ࡱ> y uDbjbjEE 1v''u<LL""""""""" ""''jk#k#k#k#k#F$F$F$&&&&&&&$)3,T&"F$F$F$F$F$&""k#k#&F$F$F$F$"k#"k#&F$F$&F$F$J&r&k#sG;"F$b&&&0''j&,F$,r&,"r& F$F$F$F$F$F$F$F$&&F$F$F$F$''F$F$F$F$,F$F$F$F$F$F$F$F$F$L U!: Joel Petracci Gavin Gallino ECE 478 Project PeopleBot The goal of the project was to develop software for the Pioneer 2 robot to enable collision avoidance in a room with either fixed or moving obstacles. The second goal of the project was to develop a new pair of arms for the robot and design software to command the controller to move the servos. The robots purpose is as a receptionist or other information dispersing agent. A head for the robot has been previously developed and not included in this project. PeopleBot Arms: The arms of the robot needed to be reconstructed. The originals where held together with glue and tape and used plastic for the arms. The goal for redesigning them was to make them durable and also serviceable. The arms also have an one more axis of movement which is rotating the wrist. Below is an overview of the build process and the results. The primary challenge of the arm is making it strong but light at the same time. Many materials are either light or strong but not both. This is why I chose aluminum to construct the arm from. It is a very strong metal that is soft enough to machine with simple tools. The weight is also a factor that makes it a great material with only about 2600 kg/m3 compared to 7900 kg/m3 for steel. Aluminum in the dimensions used for this project can be found at most home improvement stores such as Home Depot or Lowes. This makes it very easy for anyone to build the arm at a reasonable cost. A parts list and aproximate cost will be listed later in the report. Build instructions can also be provided. The servos used on the arm are standard Hitec servos for the elbow/wrist and high power Hitec servos for the shoulder joint. The servos are powered via a 6volt sealed lead acid battery. Any battery that meets the voltage specs of the servos could be used but a rechargeable cell with enough amp-hours for the desired runtime would be recommended. To control the servos the ASC16 controller is used. This controller connects to a computer via the RS232 serial port or optionally at TTL levels for microcontrollers. The controller required a RS232 to TTL voltage converter which consisted of a MAX232 chip and 4 capacitors. The power for the voltage converter is sourced from the controller. The manual for the ASC16 controller describes this common circuit in more detail. The controller accepts commands as binary numerical values sent over the serial connection. It has a 128 command buffer so you can issue many commands at a time. Various parameters can be set for the servos such as accelration and speed. There are also other commands for using multiple controllers in parallel or for accessing the data input/output ports. The software that ships with the controller has an interpreter that translates servo commands in a mnemonics form into the binary form. For this project I wrote a Python module that does this same task allowing anyone on any operating system to send commands to the controller in an easy to read form. It also provides a programming interface to the controller so that other code can directly issue commands. The Python module does rely on the PySerial module for the serial port IO. Parts list: Part DescriptionCostUse3/4in x 3ft Square Aluminum Tubing$8.17Cut into 4 pieces for two arms.3/4in x 1/8in x 3ft Flat Aluminum Plate$3.38Elbow Servo braket7in x 18in 22gauge Aluminum Seet$7.98Servo brakets1/2in x 1in x 3ft Poplar (or any fine graned material)$1.10Servo connection blocks#8-32 x 2in boltsBracket connections#6 x 1/2inServo block connectionszip-tiesWire managementLarge servosShoulder jointSandard servosElbow and wrist joints Total cost is aproximately <$30 not including the servos. Tools used: #8-32 tap for bolts Drill/bits Metal cutting saw Screw driver Tin snips Hammer Arm Pictures:   Collision Avoidance Software: In order to run programs that will communicate to the PeopleBot robot you must first download the software from the manufactures website at http://robots.mobilerobots.com. the software is called Aria and allows communication between the client and the robot. The robot OS will act as a server and the users computer acts a client sending commands to the robot. There is also a simulator provided that allows users to run programs for the robot without actually using the robot. The simulator allows testing of the sensors and the movement of the robot. You need to load maps into the simulator and the robot will run through the maps running the program. For this project the office map was used during tests. The office map provides different rooms for the robot and some smaller obstacles that may represent tables. The software for this project is written in python using the Aria python module. Python allows quick changes to the program without having to recompile the software every time. It also allows easy access to graphics libraries that are used to display sensor data to the user. The library used in this project is the pygame module for python. It allows access to commands for drawing windows and also keyboard commands. The peoplebot software has three modes of operation. There is the wander mode which is the default mode the robot is in when started. This mode enables the robot to move around a room avoiding obstacles. The second mode is manual mode. This mode is entered into by pressing one of the arrow keys. Which ever arrow is pressed the robot will begin to move in that direction. The space bar is used to stop the robots movement. Wander mode is entered into by pressing the escape key. The third mode is the tracking mode. This mode is used to track movement around the robot. Pressing the escape key will exit out of this mode and return to wander mode. In the wander mode the robot will avoid obstacles in front of it. This is done by polling the sensors and checking the minimum distances to the obstacles around it. If an obstacle is detected the robot will determine which way is best and then turn until the obstacle is no longer in front of the robot. The choice in which way to turn is determined by comparing each directions closeness to obstacles and then choosing which side is less. Below is a piece of code from the program that determines which direction to turn: for i in range(len(left_sensors)) : if left_sensors[i] > right_sensors[i] : direction -= 1 else: direction += 1 If direction is negative then the robot will choose to turn left. Otherwise the robot will turn right. Below is the code for detecting obstacles: if sensors[2] < FRONT_RR or sensors[1] < FRONT_MR or sensors[0] < FRONT_CR or sensors[-1] < FRONT_CL or sensors[-2] < FRONT_CM or sensors[-3] < FRONT_LL : return 1 else: return 0 Tracking is done when the robot is stationary. The software takes two snapshots of the sensors at different intervals and then subtracts the two snapshots. It then checks if there is a difference. If there is then there was movement and the robot will turn towards the movement. import pygame, random, os, sys, signal #import the path to the AriaPy module sys.path.append('/usr/local/Aria/python') from AriaPy import * from pygame.locals import * Aria.init() pygame.init() # Constant Declaration FRONT_RR = 500 FRONT_MR = 600 FRONT_CR = 750 FRONT_CL = 750 FRONT_CM = 600 FRONT_LL = 500 # Class instances declaration robot = ArRobot() conn = ArSimpleConnector(sys.argv) sonar = ArSonarDevice() bumper = ArBumpers() time = ArTime() # Global variables robot_position = [270,0,0] # angle, x, y obstacle = 0 direction = 0 robot.addRangeDevice(sonar) robot.addRangeDevice(bumper) # connect to simulator or the robot if (not conn.connectRobot(robot)): print "Could not connect to robot, exiting" sys.exit(1) # run the robot in its own thread robot.runAsync(0) robot.comInt(ArCommands.ENABLE, 1) # draw main window to display information screen = pygame.display.set_mode((250,250)) def readSensors(): # variable to hold the sensor data sensors = range(18) for i in range(18): sensors[i] = sonar.currentReadingPolar( (i*20) , ((i*20)+20) ) # correct for blind spots at angles 60-80,100-120 and 240-260,280-300, sensors[3] = sensors[4] sensors[5] = sensors[4] sensors[14] = sensors[13] sensors[12] = sensors[13] return sensors def readBumpSensors(): # variable to hold the sensor data bump_sensors = range(18) for i in range(18): bump_sensors[i] = bumper.currentReadingPolar( (i*20) , ((i*20)+20) ) return bump_sensors def drawSensorData(sensors,): #draw the sensor data for i in range( len(sensors) ): # draw each rect( , color , (left, top, width, height) ,thickness pygame.draw.rect(screen, (0, 0, 255), Rect(i*10, 0, 10, (sensors[i]/25) ), 0) def averageSensors(sensors): avg_sensors = range( len(sensors) ) for i in range( len(sensors) ): if i == len(sensors)-1 : end = 0 else: end = i+1 avg_sensors[i] = (sensors[i-1] + sensors[i] + sensors[end]) / 3 return avg_sensors def obstacleInPath(sensors): if sensors[2] < FRONT_RR or sensors[1] < FRONT_MR or sensors[0] < FRONT_CR or sensors[-1] < FRONT_CL or sensors[-2] < FRONT_CM or sensors[-3] < FRONT_LL : return 1 else: return 0 def bumperCheck(sensors): for x in sensors: if x < 1000 : robot.lock() robot.setVel2(-300,-300) robot.unlock() print "bumper" def moveRobot(sensors): global obstacle global direction movement = (0,0) # move forward until obstacle at min distance if obstacleInPath(sensors) : if obstacle == 0: # check for best direction direction = determineDirection(sensors) #obstacle found keep turning until obstacle is no longer present obstacle = 1 # turn if direction > 0 : # turn right turn_right() else: # turn left turn_left() else: # move forward move_forward() obstacle = 0 return movement def turn_left(): robot.lock() robot.setVel2(100,-100) robot.unlock() def turn_right(): robot.lock() robot.setVel2(-100,100) robot.unlock() def move_forward(): robot.lock() robot.setVel2(300,300) robot.unlock() def move_back(): robot.lock() robot.setVel2(-300,-300) robot.unlock() def move_stop(): robot.lock() robot.setVel2(0,0) robot.unlock() def determineDirection(sensors): direction = 0 # create arrays of each side left_sensors = sensors[0: (len(sensors)/2) ] right_sensors = sensors[(len(sensors)/2) : len(sensors)] right_sensors.reverse() for i in range(len(left_sensors)) : if