From a7d65454b8da70b90d9f736c6b2449ae4170ed58 Mon Sep 17 00:00:00 2001 From: mcarfagno Date: Mon, 20 Apr 2020 16:48:53 +0100 Subject: [PATCH] fixed issue with heading error derivative --- .../MPC_cvxpy-checkpoint.ipynb | 313 +++++++++++------- notebook/MPC_cvxpy.ipynb | 313 +++++++++++------- notebook/diff_eq.ipynb | 102 ++++++ 3 files changed, 502 insertions(+), 226 deletions(-) create mode 100644 notebook/diff_eq.ipynb diff --git a/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb b/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb index e35241b..0ccbd42 100644 --- a/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb +++ b/notebook/.ipynb_checkpoints/MPC_cvxpy-checkpoint.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 33, "metadata": {}, "outputs": [], "source": [ @@ -63,7 +63,7 @@ "0 & 0 & vcos(\\theta) & 0 & 0 \\\\\n", "0 & 0 & 0 & 0 & 0 \\\\\n", "0 & 0 & 0 & 0 & 0 \\\\\n", - "0 & 0 & 0 & vcos(-\\psi) & 0 \n", + "0 & 0 & 0 & -vcos(-\\psi) & 0 \n", "\\end{bmatrix}\n", "\\quad $\n", "\n", @@ -80,7 +80,7 @@ "\\sin{\\theta_t} & 0 \\\\\n", "0 & 1 \\\\\n", "0 & -1 \\\\\n", - "\\sin{(-\\psi_t)} & 0 \n", + "-\\sin{(-\\psi_t)} & 0 \n", "\\end{bmatrix}\n", "\\quad $\n", "\n", @@ -105,7 +105,7 @@ "0 & 1 & v\\cos{\\theta}dt & 0 & 0 \\\\\n", "0 & 0 & 1 & 0 & 0 \\\\\n", "0 & 0 & 0 & 1 & 0 \\\\\n", - "0 & 0 & 0 & vcos{(-\\psi)}dt & 1 \n", + "0 & 0 & 0 & -vcos{(-\\psi)}dt & 1 \n", "\\end{bmatrix}\n", "\\quad\n", "$\n", @@ -117,7 +117,7 @@ "\\sin{\\theta_t}dt & 0 \\\\\n", "0 & dt \\\\\n", "0 & -dt \\\\\n", - "\\sin{-\\psi_t}dt & 0 \n", + "-\\sin{-\\psi_t}dt & 0 \n", "\\end{bmatrix}\n", "\\quad\n", "$\n", @@ -211,7 +211,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 34, "metadata": {}, "outputs": [], "source": [ @@ -228,7 +228,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 35, "metadata": {}, "outputs": [], "source": [ @@ -248,7 +248,7 @@ " A = np.zeros((N,N))\n", " A[0,2]=-v*np.sin(theta)\n", " A[1,2]=v*np.cos(theta)\n", - " A[4,3]=v*np.cos(-psi)\n", + " A[4,3]=-v*np.cos(-psi)\n", " A_lin=np.eye(N)+dt*A\n", " \n", " B = np.zeros((N,M))\n", @@ -256,7 +256,7 @@ " B[1,0]=np.sin(theta)\n", " B[2,1]=1\n", " B[3,1]=-1\n", - " B[4,0]=np.sin(-psi)\n", + " B[4,0]=-np.sin(-psi)\n", " B_lin=dt*B\n", " \n", " f_xu=np.array([v*np.cos(theta),v*np.sin(theta),w,-w,v*np.sin(-psi)]).reshape(N,1)\n", @@ -274,7 +274,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 36, "metadata": {}, "outputs": [], "source": [ @@ -329,15 +329,15 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 37, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 3.81 ms, sys: 0 ns, total: 3.81 ms\n", - "Wall time: 3.75 ms\n" + "CPU times: user 7.06 ms, sys: 0 ns, total: 7.06 ms\n", + "Wall time: 6.23 ms\n" ] } ], @@ -367,19 +367,17 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 38, "metadata": {}, "outputs": [ { "data": { - "image/png": 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klCuf+CwJlkxZPM/Eo3PjMuCwyEgOe/uYoIVdcSCqIZFU8jDFS2A6XIFr+h/8SaP4656bME1aYC7qjjkgPsduYRV1gRKRa6211wPtCD4Z3matXQRMBmaJyKY4ZcyeIc8Ohbfckjo3CrNzaw3+Yw/AD98E01Vf1B1TrHgoWRIhVbJE26FwbyIyevdja21lEVmVw8vKZX+dSi2m5uF4tw2nxDsvs1mewH39STDNfIs2OvNBjOTrpoeI7BKRF0TkIqA5UIlgRtBV1toJ1toch1KJQqHvVGgqHoh34z2YMyzuvfn499yI+yOnv2kqBX2Xy/K0u8da2JjMTEpfeCne4BFQtQZu0ij8hwbiVq8MO1payFcjCWttWYI5bToDRwMzgZ7Ar0A/ghu/R+9HjsVAHWttTYLC1BG4eD+2k9JMRgbmvM64uvXxHx2Gf2dfvO43Yuo3DjuaKph/fZyOHEt+CFlUHJjK1fBuuBv3zqu4mU8GjZ/aX4xp0x6ToR1891d+Gkk8C5wOLADGAc9lv75ure1L0EIp30Rkp7W2N/AKwb2uxyMdDQslU68x3m0P4Y+5C3/EUEzHbngnnxV2LJVP1trfCMbaK2Gt/XWv1RWB6YlPpeLFeB6mZVvc0cfhTxuHe/ZJ3AcL8LpeozMd7Kf8nEEtBHrnci0dEfGttQftbxARmUfQ4kkBplJlvFuG4U94EDd9PP7aP4Lm6NoUPZV0Jjh7mgdckm25A34XkW9DSaXiypSviNdzACx5D3/ao/h39cOcei7mnIuCGRFU1PLTSOKBKF6zJa/XqOiZYsXxrr4ZN+Mx3Kuzg6nqL79Op6lOESLyNgT9ofTYKFyMMdCkBd4RDXHPPoF7ZRZuyXtBB98j9ucuSOGkH8eTnPEyMBf1wPz3Utzid/DH3oPbsT3sWCoP1tprrbXFIPcPbtbaYtbaaxObTCWSKVUar+s1eH3vAMB/8LZgtPTNcW/0nBaSYiQJtW/GGMzp5+OXKIl76hH8kbfj9boVU7xE2NFU7ioDS62184C3gW/5p6Pu4UArgi4bk8MKqBLHHNkw6OD7/Azcq7Nxny3Gu7gHHHOCNknfBz2DSiHeSW0xl18H336BP/pOHRU9iYnIAKAx8D1wBUEL1y8I7kddDnwDNBaR20ILqRLKFC2Gd0FXvFsfhHIV8cfdF1wRWb827GhJS8+gUozXvDU+Bvf4cPxH7sXrOWCPkZVV8hCRNcADkS+lADDVa+MNeAD3+hzcnGn4g3thLrgU85/TtBHUXvTdSEFe81aYzj3hi4+CVn6+TvOjVCoxGRl4p5+PN2Qk1DgM99RY/AcG4FbFavS49KBnUCnKO+l0/L+3BVMAyOPQoZtey05SkU65QwgGiM0iW8ddEakeUiyVBMyBVfD63oF7bz5OJuIPvRZzVkfM6edpa130DCqleae2x7RpH4yq/PrcsOOo3I0FjgFuByoA1xCMvjI8zFAqORhj8Fq0wbt9LKZRc9xzT+Hf2Rf3U24jZBUeWqBSnLnwMjjmBNwzj+O++yLsOCpnpwEXiMgcYFfkewf27LyrCjlzQHm8Hv3xet0Kmzfh33Mj/tMTcNu2hh0tNHqJL8UZz8O74nrcW0dAbZ2TJkl5/DMM2CZr7QHASuCw8CKpZGUaNcOr2wA3azLu9bm4jxfide6JOeqYsKMlnJ5BpQFTtBjeaefqoJTJ61OC+08A7xBc8nuE3Ec5V4WcKVESr9NVeP3vhSJF8UcMwZ84HLdxQ9jREkoLlFLxdyXwc+RxH2ArUI5gOnilcmXq1MMb9DDmrA64xQvwB/XEX/Q2zrmwoyWEXuJTKv4qicgiABFZTWQWXWtt01BTqZRgihTFtO+Ea9ICf/Jo3IQHcYvexut0NaZipbDjxZWeQSkVf6/lsvzlhKZQKc1UOxTv5vswHa+E777AH9wLf/4Lad0PUs+glIoTa61H0OfJWGsNe05cWBvYGUowlbKMl4E55Wxco2b4T43FzRiP++BtvC7XYKqmX5c6PYNSKn52AtuBkpHHO7J9fUXQWEKpfDMVD8S7djDmir6wegX+Hdfhz5mWdjMd6BmUUvFTk+Cs6W3gpMhjF/n6Q0QKbwcXVWDGGEzzVrj6jYMRZV6YwdpPFuI6XY05LD26nGiBUipOROSXyMMa8P+X/A4SkZXhpVLpxpQ5AHNFX1yzlrhp4/DvvxnTqh3mvC6YEiXDjlcgWqCUijNrbTmCy3n/Jbi8V8paew7QNFbTbVhr+xGMml5JRNZE7nmNAM4AtgCXisiSWOxLJSdzVBMqjJjKmokjcG+8gPvkg6ClX8Pjwo6230IvUNbaYcDZBNfqfwAuE5E/w02lVEyNA9YTnEl9FVn2PvAgUOACZa09hGA4pV+zLW4H1Il8NSPoGNysoPtSyc0rURKv45W4pifhTx6NP/oOzHH/wXTshilbPux4+ZYMjSReA44SkaMJetbfEnIepWLtFODayKU9ByAifwAHxmj7w4H+u7cd0R6YLCJORBYC5ay1B8dofyrJmVp18W57KOg/9fH7+AN74f9vfsp18A39DEpEXs32dCHBZRCl0slfBNNs/P+9J2tt9ezP95e1tj2wXEQ+tdZmX1UV+C3b82WRZf/ap7W2O9AdQETIysrKcV+ZmZm5rks0zZKzf2W5tBc725zJhrH3sePJERRZ8j/KXH0TmZWrJj7L/mwjRlli5XLg6dxW6oFUMJolZwnIMgGYaa29FfCstccDdxNc+suTtfZ1oHIOq24FBhBc3ttvIjIeGB956tasWZPj67KysshtXaJplpzlmKV4adx1QzELXmH7zCdZ26cTpn0nzCnnxHX8zn29L1WqVIlqGwkpUPs6wCJTDxA5eHcCU3Pbjh5IBaNZchaLAykP9xGMvzcGKAI8DjxK0IghTyLSJqfl1toGBE3Zd589VQOWRIZQWg4cku3l1SLLVCFkPA/Tqh2uYVP8qY/gnnkC98E7eF16Y6rXCjterkwyXJO01l4K9ABOEZEtUf6YW7FiRY4rUuWPX6JplpxFUaBSYqpia+3PwLGRVnxnAr0JWvE1A0aKSDRj/+lxlU+plsU5B0vew5/2KGzaEMzee1ZHTNFiCcsS7XEV+iU+a21bghu8LfNRnJRKKdbaukBDoHT25SLyeJx2OY+gOC0laGZ+WZz2o1KMMQaatMA74ujgTOqlmbiP3gvOpuo2CDveHkIvUMBooBjwWuQyxUIRuSrcSErFjrV2ADCIYF6o7B/CHMHlvpgQkUOzPXZAr1htW6UfU6oM5tJrcc1a4k8Zg//ArZj/nIb576WYkqXz3kAChF6gRERnFVXp7jqCTrmfhR1Eqb2ZIxviDR6Fe34a7tU5uM8W413cA3PMCWFHS4p+UEqlu63AN2GHUCo3plgxvP9ehnfrg1C2HP4j97Jr7N24P9eGmiv0Myil0lFk3L3dBgKjrLVDgN+zv05E/ETmUmpfTI3aeAMexL0+Bzd3Ov6gXsElvxNPw3iJP5/RAqVUfOzkn5EddrdW6pZt/e6RzePXEUWp/WAyMzFtL8Adczz+5DG4KWODGXwv6YWpXC2hWbRAKRUfNcMOoFRBmAOr4PW7E/e/13HPPI4/tA/mrA6Y08/HZCamdGiBUioOsk21gbX2BhF5YO/XWGv7Ag8lNJhS+WCMwZx4Kq7Bsbjp43HPPYX78N1gBt+adeK+f20koVT8DcpleUym2lAq3swB5fGuugmv1wDYtAH/nhvxn56I+3tbXPerZ1BKxYm19uTIwwxrbWv27DlfC9iY+FRK7T/TqDne4Q1wsycHDSk+fj+4N1W/cVz2pwVKqfiZGPlenD075DpgFXBNwhMpVUCmZClMp6txTVviTx6F//BgzPGtMfYKTOmyMd2XFiil4kREagJYayeLSJew8ygVS6ZOPbxBI3AvCu7lmbgvlmA6dMM0PSkYTikG9B6UUnGmxUmlK1OkKN65nfFuGw5ZB+EmPIg/6g7c2j9isn0tUEoppQrEVDsU7+b7MB2ugG8/xx/cmy3znsX5BeuHrgVKKaVUgRkvA69Ne7yho6H2EWx98yX+6au+f/QelFJKqZgxWQfhXTeE8iWKsW7b9gJtS8+glFJKxZQxBi8GLfq0QCmllEpKWqCUUkolJeNcwW5ihShlg6uUE5tOHalBjyuVKHkeV6l8BmVy+7LWfrSv9Yn80ixpkaUwSZf/M82S/FnylMoFSimlVBrTAqWUUioppWuBGh92gGw0S840S+pJpvdJs+QsrbKkciMJpZRSaSxdz6CUUkqluJQe6sha2xYYAWQAE0Tk3r3WFwMmA02AtUAHEfk5DjkOieznIIJmuuNFZMRer2kFzAF+iiyaJSK3xzpLZF8/E0yGtwvYKSLH7rXeELxvZwBbgEtFZEkcctQFns62qBYwSEQezvaaVsTpfbHWPg6cBawWkaMiyypEMh0K/AxYEVmfw8925Z8Zb+8UkUmxyJSq8jrWEpzlZ/bx+x3nfe/371SCsgwBrgR2Dyc+QETmJSBLjn8DC/repOwZlLU2AxgDtAPqARdZa+vt9bIrgPUichgwHLgvTnF2Av1EpB7QHOiVQxaAd0SkUeQrLsUpm9aR/eR08LYD6kS+ugOPxCOAiHy7+99L8CFhCzA7h5fG6315Emi717KbgfkiUgeYH3m+h8hBNRhoBjQFBltry8cwV0qJ8lhLtH39fsfTk+zH71QCswAMz3Y8xb04ReT2N7BA703KFiiCPxxLReRHEdkOzADa7/Wa9sDuT77PAqdEzh5iSkRW7j4DEZGNwNdA1VjvJ4baA5NFxInIQqCctfbgOO/zFOAHEfklzvv5fyKyAFi31+LsvxOTgHNz+NHTgddEZF3k095r5PyHoLCI5lgrFArwO5WoLKHYx9/AAr03qXyJryrwW7bnywg+8eb4GhHZaa39C6gIrIlXKGvtoUBjYFEOq4+31n4KrABuEJEv4xTDAa9aax3wqIjs3Zomp/euKrAyTnkAOgLTc1mXqPcF4CAR2f3vXEVwSWJvub0/hVU0x1oi5fX7nWjR/E4lUm9rbRfgQ4Kzmrhfbsxur7+BBXpvUvkMKulYa0sDM4HrRGTDXquXADVEpCEwCngujlFOFJFjCC7J9LLWnhTHfeXJWlsUOAd4JofViXxf9iAiDh3aJxUl1e93dknwO/UIUBtoRPCB88FE7nxffwP3571J5QK1HDgk2/NqkWU5vsZamwkcQNBYIuastUUI/mOmisisvdeLyAYR2RR5PA8oYq3NikcWEVke+b6a4J5P071eEs17F0vtgCUi8vveKxL5vkT8vvtyZuT76hxek+j3J9kl1fsRxe93okXzO5UQIvK7iOwSER94jAS+N7n8DSzQe5PKBWoxUMdaWzPyCb0jMHev18wFukYe/xd4I1LFYypyX2si8LWIPJTLayrvvv9lrW1K8N7HvFhaa0tZa8vsfgycBnyx18vmAl2stcZa2xz4K9tpeDxcRC6X9xL1vmST/XeiK0ELwr29ApxmrS0faRxxWmRZYRXNsZYQUf5+J1o0v1MJsde95PNI0Huzj7+BBXpvUrqjrrX2DOBhgqavj4vIXdba24EPRWSutbY4MIXgeug6oKOI/BiHHCcC7wCfA35k8QCgOoCIjLPW9gauJmjtshXoKyLvxSFLLf5pKZcJTIu8L1dly2KA0QQ3/rcAl4nIh7HOEslTCvgVqCUif0WWZc8St/fFWjsdaAVkAb8TtMx7DhCC/5tfCJq9rrPWHgtcJSLdIj97OcH/IcBdIvJELDKlqpyOtZBy5Pj7ncD9R/07FVKWVgSX9xxBs+4ecf7wuTtLbn8DF1GA9yalC5RSSqn0lcqX+JRSSqUxLVBKKaWSkhYopZRSSUkLlFJKqaSkBUoppVRS0gKllFIqKWmBUkoplZS0QCmllEpKqTyauYqCtbY2wVA1bURkibW2CvApcKGIvBVqOKWU2gcdSaIQsNZeCVwPHEswTMznInJDuKmUUmrf9BJfISAijwFLCcbFOhi4NdxESimVNy1QhcdjwFHAKBH5O+wwSimVF73EVwhEJhH7FHiTYG6mBokYbVkppQpCz6AKhxEEU5B0A14ExoWcRyml8qQFKs1Za9sTzPt0dWRRX+AYa22n8FIppVSb74FpAAAgAElEQVTe9BKfUkqppKRnUEoppZKSFiillFJJSQuUUkqppKQFSimlVFLSAqWUUiopaYFSSimVlLRAKaWUSkpaoJRSSiUlLVBKKaWSkhYopZRSSUkLlFJKqaSkBUoppVRS0gKllFIqKWmBUkoplZS0QCmllEpKWqCUUkolpcywAxSAzrSoEsWEHSCB9LhSiZLncZXKBYoVK1bkuDwrK4s1a9YkOE3ONEvOUiVLlSpVEpwmtqy1jwNnAatF5KhofkaPq/zRLDmLxXGll/iUSm9PAm3DDqHU/tACpQo1t24N27/5POwYcSMiC4B1Bd2O+/l7tn/xMe6n73DLfsL9vgK3bg1u0wbc39twTq8MqthL6Ut8Su0v5/u4t1/GzZrEhgqVcINHYrzC+XnNWtsd6A4gImRlZf3rNeuGD2L9V5/kvpHMInjlK5JRIQuvQiW8ClmRx1lkHFiFzOo18UqXjVnmzMzMHHOGQbPkLBZZtECpQset/A1/8mhY+jUc2ZBy197Gn4W0OAGIyHhgfOSpy+m+gbvwcsp78NeaP2DHdtyO7bB9O+z+vnkj7q917PhzHfz0PXy8ELZt3XMj5SpCleqYqtWhag1MlepQpQamWLF8Z06Vey2JlipZor0HpQVKFRpu5w7cyzNxLwoULY65rA/m+JPJrFQJkuSgTlam2qEUzcrCRN6naJo1um1b4M918Mcq3PJfYPmvuBW/4N56KShyABkZUL02pk59TJ16UKceplSZeP5TVArRAqUKBffDN8FZ04pfMcf9B9OxG6Zs+bBjpTVTvCRULgmVq2EaHPv/y52/C/74HZb/jPvpe9z3X+LmP497dXbwgirVMXXqYY5sCPUbB9tRhZIWKJXW3LatuOeewr3xApSriNf7NkzDpmHHShhr7XSgFZBlrV0GDBaRiWFmMl4GHFQFDqqCOeYEANz2v+Gn73FLvwoK1qK3cW+/DJmZULcBpmEzTMOmmArJcX9FJYYWKJW23Ocf4T81FtavwbRshzm/C6ZE4fo0LiIXhZ0hGqZoMah7FKZu0FXL7doFP3yD+3QR7pNFuGnjcNPGBZcDGzZl5ylnQKkDQk6t4k0LlEo7buNfuKcn4Ba9DQcfgtf/Hsxh9cKOpfLBZGTA4fUxh9fH/fcyWLU8KFaffoB7YQZrn58eFKsTTsY0bYkpE7sWgip5aIFSacM5h1v0Fu7pCbB1K+bsjph2F2KKFAk7mioAYwwcXA1zcDVoewFuw5+U+vpjNr72PG7GY7hnHocGx+GdcDI0aILJ1P/vdKEFSqUFt+b34HLelx9Drbp4Xa4JmjOrtGPKlqPkmReypVlr3PJfcO+9gVv4Jv4nC6F0WUzz1piTz8RUqhx2VFVAWqBUSnP+LtwbL+BmPwXGYDp2x7RuF9yIV2nPVK2BufAy3Pld4KuPcf+bj3vzBdz856FRU7w250Cd+sFZmEo5WqBUynLLfsKfNBp+/h4aHIvX6SpMxQPDjqVCYDIyoMGxmAbH4tavxb01D/f2y/gfL4TqtTCnnBN0L9DLvSlFC5RKOW7HdtwLgntlJpQohenWD9P0JP2UrAAw5StizrsEd4bFLXoT9/rzuCcexs2ahGl9Jubkswpda85UpQVKpRT33Zf4U0bDquWY41tjLrxCW3CpHJlixTAntcX953T46hP8154L+sS9Ngdz2rnBfSrtBJzUtECplOC2bMbNmhR03qx4IN51QzH1G4cdS6UAYwzUb0xG/ca4n77Hf346bvYU3GvPYU47LzirKl4i7JgqB3kWKGvt5VFua6eITC5gHqX+xX2yCH/qOPhrPaZNe8y5nTDFiocdS6UgU7MOGdcOwv34bVCoZk3Gvfoc5vRIodLfq6QSzRnUeOCdKF53HBBVgbLWZgAfAstF5CxrbU1gBlAR+Ai4RES2R7Mtlb7cX+tx08fjPvofVDsUr+cATM06YcdSacDUqktGnyHBGI3PT8fNnIR7fS7m3M5B519tBZoUoilQW0WkdV4vstauz8d++wBfA7tvHtwHDBeRGdbaccAVwCP52J5KI8453P9eDzpgbt8e/NE4/XxMpl6RVrFlah9BxnVDcUu/wn/mCdykUbg3X8Sz3f5/2CUVnmgmwTkmym0dF82LrLXVgDOBCZHnBjgZeDbykknAuVHuU6UZt3ol/kMDcZNGBWdNg0fgnWm1OKm4MofVw7v5fky3frBpA/4DA9j1yD241SvDjlao5XnUi8j30WxIRJZGuc+Hgf7A7klfKgJ/isjOyPNlQNWcfjCamT8h/WaVjJVkzuJ27WTL3KfZNOMxTGYRSl/dnxJtzknILLfJ9L6o8BhjMM1a4ho3x702B/fSs/ifLcacfDbmTIspWSrsiIVOvj6WWmtvz2XV3wSF5WUR+X0fP38WsFpEPrLWtsrPviG6mT8hdWaVTLRkzeJ++QF/8ij49Udo1Axz8VVsKV+RLevWJTzL3qKd+VOlD1O0GOZMi2vRBvdc0NrPLXwT0/FKzLEnan+7BMrvx9PDgZuA1sBhke83AY2Bq4EfrbVt9/HzLYBzrLU/EzSKOBkYAZSz1u4ultWA5fnMpVKQ+/tv/GefxL+7H/y1Hu+qm4OGEOUrhh1NKUy5CniX9sG79UEon4UbPwx/1B24tavDjlZo5LdAeUBHEfmPiFwsIv8BLLBLRJoDPYF7c/thEblFRKqJyKFAR+ANEekEvAn8N/KyrsCcfOZSKWb7Zx/iD70G98osTIs2eEPHYJqcoJ9OVdIxNQ7DGzAM06EbfPcF/qBe+K8+F8xZpeIqvwXqdGDuXsteANpFHj8F1NqPHDcBfa21SwnuSYU646eKH7d5E/6TI1k/+FowBq/fnXhdemNKlQ47mlK5Ml4GXptz8IaOgSOOxj3zOP7dN+B+ifbWu9of+W0a9QPBpbzR2ZZdFVkOkAVsiWZDIvIW8Fbk8Y9A4ZmHuxByzsFH/8OfPh42baDkeZ3Y1ubcYCZVpVKEqVgJr/dtsOQ9/Onj8e+6gY3ndMCdfgGmSNGw46Wd/BaobsAsa+1NBPeJqgK7gPMj6+sCA2MXT6UDt24N/rRx8OkHUL02Xp/BlDmmGX8nSYMNpfLDGANNWuAd2RA3czJb5kyHxf/Du+J6TPXaYcdLK/kqUCKyxFpbB2gOVAFWAu+LyI7I+gXAgpinVCnJ+T5uwcu4mZPA34X572WYNucEUyMoleJMydKYS3pSpuVp/DnyTvy7b8SccxGm7fk6EkWMFKiTSaQgFbXWagcBtQe3chn+sAG4qeOg5uF4g0fhnX6eFieVdood0xxvyEhM4+a42VPw779FO/jGSH77QTUgaCTxN0Fz8KeBlgQt7zrEPJ1KOW7nDtzLs3AvPg1Fi2Mu7ROMbaat81QaM6XLQvcboVEz3NRx+Lf3wdgrMP85TX/3CyC/Z1CPAINE5AhgR2TZ28CJMU2lUpL78Vv8O/vi5kzFND4e744xeC1O0QNUFQrGGLxmLfGGjIRadXFTxuCPuQu3eWPY0VJWfgtUfYKm5AAOQEQ2AzqZSiHmtm3Fn/EY/r39YfMmvF634nW/EVO2fNjRlEo4U6FSMF9Zh27wxRL826/D/fBN2LFSUn5b8f0MNCGYKgMAa21TQDsDFFLui4/wn3oE1q7GtDoDc34XnU5bFXrG8zBtzsEddiT+o/fjD7sFc35XzKnt9YpCPuS3QA0EXoxMiVHUWnsLQT+oK2OeTCU1t3EDTibgFr4Flavh9b8XU6de2LGUSirm0Dp4A4fjPzES98zjuO+/xLu0j3ZMj1K+LvGJyAtAW6ASwb2nGsD5IvJqHLKpJOScw1/4Fv6gnrjF72LO6oA3aIQWJ6VyYUqWxut5C6bDFfD5h/h3XIf7KapJIgq9fE+yIyIfE4y5pwoZt3Y1/lNj4YslQdPxrtdgqtYIO1bKstYeSDB8WEOgHPAn8CnwmoisCjObii1jDKZNe1ytI4JLfvfdhLGXB9PM6yW/XOVZoPYxxcYeRGRQweOoZOT8Xbg3XsQ9F7SPMR2vxLQ+Qzsj7idr7ZHAHQSzAXxEMLv0KoI50i4BHrbWvknQYvar0IKqmDO16uINehj/iRG46ePh1x+gU09MkSJhR0tK0ZxBHZLtcXHgAmAx8AtQnWAMvZmxj6aSgVv+C/6kUfDTd3BUE7zOV2MqHhh2rFT3JDAM6CQif++90lpbDDiHYNDk4xMbTcWbKVUGr+cA3PMzcC/MwK1chnf1LZhyFcKOlnSimVH3st2PrbUzgItEZGa2ZecDF8YnngqL27EDN09wLz0LJUphuvXDND1JL0fEgIg0y2P938AzkS+VhoznYdpfjKt2KP4TD+Pf1TcoUrXqhh0tqeS3H1Q74Lm9ls0FzohNHJUM3Pdf4d/eB/fC05jjTsK7fSxes5ZanOLAWpvj3GfW2lmJzqISzzQ5Ae/m+yAjE3/YLfjvzQ87UlLJb4FaCvTaa9nV/DPdhkphbusW/KmP4N9/M+zYjtdnSDBCc5myYUdLZ61zWd4qkSFUeEy1mni3PgS1j8Q9MQL/6Qk6GWLE/ky3Mdta259/ptvYyT/TbagU5T5ZhD91HPy1HtOmPab9xZjiOkBIvGRrfFQ0h4ZItQju8apCwpQpi3fdUNyzT+Ben4tb8Stej5swJQv3ONz5nW7j431Nt6FSj9uwHjf9MdyH70LVGkF/jZqHhx2rMNjd+Mhjz4ZIDvgNGJLoQCpcJjMT0/FK/Ko1cJErGd61gzAVKoUdLTT70w9qB/BOHLKoBHLO4d6bj5PHYfs2TPtOwTw2mdrcNRF2Nz6y1r4nIo/Faz/W2rbACCADmCAi98ZrXyo2vP+chqt4IP64e/HvvhHv2oGFdiLEPO9BWWvfimZD1lq9u5ci3OqV+MMH4Z4cCVWr4w0aiXdWBy1OCWKtPWj3430Vp+yv28/9ZABjCBo31QMustbqkB8pwNRrhNf/XvA8/PsH4D7/KOxIoYjmDKqZtfYyIK8mXMfGII+KI7drJ/4rs3Fzp0JGJqZzz2C+Gq9A81aq/HvDWvs2MAVYJCL+7hXWWo+gb2EX4CTgqALspymwVER+jGx7BtAe0M6/KcBUOxRvwDD8kbfjj74D0+kqvJPahh0roaIpUIsIDpa8LCxgFhVH7tcfWXfPI7gfv4VGzfAuvgpTvmLYsQqrxkB34DGgprX2R2AjwUgSNQlayz4KXFfA/VQluJ+12zLgX32wrLXdI3kQEbKysnLcWGZmZq7rEq3QZMnKwr9vPH8NG8j2KWMptnkjpTv1yPVDZbq9L9F01G1VoD2oULntfwc91l+dDWXL4V11ExxzgvZpCpGIbAdGA6OttYcADQjG4lsPfCYiyxOcZzwwPvLUrVmzJsfXZWVlkdu6RCtsWVyPmzDTxrFl1hS2LvsFc1mfHC/Jp8r7UqVKlai2ke9GEip1uG8+w58yBlavxJx4KhV79GPdtu1hx1LZiMhv7HmWE0vL2bOFYLXIMpViTEYGdO4JFQ/EzZ6C27IJ76pbMMWKhR0trrRApSG3eVPQn+Ld16BSZby+d2CObIhXuixsS45PVyoQGXdvEHARUFFEDrDWngYcLiKjC7j5xUAda21NgsLUEbi4gNtUITHGYM64EL90WdxTj+APH4h3zaC0nltK746nEecc7qP/BXM1vTcfc/r5eINHYY5sGHY0lbvhBA0hOhH0gQL4kmCElgIRkZ1Ab+AVghHTRUS+LOh2Vbi8k07H63Ej/LwUf9gtuD/XhR0pbvQMKk249Wvxp42DTxZB9Vp41w7G1CicfSdSzHnAYSKy2VrrA4jIcmtt1VhsXETmAfNisS2VPEyTFnglSuKPvSfo0Hv97ZhKlcOOFXP5KlCRG7p7TK4WuYauQuJ8H7fgFdysSbBzJ+aCrphTzw2uWatUsJ29jkNrbSVgbThxVKow9Rrj9b0jaIZ+38141w2BJGnBFyvRTFhYBOgR+apF0AR2d5PYw6y1PwHjgPGR1kn72tYhwGTgIILLGeNFZIS1tgLwNHAo8DNgRWT9fv6bCg23ahn+5NHw/VdwxNF4l/TEHBhd6xiVNJ4BJllrrwew1h4MPAzMCDWVSgmmVl28G+/Bf3gQ/rBb2D7wIcg6OOxYMRPNPahPgSMIClRZEWkoIieKSEOgLHBlZP3HUWxrJ9BPROoRjOfXK9Kz/WZgvojUAeZHnqtcuJ078F8U/KHXwvJfMF2vCRpCaHFKRQOAn4DPCa5MfA+sAKKayVopU7U63k33Qemy/Dn0Oty3X4QdKWaiucTXSkRW57RCRHYB7wPvRy5L7JOIrCQYYBYR2Wit/ZqgM2F7/pleYBLwFnBTFNkKHffTd8EMt8t/wTRpgbmoO+aA8mHHUvspctXheuD6yDG0RkRcHj+m1B5M1kF4N96DGTGEXSOH4PUemBaNo4xz0R8L1tobROSBHJb3FZGH8rNja+2hwAKCFky/iki5yHIDrN/9fK+fyd7jvcn27TlfUczMzGTnzp35iRM3scritm1l07TxbHnxGbzyFSlzZT+KNzsplCyxkCpZihYtCnkP87XfrLXrRORfc31ba1eLyIHx2u8+uBUrVuS4IlU6gSZaMmUpn+mx5rZesHolXq9bMfUbh5Ylio66eR5X+W3FNwj4V4ECbgOiLlDW2tLATOA6Edlgrf3/dSLirLU5Vs3C2uPdfbEE/6mxsHY1plU7OK8Lm0qWYlM+t5tu70usxKLHewH8aziAyH1fbeWi8i2jXAW8fnfiPzQQf/SdwfQ5DVJ3mNSoCpS19uTIwwxrbWv2rHy1CBpNRCVy8M0EporI7mmtf7fWHiwiKyM3iXO8pFjYuI0bcDIRt/BNqFwNr/+9mDo6GHU6sNa+Q9BQqLi1dsFeq6sRXDpXKt9MmQOCIjV8EP7Yu/GuuhnTsGnYsfZLtGdQEyPfiwOPZ1vugFXANdFsJHL5biLw9V6XBOcCXYF7I9/nRJkrLTnncB8swM14DLZuxpzVAXPGhZgiRcOOpmJnAsEHveP45/iC4Jj6naCxkFL7xZQui9f3TvyHB+M/cg9e9/6YY44PO1a+RVWgRKQmgLV2sohEM7J5bloAlwCfW2s/iSwbQFCYxFp7BcFU1zaXn097bu0f+FMfgc8/hJqH43Xpjal2aNixVIyJyCQAa21n4HsReW/3OmvtCQSX0gs6mrkqxEyp0njX344/Ygj+o/dhut2Ad9yJYcfKl/xO+V6Q4oSIvEvuN8ZOKci2U53zd+HefAk3ezIApkM3zMlnYjy9FZHmGgIf7rXsI+A5tECpAjIlS+FdNxR/5FDchAdwGRkpdSYVTUfdxcD9wJycOuJaa4sC5xL0b/rXXDMqb275r/iTR8GP38JRx+B17ompGEYDLhUCx78bRGSg42SqGDElSuL1GYw/fDD++GF4vQakTMOJaM6guhJ0GnzEWrsE+JZ/RpI4HDgGeAO4NE4Z05bbsQM37xncS89CiRKYK/pimrXUuZoKl3eAO6y1/UXEj8yoOySyXKmYMMUjRerBgfhj78G7ZiCmXqOwY+UpmgkLvwL+a62tDJxKMLlaFsHkapOBS3LryKty55Z+hT9pNKxahmneCmOvwJQ5IOxYKvH6AC8AK621vwDVCTqznx1qKpV2TMnSeNcPxX/gVvwxd+L1GYI5/KiwY+1T1PegRGQVMCWOWQoFt3ULbtZk3FvzoEKlYNTxBk3CjqVCIiLLrLXHAE0JJhf8DfhARPxwk6l0FLTuuwN/2AD8kXfgXT8UU/uIsGPlKpp7UCeJyILI45Nze52IvBHLYOnIfbo4aKH351rMKWdjzu2MKV4i7FgqZJFitDDypVRcmbLl8PpFitSIIcE4nofWCTtWjqI5gxpLMBwR7NlfIztH0GFX5cBtWI+bMQG3+B2oWgPvqpswteqGHUspVUiZchWDzrz334I/fDDeDXdhDqkZdqx/ieYe1FHZHiffvyCJOefY+saL+BNHwPZtmPadMG3Px2T+a3QbpZRKKFOhUlCkhg3AHz4I76b7MAcl14wIBWrKaq1tba3N34ilhYT7YxX+8EFsGHUXVKmON2gk3lkdtDgppZKGqVQZr+/t4Bz+8EG49ck1T2a+CpS19m1rbYvI45sIJlWbbq0dEI9wqcjt2oX/6mz8Ib3hp+8o0+MGvBvvxhxcLexoSin1L6ZytWA23s0bgyK1aUPYkf5ffs+gjuKfG7lXAq0JJh68KpahUpX79Uf8e27EPfMEHNkIb+gYSrY9H+Npn0ulVPIyNQ7D630b/LEKf+TtuG1bw44E5L9AeYCz1tYGjIh8JSK/AYV6xjy3/W/8WZPw7+oL69fg9egfzMVSISvsaEopFRVTtwFe9xvh56X4j9yD27Ej7Ej5ng/qXWA0cDAwGyBSrJJjYp8QuG+/wJ88GlavwLRog7nwMkypMmHHUkqpfDONm2O69sY9ORI38SHofkOo44Hmt0BdCvQD/gCGRZYdAYyIYaaU4LZswj37JO6dV6FS5aAvQRpMsayUKty8Fm3wN28MblVMLQ2de4Y2/Fp+RzNfSzA9RvZlL8Y0UQpwS97Dn/YobPgLc/p5mLMvxhQrFnYspZSKCe+08/A3bQzGCS1dFnPeJaHkyFeBioxcfhtwEVAFWEHQku8uEdkW+3jJxa1fGxSmTxbCITXxrhmEqVE77FhKKRVz5rxLYNMG3Lxn8MtVxGt9RsIz5PcS3yNAXeBagokFaxCcUVUFLo9ttOThfB/3zqu4mU/Czp2YC7pi2rTHZOb37VNKqdRgjIFOV+P+Wo+bPh5XvgKmUfOEZsjvX9hzgdoi8mfk+VfW2kXAUtK0QLlVy/CnjIHvvoS6DfAu6ZV0va2VUioeTEYGXvcbgxHQH3sAr++dCR1cNr/NzFcBJfdaVoJgeoC04nbuxH9R8If2gWU/Y7r0xut3pxYnpVShYooVx7tmIBxQAX/0nbjfVyRs3/k9g5oCvGytHQUsI5geoBcwOftI56k+srn76Xv8SSNh+S+YJi0wF3XHHFCou3oppQoxU7Yc3nVD8O/pH4yAfvP9mLLl4r7f/BaoHpHvew9tdBX/jCaRsiObu7+34Z6bipv/PBxQLpgaOcHXXJVSKhmZA6vgXTMQ/8Fb8UfdEYyAXqx4XPeZ32bmaTuaufvy4+Be09rVmJZtMed3xZQsFXYspZRKGqZWXbwrb8Qfew/++GF4PQdgMuLXkbfQDxLnNm3Af3w4/sODoUgRvBvvwevcU4uTUkrlwDRqhrm4B3y2GDftUZxzcdtXoW0n7ZzDfbAA9/QE2LIJc6YNvooUDTuaUkolNa9VO/x1q3EvzYSDqmBOOzcu+ymUBcqt/SOYev3zD6Hm4Xhd7sBUOzTsWEoplTLMuZfgVq/EPfsE7sCDMY2axXwfhapAOX8X7q2XcLOmgPMxHbphTj4z1MEQlVIqFRnPw7vsevy1fwR9pG66F1M9tiPrFJoC5Zb/ij9lNPzwDdRvHNxnyjoo7FhKxYW19kJgCHAk0FREPgw3kUpHplgxvN634d/dD3/UnXgDHsCUrxiz7ad9Iwm3Ywf+3Gn4d1wHvy/HXH49Xp8hWpxUuvsCOB9YEHYQld7MAeWDjrxbt+CPvgP3d+yGZU2aMyhrbVuCaTsygAkicm9Bt+mWfh3M1bTyN0yzlsElvTIHFDirUslORL4GsNaGHUUVAqZaTbzuN+CPvgt/woN4V98ck+0mRYGy1mYAY4BTCUaoWGytnSsiX+3P9vytm/GnjcO99RKUz8K7djCmQZNYRlYqbVhruwPdAUSErKycZ4LOzMzMdV2iaZachZrl5HZs2bKRjRMfpvi8Z8jsdl2BsyRFgQKaAktF5EcAa+0MoD2Q7wLlPl3M2umP4tb9gTn5LMy5nTHFS8Q4rlLhs9a+DlTOYdWtIjIn2u2IyHhgfOSpW7Mm5wmys7KyyG1dommWnIWdxTVrjfnhO7bMmUZGlUPYckyLHF9XpUp0Y5omS4GqCvyW7fky4F9tFvP6pOd8n3XzBEqXoVz/uyhyeP04Ro6OfrrKmWYpOBFpE3YGpbIzxkDHK3FrVrFlznRcg6aYIkX2e3vJUqCiEs0nPdfjJrJq1mbtX39BEnyqCfsTTXaaJWf7yhLtJz2lVCCYoqM/FcqWYd2OXQXaVrK04ltOMDL6btUiy/LNVMgqUMVWKh1Ya8+z1i4DjgdetNa+EnYmVXiYEiXxYjADRLKcQS0G6lhraxIUpo7AxeFGUip1ichsYHbYOZQqiKQ4gxKRnUBv4BXg62CRfBluKqWUUmEy8RyJNs5SNrhKOSbsAAmkx5VKlDyPq6Q4g9pPJrcva+1H+1qfyC/NkhZZCpN0+T/TLMmfJU+pXKCUUkqlMS1QSimlklK6Fqjxeb8kYTRLzjRL6kmm90mz5CytsqRyIwmllFJpLF3PoJRSSqU4LVBKKaWSUrKMJBET8ZhTqoB5fgY2AruAnSJybAL3/ThwFrBaRI6KLKsAPA0cCvwMWBFZH1KWIcCVwB+Rlw0QkXlxznEIMBk4iKC/z3gRGRHW+5JKkunY0uNqn1mGkODjKrLfuBxbaXMGlW1OqXZAPeAia229cFMB0FpEGiXyIIp4Emi717KbgfkiUgeYH3keVhaA4ZH3plEiDiJgJ9BPROoBzYFekd+RsN6XlJCkx5YeV8lzXEGcjq20KVBkm1NKRLYDu+eUKpREZAGwbq/F7YFJkceTgHNDzJJwIrJSRJZEHm8kGFarKiG9LylEj60IPa5yFq9jK50u8UU1p1SCOeBVa60DHo1MFxKmg0RkZeTxKoLT8TD1ttZ2AT4k+PSVsMtq1tpDgcbA/7V3tzwNBEEYx/8kgAEcBoOAL0AQqIZUIXCYsZUIDBqDQkJwCAIOSCaBQL8CCg0JGkFIkXhexG6hpmB6t8Pl+Zlr7sRNJn0y6fZye0e8vkQTLVvK1e+K5QpGm60m/YKKqOXuy6SlkS0zWy1dUJ+7f1L2vWtHwJ7v1WAAAAFDSURBVCKwBLwA+3Xd2MymgUtg293fBq8F6Iv8TbkarliuYPTZatKAGtmeUqPi7s/5+Era+mClZD1Az8zmAPLxtVQh7t5z93d3/wCOqak3ZjZBCtCZu1/l02H6ElSobClXw5XKFVSTrSYNqO89pcxskrSnVLdUMWY2ZWYz/c/AGvBQqp6sC3Ty5w5wU6qQ/pc226CG3pjZGHACPLr7wcClMH0JKky2lKvflchVvm8l2WrUmyTMbB04JD0Ke+ruewVrWeBnw7hx4LzOeszsAmgDs0AP2AWuAQfmgSfSI5+V/8k6pJY2aRnik/T46ebAWnVVdbSAW+Ae+Mind0hr5bX35T+Jki3l6s9a2tScq1xLJdlq1IASEZHmaNISn4iINIgGlIiIhKQBJSIiIWlAiYhISBpQIiISkgaUiIiEpAElIiIhfQE1wHSB/VkiEAAAAABJRU5ErkJggg==\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -428,15 +426,15 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 39, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 404 µs, sys: 4.79 ms, total: 5.19 ms\n", - "Wall time: 1.54 ms\n" + "CPU times: user 2.19 ms, sys: 343 µs, total: 2.54 ms\n", + "Wall time: 1.6 ms\n" ] } ], @@ -470,19 +468,17 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 40, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -533,7 +529,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 41, "metadata": {}, "outputs": [], "source": [ @@ -598,7 +594,7 @@ " for idx in range(len(start_xp)-1):\n", " section_len = np.sum(np.sqrt(np.power(np.diff(start_xp[idx:idx+2]),2)+np.power(np.diff(start_yp[idx:idx+2]),2)))\n", "\n", - " interp_range = np.linspace(0,1,section_len/delta)\n", + " interp_range = np.linspace(0,1,int(section_len/delta))\n", " \n", " fx=interp1d(np.linspace(0,1,2),start_xp[idx:idx+2],kind=1)\n", " fy=interp1d(np.linspace(0,1,2),start_yp[idx:idx+2],kind=1)\n", @@ -622,7 +618,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 42, "metadata": {}, "outputs": [], "source": [ @@ -660,19 +656,17 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 43, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -705,7 +699,7 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 44, "metadata": {}, "outputs": [], "source": [ @@ -743,19 +737,17 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 45, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/plain": [ "
" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -873,29 +865,22 @@ }, { "cell_type": "code", - "execution_count": 14, + "execution_count": 89, "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.local/lib/python3.5/site-packages/ipykernel_launcher.py:18: RuntimeWarning: invalid value encountered in true_divide\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 304 ms, sys: 195 ms, total: 499 ms\n", - "Wall time: 288 ms\n" + "CPU times: user 383 ms, sys: 12.2 ms, total: 395 ms\n", + "Wall time: 388 ms\n" ] } ], "source": [ "%%time\n", "\n", - "track = compute_path_from_wp([0,2,2,10],[0,0,2,2])\n", + "track = compute_path_from_wp([0,10],[0,0])\n", "\n", "MAX_SPEED = 2.5\n", "MIN_SPEED = 0.5\n", @@ -909,7 +894,7 @@ "# Starting Condition\n", "x0 = np.zeros(N)\n", "x0[0] = 0\n", - "x0[1] = 0\n", + "x0[1] = 1\n", "x0[2] = np.radians(-0)\n", "_,psi,cte = calc_err(x0,track)\n", "x0[3]=psi\n", @@ -920,7 +905,7 @@ "x_bar[:,0]=x0\n", "\n", "for t in range (1,T+1):\n", - " xt=x_bar[:,t-1].reshape(5,1)\n", + " xt=x_bar[:,t].reshape(5,1)\n", " ut=u_bar[:,t-1].reshape(2,1)\n", " \n", " A,B,C=get_linear_model(xt,ut)\n", @@ -930,7 +915,6 @@ " _,psi,cte = calc_err(xt_plus_one,track)\n", " xt_plus_one[3]=psi\n", " xt_plus_one[4]=cte\n", - " \n", " x_bar[:,t]= xt_plus_one\n", "\n", "\n", @@ -941,20 +925,11 @@ "for t in range(T):\n", " \n", " # Cost function\n", - " #cost += 5*cp.sum_squares( x[3, t]) # psi\n", - " #cost += 100*cp.sum_squares( x[4, t]) # cte\n", - " \n", - " # Tracking 3 states (x,y,theta) reference\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,10*np.eye(3))\n", + " cost += 10*cp.sum_squares( x[3, t]) # psi\n", + " cost += 10*cp.sum_squares( x[4, t]) # cte\n", " \n", - " # Tracking 5 states\n", - " #delta_x = np.append(track[:,idx],[0,0])\n", - " #cost+= cp.quad_form(delta_x-x[:,t],500*np.eye(N))\n", - " \n", " # Actuation effort\n", - " cost += cp.quad_form( u[:, t],1*np.eye(M))\n", + " cost += cp.quad_form( u[:, t],10*np.eye(M))\n", " \n", " # Actuation rate of change\n", " if t < (T - 1):\n", @@ -984,34 +959,39 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 90, "metadata": {}, "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "No handles with labels found to put in legend.\n" + ] + }, { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], "source": [ "x_mpc=np.array(x.value[0, :]).flatten()\n", "y_mpc=np.array(x.value[1, :]).flatten()\n", - "theta_mpc=np.array(x.value[1, :]).flatten()\n", - "psi_mpc=np.array(x.value[1, :]).flatten()\n", - "cte_mpc=np.array(x.value[1, :]).flatten()\n", + "theta_mpc=np.array(x.value[2, :]).flatten()\n", + "psi_mpc=np.array(x.value[3, :]).flatten()\n", + "cte_mpc=np.array(x.value[4, :]).flatten()\n", "v_mpc=np.array(u.value[0, :]).flatten()\n", "w_mpc=np.array(u.value[1, :]).flatten()\n", "\n", "#simulate robot state trajectory for optimized U\n", "x_traj=predict(x0, np.vstack((v_mpc,w_mpc)))\n", - "\n", + "plt.figure(figsize=(15,10))\n", "#plot trajectory\n", "plt.subplot(2, 2, 1)\n", "plt.plot(track[0,:],track[1,:],\"b*\")\n", @@ -1032,12 +1012,10 @@ "plt.ylabel('w(t)')\n", "#plt.xlabel('time')\n", "\n", - "#plot theta(t)\n", - "#plt.subplot(2, 2, 4)\n", - "#plt.plot(cte_mpc)\n", - "#plt.ylabel('cte(t)')\n", - "#plt.xlabel('time')\n", - "#plt.legend(loc='best')\n", + "plt.subplot(2, 2, 4)\n", + "plt.plot(cte_mpc)\n", + "plt.ylabel('cte(t)')\n", + "plt.legend(loc='best')\n", "\n", "plt.tight_layout()\n", "plt.show()" @@ -1052,30 +1030,142 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": 48, + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "# track = compute_path_from_wp([0,5,7.5,10,12,13,13,10],\n", + "# [0,0,2.5,2.5,0,0,5,10])\n", + "\n", + "# sim_duration =100 \n", + "# opt_time=[]\n", + "\n", + "# x_sim = np.zeros((N,sim_duration))\n", + "# u_sim = np.zeros((M,sim_duration-1))\n", + "\n", + "# MAX_SPEED = 1.25\n", + "# MIN_SPEED = 0.75\n", + "# MAX_STEER_SPEED = 1.57/2\n", + "\n", + "# # Starting Condition\n", + "# x0 = np.zeros(N)\n", + "# x0[0] = 0\n", + "# x0[1] = -0.5\n", + "# x0[2] = np.radians(-0)\n", + "# _,psi,cte = calc_err(x0,track)\n", + "# x0[3]=psi\n", + "# x0[4]=cte\n", + "\n", + "# x_sim[:,0]=x0\n", + " \n", + "# #starting guess\n", + "# u_bar = np.zeros((M,T))\n", + "# u_bar[0,:]=0.5*(MAX_SPEED+MIN_SPEED)\n", + "# u_bar[1,:]=0.01\n", + "\n", + "# for sim_time in range(sim_duration-1):\n", + " \n", + "# iter_start=time.time()\n", + " \n", + "# # Prediction\n", + "# x_bar=np.zeros((N,T+1))\n", + "# x_bar[:,0]=x_sim[:,sim_time]\n", + "\n", + "# for t in range (1,T+1):\n", + "# xt=x_bar[:,t-1].reshape(5,1)\n", + "# ut=u_bar[:,t-1].reshape(2,1)\n", + "\n", + "# A,B,C=get_linear_model(xt,ut)\n", + "\n", + "# xt_plus_one = np.squeeze(np.dot(A,xt)+np.dot(B,ut)+C)\n", + "\n", + "# _,psi,cte = calc_err(xt_plus_one,track)\n", + "# xt_plus_one[3]=psi\n", + "# xt_plus_one[4]=cte\n", + "\n", + "# x_bar[:,t]= xt_plus_one\n", + "\n", + "\n", + "# #CVXPY Linear MPC problem statement\n", + "# cost = 0\n", + "# constr = []\n", + "\n", + "# for t in range(T):\n", + "\n", + "# # Tracking\n", + "# if t > 0:\n", + "# idx,_,_ = calc_err(x_bar[:,t],track)\n", + "# delta_x = track[:,idx]-x[0:3,t]\n", + "# cost+= cp.quad_form(delta_x,10*np.eye(3))\n", + " \n", + "# # Tracking last time step\n", + "# if t == T:\n", + "# idx,_,_ = calc_err(x_bar[:,t],track)\n", + "# delta_x = track[:,idx]-x[0:3,t]\n", + "# cost+= cp.quad_form(delta_x,100*np.eye(3))\n", + "\n", + "# # Actuation rate of change\n", + "# if t < (T - 1):\n", + "# cost += cp.quad_form(u[:, t + 1] - u[:, t], 25*np.eye(M))\n", + " \n", + "# # Actuation effort\n", + "# cost += cp.quad_form( u[:, t],1*np.eye(M))\n", + " \n", + "# # Constrains\n", + "# A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", + "# constr += [x[:,t+1] == A*x[:,t] + B*u[:,t] + C.flatten()]\n", + "\n", + "# # sums problem objectives and concatenates constraints.\n", + "# constr += [x[:,0] == x_sim[:,sim_time]] # starting condition\n", + "# constr += [u[0, :] <= MAX_SPEED]\n", + "# constr += [u[0, :] >= MIN_SPEED]\n", + "# constr += [cp.abs(u[1, :]) <= MAX_STEER_SPEED]\n", + " \n", + "# # Solve\n", + "# prob = cp.Problem(cp.Minimize(cost), constr)\n", + "# solution = prob.solve(solver=cp.ECOS, verbose=False)\n", + " \n", + "# #retrieved optimized U and assign to u_bar to linearize in next step\n", + "# u_bar=np.vstack((np.array(u.value[0, :]).flatten(),\n", + "# (np.array(u.value[1, :]).flatten())))\n", + " \n", + "# u_sim[:,sim_time] = u_bar[:,0]\n", + " \n", + "# # Measure elpased time to get results from cvxpy\n", + "# opt_time.append(time.time()-iter_start)\n", + " \n", + "# # move simulation to t+1\n", + "# tspan = [0,dt]\n", + "# x_sim[:,sim_time+1] = odeint(kinematics_model,\n", + "# x_sim[:,sim_time],\n", + "# tspan,\n", + "# args=(u_bar[:,0],))[1]\n", + " \n", + "# print(\"CVXPY Optimization Time: Avrg: {:.4f}s Max: {:.4f}s Min: {:.4f}s\".format(np.mean(opt_time),\n", + "# np.max(opt_time),\n", + "# np.min(opt_time))) " + ] + }, + { + "cell_type": "code", + "execution_count": 97, "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.local/lib/python3.5/site-packages/ipykernel_launcher.py:18: RuntimeWarning: invalid value encountered in true_divide\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.2550s Max: 0.3976s Min: 0.2298s\n" + "CVXPY Optimization Time: Avrg: 0.1656s Max: 0.2457s Min: 0.1539s\n" ] } ], "source": [ "\n", - "track = compute_path_from_wp([0,5,7.5,10,12,13,13,10],\n", - " [0,0,2.5,2.5,0,0,5,10])\n", + "track = compute_path_from_wp([0,10],\n", + " [0,0])\n", "\n", - "sim_duration =100 \n", + "sim_duration =50\n", "opt_time=[]\n", "\n", "x_sim = np.zeros((N,sim_duration))\n", @@ -1131,16 +1221,8 @@ " for t in range(T):\n", "\n", " # Tracking\n", - " if t > 0:\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,10*np.eye(3))\n", - " \n", - " # Tracking last time step\n", - " if t == T:\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,100*np.eye(3))\n", + " cost += 50*cp.sum_squares( x[3, t]) # psi\n", + " cost += 10*cp.sum_squares( x[4, t]) # cte\n", "\n", " # Actuation rate of change\n", " if t < (T - 1):\n", @@ -1161,7 +1243,7 @@ " \n", " # Solve\n", " prob = cp.Problem(cp.Minimize(cost), constr)\n", - " solution = prob.solve(solver=cp.ECOS, verbose=False)\n", + " solution = prob.solve(solver=cp.OSQP, verbose=False)\n", " \n", " #retrieved optimized U and assign to u_bar to linearize in next step\n", " u_bar=np.vstack((np.array(u.value[0, :]).flatten(),\n", @@ -1177,28 +1259,26 @@ " x_sim[:,sim_time+1] = odeint(kinematics_model,\n", " x_sim[:,sim_time],\n", " tspan,\n", - " args=(u_bar[:,0],))[1]\n", + " args=(u_bar[:,1],))[1]\n", " \n", "print(\"CVXPY Optimization Time: Avrg: {:.4f}s Max: {:.4f}s Min: {:.4f}s\".format(np.mean(opt_time),\n", " np.max(opt_time),\n", - " np.min(opt_time))) " + " np.min(opt_time))) " ] }, { "cell_type": "code", - "execution_count": 23, + "execution_count": 98, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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Ie3cG7cQTAF1HAgMAAABAr2GMkQYPC05iobRYSk7x7zN9tmSM7LoPAr8PgG4hgQEAAACgdxkyLEgzMLxS8kBJkklJk06bJLtutazjBHwvAF1HAgMAAABAr2LSh0mFQThKtbREJmnQ8X1mzvGfdrJ3R2D3AdAtJDAAAAAA9C6Dh0n1dZK3ILDrHiv2z9hoYCZPl+LiGeYJRAgSGAAAAAB6FTMk8Eep2ppqqbqqeQIjJlbm7PNlN2fLVlcGbC8A3UMCAwAAAEDvEoyjVEuL/V9PaCGRJDNzrlRbI7s5O3B7AegWEhgAAAAAepfkFCkmNrCDPI/5ExgmuXkCQ6PHS0MyaSMBIgAJDAAAAAC9ijFGSh8meyQ3cIs2VmB8JYFhjJE5d560d6fsl58Hbj8AXUYCAwAAAECvY8afKe3eLhugQZ62KYExsOVesy6TEj1yXn02IHsB6B4SGAAAAAB6HXPRNyVJ9q+vBmbB0hLJ5ZISk1ruFRcvc+m3pJ1bZffuDMx+ALqMBAYAAACAXsekpsucc4HsR3+VLTvW8wVLvZJnoIwrqvX9Zs2XklPkvPJHWWt7vh+ALiOBAQAAAKBXMpd+y39CyOo3e7yWPVbSYv5Fs71iY2Xmf0fK2SXt3NLj/QB0HQkMAAAAAL2SyRgpTfqa7Oo3Zasre7ZYaXG7CQxJMudfJKWmy3nlWaowgDAggQEAAACg13Jd9m2pslx27Xs9W6i0WCap5QDPExl3tMw3rpUOfiFtWdez/QB0GQkMAAAAAL2WGT1eGn+m7Puvyfp83VrDOvVSWYmUnNLxftNnSUOHy3ntOf99AEKGBAYAAACAXs319W9LJV7Z9R90b4HyMslxWj1C9auMK0quBddLeX+X/WRt9/YD0C0RlcBwHEf/8i//ooceeijcoQAAAADoLU6bJI0cI/vuX7pXFVFaLEkyHczAaDJ5hjRytOzrf5Kt617VB4Cui6gExttvv63MzMxwhwEAAACgFzHG+Ksw8g+3OpvClh2Tratre4GGBEZHQzyb9nO55FrwXanwqGz2qu6EDKAb3OEOoFFRUZG2bNmihQsX6s03e34MEgAAAIB+ZPJ0aUimnLdekqkslw4dlD10QDp8UCorlTl3nszNd7Z6qz3WkMBI6mQFhiSdMUUaNVZ25Ruy518iY0wAHgJAeyKmAuPpp5/WDTfcwL/4AAAAALrMuKJkLl0o5X4p+8dfy2atlGprZCZ9TcocJbtvT9s3d7ECQ/JXfZg5l0t5f5d2b+9h9AA6IyIqMDZv3qzk5GSNHj1aO3fubPO6lStXauXKlZKkhx56SGlpaaEKsYnb7Q7LvgguPte+i8+2b+Jz7Zv4XPsuPluEijl3nkx6hpSSJqUMlnH5/77WeeVZ2Xf/LOvzyURHt7yxtFgaECcTO6Br+519vuyfn5Kz+k1FnT4pEI8AoB0RkcDYs2ePNm3apK1bt6q2tlZVVVV6/PHHdeedzUu85s2bp3nz5jX9XFhYGOpQlZaWFpZ9EVx8rn0Xn23fxOfaN/G59l3h+mwzMjJCvifCyxgjnTKh5RuZI/2njBzNlYaf3PL90uKutY807hcdLXPhpbJvvSSbnyeTPqwbUQPorIhIYFx33XW67rrrJEk7d+7UG2+80SJ5AQAAAADdYTJHyUqyuQdkWklg2GPFnTpCtdW1L7xU9p0/y37wtszVt/YwUgDtiZgZGAAAAAAQFEMypCi3dPhA6++Xlsgkp3RraTMwVWbqubJZ78tWV/UgSAAdibgExoQJE3TPPfeEOwwAAAAAfYRxR0tDM2UPHWz9glJvlwZ4tlh/zuVSVaXsug+6vQaAjkVcAgMAAAAAAs1kjJQOtazAsDXVUnWVlNS9FhJJ0ujx0knjZFe/Kes4PYgSQHtIYAAAAADo+zJHSUX5stWVzV8/VuL/2s0WEqnhSNW5l0tHcjlSFQgiEhgAAAAA+jyTOcr/zVfbSEq9/ve7OcSzaf2p50lJA+WseqNH6wBoGwkMAAAAAH1fQwLDHv5qAqOhAqMbx6ieqPFIVX26Sfbo4R6tBaB1JDAAAAAA9H2p6VJMbIs5GPZYsf+bgT1LYEiSueBSKcot+8FbPV6rM6y1srn7Q7IXEAlIYAAAAADo84zLJWWMbFmBUVIsGZeUmNTzPQam+I9UzV4lW1PT4/U6tGubnJ/9SLaV4aRAX0QCAwAAAEC/YDJHtTyJ5FixlJQs44oKzB4XXOw/UnXruoCs1x6b15CM8RYGfS8gEpDAAAAAANA/ZI6SjpXIlpU2vWRLi6XknrePNBk3QUobIpu9KnBrtqUwX5Jky48Ffy8gApDAAAAAANAvmMyR/m9OrMIoLe7xAM9me7hcMjPmSJ/9TbYoP2DrtsYWHvV/U0ECA/0DCQwAAAAA/UNGw0kkJx6leqy4x0eofpWZOUeyVnbd6oCu20JjgqS8LLj7ABGCBAYAAACA/iF5kJTgkQ77KzCs40jHSqTklIBuY9KGSOPPlM1eLWttQNduZK2VmiowSGCgfyCBAQAAAKBfMMZImaOOn9pRfkxynIC2kDTtde48qeCI9PnOgK8tSaosl6qr/N+X0UKC/oEEBgAAAIB+w2SOlA4d8FcwHCv2vxbgFhJJMlNmSAPigjfMs/D4fA1LBQb6CRIYAAAAAPqPjFH+ygVvoVRa4n8twC0kkmRiB8hMO092U5ZsY6VEIDW2j6SkMQMD/QYJDAAAAAD9hsn0D/LU4QOypV7/90GowJAkM3OuVFMtuyU74GvbooYExqix/lYYoB8ggQEAAACg/2g4StUeOnC8AiMIMzAkSWNPk9KHyWYFoY2k8KgUlyAzeBhDPNFvkMAAAAAA0G+Y+ERpUJp06IB/BkZsnMyAuODsZYy/CmPvDtmCIwFd2xbmS2npUqJH8tXK1tQEdH0gEpHAAAAAANC/ZI5sqMAoDlr7SCMzY7ZkjGz26sAuXHhUSh0iJSb5f6aNBP0ACQwAAAAA/YrJGCXl5coWFwavfaRxr5TB0mlnya5bLes4AVnTWisV5cukDZFJ8PhfrCCBgb6PBAYAAACA/iVzlFTnk77MkUkObgJDahjmWZQv7fk0MAuWH5Nqa463kEicRIJ+gQQGAAAAgH6l6SSSOp8UigTG5OlSYpKc918LzIINR6ia1PSmFhJLCwn6AXe4AwAAAAD6im3btumpp56S4ziaO3euFixY0Ox9n8+n5cuXa9++ffJ4PFq8eLHS09MlSa+88opWr14tl8ulW265RZMmTWp3zfz8fC1dulRlZWUaPXq0Fi1aJLfbrcLCQj3xxBOqqKiQ4zi67rrrNGXKlND+IiLdsOGSMZK1oUlgxMTKzL1c9rU/yeZ+KTP8pB6tZwvz/d+kDTlegcFJJOgHqMAAAAAAAsBxHK1YsUL33nuvHnvsMWVlZSk3N7fZNatXr1ZCQoKWLVum+fPn67nnnpMk5ebmKjs7W48++qjuu+8+rVixQo7jtLvms88+q/nz52vZsmVKSEjQ6tX+IZEvv/yyZsyYoV/+8pdavHixVqxYEdpfRC9gYmKlwcP8P4QggSFJZvZ8KXaA7Ht/6fliDRUYSkuX4mkhQf9BAgMAAAAIgJycHA0dOlRDhgyR2+3WzJkztXHjxmbXbNq0SbNmzZIkTZ8+XTt27JC1Vhs3btTMmTMVHR2t9PR0DR06VDk5OW2uaa3Vzp07NX36dEnSrFmzmvYyxqiyslKSVFlZqUGDQvMH9F4nc6QkyQR5iGcjk+CROf8S2Q1rZYvye7ZY0VEp0SMzIF7G7ZbiEqjAQNjZslLZ6sqg7kELCQAAABAAXq9XqampTT+npqbq888/b/OaqKgoxcfHq6ysTF6vV+PGjWu6LiUlRV6vt2mdr65ZVlam+Ph4RUVFtbj+qquu0s9//nO9++67qqmp0f33399qvCtXrtTKlSslSQ899JDS0tK69Lxut7vL90SS8nGnq2Lreg086WRFf+U5gvVs9VffrMIP3lTsR+8p6R/u6vY6xceK5QzJVGpDjIVJyYr21Si5g5h7+2fWnr76bL3luay1KvnNL1RfcESpjz0jE9VxqqE7z0YCAwAAAOhDsrKyNGvWLF1xxRXau3evli1bpkceeUQuV/Pi63nz5mnevHlNPxcWFnZpn7S0tC7fE0nsuAnSmFNVEhMv85XnCN6zRcl8bZaq3n9NNXO/KeNJ6tYq9Xm5Uuaophjr4xJUX1QgXwcx9/bPrD199dl6y3M5H78vu2WdzDXfV1FxSafuaXy2jIyMTu9DCwkAAAAQACkpKSoqKmr6uaioSCkpKW1eU19fr8rKSnk8nhb3er1epaSktLmmx+NRZWWl6uvrm10v+edszJgxQ5J0yimnyOfzqayM9oKvMieNU9Q9v5SJHRDafS9dKNXWyn7wZrfut9ZKRQUyqUOOv5iYxAwMhI0tKpB98XfS+DNlZn89qHuRwAAAAAACYMyYMcrLy1N+fr7q6uqUnZ2tadOmNbtm6tSpWrNmjSRp/fr1mjBhgowxmjZtmrKzs+Xz+ZSfn6+8vDyNHTu2zTWNMZowYYLWr18vSVqzZk3TXmlpadqxY4ck/3BQn8+npKTu/U0/As8MGyGddY7s6rdka6q7vkBpseSr9Q/wbFwz0SNxjCrCwFor55nHJSu5blok4wpuioEWEgAAACAAoqKi9L3vfU8PPvigHMfR7NmzNWLECL344osaM2aMpk2bpjlz5mj58uVatGiREhMTtXjxYknSiBEjNGPGDC1ZskQul0u33nprU8tHa2tK0vXXX6+lS5fqhRde0Mknn6w5c+ZIkm688UY9+eSTeuuttyRJt99+u4wxYfiNoC2uS78l57/+Vfbj92XmXtG1mxsGgJq0EyowEjwM8URY2A/fkXZvl7nhdpnBQ4O+HwkMAAAAIECmTJmiKVOmNHvt6quvbvo+JiZGS5YsafXehQsXauHChZ1aU5KGDBmiX/ziFy1eHz58uB544IGuho4QMmNPk8adLvvXV2UvvMx/kkgn2cYjVFOPV2AoMUmqrpKt88m4owMcLdA6W3BE9s9PS6dPkrngkpDsSQsJAAAAAISY69JvSd4C2Y0fde3GpgTGiTMwPP6vzMFAiFjHkfP045LL5W8dCVGVFwkMAAAAAAi1M6dJmaNk331Z1nE6f19RvuRJlomNPf5aQsOME9pIECJ29ZvS3h0yV/+DTMrgkO1LAgMAAAAAQswYI3PZt6XDB6Wt6zt9ny08Kp04/0INQzwlKjAQErbgiOwrf5Amni0zc25I9yaBAQAAAABhYM4+TxqSKefNFzpfhVGU33yAp+SfgSFxEglCwnnhfyUTJdcNoR8QTAIDAAAAAMLAuKJk5n9Hyv1S2r6hw+utUy8VFTQ7QlWS/xQSSbaCBAaCy27fIP1to8w3rpEZlBry/UlgAAAAAECYmHMukNKH+aswrG3/4pJiqb6u+QBPiSGeCAlbWyPn+f+Rho2QmdPF438DhAQGAAAAAISJiYqS+fp3pIP7pL9tav/ihhNITGrzCgwTEyvFxNJCgqCy77wsFeXLdf1tXTr6N5BIYAAAAABAGJmvXSilDZHzxvPtVmHYonz/N1+dgSH5qzCowECQ2PzDsu++LHPOhTLjzwxbHCQwAAAAACCMjNst8/WrpAM50o4tbV/YUIGh1FaOrUzwyHKMKoLAWivn+f+V3G6Zq24OaywkMAAAAAAgzMyM2VLK4ParMIqOSgNTZKJjWr6XmCSRwEAwbP9E2rFZ5hvXyQwM/eDOE5HAAAAAAIAwM+5ofxXG/r3S7m2tXmML86WvzL9ouj8xSSpjBgYCy9bUyHnhd1LmKJnZ88MdDgkMAAAAAIgEZuZcaVCanDfaOJGk8KhMa/MvJP9RqlRgIMDs6jf8gzuv+39hG9x5IhIYAAAAABABTHS0zGXfknJ2y65f0+w9W18vFRe2PEK1UWKSVFku69QHP1D0G3b/Xv+xqaecEe5QJJHAAAAAAICIYc67WDrlDNmn/1t22/rjbxQXSo4jpbXeQqJEj2StVFERmkDRP3gLWx8aGyYkMAAAAAAgQpjoaLkW/Zs0aqycJ38pu2ur/42GI1TbbSGRpArmYCCAvAUyKSQwAAAAAACtMAPi5frRT6Shw+U88aDs3qPUroYAACAASURBVJ2yTUeotjXEsyGBUc4cDASGra2RykqlQWnhDqUJCQwAAAAAiDAmwSPXXT+TBg2Ws+w/ZLeul4xLSmnjD5OJSf6v5VRgIECKi/xfqcAAAAAAALTHJA2Sa8kD/vaQ7RukQSky7ujWL25oIbGcRIJA8RZIkgwzMAAAAAAAHTEpaf4kxsAUadiIti9sqsAggYHAsA0JjEiqwAj/Qa4AAABAGC1fvrxT17ndbt12221BjgZoyaQPk+snj7d/0YA4KcpNCwkCp6hAMkYamBruSJqQwAAAAEC/lp2drSuvvLLD6958800SGAgb01hh0db7xviPUqWFBIHiLZCSBslEt9G2FAYkMAAAANCvpaam6qqrrurwuqysrBBEA/RAgkeWCgwEiPUWtD00NkyYgQEAAIB+bdmyZZ26bunSpUGOBOihxCQqMBA43kKZCJp/IZHAAAAAANp09OhR5efnhzsMoHMSPVIZFRjoOWutv4Ukgk4gkUhgAAAAAE2WLl2qPXv2SJI++OADLVmyRP/0T/+k1atXhzkyoGMmgRkYCJDyY5KvNqJOIJFIYAAAAABNduzYoTFjxkjyD+28//779Z//+Z969dVXwxwZ0AkNLSTW2nBHgnbY6qpwh9CxhiNUaSEBAAAAIlRdXZ3cbre8Xq/Ky8t16qmnasSIESotLQ13aEDHEj1Sfb1UVRnuSNAGu2eHnB9dK3vgi3CH0r4ifwIj0iowOIUEAAAAaHDSSSfplVdeUUFBgaZMmSJJ8nq9iouLC3NkQCckNBy1WlEmxSeENxa0ynn9OclxpOICadSYcIfTJuuNzAQGFRgAAABAg9tuu00HDx5UbW2trrnmGknS3r17dd5554U5MqBjJrEhgVHOHIxIZPd8Ku3d6f++tjbM0XTAWyDFxPireiIIFRgAAADo91atWqXJkydr6NCh+tGPftTsvenTp2v69OlhigzogsY/bJYH/iQSe+ignP/5pVzfvF5myoyAr98fOG+84E8K1NZKPl+4w2mX9RZIKYNljAl3KM2QwAAAAEC/98UXX+jll19WQkKCpkyZosmTJ2v8+PER9x/vQLsS/AkMW3FMgfwn1+7/XM5//9Q/IHT/XhIY3WD37pD2fCpz2bdk33lZ8tWEO6T2eQsjrn1EIoEBAAAA6Pvf/74k6eDBg9qyZYuef/55HT58WBMmTNCUKVM0adIkJSUlhTlKoANNFRiBayGxez6Vs+znkidJso5UxkDb7nDefFFKGigz5wp/AiPiW0gKZc6cGu4oWiCBAQAAADQYOXKkRo4cqQULFqiyslLbtm3T1q1b9eyzz2rw4MG66qqrNGnSpHCHCbQuPkEyroC1kNi/bZTz2/+S0obIddd/yHn8P2SD0J7S19mcXdLu7TJX3dJUJSNf5CYwrM8nlXqpwAAAAAB6i/j4eM2cOVMzZ86UJOXk5IQ5IqB9xhUlJST4TyHpIeeTD2WfWioNP1muH/1UxpPkr8IggdFlzhsvSJ5kmQsvk9xuyZiITmCopMj/lQQGAAAAENl2796t/fv3q7q6utnrCxcuDFNEQBckJPW4hcT54G3Z55+Uxk2Q64f/JhMXL8l/yok98EUgouw37BefSbu2yXz7ZpnYAf4Xo2MiO4HRcISqSUkLcyAtkcAAAAAAGvz+97/XunXrdOqppyomJqbpdYZ5otdI9HS7zcM6juxf/iD73l+ks86R6/t3y8TEnrB2klQeeTMw7JFDqo+KzH9HnTdfkBKT/NUXjaJjInoGhi3yJzCowAAAAAAi2EcffaRHHnlEKSkp4Q4F6J7EJKnxD6BdYH0+2aeWym78SGbWZTLXfF8mKqr5RZ5kqbJCtq5Oxh0Zf5S0x0rk/Oc/q3z6hdJ1t4U7nGbs/r3Sji0yC2+UGRB3/I1eUoGhQanhjaMVkfFPHQAAABAB0tLSFB0dHe4wgG4zCR7Zg/u6dI+tKJfz6welvTtlvnWTzCULW686Smw4iaeiTEoeFIBoe86++qxUVSGnxBvuUFpw3npJSvDIzP568zdiekECw5PcvPomQpDAAAAAABrcdtttevLJJ3XuuecqOTm52Xunn356mKICuiAxSarofAuJLcqX898/kwryZP7hn+T62oVtXms8SbKSf5BnBCQw7MEvZD9+3/99ZXmYo2nO5uVK2zfIXH6NzID45m9Gx8hGcguJtyAi20ckEhgAAABAk3379mnr1q3avXt3sxkYkvSb3/wmTFEBXZDokWprZWtqZGLb/xt0u3ennCf/S6rzybX4P2TGn9HB2g0VGGXhn4NhrZXzwv/6Yxp+kpwIiOlEduVrkju6ZfWF5G8hqYvcBIa8hdKw4eGOolUkMAAAAIAGzz//vP71X/9VEydODHcoQPckePxfK45Jsa3/Lbq1VvaDt2RfWiGlDpHrjntlMkZ2vLanoSopAo5StZuypM93yXz3DmnfHtmjhxQpYzztsRLZ7NUyM2bLJA1seUFM5A7xtNZK3gKZCZPDHUqrSGAAAAAADWJjY2kVQa9mEhvbPMpabQOwtTWyz/5adt0H0sSz5br1Lpn4xM4t3lCBYcuOhTVZYGtqZP/8lDTiZJnz5snm5cpWVkROAmPN21KdT+aiBa1fEB0jVVaENqjOqiyXaqojtoXEFe4AAAAAgEhx9dVX6+mnn1ZJSYkcx2n2P6BXSGyowGilSqI+P0/Of90ju+4DmSuuleuO+zqfvJCOV3eEuQLD/vUVyVsg1zX/KOOKkuLiZaurZOvqwhqX1JAg+uBtaeLZMm21YUTyKSQNJ9iYCE1gUIEBAAAANGicc/H++++3eO/FF18MdThA1yU0VElUlDWrSLDbN6romcf98y5++G8yZ53T5aWN2y3FJ4R1Bob1Fsi++2eZaefJnNIwsyM+wf+1uvL4nI4wses+kMqPyXXxlW1eYyJ5iGfjEaokMAAAAIDItnz58nCHAPRMUwVGmSTJVlXKvvg72ayVco8aI+cf/llmaGYP1k8OawWG/fPTkpXMt28+/mJcQwKjKrwJDOs4su+/Jo0aK50yoe0LI/gYVduYwEhNC28gbSCBAQAAADQYPDgy/9YR6LQT2jzs7u1ynn5cKi6SuezbSrnlhyoq7WHywZMkG6YEhs3ZJbvxI//RpKnpTa+buHj/3I+qMM+V+NtG6eghmX/8ZxnTzkSO6FjJVxO6uLrCWyC5o/2JqgjEDAwAAAD0ay+88EKnrnvppZeCHAnQc8bt9s+EWPuenEfvl6Jj5PrXh+RaeKNMdEzHC3QkMUkqC30Cw1or56XfSwNTZC5d2PzNxhaSMA/GdN5/VUoZLDP13PYvjI6WfL7QBNVV3kIpJU3GFZmpAiowAAAA0K+9/fbbmjNnjv/4wHa88847+s53vhOiqIAe8AyU8g/LzL1C5sobZWJjA7a0SUySPZATsPU6y27Kkvbvlbn5TpnYAc3fPLGFJEzs/s+lvTtlvnOrTFRU+xdHx0q1tbLWtl+pEQbWWxCx8y8kEhgAAADo52pqarRo0aIOr4uOjg5BNEDPuW65UzIumTGnBn5xj38GRij/8G19Ptm/PCMNP0lmxuyWF8TF+6+rCt9Rqvb9V6W4BJnzL+r44pgYyTpSfZ2/XSOSeAtlTjsr3FG0iQQGAAAA+jVOF0FfY8aeHrzFE5OkujqpuqopcRBs9oO3pMKjct31M/+xqV8V5goMW1QguzlL5qJvygzoxO+kMRnq80VUAsPW1Ukl3oiuwIjMxhYAAAAAQOTxNJzyEaJBnraiTPatF6UzpsicPrn1ixoTKWGagWHXvuc/GWX2/M7dEN3Q0hNpgzxLvf7KkJTIPIFEIoEBAAAAAOgk03hMaVlpSPazb70kVVXJ9e1b2o7J7ZZiB4TlFBJb55P96D1p4rRmJ6O0K6ZhmGpthB2lWuQ/QtWkRm4FBi0kAAAAQIBs27ZNTz31lBzH0dy5c7VgwYJm7/t8Pi1fvlz79u2Tx+PR4sWLlZ7u/0PPK6+8otWrV8vlcumWW27RpEmT2l0zPz9fS5cuVVlZmUaPHq1FixbJ7fb/5312drb+7//+T8YYjRo1Sj/60Y9C+FtAn+ZpOF4zBBUYtuCI7Oq3ZM6dK5M5qt1rXfGJsmFoIbFb10tlpXLNuqzzNzWeBuOLrASG9foTGLSQAAAAAH2c4zhasWKF7r33Xj322GPKyspSbm5us2tWr16thIQELVu2TPPnz9dzzz0nScrNzVV2drYeffRR3XfffVqxYoUcx2l3zWeffVbz58/XsmXLlJCQoNWrV0uS8vLy9Oqrr+qBBx7Qo48+qptvvjmkvwf0cQ0VGDYER6nav/xBioqS+eZ1HV5rEhJlw1GBseZtafBQqa32llaYCE1gqDGBMYgEBgAAANArVFdXq6ioSNXV1V26LycnR0OHDtWQIUPkdrs1c+ZMbdy4sdk1mzZt0qxZsyRJ06dP144dO2St1caNGzVz5kxFR0crPT1dQ4cOVU5OTptrWmu1c+dOTZ8+XZI0a9aspr1WrVqlSy65RImJiZKk5OTkHv5GgBMkhmYGhv3iM9lNH8tccqXMwNQOr3fFJ4R8BoY9dMB/dOqFl8q4uvBH6+gIbSHxFkiJnoAeuxtotJAAAACg3zt48KBWrlypLVu2qKCgoOn19PR0TZo0SRdddJFGjhzZ7hper1epqcf/oJWamqrPP/+8zWuioqIUHx+vsrIyeb1ejRs3rum6lJQUeb3epnW+umZZWZni4+MVFRXV4vrDhw9Lku6//345jqOrrrqqqR3lRCtXrtTKlSslSQ899JDS0ro2uM/tdnf5nt6irz5bIJ7LWqt8d7Ti6mvlCdLvyFqr4kefkwalKvXaf5CrE6edlCR65D5WqtQQfm7H/vKMqqJjlHbFd+RKGtjp+2oHD1axpKT4OMV2EG8o/1ksLi+Vkz4sZL/D7jwbCQwAAAD0a0uXLlVubq5mzpypRYsWKTMzU3FxcaqqqtKhQ4e0a9cuPf744xo+fLgWL14c7nA75DiO8vLy9JOf/ERer1c/+clP9Ktf/UoJCQnNrps3b57mzZvX9HNhYWGX9klLS+vyPb1FX322gD1XokdV+UdVE6Tfkd2+Qc7u7TI33C5vRaVU0fFsC3dcguoO/T1kn5utrpTzwdsy086Vt7ZO6sK+trJKknSssECmg/tC+c9i/ZHD0uChIduv8dkyMjI6fQ8JDAAAAPRr559/vqZOndri9cTERI0fP17jx4/XlVdeqc2bN7e7TkpKioqKipp+LioqUkpKSqvXpKamqr6+XpWVlfJ4PC3u9Xq9Tfe2tqbH41FlZaXq6+sVFRXV7PqUlBSNGzdObrdb6enpGjZsmPLy8jR27Niu/3KA1iQmywaphcQ69XJe+aOUniFz7ryOb2jgSkiUKsuDElNr7PoPpeoqmQu7MLyzUQTPwDDjzwx3FO1iBgYAAAD6tROTF19t+WiUk5PTapLjRGPGjFFeXp7y8/NVV1en7OxsTZs2rcVea9askSStX79eEyZMkDFG06ZNU3Z2tnw+n/Lz85sSDm2taYzRhAkTtH79eknSmjVrmvY655xztHPnTknSsWPHlJeXpyFDhnTrdwO0ypMUtBkYdv2H0qEDMgtu8B+P2kkmPlEK0Skk1lrZD9+RRo6WRo/v+gINx6jaCJqBYYsK/L+/wZH9/xVUYAAAAAANfv7zn+uZZ55p8fqDDz6op556qt17o6Ki9L3vfU8PPvigHMfR7NmzNWLECL344osaM2aMpk2bpjlz5mj58uVatGiREhMTm1pSRowYoRkzZmjJkiVyuVy69dZb5WoYCtjampJ0/fXXa+nSpXrhhRd08skna86cOZKks846S9u3b9ddd90ll8ulG264QR6PJ5C/JvRzJjFJ9kBOwNe1Pp/s63+SRo2VmTqzazHFJ0h1PlmfTyY6OuCxNfPFbin3S5kbfyhjTNfvdzdWYNQENq4esJs/liSZiWeHOZL2kcAAAABAv+c4jqSGv1lt+F+jo0ePNg3L7MiUKVM0ZcqUZq9dffXVTd/HxMRoyZIlrd67cOFCLVy4sFNrStKQIUP0i1/8osXrxhjddNNNuummmzoVM9BlicGpwLAfviMV5ct14w+7dqqHGlpIJKmqQoru/EDN7rAfvCPFJcicc0H3FohpTGD4AhdUD9kNH/kTR+mdn0cRDiQwAAAA0O9de+21Td9fc801zd5zuVy68sorQx0SELk8yVJlhWxdXZfaPNpjqypl33pJOu0smdNbnprTERPfkMCorJC6cCJIV9ljJbJbsmQuvEwmdkD3FoluOKY0QlpI7NHD0oEcmatuCXcoHSKBAQAAgH5v+fLlstbqpz/9qX72s581vW6MUVJSkmIa/8YUgL8CQ5IqyqTkQQFZ0v71Van8mFwLb+zW/ccrMII7B8NmrZTq6ro3vLNRY4tLhLSQ2I0fSZLMtPPCHEnHSGAAAACg3xs8eLAk6de//nWYIwEin/EkyUpSWWlAEhj2WLHs+6/KTD1X5qRx3YspvuGY4KqKHsfTFmut7MfvS6dMkBk2vNvrGJdLcrsjpoXEbvxIGnu6TMrgcIfSIU4hAQAAQL/2zDPPqKSkpN1rSkpKWh3uCfRLjRUYAZqDYd/6P8lXK7Pghm6vYRIaBtUGswIjZ7eUnyczs/PHu7YpOjYijlG1hw5Ihw92f55HiFGBAQAAgH4tIyNDP/7xjzV8+HCddtppysjIUFxcnKqqqpSXl6ddu3bp8OHDrQ7YBPolT7IkyZYdUzfO4GjGFhyR/fBdmfMukhma2e11XA0VGLayvMcxtcVmrZRiB3T5hJRWxcRIteFvIbEbPpKMKzDPFAIkMAAAANCvXXTRRZo9e7Y2bdqkrVu3auPGjaqsrFRCQoJGjhypiy66SFOnTu30SSRAnxfACgz7xguSyyVz+TUdX9wOE+QZGLamWnZTlsy0c2UGxPV8QXd02CswrLWyG9dKp02UCeLg00AigQEAAIB+z+12a/r06Zo+fXq4QwEiX2O7Rg8TGDbv77Lr18jMu0JmUGqP1jID4v3fBCuBsTlLqqkKTPuIJMXEyoa7heRAjlRwRObrV4U3ji5gBgYAAADQ4Omnn1ZOTk64wwAimnG7pfgE/xDPHrCv/UmKiZW57Ns9jykqSoqLD9oQT5u1SkofJo07PTALRseE/RhVu2GtFOWWmTwjrHF0BRUYAAAAQANrrR5++GHFxsbqvPPO03nnnaeMjIxwhwVEnsTkHlVg2INfyG7Okpn/HZmGmRo9FhcvVQY+gWELjkh7d8gsuEHGBGjCRkxMWFtIrOPIbvxYOmPK8fabXoAEBgAAANDglltu0U033aQdO3bo448/1n333af09HSdf/75uvzyy8MdHhA5PEmyPUhgOK8+J8Unyly8IHAxxSXIBqGFxGavkoyRmTE7cItGh3mIZ85uqaRI5ts3hy+GbqCFBAAAADiBy+XSxIkTdfvtt+uRRx6Rx+PRH//4x3CHBUSWxCSprHsJDPvFZ9Knm2QuXSgTH8C//Y9LCHgLiXUc2ezV0mmTZFIGB27h6DBXYGz8SIqJkTnrnLDF0B1UYAAAAAAnqK6u1oYNG5SVlaVdu3bp9NNP1x133BHusICIYhKTZA90b16M88ofpaSBMnMCXNUUFy+VegO75md/k7wFMt+6KaDLmugY2TDNwLD19f72nYnnBOZElRAigQEAAAA0ePTRR7V161aNHj1a5557ru644w4lJSWFOywg8nj8MzCstV2aC2F3b5f2fCpzzT/KxA4IaEgmLkH2SG5A17RZq6T4BJnJAT6hKJwVGHv+JpWVypx9fnj27wESGAAAAECDMWPG6MYbb1RaWlq4QwEiW2KSVFcnVVf5Kx86wVrrr75ISZO54NLAxxQf2FNIbGW57NZ1MufOlYmOCdi6ksI6xNNuzpZi46Qzp4Zl/55gBgYAAADQ4Jvf/CbJC6AzPA2VSV0Z5Pm3jdL+vTKXXyMTHR34mOISpKpKWWsDspzd+LHkq5WZOS8g6zUTpgoM6ziy2zfInDEl8EmZECCBAQAAAADoEpPYkMAoK+3U9dZx5Lz2nJQ+TGbGnOAEFZcg1dcH7HQPm7VSyhgpnTQ2IOs1ExMjhWMGxoEcqbRYmtS7hnc2IoEBAAAAAOgaT7L/a2crMLaul/6+X+aKa2TcQZpk0NjKEoA2EnvkkL9aZObcLs346DR3jFRfJ+vUB37tdthtn0gul8yZ00K6b6CQwAAAAAAAdE1DBYbtxFGq1nHkvP4naehwmXMuCF5M8Qn+r1WVPV7KblgrGRO8eGMa2jd8vuCs3wa7fYM0boJMgiek+wYKCQwAAAAAQNd0YQaG3ZwlHT4o841rZVxRQQvJxDUkMCp7VoFhrfUnME45Q2ZQagAia0V0rP9rCNtIbMER6dABmV7aPiJFyCkkhYWFeuKJJ1RSUiJjjObNm6evf/3r4Q4LAAAAANCa2DjJ7e5wBoZ16mVff17KGCkz9dzgxhSoFpKD+6Sjh2QuXtDzmNrSOMQ0hIM87fZPJEnmrK+FbM9Ai4gERlRUlL773e9q9OjRqqqq0j333KOJEydq+PDh4Q4NAAAAAPAVxhgpMbnDCgy7Ya10JFeu2+6RcQW5AaChAsNWVaonUyvshg+lKLfM1JmBias1TS0kIUxgbNsgZY6SGTw0ZHsGWkS0kAwaNEijR4+WJMXFxSkzM1NerzfMUQEAAAAA2pSYJNtOAsPW18u+8YI0/GRp8vTgx9M0A6P7FRjWcWQ3fCSdMSWocyJMYwuJLzAnpnTEVpRJn++UOav3to9IEVKBcaL8/Hzt379fY8e2PKpm5cqVWrlypSTpoYceCssZ3W63m7PB+yA+176Lz7Zv4nPtm/hc+y4+W6CP8iS1W4Fh138g5efJdcd9wa++kI63kPRkBsbnu6SSIpmrbglMTG1prMAI0QwM++kmyXFkJvXe9hEpwhIY1dXVeuSRR3TzzTcrPj6+xfvz5s3TvHnzmn4uLCwMZXiSpLS0tLDsi+Dic+27+Gz7Jj7XvonPte8K12ebkZER8j2B/sQkJskeyGn1PVtX56++GDVWCtXf+scOkFyuHp1CYjd8KMXEBr9Swd04AyNEp5Bs2yAlD/J/Hr1YRLSQSFJdXZ0eeeQRnX/++fra13p3VggAAAAA+jxP2zMwbPZKqShfrm9e55+XEQLGGGlAfLdbSGydT3Zztsyk6TKxAwIc3VfEhK6FxPp8sju2yEw8OzSVMEEUEdFba/Xb3/5WmZmZuvzyy8MdDgAAAACgI4lJUmWFbF1ds5etzyf71kvSyadIZ0wNbUzxCd2vwNi5TaookznngsDG1JroELaQ7PlUqqnq9e0jUoS0kOzZs0dr167VyJEjdffdd0uSrr32Wk2ZMiXMkQEAAAAAWuVJ8n+tKPO3JzSwH78veQvlunFRyKovmsTFy3ZzBobdsFZK8EgTJgU4qFY0JDCsr7ZHJ6Z0ht3+ib/i49SJQd4p+CIigXHqqafqpZdeCncYAAAAAIBOMolJspJUVtqUwLC+Wtm3/08ac6p0eggSAV8Vl9CtFhJbUy27bb3M9FkyjfMpgilEx6haa/3Hp06YLNPYttKLRUQLCQAAAACgl/Ek+7+eMAfDfvRXqaRIrm9eH/rqC6nbLSR2+waptkbmnAuDEFQrokOTwNDBff5TVc7q/e0jEgkMAAAAAEB3JPpbSGyZP4Fha2tk3/mzNO70sLUrmLj4bh2jajeslQam+mMPhRDNwLDbPpGMS2bitKDuEyokMAAAAAAAXdc4A6OhAsOufU8q8cr1jdCdPNJCXNcrMGxFmbRji8w554fulI4QVWDY7Z9IY06VaayW6eVIYAAAAAAAui7e4/9aVuqvvnj3ZemUM2TCOSwyLl6qrpR1nE7fYresk+rrQtc+Ism43ZLLFdQEhi3xSn/fLzPx7KDtEWokMAAAAAAAXWbcbik+USo/Jvvhu1JpsVzfuC68QcUnSNZKNdWdvsVuypIGD5VGjg5iYK2Ijg1qC4ndtU2SZCZMDtoeoUYCAwAAAADQPYlJst4Cf/XFqRNlxp8R3njiEvxfOzkHw1aUS3v+JjNlZujbXqKjpbogtpDs2uoftDr8pODtEWIkMAAAAAAA3eNJkv62UTpWEv7qCzUM8ZQ6fZSq3f6JVF8vM3VmEKNqQ0xM0CowrOPI7tomc/qk0M31CIG+8yQAAAAAgNBKTPK3bJx2lkyoTvBoT3xDBUYnB3naLeuklDTppHFBDKoN0bHBm4GR+6VUViqd3nfaRyQSGAAAAACAbmo83SISqi8kHW8h6UQFhq2ulHZulZk8IzynpkRHy9bWBGVpu2urJMmcPiko64eLO9wBAAAAAAB6J3PeRdLQ4TJjTwt3KH4NLSS2skIdpSTsp5ulOp/MlDC0j0j+o1R9vqAsbXdtkzJHyQxMCcr64UICAwAAAADQLWbMqTJjTg13GMfFdaGFZHO2lDRQGhum+GNiJV/gKzBsTY30+U6ZOZcHfO1wo4UEAAAAANA3xHeuhcTW1sju2CwzabqMKyoEgbUiOkhDPD/fIdXVyfSx+RcSCQwAAAAAQB9homMkt7vjCoydW6WaapmpM0ITWGuio6W6wLeQ2J3b/MmRSBiqGmAkMAAAAAAAfUdcglTZQQXGlmwpPlE65cwQBdXS/2fv3qOjqu/9/7/2zGSSmUkyyWSANIAKEVtBFCGIYi0IETnlrJZSv7Ra6/Fyvi3VhVK7WsR61C6k0irCErDH03K81H5bTvurtse2v9NGDrZH5FsUEAUVIxa0oCH3hNzmsr9/7MmEmACZZGb2ZPJ8rJW193xmz573JxNcycvPxcjJlVKwiKd5YI80aYoMd27S7203AgwAAAAAQPbw+E47hcQMh2S+tkvGtFkyXDYuC+l2J30bVbOhTjp6RMaU7Np9pBsBBgAAAAAge3i8Mk83heStfVL7Cft2H+mWb4GvIQAAIABJREFUk5P0XUjMA3slKSvXv5AIMAAAAAAA2cR7hhEYu1+W8jzS5IvSWFQ/clKwC8mBPZK/WBp7dnLvmyEIMAAAAAAA2cPjPeUaGGYkInPPThlTK6wFP+3ktnYhMU0zKbczo1GZB/bKmDxNhmEk5Z6ZhgADAAAAAJA1DI/v1LuQvLNfam2WMcPm6SOStVOIlLydSN5/T2ptlrJ0+ohEgAEAAAAAyCanCTDM3TuskQ8XzEhzUf3oDjCStJCneWCPJMmwe2pMChFgAAAAAACyh8crdbbLjER6NZvRqMw9O6Up02Xk5tlU3Em6A4yuJAUY+/dI4yfIKCxOyv0yEQEGAAAAACB7eL3WseNjozCOvCs11suYdmn6a+qPO3kjMMzODqn6zazdfaQbAQYAAAAAIHt48q3jxxbyNF/bJRkOGVMrbCiqH8mcQnLwDSkSljGFAAMAAAAAgGHB8MRGYHxsHQxz31+l8k/KKCi0oaq+jCQGGOZb+yRXjnTu+UO+VyYjwAAAAAAAZI94gNEzAsOsPy4dOSTjoktsKqof7uStgWEe3C9NPM/+rWFTzGV3AQAAAEC22Lt3r5544glFo1HNnz9fixcv7vV8KBTSpk2bdOjQIRUUFGjFihUaPXq0JOnZZ5/Vtm3b5HA4dNNNN2natGmnvWdNTY02bNiglpYWTZw4UcuXL5fL1fPr/c6dO/XII4/owQcfVHl5eZq+A0AG8MamkJwcYOzbJUmZFWDk5FrHUOeQbmN2tElH3pXx2f+VhKIyGyMwAAAAgCSIRqPasmWL7r77bq1fv14vvfSSPvjgg17XbNu2TT6fTxs3btSiRYv0s5/9TJL0wQcfaMeOHXrkkUf03e9+V1u2bFE0Gj3tPZ955hktWrRIGzdulM/n07Zt2+Lv097erj/84Q+aNGlS+r4BQKaIjcAw23qmkJiv7ZJGlUql4+yqqq+cHOsYCg3tPtVvStGojElThl5ThiPAAAAAAJKgurpapaWlGjNmjFwul2bPnq1du3b1uuaVV17R3LlzJUmXXnqp3njjDZmmqV27dmn27NnKycnR6NGjVVpaqurq6lPe0zRN7d+/X5deau2mMHfu3F7vtXXrVn3+859XTvcfSMBI4vFZx9gIDLOzQ3prn4yLLpFhGDYW9jGxERjmEKeQmAf3S06nVP6pZFSV0ZhCAgAAACRBfX29SkpK4o9LSkr0zjvvnPIap9Mpr9erlpYW1dfX9xotEQgEVF9fH7/Px+/Z0tIir9crp9PZ5/pDhw6ptrZW06dP129/+9tT1ltVVaWqqipJ0tq1axUMBhPqr8vlSvg1w0W29i1b+yX17ptZVKQaSV5Dyg8G1fF/X1RTOKSiz1wldwb1PxzuVJ2kgly3PKeoayCfWf17b0vln1JgbAaNLhmAwfw8EmAAAAAAWSIajerpp5/WrbfeesZrKysrVVlZGX9cW1ub0HsFg8GEXzNcZGvfsrVfUj99c+eqre64OmprFf1LleTxqWnUWBkZ1H+ztVWS1NJQrxOnqOtMn5nZ2anoO2/KuOrzw+6z7e5bWVnZgF9DgAEAAAAkQSAQUF1dXfxxXV2dAoFAv9eUlJQoEomora1NBQUFfV5bX18ff21/9ywoKFBbW5sikYicTmf8+o6ODr3//vv63ve+J0lqbGzUD3/4Q33nO99hIU+MLB6f1N4mMxqVue8VGRdMl+HKsD9/k7GI56G3pEhYxnkXJKemDMcaGAAAAEASlJeX69ixY6qpqVE4HNaOHTtUUVHR65oZM2Zo+/btkqxdQqZMmSLDMFRRUaEdO3YoFAqppqZGx44d07nnnnvKexqGoSlTpmjnzp2SpO3bt6uiokJer1dbtmzR5s2btXnzZk2aNInwAiOTxyuzrVV676DU0iRl0u4j3ZKwjap5cL9kOKRzz09SUZktwyIoAAAAYHhyOp26+eabtWbNGkWjUV155ZUaP368tm7dqvLyclVUVGjevHnatGmTli9frvz8fK1YsUKSNH78eF122WW688475XA4dMstt8jhsP5fY3/3lKSvfOUr2rBhg37xi19owoQJmjdvnm19BzKONzYCY98uyeGQccEMuyvqy9W9C8lQAow3pLMmyojtvJLtCDAAAACAJJk+fbqmT5/eq+1LX/pS/NztduvOO+/s97VLlizRkiVLBnRPSRozZowefPDB09Zz//33D6BqIAt5vFLbCZmv/VWaNEWGL9/uivowDEPKcQ86wDBDIenQ2zLmfjbJlWUuppAAAAAAALKK4fFJH34g/f2wjAtn2l3OqeW4Bz+F5L2DUjgk45NTkltTBiPAAAAAAABkF49Xam+TJBmZuP5FN/cQRmAcfMM6OXdyEgvKbAQYAAAAAIDs4vVZx9JxMsYMfJvOtBvKFJJ39ktjz5aRX5jkojIXAQYAAAAAILt4rADDuCiDp49IUo5b5iACDDMclt59a8Rsn9qNAAMAAAAAkF1iIzCMCzN4+og0+DUwDldLnR0yzhs5619I7EICAAAAAMgyxvTZUigknXu+3aWc3iCnkJjv7LdORliAwQgMAAAAAEBWMfzFcixYLMOR4X/yDnIRT/Pgfql0rIzC4hQUlbky/NMEAAAAACBLDWIKiRmNSNUHRtz6FxIBBgAAAAAAtjDcuYmPwHj/b9YWsZNG1vQRiQADAAAAAAB7uHISDjDMg29IEiMwAAAAAABAmgxiDQzz4H5pVKmMQDBFRWUuAgwAAAAAAOyQk5vQGhimaVrrX5w7OYVFZS4CDAAAAAAA7JCTI4UTGIFx/JjU2iyd+6nU1ZTBCDAAAAAAALCD2y1FIjIjkQFdbh56W5JkTPxkKqvKWAQYAAAAAADYISfXOoY6B3b9obel3Dyp7KzU1ZTBCDAAAAAAALCD220dB7gOhnnooHTOJBkOZwqLylwEGAAAAAAA2MGVYx1DoTNeanZ2Sh+8N2Knj0gEGAAAAAAA2MOdwBSSI+9KkQgBBgAAAAAASC8jZ+BTSLoX8BQBBgAAAAAASKvuACM0kADjLWlUqYzCohQXlbkIMAAAAAAAsIN7YAGGaZrSu2/LmDByR19IBBgAAAAAANhjoCMwGmqlpvoRPX1EIsAAAAAAAMAeA91GNbb+xUhewFMiwAAAAAAAwB4uK8AwzzSF5NDb1par489JQ1GZiwADAAAAAAA7DHQNjENvS2eXy3DlpKGozEWAAQAAAACAHXJyreNpppCY4ZB0+N0RP31EIsAAAAAAAMAeObERFeHTjMB4/29SOCSj/FNpKSmTEWAAAAAAAGCHASziacYW8NQI30JVIsAAAAAAAMAWhsMpOV1SqPPUFx16SyoqkREIpq+wDEWAAQAAAACAXdzuM4/AYP0LSQQYAAAAAADYx5UjhUL9PhVprJdqP2IBzxgCDAAAAAAA7OLOPeUUktDB/ZJEgBFDgAEAAAAAgF1yTj2FJHRwv+R0SmeXp7mozESAAQAAAACAXXJyZIb7n0ISevsNadwEGe7cNBeVmQgwAAAAAACwiztX6uo7hcSMRhSufpPpIychwAAAAAAAwC45binUzxSSo0dkdrSzA8lJCDAAAAAAALBLjrvfXUjM996RJBkTzkt3RRmLAAMAAAAAALvkuPudQqLD1TK8+dLoT6S/pgxFgAEAAAAAgE0Md/9TSMwjh+SaeJ4Mw7ChqsxEgAEAAAAAgF36WQPDDIel999TzkSmj5yMAAMAAAAAALv0t4jnh+9L4ZBc5Z+yp6YMRYABAAAAAIBdctxS18dGYBw+ZD3FCIxeCDAAAAAAALCL2y2FQzKj0Z62w9VSrkfOsrPsqysDEWAAAAAAAGCXHLd1DPdspWoeeVcaP0GGgz/ZT8Z3AwAAAAAAu3QHGLF1MMxoRHr/PRlnl9tYVGYiwAAAAAAAwC7uWIDRvQ7Gh3+XujqlswgwPo4AAwAAAAAAu+TkWsdQpyTJPPyuJMk4+1y7KspYBBgAAAAAANjEyMmxTkKxNTCOvGuNyigda19RGYoAAwAAAAAAu3SPwIhNITEPV0vjJshwOm0sKjMRYAAAAAAAYJfuNTBCndZWqkdYwPNUCDAAAAAAALDLyVNIao5Jne0s4HkKBBgAAAAAANjlpEU8zcPVkljA81RcdhcAAAAAZIu9e/fqiSeeUDQa1fz587V48eJez4dCIW3atEmHDh1SQUGBVqxYodGjR0uSnn32WW3btk0Oh0M33XSTpk2bdtp71tTUaMOGDWppadHEiRO1fPlyuVwuPf/883rhhRfkdDpVWFiob3zjGxo1alR6vxEABi42hcTs6pKOHJJcOdInxttcVGZiBAYAAACQBNFoVFu2bNHdd9+t9evX66WXXtIHH3zQ65pt27bJ5/Np48aNWrRokX72s59Jkj744APt2LFDjzzyiL773e9qy5Ytikajp73nM888o0WLFmnjxo3y+Xzatm2bJOmcc87R2rVr9fDDD+vSSy/VM888k95vBIDE5HSvgdEVW8DzHBkuxhr0hwADAAAASILq6mqVlpZqzJgxcrlcmj17tnbt2tXrmldeeUVz586VJF166aV64403ZJqmdu3apdmzZysnJ0ejR49WaWmpqqurT3lP0zS1f/9+XXrppZKkuXPnxt/rggsuUG6uNSR90qRJqq+vT983AUDiugOM2AgMg/UvTolYBwAAAEiC+vp6lZSUxB+XlJTonXfeOeU1TqdTXq9XLS0tqq+v16RJk+LXBQKBePDQ3z1bWlrk9XrljG2zePL1J9u2bVt8KsrHVVVVqaqqSpK0du1aBYPBhPrrcrkSfs1wka19y9Z+ScO7b1FPno5Lyms4rvb2E8qfcqG8sb4M536dyWD6RoABAAAAZKE///nPOnTokO6///5+n6+srFRlZWX8cW1tbUL3DwaDCb9muMjWvmVrv6Th3TczHJIktb++W5J0oqRUbbG+DOd+nUl338rKygb8GqaQAAAAAEkQCARUV1cXf1xXV6dAIHDKayKRiNra2lRQUNDntfX19QoEAqe8Z0FBgdra2hSJRHpd323fvn169tln9Z3vfEc53Vs0AshMTpdkGNLfD1vnZWfbXVHGIsAAAAAAkqC8vFzHjh1TTU2NwuGwduzYoYqKil7XzJgxQ9u3b5ck7dy5U1OmTJFhGKqoqNCOHTsUCoVUU1OjY8eO6dxzzz3lPQ3D0JQpU7Rz505J0vbt2+Pv9d577+nHP/6xvvOd78jv96f1ewAgcYZhWOtgmFFp7FkyCB1PiSkkAAAAQBI4nU7dfPPNWrNmjaLRqK688kqNHz9eW7duVXl5uSoqKjRv3jxt2rRJy5cvV35+vlasWCFJGj9+vC677DLdeeedcjgcuuWWW+RwWP+vsb97StJXvvIVbdiwQb/4xS80YcIEzZs3T5K1O0lHR4ceeeQRSdYw7ZUrV9rwHQEwYG631NXJAp5nYJimadpdxGAdPXo07e+ZzXOQRjI+1+zFZ5ud+FyzE59r9rLrs01kXjUS/906m//NZmvfsrVf0vDvW+Q7N0sNtTK+skyOuZ+Ntw/3fp0Oa2AAAAAAADDcxKaNMALj9AgwAAAAAACwU45bcjikcefYXUlGI8AAAAAAAMBO7lzpE+NluHPtriSjsYgnAAAAAAA2ciz6kjUCA6dFgAEAAAAAgI2Mi2baXcKwQMQDAAAAAAAyHgEGAAAAAADIeAQYAAAAAAAg4xFgAAAAAACAjEeAAQAAAAAAMh4BBgAAAAAAyHgEGAAAAAAAIOMRYAAAAAAAgIxHgAEAAAAAADJexgQYe/fu1R133KHly5frueees7ucU1q92tlv+7p1BSlrT+W9aaeddtppP317JtVCO+3Dtf1Uvz8BAJAIwzRN0+4iotGo7rjjDt1zzz0qKSnRqlWrdMcdd2jcuHGnfd3Ro0fTVGGPsWPL9Pe/933fVLbb8Z4jrT0YDCo3150x9dCevPZgMKja2tqMqYf25LR3f67peF+7+zqS2js7u3p9rnbXQ3vq21OtrKws7e85nCX6u/XH/1ucTbK1b9naLyl7+5at/ZJ6+pbIf6szYgRGdXW1SktLNWbMGLlcLs2ePVu7du2yuywAAAAAAJApzAzw8ssvmz/60Y/ij1988UXzJz/5SZ/r/vSnP5krV640V65caZqmaXZ2dqbl6557wqZk9vm64opIStvteE/aaaeddtpP/ZVpNdKejvao+ZkrukyXETLdjk4zz9Fuep0nzHxXi3n1FQ1mUU6DWeKuM0e5j5tjcmvM0rwPzcWf+bs5zvN382zv++Y53sPmRN975rm+Q+aX5xw0P1nwjnl+wdvmlMI3zamFB8wL/W+YN855zZxe9JpZUbzHvKR4tzkr8Ip5WWCXuWzuy+YVwZfNMbkfZcD3IXnt99wTTtvvcACA7JIRU0h27typvXv3atmyZZKkP//5z3rnnXd0yy23nPZ1TCGhPVntTCHJ3namkGRnO1NIztxuRqNSNKJzJ4xR9cEPpGhEikSkWPtllwT18kvH4o8ViUhmVP/4DwE9/9sPrfZYmyJR3XiDX0/+e60UjVj3jkSkaETf+mah1j1Ub90jGo1/rVnt03dXNZ7UZj3/2Cavbv1Gc69rFY3q/zyTp5tuDKmzva1X++9+59ZnF/ZukxnVS3/J0eWz209qM6VoVG/sc+iCKV0fa4/oyGGnzhrXFb9OpvV8Q72hYn/YenzSc+EuUy5nrM1mxj8t1/gv/VNG/Fwluz3VmEKSWnfddZfWrl1rdxkpka19y9Z+Sdnbt2ztlzS4vrlSVEtCAoGA6urq4o/r6uoUCARsrAgAMFKYpilFwlI4LH9Ok8zmBikcsdoiYZ2X3ybzyDEpHLb+aI9dO3/0uzJ318jsbosdv3pWvqJVdT3Xxo4rP+lV9JeNscc9z224yK3ov7XKjF9rBQM/v8SlyA/aesKFWPu2zxiK3N0Zf9wdSrxxVVSR28I97bE/vA8ulKK39+33S1dK0Xv6tv/2cin6g77t/14hRR/r2/7whZL5077td39KMp89qcEwJIdDN53jlLndOo9/GQ7NG52jrtccMqV4mxwOlfvcUm20V5scDrkcDkmG5MrpdZ9jHR5dEAxJDkOG0dO+a49PZ8/vkByG5HDG7mXouScLdPM/tMcfd9f5o42Fuv2OE73f1zD0/Qf9uvueE7HrDMlwSg5Dq+4u1oM/aLauNYz4cfkdJdq4qVFyOGTE26WbbgnqiScbe10rh6EvfXmUtv5Hfa82jf7EAH6SAQDIfhkRYJSXl+vYsWOqqalRIBDQjh07dPvt/fy2lQHuuSfSb/udd7akrD2V96addtppT3W7aZr69oo6me1tUjgkhULWMRzSg7d+KPPdRiscCIfix8dvcSr6Umv8uu72//iqoej/16aWHJeirS3x9j99yVDkR+2xx7F7RcLatSSqyP2dPUFC7LmD/xhR5LZQT3vM61dJ0W/1rr/qM1J0dd++PlEhRX/Ut33NBZK59WONhqGvn+uSud0hOV2S0xn/mneOW+YRw3rsiLW7XDp7vNs6d+f2XO9wKtKSJ6M82nNtrL16T55mXBLpaXc4JYdDf37Jq8/MDVnvG2uTw6H//08+LfxsSHI6ZTgcseec+vVzPi35X50nXWsdn/l5ga7/akfs3j3tP95SoP/99Y7egYTDqUc3Fer2FW3xP/4Nh7Xs1r+uK9C3vtX35+Tn6wr04IO5fRYq+8O6Ak3u5/qX1xVodj/t+0MFWnhb3/b3mwvkuLlve9OHBXJ8uW975L0CORb3bfe8WSDH1X3bR19TIMdn+rZP/HKBHLP6tk+9vkDGRX3bZ/1TgYxPZd/vAqf6/QkAgERkxBQSSdq9e7eeeuopRaNRXXnllVqyZMkZX2PHFJJsXgV2JONzzV58tieNMAiFpFCn1NUlhbp6jvGvkMyPPVaoM3bs6nU0w7Hz7kDi5PNwV09I0X1MJpdLRo5bptMpOXMkl8v64zwnxzq6XD1tLqvN6NXW3e7seXzysTtgiD02TjpX93t2v7bXsft+fZ8zHGwhORD8e81edn22TCFJraqqKlVWVtpdRkpka9+ytV9S9vYtW/slDa5vGRNgDAYBBpKFzzV7ZfJna0ajsSChs/dXZ0f83OzV3h0+dLdZrzW77xHqsq4JdfUNKszo4As1HJLbbQUErtgxx22FAB87N7rPu587+djPudF97uoOIHKknJ7goef6k8IIw8jozxWDx+eavQgwAADJkBFTSAAgU5mmaY0g6OiQOtutcCH+1S6zs9Nq7zipvavDChI6O6wAIt5+ckDRYQULiTIc1pQCt9s65rh7P84vlBFvd1vHnFwrCHDHzmPtRo77Y9fl9Fzb/VyO2xqBAAAAANiMAANA1jHDYamjTepoV6i1UeaHR6X2dpkd7fH2Xl+dsec6O05q64g/p2gCoxdcLsmdJ+XmSbm5sfNcqaBQcufJyM21nnPnWYFDbm4sgLDaDffJj0867/6KjUAAAAAARhoCDAAZw4xGrdCg/YT11XbCCh7aT1jBQ3vsuY42qb3NWhQyfn33eVuvNRfqT/eGOW4pz2N95eZZR1++VDJKRp5Hyj3puVyPlGcFD0ZeXk9bbm7saLUxWgEAMBLs3btXTzzxhKLRqObPn6/FixfbXdKgPfbYY9q9e7f8fr/WrVsnSWptbdX69et1/PhxjRo1St/85jeVn59vc6WJqa2t1ebNm9XY2CjDMFRZWanPfvazw75vXV1duu+++xQOhxWJRHTppZdq6dKlqqmp0YYNG9TS0qKJEydq+fLlcrmG55+70WhUd911lwKBgO66666s6Nttt92mvLw8ORwOOZ1OrV27dlA/i8Or1wAymmmaVojQdkJqa419nZDZ1iqdaLWChhOtsfDhpJCirTuAaItv/XhKDofk8Uker5TnlbxeqahERul4yeOx2vI8sec9Khw9Ri1d4VhQ4e0JLPI8hA0AAAxCNBrVli1bdM8996ikpESrVq1SRUWFxo0bZ3dpgzJ37lwtXLhQmzdvjrc999xzmjp1qhYvXqznnntOzz33nK6//nobq0yc0+nUV7/6VU2cOFHt7e266667dOGFF2r79u3Dum85OTm67777lJeXp3A4rHvvvVfTpk3T888/r0WLFunyyy/Xv/3bv2nbtm1asGCB3eUOyu9//3uNHTtW7e3tkqRnnnkmK/p23333qbCwMP54MP/OCDAA9GGGQ1bQ0NYqnWiRTrTKjB37tLWdsB7HworTTrcwjFjo4LNCCK9PKhktY/xJjz1eyeOTcdJ5/JjnldzuhKZQ5AWDamVRQAAAkqa6ulqlpaUaM2aMJGn27NnatWvXsA0wJk+erJqaml5tu3bt0v333y9JmjNnju6///5h9Ue+JBUXF6u4uFiS5PF4NHbsWNXX1w/7vhmGoby8PElSJBJRJBKRYRjav3+/7rjjDklWKPXLX/5yWP6RX1dXp927d2vJkiV6/vnnZZpm1vTt4wbzs0iAAWQ5s7NTam2Of5mtzVJri3Si+9giM3ZUa7N17Gg/9Q0NQ/LmW1MtfAWS1ycjOCZ+Lm++1RY7dj+WL1/K88pwONLXeQAAkHT19fUqKSmJPy4pKdE777xjY0XJ19TUFP/jv6ioSE1NTTZXNDQ1NTV67733dO6552ZF36LRqFauXKkPP/xQV199tcaMGSOv1ytnbHRtIBBQff1pJxJnrCeffFLXX399fPRFS0tL1vRtzZo1kqSrrrpKlZWVg/pZJMAAhhHTNK1RDi2NUkuz1NIos6VZamnqCShamnsFFurqPPUNvT4reMgvlAr8Mj4xLva4QPIVSr58Gb6CnrCCEAIAAIwwhmEM6wW0Ozo6tG7dOt14443yer29nhuufXM4HHrooYd04sQJPfzwwzp69KjdJSXFq6++Kr/fr4kTJ2r//v12l5NUq1evViAQUFNTkx544IE+21wP9GdxwAHGk08+qblz5+qcc85JuFgAp2aGQlYg0dQoNTfKbG6wAonYl9nSJDU39YQUkXD/N/J4rSAiv1DyF8sYe7ZU4I+1Fcgo8FvBRH5hLJzwyXCwBgQAAEhMIBBQXV1d/HFdXZ0CgYCNFSWf3+9XQ0ODiouL1dDQ0Gve/nASDoe1bt06XXHFFZo1a5ak7OmbJPl8Pk2ZMkUHDx5UW1ubIpGInE6n6uvrh+XP5Ntvv61XXnlFe/bsUVdXl9rb2/Xkk09mRd+6a/b7/Zo5c6aqq6sH9bM44AAjGo1qzZo1Kiws1BVXXKErrrii19AxAD3MSKQnlGiql9nUIDU3SrGj2WKFFWputEZU9CfPYwUQBX5rV4wJk6zwodAvFRTJKCiUCoqs7TnzC2W4ctLbSQAAMCKVl5fr2LFjqqmpUSAQ0I4dO3T77bfbXVZSVVRU6MUXX9TixYv14osvaubMmXaXlDDTNPWv//qvGjt2rP7xH/8x3j7c+9bc3Cyn0ymfz6euri7t27dPn//85zVlyhTt3LlTl19+ubZv366Kigq7S03Yddddp+uuu06StH//fv3nf/6nbr/9dj3yyCPDum8dHR0yTVMej0cdHR3at2+frrnmmkH9LBqmeaYl/3tEo1Ht2bNHf/nLX7R7925NmjRJn/nMZzRr1qz4QirpZMdQoWAwqFoWBMw6A/1czVCX1FgvNdVLjbFgoqleamqUGTuqqd4aKdHfPy2vTyoskgqLZBQUxc9VWCTDX9zzuMAvw52bgp6OPPybzU58rtmJzzV72fXZfnyIMpJn9+7deuqppxSNRnXllVdqyZIldpc0aBs2bNCBAwfU0tIiv9+vpUuXaubMmVq/fr1qa2uH5VajkvTWW2/p3nvv1VlnnRUfmn/ttddq0qRJw7pvhw8f1ubNmxWNRmWapi677DJdc801+uijj7Rhwwa1trZqwoQJWr58uXJyhu//4OsOMO66665h37ePPvpIDz/8sCRr4dVPf/rTWrJkiVpaWhL+WUwowDjZ+++JoGVwAAAgAElEQVS/r0cffVRHjhyR2+3W5ZdfrqVLl6Z1OAsBBpKlpLhYte9VSw11VjDRWB8LKup6zhvrrQUuP87ptEZC+IulooCMwiLJH5D8RTL8Aas9Fk4YOe70d26E499sduJzzU58rtmLAAMAkAwJLeLZ1tamnTt36i9/+YsOHz6sWbNm6ZZbblEwGNTzzz+v73//+/FkBcgUZigkNdZJDbUyG+pi53XWeUOt1FivmqYGKRrp/UKHQyq0QgmNKpUxabIVTBQFZBRZR/kDkq+ARS0BAAAAIMUGHGCsW7dOr732ms4//3xdddVVmjlzZq9hKzfccINuvPHGVNQInJIZDluBRH2tzIZaqb42FlT0nKuln+148jxScdAKI86/SN6ycWrL9ciItamoRCooZJFLAAAAAMgQAw4wJk2apFtuuUVFRUX9Pu9wOPTjH/84aYUBpmlKrS1S/XGprkZm/XGp/njsWGu1Nzf2XWvC45MCQak4KOOcc62gojgoo7hEKi6RikpkeHpvIZUfDKqDYcsAAAAAkLEGHGB87nOfO+M1ubksOoiBM8Nha4RE/XGZdTVS3ckBReyrq6v3i9xuKTBKCoySccGMnqAiMMoKJwJBGXne/t8QAAAAADBsJbQGBpAIs6vTCiXqamTW1/Sc1x2X6mukhnrJjPZ+kb/YCifGniNdONM6jwUWCoyS8gviqygDAAAAAEYOAgwMmtnRHgslPrJCibqPpLru0RQ11vSOkzkc1nSOktEyPjlVKhltBRQlo2PnQXbpAAAAAAD0iwADp2S2nbBGStTWxAOK+FSPuo+s9SlO5nJJgdFScLSMiy6xQomSUTJibSoKsCgmAAAAAGBQCDBGKGuBzGZrpERdbN2JuhoroKitsYKLthO9X+R2WwFFySgZZ59rhRIlo3tGUBQWsZ0oAAAAACAlCDCylBkOSQ2x7UVj4YS1WGZs/Yn+FsjM9VihRGCUjEnnSyVjZJSMkkrGSCWjpAI/608AAAAAAGxBgDEMmaGQ1FgnNdTKjIUU8fMG67zP+hOSVFhkLYQ59mwZ3QtklsQWxywZLXnzCSgAAAAAABmJACNDmKYptZ+QmhqkpgaZTQ1WCNHUIDXHHne3tTT1vYHHF9tStETGWROtxTKLS07awSMow802twAAAACA4YkAIwnMaEQKhaVISAqHpHBYCoWsQKKtVeaJVulEq9TWczS7z0+0Sm0tUnOT9dqPc7kkf8AaPTGqVEb5p6TiEqk4KKO4RCoeJRUHZOR5099xAAAAAADShABjgMyjRxTdvEbHo1FFOzukSLgnrIhGB36jHLfkzZd8+daxZJSM8edYAUVhseQvluG3jioslrw+pnUAAACMMI899ph2794tv9+vdevWSZLWr1+vo0ePSpLa2trk9Xr10EMP9Xntbbfdpry8PDkcDjmdTq1duzattQNAqhBgDFSuR8Y558md71NnOGqNjHDlnHTM6dNmeLyxsKJA8vmsNSaYxgEAAIAzmDt3rhYuXKjNmzfH2775zW/Gz59++ml5vacegXvfffepsLAwpTUCQLoRYAyQUTJKxv/+lvzBoGpra+0uBwAAAFls8uTJqqmp6fc50zT18ssv6957703qe3aP7hioYBb/XpytfcvWfknZ27ds7ZfU07eysrIBv4YAAwAAABhG3nzzTfn9fn3iE5845TVr1qyRJF111VWqrKzs95qqqipVVVVJktauXatgMJhQHS6XK+HXDBfZ2rds7ZeUvX3L1n5Jg+sbAQYAAAAwjLz00ku6/PLLT/n86tWrFQgE1NTUpAceeEBlZWWaPHlyn+sqKyt7hRuJ/l/ekfB/hrNNtvZLyt6+ZWu/pMGNwHCksB4AAAAASRSJRPTXv/5Vs2fPPuU1gUBAkuT3+zVz5kxVV1enqzwASCkCDAAAAGCYeP3111VWVqaSkpJ+n+/o6FB7e3v8fN++fTrrrLPSWSIApAxTSAAAAIAMs2HDBh04cEAtLS1atmyZli5dqnnz5vU7faS+vl6PP/64Vq1apaamJj388MOSrNEan/70pzVt2jQ7ugAASUeAAQAAAGSYFStW9Nt+22239WkLBAJatWqVJGnMmDF66KGHUlobANiFKSQAAAAAACDjEWAAAAAAAICMR4ABAAAAAAAyHgEGAAAAAADIeAQYAAAAAAAg4xFgAAAAAEiIebhaJ377C5mmaXcpAEYQAgwAAAAACTHfel2tTzwqdbbbXQqAEYQAAwAAAEBiPF7r2NZmbx0ARhQCDAAAAACJ8fisYzsBBoD0IcAAAAAAkBDD47FOOggwAKQPAQYAAACAxMRHYJywtw4AIwoBBgAAAIDExNbAMJlCAiCNCDAAAAAAJIYRGABsQIABAAAAIDHda2AwAgNAGhFgAAAAAEhMrkdyOAgwAKQVAQYAAACAhBiGIcPjI8AAkFYEGAAAAAASZnh9rIEBIK0IMAAAAAAkzOHLZxcSAGlFgAEAAAAgYUwhAZBuBBgAAAAAEmZNISHAAJA+BBgAAAAAEubw5bMGBoC0IsAAAAAAkDBGYABINwIMAAAAAAkzPD6pgwADQPoQYAAAAABImMOXL4XDMkNddpcCYIQgwAAAAACQMMPrs05YBwNAmhBgAAAAAEiY4c23TtqYRgIgPQgwAAAAACTM0T0Cg3UwAKQJAQYAAACAhPVMISHAAJAeBBgAAAAAEhafQsIaGADShAADAAAAQMIcPivAMBmBASBNCDAAAAAAJMzwsAsJgPRy2V0AAAAAgN4ee+wx7d69W36/X+vWrZMk/cd//IdeeOEFFRYWSpKuvfZaTZ8+vc9r9+7dqyeeeELRaFTz58/X4sWLU1Kj4fVaJ+3tKbk/AHwcAQYAAACQYebOnauFCxdq8+bNvdoXLVqkz33uc6d8XTQa1ZYtW3TPPfeopKREq1atUkVFhcaNG5f0Gg2nS8rNYwQGgLRhCgkAAACQYSZPnqz8/PyEX1ddXa3S0lKNGTNGLpdLs2fP1q5du1JQYYzHyy4kANKGERgAAADAMPFf//Vf+vOf/6yJEyfqhhtu6BNy1NfXq6SkJP64pKRE77zzTr/3qqqqUlVVlSRp7dq1CgaDCdXicrnk9BXIFQmrKMHXZjqXy5Xw92M4yNZ+Sdnbt2ztlzS4vhFgAAAAAMPAggULdM0110iStm7dqqefflq33nrroO9XWVmpysrK+OPa2tqEXh8MBhVx5yrS1JjwazNdMBjMuj5J2dsvKXv7lq39knr6VlZWNuDXMIUEAAAAGAaKiorkcDjkcDg0f/58vfvuu32uCQQCqquriz+uq6tTIBBIXVEeH2tgAEgbAgwAAABgGGhoaIif//Wvf9X48eP7XFNeXq5jx46ppqZG4XBYO3bsUEVFRcpqMlgDA0AaMYUEAAAAyDAbNmzQgQMH1NLSomXLlmnp0qXav3+//va3v8kwDI0aNUpf+9rXJFnrXjz++ONatWqVnE6nbr75Zq1Zs0bRaFRXXnllv0FH0hBgAEgjAgwAAAAgw6xYsaJP27x58/q9NhAIaNWqVfHH06dP1/Tp01NWWy8er9RBgAEgPZhCAgAAAGBwPD6ps0NmJGJ3JQBGAAIMAAAAAIPj8VpHRmEASAMCDAAAAACD4/FZxzZ2IgGQegQYAAAAAAbF8Hisk452ewsBMCIQYAAAAAAYnO4RGO2MwACQegQYAAAAAAanew0MtlIFkAYEGAAAAAAGJzYCw2QEBoA0IMAAAAAAMDjda2AwAgNAGhBgAAAAABic+BoYBBgAUo8AAwAAAMCgGDluyeUiwACQFgQYAAAAAAbP42MXEgBpQYABAAAAYPDyPIzAAJAWBBgAAAAABs/jk0mAASANCDAAAAAADJ7HywgMAGlBgAEAAABg8FgDA0CaEGAAAAAAGDTDwxoYANKDAAMAAADA4Hl8UgcBBoDUI8AAAAAAMHger9TeLtM07a4EQJYjwAAAAAAweB6fZEalzna7KwGQ5QgwAAAAAAyex2Md25hGAiC1CDAAAAAADJ7HZx1ZBwNAihFgAAAAABg0w+O1TtiJBECKEWAAAAAAGLzuERjtJ+ytA0DWI8AAAAAAMHixERgmIzAApBgBBgAAAIDBy+ueQsIIDACpRYABAAAAYPC83QEG26gCSC0CDAAAAACDl+uRDAcjMACkHAEGAAAAgEEzDEPyeNiFBEDKEWAAAAAAGJo8LyMwAKQcAQYAAACAofF4ZbIGBoAUc9ldAAAAAIDeHnvsMe3evVt+v1/r1q2TJP30pz/Vq6++KpfLpTFjxujWW2+Vz+fr89rbbrtNeXl5cjgccjqdWrt2beoL9vgYgQEg5QgwAAAAgAwzd+5cLVy4UJs3b463XXjhhbruuuvkdDr1zDPP6Nlnn9X111/f7+vvu+8+FRYWpqtcyeOVmhrS934ARiSmkAAAAAAZZvLkycrPz+/VdtFFF8npdEqSzjvvPNXX19tRWr8MD2tgAEg9RmAAAAAAw8y2bds0e/bsUz6/Zs0aSdJVV12lysrKfq+pqqpSVVWVJGnt2rUKBoMJ1eByueKvaS4uUcdbHQnfI1Od3Ldskq39krK3b9naL2lwfSPAAAAAAIaRX//613I6nbriiiv6fX716tUKBAJqamrSAw88oLKyMk2ePLnPdZWVlb3Cjdra2oTqCAaD8ddEDYfMttaE75GpTu5bNsnWfknZ27ds7ZfU07eysrIBv4YpJAAAAMAwsX37dr366qu6/fbbZRhGv9cEAgFJkt/v18yZM1VdXZ36wjxeKRyWGepK/XsBGLEIMAAAAIBhYO/evfrNb36jlStXKjc3t99rOjo61B7bzrSjo0P79u3TWWedlfriPF7ryDoYAFLI9ikkA90OCgAAABgpNmzYoAMHDqilpUXLli3T0qVL9eyzzyocDmv16tWSpEmTJulrX/ua6uvr9fjjj2vVqlVqamrSww8/LEmKRCL69Kc/rWnTpqW+4O4Ao61NKixO/fsBGJFsDzAS2Q4KAAAAGAlWrFjRp23evHn9XhsIBLRq1SpJ0pgxY/TQQw+ltLb+GB6fTEnqaEv7ewMYOWyfQpLJ20EBAAAAGID4FBICDACpY3uAcbJt27alZ4gbAAAAgOTJYw0MAKmXlikkq1evVmNjY5/2L3/5y5o5c6akM28HJQ19r+pkyOZ9eEcyPtfsxWebnfhcsxOfa/bisx0BYiMwzPY29b83CgAMXVoCjH/5l3857fPd20Hde++9p9wOShr6XtXJkM378I5kfK7Zi882O/G5Zic+1+xl12dbVlaW9vccsbyxRfiZQgIghWyfQjKQ7aAAAAAAZLA81sAAkHq270KyZcuWfreDAgAAADA8GE6n5M5lDQwAKWV7gLFx40a7SwAAAAAwVB4fIzAApJTtU0gAAAAAZAGPlwADQEoRYAAAAAAYOo9XJgEGgBQiwAAAAAAwdB4fa2AASCkCDAAAAABD5/EwhQRAShFgAAAAABgyw+OTOggwAKQOAQYAAACAoWMRTwApRoABAAAAYOg8PqmzQ2YkYnclALIUAQYAAACAofN4rCPTSACkCAEGAAAAgKHz+KxjGzuRAEgNAgwAAAAAQ2Z4vNZJR7u9hQDIWgQYAAAAAIauewRGOyMwAKQGAQYAAACAocuLjcBgJxIAKUKAAQAAAGDoYlNITEZgAEgRAgwAAAAAQ+ftHoHBGhgAUoMAAwAAAMDQsQYGgBQjwAAAAAAwZEaOW8rNk1qa7S4FQJYiwAAAAACQHIVFUnOD3VUAyFIEGAAAAACSw18ss4kAA0BqEGAAAAAASI7CYqm50e4qAGQpAgwAAAAASWH4iyRGYABIEQIMAAAAAMlRWCy1tcoMheyuBEAWIsAAAAAAkBz+YuvINBIAKUCAAQAAACApjMLuAINpJACSjwADAAAAQHL4i6wj62AASAGX3QUAAAAA6O2xxx7T7t275ff7tW7dOklSa2ur1q9fr+PHj2vUqFH65je/qfz8/D6v3b59u379619LkpYsWaK5c+emr/DYCAyzuUFG+t4VwAjBCAwAAAAgw8ydO1d33313r7bnnntOU6dO1aOPPqqpU6fqueee6/O61tZW/epXv9L3v/99ff/739evfvUrtba2pqtsqdBvHZtYAwNA8hFgAAAAABlm8uTJfUZX7Nq1S3PmzJEkzZkzR7t27erzur179+rCCy9Ufn6+8vPzdeGFF2rv3r1pqVmSDFeOlF/AGhgAUoIpJAAAAMAw0NTUpOJia4pGUVGRmpqa+lxTX1+vkpKS+ONAIKD6+vp+71dVVaWqqipJ0tq1axUMBhOqx+Vy9fua2uKgXO1tKkrwfpnkVH0b7rK1X1L29i1b+yUNrm8EGAAAAMAwYxiGDGNoq0xUVlaqsrIy/ri2tjah1weDwX5fE8kvVKT2o4Tvl0lO1bfhLlv7JWVv37K1X1JP38rKygb8GgIMAAAAIAneeOONAV3ncDg0efLkhO/v9/vV0NCg4uJiNTQ0qLCwsM81gUBABw4ciD+ur68f1HsNhVFYJPPdt9L6ngBGBgIMAAAAIAlWr16tUaNGyTTN017X3Nysn/70pwnfv6KiQi+++KIWL16sF198UTNnzuxzzbRp0/Tzn/88vnDna6+9puuuuy7h9xoSf7HU3CDTNIc8SgQATkaAAQAAACRBbm6uNm3adMbrbrrppjNes2HDBh04cEAtLS1atmyZli5dqsWLF2v9+vXatm1bfBtVSXr33Xf1pz/9ScuWLVN+fr6++MUvatWqVZKka665pt+tVlOqsFjq6pI62iWPN73vDSCrEWAAAAAASfDtb397QNd961vfOuM1K1as6Lf93nvv7dNWXl6u8vLy+ON58+Zp3rx5A6olJfxF1rGpgQADQFKxjSoAAACQBFOnTh3QdRdccEGKK7GXUWjtlMJWqgCSjREYAAAAQJL9z//8j8455xyNGzdOR48e1eOPPy6Hw6F//ud/1tixY+0uL7X8VoBhNjWKFTAAJBMjMAAAAIAk27p1a3ztiaefflrl5eU6//zz9ZOf/MTmytKAERgAUoQAAwAAAEiy5uZmFRUVqaurS2+//bauvfZaXXPNNfrb3/5md2mp58uXnE5rDQwASCKmkAAAAABJVlhYqA8//FBHjhxReXm5cnJy1NnZaXdZaWE4HFJBESMwACQdAQYAAACQZF/84he1cuVKORyO+Hanr7/+us4++2ybK0sTf7HMpka7qwCQZQgwAAAAgCTp7OxUbm6u5s6dq8suu0ySlJubK0maNGnSKbdHzTqFRVJTvd1VAMgyBBgAAABAktx6662aMGGCLr74Ys2YMUOlpaXx5/x+v42VpZfhL5Z55JDdZQDIMgQYAAAAQJI8/vjjevPNN7Vnzx794Ac/UDQa1bRp03TxxRfrggsukMs1Qn79LiyWWhplRiMyHE67qwGQJUbIf0EBAACA1HO5XJo6daqmTp2qG264QR999JH27NmjP/zhD9q4caPOO+88XXzxxbrkkktUVFRkd7mp4y+SolGptcWaTgIASUCAAQAAAKTImDFjtHDhQi1cuFBdXV16/fXXtWfPHjmdTs2fP9/u8lLG8BfLlKydSAgwACQJAQYAAACQZNFotE+by+XSjBkzNGPGDBsqSrPCYuvY1CiNs7cUANmDAAMAAABIsmuvvbbfdqfTqeLiYs2aNUtLly5VXl5emitLE7816sJsapBhcykAsgcBBgAAAJBkN910k3bt2qXFixerpKREtbW1+u1vf6vp06errKxMv/zlL/Xkk09q2bJldpeaGt0jMJob7K0DQFYhwAAAAACS7He/+51+8IMfyOv1SpLKyspUXl6uu+66Sxs3btRZZ52llStX2lxl6hh5Hik3z5pCAgBJ4rC7AAAAACDbtLW1qbOzs1dbZ2en2traJElFRUXq6uqyo7T0KSxiBAaApGIEBgAAAJBkc+bM0QMPPKB/+Id/UDAYVF1dnX7/+99rzpw5kqTXXntNZWVlNleZYv5imU0EGACShwADAAAASLLrr79epaWl2rFjhxoaGlRUVKSrr75alZWVkqQpU6boe9/7ns1VplhhsXTsfburAJBFCDAAAACAJHM4HFqwYIEWLFjQ7/NutzvNFaWf4S+S+dY+u8sAkEUIMAAAAIAkM01TL7zwgnbs2KHm5mY9/PDDOnDggBobGzV79my7y0uPwmKprVVmKCQjJ8fuagBkARbxBAAAAJJs69at+u///m/Nnz9ftbW1kqSSkhL95je/sbmyNPJ3b6XKTiQAkoMAAwAAAEiyF198UStXrtTll18uwzAkSaNHj1ZNTY3NlaWPUdgdYLCQJ4DkIMAAAAAAkiwajSovL69XW0dHR5+2rOYvso7sRAIgSQgwAAAAgCS7+OKL9fTTTysUCkmy1sTYunWrZsyYYXNlaRQbgWEyAgNAkhBgAAAAAEl2ww03qKGhQTfeeKPa2tp0ww036Pjx4/rKV75id2npU+i3jk2sgQEgOdiFBAAAAEgyr9erb3/722psbFRtba2CwaCKiorsLiutDFeOlF/AGhgAkoYAAwAAAEiCaDTap62wsFCFhYW9nnc4RtAg6MJimayBASBJCDAAAACAJLj22msHdN3WrVtTXEkG8RezjSqApCHAAAAAAJJg06ZN8fPdu3dr586d+sIXvqBgMKja2lr95je/0axZs2ysMP2MwiKZ775ldxkAsgQBBgAAAJAEo0aNip8///zzWrt2rXw+nySprKxMEydO1KpVq7RgwQK7Skw/f7HU3CDTNGUYht3VABjmCDAAAACAJGtra1NnZ2c8wJCkrq4utbW1Dem+R48e1fr16+OPa2pqtHTpUi1atCjetn//fv3whz/U6NGjJUmzZs3SNddcM6T3HbTCYqmrS+polzxee2oAkDUIMAAAAIAkmzNnjlavXq1FixappKREdXV1+sMf/qA5c+YM6b5lZWV66KGHJFmLgn7961/XJZdc0ue6888/X3fdddeQ3isp/LGdV5oaCDAADBkBBgAAAJBk119/vUpLS7Vjxw41NDSoqKhIV199tSorK5P2Hq+//rpKS0t7TV3JNEZhsUzJ2kq1dKzd5QAY5ggwAAAAgCRzOBxasGBBSte7eOmll3T55Zf3+9zBgwf17W9/W8XFxfrqV7+q8ePHp6yO0/IXS5LMpkaxAgaAoSLAAAAAAJLgtdde00UXXXTG6/bt26cLL7xwSO8VDof16quv6rrrruvz3IQJE/TYY48pLy9Pu3fv1kMPPaRHH320z3VVVVWqqqqSJK1du1bBYDChGlwu1xlfE3W7dFxSfqRL3gTvb6eB9G04ytZ+Sdnbt2ztlzS4vhFgAAAAAEnwyCOP6KmnnjrjdevXr9cTTzwxpPfas2ePJkyYoKKioj7Peb09a01Mnz5dW7ZsUXNzswoLC3tdV1lZ2WtKS21tbUI1dG8PezpmNCo5nWo9+oHaEry/nQbSt+EoW/slZW/fsrVfUk/fysrKBvwaAgwAAAAgCTo6OvSNb3zjjNeFw+Ehv9fppo80NjbK7/fLMAxVV1crGo2qoKBgyO85GIbDIRUUWWtgAMAQEWAAAAAASXDfffcN6DrDGNpqEB0dHdq3b5++9rWvxdv++Mc/SpIWLFignTt36o9//KOcTqfcbrdWrFgx5PccEn+xzKZG+94fQNYgwAAAAACSYPLkyWl5n7y8PP37v/97r7aTFwtduHChFi5cmJZaBqSwSGqqt7sKAFnAYXcBAAAAALKX4S+WmphCAmDoCDAAAAAApE5xidTcKDMcsrsSAMMcAQYAAACA1AmWSqYp1R23uxIAwxwBBgAAAICUMYJjrJPaj+wtBMCwxyKeAAAAQJJEIhG98sor2r17tw4fPqwTJ07I5/Pp7LPP1sUXX6yZM2fK6XTaXWZ6jSqVJJnHP5SNe6EAyAIEGAAAAEAS/PGPf9Szzz6rcePG6fzzz9eMGTOUl5enjo4OffDBB3rhhRf01FNP6Qtf+EKvXUOynr9YcuVItR/aXQmAYY4AAwAAAP+vvXuPjrI89D3+eyb3C7lMJhcSEkkQhKCACAUtIpeIbqq71mVtrbXVqkfFpcWu7ZZlW+06VEGFBRtF0aMH3T3d7mpPL4fqqZa6vFQ2PVCgUBABRQUh9wu5JzPznD8mRiKoSRjyzEy+n7Vmzcw7M1m/x3dcvPnleZ8XYVBZWally5YpKyvrhNe+8pWvSJIaGhq0YcOGoY7mlPF4JF+eLKeQADhFFBgAAABAGHzve9/70vdkZ2f3630xx1cg1VBgADg1LOIJAAAAhNkNN9xw0u033XTTECeJDMaXzykkAE4ZBQYAAAAQZoFA4IRtfr9fwWDQQZoIkJsvtbXKtra4TgIginEKCQAAABAm9913n4wx6u7u1v3339/ntbq6Oo0bN85RMreMr0BWCl1KNS3ddRwAUYoCAwAAAAiTefPmSZIOHDiguXPn9m43xigzM1Nnn322q2hu+fJD97WV0hlj3GYBELUoMAAAAIAwmTNnjiRp7NixKioqchsmkvQUGLa2SsZxFADRizUwAAAAgDDYunVr7+MvKi+Of99wYVLTpPQRUg0LeQIYPGZgAAAAAGHw9ttv6/nnn9esWbNUXl6uwsJCpaSkqL29XUePHtWePXv01ltv6YwzztC0adNcxx16OfmytVxKFcDgUWAAAAAAYfDDH/5QH330kf70pz/pscceU3V1de9rBQUFOvfcc7V48WIVFxc7TOmOyS2Q/eh91zEARDEKDAAAACBMSkpKdOONN0qSOjs71draqrS0NCUlJTlOFgFy86Xtm2WDARlPnOs0AKIQa2AAAAAAYfbhhx8qKSlJXq+X8uITvnwp4Jca610nARClmIEBAAAAhNny5cvV2dmp8ePHq7y8XOXl5SotLZUxw/caHMZXICtJNVWSN9d1HABRiAIDAAAACLMnnnhCVVVVeuedd7Rnzx698nh2lOQAAB5XSURBVMoram5u1vjx47VkyRLX8dzILZAk2dpKmbPOdhwGQDSiwAAAAABOg/z8fAUCAfn9fvn9fu3YsUNNTU2uY7mT7ZOMR+JKJAAGiQIDAAAACLNVq1Zp37598nq9Ki8v16xZs3TzzTcrJSXFdTRnTHy85PVJNZWuowCIUiziCQAAAITZwYMH5fF4dMYZZ+iMM87Q6NGjh3V50Su3QJYZGAAGiRkYAAAAQJitWbNGDQ0NvWtg/P73v1dXV5cmTJigW2+91XU8Z4wvX3bXVtcxAEQpZmAAAAAAp0F2drYKCwtVUFCg3NxcNTY2avv27a5jueXLl5oaZDs7XScBEIWYgQEAAACE2UMPPaS9e/cqJSVF5eXlOu+883Tddddp5MiRrqO51XMlEtVWSUUlbrMAiDoUGAAAAECYzZgxQzfccIPy8vJcR4koxpcvK1FgABgUCgwAAAAgzObMmeM6QmTqmYFhaytlHEcBEH1YAwMAAADA0EjPkJKSuZQqgEGhwAAAAAAwJIwxki+fS6kCGBQKDAAAAABDJ7cgtAYGAAwQa2AAAAAAUeT2229XcnKyPB6P4uLitHz58j6vW2u1fv16bd++XUlJSVq0aJHKysocpT2R8eXL7tkha21oRgYA9BMFBgAAABBl7r//fmVkZJz0te3bt6uyslJr1qzR/v379fTTT+vBBx8c4oRfwFcgdXVKzU1SRpbrNACiCKeQAAAAADFk69atmj17towxGjdunFpbW9XQ0OA6Vi+Tmx96wEKeAAaIGRgAAABAlHnggQckSRdffLEqKir6vFZfXy+fz9f7PCcnR/X19crOzu7zvo0bN2rjxo2SpOXLl/f5TH/Ex8cP+DOS5B87XnWS0jvblDKIzw+FwY4t0sXquKTYHVusjksa3NgoMAAAAIAosnTpUnm9XjU1NennP/+5CgsLVV5ePuCfU1FR0af8qK2tHdDnfT7fgD8jSdaTKElqPnhAreVTB/z5oTDYsUW6WB2XFLtji9VxSZ+OrbCwsN+f4RQSAAAAIIp4vV5JUmZmpqZPn64DBw6c8Prxv/DU1dX1fiYSmKQkKdPLKSQABowCAwAAAIgSHR0dam9v7328c+dOlZSU9HnPtGnT9Oabb8paq3379ik1NfWE00ec8+XJcilVAAMUMaeQbNiwQb/4xS/09NNPf+6KygAAAMBw1tTUpBUrVkiSAoGAZs2apSlTpujVV1+VJC1YsEDnnnuutm3bpjvvvFOJiYlatGiRy8gnZXILZPfvcR0DQJSJiAKjtrZWO3fujNnFSQAAAIBwyM/P1yOPPHLC9gULFvQ+NsbopptuGspYA+crkP76pqy/WyY+wXUaAFEiIk4hee6553TttdfKGOM6CgAAAIDTzZcv2aBUX+M6CYAo4nwGxpYtW+T1ejV69Ogvfe+pXuopHGL5MjbDGfs1drFvYxP7NTaxX2MX+xafZXLzZSWptkrK6/8VCAAMb0NSYCxdulSNjY0nbP/2t7+t3/72t/rJT37Sr59zqpd6CodYvozNcMZ+jV3s29jEfo1N7NfY5WrfDuTSfBhiuSMlSbbqqEz5uY7DAIgWQ1Jg/PSnPz3p9o8++kjV1dW6++67JYUu8XTPPfdo2bJlysrKGopoAAAAAIZalldKTZMOf+A6CYAo4vQUkpKSEj399NO9z2+//XYtW7aMq5AAAAAAMcwYIxWXyR4+6DoKgCgSEYt4AgAAABheTHGpdPgD2WDAdRQAUSKiCoy1a9cy+wIAAAAYDkaVSl2dUvVR10kARImIKjAAAAAADA+muFSSZA9xGgmA/qHAAAAAADD0CouluHiJAgNAP1FgAAAAABhyJj5BGjmKGRgA+o0CAwAAAIATpriUGRgA+o0CAwAAAIAbxWVSU73ssUbXSQBEAQoMAAAAAE6YUaNDDw4zCwPAl6PAAAAAAOAGVyIBMAAUGAAAAACcMOkZktfHOhgA+oUCAwAAAIA7o0qZgQGgXygwAAAAADhjikulysOy3V2uowCIcBQYAAAAAJwxxWVSMCgd+ch1FAARjgIDAAAAgDvFoyVJ9qP33eYAEPEoMAAAAAC44yuQklJYyBPAl6LAAAAAAOCM8Xik4tGyhykwAHwxCgwAAAAATplRpdKhg7LBoOsoACIYBQYAAAAAt4pLpY52qa7adRIAEYwCAwAAAIBTprgs9IB1MAB8AQoMAAAAAG4VlUjGI0uBAeALUGAAAAAAcMokJkkFRbKHuJQqgM9HgQEAAADAOVNcyikkAL4QBQYAAAAA90aVSvU1sq0trpMAiFAUGAAAAACcM8WloQeHmYUB4OQoMAAAAAC4VxIqMFgHA8DniXcdAAAAAED/1NbWau3atWpsbJQxRhUVFVq4cGGf9+zevVsPP/yw8vLyJEkzZszQVVdd5SLugJiMbCkjSzr0gesoACIUBQYAAAAQJeLi4nTdddeprKxM7e3tWrJkiSZNmqRRo0b1ed+ECRO0ZMkSRylPQXGp7EfvuU4BIEJxCgkAAAAQJbKzs1VWViZJSklJUVFRkerr6x2nCh9z5gTp4w9lW465jgIgAlFgAAAAAFGourpaBw8e1JlnnnnCa/v27dPdd9+tBx98UIcOHXKQbnDMhCmStdK7u1xHARCBOIUEAAAAiDIdHR1auXKlrr/+eqWmpvZ5rbS0VI8//riSk5O1bds2PfLII1qzZs0JP2Pjxo3auHGjJGn58uXy+XwDyhAfHz/gz3wZmz1TNSmpSnr/XWVc8vWw/uyBOB1jiwSxOi4pdscWq+OSBjc2CgwAAAAgivj9fq1cuVIXXnihZsyYccLrxxcaU6dO1TPPPKNjx44pIyOjz/sqKipUUVHR+7y2tnZAOXw+34A/0x923Nlq375ZXafhZ/fX6Rqba7E6Lil2xxar45I+HVthYWG/P8MpJAAAAECUsNZq3bp1Kioq0mWXXXbS9zQ2NspaK0k6cOCAgsGgRowYMZQxT4mZMEWqqZStqXQdBUCEYQYGAAAAECXeffddvfnmmyopKdHdd98tSbrmmmt6/0K7YMECbd68Wa+++qri4uKUmJioxYsXyxjjMvaAmPLJspLsO3+XyS1wHQdABKHAAAAAAKLE+PHj9cILL3zhey699FJdeumlQ5ToNCgYJWV5pXf+Ls2+xHUaABGEU0gAAAAARAxjjMyEybJ7/y4bDLqOAyCCUGAAAAAAiCwTpkgtzdLhg66TAIggFBgAAAAAIoqZMElSaB0MAPgEBQYAAACAiGKycqSRxbJ7KDAAfIoCAwAAAEDEMeVTpAO7Zbu7XEcBECEoMAAAAABEHDNhitTVJb2313UUABGCAgMAAABA5DlrouTxsA4GgF4UGAAAAAAijklOlcrOosAA0IsCAwAAAEBEMhMmSx8ckG1tcR0FQASgwAAAAAAQkcyEKZINSu/udB0FQASgwAAAAAAQmUrHSUkpnEYCQBIFBgAAAIAIZeLjpXETZfdQYACgwAAAAAAQwUz5ZKn6iGxdtesoAByjwAAAAAAQsczEqZIku/2/HCcB4BoFBgAAAICIZUYWS6PHyv5lo6y1ruMAcIgCAwAAAEBEM1+tkD7+UProPddRADhEgQEAAAAgopmvXCglJMr+ZaPrKAAcosAAAAAAENFMarrM1PNl//qGbFen6zgAHKHAAAAAABDxzFcrpPZW2e2bXUcB4AgFBgAAAIDId9Y5ki9f9m1OIwGGKwoMAAAAABHPeDwyX50vvfN32doq13EAOECBAQAAACAqmPPnS8bIbvqz6ygAHKDAAAAAABAVTE6uNGGK7Nt/lg0GXMcBMMQoMAAAAABEDTPrYqm+Rtq703UUAEOMAgMAAABA1DBTZkhpI2T/wmKewHBDgQEAAAAgapiEBJkZF8lu3yzb2uw6DoAhRIEBAAAAIKqYr1ZI/m7Zv77hOgqAIUSBAQAAACCqmJIyqWSM7Gsvyfr9ruMAGCIUGAAAAACijuefr5GqPpZ96xXXUQAMEQoMAAAAANFn0nRp/CTZ//Mfsm0trtMAGAIUGAAAAACijjFGnm/+QGptkX3pRddxAAyBeNcBAAAAAPTfjh07tH79egWDQc2fP19XXHFFn9e7u7v12GOP6f3339eIESO0ePFi5eXlOUp7epmSMpkL5su+tkH2oktl8ka6jgTgNGIGBgAAABAlgsGgnnnmGd17771atWqV3n77bR0+fLjPe1577TWlpaXp0Ucf1de+9jX98pe/dJR2aJgrrpXi4hX8zXOuowA4zSgwAAAAgChx4MABFRQUKD8/X/Hx8brgggu0ZcuWPu/ZunWr5syZI0maOXOm/vGPf8ha6yDt0DBZOTKXXCn9bZPs/j2u4wA4jTiFBAAAAIgS9fX1ysnJ6X2ek5Oj/fv3f+574uLilJqaqubmZmVkZPR538aNG7Vx40ZJ0vLly+Xz+QaUJT4+fsCfOV3sNTeq9u0/yfOb5+R96H/IeE7t77SRNLZwitVxSbE7tlgdlzS4sVFgAAAAAMNQRUWFKioqep/X1tYO6PM+n2/Anzmd7D9fK//61ap5+TfyzJxzSj8r0sYWLrE6Lil2x3a6x2UDAam7U+rulrq7Pr33d5/w2Pq7P93uP+7W7ZcC3ZLfL2VkybPwmwMaW2FhYb/zUmAAAAAAUcLr9aqurq73eV1dnbxe70nfk5OTo0AgoLa2No0YMWKoow45M3OO7J83yP7m32XPnSmTlOw6EjBoNhiQOjsVqK+RrToqdXZIXR1SZ6fU2SHb1Rl63tUZ2tbVFXrcc7Pdn9nW3RV63v2ZWzB46mGNR0qIl+ISpOJSqZ8FxmBQYAAAAABRYsyYMTp69Kiqq6vl9Xq1adMm3XnnnX3ec9555+n111/XuHHjtHnzZk2cOFHGGEeJh47xeOT51k0KrrhXwf+5Wp5b/vWUTyUBBsJ2d0vtrVJ7m9TRJrW1Sh3tsu1tUmd7z/b20Gsd7bKdHT3P20MFxSf3nR2hckFSv+deeDxSYtKnt4TEnseJUkqalJktk5DYsz1Riu+5/2RbQkLvvUnoeT0hvuc+IXSL73lPfMKnt4R4GU/caftv+lkUGAAAAECUiIuL0w9+8AM98MADCgaDmjt3roqLi/WrX/1KY8aM0bRp0zRv3jw99thjuuOOO5Senq7Fixe7jj1kzLiJMlddL/vietnf/4fMN77rOhKiiA0GQyVDa7PU2iK1Nsu2tYSKiLaWnltraFt7T0HR3hba3t4WOp3iy8TFSUkpUnLPLSk5dJ+ZHZo19Mm2pNB9eo5PLd3dMonJPduTpD6Pe25x8cOiqKTAAAAAAKLI1KlTNXXq1D7bvvWtb/U+TkxM1I9+9KOhjhUxzMVXSEcPy778goIFRfKcP9d1JDgQKiNapeYmqfmY1HJMtrkp9Ly1OfS8pbnncc99W4v0RVfsiU+Q0tJDMxpS06T0ETK5BaHnKamhW2qalJwq88nz5FQpJSV0n5wiJSQOqGhI9fnUFoNrewwWBQYAAACAmGGMka69VbamUvbfH5XNzZc5s9x1LISBDQaklmNSU6PU1CB7rEE61ig1Naqpq12B2mrpWE9J0dIkBQIn/0GJSVJ6hpQ+QkobIZOTJ6WNCD1PTZfS0mXSeh6npktpaVJqukxi0tAOGCegwAAAAAAQU0x8gjy3LVHwwX9R8PFl8ty7QsaX7zoWPoe1NlRMNNRJTfWyDXVSY53UWC/b1CA1NUiN9VJz48kXnUxMUnd2TqhsyMmVGX2mNCKz92bSM3oeZ0jpGRQRUYwCAwAAAEDMMWkj5Lnjpwouu1vBR5fKs+Th0LR+DDnb1iLV10h1tbL1NVJDjVRfK9tQGyotGmpDl+A8njGhWRKZXinLKzNqdM/jbJmMbCkzS8rIkjKyZZJTYvYyquiLAgMAAABATDIFo+S55R4F/+1nCq6+X55b7pHx+lzHiinW2tD6EXXVUm2VbG21VNdzX18TurW39f1QXLyU5ZW8PpnScdLU86Vsn0xWTmh7Vk5oUct4fl1FX3wjAAAAAMQsUz5Fnv/2rwqu/zcFf36XPDf/i8yEya5jRRXr90v11VJ1pWxtpVRTKVtTKdVUSbWVoct/Hi81TfLmSbkFMmedEzqtw5sr5eRJ2T4pI4tL3GJQKDAAAAAAxDRz3gXyFJYo+MQyBVfdL/P178j801X8En0c6/eHZlFUfSxbfUSqOipbc1SqPhrafvzaEwmJki9f8uXLjJsYuvflhwoKX55Marq7gSCmUWAAAAAAiHlm5Ch57l0h+4vHZX/3v2Tf2yvPjXeFrjYxTFhrZRvrpMqPZSs/lqqOyFaF7lVb2bekSEmT8kbKjB4rTZ8depxbIOUVhNadoPyBAxQYAAAAAIYFk5wi3fQj6cwJsr96WsH//kOZr31L5vx5MgkJruOFje3qlKqP9BQVh3sLi5qqI7Idx61HkZgo5RXKFJdK074q5RfK5BVK+UVS+ojQJWmBCEKBAQAAAGDYMMbIzF0oO/pMBX+5TvYXa2U3PC9z8ddlZl8aKjmigLU2dHnRqo9ljx4O3feUFaqrlqz99M05eVJBkZLP/po6MnNk8gulgiIpK4eZFIgqFBgAAAAAhh1TOk6eH6+U3tmh4Mu/ln1xvexLL8rMu0yBy78peSJjRoZtb5Oqj8hWHQmd6lH5cc9pHx/3XTwzMUkqKJIpO0u6YH7occGo0AyLpCRJUobPpy4uNYooRoEBAAAAYFgyxkjl5yqu/FzZ999V8P/+b9k//Kdq//CfoTUfxk+WmTBJOmuSzIiM05LBBgJSY51UWy1bVyXV9lyOtPpIaAHN5qa+H/DmhsqJ8+eF7vOLpIJRUjazKRD7KDAAAAAADHum7CzF3X6vbNURpb3/jpr/9l+y/+8N2Tf/KBkjjSwOXW3Dmyt5fZI3VybbJyUnS544KS4udO/xSDYYmh3Rc7Md7VJ7m3SsUWqql21qCJ3+0VQfug8EjgtipExvqECZMiN0nzdSyiuUckf2zqYAhiMKDAAAAADoYfILlTpxktrOnx+aHfHBftm9O2UP7pPqa2Tf2yu1NkuS7Jf8rJNKHxEqKDKzZXrWoQhdhjQvdGnS7NyYWlAUCCcKDAAAAAA4CRMXJ40ZLzNmfJ/ttrNDqq+VGmqkrk4pEJQNBkIzKYIBSSa0GGhKqpSc0nNLlUZkyMRTTgCDRYEBAAAAAANgkpKlkaNCt0+2OcwDDBes8gIAAAAAACIeBQYAAAAAAIh4FBgAAAAAACDiUWAAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeBQYAAAAAAAg4lFgAAAAAACAiEeBAQAAAAAAIh4FBgAAAAAAiHgUGAAAAAAAIOJRYAAAAAAAgIhnrLXWdQgAAAAAAIAvwgyMAVqyZInrCDgN2K+xi30bm9ivsYn9GrvYt7EplvdrrI4tVsclxe7YYnVc0uDGRoEBAAAAAAAiHgUGAAAAAACIeHE/+9nPfuY6RLQpKytzHQGnAfs1drFvYxP7NTaxX2MX+zY2xfJ+jdWxxeq4pNgdW6yOSxr42FjEEwAAAAAARDxOIQEAAAAAABGPAgMAAAAAAES8eNcBosWOHTu0fv16BYNBzZ8/X1dccYXrSAiD2tparV27Vo2NjTLGqKKiQgsXLnQdC2ESDAa1ZMkSeb3emL4E1XDT2tqqdevW6dChQzLG6LbbbtO4ceNcx8Ip+sMf/qDXXntNxhgVFxdr0aJFSkxMdB0Lg/D4449r27ZtyszM1MqVKyVJLS0tWrVqlWpqapSbm6u77rpL6enpjpPiVMTSsXGsfmc/7zg32sfW1dWl+++/X36/X4FAQDNnztTVV1+t6upqrV69Ws3NzSorK9Mdd9yh+Pjo/HX3s8ewsTC222+/XcnJyfJ4PIqLi9Py5csH9V1kEc9+CAaDevDBB/XjH/9Y3/jGN7R+/XqVl5crIyPDdTScos7OTo0bN07XXHONZs+erSeffFLnnHMO+zZGvPTSS/L7/fL7/Zo1a5brOAiTp556Suecc44WLVqkiooKpaam8otulKuvr9dTTz2lFStWaOHChdq0aZP8fr9Gjx7tOhoGIS0tTXPnztWWLVt0ySWXSJJeeOEFFRcX66677lJDQ4N27typSZMmOU6KwYq1Y+NY/c5+3nHuH//4x6gem8fj0axZs7Rw4ULNnz9fzz//vIqLi/XrX/9ac+fO1S233KJdu3apoaFBY8aMcR13UD57DPvkk09G/dhefvllLV26VJdffrkqKiokDe7/M04h6YcDBw6ooKBA+fn5io+P1wUXXKAtW7a4joUwyM7O7l35NiUlRUVFRaqvr3ecCuFQV1enbdu2af78+a6jIIza2tr0zjvvaN68eZKk+Ph4paWlOU6FcAgGg+rq6lIgEFBXV5eys7NdR8IglZeXn/AXtC1btuiiiy6SJF100UUcR0W5WDs2jtXv7Ocd50b72IwxSk5OliQFAgEFAgEZY7R7927NnDlTkjRnzpyoG9cnPnsMa62NmbF91mC+i9E178SR+vp65eTk9D7PycnR/v37HSbC6VBdXa2DBw/qzDPPdB0FYfDss8/qu9/9rtrb211HQRhVV1crIyNDjz/+uD788EOVlZXp+uuv7z2QQXTyer26/PLLddtttykxMVGTJ0/W5MmTXcdCGDU1NfWWUllZWWpqanKcCKdiOBwbx9p39vjj3FgYWzAY1D333KPKykpdcsklys/PV2pqquLi4iSF/l2J1j9KfvYYtrm5OWbG9sADD0iSLr74YlVUVAzqu8gMDEBSR0eHVq5cqeuvv16pqamu4+AU/e1vf1NmZmZMXzN7uAoEAjp48KAWLFighx9+WElJSfrd737nOhZOUUtLi7Zs2aK1a9fqySefVEdHh958803XsXCaGGNkjHEdA+i3aP/OftFxbrSOzePx6JFHHtG6dev03nvv6ciRI64jhUUsH8MuXbpUDz30kO6991698sor2rNnT5/X+/tdZAZGP3i9XtXV1fU+r6urk9frdZgI4eT3+7Vy5UpdeOGFmjFjhus4CIN3331XW7du1fbt29XV1aX29natWbNGd955p+toOEU5OTnKycnR2LFjJUkzZ86kwIgBu3btUl5eXu/58zNmzNC+ffs0e/Zsx8kQLpmZmWpoaFB2drYaGhqidq0EhAyHY+NY+c6e7Dg3VsYmhdYvmThxovbt26e2tjYFAgHFxcWpvr4+Kr+TJzuGffbZZ2NibJ9kzszM1PTp03XgwIFBfReZgdEPY8aM0dGjR1VdXS2/369NmzZp2rRprmMhDKy1WrdunYqKinTZZZe5joMw+c53vqN169Zp7dq1Wrx4sc4++2zKixiRlZWlnJyc3r+07Nq1S6NGjXKcCqfK5/Np//796uzslLVWu3btUlFRketYCKNp06bpjTfekCS98cYbmj59uuNEOBXD4dg4Fr6zn3ecG+1jO3bsmFpbWyWFrkiyc+dOFRUVaeLEidq8ebMk6fXXX4/K7+TnHcNG+9g6Ojp6T4np6OjQzp07VVJSMqjvorHW2tOaNkZs27ZNzz33nILBoObOnasrr7zSdSSEwd69e3XfffeppKSkd8rSNddco6lTpzpOhnDZvXu3NmzYwGVUY8gHH3ygdevWye/3Ky8vT4sWLYqqy7/h5F544QVt2rRJcXFxGj16tG699VYlJCS4joVBWL16tfbs2aPm5mZlZmbq6quv1vTp07Vq1SrV1tZG5WUbcaJYOjaO1e/s5x3njh07NqrH9uGHH2rt2rUKBoOy1ur888/XVVddpaqqKq1evVotLS0qLS3VHXfcEdX/jhx/DBvtY6uqqtKKFSskhU4HnjVrlq688ko1NzcP+LtIgQEAAAAAACIep5AAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeBQYAAAAAAAg4lFgAAAAAACAiEeBAQAAAAAAIh4FBgAAAAAAiHgUGAAAAAAAIOJRYABAFKusrNQNN9yg999/X5JUX1+vG2+8Ubt373acDAAAAAgvCgwAiGIFBQW69tpr9eijj6qzs1NPPPGELrroIk2cONF1NAAAACCsjLXWug4BADg1Dz30kKqrq2WM0bJly5SQkOA6EgAAABBWzMAAgBgwf/58HTp0SJdeeinlBQAAAGISBQYARLmOjg4999xzmjdvnl588UW1tLS4jgQAAACEHQUGAES59evXq6ysTLfeequmTp2qp556ynUkAAAAIOwoMAAgim3ZskU7duzQzTffLEn6/ve/r4MHD+qtt95ynAwAAAAILxbxBAAAAAAAEY8ZGAAAAAAAIOJRYAAAAAAAgIhHgQEAAAAAACIeBQYAAAAAAIh4FBgAAAAAACDiUWAAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeP8fDEi1hoY7NQAAAAAASUVORK5CYII=\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -1209,7 +1289,7 @@ "plt.figure(figsize=(15,10))\n", "\n", "plt.subplot(grid[0:2, 0:2])\n", - "plt.plot(track[0,:],track[1,:],\"b*\")\n", + "plt.plot(track[0,:],track[1,:],\"b+\")\n", "plt.plot(x_sim[0,:],x_sim[1,:])\n", "plt.axis(\"equal\")\n", "plt.ylabel('y')\n", @@ -1226,6 +1306,13 @@ "plt.tight_layout()\n", "plt.show()" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/notebook/MPC_cvxpy.ipynb b/notebook/MPC_cvxpy.ipynb index e35241b..0ccbd42 100644 --- a/notebook/MPC_cvxpy.ipynb +++ b/notebook/MPC_cvxpy.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 33, "metadata": {}, "outputs": [], "source": [ @@ -63,7 +63,7 @@ "0 & 0 & vcos(\\theta) & 0 & 0 \\\\\n", "0 & 0 & 0 & 0 & 0 \\\\\n", "0 & 0 & 0 & 0 & 0 \\\\\n", - "0 & 0 & 0 & vcos(-\\psi) & 0 \n", + "0 & 0 & 0 & -vcos(-\\psi) & 0 \n", "\\end{bmatrix}\n", "\\quad $\n", "\n", @@ -80,7 +80,7 @@ "\\sin{\\theta_t} & 0 \\\\\n", "0 & 1 \\\\\n", "0 & -1 \\\\\n", - "\\sin{(-\\psi_t)} & 0 \n", + "-\\sin{(-\\psi_t)} & 0 \n", "\\end{bmatrix}\n", "\\quad $\n", "\n", @@ -105,7 +105,7 @@ "0 & 1 & v\\cos{\\theta}dt & 0 & 0 \\\\\n", "0 & 0 & 1 & 0 & 0 \\\\\n", "0 & 0 & 0 & 1 & 0 \\\\\n", - "0 & 0 & 0 & vcos{(-\\psi)}dt & 1 \n", + "0 & 0 & 0 & -vcos{(-\\psi)}dt & 1 \n", "\\end{bmatrix}\n", "\\quad\n", "$\n", @@ -117,7 +117,7 @@ "\\sin{\\theta_t}dt & 0 \\\\\n", "0 & dt \\\\\n", "0 & -dt \\\\\n", - "\\sin{-\\psi_t}dt & 0 \n", + "-\\sin{-\\psi_t}dt & 0 \n", "\\end{bmatrix}\n", "\\quad\n", "$\n", @@ -211,7 +211,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 34, "metadata": {}, "outputs": [], "source": [ @@ -228,7 +228,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 35, "metadata": {}, "outputs": [], "source": [ @@ -248,7 +248,7 @@ " A = np.zeros((N,N))\n", " A[0,2]=-v*np.sin(theta)\n", " A[1,2]=v*np.cos(theta)\n", - " A[4,3]=v*np.cos(-psi)\n", + " A[4,3]=-v*np.cos(-psi)\n", " A_lin=np.eye(N)+dt*A\n", " \n", " B = np.zeros((N,M))\n", @@ -256,7 +256,7 @@ " B[1,0]=np.sin(theta)\n", " B[2,1]=1\n", " B[3,1]=-1\n", - " B[4,0]=np.sin(-psi)\n", + " B[4,0]=-np.sin(-psi)\n", " B_lin=dt*B\n", " \n", " f_xu=np.array([v*np.cos(theta),v*np.sin(theta),w,-w,v*np.sin(-psi)]).reshape(N,1)\n", @@ -274,7 +274,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 36, "metadata": {}, "outputs": [], "source": [ @@ -329,15 +329,15 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 37, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 3.81 ms, sys: 0 ns, total: 3.81 ms\n", - "Wall time: 3.75 ms\n" + "CPU times: user 7.06 ms, sys: 0 ns, total: 7.06 ms\n", + "Wall time: 6.23 ms\n" ] } ], @@ -367,19 +367,17 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 38, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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j5DhVrhLGmBkYQ5+H5CTM2RPszVnjYjL+ZSGE5VRgEMaoKajeQ+H3Y5iThtvvN5syzbyjuMR1JtM0Wbx4MS+88AIBAQGMGzeO0NDQVINq5gZKKahZH6NKbfsUAJ9/hP5xj1wyyOUuXbrE9u3b2bdvH3/88Qfx8fH4+Phw7733UrNmTZo1a0bhwoWtjikyQSmFavIQumptzBUL0asXofd8a5/Ko0Tu+rxyBZkuUEuXLqVZs2bcd999OR7i+PHjBAUFpcwq2rBhQ6KiorJcoCZMKMyxYx4kJgbkeMbs8vRML88w9I1B8M/fsO0q+FyxD1qbg/1hspbHGq6Up04dG+PG5ew+V65cybfffkutWrVo0aIFpUqVIn/+/Fy7do2///6bo0eP8txzz/Hggw/Ss2fPnD24cBjlH4gxfDx61zb0qrcxp4xAdeiB7jHA6mi5SqYLlGmaTJs2jcKFC9O4cWMaN25MQEDOfLDExsam2ldAQADHjh27bbuMOhLmz29DKZWjnR7v1h3zeHqiywZjxp0n+ezf8PsxjJJlsPn6WZPHAq6UxzBUjndsDAgIYO7cuWn+jWXLluXBBx/kxo0bbN26NUePKxxPKYVq0BwdUhNz5UL02mXEHvwB3Sscdc99VsfLFbLUSMI0Tfbv38+OHTvYt28fFStWpEmTJtSrVw9vb+9sh9i1axcHDhxgyJAhAGzfvp1jx44xYMCdv424UyOJjOhzZzEXvwYnfkY1CkN1H4TKl/3n9G7zOIsr5XF0I4kLFy7g63v7qPjpLbeaNJLIPK01es93sOot9NUrqHZdUP95DOVh3ZcvV3lubnJ4IwnDMKhTpw4jR45k2rRpXLp0iQULFvDkk0/yxhtvpDuESkb+3ZkwJiYmz3UmVIFBGGNmoNp2Qe/8CnPaaPTZv6yOJXLQiBEj0lw+atQoJycROU0phVH3QYrOew9VpxH64/fs7+E/ZNzDu5GlAhUfH8/WrVuZPHkyEydOpEKFCkyePJnZs2fj7e3N9OnTsxWifPnynDlzhujoaJKSkti5cyehoaHZ2pc7UzYbxqO9MEZNgcsXMac/gz4YZXUskUPSulgRHx8v/ZJyEaOwL8aTozGG/hcuX8Kc/gzm2nfRiTesjuaWMn0PatasWRw8eJD777+fVq1aUbdu3VTX1Z944gn69u2brRA2m43+/fszbdo0TNOkefPmlC5dOlv7yg3U/TUwXpiNuWA65vwXUY/0RLXtLK383NRTTz0FwI0bN1J+vunKlSs0atTIiljCgVTNehjBVdAfvGNvrbt/F0bfCFT5ylZHcyuZLlAVK1ZkwIAB6V4rNwyDt99+O9tBateuTe3atbP9+7mNCgjEeG4melkkev0KiImGHkNkBAo3NHz4cLTWzJgxg+HDh6da5+vrmyc7AecFyqcgqm8Eum5jzHcjMV96DtWyA6pjL9Qtw1GJ9GX6065Dhw4ZbpNPnvQcpbzywcCnIbA4+rMP0HHnMQY/i/L2sTqayIKQkBDAPhyRvEfyHlWlFsbkeeg179oHoD34A0af4ahK1ayO5vLk4reLU0phdOxl771+9ADmaxPQV69YHUtk0saNG0lMTATS/wKXmJjIxo0bnRlLOJny9sHoOQTjGft9evPV/9qbpssA0nck14vchNHkIXShIphvvYw567/2IVcKFbE6lsjAhQsXiIiIoFatWoSEhFCyZEm8vb1JSEjg9OnTHD16lP3799O0aVOrowonUJWqYkych96wAr3lY/ShPRi9h6Kqyu2NtEiBciOqVn2MoS/YG0+88jzGM9NQhV2v/4z4fz169KB9+/Zs27aNrVu3curUKa5evUrBggUpU6YMtWrVonv37hQqVMjqqMJJVL58qC4D0HUaYS6dizlnEqpRS1TnAagCMm/craRAuRlVtTbGiImYcydjzp5gL1IF5MPNlRUuXJgOHTpk6j6uyDtU+coYE163T8XzxVr04f0YvZ5C1axndTSXIfeg3JCqVM3ez+LsX5ivT0Jfk+vYQrgj5emF0ekJ+wSnhQpjzp+G+far6MuXrI7mEuQMyk2pkFoYg5/DfGMm5oLpGCMmWjqsishYfHw8H374IUePHuXy5cupOu4uXLjQwmTCaure8hj/nWWf5eCzD9A/HcToMRjqNMrT/R/lDMqNqZr1UE8Mh58Pod+NTHOkAuE6Fi1axMmTJ3n88ce5cuUK/fv3p2jRorRr187qaMIFKA9PjIe7YbzwGvgHYr75MubCGeiLcVZHs4wUKDdnNGyBeqQH+vuv0R+/Z3UccQeHDh1i9OjR1K1bF8MwqFu3LqNGjWLHjh1WRxMuRN1zH8a4V1CP9YEf92JOGIr5/dd58guoFKhcQLXrinqwFfrAD+gb162OI9KhtcbHx97J2tvbm/j4eHx9fTl79qzFyYSrUTYbRpvHMCbOgRL3oN+ZjTlvKjrWdUYndwa5B5ULKKWg51OoxBv20SeES7r33ns5evQo1apVo3LlyixatAhvb29KlChhdTTholTQPRjPzkB/vRG99l3MScNQj/dDNW6dJ+5NyRlULqE8PFD5ZQgkVzZ48GACAwMB6NevH15eXly9epVhw4ZZnEy4MmXYMFo+jDFpHpQpj14+H3P2BPS53H/mLQVKCCe5dOkSQUFBABQpUoQhQ4YwatQoEhISLE4m3IEKDMIY/SKqdzic/BVz0nDMrz5Fm6bV0RxGCpQQTvLiiy+muXzatGlOTiLclVIKo0kbjMmREFwVveotzFfGoc/+bXU0h5ACJYSDmaaJaZr2acG1TnlsmiZnzpzBZrNZHVG4GeUfiBExAdVvJJw+hTllBOYXa9HJyVZHy1HSSEIIB+vevXvKz926dUu1zjAMHn30UWdHErmAUgrVsAU6pCbmyjfQHy1F7/nOPjFiqXutjpcjpEAJ4WCRkfZO1JMmTWLy5Mlore0fLkpRuHBhvLy8rI4o3Jjy9ccIH4fe8x36vTcwp45Cte+C7jXE6mh3TQqUEA52s+XeggULAPslv4sXL+Ln52dlLJGLKKVQdR9EV66GXvU2esN7xB7cje41FHVveavjZZvcgxLCSa5evcqcOXPo2bMnERERAOzZs4dVq1ZZnEzkFqpQEYwnn8EY+jzmxQuY00djrluOTrxhdbRskQIlhJO8/fbb+Pj4sGDBAjw87BcvgoOD2blzZ44d45NPPqFLly5cumQfDVtrzTvvvMPw4cN55pln+O2333LsWMJ1qZr1CZi7AtWgOXrjh5hTR6FP/Gx1rCyz/BLf8uXL2bt3Lx4eHhQvXpzw8HAKFChgdSwhctyPP/7Im2++mVKcwD5X1MWLF3Nk/+fPn+fQoUMULVo0Zdn+/fs5e/Ysc+fO5dixYyxatIjp06fnyPGEazMKFsboOwId2hhzeSTmS8+hwjqgHumFyuceI85YfgZVvXp1Zs2axauvvkqJEiVYt26d1ZGEcAgfHx8uX76catn58+dz7F7UsmXL6NmzZ6ohcPbs2UOTJk1QShEcHMzVq1eJi8u7o2PnRapqbYxJkagmD6G/3IA5JQL962GrY2WK5WdQNWrUSPk5ODiYXbt2WZhGCMdp2bIls2bNolu3bmit+fXXX3n//fdp1arVXe87KioKf39/7rvvvlTLY2NjU51RBQQEEBsbm2ZR3LJlC1u2bAFg5syZqX7vVh4eHumuczZXygKulee2LCMncKNlOy7Nn0HyK8+T/z+PUbD3EIz8zrlilZ3nxvICdautW7fSsGHDdNdn5g3kSi8QkDwZcaU8js7yyCOP4OXlxeLFi0lOTmbhwoWEhYXRtm3bTP3+1KlTuXDhwm3Lu3Xrxrp163jhhRfuKl9YWBhhYWEpj8+fT3vk7KJFi6a7ztlcKQu4Vp40s5S4Fz3+ddT6FVzbtJZru3dgPDEUFVLLmjz/U7JkyTSXO6VA3emNVbduXQDWrl2LzWajcePG6e4nM28gV3qBgOTJiCvlyc4bKCuUUrRt2zbTBenfxo8fn+byU6dOER0dzZgxYwCIiYnhueeeY8aMGfj7+6f6m2JiYvD398/W8UXuoPJ5o7oORNdphLlsLubsiahGYagu/VE+Ba2Ol4pTClR6b6ybtm3bxt69e5kwYUKeGEJe5F2nT5/m999/v22A2BYtWmR7n2XKlGHRokUpj4cOHcqMGTMoXLgwoaGhbNq0iUaNGnHs2DF8fHyk/5UAQFW4H2PCHPQn76O/WIc+sg+jVziqxgNWR0th+SW+AwcOsGHDBiZPnkw+N2lZIkR2rF27ljVr1nDvvffe9lq/mwJ1J7Vq1WLfvn1ERETg5eVFeHi4Q44j3JPy9EJ16oOu3RBz6VzMyBdRDzRFdXsSVaiw1fGsL1CLFy8mKSmJqVOnAlCxYkUGDRpkcSohct7GjRuZPn06997r2HHS5s+fn/KzUoqBAwc69HjC/an7KmK88Bp640fojR+gfzqA0WMwKvRBS3NZXqDmzZtndQQhnMLLy4tSpUpZHUOINCkPT1SH7uja9TGXzsN882WI+tZeqIpYc1nY8n5QQuRmt06t0bVrV9555x3i4uJSLTdz8YRzwv2oe8pijHsF1akPHIrCnDgMc9fXaK2dnsXyMyghcrNbp9q46auvvrpt2erVq50RR4hMUTYb6j+PoWvWw1w2F714Nnr3DnsjCn/ndQuRAiWEA0VGRlodQYhsUyXuwXh2BnrrZ+h172JOGoZ6vB+qcWuntLiWS3xCOFBgYGDKv++//z7V45v/fvjhB6tjCpEuZdgwwjpgTJwHZcqjl8/HnD0Bfe6sw48tBUoIJ1mzZk2WlgvhSlSxEhhPT0X1CoeTv2JOjsDc+inagfdQ5RKfEA52+LB9YE7TNFN+vumff/4hf/78VsQSIsuUYaCatkFXrYO5PBL9/lvoqG8x+gxHBeV8C1UpUEI42MKFCwG4ceNGys9g76Pk6+tL//79rYomRLaogECMEZPQ329Fr16EOWUE6pGeqFYdUIYtx44jBUoIB7vZcTYyMpJhw4ZZnEaInKGUQjVsiQ6phblyIfqjJei932H0iUCVKpMjx5B7UEI4iRQnkRspX3+M8OdRTz4D585iTh2J+elqdFLSXe9bCpQQQoi7opTCeKAJxpT5qNoN0BtWYk4fjT514q72KwVKCCFEjlCFimAMGoPx1Di4dAFz2mjMdSvQiYnZ2p/cgxJCCJGjVO0GGJWqolcvtg8+u/97EsdMhUJZm4tMzqCEEELkOFWgEEb/kRgREyE5GeWV9emU5AxKCCGEw6hqdTCq1MSjWHHI4uzZcgYlhBDCobLbN0oKlBBCCJckBUoIIYRLUtqKWaiEEEKIDOS6M6ixY8daHSEVyXNnrpTHlbK4Mld6nlwpC7hWHlfKAtnLk+sKlBBCiNxBCpQQQgiXZJs0adIkq0PktHLlylkdIRXJc2eulMeVsrgyV3qeXCkLuFYeV8oCWc8jjSSEEEK4JLnEJ4QQwiW57VBHBw4cYMmSJZimScuWLenYsWOq9YmJiURGRvLbb79RqFAhRo4cSbFixRyS5fz588yfP58LFy6glCIsLIy2bdum2ubIkSO8/PLLKRnq1avH448/7pA8AEOHDsXb2xvDMLDZbMycOTPVeq01S5YsYf/+/eTLl4/w8HCHXA44ffo0s2fPTnkcHR1Nly5daNeuXcoyZzw3CxYsYN++fRQpUoRZs2YBcOXKFWbPns25c+cIDAxk1KhRFCxY8Lbf3bZtG2vXrgWgU6dONGvWLEezuYuM3nPOltFr3JHu5vXkrDwffPABX331FYULFwage/fu1K5d2+FZ0vs8zNbzo91QcnKyHjZsmD579qxOTEzUzzzzjP7zzz9TbbNp0yb95ptvaq21/vbbb/Vrr73msDyxsbH6xIkTWmut4+PjdURExG15Dh8+rGfMmOGwDP8WHh6uL168mO76vXv36mnTpmnTNPUvv/yix40b5/BMycnJeuDAgTo6OjrVcmc8N0eOHNEnTpzQTz/9dMqy5cuX63Xr1mmttV63bp1evnz5bb93+fJlPXToUH358uVUP+c1mXnPOVtGr3FHyu7ryZl5Vq9erTds2OC0DDel93mYnefHLS/xHT9+nKCgIIoXL46HhwcNGzYkKioq1TZ79uxJ+fZMtvEAACAASURBVKZbv359Dh8+jHbQ7TY/P7+Us4/8+fNTqlQpYmNjHXKsnLJnzx6aNGmCUorg4GCuXr1KXFycQ4/5448/EhQURGBgoEOPk5aQkJDbvq1FRUXRtGlTAJo2bXrbawjsZw3Vq1enYMGCFCxYkOrVq3PgwAGnZHYlmXnP5SXZfT05M49V0vs8zM7z45aX+GJjYwkICEh5HBAQwLFjx9Ldxmaz4ePjw+XLl1NOdx0lOjqakydPUqFChdvW/frrr4wZMwY/Pz969+5N6dKlHZpl2rRpALRq1YqwsLBU62JjYylatGjK44CAAGJjY/Hz83NYnu+++45GjRqluc7Zzw3AxYsXU/5eX19fLl68eNs2/36t+fv7u/yXD0fIzHvOCnd6jTtbZl5PzvbFF1+wfft2ypUrxxNPPOH0Inbr52F2nh+3LFCuKiEhgVmzZtG3b198fHxSrStbtiwLFizA29ubffv28corrzB37lyHZZk6dSr+/v5cvHiRF198kZIlSxISEuKw42UkKSmJvXv30qNHj9vWOfu5SYtSCqWUU48p7o6rvcZv5Qqvp9atW6fcy129ejXvvvsu4eHhTjv+nT4PM/v8uOUlPn9/f2JiYlIex8TE4O/vn+42ycnJxMfHU6hQIYdlSkpKYtasWTRu3Jh69erdtt7Hxwdvb28AateuTXJyMpcuXXJYnpvPR5EiRahbty7Hjx+/bf35W+ZmSes5zEn79++nbNmy+Pr63rbO2c/NTUWKFEm5rBkXF5fm2fW/X2uxsbEOfZ5cVWbec86W0Wvc2TLzenImX19fDMPAMAxatmzJiRMnnHbstD4Ps/P8uGWBKl++PGfOnCE6OpqkpCR27txJaGhoqm3q1KnDtm3bANi1axdVqlRx2DcarTVvvPEGpUqVon379mluc+HChZR7YMePH8c0TYcVzISEBK5du5by86FDhyhTpkyqbUJDQ9m+fTtaa3799Vd8fHwsu7znzOfmVqGhoXzzzTcAfPPNN9StW/e2bWrWrMnBgwe5cuUKV65c4eDBg9SsWdPh2VxNZt5zzpSZ17izZeb15Ey33lPevXu3Uy6bQ/qfh9l5fty2o+6+fftYtmwZpmnSvHlzOnXqxOrVqylfvjyhoaHcuHGDyMhITp48ScGCBRk5ciTFixd3SJaff/6ZCRMmUKZMmZQi2L1795QzlNatW7Np0yY2b96MzWbDy8uLJ554gkqVKjkkzz///MOrr74K2M8eH3zwQTp16sTmzZtT8mitWbx4MQcPHsTLy4vw8HDKly/vkDwJCQmEh4cTGRmZcqp/axZnPDevv/46R48e5fLlyxQpUoQuXbpQt25dZs+ezfnz51M1ez1x4gRffvklQ4YMAWDr1q2sW7cOsDczb968eY5mcxdpveeskt5r3Fmy8nqyKs+RI0f4/fffUUoRGBjIoEGDHPol9Kb0Pg8rVqyY5efHbQuUEEKI3M0tL/EJIYTI/aRACSGEcElSoIQQQrgkKVBCCCFckhQoIYQQLkkKlBBCCJckBUoIIYRLkgIlhBDCJUmBygPOnj1Lv379+O233wD7eHIDBgzgyJEjFicTQoj0SYHKA4KCgujZsyfz5s3j+vXrLFy4kKZNm1KlShWrowkhRLpkqKM85KWXXiI6OhqlFDNmzMDT09PqSEIIkS45g8pDWrZsyZ9//kmbNm2kOAkhXJ4UqDwiISGBZcuW0aJFCz788EOuXLlidSQhhLgjKVB5xJIlSyhXrhxDhgyhdu3avPXWW1ZHEkKIO5IClQdERUVx4MABnnzySQD69OnDyZMn2bFjh8XJhBAifdJIQgghhEuSMyghhBAuSQqUEEIIlyQFSgghhEuSAiWEEMIlSYESQgjhkqRACSGEcElSoIQQQrgkKVBCCCFckhQoIYQQLkkKlBBCCJckBUoIIYRLkgIlhBDCJUmBEkII4ZKkQAkhhHBJHlYHuBunT59Oc3nRokU5f/68k9OkzZWygGvlcaUscOc8JUuWdHKazFmwYAH79u2jSJEizJo167b1WmuWLFnC/v37yZcvH+Hh4ZQrVy5T+5b3V9a5Uh5XygLZe3/JGZQQbqxZs2Y8//zz6a7fv38/Z8+eZe7cuQwaNIhFixY5MZ0Qd8etz6CEyAk6/ir6oyUkPtwF/IpZHSdLQkJCiI6OTnf9nj17aNKkCUopgoODuXr1KnFxcfj5+WXreObqxVzysGGaJnh62f955fvff71QBQqBbwD4+UPBIihDvgOL7JMCJfI0fTAKc8UCuBhHYuWq8IB7FaiMxMbGUrRo0ZTHAQEBxMbGplmgtmzZwpYtWwCYOXNmqt+76fwvh0i4EIO+fh0Sb8C/JuRO9cjDA8MvAJt/IIZ/ILagkniUKY/HveXwuOc+lKfXXf99Hh4eaea0iivlcaUskL08UqBEnqSvXEKvXoTetQ1K3YsR/jw+dRsQ70LX7J0tLCyMsLCwlMdp3i+YMIdi/7uXoLWGpCRIvA43btgL1pVLEBeDvhADF2LQcbEkXoyFk79C1A779gCGAcVLoUqWgXvuRZUpDxXuR/kUzFJmd7rP4myulAWydw9KCpTIc/TenZgrF0L8FdTD3VBtO6M8PK2O5RD+/v6pPhRiYmLw9/fPkX0rpcDT0/7P538LA4OgLKg0ttdJSRB9Gv33H/D3H+i//0CfOgF7v7OfeSkFpcuiKlZBBVeBilVRhQrnSFbhnqRAiTxDX4rDfO9N2LsTypTHGDUFVbqs1bEcKjQ0lE2bNtGoUSOOHTuGj49Ptu8/3S3l4QEly9jPmuo2TlmuE67BH8fRvxxGHzuC3vEF+qtP7CtLlEZVro6qWQ+Cq9r3IfIM+b8tcj2tNfqHb9Cr3obr11CdnkC1fhRls1kd7a69/vrrHD16lMuXLzNkyBC6dOlC0v8uo7Vu3ZpatWqxb98+IiIi8PLyIjw83OLEt1Pe+aFSNVSlagDopET4/bi9WP16GP3dl+ivPwOfAqhqoaha9aFKbfvviVxNCpTI1XRcjL0RxKEoKFcJo28EqkRpq2PlmJEjR95xvVKKgQMHOilNzlAenvb7URXuh/88bm+Q8dMB9P5d6EO70T98Ax6ecH8NrjVpja5UHZXfJ+MdC7cjBUrkSlpr9Ldfoj98B5KTUF0HoFq0Rxnuf9aU16h8+aBmPVTNeujkZDj+E/rALvT+XVyaPx288qHqNEI1CoPgKvZ7YyJXkAIlch19/h/MdyPhp4MQXBWjzzBUMdccCUJkjbLZoFJVVKWq6C4DKBL7Dxc2rkHv3o7+fisEBqEatkQ1bIHyD7Q6rrhLUqBErqFNE/3N5+g1ywCF6jkE1aSNdBbNpZRSeFWqihEQhO4yEL1vJ/q7LegNK9EfvwdVamG0fNh+v0rOqtySFCiRK+h/TmMumwvHjkJILYwnhqICclenW5E+lS8fqkFzaNAcfe4seudW9I7NmHMm21sOtnoEVa8ZyjN3difIraRACbemzWT0lo/R61eChyeqz3BUozD5xpyHqcAg1CM90O06o3fvQH+5Hr1sHnrdclTztqimbaV/lZuQAiXclj59CnPpXPsoBTUewOj1FMo3wOpYwkUoD09UwxboBs3h50OYm9ejN7yH/vwj+32qNo+jAuQ+lSuTAiXcjk5KQn+xFv3pKvDOjxo4GvVAEzlrEmlSSsH9NbDdXwP99yn0lg32Fp7ffolq/JB9JBHfnBldQ+QsKVDCrehTv9nvNZ36DRX6IKr7IFRhX6tjCTehSpVB9RmOfrgb+rMP0Ns32QtV83aoNp1QhYpYHVHcQgqUcAs6MRH92Wr0pjVQoBDGU2NRtRtaHUu4KeUfiOo9FP1QJ/Snq9BfbkB/swkV9jCqdccsD1orHCPDArV169ZM7chms9G0adO7DiTEv+nffrHfazrzJ6pBc1TXgfZ5h4S4S6pYCVT/Uej/PI7++H37WdXWz+yDCDdvJ2P/WSzDZ/+tt97i/vvvz3BHx48fz3SBMk2TsWPH4u/vz9ixY4mOjub111/n8uXLlCtXjuHDh+MhL4w8T9+4br+p/eUG8PXHiJiAqhZqdSyRC6kSpVGDn0W37Yy5Zin6g8Xo7V9gdB2AqlrH6nh5VoZVwMvLi4kTJ2a4o379+mX6oBs3bqRUqVJcu3YNgBUrVtCuXTsaNWrEW2+9xdatW2ndunWm9ydyH/3rEcxl8yD6NKrJQ6jH+qJ8ClgdS+RyqnRZjBGT4NAezA8W2ftRVa+L0WUAqriMRuJsGXaxf+mllzK1oxkzZmRqu5iYGPbt20fLli0B+5hpR44coX79+gA0a9aMqKioTO1L5D464Rrme29ivjIOkpMwnp6K0XuoFCfhNEopVI26GJMiUY/1gV8OY04chvnRUnRCvNXx8pQMz6BKlCiRqR0FBQVlarulS5fSq1evlLOny5cv4+Pjg+1/Ux/4+/sTGxub5u9mZkpqcK2pjl0pC7hWnn9nuX4wiksLZqLPnSV/u8cp2HMIhhNHqXal50ZYT3l6oto8hm7QAr32XXvXhl1f2++Bhj4o3RqcIEs3elavXp3mck9PT/z9/alZsya+vuk3+d27dy9FihShXLlyHDlyJGtJyeSU1LjWVMeulAVcK8/NLDr+KvqjJegdm6F4KYwxM7hRMYTYq/Fw1XnfWLMzJbXVDhw4wJIlSzBNk5YtW9KxY8dU67dt28by5ctTZtFt06ZNytULkTmqiB+q3wh0s/9grnwD/dYr6B++wej5FMpPOoY7UpYK1JkzZ9i9ezcVKlQgICCAmJgYjh8/Tp06ddi7dy+LFy9m9OjR1KxZM83f/+WXX9izZw/79+/nxo0bXLt2jaVLlxIfH09ycjI2m43Y2Ngcm5JauD59KApz+QK4GId6qBOqQ3eUVz6rY7kF0zRZvHgxL7zwAgEBAYwbN47Q0FDuueeeVNs1bNiQAQMGWJQy91BlgzHGvYL+6mP0hpWYE4fa7402bi0DEjtIlgqUaZqMHDmSBx54IGVZVFQU3377LdOmTWPbtm2sXLky3QLVo0cPevToAcCRI0f45JNPiIiI4LXXXmPXrl00atSIbdu2ERoqLbVyO331MhdXLsDctglKlsEIfx5VtqLVsdzK8ePHCQoKonjx4oC9EEVFRd1WoETOUTYbqvWj6Jr1Md+NRK9YgN69HeOJYdKIwgGyVKAOHjx42wyederUITIyEoAmTZqwZMmSLIfo2bMnr7/+OqtWraJs2bK0aNEiy/sQ7kPv24m58g0Srl5Gte9mH2pGRpnOstjYWAIC/v8SU0BAAMeOHbttux9++IGffvqJEiVK0KdPn3Tvs8k93iwoWhQ94w0SvvqUy0vmYU6JoGDXAdge6y3PTTqykydLBSooKIjNmzfTpk2blGWbN29O+QZ36dIlvLy8MrWvKlWqUKVKFQCKFy+e6VaAwn3pSxfQ772J3vsdlCmH/6Q5XCzkZ3WsXK1OnTo0atQIT09PvvzyS+bPn59utxG5x5sNNRugJgej33uTK8sXcv2H7ST3iUAVy1zjMkey/Ln5l+zc481SgRo8eDCzZs1iw4YNKa3tDMNg9OjRAJw+fZquXbtmMbbI7bTW9hlPV70FCddQj/ZGtX4Uz6AgcKE3kLvx9/cnJiYm5XFMTMxt928LFfr/ETdatmzJihUrnJYvr1C+AdjCn8fcvZ2klW+gp4xE9RiEatBCWvrdpSwVqHLlyjFnzhyOHTtGXFwcvr6+BAcHp4z6EBISQkhIiEOCCvek42IwVy6Eg7uhXCWMvhGoEqWtjpUrlC9fnjNnzhAdHY2/vz87d+4kIiIi1TZxcXH4+dnPUvfs2SP3pxzIeKAJfnUbcv7VCeglc+DQHug9FFVAxvXLrrsaTygkJISEhASSkpLw9vbOqUwiF9Ba26ff/uAdSE5EdRmAatkeZdisjpZr2Gw2+vfvz7Rp0zBNk+bNm1O6dGlWr15N+fLlCQ0N5fPPP2fPnj3YbDYKFixIeHi41bFzNVtgEMboqegv1qM3rED/9gtG/5GoytWtjuaWslSgTp06xUsvvYSnpycxMTE0bNiQo0eP8s033zBq1ChHZRRuRsdEY74bCUcPQHAVjD7DUcWkhZMj1K5dm9q1a6dadutl9ltbzgrnUIYN9Z/H0CE1MBfNwnxtPKr1o6iOPVEe0hgoK7LUeP/tt9+ma9euvP7666ku6/38888OCSfcizZNzK83Yk4cDid+QfUcgjF6mhQnkSepeytgvDAb1eQh9BdrMV8eh445Z3Ust5KlM6i//vqLxo0bp1rm7e3NjRs3cjSUcD86+jTmskj49TCE1MJ4YigqoJjVsYSwlMrnjeoVjg6pibl0LuaLIzEGPoOqUsvqaG4hS2dQgYGB/Pbbb6mW3ewsKPImbSZjfrkBc3IE/HkS1TcCY+QkKU5C3ELVbojx39egiD/mnEmYn6xCm6bVsVxels6gunbtysyZM2nVqhVJSUmsW7eOL7/8ksGDBzsqn3Bh+syf9okEf/sFajyA0esplK+MTSZEWlTxkhjjXkWvXID++D30iZ8wBoxGFSpsdTSXlaUzqDp16vD8889z6dIlQkJCOHfuHM888ww1atRwVD7hgnRSEubGDzGnjLDP1zTgaYyh/5XiJEQGVL58qH4jUb3D4ZcfMV8chT75q9WxXFaWm5mXLVuWgQMHOiKLcAP6z5P2s6ZTJ1B1GqF6DEYVTn8E+7zs4sWLHDx4kN9//534+Hh8fHy47777qF69+h1H/Re5m1IK1aQNukx5zDdewnxpLKrHIIwmbTL+5TwmwwKV3hQb/yYjSORuOikR/dmH6M8/hAKFMIaMRdVpaHUsl/TXX3+xevVqjhw5Qrly5ShVqhS+vr5cu3aN7du3s3TpUqpUqULXrl2l42wepu6riDF+NuaiWejlCzD/PmXvL2iTvoI3ZVigbh1K5caNG/zwww9UqFAhZVyl48ePU69ePYeGFNbSJ49hLpsLf/+Bqt8c1XUAqqBcN0/PggUL6NChAxEREXimMQhuYmIie/bsYeHChUybNs2ChMJVqAKFMIaPR3+4FL1lA/rs3xiDx6B8ZPQJyESBurXn+euvv86IESNSpmcH+0jJ33//vWPSCUvpG9ftN3M3b4AifhjDx6Oq17U6lsubPn36Hdd7enrSoEEDGjRo4KREwpUpw4bqOgCzZGn0yjcwZ4zBGDZepu8gi40k9u/fn2ouKIDQ0FD279+fo6GE9fSxo5iTR6C/WId6MAxjcqQUp2x4+eWX01z+6quvOjmJcHVG49YYT0+BK5cwpz+D/umg1ZEsl6UCFRQUxKZNm1It27x5s/SDykV0wjXM99/CfGUcJCdhjJpin4zNp4DV0dzSkSNHsrRc5G0quCrG87OgiB/m6xMxt31udSRLZakV35AhQ3j11Vf5+OOPU6bbsNlsKdNtCPemfzqIuWwexESjmrdDdXoC5Z3f6lhu6WbjoqSkpNsaGv3zzz8EBgZaEUu4ARUYhDHuFcy3X0WvXIh59i9Ul/55cqDlLBWosmXL3nG6DeGedPxV9Jql6O1fQLESGGNmoIKrWB3Lrd1sXGSaZqqGRmCfuK1Lly5WxBJuQuX3wRj23/9vPBEXgzHwaZRn5iaEzS2yXFk8PDy4//77HZFFWED/uAdz+QK4EItq3RHVoScqXz6rY7m9m42LgoODU81S6wgHDhxgyZIlmKZJy5Yt6dixY6r1iYmJREZG8ttvv1GoUCFGjhxJsWIyFJWrS2k84V8U/cFizNkXMIa+kKfml8rwHtSkSZMytaMpU6bcbRbhRPrqZcx3ZmPOnQLe+THGvoTRub8Upxxw4cKFlJ/vVJxu3S67TNNk8eLFPP/888yePZvvvvuOv/76K9U2W7dupUCBAsybN4927dqxcuXKuz6ucB6j1SOoQWPg5K+YLz2Xp0ZEz/AM6tixY3z99ddore+43YkTJ3IslHAsve97+yy3Vy6h2nVBteuKSqO/jsieKVOmEBISQpMmTahQoQKG8f/fA03T5Pjx42zfvp2ffvqJWbNm3dWxbg7WXLx4cQAaNmxIVFRUqg7Ae/bsoXPnzgDUr1+fd955B621TEfuRoy6jdGFfTHnT8ecOQZjxETUPWWtjuVwGRaoihUrsn379gx3FBwcnCOBhOPoSxe4sHQO5ndfQemy9hd5mfJWx8p1Xn75ZbZs2cKbb75JdHQ0xYoVI3/+/Fy7do3o6GiCgoJo1aoVffv2vetjxcbGEhDw/2MgBgQEcOzYsXS3sdls+Pj4cPnyZQoXls7W7kRVqobx7AzMOZMxXx6HEf58rp+pN8MCldlLfMJ1aa3Ru7ejV73F9YQEVMdeqIc6oaRxi0N4eHjQpk0b2rRpw/nz5zl16hTx8fEUKFCAe++9F39/f6sjpmnLli1s2bIFgJkzZ1K0aNE0t/Pw8Eh3nbO5UhZwQp6iRUl+ZRFxU54mec4kikSMx7txK2uyZFF28sgnVC6nL8RgrlgIB3dD2WACRk7ggo98c3aWokWLOvRDwt/fP1UrwZiYmNsK4M1tAgICSE5OJj4+nkKFCt22r7CwsFT3zM6fP5/mMW8Oc+YKXCkLOCuPDT16Gsx/kYuzJ3HpXDRGk4csypJ5d8pTsmTao2ZkqaOucB9aa8zvtmBOGAZHD6A698cY+xIeZcpZHS1PSUxM5P3332fYsGH06dMHgIMHD97W4T27ypcvz5kzZ4iOjiYpKYmdO3cSGhqaaps6deqwbds2AHbt2kWVKlXk/pObUwUKYoyYDFVqo5fPx9y83upIDiEFKhfSMdGYr09CL50Lpe/DmDgXo3XHPNnRz2rLli3jzz//JCIiIqUolC5dms2bN+fI/m02G/3792fatGmMGjWKBg0aULp0aVavXs2ePXsAaNGiBVeuXGH48OF8+umn9OzZM0eOLayl8uXDGPo81G6I/vAd+yy9GTRmczdyiS8X0aaJ3r4J/dEyQNvnamr6H5Qh30Ossnv3bubOnYu3t3dKgbo5CktOqV27NrVr10617Nbpb7y8vHj66adz7HjCdSgPT4xBY9DL5qE/fg8SrsHjfXPNGXKWCtT58+f5448/uHr1asoNX1e6CZeX6ejTmMsi4dfDcH8N+/h5RYtbHSvP8/DwwDTNVMsuXbqU5j0gIbJD2WzQNwK8vdGb19mLVM8hVsfKERkWqKSkJLZs2cKXX36Z0kTW29ubhIQEzp49S7FixWjVqhVhYWEy5JEFtJmM/upT9PrlYPNAPTEM9WCrXPMNyt3Vr1+fyMjIlCblcXFxLF26lIYNZbJHkXOUYUD3weCdH/35Grh+DT1mqtWx7lqGFWXMmDFUrVqVQYMGUbFixTQ7He7YsYNnn32W11577Y77On/+PPPnz+fChQsopQgLC6Nt27ZcuXKF2bNnc+7cOQIDAxk1ahQFC+ad4TyyS5/5yz6R4ImfoXpdjF7hKL+AjH9ROE2PHj1YsWIFo0eP5saNG0RERNCyZUsef/xxq6OJXEYpherUB9PbB71uORdfGY/uG4HycN9O+JnqB1WkSJE01xmGQXBwMMHBwVy6dCnDg9lsNnr37k25cuW4du0aY8eOpXr16mzbto1q1arRsWNH1q9fz/r16+nVq1fW/5o8QicnozevQ3/8PuTzRg14GlWvqZw1uSAPDw/69u1L3759Uy7tyf8n4UhG286Y+by5vuptuHEdY9CzbtvnMcO757cWp48//jjNbT799NNM9Ur38/OjXDl7M+f8+fNTqlQpYmNjiYqKomnTpgA0bdqUqKioTIXPi/RfJzFnjEGvfdd+1jQlEqN+M/nQc1H9+vVL+blw4cIp/58GDhxoVSSRBxgtH6bQwFGwfxfmWy+jk5KsjpQtWSqra9asoUOHDmkub9++fZYOHB0dzcmTJ6lQoQIXL17Ez88PAF9fXy5evJjm7+Tlnu46MZGra5Zx9aNlGAULU+iZF/Fu1MKyPDnBlbKAY/IkJyfftiwpKem2hhNC5DSfdp25cuUKetXbmG+/gvHkGLc7k8pU2sOHDwP2e043f77pn3/+IX/+rE1ql5CQwKxZs+jbty8+Pj6p1iml0j0byKs93fXvxzCXzoW//0DVawpdn+RKocJcycZ+c9tzk5Oy09M9PRMmTEApRWJiIhMnTky1LiYmRsauFE5htHwYU2v06kWYb7+K8eQzblWkMpV04cKFANy4cSPlZ7AXE19fX/r375/pAyYlJTFr1iwaN25MvXr1APtlxLi4OPz8/IiLi5NBLP9H37iO/mQV+ot1UMQXY9h4VI26VscSmdCihf3s9vjx4zRv3jxluVKKIkWKUK1aNauiiTzGCOuACW5ZpDKVcv78+QBERkYybNiwbB9Ma80bb7xBqVKlUl0SDA0N5ZtvvqFjx45888031K0rH8L6+FH79Otn/0Y1bo16vC/KR1o2uotmzZoBsGPHDkqUKEGlSpVS1v3yyy8sX748R0YzFyIz7EVKo1cvxlz0KsZA9yhSWRpi4G6KE9jfmNu3b+fw4cOMGTOGMWPGsG/fPjp27MihQ4eIiIjgxx9/vG1G0LxEX0/AXPU25svjIDERY9Rke6dbKU5u6ffff6d8+dRTmpQrV45vv/3WokQirzLCHkF1GQB7d6IXzUKncX/U1WRYQseNG0eHDh2oW7dumh1xk5KS2L17N59++inTp0+/474qV67MBx98kOa6CRMmZDJy7qV/Ooj5biSc/wfVvB2qU2+Ut0/GvyhcllLqtgYRpmnmujHThHswWj2CqU30h0sgnzf0Ge7SQ6FlWKCGDh3K6tWrWbRoEWXLlqVkyZIpI0mcOXOG3377japVqxIeHu6MvLmSvhaP/mgpevsmKFYCY8x0VHBVq2OJHFC5cmVWrVpFr169MAwD0zT58MMPqVy5stXRRB5ltH4U8/p1+9h93vmh25Mu200lwwJ1zz33MHr0aC5cuMChQ4c4deoUly9fpkCBAjRp6GdW1QAADoBJREFU0oRhw4al25FXZEz/uBdz+Xy4EItq/SiqQw9UvnxWxxI5pF+/fsycOZPBgwentBL08/PjueeeszqayMNU+66QEI/evB6886Me7W11pDRl+i6Zr68vTZo0cWSWPEVfvYxevRj9/VYoURpj7EuocpUy/kXhVgICAnjppZc4fvx4yqSBFSpUSDVkmBDOppSCx/vBtXj0xg8xvfNj/Mf1ht/KsEAdPXqUkJAQgNv6QN2qalW5JJVZev8uzJUL4fJFVNsuqPZdUZ7uO16WuLObQ4LltMyOYdm1a1fKlCkD2Pt6ydmbgP8VqV5PwfUE9Np3Mb19MJq3tTpWKhkWqMWLFzNr1iyAVH2gbqWUIjIyMmeT5UL68kX0+2+ho3bAPWUxIiagypTP+BeFSMP69eszNYall5cXr7zyigUJhatThg36jURfT0C/9wZmPm+MhlkfocZRMixQN4sT/H9/KJE1Wmt01A70+2/BtXjUIz1RbR5zi34IwnVFRUUxadIkwD6G5aRJk2SQZZFlysMDY/CzmHOnoJfORXt7o2q7xnQwd/UJefjwYQzDSLkEKG6XHHsec8F0OPAD3FcRo+8IVKkyVscSuUBmx7BMTExk7Nix2Gw2HnnkER544IE0t8vLY13mFFfKk9Us5oTXuDBpBIlvz8JvfEm8qodamgeyWKAmTpxI9+7dqVy5MuvXr+ezzz7DMAweeughOnXqlKUD53Zaa/TOrcR8+A7cuI56vB8qrIN99kshMmnq1KlcuHDhtuXdunVL9fhOY1guWLAAf39//vnnH6ZMmUKZMmUICgq6bbu8OtZlTnKlPNnJosP/Cy+PJW7GcxhjZqDKlHNKnvTGusxSgfrzzz9TbvZ+9dVXTJw4EW9vb8aPHy8F6hY65hzm8kg4sh/P+2uQ3GMIKqiU1bGEGxo/fny66zI7hqW/vz8AxYsXJyQkhN9//z3NAiXE/7V370FRnWccx7/vgSheCLCIogYy1TipdDqmBLQaL3VEJ1EnUhOvzU07cQiKxkvr3WjxgmMIjhbHakyitM1oY9A6TUu9pCajZmRKrY1GE0jM4AUvgIjxBpy3fzDuaIXGld09L7vP5y93gT2/ObOPz9lzzr6PatMWa9pi7JW/xl6zBGv2SlSMc+8Vj+51vf3t97KyMqD+O1Lt2rXju+++836yZkjbNvY//or9xhQo/gI1bhJRS3OlOQmfuL2GJdDoGpZXr16lpqYGgCtXrnDy5EkeeeQRv+YUzYtytcN6fQnU1GCvXoyubvjUsT949Anq8ccf55133qGystJdDGVlZYSHh/skXHOiL5yrX6bo5H+gew+sFyejYmKNXkZENG+pqank5OSwb98+923mACUlJezevZu0tDTOnDnDhg0b3KtYpKamSoMS30t1jMPKWIidsxB7zW+wZi5FhXk2VskrObQHi4JVV1eza9cuQkNDefbZZwkLC6OoqIhz584xbNgwX+Zs0NmzZxt83p/ngbVdh973F3R+HoSEoEZNRPUd7L4eYNI5aTArj0lZwLvzoAKBCfX1fUzKAmbl8cosun8fxs5dDgk9sKYsQIU++Pc1fX4NKjw8nPHjx9/1XGJioicvEVD0udPYm9dAyQn4cRLWC+kolxl38AghRFOpHj1RL6ajt/wWvXktTHjdr2eFPGpQtbW1bN++nQMHDrgvzvbp04eRI0fSokULX2U0jq6rQ/99R/1iiy3DUBOno376M2MXXBRCiAdl9RuCXVWJ3vkHiIhCPT/Bb9v2qEFt3LiRs2fPMmHCBGJiYrh48SL5+flUVFQEzWrm+vSp+vHr3xZDYm+s8WmoiCinYwkhhM+oYaPhSiW6IB87uj3WQP9c0vGoQRUWFrJ27VratGkD1N/F161bNzIyMnwSziS6tgb90Qfoj/4Erdtgpc1GPfmU07GEEMLnlFIw9lV0xSX0+xvRrvaoHr6ffO7RycTIyEhu3rx513O3bt1yf5s9UOlvi7GXzkDveh+V9BTWklxpTkKIoKKsEKxXZ0F8F+yNq9Dflvh8mx59gurfvz/Lly/n6aefJjo6mvLycgoKCujfv/9dK50HysrmuuYWetf76IJ8CI/Emjwf9UQvp2MJIYQjVMswrCkLsFf8CnttJta8VShXjM+251GD2r17NwD5+fn3PH/7Z4Gysrku/qL+Dr2yM/W3jY+agGp97ygDIYQIJirShTV1EfbK2fXfkZq9EtWqtU+25VGDCobVzPXNG+gdv0fv3QVR9d+oVj/6idOxhBDCGKrzo1hpc7DXLMFevxIrY6FPpjPIMgd30CeOYi+Zit7zZ9SAZ7CWrJXmJIQQDVAJT6BeSIfj/0L/cT0erPlw32QgEaCvX0Nvfw+9/2/QviPWrOWoxwPjOpoQQviK1Xcw9sWy+rubYzqinnnOq68f9A1Kf/5P7LxcqCxHDR6BGvECqmVLp2MJIUSzoEb8Ai6WoT/cjO7Q0avDDoO2QenvrqK3bUIf3Asd4+ov9HX9odOxhBCiWVGWBROmocsvYG/KwWrXARXf1SuvHZTXoPSRz7DfmIz+7GPU0FFYC3OkOQkhxANSD7XASp8HbcKxc5ehqyq98rpB1aB0dRX2hlX1q/OGR2DNy8b6+Yuoh4JnHUEhhPAFFRGFNWU+XK3GXrccXXOrya8ZFA1Ka41d+Cn2osnookOoEeOx5mejHvXOx1AhnHDo0CFmzJjBmDFjKClp/Fv9R44cYdq0aWRkZLBjxw4/JhTBRsV3xZo4Hb4+ic7LbfKdfQHfoPTlCux1K9AbVkF0e6wFb2ENH9ukuSZCmCAuLo5Zs2bRvXv3Rn/Htm02bdrEvHnzyMnJ4cCBA5w+fdqPKUWwUU/2QY0Yjz70Mbrgwya9ljE3SRw5coR3330X27YZNGgQqampTXo9rTX60D701rfh1i3Ucy+jBqeiQkK8lFgIZ93PZNzi4mJiY2Pp0KEDAH369KGwsFCm6gqfUsPGwNlS9Idb0B3jUD16PtDrGNGgbh/lLViwgOjoaObOnUtSUtIDF1HdpfPYazLh8yJ4rDvWyxmoWClIEXwqKiqIjo52P46Ojuarr75q8Hf37NnDnj17AMjKyqJdu4aHb4aGhjb6M38zKQuYlcfpLHrmb6hY8Bp1b79FVNbvCI2N9TiPEQ3KW0d5Wmv0pwWUf/Ae1NWhxk5CDRzq1wmQQnhTZmYmly9fvuf5sWPHkpzs3XEHKSkppKSkuB83Np470Maae5NJeUzIoifNRi+bSXnmTGKy36Wipq7B3/PKyHdfud+jvPs5wqsq/RrdLYG2r80mNLaz70LfJ6ePYv6XSXlMygLm5QFYuHBhk/7e5XJRXl7uflxeXo7L5WpqLCHui4qKxpo8H3vNEmpLv4HYeI/+3ogGdb/u5whPj/ol7Tp2qi9KA45kTDiKuZNJeUzKAv8/T2NHeKbr2rUr586d48KFC7hcLg4ePMjUqVOdjiWCiPpBN6wVG2nxSJzH/ycbce7Lm0d5qkXL+umPQgS4w4cPk5aWxpdffklWVhbLli0D6s9IrFixAoCQkBAmTpzIsmXLmD59Or179yYuLs7J2CIIqbBWD/R3RnyCkqM8ITzXs2dPeva89+4ol8vF3Llz3Y8TExNJTEz0ZzQhvMKIBnXnUZ5t2wwcOFCO8oQQIsgp7YshHkIIIUQTGXENytvmzJnjdAQ3k7KAWXlMygLm5TGVSfvJpCxgVh6TssCD5QnIBiWEEKL5kwYlhBDCSCGLFy9e7HQIX+jSpYvTEdxMygJm5TEpC5iXx1Qm7SeTsoBZeUzKAp7nkZskhBBCGElO8QkhhDCSNCghhBBGMuKLut7k7blSTTF58mTCwsKwLIuQkBCysrL8uv1169ZRVFREREQE2dnZAFy9epWcnBwuXrxITEwM06dPp23bto5k2bZtG3v37uXhhx8GYNy4cX5Z8eDSpUvk5uZy+fJllFKkpKQwdOhQx/ZNc2FSbYGz9WVSbTWWJyDqSweQuro6PWXKFF1WVqZramr0rFmzdGlpqWN50tPTdVVVlWPbP3bsmC4pKdEzZsxwP5eXl6fz8/O11lrn5+frvLw8x7Js3bpV79y50y/bv1NFRYUuKSnRWmt97do1PXXqVF1aWurYvmkOTKstrZ2tL5Nqq7E8gVBfAXWK7865UqGhoe65UsEqISHhniOUwsJCBgwYAMCAAQP8tn8ayuKUqKgo991ErVq1onPnzlRUVDi2b5oDqa27mVRbjeVxijfrK6BO8XkyPdRfbq8wPXjw4LtGhTilqqqKqKgoACIjI6mqqnI0T0FBAZ988gldunThpZde8nuRXbhwgW+++YbHHnvMuH1jEhNrC8yqLxPfP829vgKqQZkmMzMTl8tFVVUVS5cupVOnTiQkJDgdy00p5ehokiFDhvD8888DsHXrVrZs2UJ6errftn/jxg2ys7N55ZVXaN269V0/c3rfiO9ncn2Z8P4JhPoKqFN8pk0Pvb3tiIgIkpOTKS4udizLbREREVRWVgJQWVnpvoDqhMjISCzLwrIsBg0aRElJid+2XVtbS3Z2Nv369aNXr16AWfvGNKbVFphXX6a9fwKhvgKqQd05V6q2tpaDBw+SlJTkSJYbN25w/fp197+PHj1KfLxn4459ISkpif379wOwf/9+kpOTHcty+80K9cP3/DViRWvN+vXr6dy5M8OHD3c/b9K+MY1JtQVm1pdp759AqK+AW0miqKiIzZs3u+dKjRw50pEc58+f58033wSgrq6Ovn37+j3L6tWrOX78ONXV1URERDB69GiSk5PJycnh0qVLfr0VtqEsx44d49SpUyiliImJYdKkSe5z1L504sQJFi1aRHx8vPs0w7hx4+jWrZsj+6a5MKW2wPn6Mqm2GssTCPUVcA1KCCFEYAioU3xCCCEChzQoIYQQRpIGJYQQwkjSoIQQQhhJGpQQQggjSYMSQghhJGlQQgghjPRf+smpwLZ/F7kAAAAASUVORK5CYII=\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -428,15 +426,15 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 39, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 404 µs, sys: 4.79 ms, total: 5.19 ms\n", - "Wall time: 1.54 ms\n" + "CPU times: user 2.19 ms, sys: 343 µs, total: 2.54 ms\n", + "Wall time: 1.6 ms\n" ] } ], @@ -470,19 +468,17 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 40, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -533,7 +529,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 41, "metadata": {}, "outputs": [], "source": [ @@ -598,7 +594,7 @@ " for idx in range(len(start_xp)-1):\n", " section_len = np.sum(np.sqrt(np.power(np.diff(start_xp[idx:idx+2]),2)+np.power(np.diff(start_yp[idx:idx+2]),2)))\n", "\n", - " interp_range = np.linspace(0,1,section_len/delta)\n", + " interp_range = np.linspace(0,1,int(section_len/delta))\n", " \n", " fx=interp1d(np.linspace(0,1,2),start_xp[idx:idx+2],kind=1)\n", " fy=interp1d(np.linspace(0,1,2),start_yp[idx:idx+2],kind=1)\n", @@ -622,7 +618,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 42, "metadata": {}, "outputs": [], "source": [ @@ -660,19 +656,17 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 43, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -705,7 +699,7 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 44, "metadata": {}, "outputs": [], "source": [ @@ -743,19 +737,17 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 45, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/plain": [ "
" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -873,29 +865,22 @@ }, { "cell_type": "code", - "execution_count": 14, + "execution_count": 89, "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.local/lib/python3.5/site-packages/ipykernel_launcher.py:18: RuntimeWarning: invalid value encountered in true_divide\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ - "CPU times: user 304 ms, sys: 195 ms, total: 499 ms\n", - "Wall time: 288 ms\n" + "CPU times: user 383 ms, sys: 12.2 ms, total: 395 ms\n", + "Wall time: 388 ms\n" ] } ], "source": [ "%%time\n", "\n", - "track = compute_path_from_wp([0,2,2,10],[0,0,2,2])\n", + "track = compute_path_from_wp([0,10],[0,0])\n", "\n", "MAX_SPEED = 2.5\n", "MIN_SPEED = 0.5\n", @@ -909,7 +894,7 @@ "# Starting Condition\n", "x0 = np.zeros(N)\n", "x0[0] = 0\n", - "x0[1] = 0\n", + "x0[1] = 1\n", "x0[2] = np.radians(-0)\n", "_,psi,cte = calc_err(x0,track)\n", "x0[3]=psi\n", @@ -920,7 +905,7 @@ "x_bar[:,0]=x0\n", "\n", "for t in range (1,T+1):\n", - " xt=x_bar[:,t-1].reshape(5,1)\n", + " xt=x_bar[:,t].reshape(5,1)\n", " ut=u_bar[:,t-1].reshape(2,1)\n", " \n", " A,B,C=get_linear_model(xt,ut)\n", @@ -930,7 +915,6 @@ " _,psi,cte = calc_err(xt_plus_one,track)\n", " xt_plus_one[3]=psi\n", " xt_plus_one[4]=cte\n", - " \n", " x_bar[:,t]= xt_plus_one\n", "\n", "\n", @@ -941,20 +925,11 @@ "for t in range(T):\n", " \n", " # Cost function\n", - " #cost += 5*cp.sum_squares( x[3, t]) # psi\n", - " #cost += 100*cp.sum_squares( x[4, t]) # cte\n", - " \n", - " # Tracking 3 states (x,y,theta) reference\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,10*np.eye(3))\n", + " cost += 10*cp.sum_squares( x[3, t]) # psi\n", + " cost += 10*cp.sum_squares( x[4, t]) # cte\n", " \n", - " # Tracking 5 states\n", - " #delta_x = np.append(track[:,idx],[0,0])\n", - " #cost+= cp.quad_form(delta_x-x[:,t],500*np.eye(N))\n", - " \n", " # Actuation effort\n", - " cost += cp.quad_form( u[:, t],1*np.eye(M))\n", + " cost += cp.quad_form( u[:, t],10*np.eye(M))\n", " \n", " # Actuation rate of change\n", " if t < (T - 1):\n", @@ -984,34 +959,39 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 90, "metadata": {}, "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "No handles with labels found to put in legend.\n" + ] + }, { "data": { - "image/png": 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\n", 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\n", 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" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], "source": [ "x_mpc=np.array(x.value[0, :]).flatten()\n", "y_mpc=np.array(x.value[1, :]).flatten()\n", - "theta_mpc=np.array(x.value[1, :]).flatten()\n", - "psi_mpc=np.array(x.value[1, :]).flatten()\n", - "cte_mpc=np.array(x.value[1, :]).flatten()\n", + "theta_mpc=np.array(x.value[2, :]).flatten()\n", + "psi_mpc=np.array(x.value[3, :]).flatten()\n", + "cte_mpc=np.array(x.value[4, :]).flatten()\n", "v_mpc=np.array(u.value[0, :]).flatten()\n", "w_mpc=np.array(u.value[1, :]).flatten()\n", "\n", "#simulate robot state trajectory for optimized U\n", "x_traj=predict(x0, np.vstack((v_mpc,w_mpc)))\n", - "\n", + "plt.figure(figsize=(15,10))\n", "#plot trajectory\n", "plt.subplot(2, 2, 1)\n", "plt.plot(track[0,:],track[1,:],\"b*\")\n", @@ -1032,12 +1012,10 @@ "plt.ylabel('w(t)')\n", "#plt.xlabel('time')\n", "\n", - "#plot theta(t)\n", - "#plt.subplot(2, 2, 4)\n", - "#plt.plot(cte_mpc)\n", - "#plt.ylabel('cte(t)')\n", - "#plt.xlabel('time')\n", - "#plt.legend(loc='best')\n", + "plt.subplot(2, 2, 4)\n", + "plt.plot(cte_mpc)\n", + "plt.ylabel('cte(t)')\n", + "plt.legend(loc='best')\n", "\n", "plt.tight_layout()\n", "plt.show()" @@ -1052,30 +1030,142 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": 48, + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "# track = compute_path_from_wp([0,5,7.5,10,12,13,13,10],\n", + "# [0,0,2.5,2.5,0,0,5,10])\n", + "\n", + "# sim_duration =100 \n", + "# opt_time=[]\n", + "\n", + "# x_sim = np.zeros((N,sim_duration))\n", + "# u_sim = np.zeros((M,sim_duration-1))\n", + "\n", + "# MAX_SPEED = 1.25\n", + "# MIN_SPEED = 0.75\n", + "# MAX_STEER_SPEED = 1.57/2\n", + "\n", + "# # Starting Condition\n", + "# x0 = np.zeros(N)\n", + "# x0[0] = 0\n", + "# x0[1] = -0.5\n", + "# x0[2] = np.radians(-0)\n", + "# _,psi,cte = calc_err(x0,track)\n", + "# x0[3]=psi\n", + "# x0[4]=cte\n", + "\n", + "# x_sim[:,0]=x0\n", + " \n", + "# #starting guess\n", + "# u_bar = np.zeros((M,T))\n", + "# u_bar[0,:]=0.5*(MAX_SPEED+MIN_SPEED)\n", + "# u_bar[1,:]=0.01\n", + "\n", + "# for sim_time in range(sim_duration-1):\n", + " \n", + "# iter_start=time.time()\n", + " \n", + "# # Prediction\n", + "# x_bar=np.zeros((N,T+1))\n", + "# x_bar[:,0]=x_sim[:,sim_time]\n", + "\n", + "# for t in range (1,T+1):\n", + "# xt=x_bar[:,t-1].reshape(5,1)\n", + "# ut=u_bar[:,t-1].reshape(2,1)\n", + "\n", + "# A,B,C=get_linear_model(xt,ut)\n", + "\n", + "# xt_plus_one = np.squeeze(np.dot(A,xt)+np.dot(B,ut)+C)\n", + "\n", + "# _,psi,cte = calc_err(xt_plus_one,track)\n", + "# xt_plus_one[3]=psi\n", + "# xt_plus_one[4]=cte\n", + "\n", + "# x_bar[:,t]= xt_plus_one\n", + "\n", + "\n", + "# #CVXPY Linear MPC problem statement\n", + "# cost = 0\n", + "# constr = []\n", + "\n", + "# for t in range(T):\n", + "\n", + "# # Tracking\n", + "# if t > 0:\n", + "# idx,_,_ = calc_err(x_bar[:,t],track)\n", + "# delta_x = track[:,idx]-x[0:3,t]\n", + "# cost+= cp.quad_form(delta_x,10*np.eye(3))\n", + " \n", + "# # Tracking last time step\n", + "# if t == T:\n", + "# idx,_,_ = calc_err(x_bar[:,t],track)\n", + "# delta_x = track[:,idx]-x[0:3,t]\n", + "# cost+= cp.quad_form(delta_x,100*np.eye(3))\n", + "\n", + "# # Actuation rate of change\n", + "# if t < (T - 1):\n", + "# cost += cp.quad_form(u[:, t + 1] - u[:, t], 25*np.eye(M))\n", + " \n", + "# # Actuation effort\n", + "# cost += cp.quad_form( u[:, t],1*np.eye(M))\n", + " \n", + "# # Constrains\n", + "# A,B,C=get_linear_model(x_bar[:,t],u_bar[:,t])\n", + "# constr += [x[:,t+1] == A*x[:,t] + B*u[:,t] + C.flatten()]\n", + "\n", + "# # sums problem objectives and concatenates constraints.\n", + "# constr += [x[:,0] == x_sim[:,sim_time]] # starting condition\n", + "# constr += [u[0, :] <= MAX_SPEED]\n", + "# constr += [u[0, :] >= MIN_SPEED]\n", + "# constr += [cp.abs(u[1, :]) <= MAX_STEER_SPEED]\n", + " \n", + "# # Solve\n", + "# prob = cp.Problem(cp.Minimize(cost), constr)\n", + "# solution = prob.solve(solver=cp.ECOS, verbose=False)\n", + " \n", + "# #retrieved optimized U and assign to u_bar to linearize in next step\n", + "# u_bar=np.vstack((np.array(u.value[0, :]).flatten(),\n", + "# (np.array(u.value[1, :]).flatten())))\n", + " \n", + "# u_sim[:,sim_time] = u_bar[:,0]\n", + " \n", + "# # Measure elpased time to get results from cvxpy\n", + "# opt_time.append(time.time()-iter_start)\n", + " \n", + "# # move simulation to t+1\n", + "# tspan = [0,dt]\n", + "# x_sim[:,sim_time+1] = odeint(kinematics_model,\n", + "# x_sim[:,sim_time],\n", + "# tspan,\n", + "# args=(u_bar[:,0],))[1]\n", + " \n", + "# print(\"CVXPY Optimization Time: Avrg: {:.4f}s Max: {:.4f}s Min: {:.4f}s\".format(np.mean(opt_time),\n", + "# np.max(opt_time),\n", + "# np.min(opt_time))) " + ] + }, + { + "cell_type": "code", + "execution_count": 97, "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "/home/marcello/.local/lib/python3.5/site-packages/ipykernel_launcher.py:18: RuntimeWarning: invalid value encountered in true_divide\n" - ] - }, { "name": "stdout", "output_type": "stream", "text": [ - "CVXPY Optimization Time: Avrg: 0.2550s Max: 0.3976s Min: 0.2298s\n" + "CVXPY Optimization Time: Avrg: 0.1656s Max: 0.2457s Min: 0.1539s\n" ] } ], "source": [ "\n", - "track = compute_path_from_wp([0,5,7.5,10,12,13,13,10],\n", - " [0,0,2.5,2.5,0,0,5,10])\n", + "track = compute_path_from_wp([0,10],\n", + " [0,0])\n", "\n", - "sim_duration =100 \n", + "sim_duration =50\n", "opt_time=[]\n", "\n", "x_sim = np.zeros((N,sim_duration))\n", @@ -1131,16 +1221,8 @@ " for t in range(T):\n", "\n", " # Tracking\n", - " if t > 0:\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,10*np.eye(3))\n", - " \n", - " # Tracking last time step\n", - " if t == T:\n", - " idx,_,_ = calc_err(x_bar[:,t],track)\n", - " delta_x = track[:,idx]-x[0:3,t]\n", - " cost+= cp.quad_form(delta_x,100*np.eye(3))\n", + " cost += 50*cp.sum_squares( x[3, t]) # psi\n", + " cost += 10*cp.sum_squares( x[4, t]) # cte\n", "\n", " # Actuation rate of change\n", " if t < (T - 1):\n", @@ -1161,7 +1243,7 @@ " \n", " # Solve\n", " prob = cp.Problem(cp.Minimize(cost), constr)\n", - " solution = prob.solve(solver=cp.ECOS, verbose=False)\n", + " solution = prob.solve(solver=cp.OSQP, verbose=False)\n", " \n", " #retrieved optimized U and assign to u_bar to linearize in next step\n", " u_bar=np.vstack((np.array(u.value[0, :]).flatten(),\n", @@ -1177,28 +1259,26 @@ " x_sim[:,sim_time+1] = odeint(kinematics_model,\n", " x_sim[:,sim_time],\n", " tspan,\n", - " args=(u_bar[:,0],))[1]\n", + " args=(u_bar[:,1],))[1]\n", " \n", "print(\"CVXPY Optimization Time: Avrg: {:.4f}s Max: {:.4f}s Min: {:.4f}s\".format(np.mean(opt_time),\n", " np.max(opt_time),\n", - " np.min(opt_time))) " + " np.min(opt_time))) " ] }, { "cell_type": "code", - "execution_count": 23, + "execution_count": 98, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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Ie3cG7cQTAF1HAgMAAABAr2GMkQYPC05iobRYSk7x7zN9tmSM7LoPAr8PgG4hgQEAAACgdxkyLEgzMLxS8kBJkklJk06bJLtutazjBHwvAF1HAgMAAABAr2LSh0mFQThKtbREJmnQ8X1mzvGfdrJ3R2D3AdAtJDAAAAAA9C6Dh0n1dZK3ILDrHiv2z9hoYCZPl+LiGeYJRAgSGAAAAAB6FTMk8Eep2ppqqbqqeQIjJlbm7PNlN2fLVlcGbC8A3UMCAwAAAEDvEoyjVEuL/V9PaCGRJDNzrlRbI7s5O3B7AegWEhgAAAAAepfkFCkmNrCDPI/5ExgmuXkCQ6PHS0MyaSMBIgAJDAAAAAC9ijFGSh8meyQ3cIs2VmB8JYFhjJE5d560d6fsl58Hbj8AXUYCAwAAAECvY8afKe3eLhugQZ62KYExsOVesy6TEj1yXn02IHsB6B4SGAAAAAB6HXPRNyVJ9q+vBmbB0hLJ5ZISk1ruFRcvc+m3pJ1bZffuDMx+ALqMBAYAAACAXsekpsucc4HsR3+VLTvW8wVLvZJnoIwrqvX9Zs2XklPkvPJHWWt7vh+ALiOBAQAAAKBXMpd+y39CyOo3e7yWPVbSYv5Fs71iY2Xmf0fK2SXt3NLj/QB0HQkMAAAAAL2SyRgpTfqa7Oo3Zasre7ZYaXG7CQxJMudfJKWmy3nlWaowgDAggQEAAACg13Jd9m2pslx27Xs9W6i0WCap5QDPExl3tMw3rpUOfiFtWdez/QB0GQkMAAAAAL2WGT1eGn+m7Puvyfp83VrDOvVSWYmUnNLxftNnSUOHy3ntOf99AEKGBAYAAACAXs319W9LJV7Z9R90b4HyMslxWj1C9auMK0quBddLeX+X/WRt9/YD0C0RlcBwHEf/8i//ooceeijcoQAAAADoLU6bJI0cI/vuX7pXFVFaLEkyHczAaDJ5hjRytOzrf5Kt617VB4Cui6gExttvv63MzMxwhwEAAACgFzHG+Ksw8g+3OpvClh2Tratre4GGBEZHQzyb9nO55FrwXanwqGz2qu6EDKAb3OEOoFFRUZG2bNmihQsX6s03e34MEgAAAIB+ZPJ0aUimnLdekqkslw4dlD10QDp8UCorlTl3nszNd7Z6qz3WkMBI6mQFhiSdMUUaNVZ25Ruy518iY0wAHgJAeyKmAuPpp5/WDTfcwL/4AAAAALrMuKJkLl0o5X4p+8dfy2atlGprZCZ9TcocJbtvT9s3d7ECQ/JXfZg5l0t5f5d2b+9h9AA6IyIqMDZv3qzk5GSNHj1aO3fubPO6lStXauXKlZKkhx56SGlpaaEKsYnb7Q7LvgguPte+i8+2b+Jz7Zv4XPsuPluEijl3nkx6hpSSJqUMlnH5/77WeeVZ2Xf/LOvzyURHt7yxtFgaECcTO6Br+519vuyfn5Kz+k1FnT4pEI8AoB0RkcDYs2ePNm3apK1bt6q2tlZVVVV6/PHHdeedzUu85s2bp3nz5jX9XFhYGOpQlZaWFpZ9EVx8rn0Xn23fxOfaN/G59l3h+mwzMjJCvifCyxgjnTKh5RuZI/2njBzNlYaf3PL90uKutY807hcdLXPhpbJvvSSbnyeTPqwbUQPorIhIYFx33XW67rrrJEk7d+7UG2+80SJ5AQAAAADdYTJHyUqyuQdkWklg2GPFnTpCtdW1L7xU9p0/y37wtszVt/YwUgDtiZgZGAAAAAAQFEMypCi3dPhA6++Xlsgkp3RraTMwVWbqubJZ78tWV/UgSAAdibgExoQJE3TPPfeEOwwAAAAAfYRxR0tDM2UPHWz9glJvlwZ4tlh/zuVSVaXsug+6vQaAjkVcAgMAAAAAAs1kjJQOtazAsDXVUnWVlNS9FhJJ0ujx0knjZFe/Kes4PYgSQHtIYAAAAADo+zJHSUX5stWVzV8/VuL/2s0WEqnhSNW5l0tHcjlSFQgiEhgAAAAA+jyTOcr/zVfbSEq9/ve7OcSzaf2p50lJA+WseqNH6wBoGwkMAAAAAH1fQwLDHv5qAqOhAqMbx6ieqPFIVX26Sfbo4R6tBaB1JDAAAAAA9H2p6VJMbIs5GPZYsf+bgT1LYEiSueBSKcot+8FbPV6rM6y1srn7Q7IXEAlIYAAAAADo84zLJWWMbFmBUVIsGZeUmNTzPQam+I9UzV4lW1PT4/U6tGubnJ/9SLaV4aRAX0QCAwAAAEC/YDJHtTyJ5FixlJQs44oKzB4XXOw/UnXruoCs1x6b15CM8RYGfS8gEpDAAAAAANA/ZI6SjpXIlpU2vWRLi6XknrePNBk3QUobIpu9KnBrtqUwX5Jky48Ffy8gApDAAAAAANAvmMyR/m9OrMIoLe7xAM9me7hcMjPmSJ/9TbYoP2DrtsYWHvV/U0ECA/0DCQwAAAAA/UNGw0kkJx6leqy4x0eofpWZOUeyVnbd6oCu20JjgqS8LLj7ABGCBAYAAACA/iF5kJTgkQ77KzCs40jHSqTklIBuY9KGSOPPlM1eLWttQNduZK2VmiowSGCgfyCBAQAAAKBfMMZImaOOn9pRfkxynIC2kDTtde48qeCI9PnOgK8tSaosl6qr/N+X0UKC/oEEBgAAAIB+w2SOlA4d8FcwHCv2vxbgFhJJMlNmSAPigjfMs/D4fA1LBQb6CRIYAAAAAPqPjFH+ygVvoVRa4n8twC0kkmRiB8hMO092U5ZsY6VEIDW2j6SkMQMD/QYJDAAAAAD9hsn0D/LU4QOypV7/90GowJAkM3OuVFMtuyU74GvbooYExqix/lYYoB8ggQEAAACg/2g4StUeOnC8AiMIMzAkSWNPk9KHyWYFoY2k8KgUlyAzeBhDPNFvkMAAAAAA0G+Y+ERpUJp06IB/BkZsnMyAuODsZYy/CmPvDtmCIwFd2xbmS2npUqJH8tXK1tQEdH0gEpHAAAAAANC/ZI5sqMAoDlr7SCMzY7ZkjGz26sAuXHhUSh0iJSb5f6aNBP0ACQwAAAAA/YrJGCXl5coWFwavfaRxr5TB0mlnya5bLes4AVnTWisV5cukDZFJ8PhfrCCBgb6PBAYAAACA/iVzlFTnk77MkUkObgJDahjmWZQv7fk0MAuWH5Nqa463kEicRIJ+gQQGAAAAgH6l6SSSOp8UigTG5OlSYpKc918LzIINR6ia1PSmFhJLCwn6AXe4AwAAAAD6im3btumpp56S4ziaO3euFixY0Ox9n8+n5cuXa9++ffJ4PFq8eLHS09MlSa+88opWr14tl8ulW265RZMmTWp3zfz8fC1dulRlZWUaPXq0Fi1aJLfbrcLCQj3xxBOqqKiQ4zi67rrrNGXKlND+IiLdsOGSMZK1oUlgxMTKzL1c9rU/yeZ+KTP8pB6tZwvz/d+kDTlegcFJJOgHqMAAAAAAAsBxHK1YsUL33nuvHnvsMWVlZSk3N7fZNatXr1ZCQoKWLVum+fPn67nnnpMk5ebmKjs7W48++qjuu+8+rVixQo7jtLvms88+q/nz52vZsmVKSEjQ6tX+IZEvv/yyZsyYoV/+8pdavHixVqxYEdpfRC9gYmKlwcP8P4QggSFJZvZ8KXaA7Ht/6fliDRUYSkuX4mkhQf9BAgMAAAAIgJycHA0dOlRDhgyR2+3WzJkztXHjxmbXbNq0SbNmzZIkTZ8+XTt27JC1Vhs3btTMmTMVHR2t9PR0DR06VDk5OW2uaa3Vzp07NX36dEnSrFmzmvYyxqiyslKSVFlZqUGDQvMH9F4nc6QkyQR5iGcjk+CROf8S2Q1rZYvye7ZY0VEp0SMzIF7G7ZbiEqjAQNjZslLZ6sqg7kELCQAAABAAXq9XqampTT+npqbq888/b/OaqKgoxcfHq6ysTF6vV+PGjWu6LiUlRV6vt2mdr65ZVlam+Ph4RUVFtbj+qquu0s9//nO9++67qqmp0f33399qvCtXrtTKlSslSQ899JDS0tK69Lxut7vL90SS8nGnq2Lreg086WRFf+U5gvVs9VffrMIP3lTsR+8p6R/u6vY6xceK5QzJVGpDjIVJyYr21Si5g5h7+2fWnr76bL3luay1KvnNL1RfcESpjz0jE9VxqqE7z0YCAwAAAOhDsrKyNGvWLF1xxRXau3evli1bpkceeUQuV/Pi63nz5mnevHlNPxcWFnZpn7S0tC7fE0nsuAnSmFNVEhMv85XnCN6zRcl8bZaq3n9NNXO/KeNJ6tYq9Xm5Uuaophjr4xJUX1QgXwcx9/bPrD199dl6y3M5H78vu2WdzDXfV1FxSafuaXy2jIyMTu9DCwkAAAAQACkpKSoqKmr6uaioSCkpKW1eU19fr8rKSnk8nhb3er1epaSktLmmx+NRZWWl6uvrm10v+edszJgxQ5J0yimnyOfzqayM9oKvMieNU9Q9v5SJHRDafS9dKNXWyn7wZrfut9ZKRQUyqUOOv5iYxAwMhI0tKpB98XfS+DNlZn89qHuRwAAAAAACYMyYMcrLy1N+fr7q6uqUnZ2tadOmNbtm6tSpWrNmjSRp/fr1mjBhgowxmjZtmrKzs+Xz+ZSfn6+8vDyNHTu2zTWNMZowYYLWr18vSVqzZk3TXmlpadqxY4ck/3BQn8+npKTu/U0/As8MGyGddY7s6rdka6q7vkBpseSr9Q/wbFwz0SNxjCrCwFor55nHJSu5blok4wpuioEWEgAAACAAoqKi9L3vfU8PPvigHMfR7NmzNWLECL344osaM2aMpk2bpjlz5mj58uVatGiREhMTtXjxYknSiBEjNGPGDC1ZskQul0u33nprU8tHa2tK0vXXX6+lS5fqhRde0Mknn6w5c+ZIkm688UY9+eSTeuuttyRJt99+u4wxYfiNoC2uS78l57/+Vfbj92XmXtG1mxsGgJq0EyowEjwM8URY2A/fkXZvl7nhdpnBQ4O+HwkMAAAAIECmTJmiKVOmNHvt6quvbvo+JiZGS5YsafXehQsXauHChZ1aU5KGDBmiX/ziFy1eHz58uB544IGuho4QMmNPk8adLvvXV2UvvMx/kkgn2cYjVFOPV2AoMUmqrpKt88m4owMcLdA6W3BE9s9PS6dPkrngkpDsSQsJAAAAAISY69JvSd4C2Y0fde3GpgTGiTMwPP6vzMFAiFjHkfP045LL5W8dCVGVFwkMAAAAAAi1M6dJmaNk331Z1nE6f19RvuRJlomNPf5aQsOME9pIECJ29ZvS3h0yV/+DTMrgkO1LAgMAAAAAQswYI3PZt6XDB6Wt6zt9ny08Kp04/0INQzwlKjAQErbgiOwrf5Amni0zc25I9yaBAQAAAABhYM4+TxqSKefNFzpfhVGU33yAp+SfgSFxEglCwnnhfyUTJdcNoR8QTAIDAAAAAMLAuKJk5n9Hyv1S2r6hw+utUy8VFTQ7QlWS/xQSSbaCBAaCy27fIP1to8w3rpEZlBry/UlgAAAAAECYmHMukNKH+aswrG3/4pJiqb6u+QBPiSGeCAlbWyPn+f+Rho2QmdPF438DhAQGAAAAAISJiYqS+fp3pIP7pL9tav/ihhNITGrzCgwTEyvFxNJCgqCy77wsFeXLdf1tXTr6N5BIYAAAAABAGJmvXSilDZHzxvPtVmHYonz/N1+dgSH5qzCowECQ2PzDsu++LHPOhTLjzwxbHCQwAAAAACCMjNst8/WrpAM50o4tbV/YUIGh1FaOrUzwyHKMKoLAWivn+f+V3G6Zq24OaywkMAAAAAAgzMyM2VLK4ParMIqOSgNTZKJjWr6XmCSRwEAwbP9E2rFZ5hvXyQwM/eDOE5HAAAAAAIAwM+5ofxXG/r3S7m2tXmML86WvzL9ouj8xSSpjBgYCy9bUyHnhd1LmKJnZ88MdDgkMAAAAAIgEZuZcaVCanDfaOJGk8KhMa/MvJP9RqlRgIMDs6jf8gzuv+39hG9x5IhIYAAAAABABTHS0zGXfknJ2y65f0+w9W18vFRe2PEK1UWKSVFku69QHP1D0G3b/Xv+xqaecEe5QJJHAAAAAAICIYc67WDrlDNmn/1t22/rjbxQXSo4jpbXeQqJEj2StVFERmkDRP3gLWx8aGyYkMAAAAAAgQpjoaLkW/Zs0aqycJ38pu2ur/42GI1TbbSGRpArmYCCAvAUyKSQwAAAAAACtMAPi5frRT6Shw+U88aDs3qPUroYAACAASURBVJ2yTUeotjXEsyGBUc4cDASGra2RykqlQWnhDqUJCQwAAAAAiDAmwSPXXT+TBg2Ws+w/ZLeul4xLSmnjD5OJSf6v5VRgIECKi/xfqcAAAAAAALTHJA2Sa8kD/vaQ7RukQSky7ujWL25oIbGcRIJA8RZIkgwzMAAAAAAAHTEpaf4kxsAUadiIti9sqsAggYHAsA0JjEiqwAj/Qa4AAABAGC1fvrxT17ndbt12221BjgZoyaQPk+snj7d/0YA4KcpNCwkCp6hAMkYamBruSJqQwAAAAEC/lp2drSuvvLLD6958800SGAgb01hh0db7xviPUqWFBIHiLZCSBslEt9G2FAYkMAAAANCvpaam6qqrrurwuqysrBBEA/RAgkeWCgwEiPUWtD00NkyYgQEAAIB+bdmyZZ26bunSpUGOBOihxCQqMBA43kKZCJp/IZHAAAAAANp09OhR5efnhzsMoHMSPVIZFRjoOWutv4Ukgk4gkUhgAAAAAE2WLl2qPXv2SJI++OADLVmyRP/0T/+k1atXhzkyoGMmgRkYCJDyY5KvNqJOIJFIYAAAAABNduzYoTFjxkjyD+28//779Z//+Z969dVXwxwZ0AkNLSTW2nBHgnbY6qpwh9CxhiNUaSEBAAAAIlRdXZ3cbre8Xq/Ky8t16qmnasSIESotLQ13aEDHEj1Sfb1UVRnuSNAGu2eHnB9dK3vgi3CH0r4ifwIj0iowOIUEAAAAaHDSSSfplVdeUUFBgaZMmSJJ8nq9iouLC3NkQCckNBy1WlEmxSeENxa0ynn9OclxpOICadSYcIfTJuuNzAQGFRgAAABAg9tuu00HDx5UbW2trrnmGknS3r17dd5554U5MqBjJrEhgVHOHIxIZPd8Ku3d6f++tjbM0XTAWyDFxPireiIIFRgAAADo91atWqXJkydr6NCh+tGPftTsvenTp2v69OlhigzogsY/bJYH/iQSe+ignP/5pVzfvF5myoyAr98fOG+84E8K1NZKPl+4w2mX9RZIKYNljAl3KM2QwAAAAEC/98UXX+jll19WQkKCpkyZosmTJ2v8+PER9x/vQLsS/AkMW3FMgfwn1+7/XM5//9Q/IHT/XhIY3WD37pD2fCpz2bdk33lZ8tWEO6T2eQsjrn1EIoEBAAAA6Pvf/74k6eDBg9qyZYuef/55HT58WBMmTNCUKVM0adIkJSUlhTlKoANNFRiBayGxez6Vs+znkidJso5UxkDb7nDefFFKGigz5wp/AiPiW0gKZc6cGu4oWiCBAQAAADQYOXKkRo4cqQULFqiyslLbtm3T1q1b9eyzz2rw4MG66qqrNGnSpHCHCbQuPkEyroC1kNi/bZTz2/+S0obIddd/yHn8P2SD0J7S19mcXdLu7TJX3dJUJSNf5CYwrM8nlXqpwAAAAAB6i/j4eM2cOVMzZ86UJOXk5IQ5IqB9xhUlJST4TyHpIeeTD2WfWioNP1muH/1UxpPkr8IggdFlzhsvSJ5kmQsvk9xuyZiITmCopMj/lQQGAAAAENl2796t/fv3q7q6utnrCxcuDFNEQBckJPW4hcT54G3Z55+Uxk2Q64f/JhMXL8l/yok98EUgouw37BefSbu2yXz7ZpnYAf4Xo2MiO4HRcISqSUkLcyAtkcAAAAAAGvz+97/XunXrdOqppyomJqbpdYZ5otdI9HS7zcM6juxf/iD73l+ks86R6/t3y8TEnrB2klQeeTMw7JFDqo+KzH9HnTdfkBKT/NUXjaJjInoGhi3yJzCowAAAAAAi2EcffaRHHnlEKSkp4Q4F6J7EJKnxD6BdYH0+2aeWym78SGbWZTLXfF8mKqr5RZ5kqbJCtq5Oxh0Zf5S0x0rk/Oc/q3z6hdJ1t4U7nGbs/r3Sji0yC2+UGRB3/I1eUoGhQanhjaMVkfFPHQAAABAB0tLSFB0dHe4wgG4zCR7Zg/u6dI+tKJfz6welvTtlvnWTzCULW686Smw4iaeiTEoeFIBoe86++qxUVSGnxBvuUFpw3npJSvDIzP568zdiekECw5PcvPomQpDAAAAAABrcdtttevLJJ3XuuecqOTm52Xunn356mKICuiAxSarofAuJLcqX898/kwryZP7hn+T62oVtXms8SbKSf5BnBCQw7MEvZD9+3/99ZXmYo2nO5uVK2zfIXH6NzID45m9Gx8hGcguJtyAi20ckEhgAAABAk3379mnr1q3avXt3sxkYkvSb3/wmTFEBXZDokWprZWtqZGLb/xt0u3ennCf/S6rzybX4P2TGn9HB2g0VGGXhn4NhrZXzwv/6Yxp+kpwIiOlEduVrkju6ZfWF5G8hqYvcBIa8hdKw4eGOolUkMAAAAIAGzz//vP71X/9VEydODHcoQPckePxfK45Jsa3/Lbq1VvaDt2RfWiGlDpHrjntlMkZ2vLanoSopAo5StZuypM93yXz3DmnfHtmjhxQpYzztsRLZ7NUyM2bLJA1seUFM5A7xtNZK3gKZCZPDHUqrSGAAAAAADWJjY2kVQa9mEhvbPMpabQOwtTWyz/5adt0H0sSz5br1Lpn4xM4t3lCBYcuOhTVZYGtqZP/8lDTiZJnz5snm5cpWVkROAmPN21KdT+aiBa1fEB0jVVaENqjOqiyXaqojtoXEFe4AAAAAgEhx9dVX6+mnn1ZJSYkcx2n2P6BXSGyowGilSqI+P0/Of90ju+4DmSuuleuO+zqfvJCOV3eEuQLD/vUVyVsg1zX/KOOKkuLiZaurZOvqwhqX1JAg+uBtaeLZMm21YUTyKSQNJ9iYCE1gUIEBAAAANGicc/H++++3eO/FF18MdThA1yU0VElUlDWrSLDbN6romcf98y5++G8yZ53T5aWN2y3FJ4R1Bob1Fsi++2eZaefJnNIwsyM+wf+1uvL4nI4wses+kMqPyXXxlW1eYyJ5iGfjEaokMAAAAIDItnz58nCHAPRMUwVGmSTJVlXKvvg72ayVco8aI+cf/llmaGYP1k8OawWG/fPTkpXMt28+/mJcQwKjKrwJDOs4su+/Jo0aK50yoe0LI/gYVduYwEhNC28gbSCBAQAAADQYPDgy/9YR6LQT2jzs7u1ynn5cKi6SuezbSrnlhyoq7WHywZMkG6YEhs3ZJbvxI//RpKnpTa+buHj/3I+qMM+V+NtG6eghmX/8ZxnTzkSO6FjJVxO6uLrCWyC5o/2JqgjEDAwAAAD0ay+88EKnrnvppZeCHAnQc8bt9s+EWPuenEfvl6Jj5PrXh+RaeKNMdEzHC3QkMUkqC30Cw1or56XfSwNTZC5d2PzNxhaSMA/GdN5/VUoZLDP13PYvjI6WfL7QBNVV3kIpJU3GFZmpAiowAAAA0K+9/fbbmjNnjv/4wHa88847+s53vhOiqIAe8AyU8g/LzL1C5sobZWJjA7a0SUySPZATsPU6y27Kkvbvlbn5TpnYAc3fPLGFJEzs/s+lvTtlvnOrTFRU+xdHx0q1tbLWtl+pEQbWWxCx8y8kEhgAAADo52pqarRo0aIOr4uOjg5BNEDPuW65UzIumTGnBn5xj38GRij/8G19Ptm/PCMNP0lmxuyWF8TF+6+rCt9Rqvb9V6W4BJnzL+r44pgYyTpSfZ2/XSOSeAtlTjsr3FG0iQQGAAAA+jVOF0FfY8aeHrzFE5OkujqpuqopcRBs9oO3pMKjct31M/+xqV8V5goMW1QguzlL5qJvygzoxO+kMRnq80VUAsPW1Ukl3oiuwIjMxhYAAAAAQOTxNJzyEaJBnraiTPatF6UzpsicPrn1ixoTKWGagWHXvuc/GWX2/M7dEN3Q0hNpgzxLvf7KkJTIPIFEIoEBAAAAAOgk03hMaVlpSPazb70kVVXJ9e1b2o7J7ZZiB4TlFBJb55P96D1p4rRmJ6O0K6ZhmGpthB2lWuQ/QtWkRm4FBi0kAAAAQIBs27ZNTz31lBzH0dy5c7VgwYJm7/t8Pi1fvlz79u2Tx+PR4sWLlZ7u/0PPK6+8otWrV8vlcumWW27RpEmT2l0zPz9fS5cuVVlZmUaPHq1FixbJ7fb/5312drb+7//+T8YYjRo1Sj/60Y9C+FtAn+ZpOF4zBBUYtuCI7Oq3ZM6dK5M5qt1rXfGJsmFoIbFb10tlpXLNuqzzNzWeBuOLrASG9foTGLSQAAAAAH2c4zhasWKF7r33Xj322GPKyspSbm5us2tWr16thIQELVu2TPPnz9dzzz0nScrNzVV2drYeffRR3XfffVqxYoUcx2l3zWeffVbz58/XsmXLlJCQoNWrV0uS8vLy9Oqrr+qBBx7Qo48+qptvvjmkvwf0cQ0VGDYER6nav/xBioqS+eZ1HV5rEhJlw1GBseZtafBQqa32llaYCE1gqDGBMYgEBgAAANArVFdXq6ioSNXV1V26LycnR0OHDtWQIUPkdrs1c+ZMbdy4sdk1mzZt0qxZsyRJ06dP144dO2St1caNGzVz5kxFR0crPT1dQ4cOVU5OTptrWmu1c+dOTZ8+XZI0a9aspr1WrVqlSy65RImJiZKk5OTkHv5GgBMkhmYGhv3iM9lNH8tccqXMwNQOr3fFJ4R8BoY9dMB/dOqFl8q4uvBH6+gIbSHxFkiJnoAeuxtotJAAAACg3zt48KBWrlypLVu2qKCgoOn19PR0TZo0SRdddJFGjhzZ7hper1epqcf/oJWamqrPP/+8zWuioqIUHx+vsrIyeb1ejRs3rum6lJQUeb3epnW+umZZWZni4+MVFRXV4vrDhw9Lku6//345jqOrrrqqqR3lRCtXrtTKlSslSQ899JDS0ro2uM/tdnf5nt6irz5bIJ7LWqt8d7Ti6mvlCdLvyFqr4kefkwalKvXaf5CrE6edlCR65D5WqtQQfm7H/vKMqqJjlHbFd+RKGtjp+2oHD1axpKT4OMV2EG8o/1ksLi+Vkz4sZL/D7jwbCQwAAAD0a0uXLlVubq5mzpypRYsWKTMzU3FxcaqqqtKhQ4e0a9cuPf744xo+fLgWL14c7nA75DiO8vLy9JOf/ERer1c/+clP9Ktf/UoJCQnNrps3b57mzZvX9HNhYWGX9klLS+vyPb1FX322gD1XokdV+UdVE6Tfkd2+Qc7u7TI33C5vRaVU0fFsC3dcguoO/T1kn5utrpTzwdsy086Vt7ZO6sK+trJKknSssECmg/tC+c9i/ZHD0uChIduv8dkyMjI6fQ8JDAAAAPRr559/vqZOndri9cTERI0fP17jx4/XlVdeqc2bN7e7TkpKioqKipp+LioqUkpKSqvXpKamqr6+XpWVlfJ4PC3u9Xq9Tfe2tqbH41FlZaXq6+sVFRXV7PqUlBSNGzdObrdb6enpGjZsmPLy8jR27Niu/3KA1iQmywaphcQ69XJe+aOUniFz7ryOb2jgSkiUKsuDElNr7PoPpeoqmQu7MLyzUQTPwDDjzwx3FO1iBgYAAAD6tROTF19t+WiUk5PTapLjRGPGjFFeXp7y8/NVV1en7OxsTZs2rcVea9askSStX79eEyZMkDFG06ZNU3Z2tnw+n/Lz85sSDm2taYzRhAkTtH79eknSmjVrmvY655xztHPnTknSsWPHlJeXpyFDhnTrdwO0ypMUtBkYdv2H0qEDMgtu8B+P2kkmPlEK0Skk1lrZD9+RRo6WRo/v+gINx6jaCJqBYYsK/L+/wZH9/xVUYAAAAAANfv7zn+uZZ55p8fqDDz6op556qt17o6Ki9L3vfU8PPvigHMfR7NmzNWLECL344osaM2aMpk2bpjlz5mj58uVatGiREhMTm1pSRowYoRkzZmjJkiVyuVy69dZb5WoYCtjampJ0/fXXa+nSpXrhhRd08skna86cOZKks846S9u3b9ddd90ll8ulG264QR6PJ5C/JvRzJjFJ9kBOwNe1Pp/s63+SRo2VmTqzazHFJ0h1PlmfTyY6OuCxNfPFbin3S5kbfyhjTNfvdzdWYNQENq4esJs/liSZiWeHOZL2kcAAAABAv+c4jqSGv1lt+F+jo0ePNg3L7MiUKVM0ZcqUZq9dffXVTd/HxMRoyZIlrd67cOFCLVy4sFNrStKQIUP0i1/8osXrxhjddNNNuummmzoVM9BlicGpwLAfviMV5ct14w+7dqqHGlpIJKmqQoru/EDN7rAfvCPFJcicc0H3FohpTGD4AhdUD9kNH/kTR+mdn0cRDiQwAAAA0O9de+21Td9fc801zd5zuVy68sorQx0SELk8yVJlhWxdXZfaPNpjqypl33pJOu0smdNbnprTERPfkMCorJC6cCJIV9ljJbJbsmQuvEwmdkD3FoluOKY0QlpI7NHD0oEcmatuCXcoHSKBAQAAgH5v+fLlstbqpz/9qX72s581vW6MUVJSkmIa/8YUgL8CQ5IqyqTkQQFZ0v71Van8mFwLb+zW/ccrMII7B8NmrZTq6ro3vLNRY4tLhLSQ2I0fSZLMtPPCHEnHSGAAAACg3xs8eLAk6de//nWYIwEin/EkyUpSWWlAEhj2WLHs+6/KTD1X5qRx3YspvuGY4KqKHsfTFmut7MfvS6dMkBk2vNvrGJdLcrsjpoXEbvxIGnu6TMrgcIfSIU4hAQAAQL/2zDPPqKSkpN1rSkpKWh3uCfRLjRUYAZqDYd/6P8lXK7Pghm6vYRIaBtUGswIjZ7eUnyczs/PHu7YpOjYijlG1hw5Ihw92f55HiFGBAQAAgH4tIyNDP/7xjzV8+HCddtppysjIUFxcnKqqqpSXl6ddu3bp8OHDrQ7YBPolT7IkyZYdUzfO4GjGFhyR/fBdmfMukhma2e11XA0VGLayvMcxtcVmrZRiB3T5hJRWxcRIteFvIbEbPpKMKzDPFAIkMAAAANCvXXTRRZo9e7Y2bdqkrVu3auPGjaqsrFRCQoJGjhypiy66SFOnTu30SSRAnxfACgz7xguSyyVz+TUdX9wOE+QZGLamWnZTlsy0c2UGxPV8QXd02CswrLWyG9dKp02UCeLg00AigQEAAIB+z+12a/r06Zo+fXq4QwEiX2O7Rg8TGDbv77Lr18jMu0JmUGqP1jID4v3fBCuBsTlLqqkKTPuIJMXEyoa7heRAjlRwRObrV4U3ji5gBgYAAADQ4Omnn1ZOTk64wwAimnG7pfgE/xDPHrCv/UmKiZW57Ns9jykqSoqLD9oQT5u1SkofJo07PTALRseE/RhVu2GtFOWWmTwjrHF0BRUYAAAAQANrrR5++GHFxsbqvPPO03nnnaeMjIxwhwVEnsTkHlVg2INfyG7Okpn/HZmGmRo9FhcvVQY+gWELjkh7d8gsuEHGBGjCRkxMWFtIrOPIbvxYOmPK8fabXoAEBgAAANDglltu0U033aQdO3bo448/1n333af09HSdf/75uvzyy8MdHhA5PEmyPUhgOK8+J8Unyly8IHAxxSXIBqGFxGavkoyRmTE7cItGh3mIZ85uqaRI5ts3hy+GbqCFBAAAADiBy+XSxIkTdfvtt+uRRx6Rx+PRH//4x3CHBUSWxCSprHsJDPvFZ9Knm2QuXSgTH8C//Y9LCHgLiXUc2ezV0mmTZFIGB27h6DBXYGz8SIqJkTnrnLDF0B1UYAAAAAAnqK6u1oYNG5SVlaVdu3bp9NNP1x133BHusICIYhKTZA90b16M88ofpaSBMnMCXNUUFy+VegO75md/k7wFMt+6KaDLmugY2TDNwLD19f72nYnnBOZElRAigQEAAAA0ePTRR7V161aNHj1a5557ru644w4lJSWFOywg8nj8MzCstV2aC2F3b5f2fCpzzT/KxA4IaEgmLkH2SG5A17RZq6T4BJnJAT6hKJwVGHv+JpWVypx9fnj27wESGAAAAECDMWPG6MYbb1RaWlq4QwEiW2KSVFcnVVf5Kx86wVrrr75ISZO54NLAxxQf2FNIbGW57NZ1MufOlYmOCdi6ksI6xNNuzpZi46Qzp4Zl/55gBgYAAADQ4Jvf/CbJC6AzPA2VSV0Z5Pm3jdL+vTKXXyMTHR34mOISpKpKWWsDspzd+LHkq5WZOS8g6zUTpgoM6ziy2zfInDEl8EmZECCBAQAAAADoEpPYkMAoK+3U9dZx5Lz2nJQ+TGbGnOAEFZcg1dcH7HQPm7VSyhgpnTQ2IOs1ExMjhWMGxoEcqbRYmtS7hnc2IoEBAAAAAOgaT7L/a2crMLaul/6+X+aKa2TcQZpk0NjKEoA2EnvkkL9aZObcLs346DR3jFRfJ+vUB37tdthtn0gul8yZ00K6b6CQwAAAAAAAdE1DBYbtxFGq1nHkvP4naehwmXMuCF5M8Qn+r1WVPV7KblgrGRO8eGMa2jd8vuCs3wa7fYM0boJMgiek+wYKCQwAAAAAQNd0YQaG3ZwlHT4o841rZVxRQQvJxDUkMCp7VoFhrfUnME45Q2ZQagAia0V0rP9rCNtIbMER6dABmV7aPiJFyCkkhYWFeuKJJ1RSUiJjjObNm6evf/3r4Q4LAAAAANCa2DjJ7e5wBoZ16mVff17KGCkz9dzgxhSoFpKD+6Sjh2QuXtDzmNrSOMQ0hIM87fZPJEnmrK+FbM9Ai4gERlRUlL773e9q9OjRqqqq0j333KOJEydq+PDh4Q4NAAAAAPAVxhgpMbnDCgy7Ya10JFeu2+6RcQW5AaChAsNWVaonUyvshg+lKLfM1JmBias1TS0kIUxgbNsgZY6SGTw0ZHsGWkS0kAwaNEijR4+WJMXFxSkzM1NerzfMUQEAAAAA2pSYJNtOAsPW18u+8YI0/GRp8vTgx9M0A6P7FRjWcWQ3fCSdMSWocyJMYwuJLzAnpnTEVpRJn++UOav3to9IEVKBcaL8/Hzt379fY8e2PKpm5cqVWrlypSTpoYceCssZ3W63m7PB+yA+176Lz7Zv4nPtm/hc+y4+W6CP8iS1W4Fh138g5efJdcd9wa++kI63kPRkBsbnu6SSIpmrbglMTG1prMAI0QwM++kmyXFkJvXe9hEpwhIY1dXVeuSRR3TzzTcrPj6+xfvz5s3TvHnzmn4uLCwMZXiSpLS0tLDsi+Dic+27+Gz7Jj7XvonPte8K12ebkZER8j2B/sQkJskeyGn1PVtX56++GDVWCtXf+scOkFyuHp1CYjd8KMXEBr9Swd04AyNEp5Bs2yAlD/J/Hr1YRLSQSFJdXZ0eeeQRnX/++fra13p3VggAAAAA+jxP2zMwbPZKqShfrm9e55+XEQLGGGlAfLdbSGydT3Zztsyk6TKxAwIc3VfEhK6FxPp8sju2yEw8OzSVMEEUEdFba/Xb3/5WmZmZuvzyy8MdDgAAAACgI4lJUmWFbF1ds5etzyf71kvSyadIZ0wNbUzxCd2vwNi5TaookznngsDG1JroELaQ7PlUqqnq9e0jUoS0kOzZs0dr167VyJEjdffdd0uSrr32Wk2ZMiXMkQEAAAAAWuVJ8n+tKPO3JzSwH78veQvlunFRyKovmsTFy3ZzBobdsFZK8EgTJgU4qFY0JDCsr7ZHJ6Z0ht3+ib/i49SJQd4p+CIigXHqqafqpZdeCncYAAAAAIBOMolJspJUVtqUwLC+Wtm3/08ac6p0eggSAV8Vl9CtFhJbUy27bb3M9FkyjfMpgilEx6haa/3Hp06YLNPYttKLRUQLCQAAAACgl/Ek+7+eMAfDfvRXqaRIrm9eH/rqC6nbLSR2+waptkbmnAuDEFQrokOTwNDBff5TVc7q/e0jEgkMAAAAAEB3JPpbSGyZP4Fha2tk3/mzNO70sLUrmLj4bh2jajeslQam+mMPhRDNwLDbPpGMS2bitKDuEyokMAAAAAAAXdc4A6OhAsOufU8q8cr1jdCdPNJCXNcrMGxFmbRji8w554fulI4QVWDY7Z9IY06VaayW6eVIYAAAAAAAui7e4/9aVuqvvnj3ZemUM2TCOSwyLl6qrpR1nE7fYresk+rrQtc+Ism43ZLLFdQEhi3xSn/fLzPx7KDtEWokMAAAAAAAXWbcbik+USo/Jvvhu1JpsVzfuC68QcUnSNZKNdWdvsVuypIGD5VGjg5iYK2Ijg1qC4ndtU2SZCZMDtoeoUYCAwAAAADQPYlJst4Cf/XFqRNlxp8R3njiEvxfOzkHw1aUS3v+JjNlZujbXqKjpbogtpDs2uoftDr8pODtEWIkMAAAAAAA3eNJkv62UTpWEv7qCzUM8ZQ6fZSq3f6JVF8vM3VmEKNqQ0xM0CowrOPI7tomc/qk0M31CIG+8yQAAAAAgNBKTPK3bJx2lkyoTvBoT3xDBUYnB3naLeuklDTppHFBDKoN0bHBm4GR+6VUViqd3nfaRyQSGAAAAACAbmo83SISqi8kHW8h6UQFhq2ulHZulZk8IzynpkRHy9bWBGVpu2urJMmcPiko64eLO9wBAAAAAAB6J3PeRdLQ4TJjTwt3KH4NLSS2skIdpSTsp5ulOp/MlDC0j0j+o1R9vqAsbXdtkzJHyQxMCcr64UICAwAAAADQLWbMqTJjTg13GMfFdaGFZHO2lDRQGhum+GNiJV/gKzBsTY30+U6ZOZcHfO1wo4UEAAAAANA3xHeuhcTW1sju2CwzabqMKyoEgbUiOkhDPD/fIdXVyfSx+RcSCQwAAAAAQB9homMkt7vjCoydW6WaapmpM0ITWGuio6W6wLeQ2J3b/MmRSBiqGmAkMAAAAAAAfUdcglTZQQXGlmwpPlE65cwQBdXS/2fv3qOjqu/9/7/2zGSSmUkyyWSANIAKEVtBFCGIYi0IETnlrJZSv7Ra6/Fyvi3VhVK7WsR61C6k0irCErDH03K81H5bTvurtse2v9NGDrZH5FsUEAUVIxa0oCH3hNzmsr9/7MmEmACZZGb2ZPJ8rJW193xmz573JxNcycvPxcjJlVKwiKd5YI80aYoMd27S7203AgwAAAAAQPbw+E47hcQMh2S+tkvGtFkyXDYuC+l2J30bVbOhTjp6RMaU7Np9pBsBBgAAAAAge3i8Mk83heStfVL7Cft2H+mWb4GvIQAAIABJREFUk5P0XUjMA3slKSvXv5AIMAAAAAAA2cR7hhEYu1+W8jzS5IvSWFQ/clKwC8mBPZK/WBp7dnLvmyEIMAAAAAAA2cPjPeUaGGYkInPPThlTK6wFP+3ktnYhMU0zKbczo1GZB/bKmDxNhmEk5Z6ZhgADAAAAAJA1DI/v1LuQvLNfam2WMcPm6SOStVOIlLydSN5/T2ptlrJ0+ohEgAEAAAAAyCanCTDM3TuskQ8XzEhzUf3oDjCStJCneWCPJMmwe2pMChFgAAAAAACyh8crdbbLjER6NZvRqMw9O6Up02Xk5tlU3Em6A4yuJAUY+/dI4yfIKCxOyv0yEQEGAAAAACB7eL3WseNjozCOvCs11suYdmn6a+qPO3kjMMzODqn6zazdfaQbAQYAAAAAIHt48q3jxxbyNF/bJRkOGVMrbCiqH8mcQnLwDSkSljGFAAMAAAAAgGHB8MRGYHxsHQxz31+l8k/KKCi0oaq+jCQGGOZb+yRXjnTu+UO+VyYjwAAAAAAAZI94gNEzAsOsPy4dOSTjoktsKqof7uStgWEe3C9NPM/+rWFTzGV3AQAAAEC22Lt3r5544glFo1HNnz9fixcv7vV8KBTSpk2bdOjQIRUUFGjFihUaPXq0JOnZZ5/Vtm3b5HA4dNNNN2natGmnvWdNTY02bNiglpYWTZw4UcuXL5fL1fPr/c6dO/XII4/owQcfVHl5eZq+A0AG8MamkJwcYOzbJUmZFWDk5FrHUOeQbmN2tElH3pXx2f+VhKIyGyMwAAAAgCSIRqPasmWL7r77bq1fv14vvfSSPvjgg17XbNu2TT6fTxs3btSiRYv0s5/9TJL0wQcfaMeOHXrkkUf03e9+V1u2bFE0Gj3tPZ955hktWrRIGzdulM/n07Zt2+Lv097erj/84Q+aNGlS+r4BQKaIjcAw23qmkJiv7ZJGlUql4+yqqq+cHOsYCg3tPtVvStGojElThl5ThiPAAAAAAJKgurpapaWlGjNmjFwul2bPnq1du3b1uuaVV17R3LlzJUmXXnqp3njjDZmmqV27dmn27NnKycnR6NGjVVpaqurq6lPe0zRN7d+/X5deau2mMHfu3F7vtXXrVn3+859XTvcfSMBI4vFZx9gIDLOzQ3prn4yLLpFhGDYW9jGxERjmEKeQmAf3S06nVP6pZFSV0ZhCAgAAACRBfX29SkpK4o9LSkr0zjvvnPIap9Mpr9erlpYW1dfX9xotEQgEVF9fH7/Px+/Z0tIir9crp9PZ5/pDhw6ptrZW06dP129/+9tT1ltVVaWqqipJ0tq1axUMBhPqr8vlSvg1w0W29i1b+yX17ptZVKQaSV5Dyg8G1fF/X1RTOKSiz1wldwb1PxzuVJ2kgly3PKeoayCfWf17b0vln1JgbAaNLhmAwfw8EmAAAAAAWSIajerpp5/WrbfeesZrKysrVVlZGX9cW1ub0HsFg8GEXzNcZGvfsrVfUj99c+eqre64OmprFf1LleTxqWnUWBkZ1H+ztVWS1NJQrxOnqOtMn5nZ2anoO2/KuOrzw+6z7e5bWVnZgF9DgAEAAAAkQSAQUF1dXfxxXV2dAoFAv9eUlJQoEomora1NBQUFfV5bX18ff21/9ywoKFBbW5sikYicTmf8+o6ODr3//vv63ve+J0lqbGzUD3/4Q33nO99hIU+MLB6f1N4mMxqVue8VGRdMl+HKsD9/k7GI56G3pEhYxnkXJKemDMcaGAAAAEASlJeX69ixY6qpqVE4HNaOHTtUUVHR65oZM2Zo+/btkqxdQqZMmSLDMFRRUaEdO3YoFAqppqZGx44d07nnnnvKexqGoSlTpmjnzp2SpO3bt6uiokJer1dbtmzR5s2btXnzZk2aNInwAiOTxyuzrVV676DU0iRl0u4j3ZKwjap5cL9kOKRzz09SUZktwyIoAAAAYHhyOp26+eabtWbNGkWjUV155ZUaP368tm7dqvLyclVUVGjevHnatGmTli9frvz8fK1YsUKSNH78eF122WW688475XA4dMstt8jhsP5fY3/3lKSvfOUr2rBhg37xi19owoQJmjdvnm19BzKONzYCY98uyeGQccEMuyvqy9W9C8lQAow3pLMmyojtvJLtCDAAAACAJJk+fbqmT5/eq+1LX/pS/NztduvOO+/s97VLlizRkiVLBnRPSRozZowefPDB09Zz//33D6BqIAt5vFLbCZmv/VWaNEWGL9/uivowDEPKcQ86wDBDIenQ2zLmfjbJlWUuppAAAAAAALKK4fFJH34g/f2wjAtn2l3OqeW4Bz+F5L2DUjgk45NTkltTBiPAAAAAAABkF49Xam+TJBmZuP5FN/cQRmAcfMM6OXdyEgvKbAQYAAAAAIDs4vVZx9JxMsYMfJvOtBvKFJJ39ktjz5aRX5jkojIXAQYAAAAAILt4rADDuCiDp49IUo5b5iACDDMclt59a8Rsn9qNAAMAAAAAkF1iIzCMCzN4+og0+DUwDldLnR0yzhs5619I7EICAAAAAMgyxvTZUigknXu+3aWc3iCnkJjv7LdORliAwQgMAAAAAEBWMfzFcixYLMOR4X/yDnIRT/Pgfql0rIzC4hQUlbky/NMEAAAAACBLDWIKiRmNSNUHRtz6FxIBBgAAAAAAtjDcuYmPwHj/b9YWsZNG1vQRiQADAAAAAAB7uHISDjDMg29IEiMwAAAAAABAmgxiDQzz4H5pVKmMQDBFRWUuAgwAAAAAAOyQk5vQGhimaVrrX5w7OYVFZS4CDAAAAAAA7JCTI4UTGIFx/JjU2iyd+6nU1ZTBCDAAAAAAALCD2y1FIjIjkQFdbh56W5JkTPxkKqvKWAQYAAAAAADYISfXOoY6B3b9obel3Dyp7KzU1ZTBCDAAAAAAALCD220dB7gOhnnooHTOJBkOZwqLylwEGAAAAAAA2MGVYx1DoTNeanZ2Sh+8N2Knj0gEGAAAAAAA2MOdwBSSI+9KkQgBBgAAAAAASC8jZ+BTSLoX8BQBBgAAAAAASKvuACM0kADjLWlUqYzCohQXlbkIMAAAAAAAsIN7YAGGaZrSu2/LmDByR19IBBgAAAAAANhjoCMwGmqlpvoRPX1EIsAAAAAAAMAeA91GNbb+xUhewFMiwAAAAAAAwB4uK8AwzzSF5NDb1par489JQ1GZiwADAAAAAAA7DHQNjENvS2eXy3DlpKGozEWAAQAAAACAHXJyreNpppCY4ZB0+N0RP31EIsAAAAAAAMAeObERFeHTjMB4/29SOCSj/FNpKSmTEWAAAAAAAGCHASziacYW8NQI30JVIsAAAAAAAMAWhsMpOV1SqPPUFx16SyoqkREIpq+wDEWAAQAAAACAXdzuM4/AYP0LSQQYAAAAAADYx5UjhUL9PhVprJdqP2IBzxgCDAAAAAAA7OLOPeUUktDB/ZJEgBFDgAEAAAAAgF1yTj2FJHRwv+R0SmeXp7mozESAAQAAAACAXXJyZIb7n0ISevsNadwEGe7cNBeVmQgwAAAAAACwiztX6uo7hcSMRhSufpPpIychwAAAAAAAwC45binUzxSSo0dkdrSzA8lJCDAAAAAAALBLjrvfXUjM996RJBkTzkt3RRmLAAMAAAAAALvkuPudQqLD1TK8+dLoT6S/pgxFgAEAAAAAgE0Md/9TSMwjh+SaeJ4Mw7ChqsxEgAEAAAAAgF36WQPDDIel999TzkSmj5yMAAMAAAAAALv0t4jnh+9L4ZBc5Z+yp6YMRYABAAAAAIBdctxS18dGYBw+ZD3FCIxeCDAAAAAAALCL2y2FQzKj0Z62w9VSrkfOsrPsqysDEWAAAAAAAGCXHLd1DPdspWoeeVcaP0GGgz/ZT8Z3AwAAAAAAu3QHGLF1MMxoRHr/PRlnl9tYVGYiwAAAAAAAwC7uWIDRvQ7Gh3+XujqlswgwPo4AAwAAAAAAu+TkWsdQpyTJPPyuJMk4+1y7KspYBBgAAAAAANjEyMmxTkKxNTCOvGuNyigda19RGYoAAwAAAAAAu3SPwIhNITEPV0vjJshwOm0sKjMRYAAAAAAAYJfuNTBCndZWqkdYwPNUCDAAAAAAALDLyVNIao5Jne0s4HkKBBgAAAAAANjlpEU8zcPVkljA81RcdhcAAAAAZIu9e/fqiSeeUDQa1fz587V48eJez4dCIW3atEmHDh1SQUGBVqxYodGjR0uSnn32WW3btk0Oh0M33XSTpk2bdtp71tTUaMOGDWppadHEiRO1fPlyuVwuPf/883rhhRfkdDpVWFiob3zjGxo1alR6vxEABi42hcTs6pKOHJJcOdInxttcVGZiBAYAAACQBNFoVFu2bNHdd9+t9evX66WXXtIHH3zQ65pt27bJ5/Np48aNWrRokX72s59Jkj744APt2LFDjzzyiL773e9qy5Ytikajp73nM888o0WLFmnjxo3y+Xzatm2bJOmcc87R2rVr9fDDD+vSSy/VM888k95vBIDE5HSvgdEVW8DzHBkuxhr0hwADAAAASILq6mqVlpZqzJgxcrlcmj17tnbt2tXrmldeeUVz586VJF166aV64403ZJqmdu3apdmzZysnJ0ejR49WaWmpqqurT3lP0zS1f/9+XXrppZKkuXPnxt/rggsuUG6uNSR90qRJqq+vT983AUDiugOM2AgMg/UvTolYBwAAAEiC+vp6lZSUxB+XlJTonXfeOeU1TqdTXq9XLS0tqq+v16RJk+LXBQKBePDQ3z1bWlrk9XrljG2zePL1J9u2bVt8KsrHVVVVqaqqSpK0du1aBYPBhPrrcrkSfs1wka19y9Z+ScO7b1FPno5Lyms4rvb2E8qfcqG8sb4M536dyWD6RoABAAAAZKE///nPOnTokO6///5+n6+srFRlZWX8cW1tbUL3DwaDCb9muMjWvmVrv6Th3TczHJIktb++W5J0oqRUbbG+DOd+nUl338rKygb8GqaQAAAAAEkQCARUV1cXf1xXV6dAIHDKayKRiNra2lRQUNDntfX19QoEAqe8Z0FBgdra2hSJRHpd323fvn169tln9Z3vfEc53Vs0AshMTpdkGNLfD1vnZWfbXVHGIsAAAAAAkqC8vFzHjh1TTU2NwuGwduzYoYqKil7XzJgxQ9u3b5ck7dy5U1OmTJFhGKqoqNCOHTsUCoVUU1OjY8eO6dxzzz3lPQ3D0JQpU7Rz505J0vbt2+Pv9d577+nHP/6xvvOd78jv96f1ewAgcYZhWOtgmFFp7FkyCB1PiSkkAAAAQBI4nU7dfPPNWrNmjaLRqK688kqNHz9eW7duVXl5uSoqKjRv3jxt2rRJy5cvV35+vlasWCFJGj9+vC677DLdeeedcjgcuuWWW+RwWP+vsb97StJXvvIVbdiwQb/4xS80YcIEzZs3T5K1O0lHR4ceeeQRSdYw7ZUrV9rwHQEwYG631NXJAp5nYJimadpdxGAdPXo07e+ZzXOQRjI+1+zFZ5ud+FyzE59r9rLrs01kXjUS/906m//NZmvfsrVf0vDvW+Q7N0sNtTK+skyOuZ+Ntw/3fp0Oa2AAAAAAADDcxKaNMALj9AgwAAAAAACwU45bcjikcefYXUlGI8AAAAAAAMBO7lzpE+NluHPtriSjsYgnAAAAAAA2ciz6kjUCA6dFgAEAAAAAgI2Mi2baXcKwQMQDAAAAAAAyHgEGAAAAAADIeAQYAAAAAAAg4xFgAAAAAACAjEeAAQAAAAAAMh4BBgAAAAAAyHgEGAAAAAAAIOMRYAAAAAAAgIxHgAEAAAAAADJexgQYe/fu1R133KHly5frueees7ucU1q92tlv+7p1BSlrT+W9aaeddtppP317JtVCO+3Dtf1Uvz8BAJAIwzRN0+4iotGo7rjjDt1zzz0qKSnRqlWrdMcdd2jcuHGnfd3Ro0fTVGGPsWPL9Pe/933fVLbb8Z4jrT0YDCo3150x9dCevPZgMKja2tqMqYf25LR3f67peF+7+zqS2js7u3p9rnbXQ3vq21OtrKws7e85nCX6u/XH/1ucTbK1b9naLyl7+5at/ZJ6+pbIf6szYgRGdXW1SktLNWbMGLlcLs2ePVu7du2yuywAAAAAAJApzAzw8ssvmz/60Y/ij1988UXzJz/5SZ/r/vSnP5krV640V65caZqmaXZ2dqbl6557wqZk9vm64opIStvteE/aaaeddtpP/ZVpNdKejvao+ZkrukyXETLdjk4zz9Fuep0nzHxXi3n1FQ1mUU6DWeKuM0e5j5tjcmvM0rwPzcWf+bs5zvN382zv++Y53sPmRN975rm+Q+aX5xw0P1nwjnl+wdvmlMI3zamFB8wL/W+YN855zZxe9JpZUbzHvKR4tzkr8Ip5WWCXuWzuy+YVwZfNMbkfZcD3IXnt99wTTtvvcACA7JIRU0h27typvXv3atmyZZKkP//5z3rnnXd0yy23nPZ1TCGhPVntTCHJ3namkGRnO1NIztxuRqNSNKJzJ4xR9cEPpGhEikSkWPtllwT18kvH4o8ViUhmVP/4DwE9/9sPrfZYmyJR3XiDX0/+e60UjVj3jkSkaETf+mah1j1Ub90jGo1/rVnt03dXNZ7UZj3/2Cavbv1Gc69rFY3q/zyTp5tuDKmzva1X++9+59ZnF/ZukxnVS3/J0eWz209qM6VoVG/sc+iCKV0fa4/oyGGnzhrXFb9OpvV8Q72hYn/YenzSc+EuUy5nrM1mxj8t1/gv/VNG/Fwluz3VmEKSWnfddZfWrl1rdxkpka19y9Z+Sdnbt2ztlzS4vrlSVEtCAoGA6urq4o/r6uoUCARsrAgAMFKYpilFwlI4LH9Ok8zmBikcsdoiYZ2X3ybzyDEpHLb+aI9dO3/0uzJ318jsbosdv3pWvqJVdT3Xxo4rP+lV9JeNscc9z224yK3ov7XKjF9rBQM/v8SlyA/aesKFWPu2zxiK3N0Zf9wdSrxxVVSR28I97bE/vA8ulKK39+33S1dK0Xv6tv/2cin6g77t/14hRR/r2/7whZL5077td39KMp89qcEwJIdDN53jlLndOo9/GQ7NG52jrtccMqV4mxwOlfvcUm20V5scDrkcDkmG5MrpdZ9jHR5dEAxJDkOG0dO+a49PZ8/vkByG5HDG7mXouScLdPM/tMcfd9f5o42Fuv2OE73f1zD0/Qf9uvueE7HrDMlwSg5Dq+4u1oM/aLauNYz4cfkdJdq4qVFyOGTE26WbbgnqiScbe10rh6EvfXmUtv5Hfa82jf7EAH6SAQDIfhkRYJSXl+vYsWOqqalRIBDQjh07dPvt/fy2lQHuuSfSb/udd7akrD2V96addtppT3W7aZr69oo6me1tUjgkhULWMRzSg7d+KPPdRiscCIfix8dvcSr6Umv8uu72//iqoej/16aWHJeirS3x9j99yVDkR+2xx7F7RcLatSSqyP2dPUFC7LmD/xhR5LZQT3vM61dJ0W/1rr/qM1J0dd++PlEhRX/Ut33NBZK59WONhqGvn+uSud0hOV2S0xn/mneOW+YRw3rsiLW7XDp7vNs6d+f2XO9wKtKSJ6M82nNtrL16T55mXBLpaXc4JYdDf37Jq8/MDVnvG2uTw6H//08+LfxsSHI6ZTgcseec+vVzPi35X50nXWsdn/l5ga7/akfs3j3tP95SoP/99Y7egYTDqUc3Fer2FW3xP/4Nh7Xs1r+uK9C3vtX35+Tn6wr04IO5fRYq+8O6Ak3u5/qX1xVodj/t+0MFWnhb3/b3mwvkuLlve9OHBXJ8uW975L0CORb3bfe8WSDH1X3bR19TIMdn+rZP/HKBHLP6tk+9vkDGRX3bZ/1TgYxPZd/vAqf6/QkAgERkxBQSSdq9e7eeeuopRaNRXXnllVqyZMkZX2PHFJJsXgV2JONzzV58tieNMAiFpFCn1NUlhbp6jvGvkMyPPVaoM3bs6nU0w7Hz7kDi5PNwV09I0X1MJpdLRo5bptMpOXMkl8v64zwnxzq6XD1tLqvN6NXW3e7seXzysTtgiD02TjpX93t2v7bXsft+fZ8zHGwhORD8e81edn22TCFJraqqKlVWVtpdRkpka9+ytV9S9vYtW/slDa5vGRNgDAYBBpKFzzV7ZfJna0ajsSChs/dXZ0f83OzV3h0+dLdZrzW77xHqsq4JdfUNKszo4As1HJLbbQUErtgxx22FAB87N7rPu587+djPudF97uoOIHKknJ7goef6k8IIw8jozxWDx+eavQgwAADJkBFTSAAgU5mmaY0g6OiQOtutcCH+1S6zs9Nq7zipvavDChI6O6wAIt5+ckDRYQULiTIc1pQCt9s65rh7P84vlBFvd1vHnFwrCHDHzmPtRo77Y9fl9Fzb/VyO2xqBAAAAANiMAANA1jHDYamjTepoV6i1UeaHR6X2dpkd7fH2Xl+dsec6O05q64g/p2gCoxdcLsmdJ+XmSbm5sfNcqaBQcufJyM21nnPnWYFDbm4sgLDaDffJj0867/6KjUAAAAAARhoCDAAZw4xGrdCg/YT11XbCCh7aT1jBQ3vsuY42qb3NWhQyfn33eVuvNRfqT/eGOW4pz2N95eZZR1++VDJKRp5Hyj3puVyPlGcFD0ZeXk9bbm7saLUxWgEAMBLs3btXTzzxhKLRqObPn6/FixfbXdKgPfbYY9q9e7f8fr/WrVsnSWptbdX69et1/PhxjRo1St/85jeVn59vc6WJqa2t1ebNm9XY2CjDMFRZWanPfvazw75vXV1duu+++xQOhxWJRHTppZdq6dKlqqmp0YYNG9TS0qKJEydq+fLlcrmG55+70WhUd911lwKBgO66666s6Nttt92mvLw8ORwOOZ1OrV27dlA/i8Or1wAymmmaVojQdkJqa419nZDZ1iqdaLWChhOtsfDhpJCirTuAaItv/XhKDofk8Uker5TnlbxeqahERul4yeOx2vI8sec9Khw9Ri1d4VhQ4e0JLPI8hA0AAAxCNBrVli1bdM8996ikpESrVq1SRUWFxo0bZ3dpgzJ37lwtXLhQmzdvjrc999xzmjp1qhYvXqznnntOzz33nK6//nobq0yc0+nUV7/6VU2cOFHt7e266667dOGFF2r79u3Dum85OTm67777lJeXp3A4rHvvvVfTpk3T888/r0WLFunyyy/Xv/3bv2nbtm1asGCB3eUOyu9//3uNHTtW7e3tkqRnnnkmK/p23333qbCwMP54MP/OCDAA9GGGQ1bQ0NYqnWiRTrTKjB37tLWdsB7HworTTrcwjFjo4LNCCK9PKhktY/xJjz1eyeOTcdJ5/JjnldzuhKZQ5AWDamVRQAAAkqa6ulqlpaUaM2aMJGn27NnatWvXsA0wJk+erJqaml5tu3bt0v333y9JmjNnju6///5h9Ue+JBUXF6u4uFiS5PF4NHbsWNXX1w/7vhmGoby8PElSJBJRJBKRYRjav3+/7rjjDklWKPXLX/5yWP6RX1dXp927d2vJkiV6/vnnZZpm1vTt4wbzs0iAAWQ5s7NTam2Of5mtzVJri3Si+9giM3ZUa7N17Gg/9Q0NQ/LmW1MtfAWS1ycjOCZ+Lm++1RY7dj+WL1/K88pwONLXeQAAkHT19fUqKSmJPy4pKdE777xjY0XJ19TUFP/jv6ioSE1NTTZXNDQ1NTV67733dO6552ZF36LRqFauXKkPP/xQV199tcaMGSOv1ytnbHRtIBBQff1pJxJnrCeffFLXX399fPRFS0tL1vRtzZo1kqSrrrpKlZWVg/pZJMAAhhHTNK1RDi2NUkuz1NIos6VZamnqCShamnsFFurqPPUNvT4reMgvlAr8Mj4xLva4QPIVSr58Gb6CnrCCEAIAAIwwhmEM6wW0Ozo6tG7dOt14443yer29nhuufXM4HHrooYd04sQJPfzwwzp69KjdJSXFq6++Kr/fr4kTJ2r//v12l5NUq1evViAQUFNTkx544IE+21wP9GdxwAHGk08+qblz5+qcc85JuFgAp2aGQlYg0dQoNTfKbG6wAonYl9nSJDU39YQUkXD/N/J4rSAiv1DyF8sYe7ZU4I+1Fcgo8FvBRH5hLJzwyXCwBgQAAEhMIBBQXV1d/HFdXZ0CgYCNFSWf3+9XQ0ODiouL1dDQ0Gve/nASDoe1bt06XXHFFZo1a5ak7OmbJPl8Pk2ZMkUHDx5UW1ubIpGInE6n6uvrh+XP5Ntvv61XXnlFe/bsUVdXl9rb2/Xkk09mRd+6a/b7/Zo5c6aqq6sH9bM44AAjGo1qzZo1Kiws1BVXXKErrrii19AxAD3MSKQnlGiql9nUIDU3SrGj2WKFFWputEZU9CfPYwUQBX5rV4wJk6zwodAvFRTJKCiUCoqs7TnzC2W4ctLbSQAAMCKVl5fr2LFjqqmpUSAQ0I4dO3T77bfbXVZSVVRU6MUXX9TixYv14osvaubMmXaXlDDTNPWv//qvGjt2rP7xH/8x3j7c+9bc3Cyn0ymfz6euri7t27dPn//85zVlyhTt3LlTl19+ubZv366Kigq7S03Yddddp+uuu06StH//fv3nf/6nbr/9dj3yyCPDum8dHR0yTVMej0cdHR3at2+frrnmmkH9LBqmeaYl/3tEo1Ht2bNHf/nLX7R7925NmjRJn/nMZzRr1qz4QirpZMdQoWAwqFoWBMw6A/1czVCX1FgvNdVLjbFgoqleamqUGTuqqd4aKdHfPy2vTyoskgqLZBQUxc9VWCTDX9zzuMAvw52bgp6OPPybzU58rtmJzzV72fXZfnyIMpJn9+7deuqppxSNRnXllVdqyZIldpc0aBs2bNCBAwfU0tIiv9+vpUuXaubMmVq/fr1qa2uH5VajkvTWW2/p3nvv1VlnnRUfmn/ttddq0qRJw7pvhw8f1ubNmxWNRmWapi677DJdc801+uijj7Rhwwa1trZqwoQJWr58uXJyhu//4OsOMO66665h37ePPvpIDz/8sCRr4dVPf/rTWrJkiVpaWhL+WUwowDjZ+++JoGVwAAAgAElEQVS/r0cffVRHjhyR2+3W5ZdfrqVLl6Z1OAsBBpKlpLhYte9VSw11VjDRWB8LKup6zhvrrQUuP87ptEZC+IulooCMwiLJH5D8RTL8Aas9Fk4YOe70d26E499sduJzzU58rtmLAAMAkAwJLeLZ1tamnTt36i9/+YsOHz6sWbNm6ZZbblEwGNTzzz+v73//+/FkBcgUZigkNdZJDbUyG+pi53XWeUOt1FivmqYGKRrp/UKHQyq0QgmNKpUxabIVTBQFZBRZR/kDkq+ARS0BAAAAIMUGHGCsW7dOr732ms4//3xdddVVmjlzZq9hKzfccINuvPHGVNQInJIZDluBRH2tzIZaqb42FlT0nKuln+148jxScdAKI86/SN6ycWrL9ciItamoRCooZJFLAAAAAMgQAw4wJk2apFtuuUVFRUX9Pu9wOPTjH/84aYUBpmlKrS1S/XGprkZm/XGp/njsWGu1Nzf2XWvC45MCQak4KOOcc62gojgoo7hEKi6RikpkeHpvIZUfDKqDYcsAAAAAkLEGHGB87nOfO+M1ubksOoiBM8Nha4RE/XGZdTVS3ckBReyrq6v3i9xuKTBKCoySccGMnqAiMMoKJwJBGXne/t8QAAAAADBsJbQGBpAIs6vTCiXqamTW1/Sc1x2X6mukhnrJjPZ+kb/YCifGniNdONM6jwUWCoyS8gviqygDAAAAAEYOAgwMmtnRHgslPrJCibqPpLru0RQ11vSOkzkc1nSOktEyPjlVKhltBRQlo2PnQXbpAAAAAAD0iwADp2S2nbBGStTWxAOK+FSPuo+s9SlO5nJJgdFScLSMiy6xQomSUTJibSoKsCgmAAAAAGBQCDBGKGuBzGZrpERdbN2JuhoroKitsYKLthO9X+R2WwFFySgZZ59rhRIlo3tGUBQWsZ0oAAAAACAlCDCylBkOSQ2x7UVj4YS1WGZs/Yn+FsjM9VihRGCUjEnnSyVjZJSMkkrGSCWjpAI/608AAAAAAGxBgDEMmaGQ1FgnNdTKjIUU8fMG67zP+hOSVFhkLYQ59mwZ3QtklsQWxywZLXnzCSgAAAAAABmJACNDmKYptZ+QmhqkpgaZTQ1WCNHUIDXHHne3tTT1vYHHF9tStETGWROtxTKLS07awSMow802twAAAACA4YkAIwnMaEQKhaVISAqHpHBYCoWsQKKtVeaJVulEq9TWczS7z0+0Sm0tUnOT9dqPc7kkf8AaPTGqVEb5p6TiEqk4KKO4RCoeJRUHZOR5099xAAAAAADShABjgMyjRxTdvEbHo1FFOzukSLgnrIhGB36jHLfkzZd8+daxZJSM8edYAUVhseQvluG3jioslrw+pnUAAACMMI899ph2794tv9+vdevWSZLWr1+vo0ePSpLa2trk9Xr10EMP9Xntbbfdpry8PDkcDjmdTq1duzattQNAqhBgDFSuR8Y558md71NnOGqNjHDlnHTM6dNmeLyxsKJA8vmsNSaYxgEAAIAzmDt3rhYuXKjNmzfH2775zW/Gz59++ml5vacegXvfffepsLAwpTUCQLoRYAyQUTJKxv/+lvzBoGpra+0uBwAAAFls8uTJqqmp6fc50zT18ssv6957703qe3aP7hioYBb/XpytfcvWfknZ27ds7ZfU07eysrIBv4YAAwAAABhG3nzzTfn9fn3iE5845TVr1qyRJF111VWqrKzs95qqqipVVVVJktauXatgMJhQHS6XK+HXDBfZ2rds7ZeUvX3L1n5Jg+sbAQYAAAAwjLz00ku6/PLLT/n86tWrFQgE1NTUpAceeEBlZWWaPHlyn+sqKyt7hRuJ/l/ekfB/hrNNtvZLyt6+ZWu/pMGNwHCksB4AAAAASRSJRPTXv/5Vs2fPPuU1gUBAkuT3+zVz5kxVV1enqzwASCkCDAAAAGCYeP3111VWVqaSkpJ+n+/o6FB7e3v8fN++fTrrrLPSWSIApAxTSAAAAIAMs2HDBh04cEAtLS1atmyZli5dqnnz5vU7faS+vl6PP/64Vq1apaamJj388MOSrNEan/70pzVt2jQ7ugAASUeAAQAAAGSYFStW9Nt+22239WkLBAJatWqVJGnMmDF66KGHUlobANiFKSQAAAAAACDjEWAAAAAAAICMR4ABAAAAAAAyHgEGAAAAAADIeAQYAAAAAAAg4xFgAAAAAEiIebhaJ377C5mmaXcpAEYQAgwAAAAACTHfel2tTzwqdbbbXQqAEYQAAwAAAEBiPF7r2NZmbx0ARhQCDAAAAACJ8fisYzsBBoD0IcAAAAAAkBDD47FOOggwAKQPAQYAAACAxMRHYJywtw4AIwoBBgAAAIDExNbAMJlCAiCNCDAAAAAAJIYRGABsQIABAAAAIDHda2AwAgNAGhFgAAAAAEhMrkdyOAgwAKQVAQYAAACAhBiGIcPjI8AAkFYEGAAAAAASZnh9rIEBIK0IMAAAAAAkzOHLZxcSAGlFgAEAAAAgYUwhAZBuBBgAAAAAEmZNISHAAJA+