ࡱ> nbF D DлPNG  IHDRB`TsRGBPLTEf33f&ꆧg.z!uWP6L 2H*O2o&!po_] @c112BYL%bL0Yn&! KA?Hz @@P5< %! `Wfjv ,L ! ~ Ay ߖ_H_%T T:+y d^penR~/+RY0@|y`F #T*l:.Pp021)W2{3t106D4`!x'5+q=!/Rs&^ HFxuK@ǿZCtEQ]AIf0V@M\g # wל#w & ,^ea ,˴Z|oMoEUt_`U1LqW\qa%ϩnrz/qjI9{;{}D\$C/Vn܊M܂ǣDe[Ip=-94CTL߻jdx_{ذ4]g'{l氳ưrNzz%{IwmOuHv3TόT?c[`!iGMvb@^$L 7xcdd``Vcd``baV d,FYzP1C&,7\f! KA?H [jx|K2B* R  XB2sSRsޖH_ h P.P56Z6J,1 Ma`e4 f0L@2 "6l2v';!2`a.̽! %E l\Fh5^)`sظpBZ`8+KRsʿ3t1g~`)f`!rR!q`J=$x H@xuJ@ƿ٤,ŃEQ=(xLAF܊ 'oPqDqvRpaݙ. XuFgY%rE"2i>Q):fq TjSVo<%+*/**;hma$N5PqoZ2E_t1kN-7$r'~h$NJ'gFOd_[x`!ޑ׼r Uü  jxcdd``cd``baV d,FYzP1C&,7\(! KA?H: 5rC0&dT20]1 @001d++&1h5-?+ P.P56J`tiՄ󯲃30 .|F0ɞ)\ RYaJ? 'o=X1W`7]I9 @+݄osdCwW'm&: *?s[&\(V%20q! =X+4v)а9 N3LLJ% 坬i/A`lt?2q`!!JnMORWS `XJ`xcdd``ed``baV d,FYzP1n:&B@?b -: 47$# !loN`A $37X/\!(?717k00I] Hq50nTBSY@8?cq W&0;L@ruv J_ĿOb {I p{wT9  o*V Qp()Jd8*3?`sÑ#`(䂦".pJ%3LLJ% 1.,#c3X@}`!=6tX5͖ڤ>@ H xcdd`` @c112BYL%bpu0@penR~CP@+{$wUpTT,l =81e$1 2U_o*V Qp()Jd78Z1.۫?ḙyRQTME\KNLLJ% H X,|D`!:n%jd4%`0Hxcdd``> @c112BYL%bL0Yn LB@?6 uj[jx|K2B* R  `YB2sSRsֵ-< .:]b mĕ ֙]nS +ssX͂#c5bRu=؇`!vÄI)$5<5Md>an  CD`!tRB2 @krJ@ fxRNA=3, $ca-5N+1Bb$vO,h?@ΰqɞuː" X:Q #Θw]WM+rߚ "R9>O(/搁&>$4;# Lz>)TӺse{Z;h1U`pgUM;߲XÓ*d0o)9)IKBZ z}>XW}/!]'|ޏ*~Iϴ*_•c.Cv4 eug?V^݀p^wzBz+gvA{3G|ᆩl>!?[[sz`!H(_3q>X WxRJA}l&` $EPQA{;$zEHK+@?"M~/Xi!xn#\Xv̼n26++;/HE0 MEKѷmVjruJx%0BSD7k84*MKԼnvQs~TL`q&gN@ҵ Ɵ ~hL?|RU~Ȝ)AVw13J%>e5|˴Jt'3֛~@j/W[*26cfg&Hj#\Xs'ݟ#=dLHn`!\R]pm,   lxR=OB1={)$`:+M'1®<qt'Ca!qs7hpc0y[ޫO"I{z{9=-C X1 F b}`/lT8J.QXʐ&qs/⭓ƈO^ԧNftUmso~0Pu; Gyȏ|? g ^_9xe'i boz›sL ;Yvg`! `^ C9iDRxMP AQ=3K,$kJ,xz;YZ '^y^ܚ9sν`0'*/bA`Pa䏑m(+jQ@iH}TE"ΤӁ=ɛ1#b\m/mo^M<{"2]u|(֏FN]x'\Î^4t,.`!$FAvY'TkD `0xKA{:Iy)Y6Cutԟ /xE状qw[Ek`y?o!D5,\A#ZXHm++η-ro^FEh Ja l1_?h+5 ֙PT*>,XlĮn&F/ѻJC@m9qfx2t`H= Jny LrʻO F].SdLXwJG&Q]Dd}2iz|٬~svQ+㕉~+⃪; gfƸ3e\M'WDy 0-v8 %!qړ=0g|`! W| wP_hWYVDRxMPA}3a]BD!@jZ$ BBrN* C9B/qfeΛ7 8`T#)1Q̈04MOvTְs(#2䥾 "ٸpT/޽28jy7XNW fumP%i]5tEML<;1`/< r000(   V$Photo Editor Photo MSPhotoEd.30@Microsoft Photo Editor 3.0 PhotoEquation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0 Equation Equation.30,Microsoft Equation 3.0 Equation Equation.30,Microsoft Equation 3.0  Equation Equation.30,Microsoft Equation 3.0 Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0Equation Equation.30,Microsoft Equation 3.0,/Equation Equation.30,Microsoft Equation 3.0-0Equation Equation.30,Microsoft Equation 3.0.1Equation Equation.30,Microsoft Equation 3.0B4Equation Equation.30,Microsoft Equation 3.0/ 0WDTimes New Romantt{ 0DArialNew Romantt{ 0" DMath1New Romantt{ 0xxKxLP22 Math1Regular1.1 Math1BSGP<ElT-eWhw~s.ki IevSEseOXO 3 1 ;7,T3ㅿαNDEk,4(8)Wz}Ia]g1 g؀ӉdnZP%I|}nO;N+oǑ5CJ^_Ǟ~ξ>4~%pX*eo#GusVs->!5O}.ޮX}^ƕ_ dufi̙<!=,ߔ襯Eq?jLU.:&8(hBfȎȓg161F \@3ruN {Hˆ{"bh* 1 M̊F&xNbQyyP<,&ELeRF9rSp'ҕ {1Ǩ'R'5~]<&"6c<5BY(*+jD{athyї%xA@ h`݃= 9 Hʇx#ٕg6][Q`)8cu*Z1))ԬSqzתL9<(r/3)QJ/=hPў/(VC (6.'aŽKa# ohLk0XάBǥ\\ȰmDwJ]e",bȥA$ Q绲ڀ8(jV!bk4KRZ1IM'k^WL "@6ӁpUAz#eZZZ6ͬegaFSyaEmiLkԵ!XVѿ[L| A0.yqy9&vhJO=@-9 gB=-x=)jI/˃OyYU6'dja_40|zlnS:DO(zkк`Rp0,Fˈ186i.c~l}x^SpVcy.F:/LH&R8 Ď%k81$<~?#kDnooEsdiUM`nFd I=o?\I*$RV#'^˾,2 9i+[ct̐wĺ9)RY=1Q;j|ɼrJU3S%z# o)BA`OXN+q8*R􀫉i(7P`dBr1`JhQz(mHr c% `ZB=*ږZ xE&dR Jjaq{ꊚ˚P2Ū  vH%%G&[DwG$ȇmZѶZ֍ 5/@(K{Ju( p\A޹Yz$v%_E A*&Q؊@ /0΅1I;ɯ_кi.^`Ye YJއ]o$&(0M~#Y[ % S޵Otd* ɘZ 0.E|l$ϱ]IJ")&!Llx;Csp 3K,ӣBD# :^W7sBiQُ3!3ӭ5qd4#_JUBeO! >e>l ?zk\- <`[@iim*Ї|VqZp < 5H7{}Yx%LxBbuoTxV3ث#d }fjH%7#  /ڈ )Ǣw6m I |b]A]VňES}l!X,t ً-2ٮ 3I @y1U#9MiѦ_HϹ: z @IB3!Eb"ᡈD24<4#ݱ`K bCbXd-18TtD &'ؓՇ m\ns+3,0s96@w^K*1V0b[G%@fhٻ(ff9F<@grȕܬfFCYYN% ;R|`Kȅt5稆Td v y+RKCV\sO@,0pYP{|RIsSNi'E_ib.+]Jx0e :GDՋDcUL7ޓXi$A}H=u^8vgAF%a#r]8B|pϷ R* <6f:}>I2NK&`1MfFq:VY<{۪4 O4XcW˥}J,@BEC&,g骝DT{4L&uBno 5OvP6V"f*F,1 > IJc .[rӁZrő0.26A̶ųjQA(*5ٕ-$PW "PRsh<R:[bjͼ*ԽeS!,/ Bu+205%fС0T1־:ݣY,'B(Ev+T>Om3{=&^D \ OQ5SL:AwGӆ eVъC%$:hat2=|!Cf{3!C {\9z34?#|Tp|٘2TY"2,"0;; -'@;Ba<FFWӼoHM:ٗng{rn3##2%FK 5DH.-zL xBɐ=pb[%b4%(΂4/=2 Ga@u3ibV%rlcMҢ%" _QK@"+|}O v93L(B7*lv@GTp% P9 j/z 2`HҘ+B<$Z%J^Tf J+sJA-{L>AtJИ׿%E )/I#`3@+ ,u8>m ޝjgvB j+1}CFq -|` C.@,!r . Ff/Gٍ.p҉A0]GR4dqx]*YVJRE"BK2:x 0E\ET(+z`lVWȡ,XGHntA6sHDΎ^0AM+ jw%x"$F+(9 9 *1Ou>(Ŗ)5ܛ*c؂g!) ˗ /h2d/ Ct} s  !BD#k<32;bbX.m?L] 9Q'Lvb490GX/٠=hqɛ!b;ڑ :?c0V̦Q^;qҚmpW!{4X 1Z})*;E_O͌`ĭ1z7T0R)f'9$JDž)3J'Q?1C4?W.`ݻ%g\+̪H>Oz &H;+9 Dǎ41Vm9iC-:v(p9UYvBuP!R_B,,PoI+ qvZpF'lۯќ[ '`}^(^_2'Z|w!Ԑ (Fъ';awf>ilB77 >֊ H 4[8 0i.4>?W\pBJ]LY.BMlZsE4c"#Y"ZOѰ\nWhPu2 T.(&'0;.qZ'Nfp|Cʚ HFI&Йrjߕse+,-+6P<"ɔ%bێHpYIS$,r Tx[FfG`-Gg!XFU>!I ̮.M(ܪ̕ :h$=m(Mh2A ,ݗ@k]6T.ng`j^#Eaۭ)KmP>QK4aKk[/#О.S,&RjAE͂z1ťVcHKܰSBGRVXd(x$>nX$WK?f:h2/ؐA;.rP8sAeJحInԤ?^['k "4ʺ&3ǟˏpq0+m1*z&^91Y!,u \ykyt%ߡ'XE(*%˞ ~԰D[m RQvUoP1!6CLI!T(=A@d"iM޴\z05!B$. ;>637O$4ft7a~p}}m>o5#lϔz tCas'dMw>5<`]6*G 9 )$&0 BG}1=w8 KBg74hܠqTpj̗Nl<&(Б]1&aa #OYkEu/u+9Lǂke%L$fNnI8`ı7SFu￴Rii(%QS)ԦXX4SV_`7 ]BRgHvl̅lQ}i+!oU #u%#!ӘނT५M(+SjW"?ў;ĺ"]0 @jwwQޒtw:9T}KN%$Bucu>Π_"_$KCndZ"޻H*}qxhnN'wU@F809b+Ig{`@_ }L/}stɭF]9!>٫$ (pdqX 7'l?  CTu+@3 tMb0Vw/$]ٯ̈́VuZr5f بQ_$4^}ȉ)OD# OnU5kL::7X@5*%3+~054 \桲ˋbt/+ Hހ`Y56{%@0q8Ģ}(2>ksE@o.m 8횩<1pZ.n`5)n Jzoyt؂,kY iv|G"&* 湏Hv9GNe' ;@?%#ڐ |qHY$U"^B8Z|lƌĹt> gֽX3D_}W2sVGa"{?(A\tH  D!&TɃZ#eV"a'n7*hE6ip}^'4Ueؓd Ag*1L5+YN;]'$؁6x%#W a5iFTq:V?ccSWt2F"rd%Al1)M“~ysU@| MQ՚MXa vy@JvD T] E3-Iwϳ3EpW'^C`SN;TטJ6\)9WF'"!tF ZpRMO3þ8h6TUnZAmRtHL|0#q$v sTKP'}~x"v` X`f5l] %.D^<ޞeHV Jsp8|^_üq+=˵CI d+QUQ_e'$3mtHtN3C:B`ZP=q>vS]+?MqtVr@Ea؍s!.H J ݈z2;jIqjJ E@ KN-lTA)n)k,ۗ0px/WXF]@Z^'SZ(Z@ho9ѸnhjB:H1Bv3~e49n1m&,Ou]aP,Yp7QLI7{0J C! O7=Z8)),*ǔ^[Z%oj:<6ƌ[/\agiZdD;_%46QLK3>GAYW>Z^0& LlX2*u$jlv@dF"b :V+XҶxa _,G*hs)};>gW.FN{<-Tb~\!.4Y SHoqRIvA,H) lAg{*V@@qWCdmTGXMmCTvUTeF- ApUNm[lx&}hf;,':GL tOtH֎0D`D!N0'k< \es (u47w4N*)Q $g漺fg"`-z$'PdX)-n1-ӧSċfe}Y:G @|tW%E(A<]D$*9{qC*VaZVd̜r'_Ȝk[!*Ϊ\f$HT a0⑝l(TžX%z:P>LxmSQSQ,72ht{|7h ‰YO9J.! |_KJ_&æMCrV8LIK@x2\gm$C%:ctn8&F3Fţv2rfKt8By") s`3/r0zq Ì42'z\jV%gS#([MiP-7F4P*Eu{$@v eK&:dNg(&^^֑d&6O Vĩ^-zn$/8l紸[* H&mr:F±lx$-$ <b1*C/ج^g2* -U|6R"W81;*֔X.З&\Q] ++i68ˑ>:8䆺y=HRݜ^0;LXIzApExE2+G8cr8m">Ȣ#Lo4 y-NWdyaBʂm6GQf 1/m[_ppD=.S@9[`"G t, ~8LOhSR ȵ1@=àЍndʷ>9cЀ1 ֎R~c&y?@77Y1+c4P-TB|:RAM7~ @|X``@YOzcdl*HG y(NbI˖5m Qʁ WhSp.>JtjOGolD bX.gLڻ {3K F|!_1 HcK5NTnvsTx/YVdGs:*C2yy$y൱]I cQo2Ԭ1lYZGoP@*7Ïޤ"cX<'!<_6lw W.Po[6Dr|A8Ő%i)3t; Ең aKrڋF!c5 ښ8JTv"3+Uy)(@!i4Sy I9Z`f;!6H܁vI.C#jՇ?EDߩvnۙ5%`xz~Sţz?!TXɁDU=dkM2%閶+w2ʱ}U% NE58`Pm"S뗢Yc{Zʐ @DD$RFg֙Sq`NkRۗ N5kϛK-Zu`j8%̣A ʋC |*p6RWی5ufJ/q8-X]5dD]Cou\/CF\¤NnJP癓`i^Dr<"?$νtLf#rUQ/&.K[5%#l476L'3[ U PjYjiJ+nH1R[UqQbr0mꮎkc6J-nfki3tv=֬?328*Q# bӂ*+5x;(v1+K"a1`p[!wUo?G9,rd0PI HqX#0o8`L`ԟtP 1Qr/,`#u3͓ʑda:1% +W_fz x ыĿ+F;(L7 7i(Xiw= L .$qi` cw'Nupuȋ,[ۍ𝝲 v^29|;K:I, x@ Rk!`U^!Lf=fO#Gnb婞[Hâ1m;c1!G=zetd㍰pddCX 6O"O (49tOQ|닶5 )r1ZU2>c g~~X5lDS8x4+ggu^jӃ ݯORM`lV o[~X(AcǠ3[ f'57+b+ySI18w$CT嬺{|Xբ:H !3 Ɲ2Yx,IӎUhkYEBXpff""N 4Ok E)ef1̋PP܊HwèH!Ke_] ͤҔD(mq$`1af~fc]s'4Ug.dS 8ygt*l0*+yovY~V0BMh26vFnjy:/"":E gO/J3MU 9=Oȫ}sC"4BƺR#QD5 MP ʻ*Cjkha*\֪ V[#,Ft-km`goԪ] M2B  2n.9]40}C Bnӎb&Q¦Ԏá'|dΚϬ.M 2֝? 2wg&8 L7iq72Gq[G~k/1w@/S6$TI !2Ui;E)x.ӄj7we.}Q8w$C}*Cy

'J5.forՐ';@R?&zb4cve~3dgyRO#i3A+^do [mdb9N~Yqd^z -Ehs('%"o~ttxz6nqzZ7"HT8 *  FFC" 1!2n^9]4쳮(2К΀Av1 FF֠.wp폧Ms3 +q^XKu4.zNjNDy; 4T.w%jBwD9"kМ )`saW1ɽw:T'w:N:5{ݪ/QD^DÔ3/&$2_Ц@uY!)ox4"RfmtcWV+{~ox:܍%v3PBu!d]'Ra úb>bՊ̖5Q,;]$10 pGFL[#L L@{SUp/hļ'D9HՁl,N* x$dpPf#F\8?xYBIyDw.SS0KNgI Me 4d {E Il |c7@ T8PJ%큛0# }$Bk%&q{ w, I?1=~.];erJ-?Qd*ݩ/D_[u7W((:J}vb4;흏Xxi9$ly2Qoh&lC0Q?گ{ܥ@.i4SQ hS$[?qL6əg0\J"gH2odms6X&>9ya~=`σ=P "X|+v&{6k+!7(f+ëZ>) U t W՚- ]No(<8Q6K[ӀH& 6{c7 TqW,<' ˕TEtWb-ȦP/GME'*y>:y (,Si5^bܖOKCUyB‘eI')P- X@"ȮBe2*uDL}PyHı&R!@k2J(SMPtvft0i1}ä%Ämkeju O4m݋wѦ}gW$VVeCpm(cS$bKۭkتl)WU$L6,#K:SZ$8*9T]_^Nڠ :3e,c.u(QsӏJ.+>5Cyo}?mmL "+yGmUm.Ek$d;;,<E$@Yaih6y)N9T8M.T4KxDT)@"me Ր"8{F1?@MM\iRSӆ@;1PL%jKn#7'C_rxF@Y_ιP|SMHiAUh(\o@uh`ZԀ0CH5chkW)2ԩήZ\rpn1\p㑯0=O.ֹl L\A.H<+5pcd?Æ>S[Xߘ3_ E %#A%4S!$./`gđ#H: @2B$+{G|vRլ<@'NI*Yŋ( wĘ7y@wO"k~MSe)y =Ur8U*<^iY%׷fkX'{WX׬\܁t9 s RDAs?r4,M&d'4/'upSg)9sJh|&Rw5NEMU=>#+ʌB(N7 'Q.6x3][C*I lچE:҈s}&I#h?Rvۅ0ӹK&WL7<7݂83A=J)aL< xp_ued@+'{:18 _kബO#B)-zc{.YegAyhLB NM+kM cbB=W7n0Ma9bB-wЖ';?6G0)Iw@XW. $ϩ`PWQ,Q|gM% L[rM7c%8<[Fsԣs "y d<;8LBCNeIYIϪ XI␊bͷx"HI~Ҳt^Eq:4rgL`'hzZz=32ԋNHR(p Z@^axuqh6 [D P|,bc07\5;`]Cp }2A[v!/Se%Vz(VYk&O'|~ RE]H}BjFVn]Tо qWL:lU ]$A$/+:؆f90Jz^YQd:K.zi=_+q'2`}[VCش7׏8:u"6t?mu&r9F7AUw_mxW爪t~}:+晠%LeMpU]I#05GB#c%|a?j[.ɹD0LR{Fc`(l| d71]aZH|&Q\Q=S\ FfkP!@L  ))q8S gN #m2OQtm>}g!&;J' jR6)%%]$ 0 ߠaZ+=ser}y^ojQu@_t?wj|)Nmbu75+QAgUm>69"$VӂC31EiW,k+U=mOrYܼNOH);ݧ)pԗE5Aw_RQG9Gk,(.M_0 kGH;D0wB ePY+ hx/ p6&u 񩦢̄Q+ GqLd02ތ кVxZ#RGf\KP1X$ cwF{,&Xr)sݗa]*ڹ*T0Ǵs;DY@$Q0a08]5D$L2"߈HX 0&AE-fE9>>gbҹ:,UÛ_hs1j`Y݉(Q#u`- j*s" *Zq%/'ABe={YPo4@}40LAJd F tBX7}8>`g%V.g~r&6SVSs$\l> &3w3+iH"|J(d2 Bi( D5"b,hP/IJ4;d$V?,߁`Fpeg{3^|#Iy b +Q[cY܈z~HY]v??baoV>hwC=2- ;h^jXL0N5GIGO_2ړ9"W {ȾɯO EY.paW>x;YlȽ2mJGRY[LaP;S1NL&NU[Z{е*L <n cî݌1 蔯/$,JoorGhO/$F!dXIf+ !_9@sBS쨘:g 'd*,]9U¢=pP0?ê&x첯V2#F)xޔg= S+?<CewngC%/iݟ&&>ѯ>t蓁w\HjPZJxTuC?АA3 {)CE]:Iek3d›~eBl7/Jdu 9mS66NGEa?g *5tvQt9. bXl"<@qYgg3VTx^ǩ zq+:υQ aD0dOƥVS.IZUԈVPyg|ܮv9(RK{N_Ɉ5630`o*`F pu}"/9薭 UMlXa}兦CǴ^~9E;kv8Q"7!K$,k[dRWg#@C?iDf2|UA"NE8:L80R0IE 9%1$^C螖#J`_ѡ/w(c?S EQ,g(Yݡ!J-PzH :GUދYH nw>w&֧0J}aj9%AhгjsqD(oɰV8Eо{PjpG⎫j Y9hաVɘHƿN,0/%94a`0g#oP7{,4!F{r=hWBi~ 8Z7ˠU8Fc6MEL,M`qs1-H &IXڻ},{( @@av0op>!0FkђkcrA)P)QJn0-*K+!-9!Ҟ5&}~:G|H 06h@%O;"0j *b W:A? r`hĺc28Cͭ e*9T~#fũ1;`nKh;̸'C2=9A ͣeىF@0Hsz0EP)n6'`:b4YEzQ]MGVx6!CF3P$CJ\Љ#Id`Őɒrc] 0k}@G|2JϵBI `jp#1؃e=2rvze$Kї7+!"MIq;|@$WD?(GtE(|yR35w {BX<чw0K*0tյ= l0\'эOCgA3? XM jzY"kD BXb>p3sQCpYӱ,ipP RM+0WO%%x"2j tųJ0_5 u%R DOZꮦn~^*9 t0Txahd9bO /nWGJnN#?wޅoLlp ;$IXDW lJqN ћg3p^e;hI_cFX Űj^Jr@俉fm]#G` 4> 4ӟ+tWE/[*37 3ZdChn:?!! qվ[]],U`!tFV*4ғ߮ĺ$ʣ^${[{)@F>( ,~dӃf)cT@csMt?h򕎠L$Gj#ϿgN6_㇋d[cft%%xk܄gΝFJW@yK-?M t4$R:Њoi7.ÀV:>{ISj$GOs]*,gt8=vDغ0r`yFw"g01x2>F8 z8Fḻ /zˈ*25o/a,8E#vA 9?Ɉ|Xۤ"c,c:+l%*S| B' 'T3E޻%)<9,A?3}zϝ>Ps 21F%-ACpTIUQЊEg*h1|1,!7|@}ne14Tu:ɲ Dk=jR]U ^ͯ{~^ d Bvg/mKlkj*1Ԡh3RA$Kg_}#"h"! p|B| Lb7Oce+Ē%H] #KP I3WSS@l ǥYN(a'OiQ#)-y œu)B2pJM;Տ;wBb%_h&-"!!wvz裍LkdG Ej,Q6P;6ׁቅ.3̂Pl_0֭ -PɦLm>5$\@AqضȱgK,P况\t!$)ڰ' zFI>6P"]"$z1aA348?@Z@E4Ft(NT_`GԷ@>J#`cr>5 <4M%e:/ڱhhO.yC3$UvwvѷUJg.POȁbjDA?;h -U8Q(Q0\0׎;*4 0ߣJ`gn=+aBf#~4lL6DtHẐ9A4Jj~ln 6(NjVL$Ikh=\?SX@Kfܴ{ma$ r?R])%! Tw\a !Ҏ:dr'5XTl* %iθ>H6I> x@BBY+Uد;- D-cfO#oY0x yfϧaž0 ӠXF Py0t*΍`Qj9 Ϝ< 9^:=xK_5!%ːw"i^D5H@ }B~[P?5FI5Y12P dfJ9/)XI*jR$T 630lW1w*Z 9Oܞ"ok;ҩ7VZ0ktҡd7w`4pK~DpMG[*/Os=f W\X۞} QCY`豦¨`ߕ"b߶+`\b3TO~0waȚ&ВAhjl#,ƫ;Xrq1 H5t7pW~/XZby-crS&qt?>ISmi@+]C MeC@&a'8U| T.]a+$O;[W5U3I悎]]p `b|*lkE6c ACndF2]}Z afN<ĊKr^l7i !3W!E'\W0%tsT M?H|?C Þ:+<'0V*`x('qJ*#|XI[鄜4 &NLv)tgd֫S;ZJ cIxFm> dZg9<0! sU`"opo͝wC q(|M)CiȦV(m==ibp^ H -A&PY1/bm bctn̗hDQT:рoo8+ul8NIA%ACR1H*b0^4@X7,¥ ' hnUJA !=F 0 LD;t$&}:(8 㹦[RHЋQ~yo<Pt`tݸIEeYHNFQZ+[ĢnB`$f:4|հ"kY`(i,IuLL۶C3U*9A3tbEE>V (9 n.sFn 8pw`_f}q ӽsޔƛ5Zj@:`z7$u|c߈D l.{-jS~`U=t:]('%`2=0"XᝬTMxeѢ(@J$%~ 1Ryٙ udQ +HN]7.S$sm! "8*KS) ~J1ʓ`3dڶ2 ,0eŻ)q0Aɮg愱H X`fN>8\j-|ih qS*6O*"<|ǷB;-=oa0Oc\5oON1.$_[sɒh 'H-!;ɁjL JAPv o:eN JmS Aݑ(dV'<'X5u5o6UFΚ)o$no\k21N`2z밫G}p͉ 8c0ha0DE/*Y}G65&3M- WT]?fs3ϻӜebEQqJiȃ-U3dD8(mcڍ| V/8U'(qL YT2~r";m*.:u:㝔rUt R %6o@<N>i0t%lʅZ\0Z?AӱRY`R(Ro)sL?.׫x0LaMdWjVt* K ARRr!gZcz̟[ PuQ-D@V.hf]y&3YePI`<*dU4hlJރāo]4H #"P%R"d0'`wP8AO I0H 5Q2,(WYD~'zs,fYȯhWBX& t[RiJ's?'EUyݷ ۑMe bRM!)gZ9hAz `P($.hiO^dh<+U'=:PfՏe!9/$3!s0X<!xi /-;4E`ԏ,OTu̽ 1 9DXEe\Q1˶Ai.#I7)5N&vnR2~2b+{8GuD9}87 Y,*C2 k FN#8&AA@sC7(;p^@0BnyCTYBm*8v@9}Sp14A$(8tJ@J'1vlLٮ]Gfy߫1S ?f'DU820+)B |i|Y5rS("; $3RpܴSZtbm6JDZKO+kqwCRd@hjȜm2W,]Lk\&}o頎ܔ$6d0~:H^j^⁄`뼟Ó Bc &z#1gNQIE3u_yX#t:NP6f~(acٕBm_"#sH.'&qʝr󳒚Ar$ɦI:,2"q(`:06[ 2( jnHLG2$zRQpʩ3 Kzuq7HU[j/Cj(ol&j/,žkE.؞U0ۏ@5wДl4/s>a%b;&2n]BG`kFLBxt7N9$m9Qt%5e3 ЭVh6ԊmSPLiڴ鳃} Ra\a1h2HW.)Wz0Y !Xe{ (=t!ګ4BeRZ0D tTZݕȢD ۹HˀeB^x5 `U2ml]cpL!#BC!W&%5[-Anq? v33K3bCĩN|*.dHt哷%Y0Dh.)w-p!vJ T[gz!2ZH_6Qn T ɦ"P\ qE nhBNTg$,0E hA*@H {N(Q weg[1j{Xi_1_Ou2՛AT]^l/~-Da-f=̃s5|]P#䪰)"Жi Wi vluvE }kb=iFkߘ?@|.25>#Ԍ&^| !6ŸfILq jfX"z 9\l~V n2_N^n,F$2C+4^_ F@~pecO qB.*32c˂0Ƨ8)@Nqy[*@F4FfYR$nRdԂEt45̔F JMa-d7)N-XwdcpvU\$˯y )o]Gp( p˫%o3pAiMSnK XPd/qG1O [_ U6 ZŖxjmp PWBGj"o~% E3 !MB"`Jo1<mB506p@ǰw|_ "ۯTbWdtx[&=PCQFAv>`g|t,31ޗu0AC5/oP =kw/)Zn[ź|H c-sB!ú{Eq7{6ΞP1Ldj ˑaFY2Bcac-w(ZbMDlgIr, +u` TS5CERD.mv5FdqGPa]#5bk#z,,KŹ6ȕSɫYKIT ndxۜm-`5#"ΙH/Œ`Z<6lcۃT3e\y@v}::H~Y{SJs ?  řIDRkH"IFFl3w&BDX `CrZ~.(!%;Z‰7+kp t(]&nڛ 4݄n9&E&2(wo9`>VJ 6Dh(#cN5eSj$dH=~=єa0:@)PaL82h6DT TzD:/iY LI恨%;V&N;n Qy] {UsYrI/c #"HdW;N<| U.<& }0cB !>;ԢK)?SGg?дaT@:h|  _hkfAE9RzW},FDduwgWV! - bfO(}H0tA oqT ")T!T # 4APP9l%Ѫa& ?kj#{Kc[<}d< A.P50)V%n#ficW74cGnŌ4D& ?CȮG$AdWAA| B W3 +ZaMdFp>EnrG "s^6.qN>o'rԄ9`H , NРeC2o "ĸlplpoLPx Math1 Bold1.1Math1-BoldBSGP\CAd- eWhw~sd]8@Wrf3] f-lX%icOb1wh܎n XhgI"+V`X!S`Ĝ3I)51g fԌ{yEV;JwdՐ3fTM_*'=w\?J<ςwBC80g$wj<[qٿ%Js僆<>?R ?e%=p२j Lh=fzut}>"(!P\ cXP? `#Bx]Ohy1>BM".otMcu̯AfJuI~6lsJ(dG(U>GǎJpsR*ls?u(/Xj:4|&/|-'iI0SkT$ N8ʀ.&/X8J@T\1H їAOv1MLhhC*خZb#C,Y-SjyleuD7⁹=E<>5EA$ AxB?3؏*J]103J&1Ȩ/a꣩+Q2hJO$8hoNnh<*p8S|c2WX;6BA [* ;s$h^]H[ar2)UJ WJ}@nՠPKf`R[ZrA ,ZX)>/l)HMRM!P1pݠhbĮV6/7pU^O_'5}Tւ;C*mbovk66K@X齑!ey2e?p@^f(|7 ̽Yٮ}D>@(#Y[-Dfq}4l2oĠ_e0 !Q}%',rS!s Z/ sd(B NO!8Ad>JC3&3b%*P3#+GtDt*3S@M6Qc558CUqҁ]=EIAz9_]7֌trcWʇ# \w q%d.nkbS.$v8b8ޕn˸Di6A}4 =%1g Ь!x:,8n )pLGdv/\3$Fzs4m[=\@ǰ pt* 堖0?y?!tmbS'5V$/|p@!R!\rCa;-/d&%Syjf3€ZeC@ ΔZKČE;XJ/S 9BPm<1#g ĉUv*l)T#^)e\hXf `&ݾeHqgudjL2K8FR#cdg%gksjmO+ =aXYm+hR( "4r닱,Pu5) ;&l*D[:B$/̂ۡM_F kk[of#Gy+`499'$t}%]8= +,/.۳@Gte(*P ~5gHֱ8t|ꥌ"OB2[b2*D'2l먾LƑԐGYn,GUz ~=){mH.$2I!J_zY.1 kQAf@WDbT咨֫$@UN0Dz9quۓh7p|ɛu*((AR#:J.UiG8+T#3Xɓl YF(N@׈U|Yf:RᩫUkjpkX] gْbeo'WSޜ}~:^|}=Y+oHm5z>^\kR j0L]R)Z_,"|O0 |žOz/Qxmͤy}4>%4Kt>'V *lbOzH֐e3;`x}S&ͻyH sU B4EhRcuH+: S w$8MI(#86Fڌ껕{yhE!kp"`o"B3PG3f,E](LRe55IL- MFC%&6]pT =G|Z#/)ATE+W&շl& VPV_0ŤJkx?T.G/"m(h#H8i`m`!Tm<|zyfii"qR.2c5:Pdhd%6DP$ RfA\\s "dH\N/E%`eK6a$97>X Td9OQSuqQzuFEbK,٬,>壨3k6ߏch oO.il25_6OoLK+vN6hg݌90!TѨ:މ%98 Q@E8CЂ_Jmxy[JL78 `mf(,P!'~@L *\Q3D7ocm@5@`\jFbdS-Ghܒ{E){H#bp*k!l R)1bPmH@&,U'Ejߘ7;#3cgχ"/y 7ɩ7lla{BhR8wn\-Olx9+7dLO 9nF_/a{:\/bYz=֕dG+mYJĻVtomɕx[mbݨZrM 5Ԕ ,gEf/0 [4Kfգ{#f^]Ǥ䤇ⴊGH'0bӶΦc>bUI pr0v$ 2s庠A Fv[ K a/ hY? Q1B5y:0`v[2B-$܅L^u["Dd}iǘ6JIQ  \3CID 570 V!R(a:#jaEaAqBC7i͢k* Bn|K& U@tlE^פtQE;ѕȵN>; tjZAG~fL8nh9 8Hub:O -R뿰~k޺;_?JpV3Rq&5b rʞj>m@0 d~4 NcJݻHHх}d:bۚ|̮KQ8&^ Y8,<7ms$3_u~19 7.iv*/lMss͙y1 FgrU&,{B.c<(N[,oa^n"YaYYjof){>r6 NhЎ[k8ņNQ0%&'4J ,qB/`^B7Mpc.܂/h ,$"t"pJ,FoH ד[V%"p ' `xDt4J9E EZ;Skq9y_Q8b,5 89[MInk5"9KB 't3ظ(̯P~MZ` }?"ֿ,s1d'_ӂս%DnNN:&jt$^I*JޢM逺I;I3zʼ!p'+B6nVix\@-7*U5Y_6?׭v SzsVe)&cc#/ R:7'2f+_u hoኑD t8ۥ66NǏМ`'݀]1.ܤf+H 1u-:Z0gW꿵+(+KM}DSzx;ԋ&CsĎ?=d=j{0]R +f{TФQ@T:&$ij N,L0-WI5@8lR* 4v?<(nMAl澑['^ܐDsGD@m`ѶÝt5Ra79 V=Q0&V͝ YH8MUNN$@!D0LXʅ! 0DGQ&anqW{RFL(L[IA ݲ˼ꕭA;MwEVF9o$ PP GB՝;Y2cÒ 7LK7F9зFYP3Jes&ms =eO@ B2hs$GV `,umCK]:Fد=v/ԔGoԮ拆1U@I )0ć :m4is!Te%ȅBt#TJٍ*{.v4$WqAQ! '<J;zxlN uQvR r@LwJ8*quQn Ҭ#S6рSg n.fԚEiE jG9%B ,"X1C'\;h586<2μ~7N#y)dX0x$?;T9C;2ȱ Cde0hIU7}H"SC+`#oCFPyzJS#vv Z8dL6jO .GiR=Lh#"bS(n}<"JߗNkBHD:Ha5kwk3=Θp,Bo,NA٠&]'YoV_PO3QsҌvE=d5d^{.cjpY-<2ܠU.C oص DQ߰ \z~,2y6C*.5@'U\GV<ڑdhrE)~,q)F hCr_ XU%R];e.A LP؏iBN GzI`J  P JtUĢz*k$c FyCmO# q'avy.yTz_T#QQ /.mLsshNqGX(5A-`3sQoB [;h)p[V j}PTDwB$ѐ]9 F#Yٙ_$1Q}3sb0ij*X#]ov\}|+VnHeD~(љu"@ûRћU<}q\X}I)#Ɛ4@z-w%喳Qr?ܾc:pk5kmK;ro7&z<o)+e6x6XO?2f†/l; ^sW\G3U6[(8wnvuT/{Qz`j0Ofoj[|bVSOtrjΣ8 ^$¨ fy25OוdPeA@cUWBY2<ŕPRX6{1q# h/ ½ę!I>[O5drg]v<30K ̇xm7? ݰIq$mWOY0{@5(_vkЁվ P^J]'8w;Sq IqqHDP݊ X,MHlzJtPa4]\} i4,}'$R5#" n(pV 8at",fR/oD"eur ^gz&겆j'bL"1Jqz8BKԥ*U70]6N-% ^ޑ_mj[ u|ڹl@*_o""1?㑛Ůp;W$v陥Q8R =ĂB$ $ɍ} U܏a| pjА .:W?"Q  #Y_sҝm OC@+wT/r P8omB>$2yP,2DoG+3i: ecԘCn51,bG'dܜB@zJg l¶Fw;`eh<6Q5zĆj}whNFk<\!\.%c./+94@ W-%4|Bs`Zh< NPL9{5ɪc1~L޲454D*mݫ@ǯܥY>õ?b040P'-xW.0z0cT9;Iv83p!)WPCXq]zW ypv`+7N8 ž\ T MAP\&BdD.mJYQX8Oc2TKdvl ]Bm|:bFĀdGjlBA M뗀&R`[&i"@e0%,sQ1' \XJZa>"H CXt"?Fy]Pn\,s[3&97l$4_`cѺ3v^s)Wl@IBQ6R5޿(r>,TR Ѝmt3S ب%g{%Akkhɤ0_S>CC(GF,uICI _n>b􆒺FOFBz3H1us@fiLv/t& bS K;  `, Ba3ޓa*V"~ү 'WH{:c5 [! $&-Q7! /L^^@-9<\|Ŀw0!^h^"In-_NTg% uvuT矕O.Oll@/瀨*B:nhB ʨib!bd.9ip Rbf[y=nV:ĶwʩfmȨI `+"AӚrx. Հ @ѳX$c織Zdi\@v<0-L<]-msDd ']PJz9;Ɵ`_G8VRWo&Nj2BgȜ~Lp`,_ʯ0e%#%PAI!T@*R øʠɭ!ͲBGBD( AQna \Uk0 ;THJMYR 4h5jF Dw]}IgP'TaH E `B]ՑB01vxYr/sTh>DXJ# |@li?(tH2o$H}yήMms-98~˸ef+GQcXE ߈0xk Pjva\M!]o (|b\X^kK6SmtLǮg,3QvMHbQ_RԱ0ペo6DEiA8l$x6)l j3Ox a>e/Eͨ `ԗh_x=A%I|f-%×b:SHi(d~1Mr^2YR2*!JJV-$1E2De7Z qTsm!ïHD:QAI1JLmb⤧]sI#}wY._n6Oz&xh-7c1ƘKB+ZRЧ1R»,:X"`JF{u(ͨY̩CZivd84ElqTJw,_fk89^>`p*"AS-NI\ ,t$6kiDUȏ.=xP\R.+n M]r'  8V~ Y8?㶋*J҈vj mE ,K\<, G봥1]ZY5BP%ck{E]'+t_/B!Lp}'e_f|ǯpz:/DE-԰?VO(0H+%S7xy0y6`ha'PC`r >ou|ԟKFLu3oc6~g?nmRT:XAV Y[EvU5k[7vz@ŷ GhcF,(N,) :h4\)ةX7K;T7/Ȟ:Ja:46[Mbf+]xNwQ;W}Ot DUm:^=!LrʳuXy 9 A#]˘*gb;'Z&컺),( 20jOL$HK.b1֎¡)Z#CԛUd׳Z#r#aoa⋼h YmdKB3SJ50T$ӬSC<֠wƷpdxۉ0uXfxR'-Pdi:h^aFMr _ܸcԯ4.nzli2l`S"E s^Ț<:GA<thn m!ڷ|1.]i<7 `FT#Kq)Hg!mrƢ <_GD*q YHhy!Ru ]h8K֯l?9︰5BE=y9&cGm7ĎIwyW%rR78T : B"%dv SkRiq O ֥]Τb:OOE-*tL]UQͨ=HhHNd,KQMsC d L 6MT4wd Aaw%Z >Pʆ@dlW H] 7BZ $-+j(G 5(5 "=(`i(^*pJ E7RYLd60&0ArSqE)rKSFߠH$GYvMQO2Q|뗠"eq4,(ג6 jEQn !;x2|g[1( -U̮V =p&ad -<5B\A4F%U#e-rSX 'Vg ^+ [#\>sVSTZ-XJ1<(j#IۧA kb##yl<[C*G8]`W&w)on!8pAL#Z@^aҸCwk(=|j43IW mEcq( E!ׂZNYE."}:sL|sYA#_LL T(r)#k37moLiT$v`D s i̅{`2YBz*\T=lZryEN8i)6W۸Tx4|ɑU0Z**n H3DX  qB`̽$N?j}2QBY %! )1":*@-Ew|YS2%${+}E~H[݂33PnZ[sM˅@LL'Jf[ 2b)ԧv^1ESl0V>çܱDChED#;'$>9Mɓ` !ڜH@v ~-*ʈ֌WBS `mâz%Mtw[d}:. Ϣ>g)CW޳F9;m "&6L*@ 6Lޗ.@Fm4"!U %Kfr;GX2K1~O$\Ed)hivռwB"J_p:,sUJѮc* d1t׺$YVv\u՚%ȍwTCՈU,T@qZdž(*Ւ{VE!j܃@fe7 "l,tY 5ֽ%NDHKʠ"B/H3z+Rv2ّ3ΓO$CDI9QdwlH;:od,3K'qru!bȣ9 J!<ܰ2F$ 7m ipxAA C9f԰وj\ijJ:3 ~2e.cwD118 S{A#"{ܾ*D PFS`6/\cJ]O& MC,UVtԂP ^Yei#L,砭 .Fs+ /$;/KvK[ q9 dvtCէj\{̥1 2N^o: ;GxJ$W'3^ȜKseP8#qTƦ2RbkQTLמƤ܍[ra Ur$>vqrEˋ){;ɞwGM_۶eQ\jݖE7ckrN<ISTdSaL=D0_֣ @Kxb ,ٝ0o>ih 0R}&dB_,*jުTu=R ytnN1: G%Ƿ] A prCIuAƒl$w$Gʮėȿ􂖐񖦨i&7$D]GiW6.>H[s,A#&M M1FQ th^X\fkŠY&苖q8)4Z68nLnqaĩBb]f=&UA` /ӵزZ#U ($I.Yuxr~c(͢}JuTV^rpG<2COx'ݑYgt(7Oݸ%U8ŕRC_ash 5*: \J#ZLo-D8t4+n^BP`ن6G7}1ov\~j] ]EZy9FXd'P,-7YJϼLՉfhγ^z h!UBWBC8Gygn{6_f4.֩91}9~0[􍫡9G)>-"M~Ag$L?Q1`Z†y2hs䚇d2g(HժVPr߅XIae5s$2e}Dҍ 9OoP9# QE̟>u8sT5RdBD4K֭BGUQv95NN2cG Lk(pOt[A >BJ0WӼG "Pϒ֖s8*JpL^>2?\_S%HrVIXa̔fxFI؏Tz_?+@(FlXQ&WJ LZ(Ә Zg +@ ¿Vp=!'^lk{c$X,;X5$=t#ܠV MwRq ^>N/QD6[Z$ ДL(6Uf1IGfƧ%|_BJ&q򿊨P!@uFtPFpl5!H6D|Fp[Tҏ |J_ކCo0X@dcr gqr rE>:`8Lw59`Uz1<>+' \I_U$P46]3QPiQ}:,[b Ӄ!)*ʕŽW4D },rqlr*E  MK:`.G& % ~ٽ˪0]jKL1q ZEJӀo|\IJ*1'bh@ @Ő_֠Mc֢sCF}^1 (Yt@Z9FY0@yn$?3G F(I7Qy.\B|9rdiAtO_F $ &cpM~ uXb|Z ,6gū'2}sP-FST|&ۧB Tӕ a" D[u;@gx3~L9倯•,Ü L6n7f%zfm0VJ)V~-~A<}%¶vF~AP AlSYXSzAL*$ J:s@`;" >1`˜247y2hȸ0@G肬 V0-vH;"{4E_Kl] 9,bE2''!Uf^$RBَ@fUՙ|&0oG~Ǎc}lHIhTYf56^ovFx|X_[, 9R/XڮZ]yxKω6Y^lƬG8u36PgqkNPԮ*X> P%xg6A=|P0滺A@4좥x~ ( z&Ċ5z%EzHb;?hp@g!sC\+h A1FrJ ZA#< n,e+"̨Fx%W$`fՒaqَjIJA7R 틦1xe"-R (Ӵ={OPǞ◅9zba""]S`i,E]c2ʀ@qgQ2CK8J'Whġ&ymvvU~h>cF*y`sA?uƥkz}<:GCE=cj]2'TR!Ո=BkyjY1d_pS'=Õs%#Y^1CDŽSrxc@\jr7qW5`q Gi%: Wqkmo<.#zIEI'Eo]_ܗTX2V9X޴eKWn~R8<2UZ6R6#'R/"d„Q(}/[b}P=‹$҃ N*8͜a,l:yjO&J#9 ~Sŝnj$U]&4s#~a e.ˢC=3#e;&آ9ȃoXL47˲žZ 8Dm<Zdآ3]%Iدi*O}S#i8c'pil]P,X<3sDh{$'s!%dW瘳K8dSM+ʩri1Ā ڙL3#RyF0Q j()|!ۆ_!:(j; Fy*(qcdE s/XGzƷng}jd;ה$Qc_ JA>9j `!tYxCzxu)/_@r ,h?QJEM"kq|39y jDx^Y%Rym %Lj. UMZ ăR{0'dY=?*q%\iC0"L1Z!\/ !Ato"%\+}G|DY)gŽ6ZföRx>R1 ]yj̑V%#HY7Pr@( g(}!o81Qa>m4*8N5ls'={KvG1׼*obeȮZ [ZI~ )/Vl/tbB=P~ vHL/>8nѵEohb:*J8̒]"REd,A=1TB^ƭB(H_b3,KhĐ$ eQ>Wʿ6#Lw M6:0E=K!ؠ#n `GP q\@gsaTH*׽_FQ Sj(O%1Cs*vb`uJqx//V5ydtX2(8}>;pL@7pJW]󝜺Cj=BxyGt$w`TB.J.V/JNPQ'j̆#صkp9 8}=\VxfNw )vMpRV*OY(L]Pivh燔9A‡%Zߓ3ܶ Hz TB6Pc .mK`  tx}-8 8=4$-}c|5>+nO̰`)ɐ/gJP@-A 7EmY0xmȇyHB?-3UMʀ&2bfP?@8~eT ۜPQ`@\pcqh|b\(%Y\ >߶TuP$[åQ.i}r?)$|M롡ѽ.֣~ $0Y0q8 r?A|xЀ։Ŭ8 LTǭ(c ɐ^XD'epRJp`Q^`A'g<`<^^2L?T(R^-3`NS0XK xI9m3CgBKd,7ވ-E!M9D)mc8?) *abAՎeɨYD#OPu]̓W/m!ZtO>,-mڞ>8тtm=i YpWסLOӶʺI`2eL~zH^% mjfXd㡗 3V ѴE ,zVf0Ox\q%Fpw/d$rY(_<56 T})xnD(R0P"Es%7[i*J2V^N# $%\ЂmaیͿA2(,2޲vFD_2 TLIyWd+h-[>دgsnZ(XQgX`^(^HYzY$ y{c%l{$[cV{lY@I.?`u\T+赋mr^Tnݴxfr#&j_V*]V@%QbR0iM ֳxɵ nlꙘ2G9G;ō3"{K:Yt٫cD$@i^@EHs .@(94p-,T+&iڥM=\hII0"TTQ4DSO:9 (n}i4M&=3MϠb ^[ /ĶH6czLJAKc`e}f^L'W.,G U:Vjd[У0i` }6~Q{zu2_Tv!U!@D1K`W:CPC8˖sV/a*[-%9%<$Ԟ߷ثIϋ@;X Iwfqe@S/܃k1T&+ncԋzxj6 0_@EXqeX껵`w2"H@AWMS(RŤ鶦ciD+W sY74C(nω^e([ovAVᄌbH1W4D ! ILk#M&9?R[EbVfѺPq:m¥K*2LjD$X4OvyLz䙨f*^kIDRܢT(N H, \e5y߶_T0/L頾3mh ag\&fqA'Mn ŵ[D052|e40]pxv ,Qj *+,LJzޮF4!)9(D87z`R\_Lceto G#/ϰ'OO99X.O||RIG ;BbRGsB!y˓T5^P۾j$Wi!-J(!ź؆‹Y`xנxQѢxx,< لuLC?eݏZ$[5G :vDlbg+;P@e(h,'4'kc Lj8fR`#'D1ZI4Q(&5ŝj! LQT(l,JF`a\^ ܼŨ $cJH1;$>ۯߐfm h=YIaCa9 N)`)X4ɩ`vc5}xĠIj+%iʣf(!J4}!Z?Hiu%W9ThZ&ǡVRk "I QL)H\{#Dtkԝق2P +gDټ`ټ="¶)zWtNPL=ͯTq E:JhfD|~LIqGK :{e2SkTAUl;}!Iժ&gM UH(28BGlVA+˽ [RvF; ]lm8%Eڀ" C(ZyP6)؟E*}%k)\S&fH߈u·Hڦ&G& "2VZׄ %nYL=xs4_ETݧ3|f|0>v%g4M^)Y3F͐86&C@6H T >AL؃4BWqh0t*# dX~q9 x) F -o.񦂬E<%p:2$Li.$E(-%t@@ן<x`2hAOCa4s|˨X9G)% ^¡qA/*$w,aa a쓪,b̴92G@wNeHU{8<-> YD`B5dz"{AZQƆ:LfsD hvV[[:1R}G-D5&e`)|o<qw;*j!ʻ(EB3qLD\Zy=sRzmݍ걗[_+tc Ad?%җqI+F ʏlHC8Au> !U0B&@*^Nxibla٫48L#H1:PڏS̻un4Mal8 TrP]fhꛞǀY][DU"=R}^}ɩZT{Kӵ\[X]\JZzaP* \3ផE)x@- (WȴVWNHD<`L΋Ã\m}n<9v|GogXCKi)CXDS8^s(eI$⃁R0F0*0nXN(2 Z48yHϰLƦ/P| - 1IhʠIcH Šr# #EZLLˀ(J6(mZXz]UE%ŀgc&9:&UlXN}ag# ܃Q Y+X9+C􌈽h(|*)Lp/3fnD)+wT@1 O8 񲸆$t85ݤ 9ăG/{3z%ӎ~c1 7F,RCURrM #6jU ~j{m9 ~4,{ZAR)u(z4Xa*䀜TF6^^,Y{+79Uհ7Ξ8?P ^fժl ? !; /3]B#o4ff/M$_J0?,Jx:5)`+'&lL@aCǀXWl&]H8o+.Vb} A[|p3L.hC6VNθL8b4ߴun| "yR 滵`H#0u#>ny# ?V+v%- F:gk&ƘA›|~fvHjr@jyLd^x nj%^Qy+\Al~ՔAJ7i6rBC`"$W<E{Lyd{ { ߼X%ӿtǕy^^/Nw3x;3BPnfx+RןhZ.❄X4`>K؋*ckQ"Ft9eBrFȝV5f0&Asȳz S+ 8{2leHhڬ=Px\>rb碛8ô۪Ղ] sþ0*G O)Ήb瀄!ps)EӤcoV_E8DB9yKpGp|D#/b {n3Hgаʅ;'Od.+?W:3|pgE;[m eo:YY1E!hl 1p8#_B!_3FG8, lmń0*.h@\B׫Nz8ܚK_8|ӥ} r(Ls-@B&I+` e;5QN '+@+ջnQWcbdJ2佳c-T^9BD1pz['B}AsZVWX; %ՒH'),h祋sDz3%t,M,Xp F3:5Wmgy  M EB qn- X@&, a)TSlE5쨟]W$tz%Pj7X]S]L$b\-Lwx^ő. 5pRȠ̃ N`E ?şu:{%+yOdS߰)ީ|Ȍd6NuDOZ/Zuy2Utc7K\ƌP#i>(#A`w5#qRͪXvqq@Q @3@$)zbeg\DlR E\UzEx݄S<@'wڎgM37il#+:F: Ly3DXk@)M;IB-/0Q4xX,!zS G?HJnZAP´tgra^U;_ ]t6ۼZf!hw;!t'P9 j-l ?GQݩ1Q| )~}:Jj--"dׂNbX1!G;8[Б5Xl3ցi4֒4M A1ӑ 1Ci!5n,}78`Z3B(a=CK #K3<24^b> o7m9,S7ڳ 49 d :ՑMn 4 q(.^t`{#71Z[loHCm'MN\DIb&8pB"Y( %%%[?Ph?D1}8$Pr3+辺?j -[Кچϔ/8qh(PHà2Qj }Y9= -88ha P wwp_Vd<puB;X2P;B1|FXeFEz915$[Q, $ֶjhpTGΐ/T 0 A(2B%9XOMI m#W+_%H|]z6KiITĂ*B!t҉Gŋqg7a+XW=G]`ZQ뮤i P/2\P5Po6M%hnMbV庉. r47L$h2Ԛw!bX-i/E Q(^ Ð"tֈbx,@7@O@ |Y)/+,A[,x8˹`d v54 ܾP3ϲCs8ұiDg$3c_,FY3e1PBje/+M$\"rkwpWQ7e+B $XhJ7hƅHFG^3Iwk;ޢ ?mX S?X:| $HN!y EI-/s-uD5 ժ}VJ1EC{N庩b[D݅y^ѵ$}Sm9 <=r_H!;N_'Z0diF P.FM=AR]Ny5&r'M!*+,<7΢@Pl֕. d*ن K5Ǟ(|8X4- Ӂ5yW`0V3ALM,TVAޒ{Úum O>G %'$e !Fe6I0>T3Җ *腝"/ayNĉB4XvbC PFSd2҅%gR!EGkŔrE4!MԒ^u,!Hq^8=;pu/yȑNm Bƭ#U-G4HFOF[8}%LJV2$GMvb@^$q2$R!q`J=z/ 2$ޑ׼r U 2$!JnMORWSM 2$6tX5͖ڤ>E2$VA1~6 [g49,2$m3.; xyw,U42$T'1Q2$n%jd4%B32$tRB2 @krJu2$H(_3q>2$\R]pm,2$ `^ C9iL2$$FAvY'Tkb2$W| wP_hWYV# 0AA0 f@ʚ;ʚ;g4HdHd8 0bppp@ <4!d!d@w 0t`{<4dddd@w 0t`{<4BdBd@w 0t`{ D<___PPT10 2? %45 2   /!"#$%&')3 6   0` ` ̙33` 333MMM` ff3333f` f` f` 3>?" dd@,|?" dd@   " @ ` n?" dd@   @@``PR    @ ` ` p>> $ (    6r P r T Click to edit Master title style! !  0Xr  r RClick to edit Master text styles Second level Third level Fourth level Fifth level!     S  0r `` r X*  0Pr `  r Z*  0#r `  r Z*H  0޽h ? ̙33 Default Design 0 zr  (     0ք P    P*    0 ܄     R*  d  c $ ?    0Ur  @  RClick to edit Master text styles Second level Third level Fourth level Fifth level!     S  6]r `P  r P*    68`r `  r R*  H  0޽h ? ̙3380___PPT10.z 0 0 1(    6r @ s;HYBRID CONTROL FRAMEWORK for SYSTEMS with QUANTIZATION<<  0Џr eDaniel Liberzon  x33 L    # X D   <A ??/ o  Z  s *0  Z  s * (    <rv   oCoordinated Science Laboratory and Dept. of Electrical & Computer Eng., Univ. of Illinois at Urbana-Champaignpnp   <rJj "CDC  01H  0޽h ? ̙33y___PPT10Y+D='  = @B +q! 0 @66 (   z   ,$ 0  6Hr p DHYBRID FEEDBACK  <r@b F Z(Classical continuous feedback paradigm:) )lB  <DjJ  f  6jJ 00fB  6DjJ0@  <Lr&   ?u"    <r ?y"    <p 0 AP$ fB   6DjJ@@f   6jJ 0lB  B <DjJ0@fB B 6DjJ  fB  6DjJ    <  ?C" lB  <DjJ 0 0f  6jJ  lB  <DjJ 00  <v I: C ?u"   <9@: ?y"   <G ;  AP$   <"  8Plant: z  @   @,$D 0  <t&* W 0  u+But logical decisions are often necessary:.,   <d(  _!The closed-loop system is hybrid""  <1&  ?u"   <46   ?y" f  6jJ  f  6jJ   B <py   VC18     B <=   VC28   l2 ! <1k r + lB " <DjJ y f # 6jJ  $ <E Y ? l o g i c  `2 % 01n[  fB & 6DjJs s `2 ' 01n_  fB ( 6DjJw w f ) 6jJ 0  * <K   AP$ lB + <DjJ fB ,B 6DjJ fB - 6DjJ fB . 6DjJ0 @ ZB / s *DjJ@ @[ `B 0B 0DjJ [ @[ `B 1B 0DjJ k @k ZB 2 s *DjJ k @ ZB 3 s *DjJ@[ @ `B 4B 0DjJ@ZB 5 s *DjJ `B 6 0DjJ  H  0޽h ?! ̙33~___PPT10^+IDB'  = @B D' = @BA?%,( < +O%,( < +D4' =%(D' =%(D' =4@BBBB%(D' =1:Bvisible*o3>+B#style.visibility<*%(+ 0 IAP(    6U   KREASONS for SWITCHING  <pXtD,$D 0 R Nature of the control problem  <0] t? ,$D 0 a Sensor or actuator limitations& f  <b 4 ,$D 0 O Large modeling uncertainty  <Pf = ,$D 0 N Combinations of the aboveH  0޽h ? ̙33N F ___PPT10& +D* '  = @B D ' = @BA?%,( < +O%,( < +DA' =%(D' =%(D' =A@BBBB0B%(D' =1:Bvisible*o3>+B#style.visibility<*%(DA' =%(D' =%(D' =A@BBBB0B%(D' =1:Bvisible*o3>+B#style.visibility<*%(DA' =%(D' =%(D' =A@BBBB0B%(D' =1:Bvisible*o3>+B#style.visibility<*%(DA' =%(D' =%(D' =A@BBBB0B%(D' =1:Bvisible*o3>+B#style.visibility<*%(++0+0 ++0+0 ++0+0 ++0+0 +6  0 XP&&h(  h h 6u P GQUANTIZED FEEDBACKz p h p,$D 0f h 6jJf h 6jJ0 5P f h 6jJ20 P lB h <DjJY Y 0 fB h 6DjJY P Y fB  hB 6DjJ  fB  h 6DjJ lB  h <DjJfB  h 6DjJ  h B{jJ APLANT   h BĀjJQC c =  E QUANTIZER   h BdjJL F  > CONTROLLER   h B$jJkc? ;u  h BjJhw ;x  h BXjJ`  >q(x) fB hB 6DjJ` lB hB <DjJ1 Q lB h <D1rB h BD1  fB h 6DoG g fB h 6Doa  fB h 6DofB h 6Do ; fB h 6Do | | fB h 6Do''fB h 6Do { {  h B,jJp 9  ;x  h B(jJ p >q(x) `B  h 0D8 8 `B !h 0D  lB "h <D 9 fB #h 6D)f  h $h c $A B??S #  B %h <襦 E  K sensitivity$  f3 &h <Px= W M values2 H h 0޽h ? ̙33~___PPT10^+DB'  = @B D' = @BA?