diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml new file mode 100644 index 0000000..c6eb5be --- /dev/null +++ b/.github/workflows/ros-lint.yml @@ -0,0 +1,32 @@ +# The name of the workflow +name: Lint + +# Specifies the events that trigger the workflow +on: + pull_request: + +# Defines a set of jobs to be run as part of the workflow +jobs: + ament_lint: + runs-on: ubuntu-latest + container: + image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest + strategy: + fail-fast: false + matrix: + linter: [cppcheck, cpplint, uncrustify, flake8, pep257, lint_cmake, xmllint, copyright] + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Setup ROS environment + uses: ros-tooling/setup-ros@v0.7 + + - name: Run Linter + env: + AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1 + uses: ros-tooling/action-ros-lint@master + with: + linter: ${{ matrix.linter }} + distribution: rolling + package-name: "*" diff --git a/.gitignore b/.gitignore index 259148f..27c7873 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,8 @@ +# Ignore solution folders +**/solution*/ +*solution* + + # Prerequisites *.d @@ -30,3 +35,37 @@ *.exe *.out *.app + +# user setting +*.*~ +*.bak +.svn +/.vscode +.tags +.tags_sorted_by_file +*.cfgc +*.txt.user* +*-build/ +cpp/ +bin/ +build/ +msg_gen/ +srv_gen/ +docs/ +lib/ +cmake_install.cmake +Makefile +CMakeFiles/ +assets/ +gen/ +build.xml +lint.xml +local.properties +proguard-project.txt +build-*/ +*.autosave +*.pyc +*.dat +*.txt.user +*.gch +/.project diff --git a/turtlebot3_manipulation/CHANGELOG.rst b/turtlebot3_manipulation/CHANGELOG.rst index c9ad652..3bf22c9 100644 --- a/turtlebot3_manipulation/CHANGELOG.rst +++ b/turtlebot3_manipulation/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_manipulation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* Removed the TurtleBot3 Manipulation Gazebo simulation +* Contributors: ChanHyeong Lee + 2.2.0 (2025-04-01) ------------------ * Added gripper control in teleoperation. diff --git a/turtlebot3_manipulation/package.xml b/turtlebot3_manipulation/package.xml index a074bf6..589e1ee 100644 --- a/turtlebot3_manipulation/package.xml +++ b/turtlebot3_manipulation/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation - 2.2.0 + 2.2.1 ROS 2 package for turtlebot3_manipulation diff --git a/turtlebot3_manipulation_bringup/CHANGELOG.rst b/turtlebot3_manipulation_bringup/CHANGELOG.rst index 28851ce..77ea080 100644 --- a/turtlebot3_manipulation_bringup/CHANGELOG.rst +++ b/turtlebot3_manipulation_bringup/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_manipulation_bringup ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* Removed the TurtleBot3 Manipulation Gazebo simulation +* Contributors: ChanHyeong Lee + 2.2.0 (2025-04-01) ------------------ * Updated maintainer information diff --git a/turtlebot3_manipulation_bringup/CMakeLists.txt b/turtlebot3_manipulation_bringup/CMakeLists.txt index 4554833..0907de7 100644 --- a/turtlebot3_manipulation_bringup/CMakeLists.txt +++ b/turtlebot3_manipulation_bringup/CMakeLists.txt @@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED) # Install ################################################################################ install( - DIRECTORY launch config rviz worlds + DIRECTORY launch config rviz models worlds DESTINATION share/${PROJECT_NAME} ) diff --git a/turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml b/turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml index 8ab2b86..9986b0e 100644 --- a/turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml +++ b/turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml @@ -13,7 +13,7 @@ controller_manager: type: joint_trajectory_controller/JointTrajectoryController gripper_controller: - type: position_controllers/GripperActionController + type: parallel_gripper_action_controller/GripperActionController imu_broadcaster: ros__parameters: diff --git a/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml b/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml index 8890d4a..cd41d39 100644 --- a/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml +++ b/turtlebot3_manipulation_bringup/config/hardware_controller_manager.yaml @@ -1,6 +1,6 @@ controller_manager: ros__parameters: - update_rate: 100 # Hz + update_rate: 15 # 100 # Hz joint_state_broadcaster: type: joint_state_broadcaster/JointStateBroadcaster @@ -15,7 +15,7 @@ controller_manager: type: joint_trajectory_controller/JointTrajectoryController gripper_controller: - type: position_controllers/GripperActionController + type: parallel_gripper_action_controller/GripperActionController diff_drive_controller: ros__parameters: @@ -36,12 +36,12 @@ diff_drive_controller: pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01] - open_loop: true + open_loop: false enable_odom_tf: true cmd_vel_timeout: 0.5 #publish_limited_velocity: true - use_stamped_vel: false + use_stamped_vel: true #velocity_rolling_window_size: 10 # Preserve turning radius when limiting speed/acceleration/jerk @@ -87,10 +87,8 @@ arm_controller: - joint3 - joint4 interface_name: position - command_interfaces: - position - state_interfaces: - position - velocity diff --git a/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml b/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml new file mode 100644 index 0000000..bc19709 --- /dev/null +++ b/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml @@ -0,0 +1,59 @@ +# replace clock_bridge +- ros_topic_name: "/clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# no equivalent in TB3 - add +- ros_topic_name: "joint_states" + gz_topic_name: "joint_states" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +# replace odom_bridge - check gz topic name +# gz topic published by DiffDrive plugin +# - ros_topic_name: "odom" +# gz_topic_name: "/odom" +# ros_type_name: "nav_msgs/msg/Odometry" +# gz_type_name: "gz.msgs.Odometry" +# direction: GZ_TO_ROS + +# replace odom_tf_bridge - check gz and ros topic names +# gz topic published by DiffDrive plugin +# prefix ros2 topic with gz +- ros_topic_name: "tf" + gz_topic_name: "/tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# replace imu_bridge - check gz topic name +- ros_topic_name: "imu" + gz_topic_name: "/imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# replace lidar_bridge +- ros_topic_name: "scan" + gz_topic_name: "/scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + reliability: "best_effort" + +# replace cmd_vel_bridge +- ros_topic_name: "/cmd_vel" + gz_topic_name: "/cmd_vel" + ros_type_name: "geometry_msgs/msg/TwistStamped" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + +# replace camera_info_bridge +- ros_topic_name: "/camera_info" + gz_topic_name: "/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml.orig b/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml.orig new file mode 100644 index 0000000..1ec67e3 --- /dev/null +++ b/turtlebot3_manipulation_bringup/config/tb3_bridge.yaml.orig @@ -0,0 +1,63 @@ +# replace clock_bridge +- ros_topic_name: "/clock" + gz_topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# no equivalent in TB3 - add +- ros_topic_name: "joint_states" + gz_topic_name: "joint_states" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +# replace odom_bridge - check gz topic name +# gz topic published by DiffDrive plugin +# - ros_topic_name: "odom" +# gz_topic_name: "/odom" +# ros_type_name: "nav_msgs/msg/Odometry" +# gz_type_name: "gz.msgs.Odometry" +# direction: GZ_TO_ROS + +# replace odom_tf_bridge - check gz and ros topic names +# gz topic published by DiffDrive plugin +# prefix ros2 topic with gz +- ros_topic_name: "tf" + gz_topic_name: "/tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# replace imu_bridge - check gz topic name +- ros_topic_name: "imu" + gz_topic_name: "/imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# replace lidar_bridge +- ros_topic_name: "scan" + gz_topic_name: "/scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + reliability: "best_effort" + +# replace cmd_vel_bridge +- ros_topic_name: "/cmd_vel" + gz_topic_name: "/cmd_vel" + ros_type_name: "geometry_msgs/msg/TwistStamped" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + +# replace camera_info_bridge +<<<<<<< HEAD +- ros_topic_name: "/camera_info" +======= +- ros_topic_name: "camera_info" +>>>>>>> 53fabef (some updates) + gz_topic_name: "/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/turtlebot3_manipulation_bringup/config/twist_mux.yaml b/turtlebot3_manipulation_bringup/config/twist_mux.yaml new file mode 100644 index 0000000..93fc3de --- /dev/null +++ b/turtlebot3_manipulation_bringup/config/twist_mux.yaml @@ -0,0 +1,20 @@ +twist_mux: + ros__parameters: + topics: + # navigation: + # topic: /cmd_vel_nav + # priority: 10 + # timeout: 0.5 + # navigation: + # topic: /cmd_vel_smoothed + # priority: 10 + # timeout: 0.5 + navigation: + topic: /cmd_vel_collision + priority: 10 + timeout: 0.5 + teleop: + topic: /cmd_vel_teleop + priority: 20 + timeout: 0.5 + use_stamped: true diff --git a/turtlebot3_manipulation_bringup/config/xbox.config.yaml b/turtlebot3_manipulation_bringup/config/xbox.config.yaml new file mode 100644 index 0000000..9b4abf6 --- /dev/null +++ b/turtlebot3_manipulation_bringup/config/xbox.config.yaml @@ -0,0 +1,32 @@ +teleop_twist_joy_node: + ros__parameters: + use_sim_time: false + axis_linear: # Left thumb stick vertical + x: 1 + scale_linear: + x: 0.7 + scale_linear_turbo: + x: 1.5 + qos_overrides: + /joy: + subscription: + reliability: best_effort + depth: 1 + durability: volatile + /cmd_vel_teleop: + publisher: + reliability: best_effort + depth: 1 + durability: volatile + + axis_angular: # Left thumb stick horizontal + yaw: 0 + scale_angular: + yaw: 0.4 + + enable_button: 4 # Left trigger button + enable_turbo_button: 5 # Right trigger button + +# joy_node: +# ros__parameters: +# device_name: /dev/input/js0 diff --git a/turtlebot3_manipulation_bringup/launch/base.launch.py b/turtlebot3_manipulation_bringup/launch/base.launch.py index e527381..47a76bd 100644 --- a/turtlebot3_manipulation_bringup/launch/base.launch.py +++ b/turtlebot3_manipulation_bringup/launch/base.launch.py @@ -129,17 +129,13 @@ def generate_launch_description(): {'robot_description': urdf_file}, controller_manager_config ], - remappings=[ - ('~/cmd_vel_unstamped', 'cmd_vel'), - ('~/odom', 'odom') - ], output="both", condition=UnlessCondition(use_sim)) robot_state_pub_node = Node( package='robot_state_publisher', executable='robot_state_publisher', - parameters=[{'robot_description': urdf_file, 'use_sim_time': use_sim}], + parameters=[{'robot_description': urdf_file, 'ignore_timestamp': True, 'use_sim_time': use_sim}], output='screen' ) @@ -161,10 +157,10 @@ def generate_launch_description(): diff_drive_controller_spawner = Node( package='controller_manager', executable='spawner', - arguments=['diff_drive_controller', '-c', '/controller_manager'], - output='screen', - condition=UnlessCondition(use_sim) - ) + arguments=['diff_drive_controller', '-c', '/controller_manager', + "--controller-ros-args", "-r diff_drive_controller/cmd_vel:=cmd_vel -r diff_drive_controller/odom:=odom", + '--ros-args', '--log-level', 'INFO'], + output='log',) imu_broadcaster_spawner = Node( package='controller_manager', diff --git a/turtlebot3_manipulation_bringup/launch/gazebo.launch.py b/turtlebot3_manipulation_bringup/launch/gazebo.launch.py index 35ff154..a41bab3 100644 --- a/turtlebot3_manipulation_bringup/launch/gazebo.launch.py +++ b/turtlebot3_manipulation_bringup/launch/gazebo.launch.py @@ -17,10 +17,13 @@ # Author: Darby Lim import os +import time +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription +from launch.actions import AppendEnvironmentVariable from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch.substitutions import PathJoinSubstitution @@ -28,7 +31,7 @@ from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare - +from launch.conditions import IfCondition def is_valid_to_launch(): # Path includes model name of Raspberry Pi series @@ -38,15 +41,33 @@ def is_valid_to_launch(): else: return True - def generate_launch_description(): if not is_valid_to_launch(): print('Can not launch fake robot in Raspberry Pi') return LaunchDescription([]) + + # current_unix_time = time.mktime(time.localtime()) + + + # Add the package resources to GZ environmental variables + bringup_world_dir = os.path.join(get_package_share_directory('turtlebot3_manipulation_bringup'), 'worlds') + bringup_model_dir = os.path.join(get_package_share_directory('turtlebot3_manipulation_bringup'), 'models') + desc_mesh_dir = get_package_share_directory('turtlebot3_manipulation_description').rsplit('/',1)[0] + desc_urdf_dir = os.path.join(get_package_share_directory('turtlebot3_manipulation_description'), 'urdf') + # print(f'\n\t bringup_world_dir: {bringup_world_dir}\n\t desc_mesh_dir: {desc_mesh_dir}\n\t desc_urdf_dir: {desc_urdf_dir}\n') start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') - use_sim = LaunchConfiguration('use_sim') + use_sim_time = LaunchConfiguration('use_sim_time') + + namespace = LaunchConfiguration('namespace') + robot_name = LaunchConfiguration('robot_name') + + ros_gz_bridge_config = PathJoinSubstitution([ + FindPackageShare('turtlebot3_manipulation_bringup'), + 'config', + 'tb3_bridge.yaml', + ]) world = LaunchConfiguration( 'world', @@ -54,19 +75,25 @@ def generate_launch_description(): [ FindPackageShare('turtlebot3_manipulation_bringup'), 'worlds', - 'turtlebot3_world.model' + # 'turtlebot3_world.model' + 'turtlebot3_maze.world' ] ) ) - pose = {'x': LaunchConfiguration('x_pose', default='-2.00'), - 'y': LaunchConfiguration('y_pose', default='-0.50'), + pose = {'x': LaunchConfiguration('x_pose', default='0.00'), + 'y': LaunchConfiguration('y_pose', default='0.00'), 'z': LaunchConfiguration('z_pose', default='0.01'), 'R': LaunchConfiguration('roll', default='0.00'), 'P': LaunchConfiguration('pitch', default='0.00'), 'Y': LaunchConfiguration('yaw', default='0.00')} return LaunchDescription([ + AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH', bringup_world_dir), + AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH', bringup_model_dir), + AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH',desc_mesh_dir), + AppendEnvironmentVariable('GZ_SIM_RESOURCE_PATH',desc_urdf_dir), + DeclareLaunchArgument( 'start_rviz', default_value='false', @@ -78,7 +105,7 @@ def generate_launch_description(): description='Prefix of the joint and link names'), DeclareLaunchArgument( - 'use_sim', + 'use_sim_time', default_value='true', description='Start robot in Gazebo simulation.'), @@ -117,42 +144,97 @@ def generate_launch_description(): default_value=pose['Y'], description='orientation of turtlebot3'), + DeclareLaunchArgument( + 'namespace', + default_value='', + description='Top-level namespace'), + + DeclareLaunchArgument( + 'robot_name', + default_value='turtlebot3', + description='name of the robot'), + + # If selected then start RVIZ IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/base.launch.py']), launch_arguments={ 'start_rviz': start_rviz, 'prefix': prefix, - 'use_sim': use_sim, + 'use_sim': use_sim_time, + }.items(), + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/joystick.launch.py']), + launch_arguments={ + 'prefix': prefix, + 'use_sim': use_sim_time, }.items(), ), + # Start Gazebosim server + IncludeLaunchDescription(PythonLaunchDescriptionSource([ + PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py']) + ]), + launch_arguments={ + 'gz_args': [f'-r -s -v1 ', world], + 'use_sim': use_sim_time, + }.items(), + # launch_arguments={'gz_args': [f'-r -s -v1 --initial-sim-time {current_unix_time} ', world] }.items(), + ), + + # Start Gazebosim client IncludeLaunchDescription( PythonLaunchDescriptionSource( - [ - PathJoinSubstitution( - [ - FindPackageShare('gazebo_ros'), + os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', - 'gazebo.launch.py' - ] - ) - ] + 'gz_sim.launch.py') ), launch_arguments={ - 'verbose': 'false', - 'world': world, + 'gz_args': ['-g '], + 'use_sim': use_sim_time, }.items(), ), + # Map Gazebo topics into ROS2 Node( - package='gazebo_ros', - executable='spawn_entity.py', + package='ros_gz_bridge', + executable='parameter_bridge', + name='bridge_ros_gz', + namespace=namespace, + parameters=[{ + 'config_file': ros_gz_bridge_config, + 'use_sim_time': use_sim_time, + }], + output='log', + ), + + # Bring Gazebo camera output into ROS2 + Node( + package='ros_gz_image', + executable='image_bridge', + name='bridge_gz_ros_camera_image', + namespace=namespace, + output='log', + parameters=[{ + 'use_sim_time': use_sim_time, + }], + arguments=['/image_raw'] + ), + + # Spawn the TurtleBot3 + Node( + package='ros_gz_sim', + executable='create', + namespace=namespace, + output='log', arguments=[ + '-name', robot_name, '-topic', 'robot_description', - '-entity', 'turtlebot3_manipulation_system', '-x', pose['x'], '-y', pose['y'], '-z', pose['z'], - '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y'], - ], - output='screen', - ), + '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']], + parameters=[{'use_sim_time': use_sim_time}] + ) ]) diff --git a/turtlebot3_manipulation_bringup/launch/hardware.launch.py b/turtlebot3_manipulation_bringup/launch/hardware.launch.py index cb81806..02935a3 100644 --- a/turtlebot3_manipulation_bringup/launch/hardware.launch.py +++ b/turtlebot3_manipulation_bringup/launch/hardware.launch.py @@ -22,11 +22,13 @@ from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import PathJoinSubstitution from launch.substitutions import LaunchConfiguration +from launch.substitutions import PathJoinSubstitution from launch.substitutions import ThisLaunchFileDir - from launch_ros.substitutions import FindPackageShare +from launch.conditions import IfCondition +from launch_ros.actions import Node + def generate_launch_description(): @@ -52,6 +54,9 @@ def generate_launch_description(): start_rviz = LaunchConfiguration('start_rviz') prefix = LaunchConfiguration('prefix') use_fake_hardware = LaunchConfiguration('use_fake_hardware') + use_joystick = LaunchConfiguration('use_joystick') + use_usbcam = LaunchConfiguration('use_usbcam') + video_device = LaunchConfiguration('video_device') return LaunchDescription([ DeclareLaunchArgument( @@ -69,6 +74,24 @@ def generate_launch_description(): default_value='false', description='Start robot with fake hardware mirroring command to its states.'), + DeclareLaunchArgument( + 'use_joystick', + default_value='false', + description='Launch Joystick nodes.' + ), + + DeclareLaunchArgument( + 'video_device', + default_value='/dev/usbcam', + description='Secify the USB Camera device path.' + ), + + DeclareLaunchArgument( + 'use_usbcam', + default_value='false', + description='Start the USB Camera node.' + ), + IncludeLaunchDescription( PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/base.launch.py']), launch_arguments={ @@ -78,6 +101,12 @@ def generate_launch_description(): }.items(), ), + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/joystick.launch.py']), + launch_arguments={'prefix': prefix,}.items(), + condition=IfCondition(use_joystick), + ), + IncludeLaunchDescription( PythonLaunchDescriptionSource( [ @@ -89,4 +118,14 @@ def generate_launch_description(): 'frame_id': 'base_scan', }.items(), ), + + Node( + package='usb_cam', + executable='usb_cam_node_exe', + parameters=[{'video_device': video_device},], + output='screen', + condition=IfCondition(use_usbcam), + ), + + ]) diff --git a/turtlebot3_manipulation_bringup/launch/joystick.launch.py b/turtlebot3_manipulation_bringup/launch/joystick.launch.py new file mode 100644 index 0000000..b97631a --- /dev/null +++ b/turtlebot3_manipulation_bringup/launch/joystick.launch.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python3 +# +# Copyright 2022 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Author: Darby Lim + +import os +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch.substitutions import PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + use_sim_time = LaunchConfiguration('use_sim_time') + joy_configs = PathJoinSubstitution([ + FindPackageShare('turtlebot3_manipulation_bringup'), + 'config', + 'xbox.config.yaml', + ]) + twist_mux_configs = PathJoinSubstitution([ + FindPackageShare('turtlebot3_manipulation_bringup'), + 'config', + 'twist_mux.yaml', + ]) + + return LaunchDescription([ + + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Start robot in Gazebo simulation.'), + + DeclareLaunchArgument( + 'twist_mux_configs', + default_value=twist_mux_configs, + description='Path to twist_mux configuration YAML file' + ), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(get_package_share_directory('teleop_twist_joy'), + 'launch', + 'teleop-launch.py') + ), + launch_arguments={'config_filepath': joy_configs, + 'joy_dev': '0', + 'joy_vel': 'cmd_vel_teleop', + 'use_sim': use_sim_time, + 'publish_stamped_twist': 'true',}.items()), + Node( + package='twist_mux', + executable='twist_mux', + name='twist_mux', + output='screen', + parameters=[ + LaunchConfiguration('twist_mux_configs'), + {'use_sim_time': LaunchConfiguration('use_sim_time')} + ], + remappings=[ + ('cmd_vel_out', '/cmd_vel'),], + + + ) + ]) diff --git a/turtlebot3_manipulation_bringup/models/ay262_maze/meshes/map07.glb b/turtlebot3_manipulation_bringup/models/ay262_maze/meshes/map07.glb new file mode 100644 index 0000000..209a445 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/ay262_maze/meshes/map07.glb differ diff --git a/turtlebot3_manipulation_bringup/models/ay262_maze/model.config b/turtlebot3_manipulation_bringup/models/ay262_maze/model.config new file mode 100644 index 0000000..6a7250f --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/ay262_maze/model.config @@ -0,0 +1,7 @@ + + + ay262_maze + 1.0 + model.sdf + MAP07 floor plan maze for TurtleBot3 Gazebo simulation + diff --git a/turtlebot3_manipulation_bringup/models/ay262_maze/model.sdf b/turtlebot3_manipulation_bringup/models/ay262_maze/model.sdf new file mode 100644 index 0000000..72b21ab --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/ay262_maze/model.sdf @@ -0,0 +1,26 @@ + + + + true + 0 0 0 0 0 0 + + + + + model://ay262_maze/meshes/map07.glb + + 0.22 0.22 0.22 + + + + + + + model://ay262_maze/meshes/map07.glb + 0.22 0.22 0.22 + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Maple.jpg b/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Maple.jpg new file mode 100644 index 0000000..18087dd Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Maple.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Wood_Floor_Dark.jpg b/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Wood_Floor_Dark.jpg new file mode 100644 index 0000000..0992438 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/materials/textures/Wood_Floor_Dark.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Maple.jpg b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Maple.jpg new file mode 100644 index 0000000..18087dd Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Maple.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Wood_Floor_Dark.jpg b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Wood_Floor_Dark.jpg new file mode 100644 index 0000000..0992438 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/Wood_Floor_Dark.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/meshes/cafe_table.dae b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/cafe_table.dae new file mode 100644 index 0000000..5886ec8 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/cafe_table/meshes/cafe_table.dae @@ -0,0 +1,307 @@ + + + + + SketchUp 14.1.1282 + + 2014-12-10T16:57:23Z + 2014-12-10T16:57:23Z + + Z_UP + + + + + + + + + + + + + + + 1 0 0 1.024181e-014 0 1 0 8.881784e-015 0 0 1 29 0 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 18 18 0 18 -18 1.5 18 -18 0 18 18 1.5 18 18 1.5 18 18 0 18 -18 1.5 18 -18 0 -18 18 1.5 18 18 0 -18 18 0 18 18 1.5 18 18 1.5 -18 18 1.5 18 18 0 -18 18 0 18 -18 1.5 -18 -18 0 18 -18 0 -18 -18 1.5 -18 -18 1.5 18 -18 1.5 -18 -18 0 18 -18 0 -18 18 1.5 -18 -18 0 -18 -18 1.5 -18 18 0 -18 18 0 -18 18 1.5 -18 -18 0 -18 -18 1.5 + + + + + + + + + + 1 0 0 1 0 0 1 0 0 1 0 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 + + + + + + + + + + 0.15 0 -0.15 1.5 -0.15 0 0.15 1.5 0.75 0.0625 0.75 0 -0.75 0.0625 -0.75 0 0.15 1.5 -0.15 0 0.15 0 -0.15 1.5 -0.75 0.0625 0.75 0.0625 -0.75 0 0.75 0 0.15 1.5 -0.15 0 0.15 0 -0.15 1.5 -0.75 0.0625 0.75 0.0625 -0.75 0 0.75 0 -0.15 1.5 0.15 0 0.15 1.5 -0.15 0 -0.75 0 -0.75 0.0625 0.75 0 0.75 0.0625 + + + + + + + + + + + + + + +

0 0 1 1 2 2 1 1 0 0 3 3 8 8 9 9 10 10 9 9 8 8 11 11 16 16 17 17 18 18 17 17 16 16 19 19 24 24 25 25 26 26 25 25 24 24 27 27

+ + + + +

4 4 5 5 6 6 7 7 6 6 5 5 12 12 13 13 14 14 15 15 14 14 13 13 20 20 21 21 22 22 23 23 22 22 21 21 28 28 29 29 30 30 31 31 30 30 29 29

+ + + + + + + 18 -18 1.5 -18 18 1.5 -18 -18 1.5 18 18 1.5 18 18 1.5 18 -18 1.5 -18 18 1.5 -18 -18 1.5 + + + + + + + + + + 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 + + + + + + + + + + 0.75 -0.75 -0.75 0.75 -0.75 -0.75 0.75 0.75 + + + + + + + + + + + + + + +

0 0 1 1 2 2 1 1 0 0 3 3 4 3 5 0 6 1 7 2 6 1 5 0

+ + + + + + + 18 18 0 -18 -18 0 -18 18 0 18 -18 0 18 -18 0 18 18 0 -18 -18 0 -18 18 0 + + + + + + + + + + 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 + + + + + + + + + + -0.75 0.75 0.75 -0.75 0.75 0.75 -0.75 -0.75 + + + + + + + + + + + + + + +

0 0 1 1 2 2 1 1 0 0 3 3 4 3 5 0 6 1 7 2 6 1 5 0

+ + + + + + + 0.8181818 0.8181818 2 0.8181818 -0.8181818 29 0.8181818 -0.8181818 2 0.8181818 0.8181818 29 0.8181818 0.8181818 29 0.8181818 0.8181818 2 0.8181818 -0.8181818 29 0.8181818 -0.8181818 2 11 -11 -5.53967e-018 0.8181818 0.8181818 2 0.8181818 -0.8181818 2 11 11 -5.671108e-018 11 11 -5.671108e-018 11 -11 -5.53967e-018 0.8181818 0.8181818 2 0.8181818 -0.8181818 2 -0.8181818 0.8181818 29 0.8181818 0.8181818 2 -0.8181818 0.8181818 2 0.8181818 0.8181818 29 0.8181818 0.8181818 29 -0.8181818 0.8181818 29 0.8181818 0.8181818 2 -0.8181818 0.8181818 2 0.8181818 -0.8181818 29 -0.8181818 0.8181818 29 -0.8181818 -0.8181818 29 0.8181818 0.8181818 29 0.8181818 0.8181818 29 0.8181818 -0.8181818 29 -0.8181818 0.8181818 29 -0.8181818 -0.8181818 29 0.8181818 -0.8181818 29 -0.8181818 -0.8181818 2 0.8181818 -0.8181818 2 -0.8181818 -0.8181818 29 -0.8181818 -0.8181818 29 0.8181818 -0.8181818 29 -0.8181818 -0.8181818 2 0.8181818 -0.8181818 2 11 11 -5.671108e-018 11 -11 -5.53967e-018 0 0 0 0 0 0 11 -11 -5.53967e-018 11 11 -5.671108e-018 -0.8181818 0.8181818 2 -11 11 5.53967e-018 -0.8181818 0.8181818 2 -11 11 5.53967e-018 -0.8181818 -0.8181818 2 -11 -11 5.671108e-018 -0.8181818 -0.8181818 2 -11 -11 5.671108e-018 -0.8181818 0.8181818 29 -0.8181818 -0.8181818 2 -0.8181818 -0.8181818 29 -0.8181818 0.8181818 2 -0.8181818 0.8181818 2 -0.8181818 0.8181818 29 -0.8181818 -0.8181818 2 -0.8181818 -0.8181818 29 11 -11 -5.53967e-018 -11 -11 5.671108e-018 0 0 0 0 0 0 -11 -11 5.671108e-018 11 -11 -5.53967e-018 11 11 -5.671108e-018 0 0 0 -11 11 5.53967e-018 -11 11 5.53967e-018 0 0 0 11 11 -5.671108e-018 0 0 0 -11 -11 5.671108e-018 -11 11 5.53967e-018 -11 11 5.53967e-018 -11 -11 5.671108e-018 0 0 0 + + + + + + + + + + 1 0 0 1 0 0 1 0 0 1 0 0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 0.0972804 -0.0972804 0.9904913 0.0972804 0.0972804 0.9904913 0.0972804 -0.0972804 0.9904913 0.0972804 0.0972804 0.9904913 -0.0972804 -0.0972804 -0.9904913 -0.0972804 0.0972804 -0.9904913 -0.0972804 -0.0972804 -0.9904913 -0.0972804 0.0972804 -0.9904913 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 -0 -0 -1 -0 -0 -1 -0 -0 -1 -0 -0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 -0.0972804 0.0972804 0.9904913 -0.0972804 0.0972804 0.9904913 0.0972804 -0.0972804 -0.9904913 0.0972804 -0.0972804 -0.9904913 -0.0972804 -0.0972804 0.9904913 -0.0972804 -0.0972804 0.9904913 0.0972804 0.0972804 -0.9904913 0.0972804 0.0972804 -0.9904913 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 -0 -0 1 -0 -0 1 -0 -0 1 -0 -0 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 -5.095808e-019 -5.974465e-021 -1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 5.095808e-019 5.974465e-021 1 + + + + + + + + + + + + + + +

0 1 2 1 0 3 4 5 6 7 6 5 8 9 10 9 8 11 12 13 14 15 14 13 16 17 18 17 16 19 20 21 22 23 22 21 24 25 26 25 24 27 28 29 30 31 30 29 32 33 34 33 32 35 36 37 38 39 38 37 40 41 42 43 44 45 46 11 47 11 46 9 14 48 12 49 12 48 8 50 51 50 8 10 15 13 52 53 52 13 54 55 56 55 54 57 58 59 60 61 60 59 62 63 64 65 66 67 68 69 70 71 72 73 50 47 51 47 50 46 48 52 49 53 49 52 74 75 76 77 78 79

+ + + + + + + + + + + + + + + + + + + + + ID7 + + + + + ID8 + + + + + + + + + + + + + + + + ID16 + + + + + ID17 + + + + + + + + + + + + + + + + + 0.3019608 0.4235294 0.5411765 1 + + + + + + + + + Wood_Floor_Dark.jpg + + + Maple.jpg + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/model-1_4.sdf b/turtlebot3_manipulation_bringup/models/cafe_table/model-1_4.sdf new file mode 100644 index 0000000..6dc4497 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/cafe_table/model-1_4.sdf @@ -0,0 +1,39 @@ + + + + true + + + 0 0 0.755 0 0 0 + + + 0.913 0.913 0.04 + + + + + + 0 0 0.37 0 0 0 + + + 0.042 0.042 0.74 + + + + + + + model://small_building/Small_Building.dae + + + + + + + model://small_building/Small_Building.dae + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/model.config b/turtlebot3_manipulation_bringup/models/cafe_table/model.config new file mode 100644 index 0000000..f73e02a --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/cafe_table/model.config @@ -0,0 +1,18 @@ + + + + Cafe table + 1.0 + model-1_4.sdf + model.sdf + + + Nate Koenig + nate@osrfoundation.org + + + + A model of a cafe table. + + + diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/model.sdf b/turtlebot3_manipulation_bringup/models/cafe_table/model.sdf new file mode 100644 index 0000000..6a28471 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/cafe_table/model.sdf @@ -0,0 +1,42 @@ + + + + true + + + 0 0 0.755 0 0 0 + + + 0.913 0.913 0.04 + + + + + + 0 0 0.37 0 0 0 + + + 0.042 0.042 0.74 + + + + + + 0 0 0.02 0 0 0 + + + 0.56 0.56 0.04 + + + + + + + + model://cafe_table/meshes/cafe_table.dae + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/1.png b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/1.png new file mode 100644 index 0000000..cc14849 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/1.png differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/2.png b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/2.png new file mode 100644 index 0000000..6bd0dc5 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/2.png differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/3.png b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/3.png new file mode 100644 index 0000000..2dc8b92 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/3.png differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/4.png b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/4.png new file mode 100644 index 0000000..2fe97aa Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/4.png differ diff --git a/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/5.png b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/5.png new file mode 100644 index 0000000..551847f Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/cafe_table/thumbnails/5.png differ diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_exterior.dae b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_exterior.dae new file mode 100644 index 0000000..6a6caca --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_exterior.dae @@ -0,0 +1,112 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-18T19:51:04 + 2024-12-18T19:51:04 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + + + + + + + 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 19.11 0.1 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 19.11 0.1 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 2.411758 21.05 0 2.411758 1.78 9.57 2.411758 21.05 9.57 2.411758 0.1 0.1 2.411758 1.78 6.949999 2.411758 20.95 9.470001 2.411758 20.95 0.1 2.411758 1.88 6.85 2.411758 1.88 9.470001 2.411758 0.1 6.85 2.411758 0.02058047 6.949999 2.411758 2.75 6.9 2.411758 3.5 6.9 2.411758 3.5 7.502359 2.411758 2.75 7.5 2.411758 19.11 0.1 2.411758 20.03 0.1 2.411758 19.11 0.86 2.411758 20.03 0.86 2.411758 16.89 7.589999 2.411758 16.89 6.83 2.411758 18.06 6.83 2.411758 18.06 7.59 2.411758 7.57 0 0 5.389999 0 0 7.57 0.1 0 5.39 0.1 0 7.57 0 2.411758 14.9 0.1 0 5.389999 0 1.999999 7.57 0 2 5.389999 0 2.411757 13.8 0.1 0 7.57 0.1 2.411758 7.57 0.1 2 5.39 0.1 2 14.9 0.1 2.411758 13.8 0.1 2 14.9 0.1 2 13.8 0 2.411758 13.8 0 0 14.9 0 0 14.9 0 2 13.8 0 2 + + + + + + + + + + 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -1 0 0 0 0 1 0 0 1 0 0 1 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 1 -3.95808e-7 0 0 0 -1 -0.003146469 0.9999951 0 -1 0 0 -1 -3.97365e-7 0 0 1 0 0 -4.76837e-6 1 -0.7071169 0.7070967 0 -1 0 0 0.7071189 0.7070947 0 0.7071068 -0.7071068 0 0 0 -1 -1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -0.9999957 0.002961158 0 -4.07554e-7 1 0 2.7102e-7 1 0 1 0 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 1 -9.53674e-6 0 3.82782e-7 8.34465e-6 -1 -1 0 0 0 0 -1 0 1 0 0 0 1 0 1 0 0 -1 0 0 1.19209e-6 -1 -1 0 0 1 -2.86102e-5 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 1 -1 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 1 -3.95808e-7 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0.003146469 0.9999951 0 -1 0 0 -1 -3.97365e-7 0 0 1 0 1.32701e-7 -1.32701e-7 1 0 -7.15256e-6 1 -2.18733e-7 -2.38419e-6 1 0 -4.04489e-6 1 0 0 1 0 -2.38419e-6 1 -0.7071169 0.7070967 0 -1 0 0 0.7071189 0.7070947 0 0.7071068 -0.7071068 0 0 0 -1 -1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -0.9999957 0.002961158 0 -4.07554e-7 1 0 2.7102e-7 1 0 1 0 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 1 -9.53674e-6 0 0 0 -1 -1 0 0 0 0 -1 0 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 -1 0 0 1.19209e-6 -1 -1 0 0 1 -2.86102e-5 0 0 0 -1 0 1 0 0 1 0 0 1 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + -3.872499 1.582499 -3.872499 2.8925 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.8425 5.252501 -1.8425 -4.712499 1.5325 -4.712499 -1.8425 -4.712499 -1.8425 4.267499 1.5225 3.6825 1.5225 3.6825 1.5225 -4.712499 1.5325 -3.822499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.5225 4.267499 1.5225 -3.822499 2.8425 -3.822499 1.5325 -3.822499 1.5325 -4.752209 1.5825 -4.762499 -1.8925 -4.762499 -1.8925 4.267499 1.9025 3.6825 1.9025 3.6825 1.9025 5.762499 -1.8925 -4.762499 -1.8925 -4.762499 -1.8925 -4.752209 1.5825 -3.872499 1.582499 -3.872499 1.582499 5.762499 2.8925 5.762499 -1.8925 5.762499 -1.8925 -3.0125 1.5575 -3.387499 1.5575 -3.387499 1.5575 -3.872499 2.8925 5.762499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.0125 1.5575 -3.0125 1.5575 -3.3875 1.8575 -3.012499 1.85868 -3.012499 1.85868 5.712501 -1.8425 5.712501 2.8425 5.712501 2.8425 -3.3875 1.8575 -3.387499 1.5575 -3.387499 1.5575 5.712501 -1.8425 5.252501 -1.8425 5.252501 -1.8425 5.712501 2.8425 5.762499 2.8925 5.762499 2.8925 3.6825 1.5225 3.6825 1.9025 3.6825 1.9025 5.712501 -1.8425 5.762499 -1.8925 5.762499 -1.8925 -4.712499 -1.8425 -4.762499 -1.8925 -4.762499 -1.8925 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 -3.822499 2.8425 -3.822499 1.5325 -3.822499 1.5325 -4.752209 1.5825 -4.762499 -1.8925 -4.762499 -1.8925 4.267499 1.9025 3.6825 1.9025 3.6825 1.9025 -4.752209 1.5825 -3.872499 1.582499 -3.872499 1.582499 5.762499 2.8925 5.762499 -1.8925 5.762499 -1.8925 -3.0125 1.5575 -3.387499 1.5575 -3.387499 1.5575 -3.872499 2.8925 5.762499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.0125 1.5575 -3.0125 1.5575 -3.3875 1.8575 -3.012499 1.85868 -3.012499 1.85868 5.712501 -1.8425 5.712501 2.8425 5.712501 2.8425 -3.3875 1.8575 -3.387499 1.5575 -3.387499 1.5575 5.712501 -1.8425 5.252501 -1.8425 5.252501 -1.8425 4.792501 -0.1029395 4.792501 1.10294 4.792501 1.10294 5.712501 2.8425 5.762499 2.8925 5.762499 2.8925 3.6825 1.5225 3.6825 1.9025 3.6825 1.9025 5.712501 -1.8425 5.762499 -1.8925 5.762499 -1.8925 5.252501 1.10294 4.792501 -0.1029395 5.252501 -0.1029395 -4.712499 -1.8425 -4.762499 -1.8925 -4.762499 -1.8925 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 -3.872499 1.582499 -3.872499 2.8925 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.8425 5.252501 -1.8425 -4.712499 1.5325 -4.712499 -1.8425 -4.712499 -1.8425 4.267499 1.5225 3.6825 1.5225 3.6825 1.5225 -4.712499 1.5325 -3.822499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.5225 4.267499 1.5225 -3.872499 -0.1029395 5.762499 1.10294 5.762499 -0.1029395 1.85868 -0.1029395 1.5575 1.10294 1.5575 -0.1029395 -3.822499 1.5325 -4.712499 1.5325 -3.872499 1.582499 -3.3875 -0.1029395 -3.012499 1.10294 -3.012499 -0.1029395 -1.8425 -0.1029395 2.8425 1.10294 2.8425 -0.1029395 1.5575 1.10294 1.8575 -0.1029395 1.5575 -0.1029395 5.252501 1.10294 5.712501 -0.1029395 5.252501 -0.1029395 2.1375 -1.8925 2.6875 -1.8425 -0.9774995 -1.8425 2.8425 -0.1029395 2.8925 1.10294 2.8925 -0.1029395 1.5225 -0.1029395 1.9025 1.10294 1.9025 -0.1029395 -1.8425 -0.1029395 -1.8925 1.10294 -1.8925 -0.1029395 -4.712499 -0.1029395 -4.762499 1.10294 -4.762499 -0.1029395 2.1375 -1.8925 -0.9774995 -1.8425 2.137501 -1.8425 1.582499 -0.1029395 2.8925 1.10294 2.8925 -0.1029395 -1.8425 1.10294 -1.4625 -0.1029395 -1.4625 1.10294 1.5325 -0.1029395 -1.8425 1.10294 -1.8425 -0.1029395 4.267499 -0.1029395 3.6825 1.10294 3.6825 -0.1029395 -3.822499 1.10294 -4.712499 -0.1029395 -3.822499 -0.1029395 1.9025 -0.1029395 1.5225 1.10294 1.5225 -0.1029395 2.8425 -0.1029395 1.5325 1.10294 1.5325 -0.1029395 -1.8925 1.10294 1.5825 -0.1029395 -1.8925 -0.1029395 3.6825 1.10294 4.267499 -0.1029395 3.6825 -0.1029395 -4.752209 -0.1029395 -3.872499 1.10294 -3.872499 -0.1029395 2.8925 -0.1029395 -1.8925 1.10294 -1.8925 -0.1029395 -3.0125 -0.1029395 -3.387499 1.10294 -3.387499 -0.1029395 -3.0125 1.5575 -3.3875 1.8575 -3.387499 1.5575 3.6825 1.9025 4.267499 1.5225 4.267499 1.9025 5.762499 2.8925 5.712501 -1.8425 5.762499 -1.8925 -3.3875 1.8575 -3.0125 1.5575 -3.387499 1.5575 2.1375 1.102939 2.1375 0.8970604 2.6875 0.8970604 3.6825 1.9025 4.267499 1.5225 3.6825 1.5225 4.792501 -1.8425 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 5.252501 -1.8425 4.792501 -1.8425 5.712501 -1.8425 5.762499 2.8925 5.762499 -1.8925 -2.0675 1.102939 -0.9774995 0.8970604 -0.9774993 1.102939 -2.0675 1.102939 -4.762499 -0.1029395 -2.0675 -0.1029395 -1.8925 0.89706 -1.8425 -0.1029395 -1.8425 0.8970604 -2.067499 -1.8425 -0.9774995 -1.8925 -2.0675 -1.8925 -1.8425 0.8970604 -1.8925 -0.1029395 -1.8925 0.8970604 -4.712499 -1.8425 -2.0675 -1.8925 -4.762499 -1.8925 4.792501 -0.1029395 5.252501 1.10294 5.252501 -0.1029395 -3.822499 1.5325 -3.822499 2.8425 -3.872499 1.582499 -0.9774995 1.10294 2.6875 1.10294 2.137501 0.8970605 2.1375 -0.1029395 -0.9774993 1.102939 -0.9774995 -0.1029395 2.137501 -1.8425 2.6875 -1.8925 2.1375 -1.8925 -1.8425 -0.1029395 -1.8925 0.8970604 -1.8425 0.8970605 -1.8925 0.8970604 -1.8425 -0.1029395 -1.8425 0.8970605 2.6875 -1.8925 5.712501 -1.8425 5.762499 -1.8925 -0.9774995 1.10294 -0.9774995 0.8970604 -2.067499 0.8970604 -3.822499 1.10294 5.712501 -0.1029395 5.712501 1.10294 -3.872499 1.582499 -3.872499 1.582499 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 -4.712499 1.5325 -4.712499 1.5325 -4.712499 -1.8425 4.267499 1.5225 4.267499 1.5225 3.6825 1.5225 -4.712499 1.5325 -4.712499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.9025 4.267499 1.5225 -3.822499 2.8425 -3.822499 2.8425 -3.822499 1.5325 -4.752209 1.5825 -4.752209 1.5825 -4.762499 -1.8925 4.267499 1.9025 4.267499 1.9025 3.6825 1.9025 5.762499 -1.8925 5.762499 -1.8925 -4.762499 -1.8925 -4.752209 1.5825 -4.752209 1.5825 -3.872499 1.582499 5.762499 2.8925 5.762499 2.8925 5.762499 -1.8925 -3.0125 1.5575 -3.0125 1.5575 -3.387499 1.5575 -3.872499 2.8925 -3.872499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.012499 1.85868 -3.0125 1.5575 -3.3875 1.8575 -3.3875 1.8575 -3.012499 1.85868 5.712501 -1.8425 5.712501 -1.8425 5.712501 2.8425 -3.3875 1.8575 -3.3875 1.8575 -3.387499 1.5575 5.712501 -1.8425 5.712501 -1.8425 5.252501 -1.8425 5.712501 2.8425 5.712501 2.8425 5.762499 2.8925 3.6825 1.5225 3.6825 1.5225 3.6825 1.9025 5.712501 -1.8425 5.712501 -1.8425 5.762499 -1.8925 -4.712499 -1.8425 -4.712499 -1.8425 -4.762499 -1.8925 5.252501 -1.4625 5.252501 -1.4625 4.792501 -1.4625 -3.822499 2.8425 -3.822499 2.8425 -3.822499 1.5325 -4.752209 1.5825 -4.752209 1.5825 -4.762499 -1.8925 4.267499 1.9025 4.267499 1.9025 3.6825 1.9025 -4.752209 1.5825 -4.752209 1.5825 -3.872499 1.582499 5.762499 2.8925 5.762499 2.8925 5.762499 -1.8925 -3.0125 1.5575 -3.0125 1.5575 -3.387499 1.5575 -3.872499 2.8925 -3.872499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.012499 1.85868 -3.0125 1.5575 -3.3875 1.8575 -3.3875 1.8575 -3.012499 1.85868 5.712501 -1.8425 5.712501 -1.8425 5.712501 2.8425 -3.3875 1.8575 -3.3875 1.8575 -3.387499 1.5575 5.712501 -1.8425 5.712501 -1.8425 5.252501 -1.8425 4.792501 -0.1029395 2.6875 -0.1029395 2.6875 0.8970605 2.6875 0.8970605 2.6875 1.10294 4.792501 1.10294 4.792501 1.10294 5.252501 1.10294 4.792501 1.10294 5.252501 1.10294 5.252501 1.10294 4.792501 1.10294 4.792501 1.10294 4.792501 -0.1029395 4.792501 -0.1029395 4.792501 -0.1029395 2.6875 0.8970605 4.792501 1.10294 5.712501 2.8425 5.712501 2.8425 5.762499 2.8925 3.6825 1.5225 3.6825 1.5225 3.6825 1.9025 5.712501 -1.8425 5.712501 -1.8425 5.762499 -1.8925 5.252501 1.10294 4.792501 1.10294 4.792501 -0.1029395 -4.712499 -1.8425 -4.712499 -1.8425 -4.762499 -1.8925 5.252501 -1.4625 5.252501 -1.4625 4.792501 -1.4625 -3.872499 1.582499 -3.872499 1.582499 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 -4.712499 1.5325 -4.712499 1.5325 -4.712499 -1.8425 4.267499 1.5225 4.267499 1.5225 3.6825 1.5225 -4.712499 1.5325 -4.712499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.9025 4.267499 1.5225 -3.872499 -0.1029395 -3.872499 1.10294 5.762499 1.10294 1.85868 -0.1029395 1.85868 1.10294 1.5575 1.10294 -4.712499 1.5325 -4.712499 -1.8425 -4.762499 -1.8925 -3.872499 2.8925 5.762499 2.8925 -3.822499 2.8425 5.762499 2.8925 5.712501 2.8425 -3.822499 2.8425 -3.872499 1.582499 -3.872499 2.8925 -3.822499 2.8425 -4.712499 1.5325 -4.762499 -1.8925 -4.752209 1.5825 -3.872499 1.582499 -3.822499 2.8425 -3.822499 1.5325 -4.712499 1.5325 -4.752209 1.5825 -3.872499 1.582499 -3.3875 -0.1029395 -3.3875 1.10294 -3.012499 1.10294 -1.8425 -0.1029395 -1.8425 1.10294 2.8425 1.10294 1.5575 1.10294 1.8575 1.10294 1.8575 -0.1029395 5.252501 1.10294 5.712501 1.10294 5.712501 -0.1029395 -4.712499 -1.8425 -4.762499 -1.8925 -2.0675 -1.8925 -4.712499 -1.8425 -2.0675 -1.8925 -0.9774995 -1.8425 -2.0675 -1.8925 -0.9774993 -1.8925 -0.9774995 -1.8425 2.1375 -1.8925 5.762499 -1.8925 2.6875 -1.8425 5.762499 -1.8925 5.712501 -1.8425 2.6875 -1.8425 -0.9774995 -1.8425 -0.9774993 -1.8925 2.1375 -1.8925 2.8425 -0.1029395 2.8425 1.10294 2.8925 1.10294 1.5225 -0.1029395 1.5225 1.10294 1.9025 1.10294 -1.8425 -0.1029395 -1.8425 1.10294 -1.8925 1.10294 -4.712499 -0.1029395 -4.712499 1.10294 -4.762499 1.10294 2.1375 -1.8925 -0.9774995 -1.8925 -0.9774995 -1.8425 1.582499 -0.1029395 1.582499 1.10294 2.8925 1.10294 -1.8425 1.10294 -1.8425 -0.1029395 -1.4625 -0.1029395 1.5325 -0.1029395 1.5325 1.10294 -1.8425 1.10294 4.267499 -0.1029395 4.267499 1.10294 3.6825 1.10294 -3.822499 1.10294 -4.712499 1.10294 -4.712499 -0.1029395 1.9025 -0.1029395 1.9025 1.10294 1.5225 1.10294 2.8425 -0.1029395 2.8425 1.10294 1.5325 1.10294 -1.8925 1.10294 1.5825 1.10294 1.5825 -0.1029395 3.6825 1.10294 4.267499 1.10294 4.267499 -0.1029395 -4.752209 -0.1029395 -4.752209 1.10294 -3.872499 1.10294 2.8925 -0.1029395 2.8925 1.10294 -1.8925 1.10294 -3.0125 -0.1029395 -3.0125 1.10294 -3.387499 1.10294 -3.0125 1.5575 -3.012499 1.85868 -3.3875 1.8575 3.6825 1.9025 3.6825 1.5225 4.267499 1.5225 5.762499 2.8925 5.712501 2.8425 5.712501 -1.8425 -3.3875 1.8575 -3.012499 1.85868 -3.0125 1.5575 2.6875 0.8970604 2.6875 -0.1029395 5.762499 -0.1029395 5.762499 -0.1029395 5.762499 1.10294 2.6875 0.8970604 5.762499 1.10294 2.1375 1.102939 2.6875 0.8970604 3.6825 1.9025 4.267499 1.9025 4.267499 1.5225 4.792501 -1.8425 5.252501 -1.8425 5.252501 -1.4625 4.792501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 5.712501 -1.8425 5.712501 2.8425 5.762499 2.8925 -2.0675 1.102939 -2.0675 0.89706 -0.9774995 0.8970604 -2.0675 1.102939 -4.762499 1.10294 -4.762499 -0.1029395 -1.8925 0.89706 -1.8925 -0.1029395 -1.8425 -0.1029395 -2.067499 -1.8425 -0.9774995 -1.8425 -0.9774995 -1.8925 -1.8425 0.8970604 -1.8425 -0.1029395 -1.8925 -0.1029395 -4.712499 -1.8425 -2.067499 -1.8425 -2.0675 -1.8925 4.792501 -0.1029395 4.792501 1.10294 5.252501 1.10294 -3.822499 2.8425 5.712501 2.8425 5.762499 2.8925 -4.752209 1.5825 -4.762499 -1.8925 -4.712499 1.5325 -4.762499 -1.8925 -4.712499 -1.8425 -4.712499 1.5325 -3.872499 1.582499 -4.752209 1.5825 -4.712499 1.5325 -3.822499 2.8425 5.762499 2.8925 -3.872499 2.8925 -3.872499 1.582499 -4.712499 1.5325 -3.822499 1.5325 -3.822499 2.8425 -3.872499 2.8925 -3.872499 1.582499 2.6875 1.10294 2.6875 0.8970605 2.137501 0.8970605 2.137501 0.8970605 2.137501 -0.1029395 -0.9774995 -0.1029395 -0.9774995 -0.1029395 -0.9774995 1.10294 2.137501 0.8970605 2.1375 -0.1029395 2.1375 1.102939 -0.9774993 1.102939 2.137501 -1.8425 2.6875 -1.8425 2.6875 -1.8925 -1.8425 -0.1029395 -1.8925 -0.1029395 -1.8925 0.8970604 -1.8925 0.8970604 -1.8925 -0.1029395 -1.8425 -0.1029395 2.6875 -1.8925 2.6875 -1.8425 5.712501 -1.8425 -2.067499 -0.1029395 -4.712499 -0.1029395 -2.067499 0.8970604 -4.712499 -0.1029395 -4.712499 1.10294 -2.067499 0.8970604 -4.712499 1.10294 -0.9774995 1.10294 -2.067499 0.8970604 -3.822499 1.10294 -3.822499 -0.1029395 5.712501 -0.1029395 + + + + + + + + + + + + + + + +

