{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Sea Surface leveling (SSL)\n",
"\n",
"ForWind Oldenburg\n",
"Version 1.0\n",
"\n",
"Contributing author: Andreas Rott\n",
"\n",
"To understand the calculations and methods presented in this notebook it is highly recommended to read the corresponding publication: \n",
"Rott, A., Schneemann, J., Theuer, F., Trujillo Quintero, J. J., and Kühn, M.: Alignment of scanning lidars in offshore wind farms, Wind Energ. Sci. Discuss. [preprint], https://doi.org/10.5194/wes-2021-62, in review, 2021.\n",
"\n",
"Executed with Python 3.8.12"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### TOC\n",
"0. Import\n",
"1. Load Data\n",
" 1. Load Lidar Data\n",
" 1. Load SCADA Data\n",
"1. SSL\n",
" 1. Estimate intersection of the lidar beam with the sea surface\n",
" 1. Example\n",
" 1. Model intersection of the lidar beam with the sea surface\n",
" 1. Example\n",
" 1. Fit model to estimate\n",
" 1. Example\n",
"1. Apply SSL to Lidar Data\n",
" 1. Compare heights with measurements from BSH\n",
"1. Platform Tilt Model\n",
" 1. Apply Thrust model to SSL results\n",
" 1. Calculate tilt angle from thrust model\n",
" 1. Calculate tilt angle from SSL measurements\n",
" 1. Compare tilt angles from thrust model and from SSL\n",
" 1. Calculate modelled roll and pitch from thrust model\n",
"1. Evaluate Results\n",
"1. Extra: Alternative Methode based on vectorial calculation\n",
" "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 0. Imports"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"# Imports\n",
"import numpy as np\n",
"import pandas as pd\n",
"from scipy.optimize import minimize\n",
"from scipy.optimize import Bounds\n",
"import matplotlib.pyplot as plt\n",
"import sympy as sp\n",
"from tqdm import tqdm"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 1. Load Data"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {},
"outputs": [],
"source": [
"# file path to the lidar and the scada data\n",
"lidar_file_path = 'https://zenodo.org/record/5654866/files/SSL_scans_GTI.zip'\n",
"scada_file_path = 'https://zenodo.org/record/5654866/files/SCADA_rand_norm.csv'\n",
"ssh_gt1_file_path = 'https://zenodo.org/record/5654866/files/SSH_GTI.txt'\n",
"df_results_file_path = 'https://zenodo.org/record/5654866/files/df_results_SSL.zip'"
]
},
{
"cell_type": "markdown",
"metadata": {
"tags": []
},
"source": [
"### 1.1 Load Lidar Data"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Number of scans: 2493\n",
"Start Date: 2019-04-11 08:31:33\n",
"End Date: 2019-05-17 11:18:05\n"
]
}
],
"source": [
"# df_lidar = pd.read_csv(lidar_file_path,index_col='datetime',parse_dates=['datetime'])\n",
"df_lidar = pd.read_pickle(lidar_file_path)\n",
"\n",
"print('Number of scans: {}'.format(df_lidar.scan_nr.max()))\n",
"print('Start Date: {}'.format(df_lidar.index.min()))\n",
"print('End Date: {}'.format(df_lidar.index.max()))"
]
},
{
"cell_type": "markdown",
"metadata": {
"tags": []
},
"source": [
"## 1.2 Load SCADA Data\n",
"Scada Data is only needed for the Platform Tilt Model (Section 4.1). For the SSL only the lidar data is required"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Start Date: 2019-04-10 00:00:00\n",
"End Date: 2019-05-17 23:59:59\n"
]
}
],
"source": [
"df_scada = pd.read_csv(scada_file_path, index_col = 'Timestamp', parse_dates=['Timestamp'])\n",
"print('Start Date: {}'.format(df_scada.index.min()))\n",
"print('End Date: {}'.format(df_scada.index.max()))"
]
},
{
"cell_type": "markdown",
"metadata": {
"tags": []
},
"source": [
"## 2. SSL"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.1 Distance to water Function\n",
"This function estimates the distance from the lidar device to the intersection of the beam with the sea surface for each individual azimut angle.
\n",
"The inputs are the lidar data [data], a threshold for a minimal cnr value [min_cnr], which filters out scans, that do not reach this cnr value for any range gate and an optional variable [show_plot], which can be set to display the results of the estimated distance.\n",
"
\n",
"Further in this function the upper bounds (ub) and lower bounds (lb) for the parameters of the fit function need be specified. These bounds ensure that the automatic estimation is within reasonable limits. The bounds depend on the setup of the sea surface leveling scan and on the lidar device.\n",
"
\n",
"The [high_cnr_ub] and [high_cnr_lb] represent the limits for the average cnr values before the beam hits the sea surface.\n",
"
\n",
"The [low_cnr_ub] and [low_cnr_lb] represent the limits for the average cnr values for ranges bigger than the distance to the sea surface, which is practically the background noise of the device.\n",
"
\n",
"The [distance_ub] and [distance_lb] give the upper and lower bound for the distance to the intersection of the beam with the sea surface.\n",
"
\n",
"The growth rate of the inverse logistic funciton is limited by the parameters [growth_ub] and [growth_lb]. In our experience a growth rate between 0 and 1 is reasonable for our setup."
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"def distance_to_water(data,min_cnr,show_plot=0,high_cnr_ub=0,high_cnr_lb=-25,low_cnr_ub=-15,low_cnr_lb=-30,distance_ub=550,distance_lb=400,growth_ub=1,growth_lb=0):\n",
" azis = data.azi.unique()\n",
" distances = np.array([])\n",
" for azi in azis:\n",
" data_act = data[data.azi==azi]\n",
" if data_act.cnr.max() middle_cnr].min()\n",
" middle_range = data_act.range[(data_act.range > min_distance) & (data_act.cnr<=middle_cnr)].min()\n",
"\n",
" res = minimize(cost_function,[high_cnr,low_cnr,middle_range,0.1],bounds=bounds)\n",
"# print(res)\n",
" if res.x[0]"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"high cnr: -8.133507278433605 dB, low_cnr: -29.980503797298205 dB, growth_rate: 0.19891362652575575\n",
"Azimut Angle: 234.662° and estimated distance: 505.087954191345 m\n"
]
}
],
"source": [
"A,D = distance_to_water(df_lidar_example[df_lidar_example.azi == df_lidar_example.azi.unique()[80]],-18,show_plot=1) # use this to show the estimation for just one azimut angle\n",
"# A,D = distance_to_water(df_lidar_example,-18,show_plot=1) # use this to show the estimation for every azimut angle"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"A,D = distance_to_water(df_lidar_example,-18)\n",
"fig,ax= plt.subplots(1,1,subplot_kw=dict(polar=True),figsize=(12/2.54,9/2.53))\n",
"ax.scatter(A/180*np.pi,D, cmap='hsv', alpha=0.75)\n",
"ax.set_theta_zero_location(\"N\")\n",
"ax.set_theta_direction(-1)\n",
"ax.set_rlabel_position(50)\n",
"fig.tight_layout()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.2 Model intersection of lidar with sea surface\n",
"in the next cells the mathematical derivation of the formula for the intersection of the ppi scan with the water surface is shown"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0\\\\0 & \\cos{\\left(\\alpha \\right)} & \\sin{\\left(\\alpha \\right)}\\\\0 & - \\sin{\\left(\\alpha \\right)} & \\cos{\\left(\\alpha \\right)}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[1, 0, 0],\n",
"[0, cos(alpha), sin(alpha)],\n",
"[0, -sin(alpha), cos(alpha)]])"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\alpha \\right)} & 0 & - \\sin{\\left(\\alpha \\right)}\\\\0 & 1 & 0\\\\\\sin{\\left(\\alpha \\right)} & 0 & \\cos{\\left(\\alpha \\right)}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[cos(alpha), 0, -sin(alpha)],\n",
"[ 0, 1, 0],\n",
"[sin(alpha), 0, cos(alpha)]])"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\alpha \\right)} & \\sin{\\left(\\alpha \\right)} & 0\\\\- \\sin{\\left(\\alpha \\right)} & \\cos{\\left(\\alpha \\right)} & 0\\\\0 & 0 & 1\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ cos(alpha), sin(alpha), 0],\n",
"[-sin(alpha), cos(alpha), 0],\n",
"[ 0, 0, 1]])"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# Rotational matrices\n",
"M_x = lambda x: sp.Matrix([[1,0,0],[0, sp.cos(x),sp.sin(x)],[0,-sp.sin(x),sp.cos(x)]])\n",
"M_y = lambda x: sp.Matrix([[sp.cos(x),0,-sp.sin(x)],[0,1,0],[sp.sin(x),0,sp.cos(x)]])\n",
"M_z = lambda x: sp.Matrix([ [sp.cos(x) ,sp.sin(x) ,0 ],[-sp.sin(x) ,sp.cos(x) ,0 ],[ 0, 0, 1]])\n",
"alpha = sp.Symbol('alpha')\n",
"display(M_x(alpha))\n",
"display(M_y(alpha))\n",
"display(M_z(alpha))"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/plain": [
"0"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"=\n"
]
},
{
"data": {
"text/latex": [
"$\\displaystyle h + r \\sin{\\left(\\varepsilon \\right)} \\cos{\\left(\\phi \\right)} \\cos{\\left(\\rho \\right)} + s_{x} \\left(\\sin{\\left(\\gamma \\right)} \\sin{\\left(\\phi \\right)} + \\sin{\\left(\\rho \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\phi \\right)}\\right) + \\left(r \\cos{\\left(\\varepsilon \\right)} + s_{y}\\right) \\left(\\sin{\\left(\\gamma \\right)} \\sin{\\left(\\rho \\right)} \\cos{\\left(\\phi \\right)} - \\sin{\\left(\\phi \\right)} \\cos{\\left(\\gamma \\right)}\\right)$"
],
"text/plain": [
"h + r*sin(varepsilon)*cos(phi)*cos(rho) + s_x*(sin(gamma)*sin(phi) + sin(rho)*cos(gamma)*cos(phi)) + (r*cos(varepsilon) + s_y)*(sin(gamma)*sin(rho)*cos(phi) - sin(phi)*cos(gamma))"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"\n"
]
},
{
"data": {
"text/latex": [
"$\\displaystyle r$"
],
"text/plain": [
"r"
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"=\n"
]
},
{
"data": {
"text/latex": [
"$\\displaystyle \\frac{h + s_{x} \\sin{\\left(\\gamma \\right)} \\sin{\\left(\\phi \\right)} + s_{x} \\sin{\\left(\\rho \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\phi \\right)} + s_{y} \\sin{\\left(\\gamma \\right)} \\sin{\\left(\\rho \\right)} \\cos{\\left(\\phi \\right)} - s_{y} \\sin{\\left(\\phi \\right)} \\cos{\\left(\\gamma \\right)}}{- \\sin{\\left(\\gamma \\right)} \\sin{\\left(\\rho \\right)} \\cos{\\left(\\phi \\right)} \\cos{\\left(\\varepsilon \\right)} + \\sin{\\left(\\phi \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\varepsilon \\right)} - \\sin{\\left(\\varepsilon \\right)} \\cos{\\left(\\phi \\right)} \\cos{\\left(\\rho \\right)}}$"
],
"text/plain": [
"(h + s_x*sin(gamma)*sin(phi) + s_x*sin(rho)*cos(gamma)*cos(phi) + s_y*sin(gamma)*sin(rho)*cos(phi) - s_y*sin(phi)*cos(gamma))/(-sin(gamma)*sin(rho)*cos(phi)*cos(varepsilon) + sin(phi)*cos(gamma)*cos(varepsilon) - sin(varepsilon)*cos(phi)*cos(rho))"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"def create_fit_function():\n",
" pitch_sym, roll_sym, height_sym, ele_sym, yaw_sym, range_sym, shift_x, shift_y = sp.symbols('phi rho h varepsilon gamma r s_x s_y')\n",
" M_x = lambda x: sp.Matrix([[1,0,0],[0, sp.cos(x),sp.sin(x)],[0,-sp.sin(x),sp.cos(x)]])\n",
" M_y = lambda x: sp.Matrix([[sp.cos(x),0,-sp.sin(x)],[0,1,0],[sp.sin(x),0,sp.cos(x)]])\n",
" M_z = lambda x: sp.Matrix([ [sp.cos(x) ,sp.sin(x) ,0 ],[-sp.sin(x) ,sp.cos(x) ,0 ],[ 0, 0, 1]])\n",
"\n",
" laser_beam = lambda x: sp.Matrix([[0],[x],[0]])\n",
" Pitch = M_x(pitch_sym)\n",
" Roll = M_y(roll_sym)\n",
" Yaw = M_z(yaw_sym)\n",
" Ele = M_x(-ele_sym)\n",
" Laser_beam = laser_beam(range_sym)\n",
" Shift = sp.Matrix([[shift_x],[shift_y],[0]])\n",
" Height = sp.Matrix([[0],[0],[height_sym]])\n",
" lidar = Height + Pitch * Roll* Yaw * (Ele * Laser_beam + Shift )\n",
" \n",
" display(0)\n",
" print('=')\n",
" display(lidar[2])\n",
" result = sp.solve(lidar[2],range_sym)\n",
" print('')\n",
" display(range_sym)\n",
" print('=')\n",
" display(result[0])\n",
" return\n",
"create_fit_function()"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"def fit_function(pitch, roll, height, ele, yaw, s_x = -0.15, s_y = 0.15):\n",
" return (\n",
" height +\n",
" s_x*np.sin(yaw/180*np.pi)*np.sin(pitch/180*np.pi)+\n",
" s_x*np.sin(roll/180*np.pi)*np.cos(yaw/180*np.pi)*np.cos(pitch/180*np.pi)+\n",
" s_y*np.sin(yaw/180*np.pi)*np.sin(roll/180*np.pi)*np.cos(pitch/180*np.pi)-\n",
" s_y*np.sin(pitch/180*np.pi)*np.cos(yaw/180*np.pi)\n",
" )/(\n",
" np.cos(ele/180*np.pi)*\n",
" (\n",
" np.cos(yaw/180*np.pi)*np.sin(pitch/180*np.pi)-\n",
" np.cos(pitch/180*np.pi)*np.sin(roll/180*np.pi)*np.sin(yaw/180*np.pi) \n",
" )-\n",
" np.cos(pitch/180*np.pi)*np.cos(roll/180*np.pi)*np.sin(ele/180*np.pi)\n",
" )"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"#### 2.2.1 Example for modelled intersection\n",
"Here is an example sea surface intersection with a pitch angle of 0.1 Degree at a height of 25 m and an elevation of -3 Degree. Such a small misalignment leads to quite big differences in the distances, opposed to a perfectly alignd device which yields a perfect circle."
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/plain": [
"(0.0, 550.0)"
]
},
"execution_count": 12,
"metadata": {},
"output_type": "execute_result"
},
{
"data": {
"image/png": 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QSAZ9S1MTXHghfPstPPKI9iD1ZwJlQIBuHzB2rG4d0NYGn31meJIMjis6QhzrgJHAX0RktZ1ThiulNgC1wEMisrRj/+vACmBRp8ByhICAgDMTExPfePrpp+N+9rOfOe01EhHKy8vJz88nMjKS8ePHEx4e7tQ1sFphxw4tiFavhvx87bnuxM/vsOjpbYuJgeDgHi+/PyeH9O7DakWgoUELpaoqfdspnDpFVFUV7NoF+/bprfO9Z8yYw4IpK0vbZgelFDExMcTExNDY2MjevXspKChg1KhRJCcnOyUiTSYTH374oenf//73yTfddNPm8PDwu+vr69910Zv0PHAvcPQf7JdKqWvQobe7RaRaRLYppUKAZcCvXVirXzEEkkHfIaK7XX/7Lbz+Ovz8596xQyndPsDPD+64Q4u0xx/3ji0GBn2AiFiA7I6xE58rpcaJyNZeDi8BhorIIaXUFOALpdRYEakVkW+Bbx1dVykVlpCQ8Pe5c+ee9u6770YlJSU5bXtVVRV5eXkEBwczdepUQpzx8JrNWhCtWaO9RbW1hx/z84OJE2HGDF2oMXSoZ7+cKQVhYXqzlUvZ3q691+vW6S0vD7Zu1dvbb2tBNnHiYcE0bJhdO0NCQhg7diwtLS3k5+eze/duMjMzcXYkyznnnOOzZcuW+AULFry0dOnS6ztykyrsn6lRSp0LlIvIuo78tU5eAX6H9hT9DngWuAFARH7llJFexBBIBn3Hn/8M//ynFiTeEkfduf123V7gd7/TlXOXXuptiwwMPIqImJVSOcCZ6Bykno5pQect0fHBthvIQH/Tdxil1PC4uLjvnnjiidQbbrghwFmvUV1dHXl5eYgI48ePJyIiwv5JVqsWGKtXa1GUf9RkjaQkLYZmzIBJk3RStbfx84MJE/R2/fU6JLdx42HBtG8frFqlN9C5S1OmwJw5MHeu7hHXC4GBgUyYMIGGhgZ27NjBrl27yMrKcipHKSoqio8//tj01Vdfzb/ppps2KKXOEZFNDp4+BzhfKXU2EAREKKXeEZGrOw9QSr0GfO2wQQMIQyAZ9A1Ll+oO1+edp0vvBwJKwSuvaDf8ddfpMSXZ2d62ysDALZRScUBbhzgKBk4DnrZzfJWIWJRS6cAoYI8zawYEBJwyZMiQDz7//PP4qVOnOmVvU1MTO3bsoKGhgaysLGIcSWBubITPP9fFHWbz4f3+/vp/eMYMvaWk9G8I3xVCQmD2bL2BTg5fv/6wYDp0SLdC+e47Lfh++lM480ybFXOhoaFMmTKFmpoa8vLy8PX1JSsri7CwMIfNOv/8830yMzNTzjrrrO/DwsJuq6+v/9DeOSLyAPAAdFVA3iMiVyulkrp18b6QXsT6QMcQSAae5+BB3c16+HDtQRpI+T6BgToPYOpUuOAC7ZaPi/O2VQYG7pAEvN2Rh+QDfCQiXyulLgReAuKAfyulNorIGegKoseVUu2ABbhZRBzMYIaYmJg7s7KyHvrmm2+inQmpiQh79uzhwIEDZGZmkpCQYD9vpq5Oi6LPPtPl9wDJyTBzpvYUZWd7tNTeK8TGwo9/rDcR2L9fe8e++EInfz//vG6PctFF+j3LRm5WZGQkM2fOpLKykvXr1xMfH09GRobDidwZGRmsX78+5rzzznslPj5+SkVFxf0iYnXhWf1RKZWNDrEVAje5cA2vY1cgKaWiHbiOVUTM7ptjMOhpadFNIBsa4Icf+raU31USE/Wbz7x5Wsh9913/VNUZGPQBIrIZmNTD/s+Bz3vY/ynwqbPrKKX84+Pj3zr11FPP+ec//xnpTMl9fX09mzZtwmQyMW/ePOyOGKmuho8+0o1em5r0vgkT4Gc/0+Gnge4lchWldMVbWpp+H12yBN5/H3bu1FXA770H556r0wNs5BvFxsYyd+5cdu/ezbJly5g4cSKONumMjIxk0aJFUXfcccfNH3744WSl1E9EpMHeeSKSA+R0/PwzhxYb4DjiQSru2Gy9In0B21P8DE4MFi7U+QEff+zYTDVvMXWqrm676ipt8yuveNsiA4MBi1IqNi4u7v/uuuuuzHvvvTfY0Xyj7l6jCRMmEB1t5/t2RQV88AF8/fXhfkTTpuk5jRMmuPksBhk+PjB/vm52u3GjFkpr12qP2uefw49+pMNv6em9nO7DqFGjSEhIYNOmTcTFxTnsTfL19eWll14Knzx58rz77rtvg1LqdBHZ59knOPBxRCDlicgx306601EuanCi88Yb8Ne/wn33ac/MQOfKK3XS9h//qKtIbr7Z2xYZGAw4lFLjEhISvnnzzTcTzzrrLIenyzY0NLBx40bHvEYlJdo78s03uuoLdJLy1VdDZmbv550IKKUTzidN0i0DPvgAFi2C//s/vc2Yod/Lxo/v0bMWERHBnDlz2LVrl9PepOuvvz4gKytr1CWXXLLaz8/vkvb29mWefnoDGUcE0iwPHWNwPLNmDdx6K5x+OjzxhLetcZw//EGX2/7qVzB5sjG3zcCgG0qpaUOGDPn3d999F5fpoFAREfbu3cv+/fvte4327dPC6H//0xVqSsGpp2rPbi+ekROakSPhoYd0VfDHH+txTatX6y0rSwvKWbOOEUo+Pj5kZGSQmJjotDdp5syZAAm+vr45Sql9QLWITO1Iv/kQGIbOM7pMRKoBlFIPAD9H57jd3tE+YtBhVyB1Tv9VSk0FfgOkdZyn9MMywZgQfIJTU6M9RsnJ2g1sL79gIOHrC+++C+PGwS9+Abm5Rj6SgQHg5+c3Jy0t7YvFixfHpqWlOXROe3s7GzduJCAgwLbX6NAh3QZk8WKdmOzjoyu1rrxSj+boB1paWqirq6O5uZmWlhaam5u7tra2tiOOrampwcfHh5ycnK59fn5+BAUFdW2BgYEEBQURHh7e98Nzk5J025Jrr9Xhts8/1+0PfvMbOOUUuPPOHpO5O71JBQUFrFq1iqlTpxLgwPudn58fmzdv9r3wwgtN+/fvv7tj9/3A9yLylFLq/o779ymlxgCXA2OBZOB/SqmMjl5dgwpnqtjeRXe+3IJuFe40PQy0mwi8CoShFehVIlLbcexxoUBPCB56SFeurVzp9MyhAYHJBC+/DD/5CfzpT/pNxsDgBCYgIOCUtLS0j5YsWRKbkpLi0DlNTU2sXbuWtLQ0bAqqlSvh6af1Fys/Pz1c+vLL9Yd+H9HS0oLZbMZsNlNTU0NDQwMBAQFERER0CZxOYRMUFIS/v/8xFXY5OTnM7+ikLSK0t7d3CapOgVVTU0NBQQEtLS0EBwdjMpmIjIzEZDIRFBTk2sgUW0RG6pYll1+u87beeEOH3zZvhvvv17mWR+Hj48Po0aMpKSlhxYoVTJkyxaGu5TExMSxfvjz65JNPfiM8PDwI+Akwv+Pht9EJ2vd17P+go9/WXqXULmA6sNIDz7hfcUYgVYjIV26ud/RAu9fRfRMWK6VuQAuwh48nBXrcs3o1/OUvOkQ1mMNT55+vK0N+9zt9m5HhbYsMDLxCQEDA/LS0tK+//vrrEEfFUVVVFZs2bWLixIm9h9RaW3WO4mef6ftTpsC999qsxnIVi8VCZWUlpaWlVFVVERAQgMlkwmQykZKSQmhoqFtiRSmFv78//v7+PYoLEaGpqalLlBUWFtLc3IzJZCIxMZG4uDj8HBgv4jBBQdqLP3u2ThvYtk2PVrrwQj3NoIdWCElJSYSGhrJu3ToyMzOxNTtPKcWPf/xjlFJcffXV0e+8885bW7ZssXT2OhKREqVU5x8yBVjV7fSijn2DDmf+Qr9VSr0OfE9HF1YAEfnMkZN7GWg3GljS8fN36Bb3D3McKdDjmrY2WLBAh9Z+9ztvW+M+L76oS/4XLNAtCgZS/yYDg37Az89vdlpa2sfffvttyP79+0lISMBkMtk8Z9++fezbt4+ZM2cS3MscMwoL9XvEnj3aa/SLX8Bll3m0XL+lpYWysjJKS0tpaGggLi6OlJQUxo8f7/RAV3dRShESEkJISAjJycmAFk3V1dWUlpayc+dOAgMDSUhIIDExsfffm7MkJ+v3sfffhzff1KG3devgwQdh9OhjDo+IiGD27Nnk5uZSV1fHyJEjexSOy5cvJzk5mb1793Laaafx1FNPBV5++eUSFhZ2QX19/RdHP/0eLHNlxpvXcUYgXQ9koidFd4bYBHBIINHzQLutwPnAl8ClQGfw+bhRoMc1L7ygXbmffQaOjAkY6CQm6hDbjTfqniO/+IW3LTIw6DeUUtOGDh365eLFi2OHDBlCQkICa9euJTs7u0eRZLVa2b59O01NTcyePbtnj4gIfPWVDmG3tuqZZQ8/7DEPrcVioaSkhP3792OxWEhMTOzqIO3xcJabKKWIjo7u8rA1NDRQWlrKhg0bsFgsDB06lJSUFPc9Sz4+Osl9+nRdMLNvH9x2m85XuvLKY3JEAwICmDlzJlu3bmX9+vVkZ2cfkzuWnJxMQ0MDhYWFXHrppezbt4/hw4crpdSbQUFBLS0tLRuB8o7Dizj8WQ4wBN0qaNChHB3eq5TaIiLjXVpED7Q7W0Ru7daO/FylVCbwIhADfIXONYpRSv0FWCki73Sc/wbwn44GZ0dfewGwACAuLm7KRx995IqJblFfX+9US/fjYd3Y+nqmXX891ZMns/X3v++Xxm398nxFyL7zTsJ27WLN22/TGhNzQv59vbHuKaecsk5EnJtbYeARlFJjhwwZsmjp0qVxw4YN69rf0NDQo0iyWCysXbuWqKgoMjIyehYjtbX6C8eyjsrws87SoXgPeEs6p9mXl5eTkJBAWloaoaGhbl/XFt1zkDxNU1MT+/fvp7i4mOjoaIYPH+7YbDp7tLToQeGffKLvjxmjvUm9hE4LCwspKipi+vTpXcnbDQ0NXXPzMjIyuPTSS3nkkUf4/vvvCQoK4sMPPzxUUFDwCVArIvcqpcYC76GjPsnoqNOoQZkiIyIObcBrwBhHjz/q3CfRqrIQKAUagXeOOiYDWNPx8wPAA90e+xaYZW+djIwM8QaLFi06sdb94QeRs88WCQ0V2bev/9btr+ebny8SGChyySX9u+5RnGjrArniwvuLsbm3ATEJCQn7t2/f3uPfpb6+XhYtWiTV1dUiItLW1ibLly+XwsLCHo8XEZH160Uuvlhk/nyRc84R+eGH3o91gsrKSlm1apUsXbpUDh48KBaLxSPXdYT++L+wWq1SWloqK1askOXLl0tpaalYrVb3L7xuncill+q/xxlniPzrXyK9XLekpEQWL14szc3NIiKyZcsWSU9Pl7Fjx8qYMWPk97//vYjov8Wpp54qw4YNk4CAgBZgohx+Tf0G2A3kA2eJl17b7m7O+PLmAtcqpfaic5C6yvwdEGG9DbSLF5FypZQP8BC6og20N+k9pdRzaAU6CljjhK0GfUjckiW6/8Zzz8HQ47CBekYGPPKIrmb78suBOS7FwMADKKX84+Livn3jjTeSs7KyejwmNDSUadOmsXbtWsaNG0d+fj5Dhw4ltady/PZ2PTfsvfd0eG3sWF3laiMB2BHMZjN5eXn4+/szevRou3lRgxWlFAkJCSQkJFBXV8fu3bvZuXMnWVlZxMbGun7hyZN1hdsLL8D338Ozz8Ly5TqR+6ik+sTERHx8fFi1ahXjx4+noqKCdevWHfM7j4mJ4fvvvwdgzZo1Aeeee+4nSqlJIlIvIk+g840HNc5krp2JFio/Bs4Dzu24dYcrlFI7gR3oGOWbACKyDfgI2A58A9wmg9E9dzxSU8PIl17SXV1/9StvW9N3/PrXujPtbbfh22B3DJGBwaAkPj7+jTvuuCPrnHPOsdm8LDQ0lEmTJrFq1Sri4+N7FkfFxfo94d139f1rr9UfyG6Io/r6enJzc8nLyyMrK4upU6cet+LoaMLDw8nOziY7O5u9e/eyatUqampq3LmgFqsPPwxhYbBqlW44uWfPMYfGx8eTnp7O8uXLGTt2rN3f+fTp03nmmWeGxsfHf9nh8DgucPiJiMi+njZnFxSRHBE5t+PnF0Qko2O7Xzp8cx2PPSEiI0RktIj819l1DPqI3/yGgOpq+NvfdDXK8Yq/v47dFxeT/tpr3rbGwMDjREdH3z5nzpzzH3jggRB7x7a3t7N161bGjBnDwYMHMZvNRx6Qn6+rP3fs0GX7zz+v+/O42DS2ubmZTZs2sWHDBtLS0pg1a9YJI4yOJjw8nGnTpjF69Gi2bdvGunXraHDnS9upp+oKt+xsMJt1U8mjRFJDQwO7du1i/Pjx5OXl0dLS0uOlunPNNdcEXH755dPi4uL+6LpxAwu7Akkptd4TxxgcB6xeDS+/zMELLuixAdlxx/TpcPvtpHz5Jaw3XuIGxw9+fn4npaSk/Pa9996LtFftZbFYWLNmDUOHDiU9PZ1p06axcePGwyJp1y645x5oaNB9eF5/3eXBsiJCYWEhq1atIi4ujrlz5xIXF+fStY43oqKimDVrFqmpqeTm5rJz506sVpd6NkNsrG7WOWOGTqa/807YvRvQ4mjNmjVMmjSJYcOGkZWVxerVq2ntHB5sg+eeey58zJgxP4+IiLjcNcMGFo54kLKUUpttbFsAN4KjBoMCqxVuuQWSk9l7ww3etqb/eOwx2iIi4IEHvG2JgYFHUEoNS0xM/Ojbb7+NtjcSQ0TIzc0lJSWlK6zWmZO0ceNGajdtgrvvhvp6PVz2scd6HHHhCI2NjaxcuZK6ujrmzp1LcnLygCvV9zZKKeLj45k3bx4iwvLly6mtrXXpWhZfX6Z98w0fHzgAtbW0/vKXXD1zJqNHj+bxxx/vTLYmPj6eTZs28ec//5mxY8fy7be9D7Xw9fXlyy+/NMXFxf1ZKZXtkmEDCEdiJI5MKDTyg453PvwQNmyAd97B0sfltAOKyEj2XX01I19+WQ/UPO00b1tkYOAySqnQ+Pj47z777LOEzgaGtti+fTsmk+mY0SGhoaFMT0yk4cYbaQP858yB3/7WpbC7iLBv3z4KCwsZP348MYNxXFE/0zkuJDExkY0bN5KYmMjIkSOdaoj5wgsvMGrMGN4xm7k0O5t9//wn9/j48PKXX/Lyd9/x1FNP8fTTT7N9+3Zef/11PvvsM6ZMmcINN9zAzp07e52zFxkZyTfffBMzb968f3ckbZf3eOAgwO5vs7fco6O2ov4w1sBLtLbq5L4JE+CKK7xtTb9z8Cc/gbQ0PdvIVZe2gcEAICEh4a+PP/740OkOjAXav38/jY2NZPTU1PHgQUIeeohopShNTsZ81106b89JjvYaGeLIOSIjI5k7dy5Wq9Upb1JRURH//ve/+cUvfoHFx4eGe+/lm5oaRiUmEvHYY9wwbx5ffPEFAF9++SWXX345I0aMIDo6mksvvZQ1a2wXlY8aNYo33ngjMSEh4WM1iN2Ax022uUEf8vrrOonvySdPyPEbEhCgxySsWwdeaERqYOAJAgICfjR69OizFixYYHd8e1VVFYWFhUyaNOnYMFdpKdx1Fxw6hO/kyUS/8gobt28/NnHbDhUVFaxevZqMjAzGjx/v2dlkJxA+Pj5kZmYyYcIE1q9fT3Gx/abVd9xxB3/84x/x8fHROWYbNvBbIPT006Gujvinnya8pASAgwcPdoVXx44dy4gRIxxa45xzzvE59dRTJ4SHh1/r1hP0Iifep52BczQ0wOOPw0kn6U64JypXXqk9aL/5jfaoGRgMIpRS4dHR0W+/99570fa+0Dc1NbFp0yamTp16rGgpL9cJveXlusfRk08SGh19bOK2Hfbu3Ut+fj6zZs1yr7+PQReRkZHMmTOH/fv3s2PHDroVhR/B119/TXx8PFOmTOkaqDtp0iSsPj7w6KMwdy7U1fH7pibIzz/iOj4+Pqxbtw5fX1+HvFWvvPKKKTIy8mmlVJKnnmd/YggkA9u88AKUlWnv0eD1lLqPr6+u+tizR7c4MDAYRCQkJPz1iSeeiEvpZcREJxaLhdzcXCZMmEBIyFHV/4cOac9RaSlkZur/h46xId0Tt22JJKvVyqZNm6iurmbWrFnYSxI3cA5/f39mzJjRNQqmvb39mGOWL1/OV199RVpaGldddRWbNm3il7/8JQkJCZRUVMBvf0tddjZR/v5w991MCAjgwIEDXefv3buXmJgY1q9fb7eyLTIyktdeey02ISHhg8EYanNaICmlrlRKfaCUelcp9Z5S6sRLSjlROHRIvwmef74u3z3ROeMMOOUU7VGrq/O2NQYGDhEQEHBaZmbmGTfccIPN0JqIsHHjRoYOHXpsLlB1tRZHBw/CqFHwxz/CUcUa9kRSS0sLK1eu7Go62VuSr7cQEdra2qirq6OiooIDBw6wd+9e9uzZw+LFi2lpaWHv3r0cOHCA8vJyamtraW1t7dVT4y2UUowdO5akpCRWrFhBY2PjEY8/+eST5Ofn89Zbb/GPf/yDU089lXfeeYfzzz+ft99+G/z8eDk2ltrsbGho4Mr161n11ltdz7+goIDZs2eTmZlJbm6u3VYDZ555ps+PfvSjieHh4df13bPuG1wJ+p4sIl09DjoGy77vOZMMBgxPPaWFwBODvmO8Z1BKC8bp03Wr/kcf9bZFBgY2UUqFJyYmvvXuu+/aDa3t27cPPz+/YyrWqKnRpfz790N6uh5A20spf/exJN0H3HYOvc3KyiIhIcETT80t2tvbqampwWw2Yzabqev4wuPv709gYCBBQUEEBQXh7++PUorQ0FBaWlrw8fGhtbWV2tpampubaW5upq2tDYCwsDAiIyMxmUxERkZ2DXv1FqmpqYSGhrJ69WomTZp0xN+is8/Rxo0bu46///77ueyyy3jjjTcYOnQoN37xBbz8MuGLF/MscPaoURQFB/OXv/wFX19fEhMTqampIT8/n97G1HTyyiuvRC5ZsuRppdQ3IlLSZ0/aw7gikAKVUucAB4AhgPujmQ0GHkVF8NJLcM01MG6ct60ZOEybBpdeCs88o/tCDYA3ewOD3khISPibI6G1xsZGCgsLmTt37tEP6CaQe/fquYvPPmt3NuHRIsnX15fc3NwjPqT7GxHBbDZTWlpKeXk5Pj4+REREYDKZGDlyJOHh4TZL5IcOHUpOTs6x4rHb9evq6qipqaG0tJT8/Hza29uJjY0lMTGR6Ohop0rwPUV0dDTTp09n7dq1TJw4kYCAgC5xZDKZmD9/PvPnzweOnK3WxUMPgVKMzMnh+yFD4LXXoFtYNCMjg2XLlmE2m23+bSMiInj99ddjrr322g+VUifLQHO79YJDAqljtsr9IvIH4FbgImA8WiT9su/MM/Aajz2mh00aXpJjeeIJ+OwzXdn25z972xoDgx4JCAg4bfbs2Wdcf/31DoXWeqwk+8tfdKfslBQ9nNpBgdMpklatWoWIMH36dCIiIlx9Ki4hIpSXl1NSUkJ1dTWRkZFd/YL8XWhJYAulFBEREURERHRVfFksFiorKzl48CBbtmwhIiKCpKSkrmGw/UVoaCjTp09n1apVWCwWpk2b5rhQ9fPTTXILC/X2yis6Sb8DpRTZ2dmsX7+eefPm2XxeZ5xxhs9pp5024euvv76OjrmrAx2H/koiYgVO6/i5UUTeEZGnRORdEWm0c7rBYGPHDvj737WHZNgwb1sz8Bg1Ss+d+utf9YeHgcEAQynlGx0d/bd//OMfUfZCa4WFhURERBybd7RqFfznP7q/0RNPgJM9ijqdBEop10diuEBzczP5+fnk5ORQVlZGamoq8+fPZ/LkySQnJ3tcHPWGr68vCQkJTJw4kfnz5zNixAiqq6tZvHgx27ZtOyY3qC8REUQEHx8f53OmAgK0J8nPD776ClauPOLh8PBwUlJSyM/Pt3upv/zlL5HBwcF/UErZnf83EHBGxm5QSv32eJrUa9ALDz0EISHw4IPetmTg8sgj+o3jN7/xtiUGBscQGhp6zSWXXBIzdOhQm8c1NDSwb98+MjOPGphQV6fDyKAnvvcSWrJ13bVr1zJt2jRmzpzpVAsAV6mtrWXdunWsWbOGoKAg5s2bx4QJE4iJifH6yBKlFCaTibFjx3LyySdjMplYv349a9asoaqqqk/X7sw5mjJlCrNmzWLTpk3O/y1GjIAbb9Q///GPOmn/iIdHcOjQIbvXjYyM5M477zTFxMTc65wB3sEZsZMKXA4UK6W+VEr9Til1aR/ZZeAt1q6FTz/VeQfx8d62ZuCSmKhdzR99BNu2edsaA4MulFKBYWFhv3/sscdsxrREhE2bNvUcWnvhBV3FOm6czrlzgtbWVtauXcukSZOIiIhwuAWAqzQ2NrJ+/Xq2bNlCWloa8+bNIy0tbcA2nvTx8SElJYW5c+eSkZFBQUEBa9as6UoUd4bm5mamT5/OxIkTGTt2LL/97W8B3ejz9NNPZ+TIkZx88skMHz4ck8lESEgIubm5vP/++8ycOdPmXLVjuPRSmDQJzGadqN/NE6WUYuLEiWzatAmLxfbksdtvvz0oODj4VqVUlNNPuJ9xWCCJyGUikgWkAY8BuwD7/eoNBhcPP6wnPd91l7ctGfjceacudX7ySW9bYmDQRVRU1MJbbrnFZG9sR6+htSVL4PvvITBQj9dxIl/GarWydu1aMjMzj8hz6QuR1NLSwtatW7uG6c6ePZvY2Five4ucwWQyMWPGDEaMGMGmTZvYsGEDTU1NDp8fGBjIDz/8wKZNm9i4cSPffPMNq1at4qmnnmLevHm89tprnHPOObzyyiuAnq33z3/+k4suuojHH3+cO+64w66g6UIp/XoIC9Nhtn/964iHO0NtO3futHmZoKAgHnvsMVN8fPyAL492OlwmIi0isl5E3haRX/eFUQZeIjcXvv1We49cnMh9QhETo/O03n/fyEUyGBAopSKCg4Pvvueee2zmeDQ3N7Nv375jy7PNZp2MDXDzzTo52wm2bt1KfHw8iYmJxzzmKZHUOdx2xYoVmEwm5s2bR0JCwqASRkcTExPDnDlzSEpKYvXq1ezatcuhXCGlFGFhYQC0tbXR1taGUoovvviCMWPGMGnSJG6++eZj5qolJCSQlZXFjTfeyOrVqx03ND5et3wAePll6NZAEnSorbKy0m6X7WuvvdY/PDz8UqXUEMcX73+MfCKDw/zhD7pK5ZZbvG3J4OHuu3US69NPe9sSAwPi4uIeefDBByNDj2rieDT5+flkZGQc2axRRJfx19TA5Mnwk584tXZhYSFtbW2MHDmy12PcFUlNTU2sXr0as9nM3LlzGTJkyKAWRt1RSpGYmMi8efNobW1l+fLl1NfX2z3PYrGQnZ1NfHw8p59+OuPGjaO4uJjTTjsNk8lEUlIS5eXlwJFz1VJTU7FarZSWljpn6Pz58OMfQ0sL/P730K1bd2eTyry8PJuX8PX15dlnn41OTEz8f84t3r8YAslAs307fP45/OpX0M/luIOaxET4xS/g7bd1Iz0DAy+hlEoIDg6+dsGCBYG2jquvr6e2tpakpKPGY/3vf7BsmS7QuO8+p0YLVVZWcuDAAbKzs+0KFldEkoiwf/9+Vq9ezYgRI5g4cWK/VaP1N76+vowZM4axY8eybt06du/ebdOb5Ovry8aNGykqKmLlypV8+OGH+Pr69ljKf/R18vLyUEo5NHz2CG6/XfeA27lTv/d1Izo6GsBu8vn555/vEx8ff4pSKtPmgV7EEEgGmief1G+Mt9/ubUsGH/feq799/+lP3rbE4AQmISHhj0899VSUPeGwY8cOMjMzjxQylZXw4ov651/+0qkCjaamJrZs2cLUqVMdHh/ijEiyWCxs2LCBQ4cOMWfOHOLi4hy2bTATFRXF3LlzaW5uZs2aNV0du3vD39+f9PR0Dh48SGJiIiUlumF1SUkJ8R1/zyFDhhwxV62oqIj4+HgKCgocGj7bRWiornJWCt59F7ZsOeLhrKws8vLybAo7pRR/+ctfYhITE19xfOH+xWGBpDRXK6Ue6bg/VCnlVJK2UspXKbVBKfV1x/1spdQqpdRGpVRu5/WUUsOUUk0d+zcqpV51Zh0DJ9mzR+fR3HyzTtA2cI6hQ3XH8ddf14M8DQz6GaVUYnh4+Nk//elPbSoUs9lMW1vbkSKjU9zX18PMmXDmmQ6v21kJN27cOIKDnRuq4IhIam5uZuXKlURFRTFp0qTj1mvUG76+vowdO5YhQ4awYsWKY0JuFRUVmM1mGhoaWLp0Kfn5+UyaNOnwXDXg7bff5icd4dLzzz+fDz744Ii5ajNnzuwaO+JUv6oJE+DKK/Xr5w9/0F3XO4iIiCA4OLgrtNcbc+fOJT09fZxSarzjC/cfzniQXgZmAZ3DaeuAvzi53kKge3Dyj8BjIpINPNJxv5PdIpLdsd3s5DoGzvCnP+lp9Z3JdwbOc//90Np6OMHVwKAfiY2NveeBBx4w2evQnJeXd2xi9r//DWvW6MKMe+5xKrS2f/9+goODXfbq2BJJ1dXVrFy5ktGjRzN8+HCXrn+8kJKSwsSJE8nNzaWioqJrf0lJCSeffDITJkzgzjvv5KyzzuLcc8/l/vvv57vvvmPUqFF899133H///QCMHTuWyy67jDFjxnDmmWd2zVWLiIggISGBgoIC5wy77jrIyNBfDF966YiHMjMz2bFjh91k80cffTQ2KSnpEecW7h+cEUgzROQ2oBlARKoBh6fxdWSrnwO83m23AJ0JL5GAk4FQA7cpLtZds6+/HpKTvW3N4GXUKPjpT3Ur/kOHvG2NwQmEUirQz8/v6iuvvNJm45+Kigr8/f2PzE0pLdXVSAALFzrVLbupqYm9e/cyduxYV8zuoieRVFpayubNm5k+ffoJE1Kzh8lkYubMmeTn57O/I99xxIgRPP/886xbt468vDweeUTrjM65agUFBXz//fddeUEAv/nNb9i9ezf5+fmcddZZXftHjRpFWVmZc6E2Pz/dLNffH775Bvbt63ooJCSEmJgYioqKbF7itNNOIygoaL5SasCFL5wRSG1KKV+0qEEpFQc40z/+eeDeo865A/iTUuoA8AzwQLfHhneE4xYrpeY5sY6BMzz3nK5CuHdQNDYd2Dz4oA5TdOZyGBj0A8HBwVded911YUHdhogejYh05R4dwRtvQFMTnHwynHqqw2t2zm8bO3asRxoydhdJBQUFFBQUMGvWLOxV451oBAUFMWvWLA4ePEh+fv4Rg2fdxcfHh+zsbOdDbUOHwtln65/ff/+IhzIyMti1a5fN6ymluOeeeyJjYmIWumJ3X6IcncuilLoK+CkwGXgbuAR4WEQ+cuDcc4GzReRWpdR84B4ROVcp9SKwWEQ+VUpdBiwQkdOUUoFAmIgcUkpNAb4AxorIMdJWKbUAWAAQFxc35aOP7Jrjcerr67t6UQymdf1qaph1+eVUzp1LnhMjMwbr8+2Pdcc+/DCmjRtZ9cEHWNx8cx8Mz9eTnHLKKetEZGq/LzzISUpK2rl+/fpRx1SldaOiooIDBw4wefLk7jvhiivAatUfbAkJDq+5b98+zGYzEydOdMf0Y9i7dy/btm1j5syZxA6wfMicnBzmz5/vbTMAqKurY8mSJQwfPpwxY8Z49No7d+5ERBg9erTjJ5WUwFVX6aai7713RJJ/Xl4eYWFhXe0FeqKxsZERI0aUlJaWDhWR9l4P7G86h9g5sgGZwG3AL4EsJ857EigCCoFSoBF4B6jhsEhTQG0v5+cAU+2tk5GRId5g0aJFg3PdRx4RAZGtW/t3XRcZFOuuXat/p08+2b/rehBvrQvkihPvR8YmAJN//OMfV9j73a5atUrMZvORO199VWT+fJFHH7V3+hE0NzfLDz/8IG1tbU6dZ4+SkhJZsmSJmM1mWbRokVRXV3v0+u7irf+Lo6mvr5cffvhBDh06JCtWrJDCwkKPXt9iscjixYulrq7OuRN/9zv9evrzn4/Y3djYKIsXLxar1Wrz9AULFph9fHzOkwHwf9W5OVPF9jZQKiJ/EZE/A6VKqb87KMIeEJEhIjIMPc/tBxG5Gp1zdHLHYacCBR1rxXWE81BKpQOjgD2O2mrgALW1OhR0wQXgZg6BQTemToUzztChy36c1m1wYpKUlPTre+65x6arpaGhgfb2diIjIw/vbGo6PCripz91as2CggJGjhzp0VlnZrOZHTt2MGPGDCIjI/t0dltPiAhNTU2UlJSQl5fHqlWryMnJ6dq+/PJL6urquu6vWLGC7du3U1xcTENDQ6dY7XM6B89OmjSJ6Ohopk+fzoEDB+xWizmDj48PWVlZ7Nixw7kTL79c3/7rX/rzpYPg4GBCQ0Pt9kW6/fbbIxMTEx+weVA/48wrfIKImDvviEi1UmqSm+vfCLyglPJDJ38v6Nh/EvC4UqodsAA3i0jfjjw+0Xj1VT1W4MEHvW3J8cdDD8G8efDaazrx1cCgD1BKhaampv7oRz/6kc3j9uzZQ3p6+pE7//tfaGjQw2iPzkuyQWNjI4cOHXI7Mbs7zc3NbNiwgWnTphEQoOt+OnOS1q5dS3Z2tkdybI6mtraW4uJiqquraW5uJigoCJPJhMlkYtiwYQQFBR3RK6p7iK25uRmz2UxNTQ0HDhygsbGRgICArs7VUVFRLnX4PnDgANdccw2lpaX4+PiwYMECFi5cSFVVFZdccgk7d+5k1KhRfPbZZ4BuA7BixQo2b97Mu+++yyOPPMIZZ5zh9u8mLi6OXbt2YTabHf/djxwJ06frisgvvtCtTzpIT09n165dx87968bYsWOJjo4eqZRKEZGD7j0Dz+CMQPJRSkWJrl5DKRXt5PkAiEgOOmSGiCwDpvRwzKfAp85e28BBmpq0h+P002HaNG9bc/wxdy6cdBI88wzcequu8DAw8DAhISFX3XDDDaG2SvstFguVlZWMGzfu8E6rFT75RP982WVOrdljk0k3sFgs5ObmMm7cuGPy3vpCJLW1tXHgwAGKiooICgoiJSWFtLS0Y8SQPYKCgkhMTDxi5lynaNq7dy+bN28mJSWF1NRUbCXPH42fnx/PPvsskydPpq6ujilTpnD66afz2muvMWLECD777DNeffVVnnrqKZ5++mm2b9/Ou+++y//+9z9GjhzJnXfeyebNmx1u2GmLzmaPs2bNcvykK6/UAunTT/Vrq+O5R0VF0dzc3CVEe+POO++Muvfee3/JkQVbXsOZKrZngRVKqd8ppX4HrODIvkUGg4U334SyMl2eadA3/PrXUFQEH3/sbUsMjlNMJtPN119/vc2htMXFxSQlJR354b98uU6qTUqCOXMcXq+2tpampqaurszuIiJs3ryZ5OTkXkv5PTXgtrGxka1bt7J8+XJEhBkzZjB9+nRSUlIIDg72iODrFE1Tpkxhzpw5+Pv7s3r1ajZu3EhdXZ1D10hKSupKpA8PDycrK4vdu3fzySefcPfdd2Mymbj22muPGT4bFxfHuHHjWLBggXPDZ21gMpnw9/c/ou+SXSZMgKwsHWL7z3+OeCg1NfWILt49cdlll/n5+/tfYfOgfsRhgSQi/wAuBsqAcuAiEflnXxlm0EdYLNp7NGOG9nIY9A1nnw2jR+vhn/2Un2Bw4qCUiggJCRmSlpZm87h9+/YxdOjQI3d2VvpecomuOnKQziaTnvIeHTx4EKvVarcJpDsiqb29nc2bN7Nu3Tqio6M5+eSTGTFiBIGBNsfVuY2/vz/Dhg3jpJNOIjk5mS1btrBu3TpaWlocvkZhYSHr169HKUVtbW1Xi4behs8mJyfT2trq/PBZG3TmIjmcY6WU9iIBfPjhEYNsU1JSKCoqsnmtsLAwhg8fHqKUGhCdQZ2dxVYCrAE2AbFKKeMTdrDx1Vewe7fumn2cTMEekPj46N/x+vWQk+NtawyOM3x8fH580UUX2ZztUVdXh5+fHyEh3ZxMeXmwdauepdWtSaA9qqurAY5oOOgOzc3NFBQUMGHCBIcElysiqbKykmXLlhEZGcncuXNJTk72mLhzFKUU8fHxzJ49m+TkZFasWOHQYNj6+nouvPBCfvGLXzB37txe7T5abOTn5+Pj4+Owx8oeoaGhREREOCe65szRvZHKy+GHH7p2dzYpraystHn6z372M1N4ePjFrtrsSZypYvsFsAT4Fnis4/bRvjHLoM949lkYNgwuvNDblhz//OxnEBenf+cGBh4kKSnp+ksvvdRms6ri4mKGDBly5M5O79F554ETs9N2797NqFGjnLazJ0T0/LYxY8Y4NVvNUZHU6TUqKChgxowZpKWl9bsw6omkpCTmzJlDcXEx69ato7W1tcfj2trauOCCC5g1axYLFy7EZDKRkJDg0PDZAwcOEB0dzaZNmzxWWTdy5Ej27HGiiFypwxVt779/hAc9NTXVrkA8//zz/cPDw692xVZP44wHaSEwDdgnIqcAkwAngpMGXmf1ap1/cMcdukW8Qd8SFAS33aZnXeXl2T/ewMABlFJ+Vqt16hFNH3ugrKzsyHyh0lJYvFjPXbzoIofXa2pqorGxkaioKFdNPoKioiICAgJIcKIxZSf2RFJ3r9HMmTOdHqDb1wQEBDB16lSSkpJYvnx5l+jpRES49tpriYyM5A9/+ENXYrozw2fnzJlDTEwMu3bt8ojNoaGh+Pn5UVNT4/hJp5+uB58XFsKqVV27o6OjqaqqsineUlJSCAsLS1ZKRfZ6UD/hjEBqFpFm0LN/RGQH4ESrTQOv89xzEBkJN9zgbUtOHG69VQslY4itgeeYdcopp/jZql5ramrC19e3q2wegM8+09/mTzlFezYdpLCwkOHDh3vEC9PW1sauXbuOrKpzkt5E0p49e8jPzx9QXqPeSE5OZvbs2Rw4cIDt27d3CYb//e9/vP/+++zYsYP58+eTnZ3Nf/7zH6eHz44ePZri4mIaPdSLLT093Tkvkp/f4QrJ997r2u3j40NERIRdsXXJJZeE+Pr6Oh4D7iOcEUhFSikTeuzHd0qpLzGGyw4eCgt1ae+CBXpqt0H/EBcH114L//ynrhw0MHCThISEq6+88kqbyUBlZWVHlKDT0KA9meBUab/VaqW0tJRkDw2yLigoID093anQWk90F0nV1dXk5+dz6NAhZs2aNeC8Rr0RGBjItGnTukKC9fX1+Pn5UV1dzbZt29i4cSMbN27k7LPPdnr4rI+PD5mZmc43e+yF2NhYampqaGtrc/ykc87RnzVbt+q81w4SExPt5jRdcskloYmJide7aq+ncKaK7UIRMYvIo8DDwBvABX1kl4GneeEFnTh8++3etuTE4847obUV/vIXb1ticHxw9ql2BsuWlpYeKZC++UZ3ds/OBidyicrKyoiNjfVIX52mpibKy8ttzuRyhtDQUKZOncqqVaswm81MnToVW161gYhSivHjx6OUYsmSJR5tihkfH09TUxO13bpau4pSiiFDhlBUVOT4SSEhuiccwNq1R9hlr/N3dnY2QLZSyqtN5Oy+mpRS/+y47WoJLCKLReQrEek5y8xgYGE2w+uv65ECRydtGvQ9o0frpNiXXzbGjxi4hVIqIzMzM9CWl6S9vZ3m5mZCuw9LXrlS3557rlPr7d+/H3utBBwlPz+fjIwMj4qYgwcPEhsbS2Njo3M5MgOIzu7kSUlJ7N+/32PJ1UqprmaPnsCRPkbHMKWjD/S6dV27/P398fPzo6mpqdfTlFL86Ec/8gfmumCqx3DklTpFKZUG3KCUilJKRXff+tpAAw/w+utQXw933eVtS05c7r4bDh2Cf/zD25YYDGICAwN/dNFFF9nMlq6oqDgyObu9XYc5AOwkdnenra2N5uZmIiIiXLK1O/X19dTV1ZGUlOT2tTrZs2cPtbW1TJ06lenTp/fr7DZP0X22WnZ2Nkopjwka0EnRSikOHTrk9rUCAwMJCAigoaHB8ZM6X29btmgvegeOhNkuuOCCqNjY2HNcsdVTOCKQXgW+ATKBdUdtuX1nmoFHaGvT4bX58516czTwMPPm6bEuzz2nRz0YGLhAXFzcadOnT7dZgnpMeC0/H1padG8aJyrRysvLPdY1e9euXWRkZHgscfrQoUOUlJQwefJklFIe67jtaW644Qbi4+OPSEqvqqri9NNPZ+TIkZx88skMHz4ck8mEUop///vffPLJJ1x88cV8++23HrFh9OjRFBQUeORajgibI4iKgvR0/frbts2p60yZMoXAwMB5rtrqCewKJBF5ERgLvCsi6SIyvNuWbu98Ay/z8cd65MXdd3vbkhMbpfTfoKDg8BR1AwMnaW9vnzRx4kSbx9TU1BxZkr9xo761c97RHCO0XKS1tRWz2ewxsdXe3s6WLVvIzs4+IjdqIIqk6667jm+++eaIfU899RTz5s3jtdde45xzzuGVV14BYPv27XzwwQfceeedLFiwgF//+tdYLBa3bYiMjMRisVBfX+/2tRISEihztthk6lR92y3MFhISQktLC1YbXxZTU1OxWq1Dez2gH3AoGCwiVsC5/y4D7yOimxSOHq1HXxh4l4svhrQ0o3GkgUsopQKCg4PDbOUftba24u/vf6SnplMg6cRXh7BardTU1HgkYbgzj8lT3qO8vDzS0tKOzLHqYKCJpJNOOumY7uNffPEFY8aMYdKkSdx8883HzFULDw9nwoQJXHvttaxZs8YjdqSnp7N37163rxMcHEx7e7tz1Ww95CGBnjVnq+O3UorU1FQfpZTn4rJO4ky23CqllDH6fTCxeLEedXHXXU7NXDLoI/z8dJPOpUv1xGsDA+cYl52dbVNlmM3mI0VN9/wjJzxIVVVVXfkr7iAiFBUVHdvR20UOHTpEXV0dw4YN6/WYgSaSutPQ0EBxcTGnnXYaJpOp17lqSUlJBAYGOjSWxBESEhKorKz0iEfKaS/ShAn6vS8/H7oJIpPJZPfvM2fOnGBgimuWuo8zn5qnoEXSbqXUZqXUFqXU5r4yzMADPPec7mb6s5952xKDTn7+c92s0/AiGTiJv7//tJNPPtlmd2Gz2UxkZLdDCgqguVlXr8bEOLzWMX2UXOTQoUNERka63fcIjgyt2RNu7ookEaGpqYnS0lL27dvH8uXLaW1tpbi4mIaGBpcqzToTsn19fXv0zB19za1bt+Lr6+vUgNve8PHxITEx8ZjO3a7gtEAKCoKxY3VEo9ObiQ792as8nDNnTnhsbKzXZr46I5DOAtKBU4HzgHM7bg0GIvn5Otfl1ludmrlk0MeEh8MvfgGffgrOlswanNAkJCScNm3aNJtK4xgPkgvhNdAjO+Kc6LbdGyUlJaSkpLh9HYAdO3aQlpZ25PBdGzgrktrb2zlw4ACrVq0iJyenqwmlxWLB19cXEaG2tpatW7eSk5PDihUrKCwsdCjcZLVau6rVugsVW3PV9u7di8lkYvNmz/ghUlJSPCKQIiMjqa2tdU4k9hBmc0QgTZkyhaCgoEEhkK7tZTMYiLz4IgQEaIFkMLD45S/1t6mXX/a2JQaDCIvFMinbjtBpbGw8Mjdn0yZ964RAam9vRynldnNIEaGyspIYJzxXvdHc3MyhQ4dshtZ6whGR1NbWRl5eHkuXLqWhoYFx48Yxf/58Zs2aRVZWFunp6cycOZPAwEAyMzOZMWMGp5xyCpMmTaKtrY3ly5ezZcuWXj09jY2NNDU1MWnSJEwmk1Nz1ebNm4fFYvFIj6fw8HDq6+vdDrMppQgJCXFujEkPidr+/v5YLBabidppaWlYLBbPNOJyAWcEUkO3zYL2KA3rA5sM3KW6Gt56C668ElwYCGnQxwwbBhdeCH/9q9E40sAhlFIBgYGBEba8J8ckaFss0Ol9cCL/qKam5sgwnYvU1dURFhbmkS7ce/bsIT093aWcKFsiqby8nGXLlhEcHMzJJ59MZmYmYWFhDq0THBzMqFGjOPnkk4mOjmbFihUcPHjwiGMuvfRS5s2bR1FREePGjeONN95weq7aiBEj2N1tVIerKKWIjY31SE8kR/KHjiAjA0JDdUV1t/Bcp2jrDaUUKSkpPkop9+O9LuDMqJFnu21PAPMBz/hODTzLG2/oD96FC+0fa+AdFi7UQvaf//S2JQaDg5FjxoyxeUCP+UdNTZCSonMRHeSYMJ2LeKpNQHt7O2VlZW6F6o4WSRaLhU2bNrF3715mzpzJsGHDXO7w3fEhzpw5cygrK2Pt2rW0tbXR0NDArbfeyu7du2lra6OoqIif//znTs9Vi42Npb6+3mbnaUdxuo9RLzgtkHx9YdIk/fNRYTZ715kxY0YgMN5pIz2AO6VNIeicJIdRSvkqpTYopb7uuJ+tlFqllNqolMpVSk3vduwDSqldSql8pdQZbth5YtHeDi+9pBtDOpl3YNCPzJ2rG3e+8IIOtxkY2CY5PT3dZv7RMZ4fF/sfecqDVF5eToIHPNgHDx4kJSXF7RElnSJpw4YNLF++nLCwMKZPn+6x4bYBAQFMnjyZpKQkli9fzqpVq7rCau6glGLYsGHs37/fbRtjYmK840GCHvOQTCaT3fBhenp6COCZaclO4vArrrNqrWPbBuQDLzi53kKgex/1PwKPiUg28EjHfZRSY4DL0Q0qzwReVkq576c9EfjiC9i/3/AeDXSU0iX/eXnw3XfetsZg4JOUlpZ2bOOfbjQ1NR2ZwNyZf+SkQKqtrXV7vIjVaqW9vZ2AgAC3rgNw4MABjw24DQoKwt/fn+bmZmJiYjzWm6k7UVFRtLa24uPj02OvJldITk6muLjY7TltPj4+BAYG0tzc7NZ1AgMDaW1tdS1Re/36ri+FISEhdj1jKSkp/iaTabirtrqDM5K8s2rtPODHQLKI/NnRk5VSQ4BzgNe77Rag8z8xEuhs+vAT4AMRaRGRvcAuYDoG9nnhBRg+XA9HNRjYXHaZzhF7/nlvW2IwwImKikofMmSITQ9Sc3MzQUFB+o7Vejj/yMkEbR8fH7e9NXV1dR6b4ebr6+sxL8+2bdtISkpizpw5fdInqbOUf/r06WRkZLBhwwaPDJ/18/PDZDJ5z/vTA04nag8Zoiuqzeau3EtHxFpSUhJhYWEj3DDVZZzJQdrXbTsoIu1OrvU8cC/QPWX9DuBPSqkDwDPAAx37U4DuNdBFGPlO9lm3DpYtg1/9Ssd8DQY2gYG6yvC//4UdO7xtjcEAJjQ0ND052XaU4QiBVFysP4Ti4/XmIPX19YSFhbljKtBDPpSLeLJNQEVFBQ0NDaSnp/dJM8nug2dNJhMpKSn4+/sfk7jtKp4q03ckrOUIERERNjthH4NS0BlurK4GwNfX12YVG2jvmVLKKyNHbA49BOjonn1AREo77l8DXAzsAx4VkSoHrnEuUC4i65RS87s9dAtwp4h8qpS6DHgDOA3oye/ZowxXSi0AFgDExcWRk5NjzxyPU19fPyDWzfzDH4gNDmblqFFY+tCegfJ8j4d1/cePZ5a/PyX330/BHXf027q28Na6Br2jlBqalGR74oLVaj1cMdb5AXjUmAt7tLS0HBZZbmA2mz3SPdtsNpOZmen2ddrb29m2bRszZszoCqt1iqS1a9eSnZ3tVq7Q0eKok3HjxrFs2TJiY2Pd/r1GRUWRn5/v1jVAJ0Yf8EAPtqCgIOebWEZGQkmJfn12e32ISK/hzqSkJNrb271SxWZXIAF/RYsWlFInAU8BvwKygb8BlzhwjTnA+Uqps4EgIEIp9Q46XNeZLPMxh8NvRUD3oPMQDoffjkBE/tZhB6NHj5b58+c7YI5nycnJwevrlpRATg7cfDPzzj23/9btR47bda++mpQPPyTlzTePmLZ+3D5fA6dpb29PsiWQjgnjdJZOO+kNOsIL5Qa1tbUe8SA1NDR4xKO1e/duhg4dekyozhMiqTdxBLrXz+jRo8nPz8fekGF7dPYNsiUmHMHp0FgvBAYGOudBgsMepG5eu4CAANra2nrNV+vI4/JMMpeTOBJi8+3mJfop8DcR+VREHgZGOrKIiDwgIkNEZBg6+foHEbkaLXpO7jjsVKCg4+evgMuVUoFKqeHAKMAYXmWLV1/VFWy/+pW3LTFwloULdTjk9dftH2twohJmSyi0tbUdOc6jUyCFhzu1iKcEksViwc/Pke/fvdPW1oafn5/bidRWq5Xi4mLS0nruN+hOuM2WOOokKSmJ6upqWltbnbT8WMLCwpwXJUehlMLHx8duaMseQUFBzid7d34B7PZ7diQPyd/f31/1RUa9HRwSSEqpzlf6j4Afuj3m3n8A3Ag8q5TaBPyBjlCZiGwDPgK2A98At4mI+1P2jleam+GVV+Ccc2DUKG9bY+AsEyfqtgx//rMWuQYG3VBKKX87w8yOETZe9CBZrVaPVId5Ko+ptLSU+Ph4mw0rXRFJjogj6JpKT1FRkZOWH4sj4zkcITAw0O0Zby4JpM6/Z7ffsSPX6fj9up/17ySOCKT3gcVKqS+BJmApgFJqJOD0X0pEckTk3I6fl4nIFBGZKCIzRGRdt+OeEJERIjJaRP7r7DonFO+/DxUVumzcYHByxx26PcMXX3jbEoOBR5i9irBjhE2nl8ELHqSWlhYCAwPdugZ4rmFlcXGxQ/lQzogkR8VRJ0OGDKG4uMcsEafwVAWaS+LmKFwSWZ2/q24izxFbOhL1bSfh9QF2BVJH1+y7gbeAuXI42O2DzkUy8CYiurR/3Dg49VRvW2PgKueeq9szGCX/gw6lVKpSapFSKk8ptU0ptbBj/4cdTXA3KqUKlVIbu53TYyNcpdT8jqa5f+y2RIi9fjqeCrF5Qtx4KkxXU1PjEYFUX1/vcMsBR0SSs+IItJhob293u+TfUxVonhBIjlSgHYONHCRbhIWF+aCbU/eIUmqhUmprx//fHR37opVS3ymlCjpuo7od/6eO/7OTe7smOFjmLyKrRORzEWnotm+niKx35HyDPmTxYt0QbuFCXUZpMDjx9YXbb4flyyE319vWGDhHO3C3iGQBM4HblFJjROSnIpLd0Qj3U+AzsNsI9xZgHjq1obN8yy8gIMDmJ6uIHNm7qNOD5GSI7YhKOBfxlAepsbERW7PnHMGVPCZbIskVcdRJWFiYzbljjuDv70+7B8LwngixuUQPAkkpZVc4diRw95jSo5Qah07XmQ5MBM5VSo0C7ge+F5FRwPcd9+n2f3UScJutdd3rBmbgfV54AWJi4KqrvG2JgbvccIP+xv+Csw3qDbyJiJR0flkUkTr0tICu5j0dyaWXodMVwHYjXB90SxMrh9ud+NlLeD4m78dFgeQJ2tvbsZMy5RBWq9XthpWujk3pSSRZLBaXxRE4Nnesv/CU0HKaHnKQHEkY9/f3V/Se85wFrBKRxo7+jIuBC9H/Z293HPM2cEHHz77o/y+h55ZCh22zaZXBgCaouBi+/BJuukl3KDUY3EREaJH04Ye60Z/BoEMpNQyYBKzutnseUCYinVW6thrhvg6sAHxEpHMsk1/HB0SvHFP67WKIzRO4W4beHXev09ra6rI3q7tIKi4uprGx0a3Zap3jOQYCjnht+oQecpAcscWOQNoKnKSUilFKhQBno9sEJYhICegvMUB8x8/b0OG6ZcArttZ1qgqtI4Y3Ct3LiI7FljhzDQPPkfL55zo0c+ut3jbFwFP86lfw4ou6KvFHP/K2NQZOoJQKQ4fS7hCR2m4PXcFh7xHYaIQrIt8C3x71mF97e3uYreadnXOxOgeaZuzcSbDZzM5t22hyoiy8rq7O7Sahnba424zQk7a4kyDd3t7O2rVrAdjYOQDYDVvc/b14opFrW1sbFovF7S7fzv6NfFpbGW82I/X1bF60CJTqssVWl/Da2tpwetErIpKnlHoa+A6oBzahw969IiIO5U87LJCUUr9AN3UcAmxEx9pXovsXGfQ3tbUk/ec/ep6Xh1rxGwwARoyA88+HV1/FZ+5cb1tj4CBKKX+0OHpXRD7rtt8PuAiY0u1whxvhdtDu5+dXP3/+/F4Tcvbt24fFYiE9PV3v+NvfoKGBGaedBnZGlHTHE01CDxw4QGtrKyNGuDc+yxO2FBcXU19fT0ZGhkvnNzQ0sHbtWqZNm8b69evd6ri9f/9+2traBsTv5eDBgzQ2NjLKzbYwLtny3HPQ0sL8GTMgJISSkhJqa2sZPXp0r6e89957ddgQPSLyBnoSB0qpP6D/x8qUUkkiUqKUSgLKnTPUuRDbQmAasE9ETkG7kSucXdDAQ7z5Jn6NjXDnnd62xMDT3HEHVFYS/7//edsSAwfoyDF6A8gTkeeOevg0YIeIdG+C42wj3Pa2tjabMYhjwhRezEHyZPjG3esEBAS4XK3VKY4mTZpEcnIyISEhbs1u81TyuifwZBjUaTrzkDrCbI7Y0vH671UgKaXiO26Hor+QvI/+P7u245BrgS+dNdUZgdQsIs0dRgSKyA6gd8ln0HdYLPDii9SMGwdTp3rbGgNPc/LJMHEiQz79VLdxMBjozAF+Bpzaraz/7I7HLufI8JorjXDb7SXU+vj4HBYTItDQUXDsBYHk5+dnt2zbEVwqIz8KVxsrdhdHnUnePj4+bg249VTjS0/QWd3nFY6qZHMkGd+eQAI+VUptB/6F/n+qRo9FO10pVQCc3nHfKZz5DRUppUzAF8B3SqlqbLuFDfqKr7+GPXsoevRRBsa/m4FHUQoWLiTshhvghx+MXKQBjogso5dqGBG5rpf9TwBPOLhEu73kXqXUYTHR0KBFUkgIOFkF5uPjg8VicavU31Ml5MHBwTQ0NDjcw6gnXJlf1pM46sSd2W2emCvX2trqEWHT0tLiPbHW+VruqHR05G/T2tpqUyCJyLwe9h1CT/9wGYf/e0TkQhExi8ijwMNol/IF7ixu4CLPPw9Dh1Jp5Kgcv1xxBa0mk9E40gCgsaGhweYniL+//2GvTeetCx+kXhtB0QOeaooYFhZGbW2t/QOxLY46cWUsSUtLi0fmynmqeaYnmnlaLBbX2jAcOqRvY2IALfrstYWoq6sTwP0Ju07i8LNTmquVUo+IyGJ0onZ2Xxlm0AsbN0JODvzqV4ibDd0MBjBBQRSff772FhYU2D/e4Him3t4H/BGiJDJSV7fW1h7+tu4gXhtB0QOe6huUnJzs0Bw0R8RRJ86KpKKiIpKdSJbvDU+F6bw2UqatTefH+fh0hdocsaWj2q73Mrc+whn59zIwC12yClAH/MXjFhnY5vnnITQUfv5zb1ti0McU/+Qn2g394oveNsXAi4iItNlJ6jlC2Pj4QGys/rnCuToaTwikI/Kh3MBTHqTExETKy8ttNkZ0Rhx14qhI6iztd2QenD08NZ/OayNlqqv1bVRU1+QHR67T8TpwzA3oQZwRSDNE5DagGaAjCSqgT6wy6JnSUj2Y9rrr9AvM4LimNToarrgC3nzziM6zBiceSql6W2MqjgixASQk6Nty5yqbPRUe8/X1dbtTc2e3Z3fFlo+PDykpKezbt6/Hx10RR504IpJKSkqIjo7uHJfhFp7IYxIRj3Qpd0kgHRVec/Q6bW1tbeKp0kgncOY31NYxL0gAlFJx6HbdBv3Fq69ql/ntt3vbEoP+YuFCnXT797972xIDL+Lr61tiq5HeMbktcXH61ksCKSIiwmP5Q+7OLwNIT0/nwIEDNDYemcbijjjqxJZIam1tJT8/3+U+TN1xZa5cT3hixh1oL5QnBNIxg5aPouPv7/6LwAWcEUgvAp8D8UqpJ9Btuv/QJ1YZHEtzs+6ufO654IF/NoNBwuTJcNJJOszmjdlJBgMCq9W63143aB8fn8NeGy97kEwmk0fyh0wmE1VVVW5fx8/Pj3HjxrFp06Yuj5QnxFEnvYmkrVu3kpGR4Xa+D0B1dbVH8o88FaZrbm52PkzXg0AC2yNlSkpK8PPzK3XWPk/gTBXbu8C9wJPo8v4LROTjvjLM4Cg++EC/2d1xh7ctMehv7rgD9u2Dr77ytiUGXqKhoWG3LQ8SaHHTlRwdH69vnRRIoaGhHvHYeEogJSUluTUmpDuxsbGEhYWxe/duj4qjTo4WSUVFRVgsFo8kZ4PnEr09VQlXW1tLuLOz/jrFbnQ04FglXElJCVardb8rNrqLXYGklJqmlEoE6GgOWQ+cAdyilIruY/sMQPc0ef55GDcOTjUmu5xwnH8+DBtmlPyfwJjN5r1FRUWOJ2q7GGLz8/PDarW63aAxPDycOidmwPVGaGgoVquVpqYmt68FMHbsWMrKyli+fLlHxVEn3fskFRQUkJ2d7ZGO1e3t7dTW1hId7f5Hrqcq4VwK1R3lQXIk/6ikpISGhoY9rtjoLo54kP4KtAIopU5Ce5DeBmqAv/WdaQZdLF4MmzZpT4K32sMbeA9fX513tnQp5OZ62xoD71BSWFhosw9McHDw4RybzhBbWZnTC0VERDjcN6g3fHx88PPz80i5/5AhQ7qG8LpLU1MTra2tBAcHU1FR0ScT7auqqggICEBEaOjsaO4mxcXFJCUluS22rFara7lDR9EZXnPanqMEUmNjI8HBwTZPKSoqajObzXtdsdNdHBFIviLSGQT+KfA3EflURB4GRjqzmFLKVym1QSn1dcf9D7u15i9USm3s2D9MKdXU7bFXnVnnuOP//T9dtnvlld62xMBb3HADhIfrQY8GJyIH9+zZY7Op0RFjNTpDbE6W+YPnyuvj4+Mpc0GgHU1KSgrFxcVue7U6w2qTJ09mzpw5NDY2snr1ao95p1pbW1m3bh1lZWXMmTOHGTNmuDW7rRMRobCwkKFDh7ptY2VlJTFH5f+4Qk1NjWteqKMEkiPX2bNnTwNw0PnF3MchgdQxkRp02+4fuj3mbKvWhUBe5x0R+amIZItINnoS9mfdjt3d+ZiI3OzkOscPO3fCv/4FN98MdpS2wXFMZCQsWAAffQQe+jZtMKjYlZeXZ/OAI4RNWBgEBkJj4+G5bA7iqfyhxMRESkvdz6318/MjMTGxs1mgSxydc+Tj48OECRMYMWIEq1evZu/evVgstsbh9Y7VaqWoqIjly5eTlJTE1KlT8fPzc6njdk9UVlYSHh5u19PiCKWlpSQmJrp9HZcTvY/KQXIkH2r16tWtwBbnF3MfRwTS+8BipdSXQBOwFEApNRIdZnMIpdQQ4Bzg9R4eU8BlHDXU0QDtPfL3h1/+0tuWGHibhQt1iPWFF7xtiUE/IyJtzc3NtbZCNgEBAbS2tuqwkVIuh9k8VaIfHh5OQ0ODy8KjO8OHD2fPnj0uhcRsJWTHxcUxZ84cWlpaWLJkCXl5edTV1dldR0RobGxk586dLF68GLPZzOzZs49JovaESNq1axcjRoxw6dyjbT506BCxnU1E3cAlgWS1HiOQ6urqbPZ1EhEOHjxoFRH3XZEuYNcDJCJPKKW+B5KA/+vWrMkH+JUTaz2ProLrKe19HlAmIt1nKgxXSm1Ad898SESWOrHW8UFFBbz1FlxzzeE3O4MTl9RUuOwy+Nvf4OGHD0/FNjgh8PPzW7dx48YRc+bM6fWY0NDQw80E4+O1t7GiAtLTnVkHEaG9vd2twahKKWJjYzl06BDxnSE/FwkKCiI2NpbCwkKGDx/u8HmOVKv5+/uTmZnJqFGjKC0tJS8vj4aGBgIDA4mMjCQoKAgfHx9aWlrIy8vDbDbT3NxMcHAwSUlJzJ0712YfH3cG3JaUlODv7+/WwN5OOsWIuw0iO8Wh0wnaNTW64CgiAvz8aGtrw9fX16Y9hYWF+Pn5FbplsBs49OoXkVU97Nvp6CJKqXOBchFZp5Sa38MhV3Ck96gEGCoih5RSU4AvlFJjReSYzEGl1AJgAehvAzk5OY6a5THq6+v7ZN1hb73FsOZm1sybR2MP1++rde1hrOu9dcNOPpmp773H7vvv58Dll/fbugbep7y8/Pvc3NwL58yZ0+uncWd4rEsggUuJ2rGxsVRWVrodjklOTmbfvn1uCySAzMxMli5dSnx8PKGhoXaPd7aU39fXl5SUFFJSUgCdiFxTU0NLSwtWqxWlFFFRUQwbNoygoCCnEpRdEUmtra3s2LGD2bNnO7yOLTzZJiAiIsL5BO3OfDgn8o/Wr19PU1PTYlfs9Agi0ucbuvKtCCgEStFTed/peMwPKAOG2Dg/B5hqb52MjAzxBosWLfL8RRsaRGJjRc47r3/XdQBjXS+ve+qpIikpIi0t/btuHwPkSj+8Hw3WDZh04YUXVtj6HZaVlcnWrVv1nbfeEpk/X+S112z+3nuisrJSNmzY4PR5R2O1WmXRokXS2trq9rVERA4dOiTLli0Tq9Vq87j6+npZtGiRmM1mj6wr4pn/i067qqur7R6bm5srBw8edHtNERGLxSLff/+9tLe3u32tvLw8KSoqcv7Ejz7Sr8cnnhARkV27dsm+fftsnnLnnXfWAOeIl/7n3PO1OS7CHhCRISIyDLgc+EFEru54+DRgh4h0jVtWSsV1jDVBKZUOjAK80gfBa/zjH1BZCffc421LDAYa99wDBw/qhG2DE4ltGzZssJkcc0SCdYcnhJ0OO/u7iI6Oprq6ulOYuYxSiiFDhnDgwAG3rtPdrsjISPbu7b3quy+aQHoKR3OSiouLERGPNZksLS0lPj4eX19ft69VXl7umkdw9Wp9O2MG4Fge09KlS5uB9c4v5hn6RSDZ4XKOTc4+CdislNoEfALcLIdbDRz/WCy6nHv6dJg3z9vWGAw0zjwTxoyBZ57RMX2DEwIRaW1ubq47ep5YdwICAmhra9PCZupUnay9YYOuZnMCpRSRkZEeqWYbOnQo+/fvd1tsdZKVlcX+/ft77DE0kMVRJ/ZEUktLC/n5+YwfP95ja+7du5dhw4a5fZ2mpib8/Pxs5lz1cqLu5aeUfl3iVIK27RbyfYhTAkkpNVEp9cuObaIrC4pIjoic2+3+dSLy6lHHfCoiY0VkoohMFpF/ubLWoOWrr6CgQHsKjMaQBkejFNx9t37D+eEH+8cbHDf4+fmt37Rpk81jIiMjqa6u1kn8Y8boGX7r1jm9lqfK9AMCAoiKiqLcya7eveHr68uECRPYsGHDERVyg0EcddKbSBIRNm3axOjRo52fc9YLNTU1+Pn52RQjjuJym4CNG/XrcPRoiIzsSoK3laC9f/9+fHx89rlurfs4LJCUUguBd4H4ju0dpZQzVWwGjvLMMzB8OFx4obctMRioXHWVrmx85hlvW2LQj5SVlX2/Zs0amyNHEhMT6Zrb1pngu3y502vFxcV5TNSMGDGCnTt3esyLFB0dTUpKCuvWrcNqtQ4qcdTJ0SJJRNi8eTPh4eEeC60B7Nixg1GjRnnkWi4LpKPCa45cZ926dbS0tHi1et0ZD9LPgRki8oiIPALMBG7sG7NOYFas0Ntdd4EbJbYGxzmBgXr8yDffwNat3rbGoJ9oa2v7/rPPPjPbOiYuLo6KzoqhzpYAq1bpPjRO4O/vT1BQkNtjRwDCwsKIiIjA3sBdZxg+fDgmk4nc3FzWrFkzqMRRJ91F0oYNG1BKkZmZ6bHrV3X0HfLEDLfm5mba2tqcL+8XgTVr9M8dAqmsrMyuQPr888+rKisrv3bFVk/hjEBSQPeOX5aOfQae5NlnISoKrr/e25YYDHRuvhlCQozxIycQIlKwc+fOZlt5SH5+fgQFBVFfXw9Dh0Jysu5Bs3270+ulpaWxb59nohyjR49m586dbo8M6U5KSgpVVVUEBwc7P1l+gBASEoLJZKK0tJTU1FSPDLcFHa7Ly8sjKyvLI9c7cOCAa+NOioqgpET3Pxo9mra2Ntrb2212BhcRfvjhh3bAedenB3FGIL0JrFZKPaqUehRYBfy9T6w6USkogM8/h1tvBQf6fBic4ERH6xlt77yj34AMTghE5N/ff/+9zWMSExP1HDSlDnuRXAizxcfHU1lZ6ZFu2EFBQcTHx3usoq0zrDZr1iyio6PJzc31iJ39SWdYzcfHh5NOOolNmzZ5JDEedLVZcHCwR5pMdiRMd/WIcopO79G0aeDj41AVXIc3bYOItLtgrsdwWCCJyHPA9UAVUA1cLyL/r68MOyHpHCvyKyO1y8BB7rhDVz2+9JK3LTHoJ8rKyt59//33bVb1JiQkHE6wnjVL365Y4fRaPj4+JCUluTUHrTujRo1iz549tLXZTKOyy9E5RxkZGcTFxbFq1SpsedcGEi0tLaxZs4bAwEDGjx9PWFiYR2a3AVgsFnbs2OGxcF1FRQWRkZHOV6/B4fyj6dMBx/KPPvnkk4bS0tI3nV/MsziTpP20iKwXkRdF5AUR2aCUerovjTuhqKiAN980xooYOMeIEXDRRfDKK1BX521rDPqHlTk5Oe22QlXBwcFYLBZaW1th/Hg9vHb/fh3ucJJhw4ZRWFjokQRrf39/Ro0axZYtrs8e7S0he/jw4WRmZrJmzRr27t3rsYTwvuDgwYOsWLGCtLQ0MjMzu8Jqnhpwu3PnTlJSUpzPF+qFPXv2kO7EuJouWlp0BRvA9OlYrVZqa2vt5op98sknjRaL5RvnF/QszoTYTu9h31meMuSE5+WXoblZJ2cbGDjDvfeC2Qyvvmr3UIPBj4hYfHx81ubm5to8LiEhQYfZ/Py6kmNZudLp9YKCgggNDe1K+HWXlJQU2tvbXWohYK9aLSYmhrlz51JfX8/KlSsHnDeppaWFtWvXUlZWxpw5c3r0pLgrkqqrqzl06JBHBtyCHj1ksVhcS4DfuBHa2nR5v8lEVVUV0dHRNvOsioqKaGhoOCgi7k9MdhO7AkkpdYtSagswWim1udu2F9jc9yaeANTX6xDJueeChxLqDE4gpk2D00/XCf5NTd62xqAfKCkpefOTTz6pt3VMcnIyRZ0eIzfykECX6e/atculc49GKcWECRPIy8vTHi4HcbSU38/Pj/HjxzN69GjWrFnjMe+Xu3R6jVJTU5k8eTIBAQG9HuuqSLJYLGzevJns7GyPJXvv3r3bNe8RHM4/6givHThwwG4Lgy+//LKttrb2n64t6Fkc8SC9B5wHfNVx27lN6TYuxMAdXn0VDh2C3/zG25YYDFYeekgPJX3jDW9bYtAPWK3W//vss89squHw8HCsVqv2okyfDr6+sGWLS6HYzpEQnvIiBQUFkZGRwZYtWxwSL670Oer0JtXV1bF06VKKioo8WkHnCCJCaWkpy5cvt+k16glXRNKOHTsYMmSIR5pCgvYe1dbWuj60uFv/o7a2NmpqaoiNjbV5yjvvvGOur6//zLUFPYtdgSQiNSJSKCJXiMi+btuJM/qjL2lq0s3+TjsNZs70tjUGg5WTToK5c+Hpp8GJb+UGgxMRqWtqajpQWFho87jOMR+EhsLEiboXUueHlpNkZWWRl5fnMW9McnIyvr6+7Nlje8ymO00gO71J06ZNo6amhsWLF1NQUEBzc7M7ptultbWVvXv3snjxYsrKypg4caJdr1FPOCOSDh48SH19vevenh7oTPR2yRt18KDewsMhK6urCs7Wterr6yksLGwQkULXrfYcA2EW24nN66/rb/4PP+xtSwwGOw89pJNw//EPb1ti0A9UV1e//Pe//91mkk1ycjIlJSXac+JmmC0iIoKQkBCd1+QBOkNtpaWlvXbs9lSH7ODgYMaOHcvcuXPx8/Nj7dq1rFq1iqKiIhobG90WfSJCU1MTxcXFrF27lpUrV2KxWJg1axYTJ050y6PjiEgym83s2rWLyZMneyy0ZjabaWtrIy4uzrUL/Oc/+nb6dPDxYf/+/aSmpto85YMPPmhvbW1917UFPY/RqtmbtLTob/wnnaQ3AwN3+PGP9SDIp56C664zOrEf5zQ1NX3w97///clHH300pLeZVr6+vsTFxVFaWkryrFk613H1ap336MKHdmeVWEJCgkc+iH18fJg6dSorV64kJCTkCCHRF+ND/P39GT58OMOHD6euro7i4mIOHjxIY2MjgYGBREZGYjKZMJlMhISE9PgcRYTm5mbMZjNms5mamhqampoICgrCZDIxatQoIiMjPSZU4LBIWrt2LdnZ2V0hT9Adrjds2MD06dNdK8PvBbeaTNbW6p5+ABdfTFVVFSEhIQQFBdk87fnnn6+uqqp62bVFPY/D76BK/7WvAtJF5HGl1FAgUUTW9Jl1xztvvaVdkG+95W1LDI4HlNJ5bBdeCB9+qOe1GRy3iEhDcnLy/7777rsrzjjjjF6PGz58OBs3biR5zhyYNAk2bICPP3apW39wcDAxMTEUFRXZ9QY4SmBgIJMmTSI3N5dZs2YRGBjYL7PVwsPDGT16dNf95uZmampqMJvNFBUV0XRUwUNdXR05OTmAzqHqFFPDhg0jKCjIo4KoJ3oSSe3t7eTm5jJu3DhCPdhcuKKiAn9//yOEmFN88olOH5k2DbKy2JObazf0t2XLFqqrqwtEpNi1RT2PM18xXwaswKnA40Ad8CkwrQ/sOv5pa9Pf9GfMgB/9yNvWGBwvnH8+jBsHTzwBV1wBNqZlGwx+SkpK/vTMM8+cfsYZZ/Sa+RoaGoqfnx81NTVE3nCDbkT7ySe6f5YL4iMjI4Ply5eTmJjoMY9FZGQkWVlZrF69mgkTJrBx48Z+n60WFBREUFAQCb30ocvJyWH+/Pn9Zk9PdBdJEyZMYMeOHQwdOtT1MFgPWK1W8vLymDx5smsXqKuDTz/VP197LU1NTTQ1NREVFWXztBdffLGmtLT0SdcW7RucefecISK3Ac0AIlINOJdxZnCYd9+FwkKde9TH3zwMTiB8fODBByEv77CL2+C4RUQ2bN26taq42PaX7vT0dHbv3q3F8/Tp0NgIH3zg0poBAQGMGDGC7S7MdrNFQkICqampLFu2jHHjxg26wbP9RWhoKJMnT2blypVERUW5Nh/NBgUFBSQmJrqeN/Xpp/r1NWUKjB3L3r17GTZsmE0PW0NDA//6178arVar15tDdscZgdSmlPIFBEApFYf2KBk4i8UCf/gDTJ4MZ5/tbWsMjjcuuwxGjdJepAHQ/8WgbzGbzU8+//zzNnsixcbG0tDQoAfY3nCD3vn55+Bi2X5qaipNTU1UVFS4dH5PNDQ0sG/fPrKysti+fbtTPZJOJNrb29m6dSujRo2irKzMY7PbAGpqaigvL2fkyJGuXaChQXsnAa65hpaWFsrLy+3OcHvzzTdbW1tbX/P27LWjcUYgvQh8DsQrpZ4AlgEDyh02aPjwQz2Y9qGHDO+Rgefx9YUHHtC5Jv/9r7etMehjmpub3//nP//ZYKt0XSnVVabP6NG6JURLi/Zku4BSiokTJ7Jt2za356rBkQnZI0aMYPTo0axYsUILOoMumpubWbVqFampqWRkZHhsdhvo0NqmTZuYOHEivSX92+XTT7VImjQJJkxg586djBw50ub1rFYrzz77bG11dfWLLpreZzgzrPZd4F60KCoBLhCRj/rKsOMWq1V/sx83Dn7yE29bY3C8cvXVMHQo/O53hhfpOEdEWtrb2//x7rvv2vz2HRsbS3t7O9XV1TpBWyn46ivopcTeHsHBwaSnp7sdauspITshIYHs7GzWrl3bawuAE43q6mpWrlzJ6NGjuxLkPTW7DQ6H1iIiIly7QGPjEd6jxsZGqqur7XqP/ve//9Hc3LxIRA65tnDf4cyw2reBUhH5i4j8GShVSv2970w7TvnsM9i+XVcbGQm0Bn2Fvz/cdx+sWgWLFnnbGoM+prKy8tknn3zSbK9T9JgxY7QXKT0dTjkF2tvhn65PdUhNTaW5udllEWOrWs1kMjFr1ix27tzJ7t27B8S4EG9RVFTE5s2bmT59+jEJ2Z4QSW6H1kCHbOvqYMIEmDiRHTt2MHr0aLvVfY8++mhlaWnp464v3Hc48wk9QUTMnXc6krQnObOYUspXKbVBKfV1x/0PlVIbO7ZCpdTGbsc+oJTapZTKV0r1XsM6mBCB3/9eu7gvvdTb1hgc79xwAyQm6tecwXGNiJTV19d//f7771tsHRcZGUlgYKAWNNddp71I//0v2Eny7o3OZo/btm07pizeHo6U8gcFBTFr1ixqa2vZsGGDR8J5gwmLxcLWrVs5ePAgs2fP7rWU3x2R1NbWxoYNG8jOznY9tNbUBB91BJSuuYbaujqampqIj4+3edqSJUvYu3fvZhHZ6trCfYszvw0fpVRXnZ5SKhrnG00uBPI674jIT0UkW0Sy0S0DPuu49hjgcmAscCbwckeC+ODm669h0yZdZeQ7+J+OwQAnKEh7kRYtgu++87Y1Bn1MWVnZfQ8++GC1veTmzMxMduzYgQwZAmecoYtG3n7b5XWDg4OZMGECubm5WCw29VkXzvQ58vX1JTs7m7i4OJYtW3bChNyqqqpYunQpISEhDjWBdEUkiQjr1q0jIyOD8PBw14398kvdHHLsWJg8uavJpC3vkYjwy1/+srK0tPQW1xfuW5wRSM8CK5RSv1NKPQ6sAP7o6MlKqSHAOcDrPTymgMuA9zt2/QT4QERaRGQvsAuY7oStAw+rFR55RLu2r7jC29YYnCjcfLPORbr/fv0aNDhuEZHyxsbGN//617+22DouNDQUk8lEcXExXHON/rL23Xewb5/La8fExDB06FA2bNhgNxTmShNIpRSpqanMmjWLvXv3snHjxuPWm2SxWNi2bRt5eXlMmzaN9PR0h5tQOiuStm/fTlRUFMnJya4b3NysC48Arr2WQ1VVKKWIjo62edoXX3xhraio+EFEdrq+eN/iTJL2P4CLgTKgArhIRJwJXj+PTvLu6V16HlAmIgUd91OAA90eL+rYN3h57z3YuFEnzXqwHbyBgU2CguDxx2H9et092eC4prKy8ndPPvmk2V71V0ZGBgUFBbTHxcE55+jwv5sd/dPS0ggMDKSgoKDXY9ztkB0UFMT06dOJiYlh2bJl7N+//7jJTRIRiouLWbp0KUFBQTZDarZwVCTt37+fxsZGMjIy3LAa+Ne/wGyGzExkyhS2b99ud0RJe3s799xzT1Vpaemd7i3etzgVIhOR7YDTJQtKqXOBchFZp5Sa38MhV3DYewTQk1zu8b9AKbUAWAAQFxfX1Qq+P6mvr7e5rk9rK9PvuYe2UaNYl5gIHrLR3rp9hbHuIFt3yBCmDh+Oz913szYmBrEzo81bz9fAfUSkLioq6pk//vGPjz7++OO9froGBQWRlpZGXl4e46++Wuch5eTo6scRI1xef+zYsaxatYqIiAgSExOPeMxT40M6vUkJCQkUFBSwZMkSMjIySExM7PNxH31FZWUleXl5REREMGPGDIKDg926nq3ZbaDDd4WFhcyePdu931ldHbzf8dF97bXs2r2b2NhYu+G6N998s7W+vv6DgTRWpEdExKENCASuBB4EHuncHDz3SbQXqBAoBRqBdzoe80N7pYZ0O/4B4IFu978FZtlbJyMjQ7zBokWLbB/w3HMiIPLdd/27bh9hrDsI1/3Xv/Rr8OWX+3ddJwByxcH3I2Oz+X4bkJCQUFRRUWHz9221WmX58uVSWVkp8uc/i8yfL3L//SJWq83z7NHS0iKLFi2Sqqqqrn319fWyaNEiMZvNbl27JxobG2XDhg2ydOlSKS8vF6ub9vdGX/xfVFVVycqVK2XNmjVSV1fn8et3/t6rq6u79tXV1ckPP/wgDQ0N7l3cahV58EH9urntNqmtqZGcnByxWCw2T2tsbJSUlJRywCQD4P/F1uZMDtKX6NygdqCh2+aICHtARIaIyDB08vUPInJ1x8OnATtEpKjbKV8BlyulApVSw4FRwOAcims26yqiH/8YTjvN29YYnKicc45uDvj447qRm8Fxi4i0NjQ0/OaRRx6ptXWcUors7Gy2bNlC+2WX6XDsqlU6ZOIGAQEBTJ8+nU2bNlFTU9Png2eDg4PJzs5m4sSJFBUVsWTJEgoLC2lvH1BNmbuwWCwUFRWxdOlSdu3axejRo5k2bZrroz1scHS4rbGxkdzcXCZPnkxISIh7F//0U1ixAkJDsT7wABsdbDL5wgsvNDU1Nf1ZulXFD1ScCbENEZEz+8CGyzkyvIaIbFNKfYQO57UDt4mIY+URA42nn4bqan1rYOAtlNKvwTlz4PnndR8ug+OW+vr6f3722WeP3HfffRFpaWm9HhcSEsKwYcPIKy1l/N136ya2L70EGRmQmeny+iEhIUydOpXVq1cDMHXq1D6frRYeHs6kSZNoaWlh3759LF26lKioKIYMGUJ0dLTrJeweQESorq6muLiYiooKEhMTmTp1qtuhNEfoFEmrV69GRJgyZYr7f4sdO+Cvf9U/33cfuxsbiYuLOyaUdzRms5kXXnjBXFVV9Sf3DOgfnHnFrFBKjXd3QRHJEZFzu92/TkRe7eG4J0RkhIiMFpHBOS+hqEh/GF11FWRne9sagxOd2bN19/ann4bKSm9bY9CHiIi1qqrqxquvvrpKxHYSc1paGvX19VRmZ8MFF+jmkb/9LdTUuGVDZ26LvfU9TWBgIBkZGcyfP5+UlBQOHjzI4sWLWbduHQcPHuy36rf29nZKSkrYsGEDOTk57Nu3j9jYWE4++WSysrL6RRx1pzNs5Db19doT3d4OF11E7cSJFBcXO5Tsfcstt9Q0NDQ8ICLONc3yEs54kOYC1yml9gIt6ERqEZEJfWLZ8cBvf6tLq3/3O29bYmCg+cMfYPx4ffvcc962xqAPaW1t/SExMfG/r7/++qU33nhjQG/Hdc5VW7NmDXMXLMAvPx/y8nRqwNNPu9TxvzOsNnXqVHx9fcnNzWXixIlERUXZP9lDKKWIi4sjLi4OEaGmpobS0tKurtyRkZGYTCYiIyOJiIjA143edFarlbq6OsxmMzU1NdTU1GC1WomNjSUtLY3s7GyvJZDX19ezdu1apkyZgr+/f6+J2w4hAn/6E5SUwKhRWBcsYNOaNQ41mfzPf/5jXbRo0ca6urp/uPZM+h9nBNJZfWbF8ci2bbps9o47YNgwLxtjYNDBmDFw7bXwl7/AwoVgI/xiMPgpKyu7+eGHH55/5plnpnTO7+qJzlDbtp07mfjoo3DjjZCbC//4h+647QQ95RxNnz6dNWvWkJmZeUx1W3+glMJkMmEymcjMzKS9vZ3a2lrMZjOFhYXU1tYiIvj6+hIUFERgYCBBQUH4+/ujlEIpRWtrK3v37qW9vZ3m5mZaWlpobm7uynUKDw/HZDKRkpJCVlaW3caO/UFVVRWbNm1i8uTJXX8LW9VtdvnyS1iyBEJC4Le/paCwkLi4OLshO7PZzIIFCw6VlZVdLv3tUnQDhwWSiOzr6KQ9Cgjq9pDr3cWOZ+6/H8LDdddsA4OBxGOP6b5cv/2t271vDAY2IlLv6+v7syuuuOKTpUuXRtvyYqSlpbF+/XoKGxsZ9vDDcO+9WiBlZcGMGQ6t11tCdkhICLNnzyY3N5e6ujpGjhzp1ZJ8Pz8/oqOjj2lm2JP4sVqtWK1WXdXk40NwcDBRUVFHiKiByL59+9i3bx8zZ848IpxnrwVArxQU6C9WAL/+NSU+PlRVVTHDgdfGzTffbK6pqblHREpdeCpew5lhtb8AlqBL7h/ruH20b8wa5CxZoseKPPAAxMR42xoDgyNJTYVf/lJ/+G0dkCOQDDyIxWJZtGvXrn+/9tprNmeQdFa1HThwgMphw+D663VI5YknoNT+55q9arWAgABmzpxJU1MT69evd3gsSX/i5+dHWFgYMTExpKSkkJaWxvDhw0lPTycwMJC0tDSGDBnS1etnIIojq9XKli1bqKioYPbs2T3mOjk9lqSxER59VOcdnX8+tZMnk5+fz5QpU+yG1v79739bc3JyNtbX17s+FdlLOBNcXghMA/aJyCnoQbUVfWLVYEZEf/MaMgRuv93b1hgY9MwDD0BEBPz61/o1a3BcU1ZWdusjjzxSfuDAAZvH+fr6MnXqVLZs2ULDhRdqz1FdnfY22pjx5mgpv4+PDxMmTCAmJoYVK1Y4PeDWwDatra2sXr2awMBApkyZgp+NprAOiyQReOYZPdA4PZ3WG29k/fr1TJkyhYCAXlPbAB1au+mmmyrLysquGEyhtU6cEUjNItIMoJQKFJEdwOi+MWsQ8/HHsHq1zvLv5yoFAwOHiYnRH3rffKP7mRgc14hIfUVFxc8uv/xyu1VtnX2Fcteto/2++yAxEXbuhD//ucfjXelzNGzYMMaMGcOqVauoqDC+Z3sCs9nMihUrGDZsGBkZGQ6FMB0SSf/+tx54HRSE9ZFHyN28maysLIeG2y5YsGBQhtY6cUYgFSmlTMAXwHdKqS+Bgd0mvL+pqdFJ2dnZegikgcFA5le/0q/VhQv1JG6D4xqLxZKza9eur1955RWbw2wBoqKiSE9PZ31BAfLoo3p+5L/+Bd9+e8Rx7jSBjImJYebMmezevZtNmzYN2MaOAx2LxUJeXh5bt25lypQpJCUlOXW+TZG0Z4/uiwVw991srakhLi6OhIQEu9f96quvrEuWLNlQX1//jlMGDSCcGVZ7oYiYReRR4GHgDXRnbYNOHngAysrgtdf0hGwDg4GMn59u9lZSAg895G1rDPqB8vLyWx599NF9K1eutBvuSE1NJTQ0lHwRLaJBt4bYvRvwzGy14OBgZsyYgclkYtmyZVQa/bmcwmw2s2zZMvz9/ZkzZ45DXp2e6FEk1dTovKPWVjj7bApHjqStrY2RI0favV5+fj4LFiwoKSsr++lgDK114kySdlcraBFZLCJfAb/vE6sGI8uXwyuv6DeSqVO9bY2BgWNMnw633qrDJ2vXetsagz5GRBorKipOv+SSS8qLiorsHj9mzBhqamooHDMGzjpLf1g+8ggNBw96bHyIUoq0tDRmzJhBQUEBmzdvNrxJdrBareTl5bFlyxYmT57skarA7iKpZtcu/Vl24AAMG0bJpZdSVFTkUD8ns9nMWWeddaisrOxsERnU8VNnQmyn97DP6I0EqLY2WLAAhg7VuUcGBoOJJ57QeSY33aSrVAyOa0Rkf1lZ2SVnnnlmlb0kaaUUU6dOpaS0lP0XXggjR2I5cIC6669nclKSR8eHBAcHM3PmTCIjI1m6dClFRUX93oV7oCMilJWVsXTpUvz8/Jg7d67LXqOeCA0NZXpyMi033kjb7t0wbBjl997LrgMHmDFjht1mmhaLhfPOO6+6oqLiFhHZ7DHDvIRdgaSUukUptQXIVEpt7ti2KKUKgS19buEgYOgHH8D27dqD1AcDBw0M+pTISHjhBdiwoddEXIPji/b29mUHDx586PLLLzfbEyG+vr5MmzaNA+Xl7L3pJsrDw4ltaiLigQd0bxwP0ulNmj17NtXV1SxdupTy8nJDKKGbPq5YsYKDBw8ybdo0Ro0a5fleUgUFhNx3HzEWC+UxMRTedRd55eXMmDHDoZYGCxcurMvPz/9bXV3dx541zDs44kF6DzgP+LLj9jzgXGCyiFzVh7YNDvLzSfvnP+GnP4Wzz/a2NQYGrnHJJTqE8vDDBBpVRScE1dXVr6xaterz3//+9w32jvXz82PcuHFsKy2l4Q9/wG/aND2Ee+FC3XHbwwQGBjJ+/HimTJnCgQMHWLlyJdXV1R5fZzBQW1vL6tWrKSgoYPz48UyePJmQkBDPL7R5sy4yMpvxnTED+dOf2LpvH1lZWXbL+QH+/ve/t3788cerKioqHvC8cd7BrkASkRoRKQQ+A6pEZB/wM+B1pdSkPrZvYCMCN92EJTBQD6U1MBisKKW75FosjOysWjE47ikvL1/w5z//eftXX31lM7ba0NDAhg0bmDVrFmX19ey/7Tb40Y+gqUlPDfjuuz6xLzQ0lClTpjB27Fjy8/NZs2bNCSOUamtr2bBhA1u2bGHkyJHMmDGDiIiIvlls5UrdE62xEebPp2zhQnYXFzNnzhy2b99ut5nkqlWreOCBBwrLy8svHMxJ2UfjTA7SwyJSp5SaC5wBvA282jdmDRLefBMWL2bPzTfrHA4Dg8HM8OHwyCPELV2qS7oNjntEpL28vPzMG2+8sWTbtm09HtO9Wi0mJoYZM2ZwsLycwquugssuA4tFDz/+4IM+azoaGRnJzJkzGTlyJLt27erKUbJarX2ynrcQEUpLS1mxYgXbt28nJSWF2bNnE9OXExn+9z9dxdraCueeS/HPf07+nj3MmjWLqKgou32SioqKuPjii8vKy8tPFxG73sjBhDMCqbMv/DnAKyLyJWDf73a8UlYG99wDJ51EyVlGrrrBccLdd9MwbJgeRVJf721rDPoBEakqLy8/48wzzyzfs2fPEY/1VMrv5+fH9OnTKSsvZ8cppyC33KIP/utftReyDx0I0dHRTJs2jSlTplBTU8PixYvZtm0b9YP8tdrY2MiOHTvIycmhvLyc8ePHM3PmTOLj4/t2Zt1nn+kiDasVueIK9l54IXsKC5k1a1ZXWM1Wn6Ty8nJOOeWUQ2VlZReLyP6+M9Q7OCOQDiql/gpcBvxHKRXo5PnHF3feCQ0N+k3BziwaA4NBg78/+XfdBfv3w333edsag35CRPKKiorOOuWUUyr279efc7b6HPn6+jJ9+nQsFgtrhw3D8uCDuq/Wp5/qSl4bY0k8QUhICGPHjuXkk08mKiqKLVu2sGTJEvLz86mpqRkUSd319fXs2rWL5cuXs2HDBkJCQpg3bx4TJkzwaGVaj4jA2293NYG03ngjm2fMoNpsZtasWcckZPckkqqqqjjppJMOFRUVXdne3r68bw32Dr0PajmWy4AzgWdExKyUSgJ+3TdmDXA++wzef1830crMdGiQo4HBYKF2/Hj9BeD//T846SRdgGBw3CMi6/38/M6bP3/+1//3f/8XW1RUZLPPkVKKsWPHcuDAAZY3NzPtsccIfuIJyMnRCdy//32fV/X6+PiQnJxMcnIyra2tlJWVsXPnTurr64mJiSExMZHY2Fi7A1X7A6vVSnV1NaWlpVRUVBAcHExiYiJTpkwhKCio/wwR0dWqn30GStG2cCFrYmNJDAsjPT29V49Vp0hau3Ytw4cP55xzzqnav3//9U1NTf/Xf8b3Lw4LJBFpRCdqd94vAUr6wqgBzY4dcN11usHe/fd72xoDg77hqadg1Sr4xS/0OJLRxtjFE4H29vbVvr6+F5155pnffP311yGO9DlKTU0lLCyMVRs3kv3YY0Q99RRs2qQr3J5+GmJj+8FyCAgIIDU1ldTUVKxWK5WVlZSVlbF9+3b8/PyIjIzEZDJhMpkICwvr09CViNDQ0EBNTQ1msxmz2UxraytRUVEkJiaSmZlpt6dQn9DeDn/8o06q9/Oj/q67yA0OZsyoUcTHx9s9PTQ0lIyMDM4444zmwsLCmxsbG4/rZEW7AkkptUxE5iql6gABur+qREQcTqtXSvkCucBBETm3Y9+vgF8C7cC/ReRepdQwIA/I7zh1lYjc7Og6fUZ9PVx0EQQFwSefQGCgty0yMOgbAgLgww9h8mS4+GI9gDk01NtWGfQDFotlqa+v75lnn332Z4sXL45NTU21e05UVBQzZ84kNzeXtPvuY+hLL+k5XrfdBk8+Cenp/WD5YXx8fIiPj+/60G9tbe0SKzt27KChoQE/Pz/Cw8MJCgo6ZgsICLApoESEtrY2mpubj9nq6upobW0lNDSUyMhIYmNjGTlyJIHe/rzYtg2eeQYKCyEoiIqFC9kWFMTUqVMJc9DTV1VVxY9//OOqwsLCm+rr6z/pW4O9j12BJCJzO27DlVLxHT+Xu7jeQrTwiQBQSp2Cnuc2QURaOq/fwW4RyXZxHc8jAjfcAPn5Wn078KZhYDCoSU2Fd9+FM8+EW27ROQt9mTBqMGCwWCxL/fz8zps7d+5XOTk5ccOHD7d7TnBwMLNnz9ajKm66ibHvvotPXp6eMnDZZXqAd3+GkroREBBAXFwccXFxXfva2tqoq6vrEjaHDh3q+rm1hxyquro6cnJyuu77+/sfIapCQ0OJjo4mPDzc+2KoOw0Nej7oV1+BCJKczJ4rr6TCZGLOlCkONYAEqKioYN68eYf2799/XWNj49d9bPWAwKEQm1LqUeA2dFK2UkpZgJdExOG5GkqpIegKuCeAuzp23wI8JSIt4Jbw6nueew4+/li7jE891dvWGBj0Dz/+MTzyCDz2GMybBzfe6G2LDPqJ9vb2VUqpM0866aT/fvvtt/Fjxoyxe46vry+TJ0+msLCQpRdcwNTEREIXLdI5m99/r6sj584dEELb39+f6Ohoh4/Pyclh/vz5fWdQX7B0qe6Sf+gQ+PrSdMEF5GZmkjB0KDOc6MR94MABTj311MqioqIrm5qa+qbp1QDEkVEjdwJzgOkiEiMi0cAMYE7HY47yPHAv0L1xRQYwTym1Wim1WCk1rdtjw5VSGzr2z3NiHc+Tk6Mrei6+WDfTMjA4kXj4YTj9dPjVr2D9em9bY9CPiMj6oqKiU0499dQD//rXvyz2z9DJ28OHD2fa3LlsOu00Cu64A+vIkVBersX2Aw9AcXFfm35iU1Ghexs98ggcOoRkZbHngQdYO2ECE6dPJyMjw2FxtHz5cpk5c2bp3r17zz+RxBGAslcOqZTaAJwuIpVH7Y8D/k9E7HbTVkqdC5wtIrcqpeYD94jIuUqprcAP6NDbNOBDIB3dXylMRA4ppaYAXwBjRaS2h2svABYAxMXFTfnoo4/smeMUgRUVTFmwgLaICNa/8gqWHlq819fXOxzD9STGusa6/bWuv9nM1BtvxBoQwLq//pX2PrDrlFNOWSciUz1+YQO3UUrFxMXFfXP77beP+c1vfhPi6IeriFBYWMi+vXuZUlRE+Ecf6ZCPvz9cdRVccYXOdxsEDAoPktUKX34Jr7+uu2KHhNB49dXkJieTkJjIqFGjnKroe/3111sefPDBwoqKitNF5EAfWj4wERGbG7DVlceOOu5JoAgoBEqBRuAd4BtgfrfjdgNxPZyfA0y1t05GRoZ4lOZmkRkzRMLCRLZv7/WwRYsWeXZdBzHWNdbt13WXLxfx8xP5yU9ErFaPrwvkigPvJ8Z2zPtjKrAInd+5DVjYsf9PwA5gM/A5YOrYPwxoAjZ2bK92u9Z8dCHNH3tYxz8+Pv6tn/zkJ9WNjY3O/Gmlvr5eli1bJtuWLRPL738vMn++3q68UmT1aqeu5S289f/oMLt3i9xyS9fv1vrQQ1KwcqUsXrxYampqnLpUW1ub3HLLLTVxcXH/BULk2NfC34Hy7hoA+F3Ha20j8H9AsrjxehsImyNS0lbHL4e6gYnIAyIyRESGAZcDP4jI1WjP0KkASqkMtOeoUikV11HxhlIqHRgF7Onp2n3KHXfo6p0334SsrH5f3sBgQDF7NvzpT/ob6q9/3acdkw2coh24W0SygJnAbUqpMcB3wDgRmQDsBLoPEd0tItkdW/cK4VuAeYCvUiqz+yIi0lZWVnbdkiVLHp42bVrVwYMHHTYwNDSU2bNnE5SUxJI5cyh/8EEkLU2H2u67T4eCygduCuqApqVFJ2EvWAB5eRAbS/Vdd7H09NOxREUxd+5cp2a4VVdXM3/+/OpPPvnkpYqKirNFt/g5mrfQfRG78ycRmSC6uOpr4JFujzn9ehsIOJKkPVEpdUxoC13u725Jwt+Bv3eE2lqBa0VElFInAY8rpdrRI05uFpEqN9dyHPn/7d17fFXllfDx38qNJJCQQAgkIQJBEAREGC5TKeJYW5BWZ/qKFqsto8Or4g1LGQfEKrUjVby3KGqRt95Q7AfsUKwtWHFUFBEQFAQSVEACJJILEMjtnKz3j2dHjjEJuewkcLK+n8/+ZJ99dvZ6nuTkZJ1nPxeFO+6AJ590/wgmTWq10Mac0qZPh5wceOghqKx0izSfAh1u2zMNmZNO3XqZ24EMVQ2dwG8d0JA3sgjcdC5VfHNKl68VFhYuiIqK2jJ69Og/LVu2rPvo0aMbVE4RISsri7S0NLKzs9k5ZQpDd+0icfly15n4ww9hyhT3fhvVmDmM27GNG90Aov37QYTjEybwyahRRCYkMHzAgEbfot+xYwcTJ048lJeXd/2xY8eW13Weqr7tTccTeiw0T+iIex2dzElfb22pIcP8fZ3NSlXfwt0yQ1UrgKtrOWcZsMzPuA1WVeXm7njySbj+ejeHhzHGEXGz8Hbo4GbaLi+HJ56w5XZOEd4/rWHABzWeuhbXx7NaH69/6RHgTlV9xzu+CHgPWKOq2+uKEwgE3hGR0Zdccsnq3/zmN72uu+66mIb2S4qLi2Po0KGUlJSwvVMnyMhgyNtvE/vBB27ppr/9DW64wU3Ga6+rbysvdwOH/vIXN7cRUNmzJzsvuYSjmZkMHDiQpKSkRl/21VdfDU6bNu1AXl7exaq6tSlFE5F7gZ8Dh4F/CXmqWa+3tmJpeqjKSvcJ5qWX3CzZ8+bZp2NjahJxLUgdOrgZt8vLXafQtpgZ2HxNRDrhPljeFvppXkTm4G7DvegdOgCcoSGDYERkkKoeUdW/A39vSDxV3SMiw+6+++6nlixZcvGSJUu6ZGRkNLi8nTp1YuTIkRQVFbEpKYnks8+m31//StSePW6kW0oKjB/v5uHq2bPB1w1bn38OK1fCqlWuozsQjI1l39ix7P3OdxgweDCDQ+Z5aqjCwkKmTp1a9N57763Py8u7SlULmlpEVZ0DzBGR2bgJoO/Gp9dbW7AEqVppKVx+Obz2mnvTt4U6jambiPsAERvr1iSsqHATSdqtkTYhItG45OhFVV0ecnwK8CPge+r1ilU371z13HMbReQz3JQrGxobV1WPAVfHxMRcNGLEiD/ee++93a655poGtyaBm4X7vPPOI//MM3k/I4PMDz8kY9Mmor/6yk1U+uKLMGiQS5QuvBBqGUkctsrKYM0alxh9+unXhyv79iV3+HD29u3LmUOG8N20tCYtnbJixYrgtGnTDhUVFU0/fvz40pN/R4MtAV4D7vbz9dba7N0M4MgRuPRSePvtE7fWjDH1E4G773YtSbNnu5akJUtOm2Hb4ULcf8ZngO2q+nDI8QnAfwHjQjvaelO0FKpq0K9BMBUVFW+IyMA77rjj6eeee278kiVLktPT0xt1jdTUVLpdeCFfDRnCxnHjiM3JoW9ODp02bkS2bXO3kxYscBOWXnwxDBsWvi38u3a5pGj1ajdcH9D4eI6ddx67BgzgWI8e9OnTh+/26NGkhXiLioqYOnVq8dq1a9fn5eVdrapfNbfIItJPVXO8h5fiRlC2yOuttViCdOiQ+2SyZYt7c588ua1LZMzpZdYslyTNmOE62L7wAjRi1IxptjHAz4BPRGSzd+wO4HdAB2C117pQvaZliwyCUdWjwJUxMTHfHz58+B/nzZuX0tjWJBH5eg21o4MH88UXX1A0ZgxZ+/aRtmULUVu3whtvuC011b13T5gAaWnNLX7bKy2FN990idGOHV8fDp51FnmjRrGrZ086paSQlZXVpD5G1bxWo4LDhw9PLykpebkp1xCRl3BD9FNEZB/uVtpEETkL1+F6D1A9Wq1tB101Q/tOkF5/HW69Ffbtc0OXJ05s6xIZc3r6xS9cknTzzTBggOvAfcUV4fsJ/xSiqu9S+wigv9ZxfosOgqmoqFhd3Zr0/PPP/+D5559P7tmEPkQJCQmcc845BM4+m9zcXN4/6yw6TphAn+xsOq9bR0R+Pjz3nNuGDnWJ0rhxEBfXArVqIcXFkJ0N777rkr7SUsC1Fh097zx2DxpEUXIymZmZ/HPPnsQ0o3W2oKCA66+/vvjdd9/dkJeX99PmtBqp6pW1HH6mjnPbbtBVM7XPBOnTT+GXv3SjJfr1cy/MMWPaulTGnN5uvBFGjHAL206e7DpuP/449O/f1iUzrczrJD45JibmByNGjHjqJz/5Sde5c+cmJCcnN/paUVFR9OrVi169enHkyBFys7L4eNgwknbvJnPbNjpv3kzkli3uLsAjj0CfPpCV9c2tGS0uvikocMlQTo77mp3tlgTxBKuqONanD/uHDydvwAC6pqfTMz2dIcnJTepfVO3YsWM8+OCDxxcuXFhcUlIys6Sk5CU/qtMetK8EqaDAdShduBASEtwf0403Wp8JY/wyahSsX+/68s2ZA0OGwO23uz5K7alzrQGgoqJilYicuXjx4mtfeeWVuTfddFPSjBkz4uOb+FpITEwkMTGRgQMHcvz4cQ4ePEj27t103LCBnh9/TKc9e4jauRPZufOb35icDH37uuSpb1+XNPXq1TLv/aou8amZDBV+866SAsGoKI6mpXEoNZXi0aNJOvdcMnr0YEBCQrOLUVlZyVNPPVU+b968w2VlZQ8VFRU95nWYNg3UPhKkyko3V8vcua5D9g03uNXJU1LaumTGhJ/ISDeX2KRJbqLV//5v1y/pgQfcsG0f3vzN6UNVg8AfROT5hx9+eMbChQun/+pXv0qaOnVqTFQzRj3Gx8eTlZVFVlYWlWPHkp+fz+7PPqMyO5vEQ4dILiqiU34+sfv3E1FUhGzYABtCBk5FREBm5omkqTphUnXz4VV/9faTNm6EQKDW5wgGTyRF2dlw+PC3yhuMjaUsM5OS9HQKU1IoSkkhqndveqSnc0b37vTr0KHJP4tQVVVVLF26NDh79uzC48ePP/vVV1/d4/UPM40UfglSIOCmW//ooxPb5s3uBfv977tZRwcPbutSGhP+und3/UOuvdYlTJdf7v4pDR3qbmlXb5mZbV1S0wpUtQyYJyKP33XXXb++//77r5o/f37ypEmTIptzCwkgOjqajIwMMjIy0LFjKSsro7i4mC8PH6a4qIhgbi6JhYV0KSwk4dAhYnNziTxwgIg9e5A9e9zEiyfRq7jYdaCur46AVlURjI+nvFcvjqanU5SSQlG3bkh6OknJySQlJXFG584MiI9v1q2zb8VWZdWqVTp9+vSC4uLi1/Ly8m5XVVu/pRnCKkGK37sXOnVyw43BddY75xy3YvSll7pOfNZp1JjWdcEF7kPKm2/Ce+/B2rVufcMFC9zzmZnuHNMuqOph4DYRuf+WW2554M477xw/Z86c5MmTJ0c2pxNyNREhLi6OuLg40kJGt5WWlnL48GEOHD7M8ePHKT9yhIh9++iQm0v8gQPEFxQQFRFBVHQ0EdHRLnmJjEQiIiAigoJDh5DUVKpcEAJVVQSqqqgMBgkEg1TGx1OamUmwb18ievQgLj6ezp070zspiYFxcb4mQ6GCwSArVqyouueeewoPHjy4/uDBg7eo6mkxjP5UF1YJEiLuk+qwYW7r398mrjPmVBAd7W6vjR/vHgcC8PHHLllau9bd+jbtireG3NUikjFz5szbZ82aNfnaa6/teOutt3ZMTU31PV510tSjR49vPVdVVUV5eTllZWWUlZVRUVHxrZXdP9u1i8j+/RERRISYmBhiO3QgKTaW2NjYJs1H1BzFxcU8/fTTZQsWLDhaUVGxMi8vb56q7mrVQoS5sMoejmdmwoMPtnUxjDEnExUFw4e77ZZb3DFr3W2XVDUXmC4isx577LGfL1q06PaRI0d2njFjRtcLLrigxVpeQkVERHydQNXlyy+/pE+fPi1elvqoKuvXr+fRRx8tWrNmzbHy8vLfFRcXP1VjoVjjk7BKkIwxxpyeVLUUeEpEnl65cuWoTZs23R4VFXX+dddd1/Gaa66Ja+zM3OGkoKCAF154oeL3v//9kdLS0o/2799/H/CWqla1ddnCmSVIxhhjThnemnEfAJeJSOJ999338yeeeOL6xMTE7ldccUXHyy67LH7IkCGt0rLUlrKzs1m+fHnZyy+/fDQ/P7+otLT0/xUXFy9S1UNtXbb2whIkY4wxpyTv1tECYIGIdPntb387cfHixf+uqueMHz8+avLkycnjxo1r1gzTp4pAIMD777/P0qVLD69cubIiEAjkHDp06Nny8vIVqnqwrcvXHlmCZIwx5pTnrd/1AvCCiMQsXrz4/Ndff/1nVVVVFw0dOjR60qRJXUaOHBk5aNAgoqOj27q4JxUMBtmxYwcbNmzQP//5zwXr1q0LRkZGvpObm/ss8A/vlqNpQ5YgGWOMOa2oagXwBvCGiMiqVasGrV27dnyXLl0urKysHJyYmBg7atSoyLFjxyaNGDEicvDgwW3ayhQIBL5Oht55552idevWBQoLCyuio6N3FBcXv3n06NE3gI3Wp+jUYgmSMcaY05bXZ2mrtz0EICIds7Ozhy5fvnx0ly5dvhcIBIYkJCTEDR06VPr27Rvbu3fv+PT09Ii0tDTS0tLo3r17s1qdgsEg+fn5HDhwgAMHDpCbm6t79+499vnnn5d99NFHWlxcXB4VFfVpcXHxmpKSkveBj2zk2anPEiRjjDFhRVWPAe952yMAIhKfk5MzEEiPiIjI6Nq165mxsbF9VLVnIBBIjYyM7BATExPVrVs3TUhIIDo6mujoaImOjiYyMlKOHj3a6ZFHHjlSWVlJIBCgpKRE8/PzI8rKyoLBYLA8KirqKxHJraio2F1YWJhTWVmZCxwAPrWlPk5P4pLv8CAiR4GdJz3RfylAW4wssLgWN5zinqWqtlCbaTMiEgl0A+JxDQihWxCoBALeVgbkq2qgbUprWlq4tSDtVNURrR1URDZYXItrcZsft7VjGhPKW1jXRowZAFp3bnRjjDHGmNOAJUjGGGOMMTWEW4L0tMW1uBbX4hpjTHOFVSdtY4wxxhg/hFsLkjHGGGNMs4VNgiQiE0Rkp4jsEpFZLRwrUkQ+EpGV3uO5IpIrIpu9bWILxJwuIltFZJuI3OYd6yIiq0Ukx/ua7FOsxSKSLyJbQ479RkQ+9uq3SkTSveO9RaQ0pO5P+hz3XBFZ5117g4iMCnlutvf73iki45sYM1NE1ojIdu9nO907/oCI7PDq/KqIJPlZ33riLg259m4R2exzfWNFZL2IbPHi/to7frn3uEpERoSc71d9a43rPXeLV6dtIjLfz/oaY0yTqeppvwGRwGdAFhADbAHObsF4M4AlwErv8VxgZgvGG4ybJbZ6bo43gH7AfGCWd84s4H6f4p0PDAe2hhxLDNm/FXjS2+8del4LxF0FXOztTwTe8vbP9n7PHYA+3u8/sgkx04Dh3n4CkO1d+wdAlHf8/uqfrV/1rStujXMeAu7yub4CdPL2o3Grpv8zMBA4C3gLGBFyvl/1rSvuv3iv5w7ec6l+1tc222yzralbuLQgjQJ2qern6tboeRn415YIJCI9gR8Ci1ri+nUYCKxT1ePqJiX7X+DHuDo+653zLPBvfgRT1beBwhrHQqfF7wj43nmttrhenERvvzOw39v/V+BlVS1X1S+AXbjXQWNjHlDVTd7+UWA7kKGqq/TEBHDrgJ6NvXZT4lY/LyICXAG85B3yq76qqiXew2hvU1XdrqotNslqXXGBacB9qlrunZfvneNLfY2pj1+t1iJygXfu/JoxzOkrXBKkDODLkMf7CPln47NHgduBmosK3uzdjlns162uEFuB80Wkq4jE41pSMoHuqnoA3D9cINXnuN8gIveKyJfAVcBdIU/18W45/q+IjPU57G3AA17cB4HZ3nHff+ci0hsYhmvdCHUt8HrIY1/rW0fcsUCequZ4j32rr7hbxJuBfGC1qtasb02+1LeOuP2BsSLygXf9kd7prfk3bdqvPwITahybD/xaVc/Fvc/NBxCRs4HJwCDve54QN/M2uER/LBApIgNavtimNYRLgiS1HPO9hUNEfoSbWn5jjacWAn2Bc3Fr7zzkZ1xV3Y67zbMa+Bvu1kOrT2+vqnNUNRN4EbjZO3wAOENVh+HdehSRxLqu0QTTgF94cX8BPOMd9/V3LiKdgGXAbaGtZSIyB/ezftE75Gt964oLXMmJ1iPwsb6qGvTe/HsCo0RkcD2n+1bfOuJGAcm4223/CbzitZ61yt+0ad98bLWO8L6vitpfu+Y0FC4J0j5ci0q1npx4UftpDHCpiOzG3ca7UEReUNU8782/CvgDLXArQFWfUdXhqno+7g86B8gTkTQA72t+fdfw0RLgMq9c5apa4O1vxPUV6e9jrCnAcm//T5z42fr2OxeRaFyS8qKqLg85PgX4EXCVqir4W9964kYB/wdYGnK6769xVS3G9Tmq+Qk69Bzff7814u4Dlnu34Nbj/sGk0Hp/08bUdBuNb7VehFsYN8L7QGvCQLgkSB8C/USkj4jE4JpBV/gdRFVnq2pPVe3txXhTVa+uTlI8P8bdEvOViKR6X8/A/fN8CVfHKd4pU4D/8TtuSPx+IQ8vBXZ4x7tVNzOLSBau8/jnPobeD4zz9i/EJYbg6j5ZRDqISB8v7vrGXtxrrXgG2K6qD4ccnwD8F3Cpqh4POe5LfeuK67kI2KGq+0KO+VXfbnJiRF5cdayTnO9HfeuK+2fc7xUR6Y8bZHEIn+prTBM0utVaVf/ufYD9ZSuV0bSCsFisVlUDInIz8HfciLbFqrqtFYswX0TOxf2x7Aaub4EYy0SkK2416ZtUtUhE7sPdkvgPYC9wuR+BROQl4AIgRUT2AXcDE0XkLNwn/D3ADd7p5wP3iEgAt9r1Dapas8m6OXH/L/CY16pSBlwHoKrbROQV4FPcLbCb1C002VhjgJ8Bn8iJIfV3AL/DjaBa7XIZ1qnqDfhX31rjqupfccl36O01P+ubBjzrJT0RwCuqulJEfgz8HreS+WsisllVx+NffeuKGwMsFtdJtgKY4rXW+VVfYxprCjDd2/8TJwbkWKtmO2MzaRtjjGm3vEESK1V1sPd4OzBNVd8Ske8B81X1n0RkEK57wSggHfgH0M8S9/AVFi1IxhhjTGO1Uau1OU1YC5IxxhhjTA3h0knbGGOMMcY3liAZY4wxxtRgCZIxxhhjTA2WIBljjDHG1GAJkjE+EpGLvTXr7G/LGGNOY/Ym3o6IyI9FRBuymKKIvOdDvCQRuTHkcW8JWTW7Ad/f4PI24FolJz+rUdfrLSKlIZM8VjsfN7P7d2qcHydudfAKEUnxsyzGGGP8ZwlS+3Il8C5upuZ6qep5PsRLAm482Un1aHB528hn3uKroYLAVcA31mNS1VLvXJt51xhjTgOWILUT3qrxY4D/wEs4ROQGr1Vjs4h8ISJrQs4v8VpJdojIIhHZKiIvishFIrJWRHJEZJR37jdahkRkpojMBe4D+nrXf8B7OlJE/iAi20RklbcuV4PKGxJre23XEJFfeeVdLSIvicjMOq59tYis98r1VPVaYyHP9xOR3SJypvc4WkS2iEjPk/2cVfVOVb28qcutGGOMOTVYgtR+/BvwN1XNBgpFZLiqPum1aozErTNUc9FUgDOBx4BzgAHAT4HvAjNxa5bVZxZeK4uq/qd3rB/wuKoOAoqByxpa3pDnvnUNERnhXWsYbjHfEbVdVEQGAj8Bxnh1r27x+Zqq5gBPA+O9QzcD/1Nj8VhjjDFhzJYaaT+uBB719l/2Hm/yHj8GvKmqf6nl+75Q1U8ARGQb8A9VVRH5BOjdhHJ8oaqbvf2N9VyjvvLWdo0UXBJT6pW1troAfA/4J+BDbxHaOCC/lvO2AheJSBdcK9boemtljDEmrFiC1A6ISFfgQmCwiCgQCaiI3I5buboXrpWkNuUh+1Uhj6s48foJ8M3WyNh6ihN6vSAuQUFEbsKtgQTww3rKW9c1pJ6YoQR4VlVnn+S8bOAmYC7woKoea+D1jTHGhAG7xdY+TAKeU9VeqtpbVTOBL3AjrmYCV6tqVTOunwekikhXEekA/Mg7fhRIaMgFVPVx71bcud7311be79ZziXeBS0Qk1uu/9MM6zvsHMElEUgFEpIuI9KrlvM+A4biVu59rSB2MMcaED0uQ2ocrgVdrHFsG/DvQBVjjdVhe1JSLq2olcA/wAbAS2OEdLwDWeh28H6jnEg0t70/rKcOHwApgC7Ac2AAcruW8T4E7gVUi8jGwGkiro05HgFnNTB6NMcachkRV27oMxvhCRDqpaomIxANvA9ep6qaTfV8919sL9NJa/khEpDewUlUHN/Kau4ERqnqoqeUyxhjT8qwFyYSTp72JGzcBy5qZHPUG9tSWHHmCQOdaJoqs63px3rnRuP5bxhhjTmHWgmSMMcYYU4O1IBljjDHG1GAJkjHGGGNMDZYgGWOMMcbUYAmSMcYYY0wNliAZY4wxxtRgCZIxxhhjTA2WIBljjDHG1GAJkjHGGGNMDf8fPYYXrb5hM/oAAAAASUVORK5CYII=",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"yaw=np.linspace(start=0,stop=359,num=36)\n",
"D = fit_function(pitch=0.1,roll=0,height=25,ele=-3,yaw=yaw)\n",
"\n",
"fig = plt.figure(figsize =(24/2.54,9/2.54))\n",
"# left figure\n",
"ax2 = plt.subplot(121)\n",
"ax2.plot(yaw,D,'r',label=r'$r_0$')\n",
"ax2.grid(True)\n",
"ax2.set_xlabel('Azimuth-Angle $\\gamma\\ [^\\circ]$')\n",
"ax2.set_ylabel('Distance to Sea Surface $r_0\\ [\\mathrm{m}]$')\n",
"ax2.set_xticks(np.arange(0,361,step=45))\n",
"ax2.set_xlim(0,360)\n",
"# right figure\n",
"ax1 = plt.subplot(122, projection='polar')\n",
"ax1.grid(True)\n",
"ax1.plot(yaw/180*np.pi,D,'r', alpha=0.75,linewidth=2,label=r'$r_0$' )\n",
"ax1.set_theta_zero_location(\"N\")\n",
"ax1.set_theta_direction(-1)\n",
"ax1.set_rlabel_position(45)\n",
"ax1.set_ylim(0,550)\n",
"\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 2.3 Fit Model to Estimate (SSL function)\n",
"Here we use an optimization to find the best parameters (pitch, roll and height) which reflect the measured distances best\n",
"- lorentz optimization for better outlier tolerance"
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"def lidar_alignment(data,minimum_cnr,approx_height_above_nn):\n",
" Azi,Distance = distance_to_water(data,minimum_cnr)\n",
" start_time = data.index.min()\n",
" if all(data.ele>-3.01) and all(data.ele<-2.99) and len(Azi)>20:\n",
" ele = -3\n",
" else:\n",
" return np.nan, np.nan, np.nan, np.nan,np.nan, np.nan\n",
" \n",
" x0 = [0,0,approx_height_above_nn]\n",
"# method = 'least-squares'\n",
" method = 'lorentz'\n",
" if method == 'lorentz':\n",
" Cost = lambda x: np.sum(\n",
" np.log(\n",
" 1+0.5*(\n",
" Distance - fit_function(pitch=x[0],roll=x[1],height=x[2],ele=ele,yaw=Azi)\n",
" )**2\n",
" )\n",
" )\n",
" elif method == 'least-squares':\n",
" Cost = lambda x: np.sum(\n",
" (\n",
" Distance - fit_function(pitch=x[0],roll=x[1],height=x[2],ele=ele,yaw=Azi)\n",
" )**2\n",
" ) \n",
" res = minimize(Cost, x0, method='nelder-mead',options={'xatol': 1e-8, 'disp': False})\n",
" p,r,h = res.x\n",
" return p,r,h,Azi,Distance, start_time\n",
" "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"#### 2.3.1 Example for SSL on exemplary Lidar Scan\n",
"Here we apply the optimization to the example data, together with the distance_to_water to compare the model results to the measured water distances."
]
},
{
"cell_type": "code",
"execution_count": 14,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"-0.034234773554786144 -0.20599689693051043 24.396504475562985\n"
]
},
{
"data": {
"image/png": 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mLCyMmJgYIiIiWsPjx4P6+nrmzZtXvXTp0j2lpaUXudLAUAhxLnC2lPI2IcQslPfZuUKIaOAoysn1KSBWSnljd8y/ryGEeByok1K+IIS4HrgVOFVK2WB+/CEAKeVC89/LgMellHaXe1JSUmRubtsyzZycHFJTU7vnSZhxtXdPfX09d9xxB76+vkybNs2t5Z6cnBxKSkqYNWuWy/t6SlZWlnrcXnJcZyIkUxf9ajMRNz7Uj1XzT3HruN2BEGKTVa6ay/SJSIoFKWWVWZTMQclJsbVNE0oeC1LKTUKIPGAoyhWv0wghYqOion554IEHku+++27f7oyeWL/RYv0lk6NMDAmWHKoX7KgQ/FwgaDbVE5+9n/kzWlgYU8v//ljOwJJ8UsoOMrj8MFH1lZ5NJncl1m/rJq2OQ2/GcWREKnETRsOYMTBuHCQnO5VUqNPpiIuLIy4uDiklFRUVFBcXs3v3bvz9/UlMTCQqKqrbIywBAQG88847IVddddW4a665ZqOXl9dFLS0tq53cfSpwvjkx1hcIFkJ8LKW8xrKBEOId4LtumHqfQAgRAGiklLXm388AnhRCzAEeBGZaBIqZpcCnQoiXgDhgCLD+eM+7OwgICOBf//pXT09DpY/jbMXmyeJE2+tFitmsy2AWKH7AacBiB9tXSCmNQohBKF+C+1085riYmJiln3zySfQpp5zSLRVQ1m9EnUYyNlwyKcpEXYtgTYng63wNEkF4fRVnHNpGRmEOYwt3M3zBfnQmIzPajWfSatFHxrBLF8qRwHAq/YKo8QmkxieAOh9/DFovTEJgFBqkEPi0GPBpaSajMAcpBCkRWooLqomqqyC6roKo+kqGlB2EFQdhxU/HDhQaChkZMGMGnHIKTJgADjxhLM3TwsPDAaiqquLgwYPs2rWLuLg4EhMT6W5H3tmzZ4u1a9dGz5kz59uwsLAFlZWV/3S0j5TyIY5VpcxCiaRcI4SIlVIWmTe7EDuC+SQhGvjaLDa9gE+llD+ZE2J9UJZ/ANZKKW81L4l9DuxCWQa6XUqpuqCpnHC4my/Smemb9f6elDT3JXq9SAFigQ/MeSka4HMp5XdCiAuB14BI4HshxBYp5ZkolRVPCiFaUHwYbpVSVjh7sJCQkOuGDBny0k8//RQ+aNCgrn82Zp5flou3aOHUASbSQiXZ5Rr+tUdLbbMk/Ugu8/ZvYtb+TYws3ofGasneKDTkRCaxK2ogeyITyY1I5HDMQO66bhYXjE+kILuQx5fupKrR4HAO8aF+fGx+k987soUXtx97O/g3NzKw8ggDKwp5Pd0PNm+GDRuguBiWL1dujz0GAQEwfTqcdx5ccAHE2/dm6ZBrc/pgBvlK1q9fT0BAAIMGDSIsLKyL/sMdSUhIYMOGDf0uv/zyhdHR0eNKS0tvlVK2uDHUc0KIMSjLPfnALV05z76ElHI/0KH5o5RycCf7PIOSiKyickLSWTQk1MG+zkZI3PVr6Wv0epEipdwGpNu4/2uU/JT2938JfOnqcYQQmqioqFcmTJhw7VdffRXqylq0Leyp6MzsQt75NYdTIhoI85GsLNbw4yHByCN7+WvO75yz+w9i6o5pqiatjnUJI1ifkMam+FS2xQyh3se/w/GeW57HBeMTW0vjbC0lWWNZt7R8mJSL2mM0ePuxMzqZqpQRYL2+eeQIrF0LK1bAr7/Crl3w00/K7fbblcjKRRfB1VeTWSbafIishVNhVSMPZe5i4UUjuWD6dCoqKti3bx9NTU2kpKTQXb4z/v7+LF26NPTxxx+/4h//+MdIIcQcKaXDtTIpZRaQZf792m6ZnIqKygmBvWjIvZ9vZd4IAwsW/Wo3suJshMSyr1rdcxIghAiOior69vrrrx+7aNGiQHfzT6yFgXU1jUVFbz1YSmNZAadFmfj+sIbawkou3/YLr2z/HwOqS1rHKQyN5o+hE/lpQDprB4xEr3O8FNJeZVuLlc7UtuUNfWT3pg5j2lTlcXGKCLnoIuXv4mJYtgwyM5Wf69fD+vWYHnqIfoljOGPEKSwbOtnmc7AOYVqWg+rr68nJyWHfvn2kpqYSGhrq8Lm7ihCCJ554IiA9PX3sLbfcskUIcaY7njkqKioqtrAXDTGaC1U6cwZ3JUJyMjjRnvQiRQgxKCoq6n+vvPJK/yuvvLJj3ZaTtBcD1jVTvlrJKTHNhNcf4ucKQcHmbdy35UdO27sOL2kCoCSwH98Nm07yXf/HrGvO4Qoh8M0uZN1X28HgeMne3jqkM2rbUrv/yrAhrqvymBgyR53G80UJlA+6hpkHNnPert85fd9aZuRnMyM/myrfQD4bfSYfpZ9DYUhUm93bf5gDAgIYN24cVVVV5OTkoNPpGDZsGIGBXd+aZ+7cuV7JyckDzj333D/8/f3/1NDQ8H2XH0RFReWkw140xBpbeSZw8kRInOWkFilCiOExMTHLv/vuu5iMjAyPxrIV3vMSkukxkvGRJlYWSvYuW8XitV+QWpYPgEGj5YchU/h0zFmsThyFSaMl/9pzWve3vCkd5Zg4Wod0Vm27o8rbiDOdL8uGTmHZ0CmENNZy3u4/uGT7L4wp2sut677kz+u/ZtmQSfxz0iVsix0K2BdXoaGhTJ48mbKyMrKzswkODiYlJaXLE2xHjhzJpk2bIk499dQPQ0JC/lpdXf1xlx5ARUXlpMNWNMQW9iIuJ0OExFlOWpEihBgVFxf3yy+//BI1fPhwj8dr/2YbHGziwiQTW0pMFH30Pxau/YrEqmJAiZp8lH42S0adQVlgv9Z94m2csNvnmNgze+upN7QtcQZQ7RfEx+ln83H62Yw5ksufNi3lnN0rOXvPas7es5oVgzL458xruPLySzsdPzIykoiICIqKili7di0DBgxg4MCBXVq6HBERwcqVK/vNnj3772FhYT6VlZXvddngKioqJx3toyEaIVqXeqw50SpxuoOTUqQIITL69+//46+//ho5ZMiQLhnTEt7z1kjOTzTRT2ci/8s1PLziIwZWKtWqB8Ji+efES/g67RSavdquLHVVNOR440xN/pa4FObF3c8bc27hqnVfc9n6b5m9fxOz92+ComXw3HNgthO3hRCCuLg4oqOj2b17N6tXr2bMmDEEBAR02fMICgri999/Dzv99NOfDwsL86usrHy9ywZXUVE56bD+znaUG6hin5NOpAghxiYmJmZ9+eWXgV0lUEAJ773zy1bO7t9C2cpdnPP1+4wu3gfA/n7xvDTtan5ImYpJ07GnR3wfXnN0Zu3VT6e16hJ6JRw9Ci+9BK+9plQF/fwz3HQTPPkkxMTYHUer1ZKWlkZFRQUbNmzo8qiKv78/33//fdicOXNeDA8PF+Xl5a91ycC9HCHE353YrEZK+Ui3T0ZF5QTEOrICtX36O/940y1GZb0VIcTI/v37//jTTz8F1tXVcfTo0S4Zt6WlhYGao9wxoJEhz/+dx//xMKOL91Ea2I/sBYvY/tMqlo+a3Uag+Om0vHL5GPIXncOq+af02Terrfbj1oT56zq2MY+IgGefhQMH4M47FQfbd96BIUMU8dLSuXVJv379mD59Oo2NjaxevZr6+nqX5pyUlMTIkSMZM2YM48Ypbs0VFRWceuqpjBgxAm9vb+/Bgwc/GRoa+mdQrNyFEPuEELlCiDNdOljf4AKU3lid3S7usdn1EYxG1ZNOxT5z0+NZNf8URsaH9Lrv/MzsQqYu+pWB879n6qJfycwu7OkptXLSRFKEEKlxcXG/LF++PGro0KEkJSWxbt060tLSiIiIcHvciooKtm3ZwsjVqxm++Hl0dTU0aXW8OelS3p5wEYgAFnp5sfCikb0iW1tKSUtLC01NTZhMJqSU1NTUYDQaqampQQiBTqfDx8fHqQiF9RVCYVUjWvPaq1NXChER8Pe/K/4q998P334L994Ln3wCb7+tONvaoX1UJSkpicTERKejKitWrGjzuj/99NMkJyezZMkS3n33XUpLS0NNJtNif3//fsAVQBqKjfv/hBBDTzCX1JellB90toEQovtc9o4D3dUt9tJLLyUhIYHs7GxOPfVUHnlEDTap9C2cteHvKU4KkSKESIqJiVn+888/Rw8dqlSV+Pr6MnHiRLeEiuULL0FXzxyvUka98irh+cqLmjUwg0dPv5VDYUqHYMxlZsdTObe0tFBTU0NVVRX19fXo9Xr0en3rlZ5Op8Pb2xuNRoNGo+HQoUPodDr27duHyWTCYDDQ1NQEKPkgvr6++Pr64ufnR2hoKCEhIfj4+LQez+N8mZQUWLoUvv8ebrtNcbedMAHuuQeefhqsjtUeS1Rl69atVFVVMWrUKFz1udHr9XzxxRf88MMPREREcP311zNr1iw2btwYNmTIkMeampq+NBqNTcABs937BMBuQ7y+hpTyla7YprfSnV/C27dvJzU1lRUrVng8TxUVT3FHjDtrw99TnPAiRQgRGBkZ+UtmZmZsWlpam8ecFSrtK2samw2c3b+F6Rt+5YxP3iGwuZEy/1AeO/1WfkiZ2qEBX3c2fJJSUlVVRWVlJVVVVdTU1KDRaAgODiY0NJS4uDh8fHzw9fW12304PT2drKwsxo4d2+Exk8lEU1MTer2e+vp6ysrK2Lt3L83NzQQEBBASEkJYWBjh4eFotfaXfZzinHNg5054/HF4+WV44QUlX+XjjztNrNVqtaSnp7N//37WrFnDuHHj2oio9gghOOOMMxBCcOONN5KWlkZ1dTUjRowAIDY2ltLSUoKCgjj33HP9vvnmmwuEECPMnbcLgJ7/5HYDQoiBwJ1AElbfDVLK83tqTl1Bd30J6/V6KioqePTRRz2dosoJii3REGrnfk8FgbtivLc3KjyhRYoQQhMZGfnNCy+8MGDixIk2t3EkVNq/8M2GZm7tX8uMt14nY6vSTPenoZN5+Mw7qPAPsXmMri4za2lp4ejRoxQXF1NZWUlwcDAREREMGjSI4OBglyMJnaHRaPDz88PPz4+wsDD69+8PKOKovr6e6upqSkpK2LVrF35+fsTExBATE9OpSOiUwEBFnFx6KVxzDWzbBuPHw+LFcNdddjswCyFITk4mKCiINWvWkJ6eTkiI7ddj1apVxMXFcejQIWbPns3LL79sd5nIx8eH++67L+jll1/+0dyvB9p69Z1IZALvAd8Cpp6dStfRXV/CO3fuZOLEia3i/9NPPyUrK4ugoCDuuusuXnzxRaSUJCcnM2/ePHbu3Mknn3xCSUkJ//d//8fkyZM9Or5K78aeaPhbhuSp5V0f2XNXjPf2RoUntEiJjIxcfOWVV46/7rrrOm3T25lQsX7ho/0kf/XZz8xHFxN/9Ai13n48ftqtfDniFLsnz64qM2tpaaGwsJDi4mIaGxuJjIwkISGB0aNHd6lniLMIIQgMDCQwMJD4+HiklNTV1VFcXMyGDRuQUhITE0P//v3x83PjzT5xImRnK0s+77wD8+bB6tXw3nuKkLFDVFQU/v7+bNy4kaFDhxIXF9dhm7i4OPR6Pfv37+fiiy9mz549REdHU1RURGxsLEVFRURFKc64/fv3x2Qy8d5778XeeOONy0pLSyuAI64/oT6BXkrpTKVPn6K7voS3b9/OqFGjWv8uKChg1KhRXHDBBbz++uut4n77duUE5OPjg16vJzo6mo8++kgVKSc49kRDRb2RRoO2w/2eRvbcFeO9vVHhCVvdExgYeEVqaupNL730klOdAi1CZefOnW2qfixfbsNCTTxd+isXPvoA8UePkBOZxLl/epUvR55qV6DEh/p1rGxxkaqqKrZs2cLKlStpamoiLS2NWbNmkZaWRnh4eI8IFFsIIQgKCmLIkCFMmzaNCRMm4O3tzaZNm1i7di1FRUVIG2ZGnRIYqCTQfvGF8vvnnyu5Krm5DnYLZOrUqRw6dIjc3Nw2x7UsWa1du5aBAweycuVKRowYwfnnn88HHyi5ox988AEXXHABAOeffz6fffYZp512mvbaa68dLoSYDKx37Yn0GV4VQjwmhJgshBhrufX0pDzFVgVaV3wJtxcpDzzwANOnT+f+++9nz549XH311Tz++OO8957iDfjqq68yb948brnlFhoaGjw6tkrvx544kHYCsZ5G9uyJbkdifG56PAsvGkl8qB+CrjlvdSUnZCRFCDFm0KBBry9dujTMlTyJ9hGVlYebEMDo0BYeWv0xE7/9AoAvR5zCgjNus9v4T6cVPH/JaLdfZJPJRFFREQcOHMDHx4ekpKQei5i4i4+PD4mJiSQmJlJTU8PBgwfZvXs3CQkJDBgwAG/vToNbbbn4YkhLU5oa5uQoQuXLL+G00+zuotPpmDhxItu2bWPHjh2MGDECIQSHDh3i3HPPxc/PDyklV111FXPmzGH8+PFcdtllvPfeewwYMID//ve/AKSlpXHZZZcxfPhwtFqt36RJk+p37959O3DCRRyAkcC1wCkcW+6R5r/7LN3VC+XFF19s8/fbb7/N3r170Wg0vPLKKzz88MPExsYSFBTEY489xuzZs1m8eDHR0dEeHVelb2Avgiew/T3emZhwJofFk4hIbzULBRAuX932coQQUTExMZt///33eHfN2vR6PevWreMfW5uQDXU8/s0rpK79gxah4fHTbuHj9LMJC/CmqsFAiJ+O5hYjDQblOz3MX8dj56W59YJLKTl8+DB5eXlERUUxcOBA/P393XoOrpKVlcWsWbO69RgGg4HDhw9z8OBBYmJiGDx4MDqdCz0d6+rgT39SBIqXlxJlueGGTneRUrJz506MRiNDhw5l3bp1jBgxwu2yc71ez/jx4ytyc3Mvbm5uznJrkF6KEGI3MEpK2dzTc7EmJSVF5raLnuXk5JCamtqtx62trSUoyKlAbJeRk5NDSUlJt38WbXE8vgNOpuPac5n9W4bkqU2izf06jSDQ18tmqxN749iKdnQmZhw9X3eSeZ3ZRwixSUo5rvP/ln1OqEiKEMI7MjLy5w8++CDWEzfZn3LKeXO9gev6lTH7zWeJz91Fnbcft18wn98GKd4d2Y+e0VXTRkpJSUkJubm5REREMHXqVNciDX0EnU7HoEGDSEpK4tChQ6xcuZIBAwaQlJTkXGWQZcnnoYcUK/0bb4T8fKUaqJOE2rS0NHbs2MGKFSsYP368R744vr6+LFu2rN/48eOXCCEmSinz3R6s97EVCAVKe3geKip9HnsRvNDqvSy8aEibitH65hYqG5Qmsu0TaV1JiHU3IuJOZdDx8lc5oURKZGTkwjvvvHPIGWec4XKujUURFlY1IoAZvlWc8frfiDp0gLLgcK67+DFyogYBthsBukt5eTk5OTkEBAQwYcIE95JM+xgajYakpCT69+/P/v37+f3330lOTiYhIcHxkpZGo1T6DByomMA9+SRUVysly3b2bWpqory8nOjoaI4cOUJERIRHS2dxcXF88cUXUXPnzv1GCJEupTxRKmGigd1CiA1Ak+XOvl6CrHLy4mp0oKtLg22JhqysvW3un7ro1w5d7q1FyPEoEXanMuh4+aucMCJFCDF21KhR1z/88MMur4+0V4TTdeW88N7fiCw4RH6/OFY89gSGumioUbafPSzS4/k2Nzezbds2jEYjo0ePPu5h5d6Al5cXFvffvXv38scffzB69Gi7pcNtuPVWpc/P5ZfDq69iamhg3Pr1xPXvz3fffUdFRQWXX345Bw4cIDQ0lM8++4zk5GR27tzJv/71L5599lm0Wi1///vfOfNM153uJ0+ezFVXXTXwww8/vB9Y7Pqz75U81tMTUFHpKly90ne0fXe5FjsSIe5Wp3WY72j7JtnuCKHj5a9yQlT3CCG8o6KiPl+yZEm4O4Zi1opwkjjKy+8tILLgEHvDE7j0ykW8VBbDBYkmBgcrF8wrdpd5NN8jR460enVMnDjxpBQo1nh7e5OWlsaYMWPYtm0bubm5mExOBCfmzoVvvgFfXzTvvMPLNTUIc47VokWLmDFjBu+++y5nnXUW77zzDkIIhBDs27ePzMxMfvrpJ2677Ta3e64sXLgwKCws7D4hRNd1quxBpJS/2br19LxUVNyhsyt9V7e3CJjCqkYkioC5e8kWksy9bh7J3O527xtHVTnuVKfZmm9hZaPdeXU2B3t9fdytJnKVE0KkREZGLp43b17csGHD3NrfovwGyVre+PhRwosKyIlM4oorF1IW2I9ag+Dt3dpWoeKuUmxubmbTpk0cOXKEKVOm2PTwOJkJDg5m6tSpCCFYuXIlNTU1jneaM4eyDz+kUaNh5oED/HnXLpCSzMxMhg8fzogRI7jtttvIzMwEYOnSpQQFBVFfX4+3tzeDBw9m/Xr3Kop9fX359NNPI6Kior4QQvTZz5IQ4ruu2OZ4c6Il/Z9oz6encfVKv7P7bQkYy6tVWNXIx2sP2RUwjgSLIxHiTomwrfmapLQr0OzNYfawyA5i56GvtpOZXdhtpf3t6fPLPUKIjFGjRl33wAMPuCTfrENhCAhraeTjb54g3BxBueqKZ6i0cpC1CJWbhxlZVe66m2pxcTE5OTmkpKSo4qQTNBoNQ4cOJSYmhi1bthAdHc3QoUM7zSH5y5IlPPv3vzP47rs5Pz+flocf5siRI8ycObM1Sba0VMkFLSwsZNKkSYwdO5bVq1eTlpZGYaH7HT8nTJjA1VdfPfCDDz54EFjo9kA9yzQhxNJOHhfA8OM1GWfw9fWlvLy8V3kFeYKUkvLycnx9bdsaqLiOq8sknW3v6oWptYBxlEzqTIm8qwmxrgoxe3PoLLq0av4pDufdFfRpkSKE8ImKivr8888/7+fKMk/7tUddi4Evli0kbu9uCoIjufayp1oFiuDYG67WIPhwnzcLJgiOHj3qVJWIlJI9e/ZQUVHBlClT3LeLP8kIDg5m2rRp7N69m/Xr1zN27Fib5crfffcdUVFRDL39dnZUVpL66KN4LVrErb6+Nl8fy9WqTqdj3LhxHDx40OOT3MKFC4OWLl16rxDiCynlXo8G6xkucGKbXlWW3L9/fwoKCigr82zptTP0ev1xFQ2+vr7079+fgwcPHrdjnsg44xvSvi+bTiswGI9FtHQaQUNzi0d9MJxJJu1qnxJ7givET8fURb/aFBW25nD3ki02x7eInePhr9KnRUpkZOTiu+++OzYlxbXwUht1KCX/WvtPkrdvptwvmOsue4riYOXkJoCXLx/TQSnOSQ13qntyS0sL2dnZ+Pn5MWnSpBPiiu94otFoGD58OIWFhaxevZpx48YREBDQZptVq1axdOlSfvjhB/R6Pedqtbzb0sJivZ6Kjz+m3zXXdLC5P3z4MAABAQFkZWVxySWXYDQa3W6Q6OPjw3/+85/wc8899yshxBgppXtJLj1EX8w70el0DBw4sFuPkZWVRXp6erceQ6X7cBShqGo08JBVD52qRgM6jSDMX9fqgWVdGuwJx7tZny2BJhDUN7e0VhI5E+XpLLrUXYnE7enL6+hj4+Lirr3//vtdztKxfsM8suc7pq1cRpNWx02XPMb+8P6tj8WF+jE3PZ5V80/hwKJzWDX/FOamx9u10LemoaGB1atXEx0d3ep2quIe8fHxjB49mg0bNnS4cl64cCEFBQXs3r2b+fPnc2j2bHj0UbRAwE03wbZtNm3um5qaOHDgAFlZWaSkpLB161aPcgLGjx/PNddck9SvX78HPHmuKioqXYet728LJdX6DksZBpPE39uLA4vOIcDHq01UxRpXv83dSSa1lbBqL4m1PbbyWLQaOjyfzhKJwb1cla6mT0ZShBAiOjr6Xx9//LFLyzwWLOrwguIt3Lj0HQAeOOsutsQdi8g4SgDqrClheXk527ZtY/To0fTr18/l+XUlJpOJmpoaampq0Ov1rbempqbWqpbq6mo0Gg1ZWVkIIfDx8cHX17f1FhgYSEhIiGvusF1MaGgokyZNYuPGjdTW1jJo0KDWx/R6fWsvHm9vb3j8cZp27MDnq68oyMhg7eTJvG9OnLW2uffy8uKNN95g0KBBbN26lf3795OcnOz2HJ999tnAzz///G4hxNtSynJPn3NfQQiRD9QCRqBFSjlOCNEPWAIkAfnAZVLKSvP2DwE3mbe/S0q5rAemrXKS02w0Yes63XIRay/6YSvCPntYJCt2l7X6bMl227tqW2GrHPr+/24FcUxoOIqEtF+Kee2Tb2weq7Mojzu5KmpOCuDl5XXW9OnTE0aMGOHW/vefmcLr/17Ooi8XozGZ+MfES/gmbTZCgJSK6nQmdGVLqJSWlpKTk8OkSZN6xJitqamJkpISKisrqa6uxmQyERwcTEhICAEBAYSHh7eKD2uBZ7FMNplMNDU1tRE0R44cIScnB6PRSFBQEKGhoURFRR330mlfX18mT55MdnY2BoOBoUOH0tTUxNq1a1ut7i0RE59PPoEZM+i/YQOZQUEQGto6zoIFC1iwYEGbsUeNGsUff/zh0fPy8fHhqaeeCn3wwQefBW5x93n2JEIIP2CAlLLzLo4dmS2ltA4rzgeWSykXCSHmm/9+UAgxHLgCSAPigP8JIYb2tSUylb6Pt9b2QoIl6tHZUkdnuRiPZG7nk7WHWoWKBL7cVMi4xH7MTY/Hp7QUPvkEtmyBffvgyBHFkLK5GXx9ISSEoHof7giIYnvMYDbHDaM0KByDqWNUxxVh4Oj52sOdXJWupM+JFCGEJjo6+u8vvPBCmDv7Z2YX8tIPu3j/+8X41dWSNTCD52dcCygCxRJBcVYNWguV2NhYiouLmTRp0nFLkJVSUltbS3FxMSUlJQghiI6OJiEhgbS0NLy8XHuJNRpNa4v59phMJurq6qisrCQnJ4eGhgYiIiKIiYmhX79+aDTdv3qo1WrJyMhgy5YtbN++nfLyckaOHNkxN8jXF/77Xxg7Fn74ARYuhHbCxBqNRsPo0aPZsmULU6dOdfu5XHvttbpnnnnmIiHEM1LKQ24N0kMIIc4DXgC8gYFCiDHAk246zl4AzDL//gGQBTxovv8zKWUTcEAIsQ+YAKzxaPIqKk5gnUdx/2jZIVHWOoLubsO+FbvL2ibaSsmggj00/PV9KNjI5AMHHM7zVPPNwo7oZP43eALfps4gLzyhzba2hJQtokN88dMZXXo+9vJO3DWYc4c+J1L8/f2vufDCCyMTExMdbtv+Hzx7WCRLNhxmweqPGJy3i5LAftxz7j2YNMciCu6ErHx9fVuXDDIyMo6LQLE06zt8+DB+fn7ExMQwYcKEbj22RqMhODiY4OBgEhMTMRqNHD16lMLCQrZv3050dDSJiYkdklu7GiEEw4YNIysri8jISMLDw21vmJioXLGcfTY8+ijMnAnTptkdNzQ0lMjISPLy8nC395NWq+Wll17qd/PNN78CXOTWID3H4yiCIQtASrlFCJHkxH4S+FkIIYG3pJRvA9FSyiLzOEVCiCjztvHAWqt9C8z3qah0K+2XUIwmCZLWRFlb1S7geomtJZqgMxq4YNdv/N/6rxl29FjFVktAAF4zZ5KTOJx3ir3IDwin2icQg9aLANlCrLGeoNIiBpcXMLpoD+MKdzGiJI8RJXnMW/UfViWO4qP0c/h5yCRMGi3C/NwczSvUT8fCi4Y7/XxsLTnNW7KFJ77dyTmjYvlyU6FbHZddpU91QRZCeEdHR+/fsWNHvKPyX1udIwGmHN7GJ/9ZgJRw9RXPsCZxVMfjAAcWneP0vEpLS9m9ezdjxowhOzvbYdWPJ9TW1rJ//34qKytJSEigf//+XSJMPO0IajQaKS4uJj8/H61WS3Jyssc9cuxhyUFJS0ujoKAAPz8/OjXye/hhJZIycCBs3QqdLOeYTCZWrlxJenq628s+UkrS09PLt27dOkNKucutQXoAIcQ6KeVEIUS2lDLdfN82KWXHD0nb/eKklEfMQuQX4E5gqZQy1GqbSillmBDiDWCNlPJj8/3vAT9IKb9sN+bNwM0AkZGRGZ9//nkXPlPnqKurIzAwUD3uCXLc3OJacx6KQrQflDQqyyApMV23dL2nsIqhv/xIxrdfElShpKY1BgWTN3kazeedxZGEBAJDQjrMxx7a5ib679pO8oa1DF37B7ompa1WeXwCay+5mv3jJuLtpXX4HFz9P3c2P41QqqBq9S00G014azVEh/gS6tcxb3H27NknTxfk0NDQu26++eZQZwSArcQev2Y9f1/2KkJKXpt8uU2BAq6FrCoqKlpzUHx8fOwm03pKY2Mju3fvpr6+niFDhjBq1KheVTGk1WqJj48nPj6e6upq8vLy2LNnD6mpqS4nD+v1embMmEFTUxMtLS1ccsklPPHEE1RUVHDppZeSm5vL4MGD+frrrxkzZgybN2/mrbfe4vnnn7fdj+fxx+GnnyA7G+6+G9591+6xu2LZRwjBm2++GX7xxRf/A5jp8gA9xw4hxFWA1mz1fxew2tFOUsoj5p+lQoivUaIxJUKIWHMUJZZjnZULAOt4dX/giI0x3wbeBkhJSZGeCGh38VS4q8ftXce9Yf73SKtE2XtHtvDidi/zRWkXHf/nnxn76IME798DwJ7wAfxz0sX8b9Rsnrx0LHPT46kxP9/287GPF/Hhs7n/5Vu54sNVXLTjV/68/mv6Fx7mnFcXkR2bwiNn3sb3/7qr01Fc/T87ml98qA+r5p/l9Hju0mdKkIUQQX5+fvc/8MADTq0l2ErgeWLth0SUl5ATmcTfp15pcz9XQlaNjY1s3bqV8ePHt0YznClPdoXm5mZ27NjB+vXriY2NZerUqURHR/cqgdKekJAQxo4dy8iRI9m7dy/r1q1zzuLejI+PD7/++itbt25ly5Yt/PTTT6xdu5ann36a5ORktmzZwpw5c1i0aBFCCHx9fWloaCArK8t2Px5vb/joI/DxgffeU3JUHMzfsuzjLlOmTCE1NTVNCDHZ7UGOP3eiJLQ2AZ8C1cC8znYQQgQIIYIsvwNnADuApcD15s2uByylBUuBK4QQPkKIgcAQwL2+BCoqLtCtvWbKy+HKK+HMMwnev4f6/oksuPox5tz0OuumndsqUNw5roDW8ung6Ag+yDiPU/78Fn87/VbKAkJJL8rlmw/vhvvvh/p6z5+Lk/M7Xt4vfUakRERE/G3+/Pkhzoar2v+DMwpzuHTtt7QIDfefPY8W7bEgkhA43RPBgtFoZOPGjYwaNQp//7aNl7tCqEgpOXjwIKtWrSIkJIQZM2YQExPTq8VJe4KDg5k4cSKDBw9m27Zt7Nixg5aWFof7CSFaw5IGgwGDwUBzczNffPEFd911FxEREVx//fVt+vEYDAb27dtHRESE7X48aWnw9NPK77ffDg0Nnc5h6NChHDlyhHoPPvSvvfZaeHR09D9FH3nRpJQNUsoFUsrx5tsjUkq9g92igZVCiK0oYuN7KeVPwCLgdCHEXuB0899IKXcCnwO7gJ+A29XKHpXjQbf1mvnuOxgxAj77DPz9YdEiAvbl8szHj7N/8Xkd/Fk6m48trM9lln2avXR8NPZcZv35bT6ccAFaKeGFF5RCgexsz56Pk/PrjiRZW/QJkSKECPLx8fnTrbfe6nTyhfU/WGsy8sovryGk5J0JF7EjZnDrdjqN4OXLxtg0+7GHlJItW7YwYMAAu0mbngiVxsZG1q1bR1VVFdOmTSMhIaFPiZP2hIeHM3XqVAICAli5ciUVFRUO9zEajYwZM4aoqChmz56NyWSiuroaS9l5bGxsm348cXFxpKens2nTJpKSkmz345k3D0aPhvx8ePLJTo+v0WhITU1l9+7drj7dVtLS0pg8eXJ/+siSjxDiFyFEqNXfYUKITj1MpJT7pZSjzbc0KeUz5vvLpZSnSimHmH9WWO3zjJQyWUqZIqX8sduekIqKFe0Nzry1GqcvSm3S0gL33QfnnQfFxUpS/tat8OCDStTWxfmEmm35rWkvojrsEx1O8D/f4LcPvyUveiDs2UPz+Ilsv+8JpVzVTGZ2IbnFtS51abYcy1aeSXclydqiT4iUkJCQP99xxx2B3t7eTu9j/WJeu/VHEkoOcSg0hleslnnC/HU8f+lol9+k+/btQ6fT4ajCyFWhIqXk0KFDrF27luTkZEaPHt2jBmpdiRCCgQMHMn78eHJyctixY0fbJZl2aLVatmzZwr59+/j111/RarV2hZol+TskJIShQ4eSkZFhe1svL3jrLSV09uKLsHNnp3OOioqiqamJ6upq559oOx599NF+cXFxnSui3kOElLLK8ofZfC3K/uYqKn0LawfalJgg9wVKcTGceqryPeLlBc89B1lZMHiww13tzWfLY2fw/CWjHXY7bu+iC/CXXC1nX/0CH6afg7fRwMgXH6fgzAugoaG1iKTZaHLZHXZuejxbHjuDVy4f41IX5q6k1yfOmn1R5t1yyy1uxZaCGmq4b+UnADwz+0aadMcUrr+3l8v/6LKyMsrKypg0aZJT23fmTGuNyWRi27ZtmEwmpk2bdsKIk/YEBAQwZcoU9u/f39qPx57pnV6vZ/fu3ZxxxhmsW7eO6OhoioqKiI2NtduPJy4ujoMHD9rv6zJxItxyC/zzn8oaroP8lNTU1NbEaHdIT08nMjIyVQgxUErp2CChZzEJIQZY/F2EEIngUW81FZVeQwfPj9FurjLu2AFnnQUFBRAbC59/3qm1gSu407CvtUhE58OjZ/yFVUmjeeH7l+n/y7cwfTr/PuMBGmXbNAlXrTaORyNBe/T6SIpGo5kzZ86coLAw17zbLOrx6h/fI7ChljWJo1g2pG0Oo6uJPwaDgR07dpCenu5S1YejiEpTUxNr1qwhKCiI9PT0E1agWBBCkJycTGpqKmvXrqWysrLN42VlZRQXF7dGlFavXs2wYcM4//zz+eCDDwA67cfz2Wef4evr22HcVp58UilD/vFH+OWXTucaFhaGVqv1KAn6kUce6RcdHf2w2wMcPxag5Jd8JIT4CPgdeKiH56Si4jGW84F1r5nCykbXe82sWKEIkoICmDIFNm8mM2CgU/10uov257FlQ6dw0TUvcDA0BjZv5u3X/sKw0o7XR8e76aG79HqREhMT8/iDDz4Y6so+mdmF3Pv5VsLLCrlq84+YhIYnTvmzEua3wtXEn507d5KcnOyW3b09oVJdXc2aNWsYMmQIycnJfTr3xFUiIiKYMGEC27Zto6CgoPX+/Px8pk+fzu23385ZZ53F6aefzrnnnsv8+fP55ZdfGDJkCL/88gvz588H2vbjmTNnDq+//jrp6els27bN9pJSZKTinQLKmnIny05wLJrirqfQ3LlzNV5eXheYq196LeaE17EoPXc+BzLUvjoqJwK2LClMUnLv51udFxeffgpnnqlY2F98Mfzvf2QWGbus0Z6zzQPbY+s8tjcykVvveBNmziSqvpIln84nZs9uh/v1Rnq1SBFCJEVHRyelpqY6vY9FMRul5J51S9CajHydNovdUW3D/64m/pSWltLU1ERCQoLjje3QXqhUVFSQnZ3NuHHjWpcuTjYCAgKYOnUqBQUF7N+/H71eT319PWvWrGHnzp3s2LGDRx99FFAScJcvX87evXtZvnx5G/+VBQsWkJeXR25uLmeddRaBgYH079+f3Fw7LWj++ldISIBt2+DLL21vYyYwMJDg4GCKi4vdeo5eXl7cdNNNAX5+frbr3nsXRhRPk2pguBBiRg/PR0XFY+xFDYxSOicu3noLrr4aDAbFa+nzz8HPr9NGe86SmV3ImCd+Zt6SLW6JHXtVS7dcNAF++okjs88kpKmeuYsfY8b+Ta2Pd1fia3uxpfEL9qjLbq8WKREREXfde++9Lj1By5smoaqYC7Ytx6jR8Nrky9ts42rij8FgYOfOnV1ioGYRKlu3bmXz5s1MnDixR1weexNeXl5MmDCB0tJSfvvtt9ZmgZ4yaNAgKisrbS/7+PnBI48ovz/1FJg6d35MSUlhz549bkdTbr75Zv+QkJB73dr5OCGE+D+UJZ5lwBPmn4/35JxUVLoCZ6IGdsXFm2/Crbcqvz//PLz0EpiX++2JH2eXUiwX1VWNBufn0472FT/W57fMnHKuOPVe/jviNHRNTbz75VNcmL8BX52Gu5ds6fLlKVvLal7BkY572HRCrxUpQggvLy+vKy+++OJOC8mtVduYJ35ubXo0b+0StCYTXw+fRX4/RYz46bS8cvkYp0uNLezatYvBgwd3WVfjhoYGNBoNWq3WIx+OE4nm5mYaGxsJCAjwqJrGGiEEo0ePbk1I7sD11yvRlB07wOy5Yg9fX19CQkIoKytzay7x8fEMHTo0QgjhXuvu48NfgfHAQSnlbCAdcO8Jq6j0Ipz1JCmsamx74n79dcVXCeCVV5TlYSs8NYizFYmxxlmx077iZ256fKtgOFTbzANn30X2nPPxNrWw+L/PMHr7ao+Xp5x+PkJ4pDN6rUjRaDRnX3DBBX6+vr52t2mv2ixqNLKuggt2rMAkNLw25QoAtEK4VTZVU1NDXV0d/fv3d/u5tB9v27ZtTJo0icmTJ3eZM62zNDU1UVpa2ro0smvXLpYuXdpqu793795WE7Ou6ut0+PBhZs+eTWpqKmlpabz66quA0lLg9NNPZ/Dgwa1+MFOmTOHo0aO8+eabDB48mJSUFJYtcz8tIjAwkJiYGPLz8zs+6OOjeBqAYvTm4PkOGjSI/fv3uz2X++67LzwmJuY+x1v2GHqLeZsQwkdKuRs4PmYIKirdSPtog7aTiLjlxL1lwSK4807lztdeU5aI2+GOQVxVo6H1wtpRB2NP8kasBYMUGlZefQPvjrsAb1MLb339LFPztwCuL091Rnck4/baEuTY2Njbb7755pDOtrGnQq/N/h4vYwvLUiZzMCwOP53W7brunJwcUlNTuyShtbm5mc2bNzN27NjWqEx39foBaGlpoby8nKqqKqqrq6mvr8fb25vQ0FCCgoLw8/NDq9Xi4+PD/v37CQkJwWg0Ultby+HDh2loaMDHx4eQkBBCQ0MJDw+nM9FoDy8vL1588UXGjh1LbW0tGRkZnH766fz73/9mxowZLFiwgOXLl/POO++wePFiAgICWhv9NTY2ctppp7Fnzx60WsdXQrZITk7mjz/+ICEhoWPl1E03wRNPKC6NK1fC9Ol2xwkODsZkMlFbW+tW88GzzjpLSCnnCCE0UkrHncWOPwVmM7dM4BchRCU2+uqoqPRFrMtoM7MLKczZZHfbU7etYNS3zyt/vPEG3Hab3THB+U7JmdmFFFY2Uljl+LvM07yRDoJBCJ4+5f/wMRq4NvsH3v3yKa6/7AnWJ4zoMnERF+rnUHi5Sq8UKUIIXVxcXHp6enqn29n6x/q0NHPd1p8AeC9DKVF1V6CUl5cjhHC5QZ4tTCYTGzduZNiwYQQHB7fe76yPirNIKamoqODQoUNUVVURFRVFaGgo8fHxBAQE2BRb0dHRHD58mNjY2A6P6fV6qqurqaqq4sCBA3h5eZGQkEBMTIzToiE2NrZ17KCgIFJTUyksLCQzM5OFCxcyYsQIUlJSmDVrFosXL+bbb7/Fy8ur1Z/EYnM/ebJ7bXC8vLxISkoiLy+vY7dkX1/FN+Xpp+HVVzsVKQADBw4kPz+fkSNHujWPKVOmaL/++utx9KJ+NRYPFynlhea7HhdCrABCUKzrVVROKOamx5NZvIv4UG2Hk+qM/Zt46buX0EipdE+3I1Csx7IWP88vy+XuJVtsCpbnl+VyRYLjCHWYv47Hzktz6rzVwf/FLGw0QmBsHx0WgkdPvxWdsYUrtv3Mu188yaXXPEfdEOeLUzrj/jNTeOir7W2DBx5ekPXW5Z6pp512mpej6IWtUNj5u34jtL6a3JhBrO+fRnyon1sCRUrZGkXpCnbs2EFkZCQxMTEdHuuKXj8mk4lDhw7x+++/c/DgQRISEpg1axZpaWnEx8cTGBjoVjTI19eX6OhoUlJSmDZtGmlpaVRXV/P777+Tm5tLc3OzS+Pl5+eTnZ3N6NGjOXLkCDNnziQiIqKDzX1sbCyjRo1iw4YNJCYm2ra5d4HExESKi4tpMrc5b8Nf/qK4Rn79NRw61Ok40dHRHD16tFO33M646qqrwiMjI3tblc8XAEKI5ZY7pJS/SSmXSilde4FVVPoIoX46Vs0/hXir80h64W7+mfks3qYW/jPtkmPLwU5gK2m0fb5HZxELS9LrK5ePIfvRM5wWKO2Pef9/t3L/F1s7ChSUNjBeXloePvN2vk+ZSnBzAx/89zEeHe16ZNgWtpJ4W2rKDnoyZq8UKTExMddeeeWVDt3bbK0HXr1dyV94N/08hBAdE6GcpLi4mICAALfC+u05cuQIzc3NDO7EMtldoSKlpKCggN9++436+nomTpzI2LFjiYiI6BbPlaCgIIYPH86MGTPw8fFh9erV7Nq1y6mTdl1dHRdffDHPPfccu3btQqvV2owcWXJhwsPDGTBgAGlpaR4/F41Gw+DBg9mzZ0/HB+Pi4JJLlAqff/3L4TgxMTEUFRW5NY8zzzxTaLXauW7t3H1ohBCPAUOFEPe0v/X05FRUuhPLeWRAZRHvffkk/oYmvh51Gn6vvNTBW6sznClHtpdjEh/q51L/OEvByLwlWzoc02CSGIwdBYpA8Pylo3n+ktHE9gvknnPvZUvSSGJqyznz/hvAnvmli7RP4jU11jhu1tYJvU6kCCGElPLMWbNmOdy2vWob1VDKmILd6L19+WHYtFY/b1czmKWU7Nmzp+PSgBs0NTWRm5vrVPmyq0JFr9ezYcMGysrKmDZtGqmpqW7ljLiDVqslKSmJmTNn4uPjw8qVK+07vKKUcV988cVcdtllxMTEMGLEiDYne3s295b+SF2RrxMfH09FRQWNjTauZm66Sfn5wQcOy5ETExM5eNC9i4OgoCAGDBgQYLac7y1cAehRln+DbNxUVE5Y5qbH88LpA/jw66fo11jDmqHj0bz7LnMzXPPEcqYc+f4zU9C0Ow+4mntiHT1xBYlsXZpaNf8Ucl+4kDGbf4Phw5U+ZnPngouR8eNBrxMpwLC0tDRvZ0+2ln/4y5eP4cKdvwLwY8pU6r3bKlZXMpiPHj1KcHBwl5Qcb9u2jdTUVJxtjuiMULFET9asWUNiYmKPWulbLO4zMjLYuXOnzaiKlJKbbrqJIUOGMHHixFYfFGds7vPz8/n3v/+NyWTCYOjoJeDqXAcNGsSBAzZa6MyerZQjHzgAf/zR6Tj+/v5IKdHr9W7N4+qrrw4NDAy8yK2duwEpZS7wPHCPlPKJ9reenp+KSrdiMHDO0/NIKjsEaWlM3vA/Lhjv+jWEM+XIc9PjiQ/z86hZn6OyZXt4a22c7sPClPYgcXHw++9K/k0XVXV2Fb1OpISFhV127bXXupSpmpldyMNfbuWMzT8D8HnaKTa3czaDef/+/QwaNMiVKdiksLCwdXnAFToTKk1NTW2iJ9HR0R7PsysIDAxk6tSpeHt7s3LlSqqqqlofW7VqFR999BE//vgjd9xxB6eddho//PCD0zb3zz77LMnJyezatcvjecbHx1NSUtJxeUqrheuuU37/8EOH48TExFBSUuLWHObOnasLDg6+1q2duwlztdFfenoeKiru4patvJQcuOom+OUXjvqHcvE5D5OZV+vW8Z0tR7bkwriyvGONo/OYTiPQaTtGa6JD7Fz4DxgAS5cqBpfvvQd//7vbFv3dQa+r7vH19b3inHPOcVg2Yp3RrBGCEYW7ia8qpSIknLUDbFdeOFNzXl9fT0tLCyEhnVY/O6SlpYU9e/YwdepUt/a3VfVTX1/Phg0bGDZsmMvC53gghGDw4MFER0ezefNmUlJSiImJYdy4caxYscKmk+zy5cttjrVgwQIWLFjQ+reUksLCQiorK3G12aQ1Go2GuLg4CgoKWpeSWrnySnjmGfjmG8UG28v+xyM6Oppdu3Z1HMMJBgwYgL+/f38hRLCUssblAbqPX4QQ96H07ml1GZRSerSmrKLS3ViWQCwRBssSP9CpCNj2wJOM+uIjmrQ6br5oAZtFCLuc2M/6uNaVNRdnxLNid5lT5cju0lmZb7xVdU/7ip/Q6r32B83IUPLxrrgCec89fHt5HYUDxgDO/y+7i14VSRFCRPbr1y88MjKy0+3aZzQbpeS0fUpF589DJiFtGNw5u+536NAht0487cnLy2PAgAFOL/PYwjqicvDgQdavX096enqvFCjWBAUFMXnyZPbt28f+/ftZu3atx1b3QgiGDx/Orl27PDaZGzBgAIdsVfEMHw5Dh0J5ucMln6CgIBobG92u8rn44ov9hRBz3Nq5+7gRuB3FGn+T+baxR2ekouIE7vTQCd2yheEvPQnAfWfPY3N8qlP7WbBVWfPlpkLuPzPF7SiJM9iL2Fi7qdtyoHXI5ZfDggUIk4mXvlrIwIpj0ZOuNHxzlV4lUoDp559/vr+jjWy9Ic/Ytw6A7wdNbL1PK4RL634mk4ni4mKbfiGu0NzcTFFREUlJSR6NA4pQSUtLY9u2bSQnJ3sc4TleeHt7M2bMGHJycoiKiuqSxNeQkBB8fX3dtqa34Ofnh7e3NzU17YIYQsBF5lSRr792OE5kZKTbcznnnHMC4uPjL3S85fFDSjnQxs3zdU8VlW7G5R46BQUMf/JJvEwm3px0Cd8On+ncflZ0RXNBd+isV4+z2F3OefJJlg2ZREhTPe9++RSBTQ2t+3SHm6wz9Krlnujo6FlTpkxx2M6+/T+rf1UxKWX5NPr6tS71uOMyW1ZWRkREhNvOphb27NlDcnKyx+OAsvy0ffv2Vgt9f3//Lnem7Q70ej0bN25k3Lhx7N27l6KiIo/FH0BqaiobN24kMjLSo7LkxMREDh06xIgR7VrpzJ0LixbBt9/C3//e6RjR0dEUFBS4FdlKT0/HaDRmuLxjNyKEuM7W/VJKx0k6Kio9iL0lEJtL/E1NcOmleFdWsiF5LC9O75geFuKnY+qiXztdtvG0uaAnWBvIuYqjpbHnr36EAW/cQWpZPot/fJXbL5gPQnhk0e8JvSqS4uXlNS0jw/H3dvt/1swDmwFYkzwWg1aHAC7OcP1F7IoTqV6vp7y8vEt6/TQ3N7NhwwbS09OJiIjw2PCtK7nxxhuJiopqc5Jv34unf//+REdHM3HiRLKysjj11FM97sXj7+9PWFiY2z4lFiIjIzl69GjHpaNx45SM9/x8cNCnp1+/flRUVLi1/BQYGIi3t3eoEKI3XSiMt7pNR+mAfH5PTkhFxR7W0YD6phabyaI2l/jvuQfWrkUfFUXZ2//C26ftkrxOI6hvbunUlA1cay5oPdfc4toeTUR1FAGaNHoAf5n7EDXe/pyTu4obNy4FYPawztMwuoteI1LM/ihxzoiE9mtyEw/vAGB5/GgAJLBit2theCkllZWVHlvgHzhwgIEDB3aJkdr27dsZMmQIoaGhQNc403YVf/rTn/jpp7aO6YsWLWLGjBm8++67nHXWWbzzzjsA7N27l3/+85888sgj/PDDD9x2221u53KA0ovHk0Z/oPi8+Pv7U1dX1/4BOMVcHfa//3U6hkajISQkxO2uzWZr/a6xNO4CpJR3Wt3+jNIF2f2kKhWVbsJmc1mp2Ml3ugTy4Yfw5pvg7c3OJ57g7FNGdVg6CfT16mCGZmsZx9lqnvZzbTaaurTzsKs4igCt2F1Gfr947j97HgAPZb1PRsEuu+fU7q4E6jUiBUhISkpy6sxuvSaHlEw2i5R1Cceu6l0NuVVVVREcHIxG4/6/xGg0UlxcTHy858lSxcXFmEymDmP1FqEyY8aMDoIuMzOT4cOHM2LECG677TYyMzMB+Oabb5gzZw5JSUk0NDS09uJxF39/f7y9vduUObtDTEwMxcXFHR847TTlpwORAko0pTMTu86YOXNmiFarHefWzseHBmBIT09CRaU9tqIBBpPE39vLfrLo1q1Kny6AN96g1mzW2T7JtKrBth9T+3OKs7khPZW7Yo/OIkCZ2YWty2bLUqbwzvi56ExGXv9mMU2FHaPXzrQC8JTeJFIypk+f7jBptj1JlUeIrKugJjCEfeHHHAJD/V0zN+uKhNni4mKio6M9zkVpbm4mJyeHUaNG2Xy8twgVa/R6fae9eBISEkhKSqK2tpZRo0Z53IsnKSmJ/Px8j8aIjo627XUy05xEt3q1wzFCQ0PdFksTJkzwjomJOdWtnbsBIcS3Qoil5tv3QC7wTU/PS0WlPS7ng9TVwWWXgV6vuEv/3//ZHdveSTzEr+M5xZkqmp7MXbGFvQjQ7GGRrbkpFhbP/BPr+w8ntq6cf/z4ErSLgB8PAdZrREpUVNTMKVOmBDqzrbV6G1eYA8C2xOFt+iy4miZQWlqKo9JnRxw8eLBLype3b9/O0KFD8fHxsbtNVwiVpqYmqqqqyM/Pp6Wlhfr6erfyK/R6PWvXrnXYi0cIwZgxYxgxYoTHy2GRkZFUVVXR0tLi9hiW/2+HpoMpKRAcDIWFyq0TgoODO1YJOUl6ejomk2m8Wzt3Dy8AL5pvzwIzpJTze3ZKKiod6UxITF30K0nzvyf5oR9IMi9BHLryBtizB0aOhNde63Ts+89MQafp+P1U39ziVoTAldyV44G9CNCK3WUdBEeL1os7zn+QowGhjM/bDE+0NaA+HgKs14gUnU7nVNIstFVvw0uU3IQNkW2j0tWNzluoNzY2otPpPLKWb2pqwmg0EhDgsDipU+wt89jCVaHS1NREXl4e69atY8WKFWzcuJEDBw6wdetWmpub2bFjB1lZWaxatYqcnBxqax07L0opW31QnOnF4+/vz5YtWzxu3CiEIDo6ujVa4y5RUVEdx9BoYLxZOzhYlrJEzdzJsQkKCupVybPmzse/ATuAKKB32BmrqLTDVjTAOuEVaO0CPHHldwz47gtafP1gyRLFWbUT5qbHE+jb8SNpMEq3IgTO5q4cT2xFgOwJi9KgcHa/+Jbyvfj005CV1fqYK1End+kVIkUIIUwmU/+4uDintrf+Zw4vVUTK1oi2dg6uqNSuSJgtKSnx2GRNSsnu3bstCZVO4YxQqa2tZfPmzaxduxYhBCNGjGDWrFlMnTqV9PR0LrjgAvz9/Zk4cSKzZ89m3LhxhISEsHPnTlatWmVXCDQ1NdHQ0OBSL54DBw7wzTff4OvrS0NDg81xncWTbsQW7OaUTDT77WzY4HAMT6IpI0aMEIDnnSw9QAjxnRBihPn3WBSRciPwkRBinpNjaIUQ2UKI78x/jxFCrBVCbBFCbBRCTLDa9iEhxD4hRK4Q4syuf0YqJzq2ogG2El4HlRfw1M//AOC5c26HVOfy1J3NS3Fnrt5ajcv2GMeDzjo0T7vlMliwQFmiuOYaxfCSro862aJXiBQgMi4uTji7BND6z5SStFKlWdzO6GMiRacVLqnU6upqj03SLPkonlBaWkpYWJjLnYztCRUpJXv37mXz5s0kJCQwY8YMBg0aREBAQKfLLT4+PsTFxTFp0iRGjx7NwYMH2bRpE81WHTIvu+wypkyZQkFBAWPGjOG9995zuhfPG2+8weDBgz2u0AkNDaWmpgaTg67FnWG3OseSD+REvyBP8lImT54cBDivSruHgVLKHebfbwB+kVKeB0xEESvO8Fcgx+rv54AnpJRjgEfNfyOEGI7SdTkNmAO8KYTw3FBI5aTDUcKrT0szry9dTIBBT+bwmbyTPNPOSG3JzC7s0KnYgrtLNNZzTYkJ6haB4mmVjcOIz6OPwpQpyhL4TTeBlJ1Gne79fCsD53+PLjLJo++33iJS4pyt7IFj/8y42jKCmuqpCQyhLOBYP5cAby+X3gRVVVWtZb7uYDQaqa+v93gJY9++fSQnJ7u1b3uh0tjYyMqVK2lpaWH69Olum58FBgYyfvx4YmJiWLVqFWVlZej1em677TZyc3MxGAwUFBRw0003ER4ezvLly9m7dy/Lly9vE51asGABeXl55ObmctZZZxEbG0tZWZlHnY2FEISFhbldXQOg0+kwGo0dhc7w4cpPJ0SKJ2XISUlJvoGBgUlu7dx1WL8IpwI/AEgpawGHClAI0R84B3jX6m4JBJt/DwGOmH+/APhMStkkpTwA7AMmoKLiIe0FxEMr3md46QHyQ2N55IzbiQtzXJdhyXc02sjN6+klms5wt8rGWtg8vyyXizPi7VcreXnBp59CSIjS3+wfSoTKXtTJKCUSEFovj2wMesVaOBCbmJhoP0u0HZZ/2pLnFBO3w+FxbZJmXclHkVKi1+tdjl5YU15eTkREhEfJoLW1tWi1WgIDncodtolFqKxevRqTyUR6ejrh4eFuj2dNfHw84eHhrF27FoPB0Gow5y5CCBISEigoKGDgwIFuj2MpI/bkeQYFBVFXV0dwcPCxO4cOVdZg8/IUh8pOkphDQkLcXu6JjY0lODjYPWXadRwWQtwJFABjgZ8AhBB+gDOLy68ADwDWKn0esEwI8QLKxdAU8/3xwFqr7QrM96moeMT9Z6a0OqmesWcNf9r8Hc0aL+48/wGMgUFOCQxb1SqgtFjpjUs0FhxV2Ty/LJcrEmpZsOjXVvdcW86zX24q7Px5JibCO+8olVL33APTp3fa8LAr6BUiRQgRl5iY6HLG6YAqpXz0UEjbXBBXQnJ6vR4/Pz+PBEZX5LQcPnyYhIQExxs6wLqSxtNGfPbG12q1Hi2xWOjfvz8bNmzwSKSEhYWRl5fn0TxCQkJafXJa8fGBgQMVkbJ/f6dr2Z78P2JjY/Hy8vK8JMwzbgKeBE4DLpdSVpnvnwT8q7MdhRDnAqVSyk1CiFlWD/0FuFtK+aUQ4jLgPfP4tj5oHd6oQoibgZtBqeTKskrWO17U1dWpx+1Dxw0FFk7RUnugmEveUFparL3qOs49K5noEC2h1XvJyjrWCdjWca9IqAU7X8Pt93cXV55vVaOBkmo9zUYT3loN0SG+hNpISrU/71oKczZxRYIk2k/ZrjBnE5nFuyip1nPbsPbfWy2U5G4mq7OOyZGRDD3nHOK+/576885j/suvcahRYrJzvrnPqWdqn14hUvr165fcv39/l9aln1+WyxXVikg5EHwsF0SASyG5qqoqj/NRqqurPTJwk1JSUlJCSopnoUQpJdnZ2YwaNYrAwEDWrVtHWlpal/T6sZQZjxw5kqCgIFavXk1ISEinZdKO8PX1xdvbm9raWreXynx8fGhubkZK6bbQDA0N5ciRIwwYMKDtAwMGKCKloMCphDt35hAbG0tLS4tzGePdhJSyFLjVxv0rgBUOdp8KnC+EOBvwBYKFEB8D56HkqQD8l2NLQQW0/Trtz7GlIOtjvw28DZCSkiJnzZrl7NPpMrKyslCP2/PHzcwu5PlluZ320WnFZII5c6CuFubMYcaH7zLDzmfS1nEXLPrVZlQgPtSPO6+2P0dXcPb/nJldyEPLt9No0GDJzPDTGVl40fAOz9/evLVCtC5d3TuyhRe3K6f8+FAthVXHxrVGAAcW2Z6f5bWoHHoDP6zfTtLBg5y37Hsyb/lb62uksTpmV9ArclL8/f0HuWKkZnHF628WKfutRIoEl0Jy9fX1Hi2xWMbwpPTYcpL21AQuPz+f4OBgIiIiutTwzSJQLFU8Pj4+pKamsnXrVo+jNTExMR6XEQcEBFBfX+/R/jYrjSyRLXP5dGf4+Ph09FtxgpCQEEwmU7DjLXsnUsqHpJT9pZRJKAmxv0opr0ERHpZMxVMAy6XZUuAKIYSPEGIgiqOt+/bDKicMthI/Xc61eP11+OUXCA+H999vkwbgDL2pXNgVozR787YnFgqrGm2GNMH+SoT1a9Hg7ctfzr2PZq0XvPUWcw9vak0MfvGy0R3m4gm9QqQACc6KFMs/CiCyXkmYLAk8lo8Q72L2dVNTk0fRgKamJry9vT1aLvI0cRcUr5eDBw8ybNixatauECrtBYqFmJgYvLy8PC4B9iTptKvGsCswLE0inRApvr6+6PV6l48thEDniUFP7+XPwItCiK0oxnA3A0gpdwKfA7tQcl9ul1K638hJ5YTAnhh54tudzjua7twJDz6o/P7OO+CGg7g9ozPApklcd/bfccUozd687Z0PtUJ0XGOl85WI9qIpJ2oQi2f+Sfnj//4PzO7d7ecijS3NHUdznl6x3GMwGKKdFSnW/6gwvWI2VumnXIi6o3g9TZqtra1tm8vgBtXV1R5b8ufl5TF06FC8vNq+pBah4s7Sjz2BYmH48OGsW7eO2NhYt0WaJx4jFkJCQqisrHR7yU2j0diOCFl8b8ocN6t0N5ICEBgYKIQQ/lJKz4xjehgpZRaQZf59JWDTnVFK+QzwzHGbmEqvx17UwFYSK9g4UTc3K/4dej3ceCNceKHbc5mbHt8mGt8+wdQSnbAIKcs+XY29hFR7kY7287ZgPXdQzpP2/q+drUTYEkfvjzufU/LWM/XgNvjzn5WqHyHazEUsPnd7hx1doFdEUjQajZ+z0Qzrf1Q/s0ip8lPyGXy8XH86nooUT/cHz31ajEYjZWVldoWOOxEVRwLFMm5QUBAVFRVuz12j0aDRaDyyt3c3itGeDkIlzFzW7kSJsydzMIsrz1RqFyCE8BVC3C6EeFMI8b7l1tPzUjnxcdUkrcOJ+tFHYcsWGDQIXnmly+YF9it+oHsbBXbF0lObZrw4jrB0thJhSxxJoeGFKx6C0FD49lt4992OO3pIj4sUIYRwJdxt/Y8KaawDoMpXESlVjQaXOzAaDAaP7PA9FSlSSlpaWjyaQ3FxMTExMZ1GM1wRKs4IFAsDBgxotbx3F09KeEF5bu5GMTodw7IE54RRmyciJSEhwYteIFKAj4AY4EzgN5SkVse9EVRUPMRedCDUT+f4RP3bb/Dcc4plwEcfgYd+Ve1xJKC6q1Ggs12WnRln1fxTGBkf0mqB744AsrfP9ZdPhzffVO64+27Yt8+l+TnCoUgRQiQIIVYIIXKEEDuFEH8137/EbHm9RQiRL4TYYrWPTdtrIcQss0X2c9Zz8PLyctnIDSnxb1beHHXex97g7ihbT/JJumK5yNPE3fLycqeaIzojVFwRKKDYyrvrtmrBUgLsLp4stViP0UFkWKJbTszNkzkEBQVpAbtOU0KIvwohdpg/f/PM9/UTQvwihNhr/hlmtf3z5s+ZcxabxxgspfwbUC+l/ADFoK2n3XBdxlPnTZXjj70T4OPnp3V+oq6uhuuuU+zaH35YcUTtYhxZWnRno0Bnuiy7O66rAqjTfa68Eq64Aurr4dprwYPIeHucyUlpAe6VUm4WQgQBm4QQv0gpL7dsIIR4Eag2/25tex0H/E8IMdScHPcXYDrwtBBimJRyN+Dl5eXlsETEugwtxE9HoEbRVy0abYcMbmeVrclk8rgbr6cipa6uzmOn2urqalKd7EnRWY6KqwIF2i7XtM+HcZagoCAKHXQb7oyu8ITx9vZuY/sPgOV1bX+/DTQajdteKd7e3gI7n0VzT50/o7iyNgM/CSG+N9+3XEq5SAgxH5gPPCiEsGROzwD+jRIRcRaLC2KV+bjFQJJrz6ZnsWVQ1Z15A70Nl8p1exGWOdqbu93ncOedcOgQjBunLPl0A9Ymce3pzS60jrCXw+L2Pm++CX/8AWvXwqJF8MgjXTBLJyIpUsoiKeVm8++1KP05WmdpbrhzGfAf812d2V5rUHJzTBwzdXIoUtpnflc1GqipU656jTbKdp1VtlJKNBrPVrw8XaoxmUwelR5LKTEajS7NwVZExWQyuSxQLHhaXaPVat3qItyV2BQZltfFiasCu8m3TqDT6TTYv2BIBdZKKRuklC0oouNClM/ZB+ZtPgDmWmaN8vmS2DZO64y3zRGZv6GUCu/C3HOnr+BK2eaJhrvW6L0FV6IGmdmF/O2qR+Gjj9DrfPjfwy9CNxXJtc/r0JovbN1dfjlhCQuDf/9b+f2JJ2Djxi4Z1qVLXyFEEpAOrLO6ezpQIqW0+CB0Znv9LrAaWCGltDQj83J0BW7ri8fLpPxt0rifWOSJAZgFT6MxRqPRI6HkrkiyjqgkJyfT0NDApEmT3DJ+8zQnpKscbD3BZjTG8r50QkB5Es3x9vbuTKTsAJ4RQoQDjcDZwEYgWkpZBMqFhBAiyvz7TiGEP7ASuN+VeUgpLVlvvwGDOtu2t+JK2eaJRmcC7UQ6kWZmF/LKv38l8+uXAXh69k0s2VBH4PafqWowdEsEyZ2ow4mIw0jdaafBX/8Kr76qVFtt3uzxMZ0WKUKIQOBLYJ6U0jrL8UqORVGgE9trKeUyYFn7OQghAjqzCbZl+etdr4TgtRrBfSONSKTZNtjbaftiKSX19fUeWTLX1dWxevVqt4VKU1MTQggOHTrk1v4mk4nGxka3n4PRaGTTpk0A7Nixw8HWtrE8hz179ri1v6fPATy31tbr9Wi1WnJzj11xBxw4wHigvqaGDQ7GNhqNNDU1uTWHoqIiX+x8FqWUOUKIxcAvQB2wFWUJ1i5SyjtdngQghIhG8TSJk1KeZV66nSylfM+d8boKvcHEwPnfO3XycbVs80TiRBZo1idHLZJ/ffMSofo6fh00jo/HnAUmSaW50Z0zS3yZ2YWUFNdyg5PvKxUXllIXLlQM9Xbtggce8Pi4TokUIYQORaB8IqX8yup+L+Ai2vohOGV7bUWLlLJ+1qxZdi1bbVn+ercEcAsgmpt5YbuW+FA/s7rTcv+ZQ5x6w7W0tLB27VqmTZvmcFt7rF69moyMDLcN4Q4ePIjRaGTQIPcuXA0GA+vXr2fq1Kku72vJQRk3bhzZ2dluLfUA5ObmEhQURFyce+7utbW17Nmzh4wMm7YaTuGppffu3bsJCQlpW8ZtTmgOCA93OHZNTQ379u1j7NixLh87KytLTyfCwywS3gMQQjyL8hkrEULEmqMosYBntr0K/0bp1bPA/PceYInl2D2Fl74RI86dfGzlD/TlvAFXOFEFWvuT4zUbv2X6wS2U+wXz4Fl/tekq21kEyTLebcNMSDQnXd6SuzgdqfPzg48/hokT4Y03PD6uM9U9AuVLKkdK+VK7h08DdkspC6zuc9X2usWRR4atzO9mrRdGoUFnbMHLZHRrHVYI4fEygye5COD5UoeXlxcGg/Ndny1Y9+KJj48nICDAbWdaT5OHPV3y6gps5ic1mr/w/Rx/yXuydNjc3GyiE5FiWcoRQgxAuSj4D8rn7HrzJtcD37h18LZESCk/R8lpwZwD0+NusGFFhZyxZw3gOL+kq8o2+yK9ydK9K7E+OSYfPcz83/4NwMNz7qAsMMzufvYiSCdz3pInuBSpS0+HJ58Ef7tFi07jzJlhKnAtcIpVyfHZ5seuoO1Sjzu21y0tLS2dfrtbvnjC/K1yL4SgWadEL3wNbfMhnH3DdUVViE6n61gV4gKeJo0KIdBqtS4JFWuBEh4e3jqOuxb61dXVHrnuGo1Gj/sWeYrN3CIXRIonuUkGg6FTkQJ8KYTYBXyL8nmqBBYBpwsh9gKnm//2lHpz7osEEEJMwly119Ms/Ok1IsxtMDpbvuir1S1dQV8SaNZl4rnFtR0uKq0ft0SHvIwtvPz9i/i2NPPfEaexbGjn5cYSbJagn8jLYt2JvYic3Ujd/feDmykE1jhc7jHbW9v89pVS/snO/a7YXjuMpMCxxKXM7EKe+HYnlQ0G9N4++DU34t/cSJ1PW8XmzBvO0ygIeO7RERgY6FH5LRyrrnFmqcaWQLHgjoW+yWTCZDK5XX4MnnvFdEUCdHNzM97e3u0npvx0Ym4mk8ntaFBzc7Ok8+We6TbuKwdOdeuA9rkHJUKTLIRYBUQCl3TxMVym2deP8MYaFv/4d266+FHiwmxfnZ3s5cfQNxI8279OzUZTm9ep/eMW7ly9hFHF+ygIjuKJ025GKwQmKQnx01Hf3ILB2PG73NZ74ERdFutuXF5K1Wph4ECPj9vjjrOAydXlCr1BWR6p8leu3sMbO17sufKG80SoeGrJHhgYSF1dndv7A4SHh1PmRH+ZzgSKBVct9MvLyz1ujuhpg0VPm0SCnSUrS3fmqKhunUNtba0R6PG+PWargZnAFOAWIE1Kua1nZwU1kVFU+wRwat4Grtvxs9MN0EAN4/dGHL1Oth4fcySX29cswYTg3nPuxhgYxIuXjebAonPY8tgZPH/JaLuW7u3fAyfqslh301ORuh4XKVJK2dLS4rRKsX4DlwT0AyCqrm1vFVfecDqdzq2cDgueihQhhNt5JRZiYmIoLi7uNLfFGYFiwRWhcujQIRISEjrdxhE1NTUeLRfp9XqPRYpNkWERfk64+XqSl3Po0KEWwLN20h4ghBgvhIiB1jyUDJRI6ItCiH49NS8L0kvHI2fcBsCjv77L3EDbek4N4/cNHL1O7R/3a9bz0ncv4iVNvDd+LgWjJnQ4OVo8VuzFU63HtJxsvbWaXr8s1tvoLgfczuhxkQJgMpkanT3RW4fpiv1DAYg0r1W784bzVGR0RXM7T23htVotkZGRFBXZPs+5IlAsOCNUGhsbqa+vp18/989jXbFc1NjY6HGTR7DRHsGFSIonIqWwsFDQgyIFeAvFzRYhxAyU/JYPUfJR3u7BeQHgq9Pw2tLn4Kqr8NI32rXddnnN/ASiL7UCcPQ6tX/8oax/MajyCHnRA/nz7592enJ09j0wNz2elJig43qyVXGPXiFSdDpdcXFxscPtMrML2yjl4tZISgXxoX5uveE8FRnBwcEeNccDCA0N9cixFSA5OZm9e/d26CbsjkCx4Eio7Nq1i8GDB3uUD+JpFKUrxrCb9GrxrnGitLqpqcltkVJfX2+SUvbkco9WSmlpZX058LaU8ktzH5/BPTivtrz+OvTvD+vWKV4M7ThZw/h9zWnW0etk/fjM/Zu4Lvt7mjVeHHz1rWOtKlwce/awyD4j4lTa0itEipTysL0ogDXPL8vFOnvkSLAShk+oKqa+qcWtN57NxnIuYOn54klei6eRFAA/Pz+SkpLIyclpvc8TgWLBnlApKirCZDK57Y1iobq62uOcFk/HsJtPsn+/8jM52eEY7i45SSkxeLLW1zVozZ5HoCTj/mr1mPshrq6mve32hg1tHu5L1S1dSV/LxWn/OnlrNW1eJ8vjqbpmnvvxVQD23n4fp1x+ustjx4f6cXFGPF9uKuwg4qoae/pjp+IMveILqLGx8cCRI535vSm0X6vMC1dyIYZUFlLVaHArkz8gIMBjgRAQEEB9fb3bFSpBQUHU1tZ6XIqbmJjImjVrKCsrIygoyGOBYqF91U9gYCC7d+9mShd0HC0qKiItLc2jMerr6/H3oB7f5v5SHhMpThjtuZs4W11djUaj6eky3/8AvwkhjqJY7/8BIIQYTC8pQW7l1FOVdvAvv6zYbmdnt/Fi6AvVLV1NX8rFaV8i/vLlYwit3susdq/Z3DFxzF30GdRVwNSppL38tNPHaP8emLroV5sirqRaFSl9gV4RSamoqNhXWFjosA65/bri/n7KG3FQhRJBcefqITQ01GOR4ulyjRCC6OhonFnycjTO2LFj2b59O6tWreoSgWLBIlQsY48YMaJLKmoMBoNHXaCbmprw9vb2aMnJZnXRkSOKT0p4OISEODWOO3MoKipCq9U6VujdiNky4F4Ux9lp8lhYUAO4ZbHflRhNsk2ofullt8Pw4bBnT5fYbvd1+koujr1lKZsRjf/8Bz7/XCn///DDY80+3cCeWGs29my/MBXn6BUiRUpZdPDgQYdr8u3XG4uDwmny9qFffRXBeqWM11b9e2dYclI8Wa4JDQ2loqLC8YadMGDAALf799hCSumxB4wtLAZ4nvqSABw+fNjjyqCKigrCwuy7TjqDTZGyzVx560SUxxPH3CNHjmA0GrvuhXcTKeVaKeXXUsp6q/v2WDqg9yTNRlObE9uD3+9lxd9eVrrevvEG/PRTT0+xR+kruTj2lqVKqtsttx8+DLffrvz+8stORTI7w55Y89b2itOfigN6y6tUlJ+f79ARrX3LbCk0HI5UTnKppQdat3MlN0UI4XHybHh4OEePHvVIFAQGBiKlpNZiIOYGlhyU0aNHM3XqVHbv3s2uXbs8crQFRfAUFBSwZs0aRowYwbRp09y20LdgMpkoKCggPt6z0HxJSQnR0dEejVFXV9dxqW7rVuXn6NEO9/fEcbeoqIiampo8t3Y+SWk0GHkk3wueekq544YboLy8ZyfVg/SVXBxnIhqZmw6zYfZcqKpiZepkMsfOabOtq1VMmdmF1Dd1DNL76bREh3heEahyjO6qMOstIqUwPz/fqTO8pU7bwpaYIQCMLjrWgdfVzHZPl3y0Wi0BAQEeCQxQKnT2W/IgXKR9kqyfnx9Tp07Fx8eHlStXUlpa6paIqq2tZcOGDZSVlTFt2jQiIiJcNnyzRVFREZGRkeh0Oscb20FKSWVlpUcl0AaDAa1W2zES4oJI8cSM7uDBg/q6uroDjrdUseZIVSPcdx9Mnw7FxXDLLUoe0UlKT/hXuIqjiEZmdiE7H36W8XmbOeofwrxTb+Ohr3e0fpe7WsVk2b79clKYv46FF40k1M/97x6VtnRnhVlvESlHjxw5Il05iVqiKeuihgJtRYqruSldUQJsMVTzhKioKCorK12O6tir4hFCkJycTEZGBoWFhfz+++/k5eVRV1fXqWDR6/WtkZPt27czcOBA0tPT2wgKT4SKlJK8vDySnaia6YyqqipCQkI8Wnqqrq4mxFbOycaNys/0dPfHcILVq1fXAtvd2rkbEEJECyHONd8cG8T0EHGhfkqewocfQlAQfPklfPRRT09LpRPsLUtZIhpffvAj9y1XGm4/fOYdHA0Ic+hE29l3va3tAfy9vXqliOvLdGeFWa8QKVJKqdVqD7vSw8byht8Sq4iUdCuRAq5ltndFTkl0dDQlJSUejSGEYNiwYWzbts3pqIczZcaBgYGkp6czefJkhBDk5OSQlZXFypUr2bx5M1u2bKGhoYG1a9eyYsUKNm/eTF1dHSNHjmTKlClE2nFcdVeo5Ofn069fP/ycaNzXGcXFxcTExHg0hs2cluJi2LcPAgJg1CiHY3ji07Jjxw4J7HZr5y5GCHEZSsfyS4HLgHVCiB7v3dOeNvkWSUnw978rv99xB+Tn99S0Tgo8CenbW5YK9dNBYyMLPnkaH6OB/4w6g5+HTm7dz54TbfvHPb1fxX2683/dK0qQAZqbm1du2rRpXP/+/Z3afm56PBsPVvBpUzONvv7E1ZQRW1NGkdk7xZXMdj8/P1paWjAYDG4vP/j4+KDVam3nN7hATEwMR44c4ciRIw7zNVz1QfH29mbQoEEMMieiNTc309jYiMlkory8nNGjR+Pr6+tSZMLVpoT19fUcPHiQadOmOX0MW0gpKS4uZsiQIR6NU1JSwoQJE9reuXKl8nPyZHDghGvJ93GndLympgaDwVDpoEv48WQBMF5KWQoghIgE/gd80ZOT8tZqiA71s9/Z+PrrYelS+Ppr5fdff/WoGkTFNl3RwNFWiXhW1l544AGGHT1IXr94njz15jaPa4Rg4Pzv0QiB0cbFW2fVTWojwe6hfSl5qL+OyoaOVVpxoX7ke3isXhFJASgrK/ttzZo1LnXaW7G7DJNGy/ZBIwCYlp8NKPb4rma2R0VFUWqxQXeTxMREDh486NEYACNHjmTPnj2dLvt0hVGbt7c3ISEhhIWFodVq8fPzc2vpxNmIipSSrVu3MnLkSI9s8AHKysro16+fR+M0NTUhhOhYSv3HH8pPJ4SUJ0s92dnZaLXajW7t3D1oLALFTDlOfkcIIbRCiGwhxHdW990phMgVQuwUQjxndf9DQoh95sfOdDS2ViM6z7cQAt5+G6Kj4fff4cUXnZmyiot0V0i/35o18PrrmLx0PHDhfBq92ya0GqVEmn+2p7Mqpr5S9dTXsJV/UqdvQadte+7oqv91rxEpwKY//vjDJWtwSygpK1HJG5ievwUAd9LnuiKnJDY2ltLSUo+raXQ6HampqXaXfbpCoHQ1zgiV/Px8goODu2TOBw4cIDEx0aMxiouLbVcGLVum/Jw92+EYnoiU9evXNxcVFf3PrZ27h5+EEMuEEH8SQvwJ+B740cl9/wq02h0LIWYDFwCjpJRpwAvm+4cDVwBpwBzgTSGE52GPiAh4/33l9wULYP16j4dUaUu3hPSLixm2eDEAmoXPcu3tF7YuB2kdXDBpheDiDPvmfX2l6qmvYUusGkySAG+vbvlf95rlHqDA2QofC5Zw3rL4MTwATM3fgpAmpNC4HIYMCQmhpqYGk8nktueFRqMhNjaWwsJCBgwY4NYYFizLPoWFhVgvgfVGgWKhs6WfrlrmsYxlMBg8ttMvKSkhNTW17Z3790NurmLgNnmy7R2tqKiocDsB+Lfffqs2Go2b3Nq5G5BS3i+EuAiYhhKQfFtK+bWj/YQQ/YFzUDon32O++y/AIillk3lsS4TmAuAz8/0HhBD7gAnAGo+fwNlnw1//Cq++CldeCZs3O23Ep+KYLl8+MZng+uvxrq6G006De+5hrkbT+p09cP73ne5ulJIl6w/z/bYiqhoMNpcCT0YH4u7GniitbjSw5bEzuvx4vSaSIqWUQohCZ+zxLVjCeXn9+lPVL5LwxhpGF+0FlDDkvZ9vdTqxSwhBv379PE6gTUpK4sCBA11ipDZy5Ej27dtHZaXS5bk3CxQLtiIqzc3NbNy4kVGjRnm8zAOQl5fXmlfjLkajkYaGho75Qz+aAwenn66YhXWCyWSipqbG7UjK9u3bwSr60NMIIRZLKb+SUt4jpbxbSvm1EGKxE7u+AjwAWFt4DgWmCyHWCSF+E0KMN98fDxy22q7AfF/XsHixUpG1f/9JX5bc1XT58smrr8LPP2MIDoYPPoB2F4fOiB+DSVLZYOgTjRVPFI63w3FviqRgMBhWbtq0aayzTessCnneki38kTqJ81Z9y1m5q9gSp3xojFK6FFGxRC8cJX92hq+vLxERERw+fNjjaIpOp2PChAmsW7eOkSNHsmPHjl4tUCxYR1SGDRvGnj17SElJ8cjPxEJ9fT1VVVWMHDnSo3FKS0uJjIzsmIOzdKny86yzHI5RUVFBv3793Mrjqa2txWAwVEkpHbaDOI6cDjzY7r6zbNzXihDiXKBUSrlJCDHL6iEvIAyYBIwHPhdCDAJs/bM6KAkhxM3AzQCRkZFkZWU5/ST87rmHjJtvxmvJEnYnJFB8zjlO72tNXV2dS8ftKnrtcRsN3Dm8GaNJebm8NILYUG9Cq/cqya9AVaOBkmo9zUaTkvAc4mvTjyRw3z7GPvggGmDLXXdRv2eP0ubAivtHGymsNGJySWi2UJK7mazqvQ637LX/515+XFuvi0YI4sOM3fK8epVIKS0tzVq9evVN5513XoCz+8xNj+f5Zbn8Z9BUzlv1LefsXsnCWTcoyXQcS+xyRqRERka2OrR60uhvyJAhrFq1ivj4eI/GAfD392fkyJGsWbOGMWPG9HqBYsHX15eMjAx+++03Bg0a5HGpsIXdu3czbNgwj235Dx061HGpp6wMli9XKnouuMDhGJ6UQGdnZ6PRaHpF0qwQ4i/AbcAgIcQ2q4eCgFUOdp8KnC+EOBvwBYKFEB+jREi+MpsfrRdCmIAI8/3WvRD6Ax3Cp1LKt4G3AVJSUuSsWbNce1JSwnXXMeyNNxh2443Q/rV2gqysLFw+bhfQG4+bmV3IQ8u302g49n3mp9Oy8KLhrc0Bj22jwRKk99MZWXjR8Lbfv3V1cOutYDDAX/5C/amndnpcSxWJveqe9gjgwCLb4zn7fLuTE+G47at7OlTcdSG9ZrnHzB/ffvttvePN2nL/mSlsGTCS2tB+9K8pZVRxWxXtbGKXRqMhJiaGoqIiV6fQBm9vb+Lj48nvAs8GvV7Pjh07GDNmTJuln95Oc3Mz2dnZDB8+nNLSUo8s9C1UV1fT1NREVJRnHmONjY0YDIaO3iZffQVGo7LU40AMSik5evSo21G37777rq6oqOgrt3buej4FzgOWmn9abhlSyms621FK+ZCUsr+UMgklIfZX8z6ZwCkAQoihgDdw1HyMK4QQPkKIgcAQFG+WruXaa+G665QmkZdfrvxUcRtnKnucqv6RUhEoubkwYgS88EKnx7V20n3xstEdlptsoZYYdz/H0+G4V4kUKeXRioqKcldLgeemx3PRuATWjJyi/L0zq83jrrxpu6qMeNCgQRw6dIjm5ma3x7DOQUlISGDChAls3brVYxHV3dTU1LBmzRqGDh3KwIEDPbbQB0UU7Ny5s2P0ww0OHTpkeynus8+Un5df7nCMuro6/Pz83I6UffXVV40mk2mZWzt3MVLKaillvpTySinlQaubJwla76NEZnYAnwHXS4WdwOfALuAn4PZu84l54w0YMgS2b4d77+2WQ5wsOFPZ41T1z3vvwSefKEaJ//0v+Ps7PYf21TqhfrpuK3tV6T30KpEC0NjY+Nm3337r0pdWZnYhX24q5IOhSk+fC3euwKdFEQeuvmn9/f3x8vLy2Cbfy8uLlJQUS3Kky9hKkg0ICGDy5MkUFBSwadMmjwRQd2Aymdi7dy/Z2dmMGTOmtby3K3r9HDp0iICAAI87HptMJttGeXl5kJUFfn4wd67DcTxZ6jl48CCNjY2HpZSeNXvqZUgps6SU55p/b5ZSXiOlHCGlHCul/NVqu2eklMlSyhQppbMlzq4TGAhLloC3N/zjH4p1vopbOJMs6XCbbdvgzjuV3996C4YNc3ke1lfwWx47g+cvGa2WGJ/g9DqRUlVV9fknn3zi9BVcZnYh936+lUaDkVXhQyhNHESYvpYz96xpraN/flmuSzbOgwYNIi/P88a0cXFxSCldjnx0VsXj4+PD+PHjiYmJYdWqVR57u3QVtbW1rFq1CqPRyPTp0ztUvHgiVBobGzlw4ABpaWkez7OwsJCYmJiOEZB331V+XnYZhIQ4tP/2pPtyZmamobq6Wm00czxIT4fnn1d+v/FG2Os4oVKlI85U9nS6TW0tXHop6PXwf/8HV1/dJfPqC40VVTyj14kUIHfXrl3NzjTZszjftSZTCcHPE5Q67Su2LsMoJV9uKnS5M2NERAR1dXU0NLjkLWeTkSNHsnv3bqejHs6WGcfHxzNlyhQOHz7co1EVKSV79+5l8+bNjBw5kmHDhtn1mXFHqEgp2bJlCyNGjPC4fFlKyf79+8mt820jQL5Zf+CYEdjNNzvs6FlfX48QAl9f91q9f/LJJ1X19fW9JR+lDUKIRCHEaebf/YQQQT09J4+58064+GKoqYGLLoJ6l9PeTnrsGaMBrZ+l55flcnFGfMfIxpg4pRx8zx4YOfJYryUVFSfodSLF7Jfy46+//upwW1uJWm8mzsLg7cOUQ9sYdvSQWzbOQgiGDh1Kbq7nHRx9fHxISUlh69atDr1TXPVBaR9V2blzJ43HKUGwpaWFAwcO8Ntvv7VGT5wxV3NVqOTn5xMQEOBRWbiFgoICKo3ePLQ0t40A+X3hW1BaCsOHw+TJDhMADx486LbbbU1NDYcPH66TUh7y9Pl0NUKIP6P06XnLfFd/lATYvo0QighNSYEdO5TETdU/xSHto4lAm6gF0EHMf7mpkPvPTGkb2fjHP+A//6HB249TJ97O1FfXOLxQ9KSRocqJRa8TKQDFxcUff/bZZw6XfGwlah3RBrJl2qkA3LTO9sWqM9U+0dHR1NfXU1NT43BbR8TFxeHr68veTkLNnhi1xcfHM3PmTEJCQtiwYQObNm2irKysSwzl2lNTU8POnTv5448/aGlpYcqUKZ1GT2zhrFA5evQoBQUFXbLMYzKZyMvL4/VN9W0FiJT8aY25f95f/wpCdJoAaDKZKCkpITY21q15/PTTT9JoNDp0ce0hbkcpKa4BkFLuBTwrpeotBAcrOSn+/vDxx8qJU8UujqKJ4GQ1z8qVGO/6KwAPnnkHeeH9bY5lLUrGPPEz93+x1eUIuMqJSa8UKcCq5cuXGx2dZO0lav0zYy4moeGCXVnE1HQ8CTpT7SOEYPjw4eTkdI0haFpaGuXl5TbzU7rCSVaj0dC/f3+mT5/OwIEDOXLkCFlZWWzfvp3Dhw9TW1vrsmiRUtLY2EhRURG7d+/mjz/+ICcnh7CwMGbOnMmQIUPw9vZ2a76OhEpDQwPbt29n3LhxHnvNgBKRiY2NJa+8qc39kw9tY2RJHkf9Q5WSVSDEhvmU5f6SkhIiIyPdntOnn35aXlZW9h+3du5+mqSUreuGQggv3GuF1TtJSzuWezRvHqxd26PT6c04I0AcVvMUFqKfexFaYwvvjJ/Lt8Nn2hyrqtHQRhBVNRowGNu+7bqikaFK36RXihQpZYsQYvOmTZ23NbGVqKXTCv7wiiNvwmS8TS3cuPGbDvvVN7U4pcotDqmeWuWDIiIyMjLIzc1tE53paqt7i73/6NGjmTFjBjExMej1enbv3s1vv/3GypUr2b59OwcPHqSwsJDi4mJKS0sxGAwcOXKEw4cPk5OTw9q1a8nKymLLli1UVVUREhLChAkTmDhxInFxcW73N7LGnlBpaWlh48aNjB49Gj8/zz0PWlpaOHjwIMnJyR0EyF/WKlGUJRPPB3OOiT2fOCGUxoZJSUluz2PdunVGYLNbA3Q/vwkhHgb8hBCnA/8Fvu3hOXUtV16p5KgYDEoip4edz09UnCkn7rSap6kJLrkE3/IyViWOYtGsG+yOVVKt7yCIXJmTyolNrxQpAEVFRa+//fbbndYB20rmCvD2otkEH0+7GIBrtvxARH1bAzSLcndGqKSmppKTk9MlSyfe3t5kZGSwadMmGhoaur0Xj1arJTIykiFDhjB+/HhmzZrFxIkTiYmJwWg0tlrMl5WVYTQaqauro6mpidDQUEaPHs2sWbOYPHkyqampxMbG4uPj0+VzbC9UjEYjGzduZODAgV1iow9Kr5/ExES8vLzaCJBxBTuZkZ9Nrbcf/51wXuv9VQ0Gm+P40YxGo+nY78dJvv/+ewn8IKU0Ody4Z5gPlAHbgVuAH4BHenRG3cELL8CUKVBQoCTU9rJS/t6AMyXHnVbz3HknrF1LYXAkd57/IEZNx8ijZaxmo3MfB9Wk7eSk14oUk8n009KlSxsdVfm0L0GrblROMEt8hnBg7AT8DU3csXpJh/2cDR8GBwcTGBjI4cOHHW7rDEFBQYwZM4a1a9eyevXq496LR6fTERkZyaBBgxg6dCjDhg0jLS0NX19fhg4dyuDBg4mNjcXPz89j63lnsQiVHTt2sHr1aqKiokhISHC8oxPU1tZSXFzcGv1oFSBSct/vShXw++PmchDHfg9zBmg8amz4wgsvlBcXF3dusdmz+AHvSykvlVJegmLI1ifODC4lWnp7wxdfQHw8rFwJf/mLmkjbDmdKju1V/Mzd8D288w74+vLIdU9S4d+xAacwHwPAW+v4NKSatJ289FqRIqVsMZlMn37xxRcuGbtZTjB6o+C/Z1+DSQiu2vITCVUd/UScDR8OHz6c/fv3d1nljJ+fHyaTCZPJ1CXLGScCOp0OHx8fGhoaOtrVu4mUkq1btzJq1KjW5SnLcs/Ug1uZdHgHVb6BvDf+gjbLQLa+oKP9NYyKVgSeOxQUFJCXl1cmpdzl5tM5HiynrSjxA/7XQ3NxGmeSPDsQGwvffKOY973/vtKRV6UVuwKknQ9JB5+Smn1wxx0APHnePFYEJHToKCmAqycNaB0rOsS347K9RhDmr1NN2lR6r0gBKCsr+/sLL7zgUrMa6xPMRwxkz9RZeJtauPePjt5ZzoYPdTodaWlpTpURO8KyxJOens7YsWNZv349tbUnlPGoyxgMBtavX09MTAwzZ8702ELfQl5eHv369WvjUtvcYkRrMvLIr0oC5dsTLqLGN5DmlmNa2NYX9ENTgpk4ZoTb0aW33nqroaqq6kWPnlD34yulrLP8Yf7ded/yHsKpKhNbZGTAv/6l/H7vvfDTT900w76HWw3kcnPhwgvBYODfEy/k/UHTACXz2vKpiQ/14+XLx/D03GNdzEP9dB0+b89fOprsR89QTdpUerdIkVIeLC0tPbBrl/MXn5YTTJi/jlqD4OPTr6TZS8fcXb8x/vCONts6m0ALSodkPz8/j5Z92ueg9OvXj7Fjx7Jp0yZKSkrcHrcvU19fz+rVqxkwYAADBw7sEgt9UJZ5CgsLSUlpGyJuMJi4YusyUsvyKQiO4r1xF7Teb431FeJPt48nwle6bYPf0tLCv/71r/rGxsbP3Hs2x416IcRYyx9CiAyg12crOtUzxh6XXw5/+xuYTMrvLnzX9DWcXRJzNTKVmV3I2X/7mvxJs6GykqyUSTw5409ttpEo4sOe4FCdY1Xs0atFCkBJScljixYtqnJln7np8fh7K+6kXzTFsvX8iwB48pd/ojUdu+JyJYEWPFv2sZckGxwczOTJk8nLy2Pfvn3d4m3SWykrK2PDhg2MHj26TS8dT4WKZZln9OjRHUqFg/V13PvHxwA8M/tGmnSOk4FzcnJITU11O4ry1VdfmQwGw9dSyt5udToP+K8Q4g8hxB/AEuCOnp2SY5xJ8uyUxx8/5kh71llw5EjXTa6X8Ejmdu5essUp4eFKZCozu5BHP9/E4/9+hKSqInZEJ3Pb2fdispEoaxGN7cVSVaPtRHUVFegDIsVkMi37+eefa10tA7Z8IPRGwduTLqEsPJrUsnyu3/Rdm+1cqb+3LPts3rwZk8n5Ag1HVTw+Pj5MmjSJhoYGNm/ejMFwYn9opZTs27eP3NxcJk2aZNOp1hOhsnv3bsLDw22O+8jv/6ZfYw1rE0bwY8rU1vv9dbY/CpWVlZhMJo+Sm59++umK0tLShW4PcJyQUm4AhgF/AW4DUqWUnfsA9AKcSfLsFI0GPvwQJk2CQ4cUoeJhg9HeRGZ2IZ+sPdTB8Mbed58rkakXfszhiaUvM6FgF0WB4dx08d9o8LYvGm1FaQorG1WjNhW79HqRIqU0NTY2vvzWW2+5FL6wvopaUeHLuj/9HwD3rPyY/tVtl1YKXai/j4yMJDo62unuxs6WGWs0GkaNGkVUVBQrV66k9AT1b6irq2P16tU0NTUxefLkTvvfuCNUCgsLqa6uZpiNDqsr3/qcy7J/oknrxSNn3NbGEMVH1/HKT0rJrl27SE1NderYtti0aRNHjx7dJaXMd3uQ48t4YBSQDlwphLiuh+fjEGeTPDvF3x++/RaGDlW69V58MeIEuVh4flmuXUc+W8LD6ciUlPwp8w0u3JVFvc6Xmy55jJIg2+0rLKLRVpTGJCXzlmxR7e9VbNLrRQpATU3NO2+88UadK030rK+uWqTgw9iJZI+ZTGBzI8/98CqinVWFKx+O5OTk1t41neGOD0pCQgKTJ0/mwIEDbNmy5YSJqkgpycvLY+PGjaSmppKWluaUa6srQqWqqoq9e/eSkZHRYWnm29X7GDBfsed+bcoV7IsY0HZfG94oZWVl+Pr6dujo7ApPPfVURVFR0aNuD3AcEUJ8BLwATEMRK+OBcT06KSfpkpyGiAgleTY6GpYvZ9hzzym5Kn2cznJzJHQQB05HphYu5P82ZNKs8eIvcx9iV/Sx8vxQP51N0djZXFT7exVb9AmRIqWsa2pqeu+NN95w3BrZTPurqyMGfzb8+VbKA0KZcmhbh2UfVz4cQgjGjBlDQUGB3ROnJ0Ztvr6+TJgwgfDwcFauXMnBgwf7dK7K0aNHWblyJXq9nunTp7ts0uaMUNHr9WRnZzNu3Dh0urauspnZhVTeeTcDqorJiUzirYkXd9i//VWiyWQiJyfHZkTGWbZv3866desOAb+7PcjxZRwwVUp5m5TyTvPtrp6e1HFl4ED44QcIDCT6f/9T7PP78GcPHOfmWMSBJTfEqcjUW2/BggVIIZh/wX38Piij9SE/nZbHz09j1fxTePnyMQDcbY6UhPrbbjlhQbW/V2lPnxApAEePHn3mueeeq3alXNf66mrl/FNZ1hzLHzf9BYD5v/2b5KPHKnVc/XBotVrGjRvH9u3bqW/X+r0rnGSFECQkJDB16lTq6ur47bffKCoq6lNipbq6mrVr13LgwAHGjBnjdPTEFp0JFZPJxMaNG0lLS+vgBpuZXciyRe9w3ebvaNZ4cd85d2PQtv2itHWVmJubS3x8PAEBAW7NF+DOO+8sLy4uvlX2nRdtB+BeCdOJxNix8NVXmHQ6eO01eOCBPi1UbEVG2tNoMFJSfewasNPI1OefKwZ4gHjzTWb87Q6bgsZW/kmdvgWdtvMEdNX+XsUar56egLNIKetCQ0MXL168+Kmnn37arTPHtTOHk+XbRMS42UzbuII3v1nI3GtfotFbyYtw9cPh5+fHmDFj2LBhA5MmTcLX17fLre69vb1JS0ujsbGR3Nxc8vLySE5OJiYm5rg5wrpKVVUVeXl5NDU1kZqa2sanxBMsQmXdunWkpaURERGBlJLNmzcTFxdHVNSxhr0WnwfD4QJ++vZlABbPvJ6d0cltxtQK0eEqsaqqivLycqZOnYq7rFy5ktzc3O1SynVuD3L8iQB2CSHWA62dGKWU5/fclHqI009n5xNPMPLRRxUbfT8/ePLJnp6VW1je2xbfE3tyq9locuyPkpkJ11yjiLann4Zbb2Wu1TGssZV/YjBJQv10BPh42c0FVO3vVazpM5EUgOrq6jfefffdyrKyMrf2n5seT1DMAHbccjMHIvqTcvQQz/z8RutVkjsfjrCwMNLS0li3bh01NTXd1ovHIojGjBnD0aNHycrKYu/evTQ1NTne+ThgNBopKChg1apV5ObmkpiYyOTJk7tMoFiwjqiUlZWRnZ1NUFBQG7t6yxVcSXktr337PP0aa/g9KZ33x1/QZiw/nZYXLxvd5gvWaDS2li+7KwKllNx+++3lxcXFt7n3LHuMx4G5wLPAi1a3k5LyyZPhs89Aq4WnnoJnnunpKbmNdWQk3s73nFYjOvdH+fprpSmjwQD33w8PP9zpMe1d9FU3Glg1/xReuXyMZ1VZKicFfUqkSCmba2trH3rkkUdqHG/dkczsQr7YdIRPiwLJuvsBGnQ+XLRzBVdtVZwmXTF3s8bSC+f3339n2LBh3dqLJzAwkJEjRzJt2jS8vLxYt24d69at4+DBgzjqc9TVtLS0UFRURHZ2Nr///ju1tbWkp6czceJEIiIiui3SY8nZ2bhxI1LKDoZtliu4BSveY+LhHRQH9uPec+5BimNvd1sRFIA9e/YQHx9PUFCQ2/NbunSpqaSkJEtKmeP2ID2AlPI3W7eenlePcvHF8NFHSiXYI48o0ZQ+vPQD9hNjBdj3R/nyS7jsMmhpUZa/Fi+23y7cjKMqIUvui7dWo9rfq9ilT4kUgIaGhk+/+eab0vz8fJf3tZy8DtULNoUk8tHltwPw+C9vMfHQdpfN3Szo9Xry8vJISUkhNzf3uEQ3dDodAwcOZMaMGQwfPhyDwcDGjRv5448/yM3N5ejRo11eGWQymaiqquLAgQOsXbuWlStXUlFRwYABA5g1axapqan4+3e/i7rJZGLXrl3079+f2traDjkqR6oauWjHcm7Y9K258uBhygLbRnTaR1BA8UQpLy8nObntkpArGI1G7r333oqSkpJ5bg/SQwghJgkhNggh6oQQzUIIoxDCrQuCE4orr1Ts8zUaeOwxuO++Pi1U7CXGtphsP6dxq39U3HhbWuDBB2HRIocCBZxvUpgSE6Q6zarYpc/kpFiQUpq0Wu0d99xzz3+++uorl9YSrMOPPxZoGDpnBp/u3cdV65by1tfPcOG1L3KgXzz3fr4VsL3O2p72OSihoaGsWbOGCRMmHJcTNiidlYOCghg8eDDNzc2UlJRw5MgRcnJyMBqNBAYGEhISgp+fH76+vvj4+ODr64uXl1eHaIfRaKSpqQm9Xt96q62tpbq6GpPJRHBwMKGhoYwYMaJDkurxwGg0snnzZkJCQhg6dCh6vb5NjgrAWZV7WfjTawA8evqtZMe3rdAJ89d1eG2NRiPbtm1j7NixHkWAPvjgA0Ntbe0XUsoCtwfpOV4HrgD+i1Lpcx0wpEdn1Fu4/nrFS+Xqq+GllxSzt7feUpaC+iBz0+M7fAbeyt3cYbubNmTyN3OfKx56SFnycvLz0T4XxukeQCoqVvQ5kQJgMpl+XrNmTf62bdvCRo0a5fR+caF+rclaRilYkqfl8tuu59fyYk7Zt573v3ici655gUr/EB76SjFr6+wDZStJNjIyklGjRrFu3TpGjRrVrUs/tvD29iYhIYGEhARAiTrU1dVRU1NDY2MjVVVVreKjpaWldb/a2lqysrLQaDRthIyvry8JCQmkpaXh5dWzbxe9Xs+GDRtISEggKSkJsJFMW1rKK/95HG9jC/8eey6fjZnTZgw/nZbHzktrc5+U8v/bO/P4qKrrgX9P9gTIAiFAAENYwyYYNgFRcEVFiwvUtajtT1Gr4gq419ZCxdpabau27qKCUhVFBUVBkX1HCFvYTMhKMlnIQmbm/P54L2ESkpBlQhbu9/OZT9678949977MzDvv3LOwdetWunbtWq9lnqKiIp566ilHenr6Y3XupJFR1b0i4quqLuBNEVnZ2GNqMkyaBG3awNVXw+uvw5Ej8N57UI8IsKaEVY3YZS35qDJj+VtMXbPAevP5560ijLWkMmXIYKgNzVJJUVUVkdtuuummbzdt2tSupmGtD1/Sh5n/21a27ppcICxL86fggQeI+sOjDEjbx5sf/4Ebf/0njhLCnMW7qvyCVRfF07ZtW84++2zWrVtHTEwMMTEx9ZtwPfDx8SE0NJTQ0NBqj1u2bBljx449NYOqA9nZ2WzevJmBAwcSGRl5YhTChd3Zs3w5EdOmEZCXw+Fxl/D6hfdC7jF8RXCp0rmKJ7l9+/YhIsTGxtZrjNOnT88rKCh4XlVrV8Oh6VAgIgHAZhF5DkgBWsYd2FuMHw+LF8MVV1iRLuedBwsXQnR0Y4+sRlQXvWNVI+7Hi19s5b4Pn2PijmW4/fzwefNNK6Knhv0YDN6kWSopAKq6OSoq6u3Zs2dPfeyxx2q0rlLR/Bge4s+2bCfRIcHMvedx7pozk8Epu3ljwTNMmfQ0hx3WeSfeEGMJzz9YbRRPcHAwo0aNYvPmzeTm5tK/f398fJqdC1CTICkpicTERIYPH06rVq3KonfKlE1HIc/PXcVXnz6Bb1ISJUOHEr3oE34MPnm0Vnp6OqmpqYwcObJeyzyrV6/mww8/3J+VlfV8nTtpfG7G8lP7PXA/0BW4ulFHVENO6U1zzBhYvRouvxw2bIARI+CLL2DQoIaR5yUq+95UtBhPjIKJnz8FO9ZBq1b4fPQRXHppuesbFuzP0WNOSlxaZT8Gg7do1nfNjIyMmf/4xz9SEhJqHkThGYq36cmLmTNpEF8n+dIquh3PTv0jqa3bMuKXn3ntf88S5HLy+KfbyoXl5R0tIHn3NhyBHU+6lOPn58eQIUMIDAxkzZo1TSZcuLngdrvZvn07ycnJjBo1qiyxWsX8CxEFOfz3vZm0OZCIe8AA1j7xBJlHT15wOD8/n+3btzN06NB6KZBFRUXceOONmenp6deoanPOoz5RVYtUNVdV/6CqDwATanKiiPiKyCYR+aJC+0MioiIS6dE2U0T2isguEbmkvoOuLGlYg6dXj4uDNWtg9GhISoJRo6wihU2Yk1U3Dt2+HYYOhXXroFs3WLmyTEHxvL6OwpIyBaWyfgwGb9KslRRVPZaenj5p8uTJWZ7+FbVh4lmduW7EGby714f+A6N44NY/kRkSxrkHNvHKgmdY8OPusi92qL/yf3EuFuz3Yc7ympVzFxF69+5N9+7dWblyJcnJpi5FTcjJyWHFihUEBAQwfPjwcqnuPR2g2x11MHfe48RlHmRPu674LF3KkIsvPmmtn9JoqPj4eAIDA+s11kceeSTP4XDMUdW99eqo8ZlSSdstNTz3PqDc04KIdAUuAg55tPXDcs7tD4wH/iUi9fI+PdnNt8GIjISlS+GWW6CgwHKu/d3voLDpZEz9dFMyo2d/R+yMRVUmTzucfZSfpz3O4GnTIDUVxo2zFBXb36+y61tpPyZTrKEBaNZKCoCqbkpLS3tj9uzZBXXt4/udGRS7hLd2+zL67GjuuPGPZIaEcd7+jbw9/0naFB8tU1A+OeDLvjyp9ReyQ4cOjB49mrS0NNatW2esKlXgdrvZuXMnW7duZfDgwfTq1euEZZjSPAvRuenMf386/dL3sy8imhuve5ZPk0tOWutHVdmwYQO9evWqV/FAsJZ55s2bt685L/OIyPUi8jkQKyILPV7LgCM1OL8LcDnw3wpv/Q14BMolOf0V8KGqFqvqfmAvMLyuY/90U3LVN99TcdMMDIQ33rAcaYOCrL8jRliVlBuZihaQyojKO8K7855gwIvP4uN0wn33WT43kcerGdf0OppMsYaGoNkrKQAZGRmPvfTSS4d37NhRp/NLv4RHioVPD/gw5twzuPnm2RxuE8nwpB3M/3Am93Y6UqagQN2+kAEBAcTHx9O1a1djVamEUuuJj48Po0ePrtLZd1xce7ofSeKj96bTIyuZhPbd+PUNfyG9dduyp+eqFBVVZcuWLURERNC5c/3WzwsLC7nhhhuOtIBlnpVYmWV3Uj7T7ANY1o6T8XcsZaTsGojIlUCyqm6pcGxn4BeP/SS7rdaU3oSr4pTdNEXgttus5Z9evWDbNhgyBJ5+GmpRud3bVGsBUeXKHcv56s17OOfgFo4Eh/LVw0/A3/8OFQp01uQ6mkyxhoZCmk/ts+oRkcH9+/f/dvPmze1qGyo7evZ35Z7GBkS4GRft5ovVR3jrg8eJyU7hcEQHplz1JHvaxxDs78usqwcCdc8BcOzYMbZt20ZJSQn9+vU7afRNQ9OY0T3FxcXs3r0bh8PBoEGDyl2Lig6R4+Lac+h/X/HiR38ioiiP9Z37ctu1T5EbZOVsEWD/7MvLzvfMo9KuXTt+/vlnRIT+/fvXOyPuPffckzd37tw/ZmVlzalXR00EEWkFFKqqW0R6A3HAV6paZVZAEZkAXKaqd4nIWOAhYDLwPXCxquaIyAFgqKpmisg/gVWq+p59/uvAl6q6oEK/twO3A7Rv337I/PnzT5C9KzWPY67KdUMfETpHBBMeXH3V3erIz8+vdS4g34ICuv/nP3T+9FOrj+7d2f3gg+T269egcitjW3JOpe2h6WmMffMVYrZtAuDQgEF8c8d9tIluS1TbEy2LjsISkrMLcXvcKwTB1wecbiXA14cOYUF1vtbemq+R2zTljhs3boOqDq3r+S1GSQFo3779c3fffffdTz/9dK2yqFX0egcY3M7NeR3dhOVmM2rWn4lL3kNuQAgzJz/KRQ/cAnDCOWCF8T19Zf8aKytZWVkkJCQQHBxMXFzcKUsAV5HGUFKcTieJiYmkpKTQs2dPOnfuXE5xqOz/MmnrEp5d/C8C3E6W9hjG76+cXlYgEqzsmT/NOL+cnNJw8datWxMQEMDAgQPrraD89NNPXH311ZvT09OHNHMrShkisgEYA0QAq4H1QIGq3ljNObOwooKcQBAQCnxl91O6BNsFOIy1rHMrgKrOss9fDDytqquqktGnTx/dtetE/5LYGYuqXMb4+68H1zvSpF7fieXL4be/hcREa/+GG2DWLDjjjIaV60HFh6/QonzuWv0Rt65fSKCrhJzAVvx53G3MP/MiVHyYOdjNHdddUWlfDRk91VgPSEbuqUFE6qWktIjlnlIyMzMf+/e//73zq6++OrmXlweeaaLBquuyL1cIDYCC8AgmXz+LL+LGEHqsgH/MfZJDj/+Jpz/7uVJTam1T67dt25ZRo0bRuXNn1q9fz7Zt21q8v4rb7Wbfvn38+OOP+Pv7c+6559KlS5cTFJQH528pu8Z+LiePL/0Pc776BwFuJ/8ZNpH/u/rxcgpKVSbnwMBAIiIiyMjIoFOnTvVWUJKSkpg8eXJ6enr6r1qKgmIjqlqAFXb8kqpeBVRrAlDVmaraRVW7YTnEfqeq16hqlKp2s9uTgHhVTQUWAteJSKCIxGJltF1bl8FWtQzROTy48UNhzzvP8kt59FHLb+X996FPH7j3Xvjll5Of7wUevqQP/r5Cm+KjTF39Mctf/T+mrllAoKuEz/uP5cLfvcK8QZeg4kOwvy8dwoKq7MszKtKkrzecSpptnpTKUNUSEbnk1ltv3bx8+fLOFQvPVYdnZsSioiL+s2Axc/f6EhagTDnTj0f8HyJxeRfuW/kB9375Cn32bObhy6aVLTN4UhpZUNMvsojQoUMHoqKiSE5OZtWqVURGRhIbG1sWdtsSKCkp4dChQxw6dIjo6GjGjBlTaRbbUguKy7bydcrN4OXP/sKQwzsp8fHlyYvu5IMKmWSrKhioqmzbtg0RYezYsaxdu7ZcCv3aUlhYyPjx47PS0tKuUdVDJz+jWSEiMhK4Efit3ebV3whV3S4i84EdWNaXu+3strWmYnJGaGK+ESEhVhr522+HGTOsisovvQSvvAI33wxTp1ohvw1UiDMk6SAPffcm12/8ktBjllFrbdcBFDw7C9eAswhYvAvxsIyE5+ypUb9VWVVMgjdDQ9CilBQAe937sksvvXTpxo0bI8PDw2t1funSwIrMYPbllQCCS+H2fm5e87mBHR1imfPli1yyZzX93rqPu381na2dep/QT10iC0SELl26EB0dTWpqKps3b8bPz49u3boRFRXVYFWFG5qcnBwOHjxIVlYWXbt25ZxzzikXUlwRT4e/sYnreWHRC7QtzOVwm0h+f+V0Nnbpe8I5lRUMdLvdbN26FX9/f/r164eIlE+hX0tFRVW57rrrHIcPH37C6XSuqNXJzYNpwEzgE1uZ6I7lW1IjVHUZsKyS9m4V9p8Fnq3HOIFmVBsmJgY++MCyqvz5zzBvnhUR9MYbMHiwVQ9o4kTo2bP+stLTrcRy777LxcuWlTWvOmMg/x5xLT/ExtM5OYSfbj4xXf2yZSdXUqpKCLf+YBYLNiRXmyiuqv7SUvO4dcaipvv/MzQqLU5JAVDVrW3atLnriiuueHXZsmURNU2b75nq/vqwIrbaX8atWT4Uu+Cufi7mBozksqju/POzvzAodQ8L3nuYf46czD9HTqbE9/iNtz6RBT4+PkRHRxMdHU1OTg4HDhxgx44dZW2tW7du8gpLUVERqamp/PLLLwQEBBATE1OpL0hlT1+HHYWEHCvkse9f58bNXwOwPDaeaRMeJDvkRMe+ygoGHjt2jA0bNtCuXbtyYcwn1PqphaLypz/96ejq1as/ycrK+ldtr0dzQFWXA8s99vcB9zbeiE5Os6oNM3Cgpaw884xVnPCtt2DzZuv18MPQrx+cey4dIiIgKgq6d7fCmqvC5bKWjjZsgLVrLT+YtWvLKjQX+gXyVZ9RvBM/gc3Rx61L9QnNrionzQdrfimzfHq2V2dRLlV47opzo/iYzLWGSmmRSgpAXl7eR1FRUUPuu+++O19++eWThs5UrMUz0U4mO2fxLpIdhezK8eHt3cJverlYEhTFpBuf48mf3uGm1Z8w7acPuGjPGh66fBoJUd0ByD5azOA/LCGnsKReTwhhYWEMGjQIp9NJSkoKCQkJHD16lPbt29OxY0fatm3bJNLtqyp5eXmkpqaSlpaGiNCxY0eGDh1KcBXp6at6KhudsoNnF75AjCOVYl8//nbOTbw64mrExwd/EUo8SspXVjAwLy+PDRs20KdPHzp16nSC3LooKgsXLnS+/PLLO9LT02+vzXVpDojI31V1mp0r5QRfVFW9shGG1XLp1csq2Pfss/D55/DJJ5b1Y8cO2LGDvmA52YpAly5WzpI2bSA4GIqKrGRx6elWptuKSSwDA61kbFddxa8Od2R30YkPaPV5gKpKwamooJSS7CgktgorSXVJ+IySYiilxSopYKXN/+ijj+Lj4+PPu+222wKqOq6qYoGlT2mlN9P0Ihf/3OHLb3q56draj9Y3/APy7uPoTVPon7SPz95+gP8On8hLI6+jgCAKSiyfSm88Ifj5+ZVVN3a5XGRmZpKcnMy2bdsIDQ2lbdu2hIeHExoaSk0tR/VBVcnPz8fhcJCdnc2RI0do3bo1HTt2ZMSIEQQEVHm5geOOsZ4/bhEFOcxc9iaTt30LwI6oWO6f8CC72nfD30eYM8mqjVKdeT8tLY2EhATi4+OrDeuujaKyfft2br/99pT09PTxqlq31MZNm3ftv802IV2zJDAQrr3Weh07ZuVZWbWKzM8+IzItDQ4csCwl1Tnaduxo1QwaNgzOPhvGji2rynxXJdFx9fXZ8awk70lpEc/K8CxVAMd/A6tSeEzmWoMnLVpJsaslXzVjxoyNcXFxvUaNGnXCGkl11YxLqbj2vSi1FTfH+bJr+xb6JChdf/dPfrfoVa5b9zl3rf6YiduX8afzf8eXfUaXOcV58wnB19eXDh060KFDB1SV3NxcsrKyOHjwIDk5Vm6E0NBQwsPDad26NUFBQQQFBeHn51frZSKXy0VRURFFRUUUFBTgcDjIycnB6XTSqlUrwsPD6dSpEwMGDKixRaeiY6yP28Wkbd8yY9lbRBTlUezrxysjJvHyqONLaP6+crwIWiXXUFVJTEwkPT2dUaNGnVRJgpopKkeOHOHyyy/PTEtLG9+MqxtXi6pusP8uF5H29nZG447qNCMgwCpcOGYMPw8fboWKlpRYCkp2NuTmWlaUoCDr1a6dFc5czXJQQ/jsVOWsfM2QzuV8Uiqj4m9gVQqPyVxr8KRFKykAqnpURC665pprVi1ZsiR64MCBZe/VREEpxXPtu/QmOyDMzZ393Lyzx5cZ59/Bh3Fjeeabf3Nm6l7+9dlsVp5xJs+dN6VsPTjZUcinm5LL9VPfHxARISwsrFx6d5fLRW5uLjk5OaSlpZUpGaX1jXx9fQkMDMTHxwcRQUQoKChg/fr1qCrHjh2jpMTK3+Xj41Om5ISEhNCxY0fi4uKqdXw92dzKzLyqnLd/IzOWvUnfjAMArIgZxBMX38X+tuWvQ6lVqjKcTidbtmzB39+fs88+u1bLX9UpKrm5uYwdOzYrMzPzNlWtWzrjZoBYmutTWNWPBfARESdWGPIzjTq40xl/f8svpR7U12ensu/xrKsHVvrdHhrTtqy9qvw1nlaSUoXHCvKyaFLRWYYmQYtXUgBU9ZCIjBs/fvzypUuXdoyLi6uVglKR0pvsukwf0ouE23q7WJnmw0p6M/Hmv/Lrrd/wyPK3GXVoK5+++yBLep3N82NuYnf7bjz88RaeXrgdR2EJwnEHAG86jfn6+hIREUFERESl7zudToqLi1FV3G43qkp2djZ9+vRBRAgICMDf37/OzrmV+ZqUzjunsAQFzkreyYM/vss5B62s6UmhUfzlvCl83vfcWoVkHjlyhG3bthEbG0tMTEydxluZonL06FHGjRuXdfDgwbvz8/M/r1PHzYdpwGhgmF1PBzuy598icr+q/q0xB2doHKryGZt19cATEiZCeYWoYiK5UjytJKXHpu3aiNjvmegeQ0VOCyUFQFV3i8iFF1544XeLFy+OysjIqJOCAuWfBg7mCy9u92XCGW6m9lXmJfrwweDxLIo7hzvWLODWDQu5eM9qLtyzhi/7jOa1EVeXhSxXfNo4VU5jfn5+J+Qn8fX1pU2bNrXqpyprSWUOcSUuxVFwjJGHtnLPynmMOmQVYHMEteblkZN5N34CTv9AQvykUqtJREh5y43T6SQhIYG8vDyGDx9e70y9nopK9+7dmTRpUnZiYuKDubm5H9ar4+bBb4CLVLWsyJGq7hORm4AlWIUCDacZ9XFsrWkOm4lndWZZzh72zx7rtXEbWhanjZICZYmkLr7ssstWLFiwoHVdFBQ4cS21xC18csCXQe19uLO/k++TlZ354cw5bwpvDbmSu1fN44bNXzNh1wom7FrBqjMG8urwq1nefQgq5ZcmmovTWFVPWXDiHAKcJVy6awW3bvicwSm7AcgNCOGdIRN4bfjV5Aa1RoC/TbYcYx/+eAslruMqnL+vlIvgKbWexMTEMGDAAK+FYwcFBXHmmWdyySWXHEtMTHzc4XC85ZWOmz7+ngpKKaqaISJ1L35jaNbUx7G12eSwMTR5TislBUBVt4jImIkTJy5eunRpVG2y0pZS1VPCrecPZMLADoxMSCA/P5/ff51FBhE8fdFU/n32tdy6fiE3bP6akYe2MfLQNn4J68C8My/io4EXktbG8oXwESF2xiLCQ/xRtdLsl3rOd/byF93TEjJjsBuHh7/Myc6rGJkD1lPWtHmbrdUahS6OVCZv/YbrtyymfYEDgKzgUF4f+ivejb+8XLZepfwyV2U/bk6nk507d5Kbm+sV60lF8vPzGT9+fPaePXtmZmdnv+rVzps21ZXqbbwyvoZGpb6Orc0qh42hyXLaKSkAqrpZRM4///zzv128eHHHAQMG1Or8kz0lDBw4kMzMTG7d9xNbsnxYniKktYlk9rjb+OeoX3P95q/5zcZFdM1J46Ef3+P+Fe/zffchfN73XJb2HEF+YAjZBccLz5YqA970W6loCTnmctc4Q6RnZE5FQovyuXznCq7a/h3Dk477mia078bb8RP4rN/YcvV2SulcYa3acwyqSnJyMnv27CEmJsYrFYwrYjvJZu/bt+9+h8Pxtlc7b/oMEpHcStoFq2ig4TTB88ElLNgff18pZ9U0jq2GU81pqaRA2dLPeRdddNGyhQsXdho2bFitzj/ZU0JkZCTzk1oTG1jAtAEufkrzYVW6kBfYitdGXMN/hl/FmP2buG7LYi7au4YLE9dxYeI6in39WdZ9CF/3HsWPsWeR2aq882thiYsH528p2/dUlMbFtef7nRlVmlc9f4CQssSU5fr+w+fbT1C+POVUdl6n3Awu3LuGi/as4exD2whwW976hX6BLO59NnMHX8q6Lv2rdIit7ocvPT2dnTt3Eh4ezsiRIwkMDKzymteVjIwMLrjggqwDBw7clZubO8/rApo4qtrwiXUMTR5HYQkzlx5/cHEUluDvI0SE+OMoqF9SSoOhrpy2SgqUOdOOmjBhwrd//etfu950000nT65RCx64OI6Z/9vG6nQn46LdPDDAzbJUXxLz/XEUOvmpx1B+6D6EyKPZXLZzBZfv+olhv2znkj2ruWTPagC2R3Xnh9h4VsacyeboPuQFtsKlysMfbwGlLPtqsqOQ91Yfr3dX0epS0XJSVYxgdkFJmRWnNCrHUw4KYYV5jPjlZ0Ye2srZh7aVhQ8DuMSHFTGD+KT/+XzdeyRHA48vyXQOD+awo7BsKau6bLzZ2dkkJCQQGBjIkCFDGqzQ4tatW5kwYUJGenr6b4qKir5uECEGwymmLukN0nKKKCwp7yNX4lZCAvzY9OTFDTlcg6FKTmslBUBVD4jIWQ888MDCjRs3DpkzZ04bb2Vs9VwWWpxUSGJhIHfHt6KtfwlxcXGMeGEtIGS2iuCdIVfwzpAriMo7wqW7VzIucT1n/7KN/un76J++jzvXfIwbYU9kVzZGx7G9Y0/2tOvK7sgzKq1nA8d9ROYs3sXRYme1iZYqRZXQXAc9j/zCgNS9DEzby8DURGKzkvHx0HIK/AP5ITaeb3qezXc9hlY6ns7hwZWGLVYkLy+PnTt34nK56N+/f7n8L97m448/dt59991J6enpl6jq7gYTZDCcQqpzaq9OUTnmcgMn5hhqLs78hpZJk1dSRKQr8A7QEXADr6nqiyIyB7gCy7EvEbhVVR0i0g1IAHbZXaxW1al2X2OxUn9/p6qPlMpQ1TwRueC9996bs2nTpls/++yziOpSqteGypaFjh49yq5du3h4kPJdsrLpiOBSaykkvU073h5yBW8PuYLAkmKGJ21nzP5NDEvaQf+0RPpkHqJP5iHYuqSsv4yQcA6FdyQltD2H20SSEhrJkZAwcgNbkRvYmryMEPx9/Wjj44uK4BYh0FlCSEkRQSXFtDpWSJ+cLG7fmUv7o9l0yM+iW/ZhumUdLivx7kmxrx+bouNYfcZAVp1hWXjcAYHlaup4crJ1bFUlMzOTffv24XQ66dOnT60rFNcGt9vNk08+mf/aa69tzcjIuFxVHZ7vi8gbwAQgXVUH2G1/BH6F9RlMB25R1cN1+bwZDA1JXUOHA3wrT4JoMsAaGpMmr6RgpSN8UFU3ikgbYIOIfAN8A8xUVaeI/AWrxPx0+5xEVR1cSV93AmOAP4lInKruLH1DVd3Ag6GhoRvi4+P/8fXXX7fr6Y3S6ZXQqlUr4uPjOeSKINqxnQuiXWzJElan+5BzTFCsvCCq/vwYG8+PsfEABDqP0T81kbMO7yQu4yC9jhykV+YvtC9wWNEzh3dWK/dkVGbQzQ1sxb620eyI6s7PHXuyrUNPdrXvxjG/45GpESH+PHVF/zLzck2WcwBKSkpITk7m4MGDtGnThj59+hAeHl6vOZyMo0ePcu211zo2btz4YUZGxu9VtTLz0lvAy1jKcSlzVPUJABG5F3gSmGq/V+vPm8HQUNQ1dLhDWBDB/i6v1voxGOpLk1dSVDUFSLG380QkAeisqks8DlsNXFuD7nywvDHcWJELJ5Cbm/u+iCScc845X7z33nsdL7zwwgYrMTxxWCz4BfDCkp109C3gt3HQtV0rRpzZhw4dOpSldy8z3xLAxi592dilb1kfom6iczPpnJtOp9wMOudm0DHvCOFFeYQWHSW0OJ/QoqP4uV34qNt+KcV+/hT6B1HoF0iBfxBRnUP58VgEGa0jyGgVwcHwThyIiOZISFi1GWBLqxDXNNxQVXE4HBw8eBCHw0F0dDQjRowgqLqS9F7i4MGDjB8//khqaur07Ozs16sZ4w+2hcSzzTP6pRVVevWU46SfN4PB29Q1dDg82J9ZV/czuU0MTYomr6R4Yt84zgLWVHjrNsAzKiNWRDYBucDjqvqj3f5fYCXwvaomVCVHVTeJSPwNN9zwzYMPPtjz4YcfDq5NPZjaUPHmnpeXx8GDB9m5cyehoaF06tSJywdEAQMrzU2i4kNyWBTJYVG1khvhkYcF4MGBTv667eQfBx+B0CD/k1pJPHG73WRlZZGamkpmZiatW7cmJiaGQYMGeT2UuCq+/fZb929+85v0lJSUiapa8fNTI0TkWazsrDnAOI+36vV5Mxi8SU2zvVaGyW1iaGo0GyVFRFoDC4Bpnk+1IvIY1pLQXLspBThDVY+IyBDgUxHpr6q5qroYWFwTeaqaJiLDXnjhhb/Nnz//1/Pnz2/bo0cP706qEtq0acOAAQPKLA5paWns3buXDv7+/PXSTsxenkrq0eNp4/19pXz0TRVtngiUeetXVWMjIsSfohL3CT90s64eWKMfsZKSEtLT00lNTSU3N5e2bdvSsWNH+vbti7cck2tCfn4+99xzT86XX365PT09fZKqHq5rX6r6GPCYiMzEKsb3FF76vBkM3sJkezW0JJqFkmKn5l4AzFXV/3m0T8FycLxA1TIxqGoxUGxvbxCRRKA3sL62cu2+7hKRd0aNGvXhjBkzOtx3331BDWVV8UREyooExsXFUVBQQFpaGjOGO0jJzmevQ8nXQC6N7w7+wcxZsvuE3CaVWV6gvNm3qkqkpWnoa/JDp6oUFhbicDhwOBxkZ2fjcrmIioqiR48ehIWFnTKLiSffffed3nLLLZm5ublP5OTkvFb6GfEC7wOLgKe8+XkzGLyFsYgYWgpNXkmxy8i/DiSo6gse7eOxHGXPU9UCj/b2QJaquuxKrr2AffUZg6quFpG+s2fPfuH999+fPG/evLbd61lCvbaEhIQQGxtLbGwsTqcTh8NBTk4ODoeDvNxkZo3yIyysC+Hh4YSHtyY4OBgmncnMT36u1ux7skqkFX/onE4nRUVFZbJzcnIoLi4mJCSEsLAw2rZtS/fu3U+Jj0lV5Ofnc++99+YsWrRoR3p6+mRVTapvnyLSS1X32LtXAjvtdq9/3gwGg8Fg0eSVFKwS8jcD20Rks932KPAPIBD4xn5KLw39PBd4RkScgAuYqqpZ9R2EqhYCd4rIOyNHjvxw5syZUffee+8psapUxM/Pj8jIyHJhuiUlJeTm5uJwOEhMTKSwsJDwkhJmjfQlOaeEzELFJX7Ex0ZyVlsnSUlJ+Pj4ICKc3cmXbZlB/HRvf1QVt9vN3r17KS4upqioiKKiIkpKLN8VX19fgoKCCA0NJTIykh49ejSqQlKR77//Xm+55ZbMnJycJ3Nycl6ti/VERD4AxgKRIpKEtaxzmYj0wXKCPcjxyJ4G+bwZDAaDoRkoKaq6gsojI76s4vgFWEtDDTWeVSISN2vWrL/PnTv32g8++KBtQ4Uq1wZ/f3/atWtHZZWdnU5nOYWjuLiYkpIS3G43qoqq4nK5yM/PR0Tw8fEhMDCQsLAwAgMDCQoKwt/fv1GWbGpKbm4u999/f+6iRYsS0tLSJqnqL3XtS1Wvr6S50mighv68GQwGw+lMk1dSmiK2VeUOEXn7nHPOeXPChAkdnn322bAOHTo09tAqxc/PDz8/v2pTy6emptK7d+9TOCrvUFxczEsvvVT0wgsvOAoKCp72su+JwWAwGBqRU79W0YJQ1ZVpaWl933///amDBg36Zfr06fm5uZUVkzV4G5fLxVtvvVXSs2fPjNmzZz+fkpLS0+Fw1Gl5x2AwGAxNE6Ok1BNVdRcUFHyYlpbW49VXX320T58+qc8//3xRcXFxYw+tRaKqLFy40B0XF5c5ffr0N5KSkvpmZmY+oapHG3tsBkNT4NNNyYye/R2xMxYxevZ3fLopubGHZDDUGaOkeAlVLXE4HC+lpqb2nD179vM9e/bMeOutt0pcrloW9TNUyU8//cRZZ5115I477vh079698WlpaVNV9Uhjj8sAIuIrIptE5At7f46I7BSRrSLyiYiEexw7U0T2isguEbmk0QbdAinNTp3sKEQ5XlzQKCqG5opRUryMqh7NzMx8Iikpqe/06dPf6NWrV+Zrr71WUlhoKonWBVVl8eLFjBo1KvPaa6/9YcuWLWNSUlKuqY9jrKFBuA+r0GIp3wADVPVMYDdWbS1EpB9wHdAfGA/8S0ROXXa/Fk51xQUNhuaIUVIaCFU9kpaWNnX//v39Hn300ee7d++e+uCDD+YlJdU7ZcdpwdGjR3n55ZePde/ePfOWW26Zv2rVqrEpKSnnmfTyTQ8R6QJcjlUGAABVXaKqpRkCVwNd7O1fAR+qarGq7gf2AsNP5XhbMnUtLmgwNFWMktLAqGpGZmbmo6mpqTH/+te/7h42bNiuCy64IPOrr77CLAWdyNatW/ntb3/r6NGjR8pTTz0168CBA31SUlJ+rarbG3tshir5O/AIVg6ZyrgN+Mre7gx4WsGS7DaDF6iqiODJigsaDE0VE4J8ilDVY8C7wLsiMighIeFhHx+fi6dMmRJy++23t4qJiWnsITYaOTk5zJs3z/niiy9mOxyOXYcPH/4zsERVjRbXxBGRCUC6XRJgbCXvV6ytVVmynRMiskTkduB2gPbt27Ns2TIvjbjm5OfnNzu5Dw9ykZztwu0R5OYjQucI10n7bI7zNXKbvtx6U5rMy7xO/QsICQ4Ovi06Onpjz54906dPn56/bt06dblceqr5/vvvT6m8ffv26QsvvFA8ZMiQ9I4dOya2bdv2GaCTNoH/i3nV6jM8C8sacgBIBQqA9+z3pgCrgBCP42cCMz32FwMjq5PRu3dvbQxO9XfCW3I/2Ziko2Yt1W7Tv9BRs5bqJxuTToncumLktmy5wHqtx2+MsaQ0ImrVHHoDeENEQp977rlL5s6de6vL5Roybtw4vxtuuKHt+eefb9Xhaea43W7WrVvHRx99lP/JJ58UFhcXH8zOzn6noKDgUzVOsM0WVZ3JcafYscBDqnpTVbW1gIXA+yLyAhCNVeto7SkddAvHFBc0tCSMktJEUNVc4CPgIxHxe//990cuXbr0JuCyuLi4wMmTJ0cMHz7cb+DAgQQGBjbyaE+O2+1mz549rF+/Xj///POsH374weXr67vm8OHDb7nd7iWqmt/YYzQ0KC9TSW0tVd0uIvOBHVjLQHerWdYzGAxVYJSUJohaURE/2i9EpM/atWsvadeu3QVOp/PMVq1ahQwZMsTn3HPPDR82bJjfmWee2ahF/lwuV5lCsmLFipyVK1cey8jIcPr7++/Oy8tb5nA4vsW6SZmbUQtGVZcBy+ztKgtaqeqzwLOnZlQGg6E5Y5SUZoCq7gJ2YVV+RkSCEhMTz1y4cOHwyMjIC5xO5+CQkJBWgwYNomfPnkHdunVrFR0d7dOpUyc6depEx44dCQgIqLN8t9tNRkYGKSkppKSkkJycrIcOHSo4cOBA0caNG11Hjhwp8fPz252Xl/d9Tk7OSmCjqmZ7Z/YGg8FgOF0xSkozRFWLsNbx12KZ1RGRoH379sUBnX19fTtHRET0CA4OjlXVrk6nM8rHxyc4ICDALzIyUsPCwvD39y99ia+vr+Tl5bX+29/+lldSUqJOp5OCggLS0tKksLDQ5XK5jvn5+WWKSHJJScmBrKysPceOHUsGUoAEVXU02sUwGAwGQ4tFLOdbw+mAiPgAkUArLAXV3/7rB7iwfAScQAlQDGSoFTptMDQaIpKHZUk81UQCmUaukWvk1os+qtqmricbS8pphKq6gfTGHofBUEt2qerQUy1URNYbuUaukVt/ufU532ScNRgMBoPB0CQxSorBYDAYDIYmiVFSDAZDU+c1I9fINXJPT7nGcdZgMBgMBkOTxFhSDAaDwWAwNEmMkmIwGJosIjJeRHaJyF4RmdHAsnxFZJOIfGHvPy0iySKy2X5d1kBy7xORn0Vku4hMs9vaisg3IrLH/hvhBTlviEi6iPzs0fZHEdlqz2+JiETb7d1EpNBj7q94We5gEVlt971eRIZ7vDfT/n/vEpFL6iizq4h8LyIJ9nW9z26fIyI77Tl/IiLh3pxvNXLnefR9QEQ2e3m+QSKyVkS22HL/YLdPsvfdIjLU43hvzbdSufZ799hz2i4iz9V5vvWpTmhe5mVe5tVQL8AXSAS6AwHAFqBfA8p7AHgf+MLefxqrYGJDznEA8DMQgpUS4lusoovPATPsY2YAf/GCrHOBeOBnj7ZQj+17gVfs7W6exzWA3CXApfb2ZcAye7uf/X8OBGLt/79vHWR2AuLt7TbAbrvviwE/u/0vpdfVW/OtSm6FY/4KPOnl+QrQ2t72B9YAZwN9gT5Y5SqGehzvrflWJXec/VkOtN+Lqut8jSWlBeOtJxgRGWsf+1xFGQZDAzIc2Kuq+9RKKvgh8KuGECQiXYDLgf82RP/V0BerrlWBWjW7lgNXYc3zbfuYt4GJ9RWkqj8AWRXacj12WwFed1KsTK4tJ9TeDgMO29u/Aj5U1WJV3Q/sxfoc1FZmiqputLfzgASgs6ousa8zwGqgS237rovc0vdFRIDJwAd2k7fmq3q8aKu//VJVTVCrrEqDUJVc4E5gtqoW28eV5ueq9XyNktKyeQsYX6HtOeAPqjoYeNLeR0T6AdcB/e1z/iUivvY5dwJjAF8RiWv4YRsMgPXj/ovHfhIeP/he5u/AI4C7Qvvv7aWBN7yx5FIJPwPnikg7EQnBsip0BTqoagpYNz4gqgFkAyAiz4rIL8CNWL8JpcTay1/LRWSMl8VOA+bYcp8HZtrtXv+fi0g34Cysp3xPbgO+8tj36nyrkDsGSFPVPfa+1+Yr1nLlZqyEnd+oasX5VsQr861Cbm9gjIissfsfZh9e6/kaJaUF48UnGB/7PDeWec9gOBVU9lnz+pO+iEwA0lV1Q4W3/g30AAZj1an6q7dlq2oC1rLDN8DXWKZwZ7UneX8Mj6lqV2Au8Hu7OQU4Q1XPwl4GE5HQqvqoA3cC99ty7wdet9u9+j8XkdbAAmCap9VIRB7Dus5z7SavzrcqucD1HLeigBfnq6ou++GzCzBcRAZUc7jX5luFXD8gAmvp52Fgvm1FqvV8jZJy+jGN2j/B/BdYCfjYP6oGw6kgCcuqUEoXjivV3mQ0cKWIHMBaUjpfRN5T1TT7B9gN/Ic6mOFrgqq+rqrxqnou1kPFHiBNRDoB2H9PRTmL94Fr7DEVq+oRe3sDlu9Aby/KmgL8z97+iOPX1mv/cxHxx1IU5qrq/zzapwATgBvVdpTw5nyrkesHXA3M8zjc659xtQq+LuNEK7rnMV7//1aQmwT8z14OWov1gBtJHeZrlJTTj1o/wajqYvtH9MFTNEaDAWAd0EtEYkUkAGs5cqG3hajqTFXtoqrdbBnfqepNpUqCzVVYSzNeR0Si7L9nYN3EPsCa5xT7kCnAZw0ku5fH7pXATru9felyr4h0x3Lm3edF0YeB8+zt87EUM7DmfZ2IBIpIrC13bW07t5/aX8eq0v6CR/t4YDpwpaoWeLR7Zb5VybW5ENipqkkebd6ab3s5HqkUXCrrJMd7Y75Vyf0U6/+KiPTGcnzPpA7zNQUGTz+mAPfZ2x9x3FHwVD21Ggw1QlWdIvJ7YDFWpM8bqrr9FA7hOREZjKWsHwDuaCA5C0SkHVb18btVNVtEZmOZyH8LHAIm1VeIiHwAjAUiRSQJeAq4TET6YD3pHgSm2oefCzwjIk6sCulTVbXi0nF95P4f8KJtXSgCbgdQ1e0iMh/YgbUcc7equuogdjRwM7BNjof7Pgr8Ayuy5BtLn2C1qk7Fe/OtVK6qfomlAHsu9Xhzvp2At23FwweYr6pfiMhVwEtAe2CRiGxW1Uvw3nyrkhsAvCFW0MYxYIpttar1fE3G2RaO7bz1haoOsPcTgDtVdZmIXAA8p6pDRKQ/lrl3OBANLAV61fELYzAYDAZDvTGWlBZMIz3BGAwGg8HgFYwlxWAwGAwGQ5PEOM4aDAaDwWBokhglxWAwGAwGQ5PEKCkGg8FgMBiaJEZJMRgMBoPB0CQxSorBYDAYDB6IyKV2TSNzj2xkzD/AYDAYWhgicpWIqNSgIKiIrPSCvHARuctjv5t4VF+vwfk1Hu9J+sk/+VHlju8mIoUeiddKORcr4/FIj2ODxaoef0xEIuszTkPNMUqKwWAwtDyuB1ZgZTmtFlUd5QV54cBdJzuoGmo83gYg0S6Q54kLqyp0Wa0yVS20jzOZuE8hRkkxGAyGFoRdgXc08Fvsm76ITLWtAJtFZL+IfO9xfL5tUdgpIv8VkZ9FZK6IXCgiP4nIHhEZbh9bzkIiIg+JyNPAbKCH3f8c+21fEfmPiGwXkSV2bZcajddDVkJlfYjIE/Z4vxGRD0TkoUr6vUlE1tpjerW0Vk1NUNXHVXVSXUsBGLyHUVIMBoOhZTER+FpVdwNZIhKvqq/YVoBhWHW6Kha/A+gJvAicCcQBNwDnAA9h1b2pjhnYFglVfdhu6wX8U1X7Aw7sCss1Ga/Heyf0ISJD7b7OwirIOLRihyLSF/g1MNqed6llxNDMMGnxDQaDoWVxPfB3e/tDe3+jvf8iVpXnzys5b7+qbgMQke3AUlVVEdkGdKvDOPar6mZ7e0M1fVQ33sr6iAQ+U9VCe6yVzeUCYAiwzi4kGAyk12EOhkbGKCkGg8HQQrCrKZ8PDBARxaoerSLyCFYF9Bjg91WcXuyx7fbYd3P8XuGkvAU+qJrhePbnwlIUajPeqvqQamSWdQ28raoza3CsoQljlnsMBoOh5XAt8I6qxqhqN1XtCuzHilZ5CLhJVd316D8NiBKRdiISCEyw2/OANl4c7znVnLMCuEJEgmx/lssrOWYpcK2IRAGISFsRianD+AyNjFFSDAaDoeVwPfBJhbYFwC1AW+B725H0v3XpXFVLgGeANcAXwE67/Qjwk+10O6eaLmo63huqGcM6YCGwBfgfsB7IqXDMDuBxYImIbAW+ATrVYlyGJoKpgmwwGAyGZoWItFbVfBEJAX4AblfVjSc7r5J+ugFfqOqAWpxzABiqqpm1lWeoPcaSYjAYDIbmxmt2AraNwIK6KCg2LiCskmRuJ1CazA3wx/LTMZwCjCXFYDAYDAZDk8RYUgwGg8FgMDRJjJJiMBgMBoOhSWKUFIPBYDAYDE0So6QYDAaDwWBokhglxWAwGAwGQ5PEKCkGg8FgMBiaJEZJMRgMBoPB0CQxSorBYDAYDIYmyf8DQjZNGfKlKB4AAAAASUVORK5CYII=",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"p,r,h,Azi,Distance, start_time=lidar_alignment(df_lidar_example,-18,25)\n",
"Azi,Distance = distance_to_water(df_lidar_example,-18)\n",
"\n",
"fig = plt.figure(figsize=(24/2.54,9/2.54))\n",
"ax1 = plt.subplot(121,projection='polar')\n",
"ax1.scatter(Azi/180*np.pi,Distance)\n",
"ax1.set_theta_zero_location(\"N\")\n",
"ax1.set_theta_direction(-1)\n",
"ax1.set_rlabel_position(45)\n",
"ax1.plot(np.arange(0,360)/180*np.pi,fit_function(p,r,h,-3,np.arange(0,360)),'r',linewidth=2)\n",
"ax1.grid(True)\n",
"ax1.set_ylim(0,590)\n",
"\n",
"ax2 = plt.subplot(122)\n",
"ax2.scatter(Azi,Distance,label=r'$r_\\mathrm{sea}$')\n",
"ax2.plot(np.arange(0,360),fit_function(p,r,h,-3,np.arange(0,360)),'r',linewidth=2,label=r'$r_0$')\n",
"ax2.grid(True)\n",
"ax2.set_xlabel('Azimuth Angle $[^\\circ]$')\n",
"ax2.set_xticks(np.arange(0,361,step=45))\n",
"ax2.set_ylabel('Distance to Sea Surface [m]')\n",
"ax2.set_xlim(0,360)\n",
"ax2.legend()\n",
"print(p,r,h)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 3. Apply SSL to Lidar Data\n",
"Here the lidar alignment is applied on the whole data set. This means for each SSL scan the Fit-model is applied to estimate the leveling, for this the distances for every azimut angle in every scan needs to be estimated. Depending on the number of scans this can take several hours. For this reason, we have saved the results in a df_results_SSL.zip file to faster progress through the code.
\n",
"The variable [do_the_calculation] lets you recalculate the results and overwrites the df_results_SSL.zip file with the new results. "
]
},
{
"cell_type": "code",
"execution_count": 15,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/plain": [
"1930"
]
},
