-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathARPProgramm.drawio
More file actions
109 lines (109 loc) · 119 KB
/
ARPProgramm.drawio
File metadata and controls
109 lines (109 loc) · 119 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
<mxfile host="app.diagrams.net" modified="2023-11-24T15:23:18.850Z" agent="Mozilla/5.0 (Windows NT 10.0; Win64; x64; rv:109.0) Gecko/20100101 Firefox/115.0" etag="BTB8NCGL2RFKKiE7Curs" version="22.1.3" type="github">
<diagram name="Seite-1" id="e5UgyrAEHrOP4zqYlOZB">
<mxGraphModel dx="1434" dy="726" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="827" pageHeight="1169" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
<mxCell id="A_GgksQ0xEa6116n2t8S-5" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-4" target="A_GgksQ0xEa6116n2t8S-6">
<mxGeometry relative="1" as="geometry">
<mxPoint x="240" y="320" as="targetPoint" />
</mxGeometry>
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-4" value="<div><b style="font-size: 18px;">TCP/IP Handler</b></div><br><div>Multithreading/Shared Memory</div><div>Semaphores?<br></div>" style="rounded=0;whiteSpace=wrap;html=1;verticalAlign=top;" vertex="1" parent="1">
<mxGeometry x="30" y="20" width="420" height="210" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-1" value="TCP/IP LISTEN TO /odom" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="320" y="130" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-2" value="TCP/IP SEND TO /cmd_vel" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="100" y="350" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-3" value="TCP/IP LISTEN TO /scan" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="180" y="130" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-15" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-6" target="A_GgksQ0xEa6116n2t8S-14">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-6" value="<font style="font-size: 18px;">Position and Orientation</font>" style="rounded=0;whiteSpace=wrap;html=1;verticalAlign=top;" vertex="1" parent="1">
<mxGeometry x="30" y="320" width="420" height="210" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-27" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-10" target="A_GgksQ0xEa6116n2t8S-11">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-10" value="Preprocess strings (/scan, cmd_vel and /odom) to be used easily" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="40" y="440" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-28" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-11" target="A_GgksQ0xEa6116n2t8S-13">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-11" value="Determine location of the robot based of wall distance" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="180" y="440" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-12" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=data:image/png,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;" vertex="1" parent="1">
<mxGeometry x="490" y="20" width="1015.34" height="450" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-13" value="Determine location of "roll" and "green circle (goal)"" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="320" y="440" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-14" value="<font style="font-size: 18px;">Driving</font>" style="rounded=0;whiteSpace=wrap;html=1;verticalAlign=top;" vertex="1" parent="1">
<mxGeometry x="30" y="610" width="420" height="210" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-24" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;entryX=0.25;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-16" target="A_GgksQ0xEa6116n2t8S-10">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-16" value="Use /scan topics" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="110" y="360" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-26" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.25;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-17" target="A_GgksQ0xEa6116n2t8S-10">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="320" y="350" />
<mxPoint x="70" y="350" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-17" value="Use /odom topics" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="260" y="360" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-18" value="TCP/IP SEND TO /cmd_vel" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="40" y="130" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-39" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-29" target="A_GgksQ0xEa6116n2t8S-37">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-29" value="Use /cmd_vel" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="50" y="655" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-42" value="" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-34" target="A_GgksQ0xEa6116n2t8S-35">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-34" value="Exercise 1: Drive to the green goal" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="80" y="730" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-35" value="Exercise 2: Drive around the roll 1 time and then back to starting point" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="280" y="730" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-36" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=data:image/png,iVBORw0KGgoAAAANSUhEUgAABEIAAAH7CAYAAADIPzpjAAAgAElEQVR4XuzdC5yOdf7/8U8YGmNGRlLDotBgndLYEDIiHTbaLX5204nksB3U9s9WJEst1nbYNrRFbdgVtRlt6WRITmUUQ3LIMaYkZ2Mah/yvzzVzcRtzuA/Xfd/XdV+v6/Ho0cF1fa/v9fxeDff7/n4/33NOGodwIIAAAggggAACCCCAAAIIIIAAAh4QOIcgxAOjzCMigAACCCCAAAIIIIAAAggggIApQBDCi4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAIIIIAAAp4RIAjxzFDzoAgggAACCCCAAAIIIIAAAgggQBDCO4AAAggggAACCCCAAAKOEDicu1++yF4onyybI+s3fSmHDu+X3CMHJaFykjRq0EoaXtxCOra9US69pIUj+ksnEEDAnQIEIe4cN3qNAAIIIIAAAggggEDMCGgA8sr00fLOR68awcdhqVSpglROKi/xVUTiKpaTI4dOyP49x+RY/knzmRsaQcjwB18mEImZN4AHQSCyAgQhkfXmbggggAACCCCAAAIIIOAj8MXqhfLIqJvlcO5BqZFSURo2r2z+Pa7SOWc57c45Kvt/PC6rFh8yf+2GLrcZgcgreCKAAAIBCRCEBMTFyQgggAACCCCAAAIIIGCXwIyMF+TlaU+KVMiXFu0SJOXiSn41rTNDVhphyLb1eebskIljPpQqCef5dS0nIYAAAgQhvAMIIIAAAggggAACCCAQcYF3P54qo569W6rVqCRtuiVKQmL5gPuwMfuIOTukVbOOMmHMRwFfzwUIIOBNAYIQb447T40AAggggAACCCCAQNQENmxeJYOGXi0VE45KxxurFrsMxt/OWWEIy2T8FeM8BBAgCOEdQAABBