From 77b9eaf0386a851bd0036e930306022d878f9c8c Mon Sep 17 00:00:00 2001
From: AnthonyCvn <anthony.cavin.ac@gmail.com>
Date: Wed, 13 Mar 2024 21:41:22 +0100
Subject: [PATCH] first draft

---
 .../img/ros-reductstore-example.drawio        |  79 +++++++
 .../img/ros-reductstore-example.webp          | Bin 0 -> 33660 bytes
 blog/2024-03-15-ROS-integration/index.md      | 195 ++++++++++++++++++
 3 files changed, 274 insertions(+)
 create mode 100644 blog/2024-03-15-ROS-integration/img/ros-reductstore-example.drawio
 create mode 100644 blog/2024-03-15-ROS-integration/img/ros-reductstore-example.webp
 create mode 100644 blog/2024-03-15-ROS-integration/index.md

diff --git a/blog/2024-03-15-ROS-integration/img/ros-reductstore-example.drawio b/blog/2024-03-15-ROS-integration/img/ros-reductstore-example.drawio
new file mode 100644
index 00000000..f3d4ae9c
--- /dev/null
+++ b/blog/2024-03-15-ROS-integration/img/ros-reductstore-example.drawio
@@ -0,0 +1,79 @@
+<mxfile host="app.diagrams.net" modified="2024-03-13T19:05:26.528Z" agent="Mozilla/5.0 (Macintosh; Intel Mac OS X 10_15_7) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/122.0.0.0 Safari/537.36" etag="oHQXwmuDIeNn-u-KG8G6" version="23.1.4" type="google">
+  <diagram name="Page-1" id="hGl6-yu-bIhh6hzXzWU5">
+    <mxGraphModel grid="1" page="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" pageScale="1" pageWidth="850" pageHeight="1100" math="0" shadow="0">
+      <root>
+        <mxCell id="0" />
+        <mxCell id="1" parent="0" />
+        <mxCell id="jcethup4zuZOfwS8kyeW-5" value="" style="rounded=1;whiteSpace=wrap;html=1;fillColor=#fff2cc;strokeColor=#d6b656;" vertex="1" parent="1">
+          <mxGeometry x="70" y="160.63" width="350" height="161.25" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-26" value="ReductStore Bucket" style="text;html=1;align=left;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontStyle=1" vertex="1" parent="1">
+          <mxGeometry x="87.5" y="133.63" width="140" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-28" value="" style="group;strokeColor=default;container=0;" connectable="0" vertex="1" parent="1">
+          <mxGeometry x="87.5" y="192" width="315" height="96.88" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-29" value="&lt;p data-pm-slice=&quot;1 1 []&quot; style=&quot;font-size: 12px;&quot;&gt;/image_raw&lt;/p&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=12;" vertex="1" parent="1">
+          <mxGeometry x="560" y="206.25" width="90" height="50" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-30" value="&lt;p data-pm-slice=&quot;1 1 []&quot;&gt;Image Entry&lt;/p&gt;" style="text;whiteSpace=wrap;html=1;align=left;" vertex="1" parent="1">
+          <mxGeometry x="87.5" y="155" width="170" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-46" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="jcethup4zuZOfwS8kyeW-33" target="jcethup4zuZOfwS8kyeW-45">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-33" value="" style="sketch=0;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;fillColor=#505050;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;outlineConnect=0;align=center;shape=mxgraph.office.devices.video_camera;" vertex="1" parent="1">
+          <mxGeometry x="650" y="228.76" width="52" height="25" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-12" value="t1" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="1">
+          <mxGeometry x="352.5" y="259.38" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-15" value="t2" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="1">
+          <mxGeometry x="283" y="259.38" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-18" value="t3" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="1">
+          <mxGeometry x="214" y="259.38" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-21" value="t4" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="1">
+          <mxGeometry x="144.95" y="259.38" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-22" value="..." style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;" vertex="1" parent="1">
+          <mxGeometry x="100" y="226.88" width="30" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-38" value="" style="image;aspect=fixed;html=1;points=[];align=center;fontSize=12;image=img/lib/azure2/other/Defender_Industrial_Robot.svg;" vertex="1" parent="1">
+          <mxGeometry x="740" y="206.25" width="71.36" height="95" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-39" value="" style="image;aspect=fixed;html=1;points=[];align=center;fontSize=12;image=img/lib/azure2/other/Defender_Industrial_Robot.svg;imageBorder=default;" vertex="1" parent="1">
+          <mxGeometry x="352.5" y="221.88" width="30.05" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-40" value="" style="image;aspect=fixed;html=1;points=[];align=center;fontSize=12;image=img/lib/azure2/other/Defender_Industrial_Robot.svg;imageBorder=default;" vertex="1" parent="1">
+          <mxGeometry x="283" y="221.88" width="30.05" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-41" value="" style="image;aspect=fixed;html=1;points=[];align=center;fontSize=12;image=img/lib/azure2/other/Defender_Industrial_Robot.svg;imageBorder=default;" vertex="1" parent="1">
+          <mxGeometry x="214" y="221.88" width="30.05" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-42" value="" style="image;aspect=fixed;html=1;points=[];align=center;fontSize=12;image=img/lib/azure2/other/Defender_Industrial_Robot.svg;imageBorder=default;" vertex="1" parent="1">
+          <mxGeometry x="144.89999999999998" y="221.88" width="30.05" height="40" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-47" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="jcethup4zuZOfwS8kyeW-45" target="jcethup4zuZOfwS8kyeW-5">
+          <mxGeometry relative="1" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-45" value="ROS 2&lt;br&gt;Node" style="rounded=1;whiteSpace=wrap;html=1;" vertex="1" parent="1">
+          <mxGeometry x="470" y="211.26" width="70" height="60" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-53" value="Metadata" style="text;html=1;align=center;verticalAlign=top;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=10;" vertex="1" parent="1">
+          <mxGeometry x="124.95" y="199.88" width="70" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-54" value="Metadata" style="text;html=1;align=center;verticalAlign=top;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=10;" vertex="1" parent="1">
+          <mxGeometry x="194" y="199.88" width="70" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-55" value="Metadata" style="text;html=1;align=center;verticalAlign=top;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=10;" vertex="1" parent="1">
+          <mxGeometry x="263" y="199.88" width="70" height="30" as="geometry" />
+        </mxCell>
+        <mxCell id="jcethup4zuZOfwS8kyeW-56" value="Metadata" style="text;html=1;align=center;verticalAlign=top;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;fontSize=10;" vertex="1" parent="1">
+          <mxGeometry x="332.5" y="199.88" width="70" height="30" as="geometry" />
+        </mxCell>
+      </root>
+    </mxGraphModel>
+  </diagram>
+</mxfile>
diff --git a/blog/2024-03-15-ROS-integration/img/ros-reductstore-example.webp b/blog/2024-03-15-ROS-integration/img/ros-reductstore-example.webp
new file mode 100644
index 0000000000000000000000000000000000000000..6f547eda05433ca7949a00ae221e940c5432ec5f
GIT binary patch
literal 33660
zcmeFXWq2IRk|x|@W@fgSnJi`|i<w!nn3<WuVkV1OvLuViVrC|bnR|8a-PucLcJ4FZ
zzi%h|spzQe?5eEHh{*SiN@Xc=apxcaKwV5&@rxpt1}p#oApST^VE`wf04Wg>#bJ<-
zQvk^D9}=7i0I;=l{;Dh?Ost`)MGUnC0Qva*r5GAJIs8@oQ~A;Ae&MfeXX*d6#s9q$
z#>CXg_@l|?$3gz}<K`cILjTaw&Ht)X{h=HERp<LdcXM`d{%E84hyGPnS>!`E`OvA%
z|4ujhJKfmf>mTi-Kicrw+PM62uRqEkPX}*mr>64p4gGQ81DpWL011HbAJ6}B{!#1;
z006E#001ohZ*@i)06<F!0D!&nw>t7X001c%0BD~4TixHr#KG{Z;a@HX{vkol%m9Gv
zQUCx!697P)0svsO|MJ_1_)q#q{P7e1N5AYpKIQ-$fGL0&AO)}k7y}qSG!_68fEmE?
zF~h{60RVs^GgvkVjTy{u(9gCUX;S2*#UvyuFwl7j5$1NU3fwz0{1<K;_SZjw>F>)g
zlrKOaaF#>pLE@-;z;_hr{jkss^n5vfQ$P6jq<`-1d&YQA<f0GP<?-zH3_K&+@w0z-
z0JZ@WPWzsLFPo3uxj;ev5~8#2YQOON{kN0{(|0f+R@vmL{VI~{=2Lg8@2Ov}U&~w4
zBj9}qhy+}GyRZcsZ?0be-}i_n{5FB-_x`|!mnI-^U*U!5)qc(I9Z2R^?*{~)c=`Li
z-T{EK3%PTfr`@so5U=>Jj1LzpL>HUSKZ0Jh5A|z-mT!6Qzkr2rX~PPSU2HrJZ<|j7
zs@?H#r7xTJz-xhXzn|}$Z@=GZ-xwcjmViTkroNIu+oy;p{d>5_#cQN<{S9CrunCBD
zsJZ&96*va`b^><_HQhbw7Yt+tdc92c=@0p}zn`5*EOp-lH~lEyd;HRYDnO;Thik?o
z{U`mKSMB$g_eG$@^Tnt@E#m>vGVsVR@O9?d@x22``7CfJ(EPqAAog*w+}Fbwr1+Wx
zza_stVEAj((>U<yob>?>2z==d{^%QU^HQYNGregYfpz<T<p1wS09HyVZ!AbPf;{Cm
z;`iZ2yf69tt6LNT@ZyQOx{Stv7|xhkAO+wg+b6!vmJ++Yx-^TfD~Dq_XI~9R?&`Df
zlA&6CWSI*;@ZXY7#OP3ag?{ba^=7aM5Z^B+L(<s1u|gJ~K}}%5W~%UTXy42_WNbZG
zw1p$6MfTY2X-T7d+5J&6@nvw3);}XAf;sRyu+#XvE(gRB?)419n211EdsGmV2`U$M
zrm}@|kv0!E!L2+?*kgM?c!P*bt*T6z%}77@)u2tCJL1)1q?x=o7{`NU8@1EvOdjD1
zU!LfT!T}aK@=Lr~G5;IVODkzMz&_gIM#VS97yiyEIE~hG2i#!jB+c)QJT<oAS?Bqg
zv!QJ3v2c`k<*iexdvpDD8?53p;xv*?Eu(rFE4z-YBWiBsb+t(Y@q{zmWT?^Ne?tZ{
z?L#~<#}!$MkTQ>uPdJJeE0?QQsL`ZI|3#7f59R;V{JD}fcR53v1p{*O?{xw;1YfEY
zcmm!c5v6u4{exP)nC7-vFS&9i#Z$RP`p>I6-wap<kszD%c?Tl3+i}hNn63Xy2}$3v
zae7-4{htqxemv%;i|ao4Sn|JRmqkxjnIMxTdV@#^opi``E}lv0-wYfz(1mLuqI3CW
z?EA;&P9M$a-9%*nNm8p|S4)5Xx58xF1-kqXsST>l;a;#L;)|)0HPk^H!)#U<4NOa#
zqF)42Sdk**Vo%(GMgf<YH{^IK)R21|1N%38%5J?P@9w!Ps17e7qQZ5a18a#FVSnat
zHTVrwo+=UeYyXDjdg)a7A1$Ey>U=H0Bp(iYJwe&qre9x849))9I6|oJuQpO~Q6-hR
zwOjnO<yqEMk^L1cG~;qy>-?W&q%PKB=1J>+9RNzWTYcpd0!*TyIIcfzF<y-(5e7W)
z?~U@$P4FKLSM?w}f+pmA<=?Us{fCR6-zj-{9_mEDvO`GJ&e;rr<_^$N#fs;Z-Q&ij
z=czmvhoB74VGuUI9F99OZ1Kzf%k%xq6OXb^HXd@f{+Tg+n8*FPWpu&GSJ;1JM7rNL
z;5kqY2n!wD=1VNTFSnrzK(V^4cE&LE@kDbNkW$Nf$c3y@?>YWb{!}seC32>P{ilcl
z#GIXh_o4k-^2F67;LC)Q!@qR!|4h<Zk6b5>Au;2OYntR&$*UPHG|9hA)2hYcvW`qE
zlCWzjyfz-&XvuQ$Wi?kZsvrX7FQw470}CdCXd;lnPbzRRf|S1mXDGAfaBAB)brH>~
z+*ZiCzEU^hhKBhOC#<a3KrBP!5xSD@&<X?m!!`pzeoRFaN%F(-BF{Lxqc|*OC^+^!