BBgAAAAAEubw5bMGBoC0IsAAAAAAkDBGYABINwIMAAAAAAkzPD6pgwADQPoQYAAAAABImMOXL4XDMkNddpcCYIQgwAAAAACQMMPrs05YBwNAmhBgAAAAAEiY4c23TtqYRgIgPQgwAAAAACTM0T0Cg3UwAKQJAQYAAACAhPVMISHAAJAeBBgAAAAAEhafQsIaGADShAADAAAAQMIcPivAMBmBASBNCDAAAAAAJMzwsAsJgPRy2V0AAAAAgN4ee+wx7d69W36/X+vWrZMk/cd//IdeeOEFFRYWSpKuvfZaTZ8+vc9r9+7dqyeeeELRaFTz58/X4sWLU1Kj4fVaJ+3tKbk/AHwcAQYAAACQYebOnauFCxdq8+bNvdoXLVqkz33uc6d8XTQa1ZYtW3TPPfeopKREq1atUkVFhcaNG5f0Gg2nS8rNYwQGgLRhCgkAAACQYSZPnqz8/PyEX1ddXa3S0lKNGTNGLpdLs2fP1q5du1JQYYzHyy4kANKGERgAAADAMPFf//Vf+vOf/6yJEyfqhhtu6BNy1NfXq6SkJP64pKRE77zzTr/3qqqqUlVVlSRp7dq1CgaDCdXicrnk9BXIFQmrKMHXZjqXy5Xw92M4yNZ+Sdnbt2ztlzS4vhFgAAAAAMPAggULdM0110iStm7dqqefflq33nrroO9XWVmpysrK+OPa2tqEXh8MBhVx5yrS1JjwazNdMBjMuj5J2dsvKXv7lq39knr6VlZWNuDXMIUEAAAAGAaKiorkcDjkcDg0f/58vfvuu32uCQQCqquriz+uq6tTIBBIXVEeH2tgAEgbAgwAAABgGGhoaIif//Wvf9X48eP7XFNeXq5jx46ppqZG4XBYO3bsUEVFRcpqMlgDA0AaMYUEAAAAyDAbNmzQgQMH1NLSomXLlmnp0qXav3+//va3v8kwDI0aNUpf+9rXJFnrXjz++ONatWqVnE6nbr75Zq1Zs0bRaFRXXnllv0FH0hBgAEgjAgwAAAAgw6xYsaJP27x58/q9NhAIaNWqVfHH06dP1/Tp01NWWy8er9RBgAEgPZhCAgAAAGBwPD6ps0NmJGJ3JQBGAAIMAAAAAIPj8VpHRmEASAMCDAAAAACD4/FZxzZ2IgGQegQYAAAAAAbF8Hisk452ewsBMCIQYAAAAAAYnO4RGO2MwACQegQYAAAAAAanew0MtlIFkAYEGAAAAAAGJzYCw2QEBoA0IMAAAAAAMDjda2AwAgNAGhBgAAAAABic+BoYBBgAUo8AAwAAAMCgGDluyeUiwACQFgQYAAAAAAbP42MXEgBpQYABAAAAYPDyPIzAAJAWBBgAAAAABs/jk0mAASANCDAAAAAADJ7HywgMAGlBgAEAAABg8FgDA0CaEGAAAAAAGDTDwxoYANKDAAMAAADA4Hl8UgcBBoDUI8AAAAAAMHger9TeLtM07a4EQJYjwAAAAAAweB6fZEalzna7KwGQ5QgwAAAAAAyex2Md25hGAiC1CDAAAAAADJ7HZx1ZBwNAihFgAAAAABg0w+O1TtiJBECKEWAAAAAAGLzuERjtJ+ytA0DWI8AAAAAAMHixERgmIzAApBgBBgAAAIDBy+ueQsIIDACpRYABAAAAYPC83QEG26gCSC0CDAAAAACDl+uRDAcjMACkHAEGAAAAgEEzDEPyeNiFBEDKEWAAAAAAGJo8LyMwAKQcAQYAAACAofF4ZbIGBoAUc9ldAAAAAIDeHnvsMe3evVt+v1/r1q2TJP30pz/Vq6++KpfLpTFjxujWW2+Vz+fr89rbbrtNeXl5cjgccjqdWrt2beoL9vgYgQEg5QgwAAAAgAwzd+5cLVy4UJs3b463XXjhhbruuuvkdDr1zDPP6Nlnn9X111/f7+vvu+8+FRYWpqtcyeOVmhrS934ARiSmkAAAAAAZZvLkycrPz+/VdtFFF8npdEqSzjvvPNXX19tRWr8MD2tgAEg9RmAAAAAAw8y2bds0e/bsUz6/Zs0aSdJVV12lysrKfq+pqqpSVVWVJGnt2rUKBoMJ1eByueKvaS4uUcdbHQnfI1Od3Ldskq39krK3b9naL2lwfSPAAAAAAIaRX//613I6nbriiiv6fX716tUKBAJqamrSAw88oLKyMk2ePLnPdZWVlb3Cjdra2oTqCAaD8ddEDYfMttaE75GpTu5bNsnWfknZ27ds7ZfU07eysrIBv4YpJAAAAMAwsX37dr366qu6/fbbZRhGv9cEAgFJkt/v18yZM1VdXZ36wjxeKRyWGepK/XsBGLEIMAAAAIBhYO/evfrNb36jlStXKjc3t99rOjo61B7bzrSjo0P79u3TWWedlfriPF7ryDoYAFLI9ikkA90OCgAAABgpNmzYoAMHDqilpUXLli3T0qVL9eyzzyocDmv16tWSpEmTJulrX/ua6uvr9fjjj2vVqlVqamrSww8/LEmKRCL69Kc/rWnTpqW+4O4Ao61NKixO/fsBGJFsDzAS2Q4KAAAAGAlWrFjRp23evHn9XhsIBLRq1SpJ0pgxY/TQQw+ltLb+GB6fTEnqaEv7ewMYOWyfQpLJ20EBAAAAGID4FBICDACpY3uAcbJt27alZ4gbAAAAgOTJYw0MAKmXlikkq1evVmNjY5/2L3/5y5o5c6akM28HJQ19r+pkyOZ9eEcyPtfsxWebnfhcsxOfa/bisx0BYiMwzPY29b83CgAMXVoCjH/5l3857fPd20Hde++9p9wOShr6XtXJkM378I5kfK7Zi882O/G5Zic+1+xl12dbVlaW9vccsbyxRfiZQgIghWyfQjKQ7aAAAAAAZLA81sAAkHq270KyZcuWfreDAgAAADA8GE6n5M5lDQwAKWV7gLFx40a7SwAAAAAwVB4fIzAApJTtU0gAAAAAZAGPlwADQEoRYAAAAAAYOo9XJgEGgBQiwAAAAAAwdB4fa2AASCkCDAAAAABD5/EwhQRAShFgAAAAABgyw+OTOggwAKQOAQYAAACAoWMRTwApRoABAAAAYOg8PqmzQ2YkYnclALIUAQYAAACAofN4rCPTSACkCAEGAAAAgKHz+KxjGzuRAEgNAgwAAAAAQ2Z4vNZJR7u9hQDIWgQYAAAAAIauewRGOyMwAKQGAQYAAACAocuLjcBgJxIAKUKAAQAAAGDoYlNITEZgAEgRAgwAAAAAQ+ftHoHBGhgAUoMAAwAAAMDQsQYGgBQjwAAAAAAwZEaOW8rNk1qa7S4FQJYiwAAAAACQHIVFUnOD3VUAyFIEGAAAAACSw18ss4kAA0BqEGAAAAAASI7CYqm50e4qAGQpAgwAAAAASWH4iyRGYABIEQIMAAAAAMlRWCy1tcoMheyuBEAWIsAAAAAAkBz+YuvINBIAKUCAAQAAACApjMLuAINpJACSjwADAAAAQHL4i6wj62AASAGX3QUAAAAA6O2xxx7T7t275ff7tW7dOklSa2ur1q9fr+PHj2vUqFH65je/qfz8/D6v3b59u379619LkpYsWaK5c+emr/DYCAyzuUFG+t4VwAjBCAwAAAAgw8ydO1d33313r7bnnntOU6dO1aOPPqqpU6fqueee6/O61tZW/epXv9L3v/99ff/739evfvUrtba2pqtsqdBvHZtYAwNA8hFgAAAAABlm8uTJfUZX7Nq1S3PmzJEkzZkzR7t27erzur179+rCCy9Ufn6+8vPzdeGFF2rv3r1pqVmSDFeOlF/AGhgAUoIpJAAAAMAw0NTUpOJia4pGUVGRmpqa+lxTX1+vkpKS+ONAIKD6+vp+71dVVaWqqipJ0tq1axUMBhOqx+Vy9fua2uKgXO1tKkrwfpnkVH0b7rK1X1L29i1b+yUNrm8EGAAAAMAwYxiGDGNoq0xUVlaqsrIy/ri2tjah1weDwX5fE8kvVKT2o4Tvl0lO1bfhLlv7JWVv37K1X1JP38rKygb8GgIMAAAAIAneeOONAV3ncDg0efLkhO/v9/vV0NCg4uJiNTQ0qLCwsM81gUBABw4ciD+ur68f1HsNhVFYJPPdt9L6ngBGBgIMAAAAIAlWr16tUaNGyTTN017X3Nysn/70pwnfv6KiQi+++KIWL16sF198UTNnzuxzzbRp0/Tzn/88vnDna6+9puuuuy7h9xoSf7HU3CDTNIc8SgQATkaAAQAAACRBbm6uNm3adMbrbrrppjNes2HDBh04cEAtLS1atmyZli5dqsWLF2v9+vXatm1bfBtVSXr33Xf1pz/9ScuWLVN+fr6++MUvatWqVZKka665pt+tVlOqsFjq6pI62iWPN73vDSCrEWAAAAAASfDtb397QNd961vfOuM1K1as6Lf93nvv7dNWXl6u8vLy+ON58+Zp3rx5A6olJfxF1rGpgQADQFKxjSoAAACQBFOnTh3QdRdccEGKK7GXUWjtlMJWqgCSjREYAAAAQJL9z//8j8455xyNGzdOR48e1eOPPy6Hw6F//ud/1tixY+0uL7X8VoBhNjWKFTAAJBMjMAAAAIAk27p1a3ztiaefflrl5eU6//zz9ZOf/MTmytKAERgAUoQAAwAAAEiy5uZmFRUVqaurS2+//bauvfZaXXPNNfrb3/5md2mp58uXnE5rDQwASCKmkAAAAABJVlhYqA8//FBHjhxReXm5cnJy1NnZaXdZaWE4HFJBESMwACQdAQYAAACQZF/84he1cuVKORyO+Hanr7/+us4++2ybK0sTf7HMpka7qwCQZQgwAAAAgCTp7OxUbm6u5s6dq8suu0ySlJubK0maNGnSKbdHzTqFRVJTvd1VAMgyBBgAAABAktx6662aMGGCLr74Ys2YMUOlpaXx5/x+v42VpZfhL5Z55JDdZQDIMgQYAAAAQJI8/vjjevPNN7Vnzx794Ac/UDQa1bRp03TxxRfrggsukMs1Qn79LiyWWhplRiMyHE67qwGQJUbIf0EBAACA1HO5XJo6daqmTp2qG264QR999JH27NmjP/zhD9q4caPOO+88XXzxxbrkkktUVFRkd7mp4y+SolGptcWaTgIASUCAAQAAAKTImDFjtHDhQi1cuFBdXV16/fXXtWfPHjmdTs2fP9/u8lLG8BfLlKydSAgwACQJAQYAAACQZNFotE+by+XSjBkzNGPGDBsqSrPCYuvY1CiNs7cUANmDAAMAAABIsmuvvbbfdqfTqeLiYs2aNUtLly5VXl5emitLE7816sJsapBhcykAsgcBBgAAAJBkN910k3bt2qXFixerpKREtbW1+u1vf6vp06errKxMv/zlL/Xkk09q2bJldpeaGt0jMJob7K0DQFYhwAAAAACS7He/+51+8IMfyOv1SpLKyspUXl6uu+66Sxs3btRZZ52llStX2lxl6hh5Hik3z5pCAgBJ4rC7AAAAACDbtLW1qbOzs1dbZ2en2traJElFRUXq6uqyo7T0KSxiBAaApGIEBgAAAJBkc+bM0QMPPKB/+Id/UDAYVF1dnX7/+99rzpw5kqTXXntNZWVlNleZYv5imU0EGACShwADAAAASLLrr79epaWl2rFjhxoaGlRUVKSrr75alZWVkqQpU6boe9/7ns1VplhhsXTsfburAJBFCDAAAACAJHM4HFqwYIEWLFjQ7/NutzvNFaWf4S+S+dY+u8sAkEUIMAAAAIAkM01TL7zwgnbs2KHm5mY9/PDDOnDggBobGzV79my7y0uPwmKprVVmKCQjJ8fuagBkARbxBAAAAJJs69at+u///m/Nnz9ftbW1kqSSkhL95je/sbmyNPJ3b6XKTiQAkoMAAwAAAEiyF198UStXrtTll18uwzAkSaNHj1ZNTY3NlaWPUdgdYLCQJ4DkIMAAAAAAkiwajSovL69XW0dHR5+2rOYvso7sRAIgSQgwAAAAgCS7+OKL9fTTTysUCkmy1sTYunWrZsyYYXNlaRQbgWEyAgNAkhBgAAAAAEl2ww03qKGhQTfeeKPa2tp0ww036Pjx4/rKV75id2npU+i3jk2sgQEgOdiFBAAAAEgyr9erb3/722psbFRtba2CwaCKiorsLiutDFeOlF/AGhgAkoYAAwAAAEiCaDTap62wsFCFhYW9nnc4RtAg6MJimayBASBJCDAAAACAJLj22msHdN3WrVtTXEkG8RezjSqApCHAAAAAAJJg06ZN8fPdu3dr586d+sIXvqBgMKja2lr95je/0axZs2ysMP2MwiKZ775ldxkAsgQBBgAAAJAEo0aNip8///zzWrt2rXw+nySprKxMEydO1KpVq7RgwQK7Skw/f7HU3CDTNGUYht3VABjmCDAAAACAJGtra1NnZ2c8wJCkrq4utbW1Dem+R48e1fr16+OPa2pqtHTpUi1atCjetn//fv3whz/U6NGjJUmzZs3SNddcM6T3HbTCYqmrS+polzxee2oAkDUIMAAAAIAkmzNnjlavXq1FixappKREdXV1+sMf/qA5c+YM6b5lZWV66KGHJFmLgn7961/XJZdc0ue6888/X3fdddeQ3isp/LGdV5oaCDAADBkBBgAAAJBk119/vUpLS7Vjxw41NDSoqKhIV199tSorK5P2Hq+//rpKS0t7TV3JNEZhsUzJ2kq1dKzd5QAY5ggwAAAAgCRzOBxasGBBSte7eOmll3T55Zf3+9zBgwf17W9/W8XFxfrqV7+q8ePHp6yO0/IXS5LMpkaxAgaAoSLAAAAAAJLgtdde00UXXXTG6/bt26cLL7xwSO8VDof16quv6rrrruvz3IQJE/TYY48pLy9Pu3fv1kMPPaRHH320z3VVVVWqqqqSJK1du1bBYDChGlwu1xlfE3W7dFxSfqRL3gTvb6eB9G04ytZ+Sdnbt2ztlzS4vhFgAAAAAEnwyCOP6KmnnjrjdevXr9cTTzwxpPfas2ePJkyYoKKioj7Peb09a01Mnz5dW7ZsUXNzswoLC3tdV1lZ2WtKS21tbUI1dG8PezpmNCo5nWo9+oHaEry/nQbSt+EoW/slZW/fsrVfUk/fysrKBvwaAgwAAAAgCTo6OvSNb3zjjNeFw+Ehv9fppo80NjbK7/fLMAxVV1crGo2qoKBgyO85GIbDIRUUWWtgAMAQEWAAAAAASXDfffcN6DrDGNpqEB0dHdq3b5++9rWvxdv++Mc/SpIWLFignTt36o9//KOcTqfcbrdWrFgx5PccEn+xzKZG+94fQNYgwAAAAACSYPLkyWl5n7y8PP37v/97r7aTFwtduHChFi5cmJZaBqSwSGqqt7sKAFnAYXcBAAAAALKX4S+WmphCAmDoCDAAAAAApE5xidTcKDMcsrsSAMMcAQYAAACA1AmWSqYp1R23uxIAwxwBBgAAAICUMYJjrJPaj+wtBMCwxyKeAAAAQJJEIhG98sor2r17tw4fPqwTJ07I5/Pp7LPP1sUXX6yZM2fK6XTaXWZ6jSqVJJnHP5SNe6EAyAIEGAAAAEAS/PGPf9Szzz6rcePG6fzzz9eMGTOUl5enjo4OffDBB3rhhRf01FNP6Qtf+EKvXUOynr9YcuVItR/aXQmAYY4AAwAAAP+vvXuPjrI89D3+eyb3C7lMJhcSEkkQhKCACAUtIpeIbqq71mVtrbXVqkfFpcWu7ZZlW+06VEGFBRtF0aMH3T3d7mpPL4fqqZa6vFQ2PVCgUBABRQUh9wu5JzPznD8mRiKoSRjyzEy+n7Vmzcw7M1m/x3dcvPnleZ8XYVBZWally5YpKyvrhNe+8pWvSJIaGhq0YcOGoY7mlPF4JF+eLKeQADhFFBgAAABAGHzve9/70vdkZ2f3630xx1cg1VBgADg1LOIJAAAAhNkNN9xw0u033XTTECeJDMaXzykkAE4ZBQYAAAAQZoFA4IRtfr9fwWDQQZoIkJsvtbXKtra4TgIginEKCQAAABAm9913n4wx6u7u1v3339/ntbq6Oo0bN85RMreMr0BWCl1KNS3ddRwAUYoCAwAAAAiTefPmSZIOHDiguXPn9m43xigzM1Nnn322q2hu+fJD97WV0hlj3GYBELUoMAAAAIAwmTNnjiRp7NixKioqchsmkvQUGLa2SsZxFADRizUwAAAAgDDYunVr7+MvKi+Of99wYVLTpPQRUg0LeQIYPGZgAAAAAGHw9ttv6/nnn9esWbNUXl6uwsJCpaSkqL29XUePHtWePXv01ltv6YwzztC0adNcxx16OfmytVxKFcDgUWAAAAAAYfDDH/5QH330kf70pz/pscceU3V1de9rBQUFOvfcc7V48WIVFxc7TOmOyS2Q/eh91zEARDEKDAAAACBMSkpKdOONN0qSOjs71draqrS0NCUlJTlOFgFy86Xtm2WDARlPnOs0AKIQa2AAAAAAYfbhhx8qKSlJXq+X8uITvnwp4Jca610nARClmIEBAAAAhNny5cvV2dmp8ePHq7y8XOXl5SotLZUxw/caHMZXICtJNVWSN9d1HABRiAIDAAAACLMnnnhCVVVVeuedd7Rnzx698nh2lOQAAB5XSURBVMoram5u1vjx47VkyRLX8dzILZAk2dpKmbPOdhwGQDSiwAAAAABOg/z8fAUCAfn9fvn9fu3YsUNNTU2uY7mT7ZOMR+JKJAAGiQIDAAAACLNVq1Zp37598nq9Ki8v16xZs3TzzTcrJSXFdTRnTHy85PVJNZWuowCIUiziCQAAAITZwYMH5fF4dMYZZ+iMM87Q6NGjh3V50Su3QJYZGAAGiRkYAAAAQJitWbNGDQ0NvWtg/P73v1dXV5cmTJigW2+91XU8Z4wvX3bXVtcxAEQpZmAAAAAAp0F2drYKCwtVUFCg3NxcNTY2avv27a5jueXLl5oaZDs7XScBEIWYgQEAAACE2UMPPaS9e/cqJSVF5eXlOu+883Tddddp5MiRrqO51XMlEtVWSUUlbrMAiDoUGAAAAECYzZgxQzfccIPy8vJcR4koxpcvK1FgABgUCgwAAAAgzObMmeM6QmTqmYFhaytlHEcBEH1YAwMAAADA0EjPkJKSuZQqgEGhwAAAAAAwJIwxki+fS6kCGBQKDAAAAABDJ7cgtAYGAAwQa2AAAAAAUeT2229XcnKyPB6P4uLitHz58j6vW2u1fv16bd++XUlJSVq0aJHKysocpT2R8eXL7tkha21oRgYA9BMFBgAAABBl7r//fmVkZJz0te3bt6uyslJr1qzR/v379fTTT+vBBx8c4oRfwFcgdXVKzU1SRpbrNACiCKeQAAAAADFk69atmj17towxGjdunFpbW9XQ0OA6Vi+Tmx96wEKeAAaIGRgAAABAlHnggQckSRdffLEqKir6vFZfXy+fz9f7PCcnR/X19crOzu7zvo0bN2rjxo2SpOXLl/f5TH/Ex8cP+DOS5B87XnWS0jvblDKIzw+FwY4t0sXquKTYHVusjksa3NgoMAAAAIAosnTpUnm9XjU1NennP/+5CgsLVV5ePuCfU1FR0af8qK2tHdDnfT7fgD8jSdaTKElqPnhAreVTB/z5oTDYsUW6WB2XFLtji9VxSZ+OrbCwsN+f4RQSAAAAIIp4vV5JUmZmpqZPn64DBw6c8Prxv/DU1dX1fiYSmKQkKdPLKSQABowCAwAAAIgSHR0dam9v7328c+dOlZSU9HnPtGnT9Oabb8paq3379ik1NfWE00ec8+XJcilVAAMUMaeQbNiwQb/4xS/09NNPf+6KygAAAMBw1tTUpBUrVkiSAoGAZs2apSlTpujVV1+VJC1YsEDnnnuutm3bpjvvvFOJiYlatGiRy8gnZXILZPfvcR0DQJSJiAKjtrZWO3fujNnFSQAAAIBwyM/P1yOPPHLC9gULFvQ+NsbopptuGspYA+crkP76pqy/WyY+wXUaAFEiIk4hee6553TttdfKGOM6CgAAAIDTzZcv2aBUX+M6CYAo4nwGxpYtW+T1ejV69Ogvfe+pXuopHGL5MjbDGfs1drFvYxP7NTaxX2MX+xafZXLzZSWptkrK6/8VCAAMb0NSYCxdulSNjY0nbP/2t7+t3/72t/rJT37Sr59zqpd6CodYvozNcMZ+jV3s29jEfo1N7NfY5WrfDuTSfBhiuSMlSbbqqEz5uY7DAIgWQ1Jg/PSnPz3p9o8++kjV1dW6++67JYUu8XTPPfdo2bJlysrKGopoAAAAAIZalldKTZMOf+A6CYAo4vQUkpKSEj399NO9z2+//XYtW7aMq5AAAAAAMcwYIxWXyR4+6DoKgCgSEYt4AgAAABheTHGpdPgD2WDAdRQAUSKiCoy1a9cy+wIAAAAYDkaVSl2dUvVR10kARImIKjAAAAAADA+muFSSZA9xGgmA/qHAAAAAADD0CouluHiJAgNAP1FgAAAAABhyJj5BGjmKGRgA+o0CAwAAAIATpriUGRgA+o0CAwAAAIAbxWVSU73ssUbXSQBEAQoMAAAAAE6YUaNDDw4zCwPAl6PAAAAAAOAGVyIBMAAUGAAAAACcMOkZktfHOhgA+oUCAwAAAIA7o0qZgQGgXygwAAAAADhjikulysOy3V2uowCIcBQYAAAAAJwxxWVSMCgd+ch1FAARjgIDAAAAgDvFoyVJ9qP33eYAEPEoMAAAAAC44yuQklJYyBPAl6LAAAAAAOCM8Xik4tGyhykwAHwxCgwAAAAATplRpdKhg7LBoOsoACIYBQYAAAAAt4pLpY52qa7adRIAEYwCAwAAAIBTprgs9IB1MAB8AQoMAAAAAG4VlUjGI0uBAeALUGAAAAAAcMokJkkFRbKHuJQqgM9HgQEAAADAOVNcyikkAL4QBQYAAAAA90aVSvU1sq0trpMAiFAUGAAAAACcM8WloQeHmYUB4OQoMAAAAAC4VxIqMFgHA8DniXcdAAAAAED/1NbWau3atWpsbJQxRhUVFVq4cGGf9+zevVsPP/yw8vLyJEkzZszQVVdd5SLugJiMbCkjSzr0gesoACIUBQYAAAAQJeLi4nTdddeprKxM7e3tWrJkiSZNmqRRo0b1ed+ECRO0ZMkSRylPQXGp7EfvuU4BIEJxCgkAAAAQJbKzs1VWViZJSklJUVFRkerr6x2nCh9z5gTp4w9lW465jgIgAlFgAAAAAFGourpaBw8e1JlnnnnCa/v27dPdd9+tBx98UIcOHXKQbnDMhCmStdK7u1xHARCBOIUEAAAAiDIdHR1auXKlrr/+eqWmpvZ5rbS0VI8//riSk5O1bds2PfLII1qzZs0JP2Pjxo3auHGjJGn58uXy+XwDyhAfHz/gz3wZmz1TNSmpSnr/XWVc8vWw/uyBOB1jiwSxOi4pdscWq+OSBjc2CgwAAAAgivj9fq1cuVIXXnihZsyYccLrxxcaU6dO1TPPPKNjx44pIyOjz/sqKipUUVHR+7y2tnZAOXw+34A/0x923Nlq375ZXafhZ/fX6Rqba7E6Lil2xxar45I+HVthYWG/P8MpJAAAAECUsNZq3bp1Kioq0mWXXXbS9zQ2NspaK0k6cOCAgsGgRowYMZQxT4mZMEWqqZStqXQdBUCEYQYGAAAAECXeffddvfnmmyopKdHdd98tSbrmmmt6/0K7YMECbd68Wa+++qri4uKUmJioxYsXyxjjMvaAmPLJspLsO3+XyS1wHQdABKHAAAAAAKLE+PHj9cILL3zhey699FJdeumlQ5ToNCgYJWV5pXf+Ls2+xHUaABGEU0gAAAAARAxjjMyEybJ7/y4bDLqOAyCCUGAAAAAAiCwTpkgtzdLhg66TAIggFBgAAAAAIoqZMElSaB0MAPgEBQYAAACAiGKycqSRxbJ7KDAAfIoCAwAAAEDEMeVTpAO7Zbu7XEcBECEoMAAAAABEHDNhitTVJb2313UUABGCAgMAAABA5DlrouTxsA4GgF4UGAAAAAAijklOlcrOosAA0IsCAwAAAEBEMhMmSx8ckG1tcR0FQASgwAAAAAAQkcyEKZINSu/udB0FQASgwAAAAAAQmUrHSUkpnEYCQBIFBgAAAIAIZeLjpXETZfdQYACgwAAAAAAQwUz5ZKn6iGxdtesoAByjwAAAAAAQsczEqZIku/2/HCcB4BoFBgAAAICIZUYWS6PHyv5lo6y1ruMAcIgCAwAAAEBEM1+tkD7+UProPddRADhEgQEAAAAgopmvXCglJMr+ZaPrKAAcosAAAAAAENFMarrM1PNl//qGbFen6zgAHKHAAAAAABDxzFcrpPZW2e2bXUcB4AgFBgAAAIDId9Y5ki9f9m1OIwGGKwoMAAAAABHPeDwyX50vvfN32doq13EAOECBAQAAACAqmPPnS8bIbvqz6ygAHKDAAAAAABAVTE6uNGGK7Nt/lg0GXMcBMMQoMAAAAABEDTPrYqm+Rtq703UUAEOMAgMAAABA1DBTZkhpI2T/wmKewHBDgQEAAAAgapiEBJkZF8lu3yzb2uw6DoAhRIEBAAAAIKqYr1ZI/m7Zv77hOgqAIUSBAQAAACCqmJIyqWSM7Gsvyfr9ruMAGCIUGAAAAACijuefr5GqPpZ96xXXUQAMEQoMAAAAANFn0nRp/CTZ//Mfsm0trtMAGAIUGAAAAACijjFGnm/+QGptkX3pRddxAAyBeNcBAAAAAPTfjh07tH79egWDQc2fP19XXHFFn9e7u7v12GOP6f3339eIESO0ePFi5eXlOUp7epmSMpkL5su+tkH2oktl8ka6jgTgNGIGBgAAABAlgsGgnnnmGd17771atWqV3n77bR0+fLjPe1577TWlpaXp0Ucf1de+9jX98pe/dJR2aJgrrpXi4hX8zXOuowA4zSgwAAAAgChx4MABFRQUKD8/X/Hx8brgggu0ZcuWPu/ZunWr5syZI0maOXOm/vGPf8ha6yDt0DBZOTKXXCn9bZPs/j2u4wA4jTiFBAAAAIgS9fX1ysnJ6X2ek5Oj/fv3f+574uLilJqaqubmZmVkZPR538aNG7Vx40ZJ0vLly+Xz+QaUJT4+fsCfOV3sNTeq9u0/yfOb5+R96H/IeE7t77SRNLZwitVxSbE7tlgdlzS4sVFgAAAAAMNQRUWFKioqep/X1tYO6PM+n2/Anzmd7D9fK//61ap5+TfyzJxzSj8r0sYWLrE6Lil2x3a6x2UDAam7U+rulrq7Pr33d5/w2Pq7P93uP+7W7ZcC3ZLfL2VkybPwmwMaW2FhYb/zUmAAAAAAUcLr9aqurq73eV1dnbxe70nfk5OTo0AgoLa2No0YMWKoow45M3OO7J83yP7m32XPnSmTlOw6EjBoNhiQOjsVqK+RrToqdXZIXR1SZ6fU2SHb1Rl63tUZ2tbVFXrcc7Pdn9nW3RV63v2ZWzB46mGNR0qIl+ISpOJSqZ8FxmBQYAAAAABRYsyYMTp69Kiqq6vl9Xq1adMm3XnnnX3ec9555+n111/XuHHjtHnzZk2cOFHGGEeJh47xeOT51k0KrrhXwf+5Wp5b/vWUTyUBBsJ2d0vtrVJ7m9TRJrW1Sh3tsu1tUmd7z/b20Gsd7bKdHT3P20MFxSf3nR2hckFSv+deeDxSYtKnt4TEnseJUkqalJktk5DYsz1Riu+5/2RbQkLvvUnoeT0hvuc+IXSL73lPfMKnt4R4GU/caftv+lkUGAAAAECUiIuL0w9+8AM98MADCgaDmjt3roqLi/WrX/1KY8aM0bRp0zRv3jw99thjuuOOO5Senq7Fixe7jj1kzLiJMlddL/vietnf/4fMN77rOhKiiA0GQyVDa7PU2iK1Nsu2tYSKiLaWnltraFt7T0HR3hba3t4WOp3iy8TFSUkpUnLPLSk5dJ+ZHZo19Mm2pNB9eo5PLd3dMonJPduTpD6Pe25x8cOiqKTAAAAAAKLI1KlTNXXq1D7bvvWtb/U+TkxM1I9+9KOhjhUxzMVXSEcPy778goIFRfKcP9d1JDgQKiNapeYmqfmY1HJMtrkp9Ly1OfS8pbnncc99W4v0RVfsiU+Q0tJDMxpS06T0ETK5BaHnKamhW2qalJwq88nz5FQpJSV0n5wiJSQOqGhI9fnUFoNrewwWBQYAAACAmGGMka69VbamUvbfH5XNzZc5s9x1LISBDQaklmNSU6PU1CB7rEE61ig1Naqpq12B2mrpWE9J0dIkBQIn/0GJSVJ6hpQ+QkobIZOTJ6WNCD1PTZfS0mXSeh6npktpaVJqukxi0tAOGCegwAAAAAAQU0x8gjy3LVHwwX9R8PFl8ty7QsaX7zoWPoe1NlRMNNRJTfWyDXVSY53UWC/b1CA1NUiN9VJz48kXnUxMUnd2TqhsyMmVGX2mNCKz92bSM3oeZ0jpGRQRUYwCAwAAAEDMMWkj5Lnjpwouu1vBR5fKs+Th0LR+DDnb1iLV10h1tbL1NVJDjVRfK9tQGyotGmpDl+A8njGhWRKZXinLKzNqdM/jbJmMbCkzS8rIkjKyZZJTYvYyquiLAgMAAABATDIFo+S55R4F/+1nCq6+X55b7pHx+lzHiinW2tD6EXXVUm2VbG21VNdzX18TurW39f1QXLyU5ZW8PpnScdLU86Vsn0xWTmh7Vk5oUct4fl1FX3wjAAAAAMQsUz5Fnv/2rwqu/zcFf36XPDf/i8yEya5jRRXr90v11VJ1pWxtpVRTKVtTKdVUSbWVoct/Hi81TfLmSbkFMmedEzqtw5sr5eRJ2T4pI4tL3GJQKDAAAAAAxDRz3gXyFJYo+MQyBVfdL/P178j801X8En0c6/eHZlFUfSxbfUSqOipbc1SqPhrafvzaEwmJki9f8uXLjJsYuvflhwoKX55Marq7gSCmUWAAAAAAiHlm5Ch57l0h+4vHZX/3v2Tf2yvPjXeFrjYxTFhrZRvrpMqPZSs/lqqOyFaF7lVb2bekSEmT8kbKjB4rTZ8depxbIOUVhNadoPyBAxQYAAAAAIYFk5wi3fQj6cwJsr96WsH//kOZr31L5vx5MgkJruOFje3qlKqP9BQVh3sLi5qqI7Idx61HkZgo5RXKFJdK074q5RfK5BVK+UVS+ojQJWmBCEKBAQAAAGDYMMbIzF0oO/pMBX+5TvYXa2U3PC9z8ddlZl8aKjmigLU2dHnRqo9ljx4O3feUFaqrlqz99M05eVJBkZLP/po6MnNk8gulgiIpK4eZFIgqFBgAAAAAhh1TOk6eH6+U3tmh4Mu/ln1xvexLL8rMu0yBy78peSJjRoZtb5Oqj8hWHQmd6lH5cc9pHx/3XTwzMUkqKJIpO0u6YH7occGo0AyLpCRJUobPpy4uNYooRoEBAAAAYFgyxkjl5yqu/FzZ999V8P/+b9k//Kdq//CfoTUfxk+WmTBJOmuSzIiM05LBBgJSY51UWy1bVyXV9lyOtPpIaAHN5qa+H/DmhsqJ8+eF7vOLpIJRUjazKRD7KDAAAAAADHum7CzF3X6vbNURpb3/jpr/9l+y/+8N2Tf/KBkjjSwOXW3Dmyt5fZI3VybbJyUnS544KS4udO/xSDYYmh3Rc7Md7VJ7m3SsUWqql21qCJ3+0VQfug8EjgtipExvqECZMiN0nzdSyiuUckf2zqYAhiMKDAAAAADoYfILlTpxktrOnx+aHfHBftm9O2UP7pPqa2Tf2yu1NkuS7Jf8rJNKHxEqKDKzZXrWoQhdhjQvdGnS7NyYWlAUCCcKDAAAAAA4CRMXJ40ZLzNmfJ/ttrNDqq+VGmqkrk4pEJQNBkIzKYIBSSa0GGhKqpSc0nNLlUZkyMRTTgCDRYEBAAAAAANgkpKlkaNCt0+2OcwDDBes8gIAAAAAACIeBQYAAAAAAIh4FBgAAAAAACDiUWAAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeBQYAAAAAAAg4lFgAAAAAACAiEeBAQAAAAAAIh4FBgAAAAAAiHgUGAAAAAAAIOJRYAAAAAAAgIhnrLXWdQgAAAAAAIAvwgyMAVqyZInrCDgN2K+xi30bm9ivsYn9GrvYt7EplvdrrI4tVsclxe7YYnVc0uDGRoEBAAAAAAAiHgUGAAAAAACIeHE/+9nPfuY6RLQpKytzHQGnAfs1drFvYxP7NTaxX2MX+zY2xfJ+jdWxxeq4pNgdW6yOSxr42FjEEwAAAAAARDxOIQEAAAAAABGPAgMAAAAAAES8eNcBosWOHTu0fv16BYNBzZ8/X1dccYXrSAiD2tparV27Vo2NjTLGqKKiQgsXLnQdC2ESDAa1ZMkSeb3emL4E1XDT2tqqdevW6dChQzLG6LbbbtO4ceNcx8Ip+sMf/qDXXntNxhgVFxdr0aJFSkxMdB0Lg/D4449r27ZtyszM1MqVKyVJLS0tWrVqlWpqapSbm6u77rpL6enpjpPiVMTSsXGsfmc/7zg32sfW1dWl+++/X36/X4FAQDNnztTVV1+t6upqrV69Ws3NzSorK9Mdd9yh+Pjo/HX3s8ewsTC222+/XcnJyfJ4PIqLi9Py5csH9V1kEc9+CAaDevDBB/XjH/9Y3/jGN7R+/XqVl5crIyPDdTScos7OTo0bN07XXHONZs+erSeffFLnnHMO+zZGvPTSS/L7/fL7/Zo1a5brOAiTp556Suecc44WLVqkiooKpaam8otulKuvr9dTTz2lFStWaOHChdq0aZP8fr9Gjx7tOhoGIS0tTXPnztWWLVt0ySWXSJJeeOEFFRcX66677lJDQ4N27typSZMmOU6KwYq1Y+NY/c5+3nHuH//4x6gem8fj0axZs7Rw4ULNnz9fzz//vIqLi/XrX/9ac+fO1S233KJdu3apoaFBY8aMcR13UD57DPvkk09G/dhefvllLV26VJdffrkqKiokDe7/M04h6YcDBw6ooKBA+fn5io+P1wUXXKAtW7a4joUwyM7O7l35NiUlRUVFRaqvr3ecCuFQV1enbdu2af78+a6jIIza2tr0zjvvaN68eZKk+Ph4paWlOU6FcAgGg+rq6lIgEFBXV5eys7NdR8IglZeXn/AXtC1btuiiiy6SJF100UUcR0W5WDs2jtXv7Ocd50b72IwxSk5OliQFAgEFAgEZY7R7927NnDlTkjRnzpyoG9cnPnsMa62NmbF91mC+i9E178SR+vp65eTk9D7PycnR/v37HSbC6VBdXa2DBw/qzDPPdB0FYfDss8/qu9/9rtrb211HQRhVV1crIyNDjz/+uD788EOVlZXp+uuv7z2QQXTyer26/PLLddtttykxMVGTJ0/W5MmTXcdCGDU1NfWWUllZWWpqanKcCKdiOBwbx9p39vjj3FgYWzAY1D333KPKykpdcsklys/PV2pqquLi4iSF/l2J1j9KfvYYtrm5OWbG9sADD0iSLr74YlVUVAzqu8gMDEBSR0eHVq5cqeuvv16pqamu4+AU/e1vf1NmZmZMXzN7uAoEAjp48KAWLFighx9+WElJSfrd737nOhZOUUtLi7Zs2aK1a9fqySefVEdHh958803XsXCaGGNkjHEdA+i3aP/OftFxbrSOzePx6JFHHtG6dev03nvv6ciRI64jhUUsH8MuXbpUDz30kO6991698sor2rNnT5/X+/tdZAZGP3i9XtXV1fU+r6urk9frdZgI4eT3+7Vy5UpdeOGFmjFjhus4CIN3331XW7du1fbt29XV1aX29natWbNGd955p+toOEU5OTnKycnR2LFjJUkzZ86kwIgBu3btUl5eXu/58zNmzNC+ffs0e/Zsx8kQLpmZmWpoaFB2drYaGhqidq0EhAyHY+NY+c6e7Dg3VsYmhdYvmThxovbt26e2tjYFAgHFxcWpvr4+Kr+TJzuGffbZZ2NibJ9kzszM1PTp03XgwIFBfReZgdEPY8aM0dGjR1VdXS2/369NmzZp2rRprmMhDKy1WrdunYqKinTZZZe5joMw+c53vqN169Zp7dq1Wrx4sc4++2zKixiRlZWlnJyc3r+07Nq1S6NGjXKcCqfK5/Np//796uzslLVWu3btUlFRketYCKNp06bpjTfekCS98cYbmj59uuNEOBXD4dg4Fr6zn3ecG+1jO3bsmFpbWyWFrkiyc+dOFRUVaeLEidq8ebMk6fXXX4/K7+TnHcNG+9g6Ojp6T4np6OjQzp07VVJSMqjvorHW2tOaNkZs27ZNzz33nILBoObOnasrr7zSdSSEwd69e3XfffeppKSkd8rSNddco6lTpzpOhnDZvXu3NmzYwGVUY8gHH3ygdevWye/3Ky8vT4sWLYqqy7/h5F544QVt2rRJcXFxGj16tG699VYlJCS4joVBWL16tfbs2aPm5mZlZmbq6quv1vTp07Vq1SrV1tZG5WUbcaJYOjaO1e/s5x3njh07NqrH9uGHH2rt2rUKBoOy1ur888/XVVddpaqqKq1evVotLS0qLS3VHXfcEdX/jhx/DBvtY6uqqtKKFSskhU4HnjVrlq688ko1NzcP+LtIgQEAAAAAACIep5AAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeBQYAAAAAAAg4lFgAAAAAACAiEeBAQAAAAAAIh4FBgAAAAAAiHgUGAAAAAAAIOJRYABAFKusrNQNN9yg999/X5JUX1+vG2+8Ubt373acDAAAAAgvCgwAiGIFBQW69tpr9eijj6qzs1NPPPGELrroIk2cONF1NAAAACCsjLXWug4BADg1Dz30kKqrq2WM0bJly5SQkOA6EgAAABBWzMAAgBgwf/58HTp0SJdeeinlBQAAAGISBQYARLmOjg4999xzmjdvnl588UW1tLS4jgQAAACEHQUGAES59evXq6ysTLfeequmTp2qp556ynUkAAAAIOwoMAAgim3ZskU7duzQzTffLEn6/ve/r4MHD+qtt95ynAwAAAAILxbxBAAAAAAAEY8ZGAAAAAAAIOJRYAAAAAAAgIhHgQEAAAAAACIeBQYAAAAAAIh4FBgAAAAAACDiUWAAAAAAAICIR4EBAAAAAAAiHgUGAAAAAACIeP8fDEi1hoY7NQAAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, - "metadata": { - "needs_background": "light" - }, + "metadata": {}, "output_type": "display_data" } ], @@ -1209,7 +1289,7 @@ "plt.figure(figsize=(15,10))\n", "\n", "plt.subplot(grid[0:2, 0:2])\n", - "plt.plot(track[0,:],track[1,:],\"b*\")\n", + "plt.plot(track[0,:],track[1,:],\"b+\")\n", "plt.plot(x_sim[0,:],x_sim[1,:])\n", "plt.axis(\"equal\")\n", "plt.ylabel('y')\n", @@ -1226,6 +1306,13 @@ "plt.tight_layout()\n", "plt.show()" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/notebook/diff_eq.ipynb b/notebook/diff_eq.ipynb new file mode 100644 index 0000000..a2ed180 --- /dev/null +++ b/notebook/diff_eq.ipynb @@ -0,0 +1,102 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\left[\\begin{matrix}0 & 0 & - v \\sin{\\left(\\theta \\right)} & 0 & 0\\\\0 & 0 & v \\cos{\\left(\\theta \\right)} & 0 & 0\\\\0 & 0 & 0 & 0 & 0\\\\0 & 0 & 0 & 0 & 0\\\\0 & 0 & 0 & - v \\cos{\\left(\\psi \\right)} & 0\\end{matrix}\\right]$" + ], + "text/plain": [ + "Matrix([\n", + "[0, 0, -v*sin(theta), 0, 0],\n", + "[0, 0, v*cos(theta), 0, 0],\n", + "[0, 0, 0, 0, 0],\n", + "[0, 0, 0, 0, 0],\n", + "[0, 0, 0, -v*cos(psi), 0]])" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "import sympy as sp\n", + "\n", + "x,y,theta,psi,cte,v,w = sp.symbols(\"x y theta psi cte v w\")\n", + "\n", + "gs = sp.Matrix([[ sp.cos(theta)*v],\n", + " [ sp.sin(theta)*v],\n", + " [w],\n", + " [w],\n", + " [ v*sp.sin(-psi)]])\n", + "\n", + "state = sp.Matrix([x,y,theta,psi,cte])\n", + "\n", + "gs.jacobian(state)" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta \\right)} & 0\\\\\\sin{\\left(\\theta \\right)} & 0\\\\0 & 1\\\\0 & 1\\\\- \\sin{\\left(\\psi \\right)} & 0\\end{matrix}\\right]$" + ], + "text/plain": [ + "Matrix([\n", + "[cos(theta), 0],\n", + "[sin(theta), 0],\n", + "[ 0, 1],\n", + "[ 0, 1],\n", + "[ -sin(psi), 0]])" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "state = sp.Matrix([v,w])\n", + "\n", + "gs.jacobian(state)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.6.9" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +}