&|L~VVh%_ePyJNZ?$WxSBBvo zKgk-&zgui8v9XDvsP%>~=V`xl=<8xOQTWOoaUB)x=SE9Cz4G+-!+vRkY%31Y=G8Z5 z6J5i^)DdK-knFKYWVRco?b*8u6Ki>-v2$t}iwV0o$P$wjjtZ+OCP@sP^0L<}%k^iZ za9{{-zW#sY{F{~? zXDBRn;NyvLIX{2WRwEHdgM`DI0jb|}rSDw0UiVGY1#W*5wAV|Lw|1bvvXWmhQhBjB zxRUp6P2ZTh#9MhmQ{Wx2LbH`>;n*Op zKoBeAQfZd(Eo~#W0M;{cE#|N~^J%FCae?w|t>}t@I+DhNpXJ z6i;n{>+ZywSMw5!Oakj>o;8Vdb#D-r?ooSiO?~s7>7NO-26V3sMD`qtJbD*Z4A}Hn z-5$;okX^hfQhK6|{mS+6TwWW>C1)@%1y!>frH&re(5i9pN|>|bl-=qi4oMMBmsG($ zcpywglf~v+KS!+PWBw`hM9bs+Mrj7QK`PP%`CJSV1a*~{x7ocZO#0ucdz;rsmMkb+ zn7*_~l`V|5)*40lL@h2E_b_126W-5?MYZ+0*74GA1WFzF`6iq>M-=Lc{8U{rlqgQ? z4&_0Y8SZV@8{HnhVU@SFLN}qXuDhi>munqv{(>neJo1u0doOA*!%yGin0M&Fv2|D` zm##&mx&P9HXU->$b22w5FedOtc=*q2TgRM--vm@QnL~A9hV<=jGPEm<92+qoNuEXM}1O?Ta5h$iq zG`I^z=nhBN<+eKehL14Yz4;H&Rti(kV0tiYmMrAa$H6(8KBtr=k2UMq3_0QPa;sFw zA>MDYOI@#|B)QZ%k{ioywJ!69Ppy!xZ0~+6irtuq2iXd2LR;Xp!{#WTlLh`{(8Kma zK}4p@4nL@v&Bfq{A*(yk%=||lUeDlGt~&M?yKUSA;r#9&28(oIjx^zJ0(uvbZuk|Y zMua2HE7$?*{rC?FEU&%oJdo1qqJl$RA5XLodO*RAcnU# z$Gi-Ar_PEq7cMcRsuL+P^sAL#5LNjtsjwMqZ2j8IiU|ER-ePP6@BV?#(z5{ueDjgL zjpmWE+SbPleLlWv@m))Gp{#hnsM04oEHV^zO6|8b)?i+p;w!w1IvWU~B>Af^Iwe)y zpfY(5|6rVqapH9NESM>Qjv5yYI9+1vK7lTIjW!&Ff0L#r1!hcO!aOPUPTW0X&Rm!n z)@<_+64@rA#T%bVNqw%KZrVI3P;#d^z85c&Q>Gu?Qz7LtT#MK6O8N1x-6?8B#UR>3 zYk;9K2xR9!O2|ki(42mf#6givZFtb@o(mqR?*Q-BHuU4dm3R zXU@*M*~)$8r2+!mTxTO|6*bIrUL$!sI$!yE1BGwfs zfr~*)h00e}JK?gXJ`dgbqISN)Hl6kK4D+7&eE2Q1h2r;WGS0PR9lMs5BU_NRMdxzA14$D-Wy-Pv-~l$+ij`ifkoTb@eU&!Z2m0)+uOK^ z3Moh*R7+BxHQ1_zTzg|Lse92ZS$cSHB)^f)cj(kAWHr|cotHWs?kY*j-(!UuOA0An zzHcI5GF?{U{6=TyI3SCLqkyK*Rg%QlD)|kYgV5BWmh0w9ZFKNstyQBcS&TxUX~(Pb zj6h>HkBT8|I@4tlwXbON22F`;MAkxlL0NEcY*oF)uE?$ot89I`14bON!syc+qukLT z%a`1Xj}%7hLb+Tx4_&o{I&q0r6s(ZR(?5D~e!O;;m{6^QC|^3LaZgf-Q7P?DrR%t4 z=M6e4jXnJfcVb*YFIr~gG(j)j;Fd~(z=sZgiy2&Gh}H9n{2`?y-&t9{)JN6k^4_Ua zv#eA#k3S5ZFSr~sz!ZwEzZccjW$1%GiR$H(RvGfNPAzCF`LUrhTWZi7um0cgQ}DLi zMHf_Y8V--r*ctKr)*d0-ggp+{T}N<2c{id})pR~FLDGa$!fbuEdE%S?o4)PFj`vN7 zqlyd=L5hdj$heTTw3j8~ll=|f9#4KM)!p{S^vBMn30WNy|Jm%1){qoGnZO`JIm$vmItk7V?W?zu7?6F0fFwraRjj};U z!oR9M|GU~0x`OhF7Q0lETBw1`%_hxN$=pAbolW9dWFn68;`(LH_Os@C%dFE zV*qWCV8dOx1q=a(>d#jlrs?*jmP==uWIg`#?avg-&k2SOIXM$;c@*0o zD<AOQJhA|vUcc; zbW8WX{tstS$ssj1O^hw<48NH)c8-;H+u|UOf?xW2p3>nOrZ{}+tkVcT(-}94CD{Pc zdBwy zJIgm!j#Ez3K;8PL(BGzOGDDD(@k7<$G0CaWor)PIAMD}t4FZmLWL^q$1c&4v0*v_x zzynS`${Lf?=kJzTB_|+y&Dd_dMCDWpGGAGQUYGB?ZPVCg@lRgJz`%oStL0Mco33^3 z*@B9=8bbeg0gYIJ4_5J&g-Iio(9gpMj6F+|3_iJV&^XS@smT}Lx2i6H?_cyeq|{c;E$*%@c87JS6LVCh3Vc>h?6E~( zd_`>;46(5W>o;T(T(kwF1c-&lSI~F0$cNyB(RylPu@d!FD}66~9K#$J{r|axD=k%i z{w^l^-LQqh`BvZeA;LmJ>xy3^x>m9K^%WKFX3`}cT6@Jk^=17`5Ca8%>hD2MMp|j~ z>UpK47D|u-Jhc`HvYRbNPhYQ>B;WnbANHE@#m=7)h-0i7Y;VJdXdVlJY@LmK8BU9F zmES|f1Uzk>lkUsX(kmaM?Wv=$m6f^1g-e24d$^+xNE6(3TKtoBr&S@fK{_Ou_O=bo zD&HV3{H~P2g2Pgf%U7}fku>JMB+_<`SCj@5wA0fQ)Oh-@M(o`s zXZT2ejncnVh$`u!mb!l!GnUEG+dF({J&_j%3;0iu$t7shkEwsrNQB;k=u>vC%tP9( zP3tUaUx`EZ3Y}0AhftC+jHoLJsY7j0hk3@f_fzGt8BHc>|y)*gi zgvfZ|mk@G!Xqx{B>77EZ?3HC=;+H>6yyzsQUinTl8y9Q0QQK7;ZxTHC^{aI{dfwpr zf2P05Y$f2I-D$mRJ*O6q=VLFG|Lg@2p@;D7)I2V-D9m;;G{9y(bxoS0pKZz#aPDjE zr(EX4P-8nCUFn?SdxTk9AtBFHJ)Zp>ax;sjPLw_-XVg;p2y39z;Ag}gXD$1+*1WkU zmRivDZ3gpAxvbGWr14-371qUnug1s;nf;8BLQ2Y}gLTTWr^_L9_&Cea@D*lg|5X`I z>)rq1=~#nJg5AI3UTOK1rjSdgDzwG@@r6i!u}T9W(RS=>S-U9 zRz)=>@Sg%d&0NgvWC|GS&mC0b11ynWmaFUb^rwGHVen6BchzBqdG4(PC!@l9tS6!` zoeuHa?*;Jabq46!*hT2ZcUEQ}m z$~b4ksFttN-)DbBUK0!2*T0+Bg_K>BS|uzNB^5{8ki4#o{Ie&b4N|1MG|3Ec*d_>S zqmK>#%DkD*B+^uhI3mvxZyZ59b zH>RaWN=iyaf!z0D_=_96{)Nie_<%30A3>W30*Okwr?=iReJ?G}fElv!m{`6+nmFo7 z9=}os1F78B$yaGl%vs+aCtDd<0b&eVieH0K20hoxu}W<*&AWLJ7?^`+(5?T{X6JYy ziJ9Rd`|mzSk87NS{}a~Q3A$L2iGu>y#~uz({5XTfIeZFiliBJx-P-T*_#&i3K4ge| zuYUNe|ChqW*HPAv#4$|{9<-X?#AJn)n)J@uR|}nzmQm`dsln0vedf_xh2=qkLQghz zE^26o3QNEIeA6F}vh`won0JleEi+HR-_v^7nr(8CP~F4FV9h5d$4)-ix^T=iQd>r- zijlO(aj3{8Fpwg6ip{1WyLpH)L@!n}KfqPb(Ztj{8lj1TFLad=gs&MD5>$_zHW&@o ze6JrgUpp@rE3bYunJbdQj==h}94G&}u_mc>gN>ZLGM}Y_>Ml%_N{@qf%O<7q`NQ@Z zPEJuz#^1e+(3ObBDkrt*9t3_**MjfZ%(u{mQ^j3$n2e~QSwAh_m zHy_X1li*vch2&0#F(-?|d3os?agkV2(LI^2rMLOHxA;ahV4C@5Ayb(5Lx*G01{w-5 zRB9Kt;mHR?oX33k#sRbEJDA?N=-e%pK~KG%U-2jW(S`3XbQ6{Ma5IoDYVrfT9C8g) zZV^7G=?7Vi{2$k8+@=`7Vn#=IS`D+;JDQ7lh4=+sn>{g9Pay}_%dM5KLMiyLBwd|z zjPd~98x>eL8S0yJcP~$4U~6Gt75-wPn1@T9^>2@1H+G5v#`&JZ(qI!C33CU>VMkp` zsF4B=C&Rxxc{oS2={ka3fJba+``ms!Z$R+2jeok24Y zCue7xC$4sNc@&I#PqGpd<0AZ8Yr{i`>d>Eg-@AnwD$?VogOVH<= zh#Q2oPrOc?&};+QN-3gkYJj=$CmeDEj<^ls0+B5iO1pQ z`7EK2kk`q6NkP+Vm(Qen0d(Evql0+sjKuDR$gJ#PkBF(s!|xx*ho7U;)n?lcaIJ=q zllDN`Vf=U77WYT=*^*$YvaHlArh&tT!+L7ls#$9EQR~k9&%-TrqvLY7${zn~Aocsy@~#U9WHCWhu(6lBuFEcO~ry;zN47y%3k(qY|Ir?Sr@Z({9U24aIM! z>)fKFqxY73QUqY}eNc85mZNWk-rH>q5no{)e7>#Y#4q%>Gw@xsEwD6+Xd^;FPrgmmfE7ac4!M@@CjpzUL- zu+~-S%n01{mr;eqTQVVd*;HYl6nO6y?ru=kHK}QhUdmdQz-H>mdi>_R{(8=%{-&$s z32FaFdvubpuyAXCtlHLw)n3sfjtZSut@qO{&7-U}rYcq<2}#iv(`CiIJY!J4E_Mek zLFdroVp8tzFX-Qs{~)j7!E6Avt#-A;Vzo@RLc&4O2y7BLF$@{TG*+p zkVb847bEu<$uSN}$KSP~YR?CHFz^WZeu$;v|? zGo3wJH0K@}z0q`^o8|Zm{XA9K$r^*3ZOpQtpBEd8^b-AXY!`NF-XdZ|MjUj5Ee5oh zLY#xL>pHF0ZP7K4lo!XT+y%<9?=BuujEA!>A7UW537F(xbE~bJUSW%jQJI29-{o)X zqcArv2cp5!y8eWds^I2TWzW8hsnb9<)Faebb+PQ&RUJrMNo!T>(}WPcUnaI`%el~8{;?E&F2`}O%TJLAaIsE3Po ziIK?ZL?_b5D#vL_I>EcaYUh4PyK4FVh1F$vl}l8%s>9H;MrtVsGDdk5V&XnXk-7(Y zHy@>A=qH7&T=I~XIXAP6uq2cedkiV8gH^5jHK)&$M?tQjqa}qvsD9RWw&M?ev;~nM zw9Dmg{GHyLws-gTPQ8V^&yLD12TJ)xz0X|D=j}}mHEZiLL`u_3a)n8)?gSX>(s||< zZhm{ZqJtPFpmqv*QeW<>Aj>N%7NI4AmyblUr1__?7EDKBIf9>&636LjR(HB@s?2u@ z5cf&(5id>>PcE!P-w9>?ALev)bR>Y`2azyeoHky1VAqD4D^^!lM$0TB0zH>S(beTc zW^a^X@^#j+t|PXQKWKf9y~qf-)Q9rzhPbHggTKdS`L7B1-Nltr*gHU#-7r+B>*%@Rs4Y|l1d9;aNo zZT8LojJRA9Y$T34J3DI$xo5OC7qAi}b3mvo_7e0d^$hYKnnYb=D6q|thfrbeKC-JZ zH`Ba(J3vOi)l#!WOsl-YPQGVm1SJI#^ZI7R#urF#8D^>oU9q&ZtR4L)?XA4uzXhWv z`nVgBsF)qNK3(t896)e-xFzAXn-S>bT}|isNUJa ziBH1!i%>Gg@y{M7XhdBM8I}{0l&I)`WElY<-GTBY-G4Z*U~MHC4|!Qo%bfltV>n6n z99aW)MD$bUxbZN=%C;tG-qXn<*VwvC97UbcB zw1+MjT`U?gDa7yBg5-X*GtX7e=alsIky_T-_6Lde2_1KQOAZtw7Pl1Nf)y|C8sS9! zrOM`|w*fZod#^*RNr3dnsU5LztuSKeX9^lY5XeW1vc;EBAFt!{662vY_q2XtPoH}X zBda>LFxTAFx*wzNl~aQxmX=mFafT$?1I7DM%688+3}PqF-ws%@sXrXtceRurMRs!) z=~z07&F%$=U8D%(A>1bM3bJ~P3%bG-Jm!YU{@QxqPzYO$a6dzwQg3pF!|g?P85@{K zDNr6-QeFxBBLt!1|6*{t#Ad9t+HtwzWGxT4msgEKfR0yAqa%hRfzPu4i&kXlhe|#( z(Hx{9acyaiKzXxfSt@-MgYrEkXs{Iri-VY^!MSW)0elO$MW;Ho4omEFMCRiZGa@Wf zc3*vji&}6=a|m`j--txnVl;`(Gxg_G1+BH4S}i=HQIoy%deBe#sNy^Ai|BQFK=L(}HFU zwgr;nWW7!m)}horR%Y?D_RltRBg&uQG@`&G?XM1SNq6GRRMI!tU>fBFOG-tY)W7SHLDxpMQ{A7`HCsU}34+ ztig1{Tn^U9F3-`INrG@g9i6e+<_}zMaX2Se<^Fc`?BVHF4W_Wc$I55%zJzxj+@Tp( zIc3gA)dP!s#RTpcdu2LS*Vg8^uCDjmNkdC3_VZ_OK_gWenGb;!_yIO-kFFeIu-|zR2Y>*64HTsum(jhCm5bS~K|raY8)J``0i#bb&Z zlN*V^*>N&p6BQiH%rYvU_2Bi+qqrs7?017G@Nvt=o;a@!%Inj<<-5wg+)Lew!UMy@ z2YoVhQ=WTWptc5O=yJvJ(R>8jZJ8#$?+YyW3Nvr>l;Q9#y33=V)dU#Dn@TAJbUy$l0p~ zu~(kAN`GUz{&X-`jfCk{6{fH@0Ji<@2Hn{P+=nEJ8eX?EfxbA%EV$G3;Hu&Cx)X&$ zB?;L}O4&A^AAnD9PU5zkI!si+AjW)D@Y;}tu8|~0=bS%4?Hb(gv{E3opp+m08+_d1zEpf@%*yW892M4Z>c1gC}GeD|Y=-JyL#5%Kftqr2U=Q@jpz07pO2 zc^|birv$cP0gdLv1ecbUHm7PUYim9FGhTusRuN8q4)Aoizn@|4y4NKr{V?v;3$RI@ zj}>BcIzD1sy%_WI6I0lU44BobGe8*t_A>xDBhQ_dk%j|QrvxRRf~e<_osv?|a*B_* zWq$^6*L8JuJB5c<_JBc~o0|x<*C7~6J2=ih&4zF_0IL7+*s4c>QYkSp5$-up4QjaN zV$7xfOYxJHbin&Waj)^$+zZRg*_Xv~n2ilFr+>TJ+q$KA>yzYHHNa#yo=$BYpg_NB-{|sW1WZo()=0g_A+3_M_wk8| zQ$uwPX8_a@{pRN3CdR8r^Gq`H@-PLJ)9&D}E3yD>@IG11zB)tWVf|M0=g(mF>`xCi z-~cV)>Z1b#BoRO1fK5J^hdz~KHfJU)cdvL$2dH@^Nk9idsHByYz~0*G%ZpRcDMAko zVXrXQ^zK@=ViFi{1b~3^Pa4D|h{^Ir`f)G_PmtiWE5rReS7_R5IJGr2oL(EsyT`5_ zS)I8DK6cpqoX}q~wH64KR^!PKn2-+}Ygd>=S&t;Z8z@6sq)fp{s;jF3FYJWwN69V# zLR^gt&>!n`de6``wZ8rw%mq;tAiax|6F~OleboJ$KsyUF>bR0I8Z5 zmsk4Iea`0TfW{uqf{|YwFN=wZUG>+%-Aw<3N4~$m&nF;oaDKX$9w9FG@NVUlOTq}| z3azeMUK&ss%nQH|K-6_@FqaD`cV`^$RZmeXUt2|4*>0sb6@7Ve2*$eklg`HzFa?y2 z)6OFXz^JQfIM?OTvi*#p^VvX+9BiR4fvnJodme$b;RYnrqANby)(+snpw>l0Qa$eRWj)8Arp^@#Ti;Ig23JT911lNv2XZ<=JOx1fJwx;WO;?@NlkGo7F z#LR7NlcS<`K1iIUmY47MralKnE;#2{jdNaOX;QMi3#Fc#4sV3VoDpz=G{7CSD<- zqi4Q+;L9mK7uDI>%WOq;JeK_rbJb4(@vc%gxKGSTQBPaj*MU`_?#4WEz`%@^n8+9y zBvn=-Y;4veJKgeE*VoSu8!xA(r!QKm;YUYDHsj@%%iT#NN92^{8zkXeGnxl@~-QB$+&aY^;l9Cd5!|~FOAd;@m&O7&owt>WVCW*$@*noy~ zK&7jzt0zz`_4Z+Kc%2?xb^C!DBnZOq+`2{Yr>(6mBrHrnio?B21Rg=AaKG&j0l_}O zVyuVrQyYXC{rvp>yS_Z0A4gdOCxcSVo~U!%`|gj&!NGx8AGP0IcDO$rz zXDgX%cX@HnteDsf680o50&#A1#teh7j(z)%4;H0W?=C#u~Ph@PRLVRBfQf|=RkilWDLbxlq0gE0$fX=(NM z`Hv{@Tm5d42*9V$p6&$1#KeFUC@3y|0W2IZzcC!%2)J3)aKg&K@ciN3YM?tn=0VWF z*)P}fima@x_^863KH#>mFc}6*6?sS`n07p5Vl2>e-GZz;tdzyt`MtfpZ{NO+kEe>3 zla4mnc$qh3ZeekWF}kb)!>@712*AcobE^0E2b5xCV|}ngT7wZ{34&kZ;@sTbRjF@; zy?CBvnE+hMTuTTI4b6uQl50)p^dJRt@3XS9UM0Psv>u&AHeUf+xG6&AV>!hx&-T=^ z6;b8o5B;1Fh=jN}a624&75Q3yo&}nEAk%4RWUA)Y)YeW-P8yq-balR%m6&p1m!iD@nFgdf$B-8alpedNwwT{x1`M_5#SWMi&}2PH*!I`Xg!f zueb%~axmt3(FpjOwKWDLhVD4t>=7@Z5TM1Vr>mPIrvn5BA0Pid0#z&`B2rpf`rg+! zJuMA5Q+mH&zMH4dJUu;uSo%CU-yg6-)xa%hfD!uq`SZ0Kcfi8)6EL#+3sv);WEdQd zo|@WNU%yXEDs^7Ag#n%>YhX1%>}uhssc0Cq4Uau9@VM%FF?n`uY;06vE+BJpHJ*Kx zlODogr>3TWP&|0>b!6C=2=b{NM3Rb{I+qaxgppY(`3bAMW{^~xIxC2k!n)QyBBJe1 z-ku+=t?}N9A>;4;KYWnrt##R)w1mUqHwBbeoNE02rNM}&Y7u}7O8gGJKqQj7zkQ?U z;VFe*@&bL*)MSd11tHg99ok*&_&Kk&0N4nm+~@KXJ!T`oFNrn5VBwwp{XDF!YY5

DVKZ*K5)vBvIJ~Tu|LNZYK z{5en)C#U_zj#w`*FOP79vvblDHwO?zfLeh2jkx(&so!nftAt5oAVI6NE^74;ZoORZ1$VwZ%mJ}v_{H@A?G>&%B=rlmS%=9Cplz}{He*bG{s&S{E+Lqoxe$J*GsV$q0}mX^=u z`5~Yc@GE_NeO`!Ea4zGLFYX>br#T?OkVtlRcAjK?yn@0R^5*sTGcz-wYy}dXJP(PI zeRy}(sb+iIZtc1l{g2L0_QzL8-%0_{zF2mhv_2>ji7eMG2np$U&ZXloIlDTLZDL}= z{OSw$5#r^;k3h@t?s3|n8^qYz*Q2!zA3vVvu35uiv3e%6ll^( zcze#&j*X8iCJOB|L}!7z=&E#l-tZk5EVA4GgtX|EnJb_}z!fB)Ki6T`?C}}ZEfC=4 z-2-6ai39C*vx|!huRVC7VZ9tIikwq_6wN0mCwG&cmX;Qj7PPM2INX2#$7dM3xVYT9 zbqlbnz7?>mV|niuJ*adM_V$#W1yH_tUtizGMjtJ$dkJ01;$Ah6NG3oUi{a42rG!@j z7Xxfwi?O|hg~gjUZ$O$YQrno1s;oTR^11YAKIohQ3Nm=NqLG2u>oEmBXDnuBrgv%z z+_jDStp};ft}{*V_V=Aox?)XcU{W|^eL%9lCX@W-)e>+ySN)fFbX3H|&(iyHi~@BF zK<8m;?--KsYCPVen5Yq44>!Z_CY6aOw`}r4+j=c1yp!O6qArmt* zGb6sjLRwlHZZa=GLsNQK$D%k$IbLOwMFzE5>Z~s>(KQDxuem3urjnA9qUFr&?1~>@ zj)6n)ImZ}*`1pnjCW;~ob8>R>^5h{=`ZZ3u@b-%x7JyYy3Dx78@#v_i5Yzu?Z@1h& z<;TMdX=-{}pqV#h1u&z)t}A~tHzx;l#kg!Is~+2B<}NLnqjc-t_LkmlEp2R^_serl z2~J0T`LZ%MC#jJIdI;jK+YjjdIu@xEevM$T2L}iBa`HnXBPkL-4He**MofBwga9Ve z3+;NcZ)p`WXv9>m&E8-?k4yiftE&L6NrV&ng85L$Ycf}DwLFzenhOa!-6sCnt5!jtUruP5)u-!vn_nyd^|hz zM4A~DKEDIMTHBX)HT1OtE(Hst}_P$*<03+!OCSi zY>SNo#Zb(4bZ`g`3?vF^advhlJYOkE*P?$Q2cY`w*{C3pWpTL%eT4LlR$bp zywA?c3OGSd|B##84%EnAgd5HXgi*b_M&8iL@iFC;8Hr?us-?6vpzZF#fxrnAhvH2j zXjq0ug5n`7i;0>#0c6C6mYq|E*bew~-J{qJfJ2$m=TCvn)7GZIX6^yMB~eI{vV}Q2 z-czSuxFOdFv$4s~&Fx!t^7i)j(qoZe5lBc%Ote{{?W02~VOztf74XHe&KGBHv=K5l zL3_sAWPcu%U2AJ=M@O#BfrdqJ7_8p=T!j7yuxn5&NdQ$7lXSVv;Najju9#kcg#P|3 zPhx%gpCxNt0E659@4L*=hoXzgx_WxRXYo^orKF_v6?J@Q2NF&~LXum0s#Ro26U{Wl zke;5-AR&PU-HWNI^LG#t5VnGXff$k)gYWF5nL_vjX5kdd)sn~yzTt-t7{i+kk) zTIXP>-%`S;-bP1jfc)w+#f7^H5;-UsfwF+KLRj8g1n#+@0LjI}R@S+_ zV^CxO5zTT)^AL7i>I7{Icg=9sydm&W;355p?tC!e(*-t%hP8nC$`c-3TLd=HkBFDI ztbt?rDx7bLR6zzaGAinWW+|myJWY5HngW2M;D?;C)^coBH_V`#g5|)%0bLn#=-jUr z77^)==f}JgQQZgG2^1p$_MlA%95vmF+C4HduvY{Z7q@iGhLxMQQ008|$|myBGLeVm z<>loPT2rjAuan-q4y>?WWMm{!`YIkEQWj4i;H>$6wQBC?Uy*iT1KKWw4$ijSfAYdD zP*@Gl?i3dnH{1yMVQddN<*~6^Xn!VW!+O(^0Jw4Ba zbhUPl&%k6R2|Jq46t?-AT3gq;W35Q$2>^i9#d;gMs6k#;W_fs?p*S))sIH|YBPB(_ zI*U|CzJLE7jHtU?(Z}azidhagY?KZ^3N?E49YOx(!@#1E>PUWOACN{D|b` zyhV0SArn1 zAD94~ww|8YjzzynQ0f~p8#sw1DYF30c+pt6xZ?^&{)tIp4P{#IdFhltlk3&;^01MNDFW=M4(ce zUtP5Vh8EEB*p&{^Qr>qS7x^cm>H6J>EC9Q<4V zA%dia2HDWxZ?4oRK@jx%1yfT~LB^<8{ITLB^8eU-^KdNRwrluml8OvPB1AHlBtsb@ z^E@Y0rX)j|B2$J^NFgLsQpud55HgmK6iJ38b4Vc~W&GB8xu5rb-|zeT`|rKBXM48o z*Xp-MbwC z@JvkcDJj*Cor34ijUqxu4j+3KQa?1!MZbl^20sZI)$b7Rfdd9v2B;{cH-C4Rh^2dl zH4C<}5jMVXAy0p#PE(3CB&+Z>2 zPkO^*81OttMxE;xR!RE^LdN?0$27ko>QCQkAL@*aj-E4mrYA`WgiEe4cY@A&{aT@I zar3QPh#}xzub7l3M$}n@-$-!Vd|l4Uu2*)V(}(}SfeLUS2yTn@EPxr24fZOgq zFG}0C!!Q&Uwl&v~g^^K-^)$i;k|1DUFhR}u>gq;SR{DWkYB@g#luQT{_oa4EQv^nZ zkP&@3jut$A#U>NDJ6T(!K@R?z_yXDxAfc+Ns&c!Nh^Qzl&|_otem`|4zSy@c;!e2b z+e3CRG4aw;ViPhmGcz7Ec|G6~!6xkkz6fi9@?)Cb*~P`hsKD}Nrj$vVUK(=nxpSL0 zZOSz+3|{az5`Gb6W2814d$!T?OPZ)s~7s^K*}my&k&ThYZ`dF%F76O% z>FDU_P7@s)yFW^0)~E7e$UU{RZYV_{N^Sl|H4JUJ{_4Sl2j+FB51CgWanGOtqp2I+ z5V$#r*fu&J?Lb&GB|F#HIswQaYR9n7#kTO+A*=RY974M za$g!8bav;DV|%pn-??WQBmzs{xnomQrQ_$f4B`YO{qoY%+omS4;$>z|C}MBkM46n? z_8rik$ef4#o`WbUZZybg_ls%M*V8jIGg}b52-XL`27wGA(fP^~9A;RBzm{DLp&c9= zl26kt!V6XK=FKerM^H_FV)tS5bU@Yp?%nL%9BZ}#6Onseue6L3@fNiSA`y^k+8{M} z=f_no9&T>q9(RG57onvX71~mV)PDCZ!MD79t0ox7vU8^a*u{i|#&2#zLqpP1QXAK= zOV*0Kb&DttS|!9jG_5Qz%7C^C4h}|;*PW(F(720=`15D18R$IUWVUkuWgmV0wjJ71 zRAM)bX!yc`lu5nnJg^k3vo(Q4xU@CFKLlro&-Nv_dAg|oqbx3c^b0qk* znFrLDCb}Ww{2?fEJ35x@a#1NMz>gPfZJ#3`LAHSe5Yg??)!lu3?vp-<3pY>CsWN#G z9#eCa8!FBFa9fcx=l4?tSvfjNnn#FAW6dTF3=Cj<-?VX~&Z5Xeol<-kh%n*(`>&6; zS?-NeL6N3U5j6ctUwd~YOJqY%Ru-YG0vdo_0=@*ZqnbPom&{>0~JWk_grKTSaLNsHum%^;Rw??b*jX3 z$~?L^V-9&LI~ah*k47zYKhf!+=|Zs(g3l7ifqGhhYo?xRc+& z0@}V$1gD{I@%ds|&+5{s4D!d&{_DxK^eikW()Y$RHmAt2@7QsMDNcopP;^i?K#Gx0 z^=lp)9E3a@la%zOt1GkBj%s!1&9JblrI{v#3NV-IX?nH!oT8#AJ^lsLMj$X279N?~ zTw6bYBoIQwZd>>nH-%|e*$63;ja;PCCu`Ac-Rb}>at6tq>LJ!SyO$U%5X z_dP?5KmY?zoq92*(FV59YOiVQzBoG(6It0B;J42L+vao!M@JiM3o9!sR{oS!>+)0( zHWs)Fo|u*CanU0k5`6ceieFa^b1E-Qn5e034OdzOukTRgdtZaw(ZL~FEe$FZxR-%f z*UbbwZ?nF$6aol8`i#AqD4Y*f&VEEG4B{wVEBOVYfTX148Ubr)XjlaedO4X2suDPw z7q~-6TakN?J+pn!Tx^nz8Y>||m0?|1iL-^Hqd;T>SX@vMM+tAop~_E%pXFs`WzU~K z4^@)D#gDHG;YCM6vm?@7SoMNGbg5_K>0B;n@yTXUzoRG*D@{_8Vbg3n&g# z^|A>5RZq{{=lgyT7(g`$(*m(?p^?PBx1Fzy1=MqJc(k6$q1dPOk)m|m6L*Qqsc4V) ziJ~Z&q~)0@gcEMHjG}P%!~gkNq_ur-LWxo0l$?=~(O4aHm|s{J&@Tq4;2*^GOnF-i zzqxiC(%M?W%#T!{oh(rdyp3c5H3V?#*RNkV>MYCAP!KDhKGn@KxG&-Hwxz`x*|)d1 zH+cC$Lc(Y0O3Hs~6W&6%1Mf%(B)D?yltSF$?4uJ;&oqcIzfadpT4;KMJ+=V533jd5 z-(Oa!G2q(tba#iTVF9EWc$}LN5qViz#~?p~o@IopkE0nA^BZy{Q?HY~J&0389|N#f za2lY9!g@idK%M-=yt3Qwz69wODY12R-#SuYh@qL;5+sscyLN$)h9ClU?2t*(o4!5^ z?ii5s(~t;1arV~LorQ)49uXReh|f>CTtlMFz_~?QAY2NFav%fXR$2ge$i096?t?Dg z%g_Tm^P9f8rS4b+gMBwX-flKD9E5XZWD8(wxL{~C_7eDOq+`&Nez;XMe;1hqfU9k7 zN3a~g7RCpVPDTN!Mp{x@Yzy%d{gT zdVx@%ZQZ&xb1)ks8SDc3z8=3=Odwxssj4s|32%!-Hw;-li@VQ;tLjxn~dScO*v znsgh=7ua4R;UIyO>?2*0nQ7OVcbb8L0k{Yp$Bi2|up5V5j{5yz*iiFE7B*(fPK!k0y(VGy-jDx0#-JJD_mhoo$@3bl;tW{_fZ@n9oIF2lk(8Dmc6M8oUg1KS`YsnYz2x za!b)`h8#&!?|}6RzX%cp;hCInV26%KID%kZ+{eiYkE5-7W3~bRVn<&_4`{>$u#OPW z2w%tiNe7Rw7Sd_T`+8-4&hG|^4M+zrBrEbs+jj**#Q?5HTMnWjnCCzxCnBWc1EHKD zAFGQc9i+cu4oeuaGKlU!Ir&x09sgMX!<;mK8vfX@mzMa|u1EKzDjNIh=0HFxO-&8* z!C_1-EG&E|e8JH%hZun(f>ymRU&^Osjue}`AN?&UAu;PCUEK7;qhbq5iD{f~9f|5N z!EVJy@M>_!j8_REO-P7~cQ!W*a&y5 z<_pKq8vu&~x+2@Xs;$MY#S7BLUHDD_@kGVM^wc|QLuiy0761MHtE2qj2{cz*UHwRu zAsXDjJ1dgLoSS4b+K%msXubPY>1(O0`~gNVV@+VT0eIWn33?ea^b8a+l{yv(!qwoe zAYS`l_H%Bw6k>Basr^lG_DNZ{egOL2oRv8Y0}pSC#bm;IPGIH_ANKCt3Xo0Ba2q9` zd49>WXOHfd@yCuM2jGm3T@{Va9HGXM00SJHM`7^nL1m@1M}(?ioIb;~V5zPe>!(;P z9Xs+cX$o0UXVhoEW@dzE?H}BI0!Ar#{|}U*chvTG+})?jyYqQb5$r4oRPwW-3ps~( z>eJs)Ae20p;j2;~`0jG60!OSpBLK#ykf0?PpPs7Z8jcPRqx8m}mcOw3$dM!5G4_s* z>dCwL1Oxz62q#x&^X#b%VAp5QKBCe^!RONd2GTNiGvtgT`SK;Wvh`PF zAL@Xs5SNx-Ms8aDL`6yI;_12Th64EX zh9Tt2e50qkM< z$|dY0f4a^9fFkOm#g{18aJ-1vd*Om+YAehXmNYOclxqt=C5j#}fCH&%7>Ir_kKg!CN!!XpzqyED_U%Td!3r|`(gz5=US z6d}L^qJXbf4q|`ai}&e#uEA=;ZKa>nJ~1%?_yayxDRu5%dp>ncw`b?!Z;(vgd z0Kf>p4Dm$CmlJR8c!<#{HTl8bVeJV*}ozMA&xz`%0IS-v8hK zA_+095tsk@Crf_fJO9_K#(^>Qrmt0gi%=zC*91EhUs#}FV=~6Q%JG(JE z?cKyhSQgm%RQltmEEA4uh|<%jorDuKD1zWq1vFtToQU{}?xS@Jq{U@K1pf+p~QX zDV1=VDRSx}Ai>9=?At+J(xB@;YG+RQ`>$ZZ01VGEJ#4kxzI{7DEF>e&C_7Xj0HfD# zBV37!h=9!Y^qg-^Iz)c&><=IVn07!NiQYmU5=(k-Td1$EkI1kbSG@$E>UG-a`}YMI zZ^DxZI5zg4plwL~S2%iwl#mbzvo1jd<+~?BuC2Ja9SRlmnBI#>gvh&z}WuS9WTiy>s=I4wGt+NL6 z9vDbsyr~!tEC-69IQ6h5@smg~AC!I9Ti!zfh_*vOC*SQbj>Gs!FNd4%;_{1ElPr;t z*fhX)pq%e?)H%SY|1Ea?`t_(7l+KuwKSh4aKk74|V2@nb9#&_a%~}M;@joGIND)2g zeJ4Pco0zCkZlR?71upgbF>=hL5*-%5#lsmjhDsiC6hQjs2jtJI7d@U5@T21(L;@KZ z8RCxJC+Bq{mNAJVP=WzQ0S0j$L@yU0sGooN3NJ^6I(I)>! zucF-!X$ybcXMcKEs&Gm8%x0FA{c|~I)nxPR(Id{Q(Q4$c2}(E2p+P?l ziX~XA!U&ZW>j3>6c^XTB1(D8oc63}s4d+9>ee)Grke4BA?-epo%245@dIH4-tOca2 zyTHWYnom$hHGSJ9Xodt|QdkIE#5lt#w4RsZVvLNsTpC!g7*qi&Dk@AJ=g3PY#Vlx1 zMMz)Rr>KJQANOcEW7SX-?5Dp$R0pa1f?ke!FJn9HVr7+vb${T#k)a{uT*#|eudr@JE#;4fg4QiD z3LoS?IE#1h--mb@8ayu^P?rBmUKJ8W|HOo5MjOO}ii@LK$y#wxIT2~lHc|qZ{|qL4 z)OBQ=6*V+|j_haxN-U;0)1pU;x&#)(axT~(w+Tn6bksxFZnv2Y|=i+%EL_zn=S*+GPxi)de&BQSEjOH~GaxQf zX!jts5Uig^OPyOzDrlV3BkxL5{jLNJTahAg z>ud3Zqz~Xce@^5};#F#L1g`ljEc=z~z!Y&QH9JGaYnG`Ce(>`1(^GETcZ{4uNkVm` zX$k`k@}Vccz18A*@w#SN^3~tkwf@Qjr# zT!U&-BClEck595_!C!{ zw!xWbDadlAk@$z2)Xl`7_!Z{zZ4mb&{sje^IZvLP7y8_>^FM&J{@JTnatRt@Z*E2nlHWtKZkl4ObHl`8 z#0-jRUvE2mr>Ej=pTWDR@yS_l(>}Ic8-Yzz(@DHaMqy0U($?m=2EVM!(R=2d@SRizk(X)% z7_)`g+qXY>!qcmtYlw!!-%lIZSpI=8!K()1;$4^?^{0aoGT~2cjo(T9yOf^J|BTBZ z{`3C=`u{&m7-5!)HPA(@bWQ4$($e^bq4rOo&|T5rZ;6e7|Ic_+wEOq^K#pMIwAOU( zk846chnj}uj+#N)SAuvii9{3JFa#%fd0t+#ke;ET66Ju)Q4AFU$Gy8UYhBF;d7@0S zJOEQkPjx`G?B20sOgnZII(?Pcvz{EO0$n-8#XZq5^C@M+h7IuKa6Cp!(Tf)*dudU& zZbtcvSE__EiAjxI9^N_#+<`wwLi4kLfCB%d4?0R*Dc5S=`lI}XS7={-b3?hVyorT3 zJUkrIm-G4a;Ek!bZ?C7=+#hv?JdNT^Q{L(FOiOu7%YL*^J%jEE0c2%}eN{zG4gFH^ zn4mMff7&ZmdJS;~UeS3;fwqyi0{OF4Vzj`SlfbW;FHuqf%CshMlBh(<;iLXGI8#6y zITby+;tMHO z6<~8D)!OxMb%=UzBMf4ZqV$$eaaEQ7wRCdEAPu2GbrG^oX8y_+j`L!WJYPJ08bzxI z8<)9xl~rvpe2r1}=r!B3N(w}mGIe;BX1LGID!lK5@&L^DNb+l&1Psrf?dR;+(LSIdU6Pe`gH|q1)b#7WyRGK-+*w@L z?2OqY?kaosn}~WIXILWkZ1)yYjok_Io}ERd1f2?!eFUxE>C@7`>OO742ktve_^FYK zQqU=Qh?WwzZQ>@IXCy+kO-K93nTG98jVdrU4khV1mHU|n`~m1tg*Z@~uEa&}Vb(j) ze(7G`q=;GlZP6n(??*0N*Slo!Tbh-F3dS*x1UO_R$m^(NeB#7QG<&fhPjP0-%Fbqf zkj4C;;zUS@EfU5=WlB{I4Ut5-3AlGqLxM1>09jj5@Zoi~8g>H;N#LlH{IQ=xi;G2r zUj7YlI+&84g0?$*?TU0-9(Fm(sF@p?5x)c`>Q0qtmMoq6xbAoRccY`}`Fnr;Fb2+clawrPU8@FaysYiELj~;Y z6NN)A_|kitlIq)PX+*;uTFr)vGEgX-3 z-qUYWbvqQLVKghd0{~)5gMt0XuT8p*rO>nrF%{T~JWiIOl+>1F|#3Y6Lgj zDKoP@?W`tT^!RIhH?15BTJ*#m4P&<|#kGM(hLxr^6yz}FM*KIVGep>$?>xjd47{Q{ zk(i({QWN)e{%TdpdpL!fns(f*`xJWpdL2wQ@Kk~g(MWAw@ysf?{T4?L!|NOa~)StUrl=ha84q2V((>ed$B$YHH7(KiAUKjBWY` zhG)_v2Dv+&Mf~_Hi_)ntB~x&dU!xUEVr5`Zylx6_Cpc87o@k4N&JAYZ59R6_bE47k z%?*+umF_w@%GAnej;u#biK2p05_iiZzMY^%+Y8q<0E)$4Ar#QqQ%|0}6B?YFVrOBI z#3*%h`_I+1v2=2w2@Fp!F^yF@?NHsk8h3M@<r==wglAaE)V{yPQUo%C|3u<7aP z4WAgb_E|l;cI_I%3w$mps=%nw%Grr@!^8|rCzeRreS9A<;H|AuM76tpjS!I%icHBJ!6m7rl3A zv(eX;yLppK-@+uzw{S3r+!*{-EhZ{TCr8-b%1uE9q^ZZjVNd<90ZR>9EJ574*Dp-e zLyTT7wDN~vx}&WkCC96o6MkYOrr&Ep&>Z=qFJM*rWf{TMfB+2=kRTIPs=e3O#6wK5-uj}ggc7}oc1A&fU9(?WEt-l+|XMjx! zm2B+Go{K`Dyg_iw$Cot?O~Z=l2TNS`B>|3WXVcHx{IDa9AJFW>n9+cV`?4TSDG=T|T=yY?2L4}H9Xr=IJ!MWwXcQ?C)Ho z9o!>T8c9hy!%E(JwbQi>TH9nu2@woFx)7!UjrvN5^oX9$X zu@XS6kSNfXBvVs#Po9!PfrG1mb?!-|+)E22Zd*#X%U=*BcoV9(TqU0kTQslRI$>E_SWa84& zquCVDJo)+f8sEJ`_(Mn3XPhUBwi6Ez#j3@E@qyQ_dqJHdC@t+Q*n7ANb8-auG&!UW zb6nFf)~ZNfO7VQ5$)$Dt@h>L2cFj08?yrYbcfNq=*VAKmJVpETD;r@@8(7h-`wlek z_^ugs(VyhWdb=-X@%yHO+548>S_mRSkPUNi%%$mJj)H`=H2T|z|pE;uIU1pXV z>2e@|{lfYyfwaOd1pr~TgqLM?2Gi+md%)zcekaGjeab8+ zOYf>3WG8uCf!kK)9T`IRTVeOX(l7T0O)9<=EL6aS5VWf>$^_^PNDzDGWzX}fsuj3) zzzG*Br9M=;?B|D1$EvStn_h2LdNj^;?e>Fs|EaSRvK6lyD;+zw-q#ZU49K`9AJfF0 zw^I1aPC2#5UU2XJ49e=TjrB_(kDCZ`Eb;5bDt}V5wo)Hib+lvKOgckayPAGL%FWyN zz^MMfpD-O-Cd$#&=krvbNYkT}LwNq?_HVV>W=brZ6At2zV*%l7}KVOMK z0C)K6Kkn5i`fKX;XVXVBSrY+O$FozXE=V^n1uTF3zK+DUg$(24A7^FRqg5ZL{!=7$ zu$JSCKWW9TuYg(o^y$;jujQQubx=z+w6w&0&cfFJpQA3Q^EIi=Y?2gWPstHrLo$U`}s;NqO4L+yb(bRKF7_7$Y*tUFO?B>=@iiCz`lLm&b)sKN0E?( z0e2f5!k}F7s_Y&6`Ln`xsGj481)25`I*$%n8=idgtew?C2%jM!Ehwk?6eicOeWbBD_5mq!Le9-Ur%vbcCY>3OyGx5=q_$K2z6 z%XX$I@2fr^3S;015AyCWFwwB`-YRMoL^`!s`MRb1QJT>ycKJ}s_{~h)BNw4Om*xHN zIQ{$M7wUVC_d6Gt8R>XvTxV$MvJULFGyzo;@UH*iX)y>eq3(o_F0stmJ>7%Cg zFl&H$kTAqa{i?xJ-E3c&9p@`ketki2UVe|@z369`>7rD>YMSg~k7cVAE;zM=2;O&bd$RB)=ZFeP4n2xI4Ta0wHEr{BbNN&hmt# zlM}iNenGp0W6mOA44-bR8-6E&?sUj5BZ0HsTmMO%csnC6?auILWvb%07NGq12SGu# z=(mJN!0U%1v(LHwDCHHd?p=?w4YXc|*=A=dhXv(~sdumLh@$&LUpkT3yNM*h0U^Af z0%wdd3ZPriN3&{<>; zv}xkzFMs^he+j7r2rVu)_C}~)))L0T?cTZ5y~Qa7zb0_qUO;^qrrd)p6TLmYip1V~ zM=x-8F_HS~GsCc?k})@_pAPI^{a0}5uwR;Y{fh`s;AqnSQl)P9?^L4V#MztO0)xZ* znyUuOZrk4>^;{%|shOR7A)qSqMgv1S$w|(51mcc z;^FL^+W#vR;TGbu$l=3J)6)sEpp1PX9)pr-@5fWa1* zmOuO$7T}z46rO+dOhe&y!r1{56&>+aDp2*%%h(vx*{O}eB=9j$Jul76)5>WN3k^|j zIr4P7I{pIsBR~-&9Y%pb5q3kv6}q@aCJ8S{sW^;@#U>Z@^rBx{($e8Tp}v91^v&Dx zbmuM!&THE;Y?f-jTI4nFJ*BSTPsKyB{6);ir*edmAMsbxZCHgEYK-LQNx^|t5+8)`_{n=kKSrQ0fDBXW05l!9lTDRe#MnaQoB^9>Gf`z3 zqB%xm5UvN<6P`a8g9wbdIlewVy=EB6CakPJO*O^BBMEcRvuwp&_rpLV>%#Zwt6t-2e@Sq_r zM-V@~0;BaBUcUw!$^SBfN}r7l4zu1ec;B$wjJg)$N%=j<_Na(T?dgOf9V?xN0fSX&zMx5 zlusztxO@1>>&A>PH*URnR{?;?#K?GQbc45M>K=Z#B(*}*fTQPH&CX1SoxJC_yMtt@ z!bu!1KO|pRn$d2F{LMKCU;~G_GMl%;L!DXwN3g78m>!1KU=k2UKvau3!q={v9>oqn z_#>s%@0Z_THX*h>;ihqyApCg>7`8ynDZMY{{mk2k;C1~U1@pI7?X3%GXZ2M(&Oo<& zVDFXHgXY^LFO?J*!zOczu$m|;UJpejB!&Ht;(NZ|yykOBol}MG4jWYS7n}o1PHhOh zLOkY5=nfpH>FMcgQeFjBRptr?{Ot(NgfYnaHRZ(;v3>%ej6`nTzI~EjEFKCR8gMY$ z3pC*Iy?gsHRwx;DaCHe$oApG5nf+^^$m+NeYQ%T;aZaX^+Q|fiSk*JJOJ{;KOa$>O zIT6x8j|fW#oUyW+hDkmbu0+@=M=r3FD0UII{R6%aO_8m{d>7m>;%I^8St=+H@@3;5 zKhcoLn4F z$6unTlTl}*c#m))SZC z-5?hBF(!D}<1n*Ea-+Qq_(n5c=w-!eYEJ&x?D_Rj2KXlV`a}(9g_`!jaI#B|g zkC^#7-uAxTW2UI^a5c}u2ijG{A!`z8!&gLb%=t)8{@UXI=LqsrbIAXZsnpe*Fz8Y0 zzyaKpW{vmT4dK;Lj$}K@yAwf?Fh{hkE@>B=_+2zcCN|IC6&1qfliBA>WShyF++fM1 zkD>M1{&t&4!BWJIA)$a|VPW}l_VggQRLrj{D=iIugS-rf#i7$LY$OPa8%zh!cxNYs z&x#SJ19eL%nh7e+iDm&s1qF9=Nz4io6cxoVjW89IYiK7bV|Ut(g~HnU#_!)uN?!Kn2dL=u7h;Wxnox4ogDp^3y!zbH<~RXt&Ck@|t=NB0l; z8oheh$h+&J!sAA(M;-xln@I9Z#O|&6TT{9;fL!-~(2ieeJ~c4lia|^=vmfL&Qn3#LUvjyaE-$X*Km4|J{_ME5 zYm)o2PK@p|8a4Z>P_EcpUrx;=pOQ6{l@0uCLd>Zm|G)~kAvw{pClNx;`pLmVLE$yN z1&Gk$g7g6;Da1~XrPawpa~S?G`MGcuO;ViJ=gyTN2P3bU8X37~A?H(X-AW$?UpY=6 z<_TH94lTz{KxWpiJC(;h8X3^BXyI^J&G72c(i=fJnaV``yPKdSCQ>HlKJ&_p?zEGW zAZ}dGe)7JB&|``rlboPqq}y=|$@6?bFP>e{+9Oj3Dgvb*sC$LiXthR12T|%_{E{bO z5tX$7(rnCTT3!{EypY^ydD`D3TP-cSXvi+9`1JBHHFfWR{H!EcAT^#qZ;&_ag612%|a z%lJ$tLBIk9h5XJ=v>>@HTE3_jV%R{Mq_BXRP7#KF&8g3Y4YO#TE05!gEoC1|*2-A? zRZF88qzF4cjIW(fjL)F!V6qCI73h!V#luTN@k^~>X zB(#6tg9jPtFbsgGbEXID_9@*GTHEWZ_9zk5)fdrGF#h9*qRqSb!;s{#pm}KFfn^x} zXG}7}>+81zsJbw~w*w6zRID3nZWCK(%o&6~Og8W(h<~MsuVSa!vPG9aHvK9hEgE0% z+`)L5I54o^-0^0jZ^o#HM#R9_zueQuc(5o$-Rur^G%Y7l?tT!DaRo>CN%yklV9H0#r-n6+y~=~1D-e+<2Hh>5T~YvCK?(RmMCO( z)i{YrZwp^gq=Og#4Y2dyFjMzl{UyHa{k>!QI5{01nBMrlw)TvXRP9F6GC^B?&;~jJ zODhQc-A&j=&>e%__eCEAdYT}*fbfP-1OOHtaWV(2DPoosfLJ-L(*Q&izVYrmt!VLa z#lqj(V>)Y<$I<$Gu>{?23_Z_2nKROyoTJ10u7|*MA0ojMfu@9#je+upbO}=4Gbr*W zMn*cC_;5vNV>~mii?Rsibl`DMlndZIJm390f?V?EjS6fvDPAv3a?y0oreq~wtW~v8 z7#bRsv+)US@tH+`9vZr+Z5faEwp9%*rp@n8&Edf%!yx_S3_m}<-0~>qR!gHqM*XI# z86JuhX^UuulHozw;`+b=qL%s)f&qTV(Y*vGK+kLqETF&9c7j==?_>T}qOhswC$m%5 ze)_kCR;=ivdTKA84v2qY6O-EacEy>PsxOoZ&JYud%`m1)f#`=(7X^o!NDvALCl8!K z*|LG`#uR3yR9yw|XK1J;=Bm8;W@?ui-Nd7)Flo`H*<~rbV#U|A%kM_&z@4?n6$amg z8iE14P)eR1H%_g`Gcc z17cYv!aOvsaVm=DGVTQWia!kz73|x`wl?Tsio}#19K0cTx9V{T62s~r3AkxXx) z?}Bqe5lhfTV(>j65+7&>C}qTY_B+AUegT0LXcJ9`JLurZLq8be$JZV|YAvlQPEJjw ztRtb_PaB^31cincI?H$v71!*cN^?xH4p{o@N{0z6@iGA`xX(t}>qrzw@grp;Azb4_ z{ICNtbO#tN1;Y+tT>)Xjx(RhZC?OSfb;tAPchVu#V0tf3c+cCg0E@{xh55G%;_4mv zj`Gt8PFAHi?|rd{F6!`+g+fA^?4RUw5WK0!A+}wb0i#FvpmP~JA-$aHt^+CX#I>m) z66q@@k)cdH2itbTeMDG9d2}6Ooa#Z7qD(}aef#$D@xjcZrT~uvsyavzdf<$z@N#+KX&m3!zl9Hk6|`fYgFX0kpcj89vA+N$ib9_qIh-)aBZ zh1Y6n|7Iql{xsfMUotnNLr@_?IwA%){%qnqe!kWF+?iOj;~bl{-fYlTubFyXk2}5% z%nruw@1nz{nq*&zY9k4i{xW4DeQ1a248Rx^G-J!S}4a13l)+iM` zBOo!OmE-4)`C<0zyEtWW2Vb0jY8dubH(TvXWJE!n^2%!)!bi`vXZsUIzx$z~F(G#8 zp+QL^ENRVq6*C@ZYpnb`(KfG~Dj=`9?G?J@;Re81_K%>}di*w!oQTKo^-};JfUo78 z>ABc~8uS04$FoD9m=rr;y41*bw>O2ZxA*&UjRrk`BF+%r{?X=6I(u#K;kNxQNnMUU z(ga3hVnSI;!*Y4o+rJ_CQ=T)oUG>xU>Tea!71(xRwYVhr{W8cBi)#O67}(#nA0YJ$ z67`?c?K^k42=saSRq%GO1kh*DF)s3Px1ZhHw(yu&EQbQl*z@X?jGcW)^|bRg!H`&f z$m~$ABH`5%B@r~{cGuTDaiM8fx)gm+3-x-^WULxzjFEUyfAYuH-tvBJ*V(YxQjuf;Tt4e+?$QElU z*gXDmkX)P!ri`IzBl!`;ol7zh*Z1pM89&nC+tMNM)Iur|j4;WUax-0&#D5CCdzTk0 z*h#YN1Ya5&3V=X>D&i3Y8c94_vwzO(0`(E$4(KAeFh5kKou-60=RmnR6^ZE`Vyk5- zAyv5a*I+{FBJt=1a6w4*oR8Wa&<^$@S6fx}aJauwk)3X}7-77&beT5e<FtfL1eL{6sx)gXg{%I=nPD>>>uHNyqhJ>9Zh=wb#b(3gl2!O3tA z;URg8WF!U77F?!QywJncn*W`N1Pkv|Sv7RqBzHT!Oyyo5nHk+{>wi5p2h0)PiXx1cZY=i;&}?k11~2mpkx zIXDEI^H9~D#>s#W3z!D*9drK&z#M=SMPKgV;K!+OVplO;Mi~QCsdzr}#mcB3o5a}@ z_a0@X582)9uC)5tZJVJe`kBB==@}VE!k9@Ek~jiPjKD!?vO)glNNwdM5FtAKKx~!9 zo^)QN^+K5O@iD|uprRsVYB1j`;{+bBdC+;-&rwAsRQL5!@1RFdyFcDO#Cb3xrdz4& zW@yYCoF%RMQpRRx=j#noc5K9^r*g%$!h{JYDJCoIAjAT~!