zxPk?|Jl0LheD5sv6F_7u#VURCdNs9PH&#qcu)bAKtC^3ZzhTJ=lhhQh&1qR0JlBpd
zb$=fvLFcaQl6X142+Yn+eGKSn6oFw(jO?|;hUo46_C)9PZpcR)OD!4?Ce)y6SnZJs
z4`mG1V-S(tyQ>IuqsSI<s3LB|Ah#%zQAuzgevuVv3z_dxY_SY!hZCucu=#iy2FneO
zn;jO^RdmXS?~le&v`PD0evR&5T*nE#G<`Om>QE3KPLgyuUD9a#kCmbIu|=M}=#U5J
z?#tI9gHg8?C03nd$46nvNDDp)nJ+NU#FF<Ea;0yC#t=B9W|2&hY#71MvlWJLR<WJe
zvwQH++N>lBS1Mfccj;QMSx8@eEgCqQ(bi;z>t<*3LTeK&2O(^j)ZSeHY`fiG2}n9#
zq%%U5Qc-y5oH{gxP!Ep!pGFK@sqCS!7y02u1S#$ZKzTe~Tb8?R`5B&W@c)?HSiJO|
zJnAUjseJv7GYqx9e~w(F=~;|H14Mxl@2h87g>)=(M|Xcj-oN?`_tebO@0a9}N{TR7
zZA(@rf!rTABD|-iTmq2cpW#DRMK4D;i%(MtmTikNQ)euqdQ47bRLh*1-2h4Xh06Cb
z(SDuD`jSeqXGcdY?yR$k3d6?peFC^!-!s@vT8Can#BM{dCp%Xpb{Q5^eB@i7GQR=&
zr)IgjVJiNJB=$FULu`VjQe`eWf4}}w8LghVLq6>^N$e#ovD1;oU#^zdRuJW7o?#rD
ztp(aH4`f1CeuSsEZeIjT?upQ}R}FhljH6&VR4mnGg~HciDT<YX*KT&xQuk9;syoK_
z&sj*0R(KA{KglPiGvlDeXoF$vE74QK*JHD_zAr68aacC<_|adBT=b~8+$<nZQHH)7
zet2A5R4dH;dPL#KRecY`CrbII4LQz$Hu!>25-d(^b1k7@yYvqqG#U(={XS&n^|~kL
zMLoG02?;4J$Ne19tM-0Q_Z>4u3?|w+rNq%L)|nSu{g!)>nhC0oRTU50W&RS=hr_mz
zuS-$%anJo%j*vR1c#pEmu#8}F@}9d*u`AwyjSlBjyC%Bd1s~YlKs6PDz2FHCu6d(V
zjZIb2sU|%w-|v7^Swi#K4gR-XR_jMCy#^6P9JET;CRVOxe<pgig6|WgSQPj~+*7ms
ztqo`1L7eadMb(`;5FjfB8IJgvfs}U#pH+TG8xOehH+$B`*sAOUQx!KvW62L#kVI22
z*IgfeVIAu(Uq_r1Y9+ID7je*YOL|Uct_?A4VQ{VT2kM~xb|Jf6<PCj!ps<RQ$4>yo
zdha!o;`7!Vv-PvScO5)v_Zr1nY*@JBm}S`6%}9;W6GM0JVH8YWJ<WJ?h{6&|$b0>Q
z2mVdltbCVQL1D(X=bdG%V0DBX;eH+=zAV&U&?l&S8$4_--0dX@snczx<*o5j79u9a
z`FF;YyIHJ7;aXqPNSY*mBH9!Wl36;WCbK^>+T$18<Aq~ZX<=x+sJ$S{m@sVp#m2Q@
z93oLa)=4rO8ztP4I5Tq@G|kbQ8;5pRg@;y+^g*WVM|Ylm$eS-iP{P}(9a-fOrrW=-
zN&!hBV1>wC5{fM05aCEnU~^%63rdyC6gwpHE{%|A2?y=fxS)>VFAE7J-pms@`G^z@
zA&$Ow0X+~(Or*8bOoWQAcl%^AdsW-pLg&|whl_-^?VDpdiY0^KN=VZXhdeSjiuYDZ
z`zA6S*D8=aLz}i=I}|*gGi0??EQ1lhx8pM{Y$oWx#<DxnuFKWt!*Op)Pk3J;s{mu<
ze#{QewrX~Vy6D>Arp|q{$lq|nm_XL2CL2MEvO;m`7O5W<uQ%!3z4pLrmmtQ(GA0wy
zhw_mc(nF^^V%1^<^2>ac5N?##N8CJ-^DSk>0>V3^C^<qqQ<V=RAI<cGMLQK)QTK3<
z2LCKCKs1rh5e6B654S*1zFYFZfbQbPLt0xchLYG5!k+&KI>zgoaw+{ydEwypmN_8a
zl_AXJy2)l11+W<;I0J1(??cL+gv>+&js5Ql#n)ewXu0cAS@<<0w~V7O5+YbAxkebW
zJtpi>IQhie&HGJGV&@~?@ysOQhNFb>#b{B_K?tdTO_lCNC091k(6qm@7c!A2W}*cW
zvY7Bj@4GJ<4vMj9CU>`rqdSbo*s)3luxLn_@Zf!!>CLV>P^$-RGWo~?jJja7Jtr6Z
z>J<>BpVrHi_}_?|Kd#*OqKbD!y}90db!cvY9o#^m^Yl&%OcXnajmzV)+%9J-j&qeB
z5n00c_$cEWu~Xi`GwS()$JFd+?1wKZrjCrTp4&twFt7<q2+XY~)1xMqa<z5xO{+E&
zgzF0w4N<NYWtxSjtt_Rf@TpD{A*vvF3qkbm3%{Hf&Bcp(Rg>U7N`G3WD$+G{BZSAj
zzdFAMVL4_sF%4y&AW*2FBEngY+@SPm6U^SuDTDQru5AQ9z&}Sj{shze1*7J|a3grr
zFS2Cz9~?%UE&YTRV(X%uS}2~};Q6=KDcf<M%pl&PDG9H(ce`7|`4WyJ0WG8I11RSY
z!X&78b+ta3_xoNS<_~l`RG&{w7i~l(&T>QYAbCu%4}!3<nQro_%PBiXx_poiNrU+G
zcoOn++cxRjQb~h`++oAFU~hH;0hCu>zeQ+U*d)PZ&cS^;gYP4lnuIV8W5Dox<jTy<
zDz7>LI+fV`vS$bqp*<=7jp60Twn*ykn~&T>(q(zu3f{60l40h5fX;%hQm9XSXAB3#
z$6Xz6Y^B24>B+HGCta^Gi)zPSppO8y@01br>K}QFI2Q}%cf&aLd1X2~(-Be{=>eBz
z@X{<Aj+$RMy9`@MLWy}59-l751ZWVNsRPQCj-blc?o(T2b{|J`N;C*KIm4omlC;he
zjBTEXg0ox)*o+e;cN$#gwlpoZIE2218YORHr6&C9W0qF>-k|%(9se#*5NP82<UL0w
zIcp!^%~)f>(24#yL2lAB>dbZUM>E*+yKbV~53u+Ges1zj!ZE!W5F<X$$cZ2rr=8#G
zXz6w(fpSWOKFky|ONbLCy)WRR9u*++@y}Hh7xX@mK#7lV{r6<ME=39_r@qVy(KaeH
zS}M^B{8tx)1T5I}@*<&NtGTRJ^#@ocJQ=mArdWe2kJJdj%U?7rDj-2rs%GR!b=3P<
zG6y6oKtcG;2|CSF(20dFvWL~yJ{DeX$SWq_=*WnQXLZDSExt1p4fqfC<A{y&gBG5y
zE8>&t@$|zkVHteb%G#n@`&YQ4AnmMIgRWOTf;&pX)h?Rg45EKxOKu`E8wB!!PRet+
zwa9b%kv9masz4vaQsU~$(6qO+;Ai6x_SZITh3o@*{8}-nEFZj=koCc4lBphSq*d2S
z4o=wQ|3JK|Gog1<qMIe(a~M3!ygp_lU8`Q*Z^6Ctvm8j-{{}!Re_`)D@_z*4e;}2;
zqS(|w;MGm_QG+9YNXhtrWV+T)!)<uuJ`l)foa|e~Kj^l(>&M?LdQ<QN+p9^7Syx?3
zSfa{@X)FE${{F+I{w_t3wE^c$zK3R=0^KgGP|zmSD@LbS?iBPF-VDAohD{KDZNDyG
zs!~38;=+^t-&4rNd#67c6z$NH{WF&P8!t8Xv%Gq49DBu?NR&z}I;$8jK!S=iLyfbu
zu-N?=r&;{>bh-s^t$!ioj`n{}&&3Z^wh;eu{QjPx_rg5=(8?a`qNnD>z+7vjFcV))
z{TS|EwDd`#fA)&M_mGt&?{ujD3rRAs^s#el9dNY%Os`&~oy=zwKKzl6WDLo;8hK2x
z`_KE+N4od)YfgImKci<K_Q<N@WT$St{stdDM4m)+_JJ^i#RLosYO4Q;+c+P1`A;N&
zO;tyB|K>gEzm<w{N^VyYF3KHN&Hl%*@DBr!%^2QBTE`9Xj}Z6o;qKq*u*fV6X7%wW
zDA%$W8|<=&=+gfVSN`)hS=tBR+<m{+GEU_Fo2ez&2=`VEL(l(Dx0M1=CwNT}mi$Qy
z<!{FOH%_gj|5x|@7dG}mz5c}e{=3P#|L3mu@%H8&$ldet4(H!0;xAEh@4vTbn~2OE
z@4u>clvCuMMP?Upzy@|A<%(4P3@(}cnR>t}ux#7x9XOIy@8Igz{HvT4nEjMR+2;mJ
zJ%~Pc*@&z~7R*mw^q6uu9`dOEyy0T%xQZv3DPG$m18Xr)HMY!e(@p%21QJ-=*{e?+
z80)Pcq_6*~O;SAoE{lN#2QZPNNB|_6sVFCtb!+Sj<cHuQ5cq^c^&wpFVcd)&ny<bb
z-3agg3R|9q)0>wLTtbh}Vr3~$`Sy%8{=%jw<)R8b5RAY<K1A5$D%!&%T@jM7S6(Em
z6EYmE!>E0njV<7awL17|7tcd)N*QXYmG*$V#Erd|x_k(OK6HN{K`nZce5xvW{w}wq
zGoqSk)9r$(vQqnruTnNZUrz3G{k3vvOcvBsNqzu`MuccaXu^`wvdgDL&9}B((2QPh
z;$c?|t{1(AH|f~RHv~R~2<=3nI<c+AVUGS$As@HS5;g>jTvLxY8&<*|Ok-qq4*Bnm
zv`~Cx^RzpK3cht%G*?rNAj#=B8m_7rCh=uf1QV0-{xw0Pw1nL~YlB}eFzL}=nhfi8
zu;*KxX=0seEn>wDlNeZ*sW@wE3Z#Qq{fTwRMlRhZ8iVy9(}dcNq~`-`Kq>mQ#BmOr
zT}k%4PkrBnYc70}lBdZ8e(XIXSRAcs2mB&fCKM}+3HfehBNc4)hpB+1_xdYn$0>J4
zp0Cq?Q)YkfAy7g6N$!E{xfyq>i6@oKFdBTq>1dh}OpVxQos6XnrA4j8V}Z@AOt+_H
zyvg??Nxt&)`%apTf!t@WEJM(zWE9xw>58WOt+hzrENRB2pDjcNTz+CdulijMp3DR9
zyJ8GXGlkrAv_Ad7P_1JB3}VoHX^6?Z{akx-Vy46#`254s?bhXoD?~=Aa9v_n<)%j}
zrs?$<LCUPgZ;_H*xNK@3_pYGjD)#5YT6_kIvoG<GwlW4@OJB6TMJTa(v<4?}gC>Nl
zyC|f~zS3V4DaN0my$69M@qW#5S|q1=PZirReaGpOUv(b7GMsgb<xYs^N~bc7S-=F|
z=7bmMxDj~Zo+erGQ!ygzy}c%Yk8j_rppC$$ly_qe6!>Uzy7g(~?vxG1YmJ?SQGSV#
z@fY4)r8IO1WI0Bs5falg-78o(v_Vbb$}BeP;170hQ59@cjxp~@pez98)Rh*u92J<Z
zn>@$G?I+*hlI##%U5smD2&`ypqI$R?A$iK7Qh`!Ae-ITeGvcU-(sL&M6-QUJJzNzZ
zdwUIz%Bofxd8yt--qUz+=CqS50jrhKk({wGa^L6$%1%$J?U33BmGk-HQ)5S()e*h4
z3+NkU7ZVPg$ktrZi7r_9r+es(+yFjVP2G820tiwsB4>5e=g~tTrPA(`Y-f)2se9rg
z)(l?<FT>DV3BKBC1Z_TJXm_NPJ~YZGXgwhaj%0$DTgjKE!*mgsF*XTTA`<sJT>d2I
zttvR<8$pXn+JbGIlkIvi^mth6Cf2Hkui5lUbg;*5CnUO|o$Dd!&A|qC?pY%6kZK$w
z@B2F@xyc-oVW@k9d&xuwO@d|@5RC*kAtp2YoOGJ6EG0$>Yeb`0dUfEg5<BFeXKY9Q
zNn-GlU7k9A4hRn=@=Dd)jH8<vK)vuraE9iIl5xCQ;o2GB+HT6$ye0f+j@zgZTMB~N
zlr4Fb%{mZPZKPG?w>?pGVf=|>mR^nkxWo4ybW(jy6`}>6@0%}0CSEgO3WU<znR#}F
zr^~RII2GHCycN}JF8zCcFUP|hicU5nHZy7m@X*p;XA*La96lswCW;W{1MP5ui_U$W
zzxrHOQuab*tcaybC!L~+)l)>~slpm-_~MsTErOy%Lqdm+79tS8G?4nB981Qi)#z=p
z*Z^hQ1&s1gLDEhGlux+OTX68o7zTx-n4oXwIlk#(0MGQHyL|EKC0af~U(M*8pl|G#
zhm~vc-Q_j<h#BkpeV3-Y>r7oKXkq>&AR*AH5TX~nWN>~V!jI1Yh1KEaWRrhqT(d9<
zRH|wzzLs6$@a8&t;jAnySp4-Baa-USI-C*#GOR_{*DfB;2L$epWW1S9+o2NI0uO93
zf~|Hx&?&#uwbED?jdL4~besKF!6S*AQ#O~X8vB_CTS0{rIpT*Kie*5GFuWBCnmd1z
z#B*6D^8R*?LTw3EdI>&+3ZfM`+7Hy~9AiE6A+&*wXv(C>DG#AOhpefZC8oYG9JgTc
zwO<+>sM4D1=NFf|B9AoRV-R3;d*Rd2QVNt4++oXMBul>bPRZ6~h^IERm21|#L@jQa
zRbQIY1!;q<V?vnUG?Mh!FjWeyW$QLLMP8Q(@C3&Bvx%2$+;&CNJ1xvoaQ>PXJx*Qk
zUEGUIxqg&S9*wT@pVFbpoDmOmF8h|7ism1|B6&|mEEjKthZpwF5HrlrA5PXjRABVn
zBXY=nZYKuHtl|8`S>`TA;uLemQSSpon}BHJV#KM7`-TBxN`ulc^2&C0tJd+G%_`^7
zr(NrJYSM}AfqUy{3}Z~-`VWZhZuY$^Bk&w3I7%o%_RGj!ggADclFh0vDQSV#Hd?qj
zyxr+$5C$$=Pxn&ht{TOGHyPHr1#S3<?wG6?(WPqVrS34-CSqqHz9~>q_K0%_rzk4{
z_?qz*(vh3}jcvVhq7HXE9V*h+&*$4*mEa`Gm5vd0xoadFT0ehg)$}{1_S_n)eRmhg
z;V6T>=pQ~KYz435yX)xK(48JoY~fp?-*DQsnuTV_B`F)`HDvf>Nw5H~)^MF;8CO5C
zUj95Cafuy(#aK>><$pM9?2@S%_w9!D4Rm&rB&Y{B0o|&L?RhJ`R%VuZwF=?OxHi{;
zP0nc{majJSdAiRMglbbT%eYVT-hz~nBW0>W(t5~No}IL^>2N#2+TQnCZ<NKUU>UDl
zO)M2J2v{|w-=jC-PU{OdqnX6G1HVCdGus6RIB6n{>;`iE=$CrQ9eJ00H{j}>2~%D`
zs2zj(z}rfbeqxu~T)Z|xiK^EIMsV|+JLsb=l`t-+eRFHr+JjYyAsIQo$2I__kj4Ij
zBV)jg#7vkKF|s^quC9`Tb;f0~vvA`j&}BcQ8kt(z(5~j7BpT@Mr98<``&n3JwadjY
ztUCePOt>_|NIikLXom<wd|TptwtOV}h~EKT_M({<3d*Zj@VTg4`dr$i38}X4%r8Vw
zQc6$F&6<F|Xv=j}EAgw|1?oI&KelOeo_s=Sa=g#-wP>ewKf}XS_mV|SDD<Atb*J0z
zJkfpnewR@}uyv1~M!Mp;dfQxxIBAF>qK$Q)<jnH?(_#5SVxt36+0<I^bS~Cm9(d{n
zU+LifTH_~IFdi^%lQ%8#l8!+Lx+gQ0H}iK2JI0QqeBHY8^zkWhzw;c~1FUWsB*o2&
z*jh@zT9rG&95H`1BBK&3=7sr*qkb*zyPH0av(`j|KMVjc;E2bMZa9&y7xZ1N(LL>^
zUZ2iz{ZjR@&r_Put;M>YxAoUE>L?vO0ZdUo<bY7Yk5FEa`Z$<NiWUKBgc}b!sda`@
z9_Ip`U<p_%)Gx3*F#Ey_6$o%zWo-0Tc~ealLI33`oYvqFC<#6i+`At6FcJOMV2q*W
zxeb{OB}u3MKFS8(&`uiw7WBTVOfsbfxf6WQE)8Mjb{wiMud?i8mzfZV*mI)39msLE
zTyRVX@KTs-K+#R&0aI?nkz2$C8C^~{_nP`pMF%Z5Y=yKyu6>X^^2;X0$=HBQXT|`o
zv?Jt{!^3G=U#!Crc1~{0v&RBf$rpVj-Ik@RUorO%@4DN@!8Pf4)mU4jB_CU>{#xMR
z^yBpcCC(iCY`~;<6tQywXJV4<7Vbq)+X+=3I9zr*SmTBfm-d*rY1)9c6^$K3ImUyK
zhLTSN!zg*DyD%NJ;iJ8$5|9+H*;s+fncGZGEyy46Ovo1$)0-!H@UjPc7JNAfI0B`K
z-fLB03HX@KgYdROD5?#cwo*9k^_JxdTn$Pbi1i}XjveiqkUFP{l{#YUS{8pg9eg(t
zJPV1|k9}JpL?RpKaQ<wlRJN$z)MCgT%ntWVbus-C2R&^$!9MHq7bZ_DB14y7nI!g7
z#bIZDt~0Cq0|1bEMlX$_jqxpyID|S{tG{4Z%$hEnYV+q4zC64{RZ9)yCJRrbINTrV
zEPQvde<6&YN%9NS$NQN_i_4~-&veF5(0tE{Eia^}r?y<8py4(s(WF&EaF@MU3{i4S
zUX3K4MB2pHSz3WQ8}|~^R_)Ukx0;4Re=aB}N|;y~l1zI&erwPpu)K?7p1keV@luYN
z)ol*mmOOq69C@_B_>s7wO&pM0eL4JF9cDVkt95@;Tj*26kY?$vY$jd(QM?{Wouh+d
zoIWJoO@-2UIBI9V3;<*4sE|-&AQImmOvmjck@!YWQ8Q;;qE5fo2glkP8Z#j|@RMM?
zXntJ$7YYn&sQ7Q+Wbcn5I<c|7!L;`&!lhpM!A5Qf0$@qb!+iJ>UHPbX7{p>b%+%01
z!Z5EohTPY%+rCT1j65KtzP=ymQSpe~3%L%K|0V_i@CM<UDsBhSM;wU}#QXrJ(;j%N
z-vE?rL*t%s`Y=#Ncvgf#c=+-UHff}9g$oVR?^TM<{F1-DX6Ube6^$ssk!2s8Bsh=U
zLJ@+|nOS9O_}G0m8V*djs%l>j#`P=PpyTM-OsvH@!?bGebE~{mwks==Kr_;V<#Vz8
zhGagK%m{%ch+1w?(h%uHb&bVPHRpdm7U1N~K-%qGqPh^6G90T(Ij7T$(=Kda$OS>A
z!F>;My6ZW^X4nME(6Lw&ux3CWKC7+V9LlYAl}6M+HF+5S#)9M&kQju6{pML?R$oG6
zBidFm|4s(|E3c_LXvk{V>Rma4gbk8ErM<?Hg~_-#3EHaAgay{-Xa2c@kpwi35x3O1
z6{=&R2Zx*IVS3(3l)RuQdCz@1Xy9iqM?#0V`;g)iV5$CSi7pS1=2%Rf_UQW}y+YRt
zGOj=~X7NqvXCBJjYcPLC>XDlu?l9!3h*u1}$I8m-!MSfj&&jT|BE;{ot-JnTs?c7o
z1J4GDHzDyG9UN#Q^0|&oLR$Mzrj&6NbYk4o_?Tn-sqP){*a^8V*eoX=`=VKs+L2a#
zlce0&v9U2P<csx=Cq?E17?h<3_;p!<w)2O^m%kuvc3D^NGyT<M$F-Di#wz%?78;T1
z%9;wUV5C!t;vH9!qlv;2+D)f|jQ3(|{cMM+*!(1WXw5AA?>07b2-ZN0T!^+!<TqPY
z^aY;z5~*0L@j0uDToli^jzO+-Sj}CM4hel#mS7mY&o8NUoJr0_ji4(fEgDcDKdsWv
z(XZsb;-VCb1i+9EAsSI_&N4oa#Ze<<kG7BnP-^XHFS6-3MHIRp*A0>#uOUUQi6P@w
zB~YU-h&;DYR~ZQ03%_x-?rpS+tmC5~nKlu+mcJryB~v2Pw$ed%!D!ut3yQ06#7`#d
zPIsA{SLE-i2g*_&f!YMs#dFbC)UgUQK(MAeJ<*rmGn->F1nmTQcok0%_)={mI`_Ql
zE#$Ui<R5dPEWAOoE!KHHPBxfcK0)?pb4ih=5GDBZ0L=2jYgH%ikp#Ciw$jL)y<aTf
z)K|etvN46k^;|Fd<lloE_QBRs*W=F^Yml9=Xm^iZj+6TttaJ{=@B+y+Ug!xQBP3_<
zwGh%n?a`eJy;P0!iEhSP29#brR%6z+u)>L>>h-`2-Pf6kh<{#u!UFx-od+!ZruII;
zWV<EgH+H<uo9t(AZ)K;%Dn*?1{JYCOCK7@DUU$q}6s6w!>r}CjMNcgN$tge9Q`iM-
zgOT3Le@e@G4;f9hz&(K!xPu;R$pc|5il*If!47yzt641JVTsM!Wc-MkFrp%nO#SiT
z8*lyh_@0P-SS?YLXd+nr6bW~H>y(e+{?G}B99yEe%JAG~(dhPMCtPj8$o1Uwa9lAY
z%|nkHxS?k5+~7~@Yz#9y5`=rlyau7NcUf#{=_pU~%HPBU&gfr1$@h+px-L7IzD>K6
z`U7EIxf(me3ppx4tWlRg%l0P2+EynF;nPNi&#(Q2MzAO4ttbpw@t}n0AX9Y%)8T{Z
zT_IdXMmln5KasJmqtHyEGkxg`ObwHyghVMm1U)QzuW_$f(1F|q?5S-h7L-p36GJbR
z+LBZ549ek2q9fUIV~+C~B%=~>YYJf!T7wK&Q?;Lane=O=ZG`!m&D)A~2Hi+mm!eKJ
z$hYQrz;jziQF0H)+ozV*U5q?SHr|0~6p0Kc3Gr&~MzL1Rw0O`*s}Dhb`D}<ZLGiXy
zC~oiDyF7u#^_Ze$a-Go4!h99r(@0bjhh{BCo2-{NmhnSPY|CW?N}eMX;Js3h>CZPN
zAwiuZ9&vM?af}mp%1K4hfp{u{Me+qzejidT`aV)pX}T%B>iP`~?Tf0uh5z2t9u%0_
zJ<6PVo(?ufQ*aa({nVke{!4V89$^!s>mwC`nV?QJM;B~L78Br89I&7Q5YZ6-u^YVL
zJseI#^mnpuFmGTJ(>qUNuyYh@Bd^ny>t`HD^ew~41cPl-0-vy6Ur_)609B&{pCMIc
z$AfeNK9TkX0Hj@qngTee{9yRl$_)nktZ$$(co;e>xeZl%Yo(l~Sl?O*3INv$JD{8W
zV~@JFgzQACA^=p|0{&wi2BAS<KM41wBZh9ZytGJveUwm^#vke^(-g8gVo;^{@knkT
z%)3ar0N2vbO=ccIDQ7F<^YsiTB!>xLYEN^-hro!LYJ&fLSV77rHu(GI8gdA+RQp<B
zi9cXoTQKwxf~srPw+P9%7`P0a%39CVW5g9$S$HVJ<gQRW_`+iQO*H68K={Hmr{Hq^
zNH1wb@LDFMEeZ!&4>HA-Gm$HrEaL(mha3nE-)UL3<v-(Adcq=pWrng|&@p&VFVSGM
zv(m0i!V-sqdYS_lrrsU7brD(=baWUa1gYOmi`Xs|3vr--H^e#^aMmqxa<^0QWZ!IR
zO2q<qN8CcwEX`$Nhhr3LV!-SvKJda#)?WKHZcVsHbejaVxjI$svESLLS=ZM->&}a~
zD&|(+t|dQ_q8l<IZZg<~Jb&D)JtP^kI&fcDdoxh{QRK&0AA=5Wkwgx6ROf{`&P9gl
zbj@7=<d^H}pq`m4OEaO-wcy*-;Unqwx1Z3;;NQLv(^voy)Ec4f9F(KZT22HXPW0b$
z-(Y?%7w=rdhs1tt^6$L52(kCk2*sAlLh00sR=-SSPeo#q^$EEQnRlhGM1dQ%oviyE
z5JsVvQfTToxZ60t3;ob7&zH|%MbND{0$PuFS|F&WoU8$&w)@`eRN>9*DFLpASd96F
ze}!;;Hud?_d{p-P^^O3YwTV!f{|kHF;-i|K1vgKee&pi9u#l6?P`ZqPIG(HnN8dUN
z|6_jx0im_OttX-)N7aK@?}AqL@h`TxOkS%FJxg+CkcsJWuNY6TwrXmC)jR?6<nj(W
zy`KWZiTz^006aCDtX;$}{3nLVg5b#?;$A8_SHVu;zP9T;z!v|y_uuUkMS)})L^3j_
zjaDjxudD|;{U!Y=J)Yt(l_l89RL*lX?qp(JZgj6%zfqg&8Wo9`5x(8y3!x2lO28aQ
z9~3!YyE>m`2`=KHQ98o%gm;6KXuNV(hW_?+i}@XbGfn=@7fG>`jpI~5BUMC-wb2Nt
zyXIVT=lES0Jgw!huk*O{t7kLqLh+0z6t9P&d^EwhNdFszu%!GgnspwL-k{N@kYHX2
zHI>iPMjo)K8NZxOUkk^j^Q}@?)7g*w2d0;Iqdvd!#O30~^_-F}L7;>3IWAj}uirpl
zwHMRHFvadG1E}{fhw97GQuN6-4qPtOkoHJ8VAV%!F&NT(e=N@dBqP;KxlWw~?~^l>
zP>|#Xkq>;vpca?baeq!dOLfCgSlbJs!8ijrOx_A~Q;t~Ed6s+ZeVED4Z9sgeP%qBI
z!yE3<<{M1ZKw!uXXi0Ti`t+&6@~ffYI!Z_7k*f_%l%pAF;Ssu77(zu2nZ%gClSf)%
zVic2pAo$9GRSU*K4BJE^$m{jH2t~DnCQebB;2J8pm|D|jcTV$(0DcA1XQ^lK6WAeE
znM?ZPE2o=XY4MyA+^#-Gz2p(X9BAFnN;E5hbaX5gXuSqHcgrt2UaB-pa^bXs5kmZ`
z^c<fN1&(P%2*bNgPaS^$GRfksC2Y<i##QaLhNab{qCLfW@tw_D5^OYxDfZ!>CKQ|1
z;>J&TeKwluv8pT$yWO(6W~x)?to~-NyOm}wU#Yrrv(aUve<3Biv^>wEuZ(P}xF-f~
zc*VDK;xoq1GjeNGPiZ(rwuBajNj8X9p(gtvU74?ia{@U<l{WO{dkS7K3+n<XT>4~!
zYPJT44oTPVQ}F^9Ct!bzkIOLk&MVAH!s%RvZ(d3NELqcm+m|+4Y#BZEVn&#`h9^(L
zNP*8RO7%l#?>@9Ktz+>iV=NCw8lD$X+Obz*J;I?$OJ~>Zq(*_0yMP_j=+sHor60ia
zi=jN1(pn_?#dza<u^$h_&-ILIUM@TR=`c@rDJUTU8qA<#dOei9u#q0~;XQb&m0R`G
zulDX^<zUGXiQLuShd7>01dGT)50^y4?AH&d=7qJu;C~5wB9ZYD4te3(ilu9r)n@Zm
zz+id<zY@oeDpZV5+cRth&HZ8`Z>?3E*?RC%St9M9F1dGuvKq|CLy4ajPkN2=AC&R&
zCLb#HA`ag_J&|wjLU6)FG`q=HunU|OR=e8vQGT*Ss6I+#WLP2^{){JwKad77+#Qvz
z(G$UVrX#e8lT8jE9GT7k3!7EHyXS}Wwo$y%2-Ayr#rhn5HUIIL=Q<Cu05biZoKJLr
za7#F2XhIX#-BZvB2-SgqEO@Nw)FTSf2qv5?HkgazXH<#1PT9$v3^Yw6DzR7}nM6H`
z-XYB=mCU>)PTRAWl+EZ%R}8?zU2I+<E53i%p|v2qKJjhtv=;8D-L$qQU`wZ^p5k`d
z^C^c9lItY!dUy<UbcPLooSsXD4z;mh81gc<)=*`F@5yTQPRoV{$GLv&2l4M_EHjtZ
zedKoFsR;&=7pQ;V5?(caeIDOslD|WAFI-axH7EoE<LMJdzK;xw{G7aVrDFbT{9?`g
z{umb9gFFeJu0yK9kH@nNN{uz%QLQ;_ziayTN6GVn@df-1(;qZK6?eE%9b>oGAyrdm
zS20zfw5r!q0H$47>>Ye*5Mg7OgcyE9XZkh?R}jf-pmgQOTNW;92y!XKZw}yy@vgQV
zzNh5MA&DflX%AUZ2)#d-ZByJ3%W=c-2a;zk5-z5=RN{EHN1E;AD_C1ZuDGR*fCfWl
zaD6W20$mpyqBK`Hj<2ao(iLK|)s|w)!`C^&Ka};cOE?wU@Ev$VZan8%*065df6K7)
zWzkm7L^I_@Zs!}^tL)RjXn2F83HfYx+~lv)E<~f}h-E#(ccaflGS?qFY!V+OJ4N8i
zUZvUHRXMMH^&ysZP@8>^EC%I<80K7F5HgjIs40hVr9TL*wV78p=fHjb0-pxQgP&Fi
z&47hUU_EtdeKW;&z3#@Lj#JYkVD{6k;LG_>E#NU75{!3*`Q%gB@3im;u?U{5CAl``
zz8`q^<V!}G*rAl1*e)}{%R!cL6$e*UbD{@C)kP%@Jg~i5*xgDIxVsX8EtU*5YdWvN
zSAjlOnaFg5;o3?2IVk3LE~*+Dc3L#ggHfDdD-T-=l8>2&0{vM(oBR8rjf`=&!Bkyo
zlZ0M9;97oGe%forscA5+Q6t<FvG^(M^Tba6Z8qcOe5`PEozw6eg|6N!saMoq%VnPp
zHqdLbHJB+f<pI=|DBiR_*8t8lLXH`Dp!%pYfdtD=h)r&b%$IL87v-OA8))GY%SB+=
z{A_;KDOyA)Da^vf1)_Q`xFbkJ(x9IMHDS>!ahznnCz7iUZg>svag0Ia8-UJNZ@=?1
zQ=H;*^q5d|t5KrkSy9$Pd|pZ_d9H$cM+l?Keun5*Et&IVnteWXHy4cRf^fwr)G52o
zJLOVz3NF0VU9_2FO3R3$+fui*E0S(-BhNSHrt0LO#3Cg*;G-c*Hyu=4Lx;KPyhUYs
zfNsB1mss|KB-Arr|5zC6XZ{DqT!Ek2L_c&usj`Lm-CRwuF!mC@Ao%BFA$koqM6k%q
z>gGRrL4tX0u*Ft;_uXhALY9xIlyI8}GYM&;_!Dd8o}~z4;X`<bHLM1N76FKi<3~65
zM|&u^rN8WYHAZ!%?rU4hiC}TEUqtSc!scX$sMorOp%PaiX=tuke5EunG_Y`WCf@s^
zLjyU>FCg+;!?a&mdB{;&N^TqyW!i(#=o-Z~C+X-AkQ(%xPu9{kOp1W80?v$vWcMnV
z*BgPBf+vb~n$2HXq|>Dv6~kDkSTB3n+5)GO*D${s{f?)F&78I%?bGs2hB1=vagp7q
z^JSIdrF>nH#B0ra3cErYi3iPfpbl?7#i``_{5vA7Wd$#QFWDEu=S3DjOaim+GnllS
zxUyX7m>%+gnGFwqSET@wTRnv}++sa!I&sSr6`B%#+uf@Bwql}T7};i?Ln)za{4^pX
z$TE;OIbU|w=5w!LcW555r?p7~5p9hq?g}Ju>MACOc{57P(`1ISY6p|P#%CiJT|$r)
z?)hNmdCkhcI?r}nL+hN@S*RP=^TyEuC^P;Zl7B9A)&nCL+r-V(Ts={IkpjmwcKCjh
z7S`T4ynEw<W|I6UN3P4Fw?R%O;t9Gm9%7dU<l`(iZAl{cdNWwPmzk?MLwQ^mW;S_D
z4wkGWir(bx_~wKA37&_s%BBkiZB94me*oM60Ji_<0o!>&HbSIHKF|qeyJ~<Ili<k?
z*qqfpQltV~BOYG~VHgH{&cJ6{Bl)_*+Uy4v^z^)4>1Bg4f{zQ6Wlyg}QpQO!VXGT`
zv}H-|j#eqY_Ds7Kaf`|)<4KM|`ecsguqDwav3LhL^_$UI8kgNqnDnRl&I**g&XC_=
z_7oqm#ge=ESb2?L_6@q@GSMZJI+FQuBnvsQdjh{oGN2p_5`H6kuRu7QV<lck-ecm|
zy4cGaph!{UdQ!h_<2F9bZlu%6B5nxBE=3hQGIWMtK+HsF3p9K<U_;tTX$C*{q~ru@
z1O})d!e_ojAqHR+6|~^JNd5e9>%3-qdEY(TkW8>yLwWL<Hp1pjXTL90cEJAkavEI>
z)M)kaUFj?q#d)x!cMX|-af<<#9*}!I*hix-G#|!iobCtoW$|=nge_=B*dfXnsFgSU
z+AcjrxT~T`+IQNGCLJRtN>e!fOq#Qz9!v$&!tBvE<9ftkBxsdA@{3c8bw%^iJ6ar8
z)OWbx%e<Mp(C`GC7Y1%~g06+~3AFMb1_w=-)|`Fd4?_#HTBHO4jme9*Pr}A~vTCw?
z#X-ywPilm$DfQXpL#XK@6_~x*6qS1&DfC=azC!Y+YD_mU<sFe%20rEQauwz4^?1|w
zv@BHWk^Mv&2(<Ysy$-ht;rJzO>iYBQySmNMn#Q_;&IUrG>jsz!$~m3;S}+ppy4G4T
zkT7xQk_@-=CJvqXi<~;#z1bn=@6zMQMkABR4?szW{%HR^Jst`K6tP!P7W|)?X$gfJ
zP^!MC4Lw4AZfD``2%QO#fx9qyYJQb+97nfc{DLn#U~8dpT=SJMaLbS<c?B`GH(QA+
z^J8?L6-T<E^U0#?R)~9<{7cyG8brC4X3x-xZ^aqS^z`zlM_DSO<83^SIS3rB=LX|r
z)PY{PZM#${+p`+*O7?2^;+;esmZ^l?`%U4FOe9qK!(-s+QYXyOUz;2~t(3=&zdNZc
zed^o%s<R-Z??-lXK3ke;wOY?c4dl*P$S%=-Aj+^1B67ewer}0MwZs`vTTWn4%3(eP
zpMNXc@eZncW@|`8lJhjE<)WG`Elds%^UFklmp4j{+8}+~^S&knn&k(`YD;2e?(q72
zGms+7OOe<ehs<~z^Ap@$k`vsg8%+DQ%A{}|%T+u*KNSs&<HHu(-bMK9j*Oc{B@LOI
zzFKd!xRdKU^6Ja>KI82jI^kf>XO1nL+MNb0FY}CL?Zf7kJGKVh-#;~aMdd3`)h?JJ
ze}e7#j>l<rk3rQhNywD<Sm6X>T7Ct;rKjlGRr8qOTa{`b9@o^cnRF%Sosq5B<>X>T
zAPG}wnTd?>6$~YXb7kdgojit&Hz&$T7s7F?R3I~@d3DczNZdTSx?=rBK!i}eemz6+
zPK|&|%lsbT4)A~la~w9v7xkmXh#Ws+I29_#!dJ}d@v|-Y6c7OX@~PZS?KD$;Tkd_O
z4ic4kZ;F7_WbB5{3$%&2_mg_k{ro1+j9TTD)bF=Abw}1lYubQ4m!XF0PU-Q7h-z3j
zJR%$xk3>Odsn<u2`03rw7yKnIqZJ=D4@|U9W?+M2PYFG<95#*SA^xMN65Zi;cd7~@
z#p4Y~$+h>zxo_pXy?=7-4HMH;aG{e^EM0z>_V=42L6MD;(}WJ8seo-*@8ImW7`zJj
z+xKGQPe%Gb9dgid^=hY4>2pno=yqFH=DB-aIIHj%x)97B4RRizSFA-vYB>@!-*c&C
zy(1#a!;)*wm<4DG2fsF}6s7N|K)VPpsT4JNr+qChg+LmnUXLsxG-T&=)T2Xc5*TSx
z<82o4{5)VL279FubVE|?Oye$3n8*y4yh!u=x#HEjc{+;Dx>i0Knp?XHbcRM{F{@ID
z>ZS6#wNl<s=C=`ujm)Z8tYn^p-(g%TwN=0o%|Lif?j1tlF(P(CJUZNvXnp}zcX+5s
zI;-+En^(_C+<K}zG?(359hOi_BJq@tAscMXon^^7p}%<<k++~%{7-Y-CPNZ0;&oMY
zrDj5JRB6v4>d=a)Wq$6m?-O9!{C20`6b{tD<h<z{qENA~7QWWM>_Wm62M1pF#KHxm
zZ`JJ8yU0~#f@Z8~)Uiu=b9;GzsfYo9d;#`h<=wJ+QZI8yjJ&E<o?(7(q%0vlOejMn
zfqgi$K;V^vLrgh<Zw~z4X~Mb;@)=U*_NLTB;=U=9dhO`KP^y$bhBHSe&KZil@D&{g
zJ#rOPY5968N7R0kS)JaL877S@&y}0QW+uvKN=k%hgLmPuJbYCF7UwA+(RCu601pk!
zn}btnOrM(BfbNUtq6{j7s$K}zyWOyJ<<;>D9m{kF2A$S2I@{$tPOuuM(8ZVmpLfI+
zbfn<aXi;;TFIDwkPe2W<YOrV*%n9X8Hz3GWANO1lE$Cr&6Y9|jcuxnsj8Hl4<*{Ob
z=G58xCJdc}W0(fx!Kb{0<(%-X9UWJo!^6T={SK3kY1YnU-X;D5-%x>x7}p!E*MNiB
z5U_ZuXV9z8w5eE!w1RO;-PpyeX+BLKS9iKE>7J?`;#&T5<V&A-NnIp)%{%Jvs__Lj
z&<Xh3kn&5%s2eM)0pU-d6v9qIrQfN%1{7Yy9`CNOKcl`LM$1c?q2!``=D~IwM}zDK
z)e^u(Mi)piJn9qx>T`KZ%6Z4Xa!oU7vW0OIYeY9J{6^oc_BmL27$2<{9*+}kylk>Y
ziY3EdqzTKqF70pH6Ifa;cxDjxhBndYI$NRTRJc58&ypw*Eo#GSlq2ubLuC%#nHFyD
z@^|)d!LD^lL38LEHs#nsD>%;JN5^I<aw{vldj!Q%6!G0{eu*cKn8&ttCqT?~651<|
z4A?WP-=BLM-wQ~FM~X#Agt~|Dbg<k3LZox>3BUb1{gq4sh=G#9Ie-{N{al^@z54eG
z*jz&`Mq4aN*q)o`Q~DCM*h1L^nV>)IjR~Sdl=%gXQKu;MdS*AYWq*NuIJqFjbHf6A
zEk?67oaEHTUCTEo+TCD88?RPhMq-B~2Ig_J_p(7UCX0Y0G>qFVBz?A=ee<+RN|O!5
z@>cbnmD{D2<-5{~8Yf(JX|BHLWIg`!w)G!gz8G=7Ar2tOMNBn<!kAK@OOQ@w3M?ax
z4#3JibA-De?5fSjmax$S{rfjc^Bjt(`ls?7u+;HZQyL{0VXkY(nSe5BuiVRJ&60~V
z`EUcDA}Gn(gKX@<s+x{iHLdqECxyT3R=<bi6Op@<*x92;dIunRuz8W%_b}jYj=KB5
z%{L(KDO41chJ$zZr{Ir{PNcVVHr??Lzh4<4hOQowjQINe;u+Ingx}2<PKWe*#4Ri~
zh>TE*CtV}Q$A%gKqqjNN=7-RL#vZ3bc(|jOM(53M7&p(mG{VLm9GP_i5z5$ZmB16$
ztrX=R#c^ZU_GujCt@z1Et-yEt4IMu1eXF=^Cp$FKR^_grgeKADxdh>Si#DTG#mtJ7
z0}%**lhU;Ts2W+BP{0S6Q_RxJD%EVBT}wiu`9rr@va1xpb4Jui+A7e1olX-RLChu|
zC0?(b^|x{hdfIPaWWr*;)Pjhu3N4ZQ1?Gs87A1OS2K)Ax(f<g6E-2?v_ZL9-sxief
zJr@$WxNilJHx9Q}mq`t{phin^-4+h_;y2!6a?}9X_Um=5S<;<>KO%hce-5<htdd0v
zu2sjC4P!w95nI*3)^`o43(*LDc2vJijFZ&)ak3*YuPg4UGQPOj@de{o4}oN>H7<Ng
z+S#9TuIY5(7eVw~5^OkzBzfs=M1afPNOe05hd4i`g36)Ep|D=&|KOGNtl~<HwisLI
zn3Ue=kkw{Vy7>=2lmI&#XhKd0)vffOo<{`Y*ze)urm}hu`eH*mjH?-Nj#Sv5x?=Y-
z4zTAYx=U|AO$ilZC<tGUAQa_}FM-0jkTd8ZUgV<ZWBGUT%swn#pW)z}gIxlqsQr?1
zfXC^vVDFjgXa?VueuT!XvqQvTbm~NnbNH_sSo06HqZ-TUMpHw-IKKtw72;GUVsAQA
zA0PQ<>&F%3L0_PY!#Yc8kA}=sidwVzeM0)~xL);nOkqH%>7kgDP)GLnx7vgOPRmm|
zkjnyrX1NXox5=S~4z&1hMN&neHmr04qUr%bEBg;qGJ?(GnIm_PJPB4Qy8?+xIBN-Q
zW89FBP;>GLte2XrO?^6qExLQ<;057#7h0(eUHQsNS_PQ6Y|V$~3$t;r0)AExv4{fm
z5_g%nTSkV@wtN_QI6pFnb>4b6T4Fiz^bfPi+FWn>iO^!<m9rX{3a(9DJn_K?$#Jb4
z;3MQf5+<3`rP-R4PlKY@5)BC*;|6;j4#|>BIQ0c-=zoWL`(1s~2t+vZkAXe01wJuX
zs0ULAg(hB^QT2q$oq@098yoR~*4pPc%Y`Y0AWS&&1gUZ5mt1*7__!f)njOyZ-O?3h
z&oiOJ2<6lhLsYY`@W>P(<8Wt|@fU!;s;uQP!ufrUa_s%mi?~wcGf;AEhJ$M~Gc^Ix
zH=RZ9%#kosJJba6r3j+10^V^`{0^T4ZG874rcm<Rz=JOvTjKgN?7Xww`H<schN5TK
zH!r5G+3<(OZHd*N@Fq`@16+G(p2Phzy*b<CRa|GFoik>a6<p~<Y6F6i*<p;+42_4c
zQ0vJIf?(ETc=DkHTwA%y7JTN|^~TCk)>IcFQ{Lxq^^_Lm8Np3UO)B>u`O|3WB&>X<
zH#Ej`8)?z>!Np>;j_AfZVn0##KK<;5R&b_-4Q28xIf-1>M}00Nx(BXdg!eZKi3YLR
zU~&OV#)W>#NB-ulzQuqf2FWlc(e*roEgng`CQm<fw(d}pIZK$tL@I90cTnS<YWuXb
zP!llo?MkgZ|DNSw&IZ>$PtDll`(X$BPeDbX)2B;q#_@JiNEum!w9L9OLK+B!AJlUT
zJ>g#)2}cz93ew^w1vbZjHOIZ%Qj!#_$cm97q+*7_wVaI#*Q}cq@N1<lnh={32AvPv
z+2|vnotmE$W0I7|C5y$c{;$H$AvhGES=6y@=ft*c+qP}nwr$(Cot)UV?c|>SU%kz{
zw->V+)S$Y$YkKBu0a2_R%wDM}^p%*mm-*`A{BAM!l8=6^L-g_$23bxfdth&?ST+;1
zhqhr#;$hb!Lv7-)9O=5h;?3VjP49jMb*LOT1vqa@ZN~e;Q}1ZsoMIrgykDI|i;#7|
zkAGa{F)dk+WaDI6%j`oM{DTS)jV&An|Eig%PS}Wzua>H0#-fB`&^S<~?T>o(o1Oh7
zDmmN^oV$qn5pmY`MytG)#T0Z8^q}<TtU#S(h%O~nLR6`en$9<x29&Bt%kSV@&B{$^
zFE<PzdkT-xwxYA3>51hU8f84Ol((M-n>n1y!41h~DD5W@l1<e7t5F-=tI2VJfF9rQ
zDCM={pp+-WwFzeKig?^)$#DoeP)yWhgkL4~{yrehHgZe=tgud8KrR82W~tDjap&jS
z>vKVmoL#%}`g^MOxBiG&{ERZtOuvMp@;iAZ;PtFX4v%c+iyQ7XT`_ML<GKcdZK+Go
zIjMhg(Pt<ttIH6d9X9TE!Sa;Zckb!HgUuD}_&xfsEAjmkgWR*SrjZ0#-02kMyVA76
zTcc6}SA|-vd4NCp0%uN1c1f^=FXpmkrLaXayRz8`zAk?EkiThNJkAb|^iKejdtS)x
z696~D&qIje8Flf;pAXDa#sR@ZPueu_4I^W-XTl%T&(;ImV6N0T+T>Zv?AawbB;TlY
zaQX{^!TxT}T3C563ia3WbAT$_jG9>@bE{`KO^w!)7Q%ru?l11t2W{o!q?)s15a0<M
zHHn@!@}i}Q=qSzuF)n_KwZKDzELP8qOFPHVDi<EU=9!GWikPmq9fyH{gbn9vNo4<U
zK~<s3Ul9=Iv(zhWucf!*EMTVbU1|k!kf~iv+0o={RYg){<_NSf*pgSVKIFNOU}_zW
z7aXz_Bk$%G?}mE@-tTE|%va_dv5FFeE4nx0Fvm6xzVh2^0|)D9hs+cXPhdPH$A&_;
zsmAKOX7S^Vjky8sN<@q6JCPw`CzW9sx1#Fv0>}j$ZIzJkFAd+N4|VNZ`r){&9`SZx
zK_Kh8yLagEX)<@fsxqIk2FTK?lm1;G6cBzn%Zb^uqZP=~M8h-E@+CPt$&Xji2eC|C
zMQHlYw!HH6u3xNqpY(irTd#28jOLf(`C@qWGlvdqnILQa$3|ky%igU`PV|@E%!56S
zywg6dW3Ml3Rg)r9TFiaMCh$1Z5RsJuc2I_u@p&JVhqPfvvUVc%1$gJ*kNXgNNUCTt
zA9yr!yxZEU>zFX^%NXu~49cRHq=%05znN=l#}e2SY$XUxWA^wxXz#0NNYRizoCWv0
z+1KO8WK&b{ox8VgfQaK`&Zl}HNlz_mZ`QUbWR_!E8&Ysru`*Fc;J`BZGeA7dWq+5z
zCMYeMq7jL?QaUHT`7dRlql}I63$D?Rb$#`>Vr1O0(KqvUnwtCA7?ZbjzqqQ8n13Oc
z_*hATQWY@)RplC82Ma}S@?V5$G%R4b6$*30&fe-qhsJUpF5LHS0DkPt2nKLdw7K-)
z+B@;%pJr%24rxFqZHoE219gv=SX72UiCIwo_PhhGYP4;Q4?{z2owxh@hxA|#_$1(`
zYM`LdY|E*pMZbm8Yepevag8%pgvEC~f~dI(R#yZ*bjZ%ML*&C-+ZpScO6DGaQmdOm
z*8uw(YW2p9on(I*(hA!TAx+y>Cw$AqZn}20ayOT*-temfuo(2ivz=$Z$=6^EIPZ}L
zZN6MDgZ+D^2-o2L%^1~z;d;i04H=ehY^W58Xi5mbVF7`sXxb%^ImR6<EK8e}UoJp_
z%f7N~3D_u#axYH1S{2MdEfczM1)J;v<e7?Xj332ya-1C+tGAg^s%FrPo(s~b^JeQR
zG8NRMC|*^~Z&QZ$xpDadnMvQzm63`NnuCH&duA51n)SjcnE&dW*~qO5MDCW&(I;Vd
znz(?rZuw;8unRfjR1*)eXb*GY^n;EYZBEFBCqw@Sg+PZ}1T?0>^X}9E0$DZt9)`}<
zHW(#+hB2p0F8XVZy9Cg2!8u#E^ho8PVC12n5nwzNCI%uuDv*ifC;}KH@$yoL5&SY2
z|C8d_J%|oN`hsoKX$58KrME<)p<3f>^K5kKN8j6|uq^S`T?lqlXE@VPeU>5HzhS{G
zeM}E^`|5K%!ET0@D0Z4V(oqNZNj0&?Dy;hZ*8IBi+MUupKckFOH|XAun#bCUPQB^x
z2?OC^8WXzSgy*9EBHM8v79dQY#cmS65WKS$$)ewvWt72wf`pV9-TE>Eit)RD09<U;
zIBr6TI4>HhC1C|S`-!_wu;PvVCzQ<C9Z+J#;&i{qe!R^U<c?Bsk>nmHy)hls5G~Sm
z8~PwU5t#MICi24^&-+8lcDGetW{wy^DGLdh2`)POlOIDUU6tdO1WI(Bg`_thBiL+B
zXy%JFyi0<^I~^!h^aKgiR`!!6x4S2aT52Q4DCnb5QSQ^R3K=c5my^M9@qJqr_#h{C
z@lMzRV&u=)FKquHPS5#CBeabaSKl)yAt#-shJ_B)tko7QdRTBO5-@FZ32RLFz4Dc`
zDnI$IbJs*5psgR}P-EsPOwN}ZsT{@+fR_61SNsVM<heR>nwLely<b?;x6F0wX#;@(
zbjSQxd#btqR@&<UwH(u80yiNV$ik>2Q^Ezd(0Bv>xI5Y<`<s*>f9x|P2|n88Rvnc_
zF;I4JWH3(86QFqO{3*(UB6r4*PU#eH&$q+m&2$)02v0*A2N(rGMIJU_MwIh;1Z!(m
znF5KvMi6)Kn(*}JSkTL{CyU7TNj{DYBMjUztjC2y;ZsAle-<lEBK5H;oJLa8$S%p9
z;TBEkcpT3%->fQqXtG9+U2I?@Sk5n*F_&LIZvWf+-A6v2ie{RReo$vo7?2Bji$4a=
z&T1+8-yEEfgJs%33qp=j-8qUoE={-w`9qrHNF0$a7C7%G;udBUs<rp!1n$(<KYqxS
z%_V9)jfwS@(921eJr&Itjq=}{SW=Ic8uIxkft$_qJG8RT<?Ff0&Sm7ZQd}*iX;4o^
zmS7tSCf+%rgdZ{+ynyF#C99&@k;i#I6#56RYzgAt%`R<Oh19kr9dLGAgm!o>&kup&
zrUy-|H2bV{AQ-6$(B_C%X+IFDq=PAq!l|q{%xe93n!3TfSlTx~n{gJGskhQXRT_0#
zUJQC%F<@+pqg1$0NGh%R!t=6=!)T!IFb~n#q12!0=WUSH7i(ZobRme<TXmD@^`4rC
ziiS?`NZ>00p+B3=DQR*kuoFQDq>$y&gP$#2^%q&R6sntT)YD7wugl)DJu!%}j>I#m
zB8dc*2`pHx@>vE&H69oVypJbNLL&tA(2~jQrj9=-udt9&pJi_#-(%{F1&XaN{iMQ&
zWoR7}EwT4g2^~rPbp$odsIVGsEdjX&_~&fTjYB)1kIAMh#vaTd$&q0Lu9F)A1q1e*
zutuI=k>6P}_dHJU6vkRrOydwe_<!(Xe4(;@W{AE_|MJl&qnaj;V3KwRm99r;)n&76
zi?jpRKPXg`i{DQ=7r5ED+pP_`PT=)E9li<xa@L5(tKqT?KZ=J(RF@2Q>*+(;Ae~B<
zW`X|Gy~(XS3Jo@>%W)}6l&OO(!6eOU%Je<2K&6hym$fKXQZuwuT_8(_=(l;1tWv$d
zt6X+EF$<#*SGk#zzycTMI8dwWU5l8|C@@loL$aI@U&T_V+pPUn*zd)>r!8L#{x?Il
zg^t<7C3@eix_R<dP{TsYlj%Qx+ZCeO8eN;t{?|@bxHm&;6S?xTwCS3yeE`tS?=GGX
zZ_EV-&fOj!I{=k=y7KIu&P21y&N;a56$^h^O%Iupbv4(tdVi)=gXyzFO!m-bt@2^K
zYInK4dG&X6fTZwlCoSX$K1K|rILRdk6BdmQ7OUt1)|Lsgt{831$rO5ak#N=>%{EC{
zcDU1|>^l<CZgSli9vC8(wQT1-^!`=p>jr=m?zQj~8TU8j4VpQov$iLRDOHLoe0cmt
z$3I<K;xQuNa01DasAcL~4%5G(U3l`(d$)00zZ%V<P6IIZd;?Ex6SJOWR60btj0-T3
z19)PBJ}nQc#EX?(;hlFT5~%9SBXGllmx0>v$gg?~dacLT-5&s;V8`V${^M&Ukk!u^
zxgiB^Syfb|F*wmNoC*YSDsdB^k<O9|ekO6){@2-iLLY|aZnJEqxsyVR6LKddO_D9*
zRCH88?(z|~3-2JxcNxm`nkKh8CrPp}CGQE%ka;G&l%&%<3y86NBQBvCX#qzJ)ktVm
zCv64l_^@q2n&`$qh$6@ExqUudFgR%vQC_p*`hwZZX&7%Iqy(fM!O}2M$hKHS17($-
zFa@CtAXz#}z6oIG9>V6GVWPJVEp&6klFr=Jer*6%@kHIb?E5K+*#*pg*v`82pUyL?
zgo=v=%wl1;#fR?Rl(J!J8*Yd!Xa=zkWAEgvUHr2bgUe-RFux`?c_W_LNVZ3vru5$n
zWHWv&2N<3)?U3BTzCfJQ`c6?B=lu?xTN+j3N90Pl%|+Jki@7FcOitu@N@_fk^x2oU
zS}zn)xIoma1a~OdU9<me{~d*ht;>AwE>5XzhTw&UP^kun2;8;|mb--!1AVQj@U_g`
zn&A7;ckcw$OtsDl$1xH{QFATi$~L_c%-Uk557lQaTDOedrH@2#Zx<q|Y@EO+VR(}f
zDeQ#Lc4)+RXe4bYz1_n(9L@|7idr$IRn4S}xeL+fHDz<O`lM6CL@0A`hre5f#7=<S
zujONhgp`(zd8y*ix5f*x+5#Sq7Ay3K1IM=u4d2uuUapKHiMk$gGq;9yl%j7Rw1TP2
z@2aPuZ+mH&gm|fjxUdc<@wFg?M?(Ac0bBl_Li+}`)p`+o>eru_Gipqk0WmBHmW!tq
zXoQ)k&HAa|ANoOx+`mv+GlqT5p@5%-7AG*YrT`EDT#NYzLQh`DLlB6zr9+Jo<X3_m
za6?cU(km?i9pZO1jnwaRUU9U~%WCGe#`c5ytA&;~5qAD@B7Q$e!M(A^EJWWmkada2
zqkx+RoyDrg4bAK&g-h--j(0Jx|6*B(@TL>YcdrKCQBr@%Qb!)i<;nCH)z~3Y>9WV<
zKqNt0><<=UAfuphz8Lvga3!dsdS_^yGMYj-Mtugyaw%HRl^Y_36mC*0s9=sJ7OHTu
zR(e`y!&EEuP7*`124ABjOf>zNslM-4_R#sizWM}nMF^u!`L$@q&d0a=*&q=C;&746
zB?Kv0<|3-O(DX&(bIkxNe1u^`dQ6D#22og~%F9GY)DF_{sm8T;a#Ow<?Z8XTi%ti!
z0e3m=3Y1WDg$<DRhNLsXwNW^eKEzIVGpSgP-r~re&v_8Cp9VG-cgNSj2s}0J=?X|Q
z(_wm0h7Rjy+uirKHjz_gt6DkR96RF4s50_~U5C^|RNHZw{95<sn33CaM(8_<AG1nz
z=uv46VxYzGGts}pfWY^E&p%1h*Znr?zoxrvZrZA$AkgEV4g9<(?h?1`YW|&^<qPWX
zqS&-z<iE>usDrrfVHJiHrK{E0v;7OVZnQAghOs}i=o=nA$=1IijO2))ccuZCs;Mni
zJSbD+(Fy0a4HE|?1Ko5t-kJF!oO$IkZ66_Pw?c7r6G{>Ma$v<dHu=;o>lwP{%CpVz
zLmiXqBQrZcIzg71;3vl5Wnew3{IDScLwHmDlc&-!hc53QLnp!tNn{+vr}d;E_AN$R
z79B*>>zoTsbK<|f9+9~CwU1Y+Ce#<=+;cThx&2ZKm-43^;3^9!gf`<%B4z0W8VL$X
zZ`@SIEU&!p)lNe|YNKXR{4>uC0#h?@pcGN5S!`K*hy3-(vBwj#_W?F|rn?CHgrmDb
z<j|Kx9WjX`7U}|Jc6VzMj$#zMAcDx?B4X8B$Bf=uz7Pr)x>rvKKwg$#8+YQ;8?=TI
zCKN>k!52b&oP~TE{*kuln4?DP5`E==%Q7m^{r1{}K{$uBm|K-!)goqoXM_I{amF3p
z;G+M;9(0`Cp(R4rOigL}5ueEC8ZlUExYEl;F)vnT7`D}02k{)F#LZ6F*qxK(33r5f
z?*JrFas?F;=tl`Vz#rvkR)Q%;siA_2=xQ;<YP6g-fyOu9#+B9VVSS)&Q&y985+%n9
zqz+l4jgjZY<v7dZ6fNtwDQAvA_jpjuFc_keJYBcv_I^ToQ^?pkhP`|Z8w`b%l&{7P
za+z%eZh_&#sSF^vY65|>C}5wif))B7wy_HroA=<;u<L0z@T?zs&*Flyh+vFMT%Sy2
z{FE4$X#eOwR~{U;b{B~DK|*n0lL*G-t@JR0DX{9JuqpAyo+wo4+KZ9}go^Kv!~SD-
z4g8QNZd2Zl3IH~>)il*}R^Vd>yWl|ZMI>5L3H&h;s10HB!nIcna&eXMfeS*1K3%^+
zI~193m7-c=BE9*1&J}D)RxIbDW}l?*BYvhA00-MK<<#zUKHoP?s=z33@SrxhSkR<A
zv`$ckDlE{29{|CFRBDZ(JPlDh!L;eS`@-08!%akF$y&qN-QHV?ZCD*XAR`zNfofI4
zvmX>@OFGr;=Eov7c~h<xH#S5;M{r*+JFO8{rHHU2M@G%Nurj9gzbjsHcc^!NGnlLC
z{k|sV>Q#pg27tA0JUuqx)(Zmn9_g~rf^uvUZdjrx(_Ojl-ZSQl6|Z&gh@~ty_b|O*
zR5fyav|w=7OIy((wrt`=&klnrZp(U7QrE&2Jn)-?OUverpj#TlXy1mkxg4nIV>oCq
z=#=n-aOxd>0T$MdyQ5hB{*{Q|sxtMmUQ!IkIF^nV8{*E0F5fGQf5RRqQl1)EeeRGe
z|8~9`8qp}Cb?#fQ4I8ymt&;-ie#bxqg_3~tKFZ=<q{!pxAlU)DcKw=Jh9GqzhTaj}
za;8!4k%*UN&f$8zB&siXIJ8%0VX!GXk#1MBJYi}U^1sD-9=V%WX!`cW05T!m1{Whp
zpgb+Vp(@^Ty3tM`mi%qz#r!!mf766!6P0Bt0>TT(mbg>T*ixLK8_)5sGrT=Wa>-2#
z&R~=4JCwM%P?Jc$0gZUWQ3tiVRIvlt375FQD5}j>X+_P@9dYq^In7sp0OXY{2%n!w
zoAj&1KQ3wgwUcj|dDuS)1HkS4aYinBrnceLJFCPw8*vB)k3N0;`mtMt=O2J&C9p?3
z0k~I^;**_f+Jd*hI%?8fhi4u3*)fwil7zfDJ4U|KhGmixl~P>+q>lpEyI>NQZ#U+}
z9W!G2wWyjGJLNpj`Q&lE-wJtMN|T<UwKXZSAyl=jbiWJ9d9$Z&W_8<M#ValbE^qoR
z(Ok6|6q9n#BhQ}CwKYOwx}mb0sCEALxiGbc5YK(u22i^(F6oLsqS_N0zii0Z?CwaN
z)>60jG&}>y<s+7FbP%0C0vNTk*-)%#^AF^473754EA^BYrKyybHs<EDKkYP|XvvD&
z12onFc6!AJDtTlUIC%nXA_LzSH?=U6EG63&#fxf=9MdV~NbW*7UdVgnbvVW~?FS4V
zcpc0|hCef_%G#6D->tEBT`DgLp9%U9Y-D5dHQX78$47<TB`Q+(X|H-_Qv4XM?wQTg
z#GE(d!QkD7UPLNfJO#OOb$=8snm#bNo>?=CPaUD6?tWgORZDr6-+ds^c;6}v3Y+($
zYgH=Y<Wi+%d`HR0`Jqv2z6oEWu^};+;4%PA=Wepn2x@T5ES=dS-yMr&y~zYYgGlVl
zv(<ODFHMegv!a@bd%uJS%td3kY*Ryzav`MDw=I>W=NJW4A3LL1YS;|C6f$Z|b#zX#
zf02}0Yopc_ca9w#z8i?=S@W~J_I=Fe5yub>CD3C>@6op~8YhZ|ap8)#K*K7}tP3)^
z>aLUGWGG!?Y{6oxH4Q6e<Hr4kVOABb-YP7t#p_!d=+moWha1Ti!{LF2-VqcHtDjys
zuG5v{>wams5d3v-L?jh_841wZUyfrJHhLmY<|lv_%03dkK}=@l@QP+Q<*uugkzP*+
z<O3rM;X0qY0F%kmWX#4%OP2OP{(k)>M9CbOzhZf?Vg_aBGat5JhLP^7nv@9+aVr8Y
zSdL8*?165s)C=LiL*o{|byOWHY{3OteV{y_C6bnxy48_xy-$KhmoJ$BpXS#W>Z)fO
zGQ_%0I1$paLmpl5KJjL0lG-%p{cSFnG1ynz=WsGU`pHMVcI^fPx<l*p{jSZ!d1BFV
z@~TinJ3w^U0Xvm?#3No1@iW1}I$%$Mt)C`tBgY)`=eXM|4ENcexpAWMd8&#(GYINW
zsOY%GQUemU9yd?b70CG)YbF1v`IDI>M1#jO#hTM_a1UI*Q*l#}KoJyL5<vxyl*pRl
zn#*%WJ_<W*<{hH+c`bZ{*EYGhC#lK4Kail)+4$CD07i@f^>CU|@QDv9dy=>&*2$Ya
zds6cOM3S88|7gQNGC#2~bmx?JU0P;g9wjCCeSrc_WDtzb282z^e89e?<8-FK&mO|<
z+`u#u>p?lZu1`l~Kyk;@S)x-sy>JB@ME?4Y8vEV>1$q(l*^_M6SmyjLfgh~1!eMa8
zxvWC=FxPsTLip)}<poDyh^*_jbT;q6EgzT~b<*s?dd$z!vYP0)!6DKSFh+}{rRee9
zhZ+Us;reR+g`CVvm4AZgy;WbQ2B}`y($<S<bA3`&%r$1^ALkuqH>B+x(>*{s^$zs(
zYpSr3{|G>M5JO)6&3jbKI2&Vt7PQ>rzNGA|H9@3jUfN8$FZ>E{hob;rqH+xNux?u-
zrb6`PCrJnNuYU@p5;w(YfQgR4+j&f$4bnkP;vw+f2*pwfNpT_wJwlbfgh{Y|8ZJt{
z{;skU!t@w^RSXT|I&90A)d_>i084>W<}P>vDcD<6dZbY}hlb;2V~hua`ZK_+7?pb8
zfR?fKfw`$w0e<S`t(-{L*L$SkU=5%#K$zck0#Zq87cSpS(ilCmgWtptK(YZ7Bg!^L
zV9I0ZOm_>*QNx2Vp7gco?G?=n;Y*mNU?Zh64TiyXjN5U<T)^xLNzK(4a)X{An^G*X
z78N#xum!cVfK0j1-+qEzGbsps@AV|Q*W8ll{E>#ZGWcCI4tfl~6VhP+4s?PcR3uUa
z;JTUf`POZ4@VX%Kgn9u2rR`AHMGBx|w=1H~W=eS{p|`*PzR5}hbmOB5U<VE$Qc;EH
zmN_*G_%8vBLKt|%yBw$T!K<uJh@crXeOF=MWhL>~VJK7PUF?((xhxxDge3p#w9byh
zup;somBSy1Q>z&XMH0p+9sYDWWN7^UHfx`)0L}3Wdd%F}3DiY-n0amtr-ODv0}e{&
z&V=J1Q1}seu)(~FmI|heP@}i`Jj8=#YR|rrYd$$vr65W1>eLFEP=uEe6Vd}rLZP3=
zz8J)hwzz>3QwG{j+QkPM3_SGoM>4R$8BEIY+%u$iYQ_r^3`X}#dK$4teb;c68FY<}
z74U|h@%kNWuIBn8qN&PSwRdX1*e;QBliV}OvDy$@F3y5-*~1oMW|nHC=-?Pjl}Yyv
z3Z3vY6n)w(H@7nQ0$Fm*JHQpEiJ6r7CO?%>2u1cQe?Suv8fl=6&D}={#YtqS+G-yZ
zapXjyeuE&gGC^`|37nSp`#ooErq^W2%ygm1bOfvsU<D#QK0Wc8GYz+8n%?-^XG7y{
zuW;QZjFV@Bkr6}9TC|fI;RjQYU+FCfP!>f5I?pEg=XWHy`A%b;`<51UY#?OWK)}Rm
z+}GGcX4u=<0xn30Kc)>$1PAh?3$L`1o)wif;UFTNchySnyiLpY8z3Pv+6TaHp&TMq
z_)qghsGa)@0KLKAA(Xp&!s~|+%E7c{y<O;of3MtRD8+dlY<~iF&#ezNTJSdhyGM?i
zs{9beGv3bnLHh~5TC3Ht4u3^1eL0R5#|C=@s29^GgBn<Kbiy9q{BKW31RVieq2?)5
zc9=BEPXH{6WFD}rMqip2b=h(V`Al9fJq9$Cn+)rHU(?zDj(7BpID=z~CF=J;R(Ibp
z@CQXiV^=PK@tBo3K}rz5<wM}1+T8T?Uw3D0V=lnjX}=R?lqpg`>$D+J5%f@4NMQ~>
z@aD;z*UaI&kEq0~8OYLU<mlD(D!mo=sI9-U+OX3-c9W{G2m9SJSKafg!U6CrB=z>2
zURadpWYT&lU~Y-^_0>L=0RdwTd?ckd7>mKgK@!!HiqQkHt{<=m-<nR)eky9(AvJ<9
z3M}P<v(GT{uCuRJcNp>TA`1THYYX%7ED6uA!?H9o7f)5wx>E9D+$*hhf+IKea}%09
zJiawg&voxC0f(;Nt}Dbk&Qw#QLJ+EbYUuaL!$T{V!p~&_5}%wSSpH^B*TM4xaBY{s
zarO#Iqq3;g^o>cboj|?SpK#eL@_ce2-2`lv<d$dmtBHgY){Uzk1UNo4IiK|fahkZK
zl*GMf5%8$B@DfG7_4_FOB>i4;PEjTDO`>=67#GzFqvZF`2F4NHCJDSy6ETq3L1wHi
z^9SWicphV*UccX?3fpsaG&A1NaHuY-X)Osqz!5?x@zu7V8~l(?I+}DqL(~ltuW`=o
zuBg$*Koi=0?n4g2LbPiFsYat)sr*^#w14Np&&Q_V{G$X^le%dn`<UVn$DJ2N+rUJY
zZA!}PM>yrf8BBSc`L2)_scVWE*V_~-b3c%4TY*EFgS^BBH35xL8GLv3Yo)YdIGjzy
zG3`$cIJ{Xj%|;saMnj4`-MabIkV_~A{nx(_zc3X-{PQ(tI}{ekMdTqb8M5M?sh}TC
zKss5I{igP(akUIB%Y1UKru>Qu`UIj*@G87gUBamN!hyAn>9<b7J%R`Z!#GEOp?>7}
z9^D0*$46~IOW)#5Q)Cs7F$R4OPaf3FVyBR^P^_0m-MZv3k{6cw87Cn4DtK3<*dHqD
z8m16Cs&di0GbtMFTY%{Rgws5iUziSp5*9p`!iPF*L}{z_Dco&Q$Rwd<IDA(Ww6=Z=
zL-W-oOAI=3XTukIn!xnEi9RO7p1-PvdLP+op4<G#RNlMN(c>Ul(1K8L?Pu#lVG_{)
zQdR3^ZN_4k7G1c58^qEd{ay|<m9ytieIw7HJ-m=7Hv{J)XDBIwGcJAw#@a2jEgj??
zX`N-*W&zL_6FodBC`>^iyad=EvCPpP_Ssm*46ny@p(aiboN^sa>o?W`$j~rE6Ov5_
zVrbb!u7R(4#mGp&`M`3;F_-n1!qZN|>d|d`o<$xfhzZ$AP?dEBk_|#%$$^2nSD+PM
z%e#S0k)rY8HXn}NlYM8<EOrkwIF{Czo|I$_zVF3|NbB^1tmjZ5tjVl;9pcA9?D6(1
zU0M#{1rp#gqH=_M?9DK$B!r}@(EBdeVvc3T#JO9Rv9Y!W%5fN%KUq_+DrS^_A#Cfw
zg!4R)k!`Ql!Nkf%S@SCj+cb*=&B^j>D48u5iiBg+$L-h|rgC2;Dc+>^vMOpfh*gs{
z$hR3U!-H}92;Dc7QMbiWS~<jXqcaV6GSCYZoU|@xwcgu0h*kg$y+VZD9Vo?Y%>D`N
z`&Ll1xJ#DU^x8wejeghTA%LosOif12jiaNf5dh<=j18v<iU6jUL%B3YRUG9frzxsE
zegaI+UqtARrTO?W|59(6#tWz}(v(8k&Y~xC1hXD}SUenlah#AHx?z%K9Uk92Q=9+6
zltaH~5|vw6S=R{Sr=^92w5$b8g$c$mdOJriyhCfI^-X2|Q{gx#<sTo9Kjz*r!fkY{
ze(D4!X3)F`Z#)3#v$CJJ#}2^zmrM|WW;`J`t(qKw`M>c)svhinz9AV9tlJbVbS}ul
z_6hcw5@rxRX}2dymmGD)5!}%CFndYXon#=z9gpmmjPhV<dk`T>3!yrdYpJ#6cYpZL
z4jh>$Pw0gu${f@REkU^X@YT`m8D-}vGMX`_Y0!)>X-SnLz~fhJ8R6{eCj0^-p!(9|
zdmh<=!0%>_)3;^ro{L1bXi+G?M_@Rrs%AAo?)~-h$|7pq__o~%jhvve1*f&{EyK?j
zxD5L5FCMNd0~vo(#sgG)p55!5`=#;_&ei&t-x2`$T+OwJvd-P`Cmj9=B>NJ^mGJLg
zf1vk0Z=5TMAt-AN`rP`S<P)U`!yf8b()Vg%{Z7d{nK~3g`*SC9_HICFK3fODw9zjF
zLX98f1djUob!=v0WiQEI41gq%8~o}@ZUd@h@e31cqb(E`8##}d*ffQ@lQWBoX^l7#
z_H5As+4HQ~WBwV9YQnazY95lrw?z^0$T!g$Nn;`dNB!6RfU#7!NUj8)l@YTLqBr2W
z%^OKpasy&kUxucT*@0`}T)rN6Q%sM1`EB_0Tg;_bJ<do9zE(s@QROBRl54~Ra;K?P
z>z#(sQkphR0F6QtRoi<TyuVJ)thy-{<-EnGmYbIBba)llqNZdwN@X1{=>yi?1R~7r
zO`z-WJ$q4G0}U8B&YuQ*Fm<B454|ulL5yq7w#?AQB!Q2CRIpHp7qCY`2aDUM%7`!;
zZ2Lj5aBAQi{yYF0lJ6A5#O!<DF#|VUMhAY!bf#P{hhys)MM(0c{;uYPn0rB_*bt_Y
ze>RjqDB_<;e{-ySr?5uNK2JA{F7wn6SmVRGVMk8Z&a}j3L|+hcFmeC#0B`JzX9U@E
z36VcToc$eL&rN4002+5stR~o)UONeZ<0J0gpPJ7C&^KP!BTy<ggeM8|`mKs2q}dZf
zm@0^)@-cXCOU6*7-yWuVn4^h&ys)e%2m=5xErr7pq13f#`etvQpQjm525N^@i2q~3
z=+DgJ`B)1k7oFK(&X5tKLSKNkK$M?q7;>!hkcf(%2^jkaGDG;An)w2^$Vt{_3kz*#
z1}poo0!te^G*gC+J=!svFdJ9-9o#r;zL^e8l!HPfclOAH+aS=TW!pj^Wd(RgBsWux
zo27@!p?R(VfGePs0-X?&prV93rPcBeEwR_G(gi2k><U#pIq+;1^qsv!)5g=)Y|t}w
zXZ7y<E`0`?e2J`b@aMXU*~gX)B&5$zvhVgtKp^&$5-$waMH)hX1r4$I=!D5i=h=lo
zP`YhMMhgFdO5G&baJ|~uL^@@FB2O$xWJ9To%w_d~ic+q>rFi7tV+XM#^zPSJdj{>v
zN)6vZq>S=Yprn|k3on{7KQa%8GDUbd4%@G6;@u>(_W0m2<^D3Sj_zY&0c1*3pB1xW
zqQKiQKr|jyHI00EdLNS;qKWuLsE;_H61lm-mbQ0Ka`(V2tZ~xsDp9LNw4G~PIn)7~
zBP7weX}E|mcMe6TES<;hlq-~5zu2{8zelM9pg(lQce0sgEC%E3Kkr<sGMQmK)z$yr
z6en*};%STHECApDoEi9L`ScM-K1Ewzbr~|tuUY0qL<$y6OhsFPoAa2E3qC>f`)1xB
zaUcZs7!o*8)XaWn?RCSFqx{|fBG1`T(6u)*R%ZQx3{|&LM8I!(Y)PPHHJ>kW(Ha5j
z%&h1Uj977diFdi5>En(ugt^Q!@cxmTLu}<CP;t4Xa{EN>9lIHxJNRg%Q!TJJQ;;RV
zs|Bj|%mLh=Bkb~_!1(UnIOJrmD_^pq6qk0`d*C?~9EgNf?j##-FIq=uJH$WE+HIC1
zLNFxeonr3Y!ThvI>rhk++5@SoI#ztnRTF2ro8+|RFXmDyd9s0w&YX-uyx^WM`yV9p
zvm;XFmJUyocvSZL(L3T8(XK0jy1kWE$ZTsdRLWoKFC%Br-92ZdS2z#7mnXJxRTG5y
z1-ht*4(xlj#b1N18gZdV(SVht32T0Iu}X(PU}UgEh=sT~n_I-I0j$|xiw~d}D0&YP
zIrUne_yZ!;Ot<)GJoh~l^eX{QM1mB0);z3#xs+u3-Kzd1xO+gO6uRQaappR^#ca^B
z|D)ji6VQLE$~B|;a0(G}Jdn6Rk;0h<_BU}Ad5o@sG~=34M5_GeW)g33o0%rKYERX#
zpi2U>7g;vR<FSVh%MWc+xuuF~7Q`s-@499FbU81r==c#)<)R#v5>f$7>xWYJ=G0np
z;3y<Mub-tr|1!s=bdi1U!pEL6J#unGjmP>3?bxP26!mziWR>!Sy1QLRsB-R}@B4C-
zr!cALQO@r+?SsJ|q=qo{Rgmx({opNKo-|gNqS^hOY@dv!>q0YTw7%%>LFJa|rt`sj
zfj#pb$v5ZksMmLd2?!PcepLY2(!X5E9~c)1R`kV|GLGRZTUA^~!k|$1+PgbuKRp4~
z&hQiD)W8g-aTK0^#7Za6%tAt}_1Jb~VRqB;S^{xh13U9|UkyxdsfceXTVtq`qn?+^
zHN#WbFG2U0*|fi!u(+b<w5E@gRNMq`g5qH@+F#TN#5&Zeb*cF>M{8)J&TS4JYP|V4
zXWEmPO|`LP#M%$WTGuO19lR+vZD0Hk;MXvjp*~zkvM5VJ03sgc>LTB}=lSwp(|yB;
zY|m(2u+GkIJsrXNz&C!lk?Y3?Ps_e$bt#J}vRcPB)?R1Bi!(0g&jsO@;a{6(wM5qQ
zSAe<L(2{N#!m+$TMPL7F)hjkY-QOw;@=`B!eB27i6{dgu;ehCXP4z~9z}~*)(`aFo
z^T~3GL!B;~$fgeVdBWz{Cn?M9yG|v1){t?4M4v2ax>y9-h28XWyE3tLB0|wmEna%>
zw(q4UubY}u?#6(AOwTN8@PtI|yGD0i<@cl~bSO)3NdiSn9FvoV%f)A)hG+HFhe2>v
zSd2G(?qA9buXa@XB`fnC$~uG5wSLd2XYawjX?00_h$5AfKae>i@F)N5PAUC>@F--Y
zi@a$^YFsG^F+tpJCHgEKQfD7fe-wN?L!b|UUYQ5H_n`wrv${h;E}bWx`=Y4HadyB1
z=@mdmfgg+lk985EGOAp$S&SK}Bj8Ou00$fx(iG3+_>lG({%pLPGr<G@DUS@%3Zrpm
z9WREuvG%!@jR_V%)u<upkbY^_vxa<mGF)FfGEt{We()Mp*tg1_>-wk-lo(_QXSD$N
zsx~#%v7KgBjpwP{_I2S!(Ly?4H+MZ(*-4Q5P~T^23gr=#Aa|BX<q`wJi&FHP>(}d<
z;2b7c0Bcfbctg+>5Onqh=HX?8EC+Fg2Ol_s`Nu)3O1~lPqo0h}ED-<pLl-FRrSa_(
zffWo=#!Gv;QP?K(Je3uZV45$_Khb-q<1HUQHc{#+(TLiY-E?aPNAT^R$X8ozrKvpo
zdAw=@lZ|yOUWu4HvPxjSC%x@en*$ug;6;ZE8mWatQ)q^MTrTLshCwbqvssnM44HsJ
z(zLc!wM783s?W%1#d^5$E!QV+my3+_Pp@KdbCKN93-V74?nv9e;tZwOpjeHwT-xrH
zTqbBax0hdo1Y&m%unZYPBI0N1Tw0GM_Wgv#@BlNLU0U;o$ns{wT$rAP+;y)+9M{Q;
zAD&x-Eg5e%15S5<wERnO8r|Rm|D;Hy`6$}Bs;Zrlh!7Y${}Cfs^Jia|tB1x*xBr~7
zN?gn+*j4;v@weJH327N`%Gh2W04FL7(4+A|jb=Ri04Z;FkPPJIAhiBPWVR@n58ZwV
z9@+2X1XGgKE1GDo3QDMxTQY>RL#Nwu;|nK@2FCuy#`crngpQQs&l*gr%{dd$cpwP-
zIkBGU&?drWK)8ImlyuX}>eU}OA)e%-hM()IH8fq(+|yKfBq?jODsXw9ufmN#dKUx=
z4)evxCE*x0M2~*84|##}#__dEC&iij(0PNAc&A8d6ObhdI3(mOQW4tTs0Y@B5Dk_3
zAd2OK{9S{*Rk`wY!HuKwLq47wjtShbH|Sm683BMl;gwsr=POe?U9Y>s{w}%L{*9rQ
z5b$5-!Zz7eY9raj>GuyiDN>a*P>v&UPhFtYV{N_^%@*V12o}*9wx0#l4_@S%mb}Z%
zt>Wq{YkNQw4sV>b)h(veNO(e3UYSrc5j5T(S9hDd242?(6-SbO05^-Xz%ed>IjwyD
zcYl3Vzqci1gHz2R2brvI0IgZ4S#IvEkhOD)Bj8t?^}Y<<y+CZ5pMMi9pq(o<+NZM6
z$8x6~H(pO~s^7un?`p1NOKE)YVg@vE!q3g*WE>dRwnNW|J2=27&oaGtJ#yKYY&xqR
zg<Q9r_(p0th%1YpD$7>h#TdEVN<!*sC6ONd`XowXk;0ak)CKp2{$7AktB9OT13ATG
z?*n92Ooxkp8yhAhG=eAQThhRYxQDz52I_EcpKFK3I<k{QP#=wChGd8BRaMA++#XDl
zfF&rB&NLfZXj?$ds53(Pk3L`S`&npo=ZH?p0|1cG_IlghD6XP};<Y{oZkXib&1Qoz
zas4=B7lP*<%9)w~qPmiebqopB6~<)etqpv2jOV&lL}#D^*D4|P;n|iS$CQ!`pyT}4
zmi|jMzKd=d-BhdqGAB$exwMu}0XHDi$aD1u&XMTBb_c^UFuCx@*dU6H+rYNT_E?$M
za=CmO-7Ka$?tp~enc8ZP(s0NS*$#cZp_)Owddk`tg7Gs42mI5~s?|~7aoJQ428|Ep
zLj|AqGC}Y*yu}KQWF@`UIgQWN4f@Ld*et<L%)MjpF1pVj)4>7N^p85=7X|_dQoKcx
zmOneEI?I?&FxfT_v6-kkWky(dM4EEP!uwEc948;U!@{Z9DI6#F+1LJ<SPp(R``KgB
zW58WfMh!d0l~aCI7|@P0s{NkUY+x-8w8y;4P=FmLRJ%RR@s3%v)Klu=Jk6<q8XRc%
z8RdR|TMno;JKE#_ztjKK)G8$nofouTH>&@-i#B;cPD=376d&^J+8+P}7DJQrwjq{b
z^}Yr}PA4gKdG6)uPOljjAXDrBeWx}O>cfVx0LYF^pQ)R|1aA9$5!R0So71Hx9a&fm
zamR0YU1+<veBU0?NViw-zA`gp7<zl?Y{b!smuH$n7{DLoE`%qhv{~jJ<j<!AFrIL3
znI%pMjaWCyFi%HU=?M&vTDnww=YBe)>JS2!=C{<g=mg3MBbr^(W0DXqTc<tWprD%l
zfBmZex7cR~fSFdkmvZQWyxQ*-OOP!Dxv5&bG_-3wOz~wH3c3vlB!@T8nvQ4yHU3CX
zKaWws#F~E+SSKM$7Zt&*pb92cg*HFfWt({zY7b|zd*n!3BW$7Rx3N7dJnx+1dDWt&
z3!4EP3E8xu?UqEP3%WkN_Gce`ln&c@Hj#*phiFF!IVzbCO6$OnCI<j@nN|SZD>RG;
z0E!J-_?@F*Hy=W_5~{SJ&eCbS?J@xR(t?M-Ehl`sEZExh^rW#$qc5(lc-aOSn{k46
zm6WCu-SZ-UCk{+fdSWvGXAUQrzXl<pq-~YEUYR&~v(WK}po=ai1Aw%)f`vo@NAX=j
z>h^;>>)g-ogQa{7csE!8=%jjPW1D!7`o^BCn$Lt)7-Zv0y6L8FH-L;AeRz(&Pd2qz
z!JI#N9$S_umIQ3unc%rWfv6!qaFsINq!zsX6AA!u{JK&)fpL&dR06RD#rEj))Bx|b
zYb29P##kYS>4TB7?2)}(_H@A5HAgrL$fNzA!$9)+EaWuYg~00UqEfghH6zdclM^&7
zp)~|7I+$%0!17rpN-+yf&5o4Q!S;A1sc{AXcqRXsGukgR!?IWHjP;->+#QAd(Y0dw
z0R>Jz=~c=gB*px(;G-9DpEF_1k$<_iESbp;BN6Is%!ckQuK6FzWDH(a(;EEj&49Uu
zz@&^l3|eA_c$$1C1^stUt!tvRAVw-egoL$(WmbsnGCvl8ejxw=RH&}YA6$_eRo2UC
zhh-fG+}r?JYgIx=5=mQL?cHiT(zGW;RTrC3dT1)s$xj;}DZMcfv{nb)z^ugt!<+*K
zS9;qVJDHkS@YLeO`i*~cP}HtpMkGYX%1(B@MwWol)PVtl?N{Qq@s>VXO{W0E8ItMv
zwn^#F57OH_r^ln1n|=Q5YQ&Qlb`UX726ggFbrncnBiP=8b*CDn)PzRnirIv8{X!FX
z=+M(x9w80cu%^XPYgSOi4kO6Y^EqB}15*Y76;PVhJCv%*X-%gm>T`#jFA<BYlXy0R
z(N7pVNCwAmEP18qfV&S+rKM%`Dt43t#qxN6usl^qo_b^CFLt2e-#$E@G_OjoxdC6$
zVpwFfCimZDK~`RR{NZok)3DYIit5N{aU6d_qF)Kbq$+7&5V$yFHv>-~Mh;<c>Z3U3
z8wU0Nw{ieL71mZ1gy*aps-G)fVjS*dtqk;7smH}RoV3%jTn@T9Ic`V2++6pgJ|6D-
w313f-!^E$r$1#%k^V3-Ae}8`wpBL$45mH$-m{r{S86S$lOHuwa?EfzR1H&r4z5oCK

literal 0
HcmV?d00001

diff --git a/blog/2024-03-15-ROS-integration/index.md b/blog/2024-03-15-ROS-integration/index.md
new file mode 100644
index 00000000..9bd9fe4f
--- /dev/null
+++ b/blog/2024-03-15-ROS-integration/index.md
@@ -0,0 +1,195 @@
+---
+title: "Optimal Image Storage Solutions for ROS-Based Computer Vision"
+description: "This blog post will guide you through setting up ROS 2 with ReductStore—a time-series database optimized for unstructured data. More specifically, we'll go through a practical example to show how to capture and store raw camera images from a ROS topic in ReductStore."
+authors: anthony
+tags: [tutorials, ros, computer-vision]
+slug: tutorials/ros/optimal-image-storage-solutions-for-ros-based-computer-vision
+date: 2024-03-15
+image: ./img/ros-reductstore-example.webp
+---
+
+![ROS with ReductStore](./img/ros-reductstore-example.webp)
+
+The Robot Operating System (ROS) stands as a versatile framework for developing sophisticated robotic applications with various sensors, including cameras. These cameras are relatively inexpensive and widely used as they can provide a wealth of information about the robot's environment.
+
+Processing camera output with computer vision requires efficient solutions to handle massive amounts of data in real time. ROS 2 is designed with this in mind, but it is a communication middleware and does not provide a built-in solution for storing and managing large volumes of image data.
+
+Addressing this challenge, this blog post will guide you through setting up ROS 2 with ReductStore—a time-series database for unstructured data optimized for edge computing, ensuring your robotic applications can process and store camera outputs effectively.
+
+<!--truncate-->
+
+## ROS 2 Distributions
+To install ROS 2, you'll need to select a distribution that aligns with your project requirements and system compatibility. As of now, multiple distributions are available for ROS 2 [**here**](<https://docs.ros.org/en/foxy/Releases.html>). 
+
+Among them, two distributions are currently actively maintained :
+
+- **Iron Irwini** (Release date: May 23rd, 2023; End of life: November 2024)
+
+- **Humble Hawksbill** (Release date: May 23rd, 2022; End of life: May 2027)
+
+
+<!-- -->
+
+We recommend the "Humble Hawksbill" distribution for its long-term support until May 2027. This is the eighth release of ROS 2 and caters to various platforms including Ubuntu Linux, Windows, RHEL (Red Hat Enterprise Linux), or macOS.
+
+To install the Humble Hawksbill distribution on your preferred operating system, follow the instructions provided in their [**installation guide**](<https://docs.ros.org/en/humble/Installation.html>). The installation process involves a series of commands specific to each platform and may require certain prerequisites like Python or C++ dependencies depending on your OS.
+
+## Understanding the Advantages of Using ReductStore with ROS
+Integrating ReductStore with ROS provides many benefits for robotic applications.
+
+- **Best performance**: ReductStore's time-series design is tailored to the sequential nature of robotic applications and optimized for unstructured data, such as images, audio, and sensor readings.
+
+- **Real-time data management**: ReductStore provides real-time First In First Out (FIFO) quota management, which is critical for maintaining a balance between storage space and continuous data flow on edge devices.
+
+- **Metadata association**: It supports the association of labels or AI-generated analytics results directly with each stored image, enriching the dataset and facilitating subsequent processing or machine learning tasks.
+
+- **Replication**: ReductStore offers the ability to replicate data across a distributed network based on user-defined filters, to copy important data to a central server or cloud storage for further analysis.
+
+
+<!-- -->
+
+## Example to Capture and Store Raw Camera Images
+To capture and store raw camera images in a ROS-based system, you need to create a node that subscribes to the image topic, processes the image, and stores it in ReductStore.
+
+You can use the [**reduct-ros-example**](<https://github.com/reductstore/reduct-ros-example>) as a guideline. This example demonstrates how to subscribe to a ROS topic, such as "/image\_raw", serialize the message in binary format, and store it in a bucket called "ros-bucket" under the entry "image-raw".
+
+### Setting Up Your Node: Integrating ReductStore with a ROS Client Instance
+To set up your node for integrating ReductStore with a ROS client instance, you will need to create a custom ROS 2 Node that listens to image messages and uses ReductStore client for data storage.
+
+Below is an example demonstrating this integration within a Python class:
+
+```python
+import asyncio
+from reduct import Client, Bucket
+from sensor_msgs.msg import Image
+from rclpy.node import Node
+
+class ImageListener(Node):
+    """Node for listening to image messages and storing them in ReductStore."""
+    def __init__(self, reduct_client: Client, loop: asyncio.AbstractEventLoop) -> None:
+        """
+        Initialize the image listener node.
+
+        :param reduct_client: Client instance for interacting with ReductStore.
+        :param loop: The asyncio event loop.
+        """
+        super().__init__("image_listener")
+        self.reduct_client: Client = reduct_client
+        self.loop: asyncio.AbstractEventLoop = loop
+        self.bucket: Bucket = None
+        self.subscription = self.create_subscription(
+            Image, "/image_raw", self.image_callback, 10
+        )
+```
+
+In this example `ImageListener` is a subclass of `Node`, which is part of ROS 2's client library (`rclpy`). It sets up a subscription to listen for incoming images from the `/image_raw` topic. When an image message is received by the node via `self.subscription`, it triggers `image_callback`.
+
+In this callback function, each received frame is stored in the designated bucket in ReductStore using Python's built-in `asyncio` module, more on this later.
+
+### Initialize a New ReductStore Bucket
+This process involves setting up configuration parameters such as the bucket name and its storage quota settings.
+
+In our example, we create a bucket named "ros-bucket" with a FIFO quota type, which is suitable for making sure that the disk doesn't run out of space.
+
+The `exist_ok` parameter ensures that if the bucket already exists, it won't raise an exception but rather reuse the existing one.
+
+Here's how you can define this initialization within our Python class:
+
+```python
+from reduct_py import BucketSettings, QuotaType
+
+class ImageListener(Node):
+    # ... [other parts of ImageListener class] ...
+
+    async def init_bucket(self) -> None:
+        """Asynchronously initialize the Reduct bucket for storing images."""
+        self.get_logger().info("Initializing Reduct bucket")
+        self.bucket = await self.reduct_client.create_bucket(
+            "ros-bucket",
+            BucketSettings(quota_type=QuotaType.FIFO, quota_size=1_000_000_000),
+            exist_ok=True,
+        )
+```
+
+This code snippet should be called within your existing `ImageListener` class during the node's initialization or before storing the first image. This ensures that the storage bucket is ready.
+
+### Handling Images in Callbacks
+When an image message from a ROS topic is received, it triggers the `image_callback` method. This method's role is to serialize the image data and organize its storage without blocking the main thread.
+
+Serialization converts the ROS message format into a simpler binary representation that can be stored or transmitted more easily.
+
+Here's an example code snippet demonstrating how to handle images in callbacks for storing them in ReductStore:
+
+```python
+from rclpy.serialization import serialize_message
+
+class ImageListener(Node):
+    # ... [previous parts of ImageListener class] ...
+
+    def image_callback(self, msg: Image) -> None:
+        """
+        Handle incoming image messages by scheduling storage.
+
+        This callback is triggered by ROS message processing. It schedules
+        the image storage coroutine to be executed in the asyncio event loop.
+        """
+        self.get_logger().info("Received an image")
+        timestamp = self.get_timestamp(msg)
+        image_data = serialize_message(msg)
+        asyncio.run_coroutine_threadsafe(
+            self.store_data(timestamp, image_data), self.loop
+        )
+```
+
+In this context, `serialize_message` is used to convert the `Image` message object into a byte stream that can subsequently be passed along for storage.
+
+Following serialization, an asynchronous coroutine (`store_data`) is scheduled on the event loop (`self.loop`) using `asyncio.run_coroutine_threadsafe`.
+
+This function is particularly useful for integrating asynchronous operations within primarily synchronous ROS 2 callback handlers, ensuring that the processing doesn't block the executor.
+
+### Store Images in a ReductStore Bucket Entry
+The `store_data` method is designed to receive timestamped image data and write it into a specific Reduct bucket. 
+
+Here's an explanation of how this method works:
+
+- **Timestamp Parameter**: The `timestamp` argument ensures that each piece of data can be associated with the exact time it was captured.
+
+- **Data Serialization**: The `data` parameter expects a byte stream, which implies that image messages from ROS need to be serialized before being passed to this function.
+
+
+<!-- -->
+
+With these considerations in mind, here's how you can define the `store_data` method within the `ImageListener` class:
+
+```python
+class ImageListener(Node):
+    # ... [previous parts of ImageListener class] ...
+
+    async def store_data(self, timestamp: int, data: bytes) -> None:
+        """
+        Store unstructured data in the Reduct bucket.
+
+        :param timestamp: The timestamp for the data.
+        :param data: The serialized data.
+        """
+        if not self.bucket:
+            await self.init_bucket()
+        readable_timestamp = self.format_timestamp(timestamp)
+        self.get_logger().info(f"Storing data at {readable_timestamp}")
+        await self.bucket.write("image-raw", data, timestamp)
+```
+
+When the `store_data` method is called, it first checks if the bucket has been initialized. If not, it calls the `init_bucket` method to create the bucket. Then, it writes the serialized data to the bucket entry "image-raw" with the provided timestamp. 
+
+As you can see, the `store_data` method is designed to be non-blocking, ensuring that the main thread can continue processing other tasks without waiting for the data to be stored.
+
+<!-- -->
+
+## Conclusion
+In conclusion, this blog post has demonstrated how to capture and store raw camera images from a ROS topic in ReductStore. The provided code snippets serve as a practical guide for setting up such a system, highlighting the importance of non-blocking operations and proper serialization to maintain system performance.
+
+Using [**ReductStore**](<https://reduct.store/>) is straightforward to deploy and provides a robust solution for managing large volumes of image data in real time. The FIFO quota management, metadata association, and replication features make it an ideal choice for managing unstructured data in ROS-based computer vision applications.
+
+---
+
+I hope this tutorial has been helpful. If you have any questions or feedback, don’t hesitate to reach out in [**Discord**](https://discord.gg/8wPtPGJYsn) or by opening a discussion on [**GitHub**](https://github.com/reductstore/reductstore/discussions).
\ No newline at end of file