5 0 0 26 0 1 2 0 2 19 1 3 40 1 4 17 1 5 10 2 6 28 2 7 4 2 8 22 3 9 44 3 10 21 3 11 10 4 12 32 4 13 8 4 14 23 5 15 45 5 16 22 5 17 9 6 18 32 6 19 8 6 20 11 7 21 24 7 22 0 7 23 23 8 24 43 8 25 20 8 26 1 9 27 24 9 28 0 9 29 11 10 30 29 10 31 5 10 32 3 11 33 25 11 34 1 11 35 13 12 36 36 12 37 12 12 38 2 13 39 27 13 40 3 13 41 14 14 42 37 14 43 13 14 44 15 15 45 38 15 46 14 15 47 7 16 48 30 16 49 6 16 50 15 17 51 36 17 52 12 17 53 7 18 54 40 18 55 17 18 56 6 19 57 27 19 58 3 19 59 21 20 60 43 20 61 20 20 62 7 21 63 25 21 64 1 21 65 4 22 66 24 22 67 0 22 68 19 23 69 41 23 70 18 23 71 33 24 72 55 24 73 32 24 74 35 25 75 47 25 76 24 25 77 46 26 78 67 26 79 43 26 80 35 27 81 52 27 82 29 27 83 27 28 84 48 28 85 25 28 86 37 29 87 59 29 88 36 29 89 26 30 90 50 30 91 27 30 92 38 31 93 60 31 94 37 31 95 39 32 96 61 32 97 38 32 98 31 33 99 53 33 100 30 33 101 39 34 102 59 34 103 36 34 104 31 35 105 64 35 106 40 35 107 63 36 108 87 36 109 89 36 110 30 37 111 50 37 112 27 37 113 44 38 114 67 38 115 43 38 116 31 39 117 48 39 118 25 39 119 88 40 120 16 40 121 17 40 122 28 41 123 47 41 124 24 41 125 42 42 126 65 42 127 41 42 128 29 43 129 49 43 130 26 43 131 42 44 132 64 44 133 40 44 134 34 45 135 51 45 136 28 45 137 45 46 138 68 46 139 44 46 140 34 47 141 55 47 142 32 47 143 46 48 144 69 48 145 45 48 146 49 49 147 74 49 148 50 49 149 61 50 150 84 50 151 60 50 152 55 51 153 57 51 154 52 51 155 62 52 156 85 52 157 61 52 158 54 53 159 77 53 160 53 53 161 83 54 162 62 54 163 59 54 164 88 55 165 54 55 166 64 55 167 111 56 168 108 56 169 105 56 170 53 57 171 74 57 172 50 57 173 68 58 174 91 58 175 67 58 176 54 59 177 72 59 178 48 59 179 51 60 180 71 60 181 47 60 182 112 61 183 97 61 184 104 61 185 52 62 186 73 62 187 49 62 188 88 63 189 66 63 190 90 63 191 57 64 192 75 64 193 51 64 194 69 65 195 92 65 196 68 65 197 79 66 198 57 66 199 55 66 200 70 67 201 93 67 202 69 67 203 56 68 204 79 68 205 55 68 206 71 69 207 58 69 208 47 69 209 91 70 210 70 70 211 67 70 212 58 71 213 76 71 214 52 71 215 50 72 216 72 72 217 48 72 218 60 73 219 83 73 220 59 73 221 84 74 222 86 74 223 83 74 224 91 75 225 93 75 226 94 75 227 74 76 228 78 76 229 72 76 230 62 77 231 60 77 232 59 77 233 111 78 234 115 78 235 114 78 236 67 79 237 69 79 238 68 79 239 87 80 240 90 80 241 89 80 242 65 81 243 64 81 244 63 81 245 54 82 246 50 82 247 48 82 248 103 83 249 102 83 250 99 83 251 103 84 252 47 84 253 96 84 254 101 85 255 98 85 256 107 85 257 107 86 258 102 86 259 101 86 260 106 87 261 95 87 262 102 87 263 51 88 264 96 88 265 47 88 266 65 89 267 90 89 268 66 89 269 79 90 270 80 90 271 76 90 272 105 91 273 108 91 274 109 91 275 112 92 276 99 92 277 95 92 278 109 93 279 114 93 280 115 93 281 100 94 282 114 94 283 110 94 284 115 95 285 104 95 286 109 95 287 113 96 288 54 96 289 48 96 290 105 97 291 106 97 292 107 97 293 80 98 294 53 98 295 77 98 296 5 99 297 29 99 298 26 99 299 19 100 300 42 100 301 40 100 302 10 101 303 34 101 304 28 101 305 22 102 306 45 102 307 44 102 308 10 103 309 34 103 310 32 103 311 23 104 312 46 104 313 45 104 314 9 105 315 33 105 316 32 105 317 11 106 318 35 106 319 24 106 320 23 107 321 46 107 322 43 107 323 1 108 324 25 108 325 24 108 326 11 109 327 35 109 328 29 109 329 3 110 330 27 110 331 25 110 332 13 111 333 37 111 334 36 111 335 2 112 336 26 112 337 27 112 338 14 113 339 38 113 340 37 113 341 15 114 342 39 114 343 38 114 344 7 115 345 31 115 346 30 115 347 15 116 348 39 116 349 36 116 350 7 117 351 31 117 352 40 117 353 6 118 354 30 118 355 27 118 356 21 119 357 44 119 358 43 119 359 7 120 360 31 120 361 25 120 362 4 121 363 28 121 364 24 121 365 19 122 366 42 122 367 41 122 368 33 123 369 56 123 370 55 123 371 35 124 372 58 124 373 47 124 374 46 125 375 70 125 376 67 125 377 35 126 378 58 126 379 52 126 380 27 127 381 50 127 382 48 127 383 37 128 384 60 128 385 59 128 386 26 129 387 49 129 388 50 129 389 38 130 390 61 130 391 60 130 392 39 131 393 62 131 394 61 131 395 31 132 396 54 132 397 53 132 398 39 133 399 62 133 400 59 133 401 31 134 402 54 134 403 64 134 404 63 135 405 100 135 406 110 135 407 110 136 408 108 136 409 87 136 410 87 137 411 88 137 412 89 137 413 88 138 414 90 138 415 89 138 416 89 139 417 65 139 418 63 139 419 63 140 420 110 140 421 87 140 422 30 141 423 53 141 424 50 141 425 44 142 426 68 142 427 67 142 428 31 143 429 54 143 430 48 143 431 88 144 432 87 144 433 16 144 434 28 145 435 51 145 436 47 145 437 42 146 438 66 146 439 65 146 440 29 147 441 52 147 442 49 147 443 42 148 444 66 148 445 64 148 446 34 149 447 57 149 448 51 149 449 45 150 450 69 150 451 68 150 452 34 151 453 57 151 454 55 151 455 46 152 456 70 152 457 69 152 458 49 153 459 73 153 460 74 153 461 61 154 462 85 154 463 84 154 464 57 155 465 51 155 466 47 155 467 49 156 468 50 156 469 56 156 470 50 157 471 53 157 472 56 157 473 52 158 474 49 158 475 56 158 476 57 159 477 47 159 478 58 159 479 52 160 480 56 160 481 55 160 482 57 161 483 58 161 484 52 161 485 62 162 486 86 162 487 85 162 488 54 163 489 78 163 490 77 163 491 83 164 492 86 164 493 62 164 494 88 165 495 78 165 496 54 165 497 75 166 498 71 166 499 103 166 500 75 167 501 103 167 502 105 167 503 103 168 504 99 168 505 105 168 506 111 169 507 72 169 508 108 169 509 72 170 510 78 170 511 108 170 512 105 171 513 99 171 514 111 171 515 53 172 516 77 172 517 74 172 518 68 173 519 92 173 520 91 173 521 54 174 522 78 174 523 72 174 524 51 175 525 75 175 526 71 175 527 112 176 528 95 176 529 97 176 530 52 177 531 76 177 532 73 177 533 88 178 534 64 178 535 66 178 536 57 179 537 81 179 538 75 179 539 69 180 540 93 180 541 92 180 542 79 181 543 81 181 544 57 181 545 70 182 546 94 182 547 93 182 548 56 183 549 80 183 550 79 183 551 71 184 552 82 184 553 58 184 554 91 185 555 94 185 556 70 185 557 58 186 558 82 186 559 76 186 560 50 187 561 74 187 562 72 187 563 60 188 564 84 188 565 83 188 566 84 189 567 85 189 568 86 189 569 91 190 570 92 190 571 93 190 572 74 191 573 77 191 574 78 191 575 62 192 576 61 192 577 60 192 578 114 193 579 113 193 580 48 193 581 48 194 582 72 194 583 114 194 584 72 195 585 111 195 586 114 195 587 67 196 588 70 196 589 69 196 590 87 197 591 88 197 592 90 197 593 65 198 594 66 198 595 64 198 596 54 199 597 53 199 598 50 199 599 103 200 600 101 200 601 102 200 602 103 201 603 71 201 604 47 201 605 101 202 606 96 202 607 98 202 608 107 203 609 106 203 610 102 203 611 106 204 612 97 204 613 95 204 614 51 205 615 98 205 616 96 205 617 65 206 618 89 206 619 90 206 620 80 207 621 77 207 622 74 207 623 82 208 624 71 208 625 81 208 626 71 209 627 75 209 628 81 209 629 76 210 630 82 210 631 81 210 632 80 211 633 74 211 634 73 211 635 76 212 636 81 212 637 79 212 638 80 213 639 73 213 640 76 213 641 108 214 642 110 214 643 109 214 644 109 215 645 104 215 646 97 215 647 97 216 648 105 216 649 109 216 650 112 217 651 111 217 652 99 217 653 109 218 654 110 218 655 114 218 656 100 219 657 113 219 658 114 219 659 115 220 660 112 220 661 104 220 662 113 221 663 100 221 664 54 221 665 98 222 666 51 222 667 107 222 668 51 223 669 75 223 670 107 223 671 75 224 672 105 224 673 107 224 674 80 225 675 56 225 676 53 225 677

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_floor.dae b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_floor.dae new file mode 100644 index 0000000..a036a4f --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_floor.dae @@ -0,0 +1,126 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-18T19:56:54 + 2024-12-18T19:56:54 + + Z_UP + + + + + + + smooth_concrete_floor_diff_png + + + + + smooth_concrete_floor_diff_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + smooth_concrete_floor_diff.jpg + + + + + + + + + + + + 0 0 0 21.05 0 0 21.05 9.57 0 21.05 0 0.09999996 21.05 9.57 0.09999996 1.78 6.949999 0 0 6.949999 0 1.78 9.57 0 1.78 6.949999 0.00999999 1.78 9.57 0.00999999 0 6.949999 0.00999999 0 0 0.00999999 + + + + + + + + + + -1 0 0 1 0 0 0 1 -4.76837e-5 0 -1 0 0 0 1 0 1 0 0 0 -1 -1 0 0 -1 0 0 1 0 0 -2.67886e-7 1 0 0 -1 0 -0.004275441 0.001094996 0.9999903 -0.004670381 0 0.9999891 -0.004670381 0 0.9999891 0 1 0 0 0 -1 0 0 -1 0 0 -1 -1 0 -1.19209e-5 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + -2.231993 0.3907203 1.736105 0.3634003 -2.231993 0.3634003 3.231993 0.3634003 -2.231993 0.6365997 -2.231993 0.3634003 -2.231993 0.3634003 -1.769955 0.3907203 -1.769955 0.3634003 3.231993 0.3634003 -2.231993 0.3907203 -2.231993 0.3634003 -1.769955 1.736105 -2.231993 1.736105 -2.231993 -2.231993 -1.769955 0.3907203 3.231993 0.3634003 -1.769955 0.3634003 -1.769955 1.736105 3.231993 3.231993 3.231993 -2.231993 3.231993 0.3634003 1.736105 0.3907203 3.231993 0.3907203 -2.231993 0.3907203 1.736105 0.3907203 1.736105 0.3634003 3.231993 0.3634003 3.231993 0.6365997 -2.231993 0.6365997 -2.231993 0.3634003 -2.231993 0.3907203 -1.769955 0.3907203 3.231993 0.3634003 3.231993 0.6365997 -2.231993 0.3907203 -2.231993 -2.231993 3.231993 -2.231993 -1.769955 1.736105 3.231993 -2.231993 3.231993 3.231993 -1.769955 1.736105 3.231993 3.231993 -1.769955 3.231993 -1.769955 1.736105 -1.769955 0.3907203 3.231993 0.6365997 3.231993 0.3634003 3.231993 -2.231993 -2.231993 -2.231993 -1.769955 1.736105 -2.231993 -2.231993 -2.231993 1.736105 -1.769955 1.736105 -1.769955 1.736105 -1.769955 3.231993 3.231993 3.231993 3.231993 0.3634003 1.736105 0.3634003 1.736105 0.3907203 + + + + + + + + + + + + + + + +

11 0 0 6 0 1 0 0 2 2 1 3 3 1 4 1 1 5 6 2 6 8 2 7 5 2 8 1 3 9 11 3 10 0 3 11 8 4 12 10 4 13 11 4 14 9 5 15 2 5 16 7 5 17 5 6 18 2 6 19 1 6 20 7 7 21 8 7 22 9 7 23 11 8 24 10 8 25 6 8 26 2 9 27 4 9 28 3 9 29 6 10 30 10 10 31 8 10 32 1 11 33 3 11 34 11 11 35 11 12 36 3 12 37 8 12 38 3 13 39 4 13 40 8 13 41 4 14 42 9 14 43 8 14 44 9 15 45 4 15 46 2 15 47 1 16 48 0 16 49 5 16 50 0 17 51 6 17 52 5 17 53 5 18 54 7 18 55 2 18 56 7 19 57 5 19 58 8 19 59

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.dae b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.dae new file mode 100644 index 0000000..51063f4 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.dae @@ -0,0 +1,126 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-19T09:56:08 + 2024-12-19T09:56:08 + + Z_UP + + + + + + + wall02_diffuse_jpg + + + + + wall02_diffuse_jpg-surface + + + + + + 0 0 0 0.5 + + + + + + 1.5 + + + + + + + + + wall02_diffuse.jpg + + + + + + + + + + + + 13.32385 7.93 2.028121 13 2 2.028121 19.06 6.93 2.028121 11.99 6.93 2.028121 13.22994 7.93 2.028121 16.99 7.59 2.028121 6.5 6.93 2.028121 5.993908 9 2.028121 19.06 6.83 2.028121 16.89 6.83 2.028121 16.89 7.589999 2.028121 3.5 6.83 2.028121 6.5 6.93 0 11.99 6.93 0 16.89 6.93 0 12.99 6.93 0 5.9 9 2.028121 5.9 9.470001 2.028121 5.993908 9.470001 2.028121 6 8 2.028121 16.99 8.470001 0 7.5 6.83 0 20.95 6.93 0 13.22994 9.470001 2.028121 5.9 8 2.028121 2.87339 4.07415 2.028121 2.873391 6.890989 0 13.32385 9.470001 2.028121 2.773391 4.07415 2.028121 2.773391 6.890989 0 5.9 6.93 2.028121 20.95 6.83 2.028121 7.5 6.93 2.028121 16.89 8.470001 2.028121 3.5 6.93 2.028121 6.5 6.83 0 11.99 6.83 0 12.99 6.83 0 3.5 6.93 0 6 6.93 2.028121 18.3 4.074146 2.028121 18.3 3.974146 2.028121 17.3 3.974146 2.028121 16.89 8.470001 0 7.5 6.93 0 20.95 6.83 0 13 0.1 2.028121 0.09999972 3.974146 2.028121 12.99 6.83 2.028121 2.773391 4.07415 0 12.9 0.1 2.028121 11.99 6.83 2.028121 2.87339 4.07415 0 20.95 3.974146 2.028121 6.5 6.83 2.028121 2.773391 6.890989 2.028121 2.873391 6.890989 2.028121 20.95 6.93 2.028121 7.5 6.83 2.028121 3.5 6.83 0 12.99 6.93 2.028121 16.99 8.470001 2.028121 4 4.074146 2.028121 0.1000002 4.074146 2.028121 12.35228 3.974146 2.028121 11.35228 3.974146 2.028121 16.89 7.589999 0 16.89 6.83 0 19.06 6.83 0 16.99 7.59 0 12.9 2 2.028121 3 3.974146 2.028121 20.95 4.074146 2.028121 4 3.974146 2.028121 12.35228 4.074146 2.028121 17.3 4.074146 2.028121 11.35228 4.074146 2.028121 3 4.07415 2.028121 16.89 6.93 2.028121 19.06 6.93 0 3 4.07415 0 11.35228 4.074146 0 17.3 4.074146 0 12.35228 4.074146 0 4 3.974146 0 20.95 4.074146 0 3 3.974146 0 11.35228 3.974146 0 12.35228 3.974146 0 0.1000002 4.074146 0 4 4.074146 0 20.95 3.974146 0 0.09999972 3.974146 0 17.3 3.974146 0 18.3 3.974146 0 18.3 4.074146 0 6 6.93 0 5.9 6.93 0 5.9 8 0 6 8 0 5.993908 9.470001 0 5.9 9.470001 0 5.9 9 0 5.993908 9 0 13 2 0 12.9 2 0 12.9 0.1 0 13 0.1 0 13.32385 9.470001 0 13.22994 9.470001 0 13.22994 7.93 0 13.32385 7.93 0 12.9 3.974146 0 13 3.974146 0 12.9 3 0 13 3 0 10.97742 6.83 0 10.87742 6.83 0 10.87742 5.07415 0 10.97742 5.07415 0 12.9 3.974146 2.028121 13 3.974146 2.028121 12.9 3 2.028121 13 3 2.028121 10.97742 6.83 2.028121 10.87742 6.83 2.028121 10.87742 5.07415 2.028121 10.97742 5.07415 2.028121 + + + + + + + + + + 0 -1 0 0 -1 0 -1 0 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 1 0 -1 4.76838e-6 0 -1 0 0 1 0 0 0 -1 0 0 1 0 0 1 0 -1 0 0 1 -1.69281e-7 0 -1 0 0 0 1 0 0 1 0 0 -1 0 1 0 0 0 -1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 1 0 0 1 0 0 -1 4.76838e-6 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1.47984e-6 1 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 -1 0 0 1 0 0 1 0 0 0 1 0 4.76835e-6 -1 0 1 -4.45642e-7 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 -1 0 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 1 0 -1 4.76838e-6 0 -1 0 0 1 0 0 0 -1 0 0 1 0 0 1 0 -1 0 0 1 -1.69281e-7 0 -1 0 0 0 1 0 0 1 0 0 -1 0 1 0 0 0 -1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 1 0 0 1 0 0 -1 4.76838e-6 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1.47984e-6 1 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 -1 0 0 1 0 0 1 0 0 0 1 0 4.76835e-6 -1 0 1 -4.45642e-7 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + 2.45475 1.524303 1.907035 -0.5038178 2.45475 -0.5038178 6.85475 1.524303 2.55475 -0.5038178 6.85475 -0.5038178 -0.2136082 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 2.784694 -0.5038178 2.878602 1.524303 2.878602 -0.5038178 -7.671859 -0.5038178 -7.571859 1.524303 -7.571859 -0.5038178 0.5321703 -0.5038178 0.4321699 1.524303 0.4321699 -0.5038178 -1.313612 1.524303 -1.213613 -0.5038178 -1.313612 -0.5038178 -2.94525 -0.5038178 1.54475 1.524303 1.54475 -0.5038178 -1.313612 -0.5038178 -1.213613 1.524303 -1.213613 -0.5038178 2.642241 -0.5038178 4.182242 1.524303 4.182242 -0.5038178 -1.213613 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 2.55475 -0.5038178 2.45475 1.524303 2.45475 -0.5038178 -6.44525 -0.5038178 0.9070349 1.524303 0.9070349 -0.5038178 2.45475 -0.5038178 2.55475 1.524303 2.55475 -0.5038178 -1.313612 -0.5038178 -1.213613 1.524303 -1.213613 -0.5038178 1.60323 -0.5038178 -1.213608 1.524303 -1.213608 -0.5038178 1.542242 1.524303 1.642241 -0.5038178 1.542242 -0.5038178 -7.671859 1.524303 -7.571859 -0.5038178 -7.671859 -0.5038178 6.44475 1.524303 6.54475 -0.5038178 6.44475 -0.5038178 1.54475 -0.5038178 -2.94525 1.524303 -2.94525 -0.5038178 -1.213608 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 -3.94525 -0.5038178 -6.94525 1.524303 -6.94525 -0.5038178 -6.94525 -0.5038178 -4.545249 1.524303 -4.545249 -0.5038178 -1.313612 1.524303 -1.213613 -0.5038178 -1.313612 -0.5038178 2.55475 -0.5038178 2.45475 1.524303 2.45475 -0.5038178 -1.313612 1.524303 -2.287758 -0.5038178 -1.313612 -0.5038178 4.182242 1.524303 2.642241 -0.5038178 4.182242 -0.5038178 -7.44525 -0.5038178 -10.34525 1.524303 -10.34525 -0.5038178 -1.213613 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 1.907035 1.524303 6.85475 -0.5038178 1.907035 -0.5038178 -1.213608 1.524303 1.60323 -0.5038178 -1.213608 -0.5038178 0.4321699 -0.5038178 0.5321703 1.524303 0.5321703 -0.5038178 -3.287758 1.524303 -5.187758 -0.5038178 -3.287758 -0.5038178 -1.213613 1.524303 -1.313612 -0.5038178 -1.213613 -0.5038178 1.542242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 7.85475 -0.5038178 10.50475 1.524303 10.50475 -0.5038178 2.878602 -0.5038178 2.784694 1.524303 2.784694 -0.5038178 -2.287758 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 1.542242 1.524303 1.642241 -0.5038178 1.542242 -0.5038178 -10.34525 -0.5038178 -7.44525 1.524303 -7.44525 -0.5038178 10.50475 -0.5038178 8.61475 1.524303 8.61475 -0.5038178 1.642241 1.524303 1.542242 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 -0.2136082 -0.5038178 1.542242 -0.5038178 10.50475 -0.5038178 7.85475 1.524303 7.85475 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 -4.44525 -0.5038178 -3.94525 1.524303 -3.94525 -0.5038178 1.542242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 -4.545249 -0.5038178 -4.44525 1.524303 -4.44525 -0.5038178 1.642241 1.524303 2.712242 -0.5038178 1.642241 -0.5038178 3.182242 1.524303 2.302241 -0.5038178 3.182242 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 -4.545249 1.524303 -4.44525 -0.5038178 -4.545249 -0.5038178 6.54475 -0.5038178 6.44475 1.524303 6.44475 -0.5038178 2.712242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 2.54475 1.524303 6.44475 -0.5038178 2.54475 -0.5038178 -4.545249 -0.5038178 -4.451341 1.524303 -4.451341 -0.5038178 6.44475 1.524303 2.54475 -0.5038178 6.44475 -0.5038178 3.712242 -0.5038178 4.182242 1.524303 4.182242 -0.5038178 -4.451341 -0.5038178 -4.545249 1.524303 -4.545249 -0.5038178 4.182242 1.524303 3.712242 -0.5038178 4.182242 -0.5038178 2.302241 1.524303 3.182242 -0.5038178 2.302241 -0.5038178 2.45475 -0.5038178 2.55475 1.524303 2.55475 -0.5038178 8.61475 -0.5038178 10.50475 1.524303 10.50475 -0.5038178 -5.187758 -0.5038178 -3.287758 1.524303 -3.287758 -0.5038178 0.9070349 -0.5038178 -6.44525 1.524303 -6.44525 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 2.878602 4.182242 2.784694 2.642241 2.878602 2.642241 6.54475 2.302241 6.44475 3.182242 6.44475 2.302241 6.44475 1.642241 2.54475 1.542242 6.44475 1.542242 -2.94525 1.642241 1.54475 1.542242 1.54475 1.642241 0.5321703 -0.2136082 0.4321699 1.542242 0.4321699 -0.2136082 -4.545249 2.712242 -4.44525 1.642241 -4.44525 2.712242 -4.451341 3.712242 -4.545249 4.182242 -4.545249 3.712242 -3.94525 1.542242 -6.94525 1.642241 -6.94525 1.542242 -7.671859 1.60323 -7.571859 -1.213608 -7.571859 1.60323 -7.44525 -1.313612 -10.34525 -1.213613 -10.34525 -1.313612 0.9070349 -1.213613 -6.44525 -1.313612 0.9070349 -1.313612 2.45475 -1.313612 2.55475 -2.287758 2.55475 -1.313612 8.61475 1.642241 10.50475 1.542242 10.50475 1.642241 7.85475 -1.213613 10.50475 -1.313612 10.50475 -1.213613 1.907035 -1.213613 6.85475 -1.313612 6.85475 -1.213613 2.55475 -5.187758 2.45475 -3.287758 2.45475 -5.187758 -6.44525 -1.213613 0.9070349 -1.313612 -6.44525 -1.313612 6.85475 -1.213613 1.907035 -1.313612 1.907035 -1.213613 1.907035 -1.313612 2.55475 -1.313612 2.45475 -1.313612 2.55475 -5.187758 2.45475 -3.287758 2.55475 -3.287758 2.55475 -1.313612 2.45475 -2.287758 2.45475 -1.313612 0.5321703 -0.2136082 0.4321699 1.542242 0.5321703 1.542242 -2.94525 1.642241 1.54475 1.542242 -2.94525 1.542242 6.44475 1.642241 2.54475 1.542242 2.54475 1.642241 10.50475 1.542242 8.61475 1.642241 10.50475 1.642241 10.50475 -1.313612 7.85475 -1.213613 10.50475 -1.213613 6.54475 2.302241 6.44475 3.182242 6.54475 3.182242 2.878602 2.642241 2.784694 4.182242 2.878602 4.182242 -4.451341 3.712242 -4.545249 4.182242 -4.451341 4.182242 -4.44525 1.642241 -4.545249 2.712242 -4.44525 2.712242 -3.94525 1.542242 -6.94525 1.642241 -3.94525 1.642241 -7.44525 -1.313612 -10.34525 -1.213613 -7.44525 -1.213608 -7.571859 -1.213608 -7.671859 1.60323 -7.571859 1.60323 2.45475 1.524303 1.907035 1.524303 1.907035 -0.5038178 6.85475 1.524303 2.55475 1.524303 2.55475 -0.5038178 -0.2136082 -0.5038178 -0.2136082 1.524303 1.542242 1.524303 2.784694 -0.5038178 2.784694 1.524303 2.878602 1.524303 -7.671859 -0.5038178 -7.671859 1.524303 -7.571859 1.524303 0.5321703 -0.5038178 0.5321703 1.524303 0.4321699 1.524303 -1.313612 1.524303 -1.213613 1.524303 -1.213613 -0.5038178 -2.94525 -0.5038178 -2.94525 1.524303 1.54475 1.524303 -1.313612 -0.5038178 -1.313612 1.524303 -1.213613 1.524303 2.642241 -0.5038178 2.642241 1.524303 4.182242 1.524303 -1.213613 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 2.55475 -0.5038178 2.55475 1.524303 2.45475 1.524303 -6.44525 -0.5038178 -6.44525 1.524303 0.9070349 1.524303 2.45475 -0.5038178 2.45475 1.524303 2.55475 1.524303 -1.313612 -0.5038178 -1.313612 1.524303 -1.213613 1.524303 1.60323 -0.5038178 1.60323 1.524303 -1.213608 1.524303 1.542242 1.524303 1.642241 1.524303 1.642241 -0.5038178 -7.671859 1.524303 -7.571859 1.524303 -7.571859 -0.5038178 6.44475 1.524303 6.54475 1.524303 6.54475 -0.5038178 1.54475 -0.5038178 1.54475 1.524303 -2.94525 1.524303 -1.213608 -0.5038178 -1.213608 1.524303 -1.313612 1.524303 -3.94525 -0.5038178 -3.94525 1.524303 -6.94525 1.524303 -6.94525 -0.5038178 -6.94525 1.524303 -4.545249 1.524303 -1.313612 1.524303 -1.213613 1.524303 -1.213613 -0.5038178 2.55475 -0.5038178 2.55475 1.524303 2.45475 1.524303 -1.313612 1.524303 -2.287758 1.524303 -2.287758 -0.5038178 4.182242 1.524303 2.642241 1.524303 2.642241 -0.5038178 -7.44525 -0.5038178 -7.44525 1.524303 -10.34525 1.524303 -1.213613 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 1.907035 1.524303 6.85475 1.524303 6.85475 -0.5038178 -1.213608 1.524303 1.60323 1.524303 1.60323 -0.5038178 0.4321699 -0.5038178 0.4321699 1.524303 0.5321703 1.524303 -3.287758 1.524303 -5.187758 1.524303 -5.187758 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 -1.313612 -0.5038178 1.542242 -0.5038178 1.542242 1.524303 1.642241 1.524303 7.85475 -0.5038178 7.85475 1.524303 10.50475 1.524303 2.878602 -0.5038178 2.878602 1.524303 2.784694 1.524303 -2.287758 -0.5038178 -2.287758 1.524303 -1.313612 1.524303 1.542242 1.524303 1.642241 1.524303 1.642241 -0.5038178 -10.34525 -0.5038178 -10.34525 1.524303 -7.44525 1.524303 10.50475 -0.5038178 10.50475 1.524303 8.61475 1.524303 1.642241 1.524303 1.542242 1.524303 1.542242 -0.5038178 1.542242 1.524303 -0.2136082 1.524303 -0.2136082 -0.5038178 10.50475 -0.5038178 10.50475 1.524303 7.85475 1.524303 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 -4.44525 -0.5038178 -4.44525 1.524303 -3.94525 1.524303 1.542242 -0.5038178 1.542242 1.524303 1.642241 1.524303 -4.545249 -0.5038178 -4.545249 1.524303 -4.44525 1.524303 1.642241 1.524303 2.712242 1.524303 2.712242 -0.5038178 3.182242 1.524303 2.302241 1.524303 2.302241 -0.5038178 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 -4.545249 1.524303 -4.44525 1.524303 -4.44525 -0.5038178 6.54475 -0.5038178 6.54475 1.524303 6.44475 1.524303 2.712242 -0.5038178 2.712242 1.524303 1.642241 1.524303 2.54475 1.524303 6.44475 1.524303 6.44475 -0.5038178 -4.545249 -0.5038178 -4.545249 1.524303 -4.451341 1.524303 6.44475 1.524303 2.54475 1.524303 2.54475 -0.5038178 3.712242 -0.5038178 3.712242 1.524303 4.182242 1.524303 -4.451341 -0.5038178 -4.451341 1.524303 -4.545249 1.524303 4.182242 1.524303 3.712242 1.524303 3.712242 -0.5038178 2.302241 1.524303 3.182242 1.524303 3.182242 -0.5038178 2.45475 -0.5038178 2.45475 1.524303 2.55475 1.524303 8.61475 -0.5038178 8.61475 1.524303 10.50475 1.524303 -5.187758 -0.5038178 -5.187758 1.524303 -3.287758 1.524303 0.9070349 -0.5038178 0.9070349 1.524303 -6.44525 1.524303 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 2.878602 4.182242 2.784694 4.182242 2.784694 2.642241 6.54475 2.302241 6.54475 3.182242 6.44475 3.182242 6.44475 1.642241 2.54475 1.642241 2.54475 1.542242 -2.94525 1.642241 -2.94525 1.542242 1.54475 1.542242 0.5321703 -0.2136082 0.5321703 1.542242 0.4321699 1.542242 -4.545249 2.712242 -4.545249 1.642241 -4.44525 1.642241 -4.451341 3.712242 -4.451341 4.182242 -4.545249 4.182242 -3.94525 1.542242 -3.94525 1.642241 -6.94525 1.642241 -7.671859 1.60323 -7.671859 -1.213608 -7.571859 -1.213608 -7.44525 -1.313612 -7.44525 -1.213608 -10.34525 -1.213613 0.9070349 -1.213613 -6.44525 -1.213613 -6.44525 -1.313612 2.45475 -1.313612 2.45475 -2.287758 2.55475 -2.287758 8.61475 1.642241 8.61475 1.542242 10.50475 1.542242 7.85475 -1.213613 7.85475 -1.313612 10.50475 -1.313612 1.907035 -1.213613 1.907035 -1.313612 6.85475 -1.313612 2.55475 -5.187758 2.55475 -3.287758 2.45475 -3.287758 -6.44525 -1.213613 0.9070349 -1.213613 0.9070349 -1.313612 6.85475 -1.213613 6.85475 -1.313612 1.907035 -1.313612 1.907035 -1.313612 6.85475 -1.313612 2.55475 -1.313612 2.55475 -5.187758 2.45475 -5.187758 2.45475 -3.287758 2.55475 -1.313612 2.55475 -2.287758 2.45475 -2.287758 0.5321703 -0.2136082 0.4321699 -0.2136082 0.4321699 1.542242 -2.94525 1.642241 1.54475 1.642241 1.54475 1.542242 6.44475 1.642241 6.44475 1.542242 2.54475 1.542242 10.50475 1.542242 8.61475 1.542242 8.61475 1.642241 10.50475 -1.313612 7.85475 -1.313612 7.85475 -1.213613 6.54475 2.302241 6.44475 2.302241 6.44475 3.182242 2.878602 2.642241 2.784694 2.642241 2.784694 4.182242 -4.451341 3.712242 -4.545249 3.712242 -4.545249 4.182242 -4.44525 1.642241 -4.545249 1.642241 -4.545249 2.712242 -3.94525 1.542242 -6.94525 1.542242 -6.94525 1.642241 -7.44525 -1.313612 -10.34525 -1.313612 -10.34525 -1.213613 -7.571859 -1.213608 -7.671859 -1.213608 -7.671859 1.60323 + + + + + + + + + + + + + + + +

