{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Designing Kalman Filters" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "text/html": [ "\n", " \n", " " ], "text/plain": [ "" ] }, "execution_count": 2, "metadata": {}, "output_type": "execute_result" } ], "source": [ "#format the book\n", "import book_format\n", "book_format.set_style()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Introduction" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the last chapter we worked with 'textbook' problems. These are problems that are easy to state, program in a few lines of code, and teach. Real world problems are rarely this simple. In this chapter we will work with more realistic examples, and learn how to evaluate filter performance.\n", "\n", "We will begin by tracking a robot in a 2D space, such as a field or warehouse. We will start with a simple noisy sensor that outputs noisy $(x,y)$ coordinates which we will need to filter to generate a 2D track. Once we have mastered this concept, we will extend the problem significantly with more sensors and then adding control inputs. \n", "\n", "We will then move to a nonlinear problem. The world is nonlinear, but the Kalman filter is linear. Sometimes you can get away with using it for mildly nonlinear problems, sometimes you can't. I'll show you examples of both. This will set the stage for the remainder of the book, where we learn techniques for nonlinear problems. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking a Robot" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This first attempt at tracking a robot will closely resemble the 1D dog tracking problem of previous chapters. Instead of a sensor that outputs position in a hallway, we now have a sensor that supplies a noisy measurement of position in a 2D space. At each time $t$ it will provide an $(x,y)$ coordinate pair of the noisy measurement of the sensor's position in the field.\n", "\n", "Implementation of code to interact with real sensors is beyond the scope of this book, so as before we will program simple simulations of the sensors. We will develop several of these sensors as we go, each with more complications, so as I program them I will just append a number to the function name. \n", "\n", "So let's start with a very simple sensor, one that simulates tracking an object traveling in a straight line. It is initialized with the initial position, velocity, and noise standard deviation. Each call to `read()` updates the position by one time step and returns the new measurement." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "from numpy.random import randn\n", "\n", "class PosSensor(object):\n", " def __init__(self, pos=(0, 0), vel=(0, 0), noise_std=1.):\n", " self.vel = vel\n", " self.noise_std = noise_std\n", " self.pos = [pos[0], pos[1]]\n", " \n", " def read(self):\n", " self.pos[0] += self.vel[0]\n", " self.pos[1] += self.vel[1]\n", " \n", " return [self.pos[0] + randn() * self.noise_std,\n", " self.pos[1] + randn() * self.noise_std]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A quick test to verify that it works as we expect." ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "import numpy as np\n", "from kf_book.book_plots import plot_measurements\n", "\n", "pos, vel = (4, 3), (2, 1)\n", "sensor = PosSensor(pos, vel, noise_std=1)\n", "ps = np.array([sensor.read() for _ in range(50)])\n", "plot_measurements(ps[:, 0], ps[:, 1]);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "That looks correct. The slope is 1/2, as we would expect with a velocity of (2, 1), and the data seems to start at near (6, 4). It doesn't look realistic. This is still a 'textbook' representation. As we continue we will add complications that adds real world behavior. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Choose the State Variables" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As always, the first step is to choose our state variables. We are tracking in two dimensions and have a sensor that gives us a reading in each of those two dimensions, so we know that we have the two *observed variables* $x$ and $y$. If we created our Kalman filter using only those two variables the performance would not be very good because we would be ignoring the information velocity can provide to us. We will want to incorporate velocity into our equations as well. I will represent this as\n", "\n", "$$\\mathbf x = \n", "\\begin{bmatrix}x & \\dot x & y & \\dot y\\end{bmatrix}^\\mathsf T$$\n", "\n", "There is nothing special about this organization. I could have used $\\begin{bmatrix}x & y & \\dot x & \\dot y\\end{bmatrix}^\\mathsf T$ or something less logical. I just need to be consistent in the rest of the matrices. I like keeping positions and velocities next to each other because it keeps the covariances between positions and velocities in the same sub block of the covariance matrix. In my formulation `P[1,0]` contains the covariance of $x$ and $\\dot x$. In the alternative formulation that covariance is at `P[2, 0]`. This gets worse as the number of dimension increases.\n", "\n", "Let's pause and address how you identify the hidden variables. This example is somewhat obvious because we've already worked through the 1D case, but other problems won't be obvious There is no easy answer to this question. The first thing to ask yourself is what is the interpretation of the first and second derivatives of the data from the sensors. We do that because obtaining the first and second derivatives is mathematically trivial if you are reading from the sensors using a fixed time step. The first derivative is just the difference between two successive readings. In our tracking case the first derivative has an obvious physical interpretation: the difference between two successive positions is velocity. \n", "\n", "Beyond this you can start looking at how you might combine the data from two or more different sensors to produce more information. This opens up the field of *sensor fusion*, and we will be covering examples of this in later sections. For now, recognize that choosing the appropriate state variables is paramount to getting the best possible performance from your filter. Once you have chosen hidden variables, you must run many tests to ensure that you are generating real results for them. The Kalman filter runs whatever model you give it; if your model cannot generate good information for the hidden variables the Kalman filter output will be nonsensical." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design State Transition Function\n", "\n", "Our next step is to design the state transition function. Recall that the state transition function is implemented as a matrix $\\mathbf F$ that we multiply with the previous state of our system to get the next state, like so. \n", "\n", "$$\\mathbf{\\bar x} = \\mathbf{Fx}$$\n", "\n", "I will not belabor this as it is very similar to the 1-D case we did in the previous chapter. The state transition equations are\n", "\n", "$$\n", "\\begin{aligned}\n", "x &= 1x + \\Delta t \\dot x + 0y + 0 \\dot y \\\\\n", "v_x &= 0x + 1\\dot x + 0y + 0 \\dot y \\\\\n", "y &= 0x + 0\\dot x + 1y + \\Delta t \\dot y \\\\\n", "v_y &= 0x + 0\\dot x + 0y + 1 \\dot y\n", "\\end{aligned}\n", "$$\n", "\n", "Laying it out that way shows us both the values and row-column organization required for $\\small\\mathbf F$. We convert this to matrix-vector form:\n", "\n", "$$\n", "\\begin{bmatrix}x \\\\ \\dot x \\\\ y \\\\ \\dot y\\end{bmatrix} = \\begin{bmatrix}1& \\Delta t& 0& 0\\\\0& 1& 0& 0\\\\0& 0& 1& \\Delta t\\\\ 0& 0& 0& 1\\end{bmatrix}\\begin{bmatrix}x \\\\ \\dot x \\\\ y \\\\ \\dot y\\end{bmatrix}$$\n", "\n", "So, let's do this in Python. It is very simple; the only thing new here is setting `dim_z` to 2. We will see why it is set to 2 in step 4." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "from filterpy.kalman import KalmanFilter\n", "\n", "tracker = KalmanFilter(dim_x=4, dim_z=2)\n", "dt = 1. # time step 1 second\n", "\n", "tracker.F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Process Noise Matrix\n", "\n", "FilterPy can compute the $\\mathbf Q$ matrix for us. For simplicity I will assume the noise is a discrete time Wiener process - that it is constant for each time period. This assumption allows me to use a variance to specify how much I think the model changes between steps. Revisit the Kalman Filter Math chapter if this is not clear." ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "scrolled": true }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0. 0.001 0. 0. ]\n", " [0.001 0.001 0. 0. ]\n", " [0. 0. 0. 0.001]\n", " [0. 0. 0.001 0.001]]\n" ] } ], "source": [ "from scipy.linalg import block_diag\n", "from filterpy.common import Q_discrete_white_noise\n", "\n", "q = Q_discrete_white_noise(dim=2, dt=dt, var=0.001)\n", "tracker.Q = block_diag(q, q)\n", "print(tracker.Q)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here I assume the noise in x and y are independent, so the covariances between any x and y variable should be zero. This allows me to compute $\\mathbf Q$ for one dimension, and then use `block_diag` to copy it for the x and y axis." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Control Function\n", "\n", "We haven't yet added controls to our robot, so there is nothing to be done for this step. The `KalmanFilter` class initializes `B` to zero under the assumption that there is no control input,\n", "so there is no code to write. If you like, you can be explicit and set `tracker.B` to 0, but as you can see it already has that value." ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "tracker.B" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Function\n", "\n", "The measurement function $\\mathbf H$ defines how we go from the state variables to the measurements using the equation $\\mathbf z = \\mathbf{Hx}$. In this case we have measurements for (x,y), so we will design $\\mathbf z$ as $\\begin{bmatrix}x & y\\end{bmatrix}^\\mathsf T$ which is dimension 2x1. Our state variable is size 4x1. We can deduce the required size for $\\textbf{H}$ by recalling that multiplying a matrix of size MxN by NxP yields a matrix of size MxP. Thus,\n", "\n", "$$(2\\times 1) = (a\\times b)(4 \\times 1) = (2\\times 4)(4\\times 1)$$\n", "\n", "So, $\\textbf{H}$ is 2x4.\n", "\n", "Filling in the values for $\\textbf{H}$ is easy because the measurement is the position of the robot, which is the $x$ and $y$ variables of the state $\\textbf{x}$. Let's make this slightly more interesting by deciding we want to change units. The measurements are returned in feet, and that we desire to work in meters. $\\textbf{H}$ changes from state to measurement, so the conversion is $\\mathsf{feet} = \\mathsf{meters} / 0.3048$. This yields\n", "\n", "$$\\mathbf H =\n", "\\begin{bmatrix} \n", "\\frac{1}{0.3048} & 0 & 0 & 0 \\\\\n", "0 & 0 & \\frac{1}{0.3048} & 0\n", "\\end{bmatrix}\n", "$$\n", "\n", "which corresponds to these linear equations\n", "\n", "$$\n", "\\begin{aligned}\n", "z_x &= (\\frac{x}{0.3048}) + (0* v_x) + (0*y) + (0 * v_y) = \\frac{x}{0.3048}\\\\\n", "z_y &= (0*x) + (0* v_x) + (\\frac{y}{0.3048}) + (0 * v_y) = \\frac{y}{0.3048}\n", "\\end{aligned}\n", "$$\n", "\n", "This is a simple problem, and we could have found the equations directly without going through the dimensional analysis that I did above. But it is useful to remember that the equations of the Kalman filter imply a specific dimensionality for all of the matrices, and when I start to get lost as to how to design something it is useful to look at the matrix dimensions.\n", "\n", "Here is my implementation:" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "tracker.H = np.array([[1/0.3048, 0, 0, 0],\n", " [0, 0, 1/0.3048, 0]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Noise Matrix\n", "\n", "We assume that the $x$ and $y$ variables are independent white Gaussian processes. That is, the noise in x is not in any way dependent on the noise in y, and the noise is normally distributed about the mean 0. For now let's set the variance for $x$ and $y$ to be 5 meters$^2$. They are independent, so there is no covariance, and our off diagonals will be 0. This gives us:\n", "\n", "$$\\mathbf R = \\begin{bmatrix}\\sigma_x^2 & \\sigma_y\\sigma_x \\\\ \\sigma_x\\sigma_y & \\sigma_{y}^2\\end{bmatrix} \n", "= \\begin{bmatrix}5&0\\\\0&5\\end{bmatrix}$$\n", "\n", "It is a $2{\\times}2$ matrix because we have 2 sensor inputs, and covariance matrices are always of size $n{\\times}n$ for $n$ variables. In Python we write:" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[5., 0.],\n", " [0., 5.]])" ] }, "execution_count": 9, "metadata": {}, "output_type": "execute_result" } ], "source": [ "tracker.R = np.array([[5., 0],\n", " [0, 5]])\n", "tracker.R" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Initial Conditions" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For our simple problem we will set the initial position at (0,0) with a velocity of (0,0). Since that is a pure guess, we will set the covariance matrix $\\small\\mathbf P$ to a large value.\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}0\\\\0\\\\0\\\\0\\end{bmatrix}, \\,\n", "\\mathbf P = \\begin{bmatrix}500&0&0&0\\\\0&500&0&0\\\\0&0&500&0\\\\0&0&0&500\\end{bmatrix}$$\n", "\n", "The Python implementation is" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "tracker.x = np.array([[0, 0, 0, 0]]).T\n", "tracker.P = np.eye(4) * 500." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Implement the Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Design is complete, now we just have to write the code to run the filter and output the data in the format of our choice. We will run the code for 30 iterations." ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from filterpy.stats import plot_covariance_ellipse\n", "from kf_book.book_plots import plot_filter\n", "\n", "R_std = 0.35\n", "Q_std = 0.04\n", "\n", "def tracker1():\n", " tracker = KalmanFilter(dim_x=4, dim_z=2)\n", " dt = 1.0 # time step\n", "\n", " tracker.F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])\n", " tracker.u = 0.\n", " tracker.H = np.array([[1/0.3048, 0, 0, 0],\n", " [0, 0, 1/0.3048, 0]])\n", "\n", " tracker.R = np.eye(2) * R_std**2\n", " q = Q_discrete_white_noise(dim=2, dt=dt, var=Q_std**2)\n", " tracker.Q = block_diag(q, q)\n", " tracker.x = np.array([[0, 0, 0, 0]]).T\n", " tracker.P = np.eye(4) * 500.\n", " return tracker\n", "\n", "# simulate robot movement\n", "N = 30\n", "sensor = PosSensor((0, 0), (2, .2), noise_std=R_std)\n", "\n", "zs = np.array([sensor.read() for _ in range(N)])\n", "\n", "# run filter\n", "robot_tracker = tracker1()\n", "mu, cov, _, _ = robot_tracker.batch_filter(zs)\n", "\n", "for x, P in zip(mu, cov):\n", " # covariance of x and y\n", " cov = np.array([[P[0, 0], P[2, 0]], \n", " [P[0, 2], P[2, 2]]])\n", " mean = (x[0, 0], x[2, 0])\n", " plot_covariance_ellipse(mean, cov=cov, fc='g', std=3, alpha=0.5)\n", " \n", "#plot results\n", "zs *= .3048 # convert to meters\n", "plot_filter(mu[:, 0], mu[:, 2])\n", "plot_measurements(zs[:, 0], zs[:, 1])\n", "plt.legend(loc=2)\n", "plt.xlim(0, 20);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I encourage you to play with this, setting $\\mathbf Q$ and $\\mathbf R$ to various values. However, we did a fair amount of that sort of thing in the last chapters, and we have a lot of material to cover, so I will move on to more complicated cases where we will also have a chance to experience changing these values.\n", "\n", "I plotted the $3\\sigma$ the covariance ellipse for $x$ and $y$ in green. Can you explain their shape? Perhaps you were expecting a tilted ellipse, as in the last chapters. If so, recall that in those chapters we were not plotting $x$ against $y$, but $x$ against $\\dot x$. $x$ is correlated to $\\dot x$, but $x$ is not correlated or dependent on $y$. Therefore our ellipses are not tilted. Furthermore, the noise for both $x$ and $y$ are modeled to have the same noise standard deviation. If we were to set R to, for example,\n", "\n", "$$\\mathbf R = \\begin{bmatrix}1&0\\\\0&.5\\end{bmatrix}$$\n", "\n", "we would be telling the Kalman filter that there is more noise in $x$ than $y$, and our ellipses would be longer than they are tall.\n", "\n", "The final value for $\\mathbf P$ tells us everything we need to know about the correlation between the state variables. If we look at the diagonal alone we see the variance for each variable. In other words $\\mathbf P_{0,0}$ is the variance for x, $\\mathbf P_{1,1}$ is the variance for $\\dot x$, $\\mathbf P_{2,2}$ is the variance for y, and $\\mathbf P_{3,3}$ is the variance for $\\dot y$. We can extract the diagonal of a matrix using `numpy.diag()`." ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[0.007 0.003 0.007 0.003]\n" ] } ], "source": [ "print(np.diag(robot_tracker.P))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The covariance matrix contains four $2{\\times}2$ matrices that you should be able to easily pick out. This is due to the correlation of $x$ to $\\dot x$, and of $y$ to $\\dot y$. The upper left hand side shows the covariance of $x$ to $\\dot x$." ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0.007 0.003]\n", " [0.003 0.003]]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "c = robot_tracker.P[0:2, 0:2]\n", "print(c)\n", "plot_covariance_ellipse((0, 0), cov=c, fc='g', alpha=0.2)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The covariance contains the data for $x$ and $\\dot x$ in the upper left because of how it is organized. Recall that entries $\\mathbf P_{i,j}$ and $\\mathbf P_{j,i}$ contain $\\sigma_i\\sigma_j$.\n", "\n", "Finally, let's look at the lower left side of $\\mathbf P$, which is all 0s. Why 0s? Consider $\\mathbf P_{3,0}$. That stores the term $\\sigma_3\\sigma_0$, which is the covariance between $\\dot y$ and $x$. These are independent, so the term will be 0. The rest of the terms are for similarly independent variables." ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[0., 0.],\n", " [0., 0.]])" ] }, "execution_count": 14, "metadata": {}, "output_type": "execute_result" } ], "source": [ "robot_tracker.P[2:4, 0:2]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Filter Order" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We have only studied tracking position and velocity. It has worked well, but only because I have been selecting problems for which this is an appropriate choice. You now have enough experience with the Kalman filter to consider this in more general terms.\n", "\n", "What do I mean by order? In the context of these system models it is the number of derivatives required to accurately model a system. Consider a system that does not change, such as the height of a building. There is no change, so there is no need for a derivative, and the order of the system is zero. We could express this in an equation as $x = 312.5$.\n", "\n", "A first order system has a first derivative. For example, change of position is velocity, and we can write this as\n", "\n", "$$ v = \\frac{dx}{dt}$$\n", "\n", "which we integrate into the Newtonian equation\n", "\n", "$$ x = vt + x_0.$$\n", "\n", "This is also called a *constant velocity* model, because of the assumption of a constant velocity.\n", "\n", "A second order system has a second derivative. The second derivative of position is acceleration, with the equation\n", "\n", "$$a = \\frac{d^2x}{dt^2}$$\n", "\n", "which we integrate into \n", "\n", "$$ x = \\frac{1}{2}at^2 +v_0t + x_0.$$\n", "\n", "This is also known as a *constant acceleration* model." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Another, equivalent way of looking at this is to consider the order of the polynomial. The constant acceleration model has a second derivative, so it is second order. Likewise, the polynomial $x = \\frac{1}{2}at^2 +v_0t + x_0$ is second order.\n", "\n", "When we design the state variables and process model we must choose the order of the system we want to model. Let's say we are tracking something with a constant velocity. No real world process is perfect, and so there will be slight variations in the velocity over short time period. You might reason that the best approach is to use a second order filter, allowing the acceleration term to deal with the slight variations in velocity. \n", "\n", "In practice that doesn't work well. To thoroughly understand this issue let's see the effects of using a process model that does not match the order of the system being filtered. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "First we need a system to filter. I'll write a class to simulate an object with constant velocity. Essentially no physical system has a truly constant velocity, so on each update we alter the velocity by a small amount. I also write a sensor to simulate Gaussian noise in a sensor. The code is below, and I plot an example run to verify that it is working correctly. " ] }, { "cell_type": "code", "execution_count": 15, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.book_plots import plot_track\n", "\n", "class ConstantVelocityObject(object):\n", " def __init__(self, x0=0, vel=1., noise_scale=0.06):\n", " self.x = x0\n", " self.vel = vel\n", " self.noise_scale = noise_scale\n", "\n", " def update(self):\n", " self.vel += randn() * self.noise_scale\n", " self.x += self.vel\n", " return (self.x, self.vel)\n", "\n", "def sense(x, noise_scale=1.):\n", " return x[0] + randn()*noise_scale\n", "\n", "np.random.seed(124)\n", "obj = ConstantVelocityObject()\n", "\n", "xs, zs = [], []\n", "for i in range(50):\n", " x = obj.update()\n", " z = sense(x)\n", " xs.append(x)\n", " zs.append(z)\n", "\n", "xs = np.asarray(xs)\n", "\n", "plot_track(xs[:, 0])\n", "plot_measurements(range(len(zs)), zs)\n", "plt.legend(loc='best');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I am satisfied with this plot. The track is not perfectly straight due to the noise that we added to the system - this could be the track of a person walking down the street, or perhaps of an aircraft being buffeted by variable winds. There is no intentional acceleration here, so we call it a constant velocity system. Again, you may be asking yourself that since there is in fact a tiny bit of acceleration going on why would we not use a second order Kalman filter to account for those changes? Let's find out.\n", "\n", "How does one design a zero order, first order, or second order Kalman filter? We have been doing it all along, but just not using those terms. It might be slightly tedious, but I will elaborate fully on each - if the concept is clear to you feel free to skim a bit." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Zero Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A zero order Kalman filter is just a filter that tracks with no derivatives. We are tracking position, so that means we only have a state variable for position (no velocity or acceleration), and the state transition function also only accounts for position. Using the matrix formulation we would say that the state variable is\n", "\n", "$$\\mathbf x = \\begin{bmatrix}x\\end{bmatrix}$$\n", "\n", "The state transition function is very simple. There is no change in position, so we need to model $x=x$; in other words, *x* at time t+1 is the same as it was at time t. In matrix form, our state transition function is\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1\\end{bmatrix}$$\n", "\n", "The measurement function is very easy. Recall that we need to define how to convert the state variable $\\mathbf x$ into a measurement. We will assume that our measurements are positions. The state variable only contains a position, so we get\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1\\end{bmatrix}$$\n", "\n", "Let's write a function that constructs and returns a zero order Kalman filter." ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [], "source": [ "def ZeroOrderKF(R, Q, P=20):\n", " \"\"\" Create zero order Kalman filter.\n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=1, dim_z=1)\n", " kf.x = np.array([0.])\n", " kf.R *= R\n", " kf.Q *= Q\n", " kf.P *= P\n", " kf.F = np.eye(1)\n", " kf.H = np.eye(1)\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### First Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A first order Kalman filter tracks a first order system, such as position and velocity. We already did this for the dog tracking problem above, so this should be very clear. But let's do it again.\n", "\n", "A first order system has position and velocity, so the state variable needs both of these. The matrix formulation could be\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x\\\\\\dot x\\end{bmatrix}$$\n", "\n", "So now we have to design our state transition. The Newtonian equations for a time step are:\n", "\n", "$$\\begin{aligned} x_t &= x_{t-1} + v\\Delta t \\\\\n", " v_t &= v_{t-1}\\end{aligned}$$\n", " \n", "Recall that we need to convert this into the linear equation\n", "\n", "$$\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix} = \\mathbf F\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix}$$\n", "\n", "Setting\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1 &\\Delta t\\\\ 0 & 1\\end{bmatrix}$$\n", "\n", "gives us the equations above.\n", "\n", "Finally, we design the measurement function. The measurement function needs to implement\n", "\n", "$$\\mathbf z = \\mathbf{Hx}$$\n", "\n", "Our sensor still only reads position, so it should take the position from the state, and 0 out the velocity and acceleration, like so:\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1 & 0 \\end{bmatrix}$$\n", "\n", "This function constructs and returns a first order Kalman filter." ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [], "source": [ "def FirstOrderKF(R, Q, dt):\n", " \"\"\" Create first order Kalman filter. \n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=2, dim_z=1)\n", " kf.x = np.zeros(2)\n", " kf.P *= np.array([[100, 0], [0, 1]])\n", " kf.R *= R\n", " kf.Q = Q_discrete_white_noise(2, dt, Q)\n", " kf.F = np.array([[1., dt],\n", " [0., 1]])\n", " kf.H = np.array([[1., 0]])\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Second Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A second order Kalman filter tracks a second order system, such as position, velocity and acceleration. The state variable will be\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix}$$\n", "\n", "So now we have to design our state transition. The Newtonian equations for a time step are:\n", "\n", "$$\\begin{aligned} x_t &= x_{t-1} + v_{t-1}\\Delta t + 0.5a_{t-1} \\Delta t^2 \\\\\n", " v_t &= v_{t-1} + a_{t-1}\\Delta t \\\\\n", " a_t &= a_{t-1}\\end{aligned}$$\n", " \n", "Recall that we need to convert this into the linear equation\n", "\n", "$$\\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix} = \\mathbf F\\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix}$$\n", "\n", "Setting\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1 & \\Delta t &.5\\Delta t^2\\\\ \n", "0 & 1 & \\Delta t \\\\\n", "0 & 0 & 1\\end{bmatrix}$$\n", "\n", "gives us the equations above. \n", "\n", "Finally, we design the measurement function. The measurement function needs to implement\n", "\n", "$$z = \\mathbf{Hx}$$\n", "\n", "Our sensor still only reads position, so it should take the position from the state, and 0 out the velocity, like so:\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1 & 0 & 0\\end{bmatrix}$$\n", "\n", "This function constructs and returns a second order Kalman filter." ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [], "source": [ "def SecondOrderKF(R_std, Q, dt, P=100):\n", " \"\"\" Create second order Kalman filter. \n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=3, dim_z=1)\n", " kf.x = np.zeros(3)\n", " kf.P[0, 0] = P\n", " kf.P[1, 1] = 1\n", " kf.P[2, 2] = 1\n", " kf.R *= R_std**2\n", " kf.Q = Q_discrete_white_noise(3, dt, Q)\n", " kf.F = np.array([[1., dt, .5*dt*dt],\n", " [0., 1., dt],\n", " [0., 0., 1.]])\n", " kf.H = np.array([[1., 0., 0.]])\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Evaluating Filter Order\n", "\n", "Now we can run each Kalman filter against the simulation and evaluate the results. \n", "\n", "How do we evaluate the results? We can do this qualitatively by plotting the track and the Kalman filter output and eyeballing the results. However, a rigorous approach uses mathematics. Recall that the system covariance matrix $\\mathbf P$ contains the computed variance and covariances for each of the state variables. The diagonal contains the variance. Remember that roughly 99% of all measurements fall within $3\\sigma$ if the noise is Gaussian. If this is not clear please review the Gaussian chapter before continuing, as this is an important point. \n", "\n", "So we can evaluate the filter by looking at the residuals between the estimated state and actual state and comparing them to the standard deviations which we derive from $\\mathbf P$. If the filter is performing correctly 99% of the residuals will fall within $3\\sigma$. This is true for all the state variables, not just for the position. \n", "\n", "I must mention that this is only true for simulated systems. Real sensors are not perfectly Gaussian, and you may need to expand your criteria to, say, $5\\sigma$ with real sensor data.\n", "\n", "So let's run the first order Kalman filter against our first order system and access its performance. You can probably guess that it will do well, but let's look at it using the standard deviations.\n", "\n", "First, let's write a routine to generate the noisy measurements for us." ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [], "source": [ "def simulate_system(Q, count):\n", " obj = ConstantVelocityObject(x0=.0, vel=0.5, noise_scale=Q)\n", " xs, zs = [], []\n", " for i in range(count):\n", " x = obj.update()\n", " z = sense(x)\n", " xs.append(x)\n", " zs.append(z)\n", " return np.array(xs), np.array(zs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "And now a routine to perform the filtering and save the output in a `Saver` object." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [], "source": [ "from filterpy.common import Saver\n", "\n", "def filter_data(kf, zs):\n", " s = Saver(kf)\n", " kf.batch_filter(zs, saver=s)\n", " s.to_array()\n", " return s" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we are prepared to run the filter and look at the results." ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.book_plots import plot_kf_output\n", "\n", "R, Q = 1, 0.03\n", "xs, zs = simulate_system(Q=Q, count=50)\n", "\n", "kf = FirstOrderKF(R, Q, dt=1)\n", "data1 = filter_data(kf, zs)\n", "\n", "plot_kf_output(xs, data1.x, data1.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It looks like the filter is performing well, but it is hard to tell exactly how well. Let's look at the residuals and see if they help. We'll do this a lot, so I'll write a function to plot them." ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [], "source": [ "from kf_book.book_plots import plot_residual_limits, set_labels\n", "\n", "def plot_residuals(xs, data, col, title, y_label, stds=1):\n", " res = xs - data.x[:, col]\n", " plt.plot(res)\n", " plot_residual_limits(data.P[:, col, col], stds)\n", " set_labels(title, 'time (sec)', y_label)" ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 0], data1, 0, \n", " title='First Order Position Residuals(1$\\sigma$)',\n", " y_label='meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "How do we interpret this plot? The residual is drawn as the jagged line - the difference between the measurement and the predicted position. If there was no measurement noise and the Kalman filter prediction was always perfect the residual would always be zero. So the ideal output would be a horizontal line at 0. We can see that the residual is centered around 0, so this gives us confidence that the noise is Gaussian (because the errors fall equally above and below 0). The yellow area between dotted lines show the theoretical performance of the filter for 1 standard deviations. In other words, approximately 68% of the errors should fall within the dotted lines. The residual falls within this range, so we see that the filter is performing well, and that it is not diverging.\n", "\n", "Let's look at the residuals for velocity. " ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 1], data1, 1, \n", " title='First Order Velocity Residuals(1$\\sigma$)',\n", " y_label='meters/sec') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Again, as expected, the residual falls within the theoretical performance of the filter, so we feel confident that the filter is well designed for this system. \n", "\n", "Now let's do the same thing using the zero order Kalman filter. All of the code and math is largely the same, so let's just look at the results without discussing the implementation much." ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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g2rVrXLp0ibt372JkZESFChXeG+xB3BzBypUr4+XlpbPfz8+PyZMns2vXLo4ePYqtre1X/haESHsk6BNCCCGE+AZly5aN/v37p3YzVFeuXKF58+Y8efKEfv366Qyv1NfXZ+PGjbi6upI5c+b3Hq/RaChRogQlSpT47GtqNBpKly5N6dKlP1pPURSaN2+uBnxmZmbUr1+f8PBw9uzZQ0xMDDdv3qRnz55s2rTps68vRHohwzuFEEIIIcQn5cqVSw2qVq1aRVhYmE55hQoVPhjwJbejR49y/fp1APLmzcvjx49Zt24d27dv59atW2rv3pYtW9QVUIX4nkjQJ4QQQgghVN7e3kyePJnly5fr7LeysqJ169bUqFGDJUuWYGhomDoNfI+dO3eq22PHjtUZBps3b14GDBgAxPUI7tmzJ8XbJ0Rqk+GdQgghhBACiAv4smXLRnR0NK6urnTs2FEnH+CiRYu+uUVkAJ1FWvLnz5+gvECBAu+tK8T3Qnr6hBBCCCG+U4qi6LzOkiULFSpUAODBgwfqkMl432LAB+Ds7KxuHzhwIEH5/v371W0nJ6cUaZMQ3xIJ+oQQQggh0hGtVktwcDCxsbHvLVcUhTNnztC+fXuaNGmSoHzw4MGMGDGCx48fU6xYsWRubdJo27atuj1hwgS2bt2KVqslKiqKBQsWsHTpUgDMzc1p1KhRKrVSiNQjwzuFEEIIIdKBGzduMHPmTDZu3EhYWBjGxsY0adKEwYMHU6pUKbWeVqulbdu2PHv2DI1Gw5MnT8iZM6da3qBBAxo0aJAat5Borq6utGnThrVr1xIcHEyTJk3ImDEjUVFRhISEqPUGDx6MhYVFKrZUiNQhPX1CCCGEEGncxo0bKVWqFCtWrFBX1YyMjOTff//lhx9+YNmyZWpdfX19evToAYC1tTWzZs2iatWq5M2blzJlyjBp0iR8fX1T5T6+xuLFi6lVq5b6+s2bNzoBX/fu3fntt98+eZ63YVHJ0j4hUpP09AkhhBBCpGF37tyhbdu2REdHA3GrbJYoUYKLFy8SEhKCoih07dqVAgUKUKZMGQC6du2Knp4eCxcu1Mm3B3DhwgWmTJnCxo0bdYKob52pqSl79uxh+/btLF68mOvXr6Ovr0+5cuXo3bs37u7u7z0uVqtw5UUAh+76cPiuL2/Dorkwohp6epr31hciLZKgTwghhBAiDZs1a5Ya8LVr146FCxdiampK586d1bQLiqIwc+ZM1q9fD4CJiQkLFizQyVlnZmZGaGgoAMHBwTRq1Ijz589TpEiRFL2fr6Gnp0fjxo1p3LjxR+sFR0Rz4oEfh+/6cPS+LwFh0WqZgZ6GJ34h5LaTYaAi/ZDhnUIIIYQQadiGDRuAuKBt3rx5mJqaAtCvXz/gvxU3t27dqgaHS5cuVQO+ggULcu7cOUJCQnjy5An169cHICIigsmTJ6fkrSSrl2/CWH76Ke3/OU+JCQfpu/YKW656EBAWjVUGQxoVc+Tv1sW5PLqGBHwi3ZGePiGEEEKINOrw4cMEBgYCkC1bNp1FSkqWLMmFCxcYOXIkBw8eJDo6muDgYDJmzMiKFSvUeuvWraNQoUIAuLi4sH79erJnz46fnx+bNm1i0aJFaXLxk1itwrWXbzn8/8M27/sE65TnzGRGtfx2VMtvT6nsNhjoS1+ISL8k6BNCCCGESKPeXXDlwYMHBAUFYWlpqe4rUqQIV69eBcDIyEgN3p4/fw5Ajhw51IAvnqmpKdWrV2fdunXExMTg5eX1zQZ9Wq2Cd1AEz/xDeeEfxjP/MJ77h/LMP4wX/qGERv2XtkJfT0Op7DZUz29Ptfx25MxsnootFyJlSdAnhBBCCJEGPH36FDMzM+zs7NR9zZo1o3v37oSGhhIbG0uvXr1YtGgR5ubmhIeH89NPP+Hn5wdAkyZNMDQ0BOKGggYEBODj40NISAjm5roB0OPHj9Xt/y1LDd6BETzwCVYDuuf/H9w9fxNGVIz2g8dZmBhQ2TUz1fPb4543M9amRinYaiG+HRL0CSGEEEJ8gejoaC5fvsytW7coUKAAefLkSdbrPXnyhF9++YXt27czZMgQnXl2hoaGbNu2jbp16xIdHc2///7Lrl27KFq0KDdv3lSHfurr6zN48GD1uDp16rB48WLCw8MZM2YMM2bMQKOJW61yw4YNXLx4EYDChQvj4OCQrPf3Plqtwi3PQA7d8eHQXV/ueAV9sK6BnoasGU3JbmtKDlszsmU0JUcmU7L//7ahDNsUQoI+IYQQQojPERUVxdSpU5k3bx7e3t4AjBo1isqVKzN27NgPpgT4WqampuzatQutVsvChQsZNWoUZmZmann8UMzWrVsTFRVFcHAwp06dUsv19fVZunQppUuXVvf169ePJUuWoCgKf/75J4cPH6Zq1arcvHmTw4cPq/V++uknNRhMbhHRsZx57Mehu74cvuuDT1CkWqangVyZzclua0YOW1OyZ4r7bw5bMxysTGQ+nhCfIEGfEEIIIcQnREVF0aBBAw4cOJCg7Pjx41SvXp01a9bQsmXLBOWRkZFs3ryZnTt3EhgYiLOzM+3ataNSpUoJAqpnz57h6+vLDz/8oO7LkiULrVu35uDBg/Tr1w9FURJco0mTJly5coVZs2axfv16goODMTU1pVmzZgwcOJDixYvr1C9SpAizZ8+mf//+ANy4cYMbN27o1Gnfvj2dO3f+/F9SIviFRHLkni+H7vhw8qEf4dH/zcEzM9LH7f+HZlbJZ0dGMxmaKURiSdAnhBBCCPEJU6dOVQM+PT096tWrh0aj4e7duzx8+JDY2Fg6depExYoVcXJyUo+7cuUKjRs35sWLFzrnW7x4MVWqVGHjxo3Y2toSFhZG69at2blzp7r4yrsB4cyZM7GwsMDI6MOBT8GCBVm8eDGLFi0iMjISY2Pjj/bS9evXjxw5cvD7779z/vx5db+LiwsDBw6kX79+6OklfQ/aI99gDtzx4dAdH66+fMu7MayDlQnV89tTvYA9ZXNmxNhAP8mvL8T3SII+IYQQQoiPiIqKYu7cuUBcwHf06FHKlSvHnj17qFWrFt27d2f16tVERESwcOFCxo8fD8QthlK9enUCAgLee96jR49St25dTp48iampKd7e3iiKwvXr1zl9+jQVK1ZU69ra2n52ezUaDSYmJp9Vt379+tSvX59Hjx7h5eWFlZUVhQoVSvJgzzcogh3XPdlyxSPB/LzCTlbqipoFHS1TbDipEN8TGQAthBBCCPER169fx8fHB4AGDRrg5uamlunr6zNlyhT19f79+9Xt33//XQ34fvjhBw4fPoy3tzfTpk1T0ypcuHBBTa7ev39/nJyc+P3338mbN2+y39e7cufOTaVKlShSpEiSBXyhkTFsufKK9v+cp+zkw/y++y53vIIw1NfgnjczvzcqxNnhVdnZvyI/Vc9DIScrCfiESCbS0yeEEEII8RGhoaHqdq5cuRKUOzo6YmxsTGRkJCEhIQCEhISwbt06AKysrNi/fz/W1ta0b9+e1atX6wRWS5YsoV27drRs2ZKWLVuqaRXSophYLacf+7Ptqgf7bnnrzNErmd2GxsWdqFfYARuZnydEipKgTwghhBDiI7Jnz65u7969m2nTpumUHzx4kMjIuJUmc+TIAcCLFy+IiIgAoG7dulhbWwNx8+UAtFotZmZmhIaGcu/ePYA0G+wpisJtzyC2XvVgx3VPXgf/t+pmDltTGhd3plFxR7Lbmn3kLEKI5CRBnxBCCCHER7i4uODm5saJEye4f/8+nTt3Zvz48SiKwsGDB+nVq5dat1OnTnFB0O3b6r745OgAPXv2ZMOGDeo5AIyNjVPuZpJQRHQsK848Y9PlVzz0DVH325ga0qCoI42LO1Esq7UM2RTiGyBBnxBCCCHEJ4wbN47q1asTGxvLqlWrWLVqFYaGhkRHR6t1SpQoQaNGjRg5cqROAvVDhw5x/vx5ypQpg5OTE3fv3mXatGmEhYUB6MwRTCse+QbTb+1V7nkHA2BkoEeNAvY0LuZE5byZJSG6EN8YCfqEEEIIIT7B3d2d1atX06lTJ3Uo5/8GfLt378bQ0JB69erpBH2KouDu7k6nTp0oWLAgBw4cYOfOnWp53759U+5GvpKiKGy8/Irftt8mPDqWTOZG/FwzL/WKOGBpkjaHpwrxPZCgTwghhBDfrfDwcK5fv054eDi5c+cma9asH6zbqlUrKlasyKJFi9izZw/Pnz8HYODAgQwZMkSdk1e+fHnat29PpUqVWLFiBadPnyYiIoIFCxYkOOewYcMoW7Zs8txcEguOiGbUtltsv+YJQMXcmZjZsih2Fp+XHkIIkXqk710IIYQQ353Q0FCGDh2Kk5MT5cqVo2rVqmTLlo1atWpx4cKFDx7n7OzM+PHj6d27N35+fvj5+XH37l2dRVg0Gg0rV66ke/fuHDhwgP79+2NqaqpzHkdHR+bOncukSZOS7R6T0o1Xb6n/9ym2X/NEX0/DkNp5WdnlBwn4hEgjpKdPCCGEEN+VkJAQqlWr9t7g7sCBAxw7dozt27dTu3btD56jWbNmDB48mKCgIC5dukR0dPR7V980NTVl9uzZjB8/niNHjhAUFISTkxPu7u5pYrVORVH459RTpu67R3SsgpN1Bma3Lk7J7Dap3TQhxBeQoE8IIYQQ35Xhw4erAZ+hoSFNmjTBwcGBbdu28ezZM6KiomjVqhXPnz/n1atXzJw5k4IFCzJ48GD1HKampnTt2hU3NzcaNGiAvr7+R69pbW1NkyZNkvW+kpp/SCS/brrBkXu+ANQplIUpTYtgleHbD1aFELok6BNCCCHEdyMoKIhly5YBYGJiwvnz5ylSpAgAU6dOpUmTJuzevZvAwED+/vtvxo4dS2xsLA4ODvTt21cnvULlypWpW7fuJwO+tOjsY38Grr+KT1AkRgZ6jKlfgLZlskn6BSHSKJnTJ4QQQojvxunTpwkNDQWgXbt2asAHYGRkxMSJE9XXZ8+epWHDhgCEhYVx69atlG1sKoiJ1TLz4APaLDmHT1Akue3M2dGvAu3KZpeAT4g0THr6hBBCCPHdiA/4AHLmzAlAYGAgixcv5urVqzorbIaEhDBu3Djc3Nzo0qULFhYWKd7elOT5NpyB665x4dkbAFqWyspvPxbA1Ej+XBQirZN/xUIIIYT4IoqiAKTJnp8cOXKo2zt27GDo0KG4u7tz7do1APLmzauWu7i4UKpUKUqVKpXCrUw5EdGxnH3sz5F7vuy47klgeDTmxgZMbFyIhsWcUrt5QogkIsM7hRBCCPFJYWFh/P333xQpUgQDAwOMjY2pUqUKmzZtQqvVpmrbFEXh4MGDNGrUCFtbW6ysrChbtiz//POPmkg9XsmSJSlQoAAA586do3///rRr104tnzp1qrrdqVOnFGl/SvMKDGfN+ed0W3GRYuMP0Hn5RVade05geDRFnK3YPaCiBHxCpDPS0yeEEEKIj3r9+jU1atTg+vXr6j6tVsuxY8c4duwYzZs3Z82aNamSgkCr1dKnTx8WLlyos//8+fOcP3+ehQsXsnfvXmxtbQkICGDOnDmMGDFCDfTmzZsHgJ6eHlqtlrCwMACqV69O5cqVU/ZmkkmsVuH6q7ccuevLkXu+3PEK0il3sDKhaj47quazw801M4b60icgRHojQZ8QQgghPkhRFFq0aKET8BUsWJDg4GBevHgBwMaNG8mZMydTpkxJ8fZNmTJFJ+CztbXF3Nyc58+fA3Dx4kVatGhBv3796NSpE0FBQfz+++8sWLCAfv36ERMTA6DTW+nu7s7GjRvT5PDVeEER0Zx84Mfhez4cv/8a/9AotUyjgeJZramW356q+ezIl8UiTd+rEOLTJOgTQgghxAedP3+eY8eOAeDg4MCOHTsoVaoUiqKwceNG2rZtS0xMjNqDZmlpmWJtCw8P548//gDi5hfOnz+frl27YmBgwMmTJ2nevDk+Pj4cOXKEXr16qYu4zJ49m5cvX1KzZk0WLFjAkSNHiIiIIE+ePHTt2pXatWunyTQMkTGxHL3ny+YrHhy770t0rKKWWRgb4JY3M9Xy2VHZNTO25sYfOZMQIr2RoE8IIYQQH7Ru3Tp1+/fff1cXNdFoNLRo0YLDhw+zaNEiQkND2b17N61bt06xtu3fv5+AgAAA2rRpQ8+ePQF48+YNDg4OTJ48mS5dugBw4sQJOnfujEajYcSIERgZGeHi4qIzhy8tUhSFay/fsuWKBztvePI2LFoty5nZjGr57Kiaz55SOWxk2KYQ3zEJ+oQQQgjxQT4+Pup2pUqVEpRXqlSJRYsWAeDr65ti7QLw9PRUt6tUqUJ4eDgTJ05k9uzZlChRghUrVqjlXl5eaX7I5rs83oaz7aoHm6+84snr/9JQ2Fsa06i4E02KO5M3S/pOMSGE+HwS9AkhhBDig2xtbdXtS5cukSdPHp3yS5cuqdsZM2ZMsXYB2NjYqNvXr1+nU6dObN68meDgYI4fP86qVavUcmtr6zQf8IVGxrD3ljdbrrzi7BN//j9zBiaGetQumIUmJZypkDsT+npp+z6FEElPgj4hhBBCfFDTpk2ZO3cuAKNGjeKHH34gV65cABw7dkxdRMXY2Ji6deumaNvKly+PiYkJERERLFmyhFatWjFixAi6du1Kq1atdIK+Ro0apWjbkopWq3D2iT+bL79i7y1vwqNj1bKyOTPSpIQzdQs7YG4sf9IJIT5M3iGEEEII8UHu7u6UKlWKS5cu8eTJE/LmzUulSpUIDg7m8uXLar2uXbvq9Aomp4cPHzJlyhS2bNlCq1atWL58OeHh4VSoUIGKFSuqq29GREQAkC9fPurUqZMibUtKnm/D+WXjdc489lf3uWQyo0lxJxoVdyJrRtNUbJ0QIi2RoE8IIYQQH6TRaNi8eTNVqlThyZMnxMbGqqt5xqtevbq6imZKmD17NkuXLgXA3t4eNzc3Tpw4AcCpU6d06jo4OLB169Y0tRqnoihsu+bBmO23CY6IwcRQj6YlnGlSwpkS2dL+MFUhRMqTZZyEEEII8VHZsmXj4sWLjBo1CgcHB3V/wYIFmTt3Lnv27CFDhgwp1p5ff/0VQ0NDrKysyJgxIwcOHOCPP/7AxcVFrWNpacmAAQO4dOkS+fLlS7G2fa2A0Cj6rr3CoPXXCY6IoVhWa/b+5MbExoUpmd1GAj4hRKJIT58QQgghPiljxoxMmDCBcePGERAQgIGBAVZWVsl6zTNnzvD777/Tq1cvfvzxR3V/tmzZ2Lp1KxUrVlTb8PPPPzN48GA8PT2Jjo7G0dERIyOjZG1fUjt635chm27wOjgSAz0NP1XLQ2/3XBhIqgUhxFeSoE8IIYQQn01PTy9F5u6dPXuWChUqAODn50eDBg10ernq1auX4BiNRoOTk1Oyty2phUbGMHHPXdaefwFAbjtz/mxRjMLOyRtUCyG+HxL0CSGEECJZRUdH8/LlSzQaDVmzZsXA4NN/fpQtW5aiRYty/fp1fH198fLywtHRMQVam7IuPw9g8IZrPPcPA6BLBReG1M6LiWHamYMohPj2SdAnhBBCiGTh7+/P1KlTWbp0Kf7+cStQ2tnZ0b17d3799VesrKwICAhg/vz5hIaGMnHiRPVYjUbDpEmT8PX1pW3bthgaGqbWbSSLqBgtsw8/ZN6xR2gVcLQy4Y/mRSmfO1NqN00IkQ5J0CeEEEKIJOfh4UHlypV5/Pixzn5fX18mTpzItm3bOHjwIKVLl8bDwwNjY2P69+9PlixZ1LopnfcvpTz0CWbg+mvc9gwCoHFxJ8b+WBCrDOkrsBVCfDtkZrAQQgghklybNm3UgM/IyIj69etTp04ddWjn7du36dGjB23atAHihoAeOXIk1dqbErRahSUnn1Dv71Pc9gzC2tSQeW1L8GfLYhLwCSGSlfT0CSGEECJJXbp0Sc2blzVrVo4ePcrjx49Zs2YNV69epWrVqrx+/Zpdu3YxZMgQwsLCGDRoELly5VLPERwczO3bt9FqteTLl4+MGTOm1u18taCIaDZffsWqc8958joUAPe8mZnWtAh2liap3DohxPcgVXv6Tpw4QYMGDXB0dESj0bBt2zad8k6dOqHRaHR+ypYtmzqNFUIIIcRn2bFjh7o9cuRIZs2aRa1atVi5ciW3b9/ml19+UcvPnz/PnDlz1IDP19eXXr16kSVLFsqVK0eFChVwcHCgXbt2PHv2LKVv5avc9w5m5NablJ10mHE77/DkdSgWxgZMbFyIZZ1KS8AnhEgxqdrTFxoaStGiRencuTNNmzZ9b53atWuzbNky9XVay7kjhBBCfG/evn2rbhcuXJg8efIwZ84cADZs2ED37t3fW9fDw4NKlSrx9OlTnfNFRUWxZs0aDhw4wLFjxyhQoECytv9rRMdqOXjHhxVnnnH+6Rt1fx47czqUy07jEs6YG8tAKyFEykrVd506depQp06dj9YxNjbWmdQthBBCiG9PWFgY69evZ/78+ZQpU0bdf/jwYUaNGkWnTp2oV68ejRs3ZujQoWr5u2kYunTpogZ8ZmZmNGvWDCMjIzZt2kRAQACvX7+mZcuW3LhxQydn37fANziCdRdesub8c3yCIgHQ19NQs4A9HcrloGzOjN9cm4UQ349v/qumY8eOYWdnh7W1NZUrV2bixInY2dl9sH5kZCSRkZHq66CguJWxoqOjiY6O/qxrxtf73Poi/ZJnQcSTZ0HAt/sceHp68u+///Ls2TNMTU2pXr061apVQ08v5WZxrF69mp49ewKQPXt2NBoNiqIwdepU8ufPz4IFC1AUhbVr1/L3338DcaN3GjZsSHR0NHfu3OHAgQMAODk5cerUKTXR+u+//06VKlW4c+cOt27dYv/+/VSrVi3F7u19oqOjURQ4//g16y57sf+OD9GxCgC2Zka0LOVMq9LOOFjFDeGMiYlJzeaKZPStvR8I8T4aRVGU1G4ExOXj2bp1K40aNVL3rV+/HnNzc7Jnz87Tp08ZPXo0MTExXL58GWNj4/eeZ+zYsYwbNy7B/rVr12JqappczRdCCCFSXGxsLCtWrGD37t3ExsbqlDk7O/PLL7+QI0eOZLluTEyMzmdxREQEXbp0ISwsjPz582Nvb8+xY8fUcmtra7RarfplLED9+vXp1q0bANu3b1enc3Tq1Enn7wGA48eP8+effwLQsGFDOnfunOT39bm0Clzx03DEUw+PsP9673KYK1TKoqWYrYKBrI/+3QgLC6NNmzYEBgZiaWmZ2s0R4r2+6Z6+li1bqtuFChWiVKlSZM+end27d9OkSZP3HjN8+HAGDx6svg4KCiJr1qzUrFnzs/8hRkdHc/DgQWrUqJHuksGKLyPPgognz4KAb+856NWrl86iKe969eoV48aN49SpU+TJkydJrhcQEMCiRYtYuHAhPXv21BmmCXGBX+7cuSldujQRERG0bNmSffv2Abpz9wCaNGnCqlWr1N/j1atX1bJ69eolyNGXOXNmNeizs7NLlRx+iqJw+N5r/jz0iAe+IQAYG+jRoIgD7cpkpaCj/MH/PfL390/tJgjxSd900Pe/HBwcyJ49Ow8fPvxgHWNj4/f2AhoaGn7xB3RijhHpkzwLIp48CwK+jefg4sWLLF26VG3Pzz//TMOGDXn+/DmTJk3ixo0bBAQEMHr0aDZv3qxzrFarZf/+/SxZsoQHDx5gbGyMu7s7vXv31kmb8L8CAwMZM2YMiqKwePFihg8fjr6+vlresWNHddvIyIjdu3ezdetWFi5cyJUrV9BoNPzwww/06tWL+vXr68xxy5kzp7q9b98+mjVrpnPt+OARwMXFJUV//4qicOqRH38ceMD1l28BsDQxoFLmSMa2q0JmKxlJ9D1L7fcCIT5Hmgr6/P39efnyJQ4ODqndFCGEECJVLVy4UN3+448/GDBgAABly5alTp065MmTB19fX7Zv346Pjw/29vZA3AiYpk2bcujQIZ3zXb58mVmzZjFz5kwGDBhATEwMr1+/1vnMzZMnD3Xr1mXPnj0ULVqUgIAAMmXK9ME26unp0bRp0w+u0P2uxo0b07dvX0JCQli6dCn58uWjd+/eGBgYsGrVKqZNm6aes127dp//i/pKl5+/Yfr++5x7ErcSp6mRPp0r5KBzuWycPnoQa1P5g18I8e1L1RHnISEhXLt2jWvXrgHw9OlTrl27xosXLwgJCeGXX37h7NmzPHv2jGPHjtGgQQMyZcpE48aNU7PZQgghRKq7fv26ut21a1edMktLS3WKRGxsLLdu3QLieqxatWqlE/C920sRGxvLTz/9RNu2bcmVK9d7g6vp06fz6NEjduzY8dGA70tZWFgwbNgwtZ2//vor1tbWWFpa0r17d3WRtp49e5I1a9Yku+6H3PYMpMvyizSdf5ZzT95gpK9H5wo5OP5rFX6tlQ+rDBLsCSHSjlTt6bt06RJVqlRRX8fPxevYsSPz58/n5s2brFy5krdv3+Lg4ECVKlVYv349FhYWqdVkIYQQ4pvw7sqc71sZ8t0VBePrnj17lr179wJgY2PDokWLaNy4MQEBAfz+++/89ddfAGzcuJHo6GhevHjBrVu3KFSokHqu/PnzJ8v9AIwYMQI/Pz9mzZoFJLyvNm3aqG1MLo9fhzDz4AN23/AC4tIuNC/pTP9qeXCyzpCs1xZCiOSSqkGfu7s7H1s8dP/+/SnYGiGEECLt+OGHH7hw4QIAf//9N6NGjVLLfH19WbduHRA3t65o0aIALF++XK0zY8YMGjduzO3btylSpAh//vknV69e5cSJE2rAWK9evY9+Tic1jUbDn3/+Sbt27Zg/fz7nz59Hq9VSrFgxevTogZubW7LlunsVEMZfhx6y+cortP9/yz8WdWRQDVdcMpklyzWFECKlpKk5fUIIIYSI07NnT+bMmQPA6NGjefToEY0aNeLZs2f8+eef6mqZLVu2JGPGjAA8e/ZMPd7LywsXFxf8/f3x8PDA2tqaH3/8kRMnTgBx8wR//vnnFL2neCVLlmTJkiUpcq1nfqEsOvmEjZdeqnn2que35+earuR3kNU4hRDpgwR9QgghRBpUqFAhhg0bxpQpUwBYsWIFK1as0Knj5OTEpEmT1NdmZv/1WF2/fp2XL18CsHTpUgYPHszjx4/V8ty5cydn81Pd9ZdvWXjiMXtveRPfmVkhty0/18xLiWw2qds4IYRIYpI6VAghhEijJk2axNSpU9+bh9bd3Z1Tp05hbm7OwoULiY2NpXbt2mq5h4cHenp61K9fn5IlS3L79m1WrlwJQIYMGXBzc0ux+0gpiqJw7L4vrRadpeHc0+y5GRfwVcmbmXU9yrKmW1kJ+IQQ6ZL09AkhhBBplEajYciQIfTp04etW7fy5MkTzMzMqFmzJkWKFGHOnDkMGTKE8PBwHB0dadu2LSNGjODNmzecPn0aR0dHcuXKxYIFC9iyZQtRUVEAtG/fHhub9BP8RMdq2XXDk4XHn3DPOxgAAz0NPxZzpIdbTvJlkWGcQoj0TYI+IYQQIo0zNzenffv2CfbnyJGD8PBwAObPn0+DBg1Yv349DRo0ICIiAk9PzwSrYZYoUYLp06enSLuTW2hkDOsuvuSfk0/wDIwAwMxIn9Y/ZKNLRRccZTVOIcR3QoI+IYQQIo179uwZc+fOpVu3buTNm1fdX6dOHYoUKYKbmxu9evUCoHr16pw6dYoxY8awd+9edXVOa2trunXrxpgxY9J8aqTXwZGsOPOMVeeeExgetxJpJnNjOlfIQbsy2bGShOpCiO+MBH1CCCFEGrZ161aaNWuGVqslIiKCv//+Wy3T19fn2rVrCdIclCxZkt27d+Ph4cHDhw8xNjamWLFiZMiQtnu+HvkG88+pZ2y+8oqoGC0ALpnM6OGWk8bFnTAx1E/lFgohROqQoE8IIYRIw9zd3TExMSEsLIx169YxY8YMjIyM1PKP5bVzcnLCyckpJZqZbBRF4dQjP/459ZRj91+r+4tmtaZ35ZzUKJAFfb3kye0nhBBphQR9QgghRBrw/Plz5s2bR/78+enUqZO638bGhl9++QUjIyO6d++uE/ClZxHRsey45sk/p55y3yducRaNBmrkt6drRRd+cMmYbInchRAirZGgTwghhPhMHh4ePH36FE9PT7Jnz55i13358iW5cuUiNjaWvHnz0qFDB/T0/su6NG7cuBRrS2rzC4lk9bnnrD73HL+QuNVGTY30aVEqK53K5yBHJrNPnEEIIb4/kqdPCCGE+IRt27ZRvnx5XFxcGDRoEDly5KBChQrs2LEjRa6fNWtWKlWqBMDTp0+5fft2ilz3W3LfO5ghm65TfsoRZh16iF9IFI5WJgyvk4+zw6sx9seCEvAJIcQHSE+fEEII8RGTJk1i5MiRCfafOXOGhg0bMmXKFIYOHZok13r9+jXz5s3Dw8ODRYsW6ZQNGzaMqlWr0qNHD+zt7ZPket86rVbh+MPXLD31lJMP/dT9RbNa062iC7ULZcFQX76/FkKIT5GgTwghhPiAo0eP6gR8BQoUwNHREQ8PD+7evQvEBWNly5alcuXKX3UtRVEoV64cjx8/RqPR8Ouvv5InTx61vFatWtSqVeurrpEWvA2L4vQjf04+fM3Jh354vI3LM6ingdqFstC1ogslstnIfD0hhPgCEvQJIYQQHzBr1ix1e+zYsQwfPpy9e/dSp04dJk6cyPjx4wH466+/vjro02g0dO/enWHDhqGnp8fJkyd1gr70KjImlivP33LqUVyQd9MjkP9PHQiAubEBLUvHzdfLmtE09RoqhBBpmAR9Qggh0qyYmBh27NjBnj17CA4OJmvWrHTo0IEiRYokybn37NkDQJYsWRg5cqSayFyj0TBq1CgWLFiAr68vu3btQqvV6iyu8rHzbtq0iWXLlrF161ZMTf8LZHr27Im/vz/9+vUjW7ZsX30P3yJFUXjoG8LJh36cfPia80/eEB4dq1PH1d6cSnkyUzFPJsq4ZMTUSP5cEUKIryHvokIIIdKka9eu0bRpU548eaKzf8aMGTRp0oQVK1Zgbm6e6POHh4cTExMDQN68eTEwMCA6OlotNzQ0xNXVFV9fX6Kjo4mMjPys5OaDBw9WE6ivWLGC3r17q2XW1tZMmzYt0W3+VkVEx3L4ri9H7vly6tFrfIIidcozmRtTMbetGujZW5qkUkuFECJ9kqBPCCFEmvP48WOqVq1KQEDAe8u3bNlCcHAw+/bt+6zet/cxNzfH2tqat2/fcvHiRd68eYOFhYVa7u/vz6VLlwDImDEjJiafF6h06dJFDfqOHDmiE/SlJ4qicNMjkI2XXrHjuieB4f8FzMYGevzgkpFKeTJRKU9m8mWxkDl6QgiRjCToE0IIkeaMHTtWDfhKlCjBhAkTyJs3L3v37mXUqFEEBgZy8OBBdu7cScOGDRN1DY1GQ7t27ZgzZw5hYWG0atWKefPmAfDs2TP69OlDREQEAO3bt9cJWhRF4fTp0/z111/07dsXd3d3taxYsWKMGjWKqlWr6uxPL14HR7LtqgebLr9Sk6YDOFiZ0KCoI255MlMqhw0mhvqp2EohUlZERASvX79O7WaIdMbY2Bg7O7vPqitBnxBCiDQlMDCQDRs2AGBjY8ORI0ewsrICoF+/fjg6OtK0aVMAlixZkuigD2DQoEGsWLGC4OBgDh48iKurKzY2Nrx580atY2lpyU8//aRz3O7du2nQoAEA0dHRCYK7CRMmJLpN36LoWC1H7vmy8dIrjt33JUYbN/fRyECP2gWz0LyUM+VzZUJfT3rzxPcnIiICX19fnJyc0NeXLztE0nn9+jVBQUFYWlp+sq4EfUIIIdKUx48fExUVBUDDhg3VgC9ew4YNsbCwIDg4+KuTmOfMmVPtLQwMDERRFJ2Az9ramh07duDi4qJzXK1atXB0dMTT05OLFy8SEhLy2fMLQ0JC2LFjBy9fvsTCwoK6deuSI0eOr7qP5HLXK4hNl1+x7aoH/qFR6v6iWa1pXtKZBkUdscpgmIotFCL1vX79WgI+kSwyZcrEq1evJOgTQgiR/hgY/PfRFRQUlKA8MjJSDQoNDb8+4KhcuTL3799n0aJFrF+/Hk9PT5ycnGjZsiVlypRhyZIlHD58mLFjx6rHGBoaMnnyZDQaDS1atMDY2PiT19FqtUycOJHp06cTHPzfsEiNRkPjxo1ZuHAhmTJl+ur7+VqxWoUNl16y5vxzbnn89/vPZG5MkxJONC/pTB57i4+cQYjvjwR8Ijl8yVxoCfqEEEKkKXnz5sXW1hZ/f3927tzJ3bt3yZ8/v1r+999/ExkZtzpkhQoVkuSa9vb2jB49mmHDhrFnzx7q1q1LUFAQjo6OREVFkTFjRoYMGaKTfqFDhw5fdI3+/furcwbfpSgKW7Zs4f79+5w6dQpra+uvvZ1Ee+ATzJBNN7j28i0AhvoaquWzp3kpZyq7ZsZAP3GL5gghhEhe8u4shBAiWXh7e7Nlyxb+/fdfrly5oua4+1rGxsZ069YNiJsvV65cOYYNG8ayZcto0aIFw4YNU+v26dMnSa4JcT1x77K1taVly5ZAXGB269atRJ/71KlTasCn0Wjo3Lkz69evZ9y4cdja2gJw+/ZtJk2alOhrfI2oGC1/HXpIvdknufbyLRbGBoyom4/zI6qzoH1JquW3l4BPCCG+YdLTJ4QQIkl5e3szaNAgNm3apOa5g7hVK6dNm0aNGjW++hojRoxg//79XLt2jcDAQKZOnZqgzpAhQyhVqtRXX+vWrVv8/fff3Lp1i6NHj+qU/fLLL1SoUIF27dphZmaW6GvMnz9f3f7rr7/o37+/+rpVq1YUKlSI6Oho/vnnHyZMmPBZw0WTyvWXbxm6+Qb3vOOGnFbPb8fvjQqTxUpy6QnxPXJ3d6dYsWLMmjULgBw5cjBw4EAGDhyYqu0SHydfywkhhEgy3t7elC9fnnXr1ukEfBCXTL127dps2rTpq69jaWnJ0aNHadeunc4cP4DMmTPz559/MmXKlK++DkDXrl1ZtGgRZ86c4fTp0zplRYoUoWfPnl8V8AGcPXsWAFNTU3r06KFT5urqSv369QF48+YNDx48+Kprfa7wqFgm7blL43mnuecdTEYzI2a3Ls7iDqUk4BPiO9CpUyc0Gk2Cn2nTpn10BWKNRsO2bdtSrqHis0hPnxBCiCQzcOBAnj59CsQlLO/cuTOZM2dm/fr1XL16Fa1WS+fOnalevfpXz02ztrZm1apVTJ06lYMHDxIcHEzWrFmpXbt2onvCwsPDyZAhg86+AQMG0K5dOywsLHjy5EmyLKYSGxsLxC1S879BLKAzVzC+bnI6+9if4Vtu8Mw/DICGxRwZU78AtuYp18MohEh9tWvXZtmyZTr7MmfOnCIL00RHRyfJYlwijvT0CSGESBKenp5qL56trS03btzgjz/+YOjQoVy6dIlmzZoBcSkJVq5cmWTXdXR0pGPHjvTr14+GDRsmKuC7c+cOvXr1IkuWLLx69UqnrHnz5syfPx8PD48vXpwF4OXLl1y8eJFHjx59cF5jkSJFgLjVSLds2aJT9vr1a3bs2AFAhgwZyJ079xe34XMFR0QzYutNWi8+xzP/MLJYmrCkQyn+alVcAj4hvkPGxsZkyZJF56datWofHMoZn16mcePGaDQanXQzO3fupGTJkpiYmJAzZ07GjRunMyJEo9GwYMECGjZsiJmZGb///nsy3tn3R4I+IYQQSeL06dNqL1SXLl1wcnJSy/T09Bg5cqT6+siRIynevo9Zt24dCxcuJCgoiAULFuiUGRkZ0atXLywsviwNwb59+3BzcyNbtmz88MMP5MmTh6JFi7JixYoEwd+7Qzq7dOnC1KlTuXHjBuvXr8fd3V1N4dC2bdvPzvf3pY7c86HmnydYe/4FAG3KZOPAYDeqF7BPlusJ8b1SFIWwqJgU/0mqxbQ+5uLFiwAsW7YMLy8v9fX+/ftp164dAwYM4M6dOyxcuJDly5czceJEneN/++03GjZsyM2bN+nSpUuyt/d7IsM7hRBCJIn4NAkAdnZ2Ccrt7e3fWzeleXp6YmNjozOMs1evXkyePBkTE5P3Dq/8UnPmzNFZjCXezZs36dSpE1euXGHWrFlqjqV69epRr149du/eTUhICMOGDdNZhRTifn9jxoz56rb9rzehUYzfeZtt1zwByG5ryuQmhSmfK/VzAgqRHoVHx1JgzP4Uv+6d8bUwNfqy97ddu3bpfNFUp06dj9bPnDkzEDf8PkuWLOr+iRMnMmzYMDp27AhAzpw5mTBhAkOGDOG3335T67Vp00aCvWSSJD19sbGxXLt2jYCAgKQ4nRBCiDTI1dVV3d6wYUOCFAfr1q1Tt/PmzZti7Yp348YNmjRpQrZs2XTaAnFDRHfs2IGHh4dOkvXEuHr1KgMGDFBf58uXj549e1KmTBl13+zZs3UWtNHT02PDhg20bdv2vecsWLAgx44dI2vWrF/Vtne9Cghj6r57VJ1xjG3XPNHTQA+3nOz7yU0CPiEEAFWqVOHatWvqz+zZsxN1nsuXLzN+/HjMzc3Vn+7du+Pl5UVYWJhaLylWXBbvl6ivMwcOHEjhwoXp2rUrsbGxVK5cmTNnzmBqasquXbtwd3dP4mYKIYT41pUuXZpChQpx69YtLl68SNu2bRk5ciSZM2fm33//ZcSIEWrdrl27pnj7wsLC2Lp1KwALFy6kc+fOOuWf+gb7c82ePVsdRjV48GD++OMPtUdv/vz5au7AWbNm0bx5c/U4U1NTVq9ezZgxY1i9ejWvXr3C0tKSevXqUa1aNfT0vv57WkVROPvYn+VnnnHorg/a/x/tldfegqnNilAsq/VXX0MI8XEZDPW5M75Wqlz3S5mZmSXJPGKtVsu4ceNo0qRJgjITk/9WA/7alZDFhyUq6Nu0aRPt2rUD4iZlPn36lHv37rFy5UpGjhyZYElrIYQQ6V/8Ut716tVDURTWrVuXoEcNoGPHjhQuXDjZ2qEoCseOHSNTpkw61ylTpgxFixbF19eXGjVqEBMTkyRDOf/X7t27AbCwsGDChAlqwAdxw0j//vtv7t69y5kzZwgICMDGxkbneFdXV8aPH5+kbQqNjGHLVQ9WnnnGQ98QdX+F3LZ0KJeD6vnt0dfTfOQMQoikotFovniYZVpiaGiYYJXhEiVKcP/+/WRdiEp8XKKeOD8/P3Wc7p49e2jevDmurq507do10d2+Qggh0r46deqwdu1aunXrRmhoaILyDh06sGjRomS7/v379/nxxx958OABrVq14t9//1XL4nNHOTk5Jesy4PGLrmTNmlUn1UJ8G/Lmzcvdu3fVuv8b9CWlJ69DWHn2OZsvvyI4Mm6VPFMjfZqWcKZDuezksf+yxWmEEOJTcuTIweHDh6lQoQLGxsbY2NgwZswY6tevT9asWWnevDl6enrcuHGDmzdvyiqdKSRRQZ+9vT137tzBwcGBffv2MW/ePCBu6ExK5O0QQgjx7WrVqhU1a9Zk+fLlHD16lMjISPLly0fXrl0pWrRosl47R44cvHnzBoDNmzfz+vVrdWGB+PLk5uzszKNHj7h37x7Pnj3TuWZoaCgnTpwA4lYFfbdtSUWrVTj2wJflZ55z4sFrdb9LJjM6lMtO05LOWJpI7ishRPKYMWMGgwcPZvHixTg5OfHs2TNq1arFrl27GD9+PNOmTcPQ0JB8+fLRrVu31G7udyNRQV/nzp1p0aIFDg4OaDQaatSoAcD58+fJly9fkjZQCCFE2pMxY0YGDx7M4MGDv/jY2NhYoqOjdeZ5/K+QkBDWrl0L6KY7MDY2pnPnzly6dImePXtiZWX15Y3/Sh06dGDMmDFotVpatmzJsmXLKFCgAC9fvqRfv35qUNqyZcsEieC/RnhULGvOP2fl2ee8eBO3MIJGA1Xz2tGhfA4q5c6EngzhFEJ8puXLl793/7Fjx3ReP3v2TOd1gwYNaNCgQYLjatWqRa1aH57LmBIpJb5niQr6xo4dS+HChXnx4gXNmzdXE+Hq6+snWGJaCCGE+BRFUdizZw+zZ8/m8OHDxMbG4uDgQOfOnRkwYIBOuofQ0FBy5MiBv78/WbJkoVOnThgZGanlU6ZMSZJFTxKrV69ezJ07Fx8fHy5cuEDBggXJnDkzr1//1+uWIUMGhgwZkiTXi4nVsvnKK2YefIBPUFwqDEsTA1qWzkr7sjnIZmv6iTMIIYRI7774UzE6OpoqVapQuHBhBg0ahLOzs1rWsWNHGjZsmKQNFEIIkb4pisKgQYOoX78+Bw4cUBcA8PLyYtKkSRQtWpSbN2+q9c3MzNRVor29vRMkek/NgA/i8lTt378fBwcHdd+7AZ+ZmRlbtmyhUKFCX3UdRVE4dMeHOn+dZOjmm/gEReJknYFJjQtzfkR1RtYrIAGfEEIIIBE9fYaGhty6dUtnNTIhhBDpk6IoHD58mHnz5nH27FliYmIoVKgQ3bt3p0WLFkmy+uWiRYv466+/1NdZs2bF2dmZCxcuEBsbi4+PD/Xr1+fu3bvqwij9+/fHxsaG3r17U6JEia9uQ1IrWrQod+/eZfny5axduxZvb2+sra1p0qQJPXr00AkIE+PqiwAm77nHhWdxQ0WtTQ3pVyU37ctlx9hA5tYLIYTQlahP6w4dOvDPP/8wZcqUpG6PEEKIb4RWq6Vnz54sWbJEZ/+xY8c4duwYCxcuZOfOnVhaWn7VNaZNm6a+njdvHj179kRPT48iRYqoPXwvXrxg/fr1am69ypUrU7ly5URfNyVYWVnx008/8dNPPyXZOZ+8DmH6/vvsveUNgLGBHp0ruNDbPRdWGWRxFiGEEO+XqKAvKiqKJUuWcPDgQUqVKpUgkeLMmTOTpHFCCCFSz4QJE3QCPmtra0xMTPD2jgs4Tpw4QYcOHdi2bVuir3H58mWePHkCQPXq1endu7da1q9fP3r27Km+fjfo+1qBgYEcOnSIgIAAHBwcqF69ujo//Vv0OjiS2Ycf8u+FF8RoFTQaaFbCmUE1XHG0TrrFYIQQQqRPiQr6bt26pQ6nefDggU6ZDPsUQoi0LyQkRP0CT09Pj/nz59O5c2cMDAw4cOAArVu3JiAggO3bt3Pjxg2KFCmSqOts375d3f7fhO1t2rTB29ub3377DYjLEfu1IiIiGDZsGIsXLyYsLEzdnylTJn799Vd+/fXXb+pzLDQyhsUnn7D4xBNCo+LmOlbNZ8fQ2vnIm0Vy7AkhhPg8iQr6jh49mtTtEEII8Q3ZvXs3QUFBQNwiXe+mRahVqxbjxo1jwIABAKxZsybRQZ+np6e6vWvXLp2RIubm5tSuXVsN+mxtbRN1jXhRUVE0aNCAQ4cOJSjz8/Nj6NChPH/+nLlz537VdZLC6+BI9t7yYvbhR/iFxK3IWdTZimF18lMu19f9HoQQQnx/vmqJs0ePHrF//37Cw8MBya8hhBDphYeHh7pdvXr1BOXv7ns3cPsQT09P/vjjDyIiInT2Dx06VN1++PAhixYtQqvVqsf07dtXLW/RosXn38B7zJ8/Xw34jI2N6dWrF/Pnz6dly5ZqnXnz5r03KExub0Kj2HvTi9HbblF95nFKTzzEmO238QuJJLutKXPaFGdb3woS8AkhhEiURPX0+fv706JFC44ePYpGo+Hhw4fkzJmTbt26YW1tzYwZM5K6nUIIIVLQu0nNb926laD83X2fSoA+c+ZMfv31V7RaLc7OzrRq1Uoty5s3LyNHjmTixIkA9OzZk8mTJ5M1a1bOnTtHdHQ0AM7OzrRu3TrR96Moik4P3oEDB3BzcwPi8upVrlyZPn36ADBnzpz3BrpJKTA8mvNP/Dn7xJ+zj/255x2coE5+B0talc5K6x+yYWSQumkohBBCpG2JCvoGDRqEoaEhL168IH/+/Or+li1bMmjQIAn6hBAijatTpw4GBgbExMQwd+5cWrRoQbFixYC43HhjxoxR676bnzV+xMe78+JKlCih9t4tXbpUJ+iDuAVj3r59qwZlz54949mzZ2q5nZ0du3btUtM1JIa3tzcPHz4EoEKFCmrAF6979+6MHj0af39/Tpw4kejrfEhIZAwXn77hzGM/zj7x57ZnEP87OMbV3pxyOW0pl8uWMi622JgZvf9kQgiRzjx79gwXFxeuXr2qftaIpJWooO/AgQPs379fJzE7QJ48eXj+/HmSNEwIIUTqcXR0pFWrVqxevZqgoCBKlixJ9erVMTc3Z+/eveqw/kKFClGtWjV8fHxYvXo1y5cvZ/78+VSsWFE9l5ubG5UrV8bNzY1OnToluJZGo+Hvv/+mRo0a/P333xw5cgRFUbCzs6Nz58789NNPX53XLioqSt3OmDFjgnIDAwMsLS3x9/fXqZsYoZEx3PEK4uarQG55BHLLM5BHviFo/yfIy5nZTA3yyua0JZP5t7t6qBDi+/Gpxaw6duzI8uXLU6YxIskkKugLDQ197zeufn5+3/SS10IIIT7fnDlzuHfvHpcuXUKr1XLgwAGdckdHRzZv3oyenh4HDx7kl19+AWDFihU6QZ+enh7Hjh376LU0Gg0NGzakYcOGREdHExkZiZmZWZKtpOng4IClpSVBQUEcOnQIHx8f7O3t1fKzZ8/y9OlTAJ0RLJ8SFBHNbY8gbnsGctMjLsh74heaoBcPIFtGU8rltKV87rggz97S5KvvSwghkpqXl5e6vX79esaMGcP9+/fVfRky6KaJiY6OxtBQ8oR+6xI1ScDNzY2VK1eqrzUaDVqtlunTp1OlSpUka5wQQojUY2VlxbFjxxg/fjyOjo7qfjMzMzp37sylS5dwdXUFoHHjxlhYxKUQePXq1Vct7GVoaIi5uXmSpk4wMjKiY8eOAISHh1OzZk327NmDp6cna9asoVmzZmrd7t27f/A83kERHPHUMHD9Dar8cYwiYw/QevE5ft99l+3XPHn8Oi7gy2JpQvX89gyq7so/HUtxYUQ1TgypwtRmRWhYzEkCPiHENytLlizqj5WVFRqNRn0dERGBtbU1GzZswN3dHRMTE1avXo2/vz+tW7fG2dkZU1NTChcuzL///qtzXq1Wy9SpU8mdOzfGxsZky5ZNnc/9v7RaLd27d8fV1VVGESaRRPX0TZ8+HXd3dy5dukRUVBRDhgzh9u3bvHnzhtOnTyd1G4UQQryHoihcuXKFGzduoKenR5kyZciXL1+SXsPMzIzRo0czYsQIduzYwbBhw3jw4AHZs2fXGXJpZmbG8uXLKVSokBoIfmuGDh3Kxo0b8fb25saNG9SrVy9BnWLFitGhQ4cE+1/4hzH/+GM2XX5JdKw+4K2WOVlnoJCTJYUcrSjkbEUhRysyW8ioFyFE+jV06FBmzJjBsmXLMDY2JiIigpIlSzJ06FAsLS3ZvXs37du3J2fOnJQpUwaA4cOHs3jxYv78808qVqyIl5cX9+7dS3DuqKgo2rRpw+PHjzl16hR2dnYpfXvpUqKCvgIFCnDjxg3mz5+Pvr4+oaGhNGnShL59+371vAshhBCfdurUKX766SeuXLmis9/d3Z05c+ZQsGDBJL2evr4+pUuXVhdDWbFiBaNHj0ZP778BI02aNEnSayY1JycnDh8+TKNGjdT7eFfFihXZvHkzJib/9cI99Alm3rHH7LjuSez/T8pzsVBoUiYPRbNlpJCTFRllwRUhRCLMnDlTzU26evVq3N3d1bKnT59SqVIlIG4kxd9//61z7I8//qi+/7969UqnbPny5YwaNQqA2bNnJ8t788CBAxOcN36IP0D//v3Zt28fGzdupEyZMgQHB/PXX38xZ84cddRFrly5dKYCAISEhFCvXj3Cw8M5duzYJ1eHFp8vUUHfixcvyJo1K+PGjXtvWbZs2b66YUIIId7v8OHD1K1b970Ljhw7dowKFSpw8uRJChcu/MXnVhSFCxcusHz5ctzc3HTSJDg7O1OjRg1CQ0Pp1KkTsbGxOkFfWlCgQAHu3LnDrl272Lp1KwEBATg4ONC2bVsqVaqkDim95RHInCOP2H/HW52fVylPJnq55cDvzjnqVs4pc1iEEF8lKChIzYkaGRmpUxYbG6uWBQQEJDj29evXOvlU3xUaGqqWhYWFJWWTVaVKldJ5HRsby5QpU1i/fj0eHh5ERkaqc7MB7t69S2RkJNWqVfvoeeOHiB4+fPirVmwWCSUq6HNxccHLyytBd6u/vz8uLi7ExsYmSeOEEELoioqKokOHDmrAV6RIETp27EhERARLlizh6dOnBAYG0rVrVy5cuPDF57927Rply5YF4Pbt2wly423fvl2nJywtMjAwoFGjRjRq1ChB2cVnb5hz5BHHH7xW99UsYE/fKrkpmtWa6Oho9txJwcYKIdItS0tLnJycABIshKivr6+W2djYJDg2c+bMavn/MjMzU8uSK3CKD+bizZgxgz///JNZs2ZRuHBhzMzMGDhwoPpZ9b+Lv3xI3bp1Wb16NefOnaNq1apJ3u7vWaKCPkVR3jvBPiQkJM3/MSCEEN+ybdu24enpCUCVKlU4cOAABgZxb+UDBgygdOnS3Lt3j4sXL3Lx4kVKly79wXOFhYXx9u1bnUVaihUrRv78+bl79y5XrlzBz8+PTJkyqeXp8T1eURROPvRjztFHXHj6BgA9DfxY1JHe7rnJm8UilVsohEiPBg8ezODBg99b5uLikmDY5rt27NjxwbJOnTq9Nz1Ocjp58iQNGzakXbt2QNxCLA8fPlRXQ86TJw8ZMmTg8OHDdOvW7YPn6d27N4UKFeLHH39k9+7dVK5cOUXa/z34oqAv/sHUaDSMHj1a59uD2NhYzp8/LwkVhRAiGZ08eVLd/uWXX9SAD8Dc3Jz+/fvTt29fAI4fP/7eoM/Pz4/hw4ezfv166tWrp7PCmkaj4bfffiMsLIxmzZqpK3KmR2FRMZx86Mfco4+48SoQAEN9Dc1KOtOrci6y25p94gxCCCEAcufOzebNmzlz5gw2NjbMnDkTb29vNegzMTFh6NChDBkyBCMjIypUqMDr16+5ffs2Xbt21TlX//79iY2NpX79+uzduzfBvD+ROF8U9F29ehWI+1b05s2bGBn9N3ndyMiIokWL6kzi/JQTJ04wffp0Ll++jJeXF1u3btUZbqMoCuPGjWPRokUEBARQpkwZ5s6dm+QLFAghRFrxqSTj7+5735w/RVG4ceMGa9euJSwsjC1btvD27Vusra3VOi1btkzaRqei4IhonvuH8cw/NO6/fqHqa9/g/+bQmBjq0fqHbPRwy4mD1ecNQxJCCBFn9OjRPH36lFq1amFqakqPHj1o1KgRgYGBOnUMDAwYM2YMnp6eODg40KtXr/eeb+DAgWi1WurWrcu+ffsoX758St1KuvVFQd/Ro0cB6Ny5M3/99ReWlpZfdfHQ0FCKFi1K586dadq0aYLyadOmMXPmTJYvX46rqyu///47NWrU4P79++n622chhPiQdxOHr1mzRp1/B3EB3erVq9XX+fLl48CBAwQEBNCyZUtOnz5Nr169uHXrllonKiqK0qVLs3jxYp2V49Kat2FRHH/wmmd+YTz3D1WDPP/QhIHvuzKZG9GiVFa6VHQhk7mkWRBCiHf971DRHDlyvDcPa8aMGdm2bdtHz6Wnp8fIkSMZOXJkgrL3nfdjw1/Fl0vUnL5ly5YB8OjRIx4/foybmxsZMmT44Fy/D6lTpw516tR5b5miKMyaNYuRI0eqS8KuWLECe3t71q5dS8+ePRPTdCGESNPatWvHsGHDiIyMZO7cuWTIkIGuXbsSGRnJrFmz2L17NwD29vYMHTqUR48e4eDggJ2dHXXq1EmwQhzEvZfHJyuvXr16St/SVwmLimHpqacsPP6E4MiY99bJZG5MdltTstuaksPWTOe/1qaSbkEIIUT6l6ig782bNzRv3pyjR4+i0Wh4+PAhOXPmpFu3blhbWzNjxoyvbtjTp0/x9vamZs2a6j5jY2MqV67MmTNnPhj0xS8RGy8oKAiA6OhooqOjP+va8fU+t75Iv+RZEPG+lWfBysqKESNG8Ntvv6EoCtOnT2f69OkJ6k2ZMoWtW7fy6NEjvLy8aNu2rfreWKxYMbp164aenh5Lly7l0qVLREdH06VLF+7fv68zT/BbFRWjZePlV8w59gS/kLjevFyZzSiRzZrsGU3JljED2W1NyZbRFHPjD9/Pl/7//FaeA5H65FkQ8eQZEGlBoj7ZBw4ciKGhIS9evNAZatSyZUsGDRqUJEGft7c3EPdt9bvs7e15/vz5B4+bPHnye/MHHjhw4IuXrT148OAX1RfplzwLIt638CwUKVKEli1bsnHjRrRarU6ZkZERXbt2xcbGhqJFi+Lh4UGuXLnYsGEDAK6urowaNUoN7IYPH86YMWO4ffs2L1++ZMKECZQpUybF7+lzaRW44qdhz0s9/CPjRpbYGivUy6aluG0geppACAElBJ69gGfJ1I5v4TkQ3wZ5FkRy5cITIiklKug7cOAA+/fvx9nZWWd/njx5PhqQJcb/Dhf91BDS4cOH64z/DQoKImvWrNSsWfOz5yBGR0dz8OBBatSoIcl3v3PyLIh439qzUK9ePSZNmkSFChXUL8kGDhzIkCFD1BQLdevWZfTo0YwfP149buTIkfz4448654qNjaVFixZA3By/unXrptBdfD5FUTjx0I8/Dj7inncwEDcfr597TpqXdMbIIGWSxH9rz4FIPfIsiHj+/v6p3QQhPilRQV9oaOh7e838/PwSJJdMrCxZsgBxPX4ODg7qfl9f3wS9f+8yNjZ+bxsMDQ2/+E05MceI9EmeBREvNZ8FDw8PnWS8OXPmZPTo0fTt21ddQfnd98t4706Ot7KyStD+d78QUxTlm3vWLz9/w9R999UcehbGBvRyz0XnCjkwNUqdoajyniDiybMg5P+/SAsS9dWom5sbK1euVF9rNBq0Wi3Tp0+nSpUqSdIwFxcXsmTJojNsIioqiuPHj8uyrUKIFBMZGcm2bdv4+++/OXjwIC9evEjxNmzcuJHy5cuTM2dOXr9+rVPWtm1bZs6ciYeHxweT8RYuXFjdXrZsWYIV0uIX5/rfuqntvncw3VZcoun8s1x4+gYjAz16uOXkxJAq9K2SO9UCPiGEECKtSdQn5vTp03F3d+fSpUtERUUxZMgQbt++zZs3bzh9+vRnnyckJIRHjx6pr58+fcq1a9fImDEj2bJlY+DAgUyaNIk8efKQJ08eJk2ahKmpKW3atElMs4UQ4rMpisKcOXOYMGGCTqA1f/58mjRpwrx588icOXOKtOXixYucPXsWgJUrV/Lzzz+rZVZWVgwaNOijxzdq1IjMmTPz+vVrtm/fTrt27ejbty96enosXLiQ9evXA2Btba0O80xND32CWXD8CVuuvkJRQE8DLUpl5afqeSSHnhBCCJEIiQr6ChQowPXr11mwYAH6+vqEhobSpEkT+vbt+96hRR9y6dIlnZ7B+Ll4HTt2ZPny5QwZMoTw8HD69OmjJmc/cOCA5OgTQiS73377jQkTJiTYr9Vq2bRpE7du3eL06dPvTZCeWIGBgWzevJl27dphZPRfKoFu3boxffp0ChcurDO883MZGxvz559/0q5dOwDWrl3L2rVrE9SbPn36Fy94lVQe+Qaz+4Y3u2968sAnRN1fp1AWfq6Zl9x25qnSLiGEECI9SPTYGBsbG+rVq0fp0qXV1eMuXrwIkGCRgA9xd3d/b4LHeBqNhrFjxzJ27NjENlMIIb7YjRs3dAK+Zs2aUadOHQ4cOMChQ4fw9/fn3r17jB07ltmzZyfJNefPn8/gwYOJiIjAysqKpk2bqmWurq7cunWLAgUKfFEu1He1bduWqKgoBgwYQEhIiE6ZqakpM2bMoFu3bl91D1/qkW8Ie256sfuGF/d9gtX9hvoaKrva0b9qbopmtU7RNgkhhBDpUaKCvn379tGhQwf8/f0TBG0ajYbY2NgkaZwQQqSG+fPnq9vjxo1jzJgxREdHY2try7hx4yhWrBgREREsX76cyZMnY2Zm9tXXdHV1JSIiAoDFixfrBH0ABQsW/OprdO7cmaZNm7J27VouXryIoiiUKFGCdu3aYW1t/dXn/xyPX4ew54YXu296qatwQlygVylPZuoVdqB6AXusMsjCCEIIIURSSdRCLv369aN58+Z4enqi1Wp1fiTgE0KkdWfOnAFAX1+fgQMH6pTlzJlTDciCg4O5deuWTnlkZCTLly/Hzc0NBwcHcubMSffu3bl+/Tpv375l4cKFlCtXTp2jF69KlSoUL16cfv36MWnSpGS7N0tLS3r16sU///zD0qVL6devX7IHfE9ehzDnyENqzzpBtRnHmXHwAfe8gzHQ01Alb2b+aF6USyNrsLRTaZqWdJaATwgh/sfTp0+ZMWMGI0aMYNasWbx8+TLZr9mpUyc0Gg29evVKUNanTx80Gs0HFxATn0ej0bBt27YUuVaievp8fX0ZPHjwR1MnCCHE53rx4gXbtm3D398fe3t7mjRpoqZtSQ0xMTFAXNCXIUPChUPenVccXxfiUszUqVOHa9eu6dRfsmQJS5YsoXnz5mzcuBGAFStWUK5cObWOnp4ely9fTvTwzW/Rbc9AJuy6w7knb9R9BnoaKuTORL0iDtQsYI+1qdFHziCEEN+3oKAgevTowYYNG3RG1/3888+0a9eOefPmJclokw/JmjUr69at488//1Q/DyMiIvj333/Jli1bsl03KURFRenMj//eJaqnr1mzZhw7diyJmyKE+N4EBQXRtm1bXFxc+Omnnxg/fjx9+/Yla9as9OzZUx3umNLih1JGRUWxYcMGnbLg4GA2b94MgIGBAa6urkBcgvOGDRvqBHy2traYmJiorzdu3KjmEb179+57h8enB34hkQzfcoP6f5/i3JM3GOhpcHPNzLSmRbg0qjoruvxAi1JZJeATQoiPiIiIoFatWqxfvz7B54VWq2XlypU0aNCA6OjoZGtDiRIlyJYtG1u2bFH3bdmyhaxZs1K8eHF1n6IoTJs2jZw5c5IhQwaKFi3Kpk2b1PLY2Fi6du2Ki4sLGTJkIG/evPz111861zp27Bg//PADZmZmWFtbU6FCBZ4/fw7E9To2atRIp/7AgQNxd3dXX7u7u9OvXz8GDx5MpkyZqFGjBgB37tyhbt26mJubY29vT/v27fHz89M5rn///gwcOBAbGxvs7e1ZtGgRoaGhdO7cGQsLC3LlysXevXt1rv855x0wYABDhgwhY8aMZMmSRWedkhw5cgDQuHFjNBqN+vr69etUqVIFCwsLLC0tKVmyJJcuXfrE/6lPS1TQN2fOHLZs2UKnTp2YMWMGs2fP1vkRQohPif8wW7t2rboYVLyYmBgWLVpE48aNU2XIePfu3dXtnj178scff3Dv3j0uXbpErVq11BQO8akQIG6u84ULF4C4HkKIG/7y+vVrRo4cqZ7PxsaGy5cvc+zYsXQT5MWLitGy+MQTqkw/xr8XXqIoUL+IA8d+dWdllx9oUVoCPSGE+FwLFizg3LlzQFx6ngkTJnDgwAF+++03zM3jVjQ+evSoTu7s5NC5c2edfK5Lly6lS5cuOnVGjRrFsmXLmD9/Prdv32bQoEG0a9eO48ePA3FBqrOzMxs2bODOnTuMGTOGESNGqF+sxsTE0KhRIypXrsyNGzc4e/YsPXr0+OLPyRUrVmBgYMDp06dZuHAhXl5eVK5cmWLFinHp0iX27duHj49PgvREK1asIFOmTFy4cIH+/fvTu3dvmjdvTvny5bly5Qq1atWiffv2hIWFAXzRec3MzDh//jzTpk1j/Pjxag7y+AUwly1bhpeXl/q6bdu2ODs7c/HiRS5fvsywYcMwNEyCaQ9KIixevFjR19dXzM3NlezZsys5cuRQf1xcXBJzymQTGBioAEpgYOBnHxMVFaVs27ZNiYqKSsaWibRAnoXkM3PmTAVQAMXKykoZO3assmvXLmXo0KFKhgwZ1LKVK1emeNu0Wq3SsGFDtQ3v+7GyslJu3bqlhIeHK4qiKC1btkxQp2DBguo53dzc1P3nzp1L8XtKTlqtVjl0x1txn35UyT50l5J96C6l3uwTyoWn/qndtCQn7wkinjwLIp6fn99H/9Z88eJFos6bL1++D35uHDp0SC0rVapUos7/KR07dlQaNmyovH79WjE2NlaePn2qPHv2TDExMVFev36tNGzYUOnYsaMSEhKimJiYKGfOnNE5vmvXrkrr1q0/eP4+ffooTZs2VRRFUfz9/RVAOXbs2Efb8q6ffvpJqVy5svq6cuXKSrFixXTqjB49WqlZs6bOvpcvXyqAcv/+ffW4ihUrquUxMTGKmZmZ0r59e3Wfl5eXAihnz55N9HkVRVFKly6tDB06VH0NKFu3btWpY2FhoSxfvvy9v4f3+dznK1Fz+kaNGsX48eMZNmwYenqJ6iwUQnzHFEXRWSHzwIED/PDDDwDUq1cPNzc36tWrB8R909m+ffsUbZ9Go+Hff/+lR48erF69OkG5s7MzpUuXxt3dnXHjxtGnTx88PDzU8ooVK2JqakrTpk3RarXo6elRq1YtTpw4AaBTN6176BPM+F13OPkwbkhLJnNjhtTKS7OSzujppa+eTCGESCkhISHcu3cPgFKlSlGmTBmd8mrVqpE3b17u37/P5cuX1c+a5JApUybq1avHihUrUBSFevXqkSlTJrX8zp07REREqMMp40VFRekMAV2wYAFLlizh+fPnhIeHExUVRbFixQDImDEjnTp1olatWtSoUYPq1avTokWLL8r/DXG/q3ddvnyZo0ePqj2j73r8+LE6RaNIkSLqfn19fWxtbSlcuLC6L34dE19f30SfF8DBwUE9x4cMHjyYbt26sWrVKqpXr07z5s3JlSvXR4/5HIkK+qKiomjZsqUEfEKIRAkMDOThw4cAlClTRg344tWpU4ecOXPy5MkTLly4gKIoKT4UMkOGDKxatYqRI0eyYsUKnj59yps3b+jevTsuLi6ULl0agM2bN9OnTx8sLS3VY2fOnKmWx7tz5466/W7dtOptWBSzDj1k1bnnxGoVjPT16FwxB/2q5MbCRFbfFEKIr6G8M4cvfsrA/3p3v/KRvNdJoUuXLvTr1w+AuXPn6pTFT9HYvXs3Tk5OOmXx89g3bNjAoEGDmDFjBuXKlcPCwoLp06dz/vx5te6yZcsYMGAA+/btY/369YwaNYqDBw9StmxZ9PT0Etzj++Yy/u+iNlqtlgYNGjB16tQEdd8NKP93+KRGo9HZF/83SPy9fs15/3dKy/8aO3Ysbdq0Yffu3ezdu5fffvuNdevW0bhx448e9ymJCvo6duzI+vXrGTFixFddXAjxfXr3De9949TffbNN7g+yD4mNjeX48eOsXbuWFi1aMH78ePbs2UPdunUxMDAgV65ceHl5kTlzZrRaLfXr12fPnj0ADBs2jB07dqgfPidOnGD9+vVA3Jy+8uXLp8o9JYWYWC1rL7xg5sEHvA2L+8CtUcCekXXzkyNT8q0gJ4QQ3xNzc3Ny587No0ePOH/+PFevXtXpNTt16pT6ZWLRokU/GBgmldq1axMVFQVArVq1dMoKFCiAsbExL168oHLlyu89/uTJk5QvX54+ffqo+x4/fpygXvHixSlevDjDhw+nXLlyrF27lrJly5I5c+YEKZKuXbv2ybluJUqUYPPmzeTIkQMDg0SFPcl6XkNDw/euXeDq6oqrqyuDBg2idevWLFu2LHWCvtjYWKZNm8b+/fspUqRIgl/4zJkzv6pRQoj0zcbGhmzZsvHixQtOnz7N7du3dZKPnzx5kvv37wNxH2apseDJ/v371SGmYWFhVKlSRS3TaDRs374dFxcXTE1NAWjXrh1jxozBz8+PI0eOkCNHDurUqYOHhwdHjhxRj+3Vq5d6TFqiKArHHrxm8p67PPAJASCvvQVjGhSgQu5MnzhaCCHEl9BoNPTs2ZNff/0VgJo1azJ8+HDKlCnDqVOnmDJlilq3Z8+eyd4efX197t69q26/y8LCgl9++YVBgwah1WqpWLEiQUFBnDlzBnNzczp27Eju3LlZuXIl+/fvx8XFhVWrVnHx4kVcXFyAuDyEixYt4scff8TR0ZH79+/z4MEDOnToAEDVqlWZPn06K1eupFy5cqxevZpbt27pBMLv07dvXxYvXkzr1q359ddfyZQpE48ePWLdunUsXrw40cFyUp03R44cHD58mAoVKmBsbIyJiQm//vorzZo1w8XFhVevXnHx4kU1P/DXSFTQd/PmTfWX/L9Rd3pbjU6I9OD169csXbqUw4cPEx4eTp48eejSpQsVKlRIlX+zGo2GHj16MGrUKBRFoXr16owePZpSpUpx8uRJJk6cqNb90IdZZGQkR48excfHB1tbW6pWrZroYOru3buYmZnp5ByqXr06NjY2BAQEcOTIEZ18fIBOkApxH3pbtmyhTp06hIaG4ufnx6pVq3Tq1KxZU2e55rRAq1XYf9ubucceccsjCAAbU0MG13Cl9Q/ZMNCXYf5CCJEc+vTpw9q1a7l69Sp+fn78/PPPCeqUL1+ezp07p0h7PjY1YcKECdjZ2TF58mSePHmCtbU1JUqUUEcF9urVi2vXrtGyZUs0Gg2tW7emT58+ahoEU1NT7t27x4oVK/D398fBwYF+/fqpfwPUqlWL0aNHM2TIECIiIujSpQsdOnTg5s2bH22zo6Mjp0+fZujQodSqVYvIyEiyZ89O7dq1v2qaWlKdd8aMGQwePJjFixfj5OTEgwcP8Pf3p0OHDvj4+JApUyaaNGnCuHHjEt1W1WcvDZNGyeqd4mukh2dh3bp1iqmp6XtXoGzQoIESEhKSKu0KCgpSChUq9NEVMsuVK6dERkbqHBcbG6tMmTJFyZw5s05da2trZeTIkV/0/+r69etK0aJFFUAZPHhwgvL58+cr69evV0JDQz/7Wbh9+7bSunVrxdDQUG1b9uzZlenTpye4l29ZVEyssvHSS6XqH/+tyJlv1F5lws7bSkBo2rmPpJYe3hNE0pBnQcRLrtU7FSVuVcv69eu/9zOyWbNmX/T3rUifknX1TiFE2nDw4EHatGnzwUnDO3fupHXr1mzfvj3Fe/wsLCw4fPgwbdu25dChQwnKGzduzLJlyzAy+i+vm6Io9OjRg3/++SdB/bdv3zJx4kTu3LnDxo0bP2tohbOzszonYt26dUybNk3nuF69eqnbn5v8tkCBAqxdu5b58+fz4sULMmTIgIuLS7LPt0gqEdGxbLj0koXHn+DxNhwASxMDOpXPQacKLmQ0kzx7QgiRUjJmzMjOnTu5e/cumzZtwt/fn8yZM9OiRQvy5MmT2s0TaYgEfUKkYyNGjFADvlatWjF27FicnJzYuHEjgwYNIjAwkJ07d3L69GkqVqyY4u2zs7Pj4MGDXLt2jc2bN/PmzRvs7Oxo0aIF+fPnT1B/586dOgFf8+bNqVSpEpcuXWLNmjXExsaydetWVq5cqQ53CQ8PZ8eOHaxZs4aaNWuqq49B3IdpnTp18PHxoXXr1sTExCRZcGZlZaWz3PO3LjgimtXnXvDPqSf4hcRN1s9kbky3Si60LZNNVuQUQohUlD9/fkaPHp3azRBpmAR9QqRTN2/e5NKlS0DcYihr1qxRx5nHB0RdunQBYOnSpakS9MUrVqyYmqvnY95dJnrp0qU68xiaNWvGjz/+CMCcOXPUshcvXtCqVSsAHjx4wIMHD/Dw8MDKyoqGDRuydu3aBEs8f0/ehEax7PRTlp95RnBE3LxFJ+sM9Kqck+alsmJimDZ6KIUQQgjxYRL0CZFOxefBA2jSpEmCicXNmzdXg75Hjx6laNsSQ1EUjh8/DoCTkxMdO3bUKa9fvz65cuXi8ePHXLlyheDgYCwsLMibNy/Fixfn6tWr3L9/X10VFOJyAuXJk4etW7cmWJglvXsVEMbSU8/498ILwqPjlovObWdOH/dcNCjqiKEs0CKEEEKkGxL0CZFOZciQQd329PRMUP7uvnfrfqsURVFzBNna2uoEsS9fvqRatWo6OX8iIyOxsLAgOjqayMjID5734cOHVKlShUuXLums3pkafHx8ePDgAUZGRhQuXDhJUzsoisIj3xAO3PHhwG1vrr8KVMsKO1nRt0puahawR09PVmAWQggh0hv5KleIdKpcuXJqMLd69WoePHiglmm1Wp3UAVWrVk3p5n0xPT09XF1dAbhx4wa3b99Wy5ycnAgJCVFf29rakjFjRgA2bNigLtaSKVMmFi9ezNOnT9m5cydFixYF4lJaTJo0KaVuJYHbt2/TuHFjHB0dcXNzo2zZsjg4OKjzLhNLq1W4/DyAyXvvUm3GcWr8eYLp++9z/VUgGg2Uz2XLqq4/sKNfBWoXyiIBnxBCJJP3JeAW4mspivLZdaWnT4h0ytramvbt27No0SJCQ0MpUaIE7dq1w9HRkS1btnD9+nUgrpcvfpjnt0yr1eLm5qYOz/zxxx/5448/1IVc3l1ds0OHDmpP4OLFi9X9//77L9WrVwfiEqKWLVsWFxcXQkJCWL16NX/++WeK93qePXuWmjVr6gStAEFBQcyaNYvDhw9z7NgxNYj9lMiYWM4+9ufAHR8O3vHhdfB/vZxG+npUyG1LrYJZqJbfnswWxkl6L0IIIRLKnDkzHh4eODk5pZmVnEXa4Ofnh5WV1WfVlaBPiHRs6tSpnD17lps3bxIaGsrChQt1yvX09Fi2bBmZM2dOpRZ+vvjALN6TJ09o0qRJgnpOTk4MHTpUfR3fy5clSxaqVaumUzdTpkzUqVOHjRs3EhoayosXL8ibN28y3UFCkZGRNGvWTA34smTJQpMmTQgICGDLli1ERkZy8+ZNfvrppwSJ3t8VHBHNsfuvOXDHh2P3fAmO/C+RvIWxAVXy2VGrYBYq582MubG87QshREoyMTHBzs4OLy+vL+qZEeJTjI2NsbS0/Ky68ukvRDpmbW3N8ePHGT58OCtXriQ8PFwtK1WqFJMmTaJGjRqp2ML3Cw0N5enTpxQqVEjdZ2lpSdOmTVm9ejX6+vrvHSrj6urKjh07sLe3V/cZGMS9zYWFhREdHa2T9w/i8vvFMzRM2bQEmzZtUudWVqxYkf3796vz+B48eMAPP/xAYGAg69atY/r06WTJkkXneI+34fxz8inrLr4gLOq/34edhTE1CthTs2AWyuW0xchARvILIURqMjExwdnZObWbIb5jEvQJkc7Z2NiwYMECJk+ezPnz5wkPDyd37tzJkkNOq9Vy6NAhduzYQWBgIE5OTrRt2/azrxUbG0uvXr1Yt24djo6O3Lt3Tydp/ODBg2nQoAH169fn+PHjrFu3Dl9fXzJmzEizZs1o0KCBGuTFc3NzY/369QQFBbFw4UL69++vll26dElNDO/s7Ez27NmT4Lfw+fbt26dujx8/XmfhFldXV3r06MH06dOJiYnhyJEjtGnTBoA7nkEsOvGYnTe8iNXGfWvsksmMWgWzULOgPcWcrWV+nhBCCCFUEvQJ8Z2wsbGhdu3ayXb+Bw8e0LRpU27duqWzf+rUqTRq1IiVK1diYWHx0XPo6+vz8OFDQkJCePDgAWfPnqV8+fJqefHixSlevDgAderUoU6dOp9sV58+fVi/fj0AAwYM4PTp09SoUYNbt26xePFidahNr169Unyuxbvz+HLlypWg/N19wcEhnH7kx4Ljjzn50E/dXz6XLT0r58ItTyadAFkIIYQQIp6M+RFCfDVPT0+qVKmSIOCLt23bNho2bKgzJPPGjRvMmzcvQd3OnTtjYWFBt27dsLW1/eq2ubm5MWDAAPX1+vXr6datG7NmzSI0NBSIW+l08ODBX32tL5UjRw51e+fOnQnKd+7cCRo9TPO7sea1E22XnOfkQz/0NFC/iAM7+1VkbfeyVHbNLAGfEEIIIT5Igj4hxEcFBgbi6emp5sh7n4kTJ6pz0/Lnz6+mSZg9ezbW1tYAHD16lE2bNgHQsmVLihYtSv/+/Xn+/LnOuVq1aoWXlxeLFy9OskVVZs2axbRp0xIEkcbGxnTv3p0DBw6kSq7CdxPMjxgxgnXr1hETE8Pbt28ZOmI0J7w0OPVYROYfh/AiBEwM9ehYLjvHfqnCnDYlKOz8eSt2CSGEEOL7JkGfECIBRVFYv3495cuXx9raGicnJ2xsbOjWrZtOvj+AiIgIVq5cCYCpqSlHjx6lefPm5M+fn/79+7NmzRq17qJFiwDUBVq0Wi1LlizROZ+xsTFmZmZJej8ajYZff/2VV69esW3bNubNm8eaNWt49eoVixYtwtzcPEmv97mKFStG06ZNgbgUDa3btsMyS3ZcGvRjbWgBMtbohYF1Fkz1YhlU3ZUzw6oxrmEhstkmXdJ2IYQQQqR/MqdPCKFDURT69OnDggULdPaHhYXxzz//sH79enbt2kXlypUBeP78uTo3rU6dOurKmVqtloMHD7Jq1Srs7Ozw9fXl5s2bAHTr1o0tW7bQvXt32rVrl2L3ZmJiQsOGDVPkWoqi8NA3BK/ACN6GRREUHk3g//y8DYsmqHw/cmdrRqSij56xbjAXHeBFFYdYFo/oRgYjye0khBBCiMSRoE8IoWPRokU6AV/+/PnJlSsXJ06cICgoiJCQEBo3bszDhw+xtbXVWS0zfo4cwJAhQ5gxYwaAOnQyvq6DgwNXr15NidtJUVExWs498efQXR8O3fHBMzDi8w40stAZdqH/9iXFTPwY278xhQsVTJa2CiGEEOL7IUGfEEKl1WrVQA3gn3/+oXPnzmg0GgIDA2nWrBmHDh0iICCAZcuW8csvv5A9e3YcHBzw8vLiwIED3LhxgyJFitCiRQv1XPH5Ad9diTO9CAyL5uh9Xw7e9eH4/deEvJMY3cRQD5dM5lhlMMAqgyHWGYywMjXEKoMhlhni/vvuj3UGQyxMDDDQl5H3QgghhEg6EvQJIVR37tzh4cOHALi7u9OlSxe1zMrKirlz56qLq2zevJmff/6ZEydOYGlpiZeXF1qtFjc3N/r06UPBggXJly8f9+/fV9Mi9OnTJ+VvKhm8fBPGgTtxvXkXnr1Rc+UBZLYwpnp+O6rnt6dC7kyYGMqwTCGEEEKkLgn6hBCqN2/eqNvx+fDe5erqipmZGaGhobx584YtW7bQrFkzIC4PYEBAAIGBgUyePDnBsT169KBKlSrJ1/hkpCgKNz0C2f1Cj7l/n+GBb4hOuau9OTUK2FM9vz1FJTG6EEIIIb4xEvQJIVRZsmRRt0+cOJGg/MqVK+q8vSxZslC/fn11kRYLCwtq1arFxo0bdfLxWVpaMnjwYEaPHp3mcslFRMey64YXy8885ZZHEHELHoegr6ehdA4bahTIQvX8dmS3TdrVRoUQQgghkpIEfUIkkbNnz7Jw4UIuX76MRqOhdOnS9OrVi9KlS6d20z5bnjx5KF68OFevXuXy5cuMGTOGESNGcPv2bSZMmMCFCxfUum3atMHY2Jhp06ZhYmJCkyZNMDQ05I8//mDfvn0EBgbi6OhI/fr1Uy0lQmL5BEWw+txz1p5/gX9oXH5CYwM98lvG0K5KEaoXdMDa1CiVWymEEEII8Xkk6BPiK8XExNCrVy/++ecfnf03b95k6dKl9O3bl9mzZ6OnlzSLcxw5coS5c+dy4sQJoqKiKFCgAN27d6dt27YYGxt/1bk1Gg0jRoygefPmAEyYMIG//vqLoKAgnXpZs2albdu2gG6CcQAnJye6du36Ve1IDYqicOXFW5afecbem17E/P88PQcrE9qXy07TYg6cO36IusUcMTQ0TOXWCiGEEEJ8Pgn6hPhKw4YN0wn4DAwMUBRFHeI4d+5cbGxsmDBhwlddR1EU+vXrx7x583T2nzt3jnPnzjF//nz27t1LpkyZvuo6zZo1Y/LkyQwfPhwgQcCXKVMm9uzZk+Z67z4kMiaW3Te8WH7mGTdeBar7f8iRkU4VclCzgD0G+npER0enYiuFEEIIIRJP1gUX4iv4+Pgwe/ZsAAwNDZk7dy5BQUEEBQXx559/qr17M2bMICAg4KuuNX36dJ2Az8bGhmzZsqmvL126RIsWLdSVMr+Up6cnw4cPp0GDBgwbNoyzZ8/SunVrrK2t0dfXJ3PmzIwZM4Z79+5RqFChr7qXb4FvUAQzDz6gwpSjDN5wnRuvAjEy0KN5SWd29a/Ihl7lqFvYQdInCCGEECLNk54+Ib7CunXr1B6gn376SSclwcCBA3n48CHz5s0jPDycjRs30qNHj0RdJyIigmnTpqmv582bR7du3TAwMODUqVO0aNECb29vjh49ypkzZ6hQocIXX6NBgwZcuXIFiOs9LFu2LGXLlk1Ue79VvkERnH3iz+G7vuy95UV0bFyAnMUybghnq9JZsTX/uiGyQgghhBDfGgn6hPgKz549U7cbNGiQoLxBgwZq79y7db/UwYMH8ff3B6BVq1b07t1bLatUqRJTpkyhU6dOAKxZsyZRQV+/fv3o0qULhoaGXL16NV0EfP4hkZx78oazT/w489ifJ69DdcpLZbehU4Uc1CqYBUPp0RNCCCFEOiVBnxBfwczsv6X6Hz9+jJubm07548eP1e2vmQPn6empbletWjVB+bv7vLy8PniesLAwVq1axYIFC9i/fz92dnZqWZs2bXj16hXdunXDwcEh0W1NTW/Dojj35A3nnvhz9rE/932Cdco1GijoaEm5nLb8WNSJws5WqdRSIYQQQoiUI0GfEF+hTp06TJw4EYApU6bw448/YmtrC8TN9/vjjz/UurVr1070daytrdXt69evJyh/d9+7df/XhAkTmDJlCgDz58/nt99+U8uMjY0ZPXp0otuYGiKiYznz2I8zj/w5+8SfO15B/O+UxnxZLCib05ZyuWwp62KLlamsvCmEEEKI74sEfUJ8hfLly1OyZEkuX77MgwcPyJ07N82bN0er1bJx40Z15cuKFStSokSJRF+nZs2aZMiQgfDwcP755x/atGlD+fLlgbjgcsSIEWrdhg0bfvA8vXr1Yvr06cTGxnL79u1Etyc1xWoVzj/xZ9s1D/be8iY4IkanPLedOeX+P8gr45JR5ugJIYQQ4rsnQZ8QX0Gj0bB27Vrc3Nzw8fHh7du3LF68WKeOk5MTK1eu/Krr2NjY0KVLF+bOnUtERAQVKlTAzc0NGxsbDhw4QHh4OACurq7Ur1+fixcvMn36dNq0aUOjRo3U82TPnp3Zs2dTpkwZSpYs+VVtSkmKonDHK4jt1zzZcc0T76AItczRyoTKee3ievJyZsTOwiQVWyqEEEII8e2RoE+Ir+Tq6sqFCxcYNWoU69evJyoqCgATExNat27NhAkTcHJy+urrTJ8+nVu3bnH8+HEATpw4oVNub2/P1q1buXjxotoL+PLlSxo2bIhGo1HrvbvC6Lfu5Zswdlz3ZNtVDx76hqj7LU0MqFfEgUbFnCidIyN6epqPnEUIIYQQ4vsmQZ8QSSBbtmysXLmSv/76i9u3b6PRaChYsOBH59d9qQwZMrB//37+/vtv5s2bx9OnTwGwsLCgQ4cODBs2DGdnZxRFoXDhwty8eZMnT57g5eWFo6NjkrUjuQWERrH7phfbr3lw8dl/uQ2NDPSols+ORsWdcM+bGWMD/VRspRBCCCFE2iFBnxBJyMbGhooVKybb+Y2Njfnll1/4+eefuXfvHqtWrQJg0qRJah2NRsPEiRPx9vamffv2mJikjeGOF5+9YeHxJxx/4Kvmz9NooKyLLY2LO1GrUBasMsgiLEIIIYQQX0qCPiHSoKioKKpXr46npyfGxsb89NNP2Nvbq+Xvyxn4rXroE8zUffc4dNdX3VfAwZJGxR1pUNQRB6sMqdg6IYQQQoi0T4I+IdIgY2NjWrduzYwZM4iKiuLgwYO0a9cutZv1RbwDI/jz4AM2Xn6JVgF9PQ0tSmWlc4UcuNpbpHbzhBBCCCHSDQn6hPjGhYSEsHr1anr06IGenp66f8iQIQQFBfHzzz+TN2/eVGzhlwmKiGbBsccsPf2UiGgtALUK2vNrrXzktkt8AnshhBBCCPF+EvQJ8Q37999/GTBgAH5+ftja2tK8eXO1zM7OjkWLFqVi675MZEwsq8+9YM6RhwSERQNQKrsNw+vmo2T2jKncOiGEEEKI9EuCPiG+YRkzZsTPzw+A33//nWbNmumkX0gLtFqFnTc8mb7/Pq8C4vIJ5spsxtDa+ahRwD7N3Y8QQgghRFojQZ8Q34jw8HDCw8PJmPG/Xq+aNWtSsWJFsmfPzujRo9NcgHTy4Wum7L3Hbc8gAOwtjRlU3ZVmJZ0x0Nf7xNFCCCGEECIpSNAnRCoLDw9n0aJFTJkyhR9//JGFCxeqZRqNhiNHjmBomHZSFWi1Cuee+DP/+GNOPozrpbQwNqCXey66VHAhg5Hk1xNCCCGESEkS9AmRymJiYhg7dixv375l6dKlDBs2DBcXF7U8rQR8z/xC2XzlFVuueODxNm4Yp6G+hnZls9O/ah4ymhmlcguFEEIIIb5PEvQJkcIiIiJ0EqZbWFjQp08fJk2aRMOGDVOxZV8uKCKa3Te82Hz5FZeeB6j7LUwMaFDUkV5uuchma5qKLRRCCCGEEBL0CZFCrl+/zvTp0zl37hx3797V6cEbOHAgrVq1onDhwqnYws8Tq1U49ciPzZdfsf+2N5ExcWkX9DTg5pqZpiWcqVHAHhNDGcYphBBCCPEt+KaDvrFjxzJu3Didffb29nh7e6dSi4RIvBEjRrBnzx4A1q9fr5NMPXPmzGTOnDm1mvZZHvkGs+myB1uvvsInKFLdn8fOnGYlnWlU3Al7S5OPnEEIIYQQQqSGbzroAyhYsCCHDh1SX+vrS++B+PYpipJgpc2hQ4eyZ88ebG1tiYyM/MCR35bgiGi2X/Nk4+VXXH/5Vt1vbWpIw6KONC3pTGEnqzS3qqgQQgghxPfkmw/6DAwMyJIlS2o3Q4jPEh4ezpo1a5gxYwYbNmzQGa5ZqVIl1q5dS8OGDTE1/XbnuSmKwpUXAfx74SW7b3gRHh0LgL6ehip5M9OspDNV8tlhbCBfwAghhBBCpAXffND38OFDHB0dMTY2pkyZMkyaNImcOXN+sH5kZKROL0pQUFx+sOjoaKKjoz/rmvH1Pre+SL++9FlYtWoVPXv2BGDKlCksX75cp7xZs2ZfdL6U9CY0iu3Xvdhw6RWPXoeq+3NlNqNFSScaFnXA1tw4bqeiJTpam0otTR3yviBAngPxH3kWRDx5BkRaoFEURUntRnzI3r17CQsLw9XVFR8fH37//Xfu3bvH7du3sbW1fe8x75sHCLB27dpvundFpD2KohATE6OzIEtkZCRdu3YlJCSEokWLMmbMmA8OSVYUhRs3brBv3z4ePHiAVqvFxcWFmjVr8sMPP6Cnl/zJy7UKPAzScNZHw403GmKVuGGahnoKxW0VytlpcbEAGb0phBBCvF9YWBht2rQhMDAQS0vL1G6OEO/1TQd9/ys0NJRcuXIxZMgQBg8e/N467+vpy5o1K35+fp/9DzE6OpqDBw9So0aNNJMjTSSP9z0LYWFhrFmzhrlz59KyZUuGDx+uc8yGDRvImTMnpUqV+uB5Y2Nj6d27d4KewHi1a9dm3bp1yfZFhW9wJJuveLDxsgcvA8LV/QUcLGhRypkfi2TBwkSe/XfJ+4IAeQ7Ef+RZEPH8/f1xcHCQoE9807754Z3vMjMzo3Dhwjx8+PCDdYyNjTE2Nk6w39DQ8IvflBNzjEif3n0W3rx5Q79+/VAUhUWLFjF8+HCd56Rt27afPN/YsWN1Aj5LS0sMDQ3x9/cHYN++ffTt25fVq1cn6X1cfv6GBcefcOSeL7HauO97zI0NaFjMkdY/ZKOQk1WSXi89kvcFAfIciP/IsyDk/79IC5J//FgSioyM5P/au/Pwmq79j+PvkzmRkZBZhJqHlKixhg7i4lJcQ82ltGaqI36KVul0W1MpbmmLClUdtCi9laCGRlQNUZcKIURKSCIhiWT//khtTpO25kTyeT1PHuestfZe6/AV+Vprr3XgwAH8/PwKeyhSQhiGYT4XekVISAjt27cHIDg4mNOnT9/QPVNSUpg+fTqQtxvt/PnzOXPmDElJSaxatQpXV1cAli5dyuHDh2/9QwCXsnOYuuYAXd7fxobY0+TkGoQFe/FWlzr8OP4RXutUWwmfiIiISDFVpJO+5557jqioKOLi4tixYwddunQhNTWVfv36FfbQpJjLzs5mwYIF1KlThzfeeCNf/ZQpU4iJieGHH34gMDDwhu79xRdfkJGRAcCgQYMYNGgQ9vb22NjY0KlTJ8aPH2+2Xbp06a19EGBfQgodZm9h/qYjGAZ0rhvA+mea89mQJnStH4SLwz014S8iIiIiN6hI/7R34sQJevTowZkzZyhbtiyNGjVi+/btBAcHF/bQ5B7y22+/sWTJEg4ePIijoyMtWrSgQ4cO2Nn9efjb2Njw1ltvmUuJ9+zZQ1hYmFl/7VEMN+rEiRPm61atWuWrDw8PN58TTEhIuOl+LufkMifyV2b+9xCXcw28XR2Y1rkOrWr43PQ9RUREROTeU6STvoiIiMIegtzDDMPglVdeYerUqWRlZZnlM2fOpHz58ixZsoRmzZoBeUsuPTyuLm+0tbVlzJgxDBkyhBo1alhdf6uu7Sc2NpbOnTtb1e/fv998fbMPhB9OusCzK3bz84kUAP5R05fXOtW6euSCiIiIiJQYRXp5p8itGD9+PJMmTSowYYuPjyc8PJwPP/yQrl27Ur58ec6dO2fVpl+/fmzdupWpU6f+5U6cN6pt27ZYfj8DYfr06Rw8eNCsO3XqFK+++qr5vkOHDjd079xcg4Vb4mg3czM/n0jBzcmOd7uHMrd3PSV8IiIiIiWUkj4plo4cOcLrr78OgMViYeTIkWzbto2vvvqKBx98EIBLly4xduxYVq5cSWpqKvPmzbO6h7Oz821N9q6oWLEiHTt2BPK2ea5VqxYdOnSga9euVKpUyVxSWq9ePXMm8nqcOJdBr//s4JWvY8m8nEuzyt6sf6Y5neoGmkmmiIiIiJQ8RXp5p8jN+uCDD7hyBOX48eN59dVXuXTpEg4ODrRu3ZrQ0FB++eUXEhMTsVgslCtXzmrZ5Z02f/58Dh06xL59+7h8+TKrV6+2qg8ICGDFihXXlawZhsGnMSd4ZXUsFzIv42xvy7h21endsLySPRERERHRTJ8UT7t37zZfd+jQgQkTJhAcHMzatWtxcHCgT58+Zv1LL73EsWPHGDJkyF0bn7e3N1u2bGHs2LF4e3ub5W5ubgwbNozo6GgqVar0t/f5LS2TQR/H8MLKPVzIvExYsBdrRzWjT6NgJXwiIiIiAmimT4opG5ur/5+xe/dupkyZAsBbb71Fu3btyMzMNOvr1KmDo+Pdf97Nw8ODqVOnMnnyZI4cOUJubi4VKlTA2dn5b6/NyTX46ucEXv36AMnpWTjY2vBMqyo81bwitjZK9kRERETkKiV9UqxcvHiRjIwMGjVqxNdffw3ATz/9ROXKlTly5Ai+vr4kJSWxaNEi85oGDRoU1nABsLe3p2rVqtfVNjsnly9+SmBO5K/EnUkHoLqfO+92D6Wa783t9CkiIiIixZuWd0qxkJyczNixYwkKCmLChAkMGDAAe3t7AObOnYufnx+zZ8+mWbNmNGvWjOPHjwPQunVrKlasWJhDvy6Zl3NYsv0YLd+K5PmVe4g7k46niz3Pt67Kl8OaKuETERERkT+lmT4pFmxtbZk1axbp6el89NFHTJ06lbfffptRo0YBsGnTJjZt2mR1TenSpZkxY0ZhDPe6XczK4ZMf45m/6VdOp+YtSfV2deSp5iH0ahhMKUf9FRYRERGRv6afGOWek5GRwZEjR6hVq5ZZ5uHhQb9+/ViwYAGdOnXiwoULjBw5EldXV1566SV+++03q3s0bNiQhQsXXveyyrst7VI2i7cf44PNcZxNzztn0M/DiaebV+TxBuVxsrct5BGKiIiIyL1CSZ/cM3Jzcxk/fjzz58/Hy8uL//3vf1Ybtvzf//0fEyZMwNfX1ywbMGAAvXr1YvXq1Rw8eBBHR0datmx5R87fux3OZ2Sx6IejLPohjtRLlwEIKu3M0Jb30bleAI52SvZERERE5MYo6ZN7ho2NDdu3byc5OZnk5GQGDRrEyJEjCQ0NBcDPz6/A6xwdHenSpcvdHOoNMQyDhPMXWbojnsXbjnEhMy/Zq1S2FMMeuo8Oof7Y2erxWxERERG5OUr6pEjKyspi8+bNPPLII0BeYvTvf/+bHTt2mG0WLlzIwoULadGiBYsWLSIkJOS29Z+Wlsby5cvZs2cP8fHxXLp0ic6dO5ubw9wswzA4ce4i+xJS2Hcyhb0JqexPSDGXcAJU83VjxMOV+UctXx2/ICIiIiK3TEmfFDnvv/8+kydPJjExkYMHD1KlShUmTJjAa6+9VmD7qKgoHnzwQXbs2EFgYOAt9z937lxefPFF0tLSzLIvv/ySgIAAFi5cSHh4+HXdJzfX4FhyBnsTUtj/e5K3LyGVlIvZ+dra2lioG+TJ4BaVeKR6OR2sLiIiIiK3jZI+KTSGYfDTTz9x/Phx3NzcaNSoES4uLqSlpZGYmAjArFmzGDp0qFXC17dvXzp27Mjx48d55513OHbsGCdPnuSll15iyZIltzSm2bNnM2LEiALrEhIS+Oc//8m3337LQw89VGCbS9k5fLAljqj//UbsyVRzqea17G0tVPV1o3aABzX9PagV4EE1XzdtziIiIiIid4SSPrll58+fZ9GiRXzyySecOnUKLy8vOnbsyODBgwkICCjwmpUrV/Lyyy9z4MABs8zT05Onn36aUaNG8eqrr9KqVSsef/xx3n//fbPNpEmTmDhxovm+R48eVK1alXPnzrFixQqmT5+Ot7f3TX2O5ORknn/+efN9nz596N27N1FRUWzdupXIyEiys7MZPnw4+/btyzcbt+PIWcau2suR3w9NB3C0s6G6nzu1AzyoFeBOTX8Pqvi44WCnZ/RERERE5O5Q0ie35Oeff6ZNmzacOnXKLEtISGDfvn288847rFixgnbt2lldM2PGDEaPHp3vXufPn+eNN95g586dHD58mHLlygHw3HPPmW1GjhxpdU3ZsmXp0aMHc+bMITs7m927d/Poo4/e1GdZvHgxly5dAmDgwIEsWLCA7OxsLl68yIQJE2jevDnR0dHExsayZcsWmjVrBkDqpWxeX/sLn+yIB6CcmyOjHq1M/eDSVCpbSpuwiIiIiEih0k+jctPOnDlD69atrRI+Hx8fcwYsIyODf/3rX/z8889m/YEDBxgzZozVfby9venZsyd2dnn/B/Hf//6X//znP2Z9bm6u+bqgjVQcHBwKbHujfvrpJ/P1U089ZVVna2vLk08+ab7ftWsXAN/uT6TVO1FmwtejQXk2jGlBr4bBVPV1U8InIiIiIoVOP5HKTZs3bx6nT58GoEGDBsTGxpKYmMjx48fp1KkTAJmZmTz99NNs27YNgPfee89MzIKCgujQoQNLly5lyZIlREZGmgnjnDlzuHw573m4K0cyAFbJIOTtshkREQHkHelw7YHtN+ra5ZpX+r7WtWUZuXYMXRrD04tjOJ2aSYh3KSKeasS0zrXxcL61HT5FRERERG4nJX1y0xYvXgzkJUvLli2jevXqAAQEBLBkyRI8PT0B2LFjB1OmTAHyZvEA7OzsiImJ4csvvyQ8PByLxULTpk1p3bo1kLdE9ODBgwA8/fTTZp/PP/88L774Itu3b2fFihU0b97c3PSlQ4cO+Pv73/TneeCBB8zXs2fPxjAM831WVhbz588HwLVOK5Ykh7BmbyK2NhaGtqzE2lHNaFSxzE33LSIiIiJypyjpk5t2/PhxAKpWrUrFihWt6lxcXKx2uFy7di3Hjx/n4sWLALi6uha44cq1Ry5caRsWFmYut7x8+TJvvvkmjRs3pnv37uzevRvI2wTm9ddfv6XP06tXL1xdXQH45JNPeOyxx1i1ahXff/89zZs3Jzb+N8p1f40ybUaRnm1QO8CD1cMf5IV/VNPOmyIiIiJSZCnpk5vm5uYGQHx8PNOnT2fGjBlmnWEY5kwdwLp16wgMDOS+++4D8jZt2bhxo9X9Ll68yNdffw3kLdWsUKGCWTdnzhyeffZZ87m/a1WtWpWNGzdStWrVW/o8Hh4ezJw503y/evVqHn/8cWbOms1huwr4DZiNc4VQHGxhfNvqfD60CTX83W+pTxERERGRO01Jn9y0f/7zn0Dehi3PPPMMkyZNIj0977iC+fPnExsbC0CjRo3MJZz9+/c3r+/bty+ff/45mZmZ7Nmzh06dOplLNR977DGrmUBbW1vefvtt4uPjefPNNxkyZAhjxoxh3bp1xMbGcv/999+Wz9S/f3+WLl1KOV9/bN3K4hQcim/fd/B6aAA29o7U8rbjuzEPMah5RW3SIiIiIiL3BB3ZUIwZhsGWLVtYtWoV586dw8/Pjx49elCnTp3bcv+RI0eyaNEic2OW8+fP07FjR1JSUoiOjjbbXXs8Q9euXXnnnXfYtWsXCQkJdO7cOd99nZ2defnllwvs08/Pz+osvRtxKTuH06mXOHMhizMXMvO+0q6+Pvt7+W8XyuDcbz6B11zrYgeTO9ahS1hgvvP5RERERESKMiV9xVR8fDxdu3blxx9/tCp//fXXad++PYsXL8bDw+O675eVlcWKFSv49ttv+fjjj7FYLNSpU4f33nuPIUOGmO2+++47q+tGjhxJt27dzPcODg6sXbuWxx57jO3bt+frx9PTk08//fS2zdz9lpbJfw+cZn3sabYcPkPW5es/0sHe1kLpUg6Ud7zIzAEP4eflelvGJCIiIiJyNynpK4bOnDlDy5YtiYuLK7B+9erVtGnThsjISKsz7v5Kly5dWL16NQADBgwwN2kZPHgwlSpVYurUqURGRprta9euzXPPPUefPn3yzYyVK1eOLVu2mAlkfHw87u7utG3bln79+t1QMlqQY2fTWb//NOtjE9l57BzXbMKJk70N3q6Ov385WL92sy73cLbn8uXLrFmzBm9Xx1sak4iIiIhIYVHSVwy9/fbbZsIXEhLC5MmTuf/++4mKimLixIkkJyezbds2lixZwoABA/Jdf/nyZbZv385vv/2Gt7c3jRs3pmfPnmbSt3r1aqudOVu1akWrVq04efIkiYmJeHp6EhIS8pfLIG1tbWnbti1t27a95c9rGAb7T6ayfn8i3+4/zcHTaVb1dQI9CK/hQ3hNXyqXc9XyTBEREREpUZT03SNSU1NZvHgxX3/9NWlpaQQGBtK3b19at26Nre3V4wJycnL44IMPALC3t+f77783d8GsXbs2NWvW5OGHHwZgwYIFVklfRkYGgwYNYuXKlWRlZZnlAQEBjB49mgEDBtC/f3+aNm1a4Bj9/f1v6Zy8G3E5J5cfjyazfv9pNsSeJuH8RbPO1sZCo4qlCa/hS6saPvh7Ot+VMYmIiIiIFEVK+u4BGzdupEuXLiQnJ1uVL1++nIYNG/Lll1/i4+MDQGJiImfOnAHg4Ycftjr2AKBly5ZUqFCBo0ePsmfPHrPcMAwefvhhduzYka//hIQEnn/+eQYNGkTTpk3v+kxZTq5B3JkL7EtIZV9CCvtP5v2alnnZbONsb0uLKmUJr+nDw9XK4elyfctWRURERESKOyV9hej8+fNkZGRQtmxZ7O3tC2yzd+9e/vnPf5KRkVFg/Y4dO2jbti3btm3DwcHBatavoGsMw+DSpUtA3ll4V3z11VdWCZ+3tzfPPPMM27dvN5d1LliwgDZt2tCpU6cb/7DXKetyLoeS0tifkMr+kynsO5lK7MlULmbn5Gvr5WLPo9V9aF3Tlwcre+uAdBERERGRAijpu8sMw+CTTz5h5syZ5s6arq6u9OrVixdeeIGKFStatX/llVfM5K1Vq1a8+eabVK9enbVr1zJ8+HASEhLYtWsXK1asoHfv3vj4+JgzeZs3byY6OpoHHnjAvN/8+fPNs/DKly9vll97KPnYsWN57bXXzBm9Dz/80Dxfb9asWbct6buUncOBU6m/J3Yp7EtI5WBiGlk5+XfYdLa3pYa/O7X83akZ4EFNf3eq+rjprDwRERERkb+hpO8uys3NZeDAgSxatMiq/MKFC8ybN4+IiAjWrVtHo0aNAEhOTubzzz8HwMfHhy+//BJn57zn0zp27IiHh4f5fN7ChQvp3bs3FouFIUOG8OKLLwLwyCOPMHz4cOrWrUtkZCTz5s0z+83MzATyngO8svNmcHAwU6ZMsVrC2a9fP1555RXi4uKIjIwkOzv7T2cm/0zqpWxif1+WGXsylX0nUzicdIFcI39bNyc7avl7UCvAnZq//xri7YqtjTZgERERERG5UUr6CmAYBoZRQDZyi2bOnGmV8NWsWZPg4GA2bdrEhQsXSElJoUOHDhw+fBh3d3eOHj1KTk7essZ27dqZCd8VLVu2pHTp0iQnJ3P48GGzfMSIEXzxxRds27aNtLQ0pk2blm8sFouF2rVrk56ejo2NjXnAur+/v9Wyzytt/f39iYuLwzAMsrKy/jLpO3Mh03z2bv/JvF+PnS14eWqZUg7UDPCglr87tQI8qOXvQVBpZ+2wKSIiIiJymyjp+11ubi6rVq1izpw5bN26lezsbGrWrMlTTz3Fk08+mS/hulE5OTm8++675vslS5bQs2dPLBYL586do2PHjmzatInffvuNxYsXM2zYMKs+ExIS8t0zNTWVtLS84wmubZuSkoKHh4eZOF2bwLq4uNClSxcmT55sbvJiGAb+/v6cPHmSH3/8kWPHjhEcHGxec/z4cfN5P19fX1xcXMw6wzA4nHSB7XHJ7Dhylp1Hz5GYeqnA34MAT2dq+l+dvavp74GPu6MSPBERERGRO0hJH3nn0vXu3Zvly5dble/du5cRI0bwwQcfsGHDBry9vW+6j127dhEfHw9AmzZt6NWrl1nn5eXFrFmzCA0NBeCzzz5j2LBhVKlShaCgII4fP8769evZsmULDz74oHnd1KlTyc7OBvKWcV5RpkwZfvrpJwzDwM7OjmnTppGbm4uvry8dOnTA09PTamwWi4UBAwYwZcoUcnJyaN++PTNnzqRJkyZs27aNUaNGcfly3k6ZAwY8yYFTaeyIO8uPccn8GJfM2fSsP9wPQrxL5SV3vyd5Nf3d8SqlHTVFRERERO42JX3Ayy+/bJXwBQUFYRgGJ06cAGD37t10796d77777qZnpa49bqFu3br56mvXro2trS05OTlmW1tbW4YOHcrYsWMxDIOHHnqI7t27U61aNdatW8cPP/xgXj9s2DDztb29Pf369eOTTz4xz9YrU6bMX45v5MiRLFy4kJMnT7J3796rh69bbHAoF4LbAx3xrFyf1XZhLJ252epaJ3sb6pX3omFIGRqElKZOoAelHBVaIiIiIiJFQYn/yTw1NZVZs2YBYGdnx5IlS+jUqRNr166lXLlydO7cmcTERL7//nt+/PFHGjZseFP9XDlHD2DTpk356rdu3Wo+v+fr62uWjxkzhv/+97989913XL58maVLl+a7tlSpUtx3331WZRMmTGDq1KlWRzgUxDAMUi9e5lyuE29+vJr/e+0tki/mYOdWBjtPPxwDqmPjeHU5Z2pmDqUcbAmrUJqGIaVpVLE0tQM8cbDTLpoiIiIiIkVRiU/6vvnmGy5cuADAgAED6N69u7lksn79+kyZMoWBAwcCsGzZsptO+kJDQ6lWrRq//PILW7ZsYdq0aTz77LM4ODhw6NAhBg8ebLbt2bOn+drBwYGvv/6aiRMnMm/ePM6fP2/Wubu7k5qaSnp6OuvXr6d9+/ZmnaurK5CX1MWdSWf/yVQSUy5xOvUSiamXSErN5HRa3vtL2dcckdCgN15/GLuTjUHj+8rSqJI3DSuWoZa/u45KEBERERG5R5T4pO/06dPm62bNmgEQEX2Crcct/CPXoHnz5mZ9UlLSTfdjsVgYN24cffv2BWDcuHG8/fbb+Pv7s3//fnOzlUqVKtGtWzfzuoMHDzJ37lz27dvHiRMn2L59O6mpqQQGBpKens7HH3/MwIEDady4MQAXs3L4+cR5dsWfY9exc8QcO8e5jOy/HZ+niz0+bk6Uc3fE190JH3cnfD2cuD/Ik+p+7jouQURERETkHlXik77SpUubr2NiYmjepjOvfHOA7BxbLkf8TBPbwwW2vRl9+vTh119/ZfLkyUDec37XPusXFBTEN998g5OTk9U10dHRAOzfv99qwxaAKvc3JObYOSavjmVX/DliT6Zy+Q+H3znY2VDL351ALxd8PZwo5+ZoJnVXEj0n+79eBioiIiIiIvemEp/0tW3bFkdHRzIzM5k3bx4dO3bklQ41+L8v9rHhQBIbUjOw8/Ln8rmT/Otf/7rl/iZNmsQjjzzCzJkz2bBhA+np6VSsWJEnnniCHj16mMcoXDFkyBCio6NxcnJi9+6fcQmoyo9xycT8PpN3KiX/8Qjl3BypX8GLeuW9CAv2oqa/h565ExEREREpoUp80uft7c2AAQOYO3cuFy9epGXLloSFheHkXI6UOt2xc/fFr+87eB74gpYtW96WPps1a2YuJYW8TVymT5/Oq6++yq+//oqfnx+Q9zxe3RZteXzEeByqteS9U7lMnbXF6l62Nhaq+7kRVt6LesF5SV6Apw43FxERERGRPCU+6QP497//zcGDB/n++++BvGWeADY/baNsx7E4BdYkrW5v5kT+ytCWlW57QrVmzRo+/fRTAN6cMYewjgPZ9utZth85m3cGnktjiM8EoJSDLfUrlOaBCnlJXmigp45HEBERERGRP6VsAXB2dmbt2rUsWLCAOXPmEBsbC0A5NyeeCE4ju7YPK3ef5q1vD7IvIYW3u4beVKKVnJzMZ599Rrdu3fDw8MAwDI4nX8SvYTsslmnYurjzUfRpPmefeY2TvQ0PVChNo4plaFypDLUDPLDXzpkiIiIiInKdlPT9zsHBgWHDhjFs2DCSkpJYt24d3bt3x9HREYCwivG8/OU+1u5L5Mhv6czvG0ZwmVLXff958+YxYsQIsrOzyTJscKrxMJ/uPM4viWkAlHv8NRwDquHo6Ei98p40ruhN40plCA3ywNFOm6yIiIiIiMjNUdJXAC8vLzw8PLCxuTqj1qNBear4uDFkSQwHT6fRftYWZvWsR4sqZfNdn5WVha2trdXB6DVr1TbP/3v+9TmU65Z3ALudjYX7gzxp/HAnGlcsQ71gL+2kKSIiIiIit42SvhsQFuzF6hEPMnhJDD/Fn6f/oh95vnU1BreoiMViYe/evcyePZuVK1eybNkywsPDOXY2nU93nuDTnRk4BtbAwa8KpWq0pHaAB93qB9IhNAAPF/vC/mgiIiIiIlJMKem7QT7uTkQ81YiJX+4nIvo4b6z7hX0nU3irSx0OHTrE/PnzAXh99n9YeNSN7UeunsNXbdC7dLw/gG71g6jh715YH0FEREREREoQJX03IetiBpXPRzOyQVXm7Ezlmz2n+DXpAs88VB9HF1eysrOJPp5GmSPJWCzQrHJZutUPpFUNHz2fJyIiIiIid5WSvhu0du1aunTpQkZGBuPGjWPZU88yZMkufklM4+lle/HqPAn7shUo7+NFt/pB/CsskABP58IetoiIiIiIlFDa+/9vGIZh9b5u3bpkZuadmffxxx9TL8iD1SOaUq+8J452NnRv9zARQ1uw6fmHGPlIZSV8IiIiIiJSqDTTV4CMjAw2btzI9OnT6dGjB0899ZRZ5+vrS8+ePSlVqhT9+/fHxsYGPw9nPhvShMu5hs7QExERERGRIkVJXwH+97//MWPGDCAvAbw26YO8Gb4/slgs2Nta7sr4RERERERErpempQpw//33ExISAsC5c+dISUkp5BGJiIiIiIjcHCV9f+KJJ54gMjKSgwcP4uHhUdjDERERERERuSn3RNI3Z84cQkJCcHJyIiwsjM2bN9/xPkNDQ2nSpAkWy18v2Txy5AgvvvgiDRs2JDQ0lG7duvHtt9+Sm5t7x8coIiIiIiLyd4r8M33Lly9n9OjRzJkzh6ZNmzJv3jzatGlDbGws5cuXL9Sxvffee4waNYqcnByzbM+ePXz66aeEh4ezcuVK3NzcCnGEIiIiIiJS0hX5mb533nmHJ598koEDB1K9enWmT59OUFAQc+fOLdRxffrppwwfPtwq4bO1vXrw+vr16+nRo0e+Ix9ERERERETupiI905eVlUVMTAwvvfSSVXl4eDhbt24t8JrMzEzzHD2A1NRUALKzs8nOzr6ufq+0+7P2ubm5jBs3znw/dOhQxo0bR+nSpVm1ahXDhw/n/PnzfPPNN2zZsoVGjRpdV79S9PxdLEjJoVgQUBzIVYoFuUIxIPeCIp30nTlzhpycHHx8fKzKfXx8SExMLPCaadOmMXny5Hzl69evx8XF5Yb637BhQ4Hlv/zyC4cPHwagRo0atGrVip07dwLg6upKr169eO+99wCYMmUKQ4cOvaF+pej5s1iQkkexIKA4kKsUC5KRkVHYQxD5W0U66bvij5upGIbxpxusjB07ljFjxpjvU1NTCQoKIjw8HHd39+vqLzs7mw0bNtCqVSvs7e3z1Z8/f9583a9fP9q1a2dV36BBAzPpy83NpW3bttfVrxQ9fxcLUnIoFgQUB3KVYkGuOHv2bGEPQeRvFemkz9vbG1tb23yzeklJSflm/65wdHTE0dExX7m9vf0Nf1P+s2uuPcIhPj4+X5sTJ06Yr11dXfWPQTFwM/EjxZNiQUBxIFcpFkR//nIvKNIbuTg4OBAWFpZv6cSGDRto0qRJIY0KmjdvjpOTEwAffvghBw4cMOuysrJ4+eWXzfetW7e+6+MTERERERG5okjP9AGMGTOGPn36UL9+fRo3bsz8+fOJj49n8ODBhTam0qVL06dPHxYsWEB6ejp169alS5culCtXjlWrVnHs2DEAvLy86NWrV6GNU0REREREpMgnfd27d+fs2bO88sornDp1ilq1arFmzRqCg4MLdVxvvfUW0dHR7N69m8zMTJYuXWpV7+joyPLly3VOn4iIiIiIFKoivbzziqFDh3L06FEyMzOJiYmhefPmhT0kPDw8iIqKYvTo0fk2iGndujWbN2+mVatWhTQ6ERERERGRPEV+pq8oc3d3591332XKlCnmjF/lypUJCgoq7KGJiIiIiIgASvpui1KlStG0adPCHoaIiIiIiEg+98TyThEREREREbk5SvpERERERESKMSV9IiIiIiIixZiSPhERERERkWJMSZ+IiIiIiEgxpqRPRERERESkGCv2RzYYhgFAamrqdV+TnZ1NRkYGqamp2Nvb36mhyT1AsSBXKBYEFAdylWJBrkhLSwOu/swpUhQV+6Tvyl9EHZguIiIiInfK2bNn8fDwKOxhiBTIYhTz/5bIzc3l5MmTuLm5YbFYruua1NRUgoKCOH78OO7u7nd4hFKUKRbkCsWCgOJArlIsyBUpKSmUL1+ec+fO4enpWdjDESlQsZ/ps7GxITAw8KaudXd31zdyARQLcpViQUBxIFcpFuQKGxttlSFFl6JTRERERESkGFPSJyIiIiIiUowp6SuAo6MjEydOxNHRsbCHIoVMsSBXKBYEFAdylWJBrlAsyL2g2G/kIiIiIiIiUpJppk9ERERERKQYU9InIiIiIiJSjCnpExERERERKcaU9ImIiIiIiBRjSvoKMGfOHEJCQnByciIsLIzNmzcX9pDkDtu0aRPt27fH398fi8XCF198YVVvGAaTJk3C398fZ2dnWrZsyf79+wtnsHLHTJs2jQceeAA3NzfKlStHx44dOXjwoFUbxULJMHfuXOrUqWMevN24cWPWrl1r1isOSqZp06ZhsVgYPXq0WaZYKBkmTZqExWKx+vL19TXrFQdS1Cnp+4Ply5czevRoxo8fz08//USzZs1o06YN8fHxhT00uYPS09MJDQ1l9uzZBda/+eabvPPOO8yePZvo6Gh8fX1p1aoVaWlpd3mkcidFRUUxbNgwtm/fzoYNG7h8+TLh4eGkp6ebbRQLJUNgYCCvv/46O3fuZOfOnTz88MM89thj5g9xioOSJzo6mvnz51OnTh2rcsVCyVGzZk1OnTplfu3du9esUxxIkWeIlQYNGhiDBw+2KqtWrZrx0ksvFdKI5G4DjM8//9x8n5uba/j6+hqvv/66WXbp0iXDw8PDeP/99wthhHK3JCUlGYARFRVlGIZioaTz8vIy/vOf/ygOSqC0tDSjcuXKxoYNG4wWLVoYo0aNMgxD3xNKkokTJxqhoaEF1ikO5F6gmb5rZGVlERMTQ3h4uFV5eHg4W7duLaRRSWGLi4sjMTHRKi4cHR1p0aKF4qKYS0lJAaB06dKAYqGkysnJISIigvT0dBo3bqw4KIGGDRtGu3btePTRR63KFQsly6FDh/D39yckJITHH3+cI0eOAIoDuTfYFfYAipIzZ86Qk5ODj4+PVbmPjw+JiYmFNCopbFf+7AuKi2PHjhXGkOQuMAyDMWPG8OCDD1KrVi1AsVDS7N27l8aNG3Pp0iVcXV35/PPPqVGjhvlDnOKgZIiIiCAmJoadO3fmq9P3hJKjYcOGfPzxx1SpUoXTp08zZcoUmjRpwv79+xUHck9Q0lcAi8Vi9d4wjHxlUvIoLkqW4cOHs2fPHrZs2ZKvTrFQMlStWpXdu3dz/vx5PvvsM/r160dUVJRZrzgo/o4fP86oUaNYv349Tk5Of9pOsVD8tWnTxnxdu3ZtGjduTKVKlfjoo49o1KgRoDiQok3LO6/h7e2Nra1tvlm9pKSkfP97IyXHld25FBclx4gRI/jqq6/YuHEjgYGBZrlioWRxcHDgvvvuo379+kybNo3Q0FBmzJihOChBYmJiSEpKIiwsDDs7O+zs7IiKimLmzJnY2dmZf96KhZKnVKlS1K5dm0OHDul7gtwTlPRdw8HBgbCwMDZs2GBVvmHDBpo0aVJIo5LCFhISgq+vr1VcZGVlERUVpbgoZgzDYPjw4axatYrvv/+ekJAQq3rFQslmGAaZmZmKgxLkkUceYe/evezevdv8ql+/Pr169WL37t1UrFhRsVBCZWZmcuDAAfz8/PQ9Qe4JWt75B2PGjKFPnz7Ur1+fxo0bM3/+fOLj4xk8eHBhD03uoAsXLnD48GHzfVxcHLt376Z06dKUL1+e0aNHM3XqVCpXrkzlypWZOnUqLi4u9OzZsxBHLbfbsGHD+OSTT/jyyy9xc3Mz/9fWw8MDZ2dn83wuxULxN27cONq0aUNQUBBpaWlEREQQGRnJunXrFAcliJubm/lM7xWlSpWiTJkyZrlioWR47rnnaN++PeXLlycpKYkpU6aQmppKv3799D1B7g2Ftm9oEfbee+8ZwcHBhoODg1GvXj1zu3YpvjZu3GgA+b769etnGEbedswTJ040fH19DUdHR6N58+bG3r17C3fQctsVFAOAsWjRIrONYqFkGDBggPnvQNmyZY1HHnnEWL9+vVmvOCi5rj2ywTAUCyVF9+7dDT8/P8Pe3t7w9/c3OnfubOzfv9+sVxxIUWcxDMMopHxTRERERERE7jA90yciIiIiIlKMKekTEREREREpxpT0iYiIiIiIFGNK+kRERERERIoxJX0iIiIiIiLFmJI+ERERERGRYkxJn4iIiIiISDGmpE9ERERERKQYU9InIlLERUZGYrFYOH/+fKH0//3331OtWjVyc3PveF979+4lMDCQ9PT0O96XiIhISaGkT0SkCGnZsiWjR4+2KmvSpAmnTp3Cw8OjUMb0wgsvMH78eGxs7vw/GbVr16ZBgwa8++67d7wvERGRkkJJn4hIEefg4ICvry8Wi+Wu971161YOHTpE165d71qf/fv3Z+7cueTk5Ny1PkVERIozJX0iIkXEE088QVRUFDNmzMBisWCxWDh69Gi+5Z0ffvghnp6efP3111StWhUXFxe6dOlCeno6H330ERUqVMDLy4sRI0ZYJU5ZWVm88MILBAQEUKpUKRo2bEhkZORfjikiIoLw8HCcnJzMsp9//pmHHnoINzc33N3dCQsLY+fOnWb91q1bad68Oc7OzgQFBTFy5Eir5ZqZmZm88MILBAUF4ejoSOXKlfnggw/M+tatW3P27FmioqJu8XdUREREQEmfiEiRMWPGDBo3bsygQYM4deoUp06dIigoqMC2GRkZzJw5k4iICNatW0dkZCSdO3dmzZo1rFmzhsWLFzN//nxWrlxpXtO/f39++OEHIiIi2LNnD127duUf//gHhw4d+tMxbdq0ifr161uV9erVi8DAQKKjo4mJieGll17C3t4eyHsmr3Xr1nTu3Jk9e/awfPlytmzZwvDhw83r+/btS0REBDNnzuTAgQO8//77uLq6mvUODg6EhoayefPmm/p9FBEREWt2hT0AERHJ4+HhgYODAy4uLvj6+v5l2+zsbObOnUulSpUA6NKlC4sXL+b06dO4urpSo0YNHnroITZu3Ej37t359ddfWbZsGSdOnMDf3x+A5557jnXr1rFo0SKmTp1aYD9Hjx41218RHx/P888/T7Vq1QCoXLmyWffWW2/Rs2dP87nEypUrM3PmTFq0aMHcuXOJj49nxYoVbNiwgUcffRSAihUr5us3ICCAo0eP/v1vmoiIiPwtJX0iIvcgFxcXM+ED8PHxoUKFClYzZj4+PiQlJQGwa9cuDMOgSpUqVvfJzMykTJkyf9rPxYsXrZZ2AowZM4aBAweyePFiHn30Ubp27WqOJSYmhsOHD7N06VKzvWEY5ObmEhcXx969e7G1taVFixZ/+fmcnZ3JyMj4m98FERERuR5K+kRE7kFXllNeYbFYCiy7csxCbm4utra2xMTEYGtra9Xu2kTxj7y9vTl37pxV2aRJk+jZsyfffPMNa9euZeLEiURERNCpUydyc3N5+umnGTlyZL57lS9fnsOHD1/X50tOTrZKakVEROTmKekTESlCHBwc7siulXXr1iUnJ4ekpCSaNWt2Q9fFxsbmK69SpQpVqlThmWeeoUePHixatIhOnTpRr1499u/fz3333Vfg/WrXrk1ubi5RUVHm8s6C7Nu3jy5dulz3OEVEROTPaSMXEZEipEKFCuzYsYOjR49y5syZ23YgepUqVejVqxd9+/Zl1apVxMXFER0dzRtvvMGaNWv+9LrWrVuzZcsW8/3FixcZPnw4kZGRHDt2jB9++IHo6GiqV68OwIsvvsi2bdsYNmwYu3fv5tChQ3z11VeMGDHC/Hz9+vVjwIABfPHFF8TFxREZGcmKFSvMPo4ePUpCQsJfJoUiIiJy/ZT0iYgUIc899xy2trbUqFGDsmXLEh8ff9vuvWjRIvr27cuzzz5L1apV6dChAzt27PjTHUIBevfuTWxsLAcPHgTA1taWs2fP0rdvX6pUqUK3bt1o06YNkydPBqBOnTpERUVx6NAhmjVrRt26dZkwYQJ+fn7mPefOnUuXLl0YOnQo1apVY9CgQVZHOixbtozw8HCCg4Nv22cXEREpySyGYRiFPQgRESm6XnjhBVJSUpg3b94d7yszM5PKlSuzbNkymjZtesf7ExERKQk00yciIn9p/PjxBAcH35FnDf/o2LFjjB8/XgmfiIjIbaSZPhERERERkWJMM30iIiIiIiLFmJI+ERERERGRYkxJn4iIiIiISDGmpE9ERERERKQYU9InIiIiIiJSjCnpExERERERKcaU9ImIiIiIiBRjSvpERERERESKMSV9IiIiIiIixdj/AzPq0otPt1SyAAAAAElFTkSuQmCC\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf0 = ZeroOrderKF(R, Q)\n", "data0 = filter_data(kf0, zs)\n", "plot_kf_output(xs, data0.x, data0.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As we would expect, the filter has problems. Think back to the g-h filter, where we incorporated acceleration into the system. The g-h filter always lagged the input because there were not enough terms to allow the filter to adjust quickly enough to the changes in velocity. On every `predict()` step the Kalman filter assumes that there is no change in position - if the current position is 4.3 it will predict that the position at the next time period is 4.3. Of course, the actual position is closer to 5.3. The measurement, with noise, might be 5.4, so the filter chooses an estimate part way between 4.3 and 5.4, causing it to lag the actual value of 5.3 by a significant amount. This same thing happens in the next step, the next one, and so on. The filter never catches up.\n", "\n", "This raises a very important point. The assumption of 'constant' is an assumption of constant-ness between discrete samples only. The filter's output can still change over time.\n", "\n", "Now let's look at the residuals. We are not tracking velocity, so we can only look at the residual for position." ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 0], data0, 0, \n", " title='Zero Order Position Residuals(3$\\sigma$)',\n", " y_label='meters',\n", " stds=3)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the filter diverges almost immediately. After a few seconds the residual exceeds the bounds of three standard deviations. It is important to understand that the covariance matrix $\\mathbf P$ is only reporting the *theoretical* performance of the filter *assuming* all of the inputs are correct. In other words, this Kalman filter is diverging, but $\\mathbf P$ implies that the Kalman filter's estimates are getting better and better with time because the variance is getting smaller. The filter has no way to know that you are lying to it about the system. This is sometimes referred to a *smug* filter - it is overconfident in its performance.\n", "\n", "In this system the divergence is immediate and striking. In many systems it will only be gradual, and/or slight. It is important to look at charts like these for your systems to ensure that the performance of the filter is within the bounds of its theoretical performance.\n", "\n", "Now let's try a second order system. This might strike you as a good thing to do. After all, we know there is a bit of noise in the movement of the simulated object, which implies there is some acceleration. Why not model the acceleration with a second order model? If there is no acceleration, the acceleration should just be estimated to be 0, right?. But is that what happens? Think about it before going on." ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf2 = SecondOrderKF(R, Q, dt=1)\n", "data2 = filter_data(kf2, zs)\n", "plot_kf_output(xs, data2.x, data2.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Did this perform as you expected?\n", "\n", "We can see that second order filter performs poorly compared to the first order filter. Why? This filter models acceleration, and so the large changes in the measurement gets interpreted as acceleration instead of noise. Thus the filter closely tracks the noise. Not only that, but it *overshoots* the noise in places if the noise is consistently above or below the track because the filter incorrectly assumes an acceleration that does not exist, and so it's prediction goes further and further away from the track on each measurement. This is not a good state of affairs.\n", "\n", "Still, the track doesn't look *horrible*. Let's see the story that the residuals tell. I will add a wrinkle here. The residuals for the second order system do not look terrible in that they do not diverge or exceed three standard deviations. However, it is very telling to look at the residuals for the first order vs the second order filter, so I have plotted both on the same graph." ] }, { "cell_type": "code", "execution_count": 28, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "res2 = xs[:, 0] - data2.x[:, 0]\n", "res1 = xs[:, 0] - data1.x[:, 0]\n", "\n", "plt.plot(res2, label='order 2')\n", "plt.plot(res1, ls=\"--\", label='order 1')\n", "plot_residual_limits(data2.P[:, 0, 0])\n", "set_labels('Second Order Position Residuals',\n", " 'meters', 'time (sec)')\n", "plt.legend();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The second order position residuals are slightly worse than the residuals of the first order filter, but they still fall within the theoretical limits of the filter. There is nothing very alarming here.\n", "\n", "Now let's look at the residuals for the velocity." ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "res2 = xs[:, 1] - data2.x[:, 1]\n", "res1 = xs[:, 1] - data1.x[:, 1]\n", "\n", "plt.plot(res2, label='order 2')\n", "plt.plot(res1, ls='--', label='order 1')\n", "plot_residual_limits(data2.P[:, 1, 1])\n", "set_labels('Second Order Velocity Residuals', \n", " 'meters/sec', 'time (sec)')\n", "plt.legend();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here the story is very different. While the residuals of the second order system fall within the theoretical bounds of the filter's performance, we can see that the residuals are *far* worse than for the first order filter. This is the usual result for this scenario. The filter is assuming that there is acceleration that does not exist. It mistakes noise in the measurement as acceleration and this gets added into the velocity estimate on every predict cycle. Of course the acceleration is not actually there and so the residual for the velocity is much larger than its optimum." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I have one more trick up my sleeve. We have a first order system; i.e. the velocity is more-or-less constant. Real world systems are never perfect, so of course the velocity is never exactly the same between time periods. When we use a first order filter we account for that slight variation in velocity with the *process noise*. The matrix $\\mathbf Q$ is computed to account for this slight variation. If we move to a second order filter we are now accounting for the changes in velocity. Perhaps now we have no process noise, and we can set $\\mathbf Q$ to zero! " ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf2 = SecondOrderKF(R, 0, dt=1)\n", "data2 = filter_data(kf2, zs)\n", "plot_kf_output(xs, data2.x, data2.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To my eye it looks like the filter quickly converges to the actual track. Success!\n", "\n", "Or, maybe not. Setting the process noise to 0 tells the filter that the process model is perfect. Let's look at the performance of the filter over a longer period of time." ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "np.random.seed(25944)\n", "xs500, zs500 = simulate_system(Q=Q, count=500)\n", "\n", "kf2 = SecondOrderKF(R, 0, dt=1)\n", "data500 = filter_data(kf2, zs500)\n", "\n", "plot_kf_output(xs500, data500.x, data500.z)\n", "plot_residuals(xs500[:, 0], data500, 0, \n", " 'Second Order Position Residuals',\n", " 'meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the performance of the filter is abysmal. We can see that in the track plot where the filter diverges from the track for an extended period of time.The residual plot makes the problem more apparent. Just before the 100th update the filter diverges sharply from the theoretical performance. It *might* be converging at the end, but I doubt it. The entire time, the filter is reporting smaller and smaller variances. **Do not trust the filter's covariance matrix to tell you if the filter is performing well**!\n", "\n", "Why is this happening? Recall that if we set the process noise to zero we are telling the filter to use only the process model. The measurements end up getting ignored. The physical system is *not* perfect, and so the filter is unable to adapt to this imperfect behavior. \n", "\n", "Maybe just a really low process noise? Let's try that." ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "np.random.seed(32594)\n", "xs2000, zs2000 = simulate_system(Q=0.0001, count=2000)\n", "\n", "kf2 = SecondOrderKF(R, 0, dt=1)\n", "data2000 = filter_data(kf2, zs2000)\n", "\n", "plot_kf_output(xs2000, data2000.x, data2000.z)\n", "plot_residuals(xs2000[:, 0], data2000, 0, \n", " 'Second Order Position Residuals',\n", " 'meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Again, the residual plot tells the story. The track looks very good, but the residual plot shows that the filter is diverging for significant periods of time.\n", "\n", "How should you think about all of this? You might argue that the last plot is 'good enough' for your application, and perhaps it is. I warn you however that a diverging filter doesn't always converge. With a different data set, or a physical system that performs differently you can end up with a filter that veers further and further away from the measurements.\n", "\n", "Also, let's think about this in a data fitting sense. Suppose I give you two points, and tell you to fit a straight line to the points. " ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "image/png": 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98vm8nLqSmi9HbHip9WP5DqZHj33HfapPx62LQ7KXuhh7qaTZT6Vhf069e/fu9JwKOV+HP+7yuOOOa/XJ+9atW6NXr15xzDHHHHTOX36KDyRk2rSI444r7Jjjjov4s/9TB4S9BDTr8GI/bty4qK+vbzFWV1cXY8eObf4L5EBzxo8f39HLA4rl2GP3/SuY7f0kIpfbN3/QoI5dF5Qaewn4PwUX+48//jg2bNgQGzZsiIh9j7PcsGFDbN68OSL23ft+2WWXNc+fOnVqvPPOO1FbWxuvvfZaLFy4MBYsWBA333xz85wbb7wx6urq4t57743f/va3ce+998bPf/7zuOmmm47s6oCu7YknIkaNOnQhyeX2zXviic5ZF5QaewmIwyj269ati9GjR8fo0aMjIqK2tjZGjx4dd9xxR0REbNmypbnkR0QMGzYsli1bFsuXL4/Pf/7zcffdd8cDDzzQ4hn448ePj8WLF8cPf/jDOOWUU2LRokXx1FNPdfln2ANHqKIiYuXKiK9+NWLw4H33/f65Hj32jX/1qxGrVu2bD7RmLwFxGF+ePeeccw76cP5Fixa1Gjv77LPjpZdeOuj7XnzxxXHxxRcXuhyg1PXpE/H00/v+FczZs2Pvz34WH3/4YXx6wIDoMWnSvvuA3TIAh2YvQbfnuUpA1zBoUMSsWbHnrrvi+WXL4oILLogenhABhbOXoNvq8C/PAgAAHU+xBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQgMMq9nPnzo1hw4ZFRUVFjBkzJlatWnXQ+Q899FCMHDky+vTpEyNGjIjHH3+81Zw5c+bEiBEjok+fPlFdXR3Tpk2LP/3pT4ezPAAA6HZ6FXrAU089FTfddFPMnTs3zjzzzHj44Ydj0qRJ8eqrr8bQoUNbzZ83b17MmDEjHn300TjttNNi7dq1cfXVV8eAAQNi8uTJERHx4x//OKZPnx4LFy6M8ePHx8aNG+OKK66IiIjvf//7R3aFAADQDRT8if3s2bPjyiuvjKuuuipGjhwZc+bMierq6pg3b16b83/0ox/FNddcE1OmTInhw4fHJZdcEldeeWXce++9zXPWrFkTZ555Znz961+PE044IWpqauJrX/tarFu37vCvDAAAupGCPrHftWtXvPjiizF9+vQW4zU1NbF69eo2j2lqaoqKiooWY3369Im1a9dGPp+PXC4XZ511VjzxxBOxdu3a+MIXvhBvvfVWLFu2LC6//PIDrqWpqSmampqaXzc2NkZERD6fj3w+X8hlHbH95+vs81IYOZUGOXV9MioNcioNcioNxcypkHMWVOy3bdsWe/bsicrKyhbjlZWV0dDQ0OYxEydOjMceeywuvPDCOPXUU+PFF1+MhQsXRj6fj23btkVVVVVccskl8fvf/z7OOuusyLIsdu/eHddee22rPyD+3KxZs2LmzJmtxuvq6qJv376FXNYnpr6+vijnpTByKg1y6vpkVBrkVBrkVBqKkdPOnTvbPbfge+wjIsrKylq8zrKs1dh+t99+ezQ0NMQZZ5wRWZZFZWVlXHHFFXHfffdFz549IyJi+fLl8Z3vfCfmzp0bp59+erz55ptx4403RlVVVdx+++1tvu+MGTOitra2+XVjY2NUV1dHTU1N9O/f/3Au67Dl8/mor6+P888/P3K5XKeem/aTU2mQU9cno9Igp9Igp9JQzJz235XSHgUV+4EDB0bPnj1bfTq/devWVp/i79enT59YuHBhPPzww/G73/0uqqqq4pFHHol+/frFwIEDI2Jf+b/00kvjqquuioiIz33uc7Fjx47453/+5/j2t78dPXq0/ipAeXl5lJeXtxrP5XJF2xjFPDftJ6fSIKeuT0alQU6lQU6loRg5FXK+gr4827t37xgzZkyr/w1RX18f48ePP+SihgwZEj179ozFixfHV77ylebCvnPnzlblvWfPnpFlWWRZVsgSAQCgWyr4Vpza2tq49NJLY+zYsTFu3Lh45JFHYvPmzTF16tSI2HeLzHvvvdf8rPqNGzfG2rVr4/TTT48PP/wwZs+eHa+88kr8+7//e/N7Tp48OWbPnh2jR49uvhXn9ttvj69+9avNt+sAAAAHVnCxnzJlSnzwwQdx1113xZYtW+Lkk0+OZcuWxfHHHx8REVu2bInNmzc3z9+zZ09873vfi9dffz1yuVyce+65sXr16jjhhBOa59x2221RVlYWt912W7z33nsxaNCgmDx5cnznO9858isEAIBu4LC+PHvdddfFdddd1+bvFi1a1OL1yJEjY/369QdfRK9eceedd8add955OMsBAIBur+B/oAoAAOh6FHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJOCwiv3cuXNj2LBhUVFREWPGjIlVq1YddP5DDz0UI0eOjD59+sSIESPi8ccfbzXno48+iuuvvz6qqqqioqIiRo4cGcuWLTuc5QEAQLfTq9ADnnrqqbjpppti7ty5ceaZZ8bDDz8ckyZNildffTWGDh3aav68efNixowZ8eijj8Zpp50Wa9eujauvvjoGDBgQkydPjoiIXbt2xfnnnx/HHntsPP300zFkyJB49913o1+/fkd+hQAA0A0UXOxnz54dV155ZVx11VURETFnzpz47//+75g3b17MmjWr1fwf/ehHcc0118SUKVMiImL48OHxwgsvxL333ttc7BcuXBj/+7//G6tXr45cLhcREccff/xhXxQAAHQ3BRX7Xbt2xYsvvhjTp09vMV5TUxOrV69u85impqaoqKhoMdanT59Yu3Zt5PP5yOVy8eyzz8a4cePi+uuvj//4j/+IQYMGxde//vW45ZZbomfPngd836ampubXjY2NERGRz+cjn88XcllHbP/5Ovu8FEZOpUFOXZ+MSoOcSoOcSkMxcyrknAUV+23btsWePXuisrKyxXhlZWU0NDS0eczEiRPjscceiwsvvDBOPfXUePHFF2PhwoWRz+dj27ZtUVVVFW+99VY899xz8Y1vfCOWLVsWb7zxRlx//fWxe/fuuOOOO9p831mzZsXMmTNbjdfV1UXfvn0LuaxPTH19fVHOS2HkVBrk1PXJqDTIqTTIqTQUI6edO3e2e27Bt+JERJSVlbV4nWVZq7H9br/99mhoaIgzzjgjsiyLysrKuOKKK+K+++5r/jR+7969ceyxx8YjjzwSPXv2jDFjxsT7778f3/3udw9Y7GfMmBG1tbXNrxsbG6O6ujpqamqif//+h3NZhy2fz0d9fX2cf/75zbcS0fXIqTTIqeuTUWmQU2mQU2koZk7770ppj4KK/cCBA6Nnz56tPp3funVrq0/x9+vTp08sXLgwHn744fjd734XVVVV8cgjj0S/fv1i4MCBERFRVVUVuVyuxW03I0eOjIaGhti1a1f07t271fuWl5dHeXl5q/FcLle0jVHMc9N+cioNcur6ZFQa5FQa5FQaipFTIecr6HGXvXv3jjFjxrT63xD19fUxfvz4Qy5qyJAh0bNnz1i8eHF85StfiR499p3+zDPPjDfffDP27t3bPH/jxo1RVVXVZqkHAABaKvg59rW1tfHYY4/FwoUL47XXXotp06bF5s2bY+rUqRGx7xaZyy67rHn+xo0b44knnog33ngj1q5dG5dcckm88sorcc899zTPufbaa+ODDz6IG2+8MTZu3Bg//elP45577onrr7/+E7hEAABIX8H32E+ZMiU++OCDuOuuu2LLli1x8sknx7Jly5ofT7lly5bYvHlz8/w9e/bE9773vXj99dcjl8vFueeeG6tXr44TTjiheU51dXXU1dXFtGnT4pRTTonPfOYzceONN8Ytt9xy5FcIAADdwGF9efa6666L6667rs3fLVq0qMXrkSNHxvr16w/5nuPGjYsXXnjhcJYDAADdXsG34gAAAF2PYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAlQ7AEAIAGKPQAAJECxBwCABCj2AACQAMUeAAASoNgDAEACFHsAAEiAYg8AAAnoVewFfFKyLIuIiMbGxk4/dz6fj507d0ZjY2PkcrlOPz/tI6fSIKeuT0alQU6lQU6loZg57e+2+7vuwSRT7Ldv3x4REdXV1UVeCQAAfLK2b98eRx111EHnlGXtqf8lYO/evfH+++9Hv379oqysrFPP3djYGNXV1fHuu+9G//79O/XctJ+cSoOcuj4ZlQY5lQY5lYZi5pRlWWzfvj0GDx4cPXoc/C76ZD6x79GjRwwZMqSoa+jfv79NWQLkVBrk1PXJqDTIqTTIqTQUK6dDfVK/ny/PAgBAAhR7AABIgGL/CSgvL48777wzysvLi70UDkJOpUFOXZ+MSoOcSoOcSkOp5JTMl2cBAKA784k9AAAkQLEHAIAEKPYAAJAAxR4AABKg2AMAQAIU+3aaO3duDBs2LCoqKmLMmDGxatWqg85fsWJFjBkzJioqKmL48OExf/78Tlpp91ZITsuXL4+ysrJWP7/97W87ccXdy8qVK2Py5MkxePDgKCsri2eeeeaQx9hLna/QnOylzjdr1qw47bTTol+/fnHsscfGhRdeGK+//vohj7OfOtfh5GQ/db558+bFKaec0vyvyo4bNy5+9rOfHfSYrrqXFPt2eOqpp+Kmm26Kb3/727F+/fqYMGFCTJo0KTZv3tzm/E2bNsUFF1wQEyZMiPXr18ett94aN9xwQyxZsqSTV969FJrTfq+//nps2bKl+edv/uZvOmnF3c+OHTti1KhR8eCDD7Zrvr1UHIXmtJ+91HlWrFgR119/fbzwwgtRX18fu3fvjpqamtixY8cBj7GfOt/h5LSf/dR5hgwZEv/2b/8W69ati3Xr1sWXvvSl+Lu/+7v4zW9+0+b8Lr2XMg7pC1/4QjZ16tQWYyeeeGI2ffr0Nuf/67/+a3biiSe2GLvmmmuyM844o8PWSOE5Pf/881lEZB9++GEnrI6/FBHZ0qVLDzrHXiq+9uRkLxXf1q1bs4jIVqxYccA59lPxtScn+6lrGDBgQPbYY4+1+buuvJd8Yn8Iu3btihdffDFqampajNfU1MTq1avbPGbNmjWt5k+cODHWrVsX+Xy+w9banR1OTvuNHj06qqqq4rzzzovnn3++I5dJgeyl0mIvFc8f/vCHiIg4+uijDzjHfiq+9uS0n/1UHHv27InFixfHjh07Yty4cW3O6cp7SbE/hG3btsWePXuisrKyxXhlZWU0NDS0eUxDQ0Ob83fv3h3btm3rsLV2Z4eTU1VVVTzyyCOxZMmS+MlPfhIjRoyI8847L1auXNkZS6Yd7KXSYC8VV5ZlUVtbG2eddVacfPLJB5xnPxVXe3Oyn4rj5Zdfjk9/+tNRXl4eU6dOjaVLl8ZJJ53U5tyuvJd6FfXsJaSsrKzF6yzLWo0dan5b43yyCslpxIgRMWLEiObX48aNi3fffTfuv//++OIXv9ih66T97KWuz14qrm9961vx61//On7xi18ccq79VDztzcl+Ko4RI0bEhg0b4qOPPoolS5bE5ZdfHitWrDhgue+qe8kn9ocwcODA6NmzZ6tPfbdu3drqr7X9jjvuuDbn9+rVK4455pgOW2t3djg5teWMM86IN95445NeHofJXipd9lLn+Jd/+Zd49tln4/nnn48hQ4YcdK79VDyF5NQW+6nj9e7dO/76r/86xo4dG7NmzYpRo0bFD37wgzbnduW9pNgfQu/evWPMmDFRX1/fYry+vj7Gjx/f5jHjxo1rNb+uri7Gjh0buVyuw9banR1OTm1Zv359VFVVfdLL4zDZS6XLXupYWZbFt771rfjJT34Szz33XAwbNuyQx9hPne9wcmqL/dT5siyLpqamNn/XpfdSkb60W1IWL16c5XK5bMGCBdmrr76a3XTTTdmnPvWp7O23386yLMumT5+eXXrppc3z33rrraxv377ZtGnTsldffTVbsGBBlsvlsqeffrpYl9AtFJrT97///Wzp0qXZxo0bs1deeSWbPn16FhHZkiVLinUJydu+fXu2fv36bP369VlEZLNnz87Wr1+fvfPOO1mW2UtdRaE52Uud79prr82OOuqobPny5dmWLVuaf3bu3Nk8x34qvsPJyX7qfDNmzMhWrlyZbdq0Kfv1r3+d3XrrrVmPHj2yurq6LMtKay8p9u300EMPZccff3zWu3fv7NRTT23xqKrLL788O/vss1vMX758eTZ69Oisd+/e2QknnJDNmzevk1fcPRWS07333pt99rOfzSoqKrIBAwZkZ511VvbTn/60CKvuPvY/xu0vfy6//PIsy+ylrqLQnOylztdWPhGR/fCHP2yeYz8V3+HkZD91vn/6p39q7g6DBg3KzjvvvOZSn2WltZfKsuz/7vYHAABKlnvsAQAgAYo9AAAkQLEHAIAEKPYAAJAAxR4AABKg2AMAQAIUewAASIBiDwAACVDsAQAgAYo9AAAkQLEHAIAE/H8DTjDjSjHCkQAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.scatter([1, 2], [1, 1], s=100, c='r')\n", "plt.plot([0, 3], [1, 1]);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A straight line is the only possible answer. Furthermore, the answer is optimal. If I gave you more points you could use a least squares fit to find the best line, and the answer would still be optimal in a least squares sense.\n", "\n", "But suppose I told you to fit a higher order polynomial to those two points. There are an infinite number of answers to the problem. For example, an infinite number of second order parabolas pass through those points. When the Kalman filter is of higher order than your physical process it also has an infinite number of solutions to choose from. The answer is not just non-optimal, it often diverges and never recovers. \n", "\n", "For best performance you need a filter whose order matches the system's order. In many cases that will be easy to do - if you are designing a Kalman filter to read the thermometer of a freezer it seems clear that a zero order filter is the right choice. But what order should we use if we are tracking a car? Order one will work well while the car is moving in a straight line at a constant speed, but cars turn, speed up, and slow down, in which case a second order filter will perform better. That is the problem addressed in the Adaptive Filters chapter. There we will learn how to design a filter that adapts to changing order in the tracked object's behavior.\n", "\n", "With that said, a lower order filter can track a higher order process so long as you add enough process noise and you keep the discretization period small (100 samples a second are usually locally linear). The results will not be optimal, but they can still be very good, and I always reach for this tool first before trying an adaptive filter. Let's look at an example with acceleration. First, the simulation." ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "class ConstantAccelerationObject(object):\n", " def __init__(self, x0=0, vel=1., acc=0.1, acc_noise=.1):\n", " self.x = x0\n", " self.vel = vel\n", " self.acc = acc\n", " self.acc_noise_scale = acc_noise\n", " \n", " def update(self):\n", " self.acc += randn() * self.acc_noise_scale \n", " self.vel += self.acc\n", " self.x += self.vel\n", " return (self.x, self.vel, self.acc)\n", " \n", "R, Q = 6., 0.02\n", "def simulate_acc_system(R, Q, count):\n", " obj = ConstantAccelerationObject(acc_noise=Q)\n", " zs = []\n", " xs = []\n", " for i in range(count):\n", " x = obj.update()\n", " z = sense(x, R)\n", " xs.append(x)\n", " zs.append(z)\n", " return np.asarray(xs), zs\n", "\n", "np.random.seed(124)\n", "xs, zs = simulate_acc_system(R=R, Q=Q, count=80)\n", "plt.plot(xs[:, 0]);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we will filter the data using a second order filter." ] }, { "cell_type": "code", "execution_count": 35, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "np.random.seed(124)\n", "xs, zs = simulate_acc_system(R=R, Q=Q, count=80)\n", "\n", "kf2 = SecondOrderKF(R, Q, dt=1)\n", "data2 = filter_data(kf2, zs)\n", "\n", "plot_kf_output(xs, data2.x, data2.z, aspect_equal=False)\n", "plot_residuals(xs[:, 0], data2, 0, \n", " 'Second Order Position Residuals',\n", " 'meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the filter is performing within the theoretical limits of the filter. \n", "\n", "Now let's use a lower order filter. As already demonstrated the lower order filter will lag the signal because it is not modeling the acceleration. However, we can account for that (to an extent) by increasing the size of the process noise. The filter will treat the acceleration as noise in the process model. The result will be suboptimal, but if designed well it will not diverge. Choosing the amount of extra process noise is not an exact science. You will have to experiment with representative data. Here, I've multiplied it by 10, and am getting good results." ] }, { "cell_type": "code", "execution_count": 36, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf3 = FirstOrderKF(R, Q * 10, dt=1)\n", "data3= filter_data(kf3, zs)\n", "\n", "plot_kf_output(xs, data3.x, data3.z, aspect_equal=False)\n", "plot_residuals(xs[:, 0], data3, 0, \n", " 'First Order Position Residuals',\n", " 'meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Think about what will happen if you make the process noise many times larger than it needs to be. A large process noise tells the filter to favor the measurements, so we would expect the filter to closely mimic the noise in the measurements. Let's find out." ] }, { "cell_type": "code", "execution_count": 37, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf4 = FirstOrderKF(R, Q * 10000, dt=1)\n", "data4 = filter_data(kf4, zs)\n", "\n", "plot_kf_output(xs, data4.x, data4.z, aspect_equal=False)\n", "plot_residuals(xs[:, 0], data4, 0, \n", " 'First Order Position Residuals',\n", " 'meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Exercise: State Variable Design\n", "\n", "As I've mentioned, you may place the variables in $\\mathbf x$ in whatever order you choose. For example, you could define a 1D constant acceleration as $\\mathbf x = \\begin{bmatrix}\\ddot x & x & \\dot x\\end{bmatrix}^\\mathsf T$. I can't imagine why you would want that order, but it is possible.\n", "\n", "Let's do something more reasonable. Design a second order filter for a robot moving in 2D, where $\\mathbf x = \\begin{bmatrix}x & y & \\dot x & \\dot y \\end{bmatrix}^\\mathsf T$. In this chapter we have been using $\\mathbf x = \\begin{bmatrix}x & \\dot x & y & \\dot y \\end{bmatrix}^\\mathsf T$.\n", "\n", "Why would you choose a different ordering? As you'll see in a moment, changing the order of $\\mathbf x$ changes the order of most of the rest of the filter's matrices. Depending on what data you want to inspect, such as the correlations in $\\mathbf P$, various orderings of $\\mathbf x$ can make that easier or more difficult.\n", "\n", "Think about how to do this. What needs to change? Clearly, you just need to change the Kalman filter matrices to reflect this new design. \n", "\n", "Give it a try below using this boilerplate code:\n", "\n", "```python\n", "\n", "N = 30 # number of iterations\n", "dt = 1.0 # time step\n", "R_std = 0.35\n", "Q_std = 0.04\n", "\n", "sensor = PosSensor((0, 0), (2, .5), noise_std=R_std)\n", "zs = np.array([sensor.read() for _ in range(N)])\n", "\n", "tracker = KalmanFilter(dim_x=4, dim_z=2)\n", "# assign state variables here\n", "\n", "xs, ys = [], []\n", "for z in zs:\n", " tracker.predict()\n", " tracker.update(z)\n", " xs.append(tracker.x[0])\n", " ys.append(tracker.x[1])\n", "plt.plot(xs, ys);\n", "```" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Solution" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's start with $\\mathbf F$. With a bit of practice you should be able to just write out the matrix. If you found that difficult, then write out the set of equations for $\\mathbf F$ ordering the variables as used by the state variable.\n", "\n", "$$\n", "x = 1x + 0y + 1\\dot x\\Delta t + 0 \\dot y\\Delta t \\\\\n", "y = 0x + 1y + 0\\dot x\\Delta t + 1 \\dot y\\Delta t \\\\\n", "\\dot x = 0x + 0y + 1\\dot x\\Delta t + 0 \\dot y\\Delta t \\\\\n", "\\dot y = 0x + 0y + 0\\dot x\\Delta t + 1 \\dot y\\Delta t \n", "$$\n", "\n", "We can copy out the coefficients to get\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1&0&\\Delta t & 0\\\\0&1&0&\\Delta t\\\\0&0&1&0\\\\0&0&0&1\\end{bmatrix}$$\n", "\n", "The state noise also requires shuffling things around. First, figure out how it should be arranged for the state variable ordering. This can be easier if you write the state variables vertically and horizontally across the matrix to see how they pair up. This is hard to do in Jupyter notebook, so I will forgo it here.\n", "\n", "$$\\mathbf Q = \n", "\\begin{bmatrix}\n", "\\sigma_x^2 & \\sigma_{xy} & \\sigma_{x\\dot x} & \\sigma_{x\\dot y} \\\\\n", "\\sigma_{yx} & \\sigma_y^2 & \\sigma_{y\\dot x} & \\sigma_{y\\dot y} \\\\\n", "\\sigma_{\\dot x x} & \\sigma_{\\dot x y} & \\sigma_{\\dot x}^2 & \\sigma_{\\dot x \\dot y} \\\\\n", "\\sigma_{\\dot y x} & \\sigma_{\\dot y y} & \\sigma_{\\dot y \\dot x} & \\sigma_{\\dot y}^2\n", "\\end{bmatrix}\n", "$$\n", "\n", "There is no correlation between $x$ and $y$, so we can set terms with both to zero\n", "\n", "$$\\mathbf Q = \n", "\\begin{bmatrix}\n", "\\sigma_x^2 & 0 & \\sigma_{x\\dot x} & 0 \\\\\n", "0 & \\sigma_y^2 & 0 & \\sigma_{y\\dot y} \\\\\n", "\\sigma_{\\dot x x} & 0 & \\sigma_{\\dot x}^2 & 0 \\\\\n", "0 & \\sigma_{\\dot y y} & 0 & \\sigma_{\\dot y}^2\n", "\\end{bmatrix}\n", "$$\n", "\n", "Now that you see this you can see the pattern and perhaps design $\\mathbf Q$ more quickly.\n", "\n", "`Q_discrete_white_noise` generates a matrix with a different ordering, but we can just copy terms from it, which we will see in the code below.\n", "\n", "Now let's design $\\mathbf H$. It converts the state $\\begin{bmatrix}x & y & \\dot x & \\dot y \\end{bmatrix}^\\mathsf T$ into the measurement $\\mathbf z = \\begin{bmatrix}z_x & z_y\\end{bmatrix}^\\mathsf T$.\n", "\n", "$$\n", "\\begin{aligned}\n", "\\mathbf{Hx} &= \\mathbf z \\\\\n", "\\begin{bmatrix}?&?&?&?\\\\?&?&?&?\\end{bmatrix}\\begin{bmatrix}x \\\\ y \\\\ \\dot x \\\\ \\dot y \\end{bmatrix} &= \\begin{bmatrix}z_x \\\\ z_y\\end{bmatrix}\n", "\\end{aligned}\n", "$$\n", "\n", "Now it should be easy to fill in the matrix:\n", "$$\n", "\\begin{bmatrix}1&0&0&0\\\\0&1&0&0\\end{bmatrix}\\begin{bmatrix}x \\\\ y \\\\ \\dot x \\\\ \\dot y \\end{bmatrix} = \\begin{bmatrix}z_x \\\\ z_y\\end{bmatrix}\n", "$$\n", "\n", "The measurement $\\mathbf z = \\begin{bmatrix}z_x & z_y\\end{bmatrix}^\\mathsf T$ has not changed so $\\mathbf R$ does not change.\n", "\n", "Finally, $\\mathbf P$. It uses the same ordering as $\\mathbf Q$, so it is already designed for us." ] }, { "cell_type": "code", "execution_count": 38, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "N = 30 # number of iterations\n", "dt = 1.0 # time step\n", "R_std = 0.35\n", "Q_std = 0.04\n", "\n", "M_TO_FT = 1 / 0.3048\n", "\n", "sensor = PosSensor((0, 0), (2, .5), noise_std=R_std)\n", "zs = np.array([sensor.read() for _ in range(N)])\n", "\n", "tracker = KalmanFilter(dim_x=4, dim_z=2)\n", "\n", "tracker.F = np.array([[1, 0, dt, 0],\n", " [0, 1, 0, dt],\n", " [0, 0, 1, 0],\n", " [0, 0, 0, 1]])\n", "\n", "tracker.H = np.array([[M_TO_FT, 0, 0, 0],\n", " [0, M_TO_FT, 0, 0]])\n", "\n", "tracker.R = np.eye(2) * R_std**2\n", "q = Q_discrete_white_noise(dim=2, dt=dt, var=Q_std**2)\n", "tracker.Q[0,0] = q[0,0]\n", "tracker.Q[1,1] = q[0,0]\n", "tracker.Q[2,2] = q[1,1]\n", "tracker.Q[3,3] = q[1,1]\n", "tracker.Q[0,2] = q[0,1]\n", "tracker.Q[2,0] = q[0,1]\n", "tracker.Q[1,3] = q[0,1]\n", "tracker.Q[3,1] = q[0,1]\n", "\n", "tracker.x = np.array([[0, 0, 0, 0]]).T\n", "tracker.P = np.eye(4) * 500.\n", "\n", "xs, ys = [], []\n", "for z in zs:\n", " tracker.predict()\n", " tracker.update(z)\n", " xs.append(tracker.x[0])\n", " ys.append(tracker.x[1])\n", "plt.plot(xs, ys);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Detecting and Rejecting Bad Measurement\n", "\n", "The Kalman filter provides no way to detect and reject a bad measurement. Suppose you are tracking aircraft, and you receive a measurement 100km away from the aircraft's current position. If you call update with that value the new estimate will be skewed radically towards the measurement.\n", "\n", "I'll run a simulation to give us a concrete example. After 100 epoch's I'll do an update with a measurement equal to twice the current position. `filterpy.common` provides `kinematic_kf` which creates a linear kinematic filter of arbitrary dimension and order. I'll use it here to keep the code tidy, I don't use it in the rest of the book because I want you to get lots of practice writing filters." ] }, { "cell_type": "code", "execution_count": 39, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "bad measurement : [[10.1 10.1]] km\n", "before bad measurement: [[5. 5.]] km\n", "after bad measurement : [[7.84 7.01]] km\n", "estimate shift : 3.4 km\n", "distance from prior : 7.1 km\n" ] } ], "source": [ "from filterpy.common import kinematic_kf\n", "\n", "kf = kinematic_kf(dim=2, order=1, dt=1.0, order_by_dim=False)\n", "kf.Q = np.diag([0, 0, .003, .003])\n", "kf.x = np.array([[1., 1., 0., 0.]]).T\n", "kf.R = np.diag([0.03, 0.21]) # use different errors\n", "\n", "for i in range(101):\n", " kf.predict()\n", " kf.update(np.array([[i*.05, i*.05]])) # around 200 kph\n", "\n", "p0 = kf.x[0:2]\n", "\n", "kf.predict()\n", "prior = kf.x\n", "z = kf.x[0:2]*2\n", "kf.update(z)\n", "p1 = kf.x[0:2]\n", "\n", "# compute error of measurement from prior\n", "y = np.abs(z - kf.H @ prior)\n", "dist = np.linalg.norm(y)\n", "\n", "np.set_printoptions(precision=2, suppress=True)\n", "\n", "print(f'bad measurement : {z.T} km')\n", "print(f'before bad measurement: {p0.T} km')\n", "print(f'after bad measurement : {p1.T} km')\n", "print(f'estimate shift : {np.linalg.norm(p1 - prior[:2]):.1f} km')\n", "print(f'distance from prior : {dist:.1f} km')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "`kinematic_kf`? What's that? `filterpy.common` provides `kinematic_kf` to allow you to create a linear kinematic filter of arbitrary dimension and order. I don't use it in this book because I want you to gain a lot of experience creating Kalman filters. I used it here just to keep my example short and to expose you to this part of the library.\n", "\n", "Back on topic. As you can see the estimate jumped 3.4 km, and the error between the prediction (prior) and the measurement is over 7 km.\n", "\n", "What can we do to avoid this? Our first thought might be to just add a check if the prior is far from the measurement. Why the prior and not the current estimate? Because after the update the estimate could now be quite close to the bad measurement, although it isn't in this case.\n", "\n", "Note that while I could have just written `prior[0:2] - z` to get the error, I used the mathematically correct $\\mathbf z - \\mathbf{Hx}$ to compute the error. This is just for illustration; the Kalman filter class stores the innovation in `KalmanFilter.y`. I use it instead of the value I computed above to illustrate this:" ] }, { "cell_type": "code", "execution_count": 40, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "error = 7.1 km, at a speed of 25710 kph\n" ] } ], "source": [ "print(f'error = {np.linalg.norm(kf.y):.1f} km, at a speed of {dist*3600:.0f} kph')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In this example the measurement is nearly 7 km away from the predicted position. That sounds \"far\". Is it? It could be far if the units are kilometers and the update rate is 1 second; no aircraft can travel the over 25000 kph this error implies. It could be absurdly small if the units are centimeters and the epoch is 1 minute.\n", "\n", "We could add a check that either takes the performance limits of the aircraft into account:\n", "```\n", "vel = y / dt\n", "if vel >= MIN_AC_VELOCITY and vel <= MAX_AC_VELOCITY:\n", " kf.update()\n", "```\n", " \n", "Do you think this is a reasonable and robust solution? Come up with as many objections as you can before reading further.\n", "\n", "\n", "This is not very satisfying to me. Suppose we had just initialized the filter with an guessed at position; we would discard good measurements and never start filtering. Second, this ignores the knowledge we have about the sensor and process errors. The Kalman filter maintains its current accuracy in $\\mathbf P$. If $\\mathbf P$ implies that $\\sigma_x = 10$ meters, and the measurement is 1 km away, clearly the measurement is bad as it is 100 standard deviations away from the prior. \n", "\n", "Let's plot $\\mathbf P$. I'll plot the first, second, and third standard deviations." ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [ { "data": { "image/png": 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3DXPrBevfJQD9OvkD0M2QszXuoplbRESkHAb2RERmIkkSPtEbrX+Do/WKeHN8Rb8u/jnOjC0hIlIWA3siIjPZfyoRJy6lAQB6tffFwG4tzdyixmlEaDu0828GQLca7anLN83cIiIiZTCwJyIyk6XRh+XtmU/0hUqlMmNrGi8rKxVmPN5H3l8azVF7ImqcGNgTEZnB1dQMbDx4HgDg7e6McQ90MnOLGrdJD4fA1ckOAPB9zJ+4lZFn5hYREYlnY+4GEBHdj/678ag8Q8v0x3rDVm1t5hbVrFhTiviENJy9fhv5hRoUl5TCTm0NJ3tbdAr0QNcgL6htLPc5ODvY4vmRPbBwXSyKNKVYtuUY3p3I9QKIqHFhYE9EVM+KNaX4dudJAICd2hp/G9XTzC2qTJIk7Im/hq1xlxB75gaOX0xBkab6BZ4c7GzQq70vwoJb4JF+7dGvs7/FpRb9/bE++OSnOGi1Er7ZHo+3nx0IKyvLaiMRUV0wsCciqmc7jiQgPSsfAPBY/w7wcHMyc4sqFBWX4IffTmPxz3E4acRNpgVFJdh/KhH7TyXi/344hN4dfDFrTCjGDAq2mJH8lt5uiOwVhB1HEnAtLRP7T13HoJBAczeLiEgYBvZERPWsfLQeACZGdjNjSyqUlGqx5Oc4LPoxFml3cyv9Psi3KcI6+aNnOx80dbaHna0NiopLcCe7AMcupCD27A1cS8uUjz96PgXj/70ery+LwRtPh+PlR3tbxOj4xMiu2HEkAQCwatdJBvZE1KgwsCciqkd3svKxJfYCAN1Ns5G9g8zcIuDstduY9NFGHLuQYvB4nw5+mPlEX0T0al2rbxXS7uZix5EELI0+jPgE3TSeN25n4x+fbsePe85g5euPIsjPXZHnUFuP9e8AFyc7ZOcV4ae9Z/HZjOFwtFebtU1ERKJwVhwionq07vcz0JRoAQDPDOkCG2vz/RkuLdXi4x8OoscLy+Sg3spKhTGDgnHws6mI+980jB/SpdapQt7uzpj8cAj+WP4Cfl88CaP6tZN/t/9UIro+9yX+u+GIfNOwOTjYqTF2UDAAICe/GBv2nzNbW4iIRGNgT0RUjywlDScjpwAPzV6F15fFyDfFtvdvhkOfTcVP74+t082vKpUKD4QEYvN/nsaexZPQyscNAJBfqMHfP92OEXPWICe/SNRTMdqkoRX9vmrXKbO1g4hINAb2RET15HxiOo6cTwYAhLTxRtcgL7O0I/l2NgbOjMK+U9cBACoV8M9xYTjx1d/QN7iF0LoGhQTi1IqX8NIjveTHdhxJwOB/rpJvIK5v4Z0D5A8bMX9cQfLtbLO0g4hINAb2RET1ZJXeaL3+qHF9unTjDsL/8Q1OX70FAPBs6oR9S6dg4UuRcLBTJtfc2cEW/5s1Ars+fhZuzvYAdDfX9v/HN0i8maVInTWxslLJ35ZotRK+j/mz3ttARKQEBvZERPVAq5Xw3W5d2oe1lQpPP9S53tvwx8VUhP/jG1wvC6Zb+bjh4GdT0b9LQL3UH9ErCPs/nQLf5k0AABeSdB8yzl2/XS/169NPg/p250lIkvny/omIRGFgT0RUD34/cRU3ylI+hvVtCy9353qt/0pKBoa+vhq3M3XpL11ae+LgZ1PRpp5nqencSldv2xa6em/czkbEq98hJT2nXtvR2rep/IHm7PXbOH4xtV7rJyJSglGBfWBgIFQqVaWf6dOnV3n8nj17qjz+/PnzBsdFR0cjODgYdnZ2CA4OxoYNG0x/RkREFmi1XrpHfafhZOUWYtRba+Wc9n6d/LF3yWT4NGtSr+0oF+jthgOfTkX3tt4AgOT0HDz6zg/IL9TUazv0X4fvdp2s4UgioobBqMD+6NGjSE1NlX92794NABg7dmyN5124cMHgvLZt28q/i42NxZNPPokJEybg5MmTmDBhAsaNG4fDhw+b8HSIiCxPaakWWw7p5q5v4miLkWHt7nGGOCWlWoyb+zPOlqW7dAhojq0fjUfTJg711oaqeDZ1wvaPnkFLL1cAwLELKZj44YZ6nQpz7KBgqG10/wY3HbzAdBwiavCMCuw9PDzg7e0t//zyyy8ICgrCoEGDajzP09PT4Dxr64rlxZcsWYKIiAjMmTMHHTp0wJw5czB48GAsWbLEpCdERGRpYs/ewJ3sAgDA0N5tYG9bf2sDvvL5Duw6dhkA0MzFAb/Mf1q+gdXcvNyd8cuH49HE0RYAEL3vHN795rd6q9/V2R6DugUCAK7fzJJvKCYiaqhM/u9SXFyM1atXY/bs2fec67h79+4oLCxEcHAw3nnnHTz44IPy72JjYzFr1iyD44cOHXrPwL6oqAhFRRXzIGdn63JXNRoNNJr6/Tq3rsrb29DabWnYj2KwH+vur3248UDFIkjD+gTVW99G7TiJ/248CgBQ21jhx389gQDPJhb12rZv0RTfv/U4HvvXj9BqJcz//gC6tPLAEwM71su1OLxPEGKOXwGge506+Jt3ZVwl8D0tBvux7tiHpjGmv0wO7Ddu3IjMzExMnjy52mN8fHywfPly9OzZE0VFRfjuu+8wePBg7NmzBwMHDgQApKWlwcvLcC5nLy8vpKWl1Vj/hx9+iLlz51Z6fNeuXXB0dDT+CVmA8tQmqhv2oxjsx7or78N1MbrA3koFqLOvYtu2JMXrvplVhJmrL8j7Lz3UAjk3TmPbjdOK122KqQN98fUe3Rz/LyzcjKKbF+HmpJt+U8lr0amwYoDo++1H0dW1/qffrC98T4vBfqw79qFx8vNrv+aHyYH9ihUrMGzYMPj6+lZ7TPv27dG+fXt5PywsDElJSVi4cKEc2AOoNOIvSdI9vwWYM2cOZs+eLe9nZ2fD398fkZGRcHFxMfbpmJVGo8Hu3bsREREBtVqZeaTvB+xHMdiPdaffh4m3c3FjSTwAIDS4BZ564hHF69dqJTz8xhoUarQAgCkPd8PC2SMUr7cuhg2TcLd0A9bvP4+cwlJEn9Zg7dvDEBMTo/i1uPS32zh7PR0Xb+ajV9ggeDZ1Uqwuc+B7Wgz2Y92xD01TnpVSGyYF9tevX0dMTAzWr19v9LmhoaFYvXq1vO/t7V1pdP7WrVuVRvH/ys7ODnZ2dpUeV6vVDfZiachttyTsRzHYj3WnVqux4+gVef+R8Pb10qefbziCPSd1q8oGeLliyd+HNYjX8svZI7H/z0TczszHltiL+HHfBbhD+Wvx0fAOOHv9ACQJ2HX8KqYM665YXebE97QY7Me6Yx8ax5i+Mmke+5UrV8LT0xMjRhg/AnTixAn4+PjI+2FhYZW+ktm1axf69etnStOIiCzKlkMX5e1RYe1rOFKMSzfu4PVlFX9Tv3ntEbg4VR4EsUQebk5YNnukvD/rv7uQnlOseL2j+lXMUrQl9mINRxIRWTajR+y1Wi1WrlyJSZMmwcbG8PQ5c+YgOTkZq1atAqCb8SYwMBCdOnWSb7aNjo5GdHS0fM7MmTMxcOBALFiwAI8++ig2bdqEmJgYHDhwoI5PjYjIvDJzC7HvlG7kvLVvU3Rs2VzR+iRJwrSPN6OgqAQA8PKjvTC4Z2tF6xTt8QEd8cyQLvg+5k9k5RXhy99uYOKTytbZp4MfPNwccTszH7uOXkZhcUm9zlxERCSK0SP2MTExSExMxNSpUyv9LjU1FYmJifJ+cXExXn31VXTt2hUDBgzAgQMHsHXrVowePVo+pl+/fvjhhx+wcuVKdO3aFVFRUVi3bh369u1r4lMiIrIMO49eRkmpLs99VFi7e947VFfR+85h/ynd3+DWvk2x4G8RitanlM9mDINvc93iWceuZiPm+FVF67O2tsKIUN2ofV6hBnvirylaHxGRUowO7CMjIyFJEtq1q7zASlRUFPbs2SPvv/7660hISEBBQQHu3r2L/fv3Y/jw4ZXOGzNmDM6fP4/i4mKcO3fOIPAnImqotsYlyNujFF6UqlhTijeXx8j7S//+MJwdbBWtUylNmzjg/14YIu+/+dWvKC37gKQU/denfDExIqKGxqQceyIiqlmpVsLOsoWhXJzsMKBrS0Xr+3LzMVxOyQAAPBASiBGhbe9xhmV7enAXdG/jDQA4deUWVu8+pWh9kb2DYKvWLZ64JfYiV6ElogaJgT0RkQIu38xHRk4hAGBor4qgUQmZuYX4YNVeeX/hixGKp/0ozcpKhQUvPCTvv/PN7ygoUm5RG2cHWzwYEggASLqVjQtJdxSri4hIKQzsiYgUcCY5T95+qEcrRev6aM0B3MkuAACMH9wFPdtXv75IQ/JASCB6tdKtS3LjdjaW/BynaH0Pdg+Ut/eX3fRMRNSQMLAnIlLA2ZRceXuggmk4Kek5csBrp7bGf5576B5nNCyT+vvCykr37cOHaw4gI6dAsbr0X6fym5CJiBoSBvZERIJptRLOlo3YN3d1VHSayyU/x6FIUwoA+PvjfRDo7aZYXebg38wek4d2AwDk5Bfjf5uOKlZXz3a+cLDTTXO5jyP2RNQAMbAnIhLs9LXbyCvSBdv9uwQolu+emVuIL7ccA6AbrX/tyca5sN/rT4XJo/ZLow8rlmtvq7ZGaHALAMD1m1lIvJmlSD1EREphYE9EJNjB0xVpHAO7BihWz5ebjyEnX7cy6+SHQ+Dl7qxYXebU2qcpxj3QCQBwOzMfK7fHK1aXYToOR+2JqGFhYE9EJNj+P5PkbaXy64s1pfhswxEAgEoFvNpIR+vLvfF0uLy9JDoOWq0y01Hqv15MxyGihoaBPRGRQJIk4WBZYO/sYItuZXOxi/bz3rNISc8BADzWvwPa+LkrUo+lCGnjjYe662YXunTjLrYfvqRIPaHBLWBjrfvXuP9P3kBLRA0LA3siIoEup2Qg9a5uRpx+nSqCRJEkScKS6IqpH195IlR4HZZo5hN95e2l6w8rUoejvRq9yqYLPXc9Hbcy8u5xBhGR5WBgT0Qk0L6TFekb4Z39FanjxKU0HD2fAgDo3tYbAxTM47ckI0LbIsi3KQBg97ErSEi+q0g9A7pU9OcBjtoTUQPCwJ6ISCD99I0BXZQJ7L/dGS9vv/RIrwa/ymxtWVtb4W+jesr7q3aeVKSegd30bqD9k3n2RNRwMLAnIhKo/IZLtbVKTukQqVhTijW/ngagm+KyfLaY+8WzEV3lqS9X7TqpyE204Z39Uf5Zad9JjtgTUcPBwJ6ISJBbGXm4kpIBAGjj5Qh7Wxvhdew4koD0rHwAuptmXZ3thddhyXyaNUFkryAAurnmlZiSsmkTB3Rp5QUAiL+chvxCZebNJyISjYE9EZEgJy+nydttvBwVqeNbvfSTSWUrst5vJkZ2lbe/VSgdp2c7HwC6VYTPXLulSB1ERKIxsCciEiQ+oSKwb+XhILz8u9kF2BJ7AQDg7e6MiLKR6/vNY/07wMXJDgDw096zioyoh+hNU6r/uhIRWTIG9kREgsQn3JS3lQjsf/jtNDQlWgDAM0O6KDKVZkPgYKfGuAeCAQC5BcXYsP+c8DoY2BNRQ3R//lcgIlJAeQCotrFCC3c74eWv+fVPeft+TcMpN2loiLz9vV6/iNItyEve1v/ARkRkyRjYExEJUFCkwfmkdABAcEsPqAWPpt/OzMOhM0ly+V1ae93jjMYtvLM/Wni4AAB+++Mq8gqKhZbv6myPVj5uAHT3Tigx+w4RkWgM7ImIBDh99ZYc/HVt7Sm8/G1xlyCVxZaj+rUTXn5Do1KpMDKsLQCgSFOK3cevCK+jW5AuHSevUIPLKcoshkVEJBIDeyIiAU5erkjX0E/jEGXzoYvy9qgwBvYAMCqsvby95dAF4eWHtKl4HfVfXyIiS8XAnohIAP0bLEUH9kXFJdh17DIAoLmrI0KDWwgtv6F6qEcrONqrAQBb4y4JT5cJCeINtETUsDCwJyISQD/wE52Ksyf+GnLLcsiH920L6/t0Npy/sre1QUTP1gCAmxl5OHo+WWj5nBmHiBoa/ncgIqojrVaSUzVaermiaROxU11uidVLw2F+vQH9tCT9fhIhwMsVbmUr+zKwJ6KGgIE9EVEdXUnNkEfUu+mlb4ggSZIcsKptrBB5ny5KVZ0R+oH9IbGBvUqlktOqktNzcDszT2j5RESi2Zi7AUREDZ3+aK7+DZciXLpxF4k3swAAg7oFyiuu1rc7WfnYefQy4s7ewJlrt1FYXAIHOxt0ae2J0I4tMLRPG3l0uz55uzujTwc/HDmfjFNXbuLm3Vx4uTsLKz+kjTf2nrwOQHcD7ZCy1B8iIkvEwJ6IqI4ulM1fDwCdW4nNr9936rq8/VD3QKFl18bl5Lv4eN0hrNp1EgVFJZV+/+sfVwEchpO9GtOGd8c/x/VDgJdrvbbxwe6BOFKWX7//z0SMGRQsrOwueq/nhcR0BvZEZNGYikNEVEeXkzPk7TZ+7kLL3n8qUd4e2LWl0LJrotVKWPJzHDpP/QLLthyvMqjXl1eowafrj6DTlP9h+ZbjkKT6W9BJv1/2630QEiFI7/VM4Fz2RGThOGJPRFRH+gFfkK/YwL58xN7e1ga92vsKLbs6eQXFGP2vH+UpNgHA2cEWU4eFYERoO/Rq7ws3Z3vczSnA0fPJ2HzoAr7dqRvRzy0oxt8++QU7jiZg7TtPwM5W+X8z4Z39oVIBkgTs0/sgJEKQb1N5+3JKRg1HEhGZH0fsiYjqqDzga+7qKDQHPulWFq6lZQIA+nb0q5cgOTuvCA+/8b1BUD9jdB/c+HEWlv5jGCJ7B8HdxQFWVio0d3XEsL5t8cWskUhaNwvPjegun7Nh/3k88vYPyC/UKN5mV2d7+ablk5fTkJlbKKxsv+YusFNbAzD8ZoaIyBIZFdgHBgZCpVJV+pk+fXqVx69fvx4RERHw8PCAi4sLwsLCsHPnToNjoqKiqiyzsFDcH2YiIqUUFGmQkp4DoOGn4dzNLsCQV1fhwJ+6el2d7PDroolY+o9hcL3HjbHNXB3x1auP4Jf5T8OpbNGoXccuY/ib3yMnv0jxtg/sGgBAN2p/8E9xo/ZWViq08tGN2l9JzRC+CBYRkUhGBfZHjx5Famqq/LN7924AwNixY6s8ft++fYiIiMC2bdtw/PhxPPjggxg1ahROnDhhcJyLi4tBuampqbC3r//ZFYiIjHVFLz1DP21DBP0bZweUBa5KKS3V4vF31+Ho+RQAQDMXB/y+eBIe6tHKqHJGhLXDzv97Vv7mYu/J63jqg2jFc+4H6OfZCwzsgYrXtbC4BKl3coSWTUQkklHf63p4eBjsf/TRRwgKCsKgQYOqPH7JkiUG+/Pnz8emTZuwZcsWdO9e8ZWtSqWCt7fYuZ+JiOrDZQUD+/IRe2srFcI6+Qst+6+WRh+WP0h4uzsjZuEEdDJxhp/wLgH4ddFERL72HTJyCrHt8CV8s+0Epo3oIbLJBgZ0qfjgs0/wDbT638RcTsmAn4eL0PKJiEQxOWGzuLgYq1evxuzZs6FSqWp1jlarRU5ODtzdDb+uzs3NRcuWLVFaWoqQkBDMmzfPIPCvSlFREYqKKr7ezc7OBgBoNBpoNMrndIpU3t6G1m5Lw34Ug/1onIt6U1229HI1+BtUlz7MyivE2eu3AejmUrezUSn2mpxLTMdbX/8KAFCpgDVvP4Z2LZrWqb5urT2w8vVH8Ni7PwIAZv1vJwZ1C0BLI6bCNKYf3ZvYoW0Ld1y6cRfHLqQgL78QtmW58XUV6FURyF9Muo2w4Pq5iVkUvqfFYD/WHfvQNMb0l8mB/caNG5GZmYnJkyfX+pxFixYhLy8P48aNkx/r0KEDoqKi0KVLF2RnZ2Pp0qUIDw/HyZMn0bZt22rL+vDDDzF37txKj+/atQuOjo5GPRdLUZ7aRHXDfhSD/Vg7v8fdkLdvXT+HbduS5P269OGZ5Fx528OuGNu2bTO5rJqUaiW8ue4SijSlAIBRIR7ITjqNbUmnhZQ/ONgdv569i5z8Yox+61vMHR0Eq1oOBpWrbT96O2lxCYCmRIuv12xEoIeDCS2u7E5ytry9c98xeJQmCym3vvE9LQb7se7Yh8bJz8+v9bEmB/YrVqzAsGHD4Otbu5GLtWvX4v3338emTZvg6Vnx9W5oaChCQ0Pl/fDwcPTo0QOfffYZPv3002rLmzNnDmbPni3vZ2dnw9/fH5GRkXBxaVhfk2o0GuzevRsRERFQq9Xmbk6DxX4Ug/1onC8O/ABAN2r/7BPD4dXUWUgfXt14FEACAGDUg70xfLgyaSwfrT2ISzd1/zTatXDHdx9MhoOduNc9fFAherzwNZJuZ+PPpFwklXrhpUd61epcY/vxbG4s9l/4HQDQxLcdhkd0qVPbywUl3cG/Ny0DAKgc3TF8+HAh5dYXvqfFYD/WHfvQNOVZKbVhUmB//fp1xMTEYP369bU6ft26dZg2bRp++uknDBkypMZjrays0Lt3b1y6dKnG4+zs7GBnV3laObVa3WAvlobcdkvCfhSD/Vg7V8qmo3SyV8PPw80gNbEufXj6WkWKT8/2foq8FheT7mDed/sB6GZ/WTXncbg4i/3Gs7mbGt+88SgiXv0OADDn698xemAntDAiT722/diznZ+8febabWF91rZFc3me/KtpWQ32fcH3tBjsx7pjHxrHmL4yaR77lStXwtPTEyNGjLjnsWvXrsXkyZOxZs2aWh0vSRLi4+Ph4+NjStOIiOpNaalWnmc+yNe91vcb1UZ8QhoAXc57ZxNvYr2XD9ccgKZECwB47cl+6BvcQpF6hvRsjRcf6QkAyC/UYOG6Q4rU0y3IS96OT7gprFw7Wxv4e+ruDbjM1WeJyIIZHdhrtVqsXLkSkyZNgo2N4YD/nDlzMHHiRHl/7dq1mDhxIhYtWoTQ0FCkpaUhLS0NWVlZ8jFz587Fzp07ceXKFcTHx2PatGmIj4/Hiy++WIenRUSkvKTb2XJgHOQnbkYcTUkpTl+9BQBo16IZnBxshZVd7npaJlbvPgUAcHO2x1vPDBBeh74PpjwIBzvd/4zlvxzHrYw84XV4uTvD290ZABB/OU3oFJvlMx5l5BQiI6dAWLlERCIZHdjHxMQgMTERU6dOrfS71NRUJCZWzB+8bNkylJSUYPr06fDx8ZF/Zs6cKR+TmZmJF154AR07dkRkZCSSk5Oxb98+9OnTx8SnRERUP5JuVQxSBHq5CSv3QtId+WbWkDbKTAX88bpDKCnVfSiZMbqP0BVzq+Lh5oQXRupG7QuKSrDk5zhF6invr7vZBbhxu/Z5qffSyttN3k66Ja5cIiKRjM6xj4yMrHYUJCoqymB/z5499yxv8eLFWLx4sbHNICIyu5t6o87lI8UinCxLwwGUCewzcwuxckc8AN29ATNG9xVeR1Vee7Ifvth8DMWaUiz75TjenThQ6I26ABDSxgs7juhuOj55+aacQlNXXk0rXt+bGbkAvKo/mIjITEzKsSciIuDm3YopKb2aOgkr9+TlivxwJQL7qB3xyC/UzYs8ZVgImrnWzxTBfh4uePKBTgB0I+o//CZmSk19IUEV/XXycloNRxpH//W9qUAaERGRCAzsiYhMpB/geQkcsb+UXHGDZseA5sLKBQCtVsJ/Nx6V96c/Vr9pj39/vKK+zzYcEZoHDwAdW1askH7phrgbXfVfX92IPRGR5WFgT0RkIv0AT+SIfUJZYK+2sTJqWsjaOPBnolz+kJ6t0UHwB4d76dPRD7076NY/OXEpzeDbCRFa+1bcxJyQLDCw1x+xv8sReyKyTAzsiYhMZDBi31TMiL0kSbiSmgEAaOXTFNbWYv9Mbz50Qd6eNLSb0LJra/LQEHl7i157RHB2sJWD8MspGcLK9TYYsWdgT0SWiYE9EZGJ9AM8Dzcxeeppd3Pl/PcgX3FTaJbbEnsRAGBtpcLwvm2Fl18bI8PaVWqPSEG+7gB0fZlXUCykzMo3zxIRWR4G9kREJioP8Jq5OEBtYy2kTP1RZtGB/YXEdFxMugMACO8cAHcXB6Hl11aAl6u8mNTR8ylIvZMjtHz9fiv/9qOumjaxh9pG9y+TI/ZEZKkY2BMRmUCSJKSVzYojKg0HAC7r5YW3KRt5FkV/dHxUv3Y1HKk8/fq3xl0SWnYbv4p+E5WOo1Kp4OmmS/FJu8sReyKyTAzsiYhMkFtQjIKiEgCAl7vAG2dTKgL7ID/Bgf0hvcA+zMyBfVh7eVu/XSIEKXYDre4D3O3MPGi1YmfzISISgYE9EZEJDBanEjpir0wqzt3sAhw8rVsZvG0Ld7Sv59lw/qpXe1/5htTdxy+joEgjrOwggxF7kVNe6j7AlWol3MnOF1YuEZEoDOyJiExgsDiVwBH7azcz5e1WPuIC++2HL6G0bJTZ3KP1AGBlpcKIUN3NuwVFJfjtj6vCytb/QHQ1NVNYuYY30DLPnogsDwN7IiITKDHVJVCRv+3u4gB7Wxth5R4oG60HgBGh5g/sARjMyqPfvrpq5uIIG2vxN7p6u+vPZc88eyKyPAzsiYhMcDuzImAsv6myriRJkgNRkQteAUB8QsVCUL3a+wot21R9OvrJ2/rtqysrKxU8y/pP5NSU+q/zrUyO2BOR5WFgT0Rkghy9+dFdneyElJlbUCzPYS/yW4DSUi1OXdEFzq19m8JFUHvryq95E3nKzfiENKFll38wupUh7kZXF8eKfssVND8+EZFIDOyJiEygH9g5OdgKKdPghlx3cYF9QvJd+QNDSJC3sHLrSqVSye1Ju5srdBrJ8v4r1Uq4m1MgpExnvdeZgT0RWSIG9kREJsgrrAjsnEUF9vo35ApMxdEfDQ9p4yWsXBH023NS4Ki9wY2ugj4w6H+AyysUN4sPEZEoDOyJiExgMGJvrxZSpuENueIC+5OXK/LXu1nQiD0AhLSpaI9+O+tKv/9E3UDLEXsisnQM7ImITJBXUDFi62QvKhVHf8ReXCpO/GX9EXvLDexF5tkbBvaCRuz1PsDpf2NDRGQpGNgTEZkgV4lUHIVG7MsD5qZN7OHv6SKsXBE6BDSHrdoagOEHkLpSYs55wxF7puIQkeVhYE9EZALDEXsxqTgGU2gKCuzvZOUj9Y5uxLpbkDdUKpWQckVR21ijU6AHAOBC0h0UFZcIKVe//24LmppS/5uZPKbiEJEFYmBPRGQCJWbF0R8F1p9asS5S7uTI26283YSUKVorb91KsVqtJGx+eCWmpjRMxeGIPRFZHgb2REQmKM+xtlNby6uc1pXSU2h6uYtd9EoUJW501Q/CRQX2vHmWiCwdA3siIhOUB3ai8uuB+phCU9wNuSLpf+AQNTWlswJTU9qqrWFtpSork4E9EVkeBvZERCYoD+xFjazrlwlY/hSaIul/4BC1SJWTAqPrKpVK/sDAEXsiskQM7ImITFA+CuwsaKpL/TLVNlZQ21gLKVOpKTRFUjoVR2Q+fPkHBubYE5ElYmBPRGQkSZLkVAwnBzEj60BFeofI9J6GNmIvas55e1sbWJWlzYgcXS//wMAReyKyRAzsiYiMVKQphSTpth1sxQX2cnqPwG8B9AN7b3fLHLHXb5eoEXuVSiUH4SLz4R3tdGUWFHHEnogsDwN7IiIjabWSvC1qRhxAL71H6Ii9bgTcxtoKTZs4CCtXJCVScQAokg9vbaV7vbWSdI8jiYjqHwN7IiIj6Qd1Itd7Kl/0qHxUWITbmfkAAA83Rzk1xdI4OdjCsWx0/ZbAwL78mw+R+fDlfaj/4Y6IyFIwsCciMpJ+UCcyWC4tK1dtI+5Pc5FGt5Krg6APC3kFxVA9OBeqB+cKXX3VwdYGAFBcUiqszPJvU0pLtcLKtCr7JMcReyKyRAzsiYiMJOkFdVaChuwNyhT4YaGkLKgVmTKkhPL2lVh4EF7+2kiS4WtGRGQJjPpLHxgYCJVKVeln+vTp1Z6zd+9e9OzZE/b29mjdujW+/PLLSsdER0cjODgYdnZ2CA4OxoYNG4x/JkRE9USrQBBu8C2AwPweObC3qltgn1dQrPvRS2vJK9TIj9eVIoG9Amkz+q8N43oisjQ2xhx89OhRlJZWfE16+vRpREREYOzYsVUef/XqVQwfPhzPP/88Vq9ejYMHD+Lll1+Gh4cHnnjiCQBAbGwsnnzyScybNw+PP/44NmzYgHHjxuHAgQPo27dvHZ4aEZEylAjClfiwAFQEytbWdSvTefiHlR7zGr1Q3pZ+f69O5Vs3sBH78nKtYJn3LRDR/cmowN7Dw8Ng/6OPPkJQUBAGDRpU5fFffvklAgICsGTJEgBAx44dcezYMSxcuFAO7JcsWYKIiAjMmTMHADBnzhzs3bsXS5Yswdq1a419PkREilNioFap0d/yDyEivwVQghJBePlTFjlir9+NWq0EiFlHjIhICKMCe33FxcVYvXo1Zs+eDVU1/zBiY2MRGRlp8NjQoUOxYsUKaDQaqNVqxMbGYtasWZWOKf8wUJ2ioiIUFRXJ+9nZ2QAAjUYDjaZhzS9c3t6G1m5Lw34Ug/14b6UlJfK2Vqut1Fem9KH+DZ5VlWkqG2srFGlKUVJatzIzNr0KQJd+0+LJpQCAG+tmynPF17W9pXLKkKpS/5ladqm27NsKKyth/WnwOpWWQANx3zAohe9pMdiPdcc+NI0x/WVyYL9x40ZkZmZi8uTJ1R6TlpYGLy8vg8e8vLxQUlKC9PR0+Pj4VHtMWlpajfV/+OGHmDt3bqXHd+3aBUdHx9o/EQuye/duczehUWA/isF+rF5uYUVgf/PmLWzbtq3K44zpQ/2R6jt3Mqot01iSVpc+mZWVLaTMQk1FOuaBfb/BXi1myDo3Xzctp6a4qFI7Tb0Ws7NzAABabamw/rxz9668vWPH9moHtiwR39NisB/rjn1onPyyv4+1YXJgv2LFCgwbNgy+vr41HvfXP3rlswjoP17VMff6YzlnzhzMnj1b3s/Ozoa/vz8iIyPh4uJSq+dgKTQaDXbv3o2IiAio1eLmr77fsB/FYD/eW1ZeIfDlaQBAs+bNMXz4cIPfm9KHkiQBS08CAFzd3CqVaSqHby4gv7gA9g6OQsrMKygG/vsnAGBo5FA4CVpMy2blRQAlaOLsJLezrtfim+uTgDuFsFWrhfXn/B23gFTdP9kRI0YIKVNpfE+LwX6sO/ahacqzUmrDpMD++vXriImJwfr162s8ztvbu9LI+61bt2BjY4NmzZrVeMxfR/H/ys7ODnZ2dpUeV6vVDfZiachttyTsRzHYj9Wzs9VLv1Cpqu0nY/tQpdLl2mslSVjfy7PNaMWU6aZW1/lG2aqUlKfNWFtVaqep12L5lyAqFYT1Z/n3KlZW1b/ulorvaTHYj3XHPjSOMX1l0vxnK1euhKen5z1HK8LCwip93bJr1y706tVLbmR1x/Tr18+UphERKU7/RlSRN2baqXVjLUXF4hZpauKoGwDJzC0UVqZopaVaZOfp7plycaw8YGOqwmJdypS9rclfTlfSUG5GJqL7k9GBvVarxcqVKzFp0iTY2Bj+sZwzZw4mTpwo77/44ou4fv06Zs+ejXPnzuGbb77BihUr8Oqrr8rHzJw5E7t27cKCBQtw/vx5LFiwADExMXjllVdMf1ZERAr665SHopTfiJpXKG5FV6+mTgB0gX15oGtp7mQXyKvuejV1FlZu+Zz7otKFgIrXW+SUpEREohgd2MfExCAxMRFTp06t9LvU1FQkJibK+61atcK2bduwZ88ehISEYN68efj000/lqS4BoF+/fvjhhx+wcuVKdO3aFVFRUVi3bh3nsCcii6W/imuxRtzoenkAmitgwady+oHyrYw8YeWKdDMjV94u/yAiQnk/OtuLC+zLX29LX8mXiO5PRn8/GRkZWe0y2lFRUZUeGzRoEP74448ayxwzZgzGjBljbFOIiMxCbWMNtY0VNCVag5VY66o8ABVZpn6gfDMjFwFersLKFuWm3gcOL3cxgX1pqVb+hsLJQVwur/wtgD3zg4nI8nDIgYjIBM4O5UG4uNH18gA0r7C42gEUY+kHyjctdcT+bsWIvbegVBz9D0fOAlNxyl9vkWUSEYnCwJ6IyATOCqTNOJWN2EsSUFAkJh9ePxVHP4C2JIYj9qIC+4rXxUlgKk756y2yTCIiURjYExGZwEmBtBn9UWBRHxgMU3EsdMRegRx7/f4TNbqu1UryBy6O2BORJWJgT0RkAv0Re1FpM/p526JSfPRH7NMsdMQ+7a7eiL0CqTii8uHzi8SXSUQkEgN7IiITlAd2Wq2EIkEz4yg9Ym+5gb34Efs8BUbslfgWgIhIJAb2REQmUCIId3WqWJwpI0fMglItPFzkqRnPXr8tpEzRytvl4mQHdxcHIWXezSmQt/X7tS70Pywwx56ILBEDeyIiE+gHdnnCRtf1bnTNEDO6bmdrg+CWHgCA84npFrdI1Z2sfNy4nQ0ACAnyhkrQiq4GN+QKSu8xHLFnKg4RWR4G9kREJtAP7Cz9RteQNt4AgFKthDNXbwkrV4STl2/K2yFtvISVq8QNuYZ5+xyxJyLLw8CeiMgEBiP2gmbG0Z/qUdSIPWAYMMcnpAkrVwT99pR/ABHh5l2Fp9DkiD0RWSAG9kREJmhIN7rqB8zxl++PwF6JG3J58ywRWToG9kREJtAfsRU1NaW3wYi9uFScbkEVAbN+6oslKP+gYWNtJd8LIIISOfZMxSEiS8fAnojIBM724kfsPdycUH7vqH4qSV25uzjA39MFgG6EXKsVM+9+XRUWl+Dc9XQAQMeWzWFnayOs7PJUJmcHWzgKmnOeI/ZEZOkY2BMRmcDN2V7evpNdUMORtWdjbYVmLo4AxObYAxVpLjn5xbiamiG0bFOdvXYbJaVaALoZcUQqH7EXlYYDAHey8+Vt/defiMhSMLAnIjKBUje6lgeiNzPyhK1oCwA92vrI23tPXhdWbl3sib8mb3dvKy6wLyouQWaubh0AUWk4wF9uyBX4gYGISBQG9kREJjCYmlJg2oxfc13KTGFxCW5n5t/j6Nob2jtI3t4Se1FYuXWh346H+7QRVm7irSx52695E2HlKpG3T0QkEgN7IiITKHWja5BvU3n7cspdYeX26eAHz7IPI7uOXTb7QlUZOQXYf0r3zUGQb1N0CGgurOzLKRWpRkF+TWs40jhKzI1PRCQSA3siIhMY3OgqMBVHPxDVD1DrytraCiP6tgUA5Bdq8PuJq8LKNsWOIwkoLbuJd1S/dsJWnAWAy8kVH4iCfN2FlVv+Ac7ZwRZOvHmWiCwQA3siIhMY3ugqcsS+IhAVOWIP6ALoclsOmTcdR7/+UWHthZZtMGLvK37EnqP1RGSpGNgTEZmo4kbXXGE3uhqk4iSLnb0molcQbNXWAHT57SJvzjWGpqQU248kAABcnewwoGuA0PINA3sxI/ZFxSXIyBF/Qy4RkUgM7ImITFQe4BUUlQiby761jzKpOIAuheSh7q0AADduZxus+lqfDp5OkmetebhPG6htrIWWX/5Nh53aGi08XISUeStT78ZZd47YE5FlYmBPRGQig5lxBKXjODnYwqeZ7gOD6FQcABgVVpGOs37/OeHl18b6fRX16rdHBEmScKVsnv5WPk1hZSUmd99wRhwG9kRkmRjYExGZSH/k9uZdgTfQlqWP3MzIE/ZNQLnH+neAdVmw+/XWEyjWlAot/15yC4qxatdJAIC9rQ2Gh7YVWn7qnVwUFOlm/BGaX39Xf0YcpuIQkWViYE9EZCL9AE+pKS8TksWO2vs2b4LH+ncAAKTdza33Ufvvd59CVl4RAGD84M5o2sRBaPmXbtyRt8XeOMsReyKyfAzsiYhMZJiKI27EPrilh7x96vJNYeWW+/vjfeTtz9YfEV5+dSRJwucbj8r70x/rU8PRpjl1paK/9PuxrgznsOeIPRFZJgb2REQmUmrEPqSNt7x98rL4G1wHdWuJToG6oPfQmSR5oSilbYu7hNNXbwEAwjq1QI92PsLrOKn3QUi/H+uKI/ZE1BAwsCciMpH+6rPJ6dnCyu0W5CVvxyeIH7FXqVR4/alwef8/q/cLr+OvJEnCv/XqeUOvfpHKZ/qxslKhS2uvexxdeynpOfK2/utORGRJGNgTEZmolY+bvH0lJVNYuV7uznLwGH85TZH55p8e3BmB3m4AgJ1HL+PIuWThdej79Y+riDt7AwDQuZUnRvUTuygVoJsfv/wbgbZ+7nC0Vwsru3zqUWsrFfw9XYWVS0QkEgN7IiITNW3iAHcX3c2fCYKnpixPI7mbXYAbt8V9G1BObWONN56uGDX/2ye/KDZDTn6hBi8v2Srvv/VMf2HTUOq7kHQHRWXPQWQajiRJ8usb4OUqL/JFRGRpGNgTEdVB+cwrSbeyUFRcIqzckDb66TjKLCQ15eEQdG7lKdfxn9X7FKnnra9/xaUbusC4b0c/jHugkyL16PeTyMD+TnYBsstm8hG1ki0RkRIY2BMR1UF5oCdJwLW0TGHlhgTp30ArPs8eAOxsbfDtm4/Bxlr3r+A/q/fj+IUUoXXsib+GpdGHAejmrf/2zcdgba3Mvx79G41FBvaX9aYcFTmFJhGRaEb/dU1OTsazzz6LZs2awdHRESEhITh+/Hi1x0+ePBkqlarST6dOFSM2UVFRVR5TWFho2rMiIqon+oFeeR62CN30AtMTl5QZsQeAHu188PazAwAApVoJkz7aKOybh5z8IkxZsEnen//cQ2gf0FxI2VXRv9FY/wbkutJ/XRnYE5ElMyqwz8jIQHh4ONRqNbZv346zZ89i0aJFcHNzq/acpUuXIjU1Vf5JSkqCu7s7xo4da3Cci4uLwXGpqamwt7c36UkREdUXw8BeXJ59Wz93OJXd/Bl37oYiN9CWe/vZAejeVvdB4sy123hjeUyd65MkCTM/2yF/izGwa0vMfCK0rk2tVmmpFkfO624A9ta7+VgE/deVqThEZMlsjDl4wYIF8Pf3x8qVK+XHAgMDazzH1dUVrq4VMwhs3LgRGRkZmDJlisFxKpUK3t7ivjolIqoP+oGeyFVira2t0K+zP3Yfu4KU9BxcTc1Ea4VGi9U21lg153H0/NtyFGtKsTT6MOxtbfDh84OhUhl/k6tWK2H60q1YuSMeAOBkr8bKNx5V5IbZcqeu3JTz4Pt3CTCp3dXhiD0RNRRGBfabN2/G0KFDMXbsWOzduxd+fn54+eWX8fzzz9e6jBUrVmDIkCFo2bKlweO5ublo2bIlSktLERISgnnz5qF79+7VllNUVISioiJ5PztbN2uERqOBRqMx5mmZXXl7G1q7LQ37UQz2o3ECPJvI2wnJdw3+BtW1D8M7tcDuY1cAAL+fuAJ/j651Kq8m7Vs0xScvReDvn+4AACxYexC5+UVY9FKEUQF5aakWL3yyFd/t/hMAoFIBn88YBn8PZ6P7w5h+/P3EFXk7vJOf0Os3IfmOvB3g2aTBvTf4nhaD/Vh37EPTGNNfKsmI71vLU2Nmz56NsWPH4siRI3jllVewbNkyTJw48Z7np6amwt/fH2vWrMG4cePkx+Pi4pCQkIAuXbogOzsbS5cuxbZt23Dy5Em0bdu2yrLef/99zJ07t9Lja9asgaOjY22fEhFRnWglCU99fgrFpRJaNLXD55M6Civ79I1cvPNzAgBgcLA7/hEZIKzs6uw8lY4vfrsh7/dp7YKXB/vDzenec8LfzinG57uTcDJRt5iTlQqYObQlBnVQfpT7o1+uIi4hCwCw+Jn2aOXhIKzsKV+dRkZeCdwcbRD1Qmdh5RIR1UZ+fj7Gjx+PrKwsuLi41HisUYG9ra0tevXqhUOHDsmPzZgxA0ePHkVsbOw9z//www+xaNEipKSkwNbWttrjtFotevTogYEDB+LTTz+t8piqRuz9/f2Rnp5+zydtaTQaDXbv3o2IiAio1eIWVLnfsB/FYD8ar9vzy3Huejrs1NbI2vI6SktLhPRhQZEGHqM/QbGmFG18m+Js1EsCW12973b/iecX/QKtVvfvoZmLA15/qh+mDusGV6fK9z7dyc7HV1tPYOG6OGTn6/4uq22ssPqtx/B4/w4mt6O216IkSWgxbiluZ+XDzdkeqT+9ImzmnbyCYjR9dCEAICy4BfYuufcglqXhe1oM9mPdsQ9Nk52djebNm9cqsDcqFcfHxwfBwcEGj3Xs2BHR0dH3PFeSJHzzzTeYMGFCjUE9AFhZWaF37964dOlStcfY2dnBzs6u0uNqtbrBXiwNue2WhP0oBvux9tr4uePc9XQUaUpxK6sA3k113xrWtQ/VajX6dPDDgT8TkZCSgfTsQvg0a3LvE+to6vAe8GzqjGkfb8atjDzcyS7AG8t/xQer9iG8cwB6d/CFq5Md7uYU4Oj5FBw8nYRCvZl0/Jo3wbdvPobBPVsLac+9+vF8YjpuZ+UDAMI7+8PevvL/BlMlJVXcN9HGz71Bvyf4nhaD/Vh37EPjGNNXRgX24eHhuHDhgsFjFy9erJQvX5W9e/ciISEB06ZNu+exkiQhPj4eXbp0MaZ5RERmoX9DZULyXTmwF2FAlwAc+DMRALD/VCLGPajM4k5/NTKsHU5/8xJmfLYDP/x2GgCQV6jBrmOXsevY5SrPsbJSYVJkN3wyfSjcnOtvVrP9p67L2wO73vv/kTEMbpz1442zRGTZjPquctasWYiLi8P8+fORkJCANWvWYPny5Zg+fbp8zJw5c6rMt1+xYgX69u2Lzp0r5yfOnTsXO3fuxJUrVxAfH49p06YhPj4eL774oglPiYiofrXRmxnnYtKdGo403sBuFYHq3pPXhJZ9Lx5uTlj77hM4/+10vPhIT3g1daryON/mTTBjdB9c+u4f+OaNR+s1qAeAfacS5W39/hJB//XkVJdEZOmMGrHv3bs3NmzYgDlz5uCDDz5Aq1atsGTJEjzzzDPyMampqUhMTDQ4LysrC9HR0Vi6dGmV5WZmZuKFF15AWloaXF1d0b17d+zbtw99+vQx4SkREdWvLq0rFkMSvUpsv07+sLZSoVQrYefRy5AkSehUjrXRPqA5vpg1Ev97ZQQSb2bh9NVbKCgugaOdGl2DvNDCw3z3NWm1kvwNgpO9Gj3a+ggtX//17Npa3KJXRERKMCqwB4CRI0di5MiR1f4+Kiqq0mOurq7Iz8+v9pzFixdj8eLFxjaFiMgidNVb5TT+sthVYl2c7DCga0vsib+GyykZOJ+Yjo4tPYTWUVsqlQotvd3Q0tvNLPVX5cj5ZNzKyAMARPQKgq3aWmj58Qm611NtY4UOCq6aS0QkgphpA4iI7mNuzvYILAt2T12+Kc8mI8qosHby9pZDF4WW3dBtOVRx35d+P4lQUKTB+aR0AECnQE/hHxqIiERjYE9EJEBIG93K2XmFGlxOzbjH0cYZ1U8vsI9lYK+vvD9UKmBEaNXrnpjqzLXb8oe08teXiMiSMbAnIhIgpI1yefZtWzST00AOnUnCnazqUxvvJ9fTMvHnlVsAgD4d/ODl7iy0/PI0HAAICWJ+PRFZPgb2REQChARVjOiKDuyBijQTrVbCtsPVr/FxP9H/9kL/Ww1RDAJ7jtgTUQPAwJ6ISAD9wO+UEoF9P+bZ/5V+P4wKay+8fP3AvhsDeyJqABjYExEJEODlKs/frsSIfVgnf7i7OAAAdhxNQEGRRngdDUlmbiH2lM3rH+Dlii6tPYWWr9VK8usY6O1W73PzExGZgoE9EZEAKpUK3crysFPu5CIrv0Ro+TbWVni0n25UOie/GJsPXrjHGY3bj7+fQbGmFAAwekAH4XP7X03NQG5BMQDIrysRkaVjYE9EJIh+Os619ALh5U8c2k3e/nbXSeHlNyTf7qx4/hMju9VwpGmYX09EDREDeyIiQfQDwKu3xQf2A7u2REsvVwDAzqOXkXY3V3gdDcGlG3dw6EwSAKBLa09FAm/9hcYY2BNRQ8HAnohIEP0A8Mot8YG9lZUKEyK7AtDlgH8fc0p4HQ3Bql2Go/Wi03AAID6h4j4JBvZE1FAwsCciEiS4pQfsylYnvZCWp0gd+mkn3+48CUkSu8qtpdNqJXy3S/eBxspKhWeGdBFehyRJiDt7AwDQtIm9/C0JEZGlY2BPRCSIrdoafTr6AQBuZhUjOT1HeB1tWzRDWKcWAIA/r9xSZAYeS7bv1HVcv5kFAIjsFQSfZk2E13E+MR3pZYuA9e8SoMg3AkRESmBgT0Qk0MCuLeXtA38mKlLHJL1R+2+2nVCkDkul/3wnDRV/0ywA7Dt5Xd7Wfz2JiCwdA3siIoEMA/skRep48qHOcLCzAQBE7YxHdl6RIvVYmpt3c7FuzxkAgJuzPR4NF78oFQDsO1XxgYyBPRE1JAzsiYgECuvUAlZWutSNA6eVCezdnO3lXPuc/GJ8s/3+GLX/cssxee76F0b2gIOdWngdkiRh3yndiL2jvRrd2/LGWSJqOBjYExEJ1MTRDt3LZlE5c+027pTlaos2Y3RfefvT9YdRWqpVpB5LUVRcgv9tOgYAsLZSYfpjfRSp5/rNLNy4nQ0A6NfJH2oba0XqISJSAgN7IiLBBnTxl7eVyrMPDvTA0N5BAICrqZmI3ndOkXosxapdJ3ErQzfT0OgBHRGg0Ew1hvn1AYrUQUSkFAb2RESChXeuCOz3KxTYA8CrT/aTtxesPdhop74sLdXi43WH5P3XnupXw9F1s//PisB+APPriaiBYWBPRCSYfmBfnq+thME9WqFHWx8AwB+XUhFz/IpidZnTxoMXcOnGXQDAg90D0buDn2J1ld84q7axQt+OytVDRKQEBvZERII1d3VEQDN7AMAfF1ORW1CsSD0qlQpvjg+X99/95vdGN2pfqpUwd9U+ef/Np/srVlfa3VxcTLoDAOjTwU+Rm3OJiJTEwJ6ISAHBvk4AdIFp7BllZscBdPnmnVt5AgAOn0vGT3vOKlaXOcScuYPzibpgOzS4BSJ6tVasLv37IQYwv56IGiAG9kRECgj2c5a3955ULh3H2toK//e3IfL+nK9/RVFxiWL11afcgmKsjU2T9xe9FKnoKrBcmIqIGjoG9kRECujUwkne3nn0sqJ1PdynDQb3aAUAuJKSgS82H1O0vvryyU9xyMzXfUgZPaAj+undu6CEHUcTAOim0+zXSdm6iIiUwMCeiEgBzZxt0bW1LkXm2IUUpKTnKFaXSqXCxy9GoHww+4NVe5GRU6BYffUh9U4OPvnpMADAxtoKH70wWNH6LiSmyzfo9u8SAFdne0XrIyJSAgN7IiKFjAxrK29vjbuoaF3d2/rg2SFdAQAZOYX493f77nGGZXv3m9+RX6QBALwwsjvatmimaH1bYiten1H92ilaFxGRUhjYExEpZGRoRWCvHzgq5d/THoKdWrdS6pLow4g7e0PxOpWw+9hlrNh2AgDgaGuFt59RbiaccpsPXZC3R4W1V7w+IiIlMLAnIlJIj7Y+8HbX3UQbc/wKCspGoJUS4OWKf00cBADQaiVM+mgj8guVrVO0rNxCTP2/zfL+s+E+8HBzquGMuruTlY+Dp3UzF7Xzb4Z2/sp+O0BEpBQG9kRECrGyUsnpOAVFJfj1j6uK1/n60+HoU7aA08WkO3h7xa+K1ynSrP/uxI3b2QCAh7oH4uGuzRWvc/uRBGi1uvn/R4UxDYeIGi4G9kRECtJP69iil+6hFBtrK3w75zHY29oAAJZGHzaYxtGS/RJ7ESt3xAMAmjjaYvk/R8BKwekty205pJdfz8CeiBowBvZERAoa0rO1HGT/EnepXlaG7RDQHP+Z9hAAQJKAyQs2IjO3UPF66+JWRh5eWLRF3l/88lAEeLoqXm+xplSe5rJpE3uEd+HCVETUcBkd2CcnJ+PZZ59Fs2bN4OjoiJCQEBw/frza4/fs2QOVSlXp5/z58wbHRUdHIzg4GHZ2dggODsaGDRuMfzZERBbG0V4tzzGfkp6DPy6m1ku9M5/oK6+eejU1E2Pf/wmaktJ6qdtYhcUleOzdH5B6JxcAMLxvW0wd3r1e6t5/6jqy84oAAMP6tIWNNce7iKjhMuovWEZGBsLDw6FWq7F9+3acPXsWixYtgpub2z3PvXDhAlJTU+Wftm0rZouIjY3Fk08+iQkTJuDkyZOYMGECxo0bh8OHDxv9hIiILI1+ekd9zI4D6FakXTXncTR3dQSgu3n3H59ur5dvDIwhSRKmLtiE2DO6GXz8mjfB16+NUnSFWX2c5pKIGhOjAvsFCxbA398fK1euRJ8+fRAYGIjBgwcjKCjonud6enrC29tb/rG2tpZ/t2TJEkRERGDOnDno0KED5syZg8GDB2PJkiVGPyEiIkszUj+wP1Q/gT0ABHq7YcO8J2FbNgXmsi3H8Wm0ZQ2YzFu1D2t/Ow1A9+3GlvlPw6dZk3qpW5IkObC3sbbCw33a1Eu9RERKsTHm4M2bN2Po0KEYO3Ys9u7dCz8/P7z88st4/vnn73lu9+7dUVhYiODgYLzzzjt48MEH5d/FxsZi1qxZBscPHTq0xsC+qKgIRUVF8n52tm4WBY1GA42mYU3vVt7ehtZuS8N+FIP9WHd/7UNPNwd0b+ONEwlp+ONSKi4k3kJrn6b10pa+HXywbNYITCmbQnL2F7vg79nEIm4SXfvbGbwXtQcAoFIBq958FJ0Dm1fqP6WuxfjLN3ElJQMA0L+zP5zsrBvldc/3tBjsx7pjH5rGmP5SSUZ8L2tvr1tie/bs2Rg7diyOHDmCV155BcuWLcPEiROrPOfChQvYt28fevbsiaKiInz33Xf48ssvsWfPHgwcOBAAYGtri6ioKIwfP14+b82aNZgyZYpB8K7v/fffx9y5cys9vmbNGjg6Otb2KRER1Yvoozfx3UFdfv1Tod54KtS7Xuv//lAqfjpyEwBgY6XCK0MD0L99/Xy4qMru03fwxa9JKJtlEpMH+OKxnp712oZv9iZj84nbAIC/PdgCw7opP7UmEZGx8vPzMX78eGRlZcHFxaXGY40K7G1tbdGrVy8cOnRIfmzGjBk4evQoYmNja93AUaN0+ZObN2+Wy/3222/x9NNPy8d8//33mDZtGgoLq57JoaoRe39/f6Snp9/zSVsajUaD3bt3IyIiAmq12tzNabDYj2KwH+uuqj68cTsbQc9+DkkCWvu44VzUS/WWRw6ULVi1YBPW/X4WgG6EfOn0oXjxkZ711gZAl/7y8bpYvPPNHvmx54aH4L8zh1XqDyWvRU1JKVqN/wy3MvNhq7ZG4toZcHdxEFqHpeB7Wgz2Y92xD02TnZ2N5s2b1yqwNyoVx8fHB8HBwQaPdezYEdHR0UY1MDQ0FKtXr5b3vb29kZaWZnDMrVu34OXlVW0ZdnZ2sLOzq/S4Wq1usBdLQ267JWE/isF+rDv9Pmzl2wxDerbG7mNXcCU1E0cupKF/PU+tuPrtJ+DsYIcV205AkoAZn+/EnZxCvDdpUL18yNBqJbz25S588lOc/NisMaFY+FIkrKyqr1+Ja3Hnsau4lZkPAHikX3t4NWtYA0Km4HtaDPZj3bEPjWNMXxl182x4eDguXDBcYOXixYto2bKlMcXgxIkT8PHxkffDwsKwe/dug2N27dqFfv36GVUuEZElmxjZTd7+dmd8vddvY22Fr14dhTfHh8uPzf12L8bN/Rm3M/MUrTslPQej3lprENTPf+4hLHq55qBeKat2npS3J0Z2rff6iYiUYNSI/axZs9CvXz/Mnz8f48aNw5EjR7B8+XIsX75cPmbOnDlITk7GqlWrAOhmvAkMDESnTp1QXFyM1atXIzo62mCUf+bMmRg4cCAWLFiARx99FJs2bUJMTAwOHDgg6GkSEZnf4/07wNnBFrkFxfhxz1l8+o9hcLCr31ErlUqFD58fAg9XJ/zzi10AgJ/3nsXek9fw5ayRGD2wo9D6JEnC9zF/4h+fbpcXybKyUuHLWSPw/Mj6TQMql5FTgE1lqwB7uDlyNhwiajSMGrHv3bs3NmzYgLVr16Jz586YN28elixZgmeeeUY+JjU1FYmJifJ+cXExXn31VXTt2hUDBgzAgQMHsHXrVowePVo+pl+/fvjhhx+wcuVKdO3aFVFRUVi3bh369u0r4CkSEVkGJwdbjBmkS2fMzivCpoMX7nGGcmaPC8PP749Fs7K88tuZ+XjivR8xfl40rqZmCKnjYtIdjP7Xj5gwf4Mc1Hu7O+OX+U+bLagHgB9/P4NijW6xrmeGdIHaxvoeZxARNQxGjdgDwMiRIzFy5Mhqfx8VFWWw//rrr+P111+/Z7ljxozBmDFjjG0OEVGDMmloN0TtiAcArNp1Ek891NlsbXliUDD6dwnAi4u3YuMB3Wrga387jXV7zuDx/h0wa0wo+nX2Nyr/XpIk/H7iGhb/HIetcRehPz3D+MFd8NmMYWa/SfXbXfppON1qOJKIqGExOrAnIiLTDezaEi29XHH9ZhZ2Hr2M1Ds59bYgU1W83J2x/oNxWBPzJ/5eli6j1UqI3ncO0fvOoUdbH0T2bo2wYH+EBreAZ1OnSmWk3slB3NkbiD1zAzuOJuDPK7cMfu/h5qhImo8pLt24I69y26W1J0La1O+0o0RESmJgT0RUj6ysVJgQ2RX//m4/tFpd/vmrT5p3ogCVSoVnIrpiaJ82WLblGD7fcBRpd3MBAH9cSsUfl1LlY/09XdDU2QF2ttYoKi7Fnex8JKfnVFmuv6cL/vF4Hzw/sifcnO3r5bncyyq90fpJQ7vV65SjRERKMyrHnoiI6s5wdpyTMGI5EUU1d3XE288OxLW1M/Htm49VOZqddCsbp67cxNHzKTh15WaVQX2fDn5Y++4TuPz9DLz2VLjFBPVarYTvdp0CoPuANX5wFzO3iIhILI7YExHVs7YtmiGsUwvEnrmB01dvYf+pRAzsZty0wUqys7XBxKHdMHFoNyTfzsbhc8mIPZuEuLPJOHv9NvILNSjSlMDe1gaOdmp0buWJsE4tENqxBfoGt4C3u7O5n0KVtsZdxPWbWQCAob2DzJoCRUSkBAb2RERmMP3R3nKu99LowxYV2Ovz83DBaA8Xi8iPr6ul0Yfl7emP9jZjS4iIlMFUHCIiMxj7QCf4NNONbG88eF7YFJNUtT+v3MSvf1wFALRt4Y5hfduauUVEROIxsCciMgNbtTVeLhs11molfL7hiJlb1Ljpj9bPGN3XLKvdEhEpjYE9EZGZ/G1UT9ipdYsjfb3tBHLyi8zcosbpdmYeVu/W3TTr6mSHyQ+HmLdBREQKYWBPRGQmHm5OeDaiKwDdSrTLfzlu5hY1Tp+tP4KispVmpw3vDmcHWzO3iIhIGQzsiYjM6J/jwuTtT36KQ1FxiRlb0/jkFhTj8426NCcbayu8MibUzC0iIlIOA3siIjPq2NIDj4a3BwCkpOfg+5g/zdyixuWrX44jI6cQAPDMkC7w93Q1c4uIiJTDwJ6IyMzeeDpc3v6/Hw5Cq7WMBasaumJNKT75KU7ef/2p8BqOJiJq+BjYExGZWVgnfwzsqpvH/kLSHazff87MLWocvtt1EjduZwMARvVrh+BADzO3iIhIWQzsiYgswJvjK0aT3/r6V2hKSs3YmoYvv1CD96L2yPtvcLSeiO4DDOyJiCzAw33aYEDXAADApRt3sXwLZ8ipiyU/xyE5PQcAMDKsHcK7BJi5RUREymNgT0RkAVQqFRa+GCnvz121F9l5nNfeFLcy8vDR2gMAACsrFRa8MMTMLSIiqh8M7ImILESfjn548sFOAIDbmflYUBacknE+WLUXOfnFAIDnhndnbj0R3TcY2BMRWZD5zw2G2kb3p/mTn+Lkmz+pdi4m3cGysjQmJ3s15k550MwtIiKqPwzsiYgsSGvfpvj7Y30AAIXFJXj3m9/N3KKG5c2vYlBSqgUAvPZUP3i7O5u5RURE9YeBPRGRhXlnwkC4OdsDAL7dGY9Tl2+auUUNw8E/E7Fh/3kAgLe7M/45rp+ZW0REVL8Y2BMRWRh3Fwe8/ewAAIAkAa8v223mFlk+SZLwml4/fTDlATg72JqvQUREZsDAnojIAv398T5o6eUKANh59DLW7+OiVTX5dudJxJ65AQAIbumBKcO6m7lFRET1j4E9EZEFsre1MZim8cXFv+B2Zp4ZW2S5km5lYebnO+T9hS9FwMaa/96I6P7Dv3xERBZq3IOd8Fj/DgB001++tHgrJEkyc6ssiyRJmPbxZnnO/0lDu2FY37ZmbhURkXkwsCcislAqlQpfzhqBZi4OAIDofefww2+nzdwqy7Jsy3HsPnYFAODXvAmW/P1hM7eIiMh8GNgTEVkwL3dnfDFrhLw/fek2pN7JMWOLLMeVlAy8+sUueX/Fa4/IswkREd2PGNgTEVm4sQ90klekzcgpxPMLt9z3KTlarYQpCzYhr1ADAHhhZA8M7dPGzK0iIjIvBvZERA3Af2cOh1dTJwDA1rhLiNoRb94Gmdmn6w9j36nrAIBAbzcsfCnSzC0iIjI/BvZERA1AM1dHLP/nKHn/lf/uxNXUDDO2yHzOXruNOV/9Ku+vfONRNHG0M2OLiIgsAwN7IqIG4pHw9pg0tBsAIDuvCKPeWivPBnO/SM/Kx6i316KwuAQAMGN0HzwQEmjeRhERWQijA/vk5GQ8++yzaNasGRwdHRESEoLjx49Xe/z69esREREBDw8PuLi4ICwsDDt37jQ4JioqCiqVqtJPYWGh8c+IiKgRW/L3h9HOvxkA4My123hq3s8oKdWauVX1o6i4BKP/tQ5XUnTfVHQL8sKHzw+5x1lERPcPowL7jIwMhIeHQ61WY/v27Th79iwWLVoENze3as/Zt28fIiIisG3bNhw/fhwPPvggRo0ahRMnThgc5+LigtTUVIMfe3vObkBEpM/N2R6/zH8aTZvo/j5uP5yAf/5v5z3OavgkScILi37B/lOJAACfZs7YMv9pONqrzdwyIiLLYWPMwQsWLIC/vz9WrlwpPxYYGFjjOUuWLDHYnz9/PjZt2oQtW7age/eKJb9VKhW8vb2NaQ4R0X2pbYtmWP/Bk4h87TtoSrT4dP0RtPdvjpcf623upinmozUHsGrXSQCAg50NNv/nafh7upq5VURElsWowH7z5s0YOnQoxo4di71798LPzw8vv/wynn/++VqXodVqkZOTA3d3d4PHc3Nz0bJlS5SWliIkJATz5s0zCPz/qqioCEVFFbml2dnZAACNRgONRmPM0zK78vY2tHZbGvajGOzHuquPPgzv5If/zRyG5xdtBQDM+Gw7Wnq5ILJXa8XqrG/l/ffj76fx1te/yY9/89oodGvtwWu0lvieFoP9WHfsQ9MY018qyYjJkMtTY2bPno2xY8fiyJEjeOWVV7Bs2TJMnDixVmV8/PHH+Oijj3Du3Dl4enoCAOLi4pCQkIAuXbogOzsbS5cuxbZt23Dy5Em0bVv10uDvv/8+5s6dW+nxNWvWwNHRsbZPiYioQft2fwo2HL8FAHC0tcJHT7ZFQDMHM7dKnEtp+Xj750soLtH9q3q2nw/G9PEyc6uIiOpPfn4+xo8fj6ysLLi4uNR4rFGBva2tLXr16oVDhw7Jj82YMQNHjx5FbGzsPc9fu3YtnnvuOWzatAlDhlR/w5NWq0WPHj0wcOBAfPrpp1UeU9WIvb+/P9LT0+/5pC2NRqPB7t27ERERAbWa+aKmYj+KwX6su/rsQ61WwrgPorH50EUAgFdTJ/wy/yl0C2r4we+BU9fwyNvrkFtUCgCYENEFX786EiqVyswta1j4nhaD/Vh37EPTZGdno3nz5rUK7I1KxfHx8UFwcLDBYx07dkR0dPQ9z123bh2mTZuGn376qcagHgCsrKzQu3dvXLp0qdpj7OzsYGdXed5itVrdYC+Whtx2S8J+FIP9WHf11Ydr3nkCA2dG4Y9LqbiZkYchr67GlvlPY0DXlorXrZQdRxLwxL9+Qn5ZUD+gawC+evUR2Noa9W+L9PA9LQb7se7Yh8Yxpq+MmhUnPDwcFy5cMHjs4sWLaNmy5n8ea9euxeTJk7FmzRqMGDHinvVIkoT4+Hj4+PgY0zwiovuSk4Mtdi+cgNDgFgCArLwiRL62GlsOXbjHmZZp7a9/YtRba5FfpMsrfah7ILZ+OB52DOqJiGpkVGA/a9YsxMXFYf78+UhISMCaNWuwfPlyTJ8+XT5mzpw5Bvn2a9euxcSJE7Fo0SKEhoYiLS0NaWlpyMrKko+ZO3cudu7ciStXriA+Ph7Tpk1DfHw8XnzxRQFPkYio8XN3cUDMwgl4uE8bAEBhcQkef3cdonbEm7dhRvp8wxE885/18tz8/dq6YtO8cVxZloioFowK7Hv37o0NGzZg7dq16Ny5M+bNm4clS5bgmWeekY9JTU1FYmKivL9s2TKUlJRg+vTp8PHxkX9mzpwpH5OZmYkXXngBHTt2RGRkJJKTk7Fv3z706dNHwFMkIro/ODnYYtO/n8LTD3UGAJRqJUxZsAkL1x26x5nmJ0kS3lv5O/7x6XaU3/n1/Iju+OewQI7UExHVktF/LUeOHImRI0dW+/uoqCiD/T179tyzzMWLF2Px4sXGNoWIiP7CVm2N1W+PRnNXR3y24QgA4LUvd+OPi6n4bMYwNHO1vFnDbt7NxYuLt2LjgfPyY28/OwD/mtAf27dvN2PLiIgaFqNG7ImIyPJZWamw9B8P44MpD8iPrf3tNDpP/cLi8u7X/XYanab8zyCoXzx9KP497SHOfkNEZCQG9kREjZBKpcK7Ewfh+7dHw81ZtwZJ2t1cPPL2D5j80UZk5haatX3pWfkY9/5PeGpeNO5kFwAAPNwcsWHek3hlTKhZ20ZE1FAxsCciasTGD+mCMytfxvC+FYv9fbvzJDpP+R+2H65+SmGlSJKE9fvOodOU/+GnvWflx8cMCsaZlS/jsf4d6r1NRESNBe9IIiJq5HybN8EvHz6NqB3xeOW/O5GdV4Tk9BwMf3MNQoNbYNaYUIwe2BE21sqN9RRrSvHjnjP45KdYnLiUJj/u7uKA/80cjifLbvglIiLTMbAnIroPqFQqTBnWHUN6tsZzH2/BrmOXAQBxZ2/gyQ9+RoCXK2aM7oPnhveAa1nqjgh3swuwbMsxfLbhCFLv5Br87tHw9vhy9kh4uzsLq4+I6H7GwJ6I6D7i7+mKHf/3DL6P+RMf/3AIp67cBAAk3szCq1/sxvtRezExsise7N4KYcEt4OdR8/LlfyVJEpJuZSP2TBJ+/eMqVsecQkFRicExvdr74o2nw/HEwI68QZaISCAG9kRE9xmVSoVnI7rimSFd8NsfV7H45zhsjdPl2+cWFON/m47hf5uOAQBaeLggNLgFQoP90LOdL9yc7eFgawM7WxsUFZcgv0iDjJxCHLuQgrhzNxB39kalkXldncBj/Ttg9tgwhHf2Z0BPRKQABvZERPcplUqFwT1bY3DP1jifmI6l0XH4dudJgxH2G7ez8fPes/hZ70ZXYzg72GLqsBDMGN0XQX7uoppORERVYGBPREToENAcX8waifnPDcbB00mIPZOEuLPJOHI+GbkFxbUux8XJDn07+iG0YwuEdWqB8M4BcHGyU7DlRERUjoE9ERHJmjZxwMiwdhgZ1g4AUFqqxZlrtxF39gbOJd5GQVEJ8gs1KNKUwt7WBg52NnC0U6NToAdCg1ugY0sPWFkxzYaIyBwY2BMRUbWsra3QNcgLXYO8zN0UIiK6By5QRURERETUCDCwJyIiIiJqBBjYExERERE1AgzsiYiIiIgaAQb2RERERESNAAN7IiIiIqJGgIE9EREREVEjwMCeiIiIiKgRYGBPRERERNQIMLAnIiIiImoEbMzdAFEkSQIAZGdnm7klxtNoNMjPz0d2djbUarW5m9NgsR/FYD/WHftQDPajGOxHMdiPdcc+NE15bFse69ak0QT2OTk5AAB/f38zt4SIiIiISKycnBy4urrWeIxKqk343wBotVqkpKSgSZMmUKlU5m6OUbKzs+Hv74+kpCS4uLiYuzkNFvtRDPZj3bEPxWA/isF+FIP9WHfsQ9NIkoScnBz4+vrCyqrmLPpGM2JvZWWFFi1amLsZdeLi4sILXQD2oxjsx7pjH4rBfhSD/SgG+7Hu2IfGu9dIfTnePEtERERE1AgwsCciIiIiagQY2FsAOzs7vPfee7CzszN3Uxo09qMY7Me6Yx+KwX4Ug/0oBvux7tiHyms0N88SEREREd3POGJPRERERNQIMLAnIiIiImoEGNgTERERETUCDOyJiIiIiBoBBvZERERERI0AA/t6kJycjGeffRbNmjWDo6MjQkJCcPz48RrP2bt3L3r27Al7e3u0bt0aX375ZT211nIZ24979uyBSqWq9HP+/Pl6bLVlCQwMrLJPpk+fXu05vBYNGduHvA6rVlJSgnfeeQetWrWCg4MDWrdujQ8++ABarbbG83g9GjKlH3lNVpaTk4NXXnkFLVu2hIODA/r164ejR4/WeA6vxcqM7Udei+LZmLsBjV1GRgbCw8Px4IMPYvv27fD09MTly5fh5uZW7TlXr17F8OHD8fzzz2P16tU4ePAgXn75ZXh4eOCJJ56ov8ZbEFP6sdyFCxcMlq728PBQsKWW7ejRoygtLZX3T58+jYiICIwdO7bK43ktVmZsH5bjdWhowYIF+PLLL/Htt9+iU6dOOHbsGKZMmQJXV1fMnDmzynN4PVZmSj+W4zVZ4bnnnsPp06fx3XffwdfXF6tXr8aQIUNw9uxZ+Pn5VTqe12LVjO3HcrwWBZJIUW+88YbUv39/o855/fXXpQ4dOhg89re//U0KDQ0V2bQGxZR+/P333yUAUkZGhjKNagRmzpwpBQUFSVqttsrf81q8t3v1Ia/Dqo0YMUKaOnWqwWOjR4+Wnn322WrP4fVYmSn9yGvSUH5+vmRtbS398ssvBo9369ZNevvtt6s8h9diZab0I69F8ZiKo7DNmzejV69eGDt2LDw9PdG9e3d89dVXNZ4TGxuLyMhIg8eGDh2KY8eOQaPRKNlci2VKP5br3r07fHx8MHjwYPz+++8Kt7ThKC4uxurVqzF16lSoVKoqj+G1WLPa9GE5XoeG+vfvj19//RUXL14EAJw8eRIHDhzA8OHDqz2H12NlpvRjOV6TOiUlJSgtLYW9vb3B4w4ODjhw4ECV5/BarMyUfizHa1EcBvYKu3LlCr744gu0bdsWO3fuxIsvvogZM2Zg1apV1Z6TlpYGLy8vg8e8vLxQUlKC9PR0pZtskUzpRx8fHyxfvhzR0dFYv3492rdvj8GDB2Pfvn312HLLtXHjRmRmZmLy5MnVHsNrsWa16UNeh1V744038PTTT6NDhw5Qq9Xo3r07XnnlFTz99NPVnsPrsTJT+pHXpKEmTZogLCwM8+bNQ0pKCkpLS7F69WocPnwYqampVZ7Da7EyU/qR16J4zLFXmFarRa9evTB//nwAuk+lZ86cwRdffIGJEydWe95fR/8kSary8fuFKf3Yvn17tG/fXt4PCwtDUlISFi5ciIEDB9ZLuy3ZihUrMGzYMPj6+tZ4HK/F6tWmD3kdVm3dunVYvXo11qxZg06dOiE+Ph6vvPIKfH19MWnSpGrP4/VoyJR+5DVZ2XfffYepU6fCz88P1tbW6NGjB8aPH48//vij2nN4LVZmbD/yWhSPI/YK8/HxQXBwsMFjHTt2RGJiYrXneHt7Iy0tzeCxW7duwcbGBs2aNVOknZbOlH6sSmhoKC5duiSyaQ3S9evXERMTg+eee67G43gtVq+2fVgVXofAa6+9hjfffBNPPfUUunTpggkTJmDWrFn48MMPqz2H12NlpvRjVe73azIoKAh79+5Fbm4ukpKScOTIEWg0GrRq1arK43ktVs3YfqzK/X4t1hUDe4WFh4fjwoULBo9dvHgRLVu2rPacsLAw7N692+CxXbt2oVevXlCr1Yq009KZ0o9VOXHiBHx8fEQ2rUFauXIlPD09MWLEiBqP47VYvdr2YVV4HQL5+fmwsjL8F2RtbV3jNI28HiszpR+rwmtSx8nJCT4+PsjIyMDOnTvx6KOPVnkcr8Wa1bYfq8JrsY7Me+9u43fkyBHJxsZG+s9//iNdunRJ+v777yVHR0dp9erV8jFvvvmmNGHCBHn/ypUrkqOjozRr1izp7Nmz0ooVKyS1Wi39/PPP5ngKFsGUfly8eLG0YcMG6eLFi9Lp06elN998UwIgRUdHm+MpWIzS0lIpICBAeuONNyr9jtdi7RjTh7wOqzZp0iTJz89P+uWXX6SrV69K69evl5o3by69/vrr8jG8Hu/NlH7kNVnZjh07pO3bt0tXrlyRdu3aJXXr1k3q06ePVFxcLEkSr8XaMrYfeS2Kx8C+HmzZskXq3LmzZGdnJ3Xo0EFavny5we8nTZokDRo0yOCxPXv2SN27d5dsbW2lwMBA6YsvvqjHFlsmY/txwYIFUlBQkGRvby81bdpU6t+/v7R169Z6brXl2blzpwRAunDhQqXf8VqsHWP6kNdh1bKzs6WZM2dKAQEBkr29vdS6dWvp7bffloqKiuRjeD3emyn9yGuysnXr1kmtW7eWbG1tJW9vb2n69OlSZmam/Htei7VjbD/yWhRPJUlld3sQEREREVGDxRx7IiIiIqJGgIE9EREREVEjwMCeiIiIiKgRYGBPRERERNQIMLAnIiIiImoEGNgTERERETUCDOyJiIiIiBoBBvZERERERI0AA3siIiIiokaAgT0RERERUSPAwJ6IiIiIqBH4fy2yKmmCEHU4AAAAAElFTkSuQmCC\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "x, P = kf.x[0:2], kf.P[0:2, 0:2]\n", "plot_covariance_ellipse(x, P, std=[1,2,3])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In previous sections $\\mathbf P$ was a cicle, not an ellipse. In my code I set $\\mathbf R = \\bigl[ \\begin{smallmatrix}0.03 & 0 \\\\ 0 & 0.15\\end{smallmatrix}\\bigl ]$, which gives the measurement of $y$ 5 times the error of $x$. That's somewhat artificial, but in subsequent chapters nearly all of the covariances will be elliptical for good reasons. \n", "\n", "Think about what this means. Statistics tells us that 99% of all measurements fall within 3 standard deviations; that means 99% of all measurements should be within this ellipse. Let's plot the measurement with the ellipse." ] }, { "cell_type": "code", "execution_count": 42, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_covariance_ellipse(x, P, std=[1,2,3])\n", "plt.scatter(z[0], z[1], marker='x');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Clearly the measurement is far beyond the the prior's covariance; we probably want to consider this a bad measurement and not use it. How would we do that?\n", "\n", "The first idea would to be extract the standard deviation for $x$ and $y$ and write a simple if statement. Here I will use another feature of the `KalmanFilter` class. The method `residual_of` computes the residual compared to the prior. I don't need to use it in this case since `kf.y` is already assigned by the call to `update()`, but if we are discarding measurements `update()` would not have been called yet and `kf.y` would contain the innovation from the previous epoch.\n", "\n", "First, let's introduce two terms. We are discussing **gating**. A **gate** is a formula or algorithm that determines if a measurement is good or bad. Only good measurements get through the gate. This process is called gating.\n", "\n", "In practice measurements are not purely Gaussian, so a gate of 3 standard deviations is likely to discard some good measurements. I will elaborate soon, for now we will use 4 standard deviations" ] }, { "cell_type": "code", "execution_count": 43, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "discarding measurement, error is 39 std, 18 std\n", "y is [5.05 5.05]\n", "std is 0.13 0.29\n" ] } ], "source": [ "GATE_LIMIT = 4.\n", "std_x = np.sqrt(P[0,0])\n", "std_y = np.sqrt(P[1,1])\n", "y = kf.residual_of(z)[:,0]\n", "\n", "if y[0] > GATE_LIMIT * std_x or y[1] > GATE_LIMIT * std_y:\n", " print(f'discarding measurement, error is {y[0]/std_x:.0f} std, {y[1]/std_y:.0f} std')\n", " \n", "print('y is', y)\n", "print(f'std is {std_x:.2f} {std_y:.2f}')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We see the errors are roughly 39 and 18 standard deviations away. Is this good enough?\n", "\n", "Maybe. However, notice that the if statement forms a rectangular region surrounding the ellipse. In the plot below I've drawn a measurement that is clearly outside of the 3 std ellipse, yet would be accepted by the gate, and another measurement that lies just on the 3 std boundary." ] }, { "cell_type": "code", "execution_count": 44, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_covariance_ellipse(x, P, std=[1,2,3])\n", "plt.scatter(8.08, 7.7, marker='x')\n", "plt.scatter(8.2, 7.65, marker='x');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "There are alternative methods of defining this gate. The **mahalanobis distance** is a statistical measure of the distance of a point from a distribution. Before we get to the definition and math, let's compute the mahalanobis distance for some points. `filterpy.stats` implements `mahalanobis()`." ] }, { "cell_type": "code", "execution_count": 45, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "mahalanobis distance = 20.6\n" ] } ], "source": [ "from filterpy.stats import mahalanobis\n", "m = mahalanobis(x=z, mean=x, cov=P)\n", "print(f'mahalanobis distance = {m:.1f}')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Without knowing the units we can compare it to the standard deviation errors computed in $x$ and $y$ separately, 39, and 18, and see that it is reasonably close. Let's see what we get for the point I plotted above." ] }, { "cell_type": "code", "execution_count": 46, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "mahalanobis distance = 3.0\n", "mahalanobis distance = 3.6\n" ] } ], "source": [ "print(f'mahalanobis distance = {mahalanobis(x=[8.08, 7.7], mean=x, cov=P):.1f}')\n", "print(f'mahalanobis distance = {mahalanobis(x=[8.2, 7.65], mean=x, cov=P):.1f}')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As we will see the mahalanobis distance computes the scalar standard deviation *distance* point to a distribution, much like the Euclidian distance computes a scalar distance from a point to another point. \n", "\n", "The cell above bears that out. The point that was sitting on the 3 std boundary has a mahalanobis distance of 3.0, and the one outside of the ellipse has a value of 3.6 std.\n", "\n", "How do we compute the mahalanobis distance? It is defined as\n", "\n", "$$D_m= \\sqrt{(\\mathbf x-\\mu)^\\mathsf T \\mathbf S^{-1} (\\mathbf x-\\mu)}$$\n", "\n", "Note how similar this is to the Euclidean distance, which we can write as:\n", "\n", "$$D_e= \\sqrt{(\\mathbf x-\\mathbf y)^\\mathsf T (\\mathbf x-\\mathbf y)}$$\n", "\n", "In fact, if the covariance $\\mathbf S$ is the identity matrix the mahalanobis distance is the same as the Euclidean distance. You should be able to see how that works with the linear algebra: the inverse of the identity matrix is the identity matrix, so we are effectively multiplying the terms with 1. Think of it intuitively. If the standard deviation in each dimension is 1, then the a point anywhere on a circle of radius 1 around the mean will lie on the 1 std circle and also be 1 *unit* away in Euclidean measure.\n", "\n", "This suggests another interpretation. If the covariance matrix is diagonal then we can think of the mahalanobis distance as being the *scaled* Euclidean distance, where each term is scaled by the covariance in the diagonal.\n", "\n", "$$D_m = \\sqrt{\\sum_{i-1}^N \\frac{(x_i - \\mu_i)^2}{\\sigma_i}}$$\n", "\n", "In 2D that would be \n", "\n", "$$D_m = \\sqrt {\\frac{1}{\\sigma_x^2}(x_0 - x_1)^2 + \\frac{1}{\\sigma_y^2}(y_0 - y_1)^2}$$\n", "\n", "This should give you insight into the equation for mahalanobis distance. You cannot divide by a matrix, but multiplying by the inverse is *effectively* the same, in a hand wavey sense. Multiplying by the difference $\\mathbf y = \\mathbf x - \\mathbf \\mu$ on each side gives us the squared norm scaled by the covariance: $\\mathbf y^\\mathsf T \\mathbf S^{-1}\\mathbf y^\\mathsf T$. The covariance terms are all squared, so taking the square root at the end brings us to a scalar distance which is the Euclidean distance scaled by the covariance.\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Gating and Data Association Strategies\n", "\n", "The two gates above are known as rectangular and ellipsoidal gates in some of the literature because of their shape. There are more alternatives I will not explore here. For example, a maneuver gate is used to define a region where it is possible for the object to maneuver, taking the object's current velocity and ability to maneuver into account. For example, a fighter jet would have a maneuver gate shaped much like a cone projecting in front of it's current direction of travel. An automobile would have a much smaller 2D pie slice shape projecting in front of it. A ship would have a much narrower slice since it's ability to turn or accelerate quickly is minimal.\n", "\n", "Which gating technique should you use? There is no single answer. Much depends on the dimensionality of the problem and how much computational power you have. A rectangular gate is very cheap to compute, the maneuver gate isn't much worse, but the ellipsoidal gate can be expensive in higher dimensions. However, as you increase dimensions the relative area difference between the ellipsoid and rectangular gate increases significantly.\n", "\n", "This matters more than you might realize. Every measurement has noise. A spurious measurement can fall *within* our gate, causing us to accept it. The larger the area that extends past the ellipsoid, the larger the probability of the gate passing a bad measurement. I will not do the math here, but in 5 dimensions the rectangular gate is twice as likely to accept a bad measurement as the ellipsoid. \n", "\n", "If computational time is a concern and you have many spurious measurements you can take a two gate approach. The first gate is large and rectangular, and used as a first pass to throw away obviously bad measurements. The few measurements that pass that gate are then subjected to the more expensive mahalanobis distance calculation. If you are running on a modern desktop processor the time of those matrix multiplies are not significant, but it may matter if you are running on an embedded chip with modest floating point performance.\n", "\n", "Data association is a vast topic that requires its own book. The canonical example is tracking with radar. The radar detects multiple signals on each sweep. From that we need to form aircraft tracks, and reject noisy measurements. This is a very difficult problem. Suppose the first sweep gets 5 measurements. We would create 5 potential tracks. In the next sweep we get 6 measurements. We can combine any of the first measurements with any of the second measurements, giving us 30 potential tracks. But, it is also possible that these are all new aircraft that we didn't see in the last sweep, so that gives us 6 more tracks. After just a few epochs we reach millions, then billions of potential tracks.\n", "\n", "Given this list of billions of tracks we can then compute a score for each track. I'll provide the math for that in the following section. But, visualize a track that forms a 'Z' shape over 3 epochs. No aircraft can maneuver like that, so we would give it a very low probability of being real. Another track forms a straight line, but imputes a velocity of 10,000 kph. That is also very improbable. Another track curves at 200 kph. That has a high probability.\n", "\n", "So tracking becomes a matter of gating, data association, and pruning. For example, say the second radar sweep just occured. Do I combine all possible combinations into a tracks? I probably shouldn't. If point 1, sweep 1 imputes a velocity of 200kph with point 3, sweep 2 we should form a track from it. If the velocity is 5000 kph we shouldn't bother; we know that track is so unlikely as to be impossible. Then, as the tracks grow we will have well defined ellipsoidal or maneuver gates for them, and we can be far more selective about the measurements we associate with tracks.\n", "\n", "There are schemes for associations. We can choose to associate a measurement to only one track. Or, we can choose to associate a measurement with multiple tracks, reflecting our lack of certainty with which track it belongs to. For example, aircraft tracks can cross from the point of view of the radar. As the aircraft approach associating a single measurement with one of the two aircraft can become uncertain. You could assign the measurement to both tracks for a short time. As you gather more measurements you could then go back and change assignment based on which is more probable given the new information.\n", "\n", "'Billions' does not begin to capture the combinatorial explosion this implies. After just a few seconds you will be out of computer memory, a bit longer and you would require every atom in the universe to represent all of the potential tracks. So a practical algorithm needs to aggressively prune tracks. This pruning takes additional compute power. \n", "\n", "A later chapter in the book provides the modern answer to this problem, the *particle filter*, which solves the combinatorial explosion with statistical sampling. It is my favored approach for this problem, so I will not write more about the techniques I am discussing in this section. I am not entirely up to date on current research in this area, so do your own research if you are trying to solve a problem requiring to either track multiple objects or deal with multiple spurious measurements. Particle filters have their own difficulties and limitations.\n", "\n", "I will point you to a few books and researchers. Samuel S. Blackman's \"Multiple-Target Tracking with Radar Application\" is the clearest written book I have read on the topic, though it is dated (1986). Yaakov Bar-Shalom has written extensively on the subject. Subhash Challa et. al \"Fundamentals of Object Tracking\" is a fairly modern work that covers the various approaches. This book is fairly rigorous mathematically; filters are presented as a collection of integrals representing various Bayesian formulation, and it is up to you to translate that into a working algorithm. It is readable if you have taken on all the math in this book, but not easy. Lawrence D. Stone's \"Bayesian Multiple Target Tracking\" treats it as a Bayesian inference problem, as I have, but is also quite theoretical, where you are blithely told to find a maximum of a complicated integral, which in practice you will probably solve using a particle filter. \n", "\n", "Back to our simple problem - tracking a single object with an occasional bad measurement. How should that be implemented? It's fairly straightforward; if the measurement is bad, discard it and do not call update. This will cause you to call `predict()` twice in a row, which is fine. Your uncertainty will grow, but a few missed updates generally will not cause a problem. \n", "\n", "What cutoff value should you use for your gate? I don't know. Theory says 3 std, but practice says otherwise. You will need to experiment. Gather data, run a filter on it using various gates, and see what value gives the best results. In the next section I give you some math to evaluate filter performance. Maybe you find out you need to accept all measurements < 4.5 std. I watched a NASA video where they stated they used a gate around 5-6 std. it depends on your problem and data. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Evaluating Filter Performance\n", "\n", "It is easy to design a Kalman filter for a simulated situation. You know how much noise you are injecting in your process model, so you specify $\\mathbf Q$ to have the same value. You also know how much noise is in the measurement simulation, so the measurement noise matrix $\\mathbf R$ is equally trivial to define. \n", "\n", "In practice design is more ad hoc. Real sensors rarely perform to spec, and they rarely perform in a Gaussian manner. They are also easily fooled by environmental noise. For example, circuit noise causes voltage fluctuations which can affect the output of a sensor. Creating a process model and noise is even more difficult. Modelling an automobile is very difficult. The steering causes nonlinear behavior, tires slip, people brake and accelerate hard enough to cause tire slips, winds push the car off course. The end result is the Kalman filter is an *inexact* model of the system. This inexactness causes suboptimal behavior, which in the worst case causes the filter to diverge completely. \n", "\n", "Because of the unknowns you will be unable to analytically compute the correct values for the filter's matrices. You will start by making the best estimate possible, and then test your filter against a wide variety of simulated and real data. Your evaluation of the performance will guide you towards what changes you need to make to the matrices. We've done some of this already - I've shown you the effect of $\\mathbf Q$ being too large or small.