From 0dba5f3d93eaf83ba690da23b9b5942b2fe434c5 Mon Sep 17 00:00:00 2001 From: Sam Hos Date: Tue, 1 Oct 2024 16:35:45 +0200 Subject: [PATCH 1/6] Added endpoint for controlling kobuki --- src/Python/flask/web/app.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/Python/flask/web/app.py b/src/Python/flask/web/app.py index 5ea7260..5b555b0 100644 --- a/src/Python/flask/web/app.py +++ b/src/Python/flask/web/app.py @@ -6,5 +6,12 @@ app = Flask(__name__) def index(): return render_template('index.html') +@app.route('/control', methods=['POST']) +def control(): + return("hello") + + if __name__ == '__main__': - app.run(debug=True) \ No newline at end of file + app.run(debug=True) + + From 7f4376c2e5afe18881388f1af110f531a0f129e3 Mon Sep 17 00:00:00 2001 From: Sam Hos Date: Tue, 1 Oct 2024 16:35:54 +0200 Subject: [PATCH 2/6] junk removal --- src/C++/Driver/LICENSE | 21 --------------------- src/C++/Driver/cmake_install.cmake | 2 +- 2 files changed, 1 insertion(+), 22 deletions(-) delete mode 100644 src/C++/Driver/LICENSE diff --git a/src/C++/Driver/LICENSE b/src/C++/Driver/LICENSE deleted file mode 100644 index 4d91c5a..0000000 --- a/src/C++/Driver/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2016 National Centre of Robotics - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/src/C++/Driver/cmake_install.cmake b/src/C++/Driver/cmake_install.cmake index fced060..45179d9 100644 --- a/src/C++/Driver/cmake_install.cmake +++ b/src/C++/Driver/cmake_install.cmake @@ -12,7 +12,7 @@ if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) string(REGEX REPLACE "^[^A-Za-z0-9_]+" "" CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") else() - set(CMAKE_INSTALL_CONFIG_NAME "DEBUG") + set(CMAKE_INSTALL_CONFIG_NAME "") endif() message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") endif() From 2e0a27c73257229d4efea8ce8ca57c7d5290101b Mon Sep 17 00:00:00 2001 From: Sam Hos Date: Tue, 1 Oct 2024 16:36:04 +0200 Subject: [PATCH 3/6] translation driver and testing --- src/C++/Driver/src/CKobuki.cpp | 22 ++++++++++------------ src/C++/Driver/src/main.cpp | 2 +- 2 files changed, 11 insertions(+), 13 deletions(-) diff --git a/src/C++/Driver/src/CKobuki.cpp b/src/C++/Driver/src/CKobuki.cpp index b581725..4c27fe9 100755 --- a/src/C++/Driver/src/CKobuki.cpp +++ b/src/C++/Driver/src/CKobuki.cpp @@ -589,21 +589,21 @@ long CKobuki::loop(void *user_data, TKobukiData &Kobuki_data) { -// povie kobukimu ze ma ist niekolko metrov dopredu alebo dozadu, rozhoduje znamienko -// funkcia kompenzuje chodenie rovno pomocou regulatora, interne vyuziva setArcSpeed a -// ako spatnu vazbu pouziva data z enkoderov +// tells the kobuki to go a few meters forward or backward, the sign decides +// the function compensates for walking straight with the controller, internally it uses setArcSpeed and +// uses encoder data as feedback void CKobuki::goStraight(long double distance){ - long double u_translation = 0; // riadena velicina, rychlost robota pri pohybe - long double w_translation = distance; // pozadovana hodnota + long double u_translation = 0; // controlled magnitude, speed of the robot in motion + long double w_translation = distance; // requested value - // parametre regulatora + // controller parameters long double Kp_translation = 4500; long double e_translation = 0; int upper_thresh_translation = 600; int lower_thresh_translation = 40; int translation_start_gain = 20; - long double u_rotation = 0; // riadena velicina + long double u_rotation = 0; // controlled magnitude long double w_rotation = 0; long double Kp_rotation = 57; long double e_rotation = 0; @@ -613,7 +613,7 @@ void CKobuki::goStraight(long double distance){ theta = 0; long i = 5; - + //send command and hold until robot reaches point while (fabs(x - w_translation) > 0.005 && xsetArcSpeed(u_translation, u_rotation); - usleep(25*1000); // increment starting speed i = i + translation_start_gain; } @@ -705,8 +704,7 @@ void CKobuki::doRotation(long double th) { } } - std::cout << "stop the fuck!" << std::endl; - // usleep(25*1000); + std::cout << "Rotation done" << std::endl; this->setRotationSpeed(0); usleep(25*1000); } diff --git a/src/C++/Driver/src/main.cpp b/src/C++/Driver/src/main.cpp index a12d8b9..d922d69 100644 --- a/src/C++/Driver/src/main.cpp +++ b/src/C++/Driver/src/main.cpp @@ -36,7 +36,7 @@ int movement() if (text == 1) { - robot.goStraight(10); + robot.goStraight(1); } else if (text == 2) { From bd5520d1b27dc65fd08cb6d564c15fa1c87f90c0 Mon Sep 17 00:00:00 2001 From: "ishak jmilou.ishak" Date: Tue, 1 Oct 2024 19:11:23 +0200 Subject: [PATCH 4/6] small changes to projectplan --- docs/explanation/projectplan.md | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/docs/explanation/projectplan.md b/docs/explanation/projectplan.md index 2108a40..eca45d1 100644 --- a/docs/explanation/projectplan.md +++ b/docs/explanation/projectplan.md @@ -27,9 +27,13 @@ Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekenin Het project word uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid. -Aanpak: -Gebruik van Agile projectmanagement voor flexibiliteit. -Duidelijke communicatie met de klant. -Duurzame bouw van het project. -Dit project draagt bij aan een toekomstgerichte, ethische en goed georganiseerde oplossing voor het verkennen van gevaarlijke omgevingen. \ No newline at end of file +### Aanpak + +**Werk methode:** Gebruik van Agile projectmanagement voor flexibiliteit. + +**Communicatie:** Zoveel mogelijke Communicatie met de opdrachtgever en om veel feedback te krijgen, zodat wij en de klant weten waar we staan. + +**Duurzaamheid & Verbetering:** Zorgen dat we duurzame materialen kunnen gebruiken en dat we de robot kunnen blijven verbeteren. + +Deze aanpak zorgt ervoor dat het project niet alleen technisch succesvol is, maar ook voldoet aan ethische en organisatorische normen. \ No newline at end of file From 5bb015ad733b5f463ab56bf45db5fdd578e3434a Mon Sep 17 00:00:00 2001 From: "ishak jmilou.ishak" Date: Tue, 1 Oct 2024 19:11:45 +0200 Subject: [PATCH 5/6] projectplan to pdf --- docs/explanation/projectplan.pdf | Bin 0 -> 47360 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 docs/explanation/projectplan.pdf diff --git a/docs/explanation/projectplan.pdf b/docs/explanation/projectplan.pdf new file mode 100644 index 0000000000000000000000000000000000000000..2155646dbf9c57dec5115d5d793a42e3f5e79b1d GIT binary patch literal 47360 zcmdSAbC4%bvo|_3yW<_(wr$(CZQIzfZQHhO+qS>s9lrZ}&J*#R_nx>X?!PypBC0wo zvl5-v-TCQm5_w@!8U|WsD3Zm?^L;1=e0qF4LrW-bZaN`H69Z>EM|^T2b4NQH3l|#- zC^~sZJ7X6klfOhID+>d5xzXDe*rY=TcN%*ja4$jm@b&%nUOz`(>z zMNd!mxBcalu`~YPS$KJ&Ol*z+F@fnnrWhIEGeFS^%HY$<+Bw=7SpSEK?LSPS7S_&x zEu#~){%eDUY_ImZG1sHw_XDA)l1KP0uMfhe1Cl%x@vzs zPcFjoZCs~*C$Af}WUh?t8S|k<42Z=-yFdQG%I5A-jz85YB%5ga&&iBBi*ara9kw2B0>x{ zR(9!`q>Gv=nN|EcI~y~ST+^7}Xn?<6HX;euWrdJyjPG8y^HtBcqbfZx@7Z2oE)!P_ z#JoUTE!^kO;Z9gKZh=GU!mneXMm=IH4c3aYqXP+Ma@R3z!C&EOietqhxcg);T!3#- zD)C#^x*&`Y*{dD)L@m9(PeWi0CSY*fP@s0f|4gtcHy0hWH#2c@TQ;L44u)OWuuFMx zrj{mxUz;cEyx9MFJrr=_QZM__#OS3uPM(9CPVwu{#FmuF$CJ9?wJb*>5uEtw(u(q| ztrYfeg$B{Z?9m{YD{}=f77NUR9A=#nV~DGw?iuRMe8Rirs^(<_WxpMt6^2miU-GtV zJm9BJu!12%ZQI}|f`~+d?FjoJ&m&O7BOPsS^X$_tZauWPQPKT6bo;R+13CS4SzgB1 zO#RzVI-5UB1rgbFXMXZ6io3+M{ebuZwsu)wVS^UAD^A2JcB`TCHhBhP`v?MKh-a&x zQwbeExeKh*6-yvE`|f$&(1y3}A{BJ@c2)iMVdba88*UW1^#;+)8#d__{%z|mYrrLD zj>cPB&wl5N;W|2^1kXR=GoXfn=gCvhGtpS|n|!sGwFquG4iA-HIV3JXIXCuceJIM4 zLcQjNdsgLFmDiy2D&4_b^Jz7Pbd^HViAT(=ylZ^z#Ky@3_%`$@Em&$l{t?aFz^v2q zyw)dtZbB)(GtwG@8IBGXJEDFnXwZFz8d7w@0V#SugfCY?)10%)nhlPMh&Wl&erzw< zV27?f;++C0a>n%^>KSyj*>WW3cBK5>gDxs?qVCl8t>S)vstG+i!8`W@6+KTADTuQq zonUK8x6#J0;Ny%>x<7ul~jrBU_e#!eX>=kt0E%n2{!UbV>PWL_y4%`N{Cu#D|3$ctJX#Sk|)wQ zwfUboC-Y_ChOKsqe41%5C7SKRtTqZA&az{(NmD`n9>o(gWOYI~y7UpYCl1rX_7&b= zzu928_R@4c5M-2!x<4H#CQHfR=M8U5NJkw()%(XUyws9pEs2Unk_jp-ryT($IuQ{CX#y)6@t?N|oD09~s zUWWMukFN|lSU9QP`o6y%9q4Af=F2B6*J%;JI3EEh8m-{4iD)R+Xl3#_@bDAgAjLwB z5sgvBqx+8-F&9X)?0c&YP+Hza2UXJTxG^Gx8i$Wtu@1WbZ*2vZd zBS?Y@CWp9HrqT5sXp1+rqeaEMSGN5jB6u=(uB+|h6pzq9K=xu&Qs|*0*DdAI7q&$M z0Jw665q+Z6r4em!>NWMn{9AF6(#c+lkwcmhkj!0GzadN$3R zZ7}n(;OhXeGNd_t8K7u5p1C_4SBIRC-vYGiMj?L=`V7A~eirA^sA>>lFH~_reOBzR z5y5N@P+OZ;N^lhcLrG#2FSsiaKO1rkA`q-GlDHP|W7e7#0dIg<_-_!wz}p*cQ>dZA z-|;K}xd>tgEeytVh+%dSU<=HO6QLo@EUy{hEio;K?+0mJVpyna5z0?NS*U+I7?dte zx#L-QSBg@QbX-(w&M;t6%ENki<<<3jwfpK?8UXhaJ*9W1><(t*txjCL8NM@d@`Ydm zfl23Q`{bG20bYDd>A3aikaX8papwsb__C*OyNlsPI(uG<&AkzwqWq z%~ezni1GZI6FBbI8cNQNVy#*!kJ@K)PcANXO;~$iIdAl^7E1FyKE&0xm6VZ$Q+x`N zG-FB`DvR3O}=ydC~!qOXI=MDBENYikXbjp1fNeUYQ!45qrX ztwtAFh6S2DAt2sVv_u7tZ=}FR->}*`rtADz#sUb?m8g@z-LZV1tQVmacli5c(Oz<+ z^0YR}J%xTpjCs}3g5@6O%B(Yx)4hC;t-cN$lNo1Pd46IUYo3#)Dq40+g8!lf`H++h zZ`LWb+8V9Lc}9~Y9^P$RgZu0{ZJiAI)S zTr};1q8OkxC8;%_V}5rSIJs>af1*z{s1~rKd`uv6PiSDC@z*i=d(7HjJ{9{59^)Hvs6w9k2S-fD&ouQ3Aa>EL_X0aQ9C z%Qk!%I-OV;{$U0f%)Q(C#>gg6W+0b9uwU(lgGrv|;u3;C;7r{9x}*2kop;R9t71jw zXERlhcb>}#B4Nv9qwr=tGooVCf%maEAvg0+Zj4OHqFV|`5!a7^7)k4CP#oS{>S;1u z0zMwo`~8RQr==>_PLRRCQlD9hoJNFGvS8UiJZ6{9W5WcgUd6D_X}#A$FY1^Sl`G)p z<;LQJjRRK4Z6?(ie=sJpN8Q$j9$u4Ujyo+e`MTb3CP;j8@ids|3hxTZPVmk;WN?+fo1Zlmy)Oi@39QE@;a4L)o4GuRVmG$9EX7$)ZF+3&8 zVCO9F`}r4vckP&!t*Wpcu3@Z$DgSV*30G1PD zfboVHUV(@3Df?5|Yu&xr2Igrn|Efi_{~J?$8el@mFYapeRzdKkpj#VP{*-ERkN@6r zs725VVGPiTOSYC>C^#@85@62|p7h#A8>qcfwx(>%=yjX$a5gz}kD2zazU<&iXm@f#H^J?4zQbD6x&@qT*u4^v z$SYj>D_$1uy+{+MABSRy`Ivb((&j)9yV7+-W`X)2Ah@xCa6E`{iEfRO=hMLfn80!1 zl_0}(rf)1+C6fXm1;b$!(+Y9ZbC**&>j?Pg7-!O*x;m06*(3Uhr@LD>na1BUKP8FP zPIQ#u%(p}5d+xtE@nc#Zt%!eDooVkqbN+HQPHZ3ELG6p&?a)lycE^W*s@!(%3qf}6 zobIuJ0m1@q{?M_oSWvJ6WFdN{MhrhLBJ*Nf^%kENuf9x#3!Qrn!#QUAppvEMPw*<8 z$&#xmD$Kc%M3G@JnVei{Dg>R;w1PU_H9pFFh`CX-*SxXxP@xn)f!u1>{k`FAr8wU( z6RK*Ii(M>r1WsgHgISG;&@13*RQk~U$$QOatCziiZZ0X7K16LJRvmnAntzYo@`|~( zy~I91!G<<@g{*+MF~w<`5c1&=)SZ0y6$u*Fu&kYUih}2(AlHb{cA+)cyx|}9Je@}7prnM(oPj(ZhAL-&C$G=&K|f`h$4bV!<~~nfk@uFO zZVrCPC{;{cS+l%hr}2h(*$)1&7#uEJvv$1piO2lT@B9qc*;d}b&&N6E#1lqAEtBo6 zw#rF9eWyc3j2Qi&$;tSi--N* zlo_A-AKG6E3qH%gN38g)|HbzYr;LfQg@K@*JH8hEUm^_-`5YUsweH{S@#9x62JvS_m#la4 zKNm~Hqw(`=nhP$51O-*uED*;9S<65&`$;w$bTc`T5RsjG9sAf_zEgVmI^9gAGdY>f za5$YvqQV2!5rpB-=H#aCdhV@e0)?STT~?M(Ri!&^-uE6pp^Q0u9ZrO}()TO-6JuOD zVXamx*;QE7>ui!I8*cI zfh~5J$WX0*uYSUPLGA?(0(FR`vam7x)Eh87qshnlZ81{Up`F!#20poGH(MWPJT=OS zqa8fW+DkuG+eE|IUt8c!*bTq!B*R>8HaAx30V(@Mu1-vxu)qwk%KYdH{_s_0sj|ND z{2I3H8hM}J+}z|`6?WQ_t=brP-Q>#HyuJK9qI1UqqdyM7wgtDR^SkeIx@KpMQ2g>A;IYAa}j${U$NklXL5@DxKRYBunXnn{->GUj~ zAf^skFpKb~ea=Je^h9qQQ-|z$Gh$VN6K4+UKuidg9J&yV@K*Y+kG1m9PVjVs+^}ea z+C^vs-b0*af?Yv}gzE60zb^7I>w#&7wWD6q%!4$CNZTOlF=$1#L7)qB2NYu_^I+>i zX~TU%Ci8L6QLwf0fgMPwNA6YT!q!IWaWV?<1})7+ul$R{vawhD8qUP(P&MIK`yGd* z5cqOdTRR0((eQYFxx0YI4xbs=sb)CMlk8`-mr(w+%-fvwO%y2CSo zz!BVpgd)7yZ$ZZr@`A>Sd_(kxj3W3AI^caEI`DA^ylS~40xVup4w&kA-oUW^=?`x6 z$lf@)Cjl>Wk+0xqkv(9u0(=JoYXPs^SHj-Ft^~M&5C@TUSOAikPy@Jw$vfl&s=Ldx z$~(%xJ>~}(z-2A;73?au=a=8nE15ecK*k*mK*R3;Y8GQRc>C8^GlbpXT`{;pgcz~? z_A{wFTx?-)yd1F)|3e0MV1N*N&?`b$*ee5eObm`FV|Q#_ zp%3hxupS_?z1T1^jxU(6pjXhY@K?P%)B}nbztGmg*+C0;Z~)#N?Llf7_&ybT;42HZ z$OqVt&_~K4#w-3C_OCvMA#(4qSG?S>-rdsg>)owVzh}DlN4f8Cx$j3W-p@q8gGIit z9J%i^y}R>KFdxrR_}s64KEOGi{onq@`|W+Jv^RHearcz>)8}S!SMKio)@Qa9@0jc z1)UOl8mP`#`tuC-2eD-E#065QJU|qM0gwDfg)q-fgKHAzGkBsd_3Jl{R|i>YBa?u( zT;X-k$Qn}JRN#7Zz|lE7^bK+K;L=P%^_j+-t2o)$`hDD*m}Ji9x%X}_{jy)tF~_A7 z{B}fa`v|8tD7vp=-Hh;(DgBu3G^e&DO&eAtLgymfg~|f}JrmlHP-`OflzMDA`)v;1 z8O(RrO^NcUL{u|zn!%TE5;cVCme-6!(0cBcN7n=Y*>AgldS-Ehav_YU6VVy%-#J;# z4u;TuNzjlBrr^osExmOFWxy!ufsYx3%TG(^Icj3w=ryL!7;S2fDr$D1$yp!!ME-=^ zl#~4$lLyl!BAt;q4?eF~y4S<>>FZr$6`l#kCfheG~86O(Xs>EZbWZbSvE~MFXEKrM2!+G zI0BnzbV0CNy-xMl=#R5B?7MD-k8ToiS4E_633vXlQUENQjlTIZP&H!zoYT`gEyEEm z6>+jZ2p+$^`N~9q(U^B*R`!h9$QIl1UduEMaj&&aq@ILFsm)fU%iOcS#O)pK3 za!14zC!Se*>j`F_TXqERh`yg=Jz5DMMg^*fqdEpz2xiYwS0S)MxIr20gYM((`|LN} z(exA+2t0B-$ps zO4goVC~)Np#P(1D#%VbywTYA=xb{#r@k{2=&LhiaBl9HEBovg+3yqn&6CM|-r#-KK zat2HVCK>{rzG-wM=ae7?r57bkg&sRcQOaDx6`Br_9K}>ma{yG zH!%lRGfb-E^n|gVTMDaV<2Km~cME5C12j{Hjkh>9)PzL93j-C}q2uy3vpMRU#T*{_19 zm90Z>AK)>FQb+CtdD$|KOs2Cp45M4&4t9QEd!^A{g$4#_G?8(tn2)~m1OoPn6z~}I zg;ydJPL=NBiUPnW!mO}KYxh2NVW*vSoulWt=K>$>sb&Nr%&chMatk zhmj+ws7J9F*=&}^w)AF0cLo7h)PANR2U2nmo{CCav}O%NNMc7C9L177~ zkJXr)L(QgZDKQKu#w&0!vPqM&y`hEn^HEsCIHIOabwXN^g_7(8Fc$4 z_-VY{dunGa-Ox{M#?5DDU~WVkxLO7;=%^gdLZo_pG{Y!$@xY$twC2;16czod#z@~J z+FT01u2(k-8qX4EhFfunXk@Bz+}WE#WF`Fmr5skbP_`#-`Qa{ih`}5idNTqT3#ru% ztR9eQBcw6-JbJTj4@z!)Hjrt#QtSAJEd%~K^uy6yfTx-_o%912W#qw7W~qu@+}Eei zN*q)c&WN&#Fv=RM9gUgNLCg2`>#WibSp;{ox5cuQy0?F0Vq62+MThJ+?1FHcu2!f; zQNKD5me;LgmA=%N{&JVO2T@%_sl~9?y%m$WITbK?($Zi#lB~w#Q%5TtkVv%p2^X!fM0BUAJQ4hR>Z)J_8MP50H<{c) zL3l1t9Y20IX@s`Xy5EKH8{!2^nfXLCOTS#Meyj$`Le=RA>bl zZgMidQFeCT-d6gYSh{(;2@!9ys@IGE-0nPId_2E-j(BT35H9eteGDqyQI2$Kj!KG} zdTPwLxhcVgZ>Z0VD-E?TFu#v(-e2$6^mBKZ%iXWF81Xu%09F!J`7|yfm%acbPCI!C z8b5qQTDndGO`KF@=t`a)y-76lXsD|-YV}tKrYfpVK&=N4(B>uVEj=pYoW5Ma0y_gV zhIFSE5AYFf!njCFPSL=uq?SQ|e9YYy zG6VIHb>H#n=`DcdP#=(Sqo!32Sx}yA`OD83Ds4 zykTR){8YE+MI~p6T*ffQa$$?i!o;e>$UIh;+gIr)Ae<+IcUB+|+m>y!ic!?7Tq=Yk zaB^tikyQWP-tcpf%{ts-lrSKJlb-tD2t4*YUe zi40U0^pC~tJQD4%O{!C! ztNw7Da9<_7kKa!lk!3Q1HzhrMu zSN*y_rxY=qodAlnf7T;8+~@YNPWb~RK9jH)B@sO3$RU{z7=V8zxJU6v$X0TQ2AAIP zSCPHMDeS>cluFGe%_PVr&u}Y2nTSvB5=LQU8%)-j5W#Qh_oxJY?uIbm!H^&LvW_?+ z=1-nWUR`$Gjp)me7iYIXJCmkMPyl|&EH@D;MXdQYaRk zXnRnEi^f&TWM(C5&x*m1$Kk5$$3^ajgw0gSh26TrgNZT;N_y+DfumrG z2X3k&l#!95l_M02ryQ6^#cR$(lNFhb&SI|P(=EGswkA9DZ)+JGY{hnLo?+hP!Q*l; zwMXb@4xOm41Rq&3K?1GjN+rCBJG7V;q`67Y3OY9ZLiR%5xA2L!O3mJ3Gp2ND1jLKl z7L6#;N)C)n zD8*LH3;R&G(37P{t7PQ$$bKd;=aJpL{^{`XnDGb;ZZ8Dsvs`W-Q!(MOOFNd#VP#@Z zEfE+?(K_m}CGD12sxddt>v6{AH>Oa~1Ye)DqOFt3aXjf!dk@mte2sJo`5s0A3uJ~a(lec-aiC%%4QKyj@{2{)rjHn1%`aX zT%-l4r-eLWfZcM-q8~JZIt=8^4DS^MF;)b}t*f>Pc4h2H-p+^1g$cuH!k|228WtSo z1)C>_#`^9<*DuEUrHsK|z_bdz;j&?zsHyVmUZQs=fQP+~^l^hbuPUMx4>+#2K+s zY9{ZNVeL#zXo8-a%Clyb^~PP8WK=wdmEmMkMl%wZGiyHAg_1lY zZirSK4iy^riiRP-g+F2dg-&7Mj+>QEgLO4;*rd3nFKXQ|@5(JCDC7yJ6?dy+B<(~K zVG1>1UH}#UU>P!d5A`%soqjXw2FwU9lA4p6zgRw7yh!%0@|-4{rdi6Uq@a|LPMSPV zCfL^TnS9ef3C)fxFY+GN5NFuNxoBPs*i{T($}D>*%`06fb_a6k#LR)en{I~D2ySt$ zu?N6Z#mXldgtcQKPHoeh-<((qm0qeiH%%Rl>w3bF<0k?L5^cmVbc8q0mffj0gc|$A zY_Io4HA7=woa6rJ*=D!VCFAfZxlNgxz4_OTGg6uhxJ99r;V>k^obxoO$tEtET-z0p z2?z=;8`O*F#biJOQZ$xstz4V{s zWRp@@FM2L}gCtbG_l-A2sXHH&i7c^vPkSdJ3};n}3P>i?xKUbDOOwt33VM-V)zgOF zjjCvj22$Jk4fcGzCIEYW_+}fc>=}49udH|ndLyl@xC34JBFz1eb`Y(s`9aX%xkKTp z+@OexYnBp|5-*w9^c*G&T6kLeU0NttWgL17PzfV?C`3<^#y@%ZoIeGSr}$+|6%d~n zy4wPj8fc7x6ogUP&Ebih$7!QS;3XeWFb{4<@@{OhUbE~RLm()i(u?IwdgU)B(5Y8>bcj5T$crMFq>IZbYO< zprF}dq97{_R;f~To#M9~|e8_Bi+S+qpe7xk&e zUA0283f^)%;e7s)%kgRP)2G&WjH`Rte89tOgQGc%VWN_+oQd@%^c)VS$Bqb+#+5m~ zn10JbcCws-aFUg+_t18XFC{h;mCbIaHEVAtDfM-3{qu(K!s(asmd4@Hc46KG9Re5& zQh+Pv=Jht4*x3hH)W!UgyyqHpQOY9D=AglHx_9LgDkp7HW%K6;2g*_qiEc+T(=C@ zWY(hDq#>gYG@;A*=|<66LBlQBuy-=JJTL&ZuaCPi@L4A^`HU-tUy_5$ruKldj2fwC zFLHM1bE92zLLk-5wW^=i)aL{K#sLX-3rZP+ao-*2ApCm^=xkLM?v0UO5B0?X{*(1& zHEKEU7)#Gp6!p!7ms~Ut*U%zmtVOhocZA0cbyI!Kn-JhSHWrdS3?8+*``mcbNceaV zXQB=P;>Zsf1#1mw9-&bAPJ`Nk4kLWeOeSh;_@xw^nXDllw(-QDy*ioH^duS=;^l%`WiROmkQK8qTPEBW(`%FUfWHH&Kd>O`tIGVRz=_s0SXRug% zoL{~&Z7XYK=r$tX$!}#~m3Pe5>pJz?-<@T5Iu*^NM|(IkLsWNIdXQXfhVJ`H5ZNEI zKNFlfy3}o52e9liB^}q{!zH~?=g^48sCvEvAwXwNrzRpC7}Ke4TN(T%$Xg0pxOsff z*`_vXB3hf1tL9&`9WpTAUI`FvK|O5fTN6ClUH7uyr(YhGE26e{;z&%ykxk{pHz$D> zK`dl5MwHBSrQ7{lYMMDWQtN6?LRPl!@f6Zr>%O>y$;8Vgy3|RR^U#TeYoeLbTW`4f z;@@b7F8Ojitguv_ES$^YEv}E1NV6A4Ty*0(g*-$+%9- zW!zTCRk(d7eJQuCe&l`VS4f!2GEkS&3^-0}Ds{F`e$-in`j#4mjvq1W*uD8frA&#e zuwE{!_D7VCj|v6M_kpRz4sL*K?vd~1z^GOt%*4z`3Z04twIOI828fPn+Dtc`wSAg- zu0gWI!xZGgH3+0IoDC{r5fB?g-g6MaKhRB(sq2`oxOP>QGU5&f-vachH77Qv zD6JxR;dfv`cwxshVD#i)NiC5|ZsZ3+fyu$7Ft(VM$=K>c69;we6`~DmC@nBP7PucAG1E`Wz zc5!)f`E?HsuLbfnW2|G!T>Xipra{g{+J5((yp68qm;8JEgO%e1VWM%rVN&&;KzDrr z0Y-Lvr#C&kNU;4Vj)z}!r+?p08|HpK`KGBzu3yUX+wY4M6`Sdl<3U!!O~DpVtyG!E z;I#5r!6|oZ*B0=#*O-Bjb5u65%^x1Xw`XS|@hxY`AYR%SW%{)>GhYVR&U4-TJVTu>3sT0}^vp=O`%R`S9Q>=%%-$uebU2r%La0xJ; zsEql0rKnNq(Rs9QqY_Zm`H`px?KAKqm_`^=BYD-9Ss#ajDl;&3pbsAWoq8yTJ51X$!YEHVQlX2)a~T`!_0G?(l1eEnrao(xU+tPoTYn->X9jJqVebs zgLsu6%cOOj542CF+p@&?mc^AY7h4}nME3m-C-zpMLlDKVd(vOYfqR#sF*m3>H5GIb zdW;-0J(P7ZSlM&MPcZ3LPv0lzJ<|;UGBImz)VJr0J3IyAKy4vYnbc4urz)kdp>tq~ zY%iCu(^N!M9-CAVcd^v1;g+otFB24jq#P2wOqcfg`_)**;`wrwwdobZB*s=#ti!5` zny0A?MQqbG;0N#K5*K$q^PZM6+6`F7JcA)0HW&>T9Y=ahx|T_t*d((=9E_pjR5u3q zRyT&>&9rXUSwcrwUNwHLtxI5JVm>~eH7v#8xN?l~&sSGE?FO=!hwWV0Ec}>OJu=k$ zYqF4?=xDZVkH{I8=-QtBh*9z8%K+a4A`pi7{U5im-Xv6;FVsYC+I$}CgJl8p@8Bm1 zh>sp1YvWHJ;lHA1Tj9y19R{$;r~wqE4uWAwCF};cN8#^32xQX^f;d`=)|U%NwU`8` z=d^3*+nh0@i6fMkh=Ccf%J=BQS)&nVb>=_ofmZZrv_<;LlDk+hQNbPBw9inc*1-l* zi2xXrQH{}o42Ykc%0pdg3Z_u{N$HH}9(!ieW)u3%3@B_DX_Dyeb_^xN963{IAu%NE zm&$=?=@gCNGbqzayqYj3OtGoSIB*AVo68TVa-g7@#yaO|^NDOh)ST;>bK_ue^IF7k zKwckCFy&Z|zW0x7MPc-uMRv^^(VEZh>3ndsO1a(9G~%QpTlIO74&rSet1ocWlh~(J zn5%m7zN^0gi>Z2F7x!M&Otwg9zKz#?Q>0P2HN$h2Vbw(KqB)?5)h$M2j;BPqDA3Sc^%u%Or<91SrvoQ}WjUxI{_I?0H8U@+KO zq>M4+>|x8aw)+QsTo+DeHMx5H@Sh(80_X_6>SD-rH=92*c=Y5<0C%K7Hb6dIdgew{ zO1@acByDmW0WD;6Ek8MF3_`jgo5%uWW%4lmya8SR9?Q%J2yA5WYayCjflQC!l^*}x z$l>2aJSz&?BW94V|3`Eq3S72@y+b@|POQKWYMMC%x^dX(fZ@}t1`cKVGGh_S9Mew5u7clU0QHr4@KTEzN; zfkFuh>o^|v1%}mkX1Jra7wJ}5Tql>SN1**scfMLvY)t!lX6JwacPG)TjtuU0d=Phb zLtPFx{^@Anfi(rTZjnuqbfuKcx8+%1jVl24^)UPOuxGLMZ8ffNBUc9Yhk+RU#c#&6 z=$Wi=B^rM&zPM#Lvo;*|cAPp`!xDSSqdmA@m8a8D1M%^Rn7AjOU6+t4RLNx>MOpH{ zuPTH3E~lt(s2R5CXlQ7tgup$ud2J78`Tx|6ZxxNlBipB0;~KJ&d5LeyRCJ!dz*yfo z<6|kpm|JNQf!P$g877sWHJyt;w^%M0I`Y~Um^g4rpU83ReAJgt+fgaQL1YPnl*_yv z^L2S|>-1E@ejNaKzX!svTVGb0b?jxr(c6qx3Wiy{T5h?SqQ1IZ6vlDja@r%GYxMX| zckpsOm`qm(#LQP^?-63R5|{&7!+9yij^Kh~6J?=F6PpO%^$C!kTz^a7q`-B?b`;tw z%yUq~mTp%Hh`40Hm`08>5_`82tM`!LPK0(Xr%=0vQPgFIUXScYv2wnGjVe!#uyNen zMx|%{rlE%0jQ-F-()BB@NSp6V!K#%DeFe;*Q=+S(vmkyj%{VfBXK1q5&|mSMmt5c2 z+|+sXYB@tU;jd$?@|bC3Wdme(#(5skeKTdAdd+a^FTG;aqbT-Puc`u&k3GpoJ^){F zIH67nKDd}}SB={D=N-#t%l>?x6g(;uxf8^ydy(aapl*xIr^=4F%9Zlz7&9_UtY+|gB zr&Vb?f5On)th_|tr#`4=ofj_Es;PUggPG*^Nm)RNJ`KufOvMQlO6a%}x35AH*PNt8 z)ziT(O_iZ)>!d=E7n!e}b(&jLTa`Bp7EvZho)J&g-Ga3(YMoWv&@53ePRCuIIZwG? zB&Q{P61x_97S@k?l87&xF&~BnlS?M->&sQlSD3LhWx!I^lB~}NaE`+>V~F;f&d@)O zglb%kJzmG>2A5?pKlY>#%m&tsP?zk!%;S)_%S?Z2Da+pJXX24IG(d|<{Up{fz z{xVpdqEZaw8)APqsHAYE4rVC7B8PvEVo^xE!<&Y3UCA&f4N`m|S(e6??ec!F3vrAJ>UBgrBt<#r#u{gTc~^>aOp4>;`f zV$<2(Y;{nglOY_m)nL2ZNf*lf3@bu8qZD1&B|q^sMc98IFr;S$$8K@^|Ew9%S7!!^-Q@`P18I|u0hH9 zoT!X(+qy04$?%wssgI zC5ZqkIU!G;;y2WBwd^>jHGTtuaT%L4hH!9YGGc@e=e@$%SkmNPj7}pA+jBjnmYUGV zCJ2}*iE2w-2n%t!KWdiG8oZlCeJN~ylBE}GpRZs`oDH$GEaJS_#F#ZVWW9W>T};q_ zH7n+QIZTKLeuJsk<$aR!JV2kqRt$ecEac!ZISy5d1)NkMX$Ig(yn!K2R{a_1p^1HJ?oBI zOfuo<^t_JlBW-a^yxh0n^mrRe8qM-V9xiX%o$MlZKKuIE*mUI`Pq6m;g}`(CKL7mo z6YlLmfb*R#SXm1jaxoRuMT{3YK!YA0Kk#-4Zxda*u;J{MwUcc)pT<86i>G5le;jN* z3!_z%Ae3N!=-jp9H@u^Qv+To7=)IgkGJK>HY6+?qn5=deR~{h4ZQ6?Z^II{^B-a(6 zf!Qp#wX$D)yFA8-ebzc9@-R0j;A4w)G8ud=%Po#`mKK#&zezs|;t;VQcu2gT1YmY{ zw#>G}S6_T}AVn&h!Mu+s)`8w;_w<+`79vAcdCUHQx%t^xpf`s-&9g^X>8@P+E4&~Y zvWYez1<~9F#HOz?noqvWOerN;SPcr;kP#~kNLB-{33G1YXQ9eWkhI|!a57sNWo|g7 z9if7RT7GR=>P9iGMIBKGi`k4d)sW0%fVLd`BD0 zOULD#>y zCWX?K>#sQLm?*}8n>SQ4~YMtaXG z13{^(g@1D6s`;ogc;BwD=nSVNZEcC!a3`vmnw_qZpcmKf8=8-58r$t*O`N#*IW zho(YCi7IKg%o`g={Fc0_8m`1k)fR&xWMy>}&Ml$lqg8y2E?3Oia z*8Ib!{(YQ^Lak~g-ICb6!jx`7F>^b{dgjb1oAg)Cq;8@Mn9>u<%0{0NB^E2>B1oaO zb@LjX@2?