120 0 0 88 0 1 112 0 2 42 1 3 113 1 4 93 1 5 118 2 6 125 2 7 117 2 8 109 3 9 27 3 10 108 3 11 49 4 12 25 4 13 52 4 14 119 5 15 126 5 16 118 5 17 64 6 18 83 6 19 88 6 20 44 7 21 3 7 22 13 7 23 92 8 24 63 8 25 89 8 26 110 9 27 23 9 28 109 9 29 81 10 30 65 10 31 87 10 32 115 11 33 122 11 34 114 11 35 90 12 36 76 12 37 81 12 38 112 13 39 121 13 40 113 13 41 84 14 42 62 14 43 90 14 44 26 15 45 25 15 46 52 15 47 8 16 48 79 16 49 68 16 50 55 17 51 26 17 52 29 17 53 33 18 54 20 18 55 43 18 56 36 19 57 58 19 58 21 19 59 80 20 60 71 20 61 86 20 62 35 21 63 11 21 64 59 21 65 38 22 66 30 22 67 97 22 68 41 23 69 95 23 70 94 23 71 107 24 72 50 24 73 106 24 74 121 25 75 115 25 76 113 25 77 27 26 78 111 26 79 108 26 80 86 27 81 47 27 82 92 27 83 85 28 84 53 28 85 91 28 86 74 29 87 82 29 88 83 29 89 28 30 90 29 30 91 49 30 92 117 31 93 124 31 94 116 31 95 1 32 96 107 32 97 104 32 98 75 33 99 93 33 100 82 33 101 59 34 102 34 34 103 38 34 104 95 35 105 72 35 106 85 35 107 111 36 108 4 36 109 110 36 110 114 37 111 120 37 112 112 37 113 48 38 114 15 38 115 37 38 116 89 39 117 77 39 118 80 39 119 45 40 120 8 40 121 68 40 122 78 41 123 67 41 124 14 41 125 124 42 126 119 42 127 116 42 128 91 43 129 41 43 130 94 43 131 12 44 132 54 44 133 35 44 134 96 45 135 6 45 136 12 45 137 21 46 138 32 46 139 44 46 140 97 47 141 39 47 142 96 47 143 30 48 144 98 48 145 97 48 146 61 49 147 69 49 148 20 49 149 13 50 150 51 50 151 36 50 152 24 51 153 99 51 154 98 51 155 69 52 156 10 52 157 66 52 158 99 53 159 39 53 160 96 53 161 60 54 162 14 54 163 15 54 164 101 55 165 18 55 166 100 55 167 9 56 168 37 56 169 67 56 170 102 57 171 17 57 172 101 57 173 103 58 174 16 58 175 102 58 176 18 59 177 103 59 178 100 59 179 10 60 180 43 60 181 66 60 182 105 61 183 1 61 184 104 61 185 79 62 186 57 62 187 22 62 188 106 63 189 70 63 190 105 63 191 87 64 192 73 64 193 84 64 194 22 65 195 31 65 196 45 65 197 27 66 198 4 66 199 0 66 200 5 67 201 33 67 202 10 67 203 78 68 204 48 68 205 9 68 206 32 69 207 51 69 208 3 69 209 127 70 210 125 70 211 126 70 212 24 71 213 39 71 214 19 71 215 7 72 216 17 72 217 16 72 218 54 73 219 34 73 220 11 73 221 55 74 222 25 74 223 56 74 224 71 75 225 63 75 226 47 75 227 76 76 228 73 76 229 65 76 230 120 77 231 123 77 232 121 77 233 2 78 234 31 78 235 57 78 236 40 79 237 53 79 238 72 79 239 74 80 240 42 80 241 75 80 242 46 81 243 70 81 244 50 81 245 90 82 246 87 82 247 84 82 248 82 83 249 88 83 250 83 83 251 88 84 252 113 84 253 112 84 254 107 85 255 105 85 256 104 85 257 113 86 258 114 86 259 112 86 260 119 87 261 117 87 262 116 87 263 44 88 264 36 88 265 21 88 266 14 89 267 37 89 268 15 89 269 45 90 270 79 90 271 22 90 272 91 91 273 95 91 274 85 91 275 69 92 276 43 92 277 20 92 278 111 93 279 109 93 280 108 93 281 103 94 282 101 94 283 100 94 284 96 95 285 98 95 286 99 95 287 35 96 288 38 96 289 12 96 290 86 97 291 89 97 292 80 97 293 52 98 294 29 98 295 26 98 296 120 99 297 64 99 298 88 99 299 42 100 300 121 100 301 113 100 302 118 101 303 126 101 304 125 101 305 109 102 306 23 102 307 27 102 308 49 103 309 28 103 310 25 103 311 119 104 312 127 104 313 126 104 314 64 105 315 74 105 316 83 105 317 44 106 318 32 106 319 3 106 320 92 107 321 47 107 322 63 107 323 110 108 324 4 108 325 23 108 326 81 109 327 76 109 328 65 109 329 115 110 330 123 110 331 122 110 332 90 111 333 62 111 334 76 111 335 112 112 336 120 112 337 121 112 338 84 113 339 73 113 340 62 113 341 26 114 342 56 114 343 25 114 344 8 115 345 2 115 346 79 115 347 55 116 348 56 116 349 26 116 350 33 117 351 61 117 352 20 117 353 36 118 354 51 118 355 58 118 356 80 119 357 77 119 358 71 119 359 35 120 360 54 120 361 11 120 362 38 121 363 34 121 364 30 121 365 41 122 366 40 122 367 95 122 368 107 123 369 46 123 370 50 123 371 121 124 372 123 124 373 115 124 374 27 125 375 0 125 376 111 125 377 86 126 378 71 126 379 47 126 380 85 127 381 72 127 382 53 127 383 74 128 384 75 128 385 82 128 386 28 129 387 55 129 388 29 129 389 117 130 390 125 130 391 124 130 392 1 131 393 46 131 394 107 131 395 75 132 396 42 132 397 93 132 398 59 133 399 11 133 400 34 133 401 95 134 402 40 134 403 72 134 404 111 135 405 0 135 406 4 135 407 114 136 408 122 136 409 120 136 410 48 137 411 60 137 412 15 137 413 89 138 414 63 138 415 77 138 416 45 139 417 31 139 418 8 139 419 78 140 420 9 140 421 67 140 422 124 141 423 127 141 424 119 141 425 91 142 426 53 142 427 41 142 428 12 143 429 6 143 430 54 143 431 96 144 432 39 144 433 6 144 434 21 145 435 58 145 436 32 145 437 97 146 438 30 146 439 39 146 440 30 147 441 24 147 442 98 147 443 61 148 444 5 148 445 69 148 446 13 149 447 3 149 448 51 149 449 24 150 450 19 150 451 99 150 452 69 151 453 5 151 454 10 151 455 99 152 456 19 152 457 39 152 458 60 153 459 78 153 460 14 153 461 101 154 462 17 154 463 18 154 464 9 155 465 48 155 466 37 155 467 102 156 468 16 156 469 17 156 470 103 157 471 7 157 472 16 157 473 18 158 474 7 158 475 103 158 476 10 159 477 33 159 478 43 159 479 105 160 480 70 160 481 1 160 482 79 161 483 2 161 484 57 161 485 106 162 486 50 162 487 70 162 488 87 163 489 65 163 490 73 163 491 22 164 492 57 164 493 31 164 494 27 165 495 23 165 496 4 165 497 5 166 498 61 166 499 33 166 500 78 167 501 60 167 502 48 167 503 32 168 504 58 168 505 51 168 506 127 169 507 124 169 508 125 169 509 24 170 510 30 170 511 39 170 512 7 171 513 18 171 514 17 171 515 54 172 516 6 172 517 34 172 518 55 173 519 28 173 520 25 173 521 71 174 522 77 174 523 63 174 524 76 175 525 62 175 526 73 175 527 120 176 528 122 176 529 123 176 530 2 177 531 8 177 532 31 177 533 40 178 534 41 178 535 53 178 536 74 179 537 64 179 538 42 179 539 46 180 540 1 180 541 70 180 542 90 181 543 81 181 544 87 181 545 82 182 546 93 182 547 88 182 548 88 183 549 93 183 550 113 183 551 107 184 552 106 184 553 105 184 554 113 185 555 115 185 556 114 185 557 119 186 558 118 186 559 117 186 560 44 187 561 13 187 562 36 187 563 14 188 564 67 188 565 37 188 566 45 189 567 68 189 568 79 189 569 91 190 570 94 190 571 95 190 572 69 191 573 66 191 574 43 191 575 111 192 576 110 192 577 109 192 578 103 193 579 102 193 580 101 193 581 96 194 582 97 194 583 98 194 584 35 195 585 59 195 586 38 195 587 86 196 588 92 196 589 89 196 590 52 197 591 49 197 592 29 197 593

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.fbx b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.fbx new file mode 100644 index 0000000..7b5bbc3 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.fbx differ diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.mtl b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.mtl new file mode 100644 index 0000000..9216381 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/Small_BuildingV3_interior.mtl @@ -0,0 +1,17 @@ +# Blender 4.3.2 MTL File: 'Small_BuildingV3_interior.blend' +# www.blender.org + +newmtl Stucco_wall.001 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 +Pr 0.500000 +Pm 0.000000 +Ps 0.000000 +Pc 0.000000 +Pcr 0.030000 +aniso 0.000000 +anisor 0.000000 +map_Kd wall02_diffuse.jpg diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/smooth_concrete_floor_diff.jpg b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/smooth_concrete_floor_diff.jpg new file mode 100644 index 0000000..28e0e16 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/smooth_concrete_floor_diff.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/meshes/wall02_diffuse.jpg b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/wall02_diffuse.jpg new file mode 100644 index 0000000..922d516 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/empty_1136/meshes/wall02_diffuse.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/model.config b/turtlebot3_manipulation_bringup/models/empty_1136/model.config new file mode 100644 index 0000000..f7a6699 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/model.config @@ -0,0 +1,16 @@ + + + + small_building + 1.0 + model.sdf + + + Dominic Larkin + dominic.larkin@westpoint.edu + + + + A small building the dimensions of TH1136. + + diff --git a/turtlebot3_manipulation_bringup/models/empty_1136/model.sdf b/turtlebot3_manipulation_bringup/models/empty_1136/model.sdf new file mode 100644 index 0000000..b334b08 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/empty_1136/model.sdf @@ -0,0 +1,25 @@ + + + + -10.5 -5.0 0 0 0 0 + true + + + + + + model://empty_1136/meshes/Small_BuildingV3_exterior.dae + + + + + + + model://empty_1136/meshes/Small_BuildingV3_exterior.dae + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/mailbox/materials/scripts/mailbox.material b/turtlebot3_manipulation_bringup/models/mailbox/materials/scripts/mailbox.material new file mode 100644 index 0000000..c115e74 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/materials/scripts/mailbox.material @@ -0,0 +1,29 @@ +material Mailbox/Diffuse +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture Mailbox_Diffuse.png + } + } + } +} + +material Mailbox/Specular +{ + receive_shadows off + technique + { + pass + { + texture_unit + { + texture Mailbox_Spec.png + } + } + } +} diff --git a/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.png b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.png new file mode 100644 index 0000000..e057702 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.tga.orig b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.tga.orig new file mode 100644 index 0000000..5b79663 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Diffuse.tga.orig differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Spec.png b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Spec.png new file mode 100644 index 0000000..00c84a9 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/materials/textures/Mailbox_Spec.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/meshes/mailbox.dae b/turtlebot3_manipulation_bringup/models/mailbox/meshes/mailbox.dae new file mode 100644 index 0000000..ede3161 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/meshes/mailbox.dae @@ -0,0 +1,152 @@ + + + + + Cole + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static + file:///C:/Users/Cole/Desktop/Houses.max + + 2012-12-21T07:14:54 + 2012-12-21T07:14:54 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 1 1 1 + + + 0.9 0.9 0.9 1 + + + 9.999999 + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + + + 0 + 0 + 0 + 1.5 + 0 + 3 + 1 + 0 + + + 1 + 1 + 0 + 0.1 + 0 + + + + + + + + + + + + + + + 63.77863 0.3839193 -94.24056 55.23391 31.88931 -94.24056 31.88931 55.23391 -94.24056 1.33153e-6 63.77862 -94.24056 -31.88931 55.23391 -94.24056 -55.2339 31.88931 -94.24056 -63.77862 0.3839193 -94.24056 55.23391 31.88931 101.6574 31.88931 55.23391 101.6574 -2.78785e-6 63.77862 101.6574 -31.88931 55.23391 101.6574 -55.23391 31.88931 101.6574 -63.77862 0.3839242 101.6574 63.77862 0.3839242 101.6574 63.77863 -135.6524 -94.24055 63.77862 -135.6524 101.6575 -63.77863 -135.6524 101.6575 -63.77862 -135.6524 -94.24055 69.09421 0.3839242 101.6574 60.08233 34.68855 101.6574 34.68855 60.08234 101.6574 -3.13332e-6 69.3771 101.6574 -34.68855 60.08233 101.6574 -60.08233 34.68855 101.6574 -69.18634 0.3839242 101.6574 -69.18634 -141.0601 101.6575 69.18633 -141.0602 101.6575 60.08233 34.68855 108.9806 34.68855 60.08234 108.9806 -3.13258e-6 69.3771 108.9806 -34.68855 60.08233 108.9806 -60.08233 34.68855 108.9806 -69.18634 0.3839244 108.9806 -69.18634 -141.0601 108.9806 69.18633 -141.0602 108.9806 69.09421 0.3839244 108.9806 -23.34707 -979.6222 17.01899 23.34707 -979.6222 17.01899 -23.34707 -979.6222 -9.602058 23.34707 -979.6222 -9.602058 -23.34707 -121.6467 17.01897 23.34707 -121.6467 17.01897 -23.34707 -121.6467 -9.602079 23.34707 -121.6467 -9.602079 -65.29713 -90.30914 34.35137 -65.29715 -90.30914 60.09743 -65.29715 -39.25652 63.45726 -73.57328 -90.30915 34.35137 -73.57329 -84.41591 63.45725 -73.57329 -39.25653 39.67269 -73.5733 -39.25652 63.45725 -73.57329 -48.59029 34.35137 -65.29715 -93.29141 67.81843 -65.29715 -39.25652 67.81852 -65.29713 -99.18414 34.35137 -65.29715 -84.41591 63.45726 -73.57329 -90.30914 60.09743 -65.29715 -99.1846 64.45859 -5.55696 73.37229 122.3759 5.556962 70.81001 120.9151 -5.556961 70.81001 109.6903 5.556962 70.81001 109.6903 -5.55696 85.82349 122.3759 5.556962 85.82349 122.3759 -5.55696 70.81001 120.9151 5.556962 73.37229 122.3759 -5.556959 66.63747 122.3759 5.556964 69.19975 120.9151 -5.55696 69.19975 109.6903 5.556963 69.19975 109.6903 -5.556959 54.18628 122.3759 5.556964 54.18628 122.3759 -5.556959 69.19975 120.9151 5.556964 66.63747 122.3759 -66.63045 -79.03947 42.09508 -66.63046 -79.03947 57.59226 -66.63046 162.3586 42.09508 -66.63046 99.09541 42.09508 -66.63046 162.3586 55.67602 -66.63046 148.0616 12.03616 -66.63045 102.9279 10.30568 -5.556961 70.81001 100.9286 5.556961 70.81001 100.9286 -5.556961 58.29042 100.9286 5.556961 58.29042 100.9286 -5.556961 70.81001 109.6903 5.556962 70.81001 109.6903 -5.55696 46.97038 109.6903 5.556962 46.97038 109.6903 -66.63046 101.0116 40.17884 -66.63046 160.4424 57.59225 -66.63046 145.3223 10.30569 -66.63045 101.0116 12.22192 + + + + + + + + + + 0.9912451 0.132035 2.4983e-8 0.8652635 0.5013175 1.68492e-8 0.8652634 0.5013174 1.38252e-8 0.9912451 0.132035 1.60082e-8 0.5000001 0.8660254 9.92266e-9 0.5 0.8660254 9.73644e-9 -5.64708e-8 1 -9.79561e-10 -5.89261e-8 1 -1.8623e-10 -0.5 0.8660254 -1.14197e-8 -0.5 0.8660254 -1.36251e-8 -0.8652635 0.5013175 -1.98732e-8 -0.8652635 0.5013175 -2.00329e-8 -0.9912451 0.132035 -2.25966e-8 -0.9912451 0.132035 -2.56756e-8 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1 -1.72061e-8 2.69974e-8 1 2.18421e-15 3.89457e-8 0 5.39393e-8 1 0 5.39393e-8 1 0 5.39393e-8 1 5.94806e-15 5.39393e-8 1 5.94806e-15 5.39393e-8 1 5.94806e-15 5.39393e-8 1 -1 1.08357e-8 -2.69974e-8 -1 2.80417e-8 -3.89457e-8 0 -5.60835e-8 -1 0 -5.60835e-8 -1 0 -5.60835e-8 -1 -6.70888e-15 -5.60835e-8 -1 -6.70888e-15 -5.60835e-8 -1 -6.70888e-15 -5.60835e-8 -1 -1.19623e-7 -1 -4.65881e-15 -1.19623e-7 -1 -4.65881e-15 -1.19623e-7 -1 -4.65881e-15 -1.19623e-7 -1 -4.65881e-15 -1.19623e-7 -1 -4.65881e-15 -1.19623e-7 -1 -4.65881e-15 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 5.60835e-8 -5.60835e-8 -1 5.60835e-8 -5.60835e-8 -1 5.60835e-8 -5.60835e-8 -1 -2.97263e-16 -5.39393e-8 -1 -2.97263e-16 -5.39393e-8 -1 -2.97263e-16 -5.39393e-8 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -3.14437e-16 -5.60835e-8 -1 -3.14437e-16 -5.60835e-8 -1 -3.14437e-16 -5.60835e-8 -1 -5.39745e-8 -5.39745e-8 -1 -5.39745e-8 -5.39745e-8 -1 -5.39745e-8 -5.39745e-8 -1 0.99172 0.1284185 -3.18533e-9 0.8672485 0.4978755 0 0.8672485 0.4978756 -4.85969e-10 0.99172 0.1284184 -3.65799e-9 0.5000001 0.8660254 -1.74247e-12 0.5 0.8660254 0 -1.08031e-7 1 -1.74247e-12 -1.37494e-7 1 1.74249e-12 -0.5 0.8660254 0 -0.5000001 0.8660254 1.74248e-12 -0.8666227 0.498964 -4.20111e-10 -0.8666227 0.498964 0 -0.9916003 0.1293404 -3.1582e-9 -0.9916003 0.1293404 -2.7491e-9 -1 0 0 -1 0 0 -1.10273e-7 -1 0 -1.10273e-7 -1 0 -1.10273e-7 -1 0 -1.10273e-7 -1 0 -1.10273e-7 -1 0 -1.10273e-7 -1 0 0.9999998 6.51317e-4 -6.11024e-13 0.9999998 6.51317e-4 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 2.44539e-8 1 0 2.44539e-8 1 0 2.44539e-8 1 0 2.44539e-8 1 1 0 0 1 0 0 1 0 0 1 0 0 0 -2.44539e-8 -1 0 -2.44539e-8 -1 0 -2.44539e-8 -1 0 -2.44539e-8 -1 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1.30567e-7 -2.28558e-7 -1 1.68944e-7 -2.96333e-7 -1 -5.90983e-8 -2.5016e-7 -1 -1.06023e-7 -2.34713e-7 -1 1.82876e-7 -3.20771e-7 -1 -7.93843e-8 -2.36668e-7 7.39325e-7 -1 2.37658e-7 0 -1 0 1.82529e-7 -1 5.86744e-8 9.21853e-7 -1 2.96333e-7 -4.60927e-7 -6.88853e-14 1 -4.60927e-7 0 1 -4.60927e-7 -8.98548e-15 1 -4.60927e-7 -7.78708e-14 1 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -5.92665e-7 -1 0 -5.92665e-7 -1 0 -5.92665e-7 -1 -2.49037e-7 -5.06819e-7 -1 -2.49037e-7 -5.06819e-7 -1 -2.49037e-7 -5.06819e-7 -4.00423e-7 -0.4952793 0.8687338 -4.00423e-7 -0.4952793 0.8687338 -4.00423e-7 -0.4952793 0.8687338 0 -0.4952789 0.868734 0 -0.4952789 0.8687341 0 -0.4952789 0.868734 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0.4952782 -0.8687345 0 0.4952782 -0.8687345 0 0.4952782 -0.8687345 0 0.4952782 -0.8687345 0 0.4952782 -0.8687345 0 0.4952782 -0.8687345 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -0.4952782 -0.8687345 0 -0.4952782 -0.8687344 0 -0.4952781 -0.8687344 0 -0.4952782 -0.8687345 0 -0.4952782 -0.8687344 0 -0.4952781 -0.8687344 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -1 -2.99963e-8 -3.58181e-7 -1 -1.02221e-7 -4.58289e-8 -1 -3.99212e-8 -1.73411e-7 -1 -3.23093e-8 -4.85334e-7 -1 -3.18579e-8 -4.92309e-7 -1 -9.30545e-8 -1.27403e-7 -1 -5.76775e-8 -2.63987e-7 -1 -4.88709e-8 -1.95574e-7 -1 -3.36656e-8 -3.5904e-7 -1 -1.73765e-7 1.23235e-7 -1 -1.79962e-7 2.84877e-7 + + + + + + + + + + 0.1889011 0.2758261 0 0.2256371 0.2758261 0 0.2256371 0.6486552 0 0.188901 0.6486552 0 0.2623734 0.2758261 0 0.2623734 0.6486552 0 0.2991094 0.2758261 0 0.2991095 0.6486552 0 0.3358451 0.275826 0 0.3358452 0.6486552 0 0.3725807 0.275826 0 0.3725807 0.6486552 0 0.9257745 0.70301 0 0.8734617 0.7549164 0 0.802001 0.7739153 0 0.7305403 0.7549164 0 0.6782273 0.7030097 0 0.6594725 0.6335595 0 0.4093161 0.2758261 0 0.4093161 0.6486552 0 0.03795872 0.6486552 0 0.03795872 0.2758261 0 0.5602581 0.2758261 0 0.5602581 0.6486552 0 0.9443399 0.6335346 0 0.061661 0.8492339 0 0.09246806 0.8492339 0 0.09246806 0.8621775 0 0.061661 0.8621775 0 0.1245703 0.8492339 0 0.4158128 0.7749463 0 0.4288802 0.7265559 0 0.4645816 0.6911321 0 0.5133504 0.6781658 0 0.5621194 0.6911321 0 0.5978206 0.7265559 0 0.6108883 0.7749462 0 0.1245703 0.8621775 0 0.1566722 0.8492339 0 0.1566722 0.8621775 0 0.1887741 0.8492339 0 0.1887741 0.8621775 0 0.2208759 0.8492339 0 0.2208759 0.8621775 0 0.2523189 0.8492339 0 0.2523189 0.8621775 0 0.3790478 0.8492339 0 0.3790478 0.8621775 0 0.2097653 0.9498755 0 0.3783371 0.826761 0 0.6594725 0.3437682 0 0.06166129 0.8267609 0 0.9445293 0.3437679 0 0.3783363 0.702438 0 0.6108882 0.9807906 0 0.0836773 0.9498755 0 0.0836773 0.9369324 0 0.2097653 0.9369324 0 0.061661 0.7024379 0 0.4158128 0.9807907 0 0.637657 0.6559129 0 0.6597634 0.7377743 0 0.6472197 0.7449604 0 0.6234784 0.6557912 0 0.7201594 0.7977016 0 0.7129173 0.8101482 0 0.802662 0.8196367 0 0.802662 0.8340079 0 0.8851648 0.7977016 0 0.8924065 0.8101479 0 0.2192692 0.9691411 0 0.0836773 0.9691411 0 0.9455608 0.7377743 0 0.9581041 0.7449604 0 0.9676672 0.6559129 0 0.9816576 0.6577407 0 0.9676669 0.3076856 0 0.9816576 0.2938034 0 0.637657 0.3076856 0 0.0836773 0.9573665 0 0.2192692 0.9573665 0 0.6236663 0.2938034 0 0.637657 0.6559129 0 0.973251 0.1941192 0 0.945253 0.1941192 0 0.945253 0.1408443 0 0.973251 0.1408443 0 0.04288544 0.1408443 0 0.04288544 0.194119 0 0.945253 0.03266054 0 0.945253 0.08657608 0 0.04288544 0.08657608 0 0.04288544 0.03266054 0 0.945253 0.2533531 0 0.04288544 0.253353 0 0.8747699 0.9740806 0 0.8747699 0.9228441 0 0.886499 0.9161604 0 0.9763682 0.91616 0 0.8582996 0.9740796 0 0.8582998 0.9228438 0 0.878347 0.9018502 0 0.6516011 0.9556062 0 0.7323457 0.9556062 0 0.748215 0.9695692 0 0.8864987 0.8996912 0 0.9763682 0.8996903 0 0.9763678 0.9634923 0 0.6516011 0.9695697 0 0.7428828 0.9448491 0 0.7428828 0.8624189 0 0.7587513 0.8624189 0 0.9577932 0.9740818 0 0.7587519 0.9588121 0 0.6609319 0.8997087 0 0.6875241 0.8997087 0 0.6875241 0.8657955 0 0.6875241 0.8926538 0 0.6875241 0.9294978 0 0.6609319 0.9294978 0 0.6609319 0.8926538 0 0.701803 0.8955842 0 0.7283945 0.9294978 0 0.701803 0.9294978 0 0.701803 0.90264 0 0.701803 0.8657949 0 0.7283945 0.8657949 0 0.7283945 0.90264 0 0.7283945 0.8955842 0 0.304611 0.9144163 0 0.2467109 0.9144163 0 0.304611 0.8910367 0 0.0836773 0.9144163 0 0.0836773 0.8877379 0 0.291526 0.9661621 0 0.2502185 0.9691411 0 0.6609319 0.8657955 0 0.8666169 0.9085327 0 0.9434043 0.8599022 0 0.9434043 0.8377851 0 0.9683194 0.8377851 0 0.9683194 0.8599022 0 0.9259688 0.8377851 0 0.9259688 0.8599022 0 0.878527 0.8599022 0 0.878527 0.8377851 0 0.2484647 0.9177151 0 0.3028572 0.8877379 0 0.289019 0.9691411 0 0.2484647 0.9658423 0 + + + + + + + + + + + + + + + +

0 0 0 1 1 1 7 2 2 7 2 2 13 3 3 0 0 0 1 1 1 2 4 4 8 5 5 8 5 5 7 2 2 1 1 1 2 4 4 3 6 6 9 7 7 9 7 7 8 5 5 2 4 4 3 6 6 4 8 8 10 9 9 10 9 9 9 7 7 3 6 6 4 8 8 5 10 10 11 11 11 11 11 11 10 9 9 4 8 8 5 10 10 6 12 18 12 13 19 12 13 19 11 11 11 5 10 10 27 14 12 28 15 13 29 16 14 29 17 14 30 18 15 31 19 16 27 20 12 29 21 14 31 22 16 27 23 12 31 24 16 32 25 17 27 26 12 32 27 17 35 28 24 5 29 31 4 30 32 3 31 33 3 32 33 2 33 34 1 34 35 3 35 33 1 36 35 0 37 36 5 38 31 3 39 33 0 40 36 6 41 30 5 42 31 0 43 36 0 0 0 13 3 3 15 44 20 15 44 20 14 45 21 0 0 0 35 46 24 32 47 17 33 48 50 33 49 50 34 50 52 35 51 24 12 13 19 6 12 18 17 52 22 17 52 22 16 53 23 12 13 19 6 54 30 0 55 36 14 56 54 14 57 54 17 58 59 6 59 30 14 60 49 15 61 51 17 62 53 15 63 51 16 64 58 17 65 53 13 66 60 7 67 61 19 68 62 19 69 62 18 70 63 13 71 60 7 72 61 8 73 64 20 74 65 20 75 65 19 76 62 7 77 61 8 78 64 9 79 66 21 80 67 21 81 67 20 82 65 8 83 64 9 84 66 10 85 68 22 86 69 22 87 69 21 88 67 9 89 66 10 90 68 11 91 72 23 92 73 23 93 73 22 94 69 10 95 68 11 96 72 12 97 74 24 98 75 24 99 75 23 100 73 11 101 72 12 102 74 16 103 76 25 104 77 25 105 77 24 106 75 12 107 74 16 108 76 15 109 78 26 110 81 26 111 81 25 112 77 16 113 76 15 114 78 13 115 82 18 116 63 18 117 63 26 118 81 15 119 78 18 120 25 19 121 26 27 122 27 27 122 27 35 123 28 18 120 25 19 121 26 20 124 29 28 125 37 28 125 37 27 122 27 19 121 26 20 124 29 21 126 38 29 127 39 29 127 39 28 125 37 20 124 29 21 126 38 22 128 40 30 129 41 30 129 41 29 127 39 21 126 38 22 128 40 23 130 42 31 131 43 31 131 43 30 129 41 22 128 40 23 130 42 24 132 44 32 133 45 32 133 45 31 131 43 23 130 42 24 132 44 25 134 46 33 135 47 33 135 47 32 133 45 24 132 44 25 136 70 26 137 71 34 138 79 34 139 79 33 140 80 25 141 70 26 142 48 18 120 55 35 123 56 35 123 56 34 143 57 26 142 48 36 144 83 38 145 84 39 146 85 39 146 85 37 147 86 36 144 83 36 148 89 37 149 90 41 150 91 41 150 91 40 151 92 36 148 89 37 152 90 39 153 85 43 154 87 43 154 87 41 155 91 37 152 90 39 156 85 38 157 84 42 158 88 42 158 88 43 159 87 39 156 85 38 160 84 36 161 93 40 162 94 40 162 94 42 163 88 38 160 84 47 164 95 56 165 96 48 166 97 47 164 95 48 166 97 50 167 98 50 167 98 49 168 107 51 169 112 47 164 95 50 167 98 51 169 112 44 170 99 45 171 100 56 172 96 56 172 96 47 173 95 44 170 99 55 174 105 46 175 106 50 176 98 50 176 98 48 177 97 55 174 105 46 178 102 55 179 103 52 180 104 52 181 104 53 182 108 46 183 102 45 184 109 44 185 110 54 186 111 54 187 111 57 188 113 45 189 109 45 190 137 55 191 101 48 192 97 48 193 97 56 194 96 45 195 137 55 196 103 45 197 109 57 198 113 57 199 113 52 200 104 55 201 103 64 202 117 59 203 120 61 204 136 61 204 136 60 205 116 64 202 117 65 206 114 58 207 115 62 208 118 62 209 118 63 210 119 65 211 114 64 212 117 58 213 115 65 214 114 65 215 114 59 216 120 64 217 117 72 218 127 68 219 122 69 220 123 69 220 123 67 221 124 72 218 127 73 222 121 71 223 125 70 224 126 70 225 126 66 226 128 73 227 121 72 228 127 67 229 124 73 230 121 73 231 121 66 232 128 72 233 127 85 234 143 86 235 142 82 236 139 82 236 139 81 237 138 85 234 143 81 238 138 82 239 139 84 240 140 84 241 140 83 242 141 81 243 138 86 244 142 85 245 143 87 246 144 87 247 144 88 248 145 86 249 142 76 250 129 80 251 135 92 252 149 74 253 132 75 254 133 90 255 147 90 255 147 77 256 130 74 253 132 89 257 146 77 256 130 90 255 147 90 255 147 78 258 131 89 257 146 89 257 146 78 258 131 76 250 129 76 250 129 92 252 149 89 257 146 79 259 134 91 260 148 80 251 135 80 251 135 76 250 129 79 259 134

+ + + + + + + + + 0 0 0 + + + + + + + + + + + 5.33851e-8 0.7071068 0.7071068 -180 + 0.0367934 0.0367934 0.06453677 + + 1 0 0 0 0 1 0 979.6222 0 0 1 -3.708471 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/mailbox/model-1_3.sdf b/turtlebot3_manipulation_bringup/models/mailbox/model-1_3.sdf new file mode 100644 index 0000000..c7b779a --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/model-1_3.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/mailbox/model-1_4.sdf b/turtlebot3_manipulation_bringup/models/mailbox/model-1_4.sdf new file mode 100644 index 0000000..4015c67 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/model-1_4.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/mailbox/model.config b/turtlebot3_manipulation_bringup/models/mailbox/model.config new file mode 100644 index 0000000..7433395 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/model.config @@ -0,0 +1,24 @@ + + + + Mailbox + 1.0 + model-1_3.sdf + model-1_4.sdf + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + natekoenig@gmail.com + + + + A mailbox. + + + diff --git a/turtlebot3_manipulation_bringup/models/mailbox/model.sdf b/turtlebot3_manipulation_bringup/models/mailbox/model.sdf new file mode 100644 index 0000000..2aa16af --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/mailbox/model.sdf @@ -0,0 +1,28 @@ + + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + model://mailbox/meshes/mailbox.dae + + + + + + + + + diff --git a/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/1.png b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/1.png new file mode 100644 index 0000000..9337cd8 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/1.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/2.png b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/2.png new file mode 100644 index 0000000..3d1e873 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/2.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/3.png b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/3.png new file mode 100644 index 0000000..da9a0e9 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/3.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/4.png b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/4.png new file mode 100644 index 0000000..b644a2d Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/4.png differ diff --git a/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/5.png b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/5.png new file mode 100644 index 0000000..c72a7da Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/mailbox/thumbnails/5.png differ diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_exterior.dae b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_exterior.dae new file mode 100644 index 0000000..6a6caca --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_exterior.dae @@ -0,0 +1,112 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-18T19:51:04 + 2024-12-18T19:51:04 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + + + + + + + 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 19.11 0.1 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 0 21.05 0 0 1.78 9.57 0 21.05 9.57 0 0.1 0.1 0 1.78 6.949999 0 20.95 9.470001 0 20.95 0.1 0 1.88 6.85 0 1.88 9.470001 0 0.1 6.85 0 0.02058047 6.949999 0 2.75 6.9 0 3.5 6.9 0 3.5 7.502359 0 2.75 7.5 0 19.11 0.1 0 20.03 0.1 0 19.11 0.86 0 20.03 0.86 0 16.89 7.589999 0 16.89 6.83 0 18.06 6.83 0 18.06 7.59 0 0 0 2.411758 21.05 0 2.411758 1.78 9.57 2.411758 21.05 9.57 2.411758 0.1 0.1 2.411758 1.78 6.949999 2.411758 20.95 9.470001 2.411758 20.95 0.1 2.411758 1.88 6.85 2.411758 1.88 9.470001 2.411758 0.1 6.85 2.411758 0.02058047 6.949999 2.411758 2.75 6.9 2.411758 3.5 6.9 2.411758 3.5 7.502359 2.411758 2.75 7.5 2.411758 19.11 0.1 2.411758 20.03 0.1 2.411758 19.11 0.86 2.411758 20.03 0.86 2.411758 16.89 7.589999 2.411758 16.89 6.83 2.411758 18.06 6.83 2.411758 18.06 7.59 2.411758 7.57 0 0 5.389999 0 0 7.57 0.1 0 5.39 0.1 0 7.57 0 2.411758 14.9 0.1 0 5.389999 0 1.999999 7.57 0 2 5.389999 0 2.411757 13.8 0.1 0 7.57 0.1 2.411758 7.57 0.1 2 5.39 0.1 2 14.9 0.1 2.411758 13.8 0.1 2 14.9 0.1 2 13.8 0 2.411758 13.8 0 0 14.9 0 0 14.9 0 2 13.8 0 2 + + + + + + + + + + 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -1 0 0 0 0 1 0 0 1 0 0 1 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 1 -3.95808e-7 0 0 0 -1 -0.003146469 0.9999951 0 -1 0 0 -1 -3.97365e-7 0 0 1 0 0 -4.76837e-6 1 -0.7071169 0.7070967 0 -1 0 0 0.7071189 0.7070947 0 0.7071068 -0.7071068 0 0 0 -1 -1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -0.9999957 0.002961158 0 -4.07554e-7 1 0 2.7102e-7 1 0 1 0 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 1 -9.53674e-6 0 3.82782e-7 8.34465e-6 -1 -1 0 0 0 0 -1 0 1 0 0 0 1 0 1 0 0 -1 0 0 1.19209e-6 -1 -1 0 0 1 -2.86102e-5 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 0 1 0 0 1 -1 0 0 0 1 0 0 0 1 0 0 1 0 0 1 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 1 -3.95808e-7 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -0.003146469 0.9999951 0 -1 0 0 -1 -3.97365e-7 0 0 1 0 1.32701e-7 -1.32701e-7 1 0 -7.15256e-6 1 -2.18733e-7 -2.38419e-6 1 0 -4.04489e-6 1 0 0 1 0 -2.38419e-6 1 -0.7071169 0.7070967 0 -1 0 0 0.7071189 0.7070947 0 0.7071068 -0.7071068 0 0 0 -1 -1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 1 0 0 1 0 0 -0.9999957 0.002961158 0 -4.07554e-7 1 0 2.7102e-7 1 0 1 0 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 1 -9.53674e-6 0 0 0 -1 -1 0 0 0 0 -1 0 1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 -1 0 0 1.19209e-6 -1 -1 0 0 1 -2.86102e-5 0 0 0 -1 0 1 0 0 1 0 0 1 0 0 -1 0 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + -3.872499 1.582499 -3.872499 2.8925 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.8425 5.252501 -1.8425 -4.712499 1.5325 -4.712499 -1.8425 -4.712499 -1.8425 4.267499 1.5225 3.6825 1.5225 3.6825 1.5225 -4.712499 1.5325 -3.822499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.5225 4.267499 1.5225 -3.822499 2.8425 -3.822499 1.5325 -3.822499 1.5325 -4.752209 1.5825 -4.762499 -1.8925 -4.762499 -1.8925 4.267499 1.9025 3.6825 1.9025 3.6825 1.9025 5.762499 -1.8925 -4.762499 -1.8925 -4.762499 -1.8925 -4.752209 1.5825 -3.872499 1.582499 -3.872499 1.582499 5.762499 2.8925 5.762499 -1.8925 5.762499 -1.8925 -3.0125 1.5575 -3.387499 1.5575 -3.387499 1.5575 -3.872499 2.8925 5.762499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.0125 1.5575 -3.0125 1.5575 -3.3875 1.8575 -3.012499 1.85868 -3.012499 1.85868 5.712501 -1.8425 5.712501 2.8425 5.712501 2.8425 -3.3875 1.8575 -3.387499 1.5575 -3.387499 1.5575 5.712501 -1.8425 5.252501 -1.8425 5.252501 -1.8425 5.712501 2.8425 5.762499 2.8925 5.762499 2.8925 3.6825 1.5225 3.6825 1.9025 3.6825 1.9025 5.712501 -1.8425 5.762499 -1.8925 5.762499 -1.8925 -4.712499 -1.8425 -4.762499 -1.8925 -4.762499 -1.8925 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 -3.822499 2.8425 -3.822499 1.5325 -3.822499 1.5325 -4.752209 1.5825 -4.762499 -1.8925 -4.762499 -1.8925 4.267499 1.9025 3.6825 1.9025 3.6825 1.9025 -4.752209 1.5825 -3.872499 1.582499 -3.872499 1.582499 5.762499 2.8925 5.762499 -1.8925 5.762499 -1.8925 -3.0125 1.5575 -3.387499 1.5575 -3.387499 1.5575 -3.872499 2.8925 5.762499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.0125 1.5575 -3.0125 1.5575 -3.3875 1.8575 -3.012499 1.85868 -3.012499 1.85868 5.712501 -1.8425 5.712501 2.8425 5.712501 2.8425 -3.3875 1.8575 -3.387499 1.5575 -3.387499 1.5575 5.712501 -1.8425 5.252501 -1.8425 5.252501 -1.8425 4.792501 -0.1029395 4.792501 1.10294 4.792501 1.10294 5.712501 2.8425 5.762499 2.8925 5.762499 2.8925 3.6825 1.5225 3.6825 1.9025 3.6825 1.9025 5.712501 -1.8425 5.762499 -1.8925 5.762499 -1.8925 5.252501 1.10294 4.792501 -0.1029395 5.252501 -0.1029395 -4.712499 -1.8425 -4.762499 -1.8925 -4.762499 -1.8925 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 -3.872499 1.582499 -3.872499 2.8925 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.8425 5.252501 -1.8425 -4.712499 1.5325 -4.712499 -1.8425 -4.712499 -1.8425 4.267499 1.5225 3.6825 1.5225 3.6825 1.5225 -4.712499 1.5325 -3.822499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.5225 4.267499 1.5225 -3.872499 -0.1029395 5.762499 1.10294 5.762499 -0.1029395 1.85868 -0.1029395 1.5575 1.10294 1.5575 -0.1029395 -3.822499 1.5325 -4.712499 1.5325 -3.872499 1.582499 -3.3875 -0.1029395 -3.012499 1.10294 -3.012499 -0.1029395 -1.8425 -0.1029395 2.8425 1.10294 2.8425 -0.1029395 1.5575 1.10294 1.8575 -0.1029395 1.5575 -0.1029395 5.252501 1.10294 5.712501 -0.1029395 5.252501 -0.1029395 2.1375 -1.8925 2.6875 -1.8425 -0.9774995 -1.8425 2.8425 -0.1029395 2.8925 1.10294 2.8925 -0.1029395 1.5225 -0.1029395 1.9025 1.10294 1.9025 -0.1029395 -1.8425 -0.1029395 -1.8925 1.10294 -1.8925 -0.1029395 -4.712499 -0.1029395 -4.762499 1.10294 -4.762499 -0.1029395 2.1375 -1.8925 -0.9774995 -1.8425 2.137501 -1.8425 1.582499 -0.1029395 2.8925 1.10294 2.8925 -0.1029395 -1.8425 1.10294 -1.4625 -0.1029395 -1.4625 1.10294 1.5325 -0.1029395 -1.8425 1.10294 -1.8425 -0.1029395 4.267499 -0.1029395 3.6825 1.10294 3.6825 -0.1029395 -3.822499 1.10294 -4.712499 -0.1029395 -3.822499 -0.1029395 1.9025 -0.1029395 1.5225 1.10294 1.5225 -0.1029395 2.8425 -0.1029395 1.5325 1.10294 1.5325 -0.1029395 -1.8925 1.10294 1.5825 -0.1029395 -1.8925 -0.1029395 3.6825 1.10294 4.267499 -0.1029395 3.6825 -0.1029395 -4.752209 -0.1029395 -3.872499 1.10294 -3.872499 -0.1029395 2.8925 -0.1029395 -1.8925 1.10294 -1.8925 -0.1029395 -3.0125 -0.1029395 -3.387499 1.10294 -3.387499 -0.1029395 -3.0125 1.5575 -3.3875 1.8575 -3.387499 1.5575 3.6825 1.9025 4.267499 1.5225 4.267499 1.9025 5.762499 2.8925 5.712501 -1.8425 5.762499 -1.8925 -3.3875 1.8575 -3.0125 1.5575 -3.387499 1.5575 2.1375 1.102939 2.1375 0.8970604 2.6875 0.8970604 3.6825 1.9025 4.267499 1.5225 3.6825 1.5225 4.792501 -1.8425 5.252501 -1.4625 4.792501 -1.4625 4.792501 -1.4625 5.252501 -1.8425 4.792501 -1.8425 5.712501 -1.8425 5.762499 2.8925 5.762499 -1.8925 -2.0675 1.102939 -0.9774995 0.8970604 -0.9774993 1.102939 -2.0675 1.102939 -4.762499 -0.1029395 -2.0675 -0.1029395 -1.8925 0.89706 -1.8425 -0.1029395 -1.8425 0.8970604 -2.067499 -1.8425 -0.9774995 -1.8925 -2.0675 -1.8925 -1.8425 0.8970604 -1.8925 -0.1029395 -1.8925 0.8970604 -4.712499 -1.8425 -2.0675 -1.8925 -4.762499 -1.8925 4.792501 -0.1029395 5.252501 1.10294 5.252501 -0.1029395 -3.822499 1.5325 -3.822499 2.8425 -3.872499 1.582499 -0.9774995 1.10294 2.6875 1.10294 2.137501 0.8970605 2.1375 -0.1029395 -0.9774993 1.102939 -0.9774995 -0.1029395 2.137501 -1.8425 2.6875 -1.8925 2.1375 -1.8925 -1.8425 -0.1029395 -1.8925 0.8970604 -1.8425 0.8970605 -1.8925 0.8970604 -1.8425 -0.1029395 -1.8425 0.8970605 2.6875 -1.8925 5.712501 -1.8425 5.762499 -1.8925 -0.9774995 1.10294 -0.9774995 0.8970604 -2.067499 0.8970604 -3.822499 1.10294 5.712501 -0.1029395 5.712501 1.10294 -3.872499 1.582499 -3.872499 1.582499 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 -4.712499 1.5325 -4.712499 1.5325 -4.712499 -1.8425 4.267499 1.5225 4.267499 1.5225 3.6825 1.5225 -4.712499 1.5325 -4.712499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.9025 4.267499 1.5225 -3.822499 2.8425 -3.822499 2.8425 -3.822499 1.5325 -4.752209 1.5825 -4.752209 1.5825 -4.762499 -1.8925 4.267499 1.9025 4.267499 1.9025 3.6825 1.9025 5.762499 -1.8925 5.762499 -1.8925 -4.762499 -1.8925 -4.752209 1.5825 -4.752209 1.5825 -3.872499 1.582499 5.762499 2.8925 5.762499 2.8925 5.762499 -1.8925 -3.0125 1.5575 -3.0125 1.5575 -3.387499 1.5575 -3.872499 2.8925 -3.872499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.012499 1.85868 -3.0125 1.5575 -3.3875 1.8575 -3.3875 1.8575 -3.012499 1.85868 5.712501 -1.8425 5.712501 -1.8425 5.712501 2.8425 -3.3875 1.8575 -3.3875 1.8575 -3.387499 1.5575 5.712501 -1.8425 5.712501 -1.8425 5.252501 -1.8425 5.712501 2.8425 5.712501 2.8425 5.762499 2.8925 3.6825 1.5225 3.6825 1.5225 3.6825 1.9025 5.712501 -1.8425 5.712501 -1.8425 5.762499 -1.8925 -4.712499 -1.8425 -4.712499 -1.8425 -4.762499 -1.8925 5.252501 -1.4625 5.252501 -1.4625 4.792501 -1.4625 -3.822499 2.8425 -3.822499 2.8425 -3.822499 1.5325 -4.752209 1.5825 -4.752209 1.5825 -4.762499 -1.8925 4.267499 1.9025 4.267499 1.9025 3.6825 1.9025 -4.752209 1.5825 -4.752209 1.5825 -3.872499 1.582499 5.762499 2.8925 5.762499 2.8925 5.762499 -1.8925 -3.0125 1.5575 -3.0125 1.5575 -3.387499 1.5575 -3.872499 2.8925 -3.872499 2.8925 5.762499 2.8925 -3.012499 1.85868 -3.012499 1.85868 -3.0125 1.5575 -3.3875 1.8575 -3.3875 1.8575 -3.012499 1.85868 5.712501 -1.8425 5.712501 -1.8425 5.712501 2.8425 -3.3875 1.8575 -3.3875 1.8575 -3.387499 1.5575 5.712501 -1.8425 5.712501 -1.8425 5.252501 -1.8425 4.792501 -0.1029395 2.6875 -0.1029395 2.6875 0.8970605 2.6875 0.8970605 2.6875 1.10294 4.792501 1.10294 4.792501 1.10294 5.252501 1.10294 4.792501 1.10294 5.252501 1.10294 5.252501 1.10294 4.792501 1.10294 4.792501 1.10294 4.792501 -0.1029395 4.792501 -0.1029395 4.792501 -0.1029395 2.6875 0.8970605 4.792501 1.10294 5.712501 2.8425 5.712501 2.8425 5.762499 2.8925 3.6825 1.5225 3.6825 1.5225 3.6825 1.9025 5.712501 -1.8425 5.712501 -1.8425 5.762499 -1.8925 5.252501 1.10294 4.792501 1.10294 4.792501 -0.1029395 -4.712499 -1.8425 -4.712499 -1.8425 -4.762499 -1.8925 5.252501 -1.4625 5.252501 -1.4625 4.792501 -1.4625 -3.872499 1.582499 -3.872499 1.582499 -3.872499 2.8925 5.252501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 -4.712499 1.5325 -4.712499 1.5325 -4.712499 -1.8425 4.267499 1.5225 4.267499 1.5225 3.6825 1.5225 -4.712499 1.5325 -4.712499 1.5325 -3.822499 1.5325 4.267499 1.9025 4.267499 1.9025 4.267499 1.5225 -3.872499 -0.1029395 -3.872499 1.10294 5.762499 1.10294 1.85868 -0.1029395 1.85868 1.10294 1.5575 1.10294 -4.712499 1.5325 -4.712499 -1.8425 -4.762499 -1.8925 -3.872499 2.8925 5.762499 2.8925 -3.822499 2.8425 5.762499 2.8925 5.712501 2.8425 -3.822499 2.8425 -3.872499 1.582499 -3.872499 2.8925 -3.822499 2.8425 -4.712499 1.5325 -4.762499 -1.8925 -4.752209 1.5825 -3.872499 1.582499 -3.822499 2.8425 -3.822499 1.5325 -4.712499 1.5325 -4.752209 1.5825 -3.872499 1.582499 -3.3875 -0.1029395 -3.3875 1.10294 -3.012499 1.10294 -1.8425 -0.1029395 -1.8425 1.10294 2.8425 1.10294 1.5575 1.10294 1.8575 1.10294 1.8575 -0.1029395 5.252501 1.10294 5.712501 1.10294 5.712501 -0.1029395 -4.712499 -1.8425 -4.762499 -1.8925 -2.0675 -1.8925 -4.712499 -1.8425 -2.0675 -1.8925 -0.9774995 -1.8425 -2.0675 -1.8925 -0.9774993 -1.8925 -0.9774995 -1.8425 2.1375 -1.8925 5.762499 -1.8925 2.6875 -1.8425 5.762499 -1.8925 5.712501 -1.8425 2.6875 -1.8425 -0.9774995 -1.8425 -0.9774993 -1.8925 2.1375 -1.8925 2.8425 -0.1029395 2.8425 1.10294 2.8925 1.10294 1.5225 -0.1029395 1.5225 1.10294 1.9025 1.10294 -1.8425 -0.1029395 -1.8425 1.10294 -1.8925 1.10294 -4.712499 -0.1029395 -4.712499 1.10294 -4.762499 1.10294 2.1375 -1.8925 -0.9774995 -1.8925 -0.9774995 -1.8425 1.582499 -0.1029395 1.582499 1.10294 2.8925 1.10294 -1.8425 1.10294 -1.8425 -0.1029395 -1.4625 -0.1029395 1.5325 -0.1029395 1.5325 1.10294 -1.8425 1.10294 4.267499 -0.1029395 4.267499 1.10294 3.6825 1.10294 -3.822499 1.10294 -4.712499 1.10294 -4.712499 -0.1029395 1.9025 -0.1029395 1.9025 1.10294 1.5225 1.10294 2.8425 -0.1029395 2.8425 1.10294 1.5325 1.10294 -1.8925 1.10294 1.5825 1.10294 1.5825 -0.1029395 3.6825 1.10294 4.267499 1.10294 4.267499 -0.1029395 -4.752209 -0.1029395 -4.752209 1.10294 -3.872499 1.10294 2.8925 -0.1029395 2.8925 1.10294 -1.8925 1.10294 -3.0125 -0.1029395 -3.0125 1.10294 -3.387499 1.10294 -3.0125 1.5575 -3.012499 1.85868 -3.3875 1.8575 3.6825 1.9025 3.6825 1.5225 4.267499 1.5225 5.762499 2.8925 5.712501 2.8425 5.712501 -1.8425 -3.3875 1.8575 -3.012499 1.85868 -3.0125 1.5575 2.6875 0.8970604 2.6875 -0.1029395 5.762499 -0.1029395 5.762499 -0.1029395 5.762499 1.10294 2.6875 0.8970604 5.762499 1.10294 2.1375 1.102939 2.6875 0.8970604 3.6825 1.9025 4.267499 1.9025 4.267499 1.5225 4.792501 -1.8425 5.252501 -1.8425 5.252501 -1.4625 4.792501 -1.4625 5.252501 -1.4625 5.252501 -1.8425 5.712501 -1.8425 5.712501 2.8425 5.762499 2.8925 -2.0675 1.102939 -2.0675 0.89706 -0.9774995 0.8970604 -2.0675 1.102939 -4.762499 1.10294 -4.762499 -0.1029395 -1.8925 0.89706 -1.8925 -0.1029395 -1.8425 -0.1029395 -2.067499 -1.8425 -0.9774995 -1.8425 -0.9774995 -1.8925 -1.8425 0.8970604 -1.8425 -0.1029395 -1.8925 -0.1029395 -4.712499 -1.8425 -2.067499 -1.8425 -2.0675 -1.8925 4.792501 -0.1029395 4.792501 1.10294 5.252501 1.10294 -3.822499 2.8425 5.712501 2.8425 5.762499 2.8925 -4.752209 1.5825 -4.762499 -1.8925 -4.712499 1.5325 -4.762499 -1.8925 -4.712499 -1.8425 -4.712499 1.5325 -3.872499 1.582499 -4.752209 1.5825 -4.712499 1.5325 -3.822499 2.8425 5.762499 2.8925 -3.872499 2.8925 -3.872499 1.582499 -4.712499 1.5325 -3.822499 1.5325 -3.822499 2.8425 -3.872499 2.8925 -3.872499 1.582499 2.6875 1.10294 2.6875 0.8970605 2.137501 0.8970605 2.137501 0.8970605 2.137501 -0.1029395 -0.9774995 -0.1029395 -0.9774995 -0.1029395 -0.9774995 1.10294 2.137501 0.8970605 2.1375 -0.1029395 2.1375 1.102939 -0.9774993 1.102939 2.137501 -1.8425 2.6875 -1.8425 2.6875 -1.8925 -1.8425 -0.1029395 -1.8925 -0.1029395 -1.8925 0.8970604 -1.8925 0.8970604 -1.8925 -0.1029395 -1.8425 -0.1029395 2.6875 -1.8925 2.6875 -1.8425 5.712501 -1.8425 -2.067499 -0.1029395 -4.712499 -0.1029395 -2.067499 0.8970604 -4.712499 -0.1029395 -4.712499 1.10294 -2.067499 0.8970604 -4.712499 1.10294 -0.9774995 1.10294 -2.067499 0.8970604 -3.822499 1.10294 -3.822499 -0.1029395 5.712501 -0.1029395 + + + + + + + + + + + + + + + +

5 0 0 26 0 1 2 0 2 19 1 3 40 1 4 17 1 5 10 2 6 28 2 7 4 2 8 22 3 9 44 3 10 21 3 11 10 4 12 32 4 13 8 4 14 23 5 15 45 5 16 22 5 17 9 6 18 32 6 19 8 6 20 11 7 21 24 7 22 0 7 23 23 8 24 43 8 25 20 8 26 1 9 27 24 9 28 0 9 29 11 10 30 29 10 31 5 10 32 3 11 33 25 11 34 1 11 35 13 12 36 36 12 37 12 12 38 2 13 39 27 13 40 3 13 41 14 14 42 37 14 43 13 14 44 15 15 45 38 15 46 14 15 47 7 16 48 30 16 49 6 16 50 15 17 51 36 17 52 12 17 53 7 18 54 40 18 55 17 18 56 6 19 57 27 19 58 3 19 59 21 20 60 43 20 61 20 20 62 7 21 63 25 21 64 1 21 65 4 22 66 24 22 67 0 22 68 19 23 69 41 23 70 18 23 71 33 24 72 55 24 73 32 24 74 35 25 75 47 25 76 24 25 77 46 26 78 67 26 79 43 26 80 35 27 81 52 27 82 29 27 83 27 28 84 48 28 85 25 28 86 37 29 87 59 29 88 36 29 89 26 30 90 50 30 91 27 30 92 38 31 93 60 31 94 37 31 95 39 32 96 61 32 97 38 32 98 31 33 99 53 33 100 30 33 101 39 34 102 59 34 103 36 34 104 31 35 105 64 35 106 40 35 107 63 36 108 87 36 109 89 36 110 30 37 111 50 37 112 27 37 113 44 38 114 67 38 115 43 38 116 31 39 117 48 39 118 25 39 119 88 40 120 16 40 121 17 40 122 28 41 123 47 41 124 24 41 125 42 42 126 65 42 127 41 42 128 29 43 129 49 43 130 26 43 131 42 44 132 64 44 133 40 44 134 34 45 135 51 45 136 28 45 137 45 46 138 68 46 139 44 46 140 34 47 141 55 47 142 32 47 143 46 48 144 69 48 145 45 48 146 49 49 147 74 49 148 50 49 149 61 50 150 84 50 151 60 50 152 55 51 153 57 51 154 52 51 155 62 52 156 85 52 157 61 52 158 54 53 159 77 53 160 53 53 161 83 54 162 62 54 163 59 54 164 88 55 165 54 55 166 64 55 167 111 56 168 108 56 169 105 56 170 53 57 171 74 57 172 50 57 173 68 58 174 91 58 175 67 58 176 54 59 177 72 59 178 48 59 179 51 60 180 71 60 181 47 60 182 112 61 183 97 61 184 104 61 185 52 62 186 73 62 187 49 62 188 88 63 189 66 63 190 90 63 191 57 64 192 75 64 193 51 64 194 69 65 195 92 65 196 68 65 197 79 66 198 57 66 199 55 66 200 70 67 201 93 67 202 69 67 203 56 68 204 79 68 205 55 68 206 71 69 207 58 69 208 47 69 209 91 70 210 70 70 211 67 70 212 58 71 213 76 71 214 52 71 215 50 72 216 72 72 217 48 72 218 60 73 219 83 73 220 59 73 221 84 74 222 86 74 223 83 74 224 91 75 225 93 75 226 94 75 227 74 76 228 78 76 229 72 76 230 62 77 231 60 77 232 59 77 233 111 78 234 115 78 235 114 78 236 67 79 237 69 79 238 68 79 239 87 80 240 90 80 241 89 80 242 65 81 243 64 81 244 63 81 245 54 82 246 50 82 247 48 82 248 103 83 249 102 83 250 99 83 251 103 84 252 47 84 253 96 84 254 101 85 255 98 85 256 107 85 257 107 86 258 102 86 259 101 86 260 106 87 261 95 87 262 102 87 263 51 88 264 96 88 265 47 88 266 65 89 267 90 89 268 66 89 269 79 90 270 80 90 271 76 90 272 105 91 273 108 91 274 109 91 275 112 92 276 99 92 277 95 92 278 109 93 279 114 93 280 115 93 281 100 94 282 114 94 283 110 94 284 115 95 285 104 95 286 109 95 287 113 96 288 54 96 289 48 96 290 105 97 291 106 97 292 107 97 293 80 98 294 53 98 295 77 98 296 5 99 297 29 99 298 26 99 299 19 100 300 42 100 301 40 100 302 10 101 303 34 101 304 28 101 305 22 102 306 45 102 307 44 102 308 10 103 309 34 103 310 32 103 311 23 104 312 46 104 313 45 104 314 9 105 315 33 105 316 32 105 317 11 106 318 35 106 319 24 106 320 23 107 321 46 107 322 43 107 323 1 108 324 25 108 325 24 108 326 11 109 327 35 109 328 29 109 329 3 110 330 27 110 331 25 110 332 13 111 333 37 111 334 36 111 335 2 112 336 26 112 337 27 112 338 14 113 339 38 113 340 37 113 341 15 114 342 39 114 343 38 114 344 7 115 345 31 115 346 30 115 347 15 116 348 39 116 349 36 116 350 7 117 351 31 117 352 40 117 353 6 118 354 30 118 355 27 118 356 21 119 357 44 119 358 43 119 359 7 120 360 31 120 361 25 120 362 4 121 363 28 121 364 24 121 365 19 122 366 42 122 367 41 122 368 33 123 369 56 123 370 55 123 371 35 124 372 58 124 373 47 124 374 46 125 375 70 125 376 67 125 377 35 126 378 58 126 379 52 126 380 27 127 381 50 127 382 48 127 383 37 128 384 60 128 385 59 128 386 26 129 387 49 129 388 50 129 389 38 130 390 61 130 391 60 130 392 39 131 393 62 131 394 61 131 395 31 132 396 54 132 397 53 132 398 39 133 399 62 133 400 59 133 401 31 134 402 54 134 403 64 134 404 63 135 405 100 135 406 110 135 407 110 136 408 108 136 409 87 136 410 87 137 411 88 137 412 89 137 413 88 138 414 90 138 415 89 138 416 89 139 417 65 139 418 63 139 419 63 140 420 110 140 421 87 140 422 30 141 423 53 141 424 50 141 425 44 142 426 68 142 427 67 142 428 31 143 429 54 143 430 48 143 431 88 144 432 87 144 433 16 144 434 28 145 435 51 145 436 47 145 437 42 146 438 66 146 439 65 146 440 29 147 441 52 147 442 49 147 443 42 148 444 66 148 445 64 148 446 34 149 447 57 149 448 51 149 449 45 150 450 69 150 451 68 150 452 34 151 453 57 151 454 55 151 455 46 152 456 70 152 457 69 152 458 49 153 459 73 153 460 74 153 461 61 154 462 85 154 463 84 154 464 57 155 465 51 155 466 47 155 467 49 156 468 50 156 469 56 156 470 50 157 471 53 157 472 56 157 473 52 158 474 49 158 475 56 158 476 57 159 477 47 159 478 58 159 479 52 160 480 56 160 481 55 160 482 57 161 483 58 161 484 52 161 485 62 162 486 86 162 487 85 162 488 54 163 489 78 163 490 77 163 491 83 164 492 86 164 493 62 164 494 88 165 495 78 165 496 54 165 497 75 166 498 71 166 499 103 166 500 75 167 501 103 167 502 105 167 503 103 168 504 99 168 505 105 168 506 111 169 507 72 169 508 108 169 509 72 170 510 78 170 511 108 170 512 105 171 513 99 171 514 111 171 515 53 172 516 77 172 517 74 172 518 68 173 519 92 173 520 91 173 521 54 174 522 78 174 523 72 174 524 51 175 525 75 175 526 71 175 527 112 176 528 95 176 529 97 176 530 52 177 531 76 177 532 73 177 533 88 178 534 64 178 535 66 178 536 57 179 537 81 179 538 75 179 539 69 180 540 93 180 541 92 180 542 79 181 543 81 181 544 57 181 545 70 182 546 94 182 547 93 182 548 56 183 549 80 183 550 79 183 551 71 184 552 82 184 553 58 184 554 91 185 555 94 185 556 70 185 557 58 186 558 82 186 559 76 186 560 50 187 561 74 187 562 72 187 563 60 188 564 84 188 565 83 188 566 84 189 567 85 189 568 86 189 569 91 190 570 92 190 571 93 190 572 74 191 573 77 191 574 78 191 575 62 192 576 61 192 577 60 192 578 114 193 579 113 193 580 48 193 581 48 194 582 72 194 583 114 194 584 72 195 585 111 195 586 114 195 587 67 196 588 70 196 589 69 196 590 87 197 591 88 197 592 90 197 593 65 198 594 66 198 595 64 198 596 54 199 597 53 199 598 50 199 599 103 200 600 101 200 601 102 200 602 103 201 603 71 201 604 47 201 605 101 202 606 96 202 607 98 202 608 107 203 609 106 203 610 102 203 611 106 204 612 97 204 613 95 204 614 51 205 615 98 205 616 96 205 617 65 206 618 89 206 619 90 206 620 80 207 621 77 207 622 74 207 623 82 208 624 71 208 625 81 208 626 71 209 627 75 209 628 81 209 629 76 210 630 82 210 631 81 210 632 80 211 633 74 211 634 73 211 635 76 212 636 81 212 637 79 212 638 80 213 639 73 213 640 76 213 641 108 214 642 110 214 643 109 214 644 109 215 645 104 215 646 97 215 647 97 216 648 105 216 649 109 216 650 112 217 651 111 217 652 99 217 653 109 218 654 110 218 655 114 218 656 100 219 657 113 219 658 114 219 659 115 220 660 112 220 661 104 220 662 113 221 663 100 221 664 54 221 665 98 222 666 51 222 667 107 222 668 51 223 669 75 223 670 107 223 671 75 224 672 105 224 673 107 224 674 80 225 675 56 225 676 53 225 677

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_floor.dae b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_floor.dae new file mode 100644 index 0000000..a036a4f --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_floor.dae @@ -0,0 +1,126 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-18T19:56:54 + 2024-12-18T19:56:54 + + Z_UP + + + + + + + smooth_concrete_floor_diff_png + + + + + smooth_concrete_floor_diff_png-surface + + + + + + 0 0 0 1 + + + + + + 1.45 + + + + + + + + + smooth_concrete_floor_diff.jpg + + + + + + + + + + + + 0 0 0 21.05 0 0 21.05 9.57 0 21.05 0 0.09999996 21.05 9.57 0.09999996 1.78 6.949999 0 0 6.949999 0 1.78 9.57 0 1.78 6.949999 0.00999999 1.78 9.57 0.00999999 0 6.949999 0.00999999 0 0 0.00999999 + + + + + + + + + + -1 0 0 1 0 0 0 1 -4.76837e-5 0 -1 0 0 0 1 0 1 0 0 0 -1 -1 0 0 -1 0 0 1 0 0 -2.67886e-7 1 0 0 -1 0 -0.004275441 0.001094996 0.9999903 -0.004670381 0 0.9999891 -0.004670381 0 0.9999891 0 1 0 0 0 -1 0 0 -1 0 0 -1 -1 0 -1.19209e-5 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + -2.231993 0.3907203 1.736105 0.3634003 -2.231993 0.3634003 3.231993 0.3634003 -2.231993 0.6365997 -2.231993 0.3634003 -2.231993 0.3634003 -1.769955 0.3907203 -1.769955 0.3634003 3.231993 0.3634003 -2.231993 0.3907203 -2.231993 0.3634003 -1.769955 1.736105 -2.231993 1.736105 -2.231993 -2.231993 -1.769955 0.3907203 3.231993 0.3634003 -1.769955 0.3634003 -1.769955 1.736105 3.231993 3.231993 3.231993 -2.231993 3.231993 0.3634003 1.736105 0.3907203 3.231993 0.3907203 -2.231993 0.3907203 1.736105 0.3907203 1.736105 0.3634003 3.231993 0.3634003 3.231993 0.6365997 -2.231993 0.6365997 -2.231993 0.3634003 -2.231993 0.3907203 -1.769955 0.3907203 3.231993 0.3634003 3.231993 0.6365997 -2.231993 0.3907203 -2.231993 -2.231993 3.231993 -2.231993 -1.769955 1.736105 3.231993 -2.231993 3.231993 3.231993 -1.769955 1.736105 3.231993 3.231993 -1.769955 3.231993 -1.769955 1.736105 -1.769955 0.3907203 3.231993 0.6365997 3.231993 0.3634003 3.231993 -2.231993 -2.231993 -2.231993 -1.769955 1.736105 -2.231993 -2.231993 -2.231993 1.736105 -1.769955 1.736105 -1.769955 1.736105 -1.769955 3.231993 3.231993 3.231993 3.231993 0.3634003 1.736105 0.3634003 1.736105 0.3907203 + + + + + + + + + + + + + + + +

11 0 0 6 0 1 0 0 2 2 1 3 3 1 4 1 1 5 6 2 6 8 2 7 5 2 8 1 3 9 11 3 10 0 3 11 8 4 12 10 4 13 11 4 14 9 5 15 2 5 16 7 5 17 5 6 18 2 6 19 1 6 20 7 7 21 8 7 22 9 7 23 11 8 24 10 8 25 6 8 26 2 9 27 4 9 28 3 9 29 6 10 30 10 10 31 8 10 32 1 11 33 3 11 34 11 11 35 11 12 36 3 12 37 8 12 38 3 13 39 4 13 40 8 13 41 4 14 42 9 14 43 8 14 44 9 15 45 4 15 46 2 15 47 1 16 48 0 16 49 5 16 50 0 17 51 6 17 52 5 17 53 5 18 54 7 18 55 2 18 56 7 19 57 5 19 58 8 19 59

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.dae b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.dae new file mode 100644 index 0000000..51063f4 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.dae @@ -0,0 +1,126 @@ + + + + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2024-12-19T09:56:08 + 2024-12-19T09:56:08 + + Z_UP + + + + + + + wall02_diffuse_jpg + + + + + wall02_diffuse_jpg-surface + + + + + + 0 0 0 0.5 + + + + + + 1.5 + + + + + + + + + wall02_diffuse.jpg + + + + + + + + + + + + 13.32385 7.93 2.028121 13 2 2.028121 19.06 6.93 2.028121 11.99 6.93 2.028121 13.22994 7.93 2.028121 16.99 7.59 2.028121 6.5 6.93 2.028121 5.993908 9 2.028121 19.06 6.83 2.028121 16.89 6.83 2.028121 16.89 7.589999 2.028121 3.5 6.83 2.028121 6.5 6.93 0 11.99 6.93 0 16.89 6.93 0 12.99 6.93 0 5.9 9 2.028121 5.9 9.470001 2.028121 5.993908 9.470001 2.028121 6 8 2.028121 16.99 8.470001 0 7.5 6.83 0 20.95 6.93 0 13.22994 9.470001 2.028121 5.9 8 2.028121 2.87339 4.07415 2.028121 2.873391 6.890989 0 13.32385 9.470001 2.028121 2.773391 4.07415 2.028121 2.773391 6.890989 0 5.9 6.93 2.028121 20.95 6.83 2.028121 7.5 6.93 2.028121 16.89 8.470001 2.028121 3.5 6.93 2.028121 6.5 6.83 0 11.99 6.83 0 12.99 6.83 0 3.5 6.93 0 6 6.93 2.028121 18.3 4.074146 2.028121 18.3 3.974146 2.028121 17.3 3.974146 2.028121 16.89 8.470001 0 7.5 6.93 0 20.95 6.83 0 13 0.1 2.028121 0.09999972 3.974146 2.028121 12.99 6.83 2.028121 2.773391 4.07415 0 12.9 0.1 2.028121 11.99 6.83 2.028121 2.87339 4.07415 0 20.95 3.974146 2.028121 6.5 6.83 2.028121 2.773391 6.890989 2.028121 2.873391 6.890989 2.028121 20.95 6.93 2.028121 7.5 6.83 2.028121 3.5 6.83 0 12.99 6.93 2.028121 16.99 8.470001 2.028121 4 4.074146 2.028121 0.1000002 4.074146 2.028121 12.35228 3.974146 2.028121 11.35228 3.974146 2.028121 16.89 7.589999 0 16.89 6.83 0 19.06 6.83 0 16.99 7.59 0 12.9 2 2.028121 3 3.974146 2.028121 20.95 4.074146 2.028121 4 3.974146 2.028121 12.35228 4.074146 2.028121 17.3 4.074146 2.028121 11.35228 4.074146 2.028121 3 4.07415 2.028121 16.89 6.93 2.028121 19.06 6.93 0 3 4.07415 0 11.35228 4.074146 0 17.3 4.074146 0 12.35228 4.074146 0 4 3.974146 0 20.95 4.074146 0 3 3.974146 0 11.35228 3.974146 0 12.35228 3.974146 0 0.1000002 4.074146 0 4 4.074146 0 20.95 3.974146 0 0.09999972 3.974146 0 17.3 3.974146 0 18.3 3.974146 0 18.3 4.074146 0 6 6.93 0 5.9 6.93 0 5.9 8 0 6 8 0 5.993908 9.470001 0 5.9 9.470001 0 5.9 9 0 5.993908 9 0 13 2 0 12.9 2 0 12.9 0.1 0 13 0.1 0 13.32385 9.470001 0 13.22994 9.470001 0 13.22994 7.93 0 13.32385 7.93 0 12.9 3.974146 0 13 3.974146 0 12.9 3 0 13 3 0 10.97742 6.83 0 10.87742 6.83 0 10.87742 5.07415 0 10.97742 5.07415 0 12.9 3.974146 2.028121 13 3.974146 2.028121 12.9 3 2.028121 13 3 2.028121 10.97742 6.83 2.028121 10.87742 6.83 2.028121 10.87742 5.07415 2.028121 10.97742 5.07415 2.028121 + + + + + + + + + + 0 -1 0 0 -1 0 -1 0 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 1 0 -1 4.76838e-6 0 -1 0 0 1 0 0 0 -1 0 0 1 0 0 1 0 -1 0 0 1 -1.69281e-7 0 -1 0 0 0 1 0 0 1 0 0 -1 0 1 0 0 0 -1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 1 0 0 1 0 0 -1 4.76838e-6 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1.47984e-6 1 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 -1 0 0 1 0 0 1 0 0 0 1 0 4.76835e-6 -1 0 1 -4.45642e-7 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 -1 0 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 1 0 -1 4.76838e-6 0 -1 0 0 1 0 0 0 -1 0 0 1 0 0 1 0 -1 0 0 1 -1.69281e-7 0 -1 0 0 0 1 0 0 1 0 0 -1 0 1 0 0 0 -1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 1 0 0 1 0 0 -1 4.76838e-6 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 -1.47984e-6 1 0 0 -1 0 1 0 0 1 0 0 0 -1 0 1 0 0 0 1 0 -1 0 0 0 1 0 -1 0 0 1 0 0 1 0 0 0 1 0 4.76835e-6 -1 0 1 -4.45642e-7 0 0 1 0 0 1 0 0 -1 0 -1 0 0 0 -1 0 1 0 0 -1 0 0 0 1 0 0 1 0 -1 0 0 0 -1 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 -1 0 0 -1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + + + + + + + + + 2.45475 1.524303 1.907035 -0.5038178 2.45475 -0.5038178 6.85475 1.524303 2.55475 -0.5038178 6.85475 -0.5038178 -0.2136082 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 2.784694 -0.5038178 2.878602 1.524303 2.878602 -0.5038178 -7.671859 -0.5038178 -7.571859 1.524303 -7.571859 -0.5038178 0.5321703 -0.5038178 0.4321699 1.524303 0.4321699 -0.5038178 -1.313612 1.524303 -1.213613 -0.5038178 -1.313612 -0.5038178 -2.94525 -0.5038178 1.54475 1.524303 1.54475 -0.5038178 -1.313612 -0.5038178 -1.213613 1.524303 -1.213613 -0.5038178 2.642241 -0.5038178 4.182242 1.524303 4.182242 -0.5038178 -1.213613 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 2.55475 -0.5038178 2.45475 1.524303 2.45475 -0.5038178 -6.44525 -0.5038178 0.9070349 1.524303 0.9070349 -0.5038178 2.45475 -0.5038178 2.55475 1.524303 2.55475 -0.5038178 -1.313612 -0.5038178 -1.213613 1.524303 -1.213613 -0.5038178 1.60323 -0.5038178 -1.213608 1.524303 -1.213608 -0.5038178 1.542242 1.524303 1.642241 -0.5038178 1.542242 -0.5038178 -7.671859 1.524303 -7.571859 -0.5038178 -7.671859 -0.5038178 6.44475 1.524303 6.54475 -0.5038178 6.44475 -0.5038178 1.54475 -0.5038178 -2.94525 1.524303 -2.94525 -0.5038178 -1.213608 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 -3.94525 -0.5038178 -6.94525 1.524303 -6.94525 -0.5038178 -6.94525 -0.5038178 -4.545249 1.524303 -4.545249 -0.5038178 -1.313612 1.524303 -1.213613 -0.5038178 -1.313612 -0.5038178 2.55475 -0.5038178 2.45475 1.524303 2.45475 -0.5038178 -1.313612 1.524303 -2.287758 -0.5038178 -1.313612 -0.5038178 4.182242 1.524303 2.642241 -0.5038178 4.182242 -0.5038178 -7.44525 -0.5038178 -10.34525 1.524303 -10.34525 -0.5038178 -1.213613 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 1.907035 1.524303 6.85475 -0.5038178 1.907035 -0.5038178 -1.213608 1.524303 1.60323 -0.5038178 -1.213608 -0.5038178 0.4321699 -0.5038178 0.5321703 1.524303 0.5321703 -0.5038178 -3.287758 1.524303 -5.187758 -0.5038178 -3.287758 -0.5038178 -1.213613 1.524303 -1.313612 -0.5038178 -1.213613 -0.5038178 1.542242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 7.85475 -0.5038178 10.50475 1.524303 10.50475 -0.5038178 2.878602 -0.5038178 2.784694 1.524303 2.784694 -0.5038178 -2.287758 -0.5038178 -1.313612 1.524303 -1.313612 -0.5038178 1.542242 1.524303 1.642241 -0.5038178 1.542242 -0.5038178 -10.34525 -0.5038178 -7.44525 1.524303 -7.44525 -0.5038178 10.50475 -0.5038178 8.61475 1.524303 8.61475 -0.5038178 1.642241 1.524303 1.542242 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 -0.2136082 -0.5038178 1.542242 -0.5038178 10.50475 -0.5038178 7.85475 1.524303 7.85475 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 -4.44525 -0.5038178 -3.94525 1.524303 -3.94525 -0.5038178 1.542242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 -4.545249 -0.5038178 -4.44525 1.524303 -4.44525 -0.5038178 1.642241 1.524303 2.712242 -0.5038178 1.642241 -0.5038178 3.182242 1.524303 2.302241 -0.5038178 3.182242 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 -4.545249 1.524303 -4.44525 -0.5038178 -4.545249 -0.5038178 6.54475 -0.5038178 6.44475 1.524303 6.44475 -0.5038178 2.712242 -0.5038178 1.642241 1.524303 1.642241 -0.5038178 2.54475 1.524303 6.44475 -0.5038178 2.54475 -0.5038178 -4.545249 -0.5038178 -4.451341 1.524303 -4.451341 -0.5038178 6.44475 1.524303 2.54475 -0.5038178 6.44475 -0.5038178 3.712242 -0.5038178 4.182242 1.524303 4.182242 -0.5038178 -4.451341 -0.5038178 -4.545249 1.524303 -4.545249 -0.5038178 4.182242 1.524303 3.712242 -0.5038178 4.182242 -0.5038178 2.302241 1.524303 3.182242 -0.5038178 2.302241 -0.5038178 2.45475 -0.5038178 2.55475 1.524303 2.55475 -0.5038178 8.61475 -0.5038178 10.50475 1.524303 10.50475 -0.5038178 -5.187758 -0.5038178 -3.287758 1.524303 -3.287758 -0.5038178 0.9070349 -0.5038178 -6.44525 1.524303 -6.44525 -0.5038178 1.642241 -0.5038178 1.542242 1.524303 1.542242 -0.5038178 2.878602 4.182242 2.784694 2.642241 2.878602 2.642241 6.54475 2.302241 6.44475 3.182242 6.44475 2.302241 6.44475 1.642241 2.54475 1.542242 6.44475 1.542242 -2.94525 1.642241 1.54475 1.542242 1.54475 1.642241 0.5321703 -0.2136082 0.4321699 1.542242 0.4321699 -0.2136082 -4.545249 2.712242 -4.44525 1.642241 -4.44525 2.712242 -4.451341 3.712242 -4.545249 4.182242 -4.545249 3.712242 -3.94525 1.542242 -6.94525 1.642241 -6.94525 1.542242 -7.671859 1.60323 -7.571859 -1.213608 -7.571859 1.60323 -7.44525 -1.313612 -10.34525 -1.213613 -10.34525 -1.313612 0.9070349 -1.213613 -6.44525 -1.313612 0.9070349 -1.313612 2.45475 -1.313612 2.55475 -2.287758 2.55475 -1.313612 8.61475 1.642241 10.50475 1.542242 10.50475 1.642241 7.85475 -1.213613 10.50475 -1.313612 10.50475 -1.213613 1.907035 -1.213613 6.85475 -1.313612 6.85475 -1.213613 2.55475 -5.187758 2.45475 -3.287758 2.45475 -5.187758 -6.44525 -1.213613 0.9070349 -1.313612 -6.44525 -1.313612 6.85475 -1.213613 1.907035 -1.313612 1.907035 -1.213613 1.907035 -1.313612 2.55475 -1.313612 2.45475 -1.313612 2.55475 -5.187758 2.45475 -3.287758 2.55475 -3.287758 2.55475 -1.313612 2.45475 -2.287758 2.45475 -1.313612 0.5321703 -0.2136082 0.4321699 1.542242 0.5321703 1.542242 -2.94525 1.642241 1.54475 1.542242 -2.94525 1.542242 6.44475 1.642241 2.54475 1.542242 2.54475 1.642241 10.50475 1.542242 8.61475 1.642241 10.50475 1.642241 10.50475 -1.313612 7.85475 -1.213613 10.50475 -1.213613 6.54475 2.302241 6.44475 3.182242 6.54475 3.182242 2.878602 2.642241 2.784694 4.182242 2.878602 4.182242 -4.451341 3.712242 -4.545249 4.182242 -4.451341 4.182242 -4.44525 1.642241 -4.545249 2.712242 -4.44525 2.712242 -3.94525 1.542242 -6.94525 1.642241 -3.94525 1.642241 -7.44525 -1.313612 -10.34525 -1.213613 -7.44525 -1.213608 -7.571859 -1.213608 -7.671859 1.60323 -7.571859 1.60323 2.45475 1.524303 1.907035 1.524303 1.907035 -0.5038178 6.85475 1.524303 2.55475 1.524303 2.55475 -0.5038178 -0.2136082 -0.5038178 -0.2136082 1.524303 1.542242 1.524303 2.784694 -0.5038178 2.784694 1.524303 2.878602 1.524303 -7.671859 -0.5038178 -7.671859 1.524303 -7.571859 1.524303 0.5321703 -0.5038178 0.5321703 1.524303 0.4321699 1.524303 -1.313612 1.524303 -1.213613 1.524303 -1.213613 -0.5038178 -2.94525 -0.5038178 -2.94525 1.524303 1.54475 1.524303 -1.313612 -0.5038178 -1.313612 1.524303 -1.213613 1.524303 2.642241 -0.5038178 2.642241 1.524303 4.182242 1.524303 -1.213613 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 2.55475 -0.5038178 2.55475 1.524303 2.45475 1.524303 -6.44525 -0.5038178 -6.44525 1.524303 0.9070349 1.524303 2.45475 -0.5038178 2.45475 1.524303 2.55475 1.524303 -1.313612 -0.5038178 -1.313612 1.524303 -1.213613 1.524303 1.60323 -0.5038178 1.60323 1.524303 -1.213608 1.524303 1.542242 1.524303 1.642241 1.524303 1.642241 -0.5038178 -7.671859 1.524303 -7.571859 1.524303 -7.571859 -0.5038178 6.44475 1.524303 6.54475 1.524303 6.54475 -0.5038178 1.54475 -0.5038178 1.54475 1.524303 -2.94525 1.524303 -1.213608 -0.5038178 -1.213608 1.524303 -1.313612 1.524303 -3.94525 -0.5038178 -3.94525 1.524303 -6.94525 1.524303 -6.94525 -0.5038178 -6.94525 1.524303 -4.545249 1.524303 -1.313612 1.524303 -1.213613 1.524303 -1.213613 -0.5038178 2.55475 -0.5038178 2.55475 1.524303 2.45475 1.524303 -1.313612 1.524303 -2.287758 1.524303 -2.287758 -0.5038178 4.182242 1.524303 2.642241 1.524303 2.642241 -0.5038178 -7.44525 -0.5038178 -7.44525 1.524303 -10.34525 1.524303 -1.213613 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 1.907035 1.524303 6.85475 1.524303 6.85475 -0.5038178 -1.213608 1.524303 1.60323 1.524303 1.60323 -0.5038178 0.4321699 -0.5038178 0.4321699 1.524303 0.5321703 1.524303 -3.287758 1.524303 -5.187758 1.524303 -5.187758 -0.5038178 -1.213613 1.524303 -1.313612 1.524303 -1.313612 -0.5038178 1.542242 -0.5038178 1.542242 1.524303 1.642241 1.524303 7.85475 -0.5038178 7.85475 1.524303 10.50475 1.524303 2.878602 -0.5038178 2.878602 1.524303 2.784694 1.524303 -2.287758 -0.5038178 -2.287758 1.524303 -1.313612 1.524303 1.542242 1.524303 1.642241 1.524303 1.642241 -0.5038178 -10.34525 -0.5038178 -10.34525 1.524303 -7.44525 1.524303 10.50475 -0.5038178 10.50475 1.524303 8.61475 1.524303 1.642241 1.524303 1.542242 1.524303 1.542242 -0.5038178 1.542242 1.524303 -0.2136082 1.524303 -0.2136082 -0.5038178 10.50475 -0.5038178 10.50475 1.524303 7.85475 1.524303 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 -4.44525 -0.5038178 -4.44525 1.524303 -3.94525 1.524303 1.542242 -0.5038178 1.542242 1.524303 1.642241 1.524303 -4.545249 -0.5038178 -4.545249 1.524303 -4.44525 1.524303 1.642241 1.524303 2.712242 1.524303 2.712242 -0.5038178 3.182242 1.524303 2.302241 1.524303 2.302241 -0.5038178 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 -4.545249 1.524303 -4.44525 1.524303 -4.44525 -0.5038178 6.54475 -0.5038178 6.54475 1.524303 6.44475 1.524303 2.712242 -0.5038178 2.712242 1.524303 1.642241 1.524303 2.54475 1.524303 6.44475 1.524303 6.44475 -0.5038178 -4.545249 -0.5038178 -4.545249 1.524303 -4.451341 1.524303 6.44475 1.524303 2.54475 1.524303 2.54475 -0.5038178 3.712242 -0.5038178 3.712242 1.524303 4.182242 1.524303 -4.451341 -0.5038178 -4.451341 1.524303 -4.545249 1.524303 4.182242 1.524303 3.712242 1.524303 3.712242 -0.5038178 2.302241 1.524303 3.182242 1.524303 3.182242 -0.5038178 2.45475 -0.5038178 2.45475 1.524303 2.55475 1.524303 8.61475 -0.5038178 8.61475 1.524303 10.50475 1.524303 -5.187758 -0.5038178 -5.187758 1.524303 -3.287758 1.524303 0.9070349 -0.5038178 0.9070349 1.524303 -6.44525 1.524303 1.642241 -0.5038178 1.642241 1.524303 1.542242 1.524303 2.878602 4.182242 2.784694 4.182242 2.784694 2.642241 6.54475 2.302241 6.54475 3.182242 6.44475 3.182242 6.44475 1.642241 2.54475 1.642241 2.54475 1.542242 -2.94525 1.642241 -2.94525 1.542242 1.54475 1.542242 0.5321703 -0.2136082 0.5321703 1.542242 0.4321699 1.542242 -4.545249 2.712242 -4.545249 1.642241 -4.44525 1.642241 -4.451341 3.712242 -4.451341 4.182242 -4.545249 4.182242 -3.94525 1.542242 -3.94525 1.642241 -6.94525 1.642241 -7.671859 1.60323 -7.671859 -1.213608 -7.571859 -1.213608 -7.44525 -1.313612 -7.44525 -1.213608 -10.34525 -1.213613 0.9070349 -1.213613 -6.44525 -1.213613 -6.44525 -1.313612 2.45475 -1.313612 2.45475 -2.287758 2.55475 -2.287758 8.61475 1.642241 8.61475 1.542242 10.50475 1.542242 7.85475 -1.213613 7.85475 -1.313612 10.50475 -1.313612 1.907035 -1.213613 1.907035 -1.313612 6.85475 -1.313612 2.55475 -5.187758 2.55475 -3.287758 2.45475 -3.287758 -6.44525 -1.213613 0.9070349 -1.213613 0.9070349 -1.313612 6.85475 -1.213613 6.85475 -1.313612 1.907035 -1.313612 1.907035 -1.313612 6.85475 -1.313612 2.55475 -1.313612 2.55475 -5.187758 2.45475 -5.187758 2.45475 -3.287758 2.55475 -1.313612 2.55475 -2.287758 2.45475 -2.287758 0.5321703 -0.2136082 0.4321699 -0.2136082 0.4321699 1.542242 -2.94525 1.642241 1.54475 1.642241 1.54475 1.542242 6.44475 1.642241 6.44475 1.542242 2.54475 1.542242 10.50475 1.542242 8.61475 1.542242 8.61475 1.642241 10.50475 -1.313612 7.85475 -1.313612 7.85475 -1.213613 6.54475 2.302241 6.44475 2.302241 6.44475 3.182242 2.878602 2.642241 2.784694 2.642241 2.784694 4.182242 -4.451341 3.712242 -4.545249 3.712242 -4.545249 4.182242 -4.44525 1.642241 -4.545249 1.642241 -4.545249 2.712242 -3.94525 1.542242 -6.94525 1.542242 -6.94525 1.642241 -7.44525 -1.313612 -10.34525 -1.313612 -10.34525 -1.213613 -7.571859 -1.213608 -7.671859 -1.213608 -7.671859 1.60323 + + + + + + + + + + + + + + + +

120 0 0 88 0 1 112 0 2 42 1 3 113 1 4 93 1 5 118 2 6 125 2 7 117 2 8 109 3 9 27 3 10 108 3 11 49 4 12 25 4 13 52 4 14 119 5 15 126 5 16 118 5 17 64 6 18 83 6 19 88 6 20 44 7 21 3 7 22 13 7 23 92 8 24 63 8 25 89 8 26 110 9 27 23 9 28 109 9 29 81 10 30 65 10 31 87 10 32 115 11 33 122 11 34 114 11 35 90 12 36 76 12 37 81 12 38 112 13 39 121 13 40 113 13 41 84 14 42 62 14 43 90 14 44 26 15 45 25 15 46 52 15 47 8 16 48 79 16 49 68 16 50 55 17 51 26 17 52 29 17 53 33 18 54 20 18 55 43 18 56 36 19 57 58 19 58 21 19 59 80 20 60 71 20 61 86 20 62 35 21 63 11 21 64 59 21 65 38 22 66 30 22 67 97 22 68 41 23 69 95 23 70 94 23 71 107 24 72 50 24 73 106 24 74 121 25 75 115 25 76 113 25 77 27 26 78 111 26 79 108 26 80 86 27 81 47 27 82 92 27 83 85 28 84 53 28 85 91 28 86 74 29 87 82 29 88 83 29 89 28 30 90 29 30 91 49 30 92 117 31 93 124 31 94 116 31 95 1 32 96 107 32 97 104 32 98 75 33 99 93 33 100 82 33 101 59 34 102 34 34 103 38 34 104 95 35 105 72 35 106 85 35 107 111 36 108 4 36 109 110 36 110 114 37 111 120 37 112 112 37 113 48 38 114 15 38 115 37 38 116 89 39 117 77 39 118 80 39 119 45 40 120 8 40 121 68 40 122 78 41 123 67 41 124 14 41 125 124 42 126 119 42 127 116 42 128 91 43 129 41 43 130 94 43 131 12 44 132 54 44 133 35 44 134 96 45 135 6 45 136 12 45 137 21 46 138 32 46 139 44 46 140 97 47 141 39 47 142 96 47 143 30 48 144 98 48 145 97 48 146 61 49 147 69 49 148 20 49 149 13 50 150 51 50 151 36 50 152 24 51 153 99 51 154 98 51 155 69 52 156 10 52 157 66 52 158 99 53 159 39 53 160 96 53 161 60 54 162 14 54 163 15 54 164 101 55 165 18 55 166 100 55 167 9 56 168 37 56 169 67 56 170 102 57 171 17 57 172 101 57 173 103 58 174 16 58 175 102 58 176 18 59 177 103 59 178 100 59 179 10 60 180 43 60 181 66 60 182 105 61 183 1 61 184 104 61 185 79 62 186 57 62 187 22 62 188 106 63 189 70 63 190 105 63 191 87 64 192 73 64 193 84 64 194 22 65 195 31 65 196 45 65 197 27 66 198 4 66 199 0 66 200 5 67 201 33 67 202 10 67 203 78 68 204 48 68 205 9 68 206 32 69 207 51 69 208 3 69 209 127 70 210 125 70 211 126 70 212 24 71 213 39 71 214 19 71 215 7 72 216 17 72 217 16 72 218 54 73 219 34 73 220 11 73 221 55 74 222 25 74 223 56 74 224 71 75 225 63 75 226 47 75 227 76 76 228 73 76 229 65 76 230 120 77 231 123 77 232 121 77 233 2 78 234 31 78 235 57 78 236 40 79 237 53 79 238 72 79 239 74 80 240 42 80 241 75 80 242 46 81 243 70 81 244 50 81 245 90 82 246 87 82 247 84 82 248 82 83 249 88 83 250 83 83 251 88 84 252 113 84 253 112 84 254 107 85 255 105 85 256 104 85 257 113 86 258 114 86 259 112 86 260 119 87 261 117 87 262 116 87 263 44 88 264 36 88 265 21 88 266 14 89 267 37 89 268 15 89 269 45 90 270 79 90 271 22 90 272 91 91 273 95 91 274 85 91 275 69 92 276 43 92 277 20 92 278 111 93 279 109 93 280 108 93 281 103 94 282 101 94 283 100 94 284 96 95 285 98 95 286 99 95 287 35 96 288 38 96 289 12 96 290 86 97 291 89 97 292 80 97 293 52 98 294 29 98 295 26 98 296 120 99 297 64 99 298 88 99 299 42 100 300 121 100 301 113 100 302 118 101 303 126 101 304 125 101 305 109 102 306 23 102 307 27 102 308 49 103 309 28 103 310 25 103 311 119 104 312 127 104 313 126 104 314 64 105 315 74 105 316 83 105 317 44 106 318 32 106 319 3 106 320 92 107 321 47 107 322 63 107 323 110 108 324 4 108 325 23 108 326 81 109 327 76 109 328 65 109 329 115 110 330 123 110 331 122 110 332 90 111 333 62 111 334 76 111 335 112 112 336 120 112 337 121 112 338 84 113 339 73 113 340 62 113 341 26 114 342 56 114 343 25 114 344 8 115 345 2 115 346 79 115 347 55 116 348 56 116 349 26 116 350 33 117 351 61 117 352 20 117 353 36 118 354 51 118 355 58 118 356 80 119 357 77 119 358 71 119 359 35 120 360 54 120 361 11 120 362 38 121 363 34 121 364 30 121 365 41 122 366 40 122 367 95 122 368 107 123 369 46 123 370 50 123 371 121 124 372 123 124 373 115 124 374 27 125 375 0 125 376 111 125 377 86 126 378 71 126 379 47 126 380 85 127 381 72 127 382 53 127 383 74 128 384 75 128 385 82 128 386 28 129 387 55 129 388 29 129 389 117 130 390 125 130 391 124 130 392 1 131 393 46 131 394 107 131 395 75 132 396 42 132 397 93 132 398 59 133 399 11 133 400 34 133 401 95 134 402 40 134 403 72 134 404 111 135 405 0 135 406 4 135 407 114 136 408 122 136 409 120 136 410 48 137 411 60 137 412 15 137 413 89 138 414 63 138 415 77 138 416 45 139 417 31 139 418 8 139 419 78 140 420 9 140 421 67 140 422 124 141 423 127 141 424 119 141 425 91 142 426 53 142 427 41 142 428 12 143 429 6 143 430 54 143 431 96 144 432 39 144 433 6 144 434 21 145 435 58 145 436 32 145 437 97 146 438 30 146 439 39 146 440 30 147 441 24 147 442 98 147 443 61 148 444 5 148 445 69 148 446 13 149 447 3 149 448 51 149 449 24 150 450 19 150 451 99 150 452 69 151 453 5 151 454 10 151 455 99 152 456 19 152 457 39 152 458 60 153 459 78 153 460 14 153 461 101 154 462 17 154 463 18 154 464 9 155 465 48 155 466 37 155 467 102 156 468 16 156 469 17 156 470 103 157 471 7 157 472 16 157 473 18 158 474 7 158 475 103 158 476 10 159 477 33 159 478 43 159 479 105 160 480 70 160 481 1 160 482 79 161 483 2 161 484 57 161 485 106 162 486 50 162 487 70 162 488 87 163 489 65 163 490 73 163 491 22 164 492 57 164 493 31 164 494 27 165 495 23 165 496 4 165 497 5 166 498 61 166 499 33 166 500 78 167 501 60 167 502 48 167 503 32 168 504 58 168 505 51 168 506 127 169 507 124 169 508 125 169 509 24 170 510 30 170 511 39 170 512 7 171 513 18 171 514 17 171 515 54 172 516 6 172 517 34 172 518 55 173 519 28 173 520 25 173 521 71 174 522 77 174 523 63 174 524 76 175 525 62 175 526 73 175 527 120 176 528 122 176 529 123 176 530 2 177 531 8 177 532 31 177 533 40 178 534 41 178 535 53 178 536 74 179 537 64 179 538 42 179 539 46 180 540 1 180 541 70 180 542 90 181 543 81 181 544 87 181 545 82 182 546 93 182 547 88 182 548 88 183 549 93 183 550 113 183 551 107 184 552 106 184 553 105 184 554 113 185 555 115 185 556 114 185 557 119 186 558 118 186 559 117 186 560 44 187 561 13 187 562 36 187 563 14 188 564 67 188 565 37 188 566 45 189 567 68 189 568 79 189 569 91 190 570 94 190 571 95 190 572 69 191 573 66 191 574 43 191 575 111 192 576 110 192 577 109 192 578 103 193 579 102 193 580 101 193 581 96 194 582 97 194 583 98 194 584 35 195 585 59 195 586 38 195 587 86 196 588 92 196 589 89 196 590 52 197 591 49 197 592 29 197 593

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.fbx b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.fbx new file mode 100644 index 0000000..7b5bbc3 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.fbx differ diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.mtl b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.mtl new file mode 100644 index 0000000..9216381 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/meshes/Small_BuildingV3_interior.mtl @@ -0,0 +1,17 @@ +# Blender 4.3.2 MTL File: 'Small_BuildingV3_interior.blend' +# www.blender.org + +newmtl Stucco_wall.001 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 1.000000 +illum 2 +Pr 0.500000 +Pm 0.000000 +Ps 0.000000 +Pc 0.000000 +Pcr 0.030000 +aniso 0.000000 +anisor 0.000000 +map_Kd wall02_diffuse.jpg diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/smooth_concrete_floor_diff.jpg b/turtlebot3_manipulation_bringup/models/small_building/meshes/smooth_concrete_floor_diff.jpg new file mode 100644 index 0000000..28e0e16 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/small_building/meshes/smooth_concrete_floor_diff.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/small_building/meshes/wall02_diffuse.jpg b/turtlebot3_manipulation_bringup/models/small_building/meshes/wall02_diffuse.jpg new file mode 100644 index 0000000..922d516 Binary files /dev/null and b/turtlebot3_manipulation_bringup/models/small_building/meshes/wall02_diffuse.jpg differ diff --git a/turtlebot3_manipulation_bringup/models/small_building/model.config b/turtlebot3_manipulation_bringup/models/small_building/model.config new file mode 100644 index 0000000..f7a6699 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/model.config @@ -0,0 +1,16 @@ + + + + small_building + 1.0 + model.sdf + + + Dominic Larkin + dominic.larkin@westpoint.edu + + + + A small building the dimensions of TH1136. + + diff --git a/turtlebot3_manipulation_bringup/models/small_building/model.sdf b/turtlebot3_manipulation_bringup/models/small_building/model.sdf new file mode 100644 index 0000000..e806542 --- /dev/null +++ b/turtlebot3_manipulation_bringup/models/small_building/model.sdf @@ -0,0 +1,40 @@ + + + + -10.5 -5.0 0 0 0 0 + true + + + + + model://small_building/meshes/Small_BuildingV3_exterior.dae + + + + + + + model://small_building/meshes/Small_BuildingV3_exterior.dae + + + + + + + + + + model://small_building/meshes/Small_BuildingV3_interior.dae + + + + + + + model://small_building/meshes/Small_BuildingV3_interior.dae + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/package.xml b/turtlebot3_manipulation_bringup/package.xml index bc7a968..c334913 100644 --- a/turtlebot3_manipulation_bringup/package.xml +++ b/turtlebot3_manipulation_bringup/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_bringup - 2.2.0 + 2.2.1 ROS 2 package for turtlebot3_manipulation @@ -14,14 +14,20 @@ Darby Lim Hye-jong KIM ament_cmake - gazebo_ros + ros_gz_bridge + ros_gz_image + ros_gz_sim robot_state_publisher ros2_control ros2_controllers + gz_ros2_control gripper_controllers rviz2 turtlebot3_manipulation_description xacro + ros2launch + twist_mux + controller_manager ament_cmake diff --git a/turtlebot3_manipulation_bringup/worlds/maze_world.model b/turtlebot3_manipulation_bringup/worlds/maze_world.model new file mode 100644 index 0000000..286fc9e --- /dev/null +++ b/turtlebot3_manipulation_bringup/worlds/maze_world.model @@ -0,0 +1,417 @@ + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + + + + + + + 0.003 + 1000.0 + 1.0 + + + + + + + + + + ogre2 + + + + + + 1 1 1 1 + 0.3 0.7 0.9 1 + 0 + false + + + + + + model://empty_1136 + + + + 0 -0.10 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + 1.25 -0.10 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + -1.25 -0.10 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + 0 0.20 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + 1.25 0.20 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + -1.25 0.20 0.2 0.0 0.0 0.0 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + + -1.25 0.20 0.2 0.0 0.0 1.57 + + + + 0.00017 + 0 + 0 + 0.00017 + 0 + 0.00017 + + 1 + 0 0 0 0 0 0 + + + + + 2.5 0.02 0.4 + + + + + + + + + + + + + + 2.5 0.02 0.4 + + + + 0.10 0.10 0.10 1 + 0.20 0.20 0.20 1 + 1 1 1 1 + + + 0 0 0 0 0 0 + false + + true + false + + + + + + + \ No newline at end of file diff --git a/turtlebot3_manipulation_bringup/worlds/turtlebot3_maze.world b/turtlebot3_manipulation_bringup/worlds/turtlebot3_maze.world new file mode 100644 index 0000000..9578cab --- /dev/null +++ b/turtlebot3_manipulation_bringup/worlds/turtlebot3_maze.world @@ -0,0 +1,101 @@ + + + + + false + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + -0.5 0.1 -0.9 + + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + + + + + + + false + + + + + -1.117 1.1699 2.0513 0.0 0.5064 0.0163 + orbit + perspective + + + + + + 0.003 + 1000.0 + 1.0 + + + + 1 1 1 1 + 0.3 0.7 0.9 1 + 0 + false + + + + + + + + + + ogre2 + + + + + + + model://ay262_maze + 0.216 -0.307 0.0 1.5708 0 0 + + + + + model://empty_1136 + 5.70 4.3 0.0 0 0 3.14159 + + + + diff --git a/turtlebot3_manipulation_bringup/worlds/turtlebot3_world.model b/turtlebot3_manipulation_bringup/worlds/turtlebot3_world.model index 11bfcc2..1137da6 100644 --- a/turtlebot3_manipulation_bringup/worlds/turtlebot3_world.model +++ b/turtlebot3_manipulation_bringup/worlds/turtlebot3_world.model @@ -1,14 +1,45 @@ - - - + + - - model://ground_plane - + + + + false + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + -0.5 0.1 -0.9 + - - model://sun - + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + 0.83 0.75 0.65 1 + + + + false @@ -22,32 +53,151 @@ - + + + 0.003 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - + 1.0 - - 1 - - model://turtlebot3_world - - + + 1 1 1 1 + 0.3 0.7 0.9 1 + 0 + false + + + + + + + + + + ogre2 + + + + + + + model://small_building + true + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Chair + + chair_0 + 9.77 -3.11 0 0 -0 3 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/foldable_chair + + fchair_0 + -3.04 -2.41 0 0 -0 -1.8 + false + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Table + + table0 + -4.7 -2.35 0 0 0 0 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Suitcase1 + + Suitcase1 + + 2.71 -1.37 0 0 0 0 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/MaleVisitorOnPhone + + Person 1 - Standing + 9.01 -2.83 0 0 0 2.04 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/LitterBin + + PTrashCan + + 2.84 -4.37 0 0 0 0 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/MopCart2 + + MopCart2 + -8.20 -0.31 0 0 0 -1.58 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/OfficeChairGrey + + OfficeChairGrey + -5.61 -2.36 0 0 0 1.6 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/MetalCabinet + + MetalCabinet + 0.68 4.23 0 0 0 0 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/lampandstand + + Lamp Stand + 10.01 4.04 0 0 0 2.04 + false + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/minisofa + + Mini Sofa + -5.71 2.28 0 0 0 -1.59 + false + + + + diff --git a/turtlebot3_manipulation_cartographer/CHANGELOG.rst b/turtlebot3_manipulation_cartographer/CHANGELOG.rst index 0568785..cdab038 100644 --- a/turtlebot3_manipulation_cartographer/CHANGELOG.rst +++ b/turtlebot3_manipulation_cartographer/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_manipulation_cartographer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* None + 2.2.0 (2025-04-01) ------------------ * Updated maintainer information diff --git a/turtlebot3_manipulation_cartographer/package.xml b/turtlebot3_manipulation_cartographer/package.xml index d07627f..f9eb3a0 100644 --- a/turtlebot3_manipulation_cartographer/package.xml +++ b/turtlebot3_manipulation_cartographer/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_cartographer - 2.2.0 + 2.2.1 ROS 2 launch scripts for cartographer diff --git a/turtlebot3_manipulation_description/CHANGELOG.rst b/turtlebot3_manipulation_description/CHANGELOG.rst index fe1f580..0e1a971 100644 --- a/turtlebot3_manipulation_description/CHANGELOG.rst +++ b/turtlebot3_manipulation_description/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package turtlebot3_manipulation_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* Removed the TurtleBot3 Manipulation Gazebo simulation +* Contributors: ChanHyeong Lee + 2.2.0 (2025-04-01) ------------------ * Fixed the intermittent issue of Gazebo not launching diff --git a/turtlebot3_manipulation_description/CMakeLists.txt b/turtlebot3_manipulation_description/CMakeLists.txt index 903f0f4..196202e 100644 --- a/turtlebot3_manipulation_description/CMakeLists.txt +++ b/turtlebot3_manipulation_description/CMakeLists.txt @@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED) ################################################################################ # Install ################################################################################ -install(DIRECTORY launch rviz urdf gazebo meshes ros2_control +install(DIRECTORY launch rviz urdf meshes ros2_control gazebo DESTINATION share/${PROJECT_NAME} ) diff --git a/turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro b/turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro index 82e7273..fdfd607 100644 --- a/turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro +++ b/turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro @@ -7,158 +7,205 @@ https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_descript - - - - - - Gazebo/DarkGrey - - - - 10000 - 10000 - 500000.0 - 10.0 - 0.001 - 0.1 - 1 0 0 - Gazebo/FlatBlack - - - - 10000 - 10000 - 500000.0 - 10.0 - 0.001 - 0.1 - 1 0 0 - Gazebo/FlatBlack - - - - 0.1 - 0.1 - 1000000.0 - 100.0 - 0.001 - 1.0 - Gazebo/FlatBlack - - - - 0.1 - 0.1 - 1000000.0 - 100.0 - 0.001 - 1.0 - Gazebo/FlatBlack - - - - Gazebo/Grey - - true - 100.0 - ${imu_visual} - - - - - - - - cmd_vel:=cmd_vel - odom:=odom - - - wheel_left_joint - wheel_right_joint - 0.287 - 0.066 - 20 - 1.0 - true - true - false - odom - base_footprint - - - - - Gazebo/FlatBlack - - 0 0 0 0 0 0 - true - 5.0 - ${laser_visual} - - - - 360 - 1 - 0.0 - 6.28319 - - - - 0.120 - 3.5 - 0.015 - - - gaussian - 0.0 - 0.01 - - - - - - ~/out:=scan - - sensor_msgs/LaserScan + + + + + + + ${update_rate} + ${visualize} + true + + ${prefix}base_scan + scan + + + + ${h_samples} + ${h_res} + ${h_min_angle} + ${h_max_angle} + + + + ${r_min} + ${r_max} + ${r_res} + + + + + + + + Gazebo/DarkGrey + + + + 10000 + 10000 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 10000 + 10000 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + + Gazebo/Grey + + true + 100 + imu + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + + + + wheel_left_joint + wheel_right_joint + 0.287 + 0.033 + 2 + -2 + 3 + -3 + 0.5 + -0.5 + 2.0 + -2.0 + cmd_vel + odom + tf + odom + base_footprint + 30 + + + + wheel_left_joint + wheel_right_joint + joint_states + 30 - - - - - - 30 - true - ${camera_visual} - - 1.085595 + + + + + + + + + + Gazebo/DarkGrey + + + + + 1 + + 1.25 - 640 - 480 - R8G8B8 + 640 + 480 - 0.03 - 100 + 0.3 + 100 - - gaussian - - 0.0 - 0.007 - - - - - - image_raw:=image_raw - camera_info:=camera_info - - - - + camera_rgb_optical_frame + + 10 + true + image_raw + + Gazebo/DarkGrey + diff --git a/turtlebot3_manipulation_description/launch/model.launch.py b/turtlebot3_manipulation_description/launch/model.launch.py index 73abd85..4baa1da 100644 --- a/turtlebot3_manipulation_description/launch/model.launch.py +++ b/turtlebot3_manipulation_description/launch/model.launch.py @@ -99,7 +99,7 @@ def generate_launch_description(): output='screen'), Node( - package="joint_state_publisher_gui", - executable="joint_state_publisher_gui", + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', condition=IfCondition(use_gui)), ]) diff --git a/turtlebot3_manipulation_description/package.xml b/turtlebot3_manipulation_description/package.xml index e56b4bb..46c4673 100644 --- a/turtlebot3_manipulation_description/package.xml +++ b/turtlebot3_manipulation_description/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_description - 2.2.0 + 2.2.1 ROS 2 package for turtlebot3_manipulation_description diff --git a/turtlebot3_manipulation_description/ros2_control/turtlebot3_manipulation_system.ros2_control.xacro b/turtlebot3_manipulation_description/ros2_control/turtlebot3_manipulation_system.ros2_control.xacro index 1bbd0c5..aca6d9e 100644 --- a/turtlebot3_manipulation_description/ros2_control/turtlebot3_manipulation_system.ros2_control.xacro +++ b/turtlebot3_manipulation_description/ros2_control/turtlebot3_manipulation_system.ros2_control.xacro @@ -6,13 +6,14 @@ https://github.com/ros-controls/ros2_control_demos/blob/foxy/ros2_control_demo_d --> - + - gazebo_ros2_control/GazeboSystem + gz_ros2_control/GazeboSimSystem @@ -126,7 +127,7 @@ https://github.com/ros-controls/ros2_control_demos/blob/foxy/ros2_control_demo_d ${pi*0.5} - 0.0 + -1.0 0.0 @@ -138,7 +139,7 @@ https://github.com/ros-controls/ros2_control_demos/blob/foxy/ros2_control_demo_d ${pi*0.44} - 0.0 + 1.0 0.0 @@ -158,8 +159,8 @@ https://github.com/ros-controls/ros2_control_demos/blob/foxy/ros2_control_demo_d - -0.010 - 0.019 + -0.014 + 0.018 0.0 @@ -171,10 +172,10 @@ https://github.com/ros-controls/ros2_control_demos/blob/foxy/ros2_control_demo_d gripper_left_joint 1 - + 0.0 diff --git a/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro b/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro index 936b164..db78ac9 100644 --- a/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro +++ b/turtlebot3_manipulation_description/urdf/open_manipulator_x.urdf.xacro @@ -10,191 +10,191 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula + value="package://turtlebot3_manipulation_description/meshes/open_manipulator_x" /> - + - + - + - + - + - + + iyy="2.1898364e-05" iyz="0.0" + izz="1.9267361e-05" /> - - - - + + + + - + - + - + - + - + - + - + + iyy="3.2689329e-05" iyz="2.8511935e-08" + izz="1.8850320e-05" /> - - - - + + + + - + - + - + - + - + - + - + + iyy="3.4290447e-04" iyz="-1.5717516e-06" + izz="6.0346498e-05" /> - - - - + + + + - + - + - + - + - + - + - + + iyy="2.4230292e-04" iyz="1.1559550e-08" + izz="2.5155057e-04" /> - - - - + + + + - + - + - + - + - + - + - + + iyy="7.5980465e-05" iyz="0.0" + izz="9.3127351e-05" /> - - - - - - + + + + + + - + - + - + - + - + @@ -202,8 +202,8 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula + iyy="1.0e-06" iyz="0.0" + izz="1.0e-06" /> @@ -211,31 +211,31 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula - + - - - - - - - + + + + + + + - + - + - + - + - + @@ -243,27 +243,45 @@ https://github.com/ROBOTIS-GIT/open_manipulator/blob/kinetic-devel/open_manipula + iyy="1.0e-06" iyz="0.0" + izz="1.0e-06" /> - - - + + + - + + + + + + + + + + - + \ No newline at end of file diff --git a/turtlebot3_manipulation_description/urdf/tbotomx.urdf b/turtlebot3_manipulation_description/urdf/tbotomx.urdf new file mode 100644 index 0000000..35a0f54 --- /dev/null +++ b/turtlebot3_manipulation_description/urdf/tbotomx.urdf @@ -0,0 +1,848 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + + 10000 + 10000 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + 10000 + 10000 + 500000.0 + 10.0 + 0.001 + 0.1 + 1 0 0 + Gazebo/FlatBlack + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + 0.1 + 0.1 + 1000000.0 + 100.0 + 0.001 + 1.0 + Gazebo/FlatBlack + + + Gazebo/Grey + + true + 100.0 + True + + + + + + + cmd_vel:=cmd_vel + odom:=odom + + wheel_left_joint + wheel_right_joint + 0.287 + 0.066 + 20 + 1.0 + true + true + false + odom + base_footprint + + + + Gazebo/FlatBlack + + 0 0 0 0 0 0 + true + 5.0 + True + + + + 360 + 1 + 0.0 + 6.28319 + + + + 0.120 + 3.5 + 0.015 + + + gaussian + 0.0 + 0.01 + + + + + + ~/out:=scan + + sensor_msgs/LaserScan + + + + + + 30 + true + True + + 1.085595 + + 640 + 480 + R8G8B8 + + + 0.03 + 100 + + + gaussian + + 0.0 + 0.007 + + + + + + image_raw:=image_raw + camera_info:=camera_info + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + 1000000.0 + 100.0 + 30.0 + 30.0 + 1.0 + 0.001 + Gazebo/DarkGrey + + + Gazebo/Red + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + transmission_interface/SimpleTransmission + + PositionJointInterface + + + 1 + PositionJointInterface + + + + + turtlebot3_manipulation_hardware/TurtleBot3ManipulationSystemHardware + 200 + /dev/ttyACM0 + 1000000 + 100 + 500 + 20 + 200 + + + + -24.5 + 24.5 + + + 0.0 + + + 0.0 + + + + + -24.5 + 24.5 + + + 0.0 + + + 0.0 + + + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + + + 0.0 + + + 0.0 + + + 0.0 + + + 0.0 + + + + + -2.827433388230814 + 2.827433388230814 + + + 0.0 + + + 0.0 + + + + + -1.790707812546182 + 1.5707963267948966 + + + 0.0 + + + 0.0 + + + + + -0.9424777960769379 + 1.382300767579509 + + + 0.0 + + + 0.0 + + + + + -1.790707812546182 + 2.0420352248333655 + + + 0.0 + + + 0.0 + + + + + -0.014 + 0.018 + + + 0.0 + + + 0.0 + + + + gripper_left_joint + 1 + + + 0.0 + + + 0.0 + + + + + + /home/user1/ros2_ws/install/turtlebot3_manipulation_bringup/share/turtlebot3_manipulation_bringup/config/gazebo_controller_manager.yaml + + + diff --git a/turtlebot3_manipulation_description/urdf/turtlebot3_manipulation.urdf.xacro b/turtlebot3_manipulation_description/urdf/turtlebot3_manipulation.urdf.xacro index dcf7bdd..f2c43d5 100644 --- a/turtlebot3_manipulation_description/urdf/turtlebot3_manipulation.urdf.xacro +++ b/turtlebot3_manipulation_description/urdf/turtlebot3_manipulation.urdf.xacro @@ -44,8 +44,10 @@ fake_sensor_commands="$(arg fake_sensor_commands)"/> - - $(find turtlebot3_manipulation_bringup)/config/gazebo_controller_manager.yaml + + robot_description + robot_state_publisher + $(find turtlebot3_manipulation_bringup)/config/hardware_controller_manager.yaml diff --git a/turtlebot3_manipulation_description/urdf/turtlebot3_waffle_pi.urdf.xacro b/turtlebot3_manipulation_description/urdf/turtlebot3_waffle_pi.urdf.xacro index aedd014..8a347a7 100644 --- a/turtlebot3_manipulation_description/urdf/turtlebot3_waffle_pi.urdf.xacro +++ b/turtlebot3_manipulation_description/urdf/turtlebot3_waffle_pi.urdf.xacro @@ -37,10 +37,10 @@ https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_descript - + - @@ -112,12 +112,12 @@ https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_descript - + - + @@ -135,12 +135,12 @@ https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_descript - + - + diff --git a/turtlebot3_manipulation_hardware/CHANGELOG.rst b/turtlebot3_manipulation_hardware/CHANGELOG.rst index 711ccbc..496ef96 100644 --- a/turtlebot3_manipulation_hardware/CHANGELOG.rst +++ b/turtlebot3_manipulation_hardware/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_manipulation_hardware ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* None + 2.2.0 (2025-04-01) ------------------ * Resolved the issue where teleoperation was not functioning on the actual robot diff --git a/turtlebot3_manipulation_hardware/CMakeLists.txt b/turtlebot3_manipulation_hardware/CMakeLists.txt index e12d5de..cc3eea2 100644 --- a/turtlebot3_manipulation_hardware/CMakeLists.txt +++ b/turtlebot3_manipulation_hardware/CMakeLists.txt @@ -13,6 +13,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra) endif() +add_compile_options("-Wno-deprecated-declarations") + ################################################################################ # Find ament packages and libraries for ament and system dependencies ################################################################################ diff --git a/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp b/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp index af40d78..4240846 100644 --- a/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp +++ b/turtlebot3_manipulation_hardware/include/turtlebot3_manipulation_hardware/turtlebot3_manipulation_system.hpp @@ -92,6 +92,9 @@ class TurtleBot3ManipulationSystemHardware std::vector dxl_positions_; std::vector dxl_velocities_; + std::array dxl_wheel_offsets_; + bool init_wheel_offsets_; + std::vector opencr_sensor_states_; }; } // namespace turtlebot3_manipulation_hardware diff --git a/turtlebot3_manipulation_hardware/package.xml b/turtlebot3_manipulation_hardware/package.xml index 0aee74e..7f7993d 100644 --- a/turtlebot3_manipulation_hardware/package.xml +++ b/turtlebot3_manipulation_hardware/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_hardware - 2.2.0 + 2.2.1 ROS 2 package for turtlebot3_manipulation_hardware diff --git a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp index 46f03dc..ede7672 100644 --- a/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp +++ b/turtlebot3_manipulation_hardware/src/turtlebot3_manipulation_system.cpp @@ -44,6 +44,7 @@ hardware_interface::CallbackReturn TurtleBot3ManipulationSystemHardware::on_init usb_port_ = info_.hardware_parameters["opencr_usb_port"]; baud_rate_ = stoi(info_.hardware_parameters["opencr_baud_rate"]); heartbeat_ = 0; + init_wheel_offsets_ = true; joints_acceleration_[0] = stoi(info_.hardware_parameters["dxl_joints_profile_acceleration"]); joints_acceleration_[1] = stoi(info_.hardware_parameters["dxl_joints_profile_acceleration"]); @@ -225,10 +226,10 @@ hardware_interface::return_type TurtleBot3ManipulationSystemHardware::read( RCLCPP_WARN(logger, "Failed to read all control table"); } - dxl_positions_[0] = opencr_->get_wheel_positions()[opencr::wheels::LEFT]; + dxl_positions_[0] = opencr_->get_wheel_positions()[opencr::wheels::LEFT] - dxl_wheel_offsets_[opencr::wheels::LEFT]; dxl_velocities_[0] = opencr_->get_wheel_velocities()[opencr::wheels::LEFT]; - dxl_positions_[1] = opencr_->get_wheel_positions()[opencr::wheels::RIGHT]; + dxl_positions_[1] = opencr_->get_wheel_positions()[opencr::wheels::RIGHT] - dxl_wheel_offsets_[opencr::wheels::RIGHT]; dxl_velocities_[1] = opencr_->get_wheel_velocities()[opencr::wheels::RIGHT]; dxl_positions_[2] = opencr_->get_joint_positions()[opencr::joints::JOINT1]; @@ -287,6 +288,12 @@ hardware_interface::return_type TurtleBot3ManipulationSystemHardware::write( if (opencr_->set_gripper_position(dxl_gripper_commands_[0]) == false) { RCLCPP_ERROR(logger, "Can't control gripper"); } + + if (init_wheel_offsets_){ + dxl_wheel_offsets_ = opencr_->get_wheel_positions(); // First time returns all zeros + dxl_wheel_offsets_ = opencr_->get_wheel_positions(); // Second time returns the offsets + init_wheel_offsets_ = false; + } return hardware_interface::return_type::OK; } diff --git a/turtlebot3_manipulation_moveit_config/CHANGELOG.rst b/turtlebot3_manipulation_moveit_config/CHANGELOG.rst index 6661025..90cd705 100644 --- a/turtlebot3_manipulation_moveit_config/CHANGELOG.rst +++ b/turtlebot3_manipulation_moveit_config/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_manipulation_moveit_config ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* None + 2.2.0 (2025-04-01) ------------------ * Resolved the issue where teleoperation was not functioning on the actual robot diff --git a/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml b/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml index 4461614..c7e71f8 100644 --- a/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml +++ b/turtlebot3_manipulation_moveit_config/config/joint_limits.yaml @@ -11,30 +11,30 @@ joint_limits: gripper_left_joint: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 gripper_right_joint: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 joint1: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 joint2: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 joint3: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 joint4: has_velocity_limits: true max_velocity: 4.7999999999999998 - has_acceleration_limits: false - max_acceleration: 0 + has_acceleration_limits: true + max_acceleration: 2.5 diff --git a/turtlebot3_manipulation_moveit_config/config/moveit.rviz b/turtlebot3_manipulation_moveit_config/config/moveit.rviz index 898b1b1..ad56b70 100644 --- a/turtlebot3_manipulation_moveit_config/config/moveit.rviz +++ b/turtlebot3_manipulation_moveit_config/config/moveit.rviz @@ -12,7 +12,7 @@ Panels: - /MotionPlanning1/Planning Metrics1 - /MotionPlanning1/Planned Path1 Splitter Ratio: 0.5 - Tree Height: 339 + Tree Height: 316 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -105,6 +105,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -210,6 +214,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -275,6 +283,7 @@ Visualization Manager: State Display Time: 0.05 s Trail Step Size: 1 Trajectory Topic: /display_planned_path + Use Sim Time: false Value: true - Acceleration_Scaling_Factor: 0.1 Class: moveit_rviz_plugin/MotionPlanning @@ -288,8 +297,6 @@ Visualization Manager: MoveIt_Planning_Time: 10 MoveIt_Use_Cartesian_Path: false MoveIt_Use_Constraint_Aware_IK: true - MoveIt_Warehouse_Host: 127.0.0.1 - MoveIt_Warehouse_Port: 33829 MoveIt_Workspace: Center: X: 0 @@ -346,6 +353,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -409,6 +420,7 @@ Visualization Manager: State Display Time: 0.05 s Trail Step Size: 1 Trajectory Topic: /display_planned_path + Use Sim Time: false Planning Metrics: Payload: 1 Show Joint Torques: false @@ -482,6 +494,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -556,6 +572,9 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile @@ -591,30 +610,30 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0 - Y: 0 - Z: 0 + X: -0.022999536246061325 + Y: 0.01645447127521038 + Z: 0.002029934898018837 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.8653978705406189 + Pitch: 0.28039848804473877 Target Frame: Value: Orbit (rviz) - Yaw: 0.8653978109359741 + Yaw: 1.3453973531723022 Saved: ~ Window Geometry: Displays: collapsed: false Height: 975 Hide Left Dock: false - Hide Right Dock: false + Hide Right Dock: true MotionPlanning: collapsed: false MotionPlanning - Trajectory Slider: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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 Selection: collapsed: false Tool Properties: @@ -622,7 +641,7 @@ Window Geometry: Trajectory - Trajectory Slider: collapsed: false Views: - collapsed: false - Width: 1920 - X: 317 - Y: 275 + collapsed: true + Width: 1390 + X: 429 + Y: 68 diff --git a/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml b/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml index a9e747c..3ba35de 100644 --- a/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml +++ b/turtlebot3_manipulation_moveit_config/config/moveit_controllers.yaml @@ -1,19 +1,24 @@ -controller_names: - - arm_controller - - gripper_controller +# MoveIt uses this configuration for controller management -arm_controller: - type: FollowJointTrajectory - action_ns: follow_joint_trajectory - default: true - joints: - - joint1 - - joint2 - - joint3 - - joint4 -gripper_controller: - type: GripperCommand - action_ns: gripper_cmd - default: true - joints: - - gripper_left_joint +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - arm_controller + - gripper_controller + + arm_controller: + type: FollowJointTrajectory + action_ns: follow_joint_trajectory + default: true + joints: + - joint1 + - joint2 + - joint3 + - joint4 + gripper_controller: + type: ParallelGripperCommand + action_ns: gripper_cmd + default: true + joints: + - gripper_left_joint diff --git a/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml b/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml deleted file mode 100644 index 491e829..0000000 --- a/turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml +++ /dev/null @@ -1,203 +0,0 @@ -planner_configs: - SBLkConfigDefault: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ESTkConfigDefault: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECEkConfigDefault: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECEkConfigDefault: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECEkConfigDefault: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRTkConfigDefault: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnectkConfigDefault: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstarkConfigDefault: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRTkConfigDefault: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRMkConfigDefault: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstarkConfigDefault: - type: geometric::PRMstar - FMTkConfigDefault: - type: geometric::FMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 - nearest_k: 1 # use Knearest strategy. default: 1 - cache_cc: 1 # use collision checking cache. default: 1 - heuristics: 0 # activate cost to go heuristics. default: 0 - extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - BFMTkConfigDefault: - type: geometric::BFMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 - nearest_k: 1 # use the Knearest strategy. default: 1 - balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 - optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 - heuristics: 1 # activates cost to go heuristics. default: 1 - cache_cc: 1 # use the collision checking cache. default: 1 - extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - PDSTkConfigDefault: - type: geometric::PDST - STRIDEkConfigDefault: - type: geometric::STRIDE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 - degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 - max_degree: 18 # max degree of a node in the GNAT. default: 12 - min_degree: 12 # min degree of a node in the GNAT. default: 12 - max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 - estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 - min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 - BiTRRTkConfigDefault: - type: geometric::BiTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 - init_temperature: 100 # initial temperature. default: 100 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf - LBTRRTkConfigDefault: - type: geometric::LBTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - epsilon: 0.4 # optimality approximation factor. default: 0.4 - BiESTkConfigDefault: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjESTkConfigDefault: - type: geometric::ProjEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LazyPRMkConfigDefault: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstarkConfigDefault: - type: geometric::LazyPRMstar - SPARSkConfigDefault: - type: geometric::SPARS - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 1000 # maximum consecutive failure limit. default: 1000 - SPARStwokConfigDefault: - type: geometric::SPARStwo - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 5000 # maximum consecutive failure limit. default: 5000 - TrajOptDefault: - type: geometric::TrajOpt - -panda_arm: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -panda_arm_hand: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault -hand: - planner_configs: - - SBLkConfigDefault - - ESTkConfigDefault - - LBKPIECEkConfigDefault - - BKPIECEkConfigDefault - - KPIECEkConfigDefault - - RRTkConfigDefault - - RRTConnectkConfigDefault - - RRTstarkConfigDefault - - TRRTkConfigDefault - - PRMkConfigDefault - - PRMstarkConfigDefault - - FMTkConfigDefault - - BFMTkConfigDefault - - PDSTkConfigDefault - - STRIDEkConfigDefault - - BiTRRTkConfigDefault - - LBTRRTkConfigDefault - - BiESTkConfigDefault - - ProjESTkConfigDefault - - LazyPRMkConfigDefault - - LazyPRMstarkConfigDefault - - SPARSkConfigDefault - - SPARStwokConfigDefault - - TrajOptDefault diff --git a/turtlebot3_manipulation_moveit_config/config/pilz_cartesian_limits.yaml b/turtlebot3_manipulation_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..b2997ca --- /dev/null +++ b/turtlebot3_manipulation_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf b/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf index 2dc59c0..a6d14cf 100644 --- a/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf +++ b/turtlebot3_manipulation_moveit_config/config/turtlebot3_manipulation.srdf @@ -28,9 +28,12 @@ - - + + + + + diff --git a/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py b/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py index a945983..cde31aa 100644 --- a/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/move_group.launch.py @@ -26,102 +26,104 @@ import os -import yaml -import xacro +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory +import xacro +import yaml def generate_launch_description(): # Robot description robot_description_config = xacro.process_file( os.path.join( - get_package_share_directory("turtlebot3_manipulation_description"), - "urdf", - "turtlebot3_manipulation.urdf.xacro", + get_package_share_directory('turtlebot3_manipulation_description'), + 'urdf', + 'turtlebot3_manipulation.urdf.xacro', ) ) - robot_description = {"robot_description": robot_description_config.toxml()} + robot_description = {'robot_description': robot_description_config.toxml()} # Robot description Semantic config robot_description_semantic_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "turtlebot3_manipulation.srdf", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'turtlebot3_manipulation.srdf', ) - with open(robot_description_semantic_path, "r") as file: + with open(robot_description_semantic_path, 'r') as file: robot_description_semantic_config = file.read() robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_config + 'robot_description_semantic': robot_description_semantic_config } # kinematics yaml kinematics_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "kinematics.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'kinematics.yaml', ) - with open(kinematics_yaml_path, "r") as file: + with open(kinematics_yaml_path, 'r') as file: kinematics_yaml = yaml.safe_load(file) # Planning Functionality # Planning Functionality ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization \ - default_planner_request_adapters/FixWorkspaceBounds \ - default_planner_request_adapters/FixStartStateBounds \ - default_planner_request_adapters/FixStartStateCollision \ - default_planner_request_adapters/FixStartStatePathConstraints""", - "start_state_max_bounds_error": 0.1, + 'move_group': { + 'planning_plugin': 'ompl_interface/OMPLPlanner', + 'request_adapters': ( + 'default_planner_request_adapters/AddTimeOptimalParameterization ' + 'default_planner_request_adapters/FixWorkspaceBounds ' + 'default_planner_request_adapters/FixStartStateBounds ' + 'default_planner_request_adapters/FixStartStateCollision ' + 'default_planner_request_adapters/FixStartStatePathConstraints' + ), + 'start_state_max_bounds_error': 0.1, } } ompl_planning_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "ompl_planning.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'ompl_planning.yaml', ) - with open(ompl_planning_yaml_path, "r") as file: + with open(ompl_planning_yaml_path, 'r') as file: ompl_planning_yaml = yaml.safe_load(file) - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) + ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) # Trajectory Execution trajectory_execution = { - "moveit_manage_controllers": True, - "trajectory_execution.allowed_execution_duration_scaling": 1.2, - "trajectory_execution.allowed_goal_duration_margin": 0.5, - "trajectory_execution.allowed_start_tolerance": 0.05, + 'moveit_manage_controllers': True, + 'trajectory_execution.allowed_execution_duration_scaling': 1.2, + 'trajectory_execution.allowed_goal_duration_margin': 0.5, + 'trajectory_execution.allowed_start_tolerance': 0.05, } # Moveit Controllers moveit_simple_controllers_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "moveit_controllers.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'moveit_controllers.yaml', ) - with open(moveit_simple_controllers_yaml_path, "r") as file: + with open(moveit_simple_controllers_yaml_path, 'r') as file: moveit_simple_controllers_yaml = yaml.safe_load(file) moveit_controllers = { - "moveit_simple_controller_manager": moveit_simple_controllers_yaml, - "moveit_controller_manager": - "moveit_simple_controller_manager/MoveItSimpleControllerManager", + 'moveit_simple_controller_manager': moveit_simple_controllers_yaml, + 'moveit_controller_manager': + 'moveit_simple_controller_manager/MoveItSimpleControllerManager', } # Planning Scene Monitor Parameters planning_scene_monitor_parameters = { - "publish_planning_scene": True, - "publish_geometry_updates": True, - "publish_state_updates": True, - "publish_transforms_updates": True, - "publish_robot_description": True, - "publish_robot_description_semantic": True + 'publish_planning_scene': True, + 'publish_geometry_updates': True, + 'publish_state_updates': True, + 'publish_transforms_updates': True, + 'publish_robot_description': True, + 'publish_robot_description_semantic': True } ld = LaunchDescription() @@ -133,9 +135,9 @@ def generate_launch_description(): ld.add_action(declare_use_sim) move_group_node = Node( - package="moveit_ros_move_group", - executable="move_group", - output="screen", + package='moveit_ros_move_group', + executable='move_group', + output='screen', parameters=[ robot_description, robot_description_semantic, diff --git a/turtlebot3_manipulation_moveit_config/launch/move_group2.launch.py b/turtlebot3_manipulation_moveit_config/launch/move_group2.launch.py new file mode 100644 index 0000000..d475b80 --- /dev/null +++ b/turtlebot3_manipulation_moveit_config/launch/move_group2.launch.py @@ -0,0 +1,59 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import ThisLaunchFileDir +from launch.actions import ExecuteProcess + + + +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import ( + generate_move_group_launch, + generate_moveit_rviz_launch, +) + +def generate_launch_description(): + + use_rviz = LaunchConfiguration('use_rviz') + use_sim_time = LaunchConfiguration('use_sim_time') + + moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation", package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs() + + rviz_arg = DeclareLaunchArgument( + 'use_rviz', + default_value='true', + description='Whether execute rviz2') + + sim_time_arg = DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Whether execute use_sim_time') + + rviz_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/moveit_rviz2.launch.py']), + condition=IfCondition(use_rviz), + ) + + set_sim_time = ExecuteProcess( + cmd=['ros2', 'param', 'set', '/move_group', 'use_sim_time', 'true'], + output='screen', + condition=IfCondition(use_sim_time), + ) + + ld = LaunchDescription() + ld.add_action(rviz_arg) + ld.add_action(sim_time_arg) + + # MoveGroup (planning pipeline, controllers, etc.) + ld.add_action(generate_move_group_launch(moveit_config)) + ld.add_action(rviz_launch) + ld.add_action(set_sim_time) + + # Conditionally launch RViz with MoveIt panels and config + # rviz_launch = generate_moveit_rviz_launch(moveit_config) + # rviz_launch.condition = IfCondition(LaunchConfiguration("use_rviz")) + # ld.add_action(rviz_launch) + return ld \ No newline at end of file diff --git a/turtlebot3_manipulation_moveit_config/launch/moveit_core.launch.py b/turtlebot3_manipulation_moveit_config/launch/moveit_core.launch.py index d55deb9..e057ffc 100644 --- a/turtlebot3_manipulation_moveit_config/launch/moveit_core.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/moveit_core.launch.py @@ -18,10 +18,10 @@ import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory def generate_launch_description(): diff --git a/turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py b/turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py index b3f5694..6d8dfed 100644 --- a/turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py @@ -18,11 +18,11 @@ import os +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource -from ament_index_python.packages import get_package_share_directory def generate_launch_description(): diff --git a/turtlebot3_manipulation_moveit_config/launch/moveit_gazebo.launch.py b/turtlebot3_manipulation_moveit_config/launch/moveit_gazebo.launch.py deleted file mode 100644 index 2f9ba24..0000000 --- a/turtlebot3_manipulation_moveit_config/launch/moveit_gazebo.launch.py +++ /dev/null @@ -1,84 +0,0 @@ -#!/usr/bin/env python3 -# -# Copyright 2020 ROBOTIS CO., LTD. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Authors: Hye-jong KIM - -import os - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.actions import IncludeLaunchDescription -from launch.substitutions import PathJoinSubstitution -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch_ros.substitutions import FindPackageShare -from ament_index_python.packages import get_package_share_directory - - -def generate_launch_description(): - - ld = LaunchDescription() - launch_dir = os.path.join( - get_package_share_directory( - 'turtlebot3_manipulation_moveit_config'), 'launch') - bringup_launch_dir = os.path.join( - get_package_share_directory( - 'turtlebot3_manipulation_bringup'), 'launch') - - # RViz - rviz_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_dir, '/moveit_rviz.launch.py']) - ) - ld.add_action(rviz_launch) - - # move_group - move_group_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([launch_dir, '/move_group.launch.py']), - launch_arguments={ - 'use_sim': 'true', - }.items(), - ) - ld.add_action(move_group_launch) - - # gazebo_control with robot_state_publisher - rviz_arg = DeclareLaunchArgument( - 'start_rviz', - default_value='false', - description='Whether execute rviz2') - ld.add_action(rviz_arg) - - empty_world_path = PathJoinSubstitution( - [ - FindPackageShare('turtlebot3_manipulation_bringup'), - 'worlds', - 'empty_world.model' - ] - ) - - gazebo_control_launch = IncludeLaunchDescription( - PythonLaunchDescriptionSource([bringup_launch_dir, '/gazebo.launch.py']), - launch_arguments={ - 'world': empty_world_path, - 'x_pose': '0.0', - 'y_pose': '0.0', - 'z_pose': '0.0', - 'roll': '0.0', - 'pitch': '0.0', - 'yaw': '0.0', - }.items(), - ) - ld.add_action(gazebo_control_launch) - - return ld diff --git a/turtlebot3_manipulation_moveit_config/launch/moveit_rviz.launch.py b/turtlebot3_manipulation_moveit_config/launch/moveit_rviz.launch.py index 1b47377..4b81623 100644 --- a/turtlebot3_manipulation_moveit_config/launch/moveit_rviz.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/moveit_rviz.launch.py @@ -17,84 +17,86 @@ # Authors: Hye-jong KIM import os -import xacro -import yaml from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch_ros.actions import Node +import xacro +import yaml def generate_launch_description(): # Rviz config save file rviz_config = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "moveit.rviz" + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'moveit.rviz' ) # Robot description robot_description_config = xacro.process_file( os.path.join( - get_package_share_directory("turtlebot3_manipulation_description"), - "urdf", - "turtlebot3_manipulation.urdf.xacro", + get_package_share_directory('turtlebot3_manipulation_description'), + 'urdf', + 'turtlebot3_manipulation.urdf.xacro', ) ) - robot_description = {"robot_description": robot_description_config.toxml()} + robot_description = {'robot_description': robot_description_config.toxml()} # Robot description Semantic config robot_description_semantic_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "turtlebot3_manipulation.srdf", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'turtlebot3_manipulation.srdf', ) - with open(robot_description_semantic_path, "r") as file: + with open(robot_description_semantic_path, 'r') as file: robot_description_semantic_config = file.read() robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_config + 'robot_description_semantic': robot_description_semantic_config } # Planning Functionality ompl_planning_pipeline_config = { - "move_group": { - "planning_plugin": "ompl_interface/OMPLPlanner", - "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization \ - default_planner_request_adapters/FixWorkspaceBounds \ - default_planner_request_adapters/FixStartStateBounds \ - default_planner_request_adapters/FixStartStateCollision \ - default_planner_request_adapters/FixStartStatePathConstraints""", - "start_state_max_bounds_error": 0.1, + 'move_group': { + 'planning_plugin': 'ompl_interface/OMPLPlanner', + 'request_adapters': ( + 'default_planner_request_adapters/AddTimeOptimalParameterization ' + 'default_planner_request_adapters/FixWorkspaceBounds ' + 'default_planner_request_adapters/FixStartStateBounds ' + 'default_planner_request_adapters/FixStartStateCollision ' + 'default_planner_request_adapters/FixStartStatePathConstraints' + ), + 'start_state_max_bounds_error': 0.1, } } ompl_planning_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "ompl_planning.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'ompl_planning.yaml', ) - with open(ompl_planning_yaml_path, "r") as file: + with open(ompl_planning_yaml_path, 'r') as file: ompl_planning_yaml = yaml.safe_load(file) - ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml) + ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) # kinematics yaml kinematics_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "kinematics.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'kinematics.yaml', ) - with open(kinematics_yaml_path, "r") as file: + with open(kinematics_yaml_path, 'r') as file: kinematics_yaml = yaml.safe_load(file) ld = LaunchDescription() rviz_node = Node( - package="rviz2", - executable="rviz2", - name="rviz2", - output="log", - arguments=["-d", rviz_config], + package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments=['-d', rviz_config], parameters=[ robot_description, robot_description_semantic, diff --git a/turtlebot3_manipulation_moveit_config/launch/moveit_rviz2.launch.py b/turtlebot3_manipulation_moveit_config/launch/moveit_rviz2.launch.py new file mode 100644 index 0000000..03ce1f8 --- /dev/null +++ b/turtlebot3_manipulation_moveit_config/launch/moveit_rviz2.launch.py @@ -0,0 +1,7 @@ +from moveit_configs_utils import MoveItConfigsBuilder +from moveit_configs_utils.launches import generate_moveit_rviz_launch + + +def generate_launch_description(): + moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation", package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs() + return generate_moveit_rviz_launch(moveit_config) diff --git a/turtlebot3_manipulation_moveit_config/launch/rsp.launch.py b/turtlebot3_manipulation_moveit_config/launch/rsp.launch.py index 5ea566c..fb3b979 100644 --- a/turtlebot3_manipulation_moveit_config/launch/rsp.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/rsp.launch.py @@ -17,38 +17,38 @@ # Authors: Hye-jong KIM import os -import xacro from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node +import xacro def generate_launch_description(): ld = LaunchDescription() - publish_frequency = LaunchConfiguration("publish_frequency") - ld.add_action(DeclareLaunchArgument("publish_frequency", default_value="15.0")) + publish_frequency = LaunchConfiguration('publish_frequency') + ld.add_action(DeclareLaunchArgument('publish_frequency', default_value='15.0')) # Robot description robot_description_config = xacro.process_file( os.path.join( - get_package_share_directory("turtlebot3_manipulation_description"), - "urdf", - "turtlebot3_manipulation.urdf.xacro", + get_package_share_directory('turtlebot3_manipulation_description'), + 'urdf', + 'turtlebot3_manipulation.urdf.xacro', ) ) - robot_description = {"robot_description": robot_description_config.toxml()} + robot_description = {'robot_description': robot_description_config.toxml()} # Given the published joint states, publish tf for the robot links and the robot description rsp_node = Node( - package="robot_state_publisher", - executable="robot_state_publisher", + package='robot_state_publisher', + executable='robot_state_publisher', respawn=True, - output="screen", - parameters=[{"publish_frequency": publish_frequency}, robot_description] + output='screen', + parameters=[{'publish_frequency': publish_frequency}, robot_description] ) ld.add_action(rsp_node) diff --git a/turtlebot3_manipulation_moveit_config/launch/servo.launch.py b/turtlebot3_manipulation_moveit_config/launch/servo.launch.py index 7487b4e..9beb306 100644 --- a/turtlebot3_manipulation_moveit_config/launch/servo.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/servo.launch.py @@ -17,13 +17,14 @@ # Authors: Hye-jong KIM import os -import yaml + +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -from ament_index_python.packages import get_package_share_directory import xacro +import yaml def generate_launch_description(): @@ -33,63 +34,63 @@ def generate_launch_description(): use_sim = LaunchConfiguration('use_sim') declare_use_sim = DeclareLaunchArgument( 'use_sim', - default_value='true', + default_value='false', description='Start robot in Gazebo simulation.') ld.add_action(declare_use_sim) # Robot description robot_description_config = xacro.process_file( os.path.join( - get_package_share_directory("turtlebot3_manipulation_description"), - "urdf", - "turtlebot3_manipulation.urdf.xacro", + get_package_share_directory('turtlebot3_manipulation_description'), + 'urdf', + 'turtlebot3_manipulation.urdf.xacro', ) ) - robot_description = {"robot_description": robot_description_config.toxml()} + robot_description = {'robot_description': robot_description_config.toxml()} # Robot description Semantic config robot_description_semantic_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "turtlebot3_manipulation.srdf", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'turtlebot3_manipulation.srdf', ) try: - with open(robot_description_semantic_path, "r") as file: + with open(robot_description_semantic_path, 'r') as file: robot_description_semantic_config = file.read() except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available return None robot_description_semantic = { - "robot_description_semantic": robot_description_semantic_config + 'robot_description_semantic': robot_description_semantic_config } - # kinematics yaml + # Kinematics yaml kinematics_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "kinematics.