{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Adaptive Filtering" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "from __future__ import division, print_function\n", "%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": [ "So far we have considered the problem of tracking objects that are well behaved in relation to our process model. For example, we can use a constant velocity filter to track an object moving in a straight line. So long as the object moves in a straight line at a reasonably constant speed, or varies its track and/or velocity very slowly this filter will perform very well. Suppose instead that we are trying to track a maneuvering target, such as a car along a road, an aircraft in flight, and so on. In these situations the filters perform quite poorly. Alternatively, consider a situation such as tracking a sailboat in the ocean. Even if we model the control inputs we have no way to model the wind or the ocean currents. \n", "\n", "A first order approach to this problem is to make the process noise $\\mathbf{Q}$ larger to account for the unpredictability of the system dynamics. While this can work in the sense of providing a non-diverging filter, the result is typically far from optimal. The larger $\\mathbf{Q}$ results in the filter giving more emphasis to the noise in the measurements. We will see an example of this shortly.\n", "\n", "In this chapter we will discuss the concept of an *adaptive filter*. The filter will *adapt* itself when it detects dynamics that the process model cannot account for. I will start with an example of the problem, and then discuss and implement various adaptive filters." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Maneuvering Targets" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We need a simulation of a maneuvering target. I will implement a simple 2D model with steering inputs. You provide a new speed and/or direction, and it will modify its state to match." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "from math import sin, cos, radians\n", "\n", "def angle_between(x, y):\n", " return min(y-x, y-x+360, y-x-360, key=abs)\n", "\n", "class ManeuveringTarget(object): \n", " def __init__(self, x0, y0, v0, heading):\n", " self.x = x0\n", " self.y = y0\n", " self.vel = v0\n", " self.hdg = heading\n", " \n", " self.cmd_vel = v0\n", " self.cmd_hdg = heading\n", " self.vel_step = 0\n", " self.hdg_step = 0\n", " self.vel_delta = 0\n", " self.hdg_delta = 0\n", " \n", " \n", " def update(self):\n", " vx = self.vel * cos(radians(90-self.hdg))\n", " vy = self.vel * sin(radians(90-self.hdg))\n", " self.x += vx\n", " self.y += vy\n", " \n", " if self.hdg_step > 0:\n", " self.hdg_step -= 1\n", " self.hdg += self.hdg_delta\n", "\n", " if self.vel_step > 0:\n", " self.vel_step -= 1\n", " self.vel += self.vel_delta\n", " return (self.x, self.y)\n", " \n", "\n", " def set_commanded_heading(self, hdg_degrees, steps):\n", " self.cmd_hdg = hdg_degrees\n", " self.hdg_delta = angle_between(self.cmd_hdg, \n", " self.hdg) / steps\n", " if abs(self.hdg_delta) > 0:\n", " self.hdg_step = steps\n", " else:\n", " self.hdg_step = 0\n", " \n", " \n", " def set_commanded_speed(self, speed, steps):\n", " self.cmd_vel = speed\n", " self.vel_delta = (self.cmd_vel - self.vel) / steps\n", " if abs(self.vel_delta) > 0:\n", " self.vel_step = steps\n", " else:\n", " self.vel_step = 0 " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's implement a simulated sensor with noise." ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "from numpy.random import randn\n", "\n", "class NoisySensor(object):\n", " def __init__(self, std_noise=1.):\n", " self.std = std_noise\n", "\n", " def sense(self, pos):\n", " \"\"\"Pass in actual position as tuple (x, y). \n", " Returns position with noise added (x,y)\"\"\"\n", " \n", " return (pos[0] + (randn() * self.std), \n", " pos[1] + (randn() * self.std))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's generate a track and plot it to test that everything is working. I'll put the data generation in a function so we can create paths of different lengths (why will be clear soon)." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import kf_book.book_plots as bp\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "\n", "def generate_data(steady_count, std):\n", " t = ManeuveringTarget(x0=0, y0=0, v0=0.3, heading=0)\n", " xs, ys = [], []\n", "\n", " for i in range(30):\n", " x, y = t.update()\n", " xs.append(x)\n", " ys.append(y)\n", "\n", " t.set_commanded_heading(310, 25)\n", " t.set_commanded_speed(1, 15)\n", "\n", " for i in range(steady_count):\n", " x, y = t.update()\n", " xs.append(x)\n", " ys.append(y)\n", "\n", " ns = NoisySensor(std)\n", " pos = np.array(list(zip(xs, ys)))\n", " zs = np.array([ns.sense(p) for p in pos])\n", " return pos, zs\n", "\n", "sensor_std = 2.\n", "track, zs = generate_data(50, sensor_std)\n", "plt.figure()\n", "bp.plot_measurements(*zip(*zs), alpha=0.5)\n", "plt.plot(*zip(*track), color='b', label='track')\n", "plt.axis('equal')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Track vs Measurements', x='X', y='Y')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This large amount of noise allows us to see the effect of various design choices more easily.\n", "\n", "Now we can implement a Kalman filter to track this object. But let's make a simplification. The *x* and *y* coordinates are independent, so we can track each independently. In the remainder of this chapter we will only track the *x* coordinate to keep the code and matrices as small as possible. \n", "\n", "We start with a constant velocity filter." ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "from filterpy.kalman import KalmanFilter\n", "from filterpy.common import Q_discrete_white_noise\n", "\n", "def make_cv_filter(dt, std):\n", " cvfilter = KalmanFilter(dim_x = 2, dim_z=1)\n", " cvfilter.x = np.array([0., 0.])\n", " cvfilter.P *= 3\n", " cvfilter.R *= std**2\n", " cvfilter.F = np.array([[1, dt],\n", " [0, 1]], dtype=float)\n", " cvfilter.H = np.array([[1, 0]], dtype=float)\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", " return cvfilter\n", "\n", "def initialize_filter(kf, std_R=None):\n", " \"\"\" helper function - we will be reinitialing the filter\n", " many times.\n", " \"\"\"\n", " kf.x.fill(0.)\n", " kf.P = np.eye(kf.dim_x) * .1\n", " if std_R is not None:\n", " kf.R = np.eye(kf.dim_z) * std_R" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we run it:" ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "sensor_std = 2.\n", "dt = 0.1\n", "\n", "# initialize filter\n", "cvfilter = make_cv_filter(dt, sensor_std)\n", "initialize_filter(cvfilter)\n", "\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# run it\n", "z_xs = zs[:, 0]\n", "kxs, _, _, _ = cvfilter.batch_filter(z_xs)\n", "\n", "# plot results\n", "bp.plot_track(track[:, 0], dt=dt)\n", "bp.plot_filter(kxs[:, 0], dt=dt, label='KF')\n", "bp.set_labels(title='Track vs KF', x='time (sec)', y='X');\n", "plt.legend(loc=4);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see from the plot that the Kalman filter was unable to track the change in heading. Recall from the **g-h Filter** chapter that this is because the filter is not modeling acceleration, hence it will always lag the input. The filter will eventually catch up with the signal if the signal enters a steady state. Let's look at that." ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "\n", "track2, zs2 = generate_data(150, sensor_std)\n", "xs2 = track2[:, 0]\n", "z_xs2 = zs2[:, 0]\n", "\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Effects of Acceleration', \n", " x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The underlying problem is that our process model is correct for the steady state sections, but incorrect for when the object is maneuvering. We can try to account for this by increasing the size of Q, like so." ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=2.0)\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# recompute track\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Large Q (var=2.0)', x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the filter reacquired the track more quickly, but at the cost of a lot of noise in the output. Furthermore, many tracking situations could not tolerate the amount of lag shown between seconds 4 and 8. We could reduce it further at the cost of very noisy output, like so:" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "image/png": 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v/GqJsrIyhIeHY8iQIfj666/bqJd0JXQ6Hbp3745evXqZBkIhIuoIlNbuABERySs3N7fBZ0VFRZg3bx4Ay4NFtIfFixfjwQcfxJYtW/Doo482+V4yS9zd3bF06VJ88803OHLkSBv1kq7Eu+++i/Pnz+P111+3dleIiK4pjlJIRESNmjNnDo4fP44hQ4bAz88P2dnZ2LFjB4qLi/HEE09gwIABVuvbunXrEB0dDa1Wi4SEBPTp0+eKln/88cdx8eJFi0PcU/tzdHTEhx9+iLi4OGt3hYjomuIthURE1KgvvvgC7733HhITE1FcXAxHR0f07t0bjz76KB599FFrd4+IiEh6LLiIiIiIiIjaiN3fUmg0GmE0Gs0+UygUUCgUVuoRERERERHJSNSO8m72mVKphFLZ+NAYLLiMRlRUVFi7G0REREREZINcXV2bLLg4SiEREREREVEbYcFFRERERETURlhwERERERERtRG7f4bL0uAYzd2HSURERERE9sfS+A/NDbbHgsvCBmpupBEiIiIiIiKg+YKLVQUREREREVEbsfsrXLJKSUmBXq+HWq1Gz549rd0du8Ys5MI85MEs5MI85MEs5MEs5GKvebDgklRVVRVqamrg4OBg7a7YPWYhF+YhD2YhF+YhD2YhD2YhF3vNg7cUSkqhUJj+R9bFLOTCPOTBLOTCPOTBLOTBLORir3kohBDC2p2wJqPRiEuXLpl91qlTJw6aQUREREREZlpTO7CqICIiIiIiaiMsuIiIiIiIiNoICy4iIiIiIqI2wlEKJVVQUACDwQCVSgU/Pz9rd8euMQu5MA95MAu5MA95MAt5MAu52GseLLgklZubaxo20552SBkxC7kwD3kwC7kwD3kwC3kwC7m0Ng+j0Yj/bPocA6/rh4GxUW3Yw7bBWwqJiIiIiEhaM55dgJcPaTF9w2GUVtZYuztXjFe4JBUaGgqj0cjh6SXALOTCPOTBLOTCPOTBLOTBLOTSmjwSckrxh+dNUOuMKC06h4SkFAy9LqYNe3nt8T1cfA8XEREREZEUEhMTodFoEBERgUMZxXh0w2Fc0unho6zAwhu9cOetY6zav9bUDrzCRUREREREVlVcXIw5c+Zg06ZNGHX3Q+g/ZTa2HctBtd6IQd288eH0sejk5GDtbrYKCy4iIiIiIrIqJycn7MqoRMC0N3Gmcw+cOXIOADC6VwDentoPTg4qK/ew9VhwSUqv10MIAYVCAbWaMVkTs5AL85AHs5AL85AHs5AHs5BL/TxUKhUUCgUAQAiBVb9kQnnDdDgCUMKICX0CMW1odwwI9TLNZ6u450kqMTHRNGxmXFyctbtj15iFXJiHPJiFXJiHPJiFPJiFXBITE1FRUYFvvvkG33//Pfbt2wc3Nzf8+5dUrN+bAQD4+41dMXNkFLxdNVbu7bXDgouIiIiIiNrF6tWr8cUXXwAA3nzzTQSN/BtW/5wKAFgyKRoPDe1mze61CasPxXfp0iU8//zzGDt2LPz8/KBQKLBkyRKL8/75558YPXo03Nzc4OnpicmTJyM9Pd3ivG+99RaioqLg6OiIbt26YenSpaipsZ1x+93d3eHh4QF3d3drd8XuMQu5MA95MAu5MA95MAt5MAu5uLu7Y8aMGVCpap/HOnBBgZe2nwIAzB3Ts0MWW4AEw8JnZmaib9++iIuLQ8+ePbFu3TosXry4QdGVlJSEQYMGoW/fvpg3bx60Wi1efPFFlJSU4NixY2Zvq16xYgUWLVqEefPmYezYsTh8+DAWLlyI6dOn4/333zdrl8PCExERERFdW4m5pXj/+8PwcnPCI2OuQ4iPi2na/Nc/QKq6G47k6QAAM4d3x/zxUTbxrFZragerF1x1X69QKFBYWAg/Pz+LBdeUKVMQHx+PtLQ0018pzp49i4iICDz77LN47bXXAABFRUUIDg7GtGnT8N5775mWf/nll7Fw4UIkJCQgOjra9DkLLiIiIiKiK6OtMeCb47m4pNWjs7sTOns4wcdVg9/OFGLz/nScvlBpNn90oDtu7uWPfWlF+ONsCQBAoQAeHtINiyb2soliC7DR93C1ZOPq9Xps374d06ZNM7skHBoaipEjR2Lbtm2mguuHH36AVqvFww8/bNbGww8/jH/+85/43//+Z1ZwERERERFRy+j0Bmw5fA5vx5/BhTJd4zMa9ahIPQiloxtcwuJwKq8Mp/LKAAAalRJ39e+CGcO6I9zPrZ16bj1WL7haIi0tDVVVVYiNjW0wLTY2Fjt37oRWq4WTkxMSEhIAAH369DGbLzAwEL6+vqbpRERERETUMkIIfPVnDt7YmYKci1UAgCAPJ/QL8UJeaRUulOlQcEmHbr6umDKwKxRnD+HFzZuwdOlSTLp7JOJTCrEntRBhPi6YfkMY/N2drLxG7ccmCq6ioiIAgLe3d4Np3t7eEEKgpKQEgYGBKCoqgqOjI1xdXS3OW9dWUxITExEaGmp2NU2n0yEpKQkA4OXlhZCQELNlUlNTUVlZe+n08mFHCwsLkZOTAwAICQmBl5eXaZrBYDAVgZ06dUL37t0BAOnp6dDr9dBqtabbLmNiYszeIXHx4kWcPXsWABAUFGT2HBsAnDhxAkIIODs7o2fPnmbTzp07h+LiYgBAZGQknJz+2unLy8uRlpYGAPD390dgYKDZsqdOnTINsXr51cK8vDzk5+cDAMLDw+Hm9tdfLbRaLZKTkwHUZtG1a1ezZVNSUlBVVQWFQtGguC4oKEBubi6A2iubnp6epml6vR6JiYkAah/G7NbN/IHL9PR006Xf3r17mx7UBICSkhJkZWUBALp06QJfX1+zZY8fPw69Xg+VSgV3d3dTPgCQlZWFkpLaS+J1A7TUKSsrQ0ZG7fCmAQEB6Ny5s1m7iYmJ0Ov1cHR0RFRUlNm03NxcFBQUAAB69Ohhti9XVlYiNbV2JB8fHx8EBwebLZucnAytVguVSoXevXubTcvPz0deXh4AICwsDB4eHqZp1dXVOH36NADAw8MDYWFhZsumpaWhvLwcQO0fM+pfNi8qKkJ2djYAIDg4GD4+PqZpRqMRJ0+eBAC4ubkhPDzcrN3MzEyUlpYCAHr16gWN5q8hYEtLS5GZmQmg9g8m/v7+AP46NsrLy6FSqeDk5ITIyEizdrOzs03HekREBFxc/rpvvKKiAmfOnAEA+Pn5ISgoyGzZpKQk6HQ6qNVqxMTEmE07f/48Lly4AADo1q2bVc8RdTIyMlBWVvsXw/Y+R+j1emg0Gri6upr1y97OEQDg4uKCiIgIs2ntfY5IT0+HTqdDZWUl1Gq13Z4j6iQkJMBgMFjlHKHX6+Hs7AwnJyfTsWGP5wjA+r8j6v7N0Ov1psHT7PUcAbT+d4TeYMTznx/BVydq2/Vz02DWzRG4NdITb69ZjW/Xr8enn36KTp284enpibCwMBiHhOL+ybfB2dkZaWlpiNKUo0ekgJubAuWFufB3r91Xbe0cUXecXgmbKLjqNHX7Yf1pLZ2vMXUvZatPCGE6UPV6vcVlGhsF0Wg0mqYZjcYG0y21e+nSJdTU1EChUJj6cnmf6rdrMBgstiuEgIODQ4NpBoPBtGxr2m1sXeu3e/m61t+Gltqt24aWMmppu22ZzeX369Zvt6n9pbFtqNfrLd7v21Q2LWm3pqbG4rSm2q2/rleaeUu3oaXl6/fpco2ta92xUfd99f/hs9Rua7ehpW3U0nbb4xxhqV1rnCN0Ol2DPtvrOaKpdtvjHFH/2GjsPGAP54g61dXVVj1HVFZWmvVdxv3QHn5H1B0XSqXS1J69niNa2u7l54hynR5Pbf4Tu5MLoAAwJdoVz47vg85+Ppg1axbefvttAMC6deswa9Ys07JKpRLOzs5m7QK1mdTfp2zxHHGlbKLgqqt0LV2dKi4uhkKhMP2lwsfHB1qtFpWVlWbVaN28/fv3b/b71Gp1g3/QFQqFaeew9KZytVpt8YQE1O5wddMsHRhNtVt/+uV9qt+upZ3FwcEBQgiL7apUqqtqt/5/G2v38nWtvw0ttVu3DS39mGppu22RTWMHcv12m9pfGtuG9eepr6lsWtKuwWCwOK2pduuWbardq92/m1vXyzW3rk3162q3odFovOLjxlrniKb2w7Y+RzR2bNjbOaIl7bbXOaL+8vZ+jtBoNDAYDFY5R1g6NmTcD+3pd0T9Ze35HHGlvyPOl2rx8IbDOJ1XBke1Es8O9sINXZ3hrKldn+effx4ffPCBqaBp6tzT2LFhi+eIK2X1UQrra2yUQr1eD3d3d0yfPh3vvvuu2TLjxo1Deno6UlJSAACbN2/GAw88gAMHDuD66683zXf+/HkEBgZixYoVWLBggelzWUcprF+JN/Zjk9oHs5AL85AHs5AL85AHs5AHs2idtIJybDl8DluOnENJZQ183DR4qFsV+nfzxZAhQ8zm3bx5MwYNGoQePXo0225HyMMmRylsCbVajUmTJuGrr77CypUr0alTJwC1977Gx8fj2WefNc07btw4ODk5YcOGDWYF14YNG6BQKHDHHXe0e/9bw1Z3wo6IWciFeciDWciFeciDWciDWVyZ70/mYcPeTBzKLDZ91t3HGZU/vI6nF32PgQMH4uDBg2ZXeaZOndri9u01DykKrh07dqCiosJULZ46dQpbt24FANx6661wcXHB0qVLMXDgQEycONHsxce+vr6YO3euqS1vb28sXLgQixYtgre3t+nFx0uWLMGMGTM4JDwRERERUT0Go8CK705j/d7agTqUCmBUlD/uHRiC4RE+GPRJ7cWNw4cPY+fOnRg7dqw1u2tzpLilMCwszDRKzuUyMjJMoyH98ccfeOGFF7B//36o1WqMGjUKq1atajBiCQCsWbMG77zzDjIzM9G5c2fTe7guv09T1lsKiYiIiIjaWmW1Hs/89xh2nqodhffhG4Lx+IhIdPb4a+TJ7777Ds899xxefvll3H777TbzkuK20JraQYqCy5pkLbhKSkpgNBqhVCrNhn+l9scs5MI85MEs5MI85MEs5MEsmpZ/SYsZG4/gRHYpNCoFelccRfzGVTh16pTZcP5CiEZH9LsSHSGPDvsMlz3KysoyvaPCVnfIjoJZyIV5yINZyIV5yINZyINZNC6jsAJ/W3cQORer4OXigNjS/dj07yUAgOXLl+Odd94xzatQKK7J81f2mgcLLiIiIiIiO3IqtwzT1h9CYbkOYT4u2PDwILgY++Kr91fBaDQiICDA2l3sUFhwSapLly6mS65kXcxCLsxDHsxCLsxDHsxCHsyioUPphZi2bj+0RiWiA92x6dFB8HVzBOCKzz//HP3792+zgste8+AzXJI+w0VEREREdC3972AKZn+RCKg1UBZn4I83ZsDLzan5BcmkNbUDqwoiIiIiog5KCIGD6UWYtv4QZm9LBdQaVKUfQeZH/4dDe3+1dvfsAm8pJCIiIiLqYC5WVmP7kTPYlngRf5wtAVD7fq2bgh2Q9NtOfPHLTxg+fLiVe2kfWHAREREREXUACTml+P5kHn5JyEFyQRXw/9+XpVErcU//YDw+PBwhPi4QT4yx63dptTcWXJI6fvy4adjMuLg4a3fHrjELuTAPeTALuTAPeTALedhLFhcrq/HaD0n47NC5vz5UKFBdeBbhjhX48pVZ8Hd3qjfJOsWWveRxORZcREREREQ2SAiB/x3LwfLtp1FUUQ0AGN+7M4aEdsLs+8dBqbuEexYtMiu2qP2x4JKUi4sL9Ho91GpGZG3MQi7MQx7MQi7MQx7MQh4dOYuSimo8/dmf+O1MEQCgh78bVtzRG9d39wEAdP/8Y/Tp0wfu7u7W7KaZjpxHUzgsPIeFJyIiIiIbkphbihkbDiGvrBrGGh1UST/h5Ber4ebCK1ltjcPCExERERF1YF8fy8Fd7+5DXlk1HLQXcX7THJzd8T72/b7H2l2jRtjX9TwiIiIiIhuUlJSEbzKBtbvTAAA39fTDI738sSqtD1as+AaxsbHW7SA1ircU8pZCIiIiIpLU0aNHMX/+fOwvdIDX6L8DAJ4cGY45YyKhUnJo9/bWmtqBV7gklZWVZXqoMCQkxNrdsWvMQi7MQx7MQi7MQx7MQh4dIYsff/wRv57Og/+9LwEA5o2Pwt9vCrdyr1qnI+TRGryMI6lR+7MAACAASURBVKmSkhIUFxejpKTE2l2xe8xCLsxDHsxCLsxDHsxCHh0hizv+9hj8Jy+AQqlCnIcOjw/vbu0utVpHyKM1WHAREREREVnZxYsXsWDBAmzYsMH02SVtDWZtSYDC0Q2xXdzx+f/dbrWXFlPr8RkuSZ/h0ul0EEJAoVDA0dHRqn2xd8xCLsxDHsxCLsxDHsxCHraSRUFBAaKiolBcXIzAkO748JvdOJFXgV9OX0DKhXIEuDvim6duRICNv8DYVvJoSmtqBxZckhZcRERERGQ/br13Oo4Yu8G5e38oFH/9DnV2UOG/MwcjrqunFXtHdThoBhERERGRxIQQOHDgAG644QYAgE5vwHu/piM1/F64GGuvg4T5uGBgmDcGdvPGTT39bP7Klr1jwUVERERE1A5+++03zJ07F4cPH8bhw4dxyS0EL313CukFFQCAYRG+WHJbDML93KzcU7qWWHBJqqyszHSPq7u7u7W7Y9eYhVyYhzyYhVyYhzyYhTxky+L48eM4cuwE3PqOx9RPTqPa6QIAwNfNEYsm9sJtcUEdelAM2fJoLyy4JJWRkYGamho4ODggLi7O2t2xa8xCLsxDHsxCLsxDHsxCHtbOwmgUyCiqQOqFcqQVlCPF+waEPPUxoHFBNQA3RzXuHdgVT98cAQ9nh3bvX3uzdh7WwoKLiIiIiOgays3NxQsv/QspPjfigv6y5680Lgj1dsH0IWG4Z0AwOjl1/ELL3rHgklRAQAAMBgNUKpW1u2L3mIVcmIc8mIVcmIc8mIU8rJFFUVEReo+9D66jn4RK7wRHtRI9Azqhh78bevi7oU8XDwzt4QuVsuPeOtgYez02OCw8h4UnIiIiolbS6Q2o+zUtBLBmVyre3Z0GANCfT8HqKbG4+9abrdhDupY4LDwRERERUTuo1hvx7OdH8d3J8xanhxvO4ZPXHkBggH8794xkw4KLiIiIiOgK1BiMuOfNHThe1HCah7MDXrqjN26Lm9D+HSMpseAiIiIiImohg1FgzpbjOF4ECH0N8retQFyQK3bu3AmFQgFHtRIOKj6aQn9hwSWpxMRE07CZMTEx1u6OXWMWcmEe8mAWcmEe8mAW8riWWQghIATw/NYT+PZ4LtRKBVR/fILru7ri1Vdf5WiDLWCvxwYLLknp9Xro9foO/fI7W8Es5MI85MEs5MI85MEs5HEtskhOTsbChQsRE9MbutjJ+PLPbKiUCrx1fz8MnPMf+Pj4MOsWstdjgwWXpBwdHaFUKuHgwL+WWBuzkAvzkAezkAvzkAezkMfVZlFUVIS+fftCq9ViT3kAnLVZUCiAN6bEYXyfwGvc247PXo8NDgvPYeGJiIiIqBH/eOIJ/Pe0Fh7X3wUA+NfdsbhnQFcr94qspTW1A6sKIiIiIrJ7lZWV2LhxIy6/FhE0Zoap2Hr5zj4stuiK8ZZCIiIiIrJrX3zxBZ5++mmcP38efn5+GDF6LPakFODbE3n47kQeAGDxpGhMvT7Eyj0lW8SCi4iIiIjsmkKhQH5pJVz7jMYzW09BuU8Bnd5omj5vfBQeHtrNij0kW8aCS1K5ubkwGAxQqVQICgqydnfsGrOQC/OQB7OQC/OQB7OQh6UshBDQ6/VwcHBASUU1vjqagx+LuqDrrE8AhRI1AKA3oqu3M8ZGd8aE2EBcF+Jl1fXoKOz12GDBJamCggLTewrsaYeUEbOQC/OQB7OQC/OQB7OQx+VZHDx4EPPnz0e/667DjQ/MxrJvT6GksqZ2ZoUSMUHuGBvdGWNjAhDVuZPdDV/e1uz12GDBRUREREQdXklJCUaOHIlqh0447T8KX35+HADQM8AN9w0MwdiYAAR7uVi5l9QRcVh4SYeFr6iogBACCoUCrq6uVu2LvWMWcmEe8mAWcmEe8mAW8qjLwiiApMJq/PM/W5Fc4wOlxgkOSmD2mEjMHN4dDioO3N0eOsKx0ZragQWXpAUXEREREbVOUVERPvroI0x84DF8evAcfkg8j4JLOtP0gWFeePWuWIT7uVmxl2SLWlM78JZCIiIiIuowNm7ciGfmvQhV39vxTuFvEKh9DquTkxpjogMwoU8gRkb6Q6nk81nUPlhwEREREVGHUKHT42ClH9ynvgGlgxMEgFtiAnDfoBAMDfeFRs07mKj92dRed/ToUdxxxx0ICgqCi4sLoqKisGzZMlRWVprN9+eff2L06NFwc3ODp6cnJk+ejPT0dCv1unUqKytRUVHRYN2o/TELuTAPeTALuTAPeTCL9mM0GlFRUQEAOJN/Cbe9/Tu+PyugdHCCR00RVk/sijcm98L1Xd1YbEnAXo8Nm7nCderUKQwZMgSRkZFYvXo1fH19sWfPHixbtgx//PEHvv76awBAUlISRowYgb59+2LLli3QarV48cUXMWzYMBw7dgx+fn5WXpOWSU1NNQ2bGRcXZ+3u2DVmIRfmIQ9mIRfmIQ9m0faEEPjxxx8xf/58DBo0CJOeXIznt55AZbUBAe6OWDyxF8b3CcKJEydw+vRpZiEJez02bKbg2rx5M7RaLb788kuEh4cDAEaNGoW8vDy8//77KCkpgZeXF1588UU4Ojpi+/btcHd3BwD0798fERERWLVqFV577TVrrgYRERERXaXS0lJMmTIF5VXVyPIZhB83HwUA3NDdB29N7QdfN0cr95DoLzZTcDk4OAAAPDw8zD739PSEUqmERqOBXq/H9u3bMW3aNFOxBQChoaEYOXIktm3bZjMFl4+Pj+lN3GRdzEIuzEMezEIuzEMezKLtCCGQkFOGPamFiHnqfeRWO0Ghrv2N+I8R4Zg7pifU9YZ4ZxZysdc8bKbgmj59OlavXo1//OMfeO211+Dn54dff/0V7733Hp588km4uroiOTkZVVVViI2NbbB8bGwsdu7cCa1WCycnpya/KzExEaGhoWZFm06nQ1JSEgDAy8sLISEhZsukpqaa7ke9/BJpYWEhcnJyAAAhISHw8vIyTTMYDEhISABQO6Rk9+7dAQDBwcEAgIyMDBw/XvtivpiYGKjVf0V28eJFnD17FgAQFBTU4HbJEydOQAgBZ2dn9OzZ02zauXPnUFxcDACIjIw02ybl5eVIS0sDAPj7+yMwMNBs2VOnTpkuB0dHR5tNy8vLQ35+PgAgPDwcbm5/Dbeq1WqRnJwMAPD29kbXrl3Nlk1JSUFVVRUUCkWDDAsKCpCbmwugtoD29PQ0TdPr9UhMTAQAuLu7o1u3bmbLpqenm4bv7N27t9lBXlJSgqysLABAly5d4Ovra7Zs3bZ3cXFBRESE2bSsrCyUlJQAAKKiouDo+Ndf08rKypCRkQEACAgIQOfOnc2WTUxMhF6vh6OjI6Kiosym5ebmoqCgAADQo0cPs/dUVFZWIjU1FUDtSatuP6mTnJwMrVYLlUqF3r17m03Lz89HXl4eACAsLMzsjxfV1dU4ffo0gNo/aoSFhZktm5aWhvLycgBAnz59zIY+LSoqQnZ2NoDa/dbHx8c0zWg04uTJkwAANzc309XpOpmZmSgtLQUA9OrVCxqNxjSttLQUmZmZAIDAwED4+/ubvgMAEhISUFRUBCcnJ0RGRpq1m52djaKiIgBAREQEXFz+epFlRUUFzpw5AwDw8/Nr8Kb7pKQk6HQ6qNVqxMTEmE07f/48Lly4AADo1q2bVc8RdTIyMlBWVgaA5wh7P0cEBwebzhFFRUV2e46ok5CQAIPBwHNEBzhHZGVl4e21/0HMhIex/vd0nC3V//+5O0GhBoK9nPHixGiEOZQhMeGk2Tmi7hgoKCgwHa/2eo4A+DuivtaeI1rz/JnNFFxhYWHYv38/7rzzTrON/fTTT2P16tUAYNow3t7eDZb39vaGEAIlJSUNDvzL6fV6XP56MiEEampqTNMtLVM3/XJGo9E0zWg0Npje0nYv71P9dg0Gg8V2hRCmq4P1GQyGq2q3sXWt3+7l61p/G1pqt25dFYqGw7S2tF1ZsmluXWtqaqDX6y2+s6GpbFrSbk1NjcVpTbVbt2xz7VrS0m1oafn6fbpcc+taXV0No9Fo8a9k12IbWtpGLW1Xlv2Q54iG7cqSDc8RDdvlOYLniMvbNRqNeHPtB1j++R64xI6D6rsUAICTSoH+Xd1wS1wIbuzhi26+rlAoFDh1qpjnCPAcUactzxFXymYKrszMTEyaNAkBAQHYunUr/Pz8cPDgQSxfvhzl5eX48MMPTfNaOtBaMq2OWq1uMJ9CoTCdcOr/daj+MpZOSACgVCpN0ywdGC1t9/I+1W/X0s7i4OAAIYTFdlUq1VW1W/+/jbV7+brW34aW2q1bV0sZtbRdWbJpbl3r1rO5bdiadhu7VN9Uu3XLNtXu1W7D5tb1cs2tq0ajgcFgaJNtaDQar/i4kXE/5DmiYbuyZMNzRMN2eY7gOaJ+u5d0Rrz161l8nBOETjfcV/s9lSWYPiQUY8Pd0LWzb4Or4DxHwDQ/zxFte464UgrRmjLNCu677z7Ex8cjPT3d7NLoRx99hEceeQS7d+9G586dERUVhXfeeQdPPPGE2fLPPfccXn/9dVRWVppd9m7N26KJiIiI6NoQQqCksgbZRZdwNv8ikov02LAvE+W62qtCLrpi9HPMx+rnHoafT8O7mIjaU2tqB5u5wnXs2DFER0ebFVsAMHDgQAC192EOHToUzs7Opns96zt58iR69OjR7PNbskhOTjbd33z5faXUvpiFXJiHPJiFXJiHPJhFy2hrDHh71xms35uByuqGt3z1CnTH7NERGNPLv9V/CGcWcrHXPGym4AoKCkJCQgLKy8vNHrLev38/gNqH7NRqNSZNmoSvvvoKK1euRKdOnQDUPpQYHx+PZ5991ip9bw2tVtvoPbTUvpiFXJiHPJiFXJiHPJhF845kFuOFL08graDC9Jmh4iIM5cUY2i8aj4yMxi0xnaFUXvntW/UxC7nYax42c9/c7NmzUVhYiDFjxmDLli3YtWsXXn75ZcyZMwfR0dEYP348AGDp0qWorKzExIkTsWPHDmzbtg0TJkyAr68v5s6da+W1aDmVSgWlUml3w2bKiFnIhXnIg1nIhXnIg1k0Lr9Mi8VfJ+Ce9/YjraACfp0csfaB6zArIBXZb/8NvXO+xdLRgRjfJ/Cqiy2AWcjGXvOwmWe4ACA+Ph6vvvoqTpw4gdLSUnTt2hWTJk3C/PnzzYaQ/OOPP/DCCy9g//79UKvVGDVqFFatWtVgKEmAz3ARERERtaVqvRG/nL6AL/7Ixu7kfBj//y/PKQOC8c9bo+Hh4gCtVov9+/dj5MiR1u0sUTNaUzvYVMHVFlhwEREREV17NQYjNu0/i3fiz6C4otr0uTb7FKbGeuCN52dasXdErdOhB80gIiIiItuwOzkfL20/ZXpGy7+TI4YFO2DNnAegL85BfGJfiOcea9UQ20S2hgUXEREREbVaaVUNMgsrkF1SheySSuxPL8Lu5AIAgI+rBs/dEom7+wdDrVJCe+h2hIWF4amnnmKxRXaDtxRKekthfn6+6cVz/v7+Vu2LvWMWcmEe8mAWcmEe8rCXLIQQ+OC3dKz8IRl6o/nPSWHUw78kEb+89RzcnSy/mLY92EsWtqIj5MFbCjuQvLw803sKbHWH7CiYhVyYhzyYhVyYhzzsIQuDUWDZt4nYuP8sgNpbBrt6uyDIXYOvP/0QeQe/RVZxDk4+dBOGDh1qtX7aQxa2xF7zYMFFRERERC1WVW3A0/89ip2nLgAAFk7ohRnDupumx1Udw2M7/oP77rsPgYGB1uomkTR4S6GktxSWlpZCCAGFQgEPDw+r9sXeMQu5MA95MAu5MA95dNQsqvVG7E8vwps7U3Ds3EU4KIEu537B9neXwc3NzTSfXq9HQkIC+vbta8Xe1uqoWdiqjpAHh4VvBVkLLiIiIiJrMxoFdiXl4/uTefj59AWUafUAAEeFHmc/XgBdziksX74c//znP63cU6L2wYKrFVhwERERETVUcEmH//viOH5NKTB95uumwZjozhjTFRh7Qz8YDAYMHjwY+/bt46iDZBc4aAYRERERXbU9KQWYs+U4Cst1cFQpMCHKE/cPi8J1IV5QKWsLqwULFiAsLAzTpk1jsUXUBF7hkvQKV3X1X29k12g0VuwJMQu5MA95MAu5MA952HIWBZd0eO/XNKz7PQMA4KmoRManL6J/j0D88ssvNldY2XIWHVFHyINXuDqQ06dPm4bNjIuLs3Z37BqzkAvzkAezkAvzkIetZXFJW4MfEy/g62M52HumEHWv1Jo6KBifz7sPZeeSEH8uCT///DPGjBlj3c5eIVvLoqOz1zxYcBERERHZGSEE/jhbgs2HsvD9yTxoa4ymaX27euLJkT0wJjoAsdWL8eCDD2LmzJno06ePFXtMZLtYcEnKw8PD9CZusi5mIRfmIQ9mIRfmIQ+ZszAYBT49eBYf7z+L1Pxy0+f+TgLa5N/w8YpnENc9yPT5lClTMHjwYISFhVmht1dP5izskb3mwWe4JH2Gi4iIiOhaEkJgwbYEfHYoCwDg7KDCxNhA6E79greWzAUAvPDCC3j11Vet2U0iqfEZLiIiIiKy6M2fU/HZoSwoFMD88VG4b1AI3J0ckJXlhfdfWQCdTodDhw6ZXkxLRNcGCy4iIiKiDu7j/ZlY80sqAODx/p6YOTzcNC0kJASvvvoqwsLCcPvtt7PYIrrGeEshbykkIiKiDuy7E3l4avOfEADK9n2GHtoUHDx4kIUVUSvwlsIOJC0tzTRsZnh4ePMLUJthFnJhHvJgFnJhHvKQJQud3oAP9qTj37+kQgBwOHsAJb99isMAtm3bhsmTJ1utb+1Fliyolr3mwYJLUuXl5aYdkqyLWciFeciDWciFechDhiz2pxVi4f8SkFZQAQCYFBeEsTcOxv3fumLOnDkYPXq01frWnmTIgv5ir3mw4CIiIiLqIErKq/Dwmu9wrMwZAODrpsGiidG4LS4IQF9kZmbC19fXup0ksjN8hkvSZ7iMxr9eQGjtvtg7ZiEX5iEPZiEX5iEPa2Vx/NxF/G3tLlwSjhDCiDD9OXzz0mPwcLGvqwn18biQS0fIg89wdSC2uhN2RMxCLsxDHsxCLsxDHu2dhRAC6/dm4tUdp1EjHGEoy0f+1ytx3aAodHL6e7v2RTY8LuRir3mw4CIiIiKyQceOHcPpvDLsvOCMXUn5AIBxMZ3Rt6YIMfe/j2HDhlm5h0QEsOAiIiIisillly5hyjNLcbTSG85hcQAuQaNSYuHEXnhwcCgUiv7W7iIR1cOCS1JFRUUwGo1QKpXw8fGxdnfsGrOQC/OQB7OQC/OQR1tmkZBTijlbjiHFfyScAQijAbFeBvzr4ZsR1dn9mn5XR8DjQi72mgcLLkllZ2ebhs20px1SRsxCLsxDHsxCLsxDHtc6i5qaGqjVanx84CyWbz+NaoMRzmqg7OgO/P3mXnj+yRlwdHS8Bj3veHhcyMVe82DBRURERCShqqoqvPPOO3jjrXcx5p8b8Gt6GQBgTHQA/nV3LDQYCRcXFyv3koiaw4JLUsHBwaZLrmRdzEIuzEMezEIuzEMe1yqLN954A8s//Ao+4xfg1/QyOKgUmD++Fx4eGgaFQgFAc2063IHxuJCLvebB93BJ+h4uIiIisl/nS7VYtO0YdiYVAQCcDBX4bNZo9AvxtnLPiOwb38NFREREZIPi4+NRU1OD3oOG4etjuXh7Vyoqqg1QQmBSlDtW3H8L3Bz5s43IFvHIJSIiIrKSnMKLuP+xZ3CioAaeMcOBXTWmaf1CPLHijj6IDuLog0S2jAWXpIxGo+n/8/ZG62IWcmEe8mAWcmEe8mgqi3KdHm/uTMGRzGJkFlWitKoGiJwCz8ja6QoI9A/1xpQBXXF3/2AolYr27HqHw+NCLvaaBwsuSZ08edI0bGZcXJy1u2PXmIVcmIc8mIVcmIc8GssiIacUT3xyBFklWrP5vZ2VKD5zDHcOCse8aRMR4MGRB68VHhdysdc8WHARERERtSEhBN7blYSVO8/ACCX8XNVYOKk3ojq7I8TbBc4aFQyGsVCpVNbuKhG1ARZcknJzczP9BYCsi1nIhXnIg1nIhXnIo34WFTo9ntt6HN+fPA9AicrUAwhSnsHtiz4zW4bFVtvgcSEXe82Dw8JzWHgiIiJqA7kXq/DoxiM4nVcGtVIB7YHNKNj7BZ544gm8/vrr/K1BZIM4LDwRERGRFQkh8OWXXyKrXIHPcjxQcEkHXzcN3ntwAEpHOyE8fAVCQ0Ot3U0iakcsuIiIiIiugcrKSowYMQKJ5c7wvXU2FGodojp3wrrpAxDs5QKEjrJ2F4nIClhwEREREV0DQqWBof998POoHeO9p1s1tv5jCF9YTGTneAaQVGZmJgwGA1QqFcLCwqzdHbvGLOTCPOTBLOTCPNrf+fPn0blzZwDAsXMXMfu/R1HkEQkII4Z6V2Lp3QNZbFkZjwu52GsePAtIqrS01C5HcZERs5AL85AHs5AL82g/OTk5WLZsGdavX48tP/6GJJ0H1v2WAYNRINDDCU9c54ZePipUlF9qvjFqUzwu5GKvebDgIiIiIroC//n8O2xJrob/w+/g2Z+KABQBACbGBmLFHX2QmXoKNTU11u0kEUnD5oaF//333/Hyyy9j//790Gq1CA4OxrRp07Bo0SLTPD///DMWLVqE48ePw8XFBRMnTsTKlSvh7+/foD1Zh4Wvrq42/X+NRmPFnhCzkAvzkAezkAvzaFt6gxE/Jl7AR3szcORsielzJYwYERmAKQO74paYzlAoFMxCIsxCLh0hjw4/LPzmzZvx4IMPYsqUKdi0aRPc3NyQlpaG3Nxc0zy//vorxo8fjwkTJuDrr79Gfn4+XnjhBdx88804cuQIHB0drbgGLWerO2FHxCzkwjzkwSzkwjyuvZqaGrz/4XocK3dHYo0/cku1AAAHlQIDAjW4rW9XTBoY3uA5LWYhD2YhF3vNw2aucOXk5CAyMhLTpk3