From 7543fe9878973a98cc7c5987e57379ce3fffaf9e Mon Sep 17 00:00:00 2001 From: Erwan Normand Date: Sun, 13 Oct 2024 20:51:57 +0200 Subject: [PATCH] Corrections --- .../introduction/figures/rv-continuum.odg | Bin 15213 -> 15422 bytes .../introduction/figures/rv-continuum.pdf | Bin 19805 -> 20131 bytes .../figures/visuo-haptic-rv-continuum5.odg | Bin 26469 -> 23739 bytes .../figures/visuo-haptic-rv-continuum5.pdf | Bin 34235 -> 34193 bytes 1-background/introduction/introduction.tex | 50 +++++++++--------- .../related-work/4-visuo-haptic-ar.tex | 6 +-- 1-background/related-work/related-work.tex | 2 +- 2-perception/vhar-system/2-method.tex | 2 +- 8 files changed, 30 insertions(+), 30 deletions(-) diff --git a/1-background/introduction/figures/rv-continuum.odg b/1-background/introduction/figures/rv-continuum.odg index 0cc6877e9dbda664c8d0520485a79456681fcd86..015f1db09776908e31fc8fb320672fb7757e177c 100644 GIT binary patch delta 13874 zcmZ9z19V@{);|7e%*Hm_SdDEqwr$(ViEUer-Pmc|*tTu6|9b zXV%{9%rkq>xoej@qWpJo2y_q#1_Yw@k%>o?1^-(m5`mE<=COZ{kB0eI_va^)#1nQn z`2R*uu>K>8pCCze=Ro*xN#Z}~UmX7jo#_0D>)$gm|7X}Q4v55TPMH5Qln9LdUoZ_Y zJYZd0Ct;Nh)pt{=G-;&EK}2yTisjT{WVte1d0BGAmGCAhKte)98kH6qfBXs6V~xgo zB0lp>5;K|zHBKU8=6C(WZz^sfcE5`nK!8Pn_w|7OyLfY2a?k<$?p7~RtUcj$+FoYn zHN&NzXXG{eP7P2MW*O-gu^wOXTT?7H2x?nbuq%7xmw*6PsB$9h znVRq>%zN(I-nk^ZpVZ^nnk7+g5d9;grc|A}b;mqF2_Z2#af>t!djr9VMVW7_5fDwt z`+QEDe!hXfd7Yo_zj!eUw_)V}9JC$qO?S6v%JoS47mfFD4z1~|yZfWXnSgUU4#L!V zao?Rnz>i_O?Mv7XUg1dl<%hx16qK0s0mAz_amr{*^AX39 z)qtE`pfV^8-fctj!SUf`otPnKMXE;a7wwOvyg^K^!4tAM02122CU4I`O= zP}!O5dDIpc>B@r?$`jgFnUYv@^&D>@@R#%3TIGuswdxydL@m}XC0#DR5>=TkVc8||&iE4~nM9EP@2(I* zN{`KkRUQ8w8+&>lg~HOCE?|$tNgb}2Y}=_>!a2m6@i_OD6{S^$l*u#nrcN}X`$s^^ zpQUZ3=*~K(jQlt4f^d?>Kx6PhakQAk4r=JFg)2m4x*trYNQqSu5>cOj&tDZQN7Axx z=hw@%ITqWh;guXtZnX;09#eiLjg8%7|FZM_C#s=Jnd2 z74P=u?qqGApAjZsigq|}DS9YR;}d$iU|#(5)6S!3Hb01zk+^42P~^(!+27Uw=R$lJ5BR5W)X%hdOAKKJBOuq zH2Bg4lT>W9?s3zm(4S@jE5gJ&iRsQm$0)GH1VgQGE3&qb2&0ZL)vAz)nw<(KY|Cek zl$i`~u!WcT zkFxnEUJ)7x9Pg&(NeUdY3MMkfGJooiP#-T}FptM4i}YSnRNHnWXw+P@PkLHHhXyo&vY1gq`+RR5WsS;;zi4L;&1-F6NH;M^#=yc8R4mhd*b7T zne45G|9dSEwSDRGvIrDFxbYvYu8T1d9)G@C>jo&aKz~^4!i&kT?7;a^!1$zD{%|b6 zxo!!Gw@k@_Z^9QXAqClbB)N}M!#bDVw+%6Idk@XmL(=08am(!Bj7F44Z2||Yr z9|S_wfJZnnc*>b=#e$;iQleJVR43z_jCXt(H z=wROXTM_*lTo3sExTL;#p@glq-@+IrCjJ5{s7B@L3Yz3D`$eTUVQO`6R3)7_spK?U z_!843!=5xD)6jz3QGN!>eB0(<664HzaDdi*+=L;_Nw;FDMA)7 zHX^eb!y#d+oMwh=sdkTp_wthR7jyf#P}ob1rQ570o>0QCY1k1tBgh}myB|UJT|oR! z`vPueR;{Udc3tsTW4D=%yS~`nL1oz~Y`kTZ!YxROaFocQp`qkt^L`GNFV{;kjdbBA zQQt4QkprmHJuQ#f2^ccgwx-Aspq&S`2%y~gjxOklI5oM1!Ae<=WMLD)bYn!eJYY@s z$by}OQQC~jDnGnb9P7GLyVUZqFMt?#Qg4AI;;cYMOaoEQ(7skS&4@*9>e}!6#)&QH z6yjwNMPmth>V&b0>iw;=M`hw@mlFfOzic$4X5M^$L+K)6kS`>ib?417sV{oMEQwgw zQn845mO#nZp+~!^AoZ|6-ZFjL1pX+r=d*_Ghu6u8IWmaS2$u0~&FG4{-U5k|WP`f^ zD(CgOPgBADwYJ@bWBru%M`KhcpG@p85^vCFN0Vz+cNrWuVjkY0Vl!b%dEbvcWg-pJ)dk)s=H7@1shKDEQX!|;RSfo0?j-f5mr9x@?0W;x;f18L;(?n)7x z_AB)kr}f{hq6mSw%!+H4DIigCH3F<@jEvTAvodF?D= zNYA#Cv*dPI*HkDys}Qo>E!kAkalmsfmVUhM;xRmh_r^6M2q%$AxvQe213_!=iM_TH z=QVC8mz{C>1P{n;$|76F*kW6zd?vQ^WJf2Uotd>)C6{PD)0Jk*LhZ11kn>zU$hJY? z`p$yWSDs2xnm9dw32^La^`gb|=kd&`FfwCk_n%+|b#w;&j?2iP-Ed1eQyCx0LRvPd zc%dzSO-OOk4u+RoK-q?{X2j-~WYiY{L41st@th*x_H_$Q7Nf+mm$pD7TBe~yF^wF< zc*csTJpt{r6v9g_5s;zD3DS%iVE~ihfV)shDKkH);Dm8n2L7iwGE)EY3kL9a_Dg zkC&73Lb3wS@x8Yq7gl>q@04MCUBQsq-8Sz)SKOM|y|ZOuiRjC+^*cDheU3L2e)G*# zC73*oFf(RGSd`oSCep2{a&o%l)3nx!(X9lV09lSk40sGMPIxgna1dgldqCdi=Xt9x zA3?x(+6Yz8^V!M44m+ufubX`EKb_TZ$n4Kg*~)9D3=N2`4*@LNzKWuoa;d3En}Kat zSb{@3lzP5|@?nf8_lI_UE{0GwOguN$Chw|4f=Zd}1`~!S;Nk61yZv)Mq`2dVmx1PK zTGwX6zz=501@)|?uW}*<9yHs;s0T7J^(51&_*RUvGO@x}*y>=`8+Dvv@gB^_g4msy zj{Loe-p##86G1n@FpSry6Ls~*IGucDy_F!Y!V({yMqlyWw8(0XSglu=H9I=Aw)^rd zd!I2^9!>j^sbm6lUHYL`6y}^yW`wUha<0CtfB+Eeb$1oX5N`$}7J>K>^wzKw)5PCx zK@E#3_bT`tH+xAoF}Lr%;_T$IIMk4_dt2LDqQ^+8Ul_&0Ka^O&Lr->1YuIB%HEpxY z?tpTZfyfvNKfow}7{1}nGu(tFq+n4=Zh*t2`Q5X ztZtsOYa}h)ztVf%iEWVZoH*B`Us}Gq?<;!p5qEkM@C_YSDoio}GCw&f^=Pt7=oa52kx$YA zq&pBr&euCgG}Lag|c}0$GMByheOborsF^AuM)x|NbcR5l}Sy zvB=)-DH;IsIvSza;1Xg|;zectsObf~hK`d9bz>J;x=3v!W-FGW=z_FkRinPBWk3;-52Z~NnVz&&4R3O~34}~E$Oy9%YcEkc;OGW5N;Z?k@T1S# zvSnTmqAKCuK5L`RWz9drbs5VD_w0M&!l6i~SPm{tIc~r(xs`hV(!!uJX}1R$qXJr2 zGV|&1R&d-ad@OoBX}8SLzXa8RA)VNUOh9z3rI#l@&)tN&HNWACxQ+IJ*6FyVFRQe< zu&H~r`<8VOniKS^A7U1#!KQmo+Q)3LGeSp;*>%~_nMG*MbQ#(YLv(xa5s-}N6E#GX z1k96~g3)q&=g3<_^ns~K)*e7vJt|VYja>&bos#%8EwH~{?JMod*Dyok*8C$^6}^ z1mNMA>sJrDQde!L~CIp2`1OjT3I` z$!AGe{G2|kEJa}DoVWI*o}_L4BJVh@LS z_Sn}ol2=L*m2scwLJ#>O$tw0A0u{kH6RXsA_rvdYLkC4Y8@CQU zNXcxm&Czt>q8i8l?7Yk{i!?oAGNaPh5IxaE(KHpwa)+L#oUNVS;>T%1+c2D$htrN? ziz5cV@-plKpubu4K}p1ZTJW{Q*{@c->=&I$lDEJK)T=!6vC(>($8@RGjf8}|!k_Rj zA5rMYnW^e`;04}dzMm9a*~Y1ys~xZItFsBW;usp4!W9-kkz9*`i(tfrH5MxD{olK? zMANX4IkAYV>8X}WX@XK|biYE_ra4*)RFmRkRXr>*0u+oI3pt~4tY4~;UP07kurQ|T z4}=DS*nv{z(U=8(ur688gux@j6@`dHI$y#oWw(YT;_n$A$-%z&5sbKiLMu1~bH&q! zydX5ZV|ki-tVI_PrucKM#+-F>kLju%cu(%Jehg?;i|g6qydMw2)aUw2cQfB#dPC$2 zKFtCifIqArV&~9M6dKRjHU2IFy*@7$mOz`Cr*8#3e#7A#q3q4sr|*{hV|B!F2?tgF z6w`YI-eaLvEae_rY{R+rx%ygGDNL9=-s>_gtCdCqMw|3BLf1$T^zKfh-rce|pIwpa zB#y=*dvWCsC(_S$y`x}UDq~>g2XbFUOQ(tQfeGI*DJY~K*@648Y1THioJ;td!7KsW zbS7bvex{e4E$oObm$OA=u#CeSbG=F&ZnG2nsEfJjJd83Uu48F}1ZSwltgJY$Zz;$n zE+OoL@f!PaiEP%y2{IG7Vf>u90S&V886ivJC%yN4w82G@OZ-%TGJZL^>BLgJ)*zY} z03gQsPVb`;eAHf21hZp9d*{~{(u^sL;s-!@9W#<@FX+VzmDde0@v*!=KgmnAsJ+o< z|8A;`bS+q}N8=4Z8_)XNd`5FBI5F*WNLK&zAO)nW+*kXjN=2hoh$_2uKu7z9QomfH zQ6G?rNWE6aIhQ4$MsjayGovr!s-OZ8RE8%_wk=!^i&C_Y7N&-|2V^1CXX`veCuIF6 zeM#eTRLVp}EH9!%CsdCFIg$1GG%-HQ7+nsrUKo>Jh;mF=zAO|kZSi3d=`DB?Kik&w z43~U4TUYddu1PqW@CprvWD?Qrrn@Z=sjd#Lmy|cX-`?Dq3}>_7wtB*-<80Taw4AgS;GdWIiD%aNXmRDI8`hM-wKf*5#V)tm zS&z&&A>{H#VFP1&)HDO3&3Hs5OJD^z zi5RI9LY1n+aLe15!rZ*q$dtBD{j1)W4RutxRn@+}1M6`C?HmO{Nf|)avwh~6;3qCO}#;$%78L`Um>L^{If-njY=I^kpU5vJH3UTcN zNBStL0t$7GMXY#y0t#UYQ-)lQi>9q?A!C?Dp+xavxXtM~AD%H=RKaLix7#3A+x$1h zla<%Lx2z%tj_-20LMebP){bMn^XGU;89lceVFsEpsVb8xJp@*GS3fa?PCmG%nt+&VqL#tK#o8afD?sZD-#OeRc_Z zosP79k9aOYK5KbaYtx)c!}dZrK6%Q7stA$0F(Zd$mQs-=2W!YVkj>lil!f)Pc%*s6Ja3K~p;RQr8_T#=i-rY@@orQ2I7UwnPNZ zsCDYrXUjp-`(zOM2YP^gUK=AMLcey7azv&_B005&!MXX=5-I$fk4&gOQsg%$p3uQk zmqgH4GvVKD65hqYU)m^idv|6Hvy7Eda%d)U^zD}AY&aK|^zbmblxDATVSy|5eHaFQ z=Q4t5`I(Qsrr-5j)(shZiiyqV?pv(2{f^|ofVxE<#TG8e!KjC7o=!n~_tPYJFsuPs z%NX(rMCu%oYF@r~7g^YKf)2jkKii9MH&n+joVZhpIb}wG+{hya_3Gy&##EAh=6P&x zB_FO_^#fzB=EGc?04j75vr0TC2E{ujy%@ep25D5fS;zqz4%R8P)G(2->FhMz3CK5I z|3yl49j55;9G`>Ot`MujuMk7D`!0UOeR{&V$2MnT@&&+UfnK0IX1f`W(Y7~lH36c@x`Ei6f0GS*=D?QlQXsD#(Y2<$w0b`2!? zT2F{7pf$lJH?rI&JvCpc)3MwVjKG(>@@#kgu`H64u<*MP?fdYj-?tSXs54N1YR6N5 zT`AUlb*L&{28mY9qGvDrM4T86xk6EKIjvx1Un7~lpkhN&dYXS};!b8oq8_!nY@L;N zt;}Tgp=eTBTm<<{){TtZ$C1XS5{>Q*6b*iZ2C_HNBXwNTss79-12>}Lr{U4`ZVnf_ z^jhF~l>SWpf57vwlE)YR?(_;XzjPX0M>K+unAxH^&QKNlOpQUYYec5kD;dLaV=u%w#*Ve=zh@(5`FG)0+Bd5-wt@f9ufbMxPnGN zWE-$9@qQRsot%vMI3vFs?O%iJVr4U%4TbunCB3|YNQC@iM+AEDptze2oXXry@itQR zXCJ&5Ws!?M49GT%*6I-LQq*^T1!3cO0u&OrB+CYlQ-bH3QYloP98&e*l*^AU6Q98O zjTPBEABgTgnM_s|rH$*QGR)Med>Xt5m?^) zOO6yR|3i-c?WxkZg(aT9`3wTxBwFHs1Li;=kTeYV-;$Ko0s;gA2gyq-i~j9`L1N(} ze8NP;LqpFU`8P2#H8f@iUvW3fzFRfz(t0{@P&+=k&lO-gy$PIH#-jjqc8=# zBn_VuH@7&gkSe#RGN-f=zk;bSJ(dIuz8K3_F>VeOerg3a78_1(VQ%5?LR^5lD1*8r zw}A|&i9ENssD!wbilm~Bs)VqjtcIq%gsQ5lgsQ2GmZQ3ssfM<*j)9K4zPYBEyNQZ~ znYIQXE$5^y;jE=$u4)cw8=DzwyBSJ*nyZ_eSr}P+SUCB(Sr~abSvxs7soVN%JB1q9 z1{k}9TKFcodk5S5CfNGL+5!Qoo&gaqA?Y5`KYSC)g5+fVRD=R_v=X#5{B?|jEi^)% zbh1pfgH6oC+{{8f-4e~561**vz1#~d3`(8Ni=8~`Y)$K&t((1F{Xl-{%<2AsU%GdA zfmlJOS945|M~c5~T8L{=lvinjZ%cq(bErpXNN8|WYE)cWT6joGIFOhXAC{Dmn3$ZA znwFB3k)4^En30~6nVA)uS{j;Fmzq_ao?9DL(2`M9mQvc97Z+5R99EGUP?;KCnHE%* z9$B1~*d7_u9+gp-5!#lSR+3TFl$}@hBcr7ty1g{1u&Ai8q@uXAvb3nMytJsSyrQ_O zp`x~?yuP)uys)jl3}|U>NvrD3tRE_F{$1WR-Pk@**)!MHKiv3xxn+E}bLMC$D&lu? z%4|~fbY@mxXvb`BQC~&sP<_@yLB?=d+S0&UA-ecEek!BE5K0w=5+V|P}|W=*T+ED zz~3}FJ2tzr^!xXE|LV%j@Z!S4@Z{Fe(&5nR?ZVpbN_@Vgt!d)w#mtSbmY1cGELn6S(1 zVzl$|pX~M6_3HDu(ZP8Ip2S%%Z#3)$nnU5pyTwGNZ3rKc>)NK0m^)wO#t%%_<-{ld zbdzs%ZqP+@94g=cgR2yw>xVJj3S*vWeTm->Xk=}oF>-L8T<}gLVI`JIh0Jg7sO6IA z!smbisDw_TYrO8!Hzf=%#lm z@48a`tp2K@Q>T&(d4s_B@Sn&hNxm<#2Iy>lJ^FdtS|tSbc(x@!hS}1Dw!0}DGAn>b zysywz%xkh`VpN$kggy&TFJDgqdwESNHwHD!k3T~DHF5{lxkAfyMSckp3vy-TSke$9 zJt|{CYM}{^6ktW!B)kC&$EVz)R71SvMmGn8DTw;Yn9=gY85c1-vP9l3X**D8)%K%17lXP|YA$3h2G4OI z%J@1o53;7~IhA))+7=1>$&=TOMQHf}><^)+f0qnFR}75s|XzOc8UaW$ZbiH6a+ z(91-!?fL|nNmFpn8mP624F|OAUFIMwPmYiNwa)DGyMyX%(dVJT&c2Hp-kW)#OUyvx zLpD_KI32s`{eJsq#j2+3rOgLSK4yYOj2o3ABGL2gfzWG`w`jGVAT4di-!@je)v>7k zwL(p={oBujLws1HYMSFm+!0jEw8{KBuy<-IzS#gr)VGK>5*^Vz9KaP`sxW2-8v`x@ z+Xi95Y2Yx1G?*Bi1Z4VT_++lUV4SWr zI=axhF5O8_ee@>^Eg*^bOa7%>Tuz|%l`oFsdW)TA9y#9PFlH3_ii2n|amz9wHC6j&cxja z+K8PrI%i|9!@>Mo=@%w+n(w|;P*uKP4NVY>9UX>iBzxWCVy>Qw+`Ufsz z4({C+e#4aF&^?xyc`z#-L}@57zht-JmHSCXnwkpjx7z}`+*T!~`EPKRPwv?q&%D|z zY(=LX`jT5vWW=aRm>|sWEEcZxl zh+i#_WZxIaMXP>g^$SxArwgh8(GEYt?73dQxnV%qhd4n{my7i92d)2Y;0UL_4)w!4st1qvV@U+_BS=zAQb5;;`-mHDs_e4 zH+{3uTOs8Kj}!#EXS>8EKNjYuD6yvtkDENpDt)Gu`G<2fF7RI~;lKZkRbA4K22P{kGh$Dz5>xyR!Xr zucSa`<9;~Ft48_rpUYnagIF-pQdYBmAy1zHW$Gj40GU*uz@+j!Xa9pf>cGzqcBSf zHeJZ5LlcA~lY~-9t$G`N2tr0S=m^f3^n*!sVaPxjtDRegRheRhAVCZ*_M<9$EwH`c`ups$4jZheBRUuea@W_c`S=xS1trR0Yo+g4$HH!fvt zFep-9Mn-yUev(~OhS|%p+`1GTsvq{`BQF;gwC5FMh`;}t@U19A*+tD-?W}a%E>I{u zFKy~?5L1NM=Q8qoe?2m&uK|WanpCgqpK#zL7nMwQ8G34{s%P8sf_@&2@!-_50+N;t z=(GKCDRV<)RgcUwpXDW{U7Yr7_t3clWmeKwU}(?;9qv3}$}?0JX-F(7c^m$sS6i~ws=Zz862z>(CiQJ2;EvSkSW#iRh$yQ+xXYhpU^6_t z`p!O$bEI8)L+X35FhAPJ9$#J00l30+JL7P#s(AT&A8tDjgt|lOMxq-$;k=>YpOzo> z@(oQG9Uf(J1?oK|b(J}}i!M^iL)Ap%TdZE8JUetEmW*4tL0eueTHp!vD9O4jO*puC zpd;jPY^m<6S`f7%OCgToZfcbNPcB0iObau^IrRhAW;!z?Nxg#_0`|8Qg+K2#$AVKk zJrT{Fn3rbohm;7u!JJ#CRgk3x>WRJ?n+FtZ8z`&3C+P{@k5he*MyQ4J;E!x&Wfz)| z)D@WVP?oe>PM>!=p0vd@m5SI-{Wjc314k5A;Q@m=LgV3o6EY;PvGbNV86MAY?k4}` zwk|b^j{>*|vY=nS2J}Ce$DIkc;%{C;Uk;{cf40Vo#?@Yl%%hdchpJ=dFkXJ%V<&Dy z^XQR(cduUC%p;dWjvZ0al$B*Brkv$5sR*9<@j_MYS#C#M(p zLoTpuW2?bZ9GVyI<8CcF*Cxl}(>IQNOPrtH}%Jdf&f4WfF7`hTfFs zIswEXpY(-$IG-SK_9HInu4!I~yBm~35{Bu2aw+>RygsMCA?cPB79^EX5&YfRgCs>| zMXH7L1O7S<6DO#l{}nj7L`?+PB$l_Je)s|dNsY~x&9dVtn-eigW~MZhrA~7w5C{8O zL1Fm9hQY+U&-d(t*=pJ8qRT67q5ueXcs5(Mq}{*&65tJbG7eWqmv>Ys_g0aj2y2;x z4+9kH=-%%t?-uuguGwQ2`{`Ekbq>W(nOViSHQCC?Vw9P3U!LBM|C@@B3hQZxVXB4#6f&J^dgzyEn{i1 zE>*uwTjJKNq9ax8|3{-|p)nV}NuLt+kwk9(mNV(lCdWwBz>hzYHg&9elrIE-yU1+P2v8-gX2kN z>w1~~&hFmwUH^_A?rm9i+sdqQ#B5tmxP=2TER-4XdrL z?8w=5rgevMHx2s6Ppsf8z4wy{xgm7`WzL!RIb6G%Ss{%(6$L|yGIt`%9^ZxJnlS<- zyLCc#${VIp4pgxPeyESJbO7#kT7DscjKpz2PzEZLZG04d`5QNn(x~7@Bs8+ydF(TZ zWL_WjCBt~uTpI*+&8v_=XeHCP4-bg45t3~`bBtwv&uw$s^BF66W15QtqhGrxM+!!= zh%|gr?eB}eou&(?iu1&XfC`pQ^o%$CzKn8av@^2iBZ zkWec0+)TyN)AVpC7O@SsAL1x_V&T>z6<_h>8K70}3fQ896SO$&4>3KrGO*5~=R#{G zaT-kHo_-geuJJ)z4fux^pcsCYag7xmbXKr583Gl4aO~E8bW>LwDPJYatV--*EX=fQ!j zNez=>l6mSj`^#15I-aH@YPFu$y?dShfZli--&!XY+CwujynV-uf@z*Uf zN-I(zsi1LaH~dK?E%ipcscphF)u<)q&%JJF6?SGQ=igvY2j`Pe_h^$c)HmRyB@(6( z(SZA96aU;4-_E9(66M!GND8Aa?%4|Cn3_)crJk^SD#KovM)6KE)6!!yHp9N=n#d+L zCKzooGOm3Ji*+oZRA8ss^o5~(1C-~#J+`511sWT?IScR0Gt}jl z)cgQ9hw}@0L38%fPblpcI7C=`EeF#CEeYuOPvA?lEfUJ7W;!Bv)ZnQ=2FfCqhJ1$l zt`EZSjt`-+~)cS?Bf0Gqf|83u>0xXkc}~yvQ#C&4N^>2!DG_&c1@?1Xdw^gcpdyUd!oE5oa91wZX55FY&_rQO;*P zannXTiu8_~3_sK6aU~+xT-b$X07YMZT^tR+pC?1wVW~f1Lz>HMvu7`z9>H~33<{`; zv#||@MBDiLi~dziEhnb31%Cpr?#hge1w3p^FGU~qw%d`LE+cT^xy(7wS7j6np|6J} zWg3Hte6Z@|o$1aU=ah7D{Nl=usCpL2c1J*&+t3L*!ev`oN$reO;N6lZ5WcCK8#HS- zUGh5Y`ZSl>An(aa5_Wak+r6r9Sc>g@G84<4#|?T6xw_;6xrJQ4?yP(d0s@Tee?LwAolqvW{SQg!cuGsH2Hi1UBsaY;nbDHGES`F~Z4q zV!_&OyY1{DF_h&6{}#Z%%KuaB3uV+a(G?kD$8fT`4Art6UZ|EuNsl-AnX0Z$fQxCq zbiJ*zx*Dq6&~{q-fSg@;n(&&AwPmVW`B=u=*EiYPSM4%U81E}+%r2trl0z()9}uTp zeVZHEH*JtK;A56x=#gh}5Z!!*`6d>?fnmvN{*`Nmw=n#bxWh18NbLQFkdt`foR#C^ zQww7x$K}|>nIIc2Fs?ERlRH0P2;H-2w{@9u6i z%Rkdfr`Fq1Fa2zw69Q3$@vjymD?e)#&xTBoCBSpq)OVX@PuO)slkWgYKX8mofxki1 zk@)Y;#UBq|_#_WQAvT;laqe**dSoXiIzk~-+-;1u3pRuZF9`IeyBr9c>kjt6g(m!n zqus?Xox~j4;@XFrLp0b7&Vnhx(xZN3qJCUt=ehodQaXYRyZZ6CJoz;i_X?RlhJKuU zH{)Octj5}(>Kj~IpD$jE$O7$W3IGC%BiBb$*q^?RYos56Z-@G6XujneDl__U=W~hx z@6ALNQ5Xs`WL%Wt&J70xMT4ZDSHJKLKSICrQ6EP1BW+t}KMN;@PccWzjqy4TEH9d1 zENa%!i@Sx!#0vvjwIuv3WwY|xdgZ?Sl~salw|9CWREiZGn*d`3PTg>3C*Yq6t2oLr zQf=>Zd0E5>dJ24J_R4#-#iQ(go{ae$SntyMM)c3&{=CG8Zt~xICs<fN*g4#w07xrHx7adNrlLW4l@4sRaO0O) zlM=9E$8RJgwO|g%eztkbcgatAsrxeFWh&)F)x?KDwrLa~F*0Cq%71YY*xOyfmsDrN zX^3qzNZq~8>u2Cbx**~G-6MZ~YJ(ky~-I`6-mi8)bY-j^nO8S|<%Q+%uiATU;-0Xos zl3okUf{w5?r2v|U1k|^$!3v;6f-wg;hpdp}uX=^>Z0+AhqTfMap33y9_qCDTzs^>n z-Z@%3$moOjlAWd1BwvtxxpKF`(Z)%ofVGri|I<7t{Tml%&eBV1U z>WPxx#=|~|ZY-3VLM&+X-jqtP!A1ZXUK zo%+CfA}6Y^l5?i>JgP1@J$78vHu?@0g^+ZuWm&HcE707ynm3 zo&zs&ft~VS?N1z{|E}>8jX9|QEf@Y*y~rW;?>=54Kj(k&c!|NB|ATX2$4eaNr2YK& z{*%W4M(-s;b5Rrh^N2#~e|=W)|54+A)pCjQT)4#lVE&)?>aPb2`~P69@e}RvacSkh ze*!}Xp@aTo68~*1fBj+qm6B)@r?_xc|C#l_m*yY4`QK#3^1oK}|DRe_Gtr6s?}85e cb)RAU?~uQ(6t=`|R;)xdZe*x;_J1V*A4Z|Bng9R* delta 13608 zcmZ8|19Yan)^^=ar&HUuZQHhOTTk6i-9EK#8&li%)SlXI|9Q{(aK1ll-N}`mE4kOo z+R4h!-s$$daQ~qw0}g=-0s;d9GH5TI@IxN_Zvi9#BT4|E{|nZG5&=6oVZZ+;Yntt! zri5uCpcEI}f3^VsVH?7yv2 zmNee&B&sYxGUc5m&2B@X=APJ)9nM=!h>V;-^bH***4+0e?;v zy*n=&mzl%~)a-|!Ah>OS_sx<>3j8Gz71Fdrcwe#rZZB^?)A&m3K(4^A+oOS6{m%M%raemtl~EoVi9R*P`3|h2-X;DT8$brBpj$O<($qRCzv9Zc z?n;#m?D{~jtEge%x9S^0!~J!X6*H5ub6WEK)vj007Qzk#9&p#5%RGK*5T`I{N*&JN zVjdacwW@55HDqLqCs0Tp(Z&W+{jdv9Dw$ zvX{Uqo7Ri;w}D%E-kmB6SvGFtq5NwW>|NOc!W(=Z8o!m8%YCDLzSB?)N=6}|=Q z6>Xm3)d^{YL)+Dzz2P!D?0C=&S5EWh`Feg&$Csq1xIO z6DRQIx>)}~Bdz+G22qG1Oi8=jmq zRbKC*0HEdGbl1_4ZR(+mZE{W0j3{~s?jS`x&~h;BfR9iTA}XQNs%k75Xs3H)Jgk(Y zQ4DS$lM`%(6-&f5)j}=Iv}&SJxNoTPqN$vgZM>j^iln=ThW8HE9bC3hL)R6x`Uqaq zMo_K2k1TS=r)$Fb{PHGm)6_54`vQV|q!>ll4A@!RlF)OKNuCH#O=WmqpH5LjBte&f z-pgdYLDPvLBvC*u*W(IAf_&+a22~0=*>&f9=vmyxpK>5G>l8;{SDAeDHW1w_6s7fD z2}*v}bbBVwN{whZ0_(Al)38ou%xv@Whg+#I{V6rsnkIXA_`N-5R=(kwT^Hs63zf|D zJAhV)p(v7ZtS}Dp$*rp?>PkqvZ#ZG@(>*wNU5(T6l2+N9)4O`y|Hp>`_@P(yI5A{g zPBjyZE%{m@UX@hS&qx!_xRh$qp_Q8lt_W@2Fsj2b3d6suNvpE&C7{;qE1)qO*H3A` zYkm3l`THxnO*tnkn+9@lPM7Y{vDxv+8t@CwoZlB-mr5ZATLYyhxAG?ds%DR{JLhvK z8EVh6=8;wd<>|p13|zoACNLLAV;o2^qSh8(dF@&w$e6A-(90P!`ro?&8tV|ODUxmdsVJ8<@El;_0q+5jQx z{Y4_|Bo~mB^@Vxcqj8%1^%HqDJB_*WhcTxjnrDvnNK3%i%Ia`rVs8(^dkB_ihSh~a zbau<|Q+_T~HwJ8@LP!nY%dFYf9_pF2^flhSu_AfN&+Ue*--!SRCxyfWnjdMy z?uiMdQErg36M}G;N0q7lzEg23A2b5d%p$1k8Ajpc#w-HIsrIT)*{*TBu&U)9`GqKl z)C1Gzk_ma1Wo}CzwS;Xu;nH=emQ=id=vGYGA-%B-@>w_6imR`u!q^UXg>&+bR`<8v za&opM1Yg$op_OQl>VE>dY|rUHK>Oh*V2SoTe()+P>7oa8MjA&HQ%gn_@l#P&@D?O< z)}U-|!OJ9}yF)S2zhr$`*Hb1WGH=AcP4dW80;0-EkE&GP3T z>F=K}1NPzXvb>=P)fU191KRn`6WSSh7xFf9PXcf_6;)D&T+9~nA*l$7nDL&T&%c<# ze%L^lQsQU0*aaH{m_~+9Hdr9d7#|MiYiab^>iZHU;tl@H7A`68yaiwWF`k%HPKORy z559~iB=t=KXTSLcfpU*@*GX>sr-04mqqU;Q@_}+#AJo`?d)8zjJQF!Y#Xg!y(^&c? zG?rZpRzsDuj*ieWdli{Rd<=xlN=lHnMm0Ze%B6A^sDp9^=o=nI=Wl_{MCJGz7!GT5 zO>L0ee~6}4p$mOtOdj8AkXDg|Rvw)gVkYXAP8eaR*o6OjyV^c8vSc-m7FD7UX-^Fz z11^#nn%59-+(?BZ@$CUjnQlHzS_V&N$=uhJESW!)C%gC+5PFGtL80p#JZ0MYA*>N| z2!!_=iBLxYPM_z98CgjAFO8y>-s~a$m1BQ_JA26R407(--R_<2{{6cxj9iXYmi}MX zF;=Np!I3PYoItIhUBr^h@3J$eDvp=lSMwP`o69=i7R5M(3Pk~p)#BT=A^J)J9o70# z0#e20)Kg7$>Ua_20YbGWW9mz8=L=jQT#+125+LAL(#oYvmIy@=&jM_Ln68q&+Xswg zLWaT$?|xMf8JHYZplOr!_GSF)fBQiKGp(KIS6TxmX^&HJCtA z^GI1)R~H8VZsq`eV^Wn+b<3pKjx4JMJ5n5$Z1Yr!@{%op9{-4ygtrJioP8y zYuU|Xp1Fm7YTR#Uxc2e>d|X-XLIeE2?EK$6NQMhe`Oy*OhNuko1NqiN`*$$EGy&Pc zP)&sZ;26=TA2jHU(34l0YEEL@t`Pri;G)dmQ{_0%$myOy`YAJ)bH{Vn!XeC8_oKj= zqV{BLHa#Bx^1|WivnQS|o$uqfl3iDSJ_B4fuMQYA;4yP|ht~W0b=wZ_x7x) zk@msUeJ)-x?}Cjl?;qsV+>d9<7KYSqZ>5e-H?>R2uiWkgsT-|(t;|BiLT(VGwckR# z7|2tG&4iFN7!@E7rNjzJFuhk~+tvNI@L0%Z`eJ`gyaO;BdwN;XG(H%u>QBl9* z08G06NmAPi7^zR&!5z29LL+*V2EOu=qLxpu`>o5|%t0%d_?{~b{*@*SORsWijf!0q zjw^<^SRHYqh3>7(e`IK5Z>sp~kSI3i}TdBv~EE&c%d##+=wmUxQ434A<|@K_ZNx z8s4Q$=||sZN>LcyhpqVqW&?a%2Phh zpKBpNMm?k*S(Pue-2@DBNLaG?$8b3F2J3wgW6K#rEn(-Wlf1ZirUb#Y78j4;AHe)p zMz>BuXStsCFRuQ!UU+FuMX<~B(6aq(e?`yR(3$Q1)(MUT;4>VVHiRGk^aKp)$&55Y zI+k&6)xZp!oXqc=cJ5`Vxtuz6=rL*27WgZg4XxRWb;X=jq{;K5@4bK2#7M5{xP`u; z!wu_O;4D~y9PMpZ&Rv4Eem|=-o$Mv&v>PJS`}J@)%kTxQC<6^cz7o8I@dE@zUmFDE z-ulGQbP*Rg~2ZG5(JiD zN%{YLpQIU_+2t4m7BS2Qv{@Hn)mm8S6(eOWY#!fcfB(_XU~sW7*$&PbOxdnJm7Y&c zc%uXYoN9iZ+7Pg!d03jN)h}QS;ctVD&mAEo%7{Z2{-Snu1tjWy`_r7Ue*o)+HCcnq z0JVm8Q>zG@=)9oexp866lgVJ!QB&z+J%;_9$S~zJ*bZg@jbs>Q*1^T{kjMcwm`P2r zUmcZ{Ai}y94ajQe&j{d4=T5s>9@$HR^X#2tl0+h($6wu$)BAa&%(#T{y$(;7z#jSs z%BCGT&WZiPzBk}(cdTS@@&}L4*{S~C;Li5C)q`%+r|PZ0+W%22D5Xo){j*=bX*W{!}F4BJg9l)&D<^CDvxYn&VY1!g^;G6IpG;-ZIE}$PA{s&I^OCC z6Y{&}SM2%d=^>RZ&u^hWs(Hz1mcAUTKi6fH9y>|+os`wERapG(z>y=ZGMbnoyNdb} zg!dNOy6zYcUX*g_v9p=8NO4SjS$AP%Z*7A%sk^@w3{iqS^R77)Ky5|nqRl|0H;9M} z`T}BQTW3coMTnF>cRwI|_1j~g@x@vgkc0-76LI4}t2qpV18%1be2S^C@P{}Zy6BA2 z3do{JvpPGrQd=YM^yLvJ^16qQ6TZa&*iC;ZtI(@UYBgPJ|FN^KXbHD>v^jzDIYoax zJY5_(|C2yqX^dDI92gGXoYjh1P~7C(SOgJd;-K(NJLecrv+k!q`G(`d?kkGa+z{@0)CJJRlEPK2zXO$_q1v!v z!VrzJV_}*;@t;kh$IuT$w7#5YHL=3#nYr_vs^RyB&IKo$Ux#vba{Z%;UQS2Oc_yCe zLC#sC{a+dEZdWxHFniOyp!)F+=8G!Xxr8uZ8A>ir*XiYh|rcc zFo8#%whFNi!Z*&aKVygY8#cNz>vrK>_w=`R(?5=rpNn$^V~h2=_a*Q`9U!b27Dcf^ zWIq5Ohuv1UbC{zus4QU?v)V9PJYMdTS(*~uWym7 z!}o8Jc3lD6VI>)XMNY~hMroi07n!j($Ozek)`jLn9M=BBie{M{GxdO1+{&J`hDRaj zGcFJOoX*B_GKupF{<+KZO7yS;X;f(8Dt_EWccZYwB5RhoWO-z*8wf0&Cl&eRoBoXg zgi5=!Wg)$dT{o-KHN|W6G@2)cAt~RcO6qC$I^8UuFy@UwAgB@cFvXwx*k9i27DmD- z_VvrIT{<{NrQTk&Bhi44ix1Y^_;eNR`WXkmCtgkA()|OtPr(e-oKq8dsi=i;o z#W*jGe9=5YoR0<8=$8UFwDxl@w_cjLZG|+m__1-RTjp{(j4S|YJ_6+BF@SRH9!o(M zqnYW728k2dSPGbBBU-kT%Mv>ZSCIs7X|Q@0wT4ZFf&OSyQ63_6TGV`eW0t*!XGK=+ z$unp^{rm};bwA*Wc+ySzH{;ZJo0UK=2UGVmn}m?9v?hvwK;U;G@TQlOJw?pc(D(y? zCU4C)48bgWzFoi+Iuv6BAqz}HKwtAbr(2JjivJ(u=&If?ixh@nK+CW-M`2R4x-JgtJ0>V|!j--CbG z9c%s`f(M{!u^QMvQVImqmK3xKDYYPaGe&0~(tDt=$bW&PYw}J+ccwQdvS9}#qHF6; z3O@pyW^SDyy$Za%-I%^l}Y;MKt+f%KL=E#God$eEX4_Ph38tRBD&Y-1U<^W zyFuJywGRXR43d*ZdFsNIPYIGxZa@s~j@!>=A5=bG3cO(&T8x5_ZeSGomnPF2SyL|i zThL`ZF8xa!OCnIL0#;q6htlSp@3p*)690tK6RtI2fI+T9K1IG?i9qs#OA17bC3XfZF~)ndQGy zw&{kod|S~hrh6vQZm1As;3fQZ7LPQSj{urzXUlNPzW!Ro-`;637<$TySd-%HlqrrA zJgWU|DLab)h?q>qG7XSa?IX!@*}0}|az&@Rdj9@JmdC~1f2w`jx=%yLJrYCR!iztw z$7Ua|_SELYwF#g4F>LyV++o)d%eQxpE`iMSjIup6xtn|tH8wIU;sGRwcqh`^fJVaG(p1w} z=vW-uijbaoFQ@dRt~SDT>(Y&zd@8>6CyvDEcGe}&gP8fV>DM(02^=kdAHMD{qj2iV zUxN_4xI@*O3P&v#8`hFnc0F{Z=>QZEOy5G9q~)DxlI1*6+r&`I_&D5@1cx=S3|OD= zcx07ylP^3GtEn%F!1=EG+a8cSR5Oo2^`s2d=$lvcgxxA=yWR(`o&-m^5VW1k*;B0~ zmoUA^`2SejIHy}qUFNEaEIfS37!i@xxI%WFqdD3q1%Jx#=Qy2azCdAAwQ0(M0A71A?6v!?>5 zU`!UDA1Ae4QN=60r?6&bE{&I1KgEQk&o&79puqF;6x&hs^EA7{%LQHA$yDvA$1aGw z>eGv!-fN-lKN0@1TH*%sBLHw9Af1N)ZMFQD|4HlaXgx(39t7l{4-*8a!-EYhz(oN( zf`EX?!hrwHt+G2#K|sJ>6=hY${#HStv0#z#(4oPwaqz(r$e@r(zu~iC;1d2I;Xr()vcpdn|Z*92&=(?)unkySP${Bm;8e6DZ zdYj72TF9wct4dnwsCh{Xdr7Oh=t;Wis9R`TdFh*(nCN(!%K2ETnVXp#0qi`joqgP_ z&3(;WeB5lkeS9?R0(D)(&D|rc{1aWgLv4dnyn}waho^Z)=lds?2ia>zxag&s>xP(F z1>3tsdRT;ddt})gC;C~XdAe2@%IA4GwK`e`Lj^@3g$4Krruc-G$mUdP7ByOww>q@8 zyHt1iv_uB`rUcq$Mz|OK1bCJv`nCM@4hs#Bh)RwHW+q2RWJaW}swoXsoFCRaD+y-rU(x(b?IVR^6A?G+NR+TGln+^lPxHce%ZP9MC$p);77@J%7?) zl{V6twN#us+EzBu&@j|l*W1%G(cQRGTC~_%zSCBI+*$wD**Fq6GS)e?-afkBvpvz@ zzS3W_G1|O4)^gb$(-GV|4XsWaDmW<6w5{dTampmepKs^)cYwR=hqwFp&yUCZ&-eS! z&(FV#|Mm5ioVIbNwRIPg7+Dt5=D;b(udCHCeiNJ*K0&*e+?An9|?X zbpZl1A-UW>r&Nau7c78i`+8t5RnIHoqRdn%BBAsD>1iFd5NO z>5{A@F!SxR5#YjrSfD8e!|&TgL6P;A z6;+^B{pl>~@_O(z4{g-Lip(oS`mk>j0V)2hQcM8o!_*&U~bd?JP4Ja_o6$KVsIO}5@ZUW(=4nhPN z#eOv>sJfWn&~31;0r@fR$HFPV&*P`W@I_+-u$M)S6YeQ`u_?Uwm zLpW5>C*jaD2)mV=)rIcfW<9#W+aEYi@x=;Or7VHax_eP)N5B1Mv%wj#l#GCDqXg(X z933MMtSW=vU`TF;3NkGjJfE*VQ@~nj&w)j_7Q--u0JONOfH%cVJ*| zG4o@*FK!{Y{9U_rZ(}Qkm1C)+fQbi(9&)ox@5{8h{3X;qj~?W3;|A%5K#g=m27nP5iAh#O z$IoArqnD{3+k^m|sAeDf=B&TF5Y7os!i~ zm)XJ6W~TuTrV2@`zWoQN$7##~a;H%?_o7XzR|Lo{DfT0y@0H*gC%Jbu$9fYHmll&V z>9YU4?G<#z!dxrvU zVN>xPGD8I@5P=uHUo*N6b)e?T1*W5n1hqkY;6+X=-)o3LVtdUW?u}wg3i8X5HK=MH zD$o9DvdFlw`(lk&7Qljc%q~TOWn-ZFZPu_csQm=J0G-XYMz|H3%Nbs)Q6%PF%B+9- zv(Q+~jF7h+jRy1FS%YpI#qWn=Jsjq_x(DpCyfsPf`>OYI02A3!B=wQs`M3`Gn%0>N z+0i4%Yy7rie%YUvL~5_&Omz}*sR{Df&1-txF-CJS4nX7w3*g0e`LH5xx0v{L{VEWm z3}-VWXe-EgJyE^Sr-$FfsP^}#FT;%HEM z%eMCjq2X4d4j^L=&dxp>8Dq%c?&7jPd41wOLuoTZUO(V&LbqP{9t>s;Z#_~ zMWCda6hydOMHad_9>ml5{%oB(NyzOPZ5zyZtyK<%C@9~ifuA(0YJ$t3u zf~s}e`!;iiU1}*foJ}25VV(~?Xz{b#>6MAp4c)=X!`2Gkz!n0<*%U+=l3)m!nXv=L z34~t20M0tJ;FriMGNbDE7x=~eKlm?vB)%ObMU=TKm zYh1Y==l5Ag=f$WOVAn6L=bhZ}{aZ(cF4SBrwvGd&if5vlSt>KSWhSg;3^OFuVRffs zI(J&-TIfJ59z zZJQ(v{n~u=iVsT1Pm`#lt6hf^$eJhzr4}39$IV?YhzPyqqTtyfjX+KC_nfgjj0PNh zD$keMMGM1ySR`kp^*F4VH62#5DJ!NGbJ8v9%t`H z0G)+5FX3Xm$1hHBJ%rJE6sUKm81Sl1c4EN$RCv#;TV@x?Nw~6iUCXBW=bg+^l9QA$ zcCHpTP^z~9oBJbh!*n>9pr9y)PdyDwc#kx`pizwzGk81jxLzRJGn;^B z_AadMVWsQWLP;*sDhUlNM|T)2jjwa%hdt=o@4`{qA^pMQI9ueoP49J370*9X)n9n1u^RA37>7dD&`0HdO{W=xhYn8P?W4!`09LBe z)I^M?a?BD|Fn!D&DTY}n=@XG9#E;{@7y>#;1`Uou)5o8K&VPWB5FmgNDF<3aKE-k( z#CP@Cq}WH?G5SEWAsDA73F;9JQa2Ww#<=C*BbWUMjm&oYluS;Wxy0E*OF0bp#nZCx z{7Pzi9Qeavq(N0tk?M{R5oMM@2%v_tr}}#n6i$+`u}6$?Xi*Z#!DMTv5b1XvsWzWQ znv}O9IOSdzJysmPWy;#*!tu^ zx;J4fqTON5;{p)1%3HVBnm+H|eQ2l%@pTNomBb6rz3YNDmFf5$CqG9dr%6I9rdF&6 z6QN-$)7v}X(MwOJ?4_J+bR8moj^i(s5tb3mT9^7TzkVrOQXt`OQIPARVV?X>fN0>O zyk6PU_K%?`B_=OgBWxJ-f4yY+Gz0)0m%TP*e}Nuiv5WHc>T)>p-o?ZWQyD0nQINi2 z@>C9^@B2b2lv2Y+{vQc&2e4AhJJr=Hm(Vz8w{Df2f9yAqx4*n2uE&s>@RgmFDtwou zDIz=<5u_ZIobm4NXXXu3zh2}^7iL9{`5*RRketR75F5S;By4^YFwihaG8P9+QymZq zP%sL=>v|r$29CCDyxc7xQ#HzcE5;~JM~u32)^gKqeU{czpg_VVkp`v?$W2H573 zj;$1Bv{bWV$2et{t-L_+hYHrTL&qkyDXAWaqL1l^Ts=}rxYO&mA{_j&8jV# z^vyq?Mza5;k+I?ehiiG<*WeHkBa!T2zs!PCoU zq0Wc-L4H4Ei{UHMPY}H&WW=~Z<=5r3{7n091%XjYbTbEjYtSe>cIg91eoQzTR?kJk zB-8s!PSRzxf+?0ULr=Div}~Ncx{cx1?^B>0f=Qe&He}+4*fLG}wR}zTjB1>N)HNXi zL62L}hHLOh_lgKrhM?!)nh_6OG>?b4llUBp4;rOZ{5XTleN_BBsT%DE^v=Vnqb1GGWZk; zJ6+jNQz9=_7tfb~k%MA=SG>Uo=hd?aEmR4T2T@hG_nv6XlGGxuEp@Y%w)>ID(wKgu?wf(_^KBF-R+?u?0A6`C5vTS|h#p z6E%Gt$dg4{+hqvyW{!*WAkD~>^&M}(maclf5@NfE2E}VY?Dl$S6#5tx0mcT!mr*5R z^$~t{ejotYn&O^YXHmz;c6!Go&!-=#)AwyS65Sb1EhE!h^{S1YBDkzyePdR4E;!7|)U|%A)uwD|k=$l>9Ex$KSlBhp z(`~eYe~~-eUn?+Jzh`7^+UThm^ksJNZpgfB)CB`D4lej$|<{Q-4 zj!0>Lf@5L_qAlyGKEr#Dz)pw($nSZBwN`3I= z93BN!$8`!-e$P;^EX6t8(78EudH-E{XR{gv`?`{F;{@buQigV6#Kdt8UaSg)hxP-p z&NBl&EkvGWKG5n2FM+cCo)xHWFy)i546X=Chj353)Xi|_rqX;?dWhZzwIj5o^RqwU zW8NJqt-{MpKfT8M2`?{>0!e>!8y;>%GGGJ14t(37f!?C8yJx~?#GZGEHR-YYYilEc zs}OXo;%m{nlR>381-!LB8au0l+p~Tisy;O7ZO`if8^en^YH6=F=<7^7rJ6ex(0<1= z#{kyDO!!WL0b=vnR3jUER)McvMIAs0?d<2^9hqvD`BFp26)C<@Ap4)vkt3P+2&{HTBkDoBlN(#q{%u+QKMLFQGYU({PI;eLfT3oMv7cWrZ9-)jwGdPv>Rtz~H zz#Zv)8;uI_Jp?ORm82r+*ACeZ|XM6oQ;0KB0+cHda;$`#@+LQk4*nbd52|M z_A9^{5CQf#cJb@cXAIZIIL|w z<4SUoay8NV{Xh_F-yp~mu;#oPs1$yhlq%TRqH#aWBw z$p*}8(hl$P2+ag`?HAK-1}oEHd$IAAIbC>=0nqjJaDtSrPFJOlKZw_Sl+3{$+MZmJ zf4JI|M4_Ym>1iGpcd&!j&|31<{7ys`o^ZyR? zab(2-$T?&(VvbzBp+;Q54u`R>65lh6@z`n?7q8nRrG+oztd6=%zg<`m7MaGB5Yj)t zeB^p$ZT2+9Ji)EQka6(ClWc>JsgWHR?F(GC2>sbUCSX=u2?DP~6=)%}n+>AlrAQ8w zD~SOtCYJZZ44BRZ8Ktl+1!j@iN;NXgo{E+OV!ll6Mi8+fP>`to1W6;2S^Z}2Wk?Qk zS+<}2R!2ypsERF{rY(nNbUhZQB-L<*z(x3>b`cBH@&2?ohXm@OJI<;t>B@{16Odpu z)`?xy=6!L}aQ_&7p*df@-zcDGn>Z;!o2urAV&AE_$VzQ!PZK5*^Qp`X^h+IKE%`zK z0CU28f9qvb{hI!tKqkC?lWaZ}p*9$KY z1cE^-G}!>O;;<`|(+EqdnK(EMGD1PO!cOa zhL8gN6{+Y6W@0jWW7v3f8t?Hvx}7A!($KerTDEXTg9P{~wEjP@Mn( diff --git a/1-background/introduction/figures/rv-continuum.pdf b/1-background/introduction/figures/rv-continuum.pdf index 24fc1bac16c4b3dcb514e54617b7f466e268d649..dce02df3eccbbb014fd26b9cc1ac9cdea7fd4548 100644 GIT binary patch delta 16205 zcmajF1yoe+_CG$fAP5LZ!_eI`4Ba7uba!`mIv~=`kW!+8Al=;{jZy;A-QE2kec$iz z-uvFW*8i+^);Y7E{p|ScIJ3?^^Y0NpWg*1NLGv;UipY9#Lk};thHAu1N*~_a@Ud?3 zbQ_1`iL*X$_6`EZ8&xn%9 zbV0vZfWp5dJ79~FQ{MEhcX_2kim&hXdvhM|*S~~?ZHhME-0$`nm2nugHF`5l9X>u> z2_m?q`#%|U+FSFpyxI&=bvDVPvmlgw5kIP&$zhVaMv9ujQm0xR>q@q9Yw5F^d#krQL0_$8&`DydWyh_pQe2Unmo-g1Qv>;H|?FI;JD>WIF%c=rYFEqN5fno2% zHCqFrqj@&<&^yko5~boQ=1M?x#aoDF^3CiFcER;seT|6U5q1ChoLKfqa01b z{5;^bYX)$wQ3q_*B8d3_0?VOJ31mXD8YuSuA!0WFNGNJ}D&rl^e$0A&imheeOqZgX+_FZjNe zA>eC46vXSW00UjfFC~+~^5h@m5b7@@(%w3f0+P@GTP~$o#%Dhffe^D`I{-Af$@TxZ ziLx@)-w@Xs4E7fE{d|<(&IF=#y%7k!002IH#{*0fr>Nv&0r?K8P`dtD10Yro7<(zU z8%j;+f_gmK*l;4*4O}m_;*_ZZr`^*@1f>~DSmzJ<$uDJ2E#;EF2ccT zm;Md?ACR4+Pcc8FP`Syl1N6HI)P6W11)cx^&a)OZn8Z~sT0gnNa_?oE-2DpsRam0 zbtXWxqef+{w9dYn_it=&q?m|1PMLH;S1re5*Kfz|6txd-KH)sC*ug6mGZv=@=(m%; zgHHd2+h{C;GrH;qMF@a4>=rN&>VxM3`EBMq`FNPG=cL(1lfw@!3V`u51avK6IT^uy z&HjYq{cnVzXg|V4I0{j&=g9B_hw0*-QpCwhv&Y<`O|}JDOcFL4*Y6aL9ZA=c(Ex!D zyoEhmbCl+RlT9SRt3Rp9iLgP`1+Zl+K&bbm`b+PJXDtD$b`?6IA1SWu7#AIaTj7AY zH7(H9;CKGgYj9-=ZTk()@((RPLtH{ARXH&gK)=!X)N33VHx+!d=R?hoIxv@x?@~I8 z^$EVc`2=voIU$`Hl>^{qQv5%x>(R(7Xx^0&Ar$BrerU@;^=YP&GUyM6X2T!2gmsm!oUK>Zu7zX}xzAcnAXU*;G%84`F5uQ3Ckv>m?r2tJ}N z!%ToZHwRkaUxgk>lNN4fl1^HMsBDq=?C%x=z$*>^glmt=Ew+wP8voV=DoQTqmj>`g z4ptk5iD+?Vi(}1xC=&`4QMf|9=nZj3YLqd|lt2yro%Qs9>~`cmToZ^op#JUC-x>D1 zW{ekz%Vn9}+_V9ar{1Vw`#%X9kDw6Pi+43Z*KC5==n$_(kuRj^hxB3%-Pn!a6i)fw zv;ZTALbTz0 zL%^j@8lbW!He&oHq9Qu6Z*YkCbsFa2gSnO_8uV~&_LB;*em152Qy9(OPJ76NT)2QY z!*{Tr`m|s0ItvSBuhs~o{0^g-!y~NBk%r)6!PrDugdT~#>E-@6JJglup(D`gP$@=i z9$ar!Nn0NMtVcW-1X+b{YffbG+d!b$o(B3?N$-!0_2EBAS)UB_O0~m?I`dv?ZXQX= zWka>aLjMR1L>N=5C+X+Iqh^jR!oc+nMu8jo#G6dAo`RpsS;ZEkSp)Sn^f<4E1U72?FL1Qg8jw<{s)wLAwHle-XKek21fl3eXje`(o%%XADR?m2)yu zwgU_jd({g%xQ{FU)lU<@BZ?|#4{2~k;7n2LyRY9-DKbG#ZAPoos2OTHh3~zo~u7Bly#getp z^ig=Ji3LiOJ8)lvGY`{HL4Hq_^6EjUiZpey+M zR9oxq!^y_Hx8NoYV^jOZU}$TScyb3G~GR7a*pvKE{HmOCmkdTB}8B^8x( zlh~k%0XK7irW4AH#?VdkUDRnHS*G&D67)6VCU<8xNwL-bnG(VY_A*CsYz+@0;PJ~u z8{0QV212iQ`OLs)A(CkMgza z5izr)BfXQRqeUo4!$%I3km?C|Y|_EAh(ncnba^4@H6;2SDG=(^M3Vr$Tz|w4Kna9C z74Xs%6r?(SR1-zCxI9GE#0rj`Q{VIW$_<`(tY(@ux#)P7nn4+*ZC3ruy;hq`&4o|z_($jaz|F( ze!Go`V6Zbb=37+e_05`-;D}J`PL?38vD^B9tU5o zJ*BRr;_K$zlV6rU{9~QmrXo~!s?26T5D+P4ci1w{;GBs^FaL7o0(}5vWSZU&Nsc+z z0!(tgeriE`rUoK2d)h7Boo6~02MaN)Qnd_md6hQoUNk|yWl%eHRoq{hL^PGv14mKt z&NvCORuAQ%0BSwIwOeO$WMvSDmut!GJKS=yks@*;NN5ipW8P<~tSrT>WKE8QI8nd$`_%2ZJSR(5@(I8IKe+_@~fUhqVR zx5u}^7o=PdV{ybgx+vGZucyCA?y;j4KNF!F^`3@qZV7ao7Az{K22qk@|GFQ#4vnO_ zqn;5ADU_4KDa<&YOQu-wU>L>rFFj?9GeRn0nJlFJ(xM}B)vco5@W}EH9YsQxv^VyVN&(%fl7ilmTTKH!AxC`7JRqH($zZjqi zGR9Mzd|!Vqu!H|)VAIXY5OFL-;7vlo_~##9La&Z44lH82Sk2RC#7(N(=x2u%)o#iP zN~JpZQ?;K~KCh~f&`0SHDN~}yY^_VekPBjVo4A?E^h4F2{^gSrDTh(}jKH`aEiN24YxTwUAYkLbM z)*V!Sn3))(EQ>?q%a*p(0-GD>5id8mh+kq_@_&d`V$EVL+EM069aKt^t0_0PJBFh7 zzkjt=-2o{+bjNFWVB~t6%@WN{r@igA|2pNfYgh~Va;f0u1^CmR)A5DM0RC_<<4`1J z0Qo}-&GusL_4W&TGZBm8BP1Id`{}k4r_xw?0ZE68*?C^(PsP_ZUT0}iLj$5y?$F8XSF@#@Ssm?k zdR@Lxp;XpMX7Spdr1e*wd&)iMhx3B^Pe$gN(OO!oeF=v$qN|@~4R1z2cQM33g}^G> z_en{#8F$nAQE~LbuhRXIWsgynvuB~gwPECpvt2CuX-iNyaAS1X=H#5FdMX#%;mlQE z$njFD?}#d7*QG*bB`uY%^W_~w;)<8^hSEAdO^ct9!tu(?n#dW~HcFGTXoxxVsX}Eg>zmjM@$C#Pn(6i2i^5!7Z zwng@R5h$;p9M`bmv-)?EI+BWaDJHk0CP}$OY6Aj|6Q+oEhUDyOdM2jpFnuS3STZ@n0At`so#ibwiYjzp~8sdxf z2AX(?<;L+wTn?~pa9<2S9UaHVv!djApD7JvGDo-G6-4WBX|q|;L})v@?1)=;^JzQc zrNv6=XA@X)RwK?$+`miCSS1u@tD`(xNc3nN8W9o-cp^w+sV8Us4OwXK=>TWHenEN~ z=UeYAeD%g9yTQ31o;iZM!E!7?g-*@6PZ_cfG#d*j+4H~PzA6P@L$SS&sS+x*l{~#u zv@pNNehr?j4pTlKsVcAyI{cg{BxxpoBL1;+GP9Z{A(ZkAaawtJ|JAUOh~Q$FUD?5w z1$ap$#5XT{hq8}g1Q0wDJhSrbRb!QglXSU{Cf-dnzmF-!hZ)n9Okt|0uWv#>$u~Td zsFRj$shu{c(lz5-1w#Y;83g<+Rfu4#ZL-iLKGtNf|FE)+gLbl0r;%E?`NbSNY{yZLL>PExvj6bc9DJTp}Lfot>lN< zg8tCEIZ-)R^he{#40~~Iw)q0z&1lb|X4GNeodwW0eF62{k=>cRy+jGzt^vq;GJVO$4+Vs=D<& z?n0z%CSHvLMW1PzBC)@~EM7Q%)6!f;gDOvwM0n;)6-%A0;udUPFW7%%ij&Bc^y}xtJC0|x$A04QV z)~5`dcLhbTP#b!^D%WqO>NlnO>|3dtN>3(xxP;nF`B1r}Hsu+mWI$%|VOVhnefCAg zS?Hj|8sWwS8y<1iDi-;@<0b9_WonE&#PNL!=5okH8`KUG5$b1s_6qy1?@g7C*_p~s45y__oO$Y)PulDDaBx`%W>xG73+HsTbv zwM5SJcT`M?d}lpxIT^CnrlTic+j`BM7X-`e*SD6$_&nlnNOd_!??hsGp?u8x z`w2EtkAda}K~qEcowwiT)1HWp?etbd_c_nba=J=8loA}eldWA(TLPdbbjP1 znKiHfsnBP;AORu+6$eq-o}lO3ZnOJ>w73+2fsAd?s`1#@q)}y9(&eg z8esWAMctbMg4=*|xtY3!pE@oJIcC>6f+tzwk{D3&qxvjW5~RfEXsJX-H{jW*4>h(X z3sJWmS_A&Swtew*(9sR%cs@T@oMOg$UW=R6M*Su7CAc}#wVCKX?@)v-g#=gN;`N6G z;}|+~mI+AZ+zWkDy|1VOq2D6w^2sGC%K<6L(AxImX15@@5xcvi27|cGqR9H4T9vXG+wO7 z44rH@>&A`jvFOIyJje}|pcOG5$M2rFbNbQEPF}LPyW}bP|CD2>n00^S$zXr6_R{I8 zzdTBQV-fX^9+k{f>}Q|m7(-6|0|Lek2Tl36p<_E9&cMP9s<>F#k5?#h)9WbG3m&Z> zys&Qqis%meU4^To5z6A*|8ymbTbT$+O(c8;w#h=>tv#Z5gFNLVYo?-n`|Dicd z0gY`2ROOjDHbK>O+ngHL6l-!Gt5;Fd@Q>+7RaD0yQAcJ9>L}}7_BI*CKGk`eFP}7g z%G!RiLv%$wuZecpEJ)Q^eJx%hJyL#@q z#mWs5ofyX79iXF+6>&L`K(P^(f4IP#AM6~e96JpRF>1}@|J8qi501IU^-wFzQnuc6 zkCR=T^-O6~Rft>2X`~^-N~<7;ywdBaW410RkI~aO8BD(~GuMv&6sI{BjQTQ?0_xIl z)H{Q@mO9myFXlsVi5le=kr?n!MTD31LDg+drOQ@c15+ePOp{at=qgP?##6GCYxUjr zQuY0T(7Pd>*EB-}XH4vB_F14#tE>k!ViwBOFm`MK_1B8{8O)d=C9Uyn#J{p%&5D27 z{m5{1Oh;-UY7*xFG+T2%f54{hDeX*jzh&q`V=eJ8ny04-d~_vpf3gdyuz7LrhY-<$6e@ znhWp9=F0^Rr!1bIJ%YSFPL_j>jEWNdco2^Qy!D?Kx?JL`@0aqgsoxGh9ef6LCrYPKLUjd=#U`pNpf5?KjJ=ebU$5`3822qVy&7qe9j)0bo|NL5J5_0> zWSFM}gaVa$E?@ipg@J7fQl$)Z(5H%!bN~9{hRt4YuI=+MjJ6wU79T43a!`x1vySE1 zAj$ulo}4P0=E&6fCGVxeVC)ZxvnduW4OV%DbU|wV?}3~j?}%VRf=1{a5=|ZLsMG?x zq{=gdS{~FmDS%LzH76({|Z(}akz6Rsq?8hOv~7~|HK@tx=*SG>Stpc zJ>!yW({gNGBy z33M{G#Q^a@xM3WO1h7q7au}{aJR>(hd_@&QMC7j*F~51a|K=4E;!v<~v~srwa>L)n zs4(Kee$Zh-69yf-fH=~Z{wRa)xYsJPg>-|eJD^0ufC5F)z;-_AuUwtx%WWJypGziC zwlLi|;^fE9!xpS_nj3VUEnOGHxRwuTF$Co-f5aMeEv-JQi?rlNA52^#|JlTP< zlF}TuurfaY@dM{9$I_K4290lYLMZ2Pc9w1T2^EZ?LP|Qbt|(^Hn>y2kT;dX?4rLO0 zw;rUd(6{5ZL7VDU$IPyp<=Rvo=xzu57HP*oGd+ z2;|Koppu!kQ-$G#I*OAZY@_zW|7zq(;V2WuD@%M9gnVzw+4L0cUAXP?YhGMfZTXpc zep_}bG~!6&zhm^WHHN4%i|IKgMYawzK3Bj$t32PBseMDfSLrM9opOXZt} z${rRU$^loN5f9swq2AQStzu7)_GeKX!xju58>=M5s4g6x3D*gwJi9xr*>OgLd{}}Wd|Md2&w&aezEyA5*MH#NxXFp3M0j-g>44Nt zu<`az)HUCXTBDL=FlBMs(EWs4Gh$Z*c(Lb?oQ1iWQX2^8mvs z4>o*e5#29OFp&l7slp#~*#XGH*Rm&Ycg26Si9dPr_71C4EPikih=}Y{FS+-S6p1Jv z2Yp240zP?wgd>SBK!cHSkZ(zm+r@BJu;+d2?{oEVr$pWDR<6SwHSiyPltfKYHWIkp zN!HO{K({ne;ADe2swa$dC_6`1wZN+!Cd7@ay|(T;*KhD;#arz8f$In9M^9Ey!|++I zZ0J2zoz(@0XJCU^ka7XXL@XbZdJxn)zC`O6;;;NW5*1Qg9u?<>pO{wy`%{{74N)&z zNCtDz)t=8#zijuaQ=w&Y@+@r|&$*zMo!vU?4VS>Qt-om0Vm6E^_5=|&|E$P5SPZ~$2^b^H*zObR`w;r;_eCTB}GAu^uy+OivEo=3*6mk8MG3T!>(Se zdJ-*hK^d-K<^%CfNqSn3azwvcDf{J9Vc<6x>rsTTmE&1avona@XQaO)AKeMP3+&4q59r_G1heIUhLY24ESZ#SQAB35!w` zQRp;Cq4fD5Ed130A%Fp{4z8`OEx0Y9uCa3{Dv`E0J^+^0Yv>ryn)yl(_);?}-O65#$ z5dm(u)sF>LFJ>tRl z^BQ2Cu5UQ)hv= zdU9OESF-8Vgx=L~%wQ#cDDtCh?*J9wBVPwsa;0sE$2$G(m-^0T*C-wJJZ3whRjm4w z)`T>F-T=e&cQp}ReV|$}woK735qao2>4$9A#M^2-iF{~itls+j{@t!-sb0j1k2cQF zYvfrZ*7b{=p@Vcfl*M`#CQRMe^g3kM6fqZU4g? zCBqCQjr)3$V=ls*Oh7>zr)&SoDYx;aA!EfjtO#w58XA$aZTcHI~POBG7;L2^Y5;TeXFW(j$7k+9}*;;q{$4S06S2>NLUBhHmBx;lN2oTo~}mK zeRfJoLB4X$qTWa$@`HluGiW2jYHGRAGzgC z^JBC}QJ~Q{s#T6^zQ(Q&95;9~8%w@H1~mL+=N2pHmy+cpBZe_6ah#mWv*Q~IktoyU zuTD@2wED>%GD=OIyFS~C;{GDq&$Y1mqE%dm_)hw42gW@=z z>y&-Pep4}i8<69_g??_(MWc7@g&mBK2|7fZ*hs^7QV96I)H19isq?g@1- zzF0p^G@-1_{v{GO@WIW2PWfCT?toCHf&N5hbOF}LLG7g6%x87MF#Y%X=cK->nYJMN2cZTBxwRRP%-y%NoxJ@01%kne53YIJS`^s+P96nEan%OMkd zlrJ9$YW-pNOVftT;C7_k!|pqbl{wi`d=pR2pBux@_lsfG{BUJCFuc)w>6!0KCum*8 zQ)nq-#fxGAj+SB&hxxAXvi*u;f?KfKzY41A3zOG= zeB--27B8ZryEhXvL140Gz`RYUbX`#tPAg5H?et!BV&4G^M1h>nH!ugIe^u`FgO zG<>4}`9h61jFPv3X*hR)!_87XD-POvzH}oXnm(sb7iH??C?=DYrufb|bfF^PaqyQZ zgUOl8PYGH5%>LbQb?z%y3kG4|K;~vQPFM@{BRci(b!P0ga`X^d!?wg|X zPe}b|;-j!jf0ENxzmU~ZS$+Xco%{wqxT(6FcrtqneKu9b3z=g4^f`;C2xczx!;nC21EnV-XX#x>NA6g@sodxWA;TrB zwvYVRgHIzqE{f?yFm+5Rsf{R;ebj|{9>;sZFMM*JqQBT|FGZOL%-;||4cvGJ;vP)7 z`{Z?6o>|6C4O3})8B~*a?Sjb3w)~|ArGE|V$L|hi2cWh33oM4Q!#+k8yfrc-2lXRO_Onp%$ zb{k}(s_bG zbXw*2*^}OXv-+2?AUOZ)-Kx8P0%Omsce(>a*S)z?xw?`A*w~>L-)AI!meX@x2A@yq ztF0}ILcflqTGXcUr#G0qRk~u%+ALth7p-ss_F3i_X0|hF}*>P(uH&tf}*l9 zioEk7%8xlcwYMAN&|v0ai7<+!JvpabYst6gkteIe*7c~@Dn#)(G_x#fg|UelPhr$e zwqhBZB2FRtE49_V9x0TK5jV>a_OD-8Me?W~P_xuo9=+Vco14vX$1Slu9gjJJjq17i zq&*{DpjOv!$9Y(EuSIw4?RsJr>~m@2J>MEqWeQji&834FpeOxN^!Uv|QNTOWjq2B_ z_#z^%kBx74KKc9#Zc!zbIi{uyk}$7o#x{)&Ij~5WltTewe_~_bJKy-i9>t=z$7BXB_77;U~?014cZ~Z60Gg*7Z81_2`!lDr69X^VHzfnMlt5qd(DC1 zFwp!mq#_iUeBQjJ^=`kJc^cciB&X06E8cxN#Q%^G&3Ff&#s37OPX~5W$ao$eP%)7N6!r%mWv9QRJ)z_9@sp#y1S+1e*Dg6U-|7 z^Y3L@X5~FDi;P$ukDmIww0tlaezW^b8*Ai)zd&Y(&9pU7L?(M&C-H$rcybX_O81`s z53-Ju4BMi zN^th!sr_~)C&DHwfxabU;qWM(Jb@}6^PFym;blb168hP-KQD_!BDGSx@-=*D$lj(LX>llh0=}Tmo(F zZf1c-@s-pE7`n{e?0dPQLu_`Ru?tc+0rZ}8XObN=$}hhjaV0a^U<|m=?p{fF9?ob8 z4ZxNmyE)K4!^uFB&v_gAI9=4}_c||=P-^u^#%Ot<=j)bC0MifD-X#ZC7Nkqm#PX!0 zE#aqNa8Q)om(fjT{)a;Lp9Z<)F@9mFfmekYes091*i%LW0jc3gWhs}&uPus5>A@&! z_&nXBM-xnP4Kc?B_h3I8=LLa1( zv@LG%+gR;O*E`a`C(;5IVNpDUkAc^&18*Y4ru%8uouw!)unvP6VLd-Tp%01wxST%h z*EvtEUH7~QEwakkqgBU6S@rBF-XN)v*Hc1OyW8P=Yvmqq`*f2{rZ^QV)B zJ*87UqH0Rk+j5h%=JfFlLwiz;u#sTkr3yY9Ew0hN^mF%8>J6=m#&65|1bn%;_&@oP~sNFPTc0(po#RH5Eq?mcW# z3Ux!25_sP$o_D>Mh=g_!E_6)3zgqESpsf97D{SaIu(Wb#yi}`0e`(h3>PW@c9^IjsAulTZk>eKf0l54^%Z9=+#m(S zWgIbrN5h&G=GKdPBx3-+GzThORnfBTZ~ z`DajJdd@&$&hDx+wt-UK0HM&)7n~bb`m>~IRgE}_o>EyMbOJh0hTwU*kmIVbId9#t zMsfSh23o=XmRAX&3P(d4Y+I5VtFwpGYfZ3TieiLX%a^TNrQn%bpaK-75QKWq;m~`b z1sDbPX}R9Ga!gE@+SlC1&-Xs8IX)7COgkBp&1N&qGpML6Tcp~%-{k1N64=r4 zbJi4{GUXBz5T+pbo5ycsh=xJPATlweKCQ1*?f+e@eXE+rwo`D3^n9W6r> zr#8=XCgUuYS>^%t%nPb&h(WXM5a3RdXD)DRKWkS-;yGpG!<<}+64DaUN^hrfn zfXn1ndbZH){;qnn7Z1l;M~_|=0)Z!iZ~L3^L_vxNyd2`MCyAM54(DBEM|pi|)66;& z$fVmk0^f%zpVzzo5<9eJR=Motbx zMMUHT2L8gMs-VP%mU9Qa{y@=AH1RumQ37;G@V^-C?Dx;vDJv`)V2F71aw%RpNg8Z-`39fvAs0rH`UZk1+_I z?8;9%$A<~tIzM3J96kB`uX(_~1}xye2Q0jtV9>v)yg*LaB5f@q{3}>2VbZEfx=;iJ zJ{XA*3(TCM9G?fi44>2d`}6<;!w@0Eli>pL@cmxnkl_aM@ch1mQOXdaV{phgIl2RR z_+eba;);K9s9Lx=dAOQcxB)@G2STbGuPw}NOeCDV^?v{40`sv$K%87)2#Al9hYJh@ z^Rn~ubMtfY@bH28xOw>uIMhu{-8j@RV0FSQY@pxsjNdaQ_?$@6$pfy7i$li7)y*9U z`aMBXes+EkFOUZU=jHmt#K*}GcZi*b7X(ZAn+r?= zhHv8ke_VX*JY3xW#{?AnOB9%dkDZI34~`!@FAo^V#RHcN0l^_-=jMS`{LKU+>ch^S2{8VjxL|N7TLJ%`0?F$^U?`GW2wX4&Nm-b_Bo3@v^6$;?51D?^pnV2LC?d^c|gxtUL{-36RK(J03ZrF_s=@WP?e=}gf$Yp8u{=fv}{*y^S?mxQ!&zHZnV*IVt z0K?$lhL_yG6aDX`RQGYVfM=PNg&PLPzh^!yS(Xv*TdOPuJVf)da>Rc!8D3jz?yeqY z?&_`<7OGB8@XX|aiN556IHuUyeYy;br?TW8nHZ zIk_O5y#LL}^}D70KK_Laga=;D|3%~ccY(iGxghYs{TCky3{URg$G^z~Lx1PjKZp?U zf58gj<@+!1ApCsr{Qt*ZzTc_$4;sAR{*%TB;`~b<^k3G%QxWt}ft(QD-&OG+0^u}x zAN(hc5ByIQIQh7_{)qx7ALu_F{*6CeE&o3^bAfn&7w>;4<^u6?{TEtb?*BmpLH_9o z7a06M_#oUC|D^;B;rpl6Tzs66|1yw|`}da)|7jo}i0{AoczO9?2@0f82*+Pd;7`-S z;E;2)bOOR3JHHzghny5p4=5xB&tYjUehDc_E=gWV9&u@IFb{~Aj~fJ*l$PX{krcuB z|7U^sWezDPGf8U;GdnjA2OtMOn3GS6TZ)TYijP-MmW delta 16170 zcmZ|0bzGF~@;|<$G)OlKA_x+@u)uMV&s746oVqh+J`|uH?&TwO{!RZ-LQk+ z-rzvVD-Oju#5o3gcI@C(2g_Z6h~{?U_Gf;VC=v`qGk1kCgHzW8c{RDY`O%}Dt?q%+ zR-fCG&M!uZS_{p>H%%Aa&**9bzils5CdC`zcwYWm+2UMayAv2?xbwZ)TAktKXE##z zVBrG-DolnqlCXp>P->#%|8xi_A| z919uq3&#X*_!cVF7j6pW_2iOx1m)kvcL-UpT3|nmIo8SozLOZC;H&1+Nx*XApws`YO+-4XrFdR0_@xqmP?4=N$_esEOgu;$*mFOMWUr3GaI@sCSZ zB{G7B?45IUTm7zkch#w-Q6^74XT%5Np8IEERySrLIrfi(KoaTb5K7|A6A@E&h8WiK zi7%k;1Z^ba-Z79g3Mk;FzT5o#Y8u%6>4a}vIpW0^(H2v%M}_p+)7Ys z7Ye+<{7Vri(=#=VowqPJ6Ny?b78QK(WR)J7bp%-(7vy--U|D(o^+3 zAIo63BD>0Q`x7V#UxZdX^9bfQ3IYXZ*rIH%RD)!#>>P3Z5FP-^l|d?R^m);#aEIJ< z()@-l#7m&2o%3Lp`0JfSdW{1NBuaOH+7=OzS73$m$>Xp|wq(2= zC>U6`%pj^0N7eXk%J0S`XwM7?=+g$l-#SsM{bfnOlpQol_d{5)78>#$tpnqa1FC+s z8@yP?aC;Cu7(3{1TM-F~AirnE1`MD;W=x#+m;$5-bTooSjPiWt(Ou_#`^`&wl^Gt& zAOr2qg9c(WZG22oz>Pk8BUljE7zS$7-ja>wdO?Hy^$tUHdDfu)_)mDT{CF#e>!U#) zr^Dwg_c^-P2_k<=gZ@=#gbfo7Eb!BWqWG`a9(<+1Cg4V69-a$$NPbl1nR$RH`22NJ#egen5WqNlK5uk)gf<4_2%Zl8CP9fQrPBjPZu^2}ZL;cU|xt z2#^wfGs&3lmoIN%$dq_rYUe|SKl#rD35*?y+F(7zZj);=K@Aeb1@1QvVl?a!N9|`o z>P=;UkQDwEjAUmDkZtU{6-SOH{kHp`t5Be?@eZTR0o@IjIM~uZ%Y@)HDg!jy2^ZO102|Q$ElgfmVT#dWG`hNR|>&A4_ zK#Mu6%iLpP(C`w;|M|Gk+w=2gS{oD>UPtpcZy{$)>M7gqSs+I|t$$_q>tzsf;H$0aw(;swg8fpffM}+%@dHlq6{^$2_St> zy+2j^n-P9fe9OyKn{Nt1=32;qS@uU>%u?*Sp`eNH7A}A&OR}oW@KLr2E8aa!vXpwQ zh-U0UY|I1X|HU0gIFXYD>N5@GHhz8Ry_dgR2WW!sp%xRVF(O&?zNCM92yzCggPyfX zD;4R|9aXvIh<#q!W?nAFp>joTqtMR;KmV&@;2%QaETnT~Bz|28;$OgD9jEQr)8$mu zX92&F5Y)ddL<5$N7G7qp@L5vYjMsU5$_u!2BC9r6()SzbQ*2uz zIFmuktf@sO{=3@Rwz(G_HC!8$kv=Jsy#zuk*N1M5X=bD6`K*o-^oJIG6AC`x_cL0p z79{mUba2CB`xWb7{4d~Yr&i-_Os%9C1l*mbS?5coo$6`IP%K@*MwM)Y?bmxugPtM$ zZ<$95Df!IFagTANA3*$cxE>&{6Zi=-?^_CrP_9!%;90b(g%74*<4U;OLd*Y#wVB|& zH*h)@09}6fbTEbf!5M?jQ`le+j#l|YD>1vRlVufH-Nr$Rff8qRS zMYVyq=K7$AeMorH;#Bz$i}9q|TqrsySJCO=bP&R6NVKsl2>C>;BNg%!oxsU(Wr`R! z_=udw4`jt1kSEJqa4Z?Br^qPXDd<0%g%g7w&@IcmaV(ko+)#Dw_%BS4$_XczSrPXy*Pb(B}Je1)fhUx-UXGCU&4la8Eb z5rrH}kd$ePdQv@xPY;4O4H+_adxApy-J@8kg1@q$O~-&BYhdgxgc3#oC-;o-f6pSZ z+V3fKm18oGCLP=WdTJU?(vK_t@@G0q$DdGu#DXQFAItOp#69@9#U=(MZTS09!Z18^ zSCr~aqxM1_PKq!)t&`8+j%EqB9Zs5co8s-W*l}2{1dRR_4eBWm^{V7bZ>;a{_2FHY zPugxMQB!f7bU1W&%A4)5&#FzPQCB5_rh6fOMcm`86Iv}i%^!SrMy~X^xH?*W9bGp1m$sw#i5gt9^Qh(t(M3zwsTpjFf z?FHXjd@ZZmPu!>EMLZHk?%BX&*HjUD44?9g$|3lN4`ZSgmKZ zuef35yf_Sq2^w74;Hb^Ip6nf<5{kPz<@>cS!yrNxI*3UjH$Q)RX~@{mbFm(ND*jZ2 zCltteBFohaVi4Zix0UO>m0ND(<{?v~5**g(3a#qHwbE^*8gTF~n>}0WeWb64vD;av z@xA49(AmTK0kebrt^vyTLiSWWG4`zXVZ&XHGq+=ZT5H9W)g{S%?KDLvYr4JA+^d$@hs_I?ljh1E*i+adjiiL-hq z7r8Q>VMDy#BQ{!m?+je2+c@Etb4B-5oC+DOkzf=(BfQT>e4PD`2cJ$)CJ4Lvyt;2^ z^me+>2LPmpt4>c4^f=V?P;NMug}u3h=}RmuE?zJM{QEaSK~6;rdn;FKFc%*JiCzv! z)YPEft0{>Ub;ReOnN8_IMt%Jn0}ppDm&%4QQtzFF688Td!7xw5iKJF;sJFjW>mF>0Sc^Tq{E|7r17O6s#=WHOK0-< z5gy$+*uGoqAa}HbL!sFCGqqFhx}Y3xZo~Al5Xe_Ldy5SS9u^5Ae?&F!1X%t9lbKf zgHn;XiVEd)5FKp{sFlDk*hm`{v`j_<3JJmbb#rb=67ZSG?@mMu#mVJ%BMbzHO7T4i zZjG3_vogbLYqb!<@uOM7GrW87NELN;0b3L;Ad(0*$^&zej1b+=z@Xg_?t@<%ZzPMc zh=Sbqkl-UTXxjz_1?2fqxi|QsUnSKyeB+(fuw#5T0?@~+=zgO%e31AZIueNBnhyin z4-fDs0A2J`*c}&Wl7loZsL}x>zmQfjRFLZ(l_Zkr#R6y<1!Qpd)jxQQ&Wph5S^}S` zSL7s<;W(I9fA;pPfA4_Ei81n}1U{=Fu-V>Cv5O@I7kzbSetdjWxs3&2UU9BH;O`VU z0T&zw)2<5MWdk#$RD2V`AhC`#<(<{GLkr3XZt_f}2OvLewwcfu4;5EYNs)mU9$@izUYg?{52>yv{EUg+4b zT)2#G<#2zoWKD4ux*9$AC2IOt?4is$K5)3am~zW(XtXwiT1qcyuTqzORktX{ zxbG#`mk{TX>%r5&Ip(!p9IPYvP$7*60S9&y-n1{ECki-N4#Pm3>_(oX%ZXZb{JFlh}JnAT98Em?`FNN>ldr2Z-nk=fNz$QGe``G}cf(N|w)GNwC8VqP9jP&dV~@ z-G!+g;D~FS^H-U%@#_YAK@5@7xP$g1*GM=s2kf8qY69pI^Jt z#?*pw;4m`RejXmbx$&`t8PXJN5YA_pcux<0k&u;tHq=koa>ZtEs5XwRmS(g1neBFq zfLcm6ute6moyWjZOPQ0jy>sP>6o$x&?t2D4;>}P?FSQ`T$4hJWF)Q;)s+pE0Vimk> z;ye?>Pdr@!IuvS%3bpBmjCaieZ;o+lr{a>; zKucr>6j0J%Xshh?pR$-`b4(cXMG!WjkcXE&dXjhULVU7)^Yi^_275a?&%9gtWSp5x zPU6jA9Npq6jcWz*Lrd$b!@=W*T(g^#NsbI&CUJC3;GsUBgX}_a>g3NaV>==1MIzou z`A=8)Td`e^H{E!9n{13b7Wp(}nCeiz*o*{9VEOr)1bhZ}a(tLT_2W<&D!|HSYe*Qu zte2|H#3#F`J=mm=S3n^omz0obmNI$irVP30*{UNroh!Yer9;Y?pF?3NAqc5>KRBA) zN&U)99N_f))Xr4P@^S8!+Mujy)XOcM<1JuutFfuThrgo|o|M zQt}yXKCX5xjy)AKMN=;0A3Td+I^3R|Xw#)*A_im_^iLl5WXLG~ihV!E_~1dRX@6Cm zJ*rUeHP2H6R5aSlsjTWAQ6CC4Lwm{3%3s}?Ql4is-{jQv){Klxre9ij*p>CWA1EeoTMEBjg=&7ipwt{}Av_prsuhyotsT-`YOkRAlx9Ja$zBqTa>I^R zXr7=u_Tx*}%Fo%;aN*FgPucpK;`)X3B{OHrxN=H<^4si)0jaF(dFY ze`tYK7;-cA8MzyE-+Mrb8Z??p$cbs0tDTp_I!bAV*C|^3!w*K)FI~_OPtYUNGr2ih z4qQBUS#!ZG&Dldt8sZP&6GT1 zq!ynnT4S{4T%g_Yz8t0mKKf($cCt^e)xxK6Wk(mtr`W;1MG57REq*8!yN=s=m?oxf z0mmK$@-7fZ`G;i+#XYNEHGRs}HNCUPXaE$$Z=Vz@mc>^>-S7qGz>dMG(|~~S=opSb z+{+9Wv0^QXkIi`R;pE9>X*w3wKHB;1VaDCA*F%vTJVGNkr z_roI7T5wcq+Ow1Dn0UQ$DC^rGdj6zWu#Q3L`#Xsf zQ=e)#v!99-0wZf_!iirL8HnN6SJG%^UJvj5O9e^CwiSxU`F=|}kCPRfGwKH>mNgDXirZ>hL?N&IAwODv;B+?UGP;2)3jZWJ1W zX9D6}A^zNSm*vK5pC3H z-dGq;6sP-GV@ihQn0k5n0jVtPK9IyOpQ@WP_C0FJezAfrix^VSH@1g^H{&K)BkT-m zT|^?;H%cZ7HWz?Ty(lNDZ9tMCePXe-<@BQ@RwHMrT-8^B=x=jj)l$XM{C-u{%5j@w zAJ1jYhc-N(v8VC+$r`N|Tzt3hjK%54*`|7WEAztOgQRu%TiuUO8C2}AyS&jLL94v( zk39@=xhy`@r}(A1c{6z+qkJ%i%D0X($aO*9ssKv%PKv~>6 z?2G%pvhi1m3kk`KoI5E%t1(9V>)FF;182FqnI~uxKgd2YVZWEgE>HGe^V^=n-!>)D z^NLgH9N)DJs*@}q)!W~D#{apS1YOA?1}~_v%elz^eOAf~$6}g!x+G5;y{NNPFWhp@ zr`S+uNQ+B2?5uHs^gYpXDlH?bnd$RxfkgQ;*Q>zuAW!DW>5AqV!1-`wAswN(+kcUN z+94#s#}>g`&Cf$Wzee_UrSFTU7L#(he>Usc!fWD2Z}Y3;Rj7JR4SF&BCgfhGLO5>GJydSrK=?weMLtI5WWU6U0dA@#;|WyuSa+jr>h zu~&~TO!&@TeC=>=c$A!~{gtbf{y&2L2_h zsXUO*andK(yWxPXRSK$~zj=nOI}OE^uca7Eq>eRp{bLo=Lj_9NVxa-qf*%Q{1d}Clr#P3O{ZxQqaX!6{_oU{ogK{MdY-$u`nlIU>vU+}zs`PPVgtIc&Y zA?}*}cKXLFZ>f^a_4hsp_+ibWo^dy%DI?HCU)d?kh9}oy_Gl|cIYQ#FW!!k(0uh_D z=%WtkdR;0|u%K(6CZZ(p$iTl=_28Ar@H6RWV%=Yg9jF*h1aEKT`(2@5cYKlDx^}}& zQfMP6#ucy&%(O+H+GWSeab+fcv=Hh)A>z~)E;#eUU|4}3RNB8F=*U_ixZv zcWbJaLxJoewgO4&fR*q3QbFfJTnc;8W!(Pd%#rLefX9inRhQpMdW|jS(8CZ}!87gh zvXz@DnV5O5Je&7t+t+4*>Eh8`p;dXuK@D_afo9WP_&6_D)r_9M9LutP2$hY@tuG!< zXW93$#Di7LnouBzfZ$u3d^KE2)FD5?OJk{e)iB$ajR>Y9+M0v z(o<_mAM}6jVmm zr}fZqoZ`#L=89726KGaFUI$7L+be1IZ0VD3YGCw`;v(zhq4UCPQJS#m>~}r#LhnkJ zpKW>Kg$lpT>owHe@UTuFjebfSnpUWq#i>2Z$iQj^-|TnxGA`v?vx6K&4}ZYLnxLjo zedD7@5?x#|Au6u(g*TD(ee15~f$qQ@4UQQ5vteqiGCd#1PzfOB3hfnH34)vDVE{uOx$he@BC~VH!{TO>rAgRHsIeE z`oq{HeyuIgWIsLfccZBB zwQhx8#c~Q-)Wy_oKDwfkUC~6yTbbLOV5N9~g~N|f$RF*2LMCBmwzl#1g$E_2Ux!dw zpy4~qUgyxf5`wH`R^}(g%Jfr88(^FHl3+UD!Y4lr^Ne~0E9&$1yNnJP@wmr>Gz|8^ zakq#Xn-8!mjRQv$`vACJe35#x-z25(al|XeDIwA**4rK1U$F&J>n%36&wC#|V6G$t zpw6G_c^j*$V5s2L6)Zuw?elB74`SNKO?Eq4E-laaPs9!SKoWSe-@7I(hp+Rq_KVNz zxEAp)pSNy!(nz3IrJYS2gmF>+;u0&QlKvr3&o;R@p7cs>ol2?pfo8`0uj3EWlmefy zZfLv9vlYD)daPrLrnl3dC;gr9i}Z5}41jdwv7Uf?!<3?rG;2v}544;8P)I5D?gY}@ z!-BaJqyI4NeEDhL6~VIm@lDX{^^Pt+l*U{4Lv&KrjPZyz&;H4;Yg#F`xE-yuB+tve ze`z4{Idi>kvIE_6vUbsdcFAXjtrlCHIOmDL)6^yoE8-v7iWD!Da!6}TCE6PtcK}^( z5pY`OG!r4}hnW?>zB=;FVy-3hG7e8|+?H_k#UW!_C6sqnHmh+G*l88HR32Kx8!;h# zQJk6l>z!K!66aLU2d#C~Dpa1T|BU3!XtjUQ&=aV+`>hJ~7fuHc(;JVz-h}Zz(8lsi7vqr*`j7e|%<;j>bVGOA zj`tD#(rw5a5kfUa?9{R%HA|CRCMzFiT{@{h+mqSjn(do?tYF#G2R0~tXIF5vH}weJ z#_iS0?nFCpBo;$lZ4&Q;#D{K=Y9%zPlEG3x8i;u0TC#|HAB7w3aSs8ORGsO* zu=K8;b~9STJG?NOIVGAqzPG~_Dcq+l(L13(C}xn()uIG_IwNonxsxO6PdBY`P6R@c z46qc7$@I&c;Ee9pi3+-><}q`QqVl!kU~^?BQTa#2?0I2rpH~E8ez4x1%SE`q$a??5 z*?kV<_7ZbcV~tGBHViZ*6I}rm(Avx;_o1O#8|yCL=!eMdv_E+AwXoJ$yyV#~??vZe zoW0&n(M3*tNibp~t8P37{?Llto+Z&jF^+e$vvTJIOrL_{jmroDSE{?nemxw;UcY$GOfxB`Zbe2e zZmHG8Sy&)*+kl(ANgOwzlvgptcC^CLRdu;{+g&BVsTMM{?fUrWQJ)&cE5QbE;v>7H zb~^{8!xwmWn~#P|Fm01faPn~zcoy8y+7=Bp7FhYsa>A9n`;%LUbr9%(1uYy84Q zR@E-Q*$W3G?gi5MjL=y;HMncqOU8-m_yPli1Ug><&RI+v)IibZeJS>b($6IKuF{T? z!PE0E`U{jfYgF~{Z3SNXqc2cV8O;t+lLQ3BOr!NyDoL+R+3Kl2k3M8hlFluRVG9nG zJSB2(wRd(6yX`0i1Zt^d`o?P1e^7TxA}>>XJ3aofKM79BVZ4RsF2FS!cNq@gHT~WZ^;~#?P%Q-_PpSLi$zBc3j>oW%bx1oFAA;04!Iq(7Kbwm@3+$m3R+=@IjV`@ zvzUAFdHLjz#R#u0FI;mb(OBxY8CN} z`go6icxxR4g!Yf&E3j8Pub94JyB=R-fiw2%w{l-k#7xA?7bd@nRsYhN!FO5p^Ye0- z$wexOXRT_*5H^Q{*^QiU_Sa{ljVfJ8(1>B88JsR+aV@oP3kfSf#;B?bEM0qMjbVNs z{#FVYBPW~F*5p22<&2y$s}1bu>C`{Ts(<|I^`4M%1{yx76<szL}36D=la622CpgQ@u%Z zBo)M)L#=+%900Ir+Uah*gd<*1Ea_apRx!-4FkXaJl&Y9{BS@cwmTm z8A=2*e<9|dV*oWQVPS+Q4o&45zb_JEkOl+c{cN0{3x2;q4U1F5LDSyG%)#6O%*Fpl zA}suWrwH88f1Dz4bKRdJfDvzSa8dZ7+z2Q=1rTecp+3{no%b3QDQ}w;5)vOHYR#Y& zGyhOh7a5ZP12cf~vAp`$w^&28Tue38cv+dSc!^D=Fbswezrb7g#(d67#A}fz=zJ~T z{It=T!~SK4ZAmq!LDSn#uM{FdRRYYA+<1n}Xm`=2=22}rPHxm63gR@uV#sQ0%o(}4 z6aYN|DAfG~omzF+n(fiWPq{@&X@2Ot$cLK%w%Q%xEsUID_BrT6B=6RuK2*y4SEefr zL=iIH7k4RS?RU_VbAx1Ci1FeOX!90Fc`Fd?3lKzYK5jeWl(4sA+W%_pNc3fNdF* z*gN93585)+gpqFOnGhY&+b@qWBA6ppFwkcMLDp=9YxtShGzOqDM$!#mE@Y1j4h!~rZv>#?!-69+Q6$JVnJkL&h7lOW@30kw?$<0x5Y_s*0z`g}y$UKDMc%#8hAk$(*6U*y#8DffI9{&a_f1S3*o0 z;UMVC8`*T+7o(vk=N_+kg1<2BQk(pehYs$F;h|YD)r)-e@_fgL{POkd-L!)DmtT@t zemzN7csi?)6f!cP9dn>{d=ZB`!WO7~s6lX)&&qAuR3p3}iX(8hT4&kg06Zni)u3&? zWBCCzfd!J)Tjj{FWles3sT5VH)~HL1%aX%n&)2HU+`e*TWmzuve5C-MwcnAAp1Bi~ zDz8aQW|J`rpQ5f|9}E&YeTg!6+3^uKE1<{3J*Gy=;M`MYY;eh(9gia=GFddx+lq3g zn?ptWU`SZh8SOLf7qyp-XF#Jz?8y7~F_bPCW<>Ne{>a~PkV(f1{okVAL>!LvNHMCj z6&K6*bydh|)VH_11Dezx-T3Sc-70q0T5VNUk2Y9@F-=ZUSOy5}--oG$7gg|t z80zzW=d%p=R`MZ^enpuWJ9_?l>hwgV=?;~=qnEchpN^NRFw|R3mSm1^&p*TLFz7Lf zj*VT03dX7|v;TD0&{+MTnY#Eq6~)}`8^PR9zj%?9^;@!w;;4w6HgJcYTk4u2BU6{+ zzZ90huS`Td#g62UEL;I96Oy-|D|&vDd=wA8I@{mGXAgSdX>lMuB%Ma6JSL6Ol27VP zI225SZYcjq4Wmapg#j4ZfG2}Yz<6h`XJ+?Z2%FaYO zB>OnwFhbx=FZp9|i=>Jr_i+PcV7&}tEIeB+Mg$yec z?R}!qlHO!zg}n$NE6TP+9%1BddehRioM*y>k@rT?yrhbY5+L$S&W(f(=`7SzL=Y{w z`7r56j4$VA5}xwcJn6LlX1Bj7bK0RZO;u!)p`{xs4$JQC-%d7EOZ}dlwHB%VxB?Y# zk;uE~Ca1aTGk%6!ydgPpx?Uu`!!t}?_4R~~$eP>UVf}F&;kFbH!xNtQ!rf_oY%-hy zZOFrSsa$X$MZd-dQ%eZd{6nixMN}^bKC{Ums zoMM8_$lPr!>z~IP3io=t(Y5!EM477g^ z{|gs90oyiZux5rYJ*d2P|B0)nb@5dTZTj4Hk`2(Ph#y~*Lg(Ak+3_LCYtyZ>{_P&l zXA(Ue5k2(Bl;+h{jNIB(@-H*oU(eEz3MSzGti%1}y($GHgvS@Y2`uhIn;CP@50A8Za@(}b zELc_WJVdyzku0oNy2!`(Ah4CQ8k*XvTA88{xvbL*gN ze)9@P$iTPgneJEpp6W*nQg`tAe#Q@w(d1m6JyaRyvn!w3Vc+T4-hwck^Y*c)fE?1) zlrL7|F@7?!(xG|78&2-H5owInCAVg5In7Rhr2p}_9JaDLJ_p!fTKE32EWcT%+K9JQ zC?LIun*}F$XCSPHz0e?>fyREunwIxem~8KPwy#eu4(w2ZtEua!8e8k;B70Nj+?i@S zRAc)d)fBqEtbQuR=f5IeD`wDE zP4_>GGU>2SnO>)AwhZiNHYb)nrr^j9nCa&)5ZCCH_a% zh+~zzwfpqZAPwHf8iu`J>i9KYDV1!O_{{Pv+FZ~mzSBLso9;RO8x5_aJYis%1Whn? z=GA0G!jELx=5m!nk|*rO8P#+I1>b+d6l7d}7&%%+Bzv<97a=Jcjt;SX+lUXP9tap% zs0n2zetxpEAHVZXX8=95v$06yHL^vAVTcHo3x}eK`cL~86qLdqx{`TmX>4006b2o= z3wEkP7rc!>w?r#CN1N`nyz~=+ah&cC5abW6jL#V8@CORWDkT7vrPf0hJbmtjrtxSw zUy|DuSC+SmDp3$miZw&C6qWb+noScD?Td<}J%IrSBL-@;7ffmmaBz|S$=VQnUaR!Y z$*fEP$r&?p9puLP%;))eyDb)-r9%NxAO4Mjk)0&Zt0i3-&4dy9lRRR;q{$yQkNBiT zv`qX4v3bqkD!Pkw1yPCGGd~U}pG}CwGfJ&0*rjTWGlNds*m(0MvW3T=O@sDJKXBN2 zeSOd!6_!(&^7wceS-?{>NL+qSq%`BacFnOd`TN7mo92izWv_>jj|oJ{t&El{e4lqQ zEpdfkLTdEVK`EB2EyUSCiZ8v+yy!EyJw_j?V^(i*Sc#p+ymL13iH5Bz_7l!bVBlA< z^Hmn>V>wps2QOYp)5fE$1TH6)p9Y{E z+q6s!$#xcbi7Tu)uK5+ZLc8l#A!A96eHztTyWt|-Cp80i@hn6De`k5VL{`jU4g1(c zSas3G(tNI(+nl;tMvnfeX5dD*z^Bjgec#&Dv0h|lOr?_+OfU|0osH?$C5T~Tk{;SP zgf6Vuw@_i=pFE1C?k-4T}$RT|;Bl( z_P~^GuX2`ktKlQhrm0!m16?yDRU|NH6>4UikUX928^QFU^}eK8A2TQ5y}ZqCcjDmj ztAL!Qn)mXXhXBG?P|mJ~72G4((#`Yhs=jNCSXAXUZ_yRENARPADIc-JrgFI|KR1z- zL2f&Tg73=?;g9`I9Sb-=(HlMzN>3-h)%$tyBK0nS6DNuLG1^pw^%?HwBSGfnNCk1M z%pIz|MZ4;>?^>@{cUBgK>ul%t&7pMeqrT2-w4~xQ!ME8>Be7UUI_a;8&q{*#pu{8|s=7}$4`DmRiz8S2BQ5(E3lxAiAVzYXwo!B+` zBv@(+N{qoGZ#8Io_UL*UqrLYuw4b4eG1QOtQ+NX1%hSQnuGY+yJX#^|q(7Ydal9{! ze$P@j=8*Uc7*J0lrz97Se7D|~_%bz*2vaXS-{~c`WSDd5xrnm&b#XNu!w%uv9_Y}V z#H`k-+wuZUWZ}H}2eEx4n2h21$Xb`&Qa}MMr$@clf8$ZDQ! ztpQUhFoB8EFGV=UF#g~mr?4xFCt2*rgP55wE6<Wtcjvg$_w4fECu9Ta96FdH4^V~38?|~I5DMIdkDhVvqH+xS^QpWKXk|KnO=VBNQ$;Uo0yfU=TZC?++o6I={u@ z9FywGK@AItQTry#_DfYx1ho5Bm$ip$_+4wMRcehIS*5}K5y&GS-L2AA9KZQyCY^fD!Je+&ZfihdZ`CYzD zUd88p)U{>5q{pWn2bexg{?3yG`Q@ALef({NAl7z4e&L1vjQ2psVg0*AOko8hH#WK)^jFI!> zf8ch02$y+-;kC?FoYecJOxa2ZJ-_lprd*85TdLK9OqMPBS}M8~1mrm5V_lu@j#+ke zme2k1>(cqpLDR2ND^z0~5qQ5tiNu2-1_z<=@IVl0U^amJzb9VYuzyUv{_WnZG!)DY z`3>Nd<^pr``~&*0iJPDx7N@j>y(^ge_u~7JnyRydnYx9m9;d3LG^d7zhpWN;1P;pr zF(Sw)^+ye-nuUvlo3ojP3z+-27Bx;K3v(M2aR(2*-v*&DJ`NZJ%EJePL%5+lU>FYv zHxG=P8^Q;H^YTJr1_&{sr^wuJguM_snETJvj#JUZ<=%mRPVo2<`9iWpe`x?i3^-Ly zoGpI43P&Ib!;v5e0}&o72nUpp7tGDg!3TkXq1=2NTwFZ&j&VRCyofO2`x(?96gP~6 z7s?0b;^lzya{qzB;P*2_4hR=7f?DKn6ve$RuK&Yuaqz>r|Ai_37lw+91J28Te;=8H zi=Xda(Y;<6&+k9s{9Fh@(Z4joC?OoY@cU43!0(-b!gx7&`R}dr-#f*F7!*}T7>nT} zSj6~{_z)&yFp@ucx{tgS`1i>2J_ibVJYd8}F-?S|H~|7zoDUfaK}d=75dRM#91$h1 zgrC7Ayw0*0WJRJr%)rKAi(Rf+)7F3Cjt zKMX>7!H8dyn#f!b#B(Vgw*Q5=56>TNg28`r=kIIXuzQuHh*D`%Bq*XsS{K;>3vqwn z3Lz%*1c@JEE(6BEg8sD(5h26K^+z$7>rX_$T)*3j8kp;^BKTXo0hYnPjeEIx5L+@} zWNtnLw(Jw|zuM6K4RQ@nM+;5~6IT;E2djGqS>5yY9;+@Z_nU<2vZVJ6sg{K!?r+f` zE@W->xrDJeC7dlxTx}feB~4r{o=6ICLAYR0$o&rw4-5)@3gKdgK$uzn&9;ZLg(VgQ z41-}o{_g?v^6=c(ohA4$*?mDkpa^yO$1GgGhu6O!u>HS2p##u@cY>Pmj*cReSQ9yjPLiX{l8`RO#Uw!AB6vpm%x9x$7 zhQt4<4-WZ`&!~ub8v74|90eeOO&&> zbO6Kts((&7Nw6MRkWXBUAHpv!28RJ$y!;Y8Vq84;gt~wKh;#FbOL9rTg|Yq(^Zx_6 zZ&93*4rUV87G}0CZm+M$L9x&uKbBIF#`^yN^lAZY diff --git a/1-background/introduction/figures/visuo-haptic-rv-continuum5.odg b/1-background/introduction/figures/visuo-haptic-rv-continuum5.odg index 0100bd272a5af04bf5c98937d08c78936257f26d..ddc58e034f9d35c02baac42d6ed4be306c97c1e1 100644 GIT binary patch delta 21590 zcmY(pV{~R+)Fm3LVy9x;wrxA9*fyWowry8zRrtiVt%|L#_v_o^cKx5_P6VL-k4p$foV;y<_~ZX(O|$abLO7xPGQ9>?LAkGC?-PkGif)V!0d$FyQ99rFRpi7V0?c!9Ab!2 zxp80q(lrT{3uO9r8Yuw0f2OxXHhGTT9I|k2imUx*lr$%ljb!b~{A1!hecSnC>b{S^ zI2!@>)=lgW%P`I}oPYiZTS6Kzouv?glp5FaU)-e}rY@OY?4R;Dd z;e$DzOP--3#jKFBo>FVBoF70yc_++UG(65#lWaT8n^@juXq?9hsz+Apsqm+J+lKz7 zx%1es79DxhTH@HjC4#bHIEU6s7NV6|&vVq`|N+w=on^;J^Rj>deo zsI_jtWO|x!q$noCj#o5nvIEg?+eP1w4r41)06kv%(AH^)fEJ_zw+}v3GQ!K^sC8v} zdENpzilD(iZO9!6ZqtsSQjXlPh`0;(2ab73rc66Qt)vo#G4N1GmbkuDc7)C>tS#0X z4VYj}w=S#~4iy=0WB#K8T>JAEMzD={hIQu0p;NvYq+Q^ILQqPA8q})yHAW6^@0Dn}d5Pi2A1`@vCJO-;<$2u23 z0O|scxwJSUf=eLDFlsp6m|{r8t5ND21{;wZ*lHG(Q3rEvKl0<-=HAT#fT35THQbz} z^n3b)CPlDQMh;(nSmKMz?iXkRMo9Euu)cGopDimec>(-_gSz^SWpqJDwM1TDa`Z+q z3C1&00GG(_fTDh5XDpXgl0-VM4*_WHHk-B=Omgx%$V|MyoLp6gvEZlE$};hB24{^s zWnT_~X?!H&c?CW*rPz>l6vM5knli2!7~-Bdb-EZB`r?`=N{i=CY^CI{5Lrn=c*T|Z zXmX7MG>&?M8i5C5NGb!DPHIZHk6!9Zyn9YG01!nKltx=OOljuEDkPh8>(2EMyR0mF z%!P?1tP*Pa@iq3+KrU(3zG9X?{8fz?;hyRtSk;*NwI`agfG@~18Chp{eJdh`d5q$t zRz*$sPh@?4iF9RM2tD~=5P))LQc{i}7|lOCb=BaWKwWzYoMd;2r(3Vtk|x7IU!fde zm{8VCX0eh2RV1rQZA{42^!O0O+^L!kK341}J4~`c_*z^knDtu4hnn3dltOL*5_-G% z4Fm4#`clt3{q@F5{!uUZV-^sycP)Rn0vN>hU?jLQFNTSC1=o`0@cgmcm&K`!4*g}f zI~p{Q)e^+|CTuINgtGDBN7)+~du<7rQNfIm2r>px|HwvN2)H9jIIk4!fw0h(!hXa0 zVw0<_s+8rvDj*wlXXVnEA6{B!7{pbhc!LMpjy?z|oN~oWb8$4kZA{=y5xWKcfK44K z)?u4u#2S+m!%ZTKbsGsYxE9kSm{N~pDkkvF-Xb#Hlx}?_+9K}O$T;pi=9C1$OAFvJ zm|~bN@T)oN9Kwi^qm)IVlY8l1N#3*k@S;u@an|~cLvDq*=A@2fG^ooOBM|YE!M%FZ z6GGDFOd=1`BID_|-L-=>rjZn95G#;5K;Da`U06DhHf4$m@@Dg=V*ANa82lAJLj1DYIL^TBm6Ifr)5A=L*~$X+~%K@5(vR%qYOuDjqWGAZ)LVyv!IVZO}4t^?Jr7 zl8*Z4%|W|H>Vcw!WUC9c=YT)SP|@uzgT*k>9Fn{g8^P6RX{)7a$9Wt;j73c9fPZ&@ z2HD5@FDnA$`Rx8;IJN?Rj5sd@ldwByx{JN6Nd#eCN-c``asVaKUYmg&&a2cOlZ2|`s-P4J5W+n!dM-9ZUq6a%*9ft* zFNWfC!6MB>SSdr5o*eg~rcQu&xgGQUel18d(ZcgPMzd8~`k363-kK)3z4@f%Gr^oB z-YF?x4BO8mzs|}HVjlPJW}U-+OK^^>hlf-|kySzT=}-=t zzPComPW_^Gr^E(&B^!ur5=}pc3E}RJ(dp=*S}2>l6~(ZzQ!|zlymnpjP(qbDhLV{w zThdb*$9hBs-+u?FA(WV=lHC(Y-iu&O!8ix%O0e=t+2m>?tdY`l6DeIW)Y3%4#}l^^ z`tT51#IKX7bf{#Pk-CsL#9ithly`BoSab}ioLH)5CQgQ~Ukc))rVr9&$f&JlWc+ns zPmu$x_b_Amcq-bSv1YETRGp21u{(URg{-8MZ-KDXb}<05Gv0po#o4BS&DW*$*4yYq z&^da;Y;LCb&{q>Hh29D z?6GT_<^aPdKaVgfy+ABEJAL!OyTjl69YL7jbq-v~++;Cc3P!9?)Wb=dzmVI}K4Wru zGPW41a>)bym1SR6MxN%+90^${9r*P@HV{Aniu}S^d

DgY*r@eIX*WU9e9OSYaWVLW5b*_=^egI@B$f+F>Kf*Uf$uPYPiCy3m7YJt@EJH}a%? zcDaHRF8pTf-@RV?6LIhAybZu^ET8qqF7QT-Kwuew+P=&HD^Wg1xsGQx3x1S66Q6kP z6GN1_MOjGknq!(nKu(ISQV%EoX(G)ztN$@GqJK=;8NGACKsok2_)S*U+{w43&qG$T zd32w6OVh6Px=*Pkhc!`sbWV11rc&XWH=5{%JzBq67@s?UBsc!3KNqNaXVI#U2Y=9o zebf%%GN`YQ)1zj`v;o)Xdt3jW#R1qmBv19a%O_iM{bYp1YQJae!$pYQXDY@e>gX); zBiq>R+o3QU_12$@u?^b0v(gJ2TcMG0Tk23uf9ITjW)Wsta|0u*#~#sUq(B@#2qLNH z6hKdzq4}9xP}tTo(Q~>#6h?2c)Z?EY38y_~INOSgn zw(tDx-pf;QlP)~UPHXtZM}%TDbP>N3c0L4SVB~p7KYKnrB&?pTNnxS<7}&2L=wy5< zfD-%m^dQVO8GGMUIEO<*(*|{wQh2AZef-+X;BDrL*4c2= z%cVE&ya&c)yjPDFLzctq&k64xspQ}?o8UMe&zS-mpMko7!7Ke21pGn^8h9+-OV}@~ zaeOO)zp4c)UDlK6Gco0vWX{aQZ8P8;^L#sjnqBfXI=Wi?GlIxMj7S=%5)cgc(MS~* z(Zk+0bh><(O@;J?0bTKD%k;DWY?#5e!ZLOcNf)ZmO7c2wX`>Xhm*;FTy-rGbpj2~n zCH^H;Nhze`)2^>kSw+*q>E|PRpQz>HtHGT7&!}9uVreAtC}rhAYO^vH#AJXUH#(J$ zR{yGe@g+Y*1ATL=;YDqNh1Ck*-9EFz?>z7a+Y*0_SkZz(yS>@SSiC0Hz!pw12mY8~Hj$YrxImGw3%W&ajnee=F{pc`3 zb%2^i$z_3Eq3T+Vd<}>SKFnk2*PqrSC*R;ovd}QeO_WKc@E{=T${-;ByP<-Cf%&hY zO4dOl09+((v|@bil zs-NYP+%8d6(UXesP)6-orjZ)yqRj!{-PIGo1A%zlU-H|f^&nCpf-{VJ_|2grbV`I3 zc9CA}AowNUB2jM-cn0$#aP5zc&and#so|j-0vxu9Sci`zl=tG<9o#^z!OGc-@PdpZ zxZ5j14Av~m=e>tLrlt`+I5!V)b!N(0LQXSF+R16u?(Ilp{^d)b^H&!k5>R3Sq3UbNO{Av_gwn2V%Rr{uJ z0vJ_-2tTH+O($R1u{RIuQmGw!?eX?7e@s#^M<~UF3K;vWv`_+NbEtPRakK58&&za` z=C(SUg8nWelzDKtZ)&T@bQD_n z|E~6uX7v0uk~3uyWAmayOzLzb(Z@zp05DiK@SmomjgZkvh;4RxbYn^#7TQUrh|SVs zU~Wnhg{7Fj*R0DIh87X7cWF?&+KG4#VRLfbWTOPDuxb$I64}AUbYR}idn3PSufho1 zWD83npkkng#3{QbSLZq~G~AXM(Jde16E_lGZ~s;1MC|N@I--ZDMf+3X((m+l5HKt4 z^Sl+NKvOaH2rOoVJuE61P=AEA1Km{C!*W;Ll=yqS)APA&EA;C+bI-_}#31O(QLwz$ zWTn=PUS%dHVJ&Poz#Dqt?++9dY2*FQpM*P#RPv?BjOL|OP_XJK<_o@@yoVR)H8?_j zP4uu1;4mA+mzPQ@Z6weh!Jmddv$7Y{osTbI?$s-;sGM61~Ft_GNx-=l}xbR zlAi0fgh>iHb|5sboOQ`dF@E9U47q^8DvfRo81JPl+kDB2Gzaj-a?l9d9*~Uay>ah` zOfSR`F_Ua}A+#buw31gIEO+w0#(O$MB}|~<-_Qrvpj?N#Q#|&>K3Jiz8+5>|cLAXQZ@n2 z-ni0Hs8L;aAhYCVD~Wq*3K&krUr42WFSwI&MRdPf#W%YuQ(ufIL1eoWE>Z%OdOBRN znv^7S`W~D={U%iqPP`J5^Uk&cNJXCx$-Xr%Aw=!XL{LyvUHxItboF1S!1hKm8{u6~ zZ?gD7G!7*M6kjT@Gig@k1gYaRoqo0zBvwP(f?z@~CBxyQr$j#D1)R>qE27_rBxOJ; z*YtpE^DYK)*S1!!Vk-^9#?4Wx5Q`D-ZUbc-oh(h{b!VLprCKmyFJI6iB9TqkTI+33 zo9*)g$#Be^>#U44_0huUJwa#j{x~sC|A@JD=C1Y*WHzvr(7{_{*xFWRj%wGLLNy9y zDuZ>#pMoZ+D<9Ge0PtB!+RC$yCo8-W-;3}FgLoh;uDb7W7`04lD;ikKFm64co&Pna z=y|y7cBSc2d*Ig9IX=HLS34`cmGiDVUAUKQ!;j=A-EOD z8b7xR;5Gz$UgSi7rCS9jw!$i*5q1jcuT4|#!*0xCC^)8(0`@$0$;f>(nhi|`vH3UJSuZgw`=*y0+ z@6&W_vojG^HEy!_T6^$59|=bLzEFieE*Qt-!=8$NoGQ+IKlV+BeO9)K6baCZl2|x` zY|%5m3=^=#1Fl;FnwA8pJIY4Yeh9!1D8hufl7?~l3X7&3uMS;k=*DCZp8rx(169sH ziw)2!H4Ct$JC+Z~Nb(NgkQLFLi`ryCUFUh5QF)uWQ9bZ=YWXU*Q5+3K71P_7_D(Q* z2oyTFlOsPS{dDn}s*mJ#eMXw$F5hGlwx9|yGdwZmP&WgQi46hq25YnPjOFSV5seTq$MUO;k z8M?C{If`m8kfShmgLN zH=E3;_&irh>;Ev_9uaQ9Fdlf=ls(ElE6$fpjDLE@^Uq;%ltyIhM=!HF8fB=zSd%vy z%dR3r?m_BbxLMga zB`@m zQB`?d$}6JBHtAvg?nLArXWtKBtykL7_wsW<-!1*zAD|((wt({2@iR0ME#PSJN$fRy zhmN=ABeiM1`{U{}iQ7b8sTC&P$_N&JVIJ(V%*<@Dl+klDAG7KCW;tFN{Z9gs&ARq; zpk`b_9P8%5+D*Y4gPNb7r9`D1#^nY7&tAT8w$U-zkIV!t6m#+Sau=4*-He9&8oLyL zL)xG&Jag| zzmcbBiqT!ZdJH?0qltK3NB_`y>y6a|SVmXU48W56tHJa7W)j!8p z88w^w-4_p9$;!!DhgRY(D_H|Nk8+XYT2gp7ekKL*k(E!U3DaNJFg#fF1Bs_LztEUn z_|cHp6i}ygX;FLx>{l>1?XduuMqiAL(fH)#laf|r?OU@p#-}2XtUsKdyAKLzaIj1h zTD%u@Mr&xdBN+z?xC}NL#Q|Y)Y4S7B{A+5cbXuOXGqLlQ>29Q?07qH|+W6y2$V^=L zj2)8`ncRkQQx{U1=Ms+{tQ86@{I5hM7|t`wm|%(g@*Ng81Nb)!PW6CR0Vjx1G%N1N zOqB02>8hsR(ktKZGkxN_$3MqI8LLI}&+e}<3L_}7PxRxmSp!}qAqJ6JHAs8_YU#~W>+ra4!=ZHjWIuD!c!+$ZKJK;UndlaJy0JIp(n==O$>h-`6F`S7f1!46olt)sYjJ{QvNA_&dNMQ5{B?{K(d6r$Cz2H`AddC4&y`Msi=!u4=fs^%O zkt_c6=4^u ze}z+un=M<`3YVopldUeRg_d1+&Jlg~dJoouiW`cNNkA?_6H|}rFx%4Djgsk@?p3M< zO?@}@D<|pqF{ID!)*&_*nf3DivQB{BsW5UfP^X7_ClQc_DfVA?W#)&wcE2*u`~T^j0UZ;MTAtfF17i#ats+QBImOY1`R=>h3`)-h@ficuflHH)ZBLxk{aKHuG+MFW1Z~Y+lJuyD&m` ztKgv3Gy#;4obN^5JB#~AY!)6Dxrd0&T`kpgf)doU*dpKm67SjP)nk2)8tT#)6vz1D z99V|9`;i!uD8)sil#EX{0KGXFJDq}={0r>7M~1=?+cww_J@xE~zx;j{V^tG07ES1u z7yH1Dl_4v(-7+sc+O$-=Up!VZ02PazK}Ij7-4g)Xo`I~ThS-15j6zWUIan-*OU@_b znR4Svee;rvZ*+NwTv~bXRKVo<1sI z$Jb&`{xLDI<7zvF^KtdASNIN(uy7yTjeHMJlRSo4{Sg0lnnu}wHqCD~;eK0uzb@|q zFuK6aOMzlqv*E_a^GhpN*o&43)t!RtTam3=tYmP(y_blb7Pwe%ExR)5+o%);qHyWjtSt$?2LdP=tXp`+Y`pETF&xlW;*vcfRRG~m_)MWxT@88dN z0^FTLqK!|KYaYPU>{Is5mSxUuJCt<O z!yT=8T<1UABk9}3rT&q$A1W>PUZNOTD^+k-THf4WwOOpaCmn5^yrR1D{K2Vv0$+jV8^3N z!rmhFz3w28cPaV~kzLkOT`AC#&vVk>d2RSOMM+d%mjz`fC=pz-y0Z2!bi%9f=nd{_I`io~9+; z4%{12Z}YTivX>KasI$Uo&skx^IC}T-Ocx@)@raV+$7$XUUA>#=C2U^vkwtS&PS@3| zc8|kbA}~rIPj`W`>4I~2Ic%=6{Yww3sH^c<3m^g|BOH?Z{oqiPCjPPqfVL|;=-BSY zqB`cb>7y%WJp4(>Ifc+No-Po+ctWvLSdAz#k@a=c;a5I^7_BY5^vSib$!7ROyd;F(>1i(c(Hl-^rz zBqFtt)fBG^7LoJc`6B#p4$Q;QEDz=}Aa#$H1b*0g$xkl+lpja**Val9ZB^R+ClMR+o{|k=D>u zmetVEkd!i)kaw3K!BG<9=OQnS;r@i0@jG&i@h_ONwy zuy*otx3=^!bN6(%@%Hvs*9q0Iim=lTwKWenwaT<|4>$Ko@v;haw##(&33GSN1~_?C zx`(EE#MK1ikwmj{6mxRN@JiJ4ibslb$IGe4Ygh%_X@{9xha35XyIX{Mdt{heXIi=? z`&g!Vxz)<6{#LVXGSR8EcAS#Y9@cdkHr1K7b~};NJJhl|Fwxnyu-Y^6I`nmUv9*17 zcTdm{h;@n2@G7dai>&l5o3sua0oWysdxQ-5r>)pU&)X#|dxp$8rA+#jTzZA3gn5+5 z`pibSp9g!z#wA4uRmO!kho)6TWH)C;7AHrxq-B+-XST!^cVrb;rwO3@66_=Kkw^cNDwpNz4R&;eW0;)PXIs&r( zWK@opHcr$H&Q$lWbPfVrM%TM$4}swkBcYii8R4VJ*=wPZtFdYGsnN?BnG-=3!?7JB zS>>aN-3xg|BMsTZ<&|RbMKqup)mC1tDStqZ-Ca~*Bx!4Zc+smBR%XK9(wF>%jv z3Gb=VU)kBau_b>~i=Ofd0f$9d#}y?9)xXbL+rP@n?rVSFHq}10b&Pe4Emcpfv<|Iz zEF5+Ix$7C29BNq}tXm&z-JfVbo$q-Z?wSD33{4%5uO5$WJ}j;8Pw!n%A3m=ioUfkT zZ`^zyj{py*)=yT(PS=(`hDYuu7Vp=`pVl@GR(J0<4*nj_T6Khel-p!u#$g%|>pk+KV8^{o+BX_lYV@h0Ef9L)Q`Pi^) zT<5Q;NSvG3E-`L)1dtzo&Gd9UANNXw)#?lKQ$D-d2c2YJU%UCA9P&WDBBn9_=_S>J zk9y#Rvi`tU8rl(8+TLM(N~5xF%8+-Qia<8HGpC zvdc^P>Sg4o&igcJEhKKsIPW^tw))W z0tLf1jjC2el_+L}*jw0w=lAX1ek^LmXWk(%g2Jb49N`)RMQ?4a-3#7$GJihHM-x`5 z?g*DP)aR{sJXpKymU|1nnInidy{omfPoWPhHFy1v?JqfC^Yhz(j=fm?PW0>*xFvO~ z`pllMEK9?@0sQp4y@g^95r}^1Eyl*0kL{Y@G3o0)nr_WA=Pp;u;d?Asr4M>bBUzaRWr6+hX0L_&_Fm%Sj zD``6k3tw_ROTl#?6fHC0nZ1m>K7w=`wg0VU|G1~QqV0daYd)MU7Vcrkn%(w2ZmZzn z7YI~hYf~_r^QjtIRftg1`0f$>qY{|wr zJH`=<2e5)xG{+u`&e=IA2}3$xESgYjt3lXctl<>dVzi9sSE{1xQAcNIW3nF=OKG4U zl$#HqV>-{0TYg?XqrB4xKyJ2fFgCf;*y(2Hd--^K>&i59yF{o@5m|dG_Lh=Aa(RiswmkFil_f5(3)n;Xz`RrJbmYj`ky7W24CDOl}%n4 z$}(TCXW+a^=u+)gu)7c-sS4kn0b79Z%FZ&4g9FhjDY-RLh)Vpp3HS-MGKd9COGD^= z|7v38zeQ=?!_WkF+l`Idu4)~3VtLof(h97h)c(1RnyJg|#sbgQPS(TMT0E&~c^yug z6>BN43v7>Z^cBYP-c!CzKvzo%T_)togdc%yN@S`yLhE3MK+{ATp}z?oF_Bf5hbfov z^)D8HcwJFa@st10BBQZR23X8Yms?N01`Jg z}PQ15cF`z*N-iIwk;2DRA2$zL&6N=# zx86SY`)7o=03iH-ho|Q{(}C!HFT~);&K`t3hwb#3(KdF)1j?q7hcud`a8(`H99bBs zeH$nfCS-H@#wY6E@4rS==`K!W04Zc#QX%x3amAyBojh)^ON#g(v$p=lsdE>ui^PCm zWnNXS8b4Ke)hkZSW|LE)+-1UKr&X96rM(KeUZE9cUoD}sQUF0HKbOb)9_;&fZ~~aSvDzebc`$e7LH|&w3anZsF$t3{ov80FQ#W89M@w z&ZhwByxbf0LIc4pEvVI<0Ra-!n&aSVR{diW)N3Wj^wHUY#Zy~typ)V>Rv!0%w>k>m z`!eU}@f=-ufLrukF7Elr^gLPfzQ3OB(;hEibY05R3#xA2V@e6N2G#`j?)^oVDn$dk z?j|pGbo!>yoeL4%BpF+|bLJ1S7gk0ycKY!$2rbtzTKGTt#LJVE0UNvd{QRUFSlG8U z0k&rUzLOL@&%>BYZ6AwLka{{`UMZYXrDGXh%?k&;y#`s7^ZmUBhvK;I=Kg#2RtGf2 z<=5FmafkfC6zFS3pEaVuo)1aB-F$d!+=eH3*T)N*>_JC#hTXLoHt7!XTsT!l+oUjI z7Wf9ZFdnv4#EwEFKso8@u#RdM09p}iGhwyt&jL2 z5jbGHOu~cP^bIur4C-GIB=zAz7Mt}-bO`J7<$)n`%+;a2OOF-<(Fm|kQ(;I#BQ=bv z0v`a;Qds;u{7w*iX9xFnwx5<(=BJt!@B%6EdJM%!&eKW$B6b6-yl9`Mp#94<0Naje zi7So3>4h%~knf$>ggqtE06^sZ&dga?U`l~b8beHYhk z{r2xRn_=|7y*Iqfe~j)~UGjGvFa;XiaO>TWgPvnBonDR3_;`Jym+$a2uZaq#)|kFl zViF+9(koM9*F}Lq8f<1%tfZRIz53RO(HFBdz$rD?Zy z0g+s5Yb&cV@@T606X3_9dfzx*8MaIBm7dUgcJhpW)foMr}&MpeMN77ikK&dadzg3M~y7k)$I9lM2j(C2I0F{Lh-*?Z&hc znD4h6A$uR_LH&*%%{DwoL8S#aZt-qaktkGi1y1|MS+0*6%>He?@;1qc%}n_87PA1! z+g{tUfa0EmFol*bdrH3LO3c<)W^>2^7YrLUCWosH1p2Y7RPW2^cc2V-WBO_WzTkw@yG=89m!u*?R=^~;vbws zq&1`Vj9je`Z7iEMR~xglBn5I9u~`A;ISr3pG49Adx9)^~nN$vgb#iOGjp_wKbybac zl31-h&I5l09qYwGsn?Km zF6gL6xt%Y>r{%C}&0V#pabXopPFS>YoP|CC7axd3Mg{izj4kiXtD+Lzo7~Q$YHm0EM9LYmxV;sFhX&9q@*;Prm_m=IdPKCBXX=Pg zY8-R-#YA=wOsgJCKX<4q`u=HW#R9z9jWgZ>i}cDR~S=P|XeaVb=&e znJgU+?=gJS9`V`BiWB4jkhCWBy+?-<1!BnLA%Q@-RyGfl(s^7t!K1h<+(-qdLPz7p zyET;ZNAMcgr8R9)Bv%0Y0TJnw%fyq>^30!zqJ)(=8)}P3g_t-Qw_f}MO0Q>9ylR|@ z9RI4RLri4|Ri8}_Du&wym9ssIsGk(Xkik+%J1}gbV+mWovwr_Z+%p4W6!CfV`tFw> zHJ*`~R1`X9JyeZhu)+u~ffDl{t*&9YSv;D?4VpTyNdJpS1rM-he2$~`XFydK!%-{* zeRT#eRP|urf?P#{wjY(KIV}-GzjQSAEYgyTr7J2xDLrbJWk+vzwimZzqyelDO;MV` z3l0ybfGA67WE?7p?V$@ob3f`R6g4+f<+2u4^p?+Ae#M2Jq=BCKNr)M-l}Rr<5Eq!* zv;AD@a~z;rO9jj?pAX?mfl4x;k$eR*_`|PHF`>r?*?j?*POV5_&1967_ZEwamZ~wy zRn+VseI--=ngTIv>znufU7;cxI=VfxnieFZyl3iQoY}GJIF%_WZIF-TQoE*s&FwKM zU>JQqRU8_K?W6+v6+%Vo!C{oBW0Y=TCE61#fx<^wy=K>?B6V)nANe=hpOe1y^fJ)yMMVBk z0;$2DgQp%D^4Dd@R5yj;%7r()eG3j*aY8mblR}UM$mIMJ!CO!q!3A9B@ z5n={3hUy8MJO~IM2vp-7Ua&gWBuQ>9_Aq9nMI}IT!e->5<|g4p94!t?Y3^ zH#0l??jU8!i+ezvT9FDBBU(%lv#`zmo2y<*jVx+iAG=v63HOF{?i}4buE^JGjY6cH z2VQE1mP)lX;{4pcJb!QrLSNy!M&iUPyXi3@ncA5z74*F6bX!on7qN?kX8o;Z9^j;4 zA(O3nSiybTi`+MVY~A9eb0=XGSKN_6?SF2)cEI#{zrAoCi_xF9p}4f<#_I+Y3z2we zNNX=C{mz+=!7ru7kkN#W{1}JLOT^Is7^Fy4=rrM(R&!?-dCRZ_Ci7LgY$QOY!9{j^Y zjRI*;MS*5~dQ%^t&uJzjwJaicvQuyyA&)#3tX}ntT=l%WAHgC8rJ$%g5Ww?5g_kb{ zjsb}`50O+jD|Tf~?;)gnbaf)B)wdD8l;wO$ptlmLWFm+zTW$RL<3!w!xHdC8*g)w0 z>U&)_GwB{~IGUF%>H&XYfpuYE7}r$o0>-ku`mo{*Gcw>2QDq!ot2+hQLQ+a4m5E8D zQsPCOgt3co*?hlGD8IxY1ModQ+k72R(!Vh0F@l0eA8^%LsPPGr@6!+t!mQmno)Ymk}IqKZE5maaT@S5-}k-(SecFRq%$X z&OA2_1~QD{t490K0GfzIM#8DDT--o>J94}K2XsB0 z0$2e7F_^B7kgf{l)|*f40Tu*i<p@}4NvzeG4TjB*7Vh2458@N~ zk%IJ?%&1)AsD%7iu#Af~3mOkdY6F(}Odu*KB|3Z%$r9Zzz%f}|xZ(f~zUg4d<8Y=eL7h2Z`iiaQo}CE z9NLWKT4XwKm76%rEadTzrhp-J>t?6ogfa+CpxSv5MH!Y7dpK^g5eTQ0> ziaLNvB@i(jK>vVwfzRlZtpwCIob}y0{D*+!5PEW)8yh25J*ZcQaC4a6x84c2zNqB6CV_WRL?kLjyGS8Ny`Tt8MduOJV=8xfK%u=_t``SggtvK(=AJ*G^d!p za_iakVhUkY+vu-0$uY|&0*SB0u1FMzW}aX1rd%`W&}bR!g%ao(^Q+&DjTA5>CIZ|a zUlu8Nko47qSqf}UQ;(h*g;O5Pf6+2rMNhzFv~kw+RNUO=-*Z#&hMB~;%a7)~yf$Cs zY$@j40K~3Zm{E^S4yY6MYg$bN^&D#5oncwUOt6Q8IUOu&dph!@CN$}|NogFZq+DlV zlX+-pnB&G(hQ-t`DFn*xBIt$sWhiErE?Wy!^o6P=k6p1pUD$0X<_uQagIMzR566eZ z(J}CUS&v495%4t;Zn`Sh7()NtOLd{=?5Qd~22klW`MJ6hoU8RR$?8xT=g>wyUI-Do z@Wl-;UUlp-=Px*;|6v}csB#OrplTNPbt%qqq+Xuce)(PcJJG~SPf-q>R+1S{6`t8O z&iC2VlB)T`rSH<02LkDSvn0yPg${;Pat}^bjrn2d?dpgVU5B`Ek%a`V4wc`dA**rw z8UT)U0Gox~S)%HbidQ}6sWoR!y~$lkf)UM;yc*HX*{^e3M64DysSJNmre%Ceq3W}? z953KDHH@haWrYHXEyHbrN{#ja$$82R_wP+7A%4{j`RlUk?L9J2awN*->vrfVdv}3|Cv_z=dHrCUI8u@>0&aAN7T9b1%#p zMG-p$rSBBE6DQ8d>SEfG!Vx?AqLNkS*>)N1&4d{OZ2HLS`b>WPJpPXU-*NnBK5AYC zJO*9?j7Qsi7%hL*jZ?XTHado~kZN1MEct&!l;rso=kTbSYDVqE#zc0|jV-2Q0T>NC zJQBZ-NWyC8{HJYG;-T^7b&OS-j2TuD4Dx_T_2`>&cl=w007#R5?t;L0qDFg$vJMJxYy z1Um2u~n+nnM6;)veR(Jz^kuxtE8>GE^6zEWf9dK@7MGt;*h~QZ1?Vo zLe-C~p<+Wl9+O>WOke*foo&Hj-_!%4)q^%jb8&QZAuy-pQ~<&I98Wz~97F%BqZ4iQ zD?E~F$9GQ4Mb#n;Vc5F50_^6xH+*B&zJf7Sh`9HzwvKupO+_g zqVQ4MhgBqV%72m%TP>zK%L)bVVMRSfaFz}No+DD(q9UIRD=LbM2X@7Y^En3ILb;`j zLc;UMj!41zTqj^2N1XlVDx?{lpQ+7|&twGH1?`^!9=eDHW35P!ps6!o*%P`D#0wyz z=r9Y8cWoxrFhweUU=&iZ-7L!N=^qGk`PtEP;H7iNA2lvCv5@yCPY zgHjR!)vq1{&3eX2v|n&%pb)uY2*a~Py?LX|c|qe$K~~7WWNsAZC>_b;O@F;mnor=Yx z99py?0j(f|Hy1MnBa`Q%Gk_6#75e>qfvM~?GQDBU`}6K?k*opy*Pxs9?KZZm_q9}y ze_h?GB!xUr3v!fxk`n4@)Mte|SSx%IvFZ+pcsZbAWOuXL?G)oD=i2sJrx)}IavOmL z9ua)lfkw@9gPHC`o?*+;&zgmauAWgrz? zJ@J$E26`XJWD?ghSYSgu+GlK2gR54RPRvd}iOZ06+u8OBIS$LTI4CA5~)YI5}Vlj4UR=MheXOQAFH=HcRAhZZG5RLuNbpRE+0n+qjxfQD)-g*GOcP3 zUS6_OX+NPVR4M-n8PhdY4V)X@Co26ItKGcFH{$F-J!}l?xwX3xfC~Y*OWda#`V1AS zP(yi=4No4pgEy+}i=nRi`oDPfx7}3l;kp5PBUZ8xjoCjp2n8tq=!5O!4=UmZD+FC( ztC1qa`T^&Z5SD()Ps?O^;HlBq<_*RpAA|+kF5d@b(LH5zzpDmN854+>+mYWH%j;aN?fU@6 z2V5K>y9Qi#huIU?(&Fo?fQd^$)L4}KZo%`2TGe+`Q_ly@+Ckw zWOquL*u{=uTc`hCW;m;Mm$?_S)v&#dn4dn5G1mC!YIwV6-KbI(WsH$ai>0Siip*wl zO)~ENnsA*3%hQhUXoNf@w|+5peQN|r0WTG_gMJk7OsDAm`9OCr#~rEN(K6>ao9N>K zmiDOtpZW|+;NyRzS%?wW)xQ$Y*({cogDD{;PKGQkoRtLJE!$xJq$(IZe_UD^>k@GN zdKq#kXtpL8S-d(T#~;;Ru16}H4_tGo{zI)U{D2MDbWtLmuis~EG!>Kqp?wIzgMlP} zl#a*;8D`K0k&k<(zK;fn`Ezif9V{07WkiMNx$Kxr$AKD*j7b@tTNWQ9SC#jZQ2WX8 zH^rTrscnyN2KC+E2ESQpDqU{SS}_u?SzNgZoUSU^}VAi$$dQqITswK7@;8vv6+yUu|4xRFhk?4o#5Wk=~>$ zRiqPolPV>EAee++6+#c82?){*C?Z9A2LT}>T{_YcsUZkbLa)-{qTe~^o_p6fKlYw? z?=|yd*34deuXmnjBToZY`~5(Y42!OMMu6QEHnqr@`HkBh{}TO5g9{#$s%5C|+UQ=C z*?IMS*np7BTBfCst2FZQ=CK}F&06>4hPYngX}#0J;!RVjuwqDe{KaR)viW9j8nQcn zJRLu&z1O&#QxnbtWFx%0(ec2|x;$5Dl~L5UR;@Ui%fKb7Di{V6T3ZvIrV1o`IHIkF zg>H1qWb_Qt@Z`+1FVP32`h`ks#AZE{$RA0T4o*@)`gJrJ7upKFA==x=H}(_Fzou7c z_}xq3ZOE}%w*T#f=>Xv_XY;H|fgW9bkvtB|bQQ%GdcSn7AC@m3Y`37m6EVj1YEG}i zEs*`7m^w(~N|%}8FhJ@ly0o_e;0+GnI!82%QW)H(eRfP@Okw5Zz&6g5a#F01N)03M z3+q*C*P+B;BzzX8wDP6@T|D2egKfdtG0o7HsQOR-^bSJ^uMmRKQTh&>~JR8A}QeY6#ViRWF16*ZT<18}1sASF6f#;*Ql$2EYxKU0bW#}XT=VOwhMhE? zkd1#1O3eHe47Ux>_-S-b^Ma*|K57+V)yIeRvq$qIx6_xytCxo) z)-|u2xVq%1>tx5)%`E2UJbq*NdZ?Z5~QfY|;4MyPZ@q z;x(P2pvyve!3enO6Tb7E)7+}v_gRib5k~ia?u7x5HFBG?vz52Y5*MTIgHh7Ns|{_Q zU7k1K^`^WChyv{9H@}VY!cqeegaAmnQi#0^EpDx&9{9?nm)*7bP`8oa!8|FuQsqPM zFl)JK?%R-G-ev2$7b~WV=@sTHj;Qj@CHCieIOHoVlQE5>fWi3?F>Z*M%VX z+zs!lyOhKB!^WhSZu;m`NvDr6!P6R(JWVrG(iv_XmRR@;(V`fyn>}@HzGNsJ2vez! zSu!nxmYa?)jY;MA4 zfGYCMoE1yXUQ1&#U&WlU1(glWN#U1}u@JUC1*B)6jS#>pN3gzIb0098&DNa~h6HvX zddd}tgo9f*oFh+KyH`F7WD_niIQ~ND_aDwWf8;=I0c{QAqA9?|TXi51w*yQevX21G zqXk50*&fw1xOqmh@vPQhJ!!z2B@3Z55+$AVG%M&RT?C}cw$KPYbdJ_iDP#;Z_`#pL2R3qcv$f4DFSErMu4tTKT=w`SdMTXJyJ z4&m4?qfv|5n)uXsrxBM&W&jhxAP;g|XFR?l9gE3}21OW8QBBjsStHWa&w^vKnsEA2 z8p39crv%6DB(j=#$z!{ZTefx@o0?`sFxT%YwG8k3)p^Wh3SSaMeCsPuTPJNC}MuFo;L@Io6SRQbwb=ESCeb<-NqR`&V91qkrEBLtd->&bR4;>E$kQn*B&UkSc621jTuCaS_a*hR_Tas!Q7;cq59 zR4Ce3hOaBP2{*0B3Wox15sB}=0Rhfv&XtjjGE@lZ`XInFu;L#y(IK6j;PF;hY9r&?1H25NXymsMVbVute`O8l=EGABQ1 zc~&d`8mFKP@KRmp= z*)ivFxvlAORdY1t(R4I-h*Fdd#NHKUIT;JAv~HXWycqJZ!8GgbPIjV1emzEPD|~1o z+d90osb`t3cO=ZZ-0z&5L$wwL1OjCPFGgqBFP2WQcQU zzn2$BAMWJV5TgC|ukaSP@kx^s&vvi7hXLB^`f3#_wqgGl_ncuSF2-6o*l%WNxKhMT zH24)oL?xpFCP>^pKizykSUT7r=IVyd0fyYpD3sG1MJp{F0oh-Hm~mE+ETEr)Q&UHK zk5XF*(0nzXB0jZy<(Z5ZUA65eipTafW&~nRn`o@;LgKKglK?yk)P|N9-Kqu|Jeie?qXAwtX;Q#0fLvwE6Fps4^PwqpG zSjZqq@m7qw(7=(Th9KEdl2`bq(MCl*?c|D~c0Dfm0p$KW3Xn@lG|iI)N;%3}4mHY0 z_-*TSKO_=5;S07d8R78zt?x8xlJbjp(pe>%dz4LLjfh{|T(nP|^=1{`^ILevZ*Fh{ z)udEIIhxW#Vr}3(!1Fkbv#xOGB=C*u_zVakbH<2E9ef#wF5pH5@kbg}0iRvY7hl=iavuqh02o|@y3`IQ^U4Uvxf2#OZ2Jsvbo{Fv zG3KsIY86`(GVlc%adaEXms^*nJ)Igc;=mL*DRC6PMdrmuyx@;_ z_7Nuj(125O2?ZKa`DnaQc&SL?xGX~aqE{rBmoErU&)uMuLdeC)0`04thlBa}T@D(f zgpI!|z* z7j7X2Y;d@{^{ZD(JA23ZJ<&02XPY<8xjIS~_M@AxNKWa9>DZSpTaN5p(F!pmcI+FC zceHBTK(%Jc#pV}AvCwMuu?AevyAZk5Lo#B*@H7X{FO7xkgDEvIIkd>*y*srgsZlV) zSGrKVT}>5qCx+dVfX?K)0rtNQODZwkD6--lCmMJ`Db0W(uP^GMU7k=uC~XrM#wMSG zxV`^jWlI={EHB(r}Mtg1LjeuGo{4sd$k=scQwTDqSK?WwRgM_mHZ>KT(o zLlxpym4#;ls2NL`m!VvpS=0@k=lKXtwk~?#H`(TADK-YsE_$|JNGE6%sYq^pO7UwE z&Fa)m%>`MX*J&heAdkSm`z4dP`7t!b?yWvEp_gje;=RMmP?&7X#nvdtc`i%87~c|4 zq;TZV7ReJ7CO2dUSO@;999GtC2KTXahH7oO2+C=Q22EiMJIoFFb6&Pb}u zX1oQAis0UXg(iius_Vy6h)jJ(FDKPmYMe=q`MJ3lPb}*4!81JffeZS8xiTl_c5DB@1hZkA=u$=7kXB6NFcWAnD(^4QEL_HBgaz* z3v<(Gl7HPEn?x{WByiZu( z?6hQE>tR!i7cbrpVS^pH68kKVVeq~I`;zJvf!7JcZIWP1-(#jStI9lpv4RgK%-3;5uwAb#G-yP6~l0vPq#PpmOYY_Ww=A- zrC6#vL-L5k1UpR5=q2vlo)|lxEm7N-_`_MtFFh3`(vDrzE&}xjRGyhBqBL_()|qdc=uUSiXOZsf?cD z1hG_Y2MPZQc9s|qdPZzTRK@Ppi)sN=S_YWmX10quNDj%{+I_7hsAkKv5U zGRpiN+I3nCu0Bh;=0`aA8%2fYOWci^wxQh#z0(WmK6$;#C}{ebvHSh2`NDlhMbF+0 zOYB~3k>u5VQ;LP#{i?URvVw^xj@vd6O9-r@UL#%2cJ1jvF@gVglTQn@W&#Tq$+=`- zj51Wy)LM{-+xLDu!zgnt#d00|3Cw&fD9` z-NEbM-v25Vi@ziGJ7Cui{v|(5001{T?z>% delta 24254 zcmXteb95%K@^)?8=GL}tZEf4;TieE4+qP|Qy|vq|-7UVo_x`?rl1ZLP&Ya*R&&+gp zf*#L-A}Y&)Ltub_z<_|jrAsFvDuVy3QW`-?lK^P{6^X$}lUlL8p{`ipkq>ygoibGH3wX=G_G%Vk=}~mjJ8dWk zkRWE&0(jTBsOZZb%$87%azJ5L)xjqYUu2K1b%ci1x!JoI#?<|U9pg$#UApIm@q(Om z4w~f54BzKZ+~s(I>V9@JH2;G7%Q7b?yvWQwt`tQX}*G zHjQHvLK6*|Ii#ogMX+@}qiBtp#!K!k#X*1{{-hiJ*1_wU392%Q?vf(tb z_j5LTAH769Y0+vh)k7}1q}?-omEH(7>Ma@&v3FffrAn50p0rxAy2UaUVDMI9_rCLi+vT2U0}{CXQNKl&Bx9!r_c?DH710jyCUP<;cZLJ}3sPR4g&6lu2HJ53E4O44FsZJ9D z(IQjqM%y~vMt(wVkb)W19!^Unlop+@9J{?kYX4^jIa-o%`ZREW3w)Gyxg*RVUnkFA zXN@C^u33b^nSz)j*3^Bd{TG==`Wq^feEGiA&Y*C}cTf4zypW6d_eb%;vl7X-Z_4Le zK6lt~j8t=WhOmy)q29q!kDu&ww=jbzrood8E?`^*bHBWE zcQ~s*Iq_r6qYt7^)OSCV_mayqjVSeWXxHekPcq;Ouo3V9sph#)dr*cqT55uf=7OyQ zg5PzXS08R*n7aAprCM(0q-NVwx?o_T1nC&TBT7Vm%4&LPfppPmk(6{3Q!SJDsqU!D zIutkJ?OZ8v$CN@ciEc!5pBzDZ=_)iL1U9&xG+HrEr}z%UTa!>fDH2Z&z0EKXowY|) z&Y{dO?FxPY6x8`|5p7o+TvvGE)-WGEYovM}Bu?QhWo;@X#(I1Oot>nZj|iqbS(jma z!US30-3(M!((gu~)|-kDQ6X9C;AOSC>v!BYpG3lhjm^_^pmrK85@+dtsUv4Uv#emO zq)~kwjypu~i{%ae-9bn?YcM{$YAP(V>R%3j98O39to~drSmb1tN({~5lL3=v58!oDjpj;@HrI?iu3m_dvKM%2Rqj}`? z!ta%TnY))CU-ZEeuUyko{LFjII&X>>T|9<~P8r{<^$9-Q!>RZUZk1~b&AxMJwN4a( zd2RpWXJxCdiuvCh%p{kEzl2$Arlnv!6v=4O?(F%_WdvbRT6#Tu0@#^HB({`A5EyAa z;97fNyxR86)ucKj9LF&1-EtumiG{R6Rx>0Eq~^X}`S$1VNt?-KxD#OR^~Ub0 zn!s}X@uk)Xhc7Fim|bB`Suks~(RIzA_@LlGR46_!^WCJ&isf5EfNotaAB^ZQ3xe1% zD~PxlakxpKgcsh-G=_A>RV*zS8w8iYb=1v!PjiBZL=>k9&UqKOHE+)s;g}mB!fNUO zdY&Kg_|gpwH}NDaW>==JqvR24*;A5No;WlMxAA1b{xv+snGssfu!QAJC7%sP2$tC^ zh5+TuF=*5q=Q96$`q2)a=N=F9@17{<;T>lWm~T(pc-8$k7o9(AXlpf2U^JK|fgtk@ zui8!<^_z{pI&b1v=mA>~(!~rwVeEM6OZ)tfr`$Hlr$s=|Mi?&AzWtV`ABTy2_H|!i z1;3~rM?G;`;00e)QKv|*58_*3%R7&nyqJqx)u4aA8tv57p z(J`Y$z_@?r#3R!0IHYtSTRp87F&!8_>-6U5))URBLHbub=G?@)RWBF7?iG&k18RQx z?1Jjfw)@i5@)lgp#n*YwS@vtDEoP3nPe}x}`ta)geIiZOvhk$hUEPsc&+?zGT&{NmZojjE1Ck7+q`%~4@Z$9GY ziiG9T%$tItHjIJ`EIrFBc2*^Ci`z< zzh})%^8=(m%rudzroXP4iWVy4UhX-+L529=U{k$-?Q z3hbxZv7K}*?3-Ol<{Nu zrkF0E;pND{|F|9C`KFXU(nn=Q+qPhNf0(Va`SsB@OM%1x8F9@>eJ%x@kNHYH$GYE1 zWL%NDi;1b0_^Vn#5lI>aYXeXX|MtNGo%o%NZ-b!wX0IywH~g^Tp?k6?2nwUQ!L*1Y z(y=}C`!R8oVLHML$&>@9C4=m!pvdGWe@lPGKL<*cB)1DpRd&8A7V9C(pG#5^l_{6lEB2`!F_2|3-EWS(*Vl0Orx?EMA%ZF% z;aSQ1c5iwpTnDP*+ABI%5JoYL4I5z5vf<^zO@Fe7^}J z-=;(2fs1H>nW2sSXnh&W47xpK=Qcys8H%H5{>QIiU|{~kue3o@xRD6}*2#x$m|yv74M!9lhZvNMIu&zn zN<7CUz$)Bv4mOXCx5FZ7<)R1*95fsEzi4k+bR(y?3NFb;q@)f7G*N$4rWgd(~@$QV>igXxrM{^UuKkjKK@@7%MJ+Hh*TQwHo(6V=OFy zJcE6m=y4j>`~Yj1?0TC|+m+&ek8?VbBvPb;#}-5>krRAO6kftwfEdDi-AM#LCrBAlZDkxLci^>5xqDsDsyNPwe)Wif zYKho!_m2t}Yx|AX6L|EZ~`V*`*=x=nr zQx7G5(w7&<-5yU)l9rd5FJlXOgXlk2LglsSYxZsodh@`&4XDFFpPP_vOMbGYU*ZZJ zf;~AX*|H>g^Rmuhszqety#xZ6iHkC~f5Z&0?rK*#t9)NQ2UVJU%l; zHEH*mMg6=r<_tONo`K=FxQh)WW&J&f^KCk)p&l*c{HU4sVlF{Rw;y@;JMj%$ds)<$ zqlbVV!q3HcjbmDQ<6D?B|nO11s5Y&)H zGwepj>@ObKdL6^u9Y);~Q4Ohb-)FaSHgI1i^t*{ z&rKv~_V;FrYW&NdX89@lFilfmeH@$K3*Jg~eQJ-MyWAe`HuNT+65^i#ji{NBy4;T9 zp6!}wyu#U^nR8SC4ApPf56`nRQY zGWZJ82M5$wejDw5@A!{Hf%EB&<}ks$B#|+RU*&b^9co+yhK{#Amm4C{l|((TpOF~{ zq3bQc#Ecui3^VPXOiFjaI(wqgmB7RnDHgp|tHS75;15L=FrfoD)L4)Q4UOakF?`$2 z;Mihen-*y+YGRS#umQPpe{(Tv_ZS4PqWWZb1=sEiJTALQ_`nmKcwc7&qu7jT?QQtj zJ5jc#gLRKdte9w{nO`;||K54%-5% zwo6AfooV3HQEA!Zl7D{PHKWCn9Mim9`I4M>esigL9iyXUnnCtVNyfdPzX9hTebv>5R>nMoa|qxDEz7VSV=@)}0tmB-^6bn3^u+*z?9KnB3xLaZ+w z;4@hN?aukA)QgGsq>YJ&8v;HN?>@=&oapUWPYJAjk(mG>3RvjCe87A_d`8-h7)3By zM=lWH`)=FBB+}F%K}iszJY_LLjPNo*i<`1wgPKTQfNs*m+MCm{PCvrgTg;BEf!oWS z3k@s9J&dlrC)5cLL(7tSL|LATgfB|DaMTUq{M7X>y9>{p=_-JlO=zL-SnQ$jN_7R>Uq8l0O1n8E^|(MYTf} zYfEDn2TdMB*C8_9Ozd{`k6#R%++9rC04{pqOtm|aN0nvd3pPqil|Ke@*S z!2OzHx>Bm)$Jd_maeeM)9!>x2Y}4?RAs-#X)b0*b9@{F8`Sfijrp5vb9mAl5hK7Xx zeen3FHH$y8;{%R&BeAjBEbpb@?I!9k=Wsr5d?NO(u&M-D1=`li;DFwUy=hk`*HqxU zkm)_YWQ!Gmk9rMRmYHvQQ*zWoMqot|;LkT@qiKC)3k16zsMx;Jc&0aWFp-Men>1$M#SPbb;V757yu8cM0H$y_+zF|%4JrP`Qmmom|US8n3C*l+H^F7E~33b?fQ^sK?$SbTZqk z-d{g1(H^Sa+>g{-b2F8aG&$g%TfJ8zHf!$jBQwsuXdz}!@dXu%-+wLsk}0z!)+-U+ zKkCOYdi(&)qXhb*m>n9}ga3hnBTse#ekZI;Nvh_?#dUw}0={O!n--)=>8%M};0V|0 z(Y^O6h|GG*q2D14RVVi zb7wd^6@wI`Or$yajWyTo_hkjgy&qYU?2H+K_7W7tjKo(#-Web>XKR_FG&EB z?tHH>_m^mgkg;dH21J$goRoRqe&@dvH-EbBzVI#7nv}_7aj!nVIB-&jH_Eh7ngnA- zdQ07lupJ808KD3vYG8kp^nynFZ^5$k5006tv}W#od;fas{F$C$d|TfmZj?EBe6~K( zxuZxy6~}jRIj^z>fQSVqOHBp*`@tBJbfQ#QMHkMu{;{N5PM}Y{KafEwt9_3V7 zYxgE@&DWagEc;M<%kI*fbr4l!mForf*ef1~lG3IQU+5VFh&*JgZ)HOc+Z-O(SZ&N) z_hzP7z{BT&9NATbO|}|U(UK0EW))hsuH{wsJeR%hB7Em${2ArUM&H}3(0=e;C3W+k zhlYLAdA3mN8)aZ<__KQms27m)76UM)5nJ)#FXDf+=ON$x{ljJKGyL6V1(|CVgd?=J z(ci||$*11}XdE|0hD>q7Uxz4=OlgDjX&t)ZIDYt*V9@h?OUz^fDAL`W&bW%hS&?jL znL4F_po;0_ajdt~pi4=a6zY9ODDB;8(Lo;U5Np+L#S?h=iL43Kq-!EyK;poTBOi%& zsJGxiyfvyV6`l#fe9FFIp2eUux$y`=P+#B0(N)U_=u*IUjTRgx8CmF0c#Z7%YO-BC z%G5%=v4LGfxYJSr>1&l976`|qo;L>14ygL**=F7g6k}d}daH3JIOS6C@fay4V)=k1 z6Q_67Y_9uT)jo(z2oOl0u%A5uu@-^=51vmu?hjzv3vXGRFQLABEMcj>;mO%`%oQ)i z{6L2knQBJcq&)1(4B4lxp&#c)#4`)C0)B?7zm1UVT#);2|HbGyad}mM4a2mzp3K|H zdgf)XEuex{4cifbw4Zenm{$o*y#jcs_pzn|qPeu*nT1#Qpo5^Q@&{Y;b3AFlBiFpe zW@1BdK;~l)Pi;Z&njB$Z@F+NN34$xaB3J{xB>2Q35LlrR@IgZqK@QX}QP2lSu7&&;o`+#vZmzh4ie*u9*Oe)egrTte+4^8>8A=TYi` z-B&N#y^gO8K;^}8SKD_xj}NHd8_XlNmrCZuF%E3!^Am!&p$o=zh!xB1p>5a(*lWyw6FVdgc&RuQWG?$oikXvXw2CH>oX6YY?V5i ztg;Dw)TcrEO!C}+Z;Wa}X-zw-s3z6@rw!d0Nk=L79*0W zOQq6zaCvo`7*z>zNI(8wfB(mQu(0e^`H2hy(z)>e-3R{{p4FaA2uE4t1OZv&Oc^3( z27tnXfPkXFfP;X5q&hl7f`EX7D9itp_}2u7#)3z|$AbaKLd3*FL&U+vL&u@Rq2Qp$ zz@WvWWFyC-rKF~y;h|;WU?+0!S&+cnG6tHL8J)jhrr5X;I{ z#>N}ZCsoHQ87;wEB`XvrEfXfD6Rs*3rmC4GC6OtqlcOq`qNx$DY8B?78)j}3ZSEfF zX&LO}nPqO1Zt0%nZ<*=sQzxg~_|vY_T&K>?ZBjsHR$gaR*LBoFZ{EWFOkVFu%l6XP z;K0=T+}-xn$NkyP?#;_5(I7Yl;F6r>Q{3njQ{_`KW)VK(m_FtkI^vzaZXdnmkhtR( z_}e#a+P~z$DJ(VAy*%D`JIMDT+&4TtB0MH7HaROjCOkU^n2{8nk)9C~Ru&)85|vRN zp52-pQkxXnl95%G0&I&dYR@XFOt0vwiij)^O{>U=EX_{u4M}K^%xTF5MD=85HYPMx z6=$^<#&%X@l$BSMRCQD|cXd{kw3l^sH&yob^ke~t((9+nbB9Wrrt=2ZYX;Z4=Z_Ym zlV*a-M&mk1GfT#kdzRzs$7-_2%FD(oTF2YU#(P?qE2>tjT9-P@SDV|WkL)_lnAg){dE+p}DH5iJq~Qnwhok(T%pH zlkSm+-hs)1>ZzfQ)uEd8@%G(?p3|wG(b3W2>CMTd&6TOKg_(`*<%zY`wdv)<-M!tZ zz4Ph)*Y$(5)$_Nlhp&tA$^DVd)3vda&DF1oiQBp5$L)#Fjg1Sy*75Dm;p5r*>B-6Q z<^B2d$L;>f)79hOmy55juQwDh8W0c?5E*fipI)0+{_uL}nwx#?(IjvsUV}AMP{m*? z8W1A7%GGr+Ue!OX7a44#q>bKGHS3NqyBJM=MS~vvSe0uH{%MM^D0%TOV7jjNyv1<>K-#((eO2Vta0t0zRhEYfGymr2V`q z2hkN?blbNa1;28rH@_Xv3*CVB%w7fOZvAN;TRU&khd~-I{R{#}BgP3N#tX7Uz7%sD znT1wPrZ4np?hZXZ(c;Bv=!i;i)L*Nnia>j-Glr$c4e+MI#gCk)P$~8ki)lNbzNbv| zI0}J9cy7R5BlXB3Y!l%(mLiFO^SMk@k-#c?oCol%@ZU?#U&gXs9E$%nqKzygRe#Hp zq;%I`t1lo{6upp%=>c% z2o}%f3yLVy^*PXaH9)X+G2`>8V(^K;ti3GD>j1DgD|EvHin_ypHSau=CnFsy8vmYM zo38LFD)c;u6;*zHlye^<=dINjJkRyX={W{>`?JG5!G71rjjIf)jO(A zDv{d}3^Ar7R+L>$ttrZyUDHr;w-eA-DvA12#t+ri1c?i# z^Jcbg3m2Vp->5m{$Kjv?fq&t!k7-w>+_oFCGo0`0P%qGzU5u*|={}f0g|FU|`2GZh* z%&n&eG;;)#J9YAiCzeM6cfrp)AVJ6V`4kuI#w#W!G!ZHNhC3d~#7@}3kx2_*IC?x5 z5^=3>*?xU{&t!!Uh9}49@+k5QP6KpCGGei0B%`sZWO`+f3`l6^$P+_vCe(!T_74NJ?%dS(7hm|K&StJc zaYkPj_|!A1qpKcv{R$|B7w>ap+sA+oPJXZ8S;hv) zEK^pS;n1}(uU*OaD_|`r>MA#3NAl*ChxhN3RDW4hMO|HdZo)FR>toBMH-d9dFOid>G7%D{d{+}%^>s#Lhn_jV0s%wMaca3qEshw*)q9HTH zAISPv@-q;^`kYydto9G$zeNnpUVi&X<&Fil870-5m`Vh}#R1e;xOK3pLSX?S&4e8` z^sLMyxLFgQtC$>_H>8kNl+Txh){!4Yc2IcqieQB(-*hE8{mz zEXKl#p;2)t9bGi$xIEHd;KW(BQTZ{o7mCE$+k4cje1=+LW;oRqvg5p;}dt1ov2;C>pHuvR=99&`hhM{Ws_u&E-sy_>d@&c!pv= zu!lyB8ZAB&%1Y`?_Njeae$U=XYt!~9m%LD@A9m(5?7iVM# z%G;AWJ=Z+s@Zn?->1xu?%+EW6rBHNb9}=(m&&a?#gfRT3|~Os0H@gSn?$QKqhO*n4W#jLqQ|;v=_2q-lKmemwDn%t|k2m~5k2e*B}un_*i z!Xhm$$m~Q-64`qfO-EYDt9$l0(l5Kb6Mz~DPd}sdoRst)Fmd09%tdDk0}(s1LOQFK z=d$>`ywUsy=sMJb&mFYuf+(68;_(H6{5Yt=MlHxzqt!h3cOhDxQaDJudMs4rOj@_} z&|rke8LCANbvFMjKNj$0VgDUGvB9(BZR>%6K(f7rn%ID`yQ7S z)AaZ+n~4z9l0=mid$uB<3Y-$B=Q9WFh!YHi0C?qKbuxUDWr49`XgPlL{ zo_Rp0N_@y{`+(rHblt{FIBLVD-U2-)xpq1*goC@#TQ$u_fR}gj_yX70)t3rUXoVGZQTmz+}r6x&(>(TiM64J*Cv3&EzNTuJOxS z4eXhBNjaCnp>!kO=#jvxHEA+C9ZIRfxn*ZC91Q7K^!THAZZRCHFMu5gjk{^eZ7vEbBayvfPuydkPUfPbxz4qWGqd#2X8i5q;-cTPlfKPFkIu5H*hyPg z4m&E>$7z1L8PcZc}~IFyc4TM@sjDh z;hWvc7@@9$W|V}AA5qs0r8^HmCo)3!cz=cPC!|B6u3=a)S{%1Nm0BC1W$!g>JuixQJp~8k>tM*!NU6kTk!<(=AJfJG~Z?Xs}#{ zZt%AK4O#|U=QnOqKB9Ot`r6R%UUU4PuUCb-o(Qx;*oMz_?D#YDjok3p1Mj%PW3Q14 ze@>0%H*Cg-M?62OX|(eU9%++;e2vNSS^?K@=#F5%|K$<_igHAxLL!P?8maT#8UaIn zUBk`}TVnGlmo(T<$(~M7W^yCRf9RvuyX0g*yEEf+3t zp`_fRk=nR=?SV@Osnxr(O(P2wCYhR80jYZ#+Ts}_$5dF@SQrGA++;#z8N|+Qgw8B} z(Nj^aeE@P1L2MpIQXMHtMV_2eetxPKR!cq z6Rep-0+rO{a`RWCW3P;?Q{}Fx+JjI|Pc^(CqHeCLpt3i-H2{k?3=a`(dqG%)wQ(TQ za^o_NVaNb)h$t{zcI=1L{g(-#OK_-oLleGp1R#jlngA--p4^8X+=sAnFf+kwP5uO*$EnuCscB#7OU&c}xU7TJlc9?XBcgsR;h zVI2j(SB1y9C`k`*Pn1`XZC;|fc@Fo6`9&v?bk5yvQ>#uOP~14r`(1t(3MybK66>p+ z9iS)I7t3!LoZRKBki&Ye&;e*--)xfLmRj60DzICNzDDp z>=yf0(7cr6B6^#QF1HCAi4FrUQw)T4D*!D)OJy9r#htelqK;Y`SaE+n%yS~GQFr0H!n?WsksD#MyBQ`eS2C$#>33bvm=Bs`yVZEpFJU7qGqLbuaJ zEMt~Q2<>vT3^XVLI2m8ACx|pm#n`G|(b7@EN}T6o2T1|r-*;kCe?7uGLW=OLH9|3R zl3ODWVQLZ=tuVUc`HmQ603t8VM?b9;mk#1zpx>WAQOnOr(kPvoax=6|bTgXFzE(%XvXM!ihrR@r4ih63MWlXotNGJ(g&;RxzuB*}} zMMP}Dt!%5Ucmde!IsofZ|2vB}sr#M^QoL5VbqB! z-|SgSZk@OCGM69OjeRHbtB&*IEkAy#P4+J^O|hOFnxw)!?TluhS3Ab;$C9qHumC>S zMi@a@jaykkA}vCZbUm|n#mFXpQ@&k7 z=&H=8mGP8=2-<~7s}qezYCY3Jk<`vTOPmODouG*3OC19}&^jSCBPaWe%5V}b6+I$C zD-7-E9FDADdeGEAEr-P_C1{_FFp&ffyiF3B_uKdo#)Wn+D$4&8#?zEo**PD4_BwIU zd-PxqXpWfdaLx3S|1-9ud(=_#UT7u*{9uE(bN%?zFz-w%LwG|^|Y+M@2E7by&E zBD6u5FtW6jrWaE^vAg7H@d}gfMZK>*=1O96;vO6Xc?t@eAIp0dnHM^8C@s@HDok=A zz5%)G$PRxHh!M)$!rH*?hLc5n+9U{UzWB!czxV@FmR%x!0KHJ+UMNtAO_?#DRc7oZ zoAxDH9U++sXPTI**(Er5ByG^w<4b%>d;3RS=cX6&8v2-)u0u|0v#4Wn^y5yyOim>G z*r@y-L^6{737f63C0xtX(@uUI?ItrwSNprIW=SFgBW@IXpH|Nh^@bt84#^2@@+b@} zz_HOv8ZX<;1tl4OFO;hStw1pxo6^_vIr)g^Q5#lEbQ>2X2#Qle-`jJA8Dr#zG#w8nDg3vS1H{7*W z-+XZ52D47mX+Cwxeg>G>*vZ|e;qCn4!}wqNy?M)}Oh0-nBf0${#^+Q%4qNHXCR&%I z1du*(ar01N)fdl4D>s+g|KfE0)`RgW9|aF`i~zUMbwhGmAlX;Z8T z{za=LRP&dkKkB1VKlPLd&ML+%m}}F-s@rvOYoTi^r>n|MR8*BDLn8T{0C8FJJuID> zRy0|HBt=IxE|s=Mch7$!4M7}TtwdV}WF)bHP^0RQl8D@wR+{F zh%_9AZ>uCn&iSM)MnJ{(7HPRz&r7$PJ!yV$hes2Ura)5NWnv3NhxA$oC}K4dlM@Ic z&%d*Umk@94%$1!6W*B8t06MVTx}X&hVuM{t$%E&)XLa%4&KzwBrty4Z-fNefX&{hp zl;@YX8y7qGVf#sxU5Mv8SK$g0l$-MTZX-#x=Q)qh)j|BXl)>UfW*?VQOeH@eH+;l? zaaiCD#+a$N6k3%8cCcjqF->Mw5&Cx{gN=dY84Q^MDI^mu#x6$=fGMm3MO+e0w2lHW z1ltcg>Lr#pFwXzPw zGK39Gupm4=WMAuK^0>}sS1I+2kdzj~p82p7H=Ai>WD!z0*m7IROLGCBT; z1oWO4x&S^f1}kVI{R<1h+Ze`$)e|updW4BtE-(ze+rUd>E{pthE{hZFh3!zrnjVjO zCzG3<-6fxrG{k>$|J8-t@!-cJ9f#>}&=iBZ<#-vxY$WGZsO#zuuG$qxVQH^5ODODj z>*X40j5}#Y099u)#cTq6AEze$0U`-EsI;(Iv|NN1zXe>!9z0|i1RCuD zh@dbHy=f$03;#ll^-wA8Wge|ghAP;_fjf@ZG&EE%V4hxq)?2b$G0+5wcqB@mk@W{c zb+Y-d{1i7EUHC*9vY7H6^*&T+W7*hGpHJN?Ar%|ig_`%ly1D2~ zd8&?O06y!E4#hjuBp^)J9@Il#f8VV zV17gQ=GhZDJvxGMQFY01g(NR8Jp$q9;n}kQlpmGeszLDZ_mNOzkGZP3JcvQ863_@> z=}*$~`TPzS?-oU^RrZT`;yL8A!ir z5H;c`!e!kq+V4)e9SxEFQv*-iTfoNIF$u;l_{+W>TZ?jp^MD z_+dt~6Aes_sG2M&27~%>e}swoo97j`>t8$^Sa4i(Jt}KV9#D6@svdU0DfZjAQb`hb zOMbA)JjafMQ~X3RC##5DUqwJk6VsB+<#&)tl4ypl(JH6;pI4dZV+v9lYx4FOAsiQt z&p&`D@KcB%wXe)|F)Y)L8}1l}L3(PUfI2eL?n9zV?i5c;m7mu}GUDbL&0SXo2Y-aE zLajeOSx?f4b6YVo^xUQEXbUy)H@NqorxH4C23D$|+$9$J`a;K|=s^9sh1l7IP&MPW z)n=JBR~8PC2urhLSsuyKakl(OpM30Gf-& zOAY9-^3D;pf@=ZR>+%pfwPl#i3U+Ja`s#?>()e80Q2{ILJVUS?#ATdeHds>HrFAq&y%@j`Ab3{!cG@) zslPi{nS%qc8qxA zYG#IN%L1|!xc>6g99^ejK-je`Teow_@Lv*c-K=1jG}@+EstI9#(jYsZ0gBfh(nGYA zN33P10|cDQLA|jYU8!VnwXMP_MHDi4qEd=}j{n%hOl87k9vU^_FMGaMp#uX1>5f^g zV!0nZB~$PUx@RBZE;$PH;UDebyls@7dfUw$tqVZHC9Ylz<*JHtxZ()@#&-Ue0z7|f?%F@IA0{RtF zw6MCEd2x*}latWjci@6^w9ZQ=5|x*PVqxHYPJ7zha&e!7Dsgq`sE{x%)x?MALKaF=19E(5@I0KMYo`>i zH;+rOSk+34;k#EB11_mG`ej5b7gtz$;61QLZ1kklGjwY8&Wr&=m~=E8U1sNd8VBb zC0zoqw{rl1udERa^dgobiOJuMFZf_3Odj_?WQ7)UsUaXlP05VY=DtYMNOo%(SiM ziEdil6dfhrp&Z@S?R=6`CCgM zt(~DZ`|-^1;tp7p<~6^oKsr0i-Z)e~I&6z^b;>}oRM>3>dJ-jcsK2X2kD-^80f^VJ z9h?PKMRBn+WyoI!Eqqvi;`hSoZM3+%eS@8?MJJ>$;r5Y1`^Lfi;;y{yyBpv}sog|M zDlx5@SDJ2qz~Owjf^>C*u2%v1;JlN;^+D;`kmNZ#6*s^p(v!(f`G-weIZ{6Bq4Pt( zKZ>f)?zVE%_HS418?Me)6jW$L-N0x0OzqtOr5L#6m^1-JSjDi2rl3HKM3u~8&O#oWc4YX#LZ7PSOO zewYvT-4h`DYhuJvV!`YD3d5Ehu`hHg`3JX}=aFTchi2D?kcFaCxhw{C2|+G@@*K-n z+%Ln{RsFq_VAo00(Qa3g;gO@1`qyjq>?u(Nl0jIgn($M2S67KX3hyzq3dNK#h>w9; zYriJ66<3S<5L*W(Yxd)@60<&~g5#DWb=Y*Me+S@q0Q0Ck0;#xGRh<7Zs{W2_+RRS& zJXCDEl`gNKd8Fe*9|Lyt*A2J&C40jc^Zsg}!xRR~`cmy9k`t-$t6f0NM^(Pf^J?b3 zdvkQYwOKAn&+jsLZjJNu_Wb>6F~T89ZwpdFmeqjwHdJw#8r9J&bu+aFqGC_B-l{|F zHUeI4RdX6SH#j20(}gD;TTwh>#L9EyB$8`#;Z{YPvIn3N9e~i-cX7sk8lTC=`||ue zk@M{r20Jb)>okFRTH>J2G$UH`G4YJ!co#0SYaSGP) zY2PiiJX-IWr6y@~I>+W0oiw(w=PUfZcilyfF;1QlcA+kkPV$kI(t>x^;Qsw6RuC); zbh^TiAlcMS?jH;{A4~qYe#wXp%bKaO-jjC<<>d5|<`Pb1Gif3$D<*09b?|Es;De!o zqRu`XA@t^g%>6zW7xE|QjONuUOHfa~ylm}$9h$tEbCa$J53k%5kXld4(~5ui{UJi9 z)jaq4ISJ^hwP$eSw*KdJ0B_U59g-iUDHjt7;kN$2EXna(}#aZ4?cFY{d4jC)2 zjKWhNFSr@wb60Hi#o`eKN<ZFI2_35|D7|Qo9Dk=hc z7v-|koM#Ru-;!lMp)S?Z#xCd;k&SCzQ#4tdFDH^s6wT047)&k-$uGD8k2NUdjY)w~ zgl?UyVP@4CYwJt;D5c6#+$K#TMcL5?)=*WAP}YiA{1xoT35R7sdIDkg+wXY2*nSJr z3@?wtp9u~IX%`Ir$T<8s$hNY+r=IVgu=Is^p6}C8;>Q9smRz3+w2#&j_sJ2}yh3b$ zjxcnU(E=rO+-Cj!1Th&sv3HXE<)>BpMpL=Z(6hDju>)4$U}sRj9#!G8A`c*aT*DxF zsBoXad*w76sNEEu_V6%?YD-VV3C1T!EQk4@4}_k`B#Y7dUY{R&kUxtSbNd}a=OH2Vp;b`3 z_guTpLv!u?plYRHMV#yz4kSXn$!q!g6Wrv{XUJWHcC#kQef-yT&6>Deb>JU>RCZ^Z zT)gw!*g^V#lAQ&I>yEm&T`uhr&CyYp zb8}^hQ(Z2AW@IcJ|4Br{hD#yKQId`>;w480gqBE(A=b?;a*QX{eaU2acVo-GlSX?{ z6-!l46*8aHvJ@v8DXu?=_u1)M*`j5?T{iL#jIwLyo1)Mj5w5CcDY&-x+*zUZSd5Ne zNuFHL1MBaNrpX|P4vY$GmczTQ)SdjeH*#U}`TD?1F)6wx`A&*@nApoqgn&%)2?cSs z#ukUfey#3j`P$;1Pkzg@E?q7GU1;)sSn6J}dE9 zJic@V+;*~G3>q)W(@F5Yp*h>{oJ*LOo)J^I{Jc|dl<-VzEas#`pjYwU{j+&rVferz0*4qjufj`XmAYf#_PdyJ%8|Dvv{x!b^nR}hNeS-g>6;jF?Cz>RLnGd{0*^g5)+z8%RhBCu6+GY_H9M?^Gn$_ACJbn?--IO4CFSZ2 zunfbqU1y)ag|Mt(=FH`M{9~)|m=>~}ogjysQ~m(3;Wtj4>fH^2+Jzqd2;N-kwPOMU z*KtI>5Xho(U>_kLqlAQM4%llgTtFMWlEXKC#GfQctL?lIf-f3N@vya%YiwvbVJunF zQbj^qsLdnwa&5Z1LqDyfQMR>IOBcI96m-U6GsR$5KZYN9UOI~mRmRb&@73cMpD)Ir zbF4@`P&wh%{eqt+)%4rhtA&g40EZ3GT}JR@W|p93KTntN`d(nE7MWmiC?afqHKbo{ z(h)(l-AjoM5dnd*WhL-c+y)Hs_kqjt5SD^7{KC)QpC#6Z^}<8(@E-ftOeN>n`c2hI zzhuuhFK7ol@zBhKa>%NGZ39$KB$84+opQcG*;0OCF<%e)gTuh-h$Sz0xfL+RKUj!) zI$B_Z5udSE-IOtC|HhQmqe^4m zAO*|n>DFec*2BSBsm-;6Mq{UBBE?zvbB0LKw`7ffae#F{@4STT<|0+*$^es4zt?j2ROP0d z=fG4YvhnlgK&4e{f|MUceY&^F{?s*-#rSHfq&LMw{4~i5WaA2l`x{`kv;@Dj4!P_glAyYNy7Z`aVG;!O6^akqDu5#^jH_RK4(1>jjFY>GAHn0INNiQ@0q6J3-moGG$Ksm+~2)$jYm24OU*1DoUb#s^x}&d5`KJ=m4%hsb^Ci4UCV z1SCNjAbE>QY`mmgrj=eeM2?cEhV6M`oXGWQN-n*fak^s%K&ekuI!;>+img#U!Hb?Q1Ue~F+XEBowM8sy%qXAhMF$+sb5TQAv11BU?bmCE?-?q z58QO9G?CK3-L^?2BRclr=n$96GFaUv(B$wt(l>N&yCtIK zn;Ps*uqgF!tBW|;VUg6X6vnP)!yF*#RJ}612?5Y-@1)BY=@x2@!Bo+tg~|w$$}$Mo z-D#?0G-~!XjoJ;a!6No!ELU5;g}ibD>sI6Xs74hD(qIb#?U+A6ic*yykn#YHC27qZsuW};c8o~u;FQ}M4*bBoV&36M3{ zHrI1Id#|E&fe)x$@qJTr%f@Ex+kvYZ2LMh;toY88K-qik%#jquJdkp z8fa~vLRioJ3nV8)#hGYHK|g;cO`9qpJBD!-ECiCIg#rwdd`eYfoXf~9vTO+H*AB=? zx%aSC9LuV4Y1D}je~yR6Ln?(n;8MI={`}+<2LlYYyP1kj6dgfgU)7h8)NkiD0%SXF zde-$!kA0AmML?Oe|tZv49eL8N#Ws#%$Y?MK;T08`$gH&KVSKw*^KXqe$79z zHlvbc9ZPAGVU&}%;sitxL`F)Y1BzO4cScQ!!kOVce-X!$J_{#vNKi&QFwd3}kgeFt zqG1$Xi!^Yzcz*hkF$9@^ma6a`U~#2Q*J@p0)i2cv91v74yF8vLdn0t}#)zKBzi;Ne zY>h#P-fnEmb=wupr2aT3+32Xo&iasRw=HZNl9EFp>fg~=7e>xY z@BsOGxds7Ib>zw5Jn@_>ANoco2bqDyiN*G<=NHQh{gSza(YbDWVO6y-dj_GJh4!FIXrRB;Y znQ6w$akQspr?Ob?Sj|(k-J2z7D>t}`rK^^Ikj#e%Hx^WIN_J-l78}UXd!I3TV?fqf z!=+t+tP&a-`_|=$M|M4nnp<%V{xdn=#l9wJpMU*m9o=3Y?Wfz!EQ~Tt=sllYJvbNP z#M9cbW%yWsU2#@&)c~pcvyB1gZLv^aFWDcOjw%i`!4o2H9c%oe-JB^=2PQ*TAM6@m zH)^k@oLU+WsN+N)u(Lx2qQeX<1I8uIcFT{K#6>+an-(-6PBvvQnP)64OJhmsk^9+F zmI9U?)20qxXTm-&%ne3sRVTCgO1YEj-{pXFGom{MYJM-lrJFq{eevZjQgqL}9Inhn z4uTbH74YR$P46IYB#tE3HJMWx51&GE-~7{(aQ`)9;|5&CI~3wKHV|!iCQn5kXIZQm za*vo@Wo?)fsC_r*mP>pR>v$2=6OB!*9;CME5=|y3u^IHL=r;cS7(F?soZZdP)gn&+ z)3B7Ai@YsuEZh6$a$eZi%|aT-Wi=nTvp zruD>2A)msWiTL^Z1W0#V%T7Q|X78P)F1h7)#mQ8K$WX+&WuS3f)k_bG!=y+M8zcyb z`ZW8($f(gkY*Hv|xjrdv=zJ9Jvu)>Hbwd{ikd}6b#l}JxmHq*kLNAn_^G9h~S#q-F zxr`EFZLApthdpB`$LRL-yV*6iX)_ z&-eCbDa=qK;5K1irH4*3O=BO`0!x(==FXQHQzD3Jn+P|!vj>YFluMJT-%^0P)o^aT zeulP&7IjLT>U8ejZVmIcJ`0mCo1zO~%|(G_r)fDIH^=XSp)o3vgoCL)w>IZr zl52g%LMWH2C=i!*`z4|Q$Yk=kaQ#Kjj9WmMr4}1X}b)u>)NIs)JDtT zP7i(=Mi0XYoZxJ;q7A?5XdM^BzOway5zWe|q`4$2Zs`*nlt-5Jl$fMzfWB@^%y9Lv zV@<6r^@+WAfF;8(&RFvL)XkqtzXfG&RhN#>ctQ(mN&)9nf&2gTYw8B&mmN^UwHsZJ zP!q=d2vwsQ)~6bDQ4G?nQzq;v2FTab4?kw&{JKW)j`xk7puZXVm_#G2}3crNp z^8OIvA=P9S3VgNaF=ItzP1oZ9r3~pYUEC6xP21Gg2%ShJSTXJBiEwl@+EYh{;ewCS zRn8Cg41nCZM2cE6EA*rdDEa)QYj|wWLiVbQE}0F_(S^7Mwc8j%eXZP zqkwvJDtaviJG_ACuj&Q?0=1#vgI)2o)xGK0eG^BSv}Elbql8+e{k`-^eS&@&%1+=& zhIw(5i45^9X%4;X=R_$AvG|(Oe}0Z?MBVJE@yAj8pb=_nZhU^Qhrpy`V#vnzb0MCh z(QbP&fRlgJeR5K6>BVa5Nr;VcrDLK}=mvbagqploRylw8b2e3nPG>x`q8^#}2D9l? zu}AmQ01Po@zwNIXl2g#kkF!aS;WPN(Fb-WhJ}|ledRQI$C&9~uYjEhGB+2s;lNl8= zd|c`JbRA2jxifWpWo{4Z@a@&om<-Xu&fHYFl!Jb+}euVY%oi6BS#=Cv{?A|xJ?=acD zI=3Y}<$$;I2|&XsD^ZECj(fF~Oo0S#5}sz7;XuR}u~AgR&4O@4gF_NJVyv*R$NYIy zJXM9+&lhi|uI9#P{b~j(GLsL8jEPH}*O50NKFKssUVVG-SGAFKPQ+5>l*m-SZ zPy=s4y6&=cywUbspL(-<`?70<(MgCOB)9WW{buZvILdw6U@X;88sd-NL$$)E8C?sz zaf&U*DNDvO-)KV5Q<#rN1v!4jARkeeD+c&_`=)GQD9EKy`;eoTyi#(vQMT--H_dNlR-adR^@?*?@ zk$$=3mxKGY9q0}Bnh~r8)z~b{ig|$DV2&?CH;bp{cN|T-CVO|`d?Ed}b9)jxOs3X! z&(aop{lBf-{~^CY_qAAn{YS7?W>X@s{7f3wVuXfW4Nkw(Hool#D8lcG5{F$ci+#2X z7`*y@N8bq8fHz31h!pJ&mn|mHd$ieC%~quLV8*-iRwf$S+JTsyq|(Cl;-vvR9z|MI z!bWzpS>NBSy{2G2e)wcZM3cK)ukE`ab)*VN(QbC5#D?-!kSQbJlTET2;a6e^C?7$w*2&bGG46DUhNO6)qh zGh^K_OC2{Y_sjs21`LD+MU>#eE_hi`t0Wvff6VQrYK877xd`TnlIssND~E4~N#*sO zPZ?My+YfnKBD%O*{N#GLQp$Ts6^Ew?S~#P~d3hXpY^!f^ z)HP((WsHkCslH{lynK1YhaPs!Ci?NvOoU|!Y}UNm*Y!~Rm0p?ohc(RzUaE!`axb>V zWyzUGw_LkiDe%xe;xv2E^)-^Ooj6Iw(Mm$MQ!T=%FKbuWo}!*jX}FU$-3Cb8<^Agz zzhr1v@1CNgp*3LrKaNpJuWO0^4;>xy{vU8UwE4a4-{)@z)KGdou76ajdh-9=o8MDI zEA-g@Ge-?Q*W>tS%%ZROfBH!MfAu5!|LDINDB%C45B|#~glZdb(EXkIZ`Q!$dvL(N zq6|$np!&z=U+MrF8pXc`_oE=_gaL^D?>hIM|9_5uPd@xFiP3@58d8b=HTq{4{<8`9 zLGoX6U$cc~_tDji$J5SMO$i<2DcV!C|BW0cLu!mhGbpbvIW*gl@FBCs-}n9px0g3A diff --git a/1-background/introduction/figures/visuo-haptic-rv-continuum5.pdf b/1-background/introduction/figures/visuo-haptic-rv-continuum5.pdf index dd67b650f8caa3165f00b0cc7d59f574c4cb8f49..d47d95b8c08983545ef390d75f4ce170f3268496 100644 GIT binary patch literal 34193 zcmeIb2V4}(@+eFeK_r7pT12wI2Eu~mBpD>MEl?^2g z$yiVj7-W0f0*jZIO~%;9)X5A415y;(#Lcaoj2+m-tqh!uMU4$@jg0yEu^gQoj18=@ zTobC)wJgbQUh*8(gLEN>PCwndho>H`Lx9O1`V2P(msa*YT15t(^`TeSf@}<*rS;%z zOry@-h3(F}+uY(0ci(I42zVXt98Q-ef86>iyB+{-GczoD^2nLs7C|m+Pge7t&hV}e zwm3;+>pLls;hJC-T-kFaUm`p>cxU~F!*9>$4QZ&t)ydLALKC>L6;bgDHp5hUKOE5AvdC2JSg(lKv!b^Cd z;<@Q`Vg0&pJs0T)Xn4ayYB+~F4|}=UXVmwJu3)myPugaTl+;}b^N#VY`Aum6b!W0^i^MA+zF7fqa&V3 zcs2}rffeDdtJskktNK{^+l+!KhspM8e!_ub9(hXb?o&kK4DZUxsrvTRmw zeuX?7s?XOz!m@yQU!U-5?*m3o=u2O1AK43J>_d5Av-cx}5yn29FGfV(eEQ@xUtl&J z7CRnqP_)%yt>wdV=>oyy_AP}+FE24h8$j-q8PhR;Q=nb6dOGv!HX6F`&h49Z9N~fY zKe6In;K3?rWI-oYRw=|GG56t7rcV$%#A9du68Ko7@{673)lY9J&WfvOVj=ol2l4>o$KPp%(Cb$GbTGUY{txN z0dafV5VaPWdu5i9@urhXZuv|<{r-p5H_hRqy|0!qnd?}f!BpzG0jqVjJ|FqY&FJSJ zW88?a>*%4pZcDnZlD9~O&$EWomMtdY=pe10b1{^NNjeZX>}>m$$Jwb-T)Eh3L{GSz zE#`sBMfl0_LUda3k>8svC+y6<#*jPikSje5$@cgUKBN|rNK2$^1^XLXfrvguI#~3y z)CzZubMu(#wa8^gYCaSfH+E=a%<4;h$SQoj#d;zmHxgTZ7T-%|i@bQsEQc>cxTv9} zI%K?4LrdfB3W<}l3u`@aps%R-;nZG>F!_}WVOLR;BBnmEM7zZq(u2aYdCvu>eepwRx7RLRhPPi*PhZ5W+e z$VYLBF{o)^R#BI7A=p9pLYrn%d@cP6Q~5pg&aL(ZJCd5}uT} zq&N~XGBVOl;1B6&2uTD96$J(H1wLrN7abEF9Ssc~>)bgE%nMi-E?{F}W8+*Tz{9zS ze-RrSj|2~&kcgO=_yR8JB@&`b1VqF{h)R%Afih_5=h4y66X9Uv5dANIj_Q%{F_8_B z4N#GWd;=Rie97C=Vx{*xRif8_Y5Pr(p4 zdCEV{fh<4`z;VJyNT>k4@GwC>e}Df=D1iMZ41iz}yno3eCprFv0q_6@`1Bibe=JTB zG9DOp{1wUmlVE2%E7yMrY)-^jMiJ|WK>umza#rx)bTDwk0+aw^U<1+uA;h~5)*s^C zHDR%v+U6=Ul3-6xes)&FGiIh&3D0mYKD3f}AtWa)5gZ%W;nFmsU+uAsX{!Ku)UZ?|6*&st>$*?D>YpK!&~2iiur8s1gvkvFH$Y%KYcFna?yN! z_Yi{l4m0fh-+zBo;J=sx2e^m)R4zl)^nF{E!xZmEzc^KpZ?g^ISPoS$gvSiA59dEG zJy?n=Ufi;MKJOV%)i6El>S}5o@MYG~wWECprp-2u+vifP9gu9VF|}%6r2ox&PCqB;+5a>TPf-A21N?LS{oiXyZjXBY{rzvDz<<(^{NXtGpEV@e|28E5 zHZcFDz<&b;{*#6zLJS~AsXrT%T>n`^k_!s{hat&o*CWKhX}kV^QQ-W~&o%hNL5vt;{9kI<|HeU#{;OGE_yF{uGh+XK@+k`7 z{-0{q|F`%?|MpV@6!=d%i2oP;HGgrY0sL=6^8an~TpT|xU?2_{^p{ylk4@PV7T+`%>(jX}i{sYE zLIOpXt0EZc^ucW*`e1j-#u*<`Sy9x@&yPUtil4)_OE^D)@21T zX0^*Jz8AzqoAhzoI>$}@`4IzXM=$YNJG7n{lk+~!k;bFlo8w*g@IR9wqZ~cY@)o;( ztHtAzUmgY~#^X2I?`z0##t*AoK#y`ieC>PG9u(76GqSXMb&S<4l632irYsHx8rI`` zwUb7I1PU75c%r-hM3`66A3QkNe#P2GjN^0oKeGaX= zjjt?)Zqy&juVY5G*O1o6Gnl@{Cisfs)7IiMR$Xm(edYbm6C*)tJUoK0KA0%fJ_*A@ z`jSM0M}_ESuRF8Awh9XMf=3E#6TbXW@PE;%gZ0G!El8rn$ztf*ZXR z(J-&0YX;+!x#B(%)iX*$?_}~=OmX)*XIps$S2%rbFiNluBVY2&)K?49?6Qz9=cLU= z-j?dRWcuupj2P8d<^8seZ^-6U9+9GE2R%u?L+r%;jZk|5`{LJkUGo~#>MPNMKq|?d zreWWR@hrEPtj3jPbqhz|wH36GmWqgrIp$ToVtCMYlio5*h_FerM+Sq%XDnc?DAuEC zkcrqQ@!CBS^z<^XSsy9E1!WW7hhm;u>1hY=%K5dreX~h<1}6$b4y>mfUxdML>@H}@ z67gmPk)h0X(rnc8sNy8MC3LRcq_l)VhpeyNYzu&~-wD>+Gil=9t9`(2;dw1ewArwG zc$qn;d^TVTWnrf@c9`w6Gt$M?8xT}O)nxs3u@86bJSysPKiWXTelp z`~}0r#KTs+1BJePi6jY!v1fHnAtSYzAiONSDUl)aON!SVhz#!;5_35Bzz?pI&ekhm zbK7*{vEfqU-dz-LO}U9iZAnw`@mfuE!i%^s=ZU|Bcc&LLjT0S~u!?hPvX0Cb=CI|- zR)wI44tP{j#WtCNu?(e+ys}rZBOg67?007c*Dzg(t)P_EO|c&g>LmJd?eGl~g`kbH ze4$3{sMAuXz^pl+A!d2RwIJh!FRW}TE8Xj&u8yjGML~6ZC08)$0)1p?yI+y+exq`c z>2Hs&OBu*;dUy57+Pjx#gH{=vd0uueUTXxU_JR2Ej2W=6(qiT$EKzzR#K~*xrYheKa?b&lRuEuoQgXt)Ty5d#Cq)OZTGtlMviK22S?zfWCl-$8<^w1j;t|=MJ9KhKI4=LR{B7ogNN;OkS8b+@ldb zC@)#jV7X_eEbs~Q8-@e}SAIdmB#7otDyBDuo?*dK3r!qP&sP_eOim_GU-5vdTj$5l zJ5Kn9(!tl5B{1E}GO)&D{SVrS=!x!xLzN9{-jk+|P!Lrady(DYWput0i;d}>(k1RO zH8Q}uQucB1Q(Fhx+BjN&OXC(Q@4;)SLX~w5rfrlD?cTkGyw7Mgs06YuZsSY}OdaXV zkeVefZMH6{NoX9>n4s?N&XS|_HhjVP)=Tv!vV53gp&511gN#To1X+`mD?aa9`~E9} zholUi(~mQnA8R=G1~r+q^4JX!HqqfK5V48`1bu9I%~>gp0e^B$a6P;@xr% zTMyYA=`FH~!-EM6slvBxUXldfhuFeg8@4`D@^A&!^nWIF>!nU+3YC^rWu<=gRt%J$ z)UsyxGKA)BX~h><#=VD2fiv_t#!QYYz~({r=Rk$JrPu`&exVoa=PXsdkfo3O;D zfHb#0rm8SherEB@P~w~U9q%>0>J3O=P%;Yjn5`TvC~qK{78>s^nr5ugWWt zD;X9MY3Lwr^(XpyD`^`oWfX_qxip%D??3Y0>%2!U{Cd0fd0c>t$2=ykL76VM$@Psn zU%XUOO=3l1dkYpLO?j_w(IPiKSbFs8TIM!LvJ>>?d>X8p*eJ2GbieQZ)y`L(bR^L( zD)T9A>uO}e%}s<$OOExwYo^C-KMK zs`ZKgXiAqHKpz_}gUfl?7OP`hH7t)i*f^=?B)DTChmM)1fa9O(O82G9fYYEhh7k9G zj;7&|nY9Z)xhTscE?o&E=bUA}YK@#iYw0)oN!k4H_=$Q<(ezIygiDvRAHlIdV-;Bm z^R5g=#L!M&Dsz#ylpUWaF??bXn&wJ(DV=+u#lhyTOYyX^EpJH9JN~W+(n`0N4MY$! zmRk}=#Dc?=peHU`lPLylU}@{9%u@W-!5}KBh#o=IoE}QReFL zDm6#)ITsj9C5J-It>A6?}icRDYkSW!3g|Rwp zmJ}i##AHPI*h&yt-)0ocp1RuC7GS$ly~eJpK?(MVil6E1p1{Rj{a8gK1a*UH;tnDg zL>+{(7OoXHAd){qU?H7((rCDU1nk{V+O^0Zn)(QyArMDvHXE`|1abiYXp0p zS+Pt`7s#T#(Z+0gr0nYn(c7a`21b1>WSyI|IhOo)UVZwi&F;CBtO+Jo2re_}&L$UF zT3Y0yHz1rd6n>lM(Ae-QfRRydSx2%{J?~SHw8>#X0!QRb!UBx7c56(qCRAK~s+n>j zz$aw?fK0~PZ9|+rk?Re1x+c8gOkLpvR6K>KYJ7;hof0SXOv}v z&b7igY@>e5XwzEq$mD8#x_wn^19VL_?SLrIR&s?fH)6$kK>zHT1n)ibSy%s$Ry7!%rg*; zhDq~_`b6*wrnApV^JVA!@Df|({=R2Y(xINy(nB9fR@>{6RqUcn@Nt=pRr}2aZbm6O zO1=0hzmGo?O}m~!o@Uo&MTLJru28XY(Zs7lUnopHO5hTd^2_!}!P}le8#M8QsT45= z>z8tR$s+9D4mF_>_`RV=lypaW-H!Rx8*Ls()5Q}|F(=P013~LP#o|Pq9 zx%vg(+jse$rNdkEd(X!YIWM~)ulQ~Rnv-0#ZKF4_c(!P&S~GI^*tF!sE$Yf98-sai z`KM4Hjb@6Fn%l_HF4?i{^CCnUoKI)YSJe&*sU~8X(pdK+Rg_^g47%7iP~L~6$hg=K z#YwoI>or>N$|h-j-H>mK(c2+Pi8h*4@czB6e_<9#AOpk6mWH&;^NRJWBS&rQWojGV zOmaUr=xSVBa?6Lu(>oM~`=)+tx82^-mFI2{3P;jBqiDepG2rD&j(T~AW2LNE<*jtp zlqeY~ZQ^B@yCHq!##IJ+&37Iq)??PKg>KS(j_VpQH*6mAt);Gs6~K2A6Og3;dhZT8 zZ>i%-z)06#izuq#AiZo*`P95{)osd1UNJPvHZ8+^W`d;j8H0`z8nj4ST-?dw7sv8pJj!}*UT zbyoz3#miK^WHYXONco^k`1(Q`K}%1;-o9nGWqDjK(|oGJ|#Fg-zP$N(U@< zJ7b!xZ@wt~Ds0Ge`=S~#y513r7;k%uZlyQ}%U(MF+dhAj9`m$A#;7+zAHyC`VJ%jj z!>GKx(n}kJCp4=!zdM14;b{Mvyl`@S1 z*yK!CwqClf&fN@U#ZbM%`25}qn~p#*11`~Q{MUE|JK1;ZrB#Y;Ze5N%6&19lEl;B& z^E;!f-%HXM4YN#piEk)XKbLy-tlyMQeDqqag4e7_Zlp#f)3DO2)~0}S{JT`icCJ@i zw{N1lYgwtjylYbIO#d+9<8HrNySQgBY@IKsS~;3_4J>uXIGgMO<*PeaZel0cW?`C0 zJjs`O5=0~bX5^0Qn{g{!2uli2pJ$RG+9ob9-@+@qND!7Qx0p=rg2&Wgnv6=ZNR?6* z1xl5^sHez&HNNE~_qE1oIW?|`eXDu$WKQx9*;i=j!&HmUL6CE!({ke`;ia3qk-pfy zEf3EpjO6E>t4eRVPOQ`drOsat?GqTYt#xXTAdnp>b$mJ#RkU7anHigiJ4BsI_+zbe z>7!=6&MKuHGipx#W50BPEy%PK$S*wt*XBul& zYr3@R)ug!|*hyx;$Gj)$_tq@q>)d5x9+k{pE`J$`=hH86d72q8-#o>Y2hVEaRkOvl z+kE|28@O&_OSt#&y_2}tH3t=DD^dq-Uy9JMyhiO5he#e?L(gPW=C2u>hdGTE(>(Jc zkHBT(w^1{5W-+exeXSVe_-N+1#3-745xiWcPzEN%l zLJzHER2Hx|Z&bWUjTV$H3?`%1Y=H3Yl)0ZZjtIu?Z z8jpBOG$tXdsi1CFfG6WxmD-X8ItO+DP?JGE}9b zU+{A*x1QBqZPHE8T9vb+?4GKs|9@@b)e5aJ{jW3v5I@MDBS@PmnB$u167Nt}=i^e4Lv17!FbQXy{tnpK4D;-6DCXZpR zA1Mp9J8I&k>o&orSy*~GDXXP%2EGyR*ZNI0S}UFKIlwXbPxZX{MZX9Uzqks@_=sI4 zKZu!nXQ9CXxy4kDZ>U=AoA;6LWkq|ErLRVc=(2gmM{7h4QnSk=`!h|xxQB6#TRyN4 zZO#|t6`tRUPLz2FqMzcT~r^Ob74PBBKUn%ov|i zS8smDUgn|ZTm4X?!?{-1&%`XLfrp)*cWrH6U$K;qo$abJsqM`Enw)`hJ-`N+y0qis zll1%C_Ln<Xq0wM#pd6K=M{xWM-EjX3P0?rIyK zWVBb}0(H<0>*|KRCABzFE@mPX`~<(J8QAv~kJ>knP!DY{*lh{ddLHzQ*y(j0petfx*Eb z2pGz)!zSruU}bJ7WMgV&3<6`Z2{{@bulwf)N+KSKxL|>@b7HZH7}%X`6#x{3VX-MW z8C$D@;6NF~6M(I6j6uh4Tt&o^&>!0oaQ(E_;Kx=uV9wuob$@o)>O7XUZ2(>HU*5+G z8%n`Sr!voAP>f+!ytvn0cyNy>;i5TpV7JKO0eFei{9L!;esy#~(Hp+vKEH*J^4Y$% z=M0Mj+}^mO?_VG_jO!@pWcr-ylv8l$`oj^MIMk3_ip)ZzPg)(Fb!_`fFP_6b7cDed zuDsRV8NNB(R93;WjZQOAi=M-jXAtO|wkDu}D) z#(VNd*b^LUNpsga?~jzW+?+u9b|2tYjw-Ge`U#3P!wKsN{|)t1>iC$Se&w*ACZU{g7}xQXwcjw=Nw@$4f^)+E5jx=Df^eQ(oDCgB znX+r!*1V#1k9i>!JA;4+x;59AWOW z2$3#eAR`?KgdQasqXf9Q3b98bU-dyLjcG~NqyS@`Uq@HR`YcCUY3=TDG~asVJo1gJ zV|iZQg~Y`8)%TG2g$$@~AtgVGMH5tzP`m`9W+d3~p0=n>!MxWkp!#Lz>tPo$^1W=` zygYBNsarYX zOoRu*yjMp-U5yl&?+Zg}!M*v+MjB~J_XP-v=>E0cr*A+=n7dk&%OEtQ`a={0r0#V# zU_D*cA<8WzynWI@GE_u)upJERgw_a4;<5+I2lp!=X8JsYKZ+&5i0m_{Rf=AZzI|6AEu@UPv4{Q&J03Xe>-sI3SVy8Wk zQlAw8C+3-*02_3C?-|wZPhG>8*KB7?qnGfmU04l|KZ5g~W1Gw+nOh$1S!_Lgm;zSA zL_%480LRM^Wx(4i+T<_rd(AWrny0Z6AWbYyUG9?kR;sFWXhl+Sg)t#anP9ldJ8aq} zM?yQu#k{OH27h0wdD3YyLRfo1;lMfHDV0a#z%Hp)e9wRS`cvjx*7qyaC)KC6U)+pY zjHJ_?oM`l~?6vaf{5pX;#7sRHdP^8fUSk=xK%%(7_=$1~|7=)<>d>7Q35GW2v3Mh> z_{I|g(qXY}20qzcs<-DuII%FIw+^eXzopWcc}e>ohWmtpvO=NQ>y|#j;X_F$to90g z6;;MS%t_e>gYZtPOqAEM^I|jB`xIM~+>WcucjBVA7SQjpLS{dJc@yzBRfz^n9?J|#`i14#lH9nQ z-WI;5-10;(Fa1S;nmJbb)JNziwx`K9*`4C8DuoyOS|y*+lh238It4825-3EmJZ$VJ zpCo*6*TVS&jag&27GLGl3Rt9n`Wl3lejeZSfOl1}(5NA{_>tI4%8&I6b-vpP!m>1W zZ(BBF;_cgt?gwJF8jTvqOBXG6PD)3WcWhmxt$);(!xVm_-NbDtX|WYKUP)c3yDl@YM)wJ`yj?{WCOSAn0Lh|p==O_AfJp?s`NQtZJ9HkapfKwiY$$1>M25wK?*q^Mx zE)??53BD2jp~c}AJp24UzB`wJX^EIQZ~14n z6gzjY+tWW(Me8M*Uh;iMGOs-d!_T|C>az4E@w`>?!vkv`=j?eAly{RIkyV)vyBGvG zUeUJq+%s5A2i;}^IR-uogx(N~&AGfW=Po!v6}m8CFLds$Jj<^65W#^Z?@P~EEV@z` zHO(6dBzG>eez+p<>KK^DEI@=c!YEsZw|T^q097mYh?l_CGz}%Gx1Ef>D`Uo6rp!H{ zBG?|!H;Cs;AHw6&zfga(3a`3mWPPqQZguQw1k&MS{yl65#<`SUQ(N73b?+q8DXH8c zMLXh}0*={C@BRxgSZ5$NiHAj&q7W9i((+1?N?v-sEpt}`Q&h?3?BxSt)vH?*EgFYu zV}*WBPi7s9c(%{`4^~3F31$_GP!F8R3_GdszMdD=zQhlULc1WhxUweBC*`3rnL8UV zYQ5PIH4KRgd)U#8DqQ#e{5H7P9-hmn;d#R>l6`aTru=4MQnuPNcJ@&_L#Z|UP%2a# zX{vFONkwAGcIZQ zN;@`-^0hbQ6x2nS*h8T+lf6zcM6c~QUC~o4H4n*qKiNx{HE9fJbrR*8ua)Ums1=D# z@T5`6wr^nS!o;98mJxdDj~fbb^%Ap#rPB8@Cc@`4Orh*E-*R+k+SLubByp)PR&72p z&wQ(cm1hu3gC9vuMwFAwWlv*k%u2$e(cSoEHsIVWq$%i93q7tZ%rDuzxA}9gy!<_l zpy|GWlH5#G@iyH@PFLei3z8Mi{W^YRkZUo>j-o@&z7U#q% z5Bov@rjWRcYet5hShnD8n5~(c)}pH4_;@s_%l@daFKV68E7(3yWf6_hlYdXAcuOI) z*Vd+>S=BctarL^ZJCc+#WyLU7*5$1%JNvONx8b*+oUqWv-;xvdE1L2o<}G(FXDFe_ z`QGV!dr>)Ft#DUI<9uVlpU}7T%pADHLh~)cFG9o(f=LB$;})Y;t`V@m za~*N;jqpP|uQbiYbT!hvIXwG~cFudv*MT}MGPf%oT?gLpTn|#i9?g{H7q~WakBZrY zW76hARXlNjPpVGUjQdvn%G2VRHzhAw-J6ZCO5(0ODiozudnnQ-QW-6>{jCUxI>s-j zRIPD{{Lb_{)yW`uCHn!kUxt}Ip{v9W)h79h{^*5)JT=)8;vKNgC8Np2pi#+m+DG_~ zi8B2ahE(#pPDlZTTc&<1SSqHJSet7J+BmY zHMKL4g`9_s^G;vOqbiHbGOz6|SJgnPDVsJFp9T7sb4(9(`{)E7EPSXH57^ot`Fe>= z@ZHUBMiZX0o3&ps2E>I{W8Y;m34qMg#&0_7^{B<&YYMlz#ZA+wI$BLt!?bU;JfHi% zmGiAHr{=kkCVvwgy_t(oxD`iwMU2S6}tccJ)tG zt0&0c)|Af(yo;}~A!@nZ%Rj<5?8MxDTMxhbuG!nEH5T~>W$!QDn0l|*rsLHG7{8j~ z%Fb(N9L93w>_dX?ua%BJ&g~E(SNKNeoX)g;hu+8cNzAxavU;2%T9>bo#J$I2WR2_i zVJ>%gJsi&OOiqb`XXie~4jzPw(Avpu=wfUQ2bVsN#P5qoc6^W&r@ynF2Qs%Vc%0&e zy;nGnXGz$2=# z8%4=@(QYlGuGjaI?cK!*!uDG-wxx>3@aWAHZw;+{{!&h-BQW+xef%DWdi%Lg3(}GM z!Y;S5zU0OAw|;SZA=w$96Qd`$;j}Q#7Z71n(648#Zmw?^iG8sB;J2%1U%GBdU1~cbudV@CKYuGj zpSUpBki1)}6GhV36sztU+jQ_~fddnCHh|8^*Wne5du73!ELCjWJhA~tl2^e_*D0_@ zR-xTuZ#6WrwzNnJ(a>EA&!M23BeNCwq~07%8|$<5AQ?}XGkY*|H}LA)0;tr~!|Kl$ z%Nq(_t{H#0y24e^zsSZ%weM$5(#Vw#VXBLU!b4&rDOJmS596CjQ^mwCE$zjwAu|wg zj3MQ2(^gS<)XFejg>?HsD_he(I@7LQ;Fr|4GY^T|RX?nxHoQEZCVXF`IT4u9kg=Rc z*wKb-K^4yzw7%)c7NopYh+*b@=A;=y zcZ8DC*HY$FGE2sskYZ`%@@#4$X%$s4iMi6sUFX8imSoCWa_ z%_1J90@uY`2Qay910~6d>4{?MlVWnBg3XOzNkweu5UIYbsL$!AaT$T<3~GdEhE97< zepzuJs1@&>Qq!Lo9jr+4I7iIcT(^6PY&j1t*)19Wu2+uoOr=21fcC|f5f!!rHCLV0 zPRfrOA`y-rA4bxtRm&ygu~cYte9YyfidSA=#x1Aue5b0kecLkDAC-kb|#$ed$ZO2#%>v z{9EpJiKh4H$^Cm?T_MpolR#UA@(`$7=yjFrmi1=SxXq*ql3D^;{`EY!_hF&$HCz*v zE-%DRd~l~4xy;x~Np$(O7tgn9SF7MxvPDz5i(Xkg#uV<=~HR?429O(!RV2=hF=vZ&Z}U{@8fK=ygAdt~*NSWh`as z$M?u?1flDE-gUf;N&qJ()w}nVpDO9K<0ld>WCh0bOKh)GWKj|d=OO6V#%_~;lf2+y zZX`sIo%y$F+KA>Z_ih(#V+IzFEDe9b6S} zx8H8+ae5m{J4u_9m+{KoWx((N-&~oqQcx=DRb!D<3u>a{AAJ1&=3LccKx?(EL}JYp z{jJz;?YsCz8#qB0vm|a^uG7xq&DCREcH)8E=1X8-*STAtXR7;iB578Ydhq)~xy>_@ zaK8mnVP92hv!#(;nqs*3tzTg+BUMw zQtVmsWy7J7ei{!SkX7kV6MWhp{@L|vT(Yx_&~hA8N!w*ZFW2-T=PbXclCE7-)&qp< zmqh4aS+Sk(Dl8lJP3wEcTp5&19Pl7vxyhXOXxAw@ddpQ)`^KE4RE@QA@0QN6zf$d` znDvw^rPvrVc6YPlx?Q|=6V^7v-IJqA!GU6*>xCamzo!vepOc!m_OmKdwH|Swys>sj zxgDk95SC@6ECE&>(5H^@V{KKcmCmgDp7`ig9J)o!z59ZD=myQ z%VMCGoByd1Wa^0;i2-D4C`Ms$j5G_Qm3>DV8uu~#^5mD{=8LT3xBG9@7lcSaE_S?a zLA&rlVRn8Bq~j1-0}XU1S<0#2xiJRf<7aezZM)Hl(K+NvE1RGbabqMS&IQgnRzVQ! zKhoEh*DFNVa>4cPSYza9Yd%(L6q!O&(+lT9^1UGwMx!FzkoIiTyhRa``SD7N9kqVH zt1^OqkWEKajo!gsyzu*d%q??Fkwydyu9#}u&YgH>$eEf&=C@snGrbhnQj#b-y`plH zeQ_j%t)E|8)(xEzdhUvQQAFXjtCT?=Wr~)DI+g7uVdie=YIuI-Vqqh4O_{`d1 zTtVNQWLbv0BCn_>Uo?}6Y7u!Nzr3<3;jI!e5o!`eiP~jM%4FPm!<)Z2*Txlho}sTc8^5OCeBnL>8(eAB@Eypzmb<7=U^%R{%2g$R_6 zF5XA!o%Am%et^ErS4frR!H=!iMhdoArxO?t>j@uv7)XBp6=tLRS7YWisN=F#?+{uv8e)qx)}ha%rFp5r0Hkgz1x>9$Oqraa4&Ozbh`D**<{Linz<=XxBOs73>WI)$KU%x9@sZ7ST^ifuT<}Dmq;()_TIG*+$o3q6^ z80Aquur2&rqp=t9K>z>x3#tDV~lWbB$qk_FUK5kN>YQd`5Cis!aF(i-p z8C&Y+Tp|3 znDW%J3j9D7oAx*N6q0W%?Z2T;CDAe0ks6%@?QhggH(iiD2s-cQ4Q`dwGO{TR%hbqK zV?dMIAjq=4dfEKm8rbV@e_O^zK)|)a+B2DKG+(dLE1pW2-Au?W(KGViZ zpZyX&MnCX!mj=k`RkY9=GIq=aQrj`sZpt<}*FKPcAM*_U`D^%XIdrj3<6Uee2Gv#U z%dYoT`yEk8qp=E2K2eE=Jc0*~M^!w&aW8y5 zRUawKFQytg8$XR|kMC+p0cfPclYD@S9pBJ^qg?_;f$3s+%!D>4K4sh9u&A90`4PX9nx1PFdHLN4M zT?<9n;UcZ)yq?$?iCE;b&U8Szk{_|{z4aeVuIAFl(YV)D!%8i&)uEJMIG!*y%ol?j zS$tHEAF`EfNKSu&+J|_67}i^fBSXvoG_~`P+&M3%WOB_bV3Ho>I0_?snjURZcrkry zL=`3KMH6OJ>|}NQE3B&iH(l1B9a3H!6Bo!EAH9ZtRPwTbgjSmcMb0)H$aH%tHyXFx zV4QhkUA*tw=`h9no5_i@J zUm;EIC~>7MWAX#9Nzyjj#j*MPtUJ3K3!&%s%j&LEC(c&z1)&{2?LXq&N$#nwBSsNV z#k0{*Z$CnQdH0#{??OC3R^)O*;jljfZl~97AtF3~gjD{B9SZ+8cBp7<>TG4;@cZx~ z40;?sgo7YZZWsv8{qIE&;oScuczC=u&o9BlA4^64SQP?;as4K)^GopXiL8w;81KP$ zLVddv{(TBikl!Okf@>rPx6E+`7pTRUFfJF4ZEbdRtInZpgdU9Sw0?Q@;$76@)XGPk zH~t#06FDwsjxVtXGJobFlc1G(K3$wzv-A{#Syif=d3m?3L?jx0{ORaZlhVM>)(dK` znDwNlwa!~~oK#|q^Sk_EdfmQ>VnmbW;OjyUIGb@RGQHeXEP?XzoyI*1hmHgg z{maKKjE?s!r}?qI)y}626mp64LzIqgPVC&%UUB!kYr>Z3G44F4LBRZ>CGc|9lXd0= zMsDwrPuHg9w_6ef_-OLKv9(xwbG<|RNJAj&ZZ&d5dPe&181MAHpvOVPAN$LniY@*tHv4UO5z6sXc##tZ0YN#z zAQ(3gUW9Rh*x|r62Nc8!27}mv4eVj;U?9ZE2?Ps)`@rt=>`-nX1j&I2O9J6Vpd9ey z1k%{Kxq)ak*KxR!1BNIA+=IbDP+)hc--I5I7nJ`Jdi=hA@u%Q65JUgRh8yC*dL#s0 zfS14kQP1yt;r*QTk8SzCM>zpd5V^5_?9UIdxTH0(dH?bL{ffXj2k5vz0B2mFV_1MQ zZqV@~fO^>!9Bd7hjGeUDfVb1IDI2>w0k?sT{YAbXB)=bokGE(35sUu=gzx)DDDa5i-MUb!P8bSwghA>cudpyU0ff2Pb&lO05C zodH-NKo19k&LH^lrmx3A=aciFg~RdPlig0fmjkmYn>$$<^NNd!i-W;H^MW}cz>f>~ z0T)o<8U_I<2M9wat?$^WYiJ_S`i=z%tn-5!@Y6t^j;4P{Pt3~L8bB2Q*VNg;7-$m^ z{CmT*DVQGbjtw-g5C~{lc>oDFTW2RW1uNh+3f2G}*o3WY4K1f_zX|F=MNLZTl4{YoO}uK+=Q>Ye`^AUbKZA2j;WYQNG5 zb_%4QX2bjjBn1Qu0TU;V<-#8UqC`M%3Kp_be@~1v&1S zAQ0r3-9e|S{b@qRZ>s(O-C5WHrUaxmCo6;-3W9R8f&oc@=)zzq{0D1to`UGKP4p{o zey7**oDl%wfAm~wEv{45{5gyN(`w+Ss`>N2`)6c7)&l_9k2TRLvIAP|AIj)AWd9D` zv6TN6NyNOHpTsdR59iOS`4i}l0Z=>*)t~d&F;u{`pfel~sKH;rI?i(ww_Z$=Qz*5hvo_QA475)O~9V}*RAjy?gyr<{mN(mHv1n#a0aZu!2W=F zdzSjAL=Rx5{!8?JThA%kbDZbjqCV`T4;@2t2F<_F2Vlos`m5|Yp7i&V@PYlgXguyq zzpLlig8#XmKkwUrA}wIYMmGqUqljpfQz8TQ7y1A&KsnQzfbjZ-$$#som` z7?Lw+{yCF;NAov=8xXU&^%E9$B>*s^Dig>_TMM~=qVAz z{uh}4xAmM7LC1OiJv2`gz%eAJ(FEoo|7)iGjRF8hT)(s?$6sOo-_!$$|6l51|MNcn zCro>c34q=)Bxlh4^FH-IXj}smx*;5#teimKfq_}sxnRfW0V7dBhx~#mFx&fIQXX*A zoDmm*M)|d#ztE36Uy7y1#$Z~76SuYRrPFZ83|)^kei z9OwD>&^+l!94AWP7w`Z_+rMtj-|_z`X~ywy^Zzjfr}_Tav2qq$Wd~zpMO#}Zz^pj- zVo(@s26Zu9+&^l%fR)?{bPy&_kU@Q zV_Z(~mUFgt)WQM-Z(jTU#P8+4V|9Ym$-w+%Tz-NXLcj2gcW)38pkI~f|C3?WWN z5P;}MKzL$kpBT0$2H=VP_uWpyIx&-u4I@RsLwj8AMC+a?UH0$5p6Dj_?^U0O@b97y z>qOF>5ay&8o^(Qv?*&eH^@KNcuylU1_Ktm*Kl28{vFV7#cG{VV#U^cTV%uukm65z5XE1_N(EICh3|aea3k z8#x;q|Kq+0aE}}K0eOz|0nSo(z=6sMIM|PWh0JMZC@FsQ!Q64C;)C~fLz#v>OIE<4S45bHy=^1|_pR0qh3DC9Ra4Z0# zlMjfKg9G4m6VUfGC=iGML;>OhvN=fu&Jp6`*E9$x{B#GypL~WZ{=IC@1&X=d!~PqUP6pTwp+t|C$Dda3Q3{seFi60iRBTo`sJKieTJR zWdRO5lLllwlg5GQUZ=`(B0Bh~H281w!4bmj*L;8*@N8Lb&a?S|mOE1xa)y3TI0W!{ zpMC~A_i6e8(N=`qIt2?mLXw_J<2*}KI0quIaw;Djv0&{~8nC(DnKU@CSngClZU_+3 zI+X_JK8r6m7$LELeFirSA-7MZLC)gK4RG(7d>ja=d#WrD0y>+mKq#Ea$B9sb zr|LV)LqOL@sNGZf;6QNVbQ(88o&J&!28JSDc6uref>4X6)3{H=2LmM6+4?xo@IA1c z5r|Tru8)KB>@(nqrN5`1%Y{(9r_+F_<*76X7@?9+<>N+Z$Y0XHFetF_@>Ci-B8Gn| zjRTI**uR$L{7roTnNRm4FgN!ZT0tO)XzZ``K>*U9E(?Qjo}np_4`DC-0t*BVMwn`+ z(-3CYsWj*rc>sZPo{`xQI2>Vx{8AQ(U7l%6AngplKsngY_63f!bb$hoJxzNc?QGxY zWIx+iIXTYACKv<)1mb>$8PG;&WGA5D5T@KOxWNFi_7lH2IT!#-wH**|5mqvH2drf{ z8^VGHmc$~AH!L=Up#eg4sN)M!z}n;$gTuvyg+;_5a3Lr}n2TK$4iN#AjR?DtIJ=NA zT$~^4UuQwsTcWmxB4);hmX6NWAU1IhKvZ*xL4=^9P$13;6BgnY;u04FtPCMeArUcd bgmL5OWZ>X*teRm^D3lwEmR3w&9P9rBwksHS literal 34235 zcmeFa1zc3!)-VpzAzdmlG}1G}3?U&PEg>M?DUEap2qK|$DJ@cx0tzA>B3%li(%mJ} z^*@7nA4T8iKHvSn-|ybtW&e>RS}RV4;Kp=6?Tq^Q&{yA z9<~-eQYW(;@uX9Qw#yxK!oKMltDdwqcX9=i=j}II=CfVZm8_f~<)>0cuTVDTW#W~| zc%CkeU%m3KsBAE@%#o%^%`|VVc~ygV-XPy`fmp65#_>Rp&piP+^&3EjH^(92>Yj6nl5M zDLrAlUgPaOfvm={L!R4B^I&_<9GHwOn$5j0YAUP?b&-w^l$T!E;L$LBe0KhdrQdnX zMCYlxB!g8Xc*K?qHV5VcpYazGE5Z+p6nBS`4Mh9QNJ{TrZ_kNJnh0q{-HPqPovTmE zxMhC9FM6wG=x&{_oH4q05JAYH743(GrMqM2>Y>y%$?Nu_)J(w^mvJ=%A9IqY?Hlv2 zrOOtJ#05s)DYX6Mn4rB}eXMxj+(x2iFv23}&6Cm?5%=(0s~$&~pcN1@<1n^{+^JsrGxl18To zIMlz+56<517d7SxAJVud%ezVPzEu{XVVI)PEq z?1Q)m9Zh(?uV*;FqPZg9>$+&$t&l9q^WLfDX<@V*q&>HV+j2hzG%24WsqTvN<289xz;Azsgrk zQA+%9>jhbzul^7v1V19IpRB?F<<;lhW_4{bM~e|=zBS_YI~=cYsI3YrGpy#lXZxfw zMo5=K3yg1~R}j;rIjz?XYB3i-y71Eo=H@PI+Koo;+$MO!xoWZ%lZC%e&ewx zvVtOv-NqRMsuAGH^Q(+^gqz##JseZaqwdhAJkiR%_hEuc8|CJ!M+J-H&P|8fpFF%g zhOy$z9>~OCId)+^Ng}yXYKPG}en8Hc*tD5HEmczhHHch%VN_V=ota-$KGIs?HzT(a z8~q9HuIZqmfm~VsI1gVR&Tc>$12;b$V8bROdt1oTAz4SBgH?q6MWQv^&VHzfEGvUU z!ti}ah|1(cCN_Mvn8DmiN^|UqJX4`zhcBQufAHuiRerFwUpoXePX~Q>T)8N~1|QIn zj>?N}UkS>hw4{GBQqF&y1#?{HbxCcU3jG%D++)v6EpS%msYH@HHT9{*Hrb1KB0Xk@ z71b=!I?q4h>khh6Qh!ZK`8f47IUhsWjsaP(E?Kv$Ml)xC2>Nh`SM*9DgEt|HdanXk z`WWkDySb}hV*K+AgyGaCo(S43jNN*qp&WHMrsv&1%X(%R)!!C?`W6jz!G9puCwBwYo9_bzQ%%7Q>)CP8pRw z+``ZG?#3P6A67(!4E#FmCT?BjS?6KDkW>(NP9$;(^l>o?nL=&`namVps^ekN`uj;x zOFWKLKh#-0XPM}Blu@gMqn!pze8@O~R$Fs)aZw-9L4#;H>pca*q~=~Mx#fwVOwOcP z&fECRv#;g8tZ6ya-ccHc$e6o78#qt%#qE=Cw?zGF?$9(>-Z^rclo6ZhrbV6?{#kgh z!-m%i)Ri0WslIV3&l#m`S($Rv(gm2_G{ObHt+3`7na52V4K>SoGLTm3Zeh75o!-{ z0p^8rBOae5g28{NM^$%wQ!WifBTG|bCoUCdBPYbYjE$kWDVMs12|{tgU?47OQw#H3 zPT#J@ESwybOdZ7SZ0zl9O>Lb(d>}4yJ8L@!6?;QtQ?6^KE*8e7%2HzAmF+cg)o-fy zyDA1lAy5#PioBtt6$p+1MH%#m7C!!XJcdLdD=8z1gp7=gBnA9KIvzw4M?yJw4)F(k zP=P-*Of)o9R5WZ140KFfY+PI%Y#f~Pctix}@d)v7a0ti<2#HBZNl9_>$tlQ4D2PZ% zNf4DFqX1=4(Xi0aut?71oG1A|{v0`6BO9Y2(;=NBL`ES*K7NBl3V@3A^9Kz` zCIb*Sla7vg{22)s1sUla0SW;U5^@TI6X@rHf8YHZDS!d=8VSLfK0|r}^cg15lgMc2 zyhIQ=2+!t-ILU#6j4XnT>hmW#&i#?&zib6vRpBTWd6c0c6Wz4CamOS3^U&NL+}vVo_w{ki*{A-e(JOZWV!fTcdb`ToyQ*67(9lbf%Z?^>;5H?R`VlGq1MvrrfB*ZN0{_Vr zI40L81$b4zd42!osBKEB#^{DwrHEJf`{g?yt8Mi(MrWK|`9`zmz4>ca%k1*)Dm_K? zR^A^_)Pw~dVk{2Qgy}aL>%C1KcM$d}sd>K(IS6Togop1h3l!BXE+0|MP7esm)8Dt) z>hGq{Pyk^P{MYLIKi96@9`*YB?>~hC|4zH|yC31d*RJIG+phdiwlV&O?SCHy z{sZhvgj7JxVSltMdH=n3B`<{gA9f`SA+-MI*_8<2*Y7-*7(W}93D{JqXN;S_Z~uK1 zK+FdIpR_EGk^cVoHwFHtz;7t<=MjegtL|fjZu{?dAHxwE^KbX@|2|{#Z;by_Dexa) z<|CxSSu_9tQ2zY)FHHEueTWeK8T0I{I;1bh+|isbfx^@x^YyvYv9`D?&EA!I*4SADemSfZf2 zLb!gYA4RDQF~!DeA0WFLK0~2ZqQTuazq&@_Tgy1-r<;Z}cAULF`XYpo8{h6(0QOZ> z1~*>+q)Fn|6E$t8WF5?Tq#6e7;t&Ayqbv9Ub2% zVre)ML8)uT3`!Kj9mgafB1O3?BvgOo@8_z`%D{?^iHdB1>G_NXX#wN*IV3a!+m=eA zyOq2Uim|a7nH^qd0;F4CUbT#hVj}q;qBS5r8PErvL-IIAdx`|w;UYjm8u#(#L%Ov_ zE{$}zr}iol(zPQrkSJ2mG5#?Bv*WZYSlc2_=E%F^t`}2$=DHf&sc?6pSaS+*sg|%L z>eBFz;fXsU=_%Y&**-XmAO6W7E&~t=8j8$<6q%-@tGSAg! zj%rqj3mMuTKids&yyxaQVnKU+L^GVcRQnMbJ@DKUB@q_?HO&mVdhX`C9V)j1WmC+> zGdcswA5qzmqza=uRb?FXvbr1=nh48kI?-@l7#Nleepb<$Nw^`eChZ%x-ZbNHbZ5t{ zvGcA|lz>H}N!pm&K->TwMp9AXM_u*>uPrT}#Z^vOV-Cn|x_eR^l%v{gO;Roc;-!h{ z_eqjJUA{}f@cCoOEy!XyW&ZIJ$BnziuNgRStW9g4za2|60|)Yz3)HsoDpL zk=HkR9n_a`4C1Re^P3)cTysdwmPpQ)sPE(vV|a1i<|vC1%a9#uS_p1y$ssAeVxy1V zoSLLnZevG!sW+!|WAhqZW271W&}c-SwrJF?`duUFrn}nCW1cJJ_F;FHJBbraUQG6+ zWGrTGEumdBx{N;jg65FUf^WnyE;Y=I!LP<3{?Qzn4>yiWONBw}@TzJ*+0tDfgDQ1` z7faa>3qBWTZ(4N(JB){Dmpi>t=`#ppSCv^2stW1croAqr9rjE>Z~V3$Hj63Dy&QFL zAVFsMa7}#UcF@;>$n-n4KI|)prx*&O$ur~+ zm+oduGQ?lRQC1syXGXJgXY2MtJbZi%4Y$C?{vA_`qGT&yGb70>`jiS5=6O5)RCBT? zobP=w6&TW+)iU{f_|zv4qBOCax>s2h(XV_xhR7My2|j+KpnETpWpUM5XAT;pmSvhL zUJR!dt?g-La&=C`r7V@DnH|^fl*~0Rxy_TM*00FQV7GhaMRgSR6SZTlOYT;{?B;_^eOE+=fMP3)}IkD2E*JSF_tm zD%qyo%^G2{lQtp;bvrF(L0g+~Dn3u~w;)^}=a^68euXQ%AdTK^{&U`!fG>vNtaQfX>8MC7hcPB74^hvo%%OFOZ7*YQ|s7@@m00ptTjllckA8grws4$=gcwG#Au4;E*5siw0WUh z;Js4+DvrwMKD?Z?uJXeUk+d0^T*8Gu7KSB3^)4QiEzi4my9tZi)8}ywqGPzX}vG1*jADyaW^Z5C*LqkY@_gJG5(0< zH642OG30p?cLc3QmoZ-%{bT4z?Rx8$xf=A?z)1`}!*Z58Z; zH#tkl9Uc%TRW$B?_I4ZBm3+ULSPd7jFmTH6%fGnz?CLF-1P(up_lG=fGQ8A%j2^l#oPLce<7J(i#D#xt{EkTR!=4%fL4P`J{W_n{PCj0Eh zo)zo_R)cNDc@u=orHL4&GMMFbOlvG#=`SodaW{IkeiRh{d^2)HQZef=xOaw^mScMG z5(%~IBXcr~*Gj1xf~!nhxvAHXdOnX2KPP72Qsi&x{vw_ryw|Oe#8_!=k@d`NKGA3g zyXV>bLhF(jt22~Eesmx)aa*qDNROw8>|x{Ky?wE`=aKdrnnBiAMY+GuLe6#}ur_?q z-CXv$nksZ|E^mnGZFy?nla$;y16MWMT#jz&XwKZYE!n!e89&wU{#ID$Bdb8c_4QFM+W-?Efs*HGFN?3lQcnaaYF(Tecsc6x09DyS+xdz9%q6=j!V&$>P$&@`LieGn3QH++*G{vKB~b&xqNF_&ktNWyNY5S zu`Y|Hz1zu;@{YQWwHo`F zti4dLz2wUE!ubS7V_^#b&Ru9h1xpvD<}Lb z7VpUR&ESt9(dj}uoTc|8t2g>!YT{ovc_|f(6@~7yKG3IGGrg`tpu*Ev$W^Oq`L-&g zm}YIITl*4jw7CMGR8!ugB)d=Zio^D}{av0xgk4wJ`s`k5ixltZ^>E&~YaTRd?&;&? zuexNK9)TLi8CSm;rpR{3Gs4;^7jIojnY0p#78s6V%)#8m(4*}imk@O8trYjg zP%!dP-@S?=?l7jLHgVzV*EDK7SM3`1N9S-vt~Y>^;#YPX+rWGz6ZeNayXozocySKn2GYJ!0e6=HQ?W&Hpm zk`v74_;tEk{a#h`nTudYXZq4BmbBu2%@W9bsAt;j?c*@P^0 zaw>iSh!T^`i?7`6Sjc8AVi`KvCp@}KY>6k7ZGucR62$l-K02%ne~+#@wQhsHOzKT4 zF^_J{T3s6H4G(aZxi8{Wa&CSx)#f>O zfibZqs?{ldX)D@$ka;b@-V=x5$ajzOt%=dQmQi=vqktHx`DXJ?THT04{1uM(`^ppLHI)-$#u^IWT$ugB zSvmarVocPf>ve~7(5EerT}Yev+lO!(YB}BMJ9V^b@3>C9aK9fxOAcpfB=&ApOUKh% zUFBKSE*d!!nkGybaWN!)TicYGAFzij@8kF7p||{~_R4W_VEpxRqIW5WJy|M{=U#Vm z2I&`xZ9G%B)S60Pw!TsskffF~x@}Jp69o^W(#4ox^ zK8JiPf+|AoRO!W3CLjBZrl%exinrK9$P?K$BPt&1y<@;*ge4Zt4@fZ^GX_VxPUy3Qa>J8ZeYK!fJl|~!kR631&V7H2+_RcSc$V#9Y62CCU%unkw*N)R z)>0Qy#vS{iM|;%IKTaPll1Xh!CE3U^bvLAIjDK+$xMoW^)nrV6S!P|TjEuptSa&(J1LEo&xg^>H6|Jnig_DZ%%7M|PVZzmzqHYlfu`hd9o?MEWJ@ZQF&?Rq3}A zt==-C(zcH(!0Xk^Dj#-@c_|c!D9wqTp5|IsZeF}PDb(iW_7LJY7PZUzh5q%+R}u0t zMnVr~&gnC=5@)Mctc^^yc~1J~N&AIO*AYv!gmf5BEfbGLZ`>+i8Fz$w<2&SxWe?q| z{6J|g+n)M5+sXS-=HfD8t0KkL2a6=ukE1-P5|(->wwRnBcIbvYcPcg)LL2^*RaK)^Q3l_856T1d$JgNMyq|%VO zF1le?n~ePe7KXiP|1WoZV%M=<%b+xeltKv!Hx(G%Jc9%R8*Uh?s}y=Gn>4(k`$T#E zt2(h7CuFZ&hlx-krMq@2elCsA%6gXKs&QT-e$gwvH3M;}Jdfh*0nR z7vb&(Gmag~t(t*PxV!_GyjvgDJeJ0HgV+0pZoS6nZ+l9rVh^zeS(5K2%gtP2l>ohy zE8!-(B2H@t6^VV+?su7b`668dJ5!3WDd?GHO>G-f_LEx|4)9({NXnI1cM2u&7ZhB- z6PIpf=ViHgS!|2j%WzEUqu;$e8@hc@yxRJliM^&~f%^=7!ZF#|dBpFWQ-ojQB$OXM zngXkpztBEH({IUfNL6)S8r#jlvB^zhU0Y}IOTL@^83#-0!)glsOZ}2OpZn}>rZ*&Y zT=-ii*kwdHXU``$(#u(R-x@9ny~s~ff1LeNKiYH}qqf!Ty z-Qm)=dxPWXU2`aks2rFm(RN?2bcBnyxdd~TmwuJ2C$4l6v}$8I##z@#VU8Tk92i+E2>k zxdBanf=N@`>hCY4pidZPx`%&lnwyOpW&dK@sxC8frHuXgG5o^(`z!SYn$vj42LxC} z#i~g+WW5DH->7aofKpaR$zR==lW4K=l^L@Zrr1;}#63P({A%@xx!OGETH+;N@ojqg zuGiBI0(FPNR2#uAQX&%6>onH~>|omDyrEyN=oW4=-LVRNl9)tH=|Yn1z4vtBW=#ub zyEkjDMT@VfX*{R2qeZ6(MTBnbb;;V!CtY9X^$;a$?8k_YpjW=*mg= zdGUE(#Rzuw24?M~8GPw!=*Yp?DCUTBYpW8|NEgJ{C{|)2jK`n4;9LANruv7$wD89F!BKP18Cm~^~^SfcPHD5q>xov&r`U7&Z+E+~6f zla+i~R!5q1u_N?-RhGyBn2}5Gp~BLXUd1Si?MoNQud!6rL8W$|Cz^Ou1s;~%y}RvZ z@_3hI?(Ld7QVk89H_DOC^2?U`2Xq0UuFqREqb6D_n>i9kOJ(vU3Wik$lV%q-uP2?; zcc+so^6oHZ&4_L+U2&a$xKY(D#eQ9eT-g0u=-3_o+1Jk)>fSYx4-$5sH$!%kC5qD_ zTO7i-3t}h|Ex3L!+2o2z7I#o%tHfKQ&cTf?nf6h%X9-<)WX+oHz00(zN?xPRol1<& zx1j>}J|rI_a1jXPu})L&7lXVtUs zblfa5(+;^1q!w?U8m*(W6lBN$u_{?_JE|DkI&vtRnmbz?Isgm$tPRZ_K|H_(P(Vz~&P|&GINJjT;();UKwtzp+4@Y)dCySnS#V*gR^`EZ@(0rK; z!^;|9;R#|J61XJIcs+Zz^l9x%A{ev!m0s3`y|yy(IJEJ^(L}RXL7lC*>TZ|~E0j9wSXvW0otL zGYuo+h$4`4(#+<_u;$URT9E_H&;!B<(Fx|2+S0TM2`-~$h{mjtWW?BJOs>^<+Ua^G zACBic*Cacy%(ib-rW`vD*Y10N)QlmpS40uveTIx2F^z(!q0uG5HH-7)Xm(sg5=89;C0SU&UF#M)5m- z-&ac?J|4EB$9+@cNfFYN8P>5ypT7qkm6vZ;L}CG&Ez^kLu?JMD;Yk^0`NPrFmsNrd z

$xAa=#?5qjR)1y@y`| z8mm2DAtSC!rF(Fc?M^YYHHtGPWq--PfPRRYg@q2=pDt2Kq%L&*d@vFU>fJDV?Z;dM zGggyGs2h!hDZCt4dASrxdhmQv4;VR+P(8~fz zs!ypECBbw#IB#^dsMC%B!;jSG9xB0sISn!Rtw{KSQho89}$RE4-!1bgVa94J>6{}tk`4lIouL0CoBX;A6A7( z2$JB!l=Q-F>U}ozqLri_Z5eLbe6=3byxTZG|CJO|9f zm;qV4DQC3aI7UtXRgQ48oe}F-gNU35L9J_pdG!V&p&_mE$rDUM<7P{$@J@*9K z9p1KLH+}Vlh3`X4YkCOG@^mQW&%au>ItNzm46v0f^>|IA@tLVhpsCjAJk_X_`%JQY zqduDfBl&7fjsKnaase7~^LwG3m@jnli=0Xw921{?)H2sIAR0}yddqp(_r8Z#@xb5X z=-db&9ee)xqW!{3B1sH7r2}Dswp^`sZ``DFvmXh@{H9iKl-mOa@1mWRz)m z+k~?ecjgXsI4Z{?)NLC&Q-c~p!$vIB&Q_Z1qxxLSLF&0)bXu`94-l-P?bWqj&Qc<$ zB7NGs=P|*!F>h*<_1pp;(rsK8&6&$?BA&Rzp0)07YU=2+y{1b^s|$-E)5;s90FroI@HYyG;Dls zQ+T=mm1?EC^Q#zoe?cB?16>zU&iJRg!sw*X*TdZrR*Mzw$8M#8COW{{lPYoDs+@qg zz4grLuU0oP*;H624L#_vOQ#H*@wjT*k2`kXgsEsbSNitxkv}YbTHdPtI-a{-DPbjg@VDC54-|jR7U;V(>rwMwBPsOZ{dy4w3_6) z807YIzUm9UIv^CPt;6aZ$~JvT^T0{`Zr8M;+viM)b(w{B-xq$!7;a4e0E(Hiav{7LTL)uyaD^LOl+ZBS3x6{H#;ip zfuT5$#Ew}aZe`c*KNQ~pN5N(8@p*%uQBLB?V1n+46)|k<-AFxsrEt6RVtRZ?4kK@; zHhyMrmdgGFE!*Vy;+L%@5f`RpurovwdEx5dmD0-bMJF5fvJmbR@OaHLL7pIWE$o;;xyi8dM2>+48SPj;n;<3Neb$RYns{KPumU zuqwF)AW+`=IGy^n?fZqMi%}C-Y0zJlGESCxrxR)qqwCyu&g5I8OcVMZRnd}Y z7dQ;^jXHAcKXM~G>v_i{&Ry6jzeQOk>v288%Y`m10k^oI6^DWKUL>po@4^RCKPD1Z zMzRO9MWjO4byT_f7)b|5g!k-SFKI^x-|7C6DeXH(vAZAduL_Gwc$?|wdZUEV_0bS9 zWtLl#ojE5=lT1awm0QXGm10EMY(X*=apaefoVT|EN!RkMi{YS`4u&>1Ux#mrex)14 zL3K69z4)*(HrAbw0=gDVp7tisb=YJ|-B61_OfUGuuOQ-mssOv>MOvb&E-b749p{(ABbp^Z9E770hy>3m6&5kgwv@;|CBlfpAsk?UI~u){lKd35;|Z;qK@_HCMLlVYQX zYcFdCajahO6M0II=WGh|B??@>Y&U>sbw%gqxq)IdsGV$~dSz;jeA`T=tUt3Wp&*m! zWJfDe9%rmv7u@EpQLOa6hPF4C*zk#kaIA!jLosqcHD#9We zvX*D=8n%-ri<;z6bWZB&cDwPFzpOG?P4;k{k*);;M~E(u{h`#b2eBrU8Zy0eH| z9W#jZRa7FOlt7kb|6J5Eb%G^u{BY6b*SedODGy(W4$Mz&I(9+dcme0z3hSgSy7vyu z?Dk_@imMe0`sEu)UxIrqAZtg=;8wS+&FSU0-f9Z3J3Q2SzpKQUpKpuh)mxggli$)Z zeho=nnjuI1Y2hJP#ll?-*`Rm#Fs|Rx_*9&K0sa1L>pSJRS4kYJ+Z+8g`Xi1@$s}fN zy{L7}{%jlZPjzT1&1;!#V%`R#XG|}3y4hb$dA$B6F#26_$Mf}1w`(h%6+Np_`LnHi zz}`nAi7xJTxb@~#OR^6oa!k#~pL+PXYR)8%vmbBpu!==VDduM8b)TDnk#da1AVJFt zhLY+h)bZKO^7U#gcfId&M2{Cq4%bsDowu`m;}9G4%$r>{KvBi;BgremGgY`r&~&(uPsuqfWcg6o#} z^(^?<1%2{*tz;>yx%Art4l?Ioi3$jH*m$MgT&GYzOqndsV^Yx6@tO~AkT>rcxR%;P z(Ooap9%Oa!RWW2cN@XTIq0?b_rEh&9{BiQD^v%zyL{oR-*;=&%VLVN0q#(lFELkK| zc2?s8@p2V=8ZRCFF^<>>qJyyy-r5+F**Hvj%guM6*vr87ivK>THY!#D*^o!S7ah5-)KPC3Qs+b^j{6+n!;Q4+G!?i(W(D+NEYkZ_N{7hM(nJd8=+dIfFjuac= zA;vMVwR!VbzHfF!#V4=pv(;c&*=}BbXSDgIa?FTq3S9(sRiod?2jk;d zM39~^)XPe${>qEUmJw*idaPIZ=iSLd?~q$8X_Qv_2_4lhlW8N@i^FS2dGS8>Nw`NfQp>UAokMc&FB`?C$;hzV}xiXEnywQ+TW0sM5#a zLLM|hHCx1C;tO2WON)7}!FrxVcy*P@oJbDF5aVN!VjaasNXm;Bq2236KA<`0A)K4! zB0rP&-d~Si^9g*AB|KKuR}$l?5>)kxndJ6+MsyYj=O(kAs}n04il&_)G>6Z;5VQ7v}8O45r}eLeVHYn4XMc7I$n)kDD950V|kg*u*iS+=ZeK z-snprfkwv(l;5|dDa2mATKo|t+`BM67#mB7!y_#x-wrWrT-=U?O%<>xzkd1NIpfYA z_Vf7Z-iH}$%_|xvd~4K|qBDMrgQazL{R?m6dyNwgIdc#2orx54;*FZ`Q^mcccj+F{ zC#Dmyp~_BT$eJa%*Y2(gyKQ@4MoqsO{5174=Ia8p71Xpb{N7Iq7RXvK{ZOvg?Og-R z0X7Wk!5G9wlZV}bDXOb8kQq*$$RQm3CflX+RB=SJU*DuT4V6d7Lp*$-7F)jg6)oF^ zlM1|X8=4U3)p$lftm}{$ARnz)$)jEDUQG{Ad(B8E(Hn}6YA>^@QhuR* zD3A*+W82M{QEPH&;pxGOxINlST`M0GymvX412(knZ%w|G$KJlYh&g}TPyyEzT(aBd z9XM)kK8;T8TSwrx7wdSWrr9h_eV&*kkmPC0g0uGxsuV0hb~@ z-g91OOSFyw6M7q2#m13HPPtUoKQAb|gS@$2rbvDh%LpQOj-&Fb;#SyKQO4CazR?QS zuSA^BhVbWO$lr2bHzh>Xqa1D1=o@=%BI+tU5D%WI>Z?coe>vS-K4hH4_fS^RG+kA z`MiecJf;%bQ*FGjG!RIeZn%HnRWXoQx3%P^r>s=r!XBrIK4X`~?4yyQG3e{LurDhr zeFW_hTyO8IFJIrcmMI<|?v9jR=7^8#g0YP=Lmo4r66- zm$z?;-@1?N>iHVdq-Hd?mVqZ?>5GK2`vMbbcMBTY4tao=(Y451D0@D-rJts?hkaL} zgjX-6Ure{ImAiOqD5}u5-s^H;zoNk`7H$*i*Ob`wjuP7l@YCmUA`Oap#0EwgQL_*w zf~l90SugEL7@Lc)5S8DsYjt8BH@a%U;H;%m!2jq8pvby>H?GV*y0R>J9qf$g4PucXd#5|@#t=Z7iR zLeoBde8WR^+3Nb%!biPmk>Q|uqe5MJ!`n)d(i>YUD2okA_P!YLncCzJhUaB*@Sb2a zUB29^(kQ@=YJJHSt|G6h=d?j$v_h>tfGv-u|7aZV{N@WG%uK9ipCE?u89jY z&QxVKBxFs_oe=5xxB_$xo5aq`W4^>ynGWqG+uavAN!Wt>9UL!rT=#BhX_UaO3QtLT zaP67P`}=dA9B&CWTOWcK+n^g&-r~&K%b6()cL`e_&J>^t_Tifx?Cv-og$EB$>4Zl< zn66K!P-NkXHaC~+^A3f-u;lnGVU`>s?NacB7-?6(@R(-J$M|k24(@}m*UH5ryN=Nw zy|~-@JNNJR&Al)P4E~3&{_Hj|g!lIkf9fA`2l3y=9mMRcO#mP4Z-Nehj}#Gf;01x9 zeB2-~H{@T7IsgU#i?GAVnLj^;9lq}}`C~%~lpFpVpYBg#he&z5Mi6em>H&7xU>bG? zjYTGl@*_@Vy#1b%!@DF&cowulJ>o})+$(Skj2`2Inz-T@6+)#S{FnL_bMMt*7?%dR zS9qWu;F251cf5wP4n1|sD|TgnIAR-*5>h~wRbuitN+sHgxF4Qj^u%TfLoO zso|#bN`Y-O`j2&Jd8~zoLCz^2+e6_Ij03s-V4H@L2XP|x`xAF(FUR#gNZ{!xR3G#7 zL{`JTv0h@qimrCt-YTTob#HIUE2fQwl#cx7l;FBqc$Gp`bW7qJiFek)ye(JWQAXfQ zz`mp`Fm(EkylRn}IJfJ&Fx3L9=51k~p!#AwVKWi%RYMB6G~j~)0RtWo6bu3J0Dga7;G|_3Hy;QF{PIA6Yd9PP1-@|L z8H^tc1QmdCKoEfk%>TQZHvDyjh1!)zr-icnrJ|K>XW}%(ox0lXIQF$Kn0};oHH}N{BZIC>c5+qI>X@ zin)|c9qpVQj7=RuCjcvR$(x#37$U-k2x!4DK2Ba9ZZM3OhmRWyhJnCv2q!;31Pp=k z^YH+|99>GL#)}}T<>=OXj+}Xht=nD|vN!J5c<|oH#11G77 zf`A@X1dwpIb9UlVvIgF}U<1&BOU&BN*b1BLBoqtb<>Us!zYso7Ag%=lLpZ?*`3Qz` zLiyk)J;x;n(EX=A{4TV=$L#)l0fO^$0wV(m;d1hE0}#P@IN^K%L@*d9KR4_ipS{J#LvX{UXs(f3~anMTkvApH;l{|!h=2o?gQ z*2xh(f3T38HqV)A{+u2E%W7a}s`+8${RWzA7B0VMX*q51$;bqOz$feuI#cZrVbtGL z`~Q2e@BmB+gn8kdV15V)!q3SKNCLzV=7#WnXHEDSh|U@_KlA1{dYwdie;m1T+Pr6~ z`EwTkFRS4@Q_Y``-9IDyiTnr1exiZSkR1qnf7dME#QN`${HBk75KnU22&MOfI0ls9 zpH=fG(47FFd={!d=dlx-0Xq2?jtA7=Phg$oIhFRmVX8j?3lIa4lOc5$vcE8hfaM3j zLUu;X0E=k;j9}j|{9Qd~WWz~Y{}P6f(@}T=$uAx77kD37Y4IzXXJiiKFEIaa>p3HI zPV)R~Xr6Na2_$FH1Qvk&^IrH3_XGCg&wTbTv;PSMzku}@*dJIA^DFhwh#p{F%Rfc$ zxAmNnJtukoCF(;@$IuBRzo7XS#sKt$OMe!yCl>b)!Uy{2qVZ%b{jQ#qB|ksb^XFsx zPoxF(#MlM_69h!3oDmt&zc2=X6-~eNCLp|iVlrT|@y~nnclDeRJtuAbYrT1@K~5k! zizd(63BqqQ39v}(S2WK^G@ie}{J*W|jOaPZ^Dm)!f(d}$2_(Ou`R7b>!fZUh5!`^7 z{i!#3{sQy=ww^Ph=OoX+hUTdPIDzCBH2;DE;Q5ULfSeIQJb!`te_PKP5pwg0mI;&aA52}xjA`wp(p48Gf_Z?{DdjsYWb&>2iA4|A}#=p@^d|ZVI2Loo-<I@VO0lHQ)N3lC&02eabY3uL4XVJgx?TT z=aa5HRp+M|pST8qq4jO94g8*VIA9H)A3qsEy4Hyshn9 zi{Hw9!|D{N)4BQS)ch1P@V72Moj87*sbQaDcRD*dokg5ZA^_=+!0^=8KDBL6ZNO6# z@SCZGeQGJ4*hb30s_v6=r;7Jf@A7;D_EbIbe5?9Yihq-K*r&qolrSeEMHzHD4o^lN zaQ6+(QyQJJh%UD74|d;)_wq*;LAW*@v43%AVspt^m^glW<()DxJOS_IiR1Bys`wD3 z{jn->Ltt-&ojJf|K$WL{QUuSLo5}<4&*Qr3XsYP!WNl%KXiw4J)K=8k$->U|o1+oL zh43`mI$K+R`;QxF@_TO3H)kVa4+X+y`kkHs;Yz%2Xlu@5=D;DTd>NZd-q68H#@5UZ zaQh)HO-(>RA;gQ(e}o)C-&4rNf!C!2+eA)XqC7m@+`#J*PTZoryx*M1CeFsD|9CDA zJmUwxK%SF)fZLP@aHYb5wfQGs#4}+1{Xg8PKt5o(J~u=H_=N!VoiqnveGPbLJIgfz z2oT)?Jg|HaZXSMaFdH|7nVXyW@(-Z8IhdLO+|0*^4LD~{KOi^^2C$YH=vx{DXbe!v zh!4p2G!3{$jL@Icz(6x+(ty1!fZzY;d|+-c;L7|t4Fcy!jKrVo;{_u|@lRgO~FF9gBzKa~ZVMGT6c(jdGr#8^6$1_eB?XVZ8P?{z$r59p;|()fSD z7sAU6#5&HFm(JyI;$lcHRzz~FjJ(C6mvCpJ&1ACCpmIY+QFFei- zgv!pg3j~3Fm23Qfh&|H=Aj5tct6(r3p-6s$4-DZ$m;pbfLBV{#zz5_*DD$840nT-V z4RAK?7ybkDBQ|ZF&BupO&p(xga0Ai7vuQA%Uu7K(hOl6ME{izQ@oXBL`&YROhaxPr zpUc9b2&>>s8vNI>3Wxt9n}7)NFKqzf&R_Hb6buahGi^WtcKLw@P7a2^rbq|G%YIcX zJOBfgj|*Y60tZ(j>?Le2gi;3~7~P*Gv*|8InqfZ8@L`N_^1sma;JrMU|FPHv7)CN56EGQ$~YxVf{dxtXz}vzfCq huwFNEb9MzaB#KKCi%P&%voSCY7;>qqy863u0RZGyMI!(J diff --git a/1-background/introduction/introduction.tex b/1-background/introduction/introduction.tex index df4deb4..ba387ef 100644 --- a/1-background/introduction/introduction.tex +++ b/1-background/introduction/introduction.tex @@ -4,7 +4,7 @@ \chaptertoc %This PhD manuscript shows how wearable haptics, worn on the outside of the hand, can improve direct hand interaction in immersive \AR by augmenting the perception of the virtual content and its manipulation. -This PhD manuscript shows how immersive \AR, integrating visual virtual content into the real world perception, and wearable haptics, worn on the outside of the hand, can improve free and direct interaction of the hand with virtual objects. +This PhD manuscript shows how immersive \AR, which integrates visual virtual content into the real world perception, and wearable haptics, worn on the outside of the hand, can improve the free and direct interaction of the hand with virtual objects. Our goal is to achieve a more plausible and coherent perception, as well as a more natural and effective manipulation of the visuo-haptic augmentations. %interaction of the hand with the virtual content.%, moving towards a seamless integration of the virtual into the real world. %We are particularly interested in enabling direct contact of virtual and augmented objects with the bare hand. %The aim of this thesis is to understand how immersive visual and wearable haptic augmentations complement each other in the context of direct hand perception and manipulation with virtual and augmented objects. @@ -14,30 +14,30 @@ Our goal is to achieve a more plausible and coherent perception, as well as a mo \subsectionstarbookmark{Hand Interaction with Everyday Objects} -In daily life, \textbf{we simultaneously look, touch and manipulate the everyday objects} around us without even thinking about it. +In daily life, \textbf{we simultaneously look at, touch and manipulate the everyday objects} around us without even thinking about it. Many of these object properties can be perceived in a complementary way through all our sensory modalities, such as their shape, size or texture \cite{baumgartner2013visual}. -Vision often precedes touch, enabling us to expect the tactile sensations we will feel when touching the object \cite{yanagisawa2015effects}, \eg hardness or texture, and even to predict properties that we cannot see, \eg weight or temperature. -Information from different sensory sources may be complementary, redundant or contradictory \cite{ernst2004merging}. +Vision often precedes touch, enabling us to anticipate the tactile sensations we will feel when touching the object \cite{yanagisawa2015effects}, \eg hardness or texture, and even to predict properties that we cannot see, \eg weight or temperature. +Information from different sensory sources can be complementary, redundant or contradictory \cite{ernst2004merging}. This is why we sometimes want to touch an object to check one of its properties that we have seen and to compare or confront our visual and tactile sensations. We then \textbf{instinctively construct a unified perception of the properties of the object} we are exploring and manipulating from our sensory modalities, as well as from the movement of our hand and fingers on the object \cite{ernst2002humans}. The sense of touch also allows us to perceive our environment, but also to represent ourselves in space and to interact with the surrounding objects. This is due to the many sensory receptors distributed throughout our hands and body. -Those receptors can be divided into two modalities: \emph{kinesthetic} (or proprioception), which are the forces felt by muscles and tendons, and \emph{cutaneous} (or tactile), which are the pressures, stretches, vibrations and temperatures felt by the skin. +These receptors can be divided into two modalities: \emph{kinesthetic} (or proprioception), which are the forces felt by muscles and tendons, and \emph{cutaneous} (or tactile), which are the pressures, stretches, vibrations and temperatures felt by the skin. This rich and complex variety of actions and sensations makes it particularly \textbf{difficult to artificially recreate capabilities of touch}, for example in virtual or remote operating environments \cite{culbertson2018haptics}. \subsectionstarbookmark{Wearable Haptics Promise Everyday Use} \textbf{\emph{Haptics} is the study of the sense of touch and user interfaces that involve touch} \cite{klatzky2013haptic}. -Haptic devices can be categorized according to how they interface with a user: graspable, touchable and wearable, as illustrated in \figref{haptic-categories} \cite{culbertson2018haptics}. +Haptic devices can be categorized according to how they interface with the user: graspable, touchable and wearable, as illustrated in \figref{haptic-categories} \cite{culbertson2018haptics}. \emph{Graspable interfaces} are the traditional haptic devices that are held in the hand. They are either grounded devices that provide kinesthetic (force) feedback, \eg a robotic arm or a joystick, or ungrounded tactile devices, \eg a game controller or a smartphone. -\emph{Touchable interfaces} are actuated devices that are directly touched and that can dynamically change their shape or surface property, such as hardness or friction, providing simultaneous kinesthetic and cutaneous feedback. +\emph{Touchable interfaces} are actuated devices that are directly touched and that can dynamically change their shape or surface properties, such as hardness or friction, providing simultaneous kinesthetic and cutaneous feedback. However, graspable interfaces occupy the hand, preventing interaction with other objects, and touchable interfaces often involve cumbersome mechanisms and are by definition limited to their own working surface. Instead, \textbf{\emph{wearable interfaces} are directly mounted on the body} to provide cutaneous sensations on the skin in a portable way and \textbf{without restricting the user's movements} \cite{pacchierotti2017wearable}. \begin{subfigs}{haptic-categories}{ - Haptic devices can be classified into three categories according to their interface with the user: + Haptic devices can be divided into three categories according to their interface with the user: }[][ \item graspable (hand-held), \item touchable, and @@ -50,14 +50,14 @@ Instead, \textbf{\emph{wearable interfaces} are directly mounted on the body} to A wide range of wearable haptic devices have been developed to provide the user with rich virtual tactile sensations, including normal force, skin stretch, vibration and thermal feedback. \figref{wearable-haptics} shows some examples of different wearable haptic devices with different form factors and rendering capabilities. -Their portability, \ie their small form factor, light weight and unobtrusiveness, makes them particularly promising for everyday use in a variety of applications such as robotics, teleoperation, augmented and virtual realities, and social interactions \cite{pacchierotti2017wearable,culbertson2018haptics}. -However, the \textbf{integration of wearable haptics with \AR has been little explored so far}.%, and few wearable haptic devices have specifically designed or experimentally tested for direct hand interaction in \AR. +Their portability, \ie their small form factor, light weight and unobtrusiveness, makes them particularly promising for everyday use in a variety of applications such as robotics, teleoperation, augmented and virtual realities, and social interaction \cite{pacchierotti2017wearable,culbertson2018haptics}. +However, the \textbf{integration of wearable haptics with \AR has been little explored so far}. %, and few wearable haptic devices have specifically designed or experimentally tested for direct hand interaction in \AR. \begin{subfigs}{wearable-haptics}{ - Wearable haptic devices can render sensations on the skin as feedback to real or virtual objects being touched. + Wearable haptic devices can provide sensations on the skin as feedback to real or virtual objects being touched. }[][ - \item Wolverine, a wearable exoskeleton that simulate contact and grasping of virtual objects with force feedback on the fingers \cite{choi2016wolverine}. - \item Touch\&Fold, a wearable haptic device mounted on the nail that fold on demand to render contact, normal force and vibrations to the fingertip \cite{teng2021touch}. + \item Wolverine, a wearable exoskeleton that simulates contact and grasping of virtual objects with force feedback on the fingers \cite{choi2016wolverine}. + \item Touch\&Fold, a nail-mounted wearable haptic device that folds on demand to provide contact, normal force and vibration to the fingertip \cite{teng2021touch}. \item The hRing, a wearable haptic ring mounted on the proximal phalanx able to render normal and shear forces to the finger \cite{pacchierotti2016hring}. \item Tasbi, a haptic bracelet capable of providing pressure and vibrotactile feedback to the wrist \cite{pezent2022design}. ] @@ -74,9 +74,9 @@ However, the \textbf{integration of wearable haptics with \AR has been little ex It thus promises natural and seamless interaction with the physical and digital objects (and their combination) directly with our hands \cite{billinghurst2021grand}. It is technically and conceptually closely related to \emph{\VR}, which completely replaces the \emph{\RE} perception with a \emph{\VE}. -\AR and \VR can be placed on a reality-virtuality continuum, as proposed by \textcite{milgram1994taxonomy} and illustrated in \figref{rv-continuum}\footnote{On the original reality-virtuality continuum of \textcite{milgram1994taxonomy}, augmented virtuality is also considered, as the incorporation of real objects to a \VE, and is placed between \AR and \VR. For simplicity, we only consider \AR and \VR in this thesis.}. +\AR and \VR can be placed on a reality-virtuality continuum, as proposed by \textcite{milgram1994taxonomy} and illustrated in \figref{rv-continuum}\footnote{On the original reality-virtuality continuum of \textcite{milgram1994taxonomy}, augmented virtuality is also considered, as the incorporation of real objects into a \VE, and is placed between \AR and \VR. For simplicity, we only consider \AR and \VR in this thesis.}. It describes the degree of virtuality of the environment along an axis, with one end being the \RE and the other end being a pure \VE, \ie indistinguishable from the real world (such as \emph{The Matrix} movies). -Between these two extremes lies \MR, which comprises \AR and \VR as different levels of mixing real and virtual environments \cite{skarbez2021revisiting}.\footnote{This is the original and classic definition of \MR, but there is still a debate on defining and characterize \AR and \MR experiences \cite{speicher2019what,skarbez2021revisiting}.} +Between these two extremes lies \MR, which includes \AR and \VR as different levels of mixing real and virtual environments \cite{skarbez2021revisiting}.\footnote{This is the original and classic definition of \MR, but there is still debate about how to define and characterize \AR and \MR experiences \cite{speicher2019what,skarbez2021revisiting}.} We call \AR/\VR \emph{systems} the computational set of hardware (input devices, sensors and displays) and software (tracking, simulation and rendering) that allows the user to interact with the \VE.% by implementing the interaction loop we proposed in \figref{interaction-loop}. \AR and \VR systems can address any of the human senses, but they most often focus on visual augmentations \cite[p.144]{billinghurst2015survey}. @@ -88,8 +88,8 @@ Many visual displays have been explored, from projection systems to hand-held di \item For the visual sense, as originally proposed by and adapted from \textcite{milgram1994taxonomy}. \item Extension to include the haptic sense on a second, orthogonal axis, proposed by and adapted from \textcite{jeon2009haptic}. ] - \subfig[0.45]{rv-continuum} - \subfig[0.53]{visuo-haptic-rv-continuum5} + \subfig[0.49]{rv-continuum} + \subfig[0.49]{visuo-haptic-rv-continuum5} \end{subfigs} %Concepts of virtuality and augmentation can also be applied for sensory modalities other than vision. @@ -109,7 +109,7 @@ The \textbf{integration of wearable haptics with \AR} seems to be one of the mos \begin{subfigs}{visuo-haptic-environments}{Visuo-haptic environments with different degrees of reality-virtuality. }[][ \item \AR environment with a real haptic object used as a proxy to manipulate a \VO \cite{kahl2023using}. \item \AR environment with a wearable haptic device that provides virtual, synthetic feedback from contact with a \VO \cite{meli2018combining}. - \item A real object seen in a visual \VR environment whose haptic perception of stiffness is augmented with the hRing haptic device \cite{salazar2020altering}. + \item A real object seen in a visual \VR environment whose haptic perception of stiffness is augmented with the hRing haptic device \cite{detinguy2018enhancing,salazar2020altering}. \item Visuo-haptic texture augmentation of real object being touch, using a hand-held \AR display and haptic electrovibration feedback \cite{bau2012revel}. ] \subfigsheight{31mm} @@ -158,14 +158,14 @@ Although closely related, \AR and \VR have key differences in their respective r Many wearable haptic devices take the form of controllers, gloves or exoskeletons, all of which cover the fingertips and are therefore not suitable for \AR. The \textbf{user's hand must be indeed free to touch and interact with the \RE while wearing a wearable haptic device}. -It is possible instead to place the haptic actuator close to the point of contact with the \RE, \eg providing haptic feedback on the nail \cite{ando2007fingernailmounted,teng2021touch}, another phalanx \cite{asano2015vibrotactile,salazar2020altering} or the wrist \cite{pezent2022design,sarac2022perceived} for rendering fingertip contacts with virtual content. +It is possible instead to place the haptic actuator close to the point of contact with the \RE, \eg providing haptic feedback on the nail \cite{ando2007fingernailmounted,teng2021touch}, another phalanx \cite{asano2015vibrotactile,detinguy2018enhancing,salazar2020altering} or the wrist \cite{pezent2022design,sarac2022perceived} for rendering fingertip contacts with virtual content. Therefore, when touching a virtual or augmented object, \textbf{the real and virtual visual sensations are seen as co-localized, but the virtual haptic feedback is not}. It remains to be investigated how such potential discrepancies affect the overall perception to design visuo-haptic augmentations adapted to \AR. %So far, most of the \AR studies and applications only add visual and haptic sensations to the user's overall perception of the environment, but conversely it is more difficult to remove sensations. %Visual and haptic augmentations of the \RE add sensations to the user's overall perception. -The \textbf{added visual and haptic virtual sensations can be perceived as inconsistent} with the sensations of the \RE, for example with a lower rendering quality, a temporal latency, a spatial shift, or a combination of these. -Moreover, in \AR, the user can still see the real-world surroundings, including their hands, the augmented real objects and the worn haptic devices, unlike \VR where there is total control over the visual rendering. % of the hand and \VE. +The \textbf{added visual and haptic virtual sensations may be perceived as inconsistent} with the sensations of the \RE, for example with a lower rendering quality, a temporal latency, a spatial shift, or a combination of these. +Moreover, in \AR, the user can still see the real world surroundings, including their hands, the augmented real objects and the worn haptic devices, unlike \VR where there is total control over the visual rendering. % of the hand and \VE. It is therefore unclear to what extent the real and virtual visuo-haptic sensations will be perceived as realistic or even plausible, and to what extent they will conflict or complement each other. % in the perception of the \AE. With a better understanding of \textbf{how visual factors can influence the perception of haptic augmentations}, the many wearable haptic systems that already exist but have not yet been fully explored with \AR can be better applied and new visuo-haptic augmentations adapted to \AR can be designed. @@ -218,7 +218,7 @@ Wearable haptic devices have proven to be effective in altering the perception o %It enables rich haptic feedback as the combination of kinesthetic sensation from the real and cutaneous sensation from the actuator. However, wearable haptic augmentations have been little explored with \AR, as well as the visuo-haptic augmentation of textures. Texture is indeed one of the fundamental perceived property of a surface's material \cite{hollins1993perceptual,okamoto2013psychophysical}, perceived equally well by both sight and touch \cite{bergmanntiest2007haptic,baumgartner2013visual}, and one of the most studied haptic (only, without visual) augmentation \cite{unger2011roughness,culbertson2014modeling,strohmeier2017generating}. -Being able to coherently substitute the visuo-haptic texture of an everyday surface directly touched by a finger is an important step towards \AR capable of visually and haptically augmenting the \RE of a user in a plausible way. +Being able to coherently substitute the visuo-haptic texture of a surface directly touched by a finger is an important step towards \AR capable of visually and haptically augmenting the \RE of a user in a plausible way. For this first axis of research, we propose to design and evaluate the \textbf{perception of wearable virtual visuo-haptic textures augmenting real surfaces}. %, using an immersive \AR headset and a wearable vibrotactile device. To this end, we (1) design a system for rendering wearable visuo-haptic texture augmentations, to (2) evaluate how the perception of haptic texture augmentations is affected by the visual feedback of the virtual hand and the environment, and (3) investigate the perception of co-localized visuo-haptic texture augmentations. @@ -263,11 +263,11 @@ Our last objective is to \textbf{investigate the visuo-haptic rendering of hand %In \textbf{\partref{background}}, we first describe the context and background of our research, within which With this first current \textit{Introduction} chapter, we have presented the research challenges, objectives, approach and contributions of this thesis. -In \textbf{\chapref{related_work}}, we then review previous work on the perception and manipulation with virtual and augmented objects, directly with the hand, using either wearable haptics, \AR, or their combination. -First, we overview how the hand perceives and manipulate real everyday objects. +In \textbf{\chapref{related_work}}, we then review previous work on the perception and manipulation of virtual and augmented objects, directly with the hand, using either wearable haptics, \AR, or their combination. +First, we overview how the hand perceives and manipulates real objects. Second, we present wearable haptics and haptic augmentations of texture and hardness of real objects. Third, we introduce \AR, and how \VOs can be manipulated directly with the hand. -Finally, we describe how visual and haptic feedback have been combined in \AR to enhance perception and interaction with the hand. +Finally, we describe how visuo-haptic feedback has augmented direct hand interaction in \AR, particularly using wearable haptics. We then address each of our two research axes in a dedicated part. diff --git a/1-background/related-work/4-visuo-haptic-ar.tex b/1-background/related-work/4-visuo-haptic-ar.tex index b135117..0926c35 100644 --- a/1-background/related-work/4-visuo-haptic-ar.tex +++ b/1-background/related-work/4-visuo-haptic-ar.tex @@ -1,7 +1,7 @@ \section{Visuo-Haptic Augmentations of Hand-Object Interactions} \label{visuo_haptic} -Everyday perception and manipulation of objects with the hand typically involves both the visual and haptic senses. +Perception and manipulation of objects with the hand typically involves both the visual and haptic senses. Each sense has unique capabilities for perceiving certain object properties, such as color for vision or temperature for touch, but they are equally capable for many properties, such as roughness, hardness, or geometry \cite{baumgartner2013visual}. Both \AR and wearable haptic systems integrate virtual content into the user's perception as sensory illusions. @@ -67,7 +67,7 @@ The \MLE model implies that when seeing and touching a \VO in \AR, the combinati \label{visual_haptic_influence} Thus, a visuo-haptic perception of an object's property is robust to some difference between the two sensory modalities, as long as one can match their respective sensations to the same property. -In particular, the texture perception of everyday objects is known to be constructed from both vision and touch \cite{klatzky2010multisensory}. +In particular, the texture perception of objects is known to be constructed from both vision and touch \cite{klatzky2010multisensory}. More precisely, when surfaces are evaluated by vision or touch alone, both senses discriminate their materials mainly by the same properties of roughness, hardness, and friction, and with similar performance \cite{bergmanntiest2007haptic,baumgartner2013visual,vardar2019fingertip}. The overall perception can then be modified by changing one of the sensory modalities. @@ -96,7 +96,7 @@ For example, in a fixed \VST-\AR screen (\secref{ar_displays}), by visually defo %In all of these studies, the visual expectations of participants influenced their haptic perception. %In particular, in \AR and \VR, the perception of a haptic rendering or augmentation can be influenced by the visual rendering of the \VO. -\subsubsection{Perception of Visuo-Haptic Rendering in AR and \VR} +\subsubsection{Perception of Visuo-Haptic Rendering in AR and VR} \label{ar_vr_haptic} Some studies have investigated the visuo-haptic perception of \VOs rendered with force-feedback and vibrotactile feedback in \AR and \VR. diff --git a/1-background/related-work/related-work.tex b/1-background/related-work/related-work.tex index 01272d0..c3c6ec6 100644 --- a/1-background/related-work/related-work.tex +++ b/1-background/related-work/related-work.tex @@ -8,7 +8,7 @@ This chapter reviews previous work on the perception and manipulation with virtu We first overview how the hand senses and acts on its environment to perceive and manipulate the haptic properties of real everyday objects. Second, we present how wearable haptic devices and renderings have been used to augment the haptic perception of roughness and hardness of real objects. Third, we introduce the principles and user experience of \AR, and overview the main interaction techniques used to manipulate virtual objects directly with the hand. -Finally, we describe how visual and haptic feedback have been combined in \AR to enhance perception and interaction with the hand. +Finally, we describe how visual and haptic feedback have been combined to augment direct hand interaction in \AR, in particular using wearable haptics. \input{1-haptic-hand} \input{2-wearable-haptics} diff --git a/2-perception/vhar-system/2-method.tex b/2-perception/vhar-system/2-method.tex index 83b7316..36a0c78 100644 --- a/2-perception/vhar-system/2-method.tex +++ b/2-perception/vhar-system/2-method.tex @@ -53,7 +53,7 @@ The velocity (without angular velocity) of the marker, denoted as ${}^c\dot{\mat Before a user interacts with the system, it is necessary to design a \VE that will be registered with the \RE during the experiment. Each real element tracked by a marker is modelled virtually, \eg the hand and the augmented surface (\figref{device}). In addition, the pose and size of the virtual textures were defined on the virtual replicas. -During the experiment, the system uses marker pose estimates to align the virtual models with their real-world counterparts. %, according to the condition being tested. +During the experiment, the system uses marker pose estimates to align the virtual models with their real world counterparts. %, according to the condition being tested. This allows to detect if a finger touches a virtual texture using a collision detection algorithm (Nvidia PhysX), and to show the virtual elements and textures in real-time, aligned with the \RE, using the considered \AR or \VR headset. In our implementation, the \VE is designed with Unity and the Mixed Reality Toolkit (MRTK)\footnoteurl{https://learn.microsoft.com/windows/mixed-reality/mrtk-unity}.