*TkBL9Ss^IoabPZ;YW* z1WynlePQ3vq^Tb-^n#R9iScHj&inG;uOlrGh=b}Zh#&Y9U~1Y)cU|raa77U$7M_ps6Wy{)%gbx!NZ^3tL!EeYSPh6-E&m_#$&Yx> zUGR1=SHJpSqL3n(D_3`SD(ns_sv>NBPe*(;DVV6zBk@QX(5>n3vAm#WE|mwH{cntt zh3Q7p>^kB;p<`+03@ZLOfD^1zkify^UgWV7Rrp0MN%ls$%T1<~%nxoVN7b zosbaaQD)f1h|w2#)Cn}atLTP1e;z#|e`aUz9XS^P`67XNGpWayhz0#SckN1g6%4N& z9suBeARFV6@sb9PCAwfU+E9;b5tN2up4l6-6MpFbQsKh{4yypxV@dL+rYqq7rDQq@pQh~ic` ziM*Hc0nrf#%ZrK(6i{*B#aJAAdWh~92%tWqfDEufi#WRnEUK193SPo8iuzX`_z9j$ zqDlh!1Z0nSHHX7X;0b}r7o%wBGIdkmp}MbGB7TV_tngx$ctl6#9nE`3(GW)%Zk4r( zH}3_N5fdN(_dlik8}w#EXaUeBa~>NAlAP*5dV;nh#!hF&2}85+(KR=3UQa$`3kHZZ zcvc(6z@So7umQ{?3VUha=O~fzK4P&8+}}Nfwa@p)9@OrdhbU2a08nTBZ)K0tEhaj8 zdf0=ZIkH@w-$Y_^A^+&_@k)5m*IcwXc9V>V$v8GUd<#do*9AZ z<)5N8p8x<<1c^-4qUE0X_DA^m>;W3S3hvHr`wne76pd)JjyH*)5FCPGxR{xP$>42z z)R5rNRgKnvf^rC4N8Yp7Fj6Hxo~do21w#}uwu(%__@Y2L&AA!%07_g=P^GBxN9@Tb zgti^i2-_WY(9(fCj2^dIdU_A1yzW*E*{B<$oqV;dg<@B9Cd#=B{0X(1Wnkt%sW`$2SA@_0DG z�-r#bfj|_Aw}7_6nZzvL;+cB%;F@W2aGfLA!)BmT(DV+v384l7fQJGvZrov}1o? zv8mi2ezLQg;^S!8@l!K9zFo-(r>P{kVFY-Lt|lZ$;+!L?|LfjFqB6u)e#l=_OR?M- zKhMvJasm(*T(V8czB`z+2^0g%u$i9Tqs||&4CA>T3zcVy8y}Q#sc@L*Mrfwe+tRGT ze*O+MRJit42C*{74e)2f0&ryubEofi*_j)R$S(63hor*BMOBuR4s(! z3Bm%G>)o^i=1RPn$b%gE|LkOSqG1uyA6~g`y*zYLON$Mn)K=lNy%+CgJ6!KfOSF*M z!N>@Y>-(+)Xp;xV3|w&m*2gX&RDcn9z|c)2e(9&t?@Qzz&+C{;Ke3IIQ;Th;KiX+) z#i&Y*ZkX0VmifvhVIAT`d4?d!E}--Ce^-Zgi#wUw*l=BZNC;PB7Z=RzpU~4KyeMs8 zo;s$NcxWy*I)!&#%bckrDse)vS_o^kBW7daD9g(Sh2l9uxn^Z<2yEE?J-NiaVxkaC zp#|t>C_WP@+M(v^60@L|)iGy^BlD2Z5-0K43`0PU_;}3w;p0Tt9Q+EPNXb;*T3QYd zGozzB*8db?2L@I|HHkKsE#yO>0MSx z3@_nzd~p&#Mur-j3?a?lI`%ItRAe_wsESc{3;o1CHkEj2YNgw- z?_5qHjuEy3_`Qg&Sw_e!=$<`8p-n-2tC0A)zLxxmfb+AP_}=U!Tw`M*i)B%mgEd#Ak!21n?E4-vYo8i_QQ1SJegIQXFFw=)I_LMDbGuL0`0fQ#p|?vO7F? zU+?>r{v*Q901+cjyHNm7r!kRc`G06O`lz=*HNK>#U~^5r(XXlZZ6>!*XEdJ#Fy4vHv*g(mGH_pmZkVJolzE!5vO+!Kn{jO=-18b ztaaEo)F_c;X^N5*Qv^5%=L)=9=p4^3u5hPbzNqtd#*bB?B){Y6#tRi+#Irk8;Xyfm zAm(o0L>h5H{mKa3oR2Wxia^+|GZamZ|Lz7~R@C>nIrMmBalOV_Olbb^cX)bvFjB#}yG__Z zFSRq8V(M2!!3hNoWli!A#}*vZ>PX_`%!{$<`82t$Vzj6w*CxAyd*Fi*IL4ki}ay*>h z?Mt7!KNTDKVg=EGN=*6-SZGVZ$2oWFll`bZ7t`=`uS(w%A}Qi|40DcgIL4uKETn#J zR(-BxrGE@Z`nfqj8treFc-q-B;Oo)MG!w(sUnW^WsFQ(KEp{T47(*&5TAY=os!$)n z%EHFBf{a4=)%WjDgXe;a%LeHO4*|+(V?e+oYX>*q1XHs(d0ar_)sqTmf^_oc1&#finKa_vS-s15?)01Z>4ox2A;FUPg z9_Q5cyM>0!|U;}D2&+mEd|HQx|`r}gXOz=%S!1hdf-#-=)wjN78cZKy+OFsA> zQgAFVcxh=V+1P@Se$O%K^Hir3cQ8^h@f14ZnO}>OlBhdixWwPhIv3)`L}IaC9I-D$ zs#MG%?4(ih_EmSjm7MBL2lQC9!IaxgJo^PsRE&mp){5^r_~y=44LZ7( zO`i9~ce3BD&vyDV$`ifDd8k6dCvYDM3E(~g>a=H{geM10)nusC1E?cQv%W-Cu0X`F zsU+l^bp#wqK94`0ge7B~nv?U-nJI_d>yMJS^@aJ4b5ftQ9&#ByMJ{m^Fw>tK010X_ zr!WLo)Ls~nDr5wSSr%(7OY>8dekILL949ghMv9Lt5yyYs*(l{Xng!A)%sEjbOMZGl zl3k35#g@Duzq^Bmwj%H|@6IqnuE7{h$TfsB(1o1T-_@UBtmKK)zH^TKz_A!7$M&U* z?A3H<*mkyDAN=Wi>eQsYOOR@F2qHgT8c@mrIEqXz5dJGXrw32ta)Wn{;Hv}kfLi+v z>)-K;AFZG><>CzRwOy?A4&;@2T9Qf}>Km0KY!!6)l)w`hGK}$B7vRUoJ?BK(g(0ko z5E$Z#D*J^pZpd;T=c!rmlFUZ!JO2+=e;pOo`u>l@qbME&6-7F9Kw3arKrlu?QV=QW zln{_c(f|fQ5NQyR7D15il5Xkl?(X_sdw74I?|SwhXPqUmXV1OwxZ)LV(|hr_s2Q&n zsw5)d8VW^bLQpCN#2xgbfhC6P32z{6_&xRI4-|bSU*S=Z0(;$@Cu{n_6L!3CcD1~# z*RNXvH4dp@+b^WoK*d!bGy?tZpGH|Q!0-PUzOh|k|KVx247263Z4i#_i6_<-p-6IB zP-Bt1%c1eo`JG6gd|{EV8fn9jW&l!EN|FbZ;}N}3a)Rf-PXky0+1fOpc*gIw$^JT+ zK6fqew;vRkpqI1FZ24sW{fyO}f`wA2N0+~Sahs+au@jA51r8GQvY|zX9s}tz2rZ$I z>}w0B?PDa$D|M+K!4HU`z19;F3AaJboa+?0_eYdG8H3?|t~a0nAm##zBtAIv0BF<| zabq{kb+5itivx=V*$F^ofaVaWsv1o-!wsd88~Ty|ikqpGya^(N3 z$%=?imq-cZeC^KfkhM$+fcw-j-lt%_^d#|Ha*NcTaO3bgwyJdshO zxj|#*nlj5!FG~l(40M=_-?#!Qq~bys*aFKIHq(2rr?{VbcVt>P0A@lu5EKUCR$ zB&|Dq)n*x%RW#qsB{)*i3nS#x5OkN(;|a6Ldt9{IF(HF z$t%K-&(1DucW27$g1hn2Wp&r>+h|K+oBjDZhe2Ls`CZc96Y_sKNr2{Tdx44TW2NbW zaWh0_6Lb_uy6&V^A%$b8$i7)4By0^Ch)F>}ts3n}X!S1y_j^tD2ln4v2XLE^!N>xO zWpYt;^G&E|5;6=Qy*dw_I;1IEA#XL5+)i|1e`O-PtwY4KWsN*OLoum(*HeflQpxJE z_N>2Bl!Hzmdv(4a_4qtZ!R_6m(J61TmMU`H;QY?37HDN(!ED@?4l@ZeN=h8ga~YO!QA-Za+(x5C z7pEK~bEZ|KRr8F;8>4zVo$R!9pJ~)qQm}6}ZG9V2OEjKd8DbGwFQm%V52U zY8vmCqx9h;caERa9QGwA-Efghd$QY`-(q>4@UBa~{?M3`AH|?SDzL)bele zpDdr>MojGI821m;kas*o5fDs~X~&XgAi4E0UC}o4OGU1ybS%x+4KBsdXb~vMA;1#S z?}0kEbsDiUL*iw+PKt|ewi&_tFV)^;t5#SCfuAY$rUou+bV(qM`8Tey^yi|8I7 z4gV~4Z``}`LHYCEsz7xIUyeR$;QG++LZ&O9J5h#ymHFWZJGxTB$lNh~8nM!Unss4z z8qz%WXOH)*pFI!M5-OP-*1T`F(Q7@@lXEs<+r^iK#=KEwgllDP?xpG=5;;*?{W%IGf znEcm(oZqW+J>#ULLM=x94@A_h@Zs><10LC9JEj=QPiSAQU&? z)hR^=GFJ0N6($*_u|aA~Y@AqeZ4J3hMw*rFB_U#&+2!pA)4RTbW~bKQhn(HN_X$f% zfRFgU(xGt-RXt0!Bl>?DT^lhFT>C%HZ z2!`(%Z#RoYs8RpA?36ZS4)iucfAGT|5>khK+>ZkpC|yM`2KSo`nIK*X zQ)DI#4}iKP0B|0(&Zp}>0eqwk0Ekbf$>>X2d?_kD$H;X9f~JThSnNwkyOxw$sMfBeN5v}soaj~OmP?|}Jl4dY(^KA89(E4+Q-fUo{J^ zZxU2o{Z!Jx#qHgFh9(|szq_OAb$40n;q)m2o*LiC;*yg0t2%OWnR!j$_%hcQo(}6# zvMm07o`!O@W6>R29ar~!&_SwPfE=TbMQv<0K|D%24fu?X%HlL zAUWl&iaT@ejO;9r=OjlXwr{8(kCpUVY#m>@;y9TnH=Dbb64DyoyX7j-aHp5gl`({-@RA%+e{%Z}wP5s7*W2{UKT!L6fDvErGl zeSSgAEdEn6c(l|6R}S4t+j7kAwau#DAd8@}p_yFo?;uB>7C-xhGGPr8%m8*uxDWN- zK~X493-j_SV!lO2PB(_Nry&zJ4Y$In>d*FnJ(4Fnke}OnHav6QPxAWdY z*he2KSNqO9wDq_SdzzQ;T2uPsd=yi7%7)6ZtwLGjo#S;&(V1ky;GHNHLh>=LUnN3( zx|(ZmBFBqLO)o7uL>nO!Wke7F%iwYhh{a)Vkb>9*&2)&9!89QS`hOQMLb+BLiaQ`j z4Oq>K7ePxNfi+D4=L$fGJa)^lt=vEslSH6PscfAiw@Z!S8>Sl2^|2gyH8~@!-POkv zJzDB@;k(89SYzx|F)_(eYw%*>kS_}xkHG%fW0&=u?k-!_Un6-7i!Eb=-}jgE*yV?W z^(Uv+U)fvtDW+XHu&d>XHTrscvhnx+*u<5W<83+SLx~&VLM$6W9d~4RnPg36gbVNJ z4)+UwGZekEb^fqDC)@qyS3l8Z#*O|gc}(S9i~01}qyFOzS{aIBo^nRpCE@nJxy9>i z)i)KbVGzo+pa^*bFcVM{M!Gx>Gtr)1X`0JpV}N=z(bk48Q7SYPz%+`@FsXCy|6#UJ z7P1gxe0Vw69{Wf~>@{eYFFqiwbF@h~4mO`E)(pHhY1{DpuHHTT6zAO!+3d%a#_>uk z-fzm;x18*&x(2y%&_YF)}dU6 zG9W5J3qjFiJO?}rc5VjG!jDyUDtn4a*4FE*uH5`{BD`q?77HQ5fxb%`8u((JvPX4n z_cLeK)0W&V>MK=W(v}2Ss9O8l71So8< zEBmd;1x*N!O4#hSeS^9i^|^}sTz~mglUD>4agn8`8PHWG7OkrcJU`@+^y#ji82Fqk zXI{HA9Ff~)>iua&mmdj!Py=iq%Kv~=3JAxC@dClE1cZTrnm5z}mVvg`3sIhJ5M?M$ z5R?_iZuA$iux)twpRO*t68p%7issm}>6Ujumq0{vCN+1|y{&9Hr^Z1fXhdD&h5j}i zXOLJSFeNbK1C{w%SOLRGo~0#2JY|L=?F$r^eeLS-PM(=l-k1CdhR%FnDo97c-neRY zF}fsHf%#Y@@^#v8eu_iSKPtjYu?iPDf36;tx0s5^cT8I9_btxTM2wlG$$utaMxsHd z5T2TrbsMWYyf3WA0?MEB#`46fW1tik9CiolZ`fUjFB`T5CRd znxXm{0QXv@kwxP2*o#v$kpMSo!8UK@N zT5pP_hV!VW#CpAk(w71KfAp8{}LshHcW| zr;~Rc3Q}<82$znhbQZl9d(JDZ2$fRv0Yahq-18ARn2#kiL`AKsjJw%8F>f+sj+|-d zaTS9H>;MA=zZGlnVnsT(NYgjXWs?Q!yGX~U4E5JZ;z1NA@om#ymrBO)KOI`?uTVc85OrEUu9aR=~ky07j3r7x9 zrk@#UHrGqFe;ch{T(Qd(aGWwt#YPZK1#x?~+0C&F9Ct7u9#TJ(NU~0ziBNl-*#_v^ z^%p^zd}a~OHLj14w@9i192CH;HGjX)f(F7b)RmxN0}j_X^y?)IvKZUd0tx$#+znac zW2;RRF$x{)5#7S}1v|0;MMXZG|64A|eA zWSpk%zZ)1r{zUZN7DxXzGchA0$6r=ZM+5%z^=UQtNu#fLH_4jm%BRSZwwRqO6p)%&-_&EFE3%V4w2E-^!#11oZYSc z%0&=g?*mvGQ2LClpk0fracEcI!zX6uAbZA-G$$x^0hbRn=5aWCFlz-(bta+Az$>R<+enFpPYjg;!*)<7VZ$BnBm)t8o*c{D8vMj^y|b127x7EPVas*(jZ+1AHf=KN}tw-0A%{ z{vycF!$bD!xc_2*mIyHqNmcQxZ3eGhV4|P6}?I%+E5icM=BUkl*s3psjt9vCwM{S2pqp0=*58J z2`?X?AV0rp&!16n!b3LIksOYaQ>6a|mZvRZ1*oYHryWWd{ywJJB=5AIlv0(qR7~pr zl=qV?fjr9ayC&hj!h%?7`14?Lf#}lspKvFIUfQ20#|+AX&;Z~wBU~< zw?EZ;ixOsgJ$fk~@rdyzVeLh_vRz&6PuN$lrR{fJj>4)km$LJ8#pvcErX8>c?vGrV z3%9hV(!$4gqT6yaz7{RNNv>mn<_#8JI)pbMbcHzbq zHS#dai2udD(1yNSqp4oVsoz72cpb)RTwef`>{9H$nK*Sk|}WZU9fwifp#k8b;ND}@y@ zRfg2+6xWw~n>$x7=hDUd927M*l}rwDRCUmt zC-hf%+d}FF{sIXJ*IK~|AhMennGPr+?oCH))=l3(@2~|M&nb>p$2xS;E{68@J2Xct zp2wS|Mvc>Se(4Tr)?1I3}i51 z45Y^iG1k3kB!L4HAMv?u@k3!kLOb&NVUN^=r6Zm$3K(~{@=fFMcP(JqjSl-K*ez^g z;aA5=r{LhaWXKy4_Mvqhzor*58L=S{q<~8(i?>Ou=O*^YN6qIWPT{-(*jo0`ztwkX)reNE}?}ph@jla2t0Yd;4Eh7>qEN(P-vG zIhjjvO=7K~7mSznrg`%c)SI`1+hz95@t*pwAUR1k>$nN

3>RLdLTE|`d3y~27El=5pk0fZ~@gB;2me*69!uV z{3tm!l^zUUCOX)VO%XN1U_^7U`Tg{?pJFv@Qb&UG1XT4b zoeY$-Gyp;b@M-Xu0SV$=5S)(QgzXmw8$(1%$r@0n_U~lOg?_Ld;svelU@*nV^PomX zktFr$Z}{b(KWCuTP3-NCg@_U4nVE^bp|t~6T9DxO_xFSDma{?dV-PEZ{=K?7Rc7-w zzncCM=fY%7+~cBrjOP}2>v`w@i{RrA{fxmpPY{TOk##$N0qUeu@{k!PDQFbgztPfi z!$RvGP%41sM?f8?!B_|YXdosJ#Jj#eRfAmobKndJ$SpTF6iF8H@<3?QOtEp~VWC;p z?I3}dSnNT%8Z)Fd6-e=NyQ8P4)@e>Nu^l8TKo1YlVBfz}8-N-XKnzX6b*S_85w~q& zaYhDU#sHYWNefMIopk^bkfE zoYs3xdC}qE%mqLc@K%3tGjBN?xhsleY1f-^FE`F5Y9qTNHFo6;tdAn2j^0O$0>4;j zSS1JM+mM-8eIL1X2SDn4!mA3BZi zgSi@D?j$8ILTh|T$O{Af5(Mk{e>bfI4is zdwO5tYp@3FgK22;@+>UxZb-{jnX;FUuY!I7 zkol@~RTa!RFy5&Kx8#M781AG`Af-$%ysw0f1i~&VLqZWT005A%kEHCO1h6!nH)6 zuuC9f8|Uxb1HdUjTBabamb-aXDoXeeEMlNB9xp#@T>xmk``~~jBvb@c70}X-j(*2< z8GwbrO@rniIPgUFa^Rl9=OJ{58XxNEO)%<1`vpv^9P;ig!H?X4)u^?W(Z2|25yN!l z?cd;Q4bmRVi;Fgolr9-Kzd(bQHYg;4jN9WD2)ZUFCkFxa4=YYTvln7QooW(R<(tIb zpuG{SdI& zU|g`iivY`E9?cCP>l2O(CyNOJu-pjrW1QW5i@tWjUB>t#{4@H|5Q;+uy6Ds*E(ZX4 z=8gD_1<^Dh*MkW-i1P!659{zD`7eGzU1dr*IWaM>gbD`pQ6ip`{PTaX^}{uy0X`0S zYN=H^(BTDrLF)8sQ(myTd^=KyV=pymg%m=MJZQTs9d z_uqe4F96olcIHLu1&UX-d%wWTA~x`zaCltnEAalJHHRmKtC|9^Z!iw+?T;~VLO=}( zm>hN?fE@$d5^6t&fVyu(w6OLokvESn1Zf3miGuf)BfHZ{dNb{p+qd$+1Q zTl>SHnW0NJLk!T*_EXd9$5&T^ai5GLg<=U{Wuf{4J|c~^@J0f@eg#cT=Ek zTp;jz_Vh#078(axbb5brwGPzOvK=`n(aK*QhOm%gIqU$w^6pK6D2HdKk#E zG87l%H7}Tj#IPSMEy-Zu>m|r13E3`$!bDMK_5E{;pWpsu>qs@GhMDyj_z4^jL4*wv zLC(wD0U8hn4glEc0Kc|9QpydUQ-47+8u+Y)whmWd;YUA1(=fN#9>+$7#1;O$81!E*dvevg!`ucCJV-$^y@qchg@(=yH?dyag4btM`SG}tM%1b%P49??#cS5W=OI@Hd zA`D*g+}s_I!>gzxWeSkILL^RLoB-!%TNp_OdU&wMfJ{=O#y|Km2QeJ^q;(Dgj6@*A#lmZM{d%=nx13Il5GSD+WotP*$#$A~Q%=h9>|JJH>wTc~G;6 z1hE!Cyo1XjnFGk+&|Ry8768c1sP&)hr+K2X4EvtsTUU(NHsX5ICm85j2)ClZ%8rqZ z4MHkF?lfW_+!O~!;xg`AjXXl85chAzLf2y#gJe835DsC|55gg%-rwmA+dWvRZ!M@q zG>KwNc?Id|MVW(q4}EYYUleuFcbQ*1_xG#sn%C4;Z3E*@o^h2*Y;FaV4gd(QR%Gw5 zg6$j}ybs~T?b~M^AHq2MI3pjJg@~`3^0I{#LUjg|QH7)6XmvhraFL@Am<78~2xSfd zFa->CLNYSM(w5Nf87WQ&2?F0D+eLCNFig*czXfLB!VoUH;Yi9h`e}dBX7*g^1|&-m z3t~EyAML&|iH0JcKSnTzN>U`G`fL8up|%xZfHLH&bHCBz{hRY?Zhyst7VH3@|ZZU&XbcD6r_ z5)mtotekpgf4b@A-guIE^Kj??8isiuu5Pt{c(VIR<`pVw%!zP zA0Ilj0dqQ6m{bC2zA44Fa%h5hJX?rKx-z&Y*6Hm5M;%zYAaJjftqM7pOr$`S-ZfTY z6F`n!^U?!7Ng14!6P$F6oxbINZrRdGM>y0ZIY=^be5)53^WWtA>mhM`jM&2C<{D`t z#2#g}5Ex(Q1-63eK%Rfi_}y`X%zNzY%Md1!f1Uzwy90O&p{yS(M!}LDTQvsQYo#qn zAmP%Li0~kn^uiLSQc?4A*gL7_1$T%=h4!shlHWoqGAPnqp#-W*z5Z*_s25{vivfU>nH1Bh+w|7F%EtRc z%)%fu?B0lFK13tU0&}=UkMc-=+eC{t?)LAsZ$U={ou`}Y8;tBEfe$`dLxzhAB#9ya z4bv^w5Rr%#I-MooB$di}yFOU$R zK0sA6NMaHcJ|L$L^#{5D#Eg!eN-tgz${`vtdnY^Ho1gI&F+Uwm3uo}N=f#}^(cNFq zP1m&ZvUEm92UB3I|16~|CL6+YfX+z+;Nl^iJOwA89vFrwsjGw6Ef|5C7*v8DC18L- z^9^=Ppl88lr}+Yme?f{C0|juI*U0yR2^j<#=;PPz4KEGo8V}xG;`^yC_Ff#RXuu-% zpwPQ}&3}kRbg&v6v;ISNv1)cCYg4kb+lJ!+He1|@AOvLiYhDwGNu`z5K5!<}I*mbF zz-*`}EHspV<8MX=r~9Lam`Bmi(EfQpY;Ye;$^h9Bc4p*rO~QR*idL(y`tu1MbJ1t< zsE2~jzC04^l(s&*o(Q8`&4YZR91vC>MT1zYsku2jVSZsDX#8-46Fih~eZxVy^9Zbf zxgwf?0s=rvXs?3RjX`F9Ny+!#{C73upg7X0pLX(=tBZVnFN3)a$e(q0Z@>FB-xPAp z*=`?v_#ymt(L;>wk<-4<%+SAV9?fixe9KS{S8~{jz9D;mKJfMPA$EWT*cdW2Gz4r5 zo%9~?98%VY+#VWVu0T!$p1|DZp0=YHsFc~m*#P!(GIJ;UfAx)G4PcY60+7$Zm7myK zKVA9g+x9Nlo1MLwbLls*J(?OCXwfI-fbJ|LHZDDbeECOEuZL|Aa?Iz?uXAylbg`x@ zfBW)iKC z8q09lBq8|(b8;{T1kX570RdbAEy&&@!6y`5)SaF0Yaby&)kolLYP~msF$c6B3k&Rk zjpC3cV9;c5NM_&=MvQ{}#oszQf>av^^0wew>H;%z&=mw69u!P`5X}pihR|#SPgX1- z9&K=`DNK8w1=YqVSRbLJu)2J%&<7-eiv=(bU}&${KZPfO^BQ9Au-yibxm3w94O3u_ z1ZjcT1>k1DMNg94sR|5u1qBcftMYQG229;&gpb$|x4zZ^x}9bp-{4V|SMp5WBK6G8);& zogWNu;653(tz~XSB*s{f_*QjphH#yOQz082;8}#ZUh#GVL0>@q}tvf zE-B!0umeZ)f~_DSsH3JTr=ww5Z{95HL|7Vb4aj$jg;NO1XkOTcNqYEm0A6@{0@WQN z1)#HWhJhvdbrA7w6f`q7mS+xvV%XyB>@74OUoL=c#p%96phoh)PYhLtiX4*Hy?iOi z!SMhC5Ml_pphZ<~Z46%sIhl#!I0TmnLjMOhd%$KQDvE{+fSkw$kkg%&QP|~+}TdS8j5V5)oy=%mVXQpw|i%Lo)}i&_6)5 z1;IVAd|zPR2Guzv9tCT-H{cui8bNJxBp_qv4HZ&Cunu>Weh&AALP85H!Whtwg(DUC zwD+=~oZM{&3T&`_Ln9|teNvgV3-a_Rhbgk?XESqM@EcmJNWwh@r4Il;pvj%L-GL1` zHKKVmsR^ruOWFDt<{??tlWQ@U&2!U#Ij?G18( zgkGnlY^3by?EK7G^$@99pE`A_`PKgt^fX=q=OfBZ+iQey=9leaFuW|;^FK4)$t7n( zMJaNgYsfdTE=gcusf38rfpYPf1%K*1?!35;%zU7dkwmrdk$-+$d{p9q=U0Q&Q;};s zy6+(pk^TFd{XzRf1>ba1>bHUoJpD9dZZtX^as$NTj)Y_ysw3fMFwM1`kWu#7*xZD0 z9;Ox9XHm2~BN3c#v}Rc+2+X;i2NrZ$=s!>*0p1|s^x=ds0HLZTopef&9?k_G#h>5gjRxzZ z6`ps9FZ$Iuj=GbmwX);Bf)9<-ktl}fJIAA*vj4uxa!o&P_&o9F)FXIDP)@$+fam57 z>lBy}-vQW|n;U`!Ljhi{P^FTj($;kE%f2 zr)Y6Q$-n;zW`aaWwfEb9#`zDWJDZIlo0W`UDJnzV6l(K;3IDRr-Dck z;VskQl0zsh;$lbho=G8US!C0`mdJZDNaHg5BS$UUbreo!vd*vCzmx)U2ZjW7oe024 zhMB6rp<)4wCcLDV8f#%I2WhNK%Sj1Hc(XVm!3V4pEEn)rhH#2(V%7dp^ol!)Mp@%Y zytZ@RRB>%&U_E8BYouJ^omC&QQF)z%Az6o}E6I%;;Ib%YfAg9b7+yiDq{7;T4Y7A{ zfYUk%3-kpL9Egh2gqC>3=hA%KD6D81R9&LB&hg=`DmSHz`F;uxMw-Md2!c@8uYOlO z&0hiCC|IOWz1-i2ZLrAz2#m0{VcQfQp@M3b(Ea-~`hK{3aonAi(kR!U|HYEn^Ld-q zm|qq%ye$yz|beCnRIeD}PQ- zy^+yZ+~oN(4=_;jHgEP*+t5F6lXJCIljog`DFMobtndCCHK^_p2Cjy^nYiFMdHI$% z)K@_56rY-gdRV7B$^)w zEu5^Z4XE^pj*p0J!Q;XEggm>#_@u}+A~lyYJGV94>caQ*`6E6XqWrCz&y=Q$@-*=f z2G`kGSr2MJX*IUA_mo?D{f`|5ZMBf*()o{@K1CxeB;4HPDlC?oE%_TJMh57ws%|u+ z`3z;wwUd_lYQokNpzvjxFC-v<6q6yeshHb*>kO$G2#+=y(4vXGvq4GO3zMN$etMec zWP$;m32K4Z%Y*g@bqXxG;}^)xzKr7Up84v@5N7VLzk( zv5g@VZF~f-d#``-p(Cs0(fs4j=lSM{LZg z!EYo;0uV?>?;bqB7-#Q6o@-`ms`u#}K0fIF$;dRDq!oigwoydW)a-27*RL7o!zIv( zxq;I=gxumx08Qw^Qle8%cx(o~P>~l_fS@B)_pisPE6Yne&bx~&Sm?kNWGJC_$cS$z zc&Ik`Qobg2i78yDH6%EwjLR!zOV?oOIsD7qN~y^fGEYILy7_nM{d@)WkCzm_%Pvg% ztwkudh7a?CVp+`h_iM8SO*VkIcAtlh72BZyCULL%<=4G7!A~Cjx4UHZ)rciGR41uI z)S5LW%EuC@$Sw)_8SZ4{y>ZMU5X-G{-?Mbq&y`iC2;A5B$`(#i25;x#U;bVbF=G!l zvUn%2{D1a$>|TCie8n6xFUZd3Y^OruKlm(%ftIZU>RkBem0s^FI~ulc=UYvhpo43Q z0FZ>=SrYOUQ}R52An9RD;Ol(jgj&@v&H7IkQ`4U}Et5bgaJcD{|>3fgdift5~QPg1|K+fa~! zIRgx1IKcrG*|Y32ecYJ2R86r!!Cot-sU*s$^o^ilT8l5KJC z1Yc`({2vw|KVR%Z*0Dbi_dV|5sfPZYHk+s4>hT^o{5H%C=vqq6!ml>#3B0qh_>-N5 zKm5+~;7P`d!&quH%ip8pK6y=N@sE2prZd`h^@>uz&ELJ9XO)Q4Kl3wg9!Fk!G8_M>bBNBMm66x8B8R-Rp+(Iu?iTNzalS5(wuASwnOux3 z4{F~vw!D|;)2q&YK}>l^@Q+IM`NAwavh{)`SHsJmk2_jZ>iu0TDwWVpKBJ@^pAOpa z*wq(Tio>I(TD;z_Ruq53>!s;l=`QiVbAC)HeP;By;*=CC@0H-Sflv;3ffzJ6{v<_E&|krAW^N6kO;aE#0g4HB*47-fuy3u5 zR^VDHF^gO=R6+1opc_RW1IE-)bkm_~NN;NNkfOKcwRZq@t;6JlzA)BXguN_Rie6}GiA^%H zm<@9{wm0YH4YO<==5t!PvJ#R7<>z<*mNRE&Tl`euJijoI_475zLsf4yemS@B{V|3> z?BYk74h7R9DtR@LFZr2`SHH3;O(velU;dWP#WcIUpHqChy@+Z)FYnf}c*ig^Gw+#e zgxOX4|8e)*&lkM~#VGki7cy|j;|Q;Mnh$HwoFqZhZAWo7tyBc7dud@^`zv zN_hnZcWV~ock6n?yeN|eN=L}KZVp)IJ#(S6YxkQy%P^;6#268tW`f^+gOl8g|69_x zTicfhHv9}EO-AuN336Yq$@Z@f_;I0)h3kGVOwk=0HZO|1VfoYhbK`ddwtf~h3Qzp4 zX}3!$bdGkFS0nOVAj)+RTUZRCED&M}ly2H9fAXFBpxLR;cY(AfN>)pL4SiXKf_zyu z{Q}CP>;T`*|1Jv?2;uq2UneAtmQTXYTyfp0fcj=+$B7kgnK+2)h=BPpkn*>Yvaxp+ z6rjYVrS-Q0podxqX4&9x7;1O-F|-0;L%$FC&{>dHWM>qhrG2Zp)q0Q-nf{a#jjmXI zpJAqL@b;Q#y$3O`T8UnkRZK8ubvaL%gH0e%B0D5i)##LGkCS$cwS^IVVJDJJD`s5t zl-A4TY+1s)9xpefA5^H9;hWO9(UEud9p&5Fn$O=7iO;(h{j-?0#7lo18~kxduF_9^ ze?sQjv$yd+ar(M;n;TIG(?9#qctiak&G(54qHI0GkD=CggO`zcmzvf;H6Yg2TfF zpd26;2FYutp)4fKplDNyw6j!)%-%ZJ>QQ*VxbTz<^ruU^O=oV~mxZ)=tLZe|OQ!k6zj zb-8MFlUjJ=s@;_1aRK4T1zhzKJD0Y?z%fVv}y z(G00CgI!EO9pu!yx&5F~J7zx)QJLtB$3|SYCi8)Uc3|9UDRXUFT#veuoGE&rN?(na z(BI;_lnR0H|Usjv`k56wYi1ote^!h!@JTwx8vwu zCVwSiY^V?Xl;LN`B0QA4%(tuWD&zR?Fow)dIBw#PSI@hrr9(vXu1fKq<^!^Y*#S$J zP#>W*f`J$a02QXZAXrsH=TQj7w!7y*TdmpnB=~Uy5p788B_t)G=N;w`;w6&tZP392 zY4AK~omj*_Q1Q_7d=!?(k?@47DNVa(aquQ(G&AFu$4v*5VfWHJhMa?2S7u8F=DYrp ztg{>iZ;dy8Xb9@H3(461J0WdOXZ}`Kgsd|^jNMFdt()o|MH~(Nkgm&v+)n$b5W>nU zH_^jCNh~czU(W2^5-JeHLlJIy6nzFI7X7!q4py_a5;&$dj5@g|U7zc!(q^WgH zS{zOrtz!K-ub~+#)$>QI{C&5E<6@-U5O`r?dQcp*tL?n?r$6hv*Vn&4edl&U!y{3~ z3!gQJDszlkSUg3xmw5$KlG4&G^v*gABi ztQkrvHlst2Szv$0_H%ATaI5`%Rbo|AHJGN;dhJ#(1v9g!d9x|cQRCuu>cPlUZoq{s zdj@^MHvJ_#dbMVHt*c=_=TN%B@VX7DAQpS+T-&23=|=k_u8TVLIuyZ^9?x)PMzZ4K{R?atyl81-`W}fTrS$6^*FZ| zU|(rxaGj7WOyoQ&k6@nZ)Kx+dD?`vy5ORZOF9Q9`v0v4JVhyOUxIbD&L{?#AeB8}@ zhm}=D)(C) z_Z=7SyGZ=e%@nbZWqrN<&X7dC?@KWAMs}8Qy)etqj`e_{=D@et3D0-yV~Srq-?bGr z7W1&a%%gcn(6WejF#s<*LjPRqq`~rpVchG!jl#wO!)<+rPxW0-bsxX49nyZrG7+!p zBGr8PyeIb6J67G%64T9+tV)C4wP!N9ISZMeejGRY^k=8(Y$&Z_rrxPvm^BgO41P69 z5$F9rk7`r@tXKm%fUpntWe3Q{S_i_eGhfmV;5GO3`TG9!*Novno%wSps0RdmYcfDI zwB+RcHAF~_t?~z;bpVCJGiT0(N+sY}6es<43UCjZp6(tRO6{J9Jf09aGoUgYpN1PX zRCPpxaZ5r2>q`=oUm|B&f2ha~C;v%I6pNQ<3aST<69YO94ya(KfO!GnsG5yQP}NaA zB%CorO}wf7m2~H5#~7v*zNus_FXHX~8u%8gxOVv(TV2ooG#}^fTsv!fbn*yISBiT6 zr&7I;biBv9`YKWShHMu*mZaDniyy3p;FZYg$Gz@(nQ(1tK_uqcD z14DCJ5>7|HKe0pn%(+Fu&X^Y#Bb*E?UU@#b4VGP9dJE_b)umoapxe#`{r$vndEw}} zOK;*n(O~6yBDTISnRbqfeeWGjFRuP@i53(y@836`%qb1LaghBmPlo?*4lyd=n)fa@ zUl|^_bOluDfD59JpP${49n@?P0L|ulHysc8XK26z7zSVh21ubUA4+Zj9kS%NJD3M& z3&=rwO{s0qL76U~&c%S@N@{6oluATre}6=i?L+xjyb&OS1$APz43#H<2v<@fA(W03 zfEMK7E&-qk`WLrAo9j~K)EI#1B6mgRplPkl8oW+10}fX6^XnTM(3NUFUIO{CM$HEx z+m@D@nF*gzF?wl#bc7OcI)Evx(gD5YrrqI4EF7IY92{j(EL(e40b&%t6`}P6a<0>^ zc2Mtu9UBqk!fb#(*9CXl1^T@isUb}>3JLK|=1tq7yZlw2F`5Zj5>H>KFvZKOC@LCo zhJ_MBNj*pc^i((2U2j#g=k81fH%vm2QQ)|+@F3*nRMLAB*L*O>1GV*E>!pGyH!Cd{ zJShQ4wl$qrpFq&8sY%0y{=agE*nz$h+8=|6Iu)dq?16zj=yV`{HsDAPVN5X_4UkIO-p zG)#+L3%e&|Y7v?nsA~4C(CqQ6=T6nG_YXJj+kHW5QKStkwKwP!0QCtKGUy2yh*_W1 zDv}hC=50X%0Bzt3)eHZH#Xbu0RlNTFL6C!0p1KvWfX%WQ{K!r7>KZ<&?0}$IURbz_ z@F{LSm&*6hsQ~#%$a6sx$eiZ2K;@o;7GuxU%!>gUMoQ)@T{ z*isLJDxtMhjaF$Gr`DE9mK$YcjJw&A2zYXCx0_ z72`2?_V6KzXaca?bSDrlY3o@$n01sz(TP4IHwvU`p|se>W*Ssr^~J z+O%ga+v1r`dp2_5NSr;7tzBx?6;`zHq?AaXC=s6OL@)aCa_u zm1WOY|FIIc1R6Jrj$>N6%Sp3)qjRcP)LduC4}|d=fq+Y+QK;1(xbR3C3u2=}4E>kN9nIIW=6{E;BXt!ne)aJ!8op+CfNl7h&~wYP`$ zm@+p@DMb3_c6_1DERFg}$r>dRRHXy$y#4**<7TH_^@cm`8HaS{)1TL5Ge0mOEwm3%iPa0jkeZR9H2C-dEts!;zZej>)LF9S^aoZ^KUByG#zK(#$&LWRFU@ zlozryF%#VQ#TUa*6vXE3%uu){?$VTePww$|_AaN?e|`7b2r|mVcE6s|YJ`wPH?$NR z{wqmc%nH4%(w<5o6nbO)TLSJKqD1vLNC6>Y13Nu*u>|lDYZ?)eQaI%R)(xnD&``pm zd{94x(kl9EonEsE35p);fmbT>Bil29CaG4lX2Es0Izc49`Y_SIrzF?J=TkQyRh}qB zclAR)I$i$uy8HeK`n8L8^i2OT%$E4=L|eLO}&)ud$xr1l^%8LLYH`mmKTK zK6}iVDUe#g%AO~4pcmG09OC#6#gPiv09geE z1etXdM=PnIz(VEf)bK7gYFtpy<6URZfGNZLYKW5x`=B$PZ@Jd(u>l@4h3Tmxn;#G2 zUvsD~mwdw3YKGq$C7}$O4p|CH9Sk&y z0skS`%*jRZ=($=4CGLr(&;SMn>?AaQLF6@C_aC5IKot*w7Z4}pEmP@ns({5KYzV+J zh4n+ss(h84oE-e$u3lYXq&Nq$gM=PD*5SvNqw!mw(v)b`(C^v28%u%~6{0=teX2o` zfklNLkK);t;D0F1?e_kGZ3+{OsA| z=&+XCgZE#YM$un^7()hADup>-r8yoQTwlyMHn9Rh` zW&GE6{f*qveil#Ajlqbx#|$*epGA42ME8D2CH#Narw5>GQE@UuZZ*$7QXX3m%_8W zbcf?|(x@a?*IDXaev#=#>8FJ{=kQJyMvn}Sa|(|eGOGvC zZ{^L@ki=y|vd>hHC3T_B>e~0)-h`sm|6^Lc&T0ywmSsf?Zk9sac!vBWbAV{(Y(R_D z+Q`4(#BOM$cG_-1M1HHc+WlW?gy9GU%sSzHDq(Tk*ZYY0_E)YckENlJ|(@Lllg`9wVI?M-~3&72$ISk zurqUt{H{IZ60u%fEPD5G_Lw{(HZ{&Y!^geZp$f%e`~RL-CR>-oRNUUn-fk&)t~{FI zITlOa-0;41zra=Fm9;VK3(&4sZ({`D-|+Yw#GB4fJ+Di5xL4fb|u_GkI59uhP6ncV-n`X zhOPh^Kzd4H?{yIpvqsJaZO6w3)_} zu6=e7dMN|H-DYo+u9(0_-9!Ut6nD9uZ`Q-N~X|yjUTj*0U3VSo`=BkJRk$yAsyu0!x57stMcVJWG7X#C1kI za8eX~;qql$qf+GijNkZwF9He)|AvN|4Ki&8H4+Vr3o06`qEJ+AC z`6?3npA=C|9B~Gg3wggr-$gfKOWOb5Q)?7SIojYgO&W3G8$uBa)K* zM23ZR-_W?0)GehxTcDFd5>Dtd11t`Al~uO(^}Pj<2p|W+7LRmeYb!_f_eoa{LdYri zW}3HNy`}(F`E$}9$~Cij+kpJ(^)rCtz+I%inNG<{)1IXRY z4Gqa@X~O`N07k*t(*Q+*sw$v$paa!NoB%+FDjf;rK35O{UfkuQq?o)3ASgiL0JIR; z%)0o!rnY)|dLU&V^TazrD(vqi3A$_OuMLy`!=5;Yh7kZ@zS)!-Xnc(ZTz)lHHY6yH z^8Z`YC_}5|yiv0htIX`ytbFbl4>G?WJq>}nP(uj2l7a#lYbF7HhDZ($yzdXfD0H(qKA``wadlnb1yO8O9;6o4-9qkKZknbjB0OOuFw1N^=z3+*JxJLee z)5U9VLJ%07k*dUUSJNARC*edSJ7n;w=g&(TpQp&{J9*=QcT-=Q#36XlNqhw0IAG>M z(el0D-`gmNw+9?-O>cS^&EX)AL;wG8I=n>!2r}CLcFr`O;S&2}2cvrn*Wd*IUIwJO zJ21=-AKtkG;{Fj80B%mv`E1DJy1h|73q-z}Dk?-u3q*}x78T=>;B(Yrd2`QADeZk@q-abAX0DZ8z*8HD#T{}R7S!>e*zEpeSYyJ@^Ap`YsnnYMsdVF|d z;w>;+U%!5Q^UcH2|Jq=ZLGORGVi5HWd~@1DHadLON5QQFI5lQkBz0}=?P;iGpukp+ zDhz;VMB3}uDvD5m14<1vn^Eu@hw#?O}l!vu#z2?(dMu|c%wAz;t?q;{$|RYW2&JQD(8V1h?RK4<-RSF`UY zm*e%jM>ke|1J6puPTxw!%OcTkBh3?7i|mNW)LjZ#_p7e&oZ45KG*wm}GF2X$4;VIk z)w<7*_&AbOPH|<;I$xix3%Y(aq@2166PJY>kA)?E;oUo{AMYF&54&i~NfLwpyo+ym zA9$o{E$zDK|I6j(al_JXz*ey~X3%Qlh!Q@XV7kh&2ZFVvRrduPLNcg5vdkPK2>2&L z3-O7G=vq0%x~1k#!6&>z`h9mGc(P9CJZnZW69xlY?+_ZaLmTmJxy{}+41EF zAd=%Oswj~TzzBkBqCtd)qT94Dc(V?p4+9eRlVR~{CluYGwSOa5xpBu!e z&~;AwGG#eifIGt~j!4$Uq715klQYJUQ*_f@wxB}{SP?KtpTS`UnItN8 zoJs*|*M2lqBy2js2^cP8U9t}i4Jd1O5Xy1{OOARlTx0>iX8vFATOxgVrON8+sDnBz zV5}pTR{c8Mrz9zJ)sN?J|{5u&(>M9oMVr%S6#uq z#~UoK0bB|-5VSE+(gklp!xO>JtWm#U%!y=+B>`Cvmp~53HxSt!77T5lw;6w*n0V8D z73>glfj|Qy1MZzKKvR$EHT}%k7_cXm5p=5o#3Tf?Kmm|W2Mf=SAHKQu{Tv;A{pwX^ zQYsM4FTi7Stm6p&QgE4QKA5lvD9I#LYMT6gt*xyA0B`8{E6UQ^8hj%F-CFJT9GQg{ z4KI8R5^0ol69BovT@KDvLSMjs?shZBxv7eQK_LoUy0rU%J6U}c8=PZdp1XCIKfHIZ z3d#$=ep%!Vjh927;}7j5$ZqMxp0XfHM}5IM5OkpS51JIdW!BaCpvGvrN@7@Sx(jp)!V>`sAO9l*&;b$cGc|e1_tZX~k z$jSUyuuTihDjz$Tc;K1!f#o*B1PFs*x+Hq*mMdUO@1Juil6ABLXi3_y2EdbGjOge& z?ob6EIu?9qn3;bAY?WAP2S9`G1s*AbXVcTC<$X(_xIYV8>3vHWWzc#pIbvplE9&Nh z1yv^)ELgN~Sqj3~Z+QwnbhZ5)`rV8IP@-*fW5{(WJWN+Hyc4!nAD z|MwC0@A0(Kz6l~k#09}jEu}H0FS}K&IBrBcP;_Cf0Fl_~!CP+JHn1xNU2|dB1bOMP zVYfLs47~KL^iWX`$y5UVF09S5l$c2DSoo*Qv%bqaT*wbOIp5z)o!%(N8vQ1sK?ENp zxlY55R4MJI#g#WU8L-sqbWKe!;d_3(dIA{F_i$(?C1GY{Wm%w@HKm@g+JJ8ZScdgq zO7N|-7b!u8Xz}pWsOoA6KTH?Yp9;e(A~I^m|Io()b{lQ6YGPm3lJhh9kv%uCc1`i({4l-c80)C?p_!UOq{BcA0 z!O#}&q?s-)1@eLH?Dy?G8!j(S;iJGv^Hd)KUJF1=OB+)Et;C*z-_(sd#MxJmj(&W>Cq0WI%BQTg0aGt$;2Snq=BBSb(oE%G7 zGPSj}bT_xP@+xw26pK@atD?AqfW7zRcV~e*6@*|uq{JVq@z2tQ+DNhw$1oa!VyBf8H?Bma7}~d zfvQx)BKD|1zma87<1!DS7-5Tb#fsZmMN%X-ZRuzs8x1#k4}cUNRpw@j7!=>z|1(B0f>4!5zoz?B4Lujg=H^sH z18KWvRYn?G`i+QaMay6=W8e_x^GqSY1_2Koeo}=UVR1F^urr;ofq=sR-%A1>pou}+ zg7TT&n5@pr%_YBny+a(Brbsb!4 ztV-_{HqM9B3_ra+K0eOFLxp<1NREj!UWaoqtf7x7ICP&X6fs}*AFCvcxqG3_U{n|Q zv7M&&6C}cbuY3n~HE`N#vgvnWJda$y;s{5IV|Rn)*TjG~4mwiM_sZgM0{A{`iaZ<~ zW*w4QXd$pQN1dGVfum@&08atf`d-qecUdFF>(Hv} z&um0w zmp<~RS&cG$1^yBRYv%AI#Af|g6Rf;j;{YXBR2-&AnPIBc0!z5 zPnAnp=2`LO4TK(To7445x|ljTI>c)RS&yOci2y8fL6axb>THU0MoIoFOyFNnD1Dm; z^bL;LCj$ssvni7jY&RtG# z1yrMA1c*g2HeR!$UUR_Rx*H$=4Iv^zI%Ij>GHCfrW*h=(Prpk5uRMi{JNU58q*fuj zMF4B%6Jc1SPa5wCnvN-S6|13+4M?KstQr7UsN;N3mub$==Qs)e_va71Iv$}eYNkRH zY4XDm!=e-@b{{Qh%pZ%*zzn5xHF;qisi=590vj?K1XV;WKEtag;n4Jia3Hmpd=2nl z6aurd(>;BCsQd!hVvP`@R84{^2&!xj^r6C*e{*d43gvH?zRQk?S(TO;=JfgQ$C2t7 zyax^lGlnSV;$Q*ZZ~;=1eP=jwKM^uw8!pBIe)MN0q2jP9++GUk*{E(CLgs9q=se&O zj5B?g(mVs(Hap4|UgagRP;t#TRLo zzd>~#0n^P2{t2$-I?EUBXF}WcId9L?8!iNc&V1>6-#zTsz<}9Iszf3SuGK{t&sp~) zWEIaTQC}K$VZ;e&X{AVPxOLeYUdhgpd59OTa?nuSq z`V?p6zsZ4`AI6|zP{DE=EJ{X#zjR6+PF=&rbQ9N7BHed=Yk-4VBf|`mAQJ*-NJ&xA z3;2E1wWkRbl1FfC{@#!pcx9oNfO>IiVx=e0$AWkeG%sL_feWy;G44A5e#K1)VnEoU z0Em+dwvDg^wcp%)R(+@_)#`^zZ3Zgun3^_2yM_bkx;1>6=vo0|B=m=7L}qzkh(n%#mQ3t@9|`J|Mw5W&Sk9_x<(;c9G_x?Eee2&2qvqM?qpK?AQ6k! z0-W_Oh}oCZ&%trE@pr6*);rNpaAq&3Pg_?=0sanQ;;vn+D`wEt%HmL#2{JwV zMFGB9WAMpU82ri3E1(3ilb}M67ttjZ5IBpQGd1@H#ng;)2p0uO8~LUE|)1V0f5 z!JM$k&?oCaRW@e~aOD5Z@>yKxb=#odC*i?bi8)+81{aVCY@eRP*02Q$mJi>@9;%y` zxIvwr%FVM3=M_LG8wc>%?CjVW<#~m@;9F4fL;ym+)r|iH4TKn=O_JWXQ;TXfbAf_*wZzF|2o69u zAu0=K&8X4DCZNt4S^;eIqo+MKpA4XB*fzfnyy$G044@TC9n(4Qa^%2f`wd3I?RFN7FSediSzHcn3W$beEui60K{kjQd75!5XpklE`C_^{c0 zc|jiwUsd-i2c$at)-dwZknTZk6nh&)lol2jm3N05Y8QHWyj*F9QjIFc9R#UiGN#N< zeXO|hsj)WZXAx`>c2NTNUfx*6DTU~J+yU0_-I~G4)3!EwX(dI>gJ?F`_M!-*I}!tR zi!6W>y$hoRaAS}CPZs}eh~ldo{vZknpm7a!+-LGo?}aG8dd8=)&gn%yAB0&jLt%^C zi;muCTZID#oZGv%4#BXlkVtY{7N40Bb(^|?g6cy^L}DE&0m27DE}y2IP)GeCn0-l9 zwGvnU?>_hUDi84C5hbOi)srZ!0xA@OYgv3~bmEpDAgdrNg^9*Jq~?F+zf);cFWs?k z8@2$9e!I$-Y?@K--2c|dXoU3Sd%4EOY6EUam}B6l#s8g1b;83x@dX_E`YR!WLBPS} zsv!={8n}#AEN0$k8o`8wwF}BR;&kj@1w``;s3M0OLBqw#n!lyFd!EPo*!_Z)@&keTE;)yUPDxjOTymp|J>_b2cjug z*NQBT)oMu339v&E4#GyjEk+dIOHEGh>=;!X&U>bGWDoZWGrQJ*^Xnw#an&>FXRsua z4NIg7u**w(KX`queB5gV!hr^dd3x z7#qegD_{lm=={N2T#}v$aXS&pw{7z-kR?NURYC~%pax)XYHDw%sfZEPT5USH&1%VD zxh3LX9KFk@C}sXM&^lixqznhwZ)lWs?E3SPAYPXVj?EBBtg4-ULkl`WV{H@fg;$5O zfu@Np2q+BY=7I(wCOX>w0W2^u7%MWa7ls)zk}xRS<%eOc?I27OWbnZb{7LX>9P9+C z_c!b-CsHuYprwKxio_KV^X-|8`+4bKFRy5Oeukh|{KoL6B2n8hTwes}gKVakg zvNSQoo6w0nVw{ zK+@u-1sxj+feqTOWyK{jC)|G9uxiSFn@P~@sJNQ4(YI8t9BrhcZj_-G+wx;D1H~|cW14t z(E612x4k9cGz7W5(ZwG$_TD&q;ERVG$7}$8AN_81pfQ*R!=>MRv78+@45(TPK68)S;X^j)um}(5r-BTf^#B@&4OME&AyEJF-%VDJf%#S}@c+2+#>@-12vZ zYMVezbUyQc0nABlY4gRz(k|2#1R(kGkA1?ScV(cg;H5D&vmkjGZLv`jq75yKkBW0y z^tQ_V8xB1Y&N5%FrL7McFyi9+8di5pw?vc`{#I46;|o_kf7SV-^{Q@tll#?cL~hTT zKtB(m5RPwN9(;oQ-}5Sf;S84P&*U>fmAeD-i>x0kGf|6DxWZ`EvQE>yr;Mj)E#l;z zjQnvym)tI&tlTDTEq3#5I@QlrPB27|HP|PAhBHy$a`5KQX%)r1unY62xHK9PziF%G z#`NKWEdcxNp{yiY3>D`yVy-z(tO*u+?(s6sAb-idq7H33lm)XR@$_IyOuja%&I+5M z49d~BX94{Z$(SXrZZ8K<+4YqT&xjz!#LUpVe7r^C6^EcmKcn;E`b-{qU3B-f8}T6Q zkp#CGe{Kgdpe|tLC0~65cF=mLJp;n#dzm&&9Bc|S*>iTAGr^n6l6bAS_JnRvbf2f3 zB*-b{pYd2SglKkqVVaY?C#_LudXDo6-2#i(AxHpYXXuSrMirFg$nmk!wx2MqrvA4D zuJ*y~&R(QJ=})W~L`L$qClXA0d8whHAud3qvBgMlGm+Kfo(yWPI zWtO|+uB%aX4QzkHIIrnlCk`=-++)1I@+(t-S!cBF*Sub^IOgiy6d@vazRa@yCUtT` zKV|j~`Lg&=Jm%A_~%iV?gghZNhl}n|H-f zDKo8cVI;c(Itd`3V-TUB=;m!_m3oz-C6N4fb@qxY2dNt;u8<;jSmSn@d|PinYu0@B zrYZke&?2_r7Ut2qn0tYhx8@w|3iHyqto_!t7{qqrY(amHaee2`KAuwCp_mdp$LMc) zNAbs@1&=$b|nRT#FnB@r&KGY%ZPr4gzRh(mP>`tqUvP+I!h>KG{I zPDPIxS7`$$|D8`pDzUUr#M2N?jr;fD{qsxJ--a$qZI8AzGOR@F)YE5Tr>H282t zm9x3Dwf+(AM*WSo<8{!8G;wj?`>Xtf&xBO6d&Bt2=5UzNYQ{tj59AU^WaxT*iJ!K; zBQRC63|d$Coky3a^F4b`V!UKjm8zXjW;_waKc&JBr09I1Zc<{! zWDsN)>9BJ@+cvr&!13%^ph(&!#;QzsHSN>w#7DNs0mFDbT*Q0QFWM1SWQe01#4;7< zHC47eXu0#|vcPWw^a9$q2S| zArZ9hmL4wI@(ZeG8T=_3;L{~UEVvE+qU}q&P`^hBGi)57OyogzD(>zbMaTbTm(B&p zD9!!OuC8haGNm0jcGiM1a4aY(NpzRE$5k7yBdCQLKkz3$-A-zIi(zcB6j5_9|9xvt zA|_KteuOVUwBElXCz>GN=-ZBcQNIBKH@-6Xmd%;OkEW0)(_i1YY>p)S@-oAGS9*2R zlLc`)GZ8wc!h`gYe$x$CpJQzd8W)p^R?V&V=*Uwx;Zw;3`|F)X-CnJvX!6>?>z~LJ zKqDr*y(JTVmBz(~RZH^uTbb5cjNp?QKi}bqf}ej7UTR>dGezT|xG{+^qm7cgnoUQu zFJ;$c4zzmENwRvRpwJF^l)=4wGJsm|iomi-4N+SyjfM9bDUKWtD?Uej<0|$8eg*r1ZYE2HB;=Q; zkqb5mLFE*c*0%)egfA2x99ko82O?fIE0y7uNKsx;{y3w*pcbuSe!@#@Bu;oQRlO%b zFaWztnB|A^#9{DO>s|aMr=!BjhrT`>aOCkZK1vjK?V{}QKYp^5 z55sOXtCZmp&=^U`n;s!9><~I3E_AYgHw5tGPeLHcI5`hM!18h$H@JWQa1<&TP|Tsb zWv#I;&urHLk>mX~rZXXjSjA6_cNOfzrNu^`^tUkI+jfmB`2msvKX0m0Yp%7U!k81N z64XKuU<~@L!)ZrUHZvGIn0B+_3sgBWK`)zwxvOZhD;f7C5=;|TqT~H=sAUv(O*j}u zo8@<%zVyj{^UEP)@|ON`1wQF1G6~s6kGO(gE-a_xM?Fr^L3H_GU&;Ji$dA}EqCqMS zv~DKJh&eG#M4hO?@bN6|%(Vj}y5v#IGfMXKjhc_j{AOQXBFyN6=i}sxWZT&yugCk_ z9AU;fs@4%auSRb8Qtr`tsqykwCXjfb=?IcPcr+T8ilrn!mTeN>Pig)myfdnd1|B1a zxi()E;i{tk($zq@{V9fE8o6iITDqZT3G4I+ZRMd6)xWpxRmNgYn&rf!_mui6E$Fy9 zzC+0euunnBoep5(5F;`p3JD4HKORw2>vCuu;A(aJj&fHX|zdntZ2hNvOP&0+HO@^a4D^u38KADog z{E!*{=icX4<(BO`SV_c5#Fh+Gr$(Msw}?ID@MM$CXei$J3>liI2i5q6N#YKp-ORb= z;`h7^cZfJ8ye)v4^lC<&O82uebyP9lOxVz0O2DYGNrsB_rC{1K9tz)jSQ`9%P;#IME<(fs=Y=$KyM2|*n8xRBui86 z44Hq8-4nZyP8`=>dkyjZ4L^axnIIf9BOzwYmgyOoLgf^=S3Ax5tq?b1OX3gF#2scF z#^1#q>ui-o4Qu0?~v;^>6kn`J&(#--iK;8wsuB%`#ca9 zaOEclcL!K*lOh^TW^WqPXafC@?24`6+aFtBzCUo;3?dC_#y(+rcj}BNi&0r@M)n8E z@}O64(+2Yp8SehX>i^qH^Rk)&9~+7p%Gm;xDK~4?ppOQ33R-;y z(BGH2*oiwU(3@rCh#EZS$ddl`y@yyEd0Jg$s4Adyf%$pSqeJj{7IG}|Wgo1`w5*wI_wVB@jZ%&9Eo@@{hYYZSuMWY>tmTa^yDs|cxpTG z*C=g@x9?WL)EnJj|Lhu;eC=229fwjUQ^LveCW5%E^tiI0y$9-RFKSy???HE<^qXVS9$NDuZch zQw+O()sy=^9!k1UlS4Bo9!dE_t)z>Oi7uXof{4nz<=p}|B`AEDl#bd}0^xWTnuw?x zHXXDMPBOLX&{R#sj;N;b+3KncoleUG@bs07vNMAf)9eOP5_bKH6rjvgXYG^ZjBxoo z3aM96=L?$mX#IvJKPwq3ofYup`yXw4Ch!;j{zO+!NX<<8nE6TUTX$k5fjJ7z*57O^ zvh`Jib(mx93h9VhPOl#1sgbG9qhLqwqHHuCzdXid2;VP~c-)>(_;M!)fK<_ebLsh zAPkmmS+eavRpSm;*dWF4#2<4G%LqLb{c`0q3kzcTmpKhi4<#=8mutj5^QDfj5A7VE zN>g_-8jFZMZbI`Hn+=Ly;YCp23YQt#?9+A@`*DtE&WA)E8>v1B;yR}I0$m0roHfpY z{cLZd1}g+oJu;mhDmy{86ZnAy2wb1BzZP@^1T64P4&?CU(!V^UfbtQ|^r*hxo107v zJ+~Ml7^$fJ?SthWi97tBlZq;%c;AjIZrn=J=QXo_!x~`9(9ll$4R(k9|(&>e^WMtMOY!d5Vg6_hl(tmEoK6gg(L5YYsiK?Vlh%K(1q1!tpAGzeE^D%m0{hUyEfH`w=xJ zMw=5yuqqes?CqL^EZeJJo?@mEe@1QL{ImU|y95aCahsV?bD7}G3VOqExw2{89m+N* zueg>#`l?TKT+~!J%=2t16OZX0o|46gAz2jCTt+)ug$bWmm}{sQ$d}>8ljMi`%A7qm zrweU8Y!%+L7*r1-mCqpG40Q>3R)*U{pn5KxxY!~{Mt!Z#q?Xm^`pQe4jdTrQA4y@h%{e_ z4_Dv5G%Z_nlhzZD4%eRNynA(^n_9hFdXoRBD)w1in{>@VTW$TL;?yvz$Q~7guv22m z58G)@_xqL8(I>sey4nRvTX(mU6}Th3nErO(xf(;Vs9Wxxbf1cJct(M$RyVoa$)2HB}UPH|>ZA9|jYG~PN_p>a)@s=F+hLX`{{T>LSN*{MaU zg{RSpMf?0Pl=_|#IBp)H#k@bpj!K-U&I~hb{@LNKhfG10x`&7M31kmH$cv9ub3)a~ z%95SgeJ7!ku$2vy29q^^KRw8m9g%X=kU?v7+5Ct6uU@D|Whj)PsS%q~G^orUp);}< zd8;-;PRE~vCfkqJ9j~PN3S!qTk1#3z$4ti_EP+?6cKCB-iHV=0nOAPcAn8R;q6mID z#azBXt-tlpo0?nmC*hl;A{jWN@0E#8$z+4KSlW1Nn!;_p*w+{_(K_8&rtp6gAK8-} z*pQ{SnqnU^+Bov(R3^_kKd^g5kH#8ihJj=r!#!jaZ3-g=11miWWB@rnr;a5iT@Wef zmp@ZzOHSR=DJn=?-bAMeeJsu^Uw#`#hFf_iOS~&bik7=3xrTt}5r0e*@!cx_L1+us@Fl_E zgB-q)+zL*fA%6VR=YK?V-TiWj?jYCY&S&SwqTuxBub5`c#ZPI9mOE^7rTk&MO&>}c za*CM3$5Ls}pzBtfQ17v02YE9+5;D{nr!S(xS~FyM-ekgr8&K zp3ZST%M%=&l>8I)NP>1UQ=t7VMeRYN(=#RoaSSLfiha=!A?*+U(e6%P!iPqn(auEi z-rI8N(lWpAW}NKEwfq1KJyu$y`O?;SoXqInwgj}Lxs&UCO=2RKJ6O;I56jMf$FwiLTP2(bZ=U16Yj*Ib zkrgIvd?)A_bjn-l!op2!_GT*nJNatUiA6@`CIR<&zyI$nE;6jDC*3~iKkesAQG+Y-d=JOyg!MDCjiql>K2`Q>wW41h zZ~&Al@7pI7g*ra0Z#CpXMLNPccA}mwl|nieDN||=R;>8xf-tC^_&}mj^P=hoL5I^ z;eVqa_(X@buUY41c|l7d9r6gymOIjMnMAI)-N=Uh8`s?OPt6rE^zp^@NsI-wA75*t zyC+G!PufM1=HM_xv%znZffv1<M4)sNn5NftH!7-4d<4^)E!(O*1jJXIJv>|2o62Q738ogT}q8zjwR);gwTM1cV$vqqozW*UjXv32J}oHf7wv z>1Rccw50oZuhqBc6cr86EI@y8(qb>z3xWZRYB zc~f0){xS}M1Wt|}$5XzuhUEzoH_9_Q{9{H;DS6&^$No7QQ!Nz>pAtd>{%BW=_skf1 zEamJeR+wqgih0lfCDKxLjJVA%ZE&Gop`81+_uxxHHMftGYnt1Nz0kUktL;G1lv~9E z{>f`9T8+DTr49x9*YGoWWat=kWU7>|{A~1zK;kZDx&Me(q4U~(p7o%XLc4Kp{i6ljC5wV*LaD)S-&U)5l|lMyoyxd2(b54`*flO$^p0E0L#jyyjH?tHyfn z^*;!BzFd*E)@m#qk}RzAchPnG7r>Xex& zAeEm(e=9vI>`$Nf2|Fg6Q6pT6;(*4ynFJxv3p<`KzJ-{)mTd4P?b#BOc1ub)^dX?t zkZo|7%Qr~LzZYRc8+$@TQWNx%BH3lRH#= zYDQ-w!^`mGcw<7%v~IZb9iA(j-j;kB=iuZ+Nxbgu`|YMN;W5IF^8KQQEiwFmlz6QX z)Q|Ap(XVr7kQ6LkPFoGTJ?p)f zdHZ?O#Q7S-J6|`GQ#SnfJUxrk$AfZz$a#JCngn0wIgP5Unfg2QBoC#pn+lEQ^cd}} z2bypEySLQQSVws{YWy4#1=PLu^EZ^oXvUeA z&C?^p-tfoS^}2Qkc=gQj1~1`Se%g1DBU+;z>ueWpG9F!S!Sd>1Ojan89UIzwv9UU1 zY21;N)%6?inLKuAtHpCU?Q$Is&}&9~>FVmrG5tKbK^V~vEn{ zMU2wTd2)@N7&kHt7s;5}dzM8S@(Aaxv_kjwaf`3YtJB8UJ9Wvt;xfG{BtPizl6wpo zlDv*PqS}Zeics<*tgiC585mrI`1-BzMs&MLsPH3N~eTYwu0LBcEK z_67~DU;>`fXQKS*Eh-6TDZXc4eW+FNxr{<6FvI|wOx*bA=96!qMr8?#h+qKlL}2B5 zX~6cXn|NyP$hi$76QfTvt>J7e=ep_E<d{wYTlr6BYR5!+|h>To} zO1g)+{*HUP^>FRo@%j%QZOte_h0=h>1K*XlRIko*OmFK@>m08-*2+wa?Ka0cd4FDD z@E8xA5kCH!ef9EA)dh}*sLrK8nO>Tk@oJV6>EwZ)^V+Y!u6_W#+fO$8ZS|4>A^C6u zm@C5=cK)do`z~8?!_`!OnNz|&T$5O7+AA3E&9z0u-ykVc*$@{Dh)t3ob6%HR>%VQZ zVwPj&mQ%c^v3xB0+Le&;u}txYUWE+Xbgdgh-J2uAL?ML9v@m(4 z(dtBPiWBUwQ;bgKzcwu^@Xt>8Gcpy*TS5^K>$dRu9==oJFU9<<#w zW0`7PA5bkvlbvYm+U)Z`tQ|_NPLh(~6uDFN#Fa|p7K4wabq}uoMR_`TQ{9@><2A1D z4=%n&5Hb47*<&LeE}F2uMe6UTm-`G&fsMk>@A9_*adT2-#{A`)F@f2n$*NSE@C|1YRP>v> zFw9lAsr{R`6`4?Q4|)rm?nTbKq=O90ADc9Ft?53b(prd1WkR<}M!Rs^bX@L^$q&%DW}1 z6tj$%riaFULgA_-t)J*LFJ;FtwsgJX+TKPC*PBs~9P6Uq!>Im)a0p?QE2u)h4MCbEO#Dzu#|f+`IDPYmZQ7QTe(XZf$0H zHao(|WHY~tnUqcQn^0qQ;XZ4*^^e{tKOXOQutzYqSfcw4E?DEL9WrdUxb@_G&GkrS zU(nVXq8kgG#!6Hw#Q%2SK?F6l!+)NA2=$IYHQ{LTXnuK^j( z^O`GTHp`m`xHMdKKSa8v|0O0RvVR@<38IIq#j44h)bQ)7Rd5WuTEuf7jkKl&4@;P@ z6@89SbL2{sWU#<`>)Gy4tj2%yP2ou0?Har~xrElv%rblxHO3GvsBG{)Ge8StJcY*e zp&SBw<-+s_G*Ds7cz$O|`#m(+Os#U}n(kn+Vvc)0DZtFARC+6Apwb?HLJ%0{CWJ{h zxD_FGb!k?i4DWG3TPPV}EB<`@vgyfNyicf0cM(;i+WaIvl-$fKhdY4}&@L$8bh1OyU zdC8Y6-Aw52xWlcrbp0)Y+~v!yl8G_O7Hm#8UnuBSU^OqSeCdR#kNfRJBlxAkZ7H=el<`pBB@Rm*(hudrjPU0)a@Zs1n9p z$&R@8EP`*^{$t@w#7o=7sKc40fTN?-wPZfSYT7E2my6$d>b3?V0{A&&Dk_GXx1(~K zHlBXiH7axD+fVEfy5U^tO(bzRSm{~IyWm*+28E5TBYizwO+vbb;Um1CYfU%x!Dftd zrN-!-`a5%cIbuZMwbVyPBiq9OQBQ@B4h8Pn0#?-c*Ftljv~*B!o?x<&BR?U`8PF+E z$r|Q`Ap(lWuz}+6TenD~RRI9k1e1`CMcG?S#3$@2+RR2#y($(y1Fe}Z; zmmWopMrL#J7c2SR7>xIGqMh~n292p7v8?rf#?mxmJcXu|HXe+Y&tuCSxg{KrfqN(V z23^beBG~wjSJo-@68t0*omILq`pmu5n1otG2wWVVJ>n81AM0$BMjM%eeX>)Kawy&a zp%mVXZ6VfheLF2^J?Q9 zME8AHeF#;`37dvQPj6^EpmZbR9yg}T7lMKv%M@lH&pV0Xs=<&uRtX=;4wXARq3m7h zi&ZRE9>TcKi&rwmw5)I5J760g;r<4ZE){oW7uQlMcvS>>H_Q9AmN@$tf9-*TBIB~o$Rv4| zAK{OT>WdVnEOVyDd%s=x*Rw3poU9t0$tK^@eQB1k@iM_pzkXptoQBjIX^#B|@C@^u z5R;`$4CLOf{PS?qD!*W5Mf@GTu;+LM zk^5^={tpX$UL1j~3fgiXXZBYgMJJyxe6T9z)-$?$ZJ!7@B@81QLkl;mHa^VsxA(-Q z`L4WOtBQTt!ym8*7!uajw1KiMIN%;Tjy!c3!U zPSwb^Q8Z{3Z@h~02;i0H&O zqKC7r*OBLKsSp%w4t5Yw$0~{(Zp0hGkS(MC;d9M{l9A)2wJau>6(?D@sCKsAZKwN8 zjMopdi#(?J+su)Qz(u_*k>T^Hm))KJhXu(0oE-ZA=YJ@M#I0qvwf+Z2wlPe04^3P5 z??SVLM=-pbHK%*~uJXM}x9LU3r@TDe%;r>h-y>+lw)Q%v6z-~LlVD^}XfP^}w>>iN z4GxY`_IZOu?rWvoda@aa`Jh~U^t8CT?djv9_SMYK532uI>;`MkOfEP0nn!s1trUuk zG9<+ddv1R5NR10E6>Q@sHzdmJ^OiEPs;cHi)9S)h)5GKMc&-a}{;9g7 zebef@-`RM?NZ{v&qR$%goBNdqVfk18jb}TaDGaB5$)xfE&)Y+@etD105B9lhu!9P1 zp`fdg%XTc^Lj;Tq0*rC%V`7PrqmZPPWDKgSkF@$D2vUjjLk)s&T`#j_-rwA$LBA?K z#{MmNhyHO)YjqzB9htl)?nw59!f+t1Etg~Z*bYbW!cC(0g}Xma5j=qLi;M8LSPNZ3 zxOsfhjQ!kAD9%eh#i!EEDN7RK?lRoE)6wzvbi6Fqy7zpBX?d8pNo`}2dfd_djL1#% z{zykP>stRFk!Y3NLAJNZ+e0Q47$sACb#ohLnD*}{jn!kwSGeV4-bO1UDMATn!4r$E zl??CoR3F#b?q&=wGqZLex&w~13ig}GR*EuIeJ%waief)>5QO&88YS<{h7#1G9_GF? z;ySX|m??hhD0GuPWQ2OHtWIR5t7r4FJJR+|3C|aNUi% z-|X;Gy^NJDC8%yFPbyOIJ>gIP?JrS0iFk}(=MxO=^`5ar?Eb38yGriQzL8eBc3<+c zf9mmLW#zC{>7%bjN`be%{Dv;B-_ogidT*v8kK!!glKrxNU*uWEx(!eK`-C5s82jx1 z5nA$ZZITW*%nY?YuP%QfZLF?o^khEtJ)xHA7qt_&-aDnw_q^7h7n$DtsRr~f&IifH zycCGk-rS*%IRVl1dab~D9^-9pL`pf752m$8P1F+Rr76FP=R-;S&8*`HBP}6N77!lw z#%nTIOC>NEuSQ~zY*lLt3YSJCB)w+Tmd{#u4;p@`$rbU3-EhCq$Mv1qu)psbsOSu9 z`k6d^9F8pbWD`d}o}B()L)h9C|DHSM^s9+F5g~JS#27oX|G-ZcFL`>=D&=xQ1SZ|D z$4m=G{T-gZ`8^AXR^twXG#FM1Rf9F6e8ZW=ZcBL{t@>9yIluhYnMi8i`rO;jdM5oi zzgB}n)Di!FYhcN=wEy5`-%Mkdko)W7O`4cQp{Sf*8Gfo9l0kKg~bL&(LX&V zdUA`;OAJqqpLnGGm=#{3Kfk+i;Amg}V7$qF@Z4u$Ki9ajqpD;q>w4imLmgdR<{5;N zDw2i$>+K&~ahR$#rsxTO1EdeSB*ny*F#IyMz0>+m3GOyjf30Wm-0V_%ru|4kw~`R@n7)YWB~QYAb7=2W4~5-5P}Lr@l$P=r!<( zlY9NP_F@Syf2`JF@z*sZAo1vc4 z$p6S9>AlkNc*xYWx3XsE;(5AtEa6^WYW!S+^x>3iD?J8daly>h(^o&lSOp-qCy+4D5K7&*kSK=ExxhDe{v^lDAjx;SAul zVnz~wFMA(sEAw4tt|&YVtI+vgIpoq>wu17BRtc`eH%b1g@^goYN21S#>k!y;exJ>< zW++;kzZse!M@^bvC*o8+xjXMlOOe#jI`0yh)m>hs!M1iA+9_Gi_x82q$F*XF9>#cPWfh0nw^W`DY!8wg8A2vMdIiha93AsxY;c?|NWSCe> z1T~H>lV&_hy`yEuL5kSkHM7ZBTgBJs!WAT_%x|?4V6?Z{hAf9Ihn?S8y`r0jlS<+w zVOf{l8rsu4mg)Lr=izW#zb1|dt)9?B$*Fraj%B9d3pjU{GOLIW)FQRY7=x!>ey{Lz zzxmQSWUn6ZrZ@(_z{$YOhbMTk*-={=m_rJb;?c}poTfNYA7O797U#0GjSj(Gf)5ZNAt7jj2Mrb=K!A_{!3pl}G9*|6!67&V zcXu5mxVz6laCc{h?_uq|-o4NH-gVCWc&>T4fbOpDs=BMXyYBazZZBLny7g!{{FYnr zZEbXgnGE9dmqNZ~qIZ{sYu6dQk@(znJkjPSgBwOu`u?3}lK}gJME@(XBq6-DY?*quJC2Kbg1ei81c1$f%RJ&dmH< zyepM-1pcbY$JqI~HW3h!Aog+FpxzkL-$gH~)eZn8GprNsr}&^vQ;E4h(-((7L@6n* zjvQfT*w)>FD0n<_-{R-DHB;fpK$DPEQS0nxnI|~@Pb8BtKFTZ>qvNuPRUIu|q4__N z5E-g;0@#ev!~uO_iB-~39>qsS)h@N12}=dRJDFJW{`?9HVxbFWK5YfT;Y)S`MQW^4 zwL?d|7RR91?F{QL&7L})PVr%xEL@W0pu*U>e&981QSvkv<8?Gb#q&?Kj>)B=HDh$| zc_p4nx>{n&k7a;s9P?NMvnhvI(kQ51=KXVcY^KWR_xO@R4JeDJ#3CH0ej#IAud%Cr zC{*x{-U&}`y12Y^8uNw0>4QxwseA+L`*c0~ZzSJ{J@ngfP0!ILbh3p=Zn&TGv(1^$ zpO3@pgc-6bnQiG2effGQts~DG?+Pgy7CZFX11M1RCmPQAC?1m7@nR}p(P_}WDaAck z#$xb~@U8!Tj8RQ}OQt>hz?2u{pGCiIx@eoaz~zjk*!HV2iG8{zj^C~H@vjofb;&$2 z^txtD5$o(~)i#%^_ggiYEojctWy!wtb56;T;v(dUPjC&1q@+)p(q}n<|pp)!`F0G?r`0c-Odvn1biDmM^8{>rGfI>dQ7wNKT zTBAU#ISi)0s*1G{>Cg;>t?tEf**tfxnMz2K1>c{0Z|$_InJg)O;8zSS81 zh2$y9_IXH2!fe>=sATS&B{Z+fYzz9OR%o2pvBnN7AX&h|)0s;6tSur1M60N1ld6n} zU{^@Ts@gd}(O4n%1;2lGZ3Xm81gwL9-&U6J-x9+15n;+5UvrSleqXOmz(+dwe2KH& z9W~5B!^hXcDsE@q?FEUQwo%6R6xL)+>~`ICfck*|sIty!wf z^?B{4TCD@-adyl<9H2t5e>9zG^22H?m8BR~$^8ev3eu5~X_MC#`+~zP%Sij#Zj8?> zf0#x0ITv62Fn$sdAWnw4_`yG0l9#%OJOfvPmcHFO2*JYEnRkV=-chC(Fi)U1-fKFH z=^?@t*AHA*ToND%HZ!yNaz?6sR+bWgAeq2kWP9{v`BwsHkM!GvU3CUQ10l?Dl)Am8 zz$=bH{t4BnYPvJIRpl^WB%fJSYnh#zyS($Ku*`K<0Tzaj)f8Oi49cN_Hq=hF5~7qD zSm_vc9Ulqj-Qx-6EODQ-JA)i1m-rg}%BYzQi4(t;eHu~l6{f*MO(!R!kJlFpn(N3L z@;l>6=JiFhGE0Kvvg2)fynVewsGF~Vx<`uT4A@tFi9Ho&8Ht>ON#Ghx>iZ4%?dMFQ z$<;5?`8kxZw%Gc>vQPe@lu^^Nr9!H1? zQexLFk0=Exz+(g_c7rOZgUw_oX*cjgvuHkK61fP)WTNoXOrucHOe2FkM=DSB8tLO!>y&2U`JK?!zX|Be!?qs?qG@MOQhdq4bo2Jae(lH?eY;t zKO{lkn=kkQ^VsUNzBUsJxlQTMZ9%OTM1tsH4gw`@_V~`-zk-3n1V;H|NrH9mGo=!w z`hd{+iF9DPxU}o|p)<;6T@1Sf%o$66mWwd7fqA^riVv4?dd-*D4E^CXFU z)E8pfB4v(^5S3;^FRBHCvTHt5+>X~deio!vsxQpQCkz?DXe$1N7s< z^1ueXt<3SjnXit)=;j;gByDz zydA6zA+gaK?(a{ ziV_9( zk*pKf&A)qo@zm9gs^Qu923k0K^nnvA)&FdZHS2hNJo@&DB%Y(?++pFe>7}!syu?Do zC#%a-oAcn;jn>(c&#K3JJEHk{&O%%g^`A@Vye!K0E!-0BR0eQBG?tA9#T%xHHqGrl z$Njxo*lY6jUb+E^7-szRru5iBkqqD93j+=iupK!Xjs_IjJjRf~!1}+{g&%7geC$1%en`$;Fo-eaV+bR55|A3-h{RJ88i` z8M}Ze2VZ(dX9PYc&Qx-K6lWmnKbL7Y=^0+tIGN)P8|g7V`Kew(+NKM0N}iOA{uUvX z_r}#ad5C%<&4TyBp`2K`Q(m%5;#EP4MhXAIgu7qR7CnoY|0WtGUITcUYO(bB^n<^Y zB!)l22apvB8}LOxz3B@Opp+IYd`T>&Mz+0viB>SG+$qUhp^7a8om9!r8P9@-Yd2j|r;5eeppxoJ(BqHT}p19}?Oa>i)%kMKCUoc)s4`zB2 zc^-;}O>)%qe)Oz7^?OW__Knv!(R8u96zCJ)gyRev!#p2(j;*S(70(c;1%pj(ah257 z-TKc12WOmkZ4*kR0Q6Tgpgyj{Y5+7j&hEg85o~5V$TVpt>*+0e>Ic+LhM=q0xZ!4+ zKc)AO`z6X9!%xKZS{Z6KRth{w*d{m=0rL^^6hO9xPq<`BiD>Z=K9+5IuNPhOkc8X8 z%X$9HzWCOq-z{qwejqZmm>%H`vX`a!6%yQ{PoxE!2tN@)SOYf*f+X#F4cGj}nTn{- z@1e)v&fNL#A;-8lH_G)qLwH~k;QTUZ`5r6W7(7Rj>UrE&2JC(Bxd6m$=TkJ?Bd{oeYYN(4~ByNN{4Q0rbHrzS{JWFBL`+d0*tnI~Q}?Qq#|i??w76ekfzs zF$gZ_Ng?Fo&pS@>FZ=Cg=|4KVf2w!1Y48~>ejn=ZKnhq+>!3A(uep4IC?C+j;f1g`B>#pe-8YHtq2(u-%5-O z)G!>4VC59d9jZDj{pu7QOjBOvE=C@7gUam}V}k@yZ;gL65@akPrb=!ICiU7K9)#`q zVyVr`<44;YF!Q?3d2rB2ZV(yR4E)%0@YmO5z~gJc`Ta6Q z-~)m5b)Yil{42oAum?1^mu|2;Sqk*P<#;ZGu_`|8QweQ*JaT4zzfN^%eE|ZK{0}&_ zw7ge&Lnk?+BuwpN#C(-0jF%~EMS*}1C*(b|`^iicWfcqm6G5=250RA5z&*<~c>Z-w z0IhNu_kG?Uq9`oI_ohA{&vz);amuKgrERT@6?K?}jr^#u0is|1#Ux}ow5{V)Xunp| z9?gS^&f1!qsXZ6g*tY=^C`rU0)6$Vy7rdX)+7HAxvr>Q7S~M0{NhW-D4sa=hrZd%| z-nSOG=B66%641dMj;PN}NQTQMvUb5S?OY(JqsQI6_B}4q*uK zyRhOf@&1u042rP(cI`fF**A*(2eWtJ?pgA)T@yzp`_58y*3ZJJmg4u#C)m=m7Tn}e zV$*i#d@%`7J{zHe6XoV%EgZQ5AgK7&Sban54gSu!Ew3-S+IYDWMc`omevO#Bp)!m! zc!{&-y~U$cK4>Z*q2#MXQ;at>CscA;wJLf&kXUuio!2GruxCb~|K$j~E zwgkZ2_;eG7bK#hY#~5&#-Nhk3N6t3{ld^e#(t}a?n}XyNAbntAi}3VYT3gD@wC`;f z7pvT_{|X+~@U!#)!-j^thW|tZfKdKKB-#?}MW*vZbb*p&n9ejYj~lC;W;jnUKxd|Q zXZW^y3lXGJocp?zBOb6N@4?`0PL&hh1(#pxnWY@;pnO!2y2yZx!MV<@b!o9vu0Wy6 z1u9!-S?Y;aw(%K^maw4C1UJTd9e*&;f?eACd6B7CqCWqR1Te-&nhC>SG_#?@3S#|W zVFgT;D-Q=-7>l!eC{shZI8a z_4G5q!p#%xywXsrjq;R>!KbzPlm2bL%QWY14IgyLT6c{>GYxu87S0gv+So|=4+g$x zP%`gqimp60;H2TsvSqd-k08$X#uDb+I#CN)>_Z~9x^jvf1gtw)B;OA?^?K5|TrDk9 zGpy%|F{j+s#?m^wvCBAM4UJ7YkMk&y2?&LF9s=s&{PkJP_6OLKe4aGI{Gf6pG$37= zl6(OxZzVl=$7?akCxIVSMrCiz>aPjHk`td8Zm1p31Wb13A^=sq_VbQ1Z5BPZ@IhnUC)l$UsFh=y^+>>(D;(R3h z1Ox3?i()t6FZH`Zh0`X)!w+ALAhR}7tk}sz=&>9Uq}Bv6PZ$6%JD1oR>TAOy@yr$K z>CgNNslaMYM@e4r5=)M>&YnC~d; zM0Se~iXiNYSW}jAIisds#iyHkuRXukObp6KS*B7B-#hlzD!WfRDE{FKYEWu*!je!N zw@lq5*nYWKI?7> z==y(w90TGjdZ+OQK~NtUi;Dg}4}tS<)wqu?fK)@0-U?T8byaouFt`#E^$Cou1epRj z|3ce`e1#{S9|e>6-R`ph1dd-W+N^D5;4!IL1pk7E;x^Q=uF(5d&(PGcwKi=0RI5DbOvz;lHIJ1D-p;dg6zf^ zb&RM{_?_~P*sZ8lZCB_8ia<$+2L@nT+0Sa+ZJ&f30s^V~Da3be4_h*L6;^25K8Whe zhp$5DY(7r*585JITA|~+xj&ldzzt024V|V5As4fZTLosVmqu}Cpic^aE3_pPh$G^h zDq0k$0o!KETX5d$HPcAkmL#aK4U1kHJPCX=>K$_+X7TZ5;R86Qm!+O-P9to#W~;y+SLy3LSD4QhC?@k)QgB2}Dj(-EXUF>= z4UF*ANyf*96Nb%6bTf2C-XV-MYl;Eu)R=@-bE{2oU=ns?>nb{v=p7!vSfxlQeJ=A4 z_H(R|1A%|Wq+dPqgz*V>!DZ_7w)r1+Z&e)2=V;Lftc;Hxdjkd6FcMs73aQBQYS2jM>Rs{CPl7+wy=mojEj}O z;hbu7iPO=Z0}S+<)Zo>AoM2uzgV#I$_d!#@MA%@mNxz`|diH}qE{d605PL3Pxy$8D zckq>B8R;v_u<|fmJZ*d#DqxD|g-?xS&_O`L@jcjacz$((fm@?fHeX>9uo55+Fbhn2 z@#QZ|-ZemjjC_AJ0m0_KG4#Ew0RW1}M@o3~n(9`mpwHvLqJYa#aS75$y zV8+MijSIX`JSQq^LSf&YmqO5_Ki`99-T<~|MX*3rdhg}I*P`6aQV*{U)gS`E?ST_o zzFfV~c7{C`v1MJH;nZ}pn04rSkJtY_X9rc^NI5*l>`9eUG%o+QhAJ*DcmPIn?g1&jS;qTn? z3ig1hUljsT{7J2%7{}`9h@!Na1tC-e*dwyheN6ocX>i~w{&6}T|~VE0A1ndr zh+t|wPweqr>5G=Lc6=4Jzs~~vZu+WIEEr3V@++!KnegL*>;oHDNj^hzZz>q8^FiieXG56 zg5i|jqNsn2aiGYVzI~E2A#VQK4P(M^9-=yZ9QZ~erMB2!S2-0aQg2#&wsvqijoe$;SYig10+ig*hBV?$^Yg_k*dw zGhT+kM*4x+cA;_pDRJVFzGS0QrrOcjWJ!Z6SFXx_)5xj!Dg!Vg>TLl40aA{Q~$kO z-)|tYW8JuY48K^46Tv&UdaGT!if^U@f4UCUWVd_N17x(I{yS;E092m_WUEsNKWb~` zx^ml^88w0cd_ZTp9kyf6N}D*Bpcgye4^Dhn5Rgsj48X+mLciY@=?Nf3l8K{5j^?## zPR%^O>Ip5!-bN>wuR&X=uOMB40J98Q!I=7elcSxkn_OkZoST?W0cfU^hZy1nGXCP1 z3ocx~Hb7F+io$@ythm_8;aTlmRVx3bgPNyj(hUM+)QW#`&Zqv{$#fNzcosr#0j5?= z`*IQpcPAnHV6WUQNk%CBq1JX<0chl}M8rvrBM?Qn7ZsC%{|Ok-J4|*s&^SxyiLFiF zRCOb=wSdh3cSagAYg59vd2ie;Ih-$^FTwi2BSkIvK>V&XRSV3@k^%RhYa0#u=DQD_ z44-uizsTILhFVl-=@&Ou=K*LyayDB$dS>YN<_Fk_6NS*Wys|o4KXzTQVmA{`-osyV zUrmIwbZ(e|xIu4-+V)UiWc+O$@uaNnBG^VliKG;04^(Hx48i@m0%{HX+*6?jz5X(A zukpYZ<~BDLz@Ul^Bwja5)Kr5~*MS%Za~sEi#mvGSwpGk`pJ>)rvpv>?;IuRk8ZVD1 zyp|;ays_ZJznTLp&iXAu$3yVX-U&Mc!Cr$?qlpJAu&`hGS_;wQfc(T=9}8z1vnl?A zb~0%+Q2jAUK zP;)itWO+Sb@=_!s;3}0Yz9~I&MQ{M_l3(mZ0hj|oU`ic;pRtF+)=6S(2PJcXi{=UZ zmlb-}@t&qhHTG^j?bH=PFBkI;CK`b@l8Du7JWfak(WJ!2igIZF0a*1YN;}=hitBBS z1z5lO5!sCq{5*|~%}sl|;^>o`fx8Sjh+w7WRDRG>>C!g1c&c`55r`I$JO!fns4&-q zhH>9|cN4tS)Fw#^BmwF{&SE?wcrZ<^EkG|?F8j+!GfS|}`+d5}B%7lnz;i>5Lb3cj zB+@heKn;sp?Yq6}%8h0K%W8zJY$w572-q7g&(&Z{3^;jL7?XN#6e(2Xb3Fd=MS&~S zWPUf>?KeOU1xNoCOc^B~IL%sTqGjC>&3_5|#(84nakytaRHoeN>FQk#Ms;GbJ#1Xe z4y<>D*+x@=+)06~U$;2fv|3^O`t;5o;DhzM){0?Gs^ozT{cZT>UXlNltemD1uv-Eu zy#|eM?OskyQD)4_8Lmcm_XQE!Xbw4sFgHJ;5!n;)=u`Q$f-@qk)%Jptxbx}nzOGRH zZi2Xc0jTlLoJV=qfcx>+6C;4?EtXXSa>hcYu&%`W{Kx^s>%0#|%saHt3=X?oJn8O# zRHtM9%>?BeV_2$76Li>P&4bfN2b3r9)Vk@<`S;*a$tF3H10uo{JFl~5#6UI(a%sR2 z1*Em2yLujeHZB@2aEP5nEK+s5=F%`xpvST5>-l^~3uJal7U%Qvw;HfhV>n52p0-$c z#v!0YodP@+$z8Q5w!ou)S*(w+zK6yW@$84Zf;nIb$FJ5#(N` z9qgvjRGppYGJRmLXIHWBmg*b{eDu~N#1m4E=s(zvokU4Jk2Dy|Us(nEBhy(HnxDY@ z$E*Hu(H!UyZCnZZaad6dm54vBZA2)ztqcDwY0rk3f;Hgbo8{l=8~I$%4zP|{9Vl( ztSk!eJj1l6g|h!bjptHpIdq9NMW15-GlG31b7Sp&m`_Ql8l>x)BvkABLDv`dhye@? zpRT2hoa;Y4c6I0og?9MeV`|w9*hby`Z$Ti#H zBR<}<PMD{U)q3JD4R+o9teV74zI|pAHD1-WNrti{zYtW?wo7eh zn@JJZI!a0yKrl+~UA6Rx{IaX?nfQJq%IL_MQrvSeXON6P1Ceay}QXcAbSA~D5S#;g-j7Q;bX z3}4F|POBx1iitk5;<;qH2G3NnYuY=+XG9oCsr&{OhfqsRiT0I~9>MDerdfX!s&2Cs zK4UJC%;I#<^xyt&sdtXweeZv3#k^DOy-G3*9-7$+8zom?dSnv!dZe%9ufCA|H228R zBO-fhsu22OfK96LH%JNed<82~cf5iu-74U{#WCV&o1BSU-R-^`QkvStD0jL$5pOhk zHLKw#)^6>a1IQk(o&7Wd+Bx0gO3}>s`NET{Ky_y!5KyrWLy~oHl7d~6l$iJ>P-__| z_&b7uB_SAoj4@Vv3U6AT=rZpu#Lczk^NE~Y3;eulGD3I~xX^v(2%j?bvG+L{&?gKy z{Tr+5`XGQ;FxwA|06@w$3j81&A% zpJ|P`f+C%NzC=zAFGdkL{v2hR>7funm6C=LciFa(*s*!0&9=auVlsf25JM`NUO`k`-KW`2J+0k9d|g&XRThoe90cpsachGbl2V01#=u00V?cn zcb16x-)fvXH_7!3KD9OG>0sVKW@b#PE8Zm+8pUtMx_b+=ga@lKMy%X|KZu=?7VZ!qQE z6?0@Hik&=gP_$<-a5_N5{tpSJzL|hTpbWaG3MAuVeu z?2QjUssoHB2>N(riptF%Rj@v5%<==hu&W%B@4GIQv_L-J2=QFmFD6-iyn}&o{h0FL z_1h-lDvywf*=snoSvF&d*L5OL%usc>%6xx!C8=>%ye6V?aJi6uE-2;Lt*k&Hzslcp?&7U6(8A0CPo`@p?7S46j7DdVcP8%dZcXI*Mj&}p9 zj)&2SQ131iIjHVr3ZxK?Ip;J%OLcAC-M2D(tC+r?;;-zVed3e?r+$ifeP>V4kDvGx z*!hBE2akUJ%=6nbyPfQn9%E&ktj@fO(>znsn z0~LsJc1SWEo>qXoVvCjfY)VU!68zFz1OwzN$@_}=;*4mu{Ht&c=K=Fu$-M%eMwU?f zd82b~uAAqtcl}InrN7VhD%v?b1ij#>9I#JyrZf&aA#p9He>6Jpda?F%+l7XfxRgCH zAtR!p;7JLX;}a3GkCf@H?!zXXk{`c&Lk}9$UV%VyY;)0`fcDlmOPPo<^;~ECiqI-> zWj-S?#sPh|(^-E}5q474fz{f1z89AosohaL??U6|(4xuV*uT3$(B?g;Hh7+@` zJ+m!#dvUgA5Z7$F0tUVP$HweyQ99ox6XenNwOz91(V(##x51QFum>V5j^%mv@Zg)7 zS*%72U_i?FIkicfRT)eE2#eUA3;C5r;*)FSesg+Dizq;00DKr3KLZ?H0Lj=d3_^dN z43D?|PAGS6pP4chu2jEo-6WH_hK3NRaJ@zJY=!Xep25Q`o)26NF2opkWWT3Md0{zg ziJtRwnuO(8SL-FebC#&TK}_FfojEQfT6M-ww-avq+_?v$+Hf=GuAZakc6NugZzu@?~);^!!Qr8NA>el1p{^HsSp%HsgI;hqr7# z&(wAo%iON(Hi@#|i*Xr?PYqQTE8rq8&x@EUyYR-D!XTZa zeftIbX9{jCUS@L5k=070i_Kw^eEx(?cv7`d$B^oWHB0@>d$*Bgx?qJ?nyO1tv(U?g z;mOu!zg}TBD)!(F_3oF5B|G_!ug*K(0Zr^qHf8(oz77pySntPv#9=zC^vpDWYo`PC z@dk)nlmKF$dm;dUl?EWV3WH1bgwyWX(r4ic5YV`_Jn`IuyHG}NaNHVWa6DQ#YCA8w z3gE5B)JxrZE@m;{!)(}@8l0CO!W9=jKL5iVq7`BPWD&wNP~~`4)p^I`@Q{KHxyDG_ z55BOSzuK-?_!{hYGxgMQL{abT_(WxP*p`#3*$mNVE~xYN0j@8nm$OY*ViS(e@mCpj z_R!bvZ9~?a>_dy5yW`%RxfkJdU0ER-c5ImGj0c2N^XHq~CY&ibFJpISBX71V40A92 z>JujMg?tp~GZKDOwt^VdzymJbC$ z8jVkFrRR#Q=oI_)b1U?aagmRbuC|baTht)mh=i1vHk~bTday=|dEv06h{*hx`(6f( z_A^!4(19NoZtClgPFUWs&6V5EKd|lXF6x9RDCyPOcjDqIwZu=EreTZ)36z1-;wm{$ z#vdm&=Z`(2C{7i%T!Ec|FE|#3lTd%m?o`O5b!6;e)*>bxyXLY>2UBXs&}!_H_|k6r z`rV&$AZ!693;AJ-7Zr5ckx`M&C$Y&$f-Wex zJ}a7YK3toHv6>>hI;(!{o(&su&On3vyzxK$Wt-NW0n!RuAr~}H(kxWIBzAxqbtaP@ zm2^;qgbnU9uhm>(%MyxD2QZtp0Gv1l-^@`B0HnGf;+`0{N1EL)J$3 zO!pcxUmOXXP66Uqcgl&E| zO~v)&!26z;*=?~-bDC{)c4i|?I=@0GtnTz>V7TU6r}&7>PDM|aLUY^@4v~|is$Dqg z>i+ZJyFA)MgX~K$Keq+DD<)}^q-s=Ob}m?@N$5Rit@XZE74^tTKl)~4^2Wo>Whg(I zNti^_lQ|h4SGh;(BsSQWxaefOxLY)k@QU@^cHZ4n_BrNA3oPA>C`&_q%jq2mMs|H|XRR=ZC@7|vd;QTO#W%Wis8z;x)(jPs3!l2W|q$Gc&gTC@U>Y>0c zKQ$+4nXF57O&=c{+h;8lueW#9O4oe_>Wsa0!Q+q9)N6#oc_T|_q3rZrhMT%Gk}Rq_R(CImK>y;dhC6s7a`@-tj(FP$GC4EjyYvBy+P5=$lX*! z93-Fg@gNlbh#Onm!J-0EUXo`XjX$I1P!!*d zR-nV}JNlP;jseVhl@%3$dIE&3-J{`yqSZk8^{A+*h=>S)YizoW4wp&;sO@=Ab`Sbh zFLQmb&nLrTg!;?v0Y^tiZFKKg0n!2m1%>{V5OVhIG3U>Qh9a>sd9FNEOF;0J)$gRD zg51$g*2VnQ^#Su&P6mO#^XOp1^UYI1@-Qi}q!qyL}kA25C6P5Z+Y?njpOHHi3SPzzFadZz~ zm56Kg^(zWre&t<>=VjMhRUlgfiNx{$HBuq~k^1AgEiW&prs4xEH(2KySoP0=W2@gt zUR)JBUM;!99N%n|pn}X+-nVpLNq*X@gK&US~yp-q+1dh&!mFpYm|HUR&_r5 zu=$iz^X#oh--y|}4toiM^W#Y&MQhzpy$@cuH+{r?TH|%BVlF#bDU9VdT+7eB$FuUT==yWT%0J#Gun&`Ki*hxn9Dsg&3Yu6&igm zYQ@+6n|Xa^MGtt8T1NiV(Y=tnx1sqMzVAv=1yXdo+l{z@%c}edeT7~_Vh!#H8M62? z7FT$`d8kqt?#%4IY-UELK+H~#X~`YC$P1*Q%)Q3l4?#kZfq|hdnkR2^TR%J?B8iw6 z^D%15a*a6#Ia8zS>L<-6wQBB-$B#8SsB2*kds~0EccjWIHhnrGd3cK~E4GwxRb8kGzSTELG zv=VEZwN4T<(QjT6{u=sllfz#JdVW@vc3jAH5i507%#5t#iz<^>CYs*Y&KeMBK0d;pD9V+gP*8~>7=(95?iwo`V?3HuQuOyg&ik7O^_}Ual214ujtH?C9|dzT!cxG6qkdzH&^80mYH| zlC*&vGt)L>o$HVUDr?tMCIs_aVQtZE0r>%n-IqjT<{v#l^iEu>eyHxV zBmO_`Jlx(qvCMDwO0O#`>v7ZhCR>MSxf|+pM|5_6Zz)tabwv!oyR3 z2YU<7rwyV2!2elWVPngz!tp)z<=r_}bor_VKtv>NZ~c3Z)d6;^C=1hb{rSdJ_-ck! z zUuA+^W_~nw9Z`f3?k`q54vS~<{wd*oReEQk+4n+yc{(VZMnsL;WqPdfAqffN4|L3M znnlQJMTFg5^j1e3)!3s(emQd%kqS=N>C~pLs!tK@7sbf_B#1jt*zvY#yPgyRTUNk7 z`{FpoOp`>S$Jel2L*u89%XvOPI;{TjBS8OtdJ02w3NiQuhlBtm^l19~3-y0_c7WO! zD35Lly5~veF;gxJ8pjbQl8}(lq)QWacL2OPJUl1@8AdGqa>kH8Yy2Go2NWoZJ?OuL zr$5Z){U!{Vz&Q++fY9N+xMk9IBL=-G_EVT1okcNP5b$2u&fL-pP2+=`Nn(6UM9uRe zEF#F9M)zb6{i~PZQhy;1LsoB#ll4I+CMJ(&AH?<9{{wLJ3=I*SYxK0f|McnV_GB2< z4Ir5WIGOxJlGSFc`1;7Ou<5tqz|E7ttjoV15vdvXN1XrrXCn6->;L|hG00)#BQV|1 zGC{GK6?#;%!PmgAT4(;}Pp%?aV0J;v<%?d!oWBoz7VNsyf<1f~#snE4gTGgKZ@!BB z@Xe%}(Yw_!rDw<*E^ng)F(CRxv@CxYx6z?dDdQEM&#R$(68T^L%kG_mV*{j3wZClQ zaHRS89Q}P3fCdH`2&)5Wf3GSz?OC?GjnNNhTr$Hr2a5qzEm&KgRnY$##8&NP#Udv= z6k_p};VD~JL`2Qu)-ECz1UeB4`Ap)|99O&R!}gSIeLpl;WJ7Oo7&(bB{~j3M_A;>7 zRjg*eWBg~1Ws1+iZ1?^DduLf6V;)XQlnF=$^lECd@&V;Jw&-BDOeSHJ8IFzgz(M^$=l-(tz6 zrqGaAu1a!)KG^6`J_NGBkJCgvT|X-fEY8wGB+g6a=#mdlO>@Nt8pPN+?nj<{bSlKu zbhSB^%YEOEm)PcnrSn=_+*KLYFeUu~J9w$|%3@^*4*Zj&UZR1U#t(+&FedQ1F1l~U z^nO^qvm~)zy|aOa#z4ox!sY-4GDn;{!i1i|{}PCN{$4U$xdWaM*E>T_T9t)bn|{wU z=*?Wg^BkRF4tK5_JkVZ~7^KGB;7Q%=PRpeQ93B^nqFjHobtN`$CuM(dP~(++v!AnO z$O_Z+xm(fdM+3cpoI`xh3tjt2xcHl|_Mx@bnnE&>ce!aIx9^Fc7F|LPir=oiSU=*2 zUawa=*H%-a_lpMy4sf%Zuq>&um<>Mahx zJ$)KGKoFyjVSwgpBOaN=ez5OxF$jm}3zsdI%ka}2O{~^m5A~&$&RVCnY)`u0HLnaR zDk;`NTGrFowE6{++V;t$UX#zjx+2_bwMn{nizzC!VNyAufuOt7Zq7F)h>Ovvs1(-E z@^IY~xR|Gvj{Ww@9kL~BX^|=YMo;Ui-841wNV-(i3C?}+;R)M()!s@tT-&vj5z^6d zA=Ws&+uZoTYZepgy)Qdfd51)1l`n*bN;S^XoG|5Uskn=T4y_K+^l+}2K(988PlV5G zO@`hD55tDr2c*NO9_FL%`hAWj>8cVWV#0LKE!aG3oNy zcbyb9-nnyw6{gg0e@~e0zc>&Z5PRXNY;|kL4q7bB%JLubIkLs!K{dx9k@zMCoVfp6 z#HUJDV--;71n#A674kl3w_009H3b-^>H3du z9Chcs=d=_9BC$K*PbNS&#nxdWx&pgrca^db;9hei#vLN3^ zCf@30{Dq|#>@$~HF@Z_=V-}y{2cCj%({FD*thZBCNkgY4{_Jj*do3^LaEbcm48+d} zDBBz^$xb8iDXP?2QGRn=r71p3yWO)4&u;FLe)l~5skZtDZd7>eQLc@2`Vp25s?Xr7G^YJ!sqdxMGB9JgiCj_kh z3H#u1GF=cJrvXZFXF=w?`S-~F%k6EYvAC8t9h56&RdPe_{^+a(2C?||5vq$emDikA zlHrhRTdXI6*LM<|iO2~-3-Or9TZVg8UxbvNZ`_%#^wsj2aJnPl zkOT^<%}6KgXXrCM?hqeK>8Ly0v61DDM&Sw{zkjRv{Q=a!T{GuLALP)p*vN~Pv-P=G z_~8ok1{8AwNufV}EW2^%CdDVtoqq;VMDuvskL`9A>Wfw^Z(La4I=Ub`IES#7ehE=x zq}?Ggb7yChYKlCw46bU93(3*-c*^rHIOLmMXEoCuY^M-}&~p2oF?Y)#Kh&k0W!xN1 z$CFwYk0&~rp;Sdg1d_CAg23+Cd^VLVcLb3{Vmk8vnCHKi3-tGii*LvT@097wgTbpZ zSe8OC6yFAq<5jr zXKr24VY*5TZ)VShxoWP9Nwq(+c%IhzINieYg6Ed>WD0~OkGr)fDzrEHA-CnORHtM{~JBT zeO6U9jJ#Wx2j|>gmoR&NLV6}azj-Zv=?P7vnXSIrT%w9LboQ%SB7_`X5Rze+tL`f* zY9fPV#C*7JzNanMCRF0%+;k!ini8Aiyp6gJP^4G}g5d7F(A~G|k83+E4WKT!(SrxE zov@o*JOZpxnxfX_yVa&>uZ=?$Zj&dcn<(2ZL2cRZQrf*MTu-hEt1r6$^exktLVRBl zhCO$0ysRV)|B*~Ptmad`Rx9@5Cwn8Oa~=75h>WP$-b2rYv8#tD9M5?bZ_XhOeEag6 zkr~{vUWa{Y1gxJMM4~vToem0O^RFNt=gWGD>TC)$Y`heZrmM9*Q=3oFD(*Bk4uxE4 zW90en;@MGoer0rnZsId$GmJ4jAUS=XRQY>)uX9&FmO{PuYLjY2>tATS6t+MAQ*Dc| zxb75}Ifo`zI-tXZ%WS$j3h5A5gP5Gf!Zfv~gRk-!92IB0pwx6k@q67E;P134V3^b4#hY{#^Z}3dB>Hrt#{gr_i?4Ydge! zM{H-=f^!ax@%ho+&JIPI&vJ9@1vLGeV*F8SAHVwG8vJ=L{1DlCPHhYTXxqX?~99sd>Y>#8Dvwo)mfk`o%}pjXZ!>vcbeyOpS@&!uX$Sgd0IIN zd%5AJyQ8Hz{+8;q+Hm!`^iYNPirs3(LOPpFR|jr$`Ds|=-E4T8_wnoPf{UAB3(mpU ziC_GQ{)GQuQ2?-C|NjF1{%G$8Q9iU_ss)Yid=()DG)IhYZEcO_;%>GPI>T2YtaK_i z7;}@Fm}6StlAZEd4{V1$RPxr2L)#xe-v3M=r%y-Ku8c(jg$-u3oMT0w^Cv+n_=}Vi z-NJ_lPol|pf$WH4iBXz{08b6iBLp6Gr z6H(wB6$B1A0=8xT=QG3nga3bCK%mw)2Ea-8|9tpxR`CDx z1}an0ZvJ;$zJixQkjtRbmh0_YF~k-exd$g11?XMX55A>(-4iptk#aqNA=Wq{pAIzi zEw2EsI=x#=2SU0^fFJLB~Y^zJ4Nv1@upfV0&5 z<=-9kE#53eZkO)EngL?(MJGX>1C5%WUZM~ndh?J$(IRyq+%~qcDSbn$Z3Bw| z1QNyxf&8+*D~E}87V4`S^{du$*ekTjD zEOn(RJM+3BLv-qmp5Nud>_M$7zE?5-o^QI4MrgL}T>|-?@_~T9{PlU7`EuLFEuh+J+J)`5w6v5$8z^oq zP~6>VA;sOD;_e=-v;~5@TXAZnR-p9ZB>q1|D7%pGv|4~h2&hiTecI{0UKtiVa6{uW&VE}Wcw1WE z{qR8;%DKy=}5X1Jv#tz(=0f#$=19X+*70!gv{ z=Js*%u>MN((xGHq_H&Ox*CdUf#>1Ki|J)swUUL=adfwU!ifibhyN;4!bx3BiZ##? zUhCRJNbIjHTGMzrwlWZ;l zfL^PEcfG8RxJ(8~pwvhD^z#Q_EYx_U)~F}{-2O@HZTuFlP#lgiL=|G+i7m`|1gE#E zRGj-Ot57ql|L_~Lc#!((pH@Ce=zY2W0dY-@-1S(C>*d_Cp9YIOuz^3cx}Ikwu7jx9 zB*Ouh{=4K3i}i!eEeE)EcH`<5caaX#LDoO;A0ZF)qKrL*&nt{|cxaANHEe&O09x7qjEg zlzv-caQ(J_>l~sCk;J|O-(LW+e=dOQ=t-Rh@7%M#v-ZrI5y4v-~ z^#=!J-w>xJDL<)l*&O+y17rFm2@w$_J{rv0Awss~2kGw?NBr6Y`6GgHS&q|brrwl} zYn8cr-hCk(jnTup)0#CGHdxMUkQc>A5nHrv6Cpj|OWut)c4T-#$ylFtA3Z{ew`2Co zS0X0WtLM{Ov5#XKPQ#&>Zst{)^AY!fyl5hCs_8U*`#Qq81 zXTL*-8d^8OA^@CfZ8bU0caWXhxL8vtlDct`LUFZ|ZkTE+u+2X-Kizpe)3sis15=$U z;NMtj9&rxRe|>?hW63cE63vOCrI{!VtJ5{LnWH|M!9UMgA2$K{=R_*cC4*Q_RBRfi z>8v*hT<6cDvyY=WwG!9XYHCw#7H32Xwg>#LoH^KV-G#ek3Q_zgTQ%n;$a}8nDt-o? zm9H_K?zE*Z54q{E)zq{wy>67ZJ18oRvRO|u1zkY#uG^+cQYt1x~O6g6eJV#2$$$NF+r~H*3iTuJ#ZW$h3V{+41 z0y0WZn?we(d3pF*hb^qIYLBm-4R%;Pn`yg*KxO_ma{kM1fp_hrzka<*eKt0$BOC7D za%1tc$%E(GOLybe*v?(}u-w?Y3#Zh}!?@)Ljn5?Cm4jz?Wz7#gjg5m1+@z@7K)zsu zsGPnA$*_)1+5xng#HY$sgg2xsmZl|+- z{#UEWEBR%qvhHbSrlyN~X(|&hf43>8t})&Rt{6<+V3zz}pKnIMvun21+3hO^ZMC~o zIiIcCx3Xmr`&{b2yvX(NoFmuewZQ~~sff0B%G^t%W|wSFe|i`@+s_JqN_ye_DwVH< zPTA8b>-g7uwYcIr87rKTk;7jZfqhFQ!%(o;-LMru%j>as4z(l2;Dn^5#UC>QSZ7kw z==%mhAR&}1LrVX|H@&=3nYYBa)bCocxj9pcudqQkAYW3I3>Vb1^vWP&B5)(SXJM}@ z1wHqPvU~Hw6focP*Ig(X8&Og+o=#wbLGVar{-=edC9vg0sOCwXm?|ssEUs;<5Vj$hzXeq`@*-$slAG<%(lZa_%~su9~il_`5X-^ zA0-AKe_63^V0b6sf_-ef*ZoeyYqu=-Bn&z=IU!&9TB;k zi<>r1aLOD*pU0v3?=8@?*FnBQfhL^7?7wwa31|3D+Pp5#2JVb@3}=bg#;d zZ*1w#<@?<(`LLgSMhi-j4*-kT3?)fw+T&=mh#G!^9QO7P*Nk2;_=wqhrP97e>;q|h z6c6m|H!-MF__%QH?)-|~d_z%kOiF+ez`XOcR^lVe{eSL$HmNyxu^)wiiSX&;s9qaG z)$yW0-7IU5p8C_GzQ$&(bABa0*xMz9*q2kwQJj$Z!?=KWOy4T$jXOAg*qd2#I<{_8 zflL3Xe_UuPswpyQ_h=jgJx)FQbQ>5qs;FZkc90H-NC|O3EL`G65*o0<{n3IF;cjpO zfVxy9mgBWBi`ckBW%iE4PI3%Dyob^uW@DaN18{;JO`~JG6rLL`-i7rfK0V_DOoqn= zfM>Y@LzHbA--UU&B?+9L>Y6Xc;4ESUJnEAih{hYijQ~-o;6X1K0@$ZTqI`wY!wE(T z604~M^6We7uO)kQ*l)%o$nBvvu`Z1(Ff;Pyc-v1*_AX{K#SZI`c#C|utx#*Wmm-oA zlxr{yaQs>CaO^D2MspY6?4GXV{yRQnk{dV*j+YBw)Z8GUMk)gq{B>Z(# zLmiLoB9D)yx9mX(<=-x)&I(-k{ zr1fyGo40Gl&dhxt&@7ZudT;~VL3GXe(BoxMi17?mTO8oSEeTWR#z42Ri$JT3J;mN> zWBn{j8$GheM@8s^!%DrjBDB1C3*+IGg~4o)w29j zr*w8~nNRyNTBxRq8dz`pW1-q)tAA1;C_Cb$&X7hH`1-CBNBh&bBC(ZdKC-b_wyZ@~ zr|TOn=4x|_e;iU$7=m`-Pnt7R;vIvNVTU5zn zg=X+2C6a-_#{7}|sEHMeX#V~CeQs0<47Os-Wr|q6mZotr8LqbQq%0%7uk!|XGJ7BW!LNqt$pc`vp__jHnGwKJU>dtKe;4UfnWSiG@UM& zXTdgxgkQ?8c{iMz2=}Gx;AK^_$t}oSWdHYQ_gW0mDJI6s$tzwfDb*K@PgkDOW_bHN z7;Fy;MQr&<*Zh9hY^<}uTppf4E)&*e5>zdARaC=}MDq%ZcXD{kF)`kUs%4h5ddA#J z?{f6>DI(M-0G*L6aLaNFbI2uhLX3{3rb<=9G{j;(S+)Wus{;qii3;-dw+Y)?ahWg7 zvX}dTZSS*ocmVP|&g|mJMf;2|GhP8uj1^Hc9r@(TyB{dhD{K2d!mJy{`u1FkLz!dL z`2)GWgwfaMUwmSwzvpzXJzfi!-cfi*3fY;uu;fXR+3DoU@F>TRM4wXnO3ZIj+p>?U zE6cdnDJ*TNoZ_`3hLLVAN`VjNQkSP0?0@r|Fd|jc)9M(L${8MJrz4v`CiXl@r{29OH7|&Gto3?T< z3j>yO6`QLOks;IV>$(}vC@-+}(DsR@YUHf@wiH{@?8z&3ROD4nv~icKiA47)+UAD? zqjX1TjcWZ(&iUgRjv<8|nvR15bMx5?xrMh4aAd`L?GArw`^+~? zInWTaTPI}z&i zfi*WL&lDF6=I7Et@&ZOzzNf@yU2>Hg_?#D0V3;2R$+4)wFoYV!zTI3)MM*_8*oMBb z$PLjstP4F2xdF9~SP}3$roGVoHKE~Sa2)w~OVxyZRfofMkU;m9C5Z?{Se*O%h;HfG zz_&M=VP}XhOe4${>kSl}gDT$1HO5@a(>R?=q4iXn0=!@mBtW%!sk>#^8Nt_qLcHI7 z4KF69G>lR4ppWd~#9<=X1+_aQIeQIL$t%aSxVihsY_s$sIFOyKodC#G)FisY zoq8^0E5HIJCDxdCs4}78>x%@xKQ2HvQAzhQZK(T8x3u1$TLGqyMiU1@&IVCn)EvaR zEm0AhkZRdeG?f?Zh1qt91&(E;_?1p0r0gk@^Q5wT9hX64yW;Hv8$ZQS`*JZjD}caY zfV^?Kc~{8lnwWXWMKcGZc(|97itv7RqD{|F}y}AaZwg*4tDJRmgM$MT`xh-#U|_c9Hqv;ufTa50tAc(d~$FU zXWM``64ArG*GAf+C=8-{Z?FIWOdy%))J*TudArA?Cy4IdtF=?9STNOLY*(H}a!biJ z-vEWNBCwlCLfr2 z3M677di)&1!00n``$BbsI)$;9d`V(kgi+)^;CQ+|!t9o3F_j+H{Wp3Z0}n{lBQ13X z2m$gO4dYiwW$n{-loHaw3&$g4YO|Boo{}Z1%;6_cnREbv zctyWhm{eSlVeVW9t3@b{_*o{$+q8q!QwoUD>1rvFL{$0BO=m~id1f(psR@(NZ}fZ6 z@%1A5yH5O`bSdlh!A<-0WsI;zR9BahCC#hG$k>LP!DT5%WB>7Gf&{x6kOF#To;POF zHJudYO{$1H%yrToBnBJT>X{pq-ECIP8AoZbDkZm%zU0AAe3naKl}R}O1SWsnQE7yU z%=yn4Xd5R;_T)YaxIr4ku65b>d1!A8cmJwq_4BHTdc4?)Mt^_M@?40Chf;09d1}9b z*al5QYrgXB%ocOcE%5t{G0V~Yc*>QlH{q#liOKMt$VaoRgH!nls3P`ubMA8+Uc$DfG8+~Q3zcO1!o^DrNp5iw zM+qk}a-VqK5+1xDGzJ3QcSD=V_G!tc)1#ZDjZp&*e8Gp&efG}eM~lx$lp`%Q2BcIB zLow3OCwt8;E9#+>WhcVYXmkC$VWsc^{+>m!oyD;`X)-GIU#G1By7qQj3I`J?5?Aleo+pQ{_C^iqa5Dy<5Kf= zZ1GQ>FCsnO@7yga6zIpz4!rk{qd^Ide*>#L^?u#=`gvVmPmSg$WO26(1q5KvVhCxj zQbJ*-*j2IW;g8~^{n9&dsauoJ`?#A~FHW5o^G8eryGMA$FH9=poearkF)jf&SpFJf z{XeK?4ACQlV0Os1-iGa_O5L{Bd)8Nbc)`k@9y`eifJ(3Mf*<%1w{yUd!Cw3F+2UVi z$7M8}EZy;ClGVh=k4uz08_mUfZnuFoITei=1=N@h$X ztzy~0muK4R4 zdJ#jI{vop>Or72}ASxXrJA%zjcYY83$G^ju+ zxzJQuteR8=P?_j&l3Gn3nI>fljn7g`gG+fSQoUC2St&65)NXBcVw^7bbKusvELS*& z0MD-Tu{d|$sW)!EWu=tskB#qixVU)a*&W>Y1FJ$ZKJga=Q~Ey21oa3Eh^-hm?_l=S zu(uVAGE8g%wb(FlfwTx-v$k|6A~uk8A?whVIP}K0+%Q%}%x-ybfaG!&=L^(ba>3aq zdTJ?t$0H|pg4Nulg&_VxLyCyMyd6?Kzl9@+`~zZtKg6ID_VzcB`Aolfcl{FLDSelo zay#N(=t5O?dJR+Eg7Vz#wv6b)?w^S9NXuD8?Bab)a1xaR5=AWEfWGs;$~OH&Q}3Jf z|9hgVHB4LoXFumbO7jT?$woKW7s34wtOP_j9VP?DgOJL6N z81Kf&lFJp(n6Vu%l#^XE)gerKKm{v4>`G>aK2Uy@z_onJaEB;CM&(*dr{zQ1mc@L{ zGzRL__ssnCw#{esukXhH19TRKiKE&r(5B?1kV20|vYX&Hn}G{UPsy0|*AYMAm%Lho7KGhk4qhU(08->ZTJdos#P@bWyNy4_E_DZ%i($+>cz8u%V#BKWVyU@v}# zgzQW1X^oH>Hw0le+h3e;J^EcQtvsIu-nl-G_W>9wwB61_Ss;MiJ?aF?3=jLF+&S)4 zLwC#2xMUFqtfT{XSqFSv6$Di!sh4@H2{ z=%-GTO%vk#wm(3I0<65;`y^%3euB?riB(nnhH}gr8p(!!8BVW7LuM*Re17qX_YkQd z0k#fZc&&0f%sz~z!dy7yY4A^4R-Q@sP?-1?3)zKb!MQaTlr(sLt?&%dtVb@rWScRf zz4Y)7$6X0HnmSO=h2>cC8pmMy%hR$J+lBJX|ymjY)eXd;UL_r*nSIv$A z*wU>p7WK=hH{5rw$6|J1B_wp2$!$-~?``v>jkA=i-`!3+1X9Iwv8qKRf>wp75^$=l z8-UewueZKeb_j4#=4mtJ(yS{m-=U6Aq3cC4k`eGu8}+KnI|!&ag7Tt zyGS=$)caHlA81fi@C8^ zoVfg?w(CR(K_W~T>NLP$wH{NWu>+)V{Jl?|D8uP(Kj((KHCQMyU3Exhh6U=YwMcPz zGg(O2s?`wS?q9U71iq}`HHdxJ>@eRA-aGEce%_aFO5Cgtm|K1~VVxl|;GHX%x0eHM z%6S!WWS^zAdh~tjJuoXZWo~oqizpS&uNS~C-Mgu*U34y zAVX5E)W?Qz3F8Nc8Is1k!Bn>ajP13Ml^|t7J;jKq=o5H{%<(kE>s*@3NfM zQ1=cxA||9ouL4t!fYnAa9II(!BMd#Q$4B-kIjJYEI(sgB*(L!ecxiXYD5A6bfi|e$ z&}(;Ijg+2$oq(YU4Y9>+9kv3y2-$VN3Dt^k+D_u<=OmG)J(H#cC!|pJuaRCMU!t#E z`H|3Qm#0<4B<1?ej+k^`>qgmju1!~JeN#-falO=aF3^fKcb8I*;Hef4Zbp~Zp|_Eg zdW_*_yj9az{qdtix|~w3w#Gul(G*qB710{*?{@xR9FbFYRf-oc-s~M-Dc|8iq3E06 z7P_LR$=t10BbCkSF|bQ{K~bGu0WL}*I!oS?#~rFx^YED*DafzS)txhmYpz$pqq6jd-bw-6(O{&XQu5rr2R4 z)db?SXEDfx8JKP4;x*Pu?-7yXqH}iw=%-@jVg&f0jP=6h<~>TWxskzGxO;D5l2d9L3p1K5}CAUh}&=X3du+JNt93sD0735&_SC*RFZ*bT6P-8QkUrR0?hh4@&?DPaXf2^`D_5AVV3}|wjayB z_8(p|%^!U2Lec-|J{HaGf>?lr`NNL|f24dR6-s_kz0*gcoLUTEv~;e@lu51eLeEKG z+b==@U@g-pfSlc#hX+^QinB`y@g`AdZJw7OdbyyCYC0K=MY>P%nx%*}!lFuJdq(-? z3GLLL1j>F}?kXj*evCBXv=nX}XC4w*ksy^Cuh&J?*4Z7ROZL0;lQh44o`=0C?9W+l zAs86MDIRY6=oS^B$>0E+eS?L?LOMM&;tgzutKR0v?0m$@Pt0j#eVzDhXAWQU*^`{g z(PjJH!e^0DMLj9&?z}@a0oYqUZ|4M+&OhW+I|Lf-FXZrv0<#FWCeG%syf_(Qy496x z<7`1!ePX6Gdprz7sy>TWk)d$4AWZ%-d&OB!c$vnjmAQAjmkj*4m36z{i1 z;2TE+xjEqg)F>3~GNNi!cF}CiEn4E0kFI~<>-zzO5|PyLi47l|r|dpw(6C@hh@AQ9 zO`>e}5xlpPA~Pa$Rc5DEeS^oibircc>;;;%e>-ZT6VIzu%F`@u?Scg=Hb6vP^Wq`l zkA>TeHyCS`36`hpy!m4~rv4;Z8Z4r0frQ!Xie?$gS2pi5JE`7P)$x^<41aVNw2w1( z<0njwmm+bY_}WI^TVmZeOe8lV{gx$^DhZL>mC0towLQ1XdkcSz_`ev5T(AngLZ5+o zjE0rAiXI;ucMR^Va2s?5l(|ktexeDW*L79G$Y*u3chGs}y=`h%?Vew6KIGSx2meJv<|!x>ZiE*VhGXbLTL!(#~LNQf)9n3B%xE8g=QDKEE~ybyfNzM9%NL2e5o#m`U16~D9pc`Ma$bK`0imaqKGpQuKJ zUjR#H{+YDSSa!$R5zBb>ETCc-5|IjiM?>O>8X-m~to{2M$k7IKwo*jwidqQ?Eb;G1 zN4poE{6Q4@8~K)k=2%B4cQf;=_Agb>Bw+_V=|8nIhsDSz3AHf>F8FOk`VNf>7#bFv1?u>TsytFW~bJ6W>q~LN#uNztHEnHoZ0-cBRkVLmw%oy+*1&PeU;c^ zgs?$8jTkRg-Fnqy*xQ+iKm2dSat^YVhP*DD)(i_)z z^e$H^FXPP&!;BYp?7VrBH9o~EYK&QO(KEoN!uL+%4ZKNzS+U|>^bgqD@+GhKf2FKm zZsci?@bN)<3y-rd>|(;<@fJ4)v&g2w((j5`lV{j~e~y4> zqc4)>N0r>gku3Y{>v6@eHBgW+Y?_{Px26d}M_x)BTJ~7=!iAF@%NHXG-ooR@Zfa;x zk`WVn6<5Inqj{7jkJ5M4>t+O9zX8Th;x$4(?bM*Gv@OBK;|MiG*Rr$`4K#4a$sfkO zFbSpKLK$fMI;<+>leN7o1M1=2Ge-;xEI)in@Ve9m>-GevJP7OezV^-!&%N8ZD?#{j zUDw$@_`Ct&+oRmS2E{>-TK&2P^MF!Ut?7sAEKCSu&@+8JeKDD`%~Gf7 zQ^`M$9bngqZ{*<8BB-McO_{tD$?O^W4H##kI;BqWXrga&d!7cYp zo!Sl`B)R8dPYr0%Rr9uTes)3OB=SZ+0L)b+{!}>{9D4~u>e8-pcc)L7YmX9r@{E}5 zZD=RL-4izRcEIi(GYVog#xW*+TC3~*x@YrltOpXu`uUFA`y#^132uPEYmQs(vVzyJR$yZ*QM zVYFi+J)-tYfJaluXL@S>J)%ptk_p}ylc0*BF#kr@ErhpKrv8uS_rNJU`QXRGi9zGT z?Y9KCW1lxh#A*-;|(W7xMg(3aR_t1YD{RG0qPfh)qpD;FA|1^6Jxz_?Ws8BH_N!Gj_9b;dp){ z&`>w^BW0sDXyA(X-nl7t)$|tFcJH#559V7aQ(C{Vb;9F6OqkKLva((#s5#6iA3K`; z41*kLPF(!B+VVqgb|~6rxAffQZr0N*yplM4)hyHO<2@eNyzj8fdDK{LQ}1~416DPc zf%~!92Pa9oW@y@DtIi3Dg$ zq@Ag=c7^nJtLDgq5U4;_eb?q&WS2vWfZ=pEZ+B(YtEyu(v__-V9jB_vC~{DJwVo!T zy9PS?GE;)@mb&4RxLfKU>6USk2M4-a{EZMmO}ff0K`kOHh{5kf&uo|R^mr>Ld#%6- zFI!9zM2{a2R9LHRgw1XNtS?3}t_ZRwd~a}iPU)cqXUi7GYsoKXr54Q)9< zu6W?d!AcuKv-LD9?TE*KFWf?Yb7&-DYTOZR4CT_7=A$Sx)fn}ld?4_e)sMfo+vW_wO za$iTsb{IbvIwhsSMo};ri~)1e&_UU0C=T6VSI?4SA+Bc{=EahM0+He6iOVK@D_|Bo zXwdDZbJ9wD9tQxCB_Ey8gX>V%bu4X1T=eg*{_t+)z`K3J=ce_Rl=T1OJq6`%y?Rm7 zN$pZFuXia7{?)XjQ>Q48y+-Lb85;O;o7-X=={{u) znhhz_3^}2_&XQwO_hoeSEHvs>jjbfJeu9&!%Nqcrvjqo-wes-8<*oraF1G^4JM z3UhUf#UsUoo0-@UyT0^{?T&?eLnd7A_r-y0sSbnk{*GBQP0K;0;5>nbeOz@O_g`<6GN$k-o!^2Px7Dr?OR<>>Tv_4 zI1}AN&*0CZn*h&)UvlTHBy46`Z~_2E!k$FVu!%3zMlkO-u{tGtibcUWZajET56IjT zmnqc_#Id#G&iLNS*(8(H0hsmQ+ij3-fA{qXx#QtIzLoMOP730hI`p!Wm~iju8FzXz zonwm-DSi%~{>J^VmG+1aa6K{$X8ww^$LC8_zniP25so&7X#X4dHAQvRT4+md1lXY6 z2LWQTt!f7o@FK45v(8O^t3HG4u{*s3p~TqWsN^)0*uF{J2uC)A8A7`@K~DO0&*M-o zsJx9I7?OA=!=0?u`naW$CoT5O;n@^oWED8qTMGmB2Tq0_8XlBA>gc)s5*!P3|AVfrpUkk#-g{W zOYF{?GzYYtjZrs=SABGm@Ly|RxDiL@Sv0HX-ywh<4KG4$0*yRy4PvWdzX9ZoIes4- zh-g?cv+CHH9Q0blT&F&TVBqVJf>+M9_9MWEfckW#=GyGTR4Rm0^*cJ9%<&^>_mz%u zXdr+HpSsM8cr?kGRgS`bdGivkCDGwKd8)qrK~61+EwaZsT)NIbqtS!?gA{F_`OikB zJ-xP>gxCa1ax^4Fq>9l=lSKD2yt2!XJA8-4yBIJxFb9Ha%uJwVW6JI3(x9`E9BCuK zQSOFvwH7oq)d!Pi!2b(o%t$8Fj-6_LIOrFtT^8&Yawvl?+SjfEmSM$SZc+P+l1b204kNq3-Wz;fDo25LVDlDS7k zGIuSJHZB%$`2NT8Qstn@Esr@i`pX|LqmL9ToL}3_$Bd*rW2M5r*BaKey^ZBmXYyTOi;KhvO#pd{6A=pQFbto8*&G=~oi<{~l! zh=99=xZ2B7HNqI#o`W4tWGh4Vs++?7`=nI`4Yaq7*g=f1+%?#h!!+`)q%aU4ij`O& z`Y5WG*=kWq0g5!Ges6GbBT8^YHA=cG+;VnR3wg8N^$8@L0CzRIEH^?Z9E`-spFfgM zb)<`_$50#{w-;vaW+fFaRIob@6jqRQQ&e1GF-sd8H=?bHN*ypB`Qw5;Xeb`X&XGk^ z)5XP45;x>zL07uBt|ITPud{!*zT_ayPNV%wK^kr(C{n8s7h*c~jXhn(eY-FAKXaV& zF#v0)yB-|c9!GY-i)`~OVUDryqR{ER(yR7~5y^owgrQPiAnNkl8jCA@{>K?(9U9z4)TUP^_b#G9%WQvr-v)l*F8C+dpR12>;ByviO) z$hHS9v({!7tFIEA?`2FHvf+n>LTPl%uq|P}B5A6pr5;F7^~9vkbq@Ch-nLHR#;^3x zVr=qvrj%%8FM*|MM4!G6#0@HPq?Bx4V!-&1m)Ta0ux>v81I)U912f1+v_~xx-!~mK zpRg*y(;R@v&Mhys%&oK#{j$EH65I+Tf0i4PF*JJNP-{bR^Gf!q%I=_Ur1-*H2&G6r?Xm^&xk9c7jWY9m*EyiFMo1@1Pa$-TOyUmA9rXZla46JM1j$+wIlXCMUpB#1UKVz6>peCKqo{E?l~D{ zADlcf98yF4C@6$S(t8uW!~4F&`DYG*-@Re=JjDgiSwnFFdwW}gqzjtS-V${#1|hBp z!<>7#v>1b!5rzYsdKRW;6{4wy%0s`qvn6Q4zQ@FZWN`5V-ub>vpDn2RBv^zU9&@m& zMCHi*I`ycI(xZdq1#%8wbqP+BmZI{Dq*!vXmdgTa_`0yC|L#12)Rr?E2}f_pm)3Xz zP7d34Rqo7iN5k`BJr{k7SIN))bA^_|{Dnxuf*UtqdVeprIXvGkk?scAMV|f`nRS)z zwOSS#&t7Oue3;7g&yY!t^6QZ4n+%mbr?94FCsT2;n;yji-Y=6Wo}0_~icrcT3O0 zgy}=vjYb{bO1obQvvy=(Y*HgOcMU|`i35oB$M}RVwMN|`%(i-li=Lvp{hr9#M^pXn z_`0Z;I+1T~wu}5`CA~P78`ArFt|P*#>=O_>tu=k*{;*|>?#%TRDt{ITbtMv-QPW*ZUuB&rh*Ol41geI&KV&(kX5mp zs0Lku&xtErg}$K>)Y>%Bi}W8et7kz7oAn((1v^{Gtu#vlWv?Z>>flQUcEWruYQECk zQc4;VS$*FA8--4rGw@_n+#d?Kiqzl-x-3CiVT3!>UsEP(mJ78?b@lm;D5plA0^-gZYY(>2iQOe`^Qw|ZyR8iz|mPdwRZZGj1veqgG-u~n5y4*Tqi zT%9!OEXPps$oD|0SfkKkU8P{?U`U-{a4FvRf7xS!1*I>XAo>nawaZ&xf#yVR(hN(E zN)_(UB((jxkN<8*W!C=#>nnH#z$*%6aNAvBp3oCGOQvBUCvAIgnA_tGDmsp_-JEUx z*_cBFBjF?5yctcWuuQQEq*I`Xd8YfU%c*VyD_00eJ{f90>|6ee+QMWsheP2~g2`5t zfGg42TjKI-y+p!)?}LT(KW$H#gQ59VzlBxisMU_=gX?%Jmr&a_lRtUR7&XAm3*qBr zeX=Ny>?}t@Huf(Sb#R^bXWlDmN}`2WIGfTpN8r^KQ?4-uU2>N9LfajOVP;iu#ON{C z|HOL0X?E|rbD!79Jf&>rOoCK2zce#Fz_xyf12ilJ>{PF^?z*xb_58sJG9Q`re%H~Xy6Jrd!!g-%s8~t>^^~6flq+4%B zJl|reJRtZiKve)SaD>+_ydq2-xk&7T?}D%7EPnJE&l_cVPhrBtBohVjakXN{!7YC}gZj$_0h=`m!5;TRM`9WK^|q)T zEj)b(bK?q9hv;+1Rv8t8s4>rOzig64amC-UViLkoPac|u!>DWtId8zVE7;KJs_86C z0PxxiC{9-#8u_w838A7rc1tV1%T&ve`}vW-X6_NI7^E-G z{yueWc9NYf0cO^#HRs(=XjBJCS&!dUNYA}x3Pow?pH65ko-JPb8vHHw{h=CMwk0vr z5c;V|zejVUKREvMYv8qR@Cl5<+);*MTM+HsdYF-S0mrJYuORd)m3+z)T zvssu0i{d1R`1VYf6|V4B7W%O6yzqY^jDi14VXW`v(%*WPeXUT(U`N61PuzPH3+l)G zp<*ZV@}^(6a6NnGBC5ax5@L3*7bw*8MU|=>`G8R%L&q^t&}T~F`w8Ok@ZSRcU+w7n zhu+Qq%T)ei-mcSz^7w(Y#HmL6d-{Q6Mp_=^^+@%yJQw@U#? zi2VMCw#QEytPiw#^lAt!2hRM{#@kegJjVBtG#lDPcqhfaiIYhs-Y$tDhXUpB_4L1? zps4+9d(O`k4kL-nx|mvzoZde3C=)ccZ)$|ycrEPcz}y%9Qq4ABum8!0+`rN9it#r0 zKM{{f_Cv`gil`}<8}7UQuZ1#|z1P!HXWVz_jYlD~AErKK9fx!qf@_2MF@|$x_0=xZp!p8q zBSF~Drw7ol!uJ#I5s%iA2th543)@=Mhj$A4ZyGTs_k>zo0I*c)I+q5-ym+leH;KQG z{OkKK>i*x_TWiY@}v(CmN`)~fp~V0pN;LP#g(Jw@TU8UV6@C8 zt+xt_Q*slq+izh!lIl~wAR*``$am3w=%ZR>TsdVZC`W>~|1e>nUGt8mJ) zM!bj71Fuy3T_e+S97x(7)Z^7BBFHn}0JZe8qA2z*SB6qE9C!T;pS75?;DGHorJ^v* z7F%zRtV1gIcw5@%8-Dg9YeFm=?%7C!SW4S{@tW> zh)%iOZd7TU4&$&;ewF{yBAy9Mpwg|h8lGo!q@qIhVAAYQd-&|lX>6RFld~bh;I|px z<2_Do56pVkf@|L_z~SP*>X6wcE5ct|Fa-4+G%y$nsm#^577V_|7;Wbg-r2cXxn;StFbQJH|P z(%BMPlw=ooW@c0}4d^#fMvu5Cznfcwj0BAx?u*g>ouflZ2b7==xJs+HLjQd736aAS zZ$@?}4i@`JK3_s66 zUyT{+UpG3~!3hCJ<|h^2%d$gG^RP(QjPc9)l_zP!bq7XLGlH*OITs_UChr)idPGRG zsr|9rN0GOpMUA5azZG6(V>b|sZ@5jEh5gdcuh6?gfv%pu_NIGvZQ4(3aco1C*;i*( z%JpDU=y%p;abb7jb1PuwBVtvUke7;z=&15(oF}RmnWvLI=py7zB(z?(HbTao=)v8$ z4D?46jhb(^?V%?3a?){e5+#OTuIhN-j#`31FDB)=ckdQS=R9UWJf{{SjkTj!+8SZ& zRo>`|(6cI6=KcaaxzQ;!9>mHCzyb8 z%n>ZjXN=!EdsqM~4cdzNA;vb@8-~r!hrs2FF8ic)(yr8lJVd6H3f4Ni~@6 z@w{~g1Kje^Muh^MRiEJ|4W#PmsW~NTpI*slr@uIHDwLj`@@NjW7Lg#(243+sSRnuu zWjDv6reK0GXBPx$7$eTrjDf@c#eVtiBkDK^Ygs>Aj_OpnXEY5f+r8%XCK;mOf>z~9 zzMcLU0C89s2X-Cne%UKPZ=5Pm3Bv@o z7~Bw~An2drMw+qO?xA1+;WfCVrYFs?wmE=oZfeSSg@A{T7etg~&b%?g)!c|8@A%Wi zrhY+(E>S(FP!{BHjBI>qoBJ5%!Dh+3++>&$HGG_RpU;;*9X!_6`638-L1-{da=df} z1ePZaS*B9ks9aN(1~+FieZh$p>ACi~wa2U;b{IYu6j7$QVyuHS#R_us94>8cT5w2{ zX@vA^Llwfjmp$Dww;GxZZ2GG3Q5H;XzlN*?Yc5w!h6K7}jc255(wzR76~(KrQT%?@ zWO$T#v-?xzu|+m4KjMNwefuyZ1+!1`CrnDJQE=N`Sy2;Jag4lH(^!MWF>_f@x0WoT zr!(!Ku3m#ySpcgphIIX)Wp7e#b#d~ic5qCY*hFZxCrr(D5fVs{-tu0y|Wgk~C;pfLhL( z*}magEV=8zDun3d$I}4tunVSns<{8^wxa2m7T}PfL{Xm;xS8Y?>&pY!G=!>J`K~ zLdaO@-N+PDZNUrAa>Z>^oDb<^Y0@;@#0>GmFKKX=jMUq;a9YtjJpLq5nNv%-cw_qn z-a&Fpc%;SIq z$z8V_V(S>vYh8-iz$_uSAOidD)At;;Gg(DomN6@^Zg&AlXj4dyWwU124u8_^y3;MF zvBiDKq8;O{@==jBfzOPSLCxYa(1Ia}l6_{AzdpIcMS_&Q-c>Tq_7~{{8IAZpD>|vU zQ|^1Xd)+9oOyzQZM2bQelc})kRnGQF9skn=XG%ghAt3O=byFm<-p_+ltuR}oFCQPE z+aRjekhn+s;Gpr%{O`h!hKAvZcA`Kuy+l>#BHfE*^j2gOo1dxb>cw^3c?Zhf6;I6{ z1llugIP=RaGy&H=Yi$7wDNx2Hc7wOuLyM> z6jiWR4Lh6|CDu}}fB{1fVVh-Ycf}XV`AfRJ*0m=WhN~hpWK6Z)8A3wrNH|U8Oa4nF1Lhol| zv70wDqIj)Ph7!zjJ=EHHg(gFa35e*{M0_U56yKhkgD9F zu7nz|P~8NwI8WIuK0JHMx8K&=s~NGGs9A>aVt*uibh-Eu}P2 z+*;Bi#oeJT!QEYoyE_5eQXqJ74+RPoclRPG8Z5Y52<{T>o_^)M_s9DOylZ8_I*>DG z&dlt+XZC*fv*Xi$hwh#^1H!6prxD3fn9QUcP^Xd0pqu{0g*(7m$UcL@F#ApfW9|h)GllM`)V8{sRQjN#? zd4m?bnI2lL(16mml7-C`>msIUMF-OI^l5TvqD@cD`5L<8M&XCj!UsR*x~=j(o7P=f zisQrHN(l?CjrORaXz~|K-m$RxYXg&%v^tBlWG21LcK&kwTTl$4Z?dGG<(Fssnwd1J z7*%3Y32*D6s+B7YTbi*xmf-5^fvY-W8a4j4d(mU`br>q~D2A9#sDMpMRuBtt+1i)6 zWSE1xD2^TXHz^Up_PP0p9YLKGT}!K|7dcc})$wB;y$>tO7gQhI5yUzAFOOFB>ZnMt zc-Sp(-M;CH*iKZ>>*47w{Xd(1X$L(3aS}I(g*6t}u({?%v)I>8*aM_Cafaf69$eZk z&3trZ;ryp>&59w9Fitmxy(Vu?qL>S>Ns71=o~E7{bPT;qcd`!I*XYV`LTyYcr>c{M z6oEifitmK-#9QIg3I4}DzdI+S^;RzrEpyN?c;!=|X@8zrmh@gt|I}nG3;yK{tsCfo zWr5)fyk8MYw4fy^LhgsKpRvHZnLn;wQ>99-C{N{FT4NI2IC`!DMg3OzvU?U|leq`n zQ}%x9B80Vfpy2JThugY2R|g(!OeM+sYBVp+mbvC!o*w)Crz+KB%>z_I&a&y+Hz^(H z?v~|+CQ6rpvv&C8jyoCrzg`ffJW)0m{$;FDy9Yg?z)rZBj0^C zK7ph8tgX?93z=~?lUCVs+Y)^By^IsNSNA~Cj`r4@=7+zL;6X9aLfNRff#SjwU~;N% z+BT-T@rHmPLg-~2-_ctCm~Xu3(vg}-#W$A+w}Mn|ii1t|ifQh6(&Hz2jKfH%6 zQanK(V&6I1&wgX|9w?1e!pM13=ddf<+qNfiraX*gimfAkdK*osh`dY{c@bhcw8PH^ zy8864vOA4eF8ZF;zWu=6SYOxI5FbPZxS!Ba5kBr-J;h9pNHL!nS?*_t172 ztOeji+qk@wUg@fht2KD1!V=l&*Yx7z_X>2;iE^=;uIEog+7`1Ww(rkT0n;7JU;jCl z>^q#=ykCR?amL-S6Uk_XTWRfW<8byCNsU3pZ@a~stg*6C(M=JiLn33M4+6{S|A-do zENh!%TJN5HQZ8dNZesi8DVioPGjC9h}g*TB+bl9i z=>E(8@pm*A&4SPV->jzhd29>+8RdWdO8@;o7WeP9>(l>H1%EI9@7eJ0)t&#n`OcmH z9kBmhB>yWI|9{G0Uon#wJ*3J|C@0*t6_e5wIoi=S$(}iuUL5Ab zToh19C%zCf$0CiD7+Tq=-sMj2AD`#_{Vp0i_kBt$y*%f?SO8OwofD>_9rq>oXISR8 z)~Rdh#wpWjlSW4yIzQ%1dHrx-M^t^l!&lxR0q|3!Pup&d1J*pr0~%ILDZC9|$5vlg z_Lx@ahl@ll-)(cZ=I7yo6$Uj`y)J)Zw-i1F^ujQ;XV+c%&P_g`CnIu1+*0IeV=vD8 zW9L|8WXJZ!CjxK9Rkh_!!qHW3cD1q(_M@`r^pmcTs6QQZERWk18bmStoTN9x#U0}na|dDA%65A3@#^5{ ziBls8@$3R^%BRES+3Rs4!BJ=(ejumH>!1wrndE1MQk*~Tk!VdzyJ9KXb?3iXG6-jh zV0+HW)X&={`jrT0t{*?z(fV|FRF5_`iLYr!{N6c2nnmsbt74$XwYAG<%D9I5q!Cz> z5Rje=H|G%bx=3gK>~6twF73FkVgA^kld^^AnZc8{jEbsGF?%}n$EudSjJrnCcNXhM z$H%riOpm)~QFzcnP4UZA&I43Kp!clmLhwf%&M((?*WcRtx-&@9Zy8=<-Q_;*TE!z_r>e)EEbgx} zE+%AXH<2QHo_g14pVtjszxkTl9R2TKWwQlMJ^G9Wx8frL3HDjzCSdLd8(Flm`RVfq zRBvK#;b$s$u5g?*7?DT%SpTm>bUk!UU!wAe_i~Ig>cu6dJNEzNmv7VvhnVm#C%wM? z^~@q22J2_0ta`EY3Ei~sv`GENS2VeO)D7PF@A1KTc7$7IR}~zcEDK+`^eOfk$Q3r< zV!S^%!76u?G)q$aa)En7@KkpoqX5UEh&Hyz)LlX3*TuU+QS0$jg(@d5e<7DyTaKN^ z7sD_q9G?N;8&wuY+h>Qe5&dEd`Ed~n@bZ}=^CL!ZbZB;|H{hp@L@-Ph0bi^{(eek+ zCqEOlyi%Rg)nu*PZocdX9$sik?R{x|TrN@QB4!Re?_`di`ApK$NU>w!O>eNT2Jk15 z8?!mERmDM|BFi(%P3D&Qo%p-xELlx|%7Qlu4#``4w^<|+(<&^I~Eq3xxi%J`~B&qw_XKpmAHm9kIRsPI8f*vg(2%D?Bh~ zA{1fPJdxZFG#~1)ooZP#Tx05=fz!gTX1%LIeEm9KgT=P&;wIEV#W@x91P=%a`TZL%Eg(GagT4floEP~Nkb zI2Q%J8^&uZFI8fLf#F7=Dn<;0eM)KpWc$Ko%G)ltWSC9Amc%Xyu5 zhg~qq^0VE)O8al84xNxWh0(#3Iq6et^^4?)ozm$db5-`x2Fa57qOki5aVwt_u%A}z zOu18w5v`LO3DX^aR%Z|=ET%QM6laf!cWoe;LP=nOSuF-k`%WpnDXKci%|PI`DjKQ- z(T<*?e%qHUrL_J@O+U^;g>#pY&BCPiOVeq`#0tW*L0gye4kpb$a=F5%i*qTgIy01H zAuT4H$#M$K#(Rp>XGy@kU!2r;=Pgc$UZp;=2sPN`PA+Q6;HHuBwO-(BsMaL3es_g| zp*Pwj@`PPyHB||x>H#C*YRM5#r-O5Os$uJVboRj9pYc=|SaBS>cBRw7^Unsa4I1-m zJ+AJ3PVaaUc_s$bvcD%e9grN&co5NC(Q}zq+h4>JVv=gAq}w#%$}Qs2vl3_9b;o&( z`0BMbVKS~M&H!iH`Ui)t*HJgJGbG2yVtIZ1MwKalhqM?N(uK#I!=Yz(mZILk5MWLo z#>1*MV0BhCHPThA>;xdI{EUE>?EBvMX1>*4rzK|D3*i?Am1omM>%v&j0FYwd^y#BP zX+=rZB~Cl%;JhyoKC$&dVJ_(Pit?++e$%zA#0=Q-q@JBj&zZRRa|yg6e<#f-*?kzQ zE6spwUZ5KV)|pM~EfUFy@N-%^_e(|D0xy0#Az|*vNW|VK#Ch1z?2!RPU#3r~&wR%_mk4jv&@$f;aH{_|5EORsiK4Qqw)|B(o#`FERkxzVM##q^|@0t+xT<*x&1wz;Gj~)08 zHdvXN>T>;)9oc9U{<+f8IUcO*1UW5l>@yn`TQGsv#_FXosQ|GO-1-vi}sf<7A}1qJm|FCbw<#ri|{8O%6JspU|X z1a82<3MkKnd3+cw9Ug^ge5QU~{AJ+6M&}do(3`E1jk_AU%GY0V^z1SEA)sjS7vCa? z&TiE78MhdZ&^gN!L7g=S2_&Kbo~1rP%iGW#(&_mrdkRKLqL0-z zJRaWm>T*(AJxQT*<%{H_prbQJ@@(M;wi1kX(`qs$FhJ+R7yWB1Er!PBtHupq@ zUMMW$6d*aGrhVrx>Rw+}n9yj+u+AqEsa{e=^0?uCSZibgnNPOD_zHoHrk5BbU(tvH z#2R(ez~%QDCUsMH=n*0QTgP945RcH%jLff)t>EeQ79-F{9rLCky3mjLflMlki3RaY zaC8WaGWFe_LsSVriF(k%(^^UKNLVZ)HlBRqaCb;*nKN+(CbkPCMG+~BEIU#-(eJUA z5I?PV&<}?(?OwFX%92N3={`nxa@VfFiq6Ew!44F2)4xKGn`&DdMiboK#?k55l~t3Y zLmTYD*%=dpa92;0*wmAmoHNRR_SZwd~%%LHHqu-wga3yHJS(Sr61Gcr&6|4 z%TodjvikE%UeqnTuQ_QH_7g|v#yJY*mnUgS)z-HfNK#Wqj_hu0UtfPv?Ej6Uzea6( z*ce8B7xBJkNT|b#;#i0LaD%W){{t&=Dxb1~(gQ0c7V17&qNHr_;E5q39{e2fsbY1-kIG7hKjpy=cIKj-cgPWDCdJTlO3(UDHMYl zPt__Z97<=%34@t@RqB<1eXGpuUnma&L(8A{iDR7QZ?&6g#NJvR{Q1TEF^nOnUC!;u z>D!lqsXv=0nMX8*7+WGlXZlJ1S4~szn$~D%sXZ2TIn;$iVbtSClNXI8=7Tg5ZUTNSLNL|X*1{J`*n@dEptOP$EGIy2K+pm?fe2I6i!mu zM~B|K1?R2Emw@UsHcFK6fAa9yH?zS<4T0)@Jv_A796fu*AOYE4we`gzQj~UkoY1TO z=~q7xh^*!EE*taIUrUGe>;>g2a?%*n+Tc50x|6n&c!tHqy90-%* z<7qj!VE8T6*I9yLkCfiSXp>LjYQ=WO>D0_U0{mB zKp+=ZHMoL)G9Mt7BItPLtgY**F2lqGKlu&GIK4?$XGmwC!vJkBBeF9WDIE@+K&VQ! z)V+0c)Qc3PP0H2fqr9NtZ z8IzyW3NS->F0=zm^4vea$l|`b@*n2SQMGNOAI3}lBZR)@Fn*Cjt#hPRS61Gu%y?(C zF0!-bq>qTkxK}fWh+Saehr{`k(%N9@Ji2wTtZXX_Vd3=9y6N%7qjo2`>B%Vgnz80_ zwunobdzgOYa7JhsaxV4c^aZHALzU1*+t6EauPx@RwOlUW+NI~B?E@V43)vd|RaiHf zPYUveQnizXf8WmP;zTmcduy!!7WK1I_Yd<;#;-ic7YBkaZVUWMhn{d4AG?wWgTpUM z+=yivlV>d)EQI6K;&~@aIZFH->_b{xve?{{y4395N(Ps74q+qS@y9-_8d<>=mtdhpC=-vSFeev2>XV}mI zG$48|vwqTt1~k0rxrV79M3d`09SmHjYYJBv&*j6+=Y&gA#Uoxv`H`YL-26OiDlW)u z^z*XX&6h#@Q&d!gcy<5%7$MAls4D#A?M6y-!lWRANZM!7mkDbVws_m6uJt>ua5!V+MbzI{|mO4_Y5mv}? zpDm6kLDE0;75!eYOkZg!(@WjpQogHrjBJO;+_9xyDH&%=c25QZ zkvsNFr%!ZP%ln)y`{D#-+4Z7($g#*OaX#p~rBT_`n{e`(L}KIt1R@;MiBr-S*5!A} zlz3jl*E$#}pLnUlE@q@2{PXuHL`w8Mn^)H1SGsecFZa33OW?@k9|PB!YclKQUwD;aYd z)1Pr^SoJd)mXNcqef(k)y0vXd-)yzUC8HQdSA7vWJ|>**;em=23w8QzQq)@0w$*z6 zFcP*hw=glwSo4zJ{b%UKBcSG9X20fBFpcbW`||J@NCI+&IpiUn(54=l@WQGoh*aCiz<7B`z6rtV&Yv; zL6LwsUhAYg&@VL7CPvk`9pOF#b_r;5GBc$CWEf`3v%nm){Ka`CD+kTJU}W@1mEKl$ zXw(L-6;PDz${%-bARbiadxRTt)Zs@%qY+I_v=?jd`sL$p-m?4%u0v*tN&(}|sx9iS zS@s+yYR5o8(#sSq&8C4bCfPl%+FP?uPPY5-5o67)^@wGacc)v6=Rv(^i+}}FMp#sw z2zwGyf`q@Ce=KAp?LA~n)hT6i2pW+2U}gSWKM1sUozDXxB3KE-lpFNQ(w#iAp^f=F z8$E);3uRt<%y|d6IzvXjJmcd~u`sj20UzKz&{<1lgGe^SELB>!v`;z~P2p0f2SdOC z1GLhO<-Xc`Y~JFiXL9(|y%2T%5>HKy0NDYm0k{i&$9xF$-bt`OZd2=Bff^#*Ih7D8 zp&ek>polo$S$xSVq6nr!NGG*=8c`NXYunF@l)E8qjBj|!k>5;0(YQQ#t+b+ih9M%! z^&=?XH>HcvQ?>xR5p}WeOQUeCfB2MJ)+OdvJ`j}O7d;YoI5NEU62u-nGojhcR(h@| zJNAUR!BJSgbCp+8A3ES6=QT>lnYC?PxBR4`t91U!pQ26hhXi2j$&oCF$rk+>9SliZ zEvSTh)aUnQD3p1)JhC@G1#K29na2Og@>HxHzt@iu)Kq_c<=3nx zcZ#Kqe`p@V#7@&|D%-`aMQH0OQriNTMbJj7Yd#1$4WI#8DUPgJ#8_i*S1Xen(B-{* zfyS*t>kBSr(+)b>3qnb?^{f|#Sd~;}+2#DrYgp_y){Rx49pzVO84_4jgZM!Es|S&n}Oe2DD?$ z?crEwH3oC!etjR1wC_OTFwzV@CXy9PnW`1e5(J!OypO6;TGq6xGoDR80u5DlY-_vh zdK!po$-q{ZWFME^lzXoHY1iSfk*F>B*A%*oi0OND4w98#H1lhM>T|h7Z#|XscUHS; zKAHSxC^deq6DDqNUfAOK;`wzZh^}rhp;nqKs&Js|hHWy5b1((`-aByp)G3Qizsj{zStr0H4mMSwZ6GoPM}a z(M3u13h|xoEPLfun3QVjUhK?wZSKAwJY5;bmzRa2__HkpLco$3o^W||@tlqb-o&H+TMC~?>vEoP9q%a8M%^69DQ)1#IFR9CBjeO*mu-R4njL2U=O$?bDPy_F)>m zMP1p-@h}2?3;pVq{z|``68Ra@NYwP;_sJWh%4Xl>*yg>l=W?c{lID;LwJUe0A9=*m zJ}LP=boCpzA~nZ-SLf0uJ~&qa0B%d*^i{N42&^YK4Y!4|3fSz8#PqxbMgO3GOtLn5 z;E8z?MHIF${HqTm^hy9P^yk~`1C>?XF!4Rh&XC^n$UzLJwv$eQNYA`h$bK4nDT8@F;)megw?+TIJeNO5lyhOC{<~d_ds0ACuXcv~~;K@mXwHpfGQS?Qu_~k0uj0S~Mdw-p)T_#b6f2DnTUc7rXB;$HO&TH}k0c4{6n}~% zf`ns5yDM=GMJEB+r&k#^_EaY!>CH@`=#m!>m}Z>!mAZ!s$B{WrZ=#J-*n+e*q{wgq zW6h>r!%4GaP_h0nP|m%#+U?IVb&gwc@iS#v+E_BsRwdBa-#u;TK6h`m5fX}4^^_49 zjW|DvpFyk)#4Z2O@sb{pSTiZ8M20}(Zn{NXooK!NX9lBU1Bn|h8hlax{SZi8-Zbu_ z?O+G@Lyb{9PDm$qySh10if^faf8i4oJ`dP)7U4<5?Co3b{5#V#6hd;C{tK(#ttq5b z*KdpxZ1eW>9i_I>|0`5%FVbppR~~-&Rr(aC5&-5#A1K>n?cc@H8M~u1AJGwZ-H(yq z6Fn;^toxTF(MDqOK1`(U#mppVqb!tCKe-2IvwUTrXAr!3f+SpHERR~}Lg zv)OXuBk%9ouVCV!@lMm3YBBw3ymMN7)B&YQ9)n2Gm`&p^lQV`#^BGPUa1L$$d(~?@ww{95cqzq19zbYwN`!p!!3cA~EZn zwyKK_;ND3sZtp#tD%#OUX7!nldeNw$^&(^{(C2yyfDSiA5kGg)XbDtRPHyEO135KS zpVAb0$DHBPfkzUE*QpalRKZ8JYRjGzQwgk?#p094e$8!NO)izoWTl}^DOXO;tNl)w zHwH5zE?!e#6gOE&H=gwSttB%3oWpzEtS}?8^?8}}!j$$3!4pC9AhkG`ylSEX0`(OK zxJmnTw?s+}syySe@`;A$pR! zENnptmujReNph45?2wL-qBwnr0(%x_C^IN_;)4 z>AB${hR(QL4ZSZNu%1^f_{S`F?lPFZ@Qk`-_XWU)_W-a(+tzM`weEmte6A{Yvz9f9 zc|Et!R?}QPKIyJ!N~TH>P=JZkHpa^vwm8hqPMz<5ikJ6Ii4Fk z^I2Qx58gy5Z{1H3Hy(jW9p4FVnk>17YR*XW@t-A|k|fn;Hid7Bss0{^W>j1Mnh6a! zHkDxQO+cs4O*&XF%GX(g8l(seXtR7*wyCv&I zJa8C&Wx=L;TSkk(SxLW(4t9O@Va`ND=>(?b#g+5x8xmsN55)=!ara(;th#WBNo<7P zeCjHqGko^`kX`(WE53z5cD4DbWd2OK9K1)85Dt6JzirEcA4Pk_@>nu|!5AZSfOu(P zf%v46;enZOa+KSs;ii^i=d^-^SGiSBd8hbISB#iZH@(tHErp?{>z6Y<>z{Jgs(d`C z(!6*>29N-X=1Pdh!K9i=Lrd`8e4xw=1c+Y&Ka8v1jmK!tm6Yph)6j&yI_bGzq3-Z( z2dQ=ZVP{xNNHCRe6@F=Lf8)({qb1KAtlGDfd>g+1xY;DJG%~~XTH{7SOFw$Xe(IFK zwfNleJ`Ss^cB;E=B+B4V(>3DD$XkKpW8r`u%YVq9eT$JfPff1R_&6+DG1WL62z*!r zz;n+R9&6^!GwTzZRF!)o&Py34ker+g1FZ83X4G`xsMu)gl1OdHTJb@?;?<5`@{Q3T zrx3p1FA!)8Kj*`gbu|aD!1~iIE1a_IOTt8QE(7Z%oTRC(3)I85aB5#ZNnL?HLoNOn z3!sSA(_aciS)QAZmx|J!`|-INf)!kS3hm30H_-Nzbv>1g_8m}H!2O!$aG=}>trKH? zF>g$5qu};GV(ngnzlNjq;K&tgIDnA%Q%;a^X;V}kUZ`#2Z7M%G)Zhw#y(Ur@rn!Ch zy$@CCPc9nctU7J?D&b^x-$&J$krPRgES253iSY~zDPDoqsYhP&eGcAD^f#udn$ZrK z@mFQXeMPcmb{vA$iOMbUgzjtw9D4XBlHD4ry{BB%k|ZUQ^6$L*unwHewk@`e&*(^m zsm_MWH;QeKy&-~Y=8(9kAp4&oNh{$FD?I5uk`@u!gSi5NqGh8=^}}voiYPQw0~66+ zR3?nf@m{`_(A4BDA5FoIa_bpFd_fA^nrc?gZn7PxlVF~9H|A((q`ZIgixyJ(;@p)9 z^zsCnmi1u7(P&v_Xl}n7bgl`Yz+6MwIl&_-^AEHdBrBmrC*Nh4EY{(j%Xm_x{oVF- z+zPH#sDlRE0k4b;@pYO(fjOKD69>^Uga(Btg|dQEnGA ze>w~f)qL#xjMw>lV>WdE`hiXetG{7_KiTQqyzL?ux`{Q3rbewQ9`&5jnJPr+MHN7n z^QZe_Gl)&pGsQ&@BIbJW=^9v&gUxwr2G$AKsOF`dgCZnh-TG6#(Xq?&Kh9jGnozEj#`8)@YV!d8OI(#Cky(Tyc3KmLVAu+)^@F@K1B_`dT zJa%K2JqRyzWluS;tMr)Ov6Y_Y=ctKMvG0~zn289TtEnn8=_YvA?xI85NZ2zU3YnN? z!Lh3CSVBPLPSskhoronYSc8L{s`;jR*j*}B?+Pks$e*QX^fnDglQ9*J`!z6kl-td^ z2m)cbdRAUPSh>dh!n=t#6bFjHXB9QJHw=tER+j!ylE=+=gg|j{-r)F*TMKlB0|2mx z*i(&04RuoOT;EnC^q7XgI_-7YKWeA-Dob3bF~ONzGBf+~UuGn|;iu#oi7Bs>u_>RV zj7S=Fv%Sn{GV0vm0Y)vW%GcsY+mTgf*`?KQ2=s>!T3}x?Z`(?NUjev|#xHKB>(Q*?KhL z!pn6VEYYc_xlX5m5;~^Ovv1Hx6?OScqvQfay<-$KGlqDHp73_)8tXkV&ey1!# z`kXFAN@OJ;dhCLg;A@cSTwU}SRgcAmR821rn$cPd?c}X-)E6KP)8;ZiY_O4}ky|&v z8~cM?vW5Qw!jWz#41_fD18dX8)Sr%SRH0E6l}|jO_-(S{VMr+X1mJ^SvpN}gx?`@< zjgwcx1LI3Jeq=;gK%FuyQBy{mEe5w!f(jW|nrLIDviDqEcq07-^ z)V4LXtTt16+4toY)I)ls_6pk%MnE2mE102lIqZa!B(X9NhZpnoO{d6Jr4g`$9WQOg z*O2Wdz@_P%(^3J`v@CNAH#z_AkqVoO%=gH0sy;t_lnxzhPi)lz^ZcS0o-s6C`YyH# ztAZT6<48)#v>}wtF-*%r&#WP6fc* ziN^!sU0XayOTUvQ&_|K|bEWj>?5(B2^chcsS1?;gpm@t6H0M5k>mW(NQ|`Y-{BXxw zO9iQ;X01=G^~cfhx>aMyFF=E0U4T}u9(ivQ_>Uj zA@s?`d>z@uw58;A?^F50j8Fi?Ld8{p!O~Vr-7ww_1X+bF3sTNl7GY7&O)Je${6#_e z`96KTnou;~~^R>4A`!vh(VRwTM z$jit~HD+|0I@7UWH_VR-X55#tPgbTrGCsre5cq_6g(}>_8@BSf#SvX@<38TRGM~X%xPF z#`?6M_dS9s)IsZ2)-lp$XVg?0#c4)%`;nr*47kYQ z^#;US58Jyz(J6JhzNUS7=$2^w~(sEHKi51Iq8L zYW-EgTT#40%)rluZ?cfM6hV_(?P9S7E!d1xLXbw5>!G#-D zZy+BP3#z9pB7ND^i`vJjzB+jDdC}-Z1SJ+~Rug4l9rR1t0Hvy4B*yK{nbK6A)Jx#v z*@QZJD(5c_Pv{v})90aRQnAjJr&dDXd~}+0EcGt8^(-hc5nY(egl7(YqUTHWXnrbD zkTr(f>Mq`NW;@TGZ;F5u*YyzixCIOEE^G8pbZan+ocZd3jV0$w;PRUH?yyEed9Xd- zFOPmobW-Cev{v_Y#D$w`jPXTQ)A?lE*JUom$iAUa4b?7;w#_W?OeG#V|DNYElCSdd zM1PKembxFwYy)|N=OZ99Q5$}mx}=|{F9Z@!N^LOkkB~MsZM9qEUg)P5babCk`s;zi z{TU~5Ie%(9$TQVlRhBuv@?P-CqdkGG<&!=edr2Bam}g>3hy7&4ur~R#oW@jbhZ9nR zDe|MGlwuYH3fPSfSxyD&^2_RsF*>JG^yCyP1hzz#8gqM|nmt$Iq) z#@s8>JV7S74aYp&^*hgaY<_$CTviaJ-qxJHkGh|0#80?}HM&?w4@-MmDSjn~EQMb3%mQ=F#nUTH{FB z4-RV)p4XuxV#jO(E?{v$P&OLUWJHHMHfC8FA_(FL)Dsc*DcrBRI&EfZMRw*wzU8!P2y-WQo*&f;D$B&KK8S|I1pxN?T1c2W*8 z`Plvo*p7e0%ZJ544qkb1djZXO%WXVz!R~RAVpfW5hfy&xG1-_pVHNgPW3?jG0>#~_ zj3IGXpNvbO#otr(&W-+@OnEN~6N9s=)v`Qa#cf~zEU;d^j|_BJCPWKVA0MLH;$aeR z(vDwdked}<)L6OH$Y%IoF^7P1ZqVe|H%(6ZpLj&hY8dxj1TJ3`fk)lO zbXklQ4v3A&D@@jenNOhsKDV7Q3bFIZ`JpE@av21mtQB(5P#Ld+P6*4jJ?JPv7g@l zOTVX#puhx>H%+cP=A$fI8E#x1xBtn8x-U_l{lV)wJi3o+#4+h;Nq#(~7HTUj=#-rr z9YZ3>K?cACPn&n9((EeItv+4%Ms$9u!GCu14S^Cr=Hoardy`Ig^AoAw$hq6S(a&ds zu?J(1)TNA6CinUYp?UkgwCs{@I+^xX=FZd+))FniRV0tlP&|-c}cKd`eKNrwE*Y3g~wo>hI=utGvC>-yfEX|4v;>Gx6EiLlo*!O#c7qNg zLuSfD?gPle2`cpxVE}m+7uhNIBIiTC-piZC4dYzn;j%;!NHzDiVCIKt9z{6JbB|Sh z%K$s1%*2n-B1VSlws!)otKM@mPm?hOIXWcpfieGu&Jh4e@i%*n+wf;DMNy64@z;Up z09MFCEI!Aw`JMBy@{~%E@xc!3puqv(Y;i?cB`P{d3qeKz?3H9}OjD zBnlvi>nop?ASAUy0Htu?Zi%WSfd2_c2)z7YLNlbxL!8DqZ(WwLbmOY?++KN`xT|D@ z)|J0IyT13ZW?n1V@jZ(h)%aW3b%=(ty4R0^XnA|wCZXNcXi=_&jJ&wG+M=JE?Y2Hx#ljDz3 zu0!DGLgMW&&wj&*!}-{{zAzX}Ml_a*KQ6H^o3UrTLf|%`+M7{0m2*bf&1KO~Bh42r zq2;pP?a|NTB$7xz1w5eTV#|E|EbTVzja^Kx-N;5m{T@1<4uQTJJQCs;Mqi{0MOj`- z#DvLKmTs;!EMRcbWCi+!{cp8UYt9T8HR?w@+bT3!?&9X7D}Ha6c_a%O&2S8Zx!=kz z9HfI$3kO|__hcXfUscupf9f*~k^X`usJuDixWA-<471r@9CyBJ_M=ns~7NZbeagkVgK}5FHLT z_w4dQ>7g&IptBli~SU~IYI)?3h;0aQ!XqC7Ryo37rmH7VesR3D|O zZ_;;{q+?Vy)8MUr&YAW&ix}X1gQ8=&iPMO7iPE|~_##-ni-iuWprb88hAJj~{=$vV zY--I;HExtV9(UWLZWtP=Mr0lj@F+WX6#Dj^1xFs4FjW+C#K-5R3d(0Ua+H-^W-pZN zDi+3VS)&HTatN&*^eGTdyN3G=AWTTV`h?d}bk%8MdAx2fkerD{f{N8_>rvsHC&e1| zCQrIHpC5Sg%mSs1{c{>dbnBS)=+3*4U)LU8dzr0}opIV&tv$-dhpw5cbQTAf^0xH( za3JSwyf}pG<9(VAE8S6DQ%(uXOKZe5@%V10#^pczu@Y-USy3WtP;)T!~+~i7Rhb`1SIWagK~2SM~&# z_i=noRPEtD%!2ab5!X0?S8z(p*`7U5{_dZcX(KZ$vsHeD2u3)}I-KYEVZxLyVth@r zc0(KaDD}3ox$S5d7WpD8li;B(MEfW4_7CF6O|Vh8Q3&$xrYbf9Txu@O!QJZesiKvi zRjzH?G3JE}Ud|Vf5LONEC@c&R!!T&cXP$v~3Mf?le5IyYO;m;3S+f?0sz6 zT`~kQk5Dx@1sd#;+E|n!zlg+*qT57fSG&8WGA3ipWQpia? zA1`9JPsQ5u)lCcu#?j}TU3|6ZM$3Eb0hoM(cXAR;rw2^T6fz5Cvm2^sAl5BGfWCTDwDMFel$+yTE`WiAarObPNjjg zF3y<@4NQ}^oFB!LxEU!-bIalkLB2RbJMEvipsbc+QBxN{gK%d!IO?<>^13QTh zU+h9WbK`QR1J_ct$5NFl1K%S;i~OTACo`MnI(oJ{I|4uu$s_;v_z4#4x<-V`OuZBX z8;;SsjkmnvxxG`JYeRRsx4DQC?=In$d$1hUx5hUpk==V|{Pf!L7Jg*KPQ$w!wYRWo1poFs zQOw*@pfuQmli*8a#M$HhOQmo;VSmqtAJ9aiUXzW#IpH^-cMT}Y1_y~x9EEtD918=i zM)ug(7n;ru1@ZiKlr9lO_#Hwt%TJ5}Iyh8C>@B>9xJwB1dg{)Vf$+PR8pttk*4S!s z2| z5jfIq>~~}BxshGPY)nB;wK+fi;$LJuZJd402P}8scB1mnTewpGpk)clEFWj9qCIa( z&(k@6YqHQi56s&eGjtJo1M#nmzd!sI&VBz&i*v`4_`iHBKo&B~;eUxc?)=bS{U0W}_l%s2lP`Kh*V_K>&bi3plWGf$5q1h3zCx={Mp3G7Uo{Sn_5Y9NCxH!rf zB=$>RtoiLw557(?x&K+CzE^vrxAR( z{bx{*jPhEmt8WoVcWp^nII0ye>o$Uz~%FeFVT~iit3zm-M zd98V_4S^gzz)Zokak2j`{H@SPs0Umqo=mV*5Md9+4ph)$ZQO@kf_a;eaZVV!_F zU1&e6c68;?)%)@mx_Ri|r&@=0Fc3L$zCA??Qz_=1b=?=E?yf|EW4byS9OPdI7w`O^ z_P#T!sjcl6^*wry3K~&Rio6D;9zdii)e;0jK)RF=8=-^rnxLW>nuriWXb~_VHDG`M z5dwz}(n2pGw15Fa3oVr7i~8Ps|J*U|xcBe<{_U}|ch(-ye%4y^nRD&AGREyo$lV;Z z#C*|PX)MFMPTJzWp?&lynj|(ky%|)w84tIv(7U9>j5m)^V5|m&*!Ki$_IOd($W!_8 zGnTYDNyrxWeWFyxf*7>7{Sg`5{21iGH;)$vY%Rq&L2i^be%}bP=k`HHC?6&)T>YT* z)*&wY_Kv-|`hw1wnD-9W%m^P-TwQNxV)9N1pKOM9udG#NYFtGNO3zDje)v?|mn@jH z6mn2@N&3^oc6`H2hC}?qjrdj~Yzm1_q^hJ|rFKh}WQy+kass^axW6p07zg1O)kFQY zsr!i4ocsGZ<`HZ*qbJm$^A9fq-^n_EML14E+>EQCw9(n(O>G;)eglJyuVUF)bxHWzCW?KFnD=<12&W}vX6+PLIeN?h+*eWDzjvGSk`!w^`ArRz_hqG7 zfus^N)y#cunk5S|t-B^6G?8d}pCFjqqxv|bzz>}5L)<_22|mg$YYFKaj?|PN-csYQ zM8KFowjwo%y6a37_4PVyP=rD{A)7IjR~?(S^Pp|DEDIRl(g$m z1fmL=yJYJ)7WO#50U*0<@^x{Wp;~UXqXDafX;ZVD*UM(F zcTZfn0~(n8K5@TkQEK=@ou*;vTZPmTx!u;$=~~)7bP_a$TU?Np$LbQQF~c59AMF4B ziZ=^Q_1qAWjVrWiTx&-9X7b4Z`WnmZp0ecu1hRiEc_LdZo(8{nciY8m@scg}eM$Y! zDV1aHUsy7Xq}YoCvTNVxjoqqELHJ1ALI?3cM0j$Ax#^p3f_$|ZKq?(w(ABCY5u zv9uSIR8GWP$U)%@TX4E#pKY+DQk((Bic8P71r^vg{nPXp$qQpif0yfp=^^xpvHu>f z>TN=VV|xBpK|mi4YV^ELLVT`o+6R5MzDIfUPw^kxbr8EDvqen9`n?+Dq+2QsxjgVV zQrpIP=B%CUGeyNOUngFZd2<4>HkJ@)nWgL9HKKHBu&`*WjqQ0IGx{8IzU1tayQ%cK z_{7FqAaI_TKeYE^)&fR!@gOk_N-dJ>ydsetGHe0SMLlKFPQrhU5^Qn%Z=eKzpfj+5e5;eEjja8&O z+%j6dvh=IBG;05{yFUW44jFZJmsgrEEL+$Q8HBuZ%Y- ze#UcA0kn-Q0G^JcLh_^0K9=A0@`lctElnV5W^!}n|&o+ekyYI?hsiQIMh>d+LXQSDPdpVs3o;-nbxk5s&9c)D$o zJEWtjHK z?WGzH}i7Je@U^l&a8Oimg41%J!Mfx(dKA(T_=BLg}hxzz2|%A zX3TE@Rj=f+nUab>O(_O}Cgz`K&x>+Ktvgrdgm6};5I4H_5p)6Ws2AjD=y?79L`W%n zkiPeH&#=)|wlM*#2r=!ru5L=&K1VtOAY8aN5D%Aw1IQGhr%j@%bv!+!jw;|dD+-LRoDvax=O}AuaHIn` zmKBxya-Lj`(0}Xox4C)KfT?BLfJ;70rq}gqDD-?ab{h3Wa$~)Um7DsJ z*y?_0aNAxhEzU%q`tR%jJ@X1=f^3E1rb1i?>7;YgnNWMayBcO33U1i!(x^A-jJI$C z2&QNll~B*Vxw;ueD+J+Lk&-?hMHY2qIu4v8?}Zc0RIh}=u&cRDUb(H8{;4ao224r- z&s5aY-#*hjIb$kk;rSsqY#i&V?nEKR|IGZ;c`$T&;;~G^lS?Rw$|!96(OilHvHiUI zvNiC7iNvy1B~s#|bV!8P8@KK5R@@a2K!uys7ZTjVj?vcp82l;4Bn(-q3o5TKd$BA~ z&7W3nXV+n^6!l8~t&U%jW>tEvDl+Uc`CRN*=uqo~(pl~7s1Z7j9~-sEAa5)+hj|Xx z@C~6KuHSWEjKyhJB}+kej7V0*_VNHJfb^UUb6fBUCrS`Bz;4U0Ei9OE4*IP3DJ2Sm z!}Qc<-Ill3(IEd!2^zN-W#!L!%RfOxrBU8r$Hdji@W!%N(EJzeMDA;!;#$XW#6I8C^~E`&s#^=#o^ zIyPc^sS=^@t+;It%W@6(Q&kiuo>8TIx#s~E?n+=`vCZ~dG0(e(4L}U(!L$rmZ-}AC zms3(4Vcyi9=P~;7ghjiI!k|8j5Z@D}2Zs3HX zhK>4{1f-#Ooq=WQwD1U+=%$FQ^N2xIwi0CI{++!GQ;-2jKOV~|e$&Kl<~cGw7NH;S^|9fCYqFyhAo#tF zv+Gr>%@rHUrltYE%Ydow3L#{XP%-+iuE4aH5pas!`ayF8N>9=Ys%HB#3`xxQy9G+B zaQfJgr(u{eA#c5si2Vk4vy}goV_sdjXmmMTHbXADs+gU@+aY!8`8axjaug%)R{Y+R zL^6pw3!PlY>^nCmWIfREDGIIir=9hw zeuY2`FL_veogBr2n!2qWPOhxJefJ$0Fu(h)qskT@FrN$F-Mn)pWxbHN72e|+s8V`R z{8|ne-=T-fY->W6j$YczK=<{&*k*N$vK!1-AepS?zv7;#7P$s8D)nf?b4p@-%EzmH zzo*IpKXjJtnSEKuq(v_eV^d7_mj+%6YG~c%Oq0@UcY>cVly!q+>uwEXY>EwFbltiL z4_(jFR2GRZ5r`n-S0J$2UYlg~xuU_DcgBI~B$YZ;9r85IsMn9s_YRz{>EYt3vA4-e zWHT~)yu|*@6ge2)*pHaswU)=oMpxB3)b_EeYbQ(A9ZVkcRO3xmhC7qtCQo}#`l}XH zYb_}0COio^5L~pAZSvp^*B1C;x_(uQHS~ysQLi0(nWffa0?+WgkH$L@t+uWArh+q< za_{sL)rH?kalz&lWY)de9gwTZ^YxCofr_U6h}-k?_vh!o(Ks4d2499&p!eK^h;52p z8T3zC8HJcadCGXHm0_i{bjkS5RIj6`G6qZ0a%0E=WzUr*2sFZFeg*mn$_zaG4z&Jgq! zQM(cuR15XFz}{m#H$nelR>sOgCWQb1JA>fJik23uD%m6CxD#i_+X*LcN4PeI|^HA;<6BBm^k@a$<589K-A#`!+>eyYjCB69d+$c zr3{W|$Oet|hCXL;aP6Fl?b|$M#TXV8xaklv8f7~*R5UBj->Nrf8o-7E*NnopmUi}Q z-Dh$V*>U% zD`(XBqn65c0$JZGm=R2Rl$X=eaQ0{I*Xv0#-JY7fCfHqyouxOj&-2{Zbo6mg)#$FX z+2{sBYlK()xDJ+|d$-rj8jc^0nU|z)NaFGBhHSZ@YEA=fRXCBZ$DQ&ebmAfdtlm6G zzpywlXCeaMgYobf{AY)}(%_g=!ba0(QpJ)*<#!Y1276E5;hNr**5eTR+9*MQ=^(#i zH7r8U2%rJe$~>2Vd7{Lutcq)x9V|Q)$_tJ{WZ2c-UWrVq>=#oP%|PURAv{e08$^%N zPqp-Wn2^8pJ>Fc8m5M8TVy=FYny}iY^R)fGeDI}@MC>ZH?0bbIq2Re&mvyGUOYzya%UT_e6}K3m5V(x@)Hxb;4B=gQT*H z`b=8gKJWt9pL;WXwGQU@czBZD|29!~ces?%Q6zM$liEEO4eS_s?5?~;n|y3z09q%^ zTcgC|WjX$Yzoy)K>4~I-@Yfre7`P*GSUqf! zNe+4jT}Q&boED}Fd5_MZBw3@6kP+m*m`Zo}?nXz*aG+#sNwHA8LX%1DcgosARwuPM zkY_Kg@1>x+mO`eHa@)HkV_lc=%&8N-#VVNKjZ!Svlw&TBzWZU>7^(ij|5*Bf_A(a6xSRY9%D^6xRawKjV|C$&y3r?s#uA$LeT(G^=S( zQqOA)*s)D0#YO2J*__S6wmZplQ!8Mr5Z@3u^CsK*m|o&iQFu6%ro!CcpQ9d5P{6Z@HiO{Z!PlcyNv<;qyL+m=kZGCo zI$&$Qx$T&@9Y{y{J0v{Gp&h| z^d23r7b#Eea=JFduuQq0vXN!C$6x2|Eq z3tEp6BlHt@?qG6Jv$7Lt?cgv!c7nc%^F|jk*CI6+^eH7eJmZ{=Tg7|He58bP&G`4^ zYB}p5Wic&PzqPa<2Cbz`rgdWuL;zI&Qk?BCnLs|glD_E%WYMQdu`OaFomVbviyRNn zJZD-*xO)ejrnzKXY!3QCT-yQLStTEKelxBfD*vpinGNx~>Ze$C=CSHp-_#V9pLL8r zq53o;>Wi&((}d&5DaL*{kjr}KF=Y=4F1P4WMKA>2ki#!2v^Ww}@7gxsdC!E~Vf(kU z$>BeKbj92`*7z4yzlyu6;(iF0sU|w!&p5J9#cOcMKi|wo>+zH`CwM?jzaW=pqo)B^}h$5ku0VqB)U?%%*)jFvDPr3i66 zZO0I`a}HWIJi*`EweDb`w0j?KtswX3-yMIll`76mDddxFe)4#ePg80m9c*B>iA~z|cmO{ho))3sb!cG!m12kV?l82q&yP^^R!o7BS z$kn&4WmhPo=ZO^-cwbMMhZl4#4enV7ZI#W=NpP1sSbUEe%Mfi1P8Xr`b0c*bMbK)N zaIPEQzY5@P4-?PV^<5?IVy(|uho-haX?i=`%2VPA^02qtu5ss>qt!dC4X)MI@F8N^ z5|~YL;D~xTOJ5w4&A){OiJ~9+B@^F<@3&fVrr(kYCMUo+X$gPn2bs6JiZ>kke<)dX zuYt@LMhq^+_^#|K2V%2ocyoFl*0J?bUYAV=&3H9_^04aLlF6Y#1Q$ldH&4r5`OAVR zC`1nSX(OYqzIraTOb+shYGf%^{6@Ril?l^uuhIqmp*^|t+ zcogsmIAF^`Vo#q=+@C&yZ%6Apej@z^o6fh(A9n+_BAxdy?9tKNK1%_jLxXEI{c$F66a)w z(QVWVgA!!8U+H6fDxtf4Z@5wxcE0t9Fz%82-4f%wTd0=1NJ7swH8tG5z~^DwDuIsI z%c<)%C(uN+{VlElJ-wa#fv|9Q%ftRN+)opoDXPQ2zH+Vn$)!MrL|H^&p3Y8)-=YSRl$?sQ80_y`1z@rSl&E?5Q^+#4)7omt8ZC{lL{)VyKUQKwy)n32HwkK+yB&3m zWXm+_4I|LOCBV+_?)@2PpLCDfJ_b(a z?5ys@S*#nBqR$Lv^TiouocJl=0#jWW6VEBgmga{}P;;hv-|*o&hc32sVl|4NvLPmX zF<#-5w%ekJoivCU{=RJ@<@^o6>ZXfXo8t=2Cma1+;3p*Z9aze376x1v-`Bmi<( diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml deleted file mode 100644 index 0f31dd1ee1..0000000000 --- a/localization/autoware_ekf_localizer/package.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - autoware_ekf_localizer - 0.0.0 - The autoware_ekf_localizer package - Takamasa Horibe - Yamato Ando - Takeshi Ishita - Masahiro Sakamoto - Kento Yabuuchi - NGUYEN Viet Anh - Taiki Yamada - Shintaro Sakoda - Ryu Yamamoto - Apache License 2.0 - Takamasa Horibe - - ament_cmake_auto - autoware_cmake - eigen3_cmake_module - - eigen - - autoware_internal_debug_msgs - autoware_kalman_filter - autoware_localization_util - autoware_universe_utils - diagnostic_msgs - fmt - geometry_msgs - nav_msgs - rclcpp - rclcpp_components - std_srvs - tf2 - tf2_ros - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - ros_testing - - - ament_cmake - - diff --git a/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json b/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json deleted file mode 100644 index 61fbcc2973..0000000000 --- a/localization/autoware_ekf_localizer/schema/ekf_localizer.schema.json +++ /dev/null @@ -1,52 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration", - "type": "object", - "properties": { - "/**": { - "type": "object", - "properties": { - "ros__parameters": { - "type": "object", - "properties": { - "node": { - "$ref": "sub/node.sub_schema.json#/definitions/node" - }, - "pose_measurement": { - "$ref": "sub/pose_measurement.sub_schema.json#/definitions/pose_measurement" - }, - "twist_measurement": { - "$ref": "sub/twist_measurement.sub_schema.json#/definitions/twist_measurement" - }, - "process_noise": { - "$ref": "sub/process_noise.sub_schema.json#/definitions/process_noise" - }, - "simple_1d_filter_parameters": { - "$ref": "sub/simple_1d_filter_parameters.sub_schema.json#/definitions/simple_1d_filter_parameters" - }, - "diagnostics": { - "$ref": "sub/diagnostics.sub_schema.json#/definitions/diagnostics" - }, - "misc": { - "$ref": "sub/misc.sub_schema.json#/definitions/misc" - } - }, - "required": [ - "node", - "pose_measurement", - "twist_measurement", - "process_noise", - "simple_1d_filter_parameters", - "diagnostics", - "misc" - ], - "additionalProperties": false - } - }, - "required": ["ros__parameters"], - "additionalProperties": false - } - }, - "required": ["/**"], - "additionalProperties": false -} diff --git a/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json deleted file mode 100644 index eda9e7d06f..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/diagnostics.sub_schema.json +++ /dev/null @@ -1,63 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Diagnostics", - "definitions": { - "diagnostics": { - "type": "object", - "properties": { - "pose_no_update_count_threshold_warn": { - "type": "integer", - "description": "The threshold at which a WARN state is triggered due to the Pose Topic update not happening continuously for a certain number of times", - "default": 50 - }, - "pose_no_update_count_threshold_error": { - "type": "integer", - "description": "The threshold at which an ERROR state is triggered due to the Pose Topic update not happening continuously for a certain number of times", - "default": 100 - }, - "twist_no_update_count_threshold_warn": { - "type": "integer", - "description": "The threshold at which a WARN state is triggered due to the Twist Topic update not happening continuously for a certain number of times", - "default": 50 - }, - "twist_no_update_count_threshold_error": { - "type": "integer", - "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", - "default": 100 - }, - "ellipse_scale": { - "type": "number", - "description": "The scale factor to apply the error ellipse size", - "default": 3.0 - }, - "error_ellipse_size": { - "type": "number", - "description": "The long axis size of the error ellipse to trigger a ERROR state", - "default": 1.5 - }, - "warn_ellipse_size": { - "type": "number", - "description": "The long axis size of the error ellipse to trigger a WARN state", - "default": 1.2 - }, - "error_ellipse_size_lateral_direction": { - "type": "number", - "description": "The lateral direction size of the error ellipse to trigger a ERROR state", - "default": 0.3 - }, - "warn_ellipse_size_lateral_direction": { - "type": "number", - "description": "The lateral direction size of the error ellipse to trigger a WARN state", - "default": 0.25 - } - }, - "required": [ - "pose_no_update_count_threshold_warn", - "pose_no_update_count_threshold_error", - "twist_no_update_count_threshold_warn", - "twist_no_update_count_threshold_error" - ], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json deleted file mode 100644 index cc36a5bf41..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/misc.sub_schema.json +++ /dev/null @@ -1,23 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for MISC", - "definitions": { - "misc": { - "type": "object", - "properties": { - "threshold_observable_velocity_mps": { - "type": "number", - "description": "Minimum value for velocity that will be used for EKF. Mainly used for dead zone in velocity sensor [m/s] (0.0 means disabled)", - "default": 0.0 - }, - "pose_frame_id": { - "type": "string", - "description": "Parent frame_id of EKF output pose", - "default": "map" - } - }, - "required": ["threshold_observable_velocity_mps", "pose_frame_id"], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json deleted file mode 100644 index cbaf34de6e..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/node.sub_schema.json +++ /dev/null @@ -1,44 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for node", - "definitions": { - "node": { - "type": "object", - "properties": { - "show_debug_info": { - "type": "boolean", - "description": "Flag to display debug info", - "default": false - }, - "predict_frequency": { - "type": "number", - "description": "Frequency for filtering and publishing [Hz]", - "default": 50.0 - }, - "tf_rate": { - "type": "number", - "description": "Frequency for tf broadcasting [Hz]", - "default": 50.0 - }, - "extend_state_step": { - "type": "integer", - "description": "Max delay step which can be dealt with in EKF. Large number increases computational cost.", - "default": 50 - }, - "enable_yaw_bias_estimation": { - "type": "boolean", - "description": "Flag to enable yaw bias estimation", - "default": true - } - }, - "required": [ - "show_debug_info", - "predict_frequency", - "tf_rate", - "extend_state_step", - "enable_yaw_bias_estimation" - ], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json deleted file mode 100644 index d2bc313d4d..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/pose_measurement.sub_schema.json +++ /dev/null @@ -1,38 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Pose Measurement", - "definitions": { - "pose_measurement": { - "type": "object", - "properties": { - "pose_additional_delay": { - "type": "number", - "description": "Additional delay time for pose measurement [s]", - "default": 0.0 - }, - "pose_measure_uncertainty_time": { - "type": "number", - "description": "Measured time uncertainty used for covariance calculation [s]", - "default": 0.01 - }, - "pose_smoothing_steps": { - "type": "integer", - "description": "A value for smoothing steps", - "default": 5 - }, - "pose_gate_dist": { - "type": "number", - "description": "Limit of Mahalanobis distance used for outliers detection", - "default": 49.5 - } - }, - "required": [ - "pose_additional_delay", - "pose_measure_uncertainty_time", - "pose_smoothing_steps", - "pose_gate_dist" - ], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json deleted file mode 100644 index 37a8c248ed..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/process_noise.sub_schema.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Process Noise", - "definitions": { - "process_noise": { - "type": "object", - "properties": { - "proc_stddev_vx_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of linear velocity x, noise for d_vx = 0", - "default": 10.0 - }, - "proc_stddev_wz_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of angular velocity z, noise for d_wz = 0", - "default": 5.0 - }, - "proc_stddev_yaw_c": { - "type": "number", - "description": "Standard deviation of process noise in time differentiation expression of yaw, noise for d_yaw = omega", - "default": 0.005 - } - }, - "required": ["proc_stddev_yaw_c", "proc_stddev_vx_c", "proc_stddev_wz_c"], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json deleted file mode 100644 index 00679ee92a..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration of Simple 1D Filter Parameters", - "definitions": { - "simple_1d_filter_parameters": { - "type": "object", - "properties": { - "z_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Z filter process deviation", - "default": 1.0 - }, - "roll_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Roll filter process deviation", - "default": 0.1 - }, - "pitch_filter_proc_dev": { - "type": "number", - "description": "Simple1DFilter - Pitch filter process deviation", - "default": 0.1 - } - }, - "required": ["z_filter_proc_dev", "roll_filter_proc_dev", "pitch_filter_proc_dev"], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json deleted file mode 100644 index 7b80133cb3..0000000000 --- a/localization/autoware_ekf_localizer/schema/sub/twist_measurement.sub_schema.json +++ /dev/null @@ -1,28 +0,0 @@ -{ - "$schema": "http://json-schema.org/draft-07/schema#", - "title": "EKF Localizer Configuration for Twist Measurement", - "definitions": { - "twist_measurement": { - "type": "object", - "properties": { - "twist_additional_delay": { - "type": "number", - "description": "Additional delay time for twist [s]", - "default": 0.0 - }, - "twist_smoothing_steps": { - "type": "integer", - "description": "A value for smoothing steps", - "default": 2 - }, - "twist_gate_dist": { - "type": "number", - "description": "Limit of Mahalanobis distance used for outliers detection", - "default": 46.1 - } - }, - "required": ["twist_additional_delay", "twist_smoothing_steps", "twist_gate_dist"], - "additionalProperties": false - } - } -} diff --git a/localization/autoware_ekf_localizer/src/covariance.cpp b/localization/autoware_ekf_localizer/src/covariance.cpp deleted file mode 100644 index 9ed3a83fbf..0000000000 --- a/localization/autoware_ekf_localizer/src/covariance.cpp +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/covariance.hpp" - -#include "autoware/ekf_localizer/state_index.hpp" -#include "autoware/universe_utils/ros/msg_covariance.hpp" - -namespace autoware::ekf_localizer -{ - -using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - -std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P) -{ - std::array covariance{}; - covariance.fill(0.); - - covariance[COV_IDX::X_X] = P(IDX::X, IDX::X); - covariance[COV_IDX::X_Y] = P(IDX::X, IDX::Y); - covariance[COV_IDX::X_YAW] = P(IDX::X, IDX::YAW); - covariance[COV_IDX::Y_X] = P(IDX::Y, IDX::X); - covariance[COV_IDX::Y_Y] = P(IDX::Y, IDX::Y); - covariance[COV_IDX::Y_YAW] = P(IDX::Y, IDX::YAW); - covariance[COV_IDX::YAW_X] = P(IDX::YAW, IDX::X); - covariance[COV_IDX::YAW_Y] = P(IDX::YAW, IDX::Y); - covariance[COV_IDX::YAW_YAW] = P(IDX::YAW, IDX::YAW); - - return covariance; -} - -std::array ekf_covariance_to_twist_message_covariance(const Matrix6d & P) -{ - std::array covariance{}; - covariance.fill(0.); - - covariance[COV_IDX::X_X] = P(IDX::VX, IDX::VX); - covariance[COV_IDX::X_YAW] = P(IDX::VX, IDX::WZ); - covariance[COV_IDX::YAW_X] = P(IDX::WZ, IDX::VX); - covariance[COV_IDX::YAW_YAW] = P(IDX::WZ, IDX::WZ); - - return covariance; -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/diagnostics.cpp b/localization/autoware_ekf_localizer/src/diagnostics.cpp deleted file mode 100644 index 45468abf72..0000000000 --- a/localization/autoware_ekf_localizer/src/diagnostics.cpp +++ /dev/null @@ -1,226 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/diagnostics.hpp" - -#include - -#include -#include - -namespace autoware::ekf_localizer -{ - -diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "is_activated"; - key_value.value = is_activated ? "True" : "False"; - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (!is_activated) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]process is not activated"; - } - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_set_initialpose(const bool is_set_initialpose) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "is_set_initialpose"; - key_value.value = is_set_initialpose ? "True" : "False"; - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (!is_set_initialpose) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]initial pose is not set"; - } - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_measurement_updated( - const std::string & measurement_type, const size_t no_update_count, - const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = measurement_type + "_no_update_count"; - key_value.value = std::to_string(no_update_count); - stat.values.push_back(key_value); - key_value.key = measurement_type + "_no_update_count_threshold_warn"; - key_value.value = std::to_string(no_update_count_threshold_warn); - stat.values.push_back(key_value); - key_value.key = measurement_type + "_no_update_count_threshold_error"; - key_value.value = std::to_string(no_update_count_threshold_error); - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (no_update_count >= no_update_count_threshold_warn) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]" + measurement_type + " is not updated"; - } - if (no_update_count >= no_update_count_threshold_error) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat.message = "[ERROR]" + measurement_type + " is not updated"; - } - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_measurement_queue_size( - const std::string & measurement_type, const size_t queue_size) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = measurement_type + "_queue_size"; - key_value.value = std::to_string(queue_size); - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_measurement_delay_gate( - const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, - const double delay_time_threshold) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = measurement_type + "_is_passed_delay_gate"; - key_value.value = is_passed_delay_gate ? "True" : "False"; - stat.values.push_back(key_value); - key_value.key = measurement_type + "_delay_time"; - key_value.value = std::to_string(delay_time); - stat.values.push_back(key_value); - key_value.key = measurement_type + "_delay_time_threshold"; - key_value.value = std::to_string(delay_time_threshold); - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (!is_passed_delay_gate) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]" + measurement_type + " topic is delay"; - } - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( - const std::string & measurement_type, const bool is_passed_mahalanobis_gate, - const double mahalanobis_distance, const double mahalanobis_distance_threshold) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = measurement_type + "_is_passed_mahalanobis_gate"; - key_value.value = is_passed_mahalanobis_gate ? "True" : "False"; - stat.values.push_back(key_value); - key_value.key = measurement_type + "_mahalanobis_distance"; - key_value.value = std::to_string(mahalanobis_distance); - stat.values.push_back(key_value); - key_value.key = measurement_type + "_mahalanobis_distance_threshold"; - key_value.value = std::to_string(mahalanobis_distance_threshold); - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (!is_passed_mahalanobis_gate) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]mahalanobis distance of " + measurement_type + " topic is large"; - } - - return stat; -} - -diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( - const std::string & name, const double curr_size, const double warn_threshold, - const double error_threshold) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = name + "_size"; - key_value.value = std::to_string(curr_size); - stat.values.push_back(key_value); - - key_value.key = name + "_warn_threshold"; - key_value.value = std::to_string(warn_threshold); - stat.values.push_back(key_value); - - key_value.key = name + "_error_threshold"; - key_value.value = std::to_string(error_threshold); - stat.values.push_back(key_value); - - stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat.message = "OK"; - if (curr_size >= warn_threshold) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat.message = "[WARN]" + name + " is large"; - } - if (curr_size >= error_threshold) { - stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat.message = "[ERROR]" + name + " is large"; - } - - return stat; -} - -// The highest level within the stat_array will be reflected in the merged_stat. -// When all stat_array entries are 'OK,' the message of merged_stat will be "OK" -diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( - const std::vector & stat_array) -{ - diagnostic_msgs::msg::DiagnosticStatus merged_stat; - - for (const auto & stat : stat_array) { - if ((stat.level > diagnostic_msgs::msg::DiagnosticStatus::OK)) { - if (!merged_stat.message.empty()) { - merged_stat.message += "; "; - } - merged_stat.message += stat.message; - } - if (stat.level > merged_stat.level) { - merged_stat.level = stat.level; - } - for (const auto & value : stat.values) { - merged_stat.values.push_back(value); - } - } - - if (merged_stat.level == diagnostic_msgs::msg::DiagnosticStatus::OK) { - merged_stat.message = "OK"; - } - - return merged_stat; -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp deleted file mode 100644 index 5638a5416e..0000000000 --- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp +++ /dev/null @@ -1,463 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/ekf_localizer.hpp" - -#include "autoware/ekf_localizer/diagnostics.hpp" -#include "autoware/ekf_localizer/string.hpp" -#include "autoware/ekf_localizer/warning_message.hpp" -#include "autoware/localization_util/covariance_ellipse.hpp" - -#include -#include -#include -#include -#include - -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace autoware::ekf_localizer -{ - -// clang-format off -#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl // NOLINT -#define DEBUG_INFO(...) {if (params_.show_debug_info) {RCLCPP_INFO(__VA_ARGS__);}} // NOLINT -// clang-format on - -using std::placeholders::_1; - -EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) -: rclcpp::Node("ekf_localizer", node_options), - warning_(std::make_shared(this)), - tf2_buffer_(this->get_clock()), - tf2_listener_(tf2_buffer_), - params_(this), - ekf_dt_(params_.ekf_dt), - pose_queue_(params_.pose_smoothing_steps), - twist_queue_(params_.twist_smoothing_steps) -{ - is_activated_ = false; - is_set_initialpose_ = false; - - /* initialize ros system */ - timer_control_ = rclcpp::create_timer( - this, get_clock(), rclcpp::Duration::from_seconds(ekf_dt_), - std::bind(&EKFLocalizer::timer_callback, this)); - - pub_pose_ = create_publisher("ekf_pose", 1); - pub_pose_cov_ = - create_publisher("ekf_pose_with_covariance", 1); - pub_odom_ = create_publisher("ekf_odom", 1); - pub_twist_ = create_publisher("ekf_twist", 1); - pub_twist_cov_ = create_publisher( - "ekf_twist_with_covariance", 1); - pub_yaw_bias_ = - create_publisher("estimated_yaw_bias", 1); - pub_biased_pose_ = create_publisher("ekf_biased_pose", 1); - pub_biased_pose_cov_ = create_publisher( - "ekf_biased_pose_with_covariance", 1); - pub_diag_ = this->create_publisher("/diagnostics", 10); - pub_processing_time_ = create_publisher( - "debug/processing_time_ms", 1); - sub_initialpose_ = create_subscription( - "initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1)); - sub_pose_with_cov_ = create_subscription( - "in_pose_with_covariance", 1, - std::bind(&EKFLocalizer::callback_pose_with_covariance, this, _1)); - sub_twist_with_cov_ = create_subscription( - "in_twist_with_covariance", 1, - std::bind(&EKFLocalizer::callback_twist_with_covariance, this, _1)); - service_trigger_node_ = create_service( - "trigger_node_srv", - std::bind( - &EKFLocalizer::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2), - rclcpp::ServicesQoS().get_rmw_qos_profile()); - - tf_br_ = std::make_shared( - std::shared_ptr(this, [](auto) {})); - - ekf_module_ = std::make_unique(warning_, params_); - logger_configure_ = std::make_unique(this); -} - -/* - * update_predict_frequency - */ -void EKFLocalizer::update_predict_frequency(const rclcpp::Time & current_time) -{ - if (last_predict_time_) { - if (current_time < *last_predict_time_) { - warning_->warn("Detected jump back in time"); - } else { - /* Measure dt */ - ekf_dt_ = (current_time - *last_predict_time_).seconds(); - DEBUG_INFO( - get_logger(), "[EKF] update ekf_dt_ to %f seconds (= %f hz)", ekf_dt_, 1 / ekf_dt_); - - if (ekf_dt_ > 10.0) { - ekf_dt_ = 10.0; - RCLCPP_WARN( - get_logger(), "Large ekf_dt_ detected!! (%f sec) Capped to 10.0 seconds", ekf_dt_); - } else if (ekf_dt_ > static_cast(params_.pose_smoothing_steps) / params_.ekf_rate) { - RCLCPP_WARN( - get_logger(), "EKF period may be too slow to finish pose smoothing!! (%f sec) ", ekf_dt_); - } - - /* Register dt and accumulate time delay */ - ekf_module_->accumulate_delay_time(ekf_dt_); - } - } - last_predict_time_ = std::make_shared(current_time); -} - -/* - * timer_callback - */ -void EKFLocalizer::timer_callback() -{ - stop_watch_timer_cb_.tic(); - - const rclcpp::Time current_time = this->now(); - - if (!is_activated_) { - warning_->warn_throttle( - "The node is not activated. Provide initial pose to pose_initializer", 2000); - publish_diagnostics(geometry_msgs::msg::PoseStamped{}, current_time); - return; - } - - if (!is_set_initialpose_) { - warning_->warn_throttle( - "Initial pose is not set. Provide initial pose to pose_initializer", 2000); - publish_diagnostics(geometry_msgs::msg::PoseStamped{}, current_time); - return; - } - - DEBUG_INFO(get_logger(), "========================= timer called ========================="); - - /* update predict frequency with measured timer rate */ - update_predict_frequency(current_time); - - /* predict model in EKF */ - stop_watch_.tic(); - DEBUG_INFO(get_logger(), "------------------------- start prediction -------------------------"); - ekf_module_->predict_with_delay(ekf_dt_); - DEBUG_INFO(get_logger(), "[EKF] predictKinematicsModel calc time = %f [ms]", stop_watch_.toc()); - DEBUG_INFO(get_logger(), "------------------------- end prediction -------------------------\n"); - - /* pose measurement update */ - pose_diag_info_.queue_size = pose_queue_.size(); - pose_diag_info_.is_passed_delay_gate = true; - pose_diag_info_.delay_time = 0.0; - pose_diag_info_.delay_time_threshold = 0.0; - pose_diag_info_.is_passed_mahalanobis_gate = true; - pose_diag_info_.mahalanobis_distance = 0.0; - - bool pose_is_updated = false; - - if (!pose_queue_.empty()) { - DEBUG_INFO(get_logger(), "------------------------- start Pose -------------------------"); - stop_watch_.tic(); - - // save the initial size because the queue size can change in the loop - const size_t n = pose_queue_.size(); - for (size_t i = 0; i < n; ++i) { - const auto pose = pose_queue_.pop_increment_age(); - bool is_updated = ekf_module_->measurement_update_pose(*pose, current_time, pose_diag_info_); - if (is_updated) { - pose_is_updated = true; - } - } - DEBUG_INFO( - get_logger(), "[EKF] measurement_update_pose calc time = %f [ms]", stop_watch_.toc()); - DEBUG_INFO(get_logger(), "------------------------- end Pose -------------------------\n"); - } - pose_diag_info_.no_update_count = pose_is_updated ? 0 : (pose_diag_info_.no_update_count + 1); - - /* twist measurement update */ - twist_diag_info_.queue_size = twist_queue_.size(); - twist_diag_info_.is_passed_delay_gate = true; - twist_diag_info_.delay_time = 0.0; - twist_diag_info_.delay_time_threshold = 0.0; - twist_diag_info_.is_passed_mahalanobis_gate = true; - twist_diag_info_.mahalanobis_distance = 0.0; - - bool twist_is_updated = false; - - if (!twist_queue_.empty()) { - DEBUG_INFO(get_logger(), "------------------------- start Twist -------------------------"); - stop_watch_.tic(); - - // save the initial size because the queue size can change in the loop - const size_t n = twist_queue_.size(); - for (size_t i = 0; i < n; ++i) { - const auto twist = twist_queue_.pop_increment_age(); - bool is_updated = - ekf_module_->measurement_update_twist(*twist, current_time, twist_diag_info_); - if (is_updated) { - twist_is_updated = true; - } - } - DEBUG_INFO( - get_logger(), "[EKF] measurement_update_twist calc time = %f [ms]", stop_watch_.toc()); - DEBUG_INFO(get_logger(), "------------------------- end Twist -------------------------\n"); - } - twist_diag_info_.no_update_count = twist_is_updated ? 0 : (twist_diag_info_.no_update_count + 1); - - const geometry_msgs::msg::PoseStamped current_ekf_pose = - ekf_module_->get_current_pose(current_time, false); - const geometry_msgs::msg::PoseStamped current_biased_ekf_pose = - ekf_module_->get_current_pose(current_time, true); - const geometry_msgs::msg::TwistStamped current_ekf_twist = - ekf_module_->get_current_twist(current_time); - - /* publish ekf result */ - publish_estimate_result(current_ekf_pose, current_biased_ekf_pose, current_ekf_twist); - publish_diagnostics(current_ekf_pose, current_time); - - /* publish processing time */ - const double elapsed_time = stop_watch_timer_cb_.toc(); - pub_processing_time_->publish( - autoware_internal_debug_msgs::build() - .stamp(current_time) - .data(elapsed_time)); -} - -/* - * get_transform_from_tf - */ -bool EKFLocalizer::get_transform_from_tf( - std::string parent_frame, std::string child_frame, - geometry_msgs::msg::TransformStamped & transform) -{ - parent_frame = erase_leading_slash(parent_frame); - child_frame = erase_leading_slash(child_frame); - - try { - transform = tf2_buffer_.lookupTransform(parent_frame, child_frame, tf2::TimePointZero); - return true; - } catch (tf2::TransformException & ex) { - warning_->warn(ex.what()); - } - return false; -} - -/* - * callback_initial_pose - */ -void EKFLocalizer::callback_initial_pose( - geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) -{ - geometry_msgs::msg::TransformStamped transform; - if (!get_transform_from_tf(params_.pose_frame_id, msg->header.frame_id, transform)) { - RCLCPP_ERROR( - get_logger(), "[EKF] TF transform failed. parent = %s, child = %s", - params_.pose_frame_id.c_str(), msg->header.frame_id.c_str()); - } - ekf_module_->initialize(*msg, transform); - - is_set_initialpose_ = true; -} - -/* - * callback_pose_with_covariance - */ -void EKFLocalizer::callback_pose_with_covariance( - geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg) -{ - if (!is_activated_ && !is_set_initialpose_) { - return; - } - - pose_queue_.push(msg); - - publish_callback_return_diagnostics("pose", msg->header.stamp); -} - -/* - * callback_twist_with_covariance - */ -void EKFLocalizer::callback_twist_with_covariance( - geometry_msgs::msg::TwistWithCovarianceStamped::SharedPtr msg) -{ - // Ignore twist if velocity is too small. - // Note that this inequality must not include "equal". - if (std::abs(msg->twist.twist.linear.x) < params_.threshold_observable_velocity_mps) { - msg->twist.covariance[0 * 6 + 0] = 10000.0; - } - twist_queue_.push(msg); - - publish_callback_return_diagnostics("twist", msg->header.stamp); -} - -/* - * publish_estimate_result - */ -void EKFLocalizer::publish_estimate_result( - const geometry_msgs::msg::PoseStamped & current_ekf_pose, - const geometry_msgs::msg::PoseStamped & current_biased_ekf_pose, - const geometry_msgs::msg::TwistStamped & current_ekf_twist) -{ - /* publish latest pose */ - pub_pose_->publish(current_ekf_pose); - pub_biased_pose_->publish(current_biased_ekf_pose); - - /* publish latest pose with covariance */ - geometry_msgs::msg::PoseWithCovarianceStamped pose_cov; - pose_cov.header.stamp = current_ekf_pose.header.stamp; - pose_cov.header.frame_id = current_ekf_pose.header.frame_id; - pose_cov.pose.pose = current_ekf_pose.pose; - pose_cov.pose.covariance = ekf_module_->get_current_pose_covariance(); - pub_pose_cov_->publish(pose_cov); - - geometry_msgs::msg::PoseWithCovarianceStamped biased_pose_cov = pose_cov; - biased_pose_cov.pose.pose = current_biased_ekf_pose.pose; - pub_biased_pose_cov_->publish(biased_pose_cov); - - /* publish latest twist */ - pub_twist_->publish(current_ekf_twist); - - /* publish latest twist with covariance */ - geometry_msgs::msg::TwistWithCovarianceStamped twist_cov; - twist_cov.header.stamp = current_ekf_twist.header.stamp; - twist_cov.header.frame_id = current_ekf_twist.header.frame_id; - twist_cov.twist.twist = current_ekf_twist.twist; - twist_cov.twist.covariance = ekf_module_->get_current_twist_covariance(); - pub_twist_cov_->publish(twist_cov); - - /* publish yaw bias */ - autoware_internal_debug_msgs::msg::Float64Stamped yawb; - yawb.stamp = current_ekf_twist.header.stamp; - yawb.data = ekf_module_->get_yaw_bias(); - pub_yaw_bias_->publish(yawb); - - /* publish latest odometry */ - nav_msgs::msg::Odometry odometry; - odometry.header.stamp = current_ekf_pose.header.stamp; - odometry.header.frame_id = current_ekf_pose.header.frame_id; - odometry.child_frame_id = "base_link"; - odometry.pose = pose_cov.pose; - odometry.twist = twist_cov.twist; - pub_odom_->publish(odometry); - - /* publish tf */ - const geometry_msgs::msg::TransformStamped transform_stamped = - autoware::universe_utils::pose2transform(current_ekf_pose, "base_link"); - tf_br_->sendTransform(transform_stamped); -} - -void EKFLocalizer::publish_diagnostics( - const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time) -{ - std::vector diag_status_array; - - diag_status_array.push_back(check_process_activated(is_activated_)); - diag_status_array.push_back(check_set_initialpose(is_set_initialpose_)); - - if (is_activated_ && is_set_initialpose_) { - diag_status_array.push_back(check_measurement_updated( - "pose", pose_diag_info_.no_update_count, params_.pose_no_update_count_threshold_warn, - params_.pose_no_update_count_threshold_error)); - diag_status_array.push_back(check_measurement_queue_size("pose", pose_diag_info_.queue_size)); - diag_status_array.push_back(check_measurement_delay_gate( - "pose", pose_diag_info_.is_passed_delay_gate, pose_diag_info_.delay_time, - pose_diag_info_.delay_time_threshold)); - diag_status_array.push_back(check_measurement_mahalanobis_gate( - "pose", pose_diag_info_.is_passed_mahalanobis_gate, pose_diag_info_.mahalanobis_distance, - params_.pose_gate_dist)); - - diag_status_array.push_back(check_measurement_updated( - "twist", twist_diag_info_.no_update_count, params_.twist_no_update_count_threshold_warn, - params_.twist_no_update_count_threshold_error)); - diag_status_array.push_back(check_measurement_queue_size("twist", twist_diag_info_.queue_size)); - diag_status_array.push_back(check_measurement_delay_gate( - "twist", twist_diag_info_.is_passed_delay_gate, twist_diag_info_.delay_time, - twist_diag_info_.delay_time_threshold)); - diag_status_array.push_back(check_measurement_mahalanobis_gate( - "twist", twist_diag_info_.is_passed_mahalanobis_gate, twist_diag_info_.mahalanobis_distance, - params_.twist_gate_dist)); - - geometry_msgs::msg::PoseWithCovariance pose_cov; - pose_cov.pose = current_ekf_pose.pose; - pose_cov.covariance = ekf_module_->get_current_pose_covariance(); - const autoware::localization_util::Ellipse ellipse = - autoware::localization_util::calculate_xy_ellipse(pose_cov, params_.ellipse_scale); - diag_status_array.push_back(check_covariance_ellipse( - "cov_ellipse_long_axis", ellipse.long_radius, params_.warn_ellipse_size, - params_.error_ellipse_size)); - diag_status_array.push_back(check_covariance_ellipse( - "cov_ellipse_lateral_direction", ellipse.size_lateral_direction, - params_.warn_ellipse_size_lateral_direction, params_.error_ellipse_size_lateral_direction)); - } - - diagnostic_msgs::msg::DiagnosticStatus diag_merged_status; - diag_merged_status = merge_diagnostic_status(diag_status_array); - diag_merged_status.name = "localization: " + std::string(this->get_name()); - diag_merged_status.hardware_id = this->get_name(); - - diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = current_time; - diag_msg.status.push_back(diag_merged_status); - pub_diag_->publish(diag_msg); -} - -void EKFLocalizer::publish_callback_return_diagnostics( - const std::string & callback_name, const rclcpp::Time & current_time) -{ - diagnostic_msgs::msg::KeyValue key_value; - key_value.key = "topic_time_stamp"; - key_value.value = std::to_string(current_time.nanoseconds()); - diagnostic_msgs::msg::DiagnosticStatus diag_status; - diag_status.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status.name = - "localization: " + std::string(this->get_name()) + ": callback_" + callback_name; - diag_status.hardware_id = this->get_name(); - diag_status.message = "OK"; - diag_status.values.push_back(key_value); - diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = current_time; - diag_msg.status.push_back(diag_status); - pub_diag_->publish(diag_msg); -} - -/** - * @brief trigger node - */ -void EKFLocalizer::service_trigger_node( - const std_srvs::srv::SetBool::Request::SharedPtr req, - std_srvs::srv::SetBool::Response::SharedPtr res) -{ - if (req->data) { - pose_queue_.clear(); - twist_queue_.clear(); - is_activated_ = true; - } else { - is_activated_ = false; - is_set_initialpose_ = false; - } - res->success = true; -} - -} // namespace autoware::ekf_localizer - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ekf_localizer::EKFLocalizer) diff --git a/localization/autoware_ekf_localizer/src/ekf_module.cpp b/localization/autoware_ekf_localizer/src/ekf_module.cpp deleted file mode 100644 index 02c9f8ee30..0000000000 --- a/localization/autoware_ekf_localizer/src/ekf_module.cpp +++ /dev/null @@ -1,459 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/ekf_module.hpp" - -#include "autoware/ekf_localizer/covariance.hpp" -#include "autoware/ekf_localizer/mahalanobis.hpp" -#include "autoware/ekf_localizer/matrix_types.hpp" -#include "autoware/ekf_localizer/measurement.hpp" -#include "autoware/ekf_localizer/numeric.hpp" -#include "autoware/ekf_localizer/state_transition.hpp" -#include "autoware/ekf_localizer/warning_message.hpp" - -#include -#include - -#include -#include -#include - -#include -#include - -namespace autoware::ekf_localizer -{ - -// clang-format off -#define DEBUG_PRINT_MAT(X) {if (params_.show_debug_info) {std::cout << #X << ": " << X << std::endl;}} // NOLINT -// clang-format on - -EKFModule::EKFModule(std::shared_ptr warning, const HyperParameters & params) -: warning_(std::move(warning)), - dim_x_(6), // x, y, yaw, yaw_bias, vx, wz - accumulated_delay_times_(params.extend_state_step, 1.0E15), - params_(params), - last_angular_velocity_(0.0, 0.0, 0.0) -{ - Eigen::MatrixXd x = Eigen::MatrixXd::Zero(dim_x_, 1); - Eigen::MatrixXd p = Eigen::MatrixXd::Identity(dim_x_, dim_x_) * 1.0E15; // for x & y - p(IDX::YAW, IDX::YAW) = 50.0; // for yaw - if (params_.enable_yaw_bias_estimation) { - p(IDX::YAWB, IDX::YAWB) = 50.0; // for yaw bias - } - p(IDX::VX, IDX::VX) = 1000.0; // for vx - p(IDX::WZ, IDX::WZ) = 50.0; // for wz - - kalman_filter_.init(x, p, static_cast(params_.extend_state_step)); - z_filter_.set_proc_var(params_.z_filter_proc_dev * params_.z_filter_proc_dev); - roll_filter_.set_proc_var(params_.roll_filter_proc_dev * params_.roll_filter_proc_dev); - pitch_filter_.set_proc_var(params_.pitch_filter_proc_dev * params_.pitch_filter_proc_dev); -} - -void EKFModule::initialize( - const PoseWithCovariance & initial_pose, const geometry_msgs::msg::TransformStamped & transform) -{ - Eigen::MatrixXd x(dim_x_, 1); - Eigen::MatrixXd p = Eigen::MatrixXd::Zero(dim_x_, dim_x_); - - x(IDX::X) = initial_pose.pose.pose.position.x + transform.transform.translation.x; - x(IDX::Y) = initial_pose.pose.pose.position.y + transform.transform.translation.y; - x(IDX::YAW) = - tf2::getYaw(initial_pose.pose.pose.orientation) + tf2::getYaw(transform.transform.rotation); - x(IDX::YAWB) = 0.0; - x(IDX::VX) = 0.0; - x(IDX::WZ) = 0.0; - - using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - p(IDX::X, IDX::X) = initial_pose.pose.covariance[COV_IDX::X_X]; - p(IDX::Y, IDX::Y) = initial_pose.pose.covariance[COV_IDX::Y_Y]; - p(IDX::YAW, IDX::YAW) = initial_pose.pose.covariance[COV_IDX::YAW_YAW]; - - if (params_.enable_yaw_bias_estimation) { - p(IDX::YAWB, IDX::YAWB) = 0.0001; - } - p(IDX::VX, IDX::VX) = 0.01; - p(IDX::WZ, IDX::WZ) = 0.01; - - kalman_filter_.init(x, p, static_cast(params_.extend_state_step)); - - const double z = initial_pose.pose.pose.position.z; - - const auto rpy = autoware::universe_utils::getRPY(initial_pose.pose.pose.orientation); - - const double z_var = initial_pose.pose.covariance[COV_IDX::Z_Z]; - const double roll_var = initial_pose.pose.covariance[COV_IDX::ROLL_ROLL]; - const double pitch_var = initial_pose.pose.covariance[COV_IDX::PITCH_PITCH]; - - z_filter_.init(z, z_var); - roll_filter_.init(rpy.x, roll_var); - pitch_filter_.init(rpy.y, pitch_var); -} - -geometry_msgs::msg::PoseStamped EKFModule::get_current_pose( - const rclcpp::Time & current_time, bool get_biased_yaw) const -{ - const double z = z_filter_.get_x(); - const double roll = roll_filter_.get_x(); - const double pitch = pitch_filter_.get_x(); - - const double x = kalman_filter_.getXelement(IDX::X); - const double y = kalman_filter_.getXelement(IDX::Y); - /* - getXelement(IDX::YAW) is surely `biased_yaw`. - Please note how `yaw` and `yaw_bias` are used in the state transition model and - how the observed pose is handled in the measurement pose update. - */ - const double biased_yaw = kalman_filter_.getXelement(IDX::YAW); - const double yaw_bias = kalman_filter_.getXelement(IDX::YAWB); - const double yaw = biased_yaw + yaw_bias; - - Pose current_ekf_pose; - current_ekf_pose.header.frame_id = params_.pose_frame_id; - current_ekf_pose.header.stamp = current_time; - current_ekf_pose.pose.position = autoware::universe_utils::createPoint(x, y, z); - if (get_biased_yaw) { - current_ekf_pose.pose.orientation = - autoware::universe_utils::createQuaternionFromRPY(roll, pitch, biased_yaw); - } else { - current_ekf_pose.pose.orientation = - autoware::universe_utils::createQuaternionFromRPY(roll, pitch, yaw); - } - return current_ekf_pose; -} - -geometry_msgs::msg::TwistStamped EKFModule::get_current_twist( - const rclcpp::Time & current_time) const -{ - const double vx = kalman_filter_.getXelement(IDX::VX); - const double wz = kalman_filter_.getXelement(IDX::WZ); - - Twist current_ekf_twist; - current_ekf_twist.header.frame_id = "base_link"; - current_ekf_twist.header.stamp = current_time; - current_ekf_twist.twist.linear.x = vx; - current_ekf_twist.twist.angular.z = wz; - return current_ekf_twist; -} - -std::array EKFModule::get_current_pose_covariance() const -{ - std::array cov = - ekf_covariance_to_pose_message_covariance(kalman_filter_.getLatestP()); - - using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - cov[COV_IDX::Z_Z] = z_filter_.get_var(); - cov[COV_IDX::ROLL_ROLL] = roll_filter_.get_var(); - cov[COV_IDX::PITCH_PITCH] = pitch_filter_.get_var(); - - return cov; -} - -std::array EKFModule::get_current_twist_covariance() const -{ - return ekf_covariance_to_twist_message_covariance(kalman_filter_.getLatestP()); -} - -double EKFModule::get_yaw_bias() const -{ - return kalman_filter_.getLatestX()(IDX::YAWB); -} - -size_t EKFModule::find_closest_delay_time_index(double target_value) const -{ - // If target_value is too large, return last index + 1 - if (target_value > accumulated_delay_times_.back()) { - return accumulated_delay_times_.size(); - } - - auto lower = std::lower_bound( - accumulated_delay_times_.begin(), accumulated_delay_times_.end(), target_value); - - // If the lower bound is the first element, return its index. - // If the lower bound is beyond the last element, return the last index. - // If else, take the closest element. - if (lower == accumulated_delay_times_.begin()) { - return 0; - } - if (lower == accumulated_delay_times_.end()) { - return accumulated_delay_times_.size() - 1; - } - // Compare the target with the lower bound and the previous element. - auto prev = lower - 1; - bool is_closer_to_prev = (target_value - *prev) < (*lower - target_value); - - // Return the index of the closer element. - return is_closer_to_prev ? std::distance(accumulated_delay_times_.begin(), prev) - : std::distance(accumulated_delay_times_.begin(), lower); -} - -void EKFModule::accumulate_delay_time(const double dt) -{ - // Shift the delay times to the right. - std::copy_backward( - accumulated_delay_times_.begin(), accumulated_delay_times_.end() - 1, - accumulated_delay_times_.end()); - - // Add a new element (=0) and, and add delay time to the previous elements. - accumulated_delay_times_.front() = 0.0; - for (size_t i = 1; i < accumulated_delay_times_.size(); ++i) { - accumulated_delay_times_[i] += dt; - } -} - -void EKFModule::predict_with_delay(const double dt) -{ - const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); - const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); - - const double proc_cov_vx_d = std::pow(params_.proc_stddev_vx_c * dt, 2.0); - const double proc_cov_wz_d = std::pow(params_.proc_stddev_wz_c * dt, 2.0); - const double proc_cov_yaw_d = std::pow(params_.proc_stddev_yaw_c * dt, 2.0); - - const Vector6d x_next = predict_next_state(x_curr, dt); - const Matrix6d a = create_state_transition_matrix(x_curr, dt); - const Matrix6d q = process_noise_covariance(proc_cov_yaw_d, proc_cov_vx_d, proc_cov_wz_d); - kalman_filter_.predictWithDelay(x_next, a, q); - ekf_dt_ = dt; -} - -bool EKFModule::measurement_update_pose( - const PoseWithCovariance & pose, const rclcpp::Time & t_curr, EKFDiagnosticInfo & pose_diag_info) -{ - if (pose.header.frame_id != params_.pose_frame_id) { - warning_->warn_throttle( - fmt::format( - "pose frame_id is %s, but pose_frame is set as %s. They must be same.", - pose.header.frame_id.c_str(), params_.pose_frame_id.c_str()), - 2000); - } - const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); - DEBUG_PRINT_MAT(x_curr.transpose()); - - constexpr int dim_y = 3; // pos_x, pos_y, yaw, depending on Pose output - - /* Calculate delay step */ - double delay_time = (t_curr - pose.header.stamp).seconds() + params_.pose_additional_delay; - if (delay_time < 0.0) { - warning_->warn_throttle(pose_delay_time_warning_message(delay_time), 1000); - } - - delay_time = std::max(delay_time, 0.0); - - const size_t delay_step = find_closest_delay_time_index(delay_time); - - pose_diag_info.delay_time = std::max(delay_time, pose_diag_info.delay_time); - pose_diag_info.delay_time_threshold = accumulated_delay_times_.back(); - if (delay_step >= params_.extend_state_step) { - pose_diag_info.is_passed_delay_gate = false; - warning_->warn_throttle( - pose_delay_step_warning_message( - pose_diag_info.delay_time, pose_diag_info.delay_time_threshold), - 2000); - return false; - } - - /* Since the kalman filter cannot handle the rotation angle directly, - offset the yaw angle so that the difference from the yaw angle that ekf holds internally - is less than 2 pi. */ - double yaw = tf2::getYaw(pose.pose.pose.orientation); - const double ekf_yaw = kalman_filter_.getXelement(delay_step * dim_x_ + IDX::YAW); - const double yaw_error = normalize_yaw(yaw - ekf_yaw); // normalize the error not to exceed 2 pi - yaw = yaw_error + ekf_yaw; - - /* Set measurement matrix */ - Eigen::MatrixXd y(dim_y, 1); - y << pose.pose.pose.position.x, pose.pose.pose.position.y, yaw; - - if (has_nan(y) || has_inf(y)) { - warning_->warn( - "[EKF] pose measurement matrix includes NaN of Inf. ignore update. check pose message."); - return false; - } - - /* Gate */ - const Eigen::Vector3d y_ekf( - kalman_filter_.getXelement(delay_step * dim_x_ + IDX::X), - kalman_filter_.getXelement(delay_step * dim_x_ + IDX::Y), ekf_yaw); - const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); - const Eigen::MatrixXd p_y = p_curr.block(0, 0, dim_y, dim_y); - - const double distance = mahalanobis(y_ekf, y, p_y); - pose_diag_info.mahalanobis_distance = std::max(distance, pose_diag_info.mahalanobis_distance); - if (distance > params_.pose_gate_dist) { - pose_diag_info.is_passed_mahalanobis_gate = false; - warning_->warn_throttle(mahalanobis_warning_message(distance, params_.pose_gate_dist), 2000); - warning_->warn_throttle("Ignore the measurement data.", 2000); - return false; - } - - DEBUG_PRINT_MAT(y.transpose()); - DEBUG_PRINT_MAT(y_ekf.transpose()); - DEBUG_PRINT_MAT((y - y_ekf).transpose()); - - const Eigen::Matrix c = pose_measurement_matrix(); - const Eigen::Matrix3d r = - pose_measurement_covariance(pose.pose.covariance, params_.pose_smoothing_steps); - - kalman_filter_.updateWithDelay(y, c, r, static_cast(delay_step)); - - // Update Simple 1D filter with considering change of roll, pitch and height (position z) - // values due to measurement pose delay - auto pose_with_rph_delay_compensation = - compensate_rph_with_delay(pose, last_angular_velocity_, delay_time); - update_simple_1d_filters(pose_with_rph_delay_compensation, params_.pose_smoothing_steps); - - // debug - const Eigen::MatrixXd x_result = kalman_filter_.getLatestX(); - DEBUG_PRINT_MAT(x_result.transpose()); - DEBUG_PRINT_MAT((x_result - x_curr).transpose()); - - return true; -} - -geometry_msgs::msg::PoseWithCovarianceStamped EKFModule::compensate_rph_with_delay( - const PoseWithCovariance & pose, tf2::Vector3 last_angular_velocity, const double delay_time) -{ - tf2::Quaternion delta_orientation; - if (last_angular_velocity.length() > 0.0) { - delta_orientation.setRotation( - last_angular_velocity.normalized(), last_angular_velocity.length() * delay_time); - } else { - delta_orientation.setValue(0.0, 0.0, 0.0, 1.0); - } - - tf2::Quaternion prev_orientation = tf2::Quaternion( - pose.pose.pose.orientation.x, pose.pose.pose.orientation.y, pose.pose.pose.orientation.z, - pose.pose.pose.orientation.w); - - tf2::Quaternion curr_orientation; - curr_orientation = prev_orientation * delta_orientation; - curr_orientation.normalize(); - - PoseWithCovariance pose_with_delay; - pose_with_delay = pose; - pose_with_delay.header.stamp = - rclcpp::Time(pose.header.stamp) + rclcpp::Duration::from_seconds(delay_time); - pose_with_delay.pose.pose.orientation.x = curr_orientation.x(); - pose_with_delay.pose.pose.orientation.y = curr_orientation.y(); - pose_with_delay.pose.pose.orientation.z = curr_orientation.z(); - pose_with_delay.pose.pose.orientation.w = curr_orientation.w(); - - const auto rpy = autoware::universe_utils::getRPY(pose_with_delay.pose.pose.orientation); - const double delta_z = kalman_filter_.getXelement(IDX::VX) * delay_time * std::sin(-rpy.y); - pose_with_delay.pose.pose.position.z += delta_z; - - return pose_with_delay; -} - -bool EKFModule::measurement_update_twist( - const TwistWithCovariance & twist, const rclcpp::Time & t_curr, - EKFDiagnosticInfo & twist_diag_info) -{ - if (twist.header.frame_id != "base_link") { - warning_->warn_throttle("twist frame_id must be base_link", 2000); - } - - last_angular_velocity_ = tf2::Vector3(0.0, 0.0, 0.0); - - const Eigen::MatrixXd x_curr = kalman_filter_.getLatestX(); - DEBUG_PRINT_MAT(x_curr.transpose()); - - constexpr int dim_y = 2; // vx, wz - - /* Calculate delay step */ - double delay_time = (t_curr - twist.header.stamp).seconds() + params_.twist_additional_delay; - if (delay_time < 0.0) { - warning_->warn_throttle(twist_delay_time_warning_message(delay_time), 1000); - } - delay_time = std::max(delay_time, 0.0); - - const size_t delay_step = find_closest_delay_time_index(delay_time); - - twist_diag_info.delay_time = std::max(delay_time, twist_diag_info.delay_time); - twist_diag_info.delay_time_threshold = accumulated_delay_times_.back(); - if (delay_step >= params_.extend_state_step) { - twist_diag_info.is_passed_delay_gate = false; - warning_->warn_throttle( - twist_delay_step_warning_message( - twist_diag_info.delay_time, twist_diag_info.delay_time_threshold), - 2000); - return false; - } - - /* Set measurement matrix */ - Eigen::MatrixXd y(dim_y, 1); - y << twist.twist.twist.linear.x, twist.twist.twist.angular.z; - - if (has_nan(y) || has_inf(y)) { - warning_->warn( - "[EKF] twist measurement matrix includes NaN of Inf. ignore update. check twist message."); - return false; - } - - const Eigen::Vector2d y_ekf( - kalman_filter_.getXelement(delay_step * dim_x_ + IDX::VX), - kalman_filter_.getXelement(delay_step * dim_x_ + IDX::WZ)); - const Eigen::MatrixXd p_curr = kalman_filter_.getLatestP(); - const Eigen::MatrixXd p_y = p_curr.block(4, 4, dim_y, dim_y); - - const double distance = mahalanobis(y_ekf, y, p_y); - twist_diag_info.mahalanobis_distance = std::max(distance, twist_diag_info.mahalanobis_distance); - if (distance > params_.twist_gate_dist) { - twist_diag_info.is_passed_mahalanobis_gate = false; - warning_->warn_throttle(mahalanobis_warning_message(distance, params_.twist_gate_dist), 2000); - warning_->warn_throttle("Ignore the measurement data.", 2000); - return false; - } - - DEBUG_PRINT_MAT(y.transpose()); - DEBUG_PRINT_MAT(y_ekf.transpose()); - DEBUG_PRINT_MAT((y - y_ekf).transpose()); - - const Eigen::Matrix c = twist_measurement_matrix(); - const Eigen::Matrix2d r = - twist_measurement_covariance(twist.twist.covariance, params_.twist_smoothing_steps); - - kalman_filter_.updateWithDelay(y, c, r, static_cast(delay_step)); - - last_angular_velocity_ = tf2::Vector3( - twist.twist.twist.angular.x, twist.twist.twist.angular.y, twist.twist.twist.angular.z); - - // debug - const Eigen::MatrixXd x_result = kalman_filter_.getLatestX(); - DEBUG_PRINT_MAT(x_result.transpose()); - DEBUG_PRINT_MAT((x_result - x_curr).transpose()); - - return true; -} - -void EKFModule::update_simple_1d_filters( - const geometry_msgs::msg::PoseWithCovarianceStamped & pose, const size_t smoothing_step) -{ - double z = pose.pose.pose.position.z; - - const auto rpy = autoware::universe_utils::getRPY(pose.pose.pose.orientation); - - using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - double z_var = pose.pose.covariance[COV_IDX::Z_Z] * static_cast(smoothing_step); - double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast(smoothing_step); - double pitch_var = - pose.pose.covariance[COV_IDX::PITCH_PITCH] * static_cast(smoothing_step); - - z_filter_.update(z, z_var, ekf_dt_); - roll_filter_.update(rpy.x, roll_var, ekf_dt_); - pitch_filter_.update(rpy.y, pitch_var, ekf_dt_); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/mahalanobis.cpp b/localization/autoware_ekf_localizer/src/mahalanobis.cpp deleted file mode 100644 index f7e56674b1..0000000000 --- a/localization/autoware_ekf_localizer/src/mahalanobis.cpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/mahalanobis.hpp" - -namespace autoware::ekf_localizer -{ - -double squared_mahalanobis( - const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C) -{ - const Eigen::VectorXd d = x - y; - return d.dot(C.inverse() * d); -} - -double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C) -{ - return std::sqrt(squared_mahalanobis(x, y, C)); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/measurement.cpp b/localization/autoware_ekf_localizer/src/measurement.cpp deleted file mode 100644 index 63db7d250f..0000000000 --- a/localization/autoware_ekf_localizer/src/measurement.cpp +++ /dev/null @@ -1,61 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/measurement.hpp" - -#include "autoware/ekf_localizer/state_index.hpp" -#include "autoware/universe_utils/ros/msg_covariance.hpp" - -namespace autoware::ekf_localizer -{ - -Eigen::Matrix pose_measurement_matrix() -{ - Eigen::Matrix c = Eigen::Matrix::Zero(); - c(0, IDX::X) = 1.0; // for pos x - c(1, IDX::Y) = 1.0; // for pos y - c(2, IDX::YAW) = 1.0; // for yaw - return c; -} - -Eigen::Matrix twist_measurement_matrix() -{ - Eigen::Matrix c = Eigen::Matrix::Zero(); - c(0, IDX::VX) = 1.0; // for vx - c(1, IDX::WZ) = 1.0; // for wz - return c; -} - -Eigen::Matrix3d pose_measurement_covariance( - const std::array & covariance, const size_t smoothing_step) -{ - Eigen::Matrix3d r; - using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_Y), covariance.at(COV_IDX::X_YAW), - covariance.at(COV_IDX::Y_X), covariance.at(COV_IDX::Y_Y), covariance.at(COV_IDX::Y_YAW), - covariance.at(COV_IDX::YAW_X), covariance.at(COV_IDX::YAW_Y), covariance.at(COV_IDX::YAW_YAW); - return r * static_cast(smoothing_step); -} - -Eigen::Matrix2d twist_measurement_covariance( - const std::array & covariance, const size_t smoothing_step) -{ - Eigen::Matrix2d r; - using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - r << covariance.at(COV_IDX::X_X), covariance.at(COV_IDX::X_YAW), covariance.at(COV_IDX::YAW_X), - covariance.at(COV_IDX::YAW_YAW); - return r * static_cast(smoothing_step); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/state_transition.cpp b/localization/autoware_ekf_localizer/src/state_transition.cpp deleted file mode 100644 index f6a50b5839..0000000000 --- a/localization/autoware_ekf_localizer/src/state_transition.cpp +++ /dev/null @@ -1,102 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/state_transition.hpp" - -#include "autoware/ekf_localizer/matrix_types.hpp" -#include "autoware/ekf_localizer/state_index.hpp" - -#include - -namespace autoware::ekf_localizer -{ - -double normalize_yaw(const double & yaw) -{ - // FIXME(IshitaTakeshi) I think the computation here can be simplified - // FIXME(IshitaTakeshi) Rename the function. This is not normalization - return std::atan2(std::sin(yaw), std::cos(yaw)); -} - -/* == Nonlinear model == - * - * x_{k+1} = x_k + vx_k * cos(yaw_k + b_k) * dt - * y_{k+1} = y_k + vx_k * sin(yaw_k + b_k) * dt - * yaw_{k+1} = yaw_k + (wz_k) * dt - * b_{k+1} = b_k - * vx_{k+1} = vx_k - * wz_{k+1} = wz_k - * - * (b_k : yaw_bias_k) - */ - -Vector6d predict_next_state(const Vector6d & X_curr, const double dt) -{ - const double x = X_curr(IDX::X); - const double y = X_curr(IDX::Y); - const double yaw = X_curr(IDX::YAW); - const double yaw_bias = X_curr(IDX::YAWB); - const double vx = X_curr(IDX::VX); - const double wz = X_curr(IDX::WZ); - - Vector6d x_next; - x_next(IDX::X) = x + vx * std::cos(yaw + yaw_bias) * dt; // dx = v * cos(yaw) - x_next(IDX::Y) = y + vx * std::sin(yaw + yaw_bias) * dt; // dy = v * sin(yaw) - x_next(IDX::YAW) = normalize_yaw(yaw + wz * dt); // dyaw = omega + omega_bias - x_next(IDX::YAWB) = yaw_bias; - x_next(IDX::VX) = vx; - x_next(IDX::WZ) = wz; - return x_next; -} - -/* == Linearized model == - * - * A = [ 1, 0, -vx*sin(yaw+b)*dt, -vx*sin(yaw+b)*dt, cos(yaw+b)*dt, 0] - * [ 0, 1, vx*cos(yaw+b)*dt, vx*cos(yaw+b)*dt, sin(yaw+b)*dt, 0] - * [ 0, 0, 1, 0, 0, dt] - * [ 0, 0, 0, 1, 0, 0] - * [ 0, 0, 0, 0, 1, 0] - * [ 0, 0, 0, 0, 0, 1] - */ -Matrix6d create_state_transition_matrix(const Vector6d & X_curr, const double dt) -{ - const double yaw = X_curr(IDX::YAW); - const double yaw_bias = X_curr(IDX::YAWB); - const double vx = X_curr(IDX::VX); - - Matrix6d a = Matrix6d::Identity(); - a(IDX::X, IDX::YAW) = -vx * sin(yaw + yaw_bias) * dt; - a(IDX::X, IDX::YAWB) = -vx * sin(yaw + yaw_bias) * dt; - a(IDX::X, IDX::VX) = cos(yaw + yaw_bias) * dt; - a(IDX::Y, IDX::YAW) = vx * cos(yaw + yaw_bias) * dt; - a(IDX::Y, IDX::YAWB) = vx * cos(yaw + yaw_bias) * dt; - a(IDX::Y, IDX::VX) = sin(yaw + yaw_bias) * dt; - a(IDX::YAW, IDX::WZ) = dt; - return a; -} - -Matrix6d process_noise_covariance( - const double proc_cov_yaw_d, const double proc_cov_vx_d, const double proc_cov_wz_d) -{ - Matrix6d q = Matrix6d::Zero(); - q(IDX::X, IDX::X) = 0.0; - q(IDX::Y, IDX::Y) = 0.0; - q(IDX::YAW, IDX::YAW) = proc_cov_yaw_d; // for yaw - q(IDX::YAWB, IDX::YAWB) = 0.0; - q(IDX::VX, IDX::VX) = proc_cov_vx_d; // for vx - q(IDX::WZ, IDX::WZ) = proc_cov_wz_d; // for wz - return q; -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/src/warning_message.cpp b/localization/autoware_ekf_localizer/src/warning_message.cpp deleted file mode 100644 index 0c1e127747..0000000000 --- a/localization/autoware_ekf_localizer/src/warning_message.cpp +++ /dev/null @@ -1,60 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/warning_message.hpp" - -#include - -#include - -namespace autoware::ekf_localizer -{ - -std::string pose_delay_step_warning_message( - const double delay_time, const double delay_time_threshold) -{ - const std::string s = - "Pose delay exceeds the compensation limit, ignored. " - "delay: {:.3f}[s], limit: {:.3f}[s]"; - return fmt::format(s, delay_time, delay_time_threshold); -} - -std::string twist_delay_step_warning_message( - const double delay_time, const double delay_time_threshold) -{ - const std::string s = - "Twist delay exceeds the compensation limit, ignored. " - "delay: {:.3f}[s], limit: {:.3f}[s]"; - return fmt::format(s, delay_time, delay_time_threshold); -} - -std::string pose_delay_time_warning_message(const double delay_time) -{ - const std::string s = "Pose time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}"; - return fmt::format(s, delay_time); -} - -std::string twist_delay_time_warning_message(const double delay_time) -{ - const std::string s = "Twist time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}"; - return fmt::format(s, delay_time); -} - -std::string mahalanobis_warning_message(const double distance, const double max_distance) -{ - const std::string s = "The Mahalanobis distance {:.4f} is over the limit {:.4f}."; - return fmt::format(s, distance, max_distance); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp b/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp deleted file mode 100644 index dc9ef00833..0000000000 --- a/localization/autoware_ekf_localizer/test/test_aged_object_queue.cpp +++ /dev/null @@ -1,108 +0,0 @@ -// Copyright 2023 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/aged_object_queue.hpp" - -#include - -#include - -namespace autoware::ekf_localizer -{ - -TEST(AgedObjectQueue, DiscardsObjectWhenAgeReachesMaximum) -{ - AgedObjectQueue queue(3); - - queue.push("a"); - EXPECT_EQ(queue.size(), 1U); - - queue.pop_increment_age(); // age = 1 - EXPECT_EQ(queue.size(), 1U); - - queue.pop_increment_age(); // age = 2 - EXPECT_EQ(queue.size(), 1U); - - queue.pop_increment_age(); // age = 3 - EXPECT_EQ(queue.size(), 0U); -} - -TEST(AgedObjectQueue, MultipleObjects) -{ - AgedObjectQueue queue(3); - - queue.push("a"); - EXPECT_EQ(queue.size(), 1U); - EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 1 - EXPECT_EQ(queue.size(), 1U); - EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 2 - - queue.push("b"); - - EXPECT_EQ(queue.pop_increment_age(), std::string{"a"}); // age of a = 3 - EXPECT_EQ(queue.size(), 1U); - - EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 1 - EXPECT_EQ(queue.size(), 1U); - - EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 2 - EXPECT_EQ(queue.size(), 1U); - - EXPECT_EQ(queue.pop_increment_age(), std::string{"b"}); // age of b = 3 - EXPECT_EQ(queue.size(), 0U); -} - -TEST(AgedObjectQueue, Empty) -{ - AgedObjectQueue queue(2); - - EXPECT_TRUE(queue.empty()); - - queue.push("a"); - - EXPECT_FALSE(queue.empty()); - - queue.pop_increment_age(); - queue.pop_increment_age(); - - EXPECT_TRUE(queue.empty()); -} - -TEST(AgedObjectQueue, Clear) -{ - AgedObjectQueue queue(3); - - queue.push("a"); - queue.push("b"); - - EXPECT_EQ(queue.size(), 2U); - - queue.clear(); - - EXPECT_EQ(queue.size(), 0U); -} - -TEST(AgedObjectQueue, Back) -{ - AgedObjectQueue queue(3); - - queue.push("a"); - - EXPECT_EQ(queue.back(), std::string{"a"}); - queue.push("b"); - - EXPECT_EQ(queue.back(), std::string{"b"}); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_covariance.cpp b/localization/autoware_ekf_localizer/test/test_covariance.cpp deleted file mode 100644 index cab09367d6..0000000000 --- a/localization/autoware_ekf_localizer/test/test_covariance.cpp +++ /dev/null @@ -1,84 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/covariance.hpp" - -#include - -namespace autoware::ekf_localizer -{ - -TEST(EKFCovarianceToPoseMessageCovariance, SmokeTest) -{ - { - Matrix6d p = Matrix6d::Zero(); - p(0, 0) = 1.; - p(0, 1) = 2.; - p(0, 2) = 3.; - p(1, 0) = 4.; - p(1, 1) = 5.; - p(1, 2) = 6.; - p(2, 0) = 7.; - p(2, 1) = 8.; - p(2, 2) = 9.; - - std::array covariance = ekf_covariance_to_pose_message_covariance(p); - EXPECT_EQ(covariance[0], 1.); - EXPECT_EQ(covariance[1], 2.); - EXPECT_EQ(covariance[5], 3.); - EXPECT_EQ(covariance[6], 4.); - EXPECT_EQ(covariance[7], 5.); - EXPECT_EQ(covariance[11], 6.); - EXPECT_EQ(covariance[30], 7.); - EXPECT_EQ(covariance[31], 8.); - EXPECT_EQ(covariance[35], 9.); - } - - // ensure other elements are zero - { - Matrix6d p = Matrix6d::Zero(); - std::array covariance = ekf_covariance_to_pose_message_covariance(p); - for (double e : covariance) { - EXPECT_EQ(e, 0.); - } - } -} - -TEST(EKFCovarianceToTwistMessageCovariance, SmokeTest) -{ - { - Matrix6d p = Matrix6d::Zero(); - p(4, 4) = 1.; - p(4, 5) = 2.; - p(5, 4) = 3.; - p(5, 5) = 4.; - - std::array covariance = ekf_covariance_to_twist_message_covariance(p); - EXPECT_EQ(covariance[0], 1.); - EXPECT_EQ(covariance[5], 2.); - EXPECT_EQ(covariance[30], 3.); - EXPECT_EQ(covariance[35], 4.); - } - - // ensure other elements are zero - { - Matrix6d p = Matrix6d::Zero(); - std::array covariance = ekf_covariance_to_twist_message_covariance(p); - for (double e : covariance) { - EXPECT_EQ(e, 0.); - } - } -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp b/localization/autoware_ekf_localizer/test/test_diagnostics.cpp deleted file mode 100644 index 5ce39df484..0000000000 --- a/localization/autoware_ekf_localizer/test/test_diagnostics.cpp +++ /dev/null @@ -1,213 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/diagnostics.hpp" - -#include - -#include -#include - -namespace autoware::ekf_localizer -{ - -TEST(TestEkfDiagnostics, check_process_activated) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - bool is_activated = true; - stat = check_process_activated(is_activated); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - is_activated = false; - stat = check_process_activated(is_activated); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); -} - -TEST(TestEkfDiagnostics, check_set_initialpose) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - bool is_set_initialpose = true; - stat = check_set_initialpose(is_set_initialpose); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - is_set_initialpose = false; - stat = check_set_initialpose(is_set_initialpose); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); -} - -TEST(TestEkfDiagnostics, check_measurement_updated) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - const std::string measurement_type = "pose"; // not effect for stat.level - const size_t no_update_count_threshold_warn = 50; - const size_t no_update_count_threshold_error = 250; - - size_t no_update_count = 0; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - no_update_count = 1; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - no_update_count = 49; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - no_update_count = 50; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); - - no_update_count = 249; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); - - no_update_count = 250; - stat = check_measurement_updated( - measurement_type, no_update_count, no_update_count_threshold_warn, - no_update_count_threshold_error); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); -} - -TEST(TestEkfDiagnostics, check_measurement_queue_size) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - const std::string measurement_type = "pose"; // not effect for stat.level - - size_t queue_size = 0; // not effect for stat.level - stat = check_measurement_queue_size(measurement_type, queue_size); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - queue_size = 1; // not effect for stat.level - stat = check_measurement_queue_size(measurement_type, queue_size); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); -} - -TEST(TestEkfDiagnostics, check_measurement_delay_gate) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - const std::string measurement_type = "pose"; // not effect for stat.level - const double delay_time = 0.1; // not effect for stat.level - const double delay_time_threshold = 1.0; // not effect for stat.level - - bool is_passed_delay_gate = true; - stat = check_measurement_delay_gate( - measurement_type, is_passed_delay_gate, delay_time, delay_time_threshold); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - is_passed_delay_gate = false; - stat = check_measurement_delay_gate( - measurement_type, is_passed_delay_gate, delay_time, delay_time_threshold); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); -} - -TEST(TestEkfDiagnostics, check_measurement_mahalanobis_gate) -{ - diagnostic_msgs::msg::DiagnosticStatus stat; - - const std::string measurement_type = "pose"; // not effect for stat.level - const double mahalanobis_distance = 0.1; // not effect for stat.level - const double mahalanobis_distance_threshold = 1.0; // not effect for stat.level - - bool is_passed_mahalanobis_gate = true; - stat = check_measurement_mahalanobis_gate( - measurement_type, is_passed_mahalanobis_gate, mahalanobis_distance, - mahalanobis_distance_threshold); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - - is_passed_mahalanobis_gate = false; - stat = check_measurement_mahalanobis_gate( - measurement_type, is_passed_mahalanobis_gate, mahalanobis_distance, - mahalanobis_distance_threshold); - EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); -} - -TEST(TestLocalizationErrorMonitorDiagnostics, merge_diagnostic_status) -{ - diagnostic_msgs::msg::DiagnosticStatus merged_stat; - std::vector stat_array(2); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat_array.at(0).message = "OK"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat_array.at(1).message = "OK"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); - EXPECT_EQ(merged_stat.message, "OK"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat_array.at(0).message = "WARN0"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat_array.at(1).message = "OK"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); - EXPECT_EQ(merged_stat.message, "WARN0"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat_array.at(0).message = "OK"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat_array.at(1).message = "WARN1"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); - EXPECT_EQ(merged_stat.message, "WARN1"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat_array.at(0).message = "WARN0"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat_array.at(1).message = "WARN1"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); - EXPECT_EQ(merged_stat.message, "WARN0; WARN1"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK; - stat_array.at(0).message = "OK"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); - EXPECT_EQ(merged_stat.message, "ERROR1"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - stat_array.at(0).message = "WARN0"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); - EXPECT_EQ(merged_stat.message, "WARN0; ERROR1"); - - stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat_array.at(0).message = "ERROR0"; - stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); - EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); - EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1"); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py deleted file mode 100644 index 1db0863636..0000000000 --- a/localization/autoware_ekf_localizer/test/test_ekf_localizer_launch.py +++ /dev/null @@ -1,170 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2023 TIER IV, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import os -import time -import unittest - -from ament_index_python import get_package_share_directory -from geometry_msgs.msg import PoseWithCovarianceStamped -import launch -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import AnyLaunchDescriptionSource -from launch.logging import get_logger -import launch_testing -from nav_msgs.msg import Odometry -import pytest -import rclpy -from std_srvs.srv import SetBool - -logger = get_logger(__name__) - - -@pytest.mark.launch_test -def generate_test_description(): - test_ekf_localizer_launch_file = os.path.join( - get_package_share_directory("autoware_ekf_localizer"), - "launch", - "ekf_localizer.launch.xml", - ) - ekf_localizer = IncludeLaunchDescription( - AnyLaunchDescriptionSource(test_ekf_localizer_launch_file), - ) - - return launch.LaunchDescription( - [ - ekf_localizer, - # Start tests right away - no need to wait for anything - launch_testing.actions.ReadyToTest(), - ] - ) - - -class TestEKFLocalizer(unittest.TestCase): - @classmethod - def setUpClass(cls): - # Initialize the ROS context for the test node - rclpy.init() - - @classmethod - def tearDownClass(cls): - # Shutdown the ROS context - rclpy.shutdown() - - def setUp(self): - # Create a ROS node for tests - self.test_node = rclpy.create_node("test_node") - self.evaluation_time = 0.2 # 200ms - - def tearDown(self): - self.test_node.destroy_node() - - @staticmethod - def print_message(stat): - logger.debug("===========================") - logger.debug(stat) - - def test_node_link(self): - # Trigger ekf_localizer to activate the node - cli_trigger = self.test_node.create_client(SetBool, "/trigger_node") - while not cli_trigger.wait_for_service(timeout_sec=1.0): - continue - - request = SetBool.Request() - request.data = True - future = cli_trigger.call_async(request) - rclpy.spin_until_future_complete(self.test_node, future) - - if future.result() is not None: - self.test_node.get_logger().info("Result of bool service: %s" % future.result().message) - else: - self.test_node.get_logger().error( - "Exception while calling service: %r" % future.exception() - ) - - # Send initial pose - pub_init_pose = self.test_node.create_publisher( - PoseWithCovarianceStamped, "/initialpose3d", 10 - ) - init_pose = PoseWithCovarianceStamped() - init_pose.header.frame_id = "map" - init_pose.pose.pose.position.x = 0.0 - init_pose.pose.pose.position.y = 0.0 - init_pose.pose.pose.position.z = 0.0 - init_pose.pose.pose.orientation.x = 0.0 - init_pose.pose.pose.orientation.y = 0.0 - init_pose.pose.pose.orientation.z = 0.0 - init_pose.pose.pose.orientation.w = 1.0 - init_pose.pose.covariance = [ - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - ] - pub_init_pose.publish(init_pose) - - # Receive Odometry - msg_buffer = [] - self.test_node.create_subscription( - Odometry, "/ekf_odom", lambda msg: msg_buffer.append(msg), 10 - ) - - # Wait until the node publishes some topic - end_time = time.time() + self.evaluation_time - while time.time() < end_time: - rclpy.spin_once(self.test_node, timeout_sec=0.1) - - # Check if the EKF outputs some Odometry - self.assertTrue(len(msg_buffer) > 0) - - -@launch_testing.post_shutdown_test() -class TestProcessOutput(unittest.TestCase): - def test_exit_code(self, proc_info): - # Check that process exits with code 0: no error - launch_testing.asserts.assertExitCodes(proc_info) diff --git a/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py b/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py deleted file mode 100644 index 29afd49535..0000000000 --- a/localization/autoware_ekf_localizer/test/test_ekf_localizer_mahalanobis.py +++ /dev/null @@ -1,229 +0,0 @@ -#!/usr/bin/env python3 - -# Copyright 2023 TIER IV, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -import os -import time -import unittest - -from ament_index_python import get_package_share_directory -from geometry_msgs.msg import PoseWithCovarianceStamped -import launch -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import AnyLaunchDescriptionSource -from launch.logging import get_logger -import launch_testing -from nav_msgs.msg import Odometry -import pytest -import rclpy -from std_srvs.srv import SetBool - -logger = get_logger(__name__) - - -@pytest.mark.launch_test -def generate_test_description(): - test_ekf_localizer_launch_file = os.path.join( - get_package_share_directory("autoware_ekf_localizer"), - "launch", - "ekf_localizer.launch.xml", - ) - ekf_localizer = IncludeLaunchDescription( - AnyLaunchDescriptionSource(test_ekf_localizer_launch_file), - ) - - return launch.LaunchDescription( - [ - ekf_localizer, - # Start tests right away - no need to wait for anything - launch_testing.actions.ReadyToTest(), - ] - ) - - -class TestEKFLocalizer(unittest.TestCase): - @classmethod - def setUpClass(cls): - # Initialize the ROS context for the test node - rclpy.init() - - @classmethod - def tearDownClass(cls): - # Shutdown the ROS context - rclpy.shutdown() - - def setUp(self): - # Create a ROS node for tests - self.test_node = rclpy.create_node("test_node") - self.evaluation_time = 0.2 # 200ms - - def tearDown(self): - self.test_node.destroy_node() - - @staticmethod - def print_message(stat): - logger.debug("===========================") - logger.debug(stat) - - def test_node_link(self): - # Trigger ekf_localizer to activate the node - cli_trigger = self.test_node.create_client(SetBool, "/trigger_node") - while not cli_trigger.wait_for_service(timeout_sec=1.0): - continue - - request = SetBool.Request() - request.data = True - future = cli_trigger.call_async(request) - rclpy.spin_until_future_complete(self.test_node, future) - - if future.result() is not None: - self.test_node.get_logger().info("Result of bool service: %s" % future.result().message) - else: - self.test_node.get_logger().error( - "Exception while calling service: %r" % future.exception() - ) - - # Send initial pose - pub_init_pose = self.test_node.create_publisher( - PoseWithCovarianceStamped, "/initialpose3d", 10 - ) - init_pose = PoseWithCovarianceStamped() - init_pose.header.frame_id = "map" - init_pose.pose.pose.position.x = 0.0 - init_pose.pose.pose.position.y = 0.0 - init_pose.pose.pose.position.z = 0.0 - init_pose.pose.pose.orientation.x = 0.0 - init_pose.pose.pose.orientation.y = 0.0 - init_pose.pose.pose.orientation.z = 0.0 - init_pose.pose.pose.orientation.w = 1.0 - init_pose.pose.covariance = [ - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - ] - pub_init_pose.publish(init_pose) - rclpy.spin_once(self.test_node, timeout_sec=0.1) - - # Send pose that should be ignored by mahalanobis gate in ekf_localizer - pub_pose = self.test_node.create_publisher( - PoseWithCovarianceStamped, "/in_pose_with_covariance", 10 - ) - pose = PoseWithCovarianceStamped() - pose.header.frame_id = "map" - pose.pose.pose.position.x = 1000000.0 - pose.pose.pose.position.y = 1000000.0 - pose.pose.pose.position.z = 10.0 - pose.pose.pose.orientation.x = 0.0 - pose.pose.pose.orientation.y = 0.0 - pose.pose.pose.orientation.z = 0.0 - pose.pose.pose.orientation.w = 1.0 - pose.pose.covariance = [ - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.0, - 0.01, - ] - pub_pose.publish(pose) - - # Receive Odometry - msg_buffer = [] - self.test_node.create_subscription( - Odometry, "/ekf_odom", lambda msg: msg_buffer.append(msg), 10 - ) - - # Wait until the node publishes some topic - end_time = time.time() + self.evaluation_time - while time.time() < end_time: - rclpy.spin_once(self.test_node, timeout_sec=0.1) - - # Check if the EKF outputs some Odometry - self.assertTrue(len(msg_buffer) > 0) - - # Assert msg to be at the origin - self.assertEqual(msg_buffer[-1].pose.pose.position.x, 0.0) - self.assertEqual(msg_buffer[-1].pose.pose.position.y, 0.0) - self.assertEqual(msg_buffer[-1].pose.pose.position.z, 0.0) - - -@launch_testing.post_shutdown_test() -class TestProcessOutput(unittest.TestCase): - def test_exit_code(self, proc_info): - # Check that process exits with code 0: no error - launch_testing.asserts.assertExitCodes(proc_info) diff --git a/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp b/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp deleted file mode 100644 index 3f867470a3..0000000000 --- a/localization/autoware_ekf_localizer/test/test_mahalanobis.cpp +++ /dev/null @@ -1,66 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/mahalanobis.hpp" - -#include - -namespace autoware::ekf_localizer -{ - -constexpr double tolerance = 1e-8; - -TEST(squared_mahalanobis, SmokeTest) -{ - { - Eigen::Vector2d x(0, 1); - Eigen::Vector2d y(3, 2); - Eigen::Matrix2d c; - c << 10, 0, 0, 10; - - EXPECT_NEAR(squared_mahalanobis(x, y, c), 1.0, tolerance); - } - - { - Eigen::Vector2d x(4, 1); - Eigen::Vector2d y(1, 5); - Eigen::Matrix2d c; - c << 5, 0, 0, 5; - - EXPECT_NEAR(squared_mahalanobis(x, y, c), 5.0, tolerance); - } -} - -TEST(mahalanobis, SmokeTest) -{ - { - Eigen::Vector2d x(0, 1); - Eigen::Vector2d y(3, 2); - Eigen::Matrix2d c; - c << 10, 0, 0, 10; - - EXPECT_NEAR(mahalanobis(x, y, c), 1.0, tolerance); - } - - { - Eigen::Vector2d x(4, 1); - Eigen::Vector2d y(1, 5); - Eigen::Matrix2d c; - c << 5, 0, 0, 5; - - EXPECT_NEAR(mahalanobis(x, y, c), std::sqrt(5.0), tolerance); - } -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_measurement.cpp b/localization/autoware_ekf_localizer/test/test_measurement.cpp deleted file mode 100644 index 99dcc1744c..0000000000 --- a/localization/autoware_ekf_localizer/test/test_measurement.cpp +++ /dev/null @@ -1,86 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/measurement.hpp" - -#include - -namespace autoware::ekf_localizer -{ - -TEST(Measurement, pose_measurement_matrix) -{ - const Eigen::Matrix m = pose_measurement_matrix(); - Eigen::Matrix expected; - expected << 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0; - EXPECT_EQ((m - expected).norm(), 0); -} - -TEST(Measurement, twist_measurement_matrix) -{ - const Eigen::Matrix m = twist_measurement_matrix(); - Eigen::Matrix expected; - expected << 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1; - EXPECT_EQ((m - expected).norm(), 0); -} - -TEST(Measurement, pose_measurement_covariance) -{ - { - const std::array covariance = {1, 2, 0, 0, 0, 3, 4, 5, 0, 0, 0, 6, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 7, 8, 0, 0, 0, 9}; - - const Eigen::Matrix3d m = pose_measurement_covariance(covariance, 2); - - Eigen::Matrix3d expected; - expected << 2, 4, 6, 8, 10, 12, 14, 16, 18; - - EXPECT_EQ((m - expected).norm(), 0.); - } - - { - // Make sure that other elements are not changed - std::array covariance{}; - covariance.fill(0); - const Eigen::Matrix3d m = pose_measurement_covariance(covariance, 2.); - EXPECT_EQ(m.norm(), 0); - } -} - -TEST(Measurement, twist_measurement_covariance) -{ - { - const std::array covariance = {1, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 6, - 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, - 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 4}; - - const Eigen::Matrix2d m = twist_measurement_covariance(covariance, 2); - - Eigen::Matrix2d expected; - expected << 2, 4, 6, 8; - - EXPECT_EQ((m - expected).norm(), 0.); - } - - { - // Make sure that other elements are not changed - std::array covariance{}; - covariance.fill(0); - const Eigen::Matrix2d m = twist_measurement_covariance(covariance, 2.); - EXPECT_EQ(m.norm(), 0); - } -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_numeric.cpp b/localization/autoware_ekf_localizer/test/test_numeric.cpp deleted file mode 100644 index 080ce01f31..0000000000 --- a/localization/autoware_ekf_localizer/test/test_numeric.cpp +++ /dev/null @@ -1,54 +0,0 @@ -// Copyright 2022 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/numeric.hpp" - -#include - -#include - -#include - -namespace autoware::ekf_localizer -{ - -TEST(Numeric, has_nan) -{ - const Eigen::VectorXd empty(0); - const double inf = std::numeric_limits::infinity(); - const double nan = std::nan(""); - - EXPECT_FALSE(has_nan(empty)); - EXPECT_FALSE(has_nan(Eigen::Vector3d(0., 0., 1.))); - EXPECT_FALSE(has_nan(Eigen::Vector3d(1e16, 0., 1.))); - EXPECT_FALSE(has_nan(Eigen::Vector3d(0., 1., inf))); - - EXPECT_TRUE(has_nan(Eigen::Vector3d(nan, 1., 0.))); -} - -TEST(Numeric, has_inf) -{ - const Eigen::VectorXd empty(0); - const double inf = std::numeric_limits::infinity(); - const double nan = std::nan(""); - - EXPECT_FALSE(has_inf(empty)); - EXPECT_FALSE(has_inf(Eigen::Vector3d(0., 0., 1.))); - EXPECT_FALSE(has_inf(Eigen::Vector3d(1e16, 0., 1.))); - EXPECT_FALSE(has_inf(Eigen::Vector3d(nan, 1., 0.))); - - EXPECT_TRUE(has_inf(Eigen::Vector3d(0., 1., inf))); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_state_transition.cpp b/localization/autoware_ekf_localizer/test/test_state_transition.cpp deleted file mode 100644 index 667c6b5ef2..0000000000 --- a/localization/autoware_ekf_localizer/test/test_state_transition.cpp +++ /dev/null @@ -1,101 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#define _USE_MATH_DEFINES -#include "autoware/ekf_localizer/state_index.hpp" -#include "autoware/ekf_localizer/state_transition.hpp" - -#include - -#include - -namespace autoware::ekf_localizer -{ - -TEST(StateTransition, normalize_yaw) -{ - const double tolerance = 1e-6; - EXPECT_NEAR(normalize_yaw(M_PI * 4 / 3), -M_PI * 2 / 3, tolerance); - EXPECT_NEAR(normalize_yaw(-M_PI * 4 / 3), M_PI * 2 / 3, tolerance); - EXPECT_NEAR(normalize_yaw(M_PI * 9 / 2), M_PI * 1 / 2, tolerance); - EXPECT_NEAR(normalize_yaw(M_PI * 4), M_PI * 0, tolerance); -} - -TEST(predict_next_state, predict_next_state) -{ - // This function is the definition of state transition so we just check - // if the calculation is done according to the formula - Vector6d x_curr; - x_curr(0) = 2.; - x_curr(1) = 3.; - x_curr(2) = M_PI / 2.; - x_curr(3) = M_PI / 4.; - x_curr(4) = 10.; - x_curr(5) = 2. * M_PI / 3.; - - const double dt = 0.5; - - const Vector6d x_next = predict_next_state(x_curr, dt); - - const double tolerance = 1e-10; - EXPECT_NEAR(x_next(0), 2. + 10. * std::cos(M_PI / 2. + M_PI / 4.) * 0.5, tolerance); - EXPECT_NEAR(x_next(1), 3. + 10. * std::sin(M_PI / 2. + M_PI / 4.) * 0.5, tolerance); - EXPECT_NEAR(x_next(2), normalize_yaw(M_PI / 2. + M_PI / 3.), tolerance); - EXPECT_NEAR(x_next(3), x_curr(3), tolerance); - EXPECT_NEAR(x_next(4), x_curr(4), tolerance); - EXPECT_NEAR(x_next(5), x_curr(5), tolerance); -} - -TEST(create_state_transition_matrix, NumericalApproximation) -{ - // The transition matrix A = df / dx - // We check if df = A * dx approximates f(x + dx) - f(x) - - { - // check around x = 0 - const double dt = 0.1; - const Vector6d dx = 0.1 * Vector6d::Ones(); - const Vector6d x = Vector6d::Zero(); - - const Matrix6d a = create_state_transition_matrix(x, dt); - const Vector6d df = predict_next_state(x + dx, dt) - predict_next_state(x, dt); - - EXPECT_LT((df - a * dx).norm(), 2e-3); - } - - { - // check around random x - const double dt = 0.1; - const Vector6d dx = 0.1 * Vector6d::Ones(); - const Vector6d x = (Vector6d() << 0.1, 0.2, 0.1, 0.4, 0.1, 0.3).finished(); - - const Matrix6d a = create_state_transition_matrix(x, dt); - const Vector6d df = predict_next_state(x + dx, dt) - predict_next_state(x, dt); - - EXPECT_LT((df - a * dx).norm(), 5e-3); - } -} - -TEST(process_noise_covariance, process_noise_covariance) -{ - const Matrix6d q = process_noise_covariance(1., 2., 3.); - EXPECT_EQ(q(2, 2), 1.); // for yaw - EXPECT_EQ(q(4, 4), 2.); // for vx - EXPECT_EQ(q(5, 5), 3.); // for wz - - // Make sure other elements are zero - EXPECT_EQ(process_noise_covariance(0, 0, 0).norm(), 0.); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_string.cpp b/localization/autoware_ekf_localizer/test/test_string.cpp deleted file mode 100644 index b1fae1f88b..0000000000 --- a/localization/autoware_ekf_localizer/test/test_string.cpp +++ /dev/null @@ -1,31 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/string.hpp" - -#include - -namespace autoware::ekf_localizer -{ - -TEST(erase_leading_slash, SmokeTest) -{ - EXPECT_EQ(erase_leading_slash("/topic"), "topic"); - EXPECT_EQ(erase_leading_slash("topic"), "topic"); // do nothing - - EXPECT_EQ(erase_leading_slash(""), ""); - EXPECT_EQ(erase_leading_slash("/"), ""); -} - -} // namespace autoware::ekf_localizer diff --git a/localization/autoware_ekf_localizer/test/test_warning_message.cpp b/localization/autoware_ekf_localizer/test/test_warning_message.cpp deleted file mode 100644 index 791e86c050..0000000000 --- a/localization/autoware_ekf_localizer/test/test_warning_message.cpp +++ /dev/null @@ -1,67 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "autoware/ekf_localizer/warning_message.hpp" - -#include - -#include - -namespace autoware::ekf_localizer -{ - -TEST(pose_delay_step_warning_message, SmokeTest) -{ - EXPECT_STREQ( - pose_delay_step_warning_message(6.0, 4.0).c_str(), - "Pose delay exceeds the compensation limit, ignored. " - "delay: 6.000[s], limit: 4.000[s]"); -} - -TEST(twist_delay_step_warning_message, SmokeTest) -{ - EXPECT_STREQ( - twist_delay_step_warning_message(10.0, 6.0).c_str(), - "Twist delay exceeds the compensation limit, ignored. " - "delay: 10.000[s], limit: 6.000[s]"); -} - -TEST(pose_delay_time_warning_message, SmokeTest) -{ - EXPECT_STREQ( - pose_delay_time_warning_message(-1.0).c_str(), - "Pose time stamp is inappropriate, set delay to 0[s]. delay = -1.000"); - EXPECT_STREQ( - pose_delay_time_warning_message(-0.4).c_str(), - "Pose time stamp is inappropriate, set delay to 0[s]. delay = -0.400"); -} - -TEST(twist_delay_time_warning_message, SmokeTest) -{ - EXPECT_STREQ( - twist_delay_time_warning_message(-1.0).c_str(), - "Twist time stamp is inappropriate, set delay to 0[s]. delay = -1.000"); - EXPECT_STREQ( - twist_delay_time_warning_message(-0.4).c_str(), - "Twist time stamp is inappropriate, set delay to 0[s]. delay = -0.400"); -} - -TEST(mahalanobis_warning_message, SmokeTest) -{ - EXPECT_STREQ( - mahalanobis_warning_message(1.0, 0.5).c_str(), - "The Mahalanobis distance 1.0000 is over the limit 0.5000."); -} - -} // namespace autoware::ekf_localizer From fdc7c2decfcd6381e2cdbe93b7e0107f314d2717 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Wed, 22 Jan 2025 18:41:33 +0900 Subject: [PATCH 4/4] ci: use require-label action to check labels (#177) Signed-off-by: Ryohsuke Mitsudome --- .github/workflows/build-and-test-differential.yaml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index e937514742..3392fb502e 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -17,14 +17,14 @@ env: CXX: /usr/lib/ccache/g++ jobs: - make-sure-label-is-present: - uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + require-label: + uses: autowarefoundation/autoware-github-actions/.github/workflows/require-label.yaml@v1 with: - label: tag:run-build-and-test-differential + label: run:build-and-test-differential build-and-test-differential: - needs: make-sure-label-is-present - if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} + needs: require-label + if: ${{ needs.require-label.outputs.result == 'true' }} runs-on: ubuntu-24.04 container: ghcr.io/autowarefoundation/autoware:core-devel steps: