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mode 100644 index 0000000..773e2e2 Binary files /dev/null and b/images/step1.png differ diff --git a/images/step2.png b/images/step2.png new file mode 100644 index 0000000..15d1606 Binary files /dev/null and b/images/step2.png differ diff --git a/images/step3.png b/images/step3.png new file mode 100644 index 0000000..7817fb3 Binary files /dev/null and b/images/step3.png differ diff --git a/images/step4.png b/images/step4.png new file mode 100644 index 0000000..e764e9a Binary files /dev/null and b/images/step4.png differ diff --git a/images/step5.png b/images/step5.png new file mode 100644 index 0000000..6e3a83e Binary files /dev/null and b/images/step5.png differ diff --git a/images/step6.png b/images/step6.png new file mode 100644 index 0000000..e65b378 Binary files /dev/null and b/images/step6.png differ diff --git a/index.html b/index.html new file mode 100644 index 0000000..4d1de79 --- /dev/null +++ b/index.html @@ -0,0 +1,244 @@ + + + + + + + + + Incrementally Building Room-Scale Language-Embedded Gaussian Splats (LEGS) with a Mobile Robot + + + + + + + + + + + + + + + + + + +
+
+
+

MANIP

+

Integrating Interactive Perception into Long-Horizon Robot Manipulation Systems

+
+
+
+ + Justin Yu + * 1 + + +
+
+ + Kush Hari + * 1 + + +
+
+ + Kishore Srinivas + * 1 + + +
+
+ + Karim El-Refai + 1 + + +
+
+ + Adam Rashid + 1 + +
+
+ + Chung Min Kim + 1 + +
+
+
+
+ + Justin Kerr + 1 + +
+
+ + Richard Cheng + 2 + +
+
+ + Ashwin Balakrishna + 2 + +
+
+ + Thomas Kollar + 2 + +
+
+ + Ken Goldberg + 1 + +
+
+ +
+ +

1 The AUTOLab at UC Berkeley

+

2 The Toyota Research Institute

+ +
+ *Denotes Equal Contribution +
+
+
+

IROS 2024 (under review)

+
+
+ +
paper
+ +
paper
+ +
+
+
+ Paper +
+
+ Code (Coming soon) +
+
+ + + + + + + + +
+ Manip Diagram +
Large-scale language-embedded Gaussian splatting setup. The + Gaussian splat 3D reconstruction was used to render a novel view of a + large-scale environment. Given open-vocabulary queries, LEGS can localize + the desired objects as seen with the heatmap activations.
+
+ +
+

Overview

+

+ Building semantic 3D maps can be valuable for searching offices, warehouses, stores and homes for objects of interest. We present a multi-camera mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS), a detailed 3D scene representation that encodes both appearance and semantics in a unified representation. +LEGS is trained online as the robot traverses its environment, enabling localization of open-vocabulary object queries. +We evaluate LEGS on three room-scale scenes where we query random objects in the scene to assess the system's ability to capture semantic meaning. We compare our system to LERF \cite{kerr2023lerf} for these three scenes and find that while both systems have comparable object query success rates, LEGS trains over 3.5x faster than LERF. +Qualitative results suggest that multi-camera setup and incremental bundle adjustment boost visual reconstruction quality in constrained robot trajectories, and experimental results suggest LEGS can localize objects with up to 66\% accuracy across three large indoor environments, and produce high fidelity Gaussian Splats in an online manner by integrating bundle adjustment updates. +

+
+ + \ No newline at end of file diff --git a/indexold.html b/indexold.html new file mode 100644 index 0000000..763b409 --- /dev/null +++ b/indexold.html @@ -0,0 +1,2 @@ +Placeholder Website for MANIP -- A Modular Architecture for Integrating Interactive Perception +into Long-Horizon Robot Manipulation diff --git a/interactive_display.ipynb b/interactive_display.ipynb new file mode 100644 index 0000000..bdbbb47 --- /dev/null +++ b/interactive_display.ipynb @@ -0,0 +1,260 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 10, + "metadata": { + "ExecuteTime": { + "end_time": "2024-02-11T04:36:22.836678Z", + "start_time": "2024-02-11T04:36:22.832665Z" + } + }, + "outputs": [], + "source": [ + "# !jupyter nbextension enable widgetsnbextension --user --py\n", + "# !jupyter nbextension enable --py --sys-prefix widgetsnbextension" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "metadata": { + "ExecuteTime": { + "end_time": "2024-02-12T23:03:28.197998Z", + "start_time": "2024-02-12T23:03:27.207200Z" + } + }, + "outputs": [], + "source": [ + "import ipywidgets\n", + "import numpy as np\n", + "import cv2\n", + "import matplotlib.pyplot as plt\n", + "from matplotlib.gridspec import GridSpec\n", + "from ipywidgets.embed import embed_minimal_html\n", + "\n", + "paths = ['./logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-49-07.png',\n", + " './logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-49-33.png',\n", + " './logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-49-54.png',\n", + " './logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-50-16.png',\n", + " './logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-50-42.png',\n", + " './logs_2024-02-10_13-48-40/images2/trace2024-02-10_13-51-07.png']\n", + "\n", + "data = [cv2.imread(p) for p in paths]\n", + "data = [cv2.resize(img, (300,300)) for img in data]\n", + "video = np.array(data)\n", + "\n", + "actions = ['HANDLOOM 1.0', 'TUG-IP', 'TUG-IP', 'TUG-IP', 'TUG-IP', 'CEV-IP']\n", + "circles = [24, 24, 24, 30, 47, 47]\n", + "total_length = 47\n", + "crossings = [8, 8, 8, 8, 11, 11]\n", + "tangential_contacts = [2, 2, 1, 1, 0, 0]\n", + "endpt_contacts = [3, 2, 1, 0, 1, 1]\n", + "\n", + "def plot_func(step=1):\n", + " fig = plt.figure(figsize=(8,6.4))\n", + " fig.suptitle('Policy Executed: ' + actions[step-1])\n", + " gs = GridSpec(nrows=2, ncols=2, figure=fig, height_ratios=[1, 0.2], width_ratios=[1, 2])\n", + " ax1 = fig.add_subplot(gs[0, 0])\n", + " ax2 = fig.add_subplot(gs[0, 1])\n", + " ax3 = fig.add_subplot(gs[1, :])\n", + " ax2.imshow(video[step-1])\n", + " ax2.axis('off')\n", + " ax2.set_title('Trace')\n", + "\n", + " contact_types = ['Crossings', 'Tangential', 'Endpoint']\n", + " counts = [crossings[step-1], tangential_contacts[step-1], endpt_contacts[step-1]]\n", + " bar_colors = ['tab:blue', 'tab:orange', 'tab:red']\n", + "\n", + " ax1.bar(contact_types, counts, color=bar_colors, align='center', width=0.2)\n", + " ax1.set_title('Contact Types')\n", + "\n", + " ax3.set_title('Percentage Traced Correctly')\n", + " start = 0\n", + " perc_complete = circles[step-1]/total_length*100\n", + " facecolor = 'red' if perc_complete < 100 else 'green'\n", + "# if step-1 == 0:\n", + "# facecolor = 'red' if perc_complete < 100 else 'green'\n", + "# else:\n", + "# if perc_complete < 100:\n", + "# facecolor = 'red' if perc_complete < circles[step-2]/total_length*100 else 'blue'\n", + "# else:\n", + "# facecolor = 'green'\n", + "\n", + " ax3.broken_barh([(start, perc_complete)], [0, 5], facecolors=(facecolor))\n", + " ax3.set_ylim(0, 5)\n", + " ax3.set_xlim(0, 100)\n", + " ax3.yaxis.set_visible(False)\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": { + "ExecuteTime": { + "end_time": "2024-02-12T23:03:31.643129Z", + "start_time": "2024-02-12T23:03:31.373452Z" + } + }, + "outputs": [ + { + "data": { + "application/vnd.jupyter.widget-view+json": { + "model_id": "beda94a4edf84ae58d52c33552b0c4b2", + "version_major": 2, + "version_minor": 0 + }, + "text/plain": [ + "interactive(children=(IntSlider(value=1, description='step', max=6, min=1), Output()), _dom_classes=('widget-i…" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "ename": "AttributeError", + "evalue": "'function' object has no attribute 'get_view_spec'", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m/var/folders/pn/jylzr45542n716q7kf2ywrc00000gn/T/ipykernel_20070/3488185728.py\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0minteractive_plot\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mipywidgets\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0minteract\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mplot_func\u001b[0m\u001b[0;34m,\u001b[0m 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\u001b[0mjson_data\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'state'\u001b[0m\u001b[0;34m]\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mstate\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 225\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 226\u001b[0;31m \u001b[0mview_specs\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0mw\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mget_view_spec\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mfor\u001b[0m \u001b[0mw\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mviews\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 227\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 228\u001b[0m \u001b[0;32mreturn\u001b[0m \u001b[0mdict\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmanager_state\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mjson_data\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mview_specs\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mview_specs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mAttributeError\u001b[0m: 'function' object has no attribute 'get_view_spec'" + ] + } + ], + "source": [ + "interactive_plot = ipywidgets.interactive(plot_func, step=(1, len(data), 1))\n", + "\n", + "embed_minimal_html('exported_plot.html', views=[interactive_plot], title='Interactive Plot Example')\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "ExecuteTime": { + "end_time": "2024-02-12T23:03:33.961850Z", + "start_time": "2024-02-12T23:03:33.723003Z" + } + }, + "outputs": [ + { + "data": { + "image/png": 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UJElCLpfD0NAQXC42z2MwGAwGA9gB8bm6uorR0dHtLpbB2DGWlpZMP9t6rfPss8/C7/eD5/mdrgqDwWAwWkAURVQqFdx4441tK2PbXzjKZDLo6OjA0tISIpHIdhbNYGwr2WwWo6OjSKfTiEajO12dtnLo0CEEAgG4XC7ls7AulwuiKALY+v1sudvhOE6xCkuS1JRO/ZvjOIii2PT5Wz3PiVy+3j47SJKknBPP85AkCbVaTclTEATwPI9Go6Gcc7uQz6GdXbfeNSTdR5prqpeO9nh1elI9WkUvP7N2tN3v69K0a6eudTuwc730rvVO3QMrOFE30n1TPwfqMoz6Pit1lPvaU6dO2agxHdtu+ZQvYiQSYeKT8apgpzv87WBubg7d3d1wu93gOE45Z1EUm37LAk4t5txud1Nnqh1U5N+1Wg25XE45Tr1PjboDVudldB/M0jUaDQCA2+2Gx+NBrVZDsViEJElwu93w+Xzwer2oVCq6AlSdr5WBU1sfOwOMVVoVn9rz225BpNeGzNJr62aU3uwetOsemd0Xp6+1k+2tneJTfX5WyqFJqycAnW4HpLRm4lP726g8vfy1NBoNZLNZ6nrbga3zyWAwWsbtdiMajcLn84HjOMUKKAtFuVOUJAk8z0MUReVvr9er5GM0iMpWT3WeJGFmhlUhIls55br6fD4Ui0VFRHu9XgSDQfj9fpRKJdRqNeVcSeeivh40kM6TJKrsDuxGYkY7qNGKfbt1ojkfWgFlVC+9PGkHcTO2U3iSMLoPVtuM3M7V6dXtwawtGglCGhFldu/06maW3mybXh3tlEUSqqRjrYpPs3L1tumVq57oF4tFwzJahYlPBoPRMmrXs/x3o9FQ3NQcx6HRaDS52QEox8h5yJA6R23HTXqJy8gKR3seWguK/Nvr9cLtdkMURdTrdQAAz/MQBAEulwv1en3LQKG2gMpWYFk8kwZ1dR3M6qn9bVUwqUMa9MSJ3t+kvEjlt2Jpa/VeqtObiWb1NqPy24EVkW3FQmtkzTe791oxYlQXvX16ees959p6atPTWOLNtmvzo5nEkSZ/2v2091DdZxmVo3dPjM5Xrw8hnaPRM6+tZ7tg4pPBYDiC3IHJ4kz9Wz2gy7GSavc7yZICNA8QWgHqVH3NLAKiKEIQBHg8HgBAuVxW6ioLT1EUlX9yPfXytSMQzbBzXdplndsJzNyt2ykm24GZ8FCnI+0ntWsnr4cdCzxJfLVivW/VWq3OT6+OVtI4UY6VMsyeAVJ6Pctzu+PWASY+GQyGA+hZZORBQd3RqWfVcienJzD1Zu1WXK96WOnwfT4fJElCo9FQwgl4nlfORRad8v9m9dBanvT2G+Xj5MDo1MDdDrRWHCvWP20ammvjpIAxK4OmHetZx52sj9ExNOloXchmdbB7b43ar57A0h5n5xmgPZZmgqC3z+r1Uu+z6kHZTpj4ZDAYLSO7wWVrJsmCqU4rp1G7nmncjFY7S7sDtrpOauum7FrXxpzqWTxJZbfS4dOIFjtWLavH2HH/qtNYEQtm6WnqebUKa6N6mT0/aoxc4KR0tHWjve5GrnuztLTPqJEF10hgkso1q5dRfYzauRMWTJo6aLfZmYiaifF2w8Qng8FoGVmIqV3pskjTpiP9Vosf9UCitizq5UHabkdM6QkjOSZV/Ra7+nzl8kjCkyQ6t7ODb5f4MjpPo+004ohmIKVJL9eTxlJux2WpLsMoXavX3q74s4rTVjA94aZ3TWjaEOk+0Vr3tBbkVp9HvXz1oBV/NHnR1E3bn+2klZMEE58MBsNR1O52NbJlVHZby52iOiYUeKWz1HPby2lIf2vrYSZ+zISOLDBrtVpTvY3EB2mQIVnxWrWAWrEekq7fdlsD9cpTC3jAnoW6Vey6WwF6l6rdOpi1We0EjkaIkiZ9evtpttFiZsWz2i6tpDcSdmb7jM7ZqsXT6vG0lmR1PqQ20orFth2wb/4xGAxHkEWW3JnJMZFa8SVvc7lcEAShaT/HcU1fSVJbF4HWY9ZoOnnt+UiSpAhPvfO16vbUChY9d726nGsNK6JLa8m6Wt3kVztWrttOXOPtuLc0llDatunUc9eu57dd13I7+htm+WQwGI4gimKTa1prVZEtnOr9oig2LbWknoVr01l5A9NIDJpZIbRptWVr89ZaF+UvIKktEkbWWb2ySefUioWOJq2VQadV9y5NXJ5eLN92iwcjnBZ8tK5XM0tYK3mr09O6lY1oxSLsNE65tmXshGqYHevUdTcrh1SeU2WawcQng8FwBK37RxaWajc6SZiq/1enpbVQ2HVhmwlPOW+agZMkIs0EME3ogDpvmutBK2bN3PZWMBJBZueodw9I1tCdFitqaAZzmnRG5ejdH3XYhp3JCK1rXrtfz93vJO0UPXbuibYfohFoZmEY7YJmMnc1wcQng8FwFLWAlFFbM2W3uxlyjKg2byvoWcqsiDg7MW523O/bjV0xQbq/6u2kMmiEp15ZrR5jNa0Va+t2xcuZ1WU76tFKW3W6nRvdC71rYdTeja6dXpsmlWsVo/tmtM/qvd6udmoFJj4ZDEbLqF1EpPg9+Z/605KyRUEWpOo0ssVU3Wk6+dUN0mBhNoBo6+OEtVVvvx3Ba7dOVjCyxpHKV7cLJ87DbLB2AqMQCSvi18iVaWRNpA0LMbIs01pmaXDaTa2Hnug3Q3sNrFiFaSZgWo+OlfStij69e2rUD7XSd1jxOLWKpd68Xq/j937v9zA5OQm/34+pqSl8+tOf3pbV8BkMxtWLJF35/rnarS6LRW1nRuoca7Ua6vV60yLt2r/tdoqtdKRGHXmrg7GeS/9qpZVrfzVZzbYLpwT3TxJGwn67yrKTj516t/v5tnp+V1v7smT5/OxnP4svfvGL+Pu//3scOHAAzz33HD74wQ8iGo3iN37jN9pVRwaDcZXDcRzcbnfTovHqLwCpO2J5UJbd6rL1U20pUA/cZrGDpH2tWCfl40juNrmORpY5M2gGJKsucNq8tNeVtgz18XqQYlP1BJhV64yeq98IszagXolBbYVXW+ppy1DXU6/utKEHZteblJ9ZPVqxwDnp4iVZgp0SRWbucSOsPBPatO0QmEbWVlJdaKHNbzuEqiXx+fTTT+Od73wn3vrWtwIAJiYm8M///M947rnndI+pVCqoVCrK72w2a7OqDAbjakXdqUmStGUxdnlgl5EH90aj0fS2u7xPmzeNy91IoOql00IKGdDuJ4m5VkSutk52YzGN8if9btUlqFeGVezGy5mhzVNe2svv9yMQCMDn88Hj8ShfsOI4DvV6HbVaDZVKBeVyGcViEZVKRfmyldn1cvpc9CZBpHTafUb3vp3YaVPa/qPVSRzNhIymHBqhZhY6Ybd+2wmp3bS7DpbE52te8xp88YtfxIULFzAzM4MTJ07gRz/6Ef7iL/5C95jPfOYz+IM/+ANLlZr4nQcspdcy/z/e2tLxDAbDGtrYToD8cpE6fpNk5QSaOz/5b/nzlu2sv7psvTR2XV2tDkZWy7BiOdX+thszpsaJkARSfawg193tdsPr9cLv9yMUCiEajSISicDn88HtdjetRyuKoiI+S6USMpkMMpkM8vk8SqUSKpVK08TKaWhDO/SuC62ochKnJjFm0JahFxu5nVj1LtDkRZsfreVZj+0KB7IkPn/7t38bmUwGe/fuBc/zaDQa+OM//mP8zM/8jO4xH//4x/HRj35U+Z3NZjE6Omq/xgwG46qGNHPWbuM4botbXhabsute++Ubrfi0M8BasagYDfytxFvZFYZ2ygKsvb1tRbjopTPKw8hqR1Oe0T1R/y3/c7vd6OzsxNDQEAYGBtDb24toNKp8taparaJaraJer8PlcsHr9cLj8SiitFKpIB6PY3V1FSsrK1hdXUWpVDKsZyvi3e71sRJ+YaUMI4FrdLzRflL7a8Vlroe2zzGyUJq1KyshGE54KqxOOuzmp/XcbKdQtyQ+v/a1r+GrX/0q/umf/gkHDhzAiy++iA9/+MMYGhrCBz7wAeIxXq8XXq/XkcoyGIyrF/ULQmpXudbdrhad8jY55lMvPzlduztHJ4XndrvOtrs8PZyoRysWK5fLhUAggN7eXhw5cgS7d+8Gz/PI5/PY3NzE8ePHsbq6ikKhgGq1qnw6FbgSp+x2u+H3+9HR0YGpqSlMTk5i9+7dEEURCwsLePjhhxGPx1GtVpsmSTttZWs1zU5hJ7bWCNpztZqnFcvr1XC9SXVQbyN5krazDVsSn7/1W7+F3/md38F73/teAMChQ4ewsLCAz3zmM7rik8FgvDrQLpdEivOU4zvV7nf5e+/qdLLw1MaL6s3SW3E3asvQ5q0+v1YGFRrLiN6AQboW6n1mZWr/toOedcpOjJgdwWQWf8dxHCKRCPbs2YPp6WkMDw+jWq3i1KlTWFpaQjKZRD6fR7lcborh1IaLAEA6ncb6+jpmZ2cRjUYxNDSE8fFx7N69Gz/7sz+L48eP4+LFi4jFYqjValTnYlZ/q/dH7xo6GetJqpeddiS331bboFULnbpMbR9B2qeur7o8K3Uz2mYWTmJ0rUnPGY0nQK88K31HO7AkPovF4pbAf57n2VJLDAajCbXrU71N7ivULxnJotTMLWwmLu24wknWVKudrt36autC85vGteqEyGyX5YbG9W8Vt9uNQCCAgYEBTE9Po6urCzzPY2FhASsrK1haWkI6nUa5XEatVjMc9NX/NxoNJf6zWCwimUwilUphenoak5OTCAaDWFxcxOzsLPL5/BZh4/R5ksInaNqFXVe+Ubs2+m3mwjcTYLT1oIG2bkbH6G1T52l0jNPi38p+2lCMncCS+Hz729+OP/7jP8bY2BgOHDiAF154AX/+53+O++67r131YzAY1wBaEacdhOX/6/W6kl79v5E7WyuG9NJaEadGFsZ2zfitdPRWrBRmwtWp89HWwSlBZTcfjuPg8XgQjUbR39+PqakpDAwMIJfLYW1tDSsrK1hZWUGhUKAehLVWJUm6sn5tKpVCLpdDKpVCpVLB7t27MTAwgEAgAEmScOnSJZRKJcPYOr0y9fbrbXfKEqlXFxpoYhNJ+/Us8dr0NM+ylfM2O1+9du10X6C1tqrLID1fdp4PJ8V6O7EkPj//+c/j93//9/GhD30IGxsbGBoawn/7b/8Nn/jEJ9pVPwaDcY2gdqWTrDPatOqBRo75VK8TqpcnTR2MhKZ2H607mdbNaQXSQGeWn9l+p12bdl2PZhYbu8jH8jyP7u5uTE1NYffu3YhGo3jppZdw6dIlJBIJFIvFls9FfXy9XkcymcSzzz6Lzc1NHDhwAOPj4+js7ESpVMLi4qKyrCBNeXbvk7rN0uRhV0xZmYzZFa/bwXYIKj23Nk1dzCbFpOOthh/Yod33yJL4DIfD+Iu/+AvDpZUYDMarE+232CVJalpIXrZ6yp/PlF88krcbuROtiAe77nf1eTjherZ7vFHZO+EmI9VHLci301qiLn9iYgJ33nknIpEI1tfX8fDDD2NxcbFpIuNUWWohWq/XcfHiRWxsbGBiYgJ333033vrWt+KBBx7AysoKisWiI+XKZTttbSaVsV3spJvXDjvVvnea7bhPzn0smcFgvOqRrZjyC0Ny3Fy1Wm369KY6HbDVld5oNJq+NiO/kGTknlfXgRa1iJIFi1oYy7Go6q/hWMlXu43G9W8k9OyU7eRAoq6f9tqpLWXtihvluCvLJ01PT+Nd73oXXC4Xnn/+eTz44IOYm5tDvV63dJ/0yiD9Vk+kACCTyeD8+fP4j//4D7hcLrzhDW/AoUOHEAgELOVvtT6k/Xrtyo7L1kroCem+q/Oiqa9eGtLfemn00Ap3PUt4q22mHRhZSY3ukZ5VlNSutROr7bwOTHwyGAxHkEWaegF5ebveP7WVitQZqvN1olPU5kEzQJLqZHQMyV1J48IklefEOdt94URPHKvz1f4zK7eVmFqXy4VQKITx8XHcfPPNSKfTOHnyJM6ePYtkMtn0UQOaQVp7PtrrrSek1fe4VCphdXUVzz//PNxuNyYmJrB79254vV5dq5md+0F6JvS2actSXwOzCVA7Jy7aOpHQOx8jAWr0nNA87zTX1SmsTCSdvvZGccU7Yd1l4pPBYDiCXkdPshySLBB6M3FS3q2itdBYEShGeTrRibdrMDASLHrWS1LdnMCOhS0QCGBwcBC7d+9GZ2cnzp49i/Pnz2N9fV1ZJN7qJIUkmM3qpL1WpVIJp0+fxtraGkKhEKanp9HX17eljRvlTVsmLa08L3qWM3mb1XtnhlmeNM+c2fNLmgiYnZ9VaK95q30ZzcT0arTkamHik8FgtIzaja5eHF4rLtVfLSJZluS/SQOFUQwfbUerHljsDDBW3ZGtQLKeWrXCmtXFbLAlHWs3L7O6GB0jCAKGhoawf/9+7N27F+fPn8exY8cQj8fRaDSUUAl1PaxCclMaWbLVMc7r6+s4duwY0uk0RkZGcOjQIbjdbuVcSR9MUOdF+ltbN6vnZNRe9O6D1bSksvRoRbBe7UKKFtpJLu212i7B2w4svXDEYDAYetTr9aYBF9AfuPTctJIkNS04r83DiU6UNLjaGdh3wlX1amVychJ33HEH3G43XnjhBTz55JPI5XJwuVwQBMGxl4usop40LSwsgOd51Go13HjjjVhaWsKlS5dQLpd1rWztsuy3ytXWvneyLq2WrQ3b0P5uF1fT/SPBLJ8MBqNlZMuk1oIpD2Lql4dIFhm1ZUh+0QeAYtEy+/qQ1Rgyo3RmkASDkZVMWz89q6SZtWO7BhMjK5Z8L/WOc6IMNS6XC9FoFG94wxsgiiJOnjyJp556CoVCQWkbNBbedqC2fnIch0ajgcXFRZw4cQKLi4t4y1vegqGhIfh8vi0Wf1JepL9JbFeMHo1llHZiSTrWqNxWLHp2nvGdFv9asa/tE0hhQrRtSft8kO7hTpw/E58MBsNR1J0dyR3faDSaOk3tG+/qz3Q2Gg3FEqpOp1cuTSyU0TZtB22Wp9WOW5uW5OqlOZedsmpsZ514nkc0GsXRo0chiiLOnz+PixcvIp/PbxF+pHrSbDPark1jlE6uR61Ww+bmJk6cOAG3242pqSn09PQQLbMkgaENU9HS7vuuDYPRQ133VjF7zqyW4fQ1alWY0XqC9I612seo25De/qvBKsrEJ4PBaBm92bXW3USyAGqtoXJaAIpoVadrBTOxZycPGmjy114ro/1ymqthELGDnuVG3Q7kF4xmZmawtLSE2dlZbG5uAmhe9sjIGmdn8LaKdtJUKpUwPz+PlZUVDA0NYWBgAMFgcEvbbjX+uJ2Y1Yc2dtEIp+6JlXtst8x2tCE7E2X1cXbq5MR9cwomPhkMhuOoB2RZJKj/1/5T79dzzbejczR7SUZrjWoXNIMJzQs9rZTvRB6tDtLy+bndbvT19WHPnj0AgBdeeAEbGxuo1+vKGqzq9K1eGyfqLrdhURSRTqfx1FNPIRQKYXR0FAMDA7prxZLcqkb1a7eY1kOv3nbvAY3AtXI/zUJWSGE/2mOvhuva7rJ2sg2pYeKTwWA4hrqTl93s8v/qDk8URcWdrhYS8m9ZYAiCAEEQlIH91cB2W46uRgYGBjAzM4PR0VF897vfxfLy8hbheTUjhwlcvnwZnZ2dOHz4sLL2Jw1m7ncGQ4uT7WQ7LPFX/1PMYDCuKdQza62LUetal+M4tbF7oiiC53kIgrDlpRJtOVZoxTpGe5xRXJfei0d65dGU6YTlzyp2Bjojd7h6nyAI2LdvH/r6+nDp0iWcP39eCb2we79prWKtXD+tVUl+QSqdTqOvrw8zMzOGwpmmDiQL6NUkUFv1VNi9B2b314ky1Ji5xM22tQPthMVO+2inl0kLE58MBsMRjAYerRiV0VpJ9fIjxcY5aR2yOphYRS/W1Cp2BhOztPJ9ccrFafUYdZvhOA6Dg4Po6upCqVTCuXPnUK1WTV8uMrsuVq437TXT265e/zMej2N1dRWlUgnXX389/H7/Fku/Hlav8U65jEnXXvus25k0mqVpdcJAOp5WxJqVqXXp23HrWwkjoM1Lb1K8EzDxyWAwHEFvUNGKSG1np126h9RxG8VkasvRq4NRHfXYKQuTXnl24upoB6idQn0+brcbu3fvhiAIiMfjWFlZ0RU3du6Hk/fSqJ3Jf5fLZcRiMSQSCYyOjqKzsxOCoL+8tvb+Wo2rbHdb1eZvJ96Tpv56v83qRCpru6Htr9pZvp192w0TnwwGo2W0nb/avai1bpLcz9o85OO1X0yiFYOtuv/U2LGu0Ahxbf5GwsOsHJIgsFLH7RTWerhcLoTDYVx33XXI5/NYWFhANpttCrsAWrM8W7Ve2b0usgVUkiRsbm5ieXkZgiBgdHQUXq/X9DOg7QqlaDWsoBVaOZ72WrWjbHUe7RD2Zh4Bs7qY5U3Tf9CW6yRMfDIYDEdQC0S10JSROzr5hSIj4aPd53a7lYXntxPawdoJN6LTOOXq3y7cbjdmZmbg8/mwsLCApaUlAKC677SxnSSsCltal7zcdguFAlZWVnDmzBkcOnQIoVBIV1A7NWEyqms7rF+09b7a2+C1SruEfTth4pPBYDgC6U1kksBUu4IlSVKWp9G+FS/vl9FaBEnlaKHtWK3GO6rPwapgobFq6cXG2hEOeuJKG4u2k8KA53kEAgEcPnxY+UJQsVh0dMKhbX/afU5Ymkjp5aWXjh8/jr6+vqZ1P0nWZ1I9nbCAtuN4PQ+DEwJXe/5GddG7PlbumVOi3E5bsQpN/0ETbkPqx7bLNc/EJ4PBaAtqS6fazShv4zgOPM8bDhqyANV+FUmbdjvOw6xc0qDTiqizE0dnd+Bo5Vgr56eX1ufzoa+vD52dnbhw4QLS6bQyMTG7hlZCDGjqSnMtSMKdJL7k7dVqFRsbG8jn8xgeHkY0GqVqP62ch1n9abAi3MysznbbmJUwFDXttB63kpdeX2LFle4E2on9dseDMvHJYDDaDmmGLYtQo8FFL0bUquDRE4V61id1Or38nECvHkbQWMOM8rNanllaO/GwWoLBIAYHB1Gr1bC2toZyuWz7PtOma7e1V215EkURxWIR6+vr6O3tRTQa3TIhs1I/o/167cOuhc0O2z0htPLcml1TLWbPmFk9abfr9XVGx26XUG0HTHwyGIyWIVlxJGnrd93VadWDZKPRaEorb5d/y+58K4ODer9VC6IVYaLnRicJS+0/7bF6Itus7kaCpVWrhl2rFe0xLpcLHR0dGBsbw8rKCvL5vLKup1k+diyaTgzIZhZZ0r0WRRFzc3OIRqOIRqPwer1KWr3jtdvMrIAkN7V2ctUOWhHytMfR3ms79aDJk/ZeG+Wt1z9YLdtom9PXs10w8clgMBxBPcDJsXpq0al9w1cvps2oo9Vz0bcTK9YL4Oq2NlyNeL1eRKNR9PT04OTJk2g0GqZvg7cT7aDsZD0uX76MRqOBSCSCjo4O3fLV9dBuawc7da31aNVi2wrtKM/s/lmZNF5t98ouTHwyGAzHUItEjuOaLERaq6IcCypbOo0sQPLLTDvR8WoHABqLnHq/FWsbKa1VN+HVAk3dOI5Dd3c3otEo8vk85ubmmmI9zfIiWfqcwuyFDVprqzptKpVCLBZDOBzGxMSE7gtVZtY0OW+jtmJmMSbVkyatHWitgqR62LW4Wz0nvfZm9fytTlaBrTHCesdvx/O+XX0KE58MBsMR1OJSFpbql41kAareT7IIkAYNtRvWCKNBwyk3k97gps5fzyWqdwwpDyPrmxVR265Bi+Z66u3jeR5utxscx2FgYAChUAhra2vI5XKmwtPM5WxWPyeuhdUXX+Qy6/U6VldX4fV6MTw8TPW9d702oVeG9n8rsZ9OinizZ1ovrfybpt3auZday7IVsUe6F1broOfx0bZrvbzt9CtmyH3WdsLEJ4PBcAS1VVNt3dQOjGaduvxbu98MbRmtnovVfSRRRIrpNIrzVJ+Hlbo6FctoB71wCRI8z8Pn8yESiaCrqwsejwe9vb3w+/2IxWKo1+vU52+WTu8at2qJJtWDVsBI0pVF5wGgs7NTWXLJyMVq9syo81bvU/9vlXZMVvSsmmZiizQ50+63MgHSs5bTWom1aNuWXhpSO6ShlefbqkC28iy3iv53vhgMBoMSbcdIesFI/pu0Fihpu5wPx3EQBGHbxRVNR+xUTJbZ4GlloLJq8ZCPs1OW0W9SWWrh6fV60Wg00N3dDZfLhVgs1lQnmnrr/d5OrFhAJUlCMplEtVpFV1cXOjs7kUgkmvKyc/6k4+1Ys7TtQft3u6BpO3YFWKuufKvHy/egXaEgwNbwJify3e5niFk+GQxGy8gDg/aNde3b7nIaAMR4UJIlxMwq5ES9nU5rlo82PzPrhp71xq7rT52PdkBr5ZoaWa94nkdnZydGR0cxOTkJl8uFrq4uBAIB1Go1JJNJxxaVpxGnpLZGey3V6WgsU+oJVi6XQzKZRKVSwdDQkG79SMdbdUPvpCiXy2/FRa3Ny85+J9zS6nxo+gCztmCFVq+bnX5rOyYczPLJYDAcQZKkpk9n1mo1ZZ+68+R5XkkjLx6vHaAEQUC1WgUAJT5ULmM7adfgbWTB2E7Xl1HdnITjOBw6dAivfe1rMTMzA6/Xi0ceeURxtafTaRQKBUcE8E5CY0GqVqtYWVlBKBTC6OiostateiJixxJuZG1rlyXuaqOV82znNdqp628U0rPT7YGJTwaD4QjqF0VkC6facql1q5OsbnI+auupbDFS50eCFPNGi57go3EH0qY1OlY+niZ2TWst1Qo2p0IBjMrWS2Mkfvbu3YuDBw9iYmICtVoNoVAIvb29yOfziMfjluI9zXByYNU7L9IEgnQsqU6JRALxeByjo6Pw+/0oFApN6UginMbValQHO227Ffc06XiSFU/vubXqBXDinmvLp5kI0l4n0r2Uy7GSj/oYUv5Xo5WTBHO7MxiMltG6IeVtpHR6x6rd7NrPaWoHKL1BitQBG7mtrLi0tGlJLk4reekda9fNZhaHplcP0nk5bXl0uVwYHBxEd3cPAoEIOM4HSZIQiUSQy+WQSqWo4wz1XOg06UgYhXzYcZHq5a3en8vlkMlklDVOzcINaC3CJBe3FXextu56250KQQGsTYxozsnKc6mXh9X2pH129UIN2vFsq9PoiX1SuTvtXWDik8FgtIy201O7ytWiUka2ZpI6R/lrR3K+shVVXZaZhceOaKAZXOzmr82jFYwGFKvl0AqJVsWGy+VCNBqFJHmRTAJLSxIymQr8fj8ymQxSqVRT3Z2y1DohpGlc6eoyadKVy2Xk83nU63X09/dDEIQtwkr+m/R/K5CujROTH3X+emLMSv1IGLVDGpFpNV6Tpt5aD0Qr2LlWZpNrPZjbncFg/ESg7swajQbq9Trxq0Yk0UkSqNoBw8wN59QA4BQ0wtBuffUsvK3mqy3DamyhXj5utxvRaBRnzrhx4gSHH/3IhcHBEAYG3Mhms8hms5YslaQytGlI19ooBs6sTG07poF0n4Arz0exWEQikcCuXbtw+fJllMtlJZ36k7JG52RUHo3LWHs+2jZkV6DYaSO06UjnqJcfjTdA75m0EkZhVpaVNCTMrqdeXV0uFxqNhm76nRSgzPLJYDAcQ2up1BNgZhYK9cDLcRzRLWlXSFwtOF3fnbZkGOHxeBAKhfDss2584xvAY495cOrUHpTLEsrlMqrVqmNWz6sd+fzK5TJWVlaUxeZJEzX1/9q/na7TtXbdnRK37X5uduq51HqM1NuvBpjlk8FgOIaem1Du/M0+kal21astG/IbwXrYcTsZQeuCt4udsACzQaMd4oFULkn0m1mhvF4vfD4f3G55lQMgEHChUqmgVqsRLX001iunoQ1joK2b0TWp1+tIpVKIRCLwer3geR6NRoNYnvp5MnuG9KzhevW30xbNtrdyz/QmlXrWOifaiXwdnGxrdtuG1TJaEdZG3o12w8Qng8FoGXUnpp5xkzpHvfgrtUBVi1Y7rmornWe7XNROC1/S4O7UIEET10abloQgCKhUKhgeLmL//hoKhTKmp7Oo1YqKW9BuTCCti9noxRJa17TVtqg+RnsN6/U6stks3G43fD5f0/JiRnU3Eguk+0S6XkbHkfLVq49TgpMGPaGkrguNK56Un9U23WpbokF7vrQi20hE2wkVaBeW3O4TExPEOK1f/dVfbVf9GAzGNYTa7a7XsakXnddLJ1t4ZCuPlUFFXY9WsRoTqP7XTkj9sFFau8fq5aGGNhZxY2MD09ObuOuuNRw9egnXXbeJWq1gau3bKdSTJNq6aNNrYyjV17vRaCCfz0MURQSDQbjd7i3HGNVHXY62jtp96u2kfEnlGrURK+2m1XRW7oHVNqMtl3S+doQpTT2cmvBpnz871uydwJLl89ixY03Bq6dOncI999yDd7/73Y5XjMFgXHvIHSbP88q6nNp/8gLzsvBUW2jkjlttBVUvMG9mXSS56FrtiO26WPWsQlYErZVjjKxQrVwD+b7YzUOSrnxS8uLFi9i/341oNIVo9Efw+Q5gY6OotBO9Y43y1RMtdi3fRhZ3q/ff7JrJ4jObzaKrqwvr6+vI5XJEsWXXYqXnTrZq6dTus+uqbcW1bfY8OD1ZIQlQozL0LJVqSM+l0YRA7zcNZt4Yo1CD7Zj4WbJ89vb2YmBgQPl3//33Y9euXbjrrrvaVT8Gg3GNIC+RpHU1qoWg+sUhjuOarJsyskVU/dIS6Y3NnZjdO1EmjYjZaaufk0iShEqlgkajgWq1ilQqhYWFBbjdbhQKBdTrdVt5bgftsmLLecpfO+rp6UE4HNYVA2aWLz2LKGl/O2j3s/iT9DwA1qy5epi1zav9mtmO+axWq/jqV7+Kj370o4YXoFKpoFKpKL+z2azdIhkMxjWALCrVlk9SGnm7Np1WiOp11EaWJRoLi9UB08zyo4VUP1qLLK3Vzej8nYRG/BghSRK8Xi9EUUS5XEatVoPH40GpVFImFrTWVSvX3sz6ZGZxtVsf2uMajcbL4QjTCIVCiseApg6k87AjOFpxVdux6NM+R+oytM+z1efBzIKud6xRSILVPMzqQcqfpm2pr41ZuABNftslWm0vtfStb30L6XQav/ALv2CY7jOf+Qyi0ajyb3R01G6RDAbjKkZtxVQLSaMOUS+mTJ2n2h2vhSRIjVynevUg7ddab42sSnp/G/1Tx76aHacHTTnttK7Q1Em9vVgsoli84moXBAHlcplo1dari9V66Q22tO56bXsyq5dVJOlKSEIoFEIgEIDb7d5SP1qhpfcsaO+F1XZKOl79P811aSU8womJlFMWbNo24JSlmdRWreS5E94hWmyLz7/927/Fvffei6GhIcN0H//4x5HJZJR/S0tLdotkMBhXMWo3uvwb2NpZal3zRvnJecod+XZ1pkZCkzQYq1+c0g7sssgk/VMfqxai6v169TGqayuoBzyafNXpzbxguVxO+Y65y+VqEp+0QsSuGKaF5lzMjrVCOp2Gz+dDMBiEx+NpSxky2smPWfvWE67a47R56JWpJ6T0xDHpvK14DPTyINXdanqnJnhW6mc0EaG1zl4t2HK7Lyws4KGHHsI3vvEN07Rerxder9dOMQwG4xpDLVqAra7Uer0Or9erpCF9NlPdSYqiiEajsWXReVprkN00avQEn/Zv7Xlr09G6wUj79SzGZvlpXZdaSBMEOS2p7nr1NTpPjrvyclmpVFKWXAKguOD13nZvhXZMUoxECE06vfzkrzsFAgGEQiFkMhllv/p47RJkpPyMyqMVH3pthhQeQ2rn2vJo0pm5vPXao1H91XnoHWuUj5ll1w5m56n+rd6vvua0daQR1jspSG2Jz6985Svo6+vDW9/6Vqfrw2AwrmHkAcrlckEQXule5E7O7XZDEARFeMpp1WnUg6xsSaV1zTqNkYWHlJZ2oLLrMtYrS+9vbZ21C7nbKdsu9Xod9XodkiTB7XYrLyCRvsKyU7QiOOyKlGKxiFwuB7/fj66uLqysrBgKKCsTLDv30WwiYvYcGKXX7m+n+LnaLH000EzuflKwLD5FUcRXvvIVfOADH2gaXBgMxqsXkpVCTyCR3LnaRenVAxRphm43fszKuej9JpWpVz+7FktZKOoN4noDPMlqpSdG9SwfJBFtdfAjHS8voC4IAtxuN+r1Omq1mqmFlXQN2zkY6907s/R2qdfr2NzchCAI6Ojo0LXy0bR50rFWrhWtJd7Ikm4lD9pyzfJq5zFmXhY9AW5Wlt1nys79pLHwqtO1w3OgxbJ6fOihh7C4uIj77ruvHfVhMBjXKOoXjtRxneoOTf5bjmlUCyyj/7VitRXM3Hxm2wBjcWn0W2+blTS0A5rWamUk6M0GNjNRQTMwyt9v93g8EAQB9XodjUaDOEDSlqc+V719djETwEbpSen0zkd+431oaAiRSITa0q9Xh1at6jToXRvShNPsGTKrj5XnUg87ExajNu3k5Ic2hEC9rdWQAKO2uh3CE7AhPt/0pjf9RJqAGQyGfWT3Oc/zTaJTG6sp/5bFpza9ep96m9nATltHu1YDI8sryZppVjfSgE0SVCRLppXBkCbuiyadUVrSQEgSQZVKBS6XC16vV3G7W5lU6F1TvYFY735rz8OyMOE4AC8fCw7gCOcrAZI6DaGucrmiKGJtbQ0DAwOIRCLKElTaeup5EmgtbyRR2Io1jeSS1woj+Z/8YQl5gir/Vl8D+X/SC3lW60iC9pxpLbfafPUsiEbPi3ycnb6Mpr52JrqtCltamN+cwWA4htpiIw80WqFJeruZtKQSz/MQBEGxpGqhsaho09O6k83EplmZeoJVTyjQigX1dqNB30igqgdhvfoYlaWHWZpyuQye5+Hz+eD1etFoNJosn9oyrbhw9TCaFNDcU0mSoNKO4FwuiDzA87KV36WIT0jqN8kbkEQJnMRd0aniK2KUVO+VlRXs3bsXXV1d6OzsRKlUaqqX3v00E+RG14M0sVFPALV5kSxjegJZFpoej0d5kSoUCiEcDiMajSpv9suej1qthmKxiEKhoPwv/10ul5V4YTlmWHtOtBMJK9Z1Gqz0NTTHWMWs/9JrP3YmHU7DxCeDwXAE+a1ltdtQrxOUrSHqxehlOI6D2+1uWnrIqmWm1Vm71kqi3r5TmFns1C9uOTGwqvNyAnmJJa3lU1uOXv2drAsNvCDAH/BBiPhQjwDVsAQxwiPRW4Tgl+B28xCElwUoRIhSGY1GDY16HdVaDbVaAcGiD768D3yRQ61UQzQVQSPTgFQCpOoV0QUAmUwG6XQa3d3d2LVrF9bW1hwR/IB+W1bv1+alvRdWxIrP50NHRwf6+/sxNjaGwcFBhEIh5R2Rer2ufPFKbgMulwt9fX3geV7pFyRJQqlUQj6fV/5ls1lkMhnk83mUy2VUKhXUajXlOpq9vOaEVU/dNlttk049p9ciTHwyGAzHULuR1B20/E8eWIBX1vvUfl5TbTlRvxnfjroaQbL0kPZbyZvG6mFkrSC5XmndzmaDpJMWGfk4dZ7FYhGNRgMej0eZXBgd2wo01mkSgiDAFwnA1xOGMBFBcVxAvLuCfKSMcqiKegBIR1yQ+CJcrgY4TsIV02gdQB6SVH+5XYuQpAJ8FRc8ZQF82YV6rYpaKg9kgEAyCH8iCP+6H/VFCZVUDblcDuVyGRMTE3j66ae3vIxl5bxJVm6ja0AS/0b5k7ZzHIdIJIK9e/dibGwMvb294DgO2WwWGxsbKBaLKJVKKJfLypet1P2FIAjweDzweDzwer3w+XwIBALwer2IRCLo6upSJquVSgXValXJS/54QblcRrVaVb6sWKlUlNhi9ed/1edp5IrXCyvQ9m/aa2PFnU66N3buu5WJiN5vvb/bAROfDAajZdTWEXWMlnrBebUVRS1I9Tpt2fqhXQybVDaNRYPWQkEz8LazY7aSt6G7WLOfVny269xka5fL5YLb7aYWxk7cW9P9Lg58TxC1iSAawwGUh/yojnpRGADSoSoqENFo1ICGBNdqDZJUA8fV8YozvQ6gBkiNl7/cIgFwQXKJKEfLEPtFSGID6cEqIEooFwoIZALwxd3wLXshLLhRDudQ8ZQw2j0Oj8ejfPNeKwjMzsXITU6DHUueHMt76NAhTE9PIxgMolKpYH19HbFYDNlsFqVSSRGNtVqNuMKFIAjKagherxeBQACBQAA+nw9+vx9+vx8+nw8ejwd+vx/BYBDAlT5H7Zqv1+uKOK1Wq4oglcuWV1qQrbDq49QWedL1MBOsaqxYr61MTM1weiLZDpj4ZDAYjqMWl9qXjkhpSL85jlMGFdpO06ijphkwaN3s2+n+tVMWrSCnLUPPNWt2X9R1qFarivgkfcnHjguSxlqnd5wEAAIHeHk0oh5Ih3qQORpFZZxHtUtE1leC2GhArJbBJ4pwb5YhpEWEn60CYkN+5+iK/JQ4SPCAkzdyACcJaPhFlKfLqIxU4HIJqHSXIHY0UAoXkRtOwi+50F0OwT/fiWxiDUl0YqS7H75uAZWGC2JNhCTSfWnK6nUj5Ud7DdX3leOurGAwMDCAm2++GR6PB7FYDBcuXMDs7CwymUyTi117LnoWRHkCKsd+u91u+P1+RCIRdHR0IBwOK3GkgUAA4XBYEa/qeHPZLS9bSWURWqlUUCqVmmJL5X/ValURotqvjWmvn91nwwj1BN0snbZs7T69/aQ8tjMMgIlPBoPhCOpPa5LcV/IbrvJv9UL06k5PTid//1t2vZPQWnda7fBJf1s93ok6kKxdpHxpBhW9vFsR1lavjyRJivjkOE75ypXVckjtSq887eCrts6D48D5BEj9flT2RLD+lh4kDvpRFyRw1RL4bB7ei2V0vlBC6FwB/rkqPOsi0JBeFp2vtPMrdeIhSYLmvvle/it6xTPPA43BGuq9NZQPFlDfU4QwUEVmLIn09XGsuy9gHs9gNvs4+Lt98D7lQj0uQCxKaNQaoI08sRpuQUqjddsbpRcEAV1dXbj77rvR2dmJJ598EufOncPq6qoSi6kVmOpyzLZpJ6QycnyoIAhNVlL5BadoNIpQKKRYS30+H6LRqLLUlxwCxHEcGo0GKpUKCoUCMpkM1tfXsb6+jlQqhXw+r4hTK2/eW3GFq8+V9Ld6G22+tFZyvX6i3RNsJj4ZDIYjqN3l2k9iyp283NHLFlG5IyXFYmnfljcqU8ZosDSL52JYw+q1k92cLpcLfr+/aZCzex+sWjzBu4CAG429PSjc1IfUwRCSUzyqwTI8qyVE50uIPJ9G+MUMvBs18PkGOBHgJOCKOZOD/Pa7nhCQf29Zq1ME+BU3+FU3vCcD4NwAgiLEsQrq+/OQ9hVQnSpjcegUpP8iwfuGTgRP9UE4H0Z1nkN5lUM1JUGs03sB7AhRK3Ach/7+fhw+fBhjY2P43ve+hwsXLiCdTisxq60+Y6Q6S5KkuMll0ZhKpZQ+RraYqgWq2+1WYkrdbneTa1926cuu/KmpKezbt0+JL02n01haWsLKygpSqRQKhYLy0QS7WPFMOFWG1QlsO2Hik8FgtIw6Xku9lp8auZMjfblH/RKSOk9tHCltXbQYufm2AydiUbXH2K2/2qVHU7ZT4qXRaCiWML/f32QJt4LeRML0mKgPtZEoMjf3oHBDDwpDfjS4BoTVPMJzmwi/lIN/sQzvegVCsgpXTQJn0Oy0sX9qtOEmSn2ll/+JANcApBoPV8kHYckN6aUAhIkq3Ack9LzRh8zQBsTIGnAggcCmB8K8G9VFF+qLXjTWPKjFPRAbZOEr/62un9ZVbNUyR0rb2dmJiYkJTExM4Pz587h06RKy2awSKkMTD0my/OnFWcpp9EJ51L9ll7kc/6kWpvLfaoHK83yTIA2HwwgGgwgGgwgEApiensbExARSqRQ2NjawsrKCWCy2JUaUVBe966c9Z8uTKQPshgEwtzuDwbhmUHfscueuXkAeIHeGstVTLUjlvNRWUSNIHTatVcGKS5IkYI0GFyvxc0aDLWmbnQHC6jWhjTfT5q+HHH8nSRL8fj9VXUhYdWW6eB71oQhKu3uQP9SDzOEQqn1uuDaLCCzkELichn8+Bf9CCe50Ha6yCK5Bd31J18DKOXENAEUeroILUp4DEl5wKTf27L4Om8EFxHNLKNVS4HsKEPoa4KZd8K14IS76ULkcRPmyD/UcD6kBQDIWGXZFjp4r2O12Y2xsDENDQxBFEefOnUM6nUa1WjV9SVD3elA+jyRvh3a7WvyaiUOtt8XtdisvOclufHkNVjnetKenB5FIBIuLi8rb+yS0dTO7P0aucKPjjaARx3bztgsTnwwGo2XUHazaugDAsOOVxaV6sDISn61a/Ix+k86HVGe9dNo6tsuK4YS7zpJAokxLcvGqf4uiiGq1qojPWq3WZIXSltXqNeQ4DnBxQHcIxZtGkbppEJn9nah5y/AuJ9Hx9DrCp1MIzOUhZKvgauIrx9lsZyQhpHZ/Gz0HKPKQyhwa+QAGTx5Cf89uvDT3LBZLZ1DenYawrwxhdw2+qQL4lAfVSyXkftSFyiUfaikBjZILkigBMBaXVsW73jMXDAaxe/dudHV1YX19HZcvX7YkPGmFJqm96z3LevXWOwe14JOkVz6AUalUkM/nAUCJTQ+FQhgaGsLY2Bj6+/vR29uLzs5OSJKEWCyGXC6nrFCgh5k10qj+2uPNsHOMtg7thIlPBoPhCGqrp14HRhokADR9TpPjuC0Lz1vFzPUu/3bS8tZKfWld261YJuxYupwsQ5Ik5Ws13d3dyOfzTe5T+Xitu9ayUJbTuzhwYT+q7zyMpXvHke/2QUgV0PHwEob/7xl40zVwdfovZ5HKIqXVDvo0IlA5b1FCKVfGi4+dxjve8Q7E10pYe76K1P9LQBipIfKfV+E6nIV3rAj/dAHhuxKoPdGD9MM9yJ0PoJoDxBrASRwkyXlLlvr53bVrF8bGxpBMJnHixAmk0+mme0c6b5rnUptOLx+SMNM+02Ztx0j8qQVpvV5HqVTCxsYGzp49i97eXuzduxe33norBgYG8Pzzz+P8+fNYW1sjTqT1MLJCkyYrrUyIjM6d9r44CROfDAajZWRrJ7BV1KlfLFLvl0Vmo9HYEh8KQHHbm8WOtVJnO/sY1pGvZ7FYRKVSQSAQQK1WU2KEnfp+t0yjK4jK7n4kfup6xG/qgHsti74nZtHxo3mET22Arzr/0QIztIJJayFXr2t75swZHDx4EGNjY3C5XHj44YdRuSwi8bkR5Mcq8O8pIHgkh9B1WfS+bgN9N6VQXvEh81IYice6UVj2ol4CGnV71i8jXC4Xurq6cPvtt2NzcxPnzp3DysqK4+XsNCQrpPwC0srKCjY2NnDp0iUcPXoU+/btw+joKE6cOIHTp09Tv4ykFZU71e846aWhhYlPBoPRMqQZunqAldPIglOdVmttsPPlGyudp1k6u/vbOYAYWUhoMbMwtRO57rL49Hq98Hq9ivgk1ctoYNZabdT7xNFu5G6cQOI1u5Hb24/AS5fQ9fhlBM9uwruaVYSn3pnT3keSNcrMXW3UdtTPUKVSwUsvvYRbbrkFw8PDGBoawtzcHOpFQJz3oBbnUTzvQ/HFEHA4j+BIBZ7uKvrftInuyRIyL0aRvhhAftmLYtyNRk1f3Bu5pkmhFD6fDwcPHoTX68Xs7Czm5+ebliGiuXZ60FpLaY8l7bfrulZPECTpyqdRV1ZW8OSTT2JqagrDw8O46aabUC6XcfHiRVMXPIntFKGkZ2w7YeKTwWA4gpkLSy+uj2QF0uazE53jTpWrLp9mP218HU06u+5u+Vgat3ulUlHeLHa73VsmKWZ103Wrchwaoz3I37YLmRvGUZjohmchjq5HZxF5KQbPZh6uch2cruzcHmgEqCiKWFlZwfr6OoaHh7F3716srKxciaksAbWKgHrOhUZWAOJuBMeqCE6UEN5VQPd0AcFwHZGxIrLzAWQvhZC6EEA5L0GSrLVpbVq3242Ojg7s2rULm5ubWFtbQzqdbnrZxszVbHQ9rE78aM/FqedY23dVq1Wsr68rL9NNT09j7969WFtbQy6XU9a1pc1Pu02v7navg/pY7YRnu62fTHwyGIyW0XZc6pcstOm0qN3ypONo3O6tdppGMU+0goymDmZxgnagEaHtfumAVgDL4pPjOEV8apfesgrHXXmxiAv6UbhlDxJ37UaxLwhXtoSuh8+i80fzEPIVuBrSlThI2BfYpvWwsM8szi+VSmF+fh7BYBB79+7F888/j83NzStL+4iAVHahvOxGPSGgcFFEYDiA8kEvwq9NIjRcQmiojK6ZIrITVfjdPDZnPSjnONTlDzRZfJmF4ziEQiEMDg6it7cXP/zhD5FIJFAul3VjHNslZkh1N/NImB1Pi/b8KpUKYrEYKpUKJEnCbbfdhp6eHuULSjR9Ybuvk9m2nXD3M/HJYDAcRSscATTFs6mtO7LFRJ0OeGUQ036WT95nBxqrCo1YbgUn8zNykeq5qLXpabbRoHecdrv8iUNRFOH1euHz+YjxvupjjerJcS+/YOT3on7TXsx/8D+hGqwheOISer79PHoeOw+XSO9iN2tjJLHSqlAnWbE4jkO9Xsfly5cRCARw+PBhHDp0CE8++SRKpVJTPrUiUC/xKMYCSJ0MIvPjDky+dQMDR9OIzmTRPZPD/jtTuPTAFOae9iM+70IxKwGieRtR4/F4MDo6ihtvvBGZTAZnzpxBJpOxtAav0Xmr69FqeImZBd4J1G74er2OeDyOcrmMQ4cOYWZmBvl8fsu9oqkTKWRJL70T3pmd8u4w8clgMBxBFpPyAtPqF4m07idZiMr/SMJJFqbbMSvfiYD7VyPVahWFQgGFQgGRSAShUEhXfNIgedyoTQ6gcHQ/Vt77OtQEFzp/cAJdj55Ax48vvrJI/DVwb7UWNY7jUCqVsLi4iOeeew5Hjx7FuXPnsL6+rizWr/YYAIBY45C44EF2cQSz3+nBwHU57HpdEv6JMva99xSm7gkhea4Tq0/2YPYFL7IJoFYVIUnGQobjOAwNDWF6ehp9fX144IEHkMlklHVbtefQ7mdJr647FZ4ji9ByuYwTJ07guuuuw+XLlxVLtd5xZuLyJxkmPhkMRsuoxaQ8GMoiVIbn+S2DlTp4X/4tf5pT/kynNnDfrnVET2CSrFlWXVOkONV2YsVKa8e1aFSOVdTHy0vW5HI5dHR0IBAIQBCsD0MSADEcRP6W/cjfPIPcoXE0CkX0PHYCnU+8hMD8BjhRUuI7rVie7GIak0pRrlq8yc9GOp3GSy+9hD179uDQoUMAgNXVVcXiuMXKLQG1MpCZ86KS5JG+EMDggQJGbsiic7iKwf2bGJ1IY+y6Psw+H0DsYhDpdR6lQr3Jiqmum7ymZzQaxfz8PBYWFpRnllR3I0gTTbOQEdrnVivGaeOJrUAqT+3NWVpawk033YRgMAifz4dCoaCbl9n5t1pvGg/ITsHEJ4PBaAukLxfVajWiUJMHDPXAUavVFGuqXtyUFWjczDtlObEKrZiidYc7USejvBTL3MtL1cgLeBu53Q0yBOdxI3fLYaRfez1K4z0QpToiT7yEjidOwj+3Dj5fbsuLRdo4YDuhHNq8tGnVcZOSdOWllo2NDSwsLGBqagrxeBzpdFoRNcSJiAjUyxyKNQG1PI9KhkchIaB/uoSByRKGxioYvT4Of4cfPcN1bFwOYn3Wg81VDvW6uEXwDQ8Po7+/H7VaDRcuXEA2m20Sv7TtxUygamO/jTCabJlNJK1gNa9MJoNqtYpQKIRwOGwoPq3UT0+oGonwqxkmPhkMhiNoLT7aTluO31QvRC9JEnieb1qYWU4rD0JOrAHZrhdLrAwcRiKEpn52ylXnbVUgqH87ZYGRxWc2mwVwRXySllpSs2VQdQuojQ8h+cbbkN83Aa6YRfDERXR97zmELq3B1RDB4Yp11Op9b3UioL3WRhZ0kuVaa0kDrlyzYrGIs2fP4m1vexsGBwexvr7eJD718mvUAbHgQuWyD/kNN1KX/cjsLqF6JIexQzkMHSijZ7CB4YkalnojOHPMg81VHvXaK8+jIAjYvXs3AoEAVlZWcPnyZVQqFarr5sSEzyg21Kx8bXo9q7STbbxcLiOXyyEUCqGzsxOxWGzLc+ikMDTygrQSQ9tu7w0TnwwGwxHUnZXsNlcju89l4SnHSpGOB+jecjerj7oTtmtJ0eZJSmvWyZPKd0JMb7d1o9WBU5KurGGZSqUgSZKh5ZN4zwQejZ5OxN7/U0jdfh2EeArRp06h7+vfgy+WAgeySNcT7qR7YnUioFd3mm00ecshLBcuXMDa2hr6+/sxMzODWCxG9CSQyuU4DqWsC+WcD5uzPlx8KoLJI3nc+u51jE+lMDqWxP4bvBjfM47v/H0fkps1VKsNuDgXOjs7sX//fiwuLmJubg7xeLyt8dhOijPaUAir1mkj66MoiojH4+jr60NfXx/OnTtHtJ7ShB7QTDj1LJ56db9aYOKTwWC0jGytBND0pSPgFbHJ83xT8L22Q1Z3wk67zmgsMO3gauvwrwbK5TISiQQAIBQKwePx0N3vYBCZ244g9p/vRe7AGIJnLqP/H/4D4VMXIGSNXZvXKvKz02g0UCwW8eijj+J1r3sd9u7di1gshjNnzlC5n1/5H6hXgVyCx6lHopg9HsGR1yVx8GgGu6/P4fp7zmN8XwLPPjCIiyfCyKUjuPt1b0KpVMLp06cxOztLnEQymllfX8fExAR6enrgdruVZZhIQlMdamG3r9CbDF/NMPHJYDAcQXanyy8euVwuCIJAfAlADck6SWuBMoPGHUgSPUYWTLs4dU7qephZU62UZ5TWSYFRq9WQy+UgSZLywpF24NVaqgSfD7lbb0LuNbehNDqF0EvnMPjlryNweQlCvrTty8abWalayVfrnlVvW1tbw9zcHKanp3HDDTdgdnYW5XJZt15qN752nygCxQyHE49HsTbrx8UXw9hzQw4z+zN43VurOHR9N9YXQxjrj+CJR09hbW0NxWLR8FydiiXWE2JWXdd68ZDabWYYpSWFqeTzebhcLgQCAfh8vi1hCttFK22y3QKWiU8Gg+EY8mCpF79G4/LSuuv14uiM3KdW6qv92+k4QbOB0ul41HYPGq2WUa/XUSwWUa/X4fP54PF4lO+7k64Fz/PAvj3I33wjKj09CJ29iMhTTyN4cQFCsXRFRWFr+2glDrEdGLlQSeKb9LtcLmNpaQmhUAjT09OYmJjA7Oxs07fEjUS8No0oArmUgFrVhUKWRzbuQT2bwe7dVQyNZdDXvwCv+GP4g6twu7PgeQmi6NpSjpMTKyOcdsfL6LmracM1tNvlhffdbje8Xq9uOqM6GUESvHbZKe8ME58MBqNl1FYarfg0i7Ej7Wtnh2g2cJhZAO2IXtp0esLJbrlG9XHyZQQr96rRaKBcLqNWqynik+d54rewXTwPX0cHMkdvQWFmF5BMoeuxHyF07DiEQhEQjUWPE/GbTh1jlpdRu1QLo1gshlAohPHxcRw6dAjr6+vKkmR6lj5jsQWU8i5Uil5k4h5UcwLcoog9B8roG4rDVXsYM3sFpFMugOOxsS5As8qSglURSjMps9oP2J1Qkp4xo1AgIyqVChqNBgRBIIpPmvKN0mmhmeTrlWH13JyCiU8Gg+EI2o66Xq83WTHVS7No40HVb7ur08gB/FbdZmaDjVGcnFk5TgkPo3xI7lcn8lXvdzoEwKzMV6xtIqrVKkqlEjweD3w+nxIX13SMywV3MIiBo0dx9s2vR311DeHnnkfnI0+AK+u7Ma2eV7tc6EbYcT/LxxQKBSwvL+Ps2bN4+9vfjtOnTyuL9+sJCSP3s8wVEcrh3Isd6IkcgLshgqufx67Jp/HmNwvYuyeAp5/qxEPf78LSkguiaF2wtDLhsYpWtBtZG80sxFapVquoVqsQBAGBQKAlcUd7LG3+Rv2atl9uJ0x8MhiMluE4rmkJJRmXy6W8zSwvSi0vHi9JEnGZHe36oDRlM65u1PdSFp+5XA6Dg4MIh8MIBALK2p8AAJcL4tAI0rfehuf+yy8DxTUMf+PbiBw7Dq5SJZTw6kGSXll4/siRI7jxxhtRq9UwNzenfNjByvMjIz+7Y2OTmBy/CdnNBr76hTp8/jX84n9dw+hYHhMTObzh9Rv40l9O4pnnfKhUlagHy+fQzufWybztiEY5tMTj8SAYDJqKYD3keyJP0NsFc7szGIxrFm0HJghC05vvgiCgXtf/ioqMfIzeAOqEu5g2PnC70XOLWamnmaXWSfe9FlqrUaPRQDqdxsjICDo6OhAOh7G5uXklD5cLtZm9yN1yOxKvvRv1Wh1D//b/EDp3AUK+cMVEZ4L2elm9z06II708rLhXtZZM+f9Go4FMJoNHHnkEr3/96zE1NYVSqYSVlZWmdDRWXTmNy+VCNBrFa17zGoiihNnZeZw9s4RKNYhcbgTXX1/E4UN5zEyW8MGfWUI4OIgXTvqxkeBRrVq/VmbXgHY/bfyjUX56+6xsV5crr80aDAZbtnxqQ5dahcYqvh0w8clgMBxB20lq12+U96utnSQh1E4haDSY6A3KZu5xvTR24sxaKc9pjISkldg00rGyeOI4DuFwGOFw+MpLRwAqu3Yjc9trkDt0PcqBAKJP/RCRF16AO5kCJ4rQlkwjFLd7cqEVf3bLl9uHPBFT51ur1TA/P494PI6enh6Mj49jY2Oj6eUjGtEjW9Y8Hg+mpqbQ3d2Nc+fOYXFxEdlsHrWaC2dP+5HPCUjFBRRTPPZPlnD3axIIh0I4eTaAy/N+lMouW+fdSgy1WUx5K7QixiRJaoprtlteq3WwgnaS024xysQng8FoGXWMpvxbdq/LA4JeXKc2HzWklwfUv68Wi6WWdlgUrYQh2Bk4SPGFVo+nRRafABAOhxEKheASBIiBILI33I7UDbeiGo3AszCP7ke+D9/iElzVSlM5rcT8OnUeZnk4ISjUFlCtQEin05idncWePXswPDyMS5cuYWNjg1iWkYVQEAREIhHMzMygXC5jcXERsVjs5ZfAOGSzHC5e8CGfEZBPC/BCwp7pHPzeGgK+OupVF2aX/NBGRJi1J6sWR9r9NFjJw05sa6VSQb1eh8fjoTrGznNr9zlXH7sTLneAiU8Gg+EQ6nhP0uArLzCvNyDKglXPZUpbB6t11qIVtTSCeTsC9e3mqxYuZuloy2n1HEVRRDKZhCRJyjeweZ8fpX3XYe3170I96kH43An0PvAtdBx/VnG1q++NXWtnO8MQaKzWdspR3xtt/OypU6fQ09OD/v5+HDx4EI8//njTxxzM6idbnycmJjA9PY1HH30UCwsLyOVyTYK3VgOWV92IJyJYW/fiQ7+wjOmJAnoiVfQE6vjH+wewuiGgYSM00eh66IkyUns1cocbPbdGdaLtf7T3SBafXq+3Jbe7toxWJpfqeurlv10Yf1SXwWAwKFF3vuqXhmRRaYaeK02vQ7RrnTMSLztlBbia2I5rIEkSEokEqtUqgsEgegaH0Ln/MJbe9+uoBSLo+f53MPivX0XH8R/vSP2uZrTtNpVK4eTJk0ilUnjjG9+IgYEB8DxvOOFQv8ji8/kwNTWF17zmNVhdXcWxY8eUiYE2PQCUKy6cPOPHH/75BL77g26IJeBtt63jT3/jPMaG6vB7AZfLWRGv5wZu52TBLnI9y+UyqtWqIj6dyteIq9UTRIKJTwaD4Qjy2+5AswBVz9TVLyDRuNa0rnw94UgaaM2sKVahtbgZnZuR1Y0G7TWxcyxtWjWk69tqXfL5PMrlMgR/AOK+67Dxn96DAjiM/82foe/B/wf/7CVAkiC9HK7hhEuy1etPW678T2vZt/tyh1osav9J0pW1P2dnZ5FMJnHzzTfD7/dvaa+kdsvzPCYnJzE5OQmXy4VnnnkGpVIJAJpWr3il7nL9gfVNAf/0rT78wzcH8OzpKLoiNfz2+2fx5lsSmOirgOfpLOh610hGz3JvZvFU7zOzcBq1b21ZpN+kfbLlU/6Cl95kYDviK2n7u+0Ur5bF58rKCn7u534O3d3dCAQCuP7663H8+PF21I3BYFxDSJKkfFoTIA8scjr1NqPBhkZAOCkyzSyj2nTqtO0WNttt8VOLKCcHSPm+lstlbJaqOO8K4WxkEGvdgwidfA7hsy/As7kG18tfiSEdbxcr50Nz/0n5a387EYqh9yzJlEolrK6u4syZMxgfH8fAwABRgGr/7urqwvT0NDo6OrCwsIClpaWm1Sj0BC8A1Osc1uMCnj8bxINPdeKFc2GMdJVw5/4Uju7NYGqgAkF45TkmXRvtvWhlkqGdpDolpMysx3q/a7Vak/ikLYum7rTtzwraCVO7hailmM9UKoU77rgDd999N7773e+ir68Ply9fRkdHR5uqx2AwrgVk4am2cKrFI8kSpJePE+gJV5o6qAdLpztgkkXRaL8eNOdAk59ePu108ck510QJ52oClqUwLogBlApJdB5/Au7kJrj61k/oOCkm9EQtaWLjtOh3uk1xHIdGo4FkMomzZ8/i0KFDmJiYQD6fR6lU0m0LPM9jdHQUg4ODqNVquHDhAtLptJKnkQiR82o0gLVNNwqlMCBx6PDWMd5dhjADuDgOpWonYkkB9YYEwPhakizFeuW2gp41Uy8m1G6Z9XodjUZDCYHQg9TftGPSpb2fOx2+Ykl8fvazn8Xo6Ci+8pWvKNsmJiacrhODwbhG4bgr8Z3yt7rtCk6jmE9t5+mkSNzpfIxciTRCkcYqTCvA9bDjMtaWKXEuNEIdeIAfxIrYDT6VxujFF8Gfeg5QCU8nriPNb5pteoLAzKWr/buVQV/PIyBJkmL9nJ2dxYEDB7C5uYlkMrnly1FyPn6/H4cPHwbHcVhaWsKFCxeaQmXUYkUrwtR1aIhAOsfj0eMR5HMC3nP7OnYNFDHUVYHHDXzjqV7kS66XBajxdTJqy7TH6rVvPau0nQkfTT3lNY15nie+SEnCSUFIe26k53M7sOR2/4//+A/cdNNNePe7342+vj4cOXIEf/3Xf214TKVSQTabbfrHYDB+8lAPUKIoGrqk5G1akUlyw7UTdZyqug6M1nG5XHC73QgEAohGo+js7EQ0GkUoEgXfO4Rz7/3vONW/H363GzfXM3hbKQZBrG/7IKjHdrkfaTFrm7IAfeyxx+DxeDAxMYHR0VHieXi9Xtxwww0YGRnBuXPn8PzzzyOfzytfJJNjs43CStTbJQkoV4AfnvTjLx8YwiMvdaI/WsEH71rCfa/ZwEhXHQLf3ldMaCcUasyuZyvIIUja9Y4ZV7Bk+ZydncUXvvAFfPSjH8Xv/u7v4tlnn8Wv//qvw+v14v3vfz/xmM985jP4gz/4A0cqy2Awrl60QlK2ogBXlllS/1a75e1YnPTKtmpdUltojepAW656O+3xtOKG1hKql8aKFcQOHMeB53mEw2EMDQ1haGgIPT09iEQi8Pl8cLlcqEgcztR9eEDqQX50Lw56qniPK449gTzyfT3o7OhAJpNRPhNJuj5WrI2tQHtvrJZn9Z6Q6iXnoz1eFEVsbm7i2Wefxe7du3H99dcjkUgglUopx/h8PgwMDODo0aO4cOECLl26hEQioXgt5HSk/M3bB4e5mAcPPNeJVI7HT10fx5tmYggIwDNzEby45EUip6ycZfmczbDTfmksklbqIrcbtednO8I5SNgJ69muybcl8SmKIm666Sb8yZ/8CQDgyJEjOH36NL7whS/ois+Pf/zj+OhHP6r8zmazGB0dbaHKDAbjakNrsSRZE7WdsF4nJ7uotFZJbXlOoCc89cqwIjTsuBCtYvc6kO6THbe+vI3neQSDQfT29mJqagp9fX3wer3KhwbkNSNzkUHEIiPY4EcRyiVwUymBPVFgyOdCqrsL1113HdbX15HJZFAoFFAsFlGpVLZYw61cTyuiwmiwbqcFlEaM6LmmtWK0Xq9jdnYWQ0NDiEQimJiYQCaTgSRJ4Hke3d3dmJmZAQCcP38eyWQS9Xrd8HkjlSXzSn2ubKvWOSxtevCkGIFHEvHayQz2DaThd1fQ4Q/j6ctRrKabBSjpnFqZBNFCcsW3Am0sMSmNE+XToL6HWgPAdnp9LInPwcFB7N+/v2nbvn378O///u+6x3i9Xni9Xnu1YzAY1wR68VRqcafu7EjWG3UnbSQwnBQE6jd77WCnfKdi/7arXK0w0v6Wvwk+ODiIqakpDA0NQRRFJcwql8uhXC7DHYpic7wPl+BBUSxgcOM4+r1p+PdMwh2NIBQKYWZmBp2dnchkMshkMkin00gmk8jn86hWq1sWT28ldtVKmqsJo+dCvjfr6+tYXV3F6OgoJicncf78eZTLZQSDQQwODmJychJra2tYWFhAsVhUnr1Wrpe6TeTLPObWvWjUOuGVJNw8mcWe3hoi3joqJS8qNS8yJQ61xtZn3UkBROoraPsPO8+LWahRq/mT8mjleW5n2IEZlsTnHXfcgfPnzzdtu3DhAsbHxx2tFIPBuLZQWz7VnapW3MmClIT6OCdjPlvt5FsRJzSDj9l+Ur2tWsnsWAppB26/34+ZmRns3bsXg4ODOHv2LE6fPo14PI5CoXDlW+Mch47Dt2NuMIJ0soDu+R8icvr7uNzhx4GOt6EnHIIgCAgEAhgaGsLU1BQkSUIul8Pi4iLOnz+PeDyOYrGIWu2VF5KsTkS2w91p5Zq30raMXOLFYhFnz56Fy+XC4cOHMTAwgOXlZUV4dnV14bHHHkMqlVI+gUvjotVODo2sxZW6Cxc3vPjX4z0oVF04OpHFvu4sOvcDwBCeXXIjkX9FgKrzt3ufjJ6V7Z6IyC9eaifbtP1RO9qq+vrq1WG7JmOWxOdHPvIR3H777fiTP/kTvOc978Gzzz6LL33pS/jSl77UrvoxGIxrBK2olF86UotS9f9q1EH5chymaHNxcT2uNQtXu9Fzo1rN44477sC+fftQrVbx7W9/G6dPn1Zc5QAguN3oHZ3Exdt+AcVcHoFzP0LXc98AqmXEimGk02mUy2WIooi5uTk8+eST6O7uVqx2d911F17zmtdgbm4Oly5dwvnz5xGLxRxtG9c6pGcrFovB7/djdHQUd999N37wgx/g0KFD6O7uxksvvYTz588T3253qi4yqxk3vvrjHhyfC+KuiSz+vz2b+I0jeXwzOo4