PNG  IHDR0 pHYs+tIME'[V "tEXtCreation Time23-Jun-2006 15:39:28u-p$tEXtSoftwareMATLAB, The Mathworks, Inc.R IDATxaܪWwRv=aZB` ^_Rm1~[ % @ $!  @ HBA@ $!  @ HBA@ $!  @ HBA@ $!  @ HZFA`U9 HP G~@K @^/4I\`!릅`0p ,$2JZ L >$%,)@8ˎUmP0XH4w :;:嚸 _. &!,$tk6 x(=H`!h@Siެ$A`{ ܇XmO-,$1tA؉;Ǻ|N,=!ET8Lᆭ&iGu&rH.3 &yv$uܘ]:>:i$mZnf!]h;C)lsm('~P2@:$p9 P#@Æ;ٳttq[) H*Fhzي2zFU?IĶfh"TC Ht@Fmyt *Ӏ i}39WnNGa }3j!ElIy-? A˷a*bFm H_9anl!krܱ\\5~@^ U\w :ܵoQcA\@W9C #{+%I An޳O,|L خEMehx|+x-ҝA1Hd ({A7AgF@Џ,9Tnx;(ۮbʃFjlF9!,xLMayPK޷|ಋriRT@:u i#a )P-jʛyӅJ'~Vv;UL *T5b9 $KN*J AZOi&#Q j۔Yf>Q;Ϟd{3 H 1Ev9L W?Jug+ t̾f`\0"sW*Bl;UVF]o -7`W iq5J"{xL$Π50cMxaWA 7ѩw:7TiO*px&#N4[N 5zNeGd2Ⱥ[>h~Tbߌš_."P F] 5JXi]!NFMǗI|l RyyC=gσg? ;>TZ?dN^ru\ܘ킚ΨS}/{ACr+ۙy^GDA #rE-x@(] i8ՈJTCDhBg,[/G7V8qu8&Su[I%,-$t *HKP0Fjήo]20L 1d{o(5i qvTYuKmh=(陠m<) i_" Rpb ܓe4DH{}iK ;% MJG#}sFd7eGݞ.gzq<^' >a&.Ta1^AcRSU~t" w".8# E?SRydy>8ˡ@YV19)g!oٳj_BU#Yr"`(R],T$&Y8 m Fl=EPwē!)L)>֤$4i; G@=`2KZuKR7T!;Y-:ľ'szYsDnwq[3v)=ڹho'ҧTh7!FaC(=3)'^H>&y.Nɂ>H;s HiD12ۡ.yש60ȨSj҇H㹙ÒU:]%2WAz,[FjwlxHWŜuG<6uDa4;Se)u.q[p_[ QktGuPF([A_NL XJZ좒[MqQGXF)]wVr&ÖLTs"ER #ze%pݖQF'smM{@ IY43Pyto!e)5vj=]w]t־1 k_强=y; sTFAXp#mTHNJydi7`dm=L7}=4'L=4tE,Ƞ|aI@]Qԇp6~ JS{i96n5i A(5pfOW+F6d@ݶ)ըn:dxhƨuV æÖ*ax=SzPs%(}# u6UvڢR:it|j26)t{䲃`NR5YjtE@]Sλ30_7!)鷯d]= RUQR{Ѥ-@P?|`;0M gN.Rt}!_;U> 3ȳGj]m;bՀ%双v,AF9Afďf{ɄO>hKEn]Fy ם;F9Μ|ߟĮRr/3So0NzHQ̥Ӿ|Hqq 7ΫQ5["q5s/tm%%"iU춓ޜ[FF$' |#Gba,G2ԁ&Kշ\4 VUy jI~TSB>yS?&Qo!ѾVsuQHLZ~bw݉ j4d`7fQw783/Nrš?;^{-7JB:rȞk1TX4Wg9MހɶQ7u摱gzJ-HMEqǪꢧWݣ%A tJVUo-L$J$ѵVjhUdJp2s>4!+:/v=%q_WVȨ!4rPpw STdI,yz_?#TR܊1W1u=:y.̎" CEQqi!yt`L=ї(TI.ٗL}vbG7<Ŝ={ݥ(h[+וy d=gvKc0%}L,(ZȐGY~lHm`9 I*::# kX`:"wvQDGeGa6M>V&7֥~5@yڭKjI&Я؋:<"N4iZ5!lc!u0a8XN騃n$=#[NGNBYE2d7a$!|l I>%s>o$7PBZskhfTc'O]V#a[Gh!oH)["ޙR$֘w.g$t)ٓn:vLl(o-(: 6 G{id!F礅z[1aTlHDn~$#H`٥2YzLƮW}sd9`zf}rbom}҈km4 UQ J/%͂>m!bƕTɒ0O!W}^%5*]>!s˓ͣnZuwmjD=E~!p}P]y|b_YbatT-3;%7UVGv1DuR-悓Հ # WL񽂰 GL{F_TȥdX!RX#tVgF%5 h@Ew;Zngu Fl4T T!Sp5Jœt$%#$9P͸D 0w3}:ͥwѾG4Veyn<:jH\ގX["TfUeג!B`Mxl'FY")llu&vZN&됑%5ytdWuFK9놣&iK5^4m{ 9)PKH5Y GsJ UG,DKTًa>\cQJ7W#J~IUJm lP8L7w2)xf(@gUOQT#zL9H.