diff --git a/src/chapter8_LIB.ipynb b/src/chapter8_LIB.ipynb index 91da498..71fa292 100644 --- a/src/chapter8_LIB.ipynb +++ b/src/chapter8_LIB.ipynb @@ -310,6 +310,7 @@ "U = []\n", "Y = []\n", "x_current = x_init\n", + "X_current_est = []\n", "for t in t_eval:\n", " if len(Y) >= K:\n", " ys = casadi.vertcat(*Y[-K:]).full().ravel().tolist()\n", @@ -318,6 +319,7 @@ " x0 = compute_optimal_estimation(S,us,ys,x0,x_hat_list)\n", " x_hat = x0[:nx]\n", " X_est.append(x_hat)\n", + " X_current_est.append(x0[nx*(K):nx*(K+1)])\n", " if CHARGE:\n", " if x_current[0] > 0.8:\n", " CHARGE = False\n", @@ -376,6 +378,41 @@ "plt.show()" ] }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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RHWJCT18cbO9sQIrW9WoCcCTlMhk5Mr6xEOL2Wem09Glm7hV6rTR5F0IIUYqkSC9DLjWsCa1vLgrkbroQJZT0N1apBwBI0XoR1qH1Hb+lt6OO8TW387vVa/z+9TSM0kRVCHEHrjZ5X3voHEajSXEaIYSoXBYtWoSrq6vqGCVSXpmlSC9jvQM9AZi/9STZ+gLFaYSoRBb0tsyeue8XtNoSdBZXFJOR8Vc+J1CbyLBz00n9KIRcfd6dv68Qolrq3MgdBxsdKZm57DudrjqOEOI2JScn8+ijjxIQEIBWq2X8+PGqI5U5jUbDr7/+Wm7H8/PzIyIiotC6oUOHcvTo0TI/dmW8GCBFehl7tH196rjWIOniFT5eG6c6jhCVgunAz5b5jc6DCQ0OusnWJWBlS27/Ty2L3voEdi5+s3TeWwhR7dhZ6+jZ1Hwxfu2hc4rTCCFul16vx8PDg8mTJ9OyZUvVcTCZTBQUXH9zLy+vat1YqFGjBp6enqpjVEhSpJcxR1srwu9rDsDXOxLYnSCdywhxK2sNbeit/4hIY1saPTazVN/brv0ImBhvWa57ZrX0zCyEuG3XmrynYDJJk3dRxeVlFz3l55Zg2yvF27YEzp8/j7e3Nx988IFl3a5du7CxsWHdunU33dfPz4+ZM2cyfPhwXFxcSnTcqxYuXEhQUBC2trb4+Pjw/PPPA5CQkIBGoyEmJsaybXp6OhqNhqioKACioqLQaDSsXbuWNm3aYGtry5YtW+jRowfPP/88EyZMwN3dnT59+gBw+PBhBgwYgKOjI15eXjz++OOkpaVZ3r9Hjx6MGzeOiRMn4ubmhre3N1OmTCn0eQHuvfdeNBqNZflWVq5cSWhoKHZ2djRo0IB33nmn0MWEKVOmUK9ePWxtbalduzbjxo2z5Dl16hQvvfQSGo3GMpTuf+9wT5kyhVatWrFw4ULq1auHo6Mjzz33HAaDgY8++ghvb288PT15//33C+WaMWMGzZs3x8HBAV9fX8aMGUNWVpblu33qqafIyMiwHPvqd5GXl8fEiROpU6cODg4OtG/f3vLf5KpFixZRr1497O3tuffee7lw4UKxvqs7dWe9MIli6dbEg/tb12XZntN8tyuRNn5uqiMJUWHl5BUw9Y8TnDXV5VC32fTxLIO/L/ZuFNz1NlYb3sHFlMlLizbw2cjet95PCCH+o2dTT2x0WuLTsjmWmkUTLyfVkYQoOx/ULvq1xmEw7Kdryx83gvwiOk6u3wWeWnVtOaI55Nyg+JmSUexoHh4eLFy4kHvuuYewsDCaNm3KY489xpgxYwgLCyv2+9yOOXPmMGHCBKZNm0b//v3JyMhg27ZtJX6fiRMnMn36dBo0aGApXr/++muee+45tm3bhslkIjk5me7duzNq1ChmzJjBlStXeO2113jooYfYsGGD5b2+/vprJkyYwK5du9ixYwdPPvkknTt3pk+fPvz99994enry1Vdf0a9fP3Q63S2zrV27lscee4xZs2bRtWtXTpw4wTPPPAPA22+/zc8//8ynn37KDz/8QFBQECkpKezbtw+A5cuX07JlS5555hlGjRp10+OcOHGCP/74gzVr1nDixAkeeOAB4uPjadKkCZs2bWL79u2MGDGCXr160aFDBwC0Wi2zZs3Cz8+P+Ph4xowZw8SJE5k9ezadOnUiIiKCt956i7g4c6tmR0dHAJ566ikSEhL44YcfqF27Nr/88gv9+vXjwIEDNG7cmF27djFixAg++OAD7rvvPtasWcPbb79dsv+ot0mK9HJyb0gdlu05LcO0CHEzacew/7wNq0yOvOP8MqO79yuzQ1kF34tx4/vMzh/MymN6vFcdZvLAZmV2PCFE1eRoa0WXxu5sOJLKmoMpUqQLodCAAQMYNWoUw4YNo23bttjZ2TFt2rQyP+57773Hyy+/zIsvvmhZ17Zt2xK/z9SpUy13y69q1KgRH330kWX5rbfeonXr1oVaDCxcuBBfX1+OHj1KkyZNAGjRooWloGzcuDGff/4569evp0+fPnh4eADg6uqKt7d3sbK9//77vP766zzxxBMANGjQgHfffZeJEyfy9ttvk5iYiLe3N71798ba2pp69erRrl07ANzc3NDpdDg5Od3yeEajkYULF+Lk5ESzZs3o2bMncXFxrF69Gq1WS0BAAB9++CFRUVGWIv3ffQj4+/vz7rvv8txzzzF79mxsbGxwcXFBo9EUOvaJEydYsmQJp0+fpnZt88WnV155hTVr1vDVV1/xwQcfMHPmTPr27cvrr78OQJMmTdi+fTtr1qwp1nd2J6RILych9VzRaTWcSb/CHweS6d/cR3UkISqez9sAUFOTxf13dcDO+tZXdm+bmz/aty+Q8/N+Ru79ApvtecQ1nURAwwZld0whRJXUL8jbUqSP69VYdRwhys4bZ4t+TfOfc/arx2+y7X+euB1/4PYz/cf06dMJDg7mxx9/ZPfu3djZ2ZXae99IamoqZ8+epVevXnf8Xm3atLnluujoaDZu3Gi5G/xvJ06cKFSk/5uPjw+pqbc/2lR0dDR///13oabmBoOB3NxccnJyePDBB4mIiKBBgwb069ePAQMGMGjQIKysSlZu+vn54eR07WKnl5cXOp0OrVZbaN2/P8vGjRv54IMPOHz4MJmZmRQUFJCbm0t2djYODg43PM6ePXswmUyW7+sqvV5PrVq1AIiNjeXee+8t9HrHjh2lSK9KHGyt6B/sze/7k5n0ywF6BHhSw6YMCxAhKpu4Pyyzmxz60a19x3I57OS7A8k7sAJ3TSar4h+WIl0IUWK9m3mhXQ6HkzNJupiDr5u96khClA2bGxc85brtLZw8eZKzZ89iNBo5derUdcVqaatRo8ZNX79aXP67z4r8/PwbbnujgvK/64xGI4MGDeLDDz+8blsfn2s3Aa2trQu9ptFoMBpvvw8eo9HIO++8w3333Xfda3Z2dvj6+hIXF0dkZCR//vknY8aM4eOPP2bTpk3XZbmZG+W+2Wc5deoUAwYMYPTo0bz77ru4ubmxdetWRo4cWeT3fPXz6HQ6oqOjr2vuf/UCiMp+RqRIL0fTH2zJ3sR0zqRf4deYMzzSrp7qSEJUDPlXYMnDlsW6w+dZOhUpa8521mRb66AADCc2Qe87vxIuhKhe3BxsaOvnxq74i6w7fI6RXfxVRxKiWsrLy2PYsGEMHTqUpk2bMnLkSA4cOICXl1eZHdPJyQk/Pz/Wr19Pz549r3v9atPy5ORkQkJCAAp1IldSrVu3ZtmyZfj5+ZX4LvW/WVtbYzAYSnTcuLg4GjVqVOQ2NWrUYPDgwQwePJixY8fStGlTDhw4QOvWrbGxsSnR8Ypr9+7dFBQU8Mknn1guiPz444+FtrnRsUNCQjAYDKSmptK1a9cbvnezZs3YuXNnoXX/XS4r0rt7ObKz1vFUZz8A3vjlALHJmWoDCVFB5MVFWuY31HuBhl6317Pq7bIzmju2GZw8U3p6F0LclrB/9fIuhFBj8uTJZGRkMGvWLCZOnEhgYCAjR44s1r4xMTHExMSQlZXF+fPniYmJ4fDhw8Xad8qUKXzyySfMmjWLY8eOsWfPHj777DPAXLh26NCBadOmcfjwYTZv3sybb97+8K9jx47l4sWLPPLII/z111+cPHmSdevWMWLEiBIVwVcvLKSkpHDp0qVbbv/WW2+xePFipkyZwqFDh4iNjWXp0qWWz7Jo0SIWLFjAwYMHOXnyJN988w01atSgfv36luNt3ryZM2fOFOqJ/k41bNiQgoICPvvsM8tx586de91nzcrKYv369aSlpZGTk0OTJk0YNmwYw4cPZ/ny5cTHx/P333/z4Ycfsnr1agDGjRvHmjVr+Oijjzh69Ciff/55uTR1BynSy91DbX2xs9ZiMsGrP+9THUeICmFxkidP573M99q7af/w5HI/vqH3VMv8vsjvyv34QojKL6yZ+U7d7oSLXMjSK04jRPUTFRVFREQE33zzDc7Ozmi1Wr755hu2bt3KnDlzbrl/SEgIISEhREdH8/333xMSEsKAAQOKdewnnniCiIgIZs+eTVBQEHfffTfHjh2zvL5w4ULy8/Np06YNL774Iu+9995tf87atWuzbds2DAYDffv2JTg4mBdffBEXF5dCz23fyieffEJkZCS+vr6WO/w307dvX37//XciIyNp27YtHTp0YMaMGZYi3NXVlS+//JLOnTvTokUL1q9fz8qVKy3Pd0+dOpWEhAQaNmxoaV1QGlq1asWMGTP48MMPCQ4O5rvvviM8PLzQNp06dWL06NEMHToUDw8PS0d8X331FcOHD+fll18mICCAwYMHs2vXLnx9fQHo0KED8+fP57PPPqNVq1asW7fuji6wlITGVM0G9czMzMTFxYWMjAycnZ2VZNhw5BwjFu0G4O/JvfFwslWSQ4iKIDnxGEO+jCE1355Zj4QwuOVNhncpK/osCK8DwG8eoxky9vrnvIQoSxXh3FRW5syZw5w5c0hISAAgKCiIt956i/79+99w+6ioqBs2GY2NjaVp06bFPq6K73TgrC0cOpvJR/e34KG2vuVyTCFKW25uLvHx8fj7+5d5p2tCVDU3+/tTkvOS3ElX4K6mXgTVNv+H2Xr8vOI0QiiUdhyfhW2YwaeM9YljUAtFox7YOnKu8SNcNtVg79kc1hxMVpNDiCqobt26TJs2jd27d7N7927uuusuhgwZwqFDh266X1xcHMnJyZapceOK32t6X2nyLoQQohRIka5I18bmZh5bjpbeMxlCVDYFX/QAoIvuEPf1vavcOou7kZpDZ9ORr1lk6EfMso/JybyoLIsQVcmgQYMYMGAATZo0oUmTJrz//vs4OjresvMdT09PvL29LdN/e9+tiMKCzE3etxxPI1tfoDiNEOKqoKAgHB0dbzh9992tH3Mral9HR0e2bNlSDp+g7N3pdyRKl/Turki3Ju7M3XSCzcfSMBpNaLXqihMhVMg//DvW+ZcB2O8WRoumrZTmsbHSsuL5zoyb8RUjjT9xcIUT7R57R2kmIaoag8HATz/9RHZ2Nh073nyYxZCQEHJzc2nWrBlvvvnmDZvA/5ter0evv/YseGZm+XfOGuDlRP1a9py6kMOmo+cZ0FxR6yAhRCGrV68ucjiu4vT8frPe2OvUqXO7sSqUO/2OROmSIl2R0Po1cbDRkZalZ29SOqH1a6qOJET5ycvB+sdhlsX6T85XGOaaBh6OfFF3HR7nM/E4HkHKtBW4jl6DnaucnIS4EwcOHKBjx47k5ubi6OjIL7/8QrNmzW64rY+PD/PmzSM0NBS9Xs8333xDr169iIqKolu3bkUeIzw8nHfeUXthTaPR0DfIm3mbT7L2UIoU6UJUEFc7N7tdNxt2rKq40+9IlC7lzd1nz55tebA+NDT0pk1GnnzySTQazXVTUFBQOSYuHbZWOstwLStizihOI0T5unDqAEkmTwB2tP4EF+fyHXLtZjx7jbXMe+eeZOfmPxSmEaJqCAgIICYmhp07d/Lcc8/xxBNPFDm0UUBAAKNGjaJ169Z07NiR2bNnM3DgQKZPn37TY0yaNImMjAzLlJSUVBYf5Zau9vK+4UgqeQUypKOovKpZ39JClIrS+nujtEhfunQp48ePZ/Lkyezdu5euXbvSv39/EhMTb7j9zJkzC3Uik5SUhJubGw8++GA5Jy8d94SYm8cs23OGzNwbNy8Roip6f7eWxQW9OW7ViPZ3F2/80vJi3bQfBa+fIVdrD0C7vZMUJxKi8rOxsaFRo0a0adOG8PBwWrZsycyZM4u9f4cOHQoNZ3Qjtra2ODs7F5pUaF2vJh5OtlzOLZDOYUWlZG1tDUBOTo7iJEJUPnl5eQB33I+K0ubuM2bMYOTIkTz99NMAREREsHbtWubMmXPd+HYALi4uuLhcu+P266+/cunSJZ566qlyy1yaujZyp5GnI8dTs1h36BwPhNZVHUmIMpe4Ipz0AwVsNnVlyONTK2R/DFZ2jugD7obYHzliqE3uiTQ6NXRXHUuIKsNkMhV6fvxW9u7di49P5Wg6rtVqGNjch0XbE/h9XzJ3NZXHZUTlotPpcHV1JTU1FQB7e3ulHbsKUVkYjUbOnz+Pvb09VlZ3VmYrK9Lz8vKIjo7m9ddfL7Q+LCyM7du3F+s9FixYQO/evW/6DEVF6EimKFqthj7NvDiemsWukxekSBdVnuHon9TbM41Bus54t76H4PoeqiMVyeHeCK7EreZN/Qia/J0kRboQt+mNN96gf//++Pr6cvnyZX744QeioqJYs2YNYG6mfubMGRYvXgyYL9j7+fkRFBREXl4e3377LcuWLWPZsmUqP0aJDGppLtLXHT5Hbr4BO+uK3zO9EP/m7W1+JPNqoS6EKB6tVku9evXu+MKWsiI9LS0Ng8FwXW+BXl5epKTcenzR5ORk/vjjD77//vubblcROpK5mXb+bsyJOsH2Exekl3dRtRXo0X1/PwD36rbRIyxAcaBbsHHg7/s2c+Lb/eSezlCdRohK69y5czz++OMkJyfj4uJCixYtWLNmDX369AHM5/N/P+aWl5fHK6+8wpkzZ6hRowZBQUGsWrWKAQMGqPoIJRbiW5PaLnaczcglKi6VfsGVoxWAEFdpNBp8fHzw9PQsssdvIcT1bGxs0Grv/Ily5b27//cqg8lkKtaVh0WLFuHq6so999xz0+0mTZrEhAkTLMuZmZn4+vreVtay0NbPDUdbK86kX+GHv5N4tH091ZGEKBM5697F/p/5gw1GEuxgozRPcQT7++LKdl7N+B8ZGa1wcXFVHUmISmfBggU3fX3RokWFlidOnMjEiRPLMFHZ02o13N2yNvM2n2Tl/mQp0kWlpdPp7vjZWiFEySnrOM7d3R2dTnfdXfPU1NRbjsVnMplYuHAhjz/+ODY2N/+hX1E6kimKo60V43s3BmDuphMYjNKTpqiCstOw/+szy2LgI9f3OVERuaVsZZfd83TT7ifh0C7VcYQQlcjdLcyF+frYc2TrCxSnEUIIUZkoK9JtbGwIDQ0lMjKy0PrIyEg6dep00303bdrE8ePHGTmyYvUKfbsebV8PZzsrEi/m8Ff8RdVxhCh1F399zTJ/ZMDP6KxtFaYpgYZ3odfY4aDRczw1S3UaIUQl0ryOC/Vr2ZObb+TP2HOq4wghhKhElA7BNmHCBObPn8/ChQuJjY3lpZdeIjExkdGjRwPmpurDhw+/br8FCxbQvn17goODyztymbC3saJbE3MHWnsSLylOI0TpMhpNPHnpKYbop/Kr1/M0bddHdaQSybUz/93sGfMS+tSbDwElhBBXaTQaBrWoDcBvMWcVpxFCCFGZKC3Shw4dSkREBFOnTqVVq1Zs3ryZ1atXW3pr/29nMgAZGRksW7asytxFv6qVrysAexPTleYQolSZTKzZuJH9p9M5adOUTo/9n+pEJaZzMj9+40YGe1fOVZxGCFGZ3Nu6DgBRcamcTb+iOI0QQojKQnnHcWPGjGHMmDE3fO2/ncmAeaz0nJycMk5V/kLquQIQk3Sp2J3nCVHR6VdMYMDehcTZWrO82yo8nexURyoxh2GLyZ7ZHgfjZTokzceU/x4a6xqqYwkhKoGGHo6093djV/xFftydxPjeTVRHEkIIUQkovZMurgmq7YK1TkNaVh6nL8nVdlEFXIzHdu9CAGw1+TzQvY3iQLdH41IHq3s+Z7upBXfr3yP6VLrqSEKISuTqqC0//p0kncMKIYQoFinSKwg7ax2BPuae5/cmpasNI0RpmNXKMrt38FqsrSrvEC62Le7h16AIDpr8WbY/TXUcIUQl0jfIG1d7a85m5LL56HnVcYQQQlQCUqRXICH/PJcuJ3FR2Zlilljmox17ENK6g8I0peO+Fl74aVLw3T+T3OxM1XGEEJWEnbWO+1vXBeD7vxJvsbUQQgghRXqFMqiluRfYlfvOcjE7T3EaIW7fgePxJBnNvaLXHrFYcZrS0c4mnijblxnDTxzbUDU+kxCifDzSzheADUdSScnIVZxGCCFERSdFegUSWr8mwXWc0RcYefnHGPIKjKojCVFil3PzGXmkLZuNLVgX+AE+bi6qI5UKrV8ny7wp7g+FSYQQlU0jTyfa+bthMJpYInfThRBC3IIU6RWIRqPhyU7+AGyMO8+XW04qTiRECZ3ZA580RZ91ia9dRtP9/tGqE5UerY7zjR4EoEXWVgquXFYcSAhRmTzewTy87Pd/JcpFeCGEEDclRXoFc0+r2nRt7A7Akr8SMUpPsKKyMJngy5445afxoG4TbwxuhW0l7izuRtz6vGyZP3pGOpATQhRf3yBvPJxsOX9Zzx8Hk1XHEUIIUYFJkV7BWOm0fDm8Dc52Vpy+dIWtx6UQEJWDac+157SbednRI8BTYZqyofNsaplP27NCYRIhRGVjY6Vl2D/DsX2+4bgMxyaEEKJIUqRXQHbWOu4NqQPAj7uTFKcRohhyM9GsHGdZbPvoVIVhypZBY81fxgASE45RYJAmq0KI4nuqsz/OdlYcS81ixb4zquMIIYSooKRIr6Cu9vS+8+RFTCa52i4qNuPiIZb5PxpPoZ67g8I0ZUij4eyIaN42jebNi/1ZdUCarAohis+lhjXPdm8IwKeRx8iXC31CCCFuQIr0Ciq4jgvWOg1pWXpOX7qiOo4QRTMUcC5Tj8GkQY81Pe4fqzpRmfL1rU/n9h0I0Rwjed+fquMIISqZJzv54e5oQ+LFHH7afVp1HCGEEBWQFOkVlJ21jmY+zgDsTUpXG0aIm0jKyKNH+v8xIn8iUXdvo4adjepIZe7hgl95yepnRsePw5hzSXUcIUQl4mBrxXM9GgHw2YZj5OYbFCcSQghR0UiRXoGF1KsJwN5EKQJEBXV6N9u+/wBfQyJ5fncRFtpEdaJyUbt5d7rpDgCQO7OduWd7IYQopmHt6+HjYkdyRi7f7ZJx04UQQhQmRXoFFlLPFYC9ielKcwhxQyYTzO/Fw2mf8bH1PN4e3AyNRqM6Vbmwb9iZDHvzmMf2+lSyVkxUnEgIUZnYWet44a7GAMzeeJxsfYHiREIIISoSKdIrsNb/3Ek/dDaDnDw5gYuKxbAx3DJ/yn8oTb2dFaYpf45jNlrmrfd+rTCJEKIyerBNXerXsudCdh6LtieojiOEEKICkSK9Aqtbswb13OzJN5jYFHdedRwhrslKRbf5Q8tiz4fGq8uiiM6xFqn3/gTAaaMbcSmXFScSQlQm1jot43ub76bP3XSClIxcxYmEEEJUFFKkV2AajYZ+wd4ALNsj46mKiiPvxxGW+XUdv8XFoep3Fncjnk07kq11YkrBE6zaf1Z1HCFEJTO4ZR1a1HXhcm4BE5ftlyFXhRBCAFKkV3gPtfFFq4E/Y89x6GyG6jhCAHDhnPmi0UmdP7363K04jUK2TqzutY5oYxN2n5IOHoUQJaPTapjxUEtsrbRsPnqeb3eeUh1JCCFEBSBFegXXyNORngGeAOw4cUFxGiFgX1I6nTLfo1PuLC49FolOWz06iytKkH9d+mv/4pXT4zDmXVEdRwhRyTTydOK1fk0BeH91LPFp2YoTCSGEUE2K9Eqgla8rAAfPyJ10oZbxeBRRP85EZyqgQ0hLQv09VEdSromXI8Ot/6S1Jo7E2L9UxxFCVEJPdvKjc6Na5OYbeWlpDAUGo+pIQgghFJIivRIIrusCwP7TGfK8mlAnPxftt0N48fIMYm2f4vX+TVUnqhCsdFqaaM3Po9tHylBsQvzXnDlzaNGiBc7Ozjg7O9OxY0f++OOPm+6zadMmQkNDsbOzo0GDBsydO7ec0qqh1Wr4+IGWONlZEZOUzpyoE6ojCSGEUEiK9EqgVV1XbHRaTqZl88te6UBOqJEb/a1lfkfT1/F0tlOYpmLJdm0CQF5OpuIkQlQ8devWZdq0aezevZvdu3dz1113MWTIEA4dOnTD7ePj4xkwYABdu3Zl7969vPHGG4wbN45ly5aVc/LyVdu1Bu8MDgJg5vpj7D+drjaQEEIIZaRIrwRqOtjw4j/DtExZcYiL2XmKE4lqx5CP3ZqXLYsd7h+vLksFpOv7LgA1DRfIzM1XnEaIimXQoEEMGDCAJk2a0KRJE95//30cHR3ZuXPnDbefO3cu9erVIyIigsDAQJ5++mlGjBjB9OnTyzl5+bs3pA4DmntTYDTx7DfRpGbKsGxCCFEdSZFeSTzbrQGNPR3JzC1g45FU1XFENXNhw2eW+UOdZ2FjUz2HXCtKTXvz9+Gg0XN6+4+K0whRcRkMBn744Qeys7Pp2LHjDbfZsWMHYWFhhdb17duX3bt3k59f9EUwvV5PZmZmoamy0Wg0hN/XgoYeDiRn5DJq8W5y8w2qYwkhhChnUqRXElY6LXcFmnt53xUvvbyL8nV+zwrLfFCfJxQmqaC8m1tmL5zcpzCIEBXTgQMHcHR0xNbWltGjR/PLL7/QrFmzG26bkpKCl5dXoXVeXl4UFBSQlpZW5DHCw8NxcXGxTL6+vqX6GcqLSw1rFjzRFld7a/adzuDln/ZJfzRCCFHNSJFeiXTwrwXAX/EXFScR1cmukxd47NIzDM17i5NPSgF6QzYOrLw3Fr/c75l0oR9Go/ygFuLfAgICiImJYefOnTz33HM88cQTHD58uMjtNZrCQzteLVL/u/7fJk2aREZGhmVKSkoqnfAK+Lk7MPexUKx1GlbtT2ZG5FHVkYQQQpQjKdIrkVC/mmg1kHAhh3PynJooB8bDK/H7tiNpuNCwbRgN/PxUR6qw+jTzwtHWio6Zf3Bw/27VcYSoUGxsbGjUqBFt2rQhPDycli1bMnPmzBtu6+3tTUpKSqF1qampWFlZUatWrSKPYWtra+lB/upUmXVoUIv37zW30vlsw3G+2ZGgNpAQQohyI0V6JeJsZ02z2uYfHTtPSpN3Ucay09D++BhexnP0tTnAS72bqE5UodlZ6xgaYMWjug3Y/fmG6jhCVGgmkwm9Xn/D1zp27EhkZGShdevWraNNmzZYW1uXR7wK46E2voz/p+PYt1ccYn3sOcWJhBBClAflRfrs2bPx9/fHzs6O0NBQtmzZctPt9Xo9kydPpn79+tja2tKwYUMWLlxYTmnVa/9Pk/dd0uRdlLGCH5+yzA9s3QAPJ1uFaSqH+7zPEaI9jj47XZ4hFeIfb7zxBlu2bCEhIYEDBw4wefJkoqKiGDZsGGBupj58+HDL9qNHj+bUqVNMmDCB2NhYFi5cyIIFC3jllVdUfQSlXuzVmEfa+WI0wQtL9nLobIbqSEIIIcqY0iJ96dKljB8/nsmTJ7N37166du1K//79SUxMLHKfhx56iPXr17NgwQLi4uJYsmQJTZs2LcfUarX3dwPkTrooYxdPYnVqMwCJmjr0u/sBxYEqh0aeTgA0Nx3l7HF5fl8IgHPnzvH4448TEBBAr1692LVrF2vWrKFPnz4AJCcnFzrv+/v7s3r1aqKiomjVqhXvvvsus2bN4v7771f1EZTSaDRMHRJM50a1yMkz8NRXf3PyfJbqWEIIIcqQxqTwdk/79u1p3bo1c+bMsawLDAzknnvuITw8/Lrt16xZw8MPP8zJkydxc3O7rWNmZmbi4uJCRkZGpXxeLT0nj5B3IzGZ4JluDXhjQKDqSKKqMRTAu9ee+9w5aAMdQkMVBqpE0o7D5+bvanezN2jz0GuKA4nKorKfmyqiqvadZlzJZ+gXOziSchkvZ1t+eKYj/u4OqmMJIYQoppKcl5TdSc/LyyM6Ovq6sVDDwsLYvn37DfdZsWIFbdq04aOPPqJOnTo0adKEV155hStXrpRH5ArB1d6GTg3NBdSSXYkUGIyKE4mqxpSRxD67tgD85dBDCvSScG9Eoks7ANoc/kBxGCFEVeJSw5rvnm5PgJcT5zL1PDxvB/Fp2apjCSGEKAPKivS0tDQMBsMNx0L9b6+uV508eZKtW7dy8OBBfvnlFyIiIvj5558ZO3ZskcfR6/VkZmYWmiq7xSPaU8Nax2V9AfvPyLNponStS67B/ekv8ETBZDyfWKw6TqVjXz/EMq/PvqQwiRCiqqnlaMt3o9rTxMuRc5l6Hpm3kwQp1IUQospR3nHcjcZCLWocVKPRiEaj4bvvvqNdu3YMGDCAGTNmsGjRoiLvpoeHh+Pi4mKZfH19S/0zlDedVkOPAA8Ath1LU5xGVCV5R9YR82sEfpoUmncdgp+ni+pIlU6tIe+zgu58kP8IR9PyVMcRQlQx7o62fD+qA409HUnJzOWxBbs4f/nGPeULIYSonJQV6e7u7uh0uhuOhfrfu+tX+fj4UKdOHVxcrhUOgYGBmEwmTp8+fcN9Jk2aREZGhmVKSkoqvQ+hUKdG7gBsOyFFuigl5w5h88ODvJY/h2ftoxjTs6HqRJWSRmfNT76TmWcYxP6UXNVxhBBV0NVC3a+WPacvXeGpRX+RkZOvOpYQQohSoqxIt7GxITQ09LqxUCMjI+nUqdMN9+ncuTNnz54lK+tar6ZHjx5Fq9VSt27dG+5ja2uLs7Nzoakq6PJPkb7nVDqXc+XELO6cYfG9lnnvbiOwt7FSmKZya17HfCFxf5I8jiKEKBseTrYseqodbg42HDyTycNf7iQtS+6oCyFEVaC0ufuECROYP38+CxcuJDY2lpdeeonExERGjx4NXD926qOPPkqtWrV46qmnOHz4MJs3b+bVV19lxIgR1KhRQ9XHUMKvlj2NPB3JMxh589eDJGdUn87zRBk4vAJd9jkANtn3oUu33ooDVW79tbvYbTuaDw92xZCTrjqOEKKK8nN3YMmoDrg72hKbnMnQL3aQkiEteIQQorJTWqQPHTqUiIgIpk6dSqtWrdi8eTOrV6+mfv36wPVjpzo6OhIZGUl6ejpt2rRh2LBhDBo0iFmzZqn6CMpoNBqe6dYAgN9izjJw1lb0BQbFqUSlZMiHHx+3LNYdOqPIfiFE8TSt5427xtxJ5bFtyxWnEUJUZQHeTvw0uiO1Xew4cT6bB7/YTtLFHNWxhBBC3AGl46SrUJXGTTWZTCz9O4nXlx8A4MdnO9LO//bGjxfVV17OZeZETOXFvHksbfghQx8frTpS5Wc0wtSa15anSLN3cXNV6dxUUVS37/T0pRyGzd/FqQs5eDvb8d2o9jT0cFQdSwghxD8qxTjp4s5pNBoeblePgc19ANhx4oLiRKLSif2dnzdHs/pyA97XPkv/B0eqTlQ1aLWcbjkegAKTFoOxWl0LFUIoULemPT8929HS6/vQL3YQm1z5h50VQojqSIr0KqBDw1oA7DgpPb2LEkg5CEuHsXv7BpJMnjQdOA5nO2vVqaoMn7vMLRKsNEZOns+6xdZCCHHnPJ3t+OGZDgTVdiYtK4+H5+3kwGlpySOEEJWNFOlVQMcG5iJ958mLXMmT59JFMRjyYW5nAGZoZ9LS15V7Q+ooDlW16LTXnutffyRVYRIhRHVS65/h2ULquZJxJZ9H5+9kd8JF1bGEEEKUgBTpVUBDDwc8nGwBuH/OdsVpRKXw21jL7NeGMCbf0watVjqLK1UOHpx2COargr5M++MIzyzezaXsPNWphBDVgEsNaxaPaEdbv5pczi3gsQW72BgnFwuFEKKykCK9CtBoNIzq6g/A4eRMzl+WcVLFTVw6BfuXWhaPtniN4H/G9RalSKsj/ZFVLHIezVDdRsYfH8Ffi99QnUoIUU042VmzeER7egR4kJtv5NnF0Ww/Lo/FCSFEZSBFehXxTLeGBHg5AbAn8ZLiNKJCi/7KMjvYOJ0X+wUrDFO1Bdd1ZdPEu3g2GJppT9H33JeYsqWDRyFE+ahho2Pe423oG+RFnsHIM99Ec/CMPKMuhBAVnRTpVUjr+uYhn/ackiJdFC3XvzffawcxI/8B+vbsiaeTnepIVV6djg9Y5uNPxilMIoSobmystMx8OIQODdzI0hfw5Fd/kZCWrTqWEEKIm5AivQoJ/adIj5YiXdyIyQSno5l3wo03ch5hmdMwRnbxV52qWrD168BFnTsAp48fVJxGCFHd2FnrmDe8DYE+5l7fhy/8i9TLuapjCSGEKIIU6VXI1SJ93+l09AXSy7v4j30/YFjyCK5bp1KH80wa0BQ7a53qVNWGvcbcaVzg4Qi1QYQQ1ZKznTVfj2hLPTd7Ei/m8MTCv8nMzVcdSwghxA1IkV6F+NWyp5aDDfkGE9PXSpNa8S9GA/w6Gl32OYZr/8C3nh8Dm/uoTlWtnG/yMAAZ+TryCoyK0wghqiNPJzu+GdkOd0cbYpMzeWbxbnLz5aK+EEJUNFKkVyEajYYX7moEwHe7EikwSCEg/hG32jI7OX8Ekwa1QqORIdfKk3f3kQBM1I9gzaEUxWmEENVV/VoOLHqqHY62Vuw8eZHxP8RgMJpUxxJCCPEvUqRXMcM7+uFka0VOnoG4c5dVxxEVQf4VWPqYZfFKiydo6euqLk81Ze3VlB+az+e4qQ7f7jylOo4QohoLruPCvMdDsdFpWXMohbd+O4jJJIW6EEJUFFKkVzFarYZW9VwBuPd/2zkqhbqIXWmZnWV8kFf7BSgMU7316D2IYF0iulNbOH3+ouo4QohqrFMjdyIeboVGY259t2BrvOpIQggh/iFFehU0qEVtAPIMRib8GKM2jFAuu25XVmu7A2DV7WV8XGooTlR9ebvY8ZX1hyyxeZ9zu5apjiOEqOyOroXlz8IUFzAUlHj3Ac19eHNgMwDeXx3LhiPnSjuhEEKI2yBFehX0UFtffn+hCwAHz2SSkiHDrFRns3ams+BKD+6xX8SI7k1Ux6n2bDH38u4Ru1hxEiFEpZd6GPb/YJ5/txbkZpT4LUZ09uORdr6YTDBuSQxxKdICTwghVJMivYoKruNiee547Pd7MEqnMNVP5lkKPmpC9vYvScWVcYM7yZBrFcCRgDEAXNZLj8pCiDvU5SVw9Lq2PK2euR+SEtBoNLwzOJgODdzI0hcw+ttoLsvQbEIIoZQU6VXYuH96eo8+dYmY0+lqw4jy98dErHLO8Z7VAvr6WXFXU69b7yPKnHvDEACCCg6RmyN3rETVFx4eTtu2bXFycsLT05N77rmHuLibDxMaFRWFRqO5bjpy5Eg5pa5EJhwBr+bXlt/3BkPJimwbKy1zhoVS28WO+LRsJi0/IB3JCSGEQlKkV2G9Ar0Y0NwbgI1HUhWnEeUq67ylw7hDJj8eve8+xYHEVbXcalnmz+78WWESIcrHpk2bGDt2LDt37iQyMpKCggLCwsLIzs6+5b5xcXEkJydbpsaNG5dD4kpGq4XntoKDh/mues/JcCW9xG9T08GGzx5tjZVWw+/7k/lxd1LpZxVCCFEsUqRXcT0DPAHYcixNcRJRbkwmTF90tSxub/4uDTwcFQYS/6bx726ZP33uvMIkQpSPNWvW8OSTTxIUFETLli356quvSExMJDo6+pb7enp64u3tbZl0Onlkp0gvHYb+H0GncZB32dyZ3MWS9dgeWr8mL4eZRwB5e8UhjqdKax8hhFBBivQqrr2/+a7dobMZ5ObLM7DVQsp+NJeTAYjDj4fv7q84kChEZ8W3HVfRR/8Rv+jbqE4jRLnLyDB3bubm5nbLbUNCQvDx8aFXr15s3LixrKNVblY2EHQPWNvBX1+a181qBadvfTHk357t1oCujd3JzTfy/Pd75beDEEIoIEV6FefrVgN3RxvyDSYOnil5r6+i8rmYC1NNowCI7fMNTnbWihOJ/2oa0IxjprrEJGVgjP0djEbVkYQoFyaTiQkTJtClSxeCg4OL3M7Hx4d58+axbNkyli9fTkBAAL169WLz5s1F7qPX68nMzCw0VVv2/7oAMv8uOLW92LtqtRo+eagl7o42HEm5TPjq2DIIKIQQ4makSK/iNBoNbeqbT9Y7TlxQnEaUuYPLmbPrArvy/IlwGM/gjs1vvY8od8F1XBhgt58F+a+jXToMU2Lxf0ALUZk9//zz7N+/nyVLltx0u4CAAEaNGkXr1q3p2LEjs2fPZuDAgUyfPr3IfcLDw3FxcbFMvr6+pR2/8uj2Kgz413f1VX/Y9UWxd/d0suOTh1oB8PWOU2w+Ko/mCCFEeZIivRro1sQDgE1ykq3aUmPh56c4eWAbh0x+dH3oRbRajepU4gbsrHV07TmQBtoUADJW/h9ky0U0UbW98MILrFixgo0bN1K3bt0S79+hQweOHTtW5OuTJk0iIyPDMiUlVfOOz9qNgvsXmOc9AiHmezAWv+l69yYePNnJD4BJyw+QrS8og5BCCCFuRIr0aqB7gLlI35N4ScY+rapMJpjdAYBPrOYwpFVtQuvf+nlPoc7D3ZpzyL4dAK4X9lCw5RPFiYQoGyaTieeff57ly5ezYcMG/P39b+t99u7di4+PT5Gv29ra4uzsXGiq9po/AKO3QpsR8EwUaLSw/XPzRd1ieLVvAHVr1uBM+hU+XnvzYfOEEEKUHinSq4E6rjXwdauB0QR7E9NVxxFlIeZ7y+wugnm9f1OFYURxaDQa8nu+ZVm22vk/KNArTCRE2Rg7dizffvst33//PU5OTqSkpJCSksKVK1cs20yaNInhw4dbliMiIvj11185duwYhw4dYtKkSSxbtoznn39exUeo3LybQ/tnIDcD3nGFdZPNF3XXTr7lrg62VoTfZ35s6usdCexOuFjGYYUQQoAU6dVG23/uqv4tJ9iqp0APv42xLJ7oMgMflxoKA4niCm7dmRmOL1uW9Ql/K0wjRNmYM2cOGRkZ9OjRAx8fH8u0dOlSyzbJyckkJiZalvPy8njllVdo0aIFXbt2ZevWraxatYr77rtPxUeoGmq4Qufx15Z3fA5fD7rlbl0be/BgaF1MJnht2X7p7V0IIcqBxmQymVSHKE+ZmZm4uLiQkZFRrZrCLfkrkUnLD9De342lz3ZUHUeUpnVvwvbPAHjd+nWmTJyInbWMJVxZGA0Gfgx/koNXatGqzzAe6NFWdSShQHU9N5Ul+U6LcCkBZra8ttxiKNw376a7ZOTk0/vTTZy/rOeFuxpZxlIXQghRfCU5L8md9GqirZ/5TnpMUjr6ArkKXpWc9+rCl8ZBHDD60W3wk1KgVzJanY68Xu/yraE3X/ydrjqOEKKqq+kHr568thw4+Ja7uNhb8+6QIADmbjrB0XOXyyicEEIIkCK92mjo4UAtBxv0BUZWH0hWHUeUlvjNTI+x4X95d/NBndn0D/ZWnUjchntD6uCqyeb3rEdI3/e76jhCiKrOoRb8Xxq0Ggb1OkDmWfioAZzeXeQufYO86dPMi3yDibd+O0g1a4gphBDlSnmRPnv2bPz9/bGzsyM0NJQtW7YUuW1UVBQajea66ciRI+WYuHLSaDQ80MY85M2bvxwk8UKO4kTijl1Oga8HEX9kD1c0Nfi/Qc3RaGTItcrIyc6aF5y3YqvJ5+LhKNVxhBDVgc4a7pkNDu5wcDnkXID5vSDybfOIIf+h0Wh4e1AzbKy07Dx5kQ1HUhWEFkKI6kFpkb506VLGjx/P5MmT2bt3L127dqV///6FOo+5kbi4OJKTky1T48aNyylx5fZqWADt/NzIzjPw9oqDquOIO2Rc8QIA39p8wMNt6tCstjxzWZk1ccwF4Fym9PAuhChnNetfm98WAeG+YDRet1ndmvaM6GweQu+D1bEUGK7fRgghxJ1TWqTPmDGDkSNH8vTTTxMYGEhERAS+vr7MmTPnpvt5enri7e1tmXQ6eQa3OKx0Wqbd3xwrrYaNcec5eCZDdSRxu1KPoD22DoATmnqM79dCcSBxpzydzT3yd0xeDEbpN0IIUY4CB8FTf1xbzrsMU2uCIf+6Tcf0bEhNe2tOnM9myV83v6kihBDi9igr0vPy8oiOjiYsLKzQ+rCwMLZv337TfUNCQvDx8aFXr15s3Ljxptvq9XoyMzMLTdVZAw9HegV6AvBn7DnFacTtMs3rbpmP6zqLmg42CtOI0lCz7rXekgvOxSpMIoSolup3Mj+nflXLR+Hy9X3YONtZM753EwBmRB4l48r1hbwQQog7o6xIT0tLw2Aw4OXlVWi9l5cXKSkpN9zHx8eHefPmsWzZMpYvX05AQAC9evVi8+bNRR4nPDwcFxcXy+Tr61uqn6My6tXU/J1vjDuvOIm4LUdWoykwN41ebdOPQT27Kg4kSoN7j+cs8/Fp2QqTCCGqLZ01/N8FePxXGDQTnOtAzBI4uanQZo+2r0cjT0cu5eQza/0xNVmFEKIKU95x3H87ujKZTEV2fhUQEMCoUaNo3bo1HTt2ZPbs2QwcOJDp06cX+f6TJk0iIyPDMiUlJZVq/sqoaxN3AA6eySBbX6A4jSiphPPp/GroBIDHQxHotNJZXFWg1WnJ0Lpy3uTMkeTq3eJHCKGQzgoa9gQrG3jfG34dDYsHw8YPLJtY67T8393NAFi8I4Gki9IZrRBClCZlRbq7uzs6ne66u+apqanX3V2/mQ4dOnDsWNFXcW1tbXF2di40VXc+LjWo41oDg9HE3sR01XFECRiNJiYcqM9b+U/xcpO1tG3kozqSKEVZDvWZXzCQTRdrqo4ibiV5H6yfqjqFEGXr0aXX5jd9CD8Ms/T83r2JB10bu5NvMDEj8qiigEIIUTUpK9JtbGwIDQ0lMjKy0PrIyEg6depU7PfZu3cvPj5SqJRUWz9zEbDu8I0fLRAVUOoR9B81IfjMUpxtTLw6sJXqRKKUnej3Lb8YurA76bLqKOJW1v0f7JoHl06pTiJE2Wl4FzwffW35yO/ww6OWxYl9mwLwa8wZYqUFkBBClJo7KtLz8vKIi4ujoOD2mkxPmDCB+fPns3DhQmJjY3nppZdITExk9OjRgLmp+vDhwy3bR0RE8Ouvv3Ls2DEOHTrEpEmTWLZsGc8///ydfIxq6YFQ87P5S/9Okk5fKgnTl3dRIzeVqdZfM6qzL94udqojiVLW0t8HDSaWZj1Jxsm/VccRRUk5APGbzD1gp+xXnabM3em5XlRy7o3g1RPXlpP3W4Zna17XhYEtfDCZ4OO1cYoCCiFE1XNbRXpOTg4jR47E3t6eoKAgy7jm48aNY9q0acV+n6FDhxIREcHUqVNp1aoVmzdvZvXq1dSvbx6vMzk5udCY6Xl5ebzyyiu0aNGCrl27snXrVlatWsV99913Ox+jWuvcqBb1a9mjLzCyLylddRxxK0dWock3dya23qorD/dqrziQKAsu9taMdt6OlyYdx28HqI4jipK069q8V7C6HGWstM71ogpwcIfXTpk7lJtwyLwu7TgAr4QFYKXVsOFIKn/FX1SXUQghqpDbKtInTZrEvn37iIqKws7u2t283r17s3Tp0pvseb0xY8aQkJCAXq8nOjqabt26WV5btGgRUVFRluWJEydy/Phxrly5wsWLF9myZQsDBsgP2duh0WhoUdcVgAMyXnrFZigo1LzQevBMbK10CgOJstTAxfynzpgH2Wk331io0XSQ+c8WD4Obv9osZag0z/WiCqjhau5QLvMsLBoIn4fCvJ74uzswtK25dd60P2Ix/fPMuhBCiNt3W0X6r7/+yueff06XLl0K9cTerFkzTpw4cZM9RUXSoo65Gth6LA2jUU6qFZXp4DLL/G+uw+nWoqHCNKKs+Qy51hnZufQshUlEkZy8oG849HlHdZIyJed6cUOOXpC43Tx/dg+sHM+LvRpTw1rHnsR0Ig+fU5tPCCGqgNsq0s+fP4+np+d167Ozs4scPk1UPN2aeKDVwI6TF3h9edV/rrKyiknOIdZovkvR8pGqXRQIaFLXA8M//zRnrf9YcRpRiNEA+36AK+nQcQw4eatOVKbkXC9uSKuDV09eW47+Cs/DixjRxQ8wP5tukAv/QghxR26rSG/bti2rVq2yLF89WX/55Zd07NixdJKJMhfg7cSsR0LQaTX8uPs0h85Ks/eKJlefx4sxdemf9yEfd9yFn5eb6kiiHGgx/8A1pcYqTiIK+Xow/PIsfFgfDq9QnabMybleFMmhFrx0+Nrymtd4tn0tXO2tOZaaxbI9p9VlE0KIKsDqdnYKDw+nX79+HD58mIKCAmbOnMmhQ4fYsWMHmzZtKu2Mogzd3aI2fxxIYdWBZD5cE8dH97eQXsMrivNxZH31MHUyH8HeuTFjezZSnUiUkwMdZtBi50ukXzGojiKu2jYTTm29ttywp7os5UTO9eKmXOrAM5tgXncIew9nOxvG9mjE+6tjiYg8yuCWtbGzlv5ThBDidtzWnfROnTqxbds2cnJyaNiwIevWrcPLy4sdO3YQGhpa2hlFGXusg7k3/c1HzzPkf1ulmVoFYZzXA/eckyyxeZ+J3Tyxt7mta2qiEqrX7TH89d/zQPZE0rL0quOIo2sh8q1ry5NOg62TujzlRM714pZqt4KRkeDXBexcGN4gizrO1pzNyOWbHadUpxNCiErrtn/1N2/enK+//ro0swhFOjasxeePhvD893s5l6nnxPksmnhV/R+gFVrCNrT5OQBE1ehDz86dFAcS5cnV3oYALyeOpFxmya5EXujVWHWk6u3nEdfmx+ysFgX6VXKuF7fk2848bvqs1thePMFGKyeaMof/RR3noba+uNSwVp1QCCEqndu6k67T6UhNTb1u/YULF9DppGlTZXR3i9q09zc/7xyTmK42THWXnwuLrg0t6DNstnTSVA090bomcbbDeWFLGzJPRquOU721HQk1asJ9X4JnoOo05UbO9aLYtFow5ANgU3CZmU7fkp6TzxebZBQAIYS4HbdVpBc1BqZer8fGxuaOAgl1WtVzBWBj3PU/ykT5KYi/9tzrep9nCKh7fe/Koup7uGMjbDUFADgvvst88UaUrzN7YM9i6DMVXkuAFg+pTlSu5FwvSmTMdsvsoPw1tNCcYMHWeJIzrigMJYQQlVOJmrvPmjULMPfwOn/+fBwdHS2vGQwGNm/eTNOmTUs3oSg3g1vWZt7mk/xxMIXY5EwCfZxVR6qWliY6E2hsRGvtcdo8KkOuVVca6xrEeD9Iq5SfAMg6GoVjUD/FqaqR+C3w9d1QJxSa9APH6nOxTM714rbYOsGYXTC7PQArbP+P4Nz5fBp5lI8eaKk4nBBCVC4lKtI//fRTwHx1fe7cuYWau9nY2ODn58fcuXNLN6EoN0G1Xegd6EXk4XOsPZQiRboClw79yawtl2lf0Jfk3p8y0MledSShUL1HZ8IMc5G+N/4cXYMUB6ouTCZzgQ5wJhq01avTRjnXi9vm2RT6vAuR/8elen2peyyNn6Pteaqzv/ymEEKIEijRL4/4+HgAevbsyfLly6lZs2aZhBLq9GlmLtLXx6YyvncT1XGql6S/qPnT/bjnfUBCnQH079FZdSKhmJuzA2ccg6mTdRCn4yuAJ1RHqvr0l+H3l64t3/V/YO+mLo8Ccq4Xd6TzOAi8m5pOtWnx/VYuxSbz7u+H+e7p9tK/ihBCFNNtPZO+ceNGOWlXUT0DzE06D5zJ4FymPANbbkwmWNAHgFnWn/HO4CC0WvkxI6CGnT2ZJnucM4+rjlI9ZKVC1rlry11fVpdFMTnXi9vm1gAyzzAxII1dds+TdjKGdYfP3Xo/IYQQwB0MwXb69GlWrFhBYmIieXl5hV6bMWPGHQcTang42dLS15V9SelsOJLKI+3qqY5ULRh3fWG5YnbGvTPd6skPY2Fmuu9LXvj8ezbpW7L5Qg71askjEGVGnwWGPNDZmpcdvaGa3/krjXN9eHg4y5cv58iRI9SoUYNOnTrx4YcfEhAQcNP9Nm3axIQJEzh06BC1a9dm4sSJjB49+rY/iyhneVm4r3kWgHW2r9H7dz+6N+mDnbWMDCCEELdyW0X6+vXrGTx4MP7+/sTFxREcHExCQgImk4nWrVuXdkZRzro38WBfUjp/x1+UIr086LPQrnnNshg4PEJdFlHh1Krth7FhLziWxvK9p+UxlLL05xTQWcM9c+DsXqjdSnUipUrrXL9p0ybGjh1L27ZtKSgoYPLkyYSFhXH48GEcHBxuuE98fDwDBgxg1KhRfPvtt2zbto0xY8bg4eHB/fffX1ofUZQln5bQfjTsMvdfEJ79f8xc78dr/aTTQSGEuJXbau4+adIkXn75ZQ4ePIidnR3Lli0jKSmJ7t278+CDD5Z2RlHOWtZ1AcxN3kXZy1927c7Q6pC5eLg6KUwjKqInfE4zTrec/Ng/VEep2rJSIPZ3iF0BTcKqVY/uN1Ja5/o1a9bw5JNPEhQURMuWLfnqq69ITEwkOjq6yH3mzp1LvXr1iIiIIDAwkKeffpoRI0Ywffr00vhoorz0DbfMttUeJWHLDxyU3xZCCHFLt1Wkx8bG8sQT5g6MrKysuHLlCo6OjkydOpUPP/ywVAOK8te8jrlIP5aaRUZOvuI0Vd+q3GB2GgOJ0TWnz91DVccRFVBzw0EmWP/MYxdmYjTeeOxqcYcK8iB2JWQkAvIdQ9md6zMyzEWam1vRHfLt2LGDsLCwQuv69u3L7t27yc+/8XlJr9eTmZlZaBKKabXwcpxl8RndSib+vJ98g1FhKCGEqPhuq0h3cHBAr9cDULt2bU6cOGF5LS0trXSSCWU8ne2oW7MGAO/8fkhxmqotNjmTCceaMyzvDbIf+RVr3W39lRRVnLureegiHy5w+vg+xWmqqITN1+btXJXFqEjK4lxvMpmYMGECXbp0ITg4uMjtUlJS8PLyKrTOy8uLgoKCIo8dHh6Oi4uLZfL19b2tjKKUOXnDU3+Q1fM93tON4UhyOvM2n1SdSgghKrTbqgg6dOjAtm3bABg4cCAvv/wy77//PiNGjKBDhw6lGlCoMXWIeUDm3/clczlX7qaXBdPhFfh82YLR2t/oG+RD50buqiOJCkrX6hHL/OG4uJtsKW7bln91ghY4SF2OCqQszvXPP/88+/fvZ8mSJbfc9r/DdZlMphuuv2rSpElkZGRYpqSkpNvKKMpA/U44dn+BYYP68qPNVPI3TON4apbqVEIIUWHdVsdxM2bMICvL/I/rlClTyMrKYunSpTRq1IhPP/20VAMKNe5q6kUDdwdOpmWz6eh57m5RW3WkqiU3E82Pj+MKTLReStIA+XsjbsLJm8wadXG+cpq2MW/AIHksotQl7TL/6dcVrGzVZqkgSvtc/8ILL7BixQo2b95M3bp1b7qtt7c3KSkphdalpqZiZWVFrVq1briPra0ttrby364iu9d+H7m607QxHeXtJaG8/cJoGW5UCCFu4LaK9AYNGljm7e3tmT17dqkFEhVHnyAvvth0knWHzkmRXsoMq17l6iA0axu+Sd9aN+7hWIirdHVD4dhpcgo0WOXk42JvrTpS1bDpY9jzNRgLzMsDPlabpwIprXO9yWTihRde4JdffiEqKgp/f/9b7tOxY0dWrlxZaN26deto06YN1tby/35lpfFoSg1TDgDvXHqd77d05tHuLRSnEkKIiue2mrs3aNCACxcuXLc+PT290EldVG5hzbwB2HgkFX2BQXGaKuRKOroDP1gWuz44TmEYUVk49HiRSxoXZuQ/wNB5O6TjpTtlMsHaybDxPchIAjQwJQM8A1UnqzBK61w/duxYvv32W77//nucnJxISUkhJSWFK1euWLaZNGkSw4cPtyyPHj2aU6dOMWHCBGJjY1m4cCELFizglVdeubMPJdSq1RAGf2ZZHLQhjNMXsxUGEkKIium2ivSEhAQMhuuLNr1ez5kzZ+44lKgYQnxd8XGx47K+gJ92n1Ydp8rIWve+ZT6qx8/Y20nzTFEMnkFccG/LL8auNEyNZHuUDMd2Ry6ehB2fX1sePEtdlgqqtM71c+bMISMjgx49euDj42OZli5datkmOTmZxMREy7K/vz+rV68mKiqKVq1a8e677zJr1iwZI70qaD0cU01zawonzRXm/fCzjFohhBD/UaLm7itWrLDMr127FhcXF8uywWBg/fr1+Pn5lVo4oZZWq+HZbg2YsvIw3+1K5LEO9VVHqhL+OG1DqNGbLDtvunfvrTqOqCys7Wjw3M+M/H4NzeN2033LLExdk9HY2KtOVvkc+BlObQdbF9D/M2Zz3XZqM1UgpX2uv9rh280sWrTounXdu3dnz549xT6OqDw0z26CafVYZezIr4k18N58gjE9GqmOJYQQFUaJivR77rkHMPesenXs1Kusra3x8/Pjk08+KbVwQr1BLWvzzu+HiU3O5OCZDILruNx6J1GkHbGnmJjUAY2mE7+P7lpkL8VC3IhWq2F8qB1Ox7cDcDLqGxqGPas4VSWTuBOWjTTPBwwA5zrmIaI8AtTmqkDkXC/KnJ0LTIilxvadZEbZ8tu6DbSt60DbRj6qkwkhRIVQoiLdaDQ/A+nv78/ff/+Nu7sMGVXV1XK0pXkdF/afzuDuz7Zy5N1+2Fnrbr2juE7B/mW4/jqNbtp7adKmN81qO6uOJCohpyZdLfNnj+2hYZjCMJVNdhos7HttOfRJaNK3yM2rKznXi3LhXJuefe9l/f7uNMzZB9++SuqLiXjWlJsBQghRomfSd+3axR9//EF8fLzlpL148WL8/f3x9PTkmWeeQa/Xl0lQoc6EPk0s83tOXVKYpBLLz8Vq+QgCjUf52uZDnu/dTHUiUVnprDjnNwSArud/wJh35RY7CIvjfxZelgL9huRcL8qLRqOhft06lmXj5+3IzZeOaoUQokRF+ttvv83+/fstywcOHGDkyJH07t2b119/nZUrVxIeHl7qIYVaPQI8uTfEfBLddiJNcZrK6cqvL1rmd7T6CBdnR4VpRGVXs8tIy3zsyVMKk1Qyxn9+/Nu7w9vpSqNUZHKuF+XJaug3lnlvQwpxs+5VmEYIISqGEhXp+/bto1evXpblH374gfbt2/Pll18yYcIEZs2axY8//ljqIYV6XRqZ76b8vj9ZemEtqcxkahy6NuRa+8HPKAwjqgKbht0o+Odppbyo6YrTVCIeTaHDWOj1fyD9QRRJzvWiXOmsYGK8ZbHl5U1s37hKYSAhhFCvREX6pUuX8PLysixv2rSJfv36WZbbtm1LUlJSiQLMnj0bf39/7OzsCA0NZcuWLcXab9u2bVhZWdGqVasSHU/cnn7B3jjZWnHqQg47T14/bq4oWuKmRZb5o0NWodVKcSDukEbDsSbP8ID+LSblDr/19tVdzkX49n6oGwr9PjA/iy6KVBbneiFuyt4NXo4DYJshiMWbD5N6OVdxKCGEUKdERbqXlxfx8earnXl5eezZs4eOHTtaXr98+TLW1tbFfr+lS5cyfvx4Jk+ezN69e+natSv9+/cvNFbqjWRkZDB8+PBCV/pF2XKwtaJXoCcAfyVcVJym8igwGHn1WBAAZ+wa0ySki+JEoqrwHvIOe2jKkZTLJF3MUR2nYtu3xPw8+t7vVCepFEr7XC9EsTh5k/fmJd5z/5D9Vzz56vvvMf3TiaEQQlQ3JSrS+/Xrx+uvv86WLVuYNGkS9vb2dO16rafh/fv307Bhw2K/34wZMxg5ciRPP/00gYGBRERE4Ovry5w5c26637PPPsujjz5a6EeDKHut69cEYG9iutoglYUhn62/fcmuVB2TeR77UatVJxJVSE0HG0Z7x/GZ9SzSlr+qOk7FtvYN859/faE2RyVR2ud6IYrLxkrLjIda0t3qIK8lv8TfK2arjiSEEEqUqEh/77330Ol0dO/enS+//JIvv/wSGxsby+sLFy4kLKx44wHl5eURHR193fZhYWFs3769yP2++uorTpw4wdtvv12S6KIUhPiai/TdCRdJzpAepW8la8v/6LF/Iq5cpmm/Z6hZy1N1JFHFDLPdyiDdTkJOfyt3nIqy+6tr89LMvVhK81wvREkF+jjzlt1SANrFTOZsSoriREIIUf5KNE66h4cHW7ZsISMjA0dHR3S6wuNl//TTTzg6Fq/X6rS0NAwGQ6Hn3sDczC6liH+Qjx07Zrm6b2VVvOh6vb7QUDGZmZnF2k9cr1ltZ5rXceHAmQxmbzzBu/cEq45UcRXk4RhlvpD0sfOP3NVuqOJAoipyH/IefLEegPi0bBp4OilOVAGlHLg23/oJdTkqkdI81wtxO2wGTYdfRgFg9WV3TJNj0WhLdF9JCCEqtdv6F8/FxeW6kzaAm5tboavtxaH5Tw+7JpPpunUABoOBRx99lHfeeYcmTZpc93pRwsPDcXFxsUy+vr4lyieu0Wk1jO1pbuIYLeOl39SFH1+wzNfv9jg66SxOlAFb52sXOc9v+1phkgoqNwN2LzDPd38NtNeft0TRSvNcL0RJ6Fo+RIFjbQA8DSnsXjFXcSIhhChfyi5Luru7o9Pprrtrnpqaet3ddTB3VLN7926ef/55rKyssLKyYurUqezbtw8rKys2bNhww+NMmjSJjIwMyyQ90t6ZFnVdAYg7d5ncfIPaMBWUMe0EtY6ah1zL1dagSRcZ81WUkRqullnrhI3qclRUmWehfmfzfN12arMIIUrE6rlro/00jnmf85f1N9laCCGqFmVFuo2NDaGhoURGRhZaHxkZSadOna7b3tnZmQMHDhATE2OZRo8eTUBAADExMbRv3/6Gx7G1tcXZ2bnQJG6fj4sd7o62GIwm/pZe3m/INLuDZT57mHQWJ8qQVsfxVq8DcDFLfsAWEr8FtFbwxEp4Ixka91adSAhREg7uGB79mWV29/G4/nWmrDikOpEQQpQbpQ/4TJgwgfnz57Nw4UJiY2N56aWXSExMZPTo0YD5Lvjw4eYxgLVaLcHBwYUmT09P7OzsCA4OxsHBQeVHqTY0Gg39gs0tHT7bcJx8g3RW9W9Z+gI+4kkOGv2Iqfs4tRq2Vh1JVHF13MzPBmfnGWRc4asyTsPXd8Px9eYm7jb2qhMJIW6Drkkfmg6P4LCmIXmHVrJ122bVkYQQolwoLdKHDh1KREQEU6dOpVWrVmzevJnVq1dTv359AJKTk285Zroof093aYCNTstf8ReZvi5OdZwK5fMNx/kipwevOE4j8MmZquOIaqBG1+fp77qSF/PHsjtB+ooA4OeR5j/XvKY2hxDijgXVdiHScxYTrZbSJXIQGeny75wQoupT3lXmmDFjSEhIQK/XEx0dTbdu3SyvLVq0iKioqCL3nTJlCjExMWUfUhTi5+7Ap0NbAbBwazw7TlxQG6iCuLh2GvfvvI+RutW8cndrbK2kkypRDjQa2vq7cZd2L5l7f1GdRr2Ug5C00zx/9Xl0IUSl5tvyLhprzwBwesFjitMIIUTZU16ki8ppQHNv+gV5k28w8c5KeU6MS6dw2xFOY80ZRtTYTK9AGRNdlJ/OPtBFe5A+8R+rjqLet/dfm79njrocQohSY939Fct80OWt7N0lzd6FEFWbFOnitmg0Gt4ZEgSYe3rPzM1XnEghk4mC2dc6OzQO+d8NhxEUoqyEeJgYYbUGnVHP5er8d3HTx5D1z4ghIY9Bzfpq8wghSodWCy/usyyG/DGIK1euKAwkhBBlS4p0cdu8nO2o52aPyQT7kzJUx1EmP34bVvlZAMQ7tcG3ebdb7CFE6fJ0sgPAVZPNgWMJasOo1LAn9HzTPN83XG0WIUTpqulHfothAGSY7Plp5QrFgYQQouxIkS7uSEg9VwB2nqy+z6Vn/zzWMl9r5FKFSUS1ZWVnmdXsqsZNvOu2gY5j4O10sJPhNoWoaqwHfcKx5i/TRT+