{ "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": [ "%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", " 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", " 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", " 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", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "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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\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=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", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "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 = y.T @ inv(S) @ 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 = y.T @ inv(S) @ 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(f'position(std={std_scale})')\n", " elif Q_title:\n", " plt.title(f'position(Q scale={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(f'velocity(std={std_scale})')\n", " elif Q_title:\n", " plt.title(f'velocity(Q scale={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", "text/plain": [ "
" ] }, "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": "iVBORw0KGgoAAAANSUhEUgAAAwUAAAGHCAYAAADhgv6DAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjMuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/d3fzzAAAACXBIWXMAAA9hAAAPYQGoP6dpAAEAAElEQVR4nOydd5gUVdaHf1WdJg/MwCRyRskoWQREQAYRxZyAVRdXDIt+JoxgAGUNqKisuwooxlUBFZCkgIEMg5JzkJlhYHLsVPX90V3V91bo6ckDc97n4bH7VtWtU7fbnnPuSYIsyzIIgiAIgiAIgmiwiHUtAEEQBEEQBEEQdQsZBQRBEARBEATRwCGjgCAIgiAIgiAaOGQUEARBEARBEEQDh4wCgiAIgiAIgmjgkFFAEARBEARBEA0cMgoIgiAIgiAIooFDRgFBEARBEARBNHDIKCAIgiAIgiCIBg4ZBcQFSevWrTFp0iT1fXp6OqZPn460tDTdudOnT4cgCLUi1y+//AKHw4ETJ06EfE1JSQmmT5+OdevWhXxNdT/TF198gZ49eyIsLAwpKSmYOnUqioqKQrp2zpw5GD9+PNq0aQNBEDB06FDD85599ln07t0bkiRVm9wEQZzfrFu3DoIgVOj3r6rzL1++HNOnT6/y3EeOHIHD4cDGjRsrdN3MmTOxZMmSkM9fsGABBEHA8ePHKyagCWvWrMGAAQMQERGBJk2aYNKkScjKygrp2o8//hi33HILOnXqBFEU0bp1a8PzPvzwQzRr1gzFxcXVIjNRPZBRQFyQLF68GM8++6z6Pj09HTNmzDA0Cu65554K/2hXBlmWMXXqVPz9739Hq1atQr6upKQEM2bMqLE/iuXx6aef4tZbb0WfPn2wYsUKPP/881iwYAHGjx8f0vXz5s3DiRMncMUVV6Bp06am5z366KM4duwYFi5cWF2iEwRBBKV3797YuHEjevfurY4tX74cM2bMqPLcjz76KEaMGIEBAwZU6LqKGgXVyfr16zF69GgkJiZi6dKleOutt7BmzRoMHz4cTqez3Os/+eQT7NmzB3379kW7du1Mz5s4cSIiIyMxe/bs6hSfqCLWuhaAIGqCXr16hXxu8+bN0bx58xqUxsePP/6IHTt24LPPPqvxe1UXXq8Xjz32GEaOHIn//Oc/AIBhw4YhOjoat99+O1asWIHRo0cHnWPv3r0QRd/+Q9euXU3Pi42NxR133IFXXnkFkyZNqjXvDUEQDZeYmBj079+/2ufdt28flixZgh9//LHa565JHnvsMXTs2BFff/01rFafitimTRsMGjQIH330Ee67776g169cuVL9vb/66quxe/duw/OsVivuvfdevPjii3jiiScQERFRvQ9CVAryFBA1jhLKsnPnTowfPx4xMTGqAnj27Fn1PEmSMHv2bHTu3BkOhwMJCQmYMGEC/vrrL26+nTt34uqrr0ZCQgIcDgdSUlIwZswY7jw2fGjdunXo06cPAOBvf/sbBEGAIAiqe9go1CZUWYYOHYquXbti69atGDx4MCIiItC2bVu88sorujCY999/H3369EGnTp248Z9++glDhw5FfHw8wsPD0bJlS1x//fUoKSnB8ePH1d31GTNmqLKzoVHLli1Dz5494XA40KZNG7z22mshfjLls2nTJmRkZOBvf/sbN37jjTciKioKixcvLncO5Q9EKNx55504ePAgfv755wrLShBE3bNkyRIIgoC1a9fqjr3//vsQBAF//PEHAGDbtm245pprEBcXh7CwMPTq1QtfffVVSPf57rvv1BCX6OhojBgxwtDju3//ftx6661ITEyEw+FAy5YtMWHCBHXXWxs+NGnSJLz77rsAoP7eKqE5w4cPR+fOnSHLMncPWZbRvn17jBkzhnvWpKQkjBgxgju3vL9fgiCguLgYCxcuVO/Nhlxu2rQJgwYNUkM5p02bBrfbHdKalcfp06exdetW3HnnnapBAAADBw5Ex44dq/33/vbbb0dBQQG++OKLSslLVD9kFBC1xnXXXYf27dvj66+/xvTp07FkyRKMGjVK/UG777778MQTT2DEiBH47rvv8OKLL+LHH3/EwIEDce7cOQBAcXExRowYgTNnzuDdd9/F6tWrMWfOHLRs2RKFhYWG9+3duzfmz58PAHjmmWewceNGbNy4Effcc4+prKHIopCZmYnbb78dd9xxB7777juMHj0a06ZNw6JFi9RzXC4X1qxZg2HDhnHXHj9+HGPGjIHdbsdHH32EH3/8Ea+88goiIyPhcrmQnJys7jTdfffdquxKaNTatWsxbtw4REdH44svvsC//vUvfPXVV+rzsni9Xng8nnL/scaMssvTvXt3bi6bzYbOnTub7gJVlksuuQRRUVFYtmxZtc5LEETtoCi8Rr9BCxYsQO/evdG9e3f8/PPPGDRoEPLy8jBv3jwsXboUPXv2xM0334wFCxYEvcdnn32GcePGISYmBp9//jk+/PBD5ObmYujQofj111/V83bt2oU+ffpg06ZNeOGFF7BixQrMmjULTqcTLpfLcO5nn30WN9xwAwCov7cbN25EcnIy/vnPf+LAgQM6g2fFihU4cuQI7r//fnVs2bJluPzyyzklOZS/Xxs3bkR4eDhSU1PVe7/33nsAfF7X4cOHIy8vDwsWLMC8efOwc+dOvPTSS7rnkCQppN97r9erXmP2e6+MVffvfVJSEjp37ky/9/UJmSBqmOeff14GID/88MPc+KeffioDkBctWiTv27dPBiBPmTKFO2fz5s0yAPmpp56SZVmWt23bJgOQlyxZEvSerVq1kidOnKi+37p1qwxAnj9/vql8CqHKIsuyPGTIEBmAvHnzZu7ciy++WB41apTu2i+++II77+uvv5YByGlpaabPcvbsWRmA/Pzzz+uO9evXT05JSZFLS0vVsYKCAjkuLk7W/u+tyFreP3bdXn75ZRmAnJGRobv3yJEj5Y4dO5rKbUSXLl3kIUOGBD1n0KBBcr9+/So0L0EQ9YdHHnlEDg8Pl/Py8tSxvXv3ygDkd955R5ZlWe7cubPcq1cv2e12c9deffXVcnJysuz1emVZluWff/5ZBiD//PPPsizLstfrlVNSUuRu3bqp58iyLBcWFsoJCQnywIED1bErrrhCbtSokZyVlWUqq3Z+WZbl+++/X/f7qdy7bdu28rhx47jx0aNHy+3atZMlSZJlWZbPnDkjA5BfeeUV7rxQ/35FRkZyv8MKN998sxweHi5nZmaqYx6PR+7cubMMQD527Jg6PnHixJB+79nfY+Vv8saNG3X3njx5smy324PKrWXMmDFyq1atgp5z++23y4mJiRWal6g5yFNA1Bq333479/6mm26C1WrFzz//rIaLsGExANC3b19cdNFF6s5M+/bt0bhxYzzxxBOYN28e9u7dW+1yhiqLQlJSEvr27cuNde/enaswlJ6eDgBISEjgzuvZsyfsdjsmT56MhQsX4ujRoyHLWVxcjK1bt2L8+PEICwtTx6OjozF27Fjd+f/+97+xdevWcv8ZVd0wi++vibj/hIQEnD59utrnJQiidrjrrrtQWlqKL7/8Uh2bP38+HA4HbrvtNhw+fBj79+9X/yawO9epqanIyMjAgQMHDOc+cOAA0tPTceedd3K78FFRUbj++uuxadMmlJSUoKSkBOvXr8dNN90UtMBBRRBFEQ888AB++OEHnDx5EoCvwtCPP/6IKVOmqL+HZr/3Vf379fPPP2P48OFITExUxywWC26++WbdudOnTw/p9/7f//637tra/r3PysqCx+Op9rmJikOJxkStkZSUxL23Wq2Ij49HdnY2srOzAQDJycm661JSUlQFOzY2FuvXr8fLL7+Mp556Crm5uUhOTsbf//53PPPMM7DZbFWWM1RZFOLj43XnORwOlJaWqu+V16zyDgDt2rXDmjVrMHv2bNx///0oLi5G27Zt8dBDD+Gf//xnUDlzc3MhSZJuXQH9WgO+P0iyJhbWCPYPrfJs2dnZ3B8iAMjJyUFcXFy581WUsLAwbu0Igji/6NKlC/r06YP58+dj8uTJ8Hq9WLRoEcaNG4e4uDjs27cPgK86z6OPPmo4hzZMU6G832dJkpCbmwvAFzJZ3UUk7rrrLjz33HOYN28eZs6ciXfffRfh4eG466671HPMfu+r+vcrOzs75N/7li1bhvTsrKLP/t5rqcnfe1mWUVZWhqioqGqfn6gY5Ckgao3MzEzuvcfjQXZ2NuLj49Ufo4yMDN116enpaNKkifq+W7du+OKLL5CdnY20tDTcfPPNeOGFF/D6669Xi5wVkSVUlGtycnJ0xwYPHozvv/8e+fn52LRpEwYMGICpU6eWm3zVuHFjCIKgW1dAv9YAMHz4cNhstnL/sX/cunXrBgD4888/ubk8Hg/2798ftJpQZcnJyanUGhMEUX/429/+hk2bNmHfvn348ccfuYIFyv/f06ZNM93B7tmzp+G85f0+i6KIxo0bIy4uDhaLRVccoqrExsZi4sSJ+O9//4ucnBzMnz8ft912Gxo1aqSeE+z3vip/v+Lj40P+vb/rrrtC+r0fPny4eo3ye679vVfGaur33uFwkEFQTyCjgKg1Pv30U+79V199BY/Hg6FDh+KKK64AAC45FwC2bt2Kffv2cT9cCoIgoEePHnjzzTfRqFEj7Nixw/TeDocDAELaga6MLOVx0UUXAfC5ms2wWCzo16+fWvlCeR4z2SMjI9G3b198++23KCsrU8cLCwvx/fff6+avTPhQv379kJycrEv8+/rrr1FUVBRyr4KKcPToUVx88cXVPi9BELXHrbfeirCwMCxYsAALFixAs2bNMHLkSABAp06d0KFDB+zatQuXXnqp4b/o6GjDeTt16oRmzZrhs88+4zyfxcXF+Oabb9SKROHh4RgyZAj+97//mXodzCjv78VDDz2Ec+fO4YYbbkBeXh4eeOAB7nirVq0QHh4e9Pc+2N8vradZYdiwYVi7di3OnDmjjnm9Xi5MS6Ey4UPNmjVD3759sWjRIi4BedOmTThw4AD93jcAKHyIqDW+/fZbWK1WjBgxAnv27MGzzz6LHj164KabblLj6t955x2IoojRo0fj+PHjePbZZ9GiRQs8/PDDAIAffvgB7733Hq699lq0bdsWsizj22+/RV5enq70G0u7du0QHh6OTz/9FBdddBGioqKQkpKClJQU3bmdOnUKSZaK0Lx5c7Rt2xabNm3CQw89pI7PmzcPP/30E8aMGYOWLVuirKwMH330EQDgyiuvBODLEWjVqhWWLl2K4cOHIy4uDk2aNEHr1q3x4osv4qqrrsKIESPwf//3f/B6vXj11VcRGRmp26XSlkINBYvFgtmzZ+POO+/Evffei1tvvRWHDh3C448/jhEjRuCqq65Sz12/fj2GDx+O5557Ds8995w6vm3bNrXTZkFBAWRZxtdffw0A6NOnD9fILTs7G4cOHcKDDz5YYVkJgqg/NGrUCNdddx0WLFiAvLw8PProo1xo4r///W+MHj0ao0aNwqRJk9CsWTPk5ORg37592LFjB/73v/8ZziuKImbPno3bb78dV199Ne699144nU7861//Ql5eHl555RX13DfeeAOXXXYZ+vXrhyeffBLt27fHmTNn8N133+Hf//63qeGheEhfffVVjB49GhaLBd27d4fdbgcAdOzYEVdddRVWrFiByy67DD169OCut9vtGDBgADZt2sSNh/r3q1u3bli3bh2+//57JCcnIzo6Gp06dcIzzzyD7777DldccQWee+45RERE4N133zXsCty6dWvTbsLBePXVVzFixAjceOONmDJlCrKysvDkk0+ia9euXGnqEydOoF27dpg4cSI+/PBDdXzv3r1qrkRmZiZKSkrU3/uLL76YMwAkScKWLVtw9913V1hOooaoyyxnomGgVPfZvn27PHbsWDkqKkqOjo6Wb731VvnMmTPqeV6vV3711Vfljh07yjabTW7SpIl8xx13yKdOnVLP2b9/v3zrrbfK7dq1k8PDw+XY2Fi5b9++8oIFC7h7aqsPybIsf/7553Lnzp1lm83GVfPRVh8KVRZZ9lX06dKli+6ZJ06cqKu68Oyzz8qNGzeWy8rK1LGNGzfK1113ndyqVSvZ4XDI8fHx8pAhQ+TvvvuOu3bNmjVyr169ZIfDoasQ9N1338ndu3eX7Xa73LJlS/mVV14xfKaq8Nlnn6n3SEpKkh966CG5sLCQO0ep4qGtkhSsCoa2GtSHH34o22w2rroGQRDnJ6tWrVL/Xz948KDu+K5du+SbbrpJTkhIkG02m5yUlCRfccUV8rx589RzjKoDybIsL1myRO7Xr58cFhYmR0ZGysOHD5d/++033T327t0r33jjjXJ8fLz6Gzlp0iT1d9hofqfTKd9zzz1y06ZNZUEQdJV9ZFmWFyxYYFhRTuHDDz+ULRaLnJ6ero6F+vcrLS1NHjRokBwREaGrEPTbb7/J/fv3lx0Oh5yUlCQ/9thj8gcffGAoY2VZtWqV3L9/fzksLEyOi4uTJ0yYwP2tlmVZPnbsmO5vkSwH/p4a/dP+bVi7dq2qGxD1A0GWQ8g8JIgqMH36dMyYMQNnz55t0LHi6enpaNOmDT7++GPDahGEL7+iZcuWulAzgiCI+oRS6ej48eOGCcJlZWVo2bIl/u///g9PPPFEHUhY/7nzzjtx9OhR/Pbbb3UtCuGHcgoIopZISUnB1KlT8fLLL+u6HRPAhg0bsHXrVrz44ot1LQpBEIQOp9OJjRs34q233sLixYvx2GOPmVYMCgsLw4wZM/DGG28Yhvc0dI4cOYIvv/wSr776al2LQjBQTgFB1CLPPPMMIiIicPr0abRo0aKuxalXZGdn4+OPP0bbtm3rWhSCIAgdGRkZGDhwIGJiYnDvvfeWm/s0efJk5OXl4ejRo2qeAuHj5MmTmDt3Li677LK6FoVgoPAhgiAIgiAIgmjgUPgQQRAEQRAEQTRwyCggCIIgqp0NGzZg7NixSElJgSAIWLJkCXdcEATDf//6179M51ywYIHhNWyfDoIgCKJykFFAEARBVDvFxcXo0aMH5s6da3g8IyOD+/fRRx9BEARcf/31QeeNiYnRXRsWFlYTj0AQBNGgoERj+BpopKenIzo6GoIg1LU4BEEQNYosyygsLERKSgrXUKo6GT16NEaPHm16PCkpiXu/dOlSDBs2rNxEc0EQdNdWBPq9JwiiIVGR33syCuCrH0+VYAiCaGicOnUKzZs3r2sxcObMGSxbtgwLFy4s99yioiK0atUKXq8XPXv2xIsvvohevXqZnu90OuF0OtX3p0+f5rqqEgRBNARC+b0nowBQW52fOnUKMTExIV/ndruxatUqjBw50rRWMREcWsOqQetXdRriGhYUFKBFixbqb19ds3DhQkRHR2P8+PFBz+vcuTMWLFiAbt26oaCgAG+99RYGDRqEXbt2oUOHDobXzJo1CzNmzNCN//e//0VERES1yE8QBFFfKSkpwT333BPS7z0ZBYDqQo6JiamwURAREYGYmJgGo0xUN7SGVYPWr+o05DWsL+EzH330EW6//fZycwP69++P/v37q+8HDRqE3r1745133sHbb79teM20adPwyCOPqO8Vg+jaa6+t0O894PuurF69GiNGjGhw35XqgNav6tAaVo2GuH4FBQW45557Qvq9J6OAIAiCqDN++eUXHDhwAF9++WWFrxVFEX369MGhQ4dMz3E4HHA4HLpxm81WaaWgKtcStH7VAa1h1WhI61eR56TqQwRBEESd8eGHH+KSSy5Bjx49KnytLMtIS0tDcnJyDUhGEATRsCBPAUEQBFHtFBUV4fDhw+r7Y8eOIS0tDXFxcWjZsiUAn1v7f//7H15//XXDOSZMmIBmzZph1qxZAIAZM2agf//+6NChAwoKCvD2228jLS0N7777bs0/EEEQxAUOGQUEQRBEtbNt2zYMGzZMfa/E9U+cOBELFiwAAHzxxReQZRm33nqr4RwnT57kSujl5eVh8uTJyMzMRGxsLHr16oUNGzagb9++NfcgBEEQDQQyCkKkoKAA+fn53JgkSWjRogXS09NrrNb3hYbVakViYiKtF0Fc4AwdOhSyLAc9Z/LkyZg8ebLp8XXr1nHv33zzTbz55pvVIR5BEAShgYyCEMjKyoIgCGjevDmXvS1JEmJjYxETE0NKbogUFRXhzJkzFANMEJWkuLgYn3/+Ob744gucOXMGTZo0wfXXX48JEyZUuJoOQRAEQSiQURACTqeTmptVE1FRUcjNza1rMQjivGT37t0YM2YMTp48yY2vW7cOL774Ir777jv069evjqQjCIIgzmdoe5sgCOI84MiRIxg4cCBnELCey6ysLIwePRonTpyoC/EIgiCI8xwyCgiCIOo56enp6NOnDwoLC7lxJWZfCRvKzc01reRDEARBEMEgo4AgCKIek5OTg549e+rC7qyOMMRedhsEmwMFBQWwWCwAgI8//hher7cuRCUIoo45kFmInGJXXYtBnKeQUdAAGTp0KKZOnaq+b926NebMmVNn8hAEYUxeXh66deuGs2fP8gdECxqPfgSNBt2GhOueBuArfAAA+fn5lLdDEA2QjPxSXPXWBtyzcGtdi0Kcp5BRcAEzadIkCIKg+zd79my8+OKLptcJgoAlS5bUnqAEQejIy8tD9+7dkZ6ezh8QRDS9+v8Q0WkgZI8L+Vu+BQCu/GdERERtikoQRD0gM78Msuz7L0FUBqo+dIFz1VVXYf78+dxY06ZN1VCDmsTtdsNms9X4fQjiQsPr9WLMmDE4deqU5oiAuFH3I+KiyyF7PTi7ZBbKjqdxZwwePJiMAoJogEj+jQEpeHsQgjCFPAUVRJZllLg86r9Sl5d7X5P/ymsEZITD4UBSUhL3b/jw4Vz4EEvr1q0BANdddx0EQVDfA8D333+PSy65BGFhYWjbti1mzJgBj8ejHhcEAfPmzcO4ceMQGRmJl156qcLyEgQBPPnkk/j99991442vnIzoHqMgS16c+/5fKD2iDxP45z//WRsiEgRRz/BK/v9WQlcgCIA8BRWm1O3Fxc+trJN7731hFCLsNfuRbd26FQkJCZg/fz6uuuoq1aOwcuVK3HHHHXj77bcxePBgHDlyRO1E+vzzz6vXP//885g1axbefPPNWvFGEMSFxvfff4/XXntNN95o6N8Qc8lYyLKE7GVvouTAb7pz7rrrLowfP742xCQIop6heAoqs4FIEAAZBRc8P/zwA6KiotT3o0ePDnp+06ZNAQCNGjVCUlKSOv7yyy/jySefxMSJEwEAbdu2xYsvvojHH3+cMwpuu+023HXXXdX5CATRYJAkCQ899JBuPLrXaMT2ux4AkLPyXRTvXac7Z+jQofjvf//L9S4gCKLhIEkUPkRUDTIKKki4zYK9L4wC4PsDXlhQiOiYaIhizUdihdsqvvM+bNgwvP/+++r7yMhI3HrrrRWeZ/v27di6dStefvlldczr9aKsrAwlJSVqDPOll15a4bkJgvDx/vvv4/jx49yYrWkbNL7i7wCA3HULULRL76ns27cvVq5cSQYBQTRgvGpOAVkFROUgo6CCCIKghvBIkgSP3YIIu7VWjILKEBkZifbt21d5HkmSMGPGDMPQhLCwMO5+BEFUnMOHD+ORRx7hB0UrmlzzGASrHSWHt6Bg89e667p27Ypff/2VkvoJooGjeAgkchUQlYSMAkKHzWbTNT/q3bs3Dhw4UC0GBkEQPOfOncOAAQPgcvFNh6J7j4G9SUt4i3ORvXyO7rqOHTti48aNZBAQBKEaA+QoICpLnW5vb9iwAWPHjkVKSophbXxZljF9+nSkpKQgPDwcQ4cOxZ49e7hznE4nHnzwQTRp0gSRkZG45ppr8Ndff9XiU1x4tG7dGmvXrkVmZqbaBOm5557Dxx9/jOnTp2PPnj3Yt28fvvzySzzzzDN1LC1BnN/k5uaiW7duOHfuHDcuhseg0SBfqF/ehk8glRZwx5s1a4YdO3ZwOUMEQTRcvBKFDxFVo06NguLiYvTo0QNz5841PD579my88cYbmDt3LrZu3YqkpCSMGDEChYWF6jlTp07F4sWL8cUXX+DXX39FUVERrr76at1ONxE6r7/+OlavXo0WLVqgV69eAIBRo0bhhx9+wOrVq9GnTx/0798fb7zxBlq1alXH0hLE+Ut+fj4uvfRSZGZm8gcEEfGpUyGGRcF15iiK/lzDHXY4HNi5cyeF6xEEoeKlPgVEFanT8KHRo0ebVsORZRlz5szB008/rcaxL1y4EImJifjss89w7733Ij8/Hx9++CE++eQTXHnllQCARYsWoUWLFlizZg1GjRpVa89SH1mwYIHh+Lp167j32sTGsWPHYuzYsbrrRo0aFXRNqQwaQYSOJEkYMWIEjh49qjsWd+VkRLTvC9njQvbKuYAsccc//fRTtVIYQRAEEPgbTH0KiMpSb3MKjh07hszMTIwcOVIdczgcGDJkCH7//Xfce++92L59O9xuN3dOSkoKunbtit9//91UgXU6nXA6ner7ggKfW97tdsPtduvOlyQJkiTpxmWmJrDRccIYSZLUddb+l6gYtH5Vp67W8O9//zu2btU3H2s0ZBKie18NWZZw7vvX4Mo4yB3v06cPrrnmmirJS98XgrjwUJqX0QYdUVnqrVGguNMTExO58cTERJw4cUI9x263o3HjxrpzdO54hlmzZmHGjBm68VWrVqmlNVlatGiB2NhY0/nYcCaifLKzs5GWlsaNrV69um6EuUCg9as6tbmGmzZtwsKFC3XjjQbfgdj+NwAAclbPQ8lBfVfjMWPGYPny5VW6f0lJSZWuJwii/kHhQ0RVqbdGgYK27rYsy+XW4i7vnGnTpnGl/woKCtCiRQuMHDkSMTExuvPT09MNx2VZRmFhIaKjo6k+eAWIj49Ht27dAPh2LFevXo0RI0ZQBZVKQOtXdWp7DU+cOIHbbrtNNx7VfQRiB94CAMhe9T6KduoV/wcffBBPPfVUlWVQvKMEQVw4SJRoTFSRemsUKN10MzMzkZycrI5nZWWp3oOkpCS4XC7k5uZy3oKsrCwMHDjQdG6HwwGHw6Ebt9lshkqBKIqGfQiUkCFBEOptn4L6iCiKunU2W3siNGj9qk5trKEsyxg3bpxup97R7GLEjbwfAJD322co2rlMd+0VV1yBt956q1o2IOi7QhAXHpIcKEkaygYqQWipt5psmzZtkJSUxLn0XS4X1q9fryr8l1xyCWw2G3dORkYGdu/eHdQoIAiCqG1kWcbf/vY37N27lxsXw2PQZNzjECxWFO/bgPxfP9Nd26NHD/zwww/0R54gCFO8TNwQOQuIylCnnoKioiIcPnxYfX/s2DGkpaUhLi4OLVu2xNSpUzFz5kx06NABHTp0wMyZMxEREaG63mNjY3H33Xfj//7v/xAfH4+4uDg8+uij6Natm1qNiCAIoj6wZMkSwzyC+NSpsEY3gTv7L2SveFt3vFOnTti8ebOhd5MgCEKBDRuSZBkiaBOhpnhq8Z+QJBmvXN+9rkWpVurUKNi2bRuGDRumvlfi/CdOnIgFCxbg8ccfR2lpKaZMmYLc3Fz069cPq1atQnR0tHrNm2++CavViptuugmlpaUYPnw4FixYAIvFUuvPQxAEYYZRo7/oS8eppUfPLn0VsruMO96iRQts27aNDAKCIMrFyxRB9Mpy/Y0PP88pdXnx2eaTAIBnrr4YUY4LZ6Xr9EmGDh0atHSWIAiYPn06pk+fbnpOWFgY3nnnHbzzzjs1ICFBEETV8Hg8uOOOO3RhQ/akDmg8dBIAIGftf+A+e4w7HhERgd9//506FhMEERKsp4DCh2oOD1OC/kJL6q63OQUEQRDnO263G1dffTW+/PJL/oAgIn70QxAsNhQf+A1FaSt0165cuRLNmzevJUmrnw0bNmDs2LFISUmBIAhYsmQJd3zSpEkQBIH7179//3Ln/eabb3DxxRfD4XDg4osvxuLFi2voCQji/EIbPkTUDGxbKvkCa1FFRkEtIssyNQ0iiAbE9OnTsXLlSm5MEARE974a9oQ28JYWIGflu7rrHnroIVx22WW1JWaNUFxcjB49emDu3Lmm51x11VXIyMhQ/5XXf2Hjxo24+eabceedd2LXrl248847cdNNN2Hz5s3VLT5BnHewicbUq6Dm8F7AxhcZBbXA2rVrcc011yAsLAx2ux3NmjXDU089FbTBGkEQ5zcHDx7Eq6++qhu3JbZHo8G3AwDy1i+EVMr3DOjZsydef/31WpGxJhk9ejReeukljB8/3vQch8OBpKQk9V9cXFzQOefMmYMRI0Zg2rRp6Ny5M6ZNm4bhw4djzpw51Sw9QZx/8EbBhaWs1icu5HW+cLIj6inPPPMMXn75ZW4sPT0ds2bNwn//+1+sWrUKPXv2rBvhCIKoEYqLi3HFFVfA6/Vy4xGdBqHJ1f8HwWpH2el9KPqD76IcERGBH3/8EVZrw/hpXrduHRISEtCoUSMMGTIEL7/8MhISEkzP37hxIx5++GFubNSoUUGNAqfTCafTqb5XGre53e4Ke26V88njWzlo/apOsDX0ML83Lpcbbqq3oqM6voNOl4ubz+2u3/vrFXnWhvGXp45YtGgRZxAkJSWhVatW2L59OzweD86ePYsxY8Zg//79XEWl6uD48eNo06aNbnzIkCFYt25dtd6LIAiee+65B6dPn+bGrI1TED/mEQhWO0oObca5H17TBaR+8MEHanPGC53Ro0fjxhtvRKtWrXDs2DE8++yzuOKKK7B9+3bTakuZmZm69UlMTAzqdZ01axZmzJihG1+1ahUiIiIqJTvbG4eoOLR+VcdoDfeeFgD4LIFVq1YjknoUmlKV72CuE1DU59Vr1iLGXj0y1RTaZpnBIKOghpBlGa+88or6fvbs2Xj44YdhtVpx+vRpjB8/Hlu2bEF6ejoWLVqE++67r1rv36JFC2RkZKjvMzMzceWVV+Lyyy+v1vsQBMHzxBNP4IsvvuAHBRHxYx6GaHOg9NgO5CydBdnr4U7p1q2b2oOlIXDzzTerr7t27YpLL70UrVq1wrJly4KGHGkbuJXXuXXatGlquWvA5ylo0aIFRo4ciZiYmArJ7Ha7sXr1aowYMYK6QlcCWr+qE2wNT64/Cpz09X664sorER9Zz7XVOqA6voN/5ZYCO34BAAy74gokxoRVp4jVjuIdDQUyCmqIvXv3Ys+ePQCAAQMG4LHHHlOPNWvWDP/+97/Rq1cvAMCXX35Z7UaBxWJBUlISAKCsrAzXXnstBgwYELS8K0EQVWPWrFmYPXu2bjx2wE0Ia3YRJGcxsle8Da/GIBBFEXPmzGnQHYuTk5PRqlUrHDp0yPScpKQknVcgKysrqHfF4XAYeh5sNlullYKqXEvQ+lUHhmsoBMJYRIulWtf42LliLPsjHRMHtkZ02Pn/2VXlOyiIgfAhi9Va77/LFZGvfgdCncdkZWWprwcNGqQ73rNnT4SHhwMAzp49W6Oy3H333SgsLMRnn30GUaSPnCBqgh9//BFPPfUUNyYIAsLa9EbsZT4PQM7qefAWnuPOEUURX3/9Na644opak7U+kp2djVOnTiE5Odn0nAEDBujc/qtWrcLAgQNrWjyCqPewFYeqO//13Z8P47VVB7HiTyqQwlcfqkNBagDyFNQQTZo0UV9v2bJFd3z37t0oLS0FAMTHx9eYHC+99BJ+/PFHbNmypdrzFgiCCDB16lTdmLVJaySMewKCIKJw5woU7/mZO26xWLBnzx506tSplqSsPYqKinD48GH1/bFjx5CWloa4uDjExcVh+vTpuP7665GcnIzjx4/jqaeeQpMmTXDdddep10yYMAHNmjXDrFmzAAD//Oc/cfnll+PVV1/FuHHjsHTpUqxZswa//vprrT8fQdQ3arJUZrHT590scnrKOfPCR2KrD11gVgFtG9cQXbt2Vf/Qb9iwAe+99x4kf8eLs2fPcuFCN954Y43I8M033+CFF17AV199hXbt2tXIPQiCAF544QUcOHCAG7M1aYnEW16C4IiE8/Q+5Kz9t+6611577YI0CABg27Zt6NWrlxom+cgjj6BXr1547rnnYLFY8Oeff2LcuHHo2LEjJk6ciI4dO2Ljxo3c5sXJkye53KiBAwfiiy++wPz589G9e3csWLAAX375Jfr161frz0cQ9Q2pBvsUKEZGTZTgfPfnw/h6+1/VPm9N4b2AO0eTp6CGEAQBjz32GO655x4AwP33349//etfaNOmDTZu3IiysjIAQEJCAiZMmFDt99+9ezcmTJiAJ554Al26dFHjcO12e7m1wAmCCJ3//Oc/eP755/lBQUSTsY/BEhELZ8ZBnPnqeUCTRzBw4EA8+OCDtShp7TJ06FDIQf5iapu6GWFUKe2GG27ADTfcUBXRCOKChPMUVLNV4PUXSqtuoyCroAz/WnkA0Q4rbrjk/OjgzvYpkHFhWQXkKahB7rrrLi6k4Pjx4/j5559Vg6Bx48b4/vvvERsbW+333rZtG0pKSvDSSy8hOTlZ/ResqgdBEKGTk5ODIUOGYPLkybpjbMfirP9Nh+ziS8I1btwYP/30EywWKiROEET1INXgDrZi4Hulck6sIKVuX2+FMo+3nDPrDxKzBhdY9BAZBTWJIAh444038N1332H48OFqZZHGjRtj6tSpSEtLQ9++fWvk3pMmTYIsy7p/1KOAIKqO0+nEVVddhQ0bNuiOWWIS0GjwHQCMOxaLooglS5aY1uInCIKoDFINdtqtqfAhZdfdex5p1zWZu1HXUPhQDSMIAsaOHYuxY8fC6XSitLQUMTExVAWIIM5jFixYgK1bt+rGxbBoJN40A6IjAs7T+1G0axV3XBAEfPPNN9QvhCCIaofdxfdWu1Hg/281K+8BY6P8niP1BS58iIwCorKY1csmCOL84v3339eN2VM6odm4xyDFJMFTkIWzS2YBmnjTBQsW4Nprr60dIQmCaFDw4UM1o7xXt7HBGjKyDJwHNgG3zueRgyMkyCggCIKoABkZGdi1axc3Ft6+H5qOfxqSIEIuLUDpj6/DW5TNndO/f/8aKSpAEAQB1Kyyqu7oV3sCc2A+ryxDRP23Crw1GKZV15BRQBAEESJ//fUXunXrphkV0OjyCRAEEcUHfkPOynd1eQRWqxXvvvtu7QlKEESDoyaVVUmtPlSt03JyeiUZtvOg9gLfp6AOBakBKLCdIAgiBI4ePYouXbogLy+PGw9vdynsTVtBchYje/lbOoMAAD7++GP07t27liQlCKIhwnkKqllZ9dZY+ND5t+vO9SmgkqQNE6/3/CmXVZ+50JJyiIbB0aNH0atXLxQU6BX+mP6+mvmFO1foSo8Cvi68t956a43LSBDE+U1+qRsTPtqCb3dUrpEXXyqzev/WyjUVPnQexufzicZ1KEgNQEZBCDRt2hSnT58mw6AaOHfuXI30ZSCImqKsrAyjRo3SGQSiKKLxlf9AWPMukD1uFG7/Tnft//3f/+GNN96oLVEJgjiP2XIsBxsOnsWiTScqdX1NdtpV9ODqLh3KGhnnS1lSiUqSNmzCwsKQkJCAjIwMbqdbkiRkZ2cjPj6eSoyGiMPhQExMTF2LQRAh8/zzz+Pw4cOaUQGNR9yHqJ6jIcsSslfOhbcohztjxowZeO6552pPUIIgzmu8/q1+TyWVY0mTtFudKAp7devtXPjQeWIUeC/g5mVkFIRIWFgYmjfnW3C73W6kpaWhW7dusNlsdSQZQRA1xf/+9z/Mnj1bMyogbmTAIPD+vhDFu9dyZ9jtdtx33321JyhBEOc9XjWZt3KaZk021VLDh6rb2JBrzpCpKc7HPIhQIaOAIAjCgFWrVuGWW27Rjcf0vRbRvVJ9HoJlc1C85yfdOZMnT0bTpk1rQ0yCIC4Q1GTeSiYJs7vW1d+nwPff6g8fYu9xfijYF3LzMop5IQiC0HD48GFcc801kDQlPOyJ7dDocl+vgZzV8wwNggEDBuC1116rFTkJgrhwUMJnKhtGw5XKrKk+BTXoKahP5T2/3v4XftydYXjsfEyODhXyFBAEQWh444034HQ6uTExIhZNr50GwWJD8YHfULRzue66AQMGYMOGDbBa6aeVIIiKUdWuwTUZnx/IKajBRON6suueX+rGY1/vgsMqYl+XJAiaNssSVR8iCIJoGJSWluI///kPNybYwpBww/OwNkqCJy8TOT++o7tu0KBBWL9+PRkEBEFUCm8VPQU1uYMt11D4kKceJhqXub2QZaDMLRmu44WcU0BGAUEQhJ9jx46hVatW8Hg83HjjoZPgSO4Ib0k+znz1HKSyIu54t27dsH79eio4QBBEpamqp4CNb6/+nIKq5TuYUR8VbFYmIyOoJhO66xoyCgiCIACcPn0a/fr1w9mzZ7lxa+MURPUcDQA4991seHLTueN2ux3r1q2DxWKpNVkJgrjwUPTPSlcfqsGcAkURriljA6g/fQrKMwoofIggCOICRpZljB8/XmcQAECjwXdAEC0oObIVZSd26Y6///77iIuLqw0xCYK4gAmED1Xyepl9Xd0lSWtm3trwFHglGU5P6M1nveXkOZCngCAI4gJm3rx52Llzp2ZUQOzgOxB50eWQZQl56xfqrnvuuedw11131Y6QBEFc0ARCdKqj+lBNhQ/VpKegWqdWueWDjRj2r3Uoc4dmGHjL8V7UZJWnuoYy4giCaNB8+OGHWLlypW68yegHENl9FAAg/9fP4D57nDt+/fXXY8aMGbUhIkEQDQBF2azsbrxUCzkF1b0xXhuegrRTeXB7ZWQVOJEcU37el1RO8nN9zIOoLsgoIAiiwfLbb7/h/vvv141H9RqDyO6jIEte5Pz4Dor+XMMdFwQBb7zxRm2JSRBEA0AJ/6l09SFOma0OiQIo81W3p6C8+P3qQKlw5AshKt8oKK/LMhumhQvLJqDwIYIgGiayLGPy5Mm6BmVhLbogbvjfAQB56xegxKBB2fXXX4+WLVvWipwEQTQMqtNTUGPhQzWYaFwTu+6SJKveDacnNEupIonGF5qngIwCgiAaJMuXL8fevXu5MUt0PJqMexKCxYrifRtQsGWxzmho1aoV3nvvvdoUlSCIBoDXIG6/zO3Fj7szUFDmLv/62uhoXO2eAvZ19SvYrBETarKxVI5MF3JHYzIKCIJoUMiyjA0bNuCWW27RHBHQZNyTsEQ2hivrGLJXvKW7tlOnTtixYweaNm1aO8ISBHHBoyjaRnH73+z4C/9YtAPv/ny4/HmY66o7p0BR3qt7Z7ymFWxWqXe6Q/QUlJNofCHnFJBRQBBEg+HAgQPo378/hgwZgqIivgFZxEWDEdbsIkjOEpz99iXIbid3vHPnzti9ezeVHw2RDRs2YOzYsUhJSYEgCFiyZIl6zO1244knnkC3bt0QGRmJlJQUTJgwAenp6eYTAliwYAEEQdD9Kysrq+GnIYia4af9Z9DjhVX4cXdmIHyIUTrPFvp+h84VusqdSyonFr4qyGr4ULVOW+OhOGzH5MqEDxnJxPcpIKOAIAjivOPo0aMYPHgwtmzZoj8oWtDosjsAAAVbvoUn/wx3OCIiAitWrIDVSrUZQqW4uBg9evTA3LlzdcdKSkqwY8cOPPvss9ixYwe+/fZbHDx4ENdcc02588bExCAjI4P7FxYWVhOPQBA1zuZjOSgs82DT0Wx1N55V6D1+LdwTQubw+Rk+VLOJxl4vaxSEWJK0Qh2NqyBcPYT+whEE0SB4+OGHdc3JBEGALMuIufQa2OJS4C3OQ8HWJbpzfvrpJ7Ru3br2hL0AGD16NEaPHm14LDY2FqtXr+bG3nnnHfTt2xcnT54MmsQtCAKSkpKqVVaCqCvY0CEjxdvtNwY8IWzRe2twB1uZuib7FFS3wQFocwoo0bg8yCggCOKCZ+PGjfjuu+9040J4LKI6X4bGw+4GAOT99hlkNx+K8s4776Bfv361ImdDJj8/H4IgoFGjRkHPKyoqQqtWreD1etGzZ0+8+OKL6NWrl+n5TqcTTmcgFKygoACAL4TJ7S4/eZNFOb+i1xE+aP30uP27126PV33tlWVmrXxjLo+X+84arSFnTLg91brOXjW0SarWeV0eD/e6ur8bZc5A2FVxWfD1U+Vgjjld+t8JF+Nx8Pg/l/pMReQjo4AgiAuaoqIijB8/Xjfe+Mp/IOaSq9X3BduWomjncu6c1q1bG/YxIKqXsrIyPPnkk7jtttsQExNjel7nzp2xYMECdOvWDQUFBXjrrbcwaNAg7Nq1Cx06dDC8ZtasWYZN5latWoWIiIhKyav1chAVozbXzyMB+S4gvp5GmB09JgIQcfzESZy1AYAIWQaWLVsOQQAO+4+fzsjE8uWB3yejNcwvtAAQAAA7d+2CLT2t2uR0u31zn8vO4eSoKntPCwAsAIBNm7cg/0D17rznOQFF1d2x6w9EnvHNH+w7uD8vINP6X37BkUj++KETvs8EAHbs3AnhVP32FpSUlIR8LhkFBEFc0CxYsACZmZncmKNFV9Ug8OSfQdHutcj/9TPdtc8++2ytyNiQcbvduOWWWyBJUrmlXvv374/+/fur7wcNGoTevXvjnXfewdtvv214zbRp0/DII4+o7wsKCtCiRQuMHDkyqAFiJuvq1asxYsQI2GzlN0EieOpi/aZ+9QeW/ZmJH+4fgE5J0TV6L0mSkfZXPjonRSHCHpp6teX7fUDmKTRr3gKNI2zA6eMAgKtGj4ZFFLDpu71A5l+Ia9IUqamXBF3DOQd/BUp9CmC3bt2R2rtZtT3bk9vWAJKE2EaNkJpafZ7TY+uOAid9lZUuufRSDO1YvZXd/sotBXb8AgDo0OkijOjbrNzvYOTBs8C+nQCAgQMvQ9dm/O/EHz8eANJPAAC69+iJ1B7JIcmy7uBZNI1yoEtKxX53qoriHQ0FMgoIgrhgkWUZr776qmZUQONhdwEACncsQ87q9w2v7dOnD+68884alrBh43a7cdNNN+HYsWP46aefKqyki6KIPn364NChQ6bnOBwOOBwO3bjNZqu0YlqVa4naXb8TOT4lOb3Aha4tavaeq/ZkYvIn2zFxQCvMGNc1tIsE386+DAGCGKj9IlqssFlFSLLvuFcCt2ZGa8hGzIuipVrXWElpkCFU72fnf37fy+qVGQAEMRA+5GbWUFk/t1eCzSJqrrEEXlv0MslMjR5RFEOSOaugDJMX7UTzxuH45fErKvUslaUia1qvqw95PB4888wzaNOmDcLDw9G2bVu88MILXDMhWZYxffp0pKSkIDw8HEOHDsWePXvqUGqCIOoLTz75JP766y9uLPLiIXAkd4TkLEHeb3rvAAAkJydj7dq1pPjVIIpBcOjQIaxZswbx8fEVnkOWZaSlpSE5ObSdOqLhoSTo1kRlGy0Z+b58pPT80EvkqsnFsmxYClMpqRlK9aHaKEla7Z2SazhpN1ii8co9mej6/Ep8v4svhcwnGuvXXapE9aG8UjdkGcgpKr+0bF1Sr42CV199FfPmzcPcuXOxb98+zJ49G//617/wzjvvqOfMnj0bb7zxBubOnYutW7ciKSkJI0aMQGFhYR1KThBEXfPuu+9i9uzZ3JhgtaPR5RMAAPmb/gepJF93XXx8PH777TdER9dsqMGFTlFREdLS0pCWlgYAOHbsGNLS0nDy5El4PB7ccMMN2LZtGz799FN4vV5kZmYiMzMTLlfgj+aECRMwbdo09f2MGTOwcuVKHD16FGlpabj77ruRlpaGf/zjH7X9eEQ9wunx4q4FW/Hhr8d0x1z+Op+eWjAKAsm4od+Lvcao6o1iDIQiP6u/VrvyXkPVh/jynjVgFATpU7DteA6cHgnbT+Ry45xxZWCLVaZ5mXKNu57XMK3X4UMbN27EuHHjMGbMGAC+pL/PP/8c27ZtA+CzXOfMmYOnn35aTSRcuHAhEhMT8dlnn+Hee++tM9kJgqg7NmzYgAceeEA3Hn3JNbDGJsBTcBaF25bqjl955ZWYN28e2rRpUxtiXtBs27YNw4YNU98rcf0TJ07E9OnT1WpQPXv25K77+eefMXToUADAyZMnITIhFXl5eZg8eTIyMzMRGxuLXr16YcOGDejbt2/NPgxRr9l9ugA/7c/CoaxC3H0Z//+u26/V1UbpSFXxM9IkTa/x/1eWuTKiirKs9imoYEnSmupTUO1GgWT8urpg183p5vsUlLkVg4u/MS9T8D4FoZZ+VY28mnjIaqReGwWXXXYZ5s2bh4MHD6Jjx47YtWsXfv31V8yZMweAb+cpMzMTI0eOVK9xOBwYMmQIfv/9d1OjoLpK1FF5tapDa1g1aP2MmTp1qm7MltAGsQNuAgDkbfgYsod34z7zzDN47rnnAFz461kbzzd06NCgfzBD+WO6bt067v2bb76JN998s6qiEecZ+aVu3LVgK8Z0S8Zdl+kNdkXRcnv036mKKNVVxVsJxZntTcDtmmsMjFAMDakSymooyLIMZbrqtq1qMuQJCO4pUJqZab8brJFQfkfjiskhyb7XFlEo54q6oV4bBU888QTy8/PRuXNnWCwWeL1evPzyy7j11lsBQK0okpiYyF2XmJiIEydOmM5b3SXqqDxd1aE1rBq0fgGWLl2KnTt3cmOWmAQk3DgDoiMCpcd3oXjPOu54ixYt0Lt372ottVefqUiJOoKoa95ZewjbT+Ri+4lcQ6NAUSaNFGdlrCYUTp0cashPxY0CX/gQO17xOWuqERg7VXWvY002XAN4BV9rFCieArfGKODDhww8BZXwyLDr5vZKsDDJzPWJem0UfPnll1i0aBE+++wzdOnSBWlpaZg6dSpSUlIwceJE9TxB4C0uWZZ1YyzVVaKOytNVHVrDqkHrx/Pll19i/vz5mlEBTa55DNaoOLiyjuHs4pcB8L/kkyZNwqhRoxrMGlakRB1B1DWHsoqCHlf0PpeBUeDyK4K1kWhcmRCRwA6yzCny2hj0UOasqfChihgbn285iaIyD/5+eduQ5tbmUZS5vSgocyMhunoaS7CyOz3a8CG/pyBY+JCBoVKZPAh23Wojv6Wy1Guj4LHHHsOTTz6JW265BQDQrVs3nDhxArNmzcLEiRPVVveZmZlc9YmsrCyd94ClukvUUXm6qkNrWDVo/YBffvmF2yxQiOp5FcKaXQTJWYLsxS9BdvG75B06dECvXr0a1Bo2lOckLgwy8kuDHg/mKfBUYve+sij3qEz4kFeSNVVteGNAu5ttRGUSYEMh1HklScZzS3fD7ZVx46XN0SjCXu7c2l35CR9uQdpfedg0bTjiIsu/vjz4nAJt+JBxEjdnnBmsu1QJ7wZ7j/qcV1Cvqw+VlJRwSWYAYLFY1JKkbdq0QVJSEhc64XK5sH79egwcOLBWZSUIou7IyMjA6NGjuXLFAGBtlITGQycB8OURuPLOcMdtNhvmz5+v+50hCKL+kJEXvMSnUjbSSHFWE41rwSiQKmGAqNWHZH4HOuB14KsQBYPVT2UZOFNQhhPZxSHLouX3I+cw/7djIcf9u7yS+hmUapJ6zdAaHEfPFcHlkZCeF9wQDJVgOQWqp0CjpHvLeV72axbqR81+/0Ix8OqKeu0pGDt2LF5++WW0bNkSXbp0wc6dO/HGG2/grrt8jYcEQcDUqVMxc+ZMdOjQAR06dMDMmTMRERGB2267rY6lJwiiNigpKcHgwYNRXMz/8bNExSHh5pcgOiLhTN+Pwp18voAgCPj222/Rt2/fBpNLQBDnI4VOT9DjagUfyReCI/qTOGVZVhWw2vQUVCSpWZFdkozDh9SSpKF4CjTK7Pj3fkdeiQtbn7ky5A7LLM8s3o2j54rRq2VjdSyYbcJ6aoySvo3Q1vxX1rC6PB0ezijQhA95jNeWM1QMvjeV6a3AfjblGXj5JW7ERtSNN7deGwXvvPMOnn32WUyZMgVZWVlISUnBvffeq1YIAYDHH38cpaWlmDJlCnJzc9GvXz+sWrWKaowTRAPhySefxJEjR7gxwRaGpJtegLVREty56cj69iVA5n+I3377bVx99dUXfKUhgjifCSUUhz3HLUlw+JM4PZySXfMhG4GGY6HfS+bCh4zmMg+N0qKNzz/t323PK3FXyigoKPMZY4Vlgd/IYJ8HuwNulN9hhFZmbzU3mwtafcjvKdD2DijPM1KpRGP2OxrEYPpxdwb+sWgHXhjXBRMGtA5t8mqkXhsF0dHRmDNnjlqC1AhBEDB9+nRMnz691uQiCKJ+sHLlSq6ZoQ8BTcY8AmvT1vAW5yHrq+cgFedxZ/To0cOwjwFBEPULNp8gNtx495RV4txeGQ6r8jqgBNZGGHdluierZUxlTUlS/0t3BeY0q5pT3rVmxVmMvBTBdsZdjNJtZsT88Ec60vNKMfnydn7ZePmVNagRT4FZToE2fKictatKnwLAZ7iasSfdVwRiz+m6KQZBgbQEQZyXFBQU4Prrr9eNx/S7HhGdBkL2uHF28Uvw5GVyxy0WC+bOnVtbYhIEUQVO5QSMAjNFkd+FNQ5h8UoSZFkuN2m5KijyVSRmXK0+ZBY+pCQah2QUBF6zim6w0KlTOSW49KU1eGvNId0xxRhgd/2DKetc+JCJUfD04t2YuXy/+jmwHhyvJDPJ2qa3qRC8p8Cs+pB5+JCRUVCVPgVA8FAwxbCqSAO86oSMAoIgzju2bduGFi1a6PIIbAlt0Gjw7QCAnNXvw3l6v+7aTz75BJdddlmtyEkQRNU4lROoFmamTPGeAkYxlXjFeNHmkxgw6yf8b9upGpCUSRquTPUh2bj6UEXKnPK70aGFTm0/kYvsYhfWHczSHVPWkl33YM/mKscokGVZDUUqdvoUcm3SbmXWMBjBm5dVzlPAGhEhlyQ1+Y5qUWQKNfyquiGjgCCI84o1a9ZgwIABulr7gs2BJlc/CsFiQ8mB31H0xyrdtW+//bba/JAgiPrPScYoMFMUzZRhVvmSJBlH/P0OjpwNXpEnPa8Uu07lVVjWypQ/ZT0FXH18tU+Bv3qSHLyCkvYY6zHxSDK2Hs/BrBX71N1xBUVJd3n0SmjgeVhPgfmzsOvtMuouzeRNGFWF8q1BdYcPBWteZuIpKKcPgTY5OhTYzzbY96MiHaxrAjIKCII4b8jJycENN9wAj0dfjSQ+dSrsTVvBW5SL7JX68KC//e1vePDBB2tDTIIgqolTuQGjwCwWO5TwIY8kB7obl5MIfM/Cbbj2vd+QmR+8FKoWSd3lDl2hU071aPoUaEuSAsFj0bUJsXxdfBlvrj6If68/it+PnOPOU5KJtQqzLAcUdNZgCGaYsOttpNSyBkngszBOTq4RTwFzf1mWVXl0HY05T0HwOUM1XljjJJjXR1lrIyOtNiCjgCCI84YZM2YgPz+fHxRExA3/OyI7D4bsdePskpmQSnkvQs+ePfHBBx/UoqQEQVQHrKdANtktDyV8yMsoueVtwp4pKIMsA2cLnRWStTIlSdkwISNlk1VYg82rVU61Cnaxy6cAl2mSbYucilHAexC4+7JKctA+BXqln8XJJSIHwqaMrgl2n4rAlyTl768c0ocPMa/LqT4UaqIx+/kECw1yqZ6C6nn+ikJGAUEQ5wVbt27VJQgLNgcSbpyO6EvHAQBy1/wbztP7uHMiIiLwyy+/wGqt18XWCIIw4Ixmt94o9MJjstvMKZleNok1uFWgxtIHOU+WZXy19RR2nw5sUmjLiIYCW23HKCzFy+0wBwsf4t9rw4eUebQ78GbhQ2Y720FzCsrxFDgNqhOxRl6oHomKwM7jkWT1WVhZtM/E9XsweI4qhw8F+RyVdaGcAoIgCBOysrIwfPhwXcfi2MtuR3ib3pBcpTi79FUUpv2ou/a///0voqKiaktUgiCqEa1yZKSom3WL1YYPBRqCBdfkQjlvb0YBHv/mD0z79k/uHuz1oSAx19RU+JBXktV5tB6FQpPwIW4dmddGG+O7T+fjXJGTzykwUHydRuFDZp6CajIKtJ+hSzUKGFk068qFDxmIwXsKQpODM+6CfI5UfYggCCIIhYWF6NmzJwoLC7lxW9PWiPF7CM4tfRUl+3/RXXvvvfdSYjFBnMdolTojRZ0v92gcPiTJAU9BeXHgoYQB5Zf6dthzS1yBe2iSg82QJBnZRb7QpICnwDhW3R2ip0CrRLNKpUeSTBN4VaNAE1bkMfO4aK4/lVOCq9/5Ffct2q7paGyUU6Cfk8spYD0F1RQ9o10XxfhhZdF1NGY9AYZ9CgKvQ+5ozCxHsNAgJxkFBEEQxpSUlKBv377IyMjgD1hsiL/qIQiiBcUHfkPp0W26a3v37o233367liQlCKIm0CpsRooxO+QyUUzZEJryYv4DnoIgO/MGSbjK+Wa5DwrPLt2NPi+vwZ70fFVZ1HY0NvIUlBfOxKLddVcNIs0UaviQziNjklOgea7MAl9411+5pdxaGIW/cLvzBp4L1rtQE83LfDLow4eCJhobVR+qRE4BO09I4UOUaEwQBMFz9913Y/9+ba8BAU3GPAxHSkd4y4qQu/Y/uus6d+6MlStXwm63146gBEHUCNod04qED3HKrDcQQhMsiVVmPAqh7MzzCb2snMFDjyTZVxpVUSq9kqwrz8nKEqo8Rud6JFldNzNPgZeJtweCNyKTDcKcnB6p3D4FRjkFZp6C6qs+xMsR8BR4Tc8JZgRpx0IVk/+OhhI+VE2ukgpCRgFBEPWSTz75BF988YVuvNGQiYi86HJfpaHFL8NbyJfY69+/P/bu3YsmTZrUlqgEQdQQuvAhQ08Bm0dgvFvNVx8KTbkOptgryjWvyIYWN17qrwSkrcvPJbjKsl7Rr0BOgVtjEHnLySkA+PXichlCaO7l8kicImu0022caAzdmJGc7DlK6FUoaPVvl1vvKdCFD5VjFBg1mSsPT6hGAXkKCIIgArjdbkyaNAkTJkzQHYvqORqx/W8AABT//AGcJ//kjlutVixduhSCINSKrARB1ByygWJc3s6tWVw7G0ITTNnnd+bNFTNFkeSMAmbaYPcocQWaZnnNPAWyfo5gu8dae4GV3SPJqpGgFUsJHwL4vAJPkFwGr6GnwKvxLuhl5fsU6L02oSQa37doO/rPWouM/FLD41rMPAVBE40Nno+fs2qegqDNy/zJ8ZRTQBBEg0eWZUyaNAkLFy7UHXM0uxhxI/4BAMj7ZRGyt6/QnfPqq68iISGhxuUkCKLmMVIsjRQqLjTDRPniQmhCNQpC8BR4GGWeVUC9QRT4UnfAUyCpyjqfUyBJsj50qgJ9CrQKtpGXRJZltU8BYB5nr4+5D7xWOy97ZcPmZCzVET60P7MQbq+Mk9klhscVvt3xF3aczDXIKdD3awjmKTDyBLCGTOVyCsr3FNSVUUCFuwmCqDesX78en332mW5cDI9Bk3GP+xKL96xD/u/6sKJbbrkFjzzySG2ISRBELcDuVjusIpweyVChMgsf4sJRmLKcwZR9LxeLHyzROPDa5ZUQJlp4j0UI4UNaT4E2bEVXUSiExOeATPxzKOvGKrHFLi9niLhMQmq062C2k17MGBiGRgFrNHj0OQ6uEMKHFGU+WAjYsXPFeOSrXWjbJBJjuifzMhjkFHj8+RuKh7k8TwGXaGwqBQ/vzTK/ijoaEwRB+DFS6q1xzZBw0wuwRjeBO/sUslfO1Z1z2WWX4ZNPPqkNEQmCqCVY5SnMZgFQfklSrla+pjKQGr8f1FNgHgKz61QeLnv1Jyz7I4M7T1E0y4tFB3xKeYnLn9wry+quu65PgSzr7l8RT4FHkx8QyF0InFPE5BP4nsM4pEaXU8DuejMTFjqN8xMC8+vX1mOSh2C2Ua7IGMywU8rE5pW6TasPaZVus8/OsKNxOSVLjTD7jmqhjsYEQTR4ZFnG5MmTsXPnTm7cntQeyRPfgiOpPbwl+Ti75BXIbr7Dabt27bB69WrqWEwQFxisYhtmE/1joRsFfBUZhJRTEEyx/+XQWfyVW4q1+87wO9wGRoGZAu/0SIFuxV5JnUeSNQmsTLhTYM7Ae23YSrA+BV4mp4A9j80nUGQzkj9oyU7mNWtksI3jFLjwIoNqSMH6IWhlDFZBSq3g45F0SrvqKdB1cOa/KwpGSj/7sYSaUxBqArvqKfBKIYcmVSdkFBAEUec8/vjj+M9/NKVFBRFxox6AaA9D2andyJj/INznTnCnxMTEYPPmzQgLC6tFaQmCqA0U5UkUAJvFbxQYhNB4uRAUs8TVgKcgWOgJl5Og2dFVcgG8sszvcBvEx5spflwpTBmcTNodaq1hoci28YyAS2f+jB0nc9Vj2ttpS5IaNS8r0HkKWKPA+LX2XuzaF5UXPsR6Cjz6z8KlCffSIstywAALJQTHK5l6CtjPQSuvZOIJUSgv58AIM+NHC+/dIqOAIIgGxrJly/Daa6/pxqN6joYjqT2ksiKcXfIKvEU5unMWL16M+Pj42hCTIIhaRlGerBYRVtEX711ejLfHNHwoUH3IK8lIzyvFyDfX45NN/EaD12uuELJVgzglz2D32msSfqPMocitzOPVJhrL+vsrcx7IF1BQ5sG24znM+eb5B2YdjfWeAnYn39xTwHtTAvfhPAWhJhpz6xg8/MoZosKsfO4eSZ+X4TJINAZ4I4pT+g3uw95b2c0vcnow/PV1eH7pbkOZQu03YRb+VluQUUAQRJ0yZ84c3Zg9uSMaD50EAMjd8DGkkjzdOVOmTMEVV1xRs8IRlWbDhg0YO3YsUlJSIAgClixZwh2XZRnTp09HSkoKwsPDMXToUOzZs6fceb/55htcfPHFcDgcuPjii7F48eIaegKiOjmVUxK06ooRivJkEwVY/Z4Co1hrdlqz8CFJDnQ09koyth7PwcEzRfg+LZ2/Z5BSnHx/gcC4ssOt3Z0HgMU7/0KX51di7b4zAHijgNvB1yiwvsRofr0CZTx971nFVhc+xCjYbKlR9rTCED0FWgWfT8QNjBeVm1Ogr05k1tTLaAeef44gRgHjuXFqFGuznAKzhmWGHY25PgW+/36x5SSOnC3Gwo0ndOcD2gpZxv8fSBLfrK4uKhCRUUAQRJ2Rm5uLNWvWcGPW+OZIuHEGRHs4So/tQFHaj7rrpk6dinfeeae2xCQqQXFxMXr06IG5c/WJ4QAwe/ZsvPHGG5g7dy62bt2KpKQkjBgxAoWFhaZzbty4ETfffDPuvPNO7Nq1C3feeSduuukmbN68uaYeg6gGftp/BoNn/4z7Pkur0HWKgl6up8AsfEgTI696CpjQHKeuY7K5p0AJH/Ip8/odXS7sxD//lmM5cHkk7DyZ55uD9RQw3gGfp4BXTM0SjZXHYkNgdInGXCK08XmsEs8+h/KMRq8V2QKvGU8BFz4UXKk36lPAKvDGngLeoDKDfQ72GvYeZZpxdr3459PPbxQ+lFUYvKFaKPkmWkPKyLCqacgoIAiiTsjLy0Pv3r1143FX/gOW8Gg4T+/H2cUzAZn/YXz99dfx5ptvQhTp56s+M3r0aLz00ksYP3687pgsy5gzZw6efvppjB8/Hl27dsXChQtRUlJiWJJWYc6cORgxYgSmTZuGzp07Y9q0aRg+fLiht4moP8z/7TgAYN3Bc8FP1KAojjaLAKvFZxQY7bKaNi/TJNuyJUnVplua2HJut1+jlCm7/Nr4fycTrqJe63/Nlh8FAoaFci9lB1mW9TvUukRjxdMh8/cF9M3LeMXYOFY/9ETjSngKNEq3b34jTwEjsybROD2vFJ9vOakaP7zREFpcvlMTJqS8Dxo+VE51IaOSpNlFLlN5tHOaeQC0RkBdVCCich0EQdQ6+fn56NOnD44fP86N21M6I7x1T8heD85+N1tXaah58+Z48MEHa1FSoiY4duwYMjMzMXLkSHXM4XBgyJAh+P3333HvvfcaXrdx40Y8/PDD3NioUaOCGgVOpxNOZ2AXr6CgAICvc7bb7Ta7zBDl/Ipe19AJs/IGfKjrV+b0nWcRBfgdBXC69J+b2xtQNp0uj3rcydWiD9Tq93i9cLo96jnsfE4X2+HXwx0r8Su9Hq+XU3pLnS643W4uH0GRU6nd7/b45iosDXwX3R6PqbLodntQ5uKfs8w/p1cW/PK4mWfVrgmTx+AMHHN7As+bV8wrsiVlLvUYe2+tgs9+Bi7mvnx3ZK/ucyplG6X515YrAcvmHLi9eG3lfny7Mx12EbimRzKKmLVzaT4b7jkY2YudGhn8x0pdvJfE9xnaAPg+X/U+Xv1zcLkj/uNnCwMdlo3kcjNraLQ2AFBSynsbSstccLurrqZX5PeKjAKCIGoVWZYxduxYHD58WHes0cBbAABFu9fCW5DFHbNarfj0009hs9lqRU6i5sjMzAQAJCYmcuOJiYk4ccI4Jle5zugaZT4jZs2ahRkzZujGV61ahYiIiIqIrbJ69epKXddQyT0rgg1MCHX9jhcCgBVuZxkK88sACNiydTucR31KmcsL2C3AiROB+Q8fPYbly48AAA4cD4xn5+TBpwMLyMsrwK4//wRgQV5hMZYvX667JwAcOHQYy50H1WPpWRYAAjKzzmKPKwuAr3fCrxs3I3ufjMJi33EA+PX335G5GziV7pPh0BGfXGnZgnrdgUOH4XYL6jU+pdD3eteff+LMYRmsmrYz7Q+EZcjwyr7rjxw/ieXLjwMAjjFyA4oi75vr4OFj6jocOHgIy0sPAAB2H+M/lx27/kB45i7f66yAnFnnctS5AOCnn9chIdz3+s+MwHkFJS71vIwzWdy6AsDxvwL3O37yFJYvP4HS0sCalToD1+8/cACnigUAIn7dlgbr6Z04VRR4Rt9a7IIRuxiZTmdmARAhQoYEAQcPH8NFrYHjJ//inv2ndeuR7P85yDwTkPPUqb+wfPlJbn63OyDzCf9zHE0PjGmfGwCOMd/F4ycCnxtLrjPwfACw5ud1qkxVoaQkePdnFjIKCIKoVR5++GH88ssvuvGY/jcivN2lkCUvCjb9jzsmiiKWLl2Kyy+/vLbEJGoBpYOoAttVtLqumTZtGtcUr6CgAC1atMDIkSMRExNTIXndbjdWr16NESNGkHFaATZ+txfbzv2lvg91/badyAV2b0VMVCSaRjtwrDAXPXr2Qmq3JGw6moO/LdyOx0d1RHKzQiDLlzCc0qIlUlMv9l3/wz4g4xQAICo6BiWFTsDtQkRUFDpf1Bw4dgCizYHU1KG6ewJAqzZtkTqqo3ps3rGNQGEh4uLi0aF9E+DEIQBAz16XYPhFCXhl7wbA6fNuXtqnHwa2i8cn6VuA/Dy0aNkKqakXwbkzHTjoq1DTpm1brMs8EYgHslgB/y71xV26om2TCGDPdvX+nbt0xYheSXjtj58AAE0TU5Ca2h0AsJ2RG4DqTQCApOYtgDOnAQDt2rdH6vD2AIB13/wJZGao53XofDFSB7QCABRt+ws4shcAEB0bCxQWqOddfvkQtG0aCQA48/sJ4LjPyPAw94xtHI/U1D7c57kkZweQ7QshS0jyyT7jj58B/062JIhQAnLate+AkvQCIPcc2nfsjNTBbbDjZB7w5xbf+nTtitQ+LWDEqQ3HgOO+zyYipjFQkI+oMBsKyjy+tcAJNG6aCJw7q14zcNBgXJQcDQD439ntQF62b+2SA2us8OiW1epn1qx5c6SmdvV99vB99qmpqTqZfl+6R/0MklKaITW1m+6cEzklwI5f1ff9B16GLikV+40yQvGOhgIZBQRB1BqbN2/GW2+9pRvvevszKGzeHwCQ//sX8OTxO7/Tp083/KElzk+SkpIA+Hb+k5OT1fGsrCydJ0B7ndYrUN41DocDDodDN26z2Sqt2Ffl2oZIlCOwVrIc+vrJgm9n1WYRYVNCkEQRNpsNezKL4JFk7E4vVJOQAV+MuzK3l9ndlhEI+5BkAP65XR6Jl0WwMNcI3LEyNaFYABhD1AufTFxyrGiBzWYLXOOfy8WGjQuiaT6EIIiQGVlYedScAq+syieI/LksbGy6IIjqNcUuTVy9FHheSQjsomvTA0SLRT1PhrFB7pFk3WfMpm94/d8Ddsm4GHpBVOdW5GINHTDPoYU9T8lDiHRYUVDmUZO03dpcAVFknimALAi6+/BJ0L7r2JwC0WKFReTXRWJkUp5di6xJ85WDPGNFqMgclKlHEESt8eSTT+rGIrsMUw2C3LUfIP+3z7njFosFd999d63IR9QObdq0QVJSEhdG4nK5sH79egwcOND0ugEDBuhCT1atWhX0GqLuiXAE9h/d5vmhOpTkT1/1Ib4kqdobQJLN4/I11XSUmH+2so+2ZCVfJUabaOzPKZAkTUlSf6lSgz4FgeRk33u2+pDHK5sqxV5NhSPlfIBNNGYboZknpXKlS7k+Bb7niQ7zfT4uk5Kk2oRnLqbe5L6G1YcMEo3NGsl5mRKyyvqWV51IwcXmmPivCbdbuPfaBGTt2itIkox/rz+CO/67GWVuL2RNPwlZluH2SlySsFEicSiJxtrvIiUaEwRxwfLDDz9g3bp13JitSSvEjXoAAJD32+dwnNiou+7GG29ESkpKbYhIVCNFRUVc3sixY8eQlpaGuLg4tGzZElOnTsXMmTPRoUMHdOjQATNnzkRERARuu+029ZoJEyagWbNmmDVrFgDgn//8Jy6//HK8+uqrGDduHJYuXYo1a9bg119/1d2fqD84mETjMn1RGlMUZdRmEZiSpL4xRbHySBIEZlfbbVI1h60Bz5YUdXklSJIMUdRXN9LuJisKvVfWdFE2qD6kyFGmqT7E9ykwt5Ak2aAkqdp8zfeeq9sfxNgyK0la6E/CbRLlQGGZhy/5yVVhClKS1ERxLb95md9rY6LcS0y1KGV9OSMoxJKkymcWabdyMpR5tAaX8Vp6JBmfbDqBv3JLsSc9Hz1bNObllGWc1ZQjdXslhNl4zw3fYC/EkqR10LyMjAKCIGqco0ePGpamjLtyMkSbA6VHtyH/18/AO26BVq1aUT+C85Rt27Zh2LBh6nslrn/ixIlYsGABHn/8cZSWlmLKlCnIzc1Fv379sGrVKkRHR6vXnDx5kis9O3DgQHzxxRd45pln8Oyzz6Jdu3b48ssv0a9fv9p7MKLCsApRaQWMAkVxtIpMSVJNfwGvJMMimngKNCVC2UZhrALv9EjqTjKr5GoVXqWcqFeSDPsU8PXt/UaA0tvAq7wP3vWXvV6rPKrVk/zDZSbKvhbzkqQ+WZpE2XHsXDGvtLPPp5GTvZWZp8Coxj7bV8GoozGLxPRtUBV5xggKtU+BskYRqqfAy/3XaD7WWJMkWZXV5dF3SJYBZBbwVfKMlH52SBe6pIzrPAVkFBAEcYGxcOFC3HXXXZA0W1nh7fsirFUPyB4Xsle+C61B0KJFC2zfvh3x8fG1KC1RXQwdOhRyEEVFEARMnz4d06dPNz1H61kCgBtuuAE33HBDNUhI1Bas4lchT4FB+JCilCkde93eIEaBJtxEUfZYAwHwKYiKUcDt9rNeA6+kGiQeL9/R2GlgFGj7FCjHylz60BYjjPoUKMqkGj5kEhakhW9yFhhXjIK4SDsAbfhQiJ4CMwW3XE9BOeFDUmANK+wpYORV1l/5fF3+742uTwHXI4KRg/HYuLySzviSZCAznzcKjHtpGIdm8XJLQd/XBpRTQBBEjfH+++9j0qRJOoNAsEeg8RX3AAAKti6Bt+Asd7xZs2bYu3cvGQQEcQHAKnBlnuDVpVi48CHVU8CHD/li7wPXsCE3fDiPpCrEkqz3FBjJyr4u1XQP9hrspGvzESRJZhqb8TkGWlm1yLJeGfeou+u+95ynIIiSzHkKlGRrSUZeiS85Njk23H8eGz4UYk6B6a63QU6Bm12zQH6HEb411hoFIeYUGDRus1tEdV6fLNqmdcbeFC/jKXB7JN19JVnWGwVGnoJQwofqgaeAjAKCIGqETz75BFOmTNEfEC1oeu2TsDVOgafwHPI15UftdjvWr1+PqKioWpKUIIiahFXAKxc+JKrVXLSKokfid2/NEj65br2SzCmBTrexAuwx2HFWrucSjU08BawhoQ0nAvThIiysZ4Od03fM977MYH4jjMKH8krdqpGUFBvGPQfAh7holVw5FKPA0FPAGx3apF0Wtmu0UXJw0PAhg3sr1auU74qSU6CEFZkmGssyZ4hqPTKyLOOMLnzIyFMQXD5l/mDvawMyCgiCqHbWr1+PSZMm6cbFsCg0vfYphLfpDclVhrPfvAjZVcqd8/zzz6Ndu3a1JClBEDUNu/NasfAhn1JkFQOJxooyyHsKjMOH+B1jRoH2aj0Fxgm27FysUeCVZN4QUYwCjbJc6uYNCYAPHyovp0CrjKvJ1Ur4EOcBMJ3KMHwou8iXHBsbbkOkpjIPwCu2WjnZt2bKuXFOAT9nMJm9st4o4I0g87XTdmAGAp4C7ZyR/spYXB6B5nP0sOFDWk+BBGSE4Clg5zRLMNeGk1GiMUEQ5z2FhYW47rrrdCFD1kbJSLzlJVhjEyF73Dj3/Wy4zhzhzomPj+caTREEcf7jqaRRoOxWWy0CrH6ljlXQlLnNQjPY+7IKFqtwAsHDh/JL3Nh+MgcJ0WHcuEeTaCxJMpeA65FkXflRgA8fChYzLsmybsfZ45Uhy7Jah79ME9JkhlPz7ABwzl9XPz7KDodVbxS4qzmnQJZlTUlSfdIui8R8rso68Z+T6aWGyrRiFCjLpKxdtMOKs4VO02fyMAakyyx8qEBrFOjv7zH5jgaT2xUkvKymIKOAIIhqw+PxYNiwYcjNzeXGLTFNkXjLy7DGJsCdm4FzS1/RGQQA8N577yEsLEw3ThDE+QsXm+8JcqIG1VNgEXUlSdmQHTNPAVeSVKOwm3kKtCVJX/lxHz7fcgp3X9aGex5tOIg2rMTjlTSeAn9OATMWbCfYq5FRmYPLz3BLakfvoOFDzD2V0J+cYp9R0CTSAbs10MhNKy+gT5zV7qQboX02j8SHCrk8+qRdFi58yK2vGBTUU2AYPuT//vhDlhSjR/EUcOFDMvvd4A0lvVEAFJS6uTEjpV8y+Y6y6DxDdeApoPAhgiCqjc8//xzbt2/nxgSbAwk3zvAZBNmnkLnoMUOD4NFHH8VNN91UW6ISBFFLcIqstwKJxn4lySYKgeZlmvAhj5dvXuYyCR9ikSSZKzfKVfHhdowlNYl0X0ZBQC5J5pQ8ox1kr8ZToBwvdYVYklTWGwVurz6kSHneYAp2GZdT4PtvdrEvfMjnKfCtrVkYlXZqzigwLSkKU28MoDdwtLDPb+QpCLUkqYKNSTRmD0c6/FWnTBKNyzgjzmvwvHpDQTGiZFnGpqPZyCtxGVam0svNu9GoJClBEOc1M2bM0I3FXXkv7E1awlOYjTNfPAOpJE93znXXXYfZs2fXgoQEQdQ2lS1JqihXVouoVh9SS5Iq5UElyXQX1kz58kgyt/vNx9JrE2x9x07nBXKftH0OjIwCbaKxWqLUzYfQmCFJ+vAhthKOQplbgsNqCWoUaEOnAE34kE0xCozDh7SE0rzMN4cEi2jxy6lVeOWgZVS58CGDRONg1ZaChQ9JEt9VO0rxFJgo7aF4CvReIt/7OWsO4a21h3DzpS1Cqz5UD5qXkaeAIIhq4f3338eRI7wHILzjAER1HwlZ8uLc96/BW5Stu+7GG2/El19+CUEIfQeRIIjzB1ZxLKtQ+JDfU8B0NNZ2ufVIvHLJlsIMttNqmoTMKW+Sel5GXiBu3KNNNPZK+lAfr2TiKQgt0ZgNcWHP117jVBuqmU6lmdc3p5JoHBfpgN2i1PA3Dh8ymwMI3h+BVXK1ngK3R5+0y+JlPA2KXGwJVqWC1PFzxbprjfo/2JnqQ4pRYBUFOGwV8BR4JV3naEmWdc/h9kpwerx4a+0hAMCX206ZerP46/Tz1DZkFBAEUWXS0tLwwAMP8IMWG+KG3Q0AKNj0NZyn/tRdN2/ePHz11Vew2Wy1ISZBEHUAqxAFK0l6KqcEH288HujcqyQaiyJTfcifU8BUHzLzFASLyTaqZQ/w8fNeSVbPYxU5bby/y0DB1XkKKphozCYz2ywBg0jbDVeRPZiCzaKcl+33FDQx8RSY7Wb75uDlNINdf21fAHc54UMSY+wZlST1SjLeX3cEQ19bh3d/Psxda5hToHoKZLV6k90qwqYpdQtoPFuaHBCtESTJeo+U2yvhq21/qe97tWykMzaN0FUfokRjgiDON9LT0zFs2DBdtaGYS8bC2igJnsJs5G/6Snfd+++/j3vvvbe2xCQIoo4IJadAkmQMnv0zAF+ZzHE9mzGJxkz1Ic3usTangDMKgiXfcgoro2xqwoeMZtAaIkaeAm1OgUfyJQWXhphozDZYC7Na4PZ64JH0ngJFaVXWwGYRgocl+Q+pOQWRjkBOgTs0L0Yozct8c5jnFJQXPsQmGht1NPZIMhb8fhwA8K+VBzBpYGs1adgwfEj1FASav1nEwPeK71MQuK6MCx/SGzIy4ykQBb+R4JXxnw1H1XNEQeCMTWpeRhDEBctTTz2FvLw8bswSk4DYgTcDAPI2fAzZ7eSO33bbbfjHP/5RWyISBFGH8EaB8Tlr92eprw9kFgIIGAA2S6B5mWIohNLRuDLhQ6xy7/MU6AXWVjwyqqTj9spcpSGP5OtuzJ5WXp8CRXkMYxpsaTsFK7X/lfsr62SGGj5UHMgpUKsPhZCPAeg7/mpRjAz2+RTjRemJwD6fEV6mJKtRorEkybi0dWP1/cKNx9XXwRKNvXKgdKxFFBgvDFupiv9sFXy9FbSegoBxo5R2dXklnMwpUc/xeCU+V8UkNIualxEEcd7idrvx2GOPYeHChfwB0Yqm456A6IiE8/R+FO/5mTucnJyMDz74oBYlJQiiLimvJKksy5jLhIC4NYp/sOZl2kpAoYYPsYZAicuLSfO34Lmlu3WlOI1CUbSVgVweI0+BxDUq80oyFzrkkzXYjn5AKQ6zKV4Sg5wC/3NIjAEVjEBOARM+pPQp0DQXM4Pd4dfmHlhFAWG2gHIckNP3OjrMphszlJMpYRooSWputPx7/VFVZqPPzO5X/mVZhnJUFATViHKXY+gAJn0KpIBnQfmcjD5nrnmZV8aOk7lY8WeGbn6fXPz72oSMAoIgKkxZWRlGjx6N1157TXes0eA74EjpBG9ZEc5+9yog8z9s7733HiIjI2tLVIIg6pjyPAU7T+Vh16k89b2isCq7q77qQ5rmZWqfAolTTFkjIdTwoUNZRVh34Cw+33LSwFNgYBQYJBqHklNQ4uItomBGi1cK5A+E2wKeAq0yrHgKvKEaBZJv7fL9tfW58KFQcwqYQ1r922YRVRncBkaBUgLUJ7t5gonP8OKVfL6jMe9pyC9145w/eTqop0AKlFgVhUCpW7bvgVl+hsug+pCMwHdBMYaKnfznrC2/6pFkTFm0A/d9ugMZ+YGqVi51jazcc9cm9d4oOH36NO644w7Ex8cjIiICPXv25Oqgy7KM6dOnIyUlBeHh4Rg6dCj27NlThxITxIXPDTfcgLVr1+rG7SmdENP3OgBA9vI58Bac5Y537NgR11xzTa3ISBBE/YDbVZcEXaLlKSbUAgDO+UNb1ERbxlMQ6HLr+6/HyzfFAnw7/LKsL9/JwirAijKpDc/xeI2NAoBXPI08BT4jgFdiSzU7yM5yqg8p+Q1hTIUcraKoeAoU/dhaTviQV5aRW+JbX4soIDbcxoUPKc3NglYf4gwn/jybRVB35dm1VHb7lRKgAF+eVScnE6Ll9voMPW3naa3RV+B3QwXPKQjkiVhEPolbndsk18E4fCjwnVSMqyKNUWCUP6F0QT5b6GTO88kdZdBQrbao10ZBbm4uBg0aBJvNhhUrVmDv3r14/fXX0ahRI/Wc2bNn44033sDcuXOxdetWJCUlYcSIESgsLKw7wQniAubee+/FsmXLdONiWDTiR/8TgmhB0e6fUHpoE39cFPHRRx9BFOv1zw5BENWMVpEqcvLKoHbHOJtR0gG+T4GirLLhQ7oeAf4d3SB5rFz4kGIUANo+AlLIRoFRn4IyTUdjrRIctCSpFOiloBoFJn0KgECn4vKMAlmW1edtHGGHKAqqMgsEjKWQ+xRoTrNbRdgMchSUhN1wu0UN2QnmKZBkTd6Gv8ynglKSlKWgzK3rIaHANi9TDouCWaKxuVEQLNFYCcPSeYQMrlMoZGr0Kkai2mW5DsKH6nX1oVdffRUtWrTA/Pnz1bHWrVurr2VZxpw5c/D0009j/PjxAICFCxciMTERn332GVU2IYhqxOv14sYbb8TixYt1x8I7DkD8qAdgiYiFpygHuWv1OQNvvfUWBg0aVBuiEgRRj9AqaUVOD5oy7xVFtHnjcPyVW8qEDwVKcpr1KdAm/QJK06zgyjGr1Cv3A/iOw15JNg3hcGpCY/QdjSWUuviQEW2seTCjxSvLauQlGz6kVdbV6kNSwIAKhiQDOcWBfAIgoMwqzxJms4Tep0Bznt0sfMgvZ5jNAqsowKvZ+dei9QA5PZKmJKmkC3HKL3Gbfl4BowCcUWDTlLr1zW2eU2DoKVDDh3z3KNYYvcFCsVijQBs+RB2NNXz33XcYNWoUbrzxRqxfvx7NmjXDlClT8Pe//x0AcOzYMWRmZmLkyJHqNQ6HA0OGDMHvv/9uahQ4nU44nYGdgYICX/tyt9sNt9sdsnzKuRW5huChNawatbl+jz/+uKFBENFpEJpc8zgE0QLX2eM498MbkMqKuHNSU1MxefLkevk5N8TvYEN6VqLu0cZoF2o6mCmKbbNGfqOg2OkL/1EUXTEQ+61PNNYrai6vBLEco8AofAgAijV9BMx2zDlPgcFOsK+nAF/qVBs+FAw2b0ExCnyKsDZ8yG8cKZ4CSznhQ5KsGkHxfqPAxlzDlno1gzcK+PNs1oBRYNQLwmEVYbeIfiXffD20CrHLI/E5BbI+xKmgzG1qaNitvmeUJDZ8SIBFNPAUBAkf0urprEdDMa6McgpEwdhYKywL/BYrz6xUaKqLnIJ6bRQcPXoU77//Ph555BE89dRT2LJlCx566CE4HA5MmDABmZmZAIDExETuusTERJw4ccJ03lmzZmHGjBm68VWrViEiIqLCcq5evbrC1xA8tIZVo6bXLzs7G2+99ZZuPKxNbzQZ+6gvZOiPVche+R4g8T+IERERmDRpElasWFGjMlaVhvQdLCkpKf8kgqgmtMpboZM3SpUQmGaNw4FjPgWtoNSjKsAWTfgQGyJi3DxKhkUI3DPMJqr3UOAr7TDVkRjFPVh4C1uq1Cx8iO9TIAeNodfiqz7kNwrsSk6BuadArT5UTnimxIQPxUc6AACC4AshcnoCITrBSpKyuqrOKLCIgZwCg0Rjh9XiCy9yQveZsBjlTvA5BYE8jgi7BSUuL/JL3abhXkrXZj58KGBEKR4PWTYPOzNKNOZyChRPgS58SIYoGE/K5h8oskcF6bdQ09Rro0CSJFx66aWYOXMmAKBXr17Ys2cP3n//fUyYMEE9TxB4y1iWZd0Yy7Rp0/DII4+o7wsKCtCiRQuMHDkSMTExIcvndruxevVqjBgxgjqyVhJaw6pRW+v34osvqjGrCo5mndH02qcgWGwo3v8Lsn+cq6s0BPiM8GuvvbbGZKsqDfE7qHhHCaI20EaimHkKYsJsiHZYUej04FyxU1WKbaynwKsP6dE1ffJIariRRRRgE0WUQa9kGsHGgweLq2dlMOp065VklLr5UCTlORUlNhhs12QlLMVt1LxMKUnqv30ofQqU8KG4SLs6rhgFAU9BqCVJ9UaBUfhQmRo+FOhObfYZAND1Y/AZLHx1JOXziYu0o8RVioJST5DwIUGVXa0+xPUp8A0Ga8bm8nh1XinZoE+BEj6kNDNzeyXOG8NiFD4UReFDxiQnJ+Piiy/mxi666CJ88803AICkpCQAQGZmJpKTk9VzsrKydN4DFofDAYfDoRu32WyVUgoqex0RgNawatTk+r3//vt4+eWXuTExPAZNr38eoj0MpUe34dz3rxsaBFOmTMGDDz4Y1EivLzSk72BDeU6ifqD1FCjlMBWUHWOHTUR8lB2FTg+yi1yB8CG2eZlBsq3WKPBIElwe3/k2iwCLgUJmpvuVp6wb3dMXPqSXgfUUsAp9uK18o0BRJgG2+pCsVl1ScGpLklrL8RRIgV17ZV4AcNgsQJknpERjdoNIGxpmtwiB8CGDjsYOq0U9HsxToP2MtSE5XibROD7Kgb9yS1FQFsRT4F8XWQZk+A1GpiSp8l0L1mXZbegpCBgZqqfAL2uk3WfgegyuU2A9BcozRzgCOSS1Tb0uAzJo0CAcOHCAGzt48CBatWoFAGjTpg2SkpI4t7/L5cL69esxcODAWpWVIC5EZs2ahSlTpkDS/MGL6Xc9LOHRcGUdw9nFs3QhQzabDR9//DHmzp17XhgEBEHUHIpCpOyA5pZojAL/jnGY1YImUb4Nu+wip3GisUHvAO2Os8sTMBxsFhGWCvwGVcYo8PUz0OcUlDJKrywbK+NmSEwd/jC2T4GppyDgVQk6LxMDz1Yqslv4XgXBEo21NfdZ7FZRVcDdXE6BT04Hc1zxHhh9PNod/wJN1zu2gVy83+MRLHwo0KdAW32I72gc5LENqwixuRdKFSclL0VNGJaCVR8K/L8Q6OVA4UOGPPzwwxg4cCBmzpyJm266CVu2bMEHH3ygdkMVBAFTp07FzJkz0aFDB3To0AEzZ85EREQEbrvttjqWniDOb/bt24ennnpKN26NaozoXmMAAHnrF0L2OLnjNpsNO3bsQNeuXWtFToIg6jfK7mvTKDuKnB7kFvNGgbLbHWazqMmv54pdgeZlosjFfmt3UHV9CrySer6N8TKEQqhGgTahVZt/4Msp4BVZxXOghAMFw8so7+FqSVL9sytrJ4WYaMwaBWwytrLLHUqiMVeSNMTwISfjDVJCaRRPgc0i6hRg7XtWeVbuq8zfOML3nSkIllNgZaoP+cdETQK7JOn7CWhlMqp0paBtXqbs+Muy+a4/Fz6k9CmwU/iQIX369MHixYsxbdo0vPDCC2jTpg3mzJmD22+/XT3n8ccfR2lpKaZMmYLc3Fz069cPq1atQnR0dB1KThDnP88++6xuTLCHo9GV/4BoD4Mz/QBKj27jjlutVqxdu5YMAoIgVBQFs0m0A8eyS5BT4uKOq54Cm4h4v6fgXKFTrd5jtfA5BWbKklUU1PAiCxM+JFbAU6BV5M3QyqA1JrwGicWlTFnO8vByfQrMn11tXuYftpabaBww0lgPihIPr8wXTCFl9WbDRGNr8ERjRUbVe2BkFBj0IGDxeAOeFKW0akGZGy6vsVHH9ilQ5LeIASPqZHYJLn15Da7unmx4vSKT1mhgPSWqp4AJH1IoM8mfMEo0rsuOxvXaKACAq6++GldffbXpcUEQMH36dEyfPr32hCKIC5ylS5equTsKlugmSLztFdgaJUGWJeRt+Jg7LggCNm3ahEsuuaQ2RSUIop4jMZ4CAMgt5o0CtoZ9E38oSHaxMxAnb2HCPILUt3dYRXhcXri8klqv31ZO3X4tJSFWCNLu/Bo1JtOWIK2IUcBVH1LDh/Sdk8sq6CnwSoFmW+zSKDvpyo5+0OpDbElS2dxTwOYUKAov29xMkd1IZm3jLm1yusSED8Wp4UMe0++GEiolyXLAUyAEEo0PnPE1vP35QJbh9YC/o3GQ8CHVU+A3LCMdgc9ZWSabReC+O+xz6Tsa175RUK9zCgiCqH3Wrl2rNgNkaXzFPbA1SoIn/wzOfP40yk7s4o4PGTKEDAKiQrRu3RqCIOj+3X///Ybnr1u3zvD8/fv317LkREVQY7/9XgBdToE7sCMer+YUuAIdjUWRaV6mr8CjwCbksjkF5XX5ZTGKHmErxyg15LVoPQyGnoKKhA8x4TFsR2OzfIpAnkDwuWVGmebChzRdiCsbPuSwmoQP+eW0MyVLld1zI8NNn1Og8RRIspr3oHxnCkrdhmE6VlFQQ8jYTtcik2isUOI0NwqNqkyxuRcOjbHDegoUwqz896coaPOy2k80rveeAoIgao89e/Zg9OjRusRiR4uuiOx8GWTJi+wlM+HMPKK79oEHHqgtMYkLhK1bt8LLuPt3796NESNG4MYbbwx63YEDB7jy0U2bNg1yNlHXKLurqqdAGz6k7KBbLbBH+ZSm7CKXmvxptQjqzr9R9SGFMGZH3cqED1U1X7N54wjEhtsQ6bDg4JkirsGZgtYAKPN49d4EV+A5y4Otf6/0KWA7LCs7zlpPgVnpS3ZeSTUg9EaBIqM7SMatFMQosDHVh9jdfkXhddhEVRFXPncjo0C7dgVlRtWH+ERjs5wCkTEKZJkv36o1GIPllLDVhyz+rsxGngL1vd0CQeANTYdNRCGThsfmSgSMAgv3vjYho4AgCADAuXPnMHToUF23WzEsCnEjpwAAitJWoMzAIBg4cCDGjRtXK3ISFw5aZf6VV15Bu3btMGTIkKDXJSQkoFGjRjUoGVGdKDvTTaN9O7o5xSbVh2wWVQE+V+xkQi4Cu/1eg91yBSVZ1q0LH6qacuWwilg8xVfRcOArPxmeU+ri71FUps9NUMOHTLwNLGyDtnBG2VTCe6IcVuSWuHXNy6zlhEt5mWRaNtciJTYcAHAyp4TbTTeUzSCnQFF+zZqXKcaM3RIIH1KexV5OGVXAIKeAKfHa2G8UFDo9hg3irKKgVjjyyoGOxr7mZfy9gzWYc3sC3bOtfqOA9WjYNXM5/KFU7PfVoTEIC536vhhRlFNAEERdIssyrr32Wpw7d44bt4RHo+lNL8LepCU8RTnI+/Uz3bWXXnopvv/+e1it9HNCVB6Xy4VFixbhkUceKbeMba9evVBWVoaLL74YzzzzDIYNG2Z6rtPphNMZ2JpTGre53W6dAVweyvkVva6hoyiOjcJ8ClF+qRulZU5VISvz785aBAmxDl8PjewiJ6L9yhEkr9oGxe2VUOo0Xn+Hf75Sp1vtm2IRAa9UtbLIdosAj8fjl9H4nGIn7/1QlFhB8CmLTo+EEr8CaC9nNx/wK71+Y8nKdMMt8t8nymFRjQK32w233+NmQRBtHr6msB5FSZUl9bvcrmkEAGB/Rj5Ky5xmlwMA3B6Pep3izYmwW1Ds9MIiBtaozB04r8wfXmUVZPjzkFHi8h0LYTmQr/Eueb0BoynGEZjgbEGpKo+y628RBUj+9WE9BQIAQTY2AhRPAIvTK8Hlb0hntQhwegLPLwrQdS22ir4SsazkDo0BVOT0wOl0QRACRoCSiuD2SnC5XFUu612R3yv6K04QBGbPno3ffvuNHxStaHLtU3AktYe3OBdZXzwNqZTvhDt+/Hh8/fXX1IuAqDJLlixBXl4eJk2aZHpOcnIyPvjgA1xyySVwOp345JNPMHz4cKxbtw6XX3654TWzZs3CjBkzdOOrVq1CREREpWRle+MQ5VNcYgEg4PDuHQCskAF8+8OPiPL30Mst8B3fsXUzmoQBgBX5pR7A4wYgYPPG3+FzAlhRWubEb5s2A9DvtpcWFQAQsG1nGuwiAFhQlJ8P3yZ+5X+jigrysXz5cgBAWanFcK59h44CECFAhgwBBSUuAAJsggzIXgAC/so8A0BEVvpfKC+lMycnD4Vun9w7t22Goq4dPnYKgAjJWQpAQFZ2LpYvX47jx0UAIjLSTwedO6+gEKfdBQBE7N+3F8tz9/jG8wQAFuw8egbLfkxHMPXw4KHDWO48CAAoLfOth0XyABCQfuqkf+1FHDx8FMs9hwEAZ875zvtzVxqyzwkARJzOzAIgorS4yHBNWU6kZwEQYBdluCQBRSWlqrH3+4Z1sIsWuCQBm9P2AhBhkT3qnJLHjZ/WrFGfSYn4yc3Jxo5t52D0XRIhwauRye3xIm3XHwAskL2++V0e32crQMb+Pbu5uTJOn4LsFbhnc5bwzyrLwJJlK/yGkk++Lb//AsAKWQZ+WL4iJKMpGCUlJSGfS0YBQTRwfv31V0ybNk03Hj9qCsJadoPkLEHRD6/AnX2KOx4eHo4PP/yQDAKiWvjwww8xevRopKSkmJ7TqVMndOrUSX0/YMAAnDp1Cq+99pqpUTBt2jQ88sgj6vuCggK0aNECI0eO5PISQsHtdmP16tUYMWIEdYWuAC/8sQ5wuzB44AC8v3cLSrwCeg+4HO0TogAAL/25DnC6MOzyy9C2SSSe2bYWAOCCBYCEoZcPhsMmYtau3yBYbOjZqyuwL013n+SEeBwvykGXrt18ITcH/0Ri03gUuzz4q7hAd36oJDWNR2rqpQCAtw79inPOgJIlCr6d58SUFkDmaYTZLCh1S/DIvt/FqHA7vJIMZ6kHETGNgfx8dGrXBr+dORH0ntGxMSgpcAIu37rM2b0JABCXkASczUJK08Y4fSIP9vAopKYOwm9L9gBZp9GmdUtsPvuX6byRUVFo2iQSyMlC925dkdqnBQCgT6ET7+1bj3NOAYOGXAFs2WA6R5u27ZA6sgMA4Lm0nwCPB42iI1CQU4oO7dog3GbBmvSjaNaiFVJTLwIA/OfEJqCwAAP6XYozaRnYlZOJqNg4ID8P8XGxOF0S/POxRcQABYWICrcjp9gNwWoD/Lv2V40cgXcO/I4zhU7EJrUATp9G4+gIFOb4vAbhYQ6MGjkIT237GUDAKGjatAkGDmiL9/Zt093PYbPBremiLENAp4u7Akf2ISLMgZIiF7z+z9lqsaBXz6744uge9fyO7dpgb2EGSphqW03jG+F0ST4378AhV/hChjb7QtOuHnUlXty5DgAwfMRIRBgkLFcExTsaCmQUEEQD5+mnn+ba1gNAZLcrEdV9JGTJi7NLX0HZ8T266958802K6yaqhRMnTmDNmjX49ttvK3xt//79sWjRItPjDocDDodDN26z2Sqt2Ffl2oaIEsPusNsQZQNKvECBU1LXsMwfzhIV7kBUuENVtJWOwGEOuxp24ZVkSILxTni4X3nyQoTk3y23WS2wVjFh02GzqLJqY9DDbRYUu7zqMzj8RoFCTJhNrUWvJAVHOMr/7kiyoIbHRIbZ1Zh9p79zcnSYbw6X17eOsn/32V5OErPs/+c716o+V3JjKxpH2JBb4saR7LLgwomCep2Sj6wormF2a+BzkKGep4TGRDrscPhzJNRwmRASr5XY+0iHFTnFbq70aLjDjphwG84UOtV8lSiHDYDPKLCIAuz2wJorRoHVYkGY3fizsFoE9XvIotxWmxxtEQXdXGF2q+48NhlZ6atR5gEiwwLjsZFhgQsEa5V/aypyPZUkJYgGzG+//YYNG/gdIWujZMRdeS8AIP/XT1F2bIfuuieffBL33ntvrchIXPjMnz8fCQkJGDNmTIWv3blzJ5KTzRsOEXUPW7ElUgkZYmLE2Y7GgiCoJRkV+D4FwUqSBqreqCVJRX3ZyYrCKnbaRmiKAqwk/GpjxmPCbWrlG0WRDQ8h0Vhm+hRYRRE2/zMoibBKMqpiaHjlwLnBkCTjjsaCIKBjoq/p6570fMNrFfamF2DEG+vx4+6MgOHil8fXp8A3L5soy/YpUBJy1T4FIXw+SknSSDv/3IBPgY8N932xzhb58iGimO+QVeS7WitiWQwSjRUsgmDYCVupzqTtrWARBJ0BYLdYYLPy57FGQWKMT/kvdHrUkq1WUeC+Q7WdbEyeAoJooJSVlXHdwRXiRz8E0R6OshN/IH/T17rjTz/9NF566aXaEJFoAEiShPnz52PixIm6ZPVp06bh9OnT+PhjX6O8OXPmoHXr1ujSpYuamPzNN9/oGu0R9QvOKLDKAAR1R5et4BLmV4aiHFauqZOFUeyDNS9TSn26vRKUiI0IhzVomclQYKvjaJXBcF8AvXoP7a53TJgN2UU+YUpdxoaDEWyfAovoM4pc3sB9ovw7y05N9aFQSpIqO+UWjYHTKSkam4/lYM/p4OEmvxzyFaRY9memaow09fcKaBxhVyv0sGVFnYxRoKyhYkiV13ANCHgKIgwMKqsoIsZvFJzz1/tkG4dZRL6rtSKWr0+B8b0D12iaxSm9FTSGjGhQ3tRuFXXnKQZRlMOKmHAbTueVorDMg3Cb7/+HRhE2CIIAu0WEK0hPjpqCjAKCaKC8/PLLOHGCj2sNb9/Xl0fgLsO5ZW+qFTwUUlNTySAgqpU1a9bg5MmTuOuuu3THMjIycPLkSfW9y+XCo48+itOnTyM8PBxdunTBsmXLkJqaWpsiExWENwp8Y4qngC3XqOyi6j0FgZKkvhAavaIkCFDDUsrcEgQlJMlhQW6xudIZZhO5XWcjWKPAolHyImw+WZUdfG15zZhwq7rjrJwTiqfAK8tMR+fA8yuGRbQ/BElZC7b2fjAkWYZXMu4kXJ6nQFFUFdweSZXx/mHtMbB9PK7r1QxL09LV4wpqnwKrRd1RV2RXSoYGK4OqHGscYefGBcH3zIqn4JzfAIvgPAW8UaCslSjqd/cVLKKxp0D5rmiPWQ3mcjAGEODLP1HKsUaHWREd5pOxqMwDm38+5flsfiOQjAKCIGqcxYsX4+WXX+YHBRGNh/4NAFC4dSm8hWe5w61atcLXX+s9BwRRFUaOHKnLaVFYsGAB9/7xxx/H448/XgtSEdUJaxQoFYeU3fMypi68soOuNQqsosApV9ruwYBv1zvKvztc7PKo9V0i7daginKE3Yoyt8v0OCuX7z78MaXngJkXICbMplPogzUvU5qSsX0KrExDMMWwUBRKl1fieg+YKbkKXPiQgacAAI5nG1erUbwVCsq9ASApNgwTmrcGENilL3TqG3Px4UOBkqEWQYAnmFXgp1njcO69shMfw6wHAEQxyblaBZ/1lJh5KURB0HlSgMD6a9fZyMCwW0UuNMoXBib45bWpJXcLy9xQuicoPRfsVhHFLm+tNzCjnAKCaEBs3boVl19+OcaPH69TxKIvuRq2+BbwluQjfzMfjiGKItasWYPwcP4HmSAIojwUhdUiCIiy+V4rnoIyJpbaqoZW8Eqz1cIrV0bhQKIo+JNLfbXfi/2GQ4TD3CiwiIIasqSFbUTFvtbGv4fbeGVdaxTEhttUxVNNrLWZq16KYskqgzZRH3LDrpHT461Q+JCSHKxdl7ZNIoNeqz2fNejY0JnEaF+sfGZ+IGHZqXoKAs+i5JKIgsDlNwQjpRH/N0iZSwkfUmANS18oUOCYUjFIFBE0fMhisJaBLsz6nAKtgWG3Bhq1qfezGHgKnB7k+OPd4lRPgf97QJ4CgiBqglWrVmHs2LFwufS7YtZGSWh0+QQAQN6GjyG7+J2iF198Ee3bt68VOQmCuHCQmO64bPiQogSVMUnGCpF2faIxq5CWGhgFFkFAFBOOoZwf5bCYGgVWUVBDjrQ4rIFQGT58iJ9LqbpjmlMQbtOFHDmsFtNwGUVJZUOkLJZATkWJXylly1S6PYHd/3I7GsvGHY0BIC7SrnoqAN9zs8aJtmMv2/2XVaCTYn1GwZkCX3y/LMvcWmoVXq3SHozk2DDuvbJesRqjIEqTUyAIgRAlD5tTECx8yMBTEMiD0Fcf0hoKDmvAMwAoyci+99FhVvX7WlDmUZ8/LspnFEQ6rEChk8utqQ0q7Cm48sorsWLFCt2411u1RB6CIGqOoqIi3HrrrYYGASxWxKdOhWgLQ9mJXSjatYo7nJCQgCeeeKKWJCUI4kLCy2i+VoPqQ4qSFcbsnkfpwodEbkfXyFNgEQPhQ0VOj1oGNNJhNd0NZiu9KLu2CqyxENwo8Ics+e+n9QLEhOnvb7MYK5zsvVhl3CoKakhOsTOwXsoULq+kxsmbPauCLDNhSZpzBUFQE4YBvddDuxPOGmfs8yhGQZHTg8IyvnwoaxSo15oo4EY003kKfHM114QVaXMKgIARxHpKbCbrJQow9F6o1Yc0x0RRH1KkzSlgE+Zjwm0Bz1aZB7kaT0HTaN/nkFUYvLt0dVNho2Dbtm1o3bo1AODYsWPq+Icffog777yz2gQjCKL6eP3115GTk6M/YLGi6TVPIKxFV0iuMmT/+A601RaeeOIJWCzlJ8YRBEFo8TKF3kVRQJTV916bU8DusBuVJBWZ3WTD8CEBfPiQX0mPclhNQ1MsjFEQH8knsLJGit3C7zqzKAZMiVlOAVOSNDCfaOq9UJNwmbARm0VEo3BePu2OuyQbK/pafOFDgRwPLQkxgZ14rddDGzrFhg+xc0XYA6ExZwrKuBAYB5NTwF4bavhQstYo8F93aes4btxhDRiSimyK4eGtkqfAX+pW+wyCvvSt1gBSqkgB2vAhN3JKfPkXSk6BUq40q6CcnhHVTIWNApfLhehoXzJKjx49cPToUQDAwIEDsXbt2uqVjiCIKrNq1Sq88MIL/KDFhriRU9DigUWI6DgAsseFs9++CE9eJnda9+7d8dBDD9WitARBXEh4JN5TEOHX9/P9deeVXWRWCdfGgytd062aBFUWq0VUd9OLygJGQaQ9iKfAIqqKb3wU3+AuLERPgdaA0TYPYxONFWxWc6NAzT/wKPH2/uo6EXx4jM0SUK7ZKkDlhg+Z9ClQSIg29xRow2NY40z7PEkxSl6BUxeCZFTjv7yqScq1WuNNUbqbRDnQrmkgJ4Itfaoo64qOzxsFQRKNjaoPKTkwmutEg/Ahu8XCffYWUUDbpr4u3p2SYlSjoJD1FPhdaQkGnoIzBWWmRRmqiwobBe3bt8fmzZuRn5+P4uJi5OXlAQCio6ONdyIJgqgzVqxYgdGjR0OS+GSl2P43IrpXKsSwKHiKcpD17UsoO7GLO8dms+Gnn37S1Y4nCIIIFc5TIAhQQr1LXB7IssyEDwWUaTYenFWqlNclBtWHREFQlaxiFx8+ZBaaYhEFtIyPAAB09lfeUWCNFJsmBIRFG+pk5CnQKpC2YJ4CzW6zsi6NdUaBEAg1YjwF5Scay+q5RuuSEMMYBZpQKK3BweUUaOZSQogyC8q4HgWCQZMvUVMy1IyEGIfOwGLXtm+bgLfAbgns0itLqqy5Wn2ovETjCoQPWQy8DlpPgSgIuKNfS6x/bCju6NfSONE40rf+if7P4YzfU+DxSrhh3u8Y8/avOHq2yFDm6qDCRsGUKVNwzz33YMiQIejRowc++OADAMAvv/yCxMTEaheQIIjKcfLkSYwfP15nEFgbpyC2/40AgOwVb+P0e5MMuxa/9tpriI+PrxVZCYK4MPFqPAWKvi/5+w0o4RisMs3uvrNKVcAoMMopCFzn8xQEOv+aK+ACXrq2K1b8czAGd2jCHWNDZ1jZtMpgpKZSkr76kFUXVqJNnOaPaasb+eZvFKHfIbcxXgVV0dfcS3sfttSpUSNhpXKQ71m04UPG1YcEg/h7xVNwpqAs0KPA/2y68CHB3ChghxNjwgz7AyhwRgETpqSsv2gUPmTSTdlqYhQEeiuEmGis+f4KgoBW8ZEQBEE1ADLzy3TVhxKZ9QOAFbszcSqnFJkFZUiOrbkqgBXeAvzHP/6Bpk2b4tChQ/j73/+OW265BW3btkVGRgYeeOCBmpCRIIhK8Nprr6GsjI9HFGwOxI95GILVhtKj21H0xyrDa++44w4KGyIIwhRJkvFXbqm6026GNqfAzuhSxU4PnB69p4A1Ctid4GDhQ74+BYGdV0UhjHRYdMmeat8Ei4AwmwUXJcdw5TN98jA5BVxZSX6ucLvWU6APHzLMKTBRgm1WflxZF211HRuzE+5m+gUYKaasEcXmFBgpxJynoJxEY6VKkdFuu+IpyMgvVT9jZR2NQm/Mop7CbRZV/sQYBwTBl1uifK1Ypbtvm8AmlleS1WPK+itiqkaBgSLPysQ+lvK9MevCLBp4QOyaRGOt4aSUgD3B9IVorIYP+XMKCp2QZRnz1h8BAEwc0Dqk5neVpVJxAddff736esWKFVi8eDFcLhduueWWahOMIIjKs3HjRrz77rvcmGBzIOGG6QhrdhEkZzFyVr9veO0VV1yhaxpFEATB8sbqg5j782F8cOclGNklyfQ8r6bSjSj4avuXuiWUuLyG4UNsSVJWcbUE8RSIosB1+VWbWDms3C40qySzc2s7EbMNxuwmngKLICBCU9JU39HYIKcgSPiQVlFXjJNGmvAhqyhwlYoUh7CRYsobBYGSpEaKeALnKdB6OIw1d6Nd/kSDnAJlvjDNmllE41AmwFfdSZFfkc0qilw5UwW2MpFXkpmcAv93Txs+JATyVbRo8xwi7BYUlnlMm5f5KgtpjD9N8zLtZ57SKFzXJTpOTTT25xQUOPHb4WzsSS9AuM2CCQNaGcpbXVS5eZnVasWNN96I22+/nSqUEEQ94JtvvsGgQYN0YUONhkxCWMtukJzFOPPls7qkYkEQcPfdd+OHH36g/5cJggjKvowC/38Lg56n1sTXVKcB4DcKjBKNA78/7E6uLYhRYGHKdgKBHgDakqQOk6RhnVHAJhqbVB8SReh2bbWKocMgqThYorE2tEaRQ1d9iE009vK9B1g9VzufJJt3NAYCpTAB/Zpo8x0UDD0FBuFDynyNNaFQwZRzdn0VQ4NdO20c/7w7euOGS5rj6u4p6rPrqg/5/zQGy23W5jkohqrqKdCVJBW4RmWA/zNiPD/az9wiCmjFeNrCbKL6/4ZSBarI6cFHv/kqfd50aXO1OlFNQRmEBHEBsWXLFtx88826CgX2xHaI7pUKADi75BW4Mg7qrv3pp58wdOjQ2hCTIIjznIIyX/Ugpd+AGV6DEJMIuwXZxb6EYDV8yMomGhuHDykNskpNwoesFhFhNlE1NATBdy+LiUeAlUmrPLPncdWHGEXRKopqzL+CNkTEKLHWpolXZ8NhtGEpgZwCTfiQVeDChyTVKPAp+4qRoE0WLq8kaWIM3xyMC7cyq+kfJHxIm2gMAPFRvGIrmsTvA+DWV9k9Z8/V9hm4qmsyruqa7DumMQoEbU5BEKtA26E4wm9wKt8trTFiFQWd0eTQegoMDJ82TSJxKMuXOBzHGEtRDisi7RYUu7z49dA59dlqmip7CgiCqD/MnDlT10hQsDkQf9WDEEQLiveuQ9nxnbrrHn74YTIICIIIGaWkaLlGgUGlm0j/7m+JM+ApcJjlFDBKlaJ0KdWHjGL9WYMi0m6FIPDx6mzMP6v0sXPZLHwoCGdIWHhlXhsKY1QtSecp0IQPccmoJp4Co5wCRS6nR+IUffZ2WmPHyyQaGynibMnPglI397lpd8JVmYMYF+eKnIHGbv61j4vUewrMjAK2c7Oxp8BcsVfyM1RPgV98iQkfYonWlMK1GHgK1LkNyqpqZXFY9fksWtowZVS1XgDleV1eCYIAdGseq7u+uiGjgCAuEPLy8vD9999zY4I9HAk3zoA9qT2ksiLk/vSh7rrbb78dr732Wm2JSRDEBUDAKHAHPc/rD2O0cLuugdKh5XU01tZ5BwK7tRFMaInVyCjw7+6aeQrMx/nykqxirQ1d0YYPaePQtc8A+MOHGIXTzt3LONHYKKdAUUzdXokL02JDcbR9EwAE3flnd89zSlxchSKz7r9mxoXNIkCWgb9yS/2yBMKHWH1ca8iwxyLsek+B1cSg0qIYlNqOxlpPQQ+/sj2qayA3RhQFTchb8EZuokF5U6OSpFqUZGNAbyyxSd8dEqJ05W9rAjIKCOICYfv27bo8grgrJ/u6FZcV4cz/noe3OJc7PnbsWCxatAiiSawoQRCEEapRUFyOp8D/k8QqwUpISInLw5QkNas+ZL6LzoaWKApXJGcU+F7znoLyw4esoqjxFPDJxew9teFDrIIcuL/WU8DvjNs4L4VZorG+JKmi8LOJxhaBV7C1ycKAz4jQPosROUUu7hyz3Xwz40JJDD6ZU8LJYhEFLq9AG7/PfhbsejSNMvAUBAkBCuQUaEuS8kbCN/cNxO4Zo5AcGwidsgga75ZGIdc1YPMbYzaN94nzHBl4Ndo0iVJfa3Mt2KTvni0amT1mtUKaAEFcAHz//fcYNWoUNyZGxCLyoqEAgKxvX4Ir/QB33GKx4D//+U9tiUgQxAWC0xMI+ykvfMgj6avEKLuuxU6v2iE2lERjrQLIKuTK/OxuapSqlAfmDjO4BtAnIHOhRVyiMXse9EaBoH9OrTFjE7XhQ+aJs8r8kXaLbofczngKlHW2ahVsQ6PAvKMxS7HLy51jtitvVutf2enWegoAflecDR8SBf5zSY4Nw8iLEzG+VzPEhOuNLG1fBhYlfChQfcg3zjYvA3xrHuWw6r4D7LOXl1CurLmyFkrzs/I8BW2CeAoSGU9Bj1oyCijRmCDOY/Lz8/H8889j165dumNR3UdCsNrgTD8A56nduuNTpkyhhoMEQVSYgtJAR+HyPAXKDjarRKk5BVz4ENsszAKbRYDbKwfdaWUVNaOcAqPwHd4jYJ5TwCpzZjkFVlFEmJ1XSllFUtld1uYZaBNrbRb+3izKugiCgEYRNpwrculkdHslNZnXYbPoSrBqUTwFwXbZFcyMFxYzvTwmzBfylF3sBMCvPasAs54CqyjqvBMfTLi0wjIpcynzA0z1IaZ5GQvrrdKWGI3UGgUGJUl94wLgDqx7sG7YANAkyo5ohxWFTo+BUUCeAoIgQsTlciE1NdXQIIAgIrrnaABA4Y5lusOjR4/G66+/XtMiEgRxAaKEDgG+3WSlgpARyg42F5/tCHgKFGU2TKO8qgq1iRIPaDwF/kNRYUaeAkZJtrEKvnlOgVm5UlaRFA08BdoqS9r7ayvisGOAPjGYNXzYZGNtorGT6QxdXviQJ0hJUgAY7Y+t79cmjq+2VEFPgfJZnCvyGQVsMnm8iadAu0NvZLjwhmIQT4Ha0ViTU6CWJNUYBTbz70CEJtGYDTVSngEIfH6BRm3Bqw8JgqAmG2sTjZWypGE2EZ0So40fspoho4AgzkNkWcbtt9+OrVu36o6JNjuaXP1/sMYmwFuSj+L9v3DHr7nmGixbtgw2m013LUEQRHmwRgEA5AVJNlZKZVoNFKwSlwdOA08BEKj2EmynlVWYjcKHjGL6TT0FmpwCm4lRwO/6By9Jqjyn1WBn2zx8SOMpYO6t5BUIkLnQFLdXZjpDi5wMRuFDCmY5ArNv6I4Xr+2Kd2/vXa6CDpjX+4/xGwXZfu+GmafAIgbm0CrjRiFOXEhTsJwCTfUhXfMyzbUOjfHH9Slw8J9z6/hI7r0yt/L52TUGidH9FK7pkYImUQ70bxPHjXdNiYEoAIM7NA1q/FQnFD5EEOchb775Jr7++mvduKNFNzS+4m44ktpD9np8XYu9/B/shx9+2LRRDEEQRHkoPQoUcktcuvr2Ch6D+HU1p4BrXsYrXVFq6I15Ei5bEUZR4AyNAjacxiSnwGoR1X4BPsXUePeefQ5R8F3HdqU19BQYlD7lSn1qDBKWMOYZG/k9BUres2H4kJUPHwpWncdMSY0Os+HO/q2Cysli5imI9ocPKc3mWAOF8xSIAUPGosmJKN9TYP63TO8p8I0Hwof487XhQ8E8BW2b8kaBRZNToDyr1gNlxD2D2+Luy9ro/i63bRqFTdOG65LMaxIyCgjiPCM3NxdPPfWUbjz60msQN3wyAEAqK0LOD/9CyZHt3DkJCQkYOHBgrchJEMSFSYHGU5ATJK/Aa+ApCPQpMC5JCgR2ZoN6CkJONDaOsTcqIVnmlmC1CKY9DIx2fsNsAaPAqLa9zcCwMUvg1XVWZhTVWH9ZUmU65VlcHtYoCIQPWUU+gVfie1qaKqlm55gp4GYJy9Gaij3s2sdHBZJoLSKrVPN9JYzm5pO9yy9JqhhlZiVJjeRjQ5psFoEzDBtF2HR9I9hzASZ8SDQ2KLWYbdQlmBjbNQUZBQRxHiHLMsaPHw+n08mNh7XsjsbD7gYAFKatQN4viyCV5Ouuf+ihh2C3196uA0EQFx7BwodkWcanm0/i9yPnUOT0YsRFCQD4+O1A+FCg+pBDU08/0sBToN2RNgofitQ0LwPMm5RplWK7xW8UiHxpSW1VmsBrUZWjoMyjHk+MceBMgRNjuifrrtHuXiv3DTyjeYiUUrIy4CnwvSh1e9XeAw6rRVUwRSZZVjF4WMorSeqbI/DaLHzIbDw6zNwo4BKNhUAegSjyTcOM5maNhmCJxmr4kMAbBWbNy1hvFSuHVRS5+7SKi9DlI4iqUSD6n1WpPFV++FV9gowCgjhPkCQJN9xwA9atW8eNixGxaHLN4xBEC4r+XI2cle8aXp+amoonnniiFiQlCOJCJr/E3FNwKKsIzywJVDtTutmyylGEWn2I7Wis8RQYKPT6RGO+Ay3AJxor3gazajzacBhf3X8PLKLI7UCz5/FGgSIHb5ysnHo5jp0rRq+WjXVyW41yCtg+CKLA7eqzcyvhQ8qSKHIVlQWqQTlsAU+Br8uuvwqOKKIMvFFQXklSZY6A7Ma78mbzRIXxu+kO0/AhgfNuiAaGFydTEEORRQlf0uaWeEyrD5l7CtheEq3iI3WhR8pnrKyRYnyyxoRZYnd9gowCgjhPmDp1KhYvXqwbj7vyXlgiG8GVdQw5q943vPaqq67Cd999B4vFYnicIAgiVPSegoBRoC1RqiisfFiNklPgYRJkjT0FrELerHE4d064nVfiAOPwIbPSo2aJpr5ynwHl3axZlnJPbe+DRhF29GrJKL1czwN99SFWsRX8yqjkj3Fhw6qUrsbKIyjPUugMfB52i8iU9wx4Ciz+hmleJoYolPCh0PoUhOYp4PoURPFGAVt9yGKwxmb3C+YpmDiwNcJsFtx0aQvfs2hzCrSfP7PWbEdjmz9vRKF1vIGnQODDhxyqR4j9vpmKWm84D0QkCOKjjz7CO++8oxsP79AfkRddDlnyInv5HMgefWzvE088gWXLlpFBQBBEtaAkGis6VU5xQClVYtsVil2BsBoFpSRpiZNJNLZqE431PQbuG9qOqxfPJn8a9SlQDAtW+WPDlIxyChRZFXm1JUJ5T4HvtVEYE4u26RhgnsBr0VS9YQ2OWH/4kDKdcl2h3/CyW0Su5j/bD8EqCrrd7VDChzg5TZR/s3mCGgWa8pusIcN7JwzCh8o5rtCsUTgeGdERTaN9+QvK9yDQ/Zk/n0805j0yrOwt4yOhfWTlI7TpPAXlJxrXJ8goIIh6zubNmzF58mTdeHi7Pmgy9jEAQMGWxXCdOcIdDwsLw4EDB/DKK69ADOJiJQiCqAiKp0DZuWc9BUrisEKpv/KMUSWXIqdHDS+KsJvkFDBKVZMoB54acxEzD9unQJ9TYOQpCLOZK2lsGUmbpoqM0TWqUWBS0UiBr6AUUNjV+3LhQzA1CpSQG8VBYtcYBYqnQ7kd24DLKoq6ZNaKJhpbTBRws3lidOFD+vwIRX62bChf4ckop8DYy1IeFUk0tjIhZDYr38yudXwEBEHgDAPW+GLn4hPl6//f4fovIUE0YGRZxpQpU+D18n9ok3oMQdPxz0C0OVByaDPyfv2UOy4IAn799Vd07NixNsUliAoxffp0/x/XwL+kpKSg16xfvx6XXHIJwsLC0LZtW8ybN6+WpCUUFKNAqdWewxgFIXkK/Iru2SKnWq5SW9J0cIemaBJlx+UdmnDjt/VtiYev7Ihnxlyk5h2w80eH6T0FofQpAHhPgVVTRUZ7H/Y130TNwChgFEOjRGNW4VTChxTYufu2icOtfZrjquYSJ1uR37BSwl8U5ZctrWrR7MBrn8UMVinXek2Mno8lmKeAfea8EhfnKWDFMixJWsnkXeX5JfgNkCAdjUUhUAXJplHmW/m/91wjOzV8iDcm+eZlIYtaZ5BRQBD1mE2bNmHHjh3cmBjZCNbL7oEgWuA6tBFnl8zU9SKYOnUqLrnkktoUlSAqRZcuXZCRkaH++/PPP03PPXbsGFJTUzF48GDs3LkTTz31FB566CF88803tSgxkV/qU0IVoyCXSTzWegqU8CCj8CGX34BoFGHjQnAAYEC7eGx9+kqM7pbMjQuCgH9e2QH3DG5r2OSKDx/SdxRm+xRoE2cdTMiHWfiQYUlS1mNhFO5ikNNgFqtv0SjFrKfAZhHxwjUXo0e8zF1XpHoK+MRqi8B4Ciz68KFQ9GmzfAp+HuPxqCAlSVnyStyMISNy8xkZLlwfgwoE6utDfsxzCiwiW2ZUxJmCMvVYkyiliZx+Lm1JUpvBd7Q+Q4nGBFFPkSQJ9913n268yZhHYIlqDFfWMZxd/iYg8X+EmzZtimeffba2xCSIKmG1Wsv1DijMmzcPLVu2xJw5cwAAF110EbZt24bXXnsN119/fQ1KSbAofQpaxUcA4JOLtZ4CBTZ0QhsqlBwbrj0dgHntdgV2x1h5WV74UHl9CnyyCkxpSV7pNNodjijPU2BgAJh5CixBPAVaFAW00J/jociqiMDmRmir+ohC+esL8IqspcKJxnz4kFl3ZYdNVHflLSIgy8GNglATjbVo59JOzXU0ZnIzrBYBl7RqDMAXfqaWfBUEADLzmqk+pFR90lQ0qu+QUUAQ9ZTbbrsNu3bt4sbC2vRGeJvekD0unF36KjxlJdxxu92O5cuXo3HjxrUpKkFUmkOHDiElJQUOhwP9+vXDzJkz0bZtW8NzN27ciJEjR3Jjo0aNwocffgi32w2bzaa7xul0cn09CgoKAAButxtut1t3fjCU8yt63YWGEj7UorEv5Ce3xKWuSYnTeG1EyOo5doHvopUYba/cmkoBA0Twz+8QZditItxeCZE2AW63GzJzngWy7hoFZVdXZOa2WQTuHEEOzCUKvu+Cg8kJgOzVPwtzjcV/jSAzVYCY9ZBlid8pFyRuPvY7qFxXrHQM9suqXC0Kvmf0zcN7CiyiENKai8x6ibKxwaddx8C4T9FWDEWL5ry3b+6OL7edxv1D2mDGD/tVmblvhyzp5mafw+zexvDfO1ni52afT5Blde2sooCLEiPx9b390LxRmHqNYCCHYqNYRf9nxWzaiUJFZK0+KnJPMgoIop5RUFCAq666Chs3btQdazT4DgBA4c7l8OT8xR2z2WzYsGEDLr300lqRkyCqSr9+/fDxxx+jY8eOOHPmDF566SUMHDgQe/bsQXx8vO78zMxMJCYmcmOJiYnweDw4d+4ckpOTddfMmjULM2bM0I2vWrUKERERlZJ79erVlbruQkCSgSKnT3U4sXsrACsKyzz47oflsIrAH6cFABY4RBlOKaA1nTubpa7bup/WQhQskPw7wu78LCxfvrzCsuzK9t0LANJPn8by5acAALe3FVDmBX772Xe/PbmB8/b8kaa+PnbkCJa7D6nz5ZwTAYg4d/YM9u7KBGCBp6SQk+3Pc4G5ss/65E4/5bsOALZu3ozc/bycu88GrjmXlYnly5cjIz1wzV8nT6iv9+/bC7dLhBKc8svPaxFuoKmtXr0afzLPDwClxT5Zi4ssAASUlZbg8KEDACwoLiqExw11XshSSGuen2dRr9m7+0/ufgpns86YzmUXLHD6r9+1cztcx3jF/KYEYMuGMziT6VuPwvx8f48G/z337Mbyc3xI4dkzgbXbv3cPlufsRigon6/C7j//QHhmYOPNd1/fYh89cgROL/wy5anPd5qZT5YCa3Pi2DEsX34EWf7nSP/rJJYvP45TRYE5/zp1CsuXnwhJ1uqkpKSk/JP8kFFAEPWIgoICDB48GH/88YfuWOTFQ+FI7gjJVYr8Tf/jjgmCgA0bNqBfv361JSpBVJnRo0err7t164YBAwagXbt2WLhwIR555BHDa7QhD7J/x9UsFGLatGncXAUFBWjRogVGjhyJmJiYCsnrdruxevVqjBgxwtAr0RDILXEBm9YBAG4bdxXe2b8OhWUedLhkMC5KjsbBtYeBk0cRFx2OjPxAHHZKchJGjOiC1atXY+TIEYhK+0XtAtyvW0ekDjH2DgXDsS8LHx1MAwC0btUCqaldAACpmvOiD53DB/t9uVn9+16Kjw7uBAB06tQBqcPaqeetKvwDf+ZmonlKMh64sTuiN55AvzZx6JIS+J4IuzOx8JDv9zk5KQmpqT1x+KfD+Cn9KABg0MABaqiJyp+Z+OSw75pWzZshNbUbfluyB5vP+lTMTu3bYV3GMQBAt65d8FvOMRS4fd6tsalXcWE37HfQcSQX8/3PDwAJTeKQmtoH7x39HZmlRYiJjkKXi5rhh5MHEdc4FmV5ZSj2l622W61ITR1V7hp/mrEVRwtzAQC9e/XEp0f0OT/NUpKRmtrD8Po5B39FYbZPKb1sQD/0axNneN7qoj+wMzsT8XGNIcnAiaI8AEDPHt2R2rsZd+6qwj+QlpPpO969G1IvbV7ucwDAt+d2YH/+OfV9z549kdqD30h4fOtquL0yOnVsj2KnF+szTyCxaTxSU/WbbU9tXwuX30vTvn1bpI7siHVlu7EjOx2d/O8PZBbitT99G3xtWrdCaupFunlqGsU7GgpkFBBEPWL69Ok6gyAhIQFFjTsgPnUqAKBg62JIJfncOTNnzkT//v1rS0yCqBEiIyPRrVs3HDp0yPB4UlISMjMzubGsrCxYrVZDzwIAOBwOOBwO3bjNZqu0Yl+Va893Sv1KZYTdgqhwB3o0b4RfD5/DnswidG8ZB39eMWLDbZxRYLNY1DWz2WyIdFhVo6B5XGSl1tNhD1xjZebXYmfGI8MCpTAdNit3jcOf62CzWhDmsOPeoR2CzmWzir5nYea02/XfDQdTJUm5p5WpdMMet1mtaplNiyggIsxuaPDabDZEOPha/2E23xoo+RtWUYTdFmgCJ2qSXkNZczaRN4xZb7tFhMvrD7Gymq99THhgPNxhNz3P5l8Pm8XCNVjTfka+cwMyOQzWO5RnAQC7wdwOqwVurwc2qxU2b0A2o3uwYV7KOUpieJhfrjDmMwq2TjVJRe55XlUfmjVrFgRBwNSpU9UxWZYxffp0pKSkIDw8HEOHDsWePXvqTkiCqCQlJSX46KOPdOPFTS5GwrVPQrBYUbT7J+T/9gV3POr/2zvv+CiqtY//ZmdrOiEdQmhBqghBEZQmEIoVlMtVroDthZeiELkoopfoVUFfC1cRsIEd8OrFGpVcNSigCIhKEwEDoSSEkN62zvvH7uzO7MxutmWzm32+nw8fds+cc+aZk8nkPPO0mBiXb1UJIpzQ6/U4cuSIrBsQAAwbNkziurNt2zYMGTIkYjfpwYaPJ4i3bfYGZsYDAH4pqQYA6G3Zh4SbQUAa5CkMNk6LF6cj9RRRoLGbzC5y2X8AaYCsRhBo7PKcMjn0hcHAckG3wiBrlZKR9FOz4jn57lqltLaAEOcKw851ChROdQpERb88zITDugjqFaYbdRdAGyPo5yr7EABRUK8wA6jcz4KVqfvgCZI6DTJyC+8BXolSuziHuE6BddzE/um4JDUWY3un2MaGV6Bx2CgFe/bswSuvvIJLL71U1P7000/jueeew5o1a7Bnzx6kpaVh/PjxqKurayNJCcI3Vq9ejZoasQUgqs9IdLwuDxwYpDUV42LBalHQGgBcf/31HmWRIIhQY8mSJdi+fTuKi4uxe/du3HLLLaitrcWsWbMAWF1/Zs6cae8/d+5cnDp1Cnl5eThy5Ag2bNiA119/HUuWLGmrS4g4+EJZfGafgZ0TAAC/nqkG4EhB6ly4ynlzJ8wSlOEi+1BLsDIbdDl45UGpEGf2cVW8zDkvvatz8htroVIgJ4dSNEYh6SfKZa9wbB6d07Q645zNxzklqfB6nVOdelpdV/Q2XCCnUOlzN1esRmCJcasUOOZy9zOytjk+e1O8zDl5kpzYQqWAta+j/DlEmZlsfUf1SsZXi0diYGaCdayHimuoEBZKQX19PWbMmIFXX31VlFWF4zisXr0ay5cvx9SpU9G/f3+8+eabaGxsxHvvvdeGEhOE53AchwULFmD58uWidkatQ+L4uWAYBep++QK7X7hXohB06tQJ1157bTDFJYiAcebMGdx666245JJLMHXqVKjVavz444/IysoCAJSWlqKkpMTev1u3bigoKEBRUREuu+wy/POf/8QLL7xA6UiDiN5ktQTwG9bLbJufP87XoUFvsh+PD4alQCHcTLvecAmLeSllNvU89pSkbt4+y9VGENYpkCvkJWyzF7VykZLUaimwHhMW05LDuYaCIyUpY5dPWKdA+PLInRIlxNUGXWQpcKcUiCwFrq/HrrwwjFP2JfeWAleF0+Rwvma5ugF8HQthaliVC2VGONpVuQShfFSnIEDMnz8f1157LcaNG4fHH3/c3l5cXIyysjJRijqNRoNRo0Zh165dmDNnjux8gUpRR+np/IfWEFi1ahVeeuklSXtczg1gdXEwXjyNym3r4JxOTafTYdu2bTh27FhEr5+/ROI9GCrXunnzZrfH33jjDUnbqFGjJAX9iOCht1kC+A1oSpwW6fFalNY04+DZGoelwClljvPmjq9GnBitFhXo8oaW3ijzOFxonDacTjs5/o2/q8q9zueRsxTIb2KlLjjiKsvizbqnlgKVUnwuR0VjXhYgJc4aT5Mcq8Gpi44sNL5YCoQbXKElyL1SIIhDcGcpEFg02FaqU+C8KXfnPqQQWCxULq5PVLPCRR+h1cmb6sttRcgrBZs3b8a+ffuwd+9eyTE+4EwuRd2pU67TPgU6RV0kp6cLFJG6hk1NTVi5cqWkXaGNQewVUwAA1Ts3SSwELMsiPz/fHpAZqesXSCJpDb1JUUcQQpptlgDhRn5g5wSU1pTh1zPVri0FTpu3KJv7ULqPVgJA3r9fDqELjXBj67zZu35gBg6eq8VUp2w3cnMJP4uUAtlNrNAHvuWKxvZKySr3zhxSS4Gz+5ACo3ql4M07r8ClneIxZe1Ot3LKITyF2H3IsX10t9kVWgrcKQV2Vx2WgVmQylbOEiD+GXju8CK1FEj72N2HGIeLnHN8DA/TgkUDcLIUhIGbb0grBadPn8Z9992Hbdu2Qat1/eCQS1Hnzsc6UCnqKD2d/0TyGvJuQ01NTaJ2ZUIakm9+BKw2BoaKEjT+vkN0XKvVYtu2bbjyyisjev0CRSSuoTcp6ghCiLOlAAAGdI7Hl4fKcPhcreuYAqe/yXwVYFfVjD1BvDl03c8eU8AqRBtY541xdmosNsy+3O05ZQON1e6VAlZGAXDpPqRwuPm4q2bsPA4QvOVm+Lms5x7VK9k+tzs55ZCzjADin687t5hYjwON+f+dKy+3sJ5evH131i/k5uYVK1bB4KaBGWgymnHTIHkl0ZMYDWeFL9QJaaVg3759KC8vR05Ojr3NbDbju+++w5o1a3D06FEAVouBMFtFeXm5xHogJNAp6iI5PV2giLQ1bGxsxM0334wvv/xS1M6otEi9dSWUcckw1V1ExafPSKwE33//vaRAWaStX2sQSWsYKddJBB6+Oq3QPzw5xvr3tLbZ85iC6EBYCkRBnK43nD2SYzCyVzIu6xzv0h3GUxQym+SWLAVCFxf+7b44naU4Qw2/j2zJrUoaaCyOKXCWpSVffTk8CTQOhKWAX1elgoFJlCVJOkYUF+JOG3Q+h3P2IdmYAoclJyFKjfljeno0nysrACkFAWTs2LE4cEBcKOOOO+5A79698cADD6B79+5IS0tDYWEhBg0aBAAwGAzYvn07nnrqqbYQmSA8YtasWRKFAADihk6FMi4ZxuoynH93Kcz1laLjPXv2xODBg4MlJkEQhAh+0y9868tv8Ov1JruloCWl4KZBGfi9rBZ/GZLpsyyiQOMWUne+decVAIASkV+997lWRJYCXinwylLg2Pza20Rvxh3X0qJS4GwpEATJWs8rPi4UzdOgVzkrBwDECrJHubcUWO8DhnGvPAhlZhWO+Dm59RQpZn7EFMht5JNsCm6HKLXkmGQ+DywFrIIBwwAcR0qB38TGxqJ///6itujoaHTs2NHevmjRIjz55JPIzs5GdnY2nnzySURFReG2225rC5EJokX27duHDz74QNLOxnRE3BVTAQDV326QKAQAsHjxYih8+ENGEAQRCOzuQyqhUmDdjAqzD8VolfbNECDdEF7aOQHv3eNfwUWxK5BnY4SPT18CP1sMNG4ppkAQyGpvc3IfUsjMK4dzVhznOgXu3GU8tRSwLiwr3loKNC3UXHDEfbTs5iRWqLxISeocUyAjzwMTe2NkrySM6+Pa24RHlM3JzRqoFNZCb+FQpyCklQJPWLp0KZqamjBv3jxUVVVh6NCh2LZtG2JjY9taNIKQYLFYRHnXeTSZA9Bx0r1QqLRoPnMYjX/skvS5/fbbMXfu3GCISRAEIUuz3VLg2LDyAZkNehOMZqsWoFWx0CgVdstBa7wllUsP2hJKP7PByJ3Tu+xD0gJpEvchu6XA/YbXOfOOI6bAA/chT7MPuYgp8LR4GW8pcJfRSXgeVqEAyzhcZluyvHhnKXA9D09avBZTBnX2aD5R8TK3lioGBjOlJG0VioqKRN8ZhkF+fj7y8/PbRB6C8IaVK1fi8OHDojZd5z5I/uvjYBQsTLXlqPxKmp40Pz8fjzzyCFkJCIJoU+QsBVFq3n3IDD51skapgEbJtqpSIIop8CHvvi8xBSLrhCDQWMEAFk4+p724erFcoLFQ0ZBXNuRwlX3IVUyBpylcRWME6xqjUSIpRgNWIXavceeG1a1jNGI0SvRJd5/EhRdHkja2BUuBN4qdJPuQn7ekWE7X/axxD2ZKSUoQhBWO4/Daa6/h4YcfdjrCIH7MXWAULAzFe1H20VPgDOJsRCNGjMCKFSuCJyxBEIQL5AKNhZYCfuPDWwp4WttS4Es2HV9iClgZS4NaqcCySX3QZDRLsi4BYuVDJRNoLNzcKxhH5eGWYgoYhoGKZezWGUmdAomlQPDZB0uBSqnAtsUjoWCAw6WODGbuNsTxUSrsfPCaFhWcnikxAIAeydE4eM4xt9xGWhxT4E9KUv/uSXFMgWs5eKWPLAUEQcBkMmHmzJnYtGmT5Fh0v9HQZPSGRd+I8s//JVEIAKuLHEEQRCggH2hs3fA1GR1vQzVKhcia0Br+1EJXIF8q9PrkPuTCj/yekd1djhG5LNnTo8rHFIjrFLRc1E3FKmA0i38m/Fo4r4k4r36LU9vkEXxmGMRFS92BWlKunIPO5ZgyqDOu7N4RaXFaPPihI8FMIC0FEsuJn/ekx5YCBV/7IPSVAvJFIIhWZtmyZbIKgbJDBjqM/R8AQM0P78PcUCXpc+edd+Laa69tdRkJgiA8wWEpkGYfAgCTxRFToBVYE5yLlwUC/y0FPigFrPcbUnH1YqmlwLnAlYLxXCkQpvl0FC+Tl0+sEHm2/RMpQULrhsgK5NFULZIerwPjVKdAPqZAWgzOE5z35P4WExMOdzcX//MN1Dq1JmEgIkGEL+Xl5Xj++ecl7VEJyUi5+RGwuljoz/6O2r0fiY4zDIPly5fj1VdfdZuxgSAIIpg0G6UVjTVKhWQDGhxLgS+BxvK+/ME7pzSmwNl9yFEpueUtmnBT7FynQJqCU/DZ42xNjkHCH6FYKQjsVlJknZBTCgRN3sSFSLIP+Sm2p4Hbantweehvucl9iCBaCYvFguuuuw5mm2mXR53RGx1uWAplfAos9ZW4sPUJwGwS9XnxxRcxf/78YIpLEATRInKWAoZhEK1RoqbJaG/jA415WjvQ2Je39r5s0nxK68lKFRFXfvGsgkG0LXA7PqpltxuhQsErYfac/25ScPoSaOyqZkGgA2jZFtaY9fHczkqSv/ekp/dCOFkKSCkgiFZixYoV2LNnj6hNGZ+K1OmPQ6HWwlh5Dhe2PiFxG8rKysLdd98dTFEJgiA8wpF9SOzaEq1m7UqBUsFAySpaPdDY0+JlQkR5932QSdmCa4scKpk6Bc4bXz57EasAFo7tiR4pMcjtm9bi3LLuQ7Ym57fonlTgdUaUgtVVcHSAf7be1CnwK9A4kO5DbtaAv0/9PV8wIKWAIFqBjz76CI8//rikvcP4uVCotWg+fQjlH+RLAotVKhW++OILaDSaYIlKEAQhi8FkEW06AflAY0AcV8C7Fgn7tEY6Rl+z6fhTYbalDasccjEFSqc0pEpbgSuGYdA7LQ6909yn8OQRukBJ3IfcuMt4+vNQiJQCR7u6FX+2rgqmyR73KiWp83d/lQLPLAWOKtahbyoIfQkJIszYvHkzpkyZImmP6j0CUT0uB2cy4uKXL8hmGvrXv/6FPn36BENMgiAIl7z07XH0z/8Kv52pFrXLuQ8BzkqBwtbHYU1ojXSMDMPYN4XeuGbwG7hgWQrkYgqcXXkcVYi9k0kcU8AHGvNrElj3IcaFpSDQ8SIiFy8Pi8F5O6/cd28RpyR1PVeMrdBblLrlwPG2hpQCgggg3377LWbMmCFpV6f1RMdJ9wEAanZ/AFPlWUmfhQsXUsVigiCCSllNM2qbjZL23cWVMJgs2Hn8oqhdLtAYcNQqABybU2GgcWsVbuI3Y9689eXHeON64jzW+bM7eOsEIHxrLN74si428i0hch9qsU6B9+5DjkrD4v6qVnQNa9F9yLaGDOPduZ2TdgSyeJk7pffvE3rjvrHZGN6zo38nDALkPkQQAYLjOCxZsgQWi0XUHpvWFQnT8qFQa9FU/DNqdm2WjH3++edx3333UaYhgiCCRm2zEWOeKUKXxCh8tXik6Fizwbr5P1PVKGp3bSkQZCOyWwq8ryPgLUoFAz282xwmxWhwvrYZCR7kz3empbfYrlAqrEXG7JYCUVYfRxpOb5dJLvuQ3VLgNJk/FY2du6vZ1lMKXAU38/DXp/LSHcdd4LUviCwFbua6LDMBl2Um+HWuYEFKAUEEiJ07d+Lnn38WtSk00Yi97gEoohKgqDmHCx+tBCzibEQrVqzAokWLgigpQRAEUF6rR5PRjOMX6sFxnOilRJORVwrEbo5yFY0B2DPmCI8J+3iTOtIb+E2jNxv0N++8HNWNRnSIVnt/Ph9ccADgukszUFLZiIwEnew8rIs38i2hlnEf4qd2V9HY83gI2OZ0shSwvq2DJ3gaaOzteZ27+ys3I7IU+DVVyEBKAUEEgN27dyM3N1fSnnTDUqg6ZsJUewFl7yyTxBFkZGQgLy8vWGISBEHYMZqtG3yzhUOz0QKdwOe52ejCUmBr16g8iSlovVz2PHJv3luiZ0qsz+dTKISZgjw/5/PTLxN9F6YpZRkGnTvo0KA3ISVW65U8QvchtbOlwEk+xgeFRuFC6WIYBmrWGhzdmpYCueBch/uXl0qBG3cqX/DUUhBOkFJAEH6ya9cujBo1CiaTuNaArvsQ6LrngDMZUP7BozDXi31z1Wo1ioqKEBfnWZYJgiCIQMIrBQBQpzeKlAKhpUBoRfAk0Jg/1trFywDfLAWBOKfFzPm1GWad3jK/c9dQVDcakeil9YJ/Y69iGclaSAJrfamx4MJ9CLAqIa2iFAhuLTldUmm/Zu8UTXfZmHzBVVXqcKadGDwIom34888/cc0110gUAjAKJIy5AwBQu+9TGC+clIx94403kJ2dHQQpCYIgpAiVgvpm8TOMtxToTRZcqNcDsMZN8UqBNNDY8d2RkrR1i5cBAleSIG7KfHX1EeKcxSghSo2uSdFez6OWcdXiN7vuNsGeWlbcBXLzCkmgFTJRYTeZnTsvi7fB6846hL9yi+oUtBNLASkFBOEj58+fx9ChQ6HX60XtjFKNxAnzoU7KgrmpFjU/vC8Zu2rVKtx6663BEpUgiAhHLsMQv8EHgHq9s1LgOMbHFQj7e2QpaOXiZYBDGQimpYDfqPpzTnH+f9/n4TfmwrVOi7PGLWQkiF2RfKnGzI+R6867KwVaIRNZUWSm5tffb0tBIOsUtNL9HWxIKSAIH/nnP/+JiooKUVtMQhIybn8GsQMngOMsqPrmdXD6BlGfhx9+GA888EAwRSUIIoJ5b3cJLs3fhoIDpaJ2o5mzfxZaCjiOs7sPAa6UAqdA4zYoXmad17YxDeKmzFXKT29QBkgp4AONhWs9d3R3fDB3GG4e3FnUV6QUeLiRd2cV4TflAS9eJjinXEY+n2MKJJaTwMUUkKWAICKYb775BmvXrnVqZaAbMwfKlO6Avh7l769Aw8GvRT2SkpLw2GOPBU9QgiAinv0lVQCAg2drRO1GkzCmwKEUGM0czBaHwnC60hpszFczZhhx9hlAnH1Ia69T0LrFywAgzlYYSlgnobXh6xv4oxT4UhlZDrU9fkOQElbJYkjXREkdBl8CYxVu3Id4RSTQChnjIiaCp3MHHRgG6JIY5dW8gc4+5EsxuFCHlAKC8AKO4/DQQw9h7Nix4DhOdCxu6FRE9RoGzmTE+X/nw3LukGR8Xl4e1SIgCBsrV67E5ZdfjtjYWKSkpOCmm27C0aNH3Y4pKioCwzCSf7///nuQpA4/eNcg4Zt+wHVMQbNJnDbZbikwOoKMnZ9jLdUpaC1LwWM39sejN/TDpZ3jW2V+Oex+9oEKNPZjaVQylgJX+KKIsHb3IWn/mcO6YkR2UsBz8PP6pivFJTMxCtuXjMHLt+d4N6+bFK2+0B6VAso+RBBe8OKLL2LlypWSdmWHDCRcba1kXFm4Ds1npRuUwYMH49577211GQkiXNi+fTvmz5+Pyy+/HCaTCcuXL0dubi4OHz6M6Gj3QZdHjx4VZe5KTk5ubXHDljrbhr/ZKN7sG8zyMQV84TIePi2pqyBjQPymXi7QuLXcKwZmJmBgkAtD8ZtVfxQdRwCv/IbbU3ilQO2JUuBDRWPe2CDnvj9reFfMGt7Vo3m8we4e5GZ9u3T0zkoAyFU0pkBjZ0gpIAgPMRgMyM/Pl7QzDIPE8XPBKNVoKv4Z9b9tk/TJycnBf//73xY3OgQRSXz55Zei7xs3bkRKSgr27duHkSNHuhhlJSUlBQkJCa0oXfuhzhZkLLUUCGIKBEpBk5PycNZmKeCVCrm30i0FGreXlI1AYNKgBiKDESBwH/JAKRDl//fw58FvdoO56VUEwBIjhyRFK7kPSSClgCA85P7770dVVZWoTdkhA4m586HrOhCcyYDKbesk42677Ta8++67wRKTIMKWmhqrz3tiYmKLfQcNGoTm5mb07dsXDz/8MMaMGSPbT6/XizKE1dbWAgCMRiOMRmlGHnfw/b0d19bwSkGTwSSSvdng+FzTqLcfq28SZ1Q7U90Eo9GIxmYDAGtwq/MaaFiHgqFSWNeIZRxtnNkctuvnDP/WnOPMPl8LZ6tsr2AYr+ZwXkMW1jVWsZ7MI1AKOYtn5+WsYxgE8edmsZ6TVQT2nPya85hNJsDiz2becX9bzKaQva+9kYuUAoLwgK+//hpr1qwRtTHqKKTdthJsTEdYjHpUFq6DqVqc3WPEiBF45513gikqQYQlHMchLy8PV199Nfr37++yX3p6Ol555RXk5ORAr9fj7bffxtixY1FUVCRrXVi5ciUeffRRSfu2bdsQFeW9CwIAFBYW+jSuraioYQEwKDlzDgUFZ+zt+0sZAFYXn0N//IkC03EAwKk6AFBCw3LQmxkYTBZ8+nkB/qy19jc2N6KgoEB0jnqjdQwA/HnsKAoafseJWkfbjz/uQmmMtW+4rZ8zWrMCgAJHf/4RFYd9m+N8EwAowVnMkrX0BH4NT5y1/kxqKitanOf0aavcAFD8558oKDje4nl+u2CdX9/c5JOcvnCw3HpOk8EQ0HPy8/J8+cUXsqlWPeVCuWM9v9tehESNf/K1Fo2NjS13skFKAUG0wOnTp3HTTTdJ2hNGzAAb0xGmqlKc3/IwTDXnRceVSiW2bt1KgcUE4QELFizAb7/9hh07drjtd8kll+CSSy6xfx82bBhOnz6NZ555RlYpWLZsGfLy8uzfa2trkZmZidzcXK+riRuNRhQWFmL8+PFQqVT29oNna/Hb2RrcennnkPx9f2DvfwFYkNAxGZMnO4Izy3aeBE7+AQDomNoJkycPAADsLq4EDu5FYowOpTXNAIBx4yfgp5OVwOH96NghDpMnDxOdQ280Y/lea7a1yy7tj8lXZOK3MzV44dBuAMDIq69Gr2Sd7PqFGyOuMaK8zoAeyb67g16s12Plr9vRMVaHyZPdu8oJcb4HK3eX4JOS35HVKR2TJw90O/anT49g1/nTAIBe2T0xeWzPFs/HHSjD28d/Q3R0FCZPHuGxnP6g338Om04cRJROi8mTRwV03vdOHARgjeW49trJfs33ceV+HK6+AAAYe801SI/XtjCibeCto55ASgFBuIHjOEydOhX19fWidlVyV8QOvg4AcHHbWnD1FZKxd911Fzp27BgUOQkinFm4cCE++eQTfPfdd+jcuXPLA5y48sorXVrkNBoNNBrpKzyVSuXzxtR57IrPjuC3MzW4rEti0INeW8JottgLkRnMnEhuMxwKTKPRbD9m5Kzt8TqVXSngGBYmzvpWVKdSStZOqVRCqWBgsnCI0ljXJ1qnth/XqB1r5s/ahwKJKhUSY32zMvGkdVBhw6zLkRSj8Wkt+DWcOCADP52sxqzhXVucR5iiVK2U/gzlUKus20RWoQjaz4w/p5IN7Dn5eQGr25a/c7OC9dRqQvee9kYuUgoIwg2vv/469u7dK2pjlGokXXc/GAWLhqM70Xxyv2RcdnY2Hn/88WCJSRBhCcdxWLhwIbZu3YqioiJ069bNp3n279+P9PT0AEvnORfrrb72lY2GNpPBFeJUo06BxiaHT3RdszT7kDCjkMFssdcp4FOOCmEYBtEaJWqajLLZh1orJWk4M6Z3it9zpMfrsO5vnqXmFKck9Wx+dxWNWwtFgIKwnRFlCwrA3L7UfQh1SCkgCBesXbsWCxYskLR3GHMn1CndYG6oQmWhNLB43LhxePfdd5GUlBQMMQkibJk/fz7ee+89fPzxx4iNjUVZWRkAID4+HjqdDoDV/efs2bN46623AACrV69G165d0a9fPxgMBrzzzjv48MMP8eGHH7bZdTQabHUAjJYWenoHx3F+uyMJN/t6p6xCRhcpSfnsQzo1CzWrgMFssSoF9joF0pSkgFWJqGkyQiuTEae1ipcRniNKSerhz0MZgExL3sKfK9BKgXC+QCTDouxDBBEhrF+/HvPnz5e067KH2d2GKj5/HpaGatHxa6+9Fp999lkwRCSIsGfdOqtSPXr0aFH7xo0bMXv2bABAaWkpSkpK7McMBgOWLFmCs2fPQqfToV+/fvj8888xebJ//sH+0Gh7s653KvrlD/e//yv2nKzEl4tGIErt+5/qOr0j84jBXfEyGaVAq2KhVlqVAqNJYClwkf4y1lZdmJc3GMXLCM/x5c22o55CEJUC220T6HvGlzoNHs/XTu5vUgoIwonjx4/LKgSq+BR0nGQtPlaz+0M0F/8sPq5S4amnngqKjATRHnCuCi7HG2+8Ifq+dOlSLF26tJUk8h6LhbPn/w+kpeDbo+WobDDgRHkDBvhRrVfkFuSueJmon7Vdp2Khsr1SNZot9ut0pRQsvCYbX/9+HkO6drD2U7V+8TLCc3ypaMyPCar7UCvVRgj0Jp7xQckKdUgpIAgnVq1aBYtF/MddoYtD0tSHwepioT/3B6q/e1sy7s0330S/fv2CJSZBECGAsNBXcwAtBUYTHxzs35zCzb5z8TKh5aBOL1UedDZLAT/WXUVjALj20nRce6kjtqO9Fi8LV3xxd+mXEYe0OG1A4h88JVCF3ZwJdAwAQ+5DBNG+eeutt7BhwwZRm0Ibi9TbVkKdlAVzfRWqCp4DLCZRn7vvvhu33nprMEUlCCIE4F2HAOmbeH/Q297iO2/kvUXoPiStaOz4brC5B2mULJoMvPuQAiqbL4c1i5F79yFnlAoGsVolGg1mv1ygiMDA+rCJTYrR4Idl1wQ11e5lmQnomRKD6y7NCOi8wmsOxOUIl7C9WMLot5QgbDz//POifOY8CaNnQ52UBVNdBc5vegimqnOi4927d8fatWuDJSZBECGEUBEIlPsQx3H2t/jeKAWLNu9Hs9GCdX8bbN/EuXMfMprF7lsNeqtSwPfT2gKNAV5psLkPubAUOMMwDF6+PQe1TSbE61QhW/E1UvB1Exvs2hsdYzT4b17g6hPwBDowmAKNCaKdsn37dlmFQJ3aAzGXjgcAVHz8tEQhAIAPPvggZPMTEwTRuogsBQFyHxJu1p2Dg13RbDTjo1+sz6cTF+rRMyUWgFgpMFk4mMwWe756YUwBYHU1SoxWO7IPCdyHjGbOnr3IU0sBAAzvQVnYQoX26O7iDaKYioC4DwnmbifL6flvNkG0U/R6PWbMmCFpV2hjkDhhARhGgYZDRdCfldazX7ZsGQYNGhQMMQmCCEH4dKRA4CwFBie3Hk8QWhTKavT2z0KlwHluo9PcvKuRMPuQyq5AmFsMNCZCG9aHQOP2hPCSA+M+xAdEB9+a0lqQpYCIaDiOw7hx43D27FlRuzIhDSnTHoUqsRMszfWo2r5RMva+++7DE088ESxRCYIIQZpawVIgVAQ8dR8SjimtabJ/rmsWu+w0Gy2IshUaNspYCgCHciO0FBhMnEAp8Mx9iAgt2mOxLW/wJabCHfwU7UnBIqWAiFgsFgtuvvlm7NixQ3yAVSF5ynKoEjvBVHMe5R88BnPdRVGX22+/HatXrw6esARBhCRNrRBTINzge2opEFoAzlQ5lAJh/QFAXEvBOaaA7yt0HxKnJHUEIBPhhy8pSdsTTCvVKWhPa0lKARGxrF69Gh999JGkvcPoO2wVi6tR/t6DMNZeEB1nWRarVq0KkpQEQYQy4piC1lAKPLM+CKsVC5UCZ/choeIiiSnglQLbNWlUCqhtVgGDyWKvX0CWgvCkPRbb8gbh5j0QSgE/RXuyupC6T0QkRqMRjz32mKQ9qs9IxA25AQBQUbBaohAAwP3334+MjMCmSiMIIjxpaoWUpMLaBB67Dwk2+KerGu2fJe5DAiWDVz74yrG8AsH30alYqGUsBRqyFIQlQj0gEitMswr5z77CWx7ak4JFv9lExPHDDz8gIyMDNTU1onZNp95ImrwYgK1i8Z97JWNnz56NlStXBkVOgiBCH1GgcYAsBXpf3IcE/c56aCngYwo6RFuDDJwtBTq1MNDYYh9LgcbhiSLA7jPhRuDdh6z/tyf3IfrNJiKKnTt3YvTo0aioqBC1M2odkm5YCkapQuMfP6B6+5uSsU8//TQ2btwIhYJ+bQiCsNIk2GQHzFJgcu3i48mY0pom+4ZfohSYpEpBoi3ymA80bhZkH3IEGlso0DjMaY959b2Bba2YgnakYNHuhogYLBYL7rzzThgMBlE7y7JIGHE7lHEpMFaXoeKzZwFO/Id40qRJ+Pvf/x5McQmCCAOaWsFSIAwA9iX7kIUDSqubATjch/jNvVBx4c+TGq8FAJTVNtv6OLIPiSwF5D4U1ohTkrahIG1EoGMqFOQ+RBDhy3//+1/88ccfknZt71GIzbkOAFD51RpwxmbR8ZSUFGzYsCEoMhIEEV4IA431XlgKGvQmVDUYZI/5kn1I72RROFPVCI7j7C5ByTEaaz+ZufukWwudHSuvByCuU2AvXmbiBIHGtHUIR0QpSSPQ4q0IeEyBbS6yFBBEeHHo0CH85S9/kbR3nHQfkq7LA8MoUP/bNjSf/EV0PDo6Gnv27EFaWlqQJCUIIpxoNPoWaPyXl3/A0Ce/Rnlds+SYL4HGzulQT1c1otFghsVmdEiKUdvmE1oKrGP6ZcQDAI6frwPHcY6UpGoWalZh7yt0KyLCD1FF43a0kfWUQMdUtMeUpCGtFKxcuRKXX345YmNjkZKSgptuuglHjx4V9eE4Dvn5+cjIyIBOp8Po0aNx6NChNpKYCEV27tyJnJwcSWCxrtcwxFw6HpzFjKrv3sLFL9dIxn777bfo0qVLsEQlCCLMaDZ4v4EHgEPnamEwW7Dlp9OSY+LiZZ4pGs6xB2eqmuzxBKyCQYItbqBZJtA4OyUGSgWDBoMZZ6ub7OfXKhX2OgUGUgrCHlFKzpDe/bUOgU5Jyk/XntYypC9l+/btmD9/Pn788UcUFhbCZDIhNzcXDQ0N9j5PP/00nnvuOaxZs8b+Rnf8+PGoq6trQ8mJUKGxsRE333wz9Hq9+ACrRIfRdwAAan78N2p/eF8SR3D99dfj8ssvD5aoBEGEIY0+pCQVVhL+/niF5Li/2YcA4HRlI+r11niCGI3SXnBML5OSNErNoltSNADgwBnHyxOdWhxozCsUpBSEJ5Fe0VjsPhWIOgXtL9A4pIuXffnll6LvGzduREpKCvbt24eRI0eC4zisXr0ay5cvx9SpUwEAb775JlJTU/Hee+9hzpw5bSE2EUJs2rQJ58+fl7R3GDkLqg4ZMNVXovbHDyTHNRoNHn300WCISBBEGCN0HxJu5r/9vRxNRjMmD0iXjBFWQd57shLNRrNoo+1TRWOnfvV6k11hiVaz9oxB4pSkVt8iFatAr9RYHCuvx29nHUqBVukINNabzHZrhI6UgrBE+HZcybafjayniN2H/J+PsVsK2s9ahrRS4Azv/pGYmAgAKC4uRllZGXJzc+19NBoNRo0ahV27drlUCvR6vejNcW1tLQBrQSuj0Sg7Rg6+rzdjCDGtuYYcx0lrCjAKdLx2MWL6jQEAVH+7QRJYrNVq8e9//xv9+/cP+Z8t3YP+E4lrGEnX2toIsw81G83gOA5mC4f/fXcfDCYL9iwfh462IF97P4F1wcIBO45VYFzfVHub0BXI8+xDYiuFXpBCVK1U2IOD+cJkHMfZz6NiFeiZEgMAOGhTCtRKBRQKxm4pqBWkNtVS9qGwJNLrFLRWTEF7KgQXNkoBx3HIy8vD1Vdfjf79+wMAysrKAACpqamivqmpqTh16pTLuVauXCn7Fnjbtm2IioryWrbCwkKvxxBiWmMNP/jgA5w4cULUFt1/LGL6jQFnNqFy20toOFwkOq7T6bB+/XqYzWYUFBQEXKbWgu5B/4mkNWxsbGy5E+ERwrf+Fg4wWTjUNhntrjbFFQ0SpaDJyc2o8PB5sVLghaVg14kKdO0Ybd/ga5QK6E0WGGz/rG2sPY0obykwWRxpT9WsAtmpVqXg19PVABzWAD7QuLbJoUhqqU5BWCLOvtN+NrKeIk7JGsCYgnakYIWNUrBgwQL89ttv2LFjh+QY4/QD4ThO0iZk2bJlyMvLs3+vra1FZmYmcnNzERcX57FMRqMRhYWFGD9+PFQqlcfjCAettYZFRUV49913xY0KFgnDpwMAmn56H/W/STeBjz76KG699daAydHa0D3oP5G4hrx1lPAfYUwBYLUWVDU6NtAnLzZiSNdEUR9npWB38UXRd08DjXcer8CM13YjKUaDWcOyAACxWhX09Xq7YgBY3/rzG3neeiCMa1ApGWSnWNOS8hYBXing3Yf4dt6CQIQfkW4pEF5yIC6/PWYfCgulYOHChfjkk0/w3XffoXPnzvZ2Pk1kWVkZ0tMdfpvl5eUS64EQjUYDjUYjaVepVD5tCnwdRzgI5Bq+8cYbuOOOOyTtMQPGQZmQBnN9FSp2fSg53q1bN8yZMycsf5Z0D/pPJK1hpFxna1DaCKz68ijycnsjWqNEk0QpsKC60VF/4NTFBucp7IpEnFaJ2mYTTl5sxMV6vd2i4GlF4/f3WjMXVdTr7f1itUrrd2f3IZW4eJnRJLYUdE2KAqtgYLZZEHgXId59iC+CpqUaBWFLxFc0FloKAqAVMO1QKQjp326O47BgwQL85z//wTfffINu3bqJjnfr1g1paWkis7/BYMD27dsxfPjwYItLhACvv/66rEKgTEhDwsiZAKzZhjiTOBsRfx95YykiCCLy+PiUAq/vPIW3f7S6qDq/9debpJYCZ/iYgrR4rd2Xf39Jtf24UBEwmCz443wdnvnqKBr0JtE8x87Xi/oB1kxD/By8lUHNKhyBxrZ+/DkYxrqp0ShZjOuTYp/vXI011spuKWiynpsyD4UvokDjdrSR9ZTAVzSWzhvuhLRSMH/+fLzzzjt47733EBsbi7KyMpSVlaGpqQmAVUtbtGgRnnzySWzduhUHDx7E7NmzERUVhdtuu62NpSeCzZYtW3D33XdL2hXaWKTckg82Kh760j9Q98sXouOdOnXCyZMn0aNHj2CJShBEGMJxHE7VWTcAv52pBiDnPtSypcBeHEzFYnCXBADAzyVV9uPOgcb3vLUXa749joe2HhDNc7y8XtQPsFoKAIhjClQKSUpSoyDImH/j+fz0y9C5gw4AkNOlAwAIAo1tlgJSCsIWYRXfSHQBC3j2IZClIKisW7cONTU1GD16NNLT0+3/tmzZYu+zdOlSLFq0CPPmzcOQIUNw9uxZbNu2DbGxsW0oORFsdu/eLasIKhPSkfa3/4OqY2eYai/gwof/BMzizCurVq2SdScjCIIQcqqyEY1m6wbg19M1MFs4h9++IHVntcBSUFzRgJe3n8C1L3yPi/VWC2WToAjYYNvmW6QUOAUan7JZGz7+5Zy9va7ZKJuliLcUCFOIiiwFtkBjZ7kBIEqtROHiUVg2qTeWX9vHdpwR9ad0pOELVTR2fA7E9fPztae1DOmYAo7jWuzDMAzy8/ORn5/f+gIRIcsTTzwBi0Xse6vukIaUGU+Dje4AU005yv+9AuaGKlGfTp064ZZbbgmmqARBhCm/nnbk8D9b3YSzVU327x2iVThfq0ez0YIqgaWgrtmE5wr/gN5kwfY/LmDq4M72OASdmsXgrA72uU1mC5SsQqIURKtZNNjG8DUNDp4VB4vzb/JjtSr7OF4BEKYklVoKxBsanZrFnFEOq6naKYaA0pGGLyzFFNg/B8R9yDYHVTQmiBDip59+wqeffipqY5QaJN7wINjoDjCUF6P07TwYL54W9VGpVPj000+h1WqDKS5BEALWrl2Lbt26QavVIicnB99//73b/tu3b0dOTg60Wi26d++O9evXB0lS4FdBtV8A+NGWNYhhgDjbZtw5psDaZt2Al1Ra3/g3C9yHeibHIFarRJPRjN/L6gA4Zx+yID1BZ/++52QlAODA2WrROfiUoSL3IbM00Ng5pkDFut8GOB/XkKUgbIn0lKRMgLMv8VO0p7UkpYAIa5599lkMHTpU0t5hzB3QpPWEuaEaFf/5J7jGGkmfdevWYdCgQcEQkyAIGbZs2YJFixZh+fLl2L9/P0aMGIFJkyahpKREtn9xcTEmT56MESNGYP/+/XjooYdw77334sMPpdnEWoNfbYW9eBed3X9aN+g6FWv3tdc7xRQIOV1ptSwIYwoUCgaXZSYAAPbbagQ4Bxo3CgKMdxyrAAD8YuvLU+OsFJjFdQr4lKT27EOCasbucD5O7kPhC0OWAsfnABYvo0BjgggB3nzzTSxZskTSrkxIR8xlkwAAFZ89A2NNucQV7R//+AfuuuuuoMhJEIQ8zz33HO666y7cfffd6NOnD1avXo3MzEysW7dOtv/69evRpUsXrF69Gn369MHdd9+NO++8E88880yry6o3mXGk1Pomf+qgDACO+gJRatbuVmOtU2BVCqLV4g30aZuloFHgPgQAAzsnAAAO2IKXnVOS1gmUgo9/OYc739iDggNlorl5pYBXWIxmzq4AaGQsBUZBsTN3kPtQ+4GN8DoFQj0oEC4/inZoKQjpmAKCcIXZbMYDDzwgeyzh6hlgFCyaTuxF88lfJMeXL18uW9GaIIjgYTAYsG/fPjz44IOi9tzcXOzatUt2zA8//IDc3FxR24QJE/D666/DaDTK1l/Q6/XQ6x0piPnCbUajEUajUdLfFb+drobRzCFayWF8745468cSnLHFFGhVrN03v0FvRHWDVSkY0CkOPxZXQcFYqx2XVDbAaDSiweb/r2EZGI1G9Et3VBM2Go1oNopTj9Y1O76X1TajrLYZCgaYNSwLBQfKcL5Ob7dO6FSODUptk7WNZTiwsL4YaTaYYTQa0aS3HlMqGLfroOCcYrVY9/3dwY/zdTzh3xpaLILq22YTjMbIUvAswkKAHOf3fcjZ4hgZ+D9Xa+KNbKQUEGHJ3//+d5w/f17UxqijED/0ZkT1HQkAqP7+bcm4F198EQsWLAiKjARBuKaiogJms1lSaDI1NRVlZWWyY8rKymT7m0wmVFRUiIpY8qxcuVL2JcC2bdsQFRXlsbwHKxnEqBToEs2h7PAesAwLM2fdgJubG1Fb2QBAgb0//4LSKgUABtlsBX5XK3BlCocvzyhwvrYZH39WgN9PKQAocOZUMQoKTqDGAABK/HG+Dls/LcC5MutxZ+7pbUZpI2C2AJcmcsjgTuAzIwuAscUUMDhx5CAAqwXi6IlTABQ4fbIY+2tOAFCisqYOBQUFOFLFAGDR2GD97orSRqtsPBVl51BQcMbjdZNDWFuI8A1f1vBYjfVnDgDffP1fREXYDtBqJLNe9PmyUhQUnPVrvt9LretZUV7u9neorWlslNZKcUWE3RJEe2DlypV4/vnnxY2sEmkznoI6xVrgru6XL2E4f0LUZeHChaQQEESIwTi5MXAcJ2lrqb9cO8+yZcuQl5dn/15bW4vMzEzk5uZ6VaxwMoBFBgM+/+q/uHbieGyrO4TCI+UAgOSO8egUr8PBqvPo1acftpb8AcCCO24YhX90iALHcbjs8W/QaDBjwNBR+NF4Eig7iwF9emHyqO4AgDV/bEd5nR5dLh2GuPLjQE2VRIb7b50ocVVYV/wDLpTVgbPlTL9q6BC8eWw/ACA+KRWouIC+vXthdK8krD74I1iNFpMnj4L6SDnw+y9ISkzA5MnSuCyekxcbsOrXnfbvPbt3xeTJvT1eNyFGoxGFhYUYP348VdX2EX/WcHdxJdYc3gsAmDgh1+5qFimYLRzu321Vpjp36oTJkwf4NV/5D6ew9eRRZKSnYfLkywIgYevAW0c9IbLuCCKsMZvNuOOOO/D221ILQPzQW6BO6QZzQzUufvkimo7vlvRZuHBhMMQkCMIDkpKSwLKsxCpQXl4usQbwpKWlyfZXKpXo2LGj7BiNRiNbh0SlUvm0MdWw1rE3DupkVwqi1ErobBusOr3F7refHBdlP0eXxCj8XlaH0joD9LYg32it2n780s4J+O+R8zhU1mAPAhaiU7HQatSS9iinuIUojRpqpTWtab09dkGJaK11rMFkgUqlgsVmiVArWbfroHM6Z5RG6feG3te1Jxz4soZqQX+tWg1VhAWNKwWxhUpW4fc9GGv7nYrWhvb97I1skeVQRoQtZrMZ06ZNk1UIVB0zET9sOgCg8utX0HziJ0mfUaNGITs7u9XlJAjCM9RqNXJyciRuEIWFhRg+fLjsmGHDhkn6b9u2DUOGDAn6H+WxvR2Kyx/n6+3Zh8pqrXEGSgUjehObmWh1VTpd2SiqU8AzsHM8AGulZGGgMU+0Rn4Dp3NSCtRKBTS2jEF8LIJaqbDL12wUBxqrW8g+JAk0VkbWRrI9Ia5o3HZytBUMw9jTiAaiTsGkAelYMKYn/ldQ1yPcicDbgghHXnzxRWzdulXUptFooErphtS/PglGqULTn/vQeOQ7SaYhlUqFJ554IpjiEgThAXl5eXjttdewYcMGHDlyBIsXL0ZJSQnmzp0LwOr6M3PmTHv/uXPn4tSpU8jLy8ORI0ewYcMGvP7667JZyFobndoRXGw0W+xZfMpqmgEACVFqkUtTZgebUlDVJKpTwDPArhTU2DfsQqJduHo4pwgV1iSot2Ut0ihZUfEyjuMEdQrcb46clQZnJYQIH4T3ozIStQI4si4FIiVpvE6FJRMuQXZqrN9zhQrkPkSEPGazGf/3f/8nPZCSjfRb/gFGHQXD+T9R8fnzki7R0dHYsmULrrrqqiBIShCEN0yfPh0XL17EY489htLSUvTv3x8FBQXIysoCAJSWlopqFnTr1g0FBQVYvHgxXnrpJWRkZOCFF17AzTff3CbyF9w7Akv+/SsWjeuFn2xFxcpqrZmOOkSJLRddEq0FyEouNjrqFAg22JekWTcWJZWN6CQoVsYTpZb/c611Ugo0SoV9I18vsBRobG/4LRxgsnAOS4G3KUlb6E+ELuKUpG0oSBuiYAAzIvf6W4KUAiLkef3113Hu3DlRm7Z7DlKmLAejVAPlx1D23nJwBnGEfb9+/bBr1y6vggkJgggu8+bNw7x582SPvfHGG5K2UaNG4eeff25lqTwjOzUWHy+4GgDwq63GQFmN1X0owUkpsLsPVTXCYjNmCt/yJ+is/slmC2evcyAkxpX7kIylgN/IC92HNIL6As1GM4wm3yoaOyshRPjgKLblOjC/vWNdAy4g7kPtEVIKiJDmwoULWLx4sbiRVaHjxHvBKNVo/OMHXPjkacAszsOrUqnw7rvvkkJAEERQ4DfLVY3WZ1FClDhAt7PNfehsdRM62I4JLQValfUNv8FsEdUl4HHpPuQcU8A6lAKDIG5AWKRMb7LYg5lbiilQOm2eyH0ofOH1gPZUbMtb+GsPhPtQe4TsgERI89prr0ly7MYOnABlbEeYai/gwidPSRQChmHw7rvvYuDAgcEUlSCICMa5MrCz+1ByrDUDUnWjEXW24mXCt/wMwyBOJx4jDFSOduE+5LxJ1whchextKoV1fq11jhPl9YKYAvfbAIZhRC5EznMT4QO/IY7EasY8/KVH8BK4hZQCImTR6/VYuXKlqI1RqhF35TQAQM0P7wNm8Rs1hmGwYcMGTJs2LWhyEgRBOLvVdHCyFCToVPZNWUW9QXZMvE688Y/VCpQCH9yHePhsRJP6W4u7vb/3jD3DkUrZ8u5IaE3QqmjbEK7wyoCz9SeS4C0EkWwtcQf9dhMhyfnz59GzZ0/U1dWJ2mMHX2u1EtSUo/43cWpClmXx0UcfYfbs2UGUlCAIQmop4C0DPAoFg8RosaLg/JbfnaXAVaCxs1KgUbISlyBeSZh+RSYA4PMD53CxwRoQ3ZKlQDhe7nxE+MD/qCPZnz6Q2YfaI6QUECFHXV0drrrqKpw5c0bUrtDG2usRVO94F7CIrQSff/45brjhhqDJSRAEwaMVuQIBE/qlSfokxYgVBecNdryzUiCwFLiqPitXp0BiKbC5/AzKTECv1Bg0Gy34cN9Za38PlAJh2lIKNA5fUuO0iFaz6JEc09aitBl8JtZIDbRuCVIKiJCC4zjcdNNNOHHihORYwtW3QaGNgeH8CTQc+lZ0bPDgwZgwYUKwxCQIghAhdKu5umeSPduQkKQYJ0tBC0pBrNbxPcqF+5Bwk84qGLAKRmK14JUEhmHwlyFWawGfFrWllKTOfUgpCF9itSrseOAabP6fK9talDbDbimg3a8stCxESPGPf/wD33zzjaQ9YcTtiM25HgBQ9e0GgBMX98nPzw+GeARBELIIi0H99fIusn2cLQXO/vkSS4FAEXBpKRBs0vm3/s4bfeH3kb2SRcc8cR8S9iH3ofCmQ7Q6ohU7lqFga3eQUkCEDAcOHMDjjz8uaU8acwfih9vchr5/B82nfhUdHzVqFK6//vqgyEgQBCGHMF5gXN8U2T5CS4FOxUpcGOIElgEFI34r7zL7kFApULasFPRIjhEpGB7FFFCgMdFO4H/lSCmQh+oUECFBVVUVxo0bJ2nXZg1E1OVTAABN321AzQ//kfR54oknWl0+giAId/TvFI//u+VS9EqNdZm2s6PAUiCX719oKVA7pRZ1mX1IMA/vNuTsPiT8zioYDMyMx87jFwGI4wVcIUpJGsFvmYnwx16nIIKDrd1BKj8REixatAjl5eWiNkVUPDpedz8YRoG6X75AuYxCMGzYMAwfPjxYYhIEQbhk2pBMDMxMcHlc6D4k54YjUgqcCo65Kl6mlbEUOCslzpaDywQyehJToCJLAdFO4K1zCrqNZaFlIdqcH3/8EZs2bXJqZZA0eTGUMYkwXDiFqq9fk4xLS0vDv//9b8oiQBBEWCB0H5LbXMeJLAWsaMPuKiVplNoD9yHWWSnoYP/sjfuQgvEsWxFBhCoUU+Ae+u0m2pRXXnkFq1atkrTHDrkBuh5DYDHqUfHJ0+BMetHxrKwsHDhwAJ06dQqWqARBEH6R1IL7UJygeJm1MrHjT7RXgcbOdQokSkGC/bPeloXIHSqbHFqZOAiCCCcUFFPgFoopINqEpqYm3HLLLSgoKJAcU6f2QIfRswEAVd+8BmPFKdHx9PR0HD16FBqNRjKWIAgiVPHKfUipEG3mvYkpEFoK1KxCUqxKWFjtQr34hYscalvcQSRnrSHaBwqKKXALWQqIoGMwGJCbmyurEDDqKCTd8AAYVoXGo7tQ/8sXouMqlQpff/01KQQEQYQdwgxFOhl3IOeYAuHm3lX2IeFGnY8lEFoYXMUMLJ14CTol6FymTxXCz0HpSIlwx+E+1MaChChkKSCCCl+cbMeOHZJjbGxHpNySD1ViBky15bj45QuSPq+++ir69OkTDFEJgiACilqpQLxOhZomI3QtxhR4FmjcUkpSV0rBvNE9MW90T4/k5uMONBRkTIQ55D7kHlIKiKCyZMkSfPHFF5J2bdZAdLzufihjEmGqr0T5h4/D0lwv6jNu3DjMnDkzWKISBEEEnKQYtU0pkL51j1EroWAAC2dzH7K9+VexjMvNvYq1VjE2WzhZpcA5Pakv8G5MWhepVgkiXCD3IfeQ2k8EjfXr1+O5556TtMcOvg4p0/9pyzR0EmVv3w9j+Z+iPomJifj4448pyI0giLCGr1UgF2isUDB2a4HQfciVlQCwpljkFQy5QGNPUo62BB9oLCczQYQTCnIfcgtZCoig8O2332LevHmS9qg+I5E4fi4AoO6XL1D19WuSTEMAsGHDBkRFRbW6nARBEK1Jsk0pcBW0G69TobrRCJXAfchVPAGPVsWiXm9y1CmQyUjkD3ZLAbkPEWEOX5+A3IfkIaWACAp5eXngOE7Upk7LRtLkxQCA2r0fo+rrV2XH/vOf/8SNN97Y6jISBEG0NunxWgDioGIhcVo5S4H7N/R8rQJ79qEAWwr4Och9iAh3eGWA3IfkIaWAaFWKi4tx11134ZdffhG1W7MMLQWjVKHxjx9ki5MBQH5+Ph5++OEgSEoQBNH63Hl1N+jULG67Qj7rD68saJQK9EiOAcMAl6TFuZ3T7j5kr2gc2JgCFaUkJdoJfPYhckWWh5QCotXYtm0bbrzxRjQ3N0uOJY6fC1WHdJhqzqOiYDUAsRWBZVm88847+Otf/xocYQmCIIJARoIO9+de4vI4rxSolQr0TInBj8vGilKZyqFVi5UCT7IPeYOatc5PSgER7vC6AEs6gSykFBCtwqZNmzBjxgyJyxBgzTQU0/8acBYzLnzyf+D0DaLj0dHR+OOPP5CRkREscQmCIEICYaAxAKTGaVscw6c3lbMUqAPg8jM4KwEapQJDuyX6PRdBtCUptsJ9wgJ+hANSCoiAUlpaiv/93//Fxx9/LHucUWocgcX7C2A497vouFqtxp49e0ghIAgiIkmIsioF3gT18u5DGlbGUhCAQOMR2ck4+OgEe70CgghXVlzXB13N53B5Voe2FiUkIaWACBhPPfUUHnroIVgsFskxRqlGh7H3ILrvGCjUWpgbqlH9/TviPgyDwsJCKk5GEETEctNlnXD4XC2mDu7s8Rg+VajGKbbA2haYjTwpBER7IDFajUsSOHu9AkIM/ZYTflNfX4+cnBw8+OCD8gqBOgop0x5F7GWToFBrYaotR8Vnz0jchp577jmMHDkyWGITBNFGnDx5EnfddRe6desGnU6HHj16YMWKFTAYDG7HzZ49GwzDiP5deeWVQZI6OFySFos377wCAzMTPB6TFqcD4HCJEFoHNLSZJwjCQ8hSQPjFzp07MWnSJNTV1ckeV0QnIHXaY1CndodF34ALnzyN5j/3SfolJyfj3nvvbW1xCYIIAX7//XdYLBa8/PLL6NmzJw4ePIh77rkHDQ0NeOaZZ9yOnThxIjZu3Gj/rla7D8KNBO4bm40ruiViTO9kAE51CgIQaEwQRGRASgHhM1999RWuvfZamM1myTFFVAJi+l+D2MHXQRmfAnN9Fc7/+x8wlhfLzrVo0SIoFPTHiyAigYkTJ2LixIn27927d8fRo0exbt26FpUCjUaDtLS01hYxrIiPUmFif8eaiCwFpBQQBOEhpBQQHsFxHA4dOoRPPvkE1dXVqKysxIYNG+SzC3XPQdJ194PVWXNrG6vLUL7lYZiqy2Tn7tOnDxYuXNiq8hMEEdrU1NQgMbHl7DZFRUVISUlBQkICRo0ahSeeeAIpKSku++v1euj1jirptbW1AACj0Qij0eiVjHx/b8cFGwXneFGjVISOvOGyfqEMraF/ROL6eXOtpBS0AmazGdXV1dDpdIiKimprcfyitrYWzzzzDJ599lk0Nja678woEH/1bUgYbq0tYCgvRt3Pn6PhyHfgDNKxCoUCs2bNQm5uLrTaltPuEQTRPjlx4gRefPFFPPvss277TZo0CdOmTUNWVhaKi4vxyCOP4JprrsG+ffug0cinGFy5ciUeffRRSfu2bdt8fj4XFhb6NC5YGMwA/+e95GQxCgpOtKk8zoT6+oUDtIb+EUnr1+LeTQApBX5gMBiwa9cu7NmzB2q1Gj179sRPP/2Et956C1VVVQCA4cOH45577oFGo8G5c+dgsVjQoUMHMAyDqKgoDBo0CNnZ2aiursbZs2dhMpkQFRUFjuMQGxuLjIwMNDQ0YOvWrSgpKUFMTAwmTpyI3r17tyhfdXU1ysvL0aFDByQnJ9vbS0pK8PPPP4PjOAwePBhZWVkAgL179+L999/Hvn37cObMGVRVVaGiokLWGuAMo9Qgeepy6LoNBgDU/fw5Kr95FTCbZPtPmzYNL730EhISElBQUNDi/ARBhD75+fmyG3Ahe/bswZAhQ+zfz507h4kTJ2LatGm4++673Y6dPn26/XP//v0xZMgQZGVl4fPPP8fUqVNlxyxbtgx5eXn277W1tcjMzERubi7i4txXCnbGaDSisLAQ48ePh0ql8mpsMLFYOPz9J+ump88l2Zg8pkcbS2QlXNYvlKE19I9IXD/eOuoJpBT4yKZNm3DvvfeioqLCbb9du3Zh165dAT334sWLodPpoNVqwbIsWJaFxWJBc3MzDAYDLBYLVCqVRDvkTfOVlZWidoZhoFQqfTenKZRInrIMum6DYTE0o/KrNWg4XOSy+6pVq/DAAw8AiCwTHkG0dxYsWNBiFfKuXbvaP587dw5jxozBsGHD8Morr3h9vvT0dGRlZeHYsWMu+2g0Glkrgkql8nlT4M/YYKFiGRjNHKI0oSdrOKxfqENr6B+RtH7eXCcpBV5isVgwZ84cvPbaa20qR1NTE5qamlwel9tsOysDPBzH+bw5ZzTRSL7+79B1HwKLsRnl7z8C/dkjsn1ZlsW6detwzz33+HQugiBCm6SkJCQlJXnU9+zZsxgzZgxycnKwceNGnxINXLx4EadPn0Z6errXY9s7alYBo9kckOJlBEFEBu3mabF27Vp069YNWq0WOTk5+P777wN+DovFgr/97W9trhC0FVG9hiP11pXIeuAzpN62Ch2uuRsZs/8FXY8hsBj1uLD1SVmFQKFQYPr06Th+/DgpBARB4Ny5cxg9ejQyMzPxzDPP4MKFCygrK0NZmTgZQe/evbF161YA1nooS5YswQ8//ICTJ0+iqKgI119/PZKSkjBlypS2uIyQhk9FSilJCYLwlHZhKdiyZQsWLVqEtWvX4qqrrsLLL7+MSZMm4fDhw+jSpUvAzrN27Vps2rTJo75sXAo4QyMszfUBO38wUUTFQxmfCoUuDqwuDjEDxkKbNdB+XJvZH9rM/gAAU005Lmx9Aobz0mC2Pn36YOfOnejQgUqKEwRhZdu2bTh+/DiOHz+Ozp3FlXuFMUxHjx5FTU0NAKul8cCBA3jrrbdQXV2N9PR0jBkzBlu2bEFsbGxQ5Q8HNEoWgJGUAoIgPKZdKAXPPfcc7rrrLnuQ2urVq/HVV19h3bp1WLlyZUDOYbFYsHr1alGbIjoB6o5doEzsBEapBmdogsXYjOjeIxDVaxg4kxGNx3fDeLEErC4eqpRuAMcBnAUKbQws+gaYqkrReHw3LI3V0HTqB2V8MhTaWEDBgjM2wVxXiYbfdwAMg5h+Y2CsOofG37+HQhsLRq0Dw9hKdTMMwCjAxnQEo1Sh6fhPAMdB230wVAkZsBib0XDgv+BMerBxyYi7fArY2I4wVZ2DqeocDBWnYbxwErE511trC8R2lK6BUY+6PR+h4ehO6LrngI1JhKH0GBqP/SibXWjOnDlYv359QNafIIj2w+zZszF79uwW+wkVBJ1Oh6+++qoVpWpf8MoA1SkgCMJTwl4pMBgM2LdvHx588EFRe25urssAX1/yVh88eBAnTojfhKfcvAKa9GyXsjFKFaJ7X+3+AjL7I+bS8W67xA+fLvreccJ893MCMDdUAwwDNireMc/QqTBVn4emcx8wrPvAE46zwFx3EebGGliaamGqPo/a3R/AVHMeAGAs/9Pt+GXLluHRRx9tMVYhEnMGBxJaP/+JxDWMpGuNVEgpIAjCW8JeKaioqIDZbEZqaqqoPTU1VeKfyuNL3uojR6S+8saKU1BoomGsPAPO0AhGHQWFWgdzQxVqdm0Gw6qg7Z4DZVwyLIYmGMqOAxYzwDCwNDdAoYuFJi0bUb2vAqPUoPn0QZgunoG5qQawWMCotFCn9UBUr+EAw6Dpjx+hSu4KVaL1zb+luQEAZ7M+cAA4mBuqoYiKhyrBWt3SVHMezWcOQ9u5H5TxqVDGW9ep6eQvaPpzL5TxaVAlZkCd0h1sdALMDdWo+nYDGv/YCc6ol1xzSzAMgxkzZmDo0KFepRqNpJzBrQGtn/9E0hp6k7eaCE+i1CwAQKti21gSgiDChbBXCnjsbjQ2OI6TtPH4kre6b9++WLZsmf1cHMfhYsHqFuWS87MX0njkO1R9+7rbPgpdHBgFC3NDFQAGCk0ULPoG1wMYBXQ9hwIWM5r+3AtwFjAqDaL7jgE4C5rPHobp4hnJMDYuBZbGanAmQ4vXJUd8fDw+/fRTXHnllR6PicScwYGE1s9/InENvclbTYQn/zuqB7YdPo8ru0tdQQmCIOQIe6UgKSkJLMtKrALl5eUS6wGPL3mrs7OzcdVVV2Hnzp0eFfMKJJYm4R9wzr1CAACcBU3HfhA3GfWo//VLt8PMteU+yZecnIx7770XDzzwQLvO+x3K0Pr5TyStYaRcZyQzaUA6Jg2gVK0EQXhO2CsFarUaOTk5KCwsFKWlKywsxI033hjQcz388MOYNGlSQOcMJxiGwZQpUzBnzhzU1NTAZDKhX79+uPTSS9taNIIgCIIgCMIPwl4pAIC8vDzcfvvtGDJkiL0yZklJCebOnRvQ80ycOBHr16/HvHnzYLFYvB6vUCigUCjslgaz2RxQ+QIJwzC46qqrMGLECPTt2xd9+/ZFjx49EB8f3/JggiAIgiAIIqxoF0rB9OnTcfHiRTz22GMoLS1F//79UVBQgKysrICfa86cORgxYgTWrFmDgoICVFZWonv37hg3bhz69OmD6upqdO3aFV27dsW5c+dQXV0NnU6HK6+8EhkZGaKqnXV1dXjvvfewb98+cByHwYMH47bbbrNvvIuKirB27Vr8/PPP0Ov10Gq1MBqNMJvNiI+PR8+ePdGtWzc0NjZCq9UCAH799Vf89NNP9mrH0dHRSEhIwNmzZ+3n1Wq1GDt2LB555BFUVlZix44d2L9/P6qqqpCUlIRRo0bhjjvuQMeO5ItKEARBEAQRCbQLpQAA5s2bh3nz5gXlXH379sXatWthNBpRUFCAyZMny/ro5uTkuJ0nNjYWc+bMcXl89OjRGD16tNfyNTQ04NixY1AoFMjOzoZOp8OpU6dw4sQJaLVaXHbZZaIsS5HsEkUQBEEQBEG0I6WAcBAdHY3LLrtM1JaVldUqlhOCIAiCIAgi/KGqJgRBEARBEAQR4ZBSQBAEQRAEQRARDikFBEEQBEEQBBHhkFJAEARBEARBEBEOKQUEQRAEQRAEEeGQUkAQBEEQBEEQEQ6lJAXsFYZra2u9Gmc0GtHY2Ija2lrZOgVEy9Aa+getn/9E4hryzzr+2RdJ+Pq8ByLzXgkktH7+Q2voH5G4ft4870kpgLWyMABkZma2sSQEQRDBo66uzl5BPVKg5z1BEJGIJ897hovEV0VOWCwWnDt3DrGxsWAYxuNxtbW1yMzMxOnTpxEXF9eKErZfaA39g9bPfyJxDTmOQ11dHTIyMqBQRJYXqa/PeyAy75VAQuvnP7SG/hGJ6+fN854sBQAUCgU6d+7s8/i4uLiIublaC1pD/6D1859IW8NIsxDw+Pu8ByLvXgk0tH7+Q2voH5G2fp4+7yPrFRFBEARBEARBEBJIKSAIgiAIgiCICIeUAj/QaDRYsWIFNBpNW4sSttAa+getn//QGhKeQveKf9D6+Q+toX/Q+rmHAo0JgiAIgiAIIsIhSwFBEARBEARBRDikFBAEQRAEQRBEhENKAUEQBEEQBEFEOKQUEARBEARBEESEQ0qBH6xduxbdunWDVqtFTk4Ovv/++7YWKSzIz88HwzCif2lpaW0tVkjz3Xff4frrr0dGRgYYhsFHH30kOs5xHPLz85GRkQGdTofRo0fj0KFDbSNsiNLSGs6ePVtyX1555ZVtIywRctDz3nfome8d9Lz3H3re+wYpBT6yZcsWLFq0CMuXL8f+/fsxYsQITJo0CSUlJW0tWljQr18/lJaW2v8dOHCgrUUKaRoaGjBw4ECsWbNG9vjTTz+N5557DmvWrMGePXuQlpaG8ePHo66uLsiShi4trSEATJw4UXRfFhQUBFFCIlSh573/0DPfc+h57z/0vPcRjvCJK664gps7d66orXfv3tyDDz7YRhKFDytWrOAGDhzY1mKELQC4rVu32r9bLBYuLS2NW7Vqlb2tubmZi4+P59avX98GEoY+zmvIcRw3a9Ys7sYbb2wTeYjQhp73/kHPfN+h573/0PPec8hS4AMGgwH79u1Dbm6uqD03Nxe7du1qI6nCi2PHjiEjIwPdunXDX//6V/z5559tLVLYUlxcjLKyMtH9qNFoMGrUKLofvaSoqAgpKSno1asX7rnnHpSXl7e1SEQbQ8/7wEDP/MBAz/vAQc97KaQU+EBFRQXMZjNSU1NF7ampqSgrK2sjqcKHoUOH4q233sJXX32FV199FWVlZRg+fDguXrzY1qKFJfw9R/ejf0yaNAnvvvsuvvnmGzz77LPYs2cPrrnmGuj1+rYWjWhD6HnvP/TMDxz0vA8M9LyXR9nWAoQzDMOIvnMcJ2kjpEyaNMn+ecCAARg2bBh69OiBN998E3l5eW0oWXhD96N/TJ8+3f65f//+GDJkCLKysvD5559j6tSpbSgZEQrQ75fv0DM/8ND96B/0vJeHLAU+kJSUBJZlJVp5eXm5RHsnWiY6OhoDBgzAsWPH2lqUsITP4kH3Y2BJT09HVlYW3ZcRDj3vAw89832HnvetAz3vrZBS4ANqtRo5OTkoLCwUtRcWFmL48OFtJFX4otfrceTIEaSnp7e1KGFJt27dkJaWJrofDQYDtm/fTvejH1y8eBGnT5+m+zLCoed94KFnvu/Q8751oOe9FXIf8pG8vDzcfvvtGDJkCIYNG4ZXXnkFJSUlmDt3bluLFvIsWbIE119/Pbp06YLy8nI8/vjjqK2txaxZs9patJClvr4ex48ft38vLi7GL7/8gsTERHTp0gWLFi3Ck08+iezsbGRnZ+PJJ59EVFQUbrvttjaUOrRwt4aJiYnIz8/HzTffjPT0dJw8eRIPPfQQkpKSMGXKlDaUmggF6HnvH/TM9w563vsPPe99pG2TH4U3L730EpeVlcWp1Wpu8ODB3Pbt29tapLBg+vTpXHp6OqdSqbiMjAxu6tSp3KFDh9parJDm22+/5QBI/s2aNYvjOGuauhUrVnBpaWmcRqPhRo4cyR04cKBthQ4x3K1hY2Mjl5ubyyUnJ3MqlYrr0qULN2vWLK6kpKStxSZCBHre+w49872Dnvf+Q89732A4juOCq4YQBEEQBEEQBBFKUEwBQRAEQRAEQUQ4pBQQBEEQBEEQRIRDSgFBEARBEARBRDikFBAEQRAEQRBEhENKAUEQBEEQBEFEOKQUEARBEARBEESEQ0oBQRAEQRAEQUQ4pBQQBEEQBEEQRIRDSgFB2CgqKgLDMKiurm6T83/zzTfo3bs3LBZLq5/rwIED6Ny5MxoaGlr9XARBEKEIPfMJQgwpBUREMnr0aCxatEjUNnz4cJSWliI+Pr5NZFq6dCmWL18OhaL1fy0HDBiAK664As8//3yrn4sgCKKtoWc+PfOJliGlgCBsqNVqpKWlgWGYoJ97165dOHbsGKZNmxa0c95xxx1Yt24dzGZz0M5JEAQRKtAznyDEkFJARByzZ8/G9u3b8a9//QsMw4BhGJw8eVJiSn7jjTeQkJCAzz77DJdccgmioqJwyy23oKGhAW+++Sa6du2KDh06YOHChaKHrMFgwNKlS9GpUydER0dj6NChKCoqcivT5s2bkZubC61Wa2/79ddfMWbMGMTGxiIuLg45OTnYu3ev/fiuXbswcuRI6HQ6ZGZm4t577xWZhvV6PZYuXYrMzExoNBpkZ2fj9ddftx+fMGECLl68iO3bt/u5ogRBEKELPfOt0DOfaAlSCoiI41//+heGDRuGe+65B6WlpSgtLUVmZqZs38bGRrzwwgvYvHkzvvzySxQVFWHq1KkoKChAQUEB3n77bbzyyiv44IMP7GPuuOMO7Ny5E5s3b8Zvv/2GadOmYeLEiTh27JhLmb777jsMGTJE1DZjxgx07twZe/bswb59+/Dggw9CpVIBsPqHTpgwAVOnTsVvv/2GLVu2YMeOHViwYIF9/MyZM7F582a88MILOHLkCNavX4+YmBj7cbVajYEDB+L777/3aR0JgiDCAXrmW6FnPtEiHEFEIKNGjeLuu+8+Udu3337LAeCqqqo4juO4jRs3cgC448eP2/vMmTOHi4qK4urq6uxtEyZM4ObMmcNxHMcdP36cYxiGO3v2rGjusWPHcsuWLXMpT3x8PPfWW2+J2mJjY7k33nhDtv/tt9/O/c///I+o7fvvv+cUCgXX1NTEHT16lAPAFRYWujwnx3HclClTuNmzZ7vtQxAEEe7QM98KPfMJdyjbUiEhiFAnKioKPXr0sH9PTU1F165dRW9fUlNTUV5eDgD4+eefwXEcevXqJZpHr9ejY8eOLs/T1NQkMiMDQF5eHu6++268/fbbGDduHKZNm2aXZd++fTh+/Djeffdde3+O42CxWFBcXIwDBw6AZVmMGjXK7fXpdDo0Nja2sAoEQRCRAT3ziUiGlAKCcANvuuVhGEa2jU8pZ7FYwLIs9u3bB5ZlRf2Ef1ScSUpKQlVVlagtPz8ft912Gz7//HN88cUXWLFiBTZv3owpU6bAYrFgzpw5uPfeeyVzdenSBcePH/fo+iorK0V/AAmCICIZeuYTkQwpBUREolarWyUDw6BBg2A2m1FeXo4RI0Z4Ne7w4cOS9l69eqFXr15YvHgxbr31VmzcuBFTpkzB4MGDcejQIfTs2VN2vgEDBsBisWD79u0YN26cy/MePHgQt9xyi8dyEgRBhCP0zLdCz3zCHRRoTEQkXbt2xe7du3Hy5ElUVFQErHhMr169MGPGDMycORP/+c9/UFxcjD179uCpp55CQUGBy3ETJkzAjh077N+bmpqwYMECFBUV4dSpU9i5cyf27NmDPn36AAAeeOAB/PDDD5g/fz5++eUXHDt2DJ988gkWLlxov75Zs2bhzjvvxEcffYTi4mIUFRXh/ffft5/j5MmTOHv2rNs/IARBEO0BeubTM59oGVIKiIhkyZIlYFkWffv2RXJyMkpKSgI298aNGzFz5kzcf//9uOSSS3DDDTdg9+7dLrNdAMDf/vY3HD58GEePHgUAsCyLixcvYubMmejVqxf+8pe/YNKkSXj00UcBAJdeeim2b9+OY8eOYcSIERg0aBAeeeQRpKen2+dct24dbrnlFsybNw+9e/fGPffcI0pft2nTJuTm5iIrKytg104QBBGK0DOfCfjZFQAAANFJREFUnvlEyzAcx3FtLQRBENbqljU1NXj55Zdb/Vx6vR7Z2dnYtGkTrrrqqlY/H0EQBCGGnvlEqEGWAoIIEZYvX46srKygVJs8deoUli9fTn8cCIIg2gh65hOhBlkKCIIgCIIgCCLCIUsBQRAEQRAEQUQ4pBQQBEEQBEEQRIRDSgFBEARBEARBRDikFBAEQRAEQRBEhENKAUEQBEEQBEFEOKQUEARBEARBEESEQ0oBQRAEQRAEQUQ4pBQQBEEQBEEQRIRDSgFBEARBEARBRDj/DzxLk17hzSdQAAAAAElFTkSuQmCC\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": "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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAwUAAAGHCAYAAADhgv6DAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjMuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/d3fzzAAAACXBIWXMAAA9hAAAPYQGoP6dpAACYEklEQVR4nOzdd3gUVdsG8Hu2p/dCIPQmvUhHQCBBQKQoIiiCDRUUsSHFAgpE8JUPFUV59QUUQWxUQRJpgqAEFJQiSq8hhfSy2XK+P8IumcwmJCTZZLP375Ir7jkzu8+eZMszp0lCCAEiIiIiInJbqqoOgIiIiIiIqhaTAiIiIiIiN8ekgIiIiIjIzTEpICIiIiJyc0wKiIiIiIjcHJMCIiIiIiI3x6SAiIiIiMjNMSkgIiIiInJzTAqIiIiIiNwckwKqVPXr18f48ePtty9fvoxZs2bh0KFDimNnzZoFSZKcEtfu3buh1+tx7tw5WbnJZMKSJUvQrVs3+Pn5wcPDAy1atMCMGTOQmprqlNjKavny5ZAkCWfPnnXaY168eBFTpkxB79694e/vD0mSsHz58mKP/+mnn9CtWzd4enoiODgY48ePR2JiouI4k8mE2bNno379+tDr9WjevDk++OADh/d5+vRpjBgxAv7+/vD29kZUVBR+//13h8d+9dVXaNeuHQwGAyIiIjBlyhRkZWXJjvnss89Qu3ZtZGdnl74hiNzEzp07IUkSdu7c6bT737x5M2bNmlXu+z516hT0ej327dsnKxdCYNWqVejbty8CAgJgMBjQqFEjPPvss7h06VK5H7cyVPbvwZHMzExMnToV0dHRCAkJgSRJJf5efv/9d/Tv3x/e3t7w9/fHiBEjcPr0aYfHfvDBB2jevDn0ej0aNGiA2bNnw2QyKY5LTEzE+PHjERwcDE9PT3Tr1g3btm1zeJ+l+bzZtm0bvL29q+3vucoIokr0+++/i5MnT9pvx8fHCwBi2bJlimMvXLgg9u3bV+kxWa1W0aFDBzFp0iRZeXZ2tujdu7dQq9Xi6aefFj/88IPYvn27mDt3rggICBD169eXPZfqYtmyZQKAOHPmjNMec8eOHSI4OFj0799fjB49utjfqRBC7Ny5U2g0GjF06FARGxsrVq5cKWrXri1atWol8vLyZMc+/vjjQq/XiwULFogdO3aIadOmCUmSxNy5c2XHJSYmioiICNGyZUvx3XffiR9++EH07NlT+Pj4iL///lt27MqVKwUA8fjjj4vt27eLjz/+WPj5+YmoqCjZcSaTSTRp0kS8/vrr5W8gohpmx44dAoDYsWNHpdx/enq62Ldvn0hPT7eXTZo0SVTE15Rhw4aJwYMHy8osFosYNWqUACBGjx4t1q1bJ3bs2CHee+89UadOHREUFCR+++23cj92Ravs34MjZ86cEX5+fqJXr17i8ccfFwDEG2+84fDY48ePCx8fH3HHHXeIH374QXz33XeiZcuWIiIiQiQmJsqOnTNnjpAkSUyfPl3s2LFDLFiwQOh0OvHEE0/IjsvLyxOtWrUSderUEStXrhSxsbFi6NChQqPRiJ07d8qOLcvnzZ133ikefvjh8jdQDcKkgJyqpKTAWTZv3iwAKL48TpgwQQAQX331leKcEydOCD8/P9GuXTthsVicFWqpVEVSULgNbvY77dSpk2jRooUwmUz2sl9++UUAEB999JG97MiRI0KSJDFv3jzZ+U888YTw8PAQKSkp9rKXX35ZaLVacfbsWXtZenq6CA4OFvfff7+9zGw2i1q1aono6GjZfX755ZcCgNi8ebOs/D//+Y/w8/MT2dnZpWgFIvdRFV9GKyIpOHbsmAAgfvzxR1n5vHnzBADx9ttvK85JSEgQ9erVE7Vr1xYZGRnlevyKVhW/B6vVKqxWqxBCiKSkpBKTgpEjR4rg4GBZcnf27Fmh1WrF1KlT7WXJycnCYDCICRMmyM6fO3eukCRJHD161F724YcfCgBi79699jKTySRatGghOnfuLDu/tJ83Qgjx7bffCrVaLc6fP1/Klqj5mBS4iTfeeEMAEL///rsYPny48PHxEb6+vuLBBx9UZO8Wi0XMnz9fNGvWTOh0OhESEiLGjh0rLly4IDvu999/F4MHDxYhISFCp9OJWrVqiUGDBsmOq1evnhg3bpwQ4sabWdF/tjcXW4y3Ekvv3r1Fy5Ytxf79+0XPnj2Fh4eHaNCggYiJiVF8iR8yZIjo1KmTrOzKlStCo9GIAQMGFNuGtg+R9evXF9/QQohTp06JUaNGiVq1agmdTidCQ0NF3759xR9//CE77ssvvxRdu3YVXl5ewsvLS7Rt21Z8+umn9vrY2Fhxzz33iNq1awu9Xi8aNWokJkyYIJKSkmT3U1xSEBcXJ/r27St8fHyEh4eH6N69u/jpp59KjP1WlJQUXLx4UQAQMTExirqmTZvKrtbPmTNHABBXrlyRHbd3714BQHz55Zf2ssaNGzv8XU2YMEF4eHjYPxD27NkjAIjVq1fLjsvPzxfe3t6KK1JXrlwRkiSJzz777OZPnKiaWrt2rQDg8PX+0UcfCQDi8OHD9rL4+HgxZMgQERAQIPR6vWjXrp1Ys2aN7LzivoyuX79edO3aVXh4eAhvb2/Rv39/2Zc3m+PHj4sHHnhAhIaGCp1OJyIjI8XYsWPtV2+L3v+4ceMcfl6cOXNG9O3bVzRr1sz+RdXGarWKRo0aiUGDBtnLnn32WREeHi77HDAajSIgIEDcdtttivuwWbVqlQAg3nvvPYf1NomJieKJJ54QderUETqdTgQHB4vu3buLuLg42XFbtmwRffv2Fb6+vsLDw0M0b95cdgEkPj5ejBo1StSrV08YDAZRr1498cADD8gufDhqp8Ln3+x3WBFKSgpMJpPw8PAQTz75pKIuOjpaNGnSxH7b1oNbdHTA5cuXBQBZ73D//v1Fs2bNFPdp+0y+ePGiEKJsnzdCFPwd+Pn5iddee63kJ+1GOKfAzQwfPhyNGzfGt99+i1mzZmHdunUYMGCAbAzf008/jVdeeQVRUVHYsGED3nrrLfz444/o3r07kpOTAQDZ2dmIiorC1atX8eGHHyIuLg6LFi1C3bp1kZmZ6fCxO3TogGXLlgEAXn31Vezbtw/79u3D448/Xmy8pYnFJiEhAQ8++CAeeughbNiwAQMHDsT06dOxcuVK+zH5+fn46aefcOedd8rO3bFjB8xmM4YNG1ZsLLa6rVu3FnsMAAwaNAgHDx7EggULEBcXhyVLlqB9+/ZIS0uzH/P666/jwQcfREREBJYvX461a9di3LhxsjkOp06dQrdu3bBkyRLExsbi9ddfx2+//YaePXs6HHNZ2MqVKxEdHQ1fX1+sWLECX3/9NQIDAzFgwADZOEwhBMxmc6n+3YojR44AANq0aaOoa9Omjb3edmxISAjCw8MVxxW+r9zcXJw6darY+8zNzbWPXy3u8bVaLZo3by57fAAIDw9H8+bN8cMPP5TpeRJVJ3fffTdCQ0Pt77eFLV++HB06dLC/Jnbs2IEePXogLS0NH3/8MdavX4927dph1KhRJc4TAoBVq1Zh6NCh8PX1xerVq/HZZ58hNTUVffr0wZ49e+zHHT58GJ06dcKvv/6KN998E1u2bEFMTAyMRiPy8/Md3vdrr72G++67DwDsnxX79u1DrVq18Nxzz+HEiROKMeVbtmzBqVOnMGnSJHvZDz/8gF69ekGluvF15+DBg0hNTcU999xT7Dy2IUOGQKVS3fT9fuzYsVi3bh1ef/11xMbG4tNPP0X//v2RkpJiP+azzz7DoEGDYLVa8fHHH2Pjxo2YPHkyLl68aD/m7NmzaNasGRYtWoStW7di/vz5uHLlCjp16qT4rCuqLL/D0r7fCyFKfExHTp06hdzc3GLfm0+ePIm8vDwAN96bW7duLTuuVq1aCA4OVnw2FHefAHD06FHZfZbm8wYAdDodunfvzvf7wqo6KyHnsF2Ff/7552XltmEUK1euFEIUXM0BICZOnCg77rfffhMAxIwZM4QQQhw4cEAAEOvWrSvxcQv3FAhR8lXloj0FpY1FiIKeAgCKMaAtWrSQXVG2nVt0iNDbb7/tsIu5sNzcXAFAMTa1sOTkZAFALFq0qNhjTp8+LdRqtXjwwQeLPaYoq9UqTCaTOHfunKK3omhPQXZ2tggMDBRDhgyR3YfFYhFt27aVdbcW13vj6F9xw5NK+p3a/r4czRWZMGGC0Ol09ttRUVEOrwYJIYROp7N3M1+6dKnYq0G2q3u2K5Vz58512PsgRMGVq6ZNmyrKH3zwQREWFuYwDiJX8cILLwgPDw+RlpZmL7MNpfnggw/sZc2bNxft27eXDbcQQoi7775b1KpVy36FvegVaovFIiIiIkTr1q1lV+EzMzNFaGio6N69u72sb9++wt/fX9ErXZijK+DFDR+yWCyiYcOGYujQobLygQMHikaNGtmv/l+9etXhEKGvvvpKABAff/xxsfEIIURYWJho2bJlicd4e3uLKVOmFFufmZkpfH19Rc+ePYvtlXDEbDaLrKws4eXlJeutcNROpf0dnjlzptTv98UNTyqpp8A2TKdoz6wQN67qX758WQhRMCxUr9c7fIymTZvKhnxqtVqHvQ+2XuRVq1YJIcr2eWMzc+ZMoVKpRFZWlsNY3A17CtzMgw8+KLt9//33Q6PRYMeOHQBg/1l4xSAA6Ny5M2677Tb7lZnGjRsjICAAr7zyCj7++GMcO3aswmMtbSw24eHh6Ny5s6ysTZs2sqvvly9fBgCEhobeclwlrZAUGBiIRo0a4Z133sHChQvxxx9/wGq1yo6Ji4uDxWKRXc1yJDExEU899RQiIyOh0Wig1WpRr149AMDx48eLPW/v3r24du0axo0bJ7vyY7VacddddyE+Pt6+wk7Hjh0RHx9fqn8RERGlbSKF4tqsaHlJbVsZxzoqDw0NRWJi4i33jhBVB48++ihyc3OxZs0ae9myZcug1+sxZswYAMDJkyfx999/2z8XCr9fDBo0CFeuXMGJEycc3v+JEydw+fJljB07VnYV3tvbG/feey9+/fVX5OTkICcnB7t27cL999+PkJCQCnluKpUKzzzzDDZt2oTz588DKLhK/eOPP2LixIn213V53++FEDddEa9z585Yvnw55syZg19//VXRi7t3715kZGTI4nIkKysLr7zyCho3bgyNRgONRgNvb29kZ2eX+H5flt9hREREqd/vO3bsWNpmUijte3N1eb+3Wq1ISEgo9v7diaaqAyDnKjo0Q6PRICgoyN7VaftZq1YtxbkRERH2L9h+fn7YtWsX5s6da1+us1atWnjiiSfw6quvQqvVljvW0sZiExQUpDhOr9cjNzfXftv2/waDQXZc3bp1AQBnzpwpNh5bXWRkZLHHSJKEbdu24c0338SCBQvw4osvIjAwEA8++CDmzp0LHx8fJCUlAQDq1KlT7P1YrVZER0fj8uXLeO2119C6dWt4eXnBarWia9eusudU1NWrVwHA3vXuyLVr1+Dl5QVvb2+0a9eu2OMK02jK/nZh+50U7kovHENgYKDsWEdL1WZnZyM/P99+bEBAACRJKvY+AdiPLfz4YWFhJT6+jcFggBACeXl58Pb2Ls3TJKp2WrZsiU6dOmHZsmWYMGECLBYLVq5ciaFDh9r/7m3vFS+99BJeeuklh/dT3NCVm70/W61W+zLOFoulxPe7W/Hoo4/i9ddfx8cff4x58+bhww8/hIeHBx599FH7MeV5v8/OzkZycvJNvxyvWbMGc+bMwaefforXXnsN3t7eGD58OBYsWIDw8PBSvd8DwJgxY7Bt2za89tpr6NSpE3x9fSFJEgYNGlSq9/vS/A51Ol2p3+/VanWpjivsZu/3kiTB39/ffmxeXh5ycnLg6empOLZwuxf+jlL0OMDx+72jY4t7vwdQYhu7EyYFbiYhIQG1a9e23zabzUhJSbG/mGw/r1y5ongTu3z5MoKDg+23W7duja+++gpCCPz5559Yvnw53nzzTXh4eGDatGnljrUssZSW7Rzbm4nNnXfeCY1Gg3Xr1uGpp55yeO66desAAH379i3xMerVq4fPPvsMAPDPP//g66+/xqxZs5Cfn4+PP/7YfrXs4sWLxSYYR44cweHDh7F8+XKMGzfOXn7y5MlSP8cPPvgAXbt2dXiM7Qvyrl27FPMrinPmzBnUr1+/VMfatGrVCgDw119/YdCgQbK6v/76y14P3Ph7SkhIkCWvf/31l+y+PDw80LhxY3t50fv08PBAw4YN7fdpK2/RooX9OLPZjL///hujR49W3Me1a9eg1+uZEJDLe+SRRzBx4kQcP34cp0+fxpUrV/DII4/Y623vFdOnT8eIESMc3kezZs0clhd+fy7q8uXLUKlU9gRerVbLxs9XBD8/P4wbNw6ffvopXnrpJSxbtgxjxoyxf+kEin+/79ixIwIDA7FhwwbExMQ4vIK8YcMGWK3Wm77fBwcHY9GiRVi0aBHOnz+PDRs2YNq0aUhMTMSPP/4oe78vTnp6OjZt2oQ33nhD9tlpNBoVsTt6fKB0v8OzZ8+iQYMGJd6fzY4dO9CnT59SHWvTqFEjeHh4FPve3LhxY/uX8MLvzV26dLEfl5CQgOTkZMVnQ3H3Cdz4bCjL542NrX1v5ftEjVTFw5fISW42p+CLL74QQgjx999/CwBi8uTJsuP2798vAIiZM2eW+Dj+/v5i5MiR9ttF5xT8+eefDpcGKxyjTVlisa0+VNS4ceNEvXr17LcvXLhQ7IoSTz755E2XJG3QoIHIz893/ORL0K5dO/uKR2fOnBFqtVqMHTu22ONt7VR0bOZLL72kGM9ZdE5BZmam8Pf3F08//fRN48rIyBDx8fGl+mc0Gh3ex82WJO3cubNo1aqVMJvN9rJ9+/YJAGLJkiX2MtuSpEXH/z755JOKJUmnTp0qdDqdbCm5jIwMERISIkaNGmUvsy1Jetddd8nuc/Xq1QKA2LJliyLeqKgo0b59e4fPhciVpKamCoPBIKZOnSruu+8+Ubt2bcVqbE2aNJGt1lMcR3MKateuLdq1aycbK5+VlSVCQ0NFjx497GV9+/YVAQEBipXTSrp/IQrmRQAQOTk5Ds85ceKEkCRJ3HnnnQKAOHTokKzeaDQKDw8PxeeeEELExMQIAGL+/PmKuqtXr4p69eoJf3//EmMuzrBhw0RISIgQouD92LbGf3FzCtLT0x3Ok1q8eLEAIPsMddROpf0dGo3GUr/fF7cU682WJL3//vtFaGio7Pxz584JnU4nXnnlFXtZSkqKMBgM4qmnnpKdHxMTo1iS1LZi1q+//movM5lMomXLlqJLly6y80v7eWPzxBNPiKCgoDLN96jJmBS4CdsX7nr16omXX35ZxMbGiv/7v/8T3t7eom3btrIvfBMmTBCSJIkpU6aIrVu3ik8++USEhoaKyMhIkZycLIQQYuPGjWLgwIHik08+EXFxcSI2NlY89dRTAoBYunSp/b6KJgXZ2dnCw8ND9OjRQ+zYsUPEx8eLS5cuyWIsrDSxCFH6pEAIIRo2bChGjx6tONa2eZlGoxETJ04UW7ZsEdu3bxfz5s0TgYGBws/PT7aMnyOHDx8Wd9xxh3j//ffFli1bxLZt2+wTmQpPjH7ttdcEAHHfffeJ7777Tvz000/i/ffft2+clZ+fLxo1aiTq1asnVq1aJX788UcxadIk0bRp05smBUII8cUXXwiVSiVGjRolvvnmG7Fr1y7x7bffitdee03xJnyrvvnmG/HNN9+I+fPnCwBi0qRJ9rLCduzYITQajRg+fLiIi4sTX375pYiMjCxx87J33nlH7Ny5U8yYMaPYzctq1aolWrduLdauXSs2b94sevXqJXx8fMTx48dlx37xxRcCgJgwYYLYsWOHWLp0qfD391csTydEwRcdPz8/8cILL1RIGxFVtdGjR9uXAS38HmSzfft2odfrRXR0tFi1apXYtWuXWLt2rZg3b56477777Mc5+jJqu6g0aNAgsX79evH111+LTp06CZ1OJ3bv3m0/7tChQ8Lb21s0bNhQLF26VGzfvl2sXr1ajB492v7l0dH9297b3njjDfHrr786vDgxcOBAAUD07NnT4fPv27ev6Natm6K88OZlY8aMEevXrxc7d+4U77//voiMjBQ6nU7ExsaW2LZpaWmiffv24p133hEbN24UO3fuFO+8844wGAxizJgx9uM+/fRTAUD07dtXrF69Wmzfvl0sXbpUtoFmr169RGBgoPjvf/8r4uLixKuvvipq1aol/P39b5oUlPZ3WB6bN28W33zzjfjf//4nAIiRI0fa3+8L7+ty/Phx4e3tLXr16iU2b94svv/+e9GqVasSNy+bMWOGve30er3DzctatmwpIiMjxZdffini4uLE8OHDHW5eVpbPGyGEaN26tRgxYkSFtFFNwKTATdi+cB88eFAMGTJEeHt7Cx8fHzF69Ghx9epV2bG2vQGaNm0qtFqtCA4OFg899JBsb4C///5bjB49WjRq1Eh4eHgIPz8/0blzZ7F8+XLZfRVNCoQouErbvHlzodVqZV9wS9qnoKRYhChbUvDaa6+JgIAAh28Q+fn54oMPPhBdunQR3t7e9pUYunfvbl8LuSRXr14V48ePF82bNxdeXl7C29tbtGnTRvzf//2f7MqFEEJ8/vnnolOnTsJgMAhvb2/Rvn172dX2Y8eOiaioKOHj4yMCAgLEyJEjxfnz50uVFAghxK5du8TgwYNFYGCg0Gq1onbt2mLw4MGKL+23ytY2jv4VFRsbK7p27SoMBoMIDAwUDz/8sOLvToiC9n/jjTdE3bp1hU6nE02bNhXvv/++w8c/efKkGDZsmPD19RWenp6iX79+4uDBgw6PXbVqlWjTpo3Q6XQiPDxcTJ48WWRmZiqO27Ztm/11QlQTxMbG2l+X//zzj8NjDh8+bL/Cq9VqRXh4uOjbt69sdZ7i1sdft26d6NKlizAYDMLLy0v069dP/PLLL4rHOHbsmBg5cqQICgoSOp1O1K1bV4wfP77YfQqEKLiy/fjjj4uQkBAhSZLD97nly5cX28MrhBCfffaZUKvV9lVvCrNareKLL74QvXv3Fn5+fvZ2atasmeLigiN5eXniqaeeEm3atLHvP9CsWTPxxhtvKDZA3Lx5s+jdu7fw8vISnp6eokWLFrJeiosXL4p7771XBAQECB8fH3HXXXeJI0eOKD5Di/s9lOZ3WB716tUr9cp0Bw4cEP369ROenp7C19dXDBs2TJw8edLh/b733nuiadOm9r+JN954w2FvfEJCgnj44YdFYGCgMBgMomvXroq9IGxK+3lz8uRJAUB89913ZW+QGkoS4hYWoyWXM2vWLMyePRtJSUluP3bu8uXLaNCgAT7//HOMGjWqxGNNJhOGDBmCvXv3Ii4uTjb2kWqesWPH4vTp0/jll1+qOhQiKgXbSkdnz551uMBFXl4e6tatixdffBGvvPLKTe/v8ccfx4oVK/Ddd9/hnnvuqYyQqZp47bXX8Pnnn+PUqVO3tJBGTcQlScntREREYMqUKZg7d65iudCitFotvv32WzRr1gwDBw7E4cOHnRQlOdupU6ewZs0azJ8/v6pDIaISGI1G7Nu3D++99x7Wrl2Ll19+udgV7wwGA2bPno2FCxfal2IuySeffIK77roL999/P+Li4io6dKom0tLS8OGHH2LevHlMCAphS5BbevXVV+Hp6YlLly6VuMQoULDudnx8vJMio6py/vx5LF68GD179qzqUIioBFeuXEH37t3h6+uLJ598Es8++2yJx0+YMAFpaWk4ffq0YgfdotRqNTZu3FiR4VI1dObMGUyfPt2+ZwcV4PAhIiIiIiI3x+FDRERERERujkkBEREREZGbY1JAREREROTmONEYgNVqxeXLl+Hj4+Nwu3MioppECIHMzExERERApXKva0N8vycid1KW93smBShYt/5mK9AQEdU0Fy5cQJ06dao6DKfi+z0RuaPSvN8zKQDg4+MDoKDBfH19S32eyWRCbGwsoqOji10jmUrGNiwftl/5uWMbZmRkIDIy0v7e505u9f0ecM+/lYrE9is/tmH5uGP7leX9nkkBYO9C9vX1LXNS4OnpCV9fX7f546pobMPyYfuVnzu3oTsOn7nV93vAvf9WKgLbr/zYhuXjzu1Xmvd79xpMSkRERERECkwKiIiIiIjcHJMCIiIiIiI3x6SAiIiIiMjNcaJxKWVkZCA9PV1WZrVaERkZicuXL7vdWt+3SqPRICwsjO1FREREVI0wKSiFxMRESJKEOnXqyGZvW61W+Pn5wdfXl19ySykrKwtXr15FrVq1qjoUIpeUnZ2N1atX46uvvsLVq1cRHByMe++9Fw8//HCZV9MhIiKyYVJQCkajkZvdVBBvb2+kpqZWdRhELunIkSMYPHgwzp8/LyvfuXMn3nrrLWzYsAFdunSpouiIiMiV8fI2EZELuHTpEnr27ClLCAr3XCYmJmLgwIE4d+5cVYRHREQujkkBEVE1l5aWhq5duyrmNQkhAADBwcEAgNTUVLz77rtOj4+IiFwfkwIiompu7NixuHjxov22r68vwsLD4dWyLwAJycnJ0GgKRoN+/vnnsFgsVRQpuYNjlzOQlpNf1WEQUQVjUuCG+vTpgylTpthv169fH4sWLaqyeIioeGvXrsWmTZtkZRkZGchr0h/Bd7+A0OHTARQsfAAA6enpnLdDlebQhTQMen83es7fUdWhEFEFY1JQg40fPx6SJCn+LViwAG+99Vax50mShHXr1jkvUCJyaPny5bj33nsV5R5NusK/+wMAAK/UkwBuJAUA4Onp6ZwAye3s+TcJAJBlNFdxJERU0bj6UA131113YdmyZbKykJAQqNXqSn9sk8kErVZb6Y9DVBMtW7YMjz76qKJcE1gbwYNfAABkHFiP1J1fy+rvuOMOJgVUaTx1/NpAVFOxp6CMhBDIyTfb/+XmW2S3K/OfbVJhWej1eoSHh8v+9evXTzZ8qLD69esDAIYPHw5Jkuy3AWDjxo3o2LEjDAYDGjZsiNmzZ8NsvnG1SJIkfPzxxxg6dCi8vLwwZ86cMsdLRMC5c+cwYcIERbmk80DI8JlQ6T2Rd/4vpO74n+KY5557zhkhkpvy0lf+BSUiqhpM+cso12RBi9e3VsljH3tzQKVfpYmPj0doaCiWLVuGu+66y96jsHXrVjz00EN4//33cccdd+DUqVP2Ly1vvPGG/fw33ngDMTEx+L//+z+n9EYQ1UQff/yxLOG2CRvyEnTBdWHOTEbS+vmAVT6heNy4cRgxYoSzwiQ3VPgzyGi2QK/h+zxRTcGkoIbbtGkTvL297bcHDhxY4vEhISEAAH9/f4SHh9vL586di2nTpmHcuHEAgIYNG+Ktt97C1KlTZUnBmDFjHA55IKLSEULgf/9T9gD4drkP+sZdIMwmXFs/H9acNFl9586dsWzZMtneBUQVzVN3IwnINjIpIKpJmBSUkYdWjWNvDgBQMLEvMyMTPr4+UKkqfySWh7bsb7533nknlixZYr/t5eWF0aNHl/l+Dh48iPj4eMydO9deZrFYkJeXh5ycHPsY5ttvv73M901EN8yZMweJiYmyMkP99vDvNRYAcO2nj5F76bisPjg4GD/99BMTAqp0qkJ/Y9lGMwK9dFUYDRFVJCYFZSRJkr371Gq1wqxTw1OncUpScCu8vLzQuHHjct+P1WrF7NmzHQ5NMBgMsscjoluzf/9+Wc8bAKh9QxF8z8uQVGpkHd6KrMPK4Yvff/89fHx8nBUmuTFrobltmXlcgYioJmFSQAparVax+VGHDh1w4sSJCkkwiEjpm2++wQMPPCBbUEDS6BAyfAbUHr4wXv4HKXEfK8577rnncMcddzgzVHJj1kLrXWTnMykgqkmq9PL2zz//jCFDhiAiIsLh2vhCCMyaNQsRERHw8PBAnz59cPToUdkxRqMRzz77LIKDg+Hl5YV77rlHtvMnlV39+vWxbds2JCQk2DdBev311/H5559j1qxZOHr0KI4fP441a9bg1VdfreJoiVzfhg0bMGrUKNleAwAQOOAZ6MMbw5KdhqR18wCLSVY/YcIE/N///Z8zQyU3Vzhp5V4FRDVLlSYF2dnZaNu2LRYvXuywfsGCBVi4cCEWL16M+Ph4hIeHIyoqCpmZmfZjpkyZgrVr1+Krr77Cnj17kJWVhbvvvltxpZtK791330VcXBwiIyPRvn17AMCAAQOwadMmxMXFoVOnTujatSsWLlyIevXqVXG0RK4tOzsbDz74oGLJ4cYDH4N3q74QVguS1s+HJTNZVh8VFYVPPvmE8wjIqWQ9BUwKiGqUKh0+NHDgwGJXwxFCYNGiRZg5c6Z9HPuKFSsQFhaGVatW4cknn0R6ejo+++wzfPHFF+jfvz8AYOXKlYiMjMRPP/2EAQMGOO25VEfLly93WL5z507Z7bNnz8puDxkyBEOGDFGcN2DAgBLb9Fb2USByZz/88AMeeeQRZGVlycr1tVsgv+UQSADy96+B8cJfinOL22uEqHIV6ingnAKiGqXazik4c+YMEhISEB0dbS/T6/Xo3bs39u7diyeffBIHDx6EyWSSHRMREYFWrVph7969xX6BNRqNMBqN9tsZGRkACnbgNZlMiuOtVquiWx+48SVYCOGwnhyzWq32di76k8qG7Vd+VdWG//3vfzFp0iRFudo7EMHDpkFSa5B9bBdy4tcpjmnWrBn69et3yzHz74VuVeGeAg4fIqpZqm1SkJCQAAAICwuTlYeFheHcuXP2Y3Q6HQICAhTH2M53JCYmBrNnz1aUx8bG2pfWLCwyMhJ+fn7F3l/h4Ux0cykpKTh06JCsLC4urmqCqSHYfuXnzDa8dOkSnn32WWWFSoPgYdOh8Q5EfuIZpPz4PoTJKDtEo9Fg0qRJ+PHHH2/58XNycm75XHJvQjZ8iMN0iWqSapsU2BQdLyuEuOkY2psdM336dLzwwgv22xkZGYiMjER0dDR8fX0Vx1++fNlhuRACmZmZ8PHx4bjeMggKCkLr1q0BFFyxjIuLQ1RUFLRabRVH5nrYfuVXFW349NNPO+xdDOz3OAy1b4MlLwtJa+cqEgIA+PDDD/HII4+U6/FtvaNEZWWVTTRmjxNRTVJtkwLbbroJCQmoVauWvTwxMdHeexAeHo78/HykpqbKegsSExPRvXv3Yu9br9dDr9cryrVarcMvBSqVyuE+BLYPdUmSqu0+BdWRSqVStHNxbU+lw/YrP2e14aVLl/D5558ryr1a9YNPh7shhBXJG/8Dc5qyt3PixIl44oknyn0Rgn8rdKsKzxzLYk8BUY1Sbb/JNmjQAOHh4bIu/fz8fOzatcv+hb9jx47QarWyY65cuYIjR46UmBQQEVWVYcOGKcb0e9ZuhqABBfML0vesQt7pA4rznnjiCSxevJi9klSlCi8owdWHiGqWKu0pyMrKwsmTJ+23z5w5g0OHDiEwMBB169bFlClTMG/ePDRp0gRNmjTBvHnz4OnpiTFjxgAA/Pz88Nhjj+HFF19EUFAQAgMD8dJLL6F169b21YiIiKqLadOm4cAB+Rd+lcEHAUOmQtLokHNyP9L3rlGcN3ToUCxdutRZYRIVS3BJUqIaq0qTggMHDuDOO++037aN8x83bhyWL1+OqVOnIjc3FxMnTkRqaiq6dOmC2NhY+Pj42M/5v//7P2g0Gtx///3Izc1Fv379sHz5cqjVaqc/HyKi4mzfvh3z58+XF0oqBN/zMjR+YTBdu4zkTe9CPkCjYKhPcXu5EDlb4TkFmUwKiGqUKk0K+vTpU+La9pIkYdasWZg1a1axxxgMBnzwwQf44IMPKiFCIqLyE0Jg4sSJinL/Xg/Do0EHWPPzCiYWG7Nl9ZIk4b///S/q1KnjrFCJSsSeAqKaq9pONCYiqilee+01nDhxQlbmeVsv+HW9DwCQsmURTMnnZPWBgYH44osvMGjQIKfFSXQzVs4pIKqxqu1E45pICMFNg4jczO7duzF37lxZmTakAYIGTgYApP/6DXL+3qM4748//nC7hODnn3/GkCFDEBERAUmSsG7dOlm9EAKzZs1CREQEPDw80KdPHxw9erRqgnVT8tWHmBQQ1SRMCpxg27ZtuOeee2AwGKDT6VC7dm3MmDGjxA3WiMj17dixA3379pWVqQw+CB0xEyqtAbmnDyLt5y8U5z311FOoW7eus8KsNrKzs9G2bdti51AsWLAACxcuxOLFixEfH4/w8HBERUVxA0knErJ9CpgUENUkTAoq2auvvor+/ftj48aNyM/PB1CwGVpMTAzatGmj2NmXiGqG77//Hv369YPZXOiLk6RC8NCp0PiHw5R6Bckb3wGEfBOzZs2a4b333nNytNXDwIEDMWfOHIwYMUJRJ4TAokWLMHPmTIwYMQKtWrXCihUrkJOTg1WrVlVBtO6p8JyCPJMVZotyEz4ick2cU1CJVq5cKRs2EB4ejnr16uHgwYMwm81ISkrC4MGD8ffff8tWVKoIZ8+eRYMGDRTlvXv3xs6dOyv0sYhILiYmBjNmzFCU+/ceB4/67WHNz0XS93NgzcuS1Wu1Wvz444/Q6XTOCtVlnDlzBgkJCYiOjraX6fV69O7dG3v37sWTTz7p8Dyj0Qij8cbO0LbdnE0mU5mHc9qOd+dhoCazfMOy9Ow8+HqUbjM8tl/5sQ3Lxx3bryzPlUlBJRFC4O2337bfXrBgAZ5//nloNBpcunQJI0aMwP79+3H58mWsXLkSTz/9dIU+fmRkJK5cuWK/nZCQgP79+6NXr14V+jhEJPfZZ585TAg8m/eEX5d7AQApm5UTiwHgk08+Qf369Ss7RJdkG25p29HeJiwsDOfOKdvSJiYmBrNnz1aUx8bGwtPT85ZiKbxhprv566oE4MaS3xt+jEOgvmz34c7tV1HYhuXjTu2Xk5NT6mOZFFSSY8eO2SfAdevWDS+//LK9rnbt2vjkk0/Qvn17AMCaNWsqPClQq9UIDw8HAOTl5WHYsGHo1q1bicu7ElH5ZGdnY/LkyYpybXBdBA18DsD1icUnflEc061bNzzyyCOVHqOrK7qjsxCixF2ep0+fbt8DByjoKYiMjER0dDR8fX3L9NgmkwlxcXGIioqCVlu6q+M1Ter+C8Dp4/bbXbr3QpMw71Kdy/YrP7Zh+bhj+9l6R0uDSUElSUxMtP9/jx49FPXt2rWDh4cHcnNzkZSUVKmxPPbYY8jMzERcXBxUKk4jIaoMQgiMGDFCcVVG0nkiZPhMqHQeyD17yOHEYp1Oxx2Lb8J2kSMhIQG1atWylycmJip6DwrT6/XQ65WXsrVa7S1/KSjPua5OXeQzJM+KMreFO7dfRWEblo87tV9Znie/IVaS4OBg+//v379fUX/kyBHk5uYCAIKCgiotjjlz5uDHH3/Ehg0bKnzeAhHdMHfuXMTGxhYplRB89wvQBtaGOT0RyRsWKCYWA8CXX36JVq1aOSdQF9WgQQOEh4fLuv3z8/Oxa9cudO/evQojcy/WIvuNZuVxBSKimoJJQSVp1aoVmjVrBqBg7e2PPvoIVmvBl4GkpCTZcKGRI0dWSgzfffcd3nzzTXz99ddo1KhRpTwGEQGLFy/Ga6+9pij37TYSnk26QpjzkbRuHqy5ym7cZ555Bvfdd58zwqz2srKycOjQIfuqbGfOnMGhQ4dw/vx5SJKEKVOmYN68eVi7di2OHDmC8ePHw9PTE2PGjKnawN1I4SVJAW5gRlSTcPhQJZEkCS+//DIef/xxAMCkSZPwzjvvoEGDBti3bx/y8vIAAKGhoXj44Ycr/PGPHDmChx9+GK+88gpatmxpn6Sn0+kQGBhY4Y9H5K5mzJiBmJgYRbmhQQf43/EQACAldgnyE04qjhk5ciQWLVpU2SG6jAMHDuDOO++037bNBRg3bhyWL1+OqVOnIjc3FxMnTkRqaiq6dOmC2NhY9oI6UdGegoSMvJvO6yAi18Cegkr06KOPYsqUKfbbZ8+exY4dO+wJQUBAADZu3Ag/P78Kf+wDBw4gJycHc+bMQa1atez/HK3/TUS35tNPP3WYEGj8whA85GVIkgqZh7Yg+y/lShezZs3C119/DbVarahzV3369IEQQvFv+fLlAAoutsyaNQtXrlxBXl4edu3axWFXTlYkJ8Dsjcdw75K9ih4EInI9TAoqkSRJWLhwITZs2IB+/frZr6QEBARgypQpOHToEDp37lwpjz1+/HiHH67co4CoYpjNZrz55puK8uCwCISMmAm1hw+Ml0/g2k+fKI5ZvHgx3njjDWeESVShbF/+I/wMaBlRsHrT7+fTkMlhREQuj8OHKpkkSRgyZAiGDBkCo9GI3Nxc+Pr6chUgIhe3c+dOXLhwQVEubn8AutCGELkZSFo3D7DIvyw9/fTTmDRpkrPCJKpQtg6Brg2D8O79bdFg+mYAQL6ZOxsTuTomBU5U3NJ4RORaLl++7HBPAe/2g+Hdqi+E1YKra2NgyUyR1QcFBWHOnDnOCpOowlltWYFUcNFLp1Yh32KFycKkgMjV8XI1EVEZnDx5Em3atMHFixdl5frazRHY7wkAQOrOZTBe+EtWr9FoEBcXx4n+5NJsMwdU14fDatUFP9lTQOT6mBQQEZWSEAJ33303UlLkPQAqL38ED50OSa1B9vGfkRm/TnHu//73P/su5kSuytZTYFtrSKcp+BrBpIDI9TEpICIqpcmTJ+PEiRPyQpUaIUOnQ+MThPykc0jZ8r7ivPfffx9jx451UpRElcc2esjWU2BPCjh8iMjlcU5BKVksFi4dWAG4bB25qoULF2Lx4sWK8oA7H4MhsiWsxmwkrZ0LYcqT1X/66ad47LHHnBUmUaWyvYfbtiXQqtlTQFRTsKegFEJCQnDp0iVYLJaqDsXlJScnV8q+DESVaePGjXjppZcU5V4t+sD39nsAAMmb3oU59bKs3tvbG+PGjXNKjETOYJ9nXLSngEkBkctjT0EpGAwGhIaG4sqVK7Ir3VarFSkpKQgKCuISo6Wk1+vh6+tb1WEQldq///6LESNGKHq5tCENEHjXMwCAtL1fIffkfsW5jz32GDQavs1SzWG1JwUFP3XXewpMFvYCE7k6flqVksFgQJ06dWRlJpMJhw4dQuvWraHVaqsoMiKqLNeuXUOPHj1gNsv3GlDpvRAyfAZUWgNyTx9A+p5VinODgoLw4osvOitUIqcQ19cfUtmSAvucAvakE7k6Xt4mInIgNzcXnTt3RlJSUpEaCcFDXoY2oBZMaQlI3vgfQMiHTvj6+mLbtm2IjIx0XsBETmDvKbi+/pCOcwqIagz2FBARFWE2mzFgwACcOnVKUefXczQ8Gt0Oq8mIpLVzYc3LktXXr18ff/31F7y9vZ0VLpHzCHlPgX2iMYcPEbk89hQQERXxySefYPfu3Ypyj0ad4N9jDADg2tbFMCWekdUbDAb8+uuvTAioxrJyojFRjcWkgIiokKtXrzpcaUjjXwvBdxfMEcg4uBHZR3fI6lUqFTZs2ICwsDCnxElUFWxzCqQicwpM3KeAyOUxKSAiuk4IgeHDhyMvT77XgEpnQMiImVAZvJF38ShSt3+mOPejjz5CVFSUs0IlqhKcU0BUczEpICK6bvHixdi3b5+iPHDAs9CF1Ic56xqS170NWOWrEc2aNQtPPvmks8IkqjI3djQu+MnhQ0Q1B5MCInJ7QghMmzYNkydPVtT53H4PvFr0hrCYkbzubViyU2X1AwcOxBtvvOGsUImqVNEdje09BRw+ROTyuPoQEbm9zz//HGvXrlWU6yNbIeDOxwAAqds/hfHSMVl98+bN8c033zglRqLqwLbGkOp6VqDVFPxkTwGR62NSQERu7eDBgw4TAr9a9eAz9BVIKjWyjmxH5u+bZPXBwcHYv38/vLy8nBUqUZWz3phUAADQqdUA2FNAVBNw+BARubWPPvpIWajWwDt6CtReAci/ehrXtn4oq1apVNi7dy98fHycFCVR9WC1zymQL0lqYk8BkctjUkBEbis3Nxffffedojyw7xPQhDeBJS8LOXHvQZiNsvpnnnkGTZo0cVaYRNWGfUnS67d16uvDh9hTQOTyOHyIiNySEAK9e/dGTk6OrNyrVV/4dBgMIaxI3vgO8i7JdzWuV68eFixY4MxQiaoNUUxPAecUELk+9hQQkduJj49H7dq1ER8fLyvXhTVCYPQkAEDGL6uRd/qg4twffvgBer3eKXESVTdFVx/ScvUhohqDPQVE5Fa2b9+Ou+66CyaTSVauMvggZPgMqLR65Jzcj7RfvlKcGxMTg5YtWzorVKJqxz7PmD0FRDUOkwIichuZmZkYOnSoIiHQaHUIvOdlaPzCYEq9jORN7+LG4osF5s6di2nTpjkxWqLqRzGnwDbRmD0FRC6Pw4eIyC2YTCb06tULWVlZijrvrvfDo0EHWE15SFo7D8KYLasfN24cZsyY4axQiaqtoqsP2YcPsaeAyOUxKSAitxATE4NDhw4pyj0ad4Ff9wcAABk/LYEp6aziGEc7HRO5I2EfPlTwU6/hnAKimoJJARHVeEajEe+++66iXBMQgeC7XwAAZBzYgPQ/tymO6d+/Pzp06FDpMRK5AttEY5V98zLbPgWiuFOIyEUwKSCiGu/FF19ERkaGrEzSGhAyYiZUei/kXTiK1B2fKc4LDw/HqlWrnBUmUbUnikw0tg0fMrKngMjlMSkgohrto48+wocffqgoDxo4GbrgejBnXUPy+rcBq0VW7+Pjg3379iEkJMRZoRJVe9YiS5Jy9SGimoNJARHVWJs3b8YzzzyjKPfpNAxet/WCsJiRvC4GluxUWX1QUBD27t2L+vXrOylSItdgGyQkQb4kKVcfInJ91TopMJvNePXVV9GgQQN4eHigYcOGePPNN2G13njzEUJg1qxZiIiIgIeHB/r06YOjR49WYdREVB2YzWaMHz/ePgbaRh/ZGgF9HgEApG7/FMZLx2X1PXr0wNmzZ9GqVSunxUrkKqxF5hRw9SGimqNaJwXz58/Hxx9/jMWLF+P48eNYsGAB3nnnHXzwwQf2YxYsWICFCxdi8eLFiI+PR3h4OKKiopCZmVmFkRNRVXv88ceRlJQkK1P7BCFk6FRIKjWyj+5A5u+bZPUNGjTAzp074e3t7cxQiVxHcasPMSkgcnnVOinYt28fhg4disGDB6N+/fq47777EB0djQMHDgAo6CVYtGgRZs6ciREjRqBVq1ZYsWIFcnJyODmQyI1t2rQJK1askBeqNQgdNh1qrwDkXz2NlB8XOzxPo+GejkTFudFTIJ9ozOFDRK6vWn/69ezZEx9//DH++ecfNG3aFIcPH8aePXuwaNEiAMCZM2eQkJCA6Oho+zl6vR69e/fG3r178eSTTzq8X6PRCKPRaL9tW5XEZDIpdjotie3YspxDcmzD8mH7KSUlJWH06NGK8sB+T0IX0RzCmI2kdfMgzEZZ/dChQ9GkSRO3aEt3eI5UOYouPMqJxkQ1R7VOCl555RWkp6ejefPmUKvVsFgsmDt3rv0DPyEhAQAQFhYmOy8sLAznzp0r9n5jYmIwe/ZsRXlsbCw8PT3LHGdcXFyZzyE5tmH5sP0K5ObmYuLEiYpdi73bRMGn/UAIYUXihgUwpyXI6jUaDfr06YPNmzc7M9wqk5OTU9UhkIsquqOxjpuXEdUY1TopWLNmDVauXIlVq1ahZcuWOHToEKZMmYKIiAiMGzfOfpxtvWQbIYSirLDp06fjhRdesN/OyMhAZGQkoqOj4evrW+r4TCYT4uLiEBUVBa1WW4ZnRjZsw/Jh+92QlZWFrl27IjVVvpKQrlZTBEZNBACk7/4SeacPyuolScK0adMwYcIEt2nDons2EJWWKLIkqVZd8D/5FutNP3uJqHqr1knByy+/jGnTpuGBBx4AALRu3Rrnzp1DTEwMxo0bh/DwcAAFPQa1atWyn5eYmKjoPShMr9dDr9cryrVa7S19KbjV8+gGtmH5uHv7Wa1W3HXXXfjnn39k5SpPP4QMmw5Jo0XOP/uQvu9rxblLlixBeHi4W7WhuzxPqniiSE+BXq22l5utwp4kEJHrqdYTjXNycqBSyUNUq9X2JUkbNGiA8PBw2dCJ/Px87Nq1C927d3dqrERUNYQQePjhh7F//355haRCyD2vQOMbAtO1i0j+4f9QdET0sGHD8OijjzovWCIXJyBfktQ2fAjgZGMiV1etk4IhQ4Zg7ty5+OGHH3D27FmsXbsWCxcuxPDhwwEUdPtPmTIF8+bNw9q1a3HkyBGMHz8enp6eGDNmTBVHT0TOsGXLFnz55ZeK8oA7H4WhXhtYjTlI/H4ORL58HL2HhwcWL1auQETVW2n2r6HKY29m++pDN3oGONmYyLVV6+FDH3zwAV577TVMnDgRiYmJiIiIwJNPPonXX3/dfszUqVPtkwtTU1PRpUsXxMbGwsfHpwojJyJnEELgpZdeUpR73tYLvp2GAQCSN/8fzCkXFcd88803qF27NlficTG2/WtWrFiBli1b4sCBA3jkkUfg5+eH5557rqrDq/GK9hRo1CqopIIJyEwKiFxbtU4KfHx8sGjRIvsSpI5IkoRZs2Zh1qxZTouLiKqHyZMn4/hx+Y7E2pD6CBo4GQCQvu9rmE7HK8574oknMHjwYKfESBWr8P41AFC/fn2sXr3avn8NVS7b6kMSbvQQaNUqGM1WrkBE5OKqdVJARFScmTNnKob/qAzeCBk+EyqtAblnfkfa7pWAkH9R6dChA95//31nhkoV6Gb71xRVUfvS2M4p/NMd2YZpCavF3g46TUFSkJOXD5Op+EnsbL/yYxuWjzu2X1meK5MCInI5EydOxJIlS+SFkgrBQ16CNqAWzGkJSN7wjiIhaNiwIX755RcYDAYnRksV6Wb71xRV0fvSAO69L0jCVRUAFf766y94J/4JABAWNQAJ23bsQoTXze/DnduvorANy8ed2q8s+9IwKSAil/L2228rEwIAfj3HwKPh7bCa8pC4di6seZmy+lq1auHAgQNMCFxcafevsamofWkA7gsCAGtTfgdSk9G2bRsM6lAbABBzdBeyTEZ07d4TrWoX36Zsv/JjG5aPO7ZfWfalYVJARC7j2LFjmD59uqLcr8Ud8O9esJ/JtR8Xw5R4Rlbv4eGB+Ph4BAQEOCVOqjw327+mqIrel6a857q866sOadRqexvotQV7FVglqVTt4tbtV0HYhuXjTu1XludZrZckJSKyMRqNGDRokKJcE1gbvtHPAgAyDmxA9rGdimP++9//onbt2pUdIjnBzfavocpVdPMyANCpC34f+Wbh6BQichHsKSAilzB16lScO3dOVibpPAomFus9kXf+L+TsXak4r0WLFty3pAax7V9Tt25dtGzZEn/88QcWLlzITeicxHo9KyiUE0BrSwq4+hCRS2NSQETV3r///utwo7GgQVOgC64Lc2YKktbPhzVXPqFKq9Xif//7H6TC32DIpZVm/xqqfLKeAo2tp4BJAZErY1JARNVaXFwcBg8erBge4tvlPng16wFhMSFp3TxYc9Jk9Wq1Gj/88AO6dOnixGipspVm/xqqPI56CmxJgYk9BUQujUkBEVVbcXFxGDhwICwWi6zcUL89/HuNBQBci/sY+ZdPyOrVajV27NiBO+64w2mxErkD25wCyeGcAiYFrshsseJUUjYup+XC31MLo9mKy2m5uJyWi6RMI67lmHAuJRuJGUaE+xng51EwcTXC34A6AZ4I8NTBz0OLAE8tavl7QKuWcDXDiIw8EzLzzMjKMyPLaEK+2Yogbz0MWhVSs01IzclHbr4FAV466DUqmCwCiZl5yDNZ4KHVwGy1wmQRCPbWwdeghUYtQaNWQaeWoFGpoNWooFUVlGnVEnRqFXwMWvh5FPyDBOTmW5BrsiA334LsfDPOJ2dh7xUJ1j+vIMzPE74eWlxKy0VKVj4sVivMVoE8kxXXso1Iyc5HWo4JJosVZouAxSpgtlqhkiREBnpCkoBLqbmwWAUk6fqGfgX/QZIAH4MWDUO80CjEG5EBnvDUqWHQqiFJwLmUHOSaLKgT4AFvvQYGjRphfnroNWr778VksSLPZEGeqeBnvsUKk8WKZmE+ldb7zaSAiKolo9GIBx98UJEQ+ITXh989UyGp1Mg8vBVZh7fK6lUqFTZu3MiEgKgS2HsKCpVx+FDVsF7fXlqlcvwF0WyxIj3XhJTsfBy/koGzyTnIt1hwLduE5CwjhABSso04fiUDeabS/e4SMvIqLP6qo8Z3Z/8q1z0cOJdaQbHIhfjoEeytR0J6LlJzHG869s+cgdBpmBQQkRuZNGkSkpKSZGWSRg/vu56H2sMHxssncC1OuV/B4sWLMXDgQGeFSeRWHK0+pFUX/D8nGpdOTr4ZKVn58PPU4nJaLo5eysCltFxk5BZ8CZSkgp4YCbh+5VmCdP2q95W0HJw4r8b8Yz8jKcsICRJCffWwWAVMFgFfDw1MFivScgqu0peWt16DuoGeSM81QadRIcLfgAg/D4T66uHvoUNkoAfCfA24mpGHLKMFVqvAxeu9Cem5JqTnmJCSbcTltDxYhECItx7+nlr4GDTwMWjhrddAq5aQlGmEySLg76lFgKcOHjo1UrPzYbJYoVJJCPHRw1unQXa+BTq1BJVKQnKWEdlGC0zXr5SbLQImq4DJbIXZakW+RcBssSLfbEVmnhnpuSbkmgouJqlVEjy1anjoCv6F+uiRn5ECvW8QUrLzkZFnRi0/A0J9DNBpJKhVBb0OQV46BHrpEeilhU6jglqlglqSoFZJMFutOH8tB0IAdQI8oNeoIAQggOs/BYQAUnPycSoxC6eTs3EpLRfG61f8TRYrIgM94aXT4FJaLnJNFuTkm5FnsiIp04ikTKPi96PXqKDTqKDXqGC2WqGrpMVDmRQQUbWSn5+PUaNGYd26dYq6wAGToAtrBEt2GlI2zAcs8g+9Ll264KmnnnJSpETu58bwoRtluutDHthT4FhOvhl7T6Zg+4lE7P43CReu5ZbzHiUAtiv2AhdTb9xfcpbyC6WPQYMmod5oGuYDg1YNPw8tQnz0UEkSvA0atIzwRYMgr2J7HMpC2OecVO3iDkazBSpJsq+MZWMymbB582YMGtSpWu1TIIRAWo4Jl64P2QrzNSDC3wCDVg29RuW09mRSQETVhhAC48ePd5gQ+HQcAu9WfSGsFiStfxum9ERZvcFgwPr166v8w4ioJhO4PmSlcFLAJUkBFFzJP5mYhaSsPKRk5SMpy4jfTl/DvtMpioRJp1Yh32KFp06N1rX9UD/IC/6eBV9Sbbs9CCHsV6CBgmFawV5aXPz3KAb26YY6gd6wCoGrGXnQqdVQqYCMXDN0GpX9SryvQQON2nlbUlWX99/CY/NdgSRJCPDSIcBLV6VxMCkgompj27ZtWL16taJcX6clAu58DACQuuMzGC8cURzzzjvvICwsrNJjJHJnVvv+ZIWXJC34f5Mb9BRYrAIHzl5D/NlrOJmYhVNJBUNDhBBIzzUVah+52v4e6Ns8FH2bh6JtpD8CvXTIM1mgVaugLsMVepPJhM3XjqB9pL/9SnedAM+KeGpETAqIqHowGo0YN26colztHYSQYdMgqTXIProTmQc2KI7p378/nnzySWeESeTWbMNDalJPgRACPx5JwE/HE3EyMRMta/sh3NeA38+nQqtWwUevwZmUbKTlFKyYk1bMBFAACPLSoZa/AYFeegR56dAs3Ad9m4eiSai34iq6QetaV7Op5mNSQETVwssvv4zLly/LyrQGDwQNnw61VwDyE88g5ccPFOf1798fGzdurFbjQ4lqKqujJUk1rpsUJGbm4dW1RxB77Kq97PDF9BLP8TFo0KdZKJqH+6BRiDfqBXlCo5LsY/WryxAaorJiUkBEVe7cuXP48MMPFeU+vR6FPqI5LLmZSPp+DoRZPomub9++iIuLc1aYRG7PNjqmcE+B1sX2KUjLycfeUyn46dhVbPrzCvItVmjVEsZ1q4/Wdfxw4Gwq0nJN6FjXH2qVhPRcE+oHeyHM1wCDRo1m4T72RIioJmFSQERVaufOnRg4cKBix2LvNlHwaT8QQliR/dNimNOvyuq1Wi2WLVvmzFCJ3J4oYUfj6pYUWKwCF67l4GpGHiRJQvzZa4g9dhV/Xkyzr6IEAO0i/TF3eCu0jPADAAxtV7uKIiaqWkwKiKjKbN26FYMHD1ZsUKar1RSBURMBAGk/f4GMY78ozv30009Rt25dp8RJRAUc7Whs6ykwVZPhQ1arwOf7zuLduH+KXau/Sag3ejQOxj3tItChboCTIySqnpgUEFGVSEtLw4gRIxQJgd43GMHDpkPSaJHzzz5k/PqtrF6tVmPVqlW4//77nRkuEcHxjsb6atJTcORSOpb+fBp/XkzD2ZQcAAW9GLX9PWAVAvWCvDCwVTjubBaKcD9DlcZKVB0xKSAipzMajejRowdycnLkFZIK/oNegMY3BKaUC0j+YSFujGIusHbtWgwZMsR5wRKRndXBjsaa6xMMTMWtx+kE245fxTOr/rDvZOupU2P6wOYY06VemZb8JHJnTAqIyOneeustHDt2TFbm4eEBfdfRMNRrA6sxB4lr50Lky3f+vOOOO3D33Xc7M1QiKsTRnALbTrhCVE1SsPdUMiZ8cRAWq8AdTYLxaM8GaFfHv8o3giJyNUwKiMip8vLy8MEHyqVFpXod4dd5BAAgefP/wZxyUVav1+uxZs0aLvdHVIWEg54C2/9bq2D0UGJGHiavPgSLVWBI2wgsvL+tfY4DEZUNkwIichqTyYQRI0YgIyNDVq4Nrouggc8BAKxHfkTuP/sU586dOxe1atVySpxE5JiAck6BPSlwUk+B0WxBYoYRp5Oz8ebGo0jOMqJ5uA8W3NuGCQFROTApICKnyM7ORr9+/fDbb7/JyiWdJ0KGz4RK54Hcs4eQuPkjxbmdOnXCpEmTnBUqERXD0eZltiH7lT2lwGyxYvX+83g37h/ZrsLB3jp89GAHeOi4QzBReTApICKnGDJkiCIhACQED34e2sDaMKcnInnDAkDIxyB06NABW7duhcHA1UKIqprDOQVO6imYt/lv/O+XMwAAnVoFg1aFe9pF4KXoZvD35PwBovJiUkBElW7KlCnYsWOHoty320h4Nu0GYc5H0rp5sObKhxWNGjUKX331lbPCJKKbcDSnQLL3FFReUpCSZcTK384BAF4dfBvGd68PDYcKEVUoJgVEVKk2bNiA9957T1amUqmgq9cO/nc8BAC4FrcE+QknZcc0a9YMX375pdPiJKKbs33tL9xTYFvyszKHD33x6znkm61oG+mPx3o24IIDRJWAaTYRVZrs7Gw88sgjinKVTwiCh7wESVIh89AWZP0Zpzjm+++/h1rNMcJE1YmtN0DlYPhQZS1Jmmey4It9Bb0EjzMhIKo0TAqIqFKYzWZ06dIF165dk5VLGh1Chs+A2sMXxssnkLb9v4pzBw8ejBYtWjgrVCIqpRvf+503fGjr0QSkZOejtr8HBrYKr5THICImBURUCUwmE/r164ejR48q6gKjJ0EX1giW7DQkrYuB1ZQvq9doNHj11VedFSoRlUFJPQWWSho/tPHwFQDAiA61OY+AqBJxTgERVbi33noLP//8s6xMpVLBs+1d8G7dD8JqQdKG+bBkJiuO+eqrr9C1a1dnhktEpSQcLElamXMK0nNN2PVPIgBgSNuIin8AIrJjUkBEFSonJ8fhjsWa8KYI7DcBAJC2azmM5/+S1Xt5eWHv3r1o06aNU+IkorITDnsK5HUVKfZoAkwWgaZh3mga5lPh909ENzApIKIKtWLFCqSlpcnKVF7+CBk2HZJag5wTvyBj/1pZvU6nw+HDh9GoUSMnRkpEZWVffUg2p6Dyego2HL4MABjShr0ERJWNg/OIqMJcvHgRL774orxQpUbI0OnQ+AQhP/kckjcvUpy3fv16JgRELsBawuZlFT2n4N+rmdj9bzIkiUOHiJyBSQERVYjU1FR07doVubm5svKAOx+DIbIlrMZsJH0/FyJfXj969GjcddddzgyViG7RjTkFN8oqa/jQx7tOAwCiW4ShfrBXhd43ESkxKSCicjObzejRowcuXbokK/dqeSd8b78HAJC86V2YUy/L6uvXr48PP/zQaXESUflYHexorKqEicaX0nKx/lDB+8lTvdmLSOQMTAqIqFzMZjPuuusuHD9+XFauDW2IwAHPAADSflmN3JP7ZfUBAQE4cOAAAgICnBYrEZVX8cOHKnKfgs/3nYXZKtCtYRDa1+V7BJEzMCkgonL56KOPsG3bNlmZxtMP4fe9BpVWj9xTB5D+y2rFeTt37kRQUJCzwiSiCuCwp0CS15VXvtmK7w5eBACM71G/Yu6UiG6KSQER3bL09HS88sor8kJJhcAhL0HlEwJ1biqSN/0HEFbZIbfffjuXHiVyQbZ5A4U6Cm70FFRQVrDt+FUkZ+UjxEePvs1DK+Q+iejmmBQQ0S3Zs2cPwsPDkZeXJyv37z0OHvXbw5qfhwurXgXycxTnKlYoIiKXYHWweZlk7ymomKTgq/gLAID7OtaBljsYEzkN9ykgojKLj49Hv379kJ+fLyv3vK0X/LrcCwBI2bIIpuRzinMffvhhjBo1yilxElHFEg6WJFVX4JyCK+m5+PnfJADAqNsjy31/RFR61T4Fv3TpEh566CEEBQXB09MT7dq1w8GDB+31QgjMmjULERER8PDwQJ8+fXD06NEqjJio5nviiScUCYEhvBGCBk4GAKT/+g1y/t6jOK9r165Yvny57CojEbkOUcLqQxXRUbDx8GUIAXSqH8BlSImcrFonBampqejRowe0Wi22bNmCY8eO4d1334W/v7/9mAULFmDhwoVYvHgx4uPjER4ejqioKGRmZlZd4EQ11J9//ol27drh8OHDsnKVwQdBQ6dDpTUg98zvSPv5C8W5jRs3RlxcHBMCIhd2Y0fjG1QVOHxo3R8FyxYPbVe73PdFRGVTrYcPzZ8/H5GRkVi2bJm9rH79+vb/F0Jg0aJFmDlzJkaMGAEAWLFiBcLCwrBq1So8+eSTzg6ZqMb69ddf0a9fP+TkFJkjIKkQPHQqNP7hMKVeQfKGBYqJxQEBAYiPj4e3t7cTIyaiimb74q+SzSm4vqNxOZOCf69m4tiVDGhUEga3rlWu+yKisqvWScGGDRswYMAAjBw5Ert27ULt2rUxceJEPPHEEwCAM2fOICEhAdHR0fZz9Ho9evfujb179xabFBiNRhiNRvvtjIwMAIDJZILJZCp1fLZjy3IOybENy8dZ7Wc2mzFq1ChlQgD5xOKk7+fAmpclq5ckCTt27ICXl1e1/D2749+gOz1XqliOdzS2rT5Uvvted32zst5NQxDgpSvfnRFRmVXrpOD06dNYsmQJXnjhBcyYMQP79+/H5MmTodfr8fDDDyMhIQEAEBYWJjsvLCwM584pJzjaxMTEYPbs2Yry2NhYeHp6ljnOuLi4Mp9DcmzD8qns9vvmm29w/vx5Rbln8ztuOrE4KioKZ8+exdmzZys1xvJyp79BR8kdUWlYS5hoLMrRU3AxNQfLfjkLABjegUOHiKpCtU4KrFYrbr/9dsybNw8A0L59exw9ehRLlizBww8/bD+u6BhlIUSJ45anT5+OF154wX47IyMDkZGRiI6Ohq+vb6njM5lMiIuLQ1RUFLRabanPoxvYhuXjjPY7dOgQVq9Wbj6mDa6HoIHPAQDSf/3W4cTipk2b4vPPP0dgYGClxFYR3PFv0NY7SlRW9jkFDpckvcX7FAIz1h5BTr4FnesHYlArDh0iqgrVOimoVasWWrRoISu77bbb8N133wEAwsPDAQAJCQmoVevGm0hiYqKi96AwvV4PvV6vKNdqtbf0peBWz6Mb2IblU1ntZxueZy0yLkDSeSJk+AyodAbknj2EtJ8/V5zbsWNHxMbGVuuEoDB3+ht09ed56dIlvPLKK9iyZQtyc3PRtGlTfPbZZ+jYsWNVh1bjCfucghtlqnIuSfrLyRT8/E8SdGoVYu5tbV/NiIicq1qvPtSjRw+cOHFCVvbPP/+gXr16AIAGDRogPDxc1u2fn5+PXbt2oXv37k6NlaimMZlMuOOOO5CWllakRkLw4OehDawNc0aiw4nF9evXx4EDB1wmISDXUZpV6ajy2OcUoPCSpAU/bzUp2H2yYF+Ce9pFoFEIFyMgqirVuqfg+eefR/fu3TFv3jzcf//92L9/P5YuXYqlS5cCKOi+nDJlCubNm4cmTZqgSZMmmDdvHjw9PTFmzJgqjp7IdQkhMGLECJw8eVJR59v1Png27QZhNiFpbQysucqhKPPnz3dGmOSGbrYqHVUua4k9Bbd2nwfOpgIAujTgRQSiqlStk4JOnTph7dq1mD59Ot588000aNAAixYtwoMPPmg/ZurUqcjNzcXEiRORmpqKLl26IDY2Fj4+PlUYOZFre/fdd7Fp0yZZmSRJ0NdrB/9eYwEA1+KWID/hX8W5jz32GEaOHOmUOMn93GxVuqIqarU52zmFf7oj2/d+s9lsbwerxVLw0ypKbBtH7ZdnsuDPi2kAgPaRvm7dtqXBv8Hyccf2K8tzrdZJAQDcfffduPvuu4utlyQJs2bNwqxZs5wXFFENlpuba5/cX5jWPwzhI6ZDSCpkHt6KrD9jZfU6nQ7z58/H5MmTuUEZVZqbrUpXVEWvNge410pVRQlR8LVh+/Zt8Lk+NSUxFwA0MObnY/PmzTe9j8LtdzIdMFk08NUKHNm3E0f51lEq7vw3WBHcqf3KstpctU8KiMh5kpOT8dBDDyE1NVVeodYicMgrEFpPqNIu4Frcx4pz4+Pj0aZNGydFSu6qtKvS2VTUanOAe65UVZgQAs/tK/gyFdW/PwKv7yVwLiUHcw/tgUqjwaBBA4o931H7fbjzNHDsJHo2C8fgwW0r/0m4OHf/Gywvd2y/sqw2x6SAiAAUXIHt06cPLly4oKgLjHoK+lpNYMlJx8XVrwMWeXfknDlzmBCQU9xsVbqiKnq1ufKe68oshSYN6Aq1ge76TyFKt7JV4fY7eD4NANClYbBbtumtcte/wYriTu1XludZrVcfIiLnsFgs6Nevn8OEwLtNNHzaDoCwWpC88R1YMpJk9cOHD8fMmTOdFSq5uZutSkeVp/DmZCqp/KsPXc3Iw/4z1wAAnepzkjFRVWNSQOTmhBC47777HO44rAtvgsCopwEAabtXIu/sIVl9u3bt8NVXXzkhSqICzz//PH799VfMmzcPJ0+exKpVq7B06VJMmjSpqkOr8WSrC1XA6kPvbfsXRrMVHer647ZaXByEqKoxKSByc//973+xbt06WZlGo4HKwxchw6dD0miR888+ZPz6reyYwMBA7N27FzqdzonRkruzrUq3evVqtGrVCm+99ZZiVTqqHAKFewpQ6P8Lbogy9BScTMzEmviCnslpA2/j4gRE1QDnFBC5MavVigULFijKA4OC4DlwKoRvKEzXLiH5h/8DIP/A37ZtGzw8PJwUKdENN1uVjipH4e/8hb/E2xIEi4OugvRcE349nYLTSdmIui0YALDjRBJe+f4ILFaBvs1D0Zn7ExBVC0wKiNxYbGwsTp06pSjPb3YXPMKaQbKYkLR2HkS+fEmzjh07ol27dk6Kkoiqg8JJQeGeAqmY4UNCCAxdvAdnUwreP3aeCEC0PxCz6hDMVoFWtX0xZ1irSo6aiEqLSQGRm4qPj8ewYcMU5R5NusGvW8HmY0mbF8GUfE5xzIsvvljZ4RFRNVN4IrFUaFKBulCGIISwJwlX0vNwNiUHKqkgYYg/mwqPcBXMVoGO9QKw6oku0GvUznsCRFQizikgckO///47evXqJdvpFQA0gbURPPh5AEBG/DpkH9ulOPfee+/FqFGjnBInEVUfsqRANqeg8DE3/v+fq5kAgEYh3mhV2xdWAey6UnDwfR3rMCEgqmaYFBC5GSEExo4di7y8PFm5pDUgdPhMqPSeyLtwBKk7l8nqVSoVXnrpJaxevRoqFd86iNyNbPEhB8OHAHniYEsKmob7YECL8Ov3IUElAdEtwio1ViIqOw4fInIjQgg899xzOHbsmKIuaOBkaIPrwpKVgqT1bwNWi73Ow8MDJ0+eREREhDPDJaJqRFhv/L/KwURjoGCysfZ6B8A/V7MAAE1DfRDdMhzvxv0DAOjSIBBB3soN5YioajEpIHITubm5GDZsGGJjYxV1PrcPhddtvSAsZiStexvW7DRZ/erVq5kQELm5wkuSFl5AtHCCIBwMH2oW7o2mYd6oH+SJsyk5GNCSvQRE1VGZxwD0798fW7ZsUZRbLBYHRxNRdfHII484TAj0ka0QcOejAIDU7Z/CeOm4rL527dpc/pGIZPMFCicChSca24YPWa0C/9p6CsJ8IEkSYoa3RP/aVtzXobZzAiaiMilzUnDgwAHUr18fAHDmzBl7+WeffYaxY8dWWGBEVHF27NiBNWvWKMrV3kEIGfoKJJUaWUd3IPP3TYpjnn/+eajVnBBI5O5EMRONJdlE44JjLqbmItdkgU6jQr0gLwDA7fUCMKSuFXoN5yQRVUdlfmXm5+fDx6dgO/K2bdvi9OnTAIDu3btj27ZtFRsdEZXbtWvXcO+99yorVBoED5sGtVcA8hPP4NrWxYpDoqOjMXnyZCdESUTVnbXYzcsK9RRcn3dw4vrQocYh3rKeBCKqvso8p6Bx48b47bff4OPjg+zsbKSlpQEAfHx8cO3atYqOj4jKaerUqUhNTZWVeXh4wNDjYRhq3wZrXlbBBmUm+fKkUVFR2LRpE7RarTPDJaJqyjanQCryHV/lYPUh+8pDYd7OCY6Iyq3MPQUTJ07E448/jt69e6Nt27ZYunQpAGD37t0IC+PkIaLq5Ny5c1i2bJmiXNWgC3w7DgEAJG96F+a0K7L6Nm3aYOvWrUwIiMjONnpIVSQrUDkcPlSwi3H9YC+nxEZE5VfmnoKnnnoKISEh+Pfff/HEE0/ggQceQMOGDXHlyhU888wzlREjEd0Cs9mM6OhoWK1WWbk2pAEC7yp4rWbsW4PcU/GKc//3v//JhgcQEdmSgqLvDJIkQZIK6m1DjPJMBe87XjouckjkKm7p1Vp4fPKWLVuwdu1a5Ofn44EHHqiwwIjo1gkhMGLECPzzzz+ycpXeCyHDZ0ClNSD39EGk7v5Sce57772Hjh07OitUInIRtl6Aoj0FtjKLEPbJyEZzwYqEBi0nFRO5inKn8BqNBiNHjqyIWIiogsydOxcbN24sUioh6O4XoQ2oBXNaApI3viPbjUitVuOLL77A6NGjnRssEbkE+zxjB52IKgmwALBcTwpsPQV6DVcuI3IV7NcjqmFSU1MxZ84cRblf91HwbNwZVpMRSetiYM3LktVv3LgRAwcOdFaYRORirFZbT4GyrmC4obAPH7L1FOjZU0DkMvhqJaphhgwZAqNRvpKQoWFH+PUcAwC4FvsR8q+ektVHR0fjrrvuclqMROS6JAddBbZEwZY4sKeAyPUwKSCqIXJzc9GjRw/88ssvsnKNXxiC734JkqRC5h9bkH1Evp+IwWDAt99+y4nFRFSiG3MKlHXq6+8fokhPAecUELkOvlqJagAhBB5++GHs3btXVi5pdAgZPgNqDx8YL5/AtW2fKM6dPn26fUNCIqLi2FcfKmaiMXAjcWBPAZHrYVJAVAP89ttv+PbbbxXlIQMnQxfWCJbsNCStiwEsZll9s2bN8OKLLzorTCJyYbYv/I46FW1lliKrD3FOAZHr4KuVqAZwtEeId7uB8GjRB8JqQfKGBbBkJsvqAwIC8Ouvv8LLi5sLEdHN2VYfcjTQUKWyDR+6nhRc7ykwsKeAyGVw9SEiF5aWlobnn38eZ86ckZXrIpohsP+EgmN2fY6883/K6lUqFXbv3g1/f39nhUpELs72hV/lYFKB2j58qOB2nok9BUSuhq9WIhd18uRJtGjRQpEQqDz9EDJsOiS1FtknfkHG/u8U506ePBktW7Z0VqhEVAMUt6MxcGOegdU+fOh6T4GWPQVEroI9BUQu6MSJE+jUqRMyMzPlFZIKIfe8Ao1PMEwpF5CyeZHi3ICAAEyfPt05gRJRjWHrBXC8o/H1Y6wFPQq2pECv4bVHIlfBVyuRixFCYMSIEcqEAIB/73Ew1GsDqzEHiWvnQuTnyup1Oh02b96M0NBQZ4VLRDWEQPETjQuvPmRLCAD2FBC5EvYUELmYt956C8eOHVOUezbrAb8u9wIAUra8B3PKRVm9TqfDwYMH0apVK6fESUQ1i/X6d33HS5JeP0YI+yRjgD0FRK6Er1YiF/Lrr79i9uzZinJNUB0EDXwOAJAZvxY5J35RHPP2228zISCiW2bvKXBQZ5t8bBU3liNVSYDG0U5nRFQtMSkgciHPPPMMrFarrEzSeSB0+Eyo9J7IO/cnru1YpjgvKCgIEyZMcFaYRFQDiRLnFCiHDxm0au6UTuRCmBQQuYiFCxfi4MGDivKgQVOgDYqEOTMZSRvmA0KeNGg0GqxZs4b7ERBRudzY0VhZd2OisbixHCmHDhG5FL5iiVzAN99843DnYd/OI+DVrAeExYSkdTGw5qTL6319sXPnTvTr189ZoRJRDWVbbrTkngIuR0rkqjjRmKia27dvH0aPHq0oN9RtA//e4wAA135aivzLJ2T1zZs3x/79++Hj4+OUOImoZhMl1EmFJhqzp4DINTEpIKrGhBCYOHEiLBaLrFztE4zQYdMgqdTI+usnZB3aIqu/7bbbcOTIEahU/FAmooph7ylw8LaiVhWeU1BwnF7DngIiV8JvDETV2Pr163Ho0CF5oVqDkGHTIHn4wpJ8DtdiP5JVq1QqbNy4kQkBEVWoGzsaFz98SAjYewoMWr4HEbkSvmKJqqm//voLDzzwgKI8sN8E6COaw5KbiYRv34Qw58vq3377bTRq1MhZYRKRmxD2OQXKOtsqQxZr4d2M2VNA5EqYFBBVQ0ePHkXXrl1hNBpl5V6t+sGn/SAIYUXypv/AnH5VVt+2bVu8/PLLzgyViNyEbU7BzTYvs88pYE8BkUvhK5aomjGbzYiKikJOTo6sXBfWCIHREwEA6XtWIe+0fHlStVqNDz/80GlxEpF7sVqvb17mcEnSG8OH2FNA5JqYFBBVI0II9O3bF1euXJGVqwzeCBk2HSqtHjkn9yN97xrFuStWrECPHj2cFSoRuRl7T4GDOlXhicacU0DkklzqFRsTEwNJkjBlyhR7mRACs2bNQkREBDw8PNCnTx8cPXq06oIkukXZ2dm4/fbbsXv3bnmFpELwkJeg8Q+HKfUKUja9i6KLA86ZMwcPPvig84IlIrdT8j4FtmOAPPYUELkkl0kK4uPjsXTpUrRp00ZWvmDBAixcuBCLFy9GfHw8wsPDERUVhczMzCqKlKjs8vPz0aVLF/z++++KOr8eD8Cj4e2wmvKQtHYerMZsWX14eDimTp3qrFCJyF2VuKNxoYnGputJAXsKiFyKS7xis7Ky8OCDD+K///0vAgIC7OVCCCxatAgzZ87EiBEj0KpVK6xYsQI5OTlYtWpVFUZMVHq5ubno0qWLwx4uj0ad4N9jDADg2o+LYUo6ozhmzJgxlR4jEdH1KQUl9hQIIZBnvj58iD0FRC7FJTYvmzRpEgYPHoz+/ftjzpw59vIzZ84gISEB0dHR9jK9Xo/evXtj7969ePLJJx3en9FolK3qkpGRAQAwmUwwmUyljst2bFnOITm2ITB58mTlXgQANP61EHz3iwCAjIObkH1sp+KYYcOGoWfPnm7dfuXljn+DNeW5xsTEYMaMGXjuueewaNGiqg6nxhMl7GlsW5HIKsCeAiIXVe2Tgq+++goHDx7EgQMHFHUJCQkAgLCwMFl5WFgYzp07V+x9xsTEYPbs2Yry2NhYeHp6ljnGuLi4Mp9Dcu7ahmlpaVi+fLmi3NPXH37DZ0Bl8EbepeNI3f6p4pg2bdpg7NixUKlUbtt+Fcmd2rDoylauqLghpVR5SuopUEs3Jhqzp4DINVXrpODChQt47rnnEBsbC4PBUOxxRddMFkI4XEfZZvr06XjhhRfstzMyMhAZGYno6Gj4+vqWOj6TyYS4uDhERUVBq9WW+jy6wd3b8NVXX4XZbFaUe9zxKHShDWDJTkXyurcBq/yYXr16IS4uDmaz2a3bryK449+grXfUVRUeUlq495gql23zModzCq53ChSsPsSeAiJXVK2TgoMHDyIxMREdO3a0l1ksFvz8889YvHgxTpw4AaCgx6BWrVr2YxITExW9B4Xp9Xro9XpFuVarvaUvBbd6Ht3gbm1otVrx3HPPYfHixYo6nw53w7tVXwirBSkbFsCSlSKrDwkJwebNm6HT6ezJr7u1X2VwpzZ09edZ3JBSRypquKjtnMI/3Y3p+gUMCQ7a4HovgslkRl5+wXFalfw4d2+/isA2LB93bL+yPNdqnRT069cPf/31l6zskUceQfPmzfHKK6+gYcOGCA8PR1xcHNq3bw+gYBWXXbt2Yf78+VURMtFN5eXloV+/fti7d6+iTl+7OQL6Pg4ASN25DLnn5X//Xl5e2L59O7y8vJwSK1F1U9KQUkcqergo4F5DzQo7mioBUCM9PR2bN2+W1aUkqwCo8MfhwziXIgFQ4Z/jR7H52hHF/bhr+1UktmH5uFP7lWW4aLVOCnx8fNCqVStZmZeXF4KCguzlU6ZMwbx589CkSRM0adIE8+bNg6enJ1dkoWopNzcXd955J3777TdFncrLH8FDp0NSa5B9/Gdkxq+T1QcEBGD//v1o3Lixk6Ilql5KO6S0sIoaLgq451CzwvR/JwJ/H0JAgB8GDeoqq/s++Xf8nZ6M1q3b4NxfCUBqCm5v3xaD2kXYj3H39qsIbMPyccf2K8tw0WqdFJTG1KlTkZubi4kTJyI1NRVdunRBbGwsfHx8qjo0IoXp06crEgKNRgOzVSDknleg8QlCfvI5pGx5X3ZMWFgYjh07hsDAQGeGS1St3GxIqdFohFotn9xa0cNFy3uuK1OpCtpWJakUz1+jVtmPyTcXjCXyMugctpO7tl9FYhuWjzu1X1mep8slBTt37pTdliQJs2bNwqxZs6okHqLSOnjwIN5//31FudlsRkDfx2Go2xpWYw6S1s6DMOXJjvnzzz+ZEJDbu9mQ0qIJAVUs24KkKgcTjW3zmyxCwHh99SG9hhONiVyJyyUFRK4oLS0N/fv3t6/eUZhn8zvg22kYACD5h/+D+dolWX3Pnj0RGhrqjDCJqrXSDCmlynNj9aHiNy+zCoG866sPGbRM0ohcCdN4okpmtVoxZMgQpKWlKeq0wXURNHAyACB93zfI/Xef4phnn322skMkIropYd+nQFmnKrx5GXsKiFwSewqIKtmbb76JPXv2KMolnSdChs2ASueB3LOHkLb7C8Uxw4YNw3333eeMMIlcUtEhpVR5bJuXSXCwedn1TEEIAaOZPQVErohpPFElSk1NLWZ5XAnBg5+HNqgOzBmJSN6wABBW2RHjx4/HmjVroFLxZUpEVU+g+M3LbGVWq0CeiT0FRK6IPQVElWjGjBnIy8tTlPt2uReeTbtBmE1IWhsDa+6NJcMMBgN27NiBrl27Ks4jIqoq9p6CEoYPWQTsPQV6DXsKiFwJkwKiSvL7779j6dKlinJDvbbw7zUWAHDtp4+Rn/DvjTqDAefOnePEYiKqdmwTjVUlTTQu1FNg0LKngMiV8BVLVAny8vIwdOhQWK3yIUFqnxAE3zMVkkqNrD9jkXV4q6x+8eLFTAiIqFq6MdHYUVJQUJZvsdp7FNhTQORamBQQVTCj0YhOnTrh4sWL8gq1FiHDp0Pt6QfjlX+RErtEVn3PPffg0UcfdWKkRESlV9KcAtX1roLcfIu9TM+eAiKXwlcsUQXKy8tDz549ceTIEUVdYP8noa/VFJbcDCStiwEsJntd3bp1sXbtWofrfxMRVQe2js+S9inIKZwUcKIxkUvhnAKiCjRjxgwcOHBAVubt7Q007A6fdndBCCuSN7wDS0aivV6SJMTGxnKVISKq1mxbLzq6dGEbPpRbaOUhXuQgci38FkJUQTIyMvDRRx8pyvO9wxE0YCIAIG33SuSd/UNWP3r0aDRr1swpMRIR3SqrfaKxss6WAOTmmwGwl4DIFfFVS1QBrFYr+vbtC6PRKCtXefgiZNgMQKWB8XQ8MvZ9I69XqTBz5kxnhkpEdGvsS5IWP3zI3lPAjcuIXA6TAqJyys3NRdeuXXHw4EF5haRC8D0vQ+MXCtO1y7i64T+40QFf4N1330WLFi2cFywR0S0qqafAtqNxrqlg4oFOza8XRK6Gr1qichozZgzi4+MV5f49H4RH/faw5uchae1cCGO2rD46OhpTpkxxUpREROVz45JGCUuSmgt6CrRqzicgcjVMCojK4T//+Q/WrVunKPdo3AV+3UcBAFJ+fB+m5HOy+jp16uDLL790RohERBWi5DkFBT/zr+9mrGFPAZHL4auW6BbNmjULL7/8sqJcExCB4LtfAABkHFiPnOM/y+qDgoJw8OBBBAcHOyVOIqKKIOxzCpR1hTcvAwCNo8yBiKo1JgVEt2Dx4sWYPXu2olzSGhAyfCZUei/kXTiK1B3/k9dLEg4fPsxdi4nI5Qh7T0HxE41N5oJjNBw+RORymBQQldGZM2eKnQsQNHAydCH1YM66huT1bwNWi6z+6aefRu3atZ0QJRFRxbLvU1DCjsY3egr49YLI1fBVS1RG7733HiwWi6Lc9/ah8LqtF4TFjOR1b8OSnSqrDwoKwvTp050VJhFRhbJaC9ICx0uS2iYac/gQkatiUkBUBomJiViyZImiXF+nJfzvfBQAkLrjMxgvHZPVe3p6YseOHahTp45T4iQiqmgl72hc8NNon2jMpIDI1WiqOgAiV3Hp0iW0bt0a+fn5snK1dyCCh74CSaVG9tGdyDy4UVbv4+ODv//+GxEREc4Ml4ioQl3vKChmTkHRJUl5zZHI1fBVS1QKmZmZ6NWrF1JT5UOCoNIgeOg0aLwDkZ90FilbP5BXq1TYs2cPEwIicnm2icaO5hRIRVYfUnP4EJHLYVJAVAofffQRTp8+rSgP7PsYDHVawGrMRtLaeRAmo6z+q6++Qps2bZwVJhFRpREl9BSor5eZLNdXH+JEYyKXw1ct0U0cOnQIr732mqLcq0Uf+HQcAgBI3vguzKmXZfWffvopRo4c6ZQYiYgqm7g+q6CkOQWW62OMuKMxkethUkBUgiVLlqB9+/YwmUyycm1IAwTe9QwAIG3vV8g9tV9WP3LkSDz22GNOi5OIqLJZ7ZuXOZhTUGS4EIcPEbkeJgVExdi8eTMmTpyoKFcZfBAyYiZUWgNyTx9E+p5VimPeeOMNZ4RIROQ0Je1oXLSME42JXA9ftUTFePPNN5WFkgrB97wMrX84TKlXkLzxHUBYZYeMHj0aLVu2dFKURETOYbXvaKysUxfJCrhPAZHrYVJA5MC6devw22+/Kcr9ez0MjwYdYM3PQ9L3c2DNy5LVd+jQAZ999pmzwiQicjrJwayCopOPuU8BkevhPgVEhSQnJ+Pee+/Fzz//rKjzbH4H/LreBwBI2bIIpuRzsvqGDRvit99+g0bDlxUR1Ty2HY0dLSxUdPgQVx8icj389kJ03Z49exAdHY3c3FxFnTakPoIGPgcASP/1W+T8vUdxzKZNm5gQEFGNJez/x54CopqIqTwRgNOnT2PQoEEOEwKVwRshw2dCpTMg98zvSPv5c8Uxd999N2677TZnhEpEVCVKmlNQtIxzCohcD5MCIgDz589HZmamgxoJwUNegjagVsHE4g0LFBOL69Wrh6VLlzonUCKiKlLS6kNFlyDVcPUhIpfDVy25vYSEBHz66acO6/x6jIZHw9thNeUhae08xcTiLl26YP/+/ahVq5YzQiUiqjLC3lOgzAqK7l2gZU8BkcthUkBuTQiBESNGwGq1Kuo8Gt4O/55jAABpcUtgSjqjOGbDhg0IDQ2t9DiJiKqabU6B4x2Ni25exq8XRK6Gr1pyaytXrsS+ffsU5Rr/cAQNeQkAkHFwEzL/2qY4Zvjw4UwIiMht2OYUONzRuOicAk40JnI5TArIbZ06dQoTJkxQlEsaPUKGzYDa4I28S8eRul05tMjLywuzZ892RphERNVCSXMKivYUaJkUELkcJgXktkaPHo28vDxFeeCASdCFNYQlOxXJ694GrGZZfUBAADZv3ozWrVs7K1Qioip3fZsCh3MKVCoOHyJydXzVklt69dVXER8fryj3bj8I3q36QlgtSFq/AJasFHudp6cnYmJicPHiRfTq1cuZ4RIRVTlxfVaB4zkF8tvsKSByPdxpidzOypUrMXfuXEW5vnZzBPZ7AgCQunM5jBf+stdptVpcunQJ/v7+zgqTiKhasQ0fKtorADjYvIw9BUQuh69acit79+7F+PHjFeVqrwAED50OSa1F9t+7kRm/Vlb/9NNPMyEgIrdmW5LUUR9A0RFF3LyMyPWwp4DchtVqxfjx42GxWGTleg8vBAyfAY1PEPKTzyFly/uy+jp16mD+/PnODJWIqNqx2ical6KngMOHiFwOewrIbSxZsgT//vuvotzrjvHQ174NVmM2kr6fC5GfK6vfsGEDDAaDs8IkIqqWbixJqqzjjsZEro+vWnILu3fvxnPPPaco9247AD7tB0IIK5I2LIA59bKsftKkSWjfvr2zwiQiqrbscwocLkkqv83hQ0Sup1onBTExMejUqRN8fHwQGhqKYcOG4cSJE7JjhBCYNWsWIiIi4OHhgT59+uDo0aNVFDFVR5s2bcKdd96pHDZUuzkCo54CAKT9/AXyTh+U1bdq1Qrvvy8fSkREVas0nwtUOW7MKVB+4S86pIhJAZHrqdZJwa5duzBp0iT8+uuviIuLg9lsRnR0NLKzs+3HLFiwAAsXLsTixYsRHx+P8PBwREVFITMzswojp+rivffew5AhQxQJgdo7EMHDZlyfWLwHGb9+I6vX6XRYs2YNVFxBg6haKc3nAlWO6x0FxfQUcE4Bkaur1hONf/zxR9ntZcuWITQ0FAcPHkSvXr0ghMCiRYswc+ZMjBgxAgCwYsUKhIWFYdWqVXjyyScd3q/RaITRaLTfzsjIAACYTCaYTKZSx2c7tiznkFxltuG3336LKVOmKCvUGoQMnwGNdyDyE88gZfMiWbUkSfj+++/RpEmTav+75d9g+bljG7ryc73Z5wJVHmsJWxorhw/xggqRq6nWSUFR6enpAIDAwEAAwJkzZ5CQkIDo6Gj7MXq9Hr1798bevXuLTQpiYmIwe/ZsRXlsbCw8PT3LHFdcXFyZzyG5im5DIQSef/55RbnBYIBnnyegj2gOS24mktbOhTDJdzUeN24czGYzNm/eXKExVSb+DZafO7VhTk5OVYdQYYp+LhRVUReBbOcU/uluLBZrwf9YrYo2EFZ5b6wklMe4e/tVBLZh+bhj+5XluUrCNkiwmhNCYOjQoUhNTcXu3bsBFKw536NHD1y6dAkRERH2YydMmIBz585h69atDu/L0YdEZGQkkpOT4evrW+qYTCYT4uLiEBUVBa1We4vPzL1VRhsKIfDyyy87nA/g3W4gggZMgrBakPjNLOSd/UNW365dO+zfv79C4nAG/g2Wnzu2YUZGBoKDg5Genl6m97zqxtHnQlGzZs1yeBFo1apVt3QRyJ2tOaXC3kQVBtax4K5I+VeH42kSPj6utt+e3NKMRq77p0VUY+Tk5GDMmDGler93mZ6CZ555Bn/++Sf27NmjqCs6wUkI4XAdZRu9Xg+9Xq8o12q1t/Sl4FbPoxsqqg3NZjPGjBmDb7/9VlGnr9MSgf0Leo/Sdn2uSAgAYPHixS75u+TfYPm5UxvWlOdZ0ueCzfTp0/HCCy/Yb9suAkVHR5c5IXLHBLKwveuPAomX0KxZMwzq01BW53syBR8fv7FYQ88e3dE+0l92jLu3X0VgG5aPO7afrXe0NFwiKXj22WexYcMG/Pzzz6hTp469PDw8HACQkJCAWrVq2csTExMRFhbm9Dip6t17773YsGGDolztHYiQodMgqTXIPv4zMvZ/pzhm+vTp6NGjhzPCJKJyKu5zoaiKvghU3nNdW8E8AY1apXj+Oq3864SHTldsG7lv+1UctmH5uFP7leV5VuuZQEIIPPPMM/j++++xfft2NGjQQFbfoEEDhIeHy8YC5+fnY9euXejevbuzw6Uq9txzzzlMCKBSI3joK1B7BxRMLN7ynuKQBx98EPPmzXNClERUHjf7XKDKI2DbvOzmOxoX3cyMiKq/at1TMGnSJKxatQrr16+Hj48PEhISAAB+fn7w8PCAJEmYMmUK5s2bhyZNmqBJkyaYN28ePD09MWbMmCqOnpzpm2++Ucwh0Gg0MJvNCLjzURjqtIQ1LwtJa+dBmIyy45599lm8954yUSCi6udmnwtUeazFLz6kWH1IyyVJiVxOtU4KlixZAgDo06ePrHzZsmUYP348AGDq1KnIzc3FxIkTkZqaii5duiA2NhY+Pj5OjpaqkqOr/GazGXXvGAHp9qEAgOQfFsKcdkV2zFtvvYVXX33VKTESUfmV5nOBKseNHY0d9BSoiu5TUK0HIhCRA9U6KSjNwkiSJGHWrFmYNWtW5QdE1dLWrVtx6NAhRbk2uC7E7WMgAUjfuwa5J+WrCnXu3JkJAZGLcZEF82qkGzsaKyn3KWBPAZGrYSpPLi0nJwcPP/ywolzSeSBk2AyodAbknv0DGXtXK4558803nREiEVGNcGNHY+UX/qLzDLijMZHrYVJALm3BggVITEwsUiohePAL0AbVgTkjEckb3oHVYlacN2DAAOcFSkTk4mw7GjuaU6AumhRwR2Mil1Othw8RleTrr792eLXfr9v98GzaDcJsQtK6t2HNvbFGr0ajweeff47Ro0c7M1QiIpcn7BONb776EIcPEbkeJgXkchITE/HYY49h06ZNijqPhrfD744HAQApsR8h/8o/9jqNRoM//vgDrVq1clqsREQ1hbWEOQVF8wQOHyJyPUwKyKWcOXMGPXr0wJUrVxR1moAIBA95CZKkQubvPyD7rzhZ/SeffMKEgIjoFt2YU6CsK9pToOXqQ0Quh69achlWqxX9+/d3mBBIOg+EjJgJlcEbeReP4dq2/8rq69aty+UKiYjKwb76kMMlSeW3uXkZkethUkAuQQiBESNG4PTp0w7rgwZNgS64HsyZKUheFwNY5ROLZ86cCRUnvhER3bIb+xQo65QTjZkUELkafksil/DZZ59h/fr1Dut8u46EV7MeEBYTktbNgyU7VVbfvXt3PPHEE84Ik4ioxrKK4rc0Ltx7oFFJDnsTiKh6Y1JA1Z4QAnPmzHFYZ2jQAf69xgIArsV9jPzLJ2T1KpUKa9as4QcUEVE5ldRTULiMQ4eIXBOTAqr2PvnkE5w7d05RrvYJQfA9UwsmFh/agqzDWxXHzJ49G3Xq1HFGmERENZrVnhSUvCQpJxkTuSa+cqlaO3/+PCZPnqyskFQIvvsFqA3eMF4+gWs/faI4ZOLEiZg5c6YToiQicgfFL0laOCngcqRErolJAVVb2dnZ6NWrF0wmk6LOt/MIGOq2htWYg+SN7wBFdiz+4IMP8OGHH3LYEBFRBSmxp6DQtwlOMiZyTdyngKqtxx57zOGwIV1YI/jf8RAA4Nq2pTCnJdjrgoKCsHnzZnTu3NlpcRIRuQNhn2isrJP1FHClNyKXxKSAqqXVq1djzZo1inJJq0fwkJchqTXIPvELsv/6yV7n4+OD06dPw9fX15mhEhG5hdLOKeBEYyLXxHSeqp2///4b48aNU5RLkoTA6EnQBtWBOTMZ1378QFa/evVqJgRERJXEtqOx4zkFN/5fyzkFRC6JPQVU7UyfPt3hPIKgLsPg1aovhNWC5I3/gTUvy17XsWNHDB482JlhEhG5FdvwIUejg2T7FHD1ISKXxKSAqg0hBGbPno1169Yp6nS1msKz58MAgLRdy2G8cERW/9ZbbzkjRCIit3VjSoGyJ6DwkCFONCZyTUwKqFoQQuCpp57C0qVLFXUqD1+EDJ0GSa1F9olfkLF/rax++vTpGDhwoLNCJSJyS7YdjR0t6lY4D+CSpESuiX18VC0sXbpUkRCoVKqC/QiGvASNXyhM1y4hZfN7smN69OiBefPmOTNUIiK3ZO8pcJAVSFx9iMjl8ZVLVc5iseDNN99UlFutVoT3Gw+PBh1gNeUhae08iPwce31gYCA2bNjgzFCJiNyWrafA0eggWU8Bhw8RuSQmBVTlVqxYgaSkJEW5Z7Me0HUYBgC49uNimJLlexasXbsWgYGBzgiRiMjt3Vh9qOQlSTl8iMg1cU4BVamtW7c6vNrv3aAtAu9+EZKkQsaBDcg+tlNWP3HiRPTq1ctJURIRkSihp6DwRGMtVx8ickl85VKV2bx5M4YNG6YoV/sEwX/wy5A0OuT8sw+p2z+V1YeGhuL99993UpRERAQUnlOgrCtcxs3LiFwTkwKqEqtWrcLgwYNhsVjkFWoNQoZNh9rLH/lXTyN5438AYZUd8u6770KtVjsxWiIiurH60E2GD3GiMZFL4vAhcrr9+/dj7NixsjJJkiAgIXjIy9BHNIclNxNJa+dCmI2y4/7zn//goYcecma4RESEm+1oXHj4EHsKiFwRkwJyqtzcXAwdOhRWq/zqv4CE0CEvwaNZDwizCcnr34Y5/arsmG+//Rb33nuvM8MlIqLrrNezApXDnoIb/8/hQ0SuiX185DS7du1CYGAgEhISitRICBwwCR639YKwmJG0LgZ55w7Ljrj77ruZEBARVaUSNi+TJMlezonGRK6Jr1xyipiYGPTp0wd5eXmKuoB+T8Cn7QAIqwXJm/6D3FP7ZfU6nQ5z5851VqhERORAST0Fhcu5TwGRa+LwIap0kydPxgcffOCwzr/3ePjefg8AIGXze8j5e4/imFWrVqFNmzaVGiMREZVM2GYVFPOdXyUBFnCfAiJXxaSAKo3FYsEDDzyAb7/9VlEnafQIuutZeLXsAwBI+XExso9uVxz3wgsvcNgQEVE1YJsKVlxPQcGqRIKrDxG5KCYFVGlmzJjhMCFQGXwQOnI29BFNIawWXIv7GFmHf1QcN3bsWLzzzjvOCJWIiG7CviRpMfVq2/Ah9hQQuSSm81Qp9u7d6/ALvcrLH2Fj3oY+oiksOem4+tVMZB3aojhu+vTp+Pzzz6HiFSciomql+DkFBT85p4DINbGngCpMXl4efvrpJxw/fhxvvPEGhG37y+tUBm+EjZoDXUg9mDNTkLjmVZhSLiju54477sC8efOcFTYREZWCtYTVh4BCE425+hCRS2JSQOVmtVrx9ttvY+HChUhJSXF4jKTRIXTkbOhC6sOcmYKrq6bBnHZFcVxISAhWrFhR2SETEVEZ2a7zFJcU2JckZU8BkUtiUkDlIoTAE088gf/9738lHhc44BnoI5rBkpOOxDWvOkwImjZtis2bN6NBgwaVFS4REd2iG3MKihk+dD0ZUHPYJ5FL4iuXymXTpk03SQgk+N3xELxb9YWwWpC0/m2HQ4aeffZZnDhxAo0aNaq8YImI6JbZBoQW1xHAicZEro09BXTLjh07hkceecRhndo3FB51WsDjtl7wbNwZAJC6/TMYz/8lO06lUuH111/HjBkzKj1eIiK6dTeGD5W0JCmgZVJA5JKYFFCZ/fDDD3jxxRdx4sQJRZ2+dnMED5kKjV+ovUyYTbgWtwRZf8bKjtVoNNizZw8SEhIqPWYiIiof2+IRxfUU2Mo5fIjINTEpqKbMZjNUKlW1WpJz165deOyxx3Dq1CmH9ZLWgOC7X4LGLxTCYkb+1dMwXv4bWX/9BFPiacXxK1euRIcOHbB58+bKDp2IiMrJepOJxir2FBC5NCYF5WCxWGA0GnHs2DGsW7cO58+fR15eHrp06YJBgwahcePGAACTyYRdu3bh0qVLyM/PR4MGDbB3715s2bIFqampCA0NxahRo3Dvvffi888/x8cff4wzZ84AAPR6PQICAtC7d29ERUUhNTUVOTk5qFevHkaMGAEfH59Sx5uamoqffvoJR44cQVpaGm677TZ069YNbdq0wZ49e/D3339Dp9Ohe/fuSE9Px4oVK7B3716cOnUKGRkZiiVGi/K/4yFo/MNhTk/E5f89A5GfU+yxo0ePxqhRo2AymUodPxGRzUcffYR33nkHV65cQcuWLbFo0SLccccdVR1WueWZLEjNyUe4r6HYYTrOJoTAxj+vIDEzD0Dxw4du9BRUj7iJqGyYFNyCn376Ce+99x42b94Mq23f90JWrVqF5557Dg0bNoRarcapU6ccHmdz4sQJ7N69G88884yizmg0IiEhAWvWrMGaNWtkdePHj4dGo4FKpYJOp0O9evXQrVs3qFQq7NmzB1euXIHJZIIkSTCbzcjNzXX4+JIk3fQL/83oajWFT8chAICUrYtLTAjq16+PlStXluvxiMh9rVmzBlOmTMFHH32EHj164JNPPsHAgQNx7Ngx1K1bt6rDK9avp1NwJjkb3noN+t0WCk/djY/gg+eu4c1Nx/HnxTQIAbSv649h7WrjZGIWIgM9cFfLWogM9HBqopBlNGPLX1ew7JezOHYlAwBwWy1fNAtzfDHKtvqQthr1cBNR6TEpKKPXX38db731VqmOPX1aOWSmopnNZgBAfn4+jh49iqNHj5b5PsqbEEClQdDAyZBUamQd2Y68M78Xe6hGo8HKlSur1bAoInItCxcuxGOPPYbHH38cALBo0SJs3boVS5YsQUxMTKU8psliRZbRbP//Xf9exf6z13AxNQcDWobjnrYRxX5hF0Lg3dh/sHjHSXtZw2AvvPdAe7Sq7YsFW09gyU75sMw/zqfhj/Np9tvzNv8Nf08tGgR7oZafAb2bhmBQ61rwMWgr5PkJIXD+Wg7+upSOvy6m469L6fj9fCryTAUXtAxaFZ7q3QgT+zSGTuP4/VvF1YeIXFqNSQqc0ZW8evXqUicE7sT/jgehC6kPS046Urd/WuxxWq0W69evR48ePZwYHRHVJPn5+Th48CCmTZsmK4+OjsbevXsVxxuNRhiNRvvtjIyCK94mk6lMwxcPXUjDyKX74alR4/VDO5Gea7bXbf4rAd8euICFI9vA37PgS/q+0yn49uBl7D6ZDKPZipx8CwCgR6Mg/JuYhdPJ2Rj64R60ivDFn5cKYhrZsTaevbMR1CoJS3adxunkbDQL88GxKxk4cC4NaTmmgmTh+mO+ufEYHu1RD9EtwmDQqqDXqKHXqGDQqmDQqJFpNOPQhTT8cSEdp5Ky4alTI8BTCy+9BhdTc3H+Wg6yjBZkG81IzTHZk57C6gd54t72EXigU2TBcxMWmEwWh21kTwWE1WHb2so4bPTWsQ3Lxx3bryzPtUYkBc7oShZC4O23366Q+6oZJKh9g+HT9i74dR0JALj20yew5mY4PLply5b46aefEB4e7swgiaiGSU5OhsViQVhYmKw8LCzM4UpmMTExmD17tqI8NjYWnp6epX7cQykSADVyzBJgNsNHK9AmUECvAn5OkLD7ZAqGLNqOAXWs+CNFwp/X5FfTVZLAyAZWdA+9iuwA4NszKvyeosKflzIgQWBUQyu66c7hj1/OAQA6qYBOoQBEItqFAyNDgYQc4JpRwtVc4ECyCldzLfhgx2l8sKNieqXVkkBtTyDSWyDSS6Cut0CEZwak7Azs3fn3Tc/PzVEDkPDX4UNQX/yj2OPi4uIqJF53xjYsH3dqv5yc4odzF1UjkgJndCX/+++/+PPPP2VlHk27QeMdBGt+DiSVGiqDN1QGH0ClhjUvS/YPwgpJa4BK5wGotZAkQGXwgcrTD5JKDWExwZqbBWteJoTVDLV3UME/L39IWj0gBKzGbEgqNSSVBsKSD2Eu+Ge9/lOYjPYyYTZCmE0QZtsVsuvXcCQJgARJpQJUakiSqqDMXq4G1BpIKg0ktQZQa6DSe11/bt5QG7yh8vSHxj8cKq3e3hapO5Yh5/jPsvZRqVTo378/XnjhBURFRXHIEBFVmKJDdYQQDofvTJ8+HS+88IL9dkZGBiIjIxEdHQ1fX99SP94gABOzcvHtjzvQtkNntKsXCK264D3tn6uZeHTF70jINGLFv2oABZNtR3asjWFtayHYWw9fDw0CPHX2+xsJ4PDFdKyOv4D+zUPR/7ZQB49aPCEEfjx6Ff/dcxZX0vOQZ7LCaLbAZJEPB60f5Il2dfzQIsIXRpMFabkmZOSZEe6rR8NgL/h5FPQc+Og1qBfkWezQoNJ4799fkJiXjc63d3T4fEwmE+Li4hAVFQWttmKGPbkbtmH5uGP72XpHS8Plk4KydiUDt9adfOXKFUWZT7uB8GjQ4VZDd3nCYoI5LQEZ8euRdfhHWV14eDhiY2PRvHlzAAUrNVksyi5nd+zKq0hsv/JzxzZ05ecaHBwMtVqt6BVITExU9B4ABSu46fV6RblWqy3zlwJ/byDCE+jUMFh2bss6gfj26e54bf0RpOWY0CTUG4/d0QDNw0tOOm5vEIzbGwSXKYbC7mkfiXvaR8rKLFaBPJMFeSYLNGoV/Dyc98XHNpdAr9OU2La30vYkxzYsH3dqv7I8T5dPCsralQzcWnfypUuXFGV55/+C1ZgNlc4Twmq50StgtUBl8IJK7w2Vhw9UBm9AkiDy82A15UKYCz6QrXlZsOakQ1jNkDQ6+/GSWgNL1jX7P6spD5KkgqT3AqxmCIsZkkYLSa2DpNVB0ughaXQF92H7f3v59T8GAQjbJvVCAMIKWC0Fk4yF9fo/QFjNEFYLYCl4HGE1QxhzYM3LgiUv0/4czalXYE6/WnBeIZIkoU+fPpg0aRJOnz5d6snW7tSVVxnYfuXnTm1Ylu7k6kan06Fjx46Ii4vD8OHD7eVxcXEYOnRolcUVGeiJ5Y90rrLHt1GrJHjpNfDSO//j3dZzoteonf7YRFR+Lp8U2JS2Kxm4te5kIQSWLFmCI0eO3Djv128qIPKawdfXFxMnTsTEiRPLNG/AHbvyKhLbr/zcsQ3L0p1cHb3wwgsYO3Ysbr/9dnTr1g1Lly7F+fPn8dRTT1V1aG7t6T6NsP14IjrWC6jqUIjoFrh8UlDWrmTg1ruTp02bhoceeqh8AdcwERER+M9//oP7778favWtXx1yp668ysD2Kz93akNXf56jRo1CSkoK3nzzTVy5cgWtWrXC5s2bUa9evaoOza3d3SYCd7eJqOowiOgWufzMz8JdyYXFxcWhe/fuFfpYDz74IGbMmFGh9+mKdDodoqKi8O+//+LSpUsYPXp0uRICIqKymjhxIs6ePQuj0YiDBw+iV69eVR0SEZFLc/meAsC5Xclz585Fr169MG3aNBw6dKjC778oT0/PKhv/q1KpEBwcjLZt22Lw4MGoW7cuIiMj0bJlS3h4eFRJTERERERU8WpEUuDsruQBAwZgwIAByMzMxFtvvQVvb2/odDp06tQJKSkpeOONN3Dy5En7bsMAcNttt2HWrFm4//77cfXqVZw+fRoGgwGNGzfG+vXrsWzZMhw7dgx5eXnw9/dH586dMXHiRPTq1QtHjx7FF198gXPnzsHLywv16tWDr68vkpKSEBERgZSUFHz99dc4efKkbFWl+vXrY/DgwQgLC8O5c+dgNBpRu3Zt9OvXD7169cLOnTuxe/dunD59GrVr10aLFi1w9913QwgBPz8/h0OsiIiIiKjmqRFJAQD7JFdnMhgM6NGjBwYNGiQbo3v//ffDbDbjjz/+QEZGBmrXrm1fmhMoWBmp8HyHhx56qMS5Cq1atcL8+fNLjOX111+HxWLBkSNHkJGRgTp16qBBgwYlnmNLboiIiIjIvdWYpKC60Wg06NSpk1MfU61Wo23btk59TCIiIiJyfS4/0ZiIiIiIiMqHSQERERERkZtjUkBERERE5OaYFBARERERuTkmBUREREREbo5JARERERGRm+OSpACEEACAjIyMMp1nMpmQk5ODjIwM2T4FVHpsw/Jh+5WfO7ah7b3O9t7nTm71/R5wz7+VisT2Kz+2Yfm4Y/uV5f2eSQGAzMxMAEBkZGQVR0JE5DyZmZnw8/Or6jCciu/3ROSOSvN+Lwl3vFRUhNVqxeXLl+Hj4wNJkkp9XkZGBiIjI3HhwgX4+vpWYoQ1F9uwfNh+5eeObSiEQGZmJiIiIqBSudco0lt9vwfc82+lIrH9yo9tWD7u2H5leb9nTwEAlUqFOnXq3PL5vr6+bvPHVVnYhuXD9is/d2tDd+shsCnv+z3gfn8rFY3tV35sw/Jxt/Yr7fu9e10iIiIiIiIiBSYFRERERERujklBOej1erzxxhvQ6/VVHYrLYhuWD9uv/NiGVFr8Wykftl/5sQ3Lh+1XMk40JiIiIiJyc+wpICIiIiJyc0wKiIiIiIjcHJMCIiIiIiI3x6SAiIiIiMjNMSkoh48++ggNGjSAwWBAx44dsXv37qoOySXMmjULkiTJ/oWHh1d1WNXazz//jCFDhiAi4v/bu/eYps4/DODPsaMIzjEdjpYJxSiVbTKiEhUWxNuK/LEtIOimk6IZw8wbokEnMbBkMduSaTQaL8uClxjrskyzTNSQaOuFxXRsTkRj2lhkMZBGdJsDLAl99wez+Z1x0xY47e88n4SE8/b0vN+evDzNlwOnsZAkCadOnZI9LoRAZWUlYmNjERERgTlz5qChoUGZYoPUQOewsLCwx7qcNWuWMsVS0GHe+4+Z/2yY94Fj3vuHTYGfTpw4gZKSEpSXl+PXX39FRkYGsrOz0dTUpHRpIeH1119Hc3Oz76u+vl7pkoJaW1sbUlJSsGfPnl4f//LLL7Fjxw7s2bMHdrsdOp0Ob731Fh49ejTMlQavgc4hACxcuFC2Lqurq4exQgpWzPvAMfOfHvM+cMx7Pwnyy4wZM8SqVatkY0lJSWLLli0KVRQ6KioqREpKitJlhCwA4uTJk75tr9crdDqd+Pzzz31jjx8/FlFRUWL//v0KVBj8/nsOhRDCbDaLd999V5F6KLgx7wPDzPcf8z5wzPunxysFfujs7ERdXR1MJpNs3GQyoba2VqGqQovD4UBsbCwmTJiA9957D3fu3FG6pJDlcrnQ0tIiW4/h4eHIzMzkenxGVqsVL7/8MoxGI4qKiuB2u5UuiRTGvB8czPzBwbwfPMz7ntgU+OH+/fvo6upCTEyMbDwmJgYtLS0KVRU6Zs6ciSNHjuDcuXP4+uuv0dLSgvT0dLS2tipdWkh6sua4HgOTnZ2NY8eO4fz58/jqq69gt9sxb948eDwepUsjBTHvA8fMHzzM+8HBvO/dc0oXEMokSZJtCyF6jFFP2dnZvu+Tk5ORlpaGiRMn4vDhwygtLVWwstDG9RiYJUuW+L6fMmUKUlNTYTAYcPr0aeTm5ipYGQUD/nz5j5k/+LgeA8O87x2vFPghOjoaGo2mR1fudrt7dO80sFGjRiE5ORkOh0PpUkLSk7t4cD0OLr1eD4PBwHWpcsz7wcfM9x/zfmgw77uxKfCDVqvF9OnTUVNTIxuvqalBenq6QlWFLo/Hg1u3bkGv1ytdSkiaMGECdDqdbD12dnbCZrNxPQagtbUVv//+O9elyjHvBx8z33/M+6HBvO/GPx/yU2lpKZYvX47U1FSkpaXh4MGDaGpqwqpVq5QuLeht2rQJb7/9NuLj4+F2u/HZZ5/hr7/+gtlsVrq0oPX333/D6XT6tl0uF65du4axY8ciPj4eJSUl2L59OxITE5GYmIjt27cjMjISS5cuVbDq4NLfORw7diwqKyuxaNEi6PV6NDY2YuvWrYiOjkZOTo6CVVMwYN4Hhpn/bJj3gWPe+0nZmx+Ftr179wqDwSC0Wq2YNm2asNlsSpcUEpYsWSL0er0ICwsTsbGxIjc3VzQ0NChdVlC7cOGCANDjy2w2CyG6b1NXUVEhdDqdCA8PF7Nnzxb19fXKFh1k+juH7e3twmQyiXHjxomwsDARHx8vzGazaGpqUrpsChLMe/8x858N8z5wzHv/SEIIMbxtCBERERERBRP+TwERERERkcqxKSAiIiIiUjk2BUREREREKsemgIiIiIhI5dgUEBERERGpHJsCIiIiIiKVY1NARERERKRybAqIiIiIiFSOTQHRv6xWKyRJwh9//KHI/OfPn0dSUhK8Xu+Qz1VfX4/x48ejra1tyOciIgpGzHwiOTYFpEpz5sxBSUmJbCw9PR3Nzc2IiopSpKaysjKUl5djxIih/7FMTk7GjBkzsHPnziGfi4hIacx8Zj4NjE0B0b+0Wi10Oh0kSRr2uWtra+FwOJCfnz9sc65YsQL79u1DV1fXsM1JRBQsmPlEcmwKSHUKCwths9mwa9cuSJIESZLQ2NjY41LyoUOH8OKLL+LHH3/E5MmTERkZiby8PLS1teHw4cNISEjAmDFjsHbtWlnIdnZ2oqysDK+88gpGjRqFmTNnwmq19luTxWKByWTCyJEjfWO//fYb5s6di9GjR+OFF17A9OnT8fPPP/ser62txezZsxEREYG4uDisW7dOdmnY4/GgrKwMcXFxCA8PR2JiIr755hvf41lZWWhtbYXNZgvwjBIRBS9mfjdmPg2ETQGpzq5du5CWloaioiI0NzejubkZcXFxve7b3t6O3bt3w2Kx4OzZs7BarcjNzUV1dTWqq6tx9OhRHDx4EN99953vOStWrMCVK1dgsVhw/fp15OfnY+HChXA4HH3WdPHiRaSmpsrGli1bhvHjx8Nut6Ourg5btmxBWFgYgO6/D83KykJubi6uX7+OEydO4PLly1izZo3v+QUFBbBYLNi9ezdu3bqF/fv34/nnn/c9rtVqkZKSgkuXLvl1HomIQgEzvxsznwYkiFQoMzNTrF+/XjZ24cIFAUA8fPhQCCFEVVWVACCcTqdvn+LiYhEZGSkePXrkG8vKyhLFxcVCCCGcTqeQJEncu3dPduz58+eLTz75pM96oqKixJEjR2Rjo0ePFocOHep1/+XLl4uPPvpINnbp0iUxYsQI0dHRIW7fvi0AiJqamj7nFEKInJwcUVhY2O8+REShjpnfjZlP/XlOyYaEKNhFRkZi4sSJvu2YmBgkJCTIfvsSExMDt9sNAPjll18ghIDRaJQdx+Px4KWXXupzno6ODtllZAAoLS3Fhx9+iKNHj2LBggXIz8/31VJXVwen04ljx4759hdCwOv1wuVyob6+HhqNBpmZmf2+voiICLS3tw9wFoiI1IGZT2rGpoCoH08u3T4hSVKvY09uKef1eqHRaFBXVweNRiPb73/fVP4rOjoaDx8+lI1VVlZi6dKlOH36NM6cOYOKigpYLBbk5OTA6/WiuLgY69at63Gs+Ph4OJ3Op3p9Dx48kL0BEhGpGTOf1IxNAamSVqsdkjswTJ06FV1dXXC73cjIyHim5928ebPHuNFohNFoxIYNG/D++++jqqoKOTk5mDZtGhoaGjBp0qRej5ecnAyv1wubzYYFCxb0Oe+NGzeQl5f31HUSEYUiZn43Zj71h/9oTKqUkJCAq1evorGxEffv3x+0D48xGo1YtmwZCgoK8P3338PlcsFut+OLL75AdXV1n8/LysrC5cuXfdsdHR1Ys2YNrFYr7t69iytXrsBut+PVV18FAGzevBk//fQTVq9ejWvXrsHhcOCHH37A2rVrfa/PbDZj5cqVOHXqFFwuF6xWK7799lvfHI2Njbh3716/byBERP8PmPnMfBoYmwJSpU2bNkGj0eC1117DuHHj0NTUNGjHrqqqQkFBATZu3IjJkyfjnXfewdWrV/u82wUAfPDBB7h58yZu374NANBoNGhtbUVBQQGMRiMWL16M7OxsfPrppwCAN954AzabDQ6HAxkZGZg6dSq2bdsGvV7vO+a+ffuQl5eHjz/+GElJSSgqKpLdvu748eMwmUwwGAyD9tqJiIIRM5+ZTwOThBBC6SKIqPvTLf/8808cOHBgyOfyeDxITEzE8ePH8eabbw75fEREJMfMp2DDKwVEQaK8vBwGg2FYPm3y7t27KC8v55sDEZFCmPkUbHilgIiIiIhI5XilgIiIiIhI5dgUEBERERGpHJsCIiIiIiKVY1NARERERKRybAqIiIiIiFSOTQERERERkcqxKSAiIiIiUjk2BUREREREKsemgIiIiIhI5f4BNZntemHpTlsAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, "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": "iVBORw0KGgoAAAANSUhEUgAAAugAAAF2CAYAAAA83m0+AAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90bGliIHZlcnNpb24zLjMuMSwgaHR0cHM6Ly9tYXRwbG90bGliLm9yZy/d3fzzAAAACXBIWXMAAA9hAAAPYQGoP6dpAAEAAElEQVR4nOydZ1hURxeA3y30JqCAIArYe+8Fe2/RWGPsRqNGjRp7EjuxRqPGaGJN7DV2xW5sEXuv2JAivbfd+/3YjxvWBQUFRZn3eXi4d+7cmTl3d8+ePTNzjkKSJAmBQCAQCAQCgUCQI1B+6AEIBAKBQCAQCASC/xAGukAgEAgEAoFAkIMQBrpAIBAIBAKBQJCDEAa6QCAQCAQCgUCQgxAGukAgEAgEAoFAkIMQBrpAIBAIBAKBQJCDEAa6QCAQCAQCgUCQgxAGukAgEAgEAoFAkIMQBrpAIBAIBAKBQJCDEAa6QCAQCAQCgUCQgxAGukAgEAgEAoFAkIMQBnoO5vz583z22WcULFgQExMTHB0dqVmzJqNGjdKr9+uvv7J69eoPM8j/M3nyZBQKxXvp6/HjxygUijfKfPz4cRQKBVu3btUrj42NpUWLFhgZGbF27dpM9b169WoUCgWPHz/O5Kg/PCljT+tv9OjRaT7XtORdv349CxYseO/jFwgEuQtfX19GjBhB6dKlsbKywtTUlEKFCtGtWzdOnjyZ7f0fPXqUvn37UqJECSwsLHBxcaFdu3ZcvHgxzfrR0dGMGDECZ2dnTE1NqVChAhs3bsz2cQo+TdQfegCCtNm7dy9t27alfv36zJ49m/z58+Pv74+Pjw8bN25k3rx5ct1ff/2VvHnz0rt37w834I+EiIgIWrVqhY+PD1u3bqVdu3YfekjvnVWrVlGiRAm9MmdnZxwdHTl79iyFCxd+7f3r16/nxo0bjBgxIhtHKRAIcjNbt26lV69exMbG6pU/ffqUp0+fsnHjRr799lvmz5+fbWNYunQpISEhDB8+nFKlSvHy5UvmzZtHjRo1OHjwIA0bNtSr36FDBy5cuMBPP/1EsWLFWL9+Pd26dUOr1dK9e/dsG6fg00QY6DmU2bNn4+7uzsGDB1Gr/3uZunbtyuzZsz/gyN4PsbGxmJubZ2mbQUFBNGvWjIcPH7J//34aNGiQpe1/LJQpU4YqVaqkea1GjRrveTT/ERcXh5mZ2QfrXyAQ5AyuXLnCF198QWJiIgDjx49nxIgRWFhYsH37dgYOHEhcXBw///wzHh4eDB06NFvGsWTJEhwcHPTKmjdvTpEiRZg5c6aegb5v3z68vb1loxygQYMGPHnyhO+++44uXbqgUqmyZZyCTxOxxCWHEhISQt68efWM8xSUyv9eNjc3N27evMmJEyfk5Qpubm4AxMfHM2rUKCpUqICNjQ12dnbUrFmTv//+26BNhULB0KFD+fPPPylZsiTm5uaUL1+ePXv2GNTdu3cvFSpUwMTEBHd3d+bOnZumDEuWLKFevXo4ODhgYWFB2bJlmT17NklJSXr16tevT5kyZTh58iS1atXC3Nycvn37AvDixQs6d+6MlZUVNjY2dOnShYCAgAw/xxSePHlCnTp1eP78OUePHjUwzr29vWnXrh0FChTA1NSUIkWKMHDgQIKDg9/Ydsr4z549S61atTAzM8PNzY1Vq1bJz6tSpUqYm5tTtmxZDhw4oHf/gwcP6NOnD0WLFsXc3BwXFxfatGnD9evX9eqlLNnZsGEDEydOxNnZGWtraxo3bszdu3cz/UxeJSNLh+rXr8/evXt58uSJ3hKZFBITE5k+fTolSpTAxMSEfPny0adPH16+fKnXjpubG61bt2b79u1UrFgRU1NTpkyZ8s4yCASCj5+pU6fKxnnr1q2ZOXOm/D3y5Zdf8uOPP+rVTU5OzpZxvGqcA1haWlKqVCmePXumV75jxw4sLS3p1KmTXnmfPn148eIF58+fz5YxCj5dhAc9h1KzZk3++OMPhg0bxhdffEGlSpUwMjIyqLdjxw4+//xzbGxs+PXXXwEwMTEBICEhgdDQUEaPHo2LiwuJiYkcPnyYDh06sGrVKnr27KnX1t69e7lw4QJTp07F0tKS2bNn89lnn3H37l08PDwAOHLkCO3ataNmzZps3LgRjUbD7NmzCQwMNBjbw4cP6d69O+7u7hgbG3P16lVmzJjBnTt3WLlypV5df39/evTowZgxY5g5cyZKpZK4uDgaN27Mixcv8PLyolixYuzdu5cuXbpk6lnevn2bb7/9FoCTJ09SsmTJNMdas2ZN+vfvj42NDY8fP2b+/PnUqVOH69evp/nsUxMQEECfPn0YM2YMBQoUYNGiRfTt25dnz56xdetWJkyYgI2NDVOnTqV9+/Y8evQIZ2dnQPcjxN7enp9++ol8+fIRGhrKmjVrqF69OpcvX6Z48eJ6fU2YMIHatWvzxx9/EBkZydixY2nTpg23b9/OkIdGo9EYfKGl9UMwLX799Ve++uorHj58yI4dO/SuabVa2rVrx6lTpxgzZgy1atXiyZMn/Pjjj9SvXx8fHx89D/mlS5e4ffs2kyZNwt3dHQsLiwyNQSAQfLpoNBoOHTokn/fr18+gzoABAxg3bhwAL1++5NKlS1SrVk2vjiRJaDSaDPWZUf0HumWSly5dMljecuPGDUqWLGnQVrly5eTrtWrVynA/AgGSIEcSHBws1alTRwIkQDIyMpJq1aoleXl5SVFRUXp1S5cuLXl6er6xzeTkZCkpKUnq16+fVLFiRb1rgOTo6ChFRkbKZQEBAZJSqZS8vLzksurVq0vOzs5SXFycXBYZGSnZ2dlJr3s7aTQaKSkpSVq7dq2kUqmk0NBQ+Zqnp6cESEeOHNG7Z+nSpRIg/f3333rlAwYMkABp1apVr5X32LFj8vNTqVTSrVu3Xls/Ba1WKyUlJUlPnjwx6H/VqlUSIPn6+hqM38fHRy4LCQmRVCqVZGZmJvn5+cnlV65ckQDpl19+Sbf/5ORkKTExUSpatKj07bffGsjTsmVLvfqbN2+WAOns2bOvlStl7Gn9JSUlSb6+vgbPNS15W7VqJRUqVMig/Q0bNkiAtG3bNr3yCxcuSID066+/ymWFChWSVCqVdPfu3deOWSAQ5C4CAwP1dNPVq1fTrJcnTx65zubNmw2up9b/b/pLrd/exBdffCGp1Wo9fS9JklS0aFGpWbNmBvVfvHghAdLMmTMz3IdAIEmSJJa45FDs7e05deqUvOGkXbt23Lt3j/Hjx1O2bNkMLb0A2LJlC7Vr18bS0hK1Wo2RkRErVqzg9u3bBnUbNGiAlZWVfO7o6IiDgwNPnjwBICYmhgsXLtChQwdMTU3lelZWVrRp08agvcuXL9O2bVvs7e1RqVQYGRnRs2dPNBoN9+7d06tra2tr4JE4duwYVlZWtG3bVq88s5ttWrdujVarZciQIQYbjlIICgpi0KBBuLq6ys+pUKFCAGk+q1fJnz8/lStXls/t7OxwcHCgQoUKsqcckL33Kc8UIDk5mZkzZ1KqVCmMjY1Rq9UYGxtz//79NPt+9XmkeGhSt/k61q5dy4ULF/T+MuNBSo89e/aQJ08e2rRpQ3JysvxXoUIFnJycOH78uMG4ixUr9s79CgSCTwdJkvTO04sOlrpeWjOclStXNtBz6f2l1tGv4/vvv2fdunX8/PPPevr+TWN90zWBIC3EEpccTpUqVeQNfUlJSYwdO5aff/6Z2bNnv3Gz6Pbt2+ncuTOdOnXiu+++w8nJCbVazdKlSw2WmIDuR8GrmJiYEBcXB0BYWBharRYnJyeDeq+WPX36lLp161K8eHEWLlyIm5sbpqam/PvvvwwZMkRuM4X8+fMbtBkSEoKjo+Mb+3oTvXr1on379gwYMIBWrVqxZ88eveUUWq2Wpk2b8uLFC77//nvKli2LhYUFWq2WGjVqGIw1Lezs7AzKjI2NDcqNjY0B3f6AFEaOHMmSJUsYO3Ysnp6e2NraolQq6d+/f5p9v/o6pSxpysg4QfcjIb1Nou9CYGAg4eHhsoyv8uqPyrRec4FAkLvJmzcv5ubmsjPF19eXsmXL6tUJDQ0lIiJCPk9xpqTG0tKSChUqZKjPjDgopkyZwvTp05kxY0aam1Lt7e0JCQkxKA8NDQXS/o4QCF6HMNA/IoyMjPjxxx/5+eefuXHjxhvr//XXX7i7u7Np0ya9X+8JCQlv1b+trS0KhSLNTZqvlu3cuZOYmBi2b9+upzyvXLmSZttpeRfs7e35999/39hXRujXr59s9LZs2ZJ9+/bJRvqNGze4evUqq1evplevXvI9Dx48yHQ/b8Nff/1Fz549mTlzpl55cHAwefLkeS9jyAry5s2Lvb29wSbYFFLPzoDwKAkEAkNUKhVNmjSRgxmsXbvWYNZwxYoV8rGHhwfly5c3aOfEiRMZjtTl6+srB1dIiylTpjB58mQmT57MhAkT0qxTtmxZNmzYQHJysp7Bn7LZv0yZMhkai0CQgljikkPx9/dPszxlyUPqKbnUXu7UKBQKjI2N9QyhgICANKO4ZAQLCwuqVavG9u3b9TzAUVFR7N6926DvlLGlIEkSv//+e4b7a9CgAVFRUezatUuvfP369W8zfPr06cOKFSv4559/aNGiBdHR0emOFWDZsmVv1U9mUSgUBn3v3bsXPz+/99J/Zknv/da6dWtCQkLQaDTyzE/qv1c3uwoEAkFaTJo0STZyt23bxtSpUwkJCSE2NpZ169YxefJkue6PP/6oF9kshaxa4jJt2jQmT57MpEmT9KLHvMpnn31GdHQ027Zt0ytfs2YNzs7OVK9ePZNPQZDbER70HEqzZs0oUKAAbdq0oUSJEmi1Wq5cucK8efOwtLRk+PDhct2yZcuyceNGNm3ahIeHB6amppQtW1YOYzd48GA+//xznj17xrRp08ifPz/3799/q3FNmzaN5s2b06RJE0aNGoVGo2HWrFlYWFjIU3kATZo0wdjYmG7dujFmzBji4+NZunQpYWFhGe6rZ8+e/Pzzz/Ts2ZMZM2ZQtGhR9u3bx8GDB99q7AC9e/dGqVTSp08fWrRowf79+ylRogSFCxdm3LhxSJKEnZ0du3fvxtvb+637yQytW7dm9erVlChRgnLlynHx4kXmzJlDgQIF3kv/maVs2bJs376dpUuXUrlyZZRKJVWqVKFr166sW7eOli1bMnz4cKpVq4aRkRHPnz/n2LFjtGvXjs8+++xDD18gEORwqlSpwurVq+nfvz/x8fH8+OOPBsaxUqnkhx9+MIhGloKVldU7L+WbN28eP/zwA82bN6dVq1acO3dO73rqvBEtWrSgSZMmfP3110RGRlKkSBE2bNjAgQMH+Ouvv0QMdEGmEQZ6DmXSpEn8/fff/Pzzz/j7+5OQkED+/Plp3Lgx48eP1wsVOGXKFPz9/RkwYABRUVEUKlSIx48f06dPH4KCgvjtt99YuXIlHh4ejBs3jufPn791zOkmTZqwc+dOJk2aRJcuXXBycmLw4MHExcXptVmiRAm2bdvGpEmT6NChA/b29nTv3p2RI0fSokWLDPVlbm7O0aNHGT58OOPGjUOhUNC0aVM2btz4TuGqevbsiVKppHfv3jRr1owDBw6we/duhg8fzsCBA1Gr1TRu3JjDhw9TsGDBt+4noyxcuBAjIyO8vLyIjo6mUqVKbN++nUmTJmV732/D8OHDuXnzJhMmTCAiIgJJkpAkCZVKxa5du1i4cCF//vknXl5eqNVqChQogKenp8E6UoFAIEiPL774gho1avDLL79w5MgRHj9+TExMjHx9x44dBktfspqUmeEDBw6kuXTv1Q2t27dvZ+LEifzwww+EhoZSokQJNmzYQNeuXbN1nIJPE4X06jtMIBAIBAKBIIdx9+5d6tevT0BAACVLluTYsWNpBhIQCD4FxBp0gUAgEAgEOZ7ixYtz9OhRHBwcuH37Ng0bNiQoKOhDD0sgyBaEB10gEAgEAoFAIMhBCA+6QCAQCAQCgUCQgxAGukAgEAgEAoFAkIMQBrpAIBAIBAKBQJCDEAa6QCAQCAQCgUCQg8hxcdC1Wi0vXrzAyspKpAIXCAS5AkmSiIqKwtnZOc2siJ8yQucLBILcREb1fY4z0F+8eIGrq+uHHoZAIBC8d549e5ZjM8hmF0LnCwSC3Mib9H2OM9CtrKwA3cCtra0zdW9SUhKHDh2iadOmGBkZZcfwcgRCzk+P3CLrxy6nJEk8efKES5cusX//fs6fP09CQgJOTk6UKlWKsmXLUrZsWapVq8bhw4czLGdkZCSurq6y/stNvK3O/9jfS5kht8gq5Py0EHKmTUb1fY4z0FOmOK2trd/KQDc3N8fa2vqTfzMIOT8tcousH6ucGo2GpUuXsmjRIu7du2dwPSAggCtXrsjnRYoUoWvXrnz++eeZkjM3LvF4W53/sb6X3obcIquQ89NCyPl63qTvc5yBLhAIBB+SO3fusHDhQrZt20ZISAj58uXD2tqa+/fvZ7iNBw8eMHPmTMqUKUOXLl2ycbQCgUAgyC5iY2N59OgRhw4dYvfu3Tx//hwLCwuKFy9OpUqVKFy4MA0aNMiWvoWBLhAIBP9n8+bN9OjRg6SkJLksMDCQwMBAg7pKpRKtVgvoPCEWFhZER0fL17VaLYMGDaJ169ZYWFhk/+AFAoFAkCXcuXOHmTNnsmnTJhITEw2uX716lc2bNwNgYWFBo0aNaNSoUZbOFOSucAECgUCQDpcvX+aLL76QjXNzc3PKly+fZt0aNWrIxjno1qa3adNGPk/Z9BgeHs6GDRuycdQCgUAgeFsSExNZsWIF1atXx8zMDEtLS6pWrUrFihX5888/0zTOAZSmVljX6ISRgzsxMTHs2rWLjh076jl33hVhoAsEAgEwd+5ckpOTAfjyyy/x9/fnjz/+SLNu/vz5DcoePnwoH+fLl08+Pn36dBaPVCAQCATvSnh4OJ6envTv359///2X+Ph4YmJi8PHxIT4+Xq9uimdcbV8Au6ZDKDB4NbaevbCu+pkcKvHQoUP8/vvvWTa+j3KJS3x8PC9fvjQo12q1uLq68uLFi086lnBWyJkvXz5MTU2zeGQCwcdJYmIi27ZtA8De3p7ly5djampKRESEXCf1khZ/f3+5XKVSodFoCA4OlstSb3bMSo9KbiUtnZ9b9D28u6wmJiY4ODhkw8gEgo+XHj16cO7cOfncw8OD4OBgIiMjDepWrlGHe6YlsKzYAoVC9xmUQp8S98hHbzZ1yZIlfP3111my4f+jM9Dj4+MJCgrCxcUFlUqld02r1WJjY4O1tfUnrbDfVU6NRoOfnx8ODg7CSBcIgJcvX5KQkABA1apV5c9F6hi1xsbGslfFx8dHLtdoNACEhYXJZWr1f6q1TJky2TfwXEB6Oj+36Ht4d1lfvnxJZGRkpiOjCQSfKleuXGHv3r2Azimzfft26tWrR8OGDTl27JheXafKTXlergdWlnYAxN47S+SFnTSp6MGe2ycB3bLGZ8+ecevWLUJDQ7G3t3/nMb6TVvPy8kKhUDBixAi5TJIkJk+ejLOzM2ZmZtSvX5+bN2++6zhlXr58maZxLsg4KpUKFxeXNGchBILcwpMnT/j222/Jly+fniF+6NAhqlatyqxZs7C3t6dKlSoAelOeKUthUpNioJubm3PkyBFAZ6j37t07G6X49BE6/93Jmzev3myQQJDbSb03aOrUqdSrVw/QLXuB/4dAVBlh12wIJo2HobK0IynUj7i9XrzcMYOE5zd57Osrt2FpaSkfp7duPbO8tQf9woULLF++nHLlyumVz549m/nz57N69WqKFSvG9OnTadKkCXfv3s2yJBxCUb874hkKcjP//PMPrVq1SnMqU6vV4uPjg4+PD5MnT8bY2DhTbcfGxsrH48ePx8nJ6Z3Hm9sR+urdyI3x9QWCtJAkieDgYHxTGdeenp7ysbOzM5cvX0aVJz/52o3D2NEDSdKSeHUfgUdWIiX/Z3zfuHEDADc3NzkMr729fZYtJ3srD3p0dDRffPEFv//+O7a2tnK5JEksWLCAiRMn0qFDB8qUKcOaNWuIjY1l/fr1WTJggUAgyCzx8fFs2bKF6dOn8+OPP6ZrnKd1X0bqvYparaZr165MmjTpbYabI/kQM6YCgUCQFcTHxzN//nyKFSuGg4MDW7Zska9Vq1aNJk2aMGv1Dqw8++DUcz7O/Zdi7OiBJiacoM0/EHDwNz3j/NW2U2ZV+/btm2UOhbfyoA8ZMoRWrVrRuHFjpk+fLpf7+voSEBBA06ZN5TITExM8PT05c+YMAwcOfPcRCwQCQSb4/fffmTBhgt4mzhRcXFzw8/MDdGvP1Wo1Z8+eTbctS0tLvVjnQ4YMoWPHjly/fp2LFy+SnJxM2bJl6d69O5cvX/5kPJcfcsZUIBAI3oWYmBiaN2/OP//8k+b12NhYzoeZc/+ObrbUJH8xAOKfXCV4zzw00aGvbT8gIADQfZ+MGjUqy8adaQN948aNXLx4UW+TVAopg3R0dNQrd3R05MmTJ2m2l5CQIG/OAmRvVVJSUprRD7Rard6O2dRIkiT/T6/Oh0KSJAYNGsS2bdsICwvDxsaGXr168fPPPwO63cPDhw9n+PDhGWor5f+7yKnVanN0hImUseXkMWYVuUXW7JYzISGBnTt3cvnyZUCXZGjdunXp1n/x4gWgW0KxYcMGXF1dKVy4MM+fP9erp1KpOHr0KDVq1OC7777jl19+AXRr0evUqUOdOnX06mdWzpz8uqeeMU3tkHl1xhRgzZo1ODo6sn79+lzvkJEkiYEDB7J161ZZ5/fu3ZsFCxYAumnxESNG6M1ICASCd0ej0bB//368vb2JiYnhypUrXLx4Md36VlXbY9ewPwAxt44T++BfEp7fRhOV8X16BQoU4MCBAwb277uQKQP92bNnDB8+nEOHDr02+serXiNJktL1JHl5eTFlyhSD8kOHDmFubm5Q7urqio2NzWvHGRUV9drrHwJvb2/WrFnD7t27cXNzQ6lUYmpqKv8g0Wq1etPptra2/PXXX7Rq1SrdNt9VzpCQEK5cufJObbwPvL29P/QQ3hu5RdbskPPMmTMsW7Ys3c1wtWrVok6dOixatIi4uDjgvx+7BQsW5MaNG9y4cYOCBQvKBrqpqSnx8fFoNBp8fX0JCwujevXqGBkZkZSUxM6dO2nRokW6Y8qonKnXrec0xIzp23HgwAFWr17N8ePH8fDwQKlUYmZmlm59hULBjh07aN++/fsbpEDwiXHp0iW6dOnCgwcPDK6lLD3RaDSYmZkxYcJE5h24gU2dHgCEn9lIxKm/5PrW1tbExMTIkbpcXFyYMmUKSqWSs2fPEhgYiJ2dHe3atUOr1VKsWLEslSVTBvrFixcJCgqicuXKcplGo+HkyZMsXryYu3fvAjpPeupEHkFBQen+qhg/fjwjR46UzyMjI3F1daVp06ZphoR68eJFuqGiJEkiKioKKyurHDe1nPJMmjRpkub1FIM9tWxmZmZpypoZOZOSktJNPWtvb0/ZsmUzIcX7JSkpCW9vb5o0aZKl6XNzIrlF1uySc9u2bcyZM0c2uNNixIgRtG/fnj179nDr1i29a6GhoTRq1AhjY2M9fZR6LWHbtm3lnfpjxozBz88PrVZLy5YtDfrKrJxvs879fZDVM6aQdbOmOXnGFODBgwfkz5+fGjVq6JW/moE29XlWyJqezs/pM6YgZhI/NbJbzuTkZHbv3s2OHTsICwvD1NSUw4cPExMTk2b9FEMboN+wMVzP1wCbOhUACP9nHRGn/4vs0qpVKzZs2EBISAhVqlQhJCSEgIAAGjdujLOzMz169JDrpuj7rJ4xzZSB3qhRI65fv65X1qdPH0qUKMHYsWPx8PDAyckJb29vKlasCOjCzZw4cYJZs2al2aaJiQkmJiYG5UZGRmkqGaVSmW4c2BTFpVAoclRc3N69e7NmzRpA94VfqFAh3NzcqFChgjzdCf+N283NDYCOHTsCUKhQIR4/fgzA7t27mTx5Mjdv3sTZ2ZlevXoxceJEOe6yQqFg6dKl7N+/n8OHDzN69Og0ZyhA9yw/BmMwvffCp0hukTUr5UxISGD48OGyEdO6dWsGDRrE5MmT9QzL4cOH0759ezp16mTwmYiIiOCnn37CxMSER48eyeUpir5u3bryhviLFy/K69bd3d1fK0dG5cyJr3l2zJhC1s+a5sQZ08GDB8th3FQqFa6urhQsWJCyZcvi5eUF6M+apqztT9H5rq6uXLt2DYD9+/cza9Ys7ty5g5OTE926dWPUqFGyzre1tWXevHkcPnyYEydOMHToUMaPH28wpo9lxhTETOKnRnbI+fz5c2bOnCkvU3yVQoUK0a1bN27cuMGePXv0rllWaMF+KpHsG4ZaoSXwwFKir+zXq6NWqzl69Cig0/87d+5Eo9GwZMkSateunWafWT1jmikD3crKyiDphoWFBfb29nL5iBEjmDlzJkWLFqVo0aLMnDkTc3NzunfvnpmuMowkScQl6X4VabVa4hI1qBOT34uBbmakypCnfuHChRQuXJjly5dz4cIFVCoVnTp1Srf+hQsXcHBwYNWqVTRv3lz24h08eJAePXqwYMECKlasSGBgIIMGDQLgxx9/lO//8ccf8fLy4ueffxbhyQSfPDt37iQoKAjQeT127dqFQqFg8eLFevX8/f3ZvXs3gwYN4ueffzbwWs+YMSPdPrp27YokSZw6dYqvvvpKLv+UY5xnx4wpvNusaWp9L0kS0VHRWFpZvpcZ04zqe9BlEyxRogS///4758+fR6VS0aVLF4yNjWVZUs+aXrhwAScnJ1asWCHrfGtraw4ePMigQYNknR8QEMDXX3+NiYkJP/zwg9zfrFmzmDFjBr/88ot876vk9BlTEDOJnxrZJWfK5yB1RudXMTExYcyYMfz999//GegKJbYN+2NdpS3JQA13W8rGX2fSK8Y5QMWKFeXZ0bt377Jz504ASpYsaTBrml0zplmeSXTMmDHExcUxePBgeb3moUOHsm1Hf1yShlI/HMyWtt/EranNMDd+8yO0sbHBysoKlUqVoZjI+fLlAyBPnjx69WfMmMG4cePo1auX7HWZNm0aY8aM0TPQu3fvTt++fd9CIoHg4+PSpUvy8cCBA2UjqkKFChw4cECv7okTJ7h06VKmvyyGDBnCyJEj9ZZmFC1alJ49e77DyHM22TFjCu82axqbmEyZyR/G66jT9xlzeNja2mJtbY1KpcLZ2Vkuf3V2N+U85QeNnZ2dXn0vL690df7kyZPlet27d6d///6vHdPHMmMKYibxUyOr5Vy4cKFsnJcpU4Y5c+YQHR2t5/i8d+8ea9asoU+fPgwdOpTYxGTythmDedHqACT7bKVNuaaMSCcUbocOHTAyMkKSJLZt2yaXlypVKl1ZsnrG9J0N9OPHj+udKxQKJk+erKc8BFnDxYsXuXDhgp6nT6PREB8fT2xsrDw9nJL5UCDIDaT2aqZen9u/f39mzZqlty59+fLlehlBX0fBggUJCgqS66c2zkuUKMG+ffuwsLCQy4Ii47npH0mD4lmTpOJDkxNnTHMbQucLBPpoNBpWrVoFgLGxMQcOHMDFxcXAFgX4fc067Gt8RvnBi3iaaI7K1BJtUgIhe+cTe/c0PY6sTrOP4sWL4+joyM2bN5k5cyb//vsvoPsxUK1atewSzYAs96C/b8yMVNya2gzQfTlHRUZhZW313pa4vE+0Wi1Tpkyhffv2REdHY2lpKcuZeo1oaqNBIPjUSW2czJ49m4YNG2JlZYWzszMtW7Zk79698vU3Gec//fQTdevWxc7OjuLFixMcHMzKlSvZtWsXERERuLi48OWXX9KpUyc9L/DFJ6F8/dclIuKS2PZ1LYo7GK6l/hR53zOmuUnfg9D5AsGrBAcHExqqi0tev359XFxcAChfvjwmJiYkJCSgVCpRWNgSUX0g3++8AUoHVKaQHBXCy51eJL6489o+7t69a7BMT6FQ8NNPP73XACQfvYGuUCjkZSZarZZkYxXmxuoctUn0bTAyMtLbcQxQqVIl7t69S5EiRYiMjMTa2vqjl1MgeBciIiI4d+4cCoUCSZI4c+YMefLkoVixYjx9+vS1m3EKFSrEmjVruHTpkrwmetWqVYwZM0ZWwvny5WPs2LGMHTs2zTYkSeKvc0+YuucWSRqJYo6WWJh89Go1XT70jOmnqu9B6HyBICMYGxvLxy9f/hen3NbWlm7durF69WoU5rY4dvNCnSc/yRFBRF09QPzjKyQGPADpv1lWlUolf+by5s1L/vz5DZb1AZibm/P777+/Nux1dvDpfpN85Li5uXHkyBFq166NiYkJtra2/PDDD7Ru3ZoCBQrQvHlzrK2tuXHjBtevX9eLTywQfOq8ePGCX375hcWLFxuE1NJqtdy5k76HRKFQMH36dMaMGYNarcbT05MdO3Zw6tQp7t69y9WrV6lQocIbx5CYrOX7nTfY5PMMgFbl8jO7YzksTNSffPg0QdYjdL5A8GZsbW0pVaoUt27d4vLlywwbNowJEyZgZGSEq6srJvYu2Hf4ASNbZ5LCAwhcP14v4ZC1tbW8SdPGxoZTp05hbm5OgQIFUKvVXLlyhRUrVnD37l05r0OfPn2wt7d/77KKn+I5lHnz5uHt7Y2rq6u8AatZs2bs2bOHw4cP06hRI2rVqsX8+fMpVKjQBx6tQPD+WLFiBe7u7syaNcvAOE/Lu2hvby9vvAad13vDhg16EY5Sh81K7ZVJj9CYRHr8cZ5NPs9QKmB8ixIs7lbxk/aeC7IXofMFgtcTFxfHwIEDuXfvnly2aNEi8ufPj2tFT5ZeS8Sx768Y2bmQHB5A4Ib/jHNbW1vmz59PYGCgnI8mNDSUf/75Bzc3NzlsaYUKFVi0aBGHDh1i9+7djB49+oMY5yA86O+NV1M6vzpVnBLnPIU2bdrQpk0bg3aaNWtGkyZN0p3ufF2iFoHgY2fHjh2vjVaRVhKXP//8k7lz58oxbQFu3LjBmTNnZMM8ZRMQ8EZlfD8wir5rLvAsNA4rEzWLulek/ieyMVSQdQidLxBkDXfv3mXOnDmsXr3aYBkYQJ66X2JTq4t8Hvf4CiH7F6KJ1BnnLi4uXLt2DTs7OwCmTZsmxyw/ePCgXujcnITwoAsEgo8CSZLSTMAyYcIEli1blu5GuQMHDvD5558blF+8eBGtVsuyZctk471IkSKvXd7yz/1gOvx6hmehcRS0M2fHkFrCOBcIBIJswtvbm0qVKrFixYo0jXPzEnVl4zz6mjeh60dTX7omG+cAfn5+bN++XT738PCQj6Ojo7Nx9O+GMNAFAsEHISYmhuXLl+Pp6UmRIkWoUqUKU6dO1Us+IUkS586dY+LEiXTu3FlOjpOSbRegXLlyfPXVV8ycOTPNfiIjI+nRo4dBDoJFixZRpEgROdkXwOjRo9PdhLf5wjN6r/qXqIRkqrnZ8feQ2hRxyJ5oJQKBQJDb8fPzo0OHDgab/VM84Ub53LBvMRyAiHNbCNm/EBcL+OabbwzaWr16tXy8e/du+Tj1d0lOQyxxEQgE7527d+/Stm1bfH199covXrzI7Nmz2bRpE6VKlaJ79+6cO3fO4P6UMFug85B36dKFzz//nOHDhxvULVCgAFZWVuzcuZPatWvLXpgHDx7o1Rs6dGiaU51JGi2zD9zh91O6sbav4Mysz8thohZZegUCgSAzxMbGcufOHTQaDcWKFcPGxibdukuXLpU93CmRujw8PLh79y4/zJjFmheOKI1NifO9hOqmLpzunTt3KF26NEWKFNHT8Q8ePECj0bBjxw5Gjx4tl+fkbNDCQBcIBO+V2NhYWrduzZMnT+QyGxsbIiIiAJ1nvUOHDtja2hIYGJhmG6lTJa9evZpy5cpRtWrVNOsWKFCATZs28csvv8jGeUp4LYVCQf369Rk2bBjt2rUziHHrHxHH0PWXufgkDIBhDYvwbZNi7zUWrkAgEHzshIaGMmXKFFavXi3rbxMTE7p27cqUKVMoVKgQcXFx/PXXX6xYsYJ79+7J9RQKhWygm5qa4h+ZyL9WdTCyjSYpPIDgXbOxMPpPJ0uSxLRp0+jWrZtcFhgYiLm5OYmJiXJZy5YtqVGjxnt6AplHGOgCgeC9cvjwYdk4L1u2LKtWraJy5co8ffqU4cOHs3PnThITE2XjvECBAoSGhr42pvnIkSPTXZqSegkL6OLoent7U758eczMzPTi6qbmzMNghqy7RFhsElamauZ8Xp7mZZzSrCsQCASCtAkMDKRRo0Z60VdAl515zZo17N+/ny1btjB06NA045Cn3gj9ICyZ1guPE5EgYayJ5cW2qWjjo4n6fw46V1dXbG1t6dKlC7/99hsnTpyQ701tnDdu3JgNGzbkaGeLMNAFAsF75dixY/Lxhg0bKF26NAAFCxZk/fr1FCpUSA51aGFhQZkyZThw4ACgC5UVFhaWZruvRnAxMjIyiEfu7u7OypUrqVev3mvHuO+6PyM2XiFRo6WMizW/dq9MQfvckR1UIBAIspJBgwbJxrmpqSnt27fH1NSUHTt2EBERQVBQEM2bNycuLk6+J3USIdAZ6aYeVcjXfhwRCRIORgkE7JhKUvBTvb4sLCyYOHEiBw8e5NKlS3J5qVKlUCgUFC9enH79+tG8efMcn/RLGOgCgeC9EhwcDOgyeaYY5ymYmZlRuXJl2SBPSR0P4OTkxJkzZ2jevLmBJyY1VatW5fvvv6dhw4bs3LmT69evo1arqVWrFs2aNdOLf54Wf517wvd/30CSoHlpJxZ0rYDpB0jzLhAIBB87/v7+7N2rWx/u4ODAuXPncHd3B2Du3Ll4enpy8+ZN2Th3cXFBq9XqBQsAMC9em7xtRqNQGRH78AI+u2YjJcbxKnfu3MHLy0uvbNGiRQwdOjQ7xMtWhIEuEAjeK6ampkRFRREYGCjHdk7N06f/eUSio6Nlz3jXrl1xd3fn2LFjFCpUiOTkZL37LC0t2b9/P3Xq1JHLvvjiiwyPS6uVmOd9lyXHHgLQvXpBprUrg0qZc6dABQKBICdz8eJF+XjEiBGycQ66nBPff/89Xbt2lcvatm3L0qVLAZ3X+9mzZ2gLVsW+5XAUShUxt44TvPdn0OqHXExZwx4UFCSXVaxYkR9//JF27dpll3jZSs727wsEgk+OSpUqARAfH8+kSZP01hdu2LCBW7duyeeXL1+Wj1PWD+7du1c2zmvWrClfL126tJ5xnhniEjUMWX9JNs6HNSrKjPbCOBcIBIJ3IfWylWLFihlcf7Xs5s2b8vHvK1bSc+427FuNQKFUEXX1IMF75usZ5w0aNODcuXP4+vry/Plzzp49y8GDB7l58yYXL178aI1zEB50gUDwnmnZsiXe3t5otVoWLVrEkSNHaNiwIdevX9fb0APorSFfu3atvKkohaJFi3L27FmAt96NHxQZT781Plz3i8BIpeCnDuXoWLnAW7UlEAgEgv/Ily+ffLxv3z46duyod33fvn165ykzqBaObszySeLq80QUCiWRF3YSdnQF8J9DZ/HixQwZMkQ+NzIyytFRWTJLrjTQk5OTOXDgALdv38bIyIi6detSuXLlDz0sgSBXUKhQIX755Rd5TeCtW7f0vOagS2/+77//6m0IjY6OZsWKFfK5h4cHa9eulc8HDhyY6bE8CIqi18oL+IXHYWdhzLIvK1PVzS7T7QhyNg8fPuTAgQNER0dTsGBB2rZtm27mWYFAkHVUr14dKysroqKiWLVqFWXKlGHQoEEYGRmxceNGgwRzISEhmBQojd3nP3L1eQQWani6fRbRt09hY2NDhQoVZEdO7dq1P4RI741cZ6Bv2rSJUaNG4efnp1devXp1/vjjD8qUKfOBRiYQ5B6++uorChcuzIwZM/jnn3/kcjc3N4yNjTl48OAb23j06JF8PGnSJEqWLJmpMZx/FMKAtT5ExifjnteC1X2qUsheGG2fEoGBgXz11Vfs2rVLr9zGxobx48czZsyYHB1mTSD42DEzM2P06NH8+OOPSJLEyJEjGT9+PCqVSi90rrm5ObGxsSRaF8Ch02SUxmYk+9/l7g4vNFG6wAJ169Zlz549gM5BU65cuQ8i0/siV61BX7VqFV27djUwzgHOnz9P3bp1DTx5WcHjx4/lQPup/+rXr5/lfQkEHwvNmzfn1KlT+Pr6cvr0ac6ePYupqelrI7S8io2NDXPnzmXq1KkZvkeSJNaff8qXK/4lMj6ZSgXzsO3rWsI4/8QICQmhXr16BsY5QEREBOPGjdPLKJiVCJ0vEPzH2LFjGTZsmHyekJCgZ5wXL14cU1NTjJ1L4NBpCkpjM+J8L/Fi/XjZOLe0tJSNc3h97otPhUxJt3TpUsqVK4e1tTXW1tbUrFmT/fv3y9clSWLy5Mk4OztjZmZG/fr19Rb8f0hCQ0P1wuw0b96cP//8k0WLFsmbFMLDw/XWM2UVrq6u+Pv7y3+XL1/G3t7+jbGYBYJPjYSEBI4fP06LFi0oWrQoFStWZNmyZbi4uLBnzx7u3LkD6Hb3L1y4kPPnzzN79my9dNBdu3Zl2rRprFu3jhcvXjBq1KgMe0FjEpIZufkqE3ZcJ1GjpXlpJ9YPqIGdRdrJigQfL1OmTJF/7Dk4ODB9+nQ2bdpEz5495ffL/Pnz8fHxyfK+hc4XCP5DqVSycOFCzp07R69evShWrBiFCxemefPmODk58SgsEUX1Hjh1m4nSxJy4x1d5uX0GUvJ/iYWio6Pl4/79+zN48OAPIcp7JVNLXAoUKMBPP/1EkSJFAFizZg3t2rXj8uXLlC5dmtmzZzN//nxWr15NsWLFmD59Ok2aNOHu3btYWVlliwAZZe3atfIvti+//JI1a9bISrp3796UL1+eR48ecfz4cW7dukWpUqWyrG+VSoWTky4DYXx8PO3bt6dmzZpMnjw5y/oQCHI6fn5+NG/enBs3buiVX7lyhdmzZ+tFcwkJCWHKlCkMGzaMiRMnUqlSJRo3bgzAkydP2LBhQ6b7fxYaS9/VF7gfFI1KqeC7ZsX5qq4HShGp5ZMjNjaW1atXA7qwnufPn8fNzQ2Azp07U6ZMGcaMGQPoHE+p9zZkBULnCwT/8eDBA86dO0diYiJ9+/Zl5cqV3A+K5rMhP0CTxjg7l5DrGofc5+m2qUjJCQCo1Wo5alf16tUZNmwY3bp1yxVL0zLlQW/Tpg0tW7akWLFiFCtWjBkzZmBpacm5c+eQJIkFCxYwceJEOnToQJkyZVizZg2xsbGsX78+u8afYVIiPQB8++23ei+upaUl/fv3l8/PnTuXbePo168fUVFRrF+//pOfnhEIUkhMTKRFixZ6xrmlpaV8rNVq9Qx00M16TZ48mR49elC/fn05fm7q0IsZ5bZ/JB2XnuF+UDQOVias71+dQZ6FhXH+Bj7WWdObN28SFRUFQIcOHWTjPIXBgwdjZGQE6H83ZAdC5wtyK76+vkydOpVSpUrRt29fBg0ahGf9BhTuO59mC04RW7QJJs4lkDTJWIbcYVR5uLNsGEe9D2Bqagrofuxeu3aN0NBQzp07R/fu3XOFcQ7vsAZdo9GwceNGYmJiqFmzJr6+vgQEBNC0aVO5jomJCZ6enpw5cyZLBvsupE4Za2ZmZnDd3Nw8zbpZyfTp0zlw4AC7du364DMKAsH7ZOvWrVy/fh2AvHnz4u3tTWRkJKtWrTKo6+HhQffu3WVjZtOmTaxfv172omTWyPnXN5TOy84SFJVAcUcrdg2tQ3UP+3eUKHeQMmvq4+ODj48PDRs2pF27drIRnjJrunjxYi5cuICTkxNNmjSRjeMPxZv0vbGxsZxRNrv0PQidL8i9+Pr64unpyaVLl/TKrSq3RnIqiaRJIu6hDyEHl+C3tA83/xjNsO6t6d69O7Vr15ajciUkJHDlyhVsbW0/hBgflExHcbl+/To1a9YkPj4eS0tLduzYQalSpWQj3NHRUa++o6MjT548Sbe9hIQEEhIS5PPIyEhAF/84dQzkFLRarZxZ8FVSPHCSJBnUKVu2LNu2bQNgxYoVzJo1S76WnJysF1u5bNmy6fbxtmzbto2pU6eyd+9e3N3d36n918mZGbRabZrPOKeQMracPMas4lOVVavVcv36db777ju5LDg4mGHDhjF06FC2bt1qcI+vry8bNmygbdu2coa5qVOn8uzZMwCqVq2a4ee05aIfk/fcJjFZS+WCeVjWoyI2Zqpsf86ZfT1z6uvepk0bvfMZM2awdOlSzp07R6lSpfRmTUG37NHR0ZH169e/VdjLrKJ48eIYGxuTmJjI9u3bmTNnjt4X/MaNG4mPjwegfPny2TKGFJ2/f/9+ChcunC19CAQ5lW+++YaAgAAAXFxcGDhwIGrrfPz2VBcXPdT7N6Kv6qJ1WVtbE/n/+zZt2oSTk5Ne6OvQ0ND3OvacQqYN9OLFi3PlyhXCw8PZtm0bvXr10ksu8urUgyRJr52O8PLyYsqUKQblhw4d0vNqp+Dq6qq3YSwt0vLefP7550ybNg2NRsO8efOIioqic+fOhIeHs3jxYnnavEyZMhQvXlz+oZAV3Lp1i969ezN8+HAKFizI/fv3AZ0X511+Fb6rlyokJIQrV668UxvvA29v7w89hPfGxyhrQkICZ86c4d69e0iShJubGxUqVODIkSMcOHAgzffp7du3GTJkiKwbTE1NZYNJkiQaNmxI27Ztsbe3JyQkhAcPHsj3Vq1a1SC5xaska2HbYyVnAnXe9rK2Wro6BXP62Pt9vhl9PVNHNMipaDQatmzZkuFZ0/QM9KxyyrzOUWFjY0OnTp1Yt24dYWFheHp6MnHiRIoVK8bevXvx8vKS6/br1y/LHTI3btygZ8+ejBkzhpIlS/LixQtAp/Pt7DIfZz8rnDI53SEDn66j4lU+dTmvXbsm62i1Wk39+vVp1KgRS64moTCKJv75LaKvHpLrz549GxMTEwYOHEhiYiJLly7l888/l6/b29vn6GeVXQ4ZhfTqws9M0rhxYwoXLszYsWMpXLgwly5domLFivL1du3akSdPHj0PdWrSUtaurq4EBwdjbW1tUP/Fixe4urqm2ZYkSURFRWFlZZXmj4IpU6a8NhybkZERBw8exNPTM906b8Pq1avp16+fQbmnpydHjx7NdHtvkjOjPHv2DGdn57e+P7tJSkrC29ubJk2ayOtFP1U+Vlm3bdvGkCFDDDwcCoXCYE15CqmN8RSsra0z9KO4VatWbNu27bXLXMJjk/jqr0tcfhaBQgHDGhRmsOf73Qya2dczMjKSvHnzEhERkabe+5C8Omu6fv16WrZsyZkzZ6hduzZ+fn56euSrr77iyZMn6caynzx5cppOmfXr16frlPHw8Mj0uJ88eUKjRo0ICQlJt07r1q1Zu3Ztlq9pXb9+fZoRwWrXrq0XKu598ujRI3kWSiB4FyRJws/PT9ZXBQoUICkpidOnT+Pt7c3t27cN9L9ZkWo4dPwBSZOM/+rhJAX/t7LC1taWCRMm8M8///D3338D/32HmJqasmrVqjSXqn2sxMbG0r179zfq+3dOVCRJEgkJCbi7u+Pk5IS3t7dsoCcmJnLixAm95SSvYmJigomJiUG5kZFRml9sSqUy3S/nFM+CQqFIs87kyZNRq9VMnz6dxMREvWuOjo6sWbOGBg0apC/sW9K3b1/69u2bZe29Sc6MolQqPwpjML33wqfIxyTrrl276N69e5qG+KtlqXfix8fH07JlSw4cOCC/l1OMcycnJ+rUqcO2bdsM2vj666/5+eef09QXKbyMSuDLVT7cCYjC2lTNwm4VaVDc4Z3kfBcy+nrm5Nc8q2dNx48fz8iRI+XzFKdM06ZN03XKpFX+JkdF2bJlOXr0KF26dJHDd6Yec69evfj1119f+356WwYNGsSgQYOyrL2scMrY29tTtmzZLBtTdvCxOioyy8cs5/r165k7d67ehn83NzfCw8MJDw9P8x7TQuWxb/ktAJEXdugZ5wBhYWF89913es7XFP0/bNgwOnbsmMVSZC1v45DJCJky0CdMmECLFi1wdXUlKiqKjRs3cvz4cQ4cOIBCoWDEiBHMnDmTokWLUrRoUWbOnIm5uTndu3fPTDfZhkKh4Pvvv2fgwIH8+eef3L59GyMjI+rWrUvHjh2zRVELBJ8iGo2Gb775Rlaibdu2xcPDg19//dXgxy/A0KFD9a7t378fd3d3vWygAE2aNGHBggW0bt2acePGyWsYhw8fzoIFC147Jv+IOL74/TyPgmPIZ2XCX/2qU9xJbMx7V4yNjeXQulWqVOHChQssXLiQsWPHAhAQEED+/Pnl+kFBQQZ7kVKTVU6ZjDgqypUrx82bNzl48CD79+8nOjqaggUL8uWXX35U68KzwinzsThk4ONyVLwLH5uckyZNYsaMGQbljx8/Tvcey4otsW88EJQq4v1uE3F6o951BwcHgoKCAAxmeLp06cKMGTNQqz+OpPdZ7ZDJlNSBgYF8+eWX+Pv7Y2NjQ7ly5Thw4ABNmjQBYMyYMcTFxTF48GDCwsKoXr06hw4dynG71x0cHBg1atSHHoZA8NFy4MABnj59CkDDhg1p1arVazcFLliwgBEjRrBw4UIkSUKSJAPjHODPP//kzz//1CtzcXFhwoQJrx3P3YAo+q6+gF94HC55zFjXvzpueUVm0OzgXWdN3zdKpZIWLVrQokWLDz0UgeCj5fDhw3rGefXq1TE2Nub06dMG+yIcHBwwMrUgrmQrrCo0B8Au6iGXN0wAjf766yNHjnD8+HGWLFmiN9O1YMEChg0blmtCKqZFpgz0NyVzUCgUTJ48WSRjEAg+ca5duyYff/HFF3z77bdvvGfjxo2MGjWKuXPnGlyzs7NLc6d+sWLF2L17Nw4O6S9TOXX/JYP/ukRUQjIeeS34s391XPJ8OusVPyQf+6ypQCDIGhYuXCgf//TTT1y7di3dHDfhCis8Ok1DrdYtTQs7sYYn57YY1FOpVHz//fdoNBoePnwolzdr1ozhw4dnsQQfHx/HvIFAIMhRpJ5mP3XqlLymrmjRonKUolcJCAjg4sWLBuUpkY0OHjzIpk2bCAoKwt7enk6dOtGmTZvXTgdu/PcpE3feQKOVqOZux7IelbG1MH5H6QQpfCqzpgKB4O3RarXypu/8+fOTN29eA+NcpVKh0WiwqvoZtp69iFOpMVck4rthCvFPrqbZrkajYefOnXplxYsXl7MA53aEgS4QCDJN9erV5ePUIQ8HDx78Wm/6sWPHDMomTJiAsbExbdq0MYi7nR5arcTcQ3f59bjO6/JZRRd+6lgWE7UqoyIIMoCYNRUIBKlDoLq5ubF48WKDOta29ihrfIllaV2gjZg7/1De6DH3nus2kxoZGcltDBgwAEtLS1atWiVvLLW3t6dfv36MGzcuVyYlSgthoAsEgkzj6elJqVKluHXrlrzBB3Sh7WxsbIiIiJDLUkdweZUxY8bw1VdfZarvhGQN3225xq6rutjSwxoV5dvGRXP1WkWBQCDILkxMTHB0dCQwMBAfHx/Z0C5fvjz+/v6ExGkwaTkek/xFkbQawo78TtSlPez9v1cd/ov9bWxszI8//oiLiwteXl48fvwYhUKBu7v7R7Vh9n3w0RnoJiYmvHz5krx584ov5LdEkiSCg4NF1BpBprlx4waHDx8mLi6Orl27MnPmTL2Y5mlFWnnVOFer1bRp04bhw4dnOufAy6gEvv7rIj5PwlArFXh1KEunKmnnRRB8Ggid/+5ER0d/NJEwBDmTXr16MXv2bL0kO25ubhSr3ZKzylKoLGzRxEYQsX8+UQ90SxlTjPPU/Prrr7i4uAC6z3bx4sXfjwAfIR/dJ9bBwYHIyEieP39ucE2r1RISEoK9vf07xQfP6WSFnDY2NjkuIYrgw/H48WMWL17M5s2bCQ4OJm/evLRv357u3btToUIF/P396devn8ESFWtra2xsbAgMDNQrt7Ozo3Tp0ly4cEE24M3MzFixYgWmpqa0bt06096S688j+OpPH/wj4rEyVbP0i8rUKZr33QQX5HjS0/m5Rd/Du8uqVqtfG/pSIEiPhw8f8vTpU+rVq8eKFSv0En8deZqMXdHqqFRqEoN8ebl9OskRgWm2U6pUKWbOnEm7du3e19A/ej46Ax10RkFaxmVSUhJXrlyhbNmyn/RUSW6RU/B+2L9/P59//rleuvlnz56xaNEiFi1ahEqlwtjYmLi4OIN7IyMjiYyMpFmzZnh7e8vhtkJDQzl16pRcz9jYmIMHD1KjRg29NesZZc+1F4zafJWEZC0e+Sz4vWcVCuezfAtpBR8jaen83KQHc5OsgvfD3bt3+f3337ly5QpKpZJq1aoxYMAAChUqBOjCKk6ePJnTp0/L99jb22NpaUl0dDQ2tbuRp84XAMTcOkH0seUoEmL1+jA3N6d27dr8+OOP1KpVS8yAZZKP0kAXCARZw927d+nYsaNsfKtSrRlMQaPRyNfz5cvHuHHjKFCgANu2bWPz5s0AeHt7s3LlSmbMmGEQxaV06dIsX76cWrVq6U2PZgRJkvjtxCNmHdDFx21QPB8Lu1XE2lQYKQKBQJBZtFotY8aMYd68eXrl3t7ezJgxAxsbG0qWLMn58+cNsjmneM/d63dCW11nnIcdX0Xk+W0G/Tg5OXHlyhXOnTtHtWrVhHH+FggDXSDIxfz888+y8V2jRg3OnTsnXzM3N9fzqgOEh4fTtm1bbGxsePz4MRcvXuThw4dotVpOnDjBnTt3OHbsGJcvX0ahUFCtWjXq1KnzVso5WaPlh103WX9elxCpb213JrYqiUopFL1AIBC8DZMnTzYwzlMTERGh9z1QsmRJWrZsyYMHD9i9ezdqxyJoKndDASRd25emcV6sWDH27duHnZ1ddoiQaxAGukCQS5EkiQ0bNgBgaWmpN3U+depUhg4dSv78+UlISJDLk5KS6N+/P//++6/BkpdVq1ahUqn49ddfadSo0TuNLSAinuEbL3PeNxSFAn5oXYo+td3fqU2BQCDIzQQFBclZfpVKJYULF043b0UKffv2ZfTo0Zy9dpeEAlW4TiEUamOSn17mytqpbNlcmu3btxMeHo6TkxPdu3enY8eOmJiYZHrGVKCPMNAFglxKbGysnGCobNmy8prxIkWKMHHiRJ49e5bmhrQTJ06k2+Yff/yBSqXit99+e+txHbsTxKgtVwmNScTCWMX8LhVoVtrprdsTCAQCAaxbt47ExEQAOnXqxKZNmwDd2vJ169axatUquSyFWSu3sdI/P7FGecCyImogMciXgG0zaXFvJ3///TeDBw9+z5LkDj7tre8CgSBdzMzM5FCbd+7ckcsrVqxIUFAQdevWTXNjaAqFCxfmu+++k89TjPlly5Zx7969TI8nIVnD9D236LP6AqExiZR2tmbPsLrCOBcIBIIsILW3PPVeIy8vL5o1a0aBAgVS1VZgXb0j5q3HE2uUB0mrIf75LcL/WUfgxolIiXFcvHiR+vXrExoa+h6lyD0IA10gyKUolUratm0LQFhYmLxO/MyZM0yaNIlnz5699v6HDx8yf/58+XzIkCHy8cqVKzM1lvuBUbRfcoY//vEFoHctN7YProV7XotMtSMQCASCtDE1NZWPU+v3pk2bsmzZMnltutrWGYfPf8S2fh8UShXRN47yfNEX9HIJxvzRcbRxkfK9Dx48YPbs2e9PiFyEMNAFglzMt99+KxvmKTv2/fz8DFK8pxd7OcULM2jQIL799lu5/O7duxkew6GbAbRe9A+3/SOxszBmRa8qTG5bGhO1KlOyCAQCgSB9GjZsKB8/fPhQPj558iTffPMNahtH7FsOx7n/UswKV0GblEDI/l8I2TsfbXw0mzdvxt/fH4A6derI+5b++OOPdLNFC94eYaALBLmYmjVrsmjRotfWUSqVcnzztBg5ciSLFy/WS1aU0Sy1+6/7M3jdJRKStdQtmpcDI+rSqKRIqCIQCARZTYsWLShcuDAAwcHBcvnXX3+NyrkU+fstwbJsExRKFbEP/iVg7bdEXzsk13v8+DGgS3z1008/0aRJE0AXfvFNM66CzCMMdIEglzNkyBCOHDlCy5Yt07yeYpxbWloahEv08PCQp0Vnzpwpl6f21KTHnmsvGLrhMslaiXYVnFnVuyoOVqZvvE8gEAgEmUelUrF+/XosLPSXDmrsC5Ov4/cojUxJeH6TgD9H8XLbVJKCnxq0YWJiwsaNG6ldu7beOnYR5zzrEQa6QJBLefLkCaNGjSJ//vw0atSIM2fO0K1bN+bOnYta/V+AJ2dnZ8aNG8ft27dp06aNXhvGxsZ4eXlRqVIldu/eDUCePHno3r17uv1KEqw5+4RhGy6j0Up0qOjC/M4VUKuEOhIIBILspFq1apw+fVoOhWviWoZ8HX9AaWSq85pvnEjCC90SRXNzc4P7f/31Vzp27Mjt27c5fPgwoEtK5Orq+v6EyCWIMIsCQS7k+PHjtG3blqioKLksPDycDRs2sGnTJurUqcPJkycBncfEzc2N+/fv4+SkH1Hlzp07TJgwQT5Xq9WsXbsWS0vLNPtNSNKw/qGSf8/pvgC6VHFlZoeyIvmQQCAQZCNarZYdO3awdOlS/v33XyRJonzdpkTV+BqN0oi4Rz683OkFmmScnZ0ZOHAgJUqUoEuXLnrtaDQaZs2axdy5c2UP+oABA1CpxJ6hrEYY6AJBLsPPz4927drJxrmxsTFly5bl3r17REVFodVqOXnyJPny5ePly5f4+voyaNAgg3YUCoVeKugqVaowZ84c6tevn2a/z8Ni+fqvi1x/qUSpgAktS9KvjruYGhUIBIJsJDExka5du7Jjxw65TKE2JqhIG4yVRqjDHhO0fQZokjAxMWHYsGF07twZPz8/HB0d9fYXffXVV3ptlylThtGjR783WXITmZpT9vLyomrVqlhZWeHg4ED79u0NojVIksTkyZNxdnbGzMyM+vXrc/PmzSwdtEAgSButVsuhQ4eYM2cO8+bN4/Tp04SHhzNnzhxKliyJkZERHh4ecoKiGjVq4Ovri4+PD/7+/nz99ddyW2XLlqVWrVoGfRgZGTFy5EgeP37M1q1bWb9+PZcvX+bChQvpGufH7gbRetE/XPeLxEItsapXZfrX9RDGuUAgEGQjkiQxevRoPePc2dkZ17bfYuzgjiYmjMfrvqdQAWcAEhISGDduHB4eHtStW1fPOH+Vtm3bcuzYMaytrbNdjtxIpjzoJ06cYMiQIVStWpXk5GQmTpxI06ZNuXXrlrzpYPbs2cyfP5/Vq1dTrFgxpk+fTpMmTbh79y5WVlbZIoRAIIB9+/bxzTff8OjRI71yIyOjdFMunzt3jsqVKzNkyBDGjh3LL7/8wu7du3n+/DnHjh0jPDycO3fusH//fqKioihYsCBdu3bFwcEBgIIFC752TBqtxILD91h09AEAZV2s+cwhlFqF7bNAYkF24uXlxfbt27lz5w5mZmbUqlWLWbNmUbx4cbmOJElMmTKF5cuXExYWRvXq1VmyZAmlS5f+gCMXCHIPjx49Yvfu3YSHh+Ps7Mxnn33GpUuXWLRoEUePHiUuLk6e6TQyMmLhwoXkr9GGEZuuogBijy5FExPGk5gwOnTowPbt2w36sLe3Z8mSJYSEhODv74+NjQ1t27alWLFi71na3EWmDPQDBw7ona9atQoHBwcuXrxIvXr1kCSJBQsWMHHiRDp06ADAmjVrcHR0ZP369QwcODDrRi4QCGT+/vtvOnTokGY4xPSM8xQCAgL4/vvvOXv2LDt37qRmzZps2bIFSZIICQmhWrVqVKtWLdNjCotJZNjGy5y6rwvn9WWNQoxtVpQjhw684U5BTkA4ZASCnEtoaCgDBgxgx44deksNv/76a73oKqlJVqiZuO0y1o8LgELJ0IZFSLZty7hxZwCoUKEC06ZNY/Xq1Tx48AAzMzMaNmxIt27d0twwKshe3mkNekREBAB2dnYA+Pr6EhAQQNOmTeU6JiYmeHp6cubMGWGgCwTZQHx8PAMGDJCN87p16+Lg4MCOHTteG7/8Vfbt28fcuXO5ePGiXGZra/tWY7r+PIJBf13ELzwOUyMlP3UoR/uKLm/8sSDIOQiHjECQM4mKiqJhw4ZcvXrV4Fpq41zOYaFSY1GqAXnq9kBtpZu9jL9zkorNLLBs0ECu7+/vT6lSpURm0BzCWxvokiQxcuRI6tSpQ5kyZQCdJw7A0VE/0YijoyNPnjxJs52EhAQSEhLk85S1sUlJSZn+Mk+p/6kbAULOT493kXXjxo28fPkS0CWiqFy5MtOnT3+rcXh5ecmbRxs2bIiFhUWmxiRJElsu+jFl7x0Sk7UUtDNjSbcKlHCy0vtMf+qvaWbl/Bieh3DICAQ5g3nz5snGuZ2dHZ07d2bbtm3y94CMsQU2lVphVbEVKkudsyUp1I9Q79+If3yZ7ufWMGnSJLn62zpkBNnDWxvoQ4cO5dq1a/zzzz8G117d+CVJUrqbwby8vJgyZYpB+aFDh956SsXb2/ut7vvYEHJ+emRWVkmS2Lx5s3xeokQJvYRB6fFqBBYzMzPi4uL0wi7WqVOHffv2ZXgsiRrY6qvk/Evd3vMytlq+KBzFo0unePRK3dzymmZUztjY2GweybuRVQ4ZyDqnTG75sQe5R1Yh55vRaDQsX74c0CUeWrFiBb1795Z/QKdgXrw2dk0HozK3ASA5Kpgon11EXtxFXts8xAOBgYH88MMP8j1t2rTJ0mcvXs/X138Tb2Wgf/PNN+zatYuTJ09SoEABuTwlRnJAQAD58+eXy4OCggyUeArjx49n5MiR8nlkZCSurq40bdo00zuDk5KS8Pb2pkmTJhgZGWXq3o8JIeenR2ZkTYlnu2zZMs6cOUNiYqJ87a+//pKXtbi7u+Pr66t3b4phnvKjOcVIj4uL06s3Y8YMvvvuuwyP3z8inkHrLnPrZRRKBYxsXJQBddxQvhLfPLe8ppmVM8VIzalklUMGst4pk1t+7EHukVXImTYJCQk8evQIf39/QBdpa+7cuXrGudLMGvtmgzEvXgeAxJdPiDi7idi7p0GrW/6S2hETFhYGQOnSpQkMDMyUUyajiNdTn4w6ZDJloEuSxDfffMOOHTs4fvw47u7uetfd3d1xcnLC29ubihUrArr4mydOnGDWrFlptmliYoKJiYlBuZGR0Vt/gb/LvR8TQs5PjzfJmpycTO/evdm4cWOa11NPcTo5ORkY6Km95qmPU7Np0yY6d+6c4TFffx5B/7UXCIxMwN7CmEXdK1KrcN7X3pNbXtOMypmTn0VWOmQg65wyueXHHuQeWYWcaePj48PcuXPZtWsXycnJcvmNGzfkc2trazQFKmHbaAAqcxskrYaIs5uJOLMJtMlYWloSHR0NoDeDBVC0aFH27t2Ls7NzFkopXs/0yKhDJlMG+pAhQ1i/fj1///03VlZW8hSnjY0NZmZmKBQKRowYwcyZMylatChFixZl5syZmJubvzb1t0AgyBg//vhjusb5q5w9exa1Wq2n0NOidOnScq6C5s2bZ8o433PtBd9tuUZckoZijpas6FUVVzux2/9TIDscMpD1Tpnc8mMPco+sQs7/2LBhAz179kxTj6eUqazsMWsxAlO3/38Og3wJ2beAxMCHuo2ipL+sokaNGuzbty9b15+L19OwXkbIlIG+dOlSAINkJKtWraJ3794AjBkzhri4OAYPHizHxT106JAIuSUQvCNRUVEsWrQI0O3ONzExkZem1KxZk7Nnzxrc8ybjHJCNcyMjI3788ccMjSUwMp4f/77JgZu6H+mexfKxuHtFrEw/fSWcWxAOGYHgw3Lnzh169eol6/FX9w4BqKzz4dTNC3UeJ6TkRMJPbyDy3+3ycpaUJY8pXnNbW1vi4uKIj48HYOXKlWJzaA4l00tc3oRCoWDy5MlMnjz5bcckEAjSICVZEOjWHqbs4u/VqxerV6/myy+/5K+//jK4z8jIiCJFinDnzp10P8Pm5uasW7eOGjVqvHYMkiSx2ecZ0/fcJiohGbVSwSDPwoxoXBS1KlOJiQU5HOGQEQg+LL/88ovs+S5RogR37twBoF69ely5coUYTGTjPCn0BUHbppAc6vfaNlPWnAN8+eWXlCxZMvsEELwT7xQHXSAQZB1+fn789NNPhIeH4+DgQKdOnfDw8AB0m0r++OMPuW7q+Lfly5cHYMqUKWka6ElJSdy+fVs+NzMzo0qVKoSFhWFlZUXLli3p37+/vKY4PaLik5iw4wa7r77Q9euah586lKVkfpHm+VNEOGQEgg/Ljh07AFCr1XJkJHNzc3bu3MntZy/pvPQf1DaOJIW+IHDDeDTRIQB4eHgQGhpKeHh4um137txZjgYjyJkIA10g+MCEhYXRq1cvdu/erVc+fvx4OnfuzIIFC+jQoUOaS1hA58UsU6aMnmekVKlS3Lp1y6BulSpVWLlyJWXLls3UGK89D+ebDZd5EhKLSqlgdNPifFXPA5Uy/WgdAoFAIEibZ8+eMXr0aG7cuIFKpaJGjRoMGDAAV1dXOQlYyrKy5ORkeZmLlZUV+26+xMvb9z/jfON/xjnAo0f6gW1r1KiBUqkkKSmJUqVKMWDAAGrVqvXaaEuCD48w0AWCD0hsbCxNmjTRy96ZgiRJbNq0iWPHjhEUFKR3Tc4Qh055d+zYkbx5/4ucknqXfp8+fShVqhT16tWjatWqmVLKiclaFh97wJJjD9BoJVzymPFLt4pULiTWLAoEAkFm0Wg0jBo1St5PlIK3tzdeXl7MmjWLgIAA5syZY3CvwsiU5CpfMHHPfQC0gfcJ3DodbUwoxsbGeiF3AfLly8f333/P0KFDhTH+ESIMdIHgAzJlyhTZODc2NmbAgAGoVCr+/PNP2SOeYpwbGxvTsWNHNmzYIBvnKURFRcnr042MjHj48CGgW7f4xx9/oFRmfn34g6Aohm+8ws0XupBQrcrlZ0b7MuQxN347YQUCgSCXM2HCBAPjPIXk5GRGjRqV5jXzPPmwbjMOE+fiSFoNJg+Ocn/nIpC0lCxZUl7GWKlSJXr37k2hQoVo1qxZmhGTBB8HwkAXCD4AkZGR9OnTh+3bt8tliYmJLFmyJN17EhMTqVatGqGhoRw8eDDdeimbimxsbFi/fv1bGed7r/nz3darxCZqyGNuxLR2ZWhTPmtj5AoEAkFuYt++fXqe8QoVKtCoUSPWrl2rl8MihQEDBrBp0yZitGpsOkzGOF8hNHGRvNw2nQS//5Ywpt5j9PPPP1OvXr1slUPwfhAGukDwnklKSqJNmzacPHnytfXq16+Pj4+PnFwCYOTIkfj4+PDZZ5+xZMkSrl+/bnCfQqGgZcuWzJkzJ9M79JM1WmYfvMvyk7o1jDU97FnYtQIO1qaZakcgEAgEOrRaLcOGDTNwwFy5coUrV66ke9+WLVv4fu5SFl6KR2XjSHJUCEGbvycp+Gma9WfOnCmM808IERdNIHhPSJJETEwMa9asMTDOS5QogZ2dnV5ZvXr1sLe3N2hj2bJlDBw4kGvXrulFdmnYsCG7du3iyZMn7NmzJ9PGeURcEn1WX5CN84GeHvzZr5owzgUCgeAdmDx58mtnR0EXeWXo0KF6ZcnutVly3wKVjSOWxKE+vpDkkGcG99aoUYMdO3Ywfvz4LB234MMiPOgCQTbj7+/PwoULWb16NYGBgXrXChQowPPnz+X4tqn55Zdf0gyTtWrVKtq3b09SUpKeQp40aRINGjR4qzE+DYml75oLPAiKxsxIxbzO5WlZNv+bbxQIBAKBAUFBQZw5c4aQkBBmz54N6Cca8vT05MSJE3L9Z8+ekS9fPpSmlpgWKo9luSaYeVRBAqq6mLO0T2PU4xrj7u5OeHg4xsbGHDp0CHd3dwoWLPghRBRkM8JAFwiykWvXrtGkSRODKCwpFCpUiOfPn+uV5cmTh/Dw8HRj2CYlJdGyZUu9sgYNGhgklMkoR+8EMnrLNUJjEnGyNuWPXlUo42LzVm0JBAJBbubly5eMHDmSTZs2yfuBUqhUqZIcFODSpUt61ySLvCy9a0yBb9ahUKp0ZclJhB1fycln59nAJFatWiV/L3Tp0gVPT8/sF0jwwRAGukCQTcTGxtKqVSvZODcyMqJ69eqcPn1a9qKcPn2aQoUKyUkogDQN8+LFi3P37t00+6lbty7btm3LdBit8NhEpuy+xY7LusxzZV1s+KNXFRzFkhaBQCDINC9fvqR27drcv38/zesXL14kb968BAcHy1G3AMyKVCNvq5EoTS0BSAx+QrzvZaKvHSIp+ClRwLBhw+T6dnZ2IjlYLkCsQRcIsokNGzbI3vHy5cvz6NEjTp06labX47PPPkuzDYVCwaJFi1CpVHKZubm5fNyxY0eOHTuGrW3G45JLksTfV/xoPP8kOy77oVTAV/U82DKopjDOBQKB4C0ZNWqUbJznyZOHESNG0LRpU7060dHRmJmZyec2db7AoeMPKE0tiX9+C7/f+tEw/gwJ59anuRm0cOHCHD16VM4yLfh0EQa6QJANPH/+nClTpsjnV69epXHjxixatIgBAwbo1X3y5Am1atWibt26Bu0olUq++eYbOSuom5ub3q7/x48f6xnvb+LRy2i+XPEvwzdeITg6gSIOlmz7uhYTWpbE1Cjj7QgEAoHgP4KCgtiwYQMApqam/PDDD0ybNg0vLy+9evHx8QwYMIDixYtjXa0DeWp3AyDSZxeBGybQoZknfn5+xMbGAuDg4ICpqc5xolAoOHLkCOXLl3+Pkgk+FMJAFwiymBs3blCpUiWePdPfbX/37l2GDRvG2rVrad26td617777jlOnThm0pdFo5OPChQtz6NAhChcuLCvsmJiYDI0pWaPl1+MPaL7gFP88CMZYrWRkk2LsHVaHigVFVlCBQCB4W54+fUqTJk1ITk4GdEb4yJEjcXFx4dChQ9SpU0ev/vbt27Er60me+r0BCD2ynLAjy0GbzObNmzl+/DigS063Y8cOBg8eDOhmP1PHPBd82ggDXSDIQpKSkmjXrp1B0okyZcrIxwcPHqRo0aIUKFDA4H6lUkmTJk3kcyMjIzw9PVmxYgXXrl2jaNGiHDp0iPj4eIAMTXPeDYiiw9IzzD5wl0SNlnrF8uH9bT2GNSqKiVp4zQUCgeBt8ff3p27duly7ds3gWmRkJOPHj6dEiRLkz/9fVKzABDXPCzRGoVASdXkfUT67DO51dnZm37591KpVSzb8gUzvNRJ8vAgDXSDIQnbs2MGjR7o44q6urnK5iYkJGzduxMjICIBff/1VXp+eN29eJk2aRP/+/bl79y6HDh2iUaNGgM7gd3BwoEGDBpiYmLB792769+8vt9u3b990x5KYrGXB4Xu0XnSKa88jsDZVM69Tedb0qUohe4ssl10gEAhyG5MmTeLpU/214h4eHvTq1Us2pv/44w86dOgAgNI8Dw4dv0dpYk7C02u0cIyme/fu8r1Vq1Zl06ZN+Pr60qhRI0JCQli3bh0AarWaihUrvifJBB8aYaALBFnIzp075eMlS5bIRvrFixf58ssv5c2cCQkJcr1p06bxww8/0Lp1awoVKgTAlClTUKt1QZa2bNmCh4cHRkZGtG3bFj8/XdSVqlWr0q5duzTHcflpGK0XnWLB4fskaSQal3Tk8EhPOlYuIDwwAoFAkAWEh4ezfv16ACwtLSldujQAjx49Ij4+nm+++Uauu2zZMhRqYxw6TEJt44iNMoETXj35a+0avv/+e7nehQsX2L9/PwcOHGDJkiVUq1aNkJAQQBcUwMHB4T1KKPiQCANdIMhCwsLC5OMaNWqwZ88eWaEmJSUZxEP//PPP6d27t0E7tWvXZsuWLXoRW1JCMwJUr16dPXv2yEZ8Cskande849Iz3AuMxt7CmMXdK/J7z8oiI6hAIBBkIdevX5eXG3bp0oV58+ahVOrMqk2bNvHLL7/IdZOTk7FvMRwTlxLYmKkZWk6Fu7Puu6FEiRJMmDBBrrt69WratWvH0KFD5RlZR0dHZs2a9b5EE+QAhIEuELwlGo0GX19f7t+/L3vEU68zPH78OOXKlePKlSuMGzcOR0dHgza2bt1KoUKFmDZtmt46Q4D27dvj6+vLjBkzqFu3LhUrVqR9+/bs3LmT06dPG3hS/MLj6Pb7ORYcvo9WgnYVnDk80pPW5ZyF11wgEAiyGK1WKx8bGxvTrFkzNmzYgIXFf0sIVdYOmBevjX3rUViU8kQhaRlV3QYHM/22pk+fzqxZs7CysjLop1atWvzzzz/yDKsgd5DpREUnT55kzpw5XLx4EX9/f3bs2EH79u3l65IkMWXKFJYvX05YWBjVq1dnyZIl8tSPQPCxExMTw/z581m2bJm83MTa2ppevXrRrFkzVq1aBcDIkSNxc3OjatWqTJ06lQcPHrB161aD9oKCgpg2bRqVK1emRYsW8jp10IXYmjBhgp535VW0Wol1/z5l9v47RCUkY2miZnr7MrSv6JLFkgsEAkHu5OLFi2zcuJHAwEDs7Ozo2LEjJUuWRK1Wk5yczJYtW/Dy8qJz5840atSIlatWs+hiLMpClfTaCT6wiF6zvWnWrBlNmzaV9b1CoWDMmDEMHjyY7du38+jRI8zMzGjSpAmVKlVKa0iCT5xMe9BjYmIoX748ixcvTvP67NmzmT9/PosXL+bChQs4OTnRpEkTvaxZAsHHSkREBA0aNOCHH36QjXPQ7dZftGgRvXv3xsVFZxg/f/6catWqUaRIEfLly6dnnLu6ujJp0iQ6duwoT4levHiRRYsWZWo8D4Ki6LzsLN/vvEFUQjIVC+Zh37C6wjgXZAknT56kTZs2ODvrZmFS77EAnUNm8uTJODs7Y2ZmRv369bl58+aHGaxAkA2EhobSrFkzqlSpwty5c/nzzz9ZuHAh9erVo0mTJjRs2BCA4OBg6taty8aNG3n48CGb7iahLFQJSashwf8+UZf3EbhlMtHXvAFdNK8xY8YY9GdpaUnPnj2ZPHkyY8eOFcZ5LibTBnqLFi2YPn26vCM5NZIksWDBAiZOnEiHDh0oU6YMa9asITY2Vt5IIRB8zHzzzTdcuHAB0IVELFmypF6ioPj4ePz8/PSWlDx8+JCIiAj5vEKFCjx+/Jhp06axdetWvL295Wu//fabXuzz9NBoJX478ZCWC//B50kYFsYqJrcpxdZBtShob/7G+wWCjCAcMoLcTHx8PM2aNePQoUNpXr927RqHDh2S9wJdv36dbt260bD/RILtywIQ/PcsrM8t5cLSUTw5u5c5c+bIXvMlS5bw+PHj9yKL4OMjS9eg+/r6EhAQoJfa1sTEBE9PT86cOZOVXQkE750XL17ImeKsra35/vvvuX37dpoGdcqGTldXVywsLGQvuVqt5tixY/I5QMOGDWUvzOPHj3nw4MFrx/HoZTSdfjvDT/vvkKjRUr94PrxHetK7tjsqpVhrLsg6hENGkJtZtWoVPj4+AOTLl4+2bdumWS/1/iFj5xLYNx0CQPg/68kb/5wbN27g4eGBg4MDo0ePlj3nkiSxevXq7BVC8NGS6TXoryMgIADAYDOco6MjT548SfOehIQEvZBzkZGRgC7iRVJSUqb6T6mf2fs+NoScH4Y9e/bIirhfv356O/R79epF3rx5mTdvnt49z58/Z8iQIWzfvp0XL16QJ08ezM3NDWRKnbQoIiIiTZnjkzQsPeHL7//4kqSRsDBRMbFFCT6vpFt+kFOe0+vIaa9pdpFZOT/G5/Emh8zAgQPTvC+rdH5ueS9B7pE1p8m5fPly+Xj8+PGMHDlSPvfw8JAjrKSgtnXGpetUtGojYu6eJuL0Bub+rmsjtUyfffYZM2bMAHQZpnOKvFlNTns9s4vs0vdZaqCn8GrECEmS0o0i4eXlxZQpUwzKDx06pBdiLjOkXjLwKSPkfL/s379fPl62bBmxsbEA1KxZkypVqqS5kVOSJBYvXoyJiQmgW6c4f/58SpYsKddJTExk9+7dgG7ZzN27d/H395evayW4GqJg91MlIQm6z1HJPFo6eyRjEXiV/fuvZr2w2UxOeU2zm4zKmfJe+ph4G4cMZL3Ozy3vJcg9suYUOa9fvw6AjY0NCxculMu7detG+fLlmTRpkuy0UVnY4th5Klojc7TBjwnZ+zMgceLECfLly6fX7tWr/+nsly9fsm/fvuwX5gOSU17P7Car9X2WGuhOTk6ATnGnDjcXFBSUZog5MPxVGhkZiaurK02bNsXa2jpT/SclJeHt7U2TJk30ImF8agg53z/z5s3T2yCX+gMWHh7O4sWL9dbdFixYUC+7XGqP4W+//cbixYtp0qQJ9+/fZ+zYsXL89NatW9O1a1dAF9N897UAfjv5iEfBuv6crE2Y1LIETUs5fJShE3PSa5qdZFbOFC/yx0hmHDKQdTo/t7yXIPfImlPklCSJ+fPny8sXIyIi5H1E5ubmfPPNNzRv3lw2zpWmljh0moI6jxNJoS8I2DARKUkXH/3YsWPMmjVLNtKTkpL4+eef5b569OhBy5Yt36d4742c8npmN9ml77PUQHd3d8fJyQlvb285HW1iYiInTpxIN8C+iYmJ7F1MjZGR0Vu/oO9y78eEkDN7iI+PZ8uWLezZs4fIyEji4uI4ceJEuvVv375tUPbNN9/w3XffAWBmZkZcXJx87cmTJ7Rp0waFQqGXfMjY2JiJEydiZGTEv76h/PD3De4E6Ix+a1M1feu4M6CuBxYm2TLx9V4R713Deh8bb+OQgazX+bnlvQS5R9YPIeft27e5d+8eJiYm7Nq1i6VLl6ZZLzY2ljZt2hAZE4dF6QaYF6+DmUclFCojNNFhBG3+Hm3sf0EB/Pz8KF++PL1798bKyor169dz9+5dQDfb1K1bt0/+NRXvW8N6GSHT3/TR0dF6m9h8fX25cuUKdnZ2FCxYkBEjRjBz5kyKFi1K0aJFmTlzJubm5nTv3j2zXQkE750LFy7w2Wef6YVQTE316tU5f/78a9to06YNO3bskM8/++wzedNcgQIFeP78OaCfGdTa2ppvv/2WgsVKM3LTFbZf1vWfx9yIgfUK06NGQaxMP30FJ/h4eBuHjECQ0zh16hRjx47l7NmzGb4nysiO/L2nYZy3oFyWFPKUl7vmYK1KIvT/ZcbGxiQmJhIcHMzcuXP12jAyMmLNmjVp/lgVCOAtDHQfHx8aNGggn6dMVfbq1YvVq1czZswY4uLiGDx4sJyo6NChQ2lmxxIIchL379+nSZMmeiERX0WSJPr06SMnI3qVAgUK8PjxY3ntoru7O61bt5YN9MGDB1O8eHHWrl3L8+fPsba2plWrVvTo0YPf952n1aIzhMQkolBA16oFGdOsOLYWxlkvrECQAYRDRvAps2vXLjp27GiQxTmFfPnyUb16dfbs2aMrUKrJU7sb1jU+R6FUoYkOwzr4OrbRjzm9dzMAfUaNYt26dQQEBGBlZUWDBg3YsWOHXrSv2rVr07ZtWzl6l0CQFpk20OvXr6/n+XsVhULB5MmTmTx58ruMSyDIdiRJ4uTJk2zcuJGgoCAuXbokG+ceHh7Mnz+f8+fP4+XlJd/z77//UqxYMf7++2/mzp3LqVOn9Np8/vy57CE3MTFh1apVesa8m5sbHTp00AtbFxWfxNTdN9lyVwUkUtzRilmfl6OCa57sE14gyADCISP41Hj69ClXrlwhJiaGr776SjbOS5YsSadOnZg3bx4xMTGAbgNnXFwco0aNYslvy7FqMRLzwlUBiLl5nPCjv/MiPgqtVgvoZkIHDBggL4+xsLBgy5YtvHjxgvPnz5OcnEyZMmUoUqTIJ78xVPDufPyLWQWCtyAgIICOHTumG5//0aNHdOjQQVa8qfnrr784e/Yshw4d4vDhw2mGkytXrhw///wzly9fZu3atYAuEsCrcXRP3nvJuG3XeBERjwKJvrXd+K55SUyNVAZtCgTvG+GQEXwq3L17l1GjRrFv374039ORkZEcPXpUNs5TOHLkCM8Dgmg0eQs3gpPRJiUQsnc+sXdP69XLkycPu3btYvPmzXIQgZQft87Oznz22Wdy3U897KAgaxAGuuCj58mTJ/zxxx9cvHgRhUJB1apV6d+/v15s8dTExMTQuHHjN6YkT8s4T+Hhw4c0b94cZ2fnNK/7+vrSqlUr4uPj5bIxY8ZgYWGhG3NIDEuOPWCzj87bXsDWjM/yRzGseXGMhHEuEAgE6RIeHo63tzehoaE4OTnRtGlTzMzM0q1/7do1PD09CQ8PT7eOn59fmnuPFCYWhJftxo3gZExVCgK2exF730evTvny5Wnbti1Tp07l8OHDcvnQoUMzL5xA8H+EgS74aJEkialTpzJ16lQ9Y3rfvn1Mnz6dGTNmMGbMGIOQb7///rtsnNvY2Lx2zXlapERfuX//Pvfv3wcgb968VKlShQMHDgAYpDr/5ptvGDN2HDsv+7Hh36ec9w2Vr/Wu5caIhh6cOJJ2OmmBQCAQ6CJsjR8/nuXLl+uFurW1tWXUqFGMHz9eL0sz6L4nevToIRvnRkZGGfZgm7pXwr7FMNRWedEmxPBy3xwi/m+cOzs78+LFC0AX1zx1bHOAyZMnU6VKlbcVVSAQBrrg42XOnDnpTq1rNBrGjRsnx6xNze+//y4fW1tbywa6g4MDQUFBabaXshsfMJgeNTc3Z9u2bdSpU4d9+/bx+++/c+3aNVQqFTVr1uTrr78mX+GydFp2lstPwwFQKKBu0XwMbVCEau52YspTIBAIXkNSUhLt2rXj0CFDR0ZYWBiTJk3i0aNH/PHHH3pOmRMnTsib9t3c3Hj8+DHweueM2tYZ6+odsSrfTNd3yHNe7ppNUpAuc2jevHk5duwYK1asYNmyZXrtuLu78/3339OnT58skVuQe1G+uYpAkPMIDw/Xy0Y4duxYfH19efjwoV4SlO+//15vTaEkSXLc8hIlSvDs2TNAlw102LBhBv2khMBKMc5fxcbGhrNnz1KvXj2USiWtW7fm77//xtfXlwcPHvD7ytX8G5uXlr+c4vLTcCxN1HzbuBinxzZkbd9qVHO3e/eHIRAIBJ84y5cvl41zY2NjBg0axPLly+nRo4dskK9cudJg8+WRI0fk4yJFisjHY8aMeaUHBRZlGuL4xSxcvlouG+eRPn/jv3q4bJy7uLhw7NgxihUrxqxZs/Dz82Pfvn1s3LiRU6dO8eDBA2GcC7IE4UEXfJRs2rRJnuIcMGAAP/30k3xt3rx5BAYGsm7dOiIiIqhWrRpubm7UqFGDunXrolKpSE5O5tGjR/I9KpWKUaNGcfDgQb3ILKkzgIIuC2LlypX5/PPPAd3aw3LlyhmMT5IkvG8FMm3vLZ6F6pIUNS7pwLT2Zchvk/5aSYFAIBDoI0kSS5Yskc/3798vhygcMGAADRo0oF+/fgCMHj2aK1eu4OHhQbt27fSWwqTW+R06dODy5cts3boVpZk1eVuPxMxDtyRF0mqI871E5LmtNKtUmBsFXeR7V69eTZkyZeR2LCwsaNGiRfYJL8i1CANd8FGSkokNoGvXrnrX4uPjefr0qXx+69Ytbt26ZeBZSe0V/+eff9ixYwejR482CJ0IOo/NokWL6Natm2ycA7Rv316vXlR8EoduBrLZ55m8ztzJ2pRJrUvSqmz+16ZAFwgEAoEhISEh8sxntWrVDOKHe3p6ymvL79y5w6RJk+RrqXVuagN97ty5rF27lgtPIkiu2gO1lT3apAQiz24m+ro3yoQofv/9d1q0aEGxYsUA3YxqpUqVslNUgUBGGOiCj5LU2ddeXTfeu3fvNI3sN9G9e3eDDUYpODs7c+TIEcaPH09oqM7wzpMnD7169UKSJC49DWf1mcccuhlAQrJuw6qxSsmAeu4Mrl8ECxPxURMIBIK3IbUzxdbWVu+an58f9evXT3cfT3phQldt2MpZTWFoOBw1kBj8lOC/Z5EU/ASlUsmiX3+VZ2BT1ph36dIFOzuxLFHwfhBWg+CDkpIaPCgoiLx581K/fv0MpT729PSUl7XMnTuXdu3aYWZmho+PD5s2bXrr8aQXWvHx48fy5iLQTWtu3baN08/i+WP9aa4+/2+TUOF8FrQt70KHSi642pm/9VgEAoHgUyMpKYlnz56hUChwdXVFrX6zGeLo6IidnR2hoaEcO3YMPz8/XFxcAN2yw5TkcBnFskILbD17EWNqCUDUlf2EHf0DKUm3pFGr1TJo0CC9e1xcXJg5c2am+hEI3oVPzkBPSkpi9+7dPHr0CFNTUxo2bEipUqU+9LAEr6DVapkzZw7z58/X84DnzZuXESNGMG7cuNfe37RpU4oVK8a9e/e4ePEiZcuWpXPnzqxZsybN+ra2toSFhWV6nBUqVCAhIUGeXjU2NqZT5y7U7joUrytxPAi6rCtXK2lfwZmeNd0o7WwtlrIIBO+J+Ph4fHx8iI2NxcPDA3d39w89JEEahISEMGvWLFasWCHPQjo4OPDVV1/x3XffYW1tne69KpWKvn37MnfuXBITE2nSpAleXl6Ympqybt26DPWvVqvRqs2wbzkC86LVAUgIeECo928kvrijVy8lu2gK9erVY82aNfKPAoHgffBJGehr1qxhzJgxBoZYw4YN+f333/Hw8PhAIxOkRpIk+vfvz6pVqwyuBQcHM2nSJG7dusXKlSsNrsfGxnL16lUSExNZsGABnTp1IiYmhocPH+Ll5ZVun9HR0QBYWVnJMcorVKjAlStXAF2a5xQjvHPnzpQoUYIuXbpQqlQpJEnC39+fZy8jOBsosf1KIP+cegmAtamavnXc+bJGIewt3+z5FwgEWUNsbCx//vknffv2lQ0+0M2uTZs2jbp1637A0QlS8/z5c+rXr8/Dhw/1yoOCgpg+fTo7d+7k2LFj2NjYGNyblJREeHg4Q4YMYcOGDfj5+XH79m2D/T+pMYh1rlDiWr0FieU6oLbOh6RJIuzYKqIu7cFIrSJv3rzUqlWLwYMHU7NmTbZv346vry8WFhY0bdqUChUqZNGTEAgyzidjoP/yyy8MHz48zWtHjx6ldu3anDt3jkKFCr3nkQleZceOHXrGeadOnahZsybnz59n8+bNSJLE+vXrad68uexViYiIYMqUKaxcuVJeD6hUKqlTpw4xMTFcvHjRoJ/USjrlf1xcnHzdzc1NNtBTL6vx8vKSf8w9Do7h2N0gjt4J4uzDEJK1uvWMVqZq+tfxoE8dN6xNjbLq0QgEggwQGxtLy5YtOXPmjMG1EydO0LBhQzZt2kSHDh0+wOgEr9K9e3fZODc2NqZp06YkJyfj7e2NRqPhxo0b9O3bl23btsn33Lp1izlz5rBp0ybi4uJQKpXUrl0btVrNkydPXtufTt8rMClQCouS9TAvXguthS1qICnUj/y++3h6cRcAX37ZmxUrVujd37t376wUXyB4Kz4JA/358+eMGjVKPm/dujVdunQhICCARYsW8fTpUwICAhg1ahRbt27N8v5fvHjB6tWruX79Omq1mlq1avHFF1+8dsruUyIiIoJ169Zx5coVFAoF1atXp0uXLnJa+1dZvHixfLx27Vq+/PJL+bxDhw506dJFrjd06FBevnxJy5YtDTK1abVaTp48qWdcW1hYyHHP7e3tCQgI0LsnZerSyMhIzgIKyIa6u7s7do4u/Hn2MZt8nnHDL1Lv/koF89C1WkFal8uPufEn8fERCD46Jk+eLBvnarWaDh06ULBgQf7++2/u379PcnIyX375JXXq1MHBwSHL+7916xZ79uwhIiKCAgUK0KlTJ/LmzZvl/eRUnj9/zp49ewgLCyN//vy0b9+ePHnypFn3woUL8qZ9V1dXTp48iZubGwB37tyhXr16vHz5kt27d8s6ef/+/XTp0oX4+Hi5Ha1WK7eTOotnCnny5CE8PByVdT6syjfDolR91Hmc5Ouq5HjCrhwi/NSfmLj8V16xYsV3fh4CQbYg5TAiIiIkQIqIiMjwPT/++KMESIDUsmVLKTExUb4WHBwsOTg4SICkUqmk58+fZ9lYtVqtNGXKFEmtVsv9p/yZmZlJ33//vRQVFZXh9q5evSpNmzZNGj16tLRgwQLpxYsXkiRJUmhoqLRv3z5px44d0o0bN6T4+HhpzJgxUsOGDSVra2vJyspK8vT0lNavXy8lJyen2fbt27elCRMmSF9++aU0ePBgae/evenWTSEpKUmKjIyUtFqtgdz79++X2rZtK1lbW0sKhcJA/jx58kgbNmwwaDM5OVlSKpUSILm5uaXZtrOzs15br7ZfunRpqV+/fpKTk5NBv8uWLZMsLCwMyl/9Mzc312tfYWwmmZf0lBp8v14qNnGfVGjsHqnQ2D1S4fF7pa7LzkrLTzyUHgRl/LXMLImJidLOnTv13rufIkLOtHkbvfepkFnZY2JiJBsbGwmQ1Gq1dO7cOflacnKy1KlTJ/mz7eXllaVj9ff3l5o1a2agT4yNjaU+ffpIoaGhGW5Lo9FIR48elZYuXSqtXLlSun//vnwtICBAunjxonTv3j1Jq9VKwcHBUv/+/aW6detKpUuXlho0aCAtXbo03e8XrVYrHT9+XJo+fbo0efJkafPmzVJ8fPxbyx0bGyutXLlSatSokWRnZ2egk83MzKTvvvtOSkpKMrh30qRJevr5VaZOnar3HE1MTAyebd26dSVXV1eD516oUCGpbdu2uu93awfJvvk3UsHRO2X97Tpis2Tfcrhk6l5JKljILc3v6bCwsLd+Lm+L0IOfFtml7z8JA71p06Z6CuDVh/Tdd9/J13fs2JFlY02tWNL7MzU1lYYOHSqFh4fr3RsTEyM9e/ZMioqKkvz8/KRGjRoZ3KtSqaSSJUtKpqamBuXp9dekSRMpJiZGr59u3bqlWbd48eLS9evX5bpxcXGSt7e3NGHCBKlGjRpyP3Z2dtKIESOkJ0+eSElJSdIXX3zxRrlT/rZu3aond0JCgnwtf/780qxZs6Tbt29LkqT7Uhk7dmyG2jU3N5fMzMwMyg8fPixt3rxZ/hHwuj+F2lgyL15bytd+glRw1A5ZqRcau0dqOv+E9MepR1JIdEKWvV9eh1BknxbCQM84mZX92LFj8mfY09PT4Bk/ePBAvl6/fv0sG2dISIhUrFix1+oUpVIpdevWTbpx44bB/VqtVnZI7NixQypSpIjB/dWrV5fq1aunV2ZhYZGmEwiQChQoIF29elWvn3///VcqU6aMQV0HBwdp7dq1BjKdOHFCmjBhglSlShXJ1tZWcnZ2lnr27ClduHBBkiRJun79ulSwYMEM6eVu3boZOF2GDh0qXx8zZox09uxZuc7z58+lQoUKvbFdpVIplS9f3uCHQYMOPaWpW85Izt1m6BnmDl1mSOYl60kKtclr2120aFGWvT8yg9CDnxbCQH8NDRs2lD9wq1evNnhIqT3sW7ZsSbed2NhY6ciRI9LOnTslHx8fA0Vz5swZqUePHlKRIkUkV1dXWVkoFAqpY8eOkrGxcbqKoFSpUlJYWJh07tw5qUOHDnpG9usM7oz8vWrAt2zZUpIknYemVatWr73X3t5eWrNmjdSxY0fJysrqtXWtra3TVPyv/qX2dDg7O8uvR0JCgjRkyJA072nZsqX022+/vdNzSPkyu379unTo0CGpYsWKetdU1vkk8+K1pTyevSXHrjMk12+36Bnl9ecclWYfuC1dfx5u8NpnN0KRfVoIAz3jZFb2PXv2yJ/pTp06GTzjpKQk+XrVqlVf21ZQUJB07tw56fLly1JCgv6P8fj4eGndunVSmzZtpGrVqknu7u5yu05OTlKFChXS1UNmZmbSkSNHpMTERGnlypVStWrVJJVKJSkUCsnW1vaddNyrRmqePHkkPz8/SZIkycfH540ziD///LO0fv16qVGjRm/87unRo0eajpBXZU39A2L37t3yM7x69WqaBnj58uWlo0ePSpUqVXrL56CQ7Jp/o6e/dYb5NMnEpdQb77e0tJSWLFmSofdbdiD04KeFMNBfw/Dhw+UPXs+ePfUeUkJCgp6n4s6dOwb3x8fHSxMmTDBQnFZWVlLFihWlIUOGSF27dk33w54/f369ez08PKT8+fOnqRQy4tl9naGf0b9y5cpJCxcu1Ot7zpw50o0bNyQvLy/Jzs4uw229SYm7ublJmzdvliwtLeWyunXrysc7d+6UtFqt1KFDh9e2Y2RklGk5q1SpkuZ44hKSpAu+wVLXKSskh44/SAWG/mWgzAuN3SNV/GGPNO3va9KtFxHv3ShPjVBknxbCQM84mZX95s2bep/1Vw3rrVu3ytc7d+6cZhvXrl2TPvvsMz19bGFhIZUvX14aOHCgtHTpUqlo0aLp6p0ePXronXt4eBjUUSgUkpub2xt1mFqtzrTOf9VIt7a2lpYtWyZVq1ZNLqtQoYK0cuVKaf369ZkyhNNasvjqn5eXl16bbdq0kY9btGghSZIkXb58+bVOn/S+C1/Xv7GxsVSggKtk12yoVGjsHqngd39L+Tr+IE1Y4y3dfhEu7d69WypRokSa3y2lSpWSevToIf32228f/HMm9OCnhTDQX8PVq1f1Pty9evWSLl++LO3fv19vurBevXrSo0ePpJEjR0ouLi6SkZGR5OjomObattf9mZqapqtEGjZsKB0/fvyNXoeMKMF3/UttWPfr1086d+5cmktp0vqztrbOVF99+/aVZsyYIZ937txZPp4yZYq0ZMkSPcWceg346/4KFy782uulS5fWyWqdT7Kp3U3K9/mPkvOA5VKh7/42MMbdxuySWi48KY3ffk3a+O8T6daLCEmj+XBGeWqEIvu0EAZ6xnkb2VPPjjVu3Fjy9fWVkpOTpZ07d8p7jgBp79690p49e6Q2bdpILi4uUoECBaQ6deoYrHN+l7/t27dLvXv3znZ9npnvjfz580uHDh2SNm/eLOXNmzdD7WbEeZS6/QsXLsiec0dHR/m558mTR0pKStL70fLqLO/r/tIar8LIRFJa5JFU1g5Swc9Gy8a5eUnd97u9vb00cOBAvT7VarV07Ngx6datW1J0dHQ2voMzj9CDnxbZpe+zLQzFr7/+ypw5c/D396d06dIsWLAgW+LS7ty5k2+//VY+lySJNWvWsPHoJTRRL0kO10XxMDU15bPPPqNMmTLExsbK9QMDA+XjlDTv6WWTBChWrBiJiYl6WSVTc+vWLTp06KAXzs/U1FRvN3rKODOCSqVCo9EYlCtNrVDbOKCydkBpZIKkSaJYYXdu+pwhKeQpaJL17luxYoVBKKnXERkZibGxsV6K5XRRKFmzaQezFy9HnSc/yeH+vHz5Ur7866+/6j1nrVZLbGxshtovUaIEycnJPHnyBIXaBLWNA+o8Tqgs8oDKmOfGpjh06oSpeyUUCqXevZrYCBKe3ST++Q1qF3dmy/KfsTQ3zfAzEAgEGeN96fvIyEhGjRrFjRs35LLDhw/j7u6OUqnU0921a9dm+fLl/P3333ptpM46mZZuTo1SqaRz585s3Lgx3TqbNm3Sy16sUCgyrN9fRe9ehRKlqSVKU0us8+UnQW2F2tYZlZU92oQYFAkxWCqT8Lt4GG2cfrQpf39/mjZtmuF+JUnCyckJf3//DNX39/dn1Z/rqVyvKeeP7iMwMJACBQoAEBMTg52dnZxvAnTJpF59fdLCxMSEhg0bsnnzZtQ2jpgVrY55sVqYFCilp98lSUvy6dXE3j4J6JIgLVu2TL6uVCpZtWoV9evXz+gjEAhyHNlioG/atIkRI0bw66+/Urt2bZYtW0aLFi24desWBQsWzLJ+NmzYwBdffGGgDK2rd8S2fh8kTTKRPn+jvH2QwgVd9Ax5hUKBm5sbvr6+cpmkm1EAdJkq8+XLZ5Cl7N69e68d06th/YDXfgGkYGphicbMHiP7AqisHVAoVaBUojYxR2Fhh9o6HyqLPChNrVCaWqJQGb50YYBz2a5ImmSSQp6RFOqHJioYTXQoCiNTVFb2qCxsQatBmxiHlJSApE0GSQJJi0JlhMLIGIXaBKWJOUoTSxRqI7SJ8UhJcUhJiSkPD4WRCSpzG5TmeVBZ5EGhVPHLHXAZ+DvJ0aHcDriHTU0HkqNeEhEZjFFeU7QJMbovFqUKhZEpkqkldm5lsStelWiVNVJiHJqYMLTx0ShNLFCaW3PJzJo8XfrgmqhBaZJ22MYUSudVc3LdQpJCn5Mc+gJlQqQu+cR3g/n888/lH2ACgSDreF/6PiYmhsaNG3PhwoU0r6c2/goVKsTt27f1EhiZmZkB+rkQUnSzqakpffr0YcWKFXpOA61W+1rjHNAzzkHnVHk1E2VqFGpjFCbmGNm6YOzgjlE+N5TGZiBJKNUqFKY2OieElb3ue+D/WKXTXoGavYh/eo3Yu2dI8Lujc9BoNSiMTDCyK4DC2BxNTBia6FCkxNhX7lagMDZFZWFLqNoe85LFkJLi0ESFkBwdAppkXR2VGrV9AYzzuWPs4I5x/qLsMSmIomojHB3rEnZ8Fc+f674bk5KS9JMEpXqWAG7FyxDpXBVMLEnwu0OC3y0UKiOMnYpi4lSES7ZlKTiiI4pX9L0kaZGSE9HGxxB+cg075o9j2LDb3LlzR69ekyZNmDhxIp6enum+BgLBx0C2GOjz58+nX79+9O/fH4AFCxZw8OBBli5d+tpsj5khMjKSgQMHygZ1gwYN+OKLL9hw9hEP8tYCQKFSY1O9I8ml6nPXZxdqe3+SQ3TeE0mS9IzzlDLQxcLevXs38fHxbNy4MU0PtouLC7GxsXpZS5UmFpi4lMTEpQTGzsVRmlqhUKlRKFVo4qPRRIdCfBSS2gSVha3O4DYxR2lsjsLE3MAD/CY00WEkRwahTYzVGddqY9R58qMys9IpUYf3l/Ja0mrQxkboPPuWdqiL1MCkSI0M3ZsEvC4HZyyg/H8FbUIMyeEBJEeH6n5gJCdSKJ8Vf04ZwrY1v7Hvyn5AFyf5hx9+QKFQvJNcAoHg9bwPfQ+6BGIpxrmlpSV9+vQhNDSUf//9Vy+nAZBmIpu4uDisra31DPQUFi1aRP/+/UlMTJRnGl/1hFepUgUfHx/5XGFkimmh8pgUKIWJSwmMbF10xrdKjaTVoIkKJjkqGCk5CZWlHWpLe5RmVmk6V16HNiEWbXwUyeGBJIX7o4yPIBkVKvM8GOUrhIlTEczcKmLmpovnrU1KQBsXido6n0FbklaDlJyEpEnUOUqMzTL9vfNqe6YFy5K/53xi754h9v5Z4p/eQBP1Uq9elSpV8Ll4CcvyzUiu1xMrM93PDavyzQza1KUY0rWd4Hdb1+69s3KbCoWCxYsXU6tWLdnjb2JiwrFjxyhUqBDOzs5vLY9AkJPIcgM9MTGRixcvMm7cOL3ypk2bppn17W1Zt26dPIWWMgV57HYAjx5cBAki/91B/JOr2Db+CiNbZ2wb9MG2QR+SwvyRol6SFBeFNi6SuEcXiXt4AbT/GeEVKlTAyMiIW/cfgZEZaKIN+m/WrBnt2rXjs88+w8ilNFYVmmNerBYKddpZJTOSa1KbEENSyDO0EUFokhJkj4EmKpjkyJdookPRxkWhTYhGExsJGkMvBYDKKi/GDh66JTBWeVFZ2SMlxaOJCkETE4bOa2KG0tgUlCoUCiUKpQrt/w1eKTlR9nZLyYkojUx1ilxtrOtAkpA0SWhiw9HGhKOJCde1K2lBZYRJ/mKYFCiFkW3+//efFyOLPGBshkKlexKK/3vxEwIfEe93i0T/+zqvvEUelKaWaONj0MZFovn/66SNj0YbG4E2IUaWU61W8+eff9K+fXs2bNggGwMKhYJevXoJ41wgyGbel75PTExk+fLlgO5zf/r0aUKNHdh57F86thvJht3eJKBGmxiHNiEWKTEWbUIcUlK8TqdJWpAktHFRmIT6kRT6DCkpQXaQFKvRmHMPg7kboZSX6aU2zs1s8vLzstX06NmbwJhkLEo3xLxYLZ0OTQMFoLR3xcjeNV2ZkiODSAz0JfGl7/+XqChAoUAbE05yRADJ4YFoYiN0evU1qG0cMS9RBzP3Shg7FtYtizHSGeeamHC08dGoLG1Rmlj83yhXAfrj1ibG62ZbY0JRqP8/22ppq2e8J4X5k/TyMYkvH5MYcJ9E//ugVJGnzhdYlG2EefFamBfXOce0MWEkhr1AExmMpEnmmW1+ijQYR5JS129i4CPifC9h4lICk/zFkDRJJAY8ICHgAUlBviS+fEJS6HOD77iyZcuycuVKPDw86Nevn5xVulu3btSsWfO1z0kg+NjIcgM9ODgYjUaDo6OjXrmjo2Oayz8SEhJISEiQzyMjdWvp0psmS+H06dPy8bBhw7jyJJQhG66ilRQk3PuHsGMrAYm4FVexLNsY82I1MXUti5FtfrDNz/9NTawqtEATE0bs/XMojc1R58nPBZt8eIzfi4QCl2HrSXxxj9gH50kO9dNNwzkX44DagbPnJFxHbAaj/5RdUshzEl7cJsHvDslRwaBJRpK0qEytUFnaobLIgzYhVjfl+P/lHNqEWJ1BHBvxFk9cH6VSiSYqmLio4AzVt7a2JiIy8s0V/4+trS158+Y18FjJaJJIeH6ThOc39YpHjRrFvLnzUKiNkbQaFJIWT09Pjh8/rlevXr16nDy5K0NjSU5OpkePHqhUKr1p6T59+uDi4vLa909OI2WsH9OY3wYh5+vrf2xkVt/D2+n8GzduyPtaWrRoQcmSJfly5QXOPVHBE39wLvPaWbg30fOv/+urwu1wKdwOTWwEiQEPUJpaYWTnjNLUkh6bH0PryaSWNCnMn/in10h4fovkl75oEuKQNMko1EaorOxRW+VDoVKTHB2KJjpE52xIiEVKjEe3l/HdSY4IJPL8NiLPbwMUqG3zozSzJjnUD238f+vAFUYmOiP9/7Otklbz/7HEISUnGDasUIJCQeXKlbl44UK64w3Zv5DICzuxKNMQU9cyGDsVQWlhi6mFrV69JEAbH034qb+IurwPJC3GxsaYmZsTER6Roedx584devfuzYMHD+T3kLGxMcOGDfuoPkNCD35aZJe+z7ZNoq96LyVJStOj6eXlxZQpUwzKDx06hLm5ebrtP336VD728fHB7FkwZkoVJvGBXP17LvKHXZNE9JX9JN85xkutAhOXkqjMrFGYWGBkmx+Lkp6oLG2xqtBCf7yyHErdr3yXEgZjiNUCRmqdwe17nthrhwj3vZ7meDt37sz27dtfuzYxLTK74cje3l5vg6a9vT2Ojo7cunUrzfoWFhbEx8dnbDMoumnitJb8vIn58+dTtGhR2bCXwMA4d3Z2ZsCAAbRs2ZLdu3fj4+PzP/bOOizK5Yvj3226u0ExECxUbFDE7hb1mle99lWvHZjY7bWuYmKLLYKFXlvswkJEujs25vfH/va9rLsgIEjN53n2Yd+Zeeed87J73rNnZs6Re5AD0h8URkZG+PjxIwBALBbLjad58+bo1KkTLl26VOQxlgcCAwPLegi/BCqnPHk3rldECqvvgeLpfNn3HZDeq0uXLsFAzIKTthj3rl5ATkIExJkp0tk+gRqMza2RkJL+38wfiwUWiw2Oui64eubgakv3+RCxCJJcqcFMRDkgEjF4uubgqGlD1c5ZXqb/Lw2R5GYh69MjqEa/QOTz20rHq62tDQtNXbx+fb3A+/Y9RdX3BgYGiI/P64whcG/ihCtXrii0JcIcQCKCuYWF0iVAiidIAALwOGxwOOwC9b4wPgzJN32kMvBVwTOwgnn1OojPku5tEiVHQZQUBWHCN7kfAwMHDkTz5s1x6tQpBAUFKX0O6enpITU1FSKRCEKhEK9f/+f84fF4mD59Or5+/SpnE1QUqB6sXJS0vmeR4m43z4fc3FyoqanhxIkT6NWrF1M+ZcoUPHv2DEFBQXLtlXlTLC0tER8fDy0trXyvs2rVKixYsAAAMHXqVKxevRqRienwaOuKD2/kjWRTU1O4u7vj0KFDih2xOVC1c4aKpRPEGYkQJkVDlBINSWYqxFmp4KhqQqt2S/BsGoKjrouc6I/IjXoPYfxX6eZJUQ50+MCUiX9gyZIl+f4yUldXR0ZGhtK6olBUBX706FFERUXJbZAtKmw2GwKBQOnaTUA65SyRSBR26Lu7u+PatWvMce3atcHhcOQiMMgQCAR4+/YtEwkAAGJjY2FjYwORSARTU1O8evUKGhoaYLFYePr0KXbu3IkHDx5ALBajbt26GDVqFNzc3Crk0hahUIjAwEB4eHiAxyvMgqiKCZVTOampqTAwMEBKSkqBeq+8UVR9DxRP5yclJcHCwgJCoRD6+vp4//49VFRUsGTJEqxatUqh/YoVKzB37tz8B87hAmApXybI4ULdvCZYuhYQZ6ZClBQBYVKUXNt+/fohLS0N/v7+SrvX1NRERkbGD6OWlDROTk74999/YWRkpODcKAoCgaDA83V1deX2XwFA9+7dce6c/OznmDFjmKVJ3zNw4EDs37+f0ddZWVmYMGEC85xevHgx+vXrBzs7O4SHh2P79u04ceIEYmNjoa+vjz59+uCPP/5A9erViy1nWUH1YOWi1PR9UeM9FoYmTZqQP/74Q66sdu3aZPbs2T88t7DxISMjI+Wyl02ePJncv39feQxVFotcunRJIc5rcWKRf59ymcViKSRjGDJkSIGpkatVq5ZvzNn84rLz+Xwyc+ZMEh8fTwICAoiXlxf59OkTWbNmTb59cblcsnDhQtK4ceMiyaiqqkpatWoll3gov5ebmxsZM2YMc+zs7My8/+OPPxTaFxRffe7cuUQkEhFCpFldBwwYwNRNmjSp+B/ICgCNF1u5qEpx0H9G3xNSeNkHDRrE6IOmTZsSf3//fOOPz5gxg7Rs2bLI+v37l7IkbYaGhnJJ1dTV1UnXrl3z7UNdXb1AXWpsbKy03MLCgty4cYOcO3eO7Nixg8ycOZMEBgbm2x4AcXd3l0tQV9iXrq5uofKBCAQCMmrUKCaxUl59bmVlRZo3by7X3tzcPN++HBwcSGRkJPP/vX//PpMfQyAQkLi4uKJ/GCsIVA9WLipUoqKjR48SHo9H9uzZQ968eUOmTp1K1NXVyZcvX354blEeVIsXLy5QmeQ1wN3d3cmGDRsKbN+nTx/Spk0bpYZ7tWrVyJEjR0hqaqpc8qPvXwMGDCC5ubkkMTGRrFix4odGrpWVFTl58iQ5ceIECQoKIkKhkEgkEnLnzh2ycOFCMm3aNLJ582YSGxvLyP39h+H69etMf1wu94fJfb5/sdlsYmpqSnr16kVOnDjB9PvixQtSt25dpUp68ODBJCQkhBBCSL9+/Zi6vGm42Wz2DzPYWVhYKCj0Tp06yWU65fP55P3798X5KFYYqCKrXFQlA/1n9D0hhZc9JCSEaGtrF0rnq6qqksOHDxeYpMfU1JS0adMmXx3dpUsXEh4eTpYvX56vM0dDQ4NcvXqViMVicvDgQVKzZs0f6tvff/+dbN26lWzfvp08e/aMEELIhw8fyPz584mnpycZPXo0OX78uNxnJ+/nKSsrSy5bpqmp6Q+zPX//4vF4xMbGhowePZoEBwcTQgjJysoiv/32m9L2xsbGZNWqVSQ+Pp48ePCAKR8xYgTp0KEDc+zo6PjDpEQmJibMexUVFdK9e3fi6uoq12b06NHF/DRWDKgerFxUKAOdEEK2bdtGrK2tCZ/PJw0bNiRBQUGFOq8oDyqJREKWLl2ab4p4ExMTOe92fp5mFxcXcv36dUIIIWFhYXLK2MLCglHAMry8vJh6TU1NYmFhQXr27En8/f0V0sVnZ2eTMWPGKL12s2bNCv0Qy4uyD8PAgQMLpZitrKzItWvXyMmTJ8nWrVvJoUOHSHx8fIH3+ObNm2TBggVkxowZZOfOnSQpKUmuTV7P1uPHj8mMGTN+OA4Wi0V69epFYmJiyNq1a/Ntx+VyydGjR4t8jyoaVJFVLqqSgU5I8fU9IUWT/eHDhwo/6vO+vp8tVGa4crlcMn36dJKQkEAIIcTT01Oufvz48eTDhw/MNWNjYxnPLovF+n+6eQvy119/KdXfvr6+REdHR+G6fD6feHt7KzwjCsP3n6egoKBCG+XDhw8nFy5cIEuXLiVLliwh58+fZ2YqlfH+/XuyYMECMmzYMDJx4kRy6dIluedfcHAw0/eAAQPI8+fPCzXbqq+vT/755x/y7t07Ympqmm+72rVrKzxjKhtUD1YuKpyBXlyK86CKiYkha9asIUOHDiVt27aV+4UuU6r5KQMHBwcSFhZGCCHkzZs3pGnTpgptPDw8yNWrV8nz58/JnDlz5BRjXkVeEF+/fiWrV68mkydPJvPnzycPHjwolqImRPmHITMzk/Tp0ydfY7hly5bk5MmTpfJFyTul6unpSUQiEVm4cKHSdNp6enpk3rx5JDQ0VK6P69evk65duzI/ZAQCAfH09CTr16+v9F9uQqgiq2xUNQP9Zyiq7Dk5OcTX15cMGjSINGnShLRo0eKHRnleJ83u3buJWCwmWVlZZP369QptdHV1ybZt28j79++Jn58fcXJyYurGjBlTqDFmZGSQvXv3ktGjR5Phw4eTdevWyc2CFhVln6djx47l663W1tYmY8eOJa9fvy72NfMjMzOTmckQCATk48eP5P79+8TW1lbpWFxcXMihQ4dIVlYW00dkZCSZPHmy3IyItbU1WbFihcLsQWWE6sHKBTXQC4HsJoWEhBB7e/t8lTSfz1dQ4kZGRnLHOjo6+XrmZa8///yzFO5A4eX8/sMgkUjIv//+S4YNG0aaNGlCWrVqRebNm8f8ACktkpKSiLq6OnNf3N3dyb59+8jy5cuJoaEhU+7k5CTniVFGVlYWiY2NJTk5OVXmy00IVWSVDWqgF57iyi67xzk5OWTatGkF6uq8+kmm32VecdnLzs6uwD6MjIzI169fS+kuFE7W7z9P3759I4sWLSJNmjQhDg4OpHPnzr/EwJ06dSpzXwwMDIiXlxc5ePCgwlKV8+fPF9hPTk4O+fz5MwkPDydisZjqh0oGlVM5VdpAz83NJenp6WT79u3ExcWFGBsbk2rVqpHx48eTV69eEUIIuXLlisLmTtnLxMSEBAcHkytXrigY7jIPzcyZM39obJYW5fFDf+DAgQIfbjo6OkX25pRHOUuLqiIrlVM51EAvvoEuu8e3bt0iAwYMIKampkRPT480b96c7Nq1iyQlJZG0tDTSrl27fPXT1KlTSXJyMunWrZvS+po1a5aKN7q4spY1iYmJpHbt2gXq/GnTphW53/ImZ2lB5axclJa+L7U46GWNuro6xo0bh3Hjximtb9++Pd6/f49du3bh1KlTSExMhImJCTw9PTFixAjo6OgAkKaMPnnyJG7evImcnBzUrFkTw4cPlwsHSAGGDh0KVVVVJiZtXpo1a4bdu3fDwcGhjEZHoVAqO61atUKrVq3yrff398e5c+ewe/duvHr1ClwuFy1atMD48eOZLJTnzp3D06dPcfjwYUREREBLSwvdu3dHx44dweFwfpUo5R5dXV0EBQVh7NixOHPmjFzoXx0dHcyZMwd//fVXGY6QQqn4lDsDXfZFTy1CdksZQqEQmZmZSE1NLVQsSjU1NUydOhVTp05VqMt7/e7du6N79+751v9qiirnr6J9+/Z49uwZrl+/jpCQEHC5XDRr1gz16tUDUPR7Vl7lLA2qiqxUTuXIvhukZNNSVAiKq/OL81lyd3eHu7u7Qnnea1erVg0LFy6Uqy+JHBY/Q3n83ggEAuzbtw9fvnzB9evXkZ6eDgsLC3Ts2BFqampIS0v7cSffUR7lLA2onJWL0tL35c5Al32pLS0ty3gkFAqF8mtJS0uDtrZ2WQ/jl0J1PoVCqYr8SN+XeCbRn0UikSAyMhKamppFzggpy0gXHh5eobLxFRUqZ+WjqshK5VQOIQRpaWkwMzMDm83+BSMsPxRX51eVzxJQdWSlclYuqJzKKay+L3cedDab/dPru7W0tCr1h0EGlbPyUVVkpXIqUtU85zJ+VudXlc8SUHVkpXJWLqicihRG31ctVw2FQqFQKBQKhVLOoQY6hUKhUCgUCoVSjqhUBrpAIMCiRYsgEAjKeiilCpWz8lFVZKVyUkqKqnSPq4qsVM7KBZXz5yh3m0QpFAqFQqFQKJSqTKXyoFMoFAqFQqFQKBUdaqCXMvv27QOLxVL6mjFjRolcw8vLSyE8mey6X758KZFrFIW8Mt+8eVOhnhCC6tWrg8Viwc3N7ZePrzyxZMkSODg4QCKRlPVQlJKWloaZM2eiffv2MDQ0BIvFgpeXV5H6SE9Px9SpU2FmZgYVFRXUr18fR48eVWh3/fp1jBw5ErVq1YK6ujrMzc3Ro0cPBAcHy7Xbs2cPzM3Nyzx5DIXyPVTf31Sop/r+P6i+/4+bN2/m+125f/8+064q63tqoP8ifHx8cO/ePbnX5MmTS+16Xbp0wb1792Bqalpq1/gRmpqa2LNnj0J5UFAQPn36BE1NzTIYVfkhMjISq1evxpIlS8pt7OuEhATs2rULOTk56NmzZ7H66N27N/bv349Fixbh8uXLaNy4MQYNGgRfX1+5dtu3b8eXL18wZcoUXLp0CZs2bUJsbCyaNm2K69evM+2GDRsGdXV1rF69+mdEo1BKDarv/4PqeylU3/sqbb9ixQqF74qjoyNTX6X1PaGUKj4+PgQAefToUaldY9GiRaQ8/StlMo8ePZqoqqqSlJQUufohQ4aQZs2akTp16hBXV9eyGeRPkJGRUSL9zJw5k5ibmxOxWFwi/ZUGEomESCQSQgghcXFxBABZtGhRoc+/ePEiAUB8fX3lyj08PIiZmRkRiURMWUxMjML5aWlpxNjYmLi7u8uVr127lmhra5fY/4JCKQmovqf6Pj+ovpfX9zdu3CAAyIkTJ37Yb1XV9+XzZ1wx+Pvvv2FrawsVFRU4Ozvj9u3bZT2kQvPx40eMGDEC9vb2UFNTg7m5Obp164aXL1/KtfP29oa9vT04HA5YLBbU1dUxc+ZMpX0qm/KUTY2+fv0agwYNgra2NoyNjTFy5EikpKTInX/27FnUrVsXAoEAdnZ22LRpk9Kp1YIYNGgQAODIkSNMWUpKCk6dOoWRI0cqPefDhw/w9PSEkZERBAIBateuje7du4PFYmHq1KkKsrx48QL9+vWDtrY29PT0MG3aNIhEIoSEhKBjx47Q1NSEjY2N0l/f//77L9zd3aGpqQk1NTU0b94cFy9elGsju86TJ0/Qt29f6Orqolq1arh9+zZYLJacbDIOHDgAFouFR48e5XtvcnNzsWfPHnTr1g2//fYb9PX1oaamhvr16yM4OBiEEOzYsQNOTk5QUVFB9erVcfLkSUgkEjg6OmLFihUF3vuSQjblWFz8/PygoaGBly9fwtbWFqqqqrCzs4O2tjYiIyPx4MEDpq2RkZHC+RoaGnBwcEB4eLhc+eDBg5Gamqp06vRXcuvWLXTr1g1mZmZgsVg4c+aMXD0hBF5eXjAzM4Oqqirc3Nzw+vXrshlsJaOi6nyq7/+jqul7T09PREVFYciQIXI6//Hjx5VK3/fq1Qvz589ndP6zZ88QGRmJe/fuFavfKqvvy/gHQolw9OhRwuPxyO7du8mbN2/IlClTiLq6OgkLCyvroTHehfv37xOhUCj3khEUFESmT59OTp48SYKCgoifnx/p2bMnUVVVJe/evWPaNWrUiLDZbNKwYUOyfv160rBhQ8Ln84mlpaWCR0V23dDQUKZM5nmpWbMmWbhwIQkMDCTr168nAoGAjBgxgml3+fJlwmaziZubG/Hz8yMnTpwgLi4uxMbGplCem7xepKFDh5ImTZowddu3byfq6uokNTVVwaPy+vVroq2tTZycnMiBAwdIQEAAGTx4MAFAjI2NyZQpU5TKsnTpUhIYGEhmzpxJAJCJEyeSWrVqkc2bN5PAwEAyYsQIAoCcOnWKOf/mzZuEx+MRZ2dncuzYMXLmzBnSvn17wmKxyNGjRxWuY21tTWbNmkUCAwPJmTNnCCGENGjQgLRo0UJB/saNG5PGjRsXeI9u3bpFABAjIyMyfPhw8uDBAxIaGkquXr1KPnz4QPr160dUVVXJ6tWrSWBgIGnXrh1RV1cne/bsIWZmZgV6EiQSicJnLb9XUSiOR6Vp06bE3Nyc6OvrkwsXLpDQ0FBy4sQJoqqqSgCQnTt3Fnh+cnIy0dbWJr169VKoq127Nundu3eRZChpLl26RObNm0dOnTpFABA/Pz+5+pUrVxJNTU1y6tQp8vLlSzJgwABiampKUlNTy2bAlYTyqvOpvqf6XhkyfX/s2DFibW0tp/MDAwNJp06dKo2+b9y4MVm2bJmczl+/fj0BQPr378+0lXnQjYyMCIfDIZqamqR9+/bk9u3bSvuuivq+UhjoTZo0IePGjZMrq1WrFpk9e3YZjeg/ZMpL2Su/L4xIJCK5ubnE3t6e/Pnnn0y5i4sLMTMzI1lZWYQQQmJjYwkAoqWlVSSFvXr1arm248ePJyoqKszUVuPGjYmlpSXJyclh2qSlpRF9ff0iK2zZl/DVq1dM38OHDyeEEAWF3aFDB2JhYcFMkaalpRF7e3vSo0cPwmazydixYxVkWbdundy169evTwCQ06dPM2VCoZAYGhrKfbmbNm1KjIyMSFpaGlMmEomIo6MjsbCwYO6F7DoLFy7MV86nT58yZQ8fPiQAyP79+wu8R6tWrSIA5B5mMvbu3UsAkMOHDzNlMgWvq6tLdu/eXWDfsntemFfez8ePKI7Ctre3J4aGhmTkyJFy5Z06dSIAyIoVKwo8f/DgwYTL5ZLHjx8rrTM2Ni70WEqb7xW2RCIhJiYmZOXKlUxZdnY20dbWJjt27CiDEVYeyqvOp/qe6ntlyPT9xIkTScuWLeXqKpu+79ChA+nSpYuczo+MjCQASP369ZmyJ0+ekClTphA/Pz9y69YtsnfvXlK7dm3C4XCIv7+/Qt9VUd9X+CUuubm5CA4ORvv27eXK27dvj7t375bRqBQ5cOAAHj16JPficrkAAJFIhBUrVsDBwQF8Ph9cLhd8Ph8fPnzA27dvAQAZGRl49OgRevfuDRUVFQBgpimLujO+e/fucsd169ZFdnY2YmNjkZGRgcePH6Nnz57g8/lMGw0NDXTr1q3Icru6uqJatWrYu3cvXr58iUePHimd7szOzsa1a9fQq1cvqKmpQSQS4Y8//kCnTp0wduxYSCQSREdHK5zXtWtXuePatWuDxWKhU6dOTBmXy0X16tURFhYGQHovHzx4gL59+0JDQ4Npx+FwMHToUHz79g0hISFy/fbp00fh2oMGDYKRkRG2bdvGlG3ZsgWGhoYYMGBAgfclMjISANC0aVP069cPRkZGaNCgAXbv3o2tW7fC0dERnp6eTHtdXV0AgImJCUaMGFFg387OzgqftfxeZmZmBfZVEujq6uLatWt4//49AOD58+d4+PAhABQ4nbpgwQIcPnwYGzZsgLOzs0K9kZERYmNjIRKJSmfgP0loaCiio6PldJNAIICrq2u50k0VjYqg86m+p/o+L5GRkWCxWLh69SoaNWokp/O9vLwqlb5nsVho2bKlnM6XLfOoVasW065BgwbYuHEjevbsiVatWmHEiBG4e/cuTE1NlS7lqor6nltSgysr4uPjIRaLYWxsLFdubGys9AteVtSuXRuNGjVSWjdt2jRs27YNs2bNgqurK3R1dcFmszF69GhkZWUBAJKSkiCRSGBiYgJAutZp2rRpaNmyJWrXro1z584Veiz6+vpyx7LsV1lZWRAKhSCEKNxPAErLfgSLxcKIESOwefNmZGdno0aNGmjVqpVCu4SEBIhEImzZsgVbtmyRq9u8eTMzvu/R09OTO+bz+VBTU2MeannLU1NTAUjvJSFEacQDmQJLSEiQK1fWViAQYOzYsVi3bh3WrFkDoVCI48ePY9q0aT/MKCaTZefOnZg2bRrmzp2Lhw8fYtKkScjNzcXs2bPl2ovFYgDA8uXLweFwCuxbQ0MD9evXL7CNDJnRUFro6+tDLBbD3d0dtWrVAofDgVgsxuTJk7Fp0yaF/5+MxYsXY9myZVi+fDkmTpyotI2KigoIIcjOzpZ78JYXZPpHmW6SGQ+UolMRdD7V91Tf5yUrKws8Hg+hoaHYvn07o/Nv3LiB6dOnK/zwqMj6PiEhAbNmzUJKSgqj82VGdZs2bQo8X0dHB127dsWOHTuQlZUFVVVVpq4q6vsK70GX8b0njhDyU5sdfiWHDh3Cb7/9hhUrVqBDhw5o0qQJGjVqhPj4eKaNrq4uWCwW8yGYOHEiXrx4gSNHjpToQ0l2nZiYGIW64l5n+PDhiI+Px44dO/L1Bujq6oLD4WD48OE4f/48dHV1cfjwYeaXf8OGDWFjY1Os6yu7FpvNRlRUlEKdzLNtYGAgV57fZ+mPP/6AUCjE3r17sXv3bohEIowbN+6HY5D1X69ePaxYsQINGjTA2LFj0aNHDxBCYGtrK9d+165dAIDGjRv/sO+goCDweLxCvUo7brKTkxNevnyJgwcPwtfXF0+ePMH+/fvxzz//AIBcOC0ZixcvhpeXF7y8vDB37tx8+05MTIRAICiXyjovFVk3lWcq6n2l+r5q6vvc3FyIxWI0bNiQ0fmyHy/fbySsyPr+7du38PX1xaFDhxidP378eADA169ff9gH+X9y++//B1VR31d4D7qBgQE4HI6CMomNjS2WB6AsYLFYCr/AL168iIiICFSvXh0AoK6ujiZNmuD06dMQiUS4cOECbt26BW1tbZw/f77ExqKuro5GjRrhzJkzWLt2LTPtmZ6ejgsXLhSrT3Nzc/z111949+4dhg0bprSNmpoa2rRpg6dPn6Jz585ISkrCb7/9xtSLxWI8ffoUe/bsQU5OTrHGIUNdXR0uLi44ffo01q5dy/xKl0gkOHToECwsLFCjRo1C9WVqaop+/frh77//Rm5uLrp16wYrK6sfnieb6jM3N5crt7OzAwDExcUxZcHBwYzClimvgpBNeRaG0p7y7NWrF3bv3o327dtj4MCBAKRKfOnSpQgNDYWLi4tc+6VLl8LLywvz58/HokWLCuz78+fPcHBwKLWx/ywy72d0dLScR64i6abySEXX+VTfV119b2BgIKezZN7xvD/OKoO+nzx5MpYsWcLo/M+fP0NTUxMnTpzAsmXL8j0/KSkJFy5cQP369RVmRaqivq/wBjqfz4ezszMCAwPRq1cvpjwwMBA9evQow5EVnq5du2Lfvn2oVasW6tati+DgYKxZswYWFhZy7ZYsWYKOHTti79692LBhA548eYJVq1ZBXV0diYmJJTaeJUuWoEuXLujQoQOmTJkCsViMNWvWQENDo9jXWbly5Q/bbNq0CS1btsSqVauwdOlSJnvY169fsWPHDvTo0QOzZs364ZRfYfD29oaHhwfatGmDGTNmgM/n4++//8arV69w5MiRIv3inTJlCmNo+vj4FOoc2TrS70Orpaeng8vlYsOGDbCxsQGbzca0adPQt29fHD16FLt27cKYMWNgaWmZb9+ampr5Tq8Xh8uXLyMjIwNpaWkAgDdv3uDkyZMAgM6dO0NNTQ2A1JPj7u6OhQsXYuHChQCATp06gcvl4tixY2jWrBmqV6+OI0eO4MOHDzA2Npb7X65btw4LFy5Ex44d0aVLF7lscoB0vb4MiUSChw8fYtSoUSUmZ0lja2sLExMTBAYGokGDBgCk66eDgoKwatWqMh5dxaWi63yq76VURX1vaWkpt969Tp06UFVVRVZWFnx9fSuFvvfw8MDVq1dx9+5dODg44MiRI/D390f//v3x9OlT5jqenp6wsrJCo0aNYGBggA8fPmDdunWIiYnBvn375MZUZfV9sbaWljNkIbf27NlD3rx5Q6ZOnUrU1dXJly9fynpohUpckZSUREaNGkWMjIyImpoaadmyJbl9+zZxdXWV2/X+xx9/EDU1NVKtWjXC5/OJubk5mTdvHpk7d26RdvXHxcX9sK2fnx9xcnIifD6fWFlZkZUrV5LJkycTXV3dEpGZEMVd/YQQEhoaSkaOHEnMzc0Jj8cjhoaGpHnz5sTGxkZp2K3vZRk2bBhRV1dXuJarqyupU6eOXNnt27dJ27Ztibq6OlFVVSVNmzYl58+fl2uT33W+x8bGhtSuXbvANt9Tv359wmKxyPLly8mHDx/I4cOHiZqaGlm4cCFxdnYmfD6f6Orqkjlz5hCJRELGjBlDeDwe2b59e5Gu87NYW1sXKiqALJrA97v+PT09ibq6OtHV1SV8Pp9YW1sTTU1NMnPmTLl2rq6uBUYgyMu1a9cIABIcHFxaYheKtLQ08vTpU/L06VMCgKxfv548ffqUCfe3cuVKoq2tTU6fPk1evnxJBg0aRMMslgDlVedTfZ8/VV3ft2rVirRo0YJwuVw5nS8QCIitrW2l0fdpaWmkdu3ahM1mEy6XS2rVqkWmTZtGDAwM5HS+t7c3qV+/PtHW1iYcDocYGhqSXr16kYcPHyqMqarq+0phoBNCyLZt24i1tTXh8/mkYcOGJCgoqKyHVOLk96Xx8fEp9Wvn5uYSBwcH4uHhUerXUoarq6ucwi5PPH/+nAAg27ZtK9J5J0+eJGw2m9SsWZMIBAJSq1YtsmvXrlIaZdmRmppKpkyZQqysrIiKigqxs7Mj8+bNkwvrVlSGDBlCmjdvXoKjLB75hTgbNmwYIUQaemvRokXExMSECAQC0rp1a/Ly5cuyHXQlobLrfKrvp5TJtX/Ez+h7DodD9u3bRxwdHanOLwJVVd+zCCnEIidKlWPUqFHw8PCAqakpoqOjsWPHDgQFBSEgIADt2rUr6+GVCz59+oSwsDDMnTsXX79+xcePH5npv8JACEHz5s3h7OyMrVu3luJIKxefPn1C7dq1cf36dbRs2bKsh0OhVHiovv8xVN+XDVVZ31eaKC6UkiUtLQ0zZsxA+/btMWrUKIjFYly6dIkq6zwsXboUHh4eSE9Px4kTJ4qkrAHpZrHdu3fDzMwMEomklEZZ+fj69Su2bt1a5ZQ1hVJaUH3/Y6i+Lxuqsr6nHnQKhUKhUCgUCqUcQT3oFAqFQqFQKBRKOYIa6BQKhUKhUCgUSjmCGugUCoVCoVAoFEo5otwlKpJIJIiMjISmpmaFSNtMoVAoPwshBGlpaTAzMwObXbX8JlTnUyiUqkRh9X25M9AjIyMLzJpFoVAolZXw8HCFjJKVHarzKRRKVeRH+r7cGeiampoApAPX0tIq0rlCoRABAQFo3749eDxeaQyvXEDlrHxUFVkrupyEEISFheHJkye4fPkyHjx4gJycHJiYmMDBwQFOTk5wcnJCkyZNcPXq1ULLmZqaCktLS0b/VSWKq/Mr+mepKFQVWamclQsqp3IKq+/LnYEum+LU0tIqloGupqYGLS2tSv9hoHJWLqqKrBVVTrFYjO3bt2PLli14//69Qn10dDSePXvGHFevXh0DBw5E3759iyRnVVziUVydX1E/S8WhqshK5axcUDkL5kf6vtwZ6BQKhVKWvHv3Dps2bcKpU6eQkJAAQ0NDaGlp4cOHD4Xu4+PHj1ixYgUcHR0xYMCAUhwthUKhUEoLsViM+Ph43Lx5E8ePH8e3b9+goaGBOnXqoGHDhrCyskKTJk1K5drUQKdQKJT/c/z4cQwZMgRCoZApi4mJQUxMjEJbNpvNZARksVhQV1dHeno6Uy+RSDBu3Dh07doV6urqpT94CoVCoZQI4eHhWLduHXx8fJCamqpQf/36dea9oaEh2rVrV+JLeapWuAAKhULJh6dPn2Lw4MGMca6mpoZ69eopbdu0aVO5dN2EEHTr1o05lm16TE5OxpEjR0px1BQKhUIpLmKxGKdPn0bHjh1hbm4OKysreHh4wNHREZs2bVJqnAMAi68K7VZDwNU1Q1xcHI4cOYKhQ4dCLBaX2NiogU6hUCgA1q5dC5FIBAAYOnQooqKi8M8//yhta2pqqlD26dMn5r2hoSHz/s6dOyU8UgqFQqH8LBkZGejUqRP69OmDK1euIDIyEuHh4bh69aqCYc6EQ+RwoencHRbj9kCn+UDotP6NaXPq1CkcOHCgxMZXIZe4ZGdnIy4uTqFcIpHA0tISkZGRlTqWcEnIaWhoCBUVlRIeGYVSMcnNzcWpU6cAAPr6+ti1axdUVFSQkpLCtMm7pCUqKoop53A4EIvFiIuPB1tNB5LMZLnNjnmXy1CKhzKdX1X0PfDzsgoEAhgZGZXCyCiUisuoUaMQGBjIHOvp6SEjIwM5OTkKbVu0aIFH4WnQ6zARPB0TAIAkJQoZb4Lkng2bN2/GiBEjSmR8Fc5Az87ORmxsLMzNzcHhcOTqJBIJtLW1oaWlVakV9s/KKRaLERERASMjI2qkUygA4uLiGKXcuHFj5nuRN0Ytn89HdnY2AODx48dMuVgsBltVCzmNh8FE2wxR+yaDy/1PtTo6Ov4KESot+en8qqLvgZ+XNS4uDqmpqUWOjEahVFbevn2LY8eOAZBGkDpw4AC6desGDw8PufXlAKBvZIr3GvVgPKAjAECUloCUO75wsxLgwod7AAAzMzNERkbi2bNnSEpKgq6u7k+P8ae0mre3N1gsFqZOncqUEULg5eUFMzMzqKqqws3NDa9fv/7ZcTLExcUpNc4phYfD4cDc3FzpLASFUlUICwvDn3/+CUNDQzlDPCAgAI0bN8aqVaugr6+PRo0aAQBjnANglsIAgIp1PZiO2AKejTO4mgbQsquPa9euAQC4XC6GDx/+awSqpFCd//MYGBjIzQZRKFWdQ4cOMe8XLVqEHj16gM1mIykpCcB/IRB5BtYQdF8IlbpS41z45hoid49B+vMr+Bb+lelDR0eHeZ/3WfEzFNuD/ujRI+zatQt169aVK1+9ejXWr1+Pffv2oUaNGli2bBk8PDwQEhJSYkk4qKL+eeg9pFRl/v33X3Tp0kXpBiCJRILHjx/j8ePH8PLyAp/PV94Jiw2dVkOg1bQvWCw2hAnhiDu3GsLYUKbJnDlzYGJiUlpiVBmovvo5qmJ8fQolP3JzcxEWFsYct2/fnnkvWwpGCIFarZbQ7zQFbL4qJBlJiLu4AdmhT5i2stwXlpaW+PjxIwCpNz7vHqSfoVge9PT0dAwePBi7d++Wc+MTQrBx40bMmzcPvXv3hqOjI/bv34/MzEz4+vqWyIApFAqlqGRnZ+PEiRNYtmwZFi1alK9xruw8Ze3YKhow6rsI2s36g8ViI+3pZUTtm8oY51wuFwMHDsT8+fNLXJayoixmTCkUCqUkEIlE8PHxQePGjSEQCHD48GGmzt3dHf3798f169fRv39/sNV1oOs+BoY9ZoPNV0XWl2eI2DNBzjjPCyEEubm5AIBhw4bJLXH8GYrVy4QJE9ClSxe0a9cOy5YtY8pDQ0MRHR0t92tEIBDA1dUVd+/exdixY39+xBQKhVIEdu/ejblz5yI+Pl6hztzcHBEREQCka8+5XC7u3buXb18aGhrIUdGHYe954OmagU3EGFNPFWpmNRBsMgAikQhOTk7w9PTE06dPK43nsixnTCkUCuVnyMnJQa9evXD58mWl9bGxsThx4gTO3X8Lwxb9YPHHPrA4UvM45f4JJN86CBCJ0nMB4Nu3bwCkS8n++uuvEht3kQ30o0ePIjg4WG6TlIzo6GgAgLGxsVy5sbGx3HRCXnJycuR2zMq8VUKhUGn0A4lEIhd/OC+EEOZvfm3KCkIIxo0bh1OnTiEpKQna2toYNmwYNmzYAACws7PDlClTMGXKlEL1Jfv7M3JKJJJyHWFCNrbyPMaSoqrIWtpy5uTk4MyZM3j69CkAaZKhvJ6S74mMjAQgXUJx5MgRWFpaolq1aozClcHhcHD9+nXk6lfHuAOPIGJxIUqORmt2CKb3Ww7ATa59UeUsz//3vDOmeR0y38+YAsD+/fthbGwMX1/fKu+QIYRg7NixOHnyJKPzhw8fjo0bNwIAbGxsMHXqVLkZCQqF8vMQQnDnzh0EBgYiIyMDjx49wq1btwo8R6NBZ+i3H88c50S8Q8q948j69LBQ1zQwMMClS5eYHBglQZEM9PDwcEyZMgUBAQEFRv/43mtECMnXk+Tt7Y3FixcrlAcEBEBNTU2h3NLSEtra2gWOMy0trcD6siAwMBD79+/H+fPnYWNjAzabDRUVFeYHiUQikZtO19XVxaFDh9ClS5d8+/xZORMSEpg1VOWZvGGQKjtVRdbSkPPu3bvYuXNnvpvhmjdvjpYtW2LLli3IysoC8N+PXSsrK7x69QqvXr2ClZUVY6CrqKggOzsbYrEYx4KjcCkmFYTFRU74K8SeXo7r2mq41KFFvmMqrJyZmZlFEfWXQmdMi4e/vz/27duHmzdvws7ODmw2G6qqqvm2Z7FY8PPzQ8+ePX/dICmUSsa7d+8wePBgPHmiuByFzWaDzWZDJBKBx+Nh7Nix+Pvvv6Hu3B16bUcDANJfXUfqg1MQxodBRUUFLBaLeU4YGRlhwoQJ4HA4ePLkCWJjY6Gnp4eePXtCQ0MD9evXL1FZimSgBwcHIzY2Fs7OzkyZWCzGrVu3sHXrVoSEhACQetLzJvKIjY1V8KrLmDNnDqZNm8Ycp6amwtLSEu3bt1caEioyMjLfUFGEEKSlpUFTU7PcTS3L7omHh4fSepnBnlc2VVVVpbIWRU6hUJhv6ll9fX04OTkVQYpfi1AoRGBgIDw8PEo0fW55pKrIWlpynjp1CmvWrGEUqTKmTp2Knj174sKFC3jz5o1cXWJiItzd3cHn8+X0EYfDAYuvBj330bgYowEA6N3ADMd9x0OSnQaJpgo6d+6scK2iylmY9fBlQUnPmAIlN2tanmdMAeDjx48wNTVF06ZN5cq/z0Cb97gkZM1P55f3GVOAziRWNkpbTkIIbt68CT8/PyQmJkJVVRVnz55FcnKy0vZ5v18TJ07EypUrEWPQEA+zpBtDU+4dR/ItaaKhdu3a4ejRo4iNjYWLiwvS0tKQnJyMUaNGKeQUkOn7kp4xLZKB7u7ujpcvX8qVjRgxArVq1cKsWbNgZ2cHExMTBAYGokGDBgCku2WDgoKwatUqpX0KBAIIBAKFch6Pp1TJyH4BKUN241ksVrmKizt8+HDs378fgPSBb21tDRsbG9SvX5+Z7gT+G7eNjQ0AoE+fPgAAa2trfPnyBQBw/vx5eHl54fXr1zAzM8OwYcMwb948ZlMCi8XC9u3bcfnyZVy9ehUzZsxQOkMBSO9lRTAG8/ssVEaqiqwlKWdOTg6mTJnCGDFdu3bFuHHj4OXlJWdYTpkyBT179kS/fv0UvhMpKSlYuXIlBAIBPn/+zJSLjWvDrONEcDUNAAB/dagJF81kbPh/eC1bW9sC5SisnOXxf14aM6ZAyc+alscZ0/Hjx+PIkSMApDrf0tISVlZWcHJygre3NwD5WVPZ2n6Zzre0tMSLFy8AAJcvX8aqVavw7t07mJiYYNCgQZg+fTqj83V1dbFu3TpcvXoVQUFBmDhxIubMmaMwpooyYwrQmcTKRmnIGRsbi5UrV8rp67yYmpqib9++CAkJQUBAgEK9QNsAPddfwZv/G+fJtw8h5e5Rpl5dXR3//vsvAMDNzQ3nz59Hbm4uNm/ejObNmyu9ZknPmBbJQNfU1FRIuqGurg59fX2mfOrUqVixYgXs7e1hb2+PFStWQE1NDZ6enkW5VKEhhCBLKAYgVXhZuWJwc0W/xEBX5XEK5anftGkTqlWrhl27duHRo0fgcDjo169fvu0fPXoEIyMj+Pj4oGPHjkyIsStXrmDIkCHYuHEjGjRogJiYGIwbNw6ANI6njEWLFsHb2xsbNmyg4ckolZ4zZ84gNjYWANClSxecO3cOLBYLW7dulWsXFRWF8+fPY9y4cdiwYYOC13r58uVyxzqth0G7mfR7qsMVYufIVsj59hpDhoxh2lTmGOelMWMK/NysaV59TwhBelo6NDQ1fsmMaWH1PQBs27YNtWrVwu7du/HgwQNwOBwMGDAAfD6fkSXvrOmjR49gYmKCPXv2MDpfS0sLV65cwbhx4xidHx0djT/++AMCgQALFy5krrdq1SosX74cmzdvZs79nvI+YwrQmcTKRmnJmZCQgObNmyM0NDTfNvr6+li+fDmOHz+uYKCrWNfDuZw6yMhig8MiiPX/G+nP5DeQ1qtXj5kd/fjxI86fPw8AqFWrlsKsaWnNmJZ4JtGZM2ciKysL48ePR1JSElxcXBAQEFBqO/qzhGI4LLxSKn3/iDdLOkCN/+NbqK2tDU1NTXA4nELFRJbF0NTR0ZFrv3z5csyePRvDhg1jvC5Lly7FzJkz5Qx0T09PjBw5shgSUSgVj7xrDceOHcsYUfXr14e/v79c26CgIDx58uQHSpQF3XZjoOXcDQCQ+ugMvt46CNe1kFuaYW9vj99++63kBClnlMaMKfBzs6aZuSI4epWN11Gq7wvn8NDV1YWWlhY4HA7MzMyY8u9nd2XHsh80enp6cu29vb3z1fleXl5MO09PT4wePbrAMVWUGVOAziRWNkpazi1btjDGebVq1bBs2TIIhUI5ffzq1SscPHgQAwYMwMSJE5nkQRp1PaDXYSIyJByYqbPw9dhipL9+pHCNbt26gcfjgRCCc+fOMeX29vb5ylLSM6Y/baDfvHlT7pjFYsHLy0tOeVBKhuDgYDx69EjO0ycWi5GdnY3MzExmeliW+ZBCqQrk9WrmXZ87evRorFq1Sm5d+q5duwrO8sZiQ7/jJGjU9QAhEqRd34WkxxcAADn/JQ9FrVq1cOnSJairq5ecIOWM8jhjWtWgOp9CkUcikeCff/4BIM03ERgYCFtbW9y4cUOh7e7duzF+/HiMGjUK27Ztg3aLQdBpORiAdDPo/SvbQEQ5CufZ29vDyckJkZGRWLZsGRMBpkaNGvkubykNStyD/qtR5XHwZkkHANJ/XFpqGjS1NH/ZEpdfiUQiweLFi9GzZ0+kp6dDQ0ODkTPvGtHKbDRQKN+T1zhZvXo12rZtC01NTZiZmaFz5864ePEiU1+Qcc7iq6LVzD0IE2qBzQLW9m+AVjP2Yu/evTh37hxSUlJgbm6OoUOHol+/fkq9wFWNXz1jWpX0PUB1PoXyPfHx8cySRldXV9ja2gIAnJycwOPxIBQKwWazIZFI8PLlSyxZshR+t57BsNc8qNVoBgBIuXsMybcP5nuNDx8+KN13s2zZsl+6v7HCG+gsFotZZiKRSCDic6DG55arTaLFgcfjQSwWy5U1bNgQISEhqF69OlJTU6GlpVXh5aRQfoaUlBTcv3+fCYV19+5d6OjooEaNGvj69WuBm3Gsra2xf/9+PHnyBH95rYRR34UIE2pBwGVj08D66OgoXVc9a9YszJo161eJVK4p6xnTyqrvAarzKZTCkDdLZ94N4gYGBujTpw+OHj3KzKRyzRyw/aMGBJ3ngAeASMRIDNzBrDfPG0JRXV0dhoaGTECOvPB4PGzevLnAvYOlQYU30CsrNjY2uHbtGlq0aAGBQABdXV0sXLgQXbt2hYWFBTp27AgtLS28evUKL1++lItPTKFUdiIjI7F582Zs3boVGRkZcnUSiQTv3r3L91wWi4Vly5Zh5syZ4HK50LKtC6tvFpDw1CBKS8Dq3rUY45xC+VVQnU+h/BhdXV3UqFED79+/x8OHD+Hl5YU///wTXC4X9erVw8mTJyESiaBq1wiGveaBxeWBiHKR8SYIqY/PgpMWzfRlbGwMPz8/qKiowN7eHmpqarh16xZ2796NkJAQCAQCuLm5YcyYMbCysvrlstKf4uWUdevWITAwEJaWlswGrA4dOuDChQu4evUq3N3d0bx5c6xfvx7W1tZlPFoK5dexZ88e2NraYtWqVQrGuTLvor6+PrPxGpBG/zhy5Ag4HA6C3sfBc/cDSHhqyIn+iOgD06ArUZ7oiEIpTajOp1AKRiQSYcGCBfj69StTtnjxYujr60NPTw9z5syRGufVmsCwt9Q4zwi5g29/D0fmzV2Y88dviI6ORsuWLQFII1CFhISgfv36UFdXB4vFgqurKw4dOoRHjx7h33//xbJly8rEOAeoB/2X8X1K5++nir+fVunWrRu6deum0E+HDh3g4eGR73RnQYlaKJSKjp+fX4HRKpQlcTl48CDWrl2L69evM2WvXr3C2hM3sfNZFkQSAtWUL/jqOwtEmAN9ff1SGTulakF1PoVSMoSHh2PTpk3Ytm2b0n1EYrFYujyMxZZGafEYBxaHh4x3txF/fi0szc3w8OFDJireihUr0Lp1awDAhQsXMGzYsF8qT2GhHnQKhVIhIIQoTcAyd+5c7Ny5M9+Ncv7+/ujbt+9/BRwedNuOxrYnmRBJCBzUM/Fu11QQYQ6qV69e4umaKRQKhVI8/v33Xzg5OWHdunUFbvJXsa4H02Ebod9xktQ4f3sL8efWABIxwsPD5WKhOzg4MO/LaxZngBroFAqljMjIyMCuXbvg6uqK6tWro1GjRliyZAmioqKYNoQQ3L9/H/PmzUP//v2Z5DiybLsAULduXYwZMwYrVqxQep3U1FQMGTIEJiYm4BtXg+nwjdBq3FNaGXIdlxcOACTSGIozZsygm/AoFAqlHBATE4Nu3bohJUV+2eH3zhjtloNhPHA5+MZ2gDALA2ryEX9+LUD+m1Hdu3cv8z5vfgwLC4tSGv3PQ5e4UCiUX05ISAi6d++ukAkuODgYq1evxrFjx+Dg4ABPT0/cv39f4fzExETmvb+/PwYMGIC+fftiypQpCm0tLCygqamJuX8fw9q7iWBxeBCnJyHh8iZkfX7MtJs4cSLGjBmjcD6FQqFQSgaRSIQvX75ALBbD2tpaaThDGTt37kRycjKA/yKuWFtb4+3bt1i4cCHWrl0Ldad20GkxCACQGnwBKXd8MScyDEe9LOTWqoeEhIAQgqtXr2L69OlMeXlONkcNdAqF8kvJzMxE165dERYWxpRpa2szXpKMjAz07t0burq6iImJUdpH3mnJffv2oW7dumjcuLHSthYWFpi34yQOhwrA4vCQ+eE+kgO2QpieDBaLBTc3N0yePBk9evT4JSnjKRQKpaqRlpaG1atXY9euXUwccy0tLQwbNgxz586FiYkJhEIhTp8+jT179uD9+/dys6kytLS0oKqqilWrVuH4zWeA20QAQHawH5Ku7gEg3Yu0aNEijBo1ijkvJiYGBgYGcs4dNzc3Zi16eYTO5VIolF/K1atXGePcyckJjx8/RnJyMsLCwtCzZ08A0pTxMuPcwsKCyZiYH9OmTYOrq6vyuk2+OPSZD7DYSH91HSkX1+LqxbNITk5GdnY2rl+/jp49e1LjnEKhUEqBxMREtGrVCsuWLWOMc0DqaNmyZQuaNGmC4OBgtG7dGgMHDkRgYCDCwsKQm5vLtJXp55cvX+LZs2f4GJcBXps/wOJwkfEmCDH/N85NTEygo6ODkSNHyj0TCCFyxnnTpk1x8uTJcq33qQedQqH8UvKmZD5y5Ajq1KkDALCysoKvry+sra0RFxcHQLrW0NHRkVkzqKuri6SkJKX9fh/BhccXQN2lP7SbDwAApL8IhGbIeZz0v1yuvSYUCoVSmZgwYQKeP38OAOBwOOjQoQNUVFRw+fJlZGVlITw8HG5ubkhPT2fOkWUDlZH3fTvPcTDoOQ8itgDZEW8Rf2kjU2doaIg1a9bA398fQUFBTLmlpSUIIahZsyZGjRqFvn37gsfjlaLUPw810CkUyi8lPj4egDSTp8w4l6GqqgpnZ2fGIJeljgeknpG7d++iY8eOeP/+fb79N27cGJNnLcDZWD08CksGANRkRWHSBA906rgOHM6vT9lOoVAoVZGYmBicPn0aAKCnp4fbt28zUVQiIyPh5uaGDx8+MMa5kZER+Hw+vn37prQ/tVqtoN55GrIlbGRHvEXcySWAWMjUv3z5ErNnz5Y7Z/ny5Zg7d25piFeq0CUuFArllyLbFBQTE6M0xFXejT3p6emM52TgwIGwtbXFjRs35NI9y9DQ0MDt27dx8vJNbAlRxaOwZKjzOdg8qAGueI9G1y5dqHFOoVAov5Dg4GAmVv+UKVPkQhyamZlh4cKFcu379u3LGOd2dnZQVVVl6jQbdoVhj1lMAqLYo/MgyU4DIPWca2pqyvVVvXp1HDhwoEIa5wA10CkUyi+mYcOGAIDs7GzMnz9fLtHKkSNH8ObNG+b46dOnzHvZesSLFy9CJJKGRWzWrBlTX6dOHdjXbYTBe+4jJjUH1QzVcW5SS3SvZ1aq8lAoFApFOXmzPTs6OirUf1/27t075v3+/fvh5+cHHo8HLZe+0PMYBwBIfXwO8WdXgYhy4ezsjCtXriA6OhpRUVHw9/fH8ePHcffuXYSEhGDo0KGlJFnpQ5e4UCiUX0rnzp0RGBgIiUSCLVu24Nq1a2jbti1evnwpt2YQAITC/6YuDxw4gJycHOzfv58ps7e3x7179wAADZu2xG97HiI8MQtWemo48ntTGGnlH8KLQqFQKKVL3szMgYGB6N27t1x9YGCg3LEs9K5AIECLFi0AAM7DvRClVw8AkHznCFL+PQwAWLVqFWbOnMmcq66ujg4dOpS8EGVElTTQRSIR/P398fbtW/B4PLRq1QrOzs5lPSwKpUpgbW2NzZs3Y+JEaXisN2/eyHnNAWl684cPH8ptCE1PT8eePXuYYzs7Oxw4cAAAwFbRxEfzjngfkwYjTQEOjXKhxjmF4dOnT/D390d6ejqsrKzQvXv3fDPPUiiUksPFxQVqamrIzMzE7t270ahRIwwbNgxsNhsXLlzAsmXL5NonJCQAAHJycvA65CO8r4YxxnnGncOox47Arf+3dXd3/5Wi/HKqnIF+7NgxTJ8+HREREXLlLi4u+Oeff5ROwVAolJJlzJgxqFatGpYvX45///2XKbexsQGfz8eVK1d+2Mfnz58BABxNQziM/xvvE3Kgo8bDwVEusNIvOCwjpWoQExODMWPG4Ny5c3Ll2tramDNnDmbOnFmuw6xRKBUddXV1TJo0CatWrYJYLMbo0aMxY8YM8Hg8JloXIPWY5+TkMPuSuHrm6LzhBti65iBiERKv7oSbBQcXLkjNcysrK9SvX78sRPplVKk16D4+Phg4cKCCcQ4ADx48QKtWrRQ8eSXBly9fwGKxFF5ubm4lfi0KpaLQsWNH3L59G6Ghobhz5w7u3bsHFRWVAiO0fI+ujQNqTdyFVKjCVFsFJ8Y2Q00TzR+fSKn0JCQkoHXr1grGOQCkpKRg9uzZmDFjRqlcm+p8CuU/vLy8MHz4cOY4OTlZzjivXr069PT0mGOBuQNMf9sAtq45RGkJiDkyF6xP/+LChQtMm8mTJ1f6Tf9FMtC3b9+OunXrQktLC1paWmjWrBkuX77M1BNC4OXlBTMzM6iqqsLNzQ2vX78u8UEXh8TERGZKHZAaBwcPHsSWLVtQo0YNANIPzYQJE0r82paWloiKimJeT58+hb6+Po3FTKly5OTk4ObNm+jUqRPs7e3RoEED7Ny5E+bm5rhw4QKzQUhfXx+bNm3CgwcPsHr1amhrazN9DBw4EEuXLsXq3UdgNXwD0iU8VDfSwKk/msPemBrnFCmLFy9mfuwZGRlh2bJlOHbsGH777TfGa75+/Xo8fvy4xK9NdT6F8h8cDgd79+5FQEAAevXqBRMTExgaGqJVq1YwNzfHx48fmayhAnMHGPXzAlughuzw14jaPwU5EW+QlpbG9DdgwABMnTq1jKT5hZAicO7cOXLx4kUSEhJCQkJCyNy5cwmPxyOvXr0ihBCycuVKoqmpSU6dOkVevnxJBgwYQExNTUlqamqhr5GSkkIAkJSUFKX1X79+zfdcsVhMkpKSiFgsVqjbsGEDAUAAkKFDhxKJRMLUpaWlETs7O6b+9evXhR5vUcnKyiIuLi6ka9euSsdZGAqSsygUdC/LA7m5ueTMmTMkNze3rIdS6lQFWb99+0YcHR2Z71neF5vNJiwWS65MT0+PeHl5EaFQSK5evcqUN2vWjDz4nEDqLPQn1rMukO5b/yWJ6TllLZ4cRf1//kjvVWaKq/ML0oMZGRlEU1OTACAqKiokNDRUrn716tXM52nkyJE/LUNBlBedX971PSFVQw8SUvXk/PLlCzlx4gQ5fPgwCQ4OJhKJhEgkEtKsWTM5nV+vXW9iPe0ksZ51gRgNWEpYXAFhs9lMfe3atcn27dt/2vYpaUpL3xfJg96tWzd07twZNWrUQI0aNbB8+XJoaGjg/v37IIRg48aNmDdvHnr37g1HR0fs378fmZmZ8PX1/blfESWALNIDAPz5559y6w41NDQwevRo5vj+/fulNo5Ro0YhLS0Nvr6+YLOr1AojShUmNzcXnTp1wqtXr5gyDQ0N5r1EIpELtwhIZ728vLwwZMgQuLm5wdbWFgDwOhH4be8DpOeI0NROD4dHu0BXnf9rBKliVNRZ09evXzMet969e8PGxkaufvz48UwWwbzPhtKA6nxKVSUiIgKrV69GtWrV0K9fPwwePBjOzs5o2LAhJkyYwHz3eKoaaDR8ETIajwR4KqipQ5B8fhWIKAcCgQD37t1DWFgYXr9+jXHjxlWZ71GxpRSLxTh69CgyMjLQrFkzhIaGIjo6Gu3bt2faCAQCuLq64u7duyUy2J9BLBYz7/MGvpehpqamtG1JsmzZMvj7++PcuXMKAfUplMrMyZMn8fLlSwCAgYEBAgMDkZqaCh8fH4W2dnZ28PT0ZJTwsWPH4OvrC5FIBI36naDTfTayhRK0rWWEfSOaQENQ5fa6/zIsLCywcuVKPH78GI8fP0bbtm3Ro0cPxghfvXo11q9fj61bt+LRo0cwMTGBh4eH3HR0WfAjfc/n85n1q6Wl7wGq8ylVl4iICMb++/479uzZM2zfvh1gc6FR1wNGI7YhzrgxhBJAPzcap6a0x6hh0vjlWVlZ+Pz5M6ysrKrchu4iP9levnyJZs2aITs7GxoaGvDz84ODgwNjhBsbG8u1NzY2RlhYWL795eTkICcnhzmW7eAVCoVyMZBlSCQSJrPg98g8cIQQhTZOTk44deoUAGDPnj1YtWoVUycSieRiKzs5OeV7jeJy6tQpLFmyBBcvXoStre1P9V+QnEVBIpEovcflBdnYyvMYS4rKKqtEIsHLly/x119/MWXx8fGYPHkyJk6ciJMnTyqcExoaiiNHjqB79+4YOHAgAGDxkqVIt+8A/cY9AQC96ptiWY864EACobBkv6slQVH/n+X1/96tWze54+XLl2P79u24f/8+HBwc5GZNAWliEWNjY/j6+mLs2LFlMWQAQM2aNcHn85Gbm4vTp09jzZo10NXVZeqPHj2K7OxsAEC9evVKZQwynX/58mVUq1atVK5BoZRXJk2axGSFNjAwwMiRI6Gnp4e1a9ciITUDmvU7QrNRD3A1DQAAwqQoJN/0Qdj7u1jG/4BmzZpJjXhAbkNpVaLIBnrNmjXx7NkzJCcn49SpUxg2bJhccpHvf+EQQgr81ePt7Y3FixcrlAcEBMh5tWVYWlrKbRhThjLvTd++fbF06VKIxWKsW7cOaWlp6N+/P5KTk7F161YmY6GjoyNq1qypNAV5cXnz5g2GDx+OKVOmwMrKCh8+fAAg9eLkfWgUlZ/1UiUkJODZs2c/1cev4PtEBpWZiihrTk4O7t69i/fv34MQAhsbG9SvXx/Xrl2Dv7+/0s/p27dvMWHCBEY3qKioMAYTIQRt27ZF9+7doa+vj4SkFKQ49oVWTWnSCkfJZ7iqiHA1IPzXCVlMCvv/zMzMLOWR/DxisRgnTpwo9KxpfgZ6STllCnJUaGtro1+/fjh8+DCSkpLg6uqKefPmoUaNGrh48SK8vb2ZtqNGjSpxh8yrV6/w22+/YebMmahduzYiIyMBSHV+3mgVhaUknDLl3SEDVF5HxfdUdjlDQkJw5swZAACXy0WPHj0waNAg6OrqYsGS5TAdthE8PXMAgCgtAR1teHCyyMGMvQ8BAJs2bWKcMwCgq6tbru9VaTlkWOT7hZ9FpF27dqhWrRpmzZqFatWq4cmTJ2jQoAFT36NHD+jo6Mh5qPOiTFlbWloiPj4eWlpaCu0jIyNhaWmptC9CCNLS0qCpqan0R8HixYuxZMmSfGXh8Xi4cuUKXF1d821THPbt24dRo0YplLu6uuL69etF7u9HchaW8PBwmJmV3zToQqEQgYGB8PDwYNaLVlYqqqynTp3ChAkTkJiYKFfOYrEU1pTLyGuMy9DS0lL+o5jDg2HPOVCr3gREJIRV5A1c9Vld7tcgFvX/mZqaCgMDA6SkpCjVe2XJ97Omvr6+6Ny5M+7evYsWLVogIiJCTo+MGTMGYWFh+cay9/LyUuqU8fX1zdcpY2dnV+Rxh4WFwd3dnUl8ooyuXbviwIEDJT517uvrqzQiWIsWLeRCxf1KPn/+jPDw8v+jllIxiIuLQ2pqKrS0tGBoaAixWIyHDx8iMDAQz58/V7p0rFq1akiu2RUaTh4QpSUg+fYhZLy5AQNdHSxcuBBXrlzBxYsXAQBsNhsSiQQCgQB79uyR27NU0cnMzISnp+cP9f1PL94khCAnJwe2trYwMTFBYGAgY6Dn5uYiKChIbjnJ9wgEAggEAoVyHo+n9MHGZrPzfTjLPAssFktpGy8vL3C5XCxbtgy5ublydcbGxti/fz/atGmTv7DFZOTIkRg5cmSJ9fcjOQsLm82uEMZgfp+FykhFkvXcuXPw9PRUaoh/X8blciESiQAA2dnZ6Ny5M/z9/ZnPssw4NzExQcuWLaXL0bh8GPaeD1WbBpAIs+GS+xyHfFYr1RfllcL+P8vz/7ykZ03nzJmDadOmMccyp0z79u3zdcooK/+Ro8LJyQnXr1/HgAEDmPCdecc8bNgw/P3336XyeRo3bhzGjRtXYv2VhFNGX18fTk5OJTam0qCiOiqKSkWW89y5c1izZg0ePHjAlDk4OCAhIQExMTEFnhvJNoKRkwcIkSD+7CrkREjzzsTHx2PKlCmwt7dn2sqeDePGjUP//v1LQZKSozgOmcJQJAN97ty56NSpEywtLZGWloajR4/i5s2b8Pf3B4vFwtSpU7FixQrY29vD3t4eK1asgJqaGjw9PYtymVKDxWJhwYIFGDt2LA4ePIi3b9+Cx+OhVatW6NOnT4V68FMoZYlYLMakSZMYQ7x79+6ws7PD33//rfDjFwAmTpwoV3f58mXY2toy2UBleHh4YOPGjWji0QNbgjPA1rWAJDcLrclrHNqS/+wXpfTg8/moXr06AKBRo0Z49OgRNm3ahFmzZgEAoqOjYWpqyrSPjY1V2IuUl5JyyhTGUVG3bl28fv0aV65cweXLl5Geng4rKysMHTq0Qq0LLwmnTEVxyAAVy1HxM1Q0Ob29vTF37lyF8h8leLS3t0dkUjp0O0pz0aQ+OMUY53p6ekhMTAQhRCFJXdeuXbF69eoKc49K2iFTJAM9JiYGQ4cORVRUFLS1tVG3bl34+/vDw8MDADBz5kxkZWVh/PjxSEpKgouLCwICAsrd7nUjIyNMnz69rIdBoVRY/P39mQ1Abdu2RZcuXQrcFLhx40ZMnToVmzZtAiEEhBAF4xwADh48CL/nMdBtNwZsXV2I05NA/t2J9QGnSk0WStH42VnTXw2bzUanTp3QqVOnsh4KhVJhuXXrlpxxXqdOHejq6uLu3bsK+yL09fXB4XAQGxsLAPj4JRyOf2xBqqo2cmM+I/nfw0zbK1eu4OrVq9ixY4dcQJElS5Zg7ty5lT5baEEUyUDfs2dPgfUsFgteXl7w8vL6mTFRKJRyzosXL5j3gwcPxp9//vnDc44ePYrp06dj7dq1CnV6enpIzhJBr8MEqP9/M2hW6BNovz2DCyePwMjIqOQGTyk0FX3WlEKhlAwbN25k3i9cuBARERH52oQJCQkYMWIE9u3bB7a6Hoz6LkSqqikkwmzEX1gHiKXLHXk8HjZv3gyxWCwXqcXNzQ0LFiwoVXkqAjSAMIVCKTJ5p9lv377NrKmzt7dnohR9T3R0NIKDgxXKrayssOvCXcw4/hRpQhZAxLBKfo7J/eugR/fZFWZ6szJSWWZNKRRK8ZFIJMzmTSMjI9jZ2SkE3JBt6pTh4+ODifO94ZdoCq6mAcQZSYg9tRTC+P+85EKhEAcPHpTrx8bGRqGsqkINdAqFUmRcXFyY95cuXWLejx8/vkBv+o0bNxTKOk5cjrGHnwFgwd5IAxsG1IejefeSHC6lmNBZUwqFIhQKmf1D1atXx7Zt2xTa6OjoyEXzUq/TBhdzaoOryYUwIRwJp5ciN1EabnTQoEHQ0NDA4cOHmRCzGhoa+O2337Bo0SI6Y/p/qIFOoVCKjKurKxwcHPDmzRtmnSEgDW2nra2NlJQUpixvBJfv+W3mClxN0gNA8Fsza8ztXBsqvKq75pBCoVDKG3w+HwYGBoiPj8fjx48ZY93R0RFRUVFISEj4zzjn8KDnPgaaDTpBAiDrczDiz62GJCcDgPR54O3tDWtra6xbtw4hISFgsVioVasW1NXVy0jC8kn5DiasBIFAgLi4uHxjLFN+DCEEcXFxNGoNpci8evUKGzduxMqVKzFw4ECoqKjI1W/cuFHOOAegYJxzuVz06tULvheu44lqQ4glBL0bmmNx9zrUOKcoQHX+z5Oeng4ul/rjKMWDxWJh6NChACAXpat69ero168fc8xW04Hp4JXQbNAJhEiQ/O9hxJ5czBjnALB+/XpYW1sDADQ1NdGoUSM4OztT41wJFe4ba2RkhNTUVHz79k2hTiKRICEhAfr6+uU+kcnPUBJyamtrl7uEKJSy48uXL9i6dSuOHz+O+Ph4GBgYoGfPnvD09ET9+vURFRWFUaNGKSxR0dLSgra2tkL8Wz09PdSpUwePHj1ikhKpqqpiz549UFFRQVM3Dwz65xHSskVoZK0L795OJZ4shlI5yE/nVxV9D/y8rFwut8DQlxRKfkRGRiI8PBydOnXC3r175RwwZ8+eZX448wysYNR3EbjaxhBnpSH+/Bpkhz5h2trY2GD58uV0A3kRqHAGOiA1CpQZl0KhEM+ePYOTk1Ol3lhWVeSk/BouX76Mvn37yqWbDw8Px5YtW7BlyxZwOBzw+XxkZWUpnJuamorU1FR06NABgYGBzCahxMRE3L59m2nH5/Nx5coVNG3aFD6nLqHfrof4lpQFcx1V7BjqDAGXes4p+aNM51clPViVZKX8GsLCwrBnzx48e/YMbDYbTZo0wciRI2FiYgIAuHPnDpYsWYKAgADmHBMTEwiFQuZZITPOVWwbwrDHLLAF6hAmRiL2pBdESZEQCARo1KgR5s+fDw8PjyodMrE4VEgDnUKhlAwhISHo06cPY3xzOByFFM1isZipNzQ0xOzZs2FhYYFTp07h+PHjAIDAwEDs3bsXy5cvV4jiUqdOHezatQvNmzfH/Y+x2PiKg0xRFqz01LB/ZBMYaNClVhQKhfIrIITAy8sLy5Ytk4u6cvbsWcybNw9GRkZwdHREUFCQwrMgOjoagHRpy+fPnyGRSKDZsCt03X8Hi81B9teXiPNbAUl2GvT09PDs2TM8efIE7u7u1DgvBtRAp1CqMBs2bGCM76ZNm+L+/ftMnZqampxXHQCSk5PRvXt3aGtr48uXLwgODsanT58gkUgQFBSEd+/e4caNG3j69ClYLBaaNGmCli1bgsVi4czTCMw89QK5IhbqWmhh73BqnFMoFMqvxNvbWyFEYl5iY2Nx/fp15tjW1hYdO3bEhw8fcPXqVQDAx48f8fvYcTj/jQ+BY3sAQPrLQCRc2QaIRbC2tsbly5cZbzyleFADnUKpohBCcOTIEQDSEFd5p86XLFmCiRMnwtTUFDk5OUy5UCjE6NGj8fDhQ4UlLz4+PuBwOPj777/h7u7OlEskBKuvvMP2m58AAE66Ehwa0Rha6tQ4p1AolF9FQkICli5dCkC68bN69er55q2QMXXqVEyePBmRkZFYvHgxdu3aBQC4nKAHgWNzAIDm52tQ+XwFTq1awtPTE56enlBXV4dQKCxdgSo51ECnUKoomZmZTIIhJycnZs149erVMW/ePISHhyvdkBYUFJRvn//88w84HA527NgBAMjIEWHK0We4+la6iXRca1vUzP0AVT6d7qRQKJRfia+vL7Npv2/fvjhx4gQAaQzzvXv34tChQzh9+rTcOUuXLsWrV6/g4+PDROTSbukJTrXmAJHAu5s9BrXsAmD9L5WlKlC5t75TKJR8UVVVZUJtvnv3jilv0KABYmNj0apVK6UbQ2VUq1YNf/31F3MsM+Z37tyJ9+/fIyY1G/133sPVtzHgc9nYNLA+pnvYg02DtVAoFMovJ6+ez8vy5cvRq1cv1KhRQ6EuPj4eu3fvZoxzdScP6LSQRmJJ8N+KpWN6K4TWpZQM1ECnUKoobDYb3btLM3YmJSUxYQ7v3r2L+fPnIzw8vMDzP336hPXr//OaTJgwgXm/fu9R9Nx2B68jU6GvzsexMU3Ro755KUhBoVAolMLA5/OZ93n1e+fOnbF//36sWrUq33O5mvpwn74V+h0nAgCS7x5F+osAvH37FmvWrCm9QVdhqIFOoVRh/vzzT8Ywl4XMioiIUEjxnl/sZdku/3HjxuHPP/8EIA25FSB2QlRKNqoZqsNvfAs0sNItLREoFAqFUghcXV2Z958+fWLe379/H2PHjlWaDIytogn9TlNgNvYffOTagMXmIP3lVdTM/cAkv8rrYaeUHNRAp1CqMM2aNcOWLVsKbMNms+XCcX3PtGnTsHXrVsTExECjficY9V0ECYcPF1s9nP6jBaz01Up62BQKhUIpIl27dmWyeMbFxTHlY8eOlQsGIPO08wysYTJsAzTqeoDF4SH760vEnlyMJP/NWOntjXbt2gGQRn5RljyS8nNQA51CqeJMmDAB165dQ+fOnZXWy4xzDQ0NhWyfdnZ2WLduHQghmPjPdeh3mAAWmwMnjQwcHOUCbTWaVIVCoVDKA1wuFwcPHoSKiopcuSxYgKyNWCyGqn0zmAxdC56OCYRJUYg6OAMxR+ZAGPYUBw4cQJs2beSeB8q875SfgxroFEoVJSwsDNOnT4epqSnc3d1x9+5dDBo0CGvXrmWmLgHAzMwMs2fPxtu3b9GtWze5Pvh8Plas8IbDkEWIN6gHAMh+eBy+UzqBz6XqhUKhUMoTrVq1QlBQEJo1a6a0XsJVhU77iTDqPQ9sviqyvjxD9IFpyI2UbjDdtm0bBg8ejI8fPyIwMBCANIGdpaXlL5OhqkDDLFIoVZCbN2+ie/fuSEtLY8qSk5Nx5MgRHDt2DC1btsStW7cAAAKBADY2Nvjw4YNC4ol3795h7fUv0GrUHYRIkBzwNw4tGQ9NTc1fKg+FQqFQ8ocQgsuXL2P79u14+PAhCCFo1qwZ7OzsEBAQgLi4OKjVbg29dmPBUdMGADTXz8aR1QsB8t8SR4FAgC1btsDb25tZdz569Gg5pw6lZKB3lEKpYkRERKBHjx6Mcc7n8+Hk5IT3798jLS0NEokEt27dgqGhIeLi4hAaGopx48Yp9MPmq0Kn7Who1usAANB8ex77N8yCm5vbrxSHQqFQKAUgFAoxbNgwJjGdjLi4ONy7dw8uLi7IsW0N3TYjAAD63Bys6lsPuuJkXDcyRExMDHPO8OHD5fqoWbOmXLhdSslRpDlob29vNG7cGJqamjAyMkLPnj0REhIi14YQAi8vL5iZmUFVVRVubm54/fp1iQ6aQqEoRyKRICAgAGvWrMG6detw584dJCcnY82aNahduzZ4PB7s7OyYNYdNmzZFaGgoHj9+jKioKPzxxx9MX05OTmjevLnCNXg8HgZNXw7nBWcY43xCYx28OreLGucUCoVSzpg9e7acca6npwcjIyPm+C0xZ4zzlHsn8MR7ADwaVEejRo3kjPPvadeuHW7evAldXRqlqzQokgc9KCgIEyZMQOPGjSESiTBv3jy0b98eb968gbq6OgBg9erVWL9+Pfbt24caNWpg2bJl8PDwQEhICJ32plBKkUuXLmHSpEn4/PmzXDmPx8s35fL9+/fh7OyMCRMmYNasWdi8eTPOnz+Pb9++4caNG0hOTsa7d+9w+fJlpKWlwczSGqF6TXD+dTyQLoSFripW9HJC6xqGv0JEyi/E29sbp0+fxrt376CqqormzZtj1apVqFmzJtOGEMKk/05KSoKLiwu2bduGOnXqlOHIKZSqw7dv33Dp0iUkJyfDzMwM3bt3x/Pnz7FlyxZcu3YNmZmZTIQWLpeL9evXY/z48WCxWDh//jxGrz0K9RZDAACGMQ8Qdmu/wjW0tLSwfv16JCUlISoqCtra2ujRowfq1av3S2WtahTJQPf395c79vHxgZGREYKDg9G6dWsQQrBx40bMmzcPvXv3BgDs378fxsbG8PX1xdixY0tu5BQKheHs2bPo3bu30nCI+RnnMqKjo7FgwQLcu3cPZ86cQbNmzXDixAkQQpCQkIAmTZqgSZMmiE3LxtiDwXj6Oh5sFjC6lR2mtrOHGp+ulKuMUIcMhVJ+SUlJwfjx43Hs2DEmHwVQsENGJBJh6tSpuHbtGpYtWwaubROot5Dq7+Tbh/B7Z0fsePwYPj4++PjxI1RVVdG2bVv89ttv0NbW/iVyUf7jp56ssvSuenp6AIDQ0FBER0ejffv2TBuBQABXV1fcvXuXGugUSimQnZ2N33//nTHOW7VqBSMjI/j5+RUYv/x7Ll26hLVr1yI4OJgpk01dvvyWgjEHHyMqJRvaqjz8PbghWlQ3KFlBKOUK6pChUMonGRkZaNeuHR4/fqxQl9c4V5bDQiKR4OzZs7j59D2Mh0gzgKY+9EPK3aOIqPcHnJ2d4ezsXLoCUApFsQ10QgimTZuGli1bwtHREYDUEwcAxsbGcm2NjY0RFhamtJ+cnBy5APmytbFCofCHnr/vkbUv6nkVDSpn5eNnZD169CiTdKJTp05wdnbGsmXLijUOb29vZvNo27Ztoaamhl1BH7Em4D2EYgI7AzXsHNIANvrqxRprVfmfFlXOinA/qEOGQikfbNiwgTHOtbW10a9fP1y4cIGxwWTk56Bhq2hAveM05IgBG5VsBN30AQDo6OiU6rgpRaPYBvrEiRPx4sUL/Pvvvwp13yczIYQolMnw9vbG4sWLFcoDAgKgpla8DISy2JyVHSpn5aOoshJCcPz4cea4Vq1aWLFixQ/PY7FYcoklVFVVkZWVJRd2sVELN/RcfwVvkqV7yZ10JfC0TcWbB0F4U6RRKlJV/qeFlTMzM7OUR/JzlJRDBig5p0xV+bEHVB1ZqZw/RiwWY8eOHQCkHnIfHx+MHj0aiYmJhTqfraoFs34LwNE1hTA5Gq8vLGXCKHbp0qVE7z39fxbc/kcUy0CfNGkSzp07h1u3bsHCwoIpl8VIjo6OhqmpKVMeGxuroMRlzJkzB9OmTWOOU1NTYWlpifbt20NLS6tI4xIKhQgMDISHhwd4vMqbwZDKWfkoiqwSiQR+fn7YuXMn7t69i9zcXKbu0KFDjNfE1tYWoaGhcufKDHPZj2aZkZ6VlSXXbvbS1bgnaIQvCZngc9mY26kmPBtb5PtDuzTkrMgUVc68mfzKIyXlkAFK3ilTVX7sAVVHViqncoRCIcLCwhAREQFAGmlrw4YNCsY5h8ORW5cuQ8XOGQadpoKjoQtJbhbiTi+DME76Y7pmzZqIi4vDpUuXiilN/tD/pzyFdcgUyUAnhGDSpEnw8/PDzZs3YWtrK1dva2sLExMTBAYGokGDBgCA3NxcBAUFYdWqVUr7FAgEEAgECuU8Hq/YD/CfObciQeWsfPxIVpFIhOHDh+Po0aNK62VLXQDpD+bvDfS8XvP8UjNv2ncchyN0EZOQCXMdVewZ3gi1TIr2Y/lHVJX/aWHlLM/3oiQdMkDJOWWqyo89oOrISuVUzrNnz7BhwwacPn1abvbp7du3jDdWU1OTmQH9/gcyW0UTBu4joeroAQDIjfuC+PNrIYz7AgCwsbHBxYsXYWVlVRLiMdD/p3IK65ApkoE+YcIE+Pr64uzZs9DU1GSmOLW1taGqqgoWi4WpU6dixYoVsLe3h729PVasWAE1NTV4enoW5VIUCkUJixYtytc4/5579+6By+Uy2d7yo06dOkyuAtdev2FvmDaSM3Ngb6SBg6NcYKKt8tPjplQ8SsMhA5S8U6aq/NgDqo6sVM7/OHXqFAYNGqR0WUTe2dPc3Fzo6OggOTn5P53PYkOzQSdotxwMjqr0x2/q47NIurkPEEv7c3Z2xuXLl2FoWHqhcun/U7FdYSiSgb59+3YAUEhG4uPjw2SXmjlzJrKysjB+/HgmLm5AQAANuUWh/CRpaWnYsmULAOnaQ4FAwCxNadasGe7du6dwzo+McwCMca5qZo+4OgOQkSlEfUsd+AxvDF11fglKQKlIUIcMhVK2vH//Hp6enoxx/v3eobzk5OTIbQrlaBnBsMdMCMxqAQByY0OReHUnVFLDoSbgITNT2qePj0+pGueU4lPkJS4/gsViwcvLC15eXsUdE4VCUYIsWRAgXXv4/PlzAMCwYcOwb98+DB06FIcOHVI4j8fjoXr16nj37l2+32FNc3tYDl+PDCFBAysdHBzlAg0BjW9elaEOGQqlbNmyZQvjJa9Rowbev38PQJoB+tWrV0hPT5drLzPkVau7QL/Ln+CoaECcnY7kWweQ/swfIBLk5Gk/YMAAODk5/RJZKEWHPoEplHJCREQEVq5cieTkZBgZGaFfv36ws7MDIN1U8s8//zBtZcY5ACab2+LFi5Ua6EKhEG/fvmWOVVVV0ahRIyQlJUFTUxMuHXrjFssJCZkiOJprYd+IJtQ4p1CHDIVSxpw+fRqANAPot2/fAEj19/nz55GUlARHR0e5ZS7gcKHrNgJajXoAAHIi3yHu7CqIU+MU+u7WrRv27t1b+kJQig19ClMoZUxSUhKGDRuG8+fPy5XPmTMH/fv3x8aNG9G7d2+lS1gAqRfT0dERSUlJTJmDgwPevFEMhtioUSPs3bsXTk5OIITg0P0wLL34FrkiEWqZaOLgSBdoq1b+tYIUCoVSlkRFRWHu3Ll4/fo1OBwOmjZtilGjRsHExASEEGzfvh2RkZEApEsVZcsVtbW1wefzYW9vjy5dusDPzw8AwNUzh2H3meAbVwMgTT6UFLQfkIhQv359sNlsCIVCODg4YPTo0XB3d//pqFyU0oUa6BRKGZKZmQkPDw+57J0yCCE4duwYbty4gdjYWLm6vBniRCIR+vTpAwOD/zJ75t3pP2LECDg4OKB169Zo3LgxWCwWEjNyMef0C1x5HQMAaFvLCGv71aNrzikUCqUUkUgkmDNnDtavXy83S3XhwgUsWbIE69evR3R0dL7J5qKjo9GmTRtcvXoV9+/fBwCo1WgO/a7TwOapQJyZgoRLG5H16RF0dXUxZ84czJgxgxrjFRBqoFMoZcjixYsZ45zP5+P3338Hh8PBwYMHGY+4zDjn8/no06cPjhw5opAhLi0tjVmfzuPx8OnTJwDSxEX//PMP2Gw20/bSyygsOPMKCRm54HFYmN2pNka2sKEKnEKhUEqZhQsXYt26dUrrcnNzMXHiRKV1smRyAPDkyRO4u7sjKioKarVbw7DbDIDFRtaX5zD8dBGTx/aDtfUMdO3atdgJHyllDzXQKZQyIDU1FSNGjGDWGAJS5bxt27Z8z8nNzUWTJk2QmJiIK1eu5NtOtlFIW1sbvr6+jHGekinEXL+XuPgyCgBQ01gT6/rXg6O5dkmIRKFQKJQCuHbtGry9vZnjBg0awMPDAwcPHkRUVJRC+5EjR+L48eNIT09XSCb39OlTqDu4Qb/LnwCLjfQXgUjw34Kj166iTZs2pS4LpfRh/7gJhUIpSYRCIbp16yZnnCvDzc0NGhoacmXTpk3DihUrsGPHjnx337NYLHTp0gX37t1j4lM/C09G5823cfFlFDhsFia1rY5zk1pQ45xCoVBKGYlEgunTp6Ndu3Zys59Pnz7F6tWrlRrnAHD27Fls3bpV4TkAABoNukC/y59gsTlIe34FCZc3Y9HCBdQ4r0RQA51C+UUQQpCRkYH9+/fj1q1bcnW1atWCnp6eXFnr1q2hr6+v0MfOnTsxduxYvHjxQi6yS9u2bXHu3DmEhYXhwoULqF27Nggh2PtvKPrtuIuI5CxY6anBb3xzTG9fEwIup/SEpVAoFAoAYNmyZVi/fn2BbWxtbTF27Fi5soSEBBw9ehQvX77EtGnTYGRkBBZPAP2u06Hf/g+pcf7sMiyj/8WRI740mlIlgy5xoVBKmaioKGzatAn79u1DTEyMXJ2FhQW+ffuGd+/eKZy3efNmJCcnK5T7+PigZ8+eEAqFmDNnDlM+f/58Oe9JUkYu/jr5HFffStewd3I0waq+daGlQqO0UCgUSmmSmJiI+/fvIzExEStXrlSod3Nzw82bN5njb9++wcrKSqGdv78/RCIR1q1bh1FTZqHDstPg6FmCSMToZ8/DmJGTYW+/he4hqoRQA51CKUVevHgBDw8PhSgsMqytrZn4tjJk6ZqVGeeAdIlM586d5cratGkjl1DmYWgiphx9iqiUbPA5bMzrUhu/NbOmSpxCoVBKkYSEBMycOROHDx+Wi6YFAA0bNsSTJ08AQCFyl1AoxPLly5X26erqivFzlmHPJ1Vw9CwhSk9E/YxgrF29sVRkoJQPqIFOoZQSmZmZ6NKlC2Oc83g8uLi44M6dO0x4rTt37sDa2hphYWHMecoM85o1ayIkJETpdVq1aoVTp04xxvfxR+GY6/cSIgmBnYE6tng2QB0zutacQqFQSpOEhAS0atVKLjFcXp4+fQo9PT0kJiYyUbfykpmZqfS8eGhixwdVcFQ1kRv3Bdn+a7HhZkCJjp1S/qBr0CmUUuLIkSOMd7xevXr4/Pkzbt++DVdXV4W2vXr1UtoHi8XCli1bwOH8t148b9isPn364MaNG9DV1QUhBOsCQjDz1AuIJATd65nh/KSW1DinUCiUX8D06dMZ41xTUxPjx49H27ZtmXpCCDIzM6GiolJgP/369WP0vGqNZjAesAwcVU3kRLwD79ZWBJ47CXt7+9IThFIuoAY6hVIKfPv2DYsXL2aOnz9/jnbt2mHLli34/fff5dqGhYWhefPmaNWqlUI/bDYbkyZNYrKC2tjY4NmzZ0z9ly9fwOFwkJkrwtRjz7Dl+kcAwKS21bFpYH2oC+gkGYVCoZQ28fHx8PX1BQAIBAIsW7YMa9asUVh/np2djd9//x12dnZK++nbty9SUlKQmZ0D3TajYNRrHth8VWSFPkHs8fm4ddUfzs7OpS4PpeyhBjqFUsK8evUKDRs2RHh4uFx5SEgIJk+ejAMHDqBr165ydX/99Rdu376t0JdYLGbeV6tWDQEBAahWrRrjgcnIyMDbqFR02/Ivzj6LBIfNwqo+TpjeviZdb06hUCi/gIiICLRv357JQZGTk4MpU6bAwsICt2/fRtOmTeXanz17FrVq1YJAIFDo6+TJkwh6FwXjQd7QaiKdWbUXhyH25GJIcrPzXT5DqXxQA51CKUGEQiF69OiBuLg4uXJHR0fm/ZUrV2Bvbw8LCwuF89lsNjw8PJhjHo8HV1dX7NmzBy9evIC9vT0CAgKQnZ0NANB17oKe2+7gU1wGjLUEODzaBQMaK0YCoFAoFErJExMTg1atWuHp06cKdUlJSZg+fTrq1asHIyMjpvzr16+4dOmSwiZSdad2MB25FSaDvKFi4QAVDrBjiDPqCN8DEqmzhjpeqg7UQKdQShA/Pz98/vwZAGBpacmUCwQCHD16FDyeNMTh33//zaxPNzAwwPz58zF69GiEhIQgICAA7u7uAKQGv5GREdq0aQOBQIDz589j9OjRAJsDPY8/EGnRBjkiCdxqGuLS5FZoaqcPCoVCofwa5s+fj9DQULmyatWqwdPTkzneuXMn+vfvr3Aul8tF//790avfIBj2nAuDzlPBN7QBn03g2dgcgdPbwMVcwCyd4XA4qFevXukKRCk3UAOdQilBzpw5w7zftm0bY6QHBwdj6NCh0NXVBQA5z8nSpUuxcOFCdO3aFdbW1gCAxYsXg8uVrh8/ceIE7OzswOPx0L17d0QlpsG4/1JoNuwCFgv4q0NN7B3WGPoaitOlFAqFQikdUlJScPjwYQCAuro6atWqBQD49OkTOBwOpk6dyrTduXMn837z5s1YvHgxvnz5gqWb/0FM/WFQq9kcRCREctB+tEy8jNbq0fA/dRhNmzZlZmR79eoFExOTXycgpUyhO8golBIkKSmJed+0aVNcuHCBiYMuFAoV4qH37dsXw4cPV+inRYsWOHHiBAYPHsyE3iKEQGDpBIOu08DVMoQ6n41NAxuinYNxqcpEoVAoFEVevHiBrKwsAMCAAQPQp08fdO3aFYQQHDx4UK6tbH16nz59MG7cOFy6dAmxQhUM3XUX6TkiqJJsfPadi9yo9/C5D/js/FvufENDQ6xaterXCEYpF1APOoVSTMRiMUJDQ/HhwwfGI25qasrU37x5E3Xr1sWzZ88we/ZsGBsrGtInT56EtbU1li5dCpFIJFfXs2dPhIaGYvny5WjZ2hU1+8+EyaAV4GoZwkZfDX4TWlLjnEKhUMqIvJv4VVRU0LlzZxw8eBCqqqpK2xsZGcHc3Bzv3r1DTBYw8kAw0nNEaGyji9vzu2DB+KFyYXRlNGrUCLdv38438gulclJkA/3WrVvo1q0bzMzMwGKx5Kb0AamXz8vLC2ZmZlBVVYWbmxtev35dUuOlUMqcjIwMLF26FNbW1rCzs0ONGjVgZGSEyZMno0OHDky7adOm4dGjRzA1NcWSJUuUhlEEgNjYWCxduhTe3t6Ml0WGgYEhHLsMB6+bF7JtWwMsFgY2tsSlKa1Qw1izVOWkUCgUipTnz59jzpw5GDlyJP766y/cu3cPtWvXZnJUnDhxAqmpqRg8eDC+fPmCFStWKCxHiY2NxebNm9GghTtWP8xGUqYQdS204TOiCQw0VTB//nxERkZi9+7dmD17NpYsWYJ79+7h4cOHqFmzZlmITSlDirzEJSMjA/Xq1cOIESPQp08fhfrVq1dj/fr12LdvH2rUqIFly5bBw8MDISEh0NSkBgWlYpOSkgIPDw88evRIrjw1NRVbtmzB7t27YW5ujoiICHz79g1NmjRBtWrVEB8fj5SUFKa9paUlhg0bhrdv38LPzw8SiQTBwcHYsmULZs2aBQB48DkBi869xrtoacY5PXU+VvRyREdHU1Aov4Jbt25hzZo1CA4ORlRUFPz8/NCzZ0+mnhCCxYsXY9euXUhKSoKLiwu2bduGOnXqlN2gKZQSJCkpCUOHDsXFixflyteuXYuGDRvC3d0dAQEBiIuLg5ubG+bPnw9bW1sEBwcjOjpaoT+2mjaMByyFiK8BDUk69o3wgEaefBXa2trSQACUKk+RDfROnTqhU6dOSusIIdi4cSPmzZuH3r17AwD2798PY2Nj+Pr6YuzYsT83WgqljJk0aRJjnLPZbNSsWRPv379npjqzs7MREREBFosFQggA6YahvNSvXx/BwcFgs6UTWNevX2eituzYsQNT/pyGbTc/Y+uNjyAE0BRw8XtrO4xsaSunyCmU0oY6ZChVmZycHHTs2BEPHz5UWv/kyRMA0mgsIpEIT58+Vfo9qVatGi5cuADw1TD4n4dIkKhClBKL976zkD6xGfTUaWhciiIlugY9NDQU0dHRaN++PVMmEAjg6uqKu3fvluSlKJRfTmRkJI4cOQIA0NLSwoIFC/D27Vu5dYgyZMa5paUl1NXVGWOcy+Xixo0bzDEAtG3blkkHHZ6YgV5bgrDlutQ47+dsgduz2mCyuz01zim/nE6dOmHZsmWMwyUv3ztkHB0dsX//fmRmZjJh4SiUisy+ffsY41xfXx/du3dX2u77/UN5sbCwwOvXr2FpWx1z/MORIFGFCnIRc3QehKlx2LdvX2kMnVIJKNEnvmw65/vNcMbGxggLC1N6Tk5OjlzIudTUVADSHc/fr8f9EbL2RT2vokHlLBsuXLjAKOJRo0Zh8+bNTN2wYcNgYGCAdevWyZ3z7ds3TJgwAadPn0ZkZCR0dHSgpqamIJOFhQX4xtVg1NcLb+NyoKnCxbLuDujsJF3DWF7uwc9S3v6npUVR5ayI9+NHDpn8ZkxLSudXlc8SUHVkLW9y5g2NOHfuXEyfPp05trKywtevXxXOcXV1RVZWFmPYT5yzGLtuf4Hfsyh8js+AjioPC1vqo8+qKADA27dvy428JU15+3+WFqWl70vFJfd9pitCSL7Zr7y9vbF48WKF8oCAAKW7mQtDYGBgsc6raFA5fy2XL19m3u/cuZMJf9isWTM0atQIc+fOVTiHEIKtW7cyKZ3j4+Oxfv161K5dm2mTm5uLy8++wthzFdh8FRgLRBhbWwSEP8Gl8FIWqowoL//T0qawcso+SxWJ4jhkgJLX+VXlswRUHVnLi5wvXrwAIF0XvnXrVqZ8wIABaNiwIebNm6fgPQ8KCpJuDmVzYNDlT2z/agx8/QgAUOUQjKyehdd3HzDt4+LicOnSpV8gTdlRXv6fpU1J6/sSNdBlO5ajo6Plws3FxsYqDTEHAHPmzMG0adOY49TUVFhaWqJ9+/bQ0tIq0vWFQiECAwPh4eHBZGysjFA5fz3r1q2Ti1iU9wuWnJyMrVu3Ii0tjSn73ruS12O4Y8cObN26FR4eHvjw4QN+X3UAqh3+BIvNgUb6N1ye9xs0VSrncpby9D8tTYoqp8yLXBEpikMGKDmdX1U+S0DVkbW8yEkIwebNm5nliykpKcwmf3V1dfz555/o0KFDvktbomNiYdB1GtQd3EAkYrjY6KB7A0u0dzCCJp+Nrl3/m3319PRE586dS1+oMqC8/D9Lm9LS9yVqBdja2sLExASBgYFo0KABAKl3MCgoKN8A+wKBgPEu5oXH4xX7H/oz51YkqJylQ3Z2Nk6cOIELFy4gNTUVWVlZCAoKyrf927dvFcomTZqEv/76CwCgqqrKJLMAgLCwMHTr1g0sNgc6bUdDy7kbWAAyX12D7/wB0NNUHkO3MkE/u4rtKhrFccgAJa/zq8pnCag6spaFnB8+fMD79+8hEAhw7tw5bNmyRWm7jIwMdO3aVS4ql4WFBQwMDPDs2TMAgF6HCVLjXCxC3OlluJURjuojRyL8piYOHz7MhJ42MjKCp6dnpf+f0s+tYrvCUGQDPT09HR8/fmSOQ0ND8ezZM+jp6cHKygpTp07FihUrYG9vD3t7e6xYsQJqamrw9PQs6qUolF/Oo0eP0KtXL0RERCitd3FxwYMHD5TWyejWrRv8/PyY4169ejGb5iwsLPDt2zdw9Syg124MVG0bAgAy7x3BH27V0di5YQlJQqGULsVxyFAo5Y07d+5gzpw5uH37dqHPiY+PlzseO3Ysli5dCgAw6TwJAqcOIBIxki5tQNbnx8iCdGlXXrhcLnx8fKCiovLTMlAqJ0U20B8/fow2bdowx7KpymHDhmHfvn2YOXMmsrKyMH78eCYubkBAAA25RSn3fPjwAR4eHnKeke8hhGDEiBHw8fFRWm9hYYEvX77g5cuXAKRGTNeuXRkDvePvs/GZY4VPadIoLiyxEJ10Y7Do+Drcv3+/hCWiUH4O6pChVGYuXryIXr165btpz8jICI0aNSpwjXjjxo1x69Yt5OYKodd+AgRO0mR1Cf5boRLzCj169MD58+chkUiYc5o0aYJevXrBw8OjZAWiVCqKbKC7ubkxIeSUwWKx4OXlBS8vr58ZF4VS6hBCcOvWLRw9ehSxsbF48uQJY5zb2dlh/fr1ePDggZzn4+HDh6hRowbOnj2LtWvXKnhdvn37hm/fvgGQTuX7+PhIjXkOQFb5EgAANQVJREFUD/odJyEw0wYAwGYB7rWN8We7GnAw06r0u9wpFRPqkKFUNiIiIvDs2TNkZGRg9OjRjO6tWbMm+vTpg40bNzJ7jGJjYyEUCjF58mTs2LEDubm5cn1xOBw8efIEYgmBfuep0HByBwtAytW/kfEyEHqWljhz5gzCw8Nx//59iEQiODo6olatWpV+Yyjl56mcO9EolB8QHR2NPn365Buf//Pnz+jdu7ec10PGoUOHcO/ePQQEBODq1atKw8nVrVsXGzZswNOnT3Ho1DmYeHpDYFYLHBYwxrUahja1hplO5V9rTqnYUIcMpbLw/v17/PXXX7hw4YJSvZ6ZmYk7d+4oRNgIDAxEZGQkbty4gaNHj8qtTScCTWg4toVGXQ/w9C3BZgFuKmHwCZYa37Ift5aWlrC0tGTOow4ZSmGgBjqlwhMWFoZ//vkHwcHBYLFYaNy4MUaPHg0LCwul7TMyMtCuXTtmo05+KFPiMj59+oSOHTvCzMxMaX1oaCi6dOkCom8Dk6HrwdUyhAAi7B3VAi2qGxReOAqFQqHIkZqaiqtXryIxMREmJiZo165dgWu5X716hdatWyMpKSnfNuHh4QgPVx7X9vXr1+jRoweuXLkCHx8fZOSKodNqKDQbdAaLIzWjuBDD+PMV+Bz/mzlv4sSJxZSQQqEGOqUCQwjBkiVLsGTJEjlj+tKlS1i2bBmWL1+OmTNnKoR82717N2Oca2trF7jmXBksFguEEHz48AEfPnwAABgYGKBRo0bw9/cHAKSlpUOrSS/ouA6Thk+UpOP8X11ga6jxMyJTKBRKlSUnJwdz587Fzp07kZGRwZTr6+tj+vTpmDVrllyWZkD6nBg8eDBjnHO53AIzf+ZHfHw82rVrB4l5PZi5jwFXU186poh3SH8RgIx3t/Ep979oXQsWLEDjxo2LIyaFAoAa6JQKzJo1a/KdWheLxZg9ezbU1NQwadIkubrdu3cz77W0tBgD3cjICLGxsUr74/P5zPrD76f81dTUcOrUKbRs2RIXLl7ChiOXEcq3A0xqAQCam/Owa0wfaAjo141CoVCKg1AoRM+ePRknSF4SEhIwd+5cfP78Gbt27ZJzyty6dYtJOGRtbc0k0Sqyc4bDA7vZMBg6tQMAmGvxYJv4EOfOrkb6dzkw5s+fj9GjRxdHTAqFgf3jJhRK+SM5OVkuG+GsWbMQGhqKT58+ySVBWbBggZynhRDCxC2vVasWM6XZrFkzTJ48WeE6snjN328OkqGtrY179+7B2aU5dtz6jFWv1RBq1RkwqQU+lw3v3k44PNGDGucUCoXyE+zevZsxzvl8PsaMGYPt27dj0KBBjEH+zz//KBjwV69eZd5Xr16deS/LU1EYOOq6MBnkDQ2ndiASMQY4auLaX+44tHY+IiIicO7cORw6dAg3btzA58+f8fvvvxeYrItCKQzUaqBUSI4dO8Zs5vn999+xcuVKpm7dunWIiYnB4cOHkZKSgiZNmsDGxgZNmzZFq1atwOFwIBKJ8PnzZ+YcDoeD6dOn48qVK3KRWfJmAAWkWRCdnZ3Rt29fAEDd+g3wNF0LI9fcQHy61IjXVuWhVwNz/NbMGnZ0SQuFQqH8FIQQbNu2jTm+ePEi2rWTerLHjRuHtm3b4vfffwcATJ8+Hc+ePYOdnR26d+8ut+nzy5cvzPs+ffrgyZMnOH36dIHXbj3gD4QZNQfUdCHOSsOM5rqYMqA1U6+pqYlu3bqVhJgUihzUQKdUSEJCQpj3AwcOlKvLzs7G169fmeM3b97gzZs3CmGt8nrF//33X/j5+WHGjBlKE1bw+Xxs2bIFgwYNYoxzgaUTUltMxqJz0vXs1vpqmNTWHl3rmkKFx/l5ISkUCoWCxMREvHnzBoA07rjMOJfh7u7OLEN8+/Yt5s6dCwAKXuxPnz4x79evX4+DBw8iODiYWfaSF4GeGVpP3Yz3GdLNp7nxX5F8fhWGLnpSorJRKPlBDXRKhSRvqvDv140PHz68SFnhZHh6eipsMJJhZmaGa9euYc6cOUjOyIFex0nQrNcByWLAUFOAKe72GNDYEjwOXTVGoVAoJUnemUw9PT25usjISLi6uipdhlhQiNDdu3cjJCRE3jhnc6Bq6wwNx7bQrNUC7zNYgESMlMdnkXLnCIYM6KtwfQqltKAGOqVMkaUGj42NhYGBAdzc3OSM7/xwdXVllrWsXbsWPXr0gKqqKh4/foxjx44Vezz5hVb88uULvkbHQ7NRd5g7dwdbRbp0ZbCLFWZ1qgUtFV6xr0mhUChVBZFIhPDwcLBYLFhaWoLD+fFso7GxMfT09JCYmIibN28iIiIC5ubmAKTLDvMLj/gjbt26xbxXd3CDjtsIJjqLGEDWl+dIuroDwoRwmJqaYsWKFcW6DoVSHCqdgS4UCnH+/Hl8/vwZKioqaNu2LRwcHMp6WJTvkEgkWLNmDdavXy/nATcwMMDUqVMxe/bsAs9v3749atSogffv3yM4OBhOTk7o378/9u/fr7S9rq5ugTFw86Ne/QbIUjdFnKoVNBzbgi1QAwBY6/CwZkAjNLGl3hQKpSzJzs5GcHAwMjMzYWdnBxsbm7IeEkUJiYmJWL16Nfbs2YP4+HgAgImJCcaMGYPp06dDS0sr33M5HA6GDx+O9evXIycnB+3bt8eqVasgEAhw6NChQl0/v/CKXH0L6Hv8ARXregAAcUYSMl7fRPqr6xDGhQIAWrRogQMHDuSbW4NCKQ0qlYG+f/9+zJw5U8EQa9u2LXbv3g07O7syGhklL4QQjB49Gj4+Pgp18fHxmD9/Pt68eYO9e/cq1GdmZuL58+fIzc3Fxo0b0a9fP2RkZODTp0/w9vbO95rp6ekApBt60v4fEqt+/fp49uwZAKB27dpMdJf+/fvDtmYdcGu742poNpJTsyF7dNQwUsdUj5roWMcEbDbdpU+hlBVZWVk4dOgQRo0ahYSEBKa8TZs2WLJkCVq2bFmGo6PkJSIiAm5ubvj48aNceXR0NJYsWQI/Pz9cv34d2traCueKRCKkpKRg8uTJOHr0KCIjI/HmzZsCN2byeDyFbJ3W1tbMGnRdXV2kQRXazQZAvY4bWGwOWBIhutnxML9vZ5w/m4PQUBOoq6ujffv2cHZ2LoG7QKEUjUpjoG/evBlTpkxRWnf9+nW0aNEC9+/fh7W19S8eGeV7/Pz85Izzfv36oVmzZnjw4AGOHz8OQgh8fX3RsWNHxquSkpKCxYsXY+/evUzsWjabjZYtWyIjIwPBwcEK18mrpGV/s7L+SyRhY2PDGOiyZTUcdV1U7/Unzr1NQdrzZACApgoXHeqYoHs9M7SsbkANcwqljMnMzETnzp1x584dhbobN26gTZs2OH78OHr16lUGo6N8j6enJ2Oc83g8tG/fHiKRCFevXoVYLMbLly8xatQonDx5kjnn7du3WLt2LY4ePYrMzExG33M4nB8uafneOAcADQ3pskSOhh6Mu0+HppEjWGzp8pp2tY2xqJsDLPWkM6SjRo0qEbkplJ+hUhjo3759w/Tp05njrl27YsCAAYiOjsaWLVvw9etXREdHY/r06XIKoKSIjIzEvn378PLlS3C5XDRv3hyDBw8ucMquMpGSkoLDhw/j2bNnYLFYcHFxwYABA6Curq60/datW5n3Bw4cwNChQ5nj3r17Y8CAAUy7iRMnIi4uDp07d8bz58/l+pFIJLh165bcmnV1dXUm7rm+vj6io6PlzpFNcfJ4PCYLKMDCu2QWDHrOgbp9Uxx+JvXG1TTWxIS21dGhjjEEXBqVhUIpL3h5eTHGOZfLRa9evWBpaYlz587h48ePEIlEGDp0KEJDQ2FoaFji13/79i0uXryIlJQUWFhYoG/fvtDX1y/x65RXvn37hosXLyIpKQmmpqbo0aMHdHR0lLZ99OgRs9bb0tISQUFBsLW1BSC9j61bt0Z8fDzOnTvH6GR/f3/0798f2dnZTD8yfQ9IN+1HRkbKXedHyxhNzC0QqmIP7eYDkMVXBQtA5seH+L2ZOZYP61LcW0GhlB6knJGSkkIAkJSUlEKfs2jRIgKAACCdO3cmubm5TF18fDwxMjIiAAiHwyHfvn0rsbFKJBKyePFiwuVymevLXqqqqmTBggUkLS2t0P09f/6cLF26lMyYMYNs3LiRREZGEkIISUxMJJcuXSJ+fn7k1atXJDs7m8ycOZO0bduWaGlpEU1NTeLq6kp8fX2JSCRS2vfbt2/J3LlzydChQ8n48ePJxYsX820rQygUktTUVCKRSBTkvnz5MunevTvR0tIiLBZLQX4dHR1y5MgRhT5FIhFhs9kEALGxsVHat5mZmVxf3/dfp04dMmrUKGJiYqJw3Z07dxJ1dXWF8u9fampqBBwe0ajXgZiN+ptYz7rAvPr8fYf4v4oiYrFEYfylRW5uLjlz5ozcZ7cyQuVUTnH0XmWhqLJnZGQQHR0dAoBwuVxy7949pk4oFJJ+/fox33Nvb+8SHWtUVBTp2LGjgj7h8/lk5MiRJCkpqdB9icVicuPGDbJjxw7i4+NDPn78yNTFxMSQJ0+ekI8fPxKJRELi4+PJmDFjiKurK3F0dCRt27YlO3fuJOnp6Ur7lkgkJCgoiCxfvpwsXryYnDx5kuTk5BRb7szMTLJv3z7i4eFB9PT0FHSympoamTVrFhEKhQrnzp8/n2m3Y8cOhfolS5Yw9QKBgKioqCjc25YtWxILCwuF+25lZUW6du3KHMueLcyxqhZRd3AjBt1mEOupRxkdbzxkDeGb1iCqqqokMTGx2PeluFA9WLkoLX1fKQz09u3byxlo39+kv/76i6n38/MrsbHmVSz5vVRUVMjEiRNJcnKy3LkZGRkkPDycpKWlkYiICOLu7q5wLofDIbVr11ZQWBwOJ9/reXh4kIyMDLnrDBo0SGnbmjVrkpcvXzJts7KySGBgIJk7dy5p2rQpcx09PT0ydepUEhYWRoRCIRk8ePAP5Za9Tp48KSd3Tk4OU2dqakpWrVpF3r59SwiRPlRmzZpVqH7V1NSIqqqqQvnVq1fJ8ePHFRS17MXVMyca9ToSg24ziMWkw4zCtpx6nNQbuZy8/JpQYp+PokAVWeWCGuiFp6iy37hxg/k+u7q6Ktzjjx8/MvVubm4lNs7ExERSs2bNAvUSm80mnp6e5NWrVwrnSyQSxiFx5swZUr16dYXzmzZtSlxdXeXKNDQ0lDqBABALCwvy/Plzues8evSIODk5KbQ1NjYmBw8elGubkJBAbt26RebPn08aN25M9PT0iLm5ORk2bBh5/PgxIYSQly9fEmtr60LpZU9PTwWny8SJE5n6WbNmkfv37zNtIiIiCtU3h8Mh9erVU/hh0LlzZ/LmzRuira0tp+O1mvUnxkPWEKuZ5+ScL+bj9xP1Om0IIO1n06ZNJfb5KApUD1YuqIFeAG3btmW+nPv27VO4SXk97CdOnMi3n8zMTHLt2jVy5swZ8vjxYwVFc/fuXTJkyBBSvXp1YmlpySgLFotF+vTpQ/h8fr4KxsHBgSQlJZH79++T3r17yxnZBRnchXl9b8B37tyZECL10HTp0qXAc/X19cn+/ftJnz59iKamZoFttbS0iKOj4w/HY2lpybw3MzNj/h85OTlkwoQJSs/p3Lkz2bFjx0/dBwBEXV2dvHz5kgQEBJAGDRoQjqY+0ajXgRh0+4uYTzggp6ytZ10g5uP2EqNWg8j0WfNIdnZ2oT9zJQ1VZJULaqAXnqLKfuHCBeb73q9fP4V7LBQKmfrGjRsX2FdsbCx58OABefbsmYKHOTs7mxw+fJh069aNuLi4EFtbWzljt379+vnqIVVVVXLt2jUiFAqJj48PadKkCeFwOITNZhNdXd2f0nHfG6m6urokIiKCEEJIcHDwD2cQN27cSHx9fUm7du1++OwZOnSodLaxgDZqampyPyDOnz/P3MMXL14oNcDr169Pbty4QZydnX9a52/cuIn433pI7NoNIcZD1ijoeNPhm4lOq6FEYO5AwGIzY968eXOhPm+lAdWDlQtqoBfAlClTmC/rb7/9JneTcnJy5DwV7969Uzg/OzubzJ07V0FxampqkgYNGpAJEyaQgQMH5qsgTE1N5c61s7MjpqamCu00NDTy9ezmfRVk6Bf2VbduXbJp0ya5a69Zs4a8evWKeHt7Ez09vUL39SMlbmNjQ44fP040NDSYslatWjHvz5w5QyQSCendu3eB/fB4vCLL2ahRo/+O2RzCM7Am1q37kBUX35DOm24pKGur6X7Eevh64jJqMfnT+29y8dJluRmHsoIqssoFNdALT1Flf/36tZzu+d6wPnXqFFPfr18/pX28ePGC9OrVS063qaurk3r16pGxY8eSnTt3Ent7+3z1zpAhQ+SO8xrvsheLxSI2NjY/1GFcLrfIOv97I11LS4vs3LmTuLi4MGX16tUje/bsIYcPHyYNGjQodt/KXitWrCANGzZkjrt3786879SpEyGEkKdPnxItLa18+8jvWVjQ9fl8PrPURcWqLjHq5yU3E2o96wKx/ussMey7iGjU60A4mvrMs6VWrVrE09OT/P333woz2r8aqgcrF9RAL4Dnz5/LfbmHDRtGnj59Si5fvkxat27N1LVu3Zp8/vyZTJs2jZibmxMej0eMjY3lPL6FeamoqOSrRNq2bUtu3rypdPlFUZXgz77yPnxGjRpF7t+/r3QpjbJXQYpV2WvkyJFk+fLlzHH//v2Z94sXLybbtm2TU8w/8srIXtWqVSuwvk6dOgQcHtF07k4sJh5UNMhnniPGQ9YQ7RaeZPjM5SQrt+B192UFVWSVC2qgF57iyJ7X4PTw8CBfvnwhIpGInD17lhgbGzN1Fy9eJBcvXiTdu3cn5ubmxMLCgrRq1YoIBIIS07OnTp0iI0aMKHV9XpTnhqmpKQkICCDHjx8nBgYGheq3MM6jvP0/fvyY8ZwbGxsze710dHSIUCiU091Fud8/Gq+ltS3RcRshr+f/OkOcZhwmtp1+Jxx1qbOMy+WSa9eukVevXhVpL9ivgOrBykWFM9C3bdtGbGxsiEAgIA0bNiS3bt0q1HlFVdZ+fn6F8lKoqKiQDRs2FGgYstnsHyqpGjVqFHg9ExMTBe/090tQivIqyHvNFqgTnqEtEZjXInzjasS5bRfC4hfO8C3MqyheHRaXT7buP07YatK1gG3atGHq8j4wi9p/ly5dmClSFldA+MbViHqdtkSraT+i3dKT6LUdRcz/2JtnLfkxYvy/9s48Loor2+O/qt67gWaTXYhbVOIyCS4jaiQhMjGZ+DSbxiW4xbgiYYwxaogxz7hlnHmJ0agfM5lEoyRqMpo4LpERo3nRyEMjEsUV3AFBGrqbXqrO+6OlpaVBQJqG5n4/n/p86Hurb51TVP3uqVO37x29jPwTppGm25N2e1588cVmLRJMyDyL1hagN1Tvierne2lpKU2aNMnp27Z7tTI2NpaGDx9+336htnqe52v8DU/lNmLECEctfIDkS03fdZYwqZpNbozN2Vvf2rakpCTq37+//XOlLTKZzOlwyboM5VQoFA7JHV7jS6pOfyS/x8eQ35OTyH/wFAod/7Fd7/3/NJ3kIZ0IEsfrgef5auPtmxNMBz0LV+m9S6ZZTEtLQ3JyMlavXo3+/ftj7dq1GDJkCHJychAZGdlox9m8eTNGjx4NIqpWJ/EOBAkWiIZS+Pv7o0OHDnjjjTfs9RzH4aGHHsLFixftZWR7YAFgW6myTZs22LRpk0O7ubm5tdp077R+ABymiqoJpVIJM6+AzC8cEp9A2/ysHA+pUg1O7QeJdyAkGl/wSi/wCi/b33dWtaykCEBk76mwlFyD+eYFWIuvwKorglB+C5xcBal3G0i8/ECiALJUQDRXAKIVIAKRCE4qBy9VgJMpbcdRasBJFSCzEaJJD7KaQAA4cODkSkg0/pB4+UPqEwiJxg8rcoC2MzfBdP0sTl35Dcr2MbCWXMfNogKnPpstVmg7PobgR+NRKvWHYNRB0BVC0N8Gr/aBVOOPY15+CBrxKiIMFvBqH3Ac77QtmaUcr8YEIXXsfwGiYCuTyTAwNhbTpk3Diy++CJ53/l0Gg9Fwmkrv9Xo9Bg8ejKNHjzqtFwTB/ndkZCROnz6Nn3/+2V6mUqlARA56XPm3UqnEuHHj8Nlnn8FsNtvrRVHE5s2ba7UrLS3N4bNEInG6YmVdUCgUqKgwgVf7QKLxA6/0Bq/UQKoNgFbuDYl3ACRqXxCJgGCFmazwDr0IS+ElWIryIehvAyTeaY0Dr9GCl6vv6L0RJFjuhLAiOIkMnFwJ/o7elyh8oO7aCRCsEE16m+aLIjiOAyQySL38IfFpA6k2GFK/UGw3hUPSqx8C/ftBn3MQVy7+HwDbHOTO5iGv/P9Ede8LnX8XQKaC5dZlWG9dBngeUm0IpL7BOKHugvBX+wCaAEh9nE+RKRhKMaOvP/7x3Y8ovnHWoS4+Ph4LFixAXFxcg/4HDEZzwSUB+sqVKzFx4kRMmjQJAPD3v/8de/bswZo1a2pd7bE+6HQ6vP766/aA+oknnsDo0aOxJ/0nHDYEQ9b5cZAooCI/G4bTPyErN8vh+0TkEJxXlgFAu3btsHPnTlRUVGDLli0Owl9JeHg4DAaDw7yrvNoXirCHIQ/uAHmbduCVGoCXALwEZNLbxNOkB0nkkKi14NVa8Ao1eLkKvMobvML5vOG1IehvQzQbwUll4KRySFQ+kPmFQeYXVu+2HhTRUgFepoQitBMQ2gmq3i8AAIhEiMYy22Yqh0SmgEztA0GqAq9QwwRAWUu7OgCSO6dGMJTCUpQPa+kNkMUE0WpG51A//PBJKlZ//D/24HzhwoVITU21dS4MBsNlNIXeA8DSpUvtwblGo8GECRNQXFyMI0eO4NyFS5CotRD0JQCJyM/Pr/Z9o9EIHx8fpwmTjz76CK+99hosFgs2bNgAwJbEqZr8iYmJcbogGidXQaoNhsTLHxwvBSQSyIhAJoMtyCWCROV9J7miBidT2RMcUm0QpNog8DIlwEvA8VLwKm9wkrp3zapH7v5NogBBfxtkNUPqHQhOKqtzOw1FEx0HTXQcRJMBllv5sNy6AmvJdQiGUohGHUgU0D66Jy4X3oaqfQwQ8QhqWyGkAncDEyIRlqJ8mK6dsbUlWEBmI+aNTsCMYf+FJdNtCTGFQoH09HRERUUhPDzc1S4zGE1CowfoZrMZmZmZmDt3rkN5QkKCQzbjQdm0aZN9yfaXX34ZmzdvxvcnruL3S8GQWWxBGcdLoHqoJ1QP9QRgC+7MN86BsxhhtZhBVjMq8k/CeP4oyHxnhUmOR3RMLM7fqkB27kXII7qh4tppkMV09+C8BHFPD0V8wtOYMiMJ8rCu0EQPgqLtIzVmeOsCkQihtABCWSFEi9mW2baaYS2/BaGsCEJ5CcSKcogV5RCMpRB0hSCr2aENXulle0AI7mDrNLwDIfEOAJmNsJYVQSgvtu0nV4OTK+2Zeo7nIVpMIKvZFvjeOQ5ZTeDktkCakyoqDQVZzRDKb0EoL4a17BYEXQHEinLwGl+o2sVA1T4GsoC2kPqGgJerIFFrIVFr7/oKgAcgGHUwXshERd4J8DIlJNogSNS+EA2lEPTFEMpLIOhLIBhKIZQXQzTq7G1IpVJ8+eWXGDZsGDZv3mwPBjiOQ2JiIgvOGQwX01R6bzabsXbtWgC2+/7w4cMg3wh89sNh9B44FZazNwGpwhaglhXBqiuyaYixFGQ22gJtEiFWlEN16wosxVdAVrPtbaTKC216xOH7E1eRo9dAGdUTluKrEMpuARIpJBp/qPyC8PbKDfjL7NkouF0ORUhHyMM6Qx7U3kHXGhNBfxtiRRnECj1EU7lNa3VFtocQAJxUBl7pBVlgFOSBUZD6hYLjJZB6310wyfa21AROprCvmnkvoqXCdgyjDmJFOcDz4BW2hwlwnC0jL4qw6ksglBbAqiuE9fZ1WEuugwQr1J1joe76OKRe/lCEdYEirEu1Y5QD8Ot61ybj+V9huXUFsoC2kAW0BYlWWG/fgLX0JgRdgc3PskKYC/Pu9s0Aunfvjg0bNqBjx46YNGmSfVXpkSNHIjY2tpHOPIPRPGj0AL2oqAiCICA4ONihPDg42OnwD5PJBJPpbvCr09kCsJpek1VSdYnnpKQkfH/iKpLSfgPAwVp8FUW7/gahvATqzgOgfrgf5MEdIFFrbU/wVfD+w9MgqwWma6fBq30g8w1FtlSOIf/zEwAgaORikGCB6eppWEtvQtbmIcgDo3BIKsOh/wNCJ3zi0J658BLMN87DXHDeljEXBRCJ9mEpEpUPRLMRgr7EJogmPcQ7Q0iE0oJqAXe9MRtQkXcCFXkn7r8vAB8fH/s5rwt+fn4IDAyssgqnI6L+NvTZ+6HP3m8v49VaTJiahC/TtoNXet3JghgQ0+MR/Lz72yqvZIHHH38cB384WCdbrFYrxowZA4lE4vBaevz48QgPD6/1+mluVNrakmxuCMzP2vdvadRX74GGaX52djYKCwsBAEOGDEF0dDSeX/O/OHlNAuC2LTgn0RagaoMh1QY7bacmkr+9M3QxKgHBUQkAALJaHDLQf9l1BXgyGUFOvm9LINwCWa0g0QqO5+8kNjQAuDsJjzKIJoNtyKClAqJBB2vpDVhLCyCa9La+QhQhVujsfUe94HhbH+PlD06qgFVXYEvIVLYjkYGTyACOs70dEKx3Ek/Vh4hWpVevXjh27FiN9aarOSj5z2d3gu0IyPwjENQ+GkaRh4WXg+NlEAy3ER6oxYWsQ9CfOmB/yJDL5VCpVPZA+36cOXMGEyZMwLlz5+xvQuRyOZKSklrUPcR00LNwld67ZIgLgGrZSyJymtFcsmQJ3nvvvWrle/fuhVqtrlZeSdVXmMeOHUPbyCJEeUkgXjuFQ58tAATbGEDd0W3QHd0GpcYLonco5MHt7dkEXqWFulNfyALaQhnZ/a6togDRqINgLAMvV0LqE3Snvso+JNqyzVYzrCU3wF3JguH0IZRedxw2U8nLL7+M7du313ts4r2vWe9HQECAvSOr/BwcHIycnByn+2s0GlRUVDgEuLVhNBqdDvmpDdFQig0r/xsdO3bE2bNH7OU/Xz3tsF9YWBhee+01PPPMM9i5cyeOHTvm0JEDtgeKoKAgnDt3DoBtXGNVe2JjYzFkyBDs2rWrXjY2F/bt2+duE5oE5qcjBoPBxZa4lrrqPdAwza+83wHbudq1axeipBws3iKO7vwS5eczYbl1GRKNH6TaNmj7cA/cuK2HRK21vSkEB3AcJGpfSO8EkRzPQ6goB91JkpDVDBKskHoHQuobYg/OyWqBYCgBWcwgEkBWCywFF6Ey3kTB77/CUnLNIcsL2HQqIiKiRt2t7TzWR+8DAwNRVFRk+0AihPJixMf2wt69e6vvLFjAQ0RERATy8vLqfAypVAqJRFK77pMIS1EeLEW2dkv/F2jfvj2uXLhg36XQyddGjBiB2NhYbNu2DQcPHnTaD/n5+aGsrAxWqxVmsxnZ2dn2OplMhpSUFFy+fBmXL1+us0/NBaaDnkVj6z1H9VGDOmA2m6FWq/HNN99g+PDh9vJZs2bh+PHjyMjIcNjfWTalbdu2KCoqgo9PzSPVli1bhnfeeQcAkJycjOXLl8NoMqF3TEy1H3KGhoYiPj4eGzdudNqWLKAt5GGdIZTdgrXkGqy6QoesrldIOyCkCyQaX5gLL8Fy8wKspQWozDwEBgZi1qxZWLRoUY1PRhqNBnq9vkZ/6kp9BXzLli24fv26ww9k6wvP81AoFDAajU7rpVIpRFGEKIoO5fHx8di//24mvWvXrpBIJA4CW4lCocDvv/+OiIgIe1lBQQEeeughWK1WhIaGIjs7G15eXuA4DllZWVi7di2OHDkCQRDQo0cPTJw4EXFxcS1yaIvFYsG+ffswePBgyGSuHzfqLpifztHpdAgMDERpaWmtutfcqK/eAw3T/JKSEkRERMBisSAgIAC5ublQKpVYtGgRli1bVm3/Dz74APPmzWuwX3KlCoLcG2Q22IZ93MOLL76I8vJy7N692+n3fXx8UF5eXk0TXU23bt1w+PBhBAUFVUtu1AeFQlHr9/38/Bx+fwUAQ4cOxY4dOxzKJk+ejHXr1jltY+TIkfjnP/9p12uDwYAZM2bY++l3330XL730Ejp27Ij8/HysWbMGX3/9NQoLCxEQEIDnn38e06dPR8eOHRvsp7tgOuhZuEzvGzCjzH3p06cPTZ061aGsa9euNHfu3Pt+t67Tz1y7ds1h9bKkpCT65ZdfnM6hynEc7dq1q9oUig2ZDuveJZc5jqs2pdSYMWMoMjKyxjY6dOhQ43SONc3LLpfLac6cOVRUVER79+6lhQsX0vnz52nFihU1L2svlVJqair17t27Xj6qVCoaOHCgw8JDNW1xcXE0efJk++eqK8NNnTq12v61za8+b948slpt85QbDAaH6ctmzpzZ8AuyBcCmo/IsWtM0iw+i90R1973qdIf9+vWj3bt307hx45xqyZtvvkkDBgyot77fuzmbGrBNmzYO0zxqNJpaV2zWaDS1amnl/OH3bhEREZSenk7/+te/aM2aNTRnzhzau3dvjfsDoKeeesphgbq6bn5+fnVaD0ShUNCECRPsU+RW1fPIyEiKjY112D88PLzGtqKjo+n69ev2/++RI0fs0yArFAoqLCys/8XYQmA66Fm0qHnQt2zZQjKZjDZs2EA5OTmUnJxMGo2GLl26dN/v1qejeu+992oVk6oBeHx8PP3tb3+rdf8XXniBnnjiCaeBe4cOHWjz5s2k0+kcFj+6dxsxYgSZzWYqLi6mDz744L5BbmRkJG3dupW++eYbysjIIIvFQqIo0uHDhyk1NZVSUlLoo48+ooKCArvf914M6enp9vakUul9F/e5d+N5nkJDQ2n48OH0zTff2Nv97bffqEePHk5FevTo0XTmzBkiInrppZfsdVWX4eZ53mG1uZo6oXsFfciQIQ5zycvlcsrNzW3IpdhiYELmWbSmAP1B9J6o7r6fOXOGtFptnTRfpVLRpk2bal30JiQkhOLi4mrU6GeeeYby8/Pp/fffrzGZ4+XlRT/++CMJgkBffPEFPfzww/fV29dee40+/vhjWr16NR0/fpyIiHJzc2n+/Pk0atQomjRpEqWlpTmskFr1ejIYDNSlSxcHP+oyx3jVTSqVUlRUFE2cOJGOHTtGRLakyNixY53uHxQUREuXLqWioiI6cuSIvXz8+PH0pz/9yf65W7du951bPiQkxP63SqWioUOHUlxcnMM+EydObODV2DJgOuhZtKgAnci2cEVUVBTJ5XJ67LHHKCMjo07fq09HJYoivf/++zUuER8SEuKQ3a4p09y3b19KT08nIqK8vDwHMY6IiLALcCULFy6013t7e1NERAQNGzaMdu/eTaIoOthYUVFBkydPdnrsfv361bkTq4qzi2HkyJF1EubIyEjav38/bd26lVatWkUbN26koqKiWs/xgQMH6J133qHZs2fT2rVrqaSkxGGfqpmtY8eO0ezZs+9rB8dxNHz4cLp58yZ9+OGHtXYkW7Zsqfc5amkwIfMsWlOATtRwvSeqn+9Hjx6tdXGee98WOgtcpVIppaSk2HVv1KhRDvVTp051SAgUFBTYM7scx5FMJqPw8HCaPXu2U/3+6quvyNfXt9px5XI5LVmypFofURfuvZ4yMjLqHJSPGzeOvv/+e1q0aBG99957tHPnTrJYLDUeKzc3l9555x1KTEykGTNm0A8//ODQ/2VmZtrbHjFiBJ04caJOb1v9/f1p/fr1dPr06VoXReratWu1PsbTYDroWbS4AL2hNKSjunnzJq1YsYLGjh1LTz75pMMTeqWo1iQG0dHRlJeXR0REOTk59Mc//rHaPoMHD6Yff/yRTpw4QW+//baDMJ49e7ZONubn59Py5cspKSmJFixYQEeOHGmQUBM5vxgMBgO98MILNQbDAwYMoK1bt7rkRqn6SnXUqFFktVopNTXV6fLO/v7+NH/+fLp48aJDG+np6fTnP//Z/iCjUCho1KhRtHLlSo+/uYmYkHkarS1AfxDq67vJZKKvvvqKXnnlFerdu3e1YRW1rr7M87R+/XoSBIGMRiOtXLmy2j5+fn70ySefUG5uLn377bfUvXt3e93kyZPrZKNer6cNGzbQxIkTKTExkT788EOHt6D1xdn1lJaWVmO2WqvV0uuvv06nTp1q8DFrwmAw2N9kKBQKOnfuHP3yyy81rrDdt29f2rhxIxmNRnsbV69epZkzZzoMkYmKiqLFixfT119/zfTBQ2B+OqdVBeiVVJ6kM2fOUKdOnWoUablcXk3E7x3X5+vrW2NmvnJ74403XHAG6u7nvReDKIp06NAhSkxMpD59+tDAgQNp/vz59gcQV1FSUkIajcZ+XuLj4+nzzz+nxYsXU5s2bezl3bt3d8jEOMNoNFJBQQGZTKZWc3MTMSHzNFiAXnca6nvlOTaZTJSSklKrVlfVp0p9r8yKV27t27evtY2goCDKz8930Vmom6/3Xk9Xrlyh1NRU6tOnD0VHR9OQIUMoLS3N5fdXcnKy/bwEBgbSwoUL6csvv6RBgwY5nLOdO3fW2o7JZKLz589Tfn4+CYLA9MHDYH46p1UH6GazmcrLy2nNmjXUt29fCg4Opg4dOtC0adMoOzubiIj27NlT7cedlVtISAhlZmbSnj17nP4gRyKR0Jw5c+4bbLqK5njRf/HFF7V2br6+vvXO5jRHP11Fa/GV+ekcFqA3PECvPMcHDx6kESNGUGhoKPn7+1NsbCytW7eOSkpKqKysjJ566qka9Sk5OZlu375Nzz33nNP6zp07uyQb3VBf3U1xcTF17dq1Vs1PSUmpd7vNzU9Xwfz0LFyl9y6bB93daDQaTJkyBVOmTHFan5CQgNzcXKxbtw7btm1DcXExQkJCMGrUKIwfPx6+vr4AgLy8PGzduhUHDhyAyWRC586dMW7cOIfpABnA2LFjoVKp8Je//KXaMtv9+vXD+vXrER0d7SbrGAyGpzNw4EAMHDiwxvrdu3djx44dWL9+PbKzsyGVStG/f39MmzYN/fr1AwDs2LEDWVlZ2LRpE65evQofHx8MHToUTz/9NCQS5ytxtkb8/PyQkZGB119/Hd99953D1L++vr54++238eabb7rRQgaj5dPsAvTKG70+q1tWYrFYYDAYoNPp6jQXpVqtRnJyMpKTk6vVVT3+0KFDMXTo0Brrm5r6+tlUJCQk4Pjx40hPT8eZM2cglUrRr18/9OzZE0D9z1lz9dMVtBZfmZ/Oqbw3qHGXpWgRNFTzG3ItxcfHIz4+vlp51WN36NABqampDvWNsYbFg9Ac7xuFQoHPP/8cly5dQnp6OsrLyxEREYGnn34aarUaZWVl9W6zOfrpCpifnoWr9L7ZBeiVN3Xbtm3dbAmDwWA0LWVlZdBqte42o0lhms9gMFoj99P7Rl9J9EERRRHXrl2Dt7d3vVeErFyR7vLlyy1qNb76wvz0PFqLr8xP5xARysrKEBYWBp7nm8DC5kNDNb+1XEtA6/GV+elZMD+dU1e9b3YZdJ7nH3h8t4+Pj0dfDJUwPz2P1uIr87M6rS1zXsmDan5ruZaA1uMr89OzYH5Wpy5637pSNQwGg8FgMBgMRjOHBegMBoPBYDAYDEYzwqMCdIVCgXfffRcKhcLdprgU5qfn0Vp8ZX4yGovWdI5bi6/MT8+C+flgNLsfiTIYDAaDwWAwGK0Zj8qgMxgMBoPBYDAYLR0WoDMYDAaDwWAwGM0IFqAzGAwGg8FgMBjNCBagMxgMBoPBYDAYzQiPCdBXr16Ndu3aQalUIiYmBj/99JO7TWp0lixZgt69e8Pb2xtBQUEYNmwYzpw5426zXM6SJUvAcRySk5PdbUqjc/XqVYwZMwYBAQFQq9X4wx/+gMzMTHeb1ahYrVYsWLAA7dq1g0qlQvv27bFo0SKIouhu0x6YgwcP4rnnnkNYWBg4jsN3333nUE9EWLhwIcLCwqBSqRAXF4dTp065x1gPw9M1n+l9srtNcQlM81suTa33HhGgp6WlITk5GfPnz0dWVhYGDhyIIUOGID8/392mNSoZGRmYPn06fvnlF+zbtw9WqxUJCQnQ6/XuNs1l/Prrr1i3bh169OjhblManZKSEvTv3x8ymQz//ve/kZOTg7/+9a/w9fV1t2mNyrJly/Dpp59i1apV+P3337F8+XKsWLECH3/8sbtNe2D0ej169uyJVatWOa1fvnw5Vq5ciVWrVuHXX39FSEgIBg8ejLKysia21LNoDZrP9N7zYJrfsjW/yfWePIA+ffrQlClTHMq6dOlCc+fOdZNFTUNBQQEBoIyMDHeb4hLKysqoU6dOtG/fPho0aBDNmjXL3SY1Km+99RYNGDDA3Wa4nGeffZYmTJjgUPb888/TmDFj3GSRawBA3377rf2zKIoUEhJCS5cutZdVVFSQVqulTz/91A0Weg6tUfOZ3rd8mOZ7juY3hd63+Ay62WxGZmYmEhISHMoTEhLw888/u8mqpqG0tBQA4O/v72ZLXMP06dPx7LPP4qmnnnK3KS5hx44d6NWrF1566SUEBQXh0Ucfxfr1691tVqMzYMAA7N+/H7m5uQCAEydO4NChQ3jmmWfcbJlruXjxIm7cuOGgTQqFAoMGDfJ4bXIlrVXzmd63fJjme67mu0LvpY1lnLsoKiqCIAgIDg52KA8ODsaNGzfcZJXrISKkpKRgwIAB6Natm7vNaXS2bNmCzMxMHDt2zN2muIwLFy5gzZo1SElJwbx583D06FEkJSVBoVDg1Vdfdbd5jcZbb72F0tJSdOnSBRKJBIIgYPHixXjllVfcbZpLqdQfZ9qUl5fnDpM8gtao+UzvPQOm+Z6r+a7Q+xYfoFfCcZzDZyKqVuZJzJgxA7/99hsOHTrkblMancuXL2PWrFnYu3cvlEqlu81xGaIoolevXvjggw8AAI8++ihOnTqFNWvWeJRYp6WlYePGjfjqq6/wyCOP4Pjx40hOTkZYWBgSExPdbZ7LaW3a1FS0pvPK9N4zYJrv+ZrfmLrU4gP0wMBASCSSapmTgoKCak8ynsLMmTOxY8cOHDx4EBEREe42p9HJzMxEQUEBYmJi7GWCIODgwYNYtWoVTCYTJBKJGy1sHEJDQxEdHe1Q1rVrV2zbts1NFrmGN998E3PnzsXIkSMBAN27d0deXh6WLFni0WIdEhICwJZZCQ0NtZd7sjY1Ba1N85nee4beA0zzPVnzXaH3LX4MulwuR0xMDPbt2+dQvm/fPsTGxrrJKtdARJgxYwa2b9+O9PR0tGvXzt0muYT4+HicPHkSx48ft2+9evXC6NGjcfz4cY8R6/79+1ebNi03NxdRUVFussg1GAwG8Lyj1EgkkhY/5db9aNeuHUJCQhy0yWw2IyMjw+O0qSlpLZrP9N6z9B5gmu/Jmu8SvW/oL1ibE1u2bCGZTEYbNmygnJwcSk5OJo1GQ5cuXXK3aY3K1KlTSavV0oEDB+j69ev2zWAwuNs0l+OJv+o/evQoSaVSWrx4MZ09e5Y2bdpEarWaNm7c6G7TGpXExEQKDw+n77//ni5evEjbt2+nwMBAmjNnjrtNe2DKysooKyuLsrKyCACtXLmSsrKyKC8vj4iIli5dSlqtlrZv304nT56kV155hUJDQ0mn07nZ8pZNa9B8pvez3G1Go8M0v2VrflPrvUcE6EREn3zyCUVFRZFcLqfHHnvMI6eiAuB0+8c//uFu01yOpwr2zp07qVu3bqRQKKhLly60bt06d5vU6Oh0Opo1axZFRkaSUqmk9u3b0/z588lkMrnbtAfmP//5j9N7MjExkYhsU2+9++67FBISQgqFgh5//HE6efKke432EDxd85nez3K3GS6BaX7Lpan1niMialjuncFgMBgMBoPBYDQ2LX4MOoPBYDAYDAaD4UmwAJ3BYDAYDAaDwWhGsACdwWAwGAwGg8FoRrAAncFgMBgMBoPBaEawAJ3BYDAYDAaDwWhGsACdwWAwGAwGg8FoRrAAncFgMBgMBoPBaEawAJ3BYDAYDAaDwWhGsACdwWAwGAwGg8FoRrAAncFgMBgMBoPBaEawAJ3BYDAYDAaDwWhGsACdwWAwGAwGg8FoRvw/1Yzyq2ODuxkAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "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", "text/plain": [ "
" ] }, "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. We could also use the matix multiply operator `@`, but I find using dot for the summation symbol, which is the dot product, more intuitive:" ] }, { "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", "text/plain": [ "
" ] }, "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:\\dev\\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 140\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 141\u001b[0m raise ValueError(\n\u001b[1;32m--> 142\u001b[1;33m 'All filters must have the same state dimension')\n\u001b[0m\u001b[0;32m 143\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 144\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": "3.7.4" } }, "nbformat": 4, "nbformat_minor": 4 }