n5kM4E+NR1/kc6LUMz/Pgeb7lZ6ydbFfsKQlL4vPmm2/GN7/5TXz84x/Hpz/9aUxOTuIv/uIv8LM/+7Ptqh+DwbhGUM+q5Y5XKyD1OmL12/G0nXW7XFokK0U7sPMygFkeNHlpJwSkfeq8jWJzJycnceDAASwtLeH06dM4d+6csrQPz/MQvH54uoZQfs0vIcmF0HHh+4hcfBKCWIfIcajVakin08hkMggGgwiHw0ilUtjc3MTc3Byef/55jIyM4MCBAxgaGsKdd96Jm266CWfPnsVLL72ERCKBcrms+y1zvXMzOl+rWGm3emns3ntSOISctyiKSCQSOHXqFN7xjnfgTW96E/x+P1ZXV/Hcc8+hXq9bcrcb1UH/+Cv7SzUXTscC2Mi5kcoLeN/BTbx1bAFTvgh+5O/A9xajKNb0469JtEPUke6LmUDTCxlwu93geV5ZckmdFynO0s55qD/oYRXteW23CLUkPgHgbW97G972tre1oy4MBuMaRT2IcRzX9F13tQDVG6yMYr70OkWaTrtVQdHuY2TsxpXZTWs0oNKEP8gvGN16661IJpO4dOkSFhcXUalUlPvv8frAdY+hOHk7Nn3TCJ77EQLLp+HOxwFJUizcqVQK6XRaEZ/cy6K0VquhXC6jWCwin89jeHgYfX196OrqwsTEBMLhMNbW1rCxsYF4PI50Oo1arbYlnpg2fMFYROm3UTP3dDswF31XkNf+TKfTGB8fx9zcHJaWlpBMJre82a6GRnTp1YV0zSWJQ7nOYT3vweMLEXT5arixL49RbwGv6xdREwX8OOZDqkKOA7VyXUjnYfdYGvTuvyw+5TbphEhuNRzBShtuN5bFJ4PBYOihFqB6A7/WskiyRqnT2u1sWxWeTls9rQ7wRtel1fK118dq3oIgoKOjAzMzM3j00UexuLiITCajCE/B7Ya3awDV4QNID9+CZDaPsQtPwptcgqt+JQZUrods+RwZGUEwGITH41Hc8PV6Hel0GoVCARsbG+jp6cHw8DCmpqbQ39+PcDiM3t5exGIxLC8vIx6Po1QqUVlCrZy73mSJ9t6R8mllwKexbMsTv1KphHQ6jbGxMeTzeSQSCVSr1aaFz0ntQa996oktmnOuNoC5tBffv9wBqQYciBQx6i/ijUMpVOodOJ30I1F2oVzfGiep14cYbaPFiqijTau2fNI8y1orNqlco21mx2vT6T3/TgllM5j4ZDAYjiJJEnFxZe0gYtbhGS2DpM7TTv20xzop7Kzut2vNsJIPrcAi3RNSnj6fD/39/eB5HhcvXlTWkZQXKA8Ew+CnbkJ29HZs+obR8/w/I7B5AXy10JSPJEnKOpQcxyEQCMDn86FYLCqDtrxcUzKZRDqdxuLiIi5evIg9e/ZgenoaU1NT2L17N9bW1nDixAksLy8jm81eedGJAtpB22paK5iFBNjF4/EgEolAkiSUy2XlespWT73wC6fqQRJHksTh5GYAhbILy71e3N6fw809mwhNlnE/P4iXEj4sFVyoiRLkYo3aIq2nxAg77n4zvF4vBEFAtVolvmRptZ5m50lzn2gt2er/2wUTnwwGwzHkQUK9Vqd2e6txZjKtutu3a4bvJHbcuXavhd5gxnEcgsEgxsbGcPr0aSQSiab4QZ/Ph9HrX4sXR9+MZXTAP/skei98G1ytTCxbXlJJFEX4/X5Eo1HkcjnU63XieVcqFaysrGBjYwMnTpzA0NAQdu3ahcOHD2Pv3r1YXFzEhQsXcP78eaytrVmygl5ryNZN+W/1dpfLhb6+Ptxyyy1wu904ceIEOjs7MT09jaWlJVQqlSbrp1k52nAGmrTqbfL2K/s4zOZ8iBU9OJUMIDflwhuH0xgcruDFQBg/SnTgkc0Qyi244HcS+Tlwu90olUot5WP1WW91wmLX22QVJj4ZDEbLkISLepsc3yf/rRVRTsQxbtfxtPm1UwDruUONtpPqJu8jxetpz0HO1+VyIRAIoLe3F8ePH28SnrwgYHhyDy4OvBMbYhe42Gn0nfkGuNrW74vLlMtl5HI5ZDIZDAwMoL+/X3mRSF0fbV3kl5Xy+TwWFxdx6tQpHDlyBNPT07jrrrtw9OhRnDhxAs899xzS6bRigbLq+ja7Hup92vZMspRaafM01mxS/TiOw+joKA4cOICpqSk8/PDDWFtbw1133YX+/n5MT0/j7NmzTRY5bb20ZZtdN702REJOU2rwuJT14S9PDyCW8+DuSAY3+5OYGcjiQKAD/3e1H4mKC3UJcEoOORX6QMpX/YzIls9iseioNZbGUm1UNyv72gkTnwwGo2X0XELaOC29jlNv0HYy7tFpN6kZRgM0bRmtxLHRliFDO6i5XC54PB4Eg0EkEglFwPCCAF+oA4XRu7BY7wbWTqJj5Ufw5dfAobkdyPlJkqR8AWltbQ1DQ0MYGBjA3Nwc0um0qbAXRRG1Wg31el0Rl/F4XHk5aWZmBqFQCIuLi1hfX0cikUA+n7dsDTW6D+2azLTiQu3o6MD+/fsxMjKC9fV1zM/PI5fLYXV1FWNjY9i3bx9mZ2cVgW9UFzOhaZVXjgXAAVXRhY2yG99fiyJb4HE4XMBEoIKbwhk0+oBnUmEslH1INNyoSObhLa14BewKNO1EgOO4Jre7VsSbuczN4mrt3JPtnODTwMQng8FwBLU7nSaWjITeMTSiaCdm73YwOj8nxbYaPYumejAj1YE0KRAEAV6vFx6PB/l8HsAVQSr4wnD3TmMlciMKySQ6V48jvPESXDrudnUZ8mLyBw4cQF9fHwKBgLJGIu3LGpVKBUtLS8hkMojFYhgbG8Pu3bsxOjqKUCiE7u5urK2tYXV1FclkErVajeoLV2aigLbdtSN+mYQgCBgZGcHIyAjcbjdOnz6NZDIJURSxurqKjo4OTExMoKuri7heKs1za/TMGYkr9f/q40VwuJDzoVTjEa+5cUO9gAOhAl4TSsNbE3HS1cD5SgDLNQ/KqltmNsFzuk+wYo1Uv+1Owu791hPCds91p/pNJj4ZDEbLyDFm2u9Dq5dckuM/tcfRWHisuir18qHNg5SfkSizW6dWaMXdbxX1ubvdbni9XvA8j1KpdCW2V3DDFR1GY/JuXKgPoGP1awjHT8Jb2tziLiWJ4Gw2i8uXLyMWi6G3txeRSAQejweNRsOSaBNFEel0GrlcDisrK5ibm8OhQ4eUt+NnZmZw6dIlnDhxAvF4HJVKhboMvftv5FpvBSMPgV7dOI5DOBzGddddB7fbjaWlJZw5c0Z5eU8tPvfs2YNUKqWsLGBH0BhZRmksec1lAUtlDxI1AefyftzR6cVbginc7U9il1DGsXIHHil0Yr7ME93wVtzNVp9fq/eT415Zaon04huN9dNqHWjOSS+MQrufxXwyGIxrBr3YQUna+plN7XFq9GIXaevAoMfO9XK73XC73QDwyqcZQ4NIdt6AJc+d8Cw/hZ7FB+AuJwDJ3LIIAJVKBbFYDE8//TR+6qd+CtPT0ygUCpidnW1au1OGNNCq24woiigWi5ibm8Pq6ip6enowPj6O3bt34+jRo7j++utx/PhxnD9/HsvLyyiX9a2z10Kbkuvo8Xhw8803Y2xsDM8++yxOnjyJdDqtpMnn85ifn0coFMLrXvc6zM/PY21tzdT9blZ2K655bYxpseHCXNGDlXInTniD+P864jjoL+LdoTXc5MviH7IjOFH0IFd/2XW/jdD0Sxx35SMbXq8XLpdL+ehCO+thN6Z0J9v2VlMEg8Fg2EC2UJLiPIHmQUZrKZUFqiRJTd9DbiV+yyp2rJg0cWBa1OfWygCiFvs0aWnQq5v63gmCoIhPeUktqecGVKK3oph2YfDi1yCUU4DUoK6nJEmoVqu4ePEiyuUyjhw5grvvvhuHDx+GIAhbPgGpFjZaa422rGq1ilgshhdeeAEPPPAAvv71ryOXy+HOO+/ET//0T+PNb34zOjs7iXmSymjFvWn3eKPj5H1erxfDw8M4evQozp49iwsXLiAejwNoviapVEr5EtUNN9yA7u5u23V04pkj/ZPAoSK6cLbkxV9t9uOfkt24WPFhv5DFx70X8AuBOK7z1eAWXpEwpHpr27PZudFam42Ok/sw9TqfpDrZKYd0fKvnTILFfDIYjGsGdScnfzNa+3UjgCze5P1aK4iM1ThQO+loMRu89M7VTt2sunFp05MmBLRlyGt5KgNbxy7E/QeQqUcQyR6Dr7gCF+rmGWnqIkkS8vk8UqkUuru70dPTgxtuuAEulwuXLl1CoVBQ4ueMLKGkvxuNBsrlMqrVqpLH3r170dPTg127dsHn8+HFF1/E2tqassao07HEdq35NMfKwvOmm25CoVDAuXPnkEwmiS9WyQv3P//889i9ezeGhoZQKBSQSqUsT4ZIgp/kTibtM2r78vlWRREbdQFPF0JI13msBwXcXM/hqJREF1/FlCuM43wIsboLVdW6oEZ5mtVfe9+txJDKz778eWEAujGfRvUzu552JzDavHcSJj4ZDIYjkKycdi0paiuIUXnqY2jrqHeMHeuAVlgb1YdGaNoR3DQiyexamblNtfW6Ij6vxPQWOw4h6x5BtZRHb/JH4BtFxR9KEjNGg2etVkMikbjyApMgIBQK4eDBgwCAtbU1ZLNZlEolxZqkvf56f8u/G40GMpkMzpw5g0KhgMnJSUxMTGBychKNRgN+vx/r6+tIpVKKu1RPFGivkxVILk+ze6S33eVyobu7GxMTE5iamsLZs2exsrKCUqm0ZTIkexjK5TJOnTqFqakpRXzm83nlzWxS/WjqaIaVyZb8/NfBYanmRbouINvgAZeEPa4y9vM59Lpq8LmAEwghJvIoiLgiQi2USSrf5XI1TbJkASmLeT0RK/+tXshfLT7NhKNem9BLK1+nViZIZu27XTDxyWAwWsbIjWTUUQPYEg9qtTPVGyhbgVQHmjLaURdt/mrslEXjAteKFj3c3gAy0ZtRhxe+wil0JJ8CJPMvU+nVSxRFrK2tAbgyaGcyGVx//fWIRqO4dOkSFhYWFBFar9cVMUAzSVFTKpVw8eJFrK+vY2FhAYcPH8b+/fvR19eHy5cv48KFC1hZWdnyrXiavLXbrVpQrbYhn8+HqakpTE1NQZIkHD9+HIVC4ZV4XNWETn7WRFHE8vIyLly4gOnpaXAch7W1NSSTSUsWT6fQszYq3hNwyIo8nikEsckLeL0nixuEPCaEHMZdZYwKwzjGhTBXF7DZAEoNEaIFK64sNnmeV1ZzCAQC8Hg8qNfrSKVScLlcKBQKW5ZO0p6DOj9gq+VT27fYEX6t9DG01ud2w8Qng8FoC1qrp1mHrY37ulagqet2nw/JbWfVQmxqpeLdEEZuR9yzF0LqFELZE3A1CobH0LCwsID+/n4UCgUcO3YMc3NzuOOOO3D99dfj8OHDymc0L1++rLjIifUzqX+j0UAqlUIul8PS0hIWFxdx00034dZbb8WBAwfw2GOP4aWXXtLNf6eRz2/v3r247rrrwPM8HnroIayurm5ZTJ+EKIp47rnn0NnZie7ublx33XV44oknbMUIautFY7Ez2g+80gaVEA8AEsfjoujHWlnAU64gbuALeAeXxttrc7jFHcKFQA9eCvfgGb4bS/EE1b1zuVwYGxtDT08Purq60NXVhZ6eHnR2dsLn86FQKODixYtoNBo4efIkVlZWkMvlDPOUhawkSW1tP06HhmwnTHwyGAzH0LNqkjpJkrun1Vm5UyKPVrC1Wp7e4OHkuTvlPm1Ky/EQ3Z14gft5iKkEOjaeQDR7DJAA2elJE0ZA2re5uYlGo6Es0n3hwgUkk0lMT09j165dmJycxMzMDJaWlnDhwgUsLy9jY2MD+Xze1kDfaDRQKBSUmM99+/Zh//79eNe73gWXy4WzZ8+iWCxuqa9Vl6dTkxS1JTMSieCOO+5AvV7H2bNnm5ZVIuWpbW9y7OfBgwdx5MgRzM7OYnl5Wdfiq3dPjUIfjM7BSOhq+wf5GFEUUYQb50UeS6IXz0lBvF9M4OZGDrdVCzhYTuK13aM4GQ5gLZHFBQhYcblRFxsQRQkcOETrdfTVahitVFD1+bDrjjswfeQI+gcH4fP54PF4FKur/CGFdDqN7u5ubG5uEs9FjSAISl2N2uTVEE8sH0/6TGs7YeKTwWA4gnqNT3Vnph3EzOLmrLgdzWIYtfuNBFqrAwGpLKOQA6vCRRszSSOMjcIhjI7TplVvE0URxRqPlWIn0o1+dKT/H7ylRQiNAuDARxDL5TIqlQq8Xi86OjqwurqKeDyOWq2GeDyO1dVVTExMoKOjAwcPHsTU1BQymQzi8Tg2NjaUuNBKpYJ6vY56vd704hsJSZJQLpcRi8UUMXrzzTfj9ttvR7lcxuLiIvL5vK713izelsYSTdvm5ZjCQCCAW2+9FT6fD2fOnMHly5eJS0YZTWxEUUQsFkNHRwcGBwdx+PBhRfzTPr92nhsawan9Lf+txGGCQ1biUAGHf+W6sCK5sa9RxnCphKn4IrrzAgrFChIcjwzHQ5RESGUJqHPwixJCooiORgM1jwdVnkdvNIqOnh40GjxefFFAPM5h9+4q/H7hSuxpvd70IpHRecnis9FobHnpy8wDpLe9HdZNo9jjdsPEJ4PBaBm9gUnPauKEpU+GxtJilVbEL8nSRANN3Y0EvBVaOV4UJaRKAs5uRNCo1REsnIanFoe8tJIMrWVQO8DWajWUSiV4vV5lCSRZeOZyOcTjcSQSCUxNTaG3txfBYBDhcBjd3d3o6+tDNptFsVhEsVhEqVTaIkTlWFFZlIqiqCw0Xy6XlXUvg8EgbrnlFkxPT6NarWJhYUFZMNyo/ZLO2+lYYJ/Ph8HBQRw8eBDxeBwLCwtYX1839CTokc/nsba2hsXFReWaxmKxLWt/0j5nJAuoGtpnn9TWtwgluFAGhxcRRBEurEoe7G8UsTdfRCArIiJy6JIkCBwAjoOrysNV48B5/eB9PgguF+oeD1Z9PnjdbgA8CgUO998vYHXVhXvuqWH3bhGlUgnZbFaxCJudl5H4pDl3PdrxYpB8Ptvtwmfik8FgOI6elUm9RA/Q7E5THysP3mYdoVrMkgYpJyyaJIw6f6uWW73zpLEYm9WPdP607m+9ga4q8ljLerAx54O3uohg+RyERpqYn51r32g0kM1mEQ6H0dPTo7w1LIoiKpUKNjc3kUgkcPnyZfT29qK/vx/9/f0YGBjAxMQEPB4PJOnKuqHFYhGZTAaFQkERomphWqlUFEur/I14URSRSqXwzDPPoLOzEzMzMxBFEdlsFrFYzPQ60lqr1O3ESjt1u93o7u7GgQMH0NXVhSeeeALLy8tbQgNo8pU9FJubmzh16hRmZmawf/9+VCoVrK+vNwknvYmkHcuZUb30JrDaPkNxE7tcEEUOZ6Ug5iUfjosB3CLm0eVpwAMOfWId3VIDbrcAr98HD7yQ+gcgdXdD8nhQ83pR6u2FWxCAUg0bGy780z+Fkclw8HiAarUMjktjdXUV6XSa+MUibb3dbjckSTIVn/J5mXlwtH87zU68hMTEJ4PBcAT1gvEkd7N2EDGyIEiS8VeRftIguRftHm+Wd6skxCFkChNYWeUwlv0X+Oob4CS6tQxpSSaT6O7uRldXFwRB2LK0kvyyUDqdxtzcHDweD0KhkPLCSEdHByKRCDo6OtDb24uxsTElhhR4RciWSiXk83kkk0msr68jkUggnU4jn8+jWCzi4Ycfxjve8Q6MjIygWq3iBz/4gamYkKEVoXrWcz337NDQEA4cOICDBw/iiSeewPnz51EoWHvRS12m/BWe1dVVPPPMM3jjG9+IdDqNUqmEVCrV1lAVK/kZeVXkSW1Z4jDP8ZjnfOAECTzHISI2EIYEt1tAOBBGKBRCcGQUvt5eSDyPaq2G3rk5HAgE0N1Tx9oah0YjAkkSsLKy8vJLZ8dx6dIlVKtVqrhit9sNURRRq9UM+7HtsjJejTDxyWAwHEEtcFwul+LK1IpNvcFMbeGS01txRZME1nZbPVs51qq7Xi+MgWShookvpLGQci4BGW4fcsI+9PpzGOTOoMTVQHOZ9dyxJHdfMplEPp/HyMgIAoEAcrncFiuhnF52o5fLZaRSKSwsLIDneeUzoH6/Hz6fD36/H4FAAMFgEJFIRPnX0dGB0dFReL1eiOIVF2sul8P6+jqWlpawtLSE8fFx7NmzB5cvX8alS5eU8mnjbvXurVnYhpbu7m7ceOONGB8fx/z8PJ5++mkUCgXl7XY7Vkf5d7VaVayfk5OTqNfrOH78eJPYMrNKytDENdKKbr22Sgp1UNrGy//XAaR4F9KQgAbgKhThKpUhZLLgBQHcy/1Ub28vlldWEI12IpksY3x8AqlUGPn8cVy8eAa1WgqlUmlLPfTq7PF4IIoiqtXqluXAjCYWtOEMPwmilYlPBoPhCKROURtLpHUha6196gHEMNaLwh1vVSTSuJxpxaNendTptsO9ZfflBvU29aDo8g2iLI0j4O7BLWMpFGINlF9+v53WlWo0+MrIrnEA6OzsRD6fbzqWJHokSVJiOuUJEMdxyGazyosisij1er1NgjQSiSjL64RCIQQCAUxPT2NiYgKSJCESicDlcuHmm29GJpNR4v/UVi1SKIlZfKAVS18oFMKtt96KwcFBZLNZnDhxQlnP0wiSx0G7XXZj5/N5vPDCC7jxxhsxNjaG1dVVLC0tGeYv50WaAJmJLNJzTSOi1e2A1Fdo+yLp5bxFABBF1CoVcNWqknZjYwPFYhFutweVSh0u11mEQm6IYhKFQhaSVIckvfKyk1nd5ImMetUA7fWw2kfpeUZoXPZXI0x8MhgMR5E7frmz1rNmGFkqjUSq9hia/bT1pklDK0jNLLBaS7CeqDLaZgejczAUjxyPivcAauhHpwAc7s/gBa/bVGhZqZdclhyvWalU0Nvbq6xdqVeGto3JYRuyINUKElmcymLU7/ejs7NTcdt3dXWhu7sbnZ2d8Hg8AK6s3bhnzx7E43Gsr68jm80in883vdBEIyqNIJ2b/J3wiYkJ7N69G6VSCQsLC1hYWDC8JrShFupnptFoYG5uDrt370Y4HMbk5CRWV1d1Yz9phJj2N8lqSTrOKG/aZ8Gon1GvhVoul5WVAuR28vJtR6NBt/awuhyPx4NGo9EkPvVEqNE20vmQjrM6Ob8aYOKTwWA4inrgB7ZaveRBTt4uL8YsDxTyd+HlvLarzmrMBB+NyCINNq1YTs1oxdKr3kautwucEERSuAv1RhRRYRNjkTjO+f1brFA0ddK6ELXpGo0GisUicrkchoeHcerUqaa4T1L+JOsXqe3JechvutdqNRSLRSSTSczPzyuW0VAohL6+vqYXmkZHR/HmN78Za2triMViiMViWFtbw+bmpvLtefklE5p7bSaiZCtaV1cXbr75ZmVZpTNnziCXyzn2fKivTTabxezsLGZmZrBnzx6cPHkSmUzGUFjT1mO7nmf1+ZCuqyw89Sa+8j+1ZVtPEJO2yV9GqlQqlrwPRvkaHdPqpGcnYOKTwWA4iiwcAf04P+1+rRjRprFqFaA9hlROqyLQKH9SOSQBYuROtFM/K9eDmJbjAf8MVqv7EaydRLhyGagFFXe0fB523IikckVRRKFQQCKRwMGDB+H1ehVhJ6fV5qNnZTPap62DvARTqVRCJpPB2toaBEGAz+dDb28vbr31VuzduxculwuTk5PYv38/6vU6VldXsbi4iNXVVWxsbCCZTCrfhm8Fn8+HkZERHD16FCMjI3jkkUdw8eJFJBIJy5MbM5RPWUoSzp8/D0EQcPPNN+O2227DI488Yvl87DyD7Uauk5n7XPscWsXn86FaraJUKm3bi5PafuRqu/ZamPhkMBiOILsy5U5Pa700EoekODQrnbZTbqftEJ605RiJdfVvK6KSBpIodPFeJHxvhFjywN+Yhbd6DuXyfnR2dhouum2lXlrrTalUUt56D4fDKJVKTRZFmmtJmtzI/5MsX3IbVqet1+vI5/MQRRFnzpzB4cOH8cMf/hDJZBI+nw/Dw8OYmprC7bffDkmSkM/nsbKygrNnzyqfYiyXy5ZFSCQSwaFDh7Bv3z4MDAzgiSeewKlTp5DP56mW77GDfD2KxSLm5+cRDAbxxje+EefPn8fKygrK5XLLkzxtPe2Ek9gtl0Zw0m43ysfr9aJYLDYt+k+abNqFxnLuxL1pJ0x8MhiMliG5UfVEgjwIqy2kWmjc4Hp1kNPpdb4kq4bVgcfMJaYnuK2UYZaf1eONBLrR9XXxXrj9A9gsHIavfgGBxmW4apsolUro6OgAz/OGA52Z21HPYlqtVpHP5+FyuRCJRJBKpQwX+aaBJFjVbcXI4lWr1bC5uQlJkuDz+RT39MLCAi5duoSBgQH09/ejp6cH09PTmJycVOJDY7EYVldXFYuo+gtCWnieRzgcxk033YQ9e/bA6/XixIkTOHPmjPKCEclqK58LzTb1eZOukSRJyGazmJ+fRyaTwb59+5DP51GtVi3FaBq1q3YJI6fErNlvPVwuFzweDzKZDPGLU1Y8OWbprDx3TljHnYSJTwaD4Rh6MXw0qF2hTlgyzY6xO/iROnGa2L2doNUBjOM4cHwIomcGuWQvuqTvwSctQmqUUSqV0NXVZSo+aSDd83q9riwGH41G4fF4iAupWz0nUlqtFVTerq1jPp9HJpNRXkTKZDJIp9OIx+OIxWLo7+/H0NAQxsbGMDAwgL6+PoRCIfT09KCvrw+bm5tNLylVq1VUq1UlzlkQBASDQQwPD2NmZgYejwexWAxnzpxBMplsyYVLEoJGz2q1WkUikcCFCxcwNjaGxcVFFAoF5PN5Q+unHUuhtl56WA3Jaaf1Tk/MyeKzVqspC9IbXRM7/aUTwp1U5na66pn4ZDAYjqEeSNTuS7WlRtvB6cVfaY9zCj2Ln50BwM5Aa+d87A7o6r9J9TXL1+XiIbq6UeZuRr1YRZR/Bl4hhno9hEKhgKmpKbjdbt18jK6RmeiQ19zc2NhAV1cXvF7vlglKq9YcK9dDkq6shTk/P4+BgQF0dnZCEAQ0Gg1UKhXEYjFsbm7iwoULiEajGBsbw/j4OPr6+tDT04PR0VHU63Xkcjlks1nkcjnlX61WA8/zCAaD6Onpwa5du1Aul3H27FmcO3cOi4uLpt+nt3KOZm1XTlMsFnHs2DHs2bMH4+PjKBQKxAXtza4/qd1bFa163gYjKzrttdLrm4zqq4e8OkG9Xkf15eWcSGVpt233BNXIOwS0f8LMxCeDwXAEtfWIxm1OSk8aPKy4xs06+nZ1qHoihtaCqzc4Gx1DUw+zcs3ycnuCqPDDWMocQBAn4eVicEkl1Gpe5HI5dHV1wefzKR8V0DsXO4iiiHK5jEuXLmF6ehqhUAiJRMLU+tfOeyyKIi5evIjJyUlEIhF4vV6USiUl7lWSJGXZno2NDZw8eVJZ1L6npweDg4Po7e1FJBJBX18fPB5PU31lwX3x4kWcPHkSa2tryGazW5Y6siuyrKSVz1e2vI6Pjyu/aS3Q2vyMnkerbUbbL5D6EO0+O22TNmRA7s/k5btqtRrVS1o0kwCrWA2BoKmL0zDxyWAwHEHrzpMhCTPlu8yqzlVt6dSLwdJzFdF0mldLrBOJ7XR30cJxHHzRGdRdNyK5GMEQfgCBKwGQFJd4KBSCz+eDIAio1a58YtPJc6nVarh06RKOHDmCzs5OxOPxpmV/nIYkXOTt8v+rq6uo1+sIhULo6OhQvnxDihetVquo1WrIZDLKS0g+n09Z5N7r9cLv90MQBOWLOPl8Hul0GoVCQfnW/Hah99wdO3YM4XAYg4ODOHr0KB5//HFH6+VUDGQr+51qU263GzzPKx88aKUMrUW21T7saupnmPhkMBiOoOcWVA/K8tqKADn2zMh6aoSeAG1FlOoNdnoxn+22qtq1XhrVjSQ05OPc3hA2CgeRqO8FL8YQcp2GC1di2OTliORliOS4z1bOg1RPURSVF406OjoQjUaRyWS21NUsHztohahcXqFQQLlchtfrRUdHB2KxWNM5ko6TpCurN8guenmBe/mfnF5e6kn+elKrYSfqyRytNV5dZ/l3KpXC+fPnsX//fhw+fBizs7NYXFzUDWHRqwvNNi2k8AonRZSTzy7HXXnTXV62ymxVAm09rGzX7jeL4bQycd+OiToTnwwGo2W0VstW06nTA9beCKdNT4OesCFZeY06f6c7c9p4R7O4LnUaLbzQj0xhHKlSEAHpOXjdm+C4KxMH2SUuSZJiuWvFhWpUt3K5jGw2i3A4jGg06ogFTJ3OSLySrrG8fqPb7UZHR8eWPPViGeV2Ly9CX6vVHBNTtO5ZO4Jdkq7Eui4vL6O7uxuDg4PYt28fkslk0+c99UJP2m1ts/rc61l3afMzc1v7fD4AUO5zq7TSdzgVAtMO9Nc6YTAYDAvQCALtwC4fI3+GU5vWCK2lVI3aaqT+R1tvI2sox3Fb6msGqS609dOWrbZgWRXl6rz0ypDPTXTtQrnYi1o2hyh+BJ6rgsOVvGQLXrVaRSAQgNvt1j0P2nqSBJFsMVxfX0cwGHRkXVE7qM9JXgBfEARTMax1m+phR2DQtBsaT4Je+9D+SyQSuHTpEi5evIiDBw9iZGQE/pe/cEWD0fNqVnen8rJq5bMq3DiOg9/vVyYZeqEJevWw8qzoWbL1yjK6/7R9kJMw8clgMFrGqNNUiwij4+W06uPU+7TbzcrXc/PRuP+sdMJy2WYC92q1QJDum9vtQ656I2r1LnikJILchab9suUzmUwiFAop3z+nydtKveTjFxYWwPM8Ojo6EAwGbeepztdM3OghSZKy3FAoFGrarm6zNEKCVkBaSU+DkQdCL39RFLG0tIQnn3wSm5ubuOeee7Bnzx5FgKvrS2v1tDqJo6knCT2rrPq3dlJn1eopEwqFFKsn7X01q59VaAUpie3qq5j4ZDAYjmCl06YRi1atlQxn4Dge/tBeLG3uR62yirD3KXj5dFMaSZJQq9WwtraGSCQCn8/XltACOc9YLIZ8Pg+/34+RkZGWRAtNuWZUKhXFxWr0sYRrAT2XM4lGo4FkMomHHnoI2WwWt9xyC26//XYMDg5Sl9eu++YEToi+UCiEarVqKj6d7MOs1rsdlnirWHpqPvWpT22ZNQ4MDLSrbgwG4xpBa/WRF802stSQxKpVV6IRVmb3dq0c20Urbln5eBpr3JX9buRqt6BUCcDrOoeI53nwfAPaw+r1OmKxmPLGu1qEaa1f2mutZynTO49isYh4PA4AmJiYgNvtJp4n6bd2mxOWHfnNfjnW1eh87WDXFUpr2TfD6J6IoojNzU08++yzyOVyGBkZwW233aZMCszqrA29UYd6WKmvlbATkteF1uJrpUyXy4VgMKh8xYr2eG3bdLrvsdJ/bNfkwPILRwcOHMBDDz2k/N6J+BsGg3F1QnIlaePl9DpfIyunNr5JK6yM6mFWV6c7W5Ir00zwyccZ5UlbtjpPUt7GdeEBLoiN9EFIjTR87gX4hLWXhWdzXqIoIh6PY3JyUnnD1+gFC/m62BlY6/U64vE4uru7MTQ0hGAwqHw9pl0Y3Rf1J2KNrrGdc7Xigtdus5qfUf5GVCoVzM/PIxwOY3JyEv39/Th8+DA4jkMymUS5XLb1so1e+7DbbrYbjrsS81mpVLYss6SGVlxbSW81f6Myt+NaWxafgiAwayeDwdiC2cAlvwSkF9+pF4Nmhp44pakrjSi0OwjQHNdOK4O6/jRCheM4gPNARA9WVqfg9z4Jn7AGga9A6yST71U8HlfWrFSv9amHVSueuv6bm5sYHR3F7t270dXVhXQ6TXQZ005GjNKb1ZPGumcESUw5MeBbved6dVHXR+/65PN5nDhxAvl8Htdddx2uv/56uN1unDt3DhsbG8jn86jVarbO08nnwmlBZZSPy+WCz+dDKpUiim+zCfbVHJLgNJaDVS5evIihoSFMTk7ive99L2ZnZw3TVyoVZLPZpn8MBuMnC+1gJ1uEtJZK7UBHshCS3LKk8kgYuVxpB2NtGlpXGMn9qldfUriB9hi9vI0GKb10pGPIoiKMev06VFJBhPnn4RViW2Ia5bzkNTh5nkcgEIDf7yfWySkymQzi8ThKpRImJye3LO9EgtYtaxWae9wu65GTbllSOAKt657jOBSLRZw/fx4PPfQQnnvuOezduxdvfOMbcfvtt2N8fJyqTbTDzdyO/Gmui8vlQigUQj6fR7VaJU6OjI6nrYed42jz3i4LsyXxeeutt+If/uEf8L3vfQ9//dd/jVgshttvvx2JREL3mM985jOIRqPKv9HR0ZYrzWAwrj60Ykcr+MzET7tm/maC7Wrgaqiby+VGtTaE5dU3ws0vIeg9BzefMjxGXucxEAg0vfndDuTvp1++fBnT09MIBoOmL/s4PZDK+clLS2kFxk7htHvf7Bj1c16r1bC5uYkf/vCHuP/++7G+vo6xsTHce++9eMMb3oDR0VHbL6RtpxhqFY7jlIlYLpdrCgtp5RxIAvZauSZGWBKf9957L376p38ahw4dwhvf+EY88MADAIC///u/1z3m4x//ODKZjPJvaWmptRozGIyrFvVgIa9zJ1tC1dZQ+Z8kSY4sxExrmaRN207MrJZGafTS620jWUL19jfEKMqVEaQzQwj4zsEtZOHi6lvyl5HvXbVahc/nQygUaqvIlyQJmUwGCwsLCIVC6O3tVZZ4op1gkKx3ZlZ2Enrik8Y6TaqHlbK19aW1UtpF+7yQvAjyN+nn5+dx/PhxnDhxArFYDJOTk7j77rtxww03YHR0lLguqJ61lTbcxexa01j89bbTTprl/+XvuheLRcOYTyv1N6ujXl1o0utxVcZ8qgkGgzh06BAuXryom8br9cLr9bZSDIPBuMohuZFJLkkzt7v6eG3+6r/1Yke1x9B2olbS6h2vrQ9pkLLq/rdaBy1GMbTa+1BvdKFSHUC16kVXxxkIfBkcJ0F+0Uh7jPy7WCzC6/Uq4tOJ+6FHqVRCPB5HtVrF0NAQ4vE4yuWybnpaAaNNa5SG4zi43e6mrzxpoWnjViBZHLX1IqU1E23auhphlp8cB1qr1VAoFJDP5wEAAwMD2LNnDzo7O7G6uoqVlRWk02nlE6Kk87RaR7M2p/cs6kHarydOZVwuFzweDziOQ6lUappUG53HdvYH23EsLS0tUFapVHD27FlLa3wxGIyfTGTLpjq+U29Wb2Z91IvbJO2jzUONWXyeXZckTYyX0zhhbeQ4DvVaL6qVQYCrIhw8BRdfM81XFEXk83m43W5FfOrl70Rda7Uacrkc4vE4xsfHEQ6HDV3vepOgVuC4K9/vbjQaKBQKTW3dajmkeGSja0RjMdV73khltvKM6G2rVCpYX1/HmTNn8KMf/QjLy8vo6OjA/v37ccstt2D//v3o7e1FMBiEx+NRvm1P80zajY9Un5PZtaUpgyT2eZ6H1+tVJiWtenRo+lHSMXq/t0NQWsGS5fM3f/M38fa3vx1jY2PY2NjAH/3RHyGbzeIDH/hAu+rHYDCuEWQRoDdIOWF5smPFsFpGO/OhdZu1ilWXr8vlQr02gFplEB5hAz7v6haXu15eiUSiSQiS1lTU3jczK7HR/axWqzh//jxe//rXo6OjA/F4HMVi0bSupHZCEo5meQCA3+9HvV43fIHWzr00sprTHEeqg91JUKueAPkjBA8++CCGh4cxMjKC0dFR3Hrrrdi/fz8uXbqEpaUlxGIxZLPZJrFmJWyAJLBoBaRWcNIIUL175PF4EA6HUSqVUC6Xm5aVo7GyGnkptOm1dSHtN5uo7HTcqCXxuby8jJ/5mZ9BPB5Hb28vjh49imeeeQbj4+Ptqh+DwbgGkL/1zfO87tdnZFGi7mRJHbRVdyANOzHrb2eZrbrqtJY2SexDOTuJei6IztCP4HEXX3a5myNbIYPBIARBoI51k8u3ep8bjQbm5uaQz+fR39+vxIG2Au3AL0kS3G43AoEAUqkUMplMS+UaleNEHjtt7ZLDMi5fvozl5WWcPn0aw8PD2LVrF6ampjA1NYVsNouFhQVcunQJqVQKlUplx+rbyvXyer3o6upCJpNBtVo1/Jwww6L4/Jd/+Zd21YPBYFzD1Ot1lEoluN1uJe5JxsjN1U5LnxNWRj23lR13FklU04ov+Vq1y1oh1qfQqPaBk4qIhJ9RhCeNRTKTyaDRaCjrfZZKpab9di3aesfLrv6FhQX09vaiWCwiFos1iRbttXbyuvl8Png8HtRqNSWu0S52LFFOtQPasq1a0dXb5brKruharaZ8raqvrw89PT3o6urCvn37MDg4iOXlZayvryMejyOfzxPjJrXlWrUW0kI7CZYncD6fD52dnchkMi0JT+2103s2zK59K2yHVbSlF44YDAYDuCIIGo0G6vU6BEGAIAiQJKnJCmo0AKg7ejuxXXroDVIka6t2UG+HK1MvPxr0whnsxBo2D2w8irlp1Kph8HwaPv8COM5c0Mv1kZeV8fl8ikXQzK1OUz9tOerttVoNS0tLGBwcRG9vL6LRKDY3Ny2VoYV2MiRbeGu12hahTVuOGrvCiKZ9aoWM3fJaQS1ARVFErVZDuVxGPp9HMplET08PBgcH0dHRgampKfT29iKRSGB1dRUbGxsolUpNXhPaMq3WkYSV8rxeL6LRKJaWlgzrqzcJNcKJmHSrx7VbgLb0whGDwWDIqF3p8m8zYaQOpqexxNAIIitxW2bb1HVUl0XzEgBJSLezQ7ctKiQB2dRu1Gpu8O44BHdmy3luOUR1HsViURFh0WhUt056eam3k16MIVZZkrC6uopGo4FoNIq+vr4tx6vzdipGl+M4dHR0gOM4VKvVLS7iVoSd3nOwHZYsmnZslheprupt6jJqtRoSiQRmZ2fxwgsv4JlnnsHy8jJ8Ph+mpqZwww034MiRIxgbG0NHRwf8fj8EQSB+8EBbltkE1ur1pEnP8zx8Ph+i0SgymYxp32N0naxiJ276aoBZPhkMRsuEQiGEw2Fl3UUZK+48ow7YquuPZMXSbqOxBLVqJSKJFydxROxIIVRK/QAq8HjXIQj6eZOudblcRiaTQTgcxvDwMM6dO0e8tlYEPw3pdBorKysYHBzE9PQ0zp07ZxhvavU+cxy35Xv1LpcLAwMDitVT/nyk0cBvFE6gbfNqAWrl2ui1M6t50E7Y7Nw30sRAkiRUKhWsrq4q75IMDw9jfHwco6Oj2LVrF5aWlrC8vIyVlRXE43HlwwZWyrTznOjVl5SXx+NBMBhEKBRCOp1umoC30sZpvTE0Vnurk/F2w8Qng8FoGZfLhXA4DJ7nlS97aDt+eSCnsaY5Aa0b9dUKx3HgwIPDMLh6BF7fafhDl4lLFxkNoqIoIpFIoLu7G2NjY3C73U1fd9Gj1fvdaDRw4cIFeDwejI+Po6+vD7FYzNGQDbkNyf8LgoDx8XHk83nk8/mm2L52tF8jrAgbp0NFnIbjXnk7Ph6P48KFC+jp6cHk5CQGBwexf/9+7Nu3D8lkEnNzc4jFYshkMiiVSsqEw+gcWz13s37E7/crX9zKZrO2Yz7t1JM0ibkWYOKTwWC0jCiKW8QmydJIstCQrD92O1M7Fh+jfJyERgxrY/OsWo7N0mypj4uHmD0ET8MDt2cTHu+KYf30yGazKJfLmJiYgN/vVyyCtBZQs/PQI5FIIJFIYHR0FLt378bm5qalt+3N0LZDQRDQ19eHCxcuNC3vpGcl0+bVTkhlWmlvZtZadfulbWt2zrlWqymrZ2SzWSwuLqKzsxNdXV3o6urCoUOHMDk5iUQigY2NDayuriKbzaJer9u2GBtZF2n6Ar/fD6/Xi1KphFKp5IgYpLnGrVh2jcrZDpj4ZDAYLaMXx2Tm+pa3kfIjYTbAOSUanbCa0h6vJwC0+5wun+M4uOBGKbcPgqsIj2cdgidpmh9pklEoFFAulxEKhZRvW2sHdLOXOoxCFPSuQalUQjqdRi6Xw+TkJI4dO9b0WVe7kI51uVzwer0Ih8PI5XKK+NSrp5G7XQ+rYoJUNun+GJVvZjHUxjsb1Vubjqb9ktI3Gg00Gg3la0mpVAqJRAK9vb0YGBhAOBzGyMgIenp60NPTg5WVFWxsbCiftbQr/uxOeIPBINxuN7LZrK7V38yF7oSLnpSvWf47ZRVn4pPBYLSMJElN1k+zz+YB2jeurS85Y1QXq9BaTNVuWO2xtHXTiy/UK18rTvXCFkj5GcODQwCVzG64hBUInnXwQh6A/rHqeqrPRbb4uN1uRCIRbG5uNrUBOwOc9lxJbaXRaCCbzSIej+Omm26C3+/XXSfSjkVLDc/zCAQCisjQvuluRWS1AkkQ6glPK3VoV4iKXtummWDK34wvlUpIJpNYXV1FLBbD1NQUhoaGMDAwgIGBAfT09ODSpUvY2NhANptFpVJRrO80ddJ7po3ajPrYUCgEt9vdZHnfyVAHq+U65TGyAhOfDAajZRqNBrGjdrlcVFYVrVg1s5Kp05hZnqxaXq4W2u62FX2oVUdRzAzC0/8QeO86tKdvNimQt1UqFcX62d/fj/n5+Sb3t5GVp1VBlMvlsLq6Cr/fj87OThSLRcPvvZuhZ4HleR6dnZ3KC1atlEEqSy0gSZMc2nqapdNCU4b2XlkVK1barl5aURRRLBYxNzeH5eVldHZ2YmBgQFmwfteuXdjY2MDi4iIuX76M9fV1ZbF3mkmudpJDi9vtRjQaBc/zmJubIy6zRGP11MPKxNgMq3HC7YSJTwaD0Ta0HbmZRUG2dNG8sNIKV7PItIKdOD8ZsR5ELbMf4GpwBy+B9yRtXxfZArmysoKRkRE8//zzqFarupYlJ0VLqVTC5uamYhFLp9OoVCqOi3Wfz4eJiQmsrq4il8uhVqs5mj8NRuLJTERaCW+xmma7rHxyOdVqFRsbG8pyTYODg5icnMTAwAD279+P/fv3Y2lpCYuLi4jH40in01teENPLH7B2zuFwGJFIBKIoYnFxkZh2pyygVzNMfDIYDEdQCw31N77lTprGMuOUFfJqtWYCxq5RIzegVni0en0k0Q+UR8HxeQjedbiErTGMhser6ip/dWh5eRkzMzPweDxNi4Nr87US02uGbBGbn5/H6OgoLl68qHx1yWp4hF4a2eU+MjKCxcVF5dvdRlZ9szxJ95cUJ9uqQFRP7OzGQlophxaaeFVSmdqwi2KxiOXlZaTTaXR2dqK7uxt9fX3o6upCZ2cnCoUC0uk01tfXsbq6inK5rHxtySw+kiaMYXBwEF6vF7lcDtls1vK5k86bxiugriftdj3sTkxagYlPBoPhOLSdopH7lTRQ2hEntB05CSOBaJQnbVntiG+lEaYcx8El+eAqD8Dj3gTvzoNz1bcIFbM6qssplUpYX1/HDTfcAL/fb2hpohkcacI15N/VahUrKyvYt28fIpEIfD4fCoWCpfKMEAQBwWAQ3d3dOHbsmCXLvFHIgRY9S7bRvTByhVudSBjVmyYf7XFO3mO9suS40Gq1qryclEwmMTAwgK6uLvj9fvT396Orqws9PT3I5/NIJBJIJpPIZrNbLNh6wpCEIAgYGhoCAENrOM3Ey6gO8jZS+ABNfdV94E7Ed5Jg4pPBYDiKkYuVFDumtTDY7ZyNtpthJIBp87Vatpn1r1WLrXbAaf7tggt+SJVe+HznwfMlcNxWoWh0L+T1QNVxn/F4HB6PR/nSi3ow1rv3rZ6bJEmo1+uIxWLwer3o6OhAIBBoEp80+WkHdHXd5LfcQ6EQEomE8ka1HkYDfDusTHp1txLfZzcW0EpZesLYqHxSeAGpDclW0GKxqHyes6+vD4ODgxgYGEB/fz8GBwdRrVYRi8WwvLyMhYUF5PN5VKtV1Ov1LdZss1jMQCCAwcFBZDIZJJNJQ7e+1XtsJsCtoj2X7QqV0IOJTwaD4Qjat93l77qrZ+ukGbgaOa0V9x6Na8xJ9Dpxs0GrVSuuVtAYWThJA7b6f57zwcVFIUkhuINnAVcZ4CQA5BfAaOpdq9UUS9Lg4KDyNRrScVbOncay02g0kEqlkMvl0NXVhY6ODmxsbBgeQysQOe7K28xdXV0QRVFx6bdqQaIRFvI9NrJqqtuBHUujUZ60E0EnroHedvXf6pd5jNp+o9FAJpNBOp3G7OwsQqEQhoaGcPToUUxNTWF8fByHDx/G/Pw8lpeXsbq6ivX1dWXCROOdkT84EI1GMTs7i7W1Nd3zMLs+tNZW0iTd7mTd6LjtEKVMfDIYDMeQO34Zvc/MyQMqSeTQDKBOWAVpLC9OC9edQC0k5L89QicE1wDKZQ8QOQ6Oryhp9fKQMbom8ldqJicnsby8jGQyqfspRKcHuGq1ikuXLqG3t1dZekcu28yCZVaXcDiMzs5ObGxsoFQqKfGkWqvyTmGl/KvF7WqEU3XjOA71eh2pVArpdBqJRAIHDx5Uvpx04MABHD16FPPzOZw9u4D5+QuIx08jFos1vTCnxe/3Y3BwEHfeeScWFxcxNzeHZDKplEmqRyvnZMUDc62w9TtqDAaDYRG5c+U4DjzPU1m5tO54tfWQ1gVntM/Mgko6B1KeZvnoWZP0LJ16Vl+jY42206A9zlXvBt8YgMQXAE8cEqfvRqYtU554LC8vo7u7G9FoFG63WzlfJ+Le5O2k/ERRxPz8PHieRzQaRTAYNM1bm5feIB8MBhEMBhGLxZrWcdTWifYcaDBrJ3bzNMJqG3OiTdKeo5EVWJunOl/1MfF4HC+++CKefPJJPPPMM5ibmwfPh/DUU3tw7NidSKffiiNH7sV1112Hrq4uuN3uLfkHg0GMjIzg4MGDqNfrOHv2LBKJRJM1nISVeEsnYjPN+hjS362UZxVm+WQwGC1Dck1JkqTEBcpWTvU29bGkv7X5kvaT0mghDXKkmDErg6BRfYwgnZ9R/k6gDQvgOA5cvQNSteuKu50vAKD7FrWZgBRFEbFYDB6PB8Fg0HDRd6vl0dRDXuQ7EAigs7MTuVyOKm+jNsRxHHw+H3w+HxYWFqg+oEAqhyaUxKrw0+ZBc7zdCVm7RUk7LcjyedRqNaRSKZTLZRQKBYgiEIlM4/jxASwtRTE4GMIddwgYHr4ijS5duoREIqHk4fP5MDw8rLjbL1++jLW1tS0fHFBjp78ghSeRXO6k37R57zRMfDIYjJZRWwhJsWhGy9KosSsA2+HqMhI+VqyB2rzMBKfWRW4FI7Eu/+3ieIilTnDFTnB8DpJLfnPb/HzN6iSKIjY2NlCv1xEKhRCJRJDNZm3FIhrVRTs4y/XKZrMoFovwer3o7+/XXXdRmyfpPGV4nofP54MgCE1xpFahuZe01iqa/WZxhE6IPVohRHoOrMQsmh1rJY96vY5sNotyuYxqtQ6XaxJnz+5FIhGE1xuBIIzhxhvdSKdT2NjYQDKZhCRJEAQBvb29mJqaQn9/PwqFAk6ePIl0Ot30OVej66p3HaxMPrTnTONZMrsmrUyo7cLc7gwGwzFEUdyyvqLWNSe7SGm+akSyAFiB5KLV5sdxnPJylHqbXl3sQqoHrdvSjign7buyX0A93Y1aPATBf9nUVaiXj975pFJXBu1IJIL+/n7T62oFPRehnG+lUkEikQDP8xgfH4cgkO0r2nYl/5PbgRq/3w+v1wtRFLG5ual7HnbPjaYN2Gl72nxJbmjtPiPaEQagnrQ6FVKihnSe8j2uVqtYWlrEI4/8BwqFJCSpCp+vhsHBKgYHB9Hd3Q2fz6ccE41Gceutt2JychLlchnHjh3D8vLyljAMJ+4V7Tm30idq89pumOWTwWA4htyR8Ty/ZVAhdXgkUdLqYGREqwPo1eKyagU3L8DncoPnBIATUeeA/5+9Pw+zrKqvxvF156Hmqq6eB+iGphsQEAGZFEiCBg0vJNH4Psa8SGIiCYkQ8g1qBqeoJFETTV7FmETIoNFfHodEX6PigBgRZQah6Ql6rp5rrlt3PL8/Op/T635q7zPce6u6G/d6nnrq3nP32fPZe+31+ex9oOqlnTqq1WrYvHkzzjnnHJx22mnYtGkTZmZmOpDz43kLaof9+/djeHgYy5YtQ6FQCDS9S3yAvW2FhMzMzPgqrq1/nowm0CC1utX8tqu2dQryPIedzmBXhRuYmdmFJUv+FIXCaVixYgh79uTx3HPnYXp6GosWLUKlUkGlUsGll16KZcuWYcuWLdi0aRN27NgBAMYFS9wyAK2T1k617ULDkU8HB4eOQCtcUScorU7Oh9knTpxxwvLgH3ZfO6b6TqpC6XQa6XQayVQKx5JIAGh/gxdf37dvH84++2z/jTNTU1MdJSxBdT06Ouqb3nt6ejA5ORnJhcFGUhYvXoxsNovJyUnj+Z5hynGYMhdH+Y5rohXMh7Iadp/NJN6O+d8WzlYntjz4LijJJIAGstnt8Lzd2L8/h+98pwd79uzyz6xdtWoVenp6MDQ0hGeeeQZbtmzB/v37Ua/X5/ivdxqtuN4wgsaQE01OndndwcGhY2AfvCBy0upk2IoiGmXw1uY/058pvnaJclyia3NDsLkXmPKdSmWQSqaRSDSO7XbH8QmaJ+ugiT4s3+Pj4yiVSshkMliyZElTXoKUmk5genoa09PTqNfrGBgYaCImpjKafOiYnCxatAjpdBqTk5NNx0bpvh7WL6O4gIShVbeNE4UovoRBz3qUe9spv9R9KjULYByl0iHs2bMHTz/9tO/f29vbi76+Puzbtw9bt27FwYMHMTs7O8dlIyiNOHnRcbKbiwmtuiad6H7jyKeDg0NHwIOZaWCL45tlulfH36paYoon7iTWSf830wTWik+hrQx6Ek8mMkh4aQANNNJjQARCw3kMI6YAMDMzg9HRUdTrdaxYsSLQNBlVMQ+6l+8pl8uYnJzEzMwMFi1aZFWnpBzif2wqUyqVwtDQEJLJJMbHx62mdlt54vjmRVmwhS2GdPpR0Epfjvq8RCFntvhN/8PyEGdhwwsMNt/Pzs7i0KFDyGQy6O7uRi6Xw8zMDJ599lns3bvXdyHh+6Ko6q2OGaZxwbbQbGeMXWg4s7uDg0Pb0AMbv4mE/zTR0GqeKa4w2EzfmmRGJQC2coXFEccca7s3yiRmCh9GBhmNch712Swa1QYa2aNIJhJNRveoJDwor+VyGbt370ZPTw/WrFmDfD5vPY7GVPYo9Sz9R/enarWKsbExHD58GMuXL0cqlfI3hXDcQW0r37PZLPr7+/1DyoMQl/AxsTLdG8fkGkSu4rZnGIHplPk26D5bfZhg6w9B99nGnFQqhVQqhSVLluDKK69Eb28vjhw5gscffxzPP/9800sz4rSNbdESVG+6XHFN8HHDLzSc8ung4NBxBCkWYffEvS8K2pnEGZ3OVyfNplEV3Ewmg2wqg3QiCSTmhm/Hj43j2rVrF/bs2YOuri6sW7fOP7C7k+W1XR8fH8eBAwewfPlyFAqFwDLZzPCNRgO9vb3I5XIol8sYHx8PJEVRXBYYtoVSlDLGRRyz9YkgLJ1+DkwIKlcymfQXGhs2bMCNN96I/v5+bN68GT/4wQ+wfft2n8y1ssEoDpnWv0VVfcNwos3sGk75dHBwaBtRBkOtbGn1xxSnvs8UhhWPoEm83cm+k6b2+UaQWTaXzaGQTqMGYAoJVDAXrfiw6bqbmZnB0aNHMTY2hnPPPRc7duyIvWEnLA3TNc/zUCqVMD4+jmKxiN7eXszMzKBSMZV0blyshi1atAi1Wg1TU1O+uTWs3+p4+HtYP7XFxeD7o6h8NqU3zDJg60OtKn76u66LOFaFsDBxFr+icC9evBirVq3CGWecgWq1ip/85Cd4/vnnceTIkSarTasuBJyeqW6jjElB7dsquTS1y0LAKZ8ODg4dA08kpgnLNkF0YlANU/7iDqpRJhnTZHSyk9RsJoNsKoV0ImGcAMIUmagLDTnMe2RkBKtXr0ZPT0/TuZs8mYcpc2EERYerVquYnp5GIpFAb29vU7phShKnNTw8jFKphMnJSZTL5bYUOhshstWDabEm97fSv6I8H7bfo7a7zreOI8q1uGlGrQtN+ETFzOVyWLVqFc4880ysWbMGqVQKmzdvxvPPP4+jR4+iUqm0TDyjwtYn4twb1H9s46tpYbJQcOTTwcGho7ANnK34cbWSTqcQpsaayEFchSgKAYuLMLKWy2aQTqWQBJCwHLEUNx3b71NTU9i7dy/6+/uxaNEi5HK5SHUXFHdQfcl9tVrtf95gU8HAwMCcw+ajkJpkMonFixdjamoKExMTqFarkcoseYyCqAQrzDzeSbN1K4j6bOvFp/zNN/kx5SWZTCKTyWB4eBjr16/HmjVrUCgUsGfPHjzzzDM4dOiQr5YzSYtrQm8lb3HjjLM4AOybmBYSzuzu4ODQMYg/VJhZUJO4MDNUkBk57Pp8IIxkLMRkymZcSTPK5JPN5o6RsYQHD8ePDopCAmxp2BYbpVIJu3fvxvT0NNatW4ejR49ienq6KY6gA8JtcYflq9FooFKpYHJyEkNDQ8hms6FxaGQyGSxbtgybNm2a8wrFKHlgROm/tvBxftfPjiYZNkIYdbEYJT86DR2/fE8mk3MIU5i1w6b+xnFlkPsymQwGBgbw8pe/HGvXrsWBAwewZcsWPPXUU5iamvLDhi0M4xLPdslmK0Q3jqvEQsGRTwcHh46AVQz5r4lolEkijIyczDiR6pMgbAKpTxeQLGVQ80oodR17vaZHZ312cgKq1WoYHR3FQw89hEsuuQQHDx7E5OQkJiYmrHnnPtQqPM9DpVLB/v37mxTXKOb7RCKBdDqNwcFBDA4O4tChQxgdHW05LzbI86BJ7YnoQ3EV21bjN2EhCA+3fSqVQk9PD1asWIELL7wQy5cvxxNPPIFnn30W+/btC/QNXgiVttOY77ZtFc7s7uDg0BFoVcKmpgSphWHKB0ObmjrlG9ZqHAs5yJtMrlFJS6OchVdNAw0gkWw+NN0GnUZUVwHPO3b00ZYtW+B5HlasWIEVK1b4ZMCkkoWB82Iru6R78OBB9PT0IJ/PI5VKGeMyQVTParXq+3tyuW35MuUzqBwSpy1sO32Jn6UTYZYPswqEmeVN8cQtg1ZH8/k8Vq9ejYsuuggXXngh8vk8fvSjH+HRRx/FyMhIk5nd1sdP9AKznXE1TpzzDUc+HRwcOgIxpfGfHsRNv+k4wlSSoIm0k5OsKW9h4Rd6EG9lwkkhjbSXQBoJ6BBh/mwm38wwNBoNjI6OYt++fejr68PKlSvR3d0del9caNNvvV7H4cOHkclkkM/n/aOewvLteR4ymQyWLl2KsbExlEol/5zQIMILmOs9CgENChvX/M2LsSjto0lWq2bdVhacnM+gRaQm0rZ7bUgmkygUClizZg02btyIpUuXotFoYPv27di8eTNGR0fn+Hea8qjzE6V8rWA+x5Io9bUQ45gjnw4ODm3DRDyFYIZ9Z2LaKuIMplEnZdNEFzfdoPy0o15KHGHxmpBKJpBNJJDDsQmgE1Q9LN+lUglbt25FMpnE8uXLsXLlyjmbgILibqV+6vU6xsbGkEgkUCgUIvt9JhLHjt5ZunQpDhw4gFKp5L8BKUoeovxuIjMnYuFiW0zY1GVbW0R5NlotXyvqOCOdTqOrqwvLli3Dhg0bsGLFCtTrdezZswebNm3C/v37Ua1W28pjpxFkRWnVhSFs0R4ljk7C+Xw6ODi0Da1sih9bKpUyTkI2M658tqFVn6ugyTGushQ3/Si+hu3kzUQegq6lEglkEglk5JrnYY4EaojfRjbCJi7PO7b7/JlnnsHSpUuxZs0aXHbZZTh06BCOHDnS9DYsjqMdJQ44prjKLvWuri4Ui0WMj4+H3pdMJpHP5zE8PIxnnnkGpVIpUv/Rqn3c/HdCsW+lT5vSD7NAmO5p9RkLUu/bIbAypvT09GDVqlW44IILsHTpUmzfvh2bNm3Czp07mzYWBZUjSM2O275R69Z2vylvnXQFWCgXjbaUz7vuuguJRAK33357h7Lj4OBwqiKVSvnqpTa32/7kuJN0Ot2kiLbj2/ViwnxMAvVGHZ73P5u6YkbfzqQ5MTGBxx57DM8//zzWrVuHG2+8EaeddhqKxWJbfn02yI73iYkJ9Pb2oru727jA0el1d3djeHgY2WwWL7zwAmZnZ0+Yn18QEeikWhpHRQ8ysduwUISGkUwmcdppp+EVr3gFfuZnfgYrVqzAQw89hG9961t47rnnfOK5EFjoskdV6E9UvwbaUD4ffvhhfOpTn8J5553Xyfw4ODicohDiGaRW2Hay23y6bOE6hVZUzCi/RfW1M6khQaYxnUbU/DeFy84ikakhmcwh1chHyl/UvAfB8zzs378fiUQC9Xod5557Lq699lps27YNu3fvxv79+zE1NYV6vW5VU6OYDRmNRgPj4+MoFAro6upCMplEvV43hgWOn+25Zs0aHDp0CBMTE4Hho+TBpoi2grB7O2Xa1nEGKX1R+kmUPmJSSdlKEiWvwLFFcHd3N84880xs3LgRhUIBhw8fxtatW/Hcc89hcnJyzjjUafWQEdVtII6VoxXl1YYTRUBbIp9TU1P41V/9Vfz93/893v/+93c6Tw4ODqcgePAMUi95QgLm7o63kTCbSVfH10mYzG22dPg3G5nU5Y6KqIRUT9YmhaqemoGXqiCZ6EKmOhApzaC8xjHBl8tlHDx4EInEseOMli1bhtNPPx0DAwNYvHgx9uzZg0OHDqFcLqNWq/m+lq0uEjzPw/T0NIaGhvx3vJvIpOQ7k8lg0aJFWLJkCUZGRvyD5YPQqqk9rC9EddcwxdEKmWqXuNpIadx4w54xGxKJY7vZ+/v7sXr1apx55plIJpMYGRnB3r17sXPnTkxOTvrtH2XBF5bPKGVox33E9jxFjTPqoqJdF5dW0JLZ/dZbb8VrX/ta/NzP/Vxo2HK5jImJiaY/BweHFydMZI3/ovp12vzH2vWfO5nN89olQRDFB80WnwkVbwYNVJD0UshUe2PlTfLTap48z8PMzAz27NmDxx9/HLt27UIikcCyZcuwceNGnH322VizZg0WLVqE7u5uZDKZQH+7oLRlcp2ZmUEul0M+n29S503x5PN5DA4Oore3F3v37m0iqtyPg8oX5bewftxKPzX1mSiKa5RnLYqZPUo76fiDyJ+prm3PSCJxbFPZ4sWLcfrpp+PMM89EV1cXRkZGsGXLFmzbtg1HjhyJpGLbnsFWzNQmwhgFQWnNh7nc1N7zjdjK5+c+9zk89thjePjhhyOFv+uuu/De9743dsYcHBxOLQSpfjbTXStmpCBVz5Yvzk8QUQkqVxTY8jYfkwWrnFpFDsLM1DTq5TKyHpBqzD37Mgg29Zn/6+um8JVKBTt37sTY2BhWrlyJNWvWYO3atbjkkktwxhlnYOfOndi9ezf27t2Lo0ePolarhZIVG8rlMnK5HHK5XOCJColEAkNDQ+jtPUbI9+zZE1gGG+L81iqJ13EEtUuUfMUJY0MQ+Qx6vm2KqfwWFK/8lslksHr1amzYsAErV66E53l49NFHsXXrVkxMTBgPjo8z5uj8hd1jC2MbZ6Io3LZ0gvpQlEVOq/XQLmKRz927d+O2227DN7/5TeTzdl8hxjvf+U7ccccd/veJiQmsWrUqXi4dHBxOesjRSY1Gw/epajQacyZ8bRaWa/Nh+jlZlM64ZYtbB3oCCSr3zMw0vEoZhXoK3dVFsdLpNMbHxzE+Po5t27bh0UcfxcaNG3HRRRfh0ksvxaWXXoqjR4/imWeewU9+8hMcPXoUpVLJPxYnSKnhOpiZmUE6nUY+nw883imRSOD0009HLpfDrl27cOTIkbbLl0qlfNeBuGj3OQgipPPxXHTiubWpt0HPTzabxYUXXohLL70U6XQaIyMj+NGPfoTt27fPy9vSFpKgvZgRi3w++uijOHjwIF72spf51+r1Oh544AH83//7f1Eul+e8RUJWnA4ODi9uCKmUDSMmZTLID4xVvDjqkZ6YoiqiGjpdmy+dKT9hE71NDTZBq5k2tDoJVrxp1NJTSKUS6JtZjYbnIYHmeotS/50kMOVyGYcPH8YjjzyC3bt3Y+XKlVi6dCkWL16MCy64AOvWrcPBgwexf/9+jIyM4PDhw5iamkK1Wp2zQYnz5nnH3nSUSCT8xZEOI5+7urqwYsUKVKtVbN261Se57YCJZ9T6ClLGOL8myOIvLL0ofSeOhSCuwmZLK0hp1u2VzWYxMDCAs846C+effz4mJyfxwgsv4Pnnn8e+ffuMpD/MdSRqmYLUwjjuB2FxmRClXdvpawuFWOTzZ3/2Z/H00083Xbv55puxYcMGvP3tbze+vszBweHFDyGdrDRoAmoyy0s4HVdQOnHzJTCZqTU6RahaMXm2kg+TUhR2bzVRQq1rDMnZMronViFZz8BL1YBENCKtr9nyFddkXavVfEI5OTnpv5d92bJl/nvWe3p6sHz5chw9ehQHDhzA2NgYpqamMDMzg9nZWf9NRJJOIpHwrwkBtWHRokXo6enByMgIDhw4EGri77QJ1XRPqwQoLP5OuJhESTtq3UVZmPFv3d3dWLx4MVauXIl169ZhfHwcW7duxe7du3H48GH/dahR8hinPHF+D/OxDXOVaMcSFMfFopXFRCcQi3z29PTg3HPPbbrW1dWFoaGhOdcdHBx+usDmdhPCBrk4fkqmz6bvQXlhRdKmXrRDRsOIRJg/my0eW/ioqmwdZVS7j6BRG0fx8Cpkaz2oJMfgeQ0joYrqtxaWr6jKV6lUQrlcxujoKEZGRjAyMoJVq1ZhyZIl6O3txaJFizAwMIChoSGMjY01/U1OTmJ2drZpIcRKfBCWL1+OZDKJ6elpjI2NWfMo+YwzwcdFO/eZLAGdQlDfMPWLTvsUJhLHdrQvW7YMp512GpYtW4Z0Oo3Nmzdjy5YtGB8fR6VSmTergS1PcRdaUe+PilPRFcC94cjBwaFteJ7XZO4LU40E2gwWRARbuWYK085AbZtgTd/DiKGEiRJnHISR3Fq9hpnufSgldqG/vhE9s6twNDMND2VjPuKaEcPyo2FzzSiXyyiXyxgfH8fevXvR29uL/v5+/xzOpUuX4rTTTkOj0cD09DQOHjyIHTt24MCBAxgfH8fMzIx/VJKpX/ECJJlMYu3atZienvZ9S6Og1bYLIsNxSa2OKwrRlnLzYrEVpc1mzdBhbIuqoLozlSmdTmPlypW48MILMTQ0hHK5jMcffxzPPvssZmZm5rwtqxWY6iGMyMd5XsPGAn0tLuK6LZ0otE0+77///g5kw8HB4VSHKJ96QoqiwESZMKPeG5WEthJ3q/FI2FYH/nZMcBqe52HU24Xu1GYs6roWpx1+DSbzuzGbLKODIpkVUg9x6qNUKmFmZgYHDhzA1q1b8cgjj2BoaAirVq3y3xV/3nnn4eKLL8bk5CQOHDiA3bt3Y8uWLchms0in04HKcKFQwJo1a/DII49g//7987JRxZa2Riv9hONaqD7Zbnxx0k0mkygWi1izZg2uu+46eJ6HLVu24JlnnsGuXbv80xDmG+2MU62kFRWdbseFgFM+HRwcOgImmmE+XHxdNgawemoKy/GEreyDzPFxVSJbXtoJE4QoeW9FnWLMVCYxUdmPRP4o1kyeg821LpQzY/CS9UD1Radve6uV7V6TmhSkmPHv8r3RaKBUKvkbj5577jl0d3djyZIlWLNmjW+ef+lLX4qNGzdienoaAwMDOHDgALq7uzEzM9N0dFMul8PatWvRaDSwd+9ejI6O2qoysHy2Mi8k4izC4prlTeFtbWiLu5X6yGQy/vmdF1xwAcrlMh577DHs2LEDhw4davLzDcq37XvYPfNB6tp5fsOel06lO99w5NPBwWFewD6V+jpPWtokGqSWhpkr45oy2yUH8+FXF5RGXNKt4xDUalXMYhyl/p0YGj0PxVo/ZhqHUEuWAu/TebGZTfX1ZDLZsppoIzu1Wg21Wg3lchlTU1MYHx/H4cOHMTQ0hIGBAf+vr68PmUwGS5YswXnnnYc9e/Zg//79mJ6eRq1WQ09PDzZu3IiDBw9ibGxszrvcW23jMMU8ilUgiqJlc1toBZ1WLYPCheVTFOkVK1ZgzZo1WL58OSqVCjZt2oTt27djbGws0huo4ua51XvaXZia+nlcdMoyshBw5NPBwaEj0BNplMmX79PxmL6zyTZKXsLyEQXtEEybqVd+03UlhKSdPEchH57noZKcxmTfdizzLkZfZRkm8yOopUrwMLe8cfxYdV46kV8dluNtNBq+f6jsku/q6kJ/fz+WLVuGs846C/39/ejt7cXatWvR39+P/v5+HDp0CDMzM+jp6cHpp5+Op556yiekmnwGKXhBfotRy2SLS6dtU1pbUe9bzWenyYkp/8lkEvl8HsuXL8f69esxPDyMVCqFHTt2YNOmTRgdHQ1VPKPkNUr9toJWXSds16NafKLGv5DuAzY48ung4NAxsNrJn+Oawk2f5bse2E33hg2srZjeOzlg82TSqv9pUFmDyL1cq6SncKDwHDZkklg2dR7Gs3sxlTnYRIqD4rXlMSjvYWbqKAiqLzHJl0olHD16FHv37sXs7CwGBweRTqdRr9dxxhln4Mwzz8TIyIhvYh8cHMTu3bsxOzsbqVxhZCCKqbTdBYaO26ZGR40vSrvGMeXHIUOcj0Ti+I72Sy65BEuXLsXhw4exdetWPPPMMxgbGwt12TAhzO3D9hxFwXyrhXGeuyjPvvw/kQTUkU8HB4eOQw70Nk3SbGo3TdKtqhUneiUfFWGKcCfTCarLsjeD/diC2dN24PRdl+NIfjsOd21DLWkmYFHj1Qginp2CbUFSLpcxOzuLmZkZjIyM4OGHH8bAwADOP/98rFu3DmeffTZyuRwajQb6+/vR09PjK6kLZX40Ia4aHHQ9iOQFkeKFKj+fvZpOpzE0NITTTz8dl1xyCfL5PB577DFs27YNIyMjc1wi4mK++2E7CMrbyZrnduDIp4ODQ0egN59oUmhSaNjs3KpqI9CkNGiCDTO3xSGB7W6qMOXblCdTuqY6i3p/vVHHVHkCO5bdj/W7fxmLyqdjqHQ6RrqemfPCkPlQSUxtE9esHxZeVLRarYbp6WkcOXIE+/fvx969e33yedZZZ6FQKODVr341Nm7ciO3bt+OFF17AgQMHUCqVmjbE6XSj+tjGgckVIwpaJas2C0TU+22qm2lBYOuv4t95xhln4KyzzsLKlStRLpfxne98B9u3b8fk5GRk/85WFMKw+6KmF9XiEqaYm+KMajUIa4/5cDNoBY58Ojg4dATaXMsKp83sHmVAjUIwbGhnQokSbyu+dhpR44ij2kQNV29UsSfxDM7MvhrD1aVYWlqHA13PwfMAU7ZaNenGzWMYwQkKr+MtFouo1WqYnZ1FtVpFuVzG2NiYr4oePHgQu3btwvLly/3NR0uXLsWePXuwY8cOHD161H97UpRNU+2qa3EJeKsuAEHEK2gxFjV/UdoslUohk8mgt7cXZ5xxBtasWYOuri4cOXIE27Ztw/PPP28lnp0gTq0QsflSKE2LcVOcnXRT6UT4VuHIp4ODQ8cRNoAlk8kmYsqIO7jKoB2HxNmu6wl5PgbiMHNouxNbHFWlAQ+Ha7tQ6t2H3qkeLC+die21QUxlj4Cj6YS5MoqSZ6rvsMWISUXn34vFIiqVCsrlsn8ObSaTwdDQENLpNPbv348f//jHOO2007BmzRoMDg5i2bJl6OnpQbFYxN69e3HkyBFMTExgZmam6V3yQYsQk/JvUx07qUDZlMywtE3qbpjvalhbBpn1s9ksurq60NfXhxUrVuDMM89EJpPB6Ogodu/eja1bt2J0dDS2i0cQoix4TZaaoDRacUNZaJyM+XPk08HBoSMIGthtpjb9VqS45s2o+YoTNqrZjq9FNbe18ntYnuIqX83fPUzVxrFv5RM4Y9cVWDFxFlZPn4tn0t8DEp3xpbWZYaMirjqlCVdPTw9mZ2dRKpXgeR5SqRQWL16MM888E57nYdOmTdizZw8OHTqE559/HsuXL8eqVauwdu1avPzlL8fBgwexe/du7NixA7t378bk5OScV8mGlbFTalXQdflN/K35P/9xWHnepDzyx68nFbeDINjIm6nvJZNJpNNpDA4ONtX17OwsnnvuOezYsQMjIyOYmZkxltlmLg/rp522GrSCoH4StZ+3YzaPq6rPJxz5dHBw6AiiqA78Xz6HKQtx0m91QNV5alVBaTcfJwK1RhVP930HXQNDWFe+DJeO/Aqe73kUs8kpeImTd6NDmK+imHX7+/t90phMJpHNZvGKV7wCa9aswebNm7Fjxw4AxzYn7du3DwcOHMCzzz6L4eFhnHfeeTjnnHNw6aWX4qUvfSm2bt2KH/7whzh48KD/DnmGre3DroUtPoKQSqWQzWaRzWZRLBbR09ODvr4+dHV1oVAoIJ/PI5/PI5PJIJVK+QQUgE806/U6KpWKvzlrenoaMzMzmJmZweTkJKamplCpVFCtVpuU37hIp9Po7e3F+vXrsWHDBgwODiKRSGD37t348Y9/jIMHD/p+tlHqolNEsRPKPnBykTtGp8rXSTjy6eDg0BHYJljtx6QHQd7tavpdruv49O9hvoVhahIP0HF87aIgjnJkSysquY+aBocfnTqM3V3PoG9oCZZvPR+rKhvwQu5pVBOzscl0mLoTRVmOou4EmUWln+RyOXR3d2NiYsInn8PDw7joooswOTmJgwcPznmjUb1ex8zMDPbs2YMjR45g06ZNOOOMM7B+/XpceOGFOP300/Hoo49i27Zt2L9/P0qlUhMJ7dQkbyIyohpms1l0d3djeHgYy5Ytw6JFi/yzTLu6upDJZPznSpTLWq3mK5qidpoUUkmrXq+jVqv5BHR8fBzj4+M4evQojhw5gvHxcczMzKBSqfj+sCY/xWQyiVwuh8HBQaxYsQIbN27E6tWrMTk5iV27dmH79u3Yvn07pqenjSpr1D4xX24hrSwmW1FhW7HytOu2cSJJqSOfDg4ObUMmLwBNk5rJPMafg8hkGDphkhd0Oo4oeYuaZlxzYSvx1ht1HMy8gH3dz2Jl79m4+ODPY3TFPowmD6AG83uz45qGW0E7E2M6kcDidA7F0SmUxsbRaDQwMDCAtWvXoq+vD1u2bMGBAwdQLpeNbSc75Pfs2YNSqYQjR47g8OHDWL16NTZs2IChoSHs27cPO3bswMGDB1Eul42qYJCvpwnyTKRSKaTTaWQyGZ9E9/b2ore3Fz09Pb7CWSgUkEqlkEgk/IP2y+UyKpWK/1er1VCpVHzyKWRZnlNOK5vNIpPJNP3lcjksXrwYQ0NDWLVqFWZnZzE9Pe0rpHK2aqlUQrVa9Q/qTyaT6O3txeDgoP/mqWKxiB07dmDnzp0YGRnBoUOHfFeGKH6mrSDqwo3TD3JjiericrLDtFhYKDjy6eDg0DaYRAr51H6ctolFD/ZxfS6D4rOpJVEnuCgKXBz1oV2lwoSoSk1QmT3PwzgOYSS7BWOLduCsXRfiJ4vuRzlZwmTq+KaPVgh2nAmuFd9XXV75nG0A66dq6H72BdRGx9HV1YVVq1Zh48aN/nvcDx8+3KRamupI3iM/Pj6O0dFRzM7OYuXKlVi6dCn6+vrQ3d2N7du349ChQ5ienvZJqI6H49eLL00Ac7kcCoUCisUiisWivzFHlM18Po90Og3P85pM5dPT05iYmMD09DRmZ2d9UzkTQvZX1ekz2czlcsjn8+jq6kJPT4+fruxO7+3tRb1eR7Va9Td0aSU0mUyir68PPT09yGaz8DwP+/fvx9atW7Fnzx5MTk6iUqkYF6btWgviwLa4MuUlLsGMs5BuFZ20KCwUHPl0cHBoG3oDA38WRUOUUQ4rRFW+y/9OmJkFYRNHJ/y0TIN7uypIO0S1lTKVajPYn9yJTYu/i7V7bsG5E5ehlJpEqTiJqldtOV5bOeKa/MImV04nhQR6qnW8ct9R9B74IVJLklh9yfm46qqrsHbtWoyOjmLv3r0YGxsLXKBIvI1GA1NTU9i+fTuOHDmCM844A+vWrcPKlStx8cUXY9myZXjuued8Qiuv6dTxsosHq5vFYhGFQsEnmaISCtksFApIJpOoVCqYnp72zd+HDh3C0aNHMTU1hdnZWf84KSGY7ZinmRBns1nff7RYLKK3t9cn3pK/gYGBOWf9NhoNVKtVTExMYP/+/Thw4AB2796Nw4cP+/UT19/6RMNGSDtpoWilHkzPmc2FIezaQsCRTwcHh45Bm9GZjMp3RtjvraIVP612caqZ3HR+G40Gxr2jeCL9A5x11ktx7tbLUMEsaskaXsg909FJyuRn20lkAAxUPZxzpISHkx56B0/Hxv/ZOJROp7Fjxw5/E02UfALH++ro6Cgef/xxbN26FcPDw9iwYQMuvPBCnHbaaTh06BB27NiBzZs3Y/fu3U2meCGbsjGou7sbQ0NDWLJkCRYvXoz+/n50d3ejUCgAAEqlEiYnJ3H06FEcPXoUBw8exOHDh+cQTVFZpR41AWwFnuf5Jnrx+xwbG2uKP51Oz1FqC4UCstms7wZQqVQwPj6OyclJzMzM+Mdd6Wf+VHt25hMnO/nuFBz5dHBwaBs8uYqiCRwno2x21+Z4HY/pukCTASYxputxfBXDYDLDBZEnmzk4jvqQTCab6jIsfzqu2CZCNDBVn8C3hj+PX5oaxrlHX47uSh8m1hzG0eRB4y7kKEqOKZ9yb1hbtTIZr5xt4LKxOnpqHp5e0o0zXv4ynHPOOejq6sLo6ChSqZS/8ztKfnU+q9UqxsfHMTU1hf3792P79u0499xzsWbNGlx88cV46UtfihdeeAH79+/H9PQ06vU60uk0BgYGMDg46L/Ks1gsIplMYmZmxo/r0KFD/nvnp6amUCqVfH9NMZ0H9et23FZM4XWfl2ti0i+VSgAwpy5Z/TTFE5Zup7AQiqTpmbOZunn8awdRn7ug8cl2bSEIsCOfDg4OHQEPqDxI2wZHNmkGhTPd024+o/hEmu6LE94WthU/yDiTQbtqYsOrY395DzYteQgXlK/A2onTcenRq/DdRV/FDErwEP6WH0bQxCyfTRN2qwQr1wBOn6njpRM1HBjqxqFVw7jgnI0YGlqOiYkGJiZK2LVrF6ampub4Zga5COi8imm7Vqth586dKJVK2LdvH1asWIFly5ZhyZIlWLRoka8gyk71RCKBer2O8fFxn2SOjo5iYmICU1NTmJyc9H0hZYe6dkkJq99WYSMkUawZTDJ1O8ZZhJkWeK2WoZ36aMXsbVtQ28LavsfJW1wyHISFdHtw5NPBwaEjCBp4bROm9oGLS0BZSTCZ/MOIb7uIQlijpGMjZXEUEpsSHAcSR6kygy3dj2PJwBKcUTsbLx27FFt7f4Idme2ooBx5wouTbtB3jaAJtb8GrCw1sLzs4ekVXcictgK9w6sxNtaPn/zEg+dVsW3b8/7RPq3kUfczMYWPjo7iwIEDWL16NVatWoWenh6fcDYaDX8zkBDMsbEx/+1JskFIyCr3Z9P/uIpeK2HC2tRE0m1ks908tho+LtGL+lvQIiBqvuS+VtXZuPUQ5Z6FcoFw5NPBwaFtBJnS5Xf2ReNBlM8WlN/DMJ8KKCPqJB9nkmbXg6iqcFCaURXbqPUl4XeVt+PpRQ8hl03jwk2X49Kj1+DokiMYSxxBzatFjjds4WGr31baN4EEVpc9rKgkgGQSjy4q4PT1Z6JcHsJDD+XwzW+WsXKlh0OHtmFmZiZy2kHqlYSt1WoYHR3F+Pg4du/ejYGBAfT39/tnborvJJvSK5XKnDbW522aEKQKB4Xh61HIiI4zyvNgc/+wEVVbHqKMCa30nbB7Oq38tRtv0HNmqte445WtneZbAXXk08HBoSNg9ZJNkyYznXzXk2wUHzyNVoloXNIU5952sFBmrzCUK2U87T2G6fw0us/oxVWbrsPBnn14uvgIDqRGUK1XO14PrZr9EokEEkggCeDisTTWVNI40JfClt4Mfueii/GDB3vx//5fCt/7XhYDA3msXz8GoDovdd1oNPwzL/ft2zfndxOZ0BaAdjDfptOw+Nv9/WRCpwjpyVLeOCrrfMORTwcHh47CpvyZzHH8F+QDFkRKo/hvBn2PopLEMSmblKWoKk6Yya9TZn6Bnlx1Pmers9iR2ob/N/D/w+Ily/H6F96AlUNL8dDAf+O5wibUGubjhEwqV9w8aYSSNgBXjKVw/kQK9WIWP1yew2Q6ie6ebgwO1tHVVYXnNVCrTcDzGmiH40UpY5DCFtcsHZYXnWYUdTJMNTP1X1uZbUqa6VpcpS5MdW61HaIgzDoRNY6ga3HIeCfKdrKQf0c+HRwcOo4ovmBCtlKplP+dJ0UTYY2SbqfVuHbMdGH+Ziby16o/WpwwtrCm+pttlLC7sgPfX/wNvP7IL+OyI5eit9KFxpIGNuefQ90zv99cl0n7K7biXmFbaCQA5BsJ/MyhJHL5HJ7uS+Lh7jrS2Qz279+P7u4prF+fx8hIGRMT9yGRqM+Jx1QfYbAtMGxhbSbUOC4Rpj4TZC415a3V56QVE29YPO2Sofm0QgDRy6jLEUSaw+Lh+02LizCrTFTCG2XxMV9w5NPBwaEj0IQxzoRiG+iCrrejRraKKGZRm/LL5EvnK2p8CzE5aNJYb9Qx1ZjEE4Uf46Le83DW2Fl4ycT5OJo7gqNDR3A4fRh11IGEXeXphPkySOFOewksraRw9lQCI0tS2NbVwJ50HesXLcLevXtRqdSRzzewcuUU9u17BIi5Yz9O3jTZXsg2s103PZM2chQnftvv7SprpsVLq/HHGYuikuL5Vg5bsbjoe23xRR0r57uMjnw6ODh0BGFqFpMvee87k7k4KmAQyYlLNIPChw3+YWlFUTFbUTM7QWKilE2uN7wGdld34JvLvo4EgLPGNuBnD1yLg5mDeLD/B5hKTaGO+pw24LhaUduihE8CKDYSOH8qi56GhweKHrZnKqg3kjj99NOxd+9ejIyM4OjRo2g0xpFKHQJnL4hw2No3rF3jKKJxwpkUziBiH3VR10o520GQUhuUfthz0Mn8hqmHpjx0YpEVNI5GJY5xf2snbKtw5NPBwaEjsL3ODzBPGrLZSA5SZ+U0CkymfLluC98uWo0jimIKnDwbE0xoeA08mPkBZpeV8crCGK7d/Sr85o7fRPWMEp7q+QkOp48sSP41Qeypp7B+Ootf3teLHUsT+FHXBJ5PVwAv5x9ltHfvXoyPj6NcLsdqw04pla2alqOQQn5F7XzlI068rbguRLGWLOSzEbWeopi/TeOUbeyaT5wsvp4CRz4dHBzaBpPGINWHf/O85o1EHEccAioqaqcH81YH6iA1VAi3PtzcFo/2k4yCuC4JcVBHHT/JPo2ZgWk0EjXcsP1avHnn6/GNJYvww4FH8XxuBxqe/S1I7eZL35NEAuunM/hfB7vQn8rj02tK2FKdxVS1imSjjocffhiJRAJTU1OoVqtNcQSpS1HUT1NYG2wKXlR/vk6SBlOeW1WkTS+ICPM5DErf5osYlle2orRioo9rLZGwcawzUevcVE9RFV5T327lmVsIUuzIp4ODQ8fAA7Ie9IJ8HU3KoG2yimoy1Agjp0G/2wgLl1W7DwTFHWTqtaFVn6+w+ok70cx6JexK78S3+7+FFSsGsfHQ6bjq8GXoq/biW8MPYFvhBdQb9SYSGkT4TAsH08Tb9Pv/HKt0zlQOl4wXsLaWx2Nnd2GTdxBTXs33P52YmIDnHX/dK7t7mPJmWzCZCFErCqo+PD4IUcia7R5bmE6R2DhkMUoeolzTac2HyT1uHGGL5bBFcVh6QWOmKd4w0h7Uj2yEdb7gyKeDg0PbYOUhaMBk6AlZwrcyAUT1l4sSV9SwUcGmtyATadAEZlPdgu4Li7/V+vA8D1OYwtbsFnx30ffRXcphycwwXjb+ElRSFZQXzWJ/5iDKiQrqSgU1mWfjkpFjJ3oCq0p5XDrajQ3lAqrdOTy0uIaDB0uoUV+U96Enk0n/VIWoZbblOyysvh63L7Wq4AeRVY12TLCmxWBYXO2SunYVzflAq2NFlMVgu6RVx2e650Sb4R35dHBw6Ag08QwiR2xul/de6/viwKZmRUHUydMWv41wayUhjqpmSzdIMe70RBI4+cFDqTGL+wrfRX5ZFlcevhjrxk/DDXtfjdnUJL4/+DAOp8ZQQhk11OAhnhk1CAkAXbUkrjrah6tGe5DsyeKJ5Q08VNmPyv8cfJ9MJP245Y1BtrJFrbd2+1QcUhlXhYprWo6yKIxqTm4XUdLptKrZ6jMThwSHtXUcX90ocbdTRyeChDry6eDg0BEwiTKZ3HnA5++dUhlbVYwkD1GUjHaV0Xby2A40gdVmUxvC1JeyV8bX+u7D3tw+XFG8GD+z7zL8793XYs3MMJ7s2YLnijvwQmEvqmQKb1dx6aolcN2hIbxu/2I0+nJ4bLCEb+VHcejI4aaySjpRFc8TiU6rUO30sSAyFfW3OOWxhZ1vZW4+4o6ieHe6XK3GdSJVT8CRTwcHhw5Bq3syyJrIpyZxYpJuNV2b75ONdJkQdcI2TbScpv4chDDFM8w/MAqZs6myUSdBXZc6vlJ9Fk9knsHI0AFs7tqG1428ApcfeQleMroOO4sj+HH/M/j68IOYTpTQSNjbwUZAjv0I9NeyWD1bwAUTPfilA/1IFbO4b30FDxbH8Mx0M/E0xRdHGT+RBCGwHjqQ7nyQlTDyGFSfcftuq5BTNeZj8WcqZzvKcRxldj7cHhYCjnw6ODh0BHrAtE32mqRpUmry9+J4bL5L/L9VBCkXrUwmQQTIdD3IBG+7v1MTTysqqHwvo4yR5EGU8rMorZ7Ez49egbVHlmHD1GoMl7twxnQfHunbji1de3EwO45SshIp/QQSyDdSeMlkP14+tghrZwoYrqaQzyfwg7OBH2YPY2v5KGbqFd/EbiubqTxBZTV9NvVx20InSjpxwpjuCSqXLFzaWQjZFm9R6s7WV4IWmZ0iSabnLmwhx2HDnsG4bgudXFBwfCYLRhjhXyh3ijA48ung4NAR2Ca7OKbqTg2AcQb2IFIV9d5WlA+bIhkn38Bx/9kwNTasTHHrvkm19hooo4yDycN4OD+LQrKA6eQGrJ1YhqHZXlw2sQG9tS6smB3E7vxh7M+N4Wh2HHWvgXK6hlqiAeAY8S7U00h5CWQbKfTUM1hWzuLi8SFcMDWEQS+LSqGOrYun8N/9o9g2NYrR8jQ8z5tDPINU7/kiOVHDRl3YSFjbvZ1W0VpBFDKj6z/KcxIlDVv8UWGry0QiYTxGypanKGFsacdt+zhtHgUnShV15NPBwWFeIIO3ycyuzfB6IA5SR/X9jCjKlM3fsVWFKCj/cYi3rSxx82O6Zppkg0gNf49j+mt4DYxXJnFf/ofYveoAzi2vxUuPno51R/px0eQZeOnk6TiSmcS24l482bMZtUQDB/KTmE6V/2dTUg3LZ7uRr6cxUM1h1WwR50zlsNgrolZIYqwP2DUMfGtZCT8a242p8oxf/yZCF8XtIu7iSPfdVrAQC7KoSqUgrD+Y4gn6HhbWhrjPTJRnzWRRsNVNlOf7RCOobkwWpyhEv9OuJmGIRT7vvvtu3H333dixYwcA4JxzzsG73vUuXHfddfORNwcHh1MQQeqn/K7Jgucd8/m0vSXJpuqZyKztviAFIUi9iUscbfnX5Ddq2jalNEzd7LSpLyo8z8NsdRZP1jZhW2YnfrzmJ3jpaevxsgOnY9lUPwYmu3DV6AZcc3g5AA8Hs5OYTpeBRA3wprF0tohcI4VECmhkG6jmp7BrfRo7FpWxuWcCT6UOYduuF1AqlfwyyeH9tro09Rn9m3zutMrW6oQe12walHa7pDmKCbkTKnBQ+9meX9tzEKUdgxCmzkZ5joPChJHeuK4iQYjrfrEQJDQW+Vy5ciX+/M//HGeccQYA4J/+6Z9www034PHHH8c555wzLxl0cHB48SBoEFyoQS8qOp2XdlRQuT/qJBLFFGqLPw5MSjPHN12ZxvbqLPZnD+Oxoc1YsngQS+sDWFkawJJyHoViAX1jaRTHu5CbPmZ637kxgVK2iql8DWOFCg6lxrA1N46R2TEcPTSBiZlJVOhtRXEJla2cJveFoDLL506YfOcDrfS3sIVjp/I0HzgZFcpOoJOK5EKrm0GIRT6vv/76pu8f+MAHcPfdd+Ohhx6yks9yuYxyuex/n5iYaCGbDg4OJzOEOJpMnbZJUH6zbRIxIWgiDTMZBt0TR/2yEa2g/HD4KG+5CVNVOA9x/Adt6cQlbkEqT5O6A6DWqGGqOoNqvYZDyVE8jxy6k3l0F3Io5PPoGs4i159CupaA51Uw2VVHGVXMooqZcgVTjVlMTMyiVK+gWquiVqs1pSl/7Zp1W1382FwagsKZ8hMWrp18BaVnuh7VJB123ZSnTqh3UVTDTpCsE0XWtFLfiXzohVKYCX6+0bLPZ71ex7//+79jenoal112mTXcXXfdhfe+972tJuPgMK/YtGFjW/dvfG5Th3Jy6sNGwPQAahsAgwgWw2aOimsKbYegdgKmspv8tcLiCJpMbCQoaFFgy2PQNZNZm8M1Gg3M1EsoJWYxnkgglUghlUwhU00jk0wjlU0imUmg4TVQbdRRb9RRa9RRq9dRq9eMO6Q74XsZVi4uW7uIqiqGkcBWiMhCKILcn+KYtE2/tZpulHBx49VxR8l3VPeBTkG7V4SlF+ROsFCITT6ffvppXHbZZZidnUV3dze+9KUv4eyzz7aGf+c734k77rjD/z4xMYFVq1a1llsHB4dTDkEkQatNUU3KNh++KETVFI++bgsfFKdp8uV8RlEdTHkKI6kacSfhVsl1mLpnU4g9z0MDDVTrVcxWzXnS13Qby/eopIp/j6O0x0FQ2+n82nZSRyH77RCGIOuAra/qMLZ+HER69ILHFGeUcgWlG3cc0XmOOvZEjTdOO7VKVk1ljjpOtZKfTiI2+TzrrLPwxBNPYGxsDF/4whdw00034Xvf+56VgOZyOeRyubYz6uDgcOpATw5BRIUPfrapQ5ps2gioacKLouxFIV5RiWpcsmi6v5Xwug7C4mhFoQpTUjiM6V4dNiheTdgETB5tBNf0OQraVRWDFjTcTslkMlI9LLQy1an0wghzK2XUddtqO/H9raat04+ziIiiZgeNAWHKq61uwxbV8nmh+lxs8pnNZv0NRxdddBEefvhhfOxjH8Pf/d3fdTxzDg4Opw5sk6lMttp3yaYO2uI2DfBMUBbCT6kTCJq02okzqH4WEq1OXibFWP9+IsvTCTIfFfNlnm0HUethPvN9ovq0pN2pe0+2ttU4KZVPDc/zmjYUOTg4/HTCpl6ZSIM2g2pCakJcgmVSSTsFUznj5t12f6skK6pyYgofxZVA3xMFUVQerWDb8hK1TqKaKoPSadVkajJlLwTxaKV9wvLN4YK+6zjD8mCrf9PCNCzfnUK7ZvJO3BtFPY2CTox1C0HwY5HPP/qjP8J1112HVatWYXJyEp/73Odw//334+tf//p85c/BweEUgzYxyjUTJIztfM+46XK8+re4Zumg+NslZSbY8hzXBB/03ZROK/Ha4uR6CTK5B5nZTeGj5E/M8bbNSVHiimsOjmImj6OY8v84dcAuLFHSNN0bZfEURA7jPgNxzNAcLij9hVCMwxae8+060eky2p7V+UYs8nngwAH82q/9GkZGRtDX14fzzjsPX//613HttdfOV/4cHBxOIdj8jjzPQyqV8sPocBJmPkgc58Nmzg2bCG3pRCW8Os6g/LJ7Qquq7XxOIGEKru2aLkuYmT0sLY24ZMV2PagMUe6PgyDFsZ344/R1W9qm6zai2kmTdDvhWn1eWimPrS/HRSee7/kguPONWOTzH//xH+crHw4ODi8imCYsQZB5ud3JVuKLQ5DamXhsk06rprWo8ZnCR1VJwxTJoDTjKmphBLoVhY5hUpiiKmBBhNTWf6OS5bjkJSx/Yf1Gq71xFwimuHV/suUnqL8G1V1c0hmVLLeLqCq/LWwrY1hUa0y7VpuoY5XJetBpzM+ZEw4ODj914E1FDNPg1uogOt+Yb5NdVJws+egUOlWeMHU8qjrWbn462T4ni2rVrjl3PvvsyTZOAC++Z3Sh0faGIwcHB4c45kP2T2N1rBW1KI6JPcoEFjQBh6k5rfhNhZnqFwrzPZGG+cXJtaB8Rc1jVDeJsLqO6gsZJe0490dJzxYuqA6jqGqmeOP0jfnwRYzzLJkUvqjPpkmZjWqxsOWjVcS9P67FJCzdk87s7uDg4GCCbZLQZtcwgmH7PapJ2RYvxz0fpCOOT6Hp9yDzZhhhilsvpsk1Tv5ahY0cRLlHl9tESqP0kWQyiXq97odvB1HNza3c36rLgCkc112U/haVnJnuteXtRKqE7ZDpMJhIadwFBYeJY/I/1eHIp4ODQ0cQNnHaBmVNTIOUBxMJiTogRwkbFKZT5Je/RyEZcX3kWsV8TGxRJ1VBO0piWD0JsTpRanOY8hv13lbvCVKRTXUQpjrz897q4quVe0wLMlMY/XuU/mFbLEch6EF917ZYCipDENq5NyzehVooOPLp4ODQNnhADlPmTAN3Op1GtVqNperxb6YJoR0S2Yq5Nwg6r3Hy0krYIMQpT1yi1mmibFI1bYuYMMWpHRIcFWGqYbvx2+KI+pyExRNFtezks9GOsh5HPbfd0w5pjrNwjIqw50fiDCtHq+b2uJaJduA2HDk4OHQMnuf5Z3bW63WrydykarZiWuf7fxoh9XgizZonM36a+0a7iPM8xrE+8P9TBe0sEm1jYKuYTzeChYRTPh0cHDoCm8rkeZ7/FiMdJsj/0DRYd1Ld7MQ9YfG1ak6zqUtRVax2lKS4rglBZZxv07IgTE1uRxnsJDpp1gwyk3dCUQ8zP3cSWuGe7z4VpKLr65yfdq0mne5rrYwvQQsAZ3Z3cHA4pRDmzxZk1gkK3+pgHeYHFvWeVtDOBNNOHmx+ZSaft7hKVSf9altFK3EvtEoUpd+Z+nvYMxCXWAblI8zUzK+7jXKf6TebXyaT2Sgm/qjpRfnN1H9arctOu01ERVB+23UVWGgF1ZFPBweHjkFPVFoh0xNAUPggNasVIsX5MMXZKQSpOFF8Auc7X/I5qn+iRlQVzER6dTytTsBxJ9GwayYlt5PtECeuKIS5lXqL0q62RYs+dLxTiyTTb/PR/8MWw63cqxGlP7f7e1QspILZKhz5dHBw6Ai06TzKBhGZ2PS73bW5T99vSz/uJD+fJteoZM9033xuLmrXJB80qZnitpWn1clxoSfWsPaIqigGYT7fKNOKes2fo+Q/SpvYnmUTuYvaj2wqsoQ3pd2OqdoWfyvxxkW7+Y6yAFvI58ptOHJwcOgIeJJLJpNN14Djb0DiCc3zvCby2aqSebKv8jVOxTxHgU1R6lRZ56Pe3KakuYhaz3HaoxNq6Yl+bk50+p3EiS6HUz4dHBzahm1VHeajFGTC4njDlKd2fUPj+n5F2exhcz0Iitd2LUr+NLFvl1S1qoScKAUoSMXRbcB9RoeLW+6FnsTD3BnixsNx6eumz1H8Dtvte0HxBKnw/Fun3D2ijlFx7+9U+Ljx2Kwh8lwsVH925NPBwaHjiKJitjLRR0mX4w76PUo8cdIM+h7HfaBVRDWNx41P4gxCu2na2iWOiZ/z0Mk+daKV0SiuDnHqKY4bRKvXOqWAR3m2BJ18poMQtT8EtUsn8tLKMxfFfWCh4Ming4NDxxBmlgqbuKKsvk2TZ9RrYXGG+UgF+XtFmfzYlzXq5BF1YxDHadugFYYoJNAWl23DSpT0bN/jwpaurpOwOopDODs9iYctoDoRd9TrrcYd9dlrte5s7Rx18RJXtQxbRMdNJyj9qM+7TtvUv6PW64kgoI58Ojg4dARMPOW/+H7yNfnMA3DQBiMdJui3qCZBPTi3q9y1QnLD0ouyucIUf9j1IJPkfKJT5mJTfLp8UQko54fvD0ov6vWgcHqREKVt4yxWwshQp2Bqy7C61/WeSMzdTR+GsMVQp03hYQhyAYh7X1TE6Y8nSt0MgiOfDg4OHYFJdWh3EoxqJm9F6Yur1Jxo82unIO1i8/Nb6HLOFxGOqr7FUchbCa9hq3f+3WS27rSKFZfwdsLH1FT2k5EYxcVClCGs30SN42Spb0c+HRwcOgY9WbVCMtsxxQXFHSUPrZpe48BmguPfOjlJhJnS45Q5TH2O0nY2l4VWy9wJ033Uep8PgizpMuIunvS9cQioqI5B7hRx4o/z/MaNJyzu+VI0babtKOgkwY/7XMXJ20IvQB35dHBw6Ai00smmRdNgZhrY4xCYIFO7bSC2+USawgUhKJzNDyssLn1NuyVEMTVG9XmzhQlT9YLyEGfC1OWZDzWmVXNsK/e1mp+oiNKfWo2fn8Moz8VCqWdBC4I4i4Qg14a4hCvu8xT2nLZL+E4WFbMVOPLp4ODQEfAEFlVFkfs08WwVcn+YD5mJ3IUhjHBGuadVk23cPAblKWocnZogGSaVtZUJ3UZIguKLs7CI03/D8hslfzYyZVOJw9KM28+CyFwUwh4lfv3Z1q+i5kMvXk8kovbl+VLVw/pP3AXDQtSpI58ODg4dQRTzmL4uk4ccQB+kZprSC1LfNNkIC9sOKZwPc5/+zOlwumFqWKt5s9VvUNuGmQ/jKML6Hk4nKFyUMnfKvN6pCT1Kfm33tFKXpucwDGEWDB2nSd1eKHWP86LTDbOaRMmLaQGkrThB+TLlMyzNKPHFjeNEEnhHPh0cHDoGPdCbCKUmbHpAZ0SZJEwTX5RJb6HMhxqtkIaw+KKoYe2g1Um6FYTVTyfKdDKoZYwgpVSHa6ff2BTGqM+CiWC1SsDjPAdRyXGr6m2r8XL8J1ufOtnhyKeDg0PbEOIoCqbpd8A+4Xne8dds6nuC4hCYJjVWVeV70ORr+h/lCJhWyWQYkTDFG0TIgpRdU7mj5rdddaXdsFHa3daunSYEnVg4tGKiDVPGwlRHfS2O64hJeee0bP91Hm1pt0KoTeWL2tZRXWTC7g9T5BeCjHZqIdvKQqJdOPLp4ODQEbByKROKVjNNE41MJLVaDdVqNTRuiUeu62u2/3EUliikMOx6UH7D8mZSbk3xd0o9tSHIXLcQ6YUtNOLE1ck8hxGmsMk8jDSHxRslf0HXwn6fD6Vb9+F2CGRU2CwsGlH7Waf7EMcb9qzFNc2f7EqsI58ODg4dQRjJtF1PJI4d91KpVFCpVABgjoJqU0F13KaJRpO3KPmKqjqZ4jWRRf2bKX1b3myIqxi1Qy46hfnIQ1QyYbreTh6iqpFR74tSjiiLlagIaotW1EhecEYtYxz1PY6iHURqo9RVO8TNVg/tqJSdJJInQuU0wZFPBweHjiCqSVhPeul0GpVKxVc+0+l00wAeBUEmv6iIowxJ3k0Kpf4cFo/+LY6vXxSS0CnF92REO8RTroWV2WbKjnpfHEQlfZ0iDpxeGMGLQuhaUTJNZW61fCZiFSeuTi1G9FgwX2nZ0ohjHYiqwHYajnw6ODh0DDKY2SZR7VNpmrTq9XrTazltcej7bINmUFxBiKuuhP3eLrFrRY0y5aOduNrFyaK6nIzgZ2Gh2qYT6XRqwdep+E61vnWi8nui68mRTwcHh44g6mCWSCR8Qliv1wEcI4h8LZlMIpVKRYqLCa/kgY9uMpn6kskk6vV6qJoT1e+Lzft8LYhsRVVGg/wCbe4ENmUkro9hEFo1oXdCpdZx2Vw0Oqm8xVGT2kWYOg60ThyjKMNxFbB2/TdbrbMoC7wovqameyT+sH4eR2nvxOLRtuCeT6vPfMCRTwcHh45DkyKbquN5nk88U6kUUqkUGo0G6vX6HEJhm3Rll7ztdz2Yyg52vscU1qTg2iYuTahMhDfMVBYVNt/aTpovdXqdmtjCfAJt97UTNi5Zmw/SFEaSWjHtB4WL+izYrpvISLvEK8pv7SIuAQ6ywAR9j0Mi47RBpxcU7YadTzjy6eDg0Da0QuB5x45O0v5kWqEUJJNJpNNpZDIZ1Ot1n4AKEoljm5JYIeV0mEgmk0k/bRPRk7iCyKeJLGsl1TaIazJoUkVtMBHJqKpNFFLXygTXadMoYFdpg9SihSQt7dzbKb/BOHG3SlyCFkRxN/mYwoWRu6B7o8Yft392SsFuJ54o7RVXeY6aLt9jav+Fcvlw5NPBwaEj4EGr0WiEms3F/C0kMJ1OI5fLoV6vo1wuo1qtzhlAeTOSEE9JTwin53k+cTUpkHKNz/A0TbJMHjXxZELJf5r0ch6CrnOcXD5dhqBrpvLGwUJMOrbJrV11NQgLNZkKTGWMQ+R0+7eSvqRpSisqWQtTNXlhZUojSpnbKWOr5Nh2vy2eVlwK4irPtnRs4aLGFxQm7Pp8K6SOfDo4OHQE2k9KkzN9gLwOn8lkkE6nkU6ncfTo0abw8rlarSKVSvnx2SbaWq0257ppIuCJU/xEtSIqBJnznUwm55SRybakxUdGaaLKE6Amm2EKRFRiOl/oFOE90SbAhayzKOikAjsfirVtkRa0eAOivaxBx9+KqhknDduYsJBot/+1en8YwVyIenDk08HBoW3YlDpbOD1ZyUSQTCaRyWSQy+WMpnG+X78RicPo45rEZM9pyr06fiGW8l3yoImevl+Xy6SaMnm1kVGuQ6228n+uN90Gtrrn/EaZeG1t2WnCGUVtCvotqmrUKdIscUVVwOL+HkV1tJUlqN6ipKH7ianvm+KxERqbMmpDkHLLz4np2Q8jr2FqqamcQWHCyhRE8qKqtnH7NecxLN121ON24cing4NDR9DKAGoayJPJJLLZLCqVij/JMNGTuGS3OpNM8Qllcmc6akmTR/mTDU9MerWCa5vENRm1KZ5SRtP1oO9aKTWVyUbCTIuDMHU1CFHIXqcmsjCyE5SXMLIZtfxxyzLfk3grZC4q0W2FKNmIeJAqGoagNE3p2Swb8pvpu77f1Lf091bGuaCFedS4w9IICxNE6heSdApiHYB311134eKLL0ZPTw8WL16MG2+8EZs3b56vvDk4OJyiYMIUNriaSFAmk/EJmpBJJolMDvVmI949n8lkkM1mkcvlkM1mkclkfGVVPstfNpv1/9LpNFKp1Jw8mI5w0v+5XPKfCW2j0UCtVvMP1Ze/er2Oer3u/yYbr/Qf1wP/mRBFZQxqQxsWmly18ruNhJsWEEFxtFPWKCSp1ThtiqLp9yj9Jco9UUigKS65FlauOGW33R9ljAnKs1546jIE1W9YuYLqM4zUttsXbXlgLKT7SSzl83vf+x5uvfVWXHzxxajVavjjP/5jvOpVr8Kzzz6Lrq6u+cqjg4PDKQCt7An0wG8yX6fT6abr6XTaP4tTvgsZY7O13M/X0uk0qtVqE3EUf8xardaUHwlvUhaFCAoJNU0WHN6mpkhYvqYnOS47k1z9mcPrNIOIVZR8mdomaDIKm6iiKjkmBClFrcQdR+FcqAl4Pgk8l8NEcMLMrZrIRTXZB+WHYTLtR43XVrZW8hdG+IJgK0McdLIPmNoqKiHudF6iIBb5/PrXv970/Z577sHixYvx6KOP4pWvfGVHM+bg4HBqQU9QQaYtuW7aHQ4cP3pJ1MBEIuHvhBdIPCaiK0RN1ELZpMSbhyRtIZ/iFyrXUqmUT2SFvEp+JI9i+g8jfCbyaZvY2c1AysYkmq+xWwGTYK5TUxvoY7BONsQhwXHii0tu5gOdnOSDiEaUcsTJS9S6ayeNqPF3gui1m6+g57uV/HQKUdo9bPGxEGjL53N8fBwAMDg4aA1TLpdRLpf97xMTE+0k6eDgcIpA+1BpsqW/C2Fi4iXf6/U6stmsTwKFWKZSqTmKpJBHVkd1viQMkzDgGLnMZDL+fRIPx8vkld+SJPmQe+U3yaOEMZnrudwMTdSZrLMiqkmnidCb6p2VW1P+whRIzufJhE6oUmGwLayCwgYpiFEUax2Xfq7CFMyguDtl9o1CaoLStlkX9DXOly1+W32HKfpRFyC2Ngtq13YWNq2qm2Hxxb2vE2iZfHqehzvuuANXXnklzj33XGu4u+66C+9973tbTcYhDt7T18a9453Lh8NPNYImKb35hycX04AqJLNWq81R/pgU6qOQtCqolT42xdtMgkxA+QxRW3l0nlOplE9mpU5Mx0dxnnRcuq64HNrdwPSZ47cRS1M6pklbk+b5ULQ4v3zdlKc4hNgWv+k327U4v7dyn41gBYXhz1HjDvseRKrjkknTdZ3XoHuD+mIcYq3v1Qi6ZlLhTc+Tvs+UB71gkGtBz2MQWiH3rcQ3H2iZfP7u7/4unnrqKfz3f/93YLh3vvOduOOOO/zvExMTWLVqVavJOjg4nIQwKW2myVEP5DwQm8IL4RL/SyFVrIpy2rbPHL9c036cWv3TeeZw4q9pUh15F77s3JdyMEnmzUOSHw3bcVK63rhMkg9xNbC1j00V1m0RFrZdBBHMduNs9fc4iELGW/ktLilu9Tf9u/6sN/tFvc9GPE1HlAFmU7AmaXLdVuemOE35s1kBTPfayKcpjOk5MyFOm+s8m8JFWay0kp/5REvk8/d+7/fwn//5n3jggQewcuXKwLC5XA65XK6lzDk4OJw60AN53AmPz+Lknd9M5iqVCjzP83eoA2bSJnFqpYKvmyYjfjWn53lNaTNk85OQPVFk5XxRiater/vXOA5RRZmAch5kwq9Wq8Zjn7TvK59FynWoyXrQW6eCTJR6wo9jmjTFZ/stStio6SwETIQpCoJUu7B7ol7X6UQlySYCqPugQC+g9DMGNLchu45o2MgVx8P+zTrf8pzzAs8Un6mfm/pylIPx9djCeeQFKXB8sWuC6brpeWsXcRc084lY5NPzPPze7/0evvSlL+H+++/H6aefPl/5cnBwOMVgMj0BZjOaaSLTk1S5XG7anZ5KpVCr1VCpVPzjiORQejY16/M75exOzo8QSwBNpnzP81Aul42Ez3QoPZPAZDLpn00qfp6NRgPVatUvn+RRFuT8DnsmsVJHQr7ZtzSRSDRdl2smZYmJsBBefWyUhOVJc6HRqcn1VEAY8dTXo9ZNWHwmAqmJZdA1kyLI5NN0IgRbJ/ga/5fPTNwE2jVFFk+88ONNhZJ3iUvqjq8B8OOpVqv+M2uqM5taaqobPU4wNBHlPOg6ibp413mNC9Oiut044yAW+bz11lvx2c9+Fv/xH/+Bnp4e7N+/HwDQ19eHQqEwLxl0cHA4+aHVD54c9O+m7zouIVZCruSMTjZryzFIMvHpyUnSlvD8HnkmnzwpCKnVk6/kS2Ay6ct9kg6nx5OLEEFWa0Q15cmn0Wj4rxzVZ5myK4KAzwVlhVTKK24L+k8Ir2kzk5QtTKlqB0Eqapi6alLX5ovIRiWFQSqjjXgGKagmwmiLy6ZAmsgk/27Kiy5H2PMg/5lA6kUOh9c+yeyHbUpD4pO+z/1WL7jkebIdkZZOH6M+lUplzlFmsmA0kW0mu2yp0eOfCbww5LLw88rPniasJgIbhLBnwPZ8L9QiMBb5vPvuuwEAV199ddP1e+65B29+85s7lScHB4dTEKZB3jR46t9NceiBXyYSE7nkiVXO9xTwpCaTlj5qicmmVhk5n5wnJroSF09GWmXS+WXiazu83kQW9OQkfp2Shj6MXhNuzq+efPRmJa2E2iY/k5KlEUYibWRNh2l3YuyUomRbPOn+G3aP7ls2UqivBxEdTXK0MmfLi24DkzuLhLGdOWtb2OjjwHjByGmZNiTq9PnsXd2/uZwmMivQm/v4LF9ZpDFEWRVXGn3KBdep7U1nnB4/M3yPkNugOo1DQIPq0tZ3THmeD8Q2uzs4ODhEgVajTASDCRl/54lLJiq+R08eMoCLKZ4HaTa/MfmUeHky0ZuCOA2dvqgnTLL10U/sBsBxadWV1VIbSZdrrJpy2ZiYM5mWz3yd/8Q31KR8miY82+56U5tz/qPMH6ZwUUhrVLQyhwVN0rZrccgn+xjrBYK+z6ZgCqQdNYmwkVVbu/GfJnXS7tzHTa4c8jzIH6dvIlgm4mMi46bTLvSmKNMCVu7hOhGrgixuTc+gPCNSDv1M6TTFVchUx7oeOe96wWBrD9Nzp9MKWuyFPQO2xVOn4d7t7uDg0BGYBnlNTLQPl2kylkkhm836KqGYmE0Tr8Qj/qBaqUsmk75aoifmoMlKfufvMsFmMhl/MhLSKwSQJybZbMSkVvLDEytvYNJ1yfVpqnOZNPkgfQBNu90lT7yBi033QkAlvMklwTQBMuHg/6bNFbq9oxDHoMlVI2jCjEp+9aQdRPSi/iYw+QybFgSm+23ERBBUL9xHOA4hhxxOrul21Bva+NkRhVFeiavrRZ4T3ZbsLy3p88KPXUpMhJqfM1ZW9bOmCS7nXe6VepD8S34lLLvF8OJPxiZJU3yqmUyaFmeSpn6uJV3dLzQ5t93PiEMgF4Jsajjy6eDg0BFoBUOgJ1U9kGqCJwN8JpPB7Oxs045vNuEBaJp0tEKjzc38Ck9NmiQObfbj7/zed1FuhGzKZMmv6uQya7Mjq606rEl54IlMJjgmgRJG14cQAlaGZOJKJBL+e+V5IpdJ30SKOC+sQDFZkbdD8eRoUths0HXFWIhJ0kYATddsKhGTG/nOplqTqhmUjkArlPqa3KfrXvosEyUA/osbuO3kFAkmrbxAkb5Tq9UwOzvbZJLWyr8meUxOdf9igspvNuPv7Oep606eDU1geZHEZeeFLZe1Wq36zzIv5KQ8UgfanYfzyyRYWxRYCZb6TyQSc/xP9euEecHKrjscZxAZNeFEkE6BI58ODg7zAiE6WrXQ6qfpPwB/EmCip83tbLaSyVMmHO1Hxd9FBWQiJnnUJn5JO5fL+eRTJmMOzwM5x8GTEitHPFFrFUWTdBM5NSm8+j5RgnkSZ8LPG7YkfiFJWtHhBQBP/PrYJ5noeTI0fddqlIlYaejFiiYfejLVcQYRPRPpDFtI2dpG+pcpXJhKKf2VX06gy8J9Vat+cgyZNofXajV/oSFx5XK5JpWP+5HOkyysmODIGbZ6wWUjxtKXJDz3LyGgTNoFun9qRdbUXtxPOV0ek1hh5LKaFtJiPTGpkEwAtWrL/ZsXinwKh4xdTJJ5XON+wfWg/+tFh00QCEIc8toOHPl0cHDoCEwKmVaxTJO5KR45AoV3qgN2M6wM7OKHyaZBE+Q3npB4AmWCo5U8uV8TG55YOA/a3BlmQuX4ZRLT5eE8CplgfzWTKqRJoykMh+PzSeUUAJ7IbeVgUsDtwwobfzaRT1sd838bCQ0jebbvpnrR8eo/fV3XgSnf/LpVTfSkTur1OnK5XBNJYwLC7a9N56lUqun1slqZNilxXM+8mOC+pImkEFKOz1S/tn6rF0VaodcLNKB5o5wpjaA+JORR0tNtoNtBjwfaT1UvOrmObYSR+wGTX0nT5B/L0P7q8kxyf9Nk17QQsMUfdL3TcOTTwcGhI7BNyiZ/Lb5HwIO9nPGpFRBTHHxdBm6tBPKkrUmNibjocsj9bCrX+ZD02KeSzWfAXJM1Q/t5yb2SjkmR0nXOm1f0Tl+eiJh4A+YD6RnpdNo/4F/qoVqtGskQ16WuW24jE/nlcAxuMxMhZfBCJ2zBYyKX/Nn03fabbUHC6pOUn8kBk1TeUS3kEzhuoub+xKZsYK4riSZ4sjjTpF3Xjz6JgU3H3AdNBMfkU60XZbp+mFDanilOX+qAw+t613HqsYjP+A1apDBB1KRZCLPJDUZbT0zxc30xEdaLAVMbeZ43xz1GjzFcPtN4Y8rPQhFPwJFPBweHDsGmAMnAyGSIJ24dR71ex/T09JxNOazuAebNMPIZaN5Rm0wmUa1WjZscOH9M4pgE8qH24hfHu911ebV/H6ejiQqTF21GZDXDtIFB1xtDT4psytP1xZOfViTlO28o4TNW9VuodBtzWSSMybzKRJjrxZRfTaxsCxJTXkykVKtRQUST/+s8sNmTd0gzEdMKGavbvKNafC+57rgfaxXORjr5GTSVlcOzLyGfnmCqS13n7KNoWuBxGfh50y4ZkrYpHX0mLRNvLqu2lMg1eU7YlUc/m+yryd+lLvgUDo6b25XfdMZ+4TrPpj7G7cj54k1RvBBg6xATfdlMyGZ8XgiZ2nAh4cing4NDR2AiSCZCEqQ01Go1TE1NoVwuz/ElZDIHoEnl5OtAsy+cqBOi1Mk9pnefa7IjJEJUWBnUs9ksisWiv+tdT5qJRML3seP8c5l5omCCynkQ2ExqNveCRqPRdB6irns2f0u968lRYFJzksljb2nyPA/ZbNavIzmcW5eV27xer6NSqcw5VF/akxVvE0ENmjh1n9OKmA6rCbhJaeewEp79H5kUiIuGQCt/uo35xQTcj4Xo80sP2NeYFzfaN5TJkfQDJmUm9dDUhzTp5jri+JmcmQiU9C15dvRzm0gkmvwd9figiZUQMb2A0W3NvqHSPpp0AnN9lplo6jqR6zbFkvuF9AfOi+5P3Ff04pEhdc99MJvNAkDTW+C4bWUzoYTR/fVEEk/AkU8HB4cOQ5MOk7lYh5OJaXZ2FuPj48aJUCt57Ccm8ZomQZMSA8B/Y5JJ2dGKoUz+Eq+84jOdTvt/Qsi0P6NpQ45W0GwkUpMok0IiBEMTOZmkWa3Ur+nU/23qmeSRCQKnJROvECQpt95IIpM7q3c8YfI5ipInXSdM4EymXE3EgqCJiSYTTFS4/Np0rkmsKJfst2xTUoXASz+WRRLXoa4rVsRM5df9RdrfRDy4DnWc/AxwvKKo6TaQfsjE0GZW1+RXbyiUdHVZqtVq09uLTAteGR+0yVwv6nihw2RUL56kT3B9cRtI/61UKn7fYEKtF4GioGrlldVWvSDixYmUleuBF47agiHjqz41gOtNYCr7fMCRTwcHh47BpjyZJlyNarXq+3oyQeOJWJuPhBRq8E50ngAkfT3JmQgzq4SCZDKJbDbrK3ySJ84zqyp89JLkPZ1O+8SZJy9On0mvJs0SFx+MrTdOcX51nTNZ0JNxEAFl5UQrN6bJkOuEN6bwrn5NICSfpgWKzo8mFKay6HulTjisqbzSTiZzNueJ25XbTPofkzmtlunyMTQB0oSEoQka58OkRAYRDd03OA4Oq09l4N9N1/i7TcXXbSv51vFyu3DbM3SedV3yb7ocpnYyjWu8+GP1V55FvViWxa4urzxT2o9VE1IAc8rNRJ/v5fFEk01NyE0LzYWAI58ODg5tI8pKmScK02Qhh8TryULA5jATMdLqE08y2k/LNgHrwVgmciYsWsVjEgocN3uyYsYDPZvmmEhqoiAkRpvNWTnR4bQ6w+Wz1WuQyqPrWfuvMfHSJJ/JaSqVmnP8jCbWQYqLJtaSNudRSLwmDVIejoMJP9c3h+OFA9eBTXFkIqLJoqlsmsxK+tyGmhhK+XRfkDJqFZMXN9qsLWF0/et4NWnTedN1w23DeZY4uA3lv16AcVhdd7of6Hu4/jmvtvYzkWiTNUT3BS63Pv1B6kAv0kxncXJcXKdMgmUhx+WXutX1wO2oF4ccn4nU6njmE458Ojg4dARh5EEGO61Ayn1yvJJJaQHmbnyQeIHjg6f2t+M4tLnSpCrKfSbSKL8J8ZOyCPkTEipEkI9NYXIGoEmt1Qdna5IaVGYx9+VyOT+8KLHi98Xl5UmW45L6tak+AlZz5Dd+80sqlfIVHtO5kCYixgqQbneevPUkzRO8yiubLAAAdJJJREFU1J/JD5hVTCaf2ueXib6kw4RZ4tMwqdemupM202XX7cPtynnhtBh8aoEpjO5PTA51m5jUPk6br+v86YUaK/Ja7dQLBe7TnD4v9DRx1f2Ynz/9nHO5dFlNiwTTQkETe62W2/q49C1x0+Fj20yLPB5/TO0j8Yqiqeufx09t8eE+wG44piPn5huOfDo4OHQEJqIUNbyeTIDjfp6miYPvE18227EpetLUA7RWUTgNIZc8Edjyq8ETdNA9JsVFT2g2EiP50W9v0ucj2tLk+HR96LxxmXiCYn/TVCqFbDbb9PrRRCLhb45gojk7O+tfk3A2RS2bzc4hqdL2cn+tVvM36sh9mphxGTWhE9KuVaIgcBgmqiaSxHXG9crl5jC8EIj6bOnFg6kP8duK2FzMcTAymUxTOK2ua/KjF3U6Phup5c1IsjjIZDJzfIAF3GeErPPOb1H4BFyv+lpY3vTYwPkI6ydMFnn8EfcbCSNlqVarTZYTdjPgduAFtB4PtGmd45O6k8WpqKDsCmNaZHUajnw6ODh0BGETtQxqJoIovpS5XK5pZ6YM2KZ75Dv/selST/ryu0mFkXBMPNiMblI1+BB20/22Sck0eWmVRqsXAolbH9jOabPJWBQXyS+b70x1oM3qpklXEyEOIxMZb8Zi0sKveeRd4rptdXnYlUHUI+1rxwoyx6HbiBUyLpu+z6Yg6rwGwdR2XN9cp9xntOLK92kCy/frvOmySd1z2fU9mkRLP9KkR6cRRDh1PfJ/zpsml5VKpSkern/e8a7LI+RKEynJq15sad9jtnoE9QHOsw5rKju3h9QzP7+a5Mtijkk5x6X7Di8CJT5+jqTcUjfyxjYZJ/j5nW8C6sing4NDx8CDqOk3/Zknh0wmg3w+j3K57A+oekVvmgwA82YHAZNSE5kyEQE+C9DzvKbNAnrC0Xk0wUSaNWnQeRPyYzKrsslPH/vDSglvAALgH73CBFvKy+nbfMnkms63Jv9MRIXscD7Zn5LrxtZvZEI1LQTkPhOJNBETrltTWlEXDbZ8muLh72E+i5rU6Lzoe3V+9SLB87ymFwJo5d+UvokwmeqaYWo72zPBfUjXVdBzpJ9XTlNvsgEwh4TpvhBlQWF7LmzPrqmPcJ55Qc3hbQsMPlNXq5mmhZuNNNr6kS6TjBHzDUc+HRwcOgKTKmYCT448iGcyGd93UR+ibYtH/svArFUOPemz+UrHI+Df5H7TMTBaedJ1wXFrEmfadKDLZiICwNx3xbO/liiLrIzyJKPzYapnU3n0hGiqY1ZZ5DsrKnwklRBjJhBMXiUd7RfH+WblkydmTZxMyhf3FYnX5KqgN/hwPHyvrY9qNc+0EOJ8mdo9iFiaCIyGkE9Ox0Rcud0YotDZyK6uk7BrOv+m32155TowEXn5rPuiabHE93A+9X0m2BYRpufGVCbuF3ps0e3Nrkc636Y+aevvtjFKPsvilZ/B+YQjnw4ODh2HEDb5bFJY9KQhPl6pVMqfLLXTvYkYMvEA0KT2yTV9TiKb+vSkpP005V7etMK/myYw/p3/64nF9t9Emmz/mURVq1V/Msvlck3ETW9yYCWHN2rZ6lXnz1QeIZyayIgfG5+Latr5q/sFq50mX11NQk3+gaa+x0cZcRtqJY0VcLkWRGJ0PDp+rnO+ZmpPU/1yG5kWL7zQ4rzohRnn3VQ/+rvOpy0sX7fFb1qY6bLofm3r/7wBTqvFevOhSe3W7RW02NV5ti1Iwr7remT3AVOd8OJB+3ObnmVdVnZ3sj0T3BflDW7zTUAd+XRwcOgoNEkwDar6mvwXP6Spqakmshg0eXA6spmCVTUZmOW/+INFmWRlAJbDwsWsncvlYikEpp3cXDdcRiFRNoIXBCFWpp3ITMD5N/nMcZfL5TmEJSxd/Z0nZylbpVLxTcBCGoSEanLPfUX8gIHmzRT8n90U5H6BLqcmeQCa3oBlg+RNu3Do+jSlz4serUprciDXdDxh9c0LJ63MmTbNadLC95meUVu6/JsmZaaFGSvumlTzPdL2pvrUeWCiz/mwtTeDz9nkBYaGLm9Yf+H7dF6lHvi1v7ZFiPY/59dmSnz6bWvSH6Q99RgU1K+c8ung4HBKwDSQBU1YJsiAWCgU/MGXFUdW1CQOMdHzode86xmAb/aV8DYiyPkwTaislgmJ1eF54rYpU8BxAqWJOpfDVE+2ydpUv6z+iHoir8LkVwGySid5400QQfUEHN+kJGXWqjN/12UVUqzrSBMTG3nhOrHlUeLiCZXbietb16++xmma6txEQLXyyfVkypPcr89ulfu0ImiqJ10nfOwXt4XpbVzcd3Wb6PJyXNwHOLzJ5Cv3mnw2dVubVDxN3jkv8lm/PcgGE8G2jVE6X7p9uX0Yuk4kTzKuyZhiIrecf/ncaDR8Fxt+bsU33fQGIxPp1Om1QqxbhSOfDg4OHYFp0A4jEfr+RCLhv2pQVMxkMtl0hI6J2Eha/MYh05mPrDxpM6QpfzLB8OYjoPl4IY6DB3w96Yr/o/zG79zm9PiaiQDqdE2bsiQuDs9Hveid5lJ2mbRF2eU/yTd/l0mT60ri5rrW+TL5Eeq+YFoA6PaS60ETpSYVmkxqk6etH+v8mT5rcP3ofGgyIGFNqhMTDFvZ5LtpYx0TQ7nOfY0JsSZ3JvJtahsdn43Q2+rMRtq0362pjLa6N/1mK4sJprzr8czUxmFxmQigSenWZZAFAtD8LniJW9xbJA69eNGLAn3NtriaDzjy6eDg0DaikEsTTEqeTZ3USh2nrSdJJj6sSMjEKoe8m8zvYWUSs3gmkzGWx6ZysAKr0zaRIo5Tg1+pJ+qvbaJl0m6C9gnzPM8nn0xYJc/6GCB2aZC6ZUWTzX58nctmmmQ1oTb55dmIgakeOW6df5Oqp908bGSm1Yla51PqmetLE0C9ANHPA5MHEzHUcbG6ykTPVCaO27RBhtU5/jMp/CbireubXRy47Lq9dD44r/p6VPDzGPTsmMLrPmO7n8PrxYNtYayfB70QZR9lXgja4tLtoMPNJxz5dHBw6ChYCQiCSbWRv3Q67Z/xJ5OkbFQxDe5andOTud48IhtexLfRFCfnjT97ntekfNoG72Qy6b9hSIgcK34mEm2qI10/APx6SCSOKcWVSsXoE8sTtrgK6AlLQwgkK6QA5uSfyQzfK6Y/7R/J/rZ6Yuc/biu+FmTaB8xvqrFB38eERsps8rvVCriOS+rG9F8+m3wKdR/Sb1+S8sszIcRCkzdNAPVmo6DFDbcZm+O18sguJ/o3PifWlA95lqUuufwmcqrrVZNCXXdBnzX5ljhNpJHrxTQe2AilLR7T887p6j4o9WNbaOn+wn2EF2nyWZ5JWx51fGHPTyfgyKeDg0PHYRrc+TeTksNh8vk8ZmdnmxQgIUNaDeI3sPDhyHpVr1UA2Q1eqVSa1DwmOSaCKNdMPl86LB/cLPEGbWgQmMis/AnBE6RSKRQKhab3NeuJKZFIIJfL+eRPyLCuE4beIMPgd1VXKpUmAiMkRO/Klbxz2/OEKPnneyWffKC/VoUkPtsZptweJiKv4+R2jWK21Eqw7gvcdibyp69JXvRpAHywPsfNbSMbUbgvhPU1XXZgrk8tw+bXzBvI+JQCUdG5/bi9OU09TpgIo643+cx51v1VLyJsdcB1zS9EYL/kIKKq09T1w6q/LZwm4rbFIv9mGnt4nJIysXsAtwfHwW4x8wlHPh0cHDoC0wpd/64JgL5XPufzeZ+AsFmQB0t9uDpwfIXPE5tMdkLYZHDNZDJN7yEXJ37xNTVNhoJGo4FSqYRisdj0nnYmQAJTPEEKjPZn4zImk0n/LFT+ncMxaeTNDCa/WU6P8yjncjIBkTTkVZnA8QlVFF6pSy6rkAJW6jhN9s3lw+jlfvbf5QWGxMlknjfO2F6VafIt5PJIuhKeCQMrfia/WW5LSYvLzosjU5trssLXuf/L79Jnpe4k39rvlvMm5TNB2ph3o2uYiCn3Yz7LVb+JS9qnXC43LRolvOz81gTPZIbmPEsYTYw5n1EsDVKvsjDlejC5tnD5TYs+/dm0gNDxaDKo1WTTYsG0UJDngNVPfrmDaTHIZZlvOPLp4ODQMciApgdi/t10TQ92otKZFBz5LM71Wh0SMiD+bPKZwUoZ+4CKYlOtVo3qpyaVTLrkGpfdpIpJ+npyFLLNZEWICb+5iMmZgEmIhGeVlc2nUma5T+pPm2dtEx4TIfnMpI0JP+dBExQun+d5c/LPaXAZmBTw5JnJZIzkQBMzE2Eyta+E0X2P60+uMbGWeDR51OeVaoKhN4qYXmzABE6+M7LZbJOriaTFaep+baqPqM8pfzfdwws97jc636wyarOxTsPUbpwfvdDgPqn9jW1/fH6siZSZ0ub64AWgDstjpH57mS6rHheCFg22vi9tIPXAB8nrMoeVr5Nw5NPBwaEjCJuITL/ZlBjxydTvCud72aykB1KJm8mRJqCsCkp6QoxkkNaHjEu8MpBXKpUmkqCJik2Z0ORDlEkmWTJJCCHWpEzXqVbPmBTqCYavA8cVPZ7k4rQnk1muW45bYFIKdVpcTlE/mZgyUdPqFquNXHb+LcgHUpdZq9aamEt8JncK+c1E2AXcvlyfXC/