Ld2KcOHS2+t4gEEJUbVKkizvSM8D87PXaQymKk6hx/rKeJdltOG9y5lCj0Ti7uquOJKojV1/01uaiNP3SecVhFDi6Dqa4wE9PgbEA5HETIaom6xo0vv8t+jdzp43pMFu/ex+DDAUrhKiCpEgXd6RnU0+stBqOpWZxJr36PR/28dojfKi/j5EeSwh8dJrqOKIay27xFAD9s1eQp9crTlOO8nLg+wfN84eWg1UNtXmEEGXuzYbHWGr7Ls9mf8G2ZTLcqRCi6pEiXdwRlxrWNPFyAuDA6erV7CxlxTs8uH8UA7U7eXtQEFqt3L0T6tSs04hEvJhZcB+HTiSojlN+1k66Nj/4M7CyUZdFCFEunEMesMx3OzyFM6lpCtMIIUTpkyJd3LHgOuZmttXp2TDjxQS898ygrTaO/9nMIrR+TdWRRDWnCXmcJfXfY1bBvaw9ZVIdp/zs+1c/ECGPq8shhCg/9m4Yh1zrfyNjwf2YTNXo3z0hRJUnRbq4Y83ruACwNzFdbZBypP+it2X+4mN/KkwixD80GpqGdMaAjo1HUlWnKT8F/zxm89hyeRZdiGpEG/IoRp2508xm+hjWb9+lOJEQQpQeKdLFHevcyNxZ2s6TF7iUnac4TdnLPvA7NfTmzrmS3Drh1qit4kRCmHV3Sma9zcuszRjEpYzLquOUj/ajzX/W9FMaQxRt8+bNDBo0iNq1a6PRaPj1119vun1UVBQajea66ciRI+UTWFQa2hd2A7CkoCczN5wgPafq/wYRQlQPUqSLO9bAw5Gm3k4UGE289GNMlW9ydvrPa03svEb9pDCJEIW52mloqE0G4PyGzxWnKWMFeshMhsDB0Hk8uDVQnUgUITs7m5YtW/L55yX7fzIuLo7k5GTL1Lhx4zJKKCotV1/yH1jMCac2JGXrWLj8d9WJhBCiVEiRLkrF5IGBAETFnefE+SzFacpOXMplxqcNAuBYu3exqeGoOJEQ/+LTyjLbZN80c8/nVZGhAKbVgz2Lwbcd9HlHmrpXYP379+e9997jvvvuK9F+np6eeHt7WyadTldGCUVlZh08hH5DxxCoTWTC8afYs3e36khCCHHHpEgXpaJrYw+6NjY3e/9171nFacqG6cIJ1v8QwSmDB5/6fETjfs+rjiREYVodCf0WWxbPJRxWGKYMbfoQCnLhr3lwdq/qNKKMhISE4OPjQ69evdi4ceMtt9fr9WRmZhaaRPXQxs+N+TX+B0Dr33qRm5evOJEQQtwZKdJFqekd6AXA7KjjHEmpYj+OTCZMn7en9cVVNLC6wAMPPg5a+esjKh6/DkPIwzwMmdf3veDyOcWJStnlc7D5I/N8ThrUDlGbR5Q6Hx8f5s2bx7Jly1i+fDkBAQH06tWLzZs333S/8PBwXFxcLJOvr285JRYVgU3DLpb5v7/5P4VJhBDizkmVIUrNI+3q0cTLEaMJNlSx3qVzj0WhNeXTQRvLy41T8HWzVx1JiCKdq90LgNeNYzmafElxmlJkNMInTa4tP70BdNbq8ogyERAQwKhRo2jdujUdO3Zk9uzZDBw4kOnTp990v0mTJpGRkWGZkpKSyimxqAisH/jSMt81aQ7H4uMVphFCiDsjRbooNTZWWh4IrQvAvqR0tWFKmd3391jmO973grogQhSD94jveMf9E9bkteDDn6LIzc5QHal0xK26Nl+/C9QNVZdFlKsOHTpw7Nixm25ja2uLs7NzoUlUIzb2MGKtZTH1h+cxGKt2R7ZCiKpLinRRqlr51gQg+lQ6BQaj4jSl49L2RZb5hIaPYedUU10YIYrB2krH+JFPUNPJkQdzfyblx5dVRyodVnbm4hxg2I9qs4hytXfvXnx8fFTHEBVdvQ5caXo/f5mC+CUriG93nlKdSAghbouV6gCiamlR1wU3BxvSsvSsPXSOgS0q+Y8qfRY1171oWaz/8M2bWwpRUbjUsGaS3xHCjv0Np/6GvFnmO02VWeM+5klUKllZWRw/ftyyHB8fT0xMDG5ubtSrV49JkyZx5swZFi82d3oYERGBn58fQUFB5OXl8e2337Js2TKWLVum6iOISqTGwwuJ25HAz78d5Mqa7+jlP5K6Pt6qYwkhRInInXRRquysdTzWvh4AS/5KVJzmzu1NvMD4vDGcNbmR0O8bNNY1VEcSotjaNG1omT8Xs1phkjuUmQyftYFDv0Bm1Rw9oirbvXs3ISEhhISYO/mbMGECISEhvPXWWwAkJyeTmHjtfJGXl8crr7xCixYt6Nq1K1u3bmXVqlUlHsJNVF/D2tZhmvsahpr+QDe/J8Yq0rJPCFF9aEwmU7V6YCczMxMXFxcyMjLkebUyknQxh64fbUSjge2v34WPS+UsbI1GE/fO2c6+pHQealOXjx5oqTqSECVjKIB3awGwMXgaPR94TnGg2/R5O0iLM8+PjDSPjV7FyLmp9Ml3Wr0VzAjGKtPceeDWwLfoMrSKPPYjhKi0SnJekjvpotT5utnTpn5NTCZYH1t5e3nPjGjP2+fG8ZjNZl7pG6A6jhAlp7PitGtbALxP/qw4zO0xJe68VqDXbVslC3QhROmzejbKMt8ldirxifJ8uhCi8pAiXZSJnk09AYiKO684ye3Rx/yEa2YcrbXHudcvD08nO9WRhLgtjvbm59ADc3ZT6RpO5V9Bs7DvteXH5JlkIUQxObhjun+BZdHjq04UFBgUBhJCiOKTIl2Uia6N3QHYFX8BY2UbAkWfhe2vT1sWgx4NVxhGiDtjN9D8/+9eYyPOpF9RnKZk8hJ2WeY31RsLdi4K0wghKhtN8wfIr9kIAEdTFj+uWa84kRBCFI8U6aJMBPo4Y2ul5XJuAQkXslXHKZGsVZMt8wdDpmBnJ3fRReVlVyeIIe6ruDdvKtGnLqmOUyILE2pxwujDRVxo8+g7quMIISoh62c3sL/Zq4TmzmHqDj2Hz2aqjiSEELckRbooE9Y6Lc1qmztE2H86Q3GaEjAacNy/yLIYdPcL6rIIUUpC67sBVJ4i3WQiM/IjZm4+w+SCkewYsBYHO2vVqYQQlZGdC80fnEzrZk2obUwh4aunyNHnq04lhBA3JUW6KDMhvjUB2Ho8TXGS4os+dZEvCgZyyeTIiXtWotFZqY4kxB3r43iC96wW4HtkoeooxfPXlzhve58GBccp8O3MgLZNVScSQlRiGo2GTxsfZIPtKwzI/5ODc4arjiSEEDclRbooM32DvABYezCF3PyK31mLMS+X2Su2EF4wjGnN/6Bhq26qIwlRKoJNx3nMaj2jriwgO/mo6jg3dyUd/ngVgEU2HzFlcBAajUZtJiFEpefY4QnLfLv01Wxfs0RhGiGEuDkp0kWZaevnho+LHZf1BWw6WvF7ec+JaEOX8z9wj+1uXu7bRHUcIUqNU4u7LfMFS4YpTHJrph+v/ZDeUG8cwXWkszghRCnQaOClw5bFTjtHcyopUWEgIYQomhTposxotRrubuEDwE+7TytOc3O50UtwzEniKau1POl7XoZcE1WLe2NOu4QCYLx8ruIOxXbhBJr4KABysab3Q8+rzSOEqFpc6mAY+p1lMe6b8eTkFSgMJIQQN6a8SJ89ezb+/v7Y2dkRGhrKli1bitx269atdO7cmVq1alGjRg2aNm3Kp59+Wo5pRUk9EOqLVgN/xp5jw5FzquPcmP4yditHWxabPjZdYRghyobbAxEA1DRlkBSzUW2YIhSsGG+Z/63LCmrJxTIhRCnTBd5NXp0OAEy9PJjXlh2ouBcuhRDVltIifenSpYwfP57Jkyezd+9eunbtSv/+/UlMvHHzIwcHB55//nk2b95MbGwsb775Jm+++Sbz5s0r5+SiuAK8nRjR2R+AeZtPKk5zY1d+vDYmenSn2TLkmqiS7N3rWeYvRv+sMEnRluv6ssbQlqU293Jfzw6q4wghqiibJ3/lWPfPSdF4Uu/gbNYvk9+RQoiKRWNSePmwffv2tG7dmjlz5ljWBQYGcs899xAeHl6s97jvvvtwcHDgm2++Kdb2mZmZuLi4kJGRgbOz823lFiWTnHGFztM2YDTBlok98XWzVx2pkOypdXEwXiZL44jDW6elkypRZa1c9RuR23bh1KAt7z99r+o4hZw4eYyw+UcxGOGbke3o2thDdaRyJeem0iffqbiV9b99Tc7u7xmk28neAb8T0q6r6khCiCqsJOclZXfS8/LyiI6OJiwsrND6sLAwtm/fXqz32Lt3L9u3b6d79+5FbqPX68nMzCw0ifLl41KD0Prm4diiKlgHcluPpfFa7pMAnHtkrRTookrzDurKCmNnNpyvWAWLaWM4tb7tw6vaJfQPdKt2BboQQo272jRnkG4nACGr7ybhVILaQEII8Q9lRXpaWhoGgwEvL69C6728vEhJSbnpvnXr1sXW1pY2bdowduxYnn766SK3DQ8Px8XFxTL5+vqWSn5RMj0CPAHYFJeqOMk1BfFbiVw+n13GQD5v9j0NmwSrjiREmQr0caaGRk96RjppmTmq45ilJ6HZNA1X4yVGW61k0sAWqhMJIaoJTZ3W5Pd827Ls91VLLlSUfxuFENWa8o7j/nvn0mQy3fJu5pYtW9i9ezdz584lIiKCJUuKHuty0qRJZGRkWKakpKRSyS1KpkeA+c7YtuMXKsaY6fosrL4eSOPLf+Ftb+Lxu8NuvY8QlZyjrRWb7V4l1m4El5ZNUB0HANPCfpb5b5ovop67g8I0Qojqxrr7BPK9QyzLSZ/1rxi/U4QQ1ZqyIt3d3R2dTnfdXfPU1NTr7q7/l7+/P82bN2fUqFG89NJLTJkypchtbW1tcXZ2LjSJ8tfMxxlPJ1uu5Bv4K/6i6jjkrnodgMes1jO+nT0u9taKEwlRPpx0+QA4nt6sOAlwYiOaTPPwjDs0Idw/aJDiQEKI6sj6mfUYbF04QR1W5gTz0tIYDEbp8V0IoY6yIt3GxobQ0FAiIyMLrY+MjKRTp07Ffh+TyYRery/teKKUaTQa7mpqbvIeeVjxUGzZF7Dbf62jwR69BysMI0T5uhg2E4DsAsg3GJVmyTq8zjJ/YeB87G2sFKYRQlRbWh26SYmcfyyKxQykduwCdn3+FEYp1IUQiiht7j5hwgTmz5/PwoULiY2N5aWXXiIxMZHRo81jVk+aNInhw4dbtv/f//7HypUrOXbsGMeOHeOrr75i+vTpPPbYY6o+giiBvkHeAKw5lKK0KVn21w9a5g8NXo3OSgoDUX14u7sD0EhzhhMnjyvN8nbmEAAWOo1mYGhDpVmEEKJDI08W9zYSrD1Fp4u/sHv2CBlDXQihhNLqZOjQoVy4cIGpU6eSnJxMcHAwq1evpn79+gAkJycXGjPdaDQyadIk4uPjsbKyomHDhkybNo1nn31W1UcQJdCpUS28ne1Iycxl9sbjTAgLKPcMptO7cUiNBiDZxo+g1p3LPYMQKmkd3S3z2dE/QOO3yj9EdhqnIz9n2YG2HNe+y/tDH5eRFYQQFULH9p1g0zAA2qUtZ+tCd7qM/FhxKiFEdaN0nHQVZNxUtX7ff5bnv9+Lm4MNOybdha2VrlyPv2b7Hlb+/gsTrH/GadQqPOs2KNfjC1ERXP6gMU55qfzhOYr+Y6aX+/FNC/qhSdpBN/2ndG7blvD7mpd7hopGzk2lT75TcdsuxsOsVpbFLXWfpcvID+ViohDijlSKcdJF9dQvyBsvZ1suZuex/fiFcj12tr6At6MussrYgTU9VkqBLqqtI50jeDX/GX7LUTDsYMoBNEk7AHjMdjOvhDUp/wxCCHEzbv4w9i/LYuOkH3ln5WF5Rl0IUW6kSBflykqnpXMjc3PbmKT08jtwbgYO4bWIuPJ/DHU5xMgu/uV3bCEqmPqte/GToQdr0jzYeiytXI9tWnBtuEPXLs9Qy9G2XI8vhBDF4hEAY3YC8HrBKL7ZfoIPl6yRXt+FEOVCinRR7lrWdQVg/+n0cjtm9k/PAdBRd5ihbethZ12+zeyFqEg8nex4qG46b1t9zcFl4eV34NiVaPJzAPjTujv39uxQfscWQoiS8gyEyee4f/C9NNQm0+PIVNLfb0K2vkB1MiFEFSfdWoty17yuC2C+k24wmtBpy/gZrwsncDixCoBsjQMhvYaW7fGEqAQmdbCj5u9rIRfSz72Iq1e9sj2goQCWXhuJw+HeWVjr5DqxEKKCs7ZjUGgjBv3R0bxsAMJrcW7Mcbw8PZRGE0JUXfILSZS75nVccLaz4lJOPnsTL5XtwUwmDHO6WBbTHl4lHb8IAdT08bPM5y0fW+bHM5mMvOb1BesMocz3nEzHZn633EdUDZs3b2bQoEHUrl0bjUbDr7/+est9Nm3aRGhoKHZ2djRo0IC5c+eWfVAhimJlA68nFVrlNbsRcXGHFQUSQlR1UqSLcmet09Ir0AuAP2NTy/RY+edi0RWYm9cedelM/YCQMj2eEJVGnVDS7PwA8Dy3GQr0ZXq4tUcusvSUE8+bXqXvw8+X6bFExZKdnU3Lli35/PPPi7V9fHw8AwYMoGvXruzdu5c33niDcePGsWzZsjJOKsRN2DnDW5fIq9XMssrw/SMsiz6tMJQQoqqSIl0o0aGBG1D2z6X/dDCTGfkPcJT6eD35dZkeS4jKxjT0W8t88q//V2bHMSy+h34/B/Cm1Tc8260Bvm72ZXYsUfH079+f9957j/vuu69Y28+dO5d69eoRERFBYGAgTz/9NCNGjGD69PIfLlCIQrRabF7Ygb710wDMzL+Hl3/ax9eLv0Sfn684nBCiKpEiXSgRVNv8XPqhs5mYTGXTU+qFs/Es3HKCWYb72DPgd1xqyrNjQvybh/+18cnPxR8sm4Mk70N3ciMAfjYZPNejYdkcR1QZO3bsICwsrNC6vn37snv3bvKlEBIVgO3gTzBOTCC42314aDJ44uQr2L7vzqmEE6qjCSGqCCnShRKNvRyx1mnIuJLPybTs0j/AlXRqzWvFA4bVDPc4wYNtfEv/GEJUAUce38M9+qm8lnF/6fdYXJAHX3SzLBr6TsPeRvorFTeXkpKCl5dXoXVeXl4UFBSQllb0kIF6vZ7MzMxCkxBlRWtfkxf6teSX4O2WdfUXteavHz8ss5sPQojqQ4p0oYStlY72/rUA+GjNkVJ//yvzBwAw2up3Hu3WrOx7kBeikgpo0IBLbi2IK/Bm6/FSHjN9+yzL7Gr7IYS1a1G67y+qrP928Hm16LlZx5/h4eG4uLhYJl9fuTgryl7dYZ+T69/Lstzu8AcY3nHn7KUchamEEJWdFOlCmdf7NwUgKu48+QZjqb2vKX4LNS4cAuCsrT9N2/YutfcWoqrRaDT09rMmVBPH4ePxpfvmG961zNZ/+BMZWUEUi7e3NykpKYXWpaamYmVlRa1atYrcb9KkSWRkZFimpKSkIrcVojTZPbEc44hIy3KmyY6hn67kq23xGIxyV10IUXJSpAtlmvk441LDGn2BkSPJl0vnTY1GNF/fbVm0empl6byvEFXYc2ffZJntO7y0tx/kXCyV9zQYTYQ7TGSjoSXzG8wkqJ70CSGKp2PHjkRGRhZat27dOtq0aYO1tXWR+9na2uLs7FxoEqK8aOu1g8nnyPbtwTaHPiTlOfLJyt1Eh4dx4uDfquMJISoZKdKFMlqthpa+rgBsP1E6zWyzL6db5rc0fAVPb2nuKMStaIOGWOZP//7Bnb9hzkXW/bmGLy604kXdZO67/9E7f09RaWVlZRETE0NMTAxgHmItJiaGxMREwHwHfPjw4ZbtR48ezalTp5gwYQKxsbEsXLiQBQsW8Morr6iIL0TxWdvhMPI3Br7yFV92z+Wg3dO0y/+Lhj/3JuP9xmRkZKhOKISoJKRIF0r1CfQE4PMNx7mYnXfH7zdnRyrLDF04oalP26GT7vj9hKgO3Hq/RLqV+U53fNKdj/lrimiO2/b3mGj1Ay/1aYKbg80dv6eovHbv3k1ISAghISEATJgwgZCQEN566y0AkpOTLQU7gL+/P6tXryYqKopWrVrx7rvvMmvWLO6//34l+YUoKa1WQ5++95LT8inLOpf8VFw+rcehReMoKMVH/IQQVZPGVM26oMzMzMTFxYWMjAxpClcBGIwmBn22lcPJmYzv3ZjxvZvc9ntd3Pg/nl1vIK7Am48f60zf4DqlmFSIqu3MyveoE/0x8dTB7+1Dt//8+L6l8MszAPxmPYABr3+HtU6uB9+KnJtKn3ynokLIuUjBjGCsCswj2eSbdDzhvIDnBneha2N5DEiI6qQk5yX55SSU0mk1PNOtAQAr9529/TdKPYLbpjdoYzpE+wY1CQuqXUoJhagevFwdAfDnDGeP7bu9N8nPtRToALXu/1gKdCFE9WbvhtWbZykYuR6A7zUD2H7ehlELtrA7PIy4rb8oDiiEqIjk15NQrmtjdwBOnM8m40p+yd/AaMQ0uwMAr1n/wKv9gqUXaSFKyKrFAwBEGVpy+MztdR5n+n28ZX6259t0aVq3NKIJIUSlZ+XbBqZkMGTiQiaF6Dli9xRt9LsI+PNJmOLC8V2/q44ohKhApEgXytVytKWemz0Ae05dKvH+hj2L0WB+amNfzb40qedTqvmEqBZc6vJBu508mf8af5/XwW08CXUh9QwAV0w2DHjo2dJOKIQQlZ6rvQ3PPnQvGZ0nF1rf6I9hMMWFw7s3KUomhKhIpEgXFUJ7fzcAPl4bV7IxRQv06H5/0bJYf/js0o4mRLURWr8m1hTQ8mA4F39/u0T75hUYeSHd3Iv7Ny2+xs/doSwiCiFE5afR4NJnIrx1kcxWoyyr9xgbEfvbRwz9Ygd7/t6OySgdzAlRXUmRLiqEl8MCcLK14nByJrtOXij2fle2zrHM72j2Fq413csinhDVQpdG7rzmtBY/zuIWPZOCdVOKt+Pp3cR8/ybRl2owSDeHRwb2KdOcQghRJWh1ON8zHd66xKUOr3G8/lBeN45lT3wqrVf1RzO1Jse+e5n8/Nt4FFAIUalJkS4qBG8XO+5uaW6mPmrxbrYfL9646XPPBzMubywbrbvS9r7xZZhQiKrPwdaKex4YTpD2FABW2z/FeCbm5jvl58L8XrieWEF9zTke798VJzvrsg8rhBBVhVZLzX5v8NDIiWx6tSfvB14bkrDxsflYv+9OyoxuZKTfXn8hQojKR4p0UWGM7OKPSw1rsvMMPPtNNLn5hptuf/TsRf63N5cVxs7YDF2ElZWunJIKUXW5B3Qg+p5rz0TGbl9x8x02vAtAE00SPdwzeaC1dBYnhBC3q7ZrDR564gUyBy8stN47cx8uEf5MWXGIUxeyFaUTQpQXKdJFhdHI04ltr9+FrZWWy/oC9p/OKHJbU8JWmszz5xvd+4xoeJnOjaSZuxClJbRVK+Jqdgfg/LmbDI2YmwE7PrcsDrhvOFqtjKwghBB3yrn1/TAlA/3IaxdNp+U/zKLtCUz65H8wxYUT6+bKc+tCVFFSpIsKxdHWit6BXgD8FV/Es+lGI5pFAwHoqDvMU/07lVc8IaoNR5da6E3W9EhbAoYbPw9p+mGYZf7z+p8R4u9VXvGEEKJasPVtBVMyME06Q49HXqVHgAeP6sxjrjfc/hqaqTU5Ne9RcnOy1AYVQpQqKdJFhdPun57ed8Xf+Nmrgh3/s8yvrz8e37r1yiWXENVJjdBHmGsYRAP9d2QX3ODu+LnDaBK2AHDa5MFDDzxUzgmFEKL60Ng60iG4EYueakeb/k8Ueq3+2VXYfVSHDV+/S+rlXEUJhRClSYp0UeFcLdJ3J1wi3/CfZlxZqVhFvmlZbP/o/5VnNCGqDbfmYfzs/DhGk4btJ65v1ZLp4MsQ3f/41dCJzZ2/xtPJTkFKIYSofrw7PQpTMsi6/7tC67+PM9F52gYWzP+c88tehQK9ooRCiDslRbqocAK8nHCpYc2VfAOv/by/0GuZ+3/npKk2ANvazcHR1kpFRCGqhQfq5zJG9xs+a56+rsn7zKgk9mXXZJbrazxwV0dFCYUQovpybH43TMkg/5WTHGr+GtQOwdGQgUNCJB4H5sF7nuROa0RB2knVUYUQJSQVjqhwtFoNz/dsxPurY1m+9wxeLnZM7BuARqPh44RG2Bb0ZLjdFjr2fVh1VCGqtF4eGQRbL4VMMH3UAM2kJMi/Au9784rJBpNuKN0HvY2NlVzvFUIIVawdaxF0/xvMB/adukDDxa/BPwPk2OWeh89DAMh6PBLHhu3UBRVCFJvyX1azZ8/G398fOzs7QkND2bJlS5HbLl++nD59+uDh4YGzszMdO3Zk7dq15ZhWlJdR3RrwdBd/AOZEnWB3fBqn1s/nt/3JrDO2IeOhX9DqlP/vK0SVFth5iGVeo8+EAj2mFS8AUEOTh0cdf7o38VAVTwghxH+0rF8Lx/9LJG3UHtJt61jWHzPW4fDiF5m8fD8JJ44oTCiEKA6lVc7SpUsZP348kydPZu/evXTt2pX+/fuTmJh4w+03b95Mnz59WL16NdHR0fTs2ZNBgwaxd+/eck4uysMbAwJpUdcFgJSti6m/5WWmWC9mcKArzQMaKU4nRNWns7VnWZ/tluXU49FoDvwEQL5Jx8Chz6mKJoQQ4ibc6zTEddJhcl9PIb7uPWyy78ND+jdZ8tcpfBd3gCkunPn2WYx50tGcEBWRxmQymVQdvH379rRu3Zo5c+ZY1gUGBnLPPfcQHh5erPcICgpi6NChvPXWW8XaPjMzExcXFzIyMnB2dr6t3KL8/BZzhhd/2EuC3bWhns4/fwIPdxkXXYhyob8M4XWvWz2/1c88fU8fBYGqJjk3lT75ToW4xmQysfPkRXZG/sRLKa8Vei3dsSHWI1fjUNNbUTohqoeSnJeU3UnPy8sjOjqasLCwQuvDwsLYvn17EXsVZjQauXz5Mm5ubkVuo9fryczMLDSJyqN7Ew/esPresrw5YLIU6EKUJ1sn8nT2hVat1N7FowN6KgokhBCipDQaDR0b1uKl0aNJHfRtoddcs07gMDOAD37fT9LFHEUJhRD/pqzjuLS0NAwGA15eXoXWe3l5kZKSUqz3+OSTT8jOzuahh4oenzc8PJx33nnnjrIKdVzzz/OM1SrLcocHXlaYRojq6eiQlXy39Hvqa86hx5oG90/F3kb6HRVCiMrIM3QQhGaQnZqAzRcdsDZcYWFBP77ceoq92//kY6cfKOj7MY1ad1cdVYhqS/mvLI1GU2jZZDJdt+5GlixZwpQpU/jtt9/w9PQscrtJkyYxYcIEy3JmZia+vr63H1iUr0vxltmDg1cRbK1TGEaI6qlpUGt+t77A5dwC2vm5Ma6V/BsqhBCVnYOnH/xfCkZ9Do0PHafzniv0TPgOP30crBgMK+BYn69o3Pk+1VGFqHaUFenu7u7odLrr7pqnpqZed3f9v5YuXcrIkSP56aef6N279023tbW1xdbW9o7zCkUcvaD1cHD0Jrh1F9VpxL8YDAby8/NvvaGoEsZ0qcfaQym8M7AJer1edZxKx9raGp1OLjIKISoera09XVu3oGtrOBfZEbb9YXmtceRTEPkU+4dE0iJEhm8TorwoK9JtbGwIDQ0lMjKSe++917I+MjKSIUOGFLnfkiVLGDFiBEuWLGHgwIHlEVWo5N4YBn+mOoX4F5PJREpKCunp6aqjiHLUow70qOMNWanEZ6lOUzm5urri7e1drNZiQgihglefF6HXC6T//n+47vncsv6Ln1aSEwOvdfeiaYP66gIKUU0obe4+YcIEHn/8cdq0aUPHjh2ZN28eiYmJjB49GjA3VT9z5gyLFy8GzAX68OHDmTlzJh06dLDcha9RowYuLi7KPocQ1cnVAt3T0xN7e3spOIS4BZPJRE5ODqmpqQD4+PgoTiSEEDeh1eI6+H0Y9B6Zq97Eau/XrKEjmrhkvjplHtXj7MNrqd20g+KgQlRdSov0oUOHcuHCBaZOnUpycjLBwcGsXr2a+vXNV+iSk5MLjZn+xRdfUFBQwNixYxk7dqxl/RNPPMGiRYvKO74oD4YCyMsCjRbsZAgd1QwGg6VAr1Wrluo4QlQaNWrUAMyPdHl6ekrTdyFExafR4Hz3+3D3+/yZls2hJW/CBfNLtX/oC0DaqD2412moMKQQVZPScdJVkHFTK5mErbBoILgHwPN/qU5T7eXm5hIfH4+fn5+l6BBCFM+VK1dISEjA398fOzu7Qq/Juan0yXcqRCkzGsn45jFc4lcVWr2x3vOEPjoFZztrRcGEqBwqxTjpQojKS5q4C1Fy8vdGCFGpabW4PPE9vJlKjmsTy+rfjxdw1/Qofvw7CaOxWt37E6LMSJEuhBBCiDI3e/ZsSyuC0NBQtmzZUuS2UVFRaDSa66YjR46UY2IhxA1Z2WI//m9Mrxwjzbsbp2u2wTX7JEd/DUc71ZWj21eoTihEpad8nHQhhBBCVG1Lly5l/PjxzJ49m86dO/PFF1/Qv39/Dh8+TL169YrcLy4urlCTQA8Pj/KIK4QoBo2jJ+6jV/JNgZGD375K64TvAGiy7nFYB+ef2Y9HbekJXojbIXfShRDiFjZt2kRoaCh2dnY0aNCAuXPnqo4kRKUyY8YMRo4cydNPP01gYCARERH4+voyZ86cm+7n6emJt7e3ZZIO94SoeGystLR+8hOyu7xRaL3HvBZs/vZ99AUGRcmEqLykSBcVj8kERuN/VyqJIkR8fDwDBgyga9eu7N27lzfeeINx48axbNky1dGEqBTy8vKIjo4mLCys0PqwsDC2b99+031DQkLw8fGhV69ebNy48abb6vV6MjMzC01CiPLj0Ps1+L80cmv+63n12Ev0/XQzmw+eUJhMiMpHinRRsUR/De+4wvvesP9HyMs2r9dnKY0lKrfz58/j7e3NBx98YFm3a9cubGxsWLdu3U33nTt3LvXq1SMiIoLAwECefvppRowYwfTp08s6thBVQlpaGgaDAS8vr0Lrvby8SElJ+f/27jyuyjr9//jrcNhlU0SWCUTNFVzBEm0dyy1Nc2qssbR0bFBLjcqy5utaaptDZlqaWKmTVla/NFPJAndT0mTSzBSFFAZxElCU7dy/P06ePIILhh7kvJ+Px/2Q+3Pf97mvz4dzuLzOvVW6TWhoKHPnzmXZsmV88sknNG/enK5du7Ju3brz7mfatGn4+/vbpvDw8Grth4hcArMbnqO3YRmdzok6EXzn1YVDx07Q4qM/w0R/fjlyxNERilwTdE261AyF/4V3e8Gxn63zhgWCWkBhNrTqC20fcGx8UinDMDhV6pjT2LzczJd8t+ygoCCSkpLo168f3bp1o0WLFjz44IOMGDGiwtG9c23evLnCOt27d2f+/PmUlpbi5qZHzohcinM/r4ZhnPcz3Lx5c5o3b26bj4uLIysri1dffZVbbrml0m3GjRtHQkKCbb6goECFuoiDuNSNwOfpdD49Xcq6D16hwaHjAFw3tyW7G/Sh8d/fxdNdZYjI+ejTIY63ahxsmW3fNng5hLaxTs26OyYuuahTpeW0Gr/aIfvePbk73lVI8L169WLYsGEMHDiQjh074unpyfTp0y+6XU5OTqVHAMvKysjLyyM0NLTKsYs4k/r162M2myscNc/Nza3w2bqQTp06sWjRovMu9/DwwMPD47LjFJHq5+vpxl0PPUnxm5/g8es+AFrlLoepgWzr+iEdb9b/8UQqo9PdxXGK/mf9t07939vM7jB6FzSMc0xMUqu9+uqrlJWV8eGHH7J48WI8PT0vabvKjgBW1i4iFbm7uxMTE0NycrJde3JyMp07d77k19mxY4e+FBO5Frl64DF6O8aILXbNrb56iKHvbiPzWJGDAhOpuXQkXRwjeTxk74KBH0OLPrB3FfxtKXjXc3RkUgVebmZ2T3bMt+BeblW/y/OBAwc4cuQIFouFQ4cO0aZNm4tuExISUukRQFdXVwIDA6scg4gzSkhI4KGHHiI2Npa4uDjmzp1LZmYm8fHxgPVU9cOHD/P+++8DkJiYSGRkJFFRUZSUlLBo0SKWLVumGzaKXMNMDVrChOMUb5zNV/tPMHpva8p+zCUxow+HAloTPOILPD3cHR2mSI2gIl2uvi1vwcbXIaglbEyEW56CvydfdDOpeUwmU5VOOXekkpISBg4cyIABA2jRogVDhw4lPT39oqfbxsXFsXz5cru2NWvWEBsbq+vRRS7RgAEDOHbsGJMnTyY7O5vo6GhWrlxJw4bWZyhnZ2eTmZlpW7+kpISnnnqKw4cP4+XlRVRUFF988QW9evVyVBdEpDqYTHjcNJK7boLmuYV8tnQ+vsdO4Zv/LUwL4odWCbS8dzwuLjpTTZybyThz3qaTKCgowN/fn/z8fPz8/BwdjvMxDOvd288YvgmCoxwWjlTN6dOnycjIoFGjRpd8qnhN8fTTT/Pxxx/z/fff4+Pjw+23346vry8rVqy44HYZGRlER0fzj3/8g2HDhrF582bi4+P54IMP+Mtf/nKVopfa4EKfH+Wm6qcxFan5jML/YnqtWYX2tNsX0uGWPrqsTGqVquQlXZMuV9fXL/z+870LVKDLVZGSkkJiYiILFy7Ez88PFxcXFi5cyIYNG5gzZ84Ft23UqBErV64kJSWFdu3aMWXKFGbOnKkCXURE5A8y+QbDxHyK71ts174xeRn3vrWZbXszz7OlSO12bZynKrXD90tg/VnPltZd2+Uque222ygtLbVri4iI4Pjx45e0/a233sp33313BSITERERj6je0Oo4p9a9gdc3/8eb3E/JoWO4Lx4JLgf4T8dptOo5XKfBi9PQkXS5ehq0gnvetv78j/XgXsex8YiIiIhIzWAy4XXrKJiYz7qxtzO5xS+0dTkAQPS2cbhMDmDP7L9xODfPwYGKXHk6ki5XT2gb8PSDZ7Os/4rUAFFRURw6dKjSZW+//TYDBw68yhGJiIg4t2A/Tx4aHE/BN8X4rZtga2+Z+wXM/oLX6z6Hb8xfaeVfTIhbEa6n8jhZZqKubx0CI1tj9vR1YPTnyPkPZUW/UlZWipvJoLggl4LcTP53ykIBddgT3IfScgslZRbaHlqAufQEFgu4u7rg4WbG5OKCC1DkUZ/0sL9yurSc4jILNx79iHql/8Vo0JKApl0ICW+Ci4sZXMxg1o1tr3Uq0uXKO/wdzLsdmvWA/nNVoEuNsnLlygqnwp9xsTu/i4iIyBViMuH35zHw5zGc/uELPD/6GwDPlw4hPceLXSt2M8H1PTq5rq50820ubXghcDqdGtcj2jufZnVOEBQQQHlZCX71gvEIagxVvDHdqZJy9h89wYmDaTTc8QqlZWVEHP+WAnNdzEYpdSwnOOniy9Oh7/JLsSe/FpUw6+RY2pr22You79+mEOBHSziTSprYXn+Lx78JMf1a6b73WCKY8l20bX6nx5sEmE5CBrDVft1ktz8zP2gsLiYTzUv30IdUAkxFnA7ugJ+bhfLAZrjVCSC4eSfMnj5VGgO5OlSky5VjGLD6edjypnX+p1Vg1vMvpWY58wgoERERqZk8o+6CqHwoPsHI3P/y6c8GDTKP437Yl19LfDFjwY+T9tuUFfB91nG+zzrOE64f0cf100pf+9uAXiy7bhxHTxTTPe897jz1JfXKrafUl+GCgQsWTEx1+QcfnerAKcOdpqbDrPHYZHsNv/LfC+s6lkIKM7axy9IGgEy3QHxMJyjDTDlmynChvssJjrs14KB3a3oHh+JudsHd1YXdufdwyDiBiwlKSsspLbdgGAYGBsfN9bm7QRje7mZczSYy98dQfOpngsuOVOjT9qJgthz4HwANzel0cPut7/+1/0LDYpgYVfcNjno3BcNgQv4/8bYU4uobhPeA+QTUD6nib0qqi4p0uTLKiuGFBvZtvV4FNy/HxCMiIiIi1zYPH8LCfRgZfqZhvt3i8nILeZl7yMs/gdnNk9dOB/Jtxv9ocsgNCit/ybVH/VmakwVAN9cs6rn+fs27KxbAAsAkyyzauN7EVPcxeNWNJjO/CTk+LcgOjKOOpzvergYFJeBOKf0a9mCwrx9167gR4H0rdb3dcXd1obi0nDoerni6mQkDWgG97KL51wW7399ubrntp7KyMnKOHqPcMDAKsrml2JNo/LEYBq45sOfH/ZwsM9HsZBo5BNLMyABgvxHG8pwADI4B0MJzu/UFT++FWc0B+DnybwT3n4avX8AFY5Pqpeeky5VxOA3mdQV+e3s9mgph7RwZkVSDa/k56SKOpuekX10aUxE5m1FWQnFpKR6e3hQc/5XjR3+hZNcyNrt1otCvKb6eroQU7cO7OBcvVxOuAaGY/cLwdAWzCUrLoV5oQ+r71o7//5RbDLIyD/DjCW+KyyyUWwyCdyfR5efXKl1/eOM19Gvlyy2tm+LloWveL0dV8pKOpMuV4R0IvWfAiidgYr6joxERERERJ2ZydcfT1XrZpX/devjXrQfN2tDUbq1IB0TmGGYXE5GRTex73GE8MB7Ky8j7agb1N7/Ip2538UTh33DdnUO7n16n+4ovKDG5k37LXKJvvhsPV7NjOlDLqUiX6pW1DXa8D3e/AX+K+f2RayIiIiIiUvOZXanffSx0H0s/w6B5diHbNyUz6D9fAOBulBCT+jCkQo5HJAfv+jexUS1xNevp3tVFIynVa+0k+O59OPoThLaFtvc7OiIREREREbkMJpOJVmF+DLr3Lxhj/kNRYGu75SHFB9n64SvcOHUtL32UQtqPB7BYnOpq6itCR9Kl+mR9CwfXW3/O2QVBzRwbj4iIiIiIVAtTQDjej28AoPzQFozF9+FaUkCq+23knywif2cqMT9Yb+b3bYP78OoxmehGoZiq+Kg70ZF0qQ7bk+D9fjD/zt/bPP0dFo6IXPveffddAgICHB1GlVyLMYuIiFwOc8NOuD6XBRPzWfr8IJIe7sgLbkm25TfkfkTr91timhTAlwtf4cecApzsfuV/iIr02mrtFJjRClaNg6L/QXnpldtXeSkUZv8+H/MIRN585fYncpWlpqYSExODp6cnjRs35q233nJ0SFeUyWTis88+u2r7i4yMJDEx0a5twIAB/PTTT1d83yqsRURE/hg3swu3tAjD5f/yKO06ucLy8p++om/iWu59bQXr3xtPxuHsSl5FzqbT3WurXUuh4DBsmW2dAB5YAs17Vt8+DAN+/gpu/AfkZ1nv6N68J3R+vPr2IeJgGRkZ9OrVi2HDhrFo0SI2btzIiBEjCAoK4i9/+ctVj8cwDMrLy3F1tf/zXVJSgru7+1WP50rx8vLCy8vL0WGIiIjIpTK74nbzaLh5NJQVU7r6/3Db9jZ7r7sXI9MT9/+lc/OJ12He6wD84h/DqTumc310R50Sfw4dSa+t+s+t2LbiCWth/UdZLFBeBoe/g7WTIf8X6PYCPLJSBbqzKjl5/qn0dBXWPXVp61bR0aNHCQkJYerUqba2rVu34u7uzpo1ay647VtvvUVERASJiYm0bNmSv//97wwZMoRXX331kveflJREVFQUHh4ehIaG8thjjwFw8OBBTCYTO3futK17/PhxTCYTKSkpAKSkpGAymVi9ejWxsbF4eHiwfv16brvtNh577DESEhKoX78+d95pvdxk9+7d9OrVCx8fH4KDg3nooYfIy8uzvf5tt93GqFGjGDt2LPXq1SMkJISJEyfalkdGRgJwzz33YDKZbPMXs3z5cruzDSZNmkRZWZlt+cSJE4mIiMDDw4OwsDBGjRpli+fQoUM88cQTmEwmW5I+9wj3xIkTadeuHUlJSURERODj48Pw4cMpLy/n5ZdfJiQkhAYNGvDiiy/axTVjxgxat25NnTp1CA8PZ8SIEZw4ccI2to888gj5+fm2fZ8Zi5KSEsaOHcuf/vQn6tSpw4033mj7nZzx7rvvEhERgbe3N/fccw/Hjh27pLESERGp9Vw9cLvrZZiYz5P/GMb2/7uDZ9pb7Fa5Lj+NpsvuxDQpgJcWrWDVf3SE/QwdSa+tGnaGhB/h+3/DD59CTjrcm3Tx7S7FsZ/hzY7QdQIUHIFlw2DIl9Xz2nJtmhp2/mVNu8HAj36ff+V6KC2qfN2GN8EjX/w+n9gaiiopfCbmVym8oKAgkpKS6NevH926daNFixY8+OCDjBgxgm7dul1w282bN1dYp3v37syfP5/S0lLc3NwuuP2cOXNISEhg+vTp9OzZk/z8fDZu3Fil+AHGjh3Lq6++SuPGjW3F63vvvcfw4cPZuHEjhmGQnZ3NrbfeyrBhw5gxYwanTp3imWee4a9//Stff/217bXee+89EhIS2Lp1K5s3b+bhhx+mS5cu3HnnnWzbto0GDRqwYMECevTogdl88eefrl69mgcffJCZM2dy8803s3//fh599FEAJkyYwMcff8y//vUvlixZQlRUFDk5OXz//fcAfPLJJ7Rt25ZHH32UYcOGXXA/+/fv58svv2TVqlXs37+fe++9l4yMDJo1a0ZqaiqbNm1iyJAhdO3alU6dOgHg4uLCzJkziYyMJCMjgxEjRjB27Fhmz55N586dSUxMZPz48ezduxcAHx8fAB555BEOHjzIkiVLCAsL49NPP6VHjx6kp6fTtGlTtm7dypAhQ5g6dSr9+/dn1apVTJgwoWq/VBERESfh5+lGu/uehf5PcWLbIrxWP4nZsH6Zv8cSzuL/FLEp/wA99r8AOxZBUAvoMhpa/xXMzleyOrzHs2fP5pVXXiE7O5uoqCgSExO5+ebKr2fOzs7mySefJC0tjX379jFq1KgK1zHKWfxC4eYnrVPpacCAzbOsRytvHVv119u+AFKmw4kc6/zaSdZ/TwdXW8giV8qZU9YHDhxIx44d8fT0ZPr06RfdLicnh+Bg+/d4cHAwZWVl5OXlERoaesHtX3jhBZ588klGjx5ta+vYsWOV4588ebLtaPkZ119/PS+//LJtfvz48XTo0MHujIGkpCTCw8P56aefaNbM+sSFNm3a2ArKpk2bMmvWLNauXcudd95JUFAQAAEBAYSEhFxSbC+++CLPPvssgwcPBqBx48ZMmTKFsWPHMmHCBDIzMwkJCeGOO+7Azc2NiIgIbrjhBgDq1auH2WzG19f3ovuzWCwkJSXh6+tLq1atuP3229m7dy8rV67ExcWF5s2b89JLL5GSkmIr0seMGWPbvlGjRkyZMoXhw4cze/Zs3N3d8ff3x2Qy2e17//79fPDBB/zyyy+EhVm/gHrqqadYtWoVCxYsYOrUqbz++ut0796dZ599FoBmzZqxadMmVq1adUljJiIi4pTMrvh0ehg6PQxASdZ3uPy4kwEl0bR3z4Itvx3YOfojfDbcOgHEDoHe/3JIyI7g0CJ96dKljBkzhtmzZ9OlSxfefvttevbsye7du4mIiKiwfnFxMUFBQTz//PP861/O80uqFm6ecDwL9q6CQxsgayu4eVtPU6/b0H7djPXw8SPg4QvDN1u3PbgBVowBUyVXSJSdqtgmzuW5I+dfZjrnSOzTP19g3XPeX2PSLz+mSrz66qtER0fz4Ycfsn37djw9PS9pu3Ovkzpzd9KLXT+Vm5vLkSNH6Nq16+UFfJbY2NiLtqWlpfHNN9/Yjgafbf/+/XZF+tlCQ0PJzc297NjS0tLYtm2b3anm5eXlnD59mqKiIu677z4SExNp3LgxPXr0oFevXvTp06fCdfUXExkZia+vr20+ODgYs9mMi4uLXdvZffnmm2+YOnUqu3fvpqCggLKyMk6fPs3JkyepU6dOpfv57rvvMAzDNl5nFBcXExgYCMCePXu455577JbHxcWpSBcREakC9/AONA/vwPMARksIfct6IPDXg/YrZn37+8/JE2BjIrToDeE3WP8NbHL1gr4KHFqkz5gxg6FDh/L3v/8dgMTERFavXs2cOXOYNm1ahfUjIyN5/XXrjQaSkqrp1G1n4mK2FuhgveEbWE8l8fSDmIetRXnWt/Beb+uyk0cheyf88BlsnWNtMyzw14XWwn7l0+DTwLqtODf3youdq7ruJThw4ABHjhzBYrFw6NChCsVqZUJCQsjJybFry83NxdXV1Vawnc/Fbnx2prg8+5EkpaWVP4mhsoLy3DaLxUKfPn146aWXKqx79hH/c0/RN5lMWCyWcze5ZBaLhUmTJtG/f/8Kyzw9PQkPD2fv3r0kJyfz1VdfMWLECF555RVSU1MvernA2SqL+0J9OXToEL169SI+Pp4pU6ZQr149NmzYwNChQ887zmf6YzabSUtLq3C6/5kvQPQYGRERkWpmMkF0f+sEUFYC/1kG+1bD9b+dTfjfH2D3/7P+/OMK65Q8/rftXaDny3DDb5fP5e2DwOutr3uNcViRXlJSQlpamu1UwTO6devGpk2bqm0/xcXFFBcX2+YLCgqq7bWvOX5h8KdYOLz997Z1v50qm7EebnwUFp1zt+qdi6HwrAKlfjOIiAOfIBh64RtuidQkJSUlDBw4kAEDBtCiRQuGDh1Kenp6hVPZzxUXF8fy5cvt2tasWUNsbOxFC0xfX18iIyNZu3Ytt99+e4XlZ04tz87Opn379gB2N5Grqg4dOrBs2TIiIyOrfJT6bG5ubpSXl1dpv3v37uX6668/7zpeXl7cfffd3H333YwcOZIWLVqQnp5Ohw4dcHd3r9L+LtX27dspKyvjtddes30h8uGHH9qtU9m+27dvT3l5Obm5uee9/KpVq1Zs2bLFru3ceREREfkDXN2h3QPW6YyglnBzAuz60Fqwn/rf78sMC9RrbL3JtVEOs84647BZD+gwCJr8GVw9a3zh7rAiPS8vj/Ly8kqv9Tz3qNUfMW3aNCZNmlRtr3fNG7wc9nwO5SVgdodP/2Ft37caDm0CTIABTbpC2wegZW/YNAv2rYHQdvBoSo1/U4tU5vnnnyc/P5+ZM2fi4+PDl19+ydChQ1mxYsUFt4uPj2fWrFkkJCQwbNgwNm/ezPz58/nggw8uab8TJ04kPj6eBg0a0LNnTwoLC9m4cSOPP/44Xl5edOrUienTpxMZGUleXh7//Oc/L7uPI0eOZN68eTzwwAM8/fTT1K9fn59//pklS5Ywb968S7oJHGD7YqFLly54eHhQt27dC64/fvx4evfuTXh4OPfddx8uLi7s2rWL9PR0XnjhBd59913Ky8u58cYb8fb2ZuHChXh5edGwYUPb/tatW8f999+Ph4cH9evXv+wxOFuTJk0oKyvjjTfeoE+fPmzcuLHCM+4jIyM5ceIEa9eupW3btnh7e9OsWTMGDhzIoEGDeO2112jfvj15eXl8/fXXtG7dml69ejFq1Cg6d+7Myy+/TL9+/VizZo1OdRcREbnSXFysxXaHQb+3ncyzXsOe/T0ER1nX+d7+S3l+WmWdAHyC4amfrD8fz4Qvn4W290PkTeBVt0bUOg5/BFtl13pW53Pyxo0bR35+vm3Kysqqtte+Jrl7W9+EHQZZ/x361e/LSgqh41B4Ngse+gTa3AduXnDr09a2Yd/UiDetSFWlpKSQmJjIwoUL8fPzw8XFhYULF7JhwwbmzJlzwW0bNWrEypUrSUlJoV27dkyZMoWZM2de8jPSBw8eTGJiIrNnzyYqKorevXuzb98+2/KkpCRKS0uJjY1l9OjRvPDCC5fdz7CwMDZu3Eh5eTndu3cnOjqa0aNH4+/vb3fd9sW89tprJCcnEx4ebjvCfyHdu3dnxYoVJCcn07FjRzp16sSMGTNsRXhAQADz5s2jS5cutGnThrVr17J8+XLb5QKTJ0/m4MGDNGnSxHZ2QXVo164dM2bM4KWXXiI6OprFixdXuJSqc+fOxMfHM2DAAIKCgmw34luwYAGDBg3iySefpHnz5tx9991s3bqV8PBwADp16sQ777zDG2+8Qbt27VizZs0f+oJFRERELlOd+tYCO24k+P52I9i298MTP0CfmRDeyX79gN/ux1V8An7ZDnu/gA8fgpcbwaQAmOgPszrCXsc9vcpkOOjCupKSEry9vfnoo4/sbr4zevRodu7cSWpq6gW3v+2222jXrl2V7+5eUFCAv78/+fn5+Pn5XU7otc/xLEiM/n2+io+3Eudx+vRpMjIyaNSo0SXfdE1ErC70+VFuqn4aUxERsWMYcDofMKxHzA0D1k6GDTMqX7+a7yhflbzksNPd3d3diYmJITk52a5IT05Opm/fvo4KyzkFhMPAj2Hj69Csu6OjERERERERqV4mE3gF2M/fMcE6AZw4aj2qvv8b6xH5iDiHhAkOPt09ISGBd955h6SkJPbs2cMTTzxBZmYm8fHxgPVU9UGDBtlts3PnTnbu3MmJEyc4evQoO3fuZPfu3Y4Iv3Zpeic8vAI6P+7oSESuqqioKHx8fCqdFi9efNHtz7etj48P69evvwo9uPL+6BiJAMyePdt2FkFMTMxFPx+pqanExMTg6elJ48aNK9xPQEREpFr5BFmfWvXX96DnSxDVz2GhOPQRbAMGDODYsWNMnjyZ7OxsoqOjWblype06xuzsbDIzM+22Ofv6yLS0NP7973/TsGFDDh48eDVDF5FaYuXKled9HNfF7vwOF74b+5/+9KfLDatG+aNjJLJ06VLGjBnD7Nmz6dKlC2+//TY9e/Zk9+7dREREVFg/IyODXr16MWzYMBYtWsTGjRsZMWIEQUFBl3w/CBERkWuVw65JdxRdoyZy+XRNusjlc+Zr0m+88UY6dOhgd6PGli1b0q9fvwo38wN45pln+Pzzz9mzZ4+tLT4+nu+//57Nmzdf0j5r+5iKiMi1pSp5yeF3dxeRa4+TfbcnUi2c9XNTUlJCWloa3bp1s2vv1q0bmzZtqnSbzZs3V1i/e/fubN++/bxndRQXF1NQUGA3iYiIXItUpIvIJXNzcwOgqKjIwZGIXHvOfG7OfI6cRV5eHuXl5RUujQgODiYnJ6fSbXJycipdv6ysjLy8vEq3mTZtGv7+/rbpzOPyRERErjUOvSZdRK4tZrOZgIAAcnNzAfD29sZkMjk4KpGazTAMioqKyM3NJSAgALPZ7OiQHOLcvxWGYVzw70dl61fWfsa4ceNISEiwzRcUFKhQFxGRa5KKdBGpkpCQEABboS4ilyYgIMD2+XEm9evXx2w2Vzhqnpube94bD4aEhFS6vqurK4GBgZVu4+HhgYeHR/UELSIi4kAq0kWkSkwmE6GhoTRo0OC814aKiD03NzenPYLu7u5OTEwMycnJ3HPPPbb25ORk+vbtW+k2cXFxLF++3K5tzZo1xMbGOt3lAiIi4nxUpIvIZTGbzU5bdIhI1SQkJPDQQw8RGxtLXFwcc+fOJTMzk/j4eMB6qvrhw4d5//33Aeud3GfNmkVCQgLDhg1j8+bNzJ8/nw8++MCR3RAREbkqVKSLiIjIFTVgwACOHTvG5MmTyc7OJjo6mpUrV9KwYUMAsrOzyczMtK3fqFEjVq5cyRNPPMGbb75JWFgYM2fO1DPSRUTEKeg56SIiIg6m3FT9NKYiIlKT6DnpIiIiIiIiItcgpzvd/cyJAwUFBQ6ORERExOpMTnKyk9uuKOV7ERGpSaqS652uSC8sLATQs1NFRKTGKSwsxN/f39Fh1ArK9yIiUhNdSq53umvSLRYLR44cwdfXF5PJ9Idfr6CggPDwcLKyspzymjf1X/1X/9V/Z+0/VN8YGIZBYWEhYWFhuLjoSrTqUJ353tnf6+q/+u/M/QeNgfp/9XO90x1Jd3Fx4brrrqv21/Xz83PKN+0Z6r/6r/6r/86sOsZAR9Cr15XI987+Xlf/1X9n7j9oDNT/q5fr9XW9iIiIiIiISA2hIl1ERERERESkhlCR/gd5eHgwYcIEPDw8HB2KQ6j/6r/6r/47a/9BY+AsnP33rP6r/87cf9AYqP9Xv/9Od+M4ERERERERkZpKR9JFREREREREaggV6SIiIiIiIiI1hIp0ERERERERkRpCRbqIiIiIiIhIDaEi/Q+YPXs2jRo1wtPTk5iYGNavX+/okK6IdevW0adPH8LCwjCZTHz22Wd2yw3DYOLEiYSFheHl5cVtt93GDz/84Jhgr4Bp06bRsWNHfH19adCgAf369WPv3r1269TmMZgzZw5t2rTBz88PPz8/4uLi+PLLL23La3PfKzNt2jRMJhNjxoyxtdX2MZg4cSImk8luCgkJsS2v7f0HOHz4MA8++CCBgYF4e3vTrl070tLSbMudYQyclbPkenDufO/suR6U78+mXK9c7+hcryL9Mi1dupQxY8bw/PPPs2PHDm6++WZ69uxJZmamo0OrdidPnqRt27bMmjWr0uUvv/wyM2bMYNasWWzbto2QkBDuvPNOCgsLr3KkV0ZqaiojR45ky5YtJCcnU1ZWRrdu3Th58qRtndo8Btdddx3Tp09n+/btbN++nT//+c/07dvX9kepNvf9XNu2bWPu3Lm0adPGrt0ZxiAqKors7GzblJ6ebltW2/v/66+/0qVLF9zc3Pjyyy/ZvXs3r732GgEBAbZ1avsYOCtnyvXg3Pne2XM9KN+foVyvXF8jcr0hl+WGG24w4uPj7dpatGhhPPvssw6K6OoAjE8//dQ2b7FYjJCQEGP69Om2ttOnTxv+/v7GW2+95YAIr7zc3FwDMFJTUw3DcM4xqFu3rvHOO+84Vd8LCwuNpk2bGsnJycatt95qjB492jAM5/j9T5gwwWjbtm2ly5yh/88884xx0003nXe5M4yBs3LWXG8YyvfK9VbOlu+V69tWuswZ+l/Tcr2OpF+GkpIS0tLS6Natm117t27d2LRpk4OicoyMjAxycnLsxsLDw4Nbb7211o5Ffn4+APXq1QOcawzKy8tZsmQJJ0+eJC4uzqn6PnLkSO666y7uuOMOu3ZnGYN9+/YRFhZGo0aNuP/++zlw4ADgHP3//PPPiY2N5b777qNBgwa0b9+eefPm2ZY7wxg4I+V6e872PnfmXA/Om++V65Xra0quV5F+GfLy8igvLyc4ONiuPTg4mJycHAdF5Rhn+ussY2EYBgkJCdx0001ER0cDzjEG6enp+Pj44OHhQXx8PJ9++imtWrVyir4DLFmyhO+++45p06ZVWOYMY3DjjTfy/vvvs3r1aubNm0dOTg6dO3fm2LFjTtH/AwcOMGfOHJo2bcrq1auJj49n1KhRvP/++4BzvAeckXK9PWd6nztrrgfnzvfK9cr1NSnXu1b7KzoRk8lkN28YRoU2Z+EsY/HYY4+xa9cuNmzYUGFZbR6D5s2bs3PnTo4fP86yZcsYPHgwqamptuW1ue9ZWVmMHj2aNWvW4Onped71avMY9OzZ0/Zz69atiYuLo0mTJrz33nt06tQJqN39t1gsxMbGMnXqVADat2/PDz/8wJw5cxg0aJBtvdo8Bs5Mv1d7zjAezprrwXnzvXK9cn1Ny/U6kn4Z6tevj9lsrvCtSW5uboVvV2q7M3d9dIaxePzxx/n888/55ptvuO6662ztzjAG7u7uXH/99cTGxjJt2jTatm3L66+/7hR9T0tLIzc3l5iYGFxdXXF1dSU1NZWZM2fi6upq62dtHoNz1alTh9atW7Nv3z6neA+EhobSqlUru7aWLVvabh7mDGPgjJTr7TnL+9yZcz04b75Xrq9Iud6xuV5F+mVwd3cnJiaG5ORku/bk5GQ6d+7soKgco1GjRoSEhNiNRUlJCampqbVmLAzD4LHHHuOTTz7h66+/plGjRnbLnWEMzmUYBsXFxU7R965du5Kens7OnTttU2xsLAMHDmTnzp00bty41o/BuYqLi9mzZw+hoaFO8R7o0qVLhUcx/fTTTzRs2BBwzr8BzkC53l5tf58r11fOWfK9cn1FyvUOzvXVfis6J7FkyRLDzc3NmD9/vrF7925jzJgxRp06dYyDBw86OrRqV1hYaOzYscPYsWOHARgzZswwduzYYRw6dMgwDMOYPn264e/vb3zyySdGenq68cADDxihoaFGQUGBgyOvHsOHDzf8/f2NlJQUIzs72zYVFRXZ1qnNYzBu3Dhj3bp1RkZGhrFr1y7jueeeM1xcXIw1a9YYhlG7+34+Z9/x1TBq/xg8+eSTRkpKinHgwAFjy5YtRu/evQ1fX1/b37va3v9vv/3WcHV1NV588UVj3759xuLFiw1vb29j0aJFtnVq+xg4K2fK9Ybh3Pne2XO9YSjfn0u5XrnekbleRfof8OabbxoNGzY03N3djQ4dOtge01HbfPPNNwZQYRo8eLBhGNZHEkyYMMEICQkxPDw8jFtuucVIT093bNDVqLK+A8aCBQts69TmMRgyZIjtfR4UFGR07drVlrANo3b3/XzOTdy1fQwGDBhghIaGGm5ubkZYWJjRv39/44cffrAtr+39NwzDWL58uREdHW14eHgYLVq0MObOnWu33BnGwFk5S643DOfO986e6w1D+f5cyvXK9Y7M9SbDMIzqPz4vIiIiIiIiIlWla9JFREREREREaggV6SIiIiIiIiI1hIp0ERERERERkRpCRbqIiIiIiIhIDaEiXURERERERKSGUJEuIiIiIiIiUkOoSBcRERERERGpIVSki8gFTZw4kXbt2jk6DBEREblClOtFahaTYRiGo4MQEccwmUwXXD548GBmzZpFcXExgYGBVykqERERqS7K9SLXHhXpIk4sJyfH9vPSpUsZP348e/futbV5eXnh7+/viNBERESkGijXi1x7dLq7iBMLCQmxTf7+/phMpgpt554C9/DDD9OvXz+mTp1KcHAwAQEBTJo0ibKyMp5++mnq1avHddddR1JSkt2+Dh8+zIABA6hbty6BgYH07duXgwcPXt0Oi4iIOBnlepFrj4p0Eamyr7/+miNHjrBu3TpmzJjBxIkT6d27N3Xr1mXr1q3Ex8cTHx9PVlYWAEVFRdx+++34+Piwbt06NmzYgI+PDz169KCkpMTBvREREZFzKdeLOI6KdBGpsnr16jFz5kyaN2/OkCFDaN68OUVFRTz33HM0bdqUcePG4e7uzsaNGwFYsmQJLi4uvPPOO7Ru3ZqWLVuyYMECMjMzSUlJcWxnREREpALlehHHcXV0ACJy7YmKisLF5ffv+IKDg4mOjrbNm81mAgMDyc3NBSAtLY2ff/4ZX19fu9c5ffo0+/fvvzpBi4iIyCVTrhdxHBXpIlJlbm5udvMmk6nSNovFAoDFYiEmJobFixdXeK2goKArF6iIiIhcFuV6EcdRkS4iV1yHDh1YunQpDRo0wM/Pz9HhiIiISDVTrhepPromXUSuuIEDB1K/fn369u3L+vXrycjIIDU1ldGjR/PLL784OjwRERH5g5TrRaqPinQRueK8vb1Zt24dERER9O/fn5YtWzJkyBBOnTqlb9tFRERqAeV6kepjMgzDcHQQIiIiIiIiIqIj6SIiIiIiIiI1hop0ERERERERkRpCRbqIiIiIiIhIDaEiXURERERERKSGUJEuIiIiIiIiUkOoSBcRERERERGpIVSki4iIiIiIiNQQKtJFREREREREaggV6SIiIiIiIiI1hIp0ERERERERkRpCRbqIiIiIiIhIDaEiXURERERERKSG+P+nvqff1YJX+gAAAABJRU5ErkJggg==", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "# LIBの現在の充電率と推定して、実際の値と比較する\n", + "\n", + "X_current_est = np.array(X_current_est).reshape(-1,nx)\n", + "\n", + "plt.figure(figsize=(12,4))\n", + "\n", + "for i in range(nx):\n", + " plt.subplot(1,2,i+1)\n", + " plt.plot(t_eval[:-K],X[:-K,i],label=f\"x_{i}\")\n", + " plt.step(t_eval[K:],X_current_est[:,i],linestyle=\"--\",label=f\"x_{i}_current_estimated\")\n", + " plt.legend()\n", + " plt.xlabel(\"Time\")\n", + " plt.ylabel(\"State\")\n", + "\n", + "plt.savefig(\"images/chap8_LIB_MHE_current_est.png\")\n", + "plt.show()" + ] + }, { "cell_type": "code", "execution_count": null, diff --git a/src/images/chap8_LIB_MHE_current_est.png b/src/images/chap8_LIB_MHE_current_est.png new file mode 100644 index 0000000..6bd22b7 Binary files /dev/null and b/src/images/chap8_LIB_MHE_current_est.png differ