}ykpGZåoF6>Q+746^Q=Ri˟OvFTҧV&$Ib.R_Fs4(!s2<STtl9\؍ 'QA꾣ꖪR sO͌aPm/ L_6o%jtȞ>+uN5vMyVYĚlUW'$Qk戊],~WUF2yQ21fp:̣ PuȺlIGiŵw͕ ?u9:f܏X9,՟(ݞR[ͣ9 :",ͦCTCEu\!΃mzL6H(L&AqJ31FOݍӰ,(SzƐP5$A̦ţ~Oou Pw'hr yHMfਨ#iQIM Z%3l,ɾ_ncJztL5i7f<7GP7kOS51Pj/ MJ:Aidx_c?v)jjv.tܻ=*6яڕr7MSu1ɞRbrpz/ȼPZS\:L02a$CDg(cNpU@u_&8KWPSXEJݱHФD\ʏBn"h V~5 "2-DLjO&A\1ck7HߝJvTMbb~Jf;<>0#œ#dsU_[n+4R+$ O+U{.U2`NVAfaJgztrls&;/}ܦJu@0â49[(m(,Z+'~g?;[/4%V=Jz> Yԥ hQJ4V*Kɷ|Gr׎z(LP#z!.n񪧎ġFXTo(`j,QzFA =74~9X; 4EU[U0 (F,*ޙq5{t`Hj!lѾX{)㩎c۹jIґMC,;I[(SWTGQLp|Yϡ#QF" R4iTADdGҤQ*LVuHަ*&PF:ySuȹ%7iY"5>SJKeZNTjeT@>+R3rIct׏j;'Mau`oda$gerʒHTZFk?=#%@#lSHMhujEf_Չ#KtH$:ƹt)m=@)RԍR #:S{4idscIv HUSCl)qe)`HKzͬ51W4M72lu?e-p |+4B^;"dfWz9v IDATR'U#jUPAwGP;~~M&qE),Sa2f/y!:`#< HMdC>A ,[YվհxS-0LR`+0 M;] }лZo#18o\gM0ŞIʲT|̗3]t;>T:K6mGoRZF Y|s oi/R2%8P ts|SA#NAf97nt#摪YY7`OZ')%?8U7k()3!և rX[̩ebk%TMbe_" E3됲e~|SA׌lg7,$&jhEK?K0! lٜE:c+)Mٸ'9[uXU{pu ҘO5e Q06kC]~7=nie),$PditCzd:dqEuCUC*#W,܎˙e6>!TΚYUFGE(ijTr QjQ݄k-n#YǠW&G2YԳJ5'i6zJ(GdmF"3i&.UVfU=l.>SZˡ Jl zND9U:Fn2ۿ̭|cN$CۍN2DO59Qc]!mUcdJ>X)%?͈`!^/B䭦Ir*C1_° k1vZH 2b_?#w2d9B(%5b pi9Y}d%3<՗d篛8E_JT5 CǦ$E29*)4tt__? R))J&4%F7/G)i)HF(Vu!D鵇DJ-V _R #R-]@S@L!(iM*YZq-7SVFRUT*R1%;% P *HVxJ) Wذז%* $_L2nEd;59.J._{j~2I0#V]FDAbu]}UsU .d7 0<JTV##d<#b1VIS 5IZQkmGqgiԊaW3R*.)_$ 1B J>z[~'.9HY#d[RTpM7BpTK/1^Du!G&nPuF%zjAWФTno!Kvʱ'4)7htFDj7#.JN$j:mhWOQajj,xc,>"_?_к[/'AV}Olwa?!ڤKC$V!Qt0KgHâV$fL~P;dj"ZJ5P<׭pB^g!i!=+zuZͰ̉L-=d~{Ŭp騮<#SW: v9ڔ݉{\WUEuyj HJ (UMJZVnBI`g%[$]?[$U?eR)N'p-\]*Z:+],Jyc!Hmz^laR5iTg@)R#۰acO9|\Z C0&(Bjls{ª}ɬWC9\j2Ui Lz㱐,U<;իDuJVջ("u4LilFCY'/jR2V$Ak5俭F4긧K-<E:-'HًRmFwkc8ČNǔ~bRDt}ɓ` FsJ~C IN ꨎKƄv]s 4IQ$4]ƏIhRyրC{xLyT:]`V[z9&[ԟi%6lebb8!T)2'U3 dMF dR4)SK~nfb Y2QF7*9 mGUR/iXgR*j%5 zL}(E:|] +tIh/Wd߫|@Gc)o߿=7j3](}FgB$wj m!ɹI加IzpLu%ac:.Z>Crt% d{LR:$?oQk&eF°i$z ̆_:=pn)o(R Xe? ko'eX>z2H^BZKKw[E <]jiNQ~O ϑ:$1< jMAFhN*ԣ\myA=3'cHX4 Hٓ-0{Zn'[>6CV'UZi!'r_8鬣' a5>0%7{sܭ*H;C)-9cEꉴņjS%3 /{i:okR*tDhR.Ym1<4=5$z_'z@S C(ܶwJ۴׌-%A xF_"H 8ChjEHL en0]5i ݦM ~Y9ߓd-OY':)e_gv;I_Ǔ},[XJgIY5uU8~$^)WJn#iK+T:vRuq.GSA8+yQQwxz U)giuo.ЊK/R_8dU ~PQ)[tK}ӝS\o1Ѕ:D{ep5M)| K5):dIՉ3 U/g+}A yrUSSņ}dr\uܷ[=>[ ]RƂ!,yR]Vه|"U#& mϾ%˹K&QdV/$~D_7Dx4]ݕD&D:)_# 6<ޫܶh}|/MWKDOͣ D7Ԩ>6~<{ m 嶅z+SS j)HRKT3Asz*>C]E=3$ͬҒjї"?lQ5:Ԝ< n[x3ٴkJor-eqG-)/Wߟduڴ6N ~ ;N3uo005 jT !JyzW?|/R8.3-Nj`s+c}+Rkƥ@Fveg2-$=C_f+/)ү4q҈$zW]zNiR#5JK쐄3C%ĢٗsKe% A:[BF ^;҅ n-M'N.aop3Y`!c(fS]:R;ƿ*ZKGױ SE>C Wt-Dc5Nhdqeq尥nC?ٻ AĬa,.gJa .K:b3@M4N2K_Y\]7Oz?^Mj"yV)[>`9كE{@nŪil3w'þI9^>)b)Tm7m1tCR8Z{ 2<-s[ ulDJu& f`w )Muh q긳ƎzNXX#8V,_T9@6iXEJWR]1 Rtn0-49J)Pkp dcYvQ_n0-dpR8Xy1.R=f:yLwNI]EBu~="pį47&~i6")WdG?ْiJi +YXHy0m,Hj"9j$U4<|׵AQUּEh\G(mg缎-H#'Qj? NHxƹQ,gdp^5a|3/Wۇ<Ŀ/ 6jj9,.]xDw*9U1:_!7ԷN[QLK_֒ 0yۻ:MHRno5n&`!a q |!^*c>=||=m1FMMs`4 D_zjG((@MpW IIWb2~|fPz۷9搼䳉!狅!%1]D():Q x39"%6 wJThbg2;-ǫ׭S{e1mbqS7cWtb ;xN' m"վ}ƿdwQ)Jښ$HdyMޚmʮ*HA p%~{, t;l4N<.ZĄG~)@.ũqrR>k{ufm>4.t/d^bAPz$*AKJI&lP.ZExĔRG)9UEd#sc:kwLF(_:sݸU2cIYr2U2ど < i#Z=, '~Ƈ__ hmA%W%?z~ZMZnPa& Ji-Ȓ4'dy$% <[OnOcq|)FU$S;c# =`N΋5P&FUJJ&:I^9įK8\F'OZlZlfK>A)[Ҩ_k9rX5rPCٺnV*A[tGf~WWR@n)J,H*iYVV{Ԝcd BF?7^vK`Rl)E CϙI#CjBF̆,bK.3?0>5*Utu_*a}nVofˮLV YZCVupǕ`kB.=ZY Gfm] V}6, lSrlV:tŪ,E:^Ax.~,GG/6I(@Œ_ U ~ب̸wHܻbR,['KUy;N޵w]z\HUv"h- C`rVrGjy'Cd7s|wC .hBL)~_ [fѤh6茔q'C{>11e鹏:Jb 97DTj`7=jvhVg Kn2ܾĐ߰rr3;!BWB^ϩyŒGd՛d{X~ g"`>3ڰf8{t+UtI)!,$3Rb Kˣ컚IDAT/;OR Nt~:R8q}M@e.zUfK[;;sEˋ UUPҗg,eMJ/5IxPf cHe{sdv~˵ |@SPe{ UuT)Ka_?q?U urٞuR=Kl3R=!0@lg:Y24ƈ|L0u͓;Ad H۳GO9 TA@ ݀鋺o$U4V?orAMSdn(0Y ݁8]ERJՓDni,F, D &y⌄= Y`P2 B:vj `SFɒq{6gX⑃= z1Ah0x otg>(HXASDbFB@覓O ,14   LEȒ>L{ӏj{ $j( WA7 ̀ ]a6HLk  ;0!@5ȠF nط*ӡFjpШn;5\D_G@3%pCr $! i$@ u`K/@n$Lg HK5 H$|t] I*$! IAh=D =`S`!G`-<<`ox< p @ HBA@ $!  @ HBA@/=ْ(IENDB`