{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# **Overview of MPOPT**\n", "(c) 2023 Devakumar Thammisetty\n", "\n", "MPOPT is an open-source Multi-phase Optimal Control Problem (OCP) solver based on pseudo-spectral collocation with customized adaptive grid refinement techniques.\n", "\n", "https://mpopt.readthedocs.io/\n", "\n", "Download this notebook: [getting_started.ipynb](https://github.com/mpopt/mpopt/blob/docs/docs/source/notebooks/getting_started.ipynb)\n", "\n", "Tip: Ctrl + Tab (For the documentation of commands/syntax)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Install mpopt from pypi using the following. Disable after first usage" ] }, { "cell_type": "code", "execution_count": 2, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.141180Z", "start_time": "2024-03-10T06:36:38.983818Z" } }, "outputs": [], "source": [ "#pip install mpopt" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Import mpopt (Contains main solver modules)" ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.511106Z", "start_time": "2024-03-10T06:36:39.142628Z" } }, "outputs": [], "source": [ "# from context import mpopt\n", "from mpopt import mp" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Defining OCP\n", "\n", "We first create an OCP object and then polulate the object with dynamics, path_constraints, terminal_constraints and objective (running_costs, terminal_costs)\n", "* create an OCP object (Lets define moon-lander OCP)" ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.539523Z", "start_time": "2024-03-10T06:36:39.508090Z" } }, "outputs": [], "source": [ "ocp = mp.OCP(n_states=2, n_controls=1, n_phases=1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Add dynamics to the OCP. The solver being multi-phase, we add phase index to dynamics definition. \n", "\n", "#### Moon lander (2D)\n", "\n", "$ \\dot{x} = v; \\quad \\dot{v} = u - g$\n", "\n", "* Using the standard Bolza form of OCP,\n", "$\\dot{x} = f(x, u, t) \\quad \\implies$" ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.541040Z", "start_time": "2024-03-10T06:36:39.512470Z" } }, "outputs": [], "source": [ "ocp.dynamics[0] = lambda x, u, t: [x[1], u[0] - 1.5]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Add objective function, Lets get fuel optimal solution (u : Thrust level), Using standard Bolza form\n", "\n", "$ J = 0 + \\int_{t_0}^{t_f} u dt $" ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.541887Z", "start_time": "2024-03-10T06:36:39.517890Z" } }, "outputs": [], "source": [ "ocp.running_costs[0] = lambda x, u, t: u[0]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Add terminal constraints. The target is to reach (postion : 0, velocity : 0), Using standard terminal constraints function\n", "\n", "$h(x_f, t_f, x_0, t_0) = 0 $" ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.542753Z", "start_time": "2024-03-10T06:36:39.521858Z" } }, "outputs": [], "source": [ "ocp.terminal_constraints[0] = lambda xf, tf, x0, t0: [xf[0], xf[1]]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Define starting position and initial velocity\n", "\n", "$x[phase]$" ] }, { "cell_type": "code", "execution_count": 8, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.568605Z", "start_time": "2024-03-10T06:36:39.524238Z" } }, "outputs": [], "source": [ "ocp.x00[0] = [10.0, -2.0]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Thrust is constrained between 0 and 3. \n", "$ \\implies 0 \\leq u \\leq 3$" ] }, { "cell_type": "code", "execution_count": 9, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.569882Z", "start_time": "2024-03-10T06:36:39.527308Z" } }, "outputs": [], "source": [ "ocp.lbu[0], ocp.ubu[0] = 0, 3" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "* Validate if the ocp is well defined" ] }, { "cell_type": "code", "execution_count": 10, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:39.570848Z", "start_time": "2024-03-10T06:36:39.530161Z" } }, "outputs": [], "source": [ "ocp.validate()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Solve and plot the results in one line\n", "\n", "Lets solve the OCP using following pseudo-spectral approximation\n", "* Collocation using Legendre-Gauss-Radau roots\n", "* Global collocation (single segment)\n", "* Let's plot the position and velocity evolution with time starting from 0.\n", "\n", "The OCP is a free final time formulation, " ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.256751Z", "start_time": "2024-03-10T06:36:39.533164Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n" ] }, { "name": "stderr", "output_type": "stream", "text": [ "CasADi - 2024-03-10 12:06:39 WARNING(\"The options 't0', 'tf', 'grid' and 'output_t0' have been deprecated.\n", "The same functionality is provided by providing additional input arguments to the 'integrator' function, in particular:\n", " * Call integrator(..., t0, tf, options) for a single output time, or\n", " * Call integrator(..., t0, grid, options) for multiple grid points.\n", "The legacy 'output_t0' option can be emulated by including or excluding 't0' in 'grid'.\n", "Backwards compatibility is provided in this release only.\") [.../casadi/core/integrator.cpp:521]\n" ] }, { "name": "stdout", "output_type": "stream", "text": [ " Optimal cost (J): 8.27612 \n", "\n", " Solved in 343.132 ms\n", " \t OCP transcription time : 322.33 ms\n", " \t NLP solution time : 20.802 ms\n", "\n", " Post processed in 45.493 ms\n", " \t Solution retrieval : 0.126 ms\n", " \t Residual in dynamics : 6.594 ms\n", " \t Process solution and plot : 38.773 ms\n" ] }, { "data": { "text/plain": "
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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=1, poly_orders=20, scheme=\"LGR\", plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The tics in the solution represent the values at collocation nodes. The states and controls are plotted by interpolating the lagrange polynomials at only few points in a single segment (by default). Let's interpolate with better resolution for plotting." ] }, { "cell_type": "code", "execution_count": 12, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.258085Z", "start_time": "2024-03-10T06:36:40.254357Z" } }, "outputs": [], "source": [ "post._INTERPOLATION_NODES_PER_SEG = 200" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Lets plot the same result again, this time the control profile is more refined. " ] }, { "cell_type": "code", "execution_count": 13, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.460473Z", "start_time": "2024-03-10T06:36:40.271855Z" } }, "outputs": [ { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "fig, axs = post.plot_phases()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Lets retrive the solution to see the terminal time" ] }, { "cell_type": "code", "execution_count": 14, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.464700Z", "start_time": "2024-03-10T06:36:40.461099Z" } }, "outputs": [], "source": [ "x, u, t, _ = post.get_data()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Last element of t and x gives the terminal values. Exact terminal time from the analytical solution is 4.1641s." ] }, { "cell_type": "code", "execution_count": 15, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.471231Z", "start_time": "2024-03-10T06:36:40.465529Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Terminal time, state : [4.18408515], [-6.22886168e-26 2.27628981e-25]\n" ] } ], "source": [ "print(f\"Terminal time, state : {t[-1]}, {x[-1]}\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The Fuel optimal solution to the moon-lander OCP is known to have bang-bang thrust profile. The selected OCP has one discontinuity. To better appoximate the solution, we can divide the domain into multiple segments.\n", "\n", "Lets solve the problem now using better collocation approximation, based on the bang-nag nature of the thrust profile.\n", "* Number of segments : 20\n", "* Polynomials of degree : 3" ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.851327Z", "start_time": "2024-03-10T06:36:40.490841Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n", "\n", " Optimal cost (J): 8.24677 \n", "\n", " Solved in 45.279 ms\n", " \t OCP transcription time : 21.198 ms\n", " \t NLP solution time : 24.081 ms\n", "\n", " Post processed in 60.651 ms\n", " \t Solution retrieval : 0.312 ms\n", " \t Residual in dynamics : 10.062 ms\n", " \t Process solution and plot : 50.278 ms\n" ] }, { "name": "stderr", "output_type": "stream", "text": [ "<__array_function__ internals>:180: VisibleDeprecationWarning: Creating an ndarray from ragged nested sequences (which is a list-or-tuple of lists-or-tuples-or ndarrays with different lengths or shapes) is deprecated. If you meant to do this, you must specify 'dtype=object' when creating the ndarray.\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=20, poly_orders=3, scheme=\"LGR\", plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The solution is now more refined. Lets look at the terminal time." ] }, { "cell_type": "code", "execution_count": 17, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:40.930102Z", "start_time": "2024-03-10T06:36:40.851882Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Terminal time, s : 4.164513728300145 vs 4.1641\n" ] } ], "source": [ "print(f\"Terminal time, s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's find the best solution by increasing the collocation nodes" ] }, { "cell_type": "code", "execution_count": 18, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:41.489159Z", "start_time": "2024-03-10T06:36:40.893294Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n", " Optimal cost (J): 8.24623 \n", "\n", " Solved in 431.338 ms\n", " \t OCP transcription time : 242.666 ms\n", " \t NLP solution time : 188.672 ms\n", "\n", " Post processed in 181.282 ms\n", " \t Solution retrieval : 0.702 ms\n", " \t Residual in dynamics : 180.57 ms\n", " \t Process solution and plot : 0.009 ms\n", "\n", "Terminal time, s : 4.164150730471649 vs 4.1641\n" ] } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=200, poly_orders=3, scheme=\"LGR\", plot=False)\n", "print(f\"\\nTerminal time, s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's check how the Legendre-Gauss-Lobatto roots solve the OCP" ] }, { "cell_type": "code", "execution_count": 19, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:42.639662Z", "start_time": "2024-03-10T06:36:41.498237Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n", " Optimal cost (J): 6.87196 \n", "\n", " Solved in 496.378 ms\n", " \t OCP transcription time : 230.422 ms\n", " \t NLP solution time : 265.956 ms\n", "\n", " Post processed in 362.558 ms\n", " \t Solution retrieval : 0.871 ms\n", " \t Residual in dynamics : 154.644 ms\n", " \t Process solution and plot : 207.043 ms\n", "\n", "Terminal time using Lobatto roots , s : 4.723467249086362 vs 4.1641\n" ] }, { "data": { "text/plain": "
", "image/png": 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VqxepqamsW7eOsWPHEh0dzeuvv864ceO4evUqgYGB9OjRo9ilambNmsWGDRuMj++9914AfvjhB3r27GmT+yJs75133iEjI4NBgwbh5eXFSy+9RFpamnH/xo0biY6O5ujRozg7O+Ps7MxHH31E9+7dGThwoPE1erennnqKvXv3Gh/nv17Onz8vNZHC5lSG4ta1EKSnp+Pj40NaWlqxHUu1Wi3R0dGEhYXh4uJiteu/dfAtNp/eXGK5Fr4t2Dpoq9WuqyS2urcAt27d4vz58zRo0KDAunWVhV6vJz09HW9v70Lf7MtTcb8Hc/8GlaS4mO98rq6uroq4/47GnL9bW75vVHaOcm/Nfe+QvzyFe63za0S0jyix3MmUk3Tb1I34q/HlEJUQQghRMUgi5ADGtRpHzOMx+Ln7FVsuXZvOyOiRPP/d8+UUmRBCCOHYJBFyEIFVAtkzbA9ta7QtseyPyT/KEHshhBDCDJIIOZgPH/qQEc1GlFjuZMpJ+n7atxwiEkIIoVhpyXB+nyy0WgxJhByQuf2GNFka7t90v6xTJoQQlVHcRljcCjYMyvs3bqO9I1IkSYQcVH6/ocbVGhdbLlWbKqvYCyFEZZOWDF9Nvr36vEGft+aY1AwVIomQA8ufgNGcprKFRxby1sG3yiEqIYQQdpeScDsJymfQ5a05JgqwSiKUmppqjdMUKzg4GJVKVehn4sSJJsuvX7++UNmKOk+MuU1lm09v5snoJ8shIiGEEHbl2whUd33Eq5zyFl4VBVicCM2fP5+tW29P3Dd06FD8/PyoU6cOx48ft2pwd/r111+5dOmS8ScmJgaAIUOGFHmMt7d3gWPuXlupIslvKqvmVq3YcseuHpNO1EIIq+nZsydTpkyxdxjibgmxcOd8ySoVDFosC6+aYHEitGrVKoKCggCIiYkxroI9YMAAm65GXbNmTQIDA40/X3/9NY0aNSqw2N/dVCpVgWOKWxKgIgisEsiPw3+klmetYstpsjT03tq7nKIS5W3s2LGEh4dbfNycOXNo27Ztma9/4cIFxo8fT4MGDfDw8KBRo0bMnj1b1o0SJh0/fpwRI0YQFBSEh4cHzZs3Z8mSJfYOy7Hl9w/ijkTIoIJG8r5visVrjWk0GmMi9PXXXzN06FBCQ0MJDg6mc+fOVg/QlJycHD766CMiIiJQqVRFlsvIyKB+/fro9XratWvHW2+9RcuWLYs9d3Z2NtnZ2cbH6enpQN6U4lqttsjj8vcVV6a87AzfyahvRnHq+qkiy1y5dYXum7qz5aEtBHgqO0G05b3VarUYDAb0ej16vb7kAxyAwWAwPidzyt55DFDm+3Dy5El0Oh0rV66kcePGnDhxgmeeeYaMjAzeeecdk8fo9XoMBgNarRYnJ6cC+5TwNyVs58iRI/j7+/PRRx8RFBTE/v37efrpp3FycmLSpEn2Ds8xmeofhD6vf5DUCBVicSJUvXp1kpKSCAoKYteuXfz3v/8F8t5IdTqd1QM0ZceOHaSmpjJ27NgiyzRt2pS1a9fSunVr0tLSWLBgAV27duX333+nbt26RR4XFRVFZGRkoe27d+/G09OzxNjym+zsbRSj+MDpA87rzhdZJk2bxoAdA3jA7QH6eii/ucwW99bZ2ZnAwEAyMjLKXGOhu3KF3KQknIOCcPL3t1KEpn3xxRfMnz+f8+fP4+HhQevWrfn4449ZtmwZGzfmDZHNTyi++uorunfvzuzZs9m5cycXL17E39+fIUOG8Morr+Di4sJ7773H3LlzCxy3YsUKRo4cSVpaGjNnziQ6OpqcnBzatm3Lm2++SUhIiMnYunbtSteuXY2Pe/bsycSJE1m7di0zZ840eUxOTg43b95k37595ObmFtiXlZVVtptV0aUl533w+Tay+YdcZmYmzz33HNu3b8fLy6vQqvKnT5+mXbt2vP/++4wcORKATz75hDFjxnDkyBFatGhR6Jz/+c9/Cjxu2LAhBw4cYPv27ZIIlVZ+/6A7kyHpH1QkixOhRx99lJEjR9KkSRP++ecf42rCR48epXHj4odyW8sHH3zAgAEDqF27dpFlunTpQpcuXYyPu3btSvPmzXnvvfeYN29ekcfNmDGDiIjbHY/T09MJCgoiNDS0xEVXY2Ji6Nu3r2IWoQsjjBXHV/DB78WvTL83ey9ZPlm81+e9corMMra8t7du3SIpKYmqVauWqTN96mefcWX2HNDrQa0mIHIO1R57zHqB3uHSpUs89dRTzJ8/n/DwcG7cuMFPP/2El5cXr732GufOnSM9PZ21a9cC4Ovri6urKzVq1GD9+vXUrl2b+Ph4nnnmGfz8/Hj22WcZPXo0CQkJfPvtt+zevRsAHx8fPDw8ePzxx/Hw8CA6OhofHx9Wr17NI488wunTp/H19TUr5uzsbGrUqFHk39CtW7fw8PCgR48eJhddFUWI23h7iLRKDYOWQLvRNrvctGnT2Lt3L1988QX+/v689tprxMXFGZtUmzVrxoIFC3j++efp3r07arWaZ599lvnz55tMgoqSlpZm9mtLmCD9gyxicSK0aNEigoODSUpK4n//+x9Vq1YF8t6cn3/e9mtc/fXXX3z33Xds377douNcXFy49957OXv2bLHl3NzccHNzM3m8OR/C5pYrL1M6TGF48+EM+WoIqdmpRZb79cqvPLHrCUWvYG+Le6vT6VCpVKjV6lKv/q3VaLicnwQB6PVcnj0Hr/vvxyUw0HrB/uvy5cvk5uby2GOPUb9+fQDatGlj3O/p6UlOTk6hLwp31sY0bNiQP//8ky1btvDss8/i6emJl5cXzs7OBY776aef+PXXX7ly5Yrx7+Ldd9/liy++YPv27Tz99NMlxnv27FmWL1/OggULirzHarUalUpl8nespL8nRSlqnphGvW3ygZeRkcEHH3zARx99RO/eeX1NNmzYUKiG/fnnnyc6OponnngCV1dXOnbsyAsvvGD2dfbv38/WrVvZuXOnVeOvNKR/kMUsToRcXFwKVYcCTJ061SoBlWTdunX4+/vz0EMPWXScTqcjPj6esLAwG0WmXPmdqHtv7c2VW1eKLJe/LEfMEGU07zmKnAt/3U6C8un15PyVaJNEqE2bNvTu3ZuQkBD69etHaGgojz/+ONWrVy/2uK1bt7J06VISEhLIyMggNze32FpOyOvImpGRgZ9fwQV/b968SUJCQomxJicn079/f4YMGcKECRNKfnLCfMXNE2ODRCghIYGcnJwCfUF9fX1p2rRpobJr167lnnvuQa1W8/vvvxfbl/NOJ06c4OGHH2b27NmEhoZaLfZKRfoHWaxUX4E//PBDunfvTu3atY1D0hcvXswXX3xh1eDuptfrWbduHWPGjMHZuWAON3r0aGbMmGF8PHfuXHbv3s25c+eIi4vjiSee4K+//uKpp56yaYxKFjss1qwRZbIsh2Vcg+vD3TUdajWu9evZ5HpOTk7G0ZotWrRg2bJlNG3alPPni+4PduDAAUaNGkVYWBhff/01R48e5fXXXy+xX1RGRga1atXi2LFjBX7OnDlT4ijRixcv0qtXL7p27crq1atL9VxFMRQ8T8zx48fJzMwkMzOTS5cumXXMyZMn6d27N08//TRvvPGGjSOswC4eLbxNIa8LpbI4EVq5ciUREREMGDCA1NRUYwfpatWqsXjxYmvHV8B3331HYmJioc51AImJiQX+4K5fv86ECRNo3rw5YWFhpKens3//fovaqSui3UN2l7iCff6yHEvjlpZPUA7OJTCQWnMjbydDajW15kbapDYon0qlolu3bkRGRnL06FFcXV35/PPPAXB1dS00cGH//v3Ur1+f119/nQ4dOtCkSZNC82qZOq5du3ZoNBqcnZ1p3LhxgZ8aNWoUGV9ycjI9e/akffv2rFu3rtTNjqIYPnXy+gSp/h1lp3KyaT+QRo0a4eLiwsGDB43brl+/zh9//FGgXEpKCmPHjuX1119n7NixjBo1ips3bxZ77t9//51evXoxZswY3nzzTZvEXymkJcN3cwpv7zNHaoOKYXHT2LJly1izZg3h4eG8/fbbxu0dOnQw2WRmTaGhocYhvnfbs2dPgceLFi1i0aJFNo3HUX340Ie8dfAtNp/eXGy5NfFr+FXzKx+GfVhOkTmuao8/TpXu3cn5KxHX+vVsmgQdPHiQ2NhYQkND8ff35+DBg1y9epXmzZsDebOwf/vtt5w5cwY/Pz98fHxo0qQJiYmJbNmyhY4dO7Jz505j4pQvODiY8+fPc+zYMerWrYuXlxd9+vShS5cuhIeH87///Y977rmHixcvsnPnTh555BE6dOhQKL78JKh+/fosWLCAq1evGvcF2vC+VErtRuf1/Ug5l/eN34YfdlWrVmX8+PFMmzYNPz8//P39ef311wsluc8++yxBQUG88cYbZGdnc++99/Lyyy+zYsUKk+c9ceIEDz74IP369SMiIgKNJq822snJiZo1a9rs+VRIJpvFgNr3ln8sDsTir2nnz5/n3nsL31Q3NzcyMzOtEpSwPXOX5Th29Rg9tvSQpjIzuAQGUqVzJ5smQZA3Y/q+ffsICwvjnnvu4Y033uDdd981juCcMGECTZs2pUOHDtSsWZOff/6ZwYMHM3XqVCZNmkTbtm3Zv39/oaHsjz32GP3796dXr17UrFmTzZs3o1KpiI6OpkePHowbN4577rmH4cOH89dffxU5QWlMTAxnz54lNjaWunXrUqtWLeOPsAGfOtDg/nL5xv/OO+9w//33M2jQIPr06UP37t1p3769cf/GjRuJjo7mww8/xNnZmSpVqvDRRx+xZs0avvnmG5Pn3LZtG1evXuWjjz4q8Frp2LGjzZ9PhSPNYqWiMhRVxVKEFi1aEBUVxcMPP4yXlxfHjx+nYcOGLFu2jHXr1hEXF2erWO0iPT0dHx8f0tLSShw+Hx0dTVhYmEONctFkakocUZYvon0E41qNs31Qd7Hlvb116xbnz5+nQYMGFXYtuuLo9XrS09Px9va2a/NVcb8Hc/8GlaS4mO98rq6uroq4/47GnL9bR31PLrW0ZFjcqnCNUN950O1Fq17KUe6tue8dFjeNRUREMHHiRG7duoXBYODQoUNs3ryZqKgo3n///TIFLcpf/oiysM/CSMpIKrbswiMLuZR5idc6v1ZO0QkhhDCLNIuVmsWJ0FNPPYWHhwdvvPEGWVlZjBw5ktq1a7NkyRKGDx9uixhFOYh+LJqZP85kx7kdxZbbfHozp/45Jf2GhBBCSWQ26VIrVV3sqFGj+PPPP8nIyECj0fD3338zfvx4a8cmytm8++dJvyEhhHBEMpt0qZWpUdrT0xN/G6+pJMrXuFbjiHk8Bj93v2LLXc++Tt9tfVl3Yl05RSaEEMIkmU26TMxqGrv33nvNnhm0onWWrowCqwSyZ9gehn05jJPXTxZbtqL0G7JwzICwssp4/yvjc7YWuXd3kdmky8SsRCg8PNzGYQgl2jp4K+O/Hc8hzaFiy20+vZlDlw6xqu8qAqs41jwx+SMesrKy8PDwsHM0lVf+DNdOTk52jsT27nzNmVrXUJQsKysLkHXojGTYfJmYlQjNnj3b1nEIhfqg3wcsjVvKmvg1xZZLSEug77a+dhtiX1pOTk5Uq1aNK1fy1mDz9PQ0u/azItDr9eTk5HDr1i27Dd/W6/VcvXoVT0/PQkvnVER3vub0ej16vd6u99+RGAwGsrKyuHLlCtWqVasUiXOJZDbpMiv1u87hw4c5deoUkDe30J2TaomK5cV2LzK06VCGfz2cf279U2xZR2wqy5/tOD8ZqkwMBgM3b97Ew8PDrgmgWq2mXr16lSYJzX/NXb16VRH339FUq1ZNZinPJ8Pmy8ziROjvv/9mxIgR/Pzzz1SrVg2A1NRUunbtypYtW6hbt661YxQKYEm/IUcbYq9SqahVqxb+/v5otVp7h1OutFot+/bto0ePHnZtZnB1da1UNSL5r7nq1asTGxtr9/vvSFxcXKQm6E7SLFZmpZpHSKvVcurUKZo2bQrAmTNnGDduHE899RS7du2yepBCObYO3srz3z3Pj8k/Flsuf4j9J4M+cZh+Q05OTpXuDdbJyYnc3Fzc3d0d+oN4xYoVvPPOO2g0Gtq0acOyZcvo1KlTkeU//fRTZs6cyYULF2jSpAnz588nLCzMZNlnn32W9957j0WLFjFlyhSrxl1R7r+wE2kWswqLv4Lt3buXlStXGpMggKZNm7Js2TL27dtn1eCEMv1fn/9jU9gmfNx8ii2XP8ReVrEXtrR161YiIiKYPXs2cXFxtGnThn79+hXZ1Ll//35GjBjB+PHjOXr0KOHh4YSHh3PixIlCZT///HN++eUXateubeunIYTlpFnMKiyuEQoKCjLZfKDT6eTNohIJqRnCT8N/MqupbE38Go5fPc4H/T4op+hEZbJw4UImTJjAuHF5nfRXrVrFzp07Wbt2LdOnTy9UfsmSJfTv359p06YBMG/ePGJiYli+fDmrVq0ylktOTuaFF17g22+/5aGHHio2huzsbLKzs42P09PTgbymx+KaW/P3VbYm2fJQGe6tKukITsCdvcsMKidyveuBDZ+3o9xbc+OzOBF65513eOGFF1ixYgUdOnQA8jpOT548mQULFlh6OuHgzB1if0hziGFfDWProK3lFJmoDHJycjhy5AgzZswwblOr1fTp04cDBw6YPObAgQNERBScQb1fv37s2LHD+Fiv1/Pkk08ybdo0WrZsWWIcUVFRREZGFtq+e/duPD09Szw+JiamxDKidCrqvXXPSSH098iCSRDwe60hJPx0DDhm8xiUfm/zp1koiVmJUPXq1QuMaMjMzKRz587Goa65ubk4Ozvzn//8R+YcqoTMHWJ/MuUk3TZ1Y1XfVYTUDCmn6ERFdu3aNXQ6HQEBAQW2BwQEcPr0aZPHaDQak+U1mttLxsyfPx9nZ2defNG8VbtnzJhRILlKT08nKCiI0NDQYle91mq1xMTE0LdvX+kjZGUV/d6qLvyI6veCE0uqgGYPDqdp/e42vbaj3Nv8mtmSmJUILV68uCyxiErA3CH26dp0RkaPpFNgJ2kqE4p05MgRlixZQlxcnNlD2t3c3ExOjuji4mLWB4W55YTlKuy9vRJfeJvKCeea90A5PV+l31tzYzMrERozZkyZghGVQ/4Q+yd3Psmxa8eKLXtIc8jhRpUJ5alRowZOTk5cvny5wPbLly8XOc9MYGBgseV//PFHrly5Qr169Yz7dTodL730EosXL+bChQvWfRJCWEpGi1lVmSbuuHXrFunp6QV+bGXOnDmoVKoCP82aNSv2mE8//ZRmzZrh7u5OSEgI0dHRNotP3PbhQx8yotmIEsvJqDJRVq6urrRv357Y2FjjNr1eT2xsLF26dDF5TJcuXQqUh7y+Dvnln3zySX777TeOHTtm/KlduzbTpk3j22+/td2TEcJcMlrMqizuLJ2Zmcmrr77KJ598wj//FG4C0el0VgnMlJYtW/Ldd98ZHxc3HX/+ENmoqCgGDhzIpk2bCA8PJy4ujlatWtksRpHntc6vUatKLRYeWVhi2TXxa/hV86vDTMAolCUiIoIxY8bQoUMHOnXqxOLFi8nMzDSOIhs9ejR16tQhKioKgMmTJ/PAAw/w7rvv8tBDD7FlyxYOHz7M6tWrAfDz88PPz6/ANVxcXAgMDCwwbYgQduPbCFTqgsmQTKJYahbXCL3yyit8//33rFy5Ejc3N95//30iIyOpXbs2GzdutEWMRs7OzgQGBhp/atSoUWTZO4fINm/enHnz5tGuXTuWL19u0xjFbeNajSPm8RgaV2tcYtljV4/R99O+5RCVqGiGDRvGggULmDVrFm3btuXYsWPs2rXL2CE6MTGRS5cuGct37dqVTZs2sXr1atq0acO2bdvYsWOHfEESjiMhFgx3dJRWqWDQYmkWKyWLa4S++uorNm7cSM+ePRk3bhz3338/jRs3pn79+nz88ceMGjXKFnEC8Oeff1K7dm3c3d3p0qULUVFRBdrx72TOEFlTZD4Q6/Jz9eOTsE9YcXwFH/xefOdoTZaG+z66j5V9VtLK7/aHktxb23GEe2tObJMmTWLSpEkm9+3Zs6fQtiFDhjBkyBCzY5B+QUIx0pLhq8nkDZb/l0EFjXrbLSRHZ3EilJKSQsOGedVv3t7epKSkANC9e3eee+4560Z3h86dO7N+/XqaNm3KpUuXiIyM5P777+fEiRN4eXkVKm/OEFlTZD4Q22hAA6Z5T+P/0v+PTDKLLJepy2T0t6MJVgfzlPdTBfbJvbUdJd9bc+cCEaJSMNk/SA8p56RGqJQsToQaNmzI+fPnqVevHs2aNeOTTz6hU6dOfPXVV8ZFWG1hwIABxv+3bt2azp07U79+fT755BPGjx9vtevIfCC2NYIRjNs9juPXjhdb7oL+AsuzlxP9SLTcWxtyhHtry0EYQjgcWWTV6ixOhMaNG8fx48d54IEHmD59OoMGDWL58uVotVoWLiy5Y6y1VKtWjXvuuYezZ8+a3F/SENmiyHwgtvfRQx+ZNQGj5qaG+7fez8o+KwG5t7ak5Hur1LiEKHcybN4mLO4sPXXqVONsq3369OH06dNs2rSJo0ePMnnyZKsHWJSMjAwSEhKoVauWyf0lDZEV9vViuxeJeTyGam7Vii2X31T2fvr75ROYEEIolQybt4kyzSMEUL9+fR599FFat25tjXiK9PLLL7N3714uXLjA/v37eeSRR3BycmLEiLz5akaPHl1gvaHJkyeza9cu3n33XU6fPs2cOXM4fPhwkR0qRfkLrBLIj8N/JKhqUIllL+gv0HtbbzSZxffxEkKICkuaxWzCrKaxpUuX8vTTT+Pu7s7SpcVPfmfu2jyW+vvvvxkxYgT//PMPNWvWpHv37vzyyy/UrFkTyBsiq1bfzuvyh8i+8cYbvPbaazRp0kSGyCpU9GPRRP0SxaYzm4otdz0nbwLGCSETeLGdbV5nQgihSNIsZjNmJUKLFi1i1KhRuLu7s2jRoiLLqVQqmyVCW7ZsKXa/NYbICvuZcd8MxoWMY8hXQ0jNTi22rEzAKISodKRZzGbMSoTOnz9v8v9CWFN+U1nYZ2EkZSQVW/bY1WN0/qgz83vMp2e9nuUToBBC2Is0i9mMRX2EtFotjRo14tSpU7aKRwiiH4tmZNORJZbL0mXxwg8v0OfTPtJ3SAhRcUmzmE1ZlAi5uLhw69YtW8UihNGM+2YQ83gMfu5+JZa9nHVZFm8VQlRc0ixmUxaPGps4cSLz588nNzfXFvEIYRRYJZA9w/bQpkYbs8qviV9D+I5wqR0SQlQs0ixmUxZPqPjrr78SGxvL7t27CQkJoUqVKgX2b9++3WrBCQGwLnQdUz+byt7svSWWTUhLkJFlQoiKQ5rFbM7iGqFq1arx2GOP0a9fP2rXro2Pj0+BHyFsoa9HX74J/4bmvs3NKr8mfg1PRj9p46iEEMLGpFnM5iyuEVq3bp0t4hCiRAGeAXwy6BPir8bzbMyzpGuLX4Pq2NVjdNnUhdV9VxNSM6ScohRCCCuSZjGbK/PM0kKUt5CaIfw88mfa1mhbYtkMbQYjo0cycudI6TskhHAs0ixWLkqVCG3bto2hQ4dy33330a5duwI/QpSXDx/6kAkhE8wqG38tXkaWCSEcizSLlQuLE6GlS5cybtw4AgICOHr0KJ06dcLPz49z584xYMAAW8QoRJHyF29tXK2xWeVlZJkQwmFIs1i5sDgR+r//+z9Wr17NsmXLcHV15ZVXXiEmJoYXX3yRtLQ0W8QoRLECqwTy+cOfm107lD+y7K2Db9k4MiGEKCVpFis3FidCiYmJdO3aFQAPDw9u3LgBwJNPPsnmzZutG50QFsivHfL38Der/ObTm+m2qRvxV+NtHJkQQlhImsXKjcWJUGBgICkpKQDUq1ePX375Bchbg8xgMFg3OiEsFFglkNihsWYt0QGQrk1nZPRIxn873saRCSGEBaRZrNxYnAg9+OCDfPnllwCMGzeOqVOn0rdvX4YNG8Yjjzxi9QCFKI38JTqaVW9mVvlDmkN02dRFaoeEEPYnzWLlyuJ5hFavXo1en1ddN3HiRPz8/Ni/fz+DBw/mmWeesXqAQpRWYJVAPh38KUvjlrImfk2J5fOH2jer3oxlvZcRWCWwHKIUQoi7SLNYubK4RkitVuPsfDt/Gj58OEuXLuWFF17A1dXVqsEJYQ35fYfMnZX69PXT0plaCGE/0ixWrixOhBo3bsycOXP4448/bBGPEDYRWCWQTwZ9wqawTVRzrWbWMdKZWghR7qRZrNyVavX5nTt30rx5czp27MiSJUvQaGROFuEYQmqG8OOIHy3uTD3kyyEy95AQwvakWazcWZwITZ06lV9//ZVTp04RFhbGihUrCAoKIjQ0lI0bN9oiRgCioqLo2LEjXl5e+Pv7Ex4ezpkzZ4o9Zv369ahUqgI/7u7uNotROI78ztTmDrWX5jIhRLmQZrFyV+q1xu655x4iIyP5448/+PHHH7l69Srjxo2zZmwF7N27l4kTJ/LLL78QExODVqslNDSUzMzMYo/z9vbm0qVLxp+//vrLZjEKx2LpUHuQ5jIhhA1Js5hdWDxq7E6HDh1i06ZNbN26lfT0dIYMGWKtuArZtWtXgcfr16/H39+fI0eO0KNHjyKPU6lUBAbK6B9RtBn3zWBcyDjePvQ2sYmxJZbPby6T0WVCCKuSZjG7sDgR+uOPP/j444/ZvHkz58+f58EHH2T+/Pk8+uijVK1a1RYxmpS/nIevr2+x5TIyMqhfvz56vZ527drx1ltv0bJlyyLLZ2dnk52dbXycnp4OgFarRavVFnlc/r7iyojSKY976+fqxzvd3+Fy1mWe3PUk125dK/GY/Oay4U2G80rHV2wWmy05wutWybEJYVXSLGYXFidCzZo1o2PHjkycOJHhw4cTEBBgi7iKpdfrmTJlCt26daNVq1ZFlmvatClr166ldevWpKWlsWDBArp27crvv/9O3bp1TR4TFRVFZGRkoe27d+/G09OzxNhiYmLMfyLCIuV1b6e4T+Fr/df8kvOLWeW3/LmFz/78jGGew2jmat4Ejkqj5NdtVlaWvUMQwvakWcxuLE6Ezpw5Q5MmTWwRi9kmTpzIiRMn+Omnn4ot16VLF7p06WJ83LVrV5o3b857773HvHnzTB4zY8YMIiIijI/T09ONncG9vb2LvJZWqyUmJoa+ffvi4uJi4TMSxbHHvQ0jjMtZl5mydwpnrhffKR9Ai5aPsj6iem51lvRaQiu/ohN0JXGE121+rawQFZo0i9mNxYmQvZOgSZMm8fXXX7Nv374ia3WK4uLiwr333svZs2eLLOPm5oabm5vJY835oDC3nLBced/buj512TZ4G/FX43n+u+dJzUkt8ZjrOdcZ/e1oh+s/pOTXrVLjEsKqpFnMbko9aqy8GQwGJk2axOeff873339PgwYNLD6HTqcjPj6eWrVq2SBCUVFZOvcQ3O4/NH3fdJl/SAhRPGkWsyuHSYQmTpzIRx99xKZNm/Dy8kKj0aDRaLh586axzOjRo5kxY4bx8dy5c9m9ezfnzp0jLi6OJ554gr/++ounnnrKHk9BOLj8uYfMXaoDYOf5nfTd1pfJ30+WhEgIYZo0i9mVwyRCK1euJC0tjZ49e1KrVi3jz9atW41lEhMTuXTpkvHx9evXmTBhAs2bNycsLIz09HT2799PixYt7PEURAVw51Idvm7Fj1i80/dJ30tCJIQwTZrF7KrU8wjl5ORw/vx5GjVqVGARVlsxGAwlltmzZ0+Bx4sWLWLRokU2ikhUZiE1Q9g7fC97Evcw/cfpZOYWP7Fnvu+Tvuf7pO8Z0WwEr3V+zcZRCiEUT5rF7M7iGqGsrCzGjx+Pp6cnLVu2JDExEYAXXniBt99+2+oBCqFkPev15JdRv1jUfwjyZqju/FFn9iTusU1gQgjHIM1idmdxIjRjxgyOHz/Onj17Cqzb1adPnwLNVEJUJqXpP5Sly+KFH16gx5YesmSHEJWVNIvZncWJ0I4dO1i+fDndu3dHpVIZt7ds2ZKEhASrBieEI7mz/1BDH/PfxK5nX2dk9EjCPguThEiIykSaxRTB4kTo6tWr+PsXXrE7MzOzQGIkRGUVUjOEL8K/YFPYJup51TP7uKSMJEZGj+TBrQ9Kk5kQlYE0iymCxYlQhw4d2Llzp/FxfvLz/vvvF5jFWYjKLqRmCDsf3WlxQnT11lVe+OEFumzqIgmREBWZNIspgsXDvd566y0GDBjAyZMnyc3NZcmSJZw8eZL9+/ezd+9eW8QohEPLT4jir8YzKXYSKdkpZh2Xoc3ghR9eoKpLVaK6R9GzXk/bBiqEKD/SLKYYFtcIde/enWPHjpGbm0tISAi7d+/G39+fAwcO0L59e1vEKESFkD/kflmvZVRxrmL2cfkJkdQQCVGBSLOYYpRqAqBGjRqxZs0aa8ciRKWQP+Q+6pcoNp3ZZPZxUkMkRAUizWKKYXGNkJOTE1euXCm0/Z9//sHJyckqQQlRGeQPuX/x3hfxcvEy+7j8hKjzR52Z9dMsGWkmhKORZjFFsTgRKmqG5+zsbFxdXcsckBCVSWCVQCa0nsD+kftZ1muZRQlRli6LzxM+l5FmQjgaaRZTFLObxpYuXQrkjRJ7//33qVq1qnGfTqdj3759NGvWzPoRClFJ9KzXk/0j97MncQ+v/fQaN7Q3zD42f6SZp7Mn41uNZ3DjwQRWCbRhtEKIUpNmMUUxu0Yof90ug8HAqlWrjI8XLVrEqlWryMrKYtWqVbaMVYhKIT8hsrSGCCArN4tlx5bRd1tfRkePrjTNZitWrCA4OBh3d3c6d+7MoUOHii3/6aef0qxZM9zd3QkJCSE6OrrA/jlz5tCsWTOqVKlC9erV6dOnDwcPHrTlUxCVhTSLKY7ZidD58+c5f/48DzzwAMePHzc+Pn/+PGfOnOHbb7+lc+fOtoxViEqlLAkRwNGrRxkZPZIHtjzA6uOrK+yq91u3biUiIoLZs2cTFxdHmzZt6Nevn8m+jAD79+9nxIgRjB8/nqNHjxIeHk54eDgnTpwwlrnnnntYvnw58fHx/PTTTwQHBxMaGsrVq1fL62mJikqaxRTH4j5CP/zwA9WrV7dFLEIIE+5MiPw9Cs/qXpKU7BRjLdGg7YMqXFK0cOFCJkyYwLhx42jRogWrVq3C09OTtWvXmiy/ZMkS+vfvz7Rp02jevDnz5s2jXbt2LF++3Fhm5MiR9OnTh4YNG9KyZUsWLlxIeno6v/32W3k9LVFRSbOY4pRq+Pzff//Nl19+SWJiIjk5OQX2LVy40CqBCSEK6lmvJz3r9ST+ajwLDi8g7kqcxee4cOMCy44tY9mxZQR7BfNQg4fw1HvaINrykZOTw5EjR5gxY4Zxm1qtpk+fPhw4cMDkMQcOHCAiIqLAtn79+rFjx44ir7F69Wp8fHxo06aNyTLZ2dlkZ2cbH6enpwOg1WrRarVFxp+/r7gyonQUeW/TL+L83RzuXIzKAOh6zcTg6Q9KirUYiry3Jpgbn8WJUGxsLIMHD6Zhw4acPn2aVq1aceHCBQwGA+3atbM4UCGEZUJqhrBhwAY0mRq+SviKD+I/IDM30+LzXLhxgRW/rQBg0xebqF21NvfVus+hOlpfu3YNnU5HQEBAge0BAQGcPn3a5DEajcZkeY2mYC3Z119/zfDhw8nKyqJWrVrExMRQo0YNk+eMiooiMjKy0Pbdu3fj6VlyohkTE1NiGVE6Srq3LZI30+SuZjEV8EtiNv9cjzZ9kIIp6d6akpWVZVY5ixOhGTNm8PLLLxMZGYmXlxefffYZ/v7+jBo1iv79+1scqBCidPKH3k9oPYE9iXuY98s8rtw03S+mJMmZySRnJvPr5V9ZdmwZgR6BBHkHOVxiZE29evXi2LFjXLt2jTVr1jB06FAOHjxoctHpGTNmFKhlSk9PJygoiNDQULy9vYu8hlarJSYmhr59++Li4mKT51FZKe7epl/EedmYQpsNKjWdB4wA79p2CKp0FHdvi5BfM1sSixOhU6dOsXnz5ryDnZ25efMmVatWZe7cuTz88MM899xzlp5SCFFG1mg2u5PmpgbNTU2BxCigSgDV3apTx6sODzV8iJCaIVaKvvRq1KiBk5MTly9fLrD98uXLBAaaTt4CAwPNKl+lShUaN25M48aNue+++2jSpAkffPBBgWa4fG5ubri5uRXa7uLiYtYHhbnlhOUUc2/T/yKvIawgVZdJuPjVL/94rEAx97YI5sZmcSJUpUoVY7+gWrVqkZCQQMuWLYG8amohhP3c3Wz28amP+efWP2U+b35ilO/j0x/j7eJNnaq3h/v6efgxrOmwcl36w9XVlfbt2xMbG0t4eDgAer2e2NhYJk2aZPKYLl26EBsby5QpU4zbYmJi6NKlS7HX0uv1BfoBCWERU52kUUPnZ8s9FFGQxYnQfffdx08//UTz5s0JCwvjpZdeIj4+nu3bt3PffffZIsYCVqxYwTvvvINGo6FNmzYsW7aMTp06FVn+008/ZebMmVy4cIEmTZowf/58wsLCbB6nEPZ0Z7NZ/NV4tv2xjR+SfuB69nWrXSNdm0769Tuqnq/DTxd/wk3tRjPfZng4e5ClzUKrN91hsX6ylraXXGndZzghPR4pdRwRERGMGTOGDh060KlTJxYvXkxmZibjxo0DYPTo0dSpU4eoqCgAJk+ezAMPPMC7777LQw89xJYtWzh8+DCrV68GIDMzkzfffJPBgwdTq1Ytrl27xooVK0hOTmbIkCGljlNUYkXNHdQ3UuYOUgCLE6GFCxeSkZEBQGRkJBkZGWzdupUmTZrYfMRY/nwhq1atonPnzixevJh+/fpx5swZk+32+fOFREVFMXDgQDZt2kR4eDhxcXG0atXKprEKoRQhNUMIqRlCJJE2S4rulK3P5vi14yb3Nbyop89RPR3+BJ+beR1FDZ/8xtddVzFw7belut6wYcO4evUqs2bNQqPR0LZtW3bt2mXsEJ2YmIhafXumkK5du7Jp0ybeeOMNXnvtNZo0acKOHTuM7wlOTk6cPn2aDRs2cO3aNfz8/OjYsSM//vijsfZbCIvI3EGKpjIUtXiYAnXu3JmOHTsa5/vQ6/UEBQXxwgsvMH369ELlhw0bRmZmJl9//bVx23333Ufbtm2LnAXb1DDYoKAgrl27Jp0e7UTurW2c+OcE0QnRHD13FI2zhrScNJtdq+2fOp7eZcAvgwJDh/MZgOyVc2nVPbzQvvT0dGrUqEFaWlqxf4NKkp6ejo+PT4kxa7VaoqOjCQsLk9e2lSnq3v68BGJmFdymcoIp8Q5ZI6Soe1sMc/8OLa4RatiwIb/++it+fn4FtqemptKuXTvOnTtnebRmKI/5QkCGwSqZ3Fvra0UrWnnn1YT87fo3B7MPclV7lWtc4xa3ynRu33QD95/Q8fABqJJjOgHKpwKO79hCYnrhhZvNHQIrhCLJkhqKZ3EidOHCBXQ6XaHt2dnZJCcnWyUoU2w5X8idZBis8si9tZ277+3TPG3cd+KfE2z/czvn0s6Ro88hQ5vB3xl/F3u+/OSn2+9Q/1rxyc+dDECb8OG06l64/565Q2CFUKSkg9IspnBmJ0Jffvml8f/ffvstPj4+xsc6nY7Y2FiCg4OtGpw9yDBY5ZJ7azum7u29gfdyb2DBN+v80WgHLh4gM+f2JI6GU38yLOYmzf82P/kxHgtomtXgwV6mOyLL71w4rLiN8OWLhbfLkhqKYnYilD80VaVSMWZMwUmhXFxcCA4O5t1337VqcHey5XwhQgjz3DkaDeDGD3u4NHs2uis3S3U+A2BoGMSDO3ZbMUohFCAtGb6aTKG5g1RqGLRYmsUUxOxFV/V6PXq9nnr16nHlyhXj4/y5Nc6cOcPAgQNtFuid84XcGVNsbGyR83/kzxdyJ3PmCxFCFE2r0XB11Xuc7tCRv597Dl0Rq7yXxKVJE4JWrqRltCRBogI6uNJ0k9hja6Hd6PKPRxTJ4j5C58+ft0UcZrH2fCFCCPNoNRpufP8Dqdu3k33iROlP5OlJjWeeodrDg3GRmllRUaUlw/7lhber1BBU9Lx3wj7MToQOHDjAP//8U6DWZ+PGjcyePZvMzEzCw8NZtmyZyf411mLt+UKEEMW7+Vs8mrff5lZc2ZbsUPv7UzsyEq9ePa0SlxCKlpKAqeU06DJJmsQUyOxEaO7cufTs2dOYCMXHxzN+/HjGjh1L8+bNeeedd6hduzZz5syxVawATJo0qcip8/fs2VNo25AhQ2Q2WCEsdLvvT+mavQDUAQH49O+Pz0MP4dHa/uuSCVFuZDkNh2J2InTs2DHmzZtnfLxlyxY6d+7MmjVrAAgKCmL27Nk2T4SEELZx87d4UrZs4cauXRjKMHePe7t2BE6fLsmPqJxkOQ2HY3YidP369QJz8uzdu5cBAwYYH3fs2JGkpCTrRieEsDnPk6c49+5C9KWs/dEaDMy5do3XIiJoM/4/0vdHVG6ynIbDMXvUWEBAgLGjdE5ODnFxcQUWWb1x44bM9yGEg7j5WzzJr71Own1dqLNhQ6mTILW/Pw1WrSI2V4vfyBGSBAlhqllM5g1SNLNrhMLCwpg+fTrz589nx44deHp6cv/99xv3//bbbzRq1MgmQQohrMNU3x9LJ0BU1aiBV8+e+A4damz+Cg8PZ8eOHUydOtWK0QrhYGQ5DYdkdiI0b948Hn30UR544AGqVq3Khg0bcHW9vS7Q2rVrCQ0NtUmQQojSK4++P02aNGHu3Ln8/PPPtG/fnipVqhTY/+KLJmbXFaKikWYxh2R2IlSjRg327dtHWloaVatWxcnJqcD+Tz/9lKpVq1o9QCFE6Vhj5Je58/588MEHVKtWjSNHjnDkyJEC+1QqlSRConKQZjGHZPGEineuMXYnX1/fMgcjhCgbrUZD6o4v+Of99zFkZJT6PC5NmhAQEWH2vD/2nGhVCEWQZjGHZXEiJIRQnhs/7OHKwoXk/Plnqc+h8vPDb/ToMs/6bDDkTSSnUlna+0gIB1bUkhrSLKZ4Zo8aE0Ioy91rfpU2CcqsV4+6mz6m2c8/UfOZp0udBG3cuJGQkBA8PDzw8PCgdevWfPjhh6U6lxAOpbglNaRZTPGkRkgIB3Lzt3hSv/qKrEOHyDlzpvQn+rfvT9WwAeyOi6NNSNkmP1y4cCEzZ85k0qRJdOvWDYCffvqJZ599lmvXrsloMlGxyZIaDk0SISEUJn+B08xfD6G9pMGQk5O3PTkZQ1pamc59d98frVZbxmjzLFu2jJUrVzJ69O1VtQcPHkzLli2ZM2eOJEKiYpMlNRyaJEJC2El+x+aMA/sxZOegcncnNzmZXGvP0F4OK75funSJrl27FtretWtXLl26ZJNrCqEIsqSGw5NEyEpyNRo8EhLI1WhwCQqydzhCQfLn8ck+d85Yu6O7fh2djROE8lzxvXHjxnzyySe89tprBbZv3bqVJk2a2Pz6QtiNdJJ2eJIIWUHqtm1cmjmLIIOBC6vX4NKkMQERL5XLB5BQhrubswBU7u7knDmD/vr18gvE3R3vgQMLzPpcHiIjIxk2bBj79u0z9hH6+eefiY2N5ZNPPim3OIQoV9JJukKQRKiMtBoNl2bOAsPtjnLaP8/y93PP5TVJPP001cIfljWYKgCtRkNW3FFunvydm/Hx6G/kzdNTHrU7JSnP2h9THnvsMQ4dOsTChQvZsWMHAM2bN+fQoUPce698MxYVlHSSrhAkESqjrLijBZKggjuzuLZ4MdcWL5ZaIgdiKuFRQrJzN5fgYDw6dCj32p+7abVannnmGWbOnMlHH31ktziEKHfSSbpCkESorMycMy6/lkhVtSp+Tz0ltUQKkD8UXZuURG5qKoacHPQ3bli/s3IZqQMDcf535na1lxdVu3a1acdnS7m4uPDZZ58xc+ZMe4ciRPmRTtIVhiRCZeRpYbW/ISNDaonKmamExxpD0a2qWjXcmzfHcOsWGAy41K5NlY4d8erVUzEJT3Fk9XlR6cgCqxWGQyRCFy5cYN68eXz//fdoNBpq167NE088weuvv46rq2uRx/Xs2ZO9e/cW2PbMM8+watUqq8XmEhhIrf/O49Ibln8blr5E1nPnUPT8vjsAuZculW9n5RLcWbujcnXFrXFjuzdtWYOsPi8qHVlgtcJwiETo9OnT6PV63nvvPRo3bsyJEyeYMGECmZmZLFiwoNhjJ0yYwNy5c42PPT09rR5ftccfx61zZw4tWEDATz9jyMy07AR39CVyb3cvgdNnOPwHoy3kajRkxZ8gJymRW6dPGycbVGL/Hae6dXEJCsJw6xYqV1fFNWdZm6w+LyoVWWC1QnGIRKh///7079/f+Lhhw4acOXOGlStXlpgIeXp6EmjBh092djbZ2dnGx+np6UBeh9DiZuE1+PmR+uCDdIyKIvvnn7ky77/or1wx+7r5bsUd5cLQoah8fak2aiQ+gwfjXEE/PIuSq9GQsWcPN48cQXvxEoacHIIvXeKCkpqyALy9camb96ancnXFObAWnh3aU/WBB4r8nVlrJmdryY+nLHEZDAZiYmLw9/fHw8Oj2OuUhtLumRAyd1DF4hCJkClpaWn4/tvEUJyPP/6Yjz76iMDAQAYNGsTMmTOLrRWKiooiMjKy0Pbdu3ebVZsUExOT95+XInBLTML74C9UPXUa58xMc/tVA2BISeH6suWkLFvOLX9//hkwgKwWzS04g/I5p6bheeok7ufO43L9OurcXJyysnBJSyt0r4puALUtA6B1d0fn64vB2ZncKlXI9fXlRtu2ZNcrYuLMuLhyjdEajK/bUtDr9QwdOpSlS5dSu3ZtK0aVJysry+rnFKLUZO6gCschE6GzZ8+ybNmyEmuDRo4cSf369alduza//fYbr776KmfOnGH79u1FHjNjxgwiIiKMj9PT0wkKCiI0NBRvb+8ij9NqtcTExNC3b19cXFxu73j2GQBuxcejmT6D3MREM59lHhXgceUKdTdsAE9Pqo//j8PUEuVqNNw8doycxERy//4b7fXr6FOuY9DmoE9NRffvxINKoQ4MxDkwAHW16qjd3XGuUQPvsAG4l3FBUiUr8nVroSZNmhASEkLnzp2tGF2e/FpZIRRB5g6qcOyaCE2fPp358+cXW+bUqVM0a9bM+Dg5OZn+/fszZMgQJkyYUOyxTz/9tPH/ISEh1KpVi969e5OQkECjRo1MHuPm5oabm1uh7S4uLmZ9UBRVzqVdO7x2f5u33MLWrdzYtatUfYmuL1vO9WXL7d6XqKiFQfMpsd9OvvwOy2ovLzxCQvBo2RLPe9tW2P475jD39V2U+fPnM2PGDFauXEmrVq2sGBlliksIq5O5gyocuyZCL730EmPHji22TMOGt6saL168SK9evejatSurV6+2+Hr531bPnj1bZCJkax6tQ6jTOgTe/C83ftjDpdmz0ZWhLxHVquHduze+w4aVOSnSajTkXPgL/c2bpMfEFFgb605KTnIA8PbGtW5dIK/vjkvt2rg3bYprvXqVPuGxldGjR5OVlUWbNm1wdXUt1FcoJSXFTpEJYUUyd1CFZNdEqGbNmtSsWdOsssnJyfTq1Yv27duzbt061Gq1xdc7duwYALVq1bL4WFvw6tUTr157uflbPJq33+ZWafqWpKaS/tlnpH/2GVSrhmsp+2goPrkxpXp1XP/9XVakoeiOaPHixfYOQQjbk07SFZJD9BFKTk6mZ8+e1K9fnwULFnD16lXjvvwRYcnJyfTu3ZuNGzfSqVMnEhIS2LRpE2FhYfj5+fHbb78xdepUevToQevWre31VEzyaB1Cg00f582F88WXpH7xBbnnzll+otRUclJTrR6fvakDA8lUq/Hxr4lzdV/c6tXD56GHJOFRkDFjxtg7BCFsSzpJV1gOkQjFxMRw9uxZzp49S91/mzzyGf5d50ur1XLmzBnjCBNXV1e+++47Fi9eTGZmJkFBQTz22GO88cYb5R6/uVwCA6n5zNPUfOZpY1L0z5o1GDIySj64Asjvu5PfnJU/szJ+fkRHRxMSFib9RRQsISGBdevWkZCQwJIlS/D39+ebb76hXr16tGzZ0t7hCVE20km6wnKIRGjs2LEl9iUKDg42JkUAQUFBhWaVdiR3JkVl6UukNM5166L+d/Td3QlPUX13ZB4Z5du7dy8DBgygW7du7Nu3jzfffBN/f3+OHz/OBx98wLZt2+wdohBlI52kKyyHSIQqO6v0JbKlO/rq3Enl6opT9eq4+Pnh3rKlw6ybJSw3ffp0/vvf/xIREYGXl5dx+4MPPsjy5SaaE4RwJNJJukKTRMiBWK0vkQXuXBvrTtI5WdwpPj6eTZs2Fdru7+/PtWvX7BCREFYknaQrNEmEHNDdfYlu/LCHzF9/RXvpEoY7lgexlNTgiNKqVq0aly5dokGDBgW2Hz16lDp15BuzcGDSSbrCk0TIwbkEBuI7Yji+I4bbOxRRiQ0fPpxXX32VTz/9FJVKhV6v5+eff+bll19m9OjR9g5PiNKTTtIVnuWT8QghxF3eeustmjVrRlBQEBkZGbRo0YIePXrQtWtXRY/UFKJE0km6wpMaISFEmbm6urJmzRpmzZpFfHw8GRkZ3HvvvTRp0sTeoQlRetJJulKQRKgE+UPyS1r4UavVkpWVRXp6usx1Y2Vyb23H2vfWx8eH7t27Gx9bY8HU/HPcOT2GEOVCOklXCpIIleDGjRtA3rxEQgj7uXHjBj4+PvYOQ1QW0km60pBEqAS1a9cmKSkJLy8vVCpVkeXS09MJCgoiKSkJ738nDBTWIffWdhzh3hoMBm7cuEHtUq6jJ0SpHFyJdJKuHCQRKoFarS60rEdxvL29FfuB4ujk3tqO0u+t1ASJclVUbRAq6SRdAcmoMSGEEOJORQ2Z7/qC1AZVQJIICSHKbNeuXfz000/GxytWrKBt27aMHDmS69ev2/z6K1asIDg4GHd3dzp37syhQ4eKLf/pp5/SrFkz3N3dCQkJITo62rhPq9Xy6quvEhISQpUqVahduzajR4/m4sWLtn4aQilkyHylIomQlbi5uTF79mzc3NzsHUqFI/fWdqx1b6dNm2Yc3RUfH89LL71EWFgY58+fJyIiwhqhFmnr1q1EREQwe/Zs4uLiaNOmDf369eNKEYsU79+/nxEjRjB+/HiOHj1KeHg44eHhnDhxAoCsrCzi4uKYOXMmcXFxbN++nTNnzjB48GCbPg+hEDJkvtJRGWRMqhCijKpWrcqJEycIDg5mzpw5nDhxgm3bthEXF0dYWBgajcZm1+7cuTMdO3Y0Lu6q1+sJCgrihRdeYPr06YXKDxs2jMzMTL7++mvjtvvuu4+2bduyatUqk9f49ddf6dSpE3/99Rf16tUrtD87O5vsO5a3ye+Efu3atWL7Xmm1WmJiYujbt69MDWFlpb236u9m43RwRaHtuU/swFC/u4kjKh9Hed2mp6dTo0YN0tLSiv07lM7SQogyc3V1JSsrC4DvvvvOuKyGr6+vVeYSKkpOTg5HjhxhxowZxm1qtZo+ffpw4MABk8ccOHCgUC1Vv3792LFjR5HXSUtLQ6VSUa1aNZP7o6KiiIyMLLR99+7deHp6lvg8YmJiSiwjSseSe+uek0Lo74WTIAMqYo9e4NbvtnstOyKlv27z35NKIomQEKLMunfvTkREBN26dePQoUNs3boVgD/++MOiUZeWunbtGjqdjoCAgALbAwICOH36tMljNBqNyfJF1VrdunWLV199lREjRhT5rXLGjBkFkqv8GqHQ0FCpEbKT0txb9XezMTVJiv6+53mw9xPWDdCBOcrr1twvYZIICSHKbPny5Tz//PNs27aNlStXGlec/+abb+jfv7+doys9rVbL0KFDMRgMrFy5sshybm5uJvtZubi4mPVBYW45YTmz721aMhz8PxM7VDh1mYiT/H4KUfrr1tzYJBESQpRZvXr1CvS5ybdo0SKbXrdGjRo4OTlx+fLlAtsvX75MYGCgyWMCAwPNKp+fBP311198//33ip5nSViBDJmvtGTUmBCizKKjo/n2228Lbd+9ezfffPONza7r6upK+/btiY2NNW7T6/XExsbSpUsXk8d06dKlQHnI6+twZ/n8JOjPP//ku+++w8/PzzZPQCiHDJmvtCQRshJL5zERxYuKiqJjx454eXnh7+9PeHg4Z86csXdYFdLbb7+NSqViypQppT7H9OnT0el0hbbr9XqTI7esKSIigjVr1rBhwwZOnTrFc889R2ZmJuPGjQNg9OjRBTpTT548mV27dvHuu+9y+vRp5syZw+HDh5k0aRKQlwQ9/vjjHD58mI8//hidTodGo0Gj0ZCTk2PT5yLsRIbMV2qSCFmBpfOYiJLt3buXiRMn8ssvvxATE4NWqyU0NJTMzEx7h1ah/Prrr7z33nu0bt26TOf5888/adGiRaHtzZo14+zZs2U6d0mGDRvGggULmDVrFm3btuXYsWPs2rXL2CE6MTGRS5cuGct37dqVTZs2sXr1atq0acO2bdvYsWMHrVq1AiA5OZkvv/ySv//+m7Zt21KrVi3jz/79+236XISdyCrzlZr0EbKChQsXMmHCBOM30FWrVrFz507Wrl1r82/DFdWuXbsKPF6/fj3+/v4cOXKEHj162CmqiiUjI4NRo0axZs0a/vvf/5bpXD4+Ppw7d47g4OAC28+ePUuVKlXKdG5zTJo0yVijc7c9e/YU2jZkyBCGDBlisnxwcDAyvVolIqvMV3pSI1RG+fOY9OnTx7itpHlMhOXS0tKAvHlphHVMnDiRhx56qMBrt7QefvhhpkyZQkJCgnHb2bNneemll2RGZqFsssp8pSeJUBkVN4+JLWfTrUz0ej1TpkyhW7duxuYLUTZbtmwhLi6OqKgoq5zvf//7H1WqVKFZs2Y0aNCABg0a0Lx5c/z8/FiwYIFVriGE1ckq8wJpGhMOYOLEiZw4caLAop6i9JKSkpg8eTIxMTG4u7tb5Zw+Pj7s37+fmJgYjh8/joeHB61bt5ZmTKFsMmReIIlQmZVmHhNhvkmTJvH111+zb98+m85QXJkcOXKEK1eu0K5dO+M2nU7Hvn37WL58OdnZ2Tg5OVl8XpVKRWhoKKGhodYMVwjbkSHzAkmEyuzOeUzCw8OB2/OYFNV5U5TMYDDwwgsv8Pnnn7Nnzx4aNGhg75AqjN69exMfH19g27hx42jWrBmvvvqq2UnQ0qVLefrpp3F3d2fp0qXFln3xxRdLHa8QNiFD5sW/JBGygoiICMaMGUOHDh3o1KkTixcvLjCPibDcxIkT2bRpE1988QVeXl7G/lY+Pj54eHjYOTrH5uXlVaivVZUqVfDz87OoD9aiRYsYNWoU7u7uxc4grVKpJBESyiND5sW/JBGygmHDhnH16lVmzZqFRqOhbdu2BeYxEZbLX9epZ8+eBbavW7eOsWPHln9AopDz58+b/L8QiidD5sUdJBGykuLmMRGWk3lcypepuXaEqLBkyLy4gyRCQogyMxgMbNu2jR9++IErV66g1xdscti+fbudIhPiLjJkXtxFEiEhRJlNmTKF9957j169ehEQEIBKpbJ3SEKYVlRtkAyZr7QkERJClNmHH37I9u3bCQsLs3coQhRNaoOECTKztBCizHx8fGjYUDqZCoWTCRSFCZIICSHKbM6cOURGRnLz5k17hyJE0WQCRWGCNI0JIcps6NChbN68GX9/f4KDg3FxcSmwPy4uzk6RCfEvmUBRFEESISFEmY0ZM4YjR47wxBNPSGdpoUwygaIogiRCQogy27lzJ99++y3du3e3dyhCFCYTKIpiSB8hIUSZBQUF4e3tbe8whDBNJlAUxZBESAhRZu+++y6vvPIKFy5csHcoQhSUflGGzItiSdNYCfR6PRcvXsTLy0v6PQhRhFGjRnHz5k0aNWqEp6cnzs4F31r++uuvUp/bYDBw48YNateujVot392EZdSH3kOGzIviSCJUgosXLxIUFGTvMIRwGBkZGYW2+fj4lPm8SUlJ1K1bt8znEZWHe04K6qP/Z2KP1AaJ2yQRKoGXlxeQ9yZcXB8IrVbL7t27CQ0NLTR0WJSN3FvbcYR7m56eTlBQkPFvUQhzNbz6LSqpDRIlkESoBPnNYd7e3iUmQp6ennh7eyv2A8VRyb21HVvc21u3bpGTk1NgmzU6UkvTtLBI+kUaX/nGxA6pDRIFSYO7EKLMMjMzmTRpEv7+/lSpUoXq1asX+BGivKkPvYfJ1Flqg8RdJBESQpTZK6+8wvfff8/KlStxc3Pj/fffJzIyktq1a7Nx40Z7hycqm7Rk1Aelb5AwjzSNCSHK7KuvvmLjxo307NmTcePGcf/999O4cWPq16/Pxx9/zKhRo+wdoqhMDq6UvkHCbJIIiXKx/ufzfBaXjN5Q+M3JYIA7u38U+D8qDAYDqWlOrPnrlyL7iRgwoPq3Ivzu/xvPc8cbo4kwilVijHdcp6R4VCYq7PO3FxWjSgW5OgPNAr14sksw7esrq7kpJSXFuPq8t7c3KSkpAHTv3p3nnnvOnqGJyqaoWaSlNkgUQRKhSubns9f4/Giy8aPYAAU+lk3lGXcnAcUxVbZ/q0DmfHWyFNHeScXfmellPIfjO625wY5jFzkfFaaozsMNGzbk/Pnz1KtXj2bNmvHJJ5/QqVMnvvrqK6pVq2bv8ERlUtQs0lIbJIogiVAlM+r9g+V+zU8O/13u16zocvUGXJyUkwiNGzeO48eP88ADDzB9+nQGDRrE8uXL0Wq1LFy40N7hicpCaoNEKUgiJIQDsrRpz9amTp1q/H+fPn04ffo0R44coXHjxrRu3dqOkYlKJSUBqQ0SlqrQo8ZWrlxJ69atjXMAdenShW++MTWvhBCOxVRfKyWpX78+jz76qCRBonxdPFpokwG11AaJYlXoGqG6devy9ttv06RJEwwGAxs2bODhhx/m6NGjtGzZ0t7hWU9aMiQdhKyUEouOVJ+w2mVTqUqSvib11FfxofCyCrZir+tawpYxepOJ+rNP4UYy6HJKPqAYaidnOqVmob68FPS5xRd2dgUXT8jJMnnd2NPXiT2dypUbWvQqFaidQZcLBj1rRzc1fb6aTaH9OKjbvkzPQwjSkuG7OQU2GQDdg7NwltogUYwKnQgNGjSowOM333yTlStX8ssvv1ScRChuI4YvXzQ9VNSEt1yte3lLOlJXhOtawqYxnrbOaZyAWgCZZTtP5J5s5u7LpkNtNbWqqgs/b80x0wf+fQjD0Q9RtRkJj6wsWxCicju4Egz6AptUALXb2iMa4UAqdCJ0J51Ox6effkpmZiZdunQpslx2djbZ2dnGx+npeSOVtFotWq22yOPy9xVXxurSL+JsQRJkC/ZKRpSeBIFjxGgtq47ksP5hd55sY3mmrQIMxzeR224s1G5XaH+5/k0Jx1REJ2kDKgzVG9ohIOFIKnwiFB8fT5cuXbh16xZVq1bl888/p0WLFkWWj4qKIjIystD23bt34+npWeL1YmJiyhSvJWrcOEk3OyZBQuTL0UHXoNK/naiA09+u51yAptC+rKysMkQmKoUihsyf9R9AsHft8o9HOJQKnwg1bdqUY8eOkZaWxrZt2xgzZgx79+4tMhmaMWMGERERxsf5K1+HhoaWuOhqTEwMffv2Lb+FQdPbol82H7UkQ8LOnrrXhU3xWmY+4Faq4w1As35jaWaiRii/VlYIk4qpDTpXM5Tg8o9IOJgKnwi5urrSuHFjANq3b8+vv/7KkiVLeO+990yWd3Nzw82t8Ju5i4uLWQmOueWswq8+OxvMoP+5KJxU9kmGpI9Q0RwhRmu5lQur47L57nwurf3VheY4WtjPvdjjVW1G4lK/s8l95fb3JBxTEbVB+vue51a2b/nHIxxOhU+E7qbX6wv0AXJ0v9UczLxTtWin/pNq3CjXa6fiRZK+BkHqa+V6bXtd1xK2jNGbTJo5JRJe3wC5ZXst65xcuJKaib9PFZz0JfTFcXYDFw/Q3ix03d9Sj9O2ngcAJ9IAlTrvx6BHZdBDYBvT56vZFNqPlVFjonSKmUBR3/EZ+OlYeUckHFCFToRmzJjBgAEDqFevHjdu3GDTpk3s2bOHb7/91t6hWZUGP6L1fna7fry+caW6riVsFaOLSkX4U2FlPo9eq+VQdDRhYWE4laHm5QeZpkXYQ3HLaXjXBo6Vc0DCEVXoCRWvXLnC6NGjadq0Kb179+bXX3/l22+/pW/fvvYOzXoqSdOLKEhp8ymuW7eOmzdv2jsMUZn8fQT2LzOxQ5bTEJap0DVCH3zwgb1DsDlTK5mLik9pfY+mT5/O5MmTGTJkCOPHj6dr1672DklUZD8vhZiZpvflL6ch0y4IM1XoGiEhKiqlJcDJycls2LCBa9eu0bNnT5o1a8b8+fPRaAoPhxeiTH5eUnQSJMtpiFKQRMjBKa1mQJQThf3enZ2deeSRR/jiiy9ISkpiwoQJfPzxx9SrV4/BgwfzxRdfoNfrSz6REMVJS4aY2ab3qdQweIksriosJomQg1PY56EoJ0r+vQcEBNC9e3e6dOmCWq0mPj6eMWPG0KhRI/bs2WPv8IQjK6pzNCoY/x20G13eEYkKQBIhByc1QkIpLl++zIIFC2jZsiU9e/YkPT2dr7/+mvPnz5OcnMzQoUMZM2aMvcMUjqrIofJA37kyBYMoNUmEhHBASkuABw0aRFBQEOvXr2fChAkkJyezefNm+vTpA0CVKlV46aWXSEpKsnOkwmEVVRvUfhx0e7HcwxEVR4UeNVYZKK3TrCgfSvu9+/v7s3fv3mIXNK5Zsybnz58vx6hEhVHMxIn0mFbu4YiKRZGJUFJSEiqVirp16wJw6NAhNm3aRIsWLXj66aftHJ2yKK1mQFRO5kxVoVKpqF+/fjlEIyqc4iZOlM7RoowU2TQ2cuRIfvjhBwA0Gg19+/bl0KFDvP7668ydO9fO0Qlhf0pKgPV6PWvXrmXgwIG0atWKkJAQBg8ezMaNGzGU08yPK1asIDg4GHd3dzp37syhQ4eKLf/pp5/SrFkz3N3dCQkJITo6usD+7du3Exoaip+fHyqVimPHjtkwelGs4mqDZKi8sAJFJkInTpygU6dOAHzyySe0atWK/fv38/HHH7N+/Xr7BqcwCvo8FOVIKb93g8HA4MGDeeqpp0hOTiYkJISWLVvy119/MXbsWB555BGbx7B161YiIiKYPXs2cXFxtGnThn79+nHlyhWT5ffv38+IESMYP348R48eJTw8nPDwcE6cOGEsk5mZSffu3Zk/f77N4xclkNogYWOKbBrTarXGFeC/++47Bg8eDECzZs24dOmSPUNTHiVVDYhKZ/369ezbt4/Y2Fh69epVYN/3339PeHg4GzduZPRo2w1rXrhwIRMmTGDcuHEArFq1ip07d7J27VqmT59eqPySJUvo378/06bl9S2ZN28eMTExLF++nFWrVgHw5JNPAnDhwgWbxS3MILVBohwoMhFq2bIlq1at4qGHHiImJoZ58+YBcPHiRfz87Le4qBJJGlQ5qRSSAG/evJnXXnutUBIE8OCDDzJ9+nQ+/vhjmyVCOTk5HDlyhBkzZhi3qdVq+vTpw4EDB0wec+DAASIiIgps69evHzt27Ch1HNnZ2WRnZxsfp6enA3lf6rTFLPWQv6+4MpWZev8KnEzUBunuex69p3+xy2jIvbUdR7m35sanyERo/vz5PPLII7zzzjuMGTOGNm3aAPDll18am8yEqMyUkQbBb7/9xv/+978i9w8YMIClS5fa7PrXrl1Dp9MREBBQYHtAQACnT582eYxGozFZvizLgURFRREZGVlo++7du/H09Czx+JiYmFJfu6Jyz0kh9PcVhbYbgO9uNOHWXf26iiL31naUfm+zsrLMKqfIRKhnz55cu3aN9PR0qlevbtz+9NNPm/WmUpkopGJAlDOlLD6fkpJSKKm4U0BAANevXy/HiOxjxowZBWqZ0tPTCQoKIjQ0FG9v7yKP02q1xMTE0LdvX1xcXMojVIeh/m62yYRff99EHuz9RInHy721HUe5t/k1syVRZCIEeZ0wjxw5QkJCAiNHjsTLywtXV1dJhIRQEJ1Oh7Nz0W8jTk5O5Obm2uz6NWrUwMnJicuXLxfYfvnyZQIDA00eExgYaFF5c7i5uRn7Nd7JxcXFrA8Kc8tVGmnJcPD/TOxQ4dRlIk4W3Cu5t7aj9HtrbmyKTIT++usv+vfvT2JiItnZ2fTt2xcvLy/mz59Pdna2sUOjUN7EeqJyMRgMjB071mQSABToN2MLrq6utG/fntjYWMLDw4G84fyxsbFMmjTJ5DFdunQhNjaWKVOmGLfFxMQUOxmkKGcpCchIMVFeFJkITZ48mQ4dOnD8+PECnaMfeeQRJkyYYMfIhFCG8pqfpyTmrB1myxFjABEREYwZM4YOHTrQqVMnFi9eTGZmpnEU2ejRo6lTpw5RUVFA3vvLAw88wLvvvstDDz3Eli1bOHz4MKtXrzaeMyUlhcTERC5evAjAmTNngLzapLLUHAkz+TbKW03eoL9jo1pGigmbUGQi9OOPP7J//35cXV0LbA8ODiY5OdlOUSmT9BES9rRu3Tp7h8CwYcO4evUqs2bNQqPR0LZtW3bt2mXsu5SYmIhafXvKtK5du7Jp0ybeeOMNXnvtNZo0acKOHTto1aqVscyXX35pTKQAhg8fDsDs2bOZM2dO+TyxysynDgxaAl9NAYMOVE4waLHUBgmbUGQipNfr0el0hbb//fffeHl52SEi5ZI8qHJSRn2QckyaNKnIprA9e/YU2jZkyBCGDBlS5PnGjh3L2LFjrRSdKJV2o6FRb0g5B74NJQkSNqPImaVDQ0NZvHix8bFKpSIjI4PZs2cTFhZmv8BEqQTyD13UvxPIP/YOpcJQSMuYELblUwca3C9JkLApRdYIvfvuu/Tr148WLVpw69YtRo4cyZ9//kmNGjXYvHmzvcNTFKU3jQ11+oEo5/dxUhnQGVTMyH2KT3SFJ98TljFInZAQQliFIhOhunXrcvz4cbZs2cJvv/1GRkYG48ePZ9SoUXh4eNg7PEVRygzDpgTyjzEJAnBSGXjL+QP26VqjQWYILwupERJCCOtQZCIE4OzszBNPlDxpllCuBmqNMQnK56zSE6y+jEYviZAQQgj7U0wi9OWXX5pdNn8RVmG5QP6hvfoPfMgwuT+VqiTpa1JPfbXIMubyJhO9QYX6jmQo16Dmgr7omYiFeaRCSAghrEMxiVD+ZGglUalUJkeUVVaWtIwNdfqBt53XoC7hGIPBNn2P9AYVr+WOl2YxIYQQiqGYREiv15dcSJRaXn+dkpMgsF0HbAMG9ula2+bklY1UCQkhhFUocvi8MJ+5S2zk9dexcTAlcFJBsPpyyQWFEEKIcqLYRCg2NpaBAwfSqFEjGjVqxMCBA/nuu+/sHZbDOq8PRGfnWgSdQSX9g6xEhs8LIYR1KDIR+r//+z/69++Pl5cXkydPZvLkyXh7exMWFsaKFSvsHZ6imNPUBaDBjxm5E9AZSj7AFkOz9f/OIST9g4QQJUpLhvP78v4VwsYU00foTm+99RaLFi0qMGX+iy++SLdu3XjrrbeYOHGiHaNTFkv683yi68U+XWvaqf+kGjdMlknFiyR9DYLU14osY6lUvIjTN5EkyIpkHiFRYf28FL6b9e+oDXXemmPtbLtwr6jcFJkIpaam0r9//0LbQ0NDefXVV+0QUcWhwY9oM+bwidc3LodoRGlJHiQqpNh58OOC248N+ryFVxv1lmU2hM0osmls8ODBfP7554W2f/HFFwwcONAOESmXuZ2lhRBC0X5eUjAJymfQ5S28KoSNKKZGaOnSpcb/t2jRgjfffJM9e/bQpUsXAH755Rd+/vlnXnrpJXuFKIRiGKRtTFQkackQM9v0PpU6b/V5IWxEMYnQokWLCjyuXr06J0+e5OTJk8Zt1apVY+3atbzxxhvlHZ5iKXipMSGEMM++dyiywbdPpDSLCZtSTCJ0/vx5e4cghMOQ+iBRYcTOgyPrTO+7/2Xo9mL5xiMqHUX2ERJCCFEJFNUvCCBkKDR8QIbQC5tTTI3Q3f7++2++/PJLEhMTycnJKbBv4cKFZp0jKiqK7du3c/r0aTw8POjatSvz58+nadOmtghZiHIjXYSEwyuuXxDAiW0Q/4kMoRc2p8hEKDY2lsGDB9OwYUNOnz5Nq1atuHDhAgaDgXbt2pl9nr179zJx4kQ6duxIbm4ur732GqGhoZw8eZIqVarY8BmUH7V0EhJCOKLi+gWhyhs6DzKEXticIhOhGTNm8PLLLxMZGYmXlxefffYZ/v7+jBo1yuT8QkXZtWtXgcfr16/H39+fI0eO0KNHD5PHZGdnk52dbXycnp4OgFarRavVFnmt/H3FlbEFvV5XrtcTymGN15q9XreWUHJsopSK6xcUMjSvJuhO+UPoJRESNqDIROjUqVNs3rwZAGdnZ27evEnVqlWZO3cuDz/8MM8991ypzpuWlgaAr69vkWWioqKIjIwstH337t14enqWeI2YmJhSxVZaJy+pAKdyvaZQhujoaKudq7xft5bIysqydwjCmu6eNPFO7cdBj2l5zWL5NUIAKicZQi9sRpGJUJUqVYz9gmrVqkVCQgItW7YE4Nq1a6U6p16vZ8qUKXTr1o1WrVoVWW7GjBlEREQYH6enpxMUFERoaCje3t5FHqfVaomJiaFv3764uLiUKsbSuPZLItsvnC636wnlCAsLK/M57PW6tUR+rayoAIrrHI0qLwnyqZPXJ+irKXk1QSonGLRYaoOEzSgyEbrvvvv46aefaN68OWFhYbz00kvEx8ezfft27rvvvlKdc+LEiZw4cYKffvqp2HJubm64ubkV2u7i4mLWB4W55azFSS0D/yora77Oyvt1awmlxiUsVFLn6L5zbyc77Ubn9QlKOQcunpD6Fxx636LLqfQ66l/9HdXJHAjuKomUKJIiE6GFCxeSkZEBQGRkJBkZGWzdupUmTZqYPWLsTpMmTeLrr79m37591K1b19rh2pVKOksLIRxBcZ2jTc0X5FMHEmLhyxeLPq4YzkBbgL835G0IGQJB/36R9vSFavXzEqyslLzHQZ0lWaqkFJkINWx4uy24SpUqrFq1qlTnMRgMvPDCC3z++efs2bOHBg0aWCtEIYQQ5ipp0sTeMwtvT0sudRJkUvyneT/FuTNZAkmQKglFJkLWMnHiRDZt2sQXX3yBl5cXGo0GAB8fHzw8POwcnXVIhZAQQtFK6hxtKgkCSEmg3OdQLypZyk+QJDGqkBSTCPn6+vLHH39Qo0YNqlevXmyTT0pKilnnXLlyJQA9e/YssH3dunWMHTu2tKEKIYQwhzmdo4vi2yivjBIWlLk7Qbq7mU2SI4emmERo0aJFeHl5AbB48WKrnLMyrNAtFUJCCEWypHO0KT51YPBS6zaPWYupmiOpNXJYikmExowZA0Bubi4qlYp+/foREBBg56gcgLSNCSGUyJzO0WnJkHQwr8OyKZ6+8FQspCYWXaYIuXodyQc/p971A6jKI5EyVWvUNEySIgegmEQon7OzM88++yynTp2ydygOQdIgIYTiFNc5ulFv8KoFn00oPIO0Saq8mqFO4y0KwaDVcuxyALWfWIXLpbiCiZSnL1Srl5dgnYn+N4GxcrJ0Z2IktUWKprhECKBTp04cPXqU+vXr2zsUxZMKISGE3Ziq0Tn3A5z+uuhjEmLzfsxmgK8ml36tMe/a4FfEZ0nd9tDqEegzB5IOFXweSb9YL0GS2iJFU2Qi9Pzzz/PSSy/x999/0759+0ILpLZu3dpOkQlH4e6sorq7GnUFThRv3bpV5nNotVqcnZ25desWOp391q1zdXVFLZODKtvdSU/SQTNrdKzAoLftWmM+dcDnkYLbOo0vmCDZKjGSpMjuFJkIDR8+HIAXX7w9wZZKpcJgMKBSqez6hq00KmkcK0AFPNq8Cr0bVsXFSUVFbjw8f/58mc9hMBgIDAwkKSnJrpNzqtVqGjRogKurq91iEMWI22jfTssqtX3WGrszQbo7MQLrJEeSFNmdIhMha7zBi8rp0eZVGNjMh+q+NVA5u1a4tkNndLiSSw7ONAisXubz6fV6MjIyqFq1qt1qZPR6PRcvXuTSpUvUq1dPZktXGmtPbFgafeYoIzG4u+bI2rVGdyZF7cdCj1eU8bwrOEUmQtI3yHyO8pkRyD+0V/+BDxk2u4azswt9Gw4i0LcKHh4GIBsdTuTgjCu5OKHcmkRz4qyiyqYaGahUYDCASucCVWqU6bp6vZ6cnBzc3d3t2jRVs2ZNLl68SG5urqwtpjTlMbFhyNCCMzpDwaTiuzngUT1vDTKlKarWqKydsI+sz/tpPw4CWklHaxtSZCKU7+TJkyQmJhpXos83ePBgO0WkPI6QBw11+oG3ndfYvL/OrSp1Oe/ch7quGXioM43bDQbHSBgtiVOlAtKSwM0bnB2/OSm/SUyn00kipDRlndjQVJKTz9MXgjoV/nBPS4ZvXr59TYM+bzX60naYLk/5idHdnbBLW1t09+g7aT6zOkUmQufOneORRx4hPj7e2DcIbi8wKn2EblP6B3wg/xBVDkkQYLwZd98Tpd+jfKWKU5ddIRIhaQ5TsNJObBgytPRNWikJecnPnQw623aYtgVb1BZJ85nVKXKYxuTJk2nQoAFXrlzB09OT33//nX379tGhQwf27Nlj7/CEBRqoNTjJZ5ztOLnZOwLhqNKS4fy+vH9L0m40TP0dHl8PYQvzfhr2Kbr8/S/DY2tK/wHt2yivg/SdVE726TBtTT518mqKHltz+36GDKXUdftH1sOiFvDZU3Biu3m/S1GIImuEDhw4wPfff0+NGjVQq9Wo1Wq6d+9OVFQUL774IkePHrV3iIqh9FFj5/WB6AxIMmRlBgOofGpXiNogYQdxG/Pm5jHo8xKOQUtK7n9zZ+1G7Dw4953pcsUtpGounzp5MX01Ja8mSOUEgxZXrJoPU01opa0pklqiMlFkjZBOpzOuO1ajRg0uXrwI5HWiPnPmjD1DUx6FJxga/JiROwGdwX6BOsqSc+bGaTCABl+oap8laNavX0+1atXscm1hBWnJt5MguN3/prjahDtrj4pbTb6khVQt0W40TImHMV/n/avEjtLWYqqmqP04SvUGL7VEFlNkjVCrVq04fvw4DRo0oHPnzvzvf//D1dWV1atX07Chg1eNVkKf6HqxT9eaduo/qcYNm13HS+vNA4aqeOir4azPe2kbR2MZHGTUWAlx6nAiCze0OFPLgvMHBwczZcoUpkyZUuZYzfHmm2+yc+dOjh07hqurK6mpqeVyXWGGovrfJB2CJEPhNb2SDppfS1HSQqqW8qlT+Wo27qwp6jGt9DVFUktkNkUmQm+88QaZmXmjfubOncvAgQO5//778fPzY+vWrXaOTmEcpLZDgx/Rej+bXqOO3okOeJBGVVQUbDK6iWV9aVwyL+Gadp4cnwZoq1iScpSNpXFak06nQ6VSWWUYfU5ODkOGDKFLly588MEHVohOWE1+/5u7k6FtY8t23vyFVIX1FNl8ZuGM3sah+GMlITJBkU1j/fr149FHHwWgcePGnD59mmvXrnHlyhUefPBBO0cnKrrqZ7bQbEtXGkWPoNmWrlQ/s8Wm19Pr9axbuYSB3dvRoVEA/Tq3Ys3S200Pf576naeGDaZT41r0CGnI3FenkJV5ez6msWPHEh4ezoIFC6hVqxZ+fn5MnDgRrVYLQM+ePfnrr7+YOnUqKpXKOEJr/fr1+Pr6Eh0dTatWrXBzcyMxMZHr168zevRoqlevjqenJwMGDODPP/+06DlFRkYydepUQkJCrHCHhFXl97+xZrv6/S+XvV+QKF6B5rOTpWs6O7IeFrXM6yMmjBSZCH300UfGGqF8vr6+MsTWBIOjVAk5CJfMS9T9aQaqf78tqwx66v70Gi6Zl2x2zSVvR7J2xWKenjyNz2N/IWrZGvxq+gOQlZXJc088jrdPNT7+OpZ3Vq3nl5/2EPXGKwXO8cMPP5CQkMAPP/zAhg0bWL9+PevXrwdg+/bt1K1bl7lz53Lp0iUuXbr9XLKysliyZAmrV6/m999/x9/fn7Fjx3L48GG+/PJLDhw4gMFgICwszJhYiQqgUW/rnUuSoPLnUyev83iBkWfm+ncRW+k7ZKTIRGjq1KkEBAQwcuRIoqOjZd4gUW5c084bk6B8KoMO17QLNrleZsYNNq19j6mvRzJ4yAiCghvQrlMXHh2R1zH0mx3byM6+xX8Xr6RJsxZ07taDGfP+x9fbt3L58mXjeapXr87y5ctp1qwZAwcO5KGHHiI2Nm+Fb19fX5ycnPDy8iIwMJDAwEDjcVqtlgULFtC1a1eaNm1KcnIyX375Je+//z73338/bdq04eOPPyY5OZkdO3bY5B4IO7DWbNGSBNlXaWuJ8hexFYBCE6FLly6xZcsWVCoVQ4cOpVatWkycOJH9+/fbOzTFcZQRUY4ix6cBhrvmLzGonMjxCbbJ9c79+Qc52dl06vZAkfvvadEKT88qxm1tO3RGr9cXGEHZsmVLnJycjI9r1arFlStXSry+q6srrVq1Mj4+deoUzs7OdO7c2bjNz8+Ppk2bcurUKYuem1Aw42zRZSBJkLJYUktkr0VsFUqRiZCzszMDBw7k448/5sqVKyxatIgLFy7Qq1cvGjVqZO/wRAWmrVKLv7tHYVDlJRUGlRN/d3/LZh2m3d3drXKeu5elUKlU6PX6Ikrf5uHhIU3OlVH+bNGmkqGQobcnTWw6yPTxfedKEqRUJdUSqVR5fcSkw7SRIkeN3cnT05N+/fpx/fp1/vrrL/lWehepELK+602Hk1H3AVzTLpDjE2zTUWP1GjTC3d2DQz/vpW69wvOkNGxyD19+uomsrExjrdCxwwdRq9U0bdrU7Ou4urqa1cTcvHlzcnNzOXjwIF27dgXgn3/+4cyZM7Ro0cLs65W3FStW8M4776DRaGjTpg3Lli2jU6dORZb/9NNPmTlzJhcuXKBJkybMnz+fsLAw436DwcDs2bNZs2YNqampdOvWjZUrV9KkSZPyeDrlo93ovL5C+Wth5a/7BXlD5s98A2e+MnGgClo9Xq6hKt2ltJscvpBC6k3T/eiqe7oSVN2DxJSsIsvYTM0pePYcQXDW7zSoUQXfpt0lCbqLYhOhrKwsPv/8cz7++GNiY2MJCgpixIgRbNu2zd6hiUpAW6VWuQybd3N3Z9zzk1n05mxcXFxp26Ez11OucfaP0zw6/EnCHhnCynffZubU53l26qtcT/mHt2e+ysBHhxEQYP6EisHBwezbt4/hw4fj5uZGjRqmV61v0qQJDz/8MBMmTOC9997Dy8uL6dOnU6dOHR5++GGzr5eYmEhKSgqJiYnodDqOHTsG5I0CrVq1qtnnMcfWrVuJiIhg1apVdO7cmcWLF9OvXz/OnDmDv79/ofL79+9nxIgRREVFMXDgQDZt2kR4eDhxcXHGZsL//e9/LF26lA0bNtCgQQNmzpxJv379OHnypNVq8fLdvHqOw8uewDvjAk76oj8kdU4u5Dp54Jx7s9hy5hyXq3IhyTmIXe79Oet8D+CHn/4aw25GMCBnVwlNBQamr9lBvIvpEYGuzmqquDqRmaMjJ7fkWsmyHFfcMQaDgbQ0Fe+d31+o1tOaMV7PyuFiWrbZ57CXQJx5RP0dvVwX403heC17fRlojI6Eo3PQObla7XVp7jF6lRM3AzvRqO9TBNQteyuRIhOh4cOH8/XXX+Pp6cnQoUOZOXMmXbp0sXdYQtjE05On4eTkxP+9+xZXLmuo6R/AkCfGAeDh4cnKj7Yxf84MRg3sjbuHB33CBvPyrP9adI25c+fyzDPP0KhRI7Kzs40LGZuybt06Jk+ezMCBA8nJyaFHjx5ER0dbtCr8rFmz2LBhg/HxvffeC+SNbuvZs6dFsZdk4cKFTJgwgXHj8u7ZqlWr2LlzJ2vXrmX69OmFyi9ZsoT+/fszbVreDMjz5s0jJiaG5cuXs2rVKgwGA4sXL+aNN94wJn8bN24kICCAHTt2MHz4cKvFfnTZKIalfWvegru6f38sZeo4A7TSnqZ/Tgw7dZ1IpSojnb43a3FknUHFnmteaGw4Oar1OJF8M6PkYhXcUKcfeLukxa+t+fqy1XF3HvPXYQxr/o9DrSPp9NiUUgRwm8pQ3DuinYwaNYpRo0bRr1+/Ah1A7SE9PR0fHx/S0tLw9vYuspxWqyU6OpqwsDCLPjDKatPBRF77PL7crqdkdbycmNPLH//adVFVgjW4WtetVuZz6PV60tPT8fb2tspEiqV169Ytzp8/T4MGDQrVuBT3N5iTk4Onpyfbtm0jPDzcuH3MmDGkpqbyxRdfFLpWvXr1iIiIKDDL9uzZs9mxYwfHjx/n3LlzNGrUiKNHj9K2bVtjmQceeIC2bduyZMmSQufMzs4mO/v2t+z09HSCgoK4du1ake8bfx7dR/Odj5qXBNmQwYDZMegNKqbnPsUnul62DUpYTSD/8LPbCxV2vUedQYVm3EH86xTu/J2enk6NGjVK/PxWZI3Qxx9/bO8QhBAO4Nq1a+h0ukLNhAEBAZw+fdrkMRqNxmR5jUZj3J+/ragyd4uKiiIyMrLQ9t27d+Pp6WnyGP2fu2ihgA8nc5IgnQE26R5kRe4jaLDtDPHCuhqoNRU2CQJwUhn46dsduAc2K7QvKyvLrHMoMhES5pMJFYWwvxkzZhAREWF8nF8jFBoaWkyNUFUMOzfZvUaoOHoDrNY9xPrc/pIAOajz+kB0BipsMqQzqOjeL7zIGiFzKHL4vLCNQP6hi/p3AvnH3qEIYRU1atTAycmpwOSSAJcvXy4wceSdAgMDiy2f/68l53Rzc8Pb27vAD+RNa1DUT4tOvfnVp58i5wLTG+DD3Afpmr2Mt3NHSRLkwDT4MSN3AnoFvs7KymCAI63nUCe4aZF/Z+aQGiEHZzDkJTjt1X/gQ9GdAtur/+ARp/2oVQZ0BhUzpJ1fVACurq60b9+e2NhYYx8hvV5PbGwskyZNMnlMly5diI2NLdBHKCYmxjggo0GDBgQGBhIbG2vsI5Sens7Bgwd57rnnrBr/vS98zNYNy6mffgivjHM4FztqzBWtkzvOuTeLLVfcce76mzTiryKnUtQD37j25xPPYdxw9aexqxO1cnRoLRxZ5fnvyCpbH1fcMQa9gbS0NHx8fFCpC48as2aMrs5qfKu44uFivT6tnq7OVK/iwvVMLVk5uWU67iYjeDWrF61SdhFy6yie+sJNRpa8vgwY0KHHCTV6J7cyvy7NPS7/GIPKmZu1OtGoz3g6VdRRY8J8jf7ezn63OWaN9sjnpDLwlvMH7NO1rlDf9PK+8Rhkum0HVJYxGxEREYwZM4YOHTrQqVMnFi9eTGZmpnEU2ejRo6lTpw5RUVEATJ48mQceeIB3332Xhx56iC1btnD48GFWr14N5E1GOWXKFP773//SpEkT4/D52rVrF+iQbS0eNRvSYcyk8hlkcX4fbChiksT241D3mMZDPnV4yPaR2NztASxdy3UAi7JZ5zdrr8FBtqKYRMjctjyg2N7flUpaMp1PRFqUBOVzVukJVl9Go684idDVTB3Xs3KpmnoND+/qqJwU8/K2iVu3bpX5HHq9npycHG7dumW3UWMGg4GrV6+iUqlK9aY6bNgwrl69yqxZs9BoNLRt25Zdu3YZOzsnJiYWeG5du3Zl06ZNvPHGG7z22ms0adKEHTt2FFhq5JVXXiEzM5Onn36a1NRUunfvzq5du6w+h1C5822Ut7xCgfX0VPBULNRtb7ewhLAnxXxSVKtWrcSp/g0GAyqVShZhzZeSgLqUnaV1BhUX9OZPyOcIcg3w9k8pjAjREhJwEyc7DgcvD643Pcp8DoPBwM2bN+2+1IZKpaJu3bqlni5j0qRJRTaF7dmzp9C2IUOGMGTIkGLjmTt3LnPnzi1VPIrlUydveYWvpoBBByqnvPWpJAkSlZhiEqEffvjB3iE4Ht9G6FFZnAwZDPB27ogK1SyWL+WWnv/7NQ0v13SquKpLVVvmKGJf6lnmc2i1Wvbt20ePHj3sWsXt4uJi9znDKo38pTVSzuUtvCnLLYhKTjGJ0AMPmF59WxTDpw4HW86i04m5OKnMS4b0BojKHcEa3UAbB2c/BiA9x0B6TsWuObRGM42TkxO5ubm4u7tXiLZ+YSafOpIACfEvxSRCd0tNTeWDDz4wLrLasmVL/vOf/+Dj42PnyJTlbN1HmXqkBu3Uf1KthCnvU/EiTt+kQtYECSGEEKWhyETo8OHD9OvXDw8PD+MK0gsXLuTNN99k9+7dtGvXzs4RKoeBvHkioitQp2chRDlJS85baR4gqLPUEolKSZGJ0NSpUxk8eDBr1qzB2TkvxNzcXJ566immTJnCvn37zD7Xvn37eOeddzhy5AiXLl3i888/t8kQWCGEcChxG+HLF+HOPoYhQyDovtuPPX0lQRIVniITocOHDxdIggCcnZ155ZVX6NChg0XnyszMpE2bNvznP//h0UcftXaodidT5gghLJaWXDgJAoj/NO/nbiFDoGmYJEWiQlJkIuTt7U1iYiLNmhVcRC0pKQkvLy+LzjVgwAAGDBhgzfCEEMKxpSRQKAkqjjFBUsHgpXkjz4SoIBSZCA0bNozx48ezYMECunbtCsDPP//MtGnTGDFihE2vnZ2dTXZ2tvFx/kSPWq0WrbboacDz9xVXxhZyZU6lSssarzV7vW4toeTYHJZvI0CFRckQ5JX/anLe8HupGRIVhCIToQULFqBSqRg9ejS5uXlrpbi4uPDcc8/x9ttv2/TaUVFRREZGFtq+e/duPD09Szw+JibGFmEV6eQlFSDzr1RG0dHRVjtXeb9uLZGVVXhdJFFGPnXyana+fMHyYw36vDmIJBESFYTiEiGdTscvv/zCnDlziIqKIiEhAYBGjRqZlYiU1YwZM4iIiDA+Tk9PJygoiNDQ0GKX9tBqtcTExNC3b99ynY/l6oG/4MKZcrueUI6wsLAyn8Ner1tLWLL8jrBA/sSK+96BI+sxu3ZIpc6biFGICkJxiZCTkxOhoaGcOnWKBg0aEBISUq7Xd3Nzw83NrdB2FxcXsz4ozC1nLTIbb+VlzddZeb9uLaHUuCoEnzp5S2z0mAZJhyAr5fa+pF/+7Rd0R4KkUuUt0SG1QaICUVwiBNCqVSvOnTtHgwYN7B2KEEJUTGnJeZ2mfRv9O9P0IwX3dxoPfebcTpA8fSGokyRBosJRZCL03//+l5dffpl58+bRvn17qlSpUmC/JavPZ2RkcPbsWePj8+fPc+zYMXx9falXr57VYrYXGT4vhLBY3Ma8Ts8GfV5T16AlpkeCmUqQhKhgFJkI5fd9GDx4cIEVsUuz+vzhw4fp1auX8XF+/58xY8awfv166wQshBCOIi35dhIEef9+NUVGgolKS5GJkDVXou/ZsyeGClxtUnGfmRDCJlISbidB+Qw6GQkmKi1FJkINGjQgKCioQG0Q5NUIJSUl2SkqIYSoAHwb5TWH3ZkMqZxkJJiotNT2DsCUBg0acPXq1ULbU1JSpAP1XSpybZcQwgZ86uT1CVL9O+JU5ZQ3ckxqg0Qlpcgaofy+QHfLyMjA3d3dDhEJIUQFkj+HUMq5vJogSYJEJaaoRCi/I7NKpWLmzJkFJlDU6XQcPHiQtm3b2ik6IYSoQHzqSAIkBApLhI4ePQrk1QjFx8fj6upq3Ofq6kqbNm14+eWX7RWeEEJUXmnJkHQw7//ltQr93XMdCWEDikqE8keLjRs3jiVLllg0X5AQQggbidsIX75IgXGqIUOgaZjtkiJz5zoSoowUlQjlW7dunb1DcBjfn75i7xCEEBVZWnLhJAjylt+I/zTv/9ZOimSuI1GOFJkIZWZm8vbbbxMbG8uVK1fQ6wvOeXHu3Dk7RaYsl9NvsT/hH3uHIYSoyFISKHHGMmsnRTLXkShHikyEnnrqKfbu3cuTTz5JrVq1TI4gE3D1RjaB/EMDtYbz+kA0+Nk7JCFERePbCFBh9vSt1kiKZK4jUY4UmQh988037Ny5k27dutk7FEXz+2MrP7u9gpPKgM6gYkbuU3yi61XygUIIYS6fOjB4KXz5guXHljYpyp/r6KspeTVBMteRsCFFJkLVq1fH19fX3mEoW1oygfteRaXK+5bmpDLwlvMH7NO1lpohIYR15c87tO8dOLKeUi3uc3dSFHTfvyvaF5EYyVxHopwoMhGaN28es2bNYsOGDQXmEhJ3SElAdVcburNKT7D6Mhq9JEJCCCvzqZNXK9NjGiQdgjPR/yY2ZUyKoOjaIpnrSJQDRSZC7777LgkJCQQEBBAcHIyLi0uB/XFxcXaKTEF8G2FQqQskQ7kGNRf0AXYMSghR4fnUAZ9HoNUj0GdO2ZMiKJgYtR8HAa2Kry0SwooUmQiFh4fbOwTl86nDtZ7/o/r3r+Cs0pNrUPNa7nhpFhNClB9bJEVH7po+pe9c6Da5rJEKUSRFJkKzZ8+2dwgOIb3FCAZ940aw+jIX9AGSBAkh7McWSRFAzCxABd1etFKgQhSkyEQo35EjRzh16hQALVu25N5777VzRMpiMBjQ4Cd9giqRO6dLEEKxrJ0UfTcbWj0mzWTCJhSZCF25coXhw4ezZ88eqlWrBkBqaiq9evViy5Yt1KxZ074BKoShDF+yhOMZ6vQDUc7vG6dLIA5ZckAon6mkKCsFkn4xPzEy6GUyRWEzansHYMoLL7zAjRs3+P3330lJSSElJYUTJ06Qnp7Oiy9K9Wg+vSRClUYg/xiTIMibLoGvpuQtRSCEo/Cpk5cQdRoPj62Bqb/D4+shbGFeJ2mKmDxXJlMUNqTIGqFdu3bx3Xff0bx5c+O2Fi1asGLFCkJDQ+0YmbIYytLuLhxKA7XGmAQZyZIDwtHl1xblu3No/olt/y64KpMpCttSZCKk1+sLDZkHcHFxKbTuWGUmt6LyOK8PRGdQFUyG5FuyqGjubkaTyRRFOVBk09iDDz7I5MmTuXjxonFbcnIyU6dOpXfv3naMTFn00kmo0tDgx4zcp8g1/PsnK9+SRUXnUwca3C+vcWFziqwRWr58OYMHDyY4OJigoCAAkpKSaNWqFR999JGdoxPCPj7R9WKfrjXB6stseXWkfEAIIYQVKDIRCgoKIi4uju+++47Tp08D0Lx5c/r06WPnyJRFaoQqH+N0CZIECSGEVSgyEQJQqVT07duXvn372jsUxZI8SAghhCgbRfUR+v7772nRogXp6emF9qWlpdGyZUt+/PFHO0SmTFIjJIQQQpSNohKhxYsXM2HCBLy9vQvt8/Hx4ZlnnmHhwoV2iEyZJA0SQlR4aclwYjscej/vX5k7S1iZoprGjh8/zvz584vcHxoayoIFC8oxImUzSI2QEKIii9sIX75Ioa997cdCj1ekr5ywCkUlQpcvXzY5f1A+Z2dnrl69Wo4RKZvkQUKICist2XQSBHBkfd5PyBAIug88fSGosyRGolQUlQjVqVOHEydO0LhxY5P7f/vtN2rVqlXOUSmXLLEhhKiwUhIosQNA/Kf/rlf2r5Ah0DQsLyny9LdpeKLiUFQiFBYWxsyZM+nfvz/u7u4F9t28eZPZs2czcOBAO0WnPNI0JoSosHwbkbf2mAXvc3ckRuqWj1M7MwDS24JffVtEKCoIRSVCb7zxBtu3b+eee+5h0qRJNG3aFIDTp0+zYsUKdDodr7/+up2jVA6pERJCVFg+dWDw0qKbx0rg9Ps2OgKGZSukCU0US1GJUEBAAPv37+e5555jxowZxhoPlUpFv379WLFiBQEBAXaOUjlk0VUhRIXWbjQ06n17Idb4Tyw+hQpMN6FJYiT+pahECKB+/fpER0dz/fp1zp49i8FgoEmTJlSvXt3eoSmOtIwJISq8uxdi3fdOXkfpsnwRLCoxAkmOKiFFzSN0p+rVq9OxY0c6deokSVARJBESlV1KSgqjRo3C29ubatWqMX78eDIyMoo95tatW0ycOBE/Pz+qVq3KY489xuXLlwuUefHFF2nfvj1ubm60bdvWhs9AWMSnTt5iw1N/h8fXQ9hCCBnKv/U+pRf/KUS/lPezbRwsagGfPZU3d5HMX1ThKa5GSJhPZpYWld2oUaO4dOkSMTExaLVaxo0bx9NPP82mTZuKPGbq1Kns3LmTTz/9FB8fHyZNmsSjjz7Kzz//XKDcf/7zHw4ePMhvv/1m66chLJVfSwTQaXxeTZGx+exTrDLd7N21RpA3f9G9oyH1L8hKydumlBqktGRIOpj3/2r1C8YIyolTgSpFIrRixQreeecdNBoNbdq0YdmyZXTq1MneYZWZpEGiMjt16hS7du3i119/pUOHDgAsW7aMsLAwFixYQO3atQsdk5aWxgcffMCmTZt48MEHAVi3bh3Nmzfnl19+4b778ppHli5dCsDVq1clEXIEdzefJR1Cd3on6hOflrWuqKD8+YtMubN5rTiWJCT5yc2dCY0pSQfN7D+lyuuA3m60GWUrjwqfCG3dupWIiAhWrVpF586dWbx4Mf369ePMmTP4+1txnomLcbS+8D7qdUtBn1t4v7MruHhCThbocko+nxnl29zKYatzNgmGuuzWdaCKOgcfim8WsJdUqpKkr0k99VXFxgjKjzOVqsTp77F3GIpw4MABqlWrZkyCAPr06YNarebgwYM88sgjhY45cuQIWq2WPn36GLc1a9aMevXqceDAAWMiZKns7Gyys7ONj/PXS9RqtWi12iKPy99XXBlhIU9/aDoQbcN+/GjoxgONPHHOSUP19yHUJ7ahstVXSFM1SEUwAPqWj2MIKvoL+e14rcmA4csXya3/AHgX/qJgLkd53ZobX4VPhBYuXMiECRMYN24cAKtWrWLnzp2sXbuW6dOnW+Ua+s+fxfn4ZhoAXLfKKc1SDejsDJ1JYITzXlTW/YuxOoMBxccIyo9Tb1BBHJX+W51Goyn0ZcbZ2RlfX180Gk2Rx7i6ulKtWrUC2wMCAoo8xhxRUVFERkYW2r579248PT1LPD4mJqbU1xbFcPXl2yQAd3AZhHvLblTP/BOX3Ax8M/+k3vX9Vk40zKMib3g/v2+zw7UNXNg6nZN1hpf5XEp/3WZlZZlVrkInQjk5ORw5coQZM2YYt6nVavr06cOBAwdMHmPxN7uLcTgf32yXP6Y7KfmDO58jxAjKj1OtMmD4anKZv9WBMr/ZvfbaaybXFPTx8TH+/9SpU+UZUolmzJhBRESE8XF6ejpBQUGEhoaaXEQ6n1arJSYmhr59+xa7vJCwnDn3Njf9Iqq/D8HNvG+wNq81UojGV3cRPOztUr9/OMrrNv/zuyQVOhG6du0aOp2u0NxDAQEBnD592uQxln6za3T5G1pZJ1whzKYy6Dn4zWb+8WpulfMp6ZtdSEgIy5cvNz6+efMm06ZN49dff6Vq1aoANGzYkMDAQK5cuVLg2NzcXFJSUggMDDR57sDAQHJyckhNTS1QK3T58uUijzGHm5sbbm5uhba7uLiY9UFhbjlhuWLvrV/9u2adfhr6RuZ1vM7vl5P0i/U6YCuEyqDHJT2xzDNuK/11a25sFToRKg2Lv9ldDMSwzv41QqJyMajUdB4wwio1Qkr/Zpeens60adO45557CvwNdunShdTUVI4cOUL79u0B+P7779Hr9XTu3Nnkudq3b4+LiwuxsbE89thjAJw5c4bExES6dOli+ycjlO/OEWlQcFQaQLV6kJqYlygpMUlqPw7uffJ2jDdT4Yd5FIhR5QS+De0VoeJU6ESoRo0aODk5FZojpLhvfxZ/s6vfGdqMxHB8k12TIaX3awHHiBGUH6feoEI9eAkuVlw/Scnf7IqKq3nz5vTv358JEyawatUqtFotkyZNYvjw4cYRY8nJyfTu3ZuNGzfSqVMnfHx8GD9+PBEREfj6+uLt7c0LL7xAly5dCnSUPnv2LBkZGWg0Gm7evMmxY8cAaNGiBa6urjZ/zkJh7k6O6uYl3gWSpJJGdkHpE6eQoSWPSPP0haBOt0ej5ccI4FUTvpoCBl1eEjRosQyjv0OFToRcXV1p3749sbGxhIeHA6DX64mNjWXSpEnWu9AjK8ltN5a/d7xJPY8snPQm+ls4u4GLB2hvQm524f2lLH/w74x/R421x1OtpRo3zAr5rfAQs8pZy6yYixy94U2Q+prZMdpDKl4k6WsoNs5UvPjdqSl72z1h71AU4eOPP2bSpEn07t0btVrNY489Zhz6Dnk1XmfOnCnQaXLRokXGstnZ2fTr14//+7//K3Dep556ir179xof33vvvQCcP3+e4OBg2z4p4VjuTpKKY2nidHdyU1r5S5WknMurCZIkqIAKnQgBREREMGbMGDp06ECnTp1YvHgxmZmZxlFkVlO7Hb8Fj6duWBhO5fjNetj0nbcf6M0/7q1OD1k/mGKMCErni9W/EH9TOZ1yixOvb2zvEEwK9HZn3biO9g5DMXx9fYudPDE4ONi4ZmE+d3d3VqxYwYoVK4o8bs+ePdYKUYiCLEmcrH5dSYBMqfCJ0LBhw7h69SqzZs1Co9HQtm1bdu3aJYu3lrPmtbw5Pju0VMdqtVqio6MJCwtTbPONEEIIx1ThEyGASZMmWbcpTAghhBAVgmIXXRXm6dW0pr1DEEIIIRyWJEIObtWT7UsuJIQQQgiTJBFycG7OTkzr19SiY1Y90c5G0QghhBCOpVL0EaroJvZqzLhuwWaV9XSVX7kQQgiRTz4VKwhJcIQQQgjLSdOYEEIIISotSYSEEEIIUWlJIiSEEEKISksSISGEEEJUWtLDtgT56xSlp6cXW06r1ZKVlUV6erosA2Flcm9txxHubf7f3t1rhimZvG/Yn9xb23GUe2vue4ckQiW4cSNvBfKgoCA7RyJE5Xbjxg18fHzsHYZZ5H1DCOUo6b1DZXCkr1l2oNfruXjxIl5eXqhUqiLLpaenExQURFJSEt7e3uUYYcUn99Z2HOHeGgwGbty4Qe3atVGrHaM1X9437E/ure04yr01971DaoRKoFarqVu3rtnlvb29Ff3CcGRyb21H6ffWUWqC8sn7hnLIvbUdR7i35rx3OMbXKyGEEEIIG5BESAghhBCVliRCVuLm5sbs2bNxc3OzdygVjtxb25F7a19y/21H7q3tVLR7K52lhRBCCFFpSY2QEEIIISotSYSEEEIIUWlJIiSEEEKISksSISGEEEJUWpIIWcmKFSv+v737e2mqj+MA/p57KocbsybNRj8sKrzIVcuMMlBKFhEjbywihnrRRR3N4R/ggi4sIioQQiQ0iMgLsSjQmFaTwnA5DHfRCLvxIrckirLI3L7PxUPjWULseTzb8ZzzfsHA8xV23kf0zcezsx2UlJQgPz8f+/btw9jYmNKRVK29vR179+6FxWLB2rVrUVtbi2g0qnQsTbp06RIMBgN8Pp/SUXSHvSE/dkduaKk3OAjJoLe3F62trfD7/QiHw9i5cyeOHDmCeDyudDTVCgaDkCQJL1++RCAQwM+fP+F2uzE3N6d0NE0JhULo7OyE0+lUOorusDeyg92RfZrrDUFLVlFRISRJSm0nEgnhcDhEe3u7gqm0JR6PCwAiGAwqHUUzvnz5IrZt2yYCgYCoqqoSLS0tSkfSFfZGbrA75KXF3uAZoSWan5/H+Pg4ampqUmt5eXmoqanB6Oiogsm05fPnzwCANWvWKJxEOyRJwrFjx9J+dyk32Bu5w+6QlxZ7gzddXaLZ2VkkEgnY7fa0dbvdjjdv3iiUSluSySR8Ph8qKyuxY8cOpeNowr179xAOhxEKhZSOokvsjdxgd8hLq73BQYiWPUmSEIlE8Pz5c6WjaML09DRaWloQCASQn5+vdByirGF3yEfLvcFBaImKiopgNBoRi8XS1mOxGIqLixVKpR1NTU149OgRRkZGsH79eqXjaML4+Dji8ThcLldqLZFIYGRkBB0dHfjx4weMRqOCCbWPvZF97A55abk3eI3QEq1cuRJ79uzB8PBwai2ZTGJ4eBj79+9XMJm6CSHQ1NSE/v5+PHnyBJs3b1Y6kmYcPnwYk5OTmJiYSD3Ky8tx+vRpTExMqLbM1IS9kT3sjuzQcm/wjJAMWltbUV9fj/LyclRUVOD69euYm5tDY2Oj0tFUS5Ik3L17Fw8ePIDFYsHMzAwAwGq1wmQyKZxO3SwWy6LrJQoKCmCz2XgdRQ6xN7KD3ZEdWu4NDkIyOHnyJD58+IC2tjbMzMxg165dGBwcXHQhJGXu5s2bAIDq6uq09e7ubjQ0NOQ+EJHM2BvZwe6g/8oghBBKhyAiIiJSAq8RIiIiIt3iIERERES6xUGIiIiIdIuDEBEREekWByEiIiLSLQ5CREREpFschIiIiEi3OAgRERGRbnEQIlVoaGhAbW2t0jGISEXYG5QJ3mKDFGcwGP74fb/fjxs3boAfgk5Ev7A3SC68xQYp7tdNEQGgt7cXbW1tiEajqTWz2Qyz2axENCJaptgbJBe+NEaKKy4uTj2sVisMBkPamtlsXnSKu7q6Gs3NzfD5fFi9ejXsdju6urpSd++2WCzYunUrBgYG0vYViURw9OhRmM1m2O12eL1ezM7OZpxVCIELFy5g48aNWLVqFRwOB86fPy/Xj4KIMsTeILlwECLVun37NoqKijA2Nobm5macPXsWdXV1OHDgAMLhMNxuN7xeL759+wYA+PTpEw4dOoTdu3fj1atXGBwcRCwWw4kTJzLeZ19fH65du4bOzk68ffsW9+/fR1lZWbYOkYhkxt6gRQTRMtLd3S2sVuui9fr6enH8+PHUdlVVlTh48GBqe2FhQRQUFAiv15tae//+vQAgRkdHhRBCXLx4Ubjd7rTnnZ6eFgBENBrNKN/Vq1fF9u3bxfz8/H84KiLKJvYGLQXPCJFqOZ3O1NdGoxE2my3tvyy73Q4AiMfjAIDXr1/j6dOnqWsHzGYzSktLAQBTU1MZ7bOurg7fv3/Hli1bcObMGfT392NhYUGuQyKiLGNv0O/4rjFSrRUrVqRtGwyGtLVf7ypJJpMAgK9fv8Lj8eDy5cuLnmvdunUZ7XPDhg2IRqMYGhpCIBDAuXPncOXKFQSDwUV5iGj5YW/Q7zgIkW64XC709fWhpKQEf/31/3/1TSYTPB4PPB4PJElCaWkpJicn4XK5ZExLRMsBe0P7+NIY6YYkSfj48SNOnTqFUCiEqakpPH78GI2NjUgkEhk9R09PD27duoVIJIJ3797hzp07MJlM2LRpU5bTE5ES2Bvax0GIdMPhcODFixdIJBJwu90oKyuDz+dDYWEh8vL++VPo6en54we1FRYWoqurC5WVlXA6nRgaGsLDhw9hs9lydRhElEPsDe3jByoS/Yvf70cwGMSzZ8+UjkJEKsHeUDdeI0T0LwMDA+jo6FA6BhGpCHtD3XhGiIiIiHSL1wgRERGRbnEQIiIiIt3iIERERES6xUGIiIiIdIuDEBEREekWByEiIiLSLQ5CREREpFschIiIiEi3OAgRERGRbv0N30C1y0z1MEEAAAAASUVORK5CYII=" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=200, poly_orders=3, scheme=\"LGL\", plot=True)\n", "print(f\"\\nTerminal time using Lobatto roots , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Pretty bad result, huh!. The thrust profile is not smooth. Besides, so many number of segments. Lobatto roots lead to better convergence when the degree of the polynomial is higher." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Adding additional constraints to the OCP\n", "\n", "Let's constrain the derivative of control between $\\pm 1$.\n", "\n", "$-1 \\leq \\dot{u} \\leq 1$\n", "\n", "* Enable the differential constraint\n", "* Choose bounds of the control slope" ] }, { "cell_type": "code", "execution_count": 20, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:42.640856Z", "start_time": "2024-03-10T06:36:42.631684Z" } }, "outputs": [], "source": [ "ocp.diff_u[0] = 1\n", "ocp.lbdu[0], ocp.ubdu[0] = -1, 1" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's solve again by adding the above constraint." ] }, { "cell_type": "code", "execution_count": 21, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:43.052927Z", "start_time": "2024-03-10T06:36:42.634897Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n", "\n", " Optimal cost (J): 8.1831 \n", "\n", " Solved in 107.721 ms\n", " \t OCP transcription time : 66.337 ms\n", " \t NLP solution time : 41.384 ms\n", "\n", " Post processed in 20.4 ms\n", " \t Solution retrieval : 0.17 ms\n", " \t Residual in dynamics : 20.223 ms\n", " \t Process solution and plot : 0.007 ms\n", "\n", "Terminal time using Lobatto roots , s : 4.181973552017326 vs 4.1641\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=10, poly_orders=10, scheme=\"LGL\", plot=False)\n", "post._INTERPOLATION_NODES_PER_SEG = 20\n", "post.plot_phases()\n", "print(f\"\\nTerminal time using Lobatto roots , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Change the number of semgents and approximating to see how the solution behaves.\n", "\n", "Disable the slope constraint for further calculations. Also, Radau roots are found to be approximating the given solution best!" ] }, { "cell_type": "code", "execution_count": 22, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:43.059648Z", "start_time": "2024-03-10T06:36:43.055502Z" } }, "outputs": [], "source": [ "ocp.diff_u[0] = 0" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's see what happens if we increase the polynomial degree to 25." ] }, { "cell_type": "code", "execution_count": 23, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:45.550589Z", "start_time": "2024-03-10T06:36:43.071120Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT Summary ********** \n", " Optimal cost (J): 8.24747 \n", "\n", " Solved in 1750.149 ms\n", " \t OCP transcription time : 1589.343 ms\n", " \t NLP solution time : 160.807 ms\n", "\n", " Post processed in 123.729 ms\n", " \t Solution retrieval : 0.197 ms\n", " \t Residual in dynamics : 123.524 ms\n", " \t Process solution and plot : 0.008 ms\n", "\n", "Terminal time using Radau roots , s : 4.164977321911994 vs 4.1641\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo, post = mp.solve(ocp, n_segments=1, poly_orders=100, scheme=\"LGR\", plot=False)\n", "post._INTERPOLATION_NODES_PER_SEG = 200\n", "post.plot_phases()\n", "print(f\"\\nTerminal time using Radau roots , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The derivative and interpolation matrices are evaluated using CasADi algorithmic differentiation. Hence, high values of polynomial order such as 100 are feasible.\n", "\n", "On the contrary, if the derivative operators are contructed using numpy's polynomial module, as the number of nodes increases, numerical noise builds up in the D matrix approximation leading to unstable solution. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adaptive grid refinement schemes\n", "\n", "A good guess of the number of segments and polynomial order are necessary to get exact solution. However, adaptive grid refinement techniques solve this problem by relocating the collocation points.\n", "\n", "There are three inbuit refinement schemes in the package. First two are iterative. Refer theis for the exact details of implementaion.\n", "\n", "The schemes are named as follows\n", "* Adaptive_h_refinement (Iterative)\n", " * Scheme-1: Based on control slope\n", " * Scheme-2: Based on residual in dynamics\n", "* Scheme-3: Direct optimization of segment widths (h)\n", "\n", "Let's see how grid refinement changes the solution to moon-lander OCP" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's create the optimizer object" ] }, { "cell_type": "code", "execution_count": 24, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:45.565255Z", "start_time": "2024-03-10T06:36:45.550234Z" } }, "outputs": [], "source": [ "mpo = mp.mpopt_h_adaptive(ocp, 10, 4) # Use ctrl + tab for help, inside ()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adaptive scheme-I" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's solve the OCP using scheme 1. Let's limit the maximum iterations to 1. (Same as non-adaptive solution)\n", "\n", "* control_slope" ] }, { "cell_type": "code", "execution_count": 25, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:45.618991Z", "start_time": "2024-03-10T06:36:45.570012Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Stopping the iterations: Iteration limit exceeded\n", "H-Adaptive Iter., max_residual : 1, 0.03650101311435586\n", " Optimal cost (J): 8.24933 \n", "\n", " Solved in 48.449 ms\n" ] } ], "source": [ "solution = mpo.solve(max_iter=1, mpopt_options={'method':'control_slope'})" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's process the solution and plot states and controls. This solution is same as the non-adaptive solution, since the max iterations are set to 1." ] }, { "cell_type": "code", "execution_count": 26, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:45.904945Z", "start_time": "2024-03-10T06:36:45.630629Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " Post processed in 39.596 ms\n", " \t Solution retrieval : 0.124 ms\n", " \t Residual in dynamics : 7.045 ms\n", " \t Process solution and plot : 32.427 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's increase the number of iterations and see how the grid refinement works. Let's enable the residual plot as well." ] }, { "cell_type": "code", "execution_count": 27, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:46.270960Z", "start_time": "2024-03-10T06:36:45.904366Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Iteration : 1, 0.03650101311435586\n", "Solved phase 0 to acceptable level 0.01, residual: 0.008459852092415718\n", "Solved to acceptable tolerance 0.01 0.008459852092415718\n", "H-Adaptive Iter., max_residual : 2, 0.008459852092415718\n", " Optimal cost (J): 8.24648 \n", "\n", " Solved in 54.261 ms\n", "\n", "\n", " Post processed in 52.279 ms\n", " \t Solution retrieval : 0.094 ms\n", " \t Residual in dynamics : 6.343 ms\n", " \t Process solution and plot : 45.842 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "max_iter = 2\n", "solution = mpo.solve(max_iter=max_iter, mpopt_options={'method':'control_slope'})\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Note that the grid is refine with more points towards the discontinuity in one iteration. Let's check the terminal time." ] }, { "cell_type": "code", "execution_count": 28, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:46.275742Z", "start_time": "2024-03-10T06:36:46.270337Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Terminal time using Adaptive +1 iteration , s : 4.1643 vs 4.1641\n" ] } ], "source": [ "print(f\"\\nTerminal time using Adaptive +{max_iter-1} iteration , s : {round(post.get_data()[-2][-1][0], 4)} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's further increase the iterations and check the final result on convergence. " ] }, { "cell_type": "code", "execution_count": 29, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:46.573740Z", "start_time": "2024-03-10T06:36:46.274647Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Iteration : 1, 0.03650101311435586\n", "Solved phase 0 to acceptable level 0.01, residual: 0.008459852092415718\n", "Solved to acceptable tolerance 0.01 0.008459852092415718\n", "H-Adaptive Iter., max_residual : 2, 0.008459852092415718\n", " Optimal cost (J): 8.24648 \n", "\n", " Solved in 49.589 ms\n", "\n", "\n", " Post processed in 45.452 ms\n", " \t Solution retrieval : 0.101 ms\n", " \t Residual in dynamics : 6.546 ms\n", " \t Process solution and plot : 38.805 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "max_iter = 10\n", "solution = mpo.solve(max_iter=max_iter, mpopt_options={'method':'control_slope'})\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "code", "execution_count": 30, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:46.580331Z", "start_time": "2024-03-10T06:36:46.576378Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Terminal time using Adaptive +9 iteration , s : 4.1643 vs 4.1641\n" ] } ], "source": [ "print(f\"\\nTerminal time using Adaptive +{max_iter-1} iteration , s : {round(post.get_data()[-2][-1][0], 4)} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The solution converged in 3 iterations and terminal time matches to 4 th digit with 40 nodes." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adaptive scheme-II\n", "\n", "The method is based on the estimates of residual at the mid points of the collocation nodes. Further, two sub-methods are implemented in the software\n", "\n", "* residual based\n", " * merge/split\n", " * equal residual segments" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's solve the same OCP using Adaptive scheme-II. This time let's enable the residual evolution plots." ] }, { "cell_type": "code", "execution_count": 31, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:46.588106Z", "start_time": "2024-03-10T06:36:46.580509Z" } }, "outputs": [], "source": [ "mpo = mp.mpopt_h_adaptive(ocp, 10, 4) # Use ctrl + tab for help, inside ()\n", "mpo.plot_residual_evolution = True" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Submethod-1: merge/split**" ] }, { "cell_type": "code", "execution_count": 32, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:47.072026Z", "start_time": "2024-03-10T06:36:46.588676Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Iteration : 1, 0.03650101311435586\n", "Solved phase 0 to acceptable tolerance 0.01\n", "Solved to acceptable tolerance 0.01 0.00022653276701605635\n", "H-Adaptive Iter., max_residual : 2, 0.00022653276701605635\n", " Optimal cost (J): 8.24624 \n", "\n", " Solved in 83.772 ms\n", "\n", "\n", " Post processed in 42.848 ms\n", " \t Solution retrieval : 0.129 ms\n", " \t Residual in dynamics : 5.925 ms\n", " \t Process solution and plot : 36.793 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "max_iter = 2\n", "solution = mpo.solve(max_iter=max_iter, mpopt_options={'method':'residual', 'sub_method':'merge_split'})\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the residual in the first iteration is higher towards the discontinuity. In the second iteration, the segments near the start and final times merged so that segments close to the discontinuity are split and the solution converged with in +1 iteration. \n", "\n", "The solution is close to the exact solution, lets look at the terminal time." ] }, { "cell_type": "code", "execution_count": 33, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:47.077343Z", "start_time": "2024-03-10T06:36:47.072390Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Terminal time using Adaptive-II scheme with +1 iterations , s : 4.16416187794445 vs 4.1641\n" ] } ], "source": [ "print(f\"\\nTerminal time using Adaptive-II scheme with +{max_iter-1} iterations , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Lets reduce the tolerance on the residual to see if the solution improves" ] }, { "cell_type": "code", "execution_count": 34, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:47.081284Z", "start_time": "2024-03-10T06:36:47.075687Z" } }, "outputs": [], "source": [ "mpo = mp.mpopt_h_adaptive(ocp, 10, 4) # Use ctrl + tab for help, inside ()\n", "mpo.plot_residual_evolution = True\n", "mpo.tol_residual[0] = 1e-4" ] }, { "cell_type": "code", "execution_count": 35, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:47.604027Z", "start_time": "2024-03-10T06:36:47.130132Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Iteration : 1, 0.03650101311435586\n", "Iteration : 2, 0.005345204401015982\n", "Solved phase 0 to acceptable tolerance 0.0001\n", "Solved to acceptable tolerance 0.0001 1.4089315576344685e-06\n", "H-Adaptive Iter., max_residual : 3, 1.4089315576344685e-06\n", " Optimal cost (J): 8.24621 \n", "\n", " Solved in 92.315 ms\n", "\n", "\n", " Post processed in 49.622 ms\n", " \t Solution retrieval : 0.104 ms\n", " \t Residual in dynamics : 6.128 ms\n", " \t Process solution and plot : 43.39 ms\n" ] }, { "data": { "text/plain": "
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" 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "max_iter = 10\n", "solution = mpo.solve(max_iter=max_iter, mpopt_options={'method':'residual', 'sub_method':'merge_split'})\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The solution doesn't change after 1st iteration because there is no segment that has residual lower than 1e-4. Residual threshold is a hyper parameters in this method. We can increase the number of segments for the method to work with strict tolerance." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Submethod -2: Equal area segments**" ] }, { "cell_type": "code", "execution_count": 36, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.116031Z", "start_time": "2024-03-10T06:36:47.604648Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", " *********** MPOPT H-Adaptive Summary ********** \n", "\n", "Iteration : 1, 0.03650101311435586\n", "Stopping the iterations: Iteration limit exceeded\n", "H-Adaptive Iter., max_residual : 2, 0.03620404668261404\n", " Optimal cost (J): 8.24711 \n", "\n", " Solved in 66.926 ms\n", "\n", "\n", " Post processed in 89.304 ms\n", " \t Solution retrieval : 0.115 ms\n", " \t Residual in dynamics : 6.486 ms\n", " \t Process solution and plot : 82.702 ms\n" ] }, { "data": { "text/plain": "
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" 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo = mp.mpopt_h_adaptive(ocp, 10, 4) # Use ctrl + tab for help, inside ()\n", "mpo.plot_residual_evolution = True\n", "max_iter = 2\n", "solution = mpo.solve(max_iter=max_iter, mpopt_options={'method':'residual', 'sub_method':'equal_area'})\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the residual is reduced by concentrating the nodes close to the discontinuity.\n", "\n", "The terminal free time in this case is given below" ] }, { "cell_type": "code", "execution_count": 37, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.118193Z", "start_time": "2024-03-10T06:36:48.116372Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Terminal time using Adaptive-II scheme-2 with +1 iterations , s : 4.164738266741216 vs 4.1641\n" ] } ], "source": [ "print(f\"\\nTerminal time using Adaptive-II scheme-2 with +{max_iter-1} iterations , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adaptive schem-III : Direct optimization\n", "\n", "The third scheme solves for the optimal segment widths along with the original OCP itself.\n", "Hence, no iterative procedure is involved. \n", "\n", "For the moon lander problem with one disconitnuiy,one needs only 3 segments to get the exact thrust profile. Further, being bang bang profile, the thrust is constant at both corners. \n", "\n", "Let's use only 3 segments and minimum order polynomials to capture the solution to check the effectiveness of the method" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Initialize the optimizer" ] }, { "cell_type": "code", "execution_count": 38, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.123124Z", "start_time": "2024-03-10T06:36:48.120056Z" } }, "outputs": [], "source": [ "mpo = mp.mpopt_adaptive(ocp, 3, 2) # Use ctrl + tab for help, inside ()\n", "mpo.mid_residuals=True" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Solve the NLP and process the results" ] }, { "cell_type": "code", "execution_count": 39, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.374626Z", "start_time": "2024-03-10T06:36:48.191553Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Optimal segment width fractions: [0.31820188 0.03099379 0.65080433]\n", "\n", " Post processed in 21.747 ms\n", " \t Solution retrieval : 0.146 ms\n", " \t Residual in dynamics : 2.102 ms\n", " \t Process solution and plot : 19.499 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "solution = mpo.solve()\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the middle segment width is 0.03. That is the default minimu width of the segment implemented in the method. Let's reduce the minimum allowed segment width to 1e-6 and resolve the problem." ] }, { "cell_type": "code", "execution_count": 40, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.379010Z", "start_time": "2024-03-10T06:36:48.374811Z" } }, "outputs": [], "source": [ "mpo = mp.mpopt_adaptive(ocp, 3, 2) # Use ctrl + tab for help, inside ()\n", "mpo.lbh[0] = 1e-6" ] }, { "cell_type": "code", "execution_count": 41, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.642562Z", "start_time": "2024-03-10T06:36:48.452607Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Optimal segment width fractions: [2.62292233e-06 9.29740025e-01 7.02573521e-02]\n", "\n", " Post processed in 23.777 ms\n", " \t Solution retrieval : 0.109 ms\n", " \t Residual in dynamics : 2.372 ms\n", " \t Process solution and plot : 21.295 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "solution = mpo.solve()\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the discontinuity is exactly captured using the method with minimum possible collocation nodes." ] }, { "cell_type": "code", "execution_count": 42, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.645159Z", "start_time": "2024-03-10T06:36:48.642206Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Terminal time using Adaptive scheme-III , s : 8.3414904388322 vs 4.1641\n" ] } ], "source": [ "print(f\"\\nTerminal time using Adaptive scheme-III , s : {post.get_data()[-2][-1][0]} vs 4.1641\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's check the robustness of the method by increasing the number of segments" ] }, { "cell_type": "code", "execution_count": 43, "metadata": { "ExecuteTime": { "end_time": "2024-03-10T06:36:48.907602Z", "start_time": "2024-03-10T06:36:48.646961Z" } }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Optimal segment width fractions: [3.39881653e-01 1.43712770e-05 1.40014871e-05 1.48705948e-05\n", " 6.60075103e-01]\n", "\n", " Post processed in 26.976 ms\n", " \t Solution retrieval : 0.119 ms\n", " \t Residual in dynamics : 3.358 ms\n", " \t Process solution and plot : 23.498 ms\n" ] }, { "data": { "text/plain": "
