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@BiggieBoo18
Created November 25, 2020 01:23
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3link kinematics simulator
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{
"cells": [
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [],
"source": [
"%matplotlib inline\n",
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"from mpl_toolkits.mplot3d import Axes3D"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [],
"source": [
"# end effecter\n",
"rx = 70\n",
"ry = 80\n",
"rz = 70\n",
"# link length\n",
"L1 = 70\n",
"L2 = 85\n",
"L3 = 85"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [],
"source": [
"def forward_kinematics2(th1, th2):\n",
" px = L2 * np.cos(th2) * np.cos(th1)\n",
" py = L2 * np.cos(th2) * np.sin(th1)\n",
" pz = L2 * np.sin(th2) + L1\n",
" return px, py, pz"
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {},
"outputs": [],
"source": [
"def forward_kinematics3(th1, th2, th3):\n",
" px = (L2 * np.cos(th2) + L3 * np.cos(th2 + th3)) * np.cos(th1)\n",
" py = (L2 * np.cos(th2) + L3 * np.cos(th2 + th3)) * np.sin(th1)\n",
" pz = L2 * np.sin(th2) + L3 * np.sin(th2 + th3) + L1\n",
" return px, py, pz"
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [],
"source": [
"def inverse_kinematics1(x, y, z):\n",
" OP = np.sqrt(x**2 + y**2)\n",
" alpha = np.arccos((L2**2 + L3**2 - OP**2) / (2 * L2 * L3))\n",
" beta = np.arccos((L2**2 + OP**2 - L3**2) / (2 * L2 * OP))\n",
" gamma = np.arcsin((rz - L1) / OP)\n",
" th1 = np.arctan2(y, x)\n",
" th2 = gamma - beta\n",
" th3 = np.pi - alpha\n",
" return th1, th2, th3"
]
},
{
"cell_type": "code",
"execution_count": 14,
"metadata": {},
"outputs": [],
"source": [
"def inverse_kinematics2(x, y, z):\n",
" OP = np.sqrt(x**2 + y**2)\n",
" alpha = np.arccos((L2**2 + L3**2 - OP**2) / (2 * L2 * L3))\n",
" beta = np.arccos((L2**2 + OP**2 - L3**2) / (2 * L2 * OP))\n",
" gamma = np.arcsin((rz - L1) / OP)\n",
" th1 = np.arctan2(y, x)\n",
" th2 = gamma + beta\n",
" th3 = -(np.pi - alpha)\n",
" return th1, th2, th3"
]
},
{
"cell_type": "code",
"execution_count": 15,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"th1= 0.8519663271732721 ( 48.81407483429036 )\n",
"th2= -0.8952769738767976 ( -51.29559209838456 )\n",
"th3= 1.7905539477535954 ( 102.59118419676913 )\n",
"px= 69.99999999999999\n",
"py= 79.99999999999999\n",
"pz= 70.00000000000001\n"
]
},
{
"data": {
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\n",
"text/plain": [
"<Figure size 720x720 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"th1, th2, th3 = inverse_kinematics1(rx, ry, rz)\n",
"print(\"th1=\", th1, \"(\", np.degrees(th1), \")\")\n",
"print(\"th2=\", th2, \"(\", np.degrees(th2), \")\")\n",
"print(\"th3=\", th3, \"(\", np.degrees(th3), \")\")\n",
"px1, py1, pz1 = [0, 0, L1]\n",
"px2, py2, pz2 = forward_kinematics2(th1, th2)\n",
"px3, py3, pz3 = forward_kinematics3(th1, th2, th3)\n",
"print(\"px=\", px3)\n",
"print(\"py=\", py3)\n",
"print(\"pz=\", pz3)\n",
"\n",
"fig = plt.figure(figsize=(10,10))\n",
"ax = fig.add_subplot(111, projection='3d')\n",
"x = np.array([0, px1, px2, px3])\n",
"y = np.array([0, py1, py2, py3])\n",
"z = np.array([0, pz1, pz2, pz3])\n",
"ax.plot(x, y, z, marker=\"o\")\n",
"plt.show()"
]
},
{
"cell_type": "code",
"execution_count": 16,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"th1= 0.8519663271732721 ( 48.81407483429036 )\n",
"th2= 0.8952769738767976 ( 51.29559209838456 )\n",
"th3= -1.7905539477535954 ( -102.59118419676913 )\n",
"px= 69.99999999999999\n",
"py= 79.99999999999999\n",
"pz= 69.99999999999999\n"
]
},
{
"data": {
"image/png": 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l0Gg0TNAwmIBhyIt4tgv5n1RIOQdGPIG0p6cHpaWlWa+NRWDkQ6lUwmAwwGAwoLW1FeFwWJhBs7KyAp7nYTQahZZttVpN5bk5yjUw2RJL0IyOjqKnp0cQL+KUExM0Vx9MwDBkIVahrtQRE6k27GAwiLGxMXAch4GBAWi1WmrWxkgNcUs2cCUNuL+/L9TQkM1Op9OB4zhq6k6YgEkd8kyRCcDkHSN2qWeC5uqCCRiG5MSb7SJ1zYoUxyMpo/b2dgQCAck2tnxYCTDR9BJqtRpmsxlmsxnAFZG6sLAAp9OJF198EWq1OqJlO1+ChgmY9BCfr1gRmmAweEjQiI0p2bk+WjABw5AUUqgba7aL1KP/szkez/NYXl7G1tYWent7UVJSgtXVVckEABMTdKHRaIQamoaGBvj9ftjtdmxsbMDpdKK4uFgQNKWlpTnb6JiASY9E50qhUEQU3McSNKQgmERx2LkvbJiAYUhCKrNd5IjAZCISAoEAxsbGoNPpcO7cOWGtUgqsfLwYmWhKnaKiItTW1qK2thYAhJbt5eVluFyuQy3bcl1PGq8XjWvKhFiCJhAICMaUSqUSGo1GiNAwQVN4MAHDyJpUZ7vQkEJyOBwYHx/H8ePHhQFqBCkFQD6MJpmAyRydTgedTof6+nrwPA+PxwO73Y75+Xl4vV6UlZUJgkaqLjoCbZvmUb2HxIKG/I5E0JCPruiUE4NumIBhZEz0bJdkXzByFPGmKhJ4nsfS0hJ2dnbQ398fcxCalOujbVNipD40TqFQoLS0FKWlpWhsbATP80LL9tTUFAKBAPR6PUwmE4xGY1ZF3zSmkK6G4XriScBApKAJBAIAwARNAcAEDCMjSH45HA6nHHrNVwopEAhgdHQUpaWlGBoaivsiYhEYRiwUCgX0ej30ej1aWlrAcZzQsr22toZwOCy0bBuNxpS8sgi0Chja1iQ3TNAUJkzAMNJGPNslnbxxPop4bTYbJicnceLECcEVORfru9o2gKsJpVIJo9EIo9GItrY2hMNhoWV7eXkZACJm0CSa5EyjWCCpYNrIpTiPJWhIDY1Y0Ih9nJigyT1MwDBSRpwyysSEMZc1MDzPY2FhAXt7exgYGEipbiFfERin0wmXywWTyZTW13usn0lTBIa2TVAusaBSqWAymWAymQBcmUFjt9uxt7eH+fn5iBk1er0+4rmh6XoRaE0h5VPsxWrZ5nkefr8ffr8fXq8X4XAYZrM5osuJIS9MwDBSIt5sl3TI1SA7v9+P0dFR6PX6hCkjOdeXyvnheR4rKyvY2NiAwWDAysoKFAoFjEYjTCYTDAYDlRsJIzFqtRpVVVWoqqoCcCUNYbfbsbW1hZmZGRQVFQmChkaxQGNUCKArMhT9DnS5XPD5fCgrK4Pf7xcG7pF0ExM08sAEDCMpmaaMoslFBMZqtWJqagonT54UNpBUyWUEJhQKYWxsDBqNBgMDA8J02GAwCIfDgZ2dHczNzUGj0aCiogImkwllZWVJ52DQ9kVP03rytRatVouamhqh683n88Fut2N1dRV7e3twu92orq5GRUUFSkpK8r7R0SQUxNAo9ggcx0GlUkWknDiOg8/nE/6OSqWKSDnReI4LDSZgGHFJZbZLOkgtYMQbNs/zmJ+fh91uTzllFOt4UtbAxNswnU4nRkdHBcNIIhCBKwPXxF/v4s3O6XSipKQEJpNJ9vkkRxUazldxcTHq6upQV1eHyclJmM1mYVKwx+OJaNmO1S0nN7QKBZosIKIhAoYQK+XEBI30MAHDiEk4HIbL5YJWq5VswJPURbwk5ePz+TA6Ogqj0YjBwcGM15qLCMza2hpWVlZw9uxZlJWVJT2OeLMj80lsNhvm5ubg8/lQXl4uRGjy0fnEyB6dTofq6mo0NDSA53m4XC7Y7XbMzMzA7/cL17iiogJFRUWyr4fmFBLNAiZR/Vo8QeP1eiMKhpmgSQ8mYBgRkELdQCCAF198Eddff71kD5IcERiPx4MXX3wRnZ2dgu9NNseTqwYmHA5jYmICPM/j3LlzGRXriueTNDU1geM4YT7J2NgYfD4fiouLUVxcnHY779UAjRtz9JoUCgXKy8tRXl6O5ubmiGs8MTGBUCgEg8EgtGxrNBrZ10QLtAuYdNZGBA35N0zQZAZ7wzEExCkjYnwm5UMjZZEsx3FCWuX666+X5MtU6iJeciy32w2LxYLGxkY0NjZKKggNBgMMBgNaW1uxvr4Op9MJh8OBpaUlod3XZDId6n5h0EEysRB9jcPhsDCDZmVlBTzPR8ygSdSynSq0CgVaa3OAKx8o2ZyzVASN2GmbCZorMAHDAJC6HUA2SBWB8fl8sFgsQmhdqrC6HDUwW1tbWFhYQHd3N/R6vSTHjodSqRSiM8AVB+ZY3S8mkymnhoW0QGNkIV3BLG7JBq4UgzscDthsNiwuLgqilcygyWRTpfE8AfTW5gCHa2CyJZagEY+wACB0OanV6qvWaZsJmKucaDsAOV8QUgiE3d1dzMzMoKurC8XFxZienpZoddKmkHiex/b2NoqLizE0NCRLqD+a6PVrNBpUV1cLA/yIYeHS0hLcbjdKS0sjCoIZ+SGbjUetVqOyshKVlZUAXhKtpItNrVZHdLGl8nzTKmBojQwB8q8tnqAJhUKCsBOnnK4WQcMEzFVMJnYA2ZBNBIbjOMzOzsLlcmFoaAharRZerzcnc2XSxev1Ym5uDjqdDr29vdS8SKINC91uN2w2m1AsSvx9KioqciK4GNKLhWjR6vf7YbfbhfRicXGxEMGJF4WjNVVDs4DJNoWULrGKgomgIf9dnHI6qoKGCZirFKlmu6RDpgLG6/XCYrGgqqoK/f39wlrz5a2UiJ2dHczOzqKxsVFoP88V6QgwhUKBsrIylJWVCcWiBwcHsNlsWFtbA8dxktdW5BsaIwtyr6moqAi1tbWora0VOvaio3Dilm1yD9EoFGgVVkD+xVUsQRMKhRAMBnFwcAAAEVOCj4qgYQLmKkPq2S7pkIlAIILg1KlTQt6fIPXgtmyOFx0hImIgl2SzfrG/DxBZW7GwsCCMy6+oqEB5eTmVG1whkktRpVAoYkbh7Ha70JZfVlZG7dRYWoUVIH0NTLaIBY3b7YZCccWQlJQKkAiN2JiSxmueDCZgriLStQMgNStSvTTSiZhwHIfp6Wl4vV4hZZTN8VIh0xodUlRsNpuFCFG6YoK2l0d0bUUgEIDNZsPGxkZEKsJkMsWdHkvb70Qj+fb3IVG4pqYm8DwPp9OJ1dVVodNJ3LId6xnMJfmOciSC5rWFw2EUFxdHCCxSPiAWNNHGlIXw/DIBc5VAoi7ppIyIQJDqwUxVIHg8HlgsFtTW1qKzszPuWmmIwBDrgug5NPkY6y/nz9RqtRGpCFIQTKbHioetZTIFORdcjSmkdCBf6WazGeXl5WhsbBSEzNraGsLhcERaMddzhmgXCTSvLTo6pFAoDgmaQCAAv98PINJpm0TkaLlPxTABc8TJJmWUS/dowtbWFubn53H69GkhnUHT+gjEusBms8W0LsiHgMkVCoUCJSUlKCkpiZgea7PZMDU1hWAwCL1eD7/fj2AwmJPpsYUKjfcIEVXitGJbWxvC4TAcDodQQ6NQKCJatuVOodAsYGheWyriKpGgIeJFo9EIKSdaBA0TMEeYbGe75LJINhwOY3p6Gn6/H+fOnUupC0bqByjVCFEgEIDFYoFer8fg4GDcl8NRisAk+7lkemxLSws4jsP+/j5sNhsmJyehUCiE6EwuNrpCg4aNQEy8YlmVSgWz2SxEGonx6N7eHubn56FWq4XBiXLUSdFWZyLmqNXniAUNeacEAgEEAgE8/fTTWFpawsc//nHJ15ouTMAcQaSa7ZKrCIfb7cbo6Cjq6urQ1dWV15qAZAKAjHRP5nYt5VTfQkOpVAptuidPnoRKpTq00YkLgnN1vWlK1xBoXVMq74xo49FAIAC73Y7NzU1MT08LgxMrKiqSOqlLua58QNs1FBMrhZQOYmsDANjb24swpcwnTMAcMaSc7ZILAbO5uYnFxUWcPn0aBoNBsp+VCYkEDM/zWFpaws7ODvr7+1Ma/Ha1RGCSEb3R+f1+oV2bOGyTguCrzWGbVgGTyZq0Wi1qampQU1MD4Mr4A4fDgZWVFbhcLuE6V1RUxC38TgTNaRqayVbARONyuVIyos0FTMAcIaSe7SJnl084HMbk5CRCoVDG5oZSEy9qEgwGMTY2JkzVTeUlmk4EhrYNTG6KiooOOWyTVl6v1wu9Xi+L+zKN4u4oCZhoSMt29HUmhd9lZWURM2iSwQRMZkh93jweDxoaGiQ7Xjbkf9dgZA3P8/D7/cKNmo+251QgEQKXy4XR0VHJzQ2zJVYNzP7+PsbHx9He3o7a2tq0jsciMMlRKF5y2G5sbATHcUJBsNh92WQySdL5Qsu9RjNyCIXo60zeA3a7XZgEXV5eLqQWY7Vs0zzIjmakjsB4PB6UlpZKdrxsYAKmwCHV4sPDwzh58qSkN5YcAoYUwJ45cwbl5eWSHVsKxAKA53msrq5ifX0dPT09aZ/XQhQTNKBUKqHX66HX6wX3ZVIQTDpfxAXBR+GLnLZNORdRIXHhN5kE7XQ6YbfbsbGxIQhX0rKt0WiorYGh/TlnKSQGlZBCXfJgSyk2AGkFTCgUwuTkJMLhMDUpo2iI6AiFQhgfH4dKpcK5c+cyeviP2hyYfEEmAJtMJgCRZoWzs7NpFYrSmK6hkXycJ6VSCYPBAIPBECFc7XY7VlZWwPM8OI5DUVER9Ho9Vd1ItEeGpL6eJP1HA/TtIoykxJrtolKpqBUwTqcTo6OjaG5uxsHBAZXiBbjy+/r9fly8eBEtLS1Z5XnTFRNsc02NaLNCn88Hm80mFIoyh+3soWFDjhauoVAIo6OjcDqduHz5sjCjhoZIHM3t3XJAPLRogM6dhBGXeLNdaIzA8DyP9fV1rK6uCimjlZUVCVcoLVarFXt7exgaGso6vZUPKwEaIzByr6e4uBj19fWHvH3EDtskQsNIDRpTNWq1GlqtFq2trSgtLUUgEIDD4RAicVqtVrjOuWzNB+gvLpb6XLjdbmrS/0zAFAjRs12iu4xUKhXC4bCkPzObY5I0jFKpzDgNkyrZRi9IR5TX60VVVZUkD2e+Ukg0kev1RHv7EIdtu92O9fV1uN1uodj9qDhsywGt0UBxZEir1UZE4vx+v2B54HK5BK8uMo9Izt+HZhsBQPqPCLfbzVJIjNRJZbYLTRGYg4MDjI2NZZ2GSQUiFDJ9QXk8HoyMjKChoQGNjY1YW1uTdF25hrYITD6JHoU/NTUFnU4X4bBN5s8wh+2XoFXAJIoMFRUVxfTqWlpaElIe4pZtKX8/mlNIclxLFoFhpEyqs13kEjDpRGDEnTtnz57NiUrPxnCS+C51d3fDYDDA6XRKJgBYBIY+iKAhAxPJ5Nhoh+1cfLXTDK0pkVTXFcuri6QW5+bm4PP5UFZWJtRKZTtriNbzBcgTHfJ6vdTUlzEBQynilFEqJoxypJCUSqWQskpGKBTC2NgYNBpN0pSRlF8FmQgFjuMwPT0Nr9cb4bskpehgERj6iD43sSbHknZtEiYnmxytDttyQGsEJlOhEJ1a5HleaNmenJxEIBAQWrYrKipS8mGTYl25QI7oEE01UkzAUAiZ7ZKOCWM+U0hk2FtbWxvq6upSOqZUD1W6v7fX64XFYkF1dTU6Ozsjzm2qZo6pwNqoCw+dToeGhoYIh2273Y6pqamsN7lCgoYupFhIJRQUCoUwa0hsPkpqaDiOi5hBk6xrkuYaGKlnwND2fmEChjIytQNQKpUIhUKSriWZOOB5HisrK9jc3Ex52JvUAiadTXt3dxczMzM4depUzK6UoxCBYcQnnchCrEFrZJNbXV0Fz/NH1mGbpi9sMXJFhoj5KHknhMNhOBwOoYZGoVBEtGxHX2uaa2CkFjDA4QaSfMIEDCXEmu2SDiqVCoFAQNI1JRIwxB+oqKgI586dS3m9Urs0pxKB4Xkes7OzODg4wNDQUMwx5VKvjUVgjhbRm1woFDrksC0uCKblBZ8JtKaQgNzUealUKpjNZpjNZgBX3nWxrjVp2aY5hcQiMAzZySRlFE0uU0gOhwPj4+M4duxY2v5AchpExsLv98NisaCiogIDAwMJz22+IjCBQADr6+swGAxJp8kyMkfKl69arUZlZSUqKysBRLbxih22M3Vezie0Cph8bZ6x3NQdDgc2NzcxPT0N4Mo8IqfTSd3zK3V6i6YCXoAJmLySbLZLOshVxCsWBzzPY2lpCdvb2+jr60NJSUnax5SyzoSsMd6LzWq1YmpqCh0dHcJGk6u1pXod9/f3MTY2hqqqKmGaLHHpNZlMaRWPsghMcuTaXKLbeMXOy16vV9KuF7mhOaJAA0VFRRHF34uLi/B6vcLzS5N4lTq9RdMUXoAJmLwRnTLK9iaXOwITCAQwNjYGnU6XVsoo0TGlWmP0ps3zPBYWFmC1WjEwMJCyCMilAOB5Hmtra1hbW0Nvby/UanWEW7e4eJTk3ysqKqi1YWC8RCznZafTechhu6KigkrBSWsEhlaI7UEs8Up8g/LVzSaHkSMTMFc58ewAskFOAWO32zExMYETJ04Iky+zOaaUL+3oqEkgEMDo6CjKysowODiYltCSem3xCIfDGB8fh0KhEMQgqV+KLh4Vm9otLy9DoVAIHjHRw9dYBCYx+dqYxV0v0UaFHo8HL774IlUO20zApIc4YhVLvJIPkunp6UP2FvHq8aRCagHDIjBXMSRlNDU1hba2Nkm/puVIISkUCjidTszMzKC/v1+S3KccNTBk0ya1OZkKLanTW7Egk38bGxvR1NQEIHFuP9rULtbwNfLfmXgpDMg1raiogM1mw9mzZyMctrVarfDf81FTQWsbNY1rAhLXmcTqZiPRuI2NjYhonNFolLw9Xw4BQ4uNAMAETM4Q2wHY7Xa0trZKenyphUEgEMD4+DjC4TCuv/56yb4K5aiBCYfDWFpawtbWVsa1OWRtcooAskGRyb+ZIB6+Rkam22w2zM3NwePxgOM4bG9v5+TrLhWYqIoPiXTEcti22+0RDtukJipXBZS0iQWa76N06kyUSiUMBoPw/IujcSsrK+B5XkgZS+HXFQ6HJX0PMAFzFRI924VES6RU2yqVSjJhYLPZMDk5ifb2dqytrUka0pZaaPE8j7m5Oej1+qxqcwD5XtqkjdvpdCZs404X8cj0xsZGeDweTE1NwePxYH19XTAtNJlMeZlVQuMmSNOa4m3KxcXFqKurQ11dXcQY/NnZWfh8PpSXlwsRGrlEKk3nCaDv2onJpug5OsJK2vOj/boqKiqg1+vT/jmsiJeRMfFmu8jVMZTtMaOLXzUaDZaXlyVa4RWkFDAHBwfY3NxEfX09Ojs7JTmm1AQCAYyMjKCiogL9/f2yvoSVSiXUajXa2trQ1tZ2aFaJRqPJa2qCcZhk1yCWwzZJQayvryMcDkeI1KNa5E1rWguQtmsruj0/EAjA4XBge3sbMzMz0Gq1ETNokp0TOYp4WQTmKiDRbBeanKMJZF6K0WgUil95npdlndmGg3mex/r6OlZXV1FXVwej0SjN4iQmFArh+eefx8mTJ4UZEvGQ4uUcfYzol6HP54PNZsu6XZshDZlEFcQpiLa2toipsYuLixED9zL5YqcVWqcDA/JaCWi12pjpxbW1NbhcrqQGpFILGNJVRQtMwMgAibrEswPIxcyWdIg3L0Wusd3ZiKJQKISJiQmhg2d5eZm6/Dhx5fb7/Xj5y1+e08FPic5FcXEx6uvrUV9ff6hdOxgMwmAwwGQypeT/UojQloaQYj3RU2NJkffW1hZmZmZQVFQkRN1Sddim7XkC6J5Nk0srgej0otfrFSwPSHpH3LIttbhyu91CuosGjt5bKo+kagcgl4BJ98VD6kccDkda81KyIZsiXpfLhdHRUTQ1NaGxsRFA7lqfU4UILKVSiZKSkpyKl3Q2w3jt2sSNmXzJx2rXZkiDHIIqlsO2eIMr1Kgb7QImH2sT18ARA9LoeqlQKASbzQaNRiPJAEVWA3NESWe2i5QFt5ni8/lgsVhgMpkwODiYsy/TTCMwGxsbWFpawpkzZ1BeXi78eS5an1PF7XbDYrEIAuvXv/51zteQqZhLp11bp9NRFckoVHIREdLpdNDpdIeibmQmSSyHbRqvLRMwyYlVL3Xp0iUEg0FhgKJ4Bk0mTSQulyvi/ZtvmIDJkmg7gFRuZCkKbrOBuDJ3dnYKoedcka6A4TgOk5OTCAaDOHfu3KHUBi0CZnt7G/Pz8+ju7oZer0/730uxmUnZBp6oXVvcCWMymSSfXSEXtKWQgNyKhVgzSQ4ODmCz2QSHbaPRiFAoJIuLcTbQXMQrZw1MNiiVSigUCrS2tgofzaRle21tDRzHRcygSSVtzGpgjhDi2S7pTNTNVwSG4zihnXdwcDAvnixKpVIQe8nweDywWCyoq6tDc3NzzPObbzFIzqnL5cLQ0FDBbObpEN2uLe6EWVtbEza+fLVrFyr5Ft5KpRJGo1Eogidda5ubm7h06dIh1+V8btI0F/ECqX245gNxdCiWozoRNEtLS1AoFBEF4LGeY5ZCOiJEz3ZJ5+sgH5uu1+uFxWJBZWVlUldmOUm1ZmV7extzc3M4ffp0wi6jdASR1JDOLZPJJHuLdCrkykoguhMmFArBbrdjb28Pc3NzwiTZYDBIVX0STWsh5PueEUO61oqLizE0NCQ4bEenEfNhUkhLmqYQiXed1Gp1RAF4MBiEw+HA7u4u5ubmBAFbVlYGvV4PrVYLt9udcgrp/e9/Px555BFUV1djbGwMAPDJT34SDz/8MLRaLY4dO4Zvfetbwvv9C1/4Ar75zW9CpVLhq1/9Kl73utcl/RlMwKRJqoW6iVCpVLJturHC5GQC7KlTpwT1ne0xMyVZyofjOMzMzMDtdqc09C1f/j/EHyqZ03U6547GFEcqqNVqVFVVCa3ipF3b4/FgdHQ0It2Ubydmms4vjddb/CxFO2yTNCIxKSwvLxcKguW+rkzAyI9Go4l4jomA/dWvfoW7774b1dXV4Hkey8vLaGtrS3o93ve+9+EjH/kI7rjjDuHPbr75ZnzhC1+AWq3Gpz71KXzhC1/Avffei4mJCfzHf/wHxsfHsbGxgde85jVYWFhQ8Tyf8EufCZg0SDTbJR1UKhV8Pp/Eq3tpMyfrSlcMpHLMbElUA+Pz+TAyMoKqqip0dHSk9DPlmKmTCPIAb29vJ/WHSvWckXspWyFGi5kjade22Wxoa2sDx3HCdOdfLHvxw4UwrB4OtfoifPRVrXhTd02+l5wXaBUwsdYUnUYkDttEyIs9feRwTae5BoZmsnkfEAF7yy234JZbbsHU1BQ++MEP4utf/zo+9rGPoaOjAzfddBNe/epX48SJE4euzw033IClpaWIP3vta18r/N/XXnstHnjgAQDAgw8+iNtvvx1FRUVoa2vD8ePHsbCwcA7As4nWyARMipBC3UxSRtHItemS4yqVSuHrt7q6OmUxkOyYUq4xmr29PUxPT6OrqyutOQNybNrxXuKhUAhjY2PQarUYGhpKek6kFn+FCikcHXMW4ztTs/CFrlz/zQM//uLhaezs7OIdA02y11nQdi1oWw+QulAQO2y3tLTEdE0X10Vle11pr4G5Gujs7ATHcfjud78LpVKJqakpPPXUU/izP/szfOMb30g7uv+v//qveNe73gUAWF9fx7XXXiv8t/8dk9GQ7BhMwCRBipRRNHLMgREf12q1plQ/kgpSi63o44ln0WRSWCyXu3X0S5zMoGlpaUF9fX1ax8oVtERgCNHn8L6nlwTxQghwwL+PHuDauit1FjqdLsK4kLYNXkpoulaETIVCdBs+qafY2dnB3NwcNBqNcF0zsbGgNYVE4zUkyCWQSXdTV1cXurq68Id/+IdpH+Pzn/881Go13vOe92S1FiZgEpDObJd0kKsLSaFQYGZmRmg5lqIjRi6BABy2L8jk/Eq9acc63tbWFhYWFg7NoMn12gqdrQN/zD/fcYXQdvwkitRXIod2u122dm3aBBFt65Fq04uupyAj8FdXV+F0OlFSUiIUBKciVGkVMDSntqRuhZfq3vj2t7+NRx55BE8++aRwvIaGBqyurgp/Z21tDQDWkx2LCZgYkNku29vbsNlsMfN72SBHBMbj8cDhcKCxsRHd3d3Uii0iiEhNRCo+QakcT8r1EdFBaog8Hk9GLdJXewRGzMj6AVRKBUJc7PXd9NXn8Obuapzvq8PJxkahXZvMKSHt2qTGwmg0pr2h0XZuaEwhybWm6BH4Ho/n0FwhEqGJVatHs4ChdWyAHLN8sr0/fvKTn+CLX/wifv7zn6OkpET487e+9a34rd/6LXziE5/AxsYGZmdnAeBisuMxAROFeLaLUqkUUkdSInUbNYkQGI1G1NXVSbpeqdeqUCiwv78Pt9udtAg21eNJHYHhOE6YVFxZWZlxDRHNgiJXeAJh/P2v5vHd59dRXqSCN8QhGH7pnBSrlXjPUD3W9/34r8ub+N4LGzjbUI5be+vwulNVh+aUkHZtsbu2yWRK2eeHJmgUMLkQCgqFAqWlpSgtLY1w2Lbb7RgbGxMctsUD1mgVCrQKK0D6AXvpRpve/e5345lnnsHe3h4aGxvx2c9+Fl/4whfg9/tx8803A7hSyPtP//RPOH36NG677TacOnUKarUaX/va1/CGN7wh6cbDBIyI6NkuarVa1lqVbAmHw5iamkIgEMDQ0BBmZmaoc7kWEwwGMTU1hXA4jOuuu06Sh0uOFBdJYWQ7qTgfERiaGNkJ4FtPTmDLGcC7BurwsVe14eezVtz39BK2DvyHupDsniAeGt3Ghcub+ItHZ3Dvz+bxxtPVON9Xi9N15XHbtcU+P4natWkTDLStB8jPmsRzhVpbWyMctokvl0KhgMFgoE4w0LYeMVKLPo/Hk9YQu+9///uH/uwDH/hA3L9/11134a677kprTUzAINIOQFyoK1exrRSbLvHdaWhoQFNTk7Bumlyuxezv72NsbAzNzc3Y29uT7KGXUiSQWRcLCwuSmFterRGYfW8QX3xiAQ9ZnGipKML9d/Sgv8kAAHhTd03ctumKEg3ee00j7jjXgMtrB7hweRMPjW7jvy5voqumDOf7avHG09UoL77y2orlrm2z2SLaeml212YCJjbRDtvBYBDT09PY39/HCy+8gKKiIiHdlO/IG602AoD0KSTapvACTMAknO0id7dQphBjw2jfHTmKg7MVMDzPY2VlBRsbG+jr64NSqcTOzg416yOEQiGMjo6C4zicPXtWEqfeq03A8DyPn07u4QuPz+HAG8LbT+rwsdd2wmRIz/xNoVCgv8mA/iYDPvXaEB4d28EDlzfxVz+Zw5eeXMBru6pwa18dehrKhedV7PMjbusVu2v7fD4cHBzAZDLlfZMG6BAL0dAYUdBoNCgpKYFer0dlZaXgsL28vAyXy4XS0tKIguBcQmtqC2AC5siTzA5Arm6hTDfdcDiMyclJhMPhmMaGcsyXyeaYZG6KRqPBuXPnoFKpBLEoFVKIBKfTidHRUbS1tUnabXY1CZjtAz/+6idzeGbWilO1Zfj6u88gtLeMInV2m6G+WI13D9bj9oE6jG04cWF4C4+N7+BByzaOV5XgfG8d3nKmGgZdZIF1LHftS5cuYWtrC3NzcygpKcl7uzaN9waNogqIFFbRDttutxs2mw0zMzPw+/3Q6/WCoJHbm4xGwUeQOjpExCJNXJUCJtXZLiqVCqFQSPKfn8kLgswhafzfDo1Yx5AjYpSpgCGioLW1NWJuitxzZdJlc3MTi4uLQov0zs6OZOu7GgQMx/N44PImvvLUIkJhHn9yUxt++1wj1EoFxvek+zkKhQJnGvQ406DHJ1/Tjh9P7OLC5S3c+7N5fOWpBbymsxK39tVhsNkQ89nQarXQarXo6OiASqU61AWTy00v+veiCZoFTLwJwWVlZSgrKzvksE0cl8UFwVJHS66mFBJtTtTAVShg0rEDSNV4UG7W19exvLycdA4JLRGYtbU1rKys4OzZs4dueDnnyqQDx3GYnp6Gz+eLiGZJKTrSOVYhip1lmxd3PzqDF1b2ca7FgLvfdBJNFfKH8EuL1Li1rw639tVhetuFBy5v4dGxbTw2vosWkw7ne2vx1rM1MJfGts6I1QVDNr3V1VWhXVuqKbLxoFEs0BpRSHXAXjyHbeLhpFKphGsrxeRnWs8XIH16i0Vg8oi4UBeApKkCuQiFQpiYmACAmCmjaPItYMLhMCYmJsDzfNz1Sr1RZ/I7E8+l6upqdHZ2RtwHUorWQhQlqRDieNz/mzX84/8sQ6tS4LNvOoG399Tm5XnqqCnDXa8/jk/c1IafTe7hwvAmvvzUIr76zBJeddKMW/tqcW1bBZQJbB1ibXp2u10wQSXu2lIXjdIoYGhcE5C5UCAO28RwNRAIwGazRThsE0GTicM27TUwUhavk04/mrgqBEx0yojGBzQakoJpaWlBQ0NSSwgAV1JIfn/saaeZkqpAIF1RiVJcgPQh83RFgtVqxdTUVFzPpXxFYAqFyS0XPvPIDCa3Xbipw4z/97rjqC6Pb/+Qq99fp1HhrWdr8NazNZjfdePC8BYeHt3Gz6b20GAowtt7a3FMkZrQzbZdO1VoFAs0rgmQLtKh1WoPOWzb7fZDDtsVFRUpFfLTHIEJh8OSuoQzAZMH5LIDkIJYLwue57G2toa1tbWYKZhEyBWBSVZXQwbpRXdF5YJUf2ee57G4uIi9vb2ELdJkkJ0UHCUB4wuG8Y//s4L7f7MKY4kGXz7fhZs7E09QztezdqyqFP/35mP42Kva8OT0Hi4Mb+Hvf74MBYAb1iZxa18dXn7cBLUytfXJ1a5N471B62h8OdalULzksN3Q0BBxbcl8LfG1jVUbRXsNjJRrYwImh0SnjLK5kHJ8lZBUhfi4oVAI4+PjUKlUQtdOuseUQ8CQcxgNx3GYmpqC3+/PaNS+FKQiEoLBIEZHR1FSUoLBwcGE90I+IjButxujo6PC/AvajAxfWHHg7kdnsWzz4u09NfiTm9oPdf3QiFatxBtOV+MNp6uxYvPiaz+5jOc2nfj5nA3V5Vq87Wwt3tFbiwZj6i3zsdq1ydC1xcXFiBoLvV6f8BrSGO2g1fU5F+uKvrYcxwmt+CsrKxFWFgaDQehSjWV9QANSp7fcbjeqq6slO54UHEkBI7YDyDbqQjYhuewEyEN5cHCAsbGxQ1076ZDLLiSv14uRkRHU1taiq6srby/iZD+XpOLa29tRW1ub9Hi5roEhdRZdXV1QKpURRob56owhOH0hfOWpRfzX5U00GIvx9d86g+vaKnK+DiloNunwzpNa/OU7e/HLeQceGN7Ev/xqBf/yqxVc316B8321uPGEGRpVeptk9NA1UmOxvr6OqampCNNCsfcLgUYBQ9uagPykapRKpSBYgJcctomVhVqthkKhQEVFBZXnjc2BKUCSzXZJF2InIPXDQ8SGWq3G6uoq1tfX0dPTk9UNkqsiXrLpnjp1Sni4aYQM/EsnFSdlCgmInybgeR5zc3PY39/H0NCQ8HNJODu6MwYAKioqYDabJemeSMbTM1b81U9msecK4I5rGvCHN7SiREtnsWKq8DwPrVqFmzorcVNnJTb2ffjh8BZ+OLKFT1yYhKlUg1vO1uB8bx1aTJl1U0XXWCRq16Zx06M5hZTvyFC0w7bf78f09DRsNhu2traomC0kRg4Bk6gLNh8cGQGT6myXdCGREqm/gMlQt8nJSWi12oxSRrGOKbWAEUd1OI7D7OwsXC4XhoaGqA6dTk5OIhgMptS9JSYXKaRgMAiLxYLy8nIMDAxAoVAcStNFd8YEg0HY7Xahe0Kn0wmFpFJOH7W6A7jn8Xn8ZGIXJ6pL8bfnT+FMQ27rmnJFvaEYf/jKVnzoFS341bwNDwxv4d9+s4ZvPbuGoRYDzvfW4TWdlRkP40vWrh0IBKDT6VBWViZru3Y60JpCokHARFNUVASdTgez2YyKigp4PB4hgur1eqHX64UIjpTFtKnCamAKhHRmu6SLXHYCoVAIIyMjOH78OOrq6iQ5ppxeSMSd2Ww2o7+/P+9fF/Hwer2wWCyoqalBS0tL2uuUW8CQlNaxY8dQUxPbEygWGo0G1dXVqK6ujviyJ9NHSbFhpmvneR4Pj+7gi0/MwxMI4yOvbMH7r2tKO6VSiKiUCtxwwowbTpix4/TjQcs2Lgxv4c4Hp2B4XI23dNfgfF8tjldlFz6PFqUrKyvweDxCRJMGjx8ao0IAvesidSZisdrY2AiO4/LuzcVSSAVAKBQScs5y1GJI7UjN8zyWl5dxcHCAU6dOpVSXkSpypZA8Hg9efPHFrN2ZxcjxQtrb28P09HRWqS05BQyZ+ptud1ms40Z/2ZNiQ4/Hg0uXLgnRmfLy8qTned3hw+d+PItfLdjR26jHZ990Eu2Vh+s1jgLJzkV1eRF+/2XN+MD1TfjNogMXhjfxHy9u4N+fX0dvox7ne2vxulNV0Gmy3xiUSiX0er1Q80Zaekm7NmnpzbZdOx1ojcAA9NULAfEjQ+Ta6vV6wWFb7M1FamdIQbAc51yOIl6WQpIIccpIqVQKqSOpkTKqEQgEMDY2Bp1Oh7q6OlnSUlLXb6yvr+Pg4ADXX3+9JAaHQOwOrGzgeR7z8/Ow2WwYHBzM6mUvRxEvx3GYmZmB1+tNO6WVCuJiQ5vNhu7ubmGUutPpFMzuTCZTxDUMczy+/8IGvvrMIhQKBf7stcdw+2A9lBRuFLlGqVDg+vYKXN9eAZs7gIdGt3Hh8hb+/JEZ3PuzebzpdDXO99Whq1a6kHq0x4/T6Yz4gicj8SsqKmQbnkbzYDYaSTVNE+3NRVLC0cMSKyoqUFZWJsm7Ueq0G7MSkIjo2S5SR0nESJVCcjgcGB8fx/Hjx1FTU4OZmZm8zGxJlUAgAIvFAp1Ol/JQp1QhBatSPFzBYBBerxehUAgDAwNZH1PqOTCBQAAvvvgiTCYTOjo6cjLgL7qQlJjdTU1NIRgMwmg04gAl+PIvd2DZcOLlxyrwF284gTqDdNf4KGEq1eJ91zbhvdc04sXVfVy4fKXw9z8vbeJUbRnO99XijaerUVaU3us0kYhXKBSHvuDJSHzSrp1OlC2dNdEagaGRTN9j4pQw8NKwxJWVFWFkv7ggOBOkjnKzGpgsiTfbRS7TRXLsbEQBz/NYWlrCzs4O+vr6hFZKOWprpIrA2O12TExM4OTJkygrK8Pk5KQEq3sJqVJdpPVco9Ggo6NDgpVJm0Ly+/1YW1vD6dOnhc6FXBNtducLBPG1p+fw75fmUawC/qCnGG/uLkeZMgieL6IyTE8LCoUCg81GDDYbcedrj+GRsR08cHkTn/vxHP7miQW8/lQVbu2rw5n61ARFOhtMvHZtEmUj7drZFnXT2oVEK1JFrKKHJbrdbtjt9giHbRJ9y1fzhN/vz0sxciIKRsAkmu0iV6FttscOBAIYHR1FaWkphoaGIpS6HB1D2UYPxGKrv78fOp0Ofr+fCoPIaNbW1rC6uoqenh6MjIxItDLpBMza2hp2d3fR2tqaN/ESjWX9AJ95dAZzux684XQVPnXzMZSp+Ygvv7KyMmGYHq1dZjRg0GnwnqEG/NZgPSwbTly4vImfTOzihyPbOFFdivO9tXhzd3XCgX/ZfCHHa9cWb3iZzBCiNQJD49RiQJ7uKPFHh7h7zW63Y319HRzHRRQExxNQcghR2sRtQQiYZLNd5CheJWQqYEgU48SJEzGnF8rRMZTNzRUMBjE2Nobi4uIIsZVvg8howuEwJicnEQ6HMTQ0JNSTSBUuzfb3JS3coVAITU1NVIgATyCMv/v5Er57cR3V5Vr8/W2n8coTLxVj19XVoa6uThilbrVaMTY2hnA4HOHKzGojDqNQKNDToEdPgx7/9+ZjeGx8Bxcub+Gex+fxlacWcXNnJc731WKgyRDTNkSKezZZuzYAGI3GlNy1ae32oZVcWAmIu9fa2toQCoWEgmA5HLZjQet9QbWASXW2i5wnVqVSxR2lHwue57GwsIC9vT0hiiHFceVkf38f4+PjMafVyiFgMo1yeDweWCwW1NfXo6mpSbjuZI1SbLDZRLGIyzVp4V5eXk7r95TjJfHrBTv+8rEZrO/78a7+Onzs1W1xazXEo9RbW1sRCoWEyaNzc3PQarVCdCYV596j5AWVCmVFatzWX4/b+usxueXChcubeHR8B4+M7aDVrMP53lq89UwNTKVXRK1cm0KsGUIOhyOldm0aNyra76FcR6zUavWhdKJ4RlRxcTGMRiM4jpO8WYK2e4NaASPnbJd0UKlU8Pl8Kf1dv9+P0dFR6PX6QymjWMeV2jk6XXieTzoFmJYIzO7uLmZmZnD69GnhxUygwUHaZrNhcnIywuU6nxv4vjeILz6xgIcs22g16fDt3+nBQLMhrWOo1WpUVlaisrISAA4595I0hclkyovVAc101Zbh0284gU/c1I7HJ3dxYXgLX3pyEfc9vYRXd5hxa18dqmSKGkcTPUHW6/VGuGuL27VprIGhNa1FC1qtFjU1NcJcKa/Xi729PQQCAVy8eFFwT8+mGYNW00oqBQwp1JXKDiAbUk0hWa1WTE1N4eTJkynVPMiRQkqHVI0j5fpCTFXAkBZpu90ed/qvlCIr3TZqnuexsrKCra2tQy7X+RAwPM/jp5O7+OufzmHfE8TvX9+EP3hFS8bTZMVEt/mSNMXa2ppgdJdKmuJqokSrwtt6avG2nlrM7bpx4fIWHhrdxuOTe6gpVeHNpwJ4z3V6VJXnrjhSp9OhoaFBcGAWt2u7XC7hwzFRfUUuoVFU0YxOp0N1dTVsNhvOnj0Ll8sFu90e4bBNCoJT/fCgsQMJoFDAkGJdIP3QnBwhrmQCRrzBRm9g2RxXTlwuFywWC1paWtDQ0JDzn5+q4CBF0OXl5RgcHIx7bXNtwEgIh8MYHx+HUqmMGXHLtYDZcfrx98MBXN6dRFdtGf759jPolHBOiRiFQgGDwQCDwSDk5cVzLYqLixEIBODz+SSba1HoHK8qxadeewwfe3Ubnpjaw78/u4BvPr+Lb7+wixtOmHFrby1edswElTJ35yq6XXtiYgLl5eUR9RVytGunA4vApA+ZwitOCzc3NwtDL+12O1ZXV2M6bMeCxim8AIUChtS6pPviF5sjSkkioeHz+TA6Ogqj0Zhwg413XLkKjxMJOWJweObMmbxNVUxFwOzv72NsbCxuEbQYqWe3pHIsj8eDkZERNDY2oqmpSfZ1JYLjeVy4vIUvP7UAf5DDx1/dhjuuaYQ6hxuhWq2OSFN4PB5MTExgdXUVi4uLeXfWpokitRJv6q5GR/EBPMpSPLHkxYOWbTw9Y0VNuRZv76nFO3pr8zaXx2g0Cu8Gv98Pu90uebt2OtDog0Q78WwEoh22xXVuxGFbXBBM9pF0Bcz73/9+PPLII6iursbY2BiAK2n2d73rXVhaWkJrayt+8IMfCKamH/3oR/HYY4+hpKQE3/72t9Hf35/Sz6FOwACZfbnmWsCQsfWZjteXK4UUr6BV3L0jxzTYdEh2fVdXV7G2thYxNycRuY7AkGsfqx4n3WNly4rNi7sfm8Hzy/sYajHgHU0+vOnaxrxHPEpKSgRfmNLS0kNdMeKv+qt1c+J5Hk0VxfhEex3+6JWteGbWiguXt/DPv1zBP/9yBde3V+DWvjq88oQpZ55U0dGOoqKihO3amaQj0oVWAUNzcXGq5yy6zi1asP7oRz+CyWTCsWPH0hIw73vf+/CRj3wEd9xxh/Bn99xzD2666SbceeeduOeee3DPPffg3nvvxY9//GPMzs5idnYWzz33HD784Q/jueeeS+nnUClgMkGulEz0cTmOw9zcHPb397MaWy/3esUCxu12w2KxoKGhIaJ7J1/Ei8CEw2FMTEyA5/m03LmljsDEezHxPI/FxUXs7e2ldO3lFDAhjse/PbeGf/jFMrQqBT7zxhM431uLF198kbpugVhdMTabTXZnbdoRXyeNSombO6twc2cV1h0+/PfwFn40soWPX5iAuVSDt/XU4nxvLZoq5D0/yaYDx/Lgik5HSF0HRbOAoek5E5OpkWO0YC0tLcWPf/xj/PM//zPm5ubwvve9D695zWtw0003JTQhvuGGG7C0tBTxZw8++CCeeeYZAMB73/te3Hjjjbj33nvx4IMP4o477oBCocC1114Lh8OBzc3NlEyOj4yAkctOQCw0xI7M6aaMYh1XjvRCtDjY2trC/Pw8uru7YTCk14UiF7EEjDgl09iYXgRBSqEQL5oTCoUwOjqK4uJiDA4OpvRCTWdd6fy+U1su/MWjM5jccuHVJ8246/XHUZ3DItBs0Wg0QtdErK96MrMkV669+STWdW8wFuOPbmzFh29owS/nbLgwvIlvPbuKb/56Fde0GnG+txY3dVRCK0FhdjTpbMrR6Yhof5+ioiIhbZiNuzatRby0duYA0jhRKxQKdHd3o7u7G2fPnsWzzz6L22+/HU8++STuuOMO2O12/PEf/3FElCUR29vbgiipra3F9vY2AGB9fT0iDd/Y2Ij19fXCFTCZ3Kxy2QkQAUPaeMVtstkgdwqJ4zhMT08LBoLZhnel/NqIFjDkhZepyJKyCylWNIcUPbe2tgrOwakeS8oIjD/E4Z/+ZxnfenYVxhINvvSOLtzcWRlxXQpt9kqsr3ri+bO0tASlUpn3IlK5SHad1EoFbjxpxo0nzdg+8ONHli389/AW/u+PpmDUqfGWMzW4ta9OUufwbKId0f4+pF17cXERHo8H5eXlgqBJJ3JNaxEvzcaXUggYMW63GwaDAUNDQxgaGsKdd94Jr9cLh8OR0fGk6i6mUsBkgpxdPR6PBysrK3HbeDNBzhSSx+PB6Ogoqqur0dnZmfWNIuWgOPHxeJ4X0nHZnFupBYx4Y9ne3sb8/HxGRc9SiokXVhz47KOzWLJ5ccvZGnzyNe0Jx9QXKmLBAhz2/CHO2mazmTpflnRJ56OgRl+EP3h5C37/Zc14dsGOC8Nb+P4LG/jOxXX0N+lxvrcON3dVQqfJ7hmV8kMlUbs2cddONg4foDeFROu6AOmjQ7GKeMlYhVSpqakRUkObm5uC0G1oaBBq44ArNiypdsceGQEjRwrJ6/XCYrFAoVCgv79f0q8/uewP/H4/JiYmcObMGSG0my1SCxiFQoFgMIgXX3wRBoMBAwMDWZ1bOQbZEXF1cHCAoaGhjCJYUqzL5Q/hK08t4geXNtFgKMI/v/sMrm+Pf10LLQKTjHjO2ulugjSSiVhQKhR42TETXnbMhD1XAA+NbuO/h7dw18PTuOfxObypuwa39tWioyaz9nm56joSuWsvLCzE7X4B6BUKNKeQOI6TNP3qdruh1+uzOsZb3/pW3H///bjzzjtx//3345ZbbhH+/O///u9x++2347nnnoPBYEgpfQQcIQEjdUSDpDVOnTqFyclJyR9qqY9HiovdbjdOnTolmXgBpBdbPp8P6+vr6O7ulsToUMouJJLau3TpEvR6fVbCNVsx8cyMFZ/7ySz2XAH8zrkGfOSVrSjRFtYmLSXRztqxNkESncmm5iJXZCsWKsu0eP91Tfjdaxvxwso+Hri8if8e3sR/vLiB7rpynO+rxRtOVaE0jnVELHIlFqLdtaO7X0pLSyOmA9MoFGhPIUkZoXS73Wmlz9/97nfjmWeewd7eHhobG/HZz34Wd955J2677TZ885vfREtLC37wgx8AAN74xjfisccew/Hjx1FSUoJvfetbKf8cKgVMPmtgxLUjUqaM5MTv98NisaCiogK1tbWSP+xSCRhiXbC1tYX6+nrJXJql7ELyeDzY29tDd3e3MJo7m3VlImCs7gDufXweP57YxfGqEvzt+VM405Da1w9tERg51xJrE7TZbFheXobL5RJqLmh11pbSzHGoxYihFiMcniAeGdvBheFNfPaxWfx/TyzgDaeqcGtfHU7XJR8omK/OmujuF7fbDbvdjpmZGbjdbmg0GpSVlVE1R4hWYQXIUwOTziTe73//+zH//Mknnzz0ZwqFAl/72tcyWheVAiYTpPAWImaBtbW1ktSO5AJiYdDR0YHKykrMzs5S4V0UjXhq7fHjx+H1eiVanXQRmI2NDSwsLMBgMGQtXoD0xQTP83h4dBv3/mwebn8Y/+eGFvze9U05mwEiNbl+foqKiiKctUnNxdjYGDiOEwSO0WikYuORQ9wZSzT47XMNeM9QPUbWD/DA5S08OraDC8Nb6Kguxfm+Orypuxr64tivfhpag8WRtqamJmxubmJ/fx9Op1OolRBPj83XtaRdwEi5No/Hw6wE5EStVsPj8WT870m7cTyzQNpuVuJ6bbVaIywMaDFfFEPm0DQ1NaGxsRE7OzuSvryzjcCQqJvP58PZs2cxPz8v2bpS/T3XHT585uFJ/HrRgZ4GPT77phM4VpX+6G7aIjD5IrrmIhQK4fnnnxectUmLb6rO2nKuU67j9jYa0NtowKduPobHxndw4fIW/vqnc/jykwt4bVclzvfVoa9Rf2gN+RYwsSBdakD8du1cX0uaa2DkiMAwK4EUyWUKKRwOY3p6Gn6/P267MZnZIsfNmskXD/EIKisrOzSTRI7upmwEzPb2Nubm5iJapKUesZ/N+vx+P0ZGRlBZWYnOzk74/f6cTvUNczy+d3EVX3piHgCPO197DLcP1Gfsh0Pj5kMDarUaarUaJ0+eBPBSi+/CwgK8Xm9EuilXKYpcRTvKi9V410A93jVQj/FNJy5c3sJj4zt4aHQH7ZUleEdvLd56pgYVJXSkZqKJfvfGa9cmLum5Sh3SXAMj9dpcLheLwMhJJhu32+3G6Ogo6urq0NXVFfdlIpdNAdng0nmJORwOjI+Px/UIoiUCw3EcZmdn4XK5DtUSSb3GTKMO5FyS9Fs2x8pkXXM7Lnz6oUlcXt3Hy4+ZcNfr2tFYkf1MDxaBSY64xZfjOCHdtLa2BgBCAaler5ftKzsf6ZrTdeU4XVeOP31NO346sYsHhjfxN08s4L6nF3FTRyW6dWEM8DyUFAnhZJtxvHbtsbExhMNh2TrVaIvKi5EjApMv77xEXLUCZnNzE4uLizh9+nTS4Wlyj/1P5SHgeR7Ly8vY2tpK6BGkUqkEN2+pSFdwiIuKY3XxSC1gMjlePL+lXNgSBEIcvv7LJfzTLxZRqlXj3necxlu6qyW5biwCkz5KpTLCWTsYDMLhcGBrawszMzMoLi6OSFFIRT7rTUq0Kry9txZv763FzI4bFy5v4uGxHfzEF8J/LjyPd/TW4m1na1FZlv/i53QG2WXTrp0uV5OAYTUwaZDJTZXqHBhiahgKhVI2NZRbwCQLWQeDQYyNjaGoqAjnzp1L+NDkOwJjt9sxMTEREdXI5nipkE7UhOM4TExMgOO4mH5LckdgLGv7uOvBCczsuPGm7hrc9YYOmMu0kp4PFoHJDo1GIzhr8zwvpCjm5ubg8/lgMBiEibLZRGVpKJgFgJPVpfiz1x3Hx1/dhq8/dhGXDopw39NL+NrPl/HKEyac763D9e0VGac1syUboRCvUy1Wu3a6PlypvLvzhRyD7JiAkZFUamBcLhdGR0fTNjWUU8Ak27gODg4wNjaGtra2lIb7yCFgUlknz/NYWVnB5uYm+vv7E74MpJzbQo6XSvTC5/NhZGQEtbW1aG5ujnn95XK29gTCuO+pefzbb1ZQVV6Ef/ytHry646U28s3NTdhsNlRWVmYV6mZFvNKiUChQUlKCkpISNDY2guM4HBwcwGq1Ynl5GQqFQojO6PWHC2ITQYuAIRRrVLiuXo0/vqUHi1YP/nt4Cw9atvHktBV1+iK8vacWb++tQa2+OKfrkjLSEd2pRgYjit21SbopmTihvQZGSgETDAapHEVwpARMIpGxvr6O5eVldHd3pz1RUC4Bk8gPied5rK+vY3V1FWfPnk1Z/cpVxJvomKFQCOPj41Cr1UkjRID0RbypbNo2mw2Tk5NJvazkSCH9et6KP394Cmt2L24fbMCf3nwC5f/bxko6oPx+P6qrq2G327GwsACNRiMMZctnlwwjkkTO2lNTUygpKRGuG+kMLETazCX4k5va8cc3tuKpGSsuXN7EP/zPMv7pl8t4WbsJ5/tqccNxU05a/OVK1UQPRiTu2jabDSsrKwAS10LRnEICro50MpUCJpMTHy/yEAqFMDk5CZ7nU04ZxTq23E7XYkKhECYmJqBQKGKmORIhRwQm0aZOWqSbm5tT9q/IZQ0MqR3a3t6OaDePh5QRjANfCF974QA/X7mMVnMJ/v13BzDU+tKE5EAggJGREZjNZpw8eRLBYFBIu/l8vkNGeGazOekgLxaByS3xnLWJKE3krE1bBCYWGpUSr+uqwuu6qrBq9+KHw1v4kWUbH3tgAlVlWrztbA3e3luLpor00i/pkCs36nju2qQWKrpdm+Y2ainPF833KZUCJhNinWCn04nR0VFhc830IsjhswTE3nhJmovMTEmXVNI9Uh1za2sLCwsLaUe1clUDEw6HMTY2BrVajaGhoZReNlI8qDzP46cTO/jLR6dg9wTxB69oxR++sg1FIqO9g4MDjI6O4uTJk6iqqjp0PoqLi1FfX4/6+nqhS8ZqtQqDvMhXPs0OzbSuSy6inbXD4bDwRS921jabzSgrK6N6Y4hFU4UOf/yqNvyfV7biF7NWXBjewjefXcW//HoV17YZcb63Djd1mCWPyuTLjTpZuzbP81Cr1SgrK6MuvSL1Rwyt9yq1AiabL0mSfllZWcnIRTiaXEVgNjY2sLS0lNWa5VhrdI0Jx3GYmZmBx+PJyOgwFxEYj8eDkZGRjIVgpmwf+PGXj07hialddNWU4pNDJXj7q45H/B3SAdfb25vScChxlwzwUtqCFCKWlZUJX4YsAkMPKpUqwlmb+P2srq7C6XTC7/dje3ubGmftVO8btVKBV3dU4tUdldg68OGHI9v44fAWPvnDSVSUaPDWMzU431eLNrM0HVu0pGqi27UtFgsCgYDs7dr5JhQKST5CRCroXFUWRKdfpDjxcnchcRyHyclJBIPBrNcsdxcSGfxmNpvR19eXcbpP6km84uPt7u5iZmYmYnie3PA8j/96cQNf/NksAiEOf3rzcby7vwYzU5MRf4d4u2RznaPTFi6XS3BodjqdUCqVqK2tzeuYdQITUy8R7ffz3HPPIRgMUuOsncm1qtUX48OvaMEHX9aMXy/YcWF4E999fh33P7eG/iY9bu2rw82dlSjWZP770CJgxCgUCqjVajQ2NqK0tBShUEi2du10kfp80TqFFzhiAiYcDuPixYtoaWlJuR4jFdRqNQKBgGTHIyiVSni9Xly8eBF1dXVxO2PSQY4UEhEwpEW6s7NTaEvMBLkm8RJ7BZvNllMjzmWrB3/+8CSeW7TjXGsFPvfWLrSaSyKm+gaDQYyMjMBoNGYs/GKhUChQXl6O8vJytLS0YGxsDGVlZcKYdTLDxGw2p90mypAPhUIBlUqF5uZmtLS0xJxXYjabYTKZcuasnU2qRqVU4BXHTXjFcRP2XAH8yLKF/x7ewv97aBpfeHweb+muxvm+OpysTn8jpFHAAJGtymq1GpWVlUING2nXXl1dhcvlQmlpqdB6L/dzKPUMGLJ+GqFWwKQTCicuxz6fD+fOnZP8q1uuFJLH48Hu7i56e3sP+S9lihxrVSgUsNlsh3yXMkWOGphwOIzh4WHodDoMDAzk5IUXCnP49rMr+OrTC9CoFPjcW7pwa389lP87L4Pcw6QW69ixYwlNIqXYpEghIvGNIUWlpE2UfOVXVFQcqTB3oUKuefS8ElLEvbS0JExBlXs8vlR1DpVlWvze9c14/3VNeH7ZgQuXt/BflzfxvRc2cLa+HOf7avH6U9Uo0aZ2/+WqiDddErVRp9qune0soVjk24k6l1ArYFIlFAphbGwMGo0GRqNRltZFqVNIpIbE4XCgqalJMvECSC8OQqEQFhcXEQqFcN1110kiDKR+Gfl8Pmxvb+PUqVMpzcqRgslNJ+56aALjG07c1FmFz7ypAzVR8zEUCgX8fj9GR0fTaoXPhmjhHz3DhHzlLy4u5uUrn5Ea4iLuWM7aJD0hZZpQaqGgVChwTWsFrmmtgN0TxMOj27gwvIXPPDqLL/5sAW84XYVb++pwui5xvR+tEZhU15WoXZvMEpLSukKOFBITMDKwv7+P8fFxYcjb8PBwTtudM4EMU6uqqkJ7ezu8Xq8kxyVIKWBcLhcsFguqqqoQDAapfIkQs8iKioqciBd/MIyv/XwR3/jVMow6Df72tjN4/anqQy9+ks7y+Xy44YYbqJjYSbpgxEWlVqsVS0tLabVqM3JLLGdth8OB3d1dSd2Y5ez2qSjR4I5rGvE75xpwee3ginXB6A4euLyFrpoyvKO3Fm/qrhbmI+VqXdmQqVBI1q5dXFwsCJpMridLIVFAootGpr5ubGygp6dHOLlyF9tmy97eHqanp4Vhajs7O7J0DElROEk6Zc6cOQOO44T2XVrgeR6zs7NwOp04c+YMlpeXZf+ZLyzbcdeDk1iyevCO3jp86nUnYYzh4BsKhWCxWFBSUoLS0tKcioF0Uq9FRUURX/lkwqy4VTuTCbM0cpSKiaPrLWI5a2ciRHPRKqtQKNDfZEB/kwGfem0Ij47t4MLlTXz+p3P40pMLeN2pKtzaV4uehpfuOVojMFIJq+h2bY/HIwy0zMRdW44UEhMwEhHtCyS+UKnYCWRCtgKG53nMzc3B4XBgcHBQaJmUS3BlA5kMS+qJ1Go1nE6n5IXB2RAIBGCxWGAwGNDf3y/MZJALly+Ev3liDt9/fg0NxmJ883f68PLjsYuY3W43RkZG0NbWhpqaGly8eDHlnyPFBpLpv1coFDFbtcmE2dLSUiHdREPLL+Ml4jlrEyGaanoi17Um+mI13j1Yj9sH6jC+6cIDlzfx44ldPGjZxrHKEpzvq8VbumuonUEiFyTtS9q1Dw4OIty1SfQmXrcaq4GhFIfDgfHxcRw7dgy1tbWH/juNERjizGw0GjE4OBjxIMrR8pwNPp9PSBl1dnYKa6VpnWQA3IkTJ4QvFjnX9/T0Lu5+ZArbTj/ee20TPvrqYygtiv3YkPbtM2fOQK/Xg+f5tISVVC9pKcRcdKu22+2G1WoVWn4rKipgNpupaNVOhatlE4zlrB2dnojXlZavVI1CoUB3fTm668vxyde04ycTu7gwvIUv/mwBf/vUIvqqlOCr9jHUYrgqrqEY8YdFW1ubkD60Wq1CtxqJzpSVlQkdnlJeR1qdqAGKBYz4RuV5HktLS9je3kZfX19cS3u5JuZmKmCI/w6ZtirVceUgkVcQLQJmY2MDy8vLhwbAyTG8zeoK4PM/nsajY9s4UV2Kr77rLHoaY3e38TyPxcVFWK3WQ+3bqa5LyrZqqREXIba0tByqwSCbIsnZM+hBnJ4QO2vPzs4ectamQeSVFqlxvq8O5/vqML3twgOXt/DgyAY+8F0LWkw6vKO3Fm89U4PKMrom3+aKeO3aKysrQq2KSqWStFPN5XIl9I/LJ9QKGAKZdKjT6ZIaBdKSQiIb2u7ubsK2YxoEDBGHOzs7cdea73WKDQ+HhoYOtR1KKbB4nsevN0L4+C+ehTsQwh+9qh0ffHkrtOrY9x3pgisqKjrUvp2vzUDueo/olyhp1Z6bmxM2RbPZTIXoZbxELGdtcTcMiRgeHBxQYVHRUVOGu15/HK802mAracGF4U185alF/N0zS3jVSTPO99biuvYKKK+yqIyYWO3ai4uLQj2bFO3abrcbzc3NEq9cGqgWMGRwmjhdkAi5Ntp0HuRgMIjR0VGUlJQk9d+RY+gcIZWvqVAohNHRURQXFydcq1wRmFTWSCb/Rqe1otcnxaa97vDi7kem8IvZAHoa9fj8Ladwojp+6JTYFaRjZCk3+bASiLUpWq1W7O3tweVyobq6GmazOa+t2jREF2gjuhvGarViZWUF6+vrODg4EIavmUymvDprF6kUeOvZGrz1bA0W9jy4MLyJhyzb+NnUHuoNRXh7Ty3e3lOLGn3uarNoLAonkVKDwYCqqipUV1dL0q7NamAyYG9vDzMzM+jv7095cqFKpYLf75d5ZfHZ39/H2NgYjh8/nnBgGUGuAXlkE0v0wibD1UgLeiLkcrhOtkZS89TR0SF87cc7Vjbr4zge3724ii8/OQ8AeE+XFnee74dWE//xsFqtmJqayqldQSEg3hTJvJJQKCQMZNPr9cKmyFq16UKlUqG0tBQnT56MGL42NTWFYDAY8TWfryGI7ZUl+ORrjuGjN7bhqZk9PHB5C1/7xTL+8X+W8YpjJpzvq8MrjpugVsorVmkWxGRCsFTt2qwGJgPMZnPKDsIEtVoNt9st46piI27rTlSjE41cERgiOOKdO2IamepwNTm+6pOtcXV1Fevr6ykJ2GzWN7/rxl0PTuDy6j5eftyMz765Exuzo4j3/uN5HsvLy9je3o7oKJMCqbqQaPo61Gg0qKqqEkLcpKNibW0NAIRi4KPQql3oiO+/6OFrYmdtMgSRXDtSPJpLtGolXn+qGq8/VY1VuxcXhrfwo5Et/HzOhuoyLd7WU4t39NaiwShP5EhsI0Ab8SYEx6uHIu3aer1eEDTiGpps2qi/8pWv4Bvf+AYUCgXOnDmDb33rW9jc3MTtt98uTHb/zne+k3HNDrUChijIdMhHrYZ4EnB0W3cy5Ha5js55chyHqakpBAKBtMwE5Xg5xYvqhMNhTE5OguM4DA0NpXQ+M9m0AyEO//LLJfzjLxZRqlXj3necxi1na6FQKLAZJ6ITDocxPj4OlUqVtrhOhaO+gUd3VJAvwo2NDUxPT6OkpETokJG6VZvmL2ZaSNRGHctZW1w8KnZEl1rUJ6OpQoePvaoNf3hDC34xa8MDw5v4l1+t4F9+tYLr2itwvrcWrzpphkYl3fOayEYg36TSRh2rHko87Xl7exuPPvoobr75ZuH6psv6+jq++tWvYmJiAjqdDrfddhv+4z/+A4899hg+/vGP4/bbb8eHPvQhfPOb38SHP/zhjH5XagVMJsgtYKJfgiQN09raivr6+rSPJ9cLNZY4IBOAa2pq0NXVlfeXeay6Fa/Xi5GREdTX16OpqSnlNab7u1jW9nHXQ5OY2Xbhjd01+PQbOmAWdTXEEkQ+nw/Dw8Oor6+ntqANoC8Ck4joL0KSshC3ahN3Zlq/do8S6bRRRxePih3RxdfOYDBktdGnIzw1KiVu6qzETZ2V2Nz34YcjVwwl/+S/J2Eq0eCWszV4R28tWs3Zd8rROlwPyGwOTHT7vdPphNPpxGOPPYbf/OY3+NCHPoQ3v/nNuPnmm9HT05Py7x4KheD1eqHRaODxeFBXV4ennnoK3/ve9wAA733ve3H33XcfPQGTyQYrVxs1cDiqsba2hpWVlZx53KRDdGSH1GucOnVKyIfmm+i6lVys0RMI476n5vFvv1lBVXkR/uHdPbip83B7e7QIIMXkNJ2/o0aslIXdbsfe3h7m5uZQVFQkDNJjrdrykGmUKtoRnThrW61WzM/PQ6PRCNGZdAu5Mx2uV2coxv+5oRV/8PIW/GrehgeGt/Bvz63hW79Zw2CzAef7anFzZxWK4nQXprIumgVMtmsrLy/Hbbfdhttuuw1vfOMb8U//9E94/vnn8aUvfQkjIyM4ffo0vv71r0Ov18c9RkNDA/70T/8Uzc3N0Ol0eO1rX4uBgQEYjUZhH21sbMT6+nrG66RWwGSCXG3U5NjhcBgKhQITExPgeT6tNEwuIbU1pJ17b29P8nqNbCFRInFNiRRO1/F4dsGGTz80iTW7F7cPNuBPbz4R03eFrI0IGFLbJOfapKSQIjCJUKlUh8blW63WQ63a4pdhIlgKKTlSnaNEztqkIDTV0fjZCgWVUoEbTphxwwkzdp1+/MhyxVDyzx6cxj2Pz+Mt3TU431eL41Xp1XgUYg1Mprjdbpw4cQKnTp3Ce9/7XvA8j7GxMZSXJzbhtNvtePDBB7G4uAij0Yh3vvOd+MlPfiLZuoAjKGDkjMA4nU7Mzs6isbERjY2N1L4QlUolAoEALl++jJKSEgwODlL3sCmVSgSDQVgsFmg0GllqSgBg3xvEPT+dwX9f3kSruQTf+d0BnGtNHEVRKBQIh8OC82+qtTgM+dDpdMJzJ55fsrS0FFGfkY+C0kygUWTKFVXIxllbyunAVeVF+P2XNeMD1zfhuSUHLlzewn+8uIF/f34dPQ16nO+rxeu6qlCiTf6sF3oNTLrHE38kkILcZDzxxBNoa2sThri+4x3vwK9+9Ss4HA6EQiGo1Wqsra1lNYKCWgFDWwopEAhgcnISPT09CcNmmSD112E4HMbExAROnjwZ03KBBjiOw9jYGNra2mSbofLTiW385aPTsHuC+ODLW/GHN7ahWJPay8lisaC+vh4tLS0FsSESjkoEJhHR7aHRBaXEzFDcqk1bBIa29QC5M3OMdta22+3Y2dmJ6awth6hSKhS4rq0C17VVwOYOXHHFHt7EXzwygy/+bB5vPF2N8721OFUXP8JAewpJKgGTzT3R3NyM3/zmN/B4PNDpdHjyyScxODiIV73qVXjggQdw++234/7778ctt9yS8fqoFTCZkO08kFiQzh2fz4fu7m7JxUsq81DSYX19HVarFcePH5dcvEi1zt3dXVitVnR0dMgiXrYP/PjcY1P42eQuTtWV419+uxen6lK7bg6HAzabDR0dHWhqapJ8bQzpiS4odTqdsFqtWFtbA8/zwuAumoQdjQIm12aOwJWPzqqqKuErPdpZW6fTIRAIIBgMyjI3yFSqxXuvbcQd1zTgxdV9XLi8hQct2/jBpU101Zbh1t5avLG7GmVFhzs6aRUwUt9bmR7vmmuuwa233or+/n6o1Wr09fXhgx/8IN70pjfh9ttvx6c//Wn09fXhAx/4QMZro1rApPs1KfXDR7piamtrU5oEnAkk7ZXtw8BxHCYnJxEKhdDQ0CCpFwbwUs1Kth0F8/PzsNvtqKmpkbwYk+d5PHBpA/c+PotAiMOfvOY43n99M9Qptk+ur69jZWUFlZWVBTuc7mqIwCRC/IUvbtXe3t4WjEBJdKYQappySb7MHMVEO2tvbW1hdXUVFosFQOrO2umiUCgw2GzEYLMRd742iEfGdnBheAuf+8kc/ubJBbz+VBXO99XhbH25kGKmNYUE0DOS4bOf/Sw++9nPRvxZe3s7Ll68KMnxqRYw+YSENE+fPg2j0YjZ2VlZhs4RAZPN1wURWnV1dWhubsbS0pLkqbRsBQyxWCgtLcXAwIDk53PbzeG991/Cc4t2nGs14nNvPZVyu2S019L09PRVLQKOEqRV22AwIBgMor29Xeh4CwaDMBqNgqt2LjckGiMwtK1JqVQKo/E7OzsPTZLV6XRCuinVae2pYNBp8J6hBvzWYD1GN5y4cHkLP57YwQ9HtnG8qgS39tVhsIpHiYRzZaREyndXIBCQ/GNYSpiAiYLjOMzOzsLlckU4C8tVIJztmP69vT1MT09HtPjKMfo/m2O6XC5YLBa0t7cLaS2p1hgKc7j/N6v421/7oNUE8Zdv6cQ7+xugTHGUeCAQwMjICMxms+C1JEcqMlfQFoGhaS0KhQKlpaUoLS0VWrUdDkdEqzYZpKfT6WTdzGkTCwCdaxKnamJNkrVarZiZmYHf75fEuFCMQqHA2QY9zjbo8cmb2/Hj8V1cGN7EPY/PQ6NU4OWtpfid68sx2Gyg7rxJRTZTeHMB1QIm05dxpg+iz+eDxWKB2WxGf39/xDHkEjCZHpfneSwsLMBmsx1qkZbDoiDTdW5tbWFhYQFnzpyJaLuTwoBxasuJ//fgBMY3nOirVuEr77kWdcbUv8RISuHkyZNCDh6QXgTkcmOgScDQ9lKPXk90uy+pvxC3aku5IYqhXSzQQrw1iSfJNjU1HXLWJoXeZrNZEmftsiI13tlfh3f212Fyy4Vv/88snll04+l/t6DVpMM7emvx1rM1MJfmN1oh9X3lcrmYgMkl8cboJ4OElTs7O4UXWqzjSk0mYoO0H5eVlWFgYODQA05alKUk3agEz/OYmZkRIlnRKbJsIjD+YBj/8PNFfONXyzDoNPjKO8/A5FpEdXnqL4/NzU0sLi6it7f30AMqlbs1IH2RNiMzUrme0fUX0Rsiic5I0apN4z1B45pSFVXRnWmBQEDw3HI6nZI6a3fVluHDQxX4P9fX4fIecGF4C19+ahFffWYJr+4w43xvHa5tM0KZh3MpdSE2zU7UwBEUMKSVOlUBQwpLbTZbwmFlKpVKclEApO+HdHBwgLGxMRw7diyu47UcKSSVSpXypk7SMhUVFYciWYRM0zQvLDvw6YcmsLjnwdt76/Cp151ARYkWFy8up1SjQ4SV2+2OO4hQyhRSqhERu92O2dlZYUBbpuaGNEVgCplYG6LVao1o1U51GFs8aBMLtAqYTNak1WpRW1uL2tramM7aRqNRsKnIpPaJ4zjoi9R4W08l3tZTi7ldNy4Mb+Hh0W08PrmHBmMx3tFTi7f11KC6PHcDRKWeT+PxeFgEJlMyuXHTiZQEAgFYLBbo9fqkw95oSCGtra1hdXUVPT09CW8qOVJIqQqt/f19jI2N4cSJEwk7t9IVWS5fCF96Yg7fe34NDcZifON3+vCK4y9FylKJmgSDQYyMjMBoNKKvry/u/SWlCEjlWMR5++TJk3C73djY2MDU1JQwsdRsNlNdSFcIZLs5a7XaQ63a4mFsRMyk2h1DY41VPtqokyFFWiuRs/bCwgLUanXagxCj13W8qhSfuvkYPvaqNjw5vYcLlzfxdz9fwj/8YgmvOG7GrX21ePkxE1Qp1uZlitTdUSyFlGNStRMg/jbR9Q+JjpuvFJLYoTkVx2s5XK5TERykDTlWWibW8VJd4zMze/jMw5PYdvpxx7VN+Nirj6E0ai5DsqgJMd5MFLkSHysXAobMGAoGgxgcHEQ4HEZZWRlqamoEgzyr1RqxSSaLzrAIjPxED2OL1R2TSqs2bWKBhjbqaORYkxTO2vGEQpFaiTeersYbT1dj2ebFheFNPGjZxjOzVlSXa/H2nlq8o7cW9QZ5WvjlEDAshZRDkgkNnuextLSEnZ0d9Pf3p9x+J4coSOW4Ho9HmAqbqkNzrruQyEYcCAQwNDSUUvpOqVQmFZo2dwCf//EMHhndwvGqUtx321n0NsWez5Jofdvb25ifn0/ZeDMXAoak2UwmE7q6ugAg4j4QG+SJN0kSnSktLRUKUFl0Jr9Ed8d4PJ5DrdrR6Qoa0zU0rikXhcWZOGunsq4Wkw6feHU7/uiVrXhm1ooLl7fw9V+u4Ou/XMH17RW4ta8OrzxhgkbCdmypPZpYDUwWSJ1CCgaDGBsbQ3FxcdreO3LZFCRa7+7uLmZmZoRZNOkcM1cCxu/3Y3h4GNXV1ejq6kr5miWKmPA8j4dHt/D5H8/A7Q/hIze24Q9e0QZtAufYWEKB53nMzc3h4OAgZiFxPOQo4hVD2sqPHz8upNmSbR7Rm2S86Aw5FiOSXG3O8Vq1SbpCo9EIbdq0QauAyeV8nljO2sQVXeysHQgEUj5XGpUSN3dW4ebOKqw7fPjhyBZ+OLKFj1+YgLlUg1vO1uJ8by2aTdnfE3LUwDABk0PUanXML/v9/X2Mj49HzCJJB7kiMLGKg8nGu7+/HzGLJlVylUIiabh4nVvpHg8ANhw+fOaRSfxi1oqeRj0+f8spnKhO/gBFi45QKASLxYLS0tK4hcTxkLOIlwxIPHv2bFI310THFEdnQqEQbDYbNjY2YLVaUVRUJHTN0ORAfjUSr1V7dXUVTqcTU1NTMJvNsrRqpwuNbdT5TmtFu6ITZ22Xy4WxsbGIVvtU3tMNxmJ85JWt+NArWvCreRseuLyF+3+zin99dhXnWgw431eH13RUJvxYS4QcKSS5ptBLwZETMNERDZ7nhSLJZMWv6RxXKqI3clJYbDAYMDAwkNEXkdwpJHJONzY20krDJVojx/H4/vNr+Jsn5sDzPP7f60/it69pSrnoTSw63G43RkZG0NbWhrq6urTXJkcKied5LC4uwmq1ZiRKE6FWq4XozPr6Onw+HwKBAMbHxwW3X1I7Q9sGdbVBWrX1ej1WVlZQW1sLq9UqS6t2utAagaHpniXO2js7O+jq6oLf74fVasX6+npSZ20xaqUCrzxhxitPmLF94MePLFv44fAWPvWjKRh1arzlTA1u7atDe+WVaeKPjm3jvqeXsHXgR62+CB99VSve1H24lk9qAcNSSFmQbQopFAphfHwcKpUqpeLXVI8rJeLjptrBk84xpYIIDuJ0DQBDQ0MZn1NxxGR+141PPzSBSyv7ePkxEz77li40VqQnisjxSNrtzJkzGRtvSi1gSDRIo9HEnNsjJQqFAkVFRWhsbERLS4vg9ru1tYXp6WlhHobZbL6qojM0bs5KpRJGo1FID5PZJeJiUlIMnIs6p6PahSQHJFUj9t2KdtYuLi6OsDqId25r9EX4g5e34Pdf1ozfLNrxwOUtfP+FDXzn4jr6GvU4VlWCR0Z34Atd+UDbPPDj7kdnAeCQiGECpsBRq9Xw+XxCnUFLS4skjsdyC5jV1VWsra2hr68va5NDuSIwfr8fzz//fFoFxQmPFwzjH36+gH/4+SJKtCrc8/ZTeFtPXcbHXVtbg8fjyTrCIeX54zgOo6OjaGxsRHNzc8K/K8UmGy2+xG6/ZB6G1WrFxMQEwuEwi87kiVjXOnp2SXSdk9zXKt/pmljQLGCi1xXtrO3xeGC324XJznq9Xkg3xarHUyoUuL7dhOvbTbC6A3jIso0Lw1u4fHnr0N/1hTjc9/TSIQEj9fliNTA5RqVSwW63Y3Nz89D4+myQsrAzmt3dXQSDwayjRAQ5ing9Hg82NjbQ29srDPfKhsltD+5+fAfL+yG84XQNPv3Gk6gsyywiEAqFYLVaUV5eLkmEQ6oaGIfDAbvdjq6uLklEdLaI52HEis6UlJQI9RpSRWdoKSimLQKTbD2x6pzkNjKk7RwBdEaFgNTEHrE6IJOdDw4OhPonABFWB9HHMpdq8bvXNeF91zbi7F//T8zjbx34D/1ZOByWNFrHvJCyIN0bl0QyPB4PrrvuurwXxSXD4/FgcnISGo0GZ86ckey4UhahitvOGxoashYv3kAYX316Ht9+dgXGIiX+4d09uKkz+RyeeHg8HoyMjAieKFJ8fUiRQtrY2MDy8rIw3CxXpLP26OgMaf8Vt48Sp+ZMziuNGw8tpCsWYl0rm82G6elpSSbLZrKmXEBjVCgTotOF4rEITqczriBVKBSo0xdhM4ZYqdUf/shgKaQCxe12w2KxCJ0XtIsXkic9duwYtre3JT22VC+hUCiEsbExaLVanDhxAi6XK6vjPbtgw58/NIlVuxfne6rxluYwrstCvJBZG93d3djZ2ZFMtGUTbSNWBSSVNTk5mdax8rWJRLf/RufzUx3OxkiNbK6z+Fo1NTXFbNUmdU4lJSUp/xwa0zU0rkkKYs0OstlsEc7aZrMZRqMRH31VK+5+dFaogQGAYrUSH31V66HjyiFgpMpiyAHdu3yKbG1tYX5+Ht3d3VCpVJifn8/3kuLC8zxmZ2eF2SThcBibm5v5XtYhiCBsbm5GQ0MDdnd3M64B2vcGce9PZ3Hh8gZaTDp853cH0F1dhJmZmYyOx/M8lpeXsb29LThx7+7u5nT8fyxCoRBGRkag1+vR29sLhUKR8rHS+bvJjiPFeYgXnZmcnJQkOpNraIsuSLme6FZtn88Hq9WKhYUFeL1eofbCZDIl/LCj7RwBR1fAiIkWpGIj0aWlJdQplfjDc0b8+6gTO85gwi4kqc8Xi8DICMdxmJ6ehtfrxblz56DRaOD1emUptiVk85CLTQ5Ji3QgEJB1vZlAvrrFnTyZFrY+PrGDv3x0CjZPEL//8hZ85MZ2FGtU8Pl8GR0vHA4LnWXiYYRSD59Ld23xWrdzPdpfjp8XKzrjcDgiui3IBsqiM6kh5z1RXFwc4apNai9WVlaEVm2TyYTy8vKIdxkTMHQQy0i03mbDuRqlyFk7DJ/Pd+h5kzoC4/F4sm4qkROqBUyih8nr9cJisaC6uhqdnZ3C35WrWwh4aRPP5AZxOBwYHx8/5L0kR8FtphBnbofDcaiTJ9117jj9+NyjU3h8chddtWX45/f04nT9S7UgmYgEr9eLkZER1NfXH+royYeDNGFvbw/T09MxW7ePojeRWq0WhnuJw99kdD6ZhXHUfm+pyYVYENdetLe3C63aa2trcDqdEYahNBbM0ihgcn1fp+OsLbWA4TiO6nIMelf2v8TaAMisj1OnTh0qKo03iVcKiDhK5wYRD32L1SIt14TfdAkGg7BYLCgrK4s5QC/VCAzP83jg0ga++PiVnO2fvOY4fvf65kN+H+lGdMjU31jXPJPjJSJV0RErlZXpsaQiHz8vuh7Dbrdjd3cXOzs72N/fh9frzXt0hrboQr7Wk6hV2+12Y2FhgarUII2iKp/3UixnbXH9k8/nw+bmJqqrq7MehkjbMxML6gWMGI7jIrxtYrWLyfkCTze6Q9IdSqUy7tA3OW+QVG9A4tScyGYhFYGwYvPgzx+axG8W7RhqMeJzb+1CW2XsFrx0BMfKygo2NjYwMDAQdxOU8rqnko7iOA4TExPgeT6hr9ZRjMAkQjx6XalUorS0FOFwOOJrkRQn0rBB5gsaNofoVu2LFy/CYDAcSg1K2aqdLjR2IdEUFYquf3rhhRdQVFQkDEMsLy8XUoaZtFfTcJ8momAEjN/vh8ViiagfiYWcJzsdAUOKYJuamtDY2CjbmuKRarpra2sLCwsLSZ2aEwmOUJjDv/1mFfc9PQ+1UoHPvrkTtw00QJnABiAdkcBxXNKpv1JGspKlo/x+P0ZGRlBdXY2Wlpak8zyOcgQmEQqFQphGKo7O7O3tYW5uTvhvuTI3pOlFTOPGoFAoIgq3vV4vrFar0BkjFp+5MlikSSwQpE7TSE19fT0aGxsjImzj4+MIh8NCuknsrB0PWt4jiaBewCgUCuzt7WFqaioj00ApSVXAbG9vC11RuZwBIiZZuovjOMzOzsLtdqfk1BxPwExtOXHXg5MY2zjAqzoqcfebOlFrSJ4qSLbR+nw+jIyMoKamJqlISOV46ZDoWAcHBxgdHUVHR4dg8JardRU60cZ4pLNpZmYGgUBA1ugMbdeAtvVEo1AohEFsRHzu7+8L3U1qtVr48k+nVTtdaEwh0SiqCOK1xRqG6HA4BGdtrVYrRGdiXcNAIEB9UT71AmZhYQE7OzsJ0we5IpmAIaLA5XKlJArkJFHEhHRDmUwm9PX1pfSCiD6ePxjGP/xiEd/45TL0OjW+8s5uvOF0jSQvG1LwnI5gzUUNDIlW9fb2pjyd8mqOwCQjeoMkL9e5uTkUFRUJG2S+0hdyQmNqJBEqlUrY7ICXXJkXFhbg8Xig1+sFV22p33tMwEiDuPgeuNIUYbfbhXZ7km4yGo0oKiqCy+XKeAqvw+HA7/3e72FsbAwKhQL/+q//io6ODrzrXe/C0tISWltb8YMf/CDrwajUCxij0Yjm5ua0bxg5QrSJBAxJcZlMJvT39+f9oYu3oRPDyOhuqHSO9+KKA59+cAILex68racOd77+BCpKpBlfvba2htXV1bQ9oeSsgeF5PqL2Kp0XdL7vg0IhOpcfPdiLdDZlmr6gMWVTyBBX5vr6enAcB6fTCavVKozJJ6nB6FbtdKHxmoXDYWoFTDrnS6fTQafTob6+HjzPC+32f/3Xf43nnnsO/f39AK588KZbP/PRj34Ur3/96/HAAw8gEAjA4/Hgr//6r3HTTTfhzjvvxD333IN77rkH9957b1rHjYZ6AWMymdL+siZCQ+r2r3gChnTIpJpWiIbUXEj5UMRa6/r6OlZWVjIyjFQqlXAHwvjLR6fwvefXUG8oxjd+pw+vOC5NSo/M9PH7/RgaGkr72kkdgSHHCoVCGB0dRUlJSUbCVMr27lR/Hk0RmEzXQqIzjY2NQnTGarVifn5eiM6Q0HchcpQElVKphMFggMFgAIC4rdpkSnqhk+koDZpRKBTCNbzvvvtgs9nwne98B88//zzOnTuH5uZmvO51r8NrX/taHD9+POG9u7+/j1/84hf49re/DeBK55tWq8WDDz6IZ555BgDw3ve+FzfeeOPRFzCZPORqtTonAkbcRtvf359xqJscV0oBI97QOY4TukAyEQcA8ItZK+76pRd2/xp++1wTPn7TMZQWSXN+SUrLbDZHzPRJBzlqYLxeL4aHh4VpxJke62pFrkmzpLh0dnY2reJSmq7FURIw0cRq1bbZbBgfHxdctUkhKa2RjETQmkKS8sPFZDLh+uuvx9LSEr7xjW9gfn4ejz/+OP7v//2/GBwcxF133RX33y4uLqKqqgq/+7u/i5GREQwMDOC+++7D9va2MOSztrZWEgsd6gVMJqhUKoRCIcnVvljAEJ8gjUaTsI021eNK/ZVOjpluMWw0NncAn//xDB4Z3UJ9qQLf/8Ag+pqMkq2TFMWmm9KKRuoIjN/vx6VLl3D69GnBgC3TY6X6YqHJSoBmdDodGhsbheiMuLiUFCaS4lICbefkKAsYMeJCUrEDurhVO5edaFJAq4CRel3iGphjx47hwx/+MD784Q8n/XehUAiXLl3C3/3d3+Gaa67BRz/6Udxzzz0Rf4dYp2TLkRUwcgyHU6lU8Pv9cLlcsFgsaGlpyfjLXIwcw+yUSiUcDgcmJiYy6t7ieR6PjG7j8z+ehssfwkdubMNZzZak4iUYDGJsbCytoth4SLlxb21tweVy4WUve1nWheNXg6DIJ9HFpSQ6Mzc3B5/PJ0RnaKPQinilItpjK1artslkQkVFBbVpGlprYKRel8vlysgHiXxcXHPNNQCAW2+9Fffccw9qamqwubmJuro6YdhetlAvYDJRaXIKmP39fWxubuLMmTOSuXRKvV6e5+F0OuH1ejE4OJj2l83mvg+feXgSP5+14myDHp+/5RRO1pTh17+WxjWbODYHg0G87GUvkyTVJ0UEhqTafD4fDAaDJF1vrAspt4ijMxzHCbUze3t74HleGM5WqLUzcpGPeya6VZtcL5vNhsXFRajVagQCASESQEvEitYaGDmcqDMRMLW1tWhqasL09DQ6Ojrw5JNP4tSpUzh16hTuv/9+3Hnnnbj//vtxyy23ZL1G6gVMJshhJ8BxHDY2NuB0OnHddddJ2iooZfqDTP8NBAI4duxYWuKF43h8//k1/M0Tc+B5Hn/2+pP4nWuaoEowkC5dgsEgRkZGYDQaUVJSItkDl+3GLa7DOXbsGCwWCxXryuTnMa4gNi40m83Y2dmBUqkUojMGg0Fo/c31hkRbComG9YivF3ClE214eBhLS0twu92ytmqnA80pJBoEDAD83d/9Hd7znvcgEAigvb0d3/rWt8BxHG677TZ885vfREtLC37wgx9kvcYjKWCkjmj4fD5YLBaUlpaisrJS8odHqvUSs8OGhgbo9fq0Ns75XTf+/KFJvLjiwMuOmfDZt3ShqULanDSxLDh27Bhqamqwt7cn2UOXjQgkKcHjx4+juroawWAwJ0Px5OJqjsAkQq1WR7g0i7/2NRpNRGeT3Js5DYJBDI0D47RaLYqLi9Hd3R23VdtkMkGv1+d07bQaHMoRgamvr8/o3/b29uKFF1449OdPPvlktsuKgL6rEEW+U0g2mw2Tk5Po7OyERqPBysqKJMcVI8V6iSMyKTpdWVlJaUMPhjl845fL+NrPF1CiVeGet5/C23rqJH8hkOnEYsuCbNy9o8lUKJBiwrNnzwopwVRsDtJZV67bqBmHiRYM0V/7Pp9PaNPORXSGNgFDY02OWFRFt2oHg0HYbDasr69jamoKpaWlggCVu1U7HA5T2Q4utYDxeDwZR2ByBfUCJhNIG3U28DyPpaWliCnAbrdbttqaTDc5nuexuLiIvb29CEdklUqFYDCY8N+Orh/grgcnML3twutPV+PP39iByrL4D2Ym82oSDYGTMnWW7rHIebNarYeMQaUUHekIK4/HA5VKlZHpmhgWgUmf4uLiiOgM6Wwi0RlxZ5MUwoNGAUPTeoDEokqj0aCmpgY1NTXgeR5utxtWqxUTExMIhUKoqKiQzVWb1hSS1EW82aSQcsWRFDAqlQqBQCDjf0+GlxUVFUW0SMtVHJxpFxJp5S4qKsLg4GDEzZtoQ/cGwvjq0/P49rMrqCwrwtfefRav6UxeEU6OmepDEgqFhNRbrCFwuRj/H4twOCy0wA8MDBz6fXLlqyRmbW0NKysrwjkymUyorKxEWVlZWhvL1V7EKwVKpRIVFRXCmHPx2Hyv1wuDwSB0ymSaSqBNMNC2HiB1oaBQKFBWVoaysjKhVdvhcBxq1ZZq8CGtAkaOGphsu0PlhnoBk+sUEqmHaG1tPZT/k7O7Kd3jut1ujIyMxFwnOWYscfDsgg1//tAkVu1evGugAX9683HodanV9KQjOMj62trahOFFsY4n5fj/VNbm8/kwPDyMhoYGNDU1xfw7Ur7IkwkKnucxPT0Nn88niLxQKASr1YqVlRW4XC6heNFkMlGZey8Estmgo8fmk+jM0tJSxqaGtIlMGjflTNcU7flDbCnI4EOSHjQajRk9T7S6UdPShZRLjuTbMFOhsbm5icXFxbgt0rREYMiXxZkzZ+K6XUcf88AbxL2Pz+KBSxtoMenwb+/rxzVtprTXmYpI2N3dxczMTML1AblP1RCTyK6uLqH2QW4SrSsUCmFkZAQGgwE9PT0IhULgOA4ajSZikunBwYEgaJRKJSorK+NumCwCIy/R0Rm/3y8M0fN6vRGdMsk2R5oiHrRGYKRYk9iWIlarNkkPptqqTaPYA+QRMFKNCpGLIylg0m2jJj48Pp8P586di/vikasgM9WUF6kn2d/fP1S3EY1YbDw+sYO/fHQKNk8Qv/eyFvzRq9pRrEn/Rk8mYBLVlWRyPCnXtrGxgeXl5Yx8oLIhnqDweDxCBI1EqDiOOxQGFnuUtLe3H9ow89kKzACKiooORWdsNhuWl5cFCwSTyXRoc6RNMNC2HkCewuLo4m2/3w+bzRbRqk3+e7xuU5oFjJQRWhaBkQC5U0hk1H51dXVSHx65HvBU1hsMBmGxWFBeXo6BgYGka1GpVLC6g/jj/7TgpxM76Kotwz+/pxen6+NHRJKRSCSI63Fi1ZWke7xM1hZLKJCheR6PJ2MfqGyIJWCI+Wd3d7fQVcHzPHieRzgcFs6JSqU6dB5jbZjiYtPy8vKkxdu5gqZoUC426HjRmcXFRXg8ngixSZtgoLGNOhdCoaioCHV1dairq4twZF5bWwMAoRhY3KpNq4ChaQ5MrqBewGRCqgLGarViamoqpymFWCTbyKPnpySD53k8PL6HLz+1iyCvwCduOob3v6wFGlV2D128dZJoQrqmh3K3KxPRp9fr0dvbm5cXdPQmvr6+jtXVVaGzjed5IfKiVquF2qVwOCz8D7hyrhQKxaFCbfGG6fV6sbm5CafTiYsXLwovX6PRSOUL96gTLTZJKnB5eRl+vx+hUAharZaKKbO0tlHnck3iaGdbW5vQqr2xsSG0aptMJgSDQSqjnVKnkLxeL/X+VAUhYNL9kksmYMStx2QjySeJ1kvqcsTzUxKxavPgzx+ewrMLNnSa1fjKbw2hvVKaSvJYAoaIQHE0IZvjZUr0BkCKiNvb21FbWyvJz8gUEl0hkaDBwUGo1eoI8ULMzYhIUavV4DhO+Dvk/giHw8LfiX6563Q61NbWwuPxoKurCw6HA3t7e5ibmxNG6JvN5rzf7/kg3xEPpVIJo9EoGINOTk5Co9EcmjKbr0LtfJ+fWOQ70hGrVdtms8HlcmF4eFhINdHygSC1gOF5nkqhJqYgBEy6JKqBIQaCxcXFh1qP80UsAcNxHGZmZuD1ehPW5RDCHI9/+80K/vapeaiUCtz1umM4VWSTTLwAkYKD53ksLy9je3s7Yv5MOshVU0SG+iUrIs4FpJj68uXLKC8vFyJBscRLrH8LXLk/NBqNIGRIqon83yqV6lB0htRfmM1mwTRvb28Pk5OTCIVCQuGiXq+n4hm42lCpVKisrITBYIiIzpBCbSJm0m2jz5R8i4VY0JTWErdq7+zsoKenB/v7+8IHQlFRUcQk53wgpYChUdDG4kgKmHipCZKKyearPJNhbsmIjkQQXx6TyYSOjo6kN9L0tgt3PTiB0fUDvOpkJe5+cydMOiVGRvYkW6N4ncRvSaVSRczJyfR4UkGGD2YjqqTG7/djc3MTnZ2dQrs7ESDkJZHqi0IcdSHRGXHNDBE10eeUmOY1NzejubkZoVAIdrsdW1tbmJ6eFqaYms3mrIfoMVJD/H6Kjs6QwtLl5eWcRWdo3LBoFFXAlXOl0WhitmpH+2xl2qqdCVKfLxrviWgKQsBIUQy4sbGBpaWllFMx8SDREilvFHEEZn9/H2NjYzh58iSqqqoS/rtAiMM//HwR//LLJeh1anz51m68sbtGmCUidXRDqVTC5/Ph+eefTzhHJZ3jSbVGjuPg8/ngdDqzElVS4nA4MDc3B5PJFCFeSHQwmzWKozPAld8/FAphZ2cHWq1WKOSNVTujVqtRVVWFqqoqITS+t7eHsbEx8DwvRGfKy8upf4GlCm0v40TrEReWij2ASHSGXB8pozO0nR+AzrqceES3aouL60mrttwRNakjMIVAQQiYbOA4DlNTUwgEAimlYpJBxIaUho7kmGtra1hdXU2p1ffSigOffmgS87tu3NJTiz97/UlUlLz09SzHzBq/34/19XX09PQIhaPZIFURr9/vx8jICJRKJbq7u6l4EZO27ZMnT8Jms6WUMsqWmZkZqNVqIWonjsaEQqGYqSZxaLy1tVUoXFxbW4PT6UR5ebnw9Z9PB+CjRqqCQewB1N7ejkAgEHPIYbYOzTSlawi0RmCSEasbTRxRk+uZklLA+Hy+vKXC0uFICxiv1wuLxYKamhp0dXVJ8oDKNczO6XRCq9Xi3LlzCW9Clz+Erzwxh+8+v4Y6fTH+5bd7ccOJykN/T+qX0crKCqxWK9ra2iQRL4A0NTAHBwcYHR1FR0cHZmZm8v4S5nkes7OzcLlcGBoagtvtll28BAIBWCwWVFdXo7m5WfhzcXSGiBlxQXCs6Ex04aLT6cTe3h5WV1eF2ox0hn7RAm0RhkzXo9VqD7X9ShGdoTHaQavrc7pEt2qTiFp0q3Z5eXlW10DKzIDL5WICRioyedBDoRAuXbqEU6dOSbbhAtILGDKHRqFQ4OzZswl/15/P7uEzD09i68CP3z7XhI/ddAxlRfJeQo7jMDExAY7j0NLSImvtT7psbW1hYWEBvb29KC0txczMjGRrA9LfZIiHVklJCfr6+oR/GwwGhZeL1Juo2+3G6Ogojh8/LuTjo4munRH/j/yOscSMQqGAXq+HXq+P+PonnTPiuSZHYaPJJVIIqughh4FAADabTYjOpPOlT5vAA+iMCmWL+Jkirdp2ux0bGxs4ODgQWrVNJlNG3YJSChjaZ8AABSJg0oHneSwsLCAQCOC6666T3IxKSgFjs9kwOTmJrq4uTE1NxX1Ybe4AvvCTGTxk2cKxqlJ8/wNn0NdklGQNiSDiqqamBi0tLVhfX5dUvCmVyoyGriVyuJYKUneV6guUeCw1NTUJs3B4nhcKiS9evAi9Xi/YAEix4VutVsGyIdWXTaxCYLGgCYVCwt+JfhmKv/7FnTPEE0hsccBIjBw1BlqtNsKCIvpLP1FtE41igcYUktTXTaPRoLq6GtXV1RGt2qRb0Gg0Cq7auWxpLgQjR+CICZhgMIjR0VGUlpbCaDTKcsGlEDA8z2NlZQVbW1sJ59DwPI9Hx7bxV49Nw+kL4Q9f2YYP3dAGrVr+h5r4BnV2dsJsNgPIXHDEI5MIjDjKEcvhWirSKRwnhdfiaB8p1lWpVDhz5gx4nhfaLsmYedLFkI4JIGFtbQ2bm5vo7+/PuNsqViFwOkP0SOfMsWPH4PP5YLVahS4Mo9GIYDBIzVccjREGOdcT/aVPojOrq6sxozM0ppBoXZOc7xxSj9bc3IxwOAy73R7Rqk1EqE6nO7QOKcWVx+Oh5tlNxJERMAcHBxgbGxOm1Q4PD1PjHC2GtCArlcqE3TKb+z7c/cgUnpnZw9kGPf7qllPoqMnNDRWvmFjqtud0i3i9Xi+Gh4cTTvyV6gWT6to2NzextLQUca5IvYm43kWhUES0yvp8Puzt7WF2dhZerxcVFRWorKxM6mlEamyIe7WUIp1EXTIZoldcXIyGhgY0NDQIhnkLCwuYm5vD1tbWVT1ELxa5FlTJojNqtRplZWVUCT0aIzC5XJP4Iwe48v6LbtU2mUyypHBdLheLwEhFsgdqfX0dKysr6OnpEU66XMW22RyXjNxvbGyM24LMcTz+44V1/M0Ts+A4Hn/2uhP4nWuboVJm9lJJ54VETC39fn/MYmKpBUw6RbwkrHr69GlBBMQ6nlQv4GRr43ke8/PzgrFmvMm68SguLkZjY6PQdin+0iouLhZeXOINn/hNlZWV4cyZM7JuNMmG6JFW8FidTaSY1OFwoLy8HKWlpcLE5mAwKBQtGgwG6jaoXJFPoRCrDmN2dhZ2ux0XL15EeXm58KWfz84zGtNaUk+7TQedThfxkSA2DlUqlQgEAnA6nZK0aheCDxJQIAImHuFwGJOTkwiHw4eM+tRqNVUChkyHTbQBL+y58ecPTeKFZQeubzfhL9/ahaaKzL0o0tnQyfA8s9kc19RSjghMKsdbXV3F+vp6UtsHcjwpNsVEKaRwOIzR0VEUFxcLaaxsOo3E3T0AhLks4+PjCIVCwsTcxcVFNDc3C+7VuSSVIXrR0RlyDsiMjKamJiEsvrOzg9nZWeh0OlRWVsJkMsk6eJCmyAJA13o0Gg3KyspQUVGB2tpaITpjsVgAJK6dkRMaU0i0RIVi+aANDw9HFHCTYuBMhlMyASMzXq8XIyMjqKurQ3Nz86EHS6VSxbUTyAaVSpVWHYjYdynedNhgmMMjC0E8/MRzKNYo8ddvO4V39NZl/bIgxoDJHjjSipxseF6uBQyZ4RMMBjE0NJT0y0dqb6VYAoYU65LoCZD5ZN14lJaWorS0FC0tLQiFQlhbW8P4+Dg0Gg329q5MV66srMzb13Gs2hkiZsS1M0ToiBGHxUnRotVqxfj4ODiOi7A4oGWDlwOaBAzwkliIFZ0RzwUqKysTamfkntpMi1gQQ+OagCvPlU6nw+nTpyNShKOjo8JwSpPJlLJ1CCvilZDoB313dxczMzMJoxlyppB8Pl9Kf5cUnCbyXRrbOMBdD05gaiuI13ZV4S/e1Imqcmm+RIkPT6L8KKnhIK3IyY6XqxoYcUQo1Rk+UkxsTrQ2Uqwrdi8Xixc5Xmw2mw1bW1u45pproNPphLksw8PDACCIgVx55sQiVnTG7/fD4XAIxbzx2rRJ0SIRa2L3X7JZSpXKoE0wFMJ6oucCuVwuWK1WYWozSQfKIThpFAs0rgmITG3Fa9Xe3NzE9PQ0SkpKBBEaL6LtdruznrSeCwpCwBBI3YHdbsfQ0FDCL4B818C4XC5YLBa0trYKY+TFeANh/N0zC/jWr5dhLtPi44Ml+N3XdkoaRk8kOMTuyNHpt0yOJ+X6yLk7fvw4qqur0zqeVAImugaGzJyJV6wr9UuNmGXabDYMDAwIG3j0XJa9vT0sLi4Kc1mqqqpgMpnylqcndhNjY2Nobm5GZWVlzCF6ZH3RFgfillKXy4W9vT0hlUHETCZirVBGo+eLVDZmhUKB8vJylJeXR0xtXl9fjxCcUkVnaBQL+ayBSUSiIXbRrdoejyeiJs1oNAqu2uR3yzYCEw6HMTg4iIaGBjzyyCNYXFzE7bffDqvVioGBAXznO9+R5B4pGAETCAQwOjqK8vJyDA4OJn2BJXKkzoZUBMz29jbm5+dx5swZlJeXH/rvv1m04c8fmsSKzYvbBhrwyZuPY35qTHLBFW+twWAQIyMjMBqNgjtyKuSiiHdnZwdzc3Nxz126x8tmbTzPC3OFHA6HMHNG7sm6HMdhcnISCoUCvb29cV9MWq0W9fX1qK+vF4r69vb2sLCwIJjNVVVVQafLvI4qXZxOJ8bGxtDZ2Snk52MN0RN3NsWLzpDNUtwGLB6hT7q2CnGIXqFEYBKRKDojRTqQRgFD45qAK+tKRVgpFAohRU1atR0OB6xWKyYnJ/FXf/VXuOGGG7C3t5dVDcx9992Hrq4uHBwcAAA+9alP4eMf/zhuv/12fOhDH8I3v/lNfPjDH874+ISCePKJgeCJEydS/iJXqVQIBAKSryWRgCEtrsRQMDrsfeAN4ouPz+K/Lm2g2aTD/e/rx7VtJuG4cpgvRh+TOHKTdvNsjyfV+kitkNVqxeDgYEbqXOoamHA4DIvFAq1Wi76+PiHCI6d4CQaDsFgsqKysjFnbFY9YRX17e3uYmpqC3++HyWRCZWUljEajbC9g0kV19uzZmF9vyYboJWrTjm4DPjg4iJipQ6Iz8Wbq0FYQehQEjJhY0RkyYXZqaiojx3Mau5BoFTCZRobEz87Jkydx33334dFHH8Wzzz6Lp59+Gq95zWvwute9DjfddBP0en1Kx1xbW8Ojjz6Ku+66C1/+8pfB8zyeeuopfO973wMAvPe978Xdd9999QgY0u2RzpeknCmkWJskiRDp9fqYA9aemNzB3Y9OweoK4AMva8Ef3dgOnfalG47Uq8i5VhIZytSRWy4BEw6HMTY2Bo1Gg4GBgYxfEFLWwPA8j/HxcTQ2Ngr+QlIX60bj8XhgsVjQ3t6eVuosFjqdDk1NTULnj81mw/b2Nqanp1FaWipMzZUqZbm+vo6NjQ309/entEGlWggcLzpDRugDV8zyrFYrFhYW4PV6IywOaAz3A/QJGKnFQnTaIpPoDG2iEzh6Aiaajo4OdHR0YHJyEn/yJ38Cr9eLn/70p7j33ntRXFyM//zP/0z64fuxj30MX/ziF+F0OgFcmRhuNBqFSGljYyPW19ezXitQIAJGoVCkHQbPZQ1M9BA9MbtOPz732DR+OrGDztoy/NNv9aK7/rCSlWO9RBRJNXpfDgETCoXw/PPPo6GhIeuiManWR77uT5w4kTPxYrfbMTU1he7u7rRTZ8lQqVSoqqpCVVWV0Pmzt7eH0dFRcBwHs9mMysrKjEL9pC7N7XZnNVgvkzZtQlFRUUQqjYTEFxcXodVqYTabEQwGZW3TThfaBIycYiE6OhNdrE2iM9Gt9DSKhUKsgckEt9sNk8mEY8eO4YYbbsDnP/95bG9vx/VbIzzyyCOorq7GwMAAnnnmGcnWE4+CETDpImcNjPi4GxsbWFpaOhTV4Hke/z28iXt/OgNvkMMnbjqG97+sBRpV7JtMLgETDAZx+fJllJaWZj16X+o1Op1O7O/vY2BgQOjqyQYpIjAkSlVZWSkICTmLdYEr99Da2hr6+vpkn1Qr7vwhoX6r1YrV1VU4nc60/Jo4jsP4+DiKioqSGpGmQ7zoDBE15P9ONESP3E9erxdWqxXb29vgOA5utxtms1nWVFohkktBFV2sHd1KTzqbiGilCRpFFSC9sIplJZBKycGvfvUrPPTQQ3jsscfg8/lwcHCAj370o3A4HAiFQlCr1VhbW4s7ST1dCkLAZILcKSQytdbn8+HcuXMRL/tVmwd/8fAUfr1gw0CzEX91SxfaK3Pbogxcuamnp6dx8uRJSYafSblGIvyI+6oUZLM+UoNjs9kwNDSEubm5iLSGHFEXEhnzeDwYGBjIy5edRqOJqC1J1a+JFILX1NTI3m6ZLDqTyIBSp9OhsbFRiDAUFxcLtTo6nU7I/+cjOkPT5pyvepNYrfR2ux1bW1vwer0YHx8X0k00RNA4jqOyaDzVIt5UydSN+gtf+AK+8IUvAACeeeYZ/M3f/A2++93v4p3vfCceeOAB3H777bj//vtxyy23SLJO+q5EHNL9upZLwJCoxgsvvIDKysqIqbVhjsd3frOCv31qHkqlAp95UyduH2yAMgUbAKnXu7u7i62tLUknt0rxghO3bw8ODuLFF1+UYGVXyDQCw3EcxsbGoFar0d/fL9RdyCleSN1PSUmJpNGLbEjk10QMGquqqlBUVCSkTBMNPpSDbGpnxBOPxe2kExMTCIfDgh/VUR+iFwta6k3UarWQ7tzf30dra+uha0RqZ/Kx3nA4TIWQiiYcDks62NLn80kaDb733ntx++2349Of/jT6+vrwgQ98QJLjFoyASRe5rAT29/fh8XjQ2dkZkQ+c3nbh0w9OwLJ+gBtPVuLuN3eizpD6DSBVFxJp+7XZbGhubqbqYSMdNnq9Hr29vQCknc+RSQTG7/djeHgYtbW1aGlpEdZUVFSE+fl51NTUoKqqKsLUMlv8fj8sFgvq6+slC6XKQSy/pvX1dezu7sJgMMDv90v+okuXVGpnyH0hFiXR7aTkyz96iF4uJs7SAG01OUDi6MzMzExeImhXSwpJinT5jTfeiBtvvBEA0N7ejosXL0qwskiOrICRw0pgdXUVa2trKCkpEcRLIMThH3+xiK//zxLKi9X40q3deFN3TdovAym6kIjZX1FREQYGBrCxsSF5WipT3G43RkZG0N7ejtraWll+RroRGKfTCYvFgo6ODuF6kg2wsbERVVVVsFqtgsGlFK3ITqcT4+PjOHnypGSps1xACq69Xi+uv/56cBx3yK+psrISBoMhrxOBgciPARKVcblc0Gq1CAaDUKlUh66f+Mtf3DUzOjoKIH9+QLmCRgETTfQ1crvdsNlsmJiYQCgUyolJKM0CRqp1kflXhUDBCJh0Nycpp7JyHIeJiQlwHIdz587hueeeAwBcWnHg0w9NYn7XjbeercWfvf4kTKWZfa1lO7eGOF03NzcLX/Uk3ZVviJHlmTNnUp4lkAnpRGDIwLyenh4h1ysesKZUKoX6icbGxpityFVVVWnNtdjd3RUGHBaCzwiB53msrKzAarWiv79fCFWL/ZrIRNbJyUmUlZUJtTP59msCgJmZGWHoWqpt2rEmzq6urgpD9Eh0hsZ6iEygcWNOJKjE0RlxBE1sEipHdIbG8wRIXwMD0FWjFY+j8fTJiM/nw8jICGpra4XBYr4Qj796bBr/fnEVdfpifP23e/HKE4nby5KRTQ0MGQvd3d0tzMYA5CkMTgcyDn97ezuukaWUpCJyeZ7H0tKSYK6p1WpTGk4X3YpMxtyPjIwASOxJxPM8VldXsbu7m/KcFFrgeR7T09MIh8NxpwJHd5XQ4tdEBhFWVFSgpaVF+NniIXriicDx2rSjJ84eHBzAarViZWUloq6mtLS0IF76sSiECEwioqMz4vomKaMzNLdRS7UuGgcIxoMJmATYbDb865OjeHgZ2HbOos6wijd0V+NHL/pg863iPeca8fHXHEdZUfanMROxQQTCzs5OTIEgx3TfVCFRK57nMTQ0lJOvllTcrScmJgBAGJiXyWTdWGPuxZ5EpNi1oqICCoUC09PT4DhOmOZbKITDYWE4Y1tbW8rnhga/JmIG2tjYeKiIXZxq0mg0abVpi4fotbe3w+/3w2azYWlpCR6PpyCG6MWCNgGTTfQ8Vn2Tw+GIiM6QlGC69Vu0RmCkFDBer7dgIsQFI2By+XARYfDDS6v4zlQYvtCVTXFj34dv/moFBi3wnff1YajNLNnPTDcCEw6HMT4+DpVKFdfpWo7pvkDylx0pjK2pqYn48pWbRBGYQCCA4eFhVFdXC2uSyhYg2pPI4XAI3Tt+vx9GoxEdHR1Uvvji4ff7BQEQy4w0VfLh10QmGp84cQJmc/JnNNshenV1dairqxN+PzJET6PRRFgc0AxtX91SCiq1Wi1EAWOZGVZUVAhmhsmeUVoFjJQpJJfLRf39SigYAZMp6T4IpL1VrVbjoSUI4kWMWqXA2frMja5ikU60xOv1YmRkJOn0WjlSSGTjj3dODw4OMDo6GlEYmyuSuVufOHFCaPuVa7IuGaSm0+lgt9vR3t4OnueFNlCTyYSqqiqqW3VdLhfGxsYkLzTOhV/T/v4+JiYmMp5onO0QPfHv5/P5YLVaMTc3B5/PJ6QxSJs6TdDSRk2QSyjEMjO02+3Y3d3F3NwciouLBdEZKzojR62JFEhZxOt2u7MycswlR1rAkKhGqoV2pBC2qakJjY2N2PzBEzH/ns3Lyzb2Pxk2mw2Tk5M4deqU8KKMh1zTfeO9XLa2trCwsIDe3t68hCBjuVHv7u5idnY2YlIyz/NCh5ocL0mHwyFcI1KTRIpdrVYr1tbWcHBwkNbU21xhs9kwMzOD7u5u2V9iqfg1VVZWplUkTe4/qSI62QzRKy4uRkNDAxoaGgTXXzJEz+fzYX19PaM0hhzQlkLKVURIPKyR53lhcjOJzhiNxojJzVKP7JcKKVNIbrebpZCkJhs7gVQ2h93dXeHFTTadOkMxNvZ9h/6uWSeP8WKiY5JC0I2NDQwMDKT00pMjAhPrmNl6LUn18hR3XUXXB6VarJstm5ubWF1djWkLoFarDxWD7u7uClNvq6qqhKm3+UBsaZDr+UGx/Jp2d3dhsVhS8mtaX1/H5uZmRJeU1GQzRE/s+gsAzz33HDiOi0hjkN8vXxskTQImHxEhhUKBkpISlJSUCKLabrcLorO4uBg+nw+BQICaDw4xUl0/JmAoIZUIhHjw29DQUMTX3iduOoZPPzwJX/ClDbtYo8Rvny2X3TlajLiNe2hoKGWlnQsBEwqFMDo6ipKSkoy8lsjxpPh6ENe1TE5OguM4oT5IbvFC7qODgwP09/cnfcFFOyqTqbdSzpxJd+1OpzNvlgZixC2ybW1tCf2aVCoVFhYW4HK50NfXl9O1R0dnxP8jojyWmCH/lkSfoge0lZSUCGKnkDrWpISGWhNxdAa4EqG/fPkyZmZmYkZnjgqZ2gjkg6tawJDNV6fTCV0pYt7Sc6V74XM/nsa+N4Sa8iJ88ubjOFG0n7MUEmnjzqQgVs4UEvBSyq2lpSXjQk8p5/WQCMyLL76IyspKtLa2SlqsG49wOIyJiQlotVr09vZmdHzx1FspZs6kChHHarUaPT09VH2FE+L5NS0tLcHv90On06Grqyuvm0isVJNY0IRCISgUipSG6BFzw7GxMXAcJ4jZozpELxY0CJhoSkpKhGc8OiVYVFQkiE4pC9LzAauBkYFMU0jxNnBS2NnW1pbQK+gtPXWAQoE/vTCGb7+vH+2VpZiddeUkheRwODA+Po7Ozs6UuimikSMCQ9ZJanFOnz6dVVFirLqVTPH7/VhfX0d3dzeqq6sByFesSyDturW1tZKZGmYzcyYdiLVDVVUVmpubJVm73BC/pvLycjidTqGGhNSViFvY87UBxko1idNMwWBQ+P9jtWmLx+cHg0HY7Xasra3B6XSivLxcGKKXryGBuYBGASMmOiXo8XiE+jG/3x/R2ZTviGa6MAFDCfHsBLa3t4WJqKl0Kui0Vx4kbyAsHFdqARO9Ea2trQm1FJnWRMgVgdnc3ITNZku5FifZ8aQQMGTWSFVVVYR4kbNYl3TrpNqumwnpzJxJ50Xp9XoFAU/OV6EQa8aL2K+JtLAXFxcLYo8Gvya1Wo1AIICxsTE0NDSk1Kat0WgODQkkheAKhUKIzhTyEL1Y0NbWnQxSO0MiqA6HA1arFfPz87JHZ6Qe+89qYCghegPneR6zs7NwOp1pFZuWaK5sDN7/rYWRy+kauPLgkjqIc+fOZaXeM3VnTrQ2h8OBoqKitGpxEiGFgFlZWcHm5iY6OjrgcDhyUqxrtVoxOzubk24dMfFmzpAwNikETrRhk1ZjcZdUoZBoxot4Ki5w5UVMk18Tma3T0tKCmpoaAOm1aYuHBBIxa7VasbS0JAwJJEP0aCwyTQfaIzCJiI7OkM4mEp0R185I8Q6Vejqw2+0umI+awr7LkyAWGoFAABaLBQaDIe1i02JBwMgXgQGuPLQvvvgizGYzOjs7s37JSvmSJl+9Go0GbW1tkj0w2QgY0sURCoUwNDSE/f39iLoDucTL6uoqtra28m4LQGbOkFkt4g073swZ4sfU09NTMMOqCOnOeCHzPmjwayKzm6Jn62QzRE+r1UYM0SMWB6SrTTxEr5CiGQB9c2mAzCMd0Z5qZNjhwsICtFqtMBU40+dRarHHIjAykE0bNRmuduLEiYyUZYn2fwWMKIWUjfFiLA4ODuDxeNDR0SEMW6MFUi90/PhxIcIhFZkW8QaDQYyMjMBkMglj7hUKBYLBoDCrQY5Oo5mZGQQCAfT391OX247esKNnzgBXNtKBgYGCq5/IdsZLPv2anE4nxsbGcPr06YRmptm0aSuVShiNRqEejQzRm5+fF2qDpPzqlxsaIzBSjHtQqVQRHx0kOiOu4Ur3OkkdgfF4PBkNgcwHBSNgMkGlUmFvbw8bGxtZDVfTyRyB2djYwPLyMkpKSqgTL8S1mQyCOzg4kLQwOJMiXrfbjZGRERw7dkwIxfM8j+LiYnAch4sXL2ZcGxIP0rGm1+tx8uRJ6r9oxTNnOI7D2NgYXC4XVCoVLBaLMMK/EKIwUs94SebXZDQaUVlZKYlfk91ux/T0NM6ePZv2+yeVIXqxUk1A5BA9kmoUf/XT3jFDYw2MHKJKHJ2Jvk6pWlFILWBcLheLwOQbjuOwsbEBj8eD6667LqucsJBCkriIl3zRezweDA0N4fnnn6fmy4PneSwuLsJqtQqD4ADpO5vSPR6ZknnmzBnha5YU66pUKpw9e1Z4EZApvDqdTqgNyWRAm8/ng8ViQVNTU8KONRoh1hilpaU4c+bMFTf1PM6cSQcyn0buGS/x6orm5+eh1WqFeyfdzX5nZwdLS0uSDAZMFJ0Ru2qT/x4dnRF/9Ys7ZgKBAIxGI0KhEDXvHoDOCIzcNgLR18nr9cJmswnRmXhGoXLUwLAuJIlJR42TYrnS0lLodLqsC9qEFJKEERiSAjEajcLskERj+nMJ2fQ0Gs2h+Tj5FDBkErHYeZu8xMX1LuIXATFv293dxejoKHieh9lsRlVVVUrpAlJ30dXVRaWHTSJI3VJ9fT0aGhqEP082cybdEf5yQOqblEolzp49m7Ov8VibSCZ+TWtra9ja2kJfX58s6bp4Q/TIe0mcRo1eZ3THjM1mw9bWFl544QXodDrhqz/X05jF0FgDk2sbAZ1OdyiKZrPZIoxCTSaTYGchFSyFlEfI7JSOjg5oNBqsrq5mfUyd5srN4ZEoAuN0OjE6Oorjx49H1OSk692UKunkbn0+H4aHh+MaReZDwJDOrEAggMHBQahUqpQ7jcTmba2trULnRiptyNvb21haWpLUWydXuN1uoe4rUYt3rmbOpEM4HIbFYoHRaBSGEeaLdP2aeJ7H0tIS9vf3czYZONkQvUSFwKQmg0zSJk7NYvNRs9mcc/NRGj7kosnnmqKFtbjGyeVyQaPRYG9vT5KUOSvilYlEbcFir6D+/n7odDq4XNIMnFOrlNCoFIKlQDYChsygEZsLEuTobiIWBanc1ET8dXV1xXUhTtV0MlWSFfGSYWtGo1HozCIv6EyKdaM7N2KlmsxmMzY3N2G322X11pELu92OqamptB2ZU5k5I1VtSDxizXihhVT8mtxutxA1ysdml0khsHjIo9ipmXRubWxsYGpqCmVlZUJ0Ru5nguM46lrBaRJV4hqnzc1N7O/vw+FwCNEZcWdTusLT7XazCEwuCYfDgveNeD5Jokm86aLTqLJKIaVieJjIDylTiOBItuGQQuJkg/PEholSkKiIl1gVtLW1oba2FkDkZN1sO41ipZp2dnbw3HPPAbgyHM3n80GtVlNXUBiPRGaS6ZKoNiTVmTPpkGjGC21E+zWRtDWxDJicnKTCaTyVNm2y5miiO7dcLhesVissFgsACGJGjugcrUW8NHZw8TyPsrIyNDY2AngpOrOwsACv1wuDwQCTyZTyfCC/318wHlwFL2DIfIX6+no0NTVF3PTxJvFmgk6ryjiFFAqFYLFYUFZWlnAGjdTRDXLMRKIoupA42Q2eqxQSsSoQu4PLaQugUCig0Whgs9nQ1taGmpoaId+czcTbXEFSFw6HIyUzyXTJZOZMOpBao2StxjQSCoUwPj6O2tpaNDc3R/g1kZksJNWUz5ks8aIzGxsbKCoqEkZDxBuiR6Jzra2tgsHmysoKXC4X9Hq9UJMhxb1HU7SDkOsamFSJ/kCN7kAjc2eWlpagVquTzgeKVTdFKwUlYKJTSKQj5dSpU6ioqDj096VMyeg0KvgyiMCQlt9knkvpHjdVEkV1SHpGr9enbEKYCwGztraGtbW1CKsCcbGuHA8XqRk5duyY0MoeK9U0NzeH4uLirLqapIYUvCoUCvT09OTk5ZNs5kw60QcySbgQa41ipbyIX5N4JguxN6DFr4mskzh8nz59GgqF4lCbNongxLI4EBtskiF6KysrkgzRo7GIl0ZRBVx5N8aLmCiVSlRUVAj7o9/vj4jOEOFJojM8z2c0l2t1dRV33HEHtre3oVAo8MEPfhAf/ehHYbPZ8K53vQtLS0tobW3FD37wg5h7daYUlIAhkK/NnZ2dhH48Ujod6zRKeP5XwKT6QO7u7mJmZiai5TcRcpgvxovqEGHV3t4upGdSQWqRJf6deZ7H9PQ0fD6fkArMhS2AzWbD9PR03JqRRF1NHMcJM1VyWehKINE9k8mUtlu5VIhnzpDNbHd3NyL6EG/mjHjGS6GErQkk+nv8+HFUVlbG/Xviri9a/JpI5DUUCkV0eWUyRE+hUMBgMMBgMKC9vf3QJhmv/TcRNIoFGtcEpJfaKioqikgL7+/vw2az4Vvf+hYee+wx3HjjjRlF0NRqNb70pS+hv78fTqcTAwMDuPnmm/Htb38bN910E+68807cc889uOeee3Dvvfemffy4P1eyI+UIEq7VaDQYGhrK2Q2l06qEOTDJIPMrbDYbhoaGUn4xy2W+GC2KyAyQVIVVsuNlA/nqC4VCGBkZgV6vR09PT0SxrpziZX19XSj8TiWaEt3VFAwGJTFXzIT/v733Do+jPNf/75VWva7aSpZkybKKJVnNsmMMhhhCCWAsuRtIbOIQQks4IZBA+IVACgGSQ+CkcPI9kOBAgFiSCy5UB9MxGFStbvW2RbuSVtvL/P5Q3mG13pW2zOzO2u/nus51HRtHM7vanXnmee7nvg0GA5qbm5Gbm8sa+gUa+5sZAJeeMwkJCRgcHIRGo/Hbtg6XzM7OorW11eM8KSHkNTEMg/b2doSFhaGkpMTpcdzRzrha03Z2kySbf+6a6AlRA8O13wpXeHte9t2Zn/zkJ9i5cycOHz6M8fFxVFZWYu3atbj22mvxjW98Y9H7BOlWA0BcXByKi4sxOjqKw4cP4+TJkwCAPXv2YMOGDRduAaPT6dDY2IilS5fO87XwB9FhodAYF9fTWCwWtLW1ISIi4hwPlcXge4TEMAwGBwchk8nmeal4Ah8jJJPJhM8//xy5ubnsl4BPvQv5+b29vdDpdD7FAoSFhQVk1ETs6YXuT+PoOaNWqzExMcHmauXl5Qn2xuCKqakpdHZ2euWu64izURyfeU02mw2tra3sppm7Y2Ng/rXEExM9+xGGY7ChRCJhrfPt/3dC7HYI8ZwA7gqrnJwc3HLLLXjjjTfw7rvv4tNPP8Xrr7+OJ554ApdddhmefPJJt37OwMAAGhsbsXbtWshkMvaanp6eDplM5vN52hNUBYxCoQhYgm5UeCjkswvnH5GtGW8LLD5HSDabDe3t7QDgU+eK63PU6XQYGRnBqlWr2Bsx38WLvTstlyZp/ho1Ec0IFzdQfxIaGgqJRILh4WHk5OQgNTU14J4znmKfycT1yMdxFMd1XpPVakVzczNSU1Odejy5A7luOJro2Y+ZFurOOAYb2qepR0ZGsh0oIRYLQlztBrgVF8/OziI6OhpisRjr16/H+vXr8Zvf/Mbt7L/Z2Vls3boVTz/99DldGz6u5cL7bSxAbm6uVx0KLkK4IsPOHSHZ/1wiKLbfmvEUvkZIRqMRp0+fhlQqxdKlS31ePeaqgCH6h4yMDLZ44VusS2IBsrKysGTJEs5/PoGvUdPIyEjQakaI4DUzM5N97+09ZxwNBvn2nPGUsbExjI6O+sUbiOu8JrPZjKamJs79dcioSSwWzzPRsy9mFjLRI+MkhmFY1+P29nZoNBqEhIQgPT0d8fHxgihmrFarIET7jnC53u0qRsCda43ZbMbWrVtx8803Y8uWLQAAqVTKXuPHx8e9ClNeiKAqYLxNpObC3TbazgcG+KqdGhISgsHBQcjlcq/HMvY/k+uUa7PZjJ6eHqxcuXJBoaG7cFHA2K9uFxYWsgnXfOtdZmZmcObMGaxYsYJTJbw7+DpqIiMvvV4vyCTsxVjM48WZwSCfnjOeMjAwwBobBuK99yWviXjU5Obmcn4Dscd+1BQWFsYWMqSjSv5/V2va0dHRWLp0KZYuXYrm5mbExcVhYmKCdT0mxU6gCnchdoUAbrU53uYgMQyD7373uyguLsa9997L/v2mTZuwb98+PPDAA9i3bx9qamo4OU9CUBUw3kC8YHwtYOx9YMjPNZlM6OnpQWhoKFavXu3zh5trI7uJiQnI5XIsXbqUk+IF8L2AsffEqayshEqlmmd7zlfxIpfL0dfXh4qKioAnMHs6arJarThz5gyioqLYQMZgwlOPF2fhg1x6zngCwzDo6emByWTy24r6YrjKa+ro6IDJZJqX10SKl8LCQpfu2nye52JCYFfdGWBuZJaZmcm6HiuVSrS1tYFhGNZpNi4uzm/fhwuhgCEjJE/56KOP8OKLL6KsrAyVlZUAgMceewwPPPAAduzYgeeffx45OTnYv38/J+dJuCAKGC7GMsQHxn5s1NjYyOakcAFXRnb2rr85OTmczm19KWD0ej2ampqQk5PDjhBEIhGMRqNXsQDuQITLk5OTqK6uFlwswGKjpvj4eMzMzGDJkiXIyckJ9Ol6DBceL/ZP5r56zngC0Y2Fh4ezPilCxFVeEylosrOzA54u7MpEz1V3xn4Lyd71mHxHVCoVRkZGoNFoEBcXh5SUFEgkEl6/30ItYLg8L287MOvXr3dpWXLixAlfT8slQVXA+DJC8pWosBDYGMBksUGrmcudKCkp4VRHwUWxZbFY0NrayoazjY2NcWr9720BQ3KW7E0HGYZBdHQ0QkJC8NlnnyEuLo7NIuLKzbOzsxMMw6CqqkqQFx9H7EdNs7OzaGpqQmxsLJvNJCQDvcWwX1Hnqu3vi+eMJ5BASYlEgtzcXE7O3R+QvKaIiAio1WqUlpZCq9XOy2tKTU31a+fCGQt1ZxiGgcViYbuyzkz0nImdh4aG5q2px8TEcPoahbwtx9XrDKYcJCDIChhv4CpOICp87oPb0z+EWZUMqampnG+A+DqeIVtQ9h2OQKRHO0JylkjIJgD2IiUWi1FaWjrvZjQwMICwsDA2OM8b3YPZbEZra2tADd58YWpqCh0dHSgvL0d8fLzgDPQWgmEY9Pf3Y2ZmhlfNiLueM44ruotBBK/2YuNgQq1Wo6urC1VVVez3bdmyZfPs/zUaDa/dK0+w786QkV1MTAz7QLeYiZ6j2JnY5ut0unOcZn1BqB0YLtHpdEG12XhBFDBcdGAixXMfXIV6GpetWYPu7m5ePFu8/ZkkO6i0tHSeLwjXuhpPbpRklKXRaNicJVdiXfubUX5+PvR6PRQKBat78OTJkQhG8/LyeBUt8oVMJsPAwMC8QEYhGegthGOsgT8LK2eeMzKZjBWBkjXkhbpBxBwwLy+PjZQIJsiad1VV1TldOkf7f5LXRDJyyPsTqBsYceIGgJUrV7KjJPv/IyN8V2vajmJwEnFAHorsIw485UIoYGZnZ2kHhi+8uRhyUcAYDAaMDQ8AAJYuy0doaKjfc4sWYnh4GKOjo05jFfgIiHQH+1FWVVWVx866UVFR5+geyJPjQiukarUanZ2dQRkKSPQ6KpVq0VXdQBnoLYTVakVraysSEhKQm5sb0K6QfYAiSVJezHOG5GGtWLFC0OaArpiYmMDw8LBba972eU35+fkBz2uydwcuKChgfyfORk32BQ1J0g4NDT3nPENCQtjXuHz5cjalube3l32NxETPnaL/QihgtFptUHUdg6qA8QaxWOzTCIloN3KzlgBNfdBb5goMvjxbPPmZ5GnXbDaz2UHOfibX5niLYTAY0NTUhOzsbNbQz5c1aXvdg+MKaVRUFHuznpycxPDw8LzORbBgs9nQ1dUFm82GyspKjy6UQshqcubxIhTsk5Rdec5ER0djdHQU5eXlARe8esPIyAjkcjmqqqq8GpUEMq/JZrPhzJkziI6ORl5ensvPqDMhsL2J3kKjJvIa7VOap6amMDk5ibNnz7ImesnJyS5foxA1MFxl/RF0Ol1Qff7P+wLGl0JjZGSEvSE2TxgAgDWz46sD4+7PJDeM5ORkFBcXu/zScz1CWozp6Wm0tbWdI9blylnX2c1aLpfj1KlTsFqtyM7OhsVi4cS80F+QblVCQoLb9u6uCMSoaTGPF6HhOGYYGhpic3p6enoC7jnjKURv5Gnh6wp/5jWRaAPStfP0PL010XO2qk/MSM1mMxtxkJCQMK8DJLQODNdFlVarpRoYIeGNORzpbJhMJnzta19DaGgoosLmNnmImV0gCxiNRoPW1lbk5+cvqvHw5whpfHyc1W6QGTMR65Jz4RKRSITIyEhoNBpIpVLk5OSwT1R6vR4SiQSpqakeizj9CXEGzs7O5tQhlcD3qImYAwbjyA6Y0xspFApcfPHFCA8PD6jnjKcQjZnRaERZWRlvn/GF8prICnNycrLHK8xk0yslJcVnKwpfTPSAuVX96OhodhVdrVZDLpejp6cH0dHRSE5OZgsiIcFHAUM7MDzhjzVq0tlISUmZ19mIDJv7wNsXMEaj0ePzWQh3Xp9cLmdzcNz5oPljhMQwDM6ePYvp6elFxbpcYjQa0dLSgoyMDGRlZQEA61bqKOKMjY1lV7SF4gVDEo2Lior8YjLG9aiJC4+XQDI0NASlUjlv7BIozxlPYRgGHR0dCAkJ8atHjau8puHhYQDu5zWR9Pn09HRegnl9MdFz1E9ptVpMTk7CYDDgiy++YE30hFDUcl3AzM7O0gKGT4gY1F08WaOemZlBa2srCgsLz9lAiP7PGjWfI6SFIKupk5OTWL16tdu+GnydJxnREOFmZGQkVq1a5bFY11tmZ2fR1tbmcmzheBHSaDRQKBQYGhpivTJSU1MDduOdnJxET09PwAIZfR012ecCBVsmEym4dTrdgmMXf3nOeIrNZmPDSBfSjPCNt3lNfOUyucKViZ5jCKWrNW1ioieXy1n38LGxMXR2diIuLg7JyclISkoKyIMR12MtnU5Ht5CEhLs3cOJVUllZ6fSGEhX2nwLGzJ+I1xUkPTksLAzV1dUeCzz5SLi22WzzLkSkA+KP4oU8+ZeVlbl187e/0JJtBIVCgY6ODpjNZnZF219PVHwYvPmKu6Om8PBwv3i88AUZD4eEhHgUy8CX54ynkLFLcnIyli5dyttxvMGdvKaEhAR0dnbynsu0EIt1ZywWi8tRk1gsRlpaGtLS0uZtt42MjAAAqx3ylzcT1cCc5yxWaNgHC5LxhzPYAsbPHRiy0ZOZmenVnJivAmZ6ehodHR0oLi5mxx9cinVdMTQ0BLlc7tPNPzIykrVedxwTJCQkIDU1lZcUZPLkr9VqBX3zdzVqamlpgU6nQ2RkJIqLiwWrK3IFeRAg20i+fD658JzxFLPZjObmZrZIEDLO8pomJibwxRdfICwsDFNTUxCLxQHXpy3UnbEXBBOTPXucbbepVCoMDQ2xjrYk4oCvkSPVwAQZno6QFlqjNplMaGlpQWJiIiorKxf2JfnPCEnHo4jXEbLCbV8keAof52k2m9HR0eE3sS4wd2Hp7u6GxWLBqlWrODuG45hgenoaCoViXgoysWb39fyJz0V5eXnAZ+fuQkZNkZGRmJqaQmZmJqKjozEwMCAoA73FMJvNaGlpgVQqZbuFXOGN54ynmEwmNkdMKpVyefp+QSQSQSaToaKiAgkJCWxeE58Fnzc4dmfI/83OzkIkEsFsNi9oomdvFDgzMwOlUsmOHO1N9Lj6/pMMOa6wWCxBEVNCCLoCxlNc3cA92eQBgNAQEcLFIbx3YIj75Pj4OIaGhubZ73v787iCYRj09fXBaDRizZo1bPFCnlj46rrYrxkXFRXxdvO3N/cqKChg10dbW1vBMAw7avL0RkRunqmpqYJr+7uDM48X+zFBoA30FoMkMvtjbOGO54wrE0ZXkC5ssKypO0LW7O0NAsmDARHJkg6fEPOatFotOjs7UVJSwtpSkO6MKyGw48jRaDRicnISfX190Ov1HpvouUKI3jT+5IIsYCYmJtDX1+exaVX0fxKpXf1cLhCJROjq6oLBYFhwpOVvSPs9PDycdef0h95Fr9ejpaUFOTk5SE9P5/znL4T9+qijyJWsaC/mVErOf9myZUEZa7CQx4sQDPTcPf/CwkK/bHo54ug5Y68LIR2+hTxngt0dmARJulqztxfJCjGviWwKlpWVzbtXeCIEBoCIiIhz9EGkoAkPD2e7M54+rNpsNs4KGIZhODfG4xth3B15hNxoga98E2ZmZrBmzRqPVeORYSG8jpDMZjP7lLbYSMufGI1GNDU1ISMjA0uXLkVLS8u8OTFfxcv09DTa29tRUlLCPskECkeRq1qthkKhQHd3N2JiYtgbkf1nSkjn7w2eeLwIMauJnP/KlSsFsVnhzDxtIc8ZjUaDtrY2wZy/p5Dzd7z5L4SQ8ppcFS+Ab2vazvRBk5OT6O7uhslkmtedWWw8ZLVaOS/shHLfcYegK2C8fXMtFgtaWloQGxvLrvt6SlR4KPQmfraQtFotmpubWR8KoXyIyGr5ihUr2CfwkJAQNu6er+JlYmKC3QoTmseIvVMp0TwoFAo0NjayeoiQkBCMjY0J8vzdwVePl0BnNalUKnR3d6OiosLva87uspDnTGRkJGZnZ1FRURGUxQsp3n2xCVgsr0kikbAiWa51d6T4cuf8XQmBSVFDtIGuNpuioqLmCcJJl663txdRUVHstcbZd8VqtXL2HbJYLILp+LtLcJ2tl1itVnz22WdYtmyZT74D9iMk+86Or5B1zLKyMvT39/s9u8gVxDTPfrWcYRjEx8ejvb0diYmJSEtL4/QCQvxupqenUV1dLfgvlL3mIS8vD0ajEV1dXVCpVIiIiMDIyAi7PiqUonQxuPZ48feoSSaTYXBw0Gkis1CxF5MrFAo20qCzszOgnjPeoFar0dXVxXnx7q+8ppmZGbS3t3td/Lqzpk3+jTMTPfuHIxJx0N7eDqvVyhZtpEvHpYg32FaogQuggFEoFNDr9bjooot8tjqPCg9lR0hcQNKHZTIZVq9ejYiICN6N59z9t8Q0z37URr6ES5YsQUZGBqampiCXyxcco3gC2dQRi8WoqKgIujVdhmEwMDCAkJAQXHbZZWAYZp7tenx8PLuiLcTCjPze+fR44XvUNDIyAplMhlWrVgnyPV4MmUyGoaGheWaVpPPQ3d0Ng8HgN88ZbyAGjZWVlbxmSfGV10SKl/Lyck6KRV9N9Mh3hXTp1Go1xsbG2O0ts9nMWYTH7OwsLWD4xpObcF9fH1QqFWJiYjjZbY8MC8WM3uzzzwG+ulkDwJo1a+Z90LnuwJDVc3feO5IMGxoayprmORPrikSieU/VjmMUT51uyUq7VCr1ORclEBBH4ri4OBQWFrLvtb3pFXFyJcGB5KlaCKGBxOBNJBKhvLzcbzdGrkZN5Ps+OzuLysrKoNzMGB0dxcTExDmJ0oHwnPEG8tkOhEEjF3lNxNuqoqKCt7GvO9oZV0JgsVg8b3trdnYWnZ2d6O/vx9DQEFvYetvJDDYPGCAICxh3sFgsaGtrQ0REBKqrq3H69GlOWm3RYSGQzfjeHSGi2PT09HP0LnyEL5KiaLHXT7wmSDAi8JWzrv0XyxHHMYqj0y25UbtaiySbFvn5+UhJSeHmRfsRkslkv2bsiP1aZX5+PvR6PRQKBSvgDOTqKCm+SCJwoEZdjuJGsl672KiJYRh0dXXBZrMFlceOPQMDA5iamlq0+PKH54w3kM5RVVVVwLPGnOU1kRgR0rlJTU1FTEwM+x5NTU2hs7OT1+LFEU9M9Oz/PfDVNTc6Ohq5ubkIDw9nTfRmZ2cRHx/PRhy424mkBYwA0Ol0aG5uxtKlS9mQMDKW8fWLFRUeykYJEDwZzQBfiWKLioqc3qz5GCGRomihD7JGo0FLS8u887J31nVVvDjD0emWmDnNzs6eo5sh6ntPNhWEBCm+PPXoiIqKYgWcZHXU/j0ioya+OyHOPF6EgjujpoSEBHR0dAQ8F8hbiDuzXq/3uPPFh+eMN4yPj2N0dPSczpEQcIwRIXlNfX197HsUFRWF8fFxVFVVBbQb6spEj9wPnHVnyN+FhYWdk9tF1tHtx232RZsjs7OzQaGxskdYnzY3WOgCRcSwK1eunLe2ylVREBkWyhrZAV8Jed29aBL/GVd5S1yeq+PPXGgsRcS6FRUVbBHBVSyAWCxm1yLJiIDoZogIzf64wQTZdFm5cqVP52+/Ouo4RomKipqXQ8Qler0ezc3NQdH5cjZqkslkaGlpYTc1TCZT0Ih2ga86RwCwcuVKn4svXz1nvGFkZARyuRxVVVVBMbZzzGsaGRlBX18fIiIi0N7ezr5Hgd4cdDZqcixmyPXT8X237/aSxQKVSoWBgQHodDokJCQgOTn5HJ0ZVx2YN954A/fccw+sVituvfVWPPDAAz7/TFcEXQHjDCKGlcvlrBjWnoXiBDwhOiwUejsRL0m6XuzG4on/DF/ZRc6KIiI6VSqV80SD9s66XHYAyIhAIpGgu7sbs7OzSElJQXt7uyASoj1hfHwcw8PDnG+6OG7skDEKGRGQ98hXsZ0nHi9CIyQkBLGxsejt7UVJSQni4uIEZ6C3GEQDFxkZieXLl3N+ngt5zhCRq68BpkNDQ5icnERFRUVQFC+OTE1NYXx8HOvWrUNERAT0ej2USiU6OjpgMpkEI5a2HzWFhYWxhYxer4fBYADDMAtGHERERMwrbKenp9lOXVhYGNra2rBq1SrodDqfCxir1Yq77roLb7/9NrKysrBmzRps2rQJJSUlPv1cVwR9AWO1WlnR6erVq51+0LjqasyNkL7qSrgjuCU2+NHR0W75z/A1QnI8T3sR8UJiXa4h+iRHPx5nCdFpaWkBtxN3xH7Nm+9NF0eXUpPJxK7Ykm0UMkbx5ALrq8dLoCGdI/ux3UKjJn+MUTyBaI4SExORm5vrl2Mu5Dnjjdttf38/NBpNUG4LAnPbUuQ7QB5AoqKi2NG31WoVdF6TyWRCe3s7SktLERER4ZGJnkQigUQiATB33f3oo4/w4x//GGNjY8jOzsa6detw6aWXevVg9tlnnyE/Px95eXkAgF27duHw4cO0gCHY38zIhWyxpGbOCpiwUDAMYLTYEBkWynZgXEH0ODk5OW7rC0JDQ2E2c7PpZP8z7QsYItZNS0tDTk4Ou6XEd/FiMBjQ0tKC7Ozsc/x4nCVEB0ITshA2mw0dHR0ICQkJyIU7PDwcmZmZyMzMZC+w4+Pj6OzsRFxcHFJTUxe9CXHt8eJviMGYK3djV1tNZ8+eFURWk8ViQXNzM9LT01mNnr9xFLmS7TgSOriQ5wzR7BgMBqxcuTKoi5eqqiqX3wH7jrAzsTRZ0w7EAxbJxrKPl3Blokf+f1cmepGRkbjrrrtw11134ZlnnoFSqcSRI0dw//33IycnB9dddx22bdvmdgzH6OjovHtxVlYWTp06xc0Ld0LQFTAElUqFjo4OlJSUsNWkK7grYOZ++TqTlS1gXHVgyPmVlpZ6lGHCxxaS/c+cnZ1ls21SU1MBcKd3WQgyslixYsWivy/7C6z9Tainp4cTvxlvMJvNaG1tRXJysiCckh0vsCT5dmBgAGFhYefM8sm4kHSOhNKN8ARikOauu6u3W018IcREacfQwYU8Z0QiEbq7u2G1WlFaWhrw74A3EAHvQsWLI45i6UDmNZENVlfZWL6Y6JlMJqxduxY33ngjAKCnpwfHjh2DWq0OSI6YOwRdAcMwDIaGhjA+Po7q6mq3BGlcaWCiwucu+vpF8pCGh4cxOjrq9vnZw+cIiRQBZWVlrD25P4oXuVyOvr4+r5wtHTUhvvrNeAMJZMzNzRXMjcce+5vQ8uXL583yyThOq9VCLBb71eOFS+RyOfr7+30ySFtsq4nPUZPBYEBzczOWL18uaMH0Qp4zVqsV0dHRQVu8EJ8aX1e9XeU12Xew+MhrMhqNaGxsRFFRkVsPxZ6a6DlqYAoKCvBf//VfHp1jZmYmhoeH2T+PjIzw2mkMugLGYrFAq9Vi9erVbl9ouCoKov9TwBjMzvOQiBmY2WzGmjVrvLoQ8mFkFxISAplMBp1ON0+sa69q5+OmRsTVKpUK1dXVPndMFvOb4UM3QzpHxcXFQZMGbD/LJ09s5DPV2dnJjuOCpQszOjqK8fFxrFq1irOumz9HTSQRu6ioaNHuo5AgN+OkpCRWZxgVFYWWlhYAgfOc8Qa5XM7GS3DZubXPawLAW14T+R4XFhZ6/RlarDvT09ODSy65xOtzBOZMWXt6etDf34/MzEy8+uqrePnll336mQsRdAVMeHg4iouLPfrfhIaGwmQy+XzsqLC5C77OdG4HhvhpJCcno7i42OsvNNcjJNJ5CQkJYR1//aF3IXoRkUiEyspKXgokvnUz5IYm5EDAhSDuxtnZ2eza6PT0tKA0IQthP/bic02Xz1FTsCdK22w2tLW1seMTAAH1nPEGYrJXWVnJ+9jZWV4T6Xx7m9dERo8FBQWcjXIcnd9PnjyJjo4O5Ofn+/RzxWIx/vSnP+Gaa66B1WrF3r17UVpaysUpO0W0SCAhN2mFHGMymTwKUlQoFFCr1SgsLPTpuJ/0qXDLvi/x4neq8bVcCQYGBhAeHo64uDjWSTYtLc2nY8zOzrI3TV8hRRUZtWRnZ/uleDGbzWhpaUFKSkpA9CL2T9QkSsJT3czw8DBkMhnKy8uDUuzqjscLuVErlUowDMPeqBcyu/IXDMOgu7sbFosFxcXFARt7kVGTQqHw+EZNrOnLysqCLmMGmNtmaWlpYXVfrrD3nCEhpnx4zniDvUNwIE32SDCjUqmEUql0O6/JZDKhsbER+fn5HhllesIHH3yABx98EMeOHfMp7JgHFr0IBV0Hxhu4HiERM7uQkBBMTU1hYGAA5eXlnJgAceUDo9Vq2RuYyWSaZ4bEZ/FC2uV5eXk+F3Pe4otuhmEYtv0bLOZcjrjr8WKvCSEOpWfPnoVOp2NXtAPhgUFW/CMiIlBSUhLQYsrbUZO/Qg35wmq1orm5GWlpacjKylrw3/rDc8YbJiYmMDIyEvDiBZgfzOhuXhPpvPBZvHz66af46U9/iqNHjwqteHELWsB4ABkhES8YlUoFjUaDtWvXcvaUzsW5Ekfi8vJyxMXFYWxsDGazmXexrlqtRmdnp6Da5e7oZsjFlQRZRkVFoaysLOBdCG8gN05Px16ODqUqlQpyuRxdXV2IjY1lV7T5bsGTp/6kpCQ2j0souDtq0ul0GBwcDNpVdYvFgqamJmRmZnp1U+Pac8YbxsfHMTY2hsrKyoAXL85YLK9JIpFALpfzWrycPn0aP/rRj/Daa68tWqQKFeH9Zt2A+Ja4y2J+Le5C1qi1xrkRicViQUZGBqcXKV8LGLKhZe9IHBISArVazWZh8MHY2Bj7tCPkJ05nupnh4WHMzMzAbDZDKpXy4ozqD7jyeAkJCTknMFAul2NoaIjtYKWkpHCuCyIjz6ysrKB4GnS21dTe3g6tVgupVIrp6WlBakIWwmw2o7GxkbNVb188Z7xlbGwM4+PjQZNK7pjXpNVq0djYiIiICPT29kKpVHKuL2pqasLdd9+NAwcOCO5BwROCsoDxFLFYzJkTLwB09vTjaxfnIjIyEmq12uefa4+3IySyAWWxWNgNLTIySkxMhMFgQFdXF5sOnZaWxsn2AIlJ0Ol0qK6uDooLBoFcXGNjY9HS0oKlS5fCZDLh1KlTAfOb8QY+PV7sO1jLly9ntyy6urpYu3XiBuzLZylY1oxdERYWBrPZjPDwcKxatYp9og4GsTSB6C3y8vJYjygu8cRzxtux5ejoKGQyWdAUL46YzWacOXMGRUVFSE1NdZppRR4uvLWOaGtrw+233466ujqfRbuB5oIoYLgaIZl0swCA+KQUZGdnQ6VS8eLZ4kl3CZj70Dc3NyMpKQnLli07x1lXLBazXQdiwkS2B3zROlitVrS1tSE6Ohrl5eVB2bWYmppCR0fHvLFXoPxmvIFhGHR2doJhGL94vDj6hNjP8ePj49lRkyc3j9nZWbS2tgbVqro9DMOw6cbEoVlIBnruQNxdPU1V94WFPGe8se4nwZLBms1kNpvR1NSE3NxctoB0/Cz5mtfU0dGBW2+9Fa+88gqKiop4fT3+ICgLGE+/9FwUMKOjoxgYHJw7vjiCs5/rK0Ssu3z5crblu5BY1zH52D7vIy4uDmlpaW7dgIxGI1paWrBkyZKAWaL7ysTEBOsNYT/28kQ3E8gbEMnUiY+PZwtXfxIaGoq0tDSkpaWxhl4KhYJN9yVF30JdB1JAlpWVBWUiOdmWslqtLnVTgTTQcweysebK3dUf2BvAObPuX8xzZnh4GEqlMmiLF6I7ysnJWXD5wZe8pu7ubnznO9/BSy+9xOtqsz8JygLGU7zpahDIBUqn02Ht176GiBPvQ7eIE6+/mJycRGdnJ8rKythtE0+cdR21DjMzM6xrLml7p6amnvNl0Gg0OHPmDAoLCwVrMb0QjgZ7i4n8XOlmNBpNwHKaiF5EKAWkvaFXQUEBdDodFAoF2traYLVanXYdSFtc6LopVxCvo/DwcBQWFrpVQAotq0mr1aKlpcVltlQgcLTuX8xzZmhoCCqVKmiDJUnxsnTpUo82NxfLa1IqlYiNjcXFF1+MoaEh7N69Gy+88ALKy8v5eil+54IoYLyF+JkkJCSgsrISIpFoLpHaiZGdvxkeHsbY2Ng8sS7DMKxY2dMvsv18uqCggG17Nzc3QyQSsV8UrVaLs2fPBq23hc1mQ1dXFxiG8cpgTwg5Te54vASa6Oho5OTkICcn55yug0QiQWhoKNRqtUeZNELCZrPN6355Q6BHTWR0J6StQWeEh4efU/SR4tdmsyEkJCRoIzJI8ZKVleWTaNpZXtObb76Jp59+GrfffjtsNhvuvPNOFBQUcHj2gYcWMC4go5m8vDykp6ezfx8dFgpDADswRPNgMpnOEety6e9i3/Y2Go1QKBRoamqCwWBg05BJlydYsFgsaG1tRWJiInJzc30+98X8ZohYmkvdDPF4EdIT82I4dh26urowMTEBsVjMRhsEg1iaYLFY0NLSwppDcoU/R03kc+RuMKZQsP/ODQwMQKVSISkpCR0dHQH1nPEG4rWTlZU17x7DBWFhYdi4cSOqqqqwY8cO3HbbbRgZGcGVV16J+Ph4XHfddaipqUFeXh6nx/U3QVnA8P3BJFsW9qMZQmRYiF9GSM6KA4vFgubmZiQmJmLFihXniHX58ncJCwuDRqNBQkICVq9eDbVazVr2SyQSpKam+pz1wTcGg4HdNOL6YgH4RzfjrceLUGAYBmfPnoXVasUll1wCkUjEdh2ampogEonmuQELESK05HvVe7FRE3mfvBk1TU1NobOzE5WVlYITpbtLf38/NBoN20XNzc0NmOeMN1itVjQ1NWHJkiW8XI+AOY3fzp078Yc//AEbNmwAAPzmN7/B6Ogojh8/jlOnTtECJlgQiURsu9EVRBshl8vnjWbssR8hceWa6wgpjOy/dDqdDs3NzVi2bBn7gfdXLEBrayskEgnbtbAfoZCsj+7ubsTGxrIiYCFdMEgezYoVK/wWpse1boYrj5dAQfQiYrF4XppxbGwsYmNjsWzZMhiNxnlBePYbckJ4miaBenytGbvCnVFTSkqKWyGmKpUK3d3dQesQDIDd+Fq5cuW8708gPGe8gRQvpEDlA7lcju3bt+PJJ59kixdCZmYmvve97/FyXH8jnLsMz5CiwNUNg9iXA8Dq1atd/rvosFDo/5NGzddF1bGAUalU7KovGRt4Itb1Fr1ej5aWFuTm5jqdz4aEhCA5ORnJycmsm6RcLmczotzZQuEb0rUIZKt8Id1MdHQ00tLSXI5Q+PR48RdkWyoxMRE5OTkuP6sRERHIzMxkR5QqlQrj4+Po7OxEXFwcu6IdiOKY6I6EkCjtbNQ0MDCw6KjJXjQtZD8aV5B1db1ej5UrVy54zfOH54w3kLFRRkYGlixZwssxJicnsX37dvz617/GlVdeycsxhEJQFjDe3KxJUeDsJkGerNLT0xcNH4wKD4VaZ/b4+J5AEkKBOW+DkZERVFdXs09Mvoh13YWst7qrtbB3k8zPz2e3UFpbW8EwDFvM+LOIGB0dxdjYmKC6Fo66Ga1WC7lcjsbGRoSEhCA1NZXVzfjb44UPiEdRRkaGR9tSjhsW5Gl6YGAAYWFh7H/zRxeBiF0Xy5YKBO6OmqanpzEwMBC0omkyfjQajfM6eO7CteeMN5DiRSqV8la8qNVqbNu2DT//+c9x7bXX8nIMIRGUBYw3uIoTmJmZQWtrK4qKitza6IgKC8WYycDHKbKEhITAYrGgs7MTBoMBa9asYZ+mrFYrryMjYC5HZHh42Kf1VvstFJPJxHYcDAYDkpOTkZaWxpvQjlzstFqtoLsWIpGIHaEQ3Yy9SZXVaoVEIsGKFSuCsngh7rrLli3zKdjT/mk6Pz8fer0eCoWCDQskN2l3RiieMj09jfb29qDwqXE1avriiy9gMBiQnZ0Ng8GAsLAwQYzk3IW4fZvNZk7CPR09Z+w3LoHFPWe8wWazoaWlBWlpabzZHkxPT2P79u34yU9+gk2bNvFyDKFxwRQwzuIEJiYm0NfXh8rKSrc7A1FhodCb+d08EolEaG9vR1JSEioqKvwm1iUt2pmZGaxatYqzVn14ePi80YC9HiQhIQFpaWmc+aiQQMaIiIigcwcmT4lpaWloampCQkICrFYrTp06FTC/GW/RarXsgwHXI5eoqCg2LJA4SxNROXmfyKq2L9jrRYJR7BoTE4OpqSlERESgqqoKU1NTbo2ahARJh7darSguLub8+2z/EOGO54w32Gw2NDc3IyUlhbfQRI1Gg507d+IHP/gBtm7dyssxhEhQFjC+jJCAryr6mZkZrFmzxqP1zajw+QWMO+JgTyBW0UuXLmVzKkjxQjQ8fNyUrVYr2tvbER4eznre8IG9e6szHxUiAvZmpZb49qSlpXG63upPnHm8ONPNkBGKEFePSdfCH/4ijs7S5H3q7e1FVFQUu6Lt6WhAoVCgv78/aPUiwFyw6+TkJJsLFBUVxctWE18QE1GGYditS75ZyHOGuEunpKS43ZkmnZeUlBTerklarRa7du3CrbfeihtvvJGXYwiVoCxgvIEUMMQLJDo6GqtWrfL4SxEV9tUWkv3P5aKAUavVaG9vZ8VlwHyxLl/FC3F1TU9P9+uN35mPCkk9FovFHukcdDodWlpasHz5cr9uiHCJK4+XhXQzfPnNeAsRTQeia+HsfbJ3JiU3n5iYmAW/R+Pj42yyuhALRHcgwm9n7rRcbjXxBcMw6OrqgkgkQlFRUUDOw/F90ul0UCqV7OhyMWsEUrwkJSXxdl3V6/W48cYbcfPNN2P37t28HEPIiBax2PfOf59nGIaByWTy6H/T19eH0NBQjI2NIScnx2sR1f/8+yz+/F4/On7xDYSEiPDFF1+gtLTUZzHh6OgohoaGUFVVhZGRETaXiO9No9nZWbS1tfk1xM0diM5BoVDAarXOEwE7vg/kiV+IIkt3sd+W8mTNk+hmFAoFTCZTQI28JiYmMDQ0hMrKSsEJRU0mE/s+6fV61r/IcQtleHgYCoUiaDN1yBhYp9OhtLTU4wcrstWkUCgCNmoi4vXQ0FAUFBQIcgxMrBGUSiVmZmbO2ZIjTs1k844PDAYDbr75Ztxwww244447BPk++ciiLygoCxhgbnPIEzo6OtiYdV8Cy/7vwwH8/u1eND10OaLCQ9kEV2+3a8iMV6vVoqysDGKxGP39/QgPD0daWhqvYl1y01y5cqWgBYpms5ktZvR6PZKSkpCWloaEhAS21V9eXi6IDoQ3EI+XiooKn2785KKqUCh40RctxNDQEJRKJcrLywXlAeQMsoWiUCgwNTWF2NhYpKamYnZ2lv0eBoPOyBFyLbFYLJzoRexHTWq12i+jJoZh0NHRgbCwMOTn5wfFTdl+S06lUiE0NJR9mCgsLOTlmCaTCd/+9rdx5ZVX4oc//GFQvE9esOiLEvaVhiPIU1VWVpbPaavRYXNPIXqzFVHhofNWnj2FjLNiYmJY3QkZFU1MTCAiIoK3dNjh4WFMTEwIasXYFWFhYViyZAmWLFnC+oOMjo6yOU0FBQWCfw3OIB4vU1NTnGxLLeY3w4duhmx86XQ6r7KlAoHjFsrMzAy6urqg0+kQFxeHkZERpKamBlVBTLoWIpGIM7HrYqMm0u3jatTEMAza29sRERGB5cuXB81N2X5Ljgh2o6OjodPp8Omnn7rs9nmL2WzG3r17cdlll53PxYtbBG0BQ272C2Gz2dDZ2Qmz2cyuX/pKZPjcTUZnsiIpxvV69mLo9Xo2Pp2Ms4hYNz09HeHh4RgbG0NnZyenT9JEGGcymQS9YuwKcvOZnJxEUlISMjMzoVQqMTg4yIo2hSputYfM+G02Gy8pus70ICSnifjN+OpKSp6WQ0JCUFZWFrQX0tHRUSQkJGDNmjVs7heXERB8Q2784eHhvHYtnBno2W9/+TJqYhgGZ86cQVRUFPLy8gT7Xi8EeQ2JiYlswCfXnjMWiwW33XYbVq1ahfvuu4+z9+kPf/gDnnvuOYhEIpSVleHvf/87xsfHsWvXLkxOTqK6uhovvvii4B4Ug3aEZDKZFixgiDA1OTkZy5Ytg1KphFqt9rmld7xNhh/VteLoXRehIC0WXV1dSE5O9igVeGpqihVrkhVTV866NpsN09PTkMvlUKlU7KZOSkqKx6160vGJj48P2osEcXUlmUPkNdjfpBUKxTwjNKE9SVutVrS1tbHJsf7+PXChmwn0a+ACm82GtrY2doXWWfaY40iOrLILpfBf7DX46xx8GTUR64OYmJigzeYhxUt0dLTL12B/jVIqlQA885yxWq244447kJeXh0cffZSz3/Xo6CjWr1+P9vZ2REVFYceOHbjuuutw/PhxbNmyBbt27cLtt9+OiooK3HHHHZwc000uzBGSRqNBa2sr8vPzWQMtroIXo8O/GiGRn+vJCGlsbAyDg4NYtWoVe2NdKBYgJCQEEokEEomEtesn+R7Erj8tLW3RypjvMEN/YDQa2fRWRxG2o5+DY5gi2dTh0pzKG0wmE1paWjx2puUSe1dSx5wm0u1byEeFrKtLpVLefC34hriipqSkYOnSpU7/jWO2jv1KrRBWj8mWi0Qi4U0o6g6+jJpIAUYK4WDEsXvkCl88Z2w2G+655x5kZmbikUce4fwaZrFYoNfrERYWBp1Oh4yMDPz73//Gyy+/DADYs2cPHnnkEX8XMIsStAWMqxGSXC5Hb28vysvL5wlTuSpgosLmWv1kldrdERLxntFoNFizZg3bPbF31l1sjGBv1798+XLodDrI5XJWC2JvQ28P2dIpLi7mTVPDN2RbqrCwkL1QLoR9mCJpd5MLhX1IoD81G8TjRUir3u7oZuzb3aSIzMnJcZqPFQyQeAOiq3IHkUjEPkgUFBScc5NeaEuOD0gBlpqaKjjPI3dHTSKRCK2trUhISEBubm6gT9sryPguMjISy5cv9+h/u5DnTFhYGD744ANs2rQJubm5+PGPf4z4+Hj89re/5fyalZmZifvuuw9Lly5FVFQUrr76alRXVyMxMZG9T2VlZWF0dJTT43JB0BYwjjAMg/7+fkxOTmL16tXndCTEYrFXWhVHolgR71zXxZ0ODBl7REVFoaqqijNn3ejoaOTm5iI3N/ec2T3pOGi1WgwODgatmyjwlSOqt9tSjnkxKpUKExMT6OrqQnx8PLv+yOdYgCRiu5stFQhc6WaampoQEhLCbn2tWLHCrSJSiJACLDc316d4A/ubNHmSJinJRLQpkUh4KZAtFgvvgYBc4Sqrqbe3FyaTCRKJhLdEZr4hGjAiOvYFxy6WWq3G66+/ju985ztQKpVITk7GH//4Ry5O+xzUajUOHz6M/v5+JCYmYvv27XjjjTd4ORbXnBcFDJnHh4eHo7q62ulFg7MOjJ2Il/xcs9l1uKPBYEBTUxPbsgfASfHiSEREBHsM8tTT1tYGvV6PjIwMGAwGREZGBp1WYWxsjDUV46JVHxIScs4GilwuR19fHyIjI1l9EZdiNbKuXlFR4ZNo1p84trsnJyfZNnl3dzc7PhGyuNUR0gFzt4vnLo5P0mRFu7u7GzExMWwXiwthudlsRlNTE7Kzs4NuFExu0omJiWhpaUFqairEYjFvW018Yr/uzcfGlEQiwc9+9jMYjUYolUps3LgR/+///T/cdtttqK6uxsaNG7Fx40ZOwkzfeecdLFu2jO0Kb9myBR999BGmpqZgsVggFosxMjISsJH3QgRtAUM+MKRAyMzMXLCVyt0Iaa6AMdhpYFx50kxPT7NP3YuJdbkkNDQUKpUKiYmJWL16NaampuZtNJGOg5BXXokhl0ajQXV1NS/dEfv1R/uxgP1IztdNHeLxEgzr6q5QqVTo6enB6tWrER0d7VQ3IzRxqyMkm6m4uJjXDlhISAiSk5ORnJzMukuT7S+yQeftZ8pkMqGpqWnezSbYsFqt51jr87HVxCdkZV0sFvO29cUwDH7zm99AoVDg73//O0JDQ7F9+3bYbDZ8/vnnOHr0KK655hpOCpilS5fi008/hU6nQ1RUFE6cOIHVq1fj8ssvR319PXbt2oV9+/ahpqaGg1fGLUG7hUQuoo7bPK6w2Ww4deoU1q1b59NxJ2dNuPh37+Ph64pw89ps1gyroKBg3r+bmJhAf3//vKdufxQvJpMJra2t7Gzc/hhEiMjFRhOf2Gw2tLe3QywWB8xGnIzk5HI5u06blpbm9tOhvcdLeXm54C7C7iKTyTA4OIiKigqnHTD7sYBKpXKqmwk0JKIh0InS9ttfRqOR7TgkJCQs+pkyGo1oampCfn6+oByzPYHodtLS0hYUfwfCQM9d7CMOCgsLeStefve736G7uxv/+Mc//HJt/sUvfoF//etfEIvFqKqqwnPPPYfR0VHs2rULKpUKVVVVeOmll/z9/p+/TrzDw8M4e/asR9qOjz/+GBdffLFPx9WZrKj6zbu476p8fG99LlQqFeRyOVasWAHgK2MvkkNCPnwMw8BisfDqrEueMt0RidpnDymVSoSFhSEtLS3gFwmy4UK2Q4TQSibFslwux+zs7KIaB3uPlxUrVgi607UQIyMjkMlkKC8vd2v84bgmylUXyxfUajW6uro8jmjgG5LKrlAoMDMzs6AWi4y++Ej29hekeJFKpR6PIuw/U4EcNREPLQC8Fi/PPPMMGhsb8fLLLwvez4pnzt8CZnp6GmKx2KPqlIsCxmZjUPzoCdy9YRl+cPlyTE9PY2RkBKWlpaxYNzIyku0c8KF3cQYRupaWlnqVAEw2mhQKBQCwG03+vOjr9Xq0tLQgNzdXsBsu9hoHtVp9TgYK0WPFxsYGrdcOEcRrNBqsXLnS6+4R6WKRjoO/dTMKhQJ9fX2orKwM+JP7QjAMg+npabaLRewRUlJS2FVpvkdffGK1WtHU1MSJ6JiMmpRKJWZnZ/02vrRPxuarK8wwDJ599ll88MEHqKurE0wHM4Ccvz4wsbGxnGwVeUpIiAhRYSHQmb7aQrJarU61OP4qXkZHRzE2NuaT0NXZRhNxMfaHh4qrJGah4ahxIBkoAwMDEIvFMBgMyMrKCqgvhy/Yd4/Ky8t9+n3bC8v9rZuZmJjA8PAwVq1aJfinWJFIhMTERNbigKQet7S0QKPRYMmSJQgJCWFHz8EE2ZhasmQJJ9tGrraa+PTmIRlTpKPKV/Hy/PPP491338WBAwdo8eImQVvABJLIsFDWyC4kJAQGgwFffPEFVqxYwc6n/VG8EG8ZnU7HaSyA443H0UMlLS0NiYmJnL0mcgEKpi0dYL4IODMzE01NTUhMTGS1M/beIMEAMRWLjo7mfLPC0W+GuEv39vZyrpsho6+qqipBabvcJTo6GhKJBKOjo6iurobBYMDAwAArbiWFn9BHkxaLhd3A5GNjyh9ZTeQay1VApiv+8Y9/4OjRozh8+LCgu4VCI/i+3T4gEolgs9l8/uJHh4eyRnZqtRozMzNYt24de6Pyh1iXjCpiYmJ8flJeCLFYjPT0dKSnp8Nms2FychLj4+PzNpp8eYoeHh6GTCZDdXW14J+UXeHM48VkMrGrtESwmZaWJti1Y4vFMk97xCeO7tJcbn8R4XRlZWXQCqenp6fR0dExr6An37/FjAaFgsViQWNjI5YuXeq3cfBCBnreXKuIntFsNvNavPzzn/9EXV0djh49GrReXYEiaDUwNpttQf8VZ3z22Weoqqry+UZ5/Z8+wfLUGNyzOgYqlQoWi4XdbiJiXQC8PSGRWABnlvr+wteNJtKWNRqNKC0tFfzTpCuIx8tCIlEi2JTL5dBoNIJ7iibruUKImXDUzbhb+JEnZaPRiJKSEkG8r95ARMcVFRUL3sycCabJ+CTQHT/iVePP4mUhvN1qOnv2LAwGA0pKSngrXurq6vC3v/0Nx44dC+iGnEA5f0W83hQwX3zxBUpLS33end/211MQW414eEMKioqK2PVsf+hdiFZkxYoVgtlI8HSjyb57xIcJlL8YHx/HyMgIKioq3H4Cdlw7JoVfcnJyQDpQZMOloKBAcOu57oYpEl8OkUgUsLV7LpicnERvb69XomNieKZQKGAwGNi4jISEBL8Wc6R4ycnJ8cnpmE/c2Wo6e/Ys9Ho9SktLefs8HTp0CH/5y19w7NgxQev+AggtYOwhOTS+VLpGoxE7/vdjhIWHo/6OSwDMbTetXbuW9+KFOMYKbSXUEZ1Oxz5FMwwzb6OJpIRnZGQEbRAgVx4vzgo/Mj7hwqBqMWZnZ9Ha2ip44TQwP5VdrVYjKiqK3f7q7u5mU4CDtXiRy+UYGBhAZWWlz+Mgq9UKlUoFhUKB6enpczbl+CIYjfacbTURw9OVK1fy9nk6duwYnnrqKRw7dixoYzn8wPlbwDAMA5PJ5NH/pq2tDdnZ2V5frDUaDVpaWvB/3WHQmICG738NDMPgww8/ZNcc+XjaYRgGg4ODmJycdNuTQyjYjwT0ej3MZjPy8vKQlZUVlDcbPj1e9Ho9+15ZrVZeAwKnpqbQ2dmJsrKygI8cPIWMT2QyGYaGhhAWFobs7OyA+s34AtmYqqys5Py7bb8pNzk5yRbJKSkpnOotSPGSl5eHlJQUzn6uP7HZbOjo6MDU1BRCQ0N522p666238Nhjj+H48eNB+175CVrA2NPR0QGpVOpVxUs2JioqKvCzY2fRI9fi2F0XsfqGiYkJaDQaSCQSdkuHi5ubzWZDZ2cnGIZBcXFxUM/2Ozo6kJGRAY1Gw9tGE5/40+PFZDKxIwG9Xs++V+64ti4G8UepqKjwS6eHD8h6bnp6OlJSUrzSzQiBsbExjI+PzzO95BO9Xs9+rojDtK/ePCaTCY2NjUHtEgzMCcBnZmawcuVKhISE8GKg9+677+IXv/gFjh8/zsmIraurCzt37mT/3NfXh1/+8pfYvXs3du7ciYGBAeTm5mL//v2CkRx4AC1g7Onp6UFCQoJHHxwyLlAqlewT0gMHz+BUvxpv/WAtgK/EusTkTC6XY2pqCvHx8ay+wZvCw2w2o7W1FUlJScjJyRH8xdgVExMTGBoaQnl5OXvDJKnQcrkc09PT7HslxOwTYO53QUZf/g41IyMBuVyOmZkZn7a/xsbGMDY2hoqKiqDq5NlDnvZzcnLOEYlaLBb2vRJ6TtPw8DAUCgUqKioCcm7uaowW4nyIOACAwcFBTE9Ps8WLI1wY6H3wwQd48MEHcezYMV4SuK1WKzIzM3Hq1Cn8+c9/RlJSEh544AE8/vjjUKvVeOKJJzg/Js+cvwUMAJchiq7o6+tDVFSU2x8em82GM2fOICQkZF7345EjHXj9jAwf3bfeZVFB3DVlMhkr1pRKpW7PoXU6HVpaWpCXlydYMdxi2GtFysrKXL5ustFE2txcJ/j6CnEIzsvLC/hs3/G9io6OZre/FnuvBgYGoFargzqbyWAwoLm52a0bJtHNEME00c0IYe3YXkMlhK6q43sVGRnJvleuxiekeCkoKAhqHcfg4CB7jXLnd0GE+Eqlkn2vFhs1ffLJJ7jvvvtw5MgR3rR/b731Fh599FF89NFHKCoqwsmTJ5GRkYHx8XFs2LABXV1dvByXR2gBY8/g4CBCQ0Pd+gCRpzypVMq6qhJzut+93YNXPh/Dlz/7ulvHJWJNmUwGpVKJiIgISKVSlxdStVqNzs5OlJaWIj4+3qPXKBTI6AuAR1oRoWU0OfN4EQpEC0Leq9DQUFYwbT8aIivrJpMpqFeMSdbXihUrWNdad3G1duzvuAwS0zA7O+vyaV8IkPeKRIvYr2iLRCLWeTyY85kAYGhoCCqVyqdC0tmoyWAwsA+9p0+fxg9+8AO89tprvDp07927F6tWrcLdd9+NxMRETE1NAZj7zEkkEvbPQcT5XcCYTCYscv7zGBkZgcViQW5u7oL/TqPRoLW1FYWFhazIyt5Z99n3B/Hn9wfQ9vMNCPFirENuOgqFAqGhoewNOjIyEuPj4xgeHp43bgk2iCkaF6MvvV7PvleOG018447Hi5AwGAysC7DVakVKSgpSUlIwODiIyMhI5OfnB+0YkhSSK1eu9CrryxFnfjPuJkN7C/GqIYVksPwu7PVYOp0O8fHxUKvVKCkpCerOy/DwMLsYwVUhSUZN999/P5qamlBcXIyOjg4cOXIEpaWlnBzDGSaTCUuWLMGZM2cglUrnFTAAIJFIoFareTs+T9ACxp6JiQlotVosX77c5b8hLpfl5eXsurWjs+7fPhnGf79zFp8/cCliwn0T3pHNE7lcDp1OB7FYjLKyMk4u0oGAtPhzcnI4N0UzmUxsMWMymVixJh+ptN54vAgJs9nMCs+BOSfXYBJM20M2pvgqJB2NBvnQzZDtNQBB7VWj1WrR2NiIuLg46HQ6xMbGsivaQhj3usvIyAirP+KrC9bY2Ih7770XK1euRGNjI7Kzs3HDDTfg+uuv51wDc/jwYfz5z3/GW2+9BQAXzAjpgooSIMGLziCrygqFAqtXr2ZvWs6cdaPD5i5qBrMNMT7e26KiopCZmYmpqSnExMQgLi6OfUrzR4gil5CnZL5M9sLDw8/JaBoYGGA3mlJTUyGRSHx6r8jnQK1WB22WDmFsbAwFBQVIT0+HSqViIyDi4+PZm47QtTD25m58dSRJFzQtLW2exujs2bOc6GYYhkFHRwfEYjEKCgqC4rvsDL1ej9bWVpSVlSEhIQEMw0Cj0UChUGBoaIgdYaampgraEp8UL3zqjzo6OnDHHXfg1VdfRUlJCQCgu7sbR48exbe+9S38/Oc/x4YNGzg73iuvvIIbb7yR/fOmTZuwb98+PPDAA9i3bx9qamo4O5aQCOoOjNlshs1mc/vfq1QqyGQyFBcXz/t7m82G9vZ2AJinEbBarU7N6Q41j+Nnhzvx1g8uQpbEty+q0WhES0vLOcZupBVJ2rb+aHH7glKpRG9vb0B8RbjaaCJPyVarNahX1kkXzJnomIjLiQg4MjKSFQELrdMkk8kwODjIibmbN3ChmyGLAMFutEeWCkpKSlzq8sgIU6lUsh3SlJQUQV2zRkdHIZPJeN386u7uxu7du/HSSy+hvLycl2PYo9VqsXTpUvT19bE6vcnJSezYsQNDQ0PIycnB/v37g3Hcd36PkDwtYKanpzE8PIyVK1eyf0ecYVNTU1m9xmJJ0m+0y3Fv/Rkcvn0NCtK8d/WdnZ1FW1vbojbuji1urr1mfGVkZIT1sgj0TZDcoOVyuUdbOv70eOET4q5bXFzsltDVXgRMghTT0tIC/gQ9OjqKiYkJv/mjuIOnuhmbzYbW1lYkJCQsqrsTMkQ8XVpa6vZom6yzKxQKzMzMCKLrNzY2xn6m+DqH/v5+3HjjjXjhhRewatUqXo5xAUELGHu0Wi16enpQWVkJYO5i39LSgoKCAvZJlRQvVqsVISEhTi9M7/VM4o5XWvDK3lWoyPJuM8XbjoUrr5lA+FwQUSLJDBHaOMKVVX9aWtq8jSbi8ZKenh608QbAXIHe3t6OsrIyr+IyyA1aLpfDbDazmyd8aIwWYnBwkN0MEdpnikAeKsgN2lE3Y7Va2XTv7OzsQJ+u12i1WrS0tPgknnbs+kVERLCjJn9tFhLDQD5TyoeGhrBz504899xzWLNmDS/HuMA4vwsYi8XiUtPiDIPBgDNnzqC6uhpKpRLd3d3zBLOOYl1XF+3PB9TY848m/P3blVi7zHOtx9DQEORyOcrLy33qWDh2GzxNhPYFq9WKM2fOIDIyMmjm+s42muLj49HT0yMIjxdfIAXxYinG7kI0RgqFArOzs37p+jEMMy9ETwjdRXew182oVCpERERAr9cjMzOT17VZviHdPG8LYlfYZ6XZbDa2UOZL6zc+Po6xsTFei5fR0VFs374df/7zn3HJJZfwcowLEFrA2GM2m/Hll18iPT0dMpls3mzd3eIFANrGZrDjuS/wl11l2FDofpaFzWZDd3c3LBYL534cjt2G8PBwdj2b67GOyWRCS0sLpFJp0D5dmkwmDA8PY3BwkPXl4WujiW/43phy7PrxEQ5I9EcMw2DFihVB9zsgmEwmfPnll4iOjobRaGR1M8RDJVjgq3hxxF7rp9VqIZFIWDE+F9fHiYkJjIyMoKqqirfiZWJiAtu2bcNTTz3FqTCXQreQ5iESiTA7O4uZmRmsXr3aqVjXnS9N5H+2kPRm94sni8XCzsP5WKMUiUSIi4tDXFwcli9fzooPm5ubERIS4tTgzBuImG/58uVB3bEg2xMXXXQRwsPDMTk5icHBQb91G7hiaGgISqUSq1at4u0CHRISguTkZCQnJ88LB+zv70dERITPhTIR0UdERAS1V419oCFxzyZjue7ubr/5zfgK2SYsLy/nvegKCwtDRkYGMjIy2EKZvF++OnLLZDKMjIzw2nmRy+XYvn07nnzySVq8BICg7sBYrVZ2xXkxzGYzmpqaMDs7iw0bNrgl1nXF6JQBV/3PJ/j1phXYUrn4Pj+xoufDG8UdDAYDOzqxWq3sDcfTi9PU1BQ6OjqC2iEYAGsWWFFRcc4MPlgymoj+yGAwBHTc4ujYap+g7Q5WqxWtra1ITEwMaqErsdVfvny5y4ThxXQzQkCj0eDMmTMBTyknHWWim/G0k0WSyvm0QlAqldi6dSt++ctf4tprr+XlGBc45/cIyd0CRqvVsvkpvb29uPjii70uXgBArTPhkt9/hIe+WYCbv7aw6JMIK4ViRW8ymVihpideMzKZDAMDAygvLw/4hoq32Hu8LJTNZP/vvdlo4hubzcb6ihQWFgrmSd5oNEKpVEIul8NoNLI3HFdJxyRRWiqVBrV4mtjqFxYWur2q6qibEcI6+8zMDNrb2wXpPO1sAywlJcWpMaNcLsfg4CCvxYtarcaWLVvw0EMPYdOmTbwcg0ILGExOTrIunnFxcfj444+xbt06t/UuzjCYrVj12/dx7zfycOslrkV6ExMTGBwcFOxNnwg15XI5tFot62xr394mN32VSoWysrKgctu0x1ePF8fcIbFY7HSjiW9Ix4Ks5gqleHHEMek4MTERaWlprLaB2BdkZ2cHpCvJFWSk6k0+E8GV34w/dTPT09Po6OjgTATOJySdXaFQYHp6ep4mS6VSsd5BfF2rpqensXXrVvz4xz/G1q1beTkGBcD5XsDYbDaYzWaX/31oaIhdnSM3mY8++ghr1671ungBgCMtE/jpoQ4AQEZCBH50RR42ln11ESaBbdPT02496QsBclGQy+WYmZlBYmIiUlNTIZfLwTBMUBu78eHxYh8BQTaa+L7hBOu6N0nvlcvlUKvViIqKwuzsLAoKCiCVSgN9el5DVoy5Hqn6O6eJRDUEQ/HiiL0ma2JiAmazGcuWLUN6ejovzs0ajQbbtm3DXXfdhV27dnH+8ynzuDALGJKEbLFY5vmT2Gw2tLW1Qa/XQyqVsgGKnnC0dQIPH+2CwfyV/0xkWAh+ubEIG8vSWUEiae8H403fZrOxnSuSrpqWlhYU1vOO+OOmbz+WI6MTrjeaiMZi2bJlrEA0GNFqtWhqakJCQgK0Wm3A08a9hQhd+d7S4Vs3Q4oXPqMa/AERla9YsYIdzVmtVrb44+K7qNVqsWPHDnznO9/B7t27OTpzygJceAUMuWFJJBL2adtR72I0GiGXy9mnZ5KD4s7Txzee+Rjj08Zz/j4jIQKv37E66NeLgbmbpX17n+hAVCrVPB2I0DtLRDztT48XMjqRy+WcbTQRJ9SioiJeMqb8BVnNte9YOHrzkOJPyCvHRNfmjy0de7jWzajVanR1dQV98aJUKtHX14eqqqp5YyOz2cwWf7Ozs2xXWSKReFz86fV67Ny5EzfeeCO++93vcnr+U1NTuPXWW9HW1jYXFvy3v6GoqAg7d+7EwMAAcnNzsX///qD+7nvJhVXAELFuXl4eO1dfTKxr7z5qsVhYXYOrC1PpL991+qaIADx/dRTy8/NdbiEEAyTewJkg0Z9eM75CnpADKZ4mG00KhYJ1TfbUTn1mZgZnzpzxyQlVCBCNxULbLSaTidVkGQwGQa4cC2ncYq/JAjzbAFOpVOju7kZVVVVQdb4cmZycxNmzZxfNyyJjTIVCwY4x3Q3pNBgMuOmmm1BTU4Pbb7+d88/inj17cOmll+LWW2+FyWSCTqfDY489hqSkJDzwwAN4/PHHoVar8cQTT3B63CDg/C5gGIaByWQCMPeFJBdI8nTn6aaR2WyGQqGATCZzuaHjqgOTHCnC63eu5rWdzDeTk5Po6enBypUr3XodOp2OfXoWiURsJyvQT3Pk4hzoVVB77DeaVCoVoqKiFt1oIr8PIdwsfcGb1yHElWPyOoTYsXDcAFuo+LNP+A724qW3txdVVVUePUA5iqaBr4q/6Ojoee+XyWTCt771LVx11VX44Q9/yHnxMj09jcrKSvT19c372UVFRTh58iQyMjIwPj6ODRs2oKuri9NjBwEXRgEzPDyMsbExVFRUsBcWT5x1nUE2dGQyGfR6PasDeX9Qj18cm6+BCQ8BfnFdATavCh5hpSNjY2MYHR1FeXm5Vxc1kkQrl8thtVoX7WTxxUIeL0LB1UaTvSYr0EnMXCGXyzEwMODT67DZbPOKP18NzryBaCyC4ffhWPzZexlNTU15ddMXGiqVCj09PZy8DtL5I+/XK6+8guuvvx4bNmzA97//faxbtw733XcfL13ApqYm3HbbbSgpKUFzczOqq6vxzDPPIDMzE1NTUwDmrhcSiYT98wXE+V3A2Gw2tLS0wGg0oqysjH0yYxiGXa/mQkRLLggymWxujq+JxCtntJBrzEiOCsF9VxdgU8USn48TCBiGQV9fHzQazbz30BfIBUEmk7GiVqlUylvWCeC5x4uQcNxoCgsLg8lkwqpVq4LqdTgyNjbGPlhwVWjYG5wplUqEhoayY0y+uiLEFI3P1Vy+sNfNkJDO5cuXIz09PWgLGFK88NFBMhqNOHz4MF577TWcOnUKqamp+NnPfoZvfvObvJh3nj59GhdddBG7HXvPPfcgPj4ef/zjH+cVLBKJBGq1mvPjC5zzu4CxWCzo7+9Hdna2T866nmCz2Vira6vVCqlUCqlUGhS2846QjamwsDDeDNHc8ZrxFV89XoQCwzDo6emBWq1GeHi4W2ZwQmVoaAiTk5O8J0qT4o9sndiLgLl4v8bHxzE6OorKysqgLiZJB6mwsBBqtdor3YwQIMJjPrU7VqsVd9xxB5YtW4aamhocOXIEb7zxBhISErBp0yZ861vf8trzx5GJiQlcdNFFGBgYAAB88MEHePzxx9Hb20tHSOd7AQPMPe0zDOOX4gWYG5W0tLQgOzsbUql0XsgdadUmJycL/iZqNpvR0tKC1NRULF261C/HdOY1Y29u5u3PbGtrQ0xMDJYvXx5UN3l7GIZBZ2cnALBhhnxsNPEN8UCanZ3FypUr/XqeJBhQLpdDp9MhKSmJfb+8+VyMjIxALpejoqIi6OwD7CFjPMctHaKbUSgUghVN2+OPlW+r1Yof/vCHkEqleOyxx+Z9foeGhnD06FFs27aNUyuDSy+9FM899xyKiorwyCOPQKvVAgCSk5NZEa9KpcKTTz7J2TGDhAujgCGFC9/FC9kIWbFixTkrbaRVS+b0sbGxkEqlgvROIevFgfQUcTQ3i4uL89hrJliN3Rwh/kQxMTEujfacJUILzZuHYRi2M1lcXBzQm6CjW6unG2D+6iDxDbHVX2z8tZBuRgiv3x/Fi81mw7333ouYmBj893//t9+K76amJnYDKS8vD3//+99hs9mwY8cODA0NIScnB/v373c7puI84vwvYIxGIywWi0/Ouu4gl8vR19fnVk4IcYckGTpRUVGQSqWC8E4RWjYT4Pz9WmxDJxAeL3xA8oDS0tLc9g4iG00k6I6shKampgZMo0HymcLDwwWXKO3q/XK1Qtvf3w+NRuP3DhLXeKvdcdyYi4yMZD9fgdDNkBV8vouXBx54AAzD4I9//GNQ/97PI87vAmZ0dBS//OUvUVNTg/Xr1/NSHPiaBWTvnaJQKBAREcG6APv7ZiOXy9Hf3y/YbCbgqw0dmUwGpVLJOrWmpaWxF08heLxwATEMzMnJ8dpS33GjyR+iVkdsNhtaW1sRHx+PZcuW+eWY3mK/QqtQKBASEjLv/Tp79iwMBgNKSkqC+iY2MTGBkZERTrQ7viaO+4I/MppsNht+8YtfYGZmBn/961+D+vd+nnF+FzBmsxnvvPMOGhoa8Omnn2Lt2rWora3FpZdeysmTAnmqFIlEWLFiBScfbHKzUSgUEIvF59yc+WJoaAgKhQLl5eVBtUnh6DUTExMDtVqNioqKoBEeOkOv16O5udmjBGN3fy7ZOLHZbLyvs1utVjQ3NyM1NTUo3afJ+j8JnYyIiEBJSQmnMRD+Znx8nN3+4vqhzp+6GZKOzWfxwjAMfv3rX2NsbAx/+9vfBDEuo7Cc3wWMPRaLBe+99x7q6urw4YcfYtWqVaipqcEVV1zhlVqdiFxTUlKwdOlSXi5mxEZdLpfzZgRHdAlmsznonyqHhoYwODiIyMhINkBR6LbzziAdJK5DAB1x5myblpbG2UaT2WxGU1MTsrKykJGRwcEZBwaGYdgHlcTERCgUCmi12qAQTTsyNjbGBtjyfTN2ppvx1GnaFf4qXp588kn09vZi3759AR/vU87hwilg7LFarfjwww/R0NCAd999FytXrkRNTQ2uvPLKRfUrwNxTP9FX+Evkam8ER56cpVKpT1/e82lDh4zxysvLIRaLWddkcnPmI0CRD8gaqL9dgq1WK/vkrNFoIJFI2FwYb27OZPy1bNmyoNYgESuByMjIed8RxxiIuLg4Vjcj1Kf00dFRyGSygGxNcamb0Wg0OHPmjFt6Q1/O95lnnkFjYyNefvnloOpKX0BcmAWMPTabDZ9++ikaGhrw9ttvo6CgAJs3b8bVV1/t1C5/cnIS3d3dAc2eMZlMbGfGYrHMizRwF6PRiJaWFixZsgSZmZk8ni2/kA6SxWJx6fHiuG7s6/osX5B11kC7BPu60cTX+MvfkO2vuLi4BbU7jiLziIgIwWWACW3l21vdjL+Kl2effRYffvgh9u/fL5jfIeUcaAFjj81mw5dffon6+nq88cYbyMnJQU1NDa699lokJCTgT3/6Ez766CP8/e9/F0zWibNOw2KutiS9uKCgAMnJyX4+Y+6wWq04c+YMoqOj3e4g2Ww2tpghGTpSqdQnrxkuGBkZwcTEBKeutFzgeHMmCceuROYk7LO4uDioBdRWqxUtLS1ITk722AfJ2c05LS2NtxvuYgwPD0OpVAp25dtkMrHv10K6GZJWzmfKN8MweP755/Hmm2/iwIEDgo0boQCgBYxryNNXXV0djh07BpvNhoiICLzwwgvIyckJ9Ok5xZmrrVQqnadpUKvV6OzsRFlZWVAHS3Lh8cKF14yvMAyDgYEBTE9PcxbVwBeOGzqOG01kBT/YP1tEeJyWluazfxBJs1coFDCZTOzN2V/OyUNDQ+xoNRh0Oq50MxEREWhvb+e1eAGAF154AYcPH8ahQ4cEu4lJYaEFzGLodDrs2bMHCQkJyMrKwuuvv46EhATU1NRg48aNSElJEdQYgkAuBHK5nNU0iMViTE5Ozgu1DEYMBgOrr+BKg+SN1wwXxwzmiAODwcBugBmNRpjNZqxcuTKou3oWiwVNTU3IzMzkXHhMRplEZ8SF0/RCDA4OYmpqCmVlZUH32QK+0s2Mjo5iYmICCQkJyMjI4G00989//hOvvvoqjhw5ErBuGcUjaAGzEBMTE9i2bRv27t2L0nMHGQAANyhJREFUvXv3Apj7UvX29qK+vh5HjhxBZGQkbrjhBtTU1EAqlQq2mOno6IBKpYJYLEZiYqIgxibeQDZ0iouLOcsbccRZGjTpNHDVUrbZbDhz5gyioqKCWkANzOXonD17FhkZGVCr1bxsNPkDsjW1dOlSr3133IXojBQKBdRqNWJjY9nuHxfbLvZdvWD7jtuj1WrR0tKCsrIyiEQi3vxm6urq8Le//Q3Hjh3jtHuYm5uLuLg4hIaGQiwW4/Tp01CpVNi5cycGBgaQm5uL/fv3n+PcTnELWsAsxC233IJbbrkFGzZscPrfyfZLQ0MDDh48iJCQEGzcuBG1tbXIzMwUxIWbeNWEhISgqKgIAOaNTYIpn0mlUqG7u9vvGzqO6+xE0+Bti9liscxbwQ9mxsfHWUM00qnieqPJH5hMJjQ1NQVka4phGGg0Grb7R8wZvS2YzxenYPvixbGocFc34w6HDh3CX/7yFxw7doxz3VZubi5Onz6NlJQU9u9+8pOfICkpic0xUqvVeOKJJzg97gUCLWAWgsQPuPtvx8bG0NDQgAMHDsBoNLKdmdzc3IAUM2azGa2trUhKSkJOTs4552C/2jg5Ock+BQpxFXRiYgJDQ0MB39AhmgayAUaeAt19ajOZTGhubg56bxRgThyqUCgW3GwJhowmMpLMz88XxPhLp9OxN2eGYeYlaC9GX18ftFotSktLg7p4IVYVpaWli257+uI3c+zYMfzhD3/AsWPHeOmCOCtgioqKaJI0N9AChg8YhoFMJsPBgwdx4MABTE9P4/rrr0dNTQ0KCgr8UsyQi3Jubq5b7XD7p0ClUslqQFJTUwNu4DQwMDDP40UoeOo1Q9aL8/Pz513Qgg0iPJ6ZmfFoROHpRpM/IL+TFStW8DaS9AVnZoPOOg0Mw6Cvrw96vR6lpaWC6P56iyfFiyOOuVYL+c289dZb+O1vf4vjx4/zVrguW7YMEokEIpEI3//+93HbbbchMTERU1NT7PlKJBL2zxSPoAWMP1AqlTh06BAaGhqgUCjwzW9+E7W1tbwl8pJUbG91Io55Q+Hh4QHxtXDH40UokLGJK68ZsgIa7PlMDMOgp6cHZrPZ59/J7OzsvI0mMprzl8Cc2AkEy8q3Y6chISGBFQH39/fDaDSipKQkqIsXUlCWlJRw4kJtvzX35ptvwmg0Ytu2bVCpVHjkkUdw7NgxXs1IR0dHkZmZCblcjquuugp//OMfsWnTpnkFi0QigVqt5u0czmNoAeNv1Go1XnvtNRw4cABDQ0O4+uqrUVtby5nYjggquTR60ul0kMlk81Zn09LSeB3leOPxIhSIS6tcLsf09DSioqIwOzuLioqKgJkfcgGx1A8NDUVhYSGnvxP7jSar1erxaM5TSEEZSENKXyAWAAqFAuPj4xCLxVi+fDmvW3N8w3Xx4sjo6Cjq6+tx+PBhdHV14eabb8ZNN92EtWvX+mWc+cgjjyA2Nhb/93//R0dI3EALmEAyMzODo0eP4sCBA+jp6cE3vvEN1NbWYtWqVV4VM8QMrby8nLdOCRG0kvk8KWa49EwgOVNSqdRnH45AI5fL0dPTg8TERMzMzAhaZ7QQxBcpNjYWy5Yt47WgdBzNcb3RRDqUfHuK8A3phlksFmRlZbFjk0AkjvuKwWBAU1MT792wTz75BPfddx/q6urQ0dGBw4cP47PPPsOaNWuwa9cuXHXVVZwdS6vVwmazIS4uDlqtFldddRUefvhhnDhxAsnJyayIV6VS4cknn+TsuBcQtIARCjqdDsePH0d9fT3OnDmDDRs2oLa2Fl/72tcWvdGR1W4y//bXjdFoNLLbOeSpWSqV+tT54cPjJVCMjY1hdHSU3dBxpjMinQYhPzX74krLxbHt/Yx89U6ZmppCZ2cnryGA/oCMVxmGQVFR0bzCjiSOk26WvQhYiJ1MfxUvp0+fxg9/+EO89tpr8z7HVqsVn332GUZGRrB9+3bOjtfX14fNmzcDmNs8vOmmm/DQQw9hcnISO3bswNDQEHJycrB///6gjtwIILSAESIGgwFvvfUW6urq0NjYiPXr16O2thYXX3zxOSJWvV6P7u5uREdHIz8/P2AXKLLWKJfLYTKZ2EgDTy6a/vB48RcDAwNQq9UL2rfPzs7y6jXDBcTxeMmSJViyZElAz8XRO8XTAEWyhl9ZWRk0nQlnEANEkUi06CjPbDaz2iy9Xo+kpCSkpqYKJgeMFC98i6ibmppwxx134ODBg8jLy+PtOBS/QgsYoWMymXDixAnU1dXh1KlTWLduHWpqanDZZZdBqVRi69atePTRRzltffqK40XTnSToQHm8cA1p65tMJpSUlLjdJfDHaM5TiDdKbm6u4LphrjaaUlJSnI5PlUolzp49i8rKSkEViJ7CMAw6OzsRGhrq8Uaj1WplE7Snp6dZD6ikpKSAjDONRiMaGxtRVFTEq5FbW1sbbr31VtTX16OwsJC341D8Di1gggmz2Yz33nsP9fX1OHHiBAwGA2655Rbce++9gr0oO27nED2D/RqoUDxefMVms6G9vR3h4eE+rcvbe82YzWZ2O8efIwAiqAyWwE/inOxso4mkfFdWVgZ1sjARUYeFhfncbbX3gFKpVH4fZxqNRjQ1NaGwsJDX4qWjowPf+c538Oqrr6KkpIS341ACAi1ggpGPP/4Yd955J+6++240Nzfj3XffRXl5OWpqanDllVcKdrZPngBJErREIgHDMNDpdKioqBCUx4unEJ2IRCJBbm4uZz/XsZvlD4v+YFsvdsRgMLAFoF6vB8MwKCsr88qlVSgwDIP29nZERERwvpXnLKSTFDN8XEtMJhMaGxtRUFDAq/aju7sbu3fvxj//+U+UlZXxdhxKwKAFTLBRV1eH//7v/0Z9fT27oWO1WvHpp5+ioaEB77zzDgoLC7F582ZcffXVgh3HWK1WtLa2QqvVQiQSseLMpKQkQfu9OINk6GRmZvKqE3EW0EkErVzd0MiGTrAnSgNza7NjY2PIyMjA5OQkWwB6azkfKBiGYXOz8vLyeD9vUgAqFAqYzWZ2BBwbG+vzsf1VvPT39+PGG2/Evn37UFVVxdtxKAGFFjDBxOjoKO688068+OKLLn0SbDYbvvzyS9TV1eHNN99Ebm4uampqcO211/LireANjh4vwNx2iEwmY8WZQrObdwXZmsrLy/Nrho6j1wwxNfOlAFSr1ejq6uLUQyhQDA0NYXJycp6ImuuNJn9AQj9jYmICIj41m83se6bVaueJgD19z0jxwndkw9DQEHbu3InnnnsOa9as4e04lIBDCxjCG2+8gXvuuQdWqxW33norHnjggUCfks/YbDa0trairq4Ox48fR0ZGBmpqanD99dcHLP2UeLykpaUhOzv7nP9OxJkymQyTk5OIiYlhxZlCGzGRUUugbegZhmEDOlUqlVfJxkTkWlFREdQbOoB7SczECI6Emnq60eQPiPdOXFwcli1bFujTYYtmhULhca4VEYQvX76c1+JldHQU27dvx1/+8hdcfPHFvB2HIghoAQPMPZkVFhbi7bffRlZWFtasWYNXXnnlvBJ9kRl6fX09G1y2adMmbNy40W+dA089XhiGwezsLBtpIITsHML09DTa29sFN2px9Jpx5z2bmJjA8PAwKioqgl7k2tfXB51O51GYISmaFQrFvPfM1UaTPyAPHwkJCZxqqrjC2RaYq8whs9mMxsZG5OXl8ZoBNjExgW3btuEPf/gDvv71r/N2HIpgoAUMMOfO+Mgjj+DNN98EAPz2t78FADz44IOBPC3eIKu+9fX1OHLkCKKiorBp0yZs2rQJUqmUlxk7Fx4vznxT0tLS/H6TmZycRE9PT1CYoTlu5zjGQIyMjEAmkwW9iNreldbXjDH79ywkJIQtAP31uybFS2JiInJycvxyTF+xFwGLRKJ5G02NjY1YtmwZrw9KcrkcW7Zswe9+9zt84xvf4O04FEFBCxgAqK+vxxtvvIHnnnsOAPDiiy/i1KlT+NOf/hTgM+Mfkizc0NCAgwcPIjQ0FDfccANqa2uxZMkSTooZPjxedDqd05sM3+OP8fFxjIyMBGW3gji0yuVyMAwDsVgMm82GyspKwYxNvIF4o4hEonNcaX3FfqPJH662NpsNLS0tSEpK8rvrMVcQGwCZTIbp6WmkpKQgNzd3QR8oXyB+WL/61a/wzW9+k/OfTxEstIABLuwCxh6GYTA6OsoWMyaTCTfccANqamqQk5Pj1cXHHx4vJAiQ3Jj5MoEbGhqCUqlEeXl50Hcrurq6MDMzA7FYHDCvGS4go9Hw8HDenahJRpNCoeBlo4ms4qekpDjVhwUTFosFjY2NyMrKQkhICOsDJZFIkJqayplwWq1WY8uWLfj//r//DzfccAMHZ/4VVqsVq1evRmZmJo4ePYr+/n7s2rULk5OTqK6uxosvvhh0DzHnGbSAAS68EZI7MAwDmUyGAwcO4MCBA9BoNLj++utRU1Pj9o1icHCQ3QTx1w3fZDKxxYzFYpl3Y/YWhmFw9uxZ6HQ6rFy5UrAbK+7grFsRCK8ZLvBnwKQjXG80Wa1WNDc3Iy0tLegDTEnxsnTpUkilUvbvHaMgvBGb2zM9PY2tW7fivvvuw5YtW7h8CQCAp556CqdPn2ZDd3fs2IEtW7Zg165duP3221FRUYE77riD8+NS3IYWMMDcF66wsBAnTpxAZmYm1qxZg5dffhmlpaWBPjXBoFAocOjQIRw4cAAKhQLXXXcdNm3a5FRvYLPZ0NPTA7PZ7JGdPteQJ2aZTAaj0cgWM574WdhsNnR2diIkJITz8YS/ISu5UVFRLs3QXHnNeLM2yydk1CKRSAKuE3HcaPL0xkyKF6lUiszMTD+cMX9YLBY0NTUhOzt7XvHiiL3YfHJyEuHh4axuxp1OrUajwbZt23D33Xdj586dXL4EAHPasD179uChhx7CU089hSNHjiA1NRUTExMQi8XnPPRSAgItYAjHjx/Hf/3Xf8FqtWLv3r146KGHAn1KgkWlUuG1117DgQMHMDw8jKuvvhqbN2/GypUrYTQasWvXLnzrW9/Ctm3bBHPDt1gsbJdBp9O51WWwWq3z1liF8lq8gYwnkpKS3L7hkydmuVyOqakpNjsnOTk5oMUMueGnpqYKbtTiuNEUERHB6rOcjRusViuampqQkZER8LBMXyHFS1ZWFtLT0z363+p0OnY8xzAMW8w465xqtVrs2LEDe/fuxbe//W2uTn8e27Ztw4MPPgiNRoPf//73eOGFF3DRRReht7cXADA8PIxrr70WbW1tvByf4ha0gKH4xvT0NI4ePYoDBw6gq6sLFosF11xzDX7zm98I6ondHscuQ1JSEttlIEUK8auRSqXnRUu/ubkZ6enpXj/hk+wcmUwGlUqFmJgYSKVSr9v/3kJeS7Dc8MlGk1KphEgkmrfRRF7LkiVLkJGREehT9QlSiHHxWkiyvUKhgMFgwOzsLEJDQ3HZZZfBZDJhx44duOmmm/Dd736Xo7Ofz9GjR3H8+HH85S9/wcmTJ2kBI1xoAUPhhuHhYWzevBlXXHEFBgcH0d7ejssvvxy1tbVYs2aNYLdciDmXTCbDzMwMEhMTIZFIMDg46LZfjZAhBmI5OTkLtvQ9wZU/D9++KSSyITs72+MnfCHgaNFvMpmQlZWF3NzcoO/ucVW8OPvZH3zwAf7yl7+gvb0d0dHRuPzyy/G73/2Ot43DBx98EC+++CLEYjEMBgNmZmawefNmvPnmm3SEJCxoAUPxndbWVnz729/Gs88+i3Xr1gGYW9l96623UF9fj8bGRlx66aWora3FunXrBLvBY7PZMDExge7ubojFYlb/EeiRibcQ40C+rdudec1wvdJOCjG+/UT8gcViwRdffIH4+HiYTCbo9Xq2CxhMGU3AV+O89PR0XjtiRqMR3/rWt9gFgnfffRfFxcWora3Ftddey1voKOnAHD16FNu3b8fWrVtZEW95eTnuvPNOXo5LcQtawFB8Y2ZmBldeeSVefPFFFBUVOf03RqMRJ06cQH19PT777DOsW7cONTU1uPTSSwPuqGsPCTJcuXIlYmNj541MYmNj2ZGJULtJ9uh0OrS0tPg95sDRa4YIp33JVjIajWhqauK9EPMHpItkv6FDRpoKhQIzMzOc5Fr5A3+Jj81mM2655RZccskl+PGPfwyRSASGYdDS0oLDhw/j008/xbFjx3gp/OwLmL6+PuzatQsqlQpVVVV46aWXeLOGoLgFLWAovmM2m90uRMxmM06ePImGhgZ88MEHWLNmDWpqarBhw4aAXgyI2Z6zIENH2/SoqChIpVJB5jMBcxsaZ86cQWlpKeLi4gJ2HkTLIJfLYTKZvEo11uv1aG5uRlFRUcDyu7iCWOrn5ua6HE36utHkL4goPC0tjdfixWKx4Lvf/S6qqqrw4IMPBlV3isI7tIAREnv37sXRo0eRlpbGisNUKhV27tyJgYEB5ObmYv/+/UF/ISdYLBZ8+OGHqK+vx8mTJ1FeXo7a2lp84xvf8KtFv0wmw+DgoFtme0T/QYSZ4eHhkEqlgshnAuZSvTs7Ozl1PeYC4jWjUCjc3gIjXaTi4mLeRgT+ghQvnozAHHOtFtto8hc2m43dAuNT4G61WnH77bcjPz8fjzzyCC1eKI7QAkZIvP/++4iNjcXu3bvZAuYnP/kJkpKS8MADD+Dxxx+HWq3GE088EeAz5R6r1YpPPvkEDQ0NeOedd7BixQrU1tbi6quv5vVG7GsWkL3+g+QzuetlwTWTk5Po7e0VfKK0O14zs7OzaG1txcqVKwPaReICrvQ7zvKG+HCcXghSvPDtFmy1WvHDH/4Q6enpeOyxx2jxQnEGLWCExsDAADZu3MgWMEVFRTh58iQyMjIwPj6ODRs2oKurK8BnyS82mw1ffPEF6urq8OabbyIvLw81NTX45je/ifj4eE6OQZKLZ2dnsXLlSk50LXq9nnUBJiuzaWlpfikmSBepsrIyqOzNnXnNxMXFYWRkBOXl5YJK+vYGk8mExsZGLF++nNMkZseNJm/Gc55CzAOTk5N5LV5sNhvuvfdexMbG4ve//72gdUCUgEILGKHhWMAkJiZiamoKwNxNVyKRsH++ECAXzbq6Orz++utYsmQJampqcP3113stTiVZQDabzefkYlcYjUa2mLHZbJyIWV0xNjaGsbExVFRUCGKM5S0ki6u3txfh4eGs/kOoWqPF8Jf42D4Kwn48x+VGE0nIlkgkvIZM2mw2PPDAAwCA//mf/6HFC2UhaAEjNBYqYABAIpFArVYH6OwCCwnuq6+vx9GjR5GUlISamhps3LjR7adbkp8TExODvLw8v7SmiZhVJpPNC07korswODgIlUqF8vLyoNiOWgi1Wo2uri52BOaoNRKC/sNdSPFSUFCApKQkvx3XarVCpVJBLpdzttFEipfExEReYxtsNhsefvhhzM7O4n//939p8UJZDFrACA06QnIPhmHQ09OD+vp6vPbaa4iOjkZNTQ1uuOEGSKVSp4WJxWJBS0tLQC3oydOyTCaDwWBASkoKpFKpx61/MgLT6XQoLS0N+os90e9UVlY61Q/Z6z9CQkJ48ZrhCoPBgKampoBvTpGNJoVCwVoBpKametTRIgV/fHw8cnNzeTtXhmHwq1/9ChMTE3j++eeDvhin+AVawAgNxwLm/vvvR3JyMiviValUePLJJwN8lsKCYRj09/ejoaEBhw4dglgsxg033IDa2lpkZGRAJBJhdHQUDz/8MH79618LxrbdYrFgcnISMpkMOp0OSUlJkEqli6ZAkxEYwzBYsWJF0AscFQoF+vv73dbvGAwGVjjN93jOU0jx4m//ncXwZqOJFC8kC4zPc3viiSdw9uxZ7Nu3LyjHhZSAQAsYIXHjjTfi5MmTUCqVkEqlePTRR1FbW4sdO3ZgaGgIOTk52L9/v19b0sEGwzAYGRlBQ0MDDh48CIvFgq9//euoq6tj308h4mozRyKRzCtQbDYb2tvbERERwbqSBjMTExMYHh5GZWWlV/odLrxmuIJ41giteHHGYhtNDMOgra0NsbGxvBcvTz/9NJqamvDyyy8HtYaL4ndoAUM5f2EYBv/+97+xZ88eFBUVYXZ2Fhs3bkRNTQ2WL18u2Js/yWeSy+WYnp5GQkIC25k5c+YMEhMTeW3n+4uxsTGMj497vcLuiGPiuD/t+UnxEoyeNUajkS0CyUbTzMwM4uPjsXz5ct6OyzAM/vKXv+Cjjz7C/v37g0LbRBEUtIChnL988MEH+OEPf4h//etfKCwshEKhwMGDB3HgwAFMTk7iuuuuw6ZNmwQ9hmEYBmq1GhMTE5iYmGCfiJOSkoJaJzA8PAyFQoGKigpeXoejmDUxMZHtaHGtFyKGeyUlJZyt+QcKk8mE5uZmmM1miEQiXjaagLnP9XPPPYe3334bDQ0N1JKf4g20gKGcn7z55pt4+OGHcfDgQachcyqVCq+99hoaGhowOjqKq6++Gps3bxakIJbk52RlZSEqKoqNNIiJiWEjDYKpmBkcHIRarUZ5eblf3mtHe/74+Hh2M8fX9+18Kl7Ill9ERASWL18+rxPIdUbTCy+8gMOHD+Pw4cOcCrENBgMuu+wyGI1GWCwWbNu2DY8++ij6+/uxa9cuTE5Oorq6Gi+++CLt+AQ/tIChnJ/09/cjMTHRrS2Q6elpHD16FA0NDTh79iyuuuoq1NbWorKyMuDFDFnHdTRCcxRlRkVFsZ4pQtURELE1MQ8MxHvLMAymp6chl8uhUqkQHR3ttdeMVqtFS0vLeeEWzDAMOjo6EBYW5lRb5bjRFBMT4/X79s9//hOvvvoqjhw5wrnwmmEYaLVaxMbGwmw2Y/369XjmmWfw1FNPYcuWLWySdEVFBe644w5Oj03xO7SAobhmeHgYu3fvhkwmg0gkwm233YZ77rnnvM5nmp2dxfHjx1FfX4+Ojg5cccUVqKmpwZo1a/ze5fAkyJB4pigUCkF6pjAMg97eXphMJpSUlAhiZOcs18rd940UL2VlZUHvFswwDDo7OyEWi90ShtsXz5OTkwgPD2dFwIu9b/v378cLL7yAo0eP8v6+6XQ6rF+/Hs8++yyuv/56TExMQCwW45NPPsEjjzyCN998k9fjU3iHFjAU14yPj2N8fByrVq2CRqNBdXU1Dh06hBdeeOGCyGfS6/V48803UV9fj6amJlx22WWoqanBunXreF/1nJ2dRVtbm1ejCZ1Ox7oAh4aGspEGgdIZBMvaN3nfiNcMuSk7jjhITtP5VLyEhoaioKDAq9+N/fu2UEbToUOH8Oyzz+Lo0aO8Cp2tViuqq6vR29uLu+66C/fffz8uuugi9Pb2Aph7MLv22mtZqwpK0EILGIr71NTU4O6778bdd999wZnrGY1GvPPOO6ivr8fnn3+OdevWoba2FuvXr+d8ZDM9PY2Ojg5OEqWJZ4pcLgcAvwcAktGEWCz2+gYZCEjWkFwuh9VqZd834o1SXl4uqLRvbyCFpUgkQmFhISe/G/uNppdffhkAsH37digUCjz99NM4duyY37q1U1NT2Lx5M371q1/hlltuoQXM+QctYCjuMTAwgMsuuwxtbW1YunTpBZ3PZDab8e6776KhoQEffvgh1qxZg9raWmzYsMHnkY1KpUJ3dzcqKio4LzLs85nsb8p83YhtNhvOnDmD6Ohov8U28IHJZIJSqcTY2Bimp6exZMkSZGVlBcRrhisYhkF3dzcYhkFRUREvr0OpVOLAgQOoq6tDe3s7brzxRtx0001Yt26d38axv/zlLxEVFYUnnniCjpDOPxb90AprHYMSEGZnZ7F161Y8/fTT54wzRCJR0F7EvSUsLAxXX301/vrXv6K5uRm33HIL3n77baxfvx7f+973cOzYMRgMBo9/rlwuR29vL1atWsVLhyQiIgLZ2dmorq5mXW+7u7tx6tQpnD17FrOzs1jkgcVtSH5OXFycoD133IEES1osFqxZswYSiQT9/f349NNP0d3djampKc7eN39AYjj4LF4AICUlBfn5+exq9vXXX48XXngBVVVVuO222/DOO+9wfkyFQsE+TOn1erz99tsoLi7G5Zdfjvr6egDAvn37UFNTw/mxKcKDdmAucMxmMzZu3IhrrrkG9957LwCaz+QKq9WKTz75BPX19Thx4gSKi4tRW1uLq666atEux/j4OEZHRwOSKG2xWNi2v16vR3JyMqRSKeLi4ry6uVmtVrS0tCA5OZnX5GJ/QUZ6jl0xf3rNcAURU1ssFt71SO+//z4eeughHDt2DOnp6ezfW61WfPzxxzh79ixuueUWTo/Z0tKCPXv2wGq1wmazYceOHXj44YfR19eHXbt2QaVSoaqqCi+99BL1ngl+6AiJ4hqGYbBnzx4kJSXh6aefZv+e5jMtjs1mw+nTp1FXV4e33noLy5cvx6ZNm3Dttdees3J74sQJSCQS3kzdPMFqtbJutrOzs2w+k7tGZhaLBc3NzUhPT0dmZqYfzphfXBUvjjh6zcTFxSEtLQ3JyckB/50SSPFiNptRXFzMa/HyySef4L777sPRo0fPi88BRZDQAobimg8//BCXXnopysrK2CfKxx57DGvXrqX5TB5gs9nQ3NyMuro6vPHGG8jMzGSLmccffxydnZ04ePCgYG50BJvNxuYzzczMsPlMiYmJTjsM9oZ7QgnM9IWpqSl0dnZ6rEdiGAYzMzPsmjHx6ElNTQ1YUCHDMDh79iyMRiPva+yff/457rnnHrz22mvnRQeOIlhoAUOh+BOGYXDmzBnU1dXh+eefR1paGr773e9i06ZNSE5ODvTpucRms0GtVkMul2NqauocV1aTyYSmpibk5uYiLS0t0KfrM2q1Gl1dXaisrPTJKZYYq8lkMtZrxl3PFC45e/YsDAYD78VLY2Mj7rzzThw6dIjXEEgKBbSAoVD8j8ViwW233QaJRILvfe97aGhowJEjRxATE4OamhrccMMNSEtLE6zwlWEYdlxC3Gw1Gg0KCwvPi+KFbIL5Wrw4w9EzhXj0cH0ce/r6+qDT6VBaWsrrZ6q1tRXf+973UF9fj8LCQt6OQ6H8B1rAUCj+xGg04uabb0ZVVRV+9rOfsTcUhmHQ19eHhoYGHDp0COHh4bjhhhtQU1ODjIwMwRYzer0eX375JeLi4qDT6Xyy5hcCKpUKPT09qKys5F3k6cprhsu1dvvoBj4/Q+3t7di7dy/+9a9/obi4mLfjUCh20AKGQvEnR48exeDgIO666y6X/4ZhGIyMjKC+vh4HDx6E1WrFDTfcgNraWmRnZwummCFRBytWrEBiYiJrzU/GJZGRkaz2Q6j5TPZMTk6it7cXVVVVfo9gMJvNbDFjMBiQkpKCtLQ0rzfBgLniRaPR8J471d3djd27d+Of//wnysrKeDsOheIALWAowceFlDjLMAzGx8dx4MABHDx4EFqtFtdffz1qamoC6q9CsoBKS0tdRh1otVp2XCIWi9lxiRB/J0qlEn19faw/TiCxWCyseNqbTTBgznhyZmaG9+Klr68PN910E/bt24eqqirejkOhOIEWMJTg40JOnJXL5Th48CAOHDgAlUqF6667DjU1Nbwakjmi0WjQ1tbmURaQXq+HTCZbNGcoECgUCvT39wuieHHEcRMsISEBUql0Qa+ZwcFBTE1Nzdse5IPBwUHs2rULzz33HNasWcPbcSgUF9AChhLcXMiJsyqVCocPH0ZDQwPGxsZwzTXXYPPmzSgpKeHtxsVFThPJZ1IoFLDZbEhNTYVUKvVbPpM9pHipqqoS/JjLHa+ZoaEhqNVq3ouX0dFRbN++Hc8++yzWrVvH23EolAWgBQwlOKGJs/OZnp7GkSNH0NDQgP7+flx11VWoqalBZWUlZzcyb31RFsJkMrH5TBaLhfd8JnvkcjkGBwdRWVkp+OLFEWdeM6GhoTCZTJz+zp0xPj6Obdu24ZlnnsFll13G23EolEWgBQwluKGJs+ei0Whw/Phx1NfXo6urC1dccQVqamqwZs0ar29sfK4WE+yFrEajkRWy8hGaKJPJMDQ0FJTFiyPEpE4mk0EsFiMsLIw3vZFMJsPWrVvx+9//HldccQWnP5tC8RBawFCCH5o46xq9Xo833ngDDQ0NaGpqwte//nXU1NR4lAgcCI2IxWJhIw10Oh2Sk5ORlpaG+Ph4n4uZiYkJjIyMoLKyMihXvR0ZGRmBQqFARUUFQkJCoNfr2a4W8ZpJTU31uWumVCqxZcsW/PrXv8Y3v/lNjs5+7mFj9+7dkMlkEIlEuO2223DPPfdApVJh586dGBgYQG5uLvbv3w+JRMLZcSlBDy1gKMGHQqFAWFgYEhMTodfrcfXVV+OnP/0p9u3bh61bt7Ii3vLyctx5552BPl3BYDQa8fbbb6O+vh6nT5/GunXrsHnzZlxyySUuuxBC6FRYrVZWyKrRaJCUlMRGGnhazJDQzPOpeJHL5S5ztIxGI9vV8mVEp1arsWXLFvz85z/Hxo0buTp9AHO/k/HxcaxatQoajQbV1dU4dOgQXnjhBSQlJbGZa2q1Gk888QSnx6YENbSAoQQfNHHWd0wmE9599100NDTgo48+wte+9jXU1tbi61//OttlefbZZ2Gz2fD9739fMDd7m80GlUoFmUzmcQL02NgYxsfHUVlZKbjcKW8YHR2FTCZzOwTUW6+Z6elpbN26Fffffz82b97M5UtwSk1NDe6++27cfffdNPWeshC0gKFQLnQsFgs++OAD1NXV4b333kNVVRViY2PxxRdf4MiRIy59XgKN41ZOfHw8u5XjWMx4erMXOmNjY5iYmPD69ThLHXfW1dJoNNi2bRvuvvtu7Ny5k8uX4JSBgQFcdtllaGtrw9KlSzE1NQVgTucjkUjYP1MooAUMhUKxx2q14kc/+hGOHz+OmJgYrFixAjU1Nbj66qsRHR0d6NNzCcMwmJ6ehkwmg0qlQmxsLBtpMD4+vuCYJdgYHx/H2NgYZ50k0tWSy+Xo6OjAgQMHsHnzZlx++eX49re/jVtvvRXf+ta3ODjzhZmdncXXv/51PPTQQ9iyZQsSExPnFSwSiQRqtZr386AEDYsWMMLoG1MoFL/w5JNPYnx8HO3t7RCLxfj8889RV1eHJ554Avn5+di0aRO++c1vIi4uLtCnOg+RSITExEQ20kCj0UAmk6GrqwsMwyA/Px+LPIwFBVwXLwAQEhKClJQUpKSkoLCwEDExMairq8NPf/pT5ObmIjo6GlqtltfVdrPZjK1bt+Lmm2/Gli1bAABSqRTj4+PsCOl8CAql+BfagaFQLhB+/vOfY3BwEH/729/O0bzYbDY0NTWhvr4er7/+OrKzs7Fp0yZcd911SExMDMwJL8LQ0BCUSiXy8/OhUCigVCoRHh4OqVQaNPlM9pDtqaqqKl47SQaDATfeeCM2b96M1atX4+DBg3jjjTewdOlSbNmyBbW1tZwWsAzDYM+ePUhKSsLTTz/N/v3999+P5ORkVsSrUqnw5JNPcnZcStBDR0gUCmWOt956C1deeeWiYliGYdDW1ob6+nocO3YMKSkpqK2txfXXX4/k5GQ/ne3CDA4OQq1Wo7y8fN7rcZbPlJqaKnixt0wmw/DwMO/bU0ajEd/+9rdxzTXX4O67756nh+no6MDBgwexdetWFBUVcXbMDz/8EJdeeuk89+DHHnsMa9euxY4dOzA0NIScnBzs378fSUlJnB2XEvTQAoZC4Rqr1YrVq1cjMzMTR48ePS9DJgkMw6Crqwv19fWs4HfTpk244YYbkJqaGpCwyYGBAUxPTy9qp+/ML0Uo+Uz2kFX2qqoqXosXs9mMPXv24NJLL8W9994rmNRzCsUFtIChULjmqaeewunTpzEzM4OjR49ix44d533IJPCVI2xDQwMOHz6M8PBwbNq0CTU1NUhPT/fLDbG/vx8ajcbjFGaj0cgWM1arlS1mAi1cJnEHfBcvFosFe/fuRXV1NR544AFavFCCAVrAUChcMjIygj179uChhx7CU089hSNHjiA1NfWCcwhmGAZDQ0NoaGjAoUOHYLPZsHHjRmzevBlZWVm83CD7+vqg1WpRWlrqUxaQyWRi/VJMJhNr/uZu8jZXKBQKDAwM8G4iaLVa8f3vfx+FhYX4xS9+QYsXSrBACxgKhUu2bduGBx98EBqNBr///e/xwgsvXNAhk8BcMTM+Po6GhgYcPHgQer0e119/PWpqapCXl8fJDfPs2bPQ6/UoLS3l9AZsNptZvxS9Xu+2+Zuv+Csl22q14gc/+AEyMjLw2GOP0eKFEkzQNWoKhSuOHj2KtLQ0VFdX4+TJk4E+HcEgEomwZMkS/OAHP8APfvADyOVyHDx4ED/+8Y+hVqtx3XXXoba2FoWFhR7fQMnYymg0cl68AEBYWBgyMjKQkZHBmr8NDAxAq9Wy+UwJCQmcHlepVPqleLHZbLj33nuRnJyM3/zmN7R4oZx30A4MheImDz74IF588UWIxWIYDAbMzMxg8+bNePPNNy+4EZK7TE5O4vDhw2hoaMDExASuueYabN68GcXFxW5tQ/X29sJsNqO4uNivN2Cr1cpGGmg0GkgkEjbSwJfzUCqV6Ovr4z0402az4ac//SlEIhH+53/+x6eRG4USIOgIiULhg5MnT+L3v/89jh49iu3bt9OQSTeYmprCkSNH0NDQgIGBAVx11VWora1lU5btsdls6O7uhs1m83vx4ojNZoNarYZMJsP09DQSEhIglUrdymeyZ3JyEr29vaiqquK9eHn44Yeh1Wrx7LPP0uKFEqzQAoZC4QP7AoaGTHqORqPBsWPH0NDQgK6uLlxxxRWora3F6tWrAQC33347VqxYgR/96EeCGn0wDAO1Ws3mM8XFxUEqlSIpKWlB8zmVSoWenh7eixeGYfCrX/0KMpkMzz333HkRrUC5YKEFDIVCETY6nQ6vv/46Dhw4gObmZsTHxyM1NRX/+Mc/BO2mS/KZ5HI5JicnERMTA6lUipSUlHmFgz+LlyeeeAJ9fX3Yt28fLV4owQ4tYCgUSnBgs9lwxx13QCaTIT4+Hl988QUuueQSbN68GZdccgmvPim+QvKZ5HI5lEolIiMjIZVKIRaLWc0Ln105hmHwhz/8AS0tLXj55ZcF/V5RKG5CCxgKhSJ8bDYbbr/9dkgkEjz++OMQiUQwmUx49913UV9fj48//hhr165FbW0tLrvsMsE7Hc/OzmJwcBATExNISEhARkYGUlNTeTlvhmHw5z//GZ988gn+9a9/Cf69oVDchBYwFApF+PzoRz9CdHQ0fv3rXzvVvFgsFrz//vuoq6vD+++/j1WrVqG2thaXX3654KIBgDnBcmdnJyorK2Gz2dh8ppCQENYFmIuODMMw+L//+z+88847aGho4LTLs3fvXtY6gPgaqVQq7Ny5EwMDA8jNzcX+/fshkUg4OyaFYgctYCiUC4Xc3FzExcUhNDQUYrEYp0+fDpobzujoKJYsWeKWYNdqteKjjz5CfX093n33XZSWlqKmpgZXXXVVwKMBgPnFi2NxZTAY2EgDhmHYYiYqKsrj4zAMgxdeeAFHjhzBoUOHOC/k3n//fcTGxmL37t1sAfOTn/wESUlJbIK0Wq3GE088welxKZT/QAsYCuVCITc3F6dPn0ZKSgr7d+f7Dcdms+Gzzz5DXV0d3n77bRQUFKC2thbXXHON36MBAGB6ehodHR1OixdHjEYjG2lgsVjYSIOYmBi3jvXSSy9h//79eO2113gr3AYGBrBx40a2gCkqKsLJkyeRkZGB8fFxbNiwAV1dXbwcm3LBQwsYCuVCwVkBcyHdcGw2GxobG1FfX4833ngD2dnZqKmpwXXXXYeEhATej0+Kl4qKCo87KmazGQqFAjKZDCaTCSkpKZBKpYiJiXHaldq/fz9eeOEFHDt2zO2CxxscC5jExERMTU0BmOsASSQS9s8UCsfQAoZCuVBYtmwZ6xT7/e9/H7fddtsFe8NhGAZtbW2oq6vD8ePHkZqaipqaGmzcuBFJSUmcH29mZgbt7e1eFS+OWCwWtjOj1+sRHx8PpVKJ9evXIyQkBAcPHsRf//pXHD16FPHx8Ry9AucsVMAAgEQigVqt5vUcKBcsNAuJQrlQ+PDDD5GZmQm5XI6rrroKK1asmPffRSKRoEzh+EQkEqGsrAxlZWV49NFH0dnZifr6emzduhXx8fFsMZOamurze6LRaDgrXgBALBbPy2fq6urCH/7wB9x1110oKSlBf38/3nvvPd6LF2dIpVKMj4+zHb20tDS/nwOFQqAe0xTKeUJmZiYAIC0tDZs3b8Znn33G3nAAXLA3HJFIhOLiYvz85z/Hp59+imeffRazs7O46aabsHHjRvzv//4vxsfHsUg32ikajQZnzpxBeXk5J8WLI6GhoSgpKcHBgwfx29/+FgqFAhUVFbj88stx11134d///jcsFgvnx3XFpk2bsG/fPgDAvn37UFNT47djUyiO0BEShXIeoNVqYbPZEBcXB61Wi6uuugoPP/wwTpw4geTkZFbEq1Kp8OSTTwb6dAUBwzAYHBxEQ0MDDh06BADYuHEjamtrkZWVtWhnZnZ2Fq2traioqOB9++nf//43Hn30UXYcZjab8d5776GhoQEffvghnnnmGVxxxRWcHvPGG2/EyZMnoVQqIZVK8eijj6K2thY7duzA0NAQcnJysH//fl5GchQKqAaGQrkw6Ovrw+bNmwHMaShuuukmPPTQQ5icnKQ3HDdgGAZjY2NoaGjAwYMHYTAYsHHjRtTU1GDZsmXnFDMKhQK9vb0oLy/nVUQLzK0zP/TQQzh27BjS09PP+e9WqxUWi4Xmb1HON2gBQ6FQKJ7AMAzkcjkOHjyIAwcOYGpqCtdddx1qampQWFiIxsZGfPe738Xbb789b+OLDz7++GPcf//9OHr0KDsipFAuEGgBQ6FQKL4wOTmJQ4cOoaGhAUNDQ9BoNPjtb3+LTZs2ISSEPxnh559/jnvuuQevvfYali5dyttxKBSBQgsYCoVC4YLu7m5s3boVN954I06dOoWhoSFceeWV2Lx5M8rLyzktZhobG3HnnXfi0KFDWLZsGWc/l0IJImgBQ6FQKL7S09OD7du348UXX0RZWRmAOe+XY8eOoaGhAd3d3fjGN76B2tpaVFdX+1TMtLa24nvf+x4aGhpQUFDA1UugUIINWsBQKBSKL0xNTWHDhg3Yt28fKioqnP4bnU6H48eP48CBA2htbcXXv/511NbWYu3atQgNDXX7WO3t7di7dy/2799/jo8PhXKBQQsYCoUSeKampnDrrbeira0NIpEIf/vb31BUVBQUQZMAIJfL3fbQMRgMePvtt1FXV4cvvvgC69evx+bNm3HxxRdDLHbtHdrV1YU9e/bg5ZdfxsqVK7k6dQolWKEFDIVCCTx79uzBpZdeiltvvRUmkwk6nQ6PPfbYeR00CQAmkwn//ve/UV9fj08++QQXXXQRampqcNlllyE8PJz9d319fbjpppvwj3/8A5WVlYE7YQpFONAChkKhBJbp6WlUVlair69vnp/KhRQ0Ccz587z33nuoq6vDhx9+iFWrVqGmpgb5+fnYvXs3nn/+eaxevTrQp0mhCAVawFAolMDS1NSE2267DSUlJWhubkZ1dTWeeeYZZGZmXpBBk8Cc+dyHH36IhoYGvPTSS3jttdewfv36QJ8WhSIkaAFDoVACy+nTp3HRRRfho48+wtq1a3HPPfcgPj4ef/zjH2myMeaKtwslZJNC8YBFvxQ0zJFCofBKVlYWsrKysHbtWgDAtm3b8OWXX9Kgyf/AZ/HyxhtvoKioCPn5+Xj88cd5Ow6FEghoAUOhUHglPT0d2dnZrL7lxIkTKCkpocnGPGO1WnHXXXfh9ddfR3t7O1555RW0t7cH+rQoFM5wvdNHoVAoHPHHP/4RN998M0wmE/Ly8vD3v/8dNpsNO3bswPPPP88GTVK447PPPkN+fj7y8vIAALt27cLhw4dRUlIS4DOjULiBFjAUCoV3Kisrcfr06XP+/sSJEwE4mwuD0dFRZGdns3/OysrCqVOnAnhGFAq30BEShUKhUCiUoIMWMBQKhXIekpmZieHhYfbPIyMjyMzMDOAZUSjcQgsYCoVCOQ9Zs2YNenp60N/fD5PJhFdffRWbNm0K9GlRKJxBNTAUCoVyHiIWi/GnP/0J11xzDaxWK/bu3YvS0tJAnxaFwhnUyI5CoVywdHV1YefOneyf+/r68Mtf/hK7d+8OmqBJCuU8hTrxUigUijtYrVZkZmbi1KlT+POf/3zeB01SKAKHOvFSKBSKO5w4cQLLly9HTk4ODh8+jD179gCYS9I+dOhQYE+OQqGcAy1gKBQKBcCrr76KG2+8EQAgk8mQkZEBYM5JWCaTBfLUKBSKE+gIiUKhXPCYTCYsWbIEZ86cgVQqRWJiIg2apFACCx0hUSgUymK8/vrrWLVqFaRSKQDQoEkKJQigBQyFQrngeeWVV9jxEQAaNEmhBAF0hEShUC5otFotli5dir6+PiQkJAAAJicnsWPHDgwNDbFBk0lJSQE+UwrlgoKuUVMoFAqFQgk6qAaGQqFQKBTK+QctYCgUCoVCoQQdtIChUCgUCoUSdNAChkKhUCgUStBBCxgKhUKhUChBBy1gKBQKhUKhBB20gKFQKBQKhRJ00AKGQqFQKBRK0EELGAqFQqFQKEEHLWAoFAqFQqEEHbSAoVAoFAqFEnTQAoZCoVAoFErQQQsYCoVCoVAoQQctYCgUCoVCoQQdtIChUCgUCoUSdNAChkKhUCgUStAhXuS/i/xyFhQKhUKhUCgeQDswFAqFQqFQgg5awFAoFAqFQgk6aAFDoVAoFAol6KAFDIVCoVAolKCDFjAUCoVCoVCCDlrAUCgUCoVCCTr+fyDbXYd5358cAAAAAElFTkSuQmCC\n",
"text/plain": [
"<Figure size 720x720 with 1 Axes>"
]
},
"metadata": {
"needs_background": "light"
},
"output_type": "display_data"
}
],
"source": [
"th1, th2, th3 = inverse_kinematics2(rx, ry, rz)\n",
"print(\"th1=\", th1, \"(\", np.degrees(th1), \")\")\n",
"print(\"th2=\", th2, \"(\", np.degrees(th2), \")\")\n",
"print(\"th3=\", th3, \"(\", np.degrees(th3), \")\")\n",
"px1, py1, pz1 = [0, 0, L1]\n",
"px2, py2, pz2 = forward_kinematics2(th1, th2)\n",
"px3, py3, pz3 = forward_kinematics3(th1, th2, th3)\n",
"print(\"px=\", px3)\n",
"print(\"py=\", py3)\n",
"print(\"pz=\", pz3)\n",
"\n",
"fig = plt.figure(figsize=(10,10))\n",
"ax = fig.add_subplot(111, projection='3d')\n",
"x = np.array([0, px1, px2, px3])\n",
"y = np.array([0, py1, py2, py3])\n",
"z = np.array([0, pz1, pz2, pz3])\n",
"ax.plot(x, y, z, marker=\"o\")\n",
"plt.show()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"outputs": [],
"source": []
}
],
"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
}
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