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Three years after the I-35W bridge in Minneapolis collapsed, more than 100 of the injured, along with relatives of the 13 killed, reached an agreement with engineering firm URS Corp. The company, which did not construct the 40-year-old bridge but had been hired to inspect it, will pay out more than $52 million, adding to the funds already paid to victims by the state of Minnesota and another firm. While URS does not admit fault, it will avoid a trial that had been scheduled for next spring.