$T4b!NJ*Y!je#*9qd6yH+Dn^%wx*A-XRxvAyy1Cz$|#AIX-dJrF}da&Y> zuJnR%39-$r4Cx#iP`{ShqB?bG(b{H2TA&kj{?UMHWn;i72Kqs-yjx}JWNArRloNTS zY+qb5VhpZsMU|M&$L%j9b2Ml^aQPJYqHXL&Fnp|>; zlpA^Fd{^`UX6{6^7}vyh;Sid&pRpc1Fx0+IHPy>=jEg^`p1d) zhf1Lgx#2gsZw=iWdy-KnPgV6ABs4uvzw*QdJs%m>r{8|C5pV7(kW*YvMEQLu_tDGz z`!aUTGB0dqTxc-`wb?N{8J36cFAZ-`t25ZF_}^#o6dUO8eAaVq(jIMoje754bba|6B`kWW+J7d8r#ORZ{sHyt}Rr*JIp_HTg z(3!5(p|tSa-YZJ=R-t&=OWEQHS4C5LPvKuj#!UnU+@d{!s}37U^0o%dRi{l;Z-K{I zvVt41ELpC^cVtc+72alo9#D2#0~TskU`Ay}AMsp~*>|J7RIjSgd!2T@L`9`XS- zB}~g2!$RJjohp5Dy}{8?-)bMDpsp0-_fd&d3tj`d~E?%6%7tE(Ad$Uucg@WU zyBpdqj#!gF5+T?~YKXzRSgGxV$t~gk11zW^sD{*B6WNXdOUZu)-** zV3|yX-hA~SAw$YC-_kN4!F=JMs+=$5cN^Uf2SwW0Lx)qHg%wUYww$agr*4g`->aRK zu`S@x7GGZClCxi)NtgQ6P!lK)XI}!mC_zev7>jjF^F^sS8B0AtsUlb=&^9@Ea2(U3 zpIzYgY|O7rZ}DKLiE&GB_M}VE!)g7(xtTENCy~#6ta0F=zdXHIT~FB2TvVc~`?a#7 zU0iqI)LbgfO;q0es&Zl%LC)H}X{OW7)m>fPJ!Pgcok4LtFM*i(PJ(M8WumWzN$kY(_Suk-Mb@T#X;1BElU8>!;%N*=d##5_T$|8`d(?$r zx3AV+kq^QoTWdq+z3c8R`@q|;&uhUq8jegni0#LU9ONhgVk+PIASP(HukB_70H!|1 zy(j$7sX(X?X2t!{t0vjbtw05tqr7z_$#=m8g1l>bLTVILeKulCF0t(O6U_j(2Ov4ja$`~-L)-ehGCCT_ zk%N9CLm=TSg+i;@QmpLQgN`g=SryyKfJgE|_&e=0@E0#H?Xv`dBmLFvNmjz2V-cRu zjc5IOTm`(^eL7;=%87^IX~#dYmd zFqGcY@*MCeHa|{(w4C-Fw>~t11cq*WathM&=W^qp4JWR zoB18c+~151_6RLd_L^8Ct9v|D`$Ig-fW*OaH2WWp)%gNI%{6oBYO(Xil+g(@!^GNn zjEPbFx#b9a2CdX$-UHxK?o69fr39*N=Ci7Qgn|GJ7JOFMFLRYYD_x(MyW#&7DkD68 zNlPrN6UDhEo097Vv1-k#w?!7Mt@CKh70V1EMbcP zj`x+8MEN)5zz0_F07tb?OIc^uwz3wb(WZsZpJ5)ECJV}YwjSIw%guw5gqCwo!`vw6 zp}%}&%V3)v@I(3IXq^5Vm$`L15aca1D4<}OX=Sb#exRkG*O6#-%l&XnXTeJJbEBPb z;91%C1-McdHsxka2gJu#F-522MWYX|`92SU0(064$BO^XsU3wLHsr`jELL>A(LTux z-NrBqD@5fxc!|~E1h8a(k0|sitjHFt!gUjSvj~Q$V zL;q2q+*lTjLsBfs8?4s z#di%e$hp(VKOc~<5uVVE`>}Sk$t~2_HFr}z(yecIQY#ip^UVD0Qq9oOTY^^;WlLid|ENfoAyGxlARKnahpbUWp=R z?!l7)6Nf3^hLFi&su}C^@gP-Tm{s_UMIBLUIZ~@%3|HO{rNpvX3Kza<%VkGC{qRih zmx1RU;U9&p3$yzBH9tIOnH!$xSL>!cQ@;8``v>lfZnMbXs$R*ky_4bI-6~2kPK2rZ zuoJQVsb^52XF)$C9&>1&;TKOUKo@?u;S*27+x3W zd)jHLUFokG5WVsDG!|||y}ZvQd{exOuZ=LjTvv;BCgYna z#6QlmTjKdUiN<^|YX&G`Fxc)q%a*ct_5c`g88>FH{s7D}{Z)0g3MBe(SVjSDx#6M{xq}Abozk)xiTh+j&W(q4Agr>CwJinuf1R`U0f7>DvD_2BZ)8*|c^FH26ELW^V*>mS3knCW8#=O0<`Z|ic zZ84Pkd)t|*s^%B70+q4G5A&V=LHd@KG=SRpg9v%BxR6F(kE;;z=}bHtmSM+t@4D|9 z2`3*}<1D|GFNkyRjm;nN7RcZkD_d&~rRG;NO>Ff~MO}Gxq)Oz6{rZ-YH}0Ej=#q3r z9i%xYFy7@lBVc?z_1V!5$l_WPb4N zr;f9(Y+9JGQfD#8EwS5Kmz$SZD}|d4!UbmcCgXNhKLUI69(>%-#w%^{J1FBDdcjwz zE+xUSGaRNHXd0{*bC}QSekP`pnu?SCDp#qi2t^3kFOl>ufwSQ6%P0p&k$v5Wd(ZFd zc@=cXkL>lP(KK)y4sEOJDCV^R;CmZ_Go-f4$%=#NzS5;pq`A&S0+i2RZt~-oWR=|BLwG2l3 ze3L$6#^6}|aIB0+j~)mSNnWRj44J*LQBA9CVFa(I=f&Qf_jPZB<@W5d$RiZ)vmSY_ zk*?%4rN&T@jUyVYmP6fs^$_7PmFNt927r+JN!ygm{EkT3et!7#qCs`cj-9;241Pg! zA8ta`3CTl1zs(P6Ga-ztfFD;8ok@c0m^L4k>liQbQPcyH zy<%BeTDaj~QM_#$QvOpf%=Wh=VgJyBzR7weEZxoBY+b;~%l;wrRWfx1ONm9@Y)u^$ zHNZ^{rq=FcoQSNV?&e^5E*US7i-nzsgA?5HHu9~Bo$XE9%L(LuQ}S9mYLRhrv4D6% zoE#vqP}S5$#?sc>#)FK9jhlr72;$;JWR(T0P;Jdcova-!$-rvgH!H;ck_E?~j5 z1$f=I9=?AytNXfxS1s#g<@~0QR$c( zMs-gY7Y9qnH}?VGWYgMjdTD(gt~bRq5G=aoVF7Wl133)I*tp5`IXF02fMBP*sd4|= z@vkfJBfMnXATlm4ZWcB!b`DN59`HXW`jgx63!0 zdL_My6w9S7B=@xthQ@1>i!fdfv$SuZd%Pn%Fc*j;U3E^eb|hrwQp+TCw<~Tvs5=az zFBel5cIfjST$F<*`K02+?BY7PYrCAKQic4V246b?hR+_lH|IA>Pc66ii9hb`;^X30 zqurJ;lMxfGe>SaZKHWh>g(Z9c=OO;T#P@$k?OV8l&(!}%U`slIv;4iq;eUrOv&?@T zVhdC7fdU6RSWEub2~q>^u7_*7}vU z&+T84I?*9yMkRyBia*)o1ev>7LzET=JZ;|2TV}*R-46IexLpKl`upprEM?SmZr>99me!H--A?|Lhm`%Kz2<|w6V>qNm*sedN5dMv@H;v` z^s#PBN5-6TZGjuCbZ>Lt-~X{LGL$5ZPu&}^L{gyaF}w5z?}5d*-Pp#Bs;5f z>f}eF@}V8U?|-&Fw`v#NW$g`%T>Fk|5~dy0=x<7HK6@T-G~jY?sslR778=`wHpXIo zQFNtYvpcoKBTb@n+lGp-4`j6{5!iMtVVm4Jx5J zRHkeS(LqRC>j7X1d8`f;W{I>ZR4REs8g}$2l^8s*o}ESv+YDbpj45g~8XHLM_m07o z!3prQ8mJJ0AFW=5(?DQFp(HNwZng-u0rn7J-Rm%@*9PHA^Gx%|^-~mj zlPQ{Pejs;W8%VfIVFZy7-4lWYAf$@#ecsOi!es;Y6cT!@RI+ zV|+y0kNOI54)I5Kj_?Px_MVkIt#h}bxiYRK`tS?9Z$o)O4@5hC4+l64k3v5SjRKrW z1>l~Byoz<=l1M%aJ|kQR;YD{t-^t%YI7mN33q;!+@llwlm zLIFiL3|w(t|MEHhCjYtep!bIR;N7~(HTEK$G1&`rw^#sax70I)D^CD?6hJtXGWv=7 z8SjIXaisFP{-E;4)4sfmNdM$I++c8jVsya(+hCXr(FM{V?uPt5{srSb%!NGyTAzvs zE>Ze9yab?!{M`lJCek^xDWE6i+`pgvMdW_pctg5aN52eWZKW0S#`i4oB_XttLw(d z_ghrd6Ikz1X2JzmaSBEI>UKK~R-ZFnW__b0LSp1Vu4Y>AFdvc$AZQvdUkt*0-mBAk z)+ne_{Y}36@nV1ae&__U>d=WmR9w|f=<(U=7!!`Oj#NaM#$Z#dA(F9IFxpKLE#+#| zBRMqS321&S)~WQYv;t~&*gxHW+?RX?yg;9Ftq!hEP@A3xBS^aoK0d005T{>piC=FX z|Mg2WIC51E;>b7gD@oiObt(NG^7O*+8H4biM&Rr9W;sAPMsrXszWzh$R;6CT-j@;O zluPdBWOjiD&#i~6LbX=t{7rj^{w9C@y@{Bg3*(=&glhZ_Q%6%OzmL&G%1;)kum>5q zPA{@WlptMRxry`cS;9#t5U~j`y6cb)oXIQ8D_+ph`mV5)4>&dH{h%okt(&#`$&hc3 z5A|!1(&sxN11^&6j$$ae3ZVY}o%s0l0Xd|DQE=}eBfR8T4sXz zlCyMdkImGgb9VQgOa0wv$HF_4>sgBGaEjn}4Yi^&aoCg}oABGAd1&~RIhrD`bzzZZ zcd(&Au)XIM5K7;@n&De1sr#eJ2+Ty~l3~e1K;4+phGY{5HkTC)`}U-`V6Zo>CJs8S zhIoH^zAQyZkiq}w+0oU_9G4DKQfhoHj@P6E-qg`|=p9GCYKRIbSP#GI=~+aqX)Y1u zJMmTQ4g2gQc#Xof`k|mkOJK*<(jZOmf?29znFZxL&Gy3d zgmX{$4J*jn3lxj9fAl$bJUgjA?R&p(w@JVfvbx_3%2|TZAJ$ zoUw+507s^mKY=)XEvenvlkt#_GmbCLV_Jz19fVD0s+$hG~jIw!4_s!H)!WDxQuK^_(p! zuApz6tCfe9Fi$_)J$xzyPR89D=}_+DI)m(~hSmLRtt|6R2hCSzedn!t!@uAIDSZPq zIlGX}w9XOJDfkqplYgOr&~Rkf7$GMTb?H{*tq}=FtB*53f#6G25%99_tQcD82G7df z_p|$e%_gEcJWZl3PlZEYiTjJlJ{V#;{=&C+ohV~IGGo42$bkZB#d>ZzNTO$0|>6h(4BV`ro0ZmV$1($rGvH|GxVEtfl|{_MD6U6MYt6Q|ttFo$+oa0YHJ16sb%cqp)lB z5|-48G`EI>x?lUizC4WiKAWMG6a9il3r$Mcsj|=(O|gv0h`JhJxsXp_{~8otHvs>7 z((=(O-icfQ(SMy$qGiUR!dazLV_VY-Fvk_)we$0~4cA=2+OM_aB~>ldpo8qbp`A|X z?uanF(nKNEARp_R28Xs_UVwTYc^{#`6Va2QR#;~zzuu%W6P@ifnR@8V+h1A zkUNxI#B7r-KmLEe*7gy^CqH@S9(u-P}lW_u?A?DsuJ6UsL z^mt3-ndJTaE{m<^+eZdjp@dmQS#Of`@rbFhm`PR@56@v^JKZHdXMiukpjD|dr53XA z58BavJxw(VAs*!xFBoAjRrPHE=Cu!^QK|{;dMF)D(?`-9sXvf2d@o1p4 zEX*Cv3J74NJ%1b2iBRkn!RbuBM?Eh5Ak`QDRp}MKpa4^NFla*g1iv6^6!OtjPWkEi zgRjuW6{fy-`XmWUp8YP##(^i`75%lFq0mmFMx(2QyRvF-`TVNGDt$L-9Bzr~#O~ng z-TUhl?U#^_5{m)f9Xjxl(4_mDsYhK_M6O{x;1$a5rdhYkSbJ__4 z>i8Z%9hwI5rw%x~Ll+DWxU!dozLHec(NKNj}ff|=C?>P;ZI+;ImqS9PT_kOC{ zPuw@yx)*bIk(*$WR>aA{TAZ3n(r6GRs%0nAl7y{n^Kfq z-f+jrIxmHN+gij33}%T}JL2U?yl16G)&mAd_n}8A+wC;30@*-|pR*_wGg&h0q;KCy<|7E3cp+_OK%*jPCeKuwtgN7`v=)~8ecCwlB5fuC_r zf0@@je(WQU>wM-)cCp9p($8FvDoV<2<__T8`WT6{`3~$Qs44GPxcMIH5kgqe7G--l z`Ogt@A{UR`o~cO((#Ir(q!HmkI@@>>s^C53LO33aC_&g9;DU*E2vB?HXQNdO_o(#* z7l)PX`<7lk2y$Bq6%{G1jeRzlhkYaL91%=?#i!(@tT?{IG}^2F=gQH9D;h;xB7%7; z^{dY{>LqaPaBLm9QzWQOd|yAXi68=*_FO=C6YD@=VT%pE;F-q~{!}!&47y+V(*@d@eS|$8u7Hv_lrZ0Leqg}Yx#B9tQVM5^0HHSED(8;BcGckCO^l7 zT($8?3y^$`Y*-7Q`1tIG`8agqrFZSu)_-t4OyrI?@&We!CWfupMgZdX?sgZFLhI+4 zd{c`_6T9;(%vE&nIJ9Wok0Ya-lO%!b`(T(g-&mJCsK1%BhFsfBt(r2J3Hy#arssKU z;Ou!&eBi^!;~@N#GFLA4W7y>~_(jb~MF4iW;gLH=Imc*cI!fLyxe>RRSaCes4c1t6 zT}(!bkeV#wH_J`Civ;1*)xa}SFTorM?vLzh%BPqaamq1?vCJ!&(>$v}FDLv@iHs#f ze_*8L<4QD%CZ-060bTi)4%Me0;KwTG9~IhZhAkQoMzMuxa5GFfX@vWzs47xElLlx- zak_Q)PY1cF1VldnD2=I$ru||hi>FE@EkW3$N%WL|PkGe_x|l^vJ2N}y`fP~iyYX|w zk3F4QQsmk$(lQJA8yrm>@j!8FJd;uldZf)~4OyqFUE3H^VHWSc%!cqffa9iOaTI5A zVU%`-paoUW&0fUwJmx6JBx{|eu%sb3#Et9Eoe27kPBtUJ7-WY)Sp&M&|FcwL&bnvHFRNyh`?e zL_4KAV>x^5G%DJt`akj-6M7O^2gVSLI%N^r(hE+17}iqK;S6MX`Wb@|;mBdtI5~Ae z|AEBf&Q&%Odd5_}O|InjGky(&?9hJ7?{H5{jw)~E*!Qc&*72P}b4s}m3Xq~4_+T_J`T-b@<5%%ADxPLRS%Qww;KIJsF?d}W6(B+>b z{FshwK|h2L>P`;Nsk^-k;G=(j>3`4gzI{A7i|h@oBKNU9#?0 zSRp&+Xtey4^=U6+TlV62d8<|wrC|=K?>-+p1MO9xr8K)#+}u|N!4Grh46G$xr$ayP z=z`(R*|8Z0D0OmCtgM3vkJWrzR$rp$`$J5-CR2_~1@b+H%MLFZ+L;Ds7UN;c&6?wV z+p{2PBR{u5xYv){_F*R^C=)BVZ%ZnzNXoToo^@SMO!^n-c2YEY+%$f9u-C5JMME)s z%=Ecd!5Y-gav2F-`?K+d(YY;u_|$?Z>!|c2Jz}{mew%QATPf8n>9o$Z+I1HDjjk5FUMCEyq34JaS2kPbdzwyMX_ac2MIKX1P+p{;^`mv9YMn!o~h5LA-R zhOrbZ%Dl&9GQ2Dg07Ny55@if(O zghqs$m;^Wrd@i|vxwXxMz3hEink)l6HPGQxlRP=}!)Y7PJ*X<|v53W`n1b{KDz!h& z)Mx8cIK;Be=E`odj2ub$bh?61_* zOo<(6PtD1QDam77VTj1z^orZQ?Vnu<02+=S%xj|YT6y6b`sUu*D6x-x$gvI$jZ8h1$? zak^Ncel_pwTo#Z1U3hR|3r^FbC3{F)o`8j;btqr1nZ+Z-xIowKV;uOEQ(dcDfgr0= zxz>h+V36MJ;XPf=pF9xT>K>Yz5YIq#{n$QdmS(+4En;(ZI@k4me7n@J45o4r9aW<3 zLB$glKLce}3li@9goAxmI_Gcx9=DlX-V_?17dP@#o6LPnvyS2c=uaES_KQ~TZR4oN zTCw`m!*(@#^RbTx?JUF8)O;Fvv!5kYF7szK_<@YbtP*>;G)w2xtKT~sLtoU95BSJP z6#4TXu*=l~0M1BHGEXCV{Rj*RSGBC~#?>qy7yOm$`+ z?q&JZO(H8Ja?8PDyQ10Va-4*TF-loAq_`da?IKDkp7v?bLzmK*gsX8KkuVxFMM2pC zQ(ihLc7Q}c8HOxlux=@FIuF)y!%U{7l-&<|S}%{=9Z^a=mim|JIo=~B3DN;Vn5_9+ zIxmx8Cdi|jOLrD?zU--4kkT#eU0~!BRjzl`RfEX``9nR?HOwV>X>*~-DhsuQl0axK zOdIF+S6jS_TXVd*=IF1dS-+S(*_{i`jZZ3}OCz&7gT;@gkQBzdJ;$PqcGpikBqs%F zzl3h?;Lw+U`&i8}V)kJ0v07ndmf{z^v|HT$Cg~B5{1U5Q;!lntX&Wkcm$QN)UO8BB z+L7z^_a=BPGv+ynfu)T$3s1-Gna3wASC3666F{_wtG)vW94x3JD%&CUzSZ_eD!k3B`ME;h8;pU%uVa~gl~v*CX|ogW!= z?oQY0p7xC6dEVeQTdIzSIofjojkpHadD;EwP>Tdg#Wil~dbW{NxzELCFHx1B30_@( zs>n|Rp*}dx8w)s2%gF}cAU)9k2)Wh|rtRSMx%GrTq#wZkLL&GPEhD^X?$MB0Kp ze8z}l%yzq9N{YH+g+2v~yqlYpS6#KLV7A4zj(C*!Q2K}PKMCC&58o|lc;m@Am^14e ziX5f*Li*b@ohb|@A`)go_;{SF=cvyx&gqExg}<&$R5LxuiGGgTBOdc80oI% z8tP_nnHp8}_?-y$RJ465-ac%+ZYU8L7*<3~Wyxg^7=DZ*B)!Cd-`NhIkt+55aoS%w zJcGni@bSRo86AE+<>3|*ihMiLl zyDf%XR?p15onHqQD4ijv;!Ffhy4m?1DUjqRqJ_<5Bzc#&&@GP@U)VAO+W9UdgXUOV z3GrXQ9Y{HTH) zpPk^?A5TOGPTz1!qR*C3A$Mi|$x0wLNd#02oHGbq@QKKL} zTAJNi^fa|Qui~r8(q#FW%l5R*^#`||KgNU}q~n5^qEBiTxt~dl=#UM(lSj1r_{9n{ zV71ybMz3bEik3(kXjFZvjJjO_8uI3G>xEFfi@3I?Q96F_QXFPFDDXvAfx@`X+Udn@ zS*7lImYZ=^(XUJIWtgf(tfOskEqbKKwr>90npSCs6tnihmIDJ_4^1!@ulltrB;bZ+Vtm`tZL!7XCG_M zj+9GJH|geKP>x=hI4l9mNCj`0R0$-JYy#Dq!~9Sw-7$jkqI^=_+z1LpSGA1whbG%* zyBgSLy$`c4G&NfC{H34%sOvMiK9mJh8(V|u*U0?UoMW17Jqhw~Joxe#F0JyEq<4;N zUOBa@gmy6`yZKauR&@PJo@w#aq_H37Q!Z}^j#Ei?j(p;j%14S+j+*II%v%Y~)Uez+ zlU#;&2o+qRd#M=Nm$n@E!f^O4r>;8lTM3Y1i4a>t9+i(gvdvf;@+84iN?Ck(Sf)r! z9mThvCG?aM#Ji|=R{516MTr_cEb~-;<-^350m9P9*cr*Q{4$Cu#V(;`!Ta#ZwB(lw zcj&KDEy6h#4lA8JBm1&H96nw1nOLo6W4b%~s{TJnQFT9#6IyfVCuj-q=y4J>(Ttk4 zgs#4alf`9FQfwJ9NT#~V&*h4lXe{C|dvO`fZ!RDH#l)R54#iz1Wj^iW$W4eB@0SCE z!u=31u{fyugO}HSeLEE@igs1>{9C@qy?qO}W99D+h>}s0RvPn>=a;tU z)L`nhEHYu)bmiA?bo2aCL#EJCVc(VARUWKL1|lz+v$FCRlgb#o6;eq_9e8e8bc@t2 zBxSQ)xuceMz1}Z>THwFIXK5w;fs-=!F)~&<;d0nONa4V~`1#(1w&a#G;&wDvO={@Z z%IF6R9x7UVWG8VgH8*x0$8;*5+sTh9DLC$&+}Qk_W#=Z6vxd2y01j-wB6GOApd z_@ij|<((5qd%2y320r1H5RJB9q!g$_7VlZ%CI)t7umI1+le!@3eq6VVAXhsYhlD;;JaTIQ}GIAn~KI25}V%U%fJo80pk^feDZE4V&dSbwCt0@B{f#q2WGwLGK}z8CbT?2CF(J@Yk6JJBhPzCuh!<~o zTc$bW(5w-QV21-XhI^Whj20_94EYi*=8FoiMXOi|kz0Ypa)t7@Jj4Vcazd&l(G&6v zI?g3=0;;8$8&tKTDI$xHoH1Uq;AKb!ff%M`Q%QwXY__9lsh4tqQmf%?a-VMB7fxL} z2V3-fQV(h~D*8yOC36krld4xKa*cN>Q}x5TK?}zw_ygToH<7YkO2UQ7dyF-OqhEilIVs6UQC$?*cFdU5~Un4OOcItPlJ*~TWvu;sXhJ6YJK`kCMcQ9&yVD@bC z!k4m(2!)&T^!%*Ge+k@E9~wZ7sGMbd3-)_h@dMi-DG%3dzC5HOANb{viR*P~Z@fH> zr2jTRAZd4N1a7v$3-XI+@vYMJyj(S-v>l9;db!1%+|VBHB0J!z39G9j>kX0{Af!ch^I|`FRe!3fnwmKE={aoZ z7C#)DabIduxr{>lUcVB`-26rNa=0Qeb;pB2@J3co%k&7UqKA#OZrEE}hN~*6O7k)w z?P&Q^#{nqz=KDTt(zeR$hm2L{6wnfowpnJ?DQ&7;2W#s__U8A@qE{hvgQ~!Ksz=@Rx_7?$u>8eocFY^NoW)er;3WXEIbB^T_Ee3p} zioTNrs)vI?Epi+IFt@DpPh!Uhc!M0DMpmN*mG|zI#|gLU+;?AdcuSt&G3klFCdPBr z?U4-<4=ZjWe|TA<`w>W-U&DoS_PV&E#DV%!D zaFu$j&fsIGTiQTYqYYbsKWg|Fuc+3VuDjyxQm2JaJF+iaK2bCTZIk4Kvw^E4E6Shc zq)5H5*-BbK0^b5#4A1CR0l!BBuQGW`+B}K@%9QV%*1M&DXr2>}4ziNW>c`3#kX!1o zr^LAMWZ`kMj|7{A3cvKi1>eUYp-OoR-KvwR#80{$Dtl>P;KKb{@0-jrxp)8CZZfGRzs9K{1KVfwcL0q^2e(mBg%vnbQ zn$y<=q}3oo%oV>J1|R(%mc;-#+)i^2%uZhp+)i6e(v{{c6sJ?~GJTwT9AL_+MX3Jc z_(AJ!Q=k4LKIiFHeTA^Q#0AWs?X;lFKWr@)XKbylI)2$dhWKURY|#?U!i?`+`|2JS z*SYRHJCw1HkEUUR{izXZzlI_i#oR41{_JD)(~;f1$5B>ul}AHx8hm2t*|d%z`(dJgR%>p zt_)7Z$*!uXy4O@L0EmK=IXk1+?Qu0*n$?_Cdma$>%Z$s$(=SY}hOM5+8KNIgqnh^j zkMu^4#Xn5mxW{nA@@fero{iJCu7r-c19+Fo$H}VHlyZ%7k!cpG_i{6Goz(dl)-g4M z2F1*(Y3saQrC$p3;lJ2@u4TnMUQ9dGwGN$HGQ9SM5)6FB!olw ziL^2-3QPLslGmLORu;qY^yah|09Vvean~UO%w%YuajvP8Pk?_&ZDZqtniG3b=p&>< z$`A6Cp9<7F>5ZumM3sQJm|kj(0`Dj|6pF#Ev=m`HD#H_oEKCSSRLEWAA2Z%zLoUqKu!Z{RBr*T0dkKp+bnFBb>6&ddLueC6U{XW`-E z;AJCY=HvjffI(OwH<;|?Ji!v7x_SZ**q{6+x36|Z^YO~EWN4~Un|kc<}$s&ewOa07WcK>y%k zIf0xk?7Z9{@GU#Imz@W^8@%9tLoyB!nLaldAb#^57>MQI0i(y9+;7!)fM5_A{1|wP z49UQ>Ef~24`}Ga3CF5oT&&CCQF}Q;VJe->wJR3V0t_7E7=41hZ*x!1IFnRfn?u`V~z3nSTOeET0$wI4{e5RpW0wH+ty`i}x@xZD3hw<%;Lh!nOJaY(R zhRLh*=<$+tE~_@L`_wfz0~4CCd!1dhvnAOw86zj^d*hZZ-GH1Oq`ImuBmwvP z+sFNAX++NFgP}Z(eGGwnQFZc1?Rg0gk&w+>XzSf0BRrpMS#s zhE@NI+J7U+|H-NU2l4ywXZimX`~64tsDHzL-?sd3*f0Cr>G>bnFFP1C2TK9|H|&>< zgPr}~%HzG2htiO|Jp*&UZckoo%l@=^pK@qS50WCoMM6Isq?4hGh+G%ImLPD-FUC6{ z!f&EWKyyIFBJnweA(x;b`10!;?bk-`BfZ)lH+CVZWa6+ zKUp!ZX+6wUFIUQ|T(%{HSQkMj1AcMalw5~YNP_y2#@bD#rg1Z4*lN~+HQSPbLaN_Y z>NjMc*^Mb8AmC_Z2>lHR)$7BYj;o;GNOz9Zy(_5T43pF`Zj;ID{PVok8fvj%T4b_BA;MQf`aF-I~FVQCJkeD z=5&I4nSQwZ`jG;`GSTmGr+bBC_|%%X;%r86ZM(k=6 z@#c_Z0VKrF(F}`#lXaPVNVqoiJY>UlNslmAUxJbBVqA9gz@(T=NZrxbNQG}w*W##V zINKCf;$*&vZe-D!NWamcrvx9A;lW=qeWS_0NgtyMqF)tSU&4KhGKv-~#HPktsrEMzq!-H+0Nmy8BP1{MWh^6$e@M@s@B8t`B#Zlh+lTUDSeqoGaE zH$~{AnJjf+acO!&M1go0P@hGZqR2;6T*#3niI4{XjD;Ag;?D$;z3_uYV9XZy7jI16 z6Do(70D`JSXANbGrZjc9d>0=Y2aq1{8Dz+O4}!e_#YeaA<%0)O<6!W5jn;Ma`CfsJoyHvs<2S7Ae*dNll2-@Tmp^@8bMI^OSxhP2BI#ptW z?e!pEPv`P&&==Y+xSP!NFs{&>{`G)Usg-wk zWUGjG6sxdz)N2vrF2b89=MbC3=VY6C=Q-Q_F1QYoE8v1ot0>FpXCZ4eYmvqSUW5J{ z-qCk`l+kyT-7sjqX8_W0VlXy6g5E0TeyQjay}`X0bFaS`(MEiMa!-6L8h}S49q>*M zom4V_I0(%j;N2@UIIm8eR_Y?t>iseLk|iwvKj=yh(D8xw&;tWQMd^ zRga5GaT>M3~aC0VJymB%!$L%wPo9aWG?@crat*_x6|z{HpXb(m+o?Ty$M;)M&=KCMf=% z2VAp>fCy}$kWx3iGq_q4&&FA_b02NA^FaA1?mF>3@`d3&)P>+Z#zo-Z-Uc)%=_V77Y-ps7miSmE+7|zD;TgHWL-zz%s@^Q zx4+Z{^_?@yPy{K$Z^{k|_wj^FKc{baONcz@M~_;slMY7TL$i^;q+|k=0rU^j_s(Xb z0*V%c9D}hw>2#yeQ*s)E?