From cd5bc2fe6dfe0c81290bc32b0cdc498b8a315898 Mon Sep 17 00:00:00 2001
From: Yulun Zhang <yulunzha@usc.edu>
Date: Tue, 28 Jul 2026 15:54:37 -0400
Subject: [PATCH 1/2] MD-PIBT is published

---
 _data/preprints.yml | 15 ---------------
 _data/pubs.yml      | 21 +++++++++++++++++++++
 2 files changed, 21 insertions(+), 15 deletions(-)

diff --git a/_data/preprints.yml b/_data/preprints.yml
index aec587ace8ec..8cbd86d90cfb 100644
--- a/_data/preprints.yml
+++ b/_data/preprints.yml
@@ -16,21 +16,6 @@
 #  abstract: null
 
 
-- key: Jiang2026MDPIBT
-  title: "Planning over MAPF Agent Dependencies via Multi-Dependency PIBT"
-  # site: https://yulunzhang.net/publication/zhang2026mggo/
-  authors: [Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni, Jiaoyang Li]
-  equal_contributions: [Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni]
-  venue: arXiv
-  year: 2026
-  thumbnail: /files/yulunzhang/thumbnails/simple_bigagents_MDPIBT.gif
-  eprint: arXiv:2603.23405
-  tags: [mapf, warehouse]
-  links:
-    arXiv: https://arxiv.org/abs/2603.23405
-  abstract: "Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular algorithm capable of effectively planning in such situations. However, PIBT is constrained by its rule-based planning procedure and lacks generality because it restricts its search to paths that conflict with at most one other agent. This limitation also applies to Enhanced PIBT (EPIBT), a recent extension of PIBT. In this paper, we describe a new perspective on solving MAPF by planning over agent dependencies. Taking inspiration from PIBT's priority inheritance logic, we define the concept of agent dependencies and propose Multi-Dependency PIBT (MD-PIBT) that searches over agent dependencies. MD-PIBT is a general framework where specific parameterizations can reproduce PIBT and EPIBT. At the same time, alternative configurations yield novel planning strategies that are not expressible by PIBT or EPIBT. Our experiments demonstrate that MD-PIBT effectively plans for as many as 10,000 homogeneous agents under various kinodynamic constraints, including pebble motion, rotation motion, and differential drive robots with speed and acceleration limits. We perform thorough evaluations on different variants of MAPF and find that MD-PIBT is particularly effective in MAPF with large agents."
-
-
 - key: Zhang2026MGGO
   title: "Optimization of Edge Directions and Weights for Mixed Guidance Graphs in Lifelong Multi-Agent Path Finding"
   site: https://yulunzhang.net/publication/zhang2026mggo/
diff --git a/_data/pubs.yml b/_data/pubs.yml
index c0c1f0efb1b7..8ff5a311c12d 100644
--- a/_data/pubs.yml
+++ b/_data/pubs.yml
@@ -31,6 +31,27 @@
 
 ############### 2026 ##################
 
+- key: Jiang2026MDPIBT
+  title: "Planning over MAPF Agent Dependencies via Multi-Dependency PIBT"
+  site: https://yulunzhang.net/publication/zhang2026mggo/
+  authors: [Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni, Jiaoyang Li]
+  equal_contributions: [Zixiang Jiang, Yulun Zhang, Rishi Veerapaneni]
+  venue: IROS
+  # pages: null
+  year: 2026
+  thumbnail: /files/yulunzhang/thumbnails/simple_bigagents_MDPIBT.gif
+  eprint: arXiv:2603.23405
+  tags: [mapf, warehouse]
+  links:   # You can add additional links not listed below
+    arXiv: https://arxiv.org/abs/2603.23405
+    Code: https://github.com/lunjohnzhang/MD-PIBT
+    Poster: null
+    Slides: null
+    Talk: null
+    Video: https://drive.google.com/file/d/17yvQbRzXKzzJ2fYr4LuE2J-1X8jafvWh/view?usp=sharing
+  abstract: "Modern Multi-Agent Path Finding (MAPF) algorithms must plan for hundreds to thousands of agents in congested environments within a second, requiring highly efficient algorithms. Priority Inheritance with Backtracking (PIBT) is a popular algorithm capable of effectively planning in such situations. However, PIBT is constrained by its rule-based planning procedure and lacks generality because it restricts its search to paths that conflict with at most one other agent. This limitation also applies to Enhanced PIBT (EPIBT), a recent extension of PIBT. In this paper, we describe a new perspective on solving MAPF by planning over agent dependencies. Taking inspiration from PIBT's priority inheritance logic, we define the concept of agent dependencies and propose Multi-Dependency PIBT (MD-PIBT) that searches over agent dependencies. MD-PIBT is a general framework where specific parameterizations can reproduce PIBT and EPIBT. At the same time, alternative configurations yield novel planning strategies that are not expressible by PIBT or EPIBT. Our experiments demonstrate that MD-PIBT effectively plans for as many as 10,000 homogeneous agents under various kinodynamic constraints, including pebble motion, rotation motion, and differential drive robots with speed and acceleration limits. We perform thorough evaluations on different variants of MAPF and find that MD-PIBT is particularly effective in MAPF with large agents."
+
+
 - key: Yan2026WinkTPG
   title: "WinkTPG: An Execution Framework for Multi-Agent Path Finding Using Temporal Reasoning"
   site: https://jingtianyan.github.io/publication/2026-06-07-winktpg

From c549ae126053b50d0d2a9683e2adce5d1cfdc557 Mon Sep 17 00:00:00 2001
From: Yulun Zhang <yulunzha@usc.edu>
Date: Tue, 4 Aug 2026 13:57:26 -0400
Subject: [PATCH 2/2] add SRA preprint

---
 _data/preprints.yml                 |  13 +++++++++++++
 files/yulunzhang/thumbnails/sra.png | Bin 0 -> 166968 bytes
 2 files changed, 13 insertions(+)
 create mode 100644 files/yulunzhang/thumbnails/sra.png

diff --git a/_data/preprints.yml b/_data/preprints.yml
index 8cbd86d90cfb..719bb4547562 100644
--- a/_data/preprints.yml
+++ b/_data/preprints.yml
@@ -45,3 +45,16 @@
     Code: https://github.com/smart-mapf/lifelong-smart
   abstract: "We present Lifelong Scalable Multi-Agent Realistic Testbed (LSMART), an open-source simulator to evaluate any Multi-Agent Path Finding (MAPF) algorithm in a Fleet Management System (FMS) with Automated Guided Vehicles (AGVs). MAPF aims to move a group of agents from their corresponding starting locations to their goals. Lifelong MAPF (LMAPF) is a variant of MAPF that continuously assigns new goals for agents to reach. LMAPF applications, such as autonomous warehouses, often require a centralized, lifelong system to coordinate the movement of a fleet of robots, typically AGVs. However, existing works on MAPF and LMAPF often assume simplified kinodynamic models, such as pebble motion, as well as perfect execution and communication for AGVs. Prior work has presented SMART, a software capable of evaluating any MAPF algorithms while considering agent kinodynamics, communication delays, and execution uncertainties. However, SMART is designed for MAPF, not LMAPF. Generalizing SMART to an FMS requires many more design choices. First, an FMS parallelizes planning and execution, raising the question of when to plan. Second, given planners with varying optimality and differing agent-model assumptions, one must decide how to plan. Third, when the planner fails to return valid solutions, the system must determine how to recover. In this paper, we first present LSMART, an open-source simulator that incorporates all these considerations to evaluate any MAPF algorithms in an FMS. We then provide experiment results based on state-of-the-art methods for each design choice, offering guidance on how to effectively design centralized lifelong AGV Fleet Management Systems. LSMART is available at this https URL."
 
+
+- key: Luo2026SRA
+  title: "Stress-Relief Annealing: Polynomial-Time Simulation-Free Layout Optimization for Automated Warehouses"
+  authors: [Xiangjie Luo, Yulun Zhang, Miyuki Koshimura, Makoto Yokoo, Jiaoyang Li]
+  venue: arXiv
+  year: 2026
+  thumbnail: /files/yulunzhang/thumbnails/sra.png
+  eprint: arXiv:2608.01024
+  tags: [warehouse, envopt]
+  links:
+    arXiv: https://arxiv.org/abs/2608.01024
+  abstract: "We study the problem of optimizing physical layouts for automated warehouses, where hundreds to thousands of robots are coordinated to transport packages. Previous works have shown that optimizing the warehouse layout (e.g., the physical location of the storage shelves) significantly improves throughput. However, state-of-the-art layout optimization approaches are based on evolutionary optimization methods, which treat the entire warehouse as a black box and rely on random mutation to search for high-quality layouts. While the optimization outcomes are promising, these methods require a massive number of simulations to evaluate candidate solutions, making them sample-inefficient. In this paper, we present Stress-Relief Annealing (SRA), a polynomial-time simulation-free layout optimization algorithm. SRA turns the task demand into a per-vertex stress field that predicts where traffic will concentrate in the warehouse; the field's peak provably caps the throughput. Our experimental results show that (1) SRA improves both the throughput and the scalability of a human-designed warehouse, roughly doubling the number of robots it can sustain, (2) it matches or exceeds the throughput of the evolutionary baselines while taking only 19 minutes on one CPU core, against their 25,000 simulations and 25 hours on a 64-core machine, and (3) the gain generalizes across different Multi-Agent Path Finding algorithms, non-uniform task demands, and a warehouse with doubled dimensions."
+
diff --git a/files/yulunzhang/thumbnails/sra.png b/files/yulunzhang/thumbnails/sra.png
new file mode 100644
index 0000000000000000000000000000000000000000..361fdb75dedcb6eaeb66141b02f75b36b2ade749
GIT binary patch
literal 166968
zcmeHw378zUmH+GR>h9^e$1}d~+d#0nY;xdW6G$Lr!H|$^li&ohgzOSXNItU5_g|cA
zlilp*+6@7+Swgb8HZ0eM5D3IJCIM`~2R8T~pX2d(&Yq*E&-&}9Dpg79p3`G{+?M9+
zk@WQR^z@`sNl#Cze_nCTdn!sNl@d|KRaahqJy9UW!apgAu>Zem{I_o~FLuY3AGwpL
zavgqw7jOUd%?vp4i&uR3i|@bvZ@zffC%^D%y6djH7T)@~zrFLOPu}tAg|~m<mLIoX
zGKpvgU3K~L4}3X5cdz>TJpr3JmhqIiO`A5+ZMWS<EiEmKhd`fv1d!$>dx5+>98aO*
z;QBfI5YS|NKgAC@I0``?Q8D~<1ujLT;E3cGB^IR1foikrc=`DmzJw$NT~ymi&QB1e
zSh`BXOJD(>20)?w9Olv&nLIqT9%_CkjiY+_E`fpKdAzt8ynKDcy?kDc7=+;lyo_!g
zMO@GkaX~=9owySV(0S)Ar0;$20RTsfTWXzZPTJes>4g_wU~Gh#sF|p^w1Pa2NPvP&
z{>%?V9G}O5E8rFju`v4qKNLWf7$g7~pe`<8JZ|y-L0hD<bQVTxi2XTK7#$u0CEy{>
z{xjZ?jz9=J@sc=z#W~nbM{U%&<>n1C0>~$5@$%fffO9%XXAc~3LIKC;c^J$~=Xq>a
z9)1ij2s|f@yg@e~(otZDa!#2b#Obg&%5mw00y!kO`P}>rkJDtdgDjngIb8?N>)^s2
zIynk5T+k2jJiuf5z#E8zzn~L$!cIC5hq4S0NKW2>gopG%$SEH@5XwNh8|J>74qRRs
zi$gF@8Y9aD2OgQAIGq0rGC+v66yUsJnB))-0>*$0#^YcNxB&*|_#v`c+zy2qjNu@!
z6?J^z@O%+S*`<Yi>;=!$SQxztarmsP0D}iv|K76sFg@|a%M70H@SObgr$41T?zlrq
zT(xQytyr;w4KC*?a76a)+s6i+@9|$=;t&ACnn|EwFg9bxj3E?N7<J8>HMD&Ba+ZjP
z7Y)IFtaStK!|n_Qc<7@H<~-)XV3=V72k<ZpA&keEJ?JdXA9)ccH=Q+zGY~lOpzYAI
zSh)yefUs=ffQta2+z&E-5aQH%7%V!21nU~Cd=^JK^Br8L3Qim~apGb0GZsc4<uwF8
z;>geQIu8;C6CUReD3b~v5EmC6p2tPGERI10bi(dKgD?gNXK+E9lOKZsc;$l!x-Y{A
zE@(RV&O_%6E>5}_Y&b6Pf$RFnhab{-m=6jVB;+{o@$fsiyevK#IPoBVuo*t`S{WY?
z_%5Cp3<4ITgECnfhas;BGdLj~afFfIat8^(@LV#%;#nt){o{@1`WAbsaKRwXq{ZWS
zxJ8@|1a26E2Ok*Vb6obI^Dv7?Vho0SpvU4EG|-26++z7kyfFH9AjH-N@L4+Ip<oHE
zdww^4?W=#FwQDvrM)TdWWy=W9i|jBER99E?p9~ja^wr~BEG%V`7`l7xvB&r*HT0Y&
zhmnAh!0|``%X7>gFgWN=%r-FNkOvbyugHV+;kaQ95^_Oc20t(Yhe}|kfl9zf8XUsL
z83`B(9KQsxv=GY<JXd(;-~d~>awT7u2pHfqX3XFN1O|`cxZ@fmFfgECF%1I4U<h#d
z7%0T(g(;D7Mgm3x$0q>{5LoILdalF^8PB7vqtNpVm4o9NBrsZG<bng^7#zg<2$c{6
z1_lc-Zk&;Tk-&+Q0AASmVNe*!=k2%#2~-yY0G!Me1`IGOW)os&!4b_rBY{&bfly=p
zy=)fFZ2?X-FT*Hb%+T?Y#<PVN@|G=I_|jf1GoXXO%mQ)z#B&NCdEkrL$WT~ds@UN>
z3=H^TU;tBK5)Lp7Ac9e(8)qb7Brtplh-VBG#8Lub3<_{~_%Xv5&l=#+SBPDX<IxWe
zYmg9(fjKd1iNOLeEI$Me7&p2JNX0lKffFYI%oOm$0D|WY{z$oD*-VU7;h=-T#Icze
zNvejHk-+IGflDua2YV)77#8!GP2i=C*@T!;42zJOY3V5+BvgJ(%t*jUV3bK<c!pJ@
ztP+MDBLO3U6DWb>-sw1jycyC)0!9L(Kmulv7zK@BSTGV8%@VL4eDFbPYipxPlh}!J
z<4$i0{A}9GuOFu^KsKADmtTIFo74w`LCWQFd@JqZi!Ww}Aw#FPd<^%)mOw*813mrp
z)9(!|S+d05ym>Q4BGF+JGZ{~B31DBntE-a|i3F9Dlu&PPFU4XpDle~KCl>>!cjXNC
z!<IlQm87z=vYpo1XP-^$*S|u^WM<gJOvd7nfS5H1zpJaKI4U;kYBAV>mmPmUrOu|A
zGshh;`iWE82&Ql&fzdAkE0eXU>TNer`FU4*+&2BsS18?b(2JWu@kwCp_5VPT@w0fv
z>~t?R{O7HCm7H|*e^4OIE>U4Fb#yNsd*q+;a15Y$BoMBhO5;9wk5{3tO@E+l>lVwx
zgr+<bqzm`7Q8E&y?dQy->aw#bn;659<H<u_CfpEpvYl-^*R6?iqn3IUJ(Z1%q*Lxk
zLX`>+$xOQvKh^T9j85_RiB?Re3B49gI(&>e+3ijZUWy-x)*qu#Do44QQ^~5FPSeXT
z=ZWoE6+36A{Y)&B)7lJI3=YTPuCTrwZYYyoG*~W2sV!O0<9h#5kP1ZPHo`q+vXj$f
zIKus<RfT=I12>UvgICbW_3E$wdgh=e4?VrF_}IV<FUc++L&?gq6nk|$1$vXzo5G!C
z?2<2FlqQn2prM{RE6eyG;pH-cqLx5SO9w63R!_&O3M;Lxo%Lk3c2cU8UBNc7wy0%c
zD(6ce`bIs4+Ts+P?&zfWAd!k#)Htz@ddi%srH^hx#VmoI@)&RTj?%(!?A(Mp%9U4=
zU8%mMi&-Y7ZbX?$tlcY0$&Mz7dfk~sysDhmF1c{@%4f^Q)sG#gEx_ol-00x!(A4pS
zUoOQu#`F0+r7l@Q8FmRQcSjrZ5e%d#CD8S*#k^kG_3Tp^Y?Wz+*%i+-U)e)vy}8<}
z@SnR`FgSt7SKhwNgO7&5eLs9$VdJ*XeN>5`%81U}=WhSlsbnXw>_;Bh?!z8`ir!H&
zhsV=)iVCT$r~l-S>}Ku=$JrIw!EVHN^bj}QdWBDCl!SirqdzK~jHZ5}^LF!R{S5<!
z=~EDS?Eam8sV$9k?teb##rGt3Q*LT5i(B3)$gJ<Il%$A)=EAt*mOv)$wYjY+Aw|W5
z=?qgNy8HV<secFr;}@3%*mEC}#sQ2AHv85=VCBkB+UtL{gJy@%_bS|!^$lva(<>g_
zwzFOs0h@gkMs~7>+a?WH(|+rD`_f43@QTPpxk&0v9r5D*X`4Ny5e~@w^~W2E?T<e_
zP1kaZbY1(d?;_;q^R@L0=pv=|<3jk399xgFLE@?I2Pl<FQ8*l?bUMwfaU*n5>|;#V
zALck+0ZcC)cZ7C}Aomj)Rdb)SGfKKFBPBtL4Af_2bbOOVc6HIYa+I2ryLfycnmQeM
z*G9-(5Z3D<r_1dU#P>KPR~K<+Yyxz&cbf<vmoJy8*E1AU71Kd{Cq#1LpwsrVNxihD
zlzbiK;mj6_&hB`&u=YwKW`afnMgnKH1k50DX1Bkoy^+9x65w-?oMllq<|wF;!|qP7
zFRB^E#DLN}jS*~SM3-et3OHtfOXRO6I1K-CCHVZJGp)CCX$r9Ah;hX$0j7W8Z7ynP
zGs8P}5HMh+vpG7tWDX^kyi26f>|d{=lIBhxx0&)nIDP#l;KC2%dx?Fx+<^KFM=_Sw
zlxX_;Hl6eJB`8W+Lu%G~@|sO&OI}avY5LkTFJ02N$hbOh`r1@p7vj67veRX&>lXU5
zuG8fz(?nR7Pc6Pt>AJlu-cCm+IF_t@3-r4`6iJ?cY~_^{bhkiDkG9k7hhOAr!JIk)
zjYm|SM7OQRlahsOI>)wKU6;$Lx(mI%@Lkx!I$fT9=Tr4)`dVJ@7dk((Wu#7DZfm(u
z0M8;-KTx7s5NC2pk6eEF`<}L#`au6iK!3U@ollE>Ygcx9yn-B~xw#TwJ+&3I<%YL=
z+2ZSasIH+kM0c<H`aOJVF}b^)Ze>Q?EhVM&lLhbeFioJiC9t?@A1!a#PKUx#`euQu
zE?mEzs=BkZZ~jzji>W=Y0J;Gci3Ap|d!0(UlJruji`R$`5+&IbEoeVNjipsZQcY8h
z!APJc+0ENM6sstRUfmL>+V&(hP8~~R28n_)Dn?-Su{f1=bdxpKnfmcTqAgNJzngLn
zb(&jgim}c6tW$ku9sO?FB5Gz=RTXjvXHTLQb^@raj-6^VI;%n=DoWUa1yd-JNK<b|
zGnKQ$mE5{2!4}M`$Ia&zuIcKgDbXOivWSl#^g@R(2YJEkL;aAPt}m4IMPyK0IEBbL
zUKtMf8@HgWFYp!xX88rO(AvN{FP?9V;VW2xq^Els2MFj21G#Q;+NIV~h0<nwuM*FY
zzZgy1%wk@0SyHW+bmfdt-sr|F5{UtWGu$=>Vrw!<&E@61-E(PQaUc_Eo-~GnVMnnM
zZt{=frUI%)vocpBXQQ#UW4<eZC9WAK;#SDNjU}h)v_is?OJtP%pmu#$71O@UZefi&
ziv6tFSstYVYTbk!<-C1`<+cS*fBi?sjRYK{1VQ(cwKGMK`x{%;KHR}9-GpQIOd`m7
zgsQ~x65K#e!j;2F&T2|Q36<wg2b?mkpx+*0wtG?0*+VUuIWlK&avF%+X<xi+2VLI$
z98bW%Z5`@^>Lr*!(MaHe)tl*@DrcbTWm_3{7O2@3PyU4>?gPHPL)8ElKsTV%TmrH7
zZo2Am|E0U3YcD$;XtP@;j58825-<|zM*?P$=tnpv$w<IR084)6y3!#!+Ur|a)kXcO
z<!Cy>243H|UtP<8>ehDwJSv>d+x53B7!`a8CdwaHbqS))+09f1T{6qAEpl}MU0Hv9
zeD$p}3gQnMxaw^m`0spMfI(*;2=Ul2d|rXO;+A;>WjSf-@n8G;2NXK%)4Fkp{~Vq)
zrrd&FzfaZQR51%Y;ZiwAcVT7~LL$aD5-<`dC;=<Sw3{7OWpsF=qum77_@-83SLqha
zV1UITfn&ARl!`iUjdYgnz#Pi2S2MfY&I&m@2FX|tMH^K!%lsS$aym;O7q;lwlsc~p
zT}R89&2~$`%COHm?V2@(*=_q*Sbb~r!!)g%U0K82zyH?^?&Du)MxCQ}XVqy`H~CZB
zo`7mwoeZc;hNQMlm9d?zLbg-um4|?C|9W}&ZA$tt?tj^f545E?kbSd9NDJup(u(c1
zd(IkJmRT1lIUl<3c_l8}<A$a4x<JzHXrs1oUybyr?d(34+UizY8L3m%vXDPrM7|2k
zpDf;X?tXx{`+w(NKzl02@i4d9-ry!k-pk9+^K7=qG<VP?e|U+fK63wV35)d$a{7t@
zrfqc!J6O5va+bFk_3iYr_Eb?E_itibx3c@e0}hWpn*F%wX98E}P2Td<x1Qx~aFJj5
zGJny4dN1Hz6VDcC-2cJ-^-8=ocTkCoNPqGGj@+L_9^vc#E9ROTi1bR^vDg2|1mCEx
zrMi@UbGhG#<Lmb^JM9A@uAf+tI868N{#QC|)zD{V+$882zsMzUZTl;9bMqQ{BTz#h
zE>PExzxV=8?Mc#e3(jT(ievm=0L_4kOaiyP@JFgkbkle2R>E-4Uo$~wby3QuoF&@H
zt0Jqrsg5QAE0=ZK-Jb!<C=s^gjI!HlLTt8a+?gYR2s`nKc6V;xcXv7tMr!FFCtpdu
z+OfqmM=WP%O<yXXM~#shit}aUlX*gT?(B1@lwEh!RKYA`6YB0k9<l)xjRc-J=X?sY
zfuec$^Hj>T2FyY;z)pXqskz-*N6l|*px5@-(vF@oUg;MyZ+MljuvJssGIDSPLRk9h
zNsX-?9Mj@i=`1$#r`>pWuv?JhepgVk5oeGi>}#j8OGs-@E9k7-MY^mz08EYtC0+%-
z@N*h(0xo>nd^(kLPR$|hh;$wp@zRhguX0HSWx2j(hrFRa_|xUqC7FFA-%&P2lwGHE
z@7#g|3%sO?syJCyrNk`tDZ@VXRmfE^xWzv8H8tK!9gS&f>UFln*mr#tbaDTk0P1V$
zw4{&HaYdeie7(Jb+MNN>pvsfb;bb-afL@MlHjgy<=z!eLNDBv4JrQ8S$@MB>GL>Bi
zGdGZ3RMSVvUm%k8YI>dJGC)tpmFXj_>mXv9E=%C=@Ah?Ay=+CX=!mZ$sZR7TBXQfd
zEOyZ6tOJMWvd&jUK59#GRfQKffk8^3=FS{b;pz7R3^MbnLp%TVT~rfsW(rAWuKlM1
ztbAb028y|tKRn%_y#NZ}8_?-3fs*cC`p8B{QH`4XuK57HT18o34Sssp&v0)fU?gyY
zBwz-K6C_we)<~dOB*51gy=+1ePy5S_v#L71`dKahO+^Xa4kD<oYc0q6o97klLqVv-
z-SZdmn6}qn<LVYFEaxb>z^jZ*5<%|&!=?Uo2!JpD@m*fJx<Y040%2!8?IDa%pfl|s
z^OZ;0Z(ZTrZ=k4uTKiU|#CXcj*Qpt<b!m6LB_#V35b1T-_`2;$MmuJl3#d|%kKoJg
z3Yt6P&VG3^=ko=)=NMSri8{B!S7J6KRC|S9?YOdj6kI<34MRTRWVnFIzV~qu1}qDy
zYy8RD_YALC;4hs)V|}w@19YfY-Nlj1m&+1iOVfJ@IQM<l6)+-lPb;@nUO&8Wvx1-8
zsNQ#fu*dJ?>Au>6QIJH(>Gj!ez*S0Q`oBJQtKQ<C5Ekeqmfy~ntMifjxWF^Mk${na
zk$@)wE6cvF(=fh{HqM&k0Vg%RN#!YZmf$6tKv78Gl_@i64>=ZinGD-KI*?zjwX+vc
z*m7o)>Gmwmt3Q;FWFSQ&fu3lTo|!e%tItlhOJ=9`hO8``-ZZi6l`9t1QZ^8zMs~IC
z$KTjMGZM`l`TEP>;$<2Qf%Yv<#}>RyzRBOt5isFDv+x-a98v$>Ti#uep3Ymv$NeQ7
zGB}fak+pBW1;$AG^R{gDNdD)ncTz*FnyT1m-IC0Rh6;%4_32Y6%0B(o!R~b))6qrm
zIkto6Z@GT-Sz_*8H`%Kj0<|k0*|U=<3jAdE2^7Bf`H2b-y&qKD-akR5pq-S+*k_M<
z<up`A>GyNarSa)@ve@KdZ%Z9jHr6{I37ea2q@N%74>}mGqmNJfte43IidzC##W&I4
zwmd_x2W#n?0#*Ho15eP|>}~SE#O3r#$bZ8WKsBHulE6P7{0&V>wb07m3Tk5Y8k|nT
z{_57#(H5YH+RaqONMKY*fX&MSw4LoHTr>I8lyfg3nK11zP0KcL2Frds&ttSBt&T5o
z^>8S4XMFu?FZ)uE?2?+MRlXDyc+iu;1r(hzEaPMyGSQvaVVv__!+-fq=$hb*!<YGp
zT1dJhR7=5EaPmM3;4r4@u9MjtceTpf=KItWva*)l)^yP!w(OIgzFQD=Z@n%Fsd#1l
zx??|Qr8=vns<7V<)2^=f5F^nfJsw?5PnRrWUloRR>r-Bu2z+JwbrcClsGIFVO-{7Z
z>{@4<`s9PEk=6cQ^)zUgcJf!Y+>|XSv)V3A*jAaBtx@%zvBfq14jlNs@M?88;fY^N
z;MHj8@#_!3`0OPdF8)O|xyPg(m0qpS_O)98T04S}q2m@*s%>=Pd$))r?mzWQhc^Ly
zy~EGjD_xqLcLA<u0W0#u4{7gyOS9zF)5p8F=f8hpyGJHd=IqdXVcK7_+&MbX@ibL2
z#g!FePs{9MO?2+w-5&DTDRD1s0>vqTkEWle)%DJ{T$(8{w->19wau?G{e*Kwy{y|G
z7z>~pP!UL=Ce=f?H2Ifiuj{U-z3dJLb_;rdrZqRyTWx=ksG01aQz(MEn<^BLz?G@j
zD6!i)dw?6YA1Z)zP4h-7bNBzddP)mm7*H`upn`pV;f7Y<?x&-tf$9S#+Ls`Usm7)*
zMgm3xBO(F5SJaS*(B?M(v|{p4%RS;xxnCOwU|i70LA)}oTA5W!){eDNH4UpK+40X`
zOMo8N=qsL9uhVPAm1~lFY{L>MMzlNWFO5pIuepXb9g1wtrw|z+qOT3puKons*k+=a
zTj#CUb}Qv#jB&4sLsXYtsk&=N(syn=`Us@eCAOjmLV8oLD!-<jf7*6})ULqY9(PXD
zrfk(h5ovHO@hVC<_Z3l#ds-Oqwv<}0n6qJqB<^g@(l#aO9-`6>UrA~Gjf@d(>r&Qb
zRA@JGWo=bg6>m{b;?_nSK{cxC64G@L8BLMZnepqU>%(My1^AWQs6>jChE%0idy~3-
zTxzN5rLK%Y6JPxnF0EPM%JL96!q;_qotmYztP4V(68FUF-d6t_JHV}=-+vNJ4+SG>
zRl@=-<BSB11dIeE37A1b5{3yH3FJ#)?HeoEB;~Zb7a+ePBLlg6)z|OgH|8FkGl?<_
z9Mv~SPkeI=RrRR*c_UM#p)y(|u=Xuy)BdP)(k_eJX&%n!?A`^-`Rz1FsfqW{`*v>1
zM>3G2kwANC8U4%rtGxQ`Og=|;`_2%*dp}SSqO+=+*@84eFO|=s<u#jVu4_24;o&R2
zO!@*jt1a*nlIB5t0YqdDYm=A~RcAqyN}Yw<JZ-T)LAy2R<69O9lH4yp{}nH8Yf6En
zrl`$IadnyKk>CM!`O6lg`t?XsT)x`)hK(w3*20YnVR^yaB^j9jsXL>Vs_7a$<%BMC
zr2rPGiKqe`7xaxBKD7J~9{TUg7qPp{ESl5XNbPK0>`T!@p=eo>s;yqy8J<Mx+ALi$
z^G`f+Pke=s#6tU|Yml4-%>Y8GnicRRpVqDp*Xt}7QlTyE-#(5lpd~l$rUO!p=%V^r
zJZ=S5<wZ+Um5<bAIlkP-^*$R7`n)TJu}FE?Pdm4|LrI=-C$m$O+|n<o1~#q9@m^|m
z#_#Z{oTEhY619M&7oo6b38Wu2#kQvGCd3?mmoM@M{@vjT^shBn(%Ta|D3(o8XQYIw
zlx#-@H96Hve}DM@=n%UU^QAd+WLhR%#1dHCwTC`)^iQ<S8bgm2sOQaH&(cCVM&GZz
zn&J3ooeQ8EP!UPsvn_w5sp)3gnXaLutX_Or&9beCHg>`%9_oMODk3?UsxS#8*}ZjW
z_s*bd&M1Tv50p}Cu-x3FECh0f_#MF*m50hG6L6;ce2~}~n?N6$cl{Y60#i*PfhTLu
zBmDSReCU4!*z@lkbEEeapL1!i2RDJ@mcZXmx`|gX-uMXB(SG7L<}TX1j~4g-#jAPw
z1e@A&&W7rk8`U+Ohcv<gv0baK=7@f~aII3(M;m-Y2_$^`Oa8Ur3gRh<T;JduDWLd&
z|FX(kU+2$(tIy%|IB<^Fwe9gY$^Wk8Ir@`(&31~dKfhmq_z&VgrWpH192`6QLGhHc
zc0RJgUpMnKjxqFqs^)@STRj94s}}leX=J<NIaSGZ_w8GTKy74EAJNEN`Fpij-*wwI
z1>@aYCVO$mDAtRfuz=8@bnftPH>e7x=)0+(du2Y}zMWpODa-HPuj=lhDb2oerDU8j
z-1j6^qyZ=_cQ!lM9N;SLLT*uJAC<c&qSC1oF>Dno)xb`b1WH&xSeWn?!0Xwi6M;a?
z*7h7u6?>-KlPZBrzw;koGqwOHRpiA|7@t=r*p0dJ2RdpdG<)?6{l<Ue^k&s9m84iN
zxY+X6l9<{ELTXMn&D4gfh#S}KS#Nx7sUX4q*eBkh#J}**{?y60c6CrP()K4HImymf
z=T9c8^BR=4@PH?75=B_9M(h*I0rK39UsY{&TT;F(d$jG(l*YWgEeC>vU!6C3OAL6r
zseFlKKV0)Zzg>abw#ivm^mX%UYvWi-x~IP;&96rm?&=<8HWrdQ(5)^{^}6W&L}b<b
zfVR6%5ot9syWF>>M*eR<f3_gQee36KO8omP9ea>X&Eph!Yf2)@Qqnn9qVk8dwIloN
zi#`e|B~s;n>;%9I#`@PnAs+dTdI0waclviTApL*q{kk<KL`&mt1wRZt-Dx|ZN^(R?
zlx@m^xS-N0bJBHwy8_;@V<tTAvROw~avv9I#y1i$5-<|*Bwz*!PZTC#Bw!>^NCFnF
z;@N!m96EHtaxeYr%oduNgGq&P#VUc%m)%6KUNf6lk8g+G|3F?<Z=QQIg(A+b##=)5
z^n>iZc{m18JQCO&m_Rqr|EyP`qn*E_vZhxp%Vz7ID!YenXnut{!ZCVu;)QhRjj3cM
zoX#Py+3KRI5~AEv7t$pmKV4tG>F0iXv`-Osx#wD2QtISpS6p51zOw9BUL_EC^xzCH
zUaBo3**1=shJbbroRZdGM6;%*jCA>3k96+$Y>l^<nrA6w$H#nr#5reyP#*SW2UuxH
zm2Jq?i|DJ=UU%In=yYXN`L#)F@Pm712sCPB*Qig=wbGKdz0}C;>(o`VgSM>a4Vsup
z(x1!cQ<GgyUG914xc1fD{!FVuNjAq<*8ILWc!9lYm6cloWPKNqOC##p_sE8IoQD7J
zY95S9eG-7~jJoNn>rZ5s*w?rfr|VEErF#QyN#E6#QVrEIPpL25WJcAelu732@|UOd
zXQo#Zg47L3KM${=vafWh!fkQ;MNf-w!r#fR)NigUr;oJ#nQF4#^q`&K-`nOrYD~I^
z{;F{kU3RQcS5f3-B1I&DS=~*%-7jg~Rj^i<b#0{&cDzLMdXE%LH^AbQz*X@rbVK{g
zRGaDK738n!E_PGOtJUMFC8FLqQ=B3&wGt9&idM09pFs!RZ!rqE@V7;$QdeLM9SPS6
zknzs|32Z8zMu#&s)D?7$7}+2Zpu@2m`losC^Qu2#Y6DGmPlSfwobSP#lj`=-;T|=f
zm99e8r^WI#4g~e7o7e)alup(GZ)TalJ%sp0Yd!+cbJv}-+6(8t_05}S^kEBdvbRHZ
zKHoa$&mNx$w50rHlzv6|v81|W&}NDwvK=~g_CAjvT&umlY$mO*ndzEqf6q%3fqUz&
z@XfVz^;9<2Igwc-ZT$haGp$bNyVd3s<nnxZ8G=N8`%gY$tS?m)Y3C+iK{T~^sR(kv
zEb468rllnT66Eb+#P#iD!1{7}-my`?qLpEPt9wjLwa5*=f389@^`zeqkRY#+<#yNQ
zp+7$|QA^v_)mGtD=3dJ#@|0W7x+)a*>%hM6#go4?)>*d255in~7rRD)N$G+uJL#<l
zo)P(J_T^@(=?SAq13&J*mwxDep*fXH(YFiK^Wi<;_ioG`JMB;b3<D}A3CzwMp<ldm
zzgMMS9oj?B26I`a*9%aH?RJEvPh$tY_m+om0!1c)h@JM@Jg0q#LR7Vc4IU*qXXY5y
zF0K?f#xEWT;JJs%ws2N1O97@mSLe7Q)%ZpNMgm3xt_1kvD8{zl<aK6SqkoDp`yqe5
z>4%)$dVD0Ls%~--J+#o*KY;#c4)_Pu5dY3y>IqE1PL;difTI}}<v;X~DsS@XP<2)6
zUicw0j-W5^=*g!;QG{soWX@lg%0-8xDT=rz+VLaKAu*&M9pH4Rx)~@_9DZ249h<(m
zP?hbUf2^Lsy!lgNn{WT{3mu`HFFd54XukV)H7@rH|L&?0D!dOe9qtw8Ejz|37^N{^
z(h;s_i73Yq6l4=I5-<`l5`YA_Nk@v^CD2{skN;VAY&ax+gu;lb_$1KDZY2_Jp42qs
zqPA`9wyKo-5lzd^Qf1D6%Lp9f7moz++;@aZy$bcPyKwCcyZbWDOw3+dFpu6?@@_A2
zdFK}Ig51`J{HdtCJp*KYi$>nc(J$oGw{K*NJkSyrXu3t`ZNGmjl06st==ok4fiHdA
zxATxK;E;B5F39yaenTI<2*rBtwr@G75(S`<SuzTzTS*T0f?U}G548J}d(8*@6QOsM
z-%eZSP3P=z6YXvH3D!LS!&7eew?NsARllNd^0e8Hc6m4myxy+fL7`jz={$<edY{no
ze97i-RepJ#D(l$yRqM-d-{n|1Zfx<F&M3ECvPMN*x5y1>r+<OdmkUc5=3>b%+}uia
zIZ^s=FNq}Xf8&b_mH0Ca{xjC)>kZk(%nDlGcC9S0Ozv~jE@dn8!F(e?K52^*YNL*%
z$Gy+r)!Z4HL?12p&9&p5Y&-PGi_Z6kW+a>G?tQ<cW8n(=*5toZxiqn&mB6L(?Q~7+
zYwRPDW%Q*2wfs`s6Er*6N&j1ZF*U{ffw=&x0Tq!1{=VUH8po_Kzn1JKyc+np70V^*
z+@6CpFQM9=7g4=URSHO;Hr>hFeRi^`Kq}GP^btBQxsU2H>RYlPvH=#21m?4w&CcyP
zK&5Ou9F8m8o2^Rv`Pd7n)7+?CGz~qNifoTfX6=3nJJbcch{yA?{9oBcv>}wDZINlr
zvPPN{=V2N^F-hR@nhU8So1o^FJ-k|0fPL7bBO9ehBj<5Ic}F)ryZ!=tt;@MpXKRnY
z%{0(ghGUYwtG@Qsg{bQ~8hRXq?zq+$Tjl*cMkMo=%?hap5BlrEysr$qcQ}d+!~e>#
zx=`%vE5ltHZ@)Y!N_PA)j*SwJ$X{dzK>y0HFkg3avRjW_7Ua{qNbA;)uIgU^mcKIm
zo7Kw%Im#@y=ukx!9boOAW8bMS<TeE6QpjSu2i67?8r$jFEthe$Cl9Nexm`KO99qyw
zOJ5ZRO#Vu9GT=9GP&1znyIXXEPF29ydqg!8<DKzxfyVvD2db6$`eV-a?fz~_=nSJZ
z>Gv08NcVFq6i!adPR+^8y(OMP(wCMKS(TT!e1C#WhBmd<DDig52B0bF%O|0IkSfd1
zYWi72(wDn!%@{JH;mTik289w=E^A*};t^~rtE36%chHLw$D}-AA0&L|#|pEG&e^($
zE~x*rhdicIZFDce1d2ui*KBxI`4st^1#0$>uRg(!vO5Dp++3DhKtja@8rL1CRWJE7
z%KvTLK`)fs+NA`=RcBKhBLO3U5s-j7j~)SnhJ=xTkw9@tfX^i-#Zt7W#y{$M-KEca
zwQPLyJziKp>a6Pz;%R>k*DKxR1OiFzKv7m(LuFk<E*w6SU5T{T1AN6|b^m!?(^3yz
zTSBrAy{fc4L>7?kJ7hS*@?Nx_hIp4$&p^O8NL#UZor3<zp|>jWuB^W|-kJ5+o<Is|
z`je0*2eBqE(Kgb{v`znUC91yQLbk0f+=nlFS_HZO=-PL3zZVC53T$kJtqg_TCH=%`
zyO%c>8smi#XweL=vP=unmy`7nLCyGA)?FZfhmB?Lr?0#9N2)DAEUO+4XioaN3*@WN
zJ~*6oZ%6Bt+6{QR({&KCzC!OwLG2^Gy;A=cZ3X%%?Pj*xDUC|8&FfX2Ntbk%KFy5T
z`f{>9qAwf)*L6J=Ays~Lt`Wt8Nryxh?q{Ui&?-AIKCr%Z_o}boW2P30oJ_<>z(_!s
zfR$tK<K~JA+BM!+$@Z|<WvT6(4(gdq{PdT=CTphG=J+-s?Z~gwmg*@KwVaz@swqM9
z<G#6GKDL3J?h;4@Bebz>x>t>Z(QdMn@qmTfUpGygPJ5TU%}ZR-^#aXvudwofCQwuo
z_)hd%+Iq3mA-K)9x^&`o{r9sj_iVQ3bRMN|Y<;AtWMC?zN}w@PMPHk>!UM*ebHYyB
zrn7nv(@*NZNr%H@=%y*RP~(BgRFZHO-`zL(cZjLWUm|s>njiN{8^J)+7WLfgq)({}
zF1e^@7Cs|KM=UI#`<036ye;~Sf09PVJDFi$^+a@F%S^B6)Pg8o-@Tsxru8{`gI##}
zelNujta{^dW`-H3Urv1+ZH-Q%y{*n6iRm}1GM`SWA%IWe<b}4aKUXQN_k#|PQxz!D
z$><ZhMZu;&pQmsU{;2vS%~n$V=S=~hph*2%e+6;4!fD6vZ~t$alx(BVv3o3WYXjFw
zi0f)1?3x<m&KwEg7%;9W3Tsw8LIM`Mgd)ncuR(KMScv3|@G%ZVS=$HPtpPTq1!z}r
zJbj|{!<2T<4DWBNqm=t$j7J{W-lt%K+O1cXWI`9URTXrJ7LSoSVwMM;(Y3<80YwyA
z8BrC@)tCBeci<fUiN9^2E7_NXFB4=&)IXT^%ak?0)mNyzb^hGn-T(vfl)oL+DcvQA
zv@Y#dm;_07c`Us*;Jlxbu8%x$8Qt75pi9BQ!~ctC`EQNH>@fYoT1YRK&LYRu?<pVA
z4gF;DJK623Av#)CMNwuNC_ZlS+K+G!$afiS>q<9u)wgc^oN7qlLV&(ZI7{0Onp&#P
zX2!lv{b*?W&m7seXeO6)Xqh0%{jj$0C7TZG+g|$d+mwW`*FE?EqSeA))-7q~vO{jj
z@zTGXti%s?`)wv4yOy_Glnib}?t6N=o>%8xe9Y$96#pb&8~Z>H+;=8iNfFi`_b1j-
znZ1vFB$qvdmE8%7q%!QW&Cs0v4OE&oN=sen#TH+1tdZ&?&h#>raRwm0j@7+A%tp6_
zX0$g`S-dcgp2x&bUkSw0DZ1#$KCc3`J>Be8W!sj;?6haGf#H(&&0b<vWntrf55WYE
zPXf!fy^X!+26HdK@s%^k+*j=0Mmyt<fkl!nKh_k;cf+;~6bm|U?>5a)p#Zu8o#qm#
zOeE-IufOQk;<2Xv^l}AhW*}a&2^a|&2^a}D65vXK5_bJgrSvtAH#>Y2z6>4qWL06S
z8tt;2zqSEVSUR#ckhz$CjIfDacmY?Rk#+NI-Jb2>aPe=)ld9Hull`1XV(TbXClbs!
zIu8#)3b32}q?j7aX~*l-RG4e}dWVd3Jo3nsmnf+9A@xjExh-ySWmk6fBRde$kMu>|
zuO($|b@wE#@!B0!<<}YT*X?q<qKtuV%*`_W6Mk^7xBKPp3+?7G@lV%N_40d6L@F`u
zg|z;b&ZB49{r|F)@c<9HIxB?3q_*w;gu2f*Z>ze~@p6x2_ShWo`!A;>9Xmx_6CZ`L
zefJsml?tAv&_7uQ(O#9;-)_7>$+9M{UhWYO`fZexWR)RR1(20w2ZA9c72zz&ESRSS
z{4~UMePPx$4X!*o1IeCy&m?~%Lwp6RKRt+-(FBYHj0DbH37A3R%x!y9b0dL4Nx;JP
z%l`3W>BZUeybRNK9HLmSx*g{wnm|!VVCU?qlq+|pq?rtx*6zu#*6P`3QP^?}?2c6j
zX!=fdTQ5I{ft=0~NW~)b?A)`xD(s?WvQu5`TcYe}TVq`fRm`rXOdv!J?6cF?re3FM
z-LShN+TP)3>XeSJA+1|mBVqGIxOhO_SJ(IYlL2)%CF7nONt3$mW=lu!Kzm|jfhdCe
zJJ=_ah11t;vhDylxqgn^2^xj`Ad`#ig3__oSjaDbqWeGz+-+%ptqE8n;Oke~HT{Xc
zri|Lo{<WYb)|921PNJM?FJw19pkC)xVNLXsub8&a3qQZ$LONDfLDftL)SLEoEFJ<2
zY#cw0!r>@&N263x(?d%RIQgTU>YBTS)WIW_Roh;sDeE1A+PXQQ9T}D7thcS+e|)Wn
zQ(Dfo9nte;T-}%8X&}9bz$@g3B>v_0OKWWq4mwt=f<|+oK?J#<=0{;2kgO{kNH?Ys
z@y$y(*w$=kBASg-ZLXH%&8zg=zNI=w56?Y^#`JWtZ-m-(pt+8!j_!4O`|M;RJy?G~
z9gNh{%9)>0$~KYWmB1D4Tj;aLo~5nqT=<Ft)x7?-SJ=xUK~JA^F72&WJ9+_h11b^;
zeB$N5P+fN?eLLL2j`+DI+9OuCuV3>Fo4}45TYwR(mmy>%U?jjL!1sQ3mQ17%&i)i-
zwHr5#jEY+VPgb8#Ybwv76t}#6GOx0~TJlzIiHXm`Rk!!OoXE>)0H?JCe*BJiQjo3X
z8aMrpYS^^G3NcH}i4Dy(JM6D9H|`rlZzi2}ZhxmQv9sT|Q}?v{#v5A78~3aFi@(0*
z;-L{Zf!I24H-6@wC$O}klYaVP=g2s6PN4>>EotRMpv2r-fZVjL2UrJj+PJg5hyK#+
zoUgh1mKhqh9@mmjLiErt{B<^pyXux{ZmGgQ2~6}+#Nl77wjm$6<)S_?Pd<3feZHPB
z+tEwsuHWG?kv-HxIm^yjI1n<vsf`^Y-{&QoK=Dgp#{NdHk}2uXk_Tjg8QTv~I1u5W
z{oTI7jf`W$#Up_b+ufY?=6<h2?cHtEJehLFX2KJR2^a|&2^5k5*GZIzvoyZM-^$$9
z;cs{S_q~58ly5*-K-)r;w~mlm-s(bJn45+*6Ix4K(ku$j0=nn^>qowcw!GB_1Y6tw
z)YCm80|fMKI=OCg+NIV~g_3^!UN*Uvx4@7|-?r1Ya>cftUMHo%0U{r(x?I6Hr^;En
z@f&lM6em&@wkhI%b+<!Yoy(H`c%QnR7m}_HKu%#!?od(xTauZxemk;$^jyuU#`IfX
z&#Q5kLIUfd2R8FyuiYs?+!y^!0OjpRz~uH6IDPqgpB8wfwtvI{up7rs5J}vB{(f~<
z)`c632jO)2=r;_@B=j%-=(ysD#5Bu4Hh}!)mcOqWalfK$W)iYwP1s1lNFYxFW{}7e
zi2)c13`YWEA8LKI_-z5$Ww|+eefl)&ILF^HnD)X>D(&($pu-WL$uqho@a9GHX?vZs
z#LTAI5@h#-c?_?+<U9(oi)pxP>7kh~`C9NiWCJ+uC6KC!(VAtx<#odwO%&;F3$bhW
z+1GZW7L5;dQX<5z-L7NXN12^e(xq-MK?1sYtu7VatXWRiO{K+pTi_(^I1lP@eVyJK
z+$XYdzbD=7#RJ+kX#E}e)p0!{EMO0C@1rf9JC<=*+kcYDP%5V$=azLc`r1~Pt-en7
z@Ff#r6sF5nVSuOmYu|lRn;xmFqUuVbnVrql!SoP?T$X{u>}tFA+A7LeVX8?x>*{XJ
z6u+BPv-C8#-}5Q<O4k6$?J3I+*m_)Uqnvi!+{&uv>|5LB`3162OKLBV%jE%()xJKY
zm&r4^|K#!k(sAYVfMmk2_qzv<Et1L75q2Cxc6!}JnodW@llzPn@^y;H9|@{v`&Ljj
zU8p4I(&-5~UzgI$?)N)9c`S`T&_rQo!k>tSDco&4H5=a>r<>ngM~$Ub&LAPUG=5P_
z;M|tO^x-}0X;-X*eqW%b^SA7!+ID77v3Nc;uz|w3GeZJry|Rm4Y1mCi>UwyE`A$cc
zy@A^!r4$!a%QHh3XM8PF>@(wN_b%<gnh;Eqy-9jY+1ppUz*wXkzc?k3EQwGklc5~@
z4rPcfDEJ_;ucD5=u;lvUtg)$8pAuLzX+Gh{Kj8E1{dssVUv|Ft0iW1W^|tUlWCJJ~
z3B35;#k?-@^(|D#cD~tVxdEzu{Qyln^paP}uC`X{cCUe#?E~~Rk#2*KmX3SN>vj;<
z*K>MaJzX%P!^0MPwMkB1m&t2H31!H^f#}Hk0=XXHpvqfs#y>I+CgfwiS?Rbv()2Rr
zGURl9of^#3!>F5Aa{I|&11@{+6`B-t)~#7)eR&XtXs-6L7bwI&4+qzi>Y#l&XP`Km
z-Kk*e{Q~r4my<p#skf($r^`UQ&0j{PbXL{(D2Xg0c+h#%&pPInDP1d<kE@sB$K`s-
zG6#lk4<q9uU2jvs;B?+X+SPS(x~_XkYr2<IPCbW{4mukXhXPD7<vN?4)v0{gw?Rs^
z@1{T<n@9$jiFTy3hst_=<x{ux$!tNu_{AjwtEGd=LXJ{1qbUVNO(Tu1p21tMrmPe=
z#xEWT1emhYVrRO93$i;%f@5v%3p^s#_(lSr1g`$#ZC4e)Er3^D6X;(8cdz>TJr*oo
z@d=<Y5&xQ|*HcHmoHzZ=6<&BW1n&Fc;|d#p_qh)#@lzQY&AdS_x()e)$Q&-NG;G@o
zOy|Q)hb8Q><*T1>`ON!HrI-tr{m^~SEAY|OFXVFtU~)9^_S*;4{n^>snVuXw+-tkl
z6|I+S0!9Kx0!9Lk1k4~|dV-OFkwCu^2z=}lH`-4#Yqc>KT<amWJn{hLTAO%0o;>8i
zW%a5DJi!57H5|37l@e1~$8=Kxo}x%3<g1RsLNcT7Bc5vcRYs?Hl8OD*$Eke$bRNf^
z=&t+zno_A0yCFABY4#Q6NF+kjZuyzFCmLvKp~&x^;rRLuxq2JvX0%?REYP2suD-=1
z=Nm|Nv4Cp*)sl8hFl8Er!unQ&zI`O;$!Vs!`j(!+)oG3iJ8~B3omuDE5^;IUOqPKz
zD>)5$<$QwHQ2nui8D189Of{ueyw{6&y!HguwQN{p;cL&)WQxw(x|fpd?(H|;GK&K2
zDl6lPTLOWS7*)o*Xfm_O?PA-Wy9!h{v~v#yd)ddQW=|u#M78rRfNnsiy9C&CZ<m%(
z<drRK6Ff=5R4=n-aILFii6qTy*iW66Wqgo0-Ro-jADjfLTjMlu$9_6iRd@gh?cPVB
z)=o;Zeqm1-KRBWW>$I1E^=3T<+dC*Q%`vXvCYUK^k9&B^I7*Zj?kuN$txW|AN}#*E
zl(&0FN#U7eb|Sk;rK*PPO8-<)K|%&tR1(Neoj|#oO0vWI*jHuvOv0u(dsDoy<b1E9
z9lbj!)x!`*q03}jj-RV_|MC>m9-Po`1f(;^j-SsHNTIdImt!Q?Lx-nMVZU*X&Gy>-
zf-~>9h;k9<C}y%@C++K2x1#fNoJ<Hd@(1JC-1!u{?xe0O(Ff?<AUW)>E(6J<aNbth
z?3EoUn?V!VXIqlXF6OY@`bYSH5m>o$rTx&)e!;X$e1gFf?F`KH3KR7xn!sr-fdD)C
z#S~Fq9qddZPl*|@q_f&gfoG2@Gu?q63Q@Ju(2sRqeYrbap1MIoNXhZp&4cW|0MD^=
z8}sMQewL36c8(d=NQW{!BoioF2@K|ew=?PijiMEXshBGPo76UU23TwF-o5My7_+gn
z{F#K2*_kB)o2j#t$t-(MIBzuJN15IV2Y-wkX$j~u9SyUc{5odXS@PD_)(O_qrAuk<
z+_^M$>ePHJ134okkj-Xk-MV!Y3OQ!_@Ru!HM(7&?c18%oR8o<^!Gi~B!-fs71=w3;
zbPi(*yCz~JU?gygB(PN1pqwH;OtD4+MgpT%0%njHtu15tG7>l;5?J?#-R~a0Er1y?
zPDrB|qDBJ6BY{ypNbK9Uk5;W(rAYgyKm94Sx2p%L6oeBL*|cdBp={%f1kN-GjM_nB
z&6+h_+y0fWe8p=Mz&`oOPZIo-=`c8)fByMqkQju}F_`KD`yjFn8wGs<<)Pe@>F@&k
z-uJ#o@K2_D?6Jq_jyvw46)RRK&jH}fNRq=LixF)H>~xG)cl+(PV;4qYZ}sZcN_;Sp
z;pEZjE?Tt6zVy;db?~6$ZEbCKeSQ6)@lRL8?|%2Yyv<PG6YVx`+-P5W?X|qTk!a(=
z@{79Nc;k&Hz1#;Me2|w5KG7fXg99AT3iuNJR6IK)&<>ZVParRH^!&T$o_q2JiJ@|b
zj#O1uHPmc*_!uCDJ4lGeJDD9huL4C1zypF8$xvjA_IUKsM~_P)C~q+3V$d8ZhklG_
zLU(`<rT%*U0pgbo+2j&aZy4RcVTw~-UCpOC9KilTUjVqk0Y0WdGiJ=-C`iLp=)CjJ
z<5MG%Pxx}WfXTinQ_x2m%0xNv!4IZm0*<mfIy(526g(g<(m)H-MNHkmkM2NIr0Z#g
z;=mPCJ-L41XY=OGoJTP|J{~!N2Fk)uE(bjImsW`9(;X)I)llkz_CP+g`-ybuU!VW{
z=e_=Tyk(&u>kjQ*2(IHDSA2j`#7oBLE2dbO%HSuadhp>eofa^Rpm_5#=J=>BriK{7
zL2LT->E3in6axBqGr++I4)VjvwB^whv``M{!=ZdkxquG`TtR~a*gxQ+ER4PgBOUb-
zPNxYP7_CuGUrz9cbcDrJ5OI`)GT_4rT)<>Gq0U0iBCN{^@)Nv*jyy|38h90D$Y~rn
zLjS-c_`?tU!xv7Zfj8kGWAG)?&_<9y;`pIHh|6zx$O?G`ZO}tmfC)K*KEkqW0Rv6o
zfhO{ZzJWBvfseM-X`w9ehM&v}^1%Tn(h%0mb+DZOC=>Dr4$9H%0W845qi~{p_<9|I
ztMd&U<Odu+a6~>KFS+h02XNq_9*{d^HGmu1asv#2AqZMHA#?!~IABC}U`hxIa4-m3
z0tS3kRCdS%9N|!5#AVue7zGXBiSk7w16QU296WdsmT-a>0Rta0P2deQNT3|h5l+r8
zc!DpSfXQ`1nqIc(jDnu%+=7mrA8DfANSD(D{z&+8IcO8K6CC6x+Dz0{h9MthB>D{M
ziXV6uZ6NZ2o>*Ta3|FZAg&bF}{>ZBEmBJQaHOI$4&=BncUeFih2S@Ku$OE2)yx{{!
zmMiFqItzT@$h-qCJG2FGgaa;k0}S#&nF!;dMOe^B9Q{=;A2figx34dY)uI^AlPE{#
zPsm&h5-3BI>1ECj3~#`Y3kFRThRy(oG*m{$5e+Rm0C2@mG>o1Hv~(c@CJRcG1$bXh
zry+O|<;y<OM5mJZ2W^4ZS2^M#KzX7O1g_vyrdbFEd<;ze$qAhmIAVYnWx($*O~yOk
zFxo)wz@iO7w@|%A8_04Iomjx&%WVr<g=DVd6e<t$k$KYd=yAwW3@RuW4mjcg5@n!o
z2q$3h`*Nb*a=L)Yw2%&-Wgbv>;L1+t8)<#<f%*eq@Q3nHhLAV%0tbWB0B-2|3082P
z!&(pP?Y^8y!}gJ^R}lDE)1NFSc)_}^kOPmyaai+$Hnwj;16y=LPcjsGSZnqrC(r?1
z=q0f31s-%LLZ<zt4TXn+aM{B{*IjoVv4@M-QRsXI$_L$%aNrp_8v%pQ1`b{~fiqlR
zv@zra9l=0O;6Q%Du?LjvFc62F*+c8a1<vvKcxGfLc!n?ZW_|ThIbUC4oj&>rbXh{)
z$cJ_tOxul^&4lQveKFk^972%=)E8cVaCC-|a567LrH8!eWb6&g8v+lp-06lwuh5_=
zWCS|sMC>iVNiJW$oaD~bU)oT3=noei4i63Lh;|>2{N>In$^vXSv_yX4Lsn2wg3rM`
z1jvVapuOau$SccUlyM?_yi~*sLVw6lM0tayIU<7u8n!>Jv8b?k+Y06&d~|S;4gn3t
ziG2DS8xI*eNPkXr0D*%%GA{@Z#fb+SazGewMFATM9pHj@xnm+M>LcEI;9t-eycS9m
zI78)OAbga`rn3B@#v4lJcc8o{G97&2frotXz!w^f3Y9NpD5rsz7_@{hr;lV9{DN2T
zEc*3G(g!W{g+lFA2qu?3tU*E+C?0H73JuejLpob;@#!V-APD>*7{o>T+O=yr4D`|A
zMW+WY8cDB=$oKf;k8?V}!+?PwXv<E}Lx;u#{Ln)W@qtaw17461>0;RcUhsfIz~BM+
zg&gq21Bu24E&OB$92pO3peegTa*}BYUXTanfLF)?u27oJ14lg0e_}8PZG^Ez5_LaL
z(*0&1Oc{`Yyo~9Kpxl>G5A;2qKKhYp%l-TJ^S0}Y-toZEC(s|!H~VrjzkT8K2M2Am
zlm0@*bAdYc=dAt``%4o71oPryMu*1_>pA!kx~Moh6PSTO@I%KIFq9+0NW+7Od?*9-
z#ViGBpba{Lwww>?XmG&~=!!Qx@Gt-f9zYvB%6Wva07JSMSdb5K@GN)%ZP_6W`9Kp6
zapZvmPv9HrsE;TcFvLY&fUDOBbifCEI8i_3Ls`HFtgkd7e~vIh|4=6C0C}NorV#V^
z17C2$m&1Sw8S4+Ez!T|+gLgdi`oIi%pj`YQQ`w39;89K!G88WX#L<@E33U-P<vt?9
zA|3eP2W5ahobbU*Uk*6PBg)h9MBAdCkPF%sKRCby9C2B$avb?&9t587QMPzFLN20A
z!9QsA<%V<_4Txh6jA^FKP+!Ciyf`I*j)hK)jxQcEbUJiYJZ!?@Aw#-=;h{&r0iJk(
zkq;dhIO4$o4t|0*;CN7hhqB@8<%x$7zIdoWLp<PkxRDn;pnSkZx~K<m1g`>D)CIf%
z2ELIGKj5Q|2p4k5gLF8QhjIjc!7u6o2iiyjf5?Nps0YHJk2JvGfCCvoE`{K7JLu(r
zXZ+wmzc1c7g7a^w86+fWjLzVVXQkN}_)523b@}oSj7|;>S7(d_mImHi@?;`7l=_OH
zO}qkzlGorG2^a~So)W;+;=;kOe($~aPGb9T%X)fx%7MRl@#0t6Jm%HG<TW@(0!9L-
etpv9J@z%=pH$Qjq9jL)oS6p-XBbTlG>i-9UEr0I-

literal 0
HcmV?d00001