", "image/png": 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BhLQH93cQlhXsGUyj4EYWTyZ9fHzYtGkTnTp1onLlyowcOZKvv/6ajh07AtCvXz+qVKlCw4YNKVOmDFu2bKFLly4MHjyYAQMGULduXbZu3crHH3+c67zPPfccHTp0oFWrVpQpU4YFCxagKAqrV6/mqaeeom/fvlSuXJmXXnqJs2fPEhQUVGCMo0aNokGDBowdO5b09HTq1atHvXr12L17t0V/N0KI++ydC5NrwpzOxu9751o7IpsjLTJWUMkvMk+fDFVVmLDiCl8/l0GEv6cVoxOWVq1aNdasWVPg/jJlyrB27do82ydMmMCECRNybRs0aJDpZ1dXVxYvXpzned7e3kyZMoUpU6YUOsbZs2fz448/kpaWho+Pj92u4C2EXbtvvhlUA6wYBFFtpGXmHnJ1soL713FS0KC/9By7T6u0n7yJ7/86jd6gPuQsQgghHFo+882QM9+MMJEWGSu5v09G1i1vhv9ygG2nr/LZqiP8fiiZr3vUJdzfw9qhCiGEsIZ85ptB0YLMN5OLtMhY0b19MiL8PZnfrwlju9fC00XLrjPX6PDNJubvSEBVpXVGCCFKnPvmm0HRQufJclvpPtIiY0MUReHlxuG0qBjA0P/tZ2d8Cv9eeoDYw8mMf642gT5u1g5RCCFEcboz3wwpp40tMZLE5CEtMjYozM+Dhf2eYOQ/quHipGH9sctET97Eqr+TrB2aEEKI4uZbFso/KUlMASSRsVEajcKbT1Zg5XstqFnWh+uZOvrP38vwX/4mM/u2tcMTQgghbIIkMjaucpA3S99tzoBWFVEUWLjrHJ2nbuZIkswEKYQQQkgiYwectRqGta/CvDebEOTjyqnLGXSdtoW5285IR2Ah8jF27FgaNWqEt7c3gYGBdOvWjWPHjlk7rJInNRHiNxm/C2EhZklkrl+/bo7TiIdoFhXAbwOfok3VQLJvGxi1/BBv/d8ermVkWzs0IWzKxo0b6d+/P9u3byc2NhadTkd0dDQZGRnWDq3kkBlpRTEpciIzfvx4Fi1aZHr8wgsv4O/vT9myZdm/f79ZgxN5+Xm68H3vhox6pjouWg2xhy/Sacpf7Dh91dqhCWEz1qxZQ58+fahRowZ16tRh9uzZJCQksGfPHmuHVjIUNCOttMwICyhyIjNjxgzCwsIAiI2NJTY2lt9++42OHTvywQcfmD1AkZeiKLzeojxL3m1GhQBPklJv8fJ32/nvX/HInSb716dPH7p161bk540ZM4a6des+dvlnzpzhjTfeICoqipCQECpVqsTo0aPJzrbflr/U1FQA/Pz8rBxJCSEz0opiVOR5ZJKTk02JzMqVK3nhhReIjo4mMjKSJk2amD1AUbCaZX1Z8V4LPl5+kCV7E/ly7Qlq+2l4qo0OP2dna4cn7NTRo0cxGAxMnz6d4OBgzpw5w9tvv01GRgZfffWVtcMrMoPBwKBBg2jevDk1a9bM95isrCyysrJMj9PSjJ3pdTodOp2uWOK0pJw6FFtdfCJwUjQo964np2i57RMOZoih2OtjQY5UFzBvfQp7jiInMqVLl+bcuXOEhYWxZs0aPvvsMwBUVUWv1xf1dOIxebo68XWPOjSIKM2YXw/xd4qG7jN2MPO1hlQJ9rZ2eHZFl5xM9pmzuERG4Bxs2RWwFy9eTExMDCdPnsTDw4N69eqxfPlyvvzyS+bMmQMYW94A1q9fT8uWLfnXv/7F0qVLOX/+PMHBwfTs2ZNRo0bh7OzM7NmziYmJyfW8WbNm0adPH65fv86wYcNYvnw5WVlZNGzYkEmTJlGnTp18Y+vQoQMdOnTAYDCQlpZG7dq1OXHiBNOnT7fLRKZ///4cPHiQzZs3F3jM2LFjTb+/e61fvx4PD8dZJiQ2NrbYygoP60udhFloMGBAw/6wPiRsjgPizFZGcdbH0hypLmCe+mRmZhbquCInMt27d+eVV16hUqVKXL16lY4dOwKwb98+KlasWNTTCTNQFIWeTSKoGujJG7O2c+ZqJt2mbWFs91p0qycTKBXG9cWLSRo1GgwG0GgI+SSGUs8/b5GykpKSePnll5kwYQLPPvssN27c4K+//kJVVYYNG8aRI0dIS0tj1qxZwN3bId7e3syePZvQ0FAOHDhAv3798Pb25sMPP+TFF1/k4MGDrFmzhj/++AMAX19fAHr06IG7uzu//fYbvr6+zJw5kzZt2nD8+PFC32pJTU21y9syAwYMYOXKlWzatIly5coVeNyIESMYMmSI6XFaWhphYWG0atUKf3//4gjVonQ6HbGxsbRr1w7nYmut7YQ+bSCGa6dRS1egpk8o+beHFZ116mMZjlQXMG99clpGH6bIicykSZOIjIzk3LlzTJgwAS8vL8B4cX733XeLejphRrXL+fJBbT2rrwWx5dRVBi2KY1/CNd5s5U9SxjnCfcIJ9rRsS4M90iUn301iAAwGkkaNxrNFC4u0zCQlJXH79m26d+9OREQEALVq1TLtd3d3Jysri+D7yh45cqTp58jISIYNG8bChQv58MMPcXd3x8vLCycnp1zP27x5Mzt37uTSpUu4uroC8NVXX7Fs2TIWL17MW2+99dB4T548ydSpU+2qNUZVVd577z2WLl3Khg0bKF++/AOPd3V1Nf1+7uXs7OwQHy45ir0+/hHGLwtxpNfHkeoC5qlPYZ9f5ETG2dmZYcOG5dk+ePDgop5KWICXM/zQqz7TNsYz9c+TzD+8mCXXloCiolE0jG46mu6Vuls7TJuSfebs3SQmh8FA9tkEiyQyderUoU2bNtSqVYv27dsTHR3N888/T+nSpR/4vEWLFjFlyhROnTpFeno6t2/fxsfH54HP2b9/P+np6XlaFW7evMmpU6ceGuuFCxfo0qULPXr0oF+/fg+vnI3o378/8+fPZ/ny5Xh7e5OcnAwYW6nc3d2tHJ0QwpweaR6Z//u//6NFixaEhoZy9uxZACZPnszy5cvNGpx4NFqNwtDoKnz9cgRuIcYkBsCgGojZFkNyRrKVI7QtLpERoLnvT0GjwSUi3CLlabVa02i/6tWrM3XqVKpUqUJ8fHyBz9m2bRs9e/akU6dOrFy5kn379vHRRx89dCRReno6ISEhxMXF5fo6duzYQ0cZ5iQxTZs25b///e8j1dVapk+fTmpqKi1btiQkJMT0de/UEUIIx1DkRGb69OkMGTKEjh07cv36dVMH31KlSjF58mRzxyceQ1hgpimJyWFQDZy7cc5KEdkm5+BgQj6JuZvM3OkjY8kOv4qi0Lx5c2JiYti3bx8uLi4sXboUABcXlzwd57du3UpERAQfffQRDRs2pFKlSqZ/InLk97z69euTnJyMk5MTFStWzPUVEBBQYHyJiYm0bt2aOnXq8OOPP6K5P9Gzcaqq5vvVp08fa4cmhDCzIl+dpk6dynfffcdHH32EVqs1bW/YsCEHDhwwa3Di8YT7hKNRcr/Eqqrw2z4dBoNMOHOvUs8/T8U/1xE+Zw4V/1xnsY6+ADt27OCLL75g9+7dJCQksGTJEi5fvky1atUAY/+Xv//+m2PHjnHlyhV0Oh2VKlUiISGBhQsXcurUKaZMmWJKfHJERkYSHx9PXFwcV65cISsri7Zt29K0aVO6devG2rVrOXPmDFu3buWjjz5i9+7d+caXmJhIy5YtCQ8P59NPP+Xy5cskJyebbs8IIYQtKXIiEx8fT7169fJsd3V1lem/bUywZzCjm442JTMKGrKSuvPjxmu8M28PGVmyiva9nIOD8WzS2OJDr318fNi0aROdOnWicuXKjBw5kq+//to0ArBfv35UqVKFhg0bUqZMGbZs2UKXLl0YPHgwAwYMoG7dumzdupWPP/4413mfe+45OnToQKtWrShTpgwLFixAURRWr17NU089Rd++falcuTIvvfQSZ8+eJSgoKN/4YmNjOXnyJOvWraNGjRqULVvWdGtGCCFsTZE7+5YvX564uDjTaIsca9asMf1HKWxH90rdaRbajHM3zhHmHcaWo7cZseQAvx+6yHPTt/Jdr4aE+TnOPBn2oFq1aqxZs6bA/WXKlGHt2rV5tk+YMIEJEybk2jZo0CDTz66urixevDjP87y9vZkyZQpTpkwpVHx9+vShT58+pnlkfHx87O7WkhCi5ChyIjNkyBD69+/PrVu3UFWVnTt3smDBAsaOHcv3339viRjFYwr2DDYNu36uAZQv48lbc/dwNPkGXadt4bteDWkQ8eARM0IIIYQtKnIi8+abb+Lu7s7IkSPJzMzklVdeITQ0lG+++YaXXnrJEjEKM6sfXpoV7zWn39zdHExM45XvtjP5xbp0rCW3DoQQQtiXR2ov7tmzJydOnCA9PZ3k5GTOnz/PG2+8Ye7YhAWF+Lrz89tNaVstkKzbBt6dv5fv/zqNKqtOCiGEsCOPdePbw8ODwMBAc8UiipmHixMzX2tIr6YRqCp8tuoIMSsOo5cRTUIIIexEoW4t1atXz7QQ3cPs3bv3sQISxUurUYjpUoOw0h58vvoIs7eeIfH6Taa8VA93F+3DT2AjpCXJuuT3L4SwlkIlMt26dbNwGMKaFEWh31MVCC3lzuCf44g9fJGXvtvOD70bEuCVd/0ZW5KzFkdmZqZMPW9FOTMM3zu3lBBCFIdCJTKjR4+2dBzCBvyjdghBPq70m7ub/eeu8+x/tuBfcTpnbpygaumqLOyy0Noh5qHVailVqhSXLl0CjLc7C9t6aEkGg4Hs7Gxu3bplt0OXC1sHg8HA5cuX8fDwwMmpyOMHhHA8qYmQcgr8osC3rLWjcXiPfNXZvXs3R44cAaB69eo0aNDAbEEJ62kY6ccv7zSjz6xdXC3zPtfTAAUOXTtErTm1ONDb9mZvzlntOSeZsQWqqnLz5k3c3d1tIrF6FEWpg0ajITw83G7rKoTZ7J0LKwaCagBFA52/gfq9rB2VQytyInP+/HlefvlltmzZQqlSpQC4fv06zZo1Y+HChZQrV87cMYpiVqGMF2UqzeBaKnDf59JLv75kcy0ziqIQEhJCYGAgOp3O2uEAoNPp2LRpE0899dRjL2VvLUWpg4uLi922PAlhNqmJd5MYMH5fMQii2kjLjAU90jwyOp2OI0eOUKVKFQCOHTtG3759efPNNx84Y6mwH6fSjuVJYgCOXjta/MEUklartZk+Glqtltu3b+Pm5ma3iYwj1EGIYpVy6m4Sk0PVQ8ppSWQsqMiJzMaNG9m6daspiQGoUqUKU6dO5cknnzRrcMJ6qpauyqFrh3JtU1Xw1UagqqrcQhBCiPv5RRlvJ92bzCha8KtgvZhKgCK3BYeFheXbfK/X6wkNDTVLUDnGjBmDoii5vqpWrWrWMkT+8rt9pKpw9tBbfLj4b3R6Qz7PEkKIEsy3rLFPjHKnZVjRQufJ0hpjYUVOZL788kvee+89du/ebdq2e/duBg4cyFdffWXW4ABq1KhBUlKS6Wvz5s1mL0Pk70DvA9QoXQMtWmqUrsHHNVah1Sj8b8953pyzm3RZPVsIIXKr3wsGHYDeK43fpaOvxRXq1lLp0qVz3UrIyMigSZMmpqGWt2/fxsnJiddff93sc844OTmZRqWI4nd/y0ygjyv95+1j4/HL9JixjR96NyS0lMzfIoQQJr5lpRWmGBUqkZk8ebKFwyjYiRMnCA0Nxc3NjaZNmzJ27FjCw8OtFk9J17pqEAveeoI35+zmSFIa3aZt4YfejahVztfaoQkhhCiBCpXI9O7d29Jx5KtJkybMnj2bKlWqkJSURExMDE8++SQHDx7E29s73+dkZWWRlZVlepyWlgYYh5I+aGhuzj5bGb77KIqrDjWCPVn8dmPe/mkfxy6m02PmVr56rhbtawSZ5fzyWtgGc9XBnn8HQgjb91jTcN66dcs0NXkOHx+fxwroXh07djT9XLt2bZo0aUJERAQ///xzgattjx07lpiYmDzb165di4eHx0PLjI2NffSAbURx1eH1cJidpeHIdRiwcD9dwvU0CL5OiuEq/lp/fDWP10ojr4VteNw6ZGZmmikSIYTIq8iJTEZGBv/617/4+eefuXr1ap79er3eLIHlp1SpUlSuXJmTJ08WeMyIESMYMmSI6XFaWhphYWFER0c/MMnS6XTExsbSrl07u50zwxp16KI38MVvx/i/Hef4LXUv6z2XACoaNIxsMpJuUd2KfE55LWyDueqQ0yoqhBCWUORE5sMPP2T9+vVMnz6d1157jWnTppGYmMjMmTMZN26cJWI0SU9P59SpU7z22msFHuPq6oqra96FDp2dnQt1MS7scbasOOvg7AyfPlubQL8sZsYbkxgAAwY+2/kZT4Y9SbDno3XWltfCNjxuHey9/kII21bk4dcrVqzgP//5D8899xxOTk48+eSTjBw5ki+++IJ58+aZNbhhw4axceNGzpw5w9atW3n22WfRarW8/PLLZi1HPL4mlVUURc21zaAaOHfjnJUiEkIIURIUOZFJSUmhQgXjLIU+Pj6kpKQA0KJFCzZt2mTW4HLWdapSpQovvPAC/v7+bN++nTJlypi1HPH4wn3C0Si5306qqnDorKyGLIQQwnKKnMhUqFCB+Ph4AKpWrcrPP/8MGFtqchaRNJeFCxdy4cIFsrKyOH/+PAsXLiQqKsqsZQjzCPYMZnTT0XeTGVVDVlJ3xiy9wBerj6A3qA8+gRBCCPEIivzvct++fdm/fz9PP/00w4cPp3Pnznz77bfodDomTpxoiRiFneheqTvNQptx7sY5ynqWY97WVKatP8V/N53m0IVUprxUD3+vvP2XhBBCiEdV5ERm8ODBpp/btm3L0aNH2bNnDxUrVqR27dpmDU7Yn2DPYFPn3g/ah1AtxIcP/vc3W05e5Zmpm5nWsz71w0tbOUohhBCO4rE7MERERBAREWGOWIQDeqZ2KJWDvPnn/+3h9JUMXpy5jY+fqc5rT0TICtpCCGFuqYmQcsq4EncJWSahUInMlClTeOutt3Bzc2PKlCkPPPb99983S2DCcVQO8mb5gOZ8uPhvfjuYzKjlh9iXcJ3Pn62Jh4t0BhZCCLPYOxdWDATVAIrGuBJ3CVi0slCfIpMmTaJnz564ubkxadKkAo9TFEUSGZEvbzdn/tOzPt//Fc+4NUdZui+RQxdSmfZKfSoF5b/chBBCiEJKTbybxIDx+4pBENXG4VtmCpXI5IxSuv9nIYpCURT6PVWB2uV8GbBgH8cvptP528180qUmPRqWk1tNQgjxqFJO3U1icqh6SDnt8IlMkYZf63Q6oqKiOHLkiKXiESVAkwr+rH7/SZ6sFMAtnYEPf/mbwYviSM+6be3QhBDCPvlFGW8n3UvRgl8F68RTjIqUyDg7O3Pr1i1LxSJKkDLerszp25gPO1RBq1FYFneBzlM3czAx1dqhCSGE/fEta+wTo2iNjxUtdJ7s8K0x8AgT4vXv35/x48dz+7b89ywej0aj8G7Liix66wlCfd2Iv5JB9/9sZdbWs8j8eUIIUUT1e8GgA9B7pfF7CejoC48w/HrXrl2sW7eOtWvXUqtWLTw9PXPtX7JkidmCEyVDw0g/Vg98kg8W/03s4Yt88dsxKvtqaNDiFuEBsuCgEEIUmm/ZEtEKc68iJzKlSpXiueees0QsogQr5eHCf19rwPydCXy68jDHU6HztK18/mwtnqkdau3whBBC2KgiJzKzZs2yRBxCoCgKPZtE0DDMlzd/2My5jNsMmL+PP49cYkzXGvi4SeuMEEKI3IrcR0YIS6tQxpPBNfW8+3QFNAos2ZdIx8l/sfnEFWuHJoQQwsY80rSqixcv5ueffyYhIYHs7Oxc+/bu3WuWwETJptXA4LYVaVM9iEGL4jiXcpNXf9jBy43D+XenqnhL64wQQggeoUVmypQp9O3bl6CgIPbt20fjxo3x9/fn9OnTdOzY0RIxihKsQYQfawY+Ra+mxvW8FuxMoMPkv/jrxGUrRyaEEMIWFDmR+c9//sN///tfpk6diouLCx9++CGxsbG8//77pKbKHCDC/Dxdnfika00W9HuCMD93Eq/f5LUfdjJiyd+k3dJZOzwhhBBWVOREJiEhgWbNmgHg7u7OjRs3AHjttddYsGCBeaMT4h5No/xZM/ApeptaZ87RbuJGfjuQhKrKxDNCCFESFTmRCQ4OJiUlBYDw8HC2b98OGNdgkg8TYWmerk7EdK3JwreeINLfg4tpWbwzby/95u7mwvWb1g5PCCFEMStyItO6dWt+/fVXAPr27cvgwYNp164dL774Is8++6zZAxQiP09U8GfNoKd4r3VFnLUKfxy5RNuJG/lhczx6mRZYCCFKjCKPWvrvf/+LwWBcYbN///74+/uzdetWunTpwttvv232AIUoiJuzlqHRVehSJ5QRSw6w++w1Pl15mKX7zhPTpSYNIkpbO0QhhBAWVuRERqPRoNHcbch56aWXeOmll8walBBFUSnIm5/fbsrCXecY+9sRDiam8dz0rTxXvxz/6liFQG83a4cohBDCQop8a6lixYqMGTOG48ePWyIeIR6JRqPwSpNw/hzakh4NygHwy97ztPlqI9//dRqd3mDlCEVx2rRpE507dyY0NBRFUVi2bJm1QxJCWMgjrX69atUqqlWrRqNGjfjmm29ITk62RGxCFFkZb1e+7FGHpe82o3Y5X25k3eazVUfo9M1fbDouc8+UFBkZGdSpU4dp06ZZOxQhhIUVOZEZPHgwu3bt4siRI3Tq1Ilp06YRFhZGdHQ0c+fOtUSMQhRZvfDSLHu3OeO618LP04UTl9Lp9eNOev24k6PJadYOT1hYx44d+eyzz2QAghAlwCMtUQBQuXJlYmJiiImJYfv27bzzzjv07duXXr16mTM+IR6ZRqPwUuNwOtYMYcqfJ5i77Qybjl9m84nL9GgQxmtP+pJpuEi4TzjBnsHWDldYUVZWFllZWabHaWnGZFen06HT2f+kizl1cIS6gGPVx5HqAuatT2HP8ciJDMDOnTuZP38+ixYtIi0tjR49ejzO6YSwCF8PZz5+pjq9mkYwYc0xVh1IYsmJJaxKX4KiqGjQMLrZaLpX6m7tUIWVjB07lpiYmDzb169fj4eHhxUisozY2Fhrh2BWjlQfR6oLmKc+mZmZhTquyInM8ePHmTdvHgsWLCA+Pp7WrVszfvx4unfvjpeXV5EDFaK4RPh7Mq1nfbodO8qQbSNAMc43Y8DAmK0x1CvThPKlylo5SmENI0aMYMiQIabHaWlphIWF0apVK/z9/a0YmXnodDpiY2Np164dzs72v+CqI9XHkeoC5q1PTsvowxQ5kalatSqNGjWif//+vPTSSwQFBRU5OCGsydcnzZTE5FAx8Nx3K3ivWXteaRKOq5PWStEJa3B1dcXV1TXPdmdnZ4f4cMkh9bFdjlQXME99Cvv8Iicyx44do1KlSkUOSAhbEe4TjkbRYFDvGZKtKlxL9SFmxWG+23Sad1pG0aNhGG7OktAIIYQtK/KoJUlihL0L9gxmdNPRaBTj21+jaBjVdBSfdW5OsI8bF1Jv8fHyQzw5YT3/3XSKjKzbVo5YFFV6ejpxcXHExcUBxrXg4uLiSEhIsG5gQgize6zOvkLYq+6VutMstBnnbpwjzDvMNGrpufrlWLTrHDM3nuJC6i2+WH2U/2w4Rd9m5enTLBJfD8dp+nVku3fvplWrVqbHOf1fevfuzezZs60UlRDCEiSRESVWsGdwnmHXbs5aejeL5OXG4Szbl8j0jaeIv5LBpD+O899Np+jRMIzXm5cn3N9xRrI4opYtW6KqsnioECVBkW8tCVESuDhpeKFRGH8MeZopL9ejarA3Gdl6Zm89Q8uv1vPP/9vDrjMp8mEphBBW9sgtMtnZ2cTHxxMVFYWTkzTsCMek1Sh0qRNK59oh/HXiCj9sjmfj8cusOZTMmkPJ1CnnS+9mkXSqFSIdg4UQwgqK3CKTmZnJG2+8gYeHBzVq1DB1nnvvvfcYN26c2QMUwhYoisJTlcsw5/XGrB38FC81CsPFScP+86kM+Xk/T4xdx2crD3P6crq1QxVCiBKlyInMiBEj2L9/Pxs2bMDNzc20vW3btixatMiswQlhiyoHeTPuudpsHd6aYdGVKVvKneuZOr7fHE/rrzfyynfbWX0gGZ0suC2EEBZX5HtCy5YtY9GiRTzxxBMoimLaXqNGDU6dOmXW4ISwZQFergxoXYl3WlZk4/FLzNuewJ/HLrH11FW2nrqKu1bLbsNhejQMp354qVx/L0IIIcyjyInM5cuXCQwMzLM9IyNDLtSiRNJqFFpXDaJ11SDOX8tk4c5zLN5zjuS0LBbuOs/CXecpH+BJ93pl6Vq3rIx4EkIIMyryraWGDRuyatUq0+Oc5OX777+nadOm5otMCDtUrrQHw9pXYcPQp3i3up5udUJwd9YSfyWDr2OP89SX6+k8dTPTN5wi4WrhFkQTQghRsCK3yHzxxRd07NiRw4cPc/v2bb755hsOHz7M1q1b2bhxoyViFMLuaDUKVXxVBneqxecGhd8OJrN033m2nbrKgcRUDiSmMn7NUWqW9aFjzRDaVguicpCXtGoKIUQRFTmRadGiBXFxcYwbN45atWqxdu1a6tevz7Zt26hVq5YlYhTCrnm6OvF8g3I836AcV9Oz+P3QRVYduMC2U1c5mJjGwcQ0vvz9GGVLudOmWiCtqgbStIK/DOcWQohCeKQJYKKiovjuu+/MHYsQDs/fy5VXmoTzSpNwU1ITeziZLaeuknj9JnO3nWXutrO4O2tpXN6P5hX9aRYVQLUQH7Qaaa0RQoj7FTmR0Wq1JCUl5enwe/XqVQIDA9Hr9WYLTghHdm9SczNbz9ZTV1h39BLrj14iKfUWG49fZuPxywD4ujvTtII/T1Two0GEH1VDvHHW3u3ilpyRTEJaAuE+4XmWXRBCCEdW5ESmoCnZs7KycHFxeeyA8jNt2jS+/PJLkpOTqVOnDlOnTqVx48YWKUsIa3B30dKmWhBtqgWhqipHk28Yh3GfvMKO+BRSb+pMswkDuDlrqF22FPUiSqFz384vZydjwIBG0TC66Wi6V+pu5RoJYRlJqTc5mZzG9SxrRyJsRaETmSlTpgDGUUrff/89Xl5epn16vZ5NmzZRtWpVswe4aNEihgwZwowZM2jSpAmTJ0+mffv2HDt2LN9h4ELYO0VRqBbiQ7UQH95oUZ7begMHElPZeuoqO+NT2JdwjbRbt9l5JoVd5+PxrDgJRTH+g2FQDYzZGsP1q+VpHFaBCmU88XCRJUSEY1i0K4ERSw5gUEFBi3P4eV55ory1wxJWVugr3KRJkwBji8yMGTPQau92RHRxcSEyMpIZM2aYPcCJEyfSr18/+vbtC8CMGTNYtWoVP/74I8OHDzd7eULYGiethnrhpakXXpr+rcBgUDl9JZ29Z68TG7+Z7Tdzt5KqGPh87V/oMy8AEOzjRvkAT8qX8aRCgCflSrsT7OtOiK8bAV6uj9z35sLpAyQd3UtI1fqEVpCO/sKyklJvmpIYABWFkcsP06paMCG+7tYNTlhVoROZ+Ph4AFq1asWSJUsoXbq0xYLKkZ2dzZ49exgxYoRpm0ajoW3btmzbts3i5QthizQahYqB3lQM9Oap6q1o/8s4DOrd9RAUNNQJqkj8RSeuZepITrtFctottp2+mudcThqFIB83An1c8fNwoZSHC6U9nCnt6YK3q4YTlxWcD1/C090Fd2ctbs4aXJ20HJn3CZW+X4mHCtcUODLgWdr0/6I4fw2ihIm/kmFKYnIYVDhzJVMSmRKuyG3O69evt0Qc+bpy5Qp6vZ6goKBc24OCgjh69Gi+z8nKyiIr6+7N07S0NAB0Oh06na7AsnL2PegYW+cIdQDHqEdx1cHfxZ+RjUfy2c7PMKjGPjIjG4+kW1Q7AK5n6jhzNYMzVzOJv5LJmasZXEi9RXLqLS7dyOK2QSXx+k0Sr98soAQt/3cyzvTIg1u0v72ON1etR3PnQ0WjQtC3S0lo14OQ8jXznMGeX0dhO8oHeKJRyJXMaBSIDJCZsku6R7p5fv78eX799VcSEhLIzs7OtW/ixIlmCexRjR07lpiYmDzb165di4fHw9/wsbGxlgirWDlCHcAx6lEcdXDBhaHeQ7mqv4q/1h+XYy6sPrb6vmOgClDFG/AGyoFehRvZcC0b0rIVMm5Dxm3I1N39OUsPzvqbNDbs42l1J03V/Ry66YJG9c11fq0K65fNp1SVFnniy8yUGYzF4wvxdWds91r8e8lB9KqKgspnXWtIa4woeiKzbt06unTpQoUKFTh69Cg1a9bkzJkzqKpK/fr1zRpcQEAAWq2Wixcv5tp+8eJFgoPzH2I6YsQIhgwZYnqclpZGWFgY0dHR+Pj4FFiWTqcjNjaWdu3a4ezsbJ4KFDNHqAM4Rj3svg630jAcXUnK5lkEpx9GUe+0cioQHBTKdUVnapEB0CvQqtsr+bbI5LSKCvG4XmwUzlOVy3DqYhqn4rbTo0G5Ao9NSr1J/JUMygd4SrLj4IqcyIwYMYJhw4YRExODt7c3v/zyC4GBgfTs2ZMOHTqYNTgXFxcaNGjAunXr6NatGwAGg4F169YxYMCAfJ/j6uqKq6trnu3Ozs6F+kAp7HG2zBHqAI5RD7uqw81rcOw3OLQMTv0JBh0hOfv8K0GNblC9K2WDanLU9yOCvl2KVjUmMRcHPEvNyvXyPa3d1F/YhRBfdwI8nLh6pOBj7h3dpFFgbPdavNgovPiCFMWqyInMkSNHWLBggfHJTk7cvHkTLy8vPvnkE7p27co777xj1gCHDBlC7969adiwIY0bN2by5MlkZGSYRjEJIR5DZgocXQWHl8HpDWC4bdqlBlThmFM1ojoPxTm0FtyzDlSb/l9woePLJB/bR3CVetSUUUvCRtw/usmgwr+XHOSpymWkZcZBFTmR8fT0NPWLCQkJ4dSpU9SoUQMwds41txdffJHLly8zatQokpOTqVu3LmvWrMnTAVgIUUgZV+DoSmPLS/wmUO+ZjTuwBlTvCtW7crt0FMdWryYqsFquJCZHaIVaMuxa2Jz8RjfpVVVGNzmwIicyTzzxBJs3b6ZatWp06tSJoUOHcuDAAZYsWcITTzxhiRgZMGBAgbeShBCFkH4JjqyAw8vhzObcyUtwrTvJSzcIqHR3u4w2EnYov9FNWkWR0U0OrMiJzMSJE0lPTwcgJiaG9PR0Fi1aRKVKlaw+YkmIkkqXnEz2mbO4REbgnNMR/kby3eTl7Ba4Z64ZQuqaWl7wj7JKzEJYwv2jm7SKwhfda0prjAMrciJToUIF08+enp4Wmc1XCFF41xcvJmnUaDAYQKMhpHcrSpU5BQnbgHv+LS3bwJi4VOsCfjKtu3BcOaObzlzJJDLAQ5IYB/dIicyuXbvw9/fPtf369evUr1+f06dPmy04IcSD6ZKT7yYxAAYDSbP/wLPzRZw9VCjXyHjLqHoXKCWjNoTtMvdw6RBfd0lgSogiJzJnzpxBr9fn2Z6VlUViYqJZghJCPMS1s3B4Odlrfr6bxORQFbKrvYtz93fAt+B5NoSwFTJcWjyOQicyv/76q+nn33//HV/fuzN76vV61q1bR2RkpFmDE0LcI+W0sb/L4eVwYR8ALlkaIAi4Z1SRRoNLx/fAN/9JI4WwJTJcWjyuQicyORPSKYpC7969c+1zdnYmMjKSr7/+2qzBCVHiXT1lnOPl0DJI/vvudkUDEc1xrtGNkNoakr74+m4fmU9i7nb4FcLGyXBp8bgKncgY7jRfly9fnl27dhEQEGCxoIQo0S4fv9PysgwuHry7XdFC+SeNHXardgavMgCUagSebTuRfTYBl4hwSWKEXZHh0uJxFbmPTHx8vCXiEKJku3TEmLwcWgaX75l7XeME5Z++k7w8A57++T7dOThYEhhhl+xquHRqIqScAr8o8C1r7WjEHYVOZLZt28bVq1d55plnTNvmzp3L6NGjycjIoFu3bkydOjXfdY6EEPdRVbh46G6flyvH7u7TOENUK2PyUqUTePhZL04hioFdDJfeOxdWDDTOx6RooPM3UL+XtaMSFCGR+eSTT2jZsqUpkTlw4ABvvPEGffr0oVq1anz55ZeEhoYyZswYS8UqhH1TVWM/l5zk5erJu/u0LhDV5k7y0gHcS1svTiGswKaHS6cm3k1iwPh9xSDj36y0zFhdoROZuLg4Pv30U9PjhQsX0qRJE7777jsAwsLCGD16tCQyQtxLVSFx793k5do9t2a1rlCxrXFV6crtwc23wNPYI51Ox9tvv82gQYOsHYoQjyflVO6ZscG4zEfKaUlk7siZB6icb/HflSl0InPt2rVcCzVu3LiRjh07mh43atSIc+fOmTc6IeyRqqIk7qV64gKcpo2E1IS7+5zcoFI74yR1lduDq7fVwrQ0Z2dnfvnlF0lkhE0r1ER8flHG20n3JjOKFvwq5H98CXP/PEAvlFfoVIzlFzqRCQoKIj4+nrCwMLKzs9m7dy8xMTGm/Tdu3MDZ2dkiQQph8wwGSNxt7Kx75FecUs9hWn7R2QMqRRtbXiq2A1cv68VZzLp168aqVausHYYQ+Sr0RHy+ZY19YlYMMrbEKFroPFlaY8h/HqBFpzW8m3qL8IDiyQkKnch06tSJ4cOHM378eJYtW4aHhwdPPvmkaf/ff/9NVJT9Lj53OzkZ91OnuJ2cjHNYmLXDEfbAYIBzO4zDpA//CjcumHapLp4ketQiuM0/carSHlxK5lDSSpUqMX78eAC+/vrrPEubvP/++9YIS4iiT8RXv5exT0zKaWNLjCQxQP7zAKkoJKRkEh5QPC3OhU5kPv30U7p3787TTz+Nl5cXc+bMwcXFxbT/xx9/JDo62iJBWtr1xYtJ+ngUYarKme+/J+STTyj1/PPWDkvYIoPeuBjjoWXGlaXTk+/uc/GGKh2helduRzzFntj1dKraCUpwS+UPP/yAr68vqampzJ49G41GY9qnKIokMsJqHmkiPt+yJS6Beditt/zmAVJQCfcrvn/eCp3IBAQEsGnTJlJTU/Hy8kKr1eba/7///Q8vL/trMjctuqfeTcuTPv4YT+fDOLfoiU7nSfaZs7hERsg8HSWV/jac3WLsrHtkBWRcurvP1ReqdjKONqrQCpzdjNt1OuvEamPi4+NJS0vD19eXAwcO4OPjY+2QhABkIr7CKMytt/vnATL2kTEQ4utWbHEWeUK8e9dYupefn33OdZF95mw+i+5B9pqpZCyeTtLuUqACGkVaakoSvQ7O/HUneVkJmVfu7nMrZZycrnpXqNASnFwKOou4h6qqqKqKoigPP1gIC7OrifisoCi33u6dB6isrwv7tvxZrLEWOZFxNC6REaDR5E5mNAqaiPokzT57d1tOS432b5ybvwKBVYs/WGFWuuTk3K1teh2c3mjs83J0FdxMuXuwux9Uu5O8lH8atCX3dlFRLViwAMA06rFy5cp88MEHvPbaa9YMSwj7mIjPSop66y1nHiCdTse+YooxR4lPZJyDgwn5JMZ4e+meRfcM5cJgdp/cB6uQvXY6zvu/gTJVjR9q1btBYDWQ/zLtyvXFi+++5opCSPfKlPLeB7eu3z3IIwCqdTa+zpEtJHl5BBMnTuTjjz8GYPbs2Xh4eLB582b++c9/cuXKFQYPHmzlCEVJZ9MT8VmRPd16K/GJDECp55/HtUkT/vrf/3iyRw/cw8LQJSfn21LjUrs5XN4Ml4/CxqOwcTz4VzIOra3eFYJqSlJj43TnzpL08ai7/aJUlaQlR/HsnIZzmUBj8lKjG4Q3A638iTyOqVOnMnHiRP75z3/SqVMnfHx86NKlCzVq1GDMmDGSyAhho+zp1ptcpe9wCg7mZlQUTnc69BbUUuP8/PNw8zocX2McuXJqHVw9AZu+NH75VTC20lTvCiF1JKmxFbqbcPIPOLyc7I2xoN73X4WqkN38K5w79wGNNt9TiKJLSkqicePGebY3a9aMpKQkK0QkhAAKtQCmvdx6k0TmAUo9/zyeLVqQfTYBl4jwu6OW3EtBnZeMX7fS4Pjvxn4VJ2KNcwxsnmj8Kh155/ZTVwitL0lNccvOhJOxxoTz+O+gywDAxU0DioexE3cOjQaXJv+QJMbMKlasyNKlS/NsX7RoEZUqVcrnGUIIiyvCApj2cOtNEpmHcA4OfvCwazcfqN3D+JV1A06sNX5wnoiFa2dgyzfGL99wqN7F2FpTriEoSt7OpuLxZaUbX4OcxFKXeXefbxhU74pz9W6ENDpD0ugxuVvb5DUwu5iYGF588UUAJkyYgKurK1u2bGHdunX8/PPPVo5OiBLIARfAlETGnFy9oeZzxq/sDOMH6eFlxtaA1ATY9q3xy6cc19Nqk/TzfmNPqjsfpDK0+xFl3TD+jg8tNd4+un3r7r5S4Xdu9XWDsndbxUqFNcLzySfztrYJs3ruuef4888/efrpp1m5ciVarZZq1aqxc+dO6tWrZ/Hyp02bxpdffklycjJ16tRh6tSp+d7qEqLEcMAFMCWRsRQXT2OH0Rrd7tziMPbP4PgadMkXSPpVD9y51WQwkDRqNJ7NmuIcap9vpGJ3KxWOrTEmiifXgT7r7r7S5e92vg6pW+AtvYe2tonHcv/q15s2bSrWCfEWLVrEkCFDmDFjBk2aNGHy5Mm0b9+eY8eOERgYWGxxCGFTHHABTM3DDxGPzcXDeFvp+R/gg1NkNxqDKYnJYTCQ/VUrWDUU4jcZp8IXud28BnHzYd4L8GVFWPoWHFttTGL8K8KTw+Dtv+D9fdB2DITWk35JVpSz+rW1TJw4kX79+tG3b1+qV6/OjBkz8PDw4McffzRrORfPn+LglhVcPH/KJo8DuJR4mlvJR7iUeNps5xR26s4CmKpi7A+oWmEBTHO/z6RFprg5u+Hy5Iug+W/uod2KiovTZdj1vfHLs8zd2WMjnyy5w4AzU4yT0x1eDqc3gOGeqf8DqtxteQmsLkmLDbLW6tfZ2dns2bOHESNGmLZpNBratm3Ltm3bzFbOzl8m0+DvMQQpKnpVYWftMTR+bpDNHHfvsS8qKvpZ48xyTmHfFulb8s2tyYQrF0lQgxiob8mLxVS2Jd5nJfTT0bryHdo9+mOc6/vfnVU24zLsmWX8Ms0q2w3KP+X4E7NlXiXiynq0C2YZlwkw3L67L7D6PRMRyuzKts5aq19fuXIFvV5vmk04R1BQEEePHs1zfFZWFllZd29PpqWlAcbbY7oC1s26lHiaBn+PQasYh79pFZX6f8eQ2KAjgWUrWP04S53TFuS8JgW9NvakuOuSlHrrztID/lxQjX+PI5YcoGn50mZZH+lB9Snq+6ywvxNJZKykwKHdldrBM5ONt5cOL4ejKyHzqnG43N65d9f5qdHNOFW+o6zzk37JuCDj4eU4ndlMXfWeW2tBte4OYy9T2XoxiiKzl9Wvx44dS0xMTJ7t69evx8Mj/5lMbyUf4UUl9xzuToqBzb8vwy24qtWPs9Q5bUlsbGyxlnc9Cy7fUijjplLK1bznLq66nEhVMKi5p5kwqPDz6vVU8lULeFbR5Vefor7PMjMz82zLjyQyVlRgZ1OtM1RsY/z6x0Q4u/melZcvQ9xPxi83X6jyD+MHfFQr7K7L041kU/LC2S2mzmcKcN09Eu8mr6Kt1R38o6wbp3gkqqqyYcMG3NzcCA4OLtbVrwMCAtBqtVy8eDHX9osXLxKcz9/ciBEjGDJkiOlxWloaYWFhtGrVKk8rUo5LiVXRzxpn+u8S4LaqoUX7bve1dljnOEud0xbodDpiY2Np164dzs7F00L9vz3niVl+2LQS9Gddq9OjQbnHPm9x1yUp9Rb/ObIp19IDGgVe6NTKbC0yBdWnqO+znJbRh5FExtZpnYwrLFdoCZ2+grNb7yQ1v0L6Rdg/3/jl6oO2UnuCM0Lhdmsopj/uIku7AId/NdYhYRu5ZqULrQ/Vu6Kr/A82bjtMp+ad0NpqPcRDqapKpUqV2LFjR7GX7eLiQoMGDVi3bh3dunUDwGAwsG7dOgYMGJDneFdXV1xd8/6L7ezsXOCHS9nIKuysPYb6f8fgpBi4rWrYW3s0jSOr2MRxljqnLXnQ62NOSak3GXkniQFjC8bHy4/Qqlqw2SaLK666hAc457v0QHiAt1nLya8+RX2fFfb3IYmMPdFoofyTxq+O4+HcDuPke0d+hRtJaA7+jyaAOul7qNzR2FJTqR26q6nWnXgv9fyd5GWZMeZ7lWtkjLNaFygdYdym0wGHiztKYWYajYZKlSqRkpLy8IMtYMiQIfTu3ZuGDRvSuHFjJk+eTEZGBn379jVbGY2fG8TFJp25cvYoARFVaVwu/9ZDax2Xc2xig45s/n0ZLdp3K/BDoyjnLGmKuhK0rbPm0gOWeJ9JImOvNFqIaGb86jAOzu9Cf/AXsvf9D/fsFDi4GA4u5vqZUiTtuDMdfzFMvGearbi0Fuer24yJVuLu3AeFPXEneekMpcIsFouwvnHjxplWvy5uL774IpcvX2bUqFEkJydTt25d1qxZk6cD8OMKKhdFUCEuxtY6DiCwbAXcgqs+9DZRUc5ZktjTStCFZc2lB8z9PpNExhFoNBDeBENIfdZmN+UfdUNwOrYC3c7lJG2/Z8SPwUDSxx/jGZCKc9MXwdXLrGFcnzODpHFT7qwqrRLSKJVSUZmAYky4cpIXn1CzlitsV69evUwd9oKCgnB3z33htHRrzYABA/K9lSREUdjTStAlkSQyjkbRoJZtAJFPkO3bGebd14yuQvai4Thv/jdUbGtMLip3MK4Z9SiunoLDy9Bt/4WkH1K4O9GfQtLuUnj2/ADn5q+At8ygWxJNnjyZmzdv8s477zBp0qQ8iYwQ9sJeVoIuiSSRcWAukZHG1pp7J97TKLiElYXseOPQ7qMrQetiXDCsRjdjUuNeynT4qeeeJ/voUVyqViXql8XGjZePGzvrHl4OFw8AkH3RBQjIHYAK2aVb4CxJTInVu3dv0tLSeOedd3jllVeKdYkCIczNHlaCLonsbLyuKIqciffImbtDoyHkk09wHrEP/rkFnvoA/CuBPhuO/wZL3zZO/T+vB+ybx5Gq1cg+dAj0erIPHeJI1Wrwn6YwrRGs/8yYxChaiGqNy7Oj7paTQ6PBJSK8+CsubMrp08Zp8V9//XUuXboEwG+//cahQ4esGZYQwkFIi4yDK3DiveCaxq9WH8GlI3daWJbB5aNwYi2npu4C3Mi9JpTKqblJRHVyNg4Hr94Vqv4DPPxwBkI+Cck9W/EnMbIoYwm3ceNGOnbsCMCKFSuYMGECgYGB7N+/nx9++IHFixdbOUIhhL2TRKYEeOAqz4oCQdWNX61GwKWjcORXshfOyu9gstM84IN94F46z94CkyZRYg0fPpyRI0fy0Ucf4eJydxbq1q1b8+2331oxMiEcU1LqTeKvZFA+wLPE3AaTW0sit8Cq8PSHuNSoke9ul2rV801icjgHB+PZpLEkMQKAAwcO8Mwzz+TZHhgYyJUrV6wQkRCOa9GuBJqP+5NXvttB83F/smhXgrVDKhaSyIh8mTr2FnK7EPkpVapUnmUCAPbt20fZsmWtEJEQjikp9eadxSCNjw0q/HvJQZJSb1o3sGIgiYwoULWjR4wtM1otLjVqUO3oEWuHJOzMSy+9xOjRowHjIpEGg4EtW7YwbNgwevXqZeXohLCMpNSbbD11pViTiAfNPuzopI+MeCBpgRGP44svvqBfv35s27aN9PR0qlevjl6v55VXXmHkyJHWDk8Is1u0K8HUMqJRYGz3WrzYyPKjNx1x9uHCkhYZIYTFuLi4MHXqVAB+/vlnfvrpJ44ePcr//d//odVqrRydEOZlzds7ObMPaxXjSNOSNPuwtMgIIYpFdHS0TIgnHJq1F5csqbMPO3wio6rGd1VaWtoDj9PpdGRmZpKWllYsS6lbgiPUARyjHlKHu3L+9nL+FkXJUdKGAtvC7Z2SOPuwwycyN27cACAsTFZZFsKabty4ga+vr7XDEMXEWn1FrMlSi0uWtISwqBw+kQkNDeXcuXN4e3ujKEqBx6WlpREWFsa5c+fstvnbEeoAjlEPqcNdqqpy48YNQkNl1fOSoqC+Ik9VLuPwH8Tmvr1TEhPConL4REaj0VCuXLlCH+/j42O3Hzw5HKEO4Bj1kDoYSUtMyWLtviLWVtjbO0mpNzmZnMb1rIL3l9SEsChk1JIQwmLWrFnD5s2bTY+nTZtG3bp1eeWVV7h27ZoVIxOWlNNX5F4lZShwYeXMwvvarN2M2avlf3vO5zmmJM8NUxSSyAghLOaDDz4wdfY9cOAAQ4cOpVOnTsTHxzNkyBArRycspSQPBS6M+1taVBRGLj+cZ5i2JISF4/C3lgrL1dWV0aNH4+rqau1QHpkj1AEcox5SB6P4+HiqV68OwC+//MIzzzzDF198wd69e+nUqZO5QhU2qKQOBS6M/FpaDCp5br1ZqvOwo5FE5g5XV1fGjBlj7TAeiyPUARyjHlIHIxcXFzIzjc3gf/zxh2lZAj8/v4dOiSDsX0kcClwY+Q3T1ijk29IiCeHDSSIjhLCYFi1aMGTIEJo3b87OnTtZtGgRAMePHy9SJ3whHMn9LS0KKp91rVFgkiIJ4YNJIiOEsJhvv/2Wd999l8WLFzN9+nTTite//fYbHTp0sHJ0QlhPTkvLqYtpnIrbTo8Gktg/KklkhBAWEx4ezsqVK/NsnzRpkhWiEcK2hPi6E+DhxNUj1o7EvsmoJSGExaxevZrff/89z/a1a9fy22+/WSEiIYSjkUTmjmnTphEZGYmbmxtNmjRh586d1g6p0DZt2kTnzp0JDQ1FURSWLVtm7ZCKbOzYsTRq1Ahvb28CAwPp1q0bx44ds3ZYRTJ9+nRq165tmkCuadOmdv9hPW7cOBRFYdCgQY/0/OHDh6PX6/NsNxgMDB8+/DGjE0IISWQAWLRoEUOGDGH06NHs3buXOnXq0L59ey5dumTt0AolIyODOnXqMG3aNGuH8sg2btxI//792b59O7Gxseh0OqKjo8nIyLB2aIVWrlw5xo0bx549e9i9ezetW7ema9euHDp0yNqhPZJdu3Yxc+ZMateu/cjnOHHihGn49b2qVq3KyZMnHyc8IYQAJJEBYOLEifTr14++fftSvXp1ZsyYgYeHBz/++KO1QyuUjh078tlnn/Hss89aO5RHtmbNGvr06UONGjWoU6cOs2fPJiEhgT179lg7tELr3LkznTp1olKlSlSuXJnPP/8cLy8vtm/fbu3Qiiw9PZ2ePXvy3XffUbp06Uc+j6+vL6dPn86z/eTJk3h6ej5OiEIIAUgiQ3Z2Nnv27KFt27ambRqNhrZt27Jt2zYrRlaypaamAsb5RuyRXq9n4cKFZGRk0LRpU2uHU2T9+/fnH//4R66/i0fRtWtXBg0axKlTp0zbTp48ydChQ+nSpcvjhimEEDJq6cqVK+j1eoKCgnJtDwoK4ujRo1aKqmQzGAwMGjSI5s2bU7NmTWuHUyQHDhygadOm3Lp1Cy8vL5YuXZrvrRVbtnDhQvbu3cuuXbse+1wTJkygQ4cOVK1a1TRvzPnz53nyySf56quvHvv8QghR4hMZYXv69+/PwYMHcy02aC+qVKlCXFwcqampLF68mN69e7Nx40a7SWbOnTvHwIEDiY2Nxc3N7bHP5+vry9atW4mNjWX//v24u7tTu3ZtnnrqKTNEK4QQksgQEBCAVqvl4sWLubZfvHiR4OBgK0VVcg0YMICVK1eyadMmu5z51cXFhYoVKwLQoEEDdu3axTfffMPMmTOtHFnh7Nmzh0uXLlG/fn3TNr1ez6ZNm/j222/JyspCq9UW6ZyKohAdHU10dLS5wxVCCElkXFxcaNCgAevWraNbt26A8dbGunXrGDBggHWDK0FUVeW9995j6dKlbNiwgfLly1s7JLMwGAxkZWVZO4xCa9OmDQcOHMi1rW/fvlStWpV//etfhUpipkyZwltvvYWbmxtTpkx54LHvv//+Y8UrhBAlPpEBGDJkCL1796Zhw4Y0btyYyZMnk5GRQd++fa0dWqGkp6fnGsoaHx9PXFwcfn5+hIeHWzGywuvfvz/z589n+fLleHt7k5ycDBhvTbi728caIyNGjKBjx46Eh4dz48YN5s+fz4YNG/KdEM5WeXt75+mX5Onpib+/f6H7K02aNImePXvi5ub2wBl8FUWRREYI8dgkkQFefPFFLl++zKhRo0hOTqZu3bqsWbMmTwdgW7V7925atWplejxkyBAAevfuzezZs60UVdFMnz4dgJYtW+baPmvWLPr06VP8AT2CS5cu0atXL5KSkvD19aV27dr8/vvvtGvXztqhFav4+Ph8fxZCCEuQROaOAQMG2O2tpJYtW6Kq6sMPtGH2Hj/ADz/8YO0QLGLDhg3WDkEIIQokiYwQwmJUVWXx4sWsX7+eS5cuYTAYcu1fsmSJlSITQjgKSWSEEBYzaNAgZs6cSatWrQgKCkJRFGuHJIRwMJLICCEs5v/+7/9YsmQJnTp1snYoQggHVeKXKBBCWI6vry8VKlSwdhhCCAcmiYwQwmLGjBlDTEwMN2/etHYoQggHJbeWhBAW88ILL7BgwQICAwOJjIzE2dk51/69e/daKTIhhKOQREYIYTG9e/dmz549vPrqq9LZVwhhEZLICCEsZtWqVfz++++0aNHC2qEIIRyU9JERQlhMWFgYPj4+1g5DCOHAJJERQljM119/zYcffsiZM2esHYoQwkHJrSUhhMW8+uqrZGZmEhUVhYeHR57OvikpKVaKTAjhKBw+kTEYDFy4cAFvb2/paChEMRs7diyqqnLr1i1KlSqFRiONwEII83L4RObChQuEhYVZOwwhSrxz585Rrly5Yinr888/Z9WqVcTFxeHi4sL169eLpVwhRPFz+ETG29sbMF5EH9TpUKfTsXbtWqKjo/M0f9sLR6gDOEY9pA53paWlERYWhrOzM2lpabn2WaojcHZ2Nj169KBp06YOuyq5EMLI4ROZnNtJPj4+D01kPDw88PHxsesPHnuvAzhGPaQORhkZGXzyyScAhIaG5tmv1+sfK8aCxMTEADB79myLnF8IYTtsOpGZPn0606dPN414qFGjBqNGjaJjx47WDUwIUSgffvghmzZtAsDV1ZVp06aRmJjIzJkzGTdunJWjuysrK4usrCzT45yWI51Oh06ns1ZYZpNTB0eoCzhWfRypLmDe+hT2HDadyJQrV45x48ZRqVIlVFVlzpw5dO3alX379lGjRg1rh1cypCZCyinwiwLfsuY/3prsKdaHsUZdClHmihUrmD59Os888wxOTk48+eSTVKxYkYiICObNm0fPnj2LJ9aHGDt2rKkV517r16/Hw8PDChFZRmxsrLVDMCtHqo8j1QXMU5/MzMxCHWfTiUznzp1zPf7888+ZPn0627dvl0SmOOydi7piIIpqQFU0ZHechL7uqwUero37CZffBhf6+ILodLfJ0kNm9m2cVcuMNDNXrAUpjjrksFRdHlSH+8tUOn8D9XvlOUdKSgqRkZGAsb9aznDrFi1a8M477xQpnuHDhzN+/PgHHnPkyBGqVq1apPMCjBgxgiFDhpge5/TradWqFf7+/kU+n63R6XTExsbSrl07u73VeS9Hqo8j1QXMW5/7+9QVxKYTmXvp9Xr+97//kZGRQdOmTQs87lGbiB2hec+sdUi7gNOdJAZAUQ1oVw3m6SUaksl7YQ/mKltcB6EoaqGOfzgnPtz55+PUoEDmj7UglqtDDsvXJW8d8itTXTGI2xFPg0/ufjDly5fn1KlTAFSqVImff/6Zxo0bs2LFCkqVKlWkSIYOHUqfPn0eeEyFChWKdM4crq6uuLq65tnu7OzsEB8uOaQ+tsuR6gLmqU9hn2/zicyBAwdo2rQpt27dwsvLi6VLl1K9evUCjy+oiXjt2rWFaiJ2hOY9c9Qh4MZhmt9JYnI4KQYiNRdJNuT9gCyvSUZ754OtMMdbkz3F+jDWqEt+ZSqqnh2/LeCqd7Vc2xs3bswvv/wCwODBg3nppZf49ttv0el0TJw4sUjllilThjJlyjxe8EKIorGDW/A2n8hUqVKFuLg4UlNTWbx4Mb1792bjxo0FJjMFNRFHR0c/dNSSvTfvmbUOaXVRv51gapEBUBUt/32/O6p33tEnyo2qqDPHFvr4B9HpbvPnn3/SunVrnJ3N/xY1Z6wFsXQdcliyLgXVoaAym3R8OU+LTKdOnUhLS2Pu3Lm0atWKo0ePsmfPHipWrEjt2rUfK74HSUhIICUlhYSEBPR6PXFxcQBUrFgRLy8vi5UrhEPZOxdWDATVAIoGCriFbG02n8i4uLhQsWJFABo0aMCuXbv45ptvmDlzZr7HP24TsSM075mlDv4RZHWchHbVYJwUA6qiRek8GZ/gqPyP94wyvslXDAJVDw87/gF0Oh2uWvD1dLPMa2HGWAti8TrksGBdCqxDAWU6+0fke557nxsREUFERP7HmdOoUaOYM2eO6XG9evUAY+fdli1bWrx8IexeauLdJAaM31cMgqg2NtcyY/OJzP0MBkOuPjDCcvR1X+XpJRoiNReZNeQF3AMe8gFUv5fxTZ5yGvwq2NybPRd7ivVhrFGXIpS5YcMGAAYMGICTU+5Lzo8//miR8GbPni1zyAjxOFJO3U1icqh649+8jV0vbTqRGTFiBB07diQ8PJwbN24wf/58NmzYwO+//27t0EqMZPxJNvij+hTyjetb1ube5AWyp1gfxhp1KUSZMTExpgnxUlJS7L61U4gSwy/KeDvp3mRG0Rr/cbExNp3IXLp0iV69epGUlISvry+1a9fm999/p127dtYOTQhRCDNmzGD69Om8/fbbzJ8/32JLEgghzMy3bJ5byHSebJP//Nl0IiNrpAhh37Kzs2ncuLG1wxBCPAo7uQVv04mMEMK+vfnmmyxevNjaYQghHpUd3IKXREYIYTG3bt0yjTD84IMP8PT0zLW/qHPJCCHE/SSREUJYzN9//03t2rX566+/OHLkCFqt1rQvZ2V6IYR4HJLICCEsZv369aSlpeHr68vKlSuls68Qwuw01g5ACOG4Zs2axc2bN60dhhDCgUkiI4SwmOHDh1OpUiUAduzYYeVohBCOSBIZIYTFJCYmMn36dAD+8Y9/ULVqVcaPH09ycrKVIxNCOApJZIQQFuPk5ETnzp0BOHz4MP369WPevHmEh4fTpUsXli9fjsFgeMhZhBCiYJLICCGKRWBgIC1atKBp06ZoNBoOHDhA7969iYqKMq3HJIQQRSWJjBDCoi5dugRAkyZNaNmyJWlpaaxcuZL4+HgSExN54YUX6N27t5WjFELYK0lkhBAW07lzZ6pXrw5A7969SUxMZMGCBbRt2xYAT09Phg4dyrlz56wZphDCjkkiI4SwmMDAQFavXg3Au+++i5+fX55jypQpQ3x8fHGHJoRRaiLEbzJ+F3bJIhPinTt3DkVRKFeuHAA7d+5k/vz5VK9enbfeessSRQohbNAPP/xAWlraA49RFIWIiIhiikiIe+ydCysGgmoARWNc7bl+L2tHZZ9SEyHlFPgU/9+yRVpkXnnlFdavXw9AcnIy7dq1Y+fOnXz00Ud88sknlihSCGFjDAYDP/74Iy+88AIATZs2pUuXLsydOxdVVa0cnSjxUhPvJjFg/L5ikLTMPIq9c2FyTZjTGadv6xJ+dWOxFm+RRObgwYM0btwYgJ9//pmaNWuydetW5s2bx+zZsy1RpBDChqiqSpcuXXjzzTe5cOECAFWrVuXs2bP06dOHZ5991soRihIv5dTdJCaHqoeU09aJx17dlxAqqoE6CbMg7UKxhWCRREan0+Hq6grAH3/8QZcuXQDjhSwpKckSRQohbMjs2bPZtGkT69atY/PmzYBxuYL9+/fzxx9/8OeffzJ37lwrRylKNL8o4+2keyla8KtgnXjsVT4JoQYDyrXiSwgtksjUqFGDGTNm8NdffxEbG0uHDh0AuHDhAv7+/pYoUghhQxYsWMC///1vWrVqlWdf69atGT58OPPmzbNCZELc4VvW2CdGubMiu6KFzpON20Xh5ZMQGtCgli6+hNAiicz48eOZOXMmLVu25OWXX6ZOnToA/Prrr6ZbTkIIx/X333+b/oHJT8eOHdm/f38xRiREPur3gkEHoPdK43fp6Ft09yWEqqJlf3hf8AktthAsMmqpZcuWXLlyhbS0NEqXLm3a/tZbb+Hh4WGJIoUQNiQlJYWgoKAC9wcFBXHt2rVijEiIAviWlVaYx1W/F0S1gZTT3PYJJ2FzHDWLsXiLzSOjqip79uxh5syZ3LhxAwAXFxdJZIQoAfR6PU5OBf+fpNVquX37djFGJISwKN+yUP7JYm2JyWGRFpmzZ8/SoUMHEhISyMrKol27dnh7ezN+/HiysrKYMWOGJYoVQtgIVVXp06cPrq6u6HQ6AHr27ImzszMAWVlZ1gxPCOFALJLIDBw4kIYNG7J///5cnXufffZZ+vXrZ4kihRA25N61k3ISGV9fX1MiA9Crl/RHEEI8PoskMn/99Rdbt27FxcUl1/bIyEgSE2WyISEc3axZs0w/p6WlMW/ePP7zn//g4+NjxaiEEI7IIn1kDAYDer0+z/bz58/j7e1tiSKFEEIIUQJZJJGJjo5m8uTJpseKopCens7o0aPp1KmTJYoUQgghRAlkkVtLX3/9Ne3bt6d69ercunWLV155hRMnThAQEMCCBQssUaQQQgghSiCLJDLlypVj//79LFy4kL///pv09HTeeOMNevbsibu7uyWKFEIIIUQJZJFEBsDJyYlXX33VUqcXQgghhDBfIvPrr78W+ticRSSFEEIIIR6H2RKZbt26Feo4RVHyHdEkhBBCCFFUZktkDAbDww8SQgghhDAji621JIQQQghhaRZLZNatW8czzzxDVFQUUVFRPPPMM/zxxx+WKk4IIYQQJZBFEpn//Oc/dOjQAW9vbwYOHMjAgQPx8fGhU6dOTJs2zRJFCiGEEKIEssjw6y+++IJJkyYxYMAA07b333+f5s2b88UXX9C/f39LFCuEEEKIEsYiLTLXr1+nQ4cOebZHR0eTmppqiSKFEEIIUQJZJJHp0qULS5cuzbN9+fLlPPPMM5YoUgghhBAlkNluLU2ZMsX0c/Xq1fn888/ZsGEDTZs2BWD79u1s2bKFoUOHmqtIIYQQQpRwZktkJk2alOtx6dKlOXz4MIcPHzZtK1WqFD/++CMjR440V7FCCCGEKMHMlsjEx8eb61RCCCGEEIVi0xPijR07lkaNGuHt7U1gYCDdunXj2LFj1g5LCCGEEDbCYqtfnz9/nl9//ZWEhASys7Nz7Zs4cWKhzrFx40b69+9Po0aNuH37Nv/+97+Jjo7m8OHDeHp6WiJsIYQQQtgRiyQy69ato0uXLlSoUIGjR49Ss2ZNzpw5g6qq1K9fv9DnWbNmTa7Hs2fPJjAwkD179vDUU0+ZO2whhAM4c+YMn376KX/++SfJycmEhoby6quv8tFHH+Hi4mLt8IQQZmaRRGbEiBEMGzaMmJgYvL29+eWXXwgMDKRnz575zi9TWDlz0Pj5+RV4TFZWFllZWabHaWlpAOh0OnQ6XYHPy9n3oGNsnbnroNPdznVunaKa5bwPL1deC1tgrjoU9+/g6NGjGAwGZs6cScWKFTl48CD9+vUjIyODr776qlhjEUJYnkUSmSNHjrBgwQJjAU5O3Lx5Ey8vLz755BO6du3KO++8U+RzGgwGBg0aRPPmzalZs2aBx40dO5aYmJg829euXYuHh8dDy4mNjS1ybLbGXHXI0kPOW+T339fiqjXLaQtNXgvb8Lh1yMzMNFMkhdOhQ4dc/zBVqFCBY8eOMX36dElkhHBAFklkPD09Tf1iQkJCOHXqFDVq1ADgypUrj3TO/v37c/DgQTZv3vzA40aMGMGQIUNMj9PS0ggLCyM6OhofH58Cn6fT6YiNjaVdu3Y4Ozs/UozWZu46ZGbf5sOdfwLQvn00Hi4W61KVi7wWtsFcdchpFbWm1NTUB7bkCiHsl0U+mZ544gk2b95MtWrV6NSpE0OHDuXAgQMsWbKEJ554osjnGzBgACtXrmTTpk2UK1fugce6urri6uqaZ7uzs3OhLsaFPc6WmasOzqpy3zmLJ5HJXaa8Ftb2uHWwdv1PnjzJ1KlTH9ga86i3pO2FI9zqvJcj1ceR6gLmrU9hz2GRT6aJEyeSnp4OQExMDOnp6SxatIhKlSoVesQSgKqqvPfeeyxdupQNGzZQvnx5S4QrhLADw4cPZ/z48Q885siRI1StWtX0ODExkQ4dOtCjRw/69etX4PMKuiW9fv36Qt2StheOcKvzXo5UH0eqC5inPoW9LW2RRKZChQqmnz09PZkxY8Yjnad///7Mnz+f5cuX4+3tTXJyMgC+vr64u7ubJVYhhH0YOnQoffr0eeAx9157Lly4QKtWrWjWrBn//e9/H/i8gm5Jt2rVCn9//8eK2xY4wq3OezlSfRypLmDe+hT2tnTx3isoounTpwPQsmXLXNtnzZr10AuaEMKxlClThjJlyhTq2MTERFq1akWDBg2YNWsWGs2D5/583FvS9kLqY7scqS5gnvoU9vlmS2T8/Pw4fvw4AQEBlC5dGkVRCjw2JSWlUOdU1eIZ7iuEcByJiYm0bNmSiIgIvvrqKy5fvmzaFxwcbMXIhBCWYNZFI729vQGYPHmyuU4rhBBFEhsby8mTJzl58mSewQHyz5EQjsdsiUzv3r0BuH37Noqi0L59e4KCgsx1eiGEKJQ+ffrIrWchShCzLxrp5OTEP//5T27dumXuUwshhBBC5GKR1a8bN27Mvn37LHFqIYQQQggTi4xaevfddxk6dCjnz5+nQYMGeVaqrl27tiWKFRYQzFXKa5JR0mpCQIS1wxFCCCFysUgi89JLLwHw/vvvm7YpioKqqiiKgl6vt0Sxwsy0cT+xxXUQWkVFnTYWOn8D9XtZOywhhBDCxCKJTHx8vCVOK4pTaiIuvw1GubPitaIaYMUgiGoDvmWtG5sQQghxh0USmYgIuQVh91JOGZOXe6l6SDktiYwQQgibYdGZfQ8fPkxCQoJpJewcXbp0sWSxwhz8olAVTe5kRtGCX4WCnyOEEEIUM4skMqdPn+bZZ5/lwIEDpr4xgGm2X+kjYwd8y5LdcRLaVYNxUgyoihal82RpjRFCCGFTLDL8euDAgZQvX55Lly7h4eHBoUOH2LRpEw0bNmTDhg2WKFJYgL7uq7TI+oaXskdyq/8+6egrhBDC5likRWbbtm38+eefBAQEoNFo0Gg0tGjRgrFjx/L+++/LHDN2RkGmdRdCWFhqIqScAr8oafkVRWKRFhm9Xm9adykgIIALFy4Axk7Ax44ds0SRwgKMw6/fZ4HL57hNqwt751o7JCGEI9o7FybXhDmdjd/lWiOKwCKJTM2aNdm/fz8ATZo0YcKECWzZsoVPPvmEChWks6hduDP8Wnv/8OvUROvGJYRwLKmJsGIg5AwskGuNKCKLJDIjR47EYDC+KT/55BPi4+N58sknWb16NVOmTLFEkcLcHjT8WgghzCXl1N0kJodca0QRWKSPTPv27U0/V6xYkaNHj5KSkkLp0qVNI5eEjZPh10KI4uAXBYomdzIj1xpRBBZpkfnpp5/IyMjItc3Pz0+SGHviW5bbNV/gzsh5Y3ff2i9KJzwhhHn5ljUuf6JojY8VLchUD6IILJLIDB48mKCgIF555RVWr14t88bYo9REnA4sJCf3VAD2L5D71kII86vfCwYdgN4rjd9lqgdRBBZJZJKSkli4cCGKovDCCy8QEhJC//792bp1qyWKE5Zw7Dfytp+pcGyNFYIRQjg837JQ/klpiRFFZpFExsnJiWeeeYZ58+Zx6dIlJk2axJkzZ2jVqhVRUVGWKFKY29WTBWw/UbxxCCGEEA9g0bWWADw8PGjfvj3Xrl3j7NmzHDlyxNJFCnPwr1jA9krFG4cQQgjxABZpkQHIzMxk3rx5dOrUibJlyzJ58mSeffZZDh06ZKkihTn5lst/Pl9p9hVCCGFDLNIi89JLL7Fy5Uo8PDx44YUX+Pjjj2natKklihKWcvVkPn1kMM75IIQQQtgIiyQyWq2Wn3/+mfbt26PVai1RhLA099KokDeZcStV/LEIIYQQBbBIIjNv3jxLnFYUp5vX8m+RuXW9mAMRQgghCmaxPjLCzoU3zb+PTNgTxR2JEEIIUSBJZET+vIOLtl0IIYSwAklkRP5SThXQ2VcWchNCCGE7JJER+buzaGQuspCbEEIIG2O2zr5paWmFPtbHx8dcxQpL8S1LdsdJaFcNxkkxoCpaFFnITQghhI0xWyJTqlSph65uraoqiqLIIpJ2Ql/3VZ5eoiFSc5FZQ17APSDC2iEJIYQQuZgtkVm/fr25TiVsSDL+JBv8UX2kJUYIIYTtMVsi8/TTT5vrVEIIIYQQhWKxRSOvX7/ODz/8YFokskaNGrz++uv4+vpaqkghhBBClDAWGbW0e/duoqKimDRpEikpKaSkpDBx4kSioqLYu3evJYoUQgghRAlkkRaZwYMH06VLF7777jucnIxF3L59mzfffJNBgwaxadMmSxQrhBBCiBLGIonM7t27cyUxAE5OTnz44Yc0bNjQEkUKIYQQogSyyK0lHx8fEhIS8mw/d+4c3t7elihSCCGEECWQRRKZF198kTfeeINFixZx7tw5zp07x8KFC3nzzTd5+eWXLVGkEEIIIUogi9xa+uqrr1AUhV69enH79m0AnJ2deeeddxg3bpwlihRCCCFECWT2Fhm9Xs/27dsZM2YM165dIy4ujri4OFJSUpg0aRKurq5FOt+mTZvo3LkzoaGhKIrCsmXLzB2yEEIIIeyU2RMZrVZLdHQ0169fx8PDg1q1alGrVi08PDwe6XwZGRnUqVOHadOmmTlSIYQQQtg7i9xaqlmzJqdPn6Z8+fKPfa6OHTvSsWNHM0QlhBBCCEdjkUTms88+Y9iwYXz66ac0aNAAT0/PXPstufp1VlYWWVlZpsc5q3LrdDp0Ol2Bz8vZ96BjbJ2566DT3c51bp2imuW8Dy9XXgtbYK462PPvQAhh+yySyHTq1AmALl265FoRuzhWvx47diwxMTF5tq9du7ZQt7diY2MtEVaxMlcdsvSQ8xb5/fe1uGrNctpCk9fCNjxuHTIzM80UiRBC5GWRRMaaK2GPGDGCIUOGmB6npaURFhZGdHT0A1uCdDodsbGxtGvXDmdn5+II1ezMXYfM7Nt8uPNPANq3j8bDxWJLc+Uir4VtMFcdclpFhRDCEizyyVS+fHnCwsJytcaAsUXm3LlzlijSxNXVNd+RUc7OzoW6GBf2OFtmrjo4q3dfP+M5iyeRyV2mvBbW9rh1sPf6CyFsm0UmxCtfvjyXL1/Osz0lJcUsHYCFEEIIIcBCiUxOX5j7paen4+bmVqRzpaenm+aiAYiPjycuLi7fJRCEEAKM/fPCw8Nxc3MjJCSE1157jQsXLlg7LFGcUhMhfpPxu3BoZr1XkNM3RVEUPv7441yda/V6PTt27KBu3bpFOufu3btp1apVnjJ69+7N7NmzHztmIYTjadWqFf/+978JCQkhMTGRYcOG8fzzz7N161azlqPX6+1iVJZOp8PJyYlbt25ZdLBFYTg7O6PVWnjkwN65sGIgqAZQNND5G6jfy7JlCqsxayKzb98+wNgic+DAAVxcXEz7XFxcqFOnDsOGDSvSOVu2bImqFs+wXyGEYxg8eLDp54iICIYPH063bt3Q6XRm6bOjqirJyclcv379sc9VHFRVJTg4mHPnzuXbWl7cSpUqRXBwsGViSU28m8SA8fuKQRDVBnzLmr88YXVmTWRyRiv17duXb775xqLzxQghRGGkpKQwb948mjVrVmASU9T5py5evEhaWhplypTBw8PDJpKDB1FVlYyMDDw9Pa0aq6qqZGZmcvnyZfR6PUFBQY90ngfNcaRcOoZTThJjKljP7cvHUT0CH6k8S3KEOafuZc76FPYcFhmGMmvWLEucVgghCu1f//oX3377LZmZmTzxxBOsXLmywGMLmn9q/fr1eeafUhSFkJAQgoODcXZ2tpsPIBcXF5uI1dnZGW9vb5KSkti7d+9jtbjnN8eRW3YK0Sgo3D2vAQ3r9p3h1iHbnQrAEeacupc56lPYOagskshkZGQwbtw41q1bx6VLlzAYcmfHp0+ftkSxQggHNnz4cMaPH//AY44cOULVqlUB+OCDD3jjjTc4e/YsMTEx9OrVi5UrV+bbIlHQ/FOtWrXC398/17FZWVkkJCTg5+eHu7u7GWpmeaqqcuPGDby9vW2i9cjZ2ZkbN27QunXrIi8kDA+f40gfCdrVQ1FUPaqixdDpa1rXfdUMkZufI8w5dS9z1qewc1BZJJF588032bhxI6+99hohISE28YcjhLBvQ4cOpU+fPg88pkKFCqafAwICCAgIoHLlylSrVo2wsDC2b99O06ZN8zyvKPNP6fV6FEVBq9Wi0Vhk4KfZ5fwzqSiKTcSs1WpRFAUnJ6fHnqMo3+c36guVoyHlNIpfBZzsoG+MI8w5dS9z1Kewz7dIIvPbb7+xatUqmjdvbonTCyFKoDJlylCmTJlHem7OB/m9/WCEUcuWLalbty6TJ0+2dijm5VtWOveWEBZJzUuXLo2fn58lTi2EEA+0Y8cOvv32W+Li4jh79ix//vknL7/8MlFRUfm2xojH9/7779OgQQNcXV2LPMWGEI/LIonMp59+yqhRo2SxOCFEsfPw8GDJkiW0adOGKlWq8MYbb1C7dm02btz4SP0xROG8/vrrvPjii9YOQ5RAFrm19PXXX3Pq1CmCgoKIjIzMc59r7969lihWCCGoVasWf/75p7XDKLSk1JvEX8mgfIAnIb6W7TyckZFB//79WbJkCd7e3nnm9Tp69Cj169fn+++/55VXXgHg559/pnfv3uzZs4fq1avne94pU6YAcPnyZf7++2+L1kGI+1kkkenWrZslTiuEEA5l0a4ERiw5gEEFjQJju9fixUbhFivvww8/ZOPGjSxfvpzAwED+/e9/s3fvXtPtoKpVq/LVV1/x7rvv0qJFCzQaDf/85z8ZP358gUmMENZmkURm9OjRljitEEI4jKTUm6YkBsCgwr+XHOSpymUs0jKTnp7Ojz/+yE8//USbNm0AmDNnDuXKlct13Lvvvsvq1at59dVXcXFxoVGjRrz33ntmj0cIc7FIIpNjz549HDlyBIAaNWpQr149SxYnhBB2I/5KhimJyaFXVc5cybRIIhMfH092djZNmjQxbfPz86NKlSp5jv3xxx+pXLkyGo2GQ4cOyRQawqZZJJG5dOkSL730Ehs2bKBUqVIAXL9+nVatWrFw4cJHHkIphBCOonyAJxqFXMmMVlGIDPAo+EnFZP/+/WRkZKDRaEhKSiIkJMTaIQlRIIuMWnrvvfe4ceMGhw4dIiUlhZSUFA4ePEhaWhrvv/++JYoUQgi7EuLrztjutdDeae3QKgpfdK9psQ6/5cuXx9nZmR07dpi2Xbt2jePHj+c6LiUlhT59+vDRRx/Rp08fevbsyc2bNy0SkxDmYJEWmTVr1vDHH39QrVo107bq1aszbdo0oqOjLVGkEELYnRcbhfNU5TKcuZJJZICHRUcteXl58frrr/PBBx/g7+9PYGAgH330UZ6Zfv/5z38SFhbGyJEjycrKol69egwbNoxp06YVeO6TJ0+Snp5OcnIyN2/eJC4uDjBe911cXCxWJyHAQomMwWDId2phZ2fnPOsuCSFESRbi627xYdc5JkyYQEZGBp07d8bb25uhQ4eSmppq2j937lxWr17Nvn37cHJywsnJiZ9++okWLVrwzDPP0LFjx3zPm7MsTY6c/pDx8fFERkZatE5CWCSRad26NQMHDmTBggWEhoYCkJiYyODBg0295YUQQhQvLy8v/u///o//+7//M2374IMPTD/36tWLXr165XpO48aNyc7OfuB5N2zYYNY4hSgKi/SR+fbbb0lLSyMyMpKoqCiioqIoX748aWlpTJ061RJFCiGEEKIEskiLTFhYGHv37uWPP/7g6NGjAFSrVo22bdtaojghhBBClFAWm0dGURTatWtHu3btLFWEEEIIIUo4syYyf/75JwMGDGD79u34+Pjk2peamkqzZs2YMWMGTz75pDmLFQ5GVVU0Gg1ZWVno9Xprh/NIdDodTk5O3Lp1q0TUwdnZGa1WW0yRCSHEXWZNZCZPnky/fv3yJDEAvr6+vP3220ycOFESGVGg7OxsEhMTCQkJISEhwW5nFFVVleDgYM6dO1ci6qAoCuXKlcPLy6uYohNCCCOzJjL79+9n/PjxBe6Pjo7mq6++MmeRwoEYDAbi4+PRaDSEhobi6+trt//lGwwG0tPT8fLyyjNPh70obB1UVeXy5cucP3+eSpUq2e1rJoSwT2ZNZC5evJjv/DGmwpycuHz5sjmLFA4kOzsbg8FA2bJluX37Nu7u7nadBGRnZ+Pm5lYi6lCmTBnOnDmDTqeTREYIUazMeoUtW7YsBw8eLHD/33//LWt2iIey1w/+ksxeb58JIeyfWT8xOnXqxMcff8ytW7fy7Lt58yajR4/mmWeeMWeRQgghhCjBzJrIjBw5kpSUFCpXrsyECRNYvnw5y5cvZ/z48VSpUoWUlBQ++ugjcxYphCii2bNnm1alF6Jly5YMGjTI2mEI8cjMmsgEBQWxdetWatasyYgRI3j22Wd59tln+fe//03NmjXZvHkzQUFB5ixSiBIhMjKSyZMnF1t5n3/+OS1atCA0NBQ/P79iK1fYn/379/Pyyy8TFhaGu7s71apV45tvvrF2WKIEMfuEeBEREaxevZpr165x8uRJVFWlUqVKlC5d2txFCSHuodfrURTFLH2MsrOzef7556lfvz4//fSTGaITjmrPnj0EBgby008/ERYWxtatW3nrrbfQarUMGDDA2uGJEsBivSpLly5No0aNaNy4sSQxovilJkL8JuN3CzMYDEyYMIGKFSvi6upKeHg4X3zxhWn/gQMHaN26Ne7u7vj7+/PWW2+Rnp5u2t+nTx+6devGV199RUhICP7+/vTv3x+dTgcYm/7Pnj3L4MGDURTF1LE25xbRr7/+SvXq1XF1dSUhIYFr167Rq1cvSpcujYeHBx07duTEiRNFqlNMTAyDBg2ievXqZvgNiQcqxvdqRkYGvXr1wsvLi5CQEL7++utc+48ePYqHhwfz5883bfv5559xd3fn8OHD+Z7z9ddf55tvvuHpp5+mQoUKvPrqq/Tt25clS5ZYtC5C5JDhIcLx7J0Lk2vCnM7G73vnWrS4ESNGMG7cOD7++GMOHz7M/PnzCQwMBIwfHO3bt6d06dLs2rWL//3vf/zxxx95/lNdv349p06dYv369cyZM4fZs2cze/ZsAJYsWUK5cuX45JNPSEpKIikpyfS8zMxMxo8fz/fff8+hQ4cIDAykT58+7N69m19//ZVt27ahqiqdOnUyJUbChhTze/XDDz9k48aNLF++nLVr17Jhwwb27t1r2l+1alW++uor3n33XRISEjh//jz//Oc/GT9+fJGS2tTUVLklKYqNxdZaEsIqUhNhxUBQDcbHqgFWDIKoNuBb1uzF3bhxg2+++YZvv/2W3r17AxAVFUWzZs1IS0tj/vz53Lp1i7lz5+Lp6QkYV4fv3Lkz48ePN/UZK126NN9++y1arZaqVavyj3/8g3Xr1tGvXz/8/PzQarV4e3sTHBycq3ydTsd//vMf6tSpA8CJEyf49ddf2bJlC82aNQNg3rx5hIWFsWzZMnr06GH234F4RMX8Xk1PT+fHH3/kp59+ok2bNgDMmTOHcuXK5Tru3XffZfXq1bz66qu4uLjQqFEj3nvvvUKXs3XrVhYtWsSqVavMGr8QBZFERjiWlFN3PxhyqHpIOW2RD4cjR46QlZVl+mC439GjR6lTp44piQFo3rw5BoOBY8eOmRKZGjVq5JpILiQkhAMHDjy0fBcXF2rXrp0rHicnJ5o0aWLa5u/vT5UqVThy5EiR6ycsqJjfq/Hx8WRnZ+d6b/j5+VGlSpU8x/74449UrlwZjUbDoUOHCj1P0MGDB+natSujR48mOjrabLEL8SBya0k4Fr8oUO57Wyta8KtgkeLc3d3Ncp77Z8RWFAWDwVDA0bnLl8no7FQxv1eLYv/+/WRkZJCRkZHrVuaDHD58mDZt2vDWW28xcuRIywWXmohy5i/cslMsV4awK5LICMfiWxY6f2P8QADj986TLfIfLkClSpVwd3dn3bp1+e6vWrWq6UMhx5YtW9BoNPn+J1wQFxeXQq2iXa1aNW7fvs2OHTtM265evcqxY8ek466tKeb3avny5XF2ds713rh27RrHjx/PdVxKSgp9+vTho48+ok+fPvTs2ZObN28+8NyHDh2iVatW9O7dm88//9wi8QOmPkVO854l+tBglDgZUSfk1pJwRPV7GfsZpJw2/ndroQ8GADc3N/71r3/x4Ycf4uLiQvPmzbl8+TIHDhygR48e9OzZk5iYGHr37s2YMWO4fPky7733Hq+99lqR5lSKjIxk06ZNvPTSS7i6uhIQEJDvcZUqVaJr167069ePmTNn4u3tzfDhwylbtixdu3YtdHkJCQlcuXKF8+fPo9friYuLA6BixYqywrU5FeN71cvLi9dff50PPvgAf39/AgMD+eijj/IM1//nP/9JWFgYI0eOJCsri3r16jFs2DCmTZuW73kPHjxI69atad++PUOGDCE5ORkArVZLmTJlzFeB+/oUKahoVw+FytEW/b0J2yeJjHBMvmWL7eL28ccf4+TkxKhRo7hw4QIhISG8/fbbAHh4ePD7778zcOBAGjVqhIeHB8899xwTJ04sUhmffPIJb7/9NlFRUWRlZaGqaoHHzpo1i4EDB/LMM8+QnZ3NU089xerVqx+4oOv9Ro0axZw5c0yP69WrBxhHV7Vs2bJIsYuHKMb36oQJE8jIyKBz5854e3szdOhQUlNTTfvnzp3L6tWr2bdvH05OTjg5OfHTTz/RokULnnnmGTp27JjnnIsXL+by5cv89NNPueYcioiI4MyZM+YLPp8+RYoF+xQJ+6GoD7oiOoC0tDR8fX1JTU3Fx8enwON0Oh2rV6+mU6dORbrg2xJz1yEz+zbVR/0OwOFP2uPhYtm899atW8THxxMREUF2djY+Pj52u4CkwWAgLS2txNQh57UrX748bm5uufYV9m/QluTEfOXKFfz9/XPte1BdbZWtvR8f6XeYmmgcon5PMqMqWpRBB+w6kXGEz557mbM+hb12WP8dLYQQQjzMfX2KDGjQd/rarpMYYR5ya0kIIYR9uNOn6Pbl46zbd4bWdV+1dkTCBkgiI4QQwn74lkX1COTWoTRrRyJshF3cWpo2bRqRkZG4ubnRpEkTdu7cae2QhBBCCGEDbD6RWbRoEUOGDGH06NHs3buXOnXq0L59ey5dumTegtIuEHDjMKRdyL3dkgu6FddicY9RTjBXaao5hJJm+QXthBBCiKKy+VtLEydOpF+/fvTt2xeAGTNmsGrVKn788UeGDx9uljLUPXNwWjmI5qoB9dsJZHWchL7uq2jjfsLlt8EoqgFV0ZB9Z7s5WOLcOt1tsvTG0UbOqvLY5ej3zGWL6xC0ioo6bayxo139Xo8VY2E4+EA6h1QSX7OSWGdzkd+dMCebTmSys7PZs2cPI0aMMG3TaDS0bduWbdu25fucrKwssrKyTI/T0oz3UXU6Xf6r/6ZdwGnlIJScSZZUA9pVg3l+SSrLXEejKGqu7U8v0ZCMf97zFEEwV9niOsgi5wYnPtz552OXY3yuMYnJea66YhC3I54Gn9DHjLFgqqqSmZmJs7MzqqoWapp+W5RzoS4pdciZ20ZV1Tx/Z4626nbOkNLMzEyzLVFR0mRmZgJ5l+YQ4lHYdCJz5coV9Hp9nhlQg4KCOHr0aL7PGTt2LDExMXm2r127Fg8PjzzbA24cpvl9kyw5KQYaaY+bPsTv3R6puUiy4fGSjfKaZIud21zl5PdcRdWz47cFXPWuZrYY7+ft7U1WVhYBAQFkZWXZ/TpCV69etXYIj+1hdVBVlcuXL5OSksKJEyfy7M/50HIUWq2WUqVKmW5ve3h42Pz71GAwkJ2dza1bt6w6j0zOPyqXLl2iVKlSuRZKFeJR2XQi8yhGjBjBkCFDTI/T0tIICwsjOjo6/wl10uqifjvB1CIDxkmWBvftiTpvfp7t/32/O6r347VIKDeqos4ca/Zz63S3+fPPP2ndujXOzk6PVU5Bz23S8WWLt8gkJyeTnJxsFx8QBVFVlVu3buHm5lYi6uDk5ETDhg3z/Q87p1XUkQQHBwOYv6+ehaiqys2bN21mkdFSpUqZfodCPC6bTmQCAgLQarVcvHgx1/aLFy8W+Efg6uqKq6trnu3Ozs75N2P6R0Dnb1BXDEJR9caZIjtPxrtiM2OfkBWDQNXDne0+wVGPXzHPKIucW6fT4aoFX083Y10fp5wCnuvsH/FYMRZGSEgIcXFxtG7dGicnm36LFkin07Fp0yaeeuopu20+L0odXFxcCvxP317r/yCKohASEkJgYKBd3Dqzpfejs7OztMQIs7LpTwkXFxcaNGjAunXr6NatG2BsIl23bh0DBgwwX0H1e3E74ml2/LaAJh1fvvthbckF3YprsbjHKacYF7S7n6qquLq6Wv2i+6i0Wi23b9/Gzc1N6uDAtFqtXXwoy2spHJlNJzIAQ4YMoXfv3jRs2JDGjRszefJkMjIyTKOYzMYn1Nj34/7bJpZc0K24Fot7nHKKcUE7IYQQoqhsPpF58cUXuXz5MqNGjSI5OZm6deuyZs2aPB2AhRBCCFHy2HwiAzBgwADz3koSQgghhEOwi0TmceTMhfGwkRM6nY7MzEzS0tLs9h6yI9QBHKMeUoe7cv727GkStJxYb9y4Ybev370c4f14L0eqjyPVBcxbn8JeOxw+kblx4wYAYWFhVo5EiJLtxo0b+Pr6WjuMQsmZO6d8+fJWjkQI8bBrh6La079Jj8BgMHDhwgW8vb0fOH9Cznwz586dy3++GTvgCHUAx6iH1OEuVVW5ceMGoaGhVp2MrSiuX79O6dKlSUhIsJvk60Ec4f14L0eqjyPVBcxbn8JeOxy+RUaj0VCuXLlCH+/j42P3byZHqAM4Rj2kDkb2lgzkXDR9fX3t/vW7lyO8H+/lSPVxpLqA+epTmGuHffx7JIQQQgiRD0lkhBBCCGG3JJG5w9XVldGjR+e7vIG9cIQ6gGPUQ+pg3xyt7lIf2+VIdQHr1MfhO/sKIYQQwnFJi4wQQggh7JYkMkIIIYSwW5LICCGEEMJuSSJzx7Rp04iMjMTNzY0mTZqwc+dOa4dUaJs2baJz586EhoaiKArLli2zdkhFNnbsWBo1aoS3tzeBgYF069aNY8eOWTusIpk+fTq1a9c2zZ/QtGlTfvvtN2uH9VjGjRuHoigMGjTI2qEUK3u+HtzLEa4NORzhGnEvR7xe5Cju64YkMsCiRYsYMmQIo0ePZu/evdSpU4f27dtz6dIla4dWKBkZGdSpU4dp06ZZO5RHtnHjRvr378/27duJjY1Fp9MRHR1NRkaGtUMrtHLlyjFu3Dj27NnD7t27ad26NV27duXQoUPWDu2R7Nq1i5kzZ1K7dm1rh1Ks7P16cC9HuDbkcIRrxL0c7XqRwyrXDVWojRs3Vvv37296rNfr1dDQUHXs2LFWjOrRAOrSpUutHcZju3TpkgqoGzdutHYoj6V06dLq999/b+0wiuzGjRtqpUqV1NjYWPXpp59WBw4caO2Qio0jXQ/u5SjXhhyOco24l71eL3JY67pR4ltksrOz2bNnD23btjVt02g0tG3blm3btlkxspItNTUVAD8/PytH8mj0ej0LFy4kIyODpk2bWjucIuvfvz//+Mc/cv1dlARyPbAf9n6NuJe9Xy9yWOu64fBrLT3MlStX0Ov1BAUF5doeFBTE0aNHrRRVyWYwGBg0aBDNmzenZs2a1g6nSA4cOEDTpk25desWXl5eLF26lOrVq1s7rCJZuHAhe/fuZdeuXdYOpdjJ9cA+2PM14l6OcL3IYc3rRolPZITt6d+/PwcPHmTz5s3WDqXIqlSpQlxcHKmpqSxevJjevXuzceNGu7k4nTt3joEDBxIbG4ubm5u1wxEiX/Z8jbiXvV8vclj7ulHiE5mAgAC0Wi0XL17Mtf3ixYsEBwdbKaqSa8CAAaxcuZJNmzYVadVyW+Hi4kLFihUBaNCgAbt27eKbb75h5syZVo6scPbs2cOlS5eoX7++aZter2fTpk18++23ZGVlodVqrRihZcn1wPbZ+zXiXvZ+vchh7etGie8j4+LiQoMGDVi3bp1pm8FgYN26dXZ9r9LeqKrKgAEDWLp0KX/++Sfly5e3dkhmYTAYyMrKsnYYhdamTRsOHDhAXFyc6athw4b07NmTuLg4h05iQK4HtsxRrxH3srfrRQ5rXzdKfIsMwJAhQ+jduzcNGzakcePGTJ48mYyMDPr27Wvt0AolPT2dkydPmh7Hx8cTFxeHn58f4eHhVoys8Pr378/8+fNZvnw53t7eJCcnA+Dr64u7u7uVoyucESNG0LFjR8LDw7lx4wbz589nw4YN/P7779YOrdC8vb3z9Dnw9PTE39/frvsiFIW9Xw/u5QjXhhyOcI24lyNcL3JY/bpRLGOj7MDUqVPV8PBw1cXFRW3cuLG6fft2a4dUaOvXr1eBPF+9e/e2dmiFll/8gDpr1ixrh1Zor7/+uhoREaG6uLioZcqUUdu0aaOuXbvW2mE9tpI2/FpV7ft6cC9HuDbkcIRrxL0c9XqRozivG7L6tRBCCCHsVonvIyOEEEII+yWJjBBCCCHsliQyQgghhLBbksgIIYQQwm5JIiOEEEIIuyWJjBBCCCHsliQyQgghhLBbksgIIYQQwm5JIiOKRZ8+fejWrZu1wxBC2BG5bojCkLWWxGNTFOWB+0ePHs0333yDTCIthMgh1w1hLrJEgXhsOYu3ASxatIhRo0Zx7Ngx0zYvLy+8vLysEZoQwkbJdUOYi9xaEo8tODjY9OXr64uiKLm2eXl55WkibtmyJe+99x6DBg2idOnSBAUF8d1335lWGfb29qZixYr89ttvuco6ePAgHTt2xMvLi6CgIF577TWuXLlS6FhVVWXMmDGEh4fj6upKaGgo77//vrl+FUKIQpLrhjAXSWSE1cyZM4eAgAB27tzJe++9xzvvvEOPHj1o1qwZe/fuJTo6mtdee43MzEwArl+/TuvWralXrx67d+9mzZo1XLx4kRdeeKHQZf7yyy9MmjSJmTNncuLECZYtW0atWrUsVUUhhJnJdUPkUSxrbIsSY9asWaqvr2+e7b1791a7du1qevz000+rLVq0MD2+ffu26unpqb722mumbUlJSSqgbtu2TVVVVf3000/V6OjoXOc9d+6cCqjHjh0rVHxff/21WrlyZTU7O7sItRJCWJJcN8TjkBYZYTW1a9c2/azVavH398/1X05QUBAAly5dAmD//v2sX7/edO/cy8uLqlWrAnDq1KlCldmjRw9u3rxJhQoV6NevH0uXLuX27dvmqpIQwsLkuiHuJ6OWhNU4OzvneqwoSq5tOaMaDAYDAOnp6XTu3Jnx48fnOVdISEihygwLC+PYsWP88ccfxMbG8u677/Lll1+ycePGPPEIIWyPXDfE/SSREXajfv36/PLLL0RGRuLk9OhvXXd3dzp37kznzp3p378/VatW5cCBA9SvX9+M0QohbIFcNxyf3FoSdqN///6kpKTw8ssvs2vXLk6dOsXvv/9O37590ev1hTrH7Nmz+eGHHzh48CCnT5/mp59+wt3dnYiICAtHL4SwBrluOD5JZITdCA0NZcuWLej1eqKjo6lVqxaDBg2iVKlSaDTGt/Ls2bMfONFWqVKl+O6772jevDm1a9fmjz/+YMWKFfj7+xdXNYQQxUiuG45PJsQTDmX06NFs3LiRDRs2WDsUIYSdkOuGfZM+MsKh/Pbbb3z77bfWDkMIYUfkumHfpEVGCCGEEHZL+sgIIYQQwm5JIiOEEEIIuyWJjBBCCCHsliQyQgghhLBbksgIIYQQwm5JIiOEEEIIuyWJjBBCCCHsliQyQgghhLBbksgIIYQQwm5JIiOEEEIIu/X/CH/RfjtqiTsAAAAASUVORK5CYII=" }, "metadata": {}, "output_type": "display_data" } ], "source": [ "mpo = mp.mpopt_adaptive(ocp, 5, 4) # Use ctrl + tab for help, inside ()\n", "mpo.lbh[0] = 1e-6\n", "solution = mpo.solve()\n", "post = mpo.process_results(solution, plot=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the time taken by the algorithm is significantly higher compared to iterative schemes. However, the solution is accurate using the Adaptive scheme-III." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Conclusion" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Using simple moon-lander test case OCP various features of the solver package in its current form are demonstrated. Notice that the OCP is defined only once in the beginning. This sheet can be used for all other OCP's merely by changing the OCP definition in the beginning." ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.5" } }, "nbformat": 4, "nbformat_minor": 4 }