D2rVrG51v0KBBqKiowPHjx6FW154A9+3bh6FDh2Lt2rX4xz/+YTa/rFe4iIiIyHoqKirQd+JDqOx5Cxy8AgEAPq4aPHB9CP42OBT+7k5W7iERWUNragebqSrWrVuHiooKvPDCC43Ok5OTg8OHD+PBBx80FVsAMGTIEPTs2RPbtm1rj64SERGRDUvMLcUjn5xAzfUPwcErEPpLRbijSyX2zhuFOWMjWWwR0RWxmVsK9+zZA29vbyQlJeH2229HQkICvL29MXnyZKxcuRLu7u5ISEgAAMTGxjZYPjY2Fnv37m3RdyUmJiI0NBTu7u6mz3Q6HZKSkgAAXl5eCAkJMVsmNTUVlZWVAIC4uDizaYWFhcjJyQEAhISEwMvLyzTNYDCY+t2pUyd0794dQO0oLkIIXLhwAVpt7S0MMTExZoXkxYsXcfbsWQBAUFAQ/Pz8zL73xIkTEELA2dkZPXv2NJt27tw5FBcXAwAiIyPh5PTXPx7l5eVIS0sDAPj7+yMwMNBs2VOnTplGmImOjjablpeXh/z8fABAeHg43NzcTNO0Wi2Sk5MBAN7e3ujatavZsikpKaiqqoJCoWiQYUFBgenW0dDQUHh6epqm6fV6JCYmAgDc3d3RrVs3s2XT09NNf4no3bs3VCqVaVpJSQmysrIAAF26dIGvr6/ZssePH4cQAhqNBl26dIGHh4dpWlZWFkpKau/jj4qKMrtdtaysDBkZGQCAgIAA07DBdRITE6HX6+Ho6IioqCizabm5uSgoKAAA9OjRA66urqZplZWVSE1NBQD4+PggODjYbNnk5GRotVqoVCr07t3bbFp+fj7y8vIAAGFhYWbrUl1djdOnTwMAPDw8GgzVmpaWhvLycgBAnz59zP6KU1RUhOzsbABAcHAwfHx8TNOMRiNOnjwJAHBzc0N4eLhZu5mZmSgtLQUA9OrVy+xWg9LSUmRmZgIAAgMDTc9g1h0bdfu+k5MTIiMjzdrNzs5GUVHtQ+wRERFwcXExTauoqMCZM2cAAH5+fggKCjJbNikpCTqdDmq1GjExMWbTzp8/jwsXLgAAunXrZtVzRJ2MjAyUlZUBaP9zhBAC7u7u8PHxMduf7O0cAQAuLi6IiIgwm9be54jS0lJotVrk5eVBoVDY7TmiTkJCAgwGQ4vPEcnJyYiI6Im1u5Lw5i/pMAjAQQl0yjmINx4bjxE33gCgZecIIQT8/f3h6upq2o72eI4ArP87ou7fjLKyMtPxaK/nCMD6vyOEEAgNDYVSqTQtbyvniPrb8ErZTMGVk5ODyspK3HPPPZg/fz5Wr16Nw4cPY/HixUhISMBvv/1m2jDe3t4Nlvf29jZNb45er8fld1oKIUwjDun1eovLNDYikdFoNE0zGo0NpltqNzMzEzU1NVAoFKa+XN6n+u0aDAaL7QohLA69aTAYTMu2pt3G1rV+u5eva/1taKndum2oUCha3W5bZpOZmWn2j2D9dpvaXxrbhnq93uLl56ayaUm7NTU1Fqc11W79db3SzFu6DS0tX79Pl2tsXeuOjTr1/+Gz1G5rt6GlbdTSdtvjHGGpXWucI4qLi3Hp0iWzY8NezxFNtdse54jLjw17PUfUqa6uhtFobPYckZycjBUrVmDb9zsx4aXPcaKgtq1BQY54fnQ3DIieYHFdmztH5ObmwsHBwXRsyLgf2sPviLrjQqlUmtqz13NES9tt63NEWlqa2bEh+znC0ja8UjZTcBmNRmi1WixevBjz5s0DAIwYMQIajQazZ8/GL7/8YprX0j/GTX1+ObVa3WBehUJhOuHU/+tQ/WUae6eAUqk0TbN0YDTVbv3pl/epfruWdhYHBwcIISy2q1Kprqrd+v9trN3L17X+NrTUbt02tJRTS9tti2waO5Drt9vU/tLYNqw/T31NZdOSduteKHgl7dYt21S7V7t/N7eul2tuXZvq19VuQ6PReMXHjbXOEU3th219jmjs2LC3c0RL2m2vc0T95e39rU7/TwAAIABJREFUHKHRaGAwGJptd//+/dh+KBmBD7+FEwUGOKqVeKSfO24Jd4W/p7PF/jZ3jrB0bMi4H9rT74j6y9rzOcLavyMsHRuynyMsbcMrZTODZtxwww04cOAA/vzzT/Tr18/0eUpKCiIjI/Haa68hLi4O48aNw3fffYdbb73VbPl77rkHe/fuNRvREJB30Iz8/HzTDm9pOHtqP8xCLsxDHsxCLsyjdXadPo9H1h8EVGr4ONTg47+PQHQXz+YXbAKzkAezkEtHyKNDDwsfGxuLAwcONPi8rl5UKpWme01PnjzZoOA6efJkg3tRZWarO2FHxCzkwjzkwSzkwjyaVlFRgTVr1kCj0WDu3LkAgN9TC/H3T48CKjVGR/pizQP94aK5+p9GzEIezEIu9pqHzYxSeNdddwEAduzYYfb5999/DwAYPHgwunTpgkGDBuGTTz4xu1fzwIEDSE5OxuTJk9uvw0RERCSFqqoq9OrVCwsWLMCSJUtQUFCA/WlFmLHpMKr1RoyJDsC70wZek2KLiOhyqiVLliyxdidaIjw8HH/++SfWr18PoPZBty1btuDFF1/EuHHjTM91RURE4M0338Tx48fh4+ODAwcO4PHHH0dISAjefffdBvfQCiHM3noNAI6Ojq26P5OIiIjk4+DggNTUVBw5cgR6vR6degzAij2FqKoxYmSkH9b+7Tpo1JafFSUiqq81tYPNPMMF1P6FaunSpdi8eTPy8vIQFBSEBx54AIsXLzYbSnPnzp148cUXcezYMbi4uGDixIn417/+ZfEypqzPcBEREdGVE0Jg//79uOGGG8x+AGWcy8GMpWvh0Gskkgp0AIBhEb74YNoAODmw2CKilmlN7WBTBVdbkLXgSkhIQHV1NTQajU09e9YRMQu5MA95MAu5MA/gzz//xNy5c7F79258//33GD9+PHR6A96JT8OGvRko09YOza1WKnB73y5YcWfvNim2mIU8mIVcOkIeHXrQDHtjMBhgNBotvjeA2hezkAvzkAezkIs952E0CuiNAunp6di9ezcAYP78+QjqPRjPbT2BlAu1L2UO9nLG/YNCcM+AYPh3cmqixatjz1nIhlnIxV7zYMElKScnpybfLUDth1nIhXnIg1nIxd7y0OkN2JdWhJ8Sz+OnxAu4WFWDuOBA9JryPHTnTqL/lMcw+d39MBgFfFw1WHJbDG7tEwiVsu2f0ba3LGTGLORir3nwlkJJbykkIiIioKragE8PnsX+tCJo9Qboaoyo0FYj9Xwp9Irm/248oU8glt0eAx83x2bnJSJqDm8pJCIiog5Bpzfgv4fO4e34Myi4pGs4g0INQ0UJ7rq+B+66Phwh3i44mF6MfWmF2JdWBAeVEvNvjcLE2KD27zwRUT0suIiIiMjqiiuqkVZQjvSCcqQXVGD7iTzkXKwCUPvs1UNDwuDXyRGOaiU+3bQRWz7+EMqLORg24mMMixgMAAj1ccWUgV2tuRpERA2w4CIiIiKryb+kxbwvT2JXUn6DaZ3dHTHctwrLHhoOp3ovJR40byY8q3Iwb948dOnSpT27S0R0xfgMl6TPcGVnZ8NgMEClUiE4ONiqfbF3zEIuzEMezEIutphHfHI+nvviOArLa18i2sXTGd39XBHu5waH8vPYsuoFnDj6Bz7//HNMmTLFyr1tOVvMoqNiFnLpCHnwGa4OpKioCDU1NXBwcLDZHbKjYBZyYR7yYBZysaU8dHoDXt2RhI/2ZgIAojp3wpr7+6FnQCfTPD/8cA4Lj/7x/9i77/ioqvz/468p6b0BSQg9EAhFQFRsKKJiZRfEwq6C6Lri6ipiwYYgxbJY1v77rmBjcXFVrIiChUWKK9JDCwnpCek9k2n390c210wygVCSOcl8no+HD3XOvWfOnffckzm3nAvA448/zuTJkzGbO8fPls6URVcnWajFW/PoHD2XEEIIIbqE7w8cZdGX+0kvrgFgxrl9mHtFEn5m16PDl19+OePGjaO6uppnnnmm0wy2hBCiObmkUNFLCmtra9E0DYPBQGBgoEfb4u0kC7VIHuqQLNSieh6HC6tZ+OU+NhwqAiA62I9npwxjQKCFJ598kqCgIF577TWXdUpKSoiMjMRgaP9nZ51OqmfhTSQLtXSFPE5m7CADLkUHXEIIIURXYLE5eGl9Km9tTMfu1PAxGZh5Xl/uHj8AX4OThIQEioqKMJlM7N+/n8TERE83WQghWnUyYwcZVQghhBCiXfyaWcqVL2/kzQ1p2J0aEwZ349vZ43jkysGE+Pvg5+fH3XffDTT8YDlw4ICHWyyEEKdfmy6I/uqrr7jqqquOu1x9fT2PPfYYS5cuPeWGCSGEEKJzsDucVNTZqLU6qLM5qLM6+GxnHm9vPoKmQbcQP+ZfnUTBr9+SED7SZd37778fp9PJvffeS0REhIe2QAgh2k+bLik0Go3MnDmTF198kZCQELfLbNmyhZkzZ3L48GFsNttpb2h7UfWSwpqaGv0a16CgII+2xdtJFmqRPNQhWailo/IorLLwyfZcNqYWUVRVT3G1lbJaK639mrhudE/OCyzg/rvvJCMjg2XLljFz5sx2a58KZN9Qh2Shlq6QR7tNC79kyRLmz5/Pd999x7Jlyxg/frxe1nhW6+9//zsDBgzgp59+Osnmi6YaB64+Pj6MGDHC083xapKFWiQPdUgWamnPPOqsDjYdLmbVtmy+P1CIw+l+dOXvYyTQ10yAj4mYED/unZDIxYO68dNPVWRkZAAwf/58brnlli4966DsG+qQLNTirXm0qbebO3cuV111FTfffDOXXnops2bN4rnnnmPXrl3MnDmT1NRU7r//fhYuXIifn197t1kIIYQQ7ajWaufL3fnsyCpnV3Y5B49WuQyyRvYKZ/LIePpGBxMd4ktUkB+RQb6YjA2zCTb+oGp0/vnnc/XVV2O1WlmyZEmXHmwJIURzbe7xhg0bxrZt23jyySd57rnnWL16NYWFhQwYMIBNmzZx9tlnt2c7vU5MTIz+JG7hWZKFWiQPdUgWajldeVTU2rh5+c/szqlweb17qB/XDI/jhjEJJHZ3f3vBnj17eOyxxwgNDWXFihUuZatWreq000CfKNk31CFZqMVb8zjhaeG3b9/OddddR0ZGBiaTiZUrVzJ16tT2al+7U/UeLiGEEKKjVdTa+OOyn9mTW0FEoA/Xj0lgZEI4IxLC6RHqf8znYdXX19OrVy8KCwsxGAzs2LHDqy4ZEkJ4h3adFt7hcLBgwQLGjh2rD7TGjBnDjTfeyMyZM6msrDz5lgshhBDCo5oOtiKDfPngjnN45IrBTBwaS2xYwHEfPuzn58fcuXMBiIuLo6CgoCOaLYQQymvTgCslJYWzzz6bp556ittvv51du3Zx4403smnTJp5++mk++OADhg0bxrp169q7vUIIIYQ4zQorLfxh2VZ9sLXyT2eT1CO01eWrqqpYunQp9fX1Lq/PmjWLV155hdTUVC6//PL2brYQQnQKbbqk0N/fnx49erBs2TIuueSSFuX79u1j+vTpbN++nTvuuIM33nijXRrbHuSSQiGEEN5qX14ly346whe78rA6nEQF+bLyT+cwqIf7e7QAPv/8c2677TaKi4t56aWXuPfeezuwxUII4VknM3Zo04Drtttu46WXXmr1GVzQcMnhkiVLWLx4MRaL5QSa7VmqDrgOHDigz/KUlJTk0bZ4O8lCLZKHOiQLtZxIHulF1Ty2ei9b0kv010b1CufZKcNbnRCj0Y4dOxg1ahQAsbGxZGZmusxIKGTfUIlkoZaukEe7PYdr2bJlx13GZDLxxBNPMGnSpLZUKY6jvr4em82G0+n0dFO8nmShFslDHZKFWtqaR6XFxsx3fiGjpBaT0cCVw2KZeV4fRvaKaLGspmlUV1e7HHAdOXIkN910E5qmsXDhQhlsuSH7hjokC7V4ax6n/UEYw4cPP91VeiWz2YymafKsEgVIFmqRPNQhWailLXlomsbDH+0mo6SWuDB/Vv15LAmR7qdq37hxI4888gjR0dF8+umnLmXvv/++103rfCJk31CHZKEWb83jhKeF72pUvaRQCCGEON2W/3SEp77ch4/JwId/Huv2rBaA1WqlX79+5ObmArB582bGjh3bkU0VQgglteu08EIIIYTovH7NLGPJmv0APHbl4FYHWwC+vr48+eSTAAwePBibzdYhbRRCiK5IBlxCCCFEF1daY+XulduxOzWuGhbL9HP76GVHjx5l7ty51NTUuKxz6623snLlSnbv3s2FF17YwS0WQoiuw7suoBRCCCG8jMXm4I73tpFfYaFfdBDPTBmmP8T43//+N7feeis1NTWEhITw2GOP6euZzWZuuukmTzVbCCG6DLmHS9F7uAoKCnA4HJhMJnr06OHRtng7yUItkoc6JAu1uMvD4dSYteJXvt13lBB/Mx/POpeBTaZ9P3jwIMnJyTgcDuLi4sjIyJBZB08D2TfUIVmopSvk0W7TwouOd/ToUf05BZ31C9lVSBZqkTzUIVmopXkemqbxxGd7+XbfUXzNRv7vj6MIN9QBvw24Bg0axJ///GcMBgNPPPGEDLZOE9k31CFZqMVb85ABlxBCCNEFvfL9YVb+nIXBAH/oZ+P2SRcRGxvL+vXrXZZ79dVX9UsMhRBCnH5ySaGilxRWVlaiaRoGg4HQ0FCPtsXbSRZqkTzUIVmopWke3xyq4MGPdgPw5NVJLJ5xOWlpaQB8++23XHrppZ5sapcn+4Y6JAu1dIU85JLCLqSzfgm7IslCLZKHOiQLtTTmsSWthEc+2QPAXRf159bz++O/cCHTpk1j7NixhIeHe7KZXkH2DXVIFmrx1jxkwCWEEEJ0ERu27+f2fx3AbvTlquGxPHDZIABuuOEGoqOjmTBhglw+KIQQHUwuKVT0kkIhhBDiRPzfO//kqc01mCPjiaKSTQuvx9/H5OlmCSFEl3IyYwcZVSiqvr4ei8VCfX29p5vi9SQLtUge6pAs1FFTb+eriljMkfHYKwop+mQRRs3h6WZ5Ldk31CFZqMVb85BLChV14MABfdrMESNGeLo5Xk2yUIvkoQ7JwnMsFgvp2bkcrg1gze58fjxUiMXmxOS0cS4pvLltC76+vp5upteSfUMdkoVavDUPGXAJIYQQnYTdbmfR//uA5RsOYux9Jph+e25Wj2ATfx4Vwaj4m732xnQhhFCRDLgUFRERgd1ux2yWiDxNslCL5KEOyaLj1NsdfPBzFv/8OYvUwkiM/cYCEO2nMXXsAK4aFkuIvRyHwyF5KED2DXVIFmrx1jxk0gyZNEMIIYTCcsvruGvFr+zKqQDAx6hRtnM9w4OreXnefQwdOtTDLRRCCO8hz+ESQgghuogdO3bwwN/eonjgNVRYHIQH+jB7wkB+NzKOtP1xjBo1ytNNFEII0QYy4BJCCCEUs/ztd5j9f2sIv/BmDBYHQ+NDeeMPo0mIDASQwZYQQnQinfq6ubfeeguDwUBwcHCLsu3btzNhwgSCg4MJDw9n8uTJpKene6CVQgghRNvYHU4+/jWHdwp7EjFuOgaDEWPGVlbe+ttgSwghROfSae/hys3NJTk5maCgICoqKqiurtbLDhw4wFlnncUZZ5zB3LlzsVgszJs3j7KyMnbu3ElMTIy+rKr3cKWmpuo3FSYmJnq0Ld5OslCL5KEOyeL0KC8vJyc3l321obz6w2GySmsB8Dc4uDCshFdmT8PPz++49Uge6pAs1CFZqKUr5OFV93DdeeedXHjhhURGRvLRRx+5lM2bNw8/Pz++/PJLfWrc0aNHk5iYyNKlS3n22Wc90eQTUltbqz+nQHiWZKEWyUMdksWpsdvtvPTSSyx55lkir5yNPa7hmTRRQb7cfkE/bh7bm2C/tv+ZljzUIVmoQ7JQi7fm0SkvKVyxYgUbNmzg9ddfb1Fmt9v58ssvmTJlistzSHr37s3FF1/M6tWrO7KpQgghhFsmk4kPV3+GzyV/xR43AhMac69IYuPDFzProv4nNNgSQgihrk7XmxcWFnLffffxzDPP0LNnzxblaWlp1NXVMXz48BZlw4cPZ926dVgsFvz9/TuiuSfNm56+rTrJQi2Shzoki1NTVmsj+OpHCahwYnTaeeaa/ky9oP9J1yd5qEOyUIdkoRZvzaPTDbjuuusuBg0axKxZs9yWl5SUABAZGdmiLDIyEk3TKCsrIzY2ttX3SElJoXfv3i5nyOrr6zlw4ADQ8NC2Xr16uayTmppKbW3DdffNv0zFxcXk5uYC0KtXLyIiIvQyh8PB3r17gYbrP/v16+ey7pEjR6isrAQgOTnZ5UFx5eXlZGZmAhAXF+dybxrA7t270TSNgIAABg4c6FKWnZ1NaWkpAIMGDXIZgFZXV5OWlgZAt27dWnxW+/bt008HDxkyxKUsPz+fwsJCAPr37+8yoYnFYuHgwYNAQxYJCQku6x46dIi6ujoMBkOLAXNRURF5eXlAw9nK8PBwvcxut5OSkgJAaGgoffv2dVk3PT1dv9Z26NChmEwmvaysrIysrCwA4uPjiY6Odll3165dAAQGBra41jgrK4uysjIAkpKSXO6xqKys5MiRIwB0796dHj16uKybkpKC3W7Hz8+PpKQkl7K8vDyKiooAGDBgAEFBQXpZbW0tqampAERFRbU46HDw4EEsFgsmk6nFs3kKCwvJz88HoE+fPoSFhellVquV/fv3AxAWFkafPn1c1k1LS9Pvkxw2bJjLdcolJSXk5OQA0LNnT6KiovQyp9PJnj17AAgODqZ/f9cfkxkZGVRUNDxbaPDgwfj6+uplFRUVZGRkABAbG0u3bt1c1t27dy8OhwN/f38GDRrkUpaTk6P3BYmJiQQG/jbZQE1NDYcPHwYgJiaGuLg4l3UPHDhAfX09ZrOZ5ORkl7KCggKOHj0KQN++faWPQPqItvYR+fn5LFmyhPfff5/evXuTnlfMLe/8Sk6lk2BfA+/ffiEje/2Wu/QRDaSPaCB9RIOu3EfI74jO00c07qcnolMNuD7++GO++OILduzYgcFgOOayxyo/3rp2u53mc4lomobNZtPL3a3TWN6c0+nUy5xOZ4vyttbbvE1N63U4HG7r1TTN7XWyDofjlOptbVub1tt8W5t+hu7qbdxWd/m0tV5VsjnettpsNux2u9sbLI+VTVvqtdlsbsuOVW/juser1522fobu1m/apuaOt61WqxWn0+nyh89dvSf7Gbr7jNparyrfQ+kjWtbriWw+/fRTFi9eDMCTTz7Jm/9Yxl//nUJOpZ2oACMvTx7oMthqrFf6COkjGkkfgf4+XbGPaGxDa22S3xHq9REnqtMMuKqrq/nLX/7CPffcQ1xcHOXl5UDDhwUNR2l8fHz0UXHjqLSp0tJSDAaDy1ENd8xmc4ud1WAw6B1O06NDTddp7QZAo9Gol7nbMdpab/M2Na3X3ZfFx8cHTdPc1msymU6p3qb/bq3e5tva9DN0V2/jtrrrKNtaryrZHG9bG7fzeJ/hydTrcDjclh2r3sZ1j1XvqX6Gx9vW5o63rb6+vjgcjnb5DJ1O5wnvNyp+D6WPaFmvJ7K5/PLLef311xtmyt21izmrdrA3v5oQXyOLL+lG/5igFutKH9GyTc1JH+HaprbUK32Emn1EYxtaa5P8jlCvjzhRnWZa+IyMjBaneJubNGkSH330EaGhoUyfPp033njDpXzixImkp6dz6NAh/TVVp4UvLi7G6XRiNBpbnJ4WHUuyUIvkoQ7JoqW8vDyys7M5++yzXV5fvnw5vr6+lPQ4ixfXp2I2Gnj/trMZ2z+qlZpOnOShDslCHZKFWrpCHl16WvgePXrwww8/tHj9mWeeYcOGDXz99ddER0djNpu55ppr+OSTT3juuecICQkBGq6T/eGHH5g9e3ZHN/2k5Obm6tc3d9YvZFchWahF8lCHZPEbu93O448/zssvv0xsbCz79+93uZdg5syZrNmTz+P/3A7Aot8NPa2DLZA8VCJZqEOyUIu35tFpBlz+/v5cdNFFLV5/5513MJlMLmULFixgzJgxXH311S4PPo6OjmbOnDkd12ghhBBewWw2s23bNurq6khPT+ett97irrvuAqDe7mDlz1k8u7ZhwoTbzu/LjWf1OlZ1QgghupBOM+A6EUlJSfz44488/PDDXHfddZjNZsaPH8/SpUtbzMCjql69eumnXIVnSRZqkTzU4c1ZaJrW4jr+p59+mgsuuIC77rqL66+/HodT47Odubyw7hA5ZXUAjE/qxqNXDm6XNnlzHqqRLNQhWajFW/PoNPdwtRdV7+ESQgihHqfTyccff8z8+fP5+OOPW0zHXFxcTHR0NJvTinnqi30cKGj4+9I91I/7Jgxk6uiemE3y90UIITqrLn0PlxBCCOFpy5Yt44477gDg8ccf56OPPnIpt/kEcffK7Xy5u+FZNaH+ZmZdNIAZ5/YhwLflLFlCCCG6PjnMJoQQQrTRtGnT9AeQFhUVYbFYALDanby5IY1Lnt/Al7vzMRrglrG9+c9DFzProv4y2BJCCC8mZ7gU1fQBbe6eHSA6jmShFslDHV09i4MHD5Kdnc2ECRP014KCgnj11VcJDAxk4sSJGAwGfkot5snP95JWVAPA6N4RLLg2maHxYR3a3q6eR2ciWahDslCLt+YhAy5F7d27V582c8SIEZ5ujleTLNQieaijq2Zht9u56667WL58Od27d+fw4cMEBATo5VOmTAEgt7yORV/u4+u9BQBEB/sy94rBTB4Zj9F44g/GPFVdNY/OSLJQh2ShFm/NQy4pFEIIIZowm80UFhbicDjIy8vjzTffdCnXNI0Pt2Uz4fkNfL23AKMBZpzbh+/mXMR1o3t6ZLAlhBBCXXKGS1EhISHY7XbMZonI0yQLtUge6ugqWTQebW1q8eLF/Oc//2HOnDn86U9/0l+vsth4bPVePt+VB8CYPhE8NWkog2NDO7TN7nSVPLoCyUIdkoVavDUPmRZepoUXQgivZLPZWLZsGQsXLuSLL75g1KhRLuXVNTWYfPyptzuw2p0cKa7hoY93k1lSi8lo4P5LBzJrXH85oyWEEF5EpoUXQggh2ujdd99l1qxZADz66KMsfHMl2zLKOHS0ioMFVRwuqsZqd7ZYLz48gJdvOoPRvSM7uslCCCE6ITnDJWe4hBDCK9XX15OUlERWfhHDZy6mLHRAq8saDOBvNnFZcneemjSUsACfVpcVQgjRdckZLiGEEMKN//73v2RnZ+szDAL4+flx79Nv8t4BJ6UWJyajgYnJPRgSF8rA7iEM7B5MdLAfvmYjZqMBg0EuHRRCCHHiZMClqCNHjug3Ffbt29fTzfFqkoVaJA91dIYsHA4HN954Ix999BFRUVFccsklVDh82JVTwYaDRXy80w5A3+ggXrh+BCN7RXi4xSevM+ThLSQLdUgWavHWPGTApajKykq3M2eJjidZqEXyUEdnyMJkMuHjF0DgoPMwJl/M2c9uoF5z/dM3fWxv5l4xmADfzv0Qzs6Qh7eQLNQhWajFW/OQAZcQQohOT9M0fsko43B+KSFBgfiYjBgN8NPhYvb0v4mYng2TX9Rr4GsyMjg2hOE9w7lqeCzn9IvycOuFEEJ0ZTJphqKTZtjtdjRNw2AweN2zClQjWahF8lCHKllszypjyZcpbMuqaHWZHmH+TBkVz2VDepAUG4KfuXOfzXJHlTyEZKESyUItXSEPmTSjC+msX8KuSLJQi+ShDk9lYXM4KaqqJ6esjrc2pvPtvqMAaHYrlpx9hIdHMHTEGdgcTvpFBzFldE/O7R+NqYs/L0v2DXVIFuqQLNTirXl451YLIYToVMprrTzyyR5+PlJKaY3VpcxogMkj4/nymVnk7Pov186cycszbiUgIMBDrRVCCCF+IwMuIYQQSssurWX62/8lvahGf82IRrfQAEb3jmD2pYkM6BbCdb1eJDw8nKSkJA+2VgghhHAl93Apeg9XeXk5TqcTo9FIeHi4R9vi7SQLtUge6uiILPbkVHDrO79QXF1PbJg/pl9WsGXtJwSaNNLT04iJiWmX9+2MZN9Qh2ShDslCLV0hD7mHqwvJzMzUp83srF/IrkKyUIvkoY72zMLh1PgmpYAH/r2LWquDpB4hvHPrWSyY+xGb6iqpBt5++20eeuih0/q+nZnsG+qQLNQhWajFW/OQAZcQQggl2BxOtqaXsGZPAev2FVBc3XCv1vkDonnjj6MI8ffhiSeeYMuWLTz66KNcd911Hm6xEEIIcXwy4FJUXFwcDocDk6nrTV3c2UgWapE81HE6s9idU87dK3eQVVqrv+a0VHHpgBDemDEGX7NRf88dO3ZgMHTtGQdPhuwb6pAs1CFZqMVb85B7uBS9h0sIIbyBpmm8vzWTRV/ux+pwEhHow8DAWj5/7SksWbsZMWwo27dvlz5ZCCGEEuQeLiGEEJ1GlcXG3E/28NXufAAuG9Kdv00dQYifibP+tYiUAh8mTpyI1WrF39/fw60VQgghTo4MuIQQQrS7nLJa1u4tICWvktzyOvLK6yiosGB3ahjRePSqIdx2fl/9UsG3336byMhI4uPjPdxyIYQQ4tTIgEsIIUS7KKiw8OXuPL7cnc/O7HK3y9jKC6j65mUm3v2Vy31Zw4YN66hmCiGEEO1KBlyK2r17tz5t5vDhwz3dHK8mWahF8lBHa1nszC5n2U9HWLMnH4ez4TZhgwHO7hvJBYkxJEQGEhfmz9uvvcDr//c0aE4+/PBD7r//fk9tSpcg+4Y6JAt1SBZq8dY8ZMClKE3T9H+EZ0kWapE81NE8i59Si3lx/SF+zSzTlxndO4JJZ8SR6F/DOWcMcTmL1XfubA7u2MojjzzCJZdc0uHt72pk31CHZKEOyUIt3pqHDLgUFRAQgI+PD2azRORpkoVaJA91NM3is525zF61E6cGPiYD14yIY+Z5fQl1VDBv3jxmvPceq1atYurUqfr6UVFRrF+/3oPQrnrZAAAgAElEQVRb0LXIvqEOyUIdkoVavDUPmRZepoUXQohT8umOXO7/sGGw9bsz4nj0ysF0C22YVfDrr7/myiuvBCAxMZGUlBR8fHw82VwhhBDipJ3M2EFGFUIIIU7aJ9tz9MHWjWMSeOH6M/TBFsDEiRMZN24cERER/OlPf8LpdHqwtUIIIUTHkzNccoZLCCFOyr+3ZfPQx7vRNLh+dDzxef+hqKiQRYsWuSyXnp5OZGQk4eHhHmqpEEIIcXqczNhBBlwy4BJCiBOiaRpvbEjjubUHAbjprAS+WnALe3bvwmQysX//fhITEz3cSiGEEOL0O5mxg3fdsdaJZGdn43A4MJlMJCQkeLo5Xk2yUIvk4VkOp8b8z1N4f2smAFOHR3HnmeH4T/49e3bvwuFwsHbtWhlweYDsG+qQLNQhWajFW/OQAZeiSktL9ecUeNMXUkWShVokD8+pszr46792sG7fUQwGmHlGGFf0N1NeVsb999/P/v37eeihhxg1apSnm+qVZN9Qh2ShDslCLd6ahwy4hBBCHFdpjZVpb/6HA0X1aHYrU3vVcW1ST2w2G9BwOcW//vUvD7dSCCGEUI/cw6XoPVwWiwVN0zAYDPj7+x9/BdFuJAu1SB4dL7Okhhlv/8KR4hocdVUUfbKIboZKdu/ejZ+fn2ShCNk31CFZqEOyUEtXyEPu4epCOuuXsCuSLNQieXSsXdnlzHznF0pqrMSHBxCQ+gFQwZNPzic4ONjrHl6pMtk31CFZqEOyUIu35iF/KYUQQrjILChhyWtvk1GpkRU6jDqbg+S4UN6eMQZHzWDCw8MJCAjwdDOFEEKITkEGXEIIIaios/HCtwf5ak8+xdVWYDAEADYHFw6M4fU/jCLYzwyhsZ5uqhBCCNGpyIBLUdXV1TidToxGI8HBwZ5ujleTLNQieZxemqbx2c48Fn21738DrQa2snzsJVlcdVYS/2/6FfiYWl6bLlmoRfJQh2ShDslCLd6ahwy4FJWWlqZPmzlixAhPN8erSRZqkTxOnwP5ldz77kYOljf8f/+YIB6/agjDYwN58rG5zH52Nv379291fclCLZKHOiQLdUgWavHWPGTAJYQQXsTp1NhwqIiXvt7NrqP1AJhxct9lSdxxYX98zQ1nsl599VVPNlMIIYToMmTApahu3brpT+IWniVZqEXyOHnfpBTw7NcHSC+uAUDTnNQe2oJx92fMePxnfbDVVpKFWiQPdUgW6pAs1OKteXSa53B9//33rFixgs2bN5OdnU14eDhnnnkm8+bNY/To0S7Lbt++nYceeoitW7diNpsZP348S5cupV+/fi3qVfU5XEIIcTot/ymdp77cD0CIn5kbxiSw7V8vcGj7ZpYsWcKkSZMwGAwebqUQQgihtpMZO3SaAdfUqVMpKSlh6tSpDBkyhKKiIp5//nm2bdvGN998w/jx4wE4cOAAZ511FmeccQZz587FYrEwb948ysrK2LlzJzExMS71yoBLCNGV5RcU8Mfn/k2ab8MBp1vG9uahiUkE+5kpKysjJCREnqUlhBBCtFGXHnAVFhbSrVs3l9eqq6sZMGAAQ4cOZf369QBcf/31/PDDD6SlpREaGgpAZmYmiYmJzJ49m2effdalDhlwCSG6qnqbncHTF+HsNQaAGwcH8PQtF8uZLCGEEOIknczYodOMKpoPtgCCg4MZMmQI2dnZANjtdr788kumTJmiD7YAevfuzcUXX8zq1as7rL1CCOEpdoeTz3bmMum1zTh7jUFzOqha/zqDyZbBlhBCCNHBOvV1JBUVFWzfvl2/nDAtLY26ujqGDx/eYtnhw4ezbt06LBYL/v7+x6w3JSWF3r17uwza6uvrOXDgAAARERH06tXLZZ3U1FRqa2sBWkxzWVxcTG5uLgC9evUiIiJCL3M4HOzduxdoGB033me2b98+bDab/qwCgOTkZJdLf8rLy8nMzAQgLi6uxeWSu3fvRtM0AgICGDhwoEtZdnY2paWlAAwaNMjlM6muriYtLQ1oGOjGxro+6LSxbT4+PgwZMsSlLD8/n8LCQgD69+/v8owFi8XCwYMHAYiMjCQhIcFl3UOHDlFXV4fBYGiRYVFREXl5eUDDADo8PFwvs9vtpKSkABAaGkrfvn1d1k1PT9ePRAwdOtTlRs2ysjKysrIAiI+PJzo62mXdXbt2YbfbAQgICHDZ3qysLMrKygBISkrCz89PL6usrOTIkSMAdO/enR49erjUm5KSgt1ux8/Pj6SkJJeyvLw8ioqKABgwYABBQUF6WW1tLampqQBERUXRs2dPl3UPHjyIxWLBZDIxdOhQl7LCwkLy8/MB6NOnD2FhYXqZ1Wpl//6G+3vCwsLo06ePy7ppaWlUV1cDMGzYMJejOCUlJeTk5ADQs2dPoqKi9DKn08mePXuAhgMkzacYz8jIoKKiAoDBgwfj6+url1VUVJCRkQFAbGysftCl8ftnt9sxm834+/szaNAgl3pzcnIoKSkBIDExkcDAQL2spqaGw4cPAxATE0NcXJzLugcOHKC+vh6z2UxycrJLWUFBAUePHgWgb9++Hu0jGh05coTKykrsdju/7tyNccB5vLM1h5yyOgACzAYGl/3Cwnefa7E9p9pH2O12DAYD/v7+LvuGt/URAIGBgSQmJrqUdXQfsW/fPqxWKw6HA7PZ7LV9RKO9e/ficDg80kfY7XaMRiN+fn76PuDpPgK883dE43sZDAYaL+ry1j4CPP87wm63YzKZ8PX11bPvbH1E4356Ijr1gOsvf/kLNTU1PPbYYwD6BxMZGdli2cjISDRNo6ysrMWO35zdbqf5lZaapmGz2fRyd+s0ljfndDr1MqfT2aLcXb02m03vIBwOh96G1uptXKZ5vZqm4ePj06LM4XDo655Mva1ta9N6m29r08/QXb2Nn6G7I/Btrbe9smn+383rPdb3pbXPsPEPcnPHyqYt9dpsNrdlx6q36fadaOZt/Qzdrd+0Tc21tq1N22Kz2dzOdHQ6PkN3n1Fb6+2IPqJpvb/+up2Fb3+Obeg1mBv/kAb5csPI7oyJtBDiO8nlD1jTek+1j2i63U3r9bY+4nj1dkQf0bhO4397ax/RyGq14nQ6PdZHNG+7it9Db/gd0fheRqNRr89b+4i21tvefUTjwbpGnbGPOFGddsD1xBNP8M9//pNXXnmlxSyFx7pkpi2X05jN5hbLGQwGvcNxd4O52Wx22yEBGI1GvczdjuGu3sbXmp7hat6mpvW6+7L4+PigaZrb9ppMJn3dk6m36b9bq7f5tjb9DN3V2/gZusuorfW2RzaNnWTzOprWe6zvS2ufYdNlmjpWNm2pt7XpVo9Vb9Pta63eU/1+H29bm2ttWxtfazzD1R6fodPpPOH9pqP7iEbZlXY+KIhGO+92zICzuoTHp5zNzecNoL62Sj963R59ROMfzebb5W19RFvq7Yg+ojHPxjNc3tpHNPL19cXhcHikj2j8Idz0vVX8HnrD74imbWz8oeytfURb623PPqLxDFfTdnfGPuJEdZpJM5pasGAB8+fPZ/HixTz66KP66wcPHiQpKYnXXnuNu+66y2WdBx98kOeff57a2lqX094yaYYQorNpvBTnjR/TWPrtQRxODaPmIDBrMy/9+UomXHShp5sohBBCdEknM3bodGe4Ggdb8+fPdxlsQcO1vgEBAfq1nk3t2bOHAQMGHPf+LSGEUNXhw4eZN28eRUVFXP/E/+PZtQ33g0xM7sGcS/oyIPYamRRDCCGEUEynOo2zcOFC5s+fz+OPP86TTz7ZotxsNnPNNdfwySefuIw8s7Ky+OGHH5g8eXJHNlcIIU4bTdO45ppr+OCDD9ha7MPiNQ03Jz9w2UDevHk0iXGRMtgSQgghFNRpLil8/vnneeCBB5g4caLbwdY555wDNMweNGbMGEaNGuXy4OPS0lJ58LEQolP74IMP+NPifxB11WwMBiOzLurPQ5cPkoGWEEII0UG69IOPL7roIjZs2NBqedPN+PXXX3n44YfZsmULZrOZ8ePHs3Tp0hZTSYK6A678/Hz9psXjzaoo2pdkoRZvyKOuro4333yTGTNm6NM/2x1OVmzNZMEXKWgYmD62N/OvTfboYMsbsuhMJA91SBbqkCzU0hXy6NL3cP34449tXnb06NGsX7++/RrTAQoLC/Ub4zvrF7KrkCzU0tXz2LBhA3/84x/JycmhqKiIxYsX803KUZ775gDpRTWAgamje/LkNZ4dbEHXz6KzkTzUIVmoQ7JQi7fm0WkGXEII4Q369Onzv4d+Gnjzs/+QEruRXbkNR9IiAn24Z3wi08/tg9EolxEKIYQQnUGnuaSwvah6SWF1dbX+DK6mT1kXHU+yUEtXymN3Tjmrfj5Cr+hQhsaHMTQuDIMR/vD4Kxx0dMfqFw5AgI+J2y/oy58u7Eeov/vnjXhCV8qiK5A81CFZqEOyUEtXyKNL38PVXlQdcAkhurY3vtjMcxuL0IyuFxr4mAzYHA3dcoifmalnJnDnuH50C5VHWgghhBCe1qXv4RJCiK5ixdYMnv2pBIxmLJm7OHvkMMoIJqu0FptDI7FbMNPP7cPvR8YT5CfdtBBCCNGZyV9yIYToIJqm8fy3h3j1h8NgMFK1cy0hh9Zw+7SXuOaai6motVFcU0+/6CCPT4ghhBBCiNNDBlyKslgsaJqGwWDA318uJfIkyUItnS2P8vJyli5dyp/uvIsXfjrKZzvzALjvkkS6Da9kypSl+Pn5ARAW6ENYoDr3aB1PZ8uiq5M81CFZqEOyUIu35iEDLkUdPHhQnzZzxIgRnm6OV5Ms1NKZ8vjuu++YOnUqVU5fPrcOpdIYgsloYNHvhnLTWb2AgZ5u4inpTFl4A8lDHZKFOiQLtXhrHjLgEkKIdjJ06FC0HoPpcek9VBpDiAz04fU/juacflGebpoQQggPs1gsFBUVeboZHcrHxwez2YzBYCA7O9vTzTmmmJiY03YWTgZcioqMjNSfxC08S7JQi6p5aJpGYWEh3bt3B6Ckup43fi4m7NpHAAODuwWw/LaxxIYFeLahp5GqWXgryUMdkoU6VM3CYrFQWFhIfHy8cm1rT1arVb+k0NfX19PNaZXD4SA3N5du3bqdlkGXTAsv08ILIU7Rd999x9y5c6mvr2fTz7/w7pYs3tyQTnW9HYAbxySwYFIyfmbv+aMqhBCiddnZ2cTFxXnVYKuzcTgc5OXlkZCQ4PK6TAsvhBAdTNM0Hn30Ubb9up3gYRM4d/G3VNkbOt3kuFAeuWIw5ydGe7iVQgghVCODLbWdznxkwCWEEKfoxvsXkb0uFd/o3lTZoWdEAA9ePohrhsdhNMr07kIIIYQ3kwGXEEK0UW5uLosWLeKRRx7BL7wb/zlUxL9/zeG/R6z4RvcmPMCHu8cP4OaxveXyQSGEEEIAMuBS1qFDh7Db7ZjNZgYO7NxTR3d2koVaPJXH2rVrmfKHGfgOu4L//H0jNT7hepmf2cit5/Vl1kX9CQvoPM/ROlWyb6hF8lCHZKEOyUIt8hwuoZS6ujr9OQXCsyQLtXgqD/+eQ4ia9jeMQZHUAAZgWM8wxg2M4aazehEX3nVmH2wr2TfUInmoQ7JQh2TRcQyGtl1Cv2bNGsaNG9fOrWlgsVgICAhgzpw5LF26tEPe0x0ZcCnKYDDo/wjPkizU0hF52Gw2srKy6N+/P5qmseLnLJ76IgVjUCQhzmrmXnsGV4zsS2SQulPadgTZN9QieahDslCHZNFxtmzZ4vL/Cxcu5IcffuD777/XX7NYLAwaNKijm+ZxMuBS1PDhwz3dBPE/koVa2jOPXdll/O3fG9i8aRNY65g75172FVTz6c48AK4c1oPnrhtBsJ90nSD7hmokD3VIFuqQLDrOOeec4/L/MTExGI3GFq+3xmq1YjKZuuTsjfKwKSGE19uWUcr05f9l0mub+anQB2fiRTiTr2DJ2kN8ujMPowEevTKJ16aNksGWEEIIcYrWrl2LwWBg1apV/PWvfyU2NhZ/f3+ys7PJz8/nzjvvZPDgwQQFBdG9e3cmTJjQ4gwaNFwyOm/ePAYNGoSfnx/R0dFccskl/PLLL62+t9PpZM6cOfj6+vLee++152bqZMAlhPA6TqfGvrxKlv90hBv+3xaue3MLGw4VYTIaOD/Bj4qtHxFydCfn9fTjquGx/PP2c7jjwv5ySYoQQoh29cILL9CzZ0969uzJjz/+6FJ25MgRveyee+5pse61116rlzf3zjvv6GWffPKJS1lVVZVe9oc//OG0bs/xzJkzh+LiYt566y0+++wzIiIiKC4uxsfHhwULFrBmzRqWLVtGfHw8F1xwgcugy2q1cumll/Lss88yefJkPvvsM5YvX86YMWPIyspy+351dXVMnTqVZcuWsXbtWm655ZYO2U45VCuE8BrpRdX87ZuDbE4roaLOpr/uYzIwZVRPZl3Un95RQWwfG8nIkSNlgCWEEKJDVVZWkpubC0B9fb1LmcPh0MvKysparFtUVKSXN1dTU6OX1dbWupRpmqaXFRcXn9oGnKDk5GRWrlzp8tqwYcN45ZVX9P93OBxMnDiRtLQ0XnnlFcaOHQvAu+++y6ZNm3j//ff54x//qC9/7bXXun2voqIirrnmGvLz89m0aRPJycntsEXuyYBLUUVFRTgcDkwmEzExMZ5ujleTLNRysnms3VvAA//eRXW9HQCntZb6nH0khhlY9bcHiW8yy+CoUaNOe7u7Itk31CJ5qEOyUEdnyyI0NJT4+HgA/Pz8XMpMJpNeFhER0WLdmJgYvby5oKAgvSwwMNClzGAw6GXR0dGntgHHYbM1HOy02xv+Fk+ZMqXFMpqm8eqrr7J8+XL279/vMvCsqanR//vrr78mLCysTWflUlNTOeeccwgPD2fr1q3Exsae6qacEBlwKSovL0+fxrQzdBBdmWShlhPNw+5wsvTbQ7y5IQ2As/pEMnt8H34/bjSFBfmYYmMJfO4ewPumdT9Vsm+oRfJQh2Shjs6Wxf3338/999/vtqxv377k5OS0uu7nn3/eatmMGTOYMWOG27KQkJBj1ns62Ww2NE3TB1zuBj5PP/00jz32GPfccw+LFy8mOjoao9HIww8/7HIGr6ioiPj4+DZdjbJ582aKi4t5/vnnO3ywBTLgEkJ0Ybnlddy3chu/ZFUCcPv5fXn4iiR8TEaeeXoJubm53HfffQQFBXm4pUIIIYT3cTdYWrFiBRMnTuTll192eb2iosLl/2NiYtizZ0+b3mf69On4+/szZ84cnE4nDzzwwMk3+iTIgEtRvXv3xul0YjTKvCaeJlmopS15WGwO/rExnZe+3Y8DE5rNwos3jWbymX30ZVo70ifaTvYNtUge6pAs1CFZqMXXt+H5lcd6ELXBYGhxOeW2bdvYvn07AwcO1F+74oorWL16NStXrmTatGnHfe9FixYREhLCgw8+SHV1NfPnzz+5jTgJMuBSVHh4uKebIP5HslDLsfKotdrZmFrMkjX7ySypBUxYsvZQ8u1rZMTPhjPdX6YhTo7sG2qRPNQhWahDslCL2dww9DjWs7auvvpqli5dyqJFizj33HPZt28fCxcupE+fPi7LTZ8+nXfffZeZM2eyd+9exo0bh91uZ8uWLYwaNYrJkye3qPvhhx8mJCSEu+++m5qaGv72t7+d1u1rjQy4hBCdktXuZEdWGZvTStiXX8n+vApyKyxoWkN591A/bh4WzAMvzeeO227j+uuv92yDhRBCCHFc8+fPx2q18vrrr7N48WKGDh3K22+/zXvvvcfOnTv15Xx9fVm3bh2LFi1i1apVLF26lNDQUEaOHMnvfve7Vuu/6667CA4OZubMmVRXV/P666+3+6zEBk1r/HninZxOJ1VVVS6vhYSEyKlnIRRksTn49685/HigkC3pJdRaHS2WiQ72Y8roeO4Zn0iwn5mSkhKioqI80FohhBDCvezsbBISEjzdDHEc7nI6mbGDnOFSlN1uR9M0DAaDfvpVeIZk4XmapvH13gIWf7Wf3PI6/fWoIF9ijRX8Z/V7WIsyGD8qiTWrP3RZVwZb7Uf2DbVIHuqQLNQhWahF0zQ9D2961qV88xSVkpKiT2M6YsQITzfHq0kWnmN3OEnJq2TJmv38fKQUgKgAExP7B3Bmz0AmXXgmdruN/m/Opri4mAEJF8nN0R1I9g21SB7qkCzUIVmopa6uTh9wNX8eWFcmAy4hhDIyS2r4x8Z0DhVUk1teR35FHc7/XfTsY4SQnK2cGVzG76+agY+PD0ajAV9fX1atWkX//v3p3r27ZzdACCGEEKIZGXApKjQ0FLvdLqe/FSBZtL/SGisvf5fKP3/OxOZwva3U12xkXL8wVjw4FUtpHkfCw5l1x+2Ehobqy5x77rkd3WSB7BuqkTzUIVmoQ7JQi8lk0s9weRP59imqb9++nm6C+B/Jov1U19t5d3MGb/6YRlV9w1Pnxw2MYdKIHvSJCaFneADRwX4YjQYsP4xnxYoV+j1ZkovnSQZqkTzUIVmoQ7JQS/Pna3kLmaVQZikUosNV1Nl4b3MGyzYdobzWBkByXChXxNWzYdX/Iysri61bt7ocAUtJSSEtLY2rrrrqmM/vEEIIIVQnsxR2DjJLoRCiUymrsbIzp5wtaSV88HOWfkarb3QQf71kAJNGxHPBBeezefNmADZt2sT555+vr5+cnExycrJH2i6EEEIIcbJkwCWEOO1sDicH8qvYmV3GjqxydmSXc6S4xmWZXmFm5lwxlKuHx2EyNpzJuuOOO9i8eTPdu3enoKDAE00XQgghhDitZMClqPT0dP0mz379+nm6OV5Nsmi7shorD360m42pRdTbnS3K+0UHEWItYc/af7Jp0+esvDlDH2wBXH/99QQEBDBp0qRWr/OWPNQhWahF8lCHZKEOyUIt9fX1+qQZ3nQ/lwy4FFVVVaU/N0J4lmTRNlUWGzPe/i+7cioACAvw4YyEcM5ICGdkr4Z/hwf6smTJEj7fuBqA5cuXM2/ePL2OgIAArr/++mO/j+ShDMlCLZKHOiQLdUgWanE4HF45S6HMDCGEOGV1Vge3vbuNXTkVRAT68OGfxjB/RB3WdS9y29k9uGhQN8IDfQGYNm0aBoOBCRMmMGbMGA+3XAghhBCn0zvvvIPBYGDbtm0urxcXF3P++efTvXt3vvvuO+bPn4/BYHD7z6uvvuqh1rcPOcOlqKFDh3q6CeJ/JItjs9qd3LniV/57pJQQPzPv33Y2y59fwIsvvgjAxIkTmT59ur58nz59yM7OJj4+/qTeT/JQh2ShFslDHZKFOiQLNeTk5HDppZdy9OhR1q1bxznnnMOvv/4KwNq1awkLC3NZvqtN5y8DLkXJtNfqkCwaOJ0an+7M5cX1hyiustI91I+IABOFJeXk1pkI8DHx9q1jGBofxtSpU/UB1xdffOEy4AJOerAFkodKJAu1SB7qkCzUIVl4XmpqKhMmTMBms7FhwwaGDRvmUj569Giio6M91LqOIQMuIcRx7cgqY8EX+9iZXa6/llFSSwYAJswG+L9bRnNmn0gAzjnnHP76178yceJEJkyY4IkmCyGEEMLDdu7cyeWXX05wcDA//PCD105cIgMuIYTO6dT4fFce+/Irqa63U1ZVS0Z+CfvLGp6PHuRr4i/jBzAxuQefrv2OJ5YsxRQYztVnDeKCxKv0egwGA3//+989tRlCCCFEp1RrtXu6CQAE+p76EOGnn35i/vz5JCQk8O233xIbG+t2OYfDgd3+23YbDIYud2ayyw64qqurefzxx/nwww8pLS0lKSmJuXPncuONN3q6aW1SVlaG0+nEaDQSERHh6eZ4NW/IQtM0UjLyWbQuk63ppW6XGZfgy99uvoBuof4A3D7pYla8uIBLxp/D73//+w5rqzfk0VlIFmqRPNQhWaijs2UxZN43nm4CABnPXHX8hY5j9uzZhIWF8f333xMTEwPgMrBq1KNHD5f/j4+PJycn55TfXyVddsA1efJkfvnlF5555hkGDhzIypUruemmm3A6nUybNs3TzTuurKwsfRrTztBBnIrqejs/p5fQNzqIfjHBJ7RuRZ2NjOIaSmrqGRIbRo8w/9Pevq6exbQ//IHvMyz4nX0TBt8AAnxM3DAmgYhAX/Zs/y+r/vke9fmHGDLnTrqFXqqvFxoayvbt2zu8vV09j85EslCL5KEOyUIdkoXnXHvttXz++efcd999vPfee5hMJqxWa4tp4devX+8yaYavr68nmtuuuuSAa82aNaxbt04fZAFcfPHFZGZm8uCDD3LDDTd0uVOVndV3+4/yxKd7yauwAA0Pxr1kcDfGDexGeOBvz8ywOpxkl9aSUVxLRklNwz/FNZTV2lzq6x0VyFl9IhkaH0ZZrZX8cgt5FXXUWR1cMyKOqWf2PC2nyVVUX19PSUkJgYGBhIeH669XVVUxadIksrKyOOOMM/jnv1ZxqKCa/fmV7MuvZEf0BPwTugEwrEcgr958Fr2jggA41EsjMOdnzj77FsaPH++R7RJCCCG8xb6nLvd0E06bJ554gjPOOIOnnnoKp9PJihUr3C43YsQImTSjM1q9ejXBwcFMnTrV5fVbb72VadOm8fPPP3Puued6qHVtExMTQ0pKCkajkfT09BY3GR44cIDq6moARo0ahdH42yPVCgsLycjIAKB3nz7UGALZn1+FxebAaIDMI+mYjBAfFcK4UUOIDPLVjzQcPHiQ0tJSvd6mTwEvKSnhwIEDDfX27k3Pnj1d2rR582acTieBgYGMGjXKpWxXykGKCwvwMRkYNWoUdZoP879I4avd+QCE+kKNDdKLa0jfeIR/bDzS5s8qzBeCfAwU1GpkltSSWVLLv39teSp6W2YZL64/xM3n9OaWsX1I37eTioqGh/RedtllLstmZmayf/9+AHr27ElsbKz+GdtsNtavXw9AdHR0i2dJ/fLLLxQWFgJw6aWXuhypycvL06dBTaldGlMAACAASURBVE5ObpHrF198gaZpREREcMEFF7iUrVy5kl9++YXa2lqef/55goN/Oxu4atUq/XLZF154gdmzZ+tlQUFBbNqyFWPsYAz+Ixi9cD3V9U1O6Qd0Q3PYiMnbzNM3z9AHWwADBw7k5ZdfbvFZelJ8fLx+eYjwLMlCLZKHOiQLdXS2LLraQeEFCxZgMBhYsGABTqeTd955xysfQt21Uv2fvXv3MnjwYMxm180bPny4Xn6sAVdKSgq9e/cmNDRUf62+vl4fbERERNCrVy+XdVJTU6mtrQUaRupNFRcXk5ubC0CvXr1cTmk7HA727t0LQEhIiP4DvKTawh/e3IjmtNOjWwyjzjgD/+AQaq0Oqix29h48TE1FKY7qUn5/eSV9YyMJCQ6m3ubg5193sv7H/+ATlUBIryHYaO1sXhWsySPI10TvqCDO6BXO1tVv8+OH/4dWX8M333zDsGHD9JscN27cqN+rc++993LHHXcwZMgQvbbLLruMmpoa+g8cxP1L36ZEC+JwsYX9+ZUUVtUDoNltBH/7Iw6MWOwaJqOBiX19eeOuq8FoZOKM2XQfNYHUcg27o2GihoKCfOw2G9SWMvG8UQxOiGFwzyj6RAXx/hsv8MzCBQC8+Nqb9EgeS2adL6lHq/F1Wlj51mvYKwsZNuostMRxFFTbeOX7w7z+YxpUHqUycx/WoiO84AhlYEIsfeNjiAzyZfVnn/PgvMWYwrpxw62zGDn6TP54ccP3p6amhiuvvBKA8847j9dee42kpCR9cLpgwQK++uorAH788UcGDRqkX5+8ceNGfWD0wAMPcNttt5GUlKR/hpMnT8ZutzN8+HDee+89BgwYQFBQwwDo66+/1o8OXXvttYwYMUIf9Db9Tu3bt4+9e/cydOhQCios/GNjOrF3vg1+wdgAW72d8AAzQ+LCGBwbysDuQZzdO5yK/L447DYyMjLo06ePyzclLS1NH+APGzbM5Q9XSUmJfq11z549iYqK0sucTid79uwBIDg4mP79+7vUm5GRoQ96Bw8e7DI4raio0A8cxMbG0q1bw1m4xqNge/fuJTc3F39/fwYNGuRSb05ODiUlJQAkJiYSGBiol9XU1HD48GGg4cBGXFycy7oHDhygvr4es9lMcnKyS1lBQQFHjx4FGp4R4sk+otGRI0eorKwEGgbxTfu98vJyMjMzAYiLi9OvoW+0e/duNE0jICCAgQMHupRlZ2frB18GDRqEv/9vl+tWV1eTlpYGQLdu3fRsGu3bt0+/hKdpHwGQn5+vH5Do37+/y4EDi8XCwYMHAYiMjCQhIcFl3UOHDlFXV4fBYND780ZFRUXk5eUBDQeEmp7ltdvtpKSkAA2XwjZ/vkt6ejpVVVVAwzN7ml4BUVZWRlZWFtDww635Udhdu3YBEBgYSGJioktZVlYWZWVlAC59BEBlZSVHjjQcWOrevXuLexhSUlKw2+34+fm59BHQcOCmqKgIwKWPiI6Opra2ltTUVHJzc4mKimpxYOzgwYNYLBZMJlOL5xMVFhaSn99wEKxPnz4ul/hYrVb9IFRYWJjSfUSjvXv34nA4pI9QoI9oPllCR/YRjftsUVGRvr+q0kfU19fjcDgA8Pf3d9lvHA4H9fUNv518fHxaDFLq6ur0S/MCAgJcyqxWq36vlJ+fn0t7m9ZrNptbXL5nsVhwOp1u67XZbNhsDVcW+fr6unyXnE4nFotFX66p+fPn43Q6WbhwIXa7nX/9618u22O32/XvfvN6NU2jrq4OAKPR6PI9O95naLfbsVqtx/0M3dXb+BlWVVVRW1vr0kc0tvVEdMkBV0lJidtpJyMjI/XyY7Hb7Wia5vKapmn6F8jdDX92u73FF6yR0+nUy5xOZ4tyd/XWWp0EJp4NQBWwIbMWaBJwYDR+gQ079TfpdZCe26TGYEJGNgwIbICvycDguDDCAnyw2uz8uOE/YDITGBWH5h9GjdXBvv9dXkbcJST89SLq8w/xTYaNuL71uJtTxuFwtNxeg5GgYZdiH3czz20qBVpOvmAw+1BjB9BIjgvl2SnDqcjYy+v2hp0/siaTu88MZfTo0fo6/fr1I/fIESIjI7nznm/o1y9Oz9LH8Nvn6aPZGR0XwI3/69BSU1N5Y+a/Gurt5c+8uydT7BvHP37KaJjePLgbQcndCOIiFm4oAZp+L/oRf+cyADZYYMOmQl7b+h0Th8YyKTlSX6ox28o6G3uPVPDzkVLS+/6O2BmXUbVzLbX1Vr0jaM7ucJBdVkdmSgEOp8b5ib910nV1ddhsNpfvYdOdvbi4WK+3tMaKIbQ75154MX4mSEhIIKeslpWr9/DRthysDif4BRMRYObsOB/OT/DnyrMHE9nkD7bVaqU4qyFPd+1t2sk219bvt7v13X6P/qfpPueuTVarFafT6fby4Kb1HmtfPta2Nl/vROrtiD7CXb3N29S03ta2VdM0t0cbj7Wtbam3tW1tWm/zbT1eNo3b2vTa/xOtV5Vs2vI9tNvtbo/Kn47vt7uyY9XbuO7x6nVH+oiW9aryPZQ+omW9HZlN43u39npjmbtlmpafSL1Ny45V7+l+z0ceeQSAhQsXMm3aND744AO39bb2vsdr7/Ha5G6ZxryO9zm425dPVJcccAFud7a2lEHDiL/5MgaDQe9wmp85a3yttVOkRqNRL3P3x9NdvbFRoQyz7KbWYiU6OobkYcNJiI8jLNCXEH8f1n7xKWlZuVRYYfT547GaAvDz88ffx0RpUQGpB/bhrCzk8rOGcPUFoxmc1HB0z2az8eD+D6mqqqJbQAmTp95AYEwCOZU2tqSV8MW2w5RYzfjHD+bjdPg8cx+XJ5dy45he9Ovfnzlz5lBSUsLw4cP1djudGmv25tP3L8upouFoSGSAkQmDuzO8VxSDY0M5+N8f2Lp1K0Xl1Uy8+nf06tOHC4YPwGwykmGL5+GHH6a0tJRhw4a1+BxnzZpFbm4uDocDHx8fl8/wwgsv5JFHHqGoqIhevXq5fIaRkZE8/vjjlJWV0bdvX/x9fZk4tAdXjYgnv6KOF9/+kH15VRTbfQno1ocaO5TXORoGKIAJJ/6OWuIjAjD4BnKwuJ4vduXxxa48Bs/9BJxOyowmpn9WSK39KPr+FxSLbxBEXf4XHttiZ6ZWws0R3ThSUkOuX2+uePxtCixm1viEs/qzPKDhqLyPycDYh9+nh72AaB8rG3OsrMlNJ7Osnnq7k8hzb+axc6cQZK+iJiyG1zcXsGt1JgcKGo66MXYOwb5G1pmNvLumiP+dIOSsvpHMGtefQeEaRUcLGrbtGN9Ddz9O3B0ZatTW77e79U0mU6v1Nt3n3LXJ19dX/04cq95j7cutbavT6XS7n7e13o7oI9zV27xNTettbVs1TTvhbW1LvU3/3Vq9zbf1eNk0bqu7Pryt9aqSTVu+h02XaepUv98Oh8Nt2bHqbVz3WPVKHyF9xInU2/TfrdXb1fuIxvdu7fXGMnfLHKvsWK8fb93G9z1W2fHqba1s7ty5/7+9+4+Kssr/AP4eZoAZfon8CtASlQQRFCsE+iqgSOBvwdRjX39l5qmjKZ1V0SjD1tRNXXM7rruaBqsIiD/SFPMn2maikO5qppUKXxJTUAEHBHTgfv9omW0ChhEZ5mF4v87hHLhz7/PcZz5zZ/jMc5/7QC6Xa8941Z+9f5JjNbRPjdWxsLBosIDH77fb2PabyyMa7YdoSZomcaGhoaitrcXZs2d1yi9dugR/f3/8/e9/x6xZswD8mt3WnyauZ29v327m+hrDjdIHOH6lGDvyfsZ3Rfe15b2essPswd4Y2dcTcgsZhBA48UMJVh364dezYwA621hi9mBvTA7pBqVl+1uYRAiBBw9rUf2oFp1trGBh8d9B9V1ROVLPFGLvv4rw4GHDb9a8nG0woLsTgrycUFGjwd9PXset+9V692clt4C3mx0e1tbhanFFi/utspSj6pFunwZ6u+CtId4I7uHcRCsiIiIyhZ9//rnBlEiSnsbi1JLcwSwTrlmzZiEtLQ2lpaU63yikp6dj0qRJOHXqlPYaLqkmXP/+97+185t/P5e7LX1XVI6M3J+x53yRdqGF7i62+N/gZ/Dld7eQ93+/Xp9gb63AzEE9MGOgF+yV5nUx5O9joa5+hB9vV8BSLoOVwgJWcgt0UlnC2c5ap12NphY78m5gQ/ZV3CyvhoudFXp7OPznxx69PRzQ09UOlvJfX2tXi9X48rtb+PLSLdy+X4OerrZ41s0ezz5lB6VCjmslFbhaXIGrJRWwkMkQ0sMJL/Z0QWhPZzjbWkFdo8Gt8mrcKq+Gq701ens4NHY47Z5UxgYxFlLDeEgHYyEdUo1FR024Hjx4oD2r9NtLJaSqtRIus5xSGBsbi02bNmHXrl2YOHGitjwlJQWenp4IDg42Ye/aF/8uneDfpRPmR/vgH98UYPOpfOTfqcSyA79ePG2tsMD0//HCG2E90dnW/O6b0Bh7pSWe79b8vTysFXJMCemGVwY8A3X1Izja6H9+vN3sMWeIPeYMeVZvvaY4KC3hoLREr6fsW9SeiIiIiFqfWSZcw4YNQ1RUFN58803cv38f3t7eSEtLw5dffolt27a1i3tw2djYQKPRNDnnt611UlnirchnMWNgd6Se+T9k5t1ASA9nzBnijaccWv9mw1LypLGQW8iaTbbIcFIbGx0ZYyEtjId0MBbSwVhIi77rpsyZWU4pBH5dkjQxMRE7duzAvXv34Ovri8WLF2uX5K4n1SmFRERERGSeOuqUwvaG13C1EiZcRERERNSWmHC1D62VcDGrICIiIiIiMhImXEREREREbayxmzeTdLRmfHgFoUQVFhZqL/J85plnTN2dDo2xkBbGQzoYC2lhPKSDsZAOqcbC1dUVRUVF6NKlS7tYzK211NTUaH+3trbWU9O0amtrUVRUBDc3t1bZHhMuiSotLdXeN0JKbxAdEWMhLYyHdDAW0sJ4SAdjIR1SjYVSqYSbmxt++eUXdKTlFNRqtXaVQnt7ad/Gxs3NDUpl66zEzYSLiIiIiKiNKZVKdO3a1dTdaFO/vRF1R1o0hKsUSnSVwpqaGu03AFI+5doRMBbSwnhIB2MhLYyHdDAW0sFYSIs5xKMluQPPcElUe30RmiPGQloYD+lgLKSF8ZAOxkI6GAtp6ajx4CqFRERERERERsKEi4iIiIiIyEg6/JTCxi5hq6urM0FPdP12bqjUV3Exd4yFtDAe0sFYSAvjIR2MhXQwFtJiDvFoLE9obkmMDr9ohkajQWVlpam7QURERERE7ZCtrS0UiqbPY3FKIRERERERkZEw4SIiIiIiIjISJlxERERERERG0uGv4aqrq2tw8ZtMJoNMJjNRj4iIiIiISIqEEA0WybCwsNB74+MOn3AREREREREZC6cUEhERERERGQkTrjZWUVGB+Ph4eHp6QqlUIjAwEOnp6Qa1LS4uxvTp0+Hi4gIbGxuEhobi2LFjRu6xeTp+/DhmzJgBX19f2NraokuXLhgzZgy+/fbbZtsmJydrp53+/ufWrVtt0Hvzc+LEiSaf05ycnGbbX79+HXFxcXB0dISdnR2ioqJw7ty5Nui5+Zk+fXqTsWguHhwbT0atVmPhwoV46aWX4OrqCplMhqSkpEbrnjt3DkOHDoWdnR0cHR0RFxeH69evG7yvo0ePIjQ0FDY2NnBxccH06dNRXFzcSkfS/hkSi9raWvz5z39GTEwMunbtChsbG/Tu3RuLFi1CWVmZQfuJiIhodLzExMQY4ajaL0PHRlPvX76+vgbvKz09HYGBgVAqlfD09ER8fDwqKipa8WjaN0Njoe9zxJB4mNvY6PA3Pm5rcXFxyM3NxcqVK9GrVy9s374dkyZNQl1dHV555ZUm29XU1CAyMhJlZWVYt24d3NzcsH79esTExODo0aMIDw9vw6No/zZs2IC7d+9i3rx58PPzQ0lJCdasWYOQkBAcOnQIQ4YMaXYbn332WYM3DWdnZ2N1uUNYvnw5Bg8erFPm7++vt01JSQkGDRqEzp07Y8uWLVAqlVixYgUiIiKQm5sLHx8fY3bZ7Lz33nt44403GpSPGjUK1tbWCAoKanYbHBstc/fuXWzcuBH9+vXD2LFj8emnnzZa78qVK4iIiEBgYCB27NiB6upqLFmyBIMGDcK//vUvuLq66t3PyZMnMWzYMIwYMQJ79+5FcXExEhISEBkZiby8PFhbWxvj8NoVQ2JRVVWFpKQkTJo0CTNnzoSLiwvOnTuHZcuW4YsvvkBeXh5UKlWz++rRowdSU1N1yhwdHVvtWMyBoWMDAFQqFY4fP96gzBCpqamYPHkyZs6cibVr1+LHH39EQkICvv/+exw+fPiJjsFcGBqL06dPNyg7c+YM4uPjERsba9C+zGpsCGozBw4cEADE9u3bdcqjoqKEp6en0Gg0TbZdv369ACC++eYbbdmjR4+En5+fGDBggNH6bK5u377doEytVounnnpKREZG6m372WefCQAiNzfXWN3rcLKzswUAkZmZ+dhtFyxYICwtLUVBQYG2rLy8XLi4uIgJEya0Zjc7rBMnTggA4t1339Vbj2PjydTV1Ym6ujohhBAlJSUCgHj//fcb1Bs/frxwcXER5eXl2rKCggJhaWkpFi5c2Ox+goKChJ+fn3j06JG27NSpUwKA+Otf//rkB2IGDImFRqMRd+7cadA2MzNTABBbt25tdj/h4eGiT58+rdJnc2bo2Jg2bZqwtbVt0T40Go3w8PAQL730kk55amqqACCysrJatF1zY2gsGjN9+nQhk8nETz/91GxdcxsbnFLYhvbs2QM7OzuMHz9ep/zVV1/FzZs3cebMGb1tfXx8EBoaqi1TKBSYPHkyzp49i6KiIqP12xy5ubk1KLOzs4Ofnx9+/vlnE/SIWmrPnj0YMmQIunXrpi1zcHBAXFwcvvjiC2g0GhP2zjxs3rwZMpkMM2bMMHVXzJohK+RqNBrs378f48aNg4ODg7a8W7duGDx4MPbs2aO3fVFREXJzczFlyhQoFP+d5PLiiy+iV69ezbbvKAyJhVwub/TM7YABAwCAnyWtqC1Wj87JycEvv/yCV199Vad8/PjxsLOz49j4j5bGQq1WIzMzE+Hh4fD29jZCz6SNCVcb+u6779C7d2+dDzkA6Nu3r/ZxfW3r6zXW9tKlS63Y046pvLwc586dQ58+fQyqP3LkSMjlcjg5OSEuLk5v/Mgws2fPhkKhgIODA6Kjo/H111/rrV9VVYVr1641OTaqqqoe67oWaqi8vBw7d+5EZGQkunfvblAbjg3juXbtGqqqqpp8zV+9ehXV1dVNtq+PRVPtGasnVz+dzdDPkmvXrsHJyQkKhQI9e/ZEYmIiqqqqjNlFs1ZVVQV3d3fI5XJ07doVc+bMwb1795pt19TYsLS0hK+vL8fGE0pPT0dlZSVmzpxpcBtzGhu8hqsN3b17Fz169GhQ7uTkpH1cX9v6eo/blgwze/ZsVFZWIjExUW89d3d3JCYmIiQkBA4ODrh48SJWrlyJkJAQnDp1Cv369WujHpuPTp06Yd68eYiIiICzszOuXr2KVatWISIiAgcOHEB0dHSj7UpLSyGE4NgworS0NFRVVeG1115rti7HhvHVv56bes0LIVBaWgoPD48Wted4eTJFRUVYtGgRXnjhBYwcObLZ+gMHDsTEiRPh6+uLqqoqHDx4EB999BG+/vprZGdn672vDzXUr18/9OvXT3vt78mTJ7F27VocO3YMubm5sLOza7Jtc2OjoKDAKH3uKDZv3gxHR0eMGzfOoPrmNjaYcLUxfadhmztF+yRtSb/33nsPqamp+OSTT/D888/rrRsTE6OzSk5YWBhGjBiBgIAALFmyBHv37jV2d81O//790b9/f+3fgwYNQmxsLAICArBw4cImE656HBvGs3nzZjg7Oxt0kTPHRtt50td8U3U4Xlru3r17GD58OIQQyMjIMOgfwmXLlun8PXz4cHh5eWH+/PnYu3evwYsL0K/efvttnb+joqLQv39/vPzyy9i0aVODxxvDsdH6Ll26hDNnzmD27NlQKpUGtTG3sdG+0sN2ztnZudFvD+tPdTf2rUprtCX9li5dimXLluHDDz/EnDlzWrQNLy8vDBw40KAlzMkwjo6OGDlyJC5cuNDkFILOnTtDJpNxbBjJhQsXkJeXh8mTJ7d45TqOjdZVf81QU695mUymdxWv5tpzvLRMaWkpoqKiUFRUhCNHjjQ6m8VQkydPBgCOmVYSGxsLW1vbZp9Pjg3j2bx5MwA81nTCxrTnscGEqw0FBATg8uXLDS7iv3jxIgD9y18HBARo6z1uW2ra0qVLkZSUhKSkJLzzzjtPtC0hRLs7xS11QggATX+zqFKp4O3t3eTYUKlUT/SPT0fXWh+SHButp2fPnlCpVE2+5r29vfV+g1z/WdFUe36WPL7S0lIMHToU+fn5OHLkSKPXx7UEx0zrMeQ9KCAgAEDDsaHRaHDlyhWOjRZ6+PAhtm7diueffx6BgYGtss32ODbaX4/bsdjYWFRUVGDXrl065SkpKfD09ERwcLDetleuXNFZyVCj0WDbtm0IDg6Gp6en0fptrv74xz8iKSkJ7777Lt5///0n2lZ+fj5OnTqFkJCQVuodlZaWYv/+/dobUDYlNjYWx48f11kRTK1WY/fu3Rg9enSDRWrIMDU1Ndi2bRsGDBjwRP9ocGy0LoVCgVGjRmH37t1Qq9Xa8sLCQmRnZyMuLk5v+y5dumDAgAHYtm0bamtrteU5OTn44Ycfmm1PuuqTrevXr+Pw4cM6U6NbKiUlBQA4ZlrJzp078eDBg2afz+DgYHh4eCA5OblB+4qKCo6NFtq3bx/u3Llj0HXAzWnXY8OES9J3SFFRUaJz585i48aN4vjx4+L1118XAMS2bdu0dWbMmCHkcrnOfYWqq6tFnz59xNNPPy1SU1PFkSNHRGxsrFAoFOLEiROmOJR2bfXq1QKAiImJEadPn27wU6+xWERGRoqlS5eKPXv2iGPHjomPP/5YeHp6Cnt7e3Hx4kVTHE67N2nSJJGQkCAyMzNFdna22Lhxo/Dx8REKhUIcOXJEW2/IkCFCLpfrtC0uLhYeHh4iICBA7NmzR2RlZYmwsDBhb28vLl++3NaHYjbS09MFALFx48ZGH+fYMI6srCyRmZkptmzZIgCI8ePHi8zMTJGZmSkqKyuFEEJcvnxZ2NnZibCwMJGVlSV2794t/P39haenpyguLtbZnlwuF0OGDNEpy87OFgqFQsTGxoojR46I1NRU8fTTTwt/f39RXV3dZscqdc3F4sGDByIoKEjIZDKxbt26Bp8jV69e1dne72Px1VdfiejoaPG3v/1NHD58WOzbt0+8+eab2nq1tbVtfciS1lw8CgoKxIsvvij+8pe/iKysLHHw4EGxaNEioVQqRZ8+fURFRYV2WwUFBUIul4sZM2bo7GPr1q0CgJg1a5b2s8jR0VFERUW19eFKmiHvU/ViYmKESqUSZWVlTW6vI4wNJlxtTK1Wi7lz5wp3d3dhZWUl+vbtK9LS0nTqTJs2TQAQ+fn5OuW3bt0SU6dOFU5OTkKpVIqQkBCdf0bJcOHh4QJAkz/1GotFfHy88PPzE/b29kKhUAhPT08xefJk8cMPP5jgSMzDihUrRGBgoOjUqZOQy+XC1dVVxMbGirNnz+rUq4/b7129elWMHTtWODg4CBsbGxEZGSm+/fbbtuq+WYqKihK2trbi/v37jT7OsWEc3bp1a/J96bfPdV5enoiMjBQ2NjbCwcFBjB07tsE/+EIIAUCEh4c3KD98+LAICQkRSqVSODk5ialTpzZ6Q/iOrLlY5Ofn6/0cmTZtms72fh+Ln376SQwfPlx06dJFWFtbC6VSKQICAsSHH37IxLcRzcXj3r17IjY2Vnh5eQmVSiWsrKzEs88+KxYuXNjgn/362P0+RkIIsX37dtG3b19hZWUl3N3dxdy5c4VarW6jo2wfDH2fKiwsFBYWFmLq1Kl6t9cRxoZMiP9cJEFEREREREStitdwERERERERGQkTLiIiIiIiIiNhwkVERERERGQkTLiIiIiIiIiMhAkXERERERGRkTDhIiIiIiIiMhImXEREREREREbChIuIiIiIiMhImHAREZFJffPNN0hKSkJZWVmDxyIiIhAREdH2nWrGP/7xD7i6ukKtVpusD2FhYYiPjzfZ/omIyDAyIYQwdSeIiKjjWr16NRYsWID8/Hx4eXnpPPb9998DAPz8/EzQs8Y9ePAAvXr1Qnx8PObPn2+yfpw8eRJRUVG4ePEifHx8TNYPIiLSj2e4iIhIsvz8/CSVbAFASkoK7t69i5kzZ5q0H+Hh4fDx8cGaNWtM2g8iItKPCRcREZlMUlISFixYAADo3r07ZDIZZDIZTpw4AaDhlMKCggLIZDKsWrUKf/rTn+Dl5QWVSoWIiAj8+OOPePToERYtWgRPT0906tQJsbGxKC4ubrDfjIwMhIaGwtbWFnZ2doiOjsb58+cN6vOGDRswatQoODo66pRnZmYiODgYnTp1go2NDXr06IEZM2bo1Ll//z7mz5+P7t27w8rKCl26dEF8fDwqKyt16tXV1eGTTz5BYGAgVCoVHB0dERISgn379unUmzJlCrZv327SqY1ERKQfEy4iIjKZmTNn4q233gIA7N69G6dPn8bp06fx3HPP6W23fv16nDp1CuvXr8enn36KK1euYNSoUXjttddQUlKCLVu24KOPPsLRo0cbnIlavnw5Jk2aBD8/P+zYsQNbt26FWq3GoEGDtFMYm3Ljxg1cvHgRgwcP1ik/ffo0Jk6ciB49eiA9PR0HDhzAkiVLoNFotHUePHiA8PBwpKSkYO7cuTh48CASEhKQnJyM0aNH47cz/KdPn4558+YhKCgIGRkZSE9Px+jRo1FQUKCz34iICFRWVmoTVCIikiBBRERkQqtWrRIARH5+foPHP8dDLAAABKdJREFUwsPDRXh4uPbv/Px8AUD069dP1NbWass//vhjAUCMHj1ap318fLwAIMrLy4UQQhQWFgqFQiHeeustnXpqtVq4u7uLCRMm6O1rRkaGACBycnJ0ylevXi0AiLKysibbrlixQlhYWIjc3Fyd8p07dwoAIisrSwghxFdffSUAiMTERL19EUKIhw8fCplMJhISEpqtS0REpsEzXERE1O4MHz4cFhb//Qjr3bs3AGDEiBE69erLCwsLAQCHDh2CRqPB1KlTodFotD9KpRLh4eHNnim6efMmAMDNzU2nPCgoCAAwYcIE7NixA0VFRQ3a7t+/H/7+/ggMDNTZd3R0tM40yoMHDwIAZs+e3ezzYGlpCUdHx0b3R0RE0sCEi4iI2h0nJyedv62srPSWV1dXAwBu374N4NcEydLSUucnIyMDd+7c0bvfqqoqAIBSqdQpDwsLw+eff65N5rp27Qp/f3+kpaVp69y+fRsXLlxosF97e3sIIbT7LikpgVwuh7u7u0HPhVKp1PaLiIikR2HqDhAREbUVFxcXAMDOnTvRrVu3Fre/d+8ePDw8dB4bM2YMxowZg5qaGuTk5GDFihV45ZVX4OXlhdDQULi4uEClUmHLli16t+3q6ora2lrcunWrwT4aU1paqm1LRETSw4SLiIhMytraGgDa5CxNdHQ0FAoFrl27hnHjxj12e19fXwDAtWvX0KdPn0brWFtbIzw8HI6Ojjh06BDOnz+P0NBQjBw5EsuXL4ezszO6d+/e5D6GDRuGFStWYMOGDfjggw/09ufmzZuorq6W3NL5RET0X0y4iIjIpAICAgAA69atw7Rp02BpaQkfHx/Y29u3+r68vLzwwQcfIDExEdevX0dMTAw6d+6M27dv4+zZs7C1tcXSpUubbB8cHAyVSoWcnByMHj1aW75kyRLcuHEDkZGR6Nq1K8rKyrBu3TpYWloiPDwcABAfH49du3YhLCwMb7/9Nvr27Yu6ujoUFhbi8OHD+MMf/oDg4GAMGjQIU6ZMwbJly3D79m2MHDkS1tbWOH/+PGxsbLSrOgJATk4OADRYNZGIiKSDCRcREZlUREQEFi9ejJSUFGzatAl1dXXIzs7Wuf9Wa1q8eDH8/Pywbt06pKWloaamBu7u7ggKCsIbb7yht62VlRVefvll7N27F8uXL9eWBwcHIy8vDwkJCSgpKYGjoyNeeOEFHD9+XHsmzNbWFv/85z+xcuVKbNy4Efn5+VCpVHjmmWcwdOhQeHl5abeXnJyM5557Dps3b0ZycjJUKhX8/Pzwzjvv6PTn888/R0BAgDZpJSIi6ZEJ8ZsbfxAREZFeeXl5CAoKQk5ODoKDg03Wj/v378PT0xNr167F66+/brJ+EBGRfky4iIiIHtPEiRNRWVmJ/fv3m6wPS5cuRUZGBi5cuACFghNWiIikisvCExERPaY1a9YgKCgIarXaZH1wcHBAcnIyky0iIonjGS4iIiIiIiIj4RkuIiIiIiIiI2HCRUREREREZCRMuIiIiIiIiIyECRcREREREZGRMOEiIiIiIiIyEiZcRERERERERsKEi4iIiIiIyEiYcBERERERERnJ/wOHS0Wy+5w3SgAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=50.0)\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# recompute track\n", "cvfilter.x.fill(0.)\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Huge Q (var=50.0)', x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Maneuvers imply acceleration, so let's implement a constant acceleration Kalman filter and see how it fairs with the same data." ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "def make_ca_filter(dt, std):\n", " cafilter = KalmanFilter(dim_x=3, dim_z=1)\n", " cafilter.x = np.array([0., 0., 0.])\n", " cafilter.P *= 3\n", " cafilter.R *= std\n", " cafilter.Q = Q_discrete_white_noise(dim=3, dt=dt, var=0.02)\n", " cafilter.F = np.array([[1, dt, 0.5*dt*dt],\n", " [0, 1, dt], \n", " [0, 0, 1]])\n", " cafilter.H = np.array([[1., 0, 0]])\n", " return cafilter\n", "\n", "def initialize_const_accel(f):\n", " f.x = np.array([0., 0., 0.])\n", " f.P = np.eye(3) * 3" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "dt = 0.1\n", "cafilter = make_ca_filter(dt, sensor_std)\n", "initialize_const_accel(cafilter)\n", "\n", "kxs2, _, _, _ = cafilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Constant Acceleration Kalman Filter',\n", " x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The constant acceleration model is able to track the maneuver with no lag, but at the cost of very noisy output during the steady state behavior. The noisy output is due to the filter being unable to distinguish between the beginning of an maneuver and noise in the signal. Noise in the signal implies an acceleration, and so the acceleration term of the filter tracks it. \n", "\n", "It seems we cannot win. A constant velocity filter cannot react quickly when the target is accelerating, but a constant acceleration filter misinterprets noise during zero acceleration regimes as acceleration instead of nosie.\n", "\n", "Yet there is an important insight here that will lead us to a solution. When the target is not maneuvering (the acceleration is zero) the constant velocity filter performs optimally. When the target is maneuvering the constant acceleration filter performs well, as does the constant velocity filter with an artificially large process noise $\\mathbf{Q}$. If we make a filter that adapts itself to the behavior of the tracked object we could have the best of both worlds." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Detecting a Maneuver" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Before we discuss how to create an adaptive filter we have to ask \"how do we detect a maneuver?\" We cannot reasonably adapt a filter to respond to maneuvers if we do not know when a maneuver is happening.\n", "\n", "We have been defining *maneuver* as the time when the tracked object is accelerating, but in general we can say that the object is maneuvering with respect to the Kalman filter if its behavior is different than the process model being used by the filter. \n", "\n", "What is the mathematical consequence of a maneuvering object for the filter? The object will be behaving differently than predicted by the filter, so the residual will be large. Recall that the residual is the difference between the current prediction of the filter and the measurement. \n", "" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To confirm this, let's plot the residual for the filter during the maneuver. I will reduce the amount of noise in the data to make it easier to see the residual." ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.adaptive_internal import plot_track_and_residuals\n", "\n", "def show_residual_chart():\n", " dt = 0.1\n", " sensor_std = 0.2\n", " \n", " # initialize filter\n", " cvfilter = make_cv_filter(dt, sensor_std)\n", " initialize_filter(cvfilter)\n", " pos2, zs2 = generate_data(150, sensor_std)\n", " xs2 = pos2[:, 0]\n", " z_xs2 = zs2[:, 0]\n", "\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", " xs, res = [], []\n", " for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", " \n", " xs = np.asarray(xs)\n", " plot_track_and_residuals(dt, xs, z_xs2, res)\n", "\n", "show_residual_chart();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "On the left I have plotted the noisy measurements against the Kalman filter output. On the right I display the residuals computed by the filter - the difference between the measurement and the predictions made by the Kalman filter. Let me emphasize this to make this clear. The plot on the right is not merely the difference between the two lines in the left plot. The left plot shows the difference between the measurements and the final Kalman filter output, whereas the right plot shows us the difference between the measurements and the *predictions of the process model*. \n", "\n", "That may seem like a subtle distinction, but from the plots you see it is not. The amount of deviation in the left plot when the maneuver starts is small, but the deviation in the right plot tells a different story. If the tracked object was moving according to the process model the residual plot should bounce around 0.0. This is because the measurements will be obeying the equation \n", "\n", "$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{noise}(t)$$\n", "\n", "Once the target starts maneuvering the predictions of the target behavior will not match the behavior as the equation will be \n", "\n", "$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{maneuver\\_delta}(t) + \\mathtt{noise}(t)$$\n", "\n", "Therefore if the residuals diverge from a mean of 0.0 we know that a maneuver has commenced.\n", "\n", "We can see from the residual plot that we have our work cut out for us. We can clearly see the result of the maneuver in the residual plot, but the amount of noise in the signal obscures the start of the maneuver. This is our age old problem of extracting the signal from the noise. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adjustable Process Noise\n", "\n", "The first approach we will consider will use a lower order model and adjust the process noise based on whether a maneuver is occurring or not. When the residual gets \"large\" (for some reasonable definition of large) we will increase the process noise. This will cause the filter to favor the measurement over the process prediction and the filter will track the signal closely. When the residual is small we will then scale back the process noise.\n", "\n", "There are many ways of doing this in the literature, I will consider a couple of choices." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Continuous Adjustment\n", "\n", "The first method (from Bar-Shalom [1]) normalizes the square of the residual using the following equation:\n", "\n", "$$ \\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$$\n", "\n", "where $\\mathbf{y}$ is the residual and $\\mathbf{S}$ is the system uncertainty (covariance), which has the equation\n", "\n", "$$\\mathbf{S} = \\mathbf{HPH^\\mathsf{T}} + \\mathbf{R}$$\n", "\n", "If the linear algebra used to compute this confuses you, recall that we can think of matrix inverses in terms of division, so $\\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$ can be thought of as computing\n", "\n", "$$\\epsilon\\approx\\frac{\\mathbf{y}^2}{\\mathbf{S}}$$\n", "\n", "Both $\\mathbf{y}$ and $\\mathbf{S}$ are attributes of `filterpy.KalmanFilter` so implementation will be straightforward.\n", "\n", "Let's look at a plot of $\\epsilon$ against time." ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from numpy.linalg import inv\n", "dt = 0.1\n", "sensor_std = 0.2\n", "cvfilter= make_cv_filter(dt, sensor_std)\n", "_, zs2 = generate_data(150, sensor_std)\n", "\n", "epss = []\n", "for z in zs2[:, 0]:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y, S = cvfilter.y, cvfilter.S\n", " eps = np.dot(y.T, inv(S)).dot(y)\n", " epss.append(eps)\n", "\n", "t = np.arange(0, len(epss) * dt, dt)\n", "plt.plot(t, epss)\n", "bp.set_labels(title='Epsilon vs time', \n", " x='time (sec)', y='$\\epsilon$')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This plot should make clear the effect of normalizing the residual. Squaring the residual ensures that the signal is always greater than zero, and normalizing by the measurement covariance scales the signal so that we can distinguish when the residual is markedly changed relative to the measurement noise. The maneuver starts at t=3 seconds, and we can see that $\\epsilon$ starts to increase rapidly not long after that. \n", "\n", "We will want to start scaling $\\mathbf{Q}$ up once $\\epsilon$ exceeds some limit, and back down once it again falls below that limit. We multiply $\\mathbf{Q}$ by a scaling factor. Perhaps there is literature on choosing this factor analytically; I derive it experimentally. We can be somewhat more analytical about choosing the limit for $\\epsilon$ (named $\\epsilon_{max}$) - generally speaking once the residual is greater than 3 standard deviations or so we can assume the difference is due to a real change and not to noise. However, sensors are rarely truly Gaussian and so a larger number, such as 5-6 standard deviations is used in practice.\n", "\n", "I have implemented this algorithm using reasonable values for $\\epsilon_{max}$ and the $\\mathbf{Q}$ scaling factor. To make inspection of the result easier I have limited the plot to the first 10 seconds of simulation. " ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "sensor_std = 0.2\n", "cvfilter = make_cv_filter(dt, sensor_std)\n", "_, zs2 = generate_data(180, sensor_std)\n", "\n", "Q_scale_factor = 1000.\n", "eps_max = 4.\n", "\n", "xs, epss = [], []\n", "\n", "count = 0\n", "for i, z in zip(t, zs2[:, 0]):\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y, S = cvfilter.y, cvfilter.S\n", " eps = np.dot(y.T, inv(S)).dot(y)\n", " epss.append(eps)\n", " xs.append(cvfilter.x[0])\n", "\n", " if eps > eps_max:\n", " cvfilter.Q *= Q_scale_factor\n", " count += 1\n", " elif count > 0:\n", " cvfilter.Q /= Q_scale_factor\n", " count -= 1\n", "\n", "bp.plot_measurements(zs2[:,0], dt=dt, label='z', alpha=0.5)\n", "bp.plot_filter(t, xs, label='filter')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='epsilon=4', x='time (sec)', y='$\\epsilon$')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The performance of this filter is markedly better than the constant velocity filter. The constant velocity filter took roughly 10 seconds to reacquire the signal after the start of the maneuver. The adaptive filter takes under a second to do the same. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Continuous Adjustment - Standard Deviation Version" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Another, very similar method from Zarchan [2] sets the limit based on the standard deviation of the measurement error covariance. Here the equations are:\n", "\n", "$$ \\begin{aligned}\n", "std &= \\sqrt{\\mathbf{HPH}^\\mathsf{T} + \\mathbf{R}} \\\\\n", "&= \\sqrt{\\mathbf{S}}\n", "\\end{aligned}\n", "$$\n", "\n", "If the absolute value of the residual is more than some multiple of the standard deviation computed above we increase the process noise by a fixed amount, recompute Q, and continue." ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from math import sqrt\n", "\n", "def zarchan_adaptive_filter(Q_scale_factor, std_scale, \n", " std_title=False,\n", " Q_title=False):\n", " cvfilter = make_cv_filter(dt, std=0.2)\n", " pos2, zs2 = generate_data(180-30, std=0.2)\n", " xs2 = pos2[:,0]\n", " z_xs2 = zs2[:,0]\n", "\n", " # reinitialize filter\n", " initialize_filter(cvfilter)\n", " cvfilter.R = np.eye(1)*0.2\n", "\n", " phi = 0.02\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n", " xs, ys = [], []\n", " count = 0\n", " for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y = cvfilter.y\n", " S = cvfilter.S\n", " std = sqrt(S)\n", "\n", " xs.append(cvfilter.x)\n", " ys.append(y)\n", "\n", " if abs(y[0]) > std_scale*std:\n", " phi += Q_scale_factor\n", " cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n", " count += 1\n", " elif count > 0:\n", " phi -= Q_scale_factor\n", " cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n", " count -= 1\n", "\n", " xs = np.asarray(xs)\n", " plt.subplot(121)\n", " bp.plot_measurements(z_xs2, dt=dt, label='z')\n", " bp.plot_filter(xs[:, 0], dt=dt, lw=1.5)\n", " bp.set_labels(x='time (sec)', y='$\\epsilon$')\n", " plt.legend(loc=2)\n", " if std_title:\n", " plt.title('position(std={})'.format(std_scale))\n", " elif Q_title:\n", " plt.title('position(Q scale={})'.format(Q_scale_factor))\n", " else:\n", " plt.title('position')\n", " \n", " plt.subplot(122)\n", " plt.plot(np.arange(0, len(xs)*dt, dt), xs[:, 1], lw=1.5)\n", " plt.xlabel('time (sec)')\n", " if std_title:\n", " plt.title('velocity(std={})'.format(std_scale))\n", " elif Q_title:\n", " plt.title('velocity(Q scale={})'.format(Q_scale_factor))\n", " else:\n", " plt.title('velocity') \n", " plt.show()\n", " \n", "zarchan_adaptive_filter(1000, 2, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So I chose to use 1000 as the scaling factor for the noise, and 2 as the standard deviation limit. Why these numbers? Well, first, let's look at the difference between 2 and 3 standard deviations. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Two Standard Deviations**" ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1000, 2, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Three Standard Deviations**" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1000, 3, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see from the charts that the filter output for the position is very similar regardless of weather we use 2 standard deviations or three. But the computation of the velocity is a different matter. Let's explore this further. First, let's make the standard deviation very small." ] }, { "cell_type": "code", "execution_count": 19, "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": [ "zarchan_adaptive_filter(1000, .1, std_title=True)\n", "zarchan_adaptive_filter(1000, 1, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As the standard deviation limit gets smaller the computation of the velocity gets worse. Think about why this is so. If we start varying the filter so that it prefers the measurement over the prediction as soon as the residual deviates even slightly from the prediction we very quickly be giving almost all the weight towards the measurement. With no weight for the prediction we have no information from which to create the hidden variables. So, when the limit is 0.1 std you can see that the velocity is swamped by the noise in the measurement. On the other hand, because we are favoring the measurements so much the position follows the maneuver almost perfectly.\n", "\n", "Now let's look at the effect of various increments for the process noise. Here I have held the standard deviation limit to 2 std, and varied the increment from 1 to 10,000." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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jm/3ZDZkzZw52796NdevWYfXq1Vi3bh20Wi0efvhhybpUTolROUWuF1W4SLOdOHECFRUVkmaFtqHX+/btCwDw8PBAdHQ0MjIykJaWhpiYGNH6+/btA4A631p5e3tj3LhxGDduHCwWC9avX4/9+/fXO9yvXC4HIH27VB9bfn/++Wc8+uijojSz2YwDBw7Um8/G6tWrF9LS0pCamooePXqI0iZOnIj58+fjyJEj+OGHHzBq1CiH+/jhhx9w5MgRKJVKTJo0qUmfr1arMXjwYAwePBgxMTGYPn06du7cifj4eMTGxsLb2xt//vkncnJy6m1iUVhYiNLSUkyYMEGyXmVlpajJTH1uvfVWyGQy7N+/v0nH0dBTaEeupyCzxW3//v3Yv3+/pOnpd999BwCIj493uH1qair8/PwQFhbW7DwQQppGp9Nh4sSJQgXhzJkzMJvNkrdbgHX49G+//RbJycmIi4tr1uc1p7wbNGgQjh8/jj179jS7wtWYMu/uu+9GREQE1q9fj6FDhyI9PR2JiYnw8fGRrEvllBiVU+R60TxcpNnKysqwYsUK0bLjx49j8+bN8PLywvjx44XljzzyCBhjWLBggahAKCwsxMqVK4V1bHbv3i1pYw1Y25wDEM0t4YituUdjmjzY2OYT27p1q9Cm3ubtt99GRkYG7rzzTnTs2LHR+3TEdjOt/RkA4OnpKcyF8tBDD+G3336TrHPw4EE89NBDAIBnn31W6CtWn/379ztsYmB7S2mLp1wux5w5c1BTU4M5c+bAaDSK1rf1YQCsT8B0Oh2OHz8uakZhMpkwd+7cRrcBDwwMxNSpU3H8+HGsXLnS4feenp6OzMxM0TJmHfSn0X9NfdLoSFJSEgBgyZIlouY2x44dw3/+8x8EBATggQcekGyXmZmJvLw8yZxxhBDns81Z9emnn+LTTz+FQqHA1KlTJevNmzcPADB79myH8y5WVVU5vG/X1tTyLikpCQqFAitWrJD0AQKuNcurT2PKPJlMhsceewx5eXmYNWsWAGvfLkeonBKjcopcN+ePy0FuNLXn4Ro2bFij5uEaOnQoA8Di4uLYggUL2BNPPMECAwMdzkvi5eXFOnTowB544AE2f/589vTTT7MBAwYwAKxfv37MYDAI6zoapdBsNrPQ0FCmVqvZrFmz2IoVK9jKlSuFEQYbMw/X1KlT2aJFi4Q5WIKCguqch8vRyFB1jZR46dIlJpfL2cSJE+uM8RtvvMHkcjnjOI6NHDmSPfPMM2zBggUsPj6ecRzHALApU6Ywi8VS5z7s3X///Uyr1bK77rqLPfHEE+y5555j99xzD5PL5czb25ulpaUJ6xoMBnbHHXcwACwiIoLNmTOHPffcc+yhhx5i/v7+opgtXLiQAWCRkZFs7ty5LCkpicXGxrLAwEA2cuRISWzqGmGrrKyMDRo0iAFgMTExbObMmWzhwoVs+vTpwve+devWRh1rU8yfP58lJiayxMREYS6V0aNHC8tqD09ssVjYxIkTGQAWGxvLFixYwB555BHm5ubG5HI527lzp8PP+eCDDxjQuLloCCEty2KxsKioKKZUKhscMe+VV15hHMcxnU7HJk6cyBYsWMCSkpLYuHHjmJubm2QI8brm4WpKeceYdfRCmUzG1Go1mzRpElu8eDH7+9//zvr27ctGjBghrFfXPXT37t0MAOvcuTN77rnn2MqVKx0Oh5+Xl8dUKhUDwHr16lVnHKiconKKtCyqcJEms78ZnT17lt13333M29ubabVaNnjwYLZ7926H29XU1LDVq1ezuLg4ptFomLu7OxsyZIjDi/v9999nCQkJLCoqimm1Wubj48P69OnDXn31VclQ9I4qXIwxdvToURYfH888PT2Fm79tjou6Kly27RISEpi/vz9TKpUsPDycPf744w6Hn21OhYsx6/DDarW63mHvz5w5wx5//HEWExPDtFqtMGysu7t7k2/qe/bsYTNmzGDdunVjnp6eTKfTsS5durB//OMfomHubUwmE1u7di0bMGAAc3NzYzqdjnXu3JnNnj1bVOiZTCb2xhtvsG7dujGNRsM6dOjApk2bxrKyshzGpq6CjDFrAbp27Vp22223MU9PT6ZSqVh4eDiLj49nb731lsPJS6+Xbaj/uv4cfXcmk4m9+eabrEePHkyj0TBvb2921113SeZus3fbbbexgIAA0YMCQojrLFu2TLiut2/fXu+6+/fvZ5MmTWLBwcFMqVQyf39/1rt3bzZv3jx27Ngx0bqOKlyMNa28szl48CCbMGECCwgIYEqlkgUHB7MxY8awbdu2CevUdw994403WGxsrFChcpQvxhgbP348A8Dee++9euNA5VSi5DOpnCLNRRUu0mT13YxI49jmymjMvCs2JpOJjRo1igGOJ/IkbdOpU6cYALZy5crWzgoh5CbH8zyLjIxkbm5urKysrN51qZy6eVA55XzUh4uQVjB48GBMmjQJr776Kqqrqxu1jUKhwLZt2xAXF4d//vOf+Pjjj52cS9ISXnjhBYSFhWH+/PmtnRVCyE3uiy++QFZWFqZPnw5PT89616Vy6uZB5ZTzyZe3RA89clMpLS3FO++8gz59+iAhIaG1s9NuDRw4EHK5HCEhIY0eglWj0eDuu++Gl5cXqqqq0KdPnwYHECGtp7q6GhkZGZg3b55ktDJCCHGVVatWYefOnVixYgWUSiU+//zzRk1xQuXUjY/KKdfgGGtj02CTNi8rKwtRUVFITEzExo0bWzs7hBBCCKkHx3FQKpWIi4vDG2+8Ueew4IQQ56AKFyGEEEIIIYQ4yU0/8bHFYoHFYhEt4ziO5iAghBAXY1fnorEnk8kgk1F3YyqrCCGkbWhOWUUVLosFVVVVrZ0NQgghDri5uVGFC1RWEUJIW9ZQWUWlGCGEEEIIIYQ4CVW4CCGEEEIIIcRJqMJFCCGEEEIIIU5y0/fhctThmPoMEEKI6znqp0SDQlhRWUUIIW1Dc8oqqnA5CBCNikUIIW0DVbisqKwihJC2q6Gyiu7UhBBCCCGEEOIkN/0brpZ07tw5mM1mKBQKdOnSpbWzc8OiOLsGxdk1KM7E1eiccw2Ks2tQnF2HYt18VOFqQTU1NTCZTFAqla2dlRsaxdk1KM6uQXEmrkbnnGtQnF2D4uw6FOvmoyaFLYjjOOGPOA/F2TUozq5BcSauRueca1CcXYPi7DoU6+bjGGOstTPRmiwWCyoqKkTLPDw86u2IrNfrUVBQ4OyskUYKCAiARqNp7WwQQgCUlpYiPT0dKpUKXbt2hUqlavS2zbkf3ywoNoQQ0jY0535MTQqbSK/XIz8/H6GhoZDL5a2dnZsez/O4fPkyAgMDqdJFSCtKS0vD8uXLsW3bNphMJgDWhyF///vfsWjRIri5ubVyDgkhhJDWQY/GmqigoIAqW22IXC5HaGgovXEkpBUdP34ct956K7Zs2SJUtgDr/XL16tUYMWIEysvLWzGHbdfJkyeRkJCAkJAQ6HQ6xMbGYsWKFaiurm7trBFCCGkhVOFqBqpstS30fRDSeoxGIyZMmIDS0lIAgJeXF6ZNm4b7779fuDaPHz+OefPmtWY226QzZ85g8ODByMrKwttvv41du3ZhypQpWLFiBR588MHWzh4hhJAWQk0KW5D9k10awcV5KM6uUVBQAJ7nIZfLERAQ0NrZuWG19zh/9tlnuHTpkvD/ZWVl2LlzJ6ZNm4Y9e/YgISEBlZWV2LRpE1555ZV2eYzOsmXLFuj1enz55ZeIjo4GAMTHxyMnJwcfffQRSkpK4OPj0+Kf297PufaC4uwaFGfXoVg3H73hakEmkwlGo1FUISAtj+LsGleuXEF2djauXLnS2lm5obXnOOfn5+Ppp5+WLK+srMQHH3yAxMRETJw4EYD1TdiPP/7o6iy2abYHRl5eXqLl3t7ekMlkTRpwpCna8znXnjQ1zrllejz9nz9w6lKpk3N2Y6Hz2XUo1s1Hb7gIIYQ0y6OPPirqmzV27Fh4eXtj17f/Q1VFOS5fviyqZNUe1elml5iYiLfffhtJSUl49dVXERAQgF9++QUffvghnnjiiQYHGklOTkZERAQ8PT2FZQaDASkpKQAAHx8fdOzYUbRNWlpanQ+rCgsLcfnyZQBAx44dRW/XeJ7H6dOnAVhH4+rUqZNo28zMTOFciIuLg0Jx7edFaWkpLly4AAAICQmRPBn/888/wRiDVquVTKZ66dIlFBcXAwC6du0qGhypsrIS6enpAIDAwEAEBweLtj1z5owwZ1D37t1FaTk5OcjPzwcAREdHw93dXUjT6/VITU0FAPj6+iI8PFy07blz51BTUwOO49CrVy9RWkFBgfBj1GKxiNLMZjOSk5MBAJ6enoiKihKlv7D9OL5PK0PypQL8b168qLl8SUkJLl68CAAIDQ2Fv7+/aNtTp04BAHQ6HWJiYkRpFy9eRElJCQAgNjYWarVaSCsvL0dmZiYAoEOHDggKChJtm5ycDLPZDLVajdjYWFHalStXhP7TnTt3Fp2v1dXVSEtLAwD4+fkhLCxMtG1qair0ej3kcjl69OghSsvPz0dOTg4AIDIyUvRAwmg04uzZswCsDyoiIyNF26anp6OyshIA0LNnT9GocUVFRcjOzgYAhIWFwc/PT0izWCz466+/AADu7u7CG2ebrKwslJWVAQC6desmehhSVlaGrKwsAEBwcDACAwNF254+fRo8z0Oj0aBr166itOzsbBQVFQEAYmJioNPphLSqqiqcP38egHUAopCQENG2KSkpMBgMUCgUiIuLE6Xl5uYiLy8PABAVFdXke4StD2nv3r1FabZz2mQySd7A30z3CIPBgKaiN1wtSKVSQa1WO+2ppLNt3LhRNMeC/d8zzzwDwHqTmjVrlrDN+fPnwXEcNm3aJCw7cOAAli9f7rRO8u09zu1FREQEOnXqhIiIiNbOyg2tvcb53Llz2LVrl2jZoUOHoI8ahhHLv0TnHn0BQNTcsPYP15tdZGQkDh06hNOnTyM6Ohqenp649957kZiYiHfeeafB7c1mM2rP7MIYg8lkgslkgtlsdriNTe1zzmKxCNvWriwAaHC/tvTaebLfL8/zTdovz/PXvV9HFUz7/dY+VvsYOtqv/bHWt9+AgADRtV3fd1NQYcC+dGuZmVpoRGZhVZ3H2pLfTUPH2tgYNne/RqOxSfu139a2X/t7aH35bWwMGzrW2ho6VluLHGfF8Hr229D5Upt9Betmv0c0Fb3hakH2tfX2bMOGDZInWbYnK998842k+UttBw4cwIsvvohZs2aJnqq0lBslzm2dt7d3a2fhptAe41xZWYm7775bstzoF4OTfDi4fAOGJjyC86f/IaQFBwfjjjvucGU227ysrCzce++96NChA7Zv346AgAAcOXIEq1atQmVlJT7++ON6t1coFJIJSDmOE5oqOrpXKhQKIb32uSeTyYQ0R/PJNHa/tfNkv19HgxwplUowxhzuVy6XX9d+7f9b135rH6t9DB3t13asjiZ/td+vu7u7KMb1fTebj1yAyXLtR9yXJy7jubuulZ/O+m4aOlbbcTYUw+bs19YXqCn7tW1rv1/7GBcVFdXZt7uxMWzoWGtr6FhVKhV4nndKDC0WS5Ovm6bcI2pzd3cX3vTd7PeIpqKJj5s4edmlS5du2Ke0GzduxMyZM3Hs2DH079+/UducP38eMTEx+OyzzzBt2jQAwCuvvIJFixbh0qVLkmYE16O6ulr0ut3ejfy9ENKW/P7774iPj5e8wVb6hSPo4TWQqd1QcfI7FH//rij93XffxZw5c+rd9802ue+UKVOwb98+ZGRkiJpjbdiwAY888gh+/vlnDB8+HMDNF5ubSY2Rx7DX9qGw0oBxPYPwv79yEeylwYHn4iGXNf2HHSHEuZpzP6Y7NWmS2k0Ka1uyZAkWLVoEwNp8yNYk8cCBA8I6W7duxaBBg6DT6eDh4YGxY8cK7c9tpk2bBm9vb5w6dQqjRo2Ch4cHRo8e7ZyDIoQ0yoULFzBq1ChJZUum80LgxGWQqd2gv3QaxXs/FKWPGDECSUlJrsxqu/DHH3+ge/fukr5aAwYMAAChPwS58Wz/PRsLtp3Cf/+4jMkfHUJhpQHBXhq8PrE3PDUK5JTp8d8/Lrd2NiGE85MAACAASURBVAkhLYTaZrWQaqO1LT1jTKhktAad6vq/Up7nJe1kG9uM7/HHH0dJSQnee+89fP3110LHR1uHzhUrVmD58uWYNWsWli5dCoPBgNdeew1Dhw7F8ePHRR1K9Xo97r//fiQlJWHRokVC+9u2EOebga1/CMdx1IzTidpTnFeuXCl0vhfIlQicsAQK7yCYSq6gYMdLgEV8/1i/fj1dqw6EhITg9OnTqKysFHXIPnToEAC0aAsBe+3pnGvP6opzWl4FnvvyT/AWhm2/Wwdx8NYp8a8H+8JNrcDkAeFYtz8T87edQkGFAY8Nj67rIwjofHYlinXzUbRaSPcX9rR2FgAAWa9I+1U01aBBgyTLTCZToy6usLAwoWlf3759RT8YsrKysGLFCjz11FN48803heWjRo1C586dsWLFCmzevFlYbjAYsHLlSjz88MOiz6ipqREu+LqaGJLrl5ycLIzeU3ukItJy2kucDxw44LBPkf9dc6EO7QZeX4n87S/CUiN++zVjxgzJaGzE6qmnnkJCQgJGjRqFefPmwd/fH4cPH8bLL7+M7t2746677nLK57aXc669cxRnxhiWf5MM3sLQpYM7qgw8fN1UePehfujoZy3Pnh0bi2ojj81HLuLl71LQO9wbgzr51fdRNzU6n12HYt18VOEiEp9++im6desmWtYSTzJ2794Nnucxffp00Rs0rVaLYcOG4eeff5ZsM2HChOv+XEJI8zHG8Morr2Dx4sWSNK/BU+AWNwKMN6Nw58swF4ubQAUGBuL99993VVbbnfvuuw8//vgjXnnlFcydOxdlZWUIDw/HY489hkWLFtFIrDegPcl5+O18EVQKGf49fYBQybKnlMuwenxP6E0WfHkiG9uOZ1OFi5B2jipcLeTMijEwGIzCmxe1uv0WlN26dWv0oBlNYZsTom/fvg7Ta/+48PT0dDgPjVwuF+JMnMfT0xNms5maDThZW49zXZUtXewweA+zDpRT/MP70F84JVnnlVdeEc2JQqRGjhyJkSNHuvQz2/o5d6NwFOevTlibEM4cEumwsmXvwVvD8eWJbOw+nYOVCXEt0mXgRkTns+tQrJuv1SNWUVGBlStX4o8//sDJkydRWFiIZcuWYfny5ZJ1T5w4gWeffRaHDx+GQqFAfHw81qxZI5lcDQDWrl2Ld999F5mZmQgJCcGMGTOwePHiOoe6vF46lYJuhg2wTdS4c+dOhIaGStIdDV3qiP2kjcR5qBmYa7TlOGdnZ2Pp0qWS5argLvAb9xQAoPzoDlSekjap7tixI6ZMmeL0PJKma8vn3I3EUZzzK6wTpvbr6CNJq+2WCB909NXhYnE1vk/OQ0JfablJ6Hx2JYp187X6KIVFRUX46KOPYDAYkJCQUOd6KSkpGDFiBIxGI7744gusX78e586dw7Bhw4SZzm1Wr16NuXPnYsKECdizZw/mzJmDl156CU888YSzD4fgWoWopqZGtHzs2LGQy+VIT09H//79JX+33HJLa2SXEOIAz/O47777JJNFyj0CEDhhKWRKNarPH0XJzxsk2/r4+GDXrl3QarWuyi4h7UJRlbXC5e/e8INDjuMw/mol66uTNGIhIe1Zq7+SiYiIQElJCTiOQ2FhIf797387XO+FF16AWq3Grl27hMl0b7nlFsTExGDNmjV49dVXAVgrcKtWrcLs2bPx0ksvAbAOSWwymbBkyRI89dRT6N69u2sO7ibVs2dPAMDbb7+NadOmQalUIjY2FtHR0Vi2bBkWLlyI8+fPY8yYMfD29kZubi6OHj0KLy8vvPDCC62ce0IIADz99NM4efKkaBmn1CDwgaWQu/vAmJ+Jwm9eB5hFtE7fvn3xv//9D0FBQa7MLiHtQlGlEQDg7964bgcT+oXinR/TsD+tAP/7KwfjegY7M3uNYh0pGJA5cY4wxhjKakzQKOVQymWoMprBAXBXX5vsmzEGI2+BWmGd0NZiYeAZg1J+7V2CxWJdx8RbYOIZjGYL5DIOfm4qp+ffYLagymBGWY0JFsbgrlbCQ6OARilHVlEVUnMrcKm4GoWVBtjmvGYMYLD+j7+7GmE+WoT5aBHirYW3VgW1QgYjb7H+mS0wmC2wWBhCvLXtds42M29BaY0JjAHlehMyCqrAW5hw3D46x5OMWywMxdVG5JbpUVhpgEoug7tGAXe1Akq5DOV6EzhwCPLSQMYBlQYz/NzU0KrksFgYMgqrcOJiCf7W3zVzuLZ6hasx/XDMZjN27dqF6dOnC5UtwFpZGzlyJHbs2CFUuHbv3g29Xo+ZM2eK9jFz5kw8//zz2LlzJ1W4nOyOO+7As88+i88++wwffPABLBYL9u/fj6FDh2Lp0qXo0aMH3nnnHWzevBkGgwHBwcEYMGAA7rnnntbOOiEEwDvvvIN//etf4oWcDP73PgNVh07gq0qQv30FmFH8FjssLAzHjx+nyXgJcaDaaEa10frG2K8Rb7gAIMLPDYm3ReCTQxfw1H/+gJ+bCgM7+aFCb8JPKflwVyvQOdAdEX7S/s7Xq8bI4/cLJbhQXIXLJTU4faUcaXkVwo/bEV0DMbCTL0K8tFfzoGvwN92l4mqk5FagqNKAQZ38EOlvzbfRbEFafgX2pxVif1oBTl8uR1mNSbK9RimDu1oBuYxDabUJBrMFnfzdEOqjxalLpagy8ojydwMHILukBjUmXrIPAFDKObipFZBfnV5GJefQP9IXY3sEYUCkLwI8pN+PibdAIbs2HU1ZtQnn8itwLq8C53IrcC6vEukFlajQm6E382CsiQG/Dh5qBXqGeYHjABnHwddNdbWbC4OXVgV/dxVScitwPr8SOpUcnholPLUK+Lmr0dFXB0+NEnKZdVu5jINMxkHOcVDIOBRXG3EurxJVBjMYA0qrjSjXm9DR1w3dgj3QLdgTnQLcoFXKkZZfif1phSi/WsnkLQwWBuHfvIXhcmkNUnMroL/63RRVGcFb6g6WTiUXKl7ZJTUoqjJCLZfBYLZWPJvKR6dEhd4M89XPHBzthzAf54943eoVrsZIT09HTU0NevXqJUnr1asXfvjhB+j1emg0GmGiSNtbFpvg4GD4+/s7dSJJg8FgN2hG++tnNGPGDMyYMaPedbKzs0X/37lzZ7BadxWO4/Dqq68KleDaxo8fj/Hjx9f7OZs2baozrb3Hub3IyMgQOsc66idJWkZbinNNTQ2mTJmCr7/+WpLmPTwRuphBYGYjina+BL6iQLLO6tWrqbLVDrSlc+5GVjvOtrdbGqUMbip5o/fzwr1xyCnT4/szeXhs0+/4MmkwFn35F45mFQvrLLwrFvf2DsHaH9Pg46bC9NsiEOzV+Ca9mYVV+PRQFn5KyUdeuR4BHmrklRtgNDv+QWvieXz7Vw6+/StHWOahUWBApC8GR/thcLQ/YoM8AABG3oL8cgNe/z4V35y6ItpPqLc1j/kVepj4hmsoepMFepNRtCyjsAoZhVXC/5/Pr6xze4WMA88YTDxDabW4Qvf1qSv4+mr+fN1UUMqtlQ6ZjENZjQkVerNQUas28nXGpjZbBbHSYBYqFhqlDF2DPBHpp0OghxoyGQcO1oocx1nfdBVUGJBdUo3skhrkleuFCoI91dW3eRUGMw6mFzUqP84il3H1VpwawnGARiFHpwA3KOQyXC6pQWGlAdVGXvKd2sfe312FAA8NeIsFlXozKvRmGHkLPLVKWCwMRVXW80Up52DiGUqufu8quQwDonxQoRfPG+ks7aLCVVRkPYl8fX0lab6+vmCMoaSkBMHBwSgqKoJarXY4up2vr6+wr/okJycjIiJC9DbNYDAgJSUFSqUSBoNB8kNfr9cLfR1qP+ExmUwwma5+wSqVaHQXxpjQ10kul0v2azAYhP1qtVrRvs1mM4zGqyeSUikZEKS6uhoAIJPJJCOFGY1GYWh2jUYj+pHE8zwMBms7c4VCIRk90H4erNp9NOz3q1arIZdfK1QsFgv0en2d+9Xr9bBYrBdR7fm17GMIQDRKIWMMFRUVOHXqFDw9PSWdOjMyMlBRUQEA6NGjhyhPJSUluHjxIgAgNDRUGNjD5tSpU0J+YmJiRGkXL14UJoGNjY0VfXfl5eXIzMwEAHTo0EHSvCo5ORlmsxlqtRqxsbGitCtXrgj9Ejt37iw6l6urq5GWlgYA8PPzk0yMmpqaCr1eD7lcjh49eojS8vPzkZNjLRwjIyPh5eUlpBmNRpw9exYA4OXlhcjISFRUVAjzbaSnp6Oy0nrD69mzp+h8KSoqEiriYWFh8PO7NnyxxWLBX3/9BQBwd3dHdLR4As+srCyUlZUBsI6OaX9OlJWVISsrC4D1gUlgYKBo29OnT4PneWg0GtGE2YD1wYDtWo+JiRGdT1VVVTh//jwAICAgACEhIaJtU1JSYDAYoFAohAm7bXJzc4XRNqOiohzeIwBrH6aOHTuKtk1LSxOuSfv5S2xxtv27Y8eO8PG51qGe53nhQZGHh4fkB3JmZibKy61zX8XFxYnuL6Wlpbhw4QIA6yS7tonIbf78808wxqDVahEREYFx48Y5nJ7BvdcoeA18AABQ+L+3UZN9VrLOE088IcyZd+bMGeHcqd2iICcnB/n5+QCA6Oho0YS/tvsOcS77a5s4T+04F1Zaz28/N3WTRtmVyzj868G+mPzhIZzKLsO4d/bDYLbATSVHRz83nM0pxyvfpeCN71OFSsu6XzNwT69gzBrWCT1Cverd/+7TOZj/xSlUGa+9DbpUbP1dEuqtRWyQB4K8NOgW7InuIZ4I8tQgv8KAvWfycC6vApdLa5CWb32z81NKPn5KsV7fMg6o/fub44BuQZ5w1yjw+4USXC699pbcQ61AvwgfxMcG4pYIH0QHuMNssTadc9cowFsYCiuMqDaZYeYZPDVKaFVyfH3gJPIqjOjir8Xgfj2QdvXHeUdfHby0SijlHJRyGVRyGWQyDibegoIKA6qNZvAW69uXshrrG8N9Kfk4X1CJ4ipxpc6mdkUt1FuLmA7u6NrBAzEdPBAT6A5fNxU0Sjk0Shm0SjkUVytFjDHoTRZUGszw0SmF5Y3BGEOVkYfBxEOlkFn/5DJwnLWSc+ZKOVLzKqwVSgtDcZURNSYeHKxvkPLK9Yjyd0OPUC+YeAvK9WaU15iQX67HxeJqVBl5oUmm7b+8xdpsz00tR5cOHvBxUyE/Lx86BYObWgGD2htnc8px5ko5yvXWyqRKIbv6xkgrvD2Uy66+NeM4yGXW8z822ANeWiUYAwI91PB3Vzts4qk38cgp0+NySQ2Kq40I89Ei0EMNE8+glHMI9NBApag/jkazBRxnnW6htNqI3HI9vLRK+LurRc1Pna1dVLhs6rtB2ac1dr262GbStscYq3fy39rrNyXdluZoHWtb6WvptfPfEvttTn6vZ9vrzZOjGNi+H/v5vWzMZrOosmbPYrEIabbKnj1bWkP7ret8ASAZdMC2X7PZ7PBtAM/z17Vfk8nkMK2+/dq2bWi/jjQ2ho62t89TbQ0dq9FohMViEVWgHe23uTF0FKPG7rep56H9Z7fkeWj/3dR1rIwxKJVKLF++3GFly6/bILiNtg44VHpgM6rP/ipZZ/Xq1Vi0aJFwbdZ3vtjHsPaxNnQfJaQ9K2xi/y17GqUcHz7cH/f+3wEUVBjAccD/Te2HkV0D8e/9GVj17VmYeIYBkT6QcRyOZBZj5x9XsPOPK5h4SxieujMGh9KLUG3kMbJrIDr66VBWbcKre1Kw5Yj1oeOtkb54ZGgUYoM8UFBpgK+bCp383Rz+bgrx1qJPuLfw/ybegpScChzKKMTB9CIczSwWmk/aDIj0wbJ744QKYEmVEekFlVDKZfB1UyHMR+vgs8T3945+0t9g/UO0MJkUUCqVCPG29vupj1Iuc7jOoE5+WDyuG8r1JlwuqbnaHM7aDM5Do4Sfmwo1Jh5VBjO0Kjm8dSq4qxv/M5rjOGhVcmib8HbTflt3tcLh58llHHqGeaFnWP0V65Zw6pTBbuJj6wNJxhgqDdY3Sz46VbOOry4apRxR/m6I8m9+k1n7Cpm3TgVvXetM29QuKly2J+aO3k4VFxeD4zh4e3sL6+r1elRXV0vekhQXFzdqJDyFQiG56DmOg1LpuOOeLd2W5mhkrsZUAh2tY7/futKvd7/1bdvU/boiTyqVSvQj27adUql0WCFWKBR1PsmVyWRCmqPKjy2tof3Wdb4AcFghsJ1LjvIll8uva788zztMq2+/tm3t92v/hiwrK+u6Y9jQsdbW0LGqVCrwPO+UGFosFoffeWP325TzsEePHigqKhLePrbkeWj/3dR1rIwxHD582GETYIVPCLSj/glOrkDVmV9Q9ttWyTpr1qzB/PnzHea3oe+m9rHS3HquUfvtN3GO2nEuqmz8CIWOBHlpsG56fyz/OhkP3hqOkV2tb/1tb7HKakwY1a0DZDIOf2aXYt3+TOz68wq2/56N7b9f6w6wDMnwUCtg5K2DLgDAo0OjsOiuWOGtS2QTf+Aq5TLhR//fb4+GibegqNIIpZwT3sjYBrew8XFTob+btOVSU7X0+eypUcIz2HG51PBg/jc2R7HmOA4eGiU8NPTGvD4ca0OPFAsLCxEQECCZh8tsNsPT0xOJiYl4//33RduMHTsWGRkZOHfuHABgy5YtmDp1Kg4fPoyBAwcK6+Xm5iI4OBirV68WTeJpsViE5mY2Hh4edfZDuHTpEsLDXTOiCWk8+l4IaZ7s7Gx07dpVaO5oI9d6oMPU16H0C4PhSgoKvlgK3iAeJGPAgAE4cuRIi1WUmno/vplQbNq/d/edx+t7UvG3/mF4bWLvhjdoAcezirFg+5/ILKxClw7W5m7HskqEvjadA92xKqEHBnXya2BPhBCb5tyP28UbLoVCgXvvvRdfffUVXnvtNXh4WDtiXrx4Efv27cO8efOEdceOHQuNRoONGzeKKlwbN24Ex3H1zvVFCCE3m3nz5kkqW5DJ4X//Qij9wmAuy0f+V6tgqVXZ8vLywueff05vpQhpJKEPVzPfcDVH/0hf7H16OIqrjPB3V4HjrANAFFcZwRhDhJ9bux1OnJD2pE1UuL777jtUVVUJtcUzZ85g+/btAIBx48ZBp9PhxRdfFIYOX7hwIfR6PV544QX4+/uLmrP4+vpiyZIlWLp0KXx9fTF69GgcO3YMy5cvx6xZs2hIeEIIgbUP3OOPPy7ca+35jnocmojesBiqUfzfl2CpKhWly+VyHDhwgEa4I6QJbH24/Nxc24dELuNEw5x7aZXw0lLzL0JcqU1UuJKSkoSRtABg27Zt2LZtGwDrCFyRkZGIjY3Fzz//jOeeew4TJ06EQqFAfHw81qxZIxl56/nnn4eHhwfeffddrFmzBkFBQVi4cCGef/55px6HfYf2ugbXINeP4uwaJSUlsFgskMlkolHzSMtqjThXVFRg1KhROHLkiCTNo/998OhzFxizoPCb11GTc16yzpYtW6gfUDtG17Zr1I6zrQ+XozmeSPPR+ew6FOvmaxO/Vm1DPzfklltuwd69exu17j//+U/885//vI5cNZ3RaBRGEqSKgPNQnF3j4sWLwmhEdGN1ntaI8+zZsx1WtrSd+sNn5KMAgJJ961GTfkycrtVi27ZtuPvuu12ST+IcdG27Ru04FwlvuKjC1ZLofHYdinXz0a9VQgi5iaSnp+OLL76QLFf6RyBw/CJAJkfFH7tRcWynKN3DwwMZGRmSueoIIXU7V2TCm0cK8bccNYqqbH24WmdYakJI66EKVwuiSSRdg+LsGqGhoULTAeI8ro7z8uXLJfNdydy8EThpGaBQw3DxTxT/8L5ku23btlFl6wZB17Zr8Do/vHY4F6U1PD45mIUak3VequYOC08co/PZdSjWzUcVrhZEFQHXoDi7Bv24dg1Xxvn777/Hpk2bRMs4hQqBE5ZC4RkIU1E28r9aDVjEE5YuWLAAY8aMcVk+iXPRte18Jt6C+f89j9Iaa5/jqquTAHMc4KOjMqwl0fnsOhTr5qMqahvBGJM8dSaEkJZy7tw53H///bWWcvC7ex7UIV3B15Qjf/uLsBiqRGvExsbitddec11GCbkBpOVVIrOwCu5qBe7sFigs99GphMmFCSE3D7rqW5HRaMS6devQv39/KJVKqFQqDBkyBJs2bQLP8w3vgBBCGiEnJwdDhgyBXq8XLfceNg1uscPAeBMKvloNc2mOKF2hUEgmmyeENCy9oBIA0DXIAw/0CxOW+1P/LUJuStSksJWUlZVh3LhxOHjwoGj5wYMHcfDgQWzevBk7duyARqNppRwSQm4Eubm5GDhwIAoLC0XL3XrEw2vwZABA0XdrYchOFqUrFAps374dI0aMcFVWCblhnM+3VriiA9wwNMYfSjkHE89ohEJCblJU4WpB1dXVwnDlOp2u3nVnzpwpqmx17doVJpMJGRkZAIDdu3fjqaeewgcffODUPNvjuLpnm7fNh9YWNCXOpPlOnTolDP/au3fv1s7ODctZcbZYLFi2bBlWr14taa6sDouD39h/AADKDv4HVck/idI1Gg1SU1PRsWPHFssPaTvo2nY+2xsutaEUGalncGuUL347X0QjFDoBnc+uQ7FuPmpS2ArOnj2LHTt2AAB8fHzw66+/IiUlBefPn8e3334LrVYLAFi/fj1yc3Ndlq9Dhw6J/n766SeEhoYiKCgIvr6+LssHIeT6PfPMM1i1apWksqXwCUHAhOfByZWoSjmA0v2bJNsuW7aMKluEXIf0AmtfyFAP63PtSbeEAwD6daS5iwi5GdEbrhYkk8mENy/1sZ8DZ8mSJRg2bBgA6xumcePG4R//+Adee+01mEwmfPXVV5gzZ45T820zaNAg4d88z+OBBx5AWVkZfvnlF3h6erokD43R2DiT66PT6WA2m2lyaSdzRpyTk5Px1ltvSZZ7BQTD7f4XINd6wnDlHIq+fQuAuEKm0+kwe/bsFssLaXvo2nYui4Uh4+obrpgOHtDptEiICcWgTn4I8KAmhS2NzmfXoVg3H0WsBTW2v1VeXp7wb1tly97tt98ujAqWn5/fMplroieffBLffvstvvnmG/Tr169V8lAX6tfmGjExMa2dhZtCS8eZMYZHH31UmiCTQ3PHk1D6hcFclo/8r1aAmQ2S1datWwc/P78WzRNpW+jadq7LpTUwmC1QyWUY3r+HMCphkBeVXc5A57PrUKybj5oUtgL7HzPHjh2TpNsva42mfKtWrcIHH3yADz/8EGPHjnX55xNCmofneUyePBlHjhyRpPmOSoImojcshmpU/O91WKpKJeusWrUKDz30kCuySgDMmDEDHMfV+Xf48OHWziJphvNX325F+bvREPCEEABU4WoVDzzwgPDvlStXIjn52uhgR48eFZoCyWQyjB8/3qV527hxI5YuXYrly5fjkUcecelnE0Kaz2QyISEhAdu2bZOkefS/Hx59xoIxCwq/eR3lF89K1pkxYwYWL17siqySq5YuXSrpO3vo0CH4+/sjNDQUAwYMaO0skmZIt41QGOjWyjkhhLQV1KSwFfTp0wd33nkn9u7di9zcXPTs2RNDhgyByWQSPZmeMmUKwsPDXZav3bt3Y/bs2XjkkUewbNkyl30uIeT6LV++HLt27ZIs10bfCp94axPD0n3rUZMufas+ePBgfPzxx9Qv0sWio6MRHR0tWvbLL7+gsLAQS5YsgVwub6WckethGzAjOsC9lXNCCGkrqMLVggyGa/0h1Or6O8Zu3rwZ8fHxSE5OBmMMBw4cEKUPGjTIpROOZmZmYtKkSejUqRNmzpwpacrSt2/fBo/JVZoSZ9J8Fy9eFDrH0oh1ztMScS4oKMCaNWsky5UBkfC/9xlwnAwVf3yH8mM7JeuEh4dj586dkMmowUNbYKv4OrOFAV3bzmUbEt5LpkdGRgbF2cnofHYdinXzUYWrBfE83+jR8wIDA3Ho0CGsXbsWH374IS5evAjA2iExKSkJSUlJLh0c4sKFC6isrMS5c+ccDuTRlubhakqcSfOVlJQI823QjdV5rjfOJ06cQHx8PIxGo2i5TOeNwAdegEytQ03WKRT/IJ3TLy4uDt988w0CAgKanX/ScsrKyrB9+3bccccdiIqKanD95ORkREREiEaRNRgMSElJAWCddqT2OZWWloaysjIAkJxzhYWFuHz5MgCgY8eO8PG5NoQ5z/M4ffo0AMDDwwOdOnUS7TczMxPl5eUArOeV/ShmpaWluHDhAgAgJCREcr79+eefYIxBq9WiS5cuorRLly6huLgYgHW+SvtysbKyEunp6QCsZWpwcLBo2zNnzgjXVvfu3UVpOTk5wqBU0dHRcHe/9jZKr9cjNTUVgLUfde2WJufOnUNNTQ04jkOvXr1EaQUFBTifa+0f6Qk9iouvXdtms1noQuDp6Sn5jjMyMlBRUQEA6NGjh+gNZ0lJifA7ITQ0FP7+/qJtT506BcA6ilztgQ0uXryIkpISAEBsbKzoQWV5eTkyMzMBAB06dEBQUJBo2+TkZJjNZqjVasTGxorSrly5goKCAgBA586d4eZ2rQlldXU10tLSAFj7rYeFhYm2TU1NhV6vh1wuR48ePURp+fn5yMnJAQBERkbCy8tLSDMajTh71tok2svLC5GRkaJ7qMlkQmWltcLbs2dP0YOkoqIiZGdnAwDCwsJE/ektFgv++usvAIC7u7vkzXNWVpZw3XTr1g0q1bX51MrKypCVlQUACA4ORmBgoGjb06dPg+d5aDQadO3aVZSWnZ2NoqIiANbff/Zzi1ZVVeH8+fMAgICAAISEhIi2TUlJgcFggEKhQFxcnCgtNzdXGKAtKiqqyfeI6upqAJDMtVVUVASe5wFY7wM36z3C/sF/Y1GFqxV5eHhg8eLFWLRoEUpKSiCTyeDl5dUqFYkRI0ZI5ushhLRtO3bswKRJk4QCUCBXInDCEii8AmEqvozC/74MWMTrLF68GKtWraIHF23I1q1bF6djeAAAIABJREFUUVNT43iUSQfMZrPkvs0Yg8lkEtIdbVMXi8UibGuxWCTpDe3Xll47T/b7lZyrV/fLGINSqZSk8Tx/Xfu1pde339rHah9DR/u1Hauja4fneVSbrPn0UIvfGjfmu6krv876bho6VpPJBLPZ7PANeH3fTWP2azKZHKbVt1/btg3t15HGxtDR9vZ5qq2hYzUajbBYLA6bCLdEDB3FqLH7bep5aL+vm/0e0VRU4WpBzX0jxXEcTSzcBDQsvGvExsbSm0QXaG6cU1NTMXnyZIeFiP9dc6EOjQVfU4H87S/Coq8Upffu3ZsqW23Qxx9/DD8/v0YPlqRQKCTfIcdxwo8SR3PlKBQKYXntNxYymUzY1tEP7Ib2a0uvnSf7/Tr60alUKsEYc7hfuVx+Xfu1/29d+619rPYxdLRf27E6un5kMhmMvPXHWGR4CKKC/IT1GvPdOMpr7WNtye+moWO1HWdDMWzOfnmed5hW335t29rv1/4emp2dfd0xbOhYa2voWFUqFXied0oMLRZLk6+b6zkPQ0JCkJubC4DuEU3FsZv8tYbFYhFe4dt4eHjU2Z/h0qVLLh3IgjQOfS/kZjN16lRs2bJFstzrtsnwvv1hMN6M/C9egP7in6J0Nzc3/Pbbb5KmIm1BU+/HN5I///wTvXv3xty5c/H2229L0m/m2LQnBjOPrkt2AwD+Wj4aHhrHP1wJIe1Xc+7H9IaLEELamYMHD2Lr1q2S5bquQ+B9+8MAgOIf3pdUttzd3XHw4EH07NnTJfkkjffxxx8DAGbNmtXKOSHXQ2+81vRIo6RRJgkhVlThIoSQdqSoqAhjxoyRtCFXB8fA7+55AIDyYztReWqPOF2tRnJyMg2A0gYZDAZs2rQJt956q2QAAdK+1JisTXyVcg5KmvSYEHIVVbhakP3oeTR/ivNQnF2jvLxciLP9CEekZTUlzuXl5Rg4cKAwCpeN3MMP/uOXQKbUoDr9GEr2rZds++6771Jlq43auXMniouLXfZ2i65t57FVuDRKOcXZRSjOrkOxbj6qcDVDXR3cDQaDkGY/tCdpWbXjfJN3Q3SazMxMYbjUttjf50bRlDhPmjRJGOLWhlOqETBhKRQefjAWXEDh168BTDyi0qBBgzB9+vQWzztpGR9//DHc3NwwZcoUl3weXdvOU220js6mVcopzi5CcXYdinXzUYWridRqNWpqaqhC1YbU1NTQBMjkhvfcc8/h+++/r7WUg9/dT0Md1Bl8dRkKvlwBZqwRrdGvXz/s2rWrzlGnSOuTfq+kvdJffcOlVVHrC0LINVThaiI/Pz9cvnwZwcHBkh8wtmEraahl57KPs8lkQmFhIUJDQ1s7WzecDh061DlsL2k5jYnz+++/j9dee02y3Pv2h+HWdQiY2YSCr1bBXJYnSk9MTMSGDRvonkRE6Np2npqrg2ZolXKKs4tQnF2HYt18VOFqIrlcjoCAAOTn5zuc9I24lkwmQ0BAAF38ThAUFNTaWbgp1Bdng8GAF154wWFlyy0uHl63/Q0AULT7XzBcPitKj4yMpMoWcYiubeex78NFcXYNirPrUKybjypczaDVaumNCiHEqVJTU3HnnXciOztbkqYO7Q6/sf8AAJQd+gJVyfsk66xcuZIqW4S4mK3CpaUh4QkhdmjMUkIIaWMKCwvrrGzJPQMRMOF5cAolqlJ/Q+mvn0nWmT9/PqZNm+aKrBJC7OiN1IeLECJFb7gIIaSN+b//+z+Hla2AkHAoxi6EXOcFQ+55FH37JgDxKJ2jRo3CmjVrXJRTQog9esNFCHGEKlwtKDk5WRguMy4urrWzc8OiOLsGxdk1HMV53bp10hU5GRTDZkMVEAFzRREKvlwJZjKIVunUqRO2b9/uimyTdoyubeex78NFcXYNirPrUKybjypcLchsNsNsNlO/CSejOLsGxdk1asf5yJEjuHLlimQ97+GJUEX2AzMZUPndGvCVRaJ0d3d3HDt2jCajJA2ia9t5aq42KdSp5BRnF6E4uw7FuvmowtWC1Go1ZDIZzXfjZBRn16A4u4Z9nCsqKpCQkCBZxy0uHl4DHwAAFP7vbVRn/iVKl8vl2LVrF3x9fV2SZ9K+0bXtPPbzcKnVCoqzC9D57DoU6+ajClcLio2Nbe0s3BQozq5BcXYN+zjPnDkTubm5onRVSKwwImHpwc9RnbJfso8vvvgCw4cPd25GyQ2Drm3nsW9SGBvbpZVzc3Og89l1KNbNR6MUEkJIG/DJJ59g48aNomVyD38EjreOSFidehBl+zdLtlu7di0mTJjgolwSQupja1JIg2YQQuzRGy5CCGllR44cwaOPPipaJlPrEDhxGeTuPjDmZ6Kw1oiE7u7u2LBhAyZOnOji3BJC6lItjFJIz7MJIdfQHYEQQlpJQUEB7r//fgwaNAg8z19LkMnhf/9CqAKjwFcWI3/7CjCTXrTtr7/+SpUtQtoYmoeLEOIIveFqQVeuXAHP85DL5QgJCWnt7NywKM6uQXF2rpKSEgwfPhxnz56VpPmOSoI2qh8sRj3yt78Id5kRZXbpsbGx6NOnj+syS24odG07j30fLoqza1CcXYdi3XxU4WpBBQUFwvwEdCI6D8XZNSjOzrVw4UKHlS2f2ybBo89Y/D97dx7fRJ3/D/yVO73SMy0tpbS0pYVyiC6XghYEFQWBUvypqwiux4qrAiIWFkRAuZQVVxddv67LircUlFNQRBAX8ECOFlpKaSk96Bl6pWmOmd8f3UwznfRKk2nTvJ+Pxz5Y5zPz6WdemUzyyXzmMyzLoGL3RhhLc2Fssc6SJUtoWl7iMHpvu47tg4/Ly0spZxHQ8SweytpxNKSQEEJE9s033+C9994TLPdOuAWaWx8BAOgO/R8aLv0sWOf+++/H3LlzXd1EQogDGmhIISHEDrrC5URxcXFgWZZ+eXYxylkclLPzsSyL5cuXY+3atYIyZfhABN+zCABQd2oPan/bLVinX79++OSTT+g1IV1C723XMdhc4aKcxUE5i4eydhx1uJzIx8enu5vgEShncVDOzpeWloaNGzcKlss0WoSmrIBUoYL+0s+o/E549UsqleI///kPfdCRLqP3tuvY3sNFOYuDchYPZe04GlJICCEi+O233+x2tiRKr+bp30svo2L3awDLCNZ79913MWHCBDGaSghxEA0pJITYQx0uQghxMb1ej5kzZwoLJFJop78IpTYa5tpKlKWvAmtsEKw2e/ZsPP744yK0lBDSFQZT048l9OBjQogtGlLoRHq9nhvb6u3t3d3N6bUoZ3FQzs4zb948XL16VbA88PYn4DXgD2CMBpSnr4altlKwzpQpU7B161YRWkk8Bb23XcNsYWC0NHW4vJUyylkklLN4KGvHudUVrt9//x0zZsxAREQEvL29kZiYiNWrV0Ov1/PWO3XqFCZNmgRfX18EBAQgJSUFly9fdnn7cnJycOHCBeTk5Lj8b3kyylkclLNznDx5El988YVgud+NU6G5aWrT9O97NsFYmssrV6vV2L59O/bs2UMfbMSp6L3tGgZz81BgtUJGOYuEchYPZe04t+lwnT9/HjfffDPy8/OxefNm7NmzB/fffz9Wr16NBx54gFsvKysLycnJMBqN+OKLL/DBBx/g4sWLGD9+PMrLy7txDwghnkan02HatGmC5eoBf0Dg7U1DBPX//RQNOccF6+zduxezZs2CVOo2p2lCPJr1/i2JBFDJ6X1LCGnmNkMKP/nkExgMBqSnpyM2NhYAMHHiRJSUlOC9996DTqdDYGAgXnrpJahUKuzZswcajQYAcNNNNyE+Ph6vv/46NmzY4LI2BgcHc0/gJq5DOYuDcu4almUxZcoUwQ89ipD+0N67BBKpDHVnD6Ly2KeCbV966SVMnDhRrKYSD0PvbdfgJsxQyCCRSChnkVDO4qGsHec2HS6FQgEA8Pf35y0PCAiAVCqFUqmE2WzGnj17MGfOHK6zBQD9+/fHhAkTsHPnTpd2uCIjI11WN2lGOYuDcnYcwzB44IEHcPLkSd5yqU8AQlNXQqryhuHKGVQe2MIvl0rxt7/9Dc8995yYzSXd7NixY1i7di2OHz8Og8GAyMhIzJkzBytWrHDJ36P3tms02DyDC6CcxUI5i4eydpzbXPN+5JFHEBAQgKeeegqXL19GbW0t9uzZg3/+8594+umn4ePjg9zcXDQ0NGDYsGGC7YcNG4ZLly7BYDB0Q+sJIZ5kyZIlgvu2JHIlQlNWQO4fClNlIcq/WgcwZt46+/fvp86Wh/nkk09w2223wd/fHx9++CH27duHF198ESzLdnfTSCfZPoOLEEJsuc0VrujoaBw/fhwzZ87khhQCwLPPPovNmzcDACorm2b4CgoKEmwfFBQElmWh0+kQHh7e5t/KzMxE//79eVfJGhsbkZWVBQAIDAxEVFQUb5ucnBxu8o7hw4fzyioqKlBUVAQAiIqKQmBgIFdmsViQkZEBAPDz88OAAQN42+bl5aGmpgYAkJSUBLm8+SW7fv06rly5AgCIiIiAVqvlbXv27FmwLAsvLy8MHDiQV3b16lVUVVUBABISEqBWq7myuro65OY23cAfGhoqyOv8+fMwmUxQKBQYPHgwr6ykpARlZWUAgNjYWPj6+nJlBoMB2dnZAJpej379+vG2vXjxIhoaGiCRSASd5vLychQXFwNoumIZEBDAlZnNZmRmZgIANBoNYmJieNtaO+gAMGTIEN6lcJ1Oh4KCAgBA3759ERISwtv2zJkzAABvb2/Ex8fzygoKCqDT6QAAiYmJUKlUXFlNTQ3y8vIAAGFhYejTpw9v28zMTJjNZqhUKiQmJvLKiouLuWFocXFxvAcN6vV67mbV4OBgwa9N2dnZMBgMkMlkGDJkCK+srKwMJSUlAJreT7ZXi41GIy5cuACg6SpydHQ0b9vc3FzU1dUBAIYOHcq7r6iyshKFhYUAmn79Cg4O5soYhsG5c+cAAL6+vrz3LgDk5+ejuroaADBo0CAolUqurLq6Gvn5+QCA8PBwhIaG8rbNyMiAxWKBWq1GQkICr6ywsJA7H8THx/Mmnaivr8elS5cAAFqtFhEREbxts7Ky0NjYCLlcjqSkJF7ZtWvXUFpaCgCIiYmxe47Yvn07Nm3aBD4Jgu9ZCFVEAiwNNShLXw3GUMdb484770RYWBg3PNrKk84RjY2N8CRFRUV44okn8OSTT2LLluarnfS8NfdEz+AihLTGbTpc+fn5mDZtGsLCwrB9+3ZotVqcPHkSr7zyCurq6vCvf/2LW1cikbRaT1tlVmazWfDrIsuyMJlMXLm9bazlLTEMw5UxjPCBph2tt2WbbOu1WCx262VZlhuOactisXSp3tb21bbelvtqm6G9eq37au816mi9PeW1aW9fTSYTzGaz3QkR2nptOlKvyWSyW9ZWvdZt26vXno5maG972za11N6+Go1GMAxjdyy5MzK0l1F79f7222945ZVXBNsF3vYwfBLHg7WYUL7jVZh1xbzy4OBgLF68GCaTyePPEZ7k/fffR319PV588cXubgpxAkOLIYWEEGLlNh2utLQ01NTU4PTp09wv/rfeeitCQkLw6KOPYs6cOdxVBOsv27aqqqogkUh4V0ZaI5fLBV/6JRIJ96XE9hfkltuwLIvs7GzeL+5SqZTb1t4X7PbqtZa3bJNtvfa+dCoUCrAsa7demUzWpXpt/22t3pb7apuhvXqt+2qvw2Vbb0lJCYqLi6FQKJCQkNCh18ZeW1vuqzNfm/b21bqf7WXoSL2t3dDaVr3WbW3rzc7O5q5SWP9nT0czbG9fW2pvX5VKJSwWi0syZBim0+8blmXx6quvCrbxSZoIzZj7AACV37yFxsJMwTqbN29GYGAg5HK5x58jPMnRo0cRFBSErKwsTJ8+HRkZGQgKCkJKSgo2btzIu4Jqj6OjMWpqasCyLPz8/HifVTQao4mjozGsQwotxgacOXMGcrmc+0EjISGBRmPYcOZoDNvPKrlcTqMx0LHRGEDnR2xlZGTAYDBAIpFgwIABHnuOcGQ0htt0uE6fPo3Bgwfz3tAAMHLkSABNB8Ett9wCLy8v7k1j69y5c4iLi+O9EK1JSkoSfBFQqVSCA89WfHw8zpw5A5PJJLhPLCQkRHBytJLJZG3W2/KEbCsgIKDNDqS9e9ms+vXrJ/gQsfL19W2zTS0PSlvh4eGtDtlUq9Vt1tvyTWRLq9Vyb0BrztZf1uVyeZv1tnzT2woMDOSdMFpqq96oqCjBicpKo9G0uW3Lk6OtiIgIwYnVytvbu816W57MbYWGhgo+CKyUSqWgXoPBwOXc1t8MDg7mfXDZkkqlbW7bcuiiLX9//za3bfkhbSsyMrLVm3t9fHzarLfllwpbffr0EXwhsfrTn/4keN6fKjIJwVOeAQBUH/8C9RnfC7abPHkyEhMTWz2OPekcoVKpYDQaW922tykqKoJer8fs2bOxdOlSbN68Gb/88gtWrlyJjIwM/Pjjj212Qh0djWHdpuVnFY3GAPd3HBmNYR1SqJSCu1ptsVi4Omg0Br9eZ43GsP2sUqlUNBqjE/V29ji0np9ZlvX4c0RnuU2HKyIiAhkZGairq+P1Mo8fb3p+TWRkJORyOaZNm4YdO3Zg48aN8PPzA9D0687hw4excOFCl7ZRJpPRdJkioJzFQTl3DMMwmDNnDj79lD+9uzwgHNqZyyCRKVCfdQzXj24TbDt48GC88sorkEqllLMHYhgGBoMBK1euRFpaGgAgOTkZSqUSCxYswKFDhzBp0qRWt3d0NIZVy2OORmOA+zuOjMZonjSjuV0sy3J10GgMfr3OGo1h+1lFozE6V68jx6G18+Hp54jOkrBuMmh+165dmDFjBkaPHo2FCxciJCQEJ06cwLp16xAVFYXff/8dSqUSWVlZGDlyJG688UakpaXBYDDgpZdeQlVVFU6fPi24TMkwDHcJ38rPz48eNkoI6ZBFixbhjTfe4C2TqnzQ5+HXoQjuh8biiyj9dClYM38IQmhoKHJzc3k/IHk6Tzsfjx07FidOnMCpU6cwYsQIbvnFixeRkJCADRs2YMmSJQA8Lxt39P6Pl/HK3guYcUMENt8/ov0NCCFuyZHzsducqe+9914cOnQIGo0Gzz33HKZOnYr//Oc/ePLJJ3H06FFuPG1iYiJ++OEHKBQKpKamYu7cuYiLi8PRo0cFnS1CCHFUfX09HnzwQUFnC1IZQmYsgyK4H8w1ZSjfsUbQ2fLx8cHRo0eps+XhWhvSaf0dlDpT7oVmKSSEtMZthhQCTVPldmS63JtuugnfffedCC0ihHiigwcPIjU1VfALFwAE3TEfXtHDwTTqUbZ9DSz1Ol65TCbDoUOH2rzfjniGWbNm4b333sP+/ft5V7j27dsHABgzZkx3NY04oPnBx2711YoQIgI6KxBCSCecOHECU6dOtXujrWbUTPgNvxMsY0HF7tdgKs8TrLNt2zaMHj1ajKaSHu6OO+7AtGnTsHr1ajAMgzFjxuDXX3/FqlWrMHXqVIwbN667m0g6getwKenKJCGEjzpcTlRWVsbduNnabHCk6yhncVDO9qWlpdntbHnFj0FA8jwAgO7wv9CQ+4tgnVmzZuGBBx7gLaOcPdvnn3+OVatW4b333sOqVasQERGBhQsXYuXKlS77m3TMuQY3pPB/z+GinMVBOYuHsnYcdbicqKSkhJvPnw5E16GcxUE5C126dAlHjhwRLFeExkA77QVIJFLU/r4Ptb/uEqyj1WqxefNmwXLK2bN5eXlh/fr1WL9+vWh/k44512iepbCpw0U5i4NyFg9l7Ti67k0IIR301ltvCZZJfQIQOmsFJAoVTIXnUPXdPwXr+Pr64tixY60+G4wQ4v5o0gxCSGvoCpcTRUdHg2VZh+bnJx1HOYuDcm7Gsiz+8pe/YMuWLfwCmQKhKcsh14TCVHkV17a/AjD8hyt6eXnht99+a/XB3pQzERsdc67BXeGSN3W4KGdxUM7ioawdRx0uJ/L39+/uJngEylkclHOzZ599VtjZAhA85VmoIhJhaahFWfoaMI31vHKFQoFffvml1c4WQDkT8dEx5xrWK1ze/7vCRTmLg3IWD2XtOBpSSAghbTh06BDefvttwXLNmNnwTZoA1mJGxVfrYNYV88olEgm++OILJCUlidVUQkg30tOQQkJIK6jDRQghraioqEBqaqpguXfiOATe9ggAoOq7f8JQcJZXHhQUhF27dmHGjBmitJMQ0v2sQwp9VDR4iBDCR2cFJzIajdz/VyqV3diS3o1yFoen55yfn49Ro0bh+vXrvOXKiASE3LMIAFDzy1eoO72fV+7t7Y2ysjLIZB37ldvTcybio2PONfRGM4DmaeEpZ3FQzuKhrB1HHS4nunDhAjdd5vDhw7u7Ob0W5SwOT8754sWLGDNmDHQ6HW+5TBOK0JTlkMiV0OechO7wB1AoFLzncs2dO7fDnS3As3Mm3YOOOdfQt7iHi3IWB+UsHsracdThIoQQGyzL4uGHHxZ0tiRKb4SmroTMJxDG0lxU7nkdYBmYTAy3jkKhwDPPPCN2kwkhPUDzpBn01YoQwkdnBSfy9/fnnsBNXIdyFoen5vzzzz/j559/5i+USKGdkQaltj/MtZUoS18NxtjAX0UiwbZt25CYmNipv+epOZPuQ8ec8xnNDMwMC6B50gzKWRyUs3goa8dRh8uJoqOju7sJHoFyFocn5vztt9/ivvvuEywPmvxneMXcCMZoQHn6alhqK3nlCoUCO3fuxD333NPpv+mJOZPuRcec81mvbgHNQwopZ3FQzuKhrB1HsxQSQgiA9evX44477hBMkuH3h3vhN+JusCyDit2vwViaK9j22LFjDnW2CCG9Q/3/JsxQyCRQyOirFSGEj84KhBCPl56ejqVLlwqWe8WOQuDExwAAusMfoOHSScE6zzzzDEaNGuXyNhJCei7uGVwKGmpFCBGiDhchxKOdP38ef/zjHwXLFaEDEHLvC5BIpKj9fT9qf/lKsM7NN9+MDRs2iNFMQkgPRhNmEELaQmcGJ8rNzeWmy4yNje3u5vRalLM4PCHn8vJy3HLLLWhsbOQtl/kGIzT1JUiVXmjIO4Wq794VbJucnIz9+/dDrVZ3qQ2ekDPpWeiYcz7rM7is928BlLNYKGfxUNaOow6XE9XV1XEHInEdylkcvT3nqqoqjBw5UnDPlkShhnbWCsj9QmCsuILyrzcAjIW3TnR0NA4dOgSptOuDBHp7zqTnoWPO+fSm/w0ptOlwUc7ioJzFQ1k7joYUEkI8DsuymDVrFq5cucIvkEgRMm0xVH3iYKm/jrq9r4FtrBdsv2bNGqd0tgghvUNDi4ceE0KILbrC5URDhw7t7iZ4BMpZHL05588++ww//PCDYHlg8jx4x48BazaibMcrMJcVCNaJiopCamqq09rSm3MmPRMdc87HTZphcw8X5SwOylk8lLXjqMPlRPSLtzgoZ3H01pxzcnLw6KOPCpb73jAFmlEzAQAVe9+AsThLsE5ISAh2797d5fu2bPXWnEnPRcec8zVY7+GymaWQchYH5SweytpxlBwhxGMwDIOpU6fCYDDwlqujRyBo8p8BANePboM+60fBtqmpqTh9+jSGDRsmSlsJIe5DT0MKCSFtoA4XIcQjsCyL++67DxcvXuQtV4REQTsjDRKpDPWZ36P6+OeCbV9//XV8+eWX6Nu3r1jNJYS4keYhhdThIoQI0ZBCJ6qsrATDMJBKpQgODu7u5vRalLM4elvOmzZtQnp6Om+Z1DsAoakrIVX5wFBwDhX7/y7Y7tFHH8WiRYtc1q7eljPp+eiYc74Gk/AKF+UsDspZPJS146jD5USFhYXcdJl0ILoO5SyO3pRzeno6lixZwlsmkSsRmrIccv8wmHTFKN+5FrCYeevcfvvteP/99yGRSFzWtt6UM3EPdMw5n/U5XLaTZlDO4qCcxUNZO46GFBJCeq3a2lpMmTIFqampYFnWpkSC4LsXQNU3EZaGWpR9+TIYQy1v2wEDBmDXrl0u7WwRQnoHuoeLENIWusLlRJGRkdylVuI6lLM43D1nk8mEqVOn4ujRo4Iy//F/hM+gW8FaTCjf+SrMumJeuUwmw5EjR+Dt7e3ydrp7zsT90DHnfPaew0U5i4NyFg9l7TjqcDkRXV4VB+UsDnfP+aOPPrLb2Yq4eSYUN98PAKj85m00Xs0QrJOWlobIyEiXtxFw/5yJ43744QdMmDDBbtnx48cxZswYl/xdOuacj5s0w2ZaeMpZHJSzeChrx1GHixDS69TX1+P5558XLFf1HQz5zXMAANXHv0B9xiHBOpMnT8bq1atd3kZCrNauXSvoeA0ZMqSbWkMcYb3C5aOir1WEECE6MxBCehWGYTBp0iTodDrecrl/GLQpf4VEpkB91jE0nPxCsG1ERAT27NlDwyWIqOLj4112NYuIQ2+yTppB93ARQoSow+VEDMNw/5++sLkO5SwOd8zZaDRi4sSJOHHiBG+5ROkNbepKyLz90ViSg8q9b4A1N/LWUavVOHDgAJRKpZhNdsuciXujY875uEkzbIYUUs7ioJzFQ1k7jjpcTnTu3Dluuszhw4d3d3N6LcpZHO6Wc0VFBcaPH4+srCx+gUQK7fQXoQyJgrm2AlVfrxV0tgDg008/7ZZhXO6WM3G+p59+Gvfffz+8vb0xduxYrFixAuPGjWt3u8zMTPTv3x8ajYZb1tjYyL0HAgMDERUVxdsmJycH1dXVACA45ioqKlBUVAQAiIqKQmBgIFdmsViQkdF0v6Ofnx8GDBjAqzcvLw81NTUAgKSkJMjlzV8vrl+/jitXrgBouoqs1Wp52549exYsy8LLywsDBw7klV29ehVVVVUAgISEBKjVaq6srq4Oubm5AIDQ0FCEh4fztj1//jz33ho8eDCvrKSkBGVlZQCA2NhY+Pr6cmUGgwHZ2dkAgKCgIPTr14+37cWLF9Gnx9jzAAAgAElEQVTQ0ACJRIJhw4YBaB5S2KivxZkzhQCavpxaLBYuZ7PZjMzMTACARqNBTEwMr97Lly+jtrZpttQhQ4ZAJmvuvOl0OhQUFAAA+vbti5CQEN62Z86cAQB4e3sjPj6eV1ZQUMBd8U9MTIRKpeLKampqkJeXBwAICwtDnz59eNtmZmbCbDZDpVIhMTGRV1ZcXIzy8nIAQFxcHHx8fLgyvV6PnJwcAE33/bS8JzY7OxsGgwEymUxw3i0rK0NJSQkAIDo6Gv7+/lyZ0WjEhQsXAAD+/v6Ijo7mnUN9fX1RV1cHABg6dCivU1BZWYnCwqbXJjIyknc/EsMwOHfuHADA19cXsbGxvDbl5+dz75tBgwbxfpirrq5Gfn4+ACA8PByhoaG8bTMyMmCxWKBWq5GQkMArKywsRGVlJYCmK922EzXV19fj0qVLAACtVouIiAjetllZWWhsbIRcLkdSUhKv7Nq1aygtLQUAxMTEdPocodfrAUDwmXTmzBlYLE3HemxsrMeeIxobhd8h2kMdLkKI2ysrK8OoUaO4E7atwNsfh9eAm8AYDShPXwNjdblgnUWLFmHGjBliNJUQjr+/P5577jkkJycjODgYly5dwmuvvYbk5GTs3bsXd955Z5vbm83mFo87AFiWhclk4srtbdMahmG4bW1/ybZqr15recs22dZr/bLWsl6WZaFQKARlFoulS/Vay9uqt+W+2mZor17rvto+MsJ6hUspBUyGpm1tO0wt620vw5Zc9dq0t68mkwlms9nu1Yy2XpuO1GsymeyWtVWvddv26rWnoxna2962TS21t69GoxEMwwiOh5b1OpqhvYw6Wm9nj0Pbujz9HNFZ1OFyIl9fX66nTFyHchaHu+RcXV2N0aNH2+1s+f/hXmhumgYAqNizCcbSXF65TCbDq6++KngospjcJWfifCNGjMCIESO4/x4/fjxmzpyJoUOHYsmSJe12uORyueA5cRKJhDuWbH9BtreN7S+2QNMQIeu29r5gt1evtbxlm2zrtfelU6FQgGVZu/XKZLIu1Wv7b2v1ttxX2wzt1WvdV9v22E6awZiatlUqlby6OvLatHYecNVr096+WvezvQwdqddisdgta6te67a29bY8h3Y1w/b2taX29lWpVHJXOtuq15EMGYbp9PumK8ehWq1GQ0MDADpHdJaEdaSb1oswDMNdwrfy8/OjsamEuIG6ujqMHTuWG8ZgSx09AqGzX4ZEKoPuh3+j5mQ6r1wqlSI7OxtxcXFiNZe0g87HTZ566im8++670Ov18PLyAkDZ9GRmC4O4v+4HAJx+aTICvMW9D5QQIi5Hzsd0piaEuK1169bZ7WwpQqKgnZEGiVSGunPfCTpbAPDEE09QZ4v0SNbfQR35FZWIT29qHqpEsxQSQuyhDhchxC0ZjUb84x//ECyXemkQlroSUpUPDFczUHngbcE6AwcOxLp168RoJiGdotPpsGfPHtxwww28m79Jz2UdTiiTSqCU0dcqQogQ3cNFCHFLK1eu5GaN4sjk0M5cBpl/GMzXr6F851rAwr95NzIyEidOnEBAQICIrSVE6MEHH0RUVBT+8Ic/ICQkBDk5Odi0aRNKS0uxdevW7m4e6SDbKeHpqiQhxB7qcDlRfn4+dxNodHR0dzen16KcxdGTcz5w4ADWr18vWB5851+g7jcETGM9yravAtNQwyuPiIjAyZMneVPZdreenDNxrWHDhuHzzz/Hu+++i7q6OgQFBWHcuHHYtm0bRo4c6bK/S8ecc+mN9h96TDmLg3IWD2XtOOpwOVF1dTXNNiYCylkcPTXnzMxM3HvvvYLlmtGz4Dt0EljGgvKvN8BUeZVXnpCQgGPHjgmeX9PdemrOxPXS0tKQlpYm+t+lY865rEMKvVt0uChncVDO4qGsHUeDjQkhbmP37t244YYbYDQaecu94sciMHkeAKDqu/dgyDvFKx81ahROnz7d4zpbhBD3Zx1S6KWk37AJIfbR2cGJBg0a1N1N8AiUszh6Ws67d+/G9OnTBQ8cVIbFImTq8wCAmt92o+73vbzy4cOH46effrL7/I6eoKflTHo/OuacS9/KFS7KWRyUs3goa8f1zG8gbkqppGdviIFyFkdPyrmsrAz333+/oLMl9wtGn/tehkSpRsPl36A79H+8cplMhu+//77HdraAnpUz8Qx0zDlXg6npHq6WHS7KWRyUs3goa8e53ZDCY8eO4e6770ZgYCC8vLwQHx+PNWvW8Nb57rvvMHbsWHh7eyMkJARz585FWVlZN7WYENIVOp0OI0eOhF6v5y2XyFUImbkcEu9AsNeLUf71BoBleOs88sgjCAoKErO5hBAPww0pVNAzuAgh9rlVh+uTTz7BbbfdBn9/f3z44YfYt28fXnzxRd6v3keOHMGUKVMQFhaGr7/+Gm+++Sa+++473H777WhsbOzG1hNCHPHwww+joKCgxVIJgqcugio8HhZ9NYo/WwHWyO+QqVQqLF68WLyGEkI8UmuTZhBCiFXPHWfTQlFREZ544gk8+eST2LJlC7d8woQJvPVeeOEFDBw4ENu3b+eGEcXExOCWW27BBx98gKeeesplbayurgbLspBIJPD393fZ3/F0lLM4ekLOixYtwt69ewXLA8b/ET4Jt4C1mFC+cy3M1aW8colEgp07d7rFePOekDPxLHTMOVdrk2ZQzuKgnMVDWTvOba5wvf/++6ivr8eLL77Y6jpFRUX45Zdf8PDDD/Pu2bj55psxcOBA7Ny506VtzM/Px6VLl5Cfn+/Sv+PpKGdxdGfO1dXVuOWWW/DGG28IynySJsD/5vsBAJXfvIXGwkzBOmvWrMGUKVNc3k5noOOZiI2OOedqbdIMylkclLN4KGvHuc0VrqNHjyIoKAhZWVmYPn06MjIyEBQUhJSUFGzcuBEajQYZGRkAmh4m2dKwYcPw008/dehvZWZmon///tBoNNyyxsZGZGVlAQACAwMRFRXF2yYnJwcmk8lufRUVFSgqKgIAREVF8R66arFYuHb7+flhwIABvG3z8vJQU9P08NakpCReR/L69eu4cuUKgKYHumq1Wt62Z8+eBcuy8PLywsCBA3llV69eRVVVFYCm5xOp1WqurK6uDrm5uQCA0NBQhIeH87Y9f/489xyGwYMH88pKSkq4++ViY2Ph6+vLlRkMBmRnZwMAgoKC0K9fP962Fy9eRENDAyQSieA1LC8vR3FxMQCAYfj36ZjNZmRmNn3p1mg0iImJ4ZVfvnwZtbW1AIAhQ4ZAJmv+UNTpdNxwtb59+wqmDT9z5gwAwNvbG/Hx8byygoIC6HQ6AEBiYiJUKhVXVlNTg7y8PABAWFgY+vTpw9s2MzMTZrMZKpUKiYmJvLLi4mKUl5cDAOLi4uDj48OV6fV65OTkAACCg4MRGRnJ2zY7OxsGgwEymQxDhgzhlZWVlaGkpAQAEB0dzft1ymg04sKFCwAAf39/wQMNc3NzUVdXBwAYOnQopNLm32oqKytRWFgIAIiMjERwcDBXxjAMzp07BwDw9fVFbGwsr978/HxUV1cDaJr9SKlUorGxEXfddRdOnDiBllR9ByP4rmcBANXHv0R9xveCdZ544gnMmTOHe+3i4+Ph7e3NldfX1+PSpUsAAK1Wi4iICN72WVlZaGxshFwuR1JSEq/s2rVrKC1tupoWExPT6XOE9T604cOHC9ptMplw5swZjz5H0LBv4o4MJrqHixDSNrfpcBUVFUGv12P27NlYunQpNm/ejF9++QUrV65ERkYGfvzxR1RWVgKA3Zvkg4KCuPL2mM1mwWxoLMtyHSqz2Wx3G6uWXz4YhuG2bdlZANBuvdbylm2yrddisditl2VZuw+os1gsXaq3tc6lbb0t99U2Q3v1WvdVIpG0WW9ISAhUKhXXcerIa9Nae1312rS3ryaTCWazmddxsbevjtRrMpnslrVVr3Vb23rDw8O5J8pXVVV1OUN729u2yWrjxo12O1uB/eLhM+OvkMgV0Gf/F9ePfihYZ/Hixdi4cSMKCgq6nKG9jDr62nTmOAwPD0d1dTX3QElPP0cQ17N9b5Ous3a41Ar++ZxyFgflLB7K2nFu0+FiGAYGgwErV65EWloaACA5ORlKpRILFizAoUOHuHXtfWFva3lLcrlcsK5EIuG+lNibYloul3PloaGhvDKpVMqV2fuC3dF6W7bJtl57B79CoQDLsnbrlclkXarX9t/W6m25r7YZ2qvXuq/2XifbegMCAhAQEGC33vYybMlVr017+2rdz/YydKTe1k6GbdVr3da2XtvjuLa2tssZtrevAHDixAm8/PLLgvUkKh+o71gImbc/GktyULF3EwD+l/O1a9di6dKl7e5rRzJkGKbT7xtHj8PQ0FBIpVLu6pennyOI67X8jCJd09zh4r8XKGdxUM7ioawdJ2Hd5CfFsWPH4sSJEzh16hRGjBjBLb948SISEhKwYcMGDB8+HHfddRf27t2Lu+++m7f97Nmz8dNPP3HD0qwYhuGGm1n5+fnZ/dJDCHGda9euIS4uDvX19bzlUpkcIbNeglfMjTDXVuDah4tgqavirTN16lTs3r1bzOYSF6Dzcesom57ryW2/4kBmKV6ZMQQPjenf3c0hhLiYI+djtzlT27svC2gegiKVSrl7Vqz3jNg6d+6c4J4WQkjPUFFRgZEjRwo6WwAQMPFxeMXcCMZoQHn6GkFnKzY2Fp9++qlYTSWEEB6DqWloLN3DRQhpjdt0uGbNmgUA2L9/P2/5vn37AABjxoxB3759MWrUKHz00Ue8+wpOnDiB7OxspKSkiNdgQkiHPfDAA9zEG7b8bpoGvxvvAcsy0O1/A8bSXF65Wq3G0aNHeRMvEEKImFobUkgIIVZucw/XHXfcgWnTpmH16tVgGAZjxozBr7/+ilWrVmHq1KkYN24cAGDDhg2YPHkyZs+ejfnz56OsrAxpaWkYMmQI5s2b59I2ZmRkwGg0QqlU0tU0F6KcxSFWzrt27cJ3330nWK4e8AcETnwMAHD9h62oy+LPMqpQKLBz507BLIPuho5nIjY65pyrtUkzKGdxUM7ioawd5zZXuADg888/x4IFC/Dee+9hypQpeOedd7Bw4UJs376dWyc5ORn79u1DSUkJpk2bhmeeeQYTJkzAoUOHeNN2u4LFYgHDMHZn7SLOQzmLQ4yc8/Ly8OCDDwqWK0L6Q3vvEkikMtSeOYCan3fwygMCAvDf//4Xd911l8vaJhY6nonY6JhzrtaGFFLO4qCcxUNZO85trnABgJeXF9avX4/169e3ud7kyZMxefJkkVrVTK1WC2ZdI85HOYtDjJwfe+wx4SQZ3gEInf0ypCpvGK6cQdXBd3jlGo0GV65c4T0Dy53R8UzERsecczX87wqXqkWHi3IWB+UsHsracW7V4erpEhISursJHoFyFoerc/7000/x/ff8BxdL5EqEzloOuUYLU1URyr9aBzD8Z0+98847vaazBdDxTMRHx5xztfbgY8pZHJSzeChrx7nVkEJCiPtjWRarVq2yO5Qw+O4FUEUkwtJQi7Ltq8AY6njlixcvtrsdIYR0l4ZW7uEihBArusJFCBENy7JYtGgRNm/eLCjzv+VB+Ay6FazFjPKv1sKs4z8zb9q0aXjttdfEaiohhHRI4//u4aJZCgkhraEOFyFENHv27LHb2Qq+6S74jmu6clV18B9oLOA/Sy8mJgafffaZKG0khJCOsjAsjBZ6DhchpG3U4XKiwsJCWCwWyGQyREZGdndzei3KWRzOzlmn0+GRRx4RLFf1TYRP8pMAgOqT6ag7+y2vXCKR4ODBg/D29u5yG3oiOp6J2OiYcx7r/VuA8AoX5SwOylk8lLXjqMPlRJWVlTCZTFAoFHQguhDlLA5n5myxWDB16lTodDrecrl/GLQzl0MiV0B/8Tiu/7BVsO1zzz2HuLi4Lv39noyOZyI2Ouacx7bDpZLz7+GinMVBOYuHsnYc3eFJCHG5pUuX4r///S9vmUTpDW3qSsh8AtB47RIq9rwOgOWtM3ToULz++usitpQQQjqOmxJeLoVUKunm1hBCeiq6wuVE8fHxYFkWEgmddF2JchaHs3L++OOPhZNdSKTQTl8CZUgUzLWVqNm7EaypUbDt559/Dpmsd98XQcczsfX+++/j8ccfh4+PD+rq6trfwAF0zDmPoY0JMyhncVDO4qGsHUcdLifqrfeY9DSUszickXN1dTX+/Oc/C5YH3v44vAb8AYzJgPL01TBWFAvWWbt2LQYNGtTlNvR0dDwTq6KiIixevBgRERGorq522d+hY855WnsGF0A5i4VyFg9l7TgaUkgIcZm//vWvgl/p/W6cCs1N0wAAFXs2wViayyuXSCR47bXXsHTpUtHaSUhP8Oc//xm33norJk+e3N1NIR1koGdwEUI6gM4QhBCXOHToELZs2cJbpo65EYG3Pw4A0P3wbzRcPM4rl0gk+Omnn7B48WLR2klIT/DRRx/hyJEjgvcM6dnaGlJICCFWnR5S+NNPPyEmJgYRERGuaI9bq6+v58a2+vj4dHdzei3KWRxdyVmn02H27Nlg2eZJMBQh/aGdngaJVIa6s9+i5mS6YLvnn38eY8eO7XLb3Qkdz6SsrAwLFizA+vXrOzXzV2ZmJvr37w+NRsMta2xsRFZWFgAgMDAQUVFRvG1ycnJQX18PoOl+DNtjrqKiAkVFRQCAqKgoBAYGcmUWiwUZGRkAAD8/PwwYMIBXb15eHmpqagAASUlJkMubv15cv34dV65cAQBERERAq9Xytj179ixYloWXlxcGDhzIK7t69SqqqqoAAAkJCVCr1VxZXV0dcnObrpCHhoYiPDyct+358+e5GdUGDx7MKyspKUFZWRkAIDY2Fr6+vlyZwWBAdnY2ACAoKAj9+vXjbXvx4kU0NDRAIpGgQR4GoLnDVV5ejuLipiHSYWFh8PX15d7bZrMZmZmZAACNRoOYmBhevZcvX0ZtbS0AYMiQIbz7V3U6HQoKCgAAffv2RUhICG/bM2fOAGga8hUfH88rKygo4GaITUxMhEql4spqamqQl5fHtbdPnz68bTMzM2E2m6FSqZCYmMgrKy4uRnl5OQAgLi6Odyzp9Xrk5OQAAIKDgwXHdXZ2NgwGA2QyGYYMGcIrKysrQ0lJCQAgOjoa/v7+XJnRaMSFCxcAAP7+/oiOjuadQ69du8aNqhg6dCik0ubrCpWVlSgsLAQAREZGIjg4mCtjGAbnzjU9/9HX1xexsbG8NuXn53PDfAcNGgSlUsmVVVdXIz8/HwAQHh6O0NBQ3rYZGRmwWCxQq9VISEjglRUWFqKyshJA0/vRdshefX09Ll26BADQarWC791ZWVlobGyEXC5HUlISr+zatWsoLS0F0PQcy86eI/R6PQBg+PDhvLKioiLuNe/fv7/HniMaG4X3nLen0x2uZ599Fn/6058wf/58QVlmZiZiY2N5O+tJLl26xL1wLQ9S4jyUszgcydloNGLZsmXYvHkzLJbm6ZKl3v4InbUCUpU3DAXnUHngH4Jtk5KSsGrVKqe1313Q8Uzmz5+PhIQEPPXUU53azmw2837UAACWZWEymbhye9tYl1+6dIl3zDEMw23LMIxg2/bqtZa3bJNtvbbnBdt6WZaFQqEQlFksli7Vay1vq96W+2qbob16rfsqkUhgYPlDCm3rLSkpgcVi4d7bHXltWmuvq16b9vbVZDLBbDbzOi5Wbb02HanXZDLZLWurXuu2tvXankNVKlWXM7S3vW2bWmpvX41GIxiGsTsBlDMytJdRR+vt7HFYWlrKZefp54jO6nSH6/Lly9wzcTIyMpCUlMTNVvLuu++iqqoKH3/8cacbQghxb2azGSkpKdi7dy+/QKaANmU55AF9YNIVo3znWoDhn4wDAwNx/PhxuiGXeJz09HTs3r0bv//+e6dn/pLL5YJtJBIJ96XE9hdk221aI5VKuW3tfcFur15recs22dZr70unQqEAy7J265XJZF2q1/bf1uptua+2Gdqr17qvEokEDUb+pBm29bb8ktaR18ZeW1vuqzNfm/b21bqf7WXoSL3WB+h2pl7rtm3V29UM29vXltrbV6VSyXW826rXkQwZhun0+6Yrx6FtXZ5+jugsCdvJbpqXlxcOHTqE0aNHQ6lU4pdffsGNN94IANixYwcWL16My5cvd7oh3YVhGO4SvpWfn5/dA6k9xcXF3AmEhly6DuUsjs7mvHz5crz66quC5REpy6CIvxkWQx2ubXse5qoiwToHDx702IkC6Hhu5szzsTuoq6tDXFwcHnroISxfvpxbPn/+fOzatQuFhYVQKBTw8fGhz6oeatvxfKz4OhNThvTBOw/dxCujnMVBOYuHsm7iyPm401e4IiIiUFJSAr1eD5ZluXGeQNMYU+u4W0/kyQefmChncXQm56+//hpr164VLPe/+X4o4m8GGAsqvlpnt7P19NNPe2xnC6Dj2ZNVVFSgtLQUmzZtwqZNmwTlgYGBmD59Or766iun/l065pynoY1p4SlncVDO4qGsHdfpDte0adOwefNm7ia0U6dOYdy4cQCabszs7Q8pJYTwXb16Ff/v//0/wZhm38HJCBj/EACg8uAWSMouCrbVaDRYv369KO0kpKfp06cPDh8+LFi+fv16HDlyBPv37xdMjkB6FusshSqapZAQ0oZOd7j++te/Yty4cUhLS8OIESOQn5+PDz74AImJiVi3bp1HPKiUENLEYrEgJSVFMGOPMiIBQVOeBQBU/7wDdWcO2N3+7bff5s38Q4gnUavVSE5OFizfunUrZDKZ3TLSs7T14GNCCLHqdIdLq9UiIyMDp0+fRlJSEqqrqzFx4kRkZ2dDIpHgo48+ckU7CSE9jMFgwB133IFff/2Vt1ym0SI0ZTkkciX0OSdRd8z+OeHxxx/Hww8/LEZTCSHEJRrowceEkA7odIcLaJrNY+TIkQCanvlw6tQpHD9+HCEhIRg2bJhTG+hOsrKyuKlJWz6vgjgP5SyOtnKuqanBbbfdhtOnT/OWS5ReCE1dCZlPIIyll1Gx+zWwJqOg7sjISGzevNml7XcXdDyTlrZu3YqtW7e6rH465pynrQcfU87ioJzFQ1k7zqEOV0teXl6YOHGiM6pya42NjTCZTHafTUCch3IWR1s5z549W9DZgkSKkHuXQKmNhrmuCmXpq8GaDIJtQ0NDsW/fPpoC/n/oeCZio2POedoaUkg5i4NyFg9l7Ti6Bu5Ecrmc+x9xHcpZHK3lvGjRIhw8eFCwfuDEP8E7diQYUyPK09fAUlvBK5dIJHj22Wdx5swZDB061KVtdyd0PBOx0THnPIY2hhRSzuKgnMVDWTuOEnOipKSk7m6CR6CcxWEv57feegtvvPGGYLnvDVOg+cN0AEDl3r/BeC1HsM7BgwcxadIk5zfUzdHxTMRGx5zzNN/DJbzCRTmLg3IWD2XtOLrCRQjpkIMHD2LBggWC5eroEQia/GcAgO7If6DP/kmwzrp166izRQjpdQxtdLgIIcSKOlyEkHbt2rULd999t2DctiK4H7Qz0iCRylCf8T1qTnwp2PbWW29FWlqaWE0lhBDRtDVpBiGEWNGQQkJIm/bt24eZM2cKOltSLw20qSshVfnAcDUTFd/8XbCtVqvFf/7zH7GaSgghoqLncBFCOoI6XE507do1WCwWyGQy9OnTp7ub02tRzuK4du0arl69ilmzZgk6WzKlCiEpf4UioA9MuhKU73wVsJh564SFheH48eOIjo4WsdXuh45nIjY65pynrUkzKGdxUM7ioawdRx0uJyotLeWeT0AHoutQzuIoLS3Fm2++CYOheWp3qVQKhmEQOPlpqCOTwBjqUJa+CkxDDW/bfv364dy5c/D39xe72W6HjmciNjrmnKetSTMoZ3FQzuKhrB1HHS5CiEBpaSnWrFmD9PR03nKGYaAZex98hkwEy1hQtec1mCsLeev4+fnh9OnT1NkihPR6dA8XIaQjqMPlRDExMWBZFhKJpLub0qtRzq5VUFCAW2+9FVeuXBGUeSfcgsBb5wAAqr59F/W5v/HKFQoFDhw4gKCgIFHa2hvQ8UzERsec8zS0MaSQchYH5Sweytpx1OFyIo1G091N8AiUs2vNmTPHbmdLGT4QwfcsAgDU/PIV6k7vF6zz2WefYezYsS5vY29CxzMRGx1zzsEwLIzmpitc9ibNoJzFQTmLh7J2HHW4CCGc06dP48iRI4LlMj8t+sxeCYlCBf2ln6E7/IFgnb/97W9ISUkRo5mEENLtGs3NkwnRkEJCSFvoOVyEEM7nn38uWCZReiE09SVIvPxhLMtDxe7XAJY/a+GaNWuwcOFCsZpJCCHdzjqcEKAOFyGkbXSFy4kaGxu5sa0qlaq7m9NrUc7O19DQgOeffx7vvPMOv0AiRci0F6AMjYGlToey7avBGht4qzz22GNYvny5iK3tXeh4JmKjY845rFPCK2VSyKTCe1ooZ3FQzuKhrB1HHS4nysrK4qbLHD58eHc3p9einJ3LaDRi6tSp+P777wVlgcnz4B03CoypEWU71sBSW84rl0qlWL16tVhN7ZXoeCZio2POOaxXuFR2JswAKGexUM7ioawdR0MKCfFwmzdvttvZ8h1+JzSjZgIAKve9AWPJRcE6qampCA8Pd3kbCSGkp7Fe4bI3YQYhhNiiK1xOFBgYCLPZDLmcYnUlytl58vPz7Q4HVPcfjqA75gMArh/dBn3WMcE6/fv3xxtvvOHyNvZ2dDwTsdEx5xyGNh56DFDOYqGcxUNZO44Sc6KoqKjuboJHoJydo66uDhMmTIDJZOItlwdFQjtjKSRSGeoyD6P6uHAijZSUFLz11luIiIgQq7m9Fh3PRGx0zDmH9aHHrV3hopzFQTmLh7J2HHW4CPFQzz77LPLz83nLpF4a9LlvFaRqXxgKz6Ny/98F26WkpCA9PV2kVhJCSM9kaOOhx8K/SyoAACAASURBVIQQYovOEoR4oOXLl+Pf//43f6FMDu3MZZD5h8FSU4aGg5sBi0mw7VNPPSVSKwkhpOdqnjSD7uEihLSNrnAR4kEsFgvmzp2Ljz76SFAWfOdfoO43BExjPUq/WAlTZbFgnfHjx2PixIliNJUQQno0vbGpw+WtpA4XIaRt1OFyopycHO5mwvj4+O5uTq9FOTtu2bJldjtbmtGp8B06CSxjQfnXG2CqvCpYZ9SoUdixYwekUrow7kx0PBOx0THnHA3tdLgoZ3FQzuKhrB1HHS4n0uv13PMJiOtQzo7JycnB66+/LljuFT8WgclzAQBV3/0ThrxTvHKpVIp33nkH8+bNo8xdgI5nIjY65pzDeoXLS2H/qxTlLA7KWTyUtePc+qfq999/HxKJBL6+voKyU6dOYdKkSfD19UVAQABSUlJw+fLlbmglId3vxx9/xPDhw8EwDG+5InQAQqY+DwBozDiIut/3CbZdunQpnnjiCTrBEuJkp0+fxj333IOoqCh4eXkhKCgIY8eOtXsVmvQ8DUYzABpSSAhpn9te4SoqKsLixYsRERGB6upqXllWVhaSk5Nxww034IsvvoDBYMBLL72E8ePH4/Tp09BqtS5pEz11WxyUc+e89957ePLJJwXLpT4BCJ21AlKlGg15p1C2723BOnfccQdWrVolRjM9Fh3Pnuv69evo168fHnjgAfTt2xf19fX4+OOP8fDDD7f6jDxnoGPOOdq7h4tyFgflLB7K2nESlmXZ7m6EI6ZNmwaJRIKgoCBs374ddXV1XNl9992Hw4cPIzc3FxqNBgBw5coVxMfHY+HChdiwYQO3LsMwqK2t5dXt5+dH96mQXuHvf/87nnvuOWGBTIE+D66DKiIRpspClGx7HmxjPW+VqKgo5Obm0gMOiWjofNxkzJgxKC4uRkFBAbeMsul5lu08h09OFmDBpHgsmDSwu5tDCBGJI+djtzxTf/TRRzhy5Ai2bNkiKDObzdizZw9mzZrFdbYAoH///pgwYQJ27twpZlMJ6TYffvih/c4WgJApz0EVkQhLQy3K0lcLOlsymQwff/wxdbYI6QYhISH03nMD7U2aQQghVm53Ri8rK8OCBQuwfv16REZGCspzc3PR0NCAYcOGCcqGDRuGb7/9FgaDAWq1utW/kZmZif79+/M6bI2NjcjKygIABAYGCp62nZOTA71eD0B4ybWiogJFRUUAmq4aBAYGcmUWiwUZGRkAmnrHAwYM4G2bl5eHmpoaAEBSUhLvQ/j69eu4cuUKACAiIkIwVPLs2bNgWRZeXl4YOJD/69vVq1dRVVUFAEhISODlUVdXh9zcXABAaGgowsPDedueP3+eu2ly8ODBvLKSkhKUlZUBAGJjY3n31xkMBmRnZwMAgoKC0K9fP962Fy9eRENDAyQSieD1Ky8vR3Fx0zTl/fv3R0BAAFdmNpuRmZkJANBoNIiJieFte/nyZe6XiCFDhkAma/5w1Ol03K/Iffv2RUhICG/bM2fOAAC8vb0FM/IUFBRAp9MBABITE6FSqbiympoa5OXlAQDCwsLQp08f3raZmZkwm81QqVRITEzklRUXF6O8vBwAEBcXBx8fH65Mr9cjJycHABAcHCx4D2RnZ8NgMODy5cuYN28eWpLJZPAZmQKfpGSwFjMqvloHs65YsM7u3bsxbtw4bllubi53FXno0KG8X3EqKytRWFgIAIiMjERwcDBXxjAMzp07BwDw9fVFbGws72/l5+dzQ4IHDRoEpVLJlVVXV3MPZg4PD0doaChv24yMDFgsFqjVaiQkJPDKCgsLUVlZCQCIj4+Ht7c3V1ZfX49Lly4BALRaLSIiInjbZmVlobGxEXK5HElJSbyya9euobS0FAAQExND5wg49xzR2NgIT8QwDBiGgU6nw5dffokDBw7g7beFQ3xbos+q7v2sKilvapeXsnlf6bOqSUc/q2QyGYYMGcIrKysrQ0lJCQAgOjoa/v7+XJnRaMSFCxcAAP7+/oiOjuZtS59VTeizqklP+qxyuw7X/PnzkZCQ0OrDV60HblBQkKAsKCgILMtCp9MJQrdlNpvRcqQly7IwmUxcub1trOUVFRW8kyHDMFxZy0kLAHS43pZtsq3XYrHYrZdlWbuTHVgsli7Vay1vq96W+2qbob16rfsqkUjarLe6uhpGoxFSqRQhISGdem1actVr096+mkwmmM1mu5ef23ptOlKv0WjEihUr7O6Pb+I4BNz2CACg6tt3YSg4yyuXy+X46quvMGXKFFRUVIBhGEil0jZf845maG97231tqb19NRqNYBiG96XEXr2OZGh97zhab2eOw4qKClRXV9M5ws7f8RTz58/HP//5TwCAUqnE3//+d7v3XbZEn1Xd+1llffCxt82Dj+mzquP1mkwmu2Vt1Wvd1rZe+qwS57MKaOqg0znCsc8qt+pwpaenY/fu3fj999/tfim31VZ5e9vK5XLBOhKJhHuh7Q31sF1WVFTE+xCTSqXctvZOWu3Vay1v2Sbbeu29kRUKBViWtVuvTCbrUr22/7ZWb8t9tc3QXr3WfbX3+tjWW1VVBYvFAoVCgZCQkA69Nq3NsOeq16a9fbXuZ3sZOlLvm2++yf2KyisLHQDNHc8AAPSn96HuzDeCdTZt2sT9UlZUVMT98uPr69vlDNvb15ba21elUskdB23V60iGDMN0+n3j6HFozdn6tz39HOGJli1bhsceewxlZWXYvXs3/vKXv6C+vh6LFy9uczv6rOrezyrj/76D2Q4ppM+qjtdrsVjslrVVr3Vb23rps0qczyoAvEnqPP0c0VluM2lGXV0d4uLi8NBDD/Fmbpo/fz527dqFwsJCKBQKFBYWIjExEf/4xz8wf/58Xh0vvPACNm3aBL1ez11ydOaNyGfOnOHe9DSTi+tQzq3Lzs4WDPsAmmYkDJ/zBuQabdOMhF++DLD8X2xmzpyJHTt2cP9NOYuDcm5GE0M0eeqpp/D++++juLiYG1pDn1U9z91v/ojzJTXYOm8kkhNCBeWUszgoZ/FQ1k0cOR+7zRWuiooKlJaWYtOmTdi0aZOgPDAwENOnT8f27dvh5eXFjcW1de7cOcTFxbV5/1ZXREVFcZe1ietQzvaZzWbMmjVLWCBTIDRlOeQaLUyVV1H+9QZBZ2vixInYtm0bbxnlLA7KmbQ0atQovPvuu7h8+bJLHmNCx5xzcEMKlfa/SlHO4qCcxUNZO85tOlx9+vTB4cOHBcvXr1+PI0eOYP/+/dzMTtOmTcOOHTuwceNG+Pn5AWi6afTw4cNYuHChy9poe/MgcR3K2b4XXnjB7lBC/oyEawQzEr7yyitYtmyZ4BI55SwOypm0dPjwYUilUsFN585Cx5xz6Nt58DHlLA7KWTyUtePcpsOlVquRnJwsWL5161bIZDJe2apVqzBy5EhMnToVaWlp3IOPQ0JC8Pzzz4vXaEJEUlxcjLfeeou3TK1WQ3nDtFZnJJRIJPjkk09w//33i91cQgiAJ554AhqNBqNGjUJYWBgqKirw5Zdf4vPPP8cLL7zgkqtbxHmsDz72omnhCSHt6JXXBBMTE/HDDz9AoVAgNTUVc+fORVxcHI4ePUofYKTX+eabbzB69GjBDDySqBEItM5I+N0/BTMSbtmyhTpbhHSjsWPH4ueff8bTTz+NSZMm4bHHHsO1a9ewbds2bNy4sbubR9pBz+EihHSU20ya4SrOvBHZ9guvvdlQiHNQzk1OnjyJRx99FOfPnxeUKcNiEfbgBkiVatT8thv6H7fynhsxceJEHDp0qM36KWdxUM7NaNKM1tFnVc9iNDMYuHw/AODMS3fA39v+dNVWlLPrUM7ioayb9OpJM9xBRkYGzd4iAsoZ2LZtG+bOnWv3ORgyjRba1JWQKtVoyDsF3aH/402S4eXlhS1btrT7NyhncVDORGx0zHWd9eoW0PqQQspZHJSzeChrx9HPhoS4mbNnz2LevHl2O1sSlQ9CZ78MuW8QjGV5KP9qnWBGwg8//FDwtHtCCCEdpzc1TZghl0qglNNXKUJI2+gKlxP5+fnBbDbbfTAbcR5Pz/nNN9+0+8T00D7hwG1/gTKkP8y1lSjbvgqssYG3TnJyMlJTUzv0dzw9Z7FQzkRsdMx1XUcmzKCcxUE5i4eydhzdw0X3DBA3o9FoBMcsACTNW4u60GFgGvW49smLMJXl8cq9vLxw4cIF9O/fX6ymEtIpdD5uHWXTs2QUVWPqW8cQplHh5LJJ3d0cQoiIHDkf05maEDfy7bff2u1s+Y64G3WhwwCWgfnoe4LOFgAsWrSIOluEEOIEemPbDz0mhBBbdKYgxE2UlJRgxowZguWqyCQE3f4EAED3w1Y0nDsiXEelwnPPPefyNhJCiCewPvTYS+G5M7URQjqOOlyEuAGdTofRo0dDr9fzlsv8QqCdkQaJTI7680dQ8/MOu9tv2rSJnkFHCCFOQs/gIoR0BnW4nCgvL4+7mTAmJqa7m9NreWLODz30EK5evcr9t0QiAWQKaGcug8wnEMbSXFTu/7tgO39/f2zatAl/+tOfOv03PTHn7kA5E7HRMdd1HZk0g3IWB+UsHsracdThcqKamhru+QTEdTwt5x9//BH79u3jLZNIJAi+ewFU4QNh0VejbMerYM3NDzaOiIjA0qVL8dhjj0GtVjv0dz0t5+5COROx0THXdXpT+1e4KGdxUM7ioawdRx0uQnqwqqoqzJo1S7Dc7+b74T3oVrAWM6r3/Q2WmjJe+cGDB5GUlCRWMwkhxKM0/O8eLpo0gxDSEXSmcKKkpCSwLNs03Iu4jCflnJqaivLyct4yn6SJCLjlQQBA5YF/QH09n1c+YsQIDB48uMt/25Ny7k6UMxEbHXNd15EhhZSzOChn8VDWjqMOlxPRg+DE4Sk5L1iwAIcPH+YtU0cNQ/CUZwEA1Se+RP25b1HfYrsVK1Y45WToKTl3N8qZiI2Oua7jJs1oY5ZCylkclLN4KGvHUXKE9EDPPPMM3n77bd4yRUgUtDOXcTMSXj/yoWC7VatWYebMmWI1kxBCPJKeZikkhHQCPfiYkB5m6dKlgs6WzCcQoakvQ6r2heFqJir2bQbA8taZPn06XnrpJRFbSgghnql5SCH9bk0IaR+dKZzo+vXrYBgGUqkUAQEB3d2cXqs357xkyRK89tprvGUShRqhs1+G3D8UpspClO94BbCYeOv07dsXH3/8sVPb0ptz7kkoZyI2Oua6rsFknTSj9StclLM4KGfxUNaOow6XE125coWbLpMORNfprTlv3LhR0NmCRIqQe5dAGRYLRl+Nsu0vgzHUCrb9+uuv4ePj49T29NacexrKmYiNjrmu68ikGZSzOChn8VDWjqMOFyE9wIULF/Diiy8Klofe9TS84kaBMTWiNH01zNevCdZJTU3FTTfdJEYzCSGEgO7hIoR0DnW4nCgiIgIWiwUyGZ2AXam35VxSUoLx48cLlmtGpcBr2J1gWQYVe16HsThbsE5iYiK2bt3qknb1tpx7KsqZiI2Oua5r6ECHi3IWB+UsHsracdThciKtVtvdTfAIvSnnTz75BI888gjMZjNvuXfiOAROeBQAoPv+XzBd/kWwrUajwbFjx5w+lNCqN+Xck1HORGx0zHWd/n8PPvZStP41inIWB+UsHsracdThIqSbfPbZZ/jjH/8oWK7qOwgh9ywCANT8ugu1v34tXEelwoEDBxAcHOzydhJCCOHryBUuQgixomnhCekGhw4dstvZkgdGQDtrBSRyJfQ5J6D7/n3BOiqVCt9//z3GjBkjRlMJIYS0oDdRh4sQ0nF0hYsQkf3++++4++67wTAMb7nUS4PQ2S9D5qVBY0kOKna/BrD8dRQKBY4cOYLRo0eL2WRCCCE2OjJLISGEWFGHy4nOnj3LTZc5bNiw7m5Or+XOOTMMgwcffBBGo5FfIFMg/L6XIQ+MgPn6NZRtXwXW1MhfRSbD999/L1pny51zdieUMxEbHXNdY2FYGM1NP4Z5t/Hg4//f3p3HR1Xd/QP/3NmSmewrIQnZCCSEsKkItCKLCigiAlqV1tpa6lNLFVxALYigFbRK1fpYf4q1+lhEUAErsigqWhcEZU2AACEQQrbJPtln5t7fH0OG3MwkmUxm7mT5vF8vXsA995yc+c7JPffce+65jLMyGGflMNbu45RCD5Ikyf6HvKe3xlmSJNx66604ceKEQ1rEjPugiRkKqakOJR+shFhf5bDPxo0bcdVVVylRVQC9N869DePcf33xxRe4++67kZ6ejoCAAMTFxWH27Nn46aefvPpz2ea6p2XBDKDjKYWMszIYZ+Uw1u7jHS4P0uv10Gq10GgYVm/qjXGWJAm//vWvsXnzZoe04CvnITBzKiTRitKta2ApL3DYZ+7cuZg3b54SVbXrjXHujRjn/uvVV19FeXk5Fi1ahIyMDBiNRqxduxbjx4/Hrl27MHXqVK/8XLa57mlZMEMQAD9N+9etGWdlMM7KYazdJ0j9fJgqiiJMJpNsW1BQEFQq3vwjz1m6dCmee+45h+36wVciat5yCIIKFZ/9P5gObHPYZ9iwYfj6668RGRmpRFWJfKa/HY9LS0sRHR0t21ZbW4vU1FRkZmZi9+7d9u39LTY92dmyOkx+fg8CdGpkPznD19UhIoW5czzmkZrIy3788Uengy2/6CREznoYgqCC6eB2p4Ot2bNn47vvvuNgi6gPajvYAoDAwEBkZGTg/PnzPqgRucLUaJtSGOjPq/xE5BoOuIi8SJIk/OEPf3DYrtIHI3LOcqj8DGg8dxgVu19z2Oe1117D1q1bERoaqkRViagHqK6uxoEDBzB8+HBfV4XaYWo0AwCC/bU+rgkR9Ra8PEPkJQ0NDZgzZ47jA/AqDaJufgya0BiYKwth3PoMIFplu6xduxb33HOPgrUlop5g4cKFqKurw7JlyzrdNzs7G4mJiQgODrZva2pqsi/MExYWhoSEBFmeU6dOob6+HgAwatQoWVpZWRkuXLgAAEhISEBYWJg9zWq1IisrC4Bt6kxKSoosb15eHmpqagAAw4cPlz3jUVVVhXPnzgEAYmNjERUVJct75MgRSJIEvV6PoUOHytLOnz+PiooKAEBaWhr8/f3tabW1tcjNzQVgu1s4cOBAWd5jx47ZV1TLyMiQpRUVFaG0tBQAMHjwYAQGBtrTGhsbkZOTAwAIDw/HoEGDZHlPnMkHAKjFNqvNAjAajSgsLAQAJCYmyi6YWSwWZGdnAwCCg4ORnJwsy3vmzBn7NKXMzEyo1ZcW5KisrER+vu3nxsXFOcx6OHz4MADAYDBgyJAhsrT8/HxUVlYCANLT0+Hn52dPq6mpQV5eHgBgwIABiImJkeXNzs6GxWKBn58f0tPTZWmFhYUwGo0AgNTUVAQEBNjT6uvrcerUKQBAREQE4uPjZXlzcnLQ2NgItVqNzMxMWVppaSmKiooAAElJSQgJCbGnNTc34/jx4wCAkJAQJCUlyfLm5uaitrYWADBixAjZFK/y8nIUFNiekY6Pj0dERIQ9TRRFHD16FIDtLvPgwYNl5Z49exbV1dUAbNP8dTqdPa26uhpnz54FAAwcONDhznVWVhasViv8/f2RlpYmSysoKEB5eTkAYMiQITAYDPa0uro6nD59GgAQFRWF2NhYWd4TJ06gqakJGo3G4QJNcXExSkpKAADJyck8RsCzx4imJvkq0q7ggMuDzp8/D6vVCrVa7XCAJs/pDXGurq7GFVdcYT9YthY+7V74J4yA2FSH0g+fhNgonwc8b948PPjgg0pVtV29Ic59AeNMLR5//HGsX78eL7/8Mi6//PJO97dYLA6rhUmSBLPZbE93lqcl/fz587I2J4qiPa3tewIBuFxu2zq1LtdqtTrkNZvNkCQJWq3jHSOr1dqtclvSOyq37WdtHUNn5dZcvMOld3IG1bpco9GIqqoq++92V76btrz13XT2Wc1mMywWi9NnUzr6blwp12w2O03rqNyWvK3LbX0M7eg7dzWGzvK3rlNbnX3W5uZmiKIoG0A7K9fdGDqLkavldrUdlpeX8xjh5Oe4ggMuD6qoqLCPlHni5D09Pc5ZWVmYOHEiqqocl3YPunwWgkZNhyRaYfzPXx1WJIyLi8NrrzlOL/SFnh7nvoJxJgBYtWoV/vKXv+Dpp5/Gn/70J5fyaDQaCIIg2yYIgv2kxNlKYq23VVRUyNqcSqWy53V2gt1ZuS3pbevUulxnJ51arRaSJDktV61Wd6vc1n+3V27bz9o6hs7Kbbx43hbo13F9a2trYbVa7b/brnw3zura9rN68rvp7LNqtVrZPu19VnfKbRkkdaXclryty219DA0MDOx2DDv7rG119ll1Op29HXRUrjsxFEWxy7833WmHLXe+AB4juoqrFHpw5afDhw/bf+nb3oYlz+nJcT59+jTGjh3rdLDlnzQG0beuhKBSo+LzdTD9+JEsPSgoCD/99JPDdBBf6clx7ksY50v660p8q1atwsqVK7Fy5Uo88cQTTvdhX9VzvLj7JF7cfQrzxyVg9ZwR7e7HOCuDcVYOY23jzvGYd7g8KC0tDZIkuTXyJdf15DgvXLjQ6WArJnUENDMfgaBSo/bIZw6DLT8/P+zfv7/HDLaAnh3nvoRx7t+eeuoprFy5EsuXL293sOVpbHPdU9Ngmy4V1MkqhYyzMhhn5TDW7uOAy4NaP6hH3tNT4/zGG2/g008/ddgu6PRQTf4j1P6BaCw4hvJPX3HYZ/369Q4P0/paT41zX8M4919r167FihUrMGPGDMycORN79+6VpY8fP94rP5dtrntcXaWQcVYG46wcxtp9HHARecChQ4ecLv8OQYXIWUugjRgES00ZjFtXA1b5w6RXXXUV5s2bp1BNiain+PjjjwEAO3fuxM6dOx3S+/mM/x6r5T1cwXwPFxG5iEcLIg9YvXq10xVwwq6+E4bUKyGam2Dc8heIdfLphoGBgfjHP/6hVDWJqAfZs2ePr6tAbmhZpTCI7+EiIhdxwOVBtbW1EEURKpVKtl4/eVZPi/Phw4fx/vvvO2w3DLsaweNvBQCU7/g7movlS8SHhoZiz549GDGi/YeufamnxbmvYpxJaWxz3WO/w+VsXfhWGGdlMM7KYazdxwGXB+Xm5nL1FgX0pDjX1NRg5syZDtt1AwYj4vr7AQDVez9A/fGvZOlDhgzBvn37ZC/F7Gl6Upz7MsaZlMY21z0mF+9wMc7KYJyVw1i7r2+vtUvkZX/84x/tb11voTKEImrucqi0/qjP3Y+qr/9Plj5jxgxkZWX16MEWERE5V9Po2iqFREQteLTwoOjo6HZf5Eee0xPibDKZMH/+fGzbtk2eoNIgas5j0ARHwVx+HmX/eQ6QLr2h/PLLL8f27dt7xZKqPSHO/QHjTEpjm3OfJEkur1LIOCuDcVYOY+0+Drg8aODAgb6uQr/g6ziXl5fj6quvxrFjxxzSIq6/H/7xwyE21qL0w6cAc4M9TaVS4c033+wVgy3A93HuLxhnUhrbnPuaLCLMVtvqkZ3d4WKclcE4K4exdh8HXERdtGDBAofBliAICLnqlwjMnApJtML40bOwVBbK9lmzZg1GjhypZFWJiMiDahpsd7dUAhCg4ykUEbmGz3ARdcHp06exdetWh+2GzGsR8rPbAQAVu/4XjWcPytKTk5OxZMkSRepIRETe0fL8VqCfBipV75itQES+12sGXF988QXuvvtupKenIyAgAHFxcZg9ezZ++uknh30PHDiAa6+9FoGBgQgNDcXcuXNx5swZH9Sa+hJJkrBgwQKH7f5JYxAx408AgMaftqD2yGcO+yxbtqzXTCUkIiLnXF2hkIiotV5zP/zVV19FeXk5Fi1ahIyMDBiNRqxduxbjx4/Hrl27MHXqVADAiRMnMHnyZIwePRqbNm1CY2MjVqxYgYkTJ+LQoUOIioryWh2PHTtmXy4zIyPDaz+nv/NFnCVJwp133omvvpIv766NSkbUzY9BUKlRm/UFynf/0yHvnDlzcPfddytST09ie1YG40xKY5tzX439HVydD7gYZ2UwzsphrN3XawZcr7zyCqKjo2XbZsyYgdTUVKxevdo+4FqxYgX8/Pywbds2BAcHA7CtDDdkyBA8//zzePbZZ71WR7PZDLPZ7LXyyUbpOEuShP/5n//B+vXrZdvVQRGIvvUJqPwMaDp/FOU7/u6QNykpCR9++GGvvLvF9qwMxpmUxjbnvkt3uDo/fWKclcE4K4exdl+vmVLYdrAFAIGBgcjIyMD58+cBABaLBdu2bcO8efPsgy0ASExMxJQpU7Blyxav1lGr1dr/kPcoHeclS5Zg3bp1sm2CzoDoW1ZCExSJ5rJzKP3wL4Boke2j0Wiwfv36XjnYAtielcI4k9LY5txnarnD5cKAi3FWBuOsHMbafb3mDpcz1dXVOHDggP3uVm5uLhoaGpyuBDdy5Eh89tlnaGxshL+/f4flZmdnIzExUTZoa2pqwokTJwAAYWFhSEhIkOU5deqUfdTf9jZrWVmZ/eW4CQkJCAsLs6dZrVZkZWUBAIKCgpCSkiLLm5eXh5qaGgDA8OHDodFc+sqqqqpw7tw5AEBsbKzDdMkjR45AkiTo9XoMHTpUlnb+/HlUVFQAANLS0mQxqa2tRW5uLgDbQLftMqAd3VIuKipCaWkpAGDw4MEIDAy0pzU2NiInJwcAEB4ejkGDBsnynjx5Eg0NDRAEweE7NBqNKCy0rfqXmJgoe2mwxWJBdnY2ACA4OBjJycmyvGfOnIHJZAIAZGZmyt4fUVlZifz8fABAXFwcIiMjZfW9+eabsWvXLll5UKkRdfOj0EUnw1JbgdL3V0JsqpPt4u/vj5deegkBAQEoLi5GTEyMLD07OxsWiwV+fn5IT0+XpRUWFsJoNAIAUlNTERAQYE+rr6/HqVOnAAARERGIj4+X5c3JyUFjYyPUajUyMzNlaaWlpSgqKgJgm7VBDQAAIABJREFUu/MWEhJiT2tubsbx48cBACEhIUhKSpJ9t7m5uaitrQUAjBgxAirVpWs15eXlKCgoAADEx8cjIiLCniaKIo4ePQrAdoFk8ODBsjqdPXsW1dXVAIBhw4ZBp9PZ06qrq3H27FkAtqVo2150ycrKgtVqhb+/P9LS0mRpBQUFKC8vBwAMGTIEBoPBnlZXV4fTp08DAKKiohAbGyvLe+LECTQ1NUGj0WD48OGytOLiYpSUlACwLYTS1WNEfX09AGDUqFH27RkZGfZjxOHDh/v1MaKpqQnkfZwK5L6WVQo7ewcXwDgrhXFWDmPtvl494Fq4cCHq6uqwbNkyALCfYIWHhzvsGx4eDkmSUFlZ2el7BCwWCyRJkm2TJMk+oLJYLE7ztHebVRRFe5ooig7prpbbtk6ty7VarU7LlSTJ6ZUIq9XarXLb+6yty237WVvH0Fm5LZ/V2R0hV8v11HdTXFyMSZMm4eTJkw55Iqb/CfrkyyA2N8L4wSpYa4yy9KCgIBw5cgRlZWUwm83txtBiscgGLs4+a0ftsKPvxllaR+W25O2sXGdcbd/O8reuU1udfdbm5maIouj0BYyeiKGzGLlaLo8R7h8jiHqyljtcrkwpJCJq0WuPGI8//jjWr1+Pl19+GZdffrksraMpXK5M79JoNA77CYJgPylpfQW5dZ72brGqVCp7mrMTbFfLbVun1uU6O+nUarWQJMlpuWq1ulvltv67vXLbftbWMXRWbstndfYduVquJ74bURQxZ84cp4OtkJ/djsCR10ESrSj7z7NoLsl12OfFF19EeHi4/c5NezFsXe/2PmtH7bC9ctt7C3xH5bbk7ajc7rbvzj5rW519Vp1OB6vV6pUYiqLY5d8bHiMc6+vOMYKoJ+MqhUTkDkHqhZcUV61ahZUrV+Lpp5/Gn//8Z/v2nJwcpKen45VXXsEf//hHWZ4lS5Zg7dq1qK+vl02NEUXRPt2sRVBQkNOTHuofPv30U0yfPt1he8io6xA6YxEAoHzXK6g7vNPhinx8fDxOnjwJvV6vSF2J+hIej9vH2PQMD2w8hC0HL+DPN6TjnqsHd56BiPocd47Hve4OV8tga+XKlbLBFmB7HkCv19ufGWnt6NGjSE1N7fT5re4oKiqy313obNoiuc+bcZYkCQ888IDDdr+4DIRcaxvEV//wIWoP7XDYx2Aw4D//+U+fGWyxPSuDcSalsc25ryt3uBhnZTDOymGs3derLo099dRTWLlyJZYvX44nnnjCIV2j0WDWrFnYvHmzbOSZn5+PL7/8EnPnzvVq/UpLS1FcXGx/IJy8w1txNplMmDhxIo4dOybbrgkZgKi5yyBotKjP+Q5Ve95yyGswGLB3716MGTPGo3XyJbZnZTDOpDS2OffVdOEZLsZZGYyzchhr9/WaO1xr167FihUrMGPGDMycORN79+6VpY8fPx6A7Q7Y2LFjceONN+LRRx+1v/g4MjISDz30kC+qTr1AcXExrrzySvsrBloIOgOibnkCakMImopPo+yTtQDk0wj1ej327dvnsKIdERH1LV1ZpZCIqEWvGXB9/PHHAICdO3di586dDuktz9Kkp6djz549eOSRR3DLLbdAo9Fg6tSpeP755x2WRPa0wYMHQxRFzqn3Mk/Hed++fZgyZYp9yW67luXfIxNgMZXB+OGTkMzyZau1Wi0+//zzPjnYYntWBuNMSmObc19XVilknJXBOCuHsXZfrxlw7dmzx+V9L7/8cuzevdt7lWlH6/fJkPd4Ms6nT5/Gdddd5zjYgoCI6xddWv79w6dgra2Q7aHT6fDxxx9jwoQJHqtPT8L2rAzGmZTGNue+mi48w8U4K4NxVg5j7b5eM+Ai8obVq1fbXxrb2vg/PIOikOGQRCuMH61xWP49PDwcR44cQVxcnFJVJSIiH2o0W+13uCIDdZ3sTUR0Ce8JUr9VW1uLd955x2F7QOZUFIXYpgiWb38JjWd+cthn06ZNHGwREfUjRpNtSrlOo0KIns9wEZHreIfLgxobGyFJEgRB8Ory8/2dJ+IsSRLuuusuWCwW2XZdbBoipt8HADDt3QRV/n6HvCNGjMDUqVPd+rm9CduzMhhnUhrbnHtKTY0AgOggP5de0s04K4NxVg5j7T4OuDwoJycHZrMZWq0Wo0aN8nV1+qzuxlmSJPzud7/D5s2bZdvVQRGImnNx+feT36Piq3fQdkXCoKAgrF+/3qXOtrdje1YG40xKY5tzT2mN7Q7XgGDXTjQZZ2UwzsphrN3HKYXU7zz++OP417/+JdsmaHSImrMcmsBwNJfmoWyb4/LvUVFR2L9/P0aMGKFgbYmoLzOZTFi6dCmmTZuGqKgoCIKAlStX+rpa5ERJzaU7XEREXcE7XB4UHh5ufwM3eU934nzw4EGsXr1avlFQIXLWEvgNHAJrfTWMm/8Cydwo22XkyJH473//i+Dg4O5UvVdhe1YG49y/lZeX4/XXX8eoUaNw880344033vD6z2Sbc0+pqWt3uBhnZTDOymGs3ccBlwcNGjTI11XoF9yN8969ezFlyhT7O9tahE/7IwxDJ0CyNMO4ZTUs1SWy9NmzZ2Pz5s397r0TbM/KYJz7t8TERFRWVkIQBJSVlSky4GKbc0/JxSmFUS7e4WKclcE4K4exdl//OoOkfuuFF17AhAkT0Ngov3MVctUvETR6hm3594+fQ1NBtixdr9dj06ZN/W6wRUTKEAShXzwT2he0LJrh6h0uIqIWvMNFfd769evx4IMPOmwPHDMToT+/AwBQtfs1NJz83mGf3//+99Dp+L4VIup5srOzkZiYKJvq3NTUhBMnTgAAwsLCkJCQIMtz6tQp+4ve2z70XlZWhgsXLgAAEhISEBYWZk+zWq3IysoCYFs8KCUlRZY3Ly/P/k7D4cOHQ6O5dHpRVVWFc+fOAQBiY2MRFRUly3vkyBFIkgS9Xo+hQ4fK0s6fP4+KCttL59PS0mQro9XW1iI31/aOxOjoaAwcOFCW99ixY/YH/DMyMmRpRUVFKC0tBQAMHjxY9kLXxsZG5OTkALBNoWq5qt+yaIa5xojDh8shCAJGjhwpK9doNKKwsBCA7e5laGioPc1isSA723ZRLzg4GMnJybK8Z86cgclkAgBkZmbKpm1VVlYiPz8fABAXF4fIyEhZ3sOHDwMADAYDhgwZIkvLz89HZWUlACA9PR1+fpfu0NXU1CAvLw8AMGDAAMTExMjyZmdnw2KxwM/PD+np6bK0wsJCGI1GAEBqaioCAgLsafX19Th16hQAICIiAvHx8bK8OTk5aGxshFqtRmZmpiyttLQURUVFAICkpCSEhITY05qbm3H8+HEAQEhICJKSkmR5c3NzUVtbC8C2onDri6Xl5eUoKCgAAMTHxyMiIsKeJooijh49CsD2ct/BgwfLyj179iyqq6sBAMOGDZOdF1RXV+Ps2bMAgIEDByI6OlqWNysrC1arFf7+/khLS5OlFRQUoLy8HAAwZMgQGAwGe1pdXR1Onz4NwPYMeWxsrCzviRMn0NTUBI1Gg+HDh8vSiouLUVJim62TnJzMYwQ8e4xoampCV3HARX1aVVUV7rnnHofthrSfI/y6/7Ht899/o+bgdod9oqOj8cgjj3i9jkRE7rBYLA5TpCVJgtlstqc7y9OS3pYoivY0URQd0l0tt22dWpdrtVqdlitJErRax3dbWa3WbpXb3mdtXW7bz9o6hq3LbbnDFaITYDabnd6ZdLXcnvLdtPdZW5drsViczvLo6LtxpVyz2ew0raNyW/J2Vq4zrsbQWf7WdWqrs8/a3NwMURSdPvfkiRg6i5Gr5faUdtgbjxFdxQGXB508eRIWiwUajcZhBE6e40qcJUnC2rVr8dhjjzn84vsnjETkjQ9DEFSoO7wD1d+955A/ICAAX3/9tcMVpf6E7VkZjDO5S6PROJz0C4JgPylpfQXZWZ6TJ0/K2pxKpbLndXaC3Vm5Lelt69S6XGcnnVqtFpIkOS1XrVZ3q9zWf7dXbtvP2jqGLeU2WayorLedfEUH+0ErOp8K2rrcoqIiFBcX23+3XflunNW17Wf15Hfj7LO2Lbf1Pu19VnfKbW/xhY7KbcnbutzWx1CtVtvtGHb2Wdvq7LPqdDpYrVavxFAUxS7/3nSnHZaWltrL6+/HiK4SJHeGaX2IKIr2W/gtgoKC3Hpm5/Dhw3w/gQI6i7MkSVi0aBFefvllhzRtdApi5j8DlZ8BdSe+Qdl//gpI8isXOp0OBw4ccLhF39+wPSuDcb7Ek8fj3qisrAxRUVF44oknHJaGZ1/lWwWV9bjq2S+h06iQ89QMl064GGdlMM7KYaxt3Dke949eTCEtDz/zAWjv6izOu3fvdjrY0oTGYMCtq6DyM6Dx3GGUbXveYbAFANu3b+/3gy2A7VkpjDMpjW2u61pWKIwO8nM5boyzMhhn5TDW7uOUQg9q+/AseUdHcW5ubsaCBQsctqsMoYj+xZNQB4ahuSQXpZufBqyOc4wXLFiAa665xqP17a3YnpXBOJPS2Oa6zmjq+kuPGWdlMM7KYazdxwEX9RmSJOHuu++2r+TUQtDpEX3rSmjDYmGuKkbJ+09Aaq53yD9t2jSnd8aIiLxpx44dqKurs09ROXbsGD744AMAwA033CBbuYx8o+UOF5eEJyJ3cMBFfcbWrVuxfv36NlsFRM16GH4xqbDWVaF04+MQ66oc8i5fvhwrV67k29OJSHH33nuvfUlkAHj//ffx/vvvA7Atpdx26WtSXqkbd7iIiFpwwEV9wrFjx3DHHXc4bA/52W3Qp46DZGlG9bZnYakqctjnqaeewvLly5WoJhGRg5Z3+FDPZX+Gi3e4iMgNHHB5kNFotC9z2valbeQ5beNsNBpx1VVXObyIzj/lCoRcNR8AUP7pP1B39qhDWWPHjsXSpUsVqXdvw/asDMaZlMY213UlNbY7XF2ZUsg4K4NxVg5j7T4OuDyosLDQvlwmG6L3tI5zeXk5xo8fb38DfAtN6EBEzbK9a8t04BPUHd3tUM64ceOwbds22Rvj6RK2Z2UwzqQ0trmuyyurAwDEh+ldzsM4K4NxVg5j7T4uC0+91jfffIMRI0Y4DLYErT+i5i6Dyj8QjReOo+LzdQ55//73v+P7779HZGSkUtUlIqJeqLbJgoLKBgBA2oAgH9eGiHoj3uHyoMTERIii2G9e0ukriYmJOHDgAB588EFYLI5Lu0dcfz90UUmw1lagbOsaQJTvc+edd+K+++5Tqrq9FtuzMhhnUhrbXNecKrGtHhkd5IewANdnRDDOymCclcNYu48DLg8KDQ31dRX6hdDQULz00ktobm52SBs25z7UD70aktUC49ZnYK2tkKVHRUXhueeeU6qqvRrbszIYZ1Ia21zXnLw44EqL6drdLcZZGYyzchhr93GISr2O0WjEtm3bHLb7J45CXeq1AICKz9eh6cIxWbpGo8G3336LAQMGKFJPIiLq/XKKawEAQzmdkIjcxAEX9Trbtm2DKIqybergKETetBSCSo3ao7tRe/ATh3wrV67EkCFDlKomERH1AfY7XBxwEZGbOKXQgywWCyRJgiAI0GgYWm94/fXX8Yc//EG+UVAhctYSqA0haCo+jYpP/+GQ71e/+hX+/Oc/K1TLvoHtWRmMMymNba5rci4OuIZ2cUoh46wMxlk5jLX7GC0Pys7Oti+XOWrUKF9Xp89Zu3YtHn74YYftQVfMhn98BsSmehi3rIZkkT/bNX36dLzzzjtKVbPPYHtWBuNMSmObc11FXTOMJts7HodEB3YpL+OsDMZZOYy1+zjgoh7vwoULmD9/Pr7++muHNG1kAsKuvhMAUPnFOlhrSmXp06dPx5YtWxSpJxER9S0t0wkHhesR4MdTJiJyD48eHhQcHAyLxcLbrB70j3/8A/fdd5/DM1sAoAkZgOhfPAlBo0PDmR9Re+QzWfq9996LV155BYIgKFXdPoXtWRmMMymNbc513Xl+i3FWBuOsHMbafYyYByUnJ/u6Cn3Ku+++i4ULFzpNUweEYcDtT0MTFInmsnyUbfubwz5/+9vfONjqBrZnZTDOpDS2OdcdLagG4N4KhYyzMhhn5TDW7uMqhdQjmc1m3H///U7TBI0OUXMfhyY0BuaKQpS+twxiQ41sn2nTpsHf31+JqhIRUR/1/ZlyAMCVyeE+rgkR9WYccFGPU1NTg8suuwzl5eVO0yNm3A+/2KGwNtSg9P0VsNZVOuzzwAMPeLuaRETUh52vqEdBZQM0KgFjkzjgIiL3ccBFPcr+/fsRGxuLrKwsp+nB429FwPDJkKwWGLeugaWq2GGf5cuXY8aMGd6uKhER9WEtd7dGxodwwQwi6hYeQTzozJkz9ocJU1JSfF2dXufFF1/Egw8+CEmSnKbrU8ch9OKKhBW7X0NT/lFZuiAIePrpp/HYY495va79AduzMhhnUhrbnGu+z7UNuH42ONKt/IyzMhhn5TDW7uOAy4NMJpP9/QTkuvLyctx22234/PPP291HHRiOyJkPQBBUqPlpG2oP7ZClq1QqfPLJJ7yz5UFsz8pgnElpbHOdkyTJPuCaMDjCrTIYZ2UwzsphrN3HARf51IEDBzB16lRUV1d3uF/4dfdC5R+IpsKTqPxinSxNq9Vi165dmDJlijerSkRE/UReWR2KaxqhU6tweWKYr6tDRL0cB1welJmZ6esq9CovvPACHnrooXanELYwpF8Fw9AJkKxmlO94CRCt9rSUlBRs2LABV155pber2++wPSuDcSalsc11buuhQgDAmIRQ+GvVbpXBOCuDcVYOY+0+Drg8SK1276Dc35SWlmL69Ok4dOhQp/tqwmIRMeM+AED13vdhLjtnT5s/fz7+/e9/811bXsL2rAzGmZTGNtcxo6kJb/z3DADgrp8luV0O46wMxlk5jLX7uEohKcZqtWL58uUYOHCgS4MtQadH1NxlUPkFoLEgG9XfbbKnxcfH47XXXuNgi4iIPOrlL06hvtmKUYNCcX1mjK+rQ0R9AO9wkVdlZ2fjhx9+gMViwfr16/H111+7nDfihsXQRSbCYiqHcesaQLQAAMLDw7Fjxw4EBgZ6q9pERNTPiKKEt747i3d/yAcAPDIjjRf1iMgjOODyoMrKSoiiCJVKhbCw/v2Q7caNG/Hoo4/i7NmzbuUPHncLAtJ+DslqhnHraoh1VQCAn//853jrrbcQFhaGysrKfh9nb2J7VgbjTEpjm3NU3WDGovcOYk+OEQAwd0yc28vBt2CclcE4K4exdh8HXB6Un59vXy6zvzbEffv24ZZbbsH58+fdLsOQPhGhk34NAKj47P+huTAHgiDgiSeewIoVK3DkyBFUVVX16zgrge1ZGYxz/1ZbW4vly5dj06ZNqKioQHp6Oh599FHcfvvtXvuZbHNyeWV1WPD2fuQa6+CnUWH5zGH41fjEbpfLOCuDcVYOY+0+Drg8yGQy4ZtvvkFdXR1yc3MBAIcOHYIoihg1ahRmz54NnU7ncnn5+fn47LPPUFtbi8TEREyePBnFxcVQq9VITk5Gfn4+9u7di0OHDkGn0yE+Ph633HILIiIiUFhYiLNnz8JgMCAzMxNarRYFBQX45ptvYDQaIQgChg4disLCQnzyyScoLCyERqPBuHHjMGvWLKSmpiIqKgp5eXk4deoU/Pz8MHbsWBgMBmzfvh2ff/45TCYTQkNDceONNyIhIQHz58/H/v37uxXDgOFTEHHDYgiCCqYDn6D28C74+/tj586dmDRpUrfKJiLqaebOnYv9+/fjmWeewdChQ/Huu+/ijjvugCiKmD9/vq+r53GiKKHJIqLBbEWD2YoLlQ04W1YHrUZAmEGHiAA/qFRATrEJ+RX1qKhrRlJEAG6/chCsooS9ZypQ3WCG2SrCT6NCqEGL1KggBOs1qG+2IjrIDxq1a4+ni6KEd/aewzM7TqDBbMXAEH+s+/UVyIwL8XIUiKi/EaTO1uTupVy9aiiKIkwmk2xbUFAQVCrX1xNpamrCww8/jH/+859oaGhodz+dTod58+bhb3/7G44cOYLPPvsMRUVFEEURqampAIC8vDxUV1fjhx9+gNFo7HTJdCVpNBoIggCz2ez5wlUahE26C8FXzgEAmA7vQsXO/8UVV1yOzz//HMHBwfZdy8rK7Le0IyO7N+WD2sc4K4NxvsQTx+PeZPv27Zg5c6Z9kNVi2rRpyM7ORn5+vn1VME/GxlmbkyQJVlFyebDSVadLa/HMjuP4/EQp3OnWwgxa1DVb0WwRO9wvKsgPvxyXgKuHRiEm2B85JSYUVDag2SJCr1UjLkyPhmYLjheZ8OGBAhRU2vrsccnhePmOMYgO9nfn4znF321lMM7KYaxt3Dke99kB17Rp0xyuGr7xxhtYv3697Kphdzuxffv2Yfbs2SguLvZo/fsTfcoVCJ10F3TRyQCA6n2bUb3nLSxfvgyrVq3iQ8tE/UR/G3D9/ve/x3vvvYfKykpoNJcmnGzYsAHz58/Ht99+i5/97GcAPB8bSZJQ02CBRRSxPasYf//8FGoazBgRF4IFE1Mwo5ur81U3mFFS04gyUxM2/Xge244UwSLKTze0agHRQf5IiQqAKEmoqDOjoq4JzRYRQ6KDMDg6AMF6LXYcLUZ+RT0AIDkyAIPCDdCpBTRZRBhNTThTVodmiwiVAIhdPKMJ9tfg4elp+NW4RKhU7GuIqHPuHI/75JTC7du347PPPpNdNZwyZQrOnTuHJUuW4LbbbvPIuwQ++ugjzJs3D1artfOdSUYdFAnD0J8hcOR19oGWtaEG5dtfhKbkOPbs+RJXX321j2tJROQ9WVlZGDZsmGywBQAjR460p7cMuJzJzs5GYmKibAZAU1MTTpw4AQAICwtDQkKCLM+pU6ew9agRH50woaDG4lDmj+cqcTD/J7x2x3BcOzLJvt1qtSIrKwuA7cQiJSVFli8vLw81NTWobLBiT4kW7+4rQLNVfjdqbJw/HrwmFSMHx8Ffq4b64gDnyJEjkCQJen04hg4dKstz/vx5TIsJw5ESA0anpWB0UqT9IlxtbS1yc3NhFYMRGRWFmJiB2JFVhM0HLuB4UQ2MpibEBWswKESHyPBQ1DaaUVjVCH+dGlF6AcPDgZ8P0iMjLVI22GpsbEROTg4A26q4gwYNktXp5MmTaGhogCAI9u+qhdFoRGGh7aXJiYmJCA0NtadZLBZkZ2cDAIKDg5GcnCzLe+bMGftJXGZmpuw8pbKyEvn5ttUT4+LiHO4uHD58GABgMBgwZMgQWVp+fj4qKysBAOnp6fDz87On1dTUIC8vDwAwYMAAxMTIB9rZ2dmwWCzw8/NDenq6LK2wsBBGo22RkdTUVAQEBNjT6uvrcerUKQBAREQE4uPjZXlzcnLQ2NgItVrt8DLd0tJSFBUVAQCSkpIQEnJpimdzczOOHz8OAAgJCUFSUpIsb25uLmprawEAI0aMkJ0Al5eXo6CgAIDt1TIRERH2NFEUcfToUQBAYGAgBg8eLCv37NmzqK6uBgAMGzZM9nhIdXW1fYGwgQMHIjo6WpY3KysLVqsV/v7+SEtLk6UVFBSgvLwcADBkyBAYDAZ7Wl1dHU6fPg0AiIqKQmxsrCzviRMn0NTUBI1Gg+HDh8vSiouLUVJSAgBITk7u8jGivt52gWPUqFGytLKyMly4cAEAkJCQIHuOy9VjBAAMHz5cdtyrqqrCuXO296zGxsYiKipKlvfSMULv9BhRUVEBAEhLS4O//6W71C3HCACIjo7GwIEDZXmPHTtmfyYtIyNDllZUVITS0lIAwODBg2UrYzc1NaGr+uSAa8uWLQgMDMStt94q2/7b3/4W8+fPxw8//NBhJ+aK/Px83H777RxsdUJlCIE2MgGakBhogiKgCY+DbkAKdJGXHkgWzU0w/fQxan74AFeMzMBnPxXIDg5ERH1ReXm5w0kJYDvJb0nviMVicZh2LkmSfdq3xeI4oLJYLKisN8sGW1FBfvjTlFQMCxfwwu5T+L6gCY9sPYlPEmMQE3Lp5KWjcg9fMOHtH0txuKTZfpcp1KBFgE6Dy+ID8fNoK1LDtYgP90OAn/zUw2w2Q5IkaLVah3KtViskqwUjItVIjwmUzXgQRdFeJxUk6DQqzB4dh9mj4wAABw4egmi1QKvVOpw4FhQU2GamSFaIonxg2DqGzvp4i8UCs9nsdPaF1Wq15+2o3Pa+m/am7Lf+rG3LBTr+blqX21F7cfZZzWYzLBaL0yv3rT+rO+WazWanaR2V25K3s3KdcTWGzvK3rlNbnX3W5uZmiKLo9EK/J2LoLEaulttT2mHrctv7rB0dI7pTbnuftbPf5a7qkwOu7l41dMWrr76KxsZG2TaVfyC0EYOgCgiFIKggqLVQ6YMgqHWQRAvEpjpYaytgrauEWF8NyWKGJFoByWr7WxQBqW0DFiDo/KHyM0DQ6iFodFBpdRA0fhA0uot/Lv5bq4Og1gKCCoKgAlSqi/8WAEF98f+CLe3iH0HV8m/h4r/Vl/ax51dBspohmZsgmpsAqxlQqSGoNRDUGoc86oAwqAPDoQ4Mh0qndxo/SbSiqegk6rL3oP74V9CIzdjwzju49dZbOYWQiPqNjo53nR0LW56rbZun5aSkbR/Ysm1qSiCiA7X43YyxCLw4+BEEAWVlZVg8IQKFnxpxrtqMea9+h9d/fTmGx9ruMLRX7oH8Sjy6swCNFttJyJhBoXhoWhp+nhoBQRBkV6+dnXRqtVpIkuS0vmq12v5z235WlUplT3NWrr+fDmaz4PQkrXW5bQcTrWPorFyNRgOtVuv0+3G13Pa+G2d1bSmrvXKB9r+btuV21F7a+25a79NaR9+NK+VarVanaR2V25K3o3K7G8POPmtbnX1WnU4Hq9XqlRiKotjl35ue2A47+1321jHC1e/c2e9yV/XJZ7iGDh2KlJQU7Ny5U7a9qKgIsbGxWL16NR577DEAzudh5ueG84uGAAAT4ElEQVTndzpNY/r06fb/twgcfT0ipi/sVt0lSQTEiwMwSWp3wNJbSJIIS1UJLJUXYDGVw1JVDHPZOTQVHIfYaIt7dHQ0Dh06BJPJ5NI0DVEU7QevUaNGcZpGK56cpnH48GH7rfbAwEBO04B3pmm0xBmwHfT78zSNhoYGNDc3y/bvy89wTZgwAVarFfv27ZNtz87ORmZmJl577TXcc889ADz7DFfr3+22d34AIL+8Hr9+8wecLa+HWiXAT6OCXqtGZlwIRg8KxehBoahpNONEsQmNZiu2HLyAqnozJg6JxKqbhiMlii+lBzqPM3kG46wcxtqGz3C10p2rhq5M02g50VapVPZbjZaaUpirimGtqwREKyBaYW2ogWRuhqBWQ+UfaLv7ExAOlSEYgspxtC0IKkBtuzsm+/lWC0RzIyRzEyRLs+2PuQmSpdX/LU22O1GiCEgSIIkX/237I0kXt4ut/2/bZhvgXfy3JLbZR7LdzdL4QdDa7qbBarH9LKvFoSxrfTWspnLb3bzackiWZofP2WL06NH4+OOPMXDgQFRWVro0TaPtVYqeeHuc0zQcy+U0jfbbYeufzWka/ceIESOwYcMGWCwW2UC55SJF24smSkmIMOCjhVdh0Ubbi4Drm62ob7biq5NGfHXS6DTPqEGheO3Oy2HQ9dnTCiIit/XJI2NERITTue8tV2tb5se3x5VpGgMHDkRJSYnshKHxzE8ofG1BF2oq2KbmqdRO/rZN5RPNjRCb6m3T+PoQf39/PPPMM1i0aJF9m6vTNFr2aTlB6Ym3x/vCNA2DwWA/EWwdp7Y4TcOx3K60Q4PBgIaGBpjNZnusndXJlXL74zSN3mzOnDlYt24dPvzwQ9x222327W+//TZiY2Mxbtw4r/zc1r/b7QkxaPGv34zFhaoGiCJQWd+MwwVVOJhfhaMXqhHop0FmXDBC9FqE6nX4xdhBHGy14UqcqfsYZ+Uw1u7rk1MK77nnHmzYsMFhqd333nsPd9xxh0eW2n3uueewdOlSALYTv7bTYOiShIQEzJ07F2VlZdBqtZg4cSJuu+022TQvIqL+tiw8YHuFyY8//ohnn30Wqamp2LBhA9atW4d///vf+OUvf2nfrz/GhoioJ+J7uC7asWMHbrjhBrz33nuyq4bXX389jhw54pGXSVZUVCAjI8P+PAc5io6Oxrp163DTTTf5uipE1Av0x0FFbW0tli1bhk2bNqGiogLp6el47LHHcPvtt8v264+xISLqiTjgakWJq4YHDx7EjBkz7A+A+4pOp4NarUZDQ4NL+wuC0O6zElqt1ukzbO1p/Qxby/8zMzOxZs0aXH/99f1uihARuY+DivYxNkREPQMHXK0oddXQaDTitddewzvvvIOCAtv7o2bOnImpU6ciNjYWycnJ+Ne//oVXXnkFZWVlDvmjoqJgMBhgtdreBeLv74+QkBD4+fkhOjoaKSkpuOWWWzBgwABYrVYMGjQIOTk5yMvLQ0BAACZMmGBfKa2urs6+YIJarUZISAgaGhpQVlaGsrIyiKKIuLg4hIWF4d1338Wbb76JU6dOQa/X45prrsHChQtx2WWXAbC93O7o0aMwGo349ttvsXnzZly4cAF6vR4ZGRm46aabcP/99yMkJAQ5OTk4ceIE/Pz8cOWVV3b6jBwRkTMcVLSPsSEi6hk44HKDJzux/Px8+8OEbZeEtlqt+Prrr3H+/HnodDqMGTMGSUlJsqXEyTUdxZk8h3FWBuN8CQcV7VOqryLPYZyVwTgrh7G24bLwPtayrHnLu3RaU6vVmDJlio9q1rd0FGfyHMZZGYwzKY1tThmMszIYZ+Uw1u7jZUMiIiIiIiIv4ZRCD07TaGpqgiRJEASBUwW9iHFWBuOsDMb5Ek4pbB/7qt6HcVYG46wcxtqGUwp9rD83PiUxzspgnJXBOJPS2OaUwTgrg3FWDmPtPl42JCIiIiIi8hIOuIiIiIiIiLyk308pdPYIW+sX+XZF6/mcQUFBbteJOsY4K4NxVgbjfImzY28/f8zYjn1V78M4K4NxVg5jbeNOX9XvF82wWCyoq6vzdTWIiMiJgIAAaDT9/tog+yoioh6ss76KUwqJiIiIiIi8hAMuIiIiIiIiL+GAi4iIiIiIyEv6/TNcoig6PPwmCAIEQfBRjYiI+idJkhwePFapVHzxMdhXERH1FO70Vf1+wEVEREREROQtvGxIRERERETkJRxwdVNtbS0WL16M2NhY+Pv7Y/To0Xjvvfd8Xa0+Z8+ePfbpM23/7N2719fV65VMJhOWLl2KadOmISoqCoIgYOXKlU73PXDgAK699loEBgYiNDQUc+fOxZkzZ5StcC/maqx/85vfOG3j6enpylea+hT2VcpgX+Ud7K+Uwb7Ke/hyk26aO3cu9u/fj2eeeQZDhw7Fu+++izvuuAOiKGL+/Pm+rl6fs3r1akyZMkW2LTMz00e16d3Ky8vx+uuvY9SoUbj55pvxxhtvON3vxIkTmDx5MkaPHo1NmzahsbERK1aswMSJE3Ho0CFERUUpXPPex9VYA4Ber8cXX3zhsI2oO9hXKYt9lWexv1IG+yovkshtn3zyiQRAevfdd2Xbr7vuOik2NlayWCw+qlnf8+WXX0oApPfff9/XVekzRFGURFGUJEmSjEajBEB64oknHPa79dZbpcjISKm6utq+7ezZs5JWq5WWLl2qVHV7NVdjfdddd0kBAQEK1476OvZVymFf5R3sr5TBvsp7OKWwG7Zs2YLAwEDceuutsu2//e1vUVhYiB9++MFHNSPqnCsrnFksFmzbtg3z5s1DcHCwfXtiYiKmTJmCLVu2eLuafQJXkyNfYl9FvR37K2Wwr/IeDri6ISsrC8OGDYNGI5+ZOXLkSHs6edbChQuh0WgQHByM6dOn45tvvvF1lfq03NxcNDQ02Nt0ayNHjsTp06fR2Njog5r1XQ0NDYiJiYFarUZ8fDz+9Kc/oaKiwtfVol6MfZXy2Fcpj/2VsthXdQ2f4eqG8vJypKSkOGwPDw+3p5NnhISEYNGiRZg8eTIiIiJw+vRpPPfcc5g8eTI++eQTTJ8+3ddV7JNa2nBLm24tPDwckiShsrISAwcOVLpqfdKoUaMwatQo+7MeX331FV544QV8/vnn2L9/PwIDA31cQ+qN2Fcph32V77C/Ug77qq7jgKubOrr1ytuynjNmzBiMGTPG/v+JEydizpw5GDFiBJYuXcpOzMvYzpXxwAMPyP5/3XXXYcyYMbjllluwbt06h3QiV/F3WBnsq3yPbd372Fd1HacUdkNERITTK4Mtt1SdXWUhzwkNDcWNN96II0eOoKGhwdfV6ZMiIiIAOL8CXlFRAUEQEBoaqnS1+pU5c+YgICCAS0qT29hX+Rb7KmWwv/It9lUd44CrG0aMGIHjx4/DYrHIth89ehQAl4BVgiRJAHjVylsGDx4MvV5vb9OtHT16FKmpqfD39/dBzfoXSZKgUvFwTe5hX+V77Ku8j/2V77Gvah+j0g1z5sxBbW0tPvzwQ9n2t99+G7GxsRg3bpyPatY/VFZWYtu2bRg9ejQPol6i0Wgwa9YsbN68GSaTyb49Pz8fX375JebOnevD2vUPH3zwAerr6zF+/HhfV4V6KfZVvsW+Shnsr3yLfVXH+AxXN1x//fW47rrrcO+996KmpgapqanYsGEDdu7ciX//+99Qq9W+rmKfMX/+fCQkJOCKK65AZGQkTp06hbVr16KkpARvvfWWr6vXa+3YsQN1dXX2zunYsWP44IMPAAA33HADDAYDVq1ahbFjx+LGG2/Eo48+an+RZGRkJB566CFfVr9X6SzWRqMR8+fPx+23347U1FQIgoCvvvoKL774IoYPH44FCxb4svrUi7GvUg77Ku9hf6UM9lVe4suXgPUFJpNJuv/++6WYmBhJp9NJI0eOlDZs2ODravU5a9askUaPHi2FhIRIarVaioqKkubMmSPt27fP11Xr1RITEyUATv/k5eXZ9/vxxx+la665RjIYDFJwcLB08803S6dPn/ZdxXuhzmJdUVEhzZkzR0pKSpL0er2k0+mkIUOGSEuXLpWqqqp8XX3q5dhXKYN9lfewv1IG+yrvECTp4sRiIiIiIiIi8ig+w0VEREREROQlHHARERERERF5CQdcREREREREXsIBFxERERERkZdwwEVEREREROQlHHARERERERF5CQdcREREREREXsIBFxERERERkZdwwEXUBd999x1WrlyJqqoqh7TJkydj8uTJyleqE//3f/+HqKgomEwmn9Xh6quvxuLFi33284mI+hP2Ve5hX0XeIkiSJPm6EkS9xfPPP48lS5YgLy8PSUlJsrRjx44BADIyMnxQM+fq6+sxdOhQLF68GA8//LDP6vHVV1/huuuuw9GjR5GWluazehAR9Qfsq9zDvoq8hXe4iDwkIyOjR3VgAPD222+jvLwcCxYs8Gk9Jk2ahLS0NKxdu9an9SAi6u/YV7WPfRV5CwdcRC5auXIllixZAgBITk6GIAgQBAF79uwB4DhN4+zZsxAEAc899xyeffZZJCUlQa/XY/LkyTh58iTMZjMeffRRxMbGIiQkBHPmzEFpaanDz924cSMmTJiAgIAABAYGYvr06Th48KBLdX711Vcxa9YshIaGyra///77GDduHEJCQmAwGJCSkoK7775btk9NTQ0efvhhJCcnQ6fTIS4uDosXL0ZdXZ1sP1EU8fLLL2P06NHQ6/UIDQ3F+PHj8Z///Ee235133ol3333Xp9NFiIj6OvZV7Kuo5+GAi8hFCxYswH333QcA2Lx5M77//nt8//33uOyyyzrM98orr+Dbb7/FK6+8gjfeeAMnTpzArFmz8Lvf/Q5GoxFvvvkm/vrXv2L37t0OV/dWr16NO+64AxkZGdi0aRPeeecdmEwmTJw40T4tpD0FBQU4evQopkyZItv+/fff47bbbkNKSgree+89fPLJJ1ixYgUsFot9n/r6ekyaNAlvv/027r//fuzYsQOPPPII3nrrLdx0001oPRP5N7/5DRYtWoSxY8di48aNeO+993DTTTfh7Nmzsp87efJk1NXV2Tt9IiLyPPZV7KuoB5KIyGXPPfecBEDKy8tzSJs0aZI0adIk+//z8vIkANKoUaMkq9Vq3/7iiy9KAKSbbrpJln/x4sUSAKm6ulqSJEnKz8+XNBqNdN9998n2M5lMUkxMjPSLX/yiw7pu3LhRAiDt3btXtv3555+XAEhVVVXt5l2zZo2kUqmk/fv3y7Z/8MEHEgBp+/btkiRJ0tdffy0BkJYtW9ZhXSRJkpqbmyVBEKRHHnmk032JiMh97KvYV1HPwjtcRF52ww03QKW69Ks2bNgwAMDMmTNl+7Vsz8/PBwDs2rULFosFv/71r2GxWOx//P39MWnSpE6vvhUWFgIAoqOjZdvHjh0LAPjFL36BTZs24cKFCw55t23bhszMTIwePVr2s6dPny6bmrJjxw4AwMKFCzuNg1arRWhoqNOfR0REvsW+yoZ9FXkDB1xEXhYeHi77v06n63B7Y2MjAKCkpASArdPRarWyPxs3bkRZWVmHP7ehoQEA4O/vL9t+9dVXY+vWrfYOMj4+HpmZmdiwYYN9n5KSEhw5csTh5wYFBUGSJPvPNhqNUKvViImJcSkW/v7+9noREVHPwb7qEvZV5GkaX1eAiJyLjIwEAHzwwQdITEx0O39FRQUGDhwoS5s9ezZmz56NpqYm7N27F2vWrMH8+fORlJSECRMmIDIyEnq9Hm+++WaHZUdFRcFqtaK4uNjhZzhTWVlpz0tERL0f+yqiznHARdQFfn5+AKDIla/p06dDo9EgNzcX8+bN63L+9PR0AEBubi6GDx/udB8/Pz9MmjQJoaGh2LVrFw4ePIgJEybgxhtvxOrVqxEREYHk5OR2f8b111+PNWvW4NVXX8WTTz7ZYX0KCwvR2NjY45YjJiLqa9hXybGvIl/jgIuoC0aMGAEAeOmll3DXXXdBq9UiLS0NQUFBHv9ZSUlJePLJJ7Fs2TKcOXMGM2bMQFhYGEpKSrBv3z4EBARg1apV7eYfN24c9Ho99u7di5tuusm+fcWKFSgoKMA111yD+Ph4VFVV4aWXXoJWq8WkSZMAAIsXL8aHH36Iq6++Gg888ABGjhwJURSRn5+PTz/9FA899BDGjRuHiRMn4s4778Rf/vIXlJSU4MYbb4Sfnx8OHjwIg8FgXykLAPbu3QsADitRERGRZ7GvYl9FPQsHXERdMHnyZDz22GN4++23sW7dOoiiiC+//FL2ThNPeuyxx5CRkYGXXnoJGzZsQFNTE2JiYjB27Fj84Q9/6DCvTqfDLbfcgo8++girV6+2bx83bhx+/PFHPPLIIzAajQgNDcUVV1yBL774wn51MSAgAP/973/xzDPP4PXXX0deXh70ej0SEhJw7bXXIikpyV7eW2+9hcsuuwz//Oc/8dZbb0Gv1yMjIwN//vOfZfXZunUrRowYYT8RICIi72Bfxb6KehZBklq9pICI+pQff/wRY8eOxd69ezFu3Dif1aOmpgaxsbF44YUX8Pvf/95n9SAiop6HfRX1dRxwEfVxt912G+rq6rBt2zaf1WHVqlXYuHEjjhw5Ao2GN9aJiEiOfRX1ZVwWnqiPW7t2LcaOHQuTyeSzOgQHB+Ott95iB0ZERE6xr6K+jHe4iIiIiIiIvIR3uIiIiIiIiLyEAy4iIiIiIiIv4YCLiIiIiIjISzjgIiIiIiIi8hIOuIiIiIiIiLyEAy4iIiIiIiIv4YCLiIiIiIjISzjgIiIiIiIi8pL/D0u1MallpMI+AAAAAElFTkSuQmCC\n", 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\n", 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1, 2, Q_title=True)\n", "zarchan_adaptive_filter(10, 2, Q_title=True)\n", "zarchan_adaptive_filter(100, 2, Q_title=True)\n", "zarchan_adaptive_filter(1000, 2, Q_title=True)\n", "zarchan_adaptive_filter(10000, 2, Q_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here we can see that the position estimate gets marginally better as the increment factor increases, but that the velocity estimate starts to create a large overshoot. \n", "\n", "It isn't possible for me to tell you which of these is 'correct'. You will need to test your filter's performance against real and simulated data, and choose the design that best matches the performance you need for each of the state variables." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Fading Memory Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Fading memory filters are not normally classified as an adaptive filter since they do not adapt to the the input, but they do provide good performance with maneuvering targets. They also have the benefit of having a very simple computational form for first, second, and third order kinematic filters (e.g. the filters we are using in this chapter). This simple form does not require the Ricatti equations to compute the gain of the Kalman filter, which drastically reduces the amount of computation. However, there is also a form that works with the standard Kalman filter. I will focus on the latter in this chapter since our focus is more on adaptive filters. Both forms of the fading memory filter are implemented in `FilterPy`.\n", "\n", "The Kalman filter is recursive, but it incorporates all of the previous measurements into the current computation of the filter gain. If the target behavior is consistent with the process model than this allows the Kalman filter to find the optimal estimate for every measurement. Consider a ball in flight - we can clearly estimate the position of the ball at time t better if we take into account all the previous measurement. If we only used some of the measurements we would be less certain about the current position, and thus more influenced by the noise in the measurement. If this is still not clear, consider the worst case. Suppose we forget all but the last measurement and estimates. We would then have no confidence in the position and trajectory of the ball, and would have little choice but to weight the current measurement heavily. If the measurement is noisy, the estimate is noisy. We see this effect every time a Kalman filter is initialized. The early estimates are noisy, but then they settle down as more measurements are acquired.\n", "\n", "However, if the target is maneuvering it is not always behaving like the process model predicts. In this case remembering all of the past measurements and estimates is a liability. We can see this in all of the charts above. The target initiates a turn, and the Kalman filter continues to project movement in a straight line. This is because the filter has built a history of the target's movement, and incorrectly 'feels' confident that the target is moving in a straight line at a given heading and velocity. \n", "\n", "The fading memory filter accounts for this problem by giving less weight to older measurements, and greater weight to the more recent measurements. \n", "\n", "There are many formulations for the fading memory filter; I use the one provided by Dan Simon in *Optimal State Estimation* [3]. I will not go through his derivation, but only provide the results.\n", "\n", "The Kalman filter equation for the covariances of the estimation error is\n", "\n", "$$ \\bar{\\mathbf P} = \\mathbf{FPF}^\\mathsf T + \\mathbf Q $$\n", "\n", "We can force the filter to forget past measurements by multiplying a term $\\alpha$\n", "\n", "$$ \\tilde{\\mathbf P} = \\alpha^2\\mathbf{FPF}^\\mathsf T + \\mathbf Q$$\n", "\n", "where $\\alpha > 1.0$. If $\\alpha == 1$ then we get the normal Kalman filter performance. $\\alpha$ is an attribute of the `KalmanFilter` class; its value defaults to 1 so the filter acts like a Kalman filter unless $\\alpha$ is assigned a value other than 1. There is no hard and fast rule for choosing $\\alpha$, but it is typically very close to 1, such as 1.01. You will need to make many runs with either simulated or real data to determine a value that responds to maneuvers without causing the estimate to become too noisy due to overly weighting the noisy measurement.\n", "\n", "Why does this work? If we increase the estimate error covariance the filter becomes more uncertain about it's estimate, hence it gives more weight to the measurement. \n", "\n", "One caveat - if we use $\\alpha$ than we are computing $\\tilde{\\mathbf P}$, not $\\bar{\\mathbf P}$. In other words, `KalmanFilter.P` *is not* equal to the covariance of the prior, so do not treat it as if it is.\n", "\n", "Let's filter our data using the fading memory filter and see the result. I will inject a lot of error into the system so that we can compare various approaches." ] }, { "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": [ "pos2, zs2 = generate_data(70, std=1.2)\n", "xs2 = pos2[:, 0]\n", "z_xs2 = zs2[:, 0]\n", "\n", "cvfilter = make_cv_filter(dt, std=1.2)\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.00\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(221)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Standard Kalman Filter')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=20.)\n", "cvfilter.alpha = 1.00\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", " \n", "xs = np.asarray(xs)\n", "\n", "plt.subplot(222)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('$\\mathbf{Q}=20$')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.02\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(223)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Fading Memory ($\\\\alpha$ = 1.02)')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.05\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(224)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Fading Memory ($\\\\alpha$ = 1.05)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The first plot shows the performance of the Kalman filter. The filter diverges when the maneuver starts and does not reacquire the signal until about 10 seconds. I then made the filter track the maneuver very quickly by making the process noise large, but this has the cost of making the filter estimate very noisy due to unduly weighting the noisy measurements. I then implemented a fading memory filter with $\\alpha=1.02$. The filtered estimate is very smooth, but it does take a few seconds to converge when the target regains steady state behavior. However, the time to do so is considerably smaller than for the Kalman filter, and the amount of lag is much smaller - the estimate for the fading memory is much closer to the actual track than the Kalman filter's track is. Finally, I bumped up $\\alpha$ to 1.05. Here we can see that the filter responds almost instantly to the maneuver, but that the estimate is not as straight during the steady state operation because the filter is forgetting the past measurements. \n", "\n", "This is quite good performance for such a small change in code! Note that there is no 'correct' choice here. You will need to design your filter based on your needs and the characteristics of the measurement noise, process noise, and maneuvering behavior of the target." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Multiple Model Estimation" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The example I have been using in this chapter entails a target moving in a steady state, performing a maneuver, and then returning to a steady state. We have been thinking of this as two models - a constant velocity model, and a constant acceleration model. Whenever you can describe the system as obeying one of a finite set of models you can use *Multiple Model (MM) Estimation*. We use a bank of multiple filters, each using a different process to describe the system, and either switch between them or blend them based on the dynamics of the tracked object. \n", "\n", "As you might imagine this is a broad topic, and there are many ways of designing and implementing MM estimators. But consider a simple approach for the target we have been tracking in this chapter. One idea would be to simultaneously run a constant velocity and a constant acceleration filter, and to switch between their outputs when we detect a maneuver by inspecting the residuals. Even this choice gives us many options. Consider the dynamics of a turning object. For example, an automobile turns on a wheelbase - the front wheels turn, and the car pivots around the rear wheels. This is a nonlinear process, so for best results we would want to use some type of nonlinear filter (EKF, UKF, etc) to model the turns. On the other hand, a linear constant velocity filter would perform fine for the steady state portions of the travel. So our bank of filters might consist of a linear KF and an EKF filter for the turns. However, neither is particularly well suited for modeling behaviors such as accelerating and braking. So a highly performing MM estimator might contain a bank of many filters, each designed to perform best for a certain performance envelope of the tracked object.\n", "\n", "Of course, you do not need to base your filters on the order of the model. You can use different noise models, different adapters in each. For example, in the section above I showed many plots depicting the effects of changing parameters on the estimate of the velocity and position. Perhaps one setting works better for position, and a different setting for velocity. Put both in your bank of filters. You could then take the best estimates for the position from one filter, and the best estimate for the velocity from a different filter.\n", "\n", "### A Two Filter Adaptive Filter\n", "\n", "I trust the idea of switching between filters to get the best performance is clear, but what mathematical foundations should we use to implement it? The problem that we face is trying to detect via noisy measurements when a change in regime should result in a change in model. What aspect of the Kalman filter measures how far the measurement deviates from the prediction? Yes, the *residual*.\n", "\n", "Let's say we have a first order (constant velocity) Kalman filter. As long as the target is not maneuvering the filter will track it's behavior closely, and roughly 68% of the measurements should fall within 1$\\sigma$. Furthermore the residual should fluctuate around 0 because as many if the sensor is Gaussian an equal number of measurement should have positive error as have negative errors. If the residual grows and stays beyond predicted bounds then the target must not be performing as predicted by the state model. We saw this earlier in this chart where the residual switched from bouncing around 0 to suddenly jumping and staying above zero once the tracked object began maneuvering." ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "show_residual_chart()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For this problem we saw that the constant velocity filter performed better the constant acceleration filter while the object was in steady state, and the opposite was true when the object is maneuvering. In the chart above that transition occurs at 4 seconds. \n", "\n", "So the algorithm is easy. Initialize both a constant velocity and constant acceleration filter and run them together in a predict/update loop. After every update examine the residual of the constant velocity filter. If it falls within theoretical bounds use the estimate from the constant velocity filter as the estimate, otherwise use the estimate from the constant acceleration filter." ] }, { "cell_type": "code", "execution_count": 23, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def run_filter_bank(threshold, show_zs=True):\n", " dt = 0.1\n", " cvfilter= make_cv_filter(dt, std=0.8)\n", " cafilter = make_ca_filter(dt, std=0.8)\n", " pos, zs = generate_data(120, std=0.8)\n", " z_xs = zs[:, 0]\n", " xs, res = [], []\n", "\n", " for z in z_xs:\n", " cvfilter.predict()\n", " cafilter.predict()\n", " cvfilter.update([z])\n", " cafilter.update([z])\n", " \n", " std = np.sqrt(cvfilter.R[0,0])\n", " if abs(cvfilter.y[0]) < 2 * std:\n", " xs.append(cvfilter.x[0])\n", " else:\n", " xs.append(cafilter.x[0])\n", " res.append(cvfilter.y[0])\n", " xs = np.asarray(xs)\n", " if show_zs:\n", " plot_track_and_residuals(dt, xs, z_xs, res)\n", " else:\n", " plot_track_and_residuals(dt, xs, None, res)\n", "\n", "run_filter_bank(threshold=1.4)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here the filter tracks the maneuver closely. While the target is not maneuvering our estimate is nearly noise free, and then once it does maneuver we quickly detect that and switch to the constant acceleration filter. However, it is not ideal. Here is the filter output plotted alone:" ] }, { "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": [ "run_filter_bank(threshold=1.4, show_zs=False)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "You can see that the estimate jumps when the filter bank switches from one filter to the other. I would not use this algorithm in a production system. The next section gives a state of the art implementation of a filter bank that eliminates this problem." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## MMAE\n", "\n", "The core idea of using several filters to detect a maneuver is sound, but the estimate is jagged when we abruptly transition between the filters. Choosing one filter over the other flies in the face of this entire book, which uses probability to determine the *likelihood* of measurements and models. We don't choose *either* the measurement or prediction, depending on which is more likely, we choose a *blend* of the two in proportion to their likelihoods. We should do the same here. This approach is called the *Multiple Model Adaptive Estimator*, or MMAE.\n", "\n", "In the **Designing Kalman Filters** chapter we learned the *likelihood function* \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", "which tells us how likely a filter is to be performing optimally given the inputs. $\\mathbf y$ is the residual and $\\mathbf S$ is the system uncertainty (covariance in measurement space). This is just a Gaussian of the residual and the system uncertainty. A large residual will give a large uncertainty, and thus low likelihood that the measurement matches the filter's current state. We can use this to compute the probability that each filter is the best fit to the data. If we have N filters, we can compute the probability that filter i is correct in relation to the rest of the filters with\n", "\n", "$$p_k^i = \\frac{\\mathcal{L}_k^ip_{k-1}^i}{\\sum\\limits_{j=1}^N \\mathcal{L}_k^jp_{k-1}^j}$$\n", "\n", "That looks messy, but it is straightforward. The numerator is just the likelihood from this time step multiplied by the probability that this filter was correct at the last time frame. We need all of the probabilities for the filter to sum to one, so we normalize by the probabilities for all of the other filters with the term in the denominator. \n", "\n", "That is a recursive definition, so we need to assign some initial probability for each filter. In the absence of better information, use $\\frac{1}{N}$ for each. Then we can compute the estimated state as the sum of the state from each filter multiplied the the probability of that filter being correct.\n", "\n", "Here is a complete implementation:" ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def run_filter_bank():\n", " dt = 0.1\n", " cvfilter = make_cv_filter(dt, std=0.2)\n", " cafilter = make_ca_filter(dt, std=0.2)\n", "\n", " _, zs = generate_data(120, std=0.2)\n", " z_xs = zs[:, 0]\n", " xs, probs = [], []\n", "\n", " pv, pa = 0.8, 0.2\n", " pvsum, pasum = 0., 0.\n", " \n", " for z in z_xs:\n", " cvfilter.predict()\n", " cafilter.predict()\n", " cvfilter.update([z])\n", " cafilter.update([z])\n", " \n", " cv_likelihood = cvfilter.likelihood * pv\n", " ca_likelihood = cafilter.likelihood * pa\n", " \n", " pv = (cv_likelihood) / (cv_likelihood + ca_likelihood)\n", " pa = (ca_likelihood) / (cv_likelihood + ca_likelihood)\n", " \n", " x = (pv * cvfilter.x[0]) + (pa*cafilter.x[0])\n", " xs.append(x)\n", " probs.append(pv / pa)\n", "\n", " xs = np.asarray(xs)\n", " t = np.arange(0, len(xs) * dt, dt)\n", " plt.subplot(121)\n", " plt.plot(t, xs)\n", " plt.subplot(122)\n", " plt.plot(t, xs)\n", " plt.plot(t, z_xs)\n", " return xs, probs\n", "\n", "xs, probs = run_filter_bank()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I plot the filter's estimates alone on the left so you can see how smooth the result is. On the right I plot both the estimate and the measurements to prove that the filter is tracking the maneuver. \n", "\n", "Again I want to emphasize that this is nothing more than the Bayesian algorithm we have been using throughout the book. We have two (or more) measurements or estimate, each with an associated probability. We choose are estimate as a weighted combination of each of those values, where the weights are proportional to the probability of correctness. The computation of the probability at each step is \n", "\n", "$$\\frac{\\texttt{Prob(meas | state)} \\times\\texttt{prior}}{\\texttt{normalization}}$$\n", "\n", "which is Bayes therom.\n", "\n", "For real world problems you are likely to need more than two filters in your bank. In my job I track objects using computer vision. I track hockey pucks. Pucks slide, they bounce and skitter, they roll, they ricochet, they are picked up and carried, and they are 'dribbled' quickly by the players. I track humans who are athletes, and their capacity for nonlinear behavior is nearly limitless. A two filter bank doesn't get very far in those circumstances. I need to model multiple process models, different assumptions for noise due to the computer vision detection, and so on. But you have the main idea. \n", "\n", "### Limitations of the MMAE Filter\n", "\n", "The MMAE as I have presented it has a significant problem. Look at this chart of the ratio of the probability for the constant velocity vs constant acceleration filter." ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(t[0:len(probs)], probs)\n", "plt.title('probability ratio p(cv)/p(ca)')\n", "plt.xlabel('time (sec)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For the first three seconds, while the tracked object travels in a straight direction, the constant velocity filter become much more probable than the constant acceleration filter. Once the maneuver starts the probability quickly changes to to favor the constant acceleration model. However, the maneuver is completed by second six. You might expect that the probability for the constant velocity filter would once again become large, but instead it remains at zero.\n", "\n", "This happens because of the recursive computation of the probability:\n", "\n", "$$p_k = \\frac{\\mathcal{L}p_{k-1}}{\\sum \\text{probabilities}}$$\n", "\n", "Once the probability becomes very small it can never recover. The result is that the filter bank quickly converges on only the most probable filters. A robust scheme needs to monitor the probability of each filter and kill off the filters with very low probability and replace them with filters with greater likelihood of performing well. You can subdivide the existing filters into new filters that try to span the characteristics that make them perform well. In the worst case, if a filter has diverged you can reinitialize a filter's state so that it is closer to the current measurements. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Interacting Multiple Models (IMM)\n", "\n", "Let's think about multiple models in another way. The scenario is as before - we wish to track a maneuvering target. We can design a set of Kalman filters which make different modeling assumptions. They can differ in terms of the filter order, or in the amount of noise in the process model. As each new measurement comes in each filter has a probability of being the correct model.\n", "\n", "This naive approach leads to combinatorial explosion. At step 1 we generate $N$ hypotheses, or 1 per filter. At step 2 we generate another $N$ hypotheses which then need to be combined with the prior $N$ hypotheses, which yields $N^2$ hypothesis. Many different schemes have been tried which either cull unlikely hypotheses or merge similar ones, but the algorithms still suffered from computational expense and/or poor performance. I will not cover these in this book, but prominent examples in the literature are the generalized pseudo Bayes (GPB) algorithms.\n", "\n", "The *Interacting Multiple Models* (IMM) algorithm was invented by Blom[5] to solve the combinatorial explosion problem of multiple models. A subsequent paper by Blom and Bar-Shalom is the most cited paper [6]. The idea is to have 1 filter for each possible mode of behavior of the system. At each epoch we we let the filters *interact* with each other. The more likely filters modify the estimates of the less likely filters so they more nearly represent the current state of the sytem. This blending is done probabilistically, so the unlikely filters also modify the likely filters, but by a much smaller amount. \n", "\n", "For example, suppose we have two modes: going straight, or turning. Each mode is represented by a Kalman filter, maybe a first order and second order filter. Now say the target it turning. The second order filter will produce a good estimate, and the first order filter will lag the signal. The likelihood function of each tells us which of the filters is most probable. The first order filter will have low likelihood, so we adjust its estimate greatly with the second order filter. The the second order filter is very likely, so its estimate will only be changed slightly by the first order Kalman filter. \n", "\n", "Now suppose the target stops turning. Because we have been revising the first order filter's estimate with the second order estimate it will not have been lagging the signal by very much. within just a few epochs it will be producing very good (high likelihood) estimates and be the most probable filter. It will then start contributing heavily to the estimate of the second order filter. Recall that a second order filter mistakes measurement noise for acceleration. This adjustment insures reduces this effect greatly." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Mode Probabilities\n", "\n", "We define a set of modes for our system, $m$, and assume that the target is always in one of these modes. In the discussion above we have the modes straight and turn, so $m=\\{\\text{straight},\\ \\text{turn}\\}$.\n", "\n", "\n", "We assign a probability that the target is in any given mode. This gives us a vector of *mode probabilities* with one probability for each possible mode. $m$ has two modes, so we will have a vector of two probabilities. If we think that there is a 70% chance that the target is going straight we can say\n", "\n", "$$\\mu = \\begin{bmatrix} 0.7 & 0.3\\end{bmatrix}$$\n", "\n", "We get 0.3 for the turn because the probabilities must sum to one. $\\mu$ is typically but not universally used as the symbol for the mode probabilities, so I will use it. Do not confuse it with the mean.\n", "\n", "In Python we can implement this as" ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.7, 0.3])" ] }, "execution_count": 27, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mu = np.array([0.7, 0.3])\n", "mu" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can formalize it by saying that the prior probability that $m_i$ is correct (the maneuvering object is in mode $i$), given the prior measurements $Z$, is\n", "\n", "$$\\mu_i = P(m_i|Z)$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Mode Transitions\n", "\n", "Next we have to consider that this is a maneuvering target. It will go straight, then turn, then go straight again. We can model the transition between these modes as a [*Markov chain*](https://en.wikipedia.org/wiki/Markov_chain), as in this illustration:" ] }, { "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": [ "import kf_book.adaptive_internal as adaptive_internal\n", "adaptive_internal.plot_markov_chain()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This shows an example of two modes for a target, going straight and performing a turn. If the current mode of the target is straight, then we predict that there is a 97% chance of the target continuing straight, and a 3% chance of starting a turn. Once the target is turning, we then predict that there is a 95% chance of staying in the turn, and a 5% of returning to a straight path.\n", "\n", "The algorithm is not sensitive to the exact numbers, and you will typically use simulation or trials to choose appropriate values. However, these values are quite representative.\n", "\n", "We represent Markov chains with a [*transition probability matrix*](https://en.wikipedia.org/wiki/Stochastic_matrix), which we will call $\\mathbf M$. For the Markov chain in the illustration we would write\n", "\n", "$$\\mathbf M = \\begin{bmatrix}.97 & .03\\\\.05 & .95\\end{bmatrix}$$\n", "\n", "In other words $\\mathbf M[i, j]$ is the probability of mode being $j$ given that the last mode was $i$. In this example the probability of the mode currently being straight $(j=0)$ given that the last mode was a turn $(i=1)$ is $\\mathbf M[1,\\ 0] = 0.05$. In Python we'd write:" ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0.97 0.03]\n", " [0.05 0.95]]\n", "From turn to straight probablility is 0.05 percent\n" ] } ], "source": [ "M = np.array([[.97, .03], [.05, .95]])\n", "print(M)\n", "print('From turn to straight probablility is', M[1, 0], 'percent')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This allows us to compute the new mode probabilities based on the probability of a transition. Let's compute the probability of the mode being straight after a transition. There are two ways for us to be moving straight. We could have been moving straight, and then continued straight, or we could have been turning, but then went straight. The former probability is calculated with $(0.7\\times 0.97)$ and the latter with $(0.3\\times 0.05)$. We are multiplying the mode probability with the relevant probability from the Markov Chain. The *total probability* is the sum of the two, or $(0.7)(0.97) + (0.3)(0.05) = 0.694$. \n", "\n", "Recall the [*total probability theorem*](https://en.wikipedia.org/wiki/Law_of_total_probability) from the second chapter. It states that the probability of several distinct events is\n", "\n", "$$P(A) = \\sum P(A\\mid B)\\, P(B)$$\n", "\n", "Here $P(A\\mid B)$ is the transition matrix $\\mathbf M$ and $P(B)$ is $\\mu$. We are using arrays and matrices, and so we take advantage of the fact that a vector times a matrix computes the sum of products: \n", "\n", "$$\\begin{bmatrix}\\mu_1 & \\mu_2 \\end{bmatrix}\\begin{bmatrix}m_{11} & m_{12}\\\\m_{21} & m_{22}\\end{bmatrix} = \\begin{bmatrix}\\mu_1 m_{11} + \\mu_2 m_{21} & \\mu_1 m_{12} + \\mu_2 m_{22}\\end{bmatrix}$$\n", "\n", "The IMM literature expresses this as\n", "\n", "$$\\bar c_j = \\sum\\limits_{i=1}^{N} \\mu_i M_{ij}$$\n", "\n", "We use NumPy's `dot` function to compute this for us:" ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.694, 0.306])" ] }, "execution_count": 30, "metadata": {}, "output_type": "execute_result" } ], "source": [ "cbar = np.dot(mu, M)\n", "cbar" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Computing the Mode Probabilities\n", "\n", "\n", "We will compute the new mode probabilities using Bayes theorem. Recall that Bayes theorem states\n", "\n", "$$\\text{posterior} = \\frac{\\text{prior} \\cdot \\text{likelihood}}{\\text{normalization factor}}$$\n", "\n", "Here the prior is the total probability computation we performed in the last section. The Kalman filter computes the *likelihood*, which is the likelihood of the measurements given the current state of the filter. For review the equation is:\n", "\n", "$$\n", "\\mathcal{L} = \\frac{1}{\\sqrt{2\\pi \\mathbf S}}\\exp [-\\frac{1}{2}\\mathbf y^\\mathsf T\\mathbf S^{-1}\\mathbf y]$$\n", "\n", "In mathematical notation the updated mode probability is:\n", "\n", "$$\\mu_i = \\| \\mathcal{L}_i {\\bar c}_{i}\\|$$\n", "\n", "In words, for each Kalman filter (mode) we compute the mode probability as the probability of the current mode taking the possible transition into account times the likelihood that this is the correct mode. Then we normalize all of the probabilities so they sum to one.\n", "\n", "This is trivial to compute in Python. I'll introduce the variable `L` to store the likelihoods. Likelihoods are computed by the `KalmanFilter.update()` step, and in the code snippet below I just hard coded values for `L` since we haven't created the Kalman filters yet:" ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.802, 0.198])" ] }, "execution_count": 31, "metadata": {}, "output_type": "execute_result" } ], "source": [ "# L = [kf0.L, kf1.L] # get likelihoods from Kalman filters\n", "L = [0.000134, 0.0000748] \n", "mu = cbar * L\n", "mu /= sum(mu) # normalize\n", "mu" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here you can see that the relatively strong likelihood for the straight filter pushed the probability for the straight mode from 70% to 80.2%." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Mixing Probabilities\n", "\n", "At this point we could use the mode transitions to compute the probabilities for all possible choices. If $\\mu = \\begin{bmatrix} 0.63 & 0.27\\end{bmatrix}$, then we can use the transition probability matrix to compute all possible outcomes. In other words, if the current mode is straight $(\\mu=0.63)$, we can compute two new probabilities based on whether the target keeps moving straight, or turns. We do the same for the turning mode $(\\mu=0.27)$. We will have gone from 2 mode probabilities to 4. At the next step 4 will turn into 8, and so on. It's computationally exact, but infeasible in practice. After only 30 epochs you'd require 8GB of memory to store the mode probabilities in double precision.\n", "\n", "We need a better, albeit approximate way. IMMs resolve this by computing *mixing probabilities*. The idea is simple. Let's say the first mode (straight) is currently very likely, and the second mode (turn) is unlikely. Instead of having the Kalman filter for the straight mode compute its state as the weighted average of all of the filters in the filter bank. Filters with high probability of matching the target's mode get weighted more than filters with lower probability. The result is that the information from the probable filters improve the accuracy of the filters that are improbable. This is the crux of the algorithm.\n", "\n", "What we need to do is very simple. Each Kalman filter performs the update step, computing a new mean and covariance. But then we compute a new mean and covariance for each filter as a weighted sum of these means and covariances according to *mixing probabilities* which we call $\\omega$. Likely filters will be slightly adjusted by the unlikely filters, and the unlikely filters will be strongly adjusted by the likely ones. The literature calls these adjusted means and covariances either the *mixed conditions* or *mixed initial conditions*. I use the notation $\\mathbf x^m_j$ for the mixed state, and $\\mathbf P^m_j$ for the mixed covariance. The equations are:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf x^m_j &= \\sum_{i=1}^N \\omega_{ij} \\mathbf x_i \\\\\n", "\\mathbf P^m_j &= \\sum_{i=1}^N \\omega_{ij}\\left[(\\mathbf x^i - \\mathbf x^m_i) (\\mathbf x^i - \\mathbf x^m_i)^\\mathsf T + \\mathbf P_i\\right]\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Just think of the subscripts as indexes into arrays. Putting it in pseudo-Python we can write this as:\n", "\n", "```python\n", "for j in N:\n", " x0[j] = sum_over_i(w[i,j] * x[i])\n", " P0[j] = sum_over_i(w[i, j] * (P[i] + np.outer(x[i] - x0[j]))) \n", "```\n", "\n", "Don't let the notation confuse what is a simple idea: incorporate estimates from the probable filters into the estimates of the improbable filters, ensuring all have a good estimate." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "How do we compute the mixing probabilities? Think about it, and try to give a reasonable answer before reading on. We have mode probabilities which describe the current probability of each mode, and then transition probabilities describing how likely we are to change modes. How do we compute the new probability?\n", "\n", "Bayes theorem, of course! Prior times the likelihood, normalized. The prior is the mode probability, and the likelihood comes from the Markov chain, which we store in the matrix $\\mathbf M$. \n", "\n", "$$\\boldsymbol\\omega_{ij} = \\| \\mu_i \\cdot \\mathbf M_{ij}\\|$$\n", "\n", "We can compute this as follows. I computed the update of $\\mu$ and $\\bar c$ out of order above (ou must compute $\\bar c$ incorporating the transition probability matrix into $\\mu$), so I'll need to correct that here:" ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[0.987, 0.114],\n", " [0.013, 0.886]])" ] }, "execution_count": 32, "metadata": {}, "output_type": "execute_result" } ], "source": [ "cbar = np.dot(mu, M) #compute total probability that target is in mode j\n", "\n", "omega = np.zeros((2, 2))\n", "for i in range(2):\n", " for j in range(2):\n", " omega[i, j] = (M[i, j] * mu[i]) / cbar[j]\n", "omega" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The Kalman filters need to perform the prediction step to compute the new prior. They use the mixed estimates:\n", "\n", "$$\n", "\\begin{aligned}\n", "\\bar{\\mathbf x}_j &= \\mathbf F_j\\mathbf x^m_j\\\\\n", "\\bar{\\mathbf P}_j &= \\mathbf F_j\\mathbf P^m_j\\mathbf F_j^\\mathsf T + \\mathbf Q_j\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### IMM Estimate\n", "\n", "Now we need a final state estimate from the bank of filters. How do we do that? Just weight the mixed estimate from each Kalman filter:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf x &= \\sum_{j=1}^N \\mu_j{\\bar{\\mathbf x}}_j\\\\\n", "\\mathbf P &= \\sum_{j=1}^N \\mu_j\\left[(\\bar{{\\mathbf x}}_j - \\bar{\\mathbf x})({\\bar{\\mathbf x}}_j - \\bar{\\mathbf x})^\\mathsf T + \\bar{\\mathbf P_j}\\right]\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Tracking Maneuvering Target with the IMM\n", "\n", "Let's work an example. Crassidis[4] is one of the few texts with a worked example, so I have chosen his example. He tracks a moving target for 600 seconds. The target starts off moving straight, and then a control input is injected starting at 400 seconds, causing the target to make a 90 degree turn. He uses two constant acceleration Kalman filters. One filter assumes no process noise, and the other assumes process noise with spectral density $10^{-3}\\mathbf I$. He assumes very good initialization of the filters, setting $\\mathbf P =10^{-12}$ for both filters. My implementation follows:" ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import copy\n", "from scipy.linalg import block_diag\n", "from filterpy.kalman import IMMEstimator\n", "from filterpy.common import Saver\n", "\n", "N = 600\n", "dt = 1.\n", "imm_track = adaptive_internal.turning_target(N)\n", "\n", "# create noisy measurements\n", "zs = np.zeros((N, 2))\n", "r = 1\n", "for i in range(N):\n", " zs[i, 0] = imm_track[i, 0] + randn()*r\n", " zs[i, 1] = imm_track[i, 2] + randn()*r\n", "\n", "ca = KalmanFilter(6, 2)\n", "dt2 = (dt**2)/2\n", "F = np.array([[1, dt, dt2],\n", " [0, 1, dt],\n", " [0, 0, 1]])\n", " \n", "ca.F = block_diag(F, F)\n", "ca.x = np.array([[2000., 0, 0, 10000, -15, 0]]).T\n", "ca.P *= 1.e-12\n", "ca.R *= r**2\n", "q = np.array([[.05, .125, 1/6],\n", " [.125, 1/3, .5],\n", " [1/6, .5, 1]])*1.e-3\n", "ca.Q = block_diag(q, q)\n", "ca.H = np.array([[1, 0, 0, 0, 0, 0],\n", " [0, 0, 0, 1, 0, 0]])\n", "\n", "# create identical filter, but with no process error\n", "cano = copy.deepcopy(ca)\n", "cano.Q *= 0\n", "\n", "filters = [ca, cano]\n", "\n", "M = np.array([[0.97, 0.03],\n", " [0.03, 0.97]])\n", "mu = np.array([0.5, 0.5])\n", "bank = IMMEstimator(filters, mu, M)\n", "\n", "xs, probs = [], []\n", "for i, z in enumerate(zs):\n", " z = np.array([z]).T\n", " bank.predict()\n", " bank.update(z)\n", "\n", " xs.append(bank.x.copy())\n", " probs.append(bank.mu.copy())\n", "\n", "xs = np.array(xs)\n", "probs = np.array(probs)\n", "plt.subplot(121)\n", "plt.plot(xs[:, 0], xs[:, 3], 'k')\n", "plt.scatter(zs[:, 0], zs[:, 1], marker='+')\n", "\n", "plt.subplot(122)\n", "plt.plot(probs[:, 0])\n", "plt.plot(probs[:, 1])\n", "plt.ylim(-1.5, 1.5)\n", "plt.title('probability ratio p(cv)/p(ca)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It is rather hard to see the performance of the filter, so let's look at the performance just as the turn starts. I've swapped the $x$ and $y$ axis to let us zoom in closely. In the chart below the turn starts at $Y=4000$. If you look very closely you can see that the estimate wavers slightly after the turn is initiated, but the filter tracks the measurement without lag and soon tracks smoothly." ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(xs[390:450, 3], xs[390:450, 0], 'k')\n", "plt.scatter(zs[390:450, 1], zs[390:450, 0], marker='+', s=100);\n", "plt.xlabel('Y'); plt.ylabel('X')\n", "plt.gca().invert_xaxis()\n", "plt.axis('equal');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Limitations of the IMM\n", "\n", "I haven't extensively worked with the IMM, so I am unable to address this as well as I would like. However, the IMM was invented to track maneuvering aircraft for air traffic control, and by all reports it performs superbly in that role. \n", "\n", "That use case assumes a few things. Foremost among them is the requirement that all of the filters in the bank have the same dimensional design. A review of the math should show why. To create the mixed estimate the IMM performs this computation:\n", "\n", "$$\\mathbf x = \\sum_{j=1}^N \\mu_j{\\bar{\\mathbf x}}_j$$\n", "\n", "This is computable if and only if the state $x$ in each filter is of the same dimension. Furthermore, the interpretation of $x[i]$ must be the same for each filter. \n", "\n", "For example, suppose we tried to filter that uses a constant velocity model and another with a constant acceleration model. This doesn't work because the dimension of $x$ are different. `FilterPy` will raise a `ValueError` if you try to use filters with different dimensions." ] }, { "cell_type": "code", "execution_count": 35, "metadata": { "scrolled": true, "tags": [ "raises-exception" ] }, "outputs": [ { "ename": "ValueError", "evalue": "All filters must have the same state dimension", "output_type": "error", "traceback": [ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[1;31mValueError\u001b[0m Traceback (most recent call last)", "\u001b[1;32m\u001b[0m in \u001b[0;36m\u001b[1;34m\u001b[0m\n\u001b[0;32m 5\u001b[0m [0.03, 0.97]])\n\u001b[0;32m 6\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 7\u001b[1;33m \u001b[0mimm\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mIMMEstimator\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mca\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mcv\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m(\u001b[0m\u001b[1;36m0.5\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mtrans\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m", "\u001b[1;32mC:\\pcloud\\filterpy\\filterpy\\kalman\\IMM.py\u001b[0m in \u001b[0;36m__init__\u001b[1;34m(self, filters, mu, M)\u001b[0m\n\u001b[0;32m 142\u001b[0m \u001b[1;32mif\u001b[0m \u001b[0mx_shape\u001b[0m \u001b[1;33m!=\u001b[0m \u001b[0mf\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mx\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 143\u001b[0m raise ValueError(\n\u001b[1;32m--> 144\u001b[1;33m 'All filters must have the same state dimension')\n\u001b[0m\u001b[0;32m 145\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 146\u001b[0m \u001b[0mself\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mx\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mzeros\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mfilters\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;36m0\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mx\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;31mValueError\u001b[0m: All filters must have the same state dimension" ] } ], "source": [ "ca = KalmanFilter(3, 1)\n", "cv = KalmanFilter(2, 1)\n", "\n", "trans = np.array([[0.97, 0.03],\n", " [0.03, 0.97]])\n", "\n", "imm = IMMEstimator([ca, cv], (0.5, 0.5), trans)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I occasionally get emails or bug reports about this. In the past I have recommended designing the filter with constant velocity to be of dimension 3, and then implement `F` to ignore acceleration\n", "\n", "```python\n", "F = np.array([[1, dt, 0],\n", " [0, 1, 0],\n", " [0, 0, 0]])\n", "```\n", "\n", "In retrospect I am not sure if this is a sound recommendation. It allows the IMM to work, but clearly the estimate for acceleration will be incorrect, since one filter will have an accurate estimate of acceleration, and the other filter will have an estimate of 0. This inaccurate acceleration will then be used to perform the next predict cycle. \n", "\n", "Consider a more extreme case. Suppose one of your filters interprets `x[2]` to be acceleration, and another filter interprets it as angular rotation rate. Clearly `x[2]` of the mixed estimate will be meaningless since you cannot sum (linear) acceleration with a rotation rate.\n", "\n", "As I said I am not particularly well versed in the IMM. Perhaps the literature explains how to handle these situations. All I can say is that the IMM implemented by FilterPy will not work for these use cases.\n", "\n", "The IMM as designed for air traffic control uses filters with different process assumptions. An aircraft can be flying level, it can be descending/ascending, it can be performing a coordinated turn, or an uncoordinated turn. You can design a filter for each case with a different `F` and `Q` matrix, but the state estimate `x` will be the same for all. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Summary\n", "\n", "This chapter contains some of the more challenging material in this book. However, it is the gateway to implementing realistic Kalman filters. If we are controlling a robot we know its process model, and it is easy to construct a Kalman filter for it. Far more commonly we are given a set of time series data and asked to make sense of it. The process model is largely unknown to us. We use the techniques in this chapter to *learn* (in a machine learning sense) how to parameterize our models. The models change over time as the target maneuver, so our filters must be adaptive. \n", "\n", "Finding an optimal answer involves combinatorial explosion, and is impractical in practice. The IMM algorithm has become the standard algorithm because of its good performance and computational tractability.\n", "\n", "A real filter bank usually involves more than two filters. It is common to have many filters. As the target's regime changes some filters become infinitesimally likely. Most adaptive filters implement an algorithm that kills off extremely unlikely filters and replaces them with filters that more closely match the current regime. This is highly specific to your problem space, and is usually very ad-hoc. You will need to devise schemes for killing and creating filters and test them against simulated or real data. \n", "\n", "Despite the complexity of the algorithms, I hope you recognize the underlying ideas are very simple. We use the same two tools that we learned in the second chapter: Bayes theorem and the total probability theorem. We incorporate new information using Bayes theorem, and compute the effect of the process models using the total probability theorem.\n", "\n", "For me, this chapter underscores the beauty of the Bayesian formulation of Kalman filters. I don't much care if you learn the details of the IMM algorithm. I do hope that you see that very simple probabilistic reasoning led to these results. The linear algebra equations of the Kalman filter that Dr. Kalman derived came from a different form of reasoning called *orthogonal projection*. It is beautiful in its own way, and I urge you to read his paper. But I'm not sure I find them intuitive to use, and it is not at all clear how to devise new, non-optimal filters such as the IMM using those techniques. In contrast, Bayes theorem lets us handle these problems with ease. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## References\n", "\n", " * [1] Bar-Shalom, Y., Xiao-Rong L., and Thiagalingam Kirubarajan. *Estimation with Applications to Tracking and Navigation*. New York: Wiley, p. 424, 2001. \n", "\n", "\n", "* [2] Zarchan, P., and Musoff, H., *Fundamentals of Kalman Filtering: A Practical Approach*. Reston, VA: American Institute of Aeronautics and Astronautics, 2000. Print.\n", "\n", "\n", "* [3] Simon, D., *Optimal State Estimation: Kalman, H and Nonlinear Approaches*. Hoboken, NJ: Wiley-Interscience, p. 208-212, 2006\n", "\n", "\n", "* [4] Crassidis, John L., and John L. Junkins. *Optimal estimation of dynamic systems*. CRC press, 2011.\n", "\n", "\n", "* [5] Blom, H.A.P., \"An Efficient Filter for Abruptly Changing Systems\", *Proceedings of 23rd Conference on Decision and Control*, Las Vegas, NV, Dec 1984.\n", "\n", "\n", "* [6] Blom, H.A.P and Bar-Shalom, Y., \"The Interacting Multiple Model Algorithm for Systems with Markovian Switching Coefficients\", *IEEE Transactions on Automatic Control*, Vol. AC-8, No. 8, Aug. 1998, pp. 780-783." ] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.6" } }, "nbformat": 4, "nbformat_minor": 4 }