"execution_count": 15,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"# The calculation of a single sea surface scan takes about 40 s. \n",
"# To calculate the entire example data set the calculation takes several hours. \n",
"# Therefore we pre calculated the results and stored them in a zip file.\n",
"do_the_calculation = False \n",
"if do_the_calculation:\n",
" P = np.array([])\n",
" R = np.array([])\n",
" H = np.array([])\n",
" T = np.array([])\n",
" df_results_SSL = pd.DataFrame()\n",
" for scan_nr in tqdm(df_lidar.scan_nr.unique()):\n",
" idx = (df_lidar.scan_nr == scan_nr)\n",
" p,r,h,Azi,Distance, t=lidar_alignment(df_lidar[idx],-18,25)\n",
" if any([np.isnan(p),np.isnan(r),np.isnan(h)]):\n",
" continue\n",
" else:\n",
" P = np.append(P,p)\n",
" R = np.append(R,r)\n",
" H = np.append(H,h)\n",
" T = np.append(T,t)\n",
" df_results_SSL = pd.DataFrame({'pitch':P,'roll':R,'height':H},index=T)\n",
" # df_results_SSL.to_pickle('df_results_SSL.zip')\n",
"else:\n",
" df_results_SSL = pd.read_pickle(df_results_file_path)\n",
"len(df_results_SSL)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 3.1 Compare heights with measurements from BSH\n"
]
},
{
"cell_type": "code",
"execution_count": 16,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"height above sea surface: 24.83 m\n"
]
}
],
"source": [
"ssh = pd.read_csv(ssh_gt1_file_path,sep='\\s+', header=None,names=['date','ssh'])\n",
"ssh.set_index(pd.to_datetime(ssh.date,format='%Y%m%d%H%M'),inplace=True)\n",
"ssh.drop(['date'],axis=1,inplace=True)\n",
"df_results_SSL = df_results_SSL.join(ssh,how='outer')\n",
"cost = lambda x: np.sum((df_results_SSL.height.resample('1h').mean() + df_results_SSL.ssh.resample('1h').mean()-x)**2)\n",
"opt_height_diff = minimize(cost,0)\n",
"opt_h = opt_height_diff.x\n",
"print('height above sea surface: {:.2f} m'.format(opt_h[0]))\n",
"df_results_SSL.ssh[pd.notna(df_results_SSL.ssh)] = opt_h - df_results_SSL.ssh[pd.notna(df_results_SSL.ssh)]\n"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
},
{
"data": {
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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"ax1 = df_results_SSL['pitch'].plot(style='.',label=r'$\\phi_\\mathrm{m}$',legend=True, grid=True)\n",
"df_results_SSL['roll'].plot(style='.',label=r'$\\rho_\\mathrm{m}$',legend=True, grid=True)\n",
"start_time = pd.Timestamp('2019-05-14 08:00')\n",
"end_time = pd.Timestamp('2019-05-17 12:00')\n",
"ax1.set_xlim(start_time, end_time)\n",
"ax1.set_ylim(-0.2, 0.1)\n",
"ax1.set_ylabel('Angle $[^\\circ]$')\n",
"ax1.set_xlabel('Date')\n",
"plt.show()\n",
"\n",
"ax2 = df_results_SSL['height'].plot(style='.',c='b', legend=True,grid=True)\n",
"df_results_SSL['ssh'][pd.notna(df_results_SSL['ssh'])].plot(style='-.',c='r',legend=True,label='NEMO',zorder=2,grid=True)\n",
"ax2.set_xlim(start_time, end_time)\n",
"ax2.set_ylim(24.25,26.25)\n",
"ax2.set_ylabel('Height above sea surface $h$ [m]')\n",
"ax2.set_xlabel('Date')\n",
"plt.show()\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 4. Platform Tilt Model (PTM)\n",
"The PTM attempts to relate the leveling of the transition piece to the thrust of the turbine. We have the measured instantaneous leveling given by the two angles $\\phi_\\mathrm{m}$ (measured pitch angle) and $\\rho_\\mathrm{m}$ (measured roll angle).\n",
"To construct the PTM we need to determine the follwoing three variables:\n",
"$\\phi_\\mathrm{r}$ (pitch angle at rest, i. e. without thrust), $\\rho_\\mathrm{r}$ (roll angle at rest) and the variable $\\tau$, which is a linear scaling factor for the thrust of the wind turbine."
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}\\left(\\left(\\sin{\\left(\\gamma \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\tau \\right)} - \\sin{\\left(\\gamma \\right)} \\cos{\\left(\\gamma \\right)}\\right) \\sin{\\left(\\phi_{r} \\right)} - \\sin{\\left(\\gamma \\right)} \\sin{\\left(\\tau \\right)} \\cos{\\left(\\phi_{r} \\right)}\\right) \\cos{\\left(\\rho_{r} \\right)} - \\left(\\sin^{2}{\\left(\\gamma \\right)} \\cos{\\left(\\tau \\right)} + \\cos^{2}{\\left(\\gamma \\right)}\\right) \\sin{\\left(\\rho_{r} \\right)} - \\sin{\\left(\\rho_{m} \\right)}\\\\\\left(\\left(\\sin^{2}{\\left(\\gamma \\right)} + \\cos^{2}{\\left(\\gamma \\right)} \\cos{\\left(\\tau \\right)}\\right) \\sin{\\left(\\phi_{r} \\right)} - \\sin{\\left(\\tau \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\phi_{r} \\right)}\\right) \\cos{\\left(\\rho_{r} \\right)} - \\left(\\sin{\\left(\\gamma \\right)} \\cos{\\left(\\gamma \\right)} \\cos{\\left(\\tau \\right)} - \\sin{\\left(\\gamma \\right)} \\cos{\\left(\\gamma \\right)}\\right) \\sin{\\left(\\rho_{r} \\right)} + \\sin{\\left(\\phi_{m} \\right)} \\cos{\\left(\\rho_{m} \\right)}\\\\\\left(\\sin{\\left(\\phi_{r} \\right)} \\sin{\\left(\\tau \\right)} \\cos{\\left(\\gamma \\right)} + \\cos{\\left(\\phi_{r} \\right)} \\cos{\\left(\\tau \\right)}\\right) \\cos{\\left(\\rho_{r} \\right)} - \\sin{\\left(\\gamma \\right)} \\sin{\\left(\\rho_{r} \\right)} \\sin{\\left(\\tau \\right)} + \\cos{\\left(\\phi_{m} \\right)} \\cos{\\left(\\rho_{m} \\right)}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ ((sin(gamma)*cos(gamma)*cos(tau) - sin(gamma)*cos(gamma))*sin(phi_r) - sin(gamma)*sin(tau)*cos(phi_r))*cos(rho_r) - (sin(gamma)**2*cos(tau) + cos(gamma)**2)*sin(rho_r) - sin(rho_m)],\n",
"[((sin(gamma)**2 + cos(gamma)**2*cos(tau))*sin(phi_r) - sin(tau)*cos(gamma)*cos(phi_r))*cos(rho_r) - (sin(gamma)*cos(gamma)*cos(tau) - sin(gamma)*cos(gamma))*sin(rho_r) + sin(phi_m)*cos(rho_m)],\n",
"[ (sin(phi_r)*sin(tau)*cos(gamma) + cos(phi_r)*cos(tau))*cos(rho_r) - sin(gamma)*sin(rho_r)*sin(tau) + cos(phi_m)*cos(rho_m)]])"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"pitch_m, roll_m, pitch_r, roll_r, tilt, yaw = sp.symbols('phi_m rho_m phi_r rho_r tau gamma')\n",
"\n",
"Pitch_m = M_x(pitch_m)\n",
"Roll_m = M_y(roll_m)\n",
"Pitch_r = M_x(pitch_r)\n",
"Roll_r = M_y(roll_r)\n",
"Tilt = M_z(yaw)*M_x(-tilt)*M_z(-yaw)\n",
"\n",
"Left = Pitch_m*Roll_m*sp.Matrix([[0],[0],[1]])\n",
"Right = Tilt*Pitch_r*-Roll_r*sp.Matrix([[0],[0],[1]])\n",
"\n",
"display(Left-Right)"
]
},
{
"cell_type": "code",
"execution_count": 19,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/latex": [
"$\\displaystyle \\left[\\begin{matrix}- \\sin{\\left(\\rho_{m} \\right)}\\\\\\sin{\\left(\\phi_{m} \\right)} \\cos{\\left(\\rho_{m} \\right)}\\\\\\cos{\\left(\\phi_{m} \\right)} \\cos{\\left(\\rho_{m} \\right)}\\end{matrix}\\right]$"
],
"text/plain": [
"Matrix([\n",
"[ -sin(rho_m)],\n",
"[sin(phi_m)*cos(rho_m)],\n",
"[cos(phi_m)*cos(rho_m)]])"
]
},
"execution_count": 19,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"M_x(pitch_m)*M_y(roll_m)*sp.Matrix([[0],[0],[1]])"
]
},
{
"cell_type": "markdown",
"metadata": {
"tags": []
},
"source": [
"The tilt was converted into a lot vector. From this, pitch and roll can be calculated again.\n",
"It applies:\n",
"$$\n",
"\\begin{pmatrix}\n",
"x\\\\\n",
"y\\\\\n",
"z\\\\\n",
"\\end{pmatrix}=\n",
"M_x(\\phi)\\cdot M_y(\\rho) \\cdot \n",
"\\begin{pmatrix} \n",
"0 \\\\\n",
"0 \\\\\n",
"1 \n",
"\\end{pmatrix}=\n",
"\\begin{pmatrix} \n",
"-\\sin(\\rho)\\\\\n",
"\\cos(\\rho)\\sin(\\phi)\\\\\n",
"\\cos(\\rho)\\cos(\\phi)\n",
"\\end{pmatrix}\n",
"$$\n",
"\n",
"With this you can invert the equation:\n",
"$\\rho = \\arcsin(-x)$ und $\\phi = \\arcsin\\left(\\frac{y}{\\cos(\\rho)}\\right)$\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 4.1 Apply PTM to SSL results\n",
"Estimate resting pitch and roll and lin scaling factor"
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"df = df_scada.join(df_results_SSL)\n",
"df = df.resample('5min').mean()\n",
"df = df[~df['pitch'].isna()]\n",
"df.reset_index(inplace=True)\n",
"df.loc[:,'PitchB1'] = df.loc[:,'PitchB1'].ffill()"
]
},
{
"cell_type": "code",
"execution_count": 21,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"M_x = lambda x: np.array([[1,0,0],[0, np.cos(x/180*np.pi),np.sin(x/180*np.pi)],[0,-np.sin(x/180*np.pi),np.cos(x/180*np.pi)]],dtype=\"object\")\n",
"M_y = lambda x: np.array([[np.cos(x/180*np.pi),0,-np.sin(x/180*np.pi)],[0,1,0],[np.sin(x/180*np.pi),0,np.cos(x/180*np.pi)]],dtype=\"object\")\n",
"M_z = lambda x: np.array([ [np.cos(x/180*np.pi) ,np.sin(x/180*np.pi) ,0 ],[-np.sin(x/180*np.pi) ,np.cos(x/180*np.pi) ,0 ],[ 0, 0, 1]],dtype=\"object\")"
]
},
{
"cell_type": "code",
"execution_count": 22,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"pitch_m = np.array(df['pitch'])\n",
"roll_m = np.array(df['roll'])\n",
"u = np.array(df['WSpd'])\n",
"p = np.array(df['P'])\n",
"yaw = np.array(df['NacPos'])\n",
"\n",
"thrust = lambda power, wspd: np.where(power/wspd>0,power/wspd,0)\n",
"\n",
"x0 = [0,0,0] \n",
"\n",
"cost = lambda x: np.linalg.norm(\n",
" np.linalg.norm(\n",
" M_z(yaw)@M_x(-x[0]*thrust(p,u))@M_z(-yaw)@M_x(x[1])@M_y(x[2])-M_x(pitch_m)@M_y(roll_m)\n",
" ).squeeze()\n",
")\n",
"\n",
"result_opt = minimize(cost,np.array(x0),method='Nelder-Mead')"
]
},
{
"cell_type": "code",
"execution_count": 23,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"text/plain": [
" final_simplex: (array([[ 1.85417296, 0.02580108, -0.11284461],\n",
" [ 1.85423953, 0.02580327, -0.11284274],\n",
" [ 1.85418547, 0.02579989, -0.11284318],\n",
" [ 1.85410942, 0.02580087, -0.11284318]]), array([0.02397691, 0.02397691, 0.02397691, 0.02397691]))\n",
" fun: 0.02397691355116423\n",
" message: 'Optimization terminated successfully.'\n",
" nfev: 283\n",
" nit: 158\n",
" status: 0\n",
" success: True\n",
" x: array([ 1.85417296, 0.02580108, -0.11284461])"
]
},
"execution_count": 23,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"result_opt"
]
},
{
"cell_type": "code",
"execution_count": 24,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"a, pitch_r, roll_r = result_opt.x"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 4.2 Calculate tilt angle from thrust model"
]
},
{
"cell_type": "code",
"execution_count": 25,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"df['tilt']=a*thrust(p,u)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 4.3 Calculate tilt angle from SSL measurements"
]
},
{
"cell_type": "code",
"execution_count": 26,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"pitch_measured = np.array(df['pitch'])\n",
"roll_measured = np.array(df['roll'])\n",
"yaw_turbine = np.array(df['NacPos'])\n",
"pitch_rest = pitch_r\n",
"roll_rest = roll_r\n",
"x0 = 0\n",
"res_array=[]\n",
"for p,r,y in zip(pitch_measured, roll_measured,yaw_turbine):\n",
" cost = lambda x: np.linalg.norm(\n",
" np.linalg.norm(\n",
" M_x(p)@M_y(r)-M_z(y)@M_x(-x)@M_z(-y)@M_x(pitch_rest)@M_y(roll_rest)\n",
" ).squeeze()\n",
" )\n",
" result_opt_test = minimize(cost,0.14,method='Nelder-Mead')\n",
" res_array.append(result_opt_test.x)\n",
"res_array = np.stack(res_array)\n",
"df['tilt_measured']=res_array"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 4.4 Compare tilt angles from thrust model and from SSL"
]
},
{
"cell_type": "code",
"execution_count": 27,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"ax = df['tilt'].plot(grid=True,c='k', style='.',label='modelled tilt',legend=True,zorder=2)\n",
"ax=df['tilt_measured'].plot(c='r',style='.',grid=True,label='measured tilt',legend=True, zorder=1)\n",
"ax.set_xlabel('Scan Nr.')\n",
"ax.set_ylabel(r'Tilt angle $\\tau\\ [^\\circ]$')\n",
"plt.show()"
]
},
{
"cell_type": "code",
"execution_count": 28,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Beta: [ 2.11165357 -0.01000501]\n",
"Beta Std Error: [0.0201143 0.00081163]\n",
"Beta Covariance: [[ 6.89200182 -0.21035195]\n",
" [-0.21035195 0.01122149]]\n",
"Residual Variance: 5.870354116525627e-05\n",
"Inverse Condition #: 0.0026382848141896175\n",
"Reason(s) for Halting:\n",
" Sum of squares convergence\n",
"1.945446408892748 -0.004932115554505213\n"
]
}
],
"source": [
"from scipy.odr import *\n",
"from scipy.stats import linregress\n",
"def linear_func(p,x):\n",
" m,c=p\n",
" return m*x+c\n",
"linear_model = Model(linear_func)\n",
"data = RealData(np.array(df['P']/df['WSpd']),np.array(df['tilt_measured']))\n",
"odr = ODR(data,linear_model, beta0=[0.,1.])\n",
"out = odr.run()\n",
"out.pprint()\n",
"\n",
"slope, intercept, r, p, se = linregress(np.array(df['P']/df['WSpd']),np.array(df['tilt_measured']))\n",
"print(slope,intercept)"
]
},
{
"cell_type": "code",
"execution_count": 29,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"plt.figure(figsize=(12/2.54,9/2.54))\n",
"plt.scatter(df.sort_values(by=['WSpd'])['tilt'],df.sort_values(by=['WSpd'])['tilt_measured'],s=5,c=df.sort_values(by=['WSpd'])['WSpd'])\n",
"plt.xlabel(r'$\\tau_{\\mathrm{mod}} =c\\cdot P_m / u_m$')\n",
"plt.ylabel(r'$\\tau_m$')\n",
"plt.colorbar(label='Wind speed $u_m$')\n",
"plt.grid(True)\n",
"ax = plt.gca()\n",
"ax.set_aspect('equal')\n"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### 4.5 Calculate modelled roll and pitch from thrust model"
]
},
{
"cell_type": "code",
"execution_count": 30,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"yaw = np.array(df['NacPos'])\n",
"tilt = np.array(df['tilt'])\n",
"X = M_z(yaw)@M_x(-tilt)@M_z(-yaw)@M_x(pitch_r)@M_y(roll_r)@np.matrix([[0],[0],[1]])\n",
"\n",
"x = X[0,0].squeeze()\n",
"y = X[1,0].squeeze()\n",
"z = X[2,0].squeeze()\n",
"\n",
"roll_mod = np.arcsin(-x)\n",
"pitch_mod = np.arcsin(y/np.cos(roll_mod))\n",
"\n",
"df['roll_mod']=roll_mod/np.pi*180\n",
"df['pitch_mod']=pitch_mod/np.pi*180"
]
},
{
"cell_type": "code",
"execution_count": 31,
"metadata": {
"tags": []
},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"ax = df['pitch'].plot(grid=True, label=r'$\\phi_\\mathrm{m}$', legend=True,figsize=(18/2.54,12/2.54))\n",
"df['roll'].plot(grid=True, label=r'$\\rho_\\mathrm{m}$', legend=True)\n",
"(df['pitch_mod']).plot(grid=True,c='r', label='$\\phi_\\mathrm{mod}$', legend=True)\n",
"(df['roll_mod']).plot(grid=True,c='g', label=r'$\\rho_\\mathrm{mod}$', legend=True)\n",
"ax.set_xlabel('Scan Nr.')\n",
"ax.set_ylabel('Angle $[^\\circ]$')\n",
"plt.show()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 5. Evaluate Results\n",
"In this section we calculate the error statistics for the PTM"
]
},
{
"cell_type": "code",
"execution_count": 32,
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"def rmse(input):\n",
" return ((input**2).mean())**0.5"
]
},
{
"cell_type": "code",
"execution_count": 33,
"metadata": {
"tags": []
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"ROLL\n",
"count 1137.000000\n",
"mean 0.000001\n",
"std 0.019279\n",
"min -0.080147\n",
"25% -0.012605\n",
"50% 0.000470\n",
"75% 0.012102\n",
"max 0.124606\n",
"dtype: float64\n",
"rmse: 0.019270046474657836\n",
"PITCH\n",
"count 1.137000e+03\n",
"mean 7.366210e-07\n",
"std 2.142424e-02\n",
"min -9.375371e-02\n",
"25% -1.182373e-02\n",
"50% -6.137043e-04\n",
"75% 1.219341e-02\n",
"max 5.814154e-02\n",
"dtype: float64\n",
"rmse0.021414820443588844\n"
]
}
],
"source": [
"print('ROLL')\n",
"temp = df['roll']-df['roll_mod']\n",
"print(temp.describe())\n",
"print('rmse: ' + str(rmse(df['roll']-df['roll_mod'])))\n",
"print('PITCH')\n",
"temp = df['pitch']-df['pitch_mod']\n",
"print(temp.describe())\n",
"print('rmse' + str(rmse(df['pitch']-df['pitch_mod'])))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## 6. Extra: Alternative Methode based on vectorial calculation\n",
"This section is just a bonus. Alternatively to the prior calculation it is possible to find a relation of the measured roll and pitch angles in the vector representation. For this we separate the thrust of the wind turbine into the vector components [Thrust_NS] along the $y$-axis and [Thrust_WE] along the $x$-axis. \n",
"With this we try to find the linear relation between the pitch angle and the [Thrust_NS] and simulatiously between the roll-angle and [Thrust_WE]."
]
},
{
"cell_type": "code",
"execution_count": 34,
"metadata": {},
"outputs": [],
"source": [
"df['Thrust_NS']=-np.cos(df['NacPos']/180*np.pi)*thrust(df['P'],df['WSpd'])\n",
"df['Thrust_WE']=-np.sin(df['NacPos']/180*np.pi)*thrust(df['P'],df['WSpd'])"
]
},
{
"cell_type": "code",
"execution_count": 35,
"metadata": {
"scrolled": true
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
" final_simplex: (array([[ 1.85417296, 0.02580108, -0.11284461],\n",
" [ 1.85423953, 0.02580327, -0.11284274],\n",
" [ 1.85418547, 0.02579989, -0.11284318],\n",
" [ 1.85410942, 0.02580087, -0.11284318]]), array([0.94363005, 0.94363005, 0.94363005, 0.94363006]))\n",
" fun: 0.9436300502206072\n",
" message: 'Optimization terminated successfully.'\n",
" nfev: 283\n",
" nit: 158\n",
" status: 0\n",
" success: True\n",
" x: array([ 1.85417296, 0.02580108, -0.11284461])\n"
]
}
],
"source": [
"cost = lambda x: np.sum(\n",
" (np.array(df['pitch'])-np.array(x[1]+x[0]*df['Thrust_NS']))**2\n",
")+np.sum(\n",
" (np.array(df['roll'])-np.array(x[2]-x[0]*df['Thrust_WE']))**2\n",
")\n",
"\n",
"result_opt_vec = minimize(cost,[0,0,0],method='Nelder-Mead')\n",
"print(result_opt_vec)"
]
},
{
"cell_type": "code",
"execution_count": 36,
"metadata": {},
"outputs": [],
"source": [
"df['pitch_mod']=result_opt_vec.x[1]+result_opt_vec.x[0]*df['Thrust_NS']\n",
"df['roll_mod']=result_opt_vec.x[2]-result_opt_vec.x[0]*df['Thrust_WE']"
]
},
{
"cell_type": "code",
"execution_count": 37,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"ax=df['pitch'].plot(label='Pitch measured',legend=True,grid=True)\n",
"df['roll'].plot(label='Roll measured',legend=True,grid=True)\n",
"df['roll_mod'].plot(label='Roll modelled',legend=True,grid=True)\n",
"df['pitch_mod'].plot(label='Pitch modelled',legend=True,grid=True)\n",
"plt.show()"
]
},
{
"cell_type": "code",
"execution_count": 38,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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",
"text/plain": [
""
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"# Zoomed in plot\n",
"fig, ax = plt.subplots()\n",
"start_time = pd.Timestamp('2019-05-02 08:00')\n",
"end_time = pd.Timestamp('2019-05-03 15:00')\n",
"ax.plot(df['index'],df['pitch'],'.')\n",
"ax.plot(df['index'],df['pitch_mod'])\n",
"ax.plot(df['index'],df['roll'],'.')\n",
"ax.plot(df['index'],df['roll_mod'])\n",
"ax.set_xlabel('measurements')\n",
"ax.set_ylabel('Angle $[^\\circ]$')\n",
"ax.legend(['test'])\n",
"ax.set_xlim(start_time, end_time)\n",
"plt.show()"
]
}
],
"metadata": {
"interpreter": {
"hash": "8ad08f8f50e91180a9dcfef1ac7f78584c9e111444e7578f1d150ce9815081fd"
},
"kernelspec": {
"display_name": "Python 3.9.5 64-bit ('spyder': conda)",
"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": "3.8.12"
},
"metadata": {
"interpreter": {
"hash": "fb5dfdefe4b30a462efba74c907f077bf789d7f934f289f1d651232cd1bbfcc8"
}
}
},
"nbformat": 4,
"nbformat_minor": 4
}