left_sensors[i] > right_sensors[i] : direction -= 1 else: direction += 1 return direction def New_SIGSEGV(*args): # exit program print "exit" Aria.exit() sys.exit(1) signal.signal(signal.SIGSEGV, New_SIGSEGV) def track(): sensors1 = range(18) sensors2 = range(18) sens_diff = range(18) angle = 0 tracking = 1 print "entering tracking mode" while tracking: move_stop() for event in pygame.event.get(): if event.type == QUIT: Aria.exit() sys.exit(1) elif event.type == KEYDOWN: if event.key == K_ESCAPE: print "exiting tracking mode" tracking = 0 # get the reading for the sonic sensors sensors1 = readSensors() for i in range(9999999): i sensors2 = readSensors() for i in range(18): sens_diff[i] = sensors1[i] - sensors2[i] angle = sens_diff.index(max(sens_diff)) if angle > 0: if angle > 8: angle = -(360 - (angle * 20 + 10)) else: angle = angle * 20 + 10 robot.setRotVel(angle) time.setToNow(); while 1: robot.lock() if time.mSecSince() > 1000: robot.unlock() break robot.unlock(); def main(): # variable to hold the data sensors = range(18) sensors_avg = range(18) bump_sensors = range(18) manual = 0 # main program loop while 1: # reset the time stamp time.setToNow() for event in pygame.event.get(): if event.type == QUIT: Aria.exit() sys.exit(1) elif event.type == KEYDOWN: if manual == 0: print "exiting wander mode" manual = 1 if event.key == K_LEFT: turn_left() if event.key == K_RIGHT: turn_right() if event.key == K_UP: move_forward() if event.key == K_DOWN: move_back() if event.key == K_SPACE: move_stop() if event.key == K_t: track() if event.key == K_ESCAPE: print "entering wander mode" manual = 0 if not manual: #enter wander mode #clear the screen pygame.draw.rect(screen, (0, 0, 0), Rect(0, 0, 250, 250), 0) # get the reading for the sonic sensors sensors = readSensors() # get the reading for the bump sensors bump_sensors = readBumpSensors() # average the sensors sensors_avg = averageSensors(sensors) # display the sensor data drawSensorData(sensors) pygame.display.flip() # move robot moveRobot(sensors_avg) #check for bumpers bumperCheck(bump_sensors) # end main program loop Aria.exit() sys.exit(1) if __name__ == '__main__': main() import serial # name # array: 0=none, 1=add to base # extra bytes: 0=none, 1=8bit, 2=16bit # base number code cmd_set = { "ac":(1,1,81), "am":(0,0,250), "at":(0,0,249), "bt":(0,1,124), "en":(0,1,121), "f+":(0,0,251), "f-":(0,0,252), "fp":(1,2,21), "iv":(0,1,112), "la":(0,0,242), "ld":(0,1,123), "lm":(0,0,253), "lp":(0,0,254), "mk":(1,0,221), "mr":(1,2,41), "mv":(1,2,1), "no":(0,0,0), "nv":(0,1,113), "op":(0,1,110), "pg":(0,1,120), "ra":(1,0,141), "rd":(0,0,179), "rp":(0,1,116), "rs":(0,1,117), "s+":(0,0,245), "s-":(0,0,246), "sa":(0,0,241), "sp":(1,1,61), "st":(1,0,151), "sv":(0,1,122), "tl":(0,1,119), "tm":(1,0,181), "tp":(1,0,201), "tt":(0,1,111), "wf":(0,0,243) } class ASC16: def __init__(self, port=0,dummy=False): self.serial_port = None if not dummy: self.serial_port = serial.Serial(port) if not self.serial_port.isOpen(): print "Error opening serial port." print "port =", port def compile_motion_script(self, script): script_binary = [] script_cmd = script.lower().split() next_data = 0 for c in script_cmd: if c.isspace(): continue if next_data == 1: if c.isdigit(): script_binary.append(int(c)) next_data = 0 continue else: print "value error,",c elif next_data == 2: if c.isdigit(): n = int(c) script_binary.append(n >> 8) script_binary.append(n & 0xff) next_data = 0 continue else: print "value error,",c a = c.rstrip("0123456789") n = c.lstrip("abcdefghijklmnopqrstuvwxyz") try: i = int(n) except ValueError: i = None if a in cmd_set: if cmd_set[a][0] == 0: if i != None: print "command error,",c return else: script_binary.append(cmd_set[a][2]) next_data = cmd_set[a][1] elif cmd_set[a][0] == 1: if i != None: script_binary.append(cmd_set[a][2] + i - 1) next_data = cmd_set[a][1] else: print "command error,",c return else: print "command error,",c return return script_binary def motion_script(self, script): binary = self.compile_motion_script(script) self.motion_script_binary(binary) def motion_script_binary(self, script): if self.serial_port: for c in script: if c > 255 or c < 0: print "byte bound error,",c return else: self.serial_port.write(chr(c)) else: print script .8   /012346T#uDƺhQbCJaJj"#hQbCJUaJjfhQbCJUaJjhQbUjhQbUhQb hQb5\hQb5CJ\aJhQbCJaJ,-.89  z ;GHI8$If$3$a$3   4IVkd$$IfF0 `$0 0 0     47a78$IfVkd$$IfF0 `$0 0 0     47a74:MNaouIVkd$$IfF0 `$0 0 0     47a7Vkd$$IfF0 `$0 0 0     47a78$IfVkd$$IfF0 `$0 0 0     47a78$If  &'01AIVkd$$IfF0 `$0 0 0     47a78$IfVkd$$IfF0 `$0 0 0     47a7ABOP_`opIVkd$$IfF0 `$0 0 0     47a78$IfVkd$$IfF0 `$0 0 0     47a7 !/256T$Vkd$$IfF0 `$0 0 0     47a7TU,- !&!/!B!C!!!"T"}"""""#######$0$1$F$b$c$o$}$~$$$$$$$$$% %C%[%p%%%%$%%%%%%&&7&Z&&&&&&&&&'D'E'X'Y'}''''''3(3(L(e(((((((()))`)a)v)w))))(*x*z******+ + +++\+]+q+r+++,,7,>,I,J,d,w,,,,,,,,---'-)-X-v-v-y-----.+...7.L.\.l.u.............//+/-/-/?/M/f/v/x///////// 0 00,0@0P0Q0r000001!1#1H1H1r111111111111223242A2W2m222222222222 3#333C3b333333344!4"4=4@4V444444445595M5M5Y5j555555555606<6=6R6\6u66666677 7!7B7Q7U7U7q7777777 8)8:8S8`8~8888883979c9~999999:::6:Q:T:m:p:::::::::: ; ;,;-;.;<;=;D;c;;;;;;$;;;;<<'<7<G<W<g<w<<<<<<<<<=="=2=B=R=a=q=========== >#>3>]>>>>>>?)?9?P?c?p???????@@@/@?@a@@@@@@@@A%A4AJAWAkAAAAAAAB7BJB|BBBBBBBBCCC>ClCCCCCCCD+D5DYDaDqDuD/1h;0/ =!"#$% $$If!vh50 50 50 #v0 :V 50 / / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7~$$If!vh50 50 50 #v0 :V 50 / / / 47a7Dd{4[' PfgT  0AR?FE+q4tPRFFE+q4tPJFIFC    $.' ",#(7),01444'9=82<.342C  2!!22222222222222222222222222222222222222222222222222" }!1AQa"q2#BR$3br %&'()*456789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz w!1AQaq"2B #3Rbr $4%&'()*56789:CDEFGHIJSTUVWXYZcdefghijstuvwxyz ?( ( ( ( ( ( ( (3u{ ?} ǯ87: H|Dv~OmlzUU<2s_KZ2<+IUvօFxY> t?215#x-VdWCHցkp<.r}qkI=+о::is͞Ek <#tZ1]RZiB/Wr@YM3&1?ՐzMA&`W/ +1ا^6wH&:q1MVJiyjuZy\)A'l kP]W:$&UY*؇$2alj3qJnϝtҶOh󔉒 䃻k\I(5U$]kqcN1{KamD+nYk^g4a>dvsр>Fq ^?,AtsцxǾjïd]\i.vR7ciMrq$Kr$mq ǚfNwظ\zsW'Ү!NnV`F-95EsU)G-i]+NO8LW1ȓ?^C\bقށlK~ S6=!Odd!*{D~;tyYEW*QEQEQEQEQEQEQEUѯ To4]<cՈ,AF e\փ냏WLlPzcJL#Jٜ/X la#?kNk̮>R_Ŝb"ǥ^YVx"B(U[`>Y{U O30hVmS?bZv_muZYxWMs'gsWc?溍Cц+1l&l\ƳE2Jϩ]5us;lk: u0Y>%36"*_Kw揄oǺ:\835nj$瑓ҧr0Y>F@V'r\( TcQP.QIsjQTڢ}<㯵LQY u};n{V¤|p*(G8h]ƶo^C, ޢ$Pl֣y`pO=[hT44& |ēUxVgc;yk>Z *uo|UƤ$g;w*Hۢ0 FO{8z|QaH⣗*Nqx})u]X:P)Hv)0dRvMo0JFs,`=+-CVm4('~5WSC[w)pl{R^M5Ŋɪ;0h_Pۏh=1s\{_'TqhrP#+6qp[j,~AɞԒi":g64r7_>vbR޽1yJx L ǧn[Mš&r9'&P0Em>`vEA,1;gZ;J((((((((Wϥgh߹ך?pUY+ŗ]Zs=Z+koEq[5vx[cM[\UbhC^ ^OIO&{*<]\/?ZA!l09uy BM{U {J]sC<4lgv_dEhjFw WkE9(70\S!C}umno.oaK>AP=Q )blmӮ.D7)2*-6b5m5 z# T'ysNƗBKkjņǥytRXyLw? ;׭GN<2r5Msg# j`PH++]${@`{`=kVraQk*Ed! \v&esBr?Β1c$g֒#/ːI+n]Q1*{P'9*d;\;m0 O^jnTь,ȣ', ȮFXwl\޿!-+95_XE$ŸP&\qHṕbMǃu&lbʄ6`qHch?0&<%rbsD][wS2+FF ӎwS1SRfeVM s Wئ۹3}+V%R9='!$+q,"e/ q3`1)1>Dzk T nsbFf0R۟2 3ڠmi\֦QUvkw DUڸj01VcM8Eq/ZL8J/<1?t?3RXPdgz[dC9}]tI!aU U{BWym5/p-<# 28t Zy'1;U~vOSx?/,cG3PQտ߉CIuiзʒ\us^amx=5|szlLe}v0萣mX6>Uy_ (ǥD+:-Aǚא:(>@((((()@$RR$Wrs}AP;Vܹk3W>V]TLzY^& %kid>"OHmcBncg?+jQ5xnKn`e83$9ȮJR">2-cNyHXMKx<1H>|X.?nO?`Nҧ8kvOk- 4F`g[m[Sj 2# lo)8 zjyzd;3VIlXR>))oc<#lWr,+  Mds#NR+ ޿޹ZĢP]H>\<{X}zsYJc.^+W):vj3uR?;vnPP鲛0p뚵ֵ.5#*3G6-̒"|\JBDQ$~&EٞRq!j7cR )[c5+#8X^J^eԡy`g\&11B[3$k;Nڧhk~:YA' kϝ #W+[u ɐ#vz70M'fQBzޙ-YWYyE WshqJ]=:4\RK ZM$2V J/pWW q peWJ면тj0:WChe rN=MtV'%qzV$ɽHb@;V\IO߫ʶGog?.y%:/޳5L~2\IGO0&=&[9A=}[82=2j}Uu#SR$ZLQw+ 31=-P98ѿ Swpbz/B*0N'֪Ob1+Nc ܜ+R\;=iQ_l|QEQEQEQEQEQMvَ3yp(>9x3DbRBvD(~Rڜ 鸚OsK/v4gBFJwj𽌻v 9HƯb%~ET$ڮ>%e9Ӽ2y w1CFfbsȨ42GRn;֛.&|%kЉr^Zk}I [QN;S>}#*G rlgu|x~k\rKsƈA1c\)A% Óis+m#`c_>[y;_.57nZY[ Sw4ѓvu-`ןiʔ8rMwA+໖G<4XjǍ͐;cE(+) Pd|PkZ%? qŻ-M/"=+_ӏ;Vd\Z >^i ::ʽC Iݞf~,P@ٶvTcI׌.ߟjh,2,hy r}92JGN*տٵKmNޘN>f wU=w59yGlWwY4?#3O }V˭|-߆E۞È~:`1XjP#':J̉<nK)HH kvbpkjoXnOqڲ¸|?_γ4Ф*A$zK9E?J<PwӒ t9qRA`'$S90xG pX*v~Ew7IJ$A1N7r~ee~\d>@[n0sJj8fdC=*bsK5wVկuW|fRy~!IoG^='YWFԚRv= $m ͬȟe/$ M$d ӟޜ`㦺I#M@l_"4#L`A9fDƹunª}qG Jpޝ?C v}2Y]BWW>q?cjf9Wb]uZwI6P={Ŕ{hW3`~&KjуghOl>hbN+zzcs] G67kĨGvmfz:jvi"%(Xy7+O&wQLRXcVǰE̅Q@Q@Q@Q@Q@Q@SqVu& iOV-ZJ2z VU57ZEfU}:U,o|ej0 ~Сޫ\y? YyNk?-LJ-5~Y-K8#?5;Ikct_Y=Ļ9 ]k\ 6\'ھ[>|_?Jzh*kt:G*wca篵k|:Mߊ4iJ۰]1g_HI+8Zq+D؊DXD psWo]?GO^qc3\(8ֲq0OQW|c>>U;gMdž[_C7O=OpWnItDJa'޿Aʲ1ZzZkq_zt|ntڵER??.F=^f~GlFI,Pp=d]v8'"%UK~*QS+&wK5(TACr5);?.2~EJɖdxuQ[Id\r+#@4QH85bd2ky+ {ȲWi#?:̐XjRF_Ҽ;DT9rsUsaz\^vOT%ch[\ҵ&_v~@%$j6pO'a(JF*"q% ql@}Ni u<beBTw3l؇q׵=85ةoGQM G99CҡյѴKdOs44k]/.g6HWW>֍sY9طWlg q B욽<+g;R 9zqƪKmw1򤸙{Ա *Mo՘5I qW m8'4_18PK[d`)LR*Ja{RHAɩԫEW֟2QEQEQEQEQEQE!R(dUq*9a-H@ۡ^ج\uq lBm vkIWsrҵ;T"R_ʗOF1_K[7 dd$1?J磎=/sljRKxmk[ʡTT~ ۴Yj4Qkt;puN2~yd*W#+Z?"c] xg'q\׊mĖVӓqߊ %̛{<]G*gl1Eۀ}{׭t = u$ ѧ `uR)/uUq^z?=iisd;Ls9!\}&ȸ8EFI9p>v;m1/zS Jo9;3ik"}8 C0r:v1.jOvWfgn#`@?Si`py<:տ".i+zp{UTy! ΜH*ݤ@rW\mv64AT`xj4;D'1\Īܜ+{KV1棙8{^N1VoXly52]͈vο6EV郌W`iFosqsjTi31 *@6\שdy|ā<%W5jXd}( bg`9.Z\r8n-[sKq6{BK^"o2S]dgcAA^uPե9F|&ƥCSSM}xsڼD>/AmǝzX Uw|CtzU].Pw,d|ǨQ171ă~x9wx/WR?*xU"D1WB;K}B 0RfT5#\F8]ʺy' WgAvgM`Ume̳I}=k)h4 k+quڢ/gKWR>a'gK0#pq]qiJ}Mgɦ@i>՜^G""@hKɕqõg\˿jVQE}YEPEPEPEPEPEPj ܊@ݓQ+ T0}\9YV4׍&ᓘXzPۑ[hؓM'eDG[z<^ se$Z[ԡT=?dy u(~F'#5f=ӗ&}D_Z5ҙXcsUz6a]f;ϔuApcK ɜWNM6;yD|OS^Ik^^Z|Ih!MiS+Wj6•8^ԧ)w<]=O]AS֚$+3E> F@Qzvb=Oք&UOZ{rj5sF^yGqN3 Ӳ3N;k+VNչ>xJ]Mi*`1 |E |Fg?\ն-kfDwq*;9_3dq.v %cYZcqg$qMOa,5CV_:;G/pH;qR)5j<&,aYOJYvpS3=c[z  /z}k3[6E ~<@7G +C↔]Ìs*FtP\z+8۲X+xZI]N8u~&8@|$->6Q)%שT{j|v6C!{$,Tqt*};ҳ}ky `Ub|dǵH޿*QLw`裎1v,4ȑ 9j&f$zTȨS}+ WZÂ&j> Tvhkm:&pLRj-,bLZY/ztgQԟ/u3>/\-,9N˲pؕeT^>']d?Nmf0)E+Fs BHa1ˎc^{uf;Vxw=YҶ9@T0JœEhgխcξx*MQj<\sԓvˌ8G`ֱ)TwO)YPfňtGp(((((((Jy$Dzr=nHܩ5lWVQps]ҧQLێ4#c*>`Rn+@#NR\euP{/lӢGto&@6 bw>Yij%eaxZ[mnn!OJM&MdGBLJPQqƣ%z\LNhqY݇Vq6gn%Îأګ ,6zU)hױ 3'|E$ #SJs›(7Qvw="S>J=qNW ۥ8j"&y>v@e1kvlغD$Ig޺ :jd\hp9rpbJ-kȘ|\ObwGr[=2kU=qֺ3r^+/OH*Қ(;qTJLpzVF=FOS| '#WBk2L'8eP ֱ \; 5 1 vQwVPz2ZT;~-߅1}k{ #PAT)Aud\<wNl OȻ2d7(㉑  NUW_'9!X9DnDue8KDzZEae tk=OK'j@_pjع4,]1YKcxَ?t Hǽ5#ef,FW}ROS9.r~$P >nSed@mgz7$VVNɕfJP93&.ĭڍ(1ǞEJt;['0 ZK澔q =MSr n;%vkSZ^}AVyxba?\X9.S,>4˷v=Xzztd4hC/XR#n>L[køu<p|nag!$zYj܇'YHOo䍴}bIouU0àkgω|ӰOY5cjwH jV܄NsRdPW'=*E\cJ}RopwNkig8:cIԊ݅҃)>(Nv6@V=珵XN?ZXhӖ]HGo75/a6A%+^Qyfosj֘Hcz:Txk_i_uU6ڹf=LԥvϷ*b20h4s{.BVD,v67T(V[ q_)8fl:UgFKvR[\,`pAqh޶4i-$v]=߬TF\{WpvK(*NMMwZ{ yYWMl\{RΘWO| AhuRKg {׌[ +`L|/+Y?1'=AvLujy܄`}+;3ۍ(xH;O__z„&7,sڷ-2YIa+:mrGbxЁ9ֈ)H`q\:Dyve%FI=yX6Hs]6`q\nk18ՇJz2fZ pssҶmBۃsWnxUBնY,QW m|[aWһCm4q@WIpǁO]^Ӏʟny9'ob)2}}*"_*:D;׵*Ns^v#eK3B${Q)tj'dnXOBpgX1y4+3o#ګ < 'g ö3NceWZf,-Ŵ˚9|ē.#؃߲c$?JH;P{V[i˸dŸJ9GfT=n"sx0;8\ş8y\uOVY7+3T'q>$3x 2:T sD{TQE}IQ@Q@Q@Q@Q@Q@Q@Q@Q@Q@^pzFz0S7{~5W9{b}mߟi2i-ju]q,'?+!🻒VekrVV#n1_-{u~_봉Cxӊvh/,nOf sBOe& u5ae.S(Hzq~}=.@Y<{!La;=6}|BRhn  tn9j+՝=8Or..7Csmf'X u'WczE 1q\S7Q6e3$ecy4cvp( GUc^RV7|Vt6gFO2Řt]~2$Azz죨t0Vd NF9n Fv4ˎ9Ͻ1lGz=I1 I=A#+6{O֒Ђeۍ wS)hӯ_ҸvTlU j?^#1pZetmJ<'\B銕ozu4^%c>nk0 #IT\"aJqzل 7)o#f*OֵcpGJd4v*xm@FkYV #a3}21^,vp8{9){?٨HcG^%ՋfګҤhe!xkB堌߷XPI7{*NPܪkb=@x犗`DR$Tza1W]#q\}j JbpA!*|m&W:F"uh{ZɄNJsCWx"v49>m"suf+(}H.W*l磯0=ֵc*2Mdttf .c]M3Ae>/&x$rJCn(r' Z~R񔺌17yyx${WN?eu-qI=S^,b(+#yu.֪C8Ա@A%IzpHx\Pw n203q%q_JI*1jorʀ9Cc(nJU۳q)Y܌qM)ݏ V`vdx+M:?rKnӿZٷPdžn\" }t6s|7_һnz!wR+[j'$7=zb 7rwNq^ UKT/vo{m; +8) z/|Jqk4hls[~-RHj.s7moftw38 p$_Oi6W-aAH >z=:1oC(JR2 D.o3U$Ub6g## {nw2Pqלz[Tu@S> t] .a?sZ{[ȸ%@)|O)tQE}EPEPEPEPEPEPEPEPEPEPEPOt5"'r8d\pu]TBAs/1lQ:VxFp+O=C]^xn޸Cvcژrjmw^_G&7nwOҹzjV3rgENzmkƊ۱~T}S 8qOE}=m%Ƒې{pxh5m2}7cOiG˜zq[O2<({M>Tp+䠏ʹH[_UZ$)m'gg,z^ֹؔ(fFo@yCyL{ G;o',Dž\ɫs)!#};V+kyw!QuFM^`Ty︞.?hi|T/ ]zպ+4!Y$ K*:J(lMOq {V8Rk[;iʱ$*kE^xvFq$(eN3?[(I^f2[4B{d5ͅ´so OdypA+ZƾeUK( g ~EIX17`& D-v;]t >SZsf<2SQ Wb%ZL|o|b_oBD"Xe3ZBQj-*h-w9ޓ⦖}!'8Z')1~RU?3GN0sJC>ir2Z:km41=+^НɮDv|4,Jc<Ӑ&X1;qT(AslTJmNs\i4EaqXZ@Gm0 DIsV(՞lPߎdz+U[xb0+>iQ1P9ƻs!Yq䒵X1$`T fv&w`=i|ɐ0r)9O-fR`|w)Z,i¹{wy~ԁާGv6'FbG FIbUDh~w\ѷ 1۔ 6JFj:nwpWj=x7"V=3]]E鑞g&I!n;6>aʮQ 瞿TfU=*"RP⺣N(Ԓۇuk ҾhK 1 9ڣשxSox>:|_NK3{\aq㣐l2, q?{xGHg&X$W3]㋘ccCW:A(3㐻-N@z N}Z-cV+&q+MJwSWNp2}G'̝A%ªaVR_O;fIlA=#U$e60>=JӸd29Tj1#c>#0#qm+S5sҩ̅{Y\RٝQ_v|QEQEQEQEQEQEQEQEQEQEQEasVwc֮5":͚S^w-l27Q\-=Ym&ů b%=Syc~5|C?᎜ï+5K,e@$`_¹6"23D8g gU_²浌}G↳,Ae@zhmswjca.qZ٢2@' R 7ʧUe:|ѺPKc[~& ։R$1=5^˻5 RJ67t"I?_G/2> D>ϑ1ݔ܇֮ \.V1Jl1?SrF@~D]mM 둕Ii|9ڎ7br1)hO\g>-G-5~X $d{Vr{BVwEBٴ^{l᳓Wl]$)A]'-)"AocJde?έMN;ӨݗЮ\HnS׌h*2jynIX4obhXKc鞕eA]in7z %_]<\q@; RrwF|U#_Z8* Oe ϽWJ0#98U |ӻ9Z@(7=}jJ㣶EhӟOZ)+蠊ӵBOV]3BW —&2qA?cawdyܷMbrF{ upO}rf֑is3ZlW(ci:9]M\Iob&.{ZIݹ$8NgM o3mڔ`},..z|XONԲ7gb ETl%gkzCT;\IO%EJP+j;3Ar5j0\~^ƾwBPVƝ;Ł#Jke1l硫Ə! &=s*'o\M*MEX{)EQ_p|QEQEQEQEQEQEQEQEQEQEQE85xCdNF=uuBQ=ZE5dr2/sי~'zlf+lIY'c)[kºO|N=SS?,Doz֮'ZЌ$͆Ev]z0{)l\֕D>յiv%Sx Upb" # 7N|s<"JY HdQ8P:%I3FhԘ$:F) @pr+J[?#g6Ҕc-D|wݹn{+׭7Wa^ g5c2WNzFwC%j}mEWx!EPEPEPEPEPEPEPEPEPEPEPTxL[Hg`ڎm͜c`T]|ti~P lw?¾wOlwer%MC/Ķۆ-1]{"7(&2:.LL~qLs! Q_S-j+M͔wEK4$A5I鳲KjT~3H&œY Lǀb:hfOKr/ss\|=h7w5].$^=ZZx8c_w.ڝ G _o4˩o\J'm>)8]${ʄ=)^XEUF%9= \h%;@ܾ`ԧ`maYO4+6H?J DʜjuW}hz1qFqqQϠ=EA%yk#rN>S`} se+YG[Kw ]֣RΟqW\ U]ݽt6*..:)#XZ22z$O* id(q3pWG#pk^ 9z]ccOku]CÇ[u ++MIswE9op082Óֶ8&'`|) xGLI-R ko[ފ_];s[@U@`jMH$tZivrrRg'ΪːJ0ҰsQ՛G]O Y[Z40Ess#qbxt c~| Ӝ_듓A'EH>r;ȯV]8]#R_]D%daO ^[y'zVeJ@<~m5cX+PGU9l n)^eG\uQSG;:UB ]˪`C##<> `ۥxA8Wo{OD>G+M悪wsөFv=E٘bIS@-n$0d,MVl@OҶR1ǯRCSQcz{S2p>]byj b(X@(=0(KځXLQE(&9|ӕvzPU7SuU袊(((((((((((FM%9:]m5eeVZ{M]{*[c]x-yɧ4@xKڼ܃D0Ҽ#%ߙj:T[ һ0V H "bԕ{YԚ9@ zT%8YjxPG֪3yl3OSfEq-Kg2\_;yS"" 뿶TA$ɼcg&#}η1r~^%$dy:*{=˛[7h[~YA:}g2H2;6O^aK=]S/V#V x>\Zޑ!ry/@gqN O[o5-.[fnrgͭVOGVtVoq]2Vq I>A^yOEg,jF^)jR Miun{#w=߅.\l'W;c]'K}jyc5#ή hc?(BOQ]#*IqZW`nC7` g-͓Ob]GOϟ58hR:ֆnCT 4s>sMLfe+ſ$V>&pب==?:ߒYn<@|5*(Gi}H+dmՃUfq3^;U#'də>ԚsoҢ,pޕ]&+w6=ӢS+W7}H+hS.SJ<[X2B1Sc+tVҶ|CqWQAXQٽ e{Y#ܓwd.v0r8BN2[:ʅ dVZBʤ+ŔVA J0Nr5AB[֡aPЌ֒mumhh拇.Ƽ t1m#,1\ 䰴8Sċr:ǦRFr@5ZYQ *[i%fUVy{$@f~Ny` 25FI9?,s Wb7 @!i8hL =h {`Rg'49R P%sN=h9P+18GQҔOZX EaקJ*p0ykbWw@ ?|Y^1RD$pW=KKV[dt;汼g scǔpgַ5II 򟽷9R;!Ltk-m)ASNz OjFl5euMG$Ѭrc;K[he*R|e"00Jxp[DR$e^gs߈aͲ(×~ïZ?- 'ow^.N^c*/;]N%R)r cϤjd5_ZNPZ{]m 1drt¤d<9PA֪8ֻ6 )c5qosZj ;I" /;٘VI26(̒\VR%H &F7Wꗯwqp+3{`>,.16&'9k$U 3rŻtB6u v+8mIG Uzuiv!#X)ʜ]ef1$+M61@"6,6 ҺI+¶Nd@u@~f8 F8Ep˟/7e0G 2q_JURwcӚ+nZkB#!ʣZE >*يL۰x9fRݔ`RRX0Gcޞ1^P}zsݝx{~vGë72 chEH;9gܨzmkӼwv˿p 8Q|obTZN0*KuFpwhkL&!d #]@D61Ҙm\kc65C2Ş'Yu8T0R3z8ʓjٗ 8lkQEQ@Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@9>6z)Zs9zt(蛳Vl|)<3ו? ۞IGU٬u]7Zݺ=~qPcn#gtV5Ide}ʌ+/rcEYK@Mm[[+q\; ylp#fK7zyHJOb$SRrZOR@V>w&+Le)5WOaj/O_\UԁQ@ 嶩somZwI42?ek9e$ҽ?]U^Xͽdz'3nV<;Uj4 i5 }:"xfI$O0.y\mD;=q^YۅQkl-8S9{lsGuDJ V5ĞK$"!!gVȬڸ*s֬20.ՙF6I_NJL厑 5E~8>+=r Gz8:N1D#*U2En cY#kŸtƟ-2-d5M+9yt0o!5BIUfq$Ru:wh%g$`:t1GOlW t>VƓMAx X 43qjeB0kVkMc.Vc1 9?b6e2cma+/xR:[n p?JQޔWsx&wn\d>|@ $zҠl0ֹvYGuYA ՄXN㜎չ|ΌrJUvyJ#ux,7Mz$+*t`46-zԩQSʜNl2\\_v&d n0VW\2d˹oL.+n1![[{rѪ,X/n$L0۸O6Z{/oN"Βnv6i)˪\B@q#hk\F(gx<W5jdS#8ajWۡdtNuFȅN۳ŒGfI3ca=gθ?𾹇H?z`c۟λ>`zs^wG-$]z+3;Ԥhtp* #Lңt3i!VUL,LsNxXX-ͯ^ge(×#n2F1֣BPA-PC)?7NL%sַ[9)3 ݒ\b?( =1yqO;q$oE 0<:oP L>𭗆Ty7 =+ZZ*-CU]E.sx zIrQTF@qUuBLMǧmWƍ#;z9sUBR6;+b:|N?#9V[٧?sN l`UԛTRc ^"9#8-Y(({ w{hKc4:2J* ((((((2f2/zJjΠ.}wU#͕rjzXƑj1=6=+}idk!p}+cS-c ߞ.rc݀F#_5em>‹|Bmtn1ctQ:ix]lcqdlVar窸?Qx|;yHvcpcu=G=Wt'&GcǔW=jJ݁ObǜUgSETQXYw6.4,p3R2oAF=jI +F܍NC[ 2Anr }]E]Zc WWjۣ6"mRGc$S.\NmVdm ,7ω3麵AUpd/_jϏ k]Eʤ;X}=ZY犐HHL B%^bn+Ĝ]0y]Ai}E:,GJ͝5I<̠HyWd|QZ5֞Ll8Q~Z1R5q0 g9bp7𞆹}DΏ3./~"n=PK^F0bڽX𕩷Ŵ1!ҹ[!Dl>\ZYX~[;gQ,&r*yDn朎~@Go~j柩E-6+N+uAxV7UH%s '9JYNjmZéSY;i:[Kj6&x "8s3zu,ACo+RQaAuEPUtsLQ8ҭ I"$ǥp1[nkǧ5"Djb 5b>nqӡUO1b%Hpǖ2RWWƸa<*kMFlq?#k4]*k_[wQM+c+7SnaL nmθ )5mW ֹ~U|#-bG^La 7=N* aqߞէ" CMgљVلjrTnXL%y.I͙?Oʑd8 dvA8Ih`KRne}w u Cgl?:[ "qž<)4ϐSn2u#tf^K6tӵi"N$g5U29Qdw9]RY1ikF"5HǖVUlR |*I]݂63X9.stbl@~^ݏ[G(TSqku&BrF>FgB!Xdq]I/29 U#If!8#cYZنHN@ i(LjŪ ZF|g9 WM*\;VSZfڠ|I#QKbL 3F=yeF#MPfHqd`>B{6k4EǞQEQEQEqEXRKE-&ii4#((N}Ph:d4˟ƛmXd4:[+$ Ÿ95Er2ZrcfzSdp b9kΈ3.-G֘Q ӑԏKmɦaKꐭvD8^(^"0axw]O9EYt!'Qqּ8mj59oMv;~ua~_/!݈e?Zn[3m(֓k@H]\"rcagB׀ﻀg5\.nbga%_|+UN֮rUm8#@~ R]c_ M-w?Ƹ/51;FjDaz̗Cw-⹥/ڏ󾐐d9\WB`6;Xq-(_u8壵 lQ[S*w2N3x}+7ê2KY²//cTF{!8[q+F| U&p3VRU2CgJ3ԛ&â$DVBrFvI"JXI pFqAd`H$vl rv7+ G 9ʨA#Ҵt9oy$wz~GD1+I`r%Yշ>3-,2 i ^A+bpGv&жw%Ju_Qu13$(Y_Ϊ1un0cb6>OdTQ+HF>k2P"$/t^tOaZ)!r=e͓`2Z|("cV<#c%W \N<ɦ9lkJll; %{}kJ; ҖU 0nEs޺ 2đ<8Z}tQE{QEQEQEQEQEQEQEQEQEB[8vZSL*H5%8w )=^?qtݓzt~?֊jٍ#O'5[*،\ֲ$bznU. 1\xe)^OBrq<5M`WK=E%sY,k9,/OJ 4MXG^|$ɞ&>֟:64^7 0kTd^};`z<շ(1$Q"mnj)߭[=Ьc Lij2HWIֶ䊭&S=.Yܛ#1N zU{YpqÜVŃ#U6r֓WrE"cnIXaq+v[wܕ*k3$3~r]+v=E *ʈIx>Z]y3 YDT\Ff JAR;&jn5 ofajxeY+^14Q;99BꊸﶵE=i4%_QnGZY4kd1\]8.VC,W "]O?+mGҬ;rsֺ+m6G5kEvj^p_Ѳ*ifK7Mp3 ZFN+/ڭn[lf8u,Gxi_c>#-jE} b:;q\ PxSSiws>{Q-n.$^#˷3Pâ ~F5TWicH5xZ20е̉:ak])G Qvʻv&AEUkȿ$nR\<-d޴5]$pJ%0+)tycc3ڽ/`l纷wfgo<@)cw q>VZ]\5Ź1lg>=2 5խv`np::#uH#:G>!7'?ZP]cv}kxFކꥷ9hX(pHqn\WK58F6z5u[7FYaWL#m`s7g#Dp:ZrS@#VN|m c%UPsk`k T}Y B_Z||mج5O'jW3@_O ڹob+:?߾6\db{Xz`j釼kE  sVŲVBN˭ܰēX21?(5 Ew&WeW!>ى 0?fǧHJF:Zvit}7EWyEPEPEPEPEPEPEPEPEPEPEPNSMRLwwF[c^0?x)c|2t/Ą>o祋vu'sҦS]JIl^FڨYg9`8GiD=yk^ ]Ǔ*I;Iӝ[ ?iJԏY쯋\|/Mz k|vV_F4lwr}pɦyҋ(((ZG: U( F8RIN+NNl"+snT@8 ڬ@c8 7TJ4DĀYGc\'C& zг֪wP C$j5|"|R nhڋɾt{z1,TWl. G&ڔRzbpFrxsZ z"B3d;Z̶*<⹻Bm_፞$.]3ۥ:B͙ R -9-mR%IBexsXk:$llYI88566O E]ARO?ҹokj!wUG:4dxWC3;Mp 瓓6]r䉆s#j "XoPIcJ#/\lÒA^Kp`d_>]V pk;Po>h'ps֒9#8BQf$j~Q:Ifۍd c$si,rs[wRvRM +$R7$XmaN\6G*efYJT3m) 9o=+WJ"ʀpv:ZD\7zTWLj]w3"&oozĞ(d$p=״&N:4¿̹ W,3%_01`u 5w\b8ne( Fɷg5ŌJܹW{2~6zQ^͸)QٵY|Mc^kn'-=3r2F.E霁EPEPEPEP R"KV#iӀ3]U!PٜR LwUhagn`98۝:9܃kA=k)Vf 4H گiwӮ!cYKdͼggId\GCڹx$[U{(. G,+7Ph#_F}΃gqe[&gq\4XͻJyBqz2k'HkX79[Q4ghtB23n -@Xgڱ̷wҠHC鎾[QOgYAB/{i<kAP3ZҧpS6,}rc7F?/J #"`^#̮Wr -x"2y6| i:+!USbMkga!u7wޭHFNxUԦkK6FRwvzcZ#mbm)*?ڪrг#mkW*'qmy>rV=J ,Bֹu枷҃s)}UKq%ppmV*=W)=B+!7c,3ZR:=dNs,cSES!*z}+?1"m#5,(8/$Ut c5N,mFO³Ts} _`#ץDhh8(((((((((((((,EQ`z ›F]oR0:Z+Ka#R{q Ċcx J2˟qMLFÖp$ֶ\P~i*P'$tQEwEPEPEPEPEPljM ԰+lx_#pNKh%pr+r\HK2~VFmՄ\eA,- dm{T w nè' /4n6}0u sD\2mot b<~}OҖ.x#E'\s"m'dG|[Z.ilyq?*\_+iE둾薕QJ-QҬ$cߝLmQ8$M:~Yl5W>9uaRU">ehl$|"B: $)3%4oq_8\3689v0UFr{W9Wl Z?siYiO֦;y"\!ns\WX`*z@UȝzEʘ+B`y5QZI%H[5{S(QHV*SHSzfS9IU9Ȼ YX;*^I p@j8#8JBV-QgbR{V{a1{m8ƞlH^zGITUK3k7}KsAy9R Qd1\jJ=wMq'zDwC炪:Zۊr7YRdaJ֢T?8ϥgYv^I$2;Zܣt}FGFTS袃P4ɥB9<>BFy!kTz/uER ׇ|J[TF$TI1W1Kypas+NoZX5m1 1ⳓ䎇r;%X[$jVC,>~l.}0+ BqdF*˷QmXpFH5\T#X=;UUP]xkTpYC;psH0\jtl=3{Bvm[Q8-zzU1k[bjZ?\7BյBc&FP]{_o&CKs`+2DlXgp1;}|lpCӊۧon5"t9. tCeF2x^Dׯ/rѠ$CJGQRpOQ.goT"-}yռShJyebWj[iMW:cJ 9!ڟǬi WExQEQEQEQEQEQEQEQEQEQEQEQEQEQEx"L Mvg=jh2I @ۛC+ kE\ǝ_5yI#ʻ}mu Y`0'~-Ԣ=kУ (TJҺ=l8($((((((((((!UFII 7RpR*1f<"7|pM|ރQ˫j$wSӼّ-5Z5mx[=yUX|Elp=?qs;+(R*0McFwkR1]B%Ak:*N sH)ߐ2FFqS68oBF:+:"D@TbhĜ*"Hy&ctN]<( t5̾d 9R?uר 9FXH$5}̮z. zTLluLG¤2#(7RRZ(ԒZ=پ~sxAhRy}̞i]َsɨI'dnĕUiGjh@烚.uKÙrMe~b2zEmaД$b<ݴLp'F'_Jq i0UGsYOkϽj֕:' Jtuf5"Nsgj:m!9T?Z ir#TcxQ3Rf,GBZn\dZȵ\;ex0X{ʳ-ʅFw fOVpݐdr礋lnK8e<0#j3\*T\E==*Ջ*HXcc$*MvowUy89oGOs7\\dʃbj9" (ľ]pG3X'8A~nӚNk;ƺ]+S!M=jY'cJy3vc5ĖƑn$;UDdTDWɌH͜zWr:TaO%NkXC3WdIczy`3'j}.vQOky-#JP^}EWYEPEPEPEPEPEPEPEPEPEPEPEPEPE(+Pá; ۂZUȧ8mJ>Qв1}k2xѰ˜fϖJ#G-qY5U#rT忙}dQEhdQEQEQEQEq3e@? <((%;QAAEPEPA )9ucIOVK+Wps.hz>c9U Amn#I'C>N㕘;zO۷,\N*"-rZې#C#ּq !'#iN} M<,oa}X6Bm\; G,:6`rcI_u"RÜf_>]ϧj>fZlX%^6Vx-'oNՉK1@ kjshaUTަ/Khc)]:c+#s;"c;9 OMAk}k$lsS pr@zW6q1Hr}I]1UxRwFzҏ2ySBQO:hĊTTPV*ǂ ]1!6\Tې>698+jUz#)EN(((((NIןֆ\s }ozW+=xhg9T^ͭZH ۴A^S `V_9V0v~T&Cq^;hKYNIQ;V)CT-Wk/c4e]hJ|8R$y yjVm͌`C~<'Uvo/c’!墩k-MyK"]|Tu xtݕ3vfTLs-qfO]ބus¤-B~=X`f1_jd;I5sn'Xٛs#:a=pkZ-GB aj.VU<8D~V$zQҽp'kc2c*UIzɖQ&yB p$e(ۇ@MBcUb1bųDvM kt3Xv7{A$;Zm}jI eLmT%;+95[cd r&ӑ~%8`ÌU":J` )cE Z+Ҟ <ԄM߯=.[=W 8RQP}9F2WX3n#n; F~ߐ\V;FzS(L|j`]zrŹHڪ9Q_AڔU1pXMFzpWdM6`ISvPv䞾6>tn0@ V]Fя4:SDk$g>wP$f##sKT }3>9*T {dOJ^цYpAZU`!q{E~=2QI^b *0bls~^v =}SR&ۜf@vUl#?:뵲QUQGAU\(fUqU$֕1i>\g%(6 UIj(~q=zTScҕݬUۜ9+bt[H ߨʶ3֝0~28t$IuX`z~5;/$(1+S I ։ix 76Uz!69#ڝH.YM[SoRi>(ޕ% p֣w:|w.窂7U+c SjsDEUROcdb%?:3)#9DQ@Š((#4XIVtkyca=JVmE/0^)1PžkB@|Ǿk/jq#m}:c3Jj5n\U 2s~=*&*?ҲXOcxSZ-2֢`ۆϯYRe¶\:=/!NN:#ߚfl}B",l6A9֚W㧸=:H:%Iw&0'@x@p+:'Ҫ6@ c;֋* Q4"#hz$n@@ f*"sdaʉ@H?z HM˹R[|*G[hCt5̧nq^۟hx&֣*]H=yj #kH nU ͌0);lRh_*L#4jǮZ&;sޙ1q1Zv#2Ky܎? ݃+OrN .}"2'\W*3؃g-g֓W`{EQ_V|ތc0oOƶfO*VLJ`LR7c:[ ;TY*}YwD85n(v9,A@HʜQr?v:|0f6aYsASclU,me)FNs=+1Yg0IŘC?|3C﷐ę)fR˻FԮ5x7edx4P09>eq@]pǑHf8Ml#''@U+B=bY{vӰbi"- l9t֏uLrMхD(2 ( ( CKHj{ cLNjIlICQ]ſFlc5gH\L0뎵ŠZu#:CګXi5!-9j7qq5=$U2=j ׇU7aܘ2H*:!BGWt;}{Pް,<"2=*xSF' r}*'TFJc?/ZPU}ty6&MMKGZӶo`n֮rS#ֽ7S4x|B, f>V8\H+X3AZqu63.U%qu{?wcnޟ|c>>qRVP @خU+j[RᙷpEs:_ꥶp9tQ;ݺ}c=+ iR߱OxƝ8L8V|g rj{6@.UDư@sCZ,0ю ]?1n֤`$!ҪcDȷIH{4WFTq}*e+0(>@*;aF-H򃀴ٵ똉~Ov/AtEA@rd?wwzS]Jo]m_SRܷ*G+0XG5?-HiqF*'+yJ !d1-yZŨs)J,dV1+8&ˆ"h[?;pzi$M$U*J cGbw ;Fr~`6Pce[ic*-"Cj^3*/SebG$  @lyB؞VV Gz-*ߜ쫀j"Y&xZ+0Jwy$A<ՒrNOI(Y7J ~Zd(z9QW*Ķ͞ԀlrEO29#DnRqȩ`9y573; -GqS݀:g C$}+)As[ N2r0=Vc‘0F(n_osQv;H#G"[G0O6߆%Չ`W&0W`(* BͱU~orBz! }>l榔n7pJu})8M=ľj\xLPN6G֗xBd<̱gqSՋ ew]T2a)Ө%5Jp[2]XF)*y'jwQEQE(ʃx8u5FV1QG؛:\ΰ5'4}ђJ ];xU 9Q8-KW[\UF in]ю+KV{MFfb8>""A$zWR=;ZRFHz]D@F(Ҭt ci-\5ٲA=X_6rcppZ/WX{m\MF4VQe>1wfl9VrÃS%BT 9+˱m7 MXfX5JgpY1]@8ݪ:I6pS<M;"u#63:|HV^k#' 1Fk.ĐxQ>XG?(7Ý7vԬp}}y>kuI4PazrF#]ʷ)>cמz :kձxdk5$!@:Y;K4w{tcΗ9-Y1xxrxϡIUg;?ռgW|SK@' }0}(Te@G BncoB*Ҷ# zS$ݜ#R*N@nU!Dl<z ,&_M!;vEs^ql8 zW|Rޱ!=xe s\ɥmtu>ɴπ7qfDa989q*մ}2UOR:U.I!Ga] Ź@qު:0bs_p75UŖFۏn*VsU-_r}={DH+ڕ#le@ݑg]ګPl  6WEXhɕHd9Qw۱%T·SHq}%O)L~Pq+J5CH<$S&o<(9>V@E8: h\c\զEa>JI[SLhQ*\}QWd. 0Jf#JQ|By ‘2 PT dWM(q$:ƿg B mx=Z)cnw~"F$%}Y'5 Tdâgk4w1vP2*q彂I`1C͈Ў֧#nTeaNhVUUǶQE'1E9N(IaO>dSmˮs0d?uzJMn-/֫#?Z299vqцg%E'}ǂۘ.:П =(]VA>^÷dFɃMWs/xU2k|5Kry?3P)N˘CzT !N쐧hqXzq#D4NF܃e`p9&Wz & &OpFW1֜ p,i;7?+;w446ځOt?tbق t7_n~Xg%vI'2,%v89ҽ h|p:^F c$3MKtvf"H[r=apÃQMV?7}1:ה4,*޵|+t8 zW<mkV%/鑏Zb6N2Xel};ތ#ݜs]Zpx~4&,mGcVarԁVD-xjn'BA]I) R[yL/x 7r;⡓.ISSL~FZmF@lǭXAvQ 02zkleu3jD ҹL]J㌷m^6kLy9V<]wtLlpFi$ج-F)#r1Qi-FyY ps) C1 =hKYWwwđTkkr!dml=i#bH>wOkr%zTev/=V{h:h#,x tJȠajn3\+k;ɫ$WI1q\q|GCއô`ED;CqsTOMÔnJVfm<ll }80B.8=3CWZ8vPvzvD<9e9cNr1g֧nBfMpPRظq 7?{֦XI3E%QL?op! *S.RTxLW-qmJ'ި{HI #)HGm$& ;ZoCp0y/n,cnXz}iCoǥ9lcPy$*f-.TiyVd$c#v&f#p%~3ZI4QE}YEPPan0Oqҩ+"S}9+:F&s=kzl(;N3Yr%kB/U A zviC hw B}'?{=驄W|З\+5f5" ~U1*LՒvx6c[JrqS$JxVOަSHz$8j@qa@"qSmαAy(nI|}k;9u+k@x9fe@FGcNe0G+[q#Gj\}P{4Lp0Y"6gD{\r1V1P3: v>M]ڹo^q͙NH]J;&AtwϭsNXf)袹OU|%_oYc7Z>7y_42\n%;pғf ;I`ɞ߭aM㩧Bbgq*n4ȝZIsǩB6ƍ`JTu9'rBn2܃.C i% RW$d}J02^=+(fmvfQ(.yj.hBA#5,pOLUy# q'Zo2^ƀ8ڢkc" AOz$썻N>>o8J5m)D9N$q*QJ6r}j=S7Ҭb.2FzE@~br֡D Ԍչʏ+"T;T,,icnK-Hri8ȩyxҩO/ zP𑀧ٴJ{0YRя"oZ_5U`9-RVZ4՘$DnHP*I+g{@9bQI ÙJ\sS e8Se yV9__Σp te>SըŠ(LbW[qY7$cu#CE~$UAɧˑ۠:&z!Т3?CNt#2 2&1YGNG+9U%rG)љ@(cf1Lc7Jd˴b}J/4q.0%t'wzLs=†/@ G6w+OʪC(wx= Dr2=IچHϝdr`ԑڿ̮X '10%|*^];9Xyz`JbYG.})Xگ lC*W'x='WǣeBUe 3>J2wH Ex5X`9^7gbC19#sҀɻ!=kY vbH!~>檼^t,ۀT,W¯8?JMĪp1>cOn.c=#44{psi# ,X nF&`b檺֐HZ@*N6?OJn|أ`5gfE]BGጜ';v -Q#] "AϽ/=2۪̒ PJ "1~NyO 3}f d$x2Hni0bQVԂW >CC[`ǀ18ʩߌ 0hMũ ̎@8-+avqÂ1U{scrrw=(>H(*7\oFb6~?3}*Pb9?x>0wԊrw5c"],c' cҝre Ђv2+/Y-͇B+ r:PDSsC0 qZWW&(r3뎧Obe-})&M%H#҈eFFSj-նzr32Y6!8OƤ'jdz:S`aR~M=K$$¡8*baqvT8'TΟts|s)rb31uhr=\EaK͋LȪH݃zVφ/LpJ:WYoa1bh4m"ެ«gAqKiv\lFοRޣvCvg^4Q]ۆ}+Ělۿ}WJ{{Fyᫍ66zJ}՚=㞘zj֬[>|ʟ޴aUx3;;Iܵ'pc'֣9ʯE<֜ʠ)$$R:FyKC&R ']njlԊVsUܬ<)Irb;as Tҝl 4 NcPm÷ \$"El)L u`Jf SQƪ6̪C铑W3>3mmA҉7vrsEB0yYk3-ƼUt{z+zޔڨGۜG!WȞOFj{@~Dr:c♂8I1qsM-Yab*SGRJH E] ՕdzYZ+Irs5*O 0^}*0瞕Mٟ'k9۞%MS%IM1ہǽX*=7sL0g&3}egoh?(c YI[97.cnҥ:.ױ#/ 5 `/bȋ )sJffqZ+"s4H%X}&o'QZeLr!CotU٘KO[&AQڪ^VᎴ&RΌGRZTVT|ecbZHL(?% lũ2POcU9)/Ϊ)ojA˺dgwOUaEW՟*QEw#M1ckjT;f 4 wD|;iHc {X6$ԑW~h=G_zSA~>-6&meQJij`MEBM*ORO$p~|y]cwjC˖W6:w#C|!T $ h7 O >;8Ī7S?Jt 6͂>`gWuVc9^± mU'9V8QSyc'(b^=ѳ Z~Uz^3L]G puEŤd^s#]yݽiBɿVW0;2m{#mEdQE9N5i)9i_r>uU3O dpqҐanHzb"<Ԋ#]Ҽf96JҢ{sƱ6|>cɃǧ\=<1Ӷo&AqQhw_:gј)o1t ?{$Ck/ҡ]&a=Mmw ?^9;^60zW?5f&Y?Թm;vJ',m[?oe{ٞS)9?udm5Ft=?V`R:kiQvؚR|P9;RXя 01zj!1ysKN>S:5sB!n}1OPޘd<BN[}r׫kXfQO@C0P $8v;.㞆'C5$+X69ҤS&'3`݈ :|U*u`s֠N7jU/bO84߹P2 r2tEnFiWH)";FUӥ=r[=DFOVhIllZV5Pgxǧ֮-&0)^ Jj=V}e=n˅#-@kYv~J}sQ*\*=]'l<򒧠xZ eIyΧbJosף1ԫ}k-y*姌<j۲ݣ?CVdyR=j1\0+&țuj0\2m<CNIF*+JnP/6p(. m^ڶHwg>* !†uTlrs]Ouc~vf} : BN32}ٰE$$Z.0qR U#=6fӕ ݇rI${UR {TvzH*b+9PMRK6[Yʷ=ĢT.@@+c6xz#ڲ`HNFjRm+2n S<=^V%B"T<ܤu6M7W*IYUޘu*dҵGGU(Q̇Ѐ>Lkۈdޝ ^fcfJ]F7̝EsZE:y'W4u8,C61ȤG+'98]\2r2q K.k^ҴjU~-h7w0ވHbX]+ϴ1n6+ҼAcBFqk੅v58mI@ ^1גG䁏νcℿj# skv$j[RN̼P4j5R9ڧPvV, E+\>v5snwOjXF<l/ãc4(%>mKA-éZF}ѶGʹ|޾XnX~@q$XvZ7iG֥Уu+8$?a3Ҷ</Hm@ϭ.cdEیXs;Uk։Z#'pjpG/3(,ac>\fQTzն=pjq0`#\(-59ANzB<\4cFP~5IEiprsT-+H:gڞj+mcv"ã/Qo%kž8돥k/fΤ\D!;'zg/swrcǵ/dζXue,޿JĒ28"|fS5mns@aikK~an-d6+v7mtyښ\njŚv |ʌkF]YwtV Jϛ͵XgqRUki|GM7qس/`^}/hϱUЮFT:W<\֞&Osؓ]VulUwl_9[>둑R.o >+ڲ<{1m?JN>56~.,ݚP[# ֺ /?v˻ZxJ ùEݎȩV>9l˼ҺpZS{ lFr*'Hՠ=鬃Zic5QUUd<٘1*zFܩ>ƞٗ( ( ( 8bل';N;o˽ߜֳ[ػwm@'zmsG5,6+5(Š(*8ϖim޺qX9?zbWVbTp pqQ(P9.#bQsG) ޔ "2Ian[u.NX8CSoTUcU]ڼUY;[X2*IEodec~iw7R2w0|;xj8k ʜ>5Euo \ēBydTʝRKaӜcVoZ6] qy{7z~q\oQߦkl΅grV9S :(yC0KUbv}ǥP#F8r(e|"P(˷Gǰ!ӕt|V1\zf[D 8 S o$(;Ppc'))"|Ğ˿=c9ܣ8sq2q1\ҮHRo֠#R_p3K&.xǽ>]J8/ڵ4o\ClDGrI]W)ۑ,rGcUn6w| 6֌w6$8-tm+}q?> {+:@61T{VV?p*Ǘ$>BoC%0Xo: m*E@@$gޥ!uY\ҧw(n܃皝P5QOƘ'(5)A[GLSs#*GA9<(9I2q뎦|0=Cn6wgqq͒vtxP qm4yֲ.')|s;HoGc;}kjM=*NKcѠ5bJF)+T[Ls$YNj^[Ir NqmرԱXnǗ޳sd13*/+7M#e)WImg N/V4Nv^~ׯ/mf4cag;G,y;v^Ԯ ~^9Z +/}붆([rF}LP`VꜗSOhGog pݍO }h-qcV fU瞴+11~4{RR94&՗-;,EEPEPT5H4,:A*EvKbOj:J?¦$Oj *LEZ \;h΃(mY.Nq֧9SGpMSьw4isos\Dr0Smb cH~a}!m0{ }i(mOG9R+@iҖ+sSK,Ȉ@;r;{^ ޞRT8Q2gpB:U&#mČQ36d;rpGYlFLcLdF ÓW̉+1qcdc~ UFI+4e\cnQ6 _jEwYH9AQ:.VZƖ+f@8g$+|=lhܺQ̹{$sO ^owMU*zT{pi+8Š([)md8Y KJ "8%)dR"IX8KqwrI=edyb Zm@jXtnձoS WB"8 8 Q~R8iq\(PpT "C'sJN"oO[\IJC( 6>d!2,#*[)?w;٦R3q~V4KH"< m˸0?Q"02c*>r=SP yt*GP)n$#i@QΕ:2s+A uJ$P9z~SPQLbT꥽?@p'^b=^Q1Tv! X"Ӕ9e|/fʹ: #79>C=@mt$B2NF6 }WY7_"f3ڽp0F`N,۩<bҲn<+}=̣`z{x1㶠KTʧo*J۔h<׹\趷CGNk6V)%v4@FJx,Vq_g$V<LO=驧lpqoj-'Ȫ%j|40j>$ڷXg$ʫx?J}wYۼqW0I2цC)5Je J_-$IEԜV8AxVYwm!Gk48^jZ[-e(6eۢm7hɧ N;3ojA"bT$r´b6FiI!*--R4N{S8iDWp94l&@g74n;H|X}qN`vF;^~1Y(L ( ( P7?((ܲT>Wߊ~61>pM^)Y>`3:|r#{ջYz`FxbsGkc'LtUAQǴF6ƥ3! 5j:ʙ#pI4B[).XBSߩWѓ*ƛpF8'f cv1BFV~s$<)n[}6DY[ H#Nf>~FJ$(l7 t`U$:Yc3fEow8Or n Pn;{tH$q'hG>Cjy=) 1 [$:Eaٞߦ[ަ:GEnWn4\$;Oa ]Ύn%QZQEWmM턑a+.>\5թfȞ n22b,[#RT֔j]z'5~"pԒZ}2:b*zHUlg"!.QE9OOxV]b~G^a1$u\g|#b[Cu\e)XZ,!B9=q~$*6kr Oo.6.0W=~ظDbK=M9JA֩6J؝8~Da^}ڝ1R 0H8( _Dx&H>ۆ1ּ¿ g\l~}?Z"UQFGEb䑅Znڌъ1[LE4#M (0EG_ҦcNiw 0r)pTT{4hInPtb8yap1zQJփ#aZe$Gi4d%!A>O8+X`4ԸTRQE| ֎;( 'iTr6@m tNi7xdW3Mc rsT/k{Db7/U%vj}f"ϵR,$r]I :KZbYsWIPc?:=NceRFMP<08қRJ\$]dY} P 7*J;3qx6cJ\a,`c%71sA2&'LVU8_¯BnFənUdہ#taw j%cdz*uyS֫>\9隻1V p$=3U_3FQ}kk\ێŠYy>bx֥B G-5|KMr̒ۈ.`$.{Ezz7́5ҕʀHitπzg9_[Qj/COc4=d$SV-!>hϥwmb-#cީMhН0+\ϋ ƿ[++gFOŴʌtޤTsfzk^cHNUVYnہ |\Yd [ֵ'z)>Vu8",`b4t;P!QE+>54}Q9ПA5U|af\޳mZlxLX8C b=۰OJ `hz@Op]w\P @ʏ>&b)K2 GL H0.J“ 7+m:ךh#s7L?3\A)Չb/:%3ۅrٯIRFk/us}kff+9eE[f>bRddF@OX\Q(TمĢK\1F(B ((QE(٥p c9 vޫ]\l3V.q[(7)9jVsW>e#Ϩ73k*:rOu‹GSř<=rp\\m9>2V. qE5RW)-H˖ު8rC}*Ƣ&fT^zT y\$ǭhit6Z1<9iKSh׭Kv,W {ӅZkGHj( ( ( (6Tm#9l.8z5!/-ua̴.m 27hX6;0.ϴ-As|S\n5¹#859tF1V“$j3g$٭uҮ&c<VcqC*2 ~rK*oc5 "] xTMO%(9R;TNrǩ68r aINTG̛w7'Z&p o&L ARuJ2]ZۙCSjӎsQm\g#eudk!* @9ޏpH8#j0 =~ a"Aϴ(RVDLK\@Kc,ZĖ҇۞ dTW ,`>d3&0 v+W]BَdB*@q\wu= S? ~W]N6j)b'* (3w[, vC̍ek|`JU{lDu?+:PƮI=I0EDʗGZRQT2b1IH%@–¹-{o?BG!.]eQ{/hg>ߥ9Y< v[;uv2Jg )۳a8BX=* :TJۜ<VAvWKK=IblìFwFr&iHXa@χMϥMh96~Xh9+(++Z$Z' ǜg1 ^Iz4D alb@ s&Z(D:XVVA'Z\H ?F Tv^GaF\z +~0bVV'\1ԚXBes:f_VLs+1~?ҹ7)X/c6\>+լ5K)'nA83]f, 8$4{L:-NyY2A4/=*Hf$f9aȍ_V/UЂ8 &7wg9*e炻@V<.aiB=(u|pw7Rbfb{+MM Ae2|p}N.)ܫ4v֖wwLq^,xdWInb$T$bV98tBM;T{3|>q^xW6Luob*mt|Y.;ժePH&iq$ 8#=*=+Xg*l{mt>\tbF~ le{-On+).̤ {{2x[T8akqYcpys҄cS_UGƾŝ-ψmPkonW%_UQYwbB\*F,(sʬ[ Aߐ$l0VRu 18 NF:mG79HŃ꧷S1nH#z֌MB*rGh :NRXA H!qzTe$S=4oNd)#Zjcր2H_;%!G pԙK~MZrG'Uon8٢^prOj--EfjHoRƵ>Bp jȬQsF=(EPEPEPNQ)ن 6P<E>K:޵&wN܌P8%s{dhSy0ރ4؃!ڢY2"*ZI&bҸ8=鬻h=9JYpfm]jg3*3H.O8"m$ 6ʹZOOr r;Tǔr}:kD8I2G7;~BPFte@[ "$ 9T+ZE)Nvڪk#I|㹫(x UXpcs޳I_] ?zG3QPڕ [F3E#)^A~Z9bUmܣ`mW*p¥((L9Y@w,W##⠳N-J5Ȍw8Z#l9^z{+Ļɻ8G3oC>c OCM_:j1,\+R%(RWx6椊U3Z 1ͽw3*<ܞ <[23X }>¥;SpSāRY}:g)Ws>S1! 7qY9EU5b7Xe\89Uޣ+cwP: Qg;(5KB-JVIhdix2DITc^-_foz#\[;v>@ۜڸͩ^ǗR=]ŝPx ۶Џ/x.,>o; rc61+цs[2cvjA] A&fbIxzJN*~Adzj!r7yy֥qMTtWNY2@7?w+)ym8oXz n R9ZR#f}j).W>cҰ:g8Ʃb~oJd 1p@=ޑh[lr}̹! n|` 8s$wHP.2Pwށe8sQGS\tz`p[!ֹ}3h;=j`DhĊ~e_$lIzU9}v#n;#~]F;uFQXWͻ})#ݑ =28Z*{npssQ"i~C֤[(w>cI{6 g)Ikx†9$iϯt]\#h1]UoeH)f\m$5yڽʧ('zBHֳ+)}}kjqfO MPu`ȮtzK]_.2Rhֵ#N:{U :3tRega z篥F#)dH=@JQU-+.0ǭn]Xe` c- !`#_4 c|pKc_z8Cq҉`31@nǣ,үZʨ3 U7@xЃY.(@((((V?*wv=@ZKZJ3 Bb:+_ry[ QAc~2泱JNߔ3VZRert/]M6N'8'uŶL#<7jt לzTCn<19 s$֒FP8 b\d uL֔;Tgh=j.:'mȡIs859W۳ZE 0B2dMH1qYȀ!C>~ca63PK$apn6Hv OfHH5j}W3LM܁K[2sDWÞ#S֏ Zgl݊d֒FD\ޝI_Q$G 9i|lS% 4b(:.*9k`pmSF"l8$Z=z(>T((((r;Xr,<klEe}g2B2@>^4b)䨩qGֳЦQ#T!Vx-$~U[V$qRcN% 2 ;pu}됽zTl&[?jIV =rs)7)vRth@$aP YlF:T,) Z'sNWJT+$æڙ),Ȭyj,{Kry$x<ǩ9sndC1677?1xZ>uKwd?z}+sUt xm?,j>cwQݜUK\)p< ٮ7pb[9kj:X!,awcVҤD]Zdܢ4ik"c+']M] J(AEPJ)( L<LS85n.8)ҩ F={Z]dhAJP@VR\* n#

d!O^֐*'px"7YiS$n->tqԏOjk&qeCv cT!?1F=1\I-LUK7HV6ID09'obNxBѨ=m+msq@coǭ0n1x~{tN$1Xﺝ+GÑӸs1cl@#ϰWycў3Scȫ`/UpJ'ϑ|Y P?D>Z W';AQ-o'j|Ç|A$.b}}.F=HPK}j[ISLwtOϸ*)6:oţ FdUZ~c1}ϔ5,v'Zi]_L5+nƺ-?V1m };` 4g%׊ɲb,ЎKEu„cIgњ|cI# E#/vXJy@|Nz$Κq]6^1U.X*|Jx,( +s.ǧJ*ψPF@n>]Eߜ{{U91'Vz+Mѓqo) ɞn+.0[g|_1I?J3x@Yv Imx F@Vʤ#9+2cu[9ksH: UUq:k9|[$թhs*y]yK* ,_iޚJƤ˖囡k8(@((((Z+l(F>vOe4g敀ʌgJ=,JJVF*u-EVEX :}*d91(9$FNqj)$#';A¡!3 *>й|j4!o#j) Ǟ'V A*Hm=Y\wqn9s֪NpFL*YAQz攮$pޙcFsw)h2#"^aRvuVޝfYc#ި1,i0ܡP5__CbH^SgRml2m$ɬsF}Jh'h4_ϱuCCnea`G9wq:F=q4&Mu&28$uG99cEխ8p?:IKScʥR7(U+ 9v;8V5m2n̋OoZݐrS6e}]n /t[d*Y=^͠0FQvoxvӮr{MhQEAEPTemFrW:k"d-HOSN(O9'@>y8OQIuIsVI1X`%¥ЙSge;L.xŴ7Q'r*6o.Ի``+{ֻHbՇ.3l\p;~vb3?ZhrRIce]@G8o(p@ʷ 8XQI0wqHbWO-қ0;!WFr<rylOԎd#Y0b޽3Z2*xcjSG$FY,'  |UX0+xڠQ',@gnE+28#=u!P1 eMѻ+cECodsXM냒0@zWO[7"3`zcj'A@m-9GDEǭL vӧcRr QsIEjZ)( 1HN9V F縢'>`;n+oUh2MQ6zpG\֌,y@3\Uҙae$A{׽iH wT 8+ްFe2ȍwOOƩ7Ho$ ZLeݪW ި5ePDOoEL샊N6BY|N}Z0 0`qY0c9ay"uKuUD^IYN?Z*!l1V˷ rJ H+v$q+zJV\EQ@Q@Q@Q@9>6` 096Ff ԓʸX|اqDh8bGQO'aӯPrXG w9z?+X岄qޓYHb2@;p7ۅ[Ћa!I8CDsTc8 'i8%7uV8hgd;quWGmLFzY4AMw5qk٤S<$`nhz܎2?92`fxsvIW-k~}LڧxX\HB{y5}ѯ|c km>h=p2qZzUil~=̵VjrEZ[nfɥPUNNZС/?F1DZѠIhs-dM69FjxOfa<5H|H!$PJFkNdgaǵDXc$Ӝ|TDV2rJ:9HQ3N#YrA9N;!!ȪgM2qrsw RBoxk.ngx+]Ѓ26u\w) ,zՉ#(y >Wb" u:J me8Ҙ#Yzm󫒠2]U#3a# s򥺳Ddd.p9vW-yf·9AZGc'?SP)_('񫊱<|At;@i?ZwY67q=:](GQE>QEQEQEQEQEW5EPjd5"E>x+v=IF!g:U*AŃ´Gb#k5F%z'>ݸj{I9 XgB *{ P7 #';RQOa=7+,4ND<[G7JX `dg8~VA&|Áp}%`at]Teq1ooU%{PyIqzԲԐbUDc4Fnֈ,X^>+ȿ4O$v+;8\$XqАnj=0IU݅J盘W?ؚThч5xM{Oˎ =z)|<<C+/ |{6sceʎS{qr9&DWs[1oNX~/Nd*æAVa:$3^V:gt0u>3]&*$[eܪߏJԐ:.+EUaR8: &uIզhʗ [M:TmuYGOfhvI.ǹ?Һ]]o$dxWO+KAK.g z#Kop~c"9Jcz7hv&r1+19Yo,XFG+5\]`ѩ߷9PY_[jnSU+Q@̂X]Ok7g~+> . I08'3%@`G'^=# ?eVsѳzW%m-/s4N3O';OAY)Y ` :U}<"|FelRəQkK^# M%!W;K[CG .0<ӗUQq^npt!`wg~0qXUKd`H)sސ;p}^tF afv3RI=Dh%r>n+'˜u;q-NKcm9I\`k+X}Z6:NqTcv? =bhC , ;VE9ҥAf ]b r"jNH* 1d'Htq<99Z7Q u6I%BYJ|5_ُ8h}Fd* 7x]Faٛ0=*Ef+qZڒ˅ls tX)1PߐY~񪓜 άHTCuWU@ Esbʣ `FMK69i]|iB9pĮF > t֛nF2.;(q7qeĀ oY1v6 wIbhMruZ>+O ( ( ( ( ( Ǚ|9j $?YT0GnvFΣn۾n7.:~5n#cU ~lc5.hiqwaٱG;WUЂ58b@ܭ,# 1}jW$c#V$1#y#)Ǘq`ޣpssګ8SA U6-~e5 u;ПLl T%Օ9?Jm,Mjݻh$`uv{n}+ <7gs~j |+tu}+S*fw9Li309*gVl:/WΖt" z?^Z֪('3Ǧ?Ƽ} ses;kC.сd[]n\Ge 1Kzd_/Qeԧ0tOWQolc,#'t93lG;Һ C,oGf;`ӏ嚒ҫUjGM}d5wԀW=ϷoZn`\NcYjTYYAaKMφF+ϡ=+zx,BV_[uO]i^i=<|ӭi^0\Zm. 9V* sFwE"XZׅm5(H+/u# {C] U)b-MJ?Dԡ{=zxdy+-/mDֳs[RӢz%݃-(8s$B@'4_RKoRj7"{V}ܣj~$Rţ=yVN]&UBepLǥH?R co=JKn=.s8,) deo}HzP('"[]֚W*ʘWV}O]]]9k9<=ciqD\D~&dž=ry$O xgF88]-tv>k+4}>oW?D/ 5xY J u~N9凩t 4Nۃt4yX*w;Tǚ`\wt2czJBR1RpW47Rb4`TԹ%+!MpERIZAڡ.oOzQR6SkcIW@A tّ$ƮJ{]D̠(#sQ>pAlZKsn< Vwdr͏jBU'VR#ҡ[6FКEemWyM?@%0v׎^hYޫrs*;*!^Tt0V.b;V,-cQC [Q0IP[zd!*=y$e/x((((((5 Χ'a@o2A`O0:wj\Vs4^㹫,jp3l|H붭G=uuRdc=a}OqL11k«0m|֜3 i-xVo t29;UiH)'szC2gq:{T&O5 yifŮGlFnȻ[d@|vkШ8 GZ{hκ8CIjlsuL+|27\ǵt$b=w6rRE8e?˵v6 Kqn~awUiS û]n-AYW#nF1Zڄ"kYXB5-ǗHҹoO+5gfLS*Fz MPHz|cD1JPy,7껹bc<ӭz}۪97ekVɤ ? ʥ>*2<65O9ttǘWqo峗:*ahbz/5]K7ΌFTu}+GA桯,q6"8ץwdןhYfDׯz͝i胵b7<4~qצEi hSVfF+fvA-6Omz|tTf(9s$B˭F+8k+ǀn8wB]c?o6 )uj|)[xm&U 1N>8Y1 (L>O[־$UPO_zʸ١d#nl39C¦a-UWr8$vy20ZU}Q< _áh]bGT7[Y9N4J[mȊ?V 1Z,U69M 2ӳ,ǹ!¡$ylUi" 1x WfTϨ9mG+ϒ ( ( ( ( ( rM2.bRwflHz`Cj`rYܥ/|PJKR5utQP=wTj#H0zڒPZ:\!ҫsg=}y4j;zRHx'Zɺ!C=S)5%%Lg$9,8=HQ94R;K[ltP0q+U(;ʧVVج(OةC沦m%BE'֬Ok*ϘiMruqrsmn߮ff/!Z[y<c7XFc=*8mlqad?:NqZ<;z4Rl3=] p@C\BHq ٞ[]AI#sמwfпW̿xVD$#h+Wҵ .Gzq^b~Ҋk&7# zhUU8nu>X;UT;e@N6| w޹ B[v9t ]Ђ=k3O bߐkG <Ӝ~X'V[%gs<ߍgJ?ĶżɟkhSBN~# kҹSR-H S(lgtTJetJ UVIAI\c+Y6cn?Z<Kg.KyR/;tV|NSiyh8lSK=i`PQfiqr:FrN֣ 9Eu+f RzTi4kݓ16@g'$fsKCip#%NFOAzfOO>==(><((((((.t! A[Lt7 fY.6Q)آkؾ>d TJF[wQVO2ǞOJ˵aQRܾb{}圖RH@0I8&$A^1c,AX xq}ڒ]Gj2ظ,*i@s<ڎv(żM!)w>Wc$˹vU`9 |۟#Bv; cy%]qzҮa~R>,ۀ{[>J7:rRMdW% \uY1뮞+g;?Ngx崑G'!+{wn^ Zsqozj1߻]ܥgx2g=itMW2^9*)8)9-N휞dMPc(vRT mo3@SʟqS88&jL~^2:c-sDÒ96Q1-M=gUpqGSsL<; z#7;qјK5w)c'W[[[뭤},֒ ѻsS#"ϠY/ִR] W\~]cMgx 'Ҽg&ȧ6w CȯOR/fyiEd`2a<0QI՘yw<eݣ.wq=8י&>W *u"b?!wt{"_Zqf_?2[k#`~5_iS0*rR=k\$Z)k7VKsc#5*a+y79TQE}q!EPEPEPEPEPEPǿ_.N:Vg0tN"PֳdS  c]3Pjqe9 JQr[qzgx$ BdO9ژޢ ˷#8Tqnrb1#>eǦ)QwAtQr~^Jn0B6y\>Zºzݰyumr*0wJAO[؇p&?x˸׫^*_>vgj aGLOH^A? ڞ7#4[JxݕWtO.T^v 0j犠tB7cp:UiPjG1{{WQhWTu$1JTC1ǘ ]~:']Cے+V&SIA&pߍ\!\KASyUR"N6XڱKs/X c]‹#<${X0p9iẻUn#}ʞ޽#Co+ӌ <<]$̈1k P{D(֫%׋n(tR8H}q\&g}'/gC4l Sg՗VI96_S[$Q.hg[af ].}A#lSk.xaEPPY} tܧӨ<)>Jj{ 1֗rnXD1q]ׂME/J9tP 6wq^!3x&*}kNYre}&ӱ׉1ܑouǪX}ʆV-V"FOOʻ=ҏCNQ"Q&MO^A4hg?WRaӌWQ(eT)2\rzZ[Iޤgb;Q+_1g<$&ݪ"6vcaɩe!0AZY_[*z zzՉ!+v5M*1qz4q6r@T߫Hֱ8ÎsKF$eQ#R Ѓ܎9*zTPA"Z1n: ۆJZTb¸MY=jh՗-9MV]QUlX'g O((9*}Uίk3L<;L#*E.qI 9v4`F*(V| UCѷ;.뷍v3IqY ;ZiM 9̛6Q&ÞWW1uɬ]wJY9Jm;Sՙ:T"|OBz> 3 .y#%#iڟ~=kU%$MV H[a̿u5.$6U5Y [6G5.KsE}EAEUQEQEQEQEQET7.q}EMJvWBN 9뚵wC b1w=j챙!Ք>Q G*3UJ`Wc.pO_5(*ryQ|0<@=G8W>~'{CܤVb\08*1c}MD>b9>\0q5#]e# jGe*㸦I k{S\@]H<9UOdCiXҧ-I^D8.>ƙKYܩW/a?YWwg5ܮvM޿aY6[p{c\Wbo#K9mƱڡخ|Ƶ,jF_b@3Ծ JB'9q>ZbɶmQ_+XY3]m,q 貰CENONsem ֭O j{M) *kەBJo0ƩGU m.IX7%f}m#ٳw?x֩{;vW$g9ݚj2&Z(>[$I?zAeUa=U-Ҭ ~l>[`Y7L & K 08*X/͏V^r[.VvFhtb0xn[z~N8Iou]?HP$d\6Ճ{Y!$!k]wU㳛n^n-tS^1Nxlc:jSFWg^,.K~-nZ24 nO"Yc/dg bmjHQt?ݩ|Ԍm"YIbl}F9/קyEɅWדx­ $Lp*2a&x?WV2KUsi(#<|wʡgWGks9H<\vw:PM+U"9*|Z/stX Uycm ⭃ CI6(#@~֢ΉrzkG3@'$ PLͷI'>ߘuk%p[F2c7;3UR];r:SqU e<J-8m$4B|c쁲2m݌5Mtߑ@iʚ{Bæ;y\ÓZ̞c]73A|3={]mc7ٛU"[ 5RUF})R}j˜֮50vq1F:0?J cg. Ze3B09v=qJ]8*fR 9Rk$j<Ŗj3#cB)Ʃz7ʹx2 xۃ}+e$cR($<@ߐ#JIB=+qXuwb9J}28kO>`( ( ( ( ( ( PqIEcjiQL${T1~T; Q3 eR\ˡw}U$ᚯ?c8'jBe0.$+I^D\YP6@jLK#H=,' *|$REaɧಂJF#<`yOKړBÀFi1c,$ {ޝ`+rRh7jp+ԣ:?=_p r뗪ˏ2/^Cg*~ŐoOϭt|ʝps|.)OMK/24[4vIyP^$!uOk_bLW? 6}m\gjXabFJԣ' ['#s+jynw 3jŧ,yT;I~I+^5~c^&fAGCT*66Ue:# RڂyoG`*6?/8 *r4 vY&Ʒ3}6Bᑽ}k<74K}Gd|^E{m>Yi+\p;Ͽj}+J5żYٟϩ^JǑ{)Hw8Q'붚R~]84i}i~f>z`ckROcHG;>xѡsn1#g[4, .@~vz"avƽKYE;ի:"[t`#sQ9\g`խf7LZZ씒ؗ. <8^1^SR^s7tĝ[o_X'e;8yk&EA/+̍ພ~6gCRB\79@39 h4Ű%ޛ$yGpszڶQ5N Y|iewnccR9SI]|-XrjWpI,PL`zuO E2'Ws\S$ 9iw3쬼gw-韽]U(wW38qt6#>ՔEk.@xD-g5w{ֱMhqtj-SsRĬ{}r;Zi9LcC[xWې"u\>=j_&>lfeUZk:2[~jiX:}jq((,TZGC#ҥR[gFmrɴGpP3B} i@A-@ ۞*:7seVCj7D)n$`fet+f[ pOthiH=ͼ7^|l2 }ea x'U9i3Tkƿ>uO85R\JғlVKB`|%}K~X{ W" pyv&Dg;M^(xh.QEQEQEQEQEQEQE2V#-U?3tF͎瑍-}G++6^S[LtgV|+txgKa-O^]3j: /"/ZDο,K"ϰkK%<>~gڢxnΜ&-iY{\įq6SճtQɏ`9Ajh/c{- 5H ]W CR.@۴b?.{{S N3SsҏYm L~(H#Z!íM }1Pz^wȹ-ʁ٭?:rO;^vd{W5kKnnwM98?/UiNGsʺ!9Z)s'^ M_w.#O]voX2?{uѓ{ejnR\⫓[]1DȒ#$m50;6gE[xBC327ٞ{֯}^ ;VRݳo[.b̿#hn}+7cw“xz亲~bS%%=5ovV!Ly]G^ßQ?ڶwm;6GEVƌ3܃ڟE+`_!пhBSqޤ(~Ѐ ^@JFiQZY3U+z֠T5{ APB 5?1 kLĻJa__ңcy@\7P@jX\+uzL1  ϕ6怋(+#ԃǥ1dڪH$F89gwشؼv+7qPwf j+dJp!vn6Ja^1~lԑSAץ#)zI+1y х }:`=Zs]t|;c(bF@FbPE@pp@>8>rC2}T-ryLt K .!ާ;Y4OSY]ݚz:W3,}GD]NkJx=+sy:/ԠĢao8ռk7Iȩ\$P-&; H0ֹgf`xSi\v2F6\~gΉ9>dl1r{}jurIU˛CLQB`jrs<,e9'vwGBWx+2j0g{/ N:jU+rO/kg3> E. xۜVJ1ɈX #\Υ x7+KkԎ-԰]g[rvv@-pzm0I=Z=Ϸ=4UIMˠ+@Qі#^Tds֡K9yqSD$qWWŽ"m@s=3Wm;HkE4Pqb@OgFYIU͑a? j%T%F Pu>ݛՁUdphRggRZTC19P[jUʨ3Q.!dlc R[5qޣn0swڛkqp6sje8ߐcګ[ޭ#T|&Mq] 9>L9:&X )^6Q eO,{^J'!YFp0=kcL*k_—faߘ{\3qgGYB{/>Ǟ*ŬecP.<櫑Կ=vwNjt,)Z Mvr[i}Hڡf1$E[=GNNɒdC77*AEt6e˗NpNs׊\wg Dde#|hv)WEw~l⦋PVšZ qPepX7pJTVdlr >nmg8*e.Tg֎0uW?S'[]rݳƵHsF\bƥ$1SƎu{ T,T^p1K5^$3Mc@H%Sޕizv*@ډԌcy.+=dPT=+6m:dM;+`+'!)E=T`gDjJ'<7E2 /\2HV,wUqFk 0N+?gm},9nCtoZ ^bKm;FÐڪʮ[%?ҳЫV0@Է( sgM  _3r9uJ8'*J9<+!֫y^Dd/Cf69R ՝8%Y {@a\+r gylҸA2zXulp[p'raP3u=eNvW;D"1H5͵8P. 8*O+R1LOz˅R+K&wBI+jܖP3\nbXV#. ZЖDrWbe2656sU)b5;.T*'Ә~0F;SR6\c:qsֱV46b0@zzk(HK#`֑ɳh;wI՚.j78=2J0Vʄ',;Ue`F\Sځ(xNîOSZZ8n֨_.ռɦ5#_ )D6 b@_LqLb@b#)igVE+ `c4.,foF\/3䑑+oS#걡R\sҡ>Lg'>pUn[3^Vdݟ3P٘$qE>Eʪq1HzrIOTN2>A="RIn\{5U(vyC O\W;̈́P / (Tw (y;Ԩ=zb!.`~=ŻJDFOoJdBcuE<9\|IJgJ8j9g\U[/VzVz^4ԔGhۆz1nwvә$rI$SgPc_ ȩwj`80>|D2>bwRG¾;(=Mqlz|s’A.=Hi\F'qxRMM]bʀ`cWUζ- e{2dN ƸC$A%=EH0R@UbH~cTYs+Hf1~h 9ϽPEn$Rh(EPQ$b}=~oҵZ4rO ɱEgu=5e.|V]-=f8N'mebvOsEVKc:[Vv@,[fSXnsČqI4>PP[,ouU[GWOsFyNqUJ 2ky%A능5`z^Q@b% ֑%^Ns0Eh|Ӷ 汻6FaʥSvw㊵$+33cT>K+AUM7@m=m5Tۺ~qu[oVL#iGQP`~W,d{(v:eҴ\f۰U;%b2 g9e)Eck[4aGE7< d #'؊˱+Car%AʒJшv` b6)q'W6pJ0jkblYJqWmpVrI@BAn1UrֲwR2 zQVM4eHRUP }9-6Z=S{TO 3AoZd|H0Rp +ZlD翥4XF)`Aj{ŹՔ9!JHc*/A٘=1i0ܼ5ٹfSrE\X 7-5VCh.3pGQA'8u:6t-ڥsZЅgJP*q.s JvʶFEsTԯ?t7PT,! ꆏIS&J˗$iV6@BϭwNvC-in{22N͊1Qt1G5E'=!N#5D#QuS?t%B/fil{z>#>mnnQYR"D=? R W!sPM0A+AVu)_b4#j6RʠOzpU 1?JED(c1QFʑ;ȃzb1#tS] ^Ku`֒c/YDdsrIuPZr2{ʑrH@V>Y7luUFMi]reH8܍wr$*:Syl ʐzU/b$ ҵB=M'09 Uʢ/hӣW5:\ș9ʞ^K5۹G;Ս;NzDy'kȖ[39wm5#F c5aʒQwMl$nrTC_n6#&194kpIޘ{TbC2SUy4609Xe ;=HU8U9Yٲ9S1'=Oi[8Tqf'v+jݷD rjI51L+{$/n,HWO0$c5Jn@ͷ =+3W}>aVV>j=GU:ww¬~i<kVJFS=C:u1/U ץQ$j~U AZlz0qsڝ$9ޖfN> RپXډ c5,ee(nAq,E|Uo q*+Po4հ[d{VghEOlw4.es\pziTC$[A?GQ pAi;[D>fV*0V#{Td850S;I+ڿ(<SCЃ'$pIȡ]+=j4vL'>0 ;-ԛG*_M>i^@[w>ϭ>]TdpUN;Zj̙v}j‘I·7%KcVDk,@0_Z;yvb8qJ&8G#8R:/tKSϸI&bB' E\HeRyT2в#a0kIma+FXr1ц!adl P1ر& _j,??oJ&ܕ=+ۣ|Q/?<Z\SLyU6 =)@@ `Әȸ7Q_e▣ZV{%Ҙ@WȃInɴxG3޳taWGWlzR.֞zV.7u_۞+b=jlL? ^]!V ʍ/8#ތ߯sǘg#.yZUv:`e#{.Įc#~ W8J$Wfq"vZW! Y zҞ TQ\+| 4F`NƹbrtY\m*s4B",Xg3R<˒=6UncwƜ[s9 }*}& 28sR*eldRmVl6F'",D6yU ֆkh<,k77WL}uqG&!YӁ/ʠ3֪[ۆ*"i;bT)n}q^ilyw&2מ3NR&%#>ԈӃE7.Uf>7@TFyX=h16!~9z"@1U\ШVA8i6UFp,hE*GsL`楎_w0k Os3`$.6 vYrՕ8Ĝ;dv4تPI` qOpkQc{Q` H˞~j@|!#sic,#'ŐH5^*٫A~aXPNEl((AnZ p ՐsT`6uȫ ]}@f$8kd9RR^f!HT4f;ޓ'QC.46{SE]R##tCgGawc˙ ̨'5b5LY>e=U4~ /AQ)p{ơ-$`:^7 qgҷ ]~cM8f-z{c'uVNUwT)uŐ* u#T[c@aMZ9,8ɫ.2=k9m@fh\'HfS|ZFM0qOr852Uya*Klp ]t4L(8DZZF+mݑΟTo*2F}z*1b7%(Uc0Ќ0Aps 'ֽ̰RpJc=Q)Hc0jLfYE}; %fT-:4g=*V47T8ù23ez6k+kXþi^WZb *d4ŸKʘ!S^JGs[56x;wrOJoN*ZI e$`ңhƽkXf`]#5s6vfj`%&wGhra\Lg$m>չ{L""8c:1{fXuwNvld<%AMmGNr+Th \/{>^rsҡG]PXƒ=+nIqk>YQ"\ltr;U7gvE- *}iq0pJгK/\VrVZ9N>HW9Wr ѪɮSλyXNhZӍy 5J1y<ʍNvg}Z[$66i8aGYp('p[u(W wG*TT~Ҵ\Gd2TA6sۥ?[2;s<æg&*Fl,FvMv0dHʮHFaf"osdc@ i Au#T()A88*R!hgPwdhzǭ A9,HSe!jFE?Sg5W%)ˠFcIb2W?x@,bs{^Zr$tC#HsNeTB~f9PWӒs{T]5{ؿ 1U`HK `) 9 Q4PI# FF\}Foʱ r'ڔ<ˏ_zVI$Tn"s+d95qls3q,>Q{Em!GjҺ`9B0{ IQXGykUEp]}Q )mֹp@sijNܔ`z]ZG;=;L,M>lJmYe<|J 4J~T@(v0`5F;I^ApmbxSZ[nc]IEW0QEL֘Ѷ~SRfrkbG QBܤ}jiyszTSV&#">wU,UfI,nAyQtƭ9u,,|}01Wrc 29΀eq֟,AIj\l&IsR CKw!ct]`(`qH$nC?Y6,wjW˅Pq})hӚ%rAulpL) 4ETPx 2+/OnD\U:+KoZl͸1c5oe AA5})iɵP$c$RVʳx'8#Qɧ1#3+Nc;!C:'J~rsBsJ|3z&dx v 1~b IzӸJj =gp#0X)H:]9I:SҟFO\NK`SdQEMFU cB%]GcSEW0Y@>5jԞl27Q饀8'qti{Uyvw6y3B>p\Gn?zkI#V's~!ǧ·-=:c#/ Au;Al#HH_e c$nҸsr8ADd$n$n N;ssr>Wm@NH$%F*[A1* /YMzYaFoozݯtzP.}5L0#/k= 6kץ.M[s|n2v#2 zuHc8qcK.M(=!n,z٬럙=I;Uq(v 튥 .#JH>Y#i}WNzPw1H*]NNq֮7zο*7~'=J l~u?9K6ՎA<` ;"FcB?/c?.zD't?ΚFߝ<=7& $\1?+򬯴Zp#ݍ_$wUSnp9R*;*[ֶmRR->8XJ'm3HBvr0Sxm _;i1/8I7`M|,cjb-o' >!Q"C^%jف1t][%cR`4V,S,Y@5 &jjL3IiqZsE.(;0\њ@)y;4jFWnn{X;Hp)hž.IZv̗N1Ay0[hr1YKԫn#2pp`t[2C:mTTGW+< ݁5{EY$ƛQsJwH#&r tѶf ҵBiHi.,W TwdR1(BWcgtcl @R0q;z!*109ړ PB!zQMRt=:ɜҩDBSQ`&\8"YOTWO͐=\"ˊfy^f[#S#}DqYmW,ˀМX9;&zT*SiqOov!&#8uGs((()ȡk "NV a.Z M^BWmRZ\V}v&W=K"5D $zU>U\8"Ÿ:ޜ%+1X {Z$;7I{ob.) e۱M$$J|kq=>;IHcJ)efe`gK(XYy3ZmϥsL]I's'8F؃~7.! ڠg?[JWs88ꊣ,y$T3 { |q1[x7QdrOOҶƦUӭyܾS ifcQZ=N -go_j{Q2T f]Ax5 V%=K$t?Λv>l+~b}dQSDr OCKUvg`!PzT[.Bђ͌{Sx=b3Q4XۜsӃ09T;lmh'Y![zdb89&9tb~!<:{'Ҥ U I&Y"8 diD<{V.ٜ&Ab1JrTNKQ: *hiIZ>yNLUw@ БA`Zg>?v= ޔ j\L.1NZ^; EReQAQEQEQEVd j>tNp+oRv#u$ұ.ToB38j_+J[">v~nWSykU4[sw]\t)Z:+6ݢwH<;^\R:k+8i[v `F6E)҃'K= Qp+6< clX.gg^ 1@kt-GVcr>+TONc?+5\.CCyh?Zw*#qR]^6"hIsL"QQfm͚.gW/ڬQrר5Ζ>yú/Ui{ѰJ㑲~˦Z̥dYOb(n}jp{;Mk,38*Um#*r6v|9msןfay?֣5\ٞ0IdlfUW-tky}jA/rEoK(s&Pqe6'i1._<烊cp:YG 5TweH㎾իqH Ʌ[Jbm t=ڧm 7~v  '#03nCH~x_I .A㏧>qR8_֮Z߾Jr65#׎cooZjT7Qdt I03z7fl.gv e@ Gk#?:j1"ylCY)=Y/Md 9=a.=7c-9튙5 EfI_Yc۰lun#n.sӞh%LU;i.qɨ8&5vV1$j8Ϩ=)WgǏ K$?3aTB0A5,w [ M}F zUd$PyY8-|AujU"XUҼR]csQe~gnz\VYWU,mѫb~R>eٓ=ݓ2{i8ו|J!rr{Y;ʸgϽKM=KQRٝbaӚ)=*X|Ey*4`Թg`7whKlL:`5 3xF0jݑVŹNEMnT.{֑u.2^iE}ɌSȮoUG4hX닻e kԓ*寉 B.ea?Jfisi)~FzY [)^K؏֊L FA\#GRb7ySHsUb#ٝ<W%u0@8"uhFQm5wJ26սpzT>V0qNMR}Vw((FEPEPEP.n{bMzזI*3$'~uǧاO15j,ʷN}+ϭ.yr<7Z2<0ckEn0Ol 6 OϟDjE5+'g ԶY})7aFj B F9iGH_)# [ +F ,ۮn@8bxo(2^u$mJF ϖI_Į|q] rTnnHF'̚]U}|6۞v8R0 $zFL.F0?Ww|;ϏҹTQ$,IU7dlDSڞ}9H6ϪjPE}WY<3ݷ#g fiifyu94Qx ^[bk֬bz(9FsMjh;ܳm-]}+W:-؃*]"x+XcW/ף."ys)btfeSt?VpVGѯGkn6¯L CмԨo< ' x>`Sֻeh257Y8'9L2qk6#QI COd$J|ϼt3~4(}Eq TvK*4;|˜CCȭ–M+HU \FH1tM6QIos^^@V 0PxVO7FbfmRQJ b(yQTEPEPETFhV^|ksT%Ѭ1E9њ-Uٜ.N6wRݲı1+q}(#5kce_>nMd#ڮp[ C<y',vnۜs\$Insgއ)Wx$>V6|;c⺽C(fT;1XO "6`18_**#Eh]sWUB#㸨yUKGdew؍ حNyjF@e2/*`2p$g4UI@89F. qӚI|rxVea4k["̒mǭfvIfм'>Sjڶv~^j[^j2jK*dݎR=ΉksdϷQ.>k6Q9RPcl+9d}SIw!MҰ{H $Z|kmKVa&}{"3<ûҮPq3pH' 8 ZOqRmJb@= CV;=T␾q0Bw9TVcG֡rGqЊFp%$U\ҼIF4RRB'"NQΨmXH2ΧR!V~Xs7K 6NhTGF[sSB qqNhAr|r;znX8^Y-tYK~fR@Vm~*x%"r[ 2x[;]+? ڲ,78ҶcG8E<0w^Pň8  CYKD,3=֐z24xg$e7kbZ|ԞV>ϜWM HV|m\d7c*_ GkK7qPhܺG@#?^Bzl{\֧R'D!iF~INA8bиjާnn cWN7n6;p`)2\ﺇ&_W-[l8ʜ^5aR):֔# <->f~u|pto\]tM[:uKyp832>{eڰrN1etK}SMpгЎZUҔhSG%dl"W,Tpڌ60Iu_geHdGҼQ54i%,%f>ib&-1ZtHqQFCgǧҴR-q\]GvS -+0c+pI90p?Z>qibNŐ[ߍz3Ÿ$(00+scga[˱q8/ y8(U P6sZ9J2VBNr)b#s>~; ,t!wt8j͵v"%߽C("jc~b=zV?2P@H* =ev52іH! {2#+ǽ(f,Sz1q/ʹ@==rX{֧nE"2vUʥ+=4G'1+;v (h4f*ESQUp ( ( (tT{8Ģ}5X`wBIbwSkc(q`W!?SĆCx{6HQOQVKOtxTZzDq[K ޴A@zƊxP>q<>͉;guz/6v#kQW{QEͼ7vod- PlC;KghcBFʎrLՉR dݹ<՚nE%9C fOf`7U9Ϩ0^ᇵiyb3UW\o?x˜4ʡ(z F8&9I\>3WKe[T',m$ds65{cÞSfiҵƙm#*NZ[ "\њuQE(QE`QEPQL(((QEQEQEQEQEQEQEIS[9h4%H"3UxUn,)t%jBNzLX<݆١cF@3\ýR%SЂGza\`H!mRw} >Q29Ue|`á|lHAcn1mcV ыV\%b!F5l}+.]8FA\u(I{S"rPnSQ+-K9USت"UlJC iZ;2mS1s}EW4@[ LZe nUD8PX#*iyl<_ ,#J:9_=;%5;-6xǦkDǰ9^fb܈R7gIbbX-k lt_;CmM>a־tFd`7c.מ/Go=̻{W0 ġ--"Xqט9}7@"mW$3ܣ_?J)˳׽*Rwe«OөثkWC@Miy`C4rҺtYq0qw]>*qs%UtkrE}gksn:c}ǂtmu$eJROMEF{ڥddl33ڰ>]d  qNė1J5؟da;w`d0pS2e;\!Xi]:(2p@sjF[vኜ{{KRI}=s\B|߼:{X4, Jr wua=E1DsQRp? Xdo'98[ .yLTs*mAҞ\.E ːNWZ+4v~KlV6ۃ[x_-l}kcnmy EEhsZ(Q*(v)(((((((( d++.`Fq-Q@Ea-0NsK)ݷf 0 n⼑NB)M#r7N<i҇$HB48݁MRS\8oZʸy#TnŇ2Ө$7ӼfZ (VNM!2ޝgz0#oswtۅoL]A WvkS/:w1wmɧx#oY] ?g{[V1.|3fj=֟3;6zӭu CIҮ4[Ϙ78lDj5+=S0x^;pKj~8>W̒͞">b7̇MFO8zNwg!x]CUʲv!Sſر4ҷ#9c䷒)Ym۟"NmARbs"q'8ҳ "א<cNW: ʾ2mF#Yi7u,LUSqGcZ~n5]l1SW%n\K=AT)S{nG?tAe{k${$N:8{]N5I]L׭sZ#0'q%A%u2$"#,M=In<ƪL >_b{HJ2AQU )wpEL+ڴ-nN^zڹ0ep|1OdV`Iv6vʶ8fe~OH=+Wú4:%: ʺ񖃮F!E#WE{M~'4Q?wS]fI!1=Rc)Ѽo;HmnO0W&g>L2QخB0KZ((((((.EPEɠ=0 k6ְgg͎+إ =FtE.B58<^*RUbK'^j֖Pk"F#qOҹW܏iX)%sY:F&+$g |ںYyI s縕U:s׵z{cc*EV8d~Zk 7`V,9jI6M2n֪2rMFl`t446"IT3ސwS@qJX]B`ޕ`dSӰ\>V&rXM"F3L Agoq/''=5m'$sCj8'ث1@Rڠpsɧ?``֣v-`1؆v%nK0 a?D}@f A5)嶤K0䜀;)fUt' e㙤$$vϴvj9;U ֳ]6G ÓՕbS9R}P2 PӗMsR5Bۃk(ő|Iǵzfۣr@֧a>q9* PZܗs0zyڱ%{`1~_DxBVPH.m{{t~ ~sJ痻#M=~((׼(n4<໋8a`=I|| sk&t1I'&Gc>XFyvDG#VcױE>e=|^B c/9Ͻy6/Usn33GԊ̱xFUFҁqkAryғG~2-۷F_8RN+eMqQmt;f9haD' {k]F#F1ԒinGNҥ-a7)w601ҧ@r%ӝE`$r1RsbDO0`fDp󚕑YH"Mڋ2H\FIq8(P LDiT&(짡ˬZy&8nz Za.udd ( v#O3hnnQP->qڞ'S]?#$$o֘do֎`&㱠MW2J }l>B|i7ƠY~i0=(*?q&m9j9f=4r_!Qr3[#IU׽s57ma-44FsLu' 9EY;#+պ u+8jClF ԏR3338,B^(%<|]iƭ 9 `3cgI(Lvpc>+İTdI"i!j}&?wߏ ShL2b2x|s`[!VbgWZ0nZ9؎xdž,.$J-lpWg]$b\]p{Rg= +K\F@2qUbRyZY0ޣyٞ·95~j0c7aT2`F rԜ8`1bpqW7aO8&i|uMʺ(8lH񂧞BOaAT5+h]bfev\4KZl(c10"rUY1uLD{g9G02 Tr9rǧzQk|:T8=I9:Rԡ2UxE8ǧR'>p wb^PGqa8OqR l<9_T!ajsT<n߰Al:"r, 3);[ҠA֩ߠDbDATcs(=jGʦ Tf2ʭ#$pVS>֪-ZE?3 UpjÜg(|YQrt68wE\{C1ntD:~1Whq3k6ɮZmkEYtj. $u+|z/mAobyxƵ;]\hy¨\iFؚR'u ~O x9?^qWƝH>Y$PZ _ xfM_2HoZ]Z.q<Ϯ?uܴoˌ 6sŵX`c!qZղm* ^Zx'E-ctU0!AA^g!x+=kuu]Ѷ⽾OF)bH8['-(q2h>VFhGi ʓuO#Hڻ6ݔPW;Dօ@gwz[f;0E,,7pIla2'1>&ֆ@ sޜ[*1fsϔ=sQFAl)ŸM'%ݰ+ ˴ojj1)ťsNU^*OCSi"H`c*=o بP6ٓ'jqK$/#02vu:5=6\ɁQ!.rSV)#wRI駹kzj/,P6WOJ5H$FeS\<:Mӂ]nkl<M"NTY"~psZ1/Oz,o5nZ|k߷-;mȎn1OҤ2eS#5 AaKjgȎțC{cl\ AdUVMʍI&s#eHd$APShEEiliʅi^IDB Esؓk@tlsSP[Ij-m+s)s\$22>à=[@f|gBz洡57 @;c9h<;/i>䒽u g7;vTzEL?v(ϗ榮fc}<4_ =pv+,JjzYFV5IE#(R)\b1lBB5W0 [{֦C֨H'#ާ7 =@:9NF0*+y#s<˱vg+zcڳRGUw__D>$ԨbK :V5]܈L%x;fFQqN.XٰdqZr$ Rz 7&\m>;]:dA_ r9n֢-YyXԥAb[QM=ս Ђw#6qIVS֔Ҳw@2޵bTk) 8$9E'd+no>د)laOϣ^& U2>ޭ^LY?^n"Vٞ1}T^aP9?𬟆:'~c?nG.y#ҽY9Qnei9=URdLDcUn Sn{۸et_UqWz{7 ߛ[]0?:QOnT$7sӶ?Z\/ -Xv2 ~#V͸93U&aN፾`XZ JaXzR˶#!r`KI7E{nHoZ ן ̣q#uʓNF0 U`+<5K1hyvRmiWK靽&>`}+R+ץ'dԥgd/2>G9QNaI#nG# (Ryuݴt?ʙ2lO&cz2nyf?Klˌ)ʶrW?ƜFf7W_$V<.~` vǯZ*T}ßTy$fGҗ05icTʻq#6Oy zQOIԧp#ax:Ww %q^GpeVœ+t7̶w?D{#ElDNUح6K^ZG=qx p1]eu`x8sHNOq@P=1ZZV&gb(@zz^FnCLfz\NKXb0:BB+ Ҏ\cjz- pc&ݵgFAA#A;0Oj!13IdthakvEPvԇZ+cK;"N~aя÷12ȑAP>lME?dkhvQgyh",kU{)V)lfEUQEQEQEQE(nS?