cZlwmJvbSh8SdwkQ+JS5N6rgduD11eprAa9ImxJKJtq47TaT4Gsdjg4mI6c/83NnIJ9c10Lwz3JS/qGqgbTGjP2sFXKfJ5QmrD/5d+oRpUazHJ+0OYyPM8wFHPh0cHDoG2yBpI4A20sZES5sTmUxIHDyha8WC1QMJLwO0mPkajQZyuVyT2sC7yG0TYtC5iAytjGnVMJVKIZvNzrlmIzWcholAMomwKUSsjmlTuckXlBU3bgMmGkzaud643TT5kjIwmdJmeZlIJc+mkw+kf3E7Sx5EpRYFiDc0Sfq2ST6MEEl8pl38XE7Jj+4L0gZMmoVwcxo6j0wYuN/ayAyrgRI39135DsxdjHC/5meRyQuXj/MmqieTQPksPtGiAJqsHJwXnQdd37w40G1kus5psouAyTdTp6XT1XWo+7hprNNtoOta+21yGBN512Z06VvalYHT05sQ4xDtduDIp4ODQ0dgmgx4UGNywWH4N4GoOGLW5h3SPLnxJC3qJdB8pif7HLKyIWF5w1GxWJzjUzo7OztnQtQqklalNITMMqnT6h2bJuVPNtqIAqwVS9sExQRe51OboJlwMNnnNjVNshIXK4yi3rLvKyvLJthIOV/XG8004eb61P1KypjJZJrIp7y1SpukOS+cv6DfbYRD9xXdTsDcNytpFwm9sOJrrNrp/GmCwfng/s+Kn/zORIn7Kfc3Jjv8uybJ2vdWXFr45RACaR+uL63amUhkEEx5NEHyolVfKavcb+pnGqZ+zH7aPGbxQk3XM6u1tnT1cyIWIz6ZQuqe33gk9/E1NvHPNxz5dHBw6AiY0ABmcqlN2CbiJIN/NptFuVxumnh5pS7gnaisugmp4Inc5HfHGx9mZ2ebSGA6nUY+n0e5XG4qK0+SpkmNJx5RA2WDExMGrjet8EgYJgO8g5wnFZ6ktPKl64JfPSrxMkEQn1eejHWbMfnRdayJlLz2z9RP9GRrUouCduRzWU1qnsQpeczlcn6fSSaPv8hA2pPrzEbkTIsQrU7bzJgm4mMiW9w3GHozio5X8qefPRuhELKiFUcdJ5vw9WIh6DmQuuDymFwzEomET0p1+qb86Ho1+czqMtmsAFoBl2tcPh2vhA3rm5xvHpc0CZTrerGo64iVZr0Q4RMiuC/r9uMFo+7j2r1nPuHIp4ODQ0egJyXAfISJ9sfi8PKZ1TJWdbRayORVqyhMkHTeOJwoEkJA+S0hcr8oevKnFQueDDhtNuVp/yqTYsakjPOtlb8w5YfrjM2c/JuJSGlyrycgTRolL3rS1qbyIJM0+6ix76gmtwxdBzKpaoKk/YKlbMlkEtls1s8nn3DApmETWdT5N5lyua70df3ZdL/pWeK64rhNfcj0u6ksvCDk8poWUnq3t75Hl4vj0QsLU/waNtKsXQLk+eRNbNJnTMSS4+Z+pvNtI+xcRyYfSZsVxFRf+rNuQ1sdSV/VYwWPgVrN5oWoqY9J/jSRny848ung4NAR2JQK+awnAdNAy78xcQOa3zluS19vBOG4bESCN2eI4scmKyYsmlTzBKiPRGGyowkdm89NqpU2mZvIoGlyClKhpH70Bhg96bHCrMupJzsme0yMuHyJRKLJtGwjV6ZJmePjspn6jumIHp5w+brULfcxTUK1X6iGjaAHheM2DiKpUSZ+vQiwxcV1oaGfGd0WTLCZwITFzfmy9d+oZdbl5H4GHD+tQp8Fa3om+DvHb3I70H3QVHf6+Qkqr+nINZNvqn7ONFnkhZYuEy/Q9Z8pHb6Pw9rK3Ek48ung4NA2ggYrG2HTYfRAKYMvK4amI23kvwya7DPH8bIayBOOxMtki83OicSxsy15R7zcL4qe3C/fJQ05Hkn75JkIGPtOcjq6XkXFY0WTr+n20NfZlG5qM1YJOS6ddzFbMyQtOTFAyshmfd3GPAGyXxz/589cb1wHXPe6PPKfP3M5RDWTc15rtZq/QUkrrBoSDxPVoIWWXnjY+quN0HE4uU/Ca/Vd55FhIk9y3dZGJtKsyYptkWH6znWlrQcCfn64zNryIHFJO7O1QpdbK6K6XLZnKYiE8negWb3n65KW7TWz8tnknsOqvM6PvGBAxg9etJsWZLyw0HUT9NrhTsGRTwcHh44giChoAsO/BcXHgzcTRxt5kQGf/RolHN8jZnO+T35jHzhRw+SswnQ6Pec/k2QN7e+mJ1+eWDWxtdUt55n9x/TB+kICmdzoiYvJkIDJo06b25PVYS6fEHHTgsLUxtxX9MRo6y+adJoUShPxME24APz2lDaVw+41AQ168YApz6ZwWhmT/qhVZE0o5R7bBhVdRzpfpvD6Hk18THVlituUlqkOmCwzOZI0ucymvqP7ldzPb+2S+ORlCEF1w8+friObX3fQYsME09hnGy9spyZwPLbf5H7Ju22xYYpLrskLHYJ2+3cKjnw6ODh0BLZNEjZoMsYQE7hJ5QOObxxi1UfUkEqlgmKx2KRm2tQHrTKJ8iZqWK1W83e7i0m2Wq36JMXkBsBKrSYa8l/MhPq4mqC8cZ1pM6i4CvCfLjNvVtLqp55QTeZAz2s+gslGvDzPa9rdLt9lBzyH1/UFwCd+nIaJbJkUJ014dR6ZaHA5hbgwuZQyMMnno4FMME34tt/4Gu9oFhIs73GXDVvSPrIxR/pouVye02aaxAflU/cTkxKr+7Gkzyqk/M5tp8vP7cJ9iVVp03FZekGiyyZ+2hwPEzAT6ZZyyykIvBiUPssLOSbmOj4bCZU4OV+6vAwut84n16F8Nvkm2/KiySdbLUyL+PmGI58ODg4dgcl0JZ/5fxCYVGjVUg+wpvhlUK1UKv6GEnbG5wlQExyg2dQl5BWATzhk0hBFTAgKh+VJTBNK2egieWOfQyEZ/KeJEpMgVntYPWXSLROUhNOTDGA2u5mUJ5NawnXG7cZvIJK2Yr9bnsh1OU0TO5NKbiMpn5A3PWlqX1Eup9QXK3JcRjl7lSd4qftyudxETCR+Jms6zSBwuYVUip+snJSQSCSa3Be4f7H6y4odxy9gEs6fTf1Awptet2lTTPkMVk0kTc8EcJwosqlaL4hMZ+pK3kw+qRKnaQONaaFnMu9rFVKPISZlUi+ATMRXt0vQc6X7k4lQm+LhRTnfywsuHVY+28hxJxGbfD7wwAP40Ic+hEcffRQjIyP40pe+hBtvvHEesubg4HCqQA/EgjDCqclQUBw8mJqULwbvWGeVVOIRsmfbpCLhhICkUqmmcyFthI3jZwIrSmc6nUYul2tSTuV6Npudc13yzSbFarXq+6SyGifmMj7rTxMn/d50zr985rBMHLTPrknls7WL1CWfuSrx6tMGTBO6qT/osyv1BKyVOg1NYvheHY/0JVZ0uf5tfqG6LLocmnRze3Mc7IPL1xOJY/7Iuh9z3GzO10RL+wbKvVoFNi32TGSUrQG8GPM8r6lP6/uFWHPe2eIhafIxVHrsMNWhLrPkg9tAyqYtAVz3nC/TYlV+12nyn2kcM8XLdao3SgaRT1P+9KJC8qyfFZ0fkxtLpxGbfE5PT+P888/HzTffjF/+5V+ejzw5ODicYjBN2qaBTWBSDfSkpM+i48Gd49UDvCgUohzZJhXtZwccN79yPnnSZNKnTdQ88XAa+Xze/y/Ek/+EdOZyuSbiyaZW3oHNZ1PKfyGk7J9aqVSa3lEveWTzu40sitme61i3N7cDkwQbeWTiIXkQn1TdNtzmfC4hpy3kxKaAcxvaVCcToeLfpQ9JPvl38QeW+pJ+xyQgKG1pW01GGo1jr22VthJohVjCy4KF4waOEyNxX2GlXepPv7JWysL9S/LKpJv7OrtwyDm2/Nzxf5sJmX2neWFSqVSMBDOqKseEmlV4icO0KOM24fxLGzNh5Xo2kUQ9ppkWGHpsMsXBYx/XoT7bU+eDockv16kOYxoTOo3Y5PO6667DddddFzl8uVxuOqB5YmIibpIODg6nALRyxQO8iZQwtIIgE76JNGriKvfz5A/A9zHko5J48Ja86Y0OWkWSne7ZbBbJZBLVarXpMHtWVnRdpNNpFItFdHd3I5fLIZvNzlE+xazKm5iEgEp9CBngyU8IkaizTE6r1SrS6XTTu+c9b+6bkrQJjgmFJlJyD7+dRQiYyazJbcxHG3Fd2ZQaHR9DLzTkL5PJ+Pkznfmq47Ados8w+elxfxZ12GS2l7az5UGHkz/tZ6iJh36W9HOVy+Wa2lefosCmZQnDZeEFFy+whOzrw+C5/wv5ZLcRbc7Wyp3kWy/ohPyXy2V/0Sf5kzxwv9T1atpQKOXV+eG65TbU/q9yv2lM0sRYj3u6zbgudF/Qrityj+SHn1edB7340PkwLfT0on4hMO8+n3fddRfe+973zncyDg4OJxh65a0Hcq0E2SZ8gUxkPDDqyVM788uALcRVFAveSS55ESKmNw1pRVDiZxOxkBc2w4viKOGSyST6+vrQ19eHQqHgk04pQyaTQT6fRz6fR3d3N7q6unyiy0obT8iyoapcLmN2dhazs7OYmZnB7OwsgOM+lKKoyuRdLpeRTqcxMzPTZCbW8ScSCd/PketVdg6LoixkQerLRACEpLJfq2mS5T5j6hNaLeN4mDgyceU2ks8mwiR50CZtDSZE2hQsiwYxCfMrYfUzYSof58O0UYz9ZVnh4uscP/v8StswAeQy6TrkupG4OIw8X7zBR4iq9Dlpb3mu9HFjvBDkOtHjhtQhK/ryKtzp6ekmK4QmTNze/Bxx2rxoMJEwTZ71WKbbkxduwNwXbHBa2s+W60K/4SqZTDb5+nL6prxw/9f1y/3eVl8LhXknn+985ztxxx13+N8nJiawatWq+U7WwcFhgaEHR9N3vcIOUgO0Hxab7WTQ1oqp53lNu4NloBfTLU8y/FpFJqAy4bIJXkiNVr1Y/WNVMZvNolgsore3F11dXcjlck0qp5DSrq6uJnO8zrdJHdMKZ6VSwdTUFCYnJzEzM4NyudxE/NifNJE49q56IUisluiJV5dfSAATOv1fEwsmmHxNEw1TmfV1Ux8TaEKq0+M6NF0zqUE8qWtfVIbkiZVoIUp6IRMETS4FYvoXU7wmUJxnuV+/T53rEzjet/Uih+NhtVAv0ORZlD7LbiTaz5n7tUlx1P3IVCfS56W/y4KrVCqhVCphdnbWf5a5PVml1Isk3fe1asjPohBxbZI3LZ5MRE67HHDf5jqQtuH72Yoi4bTvq16A6YUW/9f1IGFNSvt8Yt7JZy6X89+n6+Dg8NMBTSrlv20CNg3Ccl1W/hyHJjVMWGVC5d+EtGkTOw/Upo0SQDOB4v+s6LFSkU6nUSgUmoinqEK5XA49PT0YHBxEb28v8vm8r3aa6k3Xl5BrroNarYZCoYBCoYDp6WnMzMxgZmYGpVLJJ8OcR6lTUY40eeS0eIe8PnhfLwA0uTDFw+qhTW3U5daTKxMoPUlqlQk4bn5lRPUZZOgFlSnfbHrWfcx0PqfEa/os9SB9n60ArOzrfsovPuA60WXQ9awXBPo7QxNO6d98hBhvstP9L+xP1wEvvISAlstllEolTE9PY2pqCjMzM76fc9AGLNPOfb3Y0HngBZBp4cLtzxvr+Lo2g+u6EEg72xYummCbFnV8TffXINV2IeGOWnJwcJhXmAilHmw1QRBywP6K+ncmPzzwmwbRRCKBcrncdDA8EyHOF5sa2YyqJwDeuc07tru6utDd3Y3u7m4UCgXfvN7d3Y2BgQEMDw+ju7t7jhpkqytJz/S71E86nUZXVxeq1SpmZmYwPj6OI0eOoFQq+edFMglNpVKYnZ31jwzSdctkSa6xssThdP5Mkx0TZSYG4qcp8ZkmfhN4AcHhdHjd1nyPLX7bAslGiOU3Jvq84GETvCZ/wHFl01ZGIf5SDvmvj/ZigibXbQRf+w6ayKZuazYbiy8zn9CQz+f9z9zPTIsSbYY31alJsROw+l8ulzE5OYnx8XFMTk5ienoapVKpafe8pJlIJHzXBq3+aVWW1UV29+F6MvUlfruXxMv9UKvKmihy25jcgpgIc73peLmttbVCg0mqibDOBxz5dHBwaBuspLCZS09icj1I7WAIsRNfL9PmIdPKn/MhE7Acxi3xcr71Bh8279smGSFTcn+hUEA6nUZfXx+KxaK/e31wcBDDw8Po7+9HV1dX047gKKpE1PoXc38mk0F3dzeGhoYwOjraNClzuFKphKmpKUxPTzdN1JwHre6y0sjmQFbbPM9DuVxuUoy4XfRB7iZCLWG1WVOrQDzJA2b/RX2kFvtVspLL6fD9pusmgir5ZRIidWM7h5SJg76u+3O5XPbbQUgXq/VSJgkjdcsbq7Ryytfkfr5P8q0Pwe/q6vL7OJveNZnkY8REERWCynmw1SWf8sBuMpIXObqsWCxiYGDA94GWxdfk5KR/RJoeJ5hkSf1wvTP5064cXD69uY2fBwBN92tfYL2A4eeCw8oiTf+uFzRaDdXPoE3x1z6mpjbpNGKTz6mpKWzbts3//sILL+CJJ57A4OAgVq9e3dHMOTg4nJrQCgHD9AYUk38jgKZJjcPKap791dgMazoTkVVM2UAj6oxNMZUwkice1PUh7+l0Gv39/f6knM/nsWTJEixfvhzFYnHOkThc1lbIpo0oSZ7z+TyGh4fR19fnT8gHDx5EqVTy60iI8MTEhFFNZp/AXC7XpALzRCbkQCY7OWlAyApP5kIAAfi78vViJaicerLVCqxp4tSk1DYJa1KgyYENOt8CVgHZ1SEoLlMZ+TrvCpey8ikJfL+UVU5okLrgjUOszrHfKp8hK+2Yy+VQKBRQLBb9I8R4ASn+y/l83ncFKRQKTeTT5E/JxEkvVKTfiMldNtvxf8/z/DTE5WVwcBBjY2MYGxvDxMRE0+JL6oVJJZNOVj75s5BfeTZMZ83yLnXbWMSf9SJD2oh9z/UxV3Iyga3f6bRMz5UpDJPV+UZs8vnII4/gmmuu8b/LZqKbbroJ9957b8cy5uDgcGrBRB75u8nvyxSHJlFMHJjg2HyotKrheZ6/8UEm/2q1OucNSJxP06CuJ0odTibkbDaLnp4eDA0NYcmSJSgWi00ES5v7ohBPk0JqIib6HjmGiVXRI0eOYHp6GrOzs03xyjWTi4HneU07q2USZCWaTfOsAPIRURy3EFZWnDQJ1eocl02r0zp+HZ5Vbr3Y0WSU0zZN2rq/me7lvAHHFTA+mJ5dDWzkQLevxM+vhJS0pI1k05Oud4lX6pTbQOLn45IkL5lMBsViEYVCwTevS9tnMhmf8PX29jadZatJJ7eDqZy6fjXBYhIqm7pmZ2d9v89yuYxKpdKkPheLRfT09GBsbAxHjx6dY4I2mdSljrgdeZEr/YgXrkyS+X5Tv+VFnl7UajU/aKFpeq50n9F/knd9TRPhuAviuIhNPq+++urQVZuDg8NPF+KOCZoc6t/0RKxNR5owSjgJw6RGIBMyq3baR89GcmyKmExc2WzW9+8U386hoSF0dXXNOeYprD5M3031ZIqDwWSL/wthmJycRKlUgud56Onp8e/TfqBa5ZS49CTO6qa+zhOuVla06qMnUg5vU8tk0jbdZzLF86SvN6foOtVqHMejP+vfdV/jlwewqiflNimypvS5r2pixvWilTkNVqP5OWOSmkqlUCwWfUWfz70Vk3d3dzf6+vrQ3d3dpPZqZTSM0JhIqWl8kOPAhIiKwiq730ulUlMeZOHVaDQwNTU1p81ZZeQ8mNqViaipv2kfck0kbeSbXSp0+fXudt1fTd81MdV5MI0XeoEzn3A+nw4ODh1B2KpZr7QlnFYDgeY3k0icrJyyKUp+k/j0hCpESYgiD8a2QZwn46BJUyY2Occzn89jaGgIixYtQk9PzxziaYvHpmyEEU7TJML1wERETPGLFi3yScThw4fnTLhiphWIoin5YVXJtmFFHxnFZI9dJVg91kRPkzsTIWEiyUQvSFHTZFau67c6yaSvNy3ZSAnnTf8ueWPTOC+mWDGztSe3h07PpGqy8qbVY1OfF0Kmz7fM5/Po6+tr2s2ezWbR39+P/v5+9PT0WH2Zo5LNKGG0KinEWJTX/v5+XwUdHR3F2NiYXw6xAKTTaYyMjGBmZsZXTzWJ1wsa4PjRY9w3uL9oJVOXTS+UeLzja/xMafcWU764DfUzYnMt4bj5uz4zdr5FRkc+HRwcOgJWY2zqgWli1hOQ9iXko2b04C736o0pcp8M8vV63T9rkycPnpxYkdKDOQ/4fC2VSiGfz6OnpwfZbBbLly/H4sWLUSwW5yhuuq4kDhPpijrwaxJmmpQYEq6np8cny/v378fk5CQKhYJfF+Pj400Ts9Qxv7JUFC72P2OlUcJls1m/rjhfUte8oBCwYqbBxEpIgWmiZbcMPqpLFiMSByt0TAb15K/7gIms2Nqb20fuE/9fOXmA69mkbpn6haTNz532WWSzsrQh1weXGziufIt/58DAgK8cSl9fvHgxBgYGrCZ1TfY7CRMZTSSO78AXsjw9PY1Dhw5hfHwc09PT8DwPAwMDyGQyTb6gXB+y0Go0Gr5SKnWjT3uQI59YXebPTODZF1egFzqSBi9CJLweV01n7ZrGVds4YiKYmlzPNxz5dHBwOKFg0srQk6WQGB0GaD4DkYmNTKi8s5ZJQKVSafqNJ339tiQTZPNFsVjE0qVLMTw8jFwuN0f1kP+meDQp53vCEGfC0epLJpNBf38/0uk0Dh48iImJiSZVZnp6uumUAZ6gZaLko6vkM/sQajLKeZND2HkncqPR8DeQ6N3QJlcLLpsQSz3BSz9iXz2GyedXHzOllXl9ViS3Xxjx4smdyXm1Wm0iQqw+m8psipfTFjVV8i7xclyygODFW6PR8ElmT0+P7+85ODjoK51ysoPJr1Ej7PdOQ55ZWWANDg5icnISR48exeHDh31XGNkwdfDgwTn+sey+IH/63FQZQ7gv8NjBJn9g7qs6ub8w+eSxUBNUuabTFOXStEC2LWS0OX6h4cing4ND2zApMgAiD3A8IPNEJT5d8h9oHvyBuW+0YbMhD9ja/4/NqKJOaPWGFTUmNhKX+Lz19PRg0aJF1mOUgogng8MEmV9N9wXFxfdw+ZLJJAqFAoaGhnwFa2JiAsVicQ4JF380ngwlTtmAwumaNmwwyZcNYEEkDWg+JJ5dL3gCNZVX1zkTSL3RQ+eB21D3M5nsub8KaQ2DbiOJW47S4TR58cTPE5ePf+PvovbaiBPnm0m753no6uryTenZbBZdXV1YtmwZent7/Z3r+lnhOG193bZwjFpXJhIVBOljsuFPNkIdOnTIj39wcNA/ckyfQqDN3wI2tZuUad0/dBvys8qfuWwm0sjxsplc16XOK3+WRXnQ8xbUhp2EI58ODg4dAQ96QZOEaRIymYGA4yobqxFsLtVvEuFBn83BNtUCgO8PqhUuViP4rD6JT/wmC4WCf7Zn2ATL5FWHiTLg24iaBhMLrls98QnxKBaLfp3IcUr5fL5JjRPCoSdLPQFz3fEEyuSfzeZ6AtWTta47fU0vXHT5TKq6vs+mpAKYk2fTG5N0/WpSptuAyyP9juuCj65iQmOqZ51vHd6ktHFY3f96enp883VXVxcWLVqEgYEBf5e7zZ0kLrkMgq2t40DKIwq61K+u14GBAf+NSVzHepGlxyjTGKfrXMYtGWMkX3qhop8BJoCcvs2txhSe+51eTMWty/mAI58ODg4dQRSyAETbdKNX+wCaNkRoksiDtpxpyJs7TORTvsuExCZKHvArlQry+XwToZBD5XO5HLq6utDX12dUTnX5giZtvido8tUkyxSf6beg66lUCl1dXUgkEk3vJa9UKv7EzOcaajIpE6qUUb/RBzg+Aepr8t2221fXAZM2G2kMmly5T2l1SRM86W9hCwNW2fl+SY/v1fkzHUguJEHviI9CGnTcUk9yXq7OH+dTjkzK5/MoFovo7+/HkiVLUCgUml44oPu5btd2ENZ2tnBB9wm57+3tnbMAHRgYwNTUVJOfr44v6NkJ2sjFFhs2xfPCWOKRZ4D7pnzXFiTbOKLN9BKezzHW/V/KEFTO+YAjnw4ODm1DD4ZMKnjQM6kF+pr2P+P49NtaAPibhZg4lkolZLNZf6OExCtEi/Mr9wlp1emK3yOrX8nksUO3+/r6fNVTm/WD6kordVrh4N85PsmbbfLheuQ20JOcxMUTnOxsHh4eRq1Ww9GjR31CKpsrxJ9V1FGJUyZIOd9R8qkVZvHh1e0q+ZFdyaa+odtFbzRiVUvfK+0vaYgSxRMvx8P/+V4mg5q8cTvIPezOoc26mkSbdoozSZH7g5Rh02sU+V42mes38aTTaSxatMg/p3ZwcBCLFy/2fVKD+nUY8TT9FkSkbGmYPkcJL+kkEgkUCgUsWbIE+Xwee/fuRbVaxfDwMIBjbcHnhJriNNW/JqoC6e/A8RcuSBj222Rib9pAp8cFiZvLZRpv5XPQgk7DpMzOBxz5dHBw6Bi0CmkCD6wm85Np0tCHIvNEXqlUmjYjCaER9S6RSPiEiOMTlY9RrVabdnCz6ZhN+mJ2lw0Y7IdoUkFsRNJUf0JwhISZJrY4KhMTTE1qJW6pMzm6ZtGiRfA8D+Pj42g0GhgcHMSBAwea3nbDio7Ew7vUTUScd/+Kv6fkS79zW9+vJ1cuAxNGJr58sDsTYfY11YRek1cmaJrEh7WBqS+HKbaSdyauwPENQ0yAbQSI+weTXIlDjvSRcgvhLBQK6O7u9t+MZXplZtDzHUTaOqGKmuLl/5wPvcATiK92b2+vTzbldaWNRgMTExNGsheV/Np+k7YV0in9k/Ml/zl93uwn8egy8Zhoy7vOFy/WbePWfMKRTwcHh7ahVQxWmPQEEEfx0JMdK54CGdD5HiYOQmr0hiE9IbKiwARK/Nw4nGzEML1i0JRvXU+m8msypOszCnjS1fdpk56pbkWBy2az6OvrayI6vb29OHr0qB8Xv19al48nQ5lo+XgjSY+PoNGkStQaUekkHP+xOVKroKxQ8eYdyZf23TTVub5m+69JKdcDL2Bs0Pnl9tF1Jsfx8LvObX6tXGfi16xftCBHbkl/XrRoEbq7uwP9OwWmPq5JeRSSrvNsu25bsNnyptuF+7i8o35oaAizs7MoFAqoVCqYmZkBAL+ebSq3ftai5Ev6nBBPXrjpzXTct7Q7kA1B44sOYxqP5VldCDjy6eDg0BHYCJhpIDWRVY5HwKYojlMP+qwYyXcJpycQVoLku00lkAmLIRNXd3e3/+rKsHJzulFUsyAlx5RnU1jb/Sb1U5MdOYqmu7vb91srFouYmpryzeb6UGrdzkxMtala0mBlL5lM+moqq0RMnkzkk8ObdqQzoZXJVZNVk8+mJp+mNmtlsg8iiToctwnXG29I0ofT24gaLwjkuzxf8irMrq4un3hG8XVl6HBR7zPlVa5FeUbClElTH+eFZXd3N4rFov+u+Hw+j5mZmaZxJ8rzxOH4N75X+27yc8zPhB5zTG9gsj13euzivs/1Zaon0/X5giOfDg4OHYNJ8dOmT35biG0gZf/MdDrtqzVa+dTH+ZhMmloZYuKiB1yZMJjISN4lfTm7j9/qwuW1ke4wNUjfL2XS8euyRWkTk2JiaiuZsKScXV1daDQaKJVKTQRUK9oycdrcKPRGHm43vofjFeVJzj5ksqrjlT7Dm5qk/jSB1PVmayMmubY21e1iI0BsSg8iAdxObH6V33jDivRfOfifiSUrWNxOkhdOk/u0mNp5UaD7Kref5CnKYiqMnIf9ZiOoUcDl5z4uGwd7e3tRLpdRKpVQKBQwOzvbVK6gdPQijvNlIoWmxZPkhxcEfK+4AfG4wGnqcdG2+LWVh68vBPEEHPl0cHDoAEyDGSsyicQx02m1WvUnTr27XO6TgVZebShvGkmlUqhUKnP89yQsD9Z81idPxCazltyjyQEP1jKxS37kPdemt7uYYCIvNgjpDiI5JhJlaosoEycfMyVllmvy6kI5jqa/vx+1Wm2OSZI3GrGqpDdP6MlP2g4wn7sqvqFCQFlxlb6gy6LrSpMOmWA16dV5BOyvS9QKk+TfRnB5YWNrL/1fn8co5ec3S0k9y6kEfDB90KYRJsOicHd3dze9ElbXhanvBqURplya6iDqbyZSGoc0SV9g0l0qlTAzM4PZ2VlMTk42He2mLSph6TE5t+Vfu6V43vFjznK5XNPmI3Ht0VYcTosX9nLd1O90H7WptPMNRz4dHBw6AjHP6glLzKlsAgKaFQDTG2NE7ZRNMEJy2H9P0pBX/xWLRVSrVczMzMxRQnmwFyd+IUw2JUwmaD4rUA6Wtx0oL3GYFC4dRqsceic+1xH/yW/8X382pWcjUpJfNu8JARSVt7e3F7VaDYVCAdVq1d+YoSdCJvjSjlpZ0SZjWYywSVn6k7S1KH6SnvzG+TcdYSN+jkxqZcMR51v3Af2Oc+kPum/zPVIW+W/qF9o3NZGYu/FNK5WsdMmZq+LyIdaBbDaLcrnsE3W+19RHEolEk7+nHBdmWkzxQs7Wd8Jg6nt8vVPQZdXPjYD7g6ifs7OzmJqaQj6f9/ukafEUFyYCyP85j3ozHL8amJ8vXU621Ejc/BpV/m8rT9QFcifgyKeDg0NHoQd6VoR4xS9h5T+rUrVazVe8eGCViRaAbxbu7e1Fd3c3urq6UCwWUalUsH//foyNjaFUKlknIMmPnmRNkxe/h1sIaNBEbQMrevxnU9WYFGniyUSOFRHbZM7l1df172yWZDeD6elpn3xOT0/7k5sQM65PrTDyUUFMiGRRwoq2hJNr8upO/WpMViiFMPLkm06n/VeoSl5kUmaSptVYjpOJF6fJ/nncf7lsmpiLMqXVUt32NjVdyGsicdzczm4SAJreSS5ntpqO2hHyKQRU1DZO10Q0+X4mT7awui7CyGaY0hk1jrAwvODiBdbExATGx8f9epT+ohfIvIEx6JkD5p4fK31TW3EkLCvYrIjqttGLA1M+dNoCHm+1Qhq20awTcOTTwcFh3qBX9kCzidNE9LRZlyeybDaLXC6HdDqNYrGI3t5en3zKG1hmZmYwMzOD6elpzM7OGsmb5I3Jlmmy5YlTwsmr+qISTyZGTKD41aEmX1U9ocj/bDbrxyN/QtR4x7iedPQEo3/j75y2kKZcLufvCC6Xy8jn85iammpqY5kg2WQo6bJSqYkq9wueEKUMXFYTwWPCy4RMlG0mCqZ+qSdihknd4zSYAHMcWhXldtJ9hePntmPVVRZBUk72i+Y8sDLG7aDLnkgk/Dd0yasnuUwczrZg0XWpFzgmxVXfHwZTHKY2Mi1obWE5H9KWuVwO3d3d6Ovrw4EDB3yCyPdIWABz2tLWf/h3gWkhYiqD3MvvfGfSzPmXttZjmO6HXBadZ4nP9grOTsKRTwcHh47ANEEHgScpJg/a3MXEo1gs+jtye3t7USwWm/wvxcQqkykPpDxhA8c3EjE5FGWJ88h5FRcAPqzbVHauA96MI/FXq1WUy2X/jxVenvylTEK2kslj72LP5/M+2RbfPyY3WtmzES9bO7GKJ3HL0TS8MWNqaqrJv00m42Qy6edBSJOco6gnWE1eTX2ETY6yQNEbaqRuTZM0k1YpE/vycTvaXENsxN1Ur0zemYwDzZuqtHLF9SD1pom8JrxM+JmMmBYBOq+yoMjn83P6XtjCykQ29W9xEYUw2u6Rz0HfTZAyin9zf38/CoUCJicnAcDv+1ynQLOPsqRl6t+cDqfHdR2WRx2vEGO9+OCFEi9YdFw6T3Kv9FltjZkPOPLp4ODQMZhUIhts/nK8s1z80Xp6etDV1eVPDLwjl4mgmBkbjYZvSpyenvbT0xOsST0zEQpWmfL5fNNbX0wElImq+KmWSiVMTU1hYmICs7Oz/salrq4uDAwM+MooEwupU6kXMXfPzMw0TZiiXkkcuVwOjUYD5XJ5jrrKhME2QfIkJJOYqGRCfOWVi9xm7LvJrhMmE6OJsOjPUo9a8ZM2ZtVH3h6jfXu5vLwhQ74zueSya9JlU/Q4z3ydy6oXVHrStxE8fbi41KUm19y3AfgLpHQ6jUKh4D8bOm5pR7EmsJrGREvypp8P/fyYyqCvBbV7GGxKqnxvhbzyAlEOn1+6dCkOHTrUdCi/LARM/UH75TIR5UUA1xP7Y2oSr8cmk6oqbhfynElf5jaUfsftyM+HpGd6HW6cdmkFjnw6ODh0BJ0arGRC7evrw/DwMAYGBnzSI6ST1UomGLVazTe1FwoF9PT0YHJy0lfd2I8ROK5+Sv7Fz4tVDlatxNyvJ2kmLkI4U6kUZmdnceDAAd/3NJ1Oo6+vD8uXL7eaOaUOGEywZDOETBb1eh3T09OYmJjwwwihEKIsaqiorKY6NxEiVlTFNNnT0+PXc09Pj3/2J7cBx+N5HsrlspGU2JQpnhyZJIpiXKlU5vQXUbrFvM8mUTb3681GEiZs4uXFgIkk6Lo0LW7ku7S5nvRtiwIBkwneYMJ/cpqEEFW5Lq9GlfRSqZR/sLw+Mozjl2umtrH5pup7OC5G2CIo6phiIqVM2MJIKdddPp/HihUrcOTIEYyMjPhHiwFoIvqy8GWiySozu7/o+jL5W9p8Nk39jsvD1g4ho0yS9XfTMydhpJz6VbDzAUc+HRwcOgIhKgITmdIqIQ/K/MaWYrGIZcuWYWBgwD9Pk4mn/pOJXFQxIZKFQgFdXV3+NZ4otErFJIV/4zzL5KTVJyFAuVwOADAzM4OpqSmUSiV/Y5T4q2oCbSIePNFoSBlY2WOlsVQq+WZxTk+U0Wq16iuSQLMPLpeZy82kRnb7F4tFFAoFf+OR1Jk+9JzVIY7PpmLpfsMuAFJG29uSuC+ZiIB+N7smiNyXbW2g+zKTNvkveWG1Uz8fXHbdl3Q/1HXF+dflYXcVJh56oSMLGSaomnTq/qD7u+m6qZ6C+jLQbArWZeb6kbJLvEGLF1s6JlcUvdgqFotYtWqVH3ZqaspfWOlxize5scLJfc3kzmBy+WBCassr3yO/cT3ohZSuXxP0hkV2a5kvOPLp4ODQNnhDCsM2AenJShQrGUD7+vowODjov0VITII8gWryyaZpUXZkE4GocwLTpMUTm21ikp3fpglIVNPJyUmUSiVfeRKSxv6ZOu4oKoNWO5ggCRmQMLVaDVNTU/5773O5XJN7guRZH1ek0+IycjnlWCtRzJjU2+pXl4WVGK3o6MlaHziv25/TlIWB3MPqEBNSPVkLNCG1Tfysvuv+IH88iTNJ5TbUPqqaVNpUUenjwFxSxdclv0wyZSEl5vYgf08pk6mM+jcuo+nZ1/k39RWtWOpNPboPmUi6qU1NBFdDypDJZDA4OIjZ2Vl/TNGbF215YJXRVC+clj6dwUQ+Pa/5rXCMIDVUE379fJued6kj7SM8H3Dk08HBoW0IySoWi9ZBz6SK6IlGJs5Fixahp6dnzuSoCacmH7LJBTg2CWSzWZ/A6kmKJ2tWIdkkBjSfeSm+dHrClTxOTEzgyJEjvno7MDDgK45SZk0cGUGkh/Ot1Q65R1TOVCqFyclJ/5gh8e0TpUsIPSvO2h+Tyyf1ImUVUs+7/m2KrS6TVhp1eN3GwNz3bMvErd0uWBFNJo+/rlOfBGAilKZrui/wdUmbFxRaDWM/V150CBkWkqzrXNJk0mFaLDGxYaLN+WbVl+vWpsTrttHtIcRVn4MKNJ9Ta2tfybsmkvp3+W9y49DPgMmXluMxEWBTXweOK9TFYhGLFy8GAN99hscM7u/cp9hvm9vHtCDj3wScD1ZOTc+9HlP176ZFXtBzahpX5guOfDo4OLQNIQPid2eaWFh5MA2kolrlcjkMDw+jUCjMUTwBNJEL+S+Tq6gTvElFNh+xAmY6IkUg6WiVTHwoedKVNx6lUikcPXoUu3fvxtDQEPr7+9HV1TVn4mFyYSOY/LuGjZByGsCxCbC/vx+jo6P+W1vEJYFJh9Tx9PR0k2sC50X+a/WzWCyir68Phw4dwuzsrB/OVD5TWThefY3bHTi+Q5zDikLFZ21qk7zEx/537Gdpg20BJW0u7c7uF7yLXfIp54vqOIVUNRqNpldl2oinPvqGFzKSB72gYVLFm1K47mQxYjKha3It9cy7v3lhKOWSfGmib3Jp0YqhyUVAxhQBq9jSluzzyGRfky2uH5u7iZQxnU6jp6fHL2epVML4+Pico+K4P8l3XhCx/zHfZ+oTAl7M8G51HZ+UVx9TJp91P9bqr430LwQc+XRwcGgbyWTSJzQ8IAP2FT9P6AD8neQDAwPo6+tr2l3KZFMgA6kQDtnZrVU6ACgWi/5kKOE1ZMLl76wgFQoFFItFf7KXybter+Pw4cM4fPgwVq1a5ZujGVqB4DT07zaYSLxWxXRd9/X1+edyTk5OolAo+CcCiAIq6rBs5pmdnfU3EHF7yaQshCebzWJoaAgHDx70iauUSeeR61LiA9A0Set247YQn1JZOEhb8Xmn0vZ8+Lr0HU2GbEoZg0mYxCeEU8D54cUFExxNpjhe6SeapNnOwtX5FZ9OIcSsxPECjM37Us9LliyZ47/MxIv/pNy8KJA8y/Mkf5oA2T7L5jfezMP1rsmo5EtOseC2l4WV+DOLT7NWgLmN5DcmrdyWYuGQdk8kEnj++edx9OjRJj9njpvbhWF7/qW9udzSb3Rd6OeRy8B1cKrAkU8HB4e2USwWsWLFCvT39xvVAJOfnZ6IZYIRQqQVMSa0PCDLBMSbK9gkCwBdXV2YmJiYs1FHKw9aUWWFaNmyZRgeHkZvb69/vJFMSvl8HitXrkR3d/ecI1n0f/1Z0tZqiOk+qQetLpoUDFZBpTzlctlvD94lKwqiHJ80MzPT9GpLTQiYCIhvHE/umnzKffK7+Kea6l+bsZk8pVKpprNEdT8QU7dW1EwEKIx4MqnTG7u0b7BWHHVcUudMQAE0kU/22+S4pQw6Pvld+j27IDD51JufhFgNDAzMeVmBfBfCyS91kHzKQkNbL7hfsQpoqm/ZGCf9kwk+t5PpeKrJycmmRYocAcZtJf7XQm71W8BYZebFCfdd3ecXL16MdDqNw4cPY3R0FGNjY5ienp7jtmJTM7n9uM9odZbv5QVJUB+QPqJfLxvmu2kjxAsBRz4dHBzahpio+vr6AMA4OWsFhwd/3izDZlTtdM8qiPzJoCwkSqtMQqp4wuQz8ST/4scoh9bLxCv+kkNDQ/7B9tls1k9LK0Wa1OrPtgkpiEDyJCHEgutXgwkBcNzMKscySbm4joX0iTk+kWjetGMioJlMBn19fZicnGw6Y5XrgNtOymLKv9QB+w1K3uU/t52uP273IHU4CFxGdqkQsMlX548XAyZSrdOQz3IGqi2PJpLMdSskTatkWs0UYg4AhUKhaaHEJnR5FuSECSb01WoVlUrFP7ZJK72mBSeTP6k7eTOWxC/9hs/T5Ph03Nzm8qIGvSGRXQzkOxNSbispo5B03RdYqZfjxnp6ejA2NoaJiQmUSiVUKpUm9wjuI7w44sUIgKZFAaeryxuFRDL5lLKZrDwC04J3oYioI58ODg5tQ0iLHDUEBE+aesWdTCZ98534wPFkBcCfDFmdYbNtNpudc3SMDOSyMUZMbKKsinoph9mLyb+7u7vpQHVWgHgS4fJopdYEPbgHfdaTiEB8yvQ9fJ8pzmTy2CaT0dFReN7xXeFCPmV3vpQVgE82eBOLVj/llYQy+QKYQ0C1yZ1Jok0BMtWtpK8JjlxPp9NN5lAOK/drsiRpmIg11zP3R44nTEHldKX8fF3ItJRHL8xMixdNGthkrJV3oNmknUql/P7NizhpT3nfu/QPPgJNiJ48T5rompQ0WZSIYipnxPb19SGbzaLRaGB6ehrVatV/hvP5/Jwyc3kF7OstfVTaT8qgfValnVn9N7lhSHlYsZb66enp8X2qDxw4gPHxcUxPT/vn+WrCKGOO5IVVYVZN9bOgSampf3H98EJJ0uBnT7eNvhZnodYuHPl0cHDoCKKszDmsVmpYwZENLOzjxWZFmUSZoORyOQwODvp+jTLhAPCJsUwgXV1dGB4exrJlyzA0NOQTTjlA3mQ2l88mwhGFeJrqwkRO5LuJaLEKaatzVlVMirNM+KwWMQGtVCooFAq+uit+vHpybzQaPnEfGBhAtVr1X0moiSZfY/XWRCaEGHO/0GWV9ueNJ3KNX6tqIgG2yVzuFcICNO+yN5lVuT8weWA3AVM7aaWQr7NSHIUEmJ4frRyy6pnNZtHf3+8fLi9uLqJ4d3d3A4DvO6n7u25PgVYkJV/yWlbJ38zMjE8yPc/D9PQ0Zmdn/T/g2Gs/TaqnTo/bg8eGWq3mH3fGam5XV5dv1QDg93neqCZ/7AvKbgwcV39/PxYvXozR0VEcPnwYBw4cwMTExJwFkJBhfjObfq61iTyo7LZFj1Ywg9RTE+GUv3K5jJmZGUNv6xwc+XRwcOgYTJNl0ITPk3CpVEK5XEZfXx96enqayCZPZlp1lHgymQx6e3tx1lln4fDhw00Et7u7G0NDQ/6rOnt7e/3D65kgacIZRjzDlK9WYSKlUhddXV1zfGjDSApPLD09Pb6qJSqWgP1AhYiIP93Y2BjK5fKcTQ6yYalcLmNsbAyjo6Nzdk8zAWI1hlU/yacoQexzqydNbVrVGzzYFYPrh/si9yNRhSVf/F56VqCYMLPyrttO+6xK3ZoUWE0Oxa/UtMDQqicTHCmPbCZjYsPxF4tFLFmypIl4itqYy+UwMzMzx6+W64AXRGzu13Wqyyh55iPZ6vW6/4rZgwcPol6v+8TQRjhtxMpkXpa4AKBUKmF6erpJ2Zayd3V1+SRUNq6JOwQroFIGJqJCroeHh7FmzRocOXIEBw8exNjYWBMB5r5h6ve28uo+oH/j/mVa5AfVIYfh/sYL9/mCI58ODg4dAU+AAhvZ5HsSiYR/DAy/M9xk1jOBr6fTaZ9k8mTBfm1stjeRzbA8M7RqZbsWBpsyzJ81EWVCwGqnwLYhRNRfUZj1MT6sbE5PT/ttIYoY51EUISGgw8PDmJycbIpTyJyQDVGbdPvKpMe7srksXFcm5ZA/s0psUkylDtjkrDeocH1LH5J6Y7cPJoDcXpp0CWljcsqEVAii9pfm+rb1GybH/D5yaSMhVnJiQ29vb5Nfs2x8mpmZmbMpR/Ij//XRP1wmk7uFbUEn9wl5W7p0qU/6ebObbkPdp/Wzwn1GPxMSRnbDz87OYnp6uul8XH5JgeRX/0lZeVwR64q8H35ychKTk5OYmpryjzJjy0FUZdLW9vo6W1+4T9oIrC1NfkbmE458Ojg4tI0wwqZJAe88LRaLPhnRZydq4mlSBHV64lulJ35WOOW6bWK0DbwmBVcrCbbwtnuDoCdVE3nnCd+kiJpUFa4/Ma2ySVDM79oULRuR5EgXmYDFrCgnAfDJAkyMmRCy+qnbgsmyzcfSRKw1Ged64z8hGazsVSqVpg1WmjhJ35F+yhvj9DmLUi6pI6D5AHZ+HvTiIaxPBEHi4hctSHvKhrxiseib3MV3U/s+MkGy9UH9DJr6OpNDHZ7vEf/rRqPRdOQXq8+m+01l5882ws7x8RmorIiynyzfy2VhMip1JouxQqGAnp4eTE1NYXx8HIcOHZpDzjkvehyx1TOXN2ic0u2hxyjTmKXLNp9w5NPBwaFtiNP/7OzsnAmJJ1oZ6OVMPgBYvHix7z8o/np6gA6bdLR6ZiKZJoKsr9smU1OafI+NMJgUGdPkYkrfdk1P7ibFw0aENelJJBK+KV2UvEbj2CtCRSmTs0wB+K8WlTR5g1g2m0VXVxf6+vowPj7e9LpUTbAkD0J6+FgsE2E19QU9wdp2DbNCxUoVE0d+faKNsEq6TFwlHG8aYRIp+WKSxXXCh6QzYbb1qTBCIPlnszkjl8s1neYgLg3i85hIHD/U3KSUafKlyakmT7Y49DXJq14kzs7ONh3tZHqOTaRT59/2fOqxSZ4H8Q01+StLn5IyagIqJDSbzfouBfl83n/dLd8XRNhtdRi1TKb7g8YcTlNbsOYDjnw6ODi0jenpaezZswcTExMAmskGb2YRcxcroOPj4xgeHsbg4GCTSQ+wT7YmhdKmBEQhskETfhhZDCKetkkk6D5TGqyQmNJgQsjkjckoEz/2heR6q9frqFQq2LdvHzzP889tLRaLmJmZ8Xf+C1GVtpS/fD6PpUuXYmRkxD+sPoyAaFKsy6HNvDzhc7vJnzZtMrnVR3PJLmw+fofr0vOOK5gAmtQtzjsTOPbdNJk9dZsIeRVwO5lIQpQ+L7+xH6S4TvT29vp+jtLeUu/6+dPxBV03KXW67GH9PpE4fiSRqO0TExNNBD6oDkzPiImM6udJ7pdx6ciRIxgYGPAXW9InpM1YMbepn3z8WiqV8p8p9s3kvmBa+AZ9D1ug8G9aVQ9aFANw5NPBweHUQKlUwr59+zA2NmacJE2QgXjv3r3+8SVy3aY62RRME6Iqp5wfTRij3hMXQRNw3LCm+pYjh9hsyfHxdXl1IE+oooiJeVnulw0UvFt5cnKyafLu7e3FqlWrsGvXLoyNjUVWoERFNREIVuNMkyQTbu17LARYwolZV+rHthFIvvOObyGKTGIFctSUdjHQ/VfvatblivL8hP1mUq8KhQIGBwf9EyHq9TpKpdKcsLb2YtLFdaXLEfQMRfldkEwm0dXVhVQqhVKp5G9I5HA6D7oMpiOUwiD3jI2NoaenB/l8vmmTlcQv/Y13r+sxhxcyPT09vlsBl5eJNec3TLG0lcv0jLG/sSlMq+NYO2iJfH7iE5/Ahz70IYyMjOCcc87BRz/6UbziFa/odN4cHBxOIYj6pU1KAtMkAcx9cxEA40CuP2uEkVLTdxMx489BakRQ3BpRyWaYuiSftZKkJ3St/OlNIxwPK3dCqhYvXtxkiuf0ZTOIHDmjlZx6vY5FixZhcnISlUoF09PT1rKZTjHgMvBGEH0Woq4bfUQWgw85F4XSdHwS1534QnK6vCOaz4/kI58EvOGF4w/rC6b+aOq7kj+9WOO6ZUVucHAQ/f39/k7zqakpv944Xg3TLmpT/oLUuChlNV2TxZG81jaTyfib5KR+tdtJlHS0a4RJHZW3MCUSCRQKBb+cHE5vkJM20KcAiL/0zMwMPO/4mbTcv/SRS2Fjk+2aIOqYZCK5+vSI+UBs8vn5z38et99+Oz7xiU/giiuuwN/93d/huuuuw7PPPovVq1fPRx4dHBxOEcRdPcvAp9/lbVN/Wr2u02PiGZRn22SmlQ7TwB91Eg5Sf8KuBxEVIR08OZomYZkMhTjK5o+gPPCmHH4jkrhXdHd3Y2BgwDe9C/HTC5BEYu6h6HJdNn+wuVP7gfJ1Tablurh6SB5MarDUF5M4TXB1WqKASj70IkqrZGELsiCY+rUQSxv5ZCKdyWQwNDSE7u5upFIpX/mVXe42aIIidaDTkb6g89vqc6GVzWTy+FFYqVSqyV0i6P6g51ynwW0sn+XYqq6urjn3MAENWhQJgZYXYMjLHHhTpITTvr+mHf/82eaiEQWmNpJroujOJ2KTz7/6q7/Cb/zGb+Atb3kLAOCjH/0ovvGNb+Duu+/GXXfd1fEMOjg4nDqwDcBa0dSTv2w0EiXDtPIH0ESkBDZlVCtapviiIIggRFVXw0iGbbJmmIhA0H+tuvFkxt+5TmViDKsvUXcajYb/JplsNuurgrlcDn19fZidncXU1JR/eDinLWRFlE1JTwid3k2u36ku/UWTQt7IZFM6dVmYyEn8QZ+r1SqSyWQT+dHnTNoIT5hyb8ufVtf0NYF2B0gkjp1k0N/fj1wu5/t5ssLLxEvu4bSA488et4NWjE0+ozo/UaH7s5RDH9Gl3xCk+zS3H9exiaByH5E+Iwol9w/Oo+k54fqT/PIGJrlXLxq0L7G2WOgFlk5bl9NUp0Fjkvwm/Xs+EYt8VioVPProo3jHO97RdP1Vr3oVHnzwQeM98jouwfj4OAD4GxNMaJTbO1k/KO4XNcrxJ1YfP6V1NhXw3tsoCOprvPnmpwE86Jtgmoh5EhOVSgZ602ssJaxNCTKlbdoNHgVaTbUN7GHfw66b0tDQEzFft5Ekbc5jH0eg+SxMyYM+9kjHa8prpVLxSYEoaaIW9fb2oqenxziZsULL6Uj6jUbD3x0MHH/bkMQPoIlU8qs9tT8nk26dDykHH5ekXQk0TH1dkxnTddN3029yTdeRrZ/r9DRBTSSOvWihXq9jenoa9Xrdf4WlqFz6UHWdN7nObamfEYlT2kqf16thU4NN9ce/S38Tf2Xtw8swnYCg42biafLZLZVKft82qZJMfiWM/pM8sxpvqkPOJy/QTH3E9OwzdNiwRZWtzucDscjn4cOHUa/XsWTJkqbrS5Yswf79+4333HXXXXjve9875/qqVaviJB0LfR+dt6hfvPjzvhOdg1MTfeH1Njk5ib4I4U5lHDx48ERnwcHBwcHhFEFLG47imBLe+c534o477vC/NxoNHD16FENDQ6GmKBMmJiawatUq7N69G729vbHv/2mFq7f4aLfOPO/YTuDly5fPQ+4cHBwcHBxOTcQin4sWLUIqlZqjch48eHCOGiqQ100x+vv74+XSgN7eXkeiWoCrt/hop85e7Iqng4ODg4NDXMTyKM1ms3jZy16G++67r+n6fffdh8svv7yjGXNwcHBwcHBwcHjxIbbZ/Y477sCv/dqv4aKLLsJll12GT33qU9i1axduueWW+cifg4ODg4ODg4PDiwixyecb3vAGHDlyBO973/swMjKCc889F1/72tewZs2a+cjfHORyObz73e+eY8p3CIart/hwdebg4ODg4NB5JLyflnNgHBwcHBwcHBwcTjjm9xRRBwcHBwcHBwcHB4Ijnw4ODg4ODg4ODgsGRz4dHBwcHBwcHBwWDC8a8nn11Vfj9ttvP9HZ+KnCvffeG/vM1tNOOw0f/ehH5yU/reD+++9HIpHA2NhYR+NNJBL48pe/3NE4HRwcHBwcXgxomXzu378fv/d7v4e1a9cil8th1apVuP766/Htb3+7k/mLjC9+8Yv4sz/7sxOStg2m9+vy35vf/OYTncXIMJHGN7zhDdiyZcuC5eHNb36zsR5//ud/fsHyEBUjIyO47rrrIodvhcg7ODg4ODicimjp9Zo7duzAFVdcgf7+fvzlX/4lzjvvPFSrVXzjG9/Arbfeiueee27OPdVqFZlMpu0M2zA4ODhvcbeKkZER//PnP/95vOtd78LmzZv9a4VC4URkq2MoFAoLXoaf//mfxz333NN07WQ8Cmnp0qUnOgsODg4ODg4nJVpSPn/nd34HiUQCP/7xj/G6170O69evxznnnIM77rgDDz30EIBjqt8nP/lJ3HDDDejq6sL73/9+AMDdd9+NdevWIZvN4qyzzsK//Mu/NMX9nve8B6tXr0Yul8Py5cvxtre9zf/tE5/4BM4880zk83ksWbIEr3vd6/zftNn9tNNOwwc/+EH8+q//Onp6erB69Wp86lOfakrrwQcfxAUXXIB8Po+LLroIX/7yl5FIJPDEE08AAEZHR/Grv/qrGB4eRqFQwJlnnjmH+ARh6dKl/l9fXx8SiYT/PZPJ4JZbbsHKlStRLBbxkpe8BP/2b//WdP/VV1+Nt73tbbjzzjsxODiIpUuX4j3veU9TmOeeew5XXnkl8vk8zj77bHzrW9+aY/Ldu3cv3vCGN2BgYABDQ0O44YYbsGPHDv/3N7/5zbjxxhvx4Q9/GMuWLcPQ0BBuvfVWVKtVPx87d+7E7//+7/tqIzBXrdu+fTtuuOEGLFmyBN3d3bj44ovxrW99K3J9RUEul2uq16VLl2JgYADAsT73D//wD/jFX/xFFItFnHnmmfjP//zPpvu/9rWvYf369SgUCrjmmmua6oHL9OUvfxnr169HPp/Htddei927dzeFC+vH3AY7duxAIpHAF7/4RVxzzTUoFos4//zz8cMf/hDAMdP/zTffjPHxcb9+dTs7ODg4ODi8aODFxJEjR7xEIuF98IMfDAwHwFu8eLH3j//4j9727du9HTt2eF/84he9TCbjffzjH/c2b97sfeQjH/FSqZT3ne98x/M8z/v3f/93r7e31/va177m7dy50/vRj37kfepTn/I8z/MefvhhL5VKeZ/97Ge9HTt2eI899pj3sY99zE/vqquu8m677Tb/+5o1a7zBwUHv4x//uLd161bvrrvu8pLJpLdp0ybP8zxvYmLCGxwc9N70pjd5zzzzjPe1r33NW79+vQfAe/zxxz3P87xbb73Vu+CCC7yHH37Ye+GFF7z77rvP+8///M+4VeZ5nufdc889Xl9fn/99z5493oc+9CHv8ccf97Zv3+79zd/8jZdKpbyHHnqoqUy9vb3ee97zHm/Lli3eP/3TP3mJRML75je/6Xme59Xrde+ss87yrr32Wu+JJ57wvv/973uXXHKJB8D70pe+5Hme501PT3tnnnmm9+u//uveU0895T377LPeG9/4Ru+ss87yyuWy53med9NNN3m9vb3eLbfc4m3atMn7yle+4hWLRb/ujxw54q1cudJ73/ve542MjHgjIyPGMj3xxBPeJz/5Se+pp57ytmzZ4v3xH/+xl8/nvZ07dza1y1//9V+3VIc33XSTd8MNN1h/B+CtXLnS++xnP+tt3brVe9vb3uZ1d3d7R44c8TzP83bt2uXlcjnvtttu85577jnvX//1X70lS5Z4ALzR0VG/TJlMxrvooou8Bx980HvkkUe8Sy65xLv88sv9dML6seRF2uCFF17wAHgbNmzwvvrVr3qbN2/2Xve613lr1qzxqtWqVy6XvY9+9KNeb2+vX7+Tk5Mt1ZGDg4ODg8PJjtjk80c/+pEHwPviF78YHDHg3X777U3XLr/8cu83f/M3m669/vWv917zmtd4nud5H/nIR7z169d7lUplTnxf+MIXvN7eXm9iYsKYnol8vulNb/K/NxoNb/Hixd7dd9/teZ7n3X333d7Q0JBXKpX8MH//93/fRD6vv/567+abbw4sZ1RoombCa17zGu8P/uAP/O9XXXWVd+WVVzaFufjii723v/3tnud53n/913956XTaJ4Oe53n33XdfE/H5x3/8R++ss87yGo2GH6ZcLnuFQsH7xje+4XneMVK3Zs0ar1ar+WFe//rXe294wxv87ybSGKVMZ599tve3f/u3gfFExU033eSlUimvq6ur6e9973uf53nH+tyf/Mmf+OGnpqa8RCLh/dd//ZfneZ73zne+09u4cWNTXbz97W+fQz4BNC0CNm3a5AHwfvSjH3meF96PJS+afP7DP/yD//szzzzjAfAXQ1Hq0sHBwcHB4cWA2GZ3739eiCSm1yBcdNFFTd83bdqEK664ounaFVdcgU2bNgEAXv/616NUKmHt2rX4zd/8TXzpS19CrVYDAFx77bVYs2YN1q5di1/7tV/DZz7zGczMzASmf9555/mfxeR98OBBAMDmzZtx3nnnIZ/P+2EuueSSpvt/+7d/G5/73OdwwQUX4M4778SDDz4YWuaoqNfr+MAHPoDzzjsPQ0ND6O7uxje/+U3s2rXLWgYAWLZsWVMZVq1a1eRfqMvw6KOPYtu2bejp6UF3dze6u7sxODiI2dlZbN++3Q93zjnnIJVKGdOJiunpadx55504++yz0d/fj+7ubjz33HNzytQOrrnmGjzxxBNNf7feeqv/O9dXV1cXenp6/HJs2rQJl156aVPfveyyy+akkU6nm/ruhg0b0N/f7/fTsH5sA+dt2bJlABC7jh0cHBwcHE51xCafZ555JhKJROhECxyb/DU0afU8z7+2atUqbN68GR//+MdRKBTwO7/zO3jlK1+JarWKnp4ePPbYY/i3f/s3LFu2DO9617tw/vnnBx6Rozc4JRIJNBqNOelyXhjXXXcddu7cidtvvx379u3Dz/7sz+L/+//+v9ByR8FHPvIR/PVf/zXuvPNOfOc738ETTzyBV7/61ahUKm2VQaPRaOBlL3vZHMK2ZcsWvPGNb4yUTlT84R/+Ib7whS/gAx/4AL7//e/jiSeewEte8pI5ZWoHXV1dOOOMM5r+eLNZWH1Fhale+VpQP7aB8yZh49axg4ODg4PDqY7Y5HNwcBCvfvWr8fGPfxzT09Nzfg8igxs3bsR///d/N1178MEHsXHjRv97oVDA//pf/wt/8zd/g/vvvx8//OEP8fTTTwM4pkj93M/9HP7yL/8STz31FHbs2IHvfOc7cYsA4Jia9dRTT6FcLvvXHnnkkTnhhoeH8eY3vxn/+q//io9+9KNzNi21iu9///u44YYb8KY3vQnnn38+1q5di61bt8aKY8OGDdi1axcOHDjgX3v44Yebwlx44YXYunUrFi9ePIe09fX1RU4rm82iXq+HlunNb34zfvEXfxEveclLsHTp0jkbek4kzj77bH9DnEB/B4BardbUFzZv3oyxsTFs2LABQLR+HBdR6tfBwcHBweHFgJZ2u3/iE59AvV7HJZdcgi984QvYunUrNm3ahL/5m78xmjEFf/iHf4h7770Xn/zkJ7F161b81V/9Fb74xS/6auK9996Lf/zHf8RPfvITPP/88/iXf/kXFAoFrFmzBl/96lfxN3/zN3jiiSewc+dO/PM//zMajQbOOuuslgr+xje+EY1GA7/1W7+FTZs24Rvf+AY+/OEPAziuSr3rXe/Cf/zHf2Dbtm145pln8NWvfrUtgsE444wzcN999+HBBx/Epk2b8Na3vhX79++PFce1116LdevW4aabbsJTTz2FH/zgB/jjP/7jpjL86q/+KhYtWoQbbrgB3//+9/HCCy/ge9/7Hm677Tbs2bMnclqnnXYaHnjgAezduxeHDx+2lumLX/winnjiCTz55JN+HXcS5XIZ+/fvb/qz5Ufjlltuwfbt23HHHXdg8+bN+OxnP4t77713TrhMJoPf+73fw49+9CM89thjuPnmm3HppZf6Lg1h/bgVnHbaaZiamsK3v/1tHD58ONSlxMHBwcHB4VRFS+Tz9NNPx2OPPYZrrrkGf/AHf4Bzzz0X1157Lb797W/j7rvvtt5344034mMf+xg+9KEP4ZxzzsHf/d3f4Z577sHVV18NAOjv78ff//3f44orrsB5552Hb3/72/jKV76CoaEh9Pf344tf/CJ+5md+Bhs3bsQnP/lJ/Nu//RvOOeeclgre29uLr3zlK3jiiSdwwQUX4I//+I/xrne9CwB8P9BsNot3vvOdOO+88/DKV74SqVQKn/vc51pKT+NP//RPceGFF+LVr341rr76aixduhQ33nhjrDhSqRS+/OUvY2pqChdffDHe8pa34E/+5E+aylAsFvHAAw9g9erV+KVf+iVs3LgRv/7rv45SqYTe3t7Iab3vfe/Djh07sG7dOgwPDxvD/PVf/zUGBgZw+eWX4/rrr8erX/1qXHjhhbHKFIavf/3rWLZsWdPflVdeGene1atX4wtf+AK+8pWv4Pzzz8cnP/lJfPCDH5wTrlgs4u1vfzve+MY34rLLLkOhUGhq97B+3Aouv/xy3HLLLXjDG96A4eFh/OVf/mXLcTk4ODg4OJzMSHhxHOFe5PjMZz7jn7d4qh4A/4Mf/ABXXnkltm3bhnXr1p3o7JxyuPfee3H77bd3/HWbDg4ODg4ODsfQ0huOXiz453/+Z6xduxYrVqzAk08+ibe//e34lV/5lVOKeH7pS19Cd3c3zjzzTGzbtg233XYbrrjiCkc8HRwcHBwcHE5K/FSTz/379+Nd73oX9u/fj2XLluH1r389PvCBD5zobMXC5OQk7rzzTuzevRuLFi3Cz/3cz+EjH/nIic6Wg4ODg4ODg4MRzuzu4ODg4ODg4OCwYGhpw5GDg8OLH/fee6//rvlEIoF0Oo2VK1fi5ptvxt69e0909trGs88+i/e85z0n1XFgJnAbBP3df//9Jzqrobj//vtPmbw6ODjMH36qze4ODg7huOeee7BhwwaUSiU88MADuOuuu/C9730PTz/9tPFFEqcKnn32Wbz3ve/F1VdfjdNOO+1EZ8eKH/7wh03f/+zP/gzf/e5355xxfPbZZy9kthwcHBxahiOfDg4OgTj33HP9141ec801qNfr+LM/+zN8+ctfxq/+6q+2FffMzAyKxWInsvmixaWXXtr0fXh4GMlkcs51DVe3Dg4OJyuc2d3BwSEWhPTs3LkTwLFXi37iE5/ABRdcgEKhgIGBAbzuda/D888/33Tf1VdfjXPPPRcPPPAALr/8chSLRfz6r/86gGNvRvuDP/gDrF27FrlcDosXL8ZrXvMaPPfcc/79lUoF73//+7FhwwbkcjkMDw/j5ptvxqFDh5rSOe200/ALv/AL+PrXv44LL7wQhUIBGzZswKc//Wk/zL333ovXv/71AI4RajFdy0sH7rvvPtxwww1YuXIl8vk8zjjjDLz1rW81vtDgP/7jP3Deeechl8th7dq1+NjHPob3vOc9xlewRqmnVhBUt5///Ofxqle9CsuWLUOhUMDGjRvxjne8w/iGuh/96Ee4/vrrMTQ0hHw+j3Xr1uH2229vCrN161a88Y1vxOLFi5HL5bBx40Z8/OMfnxPXc889h5//+Z9HsVjEokWLcMstt2BycrLtsjo4OJz6cMqng4NDLGzbtg0A/JcNvPWtb8W9996Lt73tbfiLv/gLHD16FO973/tw+eWX48knn8SSJUv8e0dGRvCmN70Jd955Jz74wQ8imUxicnISV155JXbs2IG3v/3tePnLX46pqSk88MADGBkZwYYNG9BoNPy3dN155524/PLLsXPnTrz73e/G1VdfjUceeaTpiLQnn3wSf/AHf4B3vOMdWLJkCf7hH/4Bv/Ebv4EzzjgDr3zlK/Ha174WH/zgB/FHf/RH+PjHP+6/DEGOKNu+fTsuu+wyvOUtb0FfXx927NiBv/qrv8KVV16Jp59+GplMBsCxlx780i/9El75ylfi85//PGq1Gj784Q83vfJWEKeeWoGpboFjZPE1r3kNbr/9dnR1deG5557DX/zFX+DHP/5xk+n+G9/4Bq6//nps3LgRf/VXf4XVq1djx44d+OY3v+mHefbZZ3H55Zdj9erV+MhHPoKlS5fiG9/4Bt72trfh8OHDePe73w0AOHDgAK666ipkMhl84hOfwJIlS/CZz3wGv/u7v9tWGR0cHF4k8BwcHBwMuOeeezwA3kMPPeRVq1VvcnLS++pXv+oNDw97PT093v79+70f/vCHHgDvIx/5SNO9u3fv9gqFgnfnnXf616666ioPgPftb3+7Kez73vc+D4B33333WfPyb//2bx4A7wtf+ELT9YcfftgD4H3iE5/wr61Zs8bL5/Pezp07/WulUskbHBz03vrWt/rX/v3f/90D4H33u98NrIdGo+FVq1Vv586dHgDvP/7jP/zfLr74Ym/VqlVeuVz2r01OTnpDQ0MeD69x6ikMN910k9fV1dV0zVa3trJ873vf8wB4Tz75pP/bunXrvHXr1nmlUsl6/6tf/Wpv5cqV3vj4eNP13/3d3/Xy+bx39OhRz/M87+1vf7uXSCS8J554oinctddeG6nOHRwcXtxwZncHB4dAXHrppchkMujp6cEv/MIvYOnSpfiv//ovLFmyBF/96leRSCTwpje9CbVazf9bunQpzj///Dm7mgcGBvAzP/MzTdf+67/+C+vXr8fP/dzPWfPw1a9+Ff39/bj++uub0rnggguwdOnSOelccMEFWL16tf89n89j/fr1vqtAGA4ePIhbbrkFq1atQjqdRiaTwZo1awAAmzZtAgBMT0/jkUcewY033ohsNuvf293djeuvv35O/uPUUysw1S0APP/883jjG9+IpUuXIpVKIZPJ4Kqrrmoqy5YtW7B9+3b8xm/8hv9qXo3Z2Vl8+9vfxi/+4i+iWCw2leM1r3kNZmdn8dBDDwEAvvvd7+Kcc87B+eef3xTHG9/4xrbL6eDgcOrDmd0dHBwC8c///M/YuHEj0uk0lixZgmXLlvm/HThwAJ7nWU3Ga9eubfrO9woOHTrURBRNOHDgAMbGxppIHkP7Yg4NDc0Jk8vlUCqVAtMBgEajgVe96lXYt28f/vRP/xQveclL0NXVhUajgUsvvdSPY3R01Fp2fS1uPbUCU91OTU3hFa94BfL5PN7//vdj/fr1KBaL2L17N37pl37JL4v4za5cudIa/5EjR1Cr1fC3f/u3+Nu//VtjGGmHI0eO4PTTT5/z+9KlS2OXy8HB4cUHRz4dHBwCsXHjRn+3u8aiRYuQSCTw/e9/H7lcbs7v+prehAMc8x3ds2dPYB4WLVqEoaEhfP3rXzf+3tPTE3h/HPzkJz/Bk08+iXvvvRc33XSTf118XQUDAwNIJBJG/879+/c3fY9bT63AVLff+c53sG/fPtx///2+2gkc2+DFEP/doHYYGBhAKpXCr/3ar+HWW281hhHCOTQ0NKcOgLn14uDg8NMJRz4dHBxaxi/8wi/gz//8z7F37178yq/8SktxXHfddXjXu96F73znO0azsaTzuc99DvV6HS9/+cvbybIPIXxaDRUSpwnh3/3d3zV97+rqwkUXXYQvf/nL+PCHP+yrslNTU/jqV786J//t1lMriFqW9evXY926dfj0pz+NO+64w0iGi8UirrnmGjz++OM477zzrCo0cOwEgb/8y7/Ek08+2WR6/+xnP9tOcRwcHF4kcOTTwcGhZVxxxRX4rd/6Ldx888145JFH8MpXvhJdXV0YGRnBf//3f+MlL3kJfvu3fzswjttvvx2f//znccMNN+Ad73gHLrnkEpRKJXzve9/DL/zCL+Caa67B//7f/xuf+cxn8JrXvAa33XYbLrnkEmQyGezZswff/e53ccMNN+AXf/EXY+X93HPPBQB86lOfQk9PD/L5PE4//XRs2LAB69atwzve8Q54nofBwUF85StfwX333Tcnjve973147Wtfi1e/+tW47bbbUK/X8aEPfQjd3d04evRoR+upFVx++eUYGBjALbfcgne/+93IZDL4zGc+gyeffHJO2I9//OO4/vrrcemll+L3f//3sXr1auzatQvf+MY38JnPfAYA8LGPfQxXXnklXvGKV+C3f/u3cdppp2FychLbtm3DV77yFX/3/O23345Pf/rTeO1rX4v3v//9/m53PjrLwcHhpxgndr+Tg4PDyQrZ7f7www+Hhv30pz/tvfzlL/e6urq8QqHgrVu3zvs//+f/eI888ogf5qqrrvLOOecc4/2jo6Pebbfd5q1evdrLZDLe4sWLvde+9rXec88954epVqvehz/8Ye/888/38vm8193d7W3YsMF761vf6m3dutUPt2bNGu+1r33tnDSuuuoq76qrrmq69tGPftQ7/fTTvVQq5QHw7rnnHs/zPO/ZZ5/1rr32Wq+np8cbGBjwXv/613u7du3yAHjvfve7m+L40pe+5L3kJS/xstmst3r1au/P//zPvbe97W3ewMBAS/UUBttud1vdPvjgg95ll13mFYtFb3h42HvLW97iPfbYY03lFfzwhz/0rrvuOq+vr8/L5XLeunXrvN///d9vCvPCC///9u43puq6jeP4hz+HAzo4RaSHfzpobVSUf6AeKGWrZEuttba2XCabPrGJga7SO9tsLcNsuVWUzNZ6Yg2fYFmrFpVRrDUZQpG6bGlCKqM2A9ISget+4Dz3fW60gcLFzeH92s4Gv9935/edl+h753DOOWorVqyw7OxsCwQCdu2119q8efPs+eefj1p34c8wOTnZ0tPTbeXKlfb+++/zancAFmdmNq71CwAx5Ny5c5o9e7ays7Oj3iMTAHAeT7sDwBVYuXKlFi5cqMzMTHV2dqqmpkaHDh3SK6+8Mt5bA4D/S8QnAFyB3t5ePfHEE/rtt98UCAQ0d+5cffTRR//4vqUAMJnxtDsAAADc8AlHAAAAcEN8AgAAwA3xCQAAADfuLzgaHBzUiRMnlJqaetGPgwMAAMD4MjP19vYqKytL8fGj+1ile3yeOHFCubm53pcFAADACHV0dCgnJ2dU79M9PlNTU89/sVbS0I8PBoCY0v2v7vHeAgCMWE9Pj3Jzc//TbaPIPT4jT7UHJSV7Xx0AfKWlpY33FgDgso3Fr0jygiMAAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBviEwAAAG6ITwAAALghPgEAAOAm0fuCZnb+i7PeVwYAfz09PeO9BQAYsQv/dkW6bRTF2Vjc6z84cuSIrrvuOs9LAgAA4DL8/PPPys/PH9X7dH/kMz09XZLU3t6uUCjkfXk46+npUW5urjo6OpSWljbe28EYY96TC/OeXJj35NLd3a0ZM2ZEum00ucdnfPz5XzMNhUL85Z1E0tLSmPckwrwnF+Y9uTDvyeVCt43qfY76PQIAAACXQHwCAADAjXt8BoNBbdq0ScFg0PvSGAfMe3Jh3pML855cmPfkMpbzdn+1OwAAACYvnnYHAACAG+ITAAAAbohPAAAAuCE+AQAA4Ib4BAAAgBvX+HzjjTeUl5en5ORkFRUV6euvv/a8PMZIVVWVbr31VqWmpmratGl64IEH9OOPP0atMTM9++yzysrKUkpKiu68804dOHBgnHaM0VJVVaW4uDhVVlZGjjHr2HP8+HEtW7ZM11xzjaZMmaLZs2erubk5cp6Zx47+/n4988wzysvLU0pKivLz8/Xcc89pcHAwsoZ5T1xfffWV7rvvPmVlZSkuLk7vvfde1PnhzPbs2bNas2aNMjIyNHXqVN1///369ddfR7QPt/jctWuXKisrtXHjRrW0tOj222/Xvffeq/b2dq8tYIw0NDRo9erV+vbbb1VfX6/+/n6Vlpbq9OnTkTVbt27Vtm3bVF1draamJoXDYS1cuFC9vb3juHNciaamJu3YsUO33HJL1HFmHVtOnTql+fPnKxAI6OOPP9bBgwf18ssv66qrroqsYeax48UXX1RNTY2qq6t16NAhbd26VS+99JJee+21yBrmPXGdPn1as2bNUnV19UXPD2e2lZWV2r17t2pra9XY2Kg///xTS5Ys0cDAwPA3Yk5uu+02W7VqVdSxgoIC27Bhg9cW4KSrq8skWUNDg5mZDQ4OWjgcti1btkTW/P333xYKhaympma8tokr0Nvba9dff73V19fbggULrKKiwsyYdSxav369lZSUXPI8M48tixcvthUrVkQde/DBB23ZsmVmxrxjiSTbvXt35PvhzPaPP/6wQCBgtbW1kTXHjx+3+Ph4++STT4Z9bZdHPvv6+tTc3KzS0tKo46Wlpfrmm288tgBH3d3dkqT09HRJ0tGjR9XZ2Rk1/2AwqAULFjD/CWr16tVavHix7rnnnqjjzDr27NmzR8XFxXrooYc0bdo0zZkzR2+++WbkPDOPLSUlJfr88891+PBhSdJ3332nxsZGLVq0SBLzjmXDmW1zc7POnTsXtSYrK0uFhYUjmn/i6G370n7//XcNDAxo+vTpUcenT5+uzs5Ojy3AiZlp3bp1KikpUWFhoSRFZnyx+R87dsx9j7gytbW12r9/v5qamoacY9ax58iRI9q+fbvWrVunp59+Wvv27dPjjz+uYDCo5cuXM/MYs379enV3d6ugoEAJCQkaGBjQ5s2btXTpUkn8jMey4cy2s7NTSUlJuvrqq4esGUnPucTnBXFxcVHfm9mQY5jYysvL9f3336uxsXHIOeY/8XV0dKiiokKffvqpkpOTL7mOWceOwcFBFRcX64UXXpAkzZkzRwcOHND27du1fPnyyDpmHht27dqlnTt36t1339VNN92k1tZWVVZWKisrS2VlZZF1zDt2Xc5sRzp/l6fdMzIylJCQMKSKu7q6hhQ2Jq41a9Zoz5492rt3r3JyciLHw+GwJDH/GNDc3Kyuri4VFRUpMTFRiYmJamho0KuvvqrExMTIPJl17MjMzNSNN94YdeyGG26IvFiUn+/Y8uSTT2rDhg16+OGHdfPNN+vRRx/V2rVrVVVVJYl5x7LhzDYcDquvr0+nTp265JrhcInPpKQkFRUVqb6+Pup4fX295s2b57EFjCEzU3l5uerq6vTFF18oLy8v6nxeXp7C4XDU/Pv6+tTQ0MD8J5i7775bbW1tam1tjdyKi4v1yCOPqLW1Vfn5+cw6xsyfP3/IW6cdPnxYM2fOlMTPd6w5c+aM4uOj0yAhISHyVkvMO3YNZ7ZFRUUKBAJRa06ePKkffvhhZPO/7JdJjVBtba0FAgF766237ODBg1ZZWWlTp061X375xWsLGCOPPfaYhUIh+/LLL+3kyZOR25kzZyJrtmzZYqFQyOrq6qytrc2WLl1qmZmZ1tPTM447x2j471e7mzHrWLNv3z5LTEy0zZs3208//WTvvPOOTZkyxXbu3BlZw8xjR1lZmWVnZ9uHH35oR48etbq6OsvIyLCnnnoqsoZ5T1y9vb3W0tJiLS0tJsm2bdtmLS0tduzYMTMb3mxXrVplOTk59tlnn9n+/fvtrrvuslmzZll/f/+w9+EWn2Zmr7/+us2cOdOSkpJs7ty5kbfiwcQm6aK3t99+O7JmcHDQNm3aZOFw2ILBoN1xxx3W1tY2fpvGqPnf+GTWseeDDz6wwsJCCwaDVlBQYDt27Ig6z8xjR09Pj1VUVNiMGTMsOTnZ8vPzbePGjXb27NnIGuY9ce3du/ei/1+XlZWZ2fBm+9dff1l5ebmlp6dbSkqKLVmyxNrb20e0jzgzsyt6nBYAAAAYJj7bHQAAAG6ITwAAALghPgEAAOCG+AQAAIAb4hMAAABuiE8AAAC4IT4BAADghvgEAACAG+ITAAAAbohPAAAAuCE+AQAA4ObfOJ27kmrNST0AAAAASUVORK5CYII=", + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "from matplotlib.gridspec import GridSpec\n", + "\n", + "fig = plt.figure(figsize=(8,6.4))\n", + "# fig.suptitle('Action 'actions[0])\n", + "gs = GridSpec(nrows=2, ncols=2, figure=fig, height_ratios=[1, 0.2], width_ratios=[1, 2])\n", + "ax1 = fig.add_subplot(gs[0, 0])\n", + "ax2 = fig.add_subplot(gs[0, 1])\n", + "ax3 = fig.add_subplot(gs[1, :])\n", + "ax2.imshow(video[0])\n", + "ax2.axis('off')\n", + "ax2.set_title('Trace')\n", + "\n", + "contact_types = ['Crossings', 'Tangential', 'Endpoint']\n", + "counts = [crossings[0], tangential_contacts[0], endpt_contacts[0]]\n", + "bar_colors = ['tab:blue', 'tab:orange', 'tab:red']\n", + "# width = np.diff(contact_types).min()\n", + "ax1.bar(contact_types, counts, color=bar_colors, align='center', width=0.2)\n", + "ax1.set_title('Contact Types')\n", + "# Tell matplotlib to interpret the x-axis values as dates\n", + "# ax1.xaxis_date()\n", + "\n", + "# Make space for and rotate the x-axis tick labels\n", + "# ax1.autofmt_xdate()\n", + "\n", + "ax3.set_title('Percentage Traced')\n", + "start = 0\n", + "perc_complete = circles[0]/total_length*100\n", + "\n", + "ax3.broken_barh([(start, perc_complete)], [0, 5], facecolors=('green'))\n", + "ax3.set_ylim(0, 5)\n", + "ax3.set_xlim(0, 100)\n", + "ax3.yaxis.set_visible(False)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "ExecuteTime": { + "end_time": "2024-02-11T05:37:53.064756Z", + "start_time": "2024-02-11T05:37:53.057229Z" + } + }, + "outputs": [ + { + "data": { + "text/plain": [ + "51.06382978723404" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "perc_complete\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "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": "3.9.13" + }, + "toc": { + "base_numbering": 1, + "nav_menu": {}, + "number_sections": true, + "sideBar": true, + "skip_h1_title": false, + "title_cell": "Table of Contents", + "title_sidebar": "Contents", + "toc_cell": false, + "toc_position": {}, + "toc_section_display": true, + "toc_window_display": false + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/logs_2024-02-10_13-48-40.zip b/logs_2024-02-10_13-48-40.zip new file mode 100644 index 0000000..5800d1a Binary files /dev/null and b/logs_2024-02-10_13-48-40.zip differ diff --git a/logs_2024-02-10_13-48-40/debug_info_log.txt b/logs_2024-02-10_13-48-40/debug_info_log.txt new file mode 100755 index 0000000..46f7597 --- /dev/null +++ b/logs_2024-02-10_13-48-40/debug_info_log.txt @@ -0,0 +1,39 @@ +13:48:42 Level 25 IP Moves Executed: 0 +13:49:09 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-07.png +13:49:09 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-49-07.png +13:49:09 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-49-07.png +13:49:09 Level 25 Executing Trace Uncertainty Disambiguation (TUG-IP) +13:49:36 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-33.png +13:49:36 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-49-33.png +13:49:36 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-49-33.png +13:49:36 Level 25 IP Moves Executed: 1 +13:49:37 WARNING No paths made it to any bounding box. +13:49:37 Level 25 Executing Trace Uncertainty Disambiguation (TUG-IP) +13:49:57 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-54.png +13:49:57 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-49-54.png +13:49:57 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-49-54.png +13:49:57 Level 25 IP Moves Executed: 2 +13:49:58 WARNING No paths made it to any bounding box. +13:49:58 Level 25 Executing Trace Uncertainty Disambiguation (TUG-IP) +13:50:21 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-50-16.png +13:50:21 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-50-16.png +13:50:21 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-50-16.png +13:50:21 Level 25 IP Moves Executed: 3 +13:50:22 WARNING No paths made it to any bounding box. +13:50:22 Level 25 Executing Trace Uncertainty Disambiguation (TUG-IP) +13:50:46 