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'kinematics.yaml', ) - with open(kinematics_yaml_path, "r") as file: + with open(kinematics_yaml_path, 'r') as file: kinematics_yaml = yaml.safe_load(file) # Get parameters for the Servo node servo_yaml_path = os.path.join( - get_package_share_directory("turtlebot3_manipulation_moveit_config"), - "config", - "moveit_servo.yaml", + get_package_share_directory('turtlebot3_manipulation_moveit_config'), + 'config', + 'moveit_servo.yaml', ) try: - with open(servo_yaml_path, "r") as file: - servo_params = {"moveit_servo": yaml.safe_load(file)} + with open(servo_yaml_path, 'r') as file: + servo_params = {'moveit_servo': yaml.safe_load(file)} except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available return None # Launch as much as possible in components servo_node = Node( - package="moveit_servo", - executable="servo_node_main", + package='moveit_servo', + executable='servo_node', parameters=[ - {'use_gazebo':use_sim}, + {'use_gazebo': use_sim}, servo_params, robot_description, robot_description_semantic, diff --git a/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py b/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py index fd169ea..ace8d83 100644 --- a/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/setup_assistant.launch.py @@ -21,6 +21,7 @@ def generate_launch_description(): - moveit_config = MoveItConfigsBuilder("turtlebot3_manipulation", - package_name="turtlebot3_manipulation_moveit_config").to_moveit_configs() + moveit_config = MoveItConfigsBuilder( + 'turtlebot3_manipulation', + package_name='turtlebot3_manipulation_moveit_config').to_moveit_configs() return generate_setup_assistant_launch(moveit_config) diff --git a/turtlebot3_manipulation_moveit_config/launch/spawn_controllers.launch.py b/turtlebot3_manipulation_moveit_config/launch/spawn_controllers.launch.py index 71e9d0e..4e5f290 100644 --- a/turtlebot3_manipulation_moveit_config/launch/spawn_controllers.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/spawn_controllers.launch.py @@ -26,15 +26,15 @@ def generate_launch_description(): # Load controllers load_controllers = [] for controller in [ - "arm_controller", - "gripper_controller", - "joint_state_broadcaster", + 'arm_controller', + 'gripper_controller', + 'joint_state_broadcaster', ]: load_controllers += [ ExecuteProcess( - cmd=["ros2 run controller_manager spawner.py {}".format(controller)], + cmd=['ros2 run controller_manager spawner.py {}'.format(controller)], shell=True, - output="screen", + output='screen', ) ] ld.add_action(load_controllers) diff --git a/turtlebot3_manipulation_moveit_config/launch/static_virtual_joint_tfs.launch.py b/turtlebot3_manipulation_moveit_config/launch/static_virtual_joint_tfs.launch.py index 0900f2d..faca02d 100644 --- a/turtlebot3_manipulation_moveit_config/launch/static_virtual_joint_tfs.launch.py +++ b/turtlebot3_manipulation_moveit_config/launch/static_virtual_joint_tfs.launch.py @@ -26,11 +26,11 @@ def generate_launch_description(): # Static TF static_tf = Node( - package="tf2_ros", - executable="static_transform_publisher", - name="static_transform_publisher", - output="log", - arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "odom", "base_footprint"], + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'odom', 'base_footprint'], ) ld.add_action(static_tf) diff --git a/turtlebot3_manipulation_moveit_config/package.xml b/turtlebot3_manipulation_moveit_config/package.xml index f647622..3b9f89b 100644 --- a/turtlebot3_manipulation_moveit_config/package.xml +++ b/turtlebot3_manipulation_moveit_config/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_moveit_config - 2.2.0 + 2.2.1 An automatically generated package with all the configuration and launch files for using the turtlebot3_manipulation with the MoveIt Motion Planning Framework @@ -17,6 +17,7 @@ moveit_ros_move_group moveit_kinematics moveit_planners + moveit_py moveit_simple_controller_manager joint_state_publisher joint_state_publisher_gui @@ -30,9 +31,10 @@ rviz_default_plugins tf2_ros turtlebot3_manipulation_description - warehouse_ros_mongo srdfdom xacro + ros2launch + moveit_servo ament_cmake diff --git a/turtlebot3_manipulation_navigation2/CHANGELOG.rst b/turtlebot3_manipulation_navigation2/CHANGELOG.rst index 255774a..52ba808 100644 --- a/turtlebot3_manipulation_navigation2/CHANGELOG.rst +++ b/turtlebot3_manipulation_navigation2/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_manipulation_navigation2 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* None + 2.2.0 (2025-04-01) ------------------ * Updated maintainer information diff --git a/turtlebot3_manipulation_navigation2/launch/navigation2.launch.py b/turtlebot3_manipulation_navigation2/launch/navigation2.launch.py index c5b2bb0..fd7361e 100644 --- a/turtlebot3_manipulation_navigation2/launch/navigation2.launch.py +++ b/turtlebot3_manipulation_navigation2/launch/navigation2.launch.py @@ -15,11 +15,12 @@ # limitations under the License. # # Author: Darby Lim +# https://www.youtube.com/watch?v=rZOxPGCn4QM&t=1076s from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import IncludeLaunchDescription -from launch.conditions import IfCondition +from launch.conditions import IfCondition, UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch.substitutions import PathJoinSubstitution @@ -37,6 +38,7 @@ def generate_launch_description(): autostart = LaunchConfiguration('autostart') use_composition = LaunchConfiguration('use_composition') use_respawn = LaunchConfiguration('use_respawn') + slam = LaunchConfiguration('slam') map_yaml_file = LaunchConfiguration( 'map_yaml_file', @@ -44,7 +46,8 @@ def generate_launch_description(): [ FindPackageShare('turtlebot3_manipulation_navigation2'), 'map', - 'turtlebot3_world.yaml' + #'small_building.yaml' + 'sim_map01.yaml' ] ) ) @@ -55,9 +58,20 @@ def generate_launch_description(): [ FindPackageShare('turtlebot3_manipulation_navigation2'), 'param', - 'turtlebot3.yaml' + 'wp_nav2_params.yaml' ] - ) + ), + ) + + params_file_sim = LaunchConfiguration( + 'params_file_sim', + default=PathJoinSubstitution( + [ + FindPackageShare('turtlebot3_manipulation_navigation2'), + 'param', + 'wp_nav2_params_sim.yaml' + ] + ), ) nav2_launch_file_dir = PathJoinSubstitution( @@ -99,10 +113,17 @@ def generate_launch_description(): default_value=map_yaml_file, description='Full path to map file to load'), + DeclareLaunchArgument( + 'params_file', + default_value=params_file_sim, + description='Full path to the ROS2 parameters file to use for all launched nodes', + condition=IfCondition(use_sim)), + DeclareLaunchArgument( 'params_file', default_value=params_file, - description='Full path to the ROS2 parameters file to use for all launched nodes'), + description='Full path to the ROS2 parameters file to use for all launched nodes', + condition=UnlessCondition(use_sim)), DeclareLaunchArgument( 'default_bt_xml_filename', @@ -125,6 +146,9 @@ def generate_launch_description(): description='Whether to respawn if a node crashes. \ Applied when composition is disabled.'), + DeclareLaunchArgument( + 'slam', default_value='True', description='Whether to run a SLAM'), + IncludeLaunchDescription( PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']), launch_arguments={ @@ -135,6 +159,7 @@ def generate_launch_description(): 'autostart': autostart, 'use_composition': use_composition, 'use_respawn': use_respawn, + 'slam': slam, }.items(), ), @@ -143,6 +168,6 @@ def generate_launch_description(): executable='rviz2', name='rviz2', arguments=['-d', rviz_config_file], - output='screen', + output='log', condition=IfCondition(start_rviz)), ]) diff --git a/turtlebot3_manipulation_navigation2/launch/navigation2_use_sim_time.launch.py b/turtlebot3_manipulation_navigation2/launch/navigation2_use_sim_time.launch.py deleted file mode 100644 index d3b185b..0000000 --- a/turtlebot3_manipulation_navigation2/launch/navigation2_use_sim_time.launch.py +++ /dev/null @@ -1,148 +0,0 @@ -#!/usr/bin/env python3 -# -# Copyright 2022 ROBOTIS CO., LTD. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Author: Darby Lim - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.actions import IncludeLaunchDescription -from launch.conditions import IfCondition -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration -from launch.substitutions import PathJoinSubstitution - -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare - - -def generate_launch_description(): - start_rviz = LaunchConfiguration('start_rviz') - use_sim = LaunchConfiguration('use_sim') - map_yaml_file = LaunchConfiguration('map_yaml_file') - params_file = LaunchConfiguration('params_file') - default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename') - autostart = LaunchConfiguration('autostart') - use_composition = LaunchConfiguration('use_composition') - use_respawn = LaunchConfiguration('use_respawn') - - map_yaml_file = LaunchConfiguration( - 'map_yaml_file', - default=PathJoinSubstitution( - [ - FindPackageShare('turtlebot3_manipulation_navigation2'), - 'map', - 'turtlebot3_world.yaml' - ] - ) - ) - - params_file = LaunchConfiguration( - 'params_file', - default=PathJoinSubstitution( - [ - FindPackageShare('turtlebot3_manipulation_navigation2'), - 'param', - 'turtlebot3_use_sim_time.yaml' - ] - ) - ) - - nav2_launch_file_dir = PathJoinSubstitution( - [ - FindPackageShare('nav2_bringup'), - 'launch', - ] - ) - - rviz_config_file = PathJoinSubstitution( - [ - FindPackageShare('turtlebot3_manipulation_navigation2'), - 'rviz', - 'navigation2.rviz' - ] - ) - - default_bt_xml_filename = PathJoinSubstitution( - [ - FindPackageShare('nav2_bt_navigator'), - 'behavior_trees', - 'navigate_w_replanning_and_recovery.xml' - ] - ) - - return LaunchDescription([ - DeclareLaunchArgument( - 'start_rviz', - default_value='true', - description='Whether execute rviz2'), - - DeclareLaunchArgument( - 'use_sim', - default_value='true', - description='Start robot in Gazebo simulation'), - - DeclareLaunchArgument( - 'map_yaml_file', - default_value=map_yaml_file, - description='Full path to map file to load'), - - DeclareLaunchArgument( - 'params_file', - default_value=params_file, - description='Full path to the ROS2 parameters file to use for all launched nodes'), - - DeclareLaunchArgument( - 'default_bt_xml_filename', - default_value=default_bt_xml_filename, - description='Full path to the behavior tree xml file to use'), - - DeclareLaunchArgument( - 'autostart', - default_value='true', - description='Automatically startup the nav2 stack'), - - DeclareLaunchArgument( - 'use_composition', - default_value='True', - description='Whether to use composed bringup'), - - DeclareLaunchArgument( - 'use_respawn', - default_value='false', - description='Whether to respawn if a node crashes. \ - Applied when composition is disabled.'), - - IncludeLaunchDescription( - PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']), - launch_arguments={ - 'map': map_yaml_file, - 'use_sim_time': use_sim, - 'params_file': params_file, - 'default_bt_xml_filename': default_bt_xml_filename, - 'autostart': autostart, - 'use_composition': use_composition, - 'use_respawn': use_respawn, - }.items(), - ), - - Node( - package='rviz2', - executable='rviz2', - name='rviz2', - arguments=['-d', rviz_config_file], - output='screen', - condition=IfCondition(start_rviz)), - ]) diff --git a/turtlebot3_manipulation_navigation2/map/ee484_maze04.pgm b/turtlebot3_manipulation_navigation2/map/ee484_maze04.pgm new file mode 100644 index 0000000..ae2eb0b Binary files /dev/null and b/turtlebot3_manipulation_navigation2/map/ee484_maze04.pgm differ diff --git a/turtlebot3_manipulation_navigation2/map/ee484_maze04.yaml b/turtlebot3_manipulation_navigation2/map/ee484_maze04.yaml new file mode 100644 index 0000000..1efe704 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/ee484_maze04.yaml @@ -0,0 +1,7 @@ +image: ee484_maze04.pgm +mode: trinary +resolution: 0.05 +origin: [-2.26, -3.23, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/turtlebot3_manipulation_navigation2/map/p1_map01a.pgm b/turtlebot3_manipulation_navigation2/map/p1_map01a.pgm new file mode 100644 index 0000000..584aaed Binary files /dev/null and b/turtlebot3_manipulation_navigation2/map/p1_map01a.pgm differ diff --git a/turtlebot3_manipulation_navigation2/map/p1_map01a.yaml b/turtlebot3_manipulation_navigation2/map/p1_map01a.yaml new file mode 100644 index 0000000..dfe0751 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/p1_map01a.yaml @@ -0,0 +1,8 @@ +# turtlebot3.yaml +image: p1_map01a.pgm +mode: trinary +resolution: 0.050 +origin: [-3.048, -3.331, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 \ No newline at end of file diff --git a/turtlebot3_manipulation_navigation2/map/p1_map07.pgm b/turtlebot3_manipulation_navigation2/map/p1_map07.pgm new file mode 100644 index 0000000..c962150 Binary files /dev/null and b/turtlebot3_manipulation_navigation2/map/p1_map07.pgm differ diff --git a/turtlebot3_manipulation_navigation2/map/p1_map07.xcf b/turtlebot3_manipulation_navigation2/map/p1_map07.xcf new file mode 100644 index 0000000..f6b4807 Binary files /dev/null and b/turtlebot3_manipulation_navigation2/map/p1_map07.xcf differ diff --git a/turtlebot3_manipulation_navigation2/map/p1_map07.yaml b/turtlebot3_manipulation_navigation2/map/p1_map07.yaml new file mode 100644 index 0000000..0f42d96 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/p1_map07.yaml @@ -0,0 +1,7 @@ +image: p1_map07.pgm +mode: trinary +resolution: 0.050 +origin: [-2.884, -3.811, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/turtlebot3_manipulation_navigation2/map/sim_map01.pgm b/turtlebot3_manipulation_navigation2/map/sim_map01.pgm new file mode 100644 index 0000000..140291c --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/sim_map01.pgm @@ -0,0 +1,4 @@ +P5 +622 549 +255 +ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍþÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍþÍþÍÍÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍþþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍþÍþÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍþþÍÍÍÍÍÍÍþÍÍÍþþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþþÍÍþþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍÍÍþÍþÍÍþþÍÍþÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍþÍþÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍþÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþþÍÍÍþþÍÍþÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍÍÍþÍþþÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍþÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþþÍÍÍþÍÍÍþÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍþÍþþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍþÍþÍÍÍÍÍþÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍþÍÍÍÍþÍÍþÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍÍÍÍþþÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍþÍþÍþÍþÍÍÍÍþÍþþÍÍÍþÍþÍþÍþÍÍÍþþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍþþÍÍÍþÍÍÍÍþÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍþþÍÍÍÍþÍÍþÍÍÍþþÍþÍÍÍþÍÍþþÍþþÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþÍÍÍþþÍÍþÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍþÍÍþÍÍþÍÍþÍþÍþÍþÍþÍþÍÍþÍþþÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþþÍÍÍþÍþÍþÍÍÍþþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍþþÍþÍÍþÍÍÍþþÍþÍÍÍþÍÍÍþþÍþþÍÍÍþþÍÍÍÍÍÍÍþþÍÍþÍÍþþÍÍÍÍÍþÍÍÍþÍþÍþÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍþþÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍþþÍþþÍþÍÍÍþþÍþÍÍÍþþÍÍþþÍþþÍÍþÍþÍÍÍþÍÍÍþþÍÍþÍþþÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍþþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþþÍÍþÍÍþÍÍÍÍþÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþþÍÍþÍÍþÍÍþÍÍÍþþÍþÍÍÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍþÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþþÍÍÍþþÍÍÍþþÍþþÍÍþÍÍþÍÍÍþÍþÍþÍÍþþÍÍþÍÍþþþÍþÍþÍþÍÍÍÍþÍÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍþÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍþÍÍÍþþÍÍÍþþÍÍþþÍþþþÍÍÍþþþÍþÍþÍþÍÍÍÍÍþÍþÍþÍþÍþþÍÍþÍÍþÍÍþþÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍþÍþÍÍÍÍþÍÍÍþþÍÍÍþþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍþÍþÍÍþÍÍþþÍÍÍþþÍÍþÍÍþÍÍþÍÍÍþþÍÍþÍþþÍÍÍþÍþþÍÍÍÍÍþÍÍÍþþþþÍÍÍÍþþÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍþþÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍþþÍÍþÍþÍÍþÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍþÍÍÍÍþÍþÍÍÍþÍþþÍÍÍþþÍþþÍÍÍÍÍþÍÍþþþÍÍþÍþÍÍÍÍþÍþÍÍÍÍÍþþÍÍÍÍþþþÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍÍþþÍÍþþÍÍþþÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþÍþþÍÍþþÍþÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍþþÍÍþÍþÍÍÍÍþÍþÍÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍþÍÍÍþÍÍþÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍÍÍÍþÍþþÍÍÍþÍÍþþÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍþþÍÍÍþÍþÍþÍÍÍþþÍÍÍþþÍÍþþÍÍþÍþÍÍÍþþþÍþÍþÍÍþþÍþþÍÍÍþþÍþÍÍÍþþþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍÍþÍÍþÍþÍÍÍÍÍþÍþÍÍþÍÍÍþÍÍÍÍþþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍþþÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍþþÍÍÍþÍÍþþÍþÍþÍÍÍþþÍÍÍþÍÍÍþÍÍþþÍþÍÍÍÍþÍÍÍþþÍÍÍþÍþþÍÍþþþþÍÍÍÍþþÍÍÍÍÍÍþÍÍÍÍþþÍÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍÍÍÍþÍÍÍþþÍÍþþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍþþÍÍþþÍÍÍÍÍÍþÍÍÍþÍÍþþÍÍþÍÍþÍþþÍÍÍþÍÍþþÍÍþÍÍÍÍþÍþÍÍþÍÍþþÍÍÍþþÍÍþþþÍÍÍþþÍÍþþÍþþÍþÍÍþþÍÍÍÍÍþÍþÍÍÍþÍþÍÍÍþÍÍÍÍþÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍþþÍÍÍþÍÍÍþþÍÍþþÍÍþÍÍÍþþÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍþÍþÍþÍÍÍÍþÍÍþÍÍþþÍÍÍþÍÍþþþÍÍÍÍþÍÍþþÍþþÍÍÍÍþþþÍÍþÍÍÍþþÍÍþÍþÍÍþÍþþÍÍÍþþÍþþÍÍþÍþÍÍÍþþÍÍÍÍþþþÍþÍþÍþÍþÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍþÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍþÍþÍÍþÍÍþÍÍþÍÍÍþÍÍþÍþÍÍÍþþÍÍþþÍÍþÍÍÍÍþÍþÍÍþÍÍþÍÍþþþÍþþþþþÍÍÍþÍþÍþÍÍþÍÍÍÍÍþÍÍþÍÍþþþÍÍþÍþÍÍÍþÍþÍÍÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍÍÍþþÍÍþÍÍÍþþÍÍÍÍþÍÍþþÍÍþÍþÍÍþÍþÍÍÍþÍÍÍþÍÍþÍþÍÍÍþþÍÍÍþÍÍÍþÍÍþÍþÍÍþÍþþþÍÍþþþþþÍþþþÍÍÍþþþÍÍþÍþÍÍÍþþþÍþÍþÍþÍþÍÍÍþþÍÍÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍþþÍÍþþÍÍÍÍÍÍÍÍÍþþÍÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍþÍþÍÍþÍþÍþÍÍþÍÍÍþÍÍþÍþÍþÍþþÍÍþþÍÍÍþÍÍÍþþþÍÍþÍþÍþÍþÍþþÍÍþÍþÍÍÍþþþÍÍþÍþþÍÍÍþþþÍÍÍþÍþÍþÍÍÍþÍþÍþÍþÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍþþÍÍþÍÍÍþþÍÍþÍÍÍÍþþÍÍþÍÍÍÍÍþÍÍÍþþÍÍÍþþÍÍÍþÍþÍþÍÍþÍÍÍþÍþÍþÍÍþÍÍÍþÍÍþÍþÍþÍþÍþÍÍþÍÍÍþþÍþÍþþÍÍþÍþþþÍÍþÍþþþÍþþþÍþÍþþÍÍþþÍþÍÍÍþþþÍÍÍþÍþþþÍþÍþÍþÍþÍþÍÍÍþÍÍþþÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍþþÍÍÍþþÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍþÍþÍÍþþÍÍþÍÍÍÍÍþþÍÍÍþÍÍþÍÍÍþþÍÍÍþÍÍþÍþþÍÍÍþÍþþÍÍþþþÍÍÍþþÍÍÍþþÍþÍÍÍþþþÍÍþÍþÍþÍÍþÍþÍÍÍÍÍÍÍÍÍþÍþÍþÍÍÍþÍÍÍÍÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍþþÍÍÍþÍÍþÍþÍþþÍÍÍþþÍÍþÍÍÍþÍÍþþÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍþÍþÍþÍÍþþÍÍþþÍÍÍþÍÍþþÍþÍÍÍþÍÍþÍÍþþÍþÍþþÍÍþÍÍþÍÍÍþÍþþÍÍþþþÍþÍþÍÍÍþþþþÍÍÍþþÍþÍÍþÍþþÍÍÍþþÍÍþÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍþþÍÍÍþþÍÍÍþÍÍÍþÍþÍþÍÍþþÍÍÍþÍÍÍþÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍþþÍÍþÍþÍÍþÍþþÍÍþþÍÍÍþÍÍþÍþþÍÍþÍÍþÍÍþþþÍþÍþþÍÍþÍþþÍÍþþÍþþÍÍþþÍÍÍþÍþÍÍþþþÍÍÍÍþÍÍÍÍþÍþþþÍÍþþÍÍþÍþÍÍÍþÍÍþþÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍþÍÍÍþþÍþÍþÍÍþÍÍÍÍþÍÍþÍþÍþÍÍþÍÍÍþÍÍÍÍþÍÍþþÍÍþÍþÍÍÍÍþÍþÍþþÍÍÍþÍÍþÍþÍÍþÍþÍÍþÍþÍþÍþþÍþÍÍþþÍþþþÍþÍÍþÍþþþþÍÍÍþþÍÍþþÍÍÍÍþþÍÍÍþþþþÍÍþþÍþÍÍÍþþÍÍþÍþÍþÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍþþÍÍþþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþþÍÍþÍÍþþÍÍþÍÍÍþÍÍÍþÍþÍþÍÍÍÍÍþÍþÍþÍþÍþþÍÍÍþÍÍþÍþÍþÍþþÍÍþþÍþþþÍþÍþþÍÍþÍÍþþÍÍÍÍþÍÍþþþÍÍÍþÍÍþþÍþþÍÍþÍþÍþÍþþþþÍÍþÍþþÍþÍþÍþÍÍþÍÍþÍþÍÍþÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍþþÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍþÍÍþÍþÍþÍÍÍÍþþÍÍþÍÍþÍþÍþÍþþÍþÍþÍþþÍþþÍþÍÍþÍþþþÍþÍÍþÍþþÍþÍÍþþþÍÍþþþþÍÍÍþþþÍþÍÍþþþÍÍþþÍþþÍÍþÍÍÍÍþÍÍþÍÍÍþÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþþÍþÍÍÍÍþÍÍþÍþÍÍÍþÍÍÍþÍþÍþÍÍþþÍÍþþÍÍþÍþÍþÍþþÍÍÍþÍÍÍþþÍÍþþÍþÍÍþÍÍÍþÍÍÍÍþþÍÍþÍÍþÍÍþÍþþÍÍþþÍÍþþÍþÍÍþÍÍþþþÍþþÍþÍþþÍþþþÍþÍÍþþÍÍþþÍþÍÍÍþÍþÍþÍÍþþþÍÍþÍÍþÍÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍþÍþÍþÍþÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍþÍÍþÍÍÍþþÍÍþþÍÍþþÍÍþÍþÍÍÍÍþþÍÍþþÍÍþþÍþÍþÍþÍþþþÍþÍÍÍþÍÍþÍþÍÍþþþÍþþÍþþÍþþÍþþÍþÍÍþþÍÍþþþþÍÍÍþÍþÍÍþÍþþþÍÍþþþþÍÍþþÍÍÍþÍÍþÍÍÍÍÍþÍþÍÍÍþÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍþÍþþÍÍÍþÍÍÍþÍÍþÍþÍþÍÍþÍÍþþÍÍþþÍÍþþÍÍþÍÍþþÍÍþÍÍÍþþÍÍÍþÍÍþþÍÍÍþþþÍþþÍÍþþÍþþþþÍÍþÍþþþþÍþþÍþþÍþþþþÍþþÍÍþþþÍþÍÍþþþÍþÍþþþÍÍþþÍþþÍÍþÍÍÍÍþÍÍþÍÍÍÍþþÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍþÍÍþÍþÍþÍþÍþÍþÍþÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍþþÍÍþÍþÍþÍþþÍÍÍþÍÍÍþÍÍþÍþÍþÍÍþÍÍÍþÍÍÍþþÍÍÍþÍþÍþÍÍÍþþþÍþþÍþÍÍþþÍþÍÍþÍþÍþþþþþÍþÍÍþþÍþÍþþÍÍÍþþÍþÍÍþþþÍþÍþþþþþÍþþþÍþÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍþÍÍþÍþÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþþÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþþÍþÍþÍþÍÍþÍÍÍþÍÍÍþþÍþÍþÍþÍÍþÍÍÍþÍÍþþÍÍÍþÍÍþþþÍþþþÍþþÍÍþÍÍþþþþþÍþÍþÍþþÍþþÍþÍþþÍÍþÍþþþÍÍþþÍþÍÍþþþþþÍÍþþÍÍÍþÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍþÍÍÍÍþÍþÍþÍþÍþÍþÍþÍÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍþþÍÍþþÍÍþþÍþÍÍÍþÍþþÍÍþþÍÍÍþÍÍÍþþÍþþþþÍþþþÍþÍÍÍþþþÍÍþþþÍþþÍþþÍþþÍþþÍþÍþþÍÍÍþþþþþÍþþÍþÍÍþþÍþÍÍþÍþþÍÍþÍþÍÍþÍÍþÍÍÍÍþÍÍþÍÍÍþþÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍþÍþÍþÍþÍÍÍþÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍþþÍÍþÍþÍþÍþþÍÍþþÍÍþþÍÍþþÍþÍÍþÍþÍþþÍÍþþÍÍÍþÍÍþþÍþþþþÍÍþþÍþþÍþþþþÍÍþþþþþÍþþþÍþÍÍþþÍþþþÍÍÍþþÍþþÍÍþþÍþÍþþþþÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍþÍþÍþþÍÍÍþÍÍþþÍÍþþÍÍþÍþþÍÍÍþþÍþÍÍÍþÍÍÍþþÍþþÍþÍÍþþÍþÍÍþþþþþÍþþþÍþþÍþþÍþÍÍþþÍþþþÍÍÍþþÍþÍÍÍþþþÍÍÍþÍþÍÍÍþþþÍÍÍþÍÍÍþÍÍþþÍÍÍþþÍþÍÍÍÍþÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþþÍÍÍþþÍþÍþÍþÍþÍþÍÍÍÍþþÍÍÍþþÍÍÍþþÍÍþÍÍÍÍþÍþÍÍþþÍÍþÍÍÍþþÍþÍþÍþÍþþþÍÍþÍÍÍþþþÍþþÍÍþþÍþþÍþÍÍþþÍþÍþþþþþÍÍþþþÍþÍþþþÍþÍþþþÍþþþþÍÍþþþþþÍþþÍþþÍþþþÍþÍþÍþþÍÍþþþÍÍþÍÍþÍÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍþÍþÍÍþÍÍÍÍþÍÍÍþÍþÍÍþþÍÍÍþÍÍÍþþÍþÍþþÍÍþþÍÍþþÍþÍþÍþÍÍþþÍÍþÍÍÍþþÍÍÍþÍÍþþÍþþþþÍÍþþÍþþÍþþþÍþÍþþþþþÍþþÍÍþÍÍþþÍÍþþþÍþþþÍþþÍþþþþþÍþþÍÍÍþÍþþÍÍþÍÍÍÍþÍÍþÍÍÍþþÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍþþÍþÍþÍþÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍÍþÍÍÍÍþÍÍþþÍÍþþÍþÍÍþþÍþÍÍÍþþÍÍÍþþÍþþÍþþþþÍÍþþÍþþÍþþþÍþÍþþþÍþÍþþÍÍþþÍþþÍþþþþÍþþÍÍþþÍþþÍÍþÍþÍþþÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍþÍþÍÍÍþþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþþÍÍþÍþÍþÍÍþþÍÍÍþþÍÍÍþÍÍÍþþÍÍþþÍÍÍþÍþÍþþÍÍþþÍÍþþÍþÍÍþþÍÍþÍÍÍþþÍÍÍþþÍÍþÍþþÍþÍÍþþÍþþÍþþþþþÍþþþÍþþþþÍÍþþÍþþÍþþþþÍþþþÍþþÍþÍÍþÍþþþþþÍÍþÍþþÍþþþÍÍþÍþþÍÍÍþþÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍþþÍÍÍþÍÍÍþÍþÍþÍÍþÍþÍÍÍþþÍþÍþÍÍÍÍþÍÍÍþÍÍþþÍÍþþÍþÍþþÍÍþþÍÍþþÍÍÍþÍÍÍþþþþÍþÍþþÍþþþÍþþÍþþÍþþÍþÍþþÍÍþþÍþþÍþþþþÍþþþÍþÍÍþþÍþÍþþÍþÍÍþþþþÍÍÍþþÍÍÍþÍþÍÍÍþþÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍþÍÍþÍÍþþÍþþÍÍÍþþÍÍþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍÍþÍþþþÍþÍÍþþÍþþÍÍþþÍÍþþþÍÍþþþÍþþÍþþÍþþÍÍþþÍþþÍþþþþÍþþÍÍþþÍþþÍþþþþÍþþÍÍþÍÍþþÍþÍþþÍþþÍþþÍþÍÍþÍÍÍÍþÍÍþÍÍÍþþÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþþÍÍþÍÍþÍþÍþÍÍÍþÍÍÍþþÍÍÍþÍÍÍþþÍÍÍþÍÍÍþþÍÍÍþÍÍþþÍþÍþÍþþÍþþÍÍþÍÍþþþþÍþÍþþþþþþÍþÍþþþÍþþÍþþþÍþþÍþþÍþÍþþÍÍþþþþþþþÍþþÍþþþÍþÍÍþþÍþþþþþÍþÍþÍþþÍÍþÍÍÍþÍÍþþÍÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍþþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍþþÍÍÍþÍþÍÍþþÍþþÍÍþþþÍÍþþþþþþÍþþÍþþþÍþþþÍþþÍþþÍþþÍþÍþþÍÍþÍþþþþþÍþþþþþþþþÍþþÍþþþþþþÍÍþþÍþÍþÍþþÍÍþþÍþÍÍÍþþÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍþþÍÍþÍþÍþÍÍþþÍÍþþÍÍÍÍþÍþÍþÍÍÍþÍÍÍþÍÍþþÍÍþþÍÍþþÍþÍÍþþÍþþÍÍþþÍþþÍþÍÍþþÍþþÍþþþÍþþþÍþþÍþþÍþþÍþÍþþÍÍþÍþþþÍþÍþÍþþþþþþÍþþÍþþþþÍþÍþþÍþÍÍþþÍÍÍþÍÍþÍÍÍþþÍþÍÍÍþÍÍþÍÍÍþþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍþÍÍÍþÍÍþÍþÍþÍÍÍþÍÍÍþþÍÍÍþÍþÍþÍÍÍþþÍþÍþÍÍÍþþÍÍþþÍþÍþÍþÍþþÍþþÍÍþþþÍþÍþþÍþþþÍþþÍþþþÍþþþÍþþÍþþÍþþÍþÍþþÍÍþÍþþþÍþÍþþþþþþþþÍþþÍþÍþÍþÍÍþþÍÍþþÍþþÍÍÍþÍþþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍþÍÍþþÍÍþÍþþÍÍÍþþÍÍþþÍÍÍþÍÍÍþþÍÍÍþþÍÍþþÍþÍþÍÍþþÍþþþÍþÍÍÍÍþÍÍÍþþÍþþþþÍþþÍþþþÍþþþþÍþþþþþÍþþÍþþÍþÍþþÍÍþÍþþþÍþþÍþþþÍþþÍÍþþÍþÍþþþÍþþþÍþþÍÍþÍÍÍþþÍþþÍÍþþÍÍÍÍÍþÍÍþÍÍÍþþÍÍþÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍþÍÍþþÍþÍþÍþÍÍþþÍÍþþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþþÍÍþþÍÍþþÍþÍÍþÍÍþÍÍþþÍÍþþÍþÍþþÍþþÍÍþþþÍþþþÍþþÍþþÍþþÍþþÍþÍþþÍÍþÍþþþÍþþþþÍþÍþþþþþÍÍþþÍþþÍþþþÍþþÍÍþÍÍÍþÍÍþÍÍÍþþÍþÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþþÍÍþþÍÍþþÍÍÍþÍþÍÍÍþÍÍÍþþÍþÍþÍÍþþÍÍÍþþÍÍÍþÍÍþþÍÍþþÍþÍþÍþÍÍþÍÍþþÍÍþþþÍÍþþþþþÍÍþþÍÍþþþÍþþÍþþÍþþÍþþÍþÍþþÍÍþÍþþþÍþþþþÍþþþþþþþÍÍþþÍþþÍþþÍÍþþþþþÍÍÍþÍÍþÍÍÍþþÍþÍÍþÍÍþÍÍÍÍþÍÍþÍÍÍþÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍþþÍþÍÍÍþÍþÍÍþÍþÍþÍþþÍÍÍþÍþÍþÍÍÍþÍþÍÍþÍÍþþþþþþÍþþÍþÍÍþÍþþþÍÍþþÍÍþþþþÍþþÍþþþþþþþþþþþþþÍþþÍþþÍþÍþþÍÍþÍþþþþþþþþþþþþþÍþþÍþþþþþÍÍþþÍÍþÍÍþÍÍÍþþÍþþÍÍþþÍþÍÍÍþþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþÍþþÍÍþÍÍþÍþÍþÍÍÍþÍÍÍþþÍÍþþÍÍþÍÍþÍþþÍÍþÍÍþÍþÍÍþþÍþÍþþþÍþþþÍþÍÍþþÍÍþþþþÍþþþþþþÍþþþÍþÍþþþÍþþÍþþÍÍÍþþÍÍþÍþþþþÍþþÍþþþþþÍþþÍþþÍþþÍÍþÍÍþÍÍþÍÍÍþÍÍÍþÍÍþÍÍþÍÍþþÍÍÍÍÍÍþÍÍþÍÍÍþÍþÍþÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍþÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍþþÍþÍþÍþÍþþÍÍÍþÍÍÍþþÍÍÍþÍÍÍþÍþÍþþÍÍþþÍþþÍþþþÍþþþþþÍþþÍÍþÍÍþþÍÍþþþþÍþþÍþþÍÍþþþþþÍþþþÍþþÍþþÍÍþþÍÍÍþÍþþþþÍþþÍþþþþþÍþÍÍþþÍÍþÍÍþþÍþÍÍþþÍÍÍþÍÍþÍÍÍþþÍþÍÍþþÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍþÍþÍþþÍÍþÍÍÍþÍÍÍþÍþþÍþþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍþþþÍþþþÍþÍþþþÍþþÍÍþþÍþþÍÍþþþþÍþþþþþþÍþþþÍþÍþþþÍþþÍþþÍþÍþÍÍþþÍþþþþÍþþþþþþþþÍþÍþþþþþÍÍþþÍÍþÍþþÍÍÍþþÍþþÍÍþþÍþÍÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍþÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍþÍÍþÍÍþþÍÍþÍÍþÍþÍþÍþÍþþÍÍþÍÍÍþÍÍþþþþÍÍþÍþÍþþÍþþÍþÍþþþÍÍþÍÍþÍÍþþþÍþþþþÍþþÍþþþþþþþþþÍþþþÍþþÍþþþÍÍþÍþÍþÍþþþþþþþÍþþþþþÍþÍþþÍþþÍÍþþÍþþÍþþÍÍÍþþÍþþÍÍþþÍþÍÍþþþÍÍþÍþÍÍþÍÍÍþÍÍþÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþþÍÍÍþÍþÍÍþÍþþþÍÍÍþÍÍþþÍÍÍþÍÍþÍþÍþÍÍþþþÍþþÍÍþþþþÍþÍþÍÍþÍþþþÍþþþÍÍÍþþÍþþþþþþÍþþþþþÍþþÍÍþþÍþþÍÍÍþÍþþþÍþþþþþþþÍþþþþþþþþÍþÍþþÍÍþþÍþþÍþþÍÍÍþÍÍþÍÍÍþþÍþÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍþÍþÍþÍþÍþÍÍþþÍÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍþþþÍþþÍþþþÍÍþþÍÍþþþÍÍþþþÍþÍÍþþÍÍÍþþÍþþÍþþþÍþþþþþÍþþÍþþþÍþþÍÍÍþÍþÍþÍþþþþþþþÍþþþþþþÍþþþÍþþÍÍþÍÍþÍÍþþÍÍÍþÍþþÍÍþÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍþÍÍÍþÍþÍþþþÍÍþþÍÍþÍÍÍþÍÍÍþÍÍÍþþÍÍÍþþþÍþÍÍþþÍþÍþþÍÍþþÍÍþÍÍþþÍþÍþþÍþÍþþÍþÍþþþþþÍþþÍþþþþþþÍÍÍþÍþÍþþþþþÍþþþÍþÍþþÍþÍþþþþÍþÍþþÍþþÍþþÍÍÍþþÍþþÍÍþþÍþÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍþÍþÍÍþþÍÍþÍþþÍþÍþþÍÍþþÍÍþþÍþþþÍÍþþÍÍÍþÍþÍþþÍþþÍþþþþÍÍþþÍÍþÍÍþÍþþÍþþÍþÍþþþþÍÍþþþþÍþþÍþþÍþþþÍÍþþÍþÍþþþþþÍþþþþþþþþÍþþÍþþþþÍÍþþÍþþþþÍÍÍþþÍþÍÍÍþþÍþÍÍþþÍÍþÍÍþþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍþþÍÍþþÍÍÍÍþÍþÍþÍþÍÍþþþÍþþþÍÍþþÍÍþÍþþþþÍÍþþþÍþÍÍþþþþÍþþÍÍÍþÍÍþþÍþþþþÍþþÍþÍþþÍþÍÍþþþþÍþþÍþþÍþþþÍþþþÍþþþþþþþÍþþþþþÍþþÍþÍÍþÍÍþÍþþþÍþþþþþÍÍÍþÍþþÍÍþÍþþÍÍþþÍÍþÍÍþÍþÍÍþþÍÍÍþÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍþþþÍþþÍÍþÍþÍþÍÍþþÍÍÍþþÍÍþÍþÍþþÍþþþþþÍþÍþþþÍÍþþþÍÍþþÍþÍÍþþþþÍþþÍþþþþþþþÍþþþþÍþþÍþþÍþþþþÍþþÍþþþþþþþÍþþþþÍÍþþÍþþþþÍÍþÍþþÍÍþÍþþþÍÍþþÍþþÍÍþþÍþÍÍþþÍÍþÍÍþþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍþþÍÍþþþþÍþþÍÍÍþþÍÍþþÍÍþþÍþþÍÍþþÍÍÍþÍþÍþÍþþþÍÍþþþÍÍþþÍþþÍþþþÍÍþþÍþþþþþþþþþþþÍÍþþÍþþþþþþþÍþþÍþþþÍþþþþþþþþÍþþþþþÍþþÍÍþÍþþþÍþþþþÍÍÍþþÍþÍÍÍþþÍþÍÍþÍÍþÍÍÍþÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþþÍþþÍÍþþþÍÍÍþþþÍþÍþÍÍþÍþÍþÍÍþþÍþþþÍÍÍþÍþÍþþþþþÍþþþþÍÍþþÍþþÍþþÍÍÍþþÍþþþþþþþþþþþþþþþÍþþþþþþþÍþþÍþþþÍþþþþþþþþÍþþþþÍþþþÍþþÍþþÍÍþþþþÍÍÍþþÍÍþÍþÍþþÍÍþþÍÍÍÍÍþþÍÍþÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍþÍÍþþÍÍþþÍÍþÍþþÍÍÍþþþþþÍÍþÍÍÍþÍÍþþþÍÍþÍþÍþþþþþþþþþþÍþþþÍþþÍþþÍÍþþþÍÍþþþþþþþþþþþÍþþÍþÍþþþþþÍþþÍþþþÍþþþþþþþÍÍþþþþÍþþÍÍÍþþþþÍþþþÍÍÍþþÍþþÍÍþÍÍþÍÍþþÍþÍÍÍþÍÍÍþþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍþÍþþÍþþÍþÍÍÍþÍÍþþÍÍþþþÍþÍþÍþþÍþÍþþþÍþÍþþþÍÍþþþÍÍþÍÍþÍÍþÍÍþÍþþÍþþþþþþÍþþþþÍÍþÍþÍþþþþþþþþÍþþþþþþþþÍþþÍþþþþþÍþþÍÍþþþþþÍþþþþÍÍÍþþÍþþÍÍþþÍþÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍþþþþÍþÍþÍÍþþþÍÍþÍÍþþÍþþÍÍÍþþÍþþÍþþþÍÍþþÍÍÍþÍÍþÍÍþÍþþÍþþÍþþþþþþÍþþþþÍÍþÍþÍþþþþþþþþÍÍþþþþÍþþÍþþÍþþÍþÍÍþþÍþþÍþþÍÍþþÍþÍÍÍþþÍÍþÍþÍÍþÍÍþþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍþþþÍÍþÍþþþþÍÍÍþþÍþÍþÍÍþþÍþÍþÍþÍþþÍÍþÍþÍþþþÍþþÍþþþÍÍþþÍþþÍþþþþÍþþÍþÍþþþþÍþþþþÍÍþþþÍþþþþþþþþÍÍþþþþÍþþþþþþþþÍþÍÍþþþþþþÍþÍÍþþÍþÍÍÍþÍþþÍÍþÍÍþÍÍþÍÍÍþÍþþÍÍþÍÍÍÍþÍÍþþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍþþþþÍÍþþÍþÍÍþþÍþÍþÍÍþÍþÍþþÍÍþÍÍþþÍÍÍþþÍþþþþÍþÍþþþÍÍÍþþÍþþÍþþÍþÍþþÍþþÍþþþþþþþþÍÍþÍÍþþþþÍþþþþÍþþþÍþþþþþþÍþþþÍþÍþþÍÍþþþþþÍþþþþþÍÍþþÍþþÍþþÍþÍÍþþÍÍþÍÍþÍÍÍÍþÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍþþÍþÍþþþÍþþÍÍÍþÍÍþþÍþþÍÍþÍÍþþþþÍþþÍþþþþþÍþþÍþþÍþþþÍÍþÍþþÍþÍþþÍþþþþþþþþþþþþÍþÍÍþþþþÍþþþþþþþþÍþþþþþþÍþþþþþþþþÍÍþþÍþþÍþþÍþÍÍÍþÍÍþÍÍþÍÍþÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍþÍÍþþþþÍþþÍþþÍÍþþÍÍÍþÍÍþþÍþþþÍþÍþþþþþÍþÍþÍÍþÍþÍþþÍÍþÍþþÍþÍþþÍÍþþþþÍþþþþþÍÍþÍÍþþþþÍþÍþþÍþþþÍþþþþÍþÍþþþþþÍþþÍþþþþþÍÍþþÍþÍÍÍþÍþþÍÍþÍþþÍÍþþÍþÍÍþÍÍÍþÍÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþþÍþÍÍþÍÍþþÍþþþþÍþÍþÍþþÍÍþÍþÍþÍÍþþÍþþþþÍþþÍþþÍÍþþÍþþÍþþÍþÍþþÍÍþþþþÍþþþþþþÍþÍþþþþþÍþÍþþþþÍþþþþþþþþþþþþþÍþþþþþþþÍþÍÍþÍþþÍþÍÍþÍÍþÍÍþþÍþþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþþÍþÍÍþþþÍþþÍþÍþþÍþþÍÍþþÍÍþÍÍþþþÍÍþþÍÍþþþÍþþÍþþÍÍÍþþÍþþþþÍÍþþþÍÍþþþþÍþþþþþþÍþþÍþþÍþÍþþþþÍþþþþÍþÍþþþþþþþþÍÍþþþþþþþþÍþþÍþþÍÍþÍÍþÍÍþÍþþÍÍþþÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍþþÍþÍþþÍþþÍÍþþÍÍþþþÍþÍÍþþÍþþþþÍþþÍÍþþþþÍþþþþÍÍÍþÍÍþþÍþÍÍþþþÍÍþþþþÍþþþþþþþþÍþþþÍþÍþþþþÍþþþþÍþþþþþþþþþÍÍþþþþþþþÍÍþþÍþÍÍþþÍþÍÍþþÍþþÍþþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþÍÍþþÍÍÍþÍþþÍþþÍþþþÍÍþÍþÍþþÍÍþÍþþþÍþÍþÍþþþþþÍþþÍþÍÍþþÍÍþþþþþÍþþþþÍþþþþÍþþþþþþÍþþþþþÍþÍþþþþÍþþþþÍþþþþþþþþþþþÍþÍþþÍþþþÍþþþþÍÍþÍþþÍÍþÍÍþÍÍþþÍþÍÍÍþÍÍþÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþÍþþÍþþÍþþÍÍþþÍþþþÍÍþþÍÍþÍÍþÍþþÍþþÍþþþþþÍþÍþþÍþþÍÍþþÍþþÍþþþþÍÍþþþÍÍþþþþþÍþÍþÍþþþÍþþþþþþþþþÍþþþþþþþþþþþþþþÍþþþþÍÍþÍþþÍÍþÍþþÍÍþÍþþÍÍþÍÍþÍÍþÍÍþÍþÍÍÍþÍÍþÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍþþþþÍþÍÍþþÍþþÍÍþþÍþÍþÍÍþþÍþþÍÍþþÍþþþÍþþÍþþÍÍþþþÍþþþþÍþþþþÍÍþþþÍÍþþþþþÍþÍþþþÍþÍþþþþÍþþþþÍþþþþþþþÍþþÍþþþþþþþþÍþþÍþþÍþÍþÍÍþþþÍþÍÍþþÍÍþÍÍþÍÍþÍÍÍÍþÍþþÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍþÍþÍþÍþþÍþþþÍþþÍÍþþþÍÍþÍþþþÍþþþÍÍþþþþÍþþþþÍÍþþÍþþþþþþþþþþÍþþþþÍÍþþþþÍþþÍþÍþÍþÍþþþþÍþþþþÍþþþþþþþþþþÍþþÍþþÍþþÍþþÍþÍÍþÍþþÍÍþÍÍþÍÍþÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍþÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍÍÍÍÍþþÍþÍþþþÍþþÍÍþþþþþþÍÍþÍþþþÍþþþþÍþþÍþÍþþþþÍÍþþÍþþþþþÍþþþþþþþþþþþþþþþÍþþþÍÍþÍþÍþþþþÍþþþþþþþþþþþþþþþþþÍþþþþÍÍþþÍþÍÍþÍÍþÍÍþþþþÍþþÍÍþÍÍþÍÍþþÍÍÍþÍþþÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþþÍþþÍþþÍþþÍÍþÍÍþþÍþÍþþÍþþÍþþþþþþþþÍþþþþþþÍþÍÍþþÍþþþþþþþþþþÍþþþþþÍþþþþÍþþþÍÍþþþÍþÍþþÍþþþþþþþþþþþÍþþþÍþþþþþþþÍÍþÍþþÍþþÍþÍþþÍÍþÍÍþÍÍþÍþÍþÍÍÍþÍÍÍÍÍÍþÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþþÍþÍÍþþþþÍþþÍþÍþÍþþÍÍþþÍþþþÍþþþÍþþþþÍþþþÍþþþþÍÍþÍþþþþþÍþþþþÍÍþþþþÍþþþþÍþþþÍÍþþþÍþÍþþÍþþþþÍþþþþþþþþþþÍþþþþÍþþÍþþÍþþÍþÍÍþÍþþþÍþÍÍþÍÍþÍÍþÍÍþÍÍÍÍÍÍþþÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþþÍþþþÍþþÍþÍÍþÍÍþþÍÍþþÍþþþþÍþþþþþþþþþÍþþþþþþþþþÍÍþÍþþþþÍÍþÍþþÍÍþþþþÍþþþþÍþþþÍÍþÍþÍþÍþþÍþþþþÍþþþþþþÍþþþÍþþþþÍþþÍþÍÍþþÍþÍÍþÍÍþþÍþÍþÍþÍþþÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþÍþþþÍþþÍþÍþþþÍþþÍÍþþþÍþþþþþÍþþþþÍþþÍþÍþþþþÍÍþþÍþþþþþþÍþþÍþþþþþÍþþþþÍþþþþÍþÍþÍþþþþÍþþþþÍþþþþþþÍþÍþþÍþþþÍþÍþþÍÍþÍþþÍþþÍþþÍþþÍþÍþþÍÍþÍÍþÍÍÍþÍÍÍþÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍþþþþþÍþÍþþÍþÍþÍþþÍÍþþÍþþþþþþþÍþþÍþÍþþÍþþÍþþþÍþþÍþþþþþþþþþþþþþþþÍþþþþÍþþþþÍþÍþÍþþþþÍþþþþÍþþþÍþþþþþþþÍþþÍþþÍþþÍþþÍþÍÍþÍþþþÍþÍÍþÍÍþþÍþÍÍþÍÍÍÍÍþÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþþÍÍþþÍþþþþÍþþÍÍþþþþÍþþÍþþþÍþþþþþÍþþþþÍþþþþþþþþþÍþþÍþþþþÍþþþþÍþþþþþÍþþþþÍþþÍþÍþþþÍþþþþÍþþþþÍþþþþþþþþþþþþþÍþþÍþÍþþÍþþÍÍþÍþþÍÍþÍþÍþÍÍþÍÍÍþÍþÍþÍþþÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþÍÍþþÍþÍþþþþþþÍþþþÍþþÍÍþþþÍþþþÍþþÍþþÍÍþþþþþþþþÍÍþÍþþþþþÍþþþÍþþþþþÍþþþþÍþþÍþÍþþþþþþþþÍþþþþþþþþÍþþþþþþþþþþÍþþþþÍÍþÍþþÍþþÍþÍÍþþÍþþÍþþÍþÍÍþÍÍÍÍþþÍþÍþÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍþÍþþÍþþÍþþÍþþÍþþþÍþþþþÍþÍþþÍþþþþþþþÍþþþþÍþþþþþÍÍþÍþþÍþþþþþþÍþþþþþÍþþþþÍþþÍþÍþþþÍþþÍþþþþþÍÍþþþÍþþþþþÍþþÍþþþþþþÍÍþþþÍÍþÍÍþÍÍþÍþÍþÍþþÍÍÍþÍþÍÍÍþþÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍþþÍÍþÍÍþþÍþþÍþþÍþÍÍþþþþþþþÍþþÍþþþþÍþþþþþþÍþþÍþþþþþþÍþþÍþÍþþÍþÍþÍþþþþþÍþþþþÍþþþþþþþþÍþþÍþþþþþÍþþþþþþþþþþþÍþÍþÍþþþþþþÍþþÍþþÍþþÍþþÍþþÍÍþÍÍÍÍþÍÍþÍþþÍþÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍþÍÍþþþþÍþþÍþþþþÍþþÍþþÍÍþÍþÍþþÍþþþÍþþÍþþÍþþþÍþþÍþþþþÍþÍþþÍþÍþþÍþþþþÍþþþþþþþþþþþÍþþþþþÍþþþþþþþþþþþþþþÍÍþþþÍþþÍþþÍþþÍþÍÍþþÍþþÍþþÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍþÍÍþÍÍþÍÍþþÍþþÍþÍþþÍþþþÍþþÍþþþÍÍþþþþþþþþþÍþþþþÍþþþþþÍþþÍþþþþÍþÍþþþþþþþþþÍþþÍþþþþþþþþþþþþþþþþþÍþþþÍþþþþþþþþþÍþþÍþÍþþþþÍÍþÍþþÍþþÍÍþÍþþÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþÍÍþÍÍÍþÍþþÍþþÍÍþÍþþÍþþÍþþþþÍþþÍþþþþþþþþþÍÍþþþÍþþþþÍþþþþþþÍþþþþÍþÍþþÍþþþþÍþþþþþþþþþþþÍþþþþþþþþþÍþþþþþþþþþþÍþþÍþþþþþþÍÍþÍþþÍþþÍþÍÍþÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍþÍÍþÍÍþÍÍþÍÍþþÍþÍþþÍþþÍÍþþÍþþÍþþþÍÍþÍþþþþþþþþþÍþþþþþþþÍþþþþþþþþþÍþþÍþÍþþÍþþþþþþþþþþþþþþþþÍþþþþþþþþþÍþþÍþþþþþþþÍþþÍþÍþþþþÍÍþþþÍþÍþÍþÍþþÍÍþÍÍþÍÍÍþÍÍþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍþÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍþÍþþÍÍþÍþþÍþÍÍþþÍþþþþÍþÍÍþþþþþþþÍþÍÍþþþþþÍþþÍþþþþþþþþþÍþþÍþþþþÍþþþþþþþþÍþþþþÍþþÍþþþþþþÍþþÍþþþþÍþþþþÍÍþþþÍþþÍþþÍþþþþÍþþþþÍÍþÍÍþÍÍþþÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍþÍÍþÍÍþþÍþÍÍþþÍþÍÍþÍþþÍþþþÍþÍþÍþþÍþþÍþþþÍÍþþþÍþþþþÍÍþþþþþÍþþÍþþþþþþþÍþþþþþþþþÍþþþþþþþÍþþþÍþþÍþþþþþþþþþþþþÍÍþÍþÍþþÍþÍÍþþþÍþÍþþþÍþþÍÍþÍÍþÍÍþÍÍþþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍþÍþÍÍþÍÍþþÍþþþÍþþÍþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþÍþÍþþþþÍÍþÍþÍþÍþþÍÍþþÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍþÍþÍÍþþÍþþÍþþþÍþþþþþþÍþþþþÍþþþÍþþþþþÍþÍþþþþÍþþÍþþþþÍþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþÍþÍþþþþÍþþÍþþÍþþþÍÍþþþÍÍþþÍÍþÍþþþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍþþÍÍþÍþþÍþþÍþÍþþÍÍþþþþÍþÍþþÍþþþþÍþÍþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþþþþþþþþÍþþþþþþþþþþþþþþþþþþþÍþþÍþÍÍþþþþþÍþþÍþÍþÍþÍÍþÍÍþÍÍþÍÍÍÍÍÍþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþþÍÍÍÍþÍÍþÍÍþþþÍþþÍþþþÍþþÍþþþÍÍþþþþÍþþþþÍþþþÍþÍþþþþþþþþþþÍþþþþþþÍþþþþþþþþþþþþþþþþþþÍþþÍþþþþÍþþþþþþþþþþþÍþþÍþÍþþþÍÍþÍþþÍÍþÍÍþþÍþÍÍþþÍÍþÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍþþÍþþþþÍþþþÍþþÍþÍþÍþÍþþþþþþþþþþÍþþþÍþÍþþÍþþþþþþþÍþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþþÍþþÍþÍÍþþÍþÍþþÍÍÍþÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍþþÍþÍÍþþþÍþþÍÍþÍþþþÍþþþÍþþþþþþÍþþþþþþÍþþþþþþþþÍþþþþþþþþÍþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþÍþþþþþÍþþÍþÍþþÍÍþþÍþÍÍþþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍþÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍþþþþÍþÍþþÍÍþþÍþþÍþÍþÍþþþþþþþþþþþÍþþþþþþÍþþþþþþþþþþþþþÍþþþþþþþþÍþþþþþþþþþþþþþÍþþþþÍþþþþþþþþþþþþþÍþÍþþþÍÍþÍþÍÍþþÍþÍþþÍÍþÍÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍþÍÍþÍþþÍþþÍþÍþþÍþþÍþþÍþþþÍþþÍþþþþÍþÍÍþþÍþþþþþþþþþÍþþþÍþþþþþþþþþþþþþþþÍþÍþþþþþþÍþþÍþþþþþþþþþþþþþþþþþÍþþþþþÍþþþþþÍþþþþÍþþÍÍþþÍþÍÍþÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍþÍþþÍþþÍþÍþþÍÍþþÍþþþþÍþþþþþþþþþþþÍþþþÍþþþþÍþþþþþþþþþþþþþÍþþþþþþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþÍþþþþÍþÍþÍÍþÍþþÍÍþþÍÍþÍÍþþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍþÍÍþÍÍþþÍþÍþþÍþÍþþþþþþÍþþþÍþþÍþþþþÍþþþÍþÍþþþþÍþþþþþþþÍþþþþþþþþþþþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþÍþþþÍþþþþÍÍþÍÍþÍþÍÍþÍþÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍþÍÍþÍþþÍÍþþþÍÍþÍþþþþþÍþþÍþÍþþþþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍþþÍþþÍþÍÍþþÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍþþÍþÍÍþÍþþÍþÍÍþþÍþþþÍþþþþþÍþþþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþÍþþþþþþþþþÍþþþþÍþþþÍþþþÍÍþÍþÍþÍÍÍþþÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍþþÍÍþÍþÍþþÍþÍþÍþþþþÍþþþþþþþþþþþþþÍþþÍþþþþþÍþÍþþþþþþþÍþþþþþÍþþþþþþþþþÍþþþþþþþþÍþþþþþþþþþÍþþþþþþþþþþÍþþþþþþÍÍþþÍþþþþÍÍþÍÍþÍþÍþÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍþÍþÍÍþÍÍþÍþÍþþÍþþÍþþþþþþÍþþþþþþþÍþÍþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþÍþþþþþÍþÍþþþþþÍþþþþþþþþþþþÍþþþþþþþþþþþÍþþþþþÍþÍþþÍþÍþÍþÍþÍþÍÍþÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍþÍþÍþþÍÍþþÍþÍþÍþþÍþÍþþþÍþþþþþþþþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍþþþþþþþþþþþÍþþþþþþÍþþþþþþÍÍþþþþÍþÍþÍÍþþÍþþÍþþþÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍþÍÍþþþÍþþÍþþþþþþÍþþþþþþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþÍþþÍþÍþþþÍþþÍÍþþÍþÍþþÍþÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍþÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍþÍÍÍÍþÍÍþÍÍþÍþÍþþþþÍÍþÍþþþþþþÍþþþþþþÍþþÍþþÍþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþþþþþþþþþþþþÍþþþÍþþþþÍþþÍþÍþþÍþþþþÍþÍþÍÍþþÍþþÍþþþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍþÍÍþÍÍþÍÍÍþþÍþÍÍþþþÍþþþþþÍþÍþÍþþÍþÍþþþþþþþþþÍþþþþþÍþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþÍþþþþþþþþÍþþþþÍþþþþÍþþÍþÍþÍÍþÍÍþÍþþÍþþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍÍÍþÍþÍþÍþÍþÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþÍþÍÍþþþþþþÍþþÍþþþþÍþÍþþþþþþþþÍþÍþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍþþÍþÍÍþÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍþÍþÍÍÍþÍþþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍþþÍþþþþþþÍþÍÍþÍþÍþÍþþþþÍþÍþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþþþþÍþþþþÍþþþþÍþÍþþÍÍþÍþþÍþÍÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍþþÍÍþþÍþþÍÍþþÍþÍþþþþÍþÍþÍþÍþþþþþÍþþþþþÍþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþÍþÍþÍþþÍÍþÍÍþÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍþþÍþþþÍþÍþþþÍþÍþþþþþþÍþþþþþþþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍþþþþÍþþþþÍþþþþþþþþÍþÍÍþþÍþÍÍþÍþÍÍþÍÍþÍÍþþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍþÍÍþþÍÍþÍþþþþþÍþþþþþþÍþþþÍþÍþþþþþþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍþÍþÍÍþþþÍþþþÍþþþþþÍþÍþþÍþÍÍþÍþþÍþþÍþÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍÍþÍþþÍþþþþþþÍþÍÍþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍþÍþÍþþþþþþþþþþþþþÍþþÍþþÍÍþÍþÍþÍþÍÍÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþþþÍÍþÍÍþÍþþþþÍþÍþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþÍþþþþÍþþþþþþþþÍþÍþþþÍþÍÍþþÍÍþþÍþÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍþÍÍþÍþþÍþþÍÍþÍÍþþþþþþþþþþþþþþþþþÍþÍþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍþþÍþþþþþþþÍþþþþþÍþÍÍþÍÍþÍþÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍÍÍþÍÍþÍþÍþþÍþÍþÍÍþþþþþÍþÍþþþþþþÍþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþþþþÍþÍþÍþþþþþÍÍþþþÍþÍÍþþÍÍþþþÍþÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍþþþÍþþÍþþþþþÍþþÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþþþþÍþþþþþþþþþÍþþÍÍþþÍþÍÍÍþÍþÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþÍÍþÍþþÍþþþÍþþþþþþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþÍþþþþþÍþþþþÍþÍÍþÍþÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍþÍþÍþÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍþþþÍþþÍþþþþþþþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþÍþÍþþþþÍÍþþÍþÍþÍþÍþÍÍÍþÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍþÍþÍþÍÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþÍÍþþþþþÍþþÍþþÍþþþþþþÍþþþþþÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþþþþþÍþþþþþþþþþþþþþþÍþþþþÍþþþþÍÍþÍþþÍÍÍþÍÍþÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍþþÍþþþþþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍþþþþþþþÍþÍþþÍÍþþþÍþþÍþÍÍÍþÍþÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍþþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþþÍþþþþþÍþþÍþþþþþÍþþþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþÍþþþþþþþþþþÍþþþþþþþÍþÍþþÍþþþþÍÍþÍþÍþÍÍþÍÍþÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþÍÍÍÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍþÍþÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþþþþÍþþÍþþÍþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþÍþþÍþþÍÍþÍþÍþÍþþþÍþÍþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍþÍþÍþÍþÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþþÍþþþþþÍþþþþÍþþÍþþþÍþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþþÍþÍþÍþÍþþþþÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍþÍþþþþþÍþþÍþþÍþþþþþþþþþþþÍþÍþÍþþþþþþþþþþþþÍþþþþÍþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþÍþþþþþÍþÍþþþÍþÍÍþÍÍþþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍþÍþÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþþÍÍþÍþþÍþþþÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍþþÍþÍþþþÍþÍÍþÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþþÍÍÍÍÍþÍþÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍþþþÍþÍþþþþþþþþþþþÍþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþÍþÍÍþþþþþÍþÍÍþÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþþþþþþÍþþÍþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþÍþþþþÍþÍþÍþÍÍþÍþÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍþÍþÍþþþþþÍþÍþþþþþÍþþþÍþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍþÍþÍþÍþÍÍþÍþÍþÍÍþÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍþþÍÍþÍþþþþþþþþþþþþÍþþþþþÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþÍþÍþÍþþþþÍþÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍþÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍþÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍþÍÍþÍþÍþÍþÍþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþþþþþþþþþÍþþþÍþþþÍþÍþþÍþÍþÍþÍÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍþÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍþþÍÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍþÍþþþþþþþÍþÍÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþþÍÍÍÍÍÍþÍÍÍþÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþÍþÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍþþþþÍþþÍþþþþÍþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþþþÍþÍþÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþþÍÍÍþþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍþþÍþþÍþþÍþÍþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþþþþþÍþþÍþÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍþÍÍþÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþþÍþÍþþÍþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþþþþÍþÍþþþÍþÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþþþþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþÍþþþÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþÍþÍþþþÍþÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþÍÍþþÍÍÍþÍÍÍþÍÍÍþþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍþÍþþþÍþþþÍþþþþþþþþþþþþþþþþþþþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþÍþÍþþþÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍþÍÍþÍÍÍþÍÍÍþþÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍþÍþÍÍþÍÍÍþþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþÍþÍÍþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþþÍþþÍÍþþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍþÍÍþþÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþþþþÍþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþÍþÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍþþÍÍþþÍÍþþþþþþÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍþÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþþÍÍþþþþþþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍþþþþþþþþÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍþÍÍþþÍÍÍþþÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍþÍþÍÍÍÍÍþÍÍþÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍþþÍÍþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþÍÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍþþþÍÍþÍÍþþÍÍÍþþÍþþÍÍþþÍþÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍþÍþÍÍÍÍþÍÍÍÍþÍÍþÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍþÍþÍþÍþþþÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþþþþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍþþÍÍþÍÍÍþþÍþþÍÍþÍÍÍÍþþÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍþÍþÍÍÍÍþÍÍþÍþÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍþÍþÍþÍþþÍþþþþþþþþÍþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþþþþþÍÍþþÍþÍÍÍþÍÍÍÍÍÍÍþþÍþÍÍþÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþþþþÍþÍþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍÍÍþþþþþÍþÍþÍþÍÍÍþÍÍÍÍÍÍþþÍþþÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍÍþþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍþÍÍþÍÍÍÍþÍÍþÍÍÍþþþÍþÍþÍÍÍþÍÍþÍÍÍÍÍÍÍþÍþþÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍþÍþÍÍÍÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþþÍÍÍþÍÍÍþÍÍþÍÍþþþÍÍþÍþþÍÍþÍÍÍÍÍÍþÍÍþÍÍÍþþÍþÍÍÍþÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍþþÍþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍþþÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþþÍÍÍþÍÍþþÍþÍþþÍþÍþÍþþþþÍÍÍÍÍþþÍÍþÍþÍÍÍÍþþþÍþÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþÍÍÍþÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþÍþþÍÍþÍþÍþþÍþÍþþÍÍÍþþÍþþÍÍþÍþÍÍþþÍÍÍþÍÍÍÍÍÍþÍþþÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍþÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍþÍþÍþþþþÍþþþþþþþÍþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþÍþþþþÍþÍþÍÍÍþÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍþÍþþþþþÍÍþþÍÍþÍþþÍþÍÍÍÍÍþþÍÍþÍþÍþÍÍþÍÍÍþÍÍÍþþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍþþÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþÍÍÍþÍþþþþþþþÍÍþÍÍþþÍÍÍÍÍÍþÍÍÍþþÍÍÍÍÍÍþÍÍÍþÍþÍþÍþþþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþÍÍÍÍþþÍþþÍþþÍþþÍþþþþÍÍþÍÍþÍÍÍÍþþþÍþþÍþÍþÍÍþÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþÍþÍÍÍÍÍÍÍþÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍþÍÍþÍþþÍþÍþÍþþÍþÍþþþþþÍÍÍÍþþÍÍþÍþÍÍþÍþÍþþÍþÍþÍÍþÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþþÍþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍÍþÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍþþÍþÍÍÍÍþÍþþÍÍÍþþÍÍÍþþþÍÍþÍþþþÍÍÍþþÍÍÍþÍÍÍÍÍþÍþÍÍÍþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍÍÍÍþÍÍÍÍþþÍþÍÍþÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþþÍþÍþÍþÍþþþþÍþþÍþÍþþþÍÍþÍÍÍþÍþþÍþÍÍþÍÍÍÍþþÍÍÍÍþþþþÍþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍþþÍþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍÍÍþÍÍÍÍþÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍþÍÍþÍþÍþþÍþþþþþþÍþþþÍþþÍÍÍþþÍÍÍÍþÍþþÍþÍÍÍþþÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍÍÍÍþÍÍÍÍþÍÍþþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍÍþÍþÍÍþÍÍþþþÍþþþÍþþþþþÍþÍÍþÍÍþþÍÍÍþþÍþþþþÍÍÍþþÍÍÍþþÍÍÍþþÍÍÍÍÍþÍÍÍÍþÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþþÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍþÍþÍÍþÍþÍþÍþþÍÍþþþþþþÍþþþÍþþþþÍþþÍþÍÍþþÍþÍþþÍÍÍþþÍþþþÍÍþþÍÍÍÍÍþÍÍÍþþþÍÍÍÍþÍÍÍÍÍÍþÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþÍÍÍþÍÍÍþÍÍþÍÍþÍÍÍÍþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþþÍÍþþÍÍþþÍþþþÍþþÍþþþþþÍþÍþÍÍÍþÍÍÍþþÍÍþþÍÍÍÍþþÍþþþÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþÍþÍÍþþÍÍÍþþÍÍþÍÍþÍÍÍþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍþþÍþþÍÍþþþþþþÍÍþþþþþþþþÍÍÍþþþÍÍÍþþÍÍþþþÍÍÍþÍÍþþþÍÍÍþÍÍÍþÍÍÍÍÍÍþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍþþÍÍÍþþÍþÍÍÍþþÍÍÍÍþþÍÍÍÍþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍþÍÍþþþþþþÍþþÍþþþþÍþþÍÍþÍþÍÍþþÍÍþþþÍþÍþÍÍþÍþÍÍÍþÍþÍþÍÍÍÍÍÍþÍÍÍÍÍþþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍÍÍþÍÍÍÍþÍÍþÍÍþþÍÍÍÍþþÍÍÍþþÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍþÍþÍþÍþþÍþþþþþþþþþÍÍþþþÍþÍþþÍÍþþÍþÍÍþÍÍþþÍÍÍÍÍÍÍþÍÍþÍÍþþÍÍÍÍþþÍÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþÍÍþþÍÍÍþÍÍþþÍþþÍÍþÍþþÍÍÍþþÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþþÍþþÍÍþþÍþþþþþþþþþÍþþÍÍþÍþÍþÍþÍþþþÍþÍþþÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþÍÍÍþÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþÍþþÍÍÍþÍÍÍþÍÍþÍÍþþÍþÍÍÍþþÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþþþÍþþþÍþþÍþþþÍþþÍþþþþþÍÍþþÍÍþþÍþÍþþÍÍþþþÍÍþþþÍÍÍÍÍþÍþÍÍþþÍÍþÍþþÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍþÍÍÍþþÍþþþÍþþÍÍþÍÍÍÍÍþþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍþÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍÍþÍÍþþþÍþþÍþþÍþþþþþþþþþþþþÍÍþþÍÍþþÍÍþþþþþþþÍÍþÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍþÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍþÍþþÍÍÍþÍÍþþÍÍÍÍþþÍÍÍþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍþÍÍþþÍþþþþþþÍþþþþþþþþþþþþþþþþþþÍÍþþþÍþÍþþÍþþþÍþÍþÍþþÍÍÍþÍÍþþÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍþÍÍÍÍþÍþþÍÍþÍþþþÍþþÍÍÍþÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍþÍÍþþÍþþÍþþþþþþþþþþþþþþþþþþÍþþþÍþþþþÍþþþÍÍþþÍþÍÍÍÍþÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍþÍþÍÍÍþþÍþÍÍþÍÍþÍÍþþÍÍÍþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍþÍÍþþÍþþþþþþÍþþþþþþþþþþþþþþþþÍþþþÍþþþþþþþþÍÍþÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþþÍþþþÍÍþÍþþþþþÍÍþÍÍÍþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþÍþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþÍÍÍþÍþþÍþÍÍþÍþþÍÍÍÍþþÍÍÍÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍÍÍþþÍÍÍþÍþþþÍÍÍÍÍÍÍþþþÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþþþþþÍþþþþÍþþþþþþþþþþþþþþþþþþÍþþþþþþÍÍþþþÍÍþÍþþÍþÍÍþÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþÍÍÍÍþþþþÍþþÍþþÍþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþþþþþÍþÍþþÍþþþþþþþþþþþþÍþþþþþþþþÍþþÍÍÍþþÍþþÍþÍþþÍþÍÍþÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþÍÍÍÍþþþÍÍÍÍþÍþþÍÍþÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍþþþÍÍþþþÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍþþþÍþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþÍþþÍþþÍþÍþÍþþÍÍþÍÍþþÍÍÍÍÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍþþþÍþÍÍÍþþþÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍþþþÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍþÍÍÍþÍÍÍÍþÍÍÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþÍþÍÍþÍÍÍþÍÍþÍÍþþþÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþþþÍÍÍþþþÍÍÍÍÍÍÍÍÍþþþþþÍÍÍþþþÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍþþÍÍþþÍÍþÍÍþþÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþþþþþþÍÍþþþÍÍÍÍþÍÍÍþþþþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍþÍþþþþþþþÍþþþÍþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍÍÍþþÍþþÍÍÍÍÍþÍþþÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþþþÍþþþÍþÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍþÍÍÍþÍÍÍþÍþþþþþþÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍþþþÍþþÍÍÍÍÍþþÍþÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþÍþþþþÍÍÍþþþþþþþþÍÍÍÍÍÍÍÍÍÍþþþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍþÍÍþÍÍþþþþþÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍÍþþþþþÍÍÍÍþþþþÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþÍÍþþþþþþþþÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍþÍÍÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍþþþþþÍÍÍþþþÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍÍÍþþþþþÍÍÍÍÍÍÍÍÍþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþÍÍÍþþþÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍþÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþÍþþþÍþþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍÍþþþÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍþþþþþÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍþÍÍþþÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍþþþÍÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþÍÍþþþþÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþÍÍÍÍÍÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþþþþÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþÍþÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþÍÍþþþþþþÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍþÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþÍÍþÍÍÍþþÍÍÍþþÍÍÍÍÍþÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍþþÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍþÍÍÍÍþÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ \ No newline at end of file diff --git a/turtlebot3_manipulation_navigation2/map/sim_map01.yaml b/turtlebot3_manipulation_navigation2/map/sim_map01.yaml new file mode 100644 index 0000000..c4f6cc5 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/sim_map01.yaml @@ -0,0 +1,7 @@ +image: sim_map01.pgm +mode: trinary +resolution: 0.050 +origin: [-19.505, -5.346, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 diff --git a/turtlebot3_manipulation_navigation2/map/small_building.pgm b/turtlebot3_manipulation_navigation2/map/small_building.pgm new file mode 100644 index 0000000..cb9de71 Binary files /dev/null and b/turtlebot3_manipulation_navigation2/map/small_building.pgm differ diff --git a/turtlebot3_manipulation_navigation2/map/small_building.yaml b/turtlebot3_manipulation_navigation2/map/small_building.yaml new file mode 100644 index 0000000..b6e55fd --- /dev/null +++ b/turtlebot3_manipulation_navigation2/map/small_building.yaml @@ -0,0 +1,7 @@ +image: small_building.pgm +mode: trinary +resolution: 0.05 +origin: [-8.76, -8.11, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/turtlebot3_manipulation_navigation2/package.xml b/turtlebot3_manipulation_navigation2/package.xml index fee99bf..5ce1e7e 100644 --- a/turtlebot3_manipulation_navigation2/package.xml +++ b/turtlebot3_manipulation_navigation2/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_navigation2 - 2.2.0 + 2.2.1 ROS 2 launch scripts for navigation2 @@ -13,6 +13,7 @@ ament_cmake navigation2 rviz2 + ros2launch ament_cmake diff --git a/turtlebot3_manipulation_navigation2/param/turtlebot3_use_sim_time.yaml b/turtlebot3_manipulation_navigation2/param/turtlebot3_use_sim_time.yaml index 6d1ba83..a0ec8db 100644 --- a/turtlebot3_manipulation_navigation2/param/turtlebot3_use_sim_time.yaml +++ b/turtlebot3_manipulation_navigation2/param/turtlebot3_use_sim_time.yaml @@ -188,7 +188,9 @@ local_costmap: width: 3 height: 3 resolution: 0.05 - robot_radius: 0.22 + # robot_radius: 0.18 + footprint: "[ [0.15, 0.15], [0.15, -0.15], [-0.15, -0.15], [-0.15, 0.15] ]" # Square 0.3m x 0.3m + footprint_padding: 0.01 # Optional padding plugins: ["voxel_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" @@ -227,7 +229,9 @@ global_costmap: global_frame: map robot_base_frame: base_link use_sim_time: True - robot_radius: 0.22 + # robot_radius: 0.22 + footprint: "[ [0.15, 0.15], [0.15, -0.15], [-0.15, -0.15], [-0.15, 0.15] ]" # Square 0.3m x 0.3m + footprint_padding: 0.01 # Optional padding resolution: 0.05 track_unknown_space: true plugins: ["static_layer", "obstacle_layer", "inflation_layer"] diff --git a/turtlebot3_manipulation_navigation2/param/waffle_pi.yaml b/turtlebot3_manipulation_navigation2/param/waffle_pi.yaml new file mode 100644 index 0000000..c2a5f64 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/param/waffle_pi.yaml @@ -0,0 +1,419 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 0.5 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + map_topic: map + set_initial_pose: false + always_reset_initial_pose: false + first_map_only: false + initial_pose: + x: 0.0 + y: 0.0 + z: 0.0 + yaw: 0.0 + +bt_navigator: + ros__parameters: + # enable_groot_monitoring: true + # groot_server_port: 1669 + global_frame: map + robot_base_frame: base_footprint + transform_tolerance: 0.5 + filter_duration: 0.3 + default_nav_to_pose_bt_xml: "$(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml" # behavior trees location. + default_nav_through_poses_bt_xml: "$(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml" + always_reload_bt_xml: false + goal_blackboard_id: goal + goals_blackboard_id: goals + path_blackboard_id: path + navigators: ['navigate_to_pose', 'navigate_through_poses'] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + enable_groot_monitoring: true + groot_server_port: 1667 + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + enable_groot_monitoring: true + groot_server_port: 1669 + error_code_name_prefixes: + - assisted_teleop + - backup + - compute_path + - dock_robot + - drive_on_heading + - follow_path + - nav_thru_poses + - nav_to_pose + - spin + - route + - undock_robot + - wait + +controller_server: + ros__parameters: + controller_frequency: 10.