#}1\ۙs9Z1*/8 W/dY=FljϘț# *ؓ>kVkޣi"19\YؽVo1pM]:xM<]yϥX,j2p:yɓs1EL6oܵQtO~2oBI[̗֕0ͰǽO?rgW31=kB ۳>W8n ЁCOzf53U8a N`o{ 쀶Œi7p9 z*bqNQOfċ4+'niIm1,~¯?hnMJzG9*3`zx%ԍSoƯ0ocͮN7I1OJ-2y #'p_:v)8(ӦO^%դ-l4WV3 =[^]|޸1E2Oө?ڻ +K-ĭ" )/YJ&繌1+еNG niVirml,rs tEoF4{=Y t*ds̐4h9=)\#2ֱJ-#~TkvΌ(qӿR4p{9 7NRdesz´CnVUr$f|}a[h0A5JP{,cO) N{1,r3(r(nVN~b!QK$}k #HGC(Jfwbi;njmRv3bm#/m8p` [EȮeR-QSm.4dϷ?_UqOv0Vpn[i~w`feR[)TOON;U~9= 7Rp1cA5䓻GvFVH!Z1jo1V!*{y _NrR .0 s}M[\*;cB9Q>;6$H?Ҧ2r=7Ow\j $Ci Uy.LY^rlp_Zdnd I9$ZifJ77Zmd- =6 yk}K#tÒ'޹K 19>Wci-@,zu;;7_1sL#P9݂:cˉBc<3}8|C/ZrH֚8k/zPJ4q[4F1kA4[EZ4U(1ud#1-Vb.QEkqQ@Q@Q@Q@Q@Q@((WXAD$:[qTdj 9 Unj#BU'l8)Ua6ޘ$PpA[ϑ''+Py4hR=>e=1Tx0>.*5h?:KpAF7-:B}ßΒK)ƧI+BP'<0N0F0p>ul:Vz,*v1N2(F$upOaR\$%3;R 1(-3M%w#:V&÷ .IwBq]jlUt!;v< 5#TG~Qź>p;8q,wʻXl3P$f$Ͻ #%> |~QPK {$ dM B=(L S8۝o<?zU#dbX}ӁI&HؤȔyjE{}B8Y't a>["V5+MN9D=r=U-"`5ԭb̚%Zµ$V>l ԫi$bͲyq[zkNH~u&Z:\~CvkUڽ}ZYq8` `g9քR %cuSsP[\n3c>x&1D?¸⍢$X|bKMrȁBvJ1c&;6 !g9})e.0T𣧱d nķOn&c;8`77nVFrǑֈ[t``SLjϸ@>3~Fn!'/<]2w=J*DLZ]L 9"B$#3^A't)Z}DCAv;>z|Qn+,^[|s1P̆ٲ|Afg H>~*H8TJmt_$h~myXezUYDwD|d7&a`bcvdFRĶ }=\q/{"#Dĩ9Q>S隢CsGҤIvcӱŅ#;F AJı=@J͞# 1یd%ЬL$wc+*U6ϭ9T-q* #p8dRJ̫ÃŜHTI(V8J9N;T{w)ҕ}K$jc:*Y a" {dE]l?t'֭,DفN[bp95!㒼F\+]>iHv ⴋkb%gy⽾ 9#ձH+Y0[ҳRz#<; -<>@0#BTt<ZRtּI_%CíZXpB441W 0 `gK]Ɍ>]*Lǔƽ!=~c/Z7K$dP |Y-n"rFNr;VuwXt}woR lۓ*n9-;Kմb_OƺG$GM;n80 Al8'$*˛RGE2LCu+mogl+Z_op] yt=t0R_ :*8fYYoJ-'QEVdQK@ (QNPxR}h(sZ$gf;tR6Șc3Eh>lTi[9BS^ Vp~O4JR W g,ڲVsIprh*GY_?t{@b14/qr)s3>QՆs{U-$;$pd+#Җa;q~z5hh`VR;亩֡RH5!A s 7.Y%VQ}'1ZbH8-Jl(cT:l>;1/*X2E@_6>wJ`suf8 rŃ&U'rQC+z~^WP~zP_EDp꾟J!*Gb;ԍ*|žS?d֜T b$'7F!dLH )vZYn68ҧ|r@1Y&pzzVGV5jNܬ9Q*HY@ aH9v `@<XJf 7⨮JFbç>c {2&+3N%e8< Еo$:0mՉGSZrGBK8 - :o_`W<.&&ވА2!a5f' |!GE)>kF߁Of.H֨9*pTj\Uߪ) ̖rs5$vl6(YxSĒ1]'- ɰXC$6sD"&MIZ7GEb2ӟ)Fu$ ^g _4v̸-G1CS]٪')nswaaSFRrH~}KIr RN|=IN7o|(\29$^asީ'2e2Oʠ-N%x@C qߚwT2GUIzDDʧ\1.Ojd:&4:/Z1(@v~dgqq#SWUݯMvm EMrsx=?zէPw'| {]qXҷ@FT]ґN;tṷ f['} Fayji@}OZ#!qVlf,zZN1VZ/j22zTqHAC@xQv Ljz%n=OCX~&X;ҷQ98@[AT],΃B'M>)t_dۺW ə@PSַcI~jT(O;5u|9:mA ßZъYInqufWGa傸%r3PG(@^l*,cVANGQMV#"m/B˿s/z>6 Q4+as1Sg;g1ӊ­X:xB'+cimŐ0i4bD `P1ay: WtG}<,cGaJJ5jE9٣E^eQF\;>_f,|=AMM݅ʉ@2[¦ޠr*7m?F. 9B r2(eۂXx0bgc 1D3ĺ' oO*vzn#!A8BUb" 횵n&?G^tyPGʹש 6fVqEZ_/^]#9ۏְcL#*@z.㋦#>܂#ڲmt-#)hҤzE216f#]ms"mav;T,꫷`9= *r0t}ݼQx=YRT%ywrO>$AaJ$ XȝC|r) ~xtl15sNWP/͎*Uڲ֤-D})!e|[G?uZw.w{de* FK{Ŷ9PpI o=??Ounc֬rѰV A'v+ s>e*j0[XT c8>UvI/ G˕HX:gh+3KocRKr*&FϷ'J$98מVvW:B$mnG02n@;'֦۾Pr^sNiJ#nH~mSu`}I2܌Ʀ/K^XϙֺULa z]2!\3H']w ^͂RRX j#fA 1:֌>^?Ԇj6vWb2:F7zH@3`᪑(9z\bpQEk̄f؎)"޾TIl+3+ORV}A9Tz=)XVW^R}dqT3Vr.Yv|&ՈZBrkGz;d;57cUJyn|%SF|gҷl4aHzc6"aTa`̧̻$S,y8rR8֑$219?HJ?+g&mn'7/Y$"weI$T~Б?!9SMӓzěU*v9RfpBl@3nԹ_B1d2Z1.qY6܆Nx?lnQl֭=BƖ-B7PX:.hmX3v3緽l^yf-oҩizVPz}k)%G Ϲ>g<7?LuҐ.`GJ#JNa I89 pz99C1H#1,)`k>lzײFn8~3289azԩ[FXnouQz1jClҭY.g99foP^>e3\kҬjJpI\nd ]>懚ji3}(Qsϵ>u2P\;9>67հN9E8Lc 4`ɹ*35$d;Z]X3Qծv5;$$֪XɅN0iZrqW7;@%GJ|&F c mۘzU r5c4 nn G?9'''4񟕂9nWѓ͞?ti/H[P@Zv.~THr+0MK?avB#^:}លo]1^EY@F])ǀ-/UgkMVf8(pҘ~3Q[6ʫ `u)`wsR]pێT!pW4Ğy~dAv_]``GOSMqT$sZ|]77!yfR}b8$s:WYx!]f9O]khU2Zer92€WᕱT"1௷( 6}JF F/xʰҠy5{a}[n:1+\uRނR>^֭SWD^XgrM1- !z 戎sҎg}@F2u O n9Tog+"85zpA5C:'8'PL`~Sұ/AbXU2w`;U5`8<`栙3q *[Dt-"Z"y\J"l]^YNA8"a\SJ;z0|w>RjM1>oz?Cڭlm|f%Xf9wڹ-F&MMn=1鬮lyZ{Nn+Q$VDglگ?(sTI"cbo&NִjØﯭ[[+nYKn2;ֲhd̙NSR̹?Ze | rH9ekZV 1LCRϿJtRю>NJTq8p[G)%Nxp\u5h7W v)Ei}<ɴDr|rI#`ءgz F[՗ᇶ562W'[Ɍ8vb{gfEg`N:٪MzҤڪq5\˔vj5R/BwUY zEߕH)㟔'jꮉm fΡy yp~A;Ϲ6 [b\:V wJm88 kbk&z0{JӖՑ|ê0g[H|qǵ^B8avֺ[U0E<&3O#a}XGJy Cj?'\&%MITUu3bhҭ=,1곞u ٸ>3SS<]m}MytR7zI6>Uj>ZB7Pz%#04rOO.?"I'V\X*=3CRlʱjٲe _#һ%:p rzpU #9K!) :JYW8pit ])dȈ\mT`4FPRA"j mNzg6cnHHcCcgQkCE'.\ <2J\2/JNwE)\n2xG3`tf8;n晻s*q(|,epIFnx"1sG^cá#88jx0N~842ua?7ֽG z  zȖQڨH\Q Uzy%$,cb&R?LՒTJ񍻎m+KzR-goo!9u7L0}i073+Qvsѭ!V01"/NPsހ1אzǰ5Fhۆ#9Fh;فOGĈpFy`g֞+st$e@vakh`T `T@Sc;YɫMRQ ;~frzRWwY);8bM@ʍc$=F\j7;Eir0I|Z3ae^22j摉P۵sFѳ8jb:U'N|)8y8s5=:֨܊y·}}nC&dお̉g̪qS('Rd*#98ufƪpYُU| ; Gjz-hȇBUPm$Y&bTOOVAѪ ۜȨ4ho`sK{e!"?%]n r;T)79 {VRR`zZɊ䢂O|UVFs]y$P3Z+af2^mzۢU8Q@ k^]:1Ex>f%pIJ0ZQ}Ng$f}M;I2 ٧Ql8g=qU3ƃiTԅR9*1ŬMTZDKģy99.xѭ *ἙH)V{| 6!`O+]61\L3sU^(imcc>\#zv!F95z,<%B{r*85e.(n'vC%eV` +)95+C= qQsҷ brXq+eauw)P{g5_1aiq;I*qW[ۡs3^ Zo8f( Ā>qOkBMZFat]+/ӵMhjW{66?]Dt8rstmMrwg*痕`.2ſ8NWrsRtmȹˌOCV`r?ZHU3QR(,.=z~ѕbI+gl Mߜ 6>{ -c ۚGn~`yE} a5xwEI tqt39_VBnGn+M!eC.1t31) }k|]sqLf9H ܒW$*Zr(vzYZ4[I`HZI9gcT{`;{UŤ#i!hFKc< "g'jps#Jepx8ԹU2:}UvÞ֬EH;XFA'' E.mSFBq*`B_ BDH8D/i,C1_* 3@!8¨޸n_ζV+u٤'ٳ!8{Wc~#Ӵn}>GZ KZݺIF19?fV-!XG1[rz'$fKG =$~N\lIS>803m銚PTn#FGpy錁^n*ǟ`4̹CL, g5 V#0:w j7 z=;8= ҩcGɏ=sڄUk0!8OrSnI+|FSwWNw#ZpH")WAvѦSWMa3vqgշ5hS"5k} *#9*sӌNAWjL5chp?Ҟ9GGA3Ru+k]~b%sWT 䞦ԗfuһ0+b1~Ke,HwG=sɯ_Cȸ™U(57˜?CRʤ529HT1SJV؋J&ͦ ]OC:4dzEF9 k*gڟ)1\>dwE`)."P 0=kH5|E"wf42Yu1ӌ9O!;N&dEfnϧ 4Эٟr=g9 Vo+]†=,szWo/le[+h#GOM\cnDCGwe9i@IjMqSvWy${]$n 0Azѿҕ2 =}+|I%wZڞ}%.#|1id†cuxd 繮e$[m#zf];\VPpx]*-֥zSsaNGӭFz`9=i9Nr8/* i%N)~e) k.y|6&t%eH9<(Q# x sHlFA I%X339W蠈NA&B #Kqc5s9{6mcgy^ jR`ϭ{nEh72 63z!s95eͳ8E}ćXd:/!2yl20>lFGUIch$>S ajyRXqTLȤgD 7 W̻gq֞H^Kv2qөO|~@։atE?0|3_\au,O(bf#?˜t*1ַvSj>~>yǔlHSjˎ5䜆H l\9֪oم8<'ޚ8sRܧUHN]Ю0W$&\K le(Bޢu/v̻̚nlmu#3ֺIblW#?Fkv;nRl ==kOO9ycZ\rKd Md `W}'qK2"jeьct1޴w :|ߏs^inyƧ!h5?0sfI1AUa.Y.0zlW+6@&>`3Gqr GZmPGHNr15j0VrOz+^X؉~\P*ib`zUr!B3w ]5e˿ϸ<ݿ/35Ҽsv=8X3Fi( \?įˡPXZ^]1\cZ 2vƿy+//k};O.u9;R\5E9>21ֺ yfVeJ"h)St*5MrqAL!^T $#ҳ *X*99ܔ8';G)pvϖ lo1޳pٍli`>2sj]Zr`C g52M=:oNt2I~$2qQzSTiݳ}~x`yA *N¦C[rkj)ZXXZ![GŸcMᾝ1jFEj$#$j6?0#֧<z wN՛њ=7~~4̀܀q{zRLS#\Ԭpz؉мD@ǷU3x6x"Ucn)Y_A5./;SֻzL_i|r ?ָK]5X—//|(?{3Ȗ4+z6,UFy ge~'ּ[봐jֵ5RLLJQs'525T"̽pqQfW'=X1T3i|_kUh}hC9$goAM!W=qW&CMw%f_= 3ae jW]yA d'qW'uaw_A9鑀Ou'\,@pvr}vE8Vˌm鰬;<fY l}ԊJ.~\gW`Dár6Cx֜Y*{DcnN͌ktU{:|6M#mfRՏj_7KMلVQ[BrZ XF^2\9E7#`|nuRsGF30FObD$85押KJ"ܟ-p2֞ ^5wJr6-m|!@sv~~āzHd)';T岡$ kCԚ n,&Nj䍘IqҬF̈%ݒF G,3ҏ}J9-3.UIݦŋGj|YՂm۴\tnSȐH?OJO0^G8 |vnm ӖDo-QO;?F0I5Zxiq%S~5q{v=swWXbӡօqZ[[YD1g+><pO שy& &ޣVǵEeO;i)E;&iv_ 3,nInI[H"ݝ&9 8\̷Wte{ⱟykZ ^O!' +OUВط3M ,U49c\06˭Dgje,Ӭ~:V~yNْ_?ՠs?AҺ,{j֧ei(AE!\3 h'Zcj=9}nL 0s|b괉o97w:(OnC(j?p h#xb9e ҞaрXgiHѾ3ڳZ VnM"ysMG;n휷4fw!H9繩GlAB7g$~\硨"o1I2sO 7lIُC۰yĩ {zһ!g9;[xou&$h?QG-]+k#% >ڿd\ֺ.HN9фm, 8;q{<90Ly_ZHb1G[ymnjԕLkNV,CqYJŇ;sԛ߮%NJHUO)I&4֪XvqKM4*͎HzXaj3jWfā);BAsNSs& eqIF07g0L(ȩSP15NQWm$֡ (1#85gig5ҍ #o29xTeJ7\T G'֚4VavTpEej1$e+88 #'Jg vG"8\*'F~Ehdָڄ/CWӟXY 18]]#c5`9},3HA$Y %2 ݌HDzħs(Q5CzSSwPi-XrX)5v,)ۃCޢXI}2aL-唦p>rpGz')-|?k/^z1rwgI%_KYvjr.FE6 @Mv# +Պl ~qNݳPF9B>K6ڴ\€c"2)`;Օ12.r)5vf6!ILە=qRGQ=$$gӱZ*XbV!Y啿ǭ>vj԰ЪpbhubYezPUsM(;q\Gw*(+'USSQw߼O[ 3# XgpۿTvNJQsfԬGHUQڤ5dvy%sVRQN?|kR昲OE.)(nۊFi g(9ܣqdR{Ұ{)B9HuUx}+ G~&u]SNqNyWjpG<naa gvzr+nuց- UQh{OC[ `w#.1Y8ir(xIaTḦpEV!Qrz5&kyo'g]]&921~qӪhIG}w^^Ds͝.?C^sfi}dV )Pc>՚BW:yݐU}COV.l.W0̛XUPq]3;lyG«5psWO-SG2.8z~6RcrDCyhn+Ӯ [L tW@8`FEx5W=e%Qu<RҌ-K}H=s]MZ3&l?Z,ew\ ׬xSu:RuJ_ӈJKa3χ`$1X2B%@Њ7mkpX9+7 ͚W{T\#Tנ K3ے=@?ڱ gt_Þ)DD˸pv@?o^-|)J:kYxfNC*;|1+=ޫeum&68^JN\y9ҋ{^m~}'O\Σ2._JHnw}8M*ISۭMg ;̚SOFvӈCza6S*9̉%~ QVЕ1}x+CZv>GO¬@r:92l8})VYI.zb' *YI c气blzymtRĒ:0,w j_Vla^W q6=gڮ-nةjp1k745eK{7O^*ڢ.4cjzHvI2zv$FRv\݁ު q 7WFsP.UbraO)$GQ޹˿[B˓ JiE]Weo8>F+ 6MӜ`{`=yZV9r~eOqP3~.-KKH:a+>^Fz'M-Jo~5N_(!L"d2[/'+tqj7N3IN)>Y-iy 烜׍tNqg/) ]u?G|nJB_L3W,[&U}1J%ǤG~{`q]?H&M` )MkxCUB^Lr73X!Q?i3zؚN#%8g#N3^WD:Eݹ 3¼+Hĩ#Wͳ:~NsgG,dRsWet>%|V36ߦk dG>QF*:1cve&}~@Cx\y[ߍԈʁU?J͵F8:VpNWcҪ]ZF3UFJb|\kJ(H'gne 66{uHdd pS\u-I 7ӥ_ pFgo%FMYq2Nr{W${ >\朠I+UZdv C6$fݾ=sH"(#u℄0?b]xYA{WM<O;uKx9[$J `#=+&'HűҪ$FSu3+|n OZHp y:ЩUkFbG+ެX_H? բ7uҨ\Zf*@ynt!2KX̤,[( WCnE(B(_Xy?}J+:=vfwd~\3δ]EhExmda¨&|O|9 &~gO*Cʜ}+2g8=oACV&ilUEYaxfEx`+5k 8F>SÌ{c"vپhvRʳ pt9 C.2:?,1=jqw@z&h*q?.4~XȚ%'eھWS*+=}}iZ +Սpğgmy~a>Jv=;u3׏k.Da(ۤ# ~U?>%1Yvm!q^c$һdޕV4ݬjΞ%U>\r ÒGzFInc]-2m\K8cxʵ%zBUWGZӡ[SћHH'f7+ myB9İI-G{ mcAAW= K}ڢC""=z gQYoÍu}s<]ۅ\%nHOQp|J,ihnm] O7 ~[CKnw1A{WZ$s\94<3nl'JwIJi5$?pUqq鞥UXk=1"֪R7Aa^kB];UbWpHeB1;A9gX)5Z gP<3eP!OҸMóVW-'p8WxOKQ[n%9 \MRGCeypF0_1^sB_P-?3$7 `s9 ss /=s}B2ڸ"uzn6-VRܺ*P,ǥ7SJzq 7$vtbGZ~d9egY8-ګ+Y cڬ֕,W*ٻ6lI]Rږ8#vzKYf9<U7:"@.g`\j֞BֿSWs[z:**c szV 2۝ GMRk#B*:#Sli6溑&ؠњJ)q3I(gp)QEQEQE" 'M y$yԶm4u^hw%F=+Nq4}#E\dש|ZrҼP4kgt2Iq#ttvҭͣܯ<8=*Lw#N:ոro$桖3g3I_C>@z>=.!cGhy /~jmβA\iy66#s^czT+.7R%Hsyc, ݘ }=+.mtHVDVe|'rqI% >Qf5FzYw.ў=v9H F Wd(*Mʳ,^^_KV<-Ri 7Wr)vw$ZxZSoaʎ9O{>4X?}k|ITp~U玣>E7n}Esւf6:u΅~Z-B,F?ATV)p DskOD&Q^w=jRQ,Ai;Wheq^ (|U<1t>Qbu^#Z<4 .zτ>!Y49u <:K<N-(3M:c5MͭEɀo^s]^xu \%~`W6+)N;PJ)Icn8*{y|hx^֖= ߅k譥̧&G;@?N;߻ՙe!8#_C)ÜWc~a?#9O463Jzgc8LVW.6 v;TYiA[v,zʞ}d>p#ێܕ 49+ВW+^:n$yr檞NiNytǠ$M\QP8@h9bq 2cGM (((3O L5*m})aד?XԼ4ZTsX'njMs#B\W#9j8>­02H+U4޻sվO8Wc# 8sU*+4Bnc}!d0N+ĩ9W * =8BJWQM}s஠wqd^k kvq3^sH]YěKB*}Fıq=3+Tc FA"moVSp1.m}mn䶗c d96ETCU'# XyF\CNdkWPҊǵkYDM3V:ȡPĪO+EWi!EP "orcִA VU))Gr_q(zӵ:Wkk~zzU/Z>f0*^zurw808u5e!ue ⣐ge0x< |Cb˹4VKD5jИ4l41'7c+lZVF;3]+7ytcVubor/9an,lHpzU[R?OkYrˌlng8xgksKޱ4mdovb]>WakԷ6n<85j Ee[:ןASphUj|uV;]qx=xAɩ_.ۜqw=LC{W|e3]Qx(Cdzv~2MfYOq+hUXеeqvB{bӞ+ap?ʹ)4lE*$|(COHW#S&V2[? j^+*1LZyɨ_1r1ޑ$*ĝtAhp.1"eٸ)?};婉RUfbN8p4V GBTZ2HIqoji晓A((+> 2<:4CָNdz WRcg{+gWdl}WEVN(Ɗ `JUVC*@˻Ԭ:>*{x6p:U;|_{1s ۽ڻm\M(9l/$sRW!x$z|m˙(U)F"GɜVEycziQeA PsTwG 紞c&G 8+bKmWv;W-u0a8ܼzU_ iԗtmw^^M^j10^6]j _.19,^qQXW[xr1%VY[ٷM8 h#A|qKVK;Mu1@m"OQF0"3I^js0QEjEP2BVxʶժ XdTɺC -p1Z2W*z\۬v6)'̷/IT 47-l+]dY*s]X|R{è$(PH9f̗v2 }VVUi*@$CU=sD]17:G!ǮJ[)f0@z֝w#?Q\\Z]sɮ-簺kkro!!:/#B!ƼHK{kK_1MwHk6Y&3yX:]Ϙ!+>U_9\c8zVnһeltRmYJ5QQGNj5q% 0*HY|?Uc}GAoTW,cDGc:ӣ "䜓;SqCJjVFY1]ї6jv jՖ*8jDfhJE&)jF[4f]Š(@QEfDhJX761:T\>b=*hc֐~2 ƢDaaC)־.EhWw^<zW-nnN(sq޲39PFGZ5˰檬 :>Wh}SN[&x/\9=khl3zՑvac\UpN 5[UqֲR /͞Z?  3Eb}ȍp8zCԳ))q^[0QIKOQZQE`*y^X9?'bxX*4*xA YscjK2N1ڭ<WV_ |Y2ubCq%[J؊U-uP)>Yn.QQEwQEsm-nr1Oj҃ƭSq܊nazkI qqM< n`1ZP̓GϨvERwGDE">bZ%:!GxË +C=}6x"(8@r98H3i$[}ޘ֕&֠GrdE;ϵz0Em A,p6(EzXg܎u9v#zWUWFұWw>0;'J ,G*r+U):3饶,Q?NKXt$WqZo:nj:.}GOt5\g8"F\>.x:湰 pr+5 =TW\W!yX0=+5fuUU㹥UR$c\bA:;E-da:抍i5o oưĥwGb90$ fz@ʶTN$1Q&*s炐EbزR NxE'VU1Xۗc?{s:>brv9->e#8.w9p0yt?JXɒ',r9)rCڕ>dț$uvVc呤oIaTSs+la3ڮh+FcҦ)L]G(.}4qSjrN6؈{RRTs5}ĢE;< xDaUaW p:i=ëuS HRJ"7YCQFѰ~f==jGnSYb6(\eltz_8}A*3^qq88Z4t6wJN,zz~=PDgSһ i~KrZm g5} ^O;IA9{Nj$Tc4{09 yxH|kO2*+YW]O; U$hH5-͚*z̸y8>1ܽlm=Z"qYA|nd'$s3'9$gW iGC{b-֗{.qnfec?ղH 1lg5U[kInHAwTB[pֲPEغr"ʟt}PVMBRG=Eh.}oF(ZOs њ(% QFi*N-QZQEKʏbTN [<OC+nf2Z$AӚw|&[RV$R(h&K܇]|NIh$(=ֲe]S-6L֣XeOQXԥ;*Fϯs(^Y.WtkAմfkw$'֢:ȁOC\JumO夐hw7S\M]e6(\ǹ94q](d9OܭssiC2q VF3E*"7W$iZ-,cˏR~XR&&u*78:V-(1žqj76>m J1p'?rZ\?oU\6֭yMĈPG|וZ=e-WWPiS]HDcWϺ5h=}MoCo5 VVۡʟsV|wV6OD_2DJ?Mi¼n \wI Xߖ'W-6scs$)Fz+=2^Vδ^ӯ3@v[nHR]\.INH8ls՝By^F#PN2@=)#-vڪ;$N_dJZ3 (4f+ S}(8ϸQ[QETrCT=͖0vpڶ%q. zZ4+"uy5;Η N*JÉчzنqpzWM M,EHQE2W]zڬ(\` (ͨZc+q/U)4;m>;8Vxjo|XYlc~sg׳oq!v> io7e؈u;Ŋj=L Uy{ 5%\߰B5OJ|;A#Y >pߡy}?J6]N$12u  *֦X\lEb 1$猎+6c [Ɏ7?s8?]xsw[^*&5qw֔d$c簮n^mY'Em|5b3U1Y6j"zտ5oib1L.ݎއ1MV-0xVM<(;QE K(O4fEWJ{QE*9b.2RQRP!&GRRW9$a#?R2+a]|&[{Ե vkC0IdQNQz$ $\Wj$hi7:3Am]fvmD ~}kmB~,{ kccɮfzepySaЊJ||ڏHQHE]a4EV3Dq=kMs)/~^CU4=F4(5[ÐZ]ݜZ‡WKve4iFA"jzӁwB6x鯩hϻ%.HQn|0+I-\vyYǰ]B1V *+GYx:;2Oo>SޕF[5xm|Kt\> 5њL"1azwmf8m}c`'r>->.m$T ?aoƶ{;LW^iJȔFTm%ynhMFi<ǔ79&rs5dϷ549RG]{o-ͰǨuzdƲpWҡ>">b%I ,Sd}޷!6XwCˆqҽRRo(md%f-͜` cS뷔!.anBHHJKz|ߎ7PhG͂sTYzsW:`5hBvӄdץLH AדL1ڪ7#qS* [FHXi4j-.ɥG=Z \ ۿL-zn!MZ-F@A[Fޣ_1ƣ;nkf+q#u&%a]ۭE]{γ$D}uh 2_'?O]eà$hbX3zҍ^dfBƳ;fێio+) G@yޥ,. LU@u,>tThh'ailRF}*dm@`;hO;EHҴ,(lb3ޒ=j;gRkmC4/:|LYWЈǥMo)Lj?/x4rUØ;Veƨa]reJ룄3uNۖ 's֨y[8LL'5šu&jRtIssS,.Y{O`֤nhظʽX҃$-<&ne_2B?ׂr[AI w?bu;7ĺ YLtGp+t/ؒG^ZH!qW:,ӕՙVƹi(,cJ<93kmGM͌++YYQ(QEwy62su<7wRQEX;u?ԡ8LKUӵsR<Ax[FV؅qP >!SSK'A,2`qX⫫"Zct )5㫍 ynX~5覞-4=+)2GAFMfWн+'i aY9wɛ#Gϸ$ke+pП)lŶ辵fHLeEb6!\IF n^3G}%hp_Zc`  Gz7.W3WQFJҟ-,F=F$s{W9Ǩ'ONC :{]{GÝ%_OO^=zrW,:ʶH5}he0/"SKmr71_\ٲ;{kܣRqXunx<,n٭=ONx \Gj׭ )>; &G4بGCSGGJg7 abA9URGR[Z1ƃ0}uy]RfrK u#]%i.E#LjV[u_)^G*e1uZBE3nT,,>fNGȹW$zR=9cNt玠&1=7VcQZQc;F<yX֣NJѹ~]+3*).=ܧ \t>߿# M?hB+==b5Zs5a;N].Ydg|&Gf&.~ewqԵ5R-;2DpVskS[ *q:WI& o%G-֣0Enflֲ$- =\F PJc$v99n$TfФy9V** +8#f$zSl|1j[LjUiz5WhqEin (h(+A֒߈"3$y!EGsҸs^SN[֗D%Q]'=(DF8DcWχZGl[`^Kɷϥrק흥Ep{4E}qR+{Vܶ-QZaHJ-.)3MQ$ķ0/["yXz{.-7;V]/#2 ׁ8tJEm@O6^Kw= pKԑ^gkJKcNDt.Ny'&,xv.~bx¯pGQ00p} z*SmzՏƽUSc+` FE|g:Z)8u$R}Awn[t;SҖe+MpH~j5@ 2}+k|޵`sKm.;(RX#F1^aSGhu;}bv"`Ԏ?5aaWpS{UwMx{ux^ ١pkz5 pGU|Q'8Cf 6@;~v4zzϝ`\H+q= #HD)z߯?`0H^D+$FCtW$3E*>1T!QU*x-4g.钸kֲ]vJ3Z') p22j9޵ b)rK; kIɖBq^XmVxL]Åq?zWMq4?yy+uhZ76k|Ӯ;כK?f1W,8[LC*NV.b֒+&/GYQj2zm-6si>+CH"n9]Q)pG1wI;`a >UΒZWzn#Khi8;,5)>gkծ&>oZa+)ػ{46P1 g5 N [zG_:fg]edH[Ԟ1[Ι˱W-Gq\}+ 7K@-Sp#f?9=1lgڨ\$1BeҴJ)ߘ,t]_Z2 g.Ԗ}W5Ute`/\\x(vhl ڌqMay޼3bw6W]c^序º[}""E-#XyL^<û\1kV2;e2a;ⰧM< ʼ*G޾[׮z8MQ9?NBMHC~ex"U%WgbIlm h j60ޒ.bCZ,`P@ֺbYxS23ks|+f8!#{F# b" skj-w`X*znJfω69*uuOOZVQFj(v{S <}Cws&/b)7ڝpB=(9op)}EPEPHT7QKE'vi1e*W-Jv U?:nZ%rgWXgyi_rfMnHԔO⮸dž'Ȯ~͒QɭGٽ.W# ֭r>l.xZUTH-e9oLzT;ʎ߁^r3G\LFE_lg+zX|TzT,JG[V}BahRH#z}$/EᱜRl\k0kd)!<Z*Qpm0c p Zy:lc}Һ?G;ʲpl tKMjxjO+ĖXNO >f)wtRJ(n9VW'kHAvn >@",l2ZFW4 jZrf1Wj8l7Vd?5߇~Ϧ0ZnD FOJ~k=gLad 8ϴUSk+s[zO BV/It>ECO _=u5x6^ EzyjWGjA|r|61*>Rɑ?"$n2⶘n`Z Ia!H@F:i>&i?oEz+,`}Nfk+k*>Q#q_Z[CN;Ցs~i_yclrnONg}Sr`K Mʱ})l|$HYZ?w ŸOZԶ8EH6t)+3ѯ$B>>0Wwt-7/:ӟc!D}2klsq^v:S] ohlM&q=1׏ƹ{Y4-H.>F8LWg"KMNFqV.QHzFVMst{qR  7(Xpa]Gj&g,0 a G H298Wt|H8ngFTVk1"; Z0ܾͽz{G/$G:1AT!QwSUH.H0n] f= BV0' *sjXiS ?hhG ڪGp5j mTlR3QvI"!/Zb;2'}bQF26qW,DǩƽZ.Fh[C9oZkmn"kqSζ.+zݼdGNNEq#M3?RդcZS;nծ;ǍߥfL޶m/clG5BURa Yq6jK:%bX [v#FqN f!r1ң*9KyU l g^Rq9j߹&KW9v\luva^:];n~ɷ?.Z›3i:!T㩬I, @ d9S\1 m҃:NzSSkd+vpJIنǤSaHE%gx~Sq' Jѯ.e`+QEZ)aָo v_jm]oSI'5$xuM.=Julw35?w%>fBڑJ6cMԆ^lbnv5rԄ˖[Q`ѵ.S.gύey}E{o-+cڔ /5k4C o#g\{"d-pX Tܮ:xY%=]Wm/U\fֲTk*v;/GMrT+<{o0CX=q׶)f3:3"Onq~b1+ūYk^o_Nmu#EX +xfSDλgUCsW{:F&3UH!6< RG~u\*Kri?medDJԴfB`~abdzZxh)>~Ah> GUfы~oflL FÃ]!Y㱹\7[=Q[>F2w)kҕHrG^-~k!.A9cחDty^u╹WkXT\8_fϤ1<[޿yFq_oC aF=SҴ|?3ҧN GsYod.m.t:/q9TڢǧZȪ0o+GMb zv ̩giu# }krN~s :PR!+u,|Ъ? 9:St)`}:]I|W\FGUy…y+eׯ)UR7_V`psWNph:y>O.>>]RYoWBl\Q+U%dgج{ *A[wcYk'v>Rc}GzLe`1Wt=e* wkqumi֥qu[zggRNj.ā8]M+a}+niV-HS0V4#o;wP٣L+FJVݍݜ~ZСf2sҵdױ5硛a[)ֹo6ZSN$NWsvW+E@$e^n.K{ cw)B&F@sֹivPrU;885RGcFVfurp@ҬE1ۃTo4cjZi#9PN W)`9r*@H͑we7XLAF>OZS]⏲h(((()iT8'eJpMh-߽Wu#*x"+Ѷw2o"2@=vs*J1C$^"] >R֝b,=arr)=;֬ cvV'tØp斘:F$uu Z>z sV"MUT֤E<~fH._J>5Jt :Ƽq%&#g5Ê;\ qƞ̣}iQLgH֏+2&K)_ζ7=֬5W,ֲ(2Su$xϞa krIg=sѥ佷ʸsa:u5kjrVV<GzҕHMU۳Jƽ*ϧDl[Wkn=IU dtMa*nkRFbq}E; -Ψ3$Hڪ`޴4 [X<-[VӋ['PrN bZW9]C6w=K PfYe21i[?{j ~6>z@4qv^"y5i-p[Wg[,Qmqk r0UmjwIoIҮF b]# ܞ+ּaz;W;m냚 v WE&ONMpb0k&ya򵩗v Y m+񽿗ݜ2czxiL̍ IJ;cu b9#>ղN,B,YMS9Wϵ&,Re`s㔹ϲ ( ( ( ( ( k(aN{@ӭC4|dU4PVP%- TS4Z(5q IUPID񌊝]]~S,َϱ$x3^pհm?8kA Wo \uiO?W.2pb" 3B{K<`T͍‚P#mw^Jvэ0_RZhMWpazHyR8~xbtvY xl?w_+ёUQE{!EPYzyj.C`|)v)AsƲ5Zte-هu+5gqOjM5c%}0$N2v<Wjb\V!hZ=?^֬mĂ,)a!9{qU|aZ[s3:5j/eq fjpmo!QlnZXlL`MpGcpsvGlͭhW~zYW:hbKoߚt ~xGJvl>\񾓨|6uUZJ\繕Ph׏ʰU{d#4c}TFr23޾yteϤ˱ܐ듟Vݺ&eK[OʮkqC\W?޹he9Zw~YY eZAh :֭d ;g}z#<ҥU%jR7פ=k-PIշXn $g++a,[RZ9)ַʶ <bѴMdq1W`c m+6cfaHe洵Ýu9p+6; rx4Kkg8޺px~9e7"@|U1KE{p|&V#g+9\?`ޫkn>|x6vLӟ°2K>$gV$ ok;er(3޼Q:lA5\g+"+nGk|)Ny>z!i4Ad$kWuI\Q3^͠QEp( eQEQEQEQEQEQEQEQE5+R`nȮyS))i`r^+&X\?[Vm3FxqEKss_k.NBאq+⫑{ohLӎJK\; xK&U8~ojgroHʼndGt=ܶa˪r:ָ++ OޮOki+/3 0{V&7VrX-!.F>%kXݏ#vZڌaE9m}M(* kQ5bN "5} N Ÿ1^ީk3_ 0#<'r=OGjXDϾ[^@xXe /ʮ\zwq!Ǘ{Jol%#Zuooh$kϼEY$C}֥G*n>y,Wr Nxak^vz\^t22>eqGLsֱlnQ߼oȪ4BA=0z~GVVe;$KW!`ja=լ>Z-]J%u=RԈ <{z~Pw t=C$^ F lƷb trGFSuƛj! y u]<[tRMfLn985SҾǫki]FQ}r2? . kAGNW܅p@ǯ=iӛ= {#4ʲ}9 }MsFһp*s=qI kMN߈#9ǨUu ɯb)r=5 zUmVMC8AЃ]W5Z5J*OxXW.a[v`i7mdrxO 0kxBv䯽WtcY3ܱ+ʣrj}kX#SxF} ~s-qle{V:=5Ɋ?tI`q+t+ilĎ31Wn?j$w5-V[m.ǟYl(I&yH쨻^5.U8z]nP.,Ne K4܎Rv0]s,I`Y }##UK|+bWge:Qh21M*jcGjC *N8.kt&0F V~#SlФOjFt$vU SҴa7ˣ1мc7ӏ** -Cyj0irc Zt M>~ƿ+D05hbeoSG+ is[­km'rթq[ q.?[hJ\֋uqkѕۼ_[?Ier3mp[."Im7)SI7zby TiA$'8[-Q;ٙ*ψ<-(0`WXDyk%;XB|ʋ;} ??Њ1iNޮI$`6x tA']K]:t3y' u2c5/}I$чJ$ݥ?s)er{U>e\}kӥm:fbC\s]h#wO7" o(]GP+?mO.Y[ Ԡ0܌tWttX[K3W;!B2*`>e+LV 5n^*yƥJ?'- U:q '<"FG*[ȍʐOjKM:l3^(#IdG|y,67?`D,ex޺j}9QEQE0 YL.EINL5-;hF:V .~y*t?Z5z%Ԟ(}8VN2kOP0< {5g}U's~%xaX^.dG#_JDϸ0AU02j]D8`=G|'[e,8d7gW6~+uѵԀUֲ|vqIO+JknvrqTQE{'(!< ة6}ET]NŔRc-U齤g.ShCkU!VbFAE]QEQEQEQEQEQEQEQE*kmMuU+bHW.6*-٦$U)?Q\u_]CSi1$qu;H? <CEi-4pNF2?3^ )):NGn%ammSyV\I<זxǺ䙒Ie qWHu]FwKMɻ1{ڦVW2|qDԵ:]Ztrz?]ve vKrJq8 %صce!. O]zj-k1Wve) $futBre+2@|1z{W[tvycƴl55{=+EܜzyCv˷@+xaX.psH_s~ sҨncEH 7`OwgHO (Ⴉ)E*sV֗7j"~ t6- /><?z-UP>78^R橩S̬$tYx\edOҲ<:ll(?RNzu3jLC֖GYrK lm?QK'J*|K|PP ?cc ch)Q^7YXd^̬.|ȿtAL22{sRj\.yHK=#7d$8sAL9W(Uj|ɜoq<1>2MGH-D@uկ}Ph8Ck7>6+H5JwZ/AAPܫ Na6u<Ĭ#cRQEgن3NB6Nc5?*pEG,I2lC go(F'G5=Ea˥e++n;W ][֮J_pb1Bx8+Sl}_s3m#uwpϘG-* FQJh}i"#P=,K8xgt'j>H(dncy`H}0kZ5=Q]h;}u➄X2Myƫ6pp3޸qA[p1Ƚ'ENsjEWNx$kUH(9:H^[d0Xgӯ+k*|Ʈ8Wf (Z<%sI3䠌xG}WehWNTMCӎFsM,oJ.ѤLg%>V۔lxL!è[ƭ k.T{VzI[{"S0kZz))\⒳QE URFI8WE}o\s K\oOy80g?ooh gyWM[&T#5{3fjן=au3skY:3"n68lcqI]#ԣ f-գ$}Ͼ<=i.  <+Hݸn}Niچ>~@X@ cb@I #'?f;Ec惁B)%S )B$T:+1UٓǠ#wj~(M(?jwy;ۑZilzg,ZZOq6s-y< lO#'ڞ ݷi[Ic❏ڲfOY_I?J >H'iʬq}+OmW*'l' L^W)bzBTz!*]3Sw{UnL?ٯ';ȝsU,MN7z>a,o,kXn!74lٯ#arwU Bv0_0yϮ*vO>iO"\K |̃zTINvqU2bA `wTR{/ǹӜt]4-oRyuju'Kg828wM٘:ѪBA䍽+u tVn9h($&;dnblg #V%^~5%֗[܎kJ]7 bU?ec,}5L-lj,(^Z*8q#`s=k<;MUMN(8z玞Op5 UdȖɹqպ"n=(չ+>]g zWG^ !5^n6!ݍ|mp@U凥yv;,@* < 0|G}n5#qۻq{WH|?q[v2UVQmiߖ oO Yj-̻fmW LѭIldI##r=>wuS7 ( ROfSj-9G=*M?{cթ"Kv\Xd5q֊ޔ7u8 2qGT(n]y49QuY{ƽsSȭܶ3+^Eb-wWhms^sl(ssvT*yV۹Hc Vxҹ",[vwV ]{YjTf koaJrcѥY¦ͥ"sEd}ݘzKuk`SA[m+1]峴gZܷOi gnFqVn .>+RGE3M2g*ZտJs¾WHƥ7{Ijjb'"}Ðh>7W=d2xkt #q^R735)#s@qn^}=j%?{o9bޛr1؜rʋFQGN`9"Ÿ 'NwXch{T f9$v3/⪼3ߏsR4۸m;RbF Jaw vI'҆X1hlV87RLrxU ;bpO ϭ; x`"hn#m3~+i#Nh; IL~0Ì5s|}OX,g#hKrI`F ۜ rɌحIc!d#ڞ|q ~b7)'֝~}{a[ 2M O`5]P2 gT=4?;gҝ$[Üq)7q x5ܛ qNQyr֜wldg֝6Iq Î%]=M?z\*9-үzS{v}+q؞qFRݏzNMza$m:f.$W+s mNѯ>\w &g#ߨ>3"1qcMbR3J u؏6]nu 43a7#!Xg;yV*Gj2y2~HR= | x}=?ůpJ$S\d> ɍ!?I_mɧ$gv{{tN~9S,#2bo;z4 Naݴq+֬v29>wF6#j찈q`1PI*q\Ϋ]Oc=nj9~[l̻b\]H?.Xex]7D#bG8 ˕mqg8wM3˨ c ~lw|̪W(0ރ?G9 jFlO6saaGbo|q:؀nOz`3ṄP0OJbYvr8 9񍤲Ta՟<#A0'aXdU* -KjK\d}*, K - B00֝+.ܼ6xKeq#tc===)ϖ@i(WK=hsy[tj H_IH ')[  l~O~>\"HO]& Hp'#1;7_?6{S<'*? bHpF>S9y?Z 2>2Zٔ8J =(vd8E Yvz7pi})~SpK@Tܤ90zoʤ{)'(C8SzUmzSPcDDdj$xԒ23iw3zJc Vav)×!%e ÎG9¦֤hcMl4*O}?u0Gd^mxrU氬opv]"лݨecmP|YNzyAP6jI2}Cs.ݏAOP۴5{>G͜גZ͸}XuZcX8Q8=E֕qmvʰv!Kn_8­6ck9Ԕ,?F1dv1A8fn$@ 5s dkH +5-Wtw=ue Y$Vat*d+c8itaBz56m͵؆Jn`IH0jWLCo 3~[C=1^cMږi3צ:Z c' iƯ+G})s3˝5h'׊Da Qd2*:?Fǭ'?{M66_.Ez?ƽhTªJR)ivb4 }*(#Ӑzp{UOv[\Րe.Gjh卟ďRfnjo1,8{OXaK#/-޺Wʑqb|޹w>aւ99!'ذو|ϝz{&#) #vfܟs^.6x-\t#;H~E>XQUfhtɶ}H1KhwV*0FJ}+s+Ii\ѷgOzlYX$`S$b<=r:&5Ȭ"c۶j rУ'"m4?@OJ*H㪏=# XXFzu_GrXVa.t2K%)n`ua 3{KmG&[& b)Jd} +&.ic*~T7JwyVI=)޲?w;G|fvxݞ6cBwec$,:6ibRw3t1 -ʜwǏ1R)ݣ˳0N*6ŒmHqs1#pNp", })ƀ 拓a_+"ui̧+@,f] "0ڤTg Hi0q֌ HNM5€;ԃ~yfR$=)T| rG" w3cJNi$}BK'> 1)n\l$2fNFzBdޅ7OJ\q@20{T0u86O`Gʄc$uM#2D`\?qOVu>iy V\L.V2@8ryȠ cA'#FԂ4bVœV8v#o#*@p>C]u& 3BFr?*mDԃƼy~4p^G򤀣`:ߜy7[.m$[ m*c} bE% z6`r& + cUF̲mb3&*㢩 ?ªC!LS[ߞ<-v;Qp_q&uY*N3Nx:W4dc&9bwd@N ̿|؞˥a؇/sOU wjhh1Rb'[7<: Mpa7^-g>n\4+54% 28mcoΰsRhgQdª2AcGwڬ4˕aSGnm"h9+/N?^!Gug>[7 &Ox%v^.4q$nUkٴ[z Ŭ|M 8ݡGֺiЗ)˺`=9>wN rqJ%>:G1;Rt{ E|u \eݜWxOX_𵎡*lԬv~pH?ҽ 5D9qQ6(N P)a9 xd;|sV`tM֞_;r{:0՚vbiV0y]C=?F88wx_kTtU\]N{ÍŇ'wbi)&vQ7sUl^ݘ& Q먴h sQVqƱJQKby֍ꯩ.'_P/ObrYz4yjySd(F@1BnҰN=iۉP83_>[# sy/pG=*U2aի"(䁓Z)'4DF2fLmlMc=keʷ2#w\9<`VhIk6m^HI;?u&ç~ºO`25h:pUM#Js5Lo|O֙6_=vݲCn6Cs+$ԩ:: lsд}MJUE9bzj!+./+[ /6w\sҺm;Ñ}<ɂIQaᛑ6n'qo[8}=[*R8tkmR&*56]"߷e/3bQC6w؏~8pđF:$c >EztBŽF(AEP8yr8'Ў߭KH%YΚ{0"XG֬XQLB69sWbQָJ7:*asVVgkt?[]G;=*yls>8Ҧ\$f3zS{EkjELocԭ>7u^k3Z w[Ul8z -֜ #|uI$n be)G9>IjSFsc銿9+?Z-卷s9T"s@sӽ_ OpIҦ`~z.*;MC2K4wu;+8McSkft1Lr:VMЍ WqstĨPd 9V踪~f#3qvy]2+<#y b1U{:}ld.:s.XWIsI}WMW=2(J;EKYy?p\3jjȥx')sT\ZE/m7Nxq~WFABAG9ʠ8S[NVe!&6UQzޔ̍QNdH[TP! շp+غ94#NX|?3RF>b;InYS'<&2GQ{r-۹# ~R=*OW9W)bne j=q4CpO8eJ0A܏$n?٥gS) wJϧJzlMɐIi+qHCʱbcN±X)&0Upl 9?E (p@jCͮJh?:74+ǑP-@/s cҟ GOOZnsZpĄ8}0s})|TҞFg;zҸ 9# }.ݨIC gˌ}PK{JLr_}0TM>;''(t#y9w68?|F?:i.wκ4cS.JKWV2 *Ooƻ*0xJUULdeGb",kTRVGŠ( )]QE((} æpkQ_Z :IPMm,`f~mliJӆ]kI]Nue=IԝHu{RvxJ׫O.k-euro }RMٓ)[Qi4^XJ]=Bd^o.4yb9cX#ے2Jt2z^諩hvŦ\O ONscAm /^XXvT6#xrݳT;jw*k Y9=Zh#5^oa^:ִ)UCsEV$ v]=v3wqQSzQ+Fxq3⼰unvל7+!䎭^t3.zytT<kAExYh1W/assͽgVw÷+Cs/+AaoJ0S {(m$*DDݹbNr ( W?*̀&0Hܪ;wSHK>R0 d(`QpO#*8c=14r`H=B9 3ҐXrN }i$gA#8\`Zf۽0碁jEnzġ. +*C<F3Hc ipco_מ P #9yB@\v>kR(l1vTX?+[D8+VSB'0`b2NPUh=80V,1[3]?c88o Z@$Psqj}Xsq L҅0hg$ ~(Tϒ,#NCoRzg5Bh[RW]ہ SVY@FE|n*IKf%nʠ@8X̠s4pjuO'G&v!_i0=s[5`eFnPxSdC2w Tq.OcH{t<:$. VRqiidk q5iKvLyhy߀W?nRf"e[Y_iÈ\ sQ*(HȌ >xCKm7Eү;@ߩ5Ե;}"9NLchm!)`hrN+Ν ɫNǻjEjFj̲n鷯VZ"֌|t zS t(;Ҥ[A''<_dMqqsc7*zth%Qi VηBH;+ r)i&gҺOPxJҙp(ds=Žp/o'_$wLzgEl4'sה6;-F(FSUO|5ohe?jޡxJϒPEOu_C`kC4d1&\?Z%⻌$ IyF6(PŠ(Ee(ˠs z/o'( 5yQEl (563Nr|GƖ_>2< ӵKLJ5w`kɩx=x}O<\[cjǭf߮2,3`dtWЌl_ʢ[8UK:?_qPx^HǥuGL 621WXADq;qZoΦaRJB9b%zƤElr7֫یO&Htl5Z$pהXO2+}gWyS g ?\P7UJNeS\-Ëq=kq"*x#Lj\Kt>bEVҔޥAFd]~P $) 8ڦ21=`QQp==0wK0F`.B뚞=>RA+N s+nrk,0\` ׆Q ’֞Kc-JK.;8"lj>0U.(%•ISi(tVb9{iw3WN弱t@?kYٳ_m#/!skk3p+=5 V(k;*s^s|[`/2tU?N =Z ge:O BO5sa5ăֻwul`Tn k#̑^גHH(8VO#I*Me~{[777A]D:J]y#qP2Iv 9WOReT,䓼}kzT*:?J e|}jy`2SxXҬ|?nkHR8c7u&:`~BstơxKJԝ^;YSc-6{ k÷%GCO*_`bi.jrGG4 GC>gV=F3@||.ˏS Akh زCCdǭqPӛp/_֚KMYR婣=2R䜕#jۮѻ>:Y\xC9MW+B b1סS's=tu`?htؐĽ_[W9l J%v}VfCxW,ݲsu<r;{&.Vo͵7?L,L,P_څ5 Sʼ᮫ܶVIXv~n[ÿ4Z\c'++Ŗ T]%=cjh \/0*Euc&KFs{wmiD ڭYs7ZS-FAk =]W$zy x2 /B^e?4;f?Z^+5(U*.򥛩UBY72ޕNiq_۰T21CkZX|ōcuDžuYkС]Fܺ ,>27Z3ވ #57x4~^)OF,}ٟz@̧hjPzj+;u'󦙥c,~ـ9*qMX! r~a[SͷV+~ѧta\.{ىvPJ!s sǸgyTx&y ֠RO`ٟJxԣK"RqқOZxH~4 8%GC5o\҄9#֘bd*O=8r~xjELf\#vphkfG<x)to.Y\5fZK0MlASQ5=%Йa+OYQ:N1kǩAx٭[rEh?ָg)ҫuN`ί =ٚZ{IZѐ;1׾k}r$'t?#c^P杈s$5J7 p) ;!loxoQ9&/y_=PGdN^@fȮD0W4b}.I t gtebDPH6⥍0.2i]OW5yrO#4OoON1H3$z?_C!Ԣ <6ހZU®QGAJp@`ڒؕCI,Jga\O~GlWHEȱA֜lboNjķonc^9ދa.[(}קt=Ƭ7? fSƸ[ՙi9 wym_N{!}x:5ŰFryֻ_|G&KYK<5*sw_;kZoci(ҷ[p42eO#xN{*ݖ%q,̠\;\h-,l2P 2Ժw\ݿ#QY#YQ--;G>Nt( 2#76F89? "&85ՄwF$Gmk 8@1}+]ZQI@ҹ i:G4ȝNAA4tfΌI&/*iEٮTI+{ih[C1ǍyLj|E(Bw5<ȮRAYK֍Sn{(EH+lXb1Lb4S[bU'SvKi#1*d#7`p?tĄ69<`Y@,83e;A8ǭOS ʈ|QT|zck٧#QmvC]:z(c$5$ں*YNOhFg`*IZvu=`ӾG639ۂqWbd 1Wݢ'sRIG"VQ!U"J,O'z3랔è˼xs N(k nޕf/w^ֹq޽T m B$tRJ ];@6LsX້.b&E\z׭k=4vЎ] j?sDig|:ܟ1vjcxH+sPMrso>k0LУtRDxCroe.hƞL3ےbh[+*|`-kFQnbM3E5wI6x$[qرs^qCk1Ƽ*(]7Z[GQEGlEqfYa,kȅU 2+׾z~s hNbVnäuv1%9)+~#Y^W- z4qO C4I,m$P~ |-/K?o)֮,F WJϹ:7/ usqx &7Ne+ 0'ڔwF8v^"յ$k=6)+TiQ̎/7XI&㏔t+M;:+]JwA bC .f&6](4fnc3FhP(nۀuonKQ0(it+-`K1V' i֖rH5BXF;҂ȥ=iur{0*\UUFwvoM¢41R.k=:) GpԔ06f.Rg&ڻn+>|jt4ORC"u J3Wj#6f_.{kcg݃m@m\`Mv*d8nW@Һ|f\2kF qZՌ'!> Intense Emphasis5\<!< Subtle Reference:D!D Intense Reference :>*@:!:  Book Title 6:@]NN Heading ,x$CJOJPJQJ^JaJ6B6  Body Text -x(/( List.^JH"H Caption /xx $6CJ]^JaJ.. Index0 $^JH>H Title1d@CJ4OJPJQJ^JaJ4VJV Subtitle 2X"6@ CJOJPJQJ]^JaJ>@2>  No Spacing3dPBP List Paragraph4]^`LL Quote"5hh]h^h`6]hh  Intense Quote(6$]^`a$ 65]\R R  TOC Heading!7 & F]^`<O< Table Contents8 $PK![Content_Types].xmlj0Eжr(΢Iw},-j4 wP-t#bΙ{UTU^hd}㨫)*1P' ^W0)T9<l#$yi};~@(Hu* Dנz/0ǰ $ X3aZ,D0j~3߶b~i>3\`?/[G\!-Rk.sԻ..a濭?PK!֧6 _rels/.relsj0 }Q%v/C/}(h"O = C?hv=Ʌ%[xp{۵_Pѣ<1H0ORBdJE4b$q_6LR7`0̞O,En7Lib/SeеPK!kytheme/theme/themeManager.xml M @}w7c(EbˮCAǠҟ7՛K Y, e.|,H,lxɴIsQ}#Ր ֵ+!,^$j=GW)E+& 8PK!Ptheme/theme/theme1.xmlYOo6w toc'vuر-MniP@I}úama[إ4:lЯGRX^6؊>$ !)O^rC$y@/yH*񄴽)޵߻UDb`}"qۋJחX^)I`nEp)liV[]1M<OP6r=zgbIguSebORD۫qu gZo~ٺlAplxpT0+[}`jzAV2Fi@qv֬5\|ʜ̭NleXdsjcs7f W+Ն7`g ȘJj|h(KD- dXiJ؇(x$( :;˹! I_TS 1?E??ZBΪmU/?~xY'y5g&΋/ɋ>GMGeD3Vq%'#q$8K)fw9:ĵ x}rxwr:\TZaG*y8IjbRc|XŻǿI u3KGnD1NIBs RuK>V.EL+M2#'fi ~V vl{u8zH *:(W☕ ~JTe\O*tHGHY}KNP*ݾ˦TѼ9/#A7qZ$*c?qUnwN%Oi4 =3ڗP 1Pm \\9Mؓ2aD];Yt\[x]}Wr|]g- eW )6-rCSj id DЇAΜIqbJ#x꺃 6k#ASh&ʌt(Q%p%m&]caSl=X\P1Mh9MVdDAaVB[݈fJíP|8 քAV^f Hn- "d>znNJ ة>b&2vKyϼD:,AGm\nziÙ.uχYC6OMf3or$5NHT[XF64T,ќM0E)`#5XY`פ;%1U٥m;R>QD DcpU'&LE/pm%]8firS4d 7y\`JnίI R3U~7+׸#m qBiDi*L69mY&iHE=(K&N!V.KeLDĕ{D vEꦚdeNƟe(MN9ߜR6&3(a/DUz<{ˊYȳV)9Z[4^n5!J?Q3eBoCM m<.vpIYfZY_p[=al-Y}Nc͙ŋ4vfavl'SA8|*u{-ߟ0%M07%<ҍPK! ѐ'theme/theme/_rels/themeManager.xml.relsM 0wooӺ&݈Э5 6?$Q ,.aic21h:qm@RN;d`o7gK(M&$R(.1r'JЊT8V"AȻHu}|$b{P8g/]QAsم(#L[PK-![Content_Types].xmlPK-!֧6 +_rels/.relsPK-!kytheme/theme/themeManager.xmlPK-!Ptheme/theme/theme1.xmlPK-! ѐ' theme/theme/_rels/themeManager.xml.relsPK] u< vuD#4AT#%3( +v--/H12M5U7:;=@BuD$%&'()*+,-./0123456789:8@0(  B S  ?^`^`^`^`^`^`^`^`^`E;Qbu<w<@ u<`@Unknown G* Times New Roman5Symbol3. * Arial7.{ @Calibri7K@Cambria?= * Courier New;WingdingsO&Bitstream Vera Sans5. *aTahomaA BCambria MathBhU&U&U& o3m o3m!0W<W<2HP $PE;! xx Joel Petraccimperkows Oh+'0H  0 < H T`hpxJoel Petracci Normal.dotm mperkows2Microsoft Office Word@@$2;@$2;@$2; o3GVT$m P@&" WMFC% 8XlVT$m EMFX(    % %  Rp@"Calibri'h''L'O`2''4''uO`2'' _71'' '71CX%7.{ @Calibrw<X'X''9*14'4't(1\''dv% % %  TXXPg@j@X LhJoel Petracci 5232"#0**TTQXg@j@QLP ; TXrKg@j@X1 LhGavin Gallino?0-5?044TTsKg@j@s1LP ; TXLg@j@XLlECE 478 Project1513324#42*!TTLg@j@LP ; TTX?g@j@X%LP ; TTX@g@j@XLP ; Rp@"Calibri'h''L'O`2''4''uO`2'' _71'' ,(71CX%7.{ @Calibr'@<1X'X''9*14'4't(1\',(dv% % % T Gg@j@) L`PeopleBot>;??:B>(TT 6 Gg@j@ )LP F % % % TTXIg@j@XLP ; TtX<g@j@X"\LThe goal of the project was to develop software for the Pioneer 2 robot to enable collision 152.504"515"52*!G0'"452-255&5"G0#25#!5245422#3"554""425/52*5'55 TX=jg@j@X_L avoidance in a room with either fixed or moving obstacles. The second goal of the project was 0-5505*150#45PG!52"52"+154#P5-5/55'"0*2'142'2*455.504!515#52*"G0' TXP0g@j@X Ldto develop a"552-245/TTQg0g@j@QLP T,hh0g@j@hPLnew pair of arms for the robot and design software to command the controller to 52G50#50#P'5"!52#545"05442'/5'4"G0#2"4*5PO055"42*54"#52#"5 TX1g@j@XbLmove the servos. The robots purpose is as a receptionist or other information dispersing agent. P5-2!52&2#-5'051#455"'54#55'1'0'0#2*15"45'!5#5!52#55#P/"545&52#'5.0/24"TT1g@j@LP ; TX~$g@j@X LLA head for the robot has been previously developed and not included in this :52/55#"42#454"40'52245"2-55'-52-24425/5554"5*54255"4'T|$g@j@ L\project.5#52)"TT$g@j@ LP ; TTX%g@j@XLP ; Rp@"Calibri'h''L'O`2''4''uO`2'' _71'' <)71CX%7.{ @Calibr'@<1X'X''9*14'4't(1\'<)dv% % % TX g@j@XLlPeopleBot Arms:1.11.41 7!K%TT g@j@LP 7 Rp@"Calibri'h''L'O`2''4''uO`2'' _71'' L*71CX%7.{ @Calibr'@<1X'X''9*14'4't(1\'L*dv% % % TTX  g@j@Xv LP ,T  g@j@v _L The arms of the robot needed to be reconstructed. The originals where held together with glue -0.,J$1/.1010../.000..&10$ 0'.0-/.1 +0,$B0..0.01+-0. B0+0. TX 7 g@j@X dLand tape and used plastic for the arms. The goal for redesigning them was to make them durable and ,00,0.,000$.&" WMFC X00,#'1 0-,J$-0.*1,1 .0.$+00+0-JB+$1J+*./.I00 ,0.,00 TX , g@j@Xw "Lalso serviceable. The arms also h,$1#. *&.,0.-0.+ J#,$10T- e g@j@-w ELave an one more axis of movement which is rotating the wrist. Below +*.,/10-I1.,(#1I1).I.0B0'0$1+0+0.A $1.0B TX  g@j@X 4Lis an overview of the build process and the results.$,00*.*-B10-0000 1'.$#,000- .$0$TT  g@j@ LP 6 TTX!  g@j@Xy LP ,T!  g@j@y aLThe primary challenge of the arm is making it strong but light at the same time. Many materials -0.0 I, *'0,.0+.10., I$J,*0+$10+00+0,/.$+J-J.O,0)J+. ,# T$X R g@j@X $Lare either light or strong but not b, ../. +01 # 10+/001/TS B g@j@S GLoth. This is why I chose aluminum to construct the arm from. It is a 10-0$$B0*&01$.,/J00I1&10$ 0&0.,I 0J$+ TX"  g@j@Xz fLvery strong metal that is soft enough to machine with simple tools. The weight is also a factor that *.*$10+J.,0,$#0.010+01J+'00.B0$J0.01$-0.B.+0#,$1+,'1 0, T@X  g@j@X SLmakes it a great material with only about 2600 kg/m3 compared to 7900 kg/m3 for steJ,).$,+ .+J,. ,A010),010././**#J/'0J0, .01/./.**$I/1 $.T f g@j@ Lpel. Aluminum in .50J00I0 TX#  g@j@X{ _L the dimensions used for this project can be found at most home improvement stores such as Home 0.0I.0$10#0$.01 0$0 1-'&,00.1000,I1$/0J.J01).I.0#0 .$$0'0,#90J- TX +g@j@X iL Depot or Lowes. This makes it very easy for anyone to build the arm at a reasonable cost. A parts list 9.001 &0B.$-0$J,).$*.*.,$)1,0)10.10000., I,+ .,#1/,0.'0$40, $# T8X%g@j@X}'Land aproximate cost will be listed late,00,0 1(J,-&1$B/.$./,.T%g@j@}:Lr in the report. Build instructions can also be provided.00..012000$ 0'10#',0,#10.0 0*0.0TT%g@j@}LP 6 TTXg@j@XLP ,T}g@j@^LThe servos used on the arm are standard Hitec servos for the elbow/wrist and high power Hitec -0.$.)1$0$./100.,J,.$,00, 09.'#. )0$1 0..00B#B $,00/+001B.9.& TX&g@j@X~fLservos for the shoulder joint. The servos are powered via a 6volt sealed lead acid battery. Any batt$. )1$1 0.$/100. 1/-0-$.*1#, -00B. .0*,,/)1$.,.0.,0x &WMFCX+'00,. *50*0+Td&Vg@j@~LTery .* TXg@j@X`L that meets the voltage specs of the servos could be used but a rechargeable cell with enough amp0,J.-$/.)1,*.$0-'$10.$.*1#&1000.0#.000,.'0, +.,0-'.B0./10+0,J0TTg@j@LP-Tpg@j@LXhours /10 $ TX'!g@j@XdLfor the desired runtime would be recommended. To control the servos the ASC16 controller is used. 1 /.0.$.0 00I.B0000. .&1II.00.0,1&10 10-$.*1#0-5*1./&101. #0$.0 TtXz g@j@X1LThis controller connects to a computer via the RS-0$'1/ 1. &100.'$1,'0J00.*+0.2*Tl{ g@j@{ 0L232 serial port or optionally at TTL levels for .//#. ,010 1/10,*,,-'-*.#1 TX)[g@j@XaLmicrocontrollers. The controller required a RS232 to TTL voltage converter which consisted of a J'1&10 1. $-0.&10 1. .00 .0,2*/./1,-'*1,+.&10). . B0'/'10$#.01, TXg@j@XhLMAX232 chip and 4 capacitors. The power for the voltage converter is sourced from the controller. The O5//./'00,00/',0,'1 $-0./1B.10-)1,+.'1/*.. ##10 '.01I0.'1/ 1. -/. TxX*g@j@XL\manual J,00,T* g@j@FLfor the ASC16 controller describes this common circuit in more detail.1 0-5*1./&10 1. /.$' 0.#0$&0II10' '00I1.0.,TT * g@j@ LP 6 TTXg@j@XLP 6 TTX,g@j@XLP 6% % 666666666666666666666666666666666666 6 66 6  6 66 6  6 66 6  6 66 6  6 66 6 66666666666666666666  ^`."System--@"Calibri--- 2 vf __Joel Petracci   2 v__ / 2 f __Gavin Gallino    2 __ / "2 f__ECE 478 Project      2 __ /  2 f__ /  2 f__ / @"Calibri---2  __PeopleBot   2 __ / --- 2 f__ / 2 f\__The goal of the project was to develop software for the Pioneer 2 robot to enable collision                        2 f___avoidance in a room with either fixed or moving obstacles. The second goal of the project was p                     2 4f __to develop a     2 4__ /2 4P__new pair of arms for the robot and design software to command the controller to                      2 Hfb__move the servos. The robots purpose is as a receptionist or other information dispersing agent.                        2 H__ / }2 ]fL__A head for the robot has been previously developed and not included in this                     2 ]t__project.   2 ]__ /  2 rf__ / @"Calibri---"2 f__PeopleBot Arms:    2 __ / @"Calibri--- 2 f__ /22 ___The arms of the robot needed to be reconstructed. The originals where held together with glue p     2 fd__and tape and used plastic for the arms. The goal for redesigning them was to make them durable and          >2 f"__also serviceable. The arms also h s2 7E__ave an one more axis of movement which is rotating the wrist. Below       Y2 f4__is an overview of the build process and the results.     2 __ /  2 f__ /22 a__The primary challenge of the arm is making it strong but light at the same time. Many materials n         A2 f$__are either light or strong but not b  v2 =G__oth. This is why I chose aluminum to construct the arm from. It is a         2 ff__very strong metal that is soft enough to machine with simple tools. The weight is also a factor that        2 4fS__makes it a great material with only about 2600 kg/m3 compared to 7900 kg/m3 for ste          %2 4__el. Aluminum in    2 If___the dimensions used for this project can be found at most home improvement stores such as Home p         2 _fi__Depot or Lowes. This makes it very easy for anyone to build the arm at a reasonable cost. A parts list       F2 uf'__and aproximate cost will be listed late  b2 uU:__r in the report. Build instructions can also be provided.     2 u__ /  2 f__ /22 ^__The servos used on the arm are standard Hitec servos for the elbow/wrist and high power Hitec          2 ff__servos for the shoulder joint. The servos are powered via a 6volt sealed lead acid battery. Any batt     2 __ery 2 f`__that meets the voltage specs of the servos could be used but a rechargeable cell with enough amp          2 __-/2 __hours 2 fd__for the desired runtime would be recommended. To control the servos the ASC16 controller is used.          U2 f1__This controller connects to a computer via the RS   S2 0__232 serial port or optionally at TTL levels for   2 fa__microcontrollers. The controller required a RS232 to TTL voltage converter which consisted of a .        2 fh__MAX232 chip and 4 capacitors. The power for the voltage converter is sourced from the controller. The        2 $f__manual . t2 $F__for the ASC16 controller describes this common circuit in more detail.      2 $O__ /  2 9f__ /  2 Of__ / --____________________^^^^^^^^^^^^^^^^^^^^^^^^]]]]]]]]]]]]]]]]]]]]]]\\\\\\\\\\՜.+,0 hp  Portland State UniversitymW<  Title  !"#$%&'()*+,-./0123456789:;=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~      !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~     Root Entry F`G;Data <1Table,WordDocument1vSummaryInformation(xDocumentSummaryInformation8CompObjy  F'Microsoft Office Word 97-2003 Document MSWordDocWord.Document.89q