*^zEC^thTwE>-m(cuwLdZyXR@<~`;<}p4*%v^@}0k#go z2!(r8!t$#DsF+(AT~ou2H&hMEb)&>``RJq&j6CcQ)TBdP&{HHWUz2IW%?ud76kF8} zWcezZNp}pUcEAY!O8st>iMY2O$ThKFk+;y{wUBfF@Ssh!H$JQpz^?{-vguu-C~xdt zNIXTaKiK^*ZQOi==ErilTQ}(`S=|OhBRuont$PB#7-+%D{5RXr z;jLqT^d~(8cNc*Z1Mm8)_x5urHp_J{JnhGa9WV>=%NrtQ!JGQWf|0k+e5Y_f(IBc^ z_-k8ITwrn&QWM$cX&*O!ECrvcZlEus+^OfuLM$~2wtbkYhZ&#^5+awCQLqOulIkID z+wQ{s!hC~%14N3+?jqSiB7N)BT*UbW@TujGaqDftk?=xr?W@6S`-}S@VV{~|&ui|L zzG~Ui-aJ#*Fr+^(03d}b^ZaIPC#-NrQ`%i?8*POY+MUsg?fih#%0o-fY2VEwydRb3 z{#F9?6pJBd4m&TO?dH(d@P`TlLAz~9%19LAVol`k`sYwl%TLg7sn@J5hYLJvi{)f1 zU$rMm9(;d`{|*gV$^ENd%;b^l*Id-Em5bGllI%J0u&V34P%wkIcPLf0xx|xrT7((m z1LAgMEQ$QQ+!%0C!g!5vv6Rz76?(30L~z!cD_q?j_{}pmE9j>NmIk?#>OCl%1Ll81 zzPBYs1s6?wHuy}&%=INbmi5#K#7+)!L}|i>y?`>Jf=lY*U!@jc%v?PMcH#c`O?(E$ z*Oht8U)s=HiP-{UK@EKQDN0f$hJbcl;za1YZ$#4BKdpGp7tcX$*`h)Oa6C0$jaY`$ zmp+p~jAFC+7TAv<*FZwr36N`|WHP^(C@H_eQUo%Cd6RfrgI}sm^=+<#@*xHaY&Mi4 zX4T0Mo~4BLP(gvpZ-1+yU&m;@fcLxI2%?~ow6AvT?Q3f`p@}flo4XWY>Iz-(2LdtHK z85C+z#u`+rPcIKa#!=YWA(K_PT=e;xTtVzsrrJIW6NpnABopsZjSAhg3K3?TotVvR zK*ZOm4-LAr_7&MlOH(dP9B5TWgaYe{{J`q?@8~Uc_=U_Ig$|mML>zo4hUc(ga3|`2i z-}qqVMmY82__>KPs>#|C2dxQI&YGMF9m7c-@jw)f2@)meM>0EMgIHzd+S**~N`VD( z_74D|x~rx>69GyEQU|-rQmXl(B)>chCXlpn9_9;B)GumZk(YyM_p8j(1G(qPW*%_5X#+=GEr0gMz<;|;6)sd6hNT5{F9Rc z3vXIuSz{sDfQt)DMO<;bapk9qE};oWfyqm^=gWQc&2*a{e;jhZXxSsTnVIGauPGvN zJ|INbv!mfNJdFGwQGZTD>t|)`@?Cs8fkVMOYsEv?Qbnn_ZM68p-A^zzp~AK4Gq$m* z26_osCIqv(upnWUzTrO}W#`kK-yh}Gpu`*%=#g9eG1b}^Wq>k!Qyn-cWo8s$*>Oug zYOltt(iDX$(N{e^H!{P`?$q>Zxr}B(Bf|cMOHIQ|R*#M@A)a62A4GJ)nboqEb)I{v zwl6enS2X@lb7vhD$F}Wj0s(>(tbyR})=1;QB|s7+IKiF9-9m78cemg!fdol#cXxLW z`YQXLv(G;J-0|MK@2}V0qeqQN&02HKxz;L1jsDgzg%G-3X}&a^ub-A#$W9-&RVr|V zR)bh9HzLbjoc)b4yOA&=w6g@`ra$-DWW-juZhEvHpT$T>8kksj0v;|RH_N28fSQn z)1chTIV`exY73|kMQhjdbigxr*4hszdM;b3$*oDFQkbW__jZtCZkn!7_U9QleZl^{ zTC++lU*25Z8;~CvUSj>=gUsaV%T)&@x7(b`c27IQ!nOCi`mbf4ALJIjvwfhybnfXq zoxEVGrDVMC-*M}R&K@MU8}~B~UvTK%FxOfQI8u2A%OhX1)cX>ub~s{c@61%O^y;-q z(54+{qVbscCz`Af-B5mB?9$`q(q~`v^I`jScg>iet7XuqOX+H$6mA#0N&Wgli3VYM zd4a{Ot@%wLHlrbAv#OMU?kR=JoM!M#Z(9604|Yl&w*A#h7_g5vM-`SgScogys3A&a z(0H(7TFsw}Grc2~MR58uKep7l_fsT$S46-VO7~Y}cp;K)tSffv@-Y$dYX*`YkMGNQ ziuS~j0mU+R{B^#UMKpu18wIC_uFV2RB`J_@Qrb}=x@RPEWIotoy;O8No(RKt$uG|J zu`y;8> z5`r#m^IAQDwP9=fo^1X-=?V{f!$XyKoUmjkhHnEXGuhrLGA61(Z){+1Jk-|;Ml`qa zxe?S)Zcv}96{eLg1wM$#E=~en@11SY$7Ox@kql5RV#6tE#$xB888I^p@1jF08@lFR zG(@6r6~F#nu~Fh_9_ow2Q-1gtJpolC4XVv+RvizfRf?bV)~|ZZptKD{?mc755n5PZ@oDv7P+Cv3h8&3R|vu4-lR2X zddWOJ>y~I_WcN^p7)t9I?z|fw>FChwL`Df5bBf5$(g9ujpjC5~PQH-uGUUW6jlRjs zf%R9Gqo75{yWS5iZwTi}K;1$F_pVwR}z)@93Fbh40 zxyfBq*g@OWP>47;MzTk#wx0SNWrbq6jEi7+& zOaF$3xBIcjzj+p7&SWxe}x=N zxn1ajfAb~XDGms2OLjuHC=a50OnMNo0Nzp=P47H+mnxf`wlUrPL0gjWs7f_zGdO8z zzBbQ4y>P#=Az#ynB_*ZJ)0DKJ zOD+dvw!@bKMS?m+)RE8Dlu%0!g5E}_8!tVmm1Dh!B zp_2tCp9fIHX~Z{?m|uF}F%pPr#AF^8yd+2z#H-R3XUt_!on%7Fk>FNGGcX!lC7^%B z8QXD++|FJ?hma9OBT;{nHfSlK(ke+c4g0c6aL_nf5A_EBvv$}_X!LRlArVE8ID-wQ z$faPZP-?LkCc1EF)5C2*=W|+K;?X)p^ci%bcheL>i0GIeO!#ZQ9zi(#zwSxMeWO9d zcSn|ApAu*r?}@L8tJI$N-oBiTOJarcx})$go9y^!PkkJ}R=XQDmv~2m93jurTG4CF z$gVcxlnwJ-)+ihPM~a72i?zW7beJrviamrRyO~|q#Xi6?OYW5+GQ{*O#PWj5S&sz8 zNN|EeEiRpT%zQ0mf3eG|BWd2R3Fo7+>;QyVga8K`UNXUYooGA5wrE=0Xqr{|*oGb4PQ@MN-n)`$y-1G`~GRJr%SZF@nPG$FbxP z(@54O51BAR1U`4b9U)bObWfr$wr!)!ULTAa8Wy!$&hs~Mx@Ocewt=f=vTP_-eznt6 zYirVZ=>hswpA8X5U)dBwy_`#f-CHhkheq5|Ua>-(z%QFA$@6zw(00L{a%G>!a%>uf zY|?sn*j_3V>tMn#rTL5*WjPSgX$QprNZ25dO=PEbBviaJ4^wkU%nq-|F~XN%=b-%* zjU$=^9Y>lQ`Wn7hu{7Eo(3Ua9^#n2ZLO2*1AbSZP9?;|P2s`1L>1;5u4HnTD$9+@o zA3L<$JiY&c84q)Z4#gpe{(B`>VUKFuJ3{ltr0^5xG$aSC%H1rdG$eW*3a2pV46N=5 z4jK#HDey4nfj-~N=>E%y_H;-*Bu-6?grc*p(fX(AGL;Su@6$}1fNc~}dUMzpTFM@^ zvz{c+^Y^|A)Cx2@_>$a<#gUOG%;TB)bJEx;Ua=ya*^iikJ5erh)(CxY_(SY&g3VfS zXlq$}qF-oyrZ7#>fUgfB^kQ@c#!>jYhBqA!N9*w)sE8PeSoiesP?n+Ag9~lxcZU4e zrBm=lXZwxaS>rPL(zFP^rZ)5gh$k4 z4)Y|JLg5uGT1E@(-l@)M#w;uH&M5I&N*zU#of}C&4)nAz%tMm3`iii3yVGpY&b@8r zYp+RzLdlU{YT*b%8Hm{7m#a_OD(PAPNH;@P?45$vochJSM|q zOkN7rDB+Jf&l!31m9FOOYO2*6VtS)mk(qzJVKW!JG=`4YeenDBl@nu ztY~vYFE6dAlgE&7 zmSpjv;Nn_Mlr~DQ%1y$phEGLmc+V){MJLZUt(Ivv$$Bl#x?_W)1Amo9ugSp}FsFwa z2H~k4(Y^uqVu954sZoroXXFy>yGURArpkPm@P|rbbjoO>r{x7Y>#;PK1#%%##soK~ z8ZSPG|5T7zp&PkGk%IXFd+GMT+^g!;>lYB{tge2Oyj2@jW%qF)9xjRcjxE^!$(3^q za{VUl%ld)d_Lt7sFnx$VP1DJHwacEqp>|uUE7lx2*PgVY(&rsjvHW@}86d^*ba}mvl^6uPBJdh9UbKCQMgW zRxFWkms&QTdQCaT{1?A1eB`s;5eMg)AV+U1_em7S$c4innW8pRl8q3PhEQRRHU-AL z)rvj~P8QSh)z4{`-eE~R`sF_}i`Vv)ton<*EDdJuGx(RYq~G*WUcIi}8Q80C1rBtC zMKVQ0s0?eIgN#t`S=DGAsiDj*Tusz9XcDZRnwujfA}YlYGO4#n(&mv<&86O6p`b}~=(wvyz-jJmB`{?9V2 z9?XuioRq}EfEffHT^>R-gob{xaD;ZZQnu~*7O%H7F>BLT(6)76#rDfg6uiM;mX_nk z1Vn49rf9a8s?ZAg`?Y%Lo?o(xs!(-G`ehbcG8G9TZuKe&b68uX`HHPUEE@Xt2Qhna>!EeDS zLK6`sIp$MDGk+S$PAM=8pQjJKAtcpHsN2Q+!X4Ext!VX7?+a%x7A>=OLSvHx=Lr;gi3vT!bRItNcqg4w2%&`Or;?SO1R$7(&o zHJhbW4R4=ol5YdAxgzUvtzLZHYG#4tGw61MuxPmnd(SoY!M|B&hDz zKPYO|dfrF>bZ*DW&kb65VQ!9dJSB?@7om@*WIDupTa19+FlhCiy{-s(rYv1MMUrAK z#hoF)iMDP@&feZLPK4BGM2g^|jC*ueull`FL9Ug#aM0mplNF}=Crt=n5IyylgQP8| ztLM!{HqJy@$LEU28+soeozm{ph32y>DN+sRb4q@6tnJ|E^m9L$`Oi;@rv+~x!GnS5 zds^qDEBJgP*4_sgAup4;-(`M{?B*W(w8h|S8DVVrB1HW)@f97(gz2RlCA-^>tW@Bz zso$i66Z+>EyMhnMCVgG}yRssY4CxBq2sLVc$YJk%q9-|UedWHs;!Pb2R6y~(Ij7j0 zd33=ZUeJttj^wrj(=wm8YIEIFn8S8PT6^_!P1CF0_Au}`jiL{QwY5F{%U7pSUxl+N z$~!#EWZBlTkFi3*HJJ(bdrMY4if%*Nu@=#N5^;z;`k@ueq)~RZRit8T zW7_nBLrw(@dy&a!IBHyAnM|)~+?UV<>ht%7Q`$2=qLrql`GMyvu?WIeT>GRMj zYxfl-MB-8Lh^)1sTQUrt31u0wR{c)B!y$)Rzf$y93{`**Kp2h$rAb$D3bp?ia>Ma; zm4(@%gTeQO42@s`VLNZaLFM5=dO;o~K@6p~K|w#5GQunsxLR}FI$0^T{E%`*2~|qL zA$m9d{zGO3>rp;6X1;;jVt6g}*g}L^0;6vkir$kVlkIsmw+$rjd#deETxDI_zIr`6PADNi1Bbec@24``#Cb$C5`H~!b6Pp+Qc%?zU-kik}+slPl z9Y@JX^_kz8_mCcYj|WcPu`@0?R(uU_F-9MzSDzeh2K92_wU{u0p*dbn(TaENpfwJ> zXJqC=XM)fxB~(wxLX&hZQ`QSBp);L=yZVE77%IMg4t1|V3Bs2$IcY50hCelf1?&V? zu_80e$gHV|_=F8P&pJEF&_G<}Z_*X=9FlueFyBK8pTEA0PR9uQku6l-V4CE|O$!p5 z0n5_lK9BKb5>n8hz-d5)$@(=Wpi3*aPd1aT=lgrJQ=S}<*u)PakA3Zt=blW%~_^x317hd(`#r;T6S*F zfjW!St7EJ2(JFQQ7AZBBgI9ZwC|#9@i?5&bH6G||yC*GAOxVobo4(1;;Z}RPO_^}1 zh@Iq~K@B>w8XJS}RlLX~aOJrOb?0IU!6r);&XF3oI++`|#z&3tf@e%TWWd-n3Mwn~2x-2QAxeQY5F* z3)p^?i&&Xyk5X&IUh|r7kABU6%-}mgzP!Tz`n+VHxYg5pZXSdq*0=oRy42>IJISk& zo;%r;xqIlWCOE$2H6N7zb6)snb=UcEVPxyD0gAUgx0v4$>DG7nGrb6T^eb8Jvwe}p z7rFC!Fw$xA`84Q6ire6ANrN|M{DYEjrFKMu-W&cLG$T1Mau{|hDxy=2c5<1+3Fqa% z>%`vk4)zP+7O#WeZ>)Tm((uMyscU*;<#040daUxjip~$Q7S%v#RnU*8zsr&ad4&nN zG)^3GvIL7TRyKKiT&ee^mS-zLdD!6lL}Ujs1sC9HztH`bDQV>NJlLcz=k@R;#bS+h)EK;G*xi;d$1_+sMQN--yLFptS@1Fdv$}7GU6G(%yV;=pr zB1JRWBoq!6Ez{=XJ6-Kvc-+zW_kSQR4V5<5E}taFXJ?;#tJf7g?rEY(B^sI}MzE3y zIm=b(p{4#D{*15at&w?~rPafcyq zX#?p(YbhtwBA<9RN17_lX=8_DqFzLdeneHlX{!_6@c8A-P*{uJNPO_|+G&~J8!AaT z`~@lGDA=Qr%fdHU73J2RfT9`C6*D~1dhU++jBOZV7zgJ4dYPpzZblEn+LqD#f_bnC zJN?Gb3|~>4+baoS8@^PxQjY`zJPBJTFUN7yxHrt$~M8Uv!J zVXNK^){JzL`w-(*QI3XPj1FNfe5z9Q#iJZ0x~ck9(*C+0xi;fl%_=M>k)GCo z&At|n@y9Yc1CzB~U$(KMi%@TR_I;l&$CltID;z2e1quiXZ0#+L4#bH~YTE7gDbzM^ z7Q=g7VEVR~i=|qerk}bxC`u7bK!+{N<$zazXHc=5r<{^o%H{cUJ0~W778;y>KZXyL zLm#OT0%^jHNhMT2)`N%{_H=&D=TQ_!j_8bv9z;b4i|O?c;8cubNcQGPA4Ve0N5Ic3 zJSSgp;&eHB&35@Ctxdp$!nQz+Jp*!aVo^W>_9 zm*p&TT|Gti13SC=GX=>|#^9@&TtCoj;igRUFvzkEDz5BE8y|5O_$b|M~*nZH8N++;Uwm&hCK1o9fbB73~P)qckE%5iBny zeg5Q|3zQ)_kps^i8O7L{Ul$^gnqJn&U~zAn+9#Y{*a4;FK{*FqSk~6J7&oURlxbvKzsB~-B}VI3wq)WV$ zWC5cH;XOI|vmvbvmmhAW>-8o#U9;=5{uRQ>Um{*6f$+~g7LIBOFIQR z7n`Duz5Nx_n9v^>4M~%1gok!KWU1DirA;tW@t?V{EN5V>#$bKs5e(EM7w8mZEH_#* zu)cjD`$=ka{!E8As~JhdgXee)?BQ^Z9Xv5X^j+}d#`F0Xb@TJ^^W9Cwf{5`~2ZBYM zw(7?yeQuWwq*MY*gh$#TqavV-39+nFly6peq3@rpk1o1Vk~r{Di{nV}(Im0W6M|`| z*=j_wV^E6C5pqpAUr18E{dhqbE{Q4roi0V<{lS@VFzWU%R!R@i`Xs(lDkl-_2&(*E zxmY~5SM#PE1!f$zqlPl$hHS4;pD0tlR2LsE_Y9AUryh#O65Q!>_L5bJf*)q%mAT?_ zdg+oBIg{nc2pv+Ij}~3LQgBiyf@$EKEIE?-MyQep@vzHLYjbd!zP!unujG}enKk7O zHjX93hcE55luQwi9Uc3jQP}T5k`jfYvKvBEGrJHBkYya|`10IQ>g0muyW+9xm~x-P zg~E`HxqBhb-rVvxe#9U}Q{lZHGyW9C2@R^yFwdUa9M})H?z|8?hRTma-}{-8scM2+ zEb?Tcse&1j3}fcI7I!%^GieINj>Kb;cC!ZS3uWqiKJ;4FjfFT>s+(ruHVo>H_EQ78 zGYV-ET}=fVOn4=_cr|6=bqa}p1n2ORe+X{Wk9gepGLB@%P>Ys2Rg{r$w_hsWkA2J)3sDtO|@;M!Ti^M^x2+2eGium{&#)!B%7 z-uvC@s{bCh zQN5cgb-{c@pM!;W0Tr6gvL2*8h3&A2i)5ny-Q{7H)=mW}>D2uMb`VDXR|in{go>8w z?ZfKjf%6gZCbA+vatH7vt4=el9vG@Y*Sd6_UXS1z*79!`=rhCc^G_it3KKyY z+(|3Qdage?rj{;G*h(8N(rW$C9NI@OsUf=6m9Oeg`LjRF_&Pr~Z+eyG*FD|AZHM(s zFqx<;)A-aXz@RdG3&oacxvW3Nog_08y{1tR^G7w>{VQGUOhnQrI>R$kpYZnU!n>#C zCc3gG+PR0~P*M!WBuT54tF?(+G!1$5#Q7HwgXE($+7U}A%<}tMZ(EyY7Jh-1PCxs* zd0>S{7He|0ujIgwZ{wh9HtRyaN5P-7@jjHm<80|xL(RYU>?(n9!iqmO-fT~F*Pr)( zB-^yLWASoeP98AtS;tB=#v$$u?V?_@&3fb#db}%LUpC)e4))E}wy~{c9AP z8Sc^DXiQJ^cqWRgPL++p-N#0@wdrXXM)^M--7XpxB1xuqN7qGL`1l0f?ui5y`Q4Z- zITI=y7g&}h*V$6LRpvliLu(3Q{JNZ>EpwC3HBJ{^f`@0|nHs)yuMf1L-8J)*y;h*( zp}l#vR*X<3Gb|zbaqs=@KoyIf>A_WsuYMH#%Q=G0=VC zKrXdItBeFf0#PK?#ZOg@<=Y@x=m`mF24=$J*H^HA6|>luHB}e9N3Z+(;&x5juc|5u zjMiWA+23XOn-d&cnBeHQN_6`@c5YJSD#I7`Y@p8IBpz&Iy;;$Ol!#S_FJGUt|1j6E zrOv&U9!L(M9$zIK_=>NY9$_UfN@B|N%}dXMzP>%_QUGKCCXjg6T9MQ48#G*Shg>_l z1PWnKSWX}eqLkUqBI4Fvgt>aNDK?*kV6W&XWnhlCH8$2Qz1_jxMx*B?xNdaxb`0#> zO9>;!E*LLkN4U>A5-jyKy;Ly`L5(%E%7Jj5hk4Utrg1c_+mfiTrXEC2JU&|#CYn;@ z0Bm=5p6tP@JN(v!t6)7y!DuXk9W{?mb{ehn-rv%4KRV%pE@Ry{fmOfVnj5r_d!~6~ z{3!Ei)_Q$*H!{~ST?J3iEN?NRGIOn{-;HN%@VHG}dyF-Z9=yA2LvLqGux_cRc}z`r z{48kO99~UOJJdLbbF2E1uYhm*u|2S^criS;&BC|)Kax1Icc9R=jd;nFZGC5fmZ z?aDVMOiV8;MX@Wb$EO$-(X$&A6>+lrVsxldEk^J2s(QdO`+dNwOu$F5!1oiBfMc*n z;_5u=M+4x8rv0cN4R2sOw+ToLZhoq85XuEtER9F;WOA7iDe;v{jgB{*-Y-Xzr?Y(y zorhOH619BUDxT>bsl2e?0>pB+KDLwDkLoA#TWneS5nR3)H)*;bHz{l40~=(U%vOf2 zD7LcF`JRxq_H#!Lgdc!}e1d||!+MVGXzVeBsqeAxga+8i(iV*B63v)9K>W<*)n9wz zI;LCh7yB3j)JEB9Z9-3o^_OwH22CF=6D64U@2Hw^luGGhWLmhLhs#`2P`iozQGM=C zw_*aFy~i2Ds?S0GVgp+sx8tp6MNqf9~KoR1!9R+c(IZ z`*Hca6$d%q?D%3&+o@NaMc|YUgxguvmp7ty3ma$(W;=wUkbn0Rx|52 zewoU9f1}FscD5i~Al%~YTH)>N>7b|!<=Mc}r2M&2++dOY z*2I+{W8=x}b>4{%M^fCeIIOMg;lQCzz_`gavSlpJk@-ev#md4jxX~raHTv&cCM}!s zX2WFP(kYc(D#t8=4Tc!i+|*DEG| zvk39!IyH>UFuLmvw*m9*>Qx(?#CBy2Xk^AJIoZczLe1kk_M;+RmD8@`GWwtNNv1E7 zD@C^yhf{fAFIk-G_+IZxlHa?od-K>`hUZC9o?juN ze8XvVeb-CoF;p4*b_*Q|D_HHs6`Oti96`Tpdm9tG9xBobbIj11`R(pa>+p)zH!LL0 z7=YIlU^iW?%)Te7&k&4@c~-ynO!m04jO>d8%4~CBT$+|9nW|5rjPOA{DPgDAgnmrh z9K+biosBhmU+|pv{?f?9L#|ZwQiJ$&KjCTY=d-0v!T$69mPBVpjJWN%yME8jBRi=k zMJNkT-1+7^p*9z+VE&RU^RbaeYzYm=-Vqnu#u9%FxiFA_>Dtz*Qb{V(FBKg7^#yt6 z=QQ2^sTvSeqE4E(#ZYpBT9 zJjWk3rzt=FGD%z3qUr)Bfdq4G-dqY^z0veEQu>ZP{dWKOq~l!W;AEuZq(j2&$TV#8 zhvzABoCByXbx?V4off?;B$Z}O&`VYT>=(Sv&JKfZXG(X+8*d!(+2^sNH*Sv{%7L$+ zM|Aw?0$L^h-hz1y+iKJb-|E^L>}1PC@TP0%M_Z^THb21~pA*HE#KFT%OI3qGMK^l4 zPQ+Jyck(Nb1Koq!8E_R`6|F&w!C=)-{e6Rdefg?XgYc@!s(k}S14ex%gLMN+gZi0v z#$bEZi)~>n^e5K3N(ko;{1(C{tI#B zVFQxR!wy`Y3s8#zNJ#+4ee90bhW#1c=YS{*{{xP`UXn znF4f|g&o2JB<7z7oItq0rD_0ymVcTcKm)(W9gv|v9f8pQAW#1i2f%D{@~{Ad97qf& z0IY)9xqma80Ac!%nErJBlg%XK0pk3J2LP}BA+!Ue7Yrb(+(0fkxq#?6A)K5*sejk{ z&tCl})5-A{L7@K~!3Sms|5dj`Te07~lMSZc zOop2)?G>%5h{|N014E{P+EOjX%lL=nw+^|Mqhb}|c93uo?MnrhDM>1NI_3x5QC0MG z-1lq^=Nq=Ba>5}cut9C2j%Uz-$q(VQ9$2G+N;|c@oqLTIa8TB%$F)yC#F+L7ajsVL z8;07P;Y7vj9dkvs?_7xmFuJcTUn+JW6-MWF^g3Z_n+(yFK+*_H#2|IAa~~()IHkM& z8s}9s5h4C*ro~D(i``f6SDo~(&E!I^hz{S1AUtbysoBN zea^2C1#Vg;Ly9)@ihV~yQxiwMz$A>BTvM%U*V%`eERC*SFs(*pm^@nDe+RqK-Nfdu z0YUR5XyA5vqCGGLP1`-ewBlq}{O4Nw7a5iR5!s2%`hN*^0<#z(I02UTUs^7I)ch~2 zoQs{2F)}dUIgtUCrGLE0xVgB%Tx7;%f7*U4!2EuZLH}vvB_KgEr0RR0w4mKXnzuUlU+?;=J7f{0bO}PJC8(?7C z{)aDc+xmN+If1PN{$3AGE-uc$=YW$NkXrgz8xD4QfMk{(G9Xf=Waeh{yX35j*47Td nGVyzq0Gkv1mazKc7*M3LchIwQ_+xNzazog_$kfylZzca1h-g&6 literal 0 HcmV?d00001 From 32ce1cbba9a615f47033f3c075d8bfd55716fcda Mon Sep 17 00:00:00 2001 From: "ishak jmilou.ishak" Date: Tue, 1 Oct 2024 19:16:03 +0200 Subject: [PATCH 6/6] spelfouten aangepast --- docs/explanation/projectplan.md | 10 +++++----- docs/explanation/projectplan.pdf | Bin 47360 -> 47357 bytes 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docs/explanation/projectplan.md b/docs/explanation/projectplan.md index eca45d1..a7f149f 100644 --- a/docs/explanation/projectplan.md +++ b/docs/explanation/projectplan.md @@ -2,7 +2,7 @@ ### Projectbescrhijving: -Het project betreft de ontwikwikkeling van een robot voor gevaarlijke omgevingen. De robot is bedoeld om gevaarlijke situaties te verkennen en in kaart te brengen. De robot is uitgerust met verschillende sensoren en daar gaan we zelf nog een camera en andere sensoren op zetten om de omgeving te verkennen. De data wordt verzameld en geanalyseerd om een beeld te krijgen van de situatie. De robot kan worden ingezet in verschillende situaties, zoals branden, instortingen en andere gevaarlijke situaties. +Het project betreft de ontwikkeling van een robot voor gevaarlijke omgevingen. De robot is bedoeld om gevaarlijke situaties te verkennen en in kaart te brengen. De robot is uitgerust met verschillende sensoren en daar gaan we zelf nog een camera en andere sensoren op zetten om de omgeving te verkennen. De data wordt verzameld en geanalyseerd om een beeld te krijgen van de situatie. De robot kan worden ingezet in verschillende situaties, zoals branden, instortingen en andere gevaarlijke situaties. ### 1. Organisatorische Context @@ -11,12 +11,12 @@ Bij de ontwikkeling van de robot zijn verschillende factoren van belang. Maatsch **Vervolgstappen:** -- Focus op duurzaam en herbruikbaarheid. +- Focus op duurzaamheid en herbruikbaarheid. - Inzetten op veiligheid en efficiƫntie. ### 2. Ethiek -Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtleinen volgen. +Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekening gehouden worden met de veiligheid van de gegevens van gebruiker. Het minimaliseren van de milieu-impact door duurzame materialen te gebruiken zoals hout en metaal. Privacy speelt ook een belangrijke rol. De verzamelde data moet veilig worden gebruikt en opgeslagen en het moet de EU privacy richtlijnen volgen. **Punten waar we rekening mee moeten houden:** @@ -25,14 +25,14 @@ Ethische vragen staan centraal bij de ontwikkeling van de robot. Er moet rekenin ### 3. Procesmanagement -Het project word uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid. +Het project wordt uitgevoerd vanuit een duidelijk plan waar elke sprint een deel van het project centraal staat. Driver bouwen, testen en verbindingen leggen tussen elk gedeelte van het project. We gebruiken de Agile methodiek dus alles kan nog veranderen. Hierbij moeten wij dus ook rekening houden met de etische en organisatorische aspecten, zoals duurzaamheid en veiligheid. ### Aanpak **Werk methode:** Gebruik van Agile projectmanagement voor flexibiliteit. -**Communicatie:** Zoveel mogelijke Communicatie met de opdrachtgever en om veel feedback te krijgen, zodat wij en de klant weten waar we staan. +**Communicatie:** Zoveel mogelijke communicatie met de opdrachtgever en om veel feedback te krijgen, zodat wij en de klant weten waar we staan. **Duurzaamheid & Verbetering:** Zorgen dat we duurzame materialen kunnen gebruiken en dat we de robot kunnen blijven verbeteren. diff --git a/docs/explanation/projectplan.pdf b/docs/explanation/projectplan.pdf index 2155646dbf9c57dec5115d5d793a42e3f5e79b1d..25e1878e9ccea75bfa966a3a0857009839584c9d 100644 GIT binary patch delta 2731 zcmZXQc{J1w7st&A4I$ZOZ76CmV}8uohO9kg$r8y}vkeh4GMdJceHj`PB_cG0vXAl< z@mjJpWF4X`V_&19sOLQId(L~#+0q zz9-JV$8TZmW{Hk1*5U@7Hbl&bk05fn#O>wOwvGeh**fnawmETSG@tGbuQs{#a6uDe z$TWU))<2gab5m9Fm6$VUR0e&KM~`7|8uXQ9c-t&Lrr*NN^ikN&>z^;kVnvR3`@2{G z$;r8Hcb|M)OYAimw0Eb6*$K<#S;y=B%0IS3c>70-sj#(g!$K|E(^-dRd7Nc=_fE?8 zbIH^lm-&!vPWI=DKCdBfXOkR=OH^gK0$aRrjnbqP;Fyr7DT5K4lHtc;aX+V#&P zk^5&y7>KvqVxaJTmSN_;mUiRN3iox17p>L1zv>0#1}jYVrH?kojH15%I)xUuUlkA{ zVvGHx&B21HnI68C0tR{~+M7G?KasJrvZx}0sNb$V3eDWk*UF6(LU_GEZ^0FOkt81ixz(tk?RUZn_X+OET*zJ$Lc%CL2V@zeyq z;$~2@Wcz;9xo{Ml>Rd34KUz2N8?Wh13t77c6l71MKs@JE-n2d!?9D}d`_M=l@y#Sq zorA~fC*EUuXsw&L@Ao?dAtZC%ET^DT4>*)%Lij4R^zUn+2~C#W?YQv1(zXmoJ|bJiv=-$a#Ez4)3SYc#m;YB zXzS6E2s8vo8A-A`6!zXr=L!y#e;aa%X<%>~oX*>oGgxh%iFIVifbYg~>IwLvv)kmP zb2D>Rk|qMJRDPDS06sjSE9Z7|!9-eGjB@WS1I1?nA7h6r5SPDuj8C$1>V^^~mB*?U ziT;=69d^Mp6pPKcv6BtWm*$Ftv^r$xoC7uk)EDH$= z$#gVFM8{``!Ih4b!cU8Q6)6FM&fsn6`s|$g6l3}|j)GI=?K#(!DdpnRPjWIVQc+|4 zw-h5&o$q2(n10e-u-bC7>9Mjaysdk=4MsVVgs{#<5o?Rz!R{p5Q15OK;V}Z_$Ofz4 zF=(^ffoW2Wumh02b-P$Xqi|kX-*AZKr`ScbOf0l}VJ%Tx9~3*Idzlj6J`roD*e}w^ zZU>Z88fS?~wXifuop^W@dYZ4_EpX=u9$FwL+Q21UVA&E2fOIfBEp2orD?);g@1wBP*t1%q#6iV(t7+NuYYr`IyL6cvLrx@Ijh$5L3wOcULD zvK*7a5r5`qa{2PifpBCU{g$LKnlo1a?e{MBAxOk=Cw}c^>4?qv8%K1ZWM?C^gJ%NK zn$ZP~6AY~MnRCCMq>nf^=YG%`muG{VCC+VCYL$?LmYy+inhOD?`kJgY(9YY)mv>xn zg`j5W*Ssc?&uw|Kqur}NLVhB(&c{oDIWHFG5eworx57y@Rb5wALD!(A;q)?*qF2N# zt?z7tVWUR*%;A+9a~XSA+?zh;Z<&EnUwem{Vi{8X39T<B)>@?~K zuHVptP&cD~`?__wYF?SRLeDg%IO*8PNKuUgkn&KHOf9N9A|C3Mfn??53(@{i@(zzP zHUA8>E^GwGGv~FiZY&$M7@1Yi@;?T*B)p- zR$=bR>18=JoYq%}oK;CPo&=KLw{$oCJnJnGR#af4c{J&M7Jvwk#n=EuXd-8;y9^ttpy#fW*Gu+$Wb;;e8ZXU0`O|qCx_&$w&SG=(e zU77cizq2#9&z?somHCT02w+ZXMLsCFAa+8zZp6bp*~%l)GfvqZGDEmji|-7c+scjX zkdd_Z zNn3t5U$m8~xpC8SVaLYn_>G#fb2@oC5d$|#RX#be*Kd5$1i|FucT0AXx}goFwnV+4 zV*};3?VtAI_Xbi~?92d+SOaX&Af-lyB}87d&D$k zd=N{qHzlcDAnh((sd%~)f_47^FQM1aM zFO3)<)kgjN(aftUGsfPENamoj4^ErMOLgjT4Q+;A@tgm3UuAynCtlSukUE8*e)=pN zEerpeU~Fab7mjq)bN~PV delta 2759 zcmZXQc`zG@7sti6&c>CxLW!cpnMe?4QAemMOVq7y;wWWPm6BRVi#jSrYu%)dxK$BX z9Yv|5N+p&m8%I%uri#+v?C&@8n_2t*c=P5n-#4E(@0h`Qf0s4GlNFA5>@D?of8Ytw zY*-IxB@kTole~VPJLKrre>f7J^fTn1m4}X*zp#FJ18OHm6gN0v%V#hg-Frh+GD@$c zYq+T_PJX6aql|YtLsAH4mzWW2SD4PE^*@S&I@Ip#j$_VM2bsNYuySk3cwEWg6;($)@$luGxy%dr{ObPFZG9y9kC7)jR7w-k}S!w|&f-~32;)Q~gK zY??AfrYHB+&f~V6j0F>Kw6`D&(BGZci>IPMZ2iVbGCs`J;E9 z+s`iz-e#qlx{XZ^W!GAi^IMG(m_5ygzo={7aN9N>x{g^3Or=8KYzr|{O!7-6TAI(c z>JUrpJ-w8=@IfxPbOm{8*ouDoo|75PmHg38x7KsxVRXWq5B*^Q;r81xM~Cz!x7_c= z)|u1w&Qib#Is@7i$SW?b45g}EE7p>P5Dz)c9(W6Q3!zhc=xX4}OZkKybMDU>>VSYt z{TxwdV7CwNLd67FWR^r)xqPxCbRULGb7rRu3kj(4hXxr8aN zZQ?u(>eGIg>vK5#ZJL>Kd074XD+BbSv-2TA=Yu>3Kt?t`e@RsPrZ!N7-*2f5mXY)~ zLwXWTB(L4V&9tGRU%3gtuzpI<&W3TP(6H7blk=vr42kQd$*)Y6%9C3U9cmj$26GuH zmRWdWO21PwC$ghD&RohM0p3v2A`j$1H4rIh!7!FwC5o&fi=dsmr)Mk*N?n? zI(lMWU7>l=FK#-$wc0cAeddbc8nhb4@{KLLknN>UkabL3?h~+w>D)Rb-vPq=_EgSS ztT&TLIbzRC{N7Z`tS4IyVXELHp{ec~f6L&SY_CHJv)$w*t7 zZ=PCx{8CgkSzL($xX!N(Fv}Wne^wgE7wS0=y&=rEqc_R&n-MsEvM-Hd2JVm&HylSx z3-ganQ#~Z75R>S|c;^k#00-xb)^E829Das*lux}SL`nwSBb!2HDeGjXF}Rq5HP2mq zQGE}-EyfM&0qB-yK5Nfj=*yR!8D2m1JVIz+P6V^CSr+F<7y0Zk_G8Lbb=_4#uD3p8 z(kg{YwWA#y-%N%ojT^hsrdJykB{A+!U8A%U$#;YP82cp|NkVg`)-JX2`5HYvutkC1 zHby91S>JH;(dgpQ-f|b4EHA$M1MM(xYX>sUjxKrPlvWNWmlY|rK=JoDtK-$&*B7ir zP&?wh-Tc;Z64=aA!Mer3D-`^q<*1zFNr8;Hcl}F=thN%ZDSBk}k9gUkr;2fT(ES%1 z{f=UH%iKRzebp5$t|9t5LR58rQ)LAh7ZOUVmEF0Y#m%(WB_^u4?JJo=-aQx#HY;z?M*ATWg+{voO@5Q`25j(4P_ws}qGyge zKZacd?w!=u8!b6F82aj{hY|(2Tsh%&n~e@iDzlozNG?ynF!4_=6+k$Vi~Fizps))8 z+X?}yx~2mSUc-UlPumSmL@c*H!T(rS^bd=&Z78P+?ni8zMbPNk3;NqiqjC~bm-T#i z7x(6wQ`NY3*1q4%qsO5IP5i5J304Psej5=(ucdPEB%W_iyT8QmJAk3&5A6Px-srxj z-oWKnpBm8v(c%2TJJkNY?^$Wf?O5>Tj-#z%+2}$^M}%tWPO03A%mTsh~F&d^0Ig%{o!i>9cb>ShV_TaF^Kw{@DOxL&J{&o(b%3 zkHLGu!Y!m-V6}MI7hq6=!htTPFdY{|>CFcN;tyu@`pZ6(JZ8A6NS6Zgz(uatA30e* zx&7;``B#QNS3ZcMTz&600rf&h;rML_dc25jmpc7){bw;vw^Ky0rs_d%*M4s2NMh|y z#4g>W@3<$%qw(u{iO1SC`OHh@pwO>xX(d+7&JMV7ofRKpwWryvDT~+pBJ^dBU0PbS zkyW-NHDY}KiiPoj>Vy1{h2xE<7-z-6-Ve!~vqsupO7`N%qL9Txf?q>!ZFd$a^<%J# zdk~#;_5QqJp5W%Fe>jj(6GD=J3K9t6bxkc6>q*Y?fD5tk1~8N8lZ7rhgDK1Hg0tpmCPKUUC0sTFK4N4 z4sV8QMpls3WXY0-m$V@&*LVcK02DQ>%u>!-d*=K>I~XX3547nRI_D#Vrz~44`xS4# zZnynr_XEfL3D_&FW^0-Qs#XF}#B(i|6yR_O?C*kvK)C)pAmAvC(+sJhp$R9tw8#;( zPNiW8b&Y>9q^26|bPlPBQu`M}Ax@j%S{g`=Q#rU6N)!1%M)?1kYA`i*#HpYfOcQyU zAz&KF(_#b+g*q)pz>%nb?ZUORQ2%hK!eB^s1YG?e@NcG$JpBcvh8jwfSl?>Oj^L7& IHMws39~CFz_5c6?