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-50-42.png +13:50:46 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-50-42.png +13:50:46 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-50-42.png +13:50:46 Level 25 IP Moves Executed: 4 +13:50:47 WARNING No paths made it to any bounding box. +13:50:47 Level 25 Executing Cable Endpoint Verification (CEV-IP) +13:51:08 Level 25 Image saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-51-07.png +13:51:08 Level 25 Trace saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-51-07.png +13:51:08 Level 25 Endpoints saved to ./logs/full_rollouts/logs_2024-02-10_13-48-40/traces/endpoints2024-02-10_13-51-07.png +13:51:08 Level 25 IP Moves Executed: 5 +13:51:09 WARNING No paths made it to any bounding box. +13:51:09 Level 25 +******DONE****** + +13:51:11 Level 25 Start trace length: 24 +13:51:11 Level 25 Final trace length: 47 diff --git a/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-07.png b/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-07.png new file mode 100755 index 0000000..5712c33 Binary files /dev/null and b/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-07.png differ diff --git a/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-33.png b/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-33.png new file mode 100755 index 0000000..130addc Binary files /dev/null and b/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-33.png differ diff --git a/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-54.png b/logs_2024-02-10_13-48-40/images/trace2024-02-10_13-49-54.png 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diff --git a/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-51-07.npy b/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-51-07.npy new file mode 100755 index 0000000..c2aa3c1 Binary files /dev/null and b/logs_2024-02-10_13-48-40/traces/trace_coords2024-02-10_13-51-07.npy differ diff --git a/script.js b/script.js new file mode 100644 index 0000000..334b042 --- /dev/null +++ b/script.js @@ -0,0 +1,229 @@ + +var video_names = ['bouquet','figurines','kitchen', 'donuts', 'teatime', 'bookstore', 'grocery', 'garden', 'shoes']; +var download_paths = [ + 'data/high_res/bouquet.mp4', + 'data/high_res/figurines.mp4', + 'data/high_res/kitchen.mp4', + 'data/high_res/donuts.mp4', + 'data/high_res/teatime.mp4', + 'data/high_res/bookstore.mp4', + 'data/high_res/veggie_aisle.mp4', + 'data/high_res/sunnyside.mp4', + 'data/high_res/shoe_rack.mp4' +]; +var videos = []; + +var video_width = 960; +const VIDEO_ASPECT_RATIO = 16.0 / 9.0; + +$(function() { + var canvas = document.getElementById('canvas'); + var ctx = canvas.getContext('2d'); + + current_video_idx = 0; + + thumbnails = [ + document.getElementById('thumb-0'), + document.getElementById('thumb-1'), + document.getElementById('thumb-2'), + document.getElementById('thumb-3'), + document.getElementById('thumb-4'), + document.getElementById('thumb-5'), + document.getElementById('thumb-6'), + document.getElementById('thumb-7'), + document.getElementById('thumb-8'), + ]; + for (var i = 0; i < thumbnails.length; i++) { + thumbnails[i].addEventListener('click', change_video_index.bind(this, i)); + } + + var canvas_overlay = document.getElementById('canvas-overlay'); + var ctx_overlay = canvas_overlay.getContext('2d'); + + if (videos.length == 0) { + load_videos(); + }; + + (function loop() { + video = videos[current_video_idx] + ctx.drawImage(video, 0, 0, 960, 540, 0, 0, video_width, video_width/VIDEO_ASPECT_RATIO); + ctx_overlay.drawImage(video, 960, 0, 960, 540, 0, 0, video_width, video_width/VIDEO_ASPECT_RATIO); + setTimeout(loop, 1000 / 60); // drawing at 30fps + set_play_pause_icon(); + })(); + + }); + +function change_video_index (idx) { + thumbnails[idx].classList.add("active-btn"); + if (current_video_idx != idx) { + thumbnails[current_video_idx].classList.remove("active-btn"); + } + videos[current_video_idx].pause() + current_video_idx = idx; + current_video = videos[current_video_idx] + current_video.currentTime = 0; + current_video.play(); + set_play_pause_icon(); +} + +function fullscreen() { + current_video = videos[current_video_idx] + current_video.style.visibility = "visible"; + const fullscreenElement = + document.fullscreenElement || + document.mozFullScreenElement || + document.webkitFullscreenElement || + document.msFullscreenElement; + if (fullscreenElement) { + exitFullscreen(); + } else { + launchIntoFullscreen(current_video); + } +} + +function download() { + current_video = videos[current_video_idx] + var link = document.createElement('a'); + link.download = video_names[current_video_idx] + '.mp4'; + link.href = download_paths[current_video_idx]; + link.click(); +} + +function launchIntoFullscreen(element) { + if (element.requestFullscreen) { + element.requestFullscreen(); + } else if (element.mozRequestFullScreen) { + element.mozRequestFullScreen(); + } else if (element.webkitRequestFullscreen) { + element.webkitRequestFullscreen(); + } else if (element.msRequestFullscreen) { + element.msRequestFullscreen(); + } else { + element.classList.toggle('fullscreen'); + } +} + +function exitFullscreen() { + if (document.exitFullscreen) { + document.exitFullscreen(); + } else if (document.mozCancelFullScreen) { + document.mozCancelFullScreen(); + } else if (document.webkitExitFullscreen) { + document.webkitExitFullscreen(); + } +} + +if (document.addEventListener) +{ + document.addEventListener('fullscreenchange', exitHandler, false); + document.addEventListener('mozfullscreenchange', exitHandler, false); + document.addEventListener('MSFullscreenChange', exitHandler, false); + document.addEventListener('webkitfullscreenchange', exitHandler, false); +} + +function exitHandler() +{ + if (!document.webkitIsFullScreen && !document.mozFullScreen && !document.msFullscreenElement) + { + current_video = videos[current_video_idx] + current_video.style.visibility = "hidden"; + } +} + +function load_videos() { + for (var i = 0; i < video_names.length; i++) { + videos.push(document.getElementById(video_names[i])); + } +} + +function set_play_pause_icon() { + button = document.getElementById('play-btn') + current_video = videos[current_video_idx] + if (current_video.paused) { + button.classList.remove("fa-pause"); + button.classList.add("fa-play"); + } else { + button.classList.add("fa-pause"); + button.classList.remove("fa-play"); + } +} + +function play_pause() { + current_video = videos[current_video_idx] + if (current_video.paused) { + current_video.play(); + } else { + current_video.pause(); + } + set_play_pause_icon(); +} + +function resize_canvas() { + var canvas = document.getElementById('canvas'); + var canvas_overlay = document.getElementById('canvas-overlay'); + var main_results = document.getElementById('main-results'); + + var width = main_results.offsetWidth; + var height = width / VIDEO_ASPECT_RATIO; + + main_results.style.height = height; + + video_width = width; + canvas.width = width; + canvas.height = height; + canvas.style.width = width; + canvas.style.height = height; + canvas_overlay.width = width; + canvas_overlay.height = height; + canvas_overlay.style.width = width; + canvas_overlay.style.height = height; +} + +window.onload = function() { + const root = document.documentElement; + const checkbox = document.getElementById('opacity-toggle') + + load_videos(); + checkbox.addEventListener('change', (event) => { + if (event.currentTarget.checked) { + root.style.setProperty("--opacity", `100%`); + } else { + root.style.setProperty("--opacity", `0%`); + } + }) + + change_video_index(0); + videos[0].play(); + + const hoverImage = document.getElementById('hover-image'); + const gptQueries = document.querySelectorAll('.gpt-query'); + + gptQueries.forEach(query => { + query.addEventListener('mouseover', () => { + hoverImage.src = 'data/gpt_example/' + query.id + '.jpg'; + }); + query.addEventListener('mouseout', () => { + hoverImage.src = 'data/gpt_example/base.jpg'; + }); + }); + +} + +window.addEventListener('resize', resize_canvas, false); + +document.addEventListener("DOMContentLoaded", function() { + resize_canvas(); +}); + + +function slide_left() { + slider_window = document.getElementById('thumbnails-scroll'); + slider_window.scrollLeft = 0; +} + +function slide_right() { + slider_window = document.getElementById('thumbnails-scroll'); + slider_window.scrollLeft += 1000; +} + diff --git a/style.css b/style.css new file mode 100644 index 0000000..7cf7c96 --- /dev/null +++ b/style.css @@ -0,0 +1,652 @@ +body { + margin: 0; + min-height: 100%; + background-color: #fff; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 12px; + line-height: 20px; +} + +.section { + text-align: center; + margin-left: 30px; + margin-right: 30px; +} + +.container { + padding-left: 0; + margin-left: auto; + margin-right: auto; + max-width: 940px; +} + +.title { + margin-top: 0px; + margin-bottom: 0px; + font-family: 'Varela Round',sans-serif; + color: #4d4d4d; + font-size: 50px; + line-height: 65px; + font-weight: 700; + letter-spacing: 4; +} + +.subheader { + margin-top: 0; + margin-bottom: 10px; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 25px; + line-height: 44px; + font-weight: 500; + letter-spacing: 0; +} +.tldr { + margin-top: 30px; + margin-bottom: 3px; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 18px; + line-height: 24px; + font-weight: 500; + letter-spacing: 0; +} + +.title-row { + margin-top: 20px; +} + +.base-row { + margin-left: -10px; + margin-right: -10px; +} + +.base-col { + position: relative; + float: left; + min-height: 1px; + padding-left: 0px; + padding-right: 0px; + width: 100%; +} + +.author-row { + height: 25px; + display: flex; + justify-content: center; +} + +.author-col { + width: 20%; +} + +.author-text { + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 16px; + font-weight: 400; + text-decoration: underline; +} + +.text-star { + position: relative; + top: -7px; + display: inline-block; + margin: 0px; + font-size: 10px; +} + +#uc-berkeley { + padding-top: 10px; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 16px; + font-weight: 400; + margin: 0px; + letter-spacing: 0; +} + +#equal-contrib { + padding-top: 10px; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 16px; + font-weight: 400; + letter-spacing: 0; +} + +.icon-col { + width: 33.33333%; +} + +.icon-img { + max-width: 35%; + margin-right: auto; + margin-bottom: 1px; + margin-left: auto; + padding-top: 0px; +} + +.github-img-icon { + max-width: 30%; + margin-top: 6px; + margin-bottom: 9px; + opacity: .77; +} + +.data-img-icon { + max-width: 30%; + margin-top: 5px; + margin-bottom: 9px; + opacity: .62; +} + +.link-block { + display: block; + max-width: 100%; + margin-right: auto; + margin-bottom: -14px; + margin-left: auto; + text-align: center; +} + +.link-labels { + display: flex; + /* width: 60%; */ + margin-top: 5px; + justify-content: center; +} + +.link-labels-text { + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 14px; +} + +.gallery-container { + text-align: center; + margin: 20px; +} + +.gallery-img { + max-width: 90%; + height: auto; +} + +.disabled { + color: #ccc; + background-color: #f0f0f0; /* Light grey background */ + cursor: not-allowed; + pointer-events: none; /* This makes the button not clickable */ +} + +#main-video { + width: 90%; + /* max-width: 750px; */ + margin-top: 0px; + margin-bottom: 10px; + border-radius: 15px; +} + +#addtl-video { + width: 100%; + /* max-width: 750px; */ + margin-top: 0px; + margin-bottom: 10px; + border-radius: 15px; +} + +#pipeline-img { + width: 60%; + max-width: 560px; + margin-top: 10px; + margin-right: 20px; + margin-bottom: 10px; +} + +#why-lerf-img { + width: 30%; + max-width: 560px; + margin-top: 10px; + margin-bottom: 10px; + margin-left: 20px; +} + +#why-lerf{ + padding-top: 10px; + margin-top: 10px; + margin-bottom: 10px; +} + +#clip-img { + width: 100%; + max-width: 700px; + margin-top: 20px; +} +#main-img { + width: 100%; + max-width: 700px; + margin-top: 00px; + margin-bottom: 0px; +} +#double-img { + width: 40%; + margin-top: 00px; + margin-bottom: 0px; + margin-left: 2%; + margin-right: 2%; +} +#splash-img { + width: 100%; + max-width: 800px; + margin-top: 0px; + margin-bottom: 0px; +} +.paragraph { + margin-top: 0px; + margin-bottom: 20px; + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 16px; + line-height: 24px; + font-weight: 400; + letter-spacing: 0; + text-align: left; + margin-inline: 65px; +} + +.paragraph-center { + margin-top: 0px; + /* margin-bottom: 20px; */ + font-family: 'Open Sans',sans-serif; + color: #333; + font-size: 16px; + line-height: 24px; + font-weight: 400; + letter-spacing: 0; + text-align: center; +} + +.thumbnails { + width: 90%; + overflow: hidden; + margin-top: 20px; + margin-bottom: 5px; + margin-left: auto; + margin-right: auto; +} + +.thumbnail-btn { + border: none; + cursor: pointer; + outline: none; + background-color: #fff; + padding-bottom: 8px; + border-radius: 10px; +} + +.thumbnail-btn:hover { + background-color: #eaeaea; +} + +.active-btn { + background-color: #d9e8ec; +} + +.thumbnail-row { + display: flex; + overflow-x: scroll; + scroll-behavior: smooth; + width: 88%; + margin-left: auto; + margin-right: auto; + float: left; +} + +.thumbnail-col { + width: 22%; + flex: 1 0 22%; +} + +:root { + --opacity: 50; +} + +#canvas { + position: absolute; + left: 0; + right: 0; + margin-left: auto; + margin-right: auto; +} + +#canvas-overlay { + position: absolute; + left: 0; + right: 0; + margin-left: auto; + margin-right: auto; + /* opacity: var(--opacity); */ + filter: opacity(var(--opacity)); + transition-property: filter; + transition-duration: 0.5s; +} + +#main-results { + width: 100%; + /* margin-top: 30px; */ + margin-bottom: 0px; + text-align: center; + background-color: white; + border-radius: 15px; + -webkit-mask-image: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAIAAACQd1PeAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAAA5JREFUeNpiYGBgAAgwAAAEAAGbA+oJAAAAAElFTkSuQmCC); + overflow: hidden; +} + +#main-results > div { + height: 200px; + background-color: red; +} + +.videos { + visibility: hidden; + position: absolute; + width: 1%; +} + +#opacity { + font-family: 'Open Sans',sans-serif; + color: #3c3c3c; + font-size: 20px; + line-height: 20px; +} + +.viewer-bar { + width: 33.3333%; +} + +.switch { + position: relative; + display: inline-block; + width: 70px; + height: 34px; + margin-left: 15px; + margin-top: 5px; + } + +.switch input { + opacity: 0; + width: 0; + height: 0; +} + +.slider { + position: absolute; + cursor: pointer; + top: 0; + left: 0; + right: 0; + bottom: 0; + background-color: #ccc; + -webkit-transition: .2s; + transition: .2s; + border-radius: 34px; +} + +.slider:before { + position: absolute; + content: ""; + height: 26px; + width: 26px; + left: 4px; + bottom: 4px; + background-color: white; + -webkit-transition: .2s; + transition: .2s; + border-radius: 50%; +} + +input:checked + .slider { + background-color: #2196F3; +} + +input:focus + .slider { + box-shadow: 0 0 1px #2196F3; +} + +input:checked + .slider:before { + -webkit-transform: translateX(36px); + -ms-transform: translateX(36px); + transform: translateX(36px); +} + +.video-bar { + width: 100%; + margin-top: -60px; + margin-left: 0px; + margin-right: 0px; + margin-bottom: 20px; + height: 40px; +} + +.video-btn { + width: 40px; + height: 40px; + padding: 8px 6px 8px 6px; + margin: 0px 10px 0px 0px; + cursor: pointer; + outline: none; + border: none; + color: #fff; + background-color: #2196F3; + padding-bottom: 8px; + border-radius: 10px; +} + +.video-btn:hover { + background-color: #0b7dda; +} + +.video-export { + text-align: right; +} + +#play-btn { + border-radius: 20px; + padding: 0px; +} + +.switch .labels { + position: absolute; + top: 8px; + left: 0; + width: 100%; + height: 100%; + font-size: 14px; + font-family: sans-serif; + transition: all 0.2s ease-in-out; +} + +.switch .labels::after { + content: attr(data-off); + position: absolute; + right: 8px; + color: #4d4d4d; + opacity: 1; + text-shadow: 1px 1px 2px rgba(0, 0, 0, 0.4); + transition: all 0.2s ease-in-out; +} + +.switch .labels::before { + content: attr(data-on); + position: absolute; + left: 11px; + color: #ffffff; + opacity: 0; + text-shadow: 1px 1px 2px rgba(255, 255, 255, 0.4); + transition: all 0.2s ease-in-out; +} + +.switch input:checked~.labels::after { + opacity: 0; +} + +.switch input:checked~.labels::before { + opacity: 1; +} + +#opacity-col { + text-align: left; +} + +.citation { + /* // set background color to gray; */ + background-color: #eaeaea; + text-align: left; + border-radius: 10px; + padding-top: 3px; +} + +.citation > h1 { + margin-top: 10px; + margin-bottom: 10px; + margin-left: 10px; + padding: 10px; +} +.citation > pre { + margin-bottom: 10px; + margin-left: 10px; + padding: 10px; +} + +.citation > p { + margin-left: 20px; +} + +#codecell0 { + margin-bottom: 10px; + margin-left: 10px; + overflow-y: scroll; +} + +.slide-arrow { + display: flex; + top: 0; + bottom: 0; + margin-top: 35px; + height: 4rem; + background-color: #6dbdff; + border: none; + width: 5%; + font-size: 3rem; + padding: 0; + cursor: pointer; + opacity: 1.0; + transition: color 100ms; + justify-content: center; + } + +.slide-arrow:hover, +.slide-arrow:focus { + background-color: #2196F3; + opacity: 1; +} + +#slide-arrow-prev { + float: left; + left: 0; + margin-right: 1%; + border-radius: 2rem 2rem 2rem 2rem; +} + +#slide-arrow-next { + float: right; + right: 0; + margin-left: 1%; + border-radius: 2rem 2rem 2rem 2rem; +} + +#gpt-words { + float: left; + width:100%; + padding-bottom: 15px; +} + +#gpt-img-col { + width: 100%; + max-width: 750px; + margin-left: auto; + margin-right: auto; + text-align: center; +} + +.gpt-query { + margin-left: 0px; + margin-right: 0px; + padding: 5px; + border-radius: 10px; + border:1px solid #ffffff; + float: left; + width: 15%; + line-height: 2.5vh; + display: flex; + justify-content: center; + align-items: center; +} + +.gpt-query:hover { + border:1px solid #252525; + font-weight: 700; +} + +.add-top-padding{ + margin-top: 10px; +} + +@media screen and (max-width: 750px) { + .gpt-query { + height: 30px; + font-size: 2.5vw; + } + + .slide-arrow { + margin-top: 20px; + } +} + +@media screen and (max-width: 550px) { + .subheader { + font-size: 16px; + } + + .author-text { + font-size: 12px; + } + + .author-row { + height: 35px; + } + + #uc-berkeley { + font-size: 12px; + } + + #pipeline-img { + width: 90%; + max-width: 560px; + margin-top: 20px; + margin-right: 0px; + } + + #why-lerf-img { + width: 60%; + max-width: 560px; + margin-top: 20px; + margin-left: 0px; + } + + .slide-arrow { + margin-top: 15px; + } +} \ No newline at end of file diff --git a/webimgs/googledraw.png b/webimgs/googledraw.png new file mode 100644 index 0000000..8d3666c Binary files /dev/null and b/webimgs/googledraw.png differ diff --git a/webimgs/key.png b/webimgs/key.png new file mode 100644 index 0000000..5f8e616 Binary files /dev/null and b/webimgs/key.png differ diff --git a/webimgs/powerpoint.png b/webimgs/powerpoint.png new file mode 100644 index 0000000..4f94818 Binary files /dev/null and b/webimgs/powerpoint.png differ diff --git a/website.zip b/website.zip new file mode 100644 index 0000000..7f66b38 Binary files /dev/null and b/website.zip differ