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.001 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.1 + movement_time_allowance: 10.0 + goal_checker: + stateful: true + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: true + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.3 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.3 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 3.0 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 0 + vtheta_samples: 40 + sim_time: 1.5 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.5 + xy_goal_tolerance: 0.05 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: true + stateful: true + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + enable_stamped_cmd_vel: true + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_footprint + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.15 + plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.5 + cost_scaling_factor: 5.0 + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: true + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: true + always_send_full_costmap: true + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint + transform_tolerance: 0.5 + robot_radius: 0.15 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: true + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: true + transform_tolerance: 0.1 + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.5 + cost_scaling_factor: 5.0 + always_send_full_costmap: true + +map_server: + ros__parameters: + yaml_filename: "map.yaml" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: true + +planner_server: + ros__parameters: + expected_planner_frequency: 10.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: true + allow_unknown: true + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_costmap_topic: global_costmap/costmap_raw + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "wait", "assisted_teleop"] + spin: + plugin: "nav2_behaviors::Spin" # In Iron and older versions, "/" was used instead of "::" + backup: + plugin: "nav2_behaviors::BackUp" # In Iron and older versions, "/" was used instead of "::" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" # In Iron and older versions, "/" was used instead of "::" + wait: + plugin: "nav2_behaviors::Wait" # In Iron and older versions, "/" was used instead of "::" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" # In Iron and older versions, "/" was used instead of "::" + local_frame: odom + global_frame: map + robot_base_frame: base_footprint + transform_timeout: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + enable_stamped_cmd_vel: true + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: true + waypoint_pause_duration: 200 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.5 + source_timeout: 5.0 + base_shift_correction: true + stop_pub_timeout: 2.0 + enable_stamped_cmd_vel: true + use_realtime_priority: false + polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"] + PolygonStop: + type: "circle" + radius: 0.1 + action_type: "stop" + min_points: 4 + visualize: true + polygon_pub_topic: "polygon_stop" + enabled: true + PolygonSlow: + type: "polygon" + points: "[[0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1]]" + action_type: "slowdown" + min_points: 4 + slowdown_ratio: 0.3 + visualize: true + polygon_pub_topic: "polygon_slowdown" + enabled: true + PolygonLimit: + type: "polygon" + points: "[[0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1]]" + action_type: "limit" + min_points: 4 + linear_limit: 0.4 + angular_limit: 0.5 + visualize: true + polygon_pub_topic: "polygon_limit" + enabled: true + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.02 + min_points: 6 + visualize: False + enabled: true + VelocityPolygonStop: + type: "velocity_polygon" + action_type: "stop" + min_points: 6 + visualize: true + enabled: False + polygon_pub_topic: "velocity_polygon_stop" + velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"] + holonomic: false + rotation: + points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]" + linear_min: 0.0 + linear_max: 0.05 + theta_min: -1.0 + theta_max: 1.0 + translation_forward: + points: "[[0.35, 0.3], [0.35, -0.3], [-0.2, -0.3], [-0.2, 0.3]]" + linear_min: 0.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 + translation_backward: + points: "[[0.2, 0.3], [0.2, -0.3], [-0.35, -0.3], [-0.35, 0.3]]" + linear_min: -1.0 + linear_max: 0.0 + theta_min: -1.0 + theta_max: 1.0 + stopped: + points: "[[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]]" + linear_min: -1.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 + observation_sources: ["scan"] + scan: + source_timeout: 0.2 + type: "scan" + topic: "/scan" + enabled: true + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: false + feedback: "OPEN_LOOP" + max_velocity: [0.5, 0.0, 2.5] + min_velocity: [-0.5, 0.0, -2.5] + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + use_realtime_priority: false + enable_stamped_cmd_vel: true diff --git a/turtlebot3_manipulation_navigation2/param/waffle_pi_robotis.yaml b/turtlebot3_manipulation_navigation2/param/waffle_pi_robotis.yaml new file mode 100644 index 0000000..1adab1e --- /dev/null +++ b/turtlebot3_manipulation_navigation2/param/waffle_pi_robotis.yaml @@ -0,0 +1,433 @@ +amcl: + ros__parameters: + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 0.5 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + map_topic: map + set_initial_pose: false + always_reset_initial_pose: false + first_map_only: false + initial_pose: + x: 0.0 + y: 0.0 + z: 0.0 + yaw: 0.0 + +bt_navigator: + ros__parameters: + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.5 + filter_duration: 0.3 + default_nav_to_pose_bt_xml: "$(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml" # behavior trees location. + default_nav_through_poses_bt_xml: "$(find-pkg-share nav2_bt_navigator)/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml" + always_reload_bt_xml: false + goal_blackboard_id: goal + goals_blackboard_id: goals + path_blackboard_id: path + navigators: ['navigate_to_pose', 'navigate_through_poses'] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + error_code_name_prefixes: + - assisted_teleop + - backup + - compute_path + - dock_robot + - drive_on_heading + - follow_path + - nav_thru_poses + - nav_to_pose + - spin + - route + - undock_robot + - wait + +docking_server: + ros__parameters: + dock_plugins: ['nova_carter_dock'] + nova_carter_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docks: ['home_dock','flex_dock1', 'flex_dock2'] + home_dock: + type: 'nova_carter_dock' + frame: map + pose: [0.0, 0.0, 0.0] + flex_dock1: + type: 'nova_carter_dock' + frame: map + pose: [10.0, 10.0, 0.0] + flex_dock2: + type: 'nova_carter_dock' + frame: map + pose: [30.0, 30.0, 0.0] + enable_stamped_cmd_vel: true + +controller_server: + ros__parameters: + controller_frequency: 10.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.001 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["goal_checker"] + controller_plugins: ["FollowPath"] + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.1 + movement_time_allowance: 10.0 + goal_checker: + stateful: true + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: true + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.3 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.3 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 3.0 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 0 + vtheta_samples: 40 + sim_time: 1.5 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.5 + xy_goal_tolerance: 0.05 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: true + stateful: true + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + enable_stamped_cmd_vel: true + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.15 + plugins: ["obstacle_layer", "voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.5 + cost_scaling_factor: 5.0 + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: true + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: true + always_send_full_costmap: true + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + transform_tolerance: 0.5 + robot_radius: 0.15 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "voxel_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: true + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: true + publish_voxel_map: true + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: true + marking: true + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: true + transform_tolerance: 0.1 + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + inflation_radius: 0.5 + cost_scaling_factor: 5.0 + always_send_full_costmap: true + +map_server: + ros__parameters: + yaml_filename: "map.yaml" + +map_saver: + ros__parameters: + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: true + +planner_server: + ros__parameters: + expected_planner_frequency: 10.0 + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +behavior_server: + ros__parameters: + local_costmap_topic: local_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_costmap_topic: global_costmap/costmap_raw + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "wait", "assisted_teleop"] + spin: + plugin: "nav2_behaviors::Spin" # In Iron and older versions, "/" was used instead of "::" + backup: + plugin: "nav2_behaviors::BackUp" # In Iron and older versions, "/" was used instead of "::" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" # In Iron and older versions, "/" was used instead of "::" + wait: + plugin: "nav2_behaviors::Wait" # In Iron and older versions, "/" was used instead of "::" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" # In Iron and older versions, "/" was used instead of "::" + local_frame: odom + global_frame: map + robot_base_frame: base_link + transform_timeout: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + enable_stamped_cmd_vel: true + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: true + waypoint_pause_duration: 200 + +collision_monitor: + ros__parameters: + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel" + state_topic: "collision_monitor_state" + transform_tolerance: 0.5 + source_timeout: 5.0 + base_shift_correction: true + stop_pub_timeout: 2.0 + enable_stamped_cmd_vel: true + use_realtime_priority: false + polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"] + PolygonStop: + type: "circle" + radius: 0.1 + action_type: "stop" + min_points: 4 + visualize: true + polygon_pub_topic: "polygon_stop" + enabled: true + PolygonSlow: + type: "polygon" + points: "[[0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1]]" + action_type: "slowdown" + min_points: 4 + slowdown_ratio: 0.3 + visualize: true + polygon_pub_topic: "polygon_slowdown" + enabled: true + PolygonLimit: + type: "polygon" + points: "[[0.1, 0.1], [0.1, -0.1], [-0.1, -0.1], [-0.1, 0.1]]" + action_type: "limit" + min_points: 4 + linear_limit: 0.4 + angular_limit: 0.5 + visualize: true + polygon_pub_topic: "polygon_limit" + enabled: true + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 2.0 + simulation_time_step: 0.02 + min_points: 6 + visualize: False + enabled: true + VelocityPolygonStop: + type: "velocity_polygon" + action_type: "stop" + min_points: 6 + visualize: true + enabled: False + polygon_pub_topic: "velocity_polygon_stop" + velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"] + holonomic: false + rotation: + points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]" + linear_min: 0.0 + linear_max: 0.05 + theta_min: -1.0 + theta_max: 1.0 + translation_forward: + points: "[[0.35, 0.3], [0.35, -0.3], [-0.2, -0.3], [-0.2, 0.3]]" + linear_min: 0.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 + translation_backward: + points: "[[0.2, 0.3], [0.2, -0.3], [-0.35, -0.3], [-0.35, 0.3]]" + linear_min: -1.0 + linear_max: 0.0 + theta_min: -1.0 + theta_max: 1.0 + stopped: + points: "[[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]]" + linear_min: -1.0 + linear_max: 1.0 + theta_min: -1.0 + theta_max: 1.0 + observation_sources: ["scan"] + scan: + source_timeout: 0.2 + type: "scan" + topic: "/scan" + enabled: true + +velocity_smoother: + ros__parameters: + smoothing_frequency: 20.0 + scale_velocities: false + feedback: "OPEN_LOOP" + max_velocity: [0.5, 0.0, 2.5] + min_velocity: [-0.5, 0.0, -2.5] + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + use_realtime_priority: false + enable_stamped_cmd_vel: true diff --git a/turtlebot3_manipulation_navigation2/param/wp_nav2_params.yaml b/turtlebot3_manipulation_navigation2/param/wp_nav2_params.yaml new file mode 100644 index 0000000..20ffeac --- /dev/null +++ b/turtlebot3_manipulation_navigation2/param/wp_nav2_params.yaml @@ -0,0 +1,502 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: 0.15 #-1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + initial_pose: + x: 0.0 # Set your X coordinate + y: 1.5 # Set your Y coordinate + z: 0.0 + yaw: 0.0 # Set your orientation in radians + frame_id: "map" + +bt_navigator: + ros__parameters: + enable_groot_monitoring: True + groot_server_port: 1669 + enable_stamped_cmd_vel: true + use_sim_time: False + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: False + controller_frequency: 20.0 + costmap_update_timeout: 0.30 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + use_realtime_priority: false + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 95 #56 + model_dt: 0.05 + batch_size: 2000 + ax_max: 3.0 + ax_min: -3.0 + ay_max: 3.0 + az_max: 3.5 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 0.7 + prune_plan: false + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: [ + "ConstraintCritic", "CostCritic", "GoalCritic", + "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", + "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: false + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 2.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: False + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_footprint + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + robot_radius: 0.22 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.70 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: False + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint + robot_radius: 0.22 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.7 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +map_server: + ros__parameters: + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + use_sim_time: False + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + costmap_update_timeout: 1.0 + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + use_sim_time: False + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: False + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_footprint + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +assisted_teleop: + ros__parameters: + # Time to look ahead for collisions (s) + look_ahead_time: 2.0 + # Time step for projections (s) + time_step: 0.2 + # Topic to listen for teleop messages + teleop_topic: "/cmd_vel_joy" + # Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped + use_twist_stamped: true + +waypoint_follower: + ros__parameters: + use_sim_time: False + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 0 + +velocity_smoother: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: False + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.5, 0.0, 2.0] + min_velocity: [-0.5, 0.0, -2.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + use_sim_time: False + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel_collision" + enable_stamped_cmd_vel: true + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + use_sim_time: False + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_footprint" + fixed_frame: "odom" + dock_backwards: false + dock_prestaging_tolerance: 0.5 + enable_stamped_cmd_vel: true + + # Types of docks + dock_plugins: ['simple_charging_dock'] + simple_charging_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + # The following example illustrates configuring dock instances. + # docks: ['home_dock'] # Input your docks here + # home_dock: + # type: 'simple_charging_dock' + # frame: map + # pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 + use_collision_detection: true + costmap_topic: "/local_costmap/costmap_raw" + footprint_topic: "/local_costmap/published_footprint" + transform_tolerance: 0.1 + projection_time: 5.0 + simulation_step: 0.1 + dock_collision_threshold: 0.3 + +loopback_simulator: + ros__parameters: + use_sim_time: False + base_frame_id: "base_footprint" + odom_frame_id: "odom" + map_frame_id: "map" + scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link' + update_duration: 0.02 + +slam_toolbox: + ros__parameters: + debug_logging: true + max_laser_range: 3.5 + use_sim_time: False + loop_search_maximum_distance: 5.0 + min_laser_range: 0.15 # Ignore returns closer than 10cm + +sync_slam_toolbox_node: + ros__parameters: + use_sim_time: False diff --git a/turtlebot3_manipulation_navigation2/param/wp_nav2_params_sim.yaml b/turtlebot3_manipulation_navigation2/param/wp_nav2_params_sim.yaml new file mode 100644 index 0000000..79802a9 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/param/wp_nav2_params_sim.yaml @@ -0,0 +1,516 @@ +amcl: + ros__parameters: + use_sim_time: true + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::DifferentialMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + set_initial_pose: True + initial_pose: + x: 0.0 # Set your X coordinate + y: 0.0 # Set your Y coordinate + z: 0.0 + yaw: 0.0 # Set your orientation in radians + frame_id: "map" + +bt_navigator: + ros__parameters: + introspection_mode: contents + enable_groot_monitoring: true + groot_server_port: 1661 + enable_stamped_cmd_vel: true + use_sim_time: true + global_frame: map + robot_base_frame: base_footprint + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + wait_for_service_timeout: 1000 + action_server_result_timeout: 900.0 + navigators: ["navigate_to_pose", "navigate_through_poses"] + navigate_to_pose: + plugin: "nav2_bt_navigator::NavigateToPoseNavigator" + navigate_through_poses: + plugin: "nav2_bt_navigator::NavigateThroughPosesNavigator" + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + + # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings). + # Built-in plugins are added automatically + # plugin_lib_names: [] + + error_code_names: + - compute_path_error_code + - follow_path_error_code + +bt_navigator_navigate_through_poses_rclcpp_node: + ros__parameters: + use_sim_time: true + +bt_navigator_navigate_to_pose_rclcpp_node: + ros__parameters: + use_sim_time: true + +controller_server: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: true + controller_frequency: 20.0 + costmap_update_timeout: 0.30 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.15 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugins: ["progress_checker"] + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + use_realtime_priority: false + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + FollowPath: + plugin: "nav2_mppi_controller::MPPIController" + time_steps: 56 + model_dt: 0.05 + batch_size: 2000 + ax_max: 3.0 + ax_min: -3.0 + ay_max: 3.0 + az_max: 3.5 + vx_std: 0.2 + vy_std: 0.2 + wz_std: 0.4 + vx_max: 0.5 + vx_min: -0.35 + vy_max: 0.5 + wz_max: 1.9 + iteration_count: 1 + prune_distance: 1.5 # 1.7 + transform_tolerance: 0.1 + temperature: 0.3 + gamma: 0.015 + motion_model: "DiffDrive" + visualize: true + regenerate_noises: true + TrajectoryVisualizer: + trajectory_step: 5 + time_step: 3 + AckermannConstraints: + min_turning_r: 0.2 + critics: [ + "ObstaclesCritic", "ConstraintCritic", "CostCritic", "GoalCritic", + "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", + "PathAngleCritic", "PreferForwardCritic"] + ConstraintCritic: + enabled: true + cost_power: 1 + cost_weight: 4.0 + GoalCritic: + enabled: true + cost_power: 1 + cost_weight: 2.5 # 5.0 + threshold_to_consider: 1.4 + GoalAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 3.0 + threshold_to_consider: 0.5 + PreferForwardCritic: + enabled: true + cost_power: 1 + cost_weight: 5.0 + threshold_to_consider: 0.5 + CostCritic: + enabled: true + cost_power: 1 + cost_weight: 3.81 + critical_cost: 300.0 + consider_footprint: false # DML change becuase using radius + collision_cost: 1000000.0 + near_goal_distance: 1.0 + trajectory_point_step: 2 + PathAlignCritic: + enabled: true + cost_power: 1 + cost_weight: 14.0 + max_path_occupancy_ratio: 0.05 + trajectory_point_step: 4 + threshold_to_consider: 0.5 + offset_from_furthest: 20 + use_path_orientations: false + PathFollowCritic: + enabled: true + cost_power: 1 + cost_weight: 25.0 + offset_from_furthest: 5 + threshold_to_consider: 1.4 + PathAngleCritic: + enabled: true + cost_power: 1 + cost_weight: 10.0 + offset_from_furthest: 4 + threshold_to_consider: 0.5 + max_angle_to_furthest: 1.0 + mode: 0 + ObstaclesCritic: + enabled: true + consider_footprint: true # Use exact robot footprint, not just center point + critical_weight: 20.0 + collision_cost: 1000000.0 + repulsion_weight: 1.5 + collision_margin_distance: 0.1 # m + # TwirlingCritic: + # enabled: true + # twirling_cost_power: 1 + # twirling_cost_weight: 10.0 + +local_costmap: + local_costmap: + ros__parameters: + use_sim_time: true + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_footprint + rolling_window: true + width: 3 + height: 3 + resolution: 0.05 + # robot_radius: 0.19 # 0.22 + footprint: "[ [0.08, 0.14], [0.08, -0.14], [-0.20, -0.14], [-0.20, 0.14] ]" # Square 0.3m x 0.3m + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.20 # 0.55 # < 1/2 width of hallways + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + always_send_full_costmap: True + +global_costmap: + global_costmap: + ros__parameters: + use_sim_time: true + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_footprint + # robot_radius: 0.22 + footprint: "[ [0.08, 0.14], [0.08, -0.14], [-0.20, -0.14], [-0.20, 0.14] ]" + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 3.0 + raytrace_min_range: 0.0 + obstacle_max_range: 2.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + always_send_full_costmap: True + +# The yaml_filename does not need to be specified since it going to be set by defaults in launch. +# If you'd rather set it in the yaml, remove the default "map" value in the tb3_simulation_launch.py +# file & provide full path to map below. If CLI map configuration or launch default is provided, that will be used. +map_server: + ros__parameters: + use_sim_time: true + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: true + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + use_sim_time: true + expected_planner_frequency: 20.0 + planner_plugins: ["GridBased"] + costmap_update_timeout: 1.0 + GridBased: + plugin: "nav2_navfn_planner::NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +smoother_server: + ros__parameters: + use_sim_time: true + smoother_plugins: ["simple_smoother"] + simple_smoother: + plugin: "nav2_smoother::SimpleSmoother" + tolerance: 1.0e-10 + max_its: 1000 + do_refinement: True + +behavior_server: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: true + local_costmap_topic: local_costmap/costmap_raw + global_costmap_topic: global_costmap/costmap_raw + local_footprint_topic: local_costmap/published_footprint + global_footprint_topic: global_costmap/published_footprint + cycle_frequency: 10.0 + behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"] + # behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + spin: + plugin: "nav2_behaviors::Spin" + backup: + plugin: "nav2_behaviors::BackUp" + drive_on_heading: + plugin: "nav2_behaviors::DriveOnHeading" + wait: + plugin: "nav2_behaviors::Wait" + assisted_teleop: + plugin: "nav2_behaviors::AssistedTeleop" + local_frame: odom + global_frame: map + robot_base_frame: base_footprint + transform_tolerance: 0.1 + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + + + + +robot_state_publisher: + ros__parameters: + use_sim_time: true + +assisted_teleop: + ros__parameters: + use_sim_time: true + # Time to look ahead for collisions (s) + look_ahead_time: 2.0 + # Time step for projections (s) + time_step: 0.2 + # Topic to listen for teleop messages + teleop_topic: "/cmd_vel_joy" + # Whether to use geometry_msgs::msg::Twist or geometry_msgs::msg::TwistStamped + use_twist_stamped: true + +waypoint_follower: + ros__parameters: + use_sim_time: true + loop_rate: 20 + stop_on_failure: false + action_server_result_timeout: 900.0 + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + enable_stamped_cmd_vel: true + use_sim_time: true + smoothing_frequency: 20.0 + scale_velocities: False + feedback: "OPEN_LOOP" + max_velocity: [0.5, 0.0, 2.0] + min_velocity: [-0.5, 0.0, -2.0] + max_accel: [2.5, 0.0, 3.2] + max_decel: [-2.5, 0.0, -3.2] + odom_topic: "odom" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 + +collision_monitor: + ros__parameters: + use_sim_time: true + base_frame_id: "base_footprint" + odom_frame_id: "odom" + cmd_vel_in_topic: "cmd_vel_smoothed" + cmd_vel_out_topic: "cmd_vel_collision" + enable_stamped_cmd_vel: true + state_topic: "collision_monitor_state" + transform_tolerance: 0.2 + source_timeout: 1.0 + base_shift_correction: True + stop_pub_timeout: 2.0 + # Polygons represent zone around the robot for "stop", "slowdown" and "limit" action types, + # and robot footprint for "approach" action type. + polygons: ["FootprintApproach"] + FootprintApproach: + type: "polygon" + action_type: "approach" + footprint_topic: "/local_costmap/published_footprint" + time_before_collision: 1.2 + simulation_time_step: 0.1 + min_points: 6 + visualize: False + enabled: True + observation_sources: ["scan"] + scan: + type: "scan" + topic: "scan" + min_height: 0.15 + max_height: 2.0 + enabled: True + +docking_server: + ros__parameters: + use_sim_time: true + controller_frequency: 50.0 + initial_perception_timeout: 5.0 + wait_charge_timeout: 5.0 + dock_approach_timeout: 30.0 + undock_linear_tolerance: 0.05 + undock_angular_tolerance: 0.1 + max_retries: 3 + base_frame: "base_footprint" + fixed_frame: "odom" + dock_backwards: false + dock_prestaging_tolerance: 0.5 + enable_stamped_cmd_vel: true + + # Types of docks + dock_plugins: ['simple_charging_dock'] + simple_charging_dock: + plugin: 'opennav_docking::SimpleChargingDock' + docking_threshold: 0.05 + staging_x_offset: -0.7 + use_external_detection_pose: true + use_battery_status: false # true + use_stall_detection: false # true + + external_detection_timeout: 1.0 + external_detection_translation_x: -0.18 + external_detection_translation_y: 0.0 + external_detection_rotation_roll: -1.57 + external_detection_rotation_pitch: -1.57 + external_detection_rotation_yaw: 0.0 + filter_coef: 0.1 + + # Dock instances + # The following example illustrates configuring dock instances. + # docks: ['home_dock'] # Input your docks here + # home_dock: + # type: 'simple_charging_dock' + # frame: map + # pose: [0.0, 0.0, 0.0] + + controller: + k_phi: 3.0 + k_delta: 2.0 + v_linear_min: 0.15 + v_linear_max: 0.15 + use_collision_detection: true + costmap_topic: "/local_costmap/costmap_raw" + footprint_topic: "/local_costmap/published_footprint" + transform_tolerance: 1.1 + projection_time: 5.0 + simulation_step: 0.1 + dock_collision_threshold: 0.3 + +loopback_simulator: + ros__parameters: + use_sim_time: true + base_frame_id: "base_footprint" + odom_frame_id: "odom" + map_frame_id: "map" + scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link' + update_duration: 0.02 + +slam_toolbox: + ros__parameters: + debug_logging: true + max_laser_range: 20.0 + use_sim_time: true + +sync_slam_toolbox_node: + ros__parameters: + use_sim_time: true diff --git a/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz b/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz index a52a587..dc4acb8 100644 --- a/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz +++ b/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz @@ -7,8 +7,12 @@ Panels: - /Global Options1 - /TF1/Frames1 - /TF1/Tree1 + - /Map1/Topic1 + - /Global Planner1 + - /Controller1 + - /Controller1/Local Plan1 Splitter Ratio: 0.5833333134651184 - Tree Height: 511 + Tree Height: 295 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -99,6 +103,10 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false end_effector_link: Alpha: 1 Show Axes: false @@ -153,6 +161,9 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -160,6 +171,8 @@ Visualization Manager: Visual Enabled: true - Class: rviz_default_plugins/TF Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false @@ -179,6 +192,8 @@ Visualization Manager: Value: false caster_back_right_link: Value: false + dummy_mimic_fix: + Value: true end_effector_link: Value: false gripper_left_link: @@ -232,6 +247,8 @@ Visualization Manager: link3: link4: link5: + dummy_mimic_fix: + {} end_effector_link: {} gripper_left_link: @@ -266,13 +283,14 @@ Visualization Manager: Position Transformer: XYZ Selectable: true Size (Pixels): 3 - Size (m): 0.029999999329447746 + Size (m): 0.07000000029802322 Style: Flat Squares Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /scan Use Fixed Frame: true Use rainbow: true @@ -311,6 +329,8 @@ Visualization Manager: Use rainbow: true Value: true - Alpha: 1 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: true @@ -319,6 +339,7 @@ Visualization Manager: Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map @@ -334,13 +355,14 @@ Visualization Manager: Class: nav2_rviz_plugins/ParticleCloud Color: 0; 180; 0 Enabled: true - Max Arrow Length: 0.3 - Min Arrow Length: 0.02 + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 Name: Amcl Particle Swarm Shape: Arrow (Flat) Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /particle_cloud @@ -348,14 +370,17 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false - Enabled: true + Enabled: false Name: Global Costmap Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/costmap @@ -366,16 +391,19 @@ Visualization Manager: Reliability Policy: Reliable Value: /global_costmap/costmap_updates Use Timestamp: false - Value: true + Value: false - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false - Enabled: true + Enabled: false Name: Downsampled Costmap Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /downsampled_costmap @@ -386,7 +414,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /downsampled_costmap_updates Use Timestamp: false - Value: true + Value: false - Alpha: 1 Buffer Length: 1 Class: rviz_default_plugins/Path @@ -395,7 +423,7 @@ Visualization Manager: Head Diameter: 0.019999999552965164 Head Length: 0.019999999552965164 Length: 0.30000001192092896 - Line Style: Lines + Line Style: Billboards Line Width: 0.029999999329447746 Name: Path Offset: @@ -403,13 +431,14 @@ Visualization Manager: Y: 0 Z: 0 Pose Color: 255; 85; 255 - Pose Style: Arrows + Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.004999999888241291 Shaft Length: 0.019999999552965164 Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /plan @@ -455,6 +484,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /global_costmap/published_footprint @@ -464,6 +494,8 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 Class: rviz_default_plugins/Map Color Scheme: costmap Draw Behind: false @@ -472,6 +504,7 @@ Visualization Manager: Topic: Depth: 1 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/costmap @@ -491,8 +524,8 @@ Visualization Manager: Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 + Line Style: Billboards + Line Width: 0.07999999821186066 Name: Local Plan Offset: X: 0 @@ -506,9 +539,10 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /local_plan + Value: /optimal_trajectory Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -530,6 +564,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /local_costmap/published_footprint @@ -594,6 +629,9 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile @@ -625,27 +663,27 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 127.88431549072266 - Target Frame: + Scale: 119.40512084960938 + Target Frame: base_link Value: TopDownOrtho (rviz_default_plugins) - X: -0.023498384281992912 - Y: -0.012183860875666142 + X: 0.008997947908937931 + Y: -0.07990340888500214 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 932 + Height: 1011 Hide Left Dock: false Hide Right Dock: true Navigation 2: collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001d100000347fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003e00000243000000da00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e002000320100000287000000fe000000c000fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f0000034afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000034a000000b100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004320000034700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000016000000395fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000167000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001ac00000228000001e300fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f00000346fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000346000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003220000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: true - Width: 1545 - X: 485 - Y: 97 + Width: 1160 + X: 2280 + Y: 392 diff --git a/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz.orig b/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz.orig new file mode 100644 index 0000000..a351a93 --- /dev/null +++ b/turtlebot3_manipulation_navigation2/rviz/navigation2.rviz.orig @@ -0,0 +1,712 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /TF1/Tree1 + - /Map1 + - /Map1/Status1 + - /Map1/Topic1 + - /Controller1 + Splitter Ratio: 0.5833333134651184 +<<<<<<< HEAD + Tree Height: 295 +======= + Tree Height: 264 +>>>>>>> 53fabef (some updates) + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + dummy_mimic_fix: + Alpha: 1 + Show Axes: false + Show Trail: false + end_effector_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gripper_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + base_scan: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: false + camera_rgb_optical_frame: + Value: false + caster_back_left_link: + Value: false + caster_back_right_link: + Value: false + dummy_mimic_fix: + Value: true + end_effector_link: + Value: false + gripper_left_link: + Value: false + gripper_right_link: + Value: false + imu_link: + Value: false + link1: + Value: false + link2: + Value: false + link3: + Value: false + link4: + Value: false + link5: + Value: false + map: + Value: true + odom: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_footprint: + base_link: + base_scan: + {} + camera_link: + camera_rgb_frame: + camera_rgb_optical_frame: + {} + caster_back_left_link: + {} + caster_back_right_link: + {} + imu_link: + {} + link1: + link2: + link3: + link4: + link5: + dummy_mimic_fix: + {} + end_effector_link: + {} + gripper_left_link: + {} + gripper_right_link: + {} + wheel_left_link: + {} + wheel_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.07000000029802322 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Bumper Hit + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /mobile_base/sensors/bumper_pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Class: nav2_rviz_plugins/ParticleCloud + Color: 0; 180; 0 + Enabled: true + Max Arrow Length: 0.30000001192092896 + Min Arrow Length: 0.019999999552965164 + Name: Amcl Particle Swarm + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /particle_cloud + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: false + - Alpha: 0.30000001192092896 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Downsampled Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /downsampled_costmap_updates + Use Timestamp: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 125; 125; 125 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/published_footprint + Value: false + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Binary representation: false + Binary threshold: 100 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Trajectories + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /marker + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: VoxelGrid + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/voxel_marked_cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Controller + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.5600003004074097 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 +<<<<<<< HEAD + Scale: 127.88431549072266 + Target Frame: base_link + Value: TopDownOrtho (rviz_default_plugins) + X: 0.008997947908937931 + Y: -0.07990340888500214 +======= + Scale: 87.14958190917969 + Target Frame: base_footprint + Value: TopDownOrtho (rviz_default_plugins) + X: -0.7950698137283325 + Y: -1.2501640319824219 +>>>>>>> 53fabef (some updates) + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1011 + Hide Left Dock: false + Hide Right Dock: false + Navigation 2: + collapsed: false +<<<<<<< HEAD + QMainWindow State: 000000ff00000000fd00000004000000000000016000000395fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000167000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e0020003201000001ac00000228000001f800fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f00000346fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003f00000346000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000003220000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 +======= + QMainWindow State: 000000ff00000000fd0000000400000000000001d100000346fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f00000148000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000018004e0061007600690067006100740069006f006e00200032010000018d000001f8000001e300fffffffb0000001e005200650061006c00730065006e0073006500430061006d00650072006100000002c6000000c10000000000000000000000010000010f00000346fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f00000346000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000031d0000034600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 +>>>>>>> 53fabef (some updates) + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: +<<<<<<< HEAD + collapsed: true + Width: 1160 + X: 760 + Y: 32 +======= + collapsed: false + Width: 1545 + X: 375 + Y: 97 +>>>>>>> 53fabef (some updates) diff --git a/turtlebot3_manipulation_teleop/CHANGELOG.rst b/turtlebot3_manipulation_teleop/CHANGELOG.rst index 70cb82b..7305922 100644 --- a/turtlebot3_manipulation_teleop/CHANGELOG.rst +++ b/turtlebot3_manipulation_teleop/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlebot3_manipulation_teleop ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.2.1 (2025-05-28) +------------------ +* None + 2.2.0 (2025-04-01) ------------------ * Added gripper control in teleoperation diff --git a/turtlebot3_manipulation_teleop/include/turtlebot3_manipulation_teleop/turtlebot3_manipulation_teleop.hpp b/turtlebot3_manipulation_teleop/include/turtlebot3_manipulation_teleop/turtlebot3_manipulation_teleop.hpp index 1669c4c..c10bdcc 100644 --- a/turtlebot3_manipulation_teleop/include/turtlebot3_manipulation_teleop/turtlebot3_manipulation_teleop.hpp +++ b/turtlebot3_manipulation_teleop/include/turtlebot3_manipulation_teleop/turtlebot3_manipulation_teleop.hpp @@ -1,21 +1,36 @@ +// Copyright 2022 ROBOTIS CO., LTD. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + #ifndef TURTLEBOT3_MANIPULATION_TELEOP__TURTLEBOT3_MANIPULATION_TELEOP_HPP_ #define TURTLEBOT3_MANIPULATION_TELEOP__TURTLEBOT3_MANIPULATION_TELEOP_HPP_ -#include -#include -#include -#include -#include -#include -#include - #include #include #include #include + #include #include +#include +#include +#include +#include +#include +#include +#include + // Define used keys #define KEYCODE_1 0x31 #define KEYCODE_2 0x32 @@ -76,6 +91,7 @@ class KeyboardServo void start_moveit_servo(); void stop_moveit_servo(); void send_goal(float position); + private: rclcpp_action::Client::SharedPtr client_; @@ -95,10 +111,11 @@ class KeyboardServo bool publish_joint_; - void goal_result_callback(const rclcpp_action::ClientGoalHandle::WrappedResult& result) + void goal_result_callback( + const rclcpp_action::ClientGoalHandle< + control_msgs::action::GripperCommand>::WrappedResult & result) { - switch (result.code) - { + switch (result.code) { case rclcpp_action::ResultCode::SUCCEEDED: break; case rclcpp_action::ResultCode::ABORTED: diff --git a/turtlebot3_manipulation_teleop/package.xml b/turtlebot3_manipulation_teleop/package.xml index eb7bda8..396150e 100644 --- a/turtlebot3_manipulation_teleop/package.xml +++ b/turtlebot3_manipulation_teleop/package.xml @@ -2,7 +2,7 @@ turtlebot3_manipulation_teleop - 2.2.0 + 2.2.1 Ros2 Package of the turtlebot3_manipulation_teleop Pyo Apache 2.0 diff --git a/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp b/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp index 2c814db..26559f4 100644 --- a/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp +++ b/turtlebot3_manipulation_teleop/src/turtlebot3_manipulation_teleop.cpp @@ -61,7 +61,8 @@ KeyboardServo::KeyboardServo() base_twist_pub_ = nh_->create_publisher(BASE_TWIST_TOPIC, ROS_QUEUE_SIZE); joint_pub_ = nh_->create_publisher(ARM_JOINT_TOPIC, ROS_QUEUE_SIZE); - client_ = rclcpp_action::create_client(nh_, "gripper_controller/gripper_cmd"); + client_ = rclcpp_action::create_client( + nh_, "gripper_controller/gripper_cmd"); cmd_vel_ = geometry_msgs::msg::Twist(); } @@ -223,15 +224,17 @@ int KeyboardServo::keyLoop() void KeyboardServo::send_goal(float position) { - auto goal_msg = control_msgs::action::GripperCommand::Goal(); - goal_msg.command.position = position; // Set position - goal_msg.command.max_effort = -1.0; // Set max effort + auto goal_msg = control_msgs::action::GripperCommand::Goal(); + goal_msg.command.position = position; // Set position + goal_msg.command.max_effort = -1.0; // Set max effort - auto send_goal_options = rclcpp_action::Client::SendGoalOptions(); - send_goal_options.result_callback = std::bind(&KeyboardServo::goal_result_callback, this, std::placeholders::_1); + auto send_goal_options = rclcpp_action::Client< + control_msgs::action::GripperCommand>::SendGoalOptions(); + send_goal_options.result_callback = std::bind( + &KeyboardServo::goal_result_callback, this, std::placeholders::_1); - RCLCPP_INFO(nh_->get_logger(), "Sending goal"); - client_->async_send_goal(goal_msg, send_goal_options); + RCLCPP_INFO(nh_->get_logger(), "Sending goal"); + client_->async_send_goal(goal_msg, send_goal_options); } void KeyboardServo::connect_moveit_servo()