\n", "\n", "Now let's consider more analytical ways of accessing performance. If the Kalman filter is performing optimally its estimation errors (the difference between the true state and the estimated state) will have these properties:\n", "\n", " 1. The mean of the estimation error is zero\n", " 2. Its covariance is described by the Kalman filter's covariance matrix\n", " \n", "### Normalized Estimated Error Squared (NEES)\n", "\n", "The first method is the most powerful, but only possible in simulations. If you are simulating a system you know its true value, or 'ground truth'. It is then trivial to compute the error of the system at any step as the difference between ground truth ($\\mathbf x$) and the filter's state estimate ($\\hat{\\mathbf x}$):\n", "\n", "$$\\tilde{\\mathbf x} = \\mathbf x - \\hat{\\mathbf x}$$\n", "\n", "We can then define the *normalized estimated error squared* (NEES) as \n", "\n", "$$\\epsilon = \\tilde{\\mathbf x}^\\mathsf T\\mathbf P^{-1}\\tilde{\\mathbf x}$$\n", "\n", "To understand this equation let's look at it if the state's dimension is one. In that case both x and P are scalars, so\n", "\n", "$$\\epsilon = \\frac{x^2}{P}$$\n", "\n", "If this is not clear, recall that if $a$ is scalar, $a^\\mathsf T = a$ and that $a^{-1} =\\frac{1}{a}$.\n", "\n", "So as the covariance matrix gets smaller NEES gets larger for the same error. The covariance matrix is the filter's estimate of it's error, so if it is small relative to the estimation error then it is performing worse than if it is large relative to the same estimation error.\n", "\n", "This computation gives us a scalar result. If $\\mathbf x$ is dimension ($n \\times 1$), then the dimension of the computation is ($1 \\times n$)($n \\times n$)($n \\times 1$) = ($1 \\times 1$). What do we do with this number?\n", "\n", "The math is outside the scope of this book, but a random variable in the form $\\tilde{\\mathbf x}^\\mathsf T\\mathbf P^{-1}\\tilde{\\mathbf x}$ is said to be *chi-squared distributed with n degrees of freedom*, and thus the expected value of the sequence should be $n$. Bar-Shalom [1] has an excellent discussion of this topic. \n", "\n", "In plain terms, take the average of all the NEES values, and they should be less then the dimension of x. Let's see that using an example from earlier in the chapter:" ] }, { "cell_type": "code", "execution_count": 47, "metadata": {}, "outputs": [], "source": [ "from scipy.linalg import inv\n", "\n", "def NEES(xs, est_xs, Ps):\n", " est_err = xs - est_xs\n", " err = []\n", " for x, p in zip(est_err, Ps):\n", " err.append(x.T @ inv(p) @ x)\n", " return err" ] }, { "cell_type": "code", "execution_count": 48, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "mean NEES is: 0.8893\n", "passed\n" ] } ], "source": [ "R, Q = 6., 0.02\n", "xs, zs = simulate_acc_system(R=R, Q=Q, count=80)\n", "kf2 = SecondOrderKF(R, Q, dt=1)\n", "est_xs, ps, _, _ = kf2.batch_filter(zs)\n", "\n", "nees = NEES (xs, est_xs, ps)\n", "eps = np.mean(nees)\n", "\n", "print(f'mean NEES is: {eps:.4f}')\n", "if eps < kf2.dim_x:\n", " print('passed')\n", "else:\n", " print('failed')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "`NEES` is implemented FilterPy; access it with\n", "\n", "```python\n", "from filterpy.stats import NEES\n", "```\n", "This is an excellent measure of the filter's performance, and should be used whenever possible, especially in production code when you need to evaluate the filter while it is running. While designing a filter I still prefer plotting the residuals as it gives me a more intuitive understanding of what is happening.\n", "\n", "However, if your simulation is of limited fidelity then you need to use another approach." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Likelihood Function\n", "\n", "In statistics the likelihood is very similar to a probability, with a subtle difference that is important to us. A *probability* is the chance of something happening - as in what is the probability that a fair die rolls 6 three times in five rolls? The *likelihood* asks the reverse question - given that a die rolled 6 three times in five rolls, what is the likelihood that the die is fair? \n", "\n", "We first discussed the likelihood function in the **Discrete Bayes** chapter. In the context of these filters the likelihood is a measure of how likely the measurement are given the current state.\n", "\n", "This is important to us because we have the filter output and we want to know the likelihood that it is performing optimally given the assumptions of Gaussian noise and linear behavior. If the likelihood is low we know one of our assumptions is wrong. In the **Adaptive Filtering** chapter we will learn how to make use of this information to improve the filter; here we will only learn to make the measurement. \n", "\n", "The residual and system uncertainty of the filter is defined as\n", "\n", "$$\\begin{aligned}\n", "\\mathbf y &= \\mathbf z - \\mathbf{H \\bar x}\\\\\n", "\\mathbf S &= \\mathbf{H\\bar{P}H}^\\mathsf T + \\mathbf R\n", "\\end{aligned}\n", "$$\n", "\n", "Given these we can compute the likelihood function with\n", "\n", "$$\n", "\\mathcal{L} = \\frac{1}{\\sqrt{2\\pi S}}\\exp [-\\frac{1}{2}\\mathbf y^\\mathsf T\\mathbf S^{-1}\\mathbf y]$$\n", "\n", "That may look complicated, but notice that the exponential is the equation for a Gaussian. This suggests an implementation of\n", "\n", "```python\n", "from scipy.stats import multivariate_normal\n", "hx = (H @ x).flatten()\n", "S = H @ P @ H.T + R\n", "likelihood = multivariate_normal.pdf(z.flatten(), mean=hx, cov=S)\n", "```\n", "\n", "In practice it happens a bit differently. Likelihoods can be difficult to deal with mathematically. It is common to compute and use the *log-likelihood* instead, which is just the natural log of the likelihood. This has several benefits. First, the log is strictly increasing, and it reaches it's maximum value at the same point of the function it is applied to. If you want to find the maximum of a function you normally take the derivative of it; it can be difficult to find the derivative of some arbitrary function, but finding $\\frac{d}{dx} log(f(x))$ is trivial, and the result is the same as $\\frac{d}{dx} f(x)$. We don't use this property in this book, but it is essential when performing analysis on filters.\n", "\n", "The likelihood and log-likelihood are computed for you when `update()` is called, and is accessible via the 'log_likelihood' and `likelihood` data attribute. Let's look at this: I'll run the filter with several measurements within expected range, and then inject measurements far from the expected values:" ] }, { "cell_type": "code", "execution_count": 49, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "R, Q = .05, 0.02\n", "xs, zs = simulate_acc_system(R=R, Q=Q, count=50)\n", "zs[-5:-1] = [100, 200, 200, 200] # bad measurements, bad!\n", "\n", "kf = SecondOrderKF(R, Q, dt=1, P=1)\n", "s = Saver(kf)\n", "kf.batch_filter(zs, saver=s)\n", "plt.plot(s.likelihood);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The likelihood gets larger as the filter converges during the first few iterations. After that the likelihood bounces around until it reaches the bad measurements, at which time it goes to zero, indicating that if the measurements are valid the filter is very unlikely to be optimal.\n", "\n", "See how starkly the log-likelihood illustrates where the filter goes 'bad'." ] }, { "cell_type": "code", "execution_count": 50, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(s.log_likelihood);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Why does it return to zero at the end? Think about that before reading the answer. The filter begins to adapt to the new measurements by moving the state close to the measurements. The residuals become small, and so the state and residuals agree. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Control Inputs\n", "\n", "In the **Discrete Bayes** chapter I introduced the notion of using control signals to improve the filter's performance. Instead of assuming that the object continues to move as it has so far we use our knowledge of the control inputs to predict where the object is. In the **Univariate Kalman Filter** chapter we made use of the same idea. The predict method of the Kalman filter read\n", "\n", "```python\n", "def predict(pos, movement):\n", " return (pos[0] + movement[0], pos[1] + movement[1])\n", "```\n", "\n", "In the last chapter we learned that the equation for the state prediction is:\n", "\n", "$$\\bar{\\mathbf x} = \\mathbf{Fx} + \\mathbf{Bu}$$\n", "\n", "Our state is a vector, so we need to represent the control input as a vector. Here $\\mathbf{u}$ is the control input, and $\\mathbf{B}$ is a matrix that transforms the control input into a change in $\\mathbf x$. Let's consider a simple example. Suppose the state is $x = \\begin{bmatrix} x & \\dot x\\end{bmatrix}$ for a robot we are controlling and the control input is commanded velocity. This gives us a control input of \n", "\n", "$$\\mathbf{u} = \\begin{bmatrix}\\dot x_\\mathtt{cmd}\\end{bmatrix}$$\n", "\n", "For simplicity we will assume that the robot can respond instantly to changes to this input. That means that the new position and velocity after $\\Delta t$ seconds will be\n", "\n", "$$\\begin{aligned}x &= x + \\dot x_\\mathtt{cmd} \\Delta t \\\\\n", "\\dot x &= \\dot x_\\mathtt{cmd}\\end{aligned}$$\n", "\n", "We need to represent this set of equations in the form $\\bar{\\mathbf x} = \\mathbf{Fx} + \\mathbf{Bu}$.\n", "\n", "I will use the $\\mathbf{Fx}$ term to extract the $x$ for the top equation, and the $\\mathbf{Bu}$ term for the rest, like so:\n", "\n", "\n", "\n", "$$\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix} = \\begin{bmatrix}1 & 0\\\\0 & 0 \\end{bmatrix}\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix} +\n", "\\begin{bmatrix}\\Delta t \\\\ 1\\end{bmatrix}\\begin{bmatrix}\\dot x_\\mathtt{cmd}\\end{bmatrix}\n", "$$\n", "\n", "\n", "This is a simplification; typical control inputs are changes to steering angle and changes in acceleration. This introduces nonlinearities which we will learn to deal with in a later chapter.\n", "\n", "The rest of the Kalman filter will be designed as normal. You've seen this several times by now, so without further comment here is an example." ] }, { "cell_type": "code", "execution_count": 51, "metadata": { "scrolled": true }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[10. 0.]\n", " [ 0. 10.]]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "dt = 1.\n", "R = 3.\n", "kf = KalmanFilter(dim_x=2, dim_z=1, dim_u = 1)\n", "kf.P *= 10\n", "kf.R *= R\n", "kf.Q = Q_discrete_white_noise(2, dt, 0.1)\n", "kf.F = np.array([[1., 0], [0., 0.]])\n", "kf.B = np.array([[dt], [ 1.]])\n", "kf.H = np.array([[1., 0]])\n", "print(kf.P)\n", "\n", "zs = [i + randn()*R for i in range(1, 100)]\n", "xs = []\n", "cmd_velocity = np.array([1.])\n", "for z in zs:\n", " kf.predict(u=cmd_velocity)\n", " kf.update(z)\n", " xs.append(kf.x[0])\n", "\n", "plt.plot(xs, label='Kalman Filter')\n", "plot_measurements(zs)\n", "plt.xlabel('time')\n", "plt.legend(loc=4)\n", "plt.ylabel('distance');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Sensor Fusion" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Early in the g-h filter chapter we discussed designing a filter for two scales, one accurate and one inaccurate. We determined that we should always include the information from the inaccurate filter - we should never discard any information. So consider a situation where we have two sensors measuring the system. How shall we incorporate that into our Kalman filter? \n", "\n", "Suppose we have a train or cart on a railway. It has a sensor attached to the wheels counting revolutions, which can be converted to a distance along the track. Then, suppose we have a GPS-like sensor which I'll call a 'position sensor' mounted to the train which reports position. I'll explain why I don't just use a GPS in the next section. Thus, we have two measurements, both reporting position along the track. Suppose further that the accuracy of the wheel sensor is 1m, and the accuracy of the position sensor is 10m. How do we combine these two measurements into one filter? This may seem quite contrived, but aircraft use sensor fusion to fuse the measurements from sensors such as a GPS, INS, Doppler radar, VOR, the airspeed indicator, and more.\n", "\n", "Kalman filters for inertial systems are very difficult, but fusing data from two or more sensors providing measurements of the same state variable (such as position) is quite easy. The relevant matrix is the measurement matrix $\\mathbf H$. Recall that this matrix tells us how to convert from the Kalman filter's state $\\mathbf x$ to a measurement $\\mathbf z$. Suppose that we decide that our Kalman filter state should contain the position and velocity of the train, so that\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x \\\\ \\dot x\\end{bmatrix}$$\n", "\n", "We have two measurements for position, so we will define the measurement vector to be a vector of the measurements from the wheel and the position sensor.\n", "\n", "$$ \\mathbf z = \\begin{bmatrix}z_{wheel} \\\\ z_{ps}\\end{bmatrix}$$\n", "\n", "So we have to design the matrix $\\mathbf H$ to convert $\\mathbf x$ to $\\mathbf z$ . They are both positions, so the conversion is nothing more than multiplying by one:\n", "\n", "$$ \\begin{bmatrix}z_{wheel} \\\\ z_{ps}\\end{bmatrix} = \\begin{bmatrix}1 &0 \\\\ 1& 0\\end{bmatrix} \\begin{bmatrix}x \\\\ \\dot x\\end{bmatrix}$$\n", "\n", "To make it clearer, suppose that the wheel reports not position but the number of rotations of the wheels, where 1 revolution yields 2 meters of travel. In that case we would write\n", "\n", "$$ \\begin{bmatrix}z_{rot} \\\\ z_{ps}\\end{bmatrix} = \\begin{bmatrix}0.5 &0 \\\\ 1& 0\\end{bmatrix} \\begin{bmatrix}x \\\\ \\dot x\\end{bmatrix}$$\n", "\n", "Now we have to design the measurement noise matrix $\\mathbf R$. Suppose that the measurement variance for the position is twice the variance of the wheel, and the standard deviation of the wheel is 1.5 meters. That gives us\n", "\n", "$$\n", "\\begin{aligned}\n", "\\sigma_{wheel} &= 1.5\\\\\n", "\\sigma^2_{wheel} &= 2.25 \\\\ \n", "\\sigma_{ps} &= 1.5*2 = 3 \\\\\n", "\\sigma^2_{ps} &= 9.\n", "\\end{aligned}\n", "$$\n", "\n", "That is pretty much our Kalman filter design. We need to design for $\\mathbf Q$, but that is invariant to whether we are doing sensor fusion or not, so I will just choose some arbitrary value.\n", "\n", "So let's run a simulation of this design. I will assume a velocity of 10 m/s with an update rate of 0.1 seconds." ] }, { "cell_type": "code", "execution_count": 52, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "fusion std: 1.647\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from numpy import array, asarray\n", "import numpy.random as random\n", "\n", "def fusion_test(wheel_sigma, ps_sigma, do_plot=True):\n", " dt = 0.1\n", " kf = KalmanFilter(dim_x=2, dim_z=2)\n", "\n", " kf.F = array([[1., dt], [0., 1.]])\n", " kf.H = array([[1., 0.], [1., 0.]])\n", " kf.x = array([[0.], [1.]])\n", " kf.Q *= array([[(dt**3)/3, (dt**2)/2],\n", " [(dt**2)/2, dt ]]) * 0.02\n", " kf.P *= 100\n", " kf.R[0, 0] = wheel_sigma**2\n", " kf.R[1, 1] = ps_sigma**2 \n", " s = Saver(kf)\n", "\n", " random.seed(1123)\n", " for i in range(1, 100):\n", " m0 = i + randn()*wheel_sigma\n", " m1 = i + randn()*ps_sigma\n", " kf.predict()\n", " kf.update(array([[m0], [m1]]))\n", " s.save()\n", " s.to_array()\n", " print(f'fusion std: {np.std(s.y[:, 0]):.3f}')\n", " if do_plot:\n", " ts = np.arange(0.1, 10, .1)\n", " plot_measurements(ts, s.z[:, 0], label='Wheel')\n", " plt.plot(ts, s.z[:, 1], ls='--', label='Pos Sensor')\n", " plot_filter(ts, s.x[:, 0], label='Kalman filter')\n", " plt.legend(loc=4)\n", " plt.ylim(0, 100)\n", " set_labels(x='time (sec)', y='meters')\n", "\n", "fusion_test(1.5, 3.0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see the result of the Kalman filter in blue.\n", "\n", "It may be somewhat difficult to understand the previous example at an intuitive level. Let's look at a different problem. Suppose we are tracking an object in 2D space, and have two radar systems at different positions. Each radar system gives us a range and bearing to the target. How do the readings from each data affect the results?\n", "\n", "This is a nonlinear problem because we need to use trigonometry to compute coordinates from a range and bearing, and we have not yet learned how to solve nonlinear problems with Kalman filters. So for this problem ignore the code that I use and just concentrate on the charts that the code outputs. We will revisit this problem in subsequent chapters and learn how to write this code.\n", "\n", "I will position the target at (100, 100). The first radar will be at (50, 50), and the second radar at (150, 50). This will cause the first radar to measure a bearing of 45 degrees, and the second will report 135 degrees.\n", "\n", "I will create the Kalman filter first, and then plot its initial covariance matrix. I am using an **unscented Kalman filter**, which is covered in a later chapter." ] }, { "cell_type": "code", "execution_count": 53, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.kf_design_internal import sensor_fusion_kf\n", "\n", "kf = sensor_fusion_kf()\n", "x0, p0 = kf.x.copy(), kf.P.copy()\n", "plot_covariance_ellipse(x0, p0, fc='y', ec=None, alpha=0.6)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We are equally uncertain about the position in x and y, so the covariance is circular.\n", "\n", "Now we will update the Kalman filter with a reading from the first radar. I will set the standard deviation of the bearing error at 0.5$^\\circ$, and the standard deviation of the distance error at 3." ] }, { "cell_type": "code", "execution_count": 54, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from math import radians\n", "from kf_book.kf_design_internal import sensor_fusion_kf, set_radar_pos\n", "\n", "# set the error of the radar's bearing and distance\n", "kf.R[0, 0] = radians (.5)**2\n", "kf.R[1, 1] = 3.**2\n", "\n", "# compute position and covariance from first radar station\n", "set_radar_pos((50, 50))\n", "dist = (50**2 + 50**2) ** 0.5\n", "kf.predict()\n", "kf.update([radians(45), dist])\n", "\n", "# plot the results\n", "x1, p1 = kf.x.copy(), kf.P.copy()\n", "\n", "plot_covariance_ellipse(x0, p0, fc='y', ec=None, alpha=0.6)\n", "plot_covariance_ellipse(x1, p1, fc='g', ec='k', alpha=0.6)\n", "\n", "plt.scatter([100], [100], c='y', label='Initial')\n", "plt.scatter([100], [100], c='g', label='1st station')\n", "plt.legend(scatterpoints=1, markerscale=3)\n", "plt.plot([92, 100], [92, 100], c='g', lw=2, ls='--');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see the effect of the errors on the geometry of the problem. The radar station is to the lower left of the target. The bearing measurement is extremely accurate at $\\sigma=0.5^\\circ$, but the distance error is inaccurate at $\\sigma=3$. I've shown the radar reading with the dotted green line. We can easily see the effect of the accurate bearing and inaccurate distance in the shape of the covariance ellipse. \n", "\n", "Now we can incorporate the second radar station's measurement. The second radar is at (150,50), which is below and to the right of the target. Before you go on, think about how you think the covariance will change when we incorporate this new reading." ] }, { "cell_type": "code", "execution_count": 55, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# compute position and covariance from second radar station\n", "set_radar_pos((150, 50))\n", "kf.predict()\n", "kf.update([radians(135), dist])\n", "\n", "plot_covariance_ellipse(x0, p0, fc='y', ec='k', alpha=0.6)\n", "plot_covariance_ellipse(x1, p1, fc='g', ec='k', alpha=0.6)\n", "plot_covariance_ellipse(kf.x, kf.P, fc='b', ec='k', alpha=0.6)\n", "\n", "plt.scatter([100], [100], c='y', label='Initial')\n", "plt.scatter([100], [100], c='g', label='1st station')\n", "plt.scatter([100], [100], c='b', label='2nd station')\n", "plt.legend(scatterpoints=1, markerscale=3)\n", "plt.plot([92, 100], [92, 100], c='g', lw=2, ls='--')\n", "plt.plot([108, 100], [92, 100], c='b', lw=2, ls='--');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see how the second radar measurement altered the covariance. The angle to the target is orthogonal to the first radar station, so the effects of the error in the bearing and range are swapped. So the angle of the covariance matrix switches to match the direction to the second station. It is important to note that the direction did not merely change; the size of the covariance matrix became much smaller as well.\n", "\n", "The covariance will always incorporate all of the information available, including the effects of the geometry of the problem. This formulation makes it particularly easy to see what is happening, but the same thing occurs if one sensor gives you position and a second sensor gives you velocity, or if two sensors provide measurements of position.\n", "\n", "One final thing before we move on: sensor fusion is a vast topic, and my coverage is simplistic to the point of being misleading. For example, GPS uses iterated least squares to determine the position from a set of pseudorange readings from the satellites without using a Kalman filter. I cover this topic in the supporting notebook [**Iterative Least Squares for Sensor Fusion**](http://nbviewer.ipython.org/urls/raw.github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python/master/Supporting_Notebooks/Iterative-Least-Squares-for-Sensor-Fusion.ipynb)\n", "\n", "That is the usual but not exclusive way this computation is done in GPS receivers. If you are a hobbyist my coverage may get you started. A commercial grade filter requires very careful design of the fusion process. That is the topic of several books, and you will have to further your education by finding one that covers your domain. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Exercise: Can you Filter GPS outputs?" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the section above I have you apply a Kalman filter to a 'GPS-like' sensor. Can you apply a Kalman filter to the output of a commercial Kalman filter? In other words, will the output of your filter be better than, worse than, or equal to the GPS's output?" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "#### Solution" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Commercial GPS's have a Kalman filter built into them, and their output is the filtered estimate created by that filter. So, suppose you have a steady stream of output from the GPS consisting of a position and position error. Can you not pass those two pieces of data into your own filter?\n", "\n", "Well, what are the characteristics of that data stream, and more importantly, what are the fundamental requirements of the input to the Kalman filter?\n", "\n", "Inputs to the Kalman filter must be *Gaussian* and *time independent*. This is because we imposed the requirement of the Markov property: the current state is dependent only on the previous state and current inputs. This makes the recursive form of the filter possible. The output of the GPS is *time dependent* because the filter bases its current estimate on the recursive estimates of all previous measurements. Hence, the signal is not white, it is not time independent, and if you pass that data into a Kalman filter you have violated the mathematical requirements of the filter. So, the answer is no, you cannot get better estimates by running a KF on the output of a commercial GPS. \n", "\n", "Another way to think of it is that Kalman filters are optimal in a least squares sense. There is no way to take an optimal solution, pass it through a filter, any filter, and get a 'more optimal' answer because it is a logical impossibility. At best the signal will be unchanged, in which case it will still be optimal, or it will be changed, and hence no longer optimal.\n", "\n", "This is a difficult problem that hobbyists face when trying to integrate GPS, IMU's and other off the shelf sensors. \n", "\n", "Let's look at the effect. A commercial GPS reports position, and an estimated error range. The estimated error just comes from the Kalman filter's $\\mathbf P$ matrix. So let's filter some noisy data, take the filtered output as the new noisy input to the filter, and see what the result is. In other words, $\\mathbf x$ will supply the $\\mathbf z$ input, and $\\mathbf P$ will supply the measurement covariance $\\mathbf R$. To exaggerate the effects somewhat to make them more obvious I will plot the effects of doing this one, and then a second time. The second iteration doesn't make any 'sense' (no one would try that), it just helps me illustrate a point. First, the code and plots." ] }, { "cell_type": "code", "execution_count": 56, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "text/plain": [ "(5.0, 0.02)" ] }, "execution_count": 56, "metadata": {}, "output_type": "execute_result" } ], "source": [ "np.random.seed(124)\n", "R = 5.\n", "xs, zs = simulate_acc_system(R=R, Q=Q, count=30)\n", "\n", "kf0 = SecondOrderKF(R, Q, dt=1)\n", "kf1 = SecondOrderKF(R, Q, dt=1)\n", "kf2 = SecondOrderKF(R, Q, dt=1)\n", "\n", "# Filter measurements\n", "fxs0, ps0, _, _ = kf0.batch_filter(zs)\n", "\n", "# filter twice more, using the state as the input\n", "fxs1, ps1, _, _ = kf1.batch_filter(fxs0[:, 0])\n", "fxs2, _, _, _ = kf2.batch_filter(fxs1[:, 0])\n", "\n", "plot_kf_output(xs, fxs0, zs, 'KF', False)\n", "plot_kf_output(xs, fxs1, zs, '1 iteration', False)\n", "plot_kf_output(xs, fxs2, zs, '2 iterations', False)\n", "R,Q" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We see that the filtered output of the reprocessed signal is smoother, but it also diverges from the track. What is happening? Recall that the Kalman filter requires that the signal not be time correlated. However the output of the Kalman filter *is* time correlated because it incorporates all previous measurements into its estimate for this time period. So look at the last graph, for 2 iterations. The measurements start with several peaks that are larger than the track. This is 'remembered' (that is vague terminology, but I am trying to avoid the math) by the filter, and it has started to compute that the object is above the track. Later, at around 13 seconds we have a period where the measurements all happen to be below the track. This also gets incorporated into the memory of the filter, and the iterated output diverges far below the track. \n", "\n", "Now let's look at this in a different way. The iterated output is *not* using $\\mathbf z$ as the measurement, but the output of the previous Kalman filter estimate. So I will plot the output of the filter against the previous filter's output." ] }, { "cell_type": "code", "execution_count": 57, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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MLF68OCVCFnmuKdkUERERkXTvyLVgei44RGB4DFncnfi2cznK5c382OfHxsZSpkwZLl++jL29PZ06daJEiRIpGLHI80/PbIqIiIhIurb26E3afbeXwPAYivp48FP/ak+UaELCRD9du3a1bp84cSIFIhV5sahnU0RERETStH379jFr1iz279+PYRiULVuW3r17U7VqNb744zxfbrkAwCvFsjP9jdK4O//3n7iBgYFkzpwZO7v/73sZOXIkd+7cYeTIkeTNmzfFrkfkRaFkU0RERETSJIvFwsCBA/nmm29sys+cOcOS5aso2286ga65Aehdy4+RDYti/x8TAcXGxvL1118zbtw4vvjiC2tvJoCLiwszZsxI9usQeVFpGK2IiIiIpEljxoyxSTQdHR1xcnLC3t2b7B0mEuiaG5NhYXLrUrz3arH/TDQhoZd0+PDhhIaG8t577xEWFpaSlyDyQlOyKSIiIiJpTnBwMFOmTAHAzs6O6dOnExISwq4zNyg6aA7OvoUwR4YQsHwU1XM+/mC9GjVq0KJFC0wmE02aNCEuLi6lLkHkhadkU0RERETSnB9//JGoqCgA+vTpw+DBg/n9XDAd5xwk3GyPJxH4LxhG5NUTLF269JFtBAcHs2zZskTlU6dO5eDBg8yePZvMmZ9sIiEReXxpJtn89NNPMZlMDBkyxFpmGAZjx44lR44cuLq6Urt2bU6dOpV6QYqIiIjIM3H16lXrdr2GjRm56hgDlx4hJt5CnSJZmdzQl/iQOwBcuXIl0fnz58+nUKFCdOjQgcOHD9vU5cuXj7Jly6Zo/CKSRpLNAwcO8N1331GqVCmb8s8++4ypU6fy9ddfc+DAAXx8fKhfv77G1ouIiIg859zd3QFwzlmUcfviWHHwBiYT9KtdgNldKnDzygXrsR4eHonODwoKIigoCMMwePfdd59Z3CLy/1I92QwPD6djx458//33ZMqUyVpuGAbTp09n1KhRtGzZkhIlSjB//nwiIyNZsmRJKkYsIiIiIintlQYN8azekewdJhFidsTHw4llPSszslFRgu8FMXHiROuxjRo1SnT+gAEDKFKkCO3bt+eHH354lqGLyP+k+tIn/fv3p0mTJrzyyit8/PHH1vLLly/j7+9PgwYNrGXOzs7UqlWL3bt307t370e2FxMTQ0xMjHU/NDQUgLi4uGR/APxBe3qwPH3S/Uv/dA/TN92/9E/3MH1Ly/fvcmAE43aG4VWtPQDhJ7dwes9CZpxtxCx7e9asWUNISAgApUqVYt26dZw8eZIePXpY2zCZTOzevdva65kWr/NpPY/XJM+XVE02ly1bxqFDhzh48GCiOn9/fwCyZ89uU549e3abMfx/9+mnnzJu3LhE5Zs2bSJDhgxPGfGjbd68OUXalWdD9y/90z1M33T/0j/dw/QtLd0/w4Bdd0ysvWpHrMWEi52FkD9mEbR/PQALFy60OT5jxoxcvXqVyZMn4+7ujru7OxkzZkyN0FNFZGRkaocg8q9SLdm8fv06gwcPZtOmTbi4uPzjcSaT7XpJhmEkKnvYe++9x7Bhw6z7oaGh5M6dmwYNGiT7m09cXBybN2+mfv36ODo6JmvbkvJ0/9I/3cP0Tfcv/dM9TN/S2v0LDI/hvTWn2HY5EICqfpmZ2LIEpr6lGTduHEuXLrUmV87OzrRt25YxY8YwevRolixZQmxsLG5ubjRu3Dg1L+OZCgoKSu0QRP5VqiWbhw4dIiAggHLlylnLzGYzf/75J19//TVnz54FEno4fX19rccEBAQk6u18mLOzM87OzonKHR0dU+yNNCXblpSn+5f+6R6mb7p/6Z/uYfqWFu7f76fv8M6PxwmKiMXJwY6RDYvQrVp+7OxMgAezZ89m6tSp7N27Fw8PD4oVK4aXlxeQMKGk2Wzmk08+oUCBAql6Hc9aat83kf+SahME1atXjxMnTnD06FHrV/ny5enYsSNHjx7Fz88PHx8fm6EdsbGxbN++napVq6ZW2CIiIiKSTCJj43lv9Ql6LDhIUEQsRX08+HlANXrU8PtfopkgLCyMyZMn06JFC8xmszXRBMiZMyfLli174RJNkfQg1Xo2PTw8KFGihE2Zm5sb3t7e1vIhQ4YwYcIEChUqRKFChZgwYQIZMmSgQ4cOqRGyiIiIiCSTo9fvM3T5US4HRmAyQc8afgxvUBhnB/tEx65Zs8Y6keSQIUPYv38/dnapvqiCiPyHVJ+N9t+MHDmSqKgo+vXrR3BwMJUqVWLTpk2PXEtJRERERNK+eLOFGVsv8uWW85gtBr6eLkxp+zJVC2T5x3M6duzI559/zl9//UX16tWJiYnB1dX1GUYtIkmRppLNbdu22eybTCbGjh3L2LFjUyUeEREREUk+VwIjGLriKEeu3Qeg6cs5GN+sBJ4Z/v/Zw71793L+/Hk6d+5sLbO3t2fu3Ll4eXlpuKxIOpKmkk0RERERef4YhsHyA9f56JfTRMaa8XBx4OPmJWhWOqfNMZ06dWLJkiW4ubnRoEEDm0khH55UUkTSByWbIiIiIpIswsLC2LBhAwEBAXh7e9OoUSPMDq68u/oEm0/fAaBS/sxMbVeanF62w2BNJhOenp4ARERE8PXXXzN+/Phnfg0iknyUbIqIiIjIU4mPj2fMmDF89dVXhIWFWcu9ilUl2+vDiTE542hvYkSDIvSo4Ye9nYmYmBicnJxs1k8fM2YMmzZtYvjw4fTo0SM1LkVEkpGSTRERERFJMovFQseOHVmxYoW1zOTgTKY6b+FR9jViAOfoIFYOf41SuTNjsVhYsGAhH3zwAbNmzaJx48bW87Jnz865c+c006zIc0I/ySIiIiKSZKtWrbImmvb29rTq/TZl3luOR9nXAAg9uJbzM3qyf+NqAH777Te6dOnC9evXGTlyJGaz2aY9JZoizw/9NIuIiIhIks2YMQMAO2c3Wk1cxUGvWgTFOpA9ozODStkR/Mf3GPGxfPPNNwA0btyYSpUqAZA3b17u37+fWqGLSArTMFoRERERSRKLxcKuXbtwK16bLPV7sS8wYQmTNuVy8X7jYkQEB/BFnjxcu3aNI0eOEBERgZubG19//TWhoaHUrVs3la9ARFKSkk0RERERSZJLd8Pxbj0O13ylASiYzZ1Pmpegkp83H330EZ9++ikxMTHW4+Pi4gAoX758aoQrIs+YhtGKiIiIyBOJjjMzbfM5Gn+5C9d8pbHExRC8fT6T6nhRyc8bSFi+JDo6GsMwAMiZM6d1aRMReTGoZ1NEREREHtuuC4F88NNJLgdGAJDHMZzdswZjDrlD86Z7mDhxItWqVaNo0aLY29tbJwDq3r27zTInIvL8U7IpIiIiIv/pblgMn/x6mp+O3gIgm4czo14tzO3969kbeQ8zcOPGDTp16pToXD8/PwYPHvyMIxaR1KZkU0RERET+kcVisOzAdSb+dobQ6HhMJnizcl6GNyzCsQN7ad63LwAuLi5ER0cnOr9s2bKsXr2azJkzP+vQRSSVKdkUERERkUc6czuUUWtOcPjafQBK5MzIhBYlKZXLC4AaNWpQt25dtmzZQs2aNenbty+bNm3i7t27eHt707p1a+rVq6fhsyIvKCWbIiIiIi+Q8+fP8+2337J//36CgoL4/fff6du3L8WLF7ceExkbz/Tfz/PDzsuYLQYZHO1o5BVA5pCjlMpVw6a9KVOmEBoaSs2aNQFo3rz5s7wcEUnDlGyKiIiIvAAMw2Ds2LGMHz/eOkMswOnTp/n6668ZNmwYkydP5o+/7jL251PcvB8FwKslfLi8dCzT1v+CnZ0drVu3omjRotbzS5cu/awvRUTSCS19IiIiIvIC+Pzzz/noo49sEs2HffH9AmqNWkzPBQe5eT+KnF6uzOlanpmdylG7RjUALBYLc+bMeZZhi0g6pp5NERERkedceHg448ePt+5/8MEH9OnThy1btnDp8hWm/noEz2oduG64En/3Mn2a1WRYo+JkcEr4U3HgwIFs2LCBfv360bp169S6DBFJZ5RsioiIiDznfvzxR8LCwgDo2rUr48ePJy4ujnumjOzJWItMdcoSF3yLgB8/IubaCbJWnEUGp1LW893c3Ni2bVsqRS8i6ZWG0YqIiIg85y5cuGDdbtWqFeEx8Yxdd4bpJ+35yz8MN0cI3vIDMddOADB+/PhHLmMiIvIk1LMpIiIi8pxzdXW1bu84H8inJ//kRnAkJpOJFqV9KRZ7lt4X9gEJvZjvvPMOdnbqkxCRp6N3EREREZHnXL169TA5u+H96iAWnYnl+NJJRG6aTr/iZkY3zM83UydZj122bBkDBw7EyckpFSMWkeeBejZFREREnnOhHnnJ13c2Zic3bs7qgTk0gHBgwzwLX77fj5s3bwJQrFgxGjdunLrBishzQ8mmiIiIyHMqOCKWsetOsfboLXD2wAi5DSaTtX7r1q3WbU9PTxYvXqzhsyKSbPRuIiIiIvKcMQyDT75fTv7ytVmz/yJ2Juhdy4+NQ2vTuGZFTA8lnCaTiSZNmrBnzx7KlCmTekGLyHNHPZsiIiIiz5G7YTG8+uZADv30PQDZCm9hxdcTKJ3bC4Cff/6ZW7dusX//fg4cOEC3bt0oUKBAKkYsIs8rJZsiIiIizwHDMFh79BZj150iwPv/eyh97p+yJpoP5MiRgyZNmmAymciTJ88zjlREXhRKNkVERETSqZiYGObPn09OvyKsvpGBP/4KAKB0yRI07j+EBjWr0KpVq1SOUkReVEo2RURERNKhv/76i3r16nHr1i3cC5TFu/VHONnbMaheQXrXKoCjfY3UDlFEXnBKNkVERETSIRfvHITGJmyHXzxMRadQZvZ/jcLZPVI3MBGR/9FstCIiIiJpnL+/Pxs2bADAYjFYuOcKTb7ajVO5lrgXqcp7365h09g3lGiKSJqink0RERGRNGz48OHMmDEDZ2dndhw5wyebr7Lv8j0A6jZvz6RWn+KX1T2VoxQRSUzJpoiIiEgaFhYWRkxMDDExMdTr/j5uldqQwcmedxoVpXPlvNjZmf67ERGRVKBhtCIiIiJpgNls5tdff8UwDJvydt374+jqTsaKLXEuXpeqBbzZOKQmXarmU6IpImmaejZFREREUtmaNWsYPnw4ly9f5tdff6VYxVr8ee4uO87f5c9zgfj0nUdGd3dGNSnGGxVyYzIpyRSRtE/JpoiIiEgqi4w1c/nyZQA6DP4Qr1Yf2dTXLZGbCS1KksPLNTXCExFJEiWbIiIiIs/Q0aNHyZTZm0DD3dp7eeSqEw6ZfHHw9MG5bHOc7O0ony8TNQplpUahLLyUI6N6M0Uk3VGyKSIiIvIUrl27xqFDhzAMg9KlS+Pn5/fI47bvP0a/fn05fWgP3pWa4167x/9XmuypOvx76pbKR81CWankl5kMTvozTUTSN72LiYiIyHPt5s2bzJw5k2XLlhEQEECWLFlo3bo1/fv3J2/evElu99y5cwwfPjzRpD4NGjRgypQp5CtUlL0XgxKeuzwfyIVrt7h57DAA945sxKd2Z2qVzEfNwlmoXigrOTVEVkSeM0o2RURE5Lm1detWmjdvTmhoqLUsLCyMyZMn8/XXX7Ny5UqaNGnyxO2ePn2aGjVqcO/evYdKTTj5FGBvqCevjFuJo3tm7LMXtNY6uXuRv8qrhF06So9+A3h/cCPc3TI8zeWJiKRpSjZFRETkuXT58mWaNm1KeHg4APb29vj5+XH58mXi4+OJioqidevWHDp0iOLFiz92u4Zh8Oabb1oTzRz5C1Os7dtcJwvRZri3aSZ31nyKo5cPlUfMpWbRbNQolJUqBbwxxdXAzc0NOzutPicizz+904mIiMhz6YsvvrAmmg0bNuTatWucO3eOmzdv0qJFCwCio6OZMmXKE7W7d+9eDh06BCY7CjbsivebX3IBX2JwxN3VhXj/c2COIy7oOg3i9/Bx85I0fMmHjC6OeHh4PHaiefv2bWbMmMGYMWP46quvuH79+pP9B4iIpDIlmyIiIvJcWrJkCQAuLi4sXryYHDlyAJAtWzbmz59PxowZAVi2bBlms/mx292yZQtO2QuQrd3HhLjnJjQ6nmK+GVnYvSJHxzSgX6eW1mNv3br1xHFHRUXRs2dP8uTJw4ABA/joo48YNGgQ+fLlo1OnToSFhT1xmyIiqUHJpoiIiKQZoaGh7Nmzh927dxMcHJzkduLj47l79y4AL7/8Mt7e3jb1Hh4eVKpUCYDIyEhCQkIeq92QyDi2R/jgWrgKd1eP5+6PH9O3rBvrBlSjRqGsONrb2TwD6ujo+MRxN2vWjNmzZxMfH29TZ7FYWLx4Ma+++ioxMTFP1K6ISGpQsikiIiKpzt/fn549e+Lj40PVqlWpVq0avr6+dOnShWvXrj1xe/b29ri5uQEJs8ZGR0fb1MfHx3Py5Enrse7u7v/anmEYrDp0g7pTtnHO4oPJZIcRGwUY3N3/Cw72//8n1erVq63bhQsXfqK4Fy1axObNmwHIkCED7733Hr/88gujR4/Gw8MDgF27dvHtt98+UbsiIqlByaaIiIikqqtXr1KpUiVmz55NVFSUtTwmJoYFCxZQsWJFzp0790RtmkwmmjVrBkBwcDDvvfeedaisxWJh3Lhx3L59G4DGjRvj5OT0yHaCgoIYOeYTWn25lRErjxEUEYtflgxw65T1mHv37nHjxg38/f0ZO3Ys33zzDZAwfLd9+/ZPFPfMmTOt26tXr2bChAk0adKEcePGsWHDBmvdrFmznqhdEZHUoGRTREREUtXDvZceHh507dqVHj164OXlBcCdO3d44403bNayfBxDhgzBZDIBMH36dAoWLEj79u0pXLgwH3/8sfW4oUOHPvL8md/NxidHTiZ/9AHbf1uDq6M97zQqyoYhtRjdr6P1uLlz55I7d258fX0ZN26cNc733nuPzJkzP3a8FouFgwcPAgk9og0aNLCpr1q1KuXKlQPgzJkzenZTRNI8JZsiIiKSao4dO8b27dsByJMnD2fPnmXu3Ll8//33XLhwgSJFigBw5MgRdu7c+URtV6hQgRkzZlj3r1y5wrJly7h48aK1bNKkSdSpU8fmPMMw+OX4LWYciyM+9n/PRp7eyO/Da9G3dgGcHOwYMmQI48eP/8eZZd955x0+/PDDJ4r3wWtDwrOeDxLlhz38DKjFYnni9kVEniUlmyIiIpJqfvvtN+v2iBEj8PX1te57e3vz7rvvWvcfHkb6uPr27cuWLVto1KiRTXndunVZv349I0eO5ObNm4wePZqdO3dy6W44b87Zz4AlRwj3yEPmopVp07UP+7asJ6eXq/V8k8nEBx98wIULF3jvvfeoV68edevWZcSIEZw7d46JEyc+Mln8N3Z2dpQqVQqAU6dOsXv3bpv648ePs3fvXgDy589vnU1XRCStckjtAEREROTFFRERYd0uUKBAovqCBQtatx+smfmk6tSpQ506dQgODiYoKIjMmTNbh7fu3r2bmjVrYjabWbNlLzG1hhJrtuDkYEe/2gXoM34nLo72/9h2/vz5mTBhQpLiepRevXrRv39/AF5//XU++OADqlWrxv79+22G/vbu3fuJk1kRkWctVXs2Z86cSalSpciYMSMZM2akSpUqNp9wGobB2LFjyZEjB66urtSuXZtTp079S4siIiKSnuTNm9e6/euvvyaq/+WXXx55bFJkypSJggUL2jxHWaFCBTwzZwHg5N5tREWEUqtwVjYPrcmQVwr/a6KZErp3725dkuXevXsMGzaMSpUqMXDgQO7cuQNAqVKlrAmpiEhalqrJZq5cuZg4cSIHDx7k4MGD1K1bl2bNmlkTys8++4ypU6fy9ddfc+DAAXx8fKhfv74eiBcREXlOtG7dGlfXhOGps2bNYvr06URGRhIdHc2sWbOYOnUqAA4ODnTo0CHJr3P8+HEGDRpk0wt5/V4kfZccxSjVDM+qb1B2xEK+71GTeW9VIK+329NdWBI5OzuzYcMG60y6f9egQQN+//33/1yqRUQkLUjVYbSvv/66zf4nn3zCzJkz2bt3L8WLF2f69OmMGjWKli1bAjB//nyyZ8/OkiVL6N27d2qELCIiIsnIy8uLESNGMH78eCwWC0OHDuXtt9/GZDIRFxdnPa5///74+Pgk6TVCQ0OpWLEiMTExeHt702/gIBYduM1XWy4QE28hc8Vm9Kjhx6B6BcnglPpPGHl5efHTTz9x+vRpVqxYwd27d/H29qZVq1a8/PLLqR2eiMhjS/131P8xm82sXLmSiIgIqlSpwuXLl/H397eZ9tvZ2ZlatWqxe/fuf0w2Y2JiiImJse6HhoYCEBcXZ/NLKzk8aC+525VnQ/cv/dM9TN90/9K/5LqHo0aNIjAw0LrGZHx8vE19586d+fTTTx/rdQzD4N69e3h7e1vLXF1dadGiBcuWLSM8IoI678whOGPC86GV8mdizGvFKJTNHTDS1PdjoUKFGDVqlE1Zcsann8H0T/dO0jqT8aSLViWzEydOUKVKFaKjo3F3d2fJkiU0btyY3bt3U61aNW7evEmOHDmsx/fq1YurV6+ycePGR7Y3duxYxo0bl6h8yZIlZMiQIcWuQ0RERJ7OuXPn2LhxI+fPn8cwDPz8/GjYsCHFixf/z3MNw+C3335j06ZNWCwWvvjiC5sJdM6dO8/q/Re4mbMOdi7ueDgaNM9roVwWA82zI+lVZGQkHTp0ICQkRLMTS5qU6slmbGws165d4/79+/z444/Mnj2b7du3c//+fapVq8atW7dspkHv2bMn169f/8fpzx/Vs5k7d24CAwOT/YcwLi6OzZs3U79+fZt1ryR90P1L/3QP0zfdv/Qvrd3DWrVqsWfPHgD+/PNPKleuDEC82cKHP59h1eGbAHSulJuhrxTEwyX1Y05Nae3+yZMLCgrC19dXyaakWak+jNbJyck6rXn58uU5cOAAX3zxBe+88w4A/v7+NslmQEAA2bNn/8f2nJ2dcXZ2TlTu6OiYYm+kKdm2pDzdv/RP9zB90/1L/571Pbx79y5//vknrVq1sinv1asXe/bsoVKlShiGgaOjI9FxZgavOMam03ewM8HElqVoWyH3M4s1PdDPYPql+yZpXarORvsohmEQExND/vz58fHxYfPmzda62NhYtm/fTtWqVVMxQhEREUktQ4cOJWfOnLRt25YbN27Y1LVt25bjx4+zd+9eatasSVh0HF3n7mfT6Ts4Odgxs1M5JZoiIs9Qqiab77//Pjt27ODKlSucOHGCUaNGsW3bNjp27IjJZGLIkCFMmDCBNWvWcPLkSbp27UqGDBmeaupzERERSb88PT2Ji4vDYrEwd+5cm7oMGTJQsmRJAO6GxfDGd3vZe+ke7s4OzH+rIg1fStpstiIikjSpOoz2zp07dO7cmdu3b+Pp6UmpUqXYsGED9evXB2DkyJFERUXRr18/goODqVSpEps2bcLDwyM1wxYREZEUFB8fz4YNG1i0aBFz5syxmeCvW7dufPvtt3Tu3Jk33njjkedfvxdJ5x/2cSUoEm83J+Z3q0iJnJ7PKnwREfmfVE02f/jhh3+tN5lMjB07lrFjxz6bgERERCTVjRw5kmnTpgHQuHFj3nzzTWtdnjx5uHHjBvb29o8896x/GJ1/2EdAWAy5MrmysHsl8mdxeyZxi4iIrTT3zKaIiIi8OEJCQrBYLDZlD0/889NPPyU6558SzUNX79Fm1m4CwmIokt2DH/tWVaIpIpKKlGyKiIjIM3f48GE6deqEr68vf/75p01d1apV6dOnD+vWrWPFihWP1d7WswF0nL2P0Oh4yuXNxPLelcme0SUlQhcRkceU6kufiIiIyIvn/PnzLF68GIC5c+dSu3Zta53JZGLmzJmP3dbaozcZvuIY8RaD2kWy8k3HsmRw0p84IiKpTT2bIiIikmLCw8OZO3culy9ftilv1qwZXl5eZM6cGR+fpM8SO2/XZQYvO0q8xaBZ6Rx8/2Z5JZoiImmEkk0RERFJEb/99hs+Pj5069Yt0aSALi4ubNmyhVu3bjFp0qQnbtswDKZuOsvYdacB6Fo1H9PalsbRXn/aiIikFfroT0RERJKFYRiYTCbrfpkyZYiOjgZg/vz5jBs3zmZynzJlyiTpdcwWg9FrT7J43zUAhtcvzIC6BW1eW0QgOjqau3fvpnYY8hzKmjUrLi7//Vy8kk0RERFJspiYGBYtWsSiRYto164dvXr1stb5+PjQvn173NzceOutt7Cze/pex5h4M8NWHOPX47cxmeCjZiXoXDnvU7cr8ryJjo4mICCAnDlz/uMMziJJYTabuXnzJtmyZfvPhFPJpoiIiCTZzZs3GTZsGAARERE2ySbAwoULk+21ImLi6bPoEDvOB+Job2Jau9K8VipHsrUv8jy5e/euEk1JEfb29uTMmZNbt26RO3fufz1WDzaIiIjIY/nrr784deqUTZmfnx+lSpUC4N69e4SEhKTIa9+LiKXD7H3sOB9IBid75nStoERT5D8o0ZSU8rjfW0o2RURE5F9dv36dChUqUKxYMUaPHp2oftKkSezcuZOzZ8/i6emZ7K9/634UbWbt5tj1+2TK4MiSnpWpUShrsr+OiIgkLw2jFRERkX/l6+vL9evXAfjll18IDg4mU6ZM1vp69erh6OiYIq99ISCcN3/Yx62QaHw9XVjYvSIFs3mkyGuJiEjyUs+miIiIYDab+eOPP+jatSvvv/++TZ2DgwPt27enbNmyTJw48ZkNzTt2/T5tZu3mVkg0flndWNW3qhJNkRdU7dq1GTJkiHU/X758TJ8+PdXikcejnk0REREhPDycJk2aEBMTQ9asWRk3bpxNb+Vnn32WYr2Xj7LzfCC9Fh4kMtbMy7k8mftWRTK7OT2z1xeR1NG1a1fmz5+fqHzfvn0UK1bsH88zmUysWbOG5s2bp2B08qTUsykiIvKCuXnzJvv377cp8/T0pGnTpkDCciZ//fWXTf2zTDTXn7hNt3kHiIw1U71gFhb3rKxEU+QF0qhRI27fvm3zVa5cOTw8Un5kQ1xcXIq/xotEyaaIiMgLIiYmhgYNGpA7d266deuGYRg29cOHD2f58uX4+/tTsmTJVInxz3N3Gbj0CLFmC41L+vBD1/K4O2sglsiLxNnZGR8fH5uvevXq2QyjfVi+fPkAaNGiBSaTyboPsG7dOsqVK4eLiwt+fn6MGzeO+Ph4a73JZGLWrFk0a9YMNzc3Pv744xS8sheP3r1FREReEM7OzkRGRmIYBqdOneLYsWOULl3aWl+pUiUqVar0r20EBwczd+5cli9fTkBAAPb29pw8eZLevXuTJUuWp4rvL/9Q+i0+jNli0Kx0Dqa2LY29nemp2hSRBIZhEBVnTpXXdnW0x2RKuZ/lAwcOkC1bNubOnUujRo2sz5Vv3LiRTp068eWXX1KjRg0uXrxoXQt4zJgx1vPHjBnDp59+yrRp07RcTDJTsikiIvIcMQyD3bt3s2TJEu7du8fSpUtt6jt16sTt27fp1KkT2bJle6K2Dxw4wGuvvUZAQIBN+QcffMDnn3/O2rVrqVmzZpLivhMaTbe5BwiPiadi/sx81rqUEk2RZBQVZ6b46I2p8tqnP2pIBqfHTzt++eUX3N3drfuvvvrqvx6fNWvCUkheXl74+PhYyz/55BPeffddunTpAiSsCzx+/HhGjhxpk2x26NCBbt26PXZ88viUbIqIiDxnunTpwsWLF7Gzs2Pq1Kn4+vpa67p3707v3r2fuJfh1q1bvPrqqwQFBVnLvL29rfv379/ntdde48iRIxQoUOCJ2o6Iiaf7/APWWWe/61wOZwf1Loi8qOrUqcPMmTOt+25ubrRv3/6J2zl06BAHDhzgk08+sZaZzWaio6OJjIwkQ4YMAJQvX/7pg5ZHSpZk02w2c+LECfLmzWuz7paIiIiknEuXLnHy5EnrxD6Q8PxR+/bt+fjjj3FycuLw4cM0adLEWp/UiX6+/PJLa2JZrVo1fvjhB/z8/Pjhhx9YtWoVf/zxB2FhYUydOpUZM2Y8drtmi8HgZUc4eTOUzG5OzO1aAa8MmgxIJLm5Otpz+qOGqfbaT8LNzY2CBQs+9etaLBbGjRtHy5YtE9W5uLjYvJ6kjCQlm0OGDKFkyZJ0794ds9lMrVq12L17NxkyZOCXX36hdu3ayRymiIiIPKxx48b89ttvuLu7ExAQgKurq7Wua9euFC5cmObNmyfb7I0LFiwAEpLVlStX4uvrS1xcHL6+vixZsoT8+fMTGRnJokWL+PLLLx/7uafxv5zm9zMBODnY8f2b5cnrrT/6RFKCyWR6oqGs6Y2joyNms+0zqWXLluXs2bPJkrhK0iRpNtpVq1bx8ssvAwkzPF2+fJm//vqLIUOGMGrUqGQNUERE5EX39z+gAHLkyAEkrI/5yy+/2NQVKFCAzp07J1uiGR8fz+3btwEoU6aMzbBcgEyZMlGlShUAQkNDCQkJeax25+66zLzdVwCY1rY05fJqdJSIJE2+fPn4448/8Pf3Jzg4GIDRo0ezYMECxo4dy6lTpzhz5gzLly/ngw8+SOVoXxxJSjYDAwOtD9+uX7+eNm3aULhwYbp3786JEyeSNUAREZEX1dq1a2ndujXFixfHYrHY1HXo0IFSpUrx6aefWhO9lGJvb28dcnb58uVE69BZLBYuXLgAJPSePM6QtM2n7/DRL6cBePfVojQp5fsfZ4iI/LMpU6awefNmcufOTZkyZQBo2LAhv/zyC5s3b6ZChQpUrlyZqVOnkjdv3lSO9sWRpL707Nmzc/r0aXx9fdmwYQPffPMNAJGRkZouWEREJJl8++23/PbbbwDs3r2b6tWrW+vq1KnDsWPHnkkcJpOJxo0bs3r1au7evcuECRMYPXq0tf7LL7/k6tWrALzyyis4Ozv/a3snboQwaOkRDAPaV8xD75p+KRq/iKQf8+bNe2T5tm3bbPavXLlis//666/z+uuvJzqvYcOGNGz4z8+q/n29YUleSerZfOutt2jbti0lSpTAZDJRv359APbt20fRokWTNUAREZHnmWEY7N27l8mTJyeq69ChAwDZsmXj1q1bNnUpuWbdowwePNi6PXbsWMqUKcOgQYMYMWIEI0eOfORxj3IjOJJu8w8QFWemZuGsjG/20jO/FhEReTaS1LM5duxYSpYsybVr12jTpo31E0x7e3vefffdZA1QRETkedasWTPWrVsHQIsWLWwmsmjevDkbN26kbt26ODik7sQeNWvW5JNPPrHOzXDs2LFEPavvvvuuzcy3fxcaHUe3eQe4GxZDUR8PZnQog4N9kj73FhGRdOCJ3+Hj4uKoU6cOJUuWZOjQoeTKlcta16VLF5o1a5asAYqIiDwvbt68maisRo0a1u1ly5bZ1Lm7u9OgQYNUTzQfeP/99/nxxx+pUKGCTXmpUqVYvHgxn3766T+eG2e20G/RYc7dCSd7RmfmdK2Ah0vSlmEREZH04Yl/ezk6OnLy5EkNeREREXlM3377Ld988w1nzpzhzp07NmtSt23blj/++IN27do9ci24tKZly5a0bNmSS5cucfv2bU6cOEG3bt1wcvrntTENw+CDNSfZeSGQDE72/NClAjm8XP/xeBEReT4kaezKm2++yQ8//JDcsYiIiDyXzp49y/Hjx4mLi2PNmjU2dXnz5mXDhg289dZbeHp6plKET87Pz4+KFSvi6+v7nx9Af7PtIssPXsfOBF+1L0OJnOnnOkVEJOmSNC4nNjaW2bNns3nzZsqXL59oivOpU6cmS3AiIiLpRUBAAKtWrWL9+vWsWbMGR8f/HyL6xhtvMG3aNCpXrkzmzJlTMcpn7+djt5i88SwAY15/iXrFsqdyRCIi8qwkKdk8efIkZcuWBeDcuXM2dRpeKyIiL6LBgwdbn7n8/fffefXVV611FSpU4MqVKy/c2m4Hr9xjxMqESYS6VctPl6r5UjcgERF5ppKUbG7dujW54xAREUkXwsPD2bRpEy1atLD5gPWNN96wJptbtmyxSTZNJtMLl2heCYyg54KDxMZbqF88O6OaFEvtkERE5Bl7qvnGL1y4wMaNG4mKigK0KKqIiDzfPv74Y7Jly0arVq04evSoTV2jRo0YNWoUR48e5bPPPkudANOI4IhY3pp3gODIOErl8uSLN0pjb6eRTyIiL5okJZtBQUHUq1ePwoUL07hxY27fvg1Ajx49GD58eLIGKCIikhri4+MTlWXJksX6Aevflylxdnbm448/5uWXX36hHymJiTfTe+EhLgdGkNPLldldypPBKW0s3SIi8ndXrlzBZDIl+gBRkkeSks2hQ4fi6OjItWvXyJAhg7W8Xbt2bNiwIdmCExERedZ27txJ165dyZYtW6J1MVu1aoWPjw99+vRJF8uUPGuGYTBy1XH2X7mHh4sDc9+qQDYPl9QOS0TSCZPJ9K9fXbt2Te0Q5Qkl6aPGTZs2sXHjRnLlymVTXqhQIa5evZosgYmIiKSG33//nfnz5wOwcuVKhgwZYq3LmjUrN2/exM7uqZ5CeW5N3XyOtUdv4WBnYlanchTO7pHaIYlIOvJgtCTA8uXLGT16NGfPnrWWubrars8bFxdnM/O3pD1J+m0ZERFh06P5QGBgIM7Ozk8dlIiISEqyWCz8+eefDBo0iIiICJu6du3aAeDh4ZGoDlCi+Q9WHLzOV1suADChZUmqFcySyhGJSHrj4+Nj/fL09MRkMln3o6Oj8fLyYsWKFdSuXRsXFxcWLVpEUFAQ7du3J1euXGTIkIGSJUuydOlSm3YtFguTJk2iYMGCODs7kydPHj755JNHxmCxWOjZsyeFCxdWJ1oySFLPZs2aNVmwYAHjx48HErq8LRYLkydPpk6dOskaoIiISHIbOXIkU6ZMAaBatWrWBBOgWLFibNy4kZo1a+LioiGgj2P3xSDeX30CgAF1CtK2fO5UjkhEnlfvvPMOU6ZMYe7cuTg7OxMdHU25cuV45513yJgxI7/++iudO3fGz8+PSpUqAfDee+/x/fffM23aNKpXr87t27f566+/ErUdGxtLhw4duHjxIjt37iRbtmzP+vKeO0n6eHby5Ml8++23vPrqq8TGxjJy5EhKlCjBn3/+yaRJk5I7RhERkSQxDIPDhw9jNpttyps0aWLdXrVqVaLzGjRo8EwSTcMw2LJlC71796ZFixb06NGDDRs2YLFYUvy1k4t/JAxYdox4i0HTl3MwvEHh1A5JRP7F1KlTyZUrF7ly5WLbtm02dZcvX7bWDRw4MNG5TZs2tdb/3bx586x1q1evTqnwGTJkCC1btiR//vzkyJGDnDlzMmLECEqXLo2fnx8DBw6kYcOGrFy5EoCwsDC++OILPvvsM7p06UKBAgWoXr06PXr0sGk3PDycJk2a4O/vz7Zt25RoJpMk9WwWL16c48ePM3PmTOzt7YmIiKBly5b0798fX1/f5I5RRETkiS1ZsoTRo0dz8eJFtm3bRq1atax1NWvWpFOnTjRq1IimTZumSny3bt2iRYsW7N+/36b8hx9+oFSpUvz000/kz58/VWJ7XHfDYvj2L3vCYuKpkC8Tk9uUeqFn4hVJD0JDQ62Tn8XExNjUmc1ma11wcHCic+/evZto4rQHIiIirHWRkZHJGbKN8uXL2+ybzWYmTpzI8uXLuXnzJjExMcTExODm5gbAmTNniImJoV69ev/a7oOhuH/88ccjHxeUpElSsnnt2jVy587NuHHjHlmXJ0+epw5MRETkaV28eBFImGji4WTT3t6ehQsXplZYhIWFUa9evUcO4wI4fvw4devW5eDBg3h7ez/j6B5PZGw8fRYf4V6MiXzeGfiuc3mcHexTOywR+Q8ZM2YkZ86cAInmWrG3t7fWZcqUKdG5WbNmtdb/nZubm7UuJZO1B0nkA1OmTGHatGlMnz6dkiVL4ubmxpAhQ4iNjQUSTyr0Txo3bsyiRYvYu3cvdevWTfa4X1RJGkabP39+7t69m6g8KCgozX8KKyIiz4+LFy/y0UcfUaJECc6cOWNT17RpU9zd3albty41atRIpQgf7dtvv7Ummnny5GHZsmVcv36dH3/8kYIFCwIJa7998cUXqRnmPzpzO5TmM3Zx/GYobg4G33cuQyY3p9QOS0Qew7Bhw7hx4wY3btygdu3aNnX58+e31n311VeJzv3555+t9X/XtWtXa92zXBpqx44dNGvWjE6dOvHyyy/j5+fH+fPnrfWFChXC1dWVP/7441/b6du3LxMnTqRp06Zs3749pcN+YSSpZ9MwjEcOkwkPD9dkCiIi8sysW7eOMWPGAAnLlIwePdpa5+7uzq1bt/DwSHvLb8yePdu6/euvv1KiRAkAcuXKRenSpSlcuDBms5kffviBcePGpZmhqYZhMHfXFSZu+IvYeAtZ3J3onC+SfN5u/32yiEgKKFiwID/++CO7d+8mU6ZMTJ06FX9/f4oVKwaAi4sL77zzDiNHjsTJyYlq1apx9+5dTp06Rffu3W3aGjhwIGazmddee43ffvuN6tWrp8YlPVeeKNkcNmwYkDD77IcffmjTRW42m9m3bx+lS5dO1gBFREQuXbrEihUr6N69O1mzZrWWt27dmqFDh1qP+bu0mGiazWbrunEvv/yyNdF8wM/Pj6pVq7Jjxw5u3bpFSEgIXl5eqRCprYCwaN5eeZzt5xJGNtUrmo1Pmhdn3/bfUzkyEXmRffjhh1y+fJmGDRuSIUMGevXqRfPmzQkJCbE5xsHBgdGjR3Pr1i18fX3p06fPI9sbMmQIFouFxo0bs2HDBqpWrfqsLuW59ETJ5pEjR4CETzZPnDiBk9P/D5lxcnLi5ZdfZsSIEckboYiIvNCmT59uTSgzZ85Mr169rHW5cuVi8eLF1KxZ85GzI6ZFdnZ2ODg4EB8fT0hIyCNHCz08MUdaWLB8y193eHvlcYIiYnF2sOODJsXoVDkv8fHxqR2aiDynunbtSteuXa37+fLlwzCMRMdlzpyZn3766V/bsrOzY9SoUYwaNSpR3aPaHTZsmLWTTZ7OEyWbW7duBeCtt97iiy++IGPGjCkSlIiIvJiuX79OtmzZbCatePh5y+XLl9skmwAdOnR4ZvElB5PJRPXq1dm2bRtXrlxh+fLlvPHGG9b69evXc/LkSQDKli2baDKMZyk6zsyE9WdYsCdhYfOiPh582b4MhbOnvR5jERFJe5I0QdDcuXPJmDEjFy5cYOPGjURFRQE88tMGERGR/7Jp0yaqVatGnjx52Lhxo01d2bJlad68ORMnTrR51jE969+/v3W7U6dOdO3ale+//56ePXvSrFmzRx73rJ25HUrTr3daE83u1fPzU/9qSjRFROSxJWmCoHv37tGmTRu2bt2KyWTi/Pnz+Pn50aNHD7y8vJgyZUpyxykiIs+xuLg4du/eDST0Xj689qXJZGLNmjWpFVqKaNmyJe3bt2fp0qWYzWbmz5/P/PnzbY55/fXX6dKlyzOPzWIxmLf74UmAnJnS9mVqFc763yeLiIg8JEk9m0OGDMHR0ZFr167ZTBLUrl07NmzYkGzBiYjI8+Pu3bvMnDmTOnXqsH//fpu6+vXr4+XlRYkSJShXrlwqRfjs2NnZsXDhQkaPHo2np6dNnbu7O2+//TarVq3C3v7ZrlsZEBZN13kH+OiX08TGW6hXNBsbh9RQoikiIkmSpJ7NTZs2sXHjxkSTMRQqVIirV68mS2AiIvJ8WbduHf369QNgxYoVlClTxlrn5OTEmTNn8PHxSa3wnjl7e3vGjRvHyJEj2bRpEwEBAXh7e9OwYcNUmUX3jzN3GLkq8SRAaWXZFRERSX+S1LMZERFh06P5QGBgoM2kDv/l008/pUKFCnh4eJAtWzaaN29unQ7+AcMwGDt2LDly5MDV1ZXatWtz6tSppIQtIiLPwL179/jhhx8SLfrdvHlzHBwSPuN8MLv5w16kRPNhbm5utGjRgt69e9O6detnnmhGx5kZvfYk3ecfJCgilqI+HqwbWJ3OVfIp0RQRkaeSpGSzZs2aLFiwwLpvMpmwWCxMnjyZOnXqPHY727dvp3///uzdu5fNmzcTHx9PgwYNiIiIsB7z2WefMXXqVL7++msOHDiAj48P9evXJywsLCmhi4hIClq6dCnZs2enR48eLFu2zKYuc+bMfPfddxw5coTff9fajGnBmduhvP6V7SRAawdoEiAREUkeSRpGO3nyZGrXrs3BgweJjY1l5MiRnDp1inv37rFr167Hbufvz3fOnTuXbNmycejQIWrWrIlhGEyfPp1Ro0bRsmVLAObPn0/27NlZsmQJvXv3Tkr4IiKSDEJCQnBycsLV1dVaVr58eevaiytWrEi09vJbb731TGOUR7NYDObuvsKk3/4i1qxJgEREJGUkKdksXrw4x44dY9asWdjb2xMREUHLli3p378/vr6+SQ4mJCQESPj0G+Dy5cv4+/vToEED6zHOzs7UqlWL3bt3PzLZjImJISYmxrofGhoKJMx0GBcXl+TYHuVBe8ndrjwbun/p34t8Dw3D4G54LJfuRnApMILLgRGYLQa+Xi7k8HQlh5cLOb1cyeLmhJ1d8g6FPHjwIBMmTGDTpk18++23dOzY0VqXL18+XnvtNQoVKkTr1q3/9d68yPcvNd0Ni+Gd1SfZcSEIgDpFsvBpixJ4uzk98b3QPUzfdP/SP907SetMRhIXx4yOjub48eMEBARgsVhs6h6esv5xGYZBs2bNCA4OZseOHQDs3r2batWqcfPmTXLkyGE9tlevXly9ejXRWmwAY8eOZdy4cYnKlyxZ8sjnTEUkfTIMg9jYWJycnJ7r58pizXA3GgKiTQREQUCUiTtRJgKiIcb839dtbzLI5AyZnQ0yOUEmZ4PMzpDZOWHbywkcnvCBilOnTjFq1CgAKlSoYN1+ngUHB/P7779z/vx5APz8/HjllVfIkiVLKkf2z27evMnGjRutMefPn59CtVqwOdSHiHgTjiaDZvksVM9u8Bz/CIk81yIjI+nQoQMhISFkzJjRpu769evkzp07lSKTF8HjfI8lqWdzw4YNvPnmmwQFBfH3XNVkMmE2m5+4zQEDBnD8+HF27tyZqO7vf0gahvGPf1y+9957DBs2zLofGhpK7ty5adCgQaIfwqcVFxfH5s2bqV+/Po6OjsnatqQ83b/06fTp03z55ZesXLmSsLAwnJ2dadWqFUOGDKF06dKpHV6SGIZBQFgMlwIjuBQYyeXACC7dTeitvBkSzT99JGhnglyZXPHL4oZfFjecHOy4eT+KW/ejuRUSzZ3QaMyGicBoCIx+9HumyQTZ3J3J4eVCDi9Xcnq5kMPThczOcOHQn2zfuI6B/ftRq1Yt6zmNGjVixowZWCwWatSoQePGjZN03enlZ/DLL7/kvffes+lB2L9/PytXruTDDz/kvffee6oPPAzD4PC1+2w/H4iDnQkPF0fcne1xd3bA3cUBd2cHPB7adnOy/9fXMwyDMWPGMHHiRGuZycGJO7lqcepewuijItndmdamFIWyuyc5bkg/91AeTfcv/QsKCkrR9mNiYli7di0nTpzA3t6eKlWqUL9+fezskjTty2Pp2rUr8+fPp3fv3syaNcumrl+/fsycOZMuXbowb968FIvhefdg/ermzZun+GslKdkcMGAAbdq0YfTo0WTPnv2pgxg4cCA///wzf/75p81yKg9mJvT397cZnhsQEPCPr+vs7PzIGXEdHR1T7I00JduWlKf7l36sXr2a9u3bExsbay2LiYlhyZIlLF++nLlz59K5c+dUjPDfxZstXLgbzoWA8IThr3fDufi/pDI8Jv4fz8vo4oBfVncKZHXHL6sbBbK6USCrO3m8M+Ds8M/rMMaZLfiHRHPzfhQ3g6O4dT8qYft/+zfvRxETb+FOWAx3wmI4cj3Eem7EXzsJXJuQrOy4Fk2xNnZkcLInw/+SnWpDZpAtRy6cXJ34dMN53JztyeDkkHCMkz1uzg64Otnj9reyhG0H7B8a2puWfwZnzZqV6LnTB8xmM2PHjiVDhgy8/fbbT9x2UHgMqw/fZNmBa1y8G/HfJ/yPnQncnB3I6OJoTUg9HiSlLg6cOX6EbX9ewaNcUywxERjmeDyrtsUpS14AQg/8RLkqvhTPVes/XunxpeV7KP9N9y/9Ssn7tmTJEoYOHUpAQIBNecGCBZkzZw41atRIsdfOnTs3y5YtY9q0adZ5AaKjo1m6dCl58uRJsddNDg9GXUmCJCWbAQEBDBs27KkTTcMwGDhwIGvWrGHbtm3kz5/fpj5//vz4+PiwefNm63pssbGxbN++nUmTJj3Va4tI+nLmzBmbRNPDw4NSpUpx5MgRIiMjMZvNvPXWWxQrVozy5cuncrQJgsJjOHLtPoevBXP4WjDHb4QQGfvokR92JsiTOcP/kko3/LK645fFjQLZ3PF2S9pQYUd7O3JnzkDuzI9+hMAwDG4GhbH6519x9/XD7JaVm/ejuBEcxXXvumxePw0jLoawKye4ERz5txgcIejOE8f0gLNDQvKayd4ec67bvF46F472KfdJeVJERUXx/vvvW/f79+/PgAEDsLe359tvv2XKlClAwuMbvXr1wtPT8z/btFgMdl4IZPmB62w67U+cOaHb2tXRnoYvZcfdxYGw6HjCo+MJi44nLCae8Ji4hO3oeMwWA4uBdf/RsuBVo1OiUldTHNdWfEzkpUNM3eXMsCGD0vQwYBFJPfPnz6dr166PrLtw4QL169fnjz/+oFq1ainy+mXLluXSpUusXr3aOi/A6tWryZ07N35+ftbjDMNg8uTJzJo1i9u3b1O4cGE+/PBDWrduDSR8KNirVy+2bNmCv78/efLkoV+/fgwePNjaxrZt26yTnTo6OvLSSy+xZMkS8ubNS9euXbl//z4//fST9fghQ4Zw9OhRtm3bBkDt2rUpUaIETk5OLFiwgJdeeont27dz+vRpRowYwZ9//ombmxsNGjRg2rRp1vfd2rVrU7JkSezt7Zk/fz5OTk6MHz+ejh07MmDAAFatWkW2bNn4+uuvefXVV62v/zjtlipVChcXF2bPno2TkxN9+vRh7NixQMLcCgAtWrQAIG/evFy5coVjx44xZMgQDh48iMlkolChQnz77bdP/TdVkpLN1q1bs23bNgoUKPBUL96/f3+WLFnC2rVr8fDwwN/fHwBPT09cXV0xmUwMGTKECRMmUKhQIQoVKsSECRPIkCEDHTp0eKrXFpH0Zfr06dZEs3379nz33Xc4OzuzZs0aNm7cyJw5czCbzUydOpUlS5Y88/jizRbO3gnj8LX7HLmakFxeCYpMdJy7swOFsrvjl8WdAtncEv7N6vafvZT/5siRI+zfvx/DMChbtiwVKlR4rOT0999/p02bNoSEhPDhhx/y0Ucf2dR/5/klvrnyUqh0RaLNJiJj4omMNRMRm/BvZKyZyJh4ImLNRMUm/BsZG09EjJkom+PiiYxJ2Lf8b0hwTLyFmHgLwZgYtvIEkzaeo1OlvHSolAdv98dfrzklrVmzhuDgYADatWvH119/ba37/PPPCQkJYfbs2URGRrJ06VL69Onzj23duh/FyoM3WHHwOjfvR1nLX87lSbsKeXj9ZV88XP69h8IwDKLjLITFxFmT0fCYeMKi46zbf+45wE+/bsDO2Y0CRV+iWKmyhEXHUSCrO+++WpSPIrfy5ZeHiImJYenSpQwcOPAp/5dE5HkTFhZm897QtGlT3nrrLSIjI/nyyy/Zt28fMTEx9OnTh+PHj6fYvAlvvfUWc+fOtSabc+bMoVu3btYkD+CDDz5g9erVzJw5k0KFCvHnn3/SqVMnsmbNSq1atbBYLOTKlYsVK1aQJUsWdu/eTa9evfD19aVt27bEx8fTvHlzevbsydKlS4mNjWX//v1PfE3z58+nb9++7Nq1C8MwuH37NrVq1aJnz55MnTqVqKgo3nnnHdq2bcuWLVtszhs5ciT79+9n+fLl9O3bl59++okWLVrw/vvvM23aNDp37sy1a9fIkCHDE7U7bNgw9u3bx549e+jatSvVqlWjfv36HDhwgGzZsjF37lwaNWqEvX3C3x4dO3akTJkyzJw5E3t7e44ePZo8PedGEkRERBiNGzc2unTpYnz++efGF198YfP1uIBHfs2dO9d6jMViMcaMGWP4+PgYzs7ORs2aNY0TJ0489muEhIQYgBESEvIkl/hYYmNjjZ9++smIjY1N9rYl5en+pS9eXl4GYLi5uRmhoaGGYfz/PQwNDTW8vb0NwHBycnom9zQoPMb4/bS/8dmGM8Yb3+4xin34m5H3nV8SfdX9fKsxYsVRY+m+q8ZZ/1DDbLYkWwwHDx40KlasmOg9tHTp0sbOnTttjo2LizOioqJsym7evGmYTCYDMAoXLmxYLMkX26NYLBYjKjbeCAqPMa4FRRjHrwUZfb5aa5Qfv8n6/1Vo1HpjxIqjxqmbyf+e/aQ+/PBD6//p2rVrE9Vv2bLFWj948OBE9bHxZuO3E7eNrnP2Gfnf/f/viZJjNhhj1p5MkWv84IMPrDGtW7cuUf327dut9YMGDXrq19P7aPqm+5f+BQYG/uPfudeuXUtSm7NmzbK+T7zxxhs2vxtiY2ONsmXLWut37NiR5Nj/SZcuXYxmzZoZd+/eNZydnY3Lly8bV65cMVxcXIy7d+8azZo1M7p06WKEh4cbLi4uxu7du23O7969u9G+fft/bL9fv35Gq1atDMMwjKCgIAMwtm3b9q+xPGzw4MFGrVq1rPu1atUySpcubXPMhx9+aDRo0MCm7Pr16wZgnD171npe9erVrfXx8fGGm5ub0blzZ2vZ7du3DcDYs2dPkts1DMOoUKGC8c4771j3AWPNmjU2x3h4eBjz5s175P/DP3mc77Ek9WwuWbKEjRs34urqyrZt22yyf5PJxKBBgx430f3PY0wmE2PHjrV2/YrIiyc+Pp779+8DUKJECTw8bBecd3FxoWzZsmzevJnY2FjCwsKsSyglB7PF4NydsIThsFfvc+RaMJcCEz9j5+7sQOncXpTN40WZvJkok9sLrwwp89zGvn37qFu3LpGRiXtPjx49Sr169fjtt9/IlSsXn3/+OatXr2bcuHH069fPelyOHDl4/fXX8fT0pG3btv86+VpyMJlMuDjaExMZzrpli9m3bx/Xr1+nbZPX8KnVhJXH7nL8RggrD91g5aEbVMqfmbeq5ad+8ew2z3g+Kw8/cxMYGJio/uGyh4+9dDec5Qev8+OhGwSG///zxZX9MvNGhTw0KuGDi2PSerH/y8Nrnt68eTNR/Y0bN6zbmqFdRB7lwIED1u3+/fvb/F5wdHSkV69e1pEcBw4coHr16ikSR5YsWWjSpAnz58/HMAyaNGliM/T/9OnTREdHU79+fZvzYmNjrY/fQcKz97Nnz+bq1atERUURGxtrnVAwc+bMdO3alYYNG1K/fn1eeeUV2rZt+8RLOf59qOmhQ4fYunUr7u6JJ2G7ePEihQsXBqBUqVLWcnt7e7y9vSlZsqS17MEjiw+em01KuwC+vr6Jnr39u2HDhtGjRw8WLlzIK6+8Qps2bZ56FCskcRjtBx98wEcffcS7776borNRiYgAODg44OnpSUhICKdOnSI8PNzmjTYmJoYjR44ACX/0/z0ZfVL3I2NtnrU8dj3kkRP4+GV1o2yeTAlfeb0olM3jmSRFhmFYhzQBFCtWjJ49e2Jvb8+cOXM4duwYMTExdO3alTVr1vDdd98BsGLFCptkE2Dt2rUpHu/D5s6dy6BBgwgPD7eWbd26FVfXD5g06TPG9O3A3F1X+O2kP/su32Pf5XvkyuRKlyr5aFs+N54Znt0kJg/PwDt9+nTeeOMNa4IWExNjfWYToEr1Wqw+fINlB66z//I9a3kWd2falM9F2/K5yZ/FLcVjfuWVV6xL0UyZMoW2bduSKVMmIGFo3MPzHbzyyispHo+IpD8PdwY9GGL5sIfLHqfj6Gl069aNAQMGADBjxgybugdLL/7666/kzJnTpu7BZKErVqxg6NChTJkyhSpVquDh4cHkyZPZt2+f9dgHv5c2bNjA8uXL+eCDD9i8eTOVK1fGzs4u0TU+am1TNzfb93eLxcLrr7/+yDlmHk5k/z5M1WQy2ZQ9SPQfXOvTtPv3pSr/buzYsXTo0IFff/2V3377jTFjxrBs2TLrs51JlaRkMzY2lnbt2inRFJFnpk2bNsyePZvw8HD69evHrFmzcHR0JDY2luHDh1t7mVq0aPFEzxgYhsGlwAgOXQnm0NVgDl0L5kJAeKLj3JzsKZ3Hy5pclsnzZL2WFy9eZOXKlQQEBJAlSxZatWpFkSJFHvv8h23bto0zZ84AUKZMGXbu3MmRI0dYvnw5H3/8MZMmTWLnzp1cu3aN69evU6RIEa5fv46vry9ms/mRfzw8C4sXL6Zbt26PrIuKimLQoIHMdHTg6z59uB0SxcI9V1m6/xo3gqP4ZP0Zpm4+R6tyOelaNT8Fsz3dkh2Po3r16pQqVYrjx49z4sQJSpYsSbdu3bC3t2fevHmcPXsWx2z5yVmjDaMPOxC2+xiQMNlT7SLZaFchN3WLZnumEx9VqFCBihUrsn//fs6fP0+RIkXo1KkT9vb2LF68mNu3bwNQvHhx6tat+8ziEpH0o1y5csyZMweAb7/9lipVqljrzGYz33//vXW/bNmyKRpLo0aNrPM1NGzY0KauePHiODs7c+3aNZsPBx+2Y8cOqlatavNB68WLFxMdV6ZMGcqUKcN7771HlSpVWLJkCZUrVyZr1qycPHnS5tjHeZaxbNmy/Pjjj+TLlw8HhySlWynarqOj4yOXqixcuDCFCxdm6NChtG/fnrlz56ZOstmlSxeWL19uM0ufiEhKGjJkCPPnzycuLo6FCxeybt06SpcuzaFDhwgLCwPAzs7OZp3dR4mKNXP8xn0OXg3m8P8m8gmOTPwppV8WN8r8r8eybJ5MFM6etF7LsLAwevbsyYoVK2w+HR01ahRNmzZl7ty5Tzzk9+H1iAcPHsyuXbto0KABkDDUZujQodZjdu7caf3F9PdPXp+lmJgYhg4dat3v2LEjffr0Ye/evZw+fZq5c+cCMHLkSDp16oSvpzsjGxVlUL1C/HTkJnN3XeHsnTAW7b3Gor3XqFk4K29Vy0etQlmxS6HeZJPJxLx586hVqxZhYWFcunSJDz74AJNTBtyK18LnzT44+xbCIGF22FyZXGlXPjety+fC19P1P9tPqZgXLFhAjRo1uHv3Lnfv3mXatGk2x3h5ebFkyZIUHTItIulXx44dGTlyJBEREcyfP5+YmBjraJovvviC/fv3A1C0aNF/TPKSi729vfXD1b9/UOrh4cGIESMYOnQoFouF6tWrExoayu7du3F3d6dLly4ULFiQBQsWsHHjRvLnz8/ChQs5cOCAdQWMy5cv891339G0aVNy5MjB2bNnOXfuHG+++SYAdevWZfLkySxYsIAqVaqwaNEiTp48aTNM91H69+/P999/T/v27Xn77bfJkiULFy5cYNmyZXz//fdJ/tA3udrNly+fdTZhZ2dnXFxcePvtt2ndujX58+fnxo0bHDhwgFatWiUpzoclKdk0m8189tlnbNy4kVKlSiXK7qdOnfrUgYmIPOyll15i0aJFdOrUibi4OO7fv28zI52dnR2zZ8+mYsWKNuf5h0Rz8Oo9Dv0vuTx1K5R4i+2QGGcHO17O7UW5vJkolycTZfNmIrPb0z9rGRsbS+PGjW2Sw4f9/PPP1K9fnx07djzW83OGYXD8+HHu3r1rLfP09KR27dp4e3sTFBTE5s2bbXoP4+LieOmll576Wp7Wzz//bI27adOmLFy4kPj4eIKCghg8eDCxsbEsXryYsLAwli9fTvfu3QFwcbTnjYp5aFchN3suBTF31xV+P3OHP8/d5c9zd/HL4kaXqvloXS4Xbs7J9+lxnNnCndBo4jPl5ZNFm5izbA3XAkOx98yOS+6S2Dm5AOBgB41K+PJGhTxULeCdYonvkyhSpAj79u1j5MiRrFmzxvrptZ2dHa+99hqfffZZknvVReT55+npyZQpU6zPZS5btoxly5bZHOPg4MCMGTOeyYdWGTNm/Me68ePHky1bNj799FMuXbqEl5cXZcuWtXaI9enTh6NHj9KuXTtMJhPt27enX79+/Pbbb0DCs+t//fUX8+fPJygoCF9fXwYMGEDv3r2BhN7UDz/8kJEjRxIdHU23bt148803OXHixL/GnCNHDnbt2sU777xDw4YNiYmJIW/evDRq1OipRoYmV7tTpkxh2LBhfP/99+TMmZNz584RFBTEm2++yZ07d8iSJQstW7Zk3LhxSY71AZORhMHWderU+ecGTSabqXdTW2hoqPVZr3/7Zk2KuLg41q9fT+PGjbUYcjqk+5c+HT9+nKlTp7JixQqioqJwdHSkZcuWjBgxgtJlynLmdhiHrt7j0LX7HL4abLPMxAPZMzpTPm9myubNRLm8mSjumxEnh+Qf6vjdd99Zf2F5enryzjvvUK1aNfbv38/EiRMJCgoCEpbRGD58+L+2dezYMd544w3++usvXn31VesvypYtW/Ljjz/yzTff4O7uTrNmzRg8eDDz58+3xtCzZ88kX0NUVBTBwcF4eXk91YQyY8aMsS6tsnr1alq0aGHzM7h9+3brJA9DhgxJ1Bv3sGtBkczfc4UVB64T9r9naT2cHWhbITddquQjj/e/x2kYBsGRcdy6H/X/XyHR1u3bIdHcCY3G8i+/HXN7OtKlekFals2VLB9MpBR/f38OHz6MYRi8/PLL5MqVK1nb1/to+qb7l/4FBQWRJUuWR/6de/36dXLnzp3ktmfPns2IESMICQmxKc+VKxc//PCDdUSNvLge53ssSR8Db926NUkBiYg8rVKlSjFv3jzmzJnDNf9AFm3YjaNvYaYcDuXo2k1Exdk+g2BnguI5Mlp7LMvlzUROL9dn8mnst99+a91eu3atdbhRzZo1qVu3LuXKlQMSZsobNmyYTUwWi8XmU8q8efNy6dIlIOF5kQc9matXr7ZOoGBvb8/7779vTTTd3d154403khT7vn37mDx5MmvXriU+Ph47OzuaNGnCiBEjqFmz5hO39/CzJQ9PDvSosv96DiWPdwY+fK04Q+sX5sdDN5i3+wqXAyP4Yedl5uy6zCvFstOxUh7s7Uzcvh/NzYeSyITEMorouH+fKAHA0d6Er6crvp4u5PRyJYeXK75eLhT3zUjp3F7pYhiqj48PjRs3Tu0wRCQd6tGjB+3bt2flypUcP34cBwcHqlatymuvvZaszyHK803fKSKS7hiGwTfbLjLt9/OYLY5w7rK1LqOLQ0JSmSchsXw5t1eyDq98XBaLxTpDbrFixRI911K2bFnrRC4XLlwgLCyMuLg45s2bx7Jly2jdujXvvPOO9XgvLy8aN27MvXv3aNeunXX6eUiYSe/BM48PmzBhQpJm5p0/fz7dunWzmbnOYrGwbt061q1bx9dff03//v2fqM2HJ5j48ssvrUOaIGFpm+nTp1vrq1at+lhtujs70KVqPjpXzsv2c3eZu/sKf567y+bTd9h8+s5/np/F3ZmcXi4JSaSnKzn+t53w5UIWN+c0MSxWRCS1uLm50bVr19QOQ9IxJZsikq7EmS2MWnOCFQcT1gvM6mJQo1hOKuT3plzeTBTM6p7mEoR/elrh7+UhISGMGDECSEjAHk42AVauXGnzabLFYmHo0KFERdkOFXZycmLChAnW6eKfxNGjR+nevbs10cyePTsVK1bk0KFD3Lp1C4ABAwbw8ssvP9HaanXr1qVIkSKcPXuWgwcPUqFCBbp3786ZM2cYP348hw4dAhKGZ73++utPFLOdnYk6RbNRp2g2LgSEMW/3FX4/HUBGV4f/JZGu5PC0TSR9PF1wdkidWXlFREReFEo2RSTdCIuOo9/iw+w4H4idCUa/VoxMgSdo3LhEsj1vdPr0aQ4cOIBhGJQtWzbRwsiPy87OjrJly3Lo0CH++usvtm7dan3ePTAwkClTplgXzi5cuDAZM2YkY8aMVKhQgQMHDmAymQgLC7Ppmfz7sKXevXvTpk0bFixYwP79+60xd+nShWzZsiUp7unTp1snlOnVqxdfffUVTk5O1uT3wQRw06ZNe6Jk087Ojjlz5lCvXj2io6M5fvw4gwcPtjnG0dGROXPmPNXwrILZPPi4eUk+bp7kJkRERCSZKNkUkXThdkgUb809wF/+Ybg62vN1hzLULJiZ9ev/fUa4x3X8+HEGDhzIn3/+aVNeuXJlvvzySypUqPDEbfbp08c6OU+zZs0YMWIEuXLlomfPnjZDVB/M+AcJQ0wzZ85M4cKFH+s1MmfOzJAhQ544tkcxDIPVq1cDCRMaTZs2DSenhMlvHBwcmDhxIosXL+bOnTv8/PPPxMbGWusfR9WqVdm6dSt9+/bl6NGjNnXFixdnxowZ1K5dO1muRURERFKfkk0RSfNO3wql27wD+IdGk9XDmTldKlAylydxcYnXx0yKw4cPU7t2bet6nQ/bu3cvtWrVYtOmTU/UkwfQtm1b5s6dy+7duwkLC2PMmDGJjilTpoxNslm5cuUnv4BkYjabrf8HRYsWTTT7rKOjI6VKlWLz5s3Ex8cTHh7+xGuEVq5cmcOHD7N//3727NnDqVOn6NixI7Vq1UoXE+6IiKQnZrM5yWs6ivybB6Og/kvyz/UvIpKMtp+7S9tv9+AfGk2hbO6s6VeVkrk8k619wzDo2rWrNckqUKAAEyZMYNKkSRQtWhRIWP7jzTfffOw31jt37tC1a1dy5cqFn58fHTt2fGQiVbduXf744w9cXV2T7XqehoODgzV5PH78OPfv37epj4yMtA79dXFxSfJyUiaTiUqVKtG/f39ee+01qlWrpkRTRCSZZc2alZs3bz727y6Rx2U2m7l58yZZs2b9z2PVsykiadbyA9d4f81JzBaDKn7ezOpcDk/X5F0LbseOHdbFmUuVKsWePXusPXqDBw+mdu3a7N27l8uXL/Pbb7/x2muv/WebGTNm5McffyQ8PJx169Zx584dPvnkE1atWsXdu3fx9vamRYsWFCxYMFmvJTm0b9+eGTNmEBUVxVtvvcXs2bPx9vYmJCSEfv36WRPQtm3baup7EZE0zMXFhWzZsnH79u1/nKhOJKmyZcuGi4vLfx6nvxREJM0xDIMpm87x9dYLALQsk5OJrUrh5JD8gzEefkZzyJAhNkNHnZ2dGT58OG3atLEe+yDZNAyD48ePs3TpUnx9fW0mu3F1daVFixasXbuWli1bEhoaSt68eRk+fHiyx5/cBg8ezJw5c4iKiuKnn37it99+o1ixYpw9e9Y6662joyPDhg1L5UhFROS/uLi4kCtXrtQOQ15gSjZFJE2JiTfzzqrj/HQ0YZmNQXULMrR+4RQbZhkbG2vdftTzh97e3o88NjAwkLJly2KxWPDz82PQoEE2MU6ePJnvvvvusT71S0sKFSrEjz/+SKtWrYiKiiImJsZmMh8nJycWL17Myy+/nHpBioiISLqgZzZFJM0IiYyjy5z9/HT0Fg52Jj5rVYphDYqk6PN8D57LBFiyZEmi+sWLF1u3ixUrZt3OmjUrdevWBeDq1aucPXvW5rzs2bOnu0TzgVdffZWTJ08yZMgQfHx8sLe3J1u2bPTr14/jx4/TunXr1A5RRERE0gH1bIpImnD9XiRvzTvAhYBw3J0d+KZjWWoW/u8Hz59WixYtyJQpE8HBwaxYsQJvb28GDBiAvb09X3/9NT/88AOQsE7kG2+8YXPusGHDaNGiBW3atHmsh+TTEz8/P6ZNm8a0adNSO5THFhcXx9q1a1m+fDkBAQF4e3vTunVrWrVqhbOzc2qHJyIi8sJRsikiKWLPnj3MnDmTAwcOYBiGdYmPmjVrJuqpPH7jPt3mHSQwPAafjC7MfasCxXyTNtPpk3J1dWXixIn07t0bgJkzZzJz5sxEx1ksFu7fv4+n5//PhPvqq68+kxjlv128eJHXXnuNv/76y6Z8zZo1fPDBB/zyyy8UL148laITERF5MWkYrYgkK7PZTN++falatSoLFy7kr7/+4uzZsyxbtozatWvz5ptv2qyP+ceZO7T7di+B4TEU9fFgTf+qzyzRBKzPXFasWBE7u8RviSaTicyZM/PBBx+odyyNCg4Opl69eokSzQcuX75MvXr18Pf3f8aRiYiIvNiUbIpIshozZgyzZs2y7js5OdkkaYsWLbLOyrpwzxV6LjhIVJyZGoWysLJPFXw9n+2ak2azmfbt27N//36cnJwYM2YMLVq0oHnz5nz00UdcvHiRwMBAxo8fj4+PzzONTR7PjBkzuHr1KpDwDO7GjRuJiIhg69at1omM/P3909WQYBERkeeBkk0RSTbBwcFMnToVAHt7e7788ktCQkIIDQ3l+++/x8nJCYCZM2fx/ooDfLj2FBYD2pXPzZyuFfBwSd41NP/u4sWLbNy40abM0dGRdu3aAQmJ8SuvvMLq1atZs2YNH374Ifnz50/RCYrk6c2ZMwdI6IVet24dDRo0IEOGDNSuXZtff/0VR8eE76u5c+disVhSM1QREZEXipJNEUk2q1atsq7F2KdPHwYOHIiLiwtOTk706NEjYW1Ge0e8mgxjyeEAAEY0KMzEViVxtE+5tyOLxULt2rUpWLAgXbp0IT4+3qa+X79+rFy5En9/f6pXr55icUjyM5vNXL58GYAyZcpQsGBBm/qcOXNSrVo1AO7evUtISMgzj1FERORFpQmCRCTZXLt2zbrduHHjRPU167/K3OuZcclVHJNhYdobZWleJmeyx2EYhk1vpJ2dnXUNzTt37rBlyxYaNGhgrS9evLgmj0mn7OzscHR0JC4ujjt37mCxWGyevTUMg9u3b1v30+tyNCIiIumRejZFJNm4u7tbty9cuGBTdzUoglFbg3HJVRxzdDj17E8ne6K5fv16OnTo8MjeyY4dO1KqVCkmTZpEqVKlkvV1JfWYTCbq1KkDwM2bN61L1TywYsUK6xqoVapUwdX12T4TLCIi8iJTsikiyebhpUA+//xzbt68CcDha8E0+3on9+IciA+5w51Fb9O1cbVkf/2PPvqIpUuXsnv3bk6ePGlT17JlS44dO8bIkSM10c9zZuDAgdbtXr160axZMz777DNatWplszbqgAEDUiM8ERGRF5aSTRFJNqVKlbL2Ml2/fp0iRYrwaq/3aT1jB/ej4om5fZ7bC4dTKl8263N0SXH+/HkWLlyYqLxjx44AZM6cmfPnz9vUaZKf51eTJk3o27evdf/nn3/mnXfeYfXq1dayTp062SSeIiIikvKUbIpIspo/fz558+bFLoMnrnX7ciZzNSwmeyIv7OfO0nfJntGVpUuXJjn5a9OmDYULF+att94iICDApq59+/asXbuW27dv06JFi+S4HEkHTCYTM2bMYPr06eTMaTs0O3v27Hz66afMmzfvkeuoioiISMrRBEEikqxy5crF6Dm/8umGc8TZOWFYzITuX0P0/hV07dSBjz76iFy5cj1WW3+f6AewzjZqNptZsWIFfn5+1rosWbLQtGnT5LsYSTdMJhODBw+mf//+7Nq1i4CAALy9valevbp1yR0RERF5tpRsikiyuRYUyftrTrDzQiDYOVEkmxtdX3LEr1Ufihadjqen52O1s3//fubNm8emTZs4efKkzQyinTt3Zv369bz55pu0atWKI0eOpNTlSDrk4OBArVq1UjsMERERQcmmiCSDeLOFObsuM3XzOaLjLDg72DHklcL0qJE/SetnfvXVVyxatAiAX3/9lVatWlnrihcvzrFjxwCIi4tTsikiIiKSRukBFhF5KidvhtD8m11MWP8X0XEWqvh5s3FITfrWLvCfieb9+/dZvHgxhmHYlL/55psAuLq62qzdKSIiIiLph3o2RSRJouPMTP/9PN/vuITZYpDRxYEPmhSnTflcjzX5zyeffML48eOJiYmhQIECVK5c2VpXt25dFi5cSLNmzfDw8EjJyxARERGRFKJkU0Se2O4Lgby35gRXgyIBaFLSlzFNi5PNw+U/zvx/OXPmJCYmBoCFCxfaJJv29vZ06tQpeYMWERERkWdKw2hF5LHdj4xl5KpjdJi9j6tBkfhkdOH7N8szo2PZRyaat27dYtKkSZQsWZKrV6/a1LVq1Yq8efMyaNAgevTo8awuQURERESeEfVsish/MgyDX0/cZuzPpwgMjwWgc+W8jGxUBA8Xx388b/bs2YwZMwaAxYsX8/7771vrPDw8uHz5cpLX2xQRERGRtE09myLyr27dj6LngoMMWHKEwPBYCmZzZ1WfKoxvXsKaaBqGwYEDB4iIiLA5t0uXLtbtc+fOJWpbiaaIiIjI80vJpsgLLDAwkIkTJ1KmTBly5sxJqVKl+Oijj/D398diMViw5wr1p27n9zMBONqbGFyvEL8Oqk75fJmtbWzatImSJUtSsWJFfvzxR5v28+bNyw8//MCFCxeYN2/eM746EREREUlNGkYr8oLas2cPr7/+OkFBQdayW7duceLECabNWUa5PlO4cN8CQNk8XkxsVYrC2RPPDOvu7s6pU6cAmDt3rnXZkge6deuWglchIiIiImmVejZFXkA3btygcePGNommr68vJgdHPKu1J2ObCVy4b8HV0cT4Zi+xsncVwm+eZ9CgQezcudOmrSpVqlCkSBGqV69O586dE62ZKSIiIiIvJvVsiryAvvzyS+7fvw9ArVq1mDNnDsH2XgxbdpirwQnLkURe2E/tbKF0rtKYX375hddffx2A+/fvU716dWtbJpOJgwcP4u7u/syvQ0RERETSLiWbIi+ghQsXAuDk7MLAT79l/PZAtp07g2FAJmcTV9dMJvjENn50d+eHrz7nlVdewcvLi/v37/Prr78SGxuLk5OTtT0lmiIiIiLyd0o2RV4w8fHxBIRFk7FKW7wrNmX42gsAmMODyX5lI1f3bcTT3Y1gIDw8nJCQEDJnzszo0aPJkCED7dq1s0k0RUREREQeRcmmyAvCMAz2XApi0d6r5Oo7D5O9AxbAy9WRthVy80peZ6q+3BWz2Uxw8D0A7OzscHNzA2Do0KGpGL2IiIiIpDdKNkWecyGRcaw6fIPF+65y6W4EhsVM1JUjxN27Sdydi7zRtCrvvToek8nEq6++ym+//YbZbAagfv36ODs7p/IViIiIiEh6pGRT5DlkGAbHboSwaO9V1h27RUx8whImznFh3JwzkIj7gdZjJ53ayrq1a6hatSrnz5+3Jpqg3kwRERERSTolmyLPkcjYeNYevcWivVc5dSsUwzAwmUwU9fGgU+W8NC+TkxpbJnH0aKDNeadPn+b06dM2ZaNHj6Zhw4bPMnwREREReY4o2RR5Dpz1D2PxvqusOXyT0KgYoq8cJfLUH+TK7M6iRQspmycTJpMJgF69evH777/TtWvC85lTpkyxWTuzYsWKvP3227Ru3Tq1LkdEREREngNKNkXSqZh4MxtO+rNo71UOXAm2lufJ7MrxH74i/F4gFx0dyeduWBNNgL59+9K3b1/rfvPmzbl58yYBAQF4e3uTJ0+eZ3odIiIiIvJ8UrIpko5ER0dz7V4kPx67w8qDNwi8F0xc4DUy5C7OK8Wy0alyXqoVyMLIwC5MmTIFT09PTp8+TY0aNf613Zw5c5IzZ85ndBUiIiIi8iJI1WTzzz//ZPLkyRw6dIjbt2+zZs0amjdvbq03DINx48bx3XffERwcTKVKlZgxYwYvvfRS6gUt8ozdD4tkwndL+WnXSUJdfXDJXQLDMLi34Ssiz2zHNUMG9p2/Qp6sGa3n9O3bl2rVqtGkSROtiSkiIiIiqSJVk82IiAhefvll3nrrLVq1apWo/rPPPmPq1KnMmzePwoUL8/HHH1O/fn3Onj2Lh4dHKkQskvIiYuI5eDWYfZeC2HPhLkeuBYOdDxT2weV/x0RfOULUpYNY4mKICInh8K4t5Hnog5oCBQpQoECBVIlfRERERARSOdl89dVXefXVVx9ZZxgG06dPZ9SoUbRs2RKA+fPnkz17dpYsWULv3r2fZagiKSY0Oo6DV+6x79I99l6+x8mbIZgtBgDm6HAi/9pB1OUjZChchWyE4hx8iau7/rCeny9fPooWLZpa4YuIiIiIPFKafWbz8uXL+Pv706BBA2uZs7MztWrVYvfu3f+YbMbExBATE2PdDw0NBSAuLo64uLhkjfFBe8ndbnpz9OhRDh06hGEYlC5dmnLlytlMSJNWpdb9ux8Zx8Grwey/Esz+K/c4czuM/+WWVjm9XCie1Ym5gztjjkiY/GfasDfp1q0bAIcOHaJJkybcu3ePK1euEBsb+0J+H+pnMH3T/Uv/dA/TN92/9E/3TtK6NJts+vv7A5A9e3ab8uzZs3P16tV/PO/TTz9l3Lhxico3bdpEhgwZkjfI/9m8eXOKtJvWXbx4kW+//ZZz587ZlPv5+dGrV69009uW0vcvPA4uhJq4GGriQqiJ25FgYJuMeztZ8Im7TekCPhTMaJDZOZyff/7ZmmgC7NixAx8fH+t+s2bNmDt3LgATJ06kXbt2KXodadmL+jP4vND9S/90D9M33b/0KzIyMrVDEPlXaTbZfODvPWQPFqn/J++99x7Dhg2z7oeGhpI7d24aNGhAxowZ//G8pIiLi2Pz5s3Ur18fR0fHZG07rTtw4AAdO3YkIiIiUd2lS5cYM2YMv/76KzVr1kyF6B5PSt2/2yHRHL52n/1X7rH/cjAX7ib+P/LL4kaFfJmomC8TV/etZ+6sGWw4fZoZFy9aZ4Xdu3ev9fjp06fTt29fm+/9TJkyWZPNzJkz07hx42S7hvTiRf4ZfB7o/qV/uofpm+5f+hcUFJTaIYj8qzSbbD7owfH398fX19daHhAQkKi382HOzs44OzsnKnd0dEyxN9KUbDstMgyDnj17WhPNYsWK0aNHD+zt7ZkzZw7Hjx8nJiaG7t27c+HCBRwc0uy3GfB09y823sKpWyEcvnafA5cC2X3uNqHx9omOK5Ldg0p+mamU35uK+TOT1eP/v0fHrLvNyZMnAVi5ciVvv/02gE0vZnBwcKJZZQ8cOGDdzp49+wv1Pfh3L9rP4PNG9y/90z1M33T/0i/dN0nr7FI7gH+SP39+fHx8bIZ2xMbGsn37dqpWrZqKkcm2bds4ffo0AGXKlOHw4cMMGzaMwYMHc/DgQapXrw7A1atXWb9+fWqGmuwCwqLZcNKfT9efofXM3ZQYu5EW3+xm/C+n2XA6gNB4ewyLmRj/C4QeXEvA6k+IXzmMT2u508D7Pr/OGo+bvdmmzc6dOwNQpUoV/Pz8rOUtW7bEzi7hR3TKlCls377dWrdv3z4mTJhg3W/btm1KXraIiIiIyBNL1S6n8PBwLly4YN2/fPkyR48eJXPmzOTJk4chQ4YwYcIEChUqRKFChZgwYQIZMmSgQ4cOqRi17Ny507o9ePBgXFxcrPuOjo4MHTrUesyOHTto2rTpM48xOcSbLfzlH8bha8EcuhrM4WvBXL8Xleg4T1cHgs8fIuTiUWJu/kWs/zmMuP+fpOomUL16daKiEs6tXr26zfdwwYIFuXr1Knny5LFpN3fu3HTs2JGFCxcSHh5O7dq1eemll7C3t+f48ePW45o1a0aRIkWS+epFRERERJ5OqiabBw8epE6dOtb9B89adunShXnz5jFy5EiioqLo168fwcHBVKpUiU2bNmmNzVQWHx9v3fb09ExU7+XlZd1OT7Ok3YuI5ci1YGtyeex6CFFxtr2QJlPCkNgyeTJRLm8myubxYv7Xn/PR4oRJqV5++WUm/7COunXrcvjwYQYMGMD+/futiSbA8uXLE31g8vdE84GZM2dy7do1a6/mqVOnbOorVqzIvHnznvbSRURERESSXaomm7Vr18YwjH+sN5lMjB07lrFjxz67oOQ/FS9e3Lq9cOFCmjdvblO/cOFC6/ZLL730rMJ6ImazmT2nLrP5UiTbfjzBsRuhXApMPJGPh7MDZf6XVJbLm4mXc3uR0cX2+Yh58xIm6bGzsyNPnjw0bdqUjRs3UrNmTX7++Wfy5s1LTEwMTk5OfP/997Rq1eqx43Rzc2PTpk3MmzePWbNmceTIEQBKlChB79696dGjh03PsoiIiIhIWpG2Z26RNKlZs2Z4e3sTFBTE6tWr6d69OwMGDMDe3p7vvvvO2tPm7u6eppbjuBEcyZZTN5m/YS8XwuwxuXoCGeHObesxflndKJcnE2XzJvRcFszqjp3dP89+bDabuXbtGgB58+Zl3bp1ACxYsICaNWuSPXt2qlatytatW4mNjeX111/Hzc3tieJ2cnKiV69e9OrVi7i4OAzDSDRZkIiIiIhIWqNkU56Yi4sLkydPplu3bgDMmTOHOXPmJDru448/TvblZp5EUHgMuy8GsftiILsvBnE16MFaVJkxuYIlLobYW2eJuXmamJt/kcfNwpJNv9rMAvsot27dYvHixbRq1Yr8+fPj5OREbGwsUVFReHh44OTkZJ0x2TAMrl+/bj33aXshNeuciIiIiKQXSjYlSd566y1iYmIYOnQo0dHRNnVOTk588sknDBo06JnGFB4Tz75LQey+GMSuC4H85R9me4BhIebWOaKvHiXm2gkq+GUh5F4gJ0+exGw2cxbo1KkTv//++z++xoPnLS0WC+Hh4YwbN45XXnmF9evX4+/vz9tvv83HH39s7XmcP3++dRKsGjVq4OrqmlKXLyIiIiKSpijZlCTr06cPbdq0YcGCBezfvx/DMChbtixdu3YlW7ZsKf760XFmjly7z+6Lgey6EMixGyGYLbbPABf18aBqgSz4ucXy5qtVMWKj8Pb2Zt/WrRQtWpT169dToEABGjRowO3bt/njjz84evQopUuXxmw2YzabbYas1qhRw7q9aNEixo4dy6BBg6xLvEyePJnDhw9TrVo19u/fz4YNG6zHP+vkW0REREQkNSnZlKfi7e3N0KFDn8lrmS0GJ2+GsOtiILsvBHHgyj1i4i02x+TJnIFqBb2pWiALVQp4k8XdGUhYp9KITZgRdsSIEZQsWdI6U26RIkUYNWoUAwYMAGDevHm4urqyaNEiRo8eTc+ePa3t58iRg27dupEzZ046deqEyWSiYcOGDBs2jKlTpwLwxx9/8Mcff9jE1bNnzyeaGEhEREREJL1TsilpjmEYhEbHczskitv3o7kcGMGeS0HsvRREWHS8zbFZPZypWsCbav9LLnNnzvDINoODg63bpUuXTlRfpkwZ67a/vz/Lly8HEib6eTjZBPj+++8Tnf/5559TtGhRJk2axMWLF63lefLkYfjw4QwcOBCT6Z8nGhIRERERed4o2ZRnLirWzK3/JZIP/r0dEsWtkGhu34/i1v0oImLNjzzXw8WByn7eVCvgTbWCWSiYzf2xkriHJ/3Zvn07jRo1Ijo6ml27dpE1a1a2bdtmrS9ZsiQnTpzg7NmzZMqUidjY2P+c/dVkMtGzZ0+6d+/OoUOHuHv3Lt7e3pQvXx57e/vH+48REREREXmOKNmUZBUbb+FOaDS37kdxOySam/ejrD2Ut0ISksr7kXGP1ZZXBkd8PV3J6eVC2byZqFogCyVyZMTB3u6J42rdujVDhw4lPj6e6dOnkz17dsaOHUtISAh79+7l6NGjQELS2L59exo2bEiePHme+NlTOzs7KlSo8MTxiYiIiIg8b5RsylOLjjPz4U8n2XbuLoHhMRjGf5/j5mSPr5crvp4u5PB0xdcr4d8cXgnbvp4uZHBKnm9PwzDIlCkT3bt359tvvyU6OpqhQ4diZ5eQtO7YscN6bPv27fHz88PPzy9ZXltERERE5EWlZDONOX/+PAcPHsQwDMqUKUOxYsVSO6R/FRkbT4/5B9l9Mcha5uRgh69nQsKYw8vVJplMSCRdyejikOLPMN6/f59Zs2axaNEi6tevzxdffMGtW7dYt24dABaL7eRCdevW5bvvvkvRmEREREREXhRKNtOIU6dOMXjw4ESzmNaoUYPp06dTtmzZVIrsn4XHxNNt7gH2X7mHm5M9098oQ5k8Xni7OT11Inn//n3mzp3L8uXLCQgIwNvbm9atW9O9e3eyZMnyWG0YhsGYMWOIjY0lKCiIzz//nJ9++okff/yRmTNnsn//fuLj4ylfvjx9+/alXbt2ODjoR0JEREREJDnoL+s04NixY9SqVYuQkJBEdTt27KBGjRr88ccfVK5cORWie7SQqDi6zt3PkWv38XB2YF63ipTLmylZ2j548CBNmjQhICDAWnb58mUOHjzIpEmTWLt2rc16l9HR0fzyyy84OTnRtGlTa3mmTJlo3LgxP/30E35+fvj7+5MzZ07atGlDmzZtiIuLY/369TRu3BhHR8dkiV1ERERERBI8+UwrkqwMw6BLly7WRDNfvnyMGzeOjz/+mIIFCwIQGRlJp06dMJsfPUPrs3Y/MpZOs/dx5Np9PF0dWdyzUrIlmrdu3aJRo0Y2iWbmzJmt28HBwTRp0oRLly4BEBQUhI+PD23atGHMmDGJ2vvkk0+4ePEiu3btImfOnMkSo4iIiIiI/Dclm6ls165dHDt2DICXXnqJEydOMHr0aEaNGsWJEyeoWLEiABcvXmTjxo2pGSoAQeExvPHdXk7cDCGzmxNLe1amVC6vZGv/yy+/JCgo4fnPqlWrcubMGYKCgjh//jx169YFICwsjClTpgDg7e1NkSJFADh69CinTp2yaa948eKa7EdEREREJBUo2Uxl27dvt24PHToUd3d3676LiwsjRox45LGpISAsmje+28tf/mFkcXdmWa/KFM+RMVlfY8GCBQA4OjqyatUqihYtSnR0NCtXruTWrVvWGWQXLVpk7ent2bMnXbp0YfPmzRQtWjRZ4xERERERkaTRM5upLCYmxrqdNWvWRPUPlz187LPmHxJNh+/3cikwguwZnVnSszIFsrr/94lPID4+ntu3bwNQunRpfH19AXBycmLWrFlcu3bNOvFQaGgoISEhZM6cmR49etCjR49kjUVERERERJ6OejZT2YMhoADLli1LVL906dJHHvss3QiOpO23e7gUGEFOL1dW9K6S7IkmJDyb+mCinitXrhAXFweAnZ0dHTp0ABISTwCTyYSbm1uyxyAiIiIiIslDyWYqa9GiBV5eXkBCYjlkyBAuXLjA5cuXeffdd63rPrq6/l97dx5VVb3/f/x1GAUVnEVlUBSn65CzUKaloeZ11ixMMNNf/tTMuGaa39JamXaHblqJWU5Zid6yspta3KWgqDlQJCrXL6aIIygOICjT2d8/ylMnHFIOnHPo+ViLtTifzz57v89580bffPbex0uPPfZYhcd3PDtPo979VhkX8hVYy1trn+quoNq2b/KKi4sVEhJiaTDPnTun+fPnyzAMSdLUqVM1e/Zsy+pu79695enpafM4AAAAANgGzaadeXt769VXX7U8XrhwoUJCQhQcHKzXX3/dMv7SSy9ZmtKK8uO5Kxr17rc6demqgutU1dqnusu/pneZ91tcXGy5m+x1bm5u6tu3r9XYnDlz1LFjR02ZMkWDBw/WvHnzLHPTpk0rcxwAAAAAyg/XbDqAyZMn6+rVq5o1a5aKi4ut5lxcXPTiiy/q+eefr9CY/jczVxHv7db5KwUKqVdNH03opnrVq5Rpn4ZhKDo6WmvWrFHVqlV15MgRyzWYkjRu3DhVr15dxcXFlhXd5ORkJScnW+3n+eef14ABA8oUCwAAAIDyRbPpIKZPn67HHntMy5Yt0549e2QYhjp27Kjx48crKCioQmM5dDpHjy/brQt5hWrVwEcfPtlVtauV/ZRVk8mkAwcOKDMzU5K0Z88edevWzTLfq1cv9erVS5IUHh6uBQsWaN++fZb5du3aacaMGZbrNwEAAAA4LppNB9KoUSO99NJLdo1h/8lLGrNsjy5fLVLbRr5a/WRX1fD2uKN9HDt2TLGxsUpLS9Py5cut5iIiIrR9+3YNGDDAcrOfGxk+fLiGDx+uo0ePKisrS7Vr11azZs2sVkIBAAAAOC6aTVgkHb+oscv3KLegWB0Ca2jVuK7yqeJ+x/sZNGiQDhw4IOmn6y5/vTI7atQoDRs2TL6+vr9rX8HBwQoODr7jGAAAAADYFzcIgiRp99FsRS7brdyCYnVtXEurn+x220bz3Llz2rRpU6nxX981d+vWrVZz3t7ev7vRBAAAAOC8WNn8A8jNzdWHH36otWvXWk5JHTFihKKiolSjRg3tOHJe41ft09WiEoU1ra33ozrL2+PWPxpjxozRxx9/LDc3N507d04+Pj6WuYiICLm4uOjRRx9V48aNy/nVAQAAAHBENJuV3A8//KCHH35Yp0+fthpPTEzUvHnz9Mp7n+ife/NUUGxWz+Z19e6YTqri7mq1bUFBQanPtKxRo4bMZrMKCwu1YcMGPf7445a5xo0ba+bMmeX3ogAAAAA4PE6jrcQyMzMVHh5u1Wh6e//yOZlXfJtofuIFFRSb1adVfS2NtG4016xZo4cffljBwcGlPpLlkUceUXBwsGbOnKmuXbuW/4sBAAAA4FRY2azE3nrrLWVlZUmSunTpoqVLl+qee+7RwYMHFfU/b+pcsz/L5OqmhiVntXh0f3m4Wf/tYf369ZZrMuPj49WnTx/L3H333VfqczIBAAAA4DpWNiuxlStXSpLc3Ny0fv163XPPPZKkI0U1dKHlEJlc3ZSb/LV+WPyMpk2dIsMwrJ7/yCOPSJICAgJ06dIlqzmTyUSjCQAAAOCmaDYrqeLiYp06dUqS1KFDB/n7+0uS1u07oWlrk2U2pOrnDujC128pPz9PMTExOnjwoNU+BgwYoF27dun48eMaMWJEhb8GAAAAAM6LZrOScnV1/emmPi5uOnHNQ/M/T1LPaYs045P9Mgzpsa4BurJ1qdVzNmzYYPXY29tb3bt3ZwUTAAAAwB3jms1KprjErJRTl7XraLZCJizUZY86urRttWaPDJNRXCT/yR9oQt+OqnMiQenHjkqSGjVqpDVr1ujee++1c/QAAAAAKguaTSdnNhtKPZujXT9m//SVdlb5JT8vWFf1/3np2pBRXChJanL4Y/1n/1Jt377dso933nlHPXr0qPDYAQAAAFReNJtOxjAM/Xjuinb+3Fx+ezRbF/OLlJe6XVcO/EeFpw+rVfSHurdlI4UG19Z3m2L11r5fTo/d/p9NVvt75plnNGjQoIp+GQAAAAAqOZpNB2cYhk5cuKqdP57XrqPZ2vljts7lFlhtU9XDVR6X/qvzR5MkSS93LNHw4Z0lSWPvnaVurQI1f/58qxsAtWjRQs8995zGjRvHNZkAAAAAbI5m0wFdyCtU/OEs7frxp+by1KWrkqSSvIvK/99dKjyRooHTFiisWV2FNq2jdv6+2vIfk/pt+0L+/v66ejXfan+jR49WRESEUlNTlZWVpdq1a6tNmzY0mQAAAADKDc2mg0k6flHjVu7V5atFljE3F5M6BNbQoVX/0Mlvt0qSprSRwsJCLNs8+OCD2rVrl7p27SoXl9I3GTaZTGrdurVat25d/i8CAAAAwB8ezaYDiT+cpf//4XfKzT4rnwuHFRkVpdCmtdU5qKaqerpplVeUxv7cbMbFxSksLMzyXHd3d3Xv3t1eoQMAAACAFZpNB7Hhh9OKXpuszK8W6sr+b3RK0sh549W0aV3LNoMHD9YLL7ygkSNHqn379vYLFgAAAABuo/T5lqgQZrNZqampkqTVu9L1TOz3KjYbavenlpZtPv30U6vn1KhRQ/PmzdM999zD9ZYAAAAAHBorm3Ywb948LV68WJmZmXpl3S4t3ZMlSYoMDdLoJybr0dRtGjp0qIYOHWrnSAEAAADg7tBslrPi4mK5uVm/zRcuXNDp06clSW8sX6NqbXrrmd4hmtYnRCaTSd9//709QgUAAAAAm+E02nKybt06DR48WAEBASosLLSaGzhosFzdPeTVtItcq9XW3IGt9exDzTk1FgAAAEClwcpmOfnyyy+1YcMGSdLWrVvVt29fSdLVwhKtOOKuhpM/lIdXVf19ZHsN6dDInqECAAAAgM2xslkGqamp+te//qVhw4bJMAyruevXW/r5+Sk7O1uSdDm/SGOW7VZC2gV5V6um9yI702gCAAAAqJRY2SyD6dOnKy4uTpKUnJysDh06WOb69eunHTt2qHv37nJxcVFWzjVFLt+j/57NlU8VNy0f20WdG9eyV+gAAAAAUK5Y2SyDQYMGWb7fsWOH1Zy3t7fCwsLk4uKi49l5Gr5kp/57Nld1q3tq7VOhNJoAAAAAKjVWNstg8ODBSk5O1syZM9WsWbMbbnPodI4il+/R+SsFCqzlrQ+f7KbA2t4VHCkAAAAAVCyazTLw8/PTwIEDFRQUdMP5vekXNG7lXuVeK1arBj5aNa6L6lWvUsFRAgAAAEDFc4rTaBcvXqwmTZqoSpUq6tSpk7Zv327vkG5ry38z9fj7u5V7rVhdGtdU7P/rTqMJAAAA4A/D4ZvNtWvXatq0aZo9e7a+//579ejRQ/3791dGRoa9Q7up9d+d1IQPklRQbNaDLevpg3Hd5Ovlbu+wAAAAAKDCOHyz+cYbb+jJJ5/U+PHj1apVK7355psKCAhQTEyMvUO7oeWJxxS97geVmA0N7dBI747pJC8PV3uHBQAAAAAVyqGv2SwsLFRSUpJmzpxpNR4eHq6dO3fe8DkFBQUqKCiwPM7JyZEkFRUVqaioyKbxXd9fUVGRDMPQwi0/6p34o5KkqNBAvdCvhWQuUZG5xKbHhW38On9wTuTQuZE/50cOnRv5c37kDo7OoZvN8+fPq6SkRPXr17car1+/vs6ePXvD58yfP18vv/xyqfFvvvlG3t5lvwvstWvXtG3bNiUmJurSpUvy8fHRVxs36nKzftqd7SFJGhBQog7GUW3efLTMx0P5u/5ZqXBe5NC5kT/nRw6dG/lzXvn5+fYOAbglh242rzOZTFaPDcMoNXbdrFmzFB0dbXmck5OjgIAAhYeHy8fHp0xxpKSkaMiQITpx4sQvgy5uOhv8sKrW9JBJ0tyBrRTRNaBMx0HFKCoqUlxcnB566CG5u3NNrTMih86N/Dk/cujcyJ/zy87OtncIwC05dLNZp04dubq6llrFzMrKKrXaeZ2np6c8PT1Ljbu7u5fpF2lWVpYefvhhZWZm/nKsqj7yHTBdXk06yigpUv7WJXpg0lJ+YTuZsv5swP7IoXMjf86PHDo38ue8yBscnUPfIMjDw0OdOnUqdXpHXFycwsLCKjSWt956y9JodurUSVt37FHfBV/Jq0lHmUoKlfXJKzqX9LXeeOONCo0LAAAAAByRQzebkhQdHa33339fy5cvV2pqqp599lllZGRo4sSJFRrHypUrJUmurq5av369PkyTfjh5Wd5uht59tI10NlWStGrVKpnN5gqNDQAAAAAcjUOfRitJo0aNUnZ2tl555RWdOXNGbdq00caNGxUUFFRhMRQXF+vkyZOSpI4dOyowMFAv/bmOMnOu6c91LuiBdo0VFhamLVu26NKlS7p8+bJq1qxZYfEBAAAAgKNx+JVNSZo0aZLS09NVUFCgpKQk3X///RV6fFdXV8t1oBkZGSouLlZgbW99+lQ3+Xn/dMOi9PR0ST/dzMjLy6tC4wMAAAAAR+MUzaa9mUwmhYeHS5IyMzP15ptvWsYladmyZTp69KePOenZs6eqVKlilzgBAAAAwFE4/Gm0juKZZ57Rl19+KUl67rnn9MUXX6h79+76+uuvlZKSYtlu6tSp9goRAAAAABwGK5u/U+/evTVr1izL48TERP3973+3ajSnTJmiIUOG2CE6AAAAAHAsNJt3YN68eVq1apVatWplNd6sWTMtWbJEixYtspxaCwAAAAB/ZJxGewdMJpMiIyM1ZswYpaSk6MyZMzp06JAmTZpkuYEQAAAAAIBm866YTCa1a9dOrVq10rVr1+TiwgIxAAAAAPwaXRIAAAAAwOZoNgEAAAAANkezCQAAAACwOZpNAAAAAIDN0WwCAAAAAGyOZhMAAAAAYHOV/qNPDMOQJOXk5Nh830VFRcrPz1dOTo7c3d1tvn+UL/Ln/MihcyN/zo8cOjfy5/xyc3Ml/fL/XcDRVPpm83oRBgQE2DkSAAAAwPays7Pl6+tr7zCAUkxGJf9TiNls1unTp1W9enWZTCab7jsnJ0cBAQE6ceKEfHx8bLpvlD/y5/zIoXMjf86PHDo38uf8Ll++rMDAQF28eFE1atSwdzhAKZV+ZdPFxUX+/v7legwfHx9+STsx8uf8yKFzI3/Ojxw6N/Ln/FxcuA0LHBM/mQAAAAAAm6PZBAAAAADYHM1mGXh6emrOnDny9PS0dyi4C+TP+ZFD50b+nB85dG7kz/mRQzi6Sn+DIAAAAABAxWNlEwAAAABgczSbAAAAAACbo9kEAAAAANgczSYAAAAAwOZoNu/S4sWL1aRJE1WpUkWdOnXS9u3b7R0Sfqe5c+fKZDJZffn5+dk7LNzEtm3bNHDgQDVs2FAmk0mff/651bxhGJo7d64aNmwoLy8v9erVSwcPHrRPsLih2+Vw7NixpWqye/fu9gkWpcyfP19dunRR9erVVa9ePQ0ZMkSHDx+22oY6dFy/J3/UoGOLiYlRu3bt5OPjIx8fH4WGhmrTpk2WeeoPjoxm8y6sXbtW06ZN0+zZs/X999+rR48e6t+/vzIyMuwdGn6nP/3pTzpz5ozlKyUlxd4h4Sby8vLUvn17vf322zec/+tf/6o33nhDb7/9tvbu3Ss/Pz899NBDys3NreBIcTO3y6Ek9evXz6omN27cWIER4lYSEhI0efJkffvtt4qLi1NxcbHCw8OVl5dn2YY6dFy/J38SNejI/P39tWDBAu3bt0/79u3Tgw8+qMGDB1saSuoPDs3AHevatasxceJEq7GWLVsaM2fOtFNEuBNz5swx2rdvb+8wcBckGZ999pnlsdlsNvz8/IwFCxZYxq5du2b4+voaS5YssUOEuJ3f5tAwDCMqKsoYPHiwXeLBncvKyjIkGQkJCYZhUIfO5rf5Mwxq0BnVrFnTeP/996k/ODxWNu9QYWGhkpKSFB4ebjUeHh6unTt32ikq3Km0tDQ1bNhQTZo00aOPPqqjR4/aOyTchWPHjuns2bNW9ejp6amePXtSj04mPj5e9erVU/PmzTVhwgRlZWXZOyTcxOXLlyVJtWrVkkQdOpvf5u86atA5lJSUKDY2Vnl5eQoNDaX+4PBoNu/Q+fPnVVJSovr161uN169fX2fPnrVTVLgT3bp10wcffKCvv/5a7733ns6ePauwsDBlZ2fbOzTcoes1Rz06t/79++ujjz7Sli1b9I9//EN79+7Vgw8+qIKCAnuHht8wDEPR0dG677771KZNG0nUoTO5Uf4katAZpKSkqFq1avL09NTEiRP12WefqXXr1tQfHJ6bvQNwViaTyeqxYRilxuCY+vfvb/m+bdu2Cg0NVdOmTbVq1SpFR0fbMTLcLerRuY0aNcryfZs2bdS5c2cFBQXpq6++0rBhw+wYGX5rypQp2r9/vxITE0vNUYeO72b5owYdX4sWLZScnKxLly7p008/VVRUlBISEizz1B8cFSubd6hOnTpydXUt9deirKysUn9VgnOoWrWq2rZtq7S0NHuHgjt0/S7C1GPl0qBBAwUFBVGTDubpp5/Whg0btHXrVvn7+1vGqUPncLP83Qg16Hg8PDzUrFkzde7cWfPnz1f79u21cOFC6g8Oj2bzDnl4eKhTp06Ki4uzGo+Li1NYWJidokJZFBQUKDU1VQ0aNLB3KLhDTZo0kZ+fn1U9FhYWKiEhgXp0YtnZ2Tpx4gQ16SAMw9CUKVO0fv16bdmyRU2aNLGapw4d2+3ydyPUoOMzDEMFBQXUHxwep9HehejoaI0ZM0adO3dWaGioli5dqoyMDE2cONHeoeF3mD59ugYOHKjAwEBlZWXp1VdfVU5OjqKiouwdGm7gypUrOnLkiOXxsWPHlJycrFq1aikwMFDTpk3Ta6+9ppCQEIWEhOi1116Tt7e3IiIi7Bg1fu1WOaxVq5bmzp2r4cOHq0GDBkpPT9cLL7ygOnXqaOjQoXaMGtdNnjxZH3/8sb744gtVr17dsoLi6+srLy8vmUwm6tCB3S5/V65coQYd3AsvvKD+/fsrICBAubm5io2NVXx8vDZv3kz9wfHZ7T64Tu6dd94xgoKCDA8PD6Njx45WtxCHYxs1apTRoEEDw93d3WjYsKExbNgw4+DBg/YOCzexdetWQ1Kpr6ioKMMwfvrYhTlz5hh+fn6Gp6encf/99xspKSn2DRpWbpXD/Px8Izw83Khbt67h7u5uBAYGGlFRUUZGRoa9w8bPbpQ7ScaKFSss21CHjut2+aMGHd+4ceMs/+esW7eu0bt3b+Obb76xzFN/cGQmwzCMimxuAQAAAACVH9dsAgAAAABsjmYTAAAAAGBzNJsAAAAAAJuj2QQAAAAA2BzNJgAAAADA5mg2AQAAAAA2R7MJAAAAALA5mk0AAAAAgM3RbAJAJRYfHy+TyaRLly7Z5fhbtmxRy5YtZTaby/1YKSkp8vf3V15eXrkfCwAA3B7NJgBUEr169dK0adOsxsLCwnTmzBn5+vraJaYZM2Zo9uzZcnEp/39u2rZtq65du+qf//xnuR8LAADcHs0mAFRiHh4e8vPzk8lkqvBj79y5U2lpaRo5cmSFHfOJJ55QTEyMSkpKKuyYAADgxmg2AaASGDt2rBISErRw4UKZTCaZTCalp6eXOo125cqVqlGjhv7973+rRYsW8vb21ogRI5SXl6dVq1apcePGqlmzpp5++mmrhq2wsFAzZsxQo0aNVLVqVXXr1k3x8fG3jCk2Nlbh4eGqUqWKZeyHH37QAw88oOrVq8vHx0edOnXSvn37LPM7d+7U/fffLy8vLwUEBGjq1KlWp8UWFBRoxowZCggIkKenp0JCQrRs2TLLfN++fZWdna2EhIQyvqMAAKCsaDYBoBJYuHChQkNDNWHCBJ05c0ZnzpxRQEDADbfNz8/XokWLFBsbq82bNys+Pl7Dhg3Txo0btXHjRq1evVpLly7VJ598YnnOE088oR07dig2Nlb79+/XyJEj1a9fP6Wlpd00pm3btqlz585WY6NHj5a/v7/27t2rpKQkzZw5U+7u7pJ+uuayb9++GjZsmPbv36+1a9cqMTFRU6ZMsTw/MjJSsbGxWrRokVJTU7VkyRJVq1bNMu/h4aH27dtr+/btd/U+AgAA23GzdwAAgLLz9fWVh4eHvL295efnd8tti4qKFBMTo6ZNm0qSRowYodWrVyszM1PVqlVT69at9cADD2jr1q0aNWqUfvzxR61Zs0YnT55Uw4YNJUnTp0/X5s2btWLFCr322ms3PE56erpl++syMjL03HPPqWXLlpKkkJAQy9zf/vY3RUREWK47DQkJ0aJFi9SzZ0/FxMQoIyND69atU1xcnPr06SNJCg4OLnXcRo0aKT09/fZvGgAAKFc0mwDwB+Pt7W1pNCWpfv36aty4sdUKYf369ZWVlSVJ+u6772QYhpo3b261n4KCAtWuXfumx7l69arVKbSSFB0drfHjx2v16tXq06ePRo4caYklKSlJR44c0UcffWTZ3jAMmc1mHTt2TCkpKXJ1dVXPnj1v+fq8vLyUn59/m3cBAACUN5pNAPiDuX7a6nUmk+mGY9c/rsRsNsvV1VVJSUlydXW12u7XDepv1alTRxcvXrQamzt3riIiIvTVV19p06ZNmjNnjmJjYzV06FCZzWY99dRTmjp1aql9BQYG6siRI7/r9V24cMGqmQYAAPZBswkAlYSHh0e53IW1Q4cOKikpUVZWlnr06HFHzzt06FCp8ebNm6t58+Z69tln9dhjj2nFihUaOnSoOnbsqIMHD6pZs2Y33F/btm1lNpuVkJBgOY32Rg4cOKARI0b87jgBAED54AZBAFBJNG7cWLt371Z6errOnz9vWZksq+bNm2v06NGKjIzU+vXrdezYMe3du1evv/66Nm7ceNPn9e3bV4mJiZbHV69e1ZQpUxQfH6/jx49rx44d2rt3r1q1aiVJev7557Vr1y5NnjxZycnJSktL04YNG/T0009bXl9UVJTGjRunzz//XMeOHVN8fLzWrVtnOUZ6erpOnTp1y2YUAABUDJpNAKgkpk+fLldXV7Vu3Vp169ZVRkaGzfa9YsUKRUZG6i9/+YtatGihQYMGaffu3Te9460kPf744zp06JAOHz4sSXJ1dVV2drYiIyPVvHlzPfLII+rfv79efvllSVK7du2UkJCgtLQ09ejRQx06dNCLL76oBg0aWPYZExOjESNGaNKkSWrZsqUmTJhg9dEoa9asUXh4uIKCgmz22gEAwN0xGYZh2DsIAEDlNGPGDF2+fFnvvvtuuR+roKBAISEhWrNmje69995yPx4AALg1VjYBAOVm9uzZCgoKKpdrSX/r+PHjmj17No0mAAAOgpVNAAAAAIDNsbIJAAAAALA5mk0AAAAAgM3RbAIAAAAAbI5mEwAAAABgczSbAAAAAACbo9kEAAAAANgczSYAAAAAwOZoNgEAAAAANkezCQAAAACwuf8D47s4P/8T3LwAAAAASUVORK5CYII=\n", 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8Xvz41XvEhocyf/58li9fTunSpTl06BAhISEAODo68vrrr/9n26GhoVSvXp0DBw6QKVMmmjRpQsaMGc16JZryLNMwWhERERF5ap2/Ec5Lk7eyZN8lHB0sDG9RjB961mLe7Jm4uLgAcQnjli1b7BLN6dOnU6FChf9s38vLi6JFiwJw7do1Vq5cmXwnI5LGKNkUERERkafSphNXafH1Zo5cvo2vpws/9qhM1+p5sVgstGrVir1799KzZ0/zvkwPDw+6dOlCYGAgnTp1um+bNpstXtkXX3xB7dq12bZtm90wWpFnnZJNEREREXmqGIbBlA1/02XaTm6Fx1A6Rzp+HVCDKvl87bYrVqwY3377LSEhIURERBAaGsqMGTMoU6bMfdtdv349ZcqUYefOnXblOXLkYP369VSpUiW5TkkkTdI9myIiIiLy1AiLsjLklwP8duAyAG0q5ODDliVwc3Z84D4WiwU3N7eHtvvbb7/RvHlzAPr168eOHTtwcFC/jcjD6DdERERERJ4KZ66F0eqbrfx24DLOjhZGvVCCz18q9dBE81E1bNiQ4sWLA3HJ6dWrVx+7TZGnnXo2RURERCTN+/N4MK/N28vtSCt+3q5M6ViO8rkz/veOD3D58mWyZs1qPnd2dmby5MkcP36cbt26qVdT5BHot0RERERE0iybzeDrdSfoNmMXtyOtlMuVnuUDaiQ60Tx//jwBAQEUK1aM4OBgu7qaNWvSo0cPJZoij0i/KSIiIiKSJt2JjKHPnN18seYvDAM6VM7F/F5V8fd5+P2XD/Phhx/y888/c+vWLd55550kjFbk2aNkU0RERETSnL+vhvLCpC2sOXIFF0cHPn+pJB+/WBIXp8f7eDtq1Ch8fHzw8/OjVq1aSRStyLNJ92yKiIiISKoWFRXFokWL2LlzJ4Zh4F6wMsuuZCAsOpYsPm5M6VSeMjnTJ7jdw4cPExYWRqVKlcwyf39/li5dSunSpcmQIUMSnoXIs0fJpoiIiIikWosWLaJPnz7/n/3VQroa7Unv5gPEkscjhoUD6uPn7ZqgNiMiInjjjTeYOnUqxYoVY+/evTg5/fOxuE6dOkl6DiLPKg2jFREREZFUacmSJbRu3ZqrV6/i4OaNX+thpK/eDoDbgUvZMLI1q5cuTHC7rq6uBAYGYrPZOHToELNnz07q0EUEJZsiIiIikgrFxMTQr18/DMPANUdx8vb9Do/8FXF2gDxBG7j5x3dgi2XgwIFEREQkqG0HBwfGjx+Pl5cXH3/8MS+//HIynYXIs03JpoiIiIikOitWrODS5SDSVW1LlvafYnX2Ip+fJ0v71+TP6Z/TqlUrAG7evMnPP//8wHb27t1LkyZNOH/+vF159erVuXDhAu+++y7u7u7Jei4izyolmyIiIiKS6mzZc4jMbT4ifa1OYHHgpXI5+LV/DYpl88FisdCrVy9z27179963jQULFlC+fHlWrVrF0KFD49WnS5cu2eIXkVSUbH766adYLBYGDRpklhmGwYgRI8iWLRvu7u7UqVOHw4cPp1yQIiIiIpLsNv51lWVRxXHPUxpbdAQBOSMY26Y0nq7/TOJjtVrNxxaL5b7tNGzYkIwZMwKwc+dOQkNDkzdwEbGTKpLNXbt28e2331KqVCm78tGjRzNu3Di+/vprdu3aRZYsWWjQoAF37txJoUhFREREJLnExNr4fNUxOk/bSSTORAef5vLMwWyfP4HY2FhzO8Mw+Prrr83nlSpVwjAMLl68aNdehgwZGDNmDOPGjePQoUN4eXk9sXMRkVSQbIaGhtKhQwe+++47u7WMDMPgyy+/5L333qNVq1aUKFGCmTNnEh4ezty5c1MwYhERERFJahdvRfDyt9uZvP5vADpUyonLxolYb1xg8+bN1KlTh7lz57JgwQIaNGjAqlWrAMicOTNZs2alatWq1K5dm6ioKLt2u3btyuDBg3FxcXni5yTyrEvxdTb79etHs2bNqF+/PqNGjTLLT58+TVBQEA0bNjTLXF1dqV27Nlu3bqV37973bS8qKsruTeb27dtA3IxmMTExSRr73faSul15MnT90j5dw7RN1y/t0zVM21LT9fv9aDDvLD5ESIQVL1cnPnmhGE1KZKGmx0RatGiB1Wpl8+bNbN682W4/BwcHJk2axPDhw9mxYwcAEyZMYPDgwSlxGk9carh2Ig+Tosnm/Pnz2b17N4GBgfHqgoKCAPD397cr9/f35+zZsw9s89NPP2XkyJHxytesWYOHh8djRnx/a9euTZZ25cnQ9Uv7dA3TNl2/tE/XMG1LyetntcHSsw5sDIobbJfby6BLwUiMc3tYcS5umw8++IBvvvmGK1eu2O3r6+tL7969cXZ25vnnn2fDhg3kyJGDyMhIVqxY8aRPJUWEh4endAgiD5Viyeb58+d57bXXWLNmDW5ubg/c7t83fBuG8cCbwAGGDh3K66+/bj6/ffs2OXPmpGHDhvj4+Dx+4PeIiYlh7dq1NGjQAGdn5yRtW5Kfrl/ap2uYtun6pX26hmlbSl+/M9fDGPTTAQ4Hxc3F0b16bl6vXxAXJ/u7vJo2bcqQIUP4/fff2blzJ/v27aNRo0Z069YNJ6d/PsoWL16cmjVr2pU97a5fv57SIYg8VIr9Nu7evZvg4GDKly9vlsXGxrJx40a+/vprjh8/DsT1cGbNmtXcJjg4OF5v571cXV1xdXWNV+7s7Jxsb6TJ2bYkP12/tE/XMG3T9Uv7dA3TtpS4fkv3XeTdRQcJi44lg4czY9uU5rkiD/585+zsTNGiRRk2bBh79+7FwcGBfv362W1z761Xzwr93klql2ITBNWrV4+DBw+yb98+86dChQp06NCBffv2kS9fPrJkyWI3tCM6OpoNGzZQrVq1lApbRERERBIpIjqWt38+wGvz9xEWHUulvBlZ8VrNhyaad2XNmtUcSrt06VL279+f3OGKyGNKsZ5Nb29vSpQoYVfm6emJr6+vWT5o0CA++eQTChYsSMGCBfnkk0/w8PCgffv2KRGyiIiIiCTSX1fu0O/HPZwIDsVigQHPFWTgcwVwcrx/30dkZKTdrVYeHh6MHDmSb775hnHjxlG6dOknFbqIJFKqHtQ+ZMgQIiIi6Nu3Lzdv3qRy5cqsWbMGb2/vlA5NRERERO4jNjaW0NBQPD09cXJywjAMFuw6z4hfDxMZY8PP25UJbctQrUCm++5/9epVRo0axZIlSzhy5Aienp5mXdeuXenWrRsODim+ep+IPIJUlWyuX7/e7rnFYmHEiBGMGDEiReIRERERkUezf/9+xo0bx8KFC4mIiMDV1ZUWrdrgUq0zWy7ELUtXs2AmxrctQyav+PNr3DVo0CBzTfW7a67f5ejomLwnISJJKlUlmyIiIiKS9vz000907NjRbt1HI30OtnrXxPlCFBYMhjQuSu9a+XBwePCqAgDDhg1jwYIFuLq6PlMzy4o8jfQbLCIiIiKJdujQIbtEM3369ORr0p1r2WticXTCGhLM9eVjKPfidBwc8pv7GYbBL7/8QoECBShTpoxZXrhwYWbNmsVzzz1HlixZnvTpiEgS0oB3EREREUm0L7/80kw0X+7cnRfGruJ6rrpYHJ3wj7nM5ekDiLxwlHHjxpn7nD9/nipVqhAQEMAbb7yBYRh2bbZv316JpshTQMmmiIiIiCTazz//DECGwpU4Vagtf/51DRdHB0a0KMaGjzuS0dsdgCVLlphJqb+/P9euXQNg3bp1bN++PWWCF5FkpWRTRERERBLFarUScvsO6Wq0x6fl+1y5E00+P08W96vGK9Xz4ubmRtmyZYG49dLv3LkDgIuLCx9//DElSpTgt99+o0qVKil5GiKSTHTPpoiIiIgkSnBoDNk7jcYpaxEAWpby55OXyuDpGvcR8+LFi2zatAkAZ2dnu+Xr2rRpQ0BAgGaYFXmKqWdTRERERBJszeEgmkzYhFPWItiiwrm6bAzBv47FFh0BQHh4OPXq1SMyMhKAAgUK4OzsbO7v4OCgRFPkKaeeTRERERF5ZJExsXyy4iiztp0FoKCvK1vGvErE1fPMPwrLly+ndOnSHDp0iJCQEHO/GjVqpFTIIpJC1LMpIiIiIo/kZPAdXpi0xUw0e9bMy2+Dn2PmpLFmL2VoaChbtmwxE00HBwcmTJjAt99+m2Jxi0jKUM+miIiIiDyUYRgsDLzA8GWHiYiJxdfThS/alKZu4cycO3eOd955h9jYWPz8/IiIiCA0NBRPT09at27NoEGD7NbRFJFnh5JNEREREXmg25ExvLf4EL/uvwRAjQKZGNemNJl93ADIkSMHXl5eAFy9epUtW7ZQvnx5XFxcsFgsKRa3iKQ8DaMVERERkfvad/4WzSZu4tf9l3B0sPBmgwK8Xs7FTDQhbpjsiBEjqF+/Plu2bKFatWq4uroq0RQR9WyKiIiIPGtOnTrF9u3b2bt3LwUKFKB48eJ29TabwXebTjFm9XGsNoMcGdx5MeMlprw2hLf+/ptTp06RNWtWc/sXXniBF1988UmfhoikcurZFBEREXlGHD16lEaNGpE/f346dOjAF198QYkSJahbty779u0D4OqdKF6ZsYtPVx7DajNoVjIrvw2sycWjezh8+DCRkZF8/vnndu2qF1NE7kc9myIiIiLPgIMHD1KrVi1u3boVr279+vXUqFGD8fNWMXV/JFfvROLm7MCI50vwcsWcWCwW3n77baZMmUKZMmVo0aLFkz8BEUlzlGyKiIiIPOUMw6BLly5mopkrVy46derEqVOn2LFjB6fOnMW5QgCjNt8i8lQgkdvn8/HID2hXKZfZhr+/P/v376dAgQLqyRSRR6JkU0REROQpt3XrVvbu3QtAsWLF2LFjB66urqxYsYL3Px3P858twZouB5HnDxH880gApo7/jL6vtMPB4Z+7rgoWLJgi8YtI2qR7NkVERESecuvXrzcfDx482FyqZM81C22m7cOaLgexkaHc3rWUbNmyAeDk5ERQUFBKhCsiTwklmyIiIiJPuaioKPNx5syZCY+y0unjmXw17zdCo6wUTO/A5ekDiDixjerVq/PLL7+we/duM/EUEUkMJZsiIiIiT7lChQqZj6f/spLc5WqxYGRPbv45jXZFXMl39ldib18FoE6dOrRq1cpu+KyISGLoXURERETkKdeqVSvSpUuHR9Ha7PatR0z6PHEVNivrp37Ad1OnAODu7k67du1SLlAReaoo2RQRERF5SoWHhzN16lSshoWar0/G7/m3cHBxx8U/Lzg4ArB9+3YMwwDgvffeI0OGDCkZsog8RTQbrYiIiMhTaOHChfTt25dr167x9YYz3MlVAzC4vXUBNzfPBcNmbmuxWHjvvfd49913Uy5gEXnqKNkUEREReQplz56da9euAXB8zY+UfK0uE14uR+5+pfn++3zs2LGD4OBgGjRoQJ8+fcibN28KRywiTxslmyIiIiJp3PHjx3FyciJ//vwARMbEsvyKN265S+HomZEaL3Vj1mu1yOzjBsDIkSOJiYlhxYoVNG3aFGdn55QMX0SeUrpnU0RERCSNunz5Mq1bt6Zo0aK8//77AJy+FsaL32xl7o5z+Lf9iJHjp7B8eAcz0RQReVLUsykiIiKSRqVLl46NGzdiGAY//fQTdTsMYOKuO4RGWfH1dGF82zLUKuSX0mGKyDNKPZsiIiIiqUxYWBjfffcd9evXp1SpUtStW5evvvqKvXv32m3n4eHBa6+9RpYsWajT8TVG/XGR0CgrlfJmZMVrNZVoikiKUs+miIiISCpy8OBBmjVrxvnz5+3K169fj4ODAxs2bKBGjRpmeatOvdjkVpljV6NwAPrVzc/g+oVwclSfgoikLCWbIiIiIqlEcHAwDRs2JCgoyCxzcXEhOjoaAJvNRqNGjTh69Ci5cuXitwOXefuXA4RGWcno6cK4NqWpUzhzSoUvImJHX3mJiIiIpBJfffWVmWiWL1+ewMBAoqKi+PHHH81twsPDGTNuPMOWHqLf3D2ERlmpmCcDvw2soURTRFIV9WyKiIiIpALbt2/niy++AMDBwYFFixaRK1cuANq3b0/OnDlp2LAhVrf0LLmTD8dtZwF4tU5+3migYbMikvoo2RQRERFJBQ4dOkRkZCQQN8vs3UTzrpo1a1KqWRcu53wOB1dP0rs7Mf7lstRVb6aIpFL6CkxEREQkkc6cOcP7779Pw4YNadCgAW+//TYnT578z/2uXLnCzZs37co6dOhgPo6JicFqtZrPo6yxjFh2mCsFWuDg6knUhSMs7lNZiaaIpGpKNkVEREQSyDAMPvnkE/Lnz8/HH3/M2rVr+f333xk9ejSFChXi3XffxTCMePudO3eOrl27kitXLiZOnGhX5+7uTp06dQAIDQ1lwoQJAJy/EU6bKduYsfUMACHbf6bwpVXk9U+fnKcoIvLYlGyKiIiIJNDEiRN57733sNls8eoMw+DTTz9l1KhR99139uzZREdH880335jDZu967733zMdvvvkm5Vt257nRa9l/IYTYiNsE/zySWxtm8NqA/kl7QiIiyUDJpoiIiEgChIWFMWzYMPP5W2+9xdmzZ7lw4QIffPABFosFgI8//pjAwEC7fXPlysVLL71EunTp6NKlC1FRUXb19evXZ+jQoeDoTMYGfbhetBUxOBF58SiXp79GxN+76NevHy+88EKyn6eIyOPSBEEiIiIiCbBo0SJu374NQMeOHRk9erRZ9+GHH3LlyhW+/fZboqKiaNOmDadOnbLbf/z48fj4+ODl5XXf9ru9NpQ/nCtzJSruY1rI9p+5tWk2BfLl5c0xH9GrVy8zoRURSc2UbIqIiIgkwIkTJ8zHbdq0iVffrl07vv32WwBOnz7Njh07qFy5slmfLVu2+7ZrGAY/777AsKWHiYhxwtfThQEVfchRvwO+vgMpXbo0Dg4alCYiaYeSTREREZEEcHV1NR+fP3+eTZs2UbNmTbMsKCjIfFyiRAl8fX3/s83QKCsfLDnE4r0XAaiW35cv25Yhs49bEkYuIvJkKdkUERERSYC6deuajwcOHIiDgwPnz5/H39+f8PBwxowZY9Z/8cUXFChQ4KHtHboYwoB5ezl9LQxHBwuD6xfk1ToFcHTQUFkRSduUbIqIiIgkQNWqVSlXrhx79uwhNjaW2NhY2rZtS61atZg9ezZnzpwBoFChQjRo0OCB7RiGwcytZ/hkxTGiY21kS+fGhHZlqZgn4xM6ExGR5KVkU0REROQhrl27xo8//kjfvn1xdnbGYrEwa9YsqlevTkhICAAbNmxgw4YN5j7e3t7MmTPngfdY3gqP5q2fD7D2yBUAGhTzZ0zrUqT3cEn+ExIReUJ0l7mIiIjIA0yaNIkcOXIwaNAgFi9ebJYXL16cHTt20KBBg3gzw9avX58tW7ZQsWLF+7a568wNmk7YxNojV3BxdGBEi2J826m8Ek0ReeqoZ1NERETkAYoWLWquhfnNN9/YzT5buHBh1qxZw5kzZ9i9ezeGYVCmTJkH3qMZazOYvP4k438/QazNIG8mT75qV5YS2dM9kXMREXnSlGyKiIjIM+/EiRNMmTKFjh07UrZsWbO8bt26VK1alapVq9KnT5/77psnTx7y5Mnz0PaDb0cy+Kd9bDl5HYBWZbPz4Qsl8HLVRzEReXrpHU5ERESeelarlW3bthEcHIyvry/VqlXDxSVu2Ory5ctp0aIFACEhIXz//ffmfhaLhS1btsQbKpsQ648H88ZP+7keFo27syMfvVCC1uVzPN4JiYikAbpnU0RERJ5ahmHw1VdfkS9fPmrVqkXr1q2pW7cuuXPnZvTo0dhsNurWrYuPjw8AixYtIjIy0q6NxCaaMbE2Pl15lFem7+J6WDRFs/qwfGANJZoi8sxI0WRz8uTJlCpVCh8fH3x8fKhatSorV6406w3DYMSIEWTLlg13d3fq1KnD4cOHUzBiERERSSsMw2DAgAEMHDiQ8+fP29UFBQXx9ttv07VrVzw8PBg6dChjxozhxIkTuLm5Pfaxz98IJ2DKNqZuOAVA56q5Wdy3Gvn9vB67bRGRtCJFh9HmyJGDzz77zLyRfubMmbRs2ZK9e/dSvHhxRo8ezbhx45gxYwaFChVi1KhRNGjQgOPHj+Pt7Z2SoYuIiEgqt2LFCiZNmhSv3N3dnYiICABmzZpFkyZNeOedd5LuuAcv8/YvB7gTacXHzYnRrUvRuETWJGtfRCStSNFk8+79EXd9/PHHTJ48me3bt1OsWDG+/PJL3nvvPVq1agXEJaP+/v7MnTuX3r1737fNqKgoc9Y4gNu3bwMQExNDTExMksZ/t72kbleeDF2/tE/XMG3T9Uv7Uus1jImJISgoiIkTJ5plkyZN4tdff2XVqlV4enoybNgwhg4dCsDEiRN56aWXHvu4kTGxfLLyOPN2XQCgbM50jG9Tiuzp3VPdawSp9/rJo9O1k9TOYhiGkdJBAMTGxrJw4UK6dOnC3r17cXNzI3/+/OzZs8duVriWLVuSPn16Zs6ced92RowYwciRI+OVz507Fw8Pj2SLX0RERFJWTEwMP/74I3/++SfZsmXjxIkTWK1WfH19+fbbbzl27Bg3btygSpUqODk50a9fPy5dugTAggULcHV1TfSxg8JhxglHLodbsGBQL7tB0xw2HDU7hiSj8PBw2rdvT0hIiHnfsUhqkuLJ5sGDB6latSqRkZF4eXkxd+5cmjZtytatW6levToXL14kW7Zs5va9evXi7NmzrF69+r7t3a9nM2fOnFy7di3JfwljYmJYu3YtDRo0wNnZOUnbluSn65f26Rqmbbp+aV9qu4Z317k8evSoXXm5cuXYvn17vO0bNGjAhg0bALhy5QoZMmRI1HG3n7pBn7l7CYuKxdfThS9al6RGAd9EtfUkpbbrJwl3/fp1smbNqmRTUq0UX/qkcOHC7Nu3j1u3bvHLL7/QpUsX840f4s8AZxjGQ2eFc3V1ve83k87Ozsn2RpqcbUvy0/VL+3QN0zZdv7TvSV9DwzDYsWMHhw4dokePHnZ1PXr04J133qFly5Zs27aNixcvsm/fPs6dO0f+/PnN7S5dusS2bdsAyJQpE5kyZcLBIeHdkKsOBTFw3l6iY21UzpuRr9qXJbP3408w9CTpdzDt0nWT1C7FB3e4uLhQoEABKlSowKeffkrp0qWZMGECWbJkAeJmi7tXcHAw/v7+KRGqiIiIpAJ169alatWq9O/fn5s3b9rV9ejRg4sXL7Jw4UJzfgebzcbzzz/PH3/8QVRUFBs3bqR58+ZER0cD0LVr10Qlmgt2naPvj7uJjrXRuHgWZnarlOYSTRGR5JTiyea/GYZBVFQUefPmJUuWLKxdu9asi46OZsOGDVSrVi0FIxQREZGUVKZMGSDu1pl58+bZ1fn4+ODn5wdAv379yJUrFwBHjhyhfv36uLm5Ubt2bfbu3QuAv78/gwcPTnAMUzb8zdu/HMRmwMsVczKpQzncnB0f46xERJ4+KTqM9t1336VJkybkzJmTO3fuMH/+fNavX8+qVauwWCwMGjSITz75hIIFC1KwYEE++eQTPDw8aN++fUqGLSIiIsns9OnTTJ8+nTVr1rB582acnP75yNK9e3cCAwPp0aMHAQEBD2wjY8aM/PHHHzRv3pzjx4/Hq8+TJw+//vorWbM++rIkhmHw6cpjfLsxbv3MV+vkZ0ijwg+9xUdE5FmVosnmlStX6NSpE5cvXyZdunSUKlWKVatW0aBBAwCGDBlCREQEffv25ebNm1SuXJk1a9ZojU0REZGn3BtvvMHixYsBWLVqFc2bNzfrSpYsyebNmx+pnQIFCnDgwAGWLFnC/PnzuXr1Kr6+vrRu3ZqAgIAEzUBrjbXxzqKD/Lw7bmmT95oWpWetfAk4KxGRZ0uKJps//PDDQ+stFgsjRoxgxIgRTyYgEREReaJsNhs7d+6kSpUqduXdunVj8eLFODg4sH//frtkM6FcXFxo06YNbdq0SXQbkTGx9J+7l9+PXsHRwcLnL5WidfkciW5PRORZkOKz0YqIiMizafr06Xz44YecOXOGvXv3mvdiAjRu3JgvvviCl19+mezZs6dckMDtyBh6zAxk5+kbuDo58HX7cjQopskKJfWLjIzk6tWrKR2GPIX8/Pxwc/vvCdGUbIqIiEiKiIqK4syZMwDMnDnTLtl0cnLijTfeSJnA7nH1ThRdpu3kyOXbeLs68X2XClTOl/rX0BSJjIwkODiY7Nmz4+ioyask6cTGxnLx4kUyZ878nwlnqpuNVkRERJ4eVquVlStX0q5du3jLmbVt2xYPDw8aN25M3bp1UyjCBzt/I5yAKVs5cvk2mbxcmd+7ihJNSTOuXr2qRFOShaOjI9mzZ3+kXnP1bIqIiEiy+eyzz/jggw8AqFChgl1vZYYMGbh06RLp0qVLqfAe6FjQbTr/sJPgO1HkzOjOnO6Vye3rmdJhiSSIEk1JLo/6f0s9myIiIpIkrl69SmRkpF3ZvZPy/Prrr/H2SY2J5u6zN2gzZRvBd6IoksWbX/pUU6IpIpIISjZFRETksezevZuWLVuSLVs2li5daldXqFAh3n77bRYvXsyaNWtSKMJH9+exYDp8v4PbkVYq5M7Agl5Vyezz35NgiIhIfEo2RURE5LHcuXOHZcuWYbVamTlzZrz6zz77jBdeeAEXF5cUiO7RLdl7kZ6zAomMsVG3sB+zu1cmnYdzSoclIkCdOnUYNGiQ+TxPnjx8+eWXKRaPPBolmyIiIvJIjh8/zrBhw9ixY4ddea1atcidOzfZsmWjbNmyGIbxWMcxDOOx20io6VtOM2jBPqw2gxfLZufbzhVwd9H9biJP2iuvvILFYon3M3r0aD766KMH7mexWFiyZMmTC1QeiSYIEhERkf+0YsUKmjVrBsDly5epXLmyWefg4MC6devInTt3oicksVqtzJ07lylTprBr1y4AypQpQ+/evencuXOy9YoahsH4tX8xcd1JALpWz8MHzYrh4GBJluOJyH9r3Lgx06dPtyvz8/N7IhMexcTE4OysEQ1JRT2bIiIiYuf27dvcvHnTrqx27dp4esZNkrN48WKsVqtdfb58+RL9QTAiIoJmzZrRpUsXtm3bhtVqxWq1EhgYSM+ePalXrx537txJ3Mk8RKzN4P0lh8xE882GhRjWXImmSEpzdXUlS5Ysdj/16tWzG0Z7rzx58gDw4osvYrFYzOcQNzFZ+fLlcXNzI1++fIwcOdLu/ctisTBlyhRatmyJp6cno0aNSsYze/Yo2RQREREATp48Sdu2bfH392fChAl2dZ6engwZMoSxY8dy4MABnJySbnDUgAED7CYPyp8/P4UKFTKfb968me7duyfZ8QCirLEMnL+XH3ecw2KBUS+UoP9zBbFYlGjK08kwDMKjrSnyk9zD4u+Ohpg+fTqXL182n69evZqOHTsycOBAjhw5wtSpU5kxYwYff/yx3f7Dhw+nZcuWHDx4kG7duiVrrM8aDaMVERERANzd3Vm4cCGGYfDjjz8yfPhwu+Rr2LBhSX7MixcvMmPGDAA8PDz45ZdfaNSoERaLhfXr1/PCCy8QEhLCwoULOXHiBAULFnzsY4ZFWekzZzebTlzD2dHCl23L0qxU1sduVyQ1i4iJpdiw1Sly7CMfNsLD5dHTjuXLl+Pl5WU+b9KkyUO39/PzAyB9+vRkyZLFLP/4449555136NKlCxA3AuOjjz5iyJAhDB8+3Nyuffv2SjKTiXo2RUREnjGHDh1i6NCh/PTTT3bl2bNnp06dOmTKlIlGjRoRERGR7LEsWrSI2NhYAAYPHkzjxo3NBLdOnToMHTrU3Pbf8SbGzbBo2n+/g00nruHh4si0Vyoq0RRJZerWrcu+ffvMn4kTJyaqnd27d/Phhx/i5eVl/vTs2ZPLly8THh5ublehQoWkCl3+JUl6NmNjYzl48CC5c+cmQ4YMSdGkiIiIJINDhw5RsmRJIG4W2TZt2tjVz549m8yZMz+xCTKuXLliPq5Zs2a8+nvL7t02MS6HRNDph52cDA4lg4cz07tWokzO9I/Vpkha4e7syJEPG6XYsRPC09OTAgUKPPZxbTYbI0eOpFWrVvHq3Nz+WT/37v3okvQSlWwOGjSIkiVL0r17d2JjY6lduzZbt27Fw8OD5cuXU6dOnSQOU0RERBLq+vXr3L59m7x585plxYsXp0iRIhw7doxt27Zx7do1MmXKZNZnz579icaYMWNG83FgYCCNGtl/GA4MDDQf+/r6Jvo4p66G0umHnVy8FUHWdG7M7l6JApm9E92eSFpjsVgSNJQ1rXF2djZHSdxVrlw5jh8/niSJqyROoobR/vzzz5QuXRqIm+Hp9OnTHDt2jEGDBvHee+8laYAiIiKSMEFBQTRr1owsWbLwzjvv2NVZLBaGDh3KV199xYULF+wSzZTwwgsvmMNmv/jiC3bv3m3WHTp0iE8++cR8fr/eiUdx+FIIbaZu4+KtCPJl8uTnV6sp0RR5yuTJk4c//viDoKAgczbtYcOGMWvWLEaMGMHhw4c5evQoCxYs4P3330/haJ8diUo2r127Zt58u2LFCgICAihUqBDdu3fn4MGDSRqgiIiIJIyvry87duzAarXy66+/EhoaalffuXNn+vfvT+bMmVMown/ky5eP1q1bA3Dr1i0qVKhA1apVqVmzJqVKlTKHzjZq1Mgc/psQu87c4OWp27kWGk3xbD781Kcq2dO7J+k5iEjKGzt2LGvXriVnzpyULVsWiHvfWL58OWvXrqVixYpUqVKFcePGkTt37hSO9tmRqL50f39/jhw5QtasWVm1ahXffPMNAOHh4U9ksVUREZFnXUxMDGvWrGHevHnkyZPHbm04Z2dnWrduzYoVK2jbti2RkZF2MzumNt999x1nz55l586dAGzfvt2uvmTJksyePTvB7f55LJhXf9xNZIyNSnkz8n2XCvi4abF2kdTs7uzU/7Z+/Xq752fOnLF73qJFC1q0aBFvv0aNGsUbnn+v5F6W5VmXqJ7Nrl270qZNG0qUKIHFYqFBgwYA7NixgyJFiiRpgCIiIhJfWFgYrVq14scff2TatGnx7lUaM2YMZ86cYcyYMSk+VPa/pEuXjvXr1/PFF1/Y3VuVO3duPvnkE7Zu3WoubfColu2/RM9ZgUTG2HiuSGZmdaukRFNE5AlLVM/miBEjKFmyJOfOnSMgIABXV1cAHB0d490bIiIiIolnGAbbt28nLCyM+vXrm+Xp06enSZMmLF26lIiICE6ePEnhwoXNem/vtHVPoru7O2+88Qavv/46N2/exDAMMmbMaLfO56Oas/0sHyw9hGFAyzLZ+CKgNM6OWu1NRORJS3CyGRMTQ8OGDZk6dSovvfSSXd3dBVNFRETk8d2+fZtSpUpx9uxZypQpw969e+3qhwwZQvfu3WnYsKH5xW9aZ7FY7GaoTQjDMPhm/d+MWX0cgE5VcjPy+eI4OCQ8YRURkceX4GTT2dmZQ4cOJeqbRhEREXmw8PBwPDw8zOc+Pj5kzpyZs2fPsm/fPo4dO2Z3u0q1atVSIsxUyTAMPlt5jKkbTwEw4LkCvN6gkD6viIikoESNKencuTM//PBDUsciIiLyzImKiuLTTz+lTJky5qys9+rUqRONGzdmxowZT3wNzLQi1mbwzi8HzUTz/WZFeaNhYSWaIiIpLFH3bEZHR/P999+zdu1aKlSogKenp139uHHjkiQ4ERGRp52LiwtTpkzh3LlzHD58mGvXrtlN6DNgwAAGDBiQghGmblHWWAYv2MeKg0E4WOCzVqVoUzFnSoclIiIkMtk8dOgQ5cqVA+Cvv/6yq9O3iCIiIvGdP3+ehQsXEhkZybvvvmuWWywW2rRpwxdffEH58uW5fPlyqp89NrUIj7bSe/ZuNp24houjAxNeLkOTkllTOiwREfm/RCWbf/75Z1LHISIi8tSKiYmhZMmShISEkC5dOt544w27CX1ee+01+vbtS968eVMwyrQlJDyGrjN2sufcLTxcHJnaqTw1CyZseRQREUlejzUP+MmTJ1m9ejURERGAFkUVEREJCgpi27ZtdmXOzs7mYuMhISFs2bLFrj5HjhxKNBMg+HYkbb/dxp5zt0jn7sycHpWVaIqIpEKJSjavX79OvXr1KFSoEE2bNuXy5csA9OjRgzfeeCNJAxQREUkLYmNjadCgAdmyZaNDhw7xvoDt0aMHH374IceOHeO5555LoSjTvvM3wgmYuo1jQXfw83ZlQe8qlMuVIaXDEpE06syZM1gsFvbt25fSoTyVEpVsDh48GGdnZ86dO2c3RXvbtm1ZtWpVkgUnIiKSWsXGxto9d3R0xGKxYBgGp0+fZvfu3Xb1tWvX5oMPPqBw4cJPMsynyl9X7vDS5K2cvR5Ozozu/NKnGkWy+KR0WCKSRCwWy0N/XnnllZQOURIoUfdsrlmzhtWrV5MjRw678oIFC3L27NkkCUxERCS1sdlszJgxg59++omIiAg2bNhgV9+mTRtOnz5N27ZtyZw5cwpF+XTae+4mXWfs4lZ4DIX9vZnVvRL+Pm4pHZaIJKG7oyUBFixYwLBhwzh+/LhZ5u7ubrd9TEwMzs7OTyw+SbhE9WyGhYXZ9Wjede3aNbsJD0RERJ4mDg4OjB8/ntWrV7Nx40bOnz9vV9+1a1f++usvRo0aRa5cuVIoyqfPlpPX6PD9Dm6Fx1AmZ3oW9K6iRFPkKZQlSxbzJ126dFgsFvN5ZGQk6dOn56effqJOnTq4ubkxZ84crl+/Trt27ciRIwceHh6ULFmSefPm2bVrs9n4/PPPKVCgAK6uruTKlYuPP/74vjHYbDZ69uxJoUKF1ImWBBKVbNaqVYtZs2aZzy0WCzabjTFjxlC3bt0kC05ERCQl3Lp1i5kzZ/LJJ5/Eq2vbti0AuXLl4vTp03Z1d4fSStJZdSiIrtN3ER4dS40CmfixR2XSe7ikdFgikkLefvttBg4cyNGjR2nUqBGRkZGUL1+e5cuXc+jQIXr16kWnTp3YsWOHuc/QoUP5/PPP+eCDDzhy5Ahz587F398/XtvR0dG0adOGwMBANm/eTO7cuZ/kqT2VEjWMdsyYMdSpU4fAwECio6MZMmQIhw8f5saNG/Fm2BMREUlLDMOgdOnSnDt3DldXVwYMGIC3t7dZ361bNxo0aEClSpWUWCazhYHnefuXA9gMaFw8CxPalcHVyTGlwxJJ08aNG8e4ceMAmDNnDnXq1DHrTp8+Tc2aNQF48cUX+eqrr+z2ff7559mzZw8AFy5csKubMWMG77//PgATJ06kVatWyRL/oEGD4rX95ptvmo8HDBjAqlWrWLhwIZUrV+bOnTtMmDCBr7/+mi5dugCQP39+atSoYddGaGgozZo1IyIigvXr15MuXbpkif9Zk6iezWLFinHgwAEqVapEgwYNCAsLo1WrVuzdu5f8+fMndYwiIiLJIiQkxO7bb4gbrXN3mZKoqKh4E99ly5aNypUrP9OJZmRkJCtXrmTWrFns2rWL8PDwJD/GD5tP89bPcYlmQPkcfN2+rBJNkSRw+/ZtLl68yMWLF4mKirKri42NNetu3rwZb9+rV6+a9f8WFhZm1iXHe8JdFSpUiBfzxx9/TKlSpfD19cXLy4s1a9Zw7tw5AI4ePUpUVBT16tV7aLvt2rUjNDSUNWvWKNFMQonq2Tx37hw5c+Zk5MiR963TfSoiIpKaGYbByy+/zJIlS0ifPj0XL17EyemfP4mdOnXC2dmZgIAAqlSpkoKRpi42m43PPvuM8ePHc+3aNbN80qRJ9O/fn+HDh9u9jokRazMYt/Y4k/78G4AeNfLyXrOiz3RyL5KUfHx8yJ49O0C8uVYcHR3NugwZ4i8p5OfnZ9b/m6enp1l3v7ldkoqnp6fd87FjxzJ+/Hi+/PJLSpYsiaenJ4MGDSI6OhqIP6nQgzRt2pQ5c+awfft2LU+VhBL1FyFv3rxcvnw53kx7169fJ2/evPGmgxcREUlJNpsNB4d/BvNYLBasVivR0dEEBwezceNGuw8XlStXpnLlyikRaqplGAbdu3dnxowZ8epu3brFqFGjOHbsGAsWLLB7rRMiKCSSQQv2sv3UDQDebFiIfnULKNEUSUKvv/46r7/++n3r8ubNG2947L2WLVv2wLpXXnklRZYm2bRpEy1btqRjx45A3Pv9iRMnKFq0KBC3Woa7uzt//PEHPXr0eGA7r776KiVKlOD555/nt99+o3bt2k8k/qddov4aGIZx3zf+0NBQ3Nw0O5yIiKQO8+bN44UXXqBSpUrx6tq0aUO2bNkYOHDgA7+pl38sWbLETDQtFgsvv/wyX375JXXq1MHRMW54688//8ycOXMS1f6aw0E0nrCR7adu4OHiyNiA0vR/rqASTRF5qAIFCrB27Vq2bt3K0aNH6d27N0FBQWa9m5sbb7/9NkOGDGHWrFn8/fffbN++nR9++CFeWwMGDGDUqFE0b96czZs3P8nTeGolqGfz7rcgFouFDz74wK6LPDY2lh07dlCmTJkkDVBERCSxJk2aZE5cd/jwYYoXL27WvfTSSwQEBCS6F+5ZM2nSJPPxjBkz6Ny5MzExMeTJk4d+/foREBAAwNdff03nzp0fud3ImFg+/u0os7fHLTFQIrsPE18uSz4/r6Q9ARF5Kn3wwQecPn2aRo0a4eHhQa9evXjhhRcICQmx28bJyYlhw4Zx6dIlsmbNSp8+fe7b3qBBg7DZbDRt2pRVq1ZRrVq1J3UqT6UEJZt79+4F4no2Dx48iIvLP1OPu7i4ULp0abvZoERERJJbSEgIv/76K8ePH+ejjz6yqwsICGDLli1kyZKFs2fP2iWbj3tv4bPEMAw2bNgAxC35cne42l3PP/88xYoV48iRI+aEQY9yz9ZfV+4wYO5ejl+5A0DPmnl5q1ERXJz0BYDIs+7fw3Lz5MmDYRjxtsuYMSNLlix5aFsODg689957vPfee/Hq7tfuw4YaS8Ik6C/tn3/+CcQtWj1hwgR8fHySJSgREZFHVb16dQ4fPoyDgwMDBgywm0+gXbt2lC1blurVq5tDPSXhbDYbVqsVAF9f33i9wRaLBT8/P/N5dHT0Q5NNwzD4ccc5Plp+hCirjUxeroxtU5rahfweuI+IiKQ9ifrqcPr06fj4+HDy5ElWr15NREQEwH2/bRARkbTJMAxiYm1ExsSmivf3W7dumb1r97q7TInNZuPXX3+1q8ucOTO1atVSovmYHB0dKVCgAAD79u3j6NGjdvVnz541hyv7+/s/dNmAm2HR9J69m/eXHCLKaqN2IT9WvlZTiaaIyFMoUWOIbty4QUBAAH/++ScWi4UTJ06QL18+evToQfr06Rk7dmxSxykiIg9wLTSKwDM3uHQrkiirjWirjejY2Lh/rTaiY23/lFvveRxrs9vmn7rYuH9jbdzNMV2cHPD1dMHXy4WMnq5xjz1dyOj1/389XfE1H7vg5eqUpBO7dOrUiQULFuDq6kpwcLDdVPbt27cnLCyMgIAAqlevnmTHFHvdu3dn6NChGIZB8+bNGTt2LJUqVSIwMJB33nnH7Pns3r37A6/99lPXGTR/H0G3I3F2tPB24yJ0q54XBwdNAiQi8jRKVLI5aNAgnJ2dOXfunDmtMEDbtm0ZPHiwkk0RkWRiGAYXbkaw8/QNdp25wc4zNzh1NSzZjxtttXE5JJLLIZGPtP3d5DTj/38yebne8zguOU3n6kBozH2OFR1tNycAgLOzMzExMcTExLB69WpeeOEFs65kyZJMnDjxcU5PHsGrr77KDz/8wMmTJzl16hQvvvhivG1y5MjBoEGD4pVbY21M+OMEX/95EsOAfJk8mdiuLCWya+F0EZGnWaKSzTVr1rB69Wpy5MhhV16wYEHOnj2bJIGJiAjYbAYngkPZeeYGu/6fYN4v4Svs700Bfy/cnBxxcXLA1ckBFycHXBz//+//H7s6/1P2zzaO993mbr2Dg4WQ8BhuhEVzPSyK66HR/38c/f/HUdwIi+ba/8sjYmIfOTm14MjSa7toWjIrtw+uY8WShfz111+cPHnS7r7AgIAA1q5dS+vWrSlcuHCSv87y39KlS8cff/xBy5Yt2bdvX7z6IkWKsGzZMrt7NwHO3wjntfl72XPuFgAB5XMw4vnieLpqgiYRkaddot7pw8LC7nvj/7Vr13B1dX3soEREnlUxsTYOXQyJ67U8fZPAsze4FW7f/efkYKFkjnRUypORinkyUiFPBtJ7uDygxaTh4+ZMzoz/PbsoQHi01UxI/0lKo8zHN/7//FpoFBdvRbLzzE12nrnJlYWTiTy1G4BlazfwQqO6ZpuNGjXi7NmzWqYkheXKlYvAwEBWr17NggULuHLlCpGRkQwYMICWLVvGm+H31/2XeHfxQe5EWvF2deLjViV5vnS2FIpeRESetEQlm7Vq1WLWrFnmFPMWiwWbzcaYMWOoW7fuf+wtIiJ3RUTHsvfcTXaeucHO0zfYe+4WETGxdtu4OztSLnd6KubJSKU8GSmTKz0eLqm3V8jDxQmPjE73TU6vXr3K4sWLOXDsAD+PH8+cxSuI8S/OmiPBrC9Sg8hTu3H08aPXt3/y3XEnGhfPQpOSWSiQ2TsFzkTux9HRkaZNm9K0aVNiYmJYsWIFTZs2tUs0w6OtjFh2mJ8CLwBQNld6Jr5c9pG/sBARkadDoj6tjBkzhjp16hAYGEh0dDRDhgzh8OHD3Lhxw5yNTkRE4rsVHk3gmZvsOnODHadvcOhiCFab/Uyv6T2cqZA7I5XyZqBSXl+KZ/PB2fH+PXpbt25lypQp7Nq1C8MwKFu2LL1796Z27dpJOkFPUmnatCmBgYEADBgwgIyu0LRabnrVLsDJ5vmZs6YOx2P92XH6Bocv3ebwpduMXfsXBTJ70aREFhqXyEKxrD6p8twkzqGLIQyct5dT18KwWKBfnQK8Vr/gA/8Pi4jI0ytRyWaxYsXYv38/U6ZMwdHRkbCwMFq1akW/fv3ImjXrI7fz6aefsmjRIo4dO4a7uzvVqlXj888/t7sfxzAMRo4cybfffsvNmzepXLkykyZNsluYW0QkNQuLsrLqUBCL915ky9/X+PcqIlnTucX1WuaN+yng5/Wfs3PGxsbSr18/pk6dald+/Phx5s+fT4cOHZg+fTrOzs5JfTqP5MqVKwQGBtKsWTO78latWpnJ5qpVq8iTJ49ZVyCnPyO6vwDA9dAofj96hZWHgthy8hong0P5at1Jvlp3klwZPczEs0zO9Eo8UwmbzWDaltN8vuoYMbEGWXzcGN+2DFXz+6Z0aCIikkISPQ4rQ4YMNGvWjIoVK2Kz2QDYtWsXAM8///wjtbFhwwb69etHxYoVsVqtvPfeezRs2JAjR47g6ekJwOjRoxk3bhwzZsygUKFCjBo1igYNGnD8+HG8vTWsSkRSJ2usjS1/X2fxngusPnzFbmhsPj9PKv0/uayYJyM5MrgnOGEaPny4XaLp4uKCxWIhKioKgB9//JGMGTM+9iytFy5cIDg4GF9fX3Lnzv1I+3Ts2JF58+bh6OhIcHAw6dOnN+vatm1LSEgIAQEBlCxZkpUrV963DV8vV9pWzEXbirkIiYhh3bErrDwYxIa/rnLuRjhTN55i6sZTZE3nRqPiWWhSIgsV8mTEMY0toREWFsbcuXNZsGCB+Tq3bt2aTp064ePjk9LhPbJroVG8s3gvG/66CkCDYv6MfqkUGTyT915iERFJ3RKVbK5atYrOnTtz/fr1eAt9WywWYmNjH7Bn/HbuNX36dDJnzszu3bupVasWhmHw5Zdf8t5779GqVSsAZs6cib+/P3PnzqV3796JCV9EJFkYhsGRy7dZvOciS/df4uqdKLMuVwY38jlcI3vMRfKlT0eLmsXInDlzoo5z8+ZNc4kpR0dHvvzyS3r06IGDgwOzZs2iX79+REdHM3nyZN555x2yZUv4hCy//vorn332GVu3bjXLKlSowJAhQwgICDDLwsLCzC8H78qUKRM2mw2bzcayZcvo3LmzWZcvXz4+++wzIiMjOXLkCGfPniUiIuKhPbDp3J15sWwOXiybg7AoK+uPX2Xlocv8eSyYyyGRzNh6hhlbz5DJy4WG/088q+TzTfXDNg8ePEizZs04f/68Xfn69ev56KOP+PXXX6lYsWKi24+KimLRokXs3LkTwzAoV64crVu3vu8Ef4/j2C0LH03axrXQaFydHHi/eTE6Vs6lHmeRp0BUVBRLly7l4MGDODo6UrVqVRo0aJCsk7W98sorzJw5k969ezNlyhS7ur59+zJ58mS6dOnCjBkzki2Gp53FYmHx4sV2y4gll0Qlm/379ycgIIBhw4bh7++fZMGEhIQAkDFjRgBOnz5NUFAQDRs2NLdxdXWldu3abN269b7JZlRUlPnNPsDt27cBzPXZktLd9pK6XXkydP3SvtRyDYNuR7Js/2WW7rvMX8GhZnkGD2caF/Pj/KZf+GXCWDZF/rMMiLOzM507d2bcuHG4u7sn6HgLFiwg8v9t9erVy+69sEuXLvz111+MGTMGq9XKnDlzGDx4cILaHzt2LEOHDo1XHhgYSJs2bXj33XfJnTs3s2fP5tixY5w9e9YuWXzxxRf57bffeOmllyhfvrzd9bl+/TqfffYZM2fO5NatWwC8//77dOzYkXffffc//6a4OEDDoploWDQTUTGxbD55ndVHrvDHsatcC41m7o5zzN1xjnTuTlTMnYHyuTNQPnd6imf1wcUp9SSfwcHBNGzYkKCgILPMxcWF6OhoIG4YcuPGjdm5cye5cuVKcPuLFy+mf//+XL161a580KBBjBs3jg4dOjzeCQDXw6KZsv5vZhx1BKIpmNmTL9uUopC/N1ar9bHbl+SXWt5DJfGS89rNnTuXwYMHExwcbFdeoEABpk2bRs2aNZPt2Dlz5mT+/PmMHz/e/BsZGRnJvHnzEvWe+CTdb63oZ5nF+HfX5CPw8fFh79695M+fP8kCMQyDli1bcvPmTTZt2gTETXxRvXp1Ll68aPfNfK9evTh79iyrV6+O186IESMYOXJkvPK5c+cm+be5IvLsioqF/Tcs7Lpq4USIBYO4XhxHi0HJDAYV/AwKeVv5YvRn5i0G91OyZEmGDRuWoHsrf/zxRxYuXAjEJWoVKlSwqz9y5AjvvvsuAM2aNaNnz56P3PbRo0ftEs1cuXJRpEgRTpw4wenTp83yEiVKcOjQISBuSG/ZsmXNurt/Vv7ds3Xjxg3ef/99Ll26dN9j+/n5MWrUqER9iWm1wYnbFvZft3DwhoVQq/2xnS0Gubwgr49BPm+DvN4GHik4oe+91zB//vy8+uqrFChQgDNnzjB16lSOHj0KQPPmzenRo0eC2t6+fTuff/55vJFH9xo0aBB16tRJULuxBpy5A8duOXD0loULYZj/76v723ghtw0XxwQ1KSKPKTw8nPbt2xMSEhJv6P358+fJmTNnotqdOXMmr7zyygPrXV1d+eOPP6hevXqi2n+YV155hVu3bnHq1Cnefvtt88uxuXPn8tlnn5EvXz7Sp0/PjBkzMAyDMWPGMGXKFC5fvkyhQoX44IMPaN26NRA3v0GvXr1Yt24dQUFB5MqVi759+/Laa6+Zx1u/fr052amzszPFixdn7ty55M6d24xlyZIl5vaDBg1i3759rF+/HoA6depQokQJXFxcmDVrFsWLF2fDhg0cOXKEN998k40bN+Lp6UnDhg0ZP348mTJlMvcrWbIkjo6OzJw5ExcXFz766CM6dOhA//79+fnnn8mcOTNff/01TZo0MY//KO2WKlUKNzc3vv/+e1xcXOjTpw8jRowAIE+ePJw9e9ZsL3fu3Jw5c4b9+/czaNAgAgMDsVgsFCxYkKlTp8b7jHGvR/k/lqg/ta1bt2b9+vVJmmz279+fAwcOsHnz5nh1//7AYhjGA4fnDB06lNdff918fvv2bXLmzEnDhg2T/P6XmJgY1q5dS4MGDVJsEg5JPF2/tO9JX8NYm8HWv6+zZN9l1h69QkSMzayrkDs9L5TJRpPi/vi4x8Xy448/mommq6srvXr1omrVqgQGBjJ58mQiIiI4ePAgQUFBCbot4PDhw2aikjFjRpo2bWpXf29vVokSJeLVP8zs2bPNx3379iVv3rzs2rWLo0ePMm7cODOJdXSMyyoKFy5MyZIlH+kYzZo1MxNNV1dXmjRpwtWrV9mzZw8RERFcvXqVadOmsXHjxscaghlrMzhwIYTAczfZffYWe87d4mZ4DH/fgb/vxLVrsUBBPy/K505P+VzpKZ87A9nTuz2xoZ8DBgwA4l7H1atX231THxAQQP78+YmMjGTLli38/PPPjzxkLSYmhr59+5qJZtOmTenTpw+Ojo5899135gemmTNnMnLkyP/sVb90K4JNJ6+z8cQ1tp26wZ1I+x7LIlm8qJEuhNfb1tf7aBqkv4Np3/Xr15O8zTt37pjvURA3F0vXrl0JDw9n4sSJ7Nixg6ioKPr06cOBAweS7X2za9euTJ8+3Uw2p02bRrdu3cwkD+K+cF20aBGTJ0+mYMGCbNy4kY4dO+Ln50ft2rWx2WzkyJGDn376iUyZMrF161Z69epF1qxZadOmDVarlRdeeIGePXsyb948oqOj2blzZ4LPaebMmbz66qts2bIFwzC4fPkytWvXpmfPnowbN46IiAjefvtt2rRpw7p16+z2GzJkCDt37mTBggW8+uqrLFmyhBdffJF3332X8ePH06lTJ86dO4eHh0eC2n399dfZsWMH27Zt45VXXqF69eo0aNCAXbt2kTlzZqZPn07jxo3Nv+cdOnSgbNmyTJ48GUdHR/bt25c07wtGIoSFhRlNmzY1unTpYnzxxRfGhAkT7H4Sqn///kaOHDmMU6dO2ZX//fffBmDs2bPHrvz55583Onfu/Ehth4SEGIAREhKS4Lj+S3R0tLFkyRIjOjo6yduW5Kfrl/Y9qWt4+GKI8dGvh40Ko9Yaud9ebv7UGfOnMeH3v4xz18Puu1+1atUMwACMZcuW2dX9+eefZl2JEiUSFM/+/fvNfXPmzGlcuHDBrAsODjYKFixo1m/atOmR27XZbIa7u7sBGJkyZTLq1KljtrNv3z7DarUauXLlMgDDYrEYu3fvNmw22yO1ffjwYbOtrFmzGqdOnTKv3+nTp428efOa9du3b0/Q6/Eo53Xiyh1j/s6zxhs/7TNqj15ndx3v/lT6eK3R98fdxrTNp4yDF24ZMdbYJI3jrpiYGPNcK1aseN9tnnvuOXObGzduPHLbS5YsMfdr0KCB3fWx2WxGq1atzPpZs2bF2z8i2mqsPx5sfPjrYaPe2PXxXqMyI1cbA+buMRYGnjeuhETofTSN0/VL+65du/bAz7nnzp1LVJtTpkwx3ydefvllu/eR6Ohoo1y5con6G/OounTpYrRs2dK4evWq4erqapw+fdo4c+aM4ebmZly9etVo2bKl0aVLFyM0NNRwc3Mztm7dard/9+7djXbt2j2w/b59+xovvfSSYRiGcf36dQMw1q9f/9BY7vXaa68ZtWvXNp/Xrl3bKFOmjN02H3zwgdGwYUO7svPnzxuAcfz4cXO/GjVqmPVWq9Xw9PQ0OnXqZJZdvnzZAIxt27Ylul3DMIyKFSsab7/9tvkcMBYvXmy3jbe3tzFjxoz7vg4P8ij/xxLVszl37lxWr16Nu7s769evt8v+LRYLAwcOfNRElwEDBrB48WLWr19P3rx57erz5s1LlixZWLt2rTlEKzo6mg0bNvD5558nJnQRkQeyWq2sWLGCnTt3EmZzJiZbaU7EZOD4Ffv7MFuUzsaLZbM/dNkNm83G9u3bgbhhks2bN7err1OnDmXKlGHfvn0cOnSI0NBQvLy8HinOUqVKUbduXf7880/Onz9P4cKFefHFF3FycmLRokXmverly5d/pCFO586dY8uWLQQEBBAREQHETeQTEBBgfoP8xx9/ULp0aQoVKsS5c+cwDIM8efI88re/y5cvNx+/9dZb5M2b17zXKHv27Lz77rvmcN9ff/2VypUrP1K7j8JisVAgsxcFMnvRtmJcD+LVO1HsPnsjbs3Tszc5fDGEK7ej+O3AZX47cBkATxdHyubKQIU8GaiQOyNlc6XH0/Xxx946Ojri6upKVFQU586dw2q14uT0T7uGYXDmzBkz9oTc07t3717zcc+ePeP9fe7VqxeLFi0yt+3YsSN/Xw1lw1/X2PDXVXacuk6U9Z8eewcLlMuVgVqF/KhdyI8S2dPZzfire/1Enj733vrRr18/u/cRZ2dnevXqRZ8+fcxta9SokSxxZMqUiWbNmjFz5kwMw6BZs2bmUFGIG04aGRlJgwYN7PaLjo62u7VjypQpfP/99+aEdNHR0ZQpUwaIGx30yiuv0KhRIxo0aED9+vVp06ZNgpZyBOINNd29ezd//vnnff+u//333xQqVAiI+3t+l6OjI76+vpQsWdIsu3tbyd37ZhPTLkDWrFnj3Xv7b6+//jo9evRg9uzZ1K9f3xxl87gS9Vfz/fff58MPP+Sdd955rNmo+vXrx9y5c1m6dCne3t7mRAnp0qXD3T1uKYBBgwbxySefULBgQQoWLMgnn3yCh4cH7du3T/RxRUT+beXKlfTu3Ztgmyc+Vdvinq8clgsOQCiOFoOGxbPyYtns1Cmc+ZEmmjEMw1wWysPD475J2b33kT/qLN53zZw5k5o1a3L27FnCwsKYM2eOXX3WrFmZN2/efyaDHTt25Mcff8RisVCnTh2yZMlCUFAQ+/bt47vvvmPkyJEEBARQtGhRbt26xbZt2wDw9vYmXbp0jxzvnTt3zMdFihSJV1+0aFHz8d1kOTn5ebvSuERWGpeI+0ARER3LvvO32H32BrvO3GTP2ZvcibKy+eQ1Np+8BoCjg4WiWb3J7+eFs6MDzo4WnBwccHK02D13drTg5OiAk0Nc+f3qq7TqyY7tWwmxxTJkzLd07NAOF0cHPFwcWfLzAk6fjxtuXLt2bdzc3B75vO693vebpMdqtWJx8cAtT2n2OBWhxud/cvFWhN02WdO5UbuQH7UK+VE9fybSeWh4pcizxLjnfu+7QyzvdW+ZkfCpXxKkW7du9O/fH4BJkybZ1d39G/vbb7+RPXt2uzpXV1cAfvrpJwYPHszYsWOpWrUq3t7ejBkzhh07dpjbTp8+nYEDB7Jq1SoWLFjA+++/z9q1a6lSpQoODg7xzvF+X7L9e1Z2m81GixYt7ts5dm8i++9hqhaLxa7s7nv63XN9nHbvtvEgI0aMoH379vz222+sXLmS4cOHM3/+fF588cWH7vdfEpVsRkdH07Zt28ee9njy5MkA8SYpmD59unlT8pAhQ4iIiKBv377cvHmTypUrs2bNGq2xKSJJZuXKlbz06tt4V+tNljxlzPLI84cJO7yO8ONbqDd7Og2Ll3/kNh0dHSlevDiHDx/m4MGDBAYG2n3zefToUTNxy5UrV4LvKc+ZMyc7duxgxIgRzJ49m7CwMADc3Nxo3749I0eOJEeOHHb73Lhxw5zt+658+fIBcR8YfvnlFzp16sSYMWOIjo5mwIAB/PDDDxQoUICzZ8/Su3dv8zgdOnS474eQB7n3g8CaNWvsJjsA7CZ8S+yEFo/D3cWRqvl9qZrfF4i77/OvK3cIPHuTwDNxPaAXb0Vw6OJtDl1MgmQ4V2P8czUGYFEILPpm6z2VWcj1+s8Yho3LThaqfPIHnq6OeLk54+XqiKeLE15uTni5OuHpGvfv3cdOeSvglrs0tugIJkxfQI2GLfDxcOXs9TDWH7/K5JWXyPnaPCwOjpwBuBWBi5MDlfNmpPb/ey8LZPbSsiUiz7Dy5cszbdo0AKZOnUrVqlXNutjYWL777jvzebly5ZI1lsaNG5uzdDdq1MiurlixYri6unLu3Dlq16593/03bdpEtWrV6Nu3r1n2999/x9uubNmylC1blqFDh1K1alXmzp1LlSpV8PPzMyfDu+tR7mUsV64cv/zyC3ny5LEbufK4kqpdZ2fn+37JXahQIQoVKsTgwYNp164d06dPT5lks0uXLixYsMCcKCKxHuXbEIvFwogRI8wZlEREkophGGw+cZU+Px0j88ufxhXaYqmc2aBedhuL9//Jqv1xSVDfvn1p0aKF+W3po+jVq5c5413z5s0ZOXIk1atXZ+fOnQwfPtx8D/z3cMdH5e/vz+TJkxkzZgxHjhzBMAyKFi0aL3H99ttv+f777zl8+DDBwcF238C2adOGJUuWEBAQQJMmTXB1deX777/n5s2bbNy4kYIFC+Lv78+VK1fMfby8vOwmYnsUrVu3ZtCgQURFRfH1119TokQJ2rVrR2xsLPPmzWPMmDFAXJLerl27BL8WSS2uF9OHoll9aFEkHZ9+Op9p8xYR7pkVR+9MeHh6UbZ8BarVqImLmzvWWBsxsQZWmw1rrEFMrEFMrA2r7f/lsTastv+XxRrE2AzOnb/AlavXsTg4gqMTFkcnHJzdsLi4Y3FwxGJxIDI2bmmdhPB/+WMAgoCaYzbYV3plwwLYbl3mlcaVqFs0C1Xy+uKuaWRF5P86dOjAkCFDCAsLY+bMmURFRZkTBE2YMIGdO3cCcaNUHpTkJRVHR0dzdu5/f8Hp7e3Nm2++yeDBg7HZbNSoUYPbt2+zdetWvLy86NKlCwUKFGDWrFmsXr2avHnzMnv2bHbt2mXeunf69Gm+/fZbnn/+ebJly8bx48f566+/zPWhn3vuOcaMGcOsWbOoWrUqc+bM4dChQ3bDdO+nX79+fPfdd7Rr14633nqLTJkycfLkSebPn893332XoC9rk6PdPHnymLMJu7q64ubmxltvvUXr1q3JmzcvFy5cYNeuXbz00kuJivNeiUo2Y2NjGT16NKtXr6ZUqVLxsvtx48Y9dmAiIsnFMAw2nrjGxD9OsPvsTSz+hTCsMfhcO8SKsYPJ6RuXjPV8+QVatGjBb7/9xtWrV1m0aFGCEqGePXsyY8YM9u7dy5UrV8x7XO5VpEiRR77P/UG8vLyoVKnSA+sDAwPNe3BWrFhBQECAWVeiRAkOHDhgt/2KFSto3ry5OcvhvYmmj48PS5YsoWDBggmKMVOmTAwYMIAvvvgCq9VKjx49GDx4MLGxsYSHh5vbde/ePV6PbEq6cuUKderU4dixY/8vOQnAHWDV+tkcX5SXDRs2JKo31jAMZs+ezWeffWZ+mALIX6AAr73+Fm07dCYsOpbQSCuhUVbCouL+vd/jsKhY7vz/cdD1W5y9eAWLixsOLh5YHJ2wRYUTeWYfEaf3EHV2Hz9Nn8wLL5R6SHQi8qxKly4dY8eONf9mzZ8/n/nz59tt4+TkxKRJk57IKIiHjfz56KOPyJw5M59++imnTp0iffr0lCtXzuwQ69OnD/v27aNt27ZYLBbatWtH3759WblyJRB3O8uxY8eYOXMm169fJ2vWrPTv39+cIb5Ro0Z88MEHDBkyhMjISLp160bnzp05ePDgQ2POli0bW7Zs4e2336ZRo0ZERUWRO3duGjdu/FgjQ5Oq3bFjx/L666/z3XffkT17dv766y+uX79O586duXLlCpkyZaJVq1b3XU4yoRK1zmbdunUf3KDFYjf1bkq7ffs26dKlu+/6Q48rJiaGFStW0LRpU00Zngbp+qVdly9fZtGiRVy+fJkrV67wzjvvPNJN7IZhsO5YMBP/OMH+CyEAOGLjZuBybu/8hR+/m0Tbtm3t9lmxYgXNmjUDYPDgwQn+Mu3atWu0b9+etWvXxqurUaMGP/30U4InIrifU6dO8fPPP7N+/XqWL19u90dn7dq1NGzYkNKlSzN8+PBHGhJz/fp1fvjhB+bPn09wcDC+vr4EBATQs2fPRK2DCXH3C3br1s1ueZV7tWrVirlz5yao9/jf9u3bx08//WT+sWzdujUVK1ZMdHtNmzY1P5Q4OzvTpEkTHB0dWbFiBVFRUUDcdby7PnRiGIbBwYMHzde5dOnSj32byu+//06vXr3i1kZ1dAZbLBhxSwBMmjSJ559//rHav0vvo2mbrl/ad/36dTJlypTk62wCfP/997z55puEhITYlefIkYMffviBhg0bJrpteTok2zqbf/75Z6ICEhF5HBEREQwcOJAZM2bYTX4ybdo02rVrx+TJk+97P7fNZrDmyBW+WneCw5fi7rdzc3agY+Xc3N61mDF/fAvEX9MXeOwP/ZkyZWLNmjXs3r2bBQsWcPXqVXx9fWndujWVK1dOsm+FBw8ezLJlywDYsmULNWvWNOvq1q3L8ePHzVnqHoWvry9DhgxhyJAhSRIfxH0TPnPmTLp06cKUKVPYuXMn4eHhVK1alVdffZXGjRsn+vW4ceMGHTp0YNWqVXblo0ePpnbt2syfP58sWbIkqM2jR4+aiaa/vz+bN2+mQIECQNwMvrVq1eLs2bNs3ryZXbt2JTqptVgs8WYOfFz169fnxIkTrF27lp07d2IYBuXKlaNJkyZJev+QiDy9evToQbt27Vi4cCEHDhzAycmJatWq0bx5c72PyCPT/xQRSROsVistW7a8bw+hzWbjxx9/5PTp06xbt87sGbPZDFYeCuKrdSc4FhQ3G6qHiyOdquamZ818ZPJy5Vfjb8b8v52pU6fSunVrM8E0DIMpU6aYxylf/tEnCPq38uXLP9b+d509e5Y//viDbt262ZW3adPGTDY3b95sl2w6OTklKNFMThaLhXr16lGvXr0k61WJiIigYcOG7N69+771GzZsoF69emzfvj1Bk8v9e7mWu4kmxE3q9O6775pDrZYtW/ZYPajJwdHRkcaNG9O4ceOUDkVE0ihPT09z0k6RxHi8r+xFRJ6QOXPmmImmh4cHQ4cOZenSpbRt29YcOrR161amTp1KrM1g6b6LNPpyI/3m7uFY0B28XJ3oX7cAm99+jqFNipLJKy4hbdKkiXmP4Lp162jSpAlLly5l+fLltGzZkqVLlwJxPX1JcaP84+jZsyd58uShe/fu/PXXX3Z1LVq04NNPP+XEiRMMHTo0hSJMGT/88IOZaPr5+TFp0iT27dvHt99+S7Zs2YC49di++uqrBLV779CxYsWKxasvXrz4fbcVERGROOrZFJE04e5SSQCLFy+mYcOGxMTEYBgG/fr1o1atWmBx4Ovlu1gSvYFT1+KW6PBxc6Jbjbx0rZb3vusFOjk5MXnyZFq2bInNZmPNmjWsWbMm3nZff/11gtY7fFz3W6bk3vUpFy5cyHvvvWc+9/Hx4Z133nli8aUm3377rfl4+fLl5mRJpUuXpnr16pQoUQLDMPjuu+8YOnToIw/VvXe5lt9//z3eci339rL/e403ERERUc+miKQBNpuNwMBAIG4NqAYNGtjVl6tQieItepKt51Siy73MqWthpPdw5s2Ghdj8znMMql/ooQvTN2/enCVLltx3op5MmTIxf/58Xn755aQ9qQeYM2cONWrUIEuWLOZssHcFBARQqlQpRo0a9cTiSe1iY2PNNdBKlCgRb1beYsWKmWvEnTlzhtu3H32NzNatW+Pi4gLAV199xaxZs7BarcTGxrJw4UJGjx4NxN3XmxqWaxEREUlt1LMpImnC3YmznZ2dzZ6pKKuNzUEWRk/YTGixljgDsWG3eKN5GXrUKYyX66O/xbVo0YJGjRqxbNkydu3aZU6o8uKLLz7W7KgJtX//frZs2QLAkiVL6N69u1mXK1cu9u/f/8RiSQssFgsWiwXDMIiMjMQwjHg9l5GR/6xTmZC1zfz8/Ojbty9ffvklMTExdOnShddeew1HR0e7LwK6du1Krly5Hv9kRESSWGxsbKLXdBR5mNjY2EfaTj2bIpLqOTg4mLN1Hj58mC1btrD8wCXqj9/EwtOOXLwViTX0BjfWfY/z6lG81rBYghLNu1xcXGjdujWff/45o0eP5uWXX06WRDMoKIhJkybRtGlToqOj7eratGkDxN0P6O7unuTHfto4ODhQuXJlAE6ePMmKFSvs6jdu3MiePXuAuNfUy8srQe3f/X9w161bt+wSzRYtWvD1118nNnwRkWTj5+fHxYsXHzkpEHlUsbGxXLx4ET8/v//cVj2bIpIm9O7dm759++LgkZ42E9finDdu5k/X2AhCdy3i8pZfMKzRvPfZZ09kkenH8dZbbzFnzhwg7r6/u+t4AlSoUIEjR45QtGjRlAovzXn11VfZtm0bEDf0tW/fvlSvXp2dO3faJYKvvvpqgtt2dnZm7ty5dOnShcmTJ9stI9KnTx+aN2/+2MvjiIgkBzc3NzJnzszly5fN0UEiSSVz5syPNJeFkk0RSRO6du3KlJWB3MhbH0d3H4xYKyHbfiJk+08QG7fmZqlSpejXr18KR/qPW7dusWrVKtq2bWuXALdp08ZMNtevX2+XbFosFiWaCdS+fXvmz5/PihUriIyMZNy4cYwbN85um9q1a9OzZ89EtW+xWLSEiIikSW5ubuaM6yIpQV/HikiqF3w7kgE/HSKkWCsc3X2IvvI3l2cNJmTLXDPRbNSoEb///nuCh0kmlxEjRuDv70+7du3Yu3evXV3Dhg0ZNmwY+/fvNyeZkcRzdHRk0aJF9OvXz5zQ5y4nJye6devGb7/9Fq9OREREkpd6NkUk1TIMg8V7LzLy1yOERMTg7GhhwHMFqZslL4vy3CQoKIgbN24wZMgQypcvn2JxxsTE4OxsP9tt9uzZzfsx58+fT7ly5cw6V1dXRo4c+URjfNq5urry9ddfM3z4cJYuXcrVq1fx9fXl+eefJ0uWLCkdnoiIyDNJyaaIpEpBIZG8u/gg644FA1Aiuw9fBJSmSBYfAEoWH05MTAwrVqwwJw960jZv3sx3333H0qVLOXTokN1QpVatWjFq1ChefPFFLVPyBPn5+dGjR4+UDkNERERQsikiqYxhGCzcfYGPlh/hTqQVF0cHXqtfkF618uHsmLpG/q9bt45Zs2YB8NNPP/H666+bdb6+vpw5cybVT1YkIiIiklxS1yc3EXmmXboVwSvTdzHk5wPcibRSOmd6lg+sQb+6BVIs0bTZbGzdupVBgwYRGhpqV9e2bVsAfHx8iIiIiLevEk0RERF5lqlnU0RSnGEYLNh1no9/O8qdKCsuTg683qAQPWrkxSmFezOHDh1qTuJTuXJl2rVrZ9YVLlyYtWvXUqNGjUea/ltERETkWaKeTRFJURdvRdB52k7eWXSQO1FWyuZKz4qBNelTO/8TTzSPHz8eb/Hrpk2bmo9/+umnePvUr19fiaaIiIjIfSjZFJEUYRgGP+44S8NxG9h04hquTg6836woP/epRoHMT3b5kiVLllCuXDmKFCnCpk2b7Opq1KhBu3btmDFjBjNmzHiicYmIiIikZRpGKyJP3Pkb4bz9ywG2/n0dgAq5MzC6dSny+aXMGpmRkZHmWpjz5s2jTp06Zp2joyNz585NkbhERERE0jIlmyKSbEJDQzl69CiGYVCkSBG8vLyZs+Msn608Rnh0LG7ODgxpVIQu1fLg6JC8k+ncuXOHpUuXMnfuXMaPH0/hwoXNuhYtWuDp6UnRokWpUKFCssYhIiIi8qxQsikiSe7KlSsMHz6cOXPmEBYWBoCnf24KtB/BLRc/ACrlzcjol0qRJ5PnE4np+++/N5cmqVSpEiNGjDDrPD09OXXqFJkzZ34isYiIiIg8C3TPpogkqfPnz1O5cmWmTp36/0TTgnf5FmRsP5ZbLn4YMZH0r5qZ+T2rJEuiGRsbyx9//MHNmzftytu0aWMuRbJx48Z4+ynRFBEREUlaSjZFJEl16dKFs2fPAhYylKhNicEzyFi/Nw4ubkSe3c+lH/ox/6NXSY4lKJctW0aOHDmoX78+CxcutKvLnj07Y8eOZePGjfz+++9Jf3ARERERsaNkU0SSzIEDB/hzwyY8S9YnV59v8Wn2FndcfPF0ceSd+nnw3j0Ta8gVdu/ezZYtWx77eIZh2D3PmTMnQUFBAPed1Gfw4MHUrFkTBwe99YmIiIgkN92zKSJJIjTKyqeLd5K9z/c4eWcCwNvNiY5VctO1eh4ye7vhOvQdunXrBsDKlSupUaNGgo9z5coVZs+ezZw5cxg+fLhd4limTBlKly5N3rx56dChQ9KcmIiIiIgkipJNEXksV+9EMWPraWZvO8vtyKw4eYP1znUCSvnyYZfn8HZzNrctWLCg+fjOnTuJOt7OnTt56623AJg/fz7t27c36ywWC7t378bR0TGRZyMiIiIiSUXJpogkyplrYXy76RQ/775AtNUGgK9zDMeXfkPYkT+J6dMbb7dmdvv89ttv5uPcuXM/tP2YmBjWrFlDoUKF7JLUxo0b4+vry/Xr17ly5Uq8obRKNEVERERSB924JCIJcvBCCP1+3MNzY9czd8c5oq02yuZKz9RO5VkzuBa2k5sh1sqUKVP46quviIyMJDo6mu+//55x48YB4OTkRLt27R54jC1btpAtWzaaN2/OlClT7OqcnZ2ZOXMmf/31F2vXrjVnmBURERGR1EU9myLynwzDYPPJa0zZ8DdbTl43y+sW9qNP7fxUypvRTPpef/11Pv74Y2JjYxk4cCBvvvkmFouFqKgoc79XX32VbNmy2bV/b9JYtGhRQkJCAJg3bx6jR4+267Fs1iyuxzQmJiZ5TlhEREREHpuSTRF5IGusjZWHgpi68W8OXbwNgKODhedLZ6N37XwUyeITb5+RI0dy7do1pk6dCkB0dLRdfYcOHRg7diy3bt1izpw5zJkzh4CAAN544w1zm4wZM9K6dWtsNhsdO3ZMxjMUERERkeSiZFNE4omMiWXh7gt8t/EU526EA+Du7EjbijnpUTMvOTJ4PHBfR0dHpkyZQpcuXZgyZQo7d+7EMAzKlStH7969qVWrFhaLheDgYAYMGABAVFSUXbIJ8OOPP2qIrIiIiEgapmRTREwh4THM3n6GGVvPcC00rkcyg4czXarloXPVPGT0dHnktqpWrUrVqlWJjY3lzz//xMvLiypVqpj1hQoVolKlSmYyGhISQrp06cx6JZoiIiIiaZuSTZFnnGEYHL9yh58DLzBv5znComMByJ7enZ4189KmYk48XBL3VnHq1Clq1qzJpUuXaNasGcuXL7erHzduHD4+PpQsWfKxz0NEREREUhclmyLPIJvNYP+FW6w6HMTqQ0GcuR5u1hXJ4k2f2vlpViorzo4Jm7D63xP95M6dGweHuDZWrVrF1atX8fPzM+urV6/+mGciIiIiIqmVkk2RZ4Q11sauMzdZfTiIVYeCCLodadYZ1mgiTu8l/MAq3EpkJ1OFN3B2zP5I7cbExLB8+XJmzZpFzpw5mThxolnn6OhI9+7d2bt3L506dcLHJ/6EQiIiIiLydFKyKfIUi7LGsvXkdVYdCmLt0SvcCPtnZlgXB4NbRzYTdmwzEad2Y8TEJZ9LT+5i2dKlfPPNN/Tp0+c/jxEZGUnHjh0JDw8nffr0jB49Gjc3N7N+xIgRSX5eIiIiIpL6KdkUecqER1vZcPwqqw4Hse5oMHeirGZdeg9nGhT1p7BnBH1erEtsdFyC6efnR8WKz7Fnzx6CgoIwDIO+fftSqlQpqlWrZu5/6dIlzp49S9WqVc0yb29vXnrpJWbPno27uzt//fUXpUqVenInLCIiIiKpkpJNkadASEQM645dYdWhIDb8dZXIGJtZl9nblUbFs9C4RBYq5c2Is6MDXbt2NRPNHj168PXXX+Pq6kpMTAxvvfUWEyZMwDAMxo0bR7Vq1YiJiaFly5asXr2a/Pnzc/z4cbt7M998803at29P/fr1cXLS24qIiIiIKNkUSbOuhUax9sgVVh4KYuvJa1hthlmXM6M7jYtnoXGJrJTNmR4HB/tlRBYtWgSAj48PX375Ja6urgA4OzszevRo5s2bR3BwMEuXLiUmJgZnZ2ciIyOx2WycOHGCbdu22fV4lipVSr2ZIiIiImJHyaZIGnL+Rjhrj1xh1eEgAs/c4J78kkL+XjQunoVGJbJQLKvPA9eptFqt3L59G4BixYrh6elp1p06dYpZs2bh6Ohobnvnzh0yZsxIly5dOHPmDJ07dyZ37tzJd5IiIiIi8lRQsimSit0Kj2bb39fZdPIaW05e4+w9S5QAlMqRzhwim9/P65HadHJyImPGjNy4cYMDBw4QEhJCunTpMAyDpk2bcvz4cXNbNzc3cwbZDh060KlTJ3MpExERERGRh1GyKZKKRMbEsvvsTTb/P7k8eDEE457eS0cHC+VzZaBRiSw0Ku5PjgweiTpOQEAAU6dOJTw8nG7duvH999+TIUMGAgICGDVqlLld69atzXswdS+miIiIiCSEPj2KpCCbzeDwpdtmcrnrzA2irDa7bQpm9qJ6gUzULJiJMtm88HR1tFtaJKE++eQTFi9ebD5ftGgRK1eupHjx4hw+fNgsd3Jy4o033kj0cURERETk2aZkU+QJO3c93Ewut/x9jVvhMXb1/j6uVC+QiRoFMlG9QCYyuDnwww8/MPj9yRw8eBCAIkWK0KdPH3r16oW7u3uCjn/+/HmCg4OBuITSarUSERFBYGCguY2zszNz5syhTJkyj3eyIiIiIvLMUrIpksxuhEWz9e+45HLzyWucvxFhV+/l6kSVfBmpUSATNQpmIr+flzm5T2hoKPXrN2XTpk12+xw7doxBgwYxZ84c1qxZQ4YMGezqo6OjWbFiBcuWLeO7774zJ/wB6NKlC99//z3NmjWjbdu2bNu2jfnz53P16lUyZsxIQEAAAwcOpFixYsn0ioiIiIjIs0DJpkgSi7LGsvP0DTafiEsuD1+6bVfv5GChXK4Mcb2XBX0plSM9zo73n3SnT58+dolmqVKlcHJyYs+ePQAEBgbyyiuvsHTpUrv9XnnlFebNmwdgrn95V+XKlbl8+TKZMmUCoF27dkycOBGbzabJf0REREQkySjZFEkCtyNjWH/8KmsOB7H++FVCo6x29YX9valRMG5obKW8GfF0/e9fvXPnzpkJo7e3N7/99hs1a9YEYNeuXTRp0oTr16+zbNkyjh49StGiRc19X3rpJXPfRYsW2SWbFovFTDTvpURTRERERJJSin663LhxIy1atCBbtmxYLBaWLFliV28YBiNGjCBbtmy4u7tTp04duwlMRFJS8O1I5mw/S+dpOyn/0VoGztvL8gOXCY2y4uftSuvyOfiybRl2vleP1YNr8UHzYtQtkvmREk2ISxJttrjJgt544w0z0QSoWLEiL730kvl88uTJdvs2b96crl27snLlSiZOnJgEZysiIiIikjAp2rMZFhZG6dKl6dq1q90H57tGjx7NuHHjmDFjBoUKFWLUqFE0aNCA48eP4+3tnQIRy7Pu76uhrDl8hTVHgth77pZdXX4/T8pksnDn2BZiT5/C8bYv2fO0JrN39kQd69q1a+bjKlWqxKu/d2KgrVu32tW5uroybdq0RB1XRERERCQppGiy2aRJE5o0aXLfOsMw+PLLL3nvvfdo1aoVADNnzsTf35+5c+fSu3fvJxmqPKNsNoMDF0NYfTiINYeD+PtqmF19mZzpaVjcn8rZ3Xl/YA/GrVplVz969Ghq167N/PnzyZIlS4KO7efnZz7++OOPKVeunF1Z+vTpzcf+/v4JaltEREREJLml2ns2T58+TVBQEA0bNjTLXF1dqV27Nlu3bn1gshkVFUVUVJT5/PbtuMlZYmJiiImJue8+iXW3vaRuV56MB12/aKuNHWdu8PvRYP44epUrd/75/+TsaKFK3ozUL5qZekX88PdxIyIigrp165qT9vzbhg0beO6559i8eXOCeuSbN2/O4MGDMQyDTZs28dFHHzF27Fgg7p7Nr776ytz2s88+eyb/H+p3MG3T9Uv7dA3TNl2/tE/XTlK7VJtsBgUFAfF7bPz9/Tl79uwD9/v0008ZOXJkvPI1a9bg4eGRtEH+39q1a5OlXXky1q5dS2QsHL1l4eANC0duWoiItZj1rg4GxTIYlMxoUCy9gbvTFbh2hd2b4+p/++03M9FMly4dbdu2pWjRopw4cYL58+dz48YNjh49ysCBAwkICHhgHFFRUTg6OuLk9M+vZfny5c31L7/66iuWLVuGg4MDp0+fNrepVKkSp06d4tSpU0n5sqQp+h1M23T90j5dw7RN1y/tCg8PT+kQRB4q1Sabd91db/AuwzDild1r6NChvP766+bz27dvkzNnTho2bIiPj0+SxhYTE8PatWtp0KABzs7OSdq2JL8rt8L4avFGLjv4se30TWJiDbMuk5cL9YpkpkFRP6rk88XV6cFzab3//vvm4xUrVlCxYkXzea9evShbtiyGYbBlyxamTZsW7//voUOH+Oqrr/jll1/4/vvvadq0qVlXq1YtChcuzNWrVwHifdFSoUIFfv3113jrbD4r9DuYtun6pX26hmmbrl/ad/369ZQOQeShUm2yeff+tqCgILJmzWqWBwcHP/T+NFdXV1xdXeOVOzs7J9sbaXK2LUlv05ELfPrzFo6GuWNYHIEbAOTx9aBR8Sw0LO5P2ZwZcHB48Jcad8XGxpozJJcoUYJq1arZ1ZcuXZqqVauydetWzpw5Q0REBOnSpbPbJjg4mOnTpwMwb948u97PDBkycOHCBaZNm8aUKVPYv38/AMWKFaN379706tULNze3RL8WTwv9DqZtun5pn65h2qbrl3bpuklql2qTzbx585IlSxbWrl1L2bJlAYiOjmbDhg18/vnnKRydpDVR1liW77/M2GWBXIpyBrzAAlFBJwk/voXYc3t5/e2BDGxaN0HtWiwWLBYLhmEQGRl53573yMhI8/G3335Lo0aNKFWqlFlWr149/P39CQsLI3PmzPHacHFxoU+fPvTp04fo6GgMw7jvFyoiIiIiIqlJiiaboaGhnDx50nx++vRp9u3bR8aMGcmVKxeDBg3ik08+oWDBghQsWJBPPvkEDw8P2rdvn4JRS1pyOSSCH7efY97Oc1wPiwacMawxhB3dwJ09y4kO+uf/32uvDcTJyZG+ffs+cvsODg5UrlyZbdu2cfLkSVasWEGzZs3M+o0bN9pNHDRkyBDOnTtnN7mPk5MTK1eupHDhwv95X7GLi8sjxyYiIiIikpJSNNkMDAykbt1/epLu3mvZpUsXZsyYwZAhQ4iIiKBv377cvHmTypUrs2bNGq2xKQ9lGAY7Tt9g1rYzrD58hVhb3L2YttAbhOz+ldD9q2n/0vP0+XkG27dv58iRI+aalO+88w6dO3fGy8vrkY/36quvsm3bNgBat27Nq6++SqVKldi3bx9ff/21uZ2zszMxMTHMnz+f8ePH200EdLf3XkRERETkaZGiyWadOnUwDOOB9RaLhREjRjBixIgnF5SkWeHRVpbuu8TMrWc4FnTHLK+SLyMFucyoPq+AYaNly5bMmjULq9XKtWvXGDhwINHR0cyZM4c7d+6wYMECunfv/sjHbd++PfPnz2fFihVERkYyfvz4eNvUrl2bUqVK4enpSadOnewSTRERERGRp5E+8Uqad+56OLO3n2HBrvPcjrQC4O7syIvlstO5am6KZPFh+PDhYNiAuJ7zf99X2aVLF+bMmQPEzQ6bEI6OjixatIiePXsye/ZsuzonJyc6d+7MxIkT8fT0TOwpioiIiIikOUo2JVW6efMm06ZNY8GCBQQHB+Pr60vr1q3p0aMHfn5+2GwGm05eY9bWM6w7HszdDvJcGT3oXDU3AeVzks7jnxna7u1JDA0NjXe8e8v+q9fx9u3bLFq0iBw5clC/fn0gbhbkWbNm8ddffxEYGEiBAgV49dVXadu2rTmzsoiIiIjIs0TJpqQ6u3btolmzZubakhC3vuSePXsYPf4r+n0xi63BTpy6FmbW1y7kR5dqualTKPN9lyy5d0mSiRMn0rZtW7N302q18uWXX5r11atXf2BsJ06coFSpUkRGRtKgQQMz2bzr+++/x9/fHz8/vwSft4iIiIjI00TJpjy2kydPsmvXLgzDoFy5chQpUiTRbV28eJHGjRtz48YNsyxTpkzcMtzwLtscrxLPMedIFBCFt6sTrSvkoFOV3OTze/iEPnXr1qVw4cIcP36cwMBAKlasSLdu3Th69CgffvihOWNsjhw5aN68ORA30VBYWJjdZEEFChQga9asnD59mj/++IPLly/brQNbokSJRJ+7iIiIiMjTRMmmJNqRI0d47bXX+P333+3Ka9WqxZdffpmoGVa/+uorM9GsUaMGr3/yFb8cj2LzyWvmNtHXzlHW6zYLRr6Bl+uj/Rd2cHBg+vTp1KtXj4iICA4cOMCgQYPstnF2dmb69OmEh4czfvx45syZQ40aNZg+fbq5jcVioX///pw6dYqOHTtqiKyIiIiIyAMo2ZRE2b9/P7Vr1yYkJCRe3caNG6lZsya///47VapUSVC7s2bNAsA1fWaKdx/N4N8uAuBggdoFMrJkzGBuHd9BqLc37mPfTFDbVatW5c8//6RPnz7s27fPrq548eJMmjSJ2rVrExkZybhx47h9+zZXrlxh0qRJdutf3l2iR0REREREHkzJpiSYYRh06dLFTDRz585N165dcXJyYsaMGZw8eZKwsDA6derE8ePHcXBweKR2rVYrl4Ov4VMlgIzV27Hq2A0sFggon4MBzxUkZ0YPLsz35vfjcOfOHUJCQsiYMWOCYq9cuTJ79uxh586dbNy4kVWrVlG1alU++ugj8x5ONzc3AgICmDZtGhUrVuTKlSvkzZs3YS+SiIiIiMgzTsmmJNiWLVvYv38/ENcjuH37dvO+xjfeeIPatWuzc+dOTp48yerVq2nSpMl/tmkYBuuOXyNHz8k4psuCAZTNmY6RLUtQKkd6AGw2G3/99RcQNyw2sUuJWCwWSpYsSdOmTblx4wZ///03H374od1yKO+//z7Dhw8nZ86ciTqGiIiIiMiz7tG6nETusWHDBvPx4MGD7SbQcXNz4803/xneun79+v9s72TwHTpP20mv2btxTJcF653rXPv1C0oF/07J7OnM7caPH8+5c+cAqFevHq6uro8Ur2EYdjPbAnh4eFCxYkUgbqbbrVu32tXnyZNHiaaIiIiIyGNQz6YkWFRUlPn4fkt83Ft277b/FhIRw4TfTzBr2xmsNgMXRwca5XFiUr/eGDGRfPjhepYsWUz16tXZuXMnu3fvNvf99+Q+92O1Whk+fDjz5s0jc+bMbN++3a7+lVdewWq1MmTIEKr+r707D6/5zP8//jw5siKxRTZJRImlVO2N2lqEmLYRtWuTtlPqi6IGpX4tncvQaqfF1SFdjKqvCjqUjpSJIqrGvqW0GiUNEkIsIcj6+f3h68wciSWcOOfo63Fdua5z7vuzvD955w7v3J9zfyIibns8ERERERG5cyo2pczq169veZ2QkMAzzzxj1b948eJSt72uqNhg6c5jvL/2ENm5+QB0aejHm081JLR6RYKyJzNx4kQA9u/fz/79+632nzhxIj169LhtnBUqVGD16tUcPXqUo0ePcuTIEerUqWPpf/bZZ/H09OSJJ57AbDbfwZWLiIiIiMidUrEpZRYTE0OVKlU4f/68ZdZwxIgRmM1mPv74Yz755BMAPD09GTBggNW+O9POMnnVAQ5k5ABQt2Yl3nqqER3C/zMbOmHCBOrXr8+7777Ltm3bLO2PPvoo48ePL3HM06dPs2zZMjIyMpg6dapV34ABA0hJSaFLly5cvHjRpt8HERERERG5ORWbUmZeXl5MnTqVESNGADBr1ixmzZpVYru33nqLKlWqAJB54QrTE39m1b4MACp7VGB0l3BiI0JxNZf86HBMTAwxMTGkpaVx+vRpqlevTlhYmNUiPnDt85gtWrTg2LFjuLm5MXbsWMs5AQYPHswLL7yAn5+fja5eRERERETuhBYIkrsyfPhw3nvvPSpUKPn3ChcXFyZPnszrr7/O1YIiPlqfypPvJ7NqXwYmEwxoHcyGsZ34Y7uwUgvN/1a7dm1atWpFnTp1yM/PL3FLrclkolevXgDk5+ezdu1aq/5q1aqp0BQRERERsQPNbMpdGzt2LAMGDGDevHls374dwzBo3rw5L7/8MiEhIaw9cIq/JB7k2NkrALQMrcqUZx6m8X+tMHunRo4cycKFC6lQoQIZGRm4urpa+uLi4vDw8GDQoEE0adLEZtcnIiIiIiJ3T8Wm3JOgoCDeeustq7ZfTl3kuXnb+OFwNgD+3h5M7NGAZ5oGlrgN9k6dOnWK8+fPA7Bu3TqrZ3c2a9aMZs2a3d0FiIiIiIhIuVCxKTZz4XIBH677hYVbf6Oo2MCtggtD2tdh2BMP4eV2+x+13bt3k5CQwN69e1m7dq1VYTpw4EASExOJiYnB39+/PC9DRERERERsQMWm2MTSnceYnvgT5y4XANDtYT8m9WhESHWvOz7Ga6+9xqZNm4Brjzxp2rSppa9Hjx6cOnUKL687P56IiIiIiNiPFgiSe1JYVMxbK39k/Ff7OXe5gHC/Six6uQ0fP9/ypoXm4cOH+eKLL0q09+/fHwCz2cyuXbus+lxdXVVoioiIiIg4Ec1syl3LuVrAq1/uIfmX0wD8qWs4Qzs9dMsVZvv378+SJUswmUx07dqVgIAAS1/v3r0xm8306tWLGjVqlHv8IiIiIiJSfjSzKXfl2NnL9J67heRfTuPh6kL8c815tXM9q0Lz0qVLJfarX78+cO35mMuWLbPq8/X1ZciQISo0RUREREQeACo2pcx2/XaOmDk/8MupS9Ss7M6yV9rSvfF/ZigTEhLo2rUrQUFB5ObmWu3br18/Hn30Ud59911iYmLud+giIiIiInKf6DZaKZNV+zIYu2wf+YXFNArwZt4LLQnw8bTa5rvvvmPdunUArF69mr59+1r6GjVqxJ49e+5rzCIiIiIicv9pZlPuiGEYzFz3CyMX7yG/sJj2IV7EVDrM+BFDKCoqstr2+kI/derUobCw0B7hioiIiIiInWlmU27rakERr/9jPyv3ZgAwpEMddn72/xiyYvm190OG0L59e8v2nTp1Yvv27bRs2dLqWZkiIiIiIvL7oZnN34GzZ8/y/vvv06pVK0JDQ2nevDnTpk0jKyvrtvumpmfSadg7rNybQQUXE+/0asIbPRry7LO9LNskJiZa7WM2m2nVqpUKTRERERGR3zHNbD7gtm/fzlNPPcXp06ctbenp6ezZs4cZM2awcuVKOnbsWOq+Lw19lc8/nYtRXET4iM/4+6hoHq97baXYp556ilGjRtGnTx8iIiLuy7WIiIiIiIjzULH5ADtx4gRRUVGcPXvW0ubr62spPC9cuMDTTz/N7t278fPzo3Llypbtkn85zbdH8jCKr30e8w+V0i2FJoCPjw8zZ868PxciIiIiIiJOR7fRPsBmz55tKTTbtWvHoUOHyMrK4siRI3Tt2hWAixcv0qlTJ3x9fTlz5gwAC/+dxkuf78D8UARe1QMYPnI0cf173fQ8IiIiIiIiN9LM5gNs4cKFALi6urJs2TL8/f0BCAsLY8mSJQQHB5Obm8uJEycAWLHia074RfD5ljQA+j3RnL/MTsfDVT8mIiIiIiJSNprZdDBXrlxh37597N27l9zc3Ls+TmFhIZmZmcC1Z1suXbqUqKgorl69CkDVqlWtPmsZEhrKgq3plkJzXLf6vN/nERWaIiIiIiJyV1RsOogzZ84watQo/P39efTRR2nWrBl+fn78z//8j6VoLAuz2YynpycAP//8M6NGjWLNmjV89913ABQXF/PLL78AUKFSNcJHfs5x3zZ4uLowZ1Bzhj9RV6vJioiIiIjIXVOx6QAyMjJ47LHHmD17Njk5OZb23Nxc4uPjad26NUePHr3lMQzD4MCBA7z//vsYhoHJZKJHjx4A5OXlWbbbtGkTAB988AHp6em4BYQTMmQuqVm5+FZ2Z8mQCHo0CSiHqxQRERERkd8TFZsOIC4ujl9//RUADw8P+vbty8CBA6lYsSIAx48fZ8CAARiGcdNjDBkyhMaNGzNu3Dh27twJwKhRo6y2qVevHjk5ObRo0YJx48bh1aAdfgOmU+RakYYB3qwc/jhNg6uUz0WKiIiIiMjviopNO/vxxx9Zt24dAIGBgfz8888sWbKERYsWkZqaSp06dQDYtm0bW7dupbi4mL1795Y4TuvWrS2vly9fDkD79u2ZPn26pT01NZX4+Hh2796NT0Q/fKMn4OLqTucGNVk2NILAKp7leKUiIiIiIvJ7omLTzhITEy2vx44dS2hoqOV9QEAAEydOtLx/8803qVWrFs2aNSM9Pd3qOD179qRTp07MmjWLYcOGWdonTJjAihUraNOmzbUGcwWq/2EMVTo8D8Af24XxSWxLKrlrISAREREREbEdVRh2dvHiRcvrBg0aWF4XFRVhNptp2LChpS03N9eyWNDy5csZPXq0pc/X15cNGzaUeo6ePXvSs2dPNu7+mXe+S+fn7ALMLib+HP0wg9qElrqPiIiIiIjIvVCxaWe1atWyvF6zZg0mk4mFCxeSlJTE4cOH+fbbby397dq1Y8+ePXTr1s2qCL2V3LxC/rk/g4Qdx9iTfh6Ayh4VmDOoOe3r+dr0WkRERERERK5TsWlnvXv3ZtSoUeTl5TFnzhx+/PFH1q9fD8Drr7/O/PnzgWuPMhk9ejSTJ0+mUqVKtzymYRjsTj/P0h3H+GZ/BpfziwCo4GLiyQY1Gd+9AXVr3voYIiIiIiIi90LFph38/PPPrFixgvXr15OYmMioUaOYMWMGhYWFlkITID4+3vJ68ODBBAUF3fK42ZfyWLHnBEt2HCM165KlPaxGRfq1CqZX8yBqVvaw/QWJiIiIiIjcQMWmHbz99tskJCQA8P333zNt2jROnz5tmcW8UZ8+fZg1a1apfUXFBpsPn2HpjmP86+BJCoquPR7Fw9WFHk0C6N8qhFa1q2IymcrnYkREREREREqhYrOcXLlyhXXr1rFp0yZmzJhhVexFR0dbis2tW7fy5JNPMm/ePGJjY4mPj2f79u0YhkHz5s155ZVX6Nq1a4li8fi5yyzbeZyvdh3nxPkrlvZHavnQt2UwzzwaiLeH6/25WBERERERkRuo2Cwnzz77rGVxn7i4OBo3bmzpi4qK4sMPPyQ6OpqwsDAATCYTnTp1olOnTjc9Zl5hEesOZpGwI53Nh89gXJvExMfTlZhmQfRtGUyjQO9yuyYREREREZE7pWLzHp08eZIvv/ySuLg4q/bu3btbis1Vq1ZZFZs+Pj5Wjy25nV9OXWTJjmMs332cc5cLLO1tH6pOv1bBdHvYHw9X871diIiIiIiIiA2p2LwH/fv3Z/ny5ZhMJiIjIwkICLD0RUdHk5KSQnR0NJ07dy7zsS/lFbL6hkeWAPh5u9OnRTB9WwYTUt3LFpchIiIiIiJicyo270F4eDhw7VEj33zzDUOGDLH0hYaG8umnn5b5mAczcvji32ms2mf9yJLODWvSr1UwHer5UsHsYpsLEBERERERKScqNu9BdHQ0y5cvJzY2li5dutz1cQqKill74CRfbPmN7WlnLe11LI8sqYVvZXdbhCwiIiIiInJfqNi8By1atGDGjBn06NEDV9eyr/yadfEqi7cdY9G238i6mAdcm8Xs3tif5x8LpXVYNT2yREREREREnJJTFJtz5szhvffeIzMzk4cffpiZM2fSvn17e4d1VwzDYHf6eRZsSePbHzMtz8X0rezOwNYhDGwTgp+3h52jFBERERERuTcOX2wuWbKE0aNHM2fOHB5//HE+/vhjoqKiOHjwICEhIfYO745dLShi1b4Mvvh3Gj+eyLG0twitSmxEKFGNA3CroM9iioiIiIjIg8Hhi80PPviAP/7xj7z88ssAzJw5k7Vr1zJ37lymT59u5+hu7/i5y/zv1nSW7Ei3PLbEvYIL0Y8GEhtRm8ZBPnaOUERERERExPYcutjMz89n165dTJgwwao9MjKSLVu2lLpPXl4eeXl5lvc5OddmEQsKCigoKCh1n7LIzc0lISGBZcuWcfLkSVxcXDhy5AixsbF4e3sD126V3XLkLP+7NZ31h05TfO1OWYKqeDCwdTB9WgRR1cvNEpfYx/XvvXLgvJRD56b8OT/l0Lkpf85PuRNHZzIMw7B3EDeTkZFBUFAQP/zwA23btrW0T5s2jQULFnDo0KES+0yZMoW33367RPuXX36Jl9e9PZcyLS2NqVOncubMmRJ9VapUYdzENznrU5fvT7pw6sp/Fvap71NMe3+Dh6sauGi9HxERERGxgcuXLzNw4EAuXLhgmfQQcSQOPbN53Y0rshqGcdNVWidOnMiYMWMs73NycggODiYyMvKeBmFWVhavvPKKVaHp5uZGfn4+FarVwtT8D3x8MgTTWTMAFd3M9GoWyKA2ITzkW/Guzyvlp6CggKSkJLp27XpXqwmL/SmHzk35c37KoXNT/pxfdna2vUMQuSWHLjZr1KiB2Wzm5MmTVu1ZWVn4+fmVuo+7uzvu7iWfSenq6npPv0jj4+M5deoUcO2RJ3Pi4znrFsC0r7aQnv+fGdNKxZcYH9OGmGZBVPbQL25ncK8/G2J/yqFzU/6cn3Lo3JQ/56W8iaNz6OVP3dzcaNGiBUlJSVbtSUlJVrfV3g+ff/45AGazmeXLl7PosJmhX+4lPd8LFxNc/XU7pxImceLToTzXJkSFpoiIiIiI/K45dLEJMGbMGD777DP+/ve/89NPP/Haa6+Rnp7O0KFD71sMhYWFHD9+HIDmzZsTEhJCVOMAqni60jmwmO9ea8/DZzdz9bd9nD9/ngsXLty32ERERERERByRQ99GC9CvXz+ys7P585//TGZmJo0bNyYxMZHQ0ND7FoPZbMbd3Z28vDzS09MpLCykS8OafD+uA+uT1hJUxYO0tDTg2udLPT0971tsIiIiIiIijsjhZzYBhg0bRlpaGnl5eezatYsOHTrc1/ObTCYiIyMBOHXqFDNnzqSC2QUP12uLAc2bN48jR44A0LFjRzw8PO5rfCIiIiIiIo7G4Wc2HcWoUaP45ptvABg3bhwrV67kscceY+3ataSkpFi2GzlypL1CFBERERERcRhOMbPpCDp37szEiRMt7zdv3sz7779vVWiOGDGCnj172iE6ERERERERx6Jiswz+8pe/sGDBAho2bGjVXrduXeLj45k9e/ZNn/8pIiIiIiLye6LbaMvAZDIRGxvL888/T0pKCpmZmRw8eJBhw4aV+mxPERERERGR3ysVm3fBZDLxyCOP0LBhQ65evYqLiyaIRURERERE/puqJBEREREREbE5FZsiIiIiIiJicyo2RURERERExOZUbIqIiIiIiIjNqdgUERERERERm1OxKSIiIiIiIjb3wD/6xDAMAHJycmx+7IKCAi5fvkxOTg6urq42P76UL+XP+SmHzk35c37KoXNT/pzfxYsXgf/8f1fE0Tzwxeb1QRgcHGznSEREREREbC87OxsfHx97hyFSgsl4wP8UUlxcTEZGBpUrV8ZkMtn02Dk5OQQHB3Ps2DG8vb1temwpf8qf81MOnZvy5/yUQ+em/Dm/CxcuEBISwrlz56hSpYq9wxEp4YGf2XRxcaFWrVrleg5vb2/9knZiyp/zUw6dm/Ln/JRD56b8OT8XFy3DIo5JP5kiIiIiIiJicyo2RURERERExOZUbN4Dd3d3Jk+ejLu7u71Dkbug/Dk/5dC5KX/OTzl0bsqf81MOxdE98AsEiYiIiIiIyP2nmU0RERERERGxORWbIiIiIiIiYnMqNkVERERERMTmVGyKiIiIiIiIzanYvEtz5swhLCwMDw8PWrRowffff2/vkOQOTZkyBZPJZPXl7+9v77DkJjZt2sTTTz9NYGAgJpOJr7/+2qrfMAymTJlCYGAgnp6edOrUiQMHDtgnWCnV7XL4wgsvlBiTjz32mH2ClRKmT59Oq1atqFy5MjVr1qRnz54cOnTIahuNQ8d1J/nTGHRsc+fO5ZFHHsHb2xtvb28iIiL49ttvLf0af+LIVGzehSVLljB69GgmTZrEnj17aN++PVFRUaSnp9s7NLlDDz/8MJmZmZavlJQUe4ckN5Gbm0vTpk356KOPSu2fMWMGH3zwAR999BE7duzA39+frl27cvHixfscqdzM7XII0L17d6sxmZiYeB8jlFtJTk5m+PDhbN26laSkJAoLC4mMjCQ3N9eyjcah47qT/IHGoCOrVasW77zzDjt37mTnzp08+eSTREdHWwpKjT9xaIaUWevWrY2hQ4datTVo0MCYMGGCnSKSspg8ebLRtGlTe4chdwEwVqxYYXlfXFxs+Pv7G++8846l7erVq4aPj48RHx9vhwjldm7MoWEYRlxcnBEdHW2XeKTssrKyDMBITk42DEPj0NncmD/D0Bh0RlWrVjU+++wzjT9xeJrZLKP8/Hx27dpFZGSkVXtkZCRbtmyxU1RSVqmpqQQGBhIWFkb//v05cuSIvUOSu3D06FFOnjxpNR7d3d3p2LGjxqOT2bhxIzVr1iQ8PJzBgweTlZVl75DkJi5cuABAtWrVAI1DZ3Nj/q7TGHQORUVFJCQkkJubS0REhMafODwVm2V05swZioqK8PPzs2r38/Pj5MmTdopKyqJNmzZ88cUXrF27lk8//ZSTJ0/Stm1bsrOz7R2alNH1Mafx6NyioqJYtGgR69ev569//Ss7duzgySefJC8vz96hyQ0Mw2DMmDG0a9eOxo0bAxqHzqS0/IHGoDNISUmhUqVKuLu7M3ToUFasWEGjRo00/sThVbB3AM7KZDJZvTcMo0SbOKaoqCjL6yZNmhAREcFDDz3EggULGDNmjB0jk7ul8ejc+vXrZ3nduHFjWrZsSWhoKKtXr6ZXr152jExuNGLECPbv38/mzZtL9GkcOr6b5U9j0PHVr1+fvXv3cv78ef7xj38QFxdHcnKypV/jTxyVZjbLqEaNGpjN5hJ/LcrKyirxVyVxDhUrVqRJkyakpqbaOxQpo+urCGs8PlgCAgIIDQ3VmHQwr776KqtWrWLDhg3UqlXL0q5x6Bxulr/SaAw6Hjc3N+rWrUvLli2ZPn06TZs2ZdasWRp/4vBUbJaRm5sbLVq0ICkpyao9KSmJtm3b2ikquRd5eXn89NNPBAQE2DsUKaOwsDD8/f2txmN+fj7Jyckaj04sOzubY8eOaUw6CMMwGDFiBMuXL2f9+vWEhYVZ9WscOrbb5a80GoOOzzAM8vLyNP7E4ek22rswZswYnn/+eVq2bElERASffPIJ6enpDB061N6hyR0YO3YsTz/9NCEhIWRlZTF16lRycnKIi4uzd2hSikuXLnH48GHL+6NHj7J3716qVatGSEgIo0ePZtq0adSrV4969eoxbdo0vLy8GDhwoB2jlv92qxxWq1aNKVOm8OyzzxIQEEBaWhpvvPEGNWrUICYmxo5Ry3XDhw/nyy+/ZOXKlVSuXNkyg+Lj44Onpycmk0nj0IHdLn+XLl3SGHRwb7zxBlFRUQQHB3Px4kUSEhLYuHEja9as0fgTx2e3dXCd3N/+9jcjNDTUcHNzM5o3b261hLg4tn79+hkBAQGGq6urERgYaPTq1cs4cOCAvcOSm9iwYYMBlPiKi4szDOPaYxcmT55s+Pv7G+7u7kaHDh2MlJQU+wYtVm6Vw8uXLxuRkZGGr6+v4erqaoSEhBhxcXFGenq6vcOW/1Na7gBj/vz5lm00Dh3X7fKnMej4XnrpJcv/OX19fY3OnTsb//rXvyz9Gn/iyEyGYRj3s7gVERERERGRB58+sykiIiIiIiI2p2JTREREREREbE7FpoiIiIiIiNicik0RERERERGxORWbIiIiIiIiYnMqNkVERERERMTmVGyKiIiIiIiIzanYFBEREREREZtTsSki8gDbuHEjJpOJ8+fP2+X869evp0GDBhQXF5f7uVJSUqhVqxa5ubnlfi4RERG5PRWbIiIPiE6dOjF69GirtrZt25KZmYmPj49dYho/fjyTJk3CxaX8/7lp0qQJrVu35sMPPyz3c4mIiMjtqdgUEXmAubm54e/vj8lkuu/n3rJlC6mpqfTp0+e+nfPFF19k7ty5FBUV3bdzioiISOlUbIqIPABeeOEFkpOTmTVrFiaTCZPJRFpaWonbaD///HOqVKnCP//5T+rXr4+Xlxe9e/cmNzeXBQsWULt2bapWrcqrr75qVbDl5+czfvx4goKCqFixIm3atGHjxo23jCkhIYHIyEg8PDwsbfv27eOJJ56gcuXKeHt706JFC3bu3Gnp37JlCx06dMDT05Pg4GBGjhxpdVtsXl4e48ePJzg4GHd3d+rVq8e8efMs/d26dSM7O5vk5OR7/I6KiIjIvVKxKSLyAJg1axYREREMHjyYzMxMMjMzCQ4OLnXby5cvM3v2bBISElizZg0bN26kV69eJCYmkpiYyMKFC/nkk0/46quvLPu8+OKL/PDDDyQkJLB//3769OlD9+7dSU1NvWlMmzZtomXLllZtgwYNolatWuzYsYNdu3YxYcIEXF1dgWufuezWrRu9evVi//79LFmyhM2bNzNixAjL/rGxsSQkJDB79mx++ukn4uPjqVSpkqXfzc2Npk2b8v3339/V91FERERsp4K9AxARkXvn4+ODm5sbXl5e+Pv733LbgoIC5s6dy0MPPQRA7969WbhwIadOnaJSpUo0atSIJ554gg0bNtCvXz9+/fVXFi9ezPHjxwkMDARg7NixrFmzhvnz5zNt2rRSz5OWlmbZ/rr09HTGjRtHgwYNAKhXr56l77333mPgwIGWz53Wq1eP2bNn07FjR+bOnUt6ejpLly4lKSmJLl26AFCnTp0S5w0KCiItLe323zQREREpVyo2RUR+Z7y8vCyFJoCfnx+1a9e2miH08/MjKysLgN27d2MYBuHh4VbHycvLo3r16jc9z5UrV6xuoQUYM2YML7/8MgsXLqRLly706dPHEsuuXbs4fPgwixYtsmxvGAbFxcUcPXqUlJQUzGYzHTt2vOX1eXp6cvny5dt8F0RERKS8qdgUEfmduX7b6nUmk6nUtuuPKykuLsZsNrNr1y7MZrPVdv9doN6oRo0anDt3zqptypQpDBw4kNWrV/Ptt98yefJkEhISiImJobi4mFdeeYWRI0eWOFZISAiHDx++o+s7e/asVTEtIiIi9qFiU0TkAeHm5lYuq7A2a9aMoqIisrKyaN++fZn2O3jwYIn28PBwwsPDee211xgwYADz588nJiaG5s2bc+DAAerWrVvq8Zo0aUJxcTHJycmW22hL8+OPP9K7d+87jlNERETKhxYIEhF5QNSuXZtt27aRlpbGmTNnLDOT9yo8PJxBgwYRGxvL8uXLOXr0KDt27ODdd98lMTHxpvt169aNzZs3W95fuXKFESNGsHHjRn777Td++OEHduzYQcOGDQF4/fXX+fe//83w4cPZu3cvqamprFq1ildffdVyfXFxcbz00kt8/fXXHD16lI0bN7J06VLLOdLS0jhx4sQti1ERERG5P1Rsiog8IMaOHYvZbKZRo0b4+vqSnp5us2PPnz+f2NhY/vSnP1G/fn2eeeYZtm3bdtMVbwGee+45Dh48yKFDhwAwm81kZ2cTGxtLeHg4ffv2JSoqirfffhuARx55hOTkZFJTU2nfvj3NmjXjzTffJCAgwHLMuXPn0rt3b4YNG0aDBg0YPHiw1aNRFi9eTGRkJKGhoTa7dhEREbk7JsMwDHsHISIiD6bx48dz4cIFPv7443I/V15eHvXq1WPx4sU8/vjj5X4+ERERuTXNbIqISLmZNGkSoaGh5fJZ0hv99ttvTJo0SYWmiIiIg9DMpoiIiIiIiNicZjZFRERERETE5lRsioiIiIiIiM2p2BQRERERERGbU7EpIiIiIiIiNqdiU0RERERERGxOxaaIiIiIiIjYnIpNERERERERsTkVmyIiIiIiImJzKjZFRERERETE5v4/goPhfEVs3rEAAAAASUVORK5CYII=\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_kf_output(xs, fxs0, zs, title='KF', aspect_equal=False)\n", "plot_kf_output(xs, fxs1, fxs0[:, 0], '1 iteration', False)\n", "plot_kf_output(xs, fxs2, fxs1[:, 0], '2 iterations', False)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I hope the problem with this approach is now apparent. In the bottom graph we can see that the KF is tracking the imperfect estimates of the previous filter, and incorporating delay into the signal as well due to the memory of the previous measurements being incorporated into the signal." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Exercise: Prove that the position sensor improves the filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Devise a way to prove that fusing the position sensor and wheel measurements yields a better result than using the wheel alone." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "#### Solution 1" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Force the Kalman filter to disregard the position sensor measurement by setting the measurement noise for the position sensor to a near infinite value. Re-run the filter and observe the standard deviation of the residual." ] }, { "cell_type": "code", "execution_count": 58, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "fusion std: 1.647\n", "fusion std: 1.647\n" ] } ], "source": [ "fusion_test(1.5, 3.0, do_plot=False)\n", "fusion_test(1.5, 1.e40, do_plot=False)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here we can see the error in the filter where the position sensor measurement is almost entirely ignored is greater than that where it is used." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "#### Solution 2" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This is more work, but we can write a Kalman filter that only takes one measurement." ] }, { "cell_type": "code", "execution_count": 59, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "std: 0.523\n" ] }, { "data": { "image/png": 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55ZfKWP8CBQrQvn17EhMTmbN6O/jWwa5ABYKMatAbcU4KI/JYABfP7AVMQ5T69u1rdh8nJyf++OMPxo0bx759+4iOjsbLy4tatWqlCBTEnyQoEEIIIYQQ7yxbtmzK8YEDB6hatarZ+QMHDijHHh6mJUO3bNnCo0ePAKhUqRJ79+7lXEgMsw8GYd+svJI//u5pok+uIfjxTSVNrVazYMECs2FIr8uaNSutW7d+94Z9ImT4kBBCCCGEeGdffPGFshfBb7/9xrZt2zAajRiNRrZs2cLkyZMB06/7LVu2BODgwYMAqKxs+azDMBrNOknb+ac4cucFahUUtIkhdEEfnq//kaT/DwhUKhX169fn4MGDdOzY8f039CMlTwqEEEIIIcR/9uLFC+bPn8+aNWsICwvD1dWVYsWKceHCBeLi4mjUqBFeXl4YjUYeP36sXNepUye8vLwACNdakanWVzgUrsGaIBUQi63GgualstOjcl5O7N3KrhemzcqGDx9O+/btcXd3x9XV9UM0+aMmQYEQQgghhPhPTpw4QcOGDXn58qWSFhoaCpieBLxaTjQkJMTsunr16jH8p4ksOxnM9suhnHSpgVMp0zkHYxyDG5WheSkvnG1Nm4sNWLVKubZMmTL4+vqmZbM+aRIUCCGEEEKIf+3Ro0fUr19fmSwMpvkET548AUy7DFtbW1O8eHHTngUWGgpV/Zx8lT8n1OhCranHlevUKoi7c5Los1t59OgqD21HE52zK2GJiUydOlVZpcjNzY2GDRu+z2Z+cmROgRBCCCGE+NemTZumBATVqlUjKCiI0NBQgoODqVu3LgBJSUkUKFWJ9rMPkq3Pcp4VbMGx51bcfxGPhVpFCS8nupbJSmCv0vQoBInBlzAY9Pzwww/kyJEDHx8fZs6cqdxz3LhxsnJQGpMnBUIIIYQQ4l9btmwZAFZWVqxatQp3d3cAcuTIwcqVK/HOnR/LYg05aFcZ1RXT04NszjZUK5AVp7jH7Fo2jU17drIJ+F6lok6dOrRu3ZpVrw0VekWj0fDbb7/RpUuX99W8T5YEBUIIIYQQ4l/RarU8e/YMMO078CogADAYjOy+G4Nbl5noNfYAVMjtwsiGhfHzdGLixIkMGzbMrDyj0cjOnTtRqVT89NNPxMbGcunSJdRqNZ999hldu3Y1W+pUpB0JCoQQQgghxL9iaWmJjY0NiYmJBAUFkZycjJWVFeeCXzJmy3WuPI4CjT3al4+JPLCAhVcOYWNjw/79+80Cgrx581K6dGlOnDjBw4cPMRqNfP/995w5c4Zff/31A7bw0yVzCoQQQgghxL+iUqmUCb8vXryg3w+T6bL4DM1nn+DK4yg06Hm5fwGhC/pQJV9mbGxsAJQ9CgC+/fZbbt++zapVqwgKClJ2JDYYDEydOvX9N0oA8qRACCGEEEL8g1u3bnHq1CkMBgP16zdg25k7OH/2Bbv0ReBmGBiNaELOcW/TFAzxkQAMGjQIME063rFjBwDZs2fn+++/VzY5s7S0ZPz48SxdupTo6Gg2btzIkiVLPkgbP3USFAghhBBCCBISEti5cydPnjwhU6ZM1KlThydPntCvXz8OHDgAqLDNVxbnz77AvfUvABj1OuKu7Sfq5Dp0EaFKWd999x21a9cGICYmBoPBAEDhwoWxsLAwu6+dnR0FChTgzJkzxMTEoNfrU+QRaU+CAiGEEEKIT5jBYGDcuHFMmjSJiIgIJf3VEqAG20w4V2iNvV91NJmzm9K0icRf2YN7xFUenj2mXFO2bFm++eYbWrRooaQ5Oztja2tLQkICp06dIi4uDnt7e+X8ixcvuHz5MmDaj0ACgg9DggIhhBBCiI/Qy5cvefr0KY6Ojnh5eaFSqVLkMRqNfPXVV8yfP98sXW3jiFXBStj7VcfG689dhK1Ueoy3D3Fv5wIM8VHYenlx7949IiMjcXV1JUeOHCnuodFoaNmyJUuXLiUyMpJOnToxe/ZssmTJQmhoKF26dCEpKQmAL7/8MpXfBfFvSVAghBBCCPEROXnyJGPHjmXbtm0YjUYAihUrxqBBg+jQoYNZcLB7924lIFCpLajbZQj6HGW5HavBqDL9Ym806PG2imdQ00rUKeyBtboetWqd5fDhw4SEhHD+/HmaN2/+t3X6+uuvWb16NUlJSaxbt47NmzeTJ08e7t69i16vB8DBwYH+/funxVsi/gVZfUgIIYQQ4iOxdu1aKleuzNatW5WAAODSpUt06tSJXr16maXPnDkTS2d3XCq3x3f4Bq67VuFWnA1GlQXJz+7xcv8CHs/uzNNVo2lWMjsO1pZoNBq+/vprpYwjR478Y72KFCnCmjVrlNWItFott27dUgICR0dHtmzZQq5cuVLpnRD/lQQFQgghhBAfgQcPHtC+fXt0Oh1gWumnffv2lC5dWskzd+5cFi9eTJJOz9ZLoZxzqkD2rxbgXKEVsXoLMttb0a1Sbprb3eTJ4v7EnNmIPvYlQUFBPH36VCnH1dVVOX419OeffP7551y/fp0hQ4aQI0cOHBwcyJMnDyNHjuTGjRtUr149ld4J8TZk+JAQQgghxAeWnJzMhg0b2LdvHwkJCeTLl4+OHTuSO3fuf13G7NmzzcbmL1q0CI1GA8CSJUvo2u9rbPOU4pdDz5l4fw/xyXo0XkUwGg2ont1i5uAv8fd1x8pSzfqkG0z+n/K1Wq1yvGLFCuW4UKFC/7qOuXPn5rfffuO3337719eI90OCAiGEEEKID+jIkSO0bt2a0NBQs/Qff/yRr776iqlTpypf7v/O5s2bAbCwsGDy5MlYWFhy8l44B26GcfBlbrx6LwZAB+iS9Xg42RB9aTd3di1BF/UMl+6fYWWZDYCGDRuSJUsWXrx4AZgmC4eHh5OUlMQff/zB7NmzAbC2tpbJwR8JCQqEEEIIIT6QCxcuULduXeLj41OcMxqNyq//CxYs+MeyoqKiAHDz8GT/g0T+WH6Yu2GxrxdI4uMbJN47R0EXAy7GGJz0em5EPQOgefPmjBs3jurVq3Px4kVlSVIwPSUoWbJkint+++23ZkOJRMYlQYEQQgghxAcycuRIJSCoXLkyo0ePJnv27Kxfv55ffvmF5ORkFi5cSJ8+fVJ8KQ8LC2PRokUcOnSIpKQk9Bo7nCu2waJEA4ZvuAKAg7UltX3dqeKThW4NKxIe+hCAU2+oy7Nnz+jSpcu/qrdarebbb79l5MiRb994ka5IUCCEEEII8QE8ffqUffv2Aaax9nv27MHa2hoAPz8/nJ2dGThwIADz589XhuwALF++nO7du5OYmIgmS04cSzXC4Yu+2Fmaft1XJ0TStXIe+jUsjS4+hhYtWigBwX9RqFAhFi5cyOHDhzl16hQGg4FixYrRtWtXvL293/EdEOmJBAVCCCGEEB/Aw4d/fklv06aNEhC80rlzZyUouHLlipK+bds2OvXsi51vLVyK1MLaI59yLunJbaLPbCL+5lFGTzMw19ubJ0+eKCsSAdSvX59Jkybh6OjI0qVL+e6775Tz7du3Jz4+HhcXF5o2bUrdunWxsLCgfPnyafEWiHREggIhhBBCiPfo4cOH3L5922yJz5iYmBT5YmP/nA9gaWmJVm/gwM0wBqy9Svbei1FZmCYfW6igar7MuEdd4/cpI8yWCH306JFZmX5+fmzbtk3ZwGzEiBEkJCTw008/AZAnTx7GjBmTam0VGYcEBUIIIYQQ78GJEyf49ttvlSFDr1u+fDkjR47Ew8NDSZv4229YuefF2tsPfflmlPllL5HxWshWBBVgGfOEUW1r0rh4djLbWwGf4a6OZdCgQQBkzZoVo9GI0WgkPDwcgIEDB5rtaAzQunVrJSi4detW2jRepHsSFAghhBBCpLGtW7fSvHlzs7X+XxcREUHJkiVp12sQ4XY5OXUvnGirz8jWqSYAjwDitThYGnh8fBNxV/bx64j+dK5ovo/BF198oQQFpUuXJjAwkPnz59OjRw8Anj9/nuLeYWFhyvH/DmESnw7Z0VgIIYQQIg29ePGCtm3bKgFBnjx56N+/PxUqVMDCwgIACwdXkoo2Z3VMAfY9tyfWMQdqazsMSXHksoplaN0CrPvqM0YVSSDywEK0L4LNhh+98nqajY0NAFWrVlXSZs2apew9AKDT6Rg3bpzyWnYV/nSl6ycFOp2OMWPGsGLFCp4+fUq2bNno1KkTo0ePRq02xTNGo5EffviBefPmERERQbly5Zg5cyZ+fn4fuPZCCCGE+BQ9fvyYefPmsXPnTuLi4tDr9cr8gKZNm7JmzRqMRiOBgYE4ZHaj1ZgF2BWvj1pj+pU+4f55EoLO4JjwjB8G96Rb1z+XCc1uXRlLS0t0Oh0LFiygf//+eHl5AaDX6/n555+VvDVq1ADAx8eH2rVrs3v3bkJCQihcuDBdunTB0dGRFStWcO3aNcA03OiLL754L++RSH/SdVAwfvx45syZw5IlS/Dz8+Ps2bN07twZZ2dnBgwYAMCECROYPHkyixcvxsfHh59//hl/f39u3bqFo6PjB26BEEIIIT4lq1atolOnTmaTfV83ePBgLC0tiYpLYHeIisMXonEo0xSAxJBr+LvFU+ozF/K170GdOnVS7GScLVs2WrRowapVq3j58iVFihShY8eOZM2aldWrVyurFDk5OdG+fXvlujlz5lCxYkWePHnCs2fPzJ4OgGnH4mXLlmFra5uab4fIQNJ1UHDixAkaN25MgwYNAMiVKxcrV67k7NmzgOkpwZQpUxg1ahTNmjUDYMmSJbi7uxMQEEDPnj0/WN2FEEII8XEzGo1cuHCBW7duKWPx27Vrh16vV/JYW1ubBQh9B31Nt1+XsvhEMC9iLQAdmVTx3FozgYR7Z2m5eTOff/65kl+r1bJ582aWLFlCcHAw9vb2VKpUiVy5cvHgwQMiIyOZOnWqWb0sLCxYsmQJzs7OSlru3Lk5ceIEAwcOZMuWLRgMBuVc2bJlmTRpEpUqVUrtt0hkIOk6KKhUqRJz5szh9u3b+Pj4cOnSJY4ePcqUKVMAuH//Pk+fPqV27drKNdbW1lStWpXjx4//ZVCQlJRk9gcaHR0NmP7w/moC0Lt6VW5alS8yBukHQvqAkD7wcdi7dy8jR47k4sWLbzzftm1bfvnlFzw9PfH39+fYuSs4lm7MyxL1+G3PHQBcrY0MrefLuF4tSLh3AYDs2bMrfePp06c0adKE8+fPm5V98uRJbGxsqFSpEqdOnTLrS6VLl2bs2LFUq1YtRR/z9PRkzZo1PHr0iFOnTqHT6fD19aVo0aKA9Mn37X18FvyXslVGo9GYZjV5R0ajkZEjRzJ+/HgsLCzQ6/X88ssvjBgxAoDjx49TsWJFHj9+jKenp3Jdjx49CA4OZteuXW8sd8yYMfzwww8p0gMCArCzs0ubxgghhBDio3D8+HF+++03s1/bX2dhYcG8efNwdXUlLAHWXH7J7eRMqCz/fyhQ1BPalMhKXk0Ea1YGsGfPHsA0AXnSpEmoVCp0Oh3Dhg0jKChIKffVXIJX1Go1w4YNA0xf/ry8vMiVK1faNFpkSPHx8bRt25aoqCicnJz+Nm+6flKwevVqli9fTkBAAH5+fly8eJGBAwfi6elJx44dlXz/u96u0WhMkfa6ESNGMHjwYOV1dHQ03t7e1K5d+x/fsLel1WrZs2cP/v7+KcYHik+H9AMhfUBIH8jYIiIiaNeunRIQFC9enJYtW3L+/HnWr18PmCb8rjt4Dq9andhzIwyj0Q2VpWnOQPTJ9SQEnWGylYbk5GSzsidPnkz9+vUBWLt2rRIQeHl5MWfOHGrVqsXjx48ZOXIkq1evxmAwcPLkyb/8EVSkb+/js+DVaJh/I10HBd988w3Dhw+ndevWABQpUoTg4GDGjRtHx44dlQ0+Xq1M9EpYWBju7u5/Wa61tfUb1+HVaDRp/gH9Pu4h0j/pB0L6gJA+kDEFBAQoKwm1aNGC1atXo1arOXPmDOvXb8A2X1mcyjXjuqcf16+b1v+vWdCN2jlUtK7ZUCnn9YBAo9Ewe/ZsGjdurKQtX75cOV6wYIEyVDpPnjwsX76cs2fPEhQUxIEDB3jy5Ak5cuRI03aLtJOWnwX/pdx0vU9BfHy8svToKxYWFkp0njt3bjw8PJTHbmD6Izt06BAVKlR4r3UVQgghxMfv4MGDyvGrJdITtXpuaF3x/mo+bs2/xcbLD6NeSxlXHbsHVWFe+5JsW/TnZGAfHx98fX3Jly8fQ4cO5c6dO3Tt2tXsPg8ePADA1tYWf39/s3OWlpY0bNgwRV4h3kW6flLQqFEjfvnlF3LkyIGfnx8XLlxg8uTJdOliWq9XpVIxcOBAxo4dS/78+cmfPz9jx47Fzs6Otm3bfuDaCyGEECIjuXHjBtevX8fS0pJy5copIxJe9/pCJTZOmZl54C6Ljt3nRWwyamcPDImxxFzYQcz5rdzzycXcp4fZtm0bt2/fBkyjFfbt24e7uzuBgYHUr1//jb/m2tvbA5CQkJBiRASYFlv537xCvIt0HRRMnz6db7/9lt69exMWFoanpyc9e/bku+++U/IMHTqUhIQEevfurWxetnv3btmjQAghhBD/yokTJ/jmm284duyYkmZpaUmzZs0YOnQo27dvZ+vWrcTExBAXF4eFgyuOZRrTcN5FtEbTiAZPZxs6lPdmWMvKRIebhg2dP//SbOUgtVrNokWL8PLy+sdVYWrXrq0swT5ixAgWLlyojJ44cuQI27ZtA8DDw0NZPUiId5GugwJHR0emTJmiLEH6JiqVijFjxjBmzJj3Vi8hhBBCfBz27t1LgwYNUkz61el0rFmzhrVr1/JqoUZLVy+cyzYnu181VBYatEbIYplEv1oFKe5qYPy4MUpA8L8rBVWtWpXvv/+e6tWr/6t69ezZk99++43k5GSWLFnC6dOnadCgAUFBQWzevFkZSt2rVy+ZmyJSRboOCoQQQggh0kpCQgJffvmlEhAUKFCAtm3bEh0dzfz584mOjsaossDOpxwORWtjm6eUcm3iwytEnVpP8L2zdPrFvFy1Ws369evJli0bsbGx5MqVi9y5c/+nuuXIkYMFCxbQsWNHDAYDN27c4MaNG2Z5/P39GT58+Ns1Xoj/IUGBEEIIITIco9HIkSNHWLduHeHh4bi5udG6dWvKli37t8uSv27NmjWEhZl+2a9VqxaBgYHKr+5nb4dwKdYeB78aWNi7KNeU9tBwYeUEnp3e98Yy7ezs+OOPP8x2JX5b7dq1I1u2bIwZM4ajR48q6W5ubvTu3ZsRI0ZgZWX1zvcRAiQoEEIIIUQGExISQosWLTh16pRZ+pQpU6hWrRqrV6/Gzc3tH8vZv3+/cjxq1CiMKgs2nA9hybEgHvi2x/n/z+liwqmaw5qx3RqS09WeMxUzUbZsWcA0pr9IkSJYW1tTrVo1OnXqhKura6q1tWbNmtSsWZOgoCAePHiAg4MDJUqUkGBApDoJCoQQQgiRYURGRlKjRg3u3LnzxvMHDx7E39+ftWvXcvfuXdRqNSVLlnxjkJCYmAiAysqOIy9sGDZhP8+iTasLGQ16EoLOEHtpNwn3zlJh+jRyuppW+SlTpgxubm6EhYVhYWHB7t2706i1f8qbNy958+ZN8/uIT5cEBUIIIYTIMKZNm6YEBDlz5uTnn3+mTJkyHDt2jNGjR/PkyRMuX75MwYIF/5wgbGlJixYtmDBhAi9fvmTLli1ERETwNDoRl+pdcCxWlwVnwwFwd7KmXn4Hfu7SAH3sS+W++fPnV45fvnzJy5emcw4ODu+r6UKkKQkKhBBCCJEhGI1G5s+fD5gm8+7evRsfHx/ANElYo9HQoUMHJe8rOp2OVatWsWHDBpKTk7HK5oNjyYbYF+6Cs4Xpq5D2xUPq5dbwU9fPiY2O4ne1juj/vz5r1qzUrFkTAIPBwKhRo5SVherWrfs+mi5EmpOgQAghhBAZQlRUFCEhIQBUrFhRCQgA9Ho9P/zwg1n+IUOGoNVqWbp0KTE6NTZ+1clSpBYaV28lT2LwZaJObyDx3lkWAAtGd09x3+fPn9OgQQMKFSrE7t27uX79OgAWFhb07t07DVoqxPsnQYEQQggh0q2oqCgCAgI4d+6c2YZfMTExZvl27NhBUFCQ8lqtVvPzuF/Zd+M5J61L8pRMqNQWAFigp5ynNa7hl1mw+ScSExLeeG+VSqU8cdi1axe7du0yOzd37lyzwESIjEyCAiGEEEKkS3/88QcDBw4kLi4uxbmLFy+yf/9+atSoAZg2IXtFbeeCX5NeVPj1AC/jkkGdBRWQ+OgacVf3MqpDA4b3HwDUwb9UARo3bgyAl5cX+fPnR6PRUKlSJTp37syaNWuYOnUqDx8+VMqvVKkS3377LbVr107T9gvxPklQIIQQQoh0Z8mSJXTvnnIoz+vq1q1L7969KVu2LLt370aTJQdOZZpg71udaEsNxCWT1V7D3T3LiL26H11EKACGpGpKGY0aNcLT05PQ0FCio6PNlikFGDx4MAMGDODq1atER0fj5eX1nzciEyIjkKBACCGEEOlKQkICgwcPVl63a9eOXr16ATBz5kwCAgIA0Gq1TJ06FZtcxXEq0xrP13YcLuHtQvcqeSjkpCXPd8vNys+TJ49ybDQaMRgMAH+56ZmFhQXFihVLncYJkU5JUCCEEEKIdGXDhg3Kkp/Nmzdn2bJlyrkKFSoQFxfH5s2bsfIsQKbqXbHx8gVMewvE3z5B/PmtVB7YhUo5ixAfH4+9vb0yBMnJyUkZLgSwadMmnj59Cpj2HxDiUyVBgRBCCCHSlStXrijHnTt3TnG+SbtuHDMWwL5QFQAsMVDGNRmbhydZvPk3wLTy0JAhQ1JcazAYmDlzJsWLF2f//v38/vvvyrmvvvoqtZsiRIYhQYEQQggh0hULCwvlOD4+XjmOitcy8+BdFpwD+0JVMBoN5FU/J2B4WzycbdDrm2CtjWHu3Ll/WXZsbCzffPNNivRGjRrRtGnT1G2IEBmI+kNXQAghhBDi1dKjU6ZMIeG1JUKnTp1KbEISC47ep+pvB5h3+B56o4qEBxd4smgAQyq54+FsA5iCiTlz5nD+/Hl69epFhQoVqFSpEkOGDOHkyZM0aNAgxX0tLS3p0aMHa9euRa2Wr0Xi0yVPCoQQQgjxwWi1WkaNGsWsWbPMlh5VqVRgoeFyYmaKjtyIwdoRAIvYMEJ3zCLx3lly5cr1xh2FS5QowaxZs1Kkb9u2jRs3brBlyxYiIiLIli0bLVu2xNPTM+0aKEQGIUGBEEIIIVLVlStXWLlyJaGhoWTKlIkmTZpQpUoVVCoVSUlJ3L17F4PBQO7cuenUqRPr1683L8BCg0OxOjiVb4mloysGQBcdRtTx1cRe3gNGA1ZWVixYsMBsqNG/UahQIQoVKpR6jRXiIyFBgRBCCCFSRVRUFB07dmTz5s1m6VOmTKF48eKULVuWdevWKSsLWVtbk5SUBIBGo6FT1+5YFazG3lA1iSrTkCBTMLCG2Kt7Qa8DwNfXl9mzZ1OlSpX32DohPm4SFAghhBDinWm1Who2bMjRo0ffeP7ixYtcvHjRLO1VQGCZyZNGgydyUudK9BMdqCCTNdzdMpPYK3vImysnP06cAEDp0qWpVKnSX+4pIIR4OxIUCCGEEOKdrVy5UgkIMmXKxJgxY6hRowYXL16kZ8+eyipCFhYWfP7552isrNl6/gGOJepjm7sk52IBdHhntqVHlbx8UdqL8ltGc1GvIygoiO7du+Pg4PDhGijER06CAiGEEEK8s3nz5inHa9asoVatWgDY2NiYLSvqmMWTar3HsfJMCG65EgEwGg0kBJ1ldOsq9G1WHbXa9BTA0dFRuU6n072PZgjxyZKgQAghhBDv7PLlywB4e3tTs2ZNJT0wMBAAK498OJZshH2hKkzee9d0MjmOqPOBxF7ciS7qGQ9zDUHdwnTtnTt3OHbsGADZs2fH2dn5PbZGiE+PBAVCCCGEeGevVgFKSkrCYDBgYWFBss7AhZcWeLT7DevsBZW8hdxs6VbVh/uH1/PN70uU9LNnz3Lnzh3OnDnDqFGjMBgMAHTv3l3mEAiRxiQoEEIIIcQ7q1ChAoGBgYSFhbF4eQD63BWYf+Q+zxNzYZ0djHotcTePYhdymu3nDqJWq4kr2I1JE37l6dOnABw6dAgfHx+zcvPly8eAAQM+RJOE+KRIUCCEEEKIN4qPjycgIIBly5YREhKCo6MjDRs2pGfPnnh7e5vl7dWrFzv2HsCxRAPGnLPA4sZNAGyMSTw9upaYSzsxxEVSqXFjdDodFhYWbN++nejo6L+8f5kyZVi/fj0uLi5p2UwhBBIUCCGEEOINgoKCqFu3Lnfv3jVLv3TpEpMmTWL58uU0b94cgJhELfftCpCn/3J0FtYAaCNCiTqxhrhrB8Hw5yThzZs3kzlzZiwtLYmKilLS69WrR/78+Xn+/DmZM2emZcuWyoZnQoi0J0GBEEIIIczExcVRp04dgoKClDQXFxeioqIwGo0kJibSuk1b5m3YyxN1Fladfkh0og4srHEknsd7FhJxYTcYTXMC1Go1efLkUQKMuLg4s/s1bNiQNWvWYGtr+/4aKYQwI0GBEEIIIcwsXbpUCQgKFSrE4sWLKVu2LDfvPaTfL7O5GKbDJk8pfjgaDZiG/+TNak//mvlpWNST2BG12bx5M0+fPsXFxYUGDRqQPXt2Dh06xKxZszh16hQGg4FixYrRs2dP6tevj1qt/oAtFkJIUCCEEEJ84iIjI1myZAmHDh0iKSmJCxcuKOeWLF3GM6tstJl3ktMPXqLPWgn7rKZz+oRoqubPQtW8zrSq5IuTo2lzMWdnZzp06JDiPlWrVqVq1arvpU1CiP9GggIhhBAiA7p06RKLFi3i7t272Nra4u/vT9u2bXFwcMBoNPL8+XMSEhLw8PDA2toao9HIgQMHWLx4McHBwdjb21O3bl1cXFzo27cvMTExZuWrrOzIVKoBA/ZEEhr1VEn3cXcg4e4ZzmxeSFLoLVYYDawABtrZ0bZtW7799lty5Mjxnt8NIcS7kqBACCGEyEASExPp2rUrAQEBZunr1q1j2LBhdOjQgQMHDnDlyhUA7OzsaNGiBXfv3uX48eNm1+zYsSNF+ZbO7jiW/hyHIv6ore0IjUrE1d6K9p/lpHlJL5wstHh5NSQpNtbsuvj4eP744w82b97MgQMH8PPzS+WWCyHSkgQFQgghRAZhNBrp0KEDa9eufeP5yMhIpk2bZpYWHx/P0qVL/7Hs8k06kaNGO86EJmIwmtKSXwQTc2YT6xZPpHQJ0/4B1atXJ/a1gKB+/fo4OTmxfft2YmJieP78OU2bNuXGjRvKhmZCiPRPZvUIIYQQGcTJkyeVgMDe3p4pU6YQEhLCyZMnU2z6Vbp0aRo3bmy2oo9KpWLhwoXExMSwYsUKVFZ2OJZqhGe32Twp0IJTj00BQWkvO8LWfseTBX2IvbwH/xrV6NOnDxUqVODgwYNKeSNGjGD79u2sXLmS+/fvU6xYMQDu3LlDYGBg2r8hQohUI08KhBBCiAzijz/+UI5///13unfvDkDWrFnN1vwHWLFiBT4+PjRo0ED5gm40GtFqtTyKMbDhkQ1efZaitrIBwJAUT4vS3vSq5Ud+d0em6NozaNB5wPQEYtasWWblFypUiJ9//ll57erqyo8//kjjxo0B2LJlC40aNUrld0AIkVYkKBBCCCEyiJs3byrHbdu2VY5PnjzJs2fPUuT18fHhwYMHSppNrhJMvaRn7L0jgDVqq/8fInR+O3HXDtB49w7yuzsCUKNGjb+ty9dff51iGdHX5xH83U7FQoj0R4YPCSGEEBmElZWVchweHq4cR0REpMhrbW3aWdjGzh57v+pk6zwd91Y/EeeYAwu1iur5nHm+epRpiNCFQIzJCdjY/P9TA4OBsWPHKmV99913nDhxgqlTpypp+/btS3HPXbt2KcdeXl7v0FIhxPsmQYEQQgiRQby+xv8vv/yC0WiaEZwtWzazfDY2NvgWK8n8w/eIrzGMLA2HYOWWG0NyAlleXuHg19VY1K0SFfO7KdeoVCrWrl3LpEmTKF++PKtXrwZMcxcGDhxI+fLl6d69O5kzZwYgICCAqVOnkpSUhNFoJDAwkNGjRyvltW/fPs3eByFE6pPhQ0IIIUQG0b17d8aOHYtWq2XevHncuHGD5s2b8+jRI9RqNQaDAZWVLbkbfEWjuReITNCCygZd7Etizm0l9uIObLyzsWyOgXv37nH48GGlbKPRyKRJk8zup1arWbBgAZkyZQLA1taWYcOGMWzYMAAGDhzIqFGjsLW15cWLF8p1jRo1onjx4mn/hgghUo0EBUIIIUQ6YDQaSUxMxNLSEo1G88Y82bNnZ8aMGfTs2ROAI0eOcOTIEQBUGhucyjTEqWxT4u2ciU/QQswzwo+uIvbaAdDrANPKQKNGjTIrN3PmzERFRaHX65W0woULM3HiROrWrWuW95tvviE0NFQZShQXF0dcXJxyvmrVqixfvvwd3w0hxPsmQYEQQgjxAb18+ZLp06ezYMECHj16hEqlomLFivTp04cvvviCGzdusHPnTuLi4siZMydt2rQhc+bMjBw5kjt37qDSWONYogFO5ZpjYecMgPblY6KOrSTuxmEwGgDw8PDAycmJ27dvK/d2cHCgS5cujB07lsjISI4ePUpSUhIFChSgbNmyqFSqFPVVqVRMmTKFli1bMnPmTI4dO4ZWq8XPz4/u3bvTrFkzLC3l64UQGY381QohhBAfyL1796hZs6bZCkFGo5GjR49y9OhRBg0axNOnT82u6du3L8OHD+fatev8uuYQq67HE6c3TRHM6WpHPW+4uPkg+8Kugp0tefPmpUuXLnTp0gUHBwfOnTvHgwcPcHBwoEKFCjg5OQGmuQOtWrX613WvWLEiFStWfPc3QQiRLkhQIIQQQnwAer2ezz//XAkI1Go1ZcuW5cWLF9y9excgRUAAEBsby0+zl7M2Kg+RaidAjXdmW/rXyE/TEtmxtFBD6+p/ed/SpUtTunTptGiSECIDk6BACCGE+AACAwO5du0aAD4+PgQGBpI3b16MRiO1atVi//79gClYGDt2LAULFmTt9j3semKDvV91IgE7jYrBtQvS4bNcWFnKgoJCiLcnQYEQQgjxAaxbt045njRpEnnz5gUgJiaGEydOKOcMBgMF/QoTYl+A8x7W2GfWYzQaiL28hyreBrpVrv/e6y6E+PhIUCCEEEJ8AK9vPla+fHnl+OrVqyQkJACgtnPBsUR9Rp4wEKe/BUBxLyd2jetGYuhtLhUt+n4rLYT4aElQIIQQQnwArq6uyvHJkydp2LAhYHoyoMmaC6fSjbH3rYbKUkOcHrK72PJNnQLULeSK0+D7Sl4hhEgNEhQIIYQQH0CLFi1YuXIlAEOGDKFgwYI80jkx67IRzy4zlHy6Z3eY3qcpDUt4o7FQM2/ePLRaLYBsECaESDXpflbS48ePadeuHa6urtjZ2VG8eHHOnTunnDcajYwZMwZPT09sbW2pVq2aMnFLCCGE+DcePnzItGnT+P7775k5cyahoaFpfs/69etTuHBh0/21DlT+aSudF5/hzMNojAY9cTcO82TZELSB40i4fYzzZ88wevRo+vXrp5TRo0ePNK+nEOLTkK6fFERERFCxYkWqV6/Ojh07cHNzIygoCBcXFyXPhAkTmDx5MosXL8bHx4eff/4Zf39/bt26haOj44ervBBCiHQvJiaGXr16sXLlSrOhOAMHDqRjx45Mnz4dW1vbVLvf06dPCQwM5NSpU2i1WkZOXcKIgKOQxTTJ2JCcQMyFQGLObUMf8xyAMODLL79MUVa7du2oVKlSqtVNCPFpS9dBwfjx4/H29mbRokVKWq5cuZRjo9HIlClTGDVqFM2aNQNgyZIluLu7ExAQoGwDL4QQQvyvpKQk6tWrx7Fjx1Kc0+l0LFiwgIcPHxIYGPjOO/RGRUXRv39/AgIC0Ol0WGf3ZXN0Lmxy2kKWvFhgQHdjH4/3LsaYEE3FihVp0mQYixcv5urVq2ZlWVhY0KtXLyZPnvzGHYeFEOJtpOugYMuWLdSpU4eWLVty6NAhsmfPTu/evenevTsA9+/f5+nTp9SuXVu5xtramqpVq3L8+PG/DAqSkpJISkpSXkdHRwOg1WqVcZqp7VW5aVW+yBikHwjpA+nHrFmzlIDAycmJ/v37U6ZMGY4fP8706dOJj49nz549LFmyhA4dOvzrch89esSSJUu4fv06lpaWlCpViuXLl3Pl5l3sCvvjUKQm1p4FATDqtMRc2kmrws5MWzeRhIQf0Wg0ShDSr18/Dhw4wO7du4mNjSVnzpy0adMGLy8vQPpRRiafBeJ99IH/UrbKaDQa06wm78jGxgaAwYMH07JlS06fPs3AgQOZO3cuHTp04Pjx41SsWJHHjx/j6empXNejRw+Cg4PZtWvXG8sdM2YMP/zwQ4r0gIAA7Ozs0qYxQggh0pW+ffsSEhICwK+//krBggWVcxcuXFD+ncifPz8TJ040u/bRo0ds27aNU6dOERsbS6ZMmahcuTKJiYns3Lnzz6FIKjU2uYrjUKQWdvnLo7K0MiUbDdg/u8zNDVOVYULjx4+nQIECad1sIcQnJD4+nrZt2xIVFYWTk9Pf5k3XQYGVlRWlS5fm+PHjSlr//v05c+YMJ06cUIKC0NBQsmXLpuTp3r07jx49YufOnW8s901PCry9vXnx4sU/vmFvS6vVsmfPHvz9/dFoNGlyD5H+ST8Q0gfSh5iYGGVJ0FKlSpltFgam4amFCxfmzp07qFQqEhISUKtNa3OsWLGC7t27o9Pp/rJ8SxcPHIrWxr5wTSwd/1x61NUyia7VfXF8eYvmDfyZMWMGw4YNA6Bt27YsXrw4lVsq0iv5LBDvow9ER0eTJUuWfxUUpOvhQ9myZcPX19csrVChQqxfvx4ADw8PwDRx6/WgICwsDHd3978s19raGmtr6xTpGo0mzf8w38c9RPon/UBIH/iwXp8j8Ff/LaysTL/qv/rtTK1Wc+bMGbp164ZerwfA1taWvHnzcuPGDfSosPOpgEPROtjmKqaUo0+IJu76IeKu7MXSUUXXb6+yc+ctNBoN/fv354cffiA+Pp7jx49Ln/gEyWeBSMs+8F/KTddBQcWKFbl165ZZ2u3bt8mZMycAuXPnxsPDgz179lCiRAkAkpOTOXToEOPHj3/v9RVCCJExODo6kjt3bu7fv8/Jkye5fPkyRV/bHfj48ePK8tY2NjbY2NigUqlwcXFRAoKuXbsyefJkniWo6DM5gBuJTljYvvolzkhVHzc+czfSq3ET0JueKgQ9g8OHDyv3sbKywtramvj4eBlbLoT4oNL1PgWDBg3i5MmTjB07lrt37xIQEMC8efPo06cPACqVioEDBzJ27Fg2btzI1atX6dSpE3Z2drRt2/YD114IIUR6pVKpzBaj8Pf3Z/r06Zw+fZrJkyfToEED5VxiYiJgemIQEREBgLWNLQ17jqTHqmv4/36Y2yovLGyd0EU/J/JYAOrtY1jSpSztqvphozH//e3GjRvK8fbt25Uy/fz80qy9QgjxT9L1k4IyZcqwceNGRowYwY8//kju3LmZMmWK2XrNQ4cOJSEhgd69exMREUG5cuXYvXu37FEghBDib/Xp04eAgAAuX75MWFgY/fv3/8u8RYoUITY2lgePn+FQ1B/HUo0YuN705d5CrcIl7hE3tv1Bwv3zYDSg/f9FKxwcHGjTpo3Z0to3b97EysqKOXPm8P333yvpr1bWE0KIDyFdBwUADRs2pGHDhn95XqVSMWbMGMaMGfP+KiWEECLDiYuLY/Xq1Zw7dw6AkiVLsmXLFnr27PmXq9W5uroSGBiIWx4/5uy/ScCJe6itTV/4DQnRdKriw1c1fdm+djk9pp1Vrnt9k82BAweyZMkSZUWi2bNnp7hPtWrVaNq0aWo1VQgh/rNUCQr0ej1XrlwhZ86cZMqUKTWKFEIIIVLN8uXL6devH5GRkWbpzs7OTJs2jQkTJrBu3TrCw8O5cuUKR44cAaDjsF+Zc13FgY0HMRpBbW1H8otgYs5uIe7aQbIV/B1Pl1I0a9aMvn37kpycDIDBYGDmzJlER0czd+5cs92S/9fnn3/OsmXLsLCwSLP2CyHEP3mroGDgwIEUKVKErl27otfrlc3C7Ozs2LZtG9WqVUvlagohhBBvZ+XKlbRv3/6N56KioujYsSPLly/nxx9/BKBrj15ciLbHsXQj1odng/AwAGoUdMPXMoxv2vdRrh81ahS7d+/m+PHjSkAAplXx+vbta3avzJkz89NPP3H27Flu3bpFmTJl6Nixo7JQhhBCfEhvFRSsW7eOdu3aAbB161bu37/PzZs3Wbp0KaNGjXrjlvFCCCHE+5aUlGQ2V6BFixb07t0bMA3jWbt2LQADBgyget1GLDn9mCOZ6+Ba17SMn5XKQNvP8tCxQi5yZ7EHYOv8KsoKQhEREWzatEkpX61W4+HhQWhoqFk9atSowaxZsyhQoABarZbAwEDq168vS1EKIdKNtwoKXrx4oewREBgYSMuWLfHx8aFr165MmzYtVSsohBBCvK1Nmzbx4sULABo3bsyaNWtQqVSAaRy/Vqtl06ZNJHqWoObkQyTo1YAGbUQoMee2YR92meZttygBwZEjRzh//nyK+1haWtK0aVOGDh1KqVKlOHbsGFevXkWj0VCxYkWz3ZKFECI9equgwN3dnevXr5MtWzZ27tzJrFmzANNWyjImUgghxIf05MkTNmzYwLNnz8x2Ku7atasSEIBpoYqGbbpywqYsNjmLkqCHQtmcGOLvw7j+7dh/bi8xQNGiRSlfvjxJSUlcuHBBub5Tp05MnTqVqKgoXF1dsfv/FYcAKlWqRKVKld5Le4UQIjW8VVDQuXNnvvjiC7Jly4ZKpcLf3x+AU6dOya8hQgghPoiEhAT69+/P4sWL0el0Kc6/2g8AIEmnZ87Be0y7ADY5i2JITqSk1RPW9e2NpYWaogErqFWrFleuXAHg5MmTZmVVrVqVGTNmYG9vj5OTE0IIkdG91eZlY8aMYcGCBfTo0YNjx45hbW0NgIWFBcOHD0/VCgohhBD/RKfT0aRJE/744483BgQAffv2JS4ujhNB4dSfeoTf995Gb1SREHSW0AW96fyZN5YWpn8W3dzcOH78OL/++it58uRRyihcuDAzZ85k9+7d2Nvbv5e2CSHE+/CfnxRotVpq167N3Llzad68udm5jh07plrFhBBCiH9rxYoV7N69GwA7OzsGDBhApUqVOHnyJD///DNGo5Fk5xz49Z0L7gUAUCfH8WzHDOJvHsHb29tsF2MwbTw2bNgwhg4dSmxsLGq1WgIBIcRH6z8HBRqNhqtXr5qNyxRCCCE+pDlz5ijHGzZsoE6dOgDUr1+fBEcvlp1/gU3OYgAY9TpiL+0i8vBSDElxWFpaMn/+fCwt3/xPokqlwtHRMe0bIYQQH9BbDR/q0KEDCxYsSO26CCGEEP/IaDQSGBhIo0aNyJo1K5kzZ1bG/OfPn5/atWtjNBo5HvSCVnNPsDY8OzY5i2HUa4m5sIPH87rzcs9sDElx5MuXjx07dihBhBBCfKreaqJxcnIyf/zxB3v27KF06dIpHqdOnjw5VSonhBBCvE6n09GxY0cCAgLeeP5xaCibzj5gyelQLj6KBMDKQo3m0RlubZqBPuY53333Hba2tpQuXZoaNWqgVr/V72NCCPFReaug4OrVq5QsWRKA27dvm52TYUVCCCFS0927d3ny5AkuLi4sW7bMLCDIkiULGo2Gp89fYl+kFk5lmjBo/XUArCzVtCrtTXUPLbUqjMFoNJIrVy7GjBkj/1YJIcT/eKug4MCBA6ldDyGEEMLM1q1b+fnnnzl9+rSS9urLvKWlJQsXLqT2581ZfuoRc/ZdR6uyAkCfEE0RmwgG+JfgzpWDtP3KNNEYoEePHhIQCCHEG7xVUPDK3bt3CQoKokqVKtja2mI0GuXDVgghxDubOnUqAwcOTJH+6st9nrK1OKspzE8TDpGsN4DKCmKfE358HXFX9xKiTWLHBPNrixQpQr9+/d5D7YUQIuN5q6AgPDycL774ggMHDqBSqbhz5w558uShW7duuLi4MGnSpNSupxBCiE/EhQsXGDRokPK6aNGi1KhRg03bAnlumxPHkg1I8sjH5ouhABT3dqFHlTzYvbxN9Znb31hm7dq1Wb58OQ4ODu+lDUIIkdG8VVAwaNAgNBoNDx8+pFChQkp6q1atGDRokAQFQggh/rWYmBgCAgI4cuQIOp2O27dvK08Evv76a/oOH8OKUw+xtq1OFoMFAEZdMjbPrrJ2XD+KerkAsHjxLqXMChUqUKJECTJnzkyLFi0oWrToe2+XEEJkJG8VFOzevZtdu3bh5eVllp4/f36Cg4NTpWJCCCE+fuvWraNbt25ERUX9zxkVDvnL8KxAM6r9dhBTjGCBLvIZMRcCib2yB0NCNB6TegLw6NEjfvrpJ+XqCRMmULFixffWDiGEyOjeKiiIi4vDzs4uRfqLFy+wtrZ+50oJIYT4+AUGBtKqVSsMBoOSpra2x75ILRxLNECT2ZPDd18CUMUnKx3K52TumP6sO71eyd+8eXNcXFzYvXs3ycnJAJQtW5YKFSq838YIIUQG91ZBQZUqVVi6dKnyq4xKpcJgMDBx4kSqV6+eqhUUQgjx8TEYDAwaNEgJCOq06Y5n5S849jiZJJ1p6JAhMZbYq/vY9vswKhTJC0DByZPYuGE9er0egKNHj5qVmzNnTlavXi2LXgghxH/0VkHBxIkTqVatGmfPniU5OZmhQ4dy7do1Xr58ybFjx1K7jkIIITKY2NhYkpOTcXFxeePmYEeOHOHO/Yc4FKuDR8UW3HTMxs3gJABcLRK5vX0+cdcPYtQmsWSGigpz53L//n369eunBAS2trYkJCQAkClTJjp37szw4cPJmjXr+2uoEEJ8JN4qKPD19eXy5cvMnj0bCwsL4uLiaNasGX369CFbtmypXUchhBAZgMFgYNmyZcycOZMzZ84A4ObmRufOnRk8eDBubm4YjUauhUbz+5EnePVZitraDi2mXYfrFfGgbdkc+GRS47uwL7FaU5Awb948AgICiI2NVe5la2vLiRMncHZ2xmAw4O3tjUaj+RDNFkKIj8JbBQUPHz7E29ubH3744Y3ncuTI8c4VE0IIkXHodDratGnDunXrzNLDwsIYP348y7cdoOmAnzhyP5ZIgzXgiNoatOEhVPGyYObXHchsb6VcN3nyZNq2bau8fj0gcHJyYt26dRQrVizN2yWEEJ+KtwoKcufOzZMnT3BzczNLDw8PJ3fu3MqjXSGEEJ+Gn376ySwg8PXzwyWXHzfj7LDJVx5LVy+2BmkBa4w6LfF3ThBzcQdJD69w1MsLi4EtAVNQYDAYzMrKnz8/KpUKFxcXmjRpQrdu3WSIkBBCpLK3Cgr+aufi2NhYbGxs3rlSQgghMo6EhASmT58OgIWNPQN+X8HVBBduPYvF8f/zGHXJJNw7R/ytY8TfPYUxOUG5PiQkhCJFitCnTx+cnZ1ZtmwZx48fB8DZ2Zlz587h6Oj4v7cVQgiRiv5TUDB48GDAtNrQt99+a7YsqV6v59SpUxQvXjxVKyiEECLtGI1GDhw4wKJFi7hz5w62trbUqlWLbt264e7u/sZrdDod27ZtY8mSJTx48ICkpCRiLZzIXLsNLsX8Wf/AEojF2lJNIRcDexZOICHoDMbkBPz8/Jh3YC83b97k+++/JyQkBDDtMzB8+HCz+6jVav744w8JCIQQ4j34T0HBhQsXANM/IleuXMHK6s/xn1ZWVhQrVoyvv/46dWsohBAiTcTExNCyZUt27dplln7w4EF+/vlnFi5cSJkyZdi/fz/x8fHkzZuXUqVK0axZM06dOgUWGux8KuBYoj6e3n4A6IG8We1pXz4nzUp50bHNF8TfOKyUnT17dipUqECFChWoV68eefLkITExMUXdfHx8+P3336lfv36avgdCCCFM/lNQcODAAQA6d+7M1KlTcXJySpNKCSGESFtGo5EvvvgiRUDwSmJiotlE31c0Gg2qzDnI7P8Vdr7VsLBxMJVn0BN/+wSxFwNZunQ6VSrmBv78MemV1+cCZMuWjSZNmrBq1SoAvv/+e9zd3fH19aVKlSqy14AQQrxHbzWnYNGiRQDcvXuXoKAgqlSpgq2t7V/ONRBCCJG+HDp0iJ07dwKmNf6nT59OixYtePz4Md988w0bNmwwy6+2dcLerxoORfyxcsutpGdztqFmbjsm92lGwsunAPTs2ZNr166hVqvR6XRm5bRu3drs9evnmzdvTpEiRVK1nUIIIf6dtwoKXr58ScuWLTlw4AAqlYo7d+6QJ08eunXrhouLC5MmTUrtegohhEhFCxcuVI6nTZvGl19+CUCePHnM5ovZ5ChK8Zb9CLP0QI/pRx+jLpn4OyeY9XV7mlUsjIVahcODAYwYMQKAmzdv4uXlhbu7O48fP1bKyp49O/Xq1VNeP3jwgK1btwKmCcX58+dPuwYLIYT4Wym3mfwXBg4ciEaj4eHDh2b/eLRq1Ur55UkIIUT6FRQUpBw3b95cOQ4PD2ft5kAcSzfGs9sc3NuM5YllNvSoUEeGEL57FiEz2vNiy0TOBwZgoTYFCkOHDqVw4cJKOU+ePOHixYtm93z27BmDBg0iMDCQSZMmUaFCBZKSTBuUde7cWVavE0KID+itnhTs3r2bXbt24eXlZZaeP39+goODU6ViQggh0s7rP+iEhISQP39+Lj6KZPz6U7h1n49aYw2AISme6nkcGNq8Ap2b+HP/whnlumPHjinHarWafPnycfXqVQAsLS3R6XTky5cPJycnzp8/j06nY/r06crypa/ky5eP0aNHp2VzhRBC/IO3Cgri4uLM/kF55cWLF1hbW79zpYQQQqStWrVqsXfvXgAG/Dwdl0ptOR4UDoBaY03ys3vEXAiE4DNMD76Hk5MTderU4cyZP4MCrVarHJ88eVIZCuTm5sbDhw+xtLTEwsICvV7PqFGjmDp1aoqVhurUqcOiRYtwdXVN6yYLIYT4G28VFFSpUoWlS5fy008/AaZ9CwwGAxMnTqR69eqpWkEhhBD/jdFoJDY2Fo1G85dDcrp06cK4BeuwKdWM69mKQlA4agxkirnH1U2zSQ69BZgmDb9aaa5Hjx78+uuvyuTgmzdvMnz4cIKCgti4caOym/1XX31l9gORhYUFv/76K0OHDmXdunU8evQIJycnGjRogK+vb1q+FUIIIf6ltwoKJk6cSLVq1Th79izJyckMHTqUa9eu8fLlS7PHyUIIId6f8PBwpk2bxh9//EFoaCgAn332GX369KFNmzao1WqMRiMngsKZsu8uLs3GAGDUa4m9vIeok2u5H/3crMzLly+za9cuvL29Wb9+vdm5yMhIxo8fb5ZWvXp1Ro4c+cb6Zc6cmR49eqROY4UQQqSqtwoKfH19uXTpEnPmzMHCwoK4uDiaNWtGnz59yJYtW2rXUQghxD8ICgqiRo0aPHz40Cz9xIkTnDhxgjWBByjcoCM7rz0nXG/6FV9joaKSp5pra6fx8NBu5RpbW1u0Wi06nY4TJ05Qt27dFPfLmjUrz5//GUBkyZKFnj17Mnr0aBlGKoQQGdBbBQVgWte6QYMGlClTBoPBAKCMNf38889Tp3ZCCCH+kV6v5/PPP1cCAgsLC8qXL09YvJ5nmuzYFarMJY98XLocDVhj1CUTc2kX+qs7yde3OwsP7OTmzZsEBQVha2tL2bJluXz5Mq1atTJbUhRMw0V79uzJtGnTuH//Pg8ePMDBwYGSJUvK6kFCCJGBvVVQsHPnTjp06EB4eDhGo9HsnEqlUsaVCiGESHvbt2/n+vXrAPgU9GXI1BXsCoonJDiCTP+fx2jQk/jgInE3j5Bw+wSGpDgARo8ezYsXL/j9998pVKiQUmbFihW5d+8eGzduZO/evSQkJJAnTx46depEnjx5TPfy8cHHx+e9tlUIIUTaeKugoG/fvrRs2ZLvvvsOd3f31K6TEEJ88oxGI/v27WP+/PlcvXoVS0tLKlasSK9evVLs+rt27Vos7DPhUKIeVtXaMHa/6dd9tQpckp9zZ98q4m+fwJAQTZcuXWj0Yx+2bt3KokWLMBqNTJkyhXbt2lGqVCmzcq2srGjVqhWtWrV6b+0WQgjxYbxVUBAWFsbgwYMlIBBCiDSQkJBA27Zt2bRpk1n65cuXmT17Nt999x1jxowB4MKjSC7ZlSR7rxaoLCyJ0YK7kzXtyuWkQaFMFMmfk/j4eKWMKlWq0KRJE5o0aULBggUZOnQoAHPmzGH+/Pnvq4lCCCHSmbcKClq0aMHBgwfJmzdvatdHCCE+ed27dzcLCKysrNDpdP8/f0vFr/NXccPKhxfW2bn3Ig4y+aACEkOu0bN6QUZ3qoHGQs3JkyfNAgIwTRB+pXfv3owYMQK9Xs/JkyffT+OEEEKkS28VFMyYMYOWLVty5MgRihQpgkajMTvfv3//VKmcEEJ8am7cuMGKFSsAsLe3Z86cOTRr0ZKjt54yec1+rkaqsXTMwukYICYOjRqKumjZNvlrkp8FEXAqH19WLoiPj0+K+V2ZM2emRo0aymtLS0vUajV6vV5ZMEIIIcSn6a2CgoCAAHbt2oWtrS0HDx5EpVIp51QqlQQFQgjxP168eMHSpUs5f/48oaGhPHr0SFmwYdasWWzcuJGIiAjUarVyzfDvfybcoxxVfjvMi9hkwA1LRzAkxZNw7yzxt0+QcO8sd5MTcHR0JBm4e/cuBQsWpHTp0jx79sysDj179jRbIWjZsmXKrsTFixd/D++CEEKI9OqtgoLRo0fz448/Mnz4cLN/wIQQ4lNw6dIl5s6dy9mzZzEajZQuXZqePXu+8Yu10Wjk999/Z+TIkSQlJSnpBw4c4JtvvkGv1ytfzF+xzJwdp9JNWPwyH7q9twHIbG9FrUJuHFoxjdNbl4He/JqYmBize75aIvp1W7ZsoUiRIuTNm5dt27YxYcIE5ZxsKiaEEJ+2twoKkpOTadWqlQQEQohPisFg4Ouvv+b33383Sz979ixz5syhX79+TJkyxeyzcerUqQwZMuSN5SUmJirHlpaWZC9RjXjvz7DLXw4AnREKutnRq4YP9YtkY/nSJUzctFC5JleuXFSpUoX9+/cTEhICmPYo8PT05NGjR6jVakqXLs2NGzeIiYnh2rVrtG3bNkU92rZtS5UqVd76fRFCCJHxvdW3+o4dO7J69erUrosQQqRrP/74Y4qA4HXTp0/nu+++U15HRkYyatQo5fVXX33FyZMn+fXXX/H29gZAZWmFS8n6VBu3C2oMVAKC+DuneLpiGCWe76Fx8exYqlWMHz9eKUulUnHo0CGWLFnCvXv3aNeuHWDayKx169YkJSWRnJzMqVOnOHnyJIULF05RX7VaTa9evVi8eLHZMFAhhBCfnrd6UqDX65kwYQK7du2iaNGiKSYaT548OVUqJ4QQ6UVERIQy3EatVjN27Fh69eqFSqVi7ty5DBs2DIPBwKRJkxg0aBCurq6sXLlSWf2nS5cuzJ49G61Wy4MHDwiL1eJSpSMOxWpjYefMnRcJWFuqaVrCkxXfduX5jXMATJx4k6ioSJ48ecKtW7eU+jRv3pwcOXIAoNFomDRpEitXrkSv17NlyxazoUG+vr5cvnyZffv2sXPnTmJjY8mZMyft2rVTghMhhBCftrcKCq5cuUKJEiUAuHr1qtk5+bVJCPExWrt2LQkJCYBpwu6wYcOUc19//TXBwcHMmDGDxMREChcujMFgQKfTKXk6deoEwNngCBbetsC921xUagsAdFFhVMiqY+6wjmSyt6JFzjmUK1cOg8GAXq9n9uzZZnVxdnZm1qxZZmlubm64u7sTGhpKVFRUivqrVCpq1apFrVq1UuX9EEII8XF5q6DgwIEDqV2Pf2XcuHGMHDmSAQMGMGXKFMA0oe6HH35g3rx5REREUK5cOWbOnImfn98HqaMQ4uN079495bhJkyYpzufMmVM5fvr0aYrza49cZfo1S04/eAnYolJDYvBlos9tJeHuKUqNG0smeysAChQogJWVldmcg9c5OzuTKVMms7SrV68SGhoKQPbs2f9r84QQQnziMsxM4TNnzjBv3jyKFi1qlj5hwgQmT57MjBkzOHPmDB4eHvj7+5utxCGEEO/Kzs5OOQ4ODjY7d+fOHUaPHq28VqlUeHl5AWCbtywe7SexJToHpx+8RGOhorybgaxn5/Fs1UgS7pwAo4EKFSoApuGZQ4cOVQKC9u3bc+TIEU6cOIG/vz8ADx8+pGfPnrx8+RKA69ev06FDB+X+7du3T4N3QAghxMcsQwQFsbGxfPnll8yfP9/s1zGj0ciUKVMYNWoUzZo1o3DhwixZsoT4+HgCAgI+YI2FEOmJ0Wjk6NGj9O7dmyZNmtCpUyc2btxoNrznn9SuXVs5njhxovKFHGDs2LFmy42uWbuOOdtPU338HtxafIe1ZwEM2kR01/fQzf0Rjje28PTWebPy+/TpQ4cOHcibNy9z5swBTCsJDRs2jEqVKlG+fHm+/fZbZWWjhQsX4uHhQY4cOfDz8+PChQsAeHl5KUOVhBBCiH/rrYYPvW99+vShQYMG1KpVi59//llJv3//Pk+fPjX7x9ra2pqqVaty/Phxevbs+cbykpKSzP4Bj46OBkCr1aZYLzy1vCo3rcoXGYP0g/fvxYsXtGnThkOHDpmlL1myhHz58rFu3Tp8fX3/sZySJUtSunRpzp49y507d/Dx8eGLL75QygJQaazxqdORaUEuPDxj+tJvpTby/Pg6os9sxhAfyfCtby7/ypUrXLlyRXmtVquZM2cOPj4+Sn8pX748CxcupHv37srn1aNHj5RrsmfPztatW7Gzs5M+lo7J54AA6Qfi/fSB/1K2ymg0GtOsJqlg1apV/Pzzz5w9exYbGxuqVatG8eLFmTJlCsePH6dixYo8fvwYT09P5ZoePXoQHBzMrl273ljmmDFj+OGHH1KkBwQEmA0REEJkbFqtluHDhxMUFPSXeRwcHPDz8yM4OBiDwUCuXLmoXbs2pUqVSrFwwuPHjxk5cmSKibwWDplxLNkIx+J1Uds6AmBnYaRKNgNVPIwMG9RX2UfgdXnz5qVChQqcOnWK27dNm5SpVCpKlCihPP18kydPnhAYGMiZM2dISEggc+bMVK9enZo1a2Jvb/+f3iMhhBAfr/j4eNq2bUtUVBROTk5/mzddPyl49OgRAwYMYPfu3djY2Pxlvv/9h9toNP7tKkgjRoxg8ODByuvo6Gi8vb2pXbv2P75hb0ur1bJnzx78/f1TLOEqPh3SD96vxYsXKwGBu7s7Y8eOpXr16ly5coVRo0Zx9epVYmNjOXXqlHJNWFgYp0+fpmHDhgQEBKT47PH392f06NFs2LABlUt2nMo2w963CioL03/PnJlt6VwhJ01LeGJnZUlycjL9vzKtWmRlZcUvv/zCnTt3aN++PWXLllU+q548eUJkZCRubm64urr+Y9u6du2aKu+ReP/kc0CA9APxfvrAq9Ew/0a6DgrOnTtHWFgYpUqVUtL0ej2HDx9mxowZyprdT58+JVu2bEqesLAw3N3d/7Jca2trrK2tU6RrNJo0/8N8H/cQ6Z/0g/dj4cI/d/9dt24dlSpVAiB37twcP37cbEllW1tbLC0tlUUKtm3bRr9+/Vi8eLFZmfnz52fe4uXkbHqRtRfDePWoNfHRVaLPbKJL+wZ0rFgdlUqF0Wjku+++Izw8HIDGjRszYMAAAgMDKVeunFkfyJEjh7LvgPg0yOeAAOkHIm37wH8pN11PNK5ZsyZXrlzh4sWLyv9Kly7Nl19+ycWLF8mTJw8eHh7s2bNHuSY5OZlDhw4pK3kIIT5dN27cAExfuF8FBAAxMTEp1vk/d+4cERERrFy5UhmCs3TpUrOhR0ajkfXnQqg56SBr/j8gqOvnwcgyGp4FDCfhzkm+/+5bihQpQpcuXShYsCC//vqrcv2AAQPSsLVCCCHE20vXTwocHR1TjKm1t7fH1dVVSR84cCBjx44lf/785M+fn7Fjx2JnZ0fbtm0/RJWFEOmIlZVp3f+YmBi0Wq3yi8nmzZtTLFvs6OiIhYUFrVu35t69e4waNQqj0UiZMmXQ6XRkzlME1zq9CVe5AJA3qz0/Ni5MxXxZAAj76Se+/fZbAK5du8a1a9fMyp80aRIVK1aUSYVCCCHSpXT9pODfGDp0KAMHDqR3796ULl2ax48fs3v3bhwdHT901YQQH1jlypUBiIiIYN68eUr66yv2gGk40esbfrm5uSnH0clgWaYVxtrDCFe5YNQm0jingR0DqigBAcDo0aPZuHFjiqeUVatWZfv27WbzmIQQQoj0Jl0/KXiTgwcPmr1WqVSMGTOGMWPGfJD6CCHSrz59+rBhwwYA+vbty+HDh6lZsyY7duxIke/VhN/g4GD6DxiIbd4yOBStjW2+sqjUFgDE3TxKxP4/mJscQ/fKZ1M8yWzSpAlNmjQhNDSU8PBwsmbNioeHx3toqRBCCPFuMvyTAiGE+Cs1atSgT58+yus1a9bQs2dPjhw5oqRpNBrq1asHwKOX8XSdspHMnWbi1uJ77Hw+Q6W2oFTOTMxoUYBqmrvoY16QlJTEb7/99pf39fT0pEiRIhIQCCGEyDAkKBBCfNSmT5/OhAkTyJIli1n6q52BtVotZf2bUKzfHCpPOMBd6/xYOmZBHx+FZdAhdg+szPpeFWhYOh+LFy/GxcUFgNWrV8v8ACGEEB+NDDd8SAgh/guVSsU333xD//792bNnD0+ePMHFxYVixYrRqFUHwj3LY1+4JlEqU5CQcP88sZd3k3z/LFcvXcTH48+9S+zt7Slfvjw7d+4kMTGRqKioFMGGEEIIkRFJUCCE+CRYW1vTsGFDAKIStMw+GAQNvsdBZwAg7uYRIg8vQxcRCoCTk1OKfQP0er2yt4FarcbBweE9tkAIIYRIOzJ8SAiRbmm1Wq5du8b58+eJiIh45/KSdQb+OHKPqhMPMOdQEEk6A2VzZ2Z1t9Ls/aENp/ZupXXr1oBpF8ihQ4ei1+sBMBgM/Pjjj4SEhABQt27dv91pXQghhMhI5EmBECLdSUhIYMKECcyZM4enT58CYGlpSbNmzfj+++/x9fX9z2VeC43i67WXufHEtOV7fjcHhtcrSI2Cbv+/8pBpF/RvvvmGNWvWYDAYmDFjBlu2bOGzzz7j3Llz3L17VylPlhgVQgjxMZGgQAiRrsTFxVG3bl2OHj1qlq7T6VizZg2BgYHs3LmTihUr/qvyknUGZh64y8wDd9EZjGSy0zCsbkFalPLC0iLlw9KSJUsye/ZsvvrqK4xGIw8fPuThw4dmeX799Vdq1qz59o0UQggh0hkZPiSESFdGjBihBARqtZoGDRrQuXNnsmbNCkBsbCzNmzcnPj7+H8u6FhpF45nHmLrvDjqDkbp+HuweVJXWZXO8MSB4pUePHhw4cID69esr+xeAaYnTwMBAhg0b9o6tFEIIIdIXeVIghPigHj9+zIoVK3jw4AGWlpbMnz8fABsbGw4fPkyZMmUA0xOE+vXrc/jwYZ49e8aqVavo0qXLG8tM1hmYceAus157OvBj48I0LJrN7Ev+36latSpVq1YlMjKS8PBwMmXKRObMmVOn0UIIIUQ6I0GBEOKD0Gq1DBkyhFmzZimTeV/XoEEDJSAA03KgY8eOpVKlSgBs377dLCjQG4ycefCS1cduse/WC6J1pl2I6xb24OcmhcniYP1W9XRxcVH2JhBCCCE+VhIUCCE+iB49erB48eK/PL9jxw7u3btHnjx5lLRChQopxzExMWj1Bk4EhbPj6lN2XHlMZMKr4MICfVwkL/fO4dj2SM67TaJ27dpp1BIhhBAi45OgQAjx3h0/flwJCKysrPj666/5/PPPCQwM5McffwQgPj6ekSNHsmrVKuW6Tdt2YJOjKNbZCxHu50/Jn/YQk6hTzusTYki4e4r4W8dJeHAB9FquAvXr12ft2rU0bdr0fTZTCCGEyDAkKBBCvBcGg4GHDx8SHx/PjBkzlPQpU6bQq1cvAEqXLs3ixYuV1X7WrFlDq36jOffcyKGrD3kY7YR7m7EAhAMk6sjiYIX2wTlu71tD4sPLeHlmo3/37jg7t2XFihWcOXMGvV5Ply5d8Pf3lw3HhBBCiDeQoEAIkaZ0Oh2zZ89m2rRpZuv8A1hYWNC5c2ez1z/88AOdO3dGkyUnmap1ZtDWYOW8Sq1GFxWGszacIZ2aUypnJqzinuFbyDQ0yNvbm0uXLpEpUyYA+vXrR7Nmzdi8eTORkZEEBATQo0eP99BqIYQQImORoEAIkWa0Wi0tWrRgy5Ytbzyv1+s5cOAA9erVU9LqNG1Fgf0hJGQrhkqlxqjXEXt1H4n3z5P0+CZli/iwbds2ZSWgBQvWK9d+9dVXSkAApiVNhw0bxubNmwE4fPiwBAVCCCHEG0hQIIRIM+PGjTMLCCpXroy3tzfr168nKSkJgObNm/PkyRNU1nbMPhjEwiP3SPIsgQqIv3UUx3sHcIh8QqkCBej24yyaNWuGpeWfH13JycnK8esBwSuvLyP6el4hhBBC/EmCAiFEmkhKSmLmzJmA6Rf7wMBA6tSpA0Dfvn2pUKECAAnJWip3/Q59QX/idKY9BBIfXSXi4CLa1a3Igo0nzcoNCwtj1qxZLF26lJCQEGxsbJRzAQEBfPXVV2Z7ESxfvlw5fn31IiGEEEL8SYICIUSaOH36NGFhYQA0bdpUCQgAPvvsMzp07Mj6M8G4VG5HtIsH6CD5xUMiDy0m4e5pcuTIwc8//2xW5vnz56lbty7Pnz9X0rRarXJ89OhR2rRpwzfffIOLiwvLli1j3LhxAKhUqr/c7EwIIYT41ElQIIRIE1FRUcqxn5+f2bnDt58TVqILWTxiANDFhBN1LIDYy3vAaKBGjRosWrSIbNmyKddERERQv359JSBQq9X4+fkRHBxMdHS0km/16tWsXr06RX0GDx5Mzpw5U7WNQgghxMdC/aErIIT4+CQnJ5t9od+7dy8AV0KiaPfHKTosPM2NJzEYkuKIOLQEt9Oz+KZZBX6bOIErV66wb98+cuTIYVbmokWLePbsGQDly5fn/v37XL58madPn/L111//ZV1UKhWDBw9m/PjxadBSIYQQ4uMgTwqEEP+J0Wjk1KlT7Ny5k9jYWHLmzEmrVq1Qq9VMnz6dhQsXEhISglqtxt7enri4OM7cfkyl4UsJwRUACxXobx3g8c75GBKiGb1+Pc2aNfvb+65cuVI5Xrx4sRI02NraMmHCBLZt28bNmzcBaNiwIRqNBl9fX7p27Uru3LnT6N0QQgghPg4SFAgh/rWgoCC+/PJLTp06ZZY+ePBgbGxsiI2NVdIMBgNJ1pnIUrMPdgUrEYIao9GA8f5pHu+ejy7K9Kt/0aJFadSo0T/e++nTpwC4ublRoEABs3MqlYqqVasqQcGYMWMoVarUO7VVCCGE+JRIUCCE+FdCQkKoUqUKoaGhKc7pdDolILCwsKB4pVo8dysNucqiUlsAEHfjMJHHAtCFhyjX+fr6sn37djQazT/eP1OmTISEhPD8+XNCQkLw8vIyO3/u3DmzvEIIIYT492ROgRCfOJ1Ox5kzZ9i7d6/yS/ubfPvtt0pAkDdvXubNm8f+/fupX7/+/+dQYZOrOHV/3sDLz/qhyvMZKrUF8XdOErqwH/F7Z+BpryZr1qyUK1eOuXPncvbs2RRf7v/Kq+FFRqOR3r17K0GI0WhkxowZnD17FoDixYvLcCEhhBDiP5InBUJ8onQ6Hb/99hvTp083+/W/VKlSfPfdd9SvX5+dO3dy8+ZN9Hq9MqbfycmJ48eP4+bmBsDkGXNxLNMEx+L10GTOztVIUzlVfLIy2N+H0b1ms/35fbTAihUrqFSp0lvVt2fPnkyaNInY2Fi2bt1Kjhw5qFSpErdu3eL27dtKviFDhpjtUyCEEEKIfyZBgRCfIL1eT6tWrdiwYUOKc+fOnaNx48a4uLgQGRmZ4ry/vz9ubm5cD41m0bH7XMnTmsz5TcN/DElxWD2+wI7pI8nv7ghAhQoV2L59O4DZ/gL/VbZs2Vi3bh1NmzYlISGBiIgItm7dapZn8ODBfPnll299DyGEEOJTJUGBEJ+g2bNnKwGBSqWiYcOG+Pr6snv3bi5cuADwxoAAYNf5IFrOOMCZkHhTgoWG5Gf3iLmwnbjrhyiUPw/53ccp+V+flOzq6vpO9a5Tpw5nz55lwoQJrFq1iqSkJAAqV67MoEGDaNKkiTwlEEIIId6CBAVCfAKuXbvGH3/8wdWrV7GwsFDG3wNs3bqVBg0aAKZf2j09PdHr9QDKrsKPHoXw88INOJVriY23H2dC4lGroEFRT7LF3GTU+P5Keb6+voBprP+yZcvYsmULAJ6enlSoUOGd2+Lr68vixYuZO3cuL168wNHREScnp3cuVwghhPiUSVAgxEdMp9MxYMAAZs2a9cbz+fLlUwICMK3//yogAFBbanAuWpOAl0G4tSgKgFGnJfbKXjqV96JuFis2HT1qVuamTZuUVYqCgoKU9MGDB2NpmXofOdbW1mTPnj3VyhNCCCE+ZRIUCJHBJCcns2XLFi5evIharaZcuXLUrVsXCwuLFHmHDBnylwEBwN27d1mxYoUyDv/EiRMAqKztcSxWG0OZJvRfaRpOZKdRE356M+HH16KPfcnk3TD5DWXqdDqOHDlilta1a1cGDRr0li0WQgghRFqToECIDGTt2rX069ePZ8+emaXnzJmT+fPn4+/vr6Q9ePCA6dOnA6DRaPjpp5/o1KkTISEhlClTBqPRCMDw4cNp1aoVlpaWxKvtyFSzBw5FaqG2tgMgi4MVHT7LRcfPcjHux0OM3/0yRb2sra3p0aMHtra2LF68mLCwMFQqFZUrV6Zfv340b95cxvoLIYQQ6ZgEBUJkEKtWraJNmzZvPBccHEz9+vXZsWMHtWrVAmDJkiXKF/8RI0YwbNgwANzd3WnWrBnr168HTJuS/TovgEeOvtzK1wan///ynvw8mKaFnJg0oA02Ggt0Op2yihBA7969cXBwIFeuXHzxxRfKJOJff/2V2NhYrK2tsbKySps3QwghhBCpSoICITKA+Ph4evfurbyuX78+3bp1Q6vVMnPmTA4fPoxOp6Nnz57cuXMHtVrNnTt3lPxffPGFWXmjR49my5YtGGwzkalKB/546Ao8A5WKhHtniT6zicQHF7Hs35/rV3x58eIFEyZM4OrVqwCULl2amTNnvrGuKpUKR0fH1H8ThBBCCJFmJCgQIgNYt24dERERADRp0oQNGzYow3GaN29OlSpVOH78OPfu3WPv3r3Url0ba2tr5fpnz57h5+envM7l40u5nuN5aJ0blaVpj4G4aweJOrkG7YuHSr5p06Yxbdo0s7pYWVnx+++/p1lbhRBCCPH+qT90BYQQ/+z1JUR79+5tNj7fwsKCr776Snn9008/0b17d8LDw5W0sWPHotVqSdTqmX/4HlUm7OeRvQ8qSw0JDy7hfHI22YJ3UauMH8uXL2f48OFvXCnIw8OD7du3v/WuxEIIIYRIn+RJgRAZwKu5AQBqdcpY/tVTBICjR49y9H+WCd23bz++9TtiXboFsUbTE4Tk5w+IOLiIyvlc2X1wV4oyBwwYwNKlS7lx4wbW1tZUrVqVZs2amT2BEEIIIcTHQYICITKAkiVLKsdz5syhRo0aytOCFy9eKJOI38QmZzFcqnVG65EPrRF0MeFEHllG3NX9eGbzYN7cdW+8zsPDg6FDh6ZuQ4QQQgiRLklQIEQG8MUXXzB48GAiIyNZt24dzZs3VyYaDxw4kMTERMA0lGjOnDmUKlWKtXuOs+RSNBpv06ZjhqQ4ok6uI+bsFtRGHc2bNWXy5MnkyJHjQzZNCCGEEOmABAVCZAD29vZMmzaNDh06ALBx40Y2btyYIt/8+fOp1ugLpu+/w8aIXGi8wajXEnMhEO/oa/z29QAsLVtTrlw52Q1YCCGEEAoJCoT4wJKSkrh//z5Go5E8efL85Zj99u3bo1KpGDBgAC9fptxArHDNFhxRFebHSQd5NQWhUdFsbB3bg4hr50i2t0+xNKkQQgghBEhQIMQHEx4eztixY1m0aJEyUdjFxYVOnToxcuRIsmbNmuKadu3a0bx5czZs2MDFixeJiU9kxbG7OJZuREyWnOy/GQZA9QJZGVjLhyLZnVj/dSjw5gnKQgghhBAgQYEQH8STJ0+oVauW2QZjAJGRkUyZMoXNmzdz+PBhvLy8Ulxra2tL8y9a8yxraXafCMa1rhYAQ3I8DXyz8E3jMuTJ6gDAmjVrePLkCQDlypVL41YJIYQQIqOSoECID6Br165KQGBlZUX9+vVRq9UEBgaSmJjI/fv3+fLLLzl06FCKay88jODrtZcIeh4HgKM6meA9S4i9vIeVthrcHg2gRIkSHDx4kNmzZyvXvb4jshBCCCHE6yQoEOI9e/DgAXv37gXA09OTo0ePkjt3bgAePnxI5cqVefjwIYcPH+bcuXOUKlUKgCSdnql77zDnUBAGI2R1tOb7Rr5UzeNMzb3jOJMcT1Qy/Pjjjynu2bx5cxo3bvz+GimEEEKIDEUGGQvxBtHR0cyePZs2bdrQsmVLvv/+e4KDg1Ol7Nd3Jx46dKgSEADkyJGD4cOHK6+3bt0KwNXHUXw+/RizDpoCgsbFPdkzqAoNi3ri6GDPnj17aN26dYp5AzY2NgwcOJCVK1fKnAIhhBBC/CV5UiDE/1i7di3dunUjOjraLP3nn39myJAh/Prrr+/0BTs+Pl459vX1TXHez89POX4RHc/ve24z88BddAYjrvZW/NK0MHULZzO7xtnZmZUrVzJ+/Hi2bt1KZGQkHh4eNGnSBFdX17euqxBCCCE+Den6p8Nx48ZRpkwZHB0dcXNzo0mTJty6dcssj9FoZMyYMXh6emJra0u1atW4du3aB6qxyOgCAwNp3bp1ioAAwGAwMHHixL/dPfjvxMbGEhwcjKOjo5K2Z88eszxJOj3Ldp3EpXI7PNr/xjZNZabuu4POYKSws5ZtfcqnCAhelyNHDvr06cOoUaPo2rWrBARCCCGE+FfSdVBw6NAh+vTpw8mTJ9mzZw86nY7atWsTFxen5JkwYQKTJ09mxowZnDlzBg8PD/z9/YmJifmANRcZkdFoZPDgwRgMBgCaNWvGqVOnuHXrFqNHj8bCwgKASZMm/aehRMeOHaNx48Y4OzuTP39+lixZgkqlAmDq1KksXrqMgJMP6LjwFIW/28EevR/OFVpj7VkQVGq04Y94vnk820c2pUq5kikCYyGEEEKId5Wuhw/t3LnT7PWiRYtwc3Pj3LlzVKlSBaPRyJQpUxg1ahTNmjUDYMmSJbi7uxMQEEDPnj0/RLVFBnX06FHlC/dnn33G2rVrlWFCP/30E2AaQmQ0Glm0aBFjxoz5xzIXLVpEt27dlEDjFeP/7y5mkasUo47Eo7n+6umWCn1cBIkPLpEQfJHEBxfRx7xQrrt79y41a9bk4sWLZMmS5R1bLIQQQghhkq6fFPyvqKgoADJnzgzA/fv3efr0KbVr11byWFtbU7VqVY4fP/5B6igyruvXryvHX375ZYp5A+3atXtj3r9y6dIlunfvrgQEnp6eNG3aFDc3N6yzF8K93UTcmo5C4+qFPi6SiENLCF3Yl5AZ7Xmx7TfyW7zgwPYNaLVaDhw4QJEiRQB4/PgxM2bMSI0mCyGEEEIA6fxJweteDe2oVKkShQsXBuDp06cAuLu7m+V1d3f/2+EdSUlJJCUlKa9fjR/XarVotdrUrrpS9uv/L9Kf14OA8PDwFP+tnj9/rhxbWFj843/L33//Hb1eD0CPHj34/fffufcijhErT3IlwnQvQ3Iihuu74dY+7JPiSYwKB0Cj0bBx40ayZ8+O0WikYsWKrFu3Dl9fX/R6PQsXLmTUqFGp0m7xfslngZA+IED6gXg/feC/lJ1hgoK+ffty+fJljh49muLcq/HZrxiNxhRprxs3bhw//PBDivTdu3djZ2f37pX9G/87sVSkH6//4UyfPp28efPi4GDaGdhgMDBhwgTlvLOzM4GBgSnKMBqNxMbGYjAYWLduHWDagThnWX/aztjH5ZcqDKhRYST5xkGe7VuIMSGKVatWodPpaNu2LQA+Pj5cunSJS5cumZWfJ08e7ty5w6NHj9iyZQuWlhnmT1j8D/ksENIHBEg/EGnbB15f8fCfqIyvBjenY/369WPTpk0cPnzYbE33e/fukTdvXs6fP0+JEiWU9MaNG+Pi4sKSJUveWN6bnhR4e3vz4sULnJyc0qQNWq2WPXv24O/vj0ajSZN7iHdXv359ZWMxb29vunXrhouLCytXruTkyZMAODk5cf/+fbNVhJKSkpg7dy5z585VdipWWdli71eDrJ81w+D459OswpkMjGtdnqFfdVDmzYSEhODs7KyUmS9fPq5du2YW3BoMBvLly0dISAiWlpbExsbK3gMZkHwWCOkDAqQfiPfTB6Kjo8mSJQtRUVH/+B03Xf/MaDQa6devHxs3buTgwYNmAQFA7ty58fDwYM+ePUpQkJyczKFDhxg/fvxflmttbY21tXWKdI1Gk+Z/mO/jHuLtzZ49mwoVKvD8+XMePXrE999/b3ZerVazYMECZV4LmJYarVevnvIUS5M1N47F62DvVwO1tR0GwMZSRfNS3rQpnZ2g80fI4WLFqVOnAFN/zJo1K1ZWVlSuXJkjR45w9+5dVq1aRYcOHZT7zJs3j5CQEABq1Kjxxj4sMg75LBDSBwRIPxBp2wf+S7npOijo06cPAQEBbN68GUdHR2UOgbOzM7a2tqhUKgYOHMjYsWPJnz8/+fPnZ+zYsdjZ2SnDMIT4L/Lly8fx48fp3bt3isd5BQsWZPLkydSrV88svW+/fpy6FYJz5XbYF6iExtVLOacNf0TM+e1YhpynX99zuLo6cik2lp49exIREQFAy5YtsbKyAkxPxY4cOQJAx44dWbduHeXKleP48eNmw5X69euXJu0XQgghxKcpXQcFs2fPBqBatWpm6YsWLaJTp04ADB06lISEBHr37k1ERATlypVj9+7dZkM7hPgv8uXLx+7du7l9+zbHjh1Dq9Xi6+tLxYoVleE8RqORG09iWHPyDns05fHs0kK53spSTc2CbvhZv6R/q97K8qNeXl74+Phw9+5dZf6ClZUVX3/9tXJtixYt6Nq1KwsWLABg69atbN261ax+vXv3pkGDBmn6HgghhBDi05Kug4J/M91BpVIxZsyYf7VmvBD/hY+PDz4+PgAkJOs5ff8lZ4MjOB8cwdngl0Ql6ADQZPbCqEvG2zKGb1rXpEZBNxxtTI/rHp75mokTJwKg1+u5ceOGUr61tTUBAQEUK1ZMSVOpVMybNw9fX18mT57M48ePlXPe3t5888039O3b928n0gshhBBC/FfpOigQ4kMyGo0sPxnMuvOPufY4Cp3BPEg1aJNIvH+e+FvHiL97iskBy2hcPLtZnnbt2ilBgYODA3q9Hjs7O9q0aUP//v3Jnz9/ivuq1WoGDx5Mv379OHnyJOHh4WTNmpVy5crJakNCCCGESBPyDUN8MoxGI0aj8V+t2JOQrGfY+stsuRSqpDlpjDy7doKER1dJenyT5Gf3wKBTzv/22280b97crJxX8wPAtKzujz/+SGBgIPXr1//HyT8ajYbKlSv/2+YJIYQQQrw1CQrER81oNLJ9+3amT5/OwYMHSU5OJn/+/HTt2pWvvvqK+/fvs3z5ch49eoSjoyMNGjSgZKVa9Aq4yPUn0ViqVXxTpwBFXLTUKFdcWcrW1dWVCg3qcenSJR4+fAjAyZMnGTlyJL/88gsqlYrjx4+bDWtr06bNh3gLhBBCCCH+kQQF4qNlMBjo3bs3c+fONUu/c+cOw4cP58cff0yxqcfyPafxaJYM1g5kcbBi1pelKJs7M0OGDFECglatWrFo0SJsbW0xGAxUrlyZ48ePA6aN8QICArCxseHWrVtKufXr16do0aKyc6UQQggh0iUJCsRH6/fffzcLCLJnz07WrFm5ePEikHKXP8dSjchUoxuoLdA/v8+Mtv6UzW3aj2DDhg2AaUjPzJkzsbW1BUzj//fv30+WLFmIjY0FIDg42KzcsmXLsnz58jRpoxBCCCFEapDtUMVHKTk5md9++015/ccff/Dw4UMuXLjA9OnTzfJ2/GoA3f44TOZaPVGpLYi9up/HS4cw67dflDwvX74EIGfOnLi6uppdb21tTcOGDZXXGo0GS0tLSpYsyezZszl8+DCZMmVKi2YKIYQQQqQKeVIgPkqHDx9WNrtr1qwZXbt2Vc7t2LEDlaU1tvnL41CkJgedSsCdaNQqGFQ9F9/PW4RRl8zq1auZPn06zs7OuLu7Ex0dzb1793j06BHe3t5KeTqdjmPHjgGmJUWfPXuGi4uLLBsqhBBCiAxDnhSIdMtgMBAeHk5cXNx/vjYsLEw5rlSpEmCadHzmwUuu2RXDq+8ysn7+Dba5S4JKRdlcmVnerRz9avvx+eefA6anDUFBQcCfk4QNBgOdOnXiyZMnAMTFxdG/f38ePXoEmOYOZMqUSQICIYQQQmQo8qRApDuhoaFMnjyZRYsWKcN2ypUrR79+/WjTpg0Gg4Hbt28THx9Pzpw5yZo1a4oyXh/ic/rMGXZcecLUfXe4+TQG8lZEDeginxJ7bT9Vc9iw5tcFSv6oqCjl+NWyob169WLatGlERkayf/9+cuTIgZ+fH0FBQcpcArVazbBhw9LiLRFCCPGJSkxM5Pnz5x+6GiINGAwGvL29CQ0N/VfLpf8Va2tr3Nzc3rk+EhSIdOXKlSvUqlXL7Jd+gFOnTnHq1CkmTZrEixcvlF/m1Wo1jRo14rvvvqNw4cLs3r2b+/fvY2VlhYtLJpLdCnHItiInVpwHwM7KArvwW1zduoCkR1cBI+3WrFHuc/36dbZt2wZAlixZlB2NPTw82LZtGw0bNiQyMhKdTselS5eU69RqNfPnz5d9BYQQQqSaxMREwsLCyJ49OxYWFh+6OiKVGQwGnJ2dcXJyeqeg4Pnz50RHR+Pk5PRO9ZGgQKQbiYmJNGrUSAkIrK2tqVSpEqGhody4cQOACxcumF1jMBjYvHkz27dvx9HRkYiICECFnc9nODf9EWe33KZ8SXFYB5/ALfYWR/fvRq/XK2WsXr2a2NhYbt68ydy5c9HpTBuSdevWDWtrayVfxYoVuXr1KjNnzmT58uU8efIEZ2dnmjRpQv/+/SlatGhavj1CCCE+Mc+fP5eAQPyjLFmyEBISIkGB+HisXbtWWc6zZMmSbN++HQ8PD4xGIy1atFCWBQXw9/cnZ86cBAYGEhoaik5vIM7WHWe/+tgVqIBVlpyAKRiIPruZmDObMSTFcfcN912/fj3r1683SytevDgjR45MkTd79uyMHTuWsWPHpl7DhRBCiL8gAYH4J6k1j1GCApFurFu3TjmeMmUKHh4eACQlJXH48GGzvCNHjsSv1Gf4NTjPLws3YpO7BBa2f0bIGnTEnd/Gs8MrMSTF4ebmRliYacJylixZ6NKlC/b29syYMcNsrKalpSWtW7dm+vTpODo6pmVzhRBCCCHSDQkKRLoRHh6uHJctW1Y5PnPm/9q787ioyv2B458B2UFUlE1AXHDBHXFNBVIQt3I3NdfMzC01TG/e0uyqaeU1UjHN1DTF3HI3uQbkgoooau4LiClCoLLvM78/+HGuc6HSghl1vu/Xi9dr5jlnzvN96JHOd86zRJOSklL8RmWERd3WzD+ewfWD/wHAytMHgKLcTCpn32XuuIEEeDryMLk5jRtvIpviVYLu3r2LmZkZVatWVcbuzZw5k4MHD3Lnzh0qV66Mv78/Tk5OummwEEIIIcQzQpYkFc8MBwcH5fWRI0eU1xkZGRiZWWHTui81x63Cvv8HXE8v7rrG6fdIOx7K/Y0z+DV4KJZnNzPQ2xVbSxPc3d0ZNGgQUJwU3Lp1Czs7O63JPGZmZrz66qtMmjSJESNGSEIghBBCPAMiIiJQqVQ8evRI36GU6cqVK7Rr1w5zc3NatGhBfHw8KpWK2NhY4NmPvyySFAi9OX36NCNGjKBGjRpYWFgQFRWlHJs8eTLXr1/nRnIGu+9ZUnPCeqq9/AaVqjiiycvkrc61OTrTD5vjy3l0ZCN5dy+DRq21qRigNemmoKBAZ20TQgghDNWoUaPo06ePVtm2bdswNzdn8eLF+gmqnM2ZMwcrKyuuXr3K4cOHcXV1JTExkSZNmpR5/rp166hSpYpug3xKMnxIlJKRkcHGjRvZuXMnDx48wMnJiSFDhtC/f3+t1Xj+jiVLlvDuu+9qlZVsCAZw9dZt2k34HBuvnqAywsjUnPzkODJiduNlp2H8h99TpYoF1atX17rGyJEjldfZ2dnKPAUjIyMaNmxYLrELIYQQ4sl9/fXXTJw4keXLlzN27Fh9h1Mubt68Sc+ePalVq5ZSVjIXsiIVFRWhUqn+1hKmv0eeFAgtJ06coF69ekyYMIGwsDBiYmLYu3cvw4YNo3nz5soOv3/Hrl27tBKCypUr06hRI2X2vEXd1ji/sRybVr1BZUT2tSjub5pF4trJZJ4P4+fw/2Bvb4+dnR2HDx9WrmNkZMSVK1e4du0aP/74I/7+/ty7dw+AXr16ydAgIYQQzzWNRkN2fqFefjQazV+KefHixUyaNIlNmzZpJQQbN27E29sbGxsbHB0dGTp0aKk9ih5X8k373r17adCgAZaWlgwYMICsrCzWr1+Pu7s7VatWZfLkyVrLjv9ZPSXDfA4fPoy3tzeWlpZ06NCBq1ev/m4sKpWKmJgY5s2bh0qlYu7cuaWGDz0uIiKC0aNHk5aWhkqlUj4DkJ+fz8yZM6lZsyZWVla0bduWiIiIMtvt6emJmZmZslJjeZMnBUJx69YtAgMDtXb0fdzVq1fp2rUrsbGx2Nra/uV65s+fr7yeNWsWH374IRYWFkRfuMqwz3aS79QUAHVGMr/tD0aTeJkuXbrg3rszK1euRK1WU1hY+P97EvyXWq1m1qxZzJo1S6vc2tpalhAVQgjx3MspKMLzwx/1Uveled2wNH2628ZZs2axfPly9u7dS9euXbWO5efn8/HHH9OgQQOSk5OZNm0ao0aNYv/+/b97vezsbIKDgwkNDSUjI4N+/frRr18/qlSpwv79+7l16xb9+/enY8eODB48+KnqmT17Np9//jk1atRg/PjxjBkzhmPHjpUZR2JiIl27diUwMJCgoCCsra3/uyBKGTp06MDSpUv58MMPlWTD2toagIkTJ3Lv3j1CQ0NxdnZm586dBAYGcuHCBTw8PJR2L1y4kK+//ho7O7ty2b24LJIUCMWiRYuUhKBTp04EBwfTvHlzIiMjmTBhApcvXyY+Pp7Vq1cTFBT0l+q4ceMG0dHRADRv3ly5Wd8SncD8ffHkOzVFoy4iPfoHGmviib8Zo2TVAFOmTGH58uWEhYWRk5NDnTp1GDZsGIcPH2bz5s2l6nNxcWHr1q00btz4L8UrhBBCiKd34MABdu3axeHDh3n55ZdLHR8zZozyuk6dOgQHB9OmTRsyMzOVG+b/VVBQQEhICHXr1gVgwIABbNiwgaSkJKytrfH09MTPz4/w8HAlKXjSeubPn4+PT/FqhrNmzaJnz57k5uZibm5eKg5HR0cqVaqEtbW1MmToj5ICU1NTbG1tUalUWkOMrl+/zvbt20lISMDFxQWAoKAgDh48yNq1a5V7pIKCAlasWEHz5s1/t47yIEmBAIoz6e+++w4ozl537dpF1apVAfD19WX79u14enoCsHbt2idOCgoLC9m5cydff/01ly9f1nqk19nXjx1n7rLmaByXEtMBaOxcmeNLJ/Io7gLJHh6lxsw1aNCA4ODgUvW88cYbfPDBB3z77bfExcVhZWVFt27d6NOnD6ampk//CxFCCCGeMRYmxlya101vdT+NZs2akZKSwocffkjr1q1L7f1z9uxZ5s6dS2xsLA8ePECtVgOQkJCg3G/8L0tLSyUhgOJVC93d3bVu7h0cHLSGBz1pPc2aNVNelww3Tk5Oxs3N7ana/TTOnDmDRqMpNecxLy8POzs75b2pqalWfBVFkgIBQFJSEllZxZt7+fn5KQlBiUaNGtGwYUOuXLnCzZs3SUhIoFKlSjg5Of3uTnqPHj2id+/eHD16VKvcyKIyNi26s1vTmt1bzwHFf2ym+Xvg66ShwTsXAJ56ln6jRo1YuHDhU31GCCGEeF6oVKqnHsKjLzVr1mT79u34+fkRGBjIwYMHlcQgKyuLgIAAAgIC2LhxIzVq1CAhIYFu3bqRn5//u9c0MTHReq9SqcosK7nxf5p6Hr9OyX1NyXUqilqtxtjYmOjo6FLteDzRsbCwKLddi//I89GzRIWztLRUXickJJQ6npeXp6wOlJ+fr8y2d3d35+2332by5MlYWFgo52s0GgYNGqSVENjVaYpRQz/MG/pgZFK8ipFpUTbv9GjB0Da1qKTOU/YVAOjXr1/5NlIIIYQQOuPm5kZkZCR+fn4EBATw448/UrlyZa5cuUJKSgqffPKJspT46dOny71+XdXzJExNTbVGSwC0bNmSoqIikpOTlaFL+iSrDwkA7OzsaNmyJQDnzp1j69atWsdnz56tzDd4fAWC+Ph4Zs6cSdeuXcnMzFTKo6Ki+E/4z5jX8ca591S85uzFeuBCLJsGYGRiRl7idVL2fMb1JUMJmdyX0cMG4ebmxsGDBwGwtbXljTfeqOhmCyGEEKICubi4EBERQWpqKgEBAaSlpeHm5oapqSlffvklt27dYvfu3Xz88cflXreu6nkS7u7uZGZmcvjwYVJSUsjOzqZ+/foMHDiQUaNGsWPHDuLi4oiOjmbRokV/OOG6okhSIBRTpkxRXg8aNIhXXnmFOXPm0LlzZz7//HPlmKmpKd179ealrj2oVMURkxrunI5/wPCgfxF2KYl1x+J4Z/tVXKZswmHgXEw8u5KaC6bGRgQ2dmTLuHaYRvybrEsRoC7k4sWL7Nq1S9n1z9LSkh07dlCjRg0d/waEEEIIUd5q1qxJZGQkjx49wt/fHxMTE9atW8fWrVvx9PTkk08+4bPPPiv3emvUqKGTep5Ehw4dGD9+PIMHD6ZGjRrKJm7Lly9n+PDhvPvuuzRo0IBXXnmFkydPltqMVRdUmr+68OwLJD09HVtbW9LS0rR2wC1PBQUF7N+/nx49epQaN/asUKvVjBgxQplwXJYa9b0Y8s/lHL6RRmZe4Z9eszA9mYEvedKzpTsd6tkpYyGXLVvG5MmTtc41Nzfntdde47333qNRo0Z/rzHPqOehH4iKJX1ASB8Q8GT94M6dO3q5ORS6oVarSU9Pp3Llyn97M7Lf6ytPc48rcwqEwsjIiPXr19O8eXOWLl2qbPylMrXAqpEP1i0CMXOsx66LqcXlKrA0MaYgN4ustIdoCvPQFOSizskkN+E8ObdOU5CSQEDv/XT1bKtV15UrV5TX33zzDV26dMHe3r7Mpb+EEEIIIUTFkqTAgGk0Go4dO8bZs2dRqVS0bdsWb29vZsyYwdSpUzl05BTfnX9E1N18NMbFy3qaGEH3ps681saVdrXtSEq6T+PGjUttJPa4oUOHEhcXp6wmdPbsWdauXQsUPx149dVXqVatWoW3VwghhBBClE2SAgMVHh7OpEmTuHTpklZ5q1atWLlyJR6Nm7PkbAE3fwOMTSlIvUPGuR/5aFQPpg3pqZw/f/58rYRg4sSJjB07lgMHDjB79mw0Gg2PHj3Czc2Nfv36kZqayoEDB5QZ+CNHjpSEQAghhBBCzyQpMECHDh2iZ8+eFBaWnhMQExODj68fXeZt5+ZvBTjZmjPBy5IRgb0AWBB3lJaeHvj4+JCVlcWaNWuUz1pZWfHJJ59gbW1NixYtMDY2ZubMmQBkZGSwfv16rbratWuntwk/QgghhBDiv2T1IQOTn5/P6NGjlYSgdevWhISEEBwcTOPGjQEwa/8655MLsDAxZvUIb4Z3a09gYCBQvI23n58ftWvXxs3NjdzcXOXa06dP19psIygoqMwNyBwcHJgzZw6HDx/+3a3MhRBCCCGE7siTAgOza9cuZQLxyy+/zKFDhzA2Lt66fNy4cbQc9A7ZjXqh0ah5s6k5TWraArBp0yZ69OjBiRMnALh9+7bWdV1cXJgzZ45WWVFRkbIboJOTE/v27cPMzAwPDw9ZcUMIIYQQ4hkiTwoMzPHjx5XX06ZNUxICgBO308lpVDxM6FHkenJvnFSOVa1alcjISL755hvat2+PtbU1tra2mJoWT0C+f/8+169f16pr3bp1pKenA8Xr87Zs2RJPT09JCIQQQgghnjGSFBiYx+cR2NjYKK+vJ2Uw6bszaFCReeE/pJ/cXmrOgampKaNHj+b48eNkZGTw6NEjgoKClOt27NiRefPmsWPHDsaPH8/bb7+tfHbChAkV3DIhhBBCCPFXyfChF0x2djYajQYrKyulTKPRcOnSJVJSUrCzs1PK161bh4+PDw+y8nlj/Wky8gqxzLrH7R+XAdCkSZM/rW/mzJns2bOHCxcukJqaWmoIEcDo0aPx8/Mrh9YJIYQQQoiKIEnBCyA3N5dVq1axcuVKLl++DED9+vUZN24cNjY2LF26VCmH4k3K1Go169atA/PK3KvTk4QHBZgVZnJ1TRAUFeLo6EivXr3+tO7KlSsTHh7OuHHj2LlzJ49vkG1lZcW0adOYO3cuKpWq3NsthBBCiBeDSqVi586d9OnTp8LqiIiIwM/Pj4cPH5a5EIqhk6TgOZeenk5gYCBRUVFa5deuXVOG9vyvksm/Fh7t+I9JW4xTC1DnZRG3YQbqnOI5AEuWLFHmC/wZOzs7tm/fTlxcHPv27SM9PZ2aNWvSt2/fP91SWwghhBAVIyMjgzVr1rBmzRpu3LiBhYUFXbp0YfLkyXTu3LlC6ly5ciUzZszg4cOHVKpUfJuZmZlJ1apVadeuHUeOHFHOPXLkCJ07d+bq1asVEot4OpIUPOfeeustrYTAy8sLIyMjTp8+rXVex44dadOmDVFRUZyIiaVal3FYN/MHID/pFil7P6Mg9Q7W1tZ8+eWXDBky5KljqV27NpMmTfp7DRJCCCHE33b79m38/f21FgHJzc1l27ZtbNu2jVmzZrFgwYJyf5Lv5+dHZmYmp0+fpl27dkDxzb+joyPR0dFkZ2djaWkJFH9z7+zsTP369cs1BvHXyETj51hcXBxbtmwBwNbWlqioKGJiYoiOjqZt27Za565evZrPP/+cLzbtpcm732HdzB+NRo3J9XBeLophaE8/li9fzq+//sqoUaP00BohhBBClIfCwkJ69eqllRA0aNCAatWqKe8/+eQTvv7663Kvu0GDBjg7OxMREaGURURE8Oqrr1K3bl2tVRBLhvOUSElJoW/fvlhaWuLh4cHu3bu1rn3p0iV69OiBtbU1Dg4ODB8+nJSUFOW4RqNh8eLF1KlTBwsLC5o3b862bdvKvY0vKkkKnmM7duxQxvAHBQUpGXlBQQHR0dFa527auoPFB68w+Kso0tWmaDJTSNr0D27vCebbdd+wbt06JkyYgK2trc7bIYQQQojys3v3bn755RcA6tWrx7lz57hy5QqJiYl8+umnynkLFy5UhhSXJ19fX8LDw5X34eHh+Pr64uPjo5Tn5+cTFRWllRR89NFHDBo0iPPnz9OjRw+GDRvGgwcPAEhMTMTHx4cWLVpw+vRpDh48SFJSEoMGDVI+/89//pO1a9cSEhLCxYsXmTZtGq+//jqRkZHl3sYXkQwf0rOCggIePXqEjY0N5ubmf3hucnIyq1atIjQ0lKSkJIqKipRjjz8ZyM3NRa1WU6mKIxb12mBRty0bMpuiibgJQH8vF459+SkJv15UYjAzM6uA1gkhhBBC1zZv3qy8XrZsGc2aNQOKlxYPCgri0KFDhIWFERcXx8mTJ2nfvn251u/r68u0adMoLCwkJyeHs2fP0rlzZ4qKiggODgbgxIkT5OTkaCUFo0aNUoYvL1iwgC+//JJTp04RGBhISEgIXl5eLFiwQDn/m2++wdXVlWvXrlGzZk2WLFnCTz/9pLSnTp06HD16lK+++gofH59ybeOLSJICPbl48SKfffYZW7ZsIScnByMjI7p168b06dNxdHTkq6++IioqiqKiIpo1a0aHDh14//33lYz5f61fvx5/f38u/JrGnvP3cBm3CuOqzspxDVC3hhVBAQ1obqfhy9eLH985ODhIQiCEEEK8QBITE5XXvr6+pY77+voSFhZW6tzy4ufnR1ZWFtHR0Tx8+JD69etjb2+Pj48Pw4cPJysri4iICNzc3KhTp47yuZLkBYpXMLSxsSE5ORmAmJgYwsPDsba2LlXfzZs3SUtLIzc3F39/f61j+fn5tGzZstzb+CKSpEAP9u3bR//+/cnLy1PK1Go1Bw4c4MCBA6XOj42N5dtvv1Xeq1Qq3NzcuHPnjvLYb2t4DInzdnAzu/gG37iqM5qiQnLvXCTn5imCZ73JqP6+XLhwgf79x1FQUAAg8weEEEKIF0zVqlWV12fPnlWGFz9eVta55aVevXq4uLgQHh7Ow4cPlW/pHR0dqV27NseOHSM8PJyXX35Z63MmJiZa71UqlXKfo1ar6d27N4sWLSpVn5OTkzJcat++fdSsWVPruHz5+WQkKdCx27dvM3DgQCUhqFKlCu3atePixYvcuXOn1PklewqUcHZ25tixY7i7u3P//n3a9HiNPI8uWNT24mY2oC6i0v1fSIw+SE7cGTR5WQCMHrCLSVZWZGVlKdeqXr06U6ZMqdgGCyGEEEKn+vbty969ewGYPn06e/bsUTYv3b17N9u3bwfA3t6eDh06VEgMfn5+RERE8PDhQ2bMmKGU+/j48OOPP3LixAlGjx79xNfz8vJi+/btuLu7K0udPs7T0xMzMzMSEhJkqNBfJEmBjoWEhJCTkwNA//79Wb9+PVZWVmRmZmJvb68cq1WrFufOncPMzAwnJycePXoEwL1798gpUBN1M5Vl4fEYBczAAtAUFZL5y2HSo76nMC1Jqc/ExER5KvB4QuDo6Mi+fftwdv7vECMhhBBCPP9ee+01PvjgA+7du0dUVBS1atXi5Zdf5u7du5w5c0Y5b9KkSRX2Lbqfnx8TJ06koKBA6ybdx8eHt99+m9zcXK35BH9m4sSJrF69miFDhjBjxgyqV6/OjRs3CA0NZfXq1djY2BAUFMS0adNQq9V07NiR9PR0jh8/jrW1NSNHjqyIZr5QJCnQsR9++AGASpUqsWLFCq4/KODYqRucP38B05avYqpSgUrFI5URS3+6hcbYlEo+43GwqoKxVVWMrarSfc1/dyeuZKTC+rdfuLh1iVYy0KxZM8aPH0///v0JDQ3l+++/JzU1lerVqzN48GBGjBghG4sJIYQQLyBLS0t27dpFt27dePDgAVlZWezZs0frnAEDBvCPf/yjwmLw8/MjJyeHhg0b4uDgoJT7+PiQkZFB3bp1cXV1feLrlYyUmDlzJt26dSMvL49atWoRGBiIkVHxYpoff/wx9vb2LFy4kFu3blGlShW8vLx4//33y719LyJJCnQsNTUVKH4SYG9vz56jcXz641XAlCqdXtc6d+3JewBYNexY6jrWZpXo3dyZt31q4+M9kcK0JFQqFQ8fPsTKykrr0dqUKVNkmJAQQghhQLy9vYmJiWHRokVs2LBBGS3QtGlTpkyZwujRozE2Nq6w+t3d3ZVl0x/n4uJSZnlZZSWjJEp4eHiwY8eO361TpVL94T2Pr69vmfWIYi9MUrBixQo+/fRTEhMTady4MUuXLqVTp076DquUGjVqkJaWRlxcHL/++isNHGwY7O3K5csXOXb0GGjU/99hNbw17k2q2FhxaNdWTkQcoijzIUVZD3lj6ABWfvIFGo2GRYsWER8fD4C/v7/sMyCEEEIIoPjGPCQkhC+++IKkpCQsLCyoXr26vsMSz6gXIinYsmULU6dOZcWKFbz00kt89dVXdO/enUuXLuHm5qbv8LQMGjSIBQsWoFarGTNmDBs3bmTRgGacPw/NPxyqnOfj48PCga0AaG/pg8/KD5Vju3dsJSfjETExMVy8eFEpnzp1qs7aIYQQQojng6mp6VMN1RGG6YXY0XjJkiW88cYbjB07lkaNGrF06VJcXV0JCQnRd2ilvPXWW8q3+WFhYbi6utK6dWs6d+6sdd6pU6cYO3YskydP1tqtD4rXFP7222+1EoI5c+bQvXv3im+AEEIIIYR44Tz3SUF+fj4xMTEEBARolQcEBHD8+HE9RfX7nJyc2L17tzLJNz8/n9OnT5OWlqZ1Xk5ODmvWrGHZsmUkJRVPILaysqJNmzZa53Xo0IHt27czd+5cncQvhBBCCCFePM/98KGUlBSKioq0ZrZD8U699+/fL/MzeXl5WhuHpaenA1BQUKAs31neSq5bUFBA+/btOXPmDCtWrGDTpk3cv38fGxsbXnnlFYYOHcq2bdsIDQ1Vlic1Njamd+/efPzxxzRo0IDffvuN3377japVq+Lk5KR1ffFse7wfCMMkfUBIHxDwZP1ArVZr7VUkXiwlk541Gs3f/u+sVqvL7EtP83dGpXnOp2Hfu3ePmjVrcvz4cdq3b6+Uz58/nw0bNnDlypVSn5k7dy4fffRRqfJNmzZhaWlZofGWRa1WK8tplcjKyiI+Ph61Wo2rqytVqlTReVxCCCGE0B9HR0c8PDxK3SMI8TiNRsONGze4d+9eqWPZ2dkMHTqUtLS0P12K/rl/UlC9enWMjY1LPRVITk4u9fSgxD/+8Q+mT5+uvE9PT8fV1ZWAgIAKW7u/oKCAsLAw/P39S23jLQyH9AMhfUBIHxDwZP0gNzeXBw8e4OzsXKHLhwr90Gg0ZGRkYGNjg0ql+svXSUlJoW7durRo0aLUsZLRME/iuU8KTE1NadWqFWFhYfTt21cpDwsL49VXXy3zM2ZmZmXu4GdiYlLhf6B1UYd49kk/ENIHhPQBAX/cD0qOJSUlyfr6LyC1Wk1qaip2dnZ/62mQmZkZ1apVK/PY0/yNee6TAoDp06czfPhwvL29ad++PatWrSIhIYHx48frOzQhhBBCiL/M3NwcFxcXfYchKkBBQQGxsbE0bdr0mfiC4IVICgYPHkxqairz5s0jMTGRJk2asH//fmrVqqXv0IQQQgghhHjmvRBJAcCECROYMGGCvsMQQgghhBDiuSPT2YUQQgghhDBwkhQIIYQQQghh4F6Y4UN/R8mM/qdZtulpFRQUkJ2dTXp6+jMxmUToh/QDIX1ASB8QIP1A6KYPlNzbPsnqVZIUABkZGQC4urrqORIhhBBCCCHKV0ZGBra2tn94znO/o3F5UKvV3Lt3729vHvFHSjZIu3PnToVtkCaefdIPhPQBIX1AgPQDoZs+ULJBmrOz85/uhSBPCgAjIyOdrQFcuXJl+ccvpB8I6QNC+oAApB+Iiu8Df/aEoIRMNBZCCCGEEMLASVIghBBCCCGEgZOkQEfMzMyYM2cOZmZm+g5F6JH0AyF9QEgfECD9QDx7fUAmGgshhBBCCGHg5EmBEEIIIYQQBk6SAiGEEEIIIQycJAVCCCGEEEIYOEkKhBBCCCGEMHCSFOjIihUrqF27Nubm5rRq1YojR47oOyShIwsXLqR169bY2Nhgb29Pnz59uHr1qr7DEnq0cOFCVCoVU6dO1XcoQsfu3r3L66+/jp2dHZaWlrRo0YKYmBh9hyV0pLCwkH/+85/Url0bCwsL6tSpw7x581Cr1foOTVSgn3/+md69e+Ps7IxKpeKHH37QOq7RaJg7dy7Ozs5YWFjg6+vLxYsXdR6nJAU6sGXLFqZOncrs2bM5e/YsnTp1onv37iQkJOg7NKEDkZGRTJw4kRMnThAWFkZhYSEBAQFkZWXpOzShB9HR0axatYpmzZrpOxShYw8fPuSll17CxMSEAwcOcOnSJT7//HOqVKmi79CEjixatIiVK1eybNkyLl++zOLFi/n000/58ssv9R2aqEBZWVk0b96cZcuWlXl88eLFLFmyhGXLlhEdHY2joyP+/v5kZGToNE5ZklQH2rZti5eXFyEhIUpZo0aN6NOnDwsXLtRjZEIffvvtN+zt7YmMjKRz5876DkfoUGZmJl5eXqxYsYJ//etftGjRgqVLl+o7LKEjs2bN4tixY/Kk2ID16tULBwcH1qxZo5T1798fS0tLNmzYoMfIhK6oVCp27txJnz59gOKnBM7OzkydOpWZM2cCkJeXh4ODA4sWLeKtt97SWWzypKCC5efnExMTQ0BAgFZ5QEAAx48f11NUQp/S0tIAqFatmp4jEbo2ceJEevbsSdeuXfUditCD3bt34+3tzcCBA7G3t6dly5asXr1a32EJHerYsSOHDx/m2rVrAJw7d46jR4/So0cPPUcm9CUuLo779+9r3SeamZnh4+Oj8/vESjqtzQClpKRQVFSEg4ODVrmDgwP379/XU1RCXzQaDdOnT6djx440adJE3+EIHQoNDSUmJobTp0/rOxShJ7du3SIkJITp06fz/vvvc+rUKaZMmYKZmRkjRozQd3hCB2bOnElaWhoNGzbE2NiYoqIi5s+fz5AhQ/QdmtCTknvBsu4Tb9++rdNYJCnQEZVKpfVeo9GUKhMvvkmTJnH+/HmOHj2q71CEDt25c4d33nmHQ4cOYW5uru9whJ6o1Wq8vb1ZsGABAC1btuTixYuEhIRIUmAgtmzZwsaNG9m0aRONGzcmNjaWqVOn4uzszMiRI/UdntCjZ+E+UZKCCla9enWMjY1LPRVITk4ulRWKF9vkyZPZvXs3P//8My4uLvoOR+hQTEwMycnJtGrVSikrKiri559/ZtmyZeTl5WFsbKzHCIUuODk54enpqVXWqFEjtm/frqeIhK7NmDGDWbNm8dprrwHQtGlTbt++zcKFCyUpMFCOjo5A8RMDJycnpVwf94kyp6CCmZqa0qpVK8LCwrTKw8LC6NChg56iErqk0WiYNGkSO3bs4KeffqJ27dr6DknoWJcuXbhw4QKxsbHKj7e3N8OGDSM2NlYSAgPx0ksvlVqO+Nq1a9SqVUtPEQldy87OxshI+9bL2NhYliQ1YLVr18bR0VHrPjE/P5/IyEid3yfKkwIdmD59OsOHD8fb25v27duzatUqEhISGD9+vL5DEzowceJENm3axK5du7CxsVGeGtna2mJhYaHn6IQu2NjYlJpDYmVlhZ2dncwtMSDTpk2jQ4cOLFiwgEGDBnHq1ClWrVrFqlWr9B2a0JHevXszf/583NzcaNy4MWfPnmXJkiWMGTNG36GJCpSZmcmNGzeU93FxccTGxlKtWjXc3NyYOnUqCxYswMPDAw8PDxYsWIClpSVDhw7VbaAaoRPLly/X1KpVS2Nqaqrx8vLSREZG6jskoSNAmT9r167Vd2hCj3x8fDTvvPOOvsMQOrZnzx5NkyZNNGZmZpqGDRtqVq1ape+QhA6lp6dr3nnnHY2bm5vG3NxcU6dOHc3s2bM1eXl5+g5NVKDw8PAy7wNGjhyp0Wg0GrVarZkzZ47G0dFRY2ZmpuncubPmwoULOo9T9ikQQgghhBDCwMmcAiGEEEIIIQycJAVCCCGEEEIYOEkKhBBCCCGEMHCSFAghhBBCCGHgJCkQQgghhBDCwElSIIQQQgghhIGTpEAIIYQQQggDJ0mBEEIIIYQQBk6SAiGEMHARERGoVCoePXqkl/p/+uknGjZsiFqtrvC6Lly4gIuLC1lZWRVelxBCPE8kKRBCCAPi6+vL1KlTtco6dOhAYmIitra2eonpvffeY/bs2RgZVfz/kpo2bUqbNm3497//XeF1CSHE80SSAiGEMHCmpqY4OjqiUql0Xvfx48e5fv06AwcO1Fmdo0ePJiQkhKKiIp3VKYQQzzpJCoQQwkCMGjWKyMhIvvjiC1QqFSqVivj4+FLDh9atW0eVKlXYu3cvDRo0wNLSkgEDBpCVlcX69etxd3enatWqTJ48WevGOj8/n/fee4+aNWtiZWVF27ZtiYiI+MOYQkNDCQgIwNzcXCk7d+4cfn5+2NjYULlyZVq1asXp06eV48ePH6dz585YWFjg6urKlClTtIYD5eXl8d577+Hq6oqZmRkeHh6sWbNGOd6tWzdSU1OJjIz8m79RIYR4cUhSIIQQBuKLL76gffv2vPnmmyQmJpKYmIirq2uZ52ZnZxMcHExoaCgHDx4kIiKCfv36sX//fvbv38+GDRtYtWoV27ZtUz4zevRojh07RmhoKOfPn2fgwIEEBgZy/fr1343p559/xtvbW6ts2LBhuLi4EB0dTUxMDLNmzcLExAQonhPQrVs3+vXrx/nz59myZQtHjx5l0qRJyudHjBhBaGgowcHBXL58mZUrV2Jtba0cNzU1pXnz5hw5cuQv/R6FEOJFVEnfAQghhNANW1tbTE1NsbS0xNHR8Q/PLSgoICQkhLp16wIwYMAANmzYQFJSEtbW1nh6euLn50d4eDiDBw/m5s2bbN68mV9//RVnZ2cAgoKCOHjwIGvXrmXBggVl1hMfH6+cXyIhIYEZM2bQsGFDADw8PJRjn376KUOHDlXmRXh4eBAcHIyPjw8hISEkJCTw/fffExYWRteuXQGoU6dOqXpr1qxJfHz8n//ShBDCQEhSIIQQohRLS0slIQBwcHDA3d1d6xt3BwcHkpOTAThz5gwajYb69etrXScvLw87O7vfrScnJ0dr6BDA9OnTGTt2LBs2bKBr164MHDhQiSUmJoYbN27w3XffKedrNBrUajVxcXFcuHABY2NjfHx8/rB9FhYWZGdn/8lvQQghDIckBUIIIUopGa5TQqVSlVlWsoyoWq3G2NiYmJgYjI2Ntc57PJH4X9WrV+fhw4daZXPnzmXo0KHs27ePAwcOMGfOHEJDQ+nbty9qtZq33nqLKVOmlLqWm5sbN27ceKL2PXjwQCvpEUIIQydJgRBCGBBTU9MKWXWnZcuWFBUVkZycTKdOnZ7qc5cuXSpVXr9+ferXr8+0adMYMmQIa9eupW/fvnh5eXHx4kXq1atX5vWaNm2KWq0mMjJSGT5Ull9++YUBAwY8cZxCCPGik4nGQghhQNzd3Tl58iTx8fGkpKSU24Zh9evXZ9iwYYwYMYIdO3YQFxdHdHQ0ixYtYv/+/b/7uW7dunH06FHlfU5ODpMmTSIiIoLbt29z7NgxoqOjadSoEQAzZ84kKiqKiRMnEhsby/Xr19m9ezeTJ09W2jdy5EjGjBnDDz/8QFxcHBEREXz//fdKHfHx8dy9e/cPkwYhhDA0khQIIYQBCQoKwtjYGE9PT2rUqEFCQkK5XXvt2rWMGDGCd999lwYNGvDKK69w8uTJ313hCOD111/n0qVLXL16FQBjY2NSU1MZMWIE9evXZ9CgQXTv3p2PPvoIgGbNmhEZGcn169fp1KkTLVu25IMPPsDJyUm5ZkhICAMGDGDChAk0bNiQN998U2vJ0s2bNxMQEECtWrXKre1CCPG8U2k0Go2+gxBCCGG43nvvPdLS0vjqq68qvK68vDw8PDzYvHkzL730UoXXJ4QQzwt5UiCEEEKvZs+eTa1atXSyw/Dt27eZPXu2JARCCPE/5EmBEEIIIYQQBk6eFAghhBBCCGHgJCkQQgghhBDCwElSIIQQQgghhIGTpEAIIYQQQggDJ0mBEEIIIYQQBk6SAiGEEEIIIQycJAVCCCGEEEIYOEkKhBBCCCGEMHCSFAghhBBCCGHg/g9GT/bBDY1MnwAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "dt = 0.1\n", "wheel_sigma = 1.5\n", "kf = KalmanFilter(dim_x=2, dim_z=1)\n", "kf.F = array([[1., dt], [0., 1.]])\n", "kf.H = array([[1., 0.]])\n", "kf.x = array([[0.], [1.]])\n", "kf.Q *= 0.01\n", "kf.P *= 100\n", "kf.R[0, 0] = wheel_sigma**2\n", "\n", "random.seed(1123)\n", "nom = range(1, 100)\n", "zs = np.array([i + randn()*wheel_sigma for i in nom])\n", "xs, _, _, _ = kf.batch_filter(zs)\n", "ts = np.arange(0.1, 10, .1)\n", "\n", "res = nom - xs[:, 0, 0]\n", "print(f'std: {np.std(res):.3f}')\n", "\n", "plot_filter(ts, xs[:, 0], label='Kalman filter')\n", "plot_measurements(ts, zs, label='Wheel')\n", "set_labels(x='time (sec)', y='meters')\n", "plt.legend(loc=4);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "On this run I got a standard deviation of 0.523 vs the value of 0.391 for the fused measurements. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Nonstationary Processes\n", "\n", "So far we have assumed that the various matrices in the Kalman filter are *stationary* - nonchanging over time. For example, in the robot tracking section we assumed that $\\Delta t = 1.0$ seconds, and designed the state transition matrix to be\n", "\n", "$$\n", "\\mathbf F = \\begin{bmatrix}1& \\Delta t& 0& 0\\\\0& 1& 0& 0\\\\0& 0& 1& \\Delta t\\\\ 0& 0& 0& 1\\end{bmatrix} = \\begin{bmatrix}1& 1& 0& 0\\\\0& 1& 0& 0\\\\0& 0& 1& 1\\\\ 0& 0& 0& 1\\end{bmatrix}$$\n", "\n", "But what if our data rate changes in some unpredictable manner? Or what if we have two sensors, each running at a different rate? What if the error of the measurement changes? \n", "\n", "Handling this is easy; you just alter the Kalman filter matrices to reflect the current situation. Let's go back to our dog tracking problem and assume that the data input is somewhat sporadic. For this problem we designed\n", "\n", "\n", "$$\\begin{aligned}\n", "\\mathbf{\\bar x} &= {\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix}}^- \\\\\n", "\\mathbf F &= \\begin{bmatrix}1&\\Delta t \\\\ 0&1\\end{bmatrix} \n", "\\end{aligned}$$\n", "\n", "and set the Kalman filter variable `F` during initialization like so:\n", "\n", "```python\n", "dt = 0.1\n", "kf.F = np.array([[1, dt],\n", " [0, 1]])\n", "```\n", "\n", "How would we handle $\\Delta t$ changing for each measurement? It's easy - just modify the relevant matrices. In this case `F` is variant, so we will need to update this inside the update/predict loop. `Q` is also dependent on time, so it must be assigned during each loop as well. Here is an example of how we might code this:" ] }, { "cell_type": "code", "execution_count": 60, "metadata": { "scrolled": true }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[1. 1.]\n", "[2. 0.92]\n", "[2.96 1. ]\n", "[4.12 0.97]\n", "[5.03 0.96]\n" ] } ], "source": [ "kf = KalmanFilter(dim_x=2, dim_z=1)\n", "kf.x = array([0., 1.])\n", "kf.H = array([[1, 0]])\n", "kf.P = np.eye(2) * 50\n", "kf.R = np.eye(1)\n", "q_var = 0.02\n", "\n", "# measurement tuple: (value, time)\n", "zs = [(1., 1.), (2., 1.1), (3., 0.9), (4.1, 1.23), (5.01, 0.97)]\n", "for z, dt in zs:\n", " kf.F = array([[1, dt],\n", " [0, 1]])\n", " kf.Q = Q_discrete_white_noise(dim=2, dt=dt, var=q_var)\n", " kf.predict()\n", " kf.update(z)\n", " print(kf.x)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Sensor fusion: Different Data Rates" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It is rare that two different sensor classes output data at the same rate. Assume that the position sensor produces an update at 3 Hz, and the wheel updates at 7 Hz. Further assume that the timing is not precise - there is a bit of jitter such that a measurement can occur a bit before or after the predicted time. Let me further complicate the situation by having the wheel provide velocity estimates rather than position estimates.\n", "\n", "We can do this by waiting for a data packet from either sensor. When we get it, we determine the amount of time that has passed since the last update. We then need to modify the affected matrices. Both $\\mathbf F$ and $\\mathbf Q$ contain a time term $\\Delta t$ so we will need to adjust these on every innovation. \n", "\n", "The measurement changes each time, so we will have to modify $\\mathbf H$ and $\\mathbf R$. The position sensor alters the position element of $\\mathbf x$, so we assign:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf H &= \\begin{bmatrix}1 &0\\end{bmatrix} \\\\\n", "\\mathbf R &= \\sigma_{ps}^2\n", "\\end{aligned}$$\n", "\n", "The wheel sensor alters the velocity element of $\\mathbf x$, so we assign:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf H &= \\begin{bmatrix}0 &1\\end{bmatrix} \\\\\n", "\\mathbf R &= \\sigma_{wheel}^2\n", "\\end{aligned}$$" ] }, { "cell_type": "code", "execution_count": 61, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def gen_sensor_data(t, ps_std, wheel_std):\n", " # generate simulated sensor data\n", " pos_data, vel_data = [], []\n", " dt = 0.\n", " for i in range(t*3):\n", " dt += 1/3.\n", " t_i = dt + randn() * .01 # time jitter\n", " pos_data.append([t_i, t_i + randn()*ps_std])\n", "\n", " dt = 0. \n", " for i in range(t*7):\n", " dt += 1/7.\n", " t_i = dt + randn() * .006 # time jitter\n", " vel_data.append([t_i, 1. + randn()*wheel_std])\n", " return pos_data, vel_data\n", "\n", "\n", "def plot_fusion(xs, ts, zs_ps, zs_wheel):\n", " xs = np.array(xs)\n", " plt.subplot(211)\n", " plt.plot(zs_ps[:, 0], zs_ps[:, 1], ls='--', label='Pos Sensor')\n", " plot_filter(xs=ts, ys=xs[:, 0], label='Kalman filter')\n", " set_labels(title='Position', y='meters',)\n", "\n", " plt.subplot(212)\n", " plot_measurements(zs_wheel[:, 0], zs_wheel[:, 1], label='Wheel')\n", " plot_filter(xs=ts, ys=xs[:, 1], label='Kalman filter')\n", " set_labels('Velocity', 'time (sec)', 'meters/sec')\n", " \n", "\n", "def fusion_test(pos_data, vel_data, wheel_std, ps_std):\n", " kf = KalmanFilter(dim_x=2, dim_z=1)\n", " kf.F = array([[1., 1.], [0., 1.]])\n", " kf.H = array([[1., 0.], [1., 0.]])\n", " kf.x = array([[0.], [1.]])\n", " kf.P *= 100\n", "\n", " xs, ts = [], []\n", " \n", " # copy data for plotting\n", " zs_wheel = np.array(vel_data)\n", " zs_ps = np.array(pos_data)\n", " \n", " last_t = 0\n", " while len(pos_data) > 0 and len(vel_data) > 0:\n", " if pos_data[0][0] < vel_data[0][0]:\n", " t, z = pos_data.pop(0)\n", " dt = t - last_t\n", " last_t = t\n", " \n", " kf.H = np.array([[1., 0.]])\n", " kf.R[0,0] = ps_std**2\n", " else:\n", " t, z = vel_data.pop(0)\n", " dt = t - last_t\n", " last_t = t\n", " \n", " kf.H = np.array([[0., 1.]])\n", " kf.R[0,0] = wheel_std**2\n", "\n", " kf.F[0,1] = dt\n", " kf.Q = Q_discrete_white_noise(2, dt=dt, var=.02)\n", " kf.predict()\n", " kf.update(np.array([z]))\n", "\n", " xs.append(kf.x.T[0])\n", " ts.append(t)\n", " plot_fusion(xs, ts, zs_ps, zs_wheel)\n", "\n", "random.seed(1123)\n", "pos_data, vel_data = gen_sensor_data(25, 1.5, 3.0)\n", "fusion_test(pos_data, vel_data, 1.5, 3.0);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking a Ball" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's turn our attention to a situation where the physics of the object that we are tracking is constrained. A ball thrown in a vacuum must obey Newtonian laws. In a constant gravitational field it will travel in a parabola. I will assume you are familiar with the derivation of the formula:\n", "\n", "$$\n", "\\begin{aligned}\n", "y &= \\frac{g}{2}t^2 + v_{y0} t + y_0 \\\\\n", "x &= v_{x0} t + x_0\n", "\\end{aligned}\n", "$$\n", "\n", "where $g$ is the gravitational constant, $t$ is time, $v_{x0}$ and $v_{y0}$ are the initial velocities in the x and y plane. If the ball is thrown with an initial velocity of $v$ at angle $\\theta$ above the horizon, we can compute $v_{x0}$ and $v_{y0}$ as\n", "\n", "$$\n", "\\begin{aligned}\n", "v_{x0} = v \\cos{\\theta} \\\\\n", "v_{y0} = v \\sin{\\theta}\n", "\\end{aligned}\n", "$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Because we don't have real data we will start by writing a simulator for a ball. As always, we add a noise term independent of time so we can simulate noisy sensors." ] }, { "cell_type": "code", "execution_count": 62, "metadata": {}, "outputs": [], "source": [ "from math import radians, sin, cos\n", "import math\n", "\n", "def rk4(y, x, dx, f):\n", " \"\"\"computes 4th order Runge-Kutta for dy/dx.\n", " y is the initial value for y\n", " x is the initial value for x\n", " dx is the difference in x (e.g. the time step)\n", " f is a callable function (y, x) that you supply to \n", " compute dy/dx for the specified values.\n", " \"\"\"\n", " \n", " k1 = dx * f(y, x)\n", " k2 = dx * f(y + 0.5*k1, x + 0.5*dx)\n", " k3 = dx * f(y + 0.5*k2, x + 0.5*dx)\n", " k4 = dx * f(y + k3, x + dx)\n", " \n", " return y + (k1 + 2*k2 + 2*k3 + k4) / 6.\n", "\n", "def fx(x,t):\n", " return fx.vel\n", " \n", "def fy(y,t):\n", " return fy.vel - 9.8*t\n", "\n", "\n", "class BallTrajectory2D(object):\n", " def __init__(self, x0, y0, velocity, \n", " theta_deg=0., \n", " g=9.8, \n", " noise=[0.0, 0.0]):\n", " self.x = x0\n", " self.y = y0\n", " self.t = 0 \n", " theta = math.radians(theta_deg)\n", " fx.vel = math.cos(theta) * velocity\n", " fy.vel = math.sin(theta) * velocity \n", " self.g = g\n", " self.noise = noise\n", " \n", " \n", " def step(self, dt):\n", " self.x = rk4(self.x, self.t, dt, fx)\n", " self.y = rk4(self.y, self.t, dt, fy)\n", " self.t += dt \n", " return (self.x + randn()*self.noise[0], \n", " self.y + randn()*self.noise[1])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So to create a trajectory starting at (0, 15) with a velocity of 100 m/s and an angle of 60° we would write:\n", "\n", "```python\n", "traj = BallTrajectory2D(x0=0, y0=15, velocity=100, theta_deg=60)\n", "```\n", " \n", "and then call `traj.step(t)` for each time step. Let's test this " ] }, { "cell_type": "code", "execution_count": 63, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def test_ball_vacuum(noise):\n", " y = 15\n", " x = 0\n", " ball = BallTrajectory2D(x0=x, y0=y, \n", " theta_deg=60., velocity=100., \n", " noise=noise)\n", " t = 0\n", " dt = 0.25\n", " while y >= 0:\n", " x, y = ball.step(dt)\n", " t += dt\n", " if y >= 0:\n", " plt.scatter(x, y, color='r', marker='.', s=75, alpha=0.5)\n", " \n", " plt.axis('equal');\n", " \n", "#test_ball_vacuum([0, 0]) # plot ideal ball position\n", "test_ball_vacuum([1, 1]) # plot with noise " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This looks reasonable, so let's continue (exercise for the reader: validate this simulation more robustly)." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Choose the State Variables" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We might think to use the same state variables as used for tracking the dog. However, this will not work. Recall that the Kalman filter state transition must be written as $\\mathbf{\\bar x} = \\mathbf{Fx} + \\mathbf{Bu}$, which means we must calculate the current state from the previous state. Our assumption is that the ball is traveling in a vacuum, so the velocity in x is a constant, and the acceleration in y is solely due to the gravitational constant $g$. We can discretize the Newtonian equations using the well known Euler method in terms of $\\Delta t$ are:\n", "\n", "$$\\begin{aligned}\n", "x_t &= x_{t-1} + v_{x(t-1)} {\\Delta t} \\\\\n", "v_{xt} &= v_{x(t-1)} \\\\\n", "y_t &= y_{t-1} + v_{y(t-1)} {\\Delta t} \\\\\n", "v_{yt} &= -g {\\Delta t} + v_{y(t-1)} \\\\\n", "\\end{aligned}\n", "$$\n", "\n", "> **sidebar**: *Euler's method integrates a differential equation stepwise by assuming the slope (derivative) is constant at time $t$. In this case the derivative of the position is velocity. At each time step $\\Delta t$ we assume a constant velocity, compute the new position, and then update the velocity for the next time step. There are more accurate methods, such as Runge-Kutta available to us, but because we are updating the state with a measurement in each step Euler's method is very accurate. If you need to use Runge-Kutta you will have to write your own `predict()` function which computes the state transition for $\\mathbf x$, and then uses the normal Kalman filter equation $\\mathbf{\\bar P}=\\mathbf{FPF}^\\mathsf T + \\mathbf Q$ to update the covariance matrix.*\n", "\n", "This implies that we need to incorporate acceleration for $y$ into the Kalman filter, but not for $x$. This suggests the following state variable.\n", "\n", "$$\n", "\\mathbf x = \n", "\\begin{bmatrix}\n", "x & \\dot x & y & \\dot y & \\ddot{y}\n", "\\end{bmatrix}^\\mathsf T\n", "$$\n", "\n", "However, the acceleration is due to gravity, which is a constant. Instead of asking the Kalman filter to track a constant we can treat gravity as what it really is - a control input. In other words, gravity is a force that alters the behavior of the system in a known way, and it is applied throughout the flight of the ball. \n", "\n", "The equation for the state prediction is $\\mathbf{\\bar x} = \\mathbf{Fx} + \\mathbf{Bu}$. $\\mathbf{Fx}$ is the familiar state transition function which we will use to model the position and velocity of the ball. The vector $\\mathbf{u}$ lets you specify a control input into the filter. For a car the control input will be things such as the amount the accelerator and brake are pressed, the position of the steering wheel, and so on. For our ball the control input will be gravity. The matrix $\\mathbf{B}$ models how the control inputs affect the behavior of the system. Again, for a car $\\mathbf{B}$ will convert the inputs of the brake and accelerator into changes of velocity, and the input of the steering wheel into a different position and heading. For our ball tracking problem it will compute the velocity change due to gravity. We will go into the details of that soon. For now, we design the state variable to be\n", "\n", "$$\n", "\\mathbf x = \n", "\\begin{bmatrix}x & \\dot x & y & \\dot y \n", "\\end{bmatrix}^\\mathsf T\n", "$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design State Transition Function\n", "\n", "Our next step is to design the state transition function. Recall that the state transition function is implemented as a matrix $\\mathbf F$ that we multiply with the previous state of our system to get the next state, or prior $\\bar{\\mathbf x} = \\mathbf{Fx}$.\n", "\n", "I will not belabor this as it is very similar to the 1-D case we did in the previous chapter. Our state equations for position and velocity would be:\n", "\n", "$$\n", "\\begin{aligned}\n", "\\bar x &= (1*x) + (\\Delta t * v_x) + (0*y) + (0 * v_y) \\\\\n", "\\bar v_x &= (0*x) + (1*v_x) + (0*y) + (0 * v_y) \\\\\n", "\\bar y &= (0*x) + (0* v_x) + (1*y) + (\\Delta t * v_y) \\\\\n", "\\bar v_y &= (0*x) + (0*v_x) + (0*y) + (1*v_y) \n", "\\end{aligned}\n", "$$\n", "\n", "Note that none of the terms include $g$, the gravitational constant. As I explained in the previous function we will account for gravity using the control input of the Kalman filter.\n", "In matrix form we write this as:\n", "\n", "$$\n", "\\mathbf F = \\begin{bmatrix}\n", "1 & \\Delta t & 0 & 0 \\\\\n", "0 & 1 & 0 & 0 \\\\\n", "0 & 0 & 1 & \\Delta t \\\\\n", "0 & 0 & 0 & 1\n", "\\end{bmatrix}\n", "$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Control Input Function\n", "\n", "We will use the control input to account for the force of gravity. The term $\\mathbf{Bu}$ is added to $\\mathbf{\\bar x}$ to account for how much $\\mathbf{\\bar x}$ changes due to gravity. We can say that $\\mathbf{Bu}$ contains $\\begin{bmatrix}\\Delta x_g & \\Delta \\dot{x_g} & \\Delta y_g & \\Delta \\dot{y_g}\\end{bmatrix}^\\mathsf T$.\n", "\n", "If we look at the discretized equations we see that gravity only affects the velocity for $y$.\n", "\n", "$$\\begin{aligned}\n", "x_t &= x_{t-1} + v_{x(t-1)} {\\Delta t} \\\\\n", "v_{xt} &= vx_{t-1}\n", "\\\\\n", "y_t &= y_{t-1} + v_{y(t-1)} {\\Delta t}\\\\\n", "v_{yt} &= -g {\\Delta t} + v_{y(t-1)} \\\\\n", "\\end{aligned}\n", "$$\n", "\n", "Therefore we want the product $\\mathbf{Bu}$ to equal $\\begin{bmatrix}0 & 0 & 0 & -g \\Delta t \\end{bmatrix}^\\mathsf T$. In some sense it is arbitrary how we define $\\mathbf{B}$ and $\\mathbf{u}$ so long as multiplying them together yields this result. For example, we could define $\\mathbf{B}=1$ and $\\mathbf{u} = \\begin{bmatrix}0 & 0 & 0 & -g \\Delta t \\end{bmatrix}^\\mathsf T$. But this doesn't really fit with our definitions for $\\mathbf{B}$ and $\\mathbf{u}$, where $\\mathbf{u}$ is the control input, and $\\mathbf{B}$ is the control function. The control input is $-g$ for the velocity of y. So this is one possible definition.\n", "\n", "$$\\mathbf{B} = \\begin{bmatrix}0&0&0&0 \\\\ 0&0&0&0 \\\\0&0&0&0 \\\\0&0&0&\\Delta t\\end{bmatrix}, \\mathbf{u} = \\begin{bmatrix}0\\\\0\\\\0\\\\-g\\end{bmatrix}$$\n", "\n", "To me this seems a bit excessive; I would suggest we might want $\\mathbf{u}$ to contain the control input for the two dimensions $x$ and $y$, which suggests\n", "\n", "$$\\mathbf{B} = \\begin{bmatrix}0&0 \\\\ 0&0 \\\\0&0 \\\\0&\\Delta t\\end{bmatrix}, \\mathbf{u} = \\begin{bmatrix}0\\\\-g\\end{bmatrix}$$.\n", "\n", "You might prefer to only provide control inputs that actually exist, and there is no control input for $x$, so we arrive at\n", "\n", "$$\\mathbf{B} = \\begin{bmatrix}0 \\\\ 0 \\\\0\\\\ \\Delta t\\end{bmatrix}, \\mathbf{u} = \\begin{bmatrix}-g\\end{bmatrix}$$.\n", "\n", "I've seen people use \n", "$$\\mathbf{B} = \\begin{bmatrix}0&0&0&0 \\\\ 0&0&0&0 \\\\0&0&0&0 \\\\0&0&0&1\\end{bmatrix}, \\mathbf{u} = \\begin{bmatrix}0\\\\0\\\\0\\\\-g \\Delta t\\end{bmatrix}$$\n", "\n", "While this does produce the correct result, I am resistant to putting time into $\\mathbf{u}$ as time is not a control input, it is what we use to convert the control input into a change in state, which is the job of $\\mathbf{B}$." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Function\n", "\n", "The measurement function defines how we go from the state variables to the measurements using the equation $\\mathbf z = \\mathbf{Hx}$. We will assume that we have a sensor that provides us with the position of the ball in (x,y), but cannot measure velocities or accelerations. Therefore our function must be:\n", "\n", "$$\n", "\\begin{bmatrix}z_x \\\\ z_y \\end{bmatrix}= \n", "\\begin{bmatrix}\n", "1 & 0 & 0 & 0 \\\\\n", "0 & 0 & 1 & 0\n", "\\end{bmatrix} \n", "\\begin{bmatrix}\n", "x \\\\\n", "\\dot x \\\\\n", "y \\\\\n", "\\dot y \\end{bmatrix}$$\n", "\n", "where\n", "\n", "$$\\mathbf H = \\begin{bmatrix}\n", "1 & 0 & 0 & 0 \\\\\n", "0 & 0 & 1 & 0\n", "\\end{bmatrix}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Noise Matrix\n", "\n", "As with the robot, we will assume that the error is independent in $x$ and $y$. In this case we will start by assuming that the measurement errors in x and y are 0.5 meters squared. Hence,\n", "\n", "$$\\mathbf R = \\begin{bmatrix}0.5&0\\\\0&0.5\\end{bmatrix}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Process Noise Matrix\n", "\n", "We are assuming a ball moving in a vacuum, so there should be no process noise. We have 4 state variables, so we need a $4{\\times}4$ covariance matrix:\n", "\n", "$$\\mathbf Q = \\begin{bmatrix}0&0&0&0\\\\0&0&0&0\\\\0&0&0&0\\\\0&0&0&0\\end{bmatrix}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Initial Conditions\n", "\n", "We already performed this step when we tested the state transition function. Recall that we computed the initial velocity for $x$ and $y$ using trigonometry, and set the value of $\\mathbf x$ with:\n", "\n", "```python\n", "omega = radians(omega)\n", "vx = cos(omega) * v0\n", "vy = sin(omega) * v0\n", "\n", "f1.x = np.array([[x, vx, y, vy]]).T\n", "```\n", " \n", "With all the steps done we are ready to implement our filter and test it. First, the implementation:" ] }, { "cell_type": "code", "execution_count": 64, "metadata": {}, "outputs": [], "source": [ "from math import sin, cos, radians\n", "\n", "def ball_kf(x, y, omega, v0, dt, r=0.5, q=0.):\n", " kf = KalmanFilter(dim_x=4, dim_z=2, dim_u=1)\n", "\n", " kf.F = np.array([[1., dt, 0., 0.], # x = x0 + dx*dt\n", " [0., 1., 0., 0.], # dx = dx0\n", " [0., 0., 1., dt], # y = y0 + dy*dt\n", " [0., 0., 0., 1.]]) # dy = dy0\n", "\n", " kf.H = np.array([[1., 0., 0., 0.],\n", " [0., 0., 1., 0.]])\n", " \n", " kf.B = np.array([[0., 0., 0., dt]]).T\n", " kf.R *= r\n", " kf.Q *= q\n", "\n", " omega = radians(omega)\n", " vx = cos(omega) * v0\n", " vy = sin(omega) * v0\n", " kf.x = np.array([[x, vx, y, vy]]).T\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we will test the filter by generating measurements for the ball using the ball simulation class." ] }, { "cell_type": "code", "execution_count": 65, "metadata": {}, "outputs": [ { "data": { 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def track_ball_vacuum(dt):\n", " global kf\n", " x, y = 0., 1.\n", " theta = 35. # launch angle\n", " v0 = 80.\n", " g = np.array([[-9.8]]) # gravitational constant\n", " ball = BallTrajectory2D(x0=x, y0=y, theta_deg=theta, velocity=v0, \n", " noise=[.2, .2])\n", " kf = ball_kf(x, y, theta, v0, dt)\n", "\n", " t = 0\n", " xs, ys = [], []\n", " while kf.x[2] > 0:\n", " t += dt\n", " x, y = ball.step(dt)\n", " z = np.array([[x, y]]).T\n", "\n", " kf.update(z)\n", " xs.append(kf.x[0])\n", " ys.append(kf.x[2]) \n", " kf.predict(u=g) \n", " p1 = plt.scatter(x, y, color='r', marker='.', s=75, alpha=0.5)\n", " p2, = plt.plot(xs, ys, lw=2)\n", " plt.legend([p2, p1], ['Kalman filter', 'Measurements'],\n", " scatterpoints=1)\n", " \n", "track_ball_vacuum(dt=1./10)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We see that the Kalman filter reasonably tracks the ball. However, as already explained, this is a trivial example because we have no process noise. We can predict trajectories in a vacuum with arbitrary precision; using a Kalman filter in this example is a needless complication. A least squares curve fit would give identical results." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking a Ball in Air" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For this problem we assume that we are tracking a ball traveling through the Earth's atmosphere. The path of the ball is influenced by wind, drag, and the rotation of the ball. We will assume that our sensor is a camera; code that we will not implement will perform some type of image processing to detect the position of the ball. This is typically called *blob detection* in computer vision. However, image processing code is not perfect; in any given frame it is possible to either detect no blob or to detect spurious blobs that do not correspond to the ball. Finally, we will not assume that we know the starting position, angle, or rotation of the ball; the tracking code will have to initiate tracking based on the measurements that are provided. The main simplification that we are making here is a 2D world; we assume that the ball is always traveling orthogonal to the plane of the camera's sensor. We have to make that simplification at this point because we have not discussed how we might extract 3D information from a camera, which provides only 2D data. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Implementing Air Drag" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Our first step is to implement the math for a ball moving through air. There are several treatments available. A robust solution takes into account issues such as ball roughness (which affects drag non-linearly depending on velocity), the Magnus effect (spin causes one side of the ball to have higher velocity relative to the air vs the opposite side, so the coefficient of drag differs on opposite sides), the effect of lift, humidity, air density, and so on. I assume the reader is not interested in the details of ball physics, and so will restrict this treatment to the effect of air drag on a non-spinning baseball. I will use the math developed by Nicholas Giordano and Hisao Nakanishi in *Computational Physics* [1997]. This treatement does not take all the factors into account. The most detailed treatment is by Alan Nathan on his website at http://baseball.physics.illinois.edu/index.html. I use his math in my own work in computer vision, but I do not want to get distracted by a more complicated model.\n", "\n", "**Important**: Before I continue, let me point out that you will not have to understand this next piece of physics to proceed with the Kalman filter. My goal is to create a reasonably accurate behavior of a baseball in the real world, so that we can test how our Kalman filter performs with real-world behavior. In real world applications it is usually impossible to completely model the physics of a real world system, and we make do with a process model that incorporates the large scale behaviors. We then tune the measurement noise and process noise until the filter works well with our data. There is a real risk to this; it is easy to finely tune a Kalman filter so it works perfectly with your test data, but performs badly when presented with slightly different data. This is perhaps the hardest part of designing a Kalman filter, and why it gets referred to with terms such as 'black art'. \n", "\n", "I dislike books that implement things without explanation, so I will now develop the physics for a ball moving through air. Move on past the implementation of the simulation if you are not interested. \n", "\n", "A ball moving through air encounters wind resistance. This imparts a force on the wall, called *drag*, which alters the flight of the ball. In Giordano this is denoted as\n", "\n", "$$F_{drag} = -B_2v^2$$\n", "\n", "where $B_2$ is a coefficient derived experimentally, and $v$ is the velocity of the object. $F_{drag}$ can be factored into $x$ and $y$ components with\n", "\n", "$$\\begin{aligned}\n", "F_{drag,x} &= -B_2v v_x\\\\\n", "F_{drag,y} &= -B_2v v_y\n", "\\end{aligned}$$\n", "\n", "If $m$ is the mass of the ball, we can use $F=ma$ to compute the acceleration as\n", "\n", "$$\\begin{aligned} \n", "a_x &= -\\frac{B_2}{m}v v_x\\\\\n", "a_y &= -\\frac{B_2}{m}v v_y\n", "\\end{aligned}$$\n", "\n", "Giordano provides the following function for $\\frac{B_2}{m}$, which takes air density, the cross section of a baseball, and its roughness into account. Understand that this is an approximation based on wind tunnel tests and several simplifying assumptions. It is in SI units: velocity is in meters/sec and time is in seconds.\n", "\n", "$$\\frac{B_2}{m} = 0.0039 + \\frac{0.0058}{1+\\exp{[(v-35)/5]}}$$\n", "\n", "Starting with this Euler discretization of the ball path in a vacuum:\n", "$$\\begin{aligned}\n", "x &= v_x \\Delta t \\\\\n", "y &= v_y \\Delta t \\\\\n", "v_x &= v_x \\\\\n", "v_y &= v_y - 9.8 \\Delta t\n", "\\end{aligned}\n", "$$\n", "\n", "We can incorporate this force (acceleration) into our equations by incorporating $accel * \\Delta t$ into the velocity update equations. We should subtract this component because drag will reduce the velocity. The code to do this is quite straightforward, we just need to break out the force into $x$ and $y$ components. \n", "\n", "I will not belabor this issue further because computational physics is beyond the scope of this book. Recognize that a higher fidelity simulation would require incorporating things like altitude, temperature, ball spin, and several other factors. The aforementioned work by Alan Nathan covers this if you are interested. My intent here is to impart some real-world behavior into our simulation to test how our simpler prediction model used by the Kalman filter reacts to this behavior. Your process model will never exactly model what happens in the world, and a large factor in designing a good Kalman filter is carefully testing how it performs against real world data. \n", "\n", "The code below computes the behavior of a baseball in air, at sea level, in the presence of wind. I plot the same initial hit with no wind, and then with a tail wind at 10 mph. Baseball statistics are universally done in US units, and we will follow suit here (http://en.wikipedia.org/wiki/United_States_customary_units). Note that the velocity of 110 mph is a typical exit speed for a baseball for a home run hit." ] }, { "cell_type": "code", "execution_count": 66, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from math import sqrt, exp\n", "\n", "def mph_to_mps(x):\n", " return x * .447\n", "\n", "def drag_force(velocity):\n", " \"\"\" Returns the force on a baseball due to air drag at\n", " the specified velocity. Units are SI\"\"\"\n", "\n", " return velocity * (0.0039 + 0.0058 / \n", " (1. + exp((velocity-35.)/5.)))\n", "\n", "v = mph_to_mps(110.)\n", "x, y = 0., 1.\n", "dt = .1\n", "theta = radians(35)\n", "\n", "def solve(x, y, vel, v_wind, launch_angle):\n", " xs = []\n", " ys = []\n", " v_x = vel*cos(launch_angle)\n", " v_y = vel*sin(launch_angle)\n", " while y >= 0:\n", " # Euler equations for x and y\n", " x += v_x*dt\n", " y += v_y*dt\n", "\n", " # force due to air drag \n", " velocity = sqrt((v_x-v_wind)**2 + v_y**2) \n", " F = drag_force(velocity)\n", "\n", " # euler's equations for vx and vy\n", " v_x = v_x - F*(v_x-v_wind)*dt\n", " v_y = v_y - 9.8*dt - F*v_y*dt\n", " \n", " xs.append(x)\n", " ys.append(y)\n", " \n", " return xs, ys\n", " \n", "x, y = solve(x=0, y=1, vel=v, v_wind=0, launch_angle=theta)\n", "p1 = plt.scatter(x, y, color='blue', label='no wind')\n", "\n", "wind = mph_to_mps(10)\n", "x, y = solve(x=0, y=1, vel=v, v_wind=wind, launch_angle=theta)\n", "p2 = plt.scatter(x, y, color='green', marker=\"v\", \n", " label='10mph wind')\n", "plt.legend(scatterpoints=1);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can easily see the difference between the trajectory in a vacuum and in the air. I used the same initial velocity and launch angle in the ball in a vacuum section above. We computed that the ball in a vacuum would travel over 240 meters (nearly 800 ft). In the air, the distance is just over 120 meters, or roughly 400 ft. 400ft is a realistic distance for a well hit home run ball, so we can be confident that our simulation is reasonably accurate.\n", "\n", "Without further ado we will create a ball simulation that uses the math above to create a more realistic ball trajectory. I will note that the nonlinear behavior of drag means that there is no analytic solution to the ball position at any point in time, so we need to compute the position step-wise. I use Euler's method to propagate the solution; use of a more accurate technique such as Runge-Kutta is left as an exercise for the reader. That modest complication is unnecessary for what we are doing because the accuracy difference between the techniques will be small for the time steps we will be using. " ] }, { "cell_type": "code", "execution_count": 67, "metadata": {}, "outputs": [], "source": [ "class BaseballPath:\n", " def __init__(self, x0, y0, launch_angle_deg, velocity_ms, \n", " noise=(1.0, 1.0)): \n", " \"\"\" Create 2D baseball path object \n", " (x = distance from start point in ground plane, \n", " y=height above ground)\n", " \n", " x0,y0 initial position\n", " launch_angle_deg angle ball is travelling respective to \n", " ground plane\n", " velocity_ms speeed of ball in meters/second\n", " noise amount of noise to add to each position\n", " in (x, y)\n", " \"\"\"\n", " \n", " omega = radians(launch_angle_deg)\n", " self.v_x = velocity_ms * cos(omega)\n", " self.v_y = velocity_ms * sin(omega)\n", "\n", " self.x = x0\n", " self.y = y0\n", " self.noise = noise\n", "\n", "\n", " def drag_force(self, velocity):\n", " \"\"\" Returns the force on a baseball due to air drag at\n", " the specified velocity. Units are SI\n", " \"\"\"\n", " B_m = 0.0039 + 0.0058 / (1. + exp((velocity-35.)/5.))\n", " return B_m * velocity\n", "\n", "\n", " def update(self, dt, vel_wind=0.):\n", " \"\"\" compute the ball position based on the specified time \n", " step and wind velocity. Returns (x, y) position tuple.\n", " \"\"\"\n", "\n", " # Euler equations for x and y\n", " self.x += self.v_x*dt\n", " self.y += self.v_y*dt\n", "\n", " # force due to air drag\n", " v_x_wind = self.v_x - vel_wind\n", " v = sqrt(v_x_wind**2 + self.v_y**2)\n", " F = self.drag_force(v)\n", "\n", " # Euler's equations for velocity\n", " self.v_x = self.v_x - F*v_x_wind*dt\n", " self.v_y = self.v_y - 9.81*dt - F*self.v_y*dt\n", "\n", " return (self.x + randn()*self.noise[0], \n", " self.y + randn()*self.noise[1])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we can test the Kalman filter against measurements created by this model." ] }, { "cell_type": "code", "execution_count": 68, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "x, y = 0, 1.\n", "\n", "theta = 35. # launch angle\n", "v0 = 50.\n", "dt = 1/10. # time step\n", "g = np.array([[-9.8]])\n", "\n", "plt.figure()\n", "ball = BaseballPath(x0=x, y0=y, launch_angle_deg=theta,\n", " velocity_ms=v0, noise=[.3,.3])\n", "f1 = ball_kf(x, y, theta, v0, dt, r=1.)\n", "f2 = ball_kf(x, y, theta, v0, dt, r=10.)\n", "t = 0\n", "xs, ys = [], []\n", "xs2, ys2 = [], []\n", "\n", "while f1.x[2] > 0:\n", " t += dt\n", " x, y = ball.update(dt)\n", " z = np.array([[x, y]]).T\n", "\n", " f1.update(z)\n", " f2.update(z)\n", " xs.append(f1.x[0])\n", " ys.append(f1.x[2])\n", " xs2.append(f2.x[0])\n", " ys2.append(f2.x[2]) \n", " f1.predict(u=g) \n", " f2.predict(u=g)\n", " \n", " p1 = plt.scatter(x, y, color='r', marker='.', s=75, alpha=0.5)\n", "\n", "p2, = plt.plot(xs, ys, lw=2)\n", "p3, = plt.plot(xs2, ys2, lw=4)\n", "plt.legend([p1, p2, p3], \n", " ['Measurements', 'Filter(R=0.5)', 'Filter(R=10)'],\n", " loc='best', scatterpoints=1);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I have plotted the output of two different Kalman filter settings. The measurements are depicted as green circles, a Kalman filter with R=0.5 as a thin green line, and a Kalman filter with R=10 as a thick blue line. These R values are chosen merely to show the effect of measurement noise on the output, they are not intended to imply a correct design.\n", "\n", "We can see that neither filter does very well. At first both track the measurements well, but as time continues they both diverge. This happens because the state model for air drag is nonlinear and the Kalman filter assumes that it is linear. If you recall our discussion about nonlinearity in the g-h filter chapter we showed why a g-h filter will always lag behind the acceleration of the system. We see the same thing here - the acceleration is negative, so the Kalman filter consistently overshoots the ball position. There is no way for the filter to catch up so long as the acceleration continues, so the filter will continue to diverge.\n", "\n", "What can we do to improve this? The best approach is to perform the filtering with a nonlinear Kalman filter, and we will do this in subsequent chapters. However, there is also what I will call an 'engineering' solution to this problem as well. Our Kalman filter assumes that the ball is in a vacuum, and thus that there is no process noise. However, since the ball is in air the atmosphere imparts a force on the ball. We can think of this force as process noise. This is not a particularly rigorous thought; for one thing, this force is anything but Gaussian. Secondly, we can compute this force, so throwing our hands up and saying 'it's random' will not lead to an optimal solution. But let's see what happens if we follow this line of thought.\n", "\n", "The following code implements the same Kalman filter as before, but with a non-zero process noise. I plot two examples, one with `Q=.1`, and one with `Q=0.01`." ] }, { "cell_type": "code", "execution_count": 69, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def plot_ball_with_q(q, r=1., noise=0.3):\n", " x, y = 0., 1.\n", " theta = 35. # launch angle\n", " v0 = 50.\n", " dt = 1/10. # time step\n", " g = np.array([[-9.8]])\n", "\n", " ball = BaseballPath(x0=x, \n", " y0=y, \n", " launch_angle_deg=theta, \n", " velocity_ms=v0, \n", " noise=[noise,noise])\n", " f1 = ball_kf(x, y, theta, v0, dt, r=r, q=q)\n", " t = 0\n", " xs, ys = [], []\n", "\n", " while f1.x[2] > 0:\n", " t += dt\n", " x, y = ball.update(dt)\n", " z = np.array([[x, y]]).T\n", "\n", " f1.update(z)\n", " xs.append(f1.x[0])\n", " ys.append(f1.x[2]) \n", " f1.predict(u=g) \n", "\n", " p1 = plt.scatter(x, y, c='r', marker='.', s=75, alpha=0.5)\n", "\n", " p2, = plt.plot(xs, ys, lw=2, color='b')\n", " plt.legend([p1, p2], ['Measurements', 'Kalman filter'])\n", " plt.show()\n", "\n", "plot_ball_with_q(0.01)\n", "plot_ball_with_q(0.1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The second filter tracks the measurements fairly well. There appears to be a bit of lag, but very little.\n", "\n", "Is this a good technique? Usually not, but it depends. Here the nonlinearity of the force on the ball is fairly constant and regular. Assume we are trying to track an automobile - the accelerations will vary as the car changes speeds and turns. When we make the process noise higher than the actual noise in the system the filter will opt to weigh the measurements higher. If you don't have a lot of noise in your measurements this might work for you. However, consider this next plot where I have increased the noise in the measurements." ] }, { "cell_type": "code", "execution_count": 70, "metadata": {}, "outputs": [ { "data": { "image/png": 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Lnj170LJlS9y6dQs+Pj5yh1PA33//jX79+uH48eOoUaMGNm7ciCpVquDYsWN46qmnFB+/uZR4DDoREZGcbt0SC4xWqgSYa/kMSQKuXAGOHRNfBw4Ae3aGIDt3YqHnN2gAdOwIvPQS0LgxUJwiFv37A0uXAh99BFy/LsavL10KrFgh5sWOHQuULVvCvxjZtH79+uH27dvYuHGj4djatWvRq1cvTJkyBWPGjJEvODP54IMPULp0aZw5cwaenp7w8fFBUlIS/Pz8Cj3/m2++wYgRI3D79m3rBmphTNCJiOjxEhNFl25qqugejoy0Su3xR7l1SwwDWbAA0C/OFxgIVK1a+FdQUOGJs04HnDsnEvGjR41JeWrqg2ca/8t0d9GiddXzeCnsLDpUO4MKc0aX+O+jVotEvH9/4LPPgE8+EWPZs7KAmTNFsj52rDiH6/gRAHz55ZcYOnQoFi5ciDfeeEPucMzi33//RceOHVGpUiXDMVNWqC+u3NxcRZWIVEYURESkXImJwPTpopvayUl8nz5dHLfU/ebOFWM75s4tcJ/sbHH4iSdEIpt35ezkZGD/fmDlSmDKFKBfP+DFF0XJdA8PoGZN0dM9bJj4ev55oEwZoEYNoEcP4OOPgV9+KSw5B0J90tGjyjZsem0FUsfMxKYe32Ngnf2oUNXNrH99Ly/xVz9/Hhg1CnC7f/nbt4Hx48Xfe/Hi/H9vc9HpgLNnge++A0aOFJVlXn4ZOHTI/Peikpk1axaio6MRGxubLzlfuXIlGjVqBC8vLwQGBiIqKgopKSkPvc4333wDHx8f/PTTT6hevTo8PDwQGRmJu3fvYvny5ahcuTLKli2LYcOGITc396H36dmzJ65fv254fc+ePVCpVNi5cycaNWoEDw8PNGvWDGfOnHloLCqVCgkJCZgyZQpUKhViYmJw8eJFqFQqHD9+vMD5e/bsQf/+/ZGWlgaVSmX4MwCQnZ2NMWPGICQkBKVLl8azzz6LPXv2FPr3rlWrFtRqNS7px5gpAHvQiYjIIC0N2LhRlAasUUN8Bf2wFir96p2A8fu6deavSa7/MKC/n/7DwPjxkIJDsGkT8O67osdbz90daN9enHr+vPheGI0G+Ptv8fU4/v5i2MrTT4vvDRoAFZ1v4r+h81AptA6cXT0MK5kiOto8f/cH+PkBn34KDB8OTJ4MfPONSKCTkoAhQ8TbUrOmiLV8efGl38773dMTKGxhR0kC/vsPOHzY+HXkiPgZeNCPPwJvvQVMnQrY8bBfmzFu3DgsXLgQP/30E1q3bp3vtezsbHz44YeoXr06UlJSMHLkSPTr1w9bt2596PUyMzMxb948rFq1ChkZGYiIiEBERAR8fHywdetWnD9/Ht26dcPzzz9vWJSysPsMGTKkwHzECRMm4NNPP0X58uUxePBgDBgwAPv27Ss0jqSkJLRu3Rrt2rXD6NGj4enpiRs3bjw07mbNmmHOnDmYNGmSIfH39PQEAPTv3x8XL17EqlWrEBwcjA0bNqBdu3Y4efIknnzyScPfe/r06fjyyy/h6+sLf3//x7zz1sMEnYiIcOyY6JX97jsgMzP/a15ug1DDLxU1/G6gpt911PC7gRp+N1DNKRXm7TuGGEZTyIeBo3N+xajDPRAfn//03r1F0ph3xfa7d4GLF0WyXtjXvXv5r1GpUv5k/OmnxXCYB5NarTYE5yIjUTEtTYyvCQoSybmFh/pUrAh89RUwerRYSHX9enH8yhXx9ThqdcEk/tYtkZBfu1a0GCQJWLRIfCabPVs8bbC31dwbNXr4hztLCgwUH4yK6ueff8aPP/6InTt3olWrVgVeHzBggGG7atWqmDdvHp555hncuXPHkLw+SKvVYvHixahWrRoAIDIyEt9++y2uXbsGT09P1KpVCy1btsTu3bsNCfqD95kzZw6aNGmCO3fu5FvCfurUqWjevDkA8cGiY8eOuHfvHkqVKlXIexEIFxcXeHp6Goa1PCpBd3NzQ5kyZaBSqfINg/n333/x/fff47///kPw/RnWo0ePxrZt27Bs2TJMmzbN8PdetGgR6tev/9B7yIUJOhGRg8rKAtasEYn5wYMPPy8juxQOXw3B4av5E1FnJx2qrRW9uPredv1XsXtZU1ONyTmA/9K9MWFXK3z7Rz1IeU578UXRu9yoUcFLlC4N1K4tvh4kSSIJ+/dfMQmzbl0xpL6o7vn6QurdGyjG0vIlVbOmSJAPHRJDYHbtKtowF42m6Ml8UJCY5Nq4sXhvGzQQH9omTRIffK5dA3r2BL7+WiTsYWEl/3spRXKy5UZtmVO9evVw48YNTJo0CY0bNy5QyvrYsWOIiYnB8ePHcfPmTeh0OgDA5cuXUatWrUKv6eHhYUjOASAgIACVK1fOl9AHBATkGyrzqPvUqVMnX7x6+oUrU1JSULFixeK+BY919OhRSJKEsAd+QDUaDXzz/MK7ubnli09JmKATETmYc+eAJUuAZctET2peXl6iV7pePeDMmftDQk7l4OJlJ0gPTFvK1Tnh7FkxZvnHH/Nfx99fJG9hYUD16sbtatXy5d8F+foCycm4o/LCx/ua4eP9zyErx5gMP/EEMGsW0LVr8XpwVSqRhNryAtfPPCNqpUuSGJd+/TqQcuo6rv90ECnJOlyHH1IC6uF6lidSUu6/ngLcuAHkGUKMsmVFEq5PyBs3LvxhwKhRwCuviKE2GzaIYzt3ig8348cD48YBhXSG2hwrzEM0y31DQkKwbt06tGzZEu3atcO2bdsMSfrdu3fRpk0btGnTBitXrkT58uVx+fJltG3bFtnZ2Q+9pusDHzhVKlWhx/RJeGH3uXjxItq3b1/gPnmvo7r/S6u/jqXodDo4OzsjISEBzs7O+V7L+6HD3d3dEJPSMEEnInIAOTnApk2it/yXXwq+Xq+eGNccFSWS9PxckPVPIs59sQd//+OCv7Mq4bRbPfx9yQNnzhS+WmZKivjauzf/cScnoHJlY8KeN4GvUAGQXo7E8n678f7hzki6Y3xMXraMDpNinDBkiHHSpKNTqUSSXTYzEWE7pwP+XkCo+v7Y+Fjgw/H5Mm6dTnwgu35dvIdVqhT9Q05oqBhas3mzmFx76ZKYrDt5MvDtt8CgQUCvXrZdr92UYSZyq1ixIuLj49GyZUu0adMG27dvh7e3N/7++2/cuHEDM2bMQOj9cV9HLPAXK+w+h2SaSezm5pZv8ioANGjQALm5uUhJScELL7wgS1wlxQSdiMiOJSYCX3whvq5ezf+amxvQvbuY/Ne06aOTNfcnQlBvZk88+DBYpxNDJ/STL/VfZ88WvJ/+fP1Y8G3bHriHO+DjE4KkpF6GYy5OuYgekIWJMz1Rrpxpf3eH8ZBx+w9O4nVyEg8oTBnS86BOnYBWrUR5y08/FR/8zp8X5R/HjwfCw4G+fYEuXVgK0tIqVKhgWLRHn6RXrFgRbm5umD9/PgYPHow///wTH374odnvXdh9pk6davb7FEXlypVx584d7Ny5E/Xr14eHhwfCwsLQs2dP9OnTB59++ikaNGiAGzduYNeuXahbty46dOggS6ymYJlFIiI7o9MBcXFARISYADl5cv5kuWpVMUwkMVH0fjZrVvwJf05O4h5t24ohEIsXA7t3i2unpwMJCcD33wMxMaJ3vmHDwnrohawsUaFEr2tX4NRpZ3z2BZPzR3pg3D4Asf+IyXUlUbq0WPX02DHgf/8zHtfpgO3bRTsHBQFvvAH89psYikOWERISgvj4eNy+fRvh4eFwdXXFN998gx9++AG1atXCjBkz8Mknn5j9vuXLly9wn1mzZpn9PkXRrFkzDB48GK+++irKly9viGPZsmXo06cP3nnnHVSvXh2dO3fGwYMHDT3+SqeSJGX96qSnp6NMmTJIS0vLNwvYXLRaLbZu3YoOHToUGF9F1sf2UBa2h7KY2h6pqaIU39Kl+csQAiKR7tRJ9JaHhxdvpUtzkSQx2fDMGRjGsOu3L18WExOnTRM1uJVEsb8fc+eKGY55k3SNRmTJ5i6DWYh//xWrna5YIarnPKhqVaBPH/FVpYr57lvS9rhy5YrNJGu2QKfTIT09Hd7e3opZ7EdOD/v5KmqeyyEuREQykiRR7u6PP8S2vstEkoDcXCecPFkZV644wdk5/2t5vwNi/OyqVSIvyyswEHjzTfGllFxEpRJxBQYWTMIlyf7K91lcZKQoig6IJN3C9dkfVK2aeErzwQeix3z5cuCHH4A7d8Tr58+LJygxMaL6Tt++ImQL9MER2Q0m6EREMsjKEkM/FiwQQwUK5wygePV5W7YUveVdu8pSEbDYmJwXQ0iIGAC+bp0Y1mKl+uwPcnISH7iaNwfmzxcLXi1fLiYl6z9M/vqr+BoxQtRTf/11tjlRYZigExFZ0YULYpz2V18BN2+a99plyoil7QcPFrXIyYGEhFhlOEtRlS4t6qX37ClWK125UiTr+lVcMzLEU50tW8QEZj8/eeMlUhom6EREFqbTiV7EBQuAn34qOGmuUSNRe1w/eVLfo5ibm4MTJ06gXr16cHV1yfda3l5HlUr82datWTmDlKdCBVErfexYMRRr/nwxORkQvey//y7mTrRtK2eURMrCBJ2IyELS0kSv4cKFYgJkXm5uwKuvipEIzzxT+J/XaiVs3XoFHTrUtalhKkSFUanEYkgrVogKQ2+8ISY2JycD7dqJBwAzZohym0SOjtNsiYjM7M8/xfjvkBBRejBvcl6hAjB1qqgdvmLFw5NzInvWtStw8qRIzPXmzRMJ/B9/yBYWkWIwQSciMoOcHDFHr2VLsQT6kiXA3bvG11u1EisxXrgAvPce4O8vX6xEShAUBGzdKoa8lColjp06JT60fvKJGBpmSS4uLrijLzVDZCaSJOH69etQP7g2gYk4xIWIqASSk8WEzyVLxGS4vEqXFiXlhgwBateWJz4iJVOpxDCvli3FhNI//gCys4F33wV27ABWrwbKlrXMvQMCAnDt2jXcunXLMjdwMDqdDqmpqfD19XX4OuhlypQp8Vo+TNCJiEx07pyY3Pbjj8D+/QUnfYaFiaSjTx9RWYWIHq12beDgQWDiRNF7LkliNdxmzUSll6pVzX9PJycnBAUFmf/CDkqr1eL48eOoW7eushbyslFM0ImIHkOnE9Un9En5X38VPEelEit1RkeL5c8dvAOJyGRqNTBrlhiX/uqroqT7338Dzz4rfu+aNZM7QiLrYYJORFQIjQbYvVskBj/+CCQlFX5ezZrAyy+Lms6VK1s1RCK71KqV6E3v2FEk6DduiGPffAO89prc0RFZBxN0IqL70tLEpLUffxTfMzIKnqNSiZ68Ll3EV1iY9eMkkkViIrB2raiN6OsLREZabLXSqlWBAwfELXbuFB+Ye/QA/vkHmDCBq4+S/WOCTkQO7b//gE2bRFK+ezeg1RY8R60GwsNFabiXXgICAqweJpG8EhOB6dPFilhqtZgdPX06MH68xZJ0Hx/g559FydKvvhLHJk4Uc0A+/5zDyMi+MUEnIodz545YPGjtWjG2vDBly4ox5V26AG3aAJ6e1o2R7JAVe6DNbu1aY3IOGL+vWydWGLIQV1fgiy/Ek6qxY8WxFSuAixdFhRcie8XPn0TkULZtExUjxo0rmJxXriwWFtq9G0hJEauARkQwOScz0PdAJyeLrl99D3RiotyRFU1qqjEp11OrxQBxC1OpgDFjxGcEfb30X38FXnjBBVevlrb4/YnkwASdiBzCjRtAr15A+/bA5cvG4w0aAJMnA8ePA+fPA3PmAC1aAC58vkjmVFgPtJeX6IG2Bb6+YiB4XhoN4OdntRC6dQPi441DzP75R4XRo5tj0SIn5OZaLQwiq2CCTkR2TZKA2FhRbeW774zHW7USFSKOHgUmTQLq17fAxLPERGDuXHGDuXNtp7eUzE/GHmiziIwUs6b1SbpGI/a7dbNqGM88Iyq81Kkj9jMzXTFihDOaNBG/y0T2wqQEffHixahXrx68vb3h7e2Npk2b4ueffza8LkkSYmJiEBwcDHd3d7Ro0QKnTp0ye9BEREVx6ZIo1dazpzEP8vEBvv4a+OUXoHp1C97c1oc0kHkpoAe6REJCxITQoCCxMEBQkEUniD5KpUrAvn3AgAE6w7EjR4DGjYERIwqvvkRka0xK0CtUqIAZM2bgyJEjOHLkCFq1aoUuXboYkvBZs2Zh9uzZWLBgAQ4fPozAwECEh4cjg78tRGRFubnAvHlirHmePgS88gpw+jTQv78VyrTZ+pAGMi+F9ECXSEiImBA6ZYr4LuMEV29vYMmSXEyb9htq1RJL+ep04kFVzZri1+zBFX6JbIlJCXqnTp3QoUMHhIWFISwsDFOnToWnpyd+//13SJKEOXPmYMKECYiIiECdOnWwfPlyZGZmIjY21lLxExHlc+oU8PzzYrLn3bviWHCwWAV0zRogMNBKgdj6kAYyLwX1QNuTWrVu4tChHMyYAbi7i2OJieLzUKdOotoLkS0q9jSo3Nxc/PDDD7h79y6aNm2KCxcuIDk5GW3atDGco1ar0bx5c+zfvx+DBg0q9DoajQaaPI/90tPTAQBarRbawgoSl5D+mpa4NpmO7aEsttweGg0wc6YTZs50glZr7B5/881cTJumQ5kyhdc4txSVjw9Uycn5k3SNBlJQEKQiBmLL7WGPStwe/v6iqHf+i5YwqkdITIRq/XqoUlMh+fpCioiwqw8E+nZQqbQYNUqs6DtihDN+/ln0PW7ZAuzaJeH993UYMUIHV1c5o7V//PeqaIr6/qgkybSHQCdPnkTTpk1x7949eHp6IjY2Fh06dMD+/fvx3HPPITExEcHBwYbzBw4ciEuXLmH79u2FXi8mJgaTJ08ucDw2NhYeHh6mhEZEDurvv8ti4cKncOWKt+FYcPAdDB16HLVrp8oSU6nUVDy5di1y3N2hc3WFk1YLl6wsnIuMxD1fX1liIsfhqD9/kgQcOBCEL7+si5s33Q3HK1ZMx1tv/YGaNW/KGB0RkJmZiaioKKSlpcHb2/uh55mcoGdnZ+Py5cu4ffs21q1bhy+//BLx8fG4ffs2nnvuOVy9ehVBQUGG8998801cuXIF27ZtK/R6hfWgh4aG4saNG48MvLi0Wi3i4uIQHh4OV36clh3bQ1lsrT2uXwemTnXC4sVOkCTRa+7iIuGdd3SYMEFnqJksm8REqDZsgOrGDUh+fpBeftmkHkxba48SsYHeXltqD9X8+Q9/ghMdLV9gZvSo9khPB2JinLBokRN0OuMTtQEDdJg2LRflylk7WvtnS78fckpPT4efn99jE3STh7i4ubnhiSeeAAA0atQIhw8fxty5czH2/hJfycnJ+RL0lJQUBDxiXWy1Wg31g+M0Abi6ulq0gS19fTIN20NZlNwekiQWKVm6VEwEy842vtawIfDVVyrUr+8MwFm2GA0qVwZGjizxZZTcHmaRmAh88olxUu3162JfoWO0baI9bt8GHnwK7eEB3LoFexvrUVh7+PoC8+cD/foBgwYBCQni+NdfO2HzZicsWCAmjVt8srgDsonfDxkV9b0pcR10SZKg0WhQpUoVBAYGIi4uzvBadnY24uPj0axZs5Lehogc3M2bYhGhWrXEQkLff29Mzt3dgU8/BX7/XdQzJxvDijfmZ+tlHc2kYUNRN33ePPEjBYjPf6++KiaSXrsmb3xED2NSgv7ee+/ht99+w8WLF3Hy5ElMmDABe/bsQc+ePaFSqTBixAhMmzYNGzZswJ9//ol+/frBw8MDUVFRloqfiOyYGE8qesFCQkRn9N9/G1/39QVGjxalE0eN4uqfNosVb8zPHso6momzMzBsmPi3IyLCeHz9evGBPzaWJRlJeUz67+zatWvo3bs3kpKSUKZMGdSrVw/btm1DeHg4AGDMmDHIysrCkCFDcOvWLTz77LPYsWMHvPQfW4mIiiA9HVi5UgxjOXGi4OsvvigeW3frVjCvIxvk6ysWcnpgvDTyDJckE+nLOq5bJz7oBAUB0dGKHDJkLcHB4mHNDz8AQ4eKt+XmTbGQ2Zo1wOLF/JEj5TApQf/qq68e+bpKpUJMTAxiYmJKEhMROaiEBGDJEjF8RV/DXM/HB+jbFxg4UPR6kR2JjBSrrAIiSdf39trJZEbZ6BcWIgOVCujeHWjZUvx4rVkjjv/4o5jbMncu0KsXx6aT/PhAmIhkdfeuSMiXLhXLdT+oSRNg8GAxoYuVV+0Ue3sJEJOF164VQ558fcUHNwv9DJQvD6xeLcaiv/UWkJIi5s/26SOOL13KHz+SFxN0IpLFjRtATAzw7bdiSEteXl6iF2vQIE76dBjs7XVsiYniKYp+snBysti3cCWfiAigeXPxo6df9HzLFqB2bTGxtE8fi92a6JGYoBPZMyv2SJkiLQ1o1Qo4eTL/8afrZmNwrV/Ro/Lv8AzyAvwiAcgfLxFZWGGVfADxVMXCH9x8fYHvvhO96YMGic8GaWliSF2pUmJIDJG1lbjMIhEplL5HKjkZcHIy9kglJsoalkYjluTWJ+ceHsAbbwCHt6Qg4cVReLPKTniWylFMvERkBQqo5NO5M3DqVP5e88GD+U8QyYMJOpG9UmBtaZ1OlEzcvVvs+/kBx44BX3wBNDr3veLiJSIrUUjd9nLlgG++Eb3pgBiXPmAAyzCS9TFBJ7JXCuiRetCYMcCqVWLb3R346ScgLOz+iwqMl8ghJSaKciaTJonv1uhCVlDddpUKWLRIlGUEgB07xD6RNTFBJ7JXCumR0pszR6z2CYgRN2vWAM8+m+cEhcVL5JDkGhqnr+QTFCQetQUFWXyC6KOUKwcsW2bcf/dd4MwZWUIhB8UEncheKahHas0asdKn3pIlwEsvPXCSguIlKjY5ep/NSc6hcfpKPlOmiO8yT2hv08ZYij8rC+jdG9BqZQ2JHAgTdCJ7pZAeqfh48R+bfgznpEnAm28qN16iYlPoxGyTcKhZPjNnAtWri+3Dh4GpU+WNhxwHyywS2TOZa0v/+SfQpQuQnS32BwwQtc8fyhZqYSu0dCUpgIylAs3G11d8sMibpGs04gOzA/LwEGs1NG0K5OYCH30EtG//wPA8IgtgDzoRWcSVK0C7dqKeMAB06CCGttj0Etr20ENKlmMPvc8calZA48biyR8gkvTevcUKyESWxASdiMzu9m3Ry6TPWxs3FuPQXV1lDavkFFi6khTEHiY629hQs1KpqVDNn2/xMf/vvQc884zYPndOVKQisiQm6ERkVhoN0LWrWPADAKpVE+UUS5eWNSzzsIceUkuy9QmSJWUvvc8Km6z5UImJeHLtWqis8ETLxUUMdXF3F/uLFgE//2z22xAZMEEnIrPR6cQqfPHxYr98eWDbNsDfX964zMYeekgthcN/bK732dap1q9Hjru71Z5ohYUZS8UCYk5NaqpFbkXEBJ2IzGf0aDGUBRCTq7ZsAZ54Qt6YzMpeekgtgcN/BFvpfbYDqtRU6B4cN2fhJ1qDB4u5NYD4DNq9O3DvnsVuRw6MCToRmcXs2cBnn4ltZ2fghx/E2HO7wh7Sh+PwH7IyydcXTg8WJrfwEy2VCvj6a/EwDQB27RJJOuujk7kxQSeiEsnJAd5/H3jnHeOxpUtF1Ra7xB7SwnH4D1mZFBEBl6wsqz/RCgrKP69m82agb19R4YXIXJigE1GxXbkCtGiRf/GOyZOB11+XLSQqDnNM7uTwH7K2kBCci4yEJMMTrSZNgE2bjA+Nvv8eeOst44JsRCXFBJ2IimXTJqB+fWDfPrHv7CxW3Zs4Ud64yETmmtzJ4T8kg3u+vpCio2V5otWqlZh64XJ/yccvvhDzcJikkzlwJVEiMolGI2oAz5tnPFapkuhBatpUvriomMy5+qUtrARLZKpHrB780kvAypVAjx4iMZ89G/D2Bj74QOaYyeYxQSeiIjt3DnjtNeDoUeOxiAjgyy+BsmXli8tuPJgIdOli+XtycifRw+mfMOk/xOqfMOV5OvTqq8CdO8Abb4g/EhMjTh81Sr6wyfZxiAsRFUlsLPD008bkXK0GFi4U+SSTczMoZKiJ08yZKGXpQsuc3En0cEUsH/r668YqVoCYNP/FF1aMk+wOE3QieqS7d8WCHD17il4iAKheHTh4EBgyRJQdIzN4SCIQtH+/Ze/LyZ1ED2fCE6YRI8Qkeb1Bg4BVqywbHtkvJuhE9FAnT4pa5suWGY/1rXcMRwYsQn0/B1oh0hoekgi4padb9r6c3En0cCY+YZo4UUwUBcSY9N69RRlGIlMxQSeiAiRJ1DJ/5hng9GlxrLSLBiteWoNvXv4RnreuON4y7pb2kEQg29vb8vdmbXeiwpn4hEmlAmbNAgYOFPs5OWIho4MHrRQv2Q0m6ESUz507LoiKcsbgwcYlrOsHX0dC/wXo3fAvccBRl3G3pIckAknNmskbF5EjK8YTJpUKWLQIiIoS+/fuAZ07AxcuWClmsgus4kJk7x5RIuxBhw6pMGpUC6SkGD+7R0cDH3stRik3Xf6TWenDvPSJwLp14n0NCoJu0CDc++MPuSMjcmzFKB/q7CyGBl69CuzZA6SkAB07inUjOKmeioI96ET2rIiL0Oh0wMcfAy1aOCMlRaxf7eMDrF8PzJ8PlAoow0of1sChJkR2w81N/BtavbrYP31ajIzJzpY3LrINJiXo06dPR+PGjeHl5QV/f3907doVZ86cyXdOv379oFKp8n01adLErEETUREVoUTY9etisY0xY4CcHFGSpUkTHY4fB15++f5JrPRBRGSysmWBrVuB8uXF/u7dYnw6VxulxzEpQY+Pj8fQoUPx+++/Iy4uDjk5OWjTpg3u3r2b77x27dohKSnJ8LV161azBk1ERfSYEmG7dwP16wM//yxeUqkkdOt2Fjt35qJSpTx/hpU+iIiKpWpVYNMmoFQpsb98OfDRR/LGRMpn0hj0bdu25dtftmwZ/P39kZCQgBdffNFwXK1WIzAw0DwRElHx+fqKYS15k3SNBggKwpIlwNChIt8GAH9/4JtvcpGdfRqurlUKXsvSy7ibMFaeiMiWNGkCfPst8MorYn/SJJG49+wpb1ykXCWaJJqWlgYAKFeuXL7je/bsgb+/P3x8fNC8eXNMnToV/v7+hV5Do9FAk2dsa/r9mr9arRZarbYk4RVKf01LXJtMx/awsC5d4DRzpnGYi0YDXfodjL81Dp8uNZ72v//psGxZLnx9tYiLk6E9EhPzx5mYCHz0EXRjxzp0ks7fD2VheyiLrbVHly7A9OlOGD/eGQAwYICEoKBcvPCCfYx3sbX2kEtR3x+VJBVvJJQkSejSpQtu3bqF3377zXB89erV8PT0RKVKlXDhwgVMnDgROTk5SEhIgPrBR+0AYmJiMDnv0lv3xcbGwsPDozihEVEepVJTEbR/P9zS05HhUQ7v/jUG8YerGl7v2vUc+vT5C04yThmvunkz1LduQefqajjmpNXiXtmyuNCpk3yBEZFNKZWaiuD9++Gang6ttzeuNmuGe76+codlIEnAkiX1sH27eErp6ZmNmTN/Q0jIHZkjI2vJzMxEVFQU0tLS4P2IdS6KnaAPHToUW7Zswd69e1GhQoWHnpeUlIRKlSph1apViIiIKPB6YT3ooaGhuHHjxiMDLy6tVou4uDiEh4fDNU8yQPJge1hPaioQGemMfftEJu7kJGHOHB0GDzaWT5SrPZxiYlDoJwSdDrqYGKvFoTT8/VAWtoeyFGgP/ZM4ADh/HqqMDEhOTtB98gnQsKG8weaRkwO8/LIztm8X/+ZVrSohPj4HAQEyB1ZC/P0omvT0dPj5+T02QS/WEJdhw4Zh06ZN+PXXXx+ZnANAUFAQKlWqhHPnzhX6ulqtLrRn3dXV1aINbOnrk2nYHpZ1/jzQvj1w9qzY9/AAVq9W4aWXnAE4Fzjf6u3h7//QsfLO/Lng74fCsD2UxdAeP/4oPugfPixqHLq5Affuwfndd4FVqxQzXM7VFVizBnj+eeDkSeD8eRU6d3bFnj2ANRYOtjT+fjxaUd8bkx5qS5KE6OhorF+/Hrt27UKVKoVMJHtAamoqrly5gqCgIFNuRURmcvCgmKCkT84DAoD4eFFaUTFYxpGISio1Ffj3X5GYu9zvfyxVSsyEV9iqx97eovxiaKjYP3YM6NrVuHozkUkJ+tChQ7Fy5UrExsbCy8sLycnJSE5ORlZWFgDgzp07GD16NA4cOICLFy9iz5496NSpE/z8/PCyoaAyEVnLhg1Ay5ai1jkA1KwJ/P470KiRvHEVwDKORFRSvr7ig71LnsEBOTkiG1bgqscVKgDbtwP6Ohu7dwO9egG5ufLGRcpgUoK+ePFipKWloUWLFggKCjJ8rV69GgDg7OyMkydPokuXLggLC0Pfvn0RFhaGAwcOwMvLyyJ/ASIq3Jw5ogP6/udntGghlpmuXFnGoB6Fq2gSUUlERoohLvpu6JwcsWxntWqKXfW4Zk3Rk66vibFuHRAdzYWMyMQx6I+bT+ru7o7t27eXKCAiKpncXOCdd4C5c43HevUCvvyy4JpFRER2IyQE+OwzYORIQKsVPefVqonXFDxc7tlnRWLeqZP4TLFkiRiK6MDz4wkm9qATkbJlZoqFMPIm5++/D6xYweSciBxAo0ZiQuirrwKNGwNhYTYxXK5dO+Cbb4z7kycDixfLFg4pQIkWKiIi5UhJATp3FpNCAcDZGVi6FHj9dXnjIiKyKkuvemwhPXuKf8dHjRL7Q4eKkTn61UfJsbAHncgOnDkDNG1qTM69vMS4RibnRES2Y+RIYNw4sS1JYnjirl3yxkTyYA86kY3bu1csIX3zptgPCQG2bAHq15c3LiIim5aYCKxdK8o3+vqKSahWGCozbZroSf/6azHHtUsXURr36actfmtSEPagE9mw1auB1q2NyXm9eqKMIpNzIqISSEwEpk8XC6g5OYnv06eL4xamUonhiZ07i/07d8QYdf0TUnIMTNCJbJAkATNnAq+9ZlzbJzwc+O03UVuXiIhKYO1aMVZQP7terRb7VlrwyMVFzHV9/nmxf/060Lw58P33Vrk9KQCHuBDZmJwcYNgwUYpLb8AAsc/VlYnIZsk0pKRQqakFS1+p1VZd8MjdHdi8WawwGh8vOmOiooDTp0UJRid2sdo1Ni+RDbl9W4xHzJucf/ihqHHO5JyIbJaMQ0oK5etrfDypp9FYfcEjHx9gxw7gjTeMxz78UFSRzMy0aihkZUzQSfkSE0Vh70mTxHe5/sGW2b59wFNPieosgEjIv/1W1DlXqWQNjYioZGQeUlJAZCSQkWFM0jUasS/DgkdubsDnnwOzZxt7zdeuBV580WH/O3QITNBJ2ZTWqyKDnBxgyhTxj/GlS+KYjw+wfbsowUVEZPMUMKQkn5AQscBRUBCg04nvMi54pFKJEoybNonPLQCQkCDWYjpyRJaQyMKYoJOyKa1XxcouXwZatgQ++ED8HwGISUN//CGOExHZBYUMKclHv+DRlCniuwJWI+3YEThwAKhSRewnJQEvvACsWSNvXGR+TNBJ2ZTWq2JFa9eKcol794p9Jyex/PPu3UDFivLGRkRkVgoaUqJ0tWuLkov6Ci/37okx6frhj2QfmKCTsimxV8XC7t4VE4JeeUVMCgWASpWAX38Vw/BdWHuJiOyNwoaUKF358sAvvwD9+xuPDRjgEH1XDoP/1ZOyRUaKMeeA6DnX96pER8sbl4UcPQr06AGcPWs89tprwOLFYtw5EZHd0g8poSJRq4GvvgKuXRO959euAYMGiaevLBxg+9iDTsrmIL0qOp2Yod+kiTE5L10aWLYMiI1lck5ERAWpVKLMrq+v2F+/XlT3ItvHHnRSPjvvVUlOBvr1E1VZ9Bo2FCvGPfmkbGEREZENCAoSZRj1w/Wjo8Wqo5UqyRsXlQx70Ilk9PPPYiJo3uT83XeB/fuZnBMRUdFERAB9+ojtjAygb19j5S+yTUzQiWSg0QAjRgAdOgApKeJYYCAQFwfMmiUWpiAiIiqqefOMFb7i44HPPpM3HioZJuhEVnb6NPDss2JRVL2XXgJOnABat5YvLiIisl1lygDLlxsniL73HnDypLwxUfExQSeyEkkS4wQbNhQLDQFiFv78+WJ1uPLl5Y2PiIhsW4sWwKhRYjs7G+jdu2ClYrINTNCJrCAtTVSMHDQIyMoSx2rVAg4dEhN6WBKLiIjM4aOPgDp1xPYff4iVqMn2MEEnsrC//gIaNxblr/Teegs4cgSoV0++uIiIyP6UKgWsXAm4uor9WbOMK1KT7WCCTmRB69aJ8ebnzon9cuWADRuARYsAd3d5YyMiIvtUvz7w4YdiW5LEUJf0dHljItMwQSeygNxcMUEnMhK4c0cce+op0WvetauckRERkSMYPRp4/nmxffEiMHKkrOGQiZigE5nZzZtAx47A9OnGYz17Avv2AVWqyBcXERE5DmdnYMUKwNNT7H/9NfDjj/LGREXHBJ3IjE6cEOPN9QsPOTsDc+aIpZc9PGQNjYiIHEyVKvlL+r75pnHtDVI2JuhEZrJqFdC0KXD+vNgvXx745Rdg+HBWaSEiInn07w907iy2r18XSbokyRsTPR4TdKISyskB3n0X6NEDyMwUxxo2FOPNW7SQNTQiInJwKhXwxRfGtTY2bQI2bpQ1JCoCJuhEJXDjBtCuHfDJJ8Zj/foBv/1mXHKZiIhITv7+wOLFxv2lS+WLhYrGpAR9+vTpaNy4Mby8vODv74+uXbvizJkz+c6RJAkxMTEIDg6Gu7s7WrRogVOnTpk1aCIlOHoUaNQI2LlT7Lu4AAsXiok4LKFIRERK8vLLQOXKYnvHDuDKFVnDoccwKUGPj4/H0KFD8fvvvyMuLg45OTlo06YN7t69azhn1qxZmD17NhYsWIDDhw8jMDAQ4eHhyMjIMHvwRHL59lvgueeAS5fEfkAAsHs3MGQIx5sTEZHyODmJJ7yAGIO+YoWs4dBjuJhy8rZt2/LtL1u2DP7+/khISMCLL74ISZIwZ84cTJgwAREREQCA5cuXIyAgALGxsRg0aFCBa2o0Gmg0GsN++v1K+lqtFlqt1uS/0OPor2mJa5PpbK09tFpg7FgnLFjgbDj2zDM6rF6di5AQ8XqRJCZCtX49VKmpkHx9IUVEACEhlgnaBLbWHvaO7aEsbA9lYXuYrmdPYPJkF0iSCsuWSXj33RyzdSqxPYqmqO+PSpKKP5f3n3/+wZNPPomTJ0+iTp06OH/+PKpVq4ajR4+iQYMGhvO6dOkCHx8fLF++vMA1YmJiMHny5ALHY2Nj4cG6dKQgt2+74eOPG+PUKT/DsfDwixg48CRcXXVFvk6p1FQ8uXYtctzdoXN1hZNWC5esLJyLjMQ9X19LhE5ERAQA+OCDpvjjD38AwNSpe1G7dqrMETmWzMxMREVFIS0tDd7e3g89z6Qe9LwkScKoUaPw/PPPo06dOgCA5ORkAEBAQEC+cwMCAnBJPxbgAePHj8eoUaMM++np6QgNDUWbNm0eGXhxabVaxMXFITw8HK6urma/PpnGVtrjyBEVoqOd8d9/oqvB1VXC3Lm5eOONEACm9Xyr5s+Hqk4dQK02HtRoUDEtDVLv3maM2nS20h6Ogu2hLGwPZWF7FE9amgp9+4rtv/9uhnffzTXLddkeRaMfKfI4xU7Qo6OjceLECezdu7fAa6oHnpdIklTgmJ5arYY6b6Jyn6urq0Ub2NLXJ9MotT1yc4FPPwXef984fCU4GFi7VoWmTYv563P7dsFVizw8gFu3AIW8B0ptD0fF9lAWtoeysD1M88orwNtvA2lpwLp1Tli40AleXua7Ptvj0Yr63hSrzOKwYcOwadMm7N69GxUqVDAcDwwMBGDsSddLSUkp0KtOpHSXLwP/+x8wdqwxOX/uOSAhQSxIVGy+vkCeeRcAxL6fX+HnExERmYm7u1i3AxBrd6xZI288VDiTEnRJkhAdHY3169dj165dqFKlSr7Xq1SpgsDAQMTFxRmOZWdnIz4+Hs2aNTNPxERWEBsL1KsHxMeLfZVKJOq7dgH3P4cWX2QkkJFhTNI1GrHfrVsJL0xERPR4AwYYt5ctky8OejiTEvShQ4di5cqViI2NhZeXF5KTk5GcnIysrCwAYmjLiBEjMG3aNGzYsAF//vkn+vXrBw8PD0RFRVnkL0BkTrduAVFRYqZ7Wpo4VrGiKKE4Ywbg5maGm4SEAOPHA0FBgE4nvo8fr4gqLkREZP8aNQLuTx/Evn3AA0vakAKYNIh28f1lqFo8sH75smXL0O9+cc0xY8YgKysLQ4YMwa1bt/Dss89ix44d8DLnACciC9i9G+jTB/jvP+OxXr2ABQuAMmXMfLOQEDEIkIiIyMpUKqB/f+Cdd8T+smWiE4qUw+QhLoV96ZNzQPSix8TEICkpCffu3UN8fLyhyguREmk0wLvvivHm+uTcxwf4/nuxIJHZk3MiIiKZ9eolVsAGxKJFOTnyxkP5FWuSKJG9+PNP4JlngE8+ESurAUDLlsCJE8Brr8kbGxERkaX4+wOdOontpCRg+3Z546H8mKCTMiUmAnPnApMmie+JiWa9vE4HzJkjxuGdOCGOubmJRP2XX4DQULPejoiISHH69zduL1okXxxUEBN0Up7ERGD6dCA5GXByEt+nTzdbkp6YCLRtC4wcaSykUqcOcPiwGI/nxN8KIiJyAO3bi7U9AGDrVuCHH+SNh4yYipDyrF0LeHkZV9pUq8X+unVmuXTduqKXXG/kSJGc16tX4ssTERHZDBcXsRif3pAhQEqKfPGQERN0Up7UVGNyrqdWAzduFPuS6elA375iBbVbt8Sx4GAgLg6YPRsoVaoE8RIREdmoV18FIiLE9o0bIknXz8ki+TBBJ+Ux80qbe/cC9euLWep6r7wCnDwJtG5dgjiJiIhsnEolxp/7+or9deu4uqgSMEEn5THTSpvZ2cCECUDz5sDFi+KYl5dI1FevBsqVM2/YREREtiggIP8k0aFDgWvX5IuHmKCTEplhpc2//waaNQOmTROXAIDnnxcVW3r3Fj0GREREJHTvLvrHADHS9K23ONRFTiatJEpkNSVYafOLL4Dhw4GsLLHv4gJ8+KFYjMjZ2YwxEhER2ZGFC4E9e8RY9A0bgFWrgB495I7KMTFBJ7uycSMwcKBxv0YNYOVKoGHDIl4gMVGUeklNFQPyIiNN6rknIiKyVf7+YqhL9+5iPzpaLN4XGChvXI6IQ1zIbiQnA2++adwfPBhISDAxObdg/XUiIiKle+UVY4J+86b4v5RDXayPCTrZBUkC3njDWImxa1fRC+DhYcJFLFh/nYiIyFYsWACULy+2f/wRiI2VNx5HxASd7MIXXwBbtohtf3/g88+LMRHUAvXXiYiIbE358sDixcb9YcOApCT54nFETNDJ5v3zj1gNVO/rr42f/E1i5vrrRERk4xITgblzgUmTxHcHGvLYrRvw2mti+9YtYNAgDnWxJiboZNNycoBevYDMTLE/aBDQsWMxL2am+utERGQHOC8J8+eLp9IAsHmzKLpA1sEEnWza9OnAwYNi+4kngE8+KcHFzFB/nYiI7ATnJcHPD1iyxLj/9tvA1avyxeNIWGaRbNbhw8DkyWLbyQn49lvA07OEFy1B/XUiIrIjnJcEAHj5ZSAqSkwUvX1blDLevJkL/lkae9DJJmVmihVBc3PF/oQJQJMm8sZERER2hPOSDObNAwICxPaWLSJBJ8tigk42acwY4MwZsd2oETBxorzxEBGRneG8JANfX7HKqN6sWfLF4iiYoJPN2bbN+A+Fu7uYtOLqKm9MRERkZ5Q4L0nGqjIvvwzUqiW29+0DDhyw2q0dEhN0simpqcCAAcb9jz8GqleXLx4iIrJj+nlJU6aI73In5zJWlXFyAkaPNu5//LFVbuuwmKCTzZAkUUZRv1hC27bAkCFWDMCB6+ESEZHMFFBVJipKPEgAgI0bgbNnrXZrh8MEnWzGypXGf4fKlRMLElltFjnr4RIRkZwUUFVGrQaGDxfbkgTMnm21WzscJuhkEy5dAqKjjftLlwLBwVYMQAE9F0RE5MAUUlVm0CBjSeNvvgFSUqx6e4fBBJ0ULzcX6NMHSE8X+336iMn1VqWAngsiInJgCqkq4+MjaqHrQ1iwwKq3dxhM0EnxPvsM+PVXsV2xoqjHanUK6bkgIiIHpaCqMiNGAC73l7pcuBC4e9fqIdg9riRKinbihFiECBDjzVesAMqUeeCkxEQxBCU1VSTSkZHm/wcrMlKMOQdEz7m+5yLvuBsiIiJLUshq16GhwGuviblhN28Cy5aJoS9kPuxBJ8W6dw/o1QvIzhb7o0cDzZs/cJK1Jm8qqOeCiIhIbnlLLs6eDeTkyBeLPTI5Qf/111/RqVMnBAcHQ6VSYePGjfle79evH1QqVb6vJlyDnYph4kTg5EmxXbcu8OGHhZxkzcmbSqqHS0REJKP69YE2bcT2hQvAhg3WKqvmGExO0O/evYv69etjwSNmBbRr1w5JSUmGr61bt5YoSHI8e/YAn34qtt3cgO++KzhHEwAnbxIREcnk3XeN27NnO0GS5IvF3pg8Br19+/Zo3779I89Rq9UIDAwsdlDk2NLSRKUW/S/6tGmiB71Qvr5iWEveJF2jMa6kQERERBbxv/8BTz0FHD8OJCQ44c8/fdGxo9xR2QeLTBLds2cP/P394ePjg+bNm2Pq1Knw9/cv9FyNRgNNnuoY6fdr6Wm1Wmi1WrPHpr+mJa5NpiusPYYOdcaVK+LhTvPmOkRH5+KhzdWlC5xmzjQOc7k/eVM3aBAe/ofoYfj7oSxsD2VheygL20MZRo5UoW9fkU5u3PgERo1iezxKUX9eVZJU/AcSKpUKGzZsQNeuXQ3HVq9eDU9PT1SqVAkXLlzAxIkTkZOTg4SEBKgLGaMQExODyZMnFzgeGxsLDw+P4oZGNmrfvmB8/HFjAICHhxZz5uyGv3/WI/9MqdRUBO3fD7f0dGR7eyOpWTPc8/W1RrhEREQOLSdHhbfeao3r10XONm/eLlSsmCFzVMqVmZmJqKgopKWlwdvb+6HnmT1Bf1BSUhIqVaqEVatWISIiosDrhfWgh4aG4saNG48MvLi0Wi3i4uIQHh4OV1dXs1+fTJO3Pa5fd8XTT7vg5k0x0WTZshz07MkBbdbE3w9lYXsoC9tDWdgeJkpMhGr9eqhSUyH5+kKKiDBbsYN585wwerQzAKBXrxx8/TX/736Y9PR0+Pn5PTZBt3gd9KCgIFSqVAnnzp0r9HW1Wl1oz7qrq6tFf+EsfX0yjYuLKwYOdMXNm2L/lVeAvn1doOKkcFnw90NZ2B7KwvZQFrZHESQmAp98YhwOev262DdTueBBg4CPPpJw+7YKq1Y5Y/JkFapWNUPcdqioP6sWr4OempqKK1euIIiT9ugRlixxwo4dYjsoCFi8GEzOiYiIzMHCJYk9PYGhQ3UAxJCXQssik0lMTtDv3LmD48eP4/jx4wCACxcu4Pjx47h8+TLu3LmD0aNH48CBA7h48SL27NmDTp06wc/PDy+//LK5Yyc7cfhwAMaMMf4oLlsmirMQERGRGVihJPHw4TqULi1WFlyxAjh71myXdkgmJ+hHjhxBgwYN0KBBAwDAqFGj0KBBA0yaNAnOzs44efIkunTpgrCwMPTt2xdhYWE4cOAAvLy8zB482b41a1SYMeMZaDSiuzw6GmjbVuagiIiI7Imvr6hylpdGA/j5me0WPj5A167/AhALbhdS/4NMYPIY9BYtWuBR80q3b99eooDIcXz5JTBwoDMkSSTnPXqI5YKJiIjIjCIjgenTxXaeksSIjjbrbV566Ty2bauB1FQVvv8eeO89oHZts97CYVh8DDpRYT77DHjzTRiS89df1+HbbwHO8yEiIjKzkBAxITQoSHRvBwWZbYJoXu7uOXj3XTEWXZKAmBizXt6hWLyKC1FekiQee+V99NWlyz9YtKgSnJ35eZGIiMgiQkKAt9+2+G0GD9ZhzhxnJCeLuanHj4vVRsk0zIjIaiQJeOed/Mn5Bx/kol+/U6zYQkREZAc8PETnvN4HH8gXiy1jgk5WkZsLDBwohrbozZkDTJigY3JORERkRwYOBCpUENubNgGHD8sbjy1igk4Wl50N9OwpJoUCgJMT8NVXwPDh8sZFRERE5leqFDBhgnF/0iT5YrFVTNDJorKygIgIYPVqse/iAnz/PTBggLxxERERkeUMGABUriy2t20D9u+XNRybwwSdLCYjA+jQAdiyReyXKgX8+CPQvbu8cREREZFlubkBEyca9/Nu0+MxQSeLuHkTaN0a2LNH7Ht6ik/QHTrIGhYREZFjSEwE5s4V40vmzhX7VtanD/DEE2J71y5g926rh2CzmKCT2SUnAy1aAIcOif2yZYGdO4HmzWUNi4iIyDEkJoqFiZKTxcSv5GSxb+Uk3cUlfy30iRNFRTd6PCboZFaXLwMvvgicPCn2AwKA+HjgmWfkjYuIiMhhrF0LeHmJVUMB8d3LC1i3zuqhvPYaUKuW2N63D9ixw+oh2CQm6GQ2Z88Czz8PnDsn9itWBH77DahbV964iIiIHEpqqjE511OrgRs3rB6Ks3P+XvQvvrB6CDaJCTqZxR9/AC+8AFy5IvbDwoC9e4Enn5Q3LiIiIofj6wtoNPmPaTSAn58s4UREiOGugBiHnpsrSxg2xUXuAKiEEhPFo6zUVPELGRkplvO1ot9/B9q3B27fFvv16wPbt4vhLURERGRmj/u/PzJSjDkHRM+5RiNKq0VHyxKuszPQsiWwfr0oInH8ONCwoSyh2Az2oNsyBUwC2bVLVGvRJ+dNmohPx0zOiYiILKAo//eHhADjxwNBQYBOJ76PH2/1Dry8/vc/4/bOnbKFYTOYoNsymSeBbN4syibevSv2W7UC4uKMj7GIiIjIzIr6f39ICPD228CUKeK7jMk5wATdVEzQbZmMk0BWrRJjyvRD3Dp3FgsSeXpa/NZERESOS0ETQE0RFmb8jPDbbwWHyFN+TNBtmUyTQL74AoiKAnJyxH5UlPhAX6qURW9LRERECpsAWlQqlbEXPStLzF+jh2OCbssiI8WkD/0vqn4SSLduFrvl7NnAwIHGhQYGDgRWrABcXS12SyIiItKT4f9+c+Ewl6Jjgm7LrDgJRJJEHdN33jEeGz0aWLJEzM4mIiIiK1DgBNCiYoJedCyzaOv0k0AsbOJEYOpU4/6HHwITJohHVkRERGRFVvq/39xCQoDq1YEzZ4BDh0THv5eX3FEpE3vQ6bG++y5/cj5nDvD++0zOiYiIyDT6XvScHODXX+WNRcmYoNMjHTkCvPGGcX/OHGD4cNnCISIiIhvGYS5FwwSdHio5GejaFbh3T+y/8YZNPlEjIiIihWjRwvgEngn6wzFBp0JpNKLOuX5hsueeAxYu5LAWIiIiKr5y5YCnnxbbJ04AKSnyxqNUTNCpAEkChgwBDhwQ+xUqiAXK3NzkjYuIiIhsX95hLrt3yxeHkjFBpwLmzwe+/lpslyoFbNwIBATIGhIRERHZCY5Dfzwm6JTPzp3AqFHG/a+/Bho2lC8eIiIisi/PP298Ks8EvXBM0Mng/Hmge3cgN1fsjxsH9Oghb0xERERkXzw8gKZNxfb588DFi7KGo0gmJ+i//vorOnXqhODgYKhUKmzcuDHf65IkISYmBsHBwXB3d0eLFi1w6tQpc8VLFpKRAXTuDNy8KfY7dgQ++kjemIiIiMg+tW5t3GYvekEmJ+h3795F/fr1sWDBgkJfnzVrFmbPno0FCxbg8OHDCAwMRHh4ODIyMkocLFmGTgf06QPoP0fVqCEWJ3J2ljcuIiIisk8ch/5oLqb+gfbt26N9+/aFviZJEubMmYMJEyYgIiICALB8+XIEBAQgNjYWgwYNKlm0ZBGTJ4uJoABQpgzw44/iOxEREZElNG4MeHmJJ/i7dokKcizlbGRygv4oFy5cQHJyMtq0aWM4plar0bx5c+zfv7/QBF2j0UCj0Rj209PTAQBarRZardac4Rmum/e7o1u/XoUpU8SPgZOThJUrc1GligRrvT1sD2VheygL20NZ2B7KwvZQluK0xwsvOGPrVidcuwYcP65FnTqWik45ivr+mDVBT05OBgAEPFCTLyAgAJcuXSr0z0yfPh2TJ08ucHzHjh3w8PAwZ3j5xMXFWezatuLiRW+MHfuCYb9Pn1PIzf0XW7daPxa2h7KwPZSF7aEsbA9lYXsoiyntERhYFUBdAMC8eWfQteu/FopKOTIzM4t0nlkTdD3VA88oJEkqcExv/PjxGJWnrl96ejpCQ0PRpk0beHt7mz02rVaLuLg4hIeHw9XV1ezXtxU3bgAjRrhAoxHtEhWlw9Kl1aFSVbdqHGwPZWF7KAvbQ1nYHsrC9iimxESo1q+HKjUVkq8vpIgIICSkxJctTntUq2Zcd+XAgdr385ASh6Jo+pEij2PWBD0wMBCA6EkPCgoyHE9JSSnQq66nVquhVqsLHHd1dbXoL5ylr69kWi0QFWUsa9SoEfDll05wc5Ov6qYjt4cSsT2Uhe2hLGwPZWF7mCAxEfjkEzH4W60Grl8X++PHmyVJB0xrjzp1gObNgfh44MwZFfbudUWrVmYJQ7GK+t6YNSOrUqUKAgMD8z3eyM7ORnx8PJo1a2bOW1EJjBgB7NkjtgMDxQRRd3cZAyIiIiLLW7vWmJwD4ruXF7BunWwhDRli3F60SLYwFMfkHvQ7d+7gn3/+MexfuHABx48fR7ly5VCxYkWMGDEC06ZNw5NPPoknn3wS06ZNg4eHB6KioswaOBXP558bfwHc3ID16832oZmIiIiULDXVmJzrqdVi3KtMunYVnYXJyaLD8L//gAoVZAtHMUzuQT9y5AgaNGiABg0aAABGjRqFBg0aYNKkSQCAMWPGYMSIERgyZAgaNWqExMRE7NixA15eXuaNnEy2dy8QHW3cX7LEuJIXERER2TlfXyBP5TwAYt/PT554IDoLBw4U27m5wBdfyBaKopicoLdo0QKSJBX4+uabbwCICaIxMTFISkrCvXv3EB8fjzqOUDdH4S5fBiIiYCifOHw40L+/vDERERGRFUVGisLj+iRdoxH73brJGtabbxoXR/z8c1it1LOSyTcrkKwmM1M8Qrp+Xey3bi3mhBAREZEDCQkRE0KDgsQy4kFBZp0gWlwVKgBduojt5GRgwwZZw1EEi5RZJOWQJGDAAODYMbFftSqwejXgwpYnIiJyPCEhwNtvyx1FAUOHinlxgJgr1727vPHIjT3odm7GDJGQA4CnJ7BpE1CunLwxEREREeXVsiVQ/f5SLPHxwJ9/yhuP3Jig27GffgImTDDur1wJ1K4tXzxEREREhVGp8pdcXLxYvliUgAm6nTp9WixGJEli/8MPjeO7iIiIiEosMRGYOxeYNAmq+fNRKjW1RJfr2xfw8BDbK1aI+auOigm6Hbp1C+jc2fiDHRmZvyediIiIqEQSE4Hp08WsTicnqJKT8eTateJ4MZUpA/TqJbbv3AG+/dZMsdogJuh2JicHeO01QL+WVP36wDffiEdHRERERGZRyKqkOe7uUJWwBMuDK4vqRwI4GibodmbcOGDHDrHt5ydW5SpdWtaQiIiIyN4UsiqpztUVqhKuSlq/PvDcc2L71Cng119LdDmbxQTdjqxYAXz6qdh2cREfbitXljUkIiIiskeFrErqpNVCMsOqpHl70RcsKPHlbBITdDtx6JBxqVwAmDcPaN5cvniIiIjIjhWyKqlLVhakl18u8aW7dQP8/cX2unXAX3+V+JI2hwm6Hbh6VawUqv8dGTQIeOstWUMiIiIie/bAqqRSUBDORUaaZVVStRp45x2xLUmiEp2jYYJu4+7dAyIigKQksf/CC6L3nIiIiMii9KuSTpkCKToa93x9zXbpoUOB8uXF9urVYjy6I2GCbuOGDQMOHhTbFSuKcedubvLGRERERFQSpUsDY8aIbUkCpkyRNx5rY4JuwzZuBL78Umy7uwM//mgcs0VERERky956y5jX/PAD8Oef8sZjTUzQbdS1a8Cbbxr3Fy4EnnpKtnCIiIiIzOrBXvTJk+WNx5qYoNsgSRLJub7UaJcuQL9+soZEREREZHZvvQUEBIjttWuBkyfljcdamKDboGXLgM2bxba/P/D551wplIiIiOyPhwcwdqxx31F60Zmg25gLF4Dhw437X3zBcedERERkvwYPBgIDxfa6dcAff8gbjzUwQbchublA377AnTtif8AAoHNneWMiIiIisiR3d2DcOOO+I/SiM0G3IbNnA7/9JrYrVwY++0zWcIiIiIisYuBAsSYSAGzYABw/Lms4FscE3UacOAG8/77YVqmA5csBb295YyIiIiKyBkfrRWeCbgM0GqB3byA7W+y/8w7w4ovyxkRERERkTQMHAsHBYnvjRuDYMVnDsSgm6DYgJkb0oANAnTrAhx/KGg4RERGR1ZUqBYwfb9yPiZEtFItjgq5w+/YBs2aJbVdX4NtvxQ8oERERkaN54w0gJERsb9oEHD0qbzyWwgRdwTIygD59AJ1O7E+ezNVCiYiIyHGVKgW8955xf8UK+WKxJCboCvbOO8D582K7WTPjcrdEREREjioqCnB2Fts//yxvLJbCBF2htmwRixABQOnS4hOi/oeRiIiIyFH5+IiOSwA4e9bYmWlPmKAr0I0bwOuvG/dnzwaqVZMvHiIiIiIlad/euG2PvehM0BVGksSStteuif2OHYE335Q3JiIiIiIlYYJuopiYGKhUqnxfgYGB5r6N3Vq5Eli3Tmz7+gJffikWJiIiIiJyWImJwNy5wKRJwNy5qO+XaFhZdNcu4N49ecMzN4v0oNeuXRtJSUmGr5MnT1riNnbn8mUgOtq4v2QJwM82RERE5NASE4Hp04HkZMDJCUhOhmrGdLR78S4AICsL+PVXmWM0MxeLXNTFpci95hqNBhqNxrCfnp4OANBqtdBqtWaPTX9NS1y7JHQ6oF8/Z6Sni89MUVE6dOmSC4WFaXZKbQ9HxfZQFraHsrA9lIXtoSyWbA/V6tVQeXgALi5Abq747uGBNurdWIaXAAA//ZSLli11Zr+3uRX1/VFJkiSZ88YxMTH4+OOPUaZMGajVajz77LOYNm0aqlat+tDzJ0+eXOB4bGwsPDw8zBmaom3eXBVffVUXAODrm4W5c3fB0zNH5qiIiIiI5FX9u+9Ez/kD0u+VQtPNX0Onc0Jw8B0sWrRThuhMk5mZiaioKKSlpcHb2/uh55k9Qf/555+RmZmJsLAwXLt2DR999BH+/vtvnDp1Cr6+vgXOL6wHPTQ0FDdu3Hhk4MWl1WoRFxeH8PBwuLq6mv36xXH6NPDssy64d08MNt+2LQetWpm1WRRLie3hyNgeysL2UBa2h7KwPZTFku2hmj8fquRkQK02HtRoIAUFoeX64di7VyTvf/+txUP6gxUjPT0dfn5+j03QzT7EpX2eabV169ZF06ZNUa1aNSxfvhyjRo0qcL5arYY67xt+n6urq0V/4Sx9/aLSaoEBA4yTG4YPB9q2tcjII0VTSnuQwPZQFraHsrA9lIXtoSwWaY9XXxVj0J2dRZKu0QCZmUD37uhwzwl794rTfvnFFUOHmvfW5lbU98biZRZLly6NunXr4ty5c5a+lU368EMgIUFs16ghfv6IiIiI6L6QEGD8eCAoSEzaCwoS+yEhdltu0eJdtRqNBqdPn8YLL7xg6VvZnIMHgWnTxLaLC/Dtt4C7u7wxERERESlOSAjw9tsFDtevL/L1pCRjucVSpWSIz8zM3oM+evRoxMfH48KFCzh48CAiIyORnp6Ovn37mvtWNi0zE+jTR0xGBoCJE4FGjeSNiYiIiMiWqFRAu3Zi257KLZo9Qf/vv//Qo0cPVK9eHREREXBzc8Pvv/+OSpUqmftWNm3MGODsWbH9zDPAe+/JGw8RERGRLbLHYS5mH+KyatUqc1/S7uzYASxcKLbd3cXQFhfHmxdKREREVGLh4WL+aG6uSNA/+0zuiErO4pNEKb+bN4H+/Y37H38MhIXJFw8RERGRLfPxAZo2FdtnzgAXLsgajlkwQbey6Gjg6lWxHR4OvPWWvPEQERGRDUtMBObOBSZNEt8TE+WOSBb2NsyFCbqV6HSiItD334t9Hx9g2bJCF8YiIiIierzERFGfOTlZJBTJyWLfAZP0vAn65s3yxWEuTA+t4H4tfcyYYTy2aJGoGERERERULGvXAl5exhU21Wqxv26dvHHJ4KmnjHnVtm3AgQOyhlNiTNAtLCkJaNHC+Lvi5ATMmwf06CFrWERERGTrUlONybmeWg3cuCFPPDJSqfJXxBs5UoxesFVM0C3oxAng2WeBw4fFvqeneOwybJi8cREREZEd8PUVy97npdEAfn4lu66NjmsfOBCoXVtsHzwIxMbKG09JMEG3kK1bgeeeA65cEfuhocC+fUCHDvLGRURERHYiMhLIyDAm6RqN2O/WrfjXtOFx7S4u+UssjhsH3L0rXzwlwQTdAubPBzp1Au7cEfuNGwOHDgH16skbFxEREdmRkBBRgSIoSIznCAoS+yWZ5Gbj49rDw4GXXhLbiYminLUt4vI4ZpSTA4wYYVyECBAfbpcvBzw8ZAuLiIiI7FVICPD22+a7nh2Ma//kEzFRNCcHmDULeP11MZLBlrAH3UzS00Wved7kfPx4YPXqEibnNjoOjIiIiGyQpca1W1H16mLdGQDIyhL5mK1hgm4Gly6J8ebbtol9V1dR43zatBLWObfhcWBERERkgywxrl0GkyYB5cqJ7e++A37/Xd54TMUEvYQOHhSVWv78U+yXLQvExQH9+pnh4jY+DoyIiIhsjCXGtcugbFlgyhTj/ogRgCTJFo7JOAa9BH74AejTB7h3T+w/+STw009AWJiZbmAH48CIiIjIxph7XLtMBg0SC0P+9Zex7GLPnnJHVTTsQS8GSRLDV7p3NybnL74oVq0yW3IO2MU4MCIiIiI5PFh2cexY2ym7yATdRBoN0L8/MGGC8VjfvmJYi6+vmW9mJ+PAiIiIiOTQpg3QsaPYTkwUFV5sARN0E6SmioZevtx4bNo0MSHUzc0CN7STcWBEREREcvnkE9GbDgAzZwL//SdvPEXBMehFdPas+AT2zz9iv1QpYMUK4JVXLHxjOxkHRkRERCSHGjWAoUNFtWp92cVvv5U7qkdjD3oR7NkDNGliTM4DAoD4eCsk50RERERUYnnLLq5cKSaNKhkT9MdYtkwMa7l1S+zXrSsa9ZlnTLwQFxwiIiIikkW5csDkycZ9pZddZIL+EDqdeAQyYACg1Ypj7dsDe/cClSqZeDEuOEREREQkq0GDgJo1xYKSzz0HZGfLHdHDcQx6ITIzRX3zvOsBRUeLUj0uxXnHCltwCBA34PhyIiIiIotzdRWFPnx8xNo1SsYE/QFJSUCXLsDhw2LfyQmYMwcYNqwEF+WCQ0RERESya9xY7giKhkNc8jhxAnj2WWNy7ukJbN5cwuQc4IJDRERERFRkTNDz+OUX4MoVsR0aCuzbB3ToYIYLc8EhIiIiIioiJuh5jBwJvP66ePxx6BBQr56ZLswFh4iIiIioiDgGPQ+VCli8WFRt8fAw88W54BARERERFQET9Ae4uoovIiIiIiI5cIgLEREREZGCWCxBX7RoEapUqYJSpUqhYcOG+O233yx1KyIiIiIiu2GRBH316tUYMWIEJkyYgGPHjuGFF15A+/btcfnyZUvcjoiIiIjIblgkQZ89ezZef/11vPHGG6hZsybmzJmD0NBQLF682BK3IyIiIiKyG2afJJqdnY2EhASMGzcu3/E2bdpg//79Bc7XaDTQ5FnEJz09HQCg1Wqh1WrNHZ7hmpa4NpmO7aEsbA9lYXsoC9tDWdgeysL2KJqivj8qSZIkc9746tWrCAkJwb59+9CsWTPD8WnTpmH58uU4c+ZMvvNjYmIwefLkAteJjY2Fh9lrHRIRERERySMzMxNRUVFIS0uDt7f3Q8+zWJlFlUqVb1+SpALHAGD8+PEYNWqUYT89PR2hoaFo06bNIwMvLq1Wi7i4OISHh8OV9RRlx/ZQFraHsrA9lIXtoSxsD2VhexSNfqTI45g9Qffz84OzszOSk5PzHU9JSUFAQECB89VqNdRqdYHjrq6uFm1gS1+fTMP2UBa2h7KwPZSF7aEsbA9lYXs8WlHfG7NPEnVzc0PDhg0RFxeX73hcXFy+IS9ERERERFSQRYa4jBo1Cr1790ajRo3QtGlTfP7557h8+TIGDx782D+rHxJf1EcAptJqtcjMzER6ejo/4SkA20NZ2B7KwvZQFraHsrA9lIXtUTT6/PZxU0AtkqC/+uqrSE1NxZQpU5CUlIQ6depg69atqFSp0mP/bEZGBgAgNDTUEqEREREREckqIyMDZcqUeejrZq/iUlI6nQ5Xr16Fl5dXoZNKS0o/CfXKlSsWmYRKpmF7KAvbQ1nYHsrC9lAWtoeysD2KRpIkZGRkIDg4GE5ODx9pbrEqLsXl5OSEChUqWPw+3t7e/AFSELaHsrA9lIXtoSxsD2VheygL2+PxHtVzrmeRlUSJiIiIiKh4mKATERERESmIwyXoarUaH3zwQaG118n62B7KwvZQFraHsrA9lIXtoSxsD/NS3CRRIiIiIiJH5nA96ERERERESsYEnYiIiIhIQZigExEREREpCBN0IiIiIiIFYYJORERERKQgDpegL1q0CFWqVEGpUqXQsGFD/Pbbb3KHZPemT5+Oxo0bw8vLC/7+/ujatSvOnDmT7xxJkhATE4Pg4GC4u7ujRYsWOHXqlEwRO5bp06dDpVJhxIgRhmNsD+tKTExEr1694OvrCw8PDzz11FNISEgwvM72sJ6cnBy8//77qFKlCtzd3VG1alVMmTIFOp3OcA7bw3J+/fVXdOrUCcHBwVCpVNi4cWO+14vy3ms0GgwbNgx+fn4oXbo0OnfujP/++8+Kfwv78aj20Gq1GDt2LOrWrYvSpUsjODgYffr0wdWrV/Ndg+1RPA6VoK9evRojRozAhAkTcOzYMbzwwgto3749Ll++LHdodi0+Ph5Dhw7F77//jri4OOTk5KBNmza4e/eu4ZxZs2Zh9uzZWLBgAQ4fPozAwECEh4cjIyNDxsjt3+HDh/H555+jXr16+Y6zPazn1q1beO655+Dq6oqff/4Zf/31Fz799FP4+PgYzmF7WM/MmTOxZMkSLFiwAKdPn8asWbPw8ccfY/78+YZz2B6Wc/fuXdSvXx8LFiwo9PWivPcjRozAhg0bsGrVKuzduxd37tzBSy+9hNzcXGv9NezGo9ojMzMTR48excSJE3H06FGsX78eZ8+eRefOnfOdx/YoJsmBPPPMM9LgwYPzHatRo4Y0btw4mSJyTCkpKRIAKT4+XpIkSdLpdFJgYKA0Y8YMwzn37t2TypQpIy1ZskSuMO1eRkaG9OSTT0pxcXFS8+bNpeHDh0uSxPawtrFjx0rPP//8Q19ne1hXx44dpQEDBuQ7FhERIfXq1UuSJLaHNQGQNmzYYNgvynt/+/ZtydXVVVq1apXhnMTERMnJyUnatm2b1WK3Rw+2R2EOHTokAZAuXbokSRLboyQcpgc9OzsbCQkJaNOmTb7jbdq0wf79+2WKyjGlpaUBAMqVKwcAuHDhApKTk/O1jVqtRvPmzdk2FjR06FB07NgRrVu3znec7WFdmzZtQqNGjfDKK6/A398fDRo0wBdffGF4ne1hXc8//zx27tyJs2fPAgD++OMP7N27Fx06dADA9pBTUd77hIQEaLXafOcEBwejTp06bB8rSEtLg0qlMjwBZHsUn4vcAVjLjRs3kJubi4CAgHzHAwICkJycLFNUjkeSJIwaNQrPP/886tSpAwCG97+wtrl06ZLVY3QEq1atQkJCAo4cOVLgNbaHdZ0/fx6LFy/GqFGj8N577+HQoUN4++23oVar0adPH7aHlY0dOxZpaWmoUaMGnJ2dkZubi6lTp6JHjx4A+Pshp6K898nJyXBzc0PZsmULnMP/6y3r3r17GDduHKKiouDt7Q2A7VESDpOg66lUqnz7kiQVOEaWEx0djRMnTmDv3r0FXmPbWMeVK1cwfPhw7NixA6VKlXroeWwP69DpdGjUqBGmTZsGAGjQoAFOnTqFxYsXo0+fPobz2B7WsXr1aqxcuRKxsbGoXbs2jh8/jhEjRiA4OBh9+/Y1nMf2kE9x3nu2j2VptVq89tpr0Ol0WLRo0WPPZ3s8nsMMcfHz84Ozs3OBT2wpKSkFPo2TZQwbNgybNm3C7t27UaFCBcPxwMBAAGDbWElCQgJSUlLQsGFDuLi4wMXFBfHx8Zg3bx5cXFwM7znbwzqCgoJQq1atfMdq1qxpmLzO3w/revfddzFu3Di89tprqFu3Lnr37o2RI0di+vTpANgecirKex8YGIjs7GzcunXroeeQeWm1WnTv3h0XLlxAXFycofccYHuUhMMk6G5ubmjYsCHi4uLyHY+Li0OzZs1kisoxSJKE6OhorF+/Hrt27UKVKlXyvV6lShUEBgbma5vs7GzEx8ezbSzgf//7H06ePInjx48bvho1aoSePXvi+PHjqFq1KtvDip577rkCZUfPnj2LSpUqAeDvh7VlZmbCySn/f43Ozs6GMotsD/kU5b1v2LAhXF1d852TlJSEP//8k+1jAfrk/Ny5c/jll1/g6+ub73W2RwnINTtVDqtWrZJcXV2lr776Svrrr7+kESNGSKVLl5YuXrwod2h27a233pLKlCkj7dmzR0pKSjJ8ZWZmGs6ZMWOGVKZMGWn9+vXSyZMnpR49ekhBQUFSenq6jJE7jrxVXCSJ7WFNhw4dklxcXKSpU6dK586dk7777jvJw8NDWrlypeEctof19O3bVwoJCZF++ukn6cKFC9L69eslPz8/acyYMYZz2B6Wk5GRIR07dkw6duyYBECaPXu2dOzYMUNVkKK894MHD5YqVKgg/fLLL9LRo0elVq1aSfXr15dycnLk+mvZrEe1h1arlTp37ixVqFBBOn78eL7/3zUajeEabI/icagEXZIkaeHChVKlSpUkNzc36emnnzaU+iPLAVDo17Jlywzn6HQ66YMPPpACAwMltVotvfjii9LJkyflC9rBPJigsz2sa/PmzVKdOnUktVot1ahRQ/r888/zvc72sJ709HRp+PDhUsWKFaVSpUpJVatWlSZMmJAv4WB7WM7u3bsL/f+ib9++kiQV7b3PysqSoqOjpXLlyknu7u7SSy+9JF2+fFmGv43te1R7XLhw4aH/v+/evdtwDbZH8agkSZKs119PRERERESP4jBj0ImIiIiIbAETdCIiIiIiBWGCTkRERESkIEzQiYiIiIgUhAk6EREREZGCMEEnIiIiIlIQJuhERERERArCBJ2IiIiISEGYoBMRERERKQgTdCIiIiIiBWGCTkRERESkIP8H7x2cwCzx1wQAAAAASUVORK5CYII=\n", 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L2djRNr74HQtGTqeThQsX0rVr16AYFxhMfNI27l5Zd+LnHt6gHtRjy/dzyw0L469ff+WU2rV9Owb94YdNz/nRXC549FHfXLOc0+tZ4Aq2tjlenutWqh70N954o9j7qlSpwuLFi0tzOhGR4BVsvc2+7JUNZu5hIfPmwY4dZJ10Eq6RIwn15e9Ccb32gTbcVESK5b2ZfiIiYhzd2+weA1yee5vtGEudX3l+w3NkWIjL6WTTwoWc6eu4fT2Zszy3hUg5ofEcIiLeVlRvs7tyR3kVE2MSvfyysyE21vfX9tWkx2Dly8mcZWiLjAxYvx6++w7+++/EQxCpCNSDLiLibXb3NvuCl3pl9+41Q6TnzAHLMu9b3Ldq1Qru591W/0E96wIuq7aN6mRreE1J+Goy51FvPl2VKrPDEcXmZ79jy8XXs3kzbN4MW7aQt71vX8FTnHwynHsutGjh+XryyZBvKRCRCk8JuoiItwXjGOD8Y6l37zbPZfDgEvfKWha89x4MHw47dniO79pVku++HIBQh4sLE1Lp2PgvOp7yNxeFbMHXU8Zyc+GffyA8HKKjTW56VHXcCsOy4PffHSzd0oZlmxuydns8W/ZV53Bu6VKJLVvM7eOPPcdOOskk6+edB927Q5s2StilYlOCLiLibcG6oEsZe2X/+AMGDYIvv/Qcq1IF4uLMjyUzs/DomaLkWiGs/Lc+K/+tz6PL2xEVcZh266FjR+jQAc44w3tJ3eHD8PbbphmPXgeualWTrBd1i4qCCy+EPn3KfyJvWfDrr7B0KSxbZm47d5a8/cPDoX590zveoAFERsIvv0BKimnz/Pbsga+/Nrdnn4UmTaB/f+jb15xDpKJRgi4i4m0n2NscLA4dMgnuU0+ZhNete3eYPNkkbm5OpydZz3/bvx8yNu9h3YwUklOb8lt6nbzvycyuxCefwCefmP169Uyi7k7Ya9cufcxZWfDmmybmLVuKfsyBA+a2fXvx5/noI5PgV6lS+hjs4nLBhg0FE/JjjcqqGn6YxjXSOTkynQbtGtKgabW8ZLxBA6hTp+g3KS4XbNoE69aZW0qK+Zr/57lxI4wdCw89ZNrz1lvh2mvL189T5EQoQRcR8YUKvqDLokXmPUn+3ucGDWDKFOjWrfDjw8OhZk1zK+wk+l9/Gsybw79/H+aLXc1JPtiGL1ZEsnOn51H//gszZpgbQPPmJrnr2BEuvfTYyd2BA/Dqq/D004UT78suM8lmRkbRt6JWE5k3z5zno4/8M4+2LFwuM3kzf0J+rEmc0dHm59iuxT7aHvycFlV+J6x2TejVCxKqlfi6ISFwyinmlpjoOb5jByxebNrv66/NMcuCJUvMrXp16N3b9KxfeKGGwEhwU4JejixdupT27duzZ88eatSoYXc4hfz+++/079+flJQUzjjjDD788EMaNWrEunXrOPfccwM+fhE5campcN998MEHnmNhYfDgg6Y3NDKyjCc+8oanHtD/yM2dYH7xBSQnw/Llptfe7aefzO2ZZ8xIo0su8STs555rEsWMDJg6FZ57rnBv8VVXmV7cVq2KD8uyTHKfkWF6/FNS4I47TM//ihXQujV8/rlJRu20a5fpHf/lF/N1wwb4+efCEzjzq17dvDlp1w7atjU/M9MjXh240esx1qkDt9xibv/8AzNnmmT9n3/M/fv2wcsvm9uZZ3qGwJTnqR0ixVGC7if9+/dn7969fPjhh3nH5s6dy80338yjjz7KiBEj7AvOSx555BGqVq3KH3/8QbVq1ahRowbbt28ntpjuoxkzZjBs2DD27t3r30BFxOtyckyi+9BDJjl1u+wymDYNmjb1/jVDQkwvefPmcP/9ZnjKihUmWU9Ohh9/9PRuZ2ebMfBffgmjRple7TZtTK/x0S9BPXua59GixfFjcDhM9ZlqRzqQTz8dTjvNJPfbt5uhGq1awaeflux8J2rPHk8Cnj8Zz/9JQ3FOOsm0V9u2Jilv1sy+cfQNG8Ijj8C4ceaN14wZ5k3fwYPm/t9+g5EjYcwY6NzZJOtXX124eJJIeaUE3Savv/46gwYNYurUqdxxxx12h+MVf/31F1dddRUNGjTIOxYXF+fz6+bm5uJwOAgpamlrEfG5H36AAQNM77FbbKyZ7Ne3r/+GIlSuDJdfbm4TJ5oe8a++8iTsmzd7Hrt7txl+4hYSAjfeaBK+s846sThatICVK6FLF5NI7tplEt533nF4PeH96y8zZn7NGpOQb9tW8u+tWxcuusiTkJ9zjvk5BJKQEBNbu3bw4osmSZ8xA775xtyfmwuffWZuNWtCv37w6KOeN0wi5VWA/SlWDJMmTWLw4MHMmjWrQHL+zjvv0LJlS6KiooiLi6NPnz7sPEa3x4wZM6hRowaffvopp59+OpGRkSQmJnLgwAFmzpxJw4YNOemkkxgyZAi5ubklvs7SpUtxOBx8+eWXtGzZksjISFq3bs0ff/xRbCwOh4O1a9fy6KOP4nA4SEpK4p9//sHhcJCS/792vmvceuut7Nu3D4fDkfc9AIcPH2bEiBEkJCQQFRVFhw4dWLp0aZHPu2nTpkRERLA5/39eEfG5PXtMz+aAAaaHOP+f+V13mcott9xi7zjh2Fi4/np47TUzKfHPP00vf/fuZjw1mOE3t95qEul33z3x5NytQQOzME/btmb/0CFITAxl9OhLePLJEFJSih67XhKWZcaNd+9uqp1MmGDGaBeXnNeubd60DBlihod8+60Za56aCvPnw733mk8hAi05P1pUFNx2m/m927jRfMqRv8LLf//B//4HPXoUnJQsUh6pB93PRo0axdSpU/n000/p0KFDgfsOHz7MY489xumnn87OnTu577776N+/PwsXLiz2fAcPHuSFF15g9uzZZGZm0rNnT3r27EmNGjVYuHAhf//9N7169eKSSy7hhhtuKNV1xo4dy7PPPkutWrUYMGAAt912G999912RcWzfvp0OHTrQuXNnHnjgAapVq8buY0z/b926Nc8//zwPP/xwXuJf7UiXx6233so///zD7NmziYuLY/bs2XTt2pX169fTpEmTvOc9ceJEXn/9dWJiYqhdlnINInJcTqdJbH/+2Yz3/vlnc9u6tfBjmzc3w1mONWbbLg6HSWabNIGBA82QnN9+M+OeffXycdJJZtLjrbeaGvCW5eC332J4+GGzWFN8vOll79rVVJ2pXv3Y58vKgtmz4fnnzdj6o9Wsad5gnH22+eq+1arlk6dnq1NPhcceg6QkM6F0+nTzZiMry8xJuPNO09OuiaRSXgVFgt6ypVkTpOwcWFY0jlL+JcfFmY8VS+rzzz/no48+4ssvv+Tyyy8vdP9tt92Wt924cWNeeOEFLrzwQvbv35+XvB7N6XQybdo0TjkyAykxMZG3336bHTt2UK1aNZo2bUr79u35+uuv8xL0kl7niSeeoO2R7p9Ro0Zx1VVXkZWVReXKlYv4WcQRFhZGtWrV8oa1HCtBr1SpEtWrV8fhcBQYBvPXX3/x3nvv8e+//1K3bl1cLhdDhgxh2bJlTJ8+nQkTJuQ975deeonmzZsXew0RKTnLMlU0jk7Ef/31+L2R1aqZYQVDhpge6fIgLMwM6fC1iAh45x3zf+q11yx+/93zf2b7djM85c03TTyXXGKS9S5dTGLt/peUlmZ6vqdNKzyWPCHBVMu5+WazXdES0tBQ8+amQwcz/+CKK0yS/tZbpoznY4/ZHaFI2ZSTl9JjS0szH9WVnePIzbeaNWvG7t27efjhh7nggguIiooqcP+6detISkoiJSWF//77D5fLBcCWLVtoWswMq8jIyLzkHKBOnTo0bNiwQKJdp06dAkNYSnqdZs2a5W3HH5kmv3PnTk7OX7zYy3788Ucsy+K0004rcDw7O5uYmJi8/UqVKhWIT0RKbv9+03vsruThvpVsVU/T03vOOWYSYbNmcM01qqRxLCEhZgXVIUNymD59KdnZl7N4cShffeWpOpOTY4atLF0KI0aYoRtdu5r7Z88u/CbpwgtNtZxevUyJSjEVc2bNMj8Ty4LHHzc/x7vusjsykdILigT9xOchWliWdaQHveSJemmvm5CQwLx582jfvj2dO3dm0aJFeUn6gQMH6NSpE506deKdd96hVq1abNmyhSuvvJLDx+i+Cj/qldnhcBR5zJ2El+Y6+c/j/nTBfR5fcblchIaGsnbtWkJDQ3G5XHk9+9HuQaNAlSpVSv2Jh0hFs3cv/N//mV7w/LfiFuA5WmioqUjiTsTdt/r1K15PrbfUqXOQrl1dDBkSyqFDZjz1woVmkmP+mvFbt8IrrxT83tBQUzd82DC4+GK/hl1u9OhhhgDde6/ZHzjQLGDVtautYYmUWlAk6KUZZlIUl8siIyOD6OhoQkJ8+1/n5JNPZtmyZbRv355OnTqxePFioqOj+f3339m9ezdPPvkk9Y/Mellzok+sCP66TklUqlSpwORVgBYtWpCbm8vOnTu59NJLcblc+domwGcwidgkPb1gAr5hQyjr1nXiv/9K3rVau3bhRPzMM01llKCUmgpz55ofXkyMyXz9vNJrlSpw5ZXmNnmymfi4cKG5LV3q6TU/6STTCzxokJa9L4mhQ82b0GefNVVerrvOlNNs2dLuyERKLigS9PKmXr16eYv2uJP0k08+mUqVKvHiiy8yYMAAfvnlFx7zweA5f12nJBo2bMj+/fv58ssvad68OZGRkZx22mncdNNN3HLLLTz77LM0b96czZs3s2rVKpo1a0ZXdYOIAGb88n33mQlyhYs9hQBFL5tZvbqpSe6+NWtmhqvUqePriANIaqqpwxgVZQaJp6WZ/dGj/Z6k59ekien5vfdes/iRO0nv1AmqVrUtrHJp0iTzKcT775va6VddBd9/D40a2R2ZSMmoS9ImCQkJLFu2jL1799KxY0fCw8OZMWMGH3zwAU2bNuXJJ5/kmWee8fp1a9Wq5ZfrlETr1q0ZMGAAN9xwA7Vq1WLSpEkATJ8+nVtuuYX777+fM888kz59+vDDDz/k9fiLVHQHDkC3bjBnTvEL0ERFZXPppS4GDDC9s8nJJi/ds8dMpnv9dTMuukOHCpacg+k5dyfnYL5GRcG8efbGlU/Vqiap7NFDyXmppKbC5MmEJD3MzAumcOlF2YD5O+nSxXxgIlIeOCyrrJVYfSMjI4Pq1auzb9++AmOO3bZu3er1RE3DKAKXHW3ji9+xYOR0Olm4cCFdu3YtNO9BfMflMrW93blkdLT56D5/r3iTJk5Wr1bbFOvhh4su+u1ymXI0PqK/GR87+pOR7Gz+25VLm2VP8Pv/mZ93mzbmzWqVoz5gUtsErmBrm+PluW4a4iIiUo488kjB5HzlSpOU5+d0+j+uciUmxgxryb8ufHa2StGUd0V8MlKzVjaf93mHVq/eSlqaWTzqllvMp0/qj5NApl9PEZFy4t13Tek4MMnF7NmFk3MpgcREyMw0STmYr5mZpj6flF/p6QXfdAFERNDQ2sRnn3mGCs2dCw884P/wREpDCbqISDmwciXcfrtn/7nnzJhaKYOEBDMhND7eDGuJj7d9gqh4QUyM502XW3Y2xMZy3nkmMQ8NNYf/9z9TjlEkUGmIi4hIgNu8Gbp39+Qed91lSsnJCUhI0A8x2CQmmjHokDcGncxMs9Qq0LmzqS1/xx3mIcOHm7KV+uBEApF60EVEAtj+/WalTne1lnbtYMoULRQkUkgJPhm5/XYzRxjMaqM33WTGpYsEGvWgi4gEKJfLJBA//2z2Tz3VfEwfBIUMRHyjBJ+MJCWZhYxmzDCd7Ndeaxb4Egkk5a4HPSIigl27dhFg1SElCFiWxa5du4g4epKRiE3GjIGPPzbb1avDJ5+YYbYiUnYOB7z6qlkDAMzc0sWL9ZGUBJZy14Neu3ZtMjIy+Pfff712TpfLRXp6OjExMaqDHmD83TbVq1c/Zl1SEX+ZOROeespsh4bCBx/AGWfYG1ORUlNNt356unn3kJioyZYS8MLDTSWXL74w+z/84KBjR3tjEsmv3CXoANHR0V5NopxOJykpKZxzzjlBUQQ/mKhtpCL69lu4807P/uTJBGbycPTCMGlpZl8VUQpLTcUxZw6nf/89jr/+ghtu0M/IZhdd5Nn+/nsl6BJY1F0sIhJANm0yy7u7FxsaNMjcbHNk6XQefth8TU313FfEwjBERXlWUhLjyBsZR1oahISYrxMnFvxZit/VqOFZR+CnnxxkZyslksBRqt/GadOm0axZs7we7FatWvH555/n3W9ZFklJSdStW5cqVarQrl07NmzY4PWgRUSCUUYGXH017N5t9jt0sLlWs7uH/EhiydGJZTELw+Q9ATH0RiZgtWplvubkOPi//6thaywi+ZUqQa9Xrx5PPvkka9asYc2aNVx++eVce+21eUn4pEmTeO6555gyZQqrV68mLi6Ojh07kpmZ6ZPgRUSCRW4u9O4N7j6N00+H99+HMDsHIh4vsTzGwjCSj97IBCx3gg7wxx817QtE5Cileum/+uqrC+w/8cQTTJs2je+//56mTZvy/PPPM3bsWHr27AnAzJkzqVOnDrNmzeLuu+/2XtQiIv5UlomQpfyeESNg4UKzfdJJpmLLSSd58TmUxfESy+MsDCNHxMSYTx/yv9vKzjZ1usVWStAlUJW5byY3N5cPPviAAwcO0KpVKzZt2kRaWhqdOnXKe0xERARt27ZlxYoVxSbo2dnZZOfrgcnIyADM5ECnexCmj7mv46/rScmpbQJXhWmb1FRCnnrK05OcmgqPP45r5MjiE+5SfE9ODowZE8Lzz5s1yMPCLObMyaVhQ4uy/mi91TaOGjXMeOn8SXp2NlZ8PJbTCbVrwwMP4FiwAMfu3Vi1a2Pdfbc5Huy/F6Vx7bWEPPUUrqpVAXAdOgQHDuC6+279nGx2yilQvXoY+/Y5+OOPkzh8WO0RaILtf01Jn4fDKmVB8fXr19OqVSuysrKoVq0as2bNomvXrqxYsYI2bdqQmppK3bp18x5/1113sXnzZhYvXlzk+ZKSkhg/fnyh47NmzSIyMrI0oYmIeF3jTz4hYs8eXPmqCIU4nWSddBKbjvpUsbTfs39/GM8+25J16+rkHbvnnhSuvHKzD55J6VVOT6fJ3LnkVKmCKzycEKeTsEOH2JiYSFaAFmSvnJ5O3RUrCM/IwBkdzbbWrQMi1srp6cSvWEGljAwOR0ezPUDiEkhKakVKSm0AXnklmTp1DtockQSzgwcP0qdPH/bt23fMioSl7kE//fTTSUlJYe/evcybN49+/fqxbNmyvPsdR60/bVlWoWP5jR49muHDh+ftZ2RkUL9+fTp16uS3etROp5Pk5GQ6duyoUn4BRm0TuCpK24SsWlX0UASXizO7di3z9/z5J/TsGcaff5rXx7Awi8mTXdx551nAWScUs1fb5vLLPT3ksbFYPXpQP1DLA7o/uahZ0/z8s7Npunr1sT/t8CPnjTfmtcuZQfw3U96sWRNCSorZDg+/jK5dVc0lkATb/xr3SJHjKXWCXqlSJU499VQAWrZsyerVq5k8eTIjR44EIC0tjfh8/5h27txJnTp1ijwXmGEwRa3cGB4e7veGsOOaUjJqm8AV9G1Tu7YZP3zUMA/i4wkt7nkf53uWLDFlsPfuNXfFxMDcuQ7atQsFQr0WulfapmFDuO8+r8Tjcx99ZGrnuX/ukZEQGkroxx8fd/l3fwr6v5ly5pJLPNtr1oRx663e+xsU7wmWv5uSPocTfptoWRbZ2dk0atSIuLg4kpOT8+47fPgwy5Yto3Xr1id6GREReyQmmomP7rky7omQvXqV+nusnr2YPBm6dPEk52efDatWQbt2vnwSFYSqpUgZHL1gkUggKFUP+pgxY+jSpQv169cnMzOT2bNns3TpUhYtWoTD4WDYsGFMmDCBJk2a0KRJEyZMmEBkZCR9+vTxVfwiIr6VkGBWxpw3zyR68fGmSsmxhkwU8T2H7xrMwKQE3njD87BrroF33jFzScukLNVlgpm7WkoRn1yIFKdGDTjzTIvffnPw888ODh40H76I2KlUCfqOHTvo27cv27dvp3r16jRr1oxFixbR8cj6uCNGjODQoUMMHDiQPXv2cNFFF7FkyRKiyvzfR0QkACQklH6IRL7v2bnTdLh/+63n7tGj4fHHzfo/ZeJeRMhdKca9iNDo0WaITUWkso9SRhdfbBL0nBwHa9bAZZfZHZFUdKVK0N/I3/VTBIfDQVJSEklJSScSk4hI0PjpJ9NTvmWL2a9cGd54A074g8WiFhEC02t/zz0nePJyqiyfdogAF1/sYvp082555Uol6GI/O9eoExEJagsWQN++cOCA2a9bFz78EC64wAsn13jropXl0w6p8C66yFNxeuVKGwMROUK1hEREvMyy4LHHoGdPT3J+wQWwerWXknMw463zLfIGmP3YWC9dQKTiOOMMqFr1MGAS9NKtECPifUrQRUS86OBBuPFGePhhz7E+fWDZMtOD7jVlqS4jIkUKCYHTTtsDmDkjmzbZHJBUeErQRUS8wOWC99+Hc881XwEcDnjySVOppUoVL1/QPd46Pt5cPD7e7Gu8tUiZnH76nrxtDXMRu2kMuojICbAsWLIExoyBH3/0HK9WDWbNgquv9uHFNd7aP1TOskI4/fT/8rZXroSbbrIxGKnw1IMuIlJG338Pl18OnTsXTM4vu8zc59PkXPzDXc4yLc2Mg3CXs0xNtTsy8bLTTtuDw2EGn6sHXeymBF1EpJQ2bIAePaBVK1i61HO8RQv4/HNz7Kyz7IpOvKqocpZRUaaUowSVqlVzOPNMs/3TT54J3iJ2UIIuIlJCmzdD//7QrJkpl+h2auxeZvd8nzV9J9P5nFQcWi08eKicZYVy8cWmBz031ywnkJtrc0BSYSlBFxE5jp07YdgwOO00mDnTzMkEiK+Ty8tt3+PXW5/mhnN+JWSnhj8EHZWzrFDuuMNFeLjZfvttuPtuz9+7iD8pQRcRKUZGBiQlwSmnwOTJcNiUSaZGDXjqKfi/+1/m7lY/Ex555D+6hj8EH5WzrFBatrSYMwdCQ83+G2+YxWhVF138TQm6iMhRsrLgf/+Dxo1h/HjYv98cr1LFVDL8+28YMQIiM3do+EOwUznLCqdHD1OBKeRIhjRtGtx3n5J08S+VWRQROSInx3ys/cgjsHWr53hYGNx5J4wbZ/KzPDExpqpH/iQ9O/uoB0m5p3KWFc7114PTCX37msR88mTzZ/7kk2iOifiFetBFpMKzLFiwwEz+vO22gsl5nz7w++/w0ktF5N0a/iAStG66CV5/3bM/aZJ58y7iD0rQRaRC+/57uPhi6NkTfvvNc7xrV1i3Dt5914xBL5KGP4gEtdtug5df9uw/9hg8/rh98UjFoSEuIlIhOZ3mn+0TTxSs0tC6tSnEctllJTyRhj+IBLW77zYTxN1/5uPGmeEuDz5ob1wS3JSgi0iF8+efcPPNsHq159jZZ8OECdCtm8aYikhBQ4aYEWzupHzECKhUCe691964JHgpQReRCsOy4LXXTEWGgwfNsbAwU0px5EizLSJBIjXVrASbnm4mdCcmntDwswceMEn6Qw+Z/WHDTJJ+zz3eCVckP41BF5EKYedOuOYa83G1Ozk/7TRYsQLGjlVyLhJUUlPNWLW0NFMvMc07i4iNHQsPP+zZHzjQ1EoX8TYl6CIS9D79FM45x3x1GzAAfvwRLrjAvrhExEfmzjWLhrlLoHpxETH3J25ud95pyrOKeJMSdBEJWgcOmET86qtNDzpA7drwySdm8ZGqVe2NT0R8JD3dZ4uIORymM37YMLNvWdC/PyxffsKnFsmjBF1EgtLq1dCiBbzyiufY1VfD+vVmIqiIBLGYGM/6BG7Z2RAb65XTOxzw3HNmiAuYSlDDhxesCCVyIpSgi0hQyckxdYpbtYKNG82xyEiTqH/0kelBF5Eg54dFxBwOePFFaN7c7K9da0bWiHiDEnQRCRp//WXql48bB7m55tiFF5oFh+66S+UTRSoMPy0iFhICTz7p2R8zxqyxIHKiVLdARMo9y4IZM8xCIvv3m2MhIaYc2kMPQXi4reGJiB38tIjYlVdC+/bw9demk+C11zxDX0TKSj3oIlKu7d5tPs2+7TZPct64MXz7LYwfr+RcRHzL4YCnnvLsjx/veS0SKSsl6CJSbi1eDM2awfz5nmO33w4pKWYMuoiIP1xwAVx3ndneuROefdbeeKT8U4IuIuXOoUPmk+vOnWH7dnMsJsYk6q+/bsodi4j40xNPQGio2X7mGdixw954pHxTgi4i5cq6dXD++aZ6glvnzqZ8Yo8e9sUlIhVbkyZmMjqYIS6PP25vPFK+KUEXkXIhN9eM87zoIvjtN3OscmWYMgUWLjRFGkRE7PTww54F0F5+2UwaFSkLJegiEvA2b4bLL4dRozwlzFq0gB9/hEGDVD5RRAJDXBzcf7/ZzskxVaREyqJUCfrEiRO54IILiIqKonbt2nTv3p0//vijwGP69++Pw+EocLv44ou9GrSIVAyWBe++ayaCupfRdjhMov7993DmmfbGJyJytPvvh1q1zPbs2fDdd/bGI+VTqRL0ZcuWMWjQIL7//nuSk5PJycmhU6dOHDhwoMDjOnfuzPbt2/NuCxcu9GrQIhL89uyB3r3h5pshI8Mca9AAli6FiROhUiVbwxMRKVJ0tFkszS0xEbZutS8eKZ9KtVDRokWLCuxPnz6d2rVrs3btWi677LK84xEREcTFxXknQhGpULZuNWPKH38c/v3Xc7xvXzMxtHp1+2ITESmJAQNg3jxYtgzS0uCaa8zaDO7x6SLHc0Irie7btw+AmjVrFji+dOlSateuTY0aNWjbti1PPPEEtWvXLvIc2dnZZGdn5+1nHOkqczqdOP20Xq77Ov66npSc2iZweattcnLghx8cLFzoYNGiENavLzigvEYNiylTcrn+euvI9U7ochWC/m4Ck9olcPmibd57Dy65JIy//3aQkgI33eRizpxcQjT7r1SC7e+mpM/DYVmWVZYLWJbFtddey549e/jmm2/yjs+ZM4dq1arRoEEDNm3axLhx48jJyWHt2rVEREQUOk9SUhLjx48vdHzWrFlERkaWJTQRCXAZGZX48cfarF1bh3XrarN/f9HjVZo128XQoT8SG5vl5whFRIzK6enUXbGC8IwMnNHRbGvdmqyYmBJ979atUYwceSkHD5oljRMT/+Tmm3/zZbgS4A4ePEifPn3Yt28f0dHRxT6uzAn6oEGD+Oyzz/j222+pV69esY/bvn07DRo0YPbs2fTs2bPQ/UX1oNevX5/du3cfM3BvcjqdJCcn07FjR8K1LnhAUdsErtK0jWWZ1T0//zyEzz93sGqVA8sqXHrF4bBo2dKic2eLrl0tzjvPUoWWMtDfTWBSuwSuYtsmNZWQp54yq59FREB2NmRm4ho5EhISSnTuxYsdXHttKC6XeTGbMSOHPn3KlHpVSMH2d5ORkUFsbOxxE/QyDXEZMmQIH3/8McuXLz9mcg4QHx9PgwYN2LhxY5H3R0REFNmzHh4e7veGsOOaUjJqm8BVXNtkZkJyshlPvnChZ8XPo1WvDldeCV27QpcuDmrXVkbuLfq7CUxqF5ukpsLcuZCebpYeTkwslGQXapuPPoIaNUxyDhAZCaGhhH78sVnOuAS6dYPnnoNhw8z+3XeHcdpp0KrViT+liiRY/m5K+hxKlaBblsWQIUNYsGABS5cupVGjRsf9nvT0dLZu3Uq8VhERCXr/93/w8ccmIV++vPjx4medBVddZZLy1q0hCF5zRSSQpaaa8k/unvC0NLM/evSxe8LT0z3JuVtEBOzeXarLDx0Kv/4Kr75qOuG7d4dVq0xlKpGilCpBHzRoELNmzeKjjz4iKiqKtLQ0AKpXr06VKlXYv38/SUlJ9OrVi/j4eP755x/GjBlDbGwsPbQGt0jQ+ucfGDPGTIoqSpUqZqGhq66CLl2gYUN/RiciFd7cuZ7kHDxf5807dk94TIxJ5vMn6dnZpV662OEwqx7/+acpFbtzp6ns8t13UK1a6Z6KVAylStCnTZsGQLt27Qocnz59Ov379yc0NJT169fz1ltvsXfvXuLj42nfvj1z5swhKirKa0GLSGDYvz+MUaNCmDIFDh8ueF/DhiYhv+oqaNfOJOkiIrYoa094YqLpaXc//sgYdAYPLv57ihlKEx5uDl98sfm08eefzToP8+ejyi5SSKmHuBxLlSpVWLx48QkFJCKB7/BhmDo1hEce6UBmZmje8dhYGD4crr3WrPKpCZ4iEhDK2hOekGCGwcybZ5L5+HiTnBc3LOY4Q2liYuCTT0ySvm+fGeI+dqznPYCI2wnVQReRisWyYMECGDkS/u//QgGTnEdEwH33wahRWkhIRAJQWXrC3RISSjwhtCRDac44A95/38zByc2FJ580HRq33FLK5yRBTR+qiEiJ/PADXHYZ9OplPp51693bxR9/mP99Ss5FJCC5e8Lj48HlMl+PN0G0LEo4lKZTJ3j+ec/+nXea8egibupBF5Fj2rTJTACdPbvg8UsvdXHttd8wdGhrwsP1Xl9EAlxpesLLqhRDaQYNgg0b4OWXzbDBHj1MZRfbJtGXoAyl+I/+q4pIkfbsgQcfNB/H5k/OTzvNjJv84otcTj11r23xiYgEnMREM3TGvQCjeyhNr16FHupwwAsvmApXALt2mZ71bdv8GK+be+x8WpqZseoeO5+aakMwAkrQReQohw/D5Mlw6qnwzDOe6iyxsaZM2C+/mPJgmgAqInKUUg6lCQ+HDz4wHR8AGzeahP1IFWv/KWrsfFSUGTsvttAQFxEBzATQ+fPNBNC//vIc1wRQEZFSKOVQmpo1zarLbduaNSX++MMk6V9/DXXq+C7MAry0IJN4jxJ0kXLI6TTjFleuND3ZISGeW2howf2S3r76qvAkpZtvhscf12p3IiK+dPLJJiFv2xa2bIHffoMrrjDHatXyQwBeWpBJvEcJukg5s3kz9OkDK1b47hpt25rhLS1b+u4aIiLi0bChScjbtYOtW80E0iuuMJ0nsbE+vviJlKEUn9AYdJFyZMECOPdc3yXnp59uJoB+/bWScxERf2vc2Lz+uoesr18PHTvCf//5+ML+KkMpJaYedBFf8HK5qqwseOABmDrVc6xhQ3jjDfM1N9e8ppbmdvT3VK0KF15oJi2JiIg9TjnFM9xl+3ZISTFJ+hdfwEkn+fDC/ihDKSWmBF3E246z1HNp/fkn3HCDeZF2u+46ePVVqFHDa1GLiEiAaNLEM9wlLQ1+/BE6d4blywvP5ZTgpCEuIt7mxXJVb78N553nSc4rVzaTQ+fMUXIuIhLMTj/djD+vXdvsr1oFjz5qb0ziP0rQRbzNC+Wq9u+Hfv3gllvgwAFz7MwzzQv03XerBrmISEVw5pmweLFn6OFTT8GaNfbGJP6hIS4i3naC5ap++skMafnjD8+x224zK85VrXrUg7U0s4hIUDv3XHj4YRg3zswd6t8f1q4tB0Nd9P/phKgHXcTbSrHUc36WBS+9BBdd5EnOq1WDd981k0GLTM59uTRzaqpZUvThh81XLfksIlI2a9ZAz55w2WXmaym7wUeONMMdwZRfHD/eBzF6k6//P1UAStBFvK0M5ar27DF5/aBBnrz+vPNg3TpT87xIvlyaWS+uIiLesWYN3HorbNtmXk+3bTP7pUjSw8NhxoyCQ11Wr/ZNuF7hy/9PFYQSdBFfcJerevRR8/UYyfnKleYjzPnzPcfuvdfUOj/11GNcw5dLM+vFVUTEOyZMMB+BVq5s9itXNvvuhYFK6JxzzAeaYPp+br3V06ETcHz5/6mCUIIuYhOXC558Ei691CztDFCzplko6PnnSzC+MCam8KtzdrZ3lpzTi6uIiHfs3u1Jzt0qV4Zdu0p9qnIz1MWX/58qCCXoIjbYsQO6dDEjX3JzzbFLLjHlFK+5poQnKeNY9xLRi6uIiHfExprV5vLLyoJatUp9qnIz1MWX/58qCCXoIn72xRfQvDksWWL2HQ546CGzKEX9+qU4kS+XZvbHi6smoYpIfsH6mjBmjKmX607Ss7LM/ujRZTrd0UNd+vcvnP/bzpf/nyoIJegifpKTA2PHQqdOpgcdIC7OJOyPPQZhZSl6Woqx7qU+ry9fXDUJVUTyC+bXhJYtYfp08/rpcpmv06eb42WUf6jLr7/CFVeYil+HDnkpZm/w1f+nCkJ10EX8YMsWU43lu+88x668Et56y7NKXMBxv7j6QlGTUMFMQvXVNUUkcAX7a0LLll6dZO8e6nL++eB0mqICK1ZA9erQu7dZO6NlSy1qV56pB13Ex775xlRpcSfnYWEwaRIsXBjAybmvaRKqiOSn14RSO+cc874mf7Wvffvg5ZfhwgvNUMrnny/TXFQJAErQRXzop5+gWzdT5xygYUOTsD/4oPkUt8LSJFQRyU+vCWVyzTXw55+wfLkZix4Z6blv/Xq47z7zYWhioukUysmxLVQppYqcIoj41N9/m2EsGRlmv2NHs/DQxRfbG1dA0Ax/EclPrwll5nCYcr3Tp5uh+6+/Dq1be+53Os3omquuggYNzJzVjRvti1dKRgm6BJ8AqASwY0fByaAXXwwLFkCNGn4PJTBphr+I5KfXBK+IioLbbzdDKn/7DUaMgDp1PPdv22bm3p52Glx2GSxbZl+scmyaJCrBxV0JwD3ZyF0JwI8v9BkZpsb5X3+Z/aZN4bPPzMJxko8vJ6GKSPmj1wSvOuMMUyf98cdh0SJ480349FPPMJdvvjGf8n7zDVxwgb2xSmHqQZfgYvMS9VlZ0L27GcoCpq754sVmhVARERF/Cw+Hq682n+L++y8884xJ3sGMJOrRw/NprwQOJegSXGysBJCbCzfdZBYcAjPnackSqFfP55cWERE5rjp14P77TQGDNm3MsdRUMwXg8GF7Y5OCSpWgT5w4kQsuuICoqChq165N9+7d+eOPPwo8xrIskpKSqFu3LlWqVKFdu3Zs2LDBq0GLFMumSgCWBQMHwvz5Zr9qVTNj3t1LISIiEigqVTIfOLtHfn77LQwbZmtIcpRSJejLli1j0KBBfP/99yQnJ5OTk0OnTp04cOBA3mMmTZrEc889x5QpU1i9ejVxcXF07NiRzMxMrwcvUohNlQAeeQRefdVsh4WZRP3CC316SRERkTKLizPDXtwfOk+bBq+9Zm9M4lGqBH3RokX079+fs846i+bNmzN9+nS2bNnC2rVrAdN7/vzzzzN27Fh69uzJ2WefzcyZMzl48CCzZs3yyRMQKcCGSgAvvgiPPebZf+stU8FFREQkkF1wAbzyimd/0CCzIqnY74SquOzbtw+AmkdmwG3atIm0tDQ65ctOIiIiaNu2LStWrODuu+8udI7s7Gyy8w1JyDhSNNrpdOJ0Ok8kvBJzX8df15OSK1Pb1K4N99xz9Im8GJXHnDkO7r03FDDrKT/3XC6JiS5fXS6g6O8mcKltApPaJXBV5Lbp0wfWrg3hxRdDcTqhVy+L77/PoW5duyMzgq1tSvo8HJZlWWW5gGVZXHvttezZs4dvvvkGgBUrVtCmTRtSU1Opm69l77rrLjZv3szixYsLnScpKYnx48cXOj5r1iwi8y+JJRJg1q2rxRNPXExOjvkg6rrr/uCmm363OSoREZHSyclxMH58K9avrwXAaaf9x+OPf0elSi6bIws+Bw8epE+fPuzbt4/o6OhiH1fmHvTBgwfz888/8+233xa6z+FwFNi3LKvQMbfRo0czfPjwvP2MjAzq169Pp06djhm4NzmdTpKTk+nYsSPh4eF+uaaUTKC2zerVDp55JpScHPN7ffvtLl56qTEOR2ObI/OfQG0bUdsEKrVL4FLbQKtW0Lq1xebNDv78syYLF17FK6/kUkz65jfB1jbukSLHU6YEfciQIXz88ccsX76cevlqyMXFxQGQlpZGfHx83vGdO3dSJ/9SVvlEREQQcXRZPCA8PNzvDWHHNaVkAqltfv8drrkG3HOje/SAV14JITS0YlYtDaS2kYLUNoFJ7RK4KnLb1K1rJo22aQOHDsGMGSG0bBnCoEF2R2YES9uU9DmUKqOwLIvBgwczf/58vvrqKxo1alTg/kaNGhEXF0dycnLescOHD7Ns2TJat25dmkuJBKR//zUrr6Wnm/22bWHWLAgNtTcuERGRE9WiBbzxhmd/2DBYtsy2cCq0UiXogwYN4p133mHWrFlERUWRlpZGWloahw4dAszQlmHDhjFhwgQWLFjAL7/8Qv/+/YmMjKRPnz4+eQIi/vLffyY537LF7J97Lnz0EVSubGtYIiIiXtO7Nzz4oNnOyYHrrvP83xP/KdUQl2nTpgHQrl27AsenT59O//79ARgxYgSHDh1i4MCB7Nmzh4suuoglS5YQFRXllYBF7HDwIHTrBr/+avYbN4bPP4fq1e2NS0REpMxSU82KRenpZqG/xERISGDiRLPa6JIlsGuXGcr5ww9mnQ/xj1IPcSnq5k7OwfSiJyUlsX37drKysli2bBlnn322t+MW8Run0/QgrFxp9uvUMS9aR6ZciIiIlD+pqTBxIqSlQUiI+TpxIqSmEhoK771nOqMAfvxRQ138rWLOahMpIZcLbr8dFi40+9HRsGgRnHKKvXGJiIickLlzISrKs5RoRITZnzcPgJo1zRh0t23b/B9iRaYEXaQYlmXG4b39ttmPiDBjzs8919awRERETlx6uic5d4uIgN2783ZjYjx3/fefn+ISQAm6SLGefhqee85sh4SYj/uOmn4hIiJSPsXEQL6V3AGzHxubt3tkoXhACbq/KUEXKcL06TBypGf/lVfMJBkREZGgkJgImZmeJD072+z36pX3ECXo9lGCLnKURYvgzjs9+088AXfcYV88IiIiXpeQAKNHQ3y8mXAVH2/2ExLyHqIE3T4qmCOST1oa9O0Lublm/957zeuViIhI0ElIgKFDi71bCbp91IMucoTLBf37e+bHXH21GYPucNgaloiIiC3yr/WhBN2/lKCLHDFlCixebLbj4uDNN83kUBERkYooNBRq1DDbStD9S+mHCLB+PYwY4dmfObPARHYREZEKyT3MRQm6fylBlwovKwv69PFMZL/vPujUyd6YREREAoE7Qd+zxwwFFf9Qgi4V3qhR8MsvZrtZM5gwwd54REREAoU7Qbcs2LfP3lgqEiXoUqEtWgSTJ5vtypVh1izzVURERFTJxS5K0KXC2rXLVG1xmzQJzjrLtnBEREQCjhJ0eyhBlwrJsuD222HHDrPfuTMMHmxvTCIiIoFGCbo9lKBLhfTqq/DJJ2a7Vi2YPl31zkVERI6WP0Hfs8e+OCoaJehS4fz+u6nU4vbmm6buuYiIiBSkHnR7KEGXCuXwYVNS8dAhsz9wIHTrZm9MIiIigUoJuj2UoEuFMm4crFtnts88E55+2t54REREApkSdHsoQZcK46uvPAl5eLgpqRgZaW9MIiIigUwJuj2UoEuF8N9/cMstpnoLwMSJcO65toYkIiIS8JSg20MJugQ9y4K77oLUVLN/xRUFJ4mKiIhI0U46ybOtBN1/lKBL0JsxA+bNM9s1a8LMmRCi33wREZHjqlQJqlUz20rQ/UdpigS1//s/GDLEs//665CQYF88IiIi5Y17mIsSdP8JszsAEV9xOuGmm+DAAbN/xx3Qo4e9MYmIiJQ3NWvCli2wcyecdx6EhkJYmPla3HalSnDDDdCrl93Rl09K0CVoPfoorFpltps0gf/9z954REREyiP3Yn6W5SlVXBIffgj//gu1a/skrKCmIS4SlL75BiZMMNthYfDuu54xdCIiIlJy998PDRtC5cqmTLHDUbLvczohJcWXkQUv9aBL0Nm7F26+GVwus//oo3DBBbaGFDhSU2HuXEhPh5gYSEzUoHwRETmmDh1g06aCxywLcnMhJ8d8zb/93ntw773mcRs2QKdO/o+5vFMPugSdQYPMWDmAyy6DESPsjSdgpKaaAvBpaaaMTVqa2XfXnxQRESkhh8N8Ql25MlStCtHRZqx6rVrQqpXncb/8Yl+M5ZkSdAkqr71mVggFqF4d3n7bTFYRTM95VBRERJj9iAiz765BKSIi4gVnnunZ3rDBvjjKMw1xkaDx+utw992e/ZdfhpNPti+egJOe7knO3SIiYPdue+IRERHfsmlYY7VqZsz6P//Ar7+a4TAlHbcuRql70JcvX87VV19N3bp1cTgcfPjhhwXu79+/Pw6Ho8Dt4osv9la8IkWaNg3uvNO8CIAZ+3bjjfbGFHBiYiA7u+Cx7GyIjbUnHhER8R2bhzWedZb5mpkJW7f65ZJBpdQJ+oEDB2jevDlTpkwp9jGdO3dm+/btebeFCxeeUJAixzJ5Mgwc6Nm/7z6VVCxSYqJ5pXQn6dnZZl9FakVEgo/NwxrdCTpomEtZlHqIS5cuXejSpcsxHxMREUGcu2imiLcU8VHdM+8l8OCDnoeMGmXKK+qjtCIkJMDo0ebFefduiI+HwYNVxUVEJBjZPKzx6AT9OKmjHMUnY9CXLl1K7dq1qVGjBm3btuWJJ56gdjFV6rOzs8nO97F7RkYGAE6nE6fT6YvwCnFfx1/Xk5Jzt0nO5s2EPPuspzcgNZWJPdcwbpUnuRw7NpeHH3aRk2NXtOVA7dpwzz0Fj5Xx915/N4FLbROY1C6BKxjbxlGjBo60tIJJenY2Vnw8lh+e5+mnA4QDsH69C6czt0znCba2KenzcFiWe9Ru6TkcDhYsWED37t3zjs2ZM4dq1arRoEEDNm3axLhx48jJyWHt2rVEHP1ODkhKSmL8+PGFjs+aNYvIyMiyhiZBpvEnnxCxZw+u8HAsC6ZuSGTqhsS8+/v0+Y3rr//TxghFREQCR+X0dJrMnUtOlSq4wsMJcToJO3SIjYmJZMXE+Pz62dmh3HjjVViWgyZN9vD008t9fs3y4ODBg/Tp04d9+/YRHR1d7OO8nqAfbfv27TRo0IDZs2fTs2fPQvcX1YNev359du/efczAvcnpdJKcnEzHjh0JDw/3yzWlZNxt02XlSkKPJOfjlnbgye/a5j1mwoRcHnjAZWOUFZP+bgKX2iYwqV0CV9C2TWoqjgULcOzejRUbi9Wjh1+HNZ5xRhh//+2galWL9PQcQspQ3DvY2iYjI4PY2NjjJug+L7MYHx9PgwYN2LhxY5H3R0REFNmzHh4e7veGsOOaUjIhtWsTsnMXI5Z345mVbfKO/6/HcoaNvgxQsXO76O8mcKltApPaJXAFXds0bGgqJ9jk7LPh77/hwAEH27eH07Bh2c8VLG1T0ufg84WK0tPT2bp1K/Hx8b6+lAQxV4+eDPu8U4HkfMpl7zPsxVNsjEpERESKk3+i6IoV9sVRHpU6Qd+/fz8pKSmkpKQAsGnTJlJSUtiyZQv79+/ngQceYOXKlfzzzz8sXbqUq6++mtjYWHr06OHt2KWCcLlg6FP1eeHn9gA4cPHqDV8yaFYbVSAREREJUJ06ebbfftu+OMqjUg9xWbNmDe3bt8/bHz58OAD9+vVj2rRprF+/nrfeeou9e/cSHx9P+/btmTNnDlFRUd6LWiqM3Fx46aVz+eILM4TF4YDp00Po1+8KmyMTERGRY7nsMs+KokuWmGrJ6lcrmVIn6O3ateNY80oXL158QgFJBXZUnfPcHoncMSaeL75oAJiF0N5+G/r0sTlOEREROa6QEOjXD8aPN5+Gv/MOjBxpd1Tlg8/HoIuUyFFLEuds28nNHbbz7rvmVzQ01GL2bCXnIiIi5cktt3i2Z8yAstcOrFiUoEtgyLcksTM3hBs/uYnZG1sCEBbm4r33crnuOptjFBERkVJp3BjaHqmM/PvvsGqVvfGUF0rQJTAcWZI4OyeU6z64nnm/NQWgUmgOI0euont3veUWEREpj/r392zPmGFXFOWLEnQJDDExZB3Ipef7N/DRH2cAUDnMyYLbP+aCC3bYHJyIiIiUVWIiVK1qtt97D7Ky7I2nPFCCLgEhq1siPd6/kYUbTwMgMvwwn101jY6jz7M5MhERETkR1aqZJB1g3z746CN74ykPlKCL7Q4fhuuGJbBoi1nRoGp4Np8P+JjLp/ZSPSYREZEgoGEupaMEXWzldMKNN8Knn5r9yEj4/MsILnshUcm5iIhIkHDXRAdPTXQpnhJ0sU1ODtx0EyxYYParVIHPPoNLL7U3LhEREfEud0108NREl+IpQRdb5Oaa2qgffGD2K1eGjz+Gdu1sDUtERER8RDXRS04Juvhdbi7cequZyQ1QqRJ8+CF06GBrWCIiIuJDqoleckrQxa9cLrjrLnj7bbMfHg7z5sGVV9obl4iIiPieJouWjBJ08RvLgoED4c03zX5YGLz/PnTrZm9cIiIi4h+9epmCEKCa6MeiBF38wrJgyBB45RWzHxpq/jC7d7c1LBEREfGjqCjVRC8JJejic5YFw4fD1KlmPyTEDHFx/4GKiIhIxaFhLsenBF18yrJg1Ch4/nmz73CYP8beve2MSkREROzSti00aGC2VRO9aErQxWcsC8aNg0mTPMdefx369rUvJhEREbGXaqIfnxJ08ZlHH4UnnvDsv/IK3HabffGIiIhIYFBN9GNTgi4+MWECJCV59qdMMeUVRURERE45BS67zGyrJnphStDF6555BsaO9ez/738waJB98YiIiEjgyT9ZdP5828IISErQxauefx4efNCzP2kSDBtmVzQiIiISqDp39myrB72gMLsDkOAxdSrcd59n/4knCibrIiIiUgKpqTB3LqSnQ0yMqUuckGB3VF4XHw/16sG//8KaNZCba9ZJEfWgi5e8+ioMHuzZf+QRGDPGvnhERETKpdRUmDgR0tJMuZO0NLMfpLUIL7zQfN2/34xFF0MJupyw6dPh7rs9+2PGmARdRERESmnuXLPcZkSE2Y+IMPvz5tkbl49cdJFnW8NcPJSgywl5+224/XbP/oMPwuOPmwWJREREpJTS0z3JuVtEBOzebU88PubuQQcl6PkpQZcymz3bzMB21y6991546ikl5yIiImUWEwPZ2QWPZWdDbKw98fjY+ed78gYl6B5K0KVM5s6Fm282K4CBKaP4v/8pORcRETkhiYmQmelJ0rOzzX6vXvbG5SNRUdC0qdn++Wc4dMjeeAKFEnQptY8+gt69zWxrMAsQvfCCknMREZETlpAAo0ebEicul/k6enRQVnFxcw9zycmBlBRbQwkYKrMopfLpp3DddeaPCODWW2HaNDPRXERERLwgIQGGDrU7Cr+58EJTcALMMJdWreyNJxAorZISe/ll6N4dnE6z37cvvPaaknMREREpO00ULUyplRxXTo55I3/PPZ5hLTfeaN7takEBERERORHnnOMpXKME3Sh1gr58+XKuvvpq6tati8Ph4MMPPyxwv2VZJCUlUbduXapUqUK7du3YsGGDt+IVP9u3D7p1gxdf9Bx74AF45x0l5yIiInLiwsPhvPPM9v/9H/z3n73xBIJSJ+gHDhygefPmTJkypcj7J02axHPPPceUKVNYvXo1cXFxdOzYkczMzBMOVvzrr7/MOLDFi81+eDi88QY8/bSScxEREfGe/MNcVq+2L45AUepJol26dKFLly5F3mdZFs8//zxjx46lZ8+eAMycOZM6deowa9Ys7s6/3OQR2dnZZOer95mRkQGA0+nE6R7s7GPu6/jrekVKTcUxfz6O9HSsmBisnj1tnbG9fLmD668P5b//TGmWmBiLOXNyuewyC3/+mAKibaRIapvApbYJTGqXwKW2KQEf5ynnnefAnZauXJnL5ZebOs7B1jYlfR4Oy3IvM1N6DoeDBQsW0L17dwD+/vtvTjnlFH788UdatGiR97hrr72WGjVqMHPmzELnSEpKYvz48YWOz5o1i8jIyLKGVq5UTk+nydy55FSpgis8nBCnk7BDh9iYmEhWTIzf40lOPplXXmlOTo75gKVevUzGjv2e+PiDfo9FRERE7OWPPGX79qrcc08HAFq2TOOhh37wynkDzcGDB+nTpw/79u0jOjq62Md5tcxiWloaAHXq1ClwvE6dOmzevLnI7xk9ejTDhw/P28/IyKB+/fp06tTpmIF7k9PpJDk5mY4dOxIeHu6Xa+bnePFFHGefXXBp3+xsTt63D6tvX7/FkZsLY8aEMHWqZ/xKp04u3n23MtWrtyvZSbz8DtvutpHiqW0Cl9omMKldApfa5tj8kadYFowda/Hffw7+/rsO7dt3pUqV4Gsb90iR4/FJHXTHUSvWWJZV6JhbREQEEfkb/Ijw8HC/N4Qd1wRg7144+tOCyEjYs8cM/PaDzEzo08fUOXcbOhSefTaEsLASTlVITYVnnjHLgkVEwK5dZt8LCyzY1jZyXGqbwKW2CUxql8CltimGn/KUDh3g/ffhv/8cTJsWzsiRnvuCpW1K+hy8WmYxLi4O8PSku+3cubNQr7rkExPjWdLXLTsbYmP9cvl//oHWrT3JeWioWXxo8mQIK81buLlzPck5mK9RUTBvnrdDFhEREX/xU57y8MOetVUmToT0dK+evlzxaoLeqFEj4uLiSE5Ozjt2+PBhli1bRuvWrb15qeCSmGi6sN2//NnZZr9XL59f+rvvzMzpX34x+zVqmKotAwaU4WTp6QU//gKzv3v3iYYpIiIidvFHnpKayllfTKZ/s7WAKfM8caL3Tl/elDpB379/PykpKaSkpACwadMmUlJS2LJlCw6Hg2HDhjFhwgQWLFjAL7/8Qv/+/YmMjKRPnz7ejj14JCSYYSDx8eByma9eGBZyPG+/DZdfbkaiADRpAj/8AFdcUcYT2vxJgIiIiPhAafOU1FTzMfzDD5uvqanHPn9qqsnG09IY334ZlcNMpZMXX7QoZgpj0Cv1GPQ1a9bQvn37vH33BM9+/foxY8YMRowYwaFDhxg4cCB79uzhoosuYsmSJURFRXkv6mCUkGAGffuBywUPPVTwnenll8MHH0DNmidw4sREz0kjIjzvsAcPPqF4RURExGYlzVPcybZ7yGtamtk/VkKfb4hsvYgM7r3oB5767hIOH3aQlBTKddd596mUB6XuQW/Xrh2WZRW6zZgxAzATRJOSkti+fTtZWVksW7aMs88+29txSxkdOFAwjwa4+25YtOgEk3Ow7ZMAERERCRBlmY921BDZUZd8S80qprTzrFkONm3yT1W/QOKTKi4SmLZuhWuugSOjkwgJgeefNx3cxRTZKT0/fhIgIiIiAaYs89FiYkxP+5Hvq1E5i7Gtvub+r67Cshy8/XZTBg3yYcwByKuTRCVwrVplJoO6k/PoaPjsMxgyxIvJuYiIiFRsZZmPVsQk1IFNkjk5IQeAH3+sw9dfV6xkRQl6BTB7NrRta96cAjRuDCtXQufO9sYlIiIiQaYsFV+KGCJbedyDPD7RM9Bj9OgQXC4fxx5AlKAHMcuCpCTo3RuyssyxSy81lVqaNrU1NBEREQlGZZ2P5h4i++ij5mtCAjfdBM2aWQD8+GMIH3zgh/gDhMagB6lDh6B/f7Mil9utt8LLL0OlSsf4xtRUM8EjPd18TJWYqEmeIiIiUnJemo8WEgITJuTSrZtJV8eMgR49jpPHBAn1oAehbdvMkBZ3cu5wwNNPwxtvlCA5P1KHlJAQT2mk49UvFREREfGBjh0tzjnHLNjy99/wyis2B+QnStCDzE8/mcmgq1eb/WrV4KOP4IEHSjAZtCylkURERER8xOGAfv025O0/+ihkZNgYkJ8oQQ8iX31lxpi7O7xPPhm++w6uvrqEJyhLaSQRERERHzr11H1cf72ZIbp7NzzzjM0B+YES9CDx3numKktmptm/6CJTWrFZs1KcpCylkURERER87NFHcwkPN9tTpxZOV4KNEvQg8Oyz0KcPOJ1mv1s305tep04pT1SW0kgiIiIiPta4MVx/vdn+7z/48ENbw/E5JejlmMsFw4eb8eVud94JCxZAZGQZTljW0kgiIiIiPnb77Z7t11+3Lw5/UJnFcio725RRnD3bcywpCR5++ARXBvVSaSQRERERb2rbFk45Bf76C774AjZtgkaN7I7KN9SDXg7t2wdduniS85AQePVVeOSRE0zORURERAJUSEjBXvTp0+2LxdeUoJcz27bBZZfB11+b/SpVzDisO++0NSwRERERn+vXzyTqYBL03Fx74/EVJejlyG+/QatW8PPPZj8mxkwGLXEZRREREZFyrG5duOoqs/3vv7Bkib3x+IoS9HJixQpo0wa2bDH7DRuaGucXX2xrWCIiIiJ+dccdnu1gnSyqBL0c+OgjuOIK2LPH7J97rknYTz/d1rBERERE/K5rV4iLM9sffww7dtgbjy8oQQ9wr7wCPXtCVpbZ79ABli0zFRBFREREKpqwMFPJDiAnB95+29ZwfEIJeoCyLBg3DgYMMCXJAW66CT77DKKj7Y1NRERExE633ebZfv11kzcFEyXoAcjpNOOrHn/cc2zECHjrLahUyb64RERERAJBkyamLjrAH3+YeXnBRAl6gDlwALp3hzffNPsOB0yeDE895SkrJCIiIlLR5Z8s+sYb9sXhC0r5AsiuXdC+PSxcaPYrVTKLEWlhTxEREZGCevWC6tXN9vvvm4Ucg4US9ADx99/QujWsXm32q1eHxYvh+uvtjUtEREQkEFWpYubnARw86FlhPRgoQQ8Aa9eaBYj+7//MfkICfPMNtGtna1giIiIiAS1Yh7koQbfZ4sVmksPOnWa/aVNYuRLOOcfeuEREREQCXYsW5gZmFIJ7tfXyTgm6jd56C7p1MxNDAS65xPSc169vb1wiIiIi5UUw9qIrQbeBZcGTT0K/fqbAPpjFiJKToWZNe2MTERERKU/69IHKlc322297Fncsz5Sg+1lurqnKMnq059igQWb2sfuXS0RERERKpkYNSEw023v2wIcf2hmNdyhB96OsLLjhBpgyxXNswgR48UUIDbUvLhEREZHyrGdPz/b69fbF4S1eT9CTkpJwOBwFbnFxcd6+TLnjcplfnnnzzH5YGMyYYXrSHQ5bQxMREREp19zz+QBq1bIvDm8J88VJzzrrLL744ou8/VB1DzNlCnz+udmuWhXmzoXOne2NSURERCQYbNvm2a5b1744vMUnCXpYWJh6zfP57TcYOdKzv2ABdOxoXzwiIiIiwWT7ds92fLx9cXiLTxL0jRs3UrduXSIiIrjooouYMGECjRs3LvKx2dnZZGdn5+1nZGQA4HQ6cTqdvgivEPd1fHE9pxP69g0lK8uMJho8OJd27Vz46amVe75sGzkxapvApbYJTGqXwKW2CVzuNsnZvBnHxx/jSE/HionB6tnTrOx4xL//huIeuV2rljNg86yS/o45LMuyvHnhzz//nIMHD3LaaaexY8cOHn/8cX7//Xc2bNhATExMoccnJSUxfvz4QsdnzZpFZGSkN0OzxezZpzN79hkA1KuXybPPLiUiwmVzVCIiIiLlQ+X0dJrMnUtOlSq4wsMJcToJO3SIjYmJZB3JLUePvoTffjPbc+Z8SkRErp0hF+vgwYP06dOHffv2ER0dXezjvJ6gH+3AgQOccsopjBgxguHDhxe6v6ge9Pr167N79+5jBu5NTqeT5ORkOnbsSHh4uNfOu3atg0suCSU310FoqMU33+TSsqVPf9xBx1dtIydObRO41DaBSe0SuNQ2gcvpdPLX0KGcUaMGIVWqeO7IzsaKj8caPBiAM88M46+/HFSvbrFrV45N0R5fRkYGsbGxx03QfTLEJb+qVatyzjnnsHHjxiLvj4iIICIiotDx8PBwv/+RePOahw7BrbeauucADz3koFUrn/+4g5Ydvw9SMmqbwKW2CUxql8CltglM4RkZhMTHFyw6Ehlpip6Hh2NZnkmides6AroNSxqbz+ugZ2dn89tvvxEfDCP2S2H0aPj9d7PdsiWMHWtvPCIiIiLlkTM6GvKNtgDMfmwsAPv2mY5RCI4KLuCDBP2BBx5g2bJlbNq0iR9++IHExEQyMjLo16+fty8VsL76CiZPNtuVK8Nbb0EAv5kTERERCVjbWreGzExPkp6dbfZ79QIKVnBRgl6Mf//9l969e3P66afTs2dPKlWqxPfff0+DBg28famAtG8f9O/v2X/ySTjzTNvCERERESnXsmJicI0caeonulzm6+jReVVc8tdAD5YBG14fFD179mxvn7JcGToUtm4125dfDkOG2BuPiIiISLmXkGCSrCIE2yJF4Icx6BXJ/PlmOAtAdDRMnw4h+gmLiIiI+IwSdCnWjh1w992e/RdfhJNPti8eERERkYog2FYRBSXoXmFZcOedsHu32e/RA/r2tTcmERERkYpAPehSpOnT4ZNPzHbt2vDKK+Bw2BuTiIiISEUQjJNElaCfoE2b4N57PfuvvQa1atkXj4iIiEhF4h7iUqMG5F9stDxTgn4CXC5TUnH/frN/221wzTW2hiQiIiJSYRRcRdTeWLxJCfoJeP55WL7cbDdsCP/7n53RiIiIiFQse/dCVpbZVoIubNgAY8aYbYcDZswwpRVFRERExD/yV3CpWdO+OLzN6wsVVQSHD5sqLe4VZ4cPh7Zt7Y1JRERExOtSU2HuXEhPh5gYSEzMW8EzENSpY9accbng009hy5bgKHOtHvQyeOwxWLfObDdtCo8/bm88IiIiIl6XmgoTJ0JamsmC09LMfmqq3ZHliYmBQYPM9sGD8MAD9sbjLUrQS+n772HCBLMdFgbvvAOVK9sbk4iIiIjXzZ0LUVEQEWH2IyLM/rx59sZ1lEcf9VTQ++AD+OKLYh6YmgqTJ8PDD5uvAfRG42hK0EvhwAG45RbzMQpAUhK0aGFrSCIiIiK+kZ7uSc7dIiI8KzMGiBo14KmnPPtDhpjhyAWUg08D8lOCXgojR8LGjWb7oovMvoiIiEhQionxTLhzy86G2Fh74jmGfv3g4ovN9u+/wwsvHPWAcvJpgJsS9BJasgSmTjXbVarAW2+ZIS4iIiIiQSkxETIzPUl6drbZ79XL3riKEBICU6Z4VnIfP77gCqPl5dMANyXoJbBnj1mEyO3pp+G00+yLR0RERMTnEhJg9GiIjzfje+PjzX4AVXHJ7/zz4e67zfb+/fDgg/nuLEefBoAS9BIZPNgzRKljRxg40N54RERERPwiIQGGDjUzMYcODdjk3O3xxz310GfNgmXLjtxRjj4NACXox/X++6aBwUxCePNNz8cnIiIiIhI4YmLM3E+3wYMhJ4dy92mARlEfw/btcM89nv2pU6GeIxUmB27BfhEREZGK7Pbb4dVXYe1a+OUXk7/dey+eTwPKAfWgF8Oy4I474L//zP7110Pvy8pXiR4RERGRiiY01FPYA0zZ8x077IunLJSgF+O112DhQrMdFwcvvQSOeeWrRI+IiIhIRXTRRaYnHSAjo/yVxlaCXoS//oLhwz37b7xhRrOUtxI9IiIiIhXVxIlm/iDAzJmwYoWt4ZSKEvSj5OaaYvcHDpj9u+6Crl2P3FnOSvSIiIiIVFS1apmqLm6DBpk8rzxQgn6UZ5+F774z240bm/085axEj4iIiEhFdvfd0Ly52U5JgVdesTWcElOCns/PP8O4cWbb4TCrhVarlu8B5axEj4iIiEhFFhZWcMLo2LGwa5d98ZSUyizms2xZCIcPm+0RI6BNmyIeVI5K9IiIiIhUdG3aQN++8PbbsHcvTJpkVoUPZOpBz2fIEBdffQXdusH48XZHIyIiIiLeMGmSGZP+0EPlI8dTD/pR2rc3NxEREREJDnFx8M8/EBlpdyQlox50EREREQl65SU5ByXoIiIiIiIBRQm6iIiIiEgA8VmC/tJLL9GoUSMqV67M+eefzzfffOOrS4mIiIiIBA2fJOhz5sxh2LBhjB07lnXr1nHppZfSpUsXtmzZ4ovLiYiIiIgEDZ8k6M899xy33347d9xxB2eeeSbPP/889evXZ9q0ab64nIiIiIhI0PB6mcXDhw+zdu1aRo0aVeB4p06dWLFiRaHHZ2dnk52dnbefkZEBgNPpxOl0eju8Irmv46/rScmpbQKX2iZwqW0Ck9olcKltAlewtU1Jn4fDsizLmxfetm0bCQkJfPfdd7Ru3Trv+IQJE5g5cyZ//PFHgccnJSUxvoiK8bNmzSKyPNXDERERERE5hoMHD9KnTx/27dtHdHR0sY/z2UJFDoejwL5lWYWOAYwePZrhw4fn7WdkZFC/fn06dep0zMC9yel0kpycTMeOHQkPD/fLNaVk1DaBS20TuNQ2gUntErjUNoEr2NrGPVLkeLyeoMfGxhIaGkpaWlqB4zt37qROnTqFHh8REUFERESh4+Hh4X5vCDuuKSWjtglcapvApbYJTGqXwKW2CVzB0jYlfQ5eT9ArVarE+eefT3JyMj169Mg7npyczLXXXnvc73ePuCnpOwxvcDqdHDx4kIyMjKBo/GCitglcapvApbYJTGqXwKW2CVzB1jbu/PZ4I8x9MsRl+PDh9O3bl5YtW9KqVSteffVVtmzZwoABA477vZmZmQDUr1/fF6GJiIiIiNgqMzOT6tWrF3u/TxL0G264gfT0dB599FG2b9/O2WefzcKFC2nQoMFxv7du3bps3bqVqKioIses+4J73PvWrVv9Nu5dSkZtE7jUNoFLbROY1C6BS20TuIKtbSzLIjMzk7p16x7zcV6v4lIeZWRkUL169ePOqBX/U9sELrVN4FLbBCa1S+BS2wSuito2PlmoSEREREREykYJuoiIiIhIAFGCjin1+MgjjxRZ7lHspbYJXGqbwKW2CUxql8CltglcFbVtNAZdRERERCSAqAddRERERCSAKEEXEREREQkgStBFRERERAKIEnQRERERkQCiBF1EREREJIAoQQdeeuklGjVqROXKlTn//PP55ptv7A6pQpk4cSIXXHABUVFR1K5dm+7du/PHH38UeIxlWSQlJVG3bl2qVKlCu3bt2LBhg00RV1wTJ07E4XAwbNiwvGNqG/ukpqZy8803ExMTQ2RkJOeeey5r167Nu19tY4+cnBweeughGjVqRJUqVWjcuDGPPvooLpcr7zFqG/9Yvnw5V199NXXr1sXhcPDhhx8WuL8k7ZCdnc2QIUOIjY2latWqXHPNNfz7779+fBbB51jt4nQ6GTlyJOeccw5Vq1albt263HLLLWzbtq3AOYK9XSp8gj5nzhyGDRvG2LFjWbduHZdeeildunRhy5YtdodWYSxbtoxBgwbx/fffk5ycTE5ODp06deLAgQN5j5k0aRLPPfccU6ZMYfXq1cTFxdGxY0cyMzNtjLxiWb16Na+++irNmjUrcFxtY489e/bQpk0bwsPD+fzzz/n111959tlnqVGjRt5j1Db2eOqpp3j55ZeZMmUKv/32G5MmTeLpp5/mxRdfzHuM2sY/Dhw4QPPmzZkyZUqR95ekHYYNG8aCBQuYPXs23377Lfv376dbt27k5ub662kEnWO1y8GDB/nxxx8ZN24cP/74I/Pnz+fPP//kmmuuKfC4oG8Xq4K78MILrQEDBhQ4dsYZZ1ijRo2yKSLZuXOnBVjLli2zLMuyXC6XFRcXZz355JN5j8nKyrKqV69uvfzyy3aFWaFkZmZaTZo0sZKTk622bdta9957r2VZahs7jRw50rrkkkuKvV9tY5+rrrrKuu222woc69mzp3XzzTdblqW2sQtgLViwIG+/JO2wd+9eKzw83Jo9e3beY1JTU62QkBBr0aJFfos9mB3dLkVZtWqVBVibN2+2LKtitEuF7kE/fPgwa9eupVOnTgWOd+rUiRUrVtgUlezbtw+AmjVrArBp0ybS0tIKtFNERARt27ZVO/nJoEGDuOqqq+jQoUOB42ob+3z88ce0bNmS6667jtq1a9OiRQtee+21vPvVNva55JJL+PLLL/nzzz8B+Omnn/j222/p2rUroLYJFCVph7Vr1+J0Ogs8pm7dupx99tlqKz/at28fDocj7xPCitAuYXYHYKfdu3eTm5tLnTp1ChyvU6cOaWlpNkVVsVmWxfDhw7nkkks4++yzAfLaoqh22rx5s99jrGhmz57N2rVrWbNmTaH71Db2+fvvv5k2bRrDhw9nzJgxrFq1iqFDhxIREcEtt9yitrHRyJEj2bdvH2eccQahoaHk5ubyxBNP0Lt3b0B/N4GiJO2QlpZGpUqVOOmkkwo9RnmCf2RlZTFq1Cj69OlDdHQ0UDHapUIn6G4Oh6PAvmVZhY6JfwwePJiff/6Zb7/9ttB9aif/27p1K/feey9LliyhcuXKxT5ObeN/LpeLli1bMmHCBABatGjBhg0bmDZtGrfcckve49Q2/jdnzhzeeecdZs2axVlnnUVKSgrDhg2jbt269OvXL+9xapvAUJZ2UFv5h9Pp5MYbb8TlcvHSSy8d9/HB1C4VeohLbGwsoaGhhd5t7dy5s9A7avG9IUOG8PHHH/P1119Tr169vONxcXEAaicbrF27lp07d3L++ecTFhZGWFgYy5Yt44UXXiAsLCzv56+28b/4+HiaNm1a4NiZZ56ZN8Fdfzf2efDBBxk1ahQ33ngj55xzDn379uW+++5j4sSJgNomUJSkHeLi4jh8+DB79uwp9jHiG06nk+uvv55NmzaRnJyc13sOFaNdKnSCXqlSJc4//3ySk5MLHE9OTqZ169Y2RVXxWJbF4MGDmT9/Pl999RWNGjUqcH+jRo2Ii4sr0E6HDx9m2bJlaicfu+KKK1i/fj0pKSl5t5YtW3LTTTeRkpJC48aN1TY2adOmTaFypH/++ScNGjQA9Hdjp4MHDxISUvDfa2hoaF6ZRbVNYChJO5x//vmEh4cXeMz27dv55Zdf1FY+5E7ON27cyBdffEFMTEyB+ytEu9g1OzVQzJ492woPD7feeOMN69dff7WGDRtmVa1a1frnn3/sDq3CuOeee6zq1atbS5cutbZv3553O3jwYN5jnnzySat69erW/PnzrfXr11u9e/e24uPjrYyMDBsjr5jyV3GxLLWNXVatWmWFhYVZTzzxhLVx40br3XfftSIjI6133nkn7zFqG3v069fPSkhIsD799FNr06ZN1vz5863Y2FhrxIgReY9R2/hHZmamtW7dOmvdunUWYD333HPWunXr8qqBlKQdBgwYYNWrV8/64osvrB9//NG6/PLLrebNm1s5OTl2Pa1y71jt4nQ6rWuuucaqV6+elZKSUiAvyM7OzjtHsLdLhU/QLcuypk6dajVo0MCqVKmSdd555+WV9xP/AIq8TZ8+Pe8xLpfLeuSRR6y4uDgrIiLCuuyyy6z169fbF3QFdnSCrraxzyeffGKdffbZVkREhHXGGWdYr776aoH71Tb2yMjIsO69917r5JNPtipXrmw1btzYGjt2bIHkQm3jH19//XWR/1/69etnWVbJ2uHQoUPW4MGDrZo1a1pVqlSxunXrZm3ZssWGZxM8jtUumzZtKjYv+Prrr/POEezt4rAsy/Jff72IiIiIiBxLhR6DLiIiIiISaJSgi4iIiIgEECXoIiIiIiIBRAm6iIiIiEgAUYIuIiIiIhJAlKCLiIiIiAQQJegiIiIiIgFECbqIiIiISABRgi4iIiIiEkCUoIuIiIiIBBAl6CIiIiIiAeT/Ada1AvK1ue72AAAAAElFTkSuQmCC\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_ball_with_q(0.01, r=3, noise=3.)\n", "plot_ball_with_q(0.1, r=3, noise=3.)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This output is terrible. The filter has no choice but to give more weight to the measurements than the process (prediction step), but when the measurements are noisy the filter output will just track the noise. This inherent limitation of the linear Kalman filter is what lead to the development of nonlinear versions of the filter.\n", "\n", "With that said, it is certainly possible to use the process noise to deal with small nonlinearities in your system. This is part of the 'black art' of Kalman filters. Our model of the sensors and of the system are never perfect. Sensors are non-Gaussian and our process model is never perfect. You can mask some of this by setting the measurement errors and process errors higher than their theoretically correct values, but the trade off is a non-optimal solution. Certainly it is better to be non-optimal than to have your Kalman filter diverge. However, as we can see in the graphs above, it is easy for the output of the filter to be very bad. It is also very common to run many simulations and tests and to end up with a filter that performs very well under those conditions. Then, when you use the filter on real data the conditions are slightly different and the filter ends up performing terribly. \n", "\n", "For now we will set this problem aside, as we are clearly misapplying the Kalman filter in this example. We will revisit this problem in subsequent chapters to see the effect of using various nonlinear techniques. In some domains you will be able to get away with using a linear Kalman filter for a nonlinear problem, but usually you will have to use one or more of the techniques you will learn in the rest of this book." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## References\n", "\n", "[1] Bar-Shalom, Yaakov, et al. *Estimation with Applications to Tracking and Navigation.* John Wiley & Sons, 2001." ] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { "display_name": "Python 3 (ipykernel)", "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": "3.9.7" }, "widgets": { "state": {}, "version": "1.1.2" } }, "nbformat": 4, "nbformat_minor": 4 }