From 7e58c44272e6d25900eca905530e2562f8cfaa1c Mon Sep 17 00:00:00 2001 From: Luis Pabon <54373051+L-pabon@users.noreply.github.com> Date: Mon, 14 Oct 2024 21:45:53 -0700 Subject: [PATCH] Add hw2 (#92) * Add files via upload * Add files via upload --- _aa174a_aut2425/hw2.markdown | 13 +++++++++++++ aa174a_aut2425/pdfs/homework/hw2.pdf | Bin 175548 -> 175581 bytes 2 files changed, 13 insertions(+) create mode 100644 _aa174a_aut2425/hw2.markdown diff --git a/_aa174a_aut2425/hw2.markdown b/_aa174a_aut2425/hw2.markdown new file mode 100644 index 0000000..74875b9 --- /dev/null +++ b/_aa174a_aut2425/hw2.markdown @@ -0,0 +1,13 @@ +--- +title: "Homework #2" +seq_number: 2 +posted_date: 2024-10-10 13:00:00 +due_date: 2024-10-18 23:59:59 +pdf_link: "pdfs/homework/hw2.pdf" +code_link: "https://github.com/StanfordASL/AA174a-HW2" +md_group: "assignments" +--- + +The goal of this homework is to familiarize you with algorithms for path planning in constrained environments (e.g. in the presence of obstacles) and techniques to integrate planning with trajectory generation and control. Please read the homework carefully. + +Feel free to use this [Latex template](pdfs/homework/hw.tex). diff --git a/aa174a_aut2425/pdfs/homework/hw2.pdf b/aa174a_aut2425/pdfs/homework/hw2.pdf index 49847d72205ed9d910e01f2c63611c6c4f6aa9fa..1033f3b0afaa940b5cc0947a9688469b11ec317e 100644 GIT binary patch delta 19230 zcmV)QK(xQS+X~&=3Xm`mI58kENFZAvH8(RjATl#Jkw6~;IXIDFnE^JJaXbMRmv^iJ zIg?8PKUz6CARr(hARr(hARr(hARr(hFG)loTRbvlFl9J2IW;h1GGQ?}H)bZU@VPNuxtxHM(H(6GGNO0Yo}q1(J+rV7ru&QIa%Lc+tSSfe;A*b&9iW0^0+V zNCuMuHJ4%30U49^1|NSm*8cwf3eLP=+Ub}e?!eAo#+P;KZqlZ9;ySz2>CiGQtC2)i zqFg7xexGwd*_3S6w3B`J-Of&95Cje`=Q&q^s)<>V*&@>>voec1vntcdXI5v%qsL^< z+sxX`OO;udd30Ex`3U-u1sWE!01{VZQM$}w67)Nj#TYWDGg*J=m^p)|$J1s~d7U|z zNnPOG<7w~=nY38k#Y_etGOVm5278$)WALsr43im#>H-__2Ajl+SXUc`eupO(@jlbG zz%$@!@Qio{lLassbdd#_8Hw>hWk!RW04|-;8AwdPS}N@l?UjRJH4LSp|R;E72> z1U~4GKt_RyC;@+z#5=H|`3OH9eMaaQ9RLNM*hIv9RskW*X9*(A=L*6IPeUMKLKg@n z%;*(hLa+6NQ-L`{0iX(k9AL--vj%KM7MM1IEntfZz>)S&k04k5&N!nbYxQWoR#69hy zAf1!i5?7kq9B~t==4tahBG48AIY|;50gloXv;k~E8c7R75u{PH4w#W75pA^ppFjRF z69?HppoD+0lH*Jqj+*SpOq^umMg6AE{`_aA*vI=pbv+tX$1nCWag;UlWyMr)=H+xT zE9cd8@BwchW@vsfua~pc(A|tmP`*7rS`q9Hno&JXOnb1C^>AF} zgL)z^N8?Id2sygmo1dPZ?;PBm9N#qG*z+GsXNG@2zgXUUe1C9owkNJf)vte9E@ppP zT$S_DboeFK&ct3lzo_P5t>FK_)IPs}dwThr*bv9npg}AALGA&8b|EKI*WTwAdZT?r zyJkd|=M8WE+_7jP=r zP=tTY2b)8)dTr;ho;JLrL#UrLwv{gwPTFGi0yVI5^+H+`S1+VEE1iG?l*Y9$j?~Am zUZ7DhSb8D;UeD{nNkzLCuMZBft?H%$Pm^+3?bEK$zB~V!xT9?yP2l?4T^&uxC$H){ zQ*Je7%S=~A&))r=+@^;Uo-W5@%)5;UZd88(KDez%32hN_aw3ls8VS`fkJG8Ba&qvG z6S^XYi|s+EP3~QfrKPvI34I7v%+-T1$_*4_Ug*sUI|>G6fd@@0@hokFg4u_)?M}hO zA^Cr6pQ&xP8n&)gvWHTwqoIPymE06qZ$CGLXIP%IhdXJ?=_Opk?#WA0F2*~}x!!+S zHly)EoR8~sF)2q=YX1rCKaEG{YxQY)JsOrYe?I&0bdRSBl?Q}brEDG`CFNpnAp)gc z?hwzP;PE~y&+@Vwl<}fc7kCVmE-%kzM3}oAs5sCeSQTW{=cXSn|NBx){d91UH{=xI z6`lc^mr^bd$ZV7{943A@;3)G9&C!2Fu3_XWa11obAiMb8fn(&;!7%{Az(uXVu{z`m zS>Nvs92uXXI3eT?K3Ekp$8kau-) zbY?C5R5#^hHm(+8F_@2L%|eVOvwGgF+MgAJaGJ^u81=Hq>5$`0Uf^Kk6=i?E;nT8Q ztY}v`#P%fQUzFHxNi}?rRHI9Sv!+EvRTDJA}vQL-vH!WiyfcKi8efXgZpd z82zvr2l{a;Y%iqA#`9d6mOREW?b#n%|5JnUXOD$K0_J6tHTl5 z;IQtX}nHhtOE3$_$ zUS|d#lZgtlcTd05+Izr5FFsOKJgl7+aY;tuv$OR_B!=$UIJ{p zO4%fYuL<#?3ym&ebVzOx`wO23aMp|1LBw>4-H$kE=)+?(w?Wo~$M#EvD(3OQE1gY3 zN@!vas0{W>Uk@H9^uB*5p|(h}`w$jTO8?L$(FS3<$m&CAut(DaaHU}vu7}Dg*%KZa zLmv9bS_VkQ_L)%=;I;>$3?S?wYuciE=z>w|r(L#fzhB#ai}uvicKZgmdW&@~ETW6_ zeF({@%!BH+L0ACj&;vjd+%|>XAaoQEd(c^(KkRij=-}7&!)AZKPN-p0rVpLRiAZ&| z^&gzs`OF#sVtp>Tq|c4eF4(lm$yeY&jf{`lwUar0PC^7CU+Z%E#0kGhpVz2_Pp3dQ;6r$+sBZd$5jFFR z<9@MOD7gL5mX^MtKH;xB*5A%>S0kxM`cjEMLf1=Dte}5LE}pKfaJs@_BJ+WE9$2OZ zNYaO1f7}yujs0v1!C<>i=b)c~R`y|~Nr4Tk zAf8uRCG&rjE(bOw{%}pRFr}B4wM4S^6s@k^?Q$iD4Ur}R+`T(V6Q}Y)Qbix2nbHy4 zsSFHBD#`s@%gW7VqF`Y|_0+2DC_-AzM>Z=|Lye?!nmDsOG8Sytuw~ER=kXwt zz>by7MYi?e6gw-H6;ZI_q=k_;aC6!Pm!9!TJ9nM>CRf(Rc2b*^C)E{&1I<2%Mx@pi z4!nP3`2ST)l0`f6mO4@3+(foxxn$XNdlOcvp31ZfnuR3K-_Ir6N%E}8V=@$XefqYR zdOoFWXH2Cb??LNO6jE(T@8qvYLnCkvOiSX??CT7lLlg@L8tU11NQ#mWCA?CgAA7J5 zas+ZBAgh49U0`R(b^`ZEzd^w=aAG7@!*qYNu#_;FR86G|{&v^2P8W?XN7gXX%CbrG zQ?g|k%~6e2Ox^L%t&z&q5*dFUcT1c4>1+)7U_@x8bl1lb^obGYzki?pmogWUZ`Y*< ztvLo$nIgI_xc7k>D59tQrV|2gqkd$+!UUMd%3fXszZq_;w@MNttI`xk9xOGjY>TZr!6n33DQD_c4Iz`MRkWO!6Ak|Zu zR!*_maHOEpSjwWjB(JCpxiw9n=h}aI>iv{5&C@N@T9mQbwoEN9a;9w!A7?yKBDz4Z zigQuuEm9UmxoD!K-)vEaC)*h)>cLV-KHT5V%A?zQpd7_Y%2(0~?V4Oh&T6|YbW)OQ zNZhY?Thh#?pxm)rM+Qe6cWBzNshw4}#l|aES{~b-lWA6Ri|rXnuJtC4Qayi_Kc-8~ z#h{utbjy{A{c`qoH5y(ugbQA;$~hhVzYx1(Pwb1oim$~>@k)FvUW;RKBHoBo@q;ME zxfqB+J+7xHCzDcKh>LnWF6W{Wm*TQs&c#q%iK`E@t7Vzt&nRvT@di-|xtE1_lo-XJPy8JjYJIB><3H~y1)Rg1VV0Svi;39t$CrvdurIUGk zQ%m#EhUl|a4f3-VU1R<2opK95&W>I9gIkAxUmUg2f5*_j74O!7zW~uZU*CW z(nbEaAWvAYqs;iWpsqnmn|uh;9qY24^ov^h4YDoPQMH?>?w$T{cKY_K{a1Tuve<$m z{U-M@7>#){jE5Z{UyFb5TRkpCIRPSza(W@kMFVUW?}6_5yd1o*nsIg6tm<=`cn$W1 z@Fu=sNl;z)*CMT2Euw4Udl2|d2wwf|?DX9kAb5Xuw5dfqq&&T?QOhS` zKtf;i<4CT|g6~Dw8H$_y93H&fKRjT5{8n~w68OyQB;S4j?|vv=z{4MjZyvCax9scR ziNBMr+*!z`UMrp%scp2UNmh%%I#m8!1_mj0LR@z%UV8CHh+HVeD@4kKo zX&-NOf$nkheX^_%*aLpoM(~GXHwSH!)TkB7bOed~rd$ZxmAm`!0AzNX!RrKBG|16R zTt}?fMC{$}H%CA0F=BoTVsN65B33*JF}S*0A3tXOB+rw16%Gxz`(K~zlKmfVW6ytf zlav)X0augG6&-)=ix+#x--FYWcfS$2;7~p@w=2gzDVwXF0nCCi%1S6T@j3!2^(_vkhm6?a{1fqg1Uw35Ze(+Ga%Ev{3T19&Z(@^b7Be+DAU-|{b98cLVQmU{ zoMT{MU}9hp%VJ<j0QKB50kcOJX9WW{Fffy`9AAG*r3;ygNXB|`cfXLi7I~a3l2nQ)Ufh+7 zUxK$?)oiLmZTjU(g;CJnbNjAcFIQ0#v;&WC$DwW7{Su@{ro37H`|kTiB1M)&i&Z2= zE;G-wUDsyM%ibHuA+qaNNg}d5aUZ1o!Hd!Gnpev-54x%>c%L*2p7F$wo53B(bdD5V z$nCFT97_2-&JTNZC2ex^D#{j+TxQemZy@RhA}w#<|8R4AD^p#pzWWdf`kJ?8i#=0Yl)`dz<@c%@K5#*e4xqYy z)f6=oKUWP2BMUwYwlbAuA`Vl?1FBbwS^R88IzkpY#3yyly?$Kp=_1sBB++1hi3~a- z$TPjulA-1Hbq7WFo8?Ld?E$1TFi@SAn)cCP;y76LeP6ZB`No^J>8sxDOpZs(3wJ0e zg$#!J2iD%b|9;p_hs}=r6isgrYPx?4k7u^>+*UJoHjJIxMVyE*pSHA@>mT=YQ1-;Ora%B6(IE_CS8Zr&$9Je2f0xQ# zxqxc6%^m{5s=e2d5&ZdXvs17?q0JWdCqx%|~v^FR+O$R-Hamk~~$ZWqK z57req4uL?DcbBjh)jqJbv(Byg*UsdB4W-_WosHXA;SO2~4uFYVK>11|G(%)C1(hKL zYCgo9W~pQ_bQE1=P>vh2fD3^WpGB!ib0_3G4ktR;w(NJBvxSNwH+YJbC=U?SRU_4qtA4IqsmI%ec8b{ktzOT zkSM!HCT>k*z`-eZx}Zyd_9UDgc)PBx|EKk+^X#6+fqc$U|8AMMAx zyRR`T&av6da4=|$DIMLKOq^TyMwI0N5(`iZ2P&+wT1Q)OvuTlV9itPU!rzByF6~gz z>9#KVynB7M_yu`?LkGyt4>piG);rUglSG9>dqG9Bdnp--SVcZz{k+T*YtLFnE}~G6 z?!`T;ZM1c}wf00L2M0KZIesTvdt9oB1Biw!d}ig5*~7$P7&Q+qf3(GBWBT6Ftiht= zq(aR2?}NCYswm0@e*Kl+)~4u5{%K@4qbQI{hciI?$E_nrm}1Wq>#U$~%xo#y(XilI zpM99<+m|KJRxXbELtF}^WWf=jnDynQvkp*T%p(IX3|IgzK!EQ+d0Ok>b?X+p_El9I z7J|~V3nI7yf0Rfo5vrUI`e8T4D@9eUt*86Rn>uIV<~Lg{QMX4~#`D)bvQ6o}^|}My zbY0tByXZTdxrp)D#|wAzSq4&x2U6djiCN($vBn)^ktQc%{wg^mqvx6WqvU+#c3I9c zPp~Db=rnTvK_z60!0j><_3zt}gh5?ccyDSBH$9X5fAfGHj0bLuZBaG0ZcXwDW;+DQ zE9wdrwPQizfqPZLh-ai(r~?JZrzJg*5Q3f9TOClRIfzYNxy>kApUiGd?RF`AM4f`< zHYxx*w`%|=?Zw90MlU)KnMQYHxb_UmZ8()spR&<7_>h-4-qkUf#1i&r%Yco8 zfBKX&x#w$JgqqFJAJd+WzwmhJi)fDAb3`e!rdeOk>&yGmNH9vY_^nTCJH!Y69fA6;!%IrvF{*8TlPu8(7q)~Q0<2ZGUEU`!R z=v4$SXD?$Q74Dr#$+>lEDO5PU3g5aVY5~(uRYprvpps~z1Q53OvQS+(bS6TqSj`qr z?>~G1e*Qsc@5QB$4?ylV99Cn(T=ddjy4y6|9(psDTsO=MgV~DPX-f(K?5W+>e?5u6 zvuG<$M4F!gHTm?Bz?PYB9PU1#)~Gg!tKGAww&tWxR(3c{5o{_1=2Dnd0MQF>w+47< z=&H@~$%B~kDaUc5@WwFd!V5;GMI2A%{%;o*lpWvy|3*^ex3P<6A=HuAH^2!A{oCO} z^^D+_OiU^A((e<5n@d3YTP#82w*f7TidKM<=&OCjn;3e>65AK0XR_baG{3 zZ3=jt#awN3+qe<_?q8wlbf)q&!VzyIc%618=QufEn>c6tuG3yR8Cs%kHj=0#srcMq z-(3Kt2nwR4m}$RQ6a->{eSLNTI2hfJg3+6k?`}@MdCk-)CUMBZ(aqf`Vxve15(+-L znT>uKUsuWUE-z-M1ryHs_@|dK@c|-#jjR0jbOLYWmHGa1UFFMsfrC7mmJ9R3#C&^w zs`xmW&&@X$Fmd{?n;%ZjZ%%$ap)luQM9mxnqGU9hE>3>=S1_7E`wydl@K}u=b+5%p zgbF_AqwA9&PXfDMcMQfzC{=fiD2{r^&^!xShi8-%E|lTf%lUm?WYxn07NNv{nBoe) zdCh6-l~9nFM=+jw!S>*zki-#JdQc)@TuwqNO{Wh*z)e3_U?dLcXwvHVHm|aLX&Cr^ zo-CKy@?JBsUcnYKgP1THAIr>MhJ>*ql!j(TSLv_otVq9gW-s4Lq>!W?DJ?~zAA2f+IAqMp!flLWEhuV^8qOV&zFkx0UdvK9h#&1 zEr%xij7YG?9D~}5c4{+Ku^!LSW-*vHgGa*Ahfrr2ip4fApL?~LGeQL&geaGUc4+P} zp^y^+?q&$0VF>-HOZDdaD}Whla@zoc^Jqb z8tDyY0=@}41f2;U#*i8{ZMlCn5<+lmbwq>OYg8_KA9Fnh!G^~FEWeL+^VJN?DSn1D#yOvER3CkoHC?174S@k^E z5CgYBA~+ORvd0NBsz?Cq7=S2a08&Hg67_pQCSt+?+zmlhGQwGhs@DrT;&Z*=r56^q za+Lih%ptXmgsYR$ew}RmTy}Rl5rTPjlSU9-qJHIcnX;vvfA(b+j!_<$E_R0kRw&gb zSUte>dXYpBLgwE=5~_cfV*W>l>{QKb`rM5pX~R z@iPR>7lH_%ql`d0QbG@fYts{WujAdR5}=m-909B=Xon;55jvDEZRP^X)SHq75NP)= zr=Fi8zkKy-SMeik1M4pgYP(n@4rCET8WHl2E^QSN+#JW@&|O{_rS&aydxar&k7%PX=xk31!eV5oe$nGP8#52ZR!EK1_9%zm=7`k_|}6o4U|6 z2Z6D1mFbUl+Dp#9>Qd{6>khLIb<^f0m&_K-byKZ2nF_cD9=1v_9I)W(a%w-4UR^X{lyd zb3H^~F0|Lha+o9S0B5#U-uRl?0NW}Ne3fi~ZROd!vjP9U8&@Po?d4LJ-=DRk3ll@_ z#p;(B_yHz=At85zX$uMMf?h}N=?-7Yij^*WH~@_GpF=o8fv`{`o);f$1%ja{4AtXw zDR?W2L2Ur4po>&7m#X(5f>IEp#2_>w7ma9#=5V>pw$t6Evcgf>-J7-t03}TIYCb-b zJ(%jzsG|sepu`!T0UCxXLu2Vs^#LV}zG4_f!00P~D0gXYfYL$x#w_Xvh5pkRN7yu? z(0G`j07Fq2YWF@Q4VgaSHU!a7l7K3g=nh8`W4Zm)3!M-sW;aHeVO+e7XnXIcAWeSJm4G;=Q*hxTMERLxYfklfVi`c+-47 z&q`R-#8646cp&%_B#v~9Z*nm%Vbyq9M4&Df`NFg&reT&=X|c$bSy{n6b<=&3&B*D0 zBocCbW4MU9;T9LoFwS6GT%Oah<@U5jY7kvWS@?dhC zl=TtyRejS!_dt(Tk7`T>AFE$L`FTn{q0l+ZSGgJTkgf~840JTaT!Sv~?(bQ|Z?e66zoAhi+n0Kidyz`sQN6Mz3;k z(myt1P3&Nk)@Z&1(^xuTKvL-qT;s>v{s#EXsL@k=DAGleSq}hT@4(e<^bK3G!vzBg zjNpH2qit1EkX83Sg^ORg2E_Hj*9;=fax=jL=?Ziijr3k3**=;eLAvQaohM~UFuVld zq0`c`<<4b-8_2XlV2&KB&MA#WvTWTE%+Z|fjY7k4c=)8v`^gwUO(wB72XE)OcKtg3 ze6j|VRJE@L;UxC{qOmOVxoED=S%-d#V!MAg4M}~iuk0d|$bpikkTd~PV1X?tePA?j z-Z?-R__R3&S$@=EzDF96p3=B^p%vh9VLJZmFudW$<3kF(v_2-Wkqx7=<%zw?xryZl zXlO>(*zWVG1SdSl(A>k4iGaCDrhy)K-hp^BgHV<%r@c(Ul6S~cR_iJ)J9>Y$ z0YT9?wd&N+GRkF8MTOlSb+`H!Tiv9_Hp-hzZh2-DzU*g{gxPXFFq`hv>Z4A3Zu6q- z<5h@9p4ARseF&&PYnYWA^kVV|s}vA};Ab6o@dh7cS-=-$6vTh4V>RT{7HzFLF+bhg z6mZ#6!+u^xFk2p5UeSSgRp#^0z517L{Q)ciLzkTW0VyD6-Lx5{>6w`Ci@YWcpd0eE zbY`ig<+R9F_#y@vp!W}#<^2IR0n(Qo{sBkMhgPoH3eA3|;b58vB2#znEtXF8HTw*20V>#BZNj=9aL^pJd^T(#M`MLrb z8($=M%$g|(Z|LsK%rQHS0hFeQAMiI5CGmaZRHchSv5UUrZn~J+U_^zV*U)dV38vbq z7Up+k4Ze`yf)Y&i|K7l6jm~tt#&@3eu96~IU|lT3iN-BQQNS4aqQ236pDrPduIf^U zCw=c^c>sJ#Xah{l>WW@Bx%)4J3b|XCQ5pdgx48cSkUj!4FqcX`0yBRF);L6OQkCDH z?&%&}T9K4XPni4Y*u3@L z^jUq|w8iCCYwi71m+voC;+eK9`%4vjr^~HOb(nas+Op2eV`VxV8FTs;H)X6bh>Te2Y|9;~OohF-mJL<3rq6EIx=FP>A7ykUdk(%8%jYR6ln^e%$ zZCA9>Ko|O z@f2*1u_nD1j&gq~VL9HSNkQiXwY7b7hZJWbtr=67=fQh~> zb82#Oj62=*AiY)%&QE{-1;GoDKTOn;#aXp$TF{&Wt4_n3V`_t{ZY2rYZ%x*fa1S2U zW|!MA@_sXU53`+K-db6MLNm0qOaY9QGTO9E84`OKP_!e!;IP(OqZq8w1Q(%*gP4uo zpVGlBedR^>p=n;e;RnhRuR`mp7%r++%%)se7HfrV6i(^ zrG;APMPhz%Tv!5aTeNU1cj( zAd(D6 z;p}4D47;_FEJ(S)46*dFvoXPe_J+Cuf8P?UR6%pfo>hM6vK@oM*m(q_0Z;`KCI?{4 z=UVDD_@bY?leGqg0uyPHRj$JgU6UxcC;ObClKXTlE&qMqf5CR}5lrIsaY}WvT z&cGn>NymCK8<$m$wFYpA8EMpH`eFbs=~<7-_r69nmOv%x4ZXYTo(mvrID7zMp6mb) zATHq5r_IJ$7Cp(3g`o)jWJzC3e^mm54|#*mVqG|yWr;0&>KW~p18*#kNWU~m345@` zZ-aH4{e3^p)2G4!U*Y zXq$k=0lk`iZ93~LpLK6uRmO%qDvp68c{LPVv4W*y5TXhrPi$hp4AFpwuSWhNb?|1| zmm04x6S%_MWjpZGe-%~`;&3=G7Gu0?I88tc-q8TJD}!uHwR>hof}VV&x0I5W)^_&WsO8H`~-y175sa zEx(owY(tGRVu!v5ScQ*d4;1n@CjswOy}dBRHO1l>eF<&@$2L5Ii`fohkB%#| zpi+8hi6vaRr9Kybj+9amfhF-;QD__{Te^m^ z^QKxC2FDyfJJv&C4^*@FZQ46(DZ4WVkpaZ+W5hryJBS%}ZB{swxj0dXIk(u2xAD2A z)E{m!x{gqum>kA7imFU+mVF>f+&_^S@50}oF>o=4j~_ZcNQ4Sjkb$5h{VS!3-&(PLToP-awFQA=Yd(g@u}HO|-F|@MM}f5spg3B2XL%P!B1py{ZWXZV zn7{%)uk6M)8HY6#Wl&g7N;$lP!ZlK(MO~g-rm+uA)*_#!tpK7H7#d`63*XncAxkd0 zcjH#izu@mI$-yVEq~{wgDF0^W1HRzgSIgpAkup3=e@~zdx~wSABu}+f2T(J~kxt|S zFev==`kx(@GMi!L<~?9;g}4g~k(@<(^4QQ*Yj>R0dj0Li<}C?sH7vtJikd?|@cxzE zS=Qo0fI5TQ=Y*{`RDw!g0W3lNZrl!cZ^jcJ_@I2?9uK?+7Mc?+iNDhIGR22>MC%-`th=*_%I+1Vl(AG8GALDZ zw9;j#(PxrA@|i{vRdF=BO0P};;p5RV_U6C`smlMDZsEkmR%~(dEH{VEXs6E5mXb<3 zN*A^;Wm-lFrD>0q)j>mjC53Aw*zqXXwvWwWy2|pMsDIHV25EHScCn+Kw!%)k)mj;S ztjZ53VIw;tB zfaoFHS${DJv|CG&^z`fwV~~Vryo}!G!X%t$ z5`Fg`1f;lePc>MnSoPa%N4f=VQ{-bQIG4GM<9`YqM)^^E?*K`H@Ok+NhQ=v$dKxB9 zk)dgwNWfms>n~mupqXA2LPBKdbRHqE&8@TZLhWo;9@ZiUonloSM=I?e7O^F7Xi5uF zkm1$b!4mJgpXE7#LSJS&Gd>?L9|mXW{Y}|+2+=x#-7}XU0EgBB2z+kZ(%e$9VjA7? zfPbF8lNhf}6p25|Rh>C!S3Iod5x8qpj_p&@y9#2%IQ>+$2}GQZUKeK9KxE%= z7BELn208c?Cv=#Qa-lyG>JC~WWo27hkhSWB7aSgg!BV}eY#tLwi00+!BP=$m){uoCM!7Z zTy2bL=|Fv!jZ-On2)Gv;gTA1yJot7HKomTMA5WqxL^w)6N>vp_AUg7MTuw!)h?C{r z03DoX@WIwv`POuPhOISdjr?%y{O&A6!6_AyN)3+t zIcMM7IEuH)KyW0+AAF`H!aRMC-U|tUOR`<^&p{lc&XR0)8^z%#zW%OqB5-1x6AAeg ze=?y4dKS62(%u{?zai=KU;HTV>(=l;J#=9B)Ie6-S5pvOxRWonD2V2d){`f!0@ej6 z(0@~z3fv={%~skHc$~{$1{G%`ftww8+dP~_0!lz$%VkAcsqhgQnX4l2kd0ERD2oIi zyak0Ze9#4RLBPr*ruM+y0nhJ=4j4XD_&I)wTIlZ_Tl}qCL7R_6(c$ z5yw!4sqj@Y0n-*7H_G|p(+C}w9t$DLt$$69VI4+@*glg=JFKBmIkA_X7JMmGx+26( zPZ5ex(C=B$XG-g2yq?Q`KnOxT?k5-eCvR`y#GHQ)=05JD$OitD9I^SUtTQhi^&a%8 z1Dl~Or$DIg4dNTmUfq$8b|7&yrmg$%EfdBGs=eA&-YDPlv`Zno_fBe2{USa zGfh;G> zl^r=C7jYVZFo=W)`SBf!m@^^MNt8y6!-bx?NXb%nPP)qDs}r$iDGy<(kR`FdyM_o@ z5CQ500WeyI`Y8yIoHOpu(jy=z0xS^#bSTXO23LQc@}PiDnK~vx@g9rBjfB>E@U0nq zE2$_>Tw9VbEjwv|@t~Yr_lsf{;Z&$s?zcH{eOj_G=>+2|*oX^91Qd9STn2_({~UaK zPlcr+>%q5%ijs=zl(0zwVgR;gCIm~v@DGHJsI@t!QHGMKID8Ts!-z#-Mh7(RY3GLMu+++_Ri6+JxZ^kqKTD(| za1nm~9ZI1SE5S*Zf(m2se#ujC0jwyCVTl13{LTf@v8Gl|Ept*u(AB{zq$1HD zt|GByB6=Ew91HAwtcrX-0iBBU33y0FRD^%xGm|_5t{y9eiWpe0C!tCUCe(JBO zIANiTpMqa10b02_79&T%@y@A+ou5R2VJz%C65#s*lkNs6Yg|rdN+2}}sxQ;A*L{C^ z5>WnF8x+PQc=@yV0%{?6T(fL!S-6%A9AwmRpBr1BL7uR}))sb~<+NN;I)J(It9w*> z1WIAytfnEAxiyt3md3Zsg33*ac>RtVO-bclWgEYAvoS>BBCG9^`s$|IFPnYkhm=mY zCIYT>|pyZ`LlBGATUjQYSh5L-y81Efi_g`)VrM zhU2N*re0Qd=c5$sqZm)yt||$v8xP*i2eaHa*&_F={D%uobp`d1TL#3=w1&+#W|0xT z*TG*-%~nCX_SV)l+&U~Ujy$+OrKVHrlc#)R*0ye167P|R<=(dnb2nn9KWKk(alD~8 z_><0Zd<{G`|A75!)_iErg&Z+NR8i-KJcCJMfF%_fED8?~VdFjCS4aI&9(LIhzrLM@ zVUVp`MqeAh;w@Y*1zCC|^ACh;8<6=CKLd6etOCAQLzTX63|ya1L?Eg7or-U9->oU8 zN}|oeu4h!dnj&geAc0k7SLT0W{zoAT!wwED%k6I8nEA$JD~KQG%d%*yGCy|_0!>mZ z+7*CrQJMxfP64z4jop;{d_{E%+6^^;$^tpw*d^K)>_Q`;(N}Cpm9T!hFPzo7^hB@& zLXK!?4%&nH1I_Pjvzf2U?EKMW%;K;EJCBK@rD9qq?aUE7b5pV1{n>w=dCU^op-hVw zOe!?xPA*08Z%k;Ed+Oe1ZQ?^>mZL7Ic89%LF?BxM^)&uVwpvkTowZAYiEnI{&zwD- z$uI?|6AyW4f6LrOkgAofrMpJ z8l~Z~f3WK+Bi9(gt*)q2nc2W4Mvu7=xWEvss5q-CXN@ofHKK!!ou;~M#N|Ffrz}3C zoL`K?46ebRmFEFrPT^6{quw zeQ=^&fEEk@N=YB~#mZE5L-N%3psTF$bae9d5K0`IKH!HwBz>73a2#K=4$0(6b>9R6tGSBIF(tJdL$)kZU>uu9@0a z2EAPr0^>km>r1sDg+uVpV|AOqy-pl(R!@?MN!78cFhncK z1Jb;3xXDn%TLM31WdV;WMDk8(^LunbAnu7uoVZ_fRj_}$WC>4)CZ}H7-957fz|38l z1J_s$=K1}3*pYw=bh6^)Ih8?8$jsFdvN=P54H9e|vCD1Y>$|MVwgz@Z%>&(D<2wW# zzo6!#b*p~~Cl}!0#jcE!wYCHnc#}_ssMKgO!W9C3xTbUxEu%$`1Ag;~Ltv=YN1G z!a>-NQeJzKOZwOWQS983XI-J`mQnCEo+fK8Gg*2CkYX&fx%C$IQjmaB(UJYr{Pmj` zKh1AmzIk!|@~n|c7>_%<;L)9nz1*q##=JWfHnxAx*^oT1y0ARm@}w-z03tb%1$P+yP#5Ui0~5(knKM>2k^ZL##j8W`4YvdC&* zD;)NHZ`YZZKA<4a>YAz>=e1#H+xVWv-sa8B7VS{G+c|%XgYt5Xc?P#xN#(9GL=PS6 zp=^J{+7t$4sC#nT7nRBCvH+Fx?~ys^^MT(74!N7aZxHgH&eMYAwH`kmM29L3G!+;f zDgw30M+2PNx=I%)!q;as_S5h!zF&4G?F7EveZ;m=l-Pr`VUqTO7zkkRtb3kKq!*5| zs=E9Tg}L}`+o51+EPd9&!y4!z;DBUr}kEy3t*sexAO<?h>_a6=VJ z_24jhoadQENf^Au6p$N{Q3bDS>$`t?;NOweQaX?%cXilnFgq0o8*0^L0HB7MEu7wp zJ0F6CtUbU(aYV#~2rr8xFbJw$n2EJcFtO2(BCzdkW_9nb-p5Z~t@l&+go|B|!c?k< zsh(eh$vkInFmZGELxOV%E(~n_6w;X07Icmp6zX}n=SVAktT@zbqPh(v=^B50Na=w> z!jue$GD%sN2xN2D`%p2Y61I)bpy53je(m{eX!R19&>HzZ*VW4Z7qk)ucJN^Z zamljD{pS1H?_`^9n~tgruS7|FlTn}H6lU!b19kx*-}qCEldxSd4WYa7@uI zj2m<(8nxZdGmzYhK?G8q{gZ!73_$FV>nOXNz5iDZC7OM9?C`Wf@N5LpQ^^2$4q+8~ zpUi>T6I$3oG@mKBIJXjqOdb60$Mps<>LHENddCs@!yAUUAn=6{9B0qL9{UZc6O3iWy}ySpY*TBs&NDI<^)OEcX0F=7vh_iL_IK zecYyf#)v^u1P+`dP0qX;!C*_`pN?&*?lpIRz^27-JQM2xUE3`pK+fX?JItCQ;VU?A%Qi zQqkVSBN8~X&|*;%X0|MOS4Oo`uGV#SjkUq`8b+Zn6=$@(u>EG<4o!7sxX-WZPmFv77WW2e_jY6ndorj>-O< z4=Ya^3>RmSwIQcPL-%l1NQMt*JWRnpm?PDu9S}2qF$7SCm4*FBmK-v(@LuiX2tTf{ z-A4k)GBDziZ62u}3a+dk0me6a!K^NBVzPy(Xs+gkn7@DCH{x!%>gK*7kQ1aH!k!MF z4hMMUb&!Hy9(NDfnB1xNMw7K9*pY!HW#Vz-JemK|D4xRDs!{ttU=oLu`3{RMvOhFe zin|lS9sh|o$ho_|cX|5zz--Gm`m{a!f1)YPx*NH^YONzHb1%l+_LrX9OaoW)n7;+5w2B*TusgldX=vpq-$O8_yEfXyPq z;C$N?`VZ^6k}3Ij`-1l2!i)%^hjJE=i-{uc8#Vn!j#?5uzICO_xHU|2l3GEsxRDr5 z>6A2@%0jLEW}n2$oL7&74pV1mY{In_p@SNORmkP0>7Vu6eEwgm8oqw-Z1W((7xh0S zFk~wh?~?B`O2oU=tx;&O{=4oEbEiIc6F7dpW5|pW1rLu!t&Ed%an4GYqdk?vx#|JL zBkp|aoPgEfMe*plpe;y<3o7}B<~~j~=t{Dxm|;^+1XmuY%VEplr01fhO8P+IoQ9X> z>hLA^q-k>ABhl~UMG{2@6Y0M1M;^DiCx7Ok<1VWVN~~LARV$sxp5P_Ns8<>=0`Eq> zmy&`j%6lLaO5MVnha#KE7mN*04d>HR?fTdf71u8w{@BPB0f_Rvo*OA|Zr3zhE5EQ1 z%vS!gRrRwWrL*Gar|oPO;=@D(UA13 zTh6gsc}Qt%sucnrv9U=|cv7HfWh*3d{e0U3)gI&EmvuJOl;6M1SMt}`_LwNySqd)( zKZpj}&d5J#);+cUx+O=_4H>X2){iH_g9VkYxn?a3`|o3c)0c$j#(h$OXbc|wByuC8 zASl7rvab+Z#*u$4S(5o;^_K_qh*?P0^CW|^M_|K`D(zG_2MRwxkw*`AfwJLur+kB8 z{tQ;i25;L~wHovmOXU0~Yu@}0{7#S{f0Me;Vpi?LpRd?h=Q4F(F@jKkNk>ez_b{{m zUinT?K_Bai#yk{K91Hu1AQ>K@K#YmmGlrzUJRy_79{EvAMkMM-MD^oz>l7vBrS1`* zRPn3vm#typ@0=g$8&PpY3o{xAN!&{5yKO{%s?92c@wTDx+NRg)xjiM;?ku>gUV6@T ztWuq&v@ueCD%6RR#?LC7$_DbW(22?h`Iv3*1MG?LeD9K{qYYsdF~Y3W@&L0YCJzB} z{2frUmwIVg@FrQ*K@I#_StK?lFFyTttrR1?_4t{i+=nG!`JUa5!{KuZ`dnO^x+9_6!+9mtqB%XMyXS zZq6Uu12^~8z1&Coz;o9}G>8RVIqT+$HZ+1gyL5&EXL`3?po*_SFVEqpxNz&=K{Wjz zdJRoX1?_GOc=e41KJtNSRE?qa9c|Xuw5xaaE z%0|t8*?*wh#k42N-}DNn+%0{2u$vcKd9A&z)KdEz`^~o=QP~|8Z{Qgj&pxbN0q*2- zj!x|jV|not3xgd5^f?6`QZ>4!ZwQQd5ofOXw9snYsaYCc%371%K$zgO=C9EM{7R8!!6Q79&kZ+}fFldw2R z!QCH^)3%6hZ!_LTaOckthg(st*CIw2SD{ZFhJH1on94crwC4*~vB@r`bP{Ct zoPsS`!391efsBp;XaC31fH)PS#`UYN;g-GzQThDVXE}u?s1j=Id+U+(B0N?9N8f<0 zZi?AqWG^yTO}iU>Y2~IBmWO3d4lg@j7(HxdtAE6D47($?*j!&t9Vc;EX_dWcT>521 zUPjMmb}+$*NmTlJj#5$qw)XZsH%6V$Bu-?#{k+KFM+EY3JE!nCM+XGav*pBiPpo(E zNAWA(%78jW)c7~$<2(V?-l`f?jifjUz9Aj|VB0|h7EY}|VtnK|EsayUa$`N+IUj$h zudBNFR8HdyhbOgNW#74UD;q83gzB|5^w>lvFI*f=g~MR)J1n|stc(5d0xaqGvv@u? zwN(4s2*newN!s zm{}Y@{|?{+XY>GQvav8V-em8&H0b|Q&q4wAq9iQpC!+x7;Hz+18CiK5I1DZi!z+~l zRQ>~^N&uR-6hM{|kDW|G_g(#+Kyos2a7#&$`!hRV7mSk~$lvKX#?{*kqyU9OW$=3? z0N#JMQ%t3RDvkgDDwSRa5CR<2;f2cpH*SWoO5Wjt3{y=uUqS9iN6r92Db;+)TVYhm YkS5#KbS5gMUIzJ8FMvM2s0_gIKhpb+xc~qF delta 19156 zcmV({K+?b6+X}qf3Xm`mG&mqHNFZAvH8(UcATl#Ikw6~;HZ_r9nE^GIfvf^hlS=_V zS~fNyARr(hARr(hARr(hARr(wNkkx9JTzl9Gh{VkVlrZ8Gh#AjWHB^0W-(W9VKy;0F=jQB8UG8%fbC^q93@9d(n#S&1MdbxBmi};vuy&~1CvJvlmR!F zVblQ`ll2B4e@2%5zP|!h`z5KA(CByf)a-2OF>;i#6GyTYd8Se+h=M4_B*BoNBKz0R zxwk0J$W^LxB z%B;&gI;_up1bxT?4U1U-i7T=wUFI+e`kl&R44KoJe=Ky&oWaxMX)~$3&Ya7nF7WR0 zGflBAJTfh>)s3T8Ioe@jXdBjhf@kF%a6ikY3K7R=0CC{1cZ z70euHb+F_@pbF_wK^15bGYI(w#WbWz#EvFiDo95FmB;QRZLUzF zD@|>VxQSHrw0Ry8Xp4ZHB#DgxM`;S$0Jb2Fq=lgf(kNO7%t(@mHroHkpZ}bRgX|wr ze?nNvaV8E&P4;spPBQVLep6?E`3qC*W2zCd}sGg>#udbSAw)m3}7xU3|l@IHBIIi+RJrS3q zaV0K<99{3tPfyQx4sK44Z<_Dy`A?-Yf5Ts2EN?!(KR7ts6W62a_y1llX8*OgD(9o= z@N2A{iM@J$QO&_x!T*7&eSQJ=^ztpSA&#p-gI4&1+yesbLQbZxz0WQ5M*E0%&4?_| z8{YiO(e(W-BhzW!taEyheN~Q!^?cM^O>+5l7s_pWlB<`sJ$acIWav6C;8d`oe+Zio zHiu^Q+RkA;ZFonAP-AIqD_?LUZLxZRT3NYzfhL)_dVwODl}=dF7`J*MMe?f`(zL)Y z#NX?AJvgao_u}=zA+}ZBG~j7c4y%3I_1O>SzY=$}t)mHCU%RWL3HjtzU1!Rzrfiw% zs_5CfzmwbaaKh8&c#L_s5y6crf4~Q~^(dh&LQYQPQ9>i38s>326;)0S{&7NA#?--HaDRUp^CYB5JtIyV$2J@IpLjx!C^|MMXNc_&^E9y?Zeu3r(oicf~~dB z)V5m;`tLi z-WTOrURHxLUR3G=kAc$V<++RqbC&}Z2Ra0+f{gmy^uy&pUuvnJ4i55$oFcr!Ga&O) z%H;u>jZ%ig#2*G6WuBoqf4ayuGMW`Q2AX7$UHsv|G4ko)7=U2lqE_Ho9dd0#rg8&Dy)1G%Vja}ss z+mn!gQDVC#)$l!1jV=w&nif&nJd{MP(-}nV5FVco*%MNi%|z~hTz4j;>1a}pf0@=7 z&(j?88H#RSjLFGh;B5~K->f+zW^OujgJ4k1rak&va!b-fw$GDLDe-%6z^;YYO{;m?R2QiyA5EKTKC8!Q$``PP>-?&jjGxYDf3$g&nK8(?B6|qqb!Ol} z>3;0FH#q7uZg3!9PX5R}IXYV*0m8Wp!2w?DGp}*B9g?>OtMvnIuT$^lCBU|;lubhT znh+nl(C89IhvWvazwmj$X`&aggNW%8yB~4T(1*unZiB1|kL{NTRm|gqS2~-7l+eT; zP#Nr%z8*YIf9QQrLT!;`_aQ8xl>VVhq7A}yk=2LLV2`E;;7Y?TTo08~vL`$;hCK9< zwG5Dq?K7h$z--W*0e?S&;_H^Pr7W|e!upKTePR9w%a$j)myA{VG&)V??XsN zWgb+o4Z;FIhaLc$;I=932BD*X*n`gM{9&)NK?lFCe;+pcbwUl3GJWVgPDHA!t^eT6 z&S%yD5bJZvC4Fv$cEP4iPQC&MYGi!WuAR*3a}pvD`C6CLCrS?j5*r{o2ct@*#js2Lm)#3Q7+LoxpYKB|d z)NhPKf4{K`e55+{@u~rb0j|Lx5@gO2uhOG#aBjdT1S;e~uyo6w*s?~@`izigv=BuA zZ^83N(^6adaEx@?dYPv-P?~~xrw~P7A4vq3dL2%=G_&JgYC*gs!C}01il~`i9QTXO zLc#5awzTvG^$CC7vHo_3yBbM7(w9p75xQQIe_{nia`AL+h0_%d6PXXR^T0ASK$1T6 zB7ez(iG&Oss>`B>wPyh#1@k1HprAfdpSMg04J0%PcNd5vAsbl|gb01|C3@<0nP&a$ zmUpNagau%aF^~y;!oa?GMpZDw6YH?O$uyS1@XMn ze=3=$bUCmg@rP@gg(Zvdsb(wm=bZ#v$w%I44&oErFk6GBam51 zMb}i2AYt!eMalX!^op#8ejyM@^T9=`e}zaA*ODyF7|%A$_5+G;pJx3?b?WQ;*N#r5 zE!sIP>vAenOJG|^)<7+qG$J5hCyO8uJ$uH;4mFa_Y2wWC$XKvl!Q|zo*Rz$&ylNLtaz|CnFTzbYU?c8W&94mA558j)I8e>m`t z;r~}HNfzzMTk1rCa}(K)<&tI7?M+yvdMeW{Xcm$@e?OOOC&{xWkI7Kn_37JM>iL|q zoiUY$ya%mAQAo8Vy_3Hp4UNDxFfEBkv#&FJ4pA&1XsBo3At_2il<-P{e(b?M$Pvhi zfUE-Yc7dHC+X>tw{RRcgz=@Gqe+|>o!cxLyQZ_}g96I$bon99hFiE6XO$Psx^H zG)Fa7F?Gj3w?-;cOJw|c+%0YDr?WBSgAt*X(p?`%&?iQm|Nr~^zm&O~ULQ}5@LX`XJG)}oBfwqMRh)}L zZ;`Sn%0&|;{bq|YJlW1bQ4f|v^5On=Rvz8f1LY`IQofQ_XxHR2a#q`Ip_7taL*jnD z+mdEB1?7(2Ix;xoxI@#9P3^3*EjC`U((>5uoJ_NlTWrrra;-OUf0XK}{5f4}E(X=K zpTx|qIhmB=LR{42aXA;2xD=Q5axRAAN?d)IT~$*t62FS~Vk{gPVlEb9e^Fh7dND2+SE3Qk)x4@iGa6r@{Jj=Sv7BC1^TnW^SK?ayE^fpJ z@$qZ=8DipRN8(5>4#(wik(qQqvbR^?@XhQF-8|TW0jgZ(B;RG**UI;OYoP8qoy2>2D{TCe+CzsIBBZMDV@yQn_8NO zHbkGbYLK6`=o;&9@045kadzy&AKW_p`{JmD{s)Hst$4Qv`~|SCrWXWObu$>3lP>a~ zf;?fpjxyuhg1QDNZSo;VcdW~H(l2W1H^{bFN7Zhkx_A21+3DMF_FwIt$zltN^qbtr zU^M2*FdlY*e|#-|Z1uPlh za%Ul%jvro#rC$BEEXN&JgnuLayGBG9_X`R1n{hTgt|eV+Rctn1F5tO-TUHDD#CRJw zn0)n;Yew)}s-~ba8Kn)k;bnC5Dd#6XijUR2?k8(gthBdyz<|T1wBH=Q-hKTF(mvkm z0^Q^0`(#-kum}91jo=T(ZVuWcsZlGE=?D_}q+AHvmAm`!0AzNX!RrKBG|16RTt}?f zMC{$}cSk?%lVKGk4fp%sp6rtSA8%vNe{qwN6*&QSlgt$zZ~coGd&fV5)020fh+J?e zUzppK2P7aS>@%8!^htoqw>~Q`GVAccilW`mqlWP_* zH8>zXJ_>Vma%Ev{3V57jU|?WkU=Yh;U}a$7_|72600m$+D@c@qWhV;*!}B|W(k&ko z0ydM-7A{9M{|3^MKr9UwnGO_VU^~M*WAOtP1`dg-P19JmF*N@1QGT|bBU-Ov?p3oA zVGfZ4nhm}VOB-i1n=$8grig$I0|07JGh&l*922uy7gPlUHaR(yupD21D#{l!6_Jef z;_iMSb1m{XStO|xQM|Y-7rz8=yQj4V zI9D8o!KQBMM%3L6!=ZnEbA!1ZF0*O(HxP9Lk(Rgbf4I55m8mXP-+hP#ea+jl#h$4x zN@2OV@_SVcAGn}K2TyQh7>?_hVUc_i6+<&vb`gkR@ zopp^RL8H`cd6W!3#ew>>>&`W8k~r%ig^8|9aZgOQ2S{+y04*0 zYlAY=bkGxjmprPB%=Y{7U|o^p5C|lBcL{4z?E_mo>)e`u?M(jHQ0nd2*|?1r?x3aM z02r$Ul&>^GGeibcP#Hp?=0m(`mP!UgN6|$F<+vdWxDYt;S(J)2cS647aH4~4%YLUh zTc{XvgQr-DVsMzkKUVZMbkPCbLCJlny)X7vT@_t_^}FHEoM=ujta0IO3ya|$gMUr*@Z<@x=#(;WmAz4@+8TI=A1>DZC4DA<>S^`x>+29GlGy2ZP3#($THS#JP2EL|Gmnu>iGjpu!rfb+iRH zn-&SzF*@-n{C#-l(hdckZtJ4YyVqBXUywI{bb##qU<0XRy)&ITNmMwr7nGjeOUX#Y zD)I^I=VhK)d)6{?5rukmFYZ}wqpjPmwI?DuIKVl~@jKDl<5EQ&Ks03GGb@kG9wrXM zsCj7lqb)WY)Ax>M4Hg|I6=KGJAH)S!MNuyB>#y{-HbqbJPb0e-MS)a0oB`TDZXLl! z6nmyvX9b00W=qMAh6T_1?88LgzASmRa&goj;!+?b3yuKAtS>K}b$|k69vN_9zyfdq z0(=L`(^?0wTesM?ud3QOAtbX5BDev6j3TW>sB%8&husvf6jimhp6(}a>YRm}-)yx+ z-5zBb&tLb*Hl_R4>kf3&b!~U;qVI6#BF1AMFWkvz8Av4_NPT-IW`&y|>93+#q{)ex zze>)?=y|68C^;XwU6!-V6KshpI*puvPzjkLaJ$Sz{rh$#VNe$q-kX}kP0u8M|2$v^ zBY?O2d_;9iw5;u&cc>OjHqX-N+xgkUH3RtMB+4q{VR zZZnG3C$k$Iw%Cy?Ha&Id$F;$(TmPQrqLZ4u02C?8%`zE zr))G1KIA3Nx8}Pxt$(sf)RT$@cH#E2=?&lQiwBSBESIXkbk*8oTXNlhy5jZq<2;=z zNa?`v(=_Mq9EBo{=`m6v?#45B{`3{zEMq0o@Q?E58MiNFyEwv@z+$=c=9g^q}r^2iPI_!tE++Z)3l57zLA#102iN7#-i*L`u1a-Ksq5!T}x z#(d4o`VkQqv4s8EGGOC>pg!eH?)lmlp=LAm$F!&8FFaoQBAO%j91+c+wI;9be3-9% za@ zi&S1Jog-H|-~N@y|7v|H6r<3ZUNkWJvm;V*&5s@!z2EcmO^YLc@cZqBGCLBPe`BBC zlXdJ1X_TGMI8GfSOYBiSdKJOT*~=J6g?}efbL-SnsBn4}zI99D1x!0t87)bHN}`1l zK-k{PLUrNLnFz6BHCs5n|L_6$`3If77neRh0J+<6Sd9sD(Mx;jZqsmk=*?Ji-7qf< zW-D%|Ehzx7r*>O^_ay$#qOCX)X?_OO^A=}cEaU2ta zS|_(!CjnE*e=#{AK0XR_baG{3Z3=jt#awN3uLUsuWUE-z-M1ryHs_=lG<@c|-#i>v(hbOK-G zm3e=;uJUERz(Jl&%Z2%1V%}b#Dn3r;bMwXm#!i2}`R?TW=H%BC3Udxd)XXs;N=BpU z;^e2FgV7AyzZ(UF$7=Mbdo4yHRPZ|=U7vh^64>>+V=zWSsk&oCanw78=9v^7o>5M? zP=;qO=l6M$RSyeTgc4(aiYov%^VTP!ATf_%JoAC=Ax9yJBd+wIM8LS5gjAYNAA*3} zevZIM9MI9E)$wg!W%<%D@clelF0(=GlMJnQ40jYw|3U0!srH?^|c+UFS~83K<=+ z^l_Pk2ah8Z4JEO(u8VJRIoQeN>+_rK&_KbJ1wxF%kP#sf`#c($uZkO=wjBs5D1N}X z9+zSB0Vx5Gmy7cO9e-{)H12n3vd@SFYs@jIt!Sqiy?&_RfDNoa@W4igGF5#VlyAR30ypSo0UzP&=odHKVeZ+B>z48iFi8cGh( zFn*MVy}AId0P=nL?rfI{NU4$DU?$+3phM7^;9(4@QPY-NBYzg`BxTpAI*0&_s+siTLpD!+F*GI;LeCx~)(o>ZTwh=O``i~~MZ44Ae2fW*q|HQp zQg@>8Ebrx44A3CxMAWdCT`UCp>_8b?{4`w`1%NhA$CZz@z&T*80~bZ$TRL!%*OdQp ziPrf~zdwor(0@cQC!DN$o@&D*y&w}Y;Q;Q2 zpeh;RtV7l71s(CZUhvW*Hz!BgZ^9f>%SgC78SU4}#?NJUrxPKVS2t+{(IwiWoI$U0 z{?(UNI7WF~y4W2GSfNy#VD$jg>qQbl2$_EeNvK|q34a(LdfEvWX|*nvp4DS8j+<^* z=VzDiu5YwL{BY(|M!*3P#Lo~gUkD<6jxqx2NC`a@u1!ziy^eRMN`PASa|E!ipdF6H zN9a(xw3!PiQ*TNVK)C7nPa5E4Xl4}P}{*GaUhEz(uk0EbZM)I;O00E zhwk#iD6MY+j1x}X6)e;2-d7_5Q7Ps4yv*kuuztB=+Pm|MH{X79d3C*m#UTK?{S~!g zSlq2Gww>4>Kty9sBH5L~R*}IqFiFD3UXP4Ey?-)@yfO&8GU%F!Gf)hfS;O`NLJ2q@ zraH^t%1T|y1|;N7U1*wvz}UFT^v^o&C1*c%srAEkhuMd^Y4edwW((%JsaBgz1zZCU zTP2m<%kWiKu#_2(WDx13`B~X$Kvbk)sE{aLn?hbz9;%T7s~U!?q7bt?RIA(vt|@3S z9e;!-;B?3(9Fj><)J&eRNCDi^KW}`+4kjU8f?zVhRIn5sL6mgnvIBA}@KiJ!gsO^3 z5QHvOU-6Cyf=Ho;pvhqf$vZSn^==n{;6#Oufqy{&F=332|7?B^C~rh)&iuLa;=S`4 zsLIiD^BoI-L~pCi(eKLygodb7;-LKr(trOZLM`=XSr#UZe6!o;O_Z-&Ut*3AA` z#c?|z>bUi-yvLb@8>^mQ#(6HJ+{x-~Es2f-la%4M0PQfRKLv6_>%2_cv9;?(nBF}; zB0$EFBL`w6z-npOyA8iTY;fQNhoJ&po9PLV43^J_p~|QLj&`W}0we?0BPt()CSzz( z#HCBK6(Kzy48qvPhV~Z_{c%-AgoBG2Vg(>}9=Z$ghgD7i%WyUXQO*F%FzQnEhE)#! zF64vI6ak^KLvw(z`dkmumkaH6u^i?|JHVN3l{da*Ho&$@1YaZ@VB4GZJC_Og0X%;q zA>NCGc0sQr_jHFZWyMMtJ{$nX`p+R8p+H!u5zmW{wF1FV6o%??x)i(>#h^9-RnSGM zm`l}r5J4%3QDP99kc&pNLvy%X#^ZE%sH|{QcK4?30YC{;y_%2DWDll#H0mgVA1HB# zXMl#G%FtLkRDD1Rqpui75it4+%3Xh&8=!R1zA=lsL81RN#t}A+C^Q}>D8Nt@hT6Rk zNkgVjxD7!xlq8_aCA!0r#F%dkLNpGwC>){#AIA9q7&ZfB2m=nlBMxdFEAH}WhhYnI zY;OpvLXfCS)oa)iQYA$F1JIOUm`u7fof=_XGUB#mB>GB5pryexAooE^^1FWl%hty5 z_KBD+h`+yF1m2jdPL+i9*Vx@{r3O~x{?f6Vp{)Nj36(@`4y!bjno~GEJG}ZsmsWof z%%yeUp0~MNkj>YHJD=`>c#avQ=vDRhfq3sN3NER3x0>+9@)TqjLXL)KX7MRotmf%r z<7e{a3oPWt<40=>*y%CDix7YKRHUmSEp7LDEZgg@NbOU(N~ZSl*50td=fwQn7s=|O zrt*+YvB!g*jh$6hB-mQt@xT+m-NDKPW{x)s%+MfY;3TlZ5#BVP&$AL1H8E7uDIN&^ z1c@UZQPP0Y;7xW;A8a%C_hihCloq|`64$%9@2H8mw}FkcpTgWVzoZRKf#kL+$N6i@+$Qe zPdT1DX@chYZ|QVhStni&lGeXZDEE9_n71F_nqMQZ&smW#7mZHiAJ(PjAo_o;-q= z^mlYOw3i|K0V)D~x0g-(0Wg2^%X+2f)U#j;aa792EjMbmx%4x^n+KRszyst7wCNaR zThR~Pa_y7>M&fN7Z5>MARQmOVg!+&6M>jF4pY0DceRZ*5qgOdN>F=AdCU&q%Yc$`1 zX)K*EAgS~QuJPk-e*^qx)aWTb6zL+#tOtPCJ8*RyeZ!XQaKS(VBe;LsXj_#OWYxV- z;o?`W0dalsHG@dA+)VI5x&mEBBfXbMwvQ%AkZ!t9=Sf)-3@-tA=(MzKxpSG|1~P3B zm?MX(b4p{8EL(R3b2MjrqtGxM9zJRFeliA7lS%B&!P|MRUB8Y$pR55TRqd-mIElT# zXe`V8E}E-z)}f!G*zSK#LsDPsE4#=fbfBauBu&5+SYQiE9~cdsZw?R!K5dRcmLGMP z?~w+ir!;OpXa#s&n2x_X3~#vc_>clGt&d4;WW%Uzd17yJZeqCs8k&(cw)=c4!3obX zH21J%B4BQkX`lz5cOah3Ae1G`X)jZ-J_Tb>z(FZM+q@|IcopK2XSIV@9|9`S z8fN7Ny_h`0Dh0$K__L0?c!LkJEZ_?=3gW-ju^RGei?-IBn3rJv0Yw2pm!|yzDIm?d zX){XGGcoUrye18x8}hVtW~rs+w8&QYAqE(r_b-?4{Q))s(U&Iv0Z0L-mv8<7Cx1D2 z(;a(<1P3rVMerhQ?d6Xyz|}9BS=lV`kY zxntH$K_EfLVrGtcU<~jt#Yl~RGw}$&H||TiXb-#S+vKK;nGMD+`12b2EjD3GyRX9h z9a)1P!wlv1xiVmx|dNJ0TZ{={{fIb0x~(5Wj+EkCu5C6^d?pL?dhKG z!LeGAluJ*T`{?8AW8iOg8-Mfd#aGuCSKlaqm%ly&7Jm#`bK7>s8c(1y$$;(4!dK?*e?JdoC-QHYoVMaSp{rNbwOZ-Z8XqD!#ZwInVZXP5QW~b z&ju>pTk23bZ>y^8%eL9(*t$3Nb4Q*1kPS#HEZ>YgyJ+zncuhNee2JKr2s~5lOfN3C ziB7%ieaVaU8IB|_antC!+S=f?He0&MR!WhEA%EQ`Z|lPdhl0&ubP#yI_@TerKc22o zHai+)Hw{AI_F#Bg+ZfkI4a1%r>b4)K$^3D!LSdSo<%y?YbBs0Vb#RnR3Cr;oC9hw% z?uemxsIsPk!@yCcus8G9mwI0H?K2W3oR4xgSW00_p7n-G_J~$$Z-6g33o*!H$L(2F z?tdD?N^oBe`;&RQt}J+;zNPOW8}_UV_ob8P&eRzlL@#)I+ZiM1M&Gqa4w9nxNOIFX zJ9n{m9Qv}r-DBYENYa6|$myvYfIr_U#Cyt_rGVML`2l zzkEbvB_`IDBz+KEt6xY;TxluBt2l;^TUQCSTJWO2B{SPU!aaQfx4m77`)oEFCOk+^htt3JFt;zZl?!lwF>~b4M-ft!!V7AlCTPtf&XvdD0 zDS)w3f18deLt+mDif#fJ9M)ND6oWOI;UW}q5VNtXTQ*jpOMyxmyVOL5K>K`eY<$i( zBHRG4W1TpTrb)8VB9fsKJYS!&CJ7j@1fX~xc*9l^*G8TXL>AmMqt<-9LB3$IKUAfK zTIfY$esEmsYFc~Y!di+L&20@vdX^xXR`T5tf7&e2@?xYYB-3{rSNaDUQMtIvR;oZG zL3GZdn0I~M0zuy)Sg$nigdQmfjZB?+y&apJMKwuL#-DhUPzkG;c9FiU-(>(lohT2- z=H{W@<3Pmo?m(+ZO7Gw3i~u&;Gt`-LTAec~EH;IcS(eyxpq|NYIq=5vg!F5Zl&}X|{5D#* z*-seWeUP)+PLYLx&Pf^0u`5WBe=oDL%5w%u`XYePYN64Efk@=600aoL)7W!-O$1mQ zH=t~u4v9iX!P5~@r6Ng^#i1qBs%27v*50wIV?Cqpo2<$#CfEu|`Y^lRHkg5)TW~j&Au_cb(YV%H?JyVLmm~!z>&Nf3$9qfQZWcog^?#Vv0sL0K*LW){vvhoX5N1u~$Be-8^ag(F9*IhBW_^weVI3%(G-j&9C^4@fuL)K(*2ygym~ zR5Gv)HO`0~`W|2vK9W6fn7`#KtPS{#3l_#@FuCv2;Svp!vsr=KN-?3{ zu{_jNB?XR7@td5NZ3y8%rE%<#0kv;;q*|Ue6wfhKQ7hP&;%st&0b}X4AWUR6nw{PD zChJ`;V{t2}!RS4mf2?pB5SPNRx2!6sb6~Iop@T?SZxY;C8|!KS{g74f?Hi}^m<4zR zF#hY8a7o|yUSDeI{qROn&&v#}@5@~_kA7(d1RRF*8m^Q`_`Ty*cI zt)73u-$jyxPhd&UH(F8t&B6zK!MU%F#j_%1c$A(%8+2Jwo=Kh>s}7)Mk|UkS1z=G4 z>GeN*DrGjq%FTPg+zN3Q79u%|^z5;rr`GK_tM&TZK#R>=65MKBhldn3hkoGwE4#C- z#f1QMMz_xqTWzQWmAnF2g8JRG9q!&vC$9OReBc2OyayJVBQ1-T^bGWsGnWiV0waH% zr6Z3Bp#@72la;&1N$NA?WHQHxc0}hKuB^Yah|2C2rIfK$7&0hTd$7`Fr_pDYKJu9+ z5mj+Cxk|5&0O8ZoGWO=c2dT>cn11EN#a3)_@*+2f&1k32(3X-)I!afzFlAas38iTd zmDNE*eIGc0*;pY6nei z-SiZNf*MNn`&Rdi9F)(L4HReZu{7bb3N%XE3`>@eFoGcg`#&WO6lx*U$yjxHbvQm4 z^Ta}{Dfp_&n=V7D;Q=g_aCy5IE=Z5L?~MpG)}knt-Ygm@Xf&xJ|2%q05mJqSo~>Ev}`b`3=K4QBy!3qd*pXKY8f)0VRLZ1W8Cg5YUeUYtU9Aj3Zbo0`Bq~e?-Tu-!q^~lX*E&Onr zmsb$l@by*dizt6d*4Ff=rYi5IXLcX$^D`5#_$R!W%?ey7ZL!MWV_^_gE)UiT_oA;Hj2YfeEmJiiNJ|% zP9)@0{K>0M*BaWd8Q{k&*2Bs}IZj|%Grx7|VJr+Wg+n5}~I*bspeIb>0SWBaFVlO={_)@6! zgb)ioMJPf+zh^;TD6Nz6W-0ptAqe%jpIqplyuCw#6LbDKSo*k+A{+Qqa>C}XvfjLO z)O*mU4s3>c4e2UTB98SM)4p?$x?ir-TnfDT(8rf;v<^%hefmq;{{h~<2_Uy-O#*!( z0Wg>3ZUS6?$tNjGBN)7dKb$t_0A`CxU3?ED7Vua(nfE%ddR0g8uI&oT)UK+__QPiH;H| z^U3wqzpl7HFMsgdiDn{>C$UhBr~d4MxxL#-lV4^b=fQQkHNGE-sn(vVH*N${Z9ZgM z$BEHwJSOmxj%K$zVocT8VoiOw6>x?o(OKV4+S>O(a432NizsF?N#T>DHLLS^vrzNg zE(Y6wj*b~>7N=o5=?feR>+0T!nMgvWA^{cHK+-_C%p?H9)1buKmgWssR)U48?8pJR zh|>UsK_ooLkMB^#oC%puqBLS0F7(VrN|w5F(p4T`orpC{c?e5|EQ$TyHAKLI2v8>o zfYB08{saU_&KY-S=@F0<0hR~=I+W%CgDX#ec~C&7OdXS;c#lQmMnY>n_|^=*l~fcb zt}RKJmYp=fcu>x*`$aK}a4OU*_uHJfJ}p_8bb|2}Y{Z2l0t&oEE(1fYe-6IAr^3>Z z_264WMM*_F)TZm$R zAi%gFlfVEq)Y=@=C_~9q96kw+VZSdSW_#fmN}^+=;~k%KgH2`GQ8 z4GLoty!=^w0ksf3u30v=EL=+l4l-)E&yB6mAWv9fYYV&0a$2q^9l%`q)jcXb0;RBU zR@0Em+?vW1OXJ&RLFJ}IynaWGrlj(&vW;K5*%+d5k=1rdeRWgqm(9NNLrSMx69HE` z^7a{F-`Dre#_fke1BMo_t|hg9x^s-UH)|J5nG_y%sgoT3A$#kh7K$|LeKi$r!|~K@ zQ!gvK^HGZRQH-Z;SCs_TjR)`MgIVsIY?1p_{=)54&uMU*Ar{Fv!*| zqpyu$@fI$Zf-F6f`3J(a4aoe6p8-1!Rsr9up-Nvj2Ch#hB9K)4PQ|yl@75GkCDCSK z*E1?!O%XLKkie?4D|0b_|D%wFVF!nn<#xAk%zR_A6~vG8Wmz;;nV-7|fhH*y?FzuR zC{2SKrvO@j#%{`ezM?t>?S>jaWq}-T>=JDYcA*i_=qom)N?5<$7tU&3dLq~XAxAVc z2kpW9f#!F%+055vcK&EGW^veooyWw{QZcQQcIJqkxvALh{_M_wJZ6dPP^Lu-CKZ}; zCzm4lHzqX7J#}xhHt``b%Tbq9yTjhBm^z>BdK&*FTdkL(p@ZTfLqfpmYmOV$NBsm7qnvHAX&gXvi@atQjY`=!9!DqAyulc zNZ@$^8@l3mDn^Qbq(Ee!(U({6vG1{3!~v2YX;D*U|20VOJyw@*FV!djx=KeqjnZ)0 zKiGAZk!y_LR##N1%xvHiqsLqbTwn-RRGd|nvql(#8qvYVPE%br;&LCLQx+dmPOs%D zzI{wzKvVTWU!0~oD!j&kT_lU-D08I%r`1qL<~x9snO$#xoKd zKnn%{rKAu0Vr8njA$jV1&{fuWIy(7!2qlh9AMisTl0G;4s>#h)W%KpN_|WbI$3e@oXVgkWajD!*_Y~_Qr|BVCZorTBS6|ncXyLj>%I5JT0)>1k1WmB-@_+|FHUG>jG5vPJW6FLbif`D z27rHm_BXT~;P(;!7VTFm8(JXgduIBA!OF$l61;EzFTn*WWe59$aSiR-^FKfo;UMfs zDX%@rC4KCGD0Xhiv#!u|%P9C7Pm{HlnJm2mNHG@L+}pXN6& z-@LefdDciJjK`f_@aWFPUhY(VW8R$#8(ZgpY)GD0U05cQZggkr$H1y5OkkAwSej0U ziC&uAYHk-a^{ykgTZ@i1R>3kWsISL=2-e6gi37=rBN@NdwpjXM4Ge2HS!A`Z6%PBp zx9iMHA5f5IbxqZc^V+bpZG6vSZ}Vnmi*~5p?VLZxL3z2xJcHY;q;gjoqK6LkP_|)z zZ3+W2)IGWFi^^nmS%6CU_sAUd`M~c3hulrzHwbx8=V?LmT92O&qC=GinhJ~#6@gmh zqXABBU8M^Y;p;OR`)T+V-!D6pb^_n-K4RM_O6)<}FiCqs3??7*3s6vZ6EPeusnzXYwXmC-AWchCV=6(WWLaGAlpYNOvqwV9 zQ>R`Y5>Z+xdKbq^NW znWU^s1hTp7@-&f`eW(~x3EM_z(C{7%zxI4Kw0a3lXpMZI>uTly3tEW+JNU4IxMbPn ze)E0pcd|{lO-I#*SE3}o$*9k83bS^J0lNT@Z~Q67N!Tu!hS1%3d7?z`+lyTp#tpg? zjoNPK8Axu$AOb1Q{>deO1|W9Gb(CGs-v29y63sq4c6iz#cs7FQsbl~=hp-C0Pv*ev z2`%g(n$HwmoLh-QrVf7h<9Y)a^^itsz2k^_u9;967l$x7IZ(fNhvl*WwW;(qjx<~Q5R3|up2$%R&;S!%HU9Qu; zUTlnirCez|6O039jNG${5jIx{i^Sm^>y7X<1nsxqtEq^-U&&9)$txPNU1)}-)FXLNc&^$}on@%NU0 zL-2CIFGC#7Ft4-5#)c3Jz*U1(_=ks2w9T}7q2L5kN#bGexoyv{S{b$HQnc~&>*QBD z@}{dLRp#r!)Uz??IEg;P^N{RiGt$6anme*>YUUy=zNrg*kFO?#JT`7@FT8)*im-IO z$Llk9YJg~2^4|MV*FM{RWMv=f!ADAV z``qCo9{KOUNxtsReB02(XErLls1=wq#jXy!jSMRJZ(SlRm&Rw z2*rX$FS~zF3Q{yn@~}KyvT4qyqPqjnr_sBGv$6q7?BZIPTai`+R&tt@x)IoLfUWmd zk7AFLnwE-zc1XPM+TAiU_g^=@H}SLO`h<=M<*s;eaC3LgM3J*+$k+6QiEmsWyIdRA z|4v-Yr;)Jgk$Lu!c^5#8ha2y5eMbk?KUnv?bcnaZ@EJKuMx_3l_TMAQl+4k{{SnnG z^)?5>S;(WG(22Y~eVaaBsosS?8?YYqTMxEaV==k_?m7KNbd>6Ys-~IUql8P00ORG5 zlpP!8x0XDQ!bK#>;W;rW(?bE`#r>0UI-B-ERE_P2-ht4fe)0Z{^aIR;Y}~UE8zn<| zAs}f70Aj7_w7$+-Qz<_2190*+dy3d*aHK6^)65^8u}%>-9?IBIu2vsI#;~=s!H9hplGs>`|luAPU~4_j4Pl^GxHjpN}$u z5uW2Y~(_L|B`|-+k zQPrECW>3j!u*R|zBcIw=%c**NoEp`yYJV#KEM<$8D`?=0O`&VJzmso~B>J|0{N$4^ z%@Kdv5<<>(yJKw4AQ&aajt;E1kxaCq4u2XjX&-12Ia6tufBbgb(xzm-Wm4z#iCz05 z!&;gS$N7qCt-|csab;s!Um^MGL}k57%ocv{NbDbSm*W#x)?pvvmFSE1MGd}Sq0Df0 zG8SH$qgOiGM^8moNLOf!$Hu%)$ds$`=_p08xEr3vS7e03Vj4$PYN1>!!4G!f+iiDJ z0?n^iP3^iel!zjTgZd3e>H>G!Po0Ko8*gr}U(qg|#rbhxW<-p#4kO}37J?EJAj<^FAqOP?0r z%E>1yvSaHA5BXC<*u+4AxEe?EZ~x$|17iP#U@8k&9!?Vd@@T{?qtFbQpvCa~O1)#4 z|E2-m44Nkw9;+9b)NOpn(Ai!(2!nOa>P$I8NwtRN4!iDGuBvL_K7%|FdCbN{dL=PB zFF`-`s$X2Y%8F*|+-YF2Q!L#nrb$PYh<>nX6PS3Fd1iwf(=U*_c|)>U?ZtL*D>;@S zuJwDMlvDH(FSm^${nfXu-+@QgowhL!`S%bKtYK;9ss@%{CrLtnH|lwOA|i>_>_zJV z?z)NnkMJbNl)}?zqnYx4q%lkwynvcH{LXX5Z)A&uOHN%uddTx1NP^!xd>`9^7_UZyWE zW2^EevcS~_pooguALWqtW-x2tLzAZCgBM1HyGyF?emYjn81t|Mo;=U)c~5xM6b{kt zFNc6UzEMVFPin619R<>8GvYN^?U8^ zk3kZ}A`si@frH{(@DbK4_k+a-lb?6TrDS}xXdByRcT)NK>ErtJ{yvyNqj2l*;3M6= zXTuazKDvi(VVlL~z4=wLVWGo%qZ-N|-}z+nvtLBLm zi37{~tey`V4_j*%-`ZyKTNEkrVqc%p2|NkYTOHI3cpD#YtKnO2)9IJAr_R5A9f<;p z*b$cjN$3%FwL1UaPf5nZ&Nv3+q|)`5Aa!g}0MpAH%1Vk#N{T3DHKajWoYeV=;bz2K?{WduqVe)X0w z-qqg)>kF6hc6Iy1Qcyym6cI>NmO?3@%HaQhfXWgp1Hd%Z7}FB^XzvEUA z