%,( < +O%,( < +D4' =%(D' =%(D' =4@BBBB%(D' =1:Bvisible*o3>+B#style.visibility<*h%(+ 0 `-/$R(  $ $ 6|  ROBSTRUCTION to STABILIZATIONX $ 0jJD 4 L pc $#  f $ 61p`fB $ 6D1  `fB $ 6D1  `fB $ 6D1@@`fB  $ 6D1  cfB  $ 6D1`fB  $ 6D1P P `fB  $ 6D1`fB  $ 6D1P pP fB $ 6D1 p fB $ 6D1p pp fB $ 6D1pfB $ 6D1pfB $ 6D10 p0 fB $ 6D1p^B $ 6D1 p ^B $ 6D1p p ^B $ 6D1p p ^B $ 6D1p ^B $@ 6D1^B $ 6D1 p ^B $ 6D1 u ^B $ 6D1 t ^B $ 6D1 p ^B $ 6D1 p ^B $ 6D1 ' ' p ^B $ 6D1 AAp ^B  $ 6D1 p ^B !$ 6D1  ^B "$ 6D1f f ^B #$ 6D1M M ^B $$ 6D14 4 ^B %$ 6D1DD^B &$ 6D1SS^B '$ 6D1bb^B ($ 6D1qqdB )$ <Df3jJ dB *$ <Df3jJp0 +$ <æF- HAssume: fixed ` ,$ c $A ??T2  .$ Blɦ= `&Asymptotic stabilization is impossible' &H $ 0޽h ? ̙33 0   p, (  ,F K  , K  , 6Ϧ K HMOTIVATING EXAMPLES , < Ҧ0 P W1. Temperature sensor& 3f3flB , <D1 % rB , BD1fB , 6Do HKHfB , 6Do+ fB  , 6Do+    , <٦4  Dnormal" fB  , 6D  `  , <ݦ>  Etoo low"   , <0 VP Ftoo high" z ` e  ,  e 5 ,$D 0 , <` e  U2. Camera with zoom& 3f3f , <"]  HTracking a golf ball  , <4 =,$D 0 X3. Coding and decoding& 3f3fH , 0޽h ? ̙33___PPT10+UD'  = @B DF' = @BA?%,( < +O%,( < +D4' =%(D' =%(D' =4@BBBB%(D' =1:Bvisible*o3>+B#style.visibility<*,%(DA' =%(D' =%(D' =A@BBBB0B%(D' =1:Bvisible*o3>+B#style.visibility<*,%(+8+0+,0 +? 0 <<4;(  4 9F k  4 k  4 6  MVARYING the SENSITIVITY8T u  4# T pc 4#  f 4 61p`fB 4 6D1  `fB 4 6D1  `fB  4 6D1@@`fB  4 6D1  cfB  4 6D1`fB  4 6D1P P `fB  4 6D1`fB 4 6D1P pP fB 4 6D1 p fB 4 6D1p pp fB 4 6D1pfB 4 6D1pfB 4 6D10 p0 fB 4 6D1pfB 4 6D1 p fB 4 6D1p p fB 4 6D1p p fB 4 6D1p fB 4B 6D1fB 4 6D1 p fB 4 6D1 u fB 4 6D1 t fB 4 6D1  p fB 4 6D1  p fB 4 6D1'  ' p fB  4 6D1A Ap fB !4 6D1 p fB "4 6D1  fB #4 6D1f f fB $4 6D1M M fB %4 6D14 4 fB &4 6D1DDfB '4 6D1SSfB (4 6D1bbfB )4 6D1qqH *4 3 BC9DEpF03jJ#G hd-e%M@Xuixvlj"h/>XinfIOO9@         FlB +4 <D1X ,4 < Hzoom out$ 8T u  -4# M T pc .4#  f /4 61p`fB 04 6D1  `fB 14 6D1  `fB 24 6D1@@`fB 34 6D1  cfB 44 6D1`fB 54 6D1P P `fB 64 6D1`fB 74 6D1P pP fB 84 6D1 p fB 94 6D1p pp fB :4 6D1pfB ;4 6D1pfB <4 6D10 p0 fB =4 6D1pfB >4 6D1 p fB ?4 6D1p p fB @4 6D1p p fB A4 6D1p fB B4B 6D1fB C4 6D1 p fB D4 6D1 u fB E4 6D1 t fB F4 6D1  p fB G4 6D1  p fB H4 6D1'  ' p fB I4 6D1A Ap fB J4 6D1 p fB K4 6D1  fB L4 6D1f f fB M4 6D1M M fB N4 6D14 4 fB O4 6D1DDfB P4 6D1SSfB Q4 6D1bbfB R4 6D1qq S4 3 hB CDEFD3jJ++ >pexoe]TPF=>TQ<h4a/]'\"XTOK $'0Pk @               {` T4 0jJ : 8T u  U4# X(kT pc V4#  f W4 61p`fB X4 6D1  `fB Y4 6D1  `fB Z4 6D1@@`fB [4 6D1  cfB \4 6D1`fB ]4 6D1P P `fB ^4 6D1`fB _4 6D1P pP fB `4 6D1 p fB a4 6D1p pp fB b4 6D1pfB c4 6D1pfB d4 6D10 p0 fB e4 6D1pfB f4 6D1 p fB g4 6D1p p fB h4 6D1p p fB i4 6D1p fB j4B 6D1fB k4 6D1 p fB l4 6D1 u fB m4 6D1 t fB n4 6D1  p fB o4 6D1  p fB p4 6D1'  ' p fB q4 6D1A Ap fB r4 6D1 p fB s4 6D1  fB t4 6D1f f fB u4 6D1M M fB v4 6D14 4 fB w4 6D1DDfB x4 6D1SSfB y4 6D1bbfB z4 6D1qq` {4 0jJlB |4 <D1 }4 <$D Gzoom in$  ~4 3 BCDELF$3jJ& $9Odiehr18Ljn|wmw@      m9MNz @@ @ 4 @ @@,$D 0 4 <()@@ `  N Why switch ?&   4 <`. @ D More realistic Easier to design and analyze Robust to time delays&E DH 4 0޽h ? ̙33~___PPT10^+HDB'  = @B D' = @BA?%,( < +O%,( < +D4' =%(D' =%(D' =4@BBBB%(D' =1:Bvisible*o3>+B#style.visibility<*4%(+ 0 6 . < (  < < 66  BLINEAR SYSTEMS` < c $A ??` ` < c $A ??Z p  < <X: 9is GAS: ` < c $A ?? `z }$ 0 < 0 P,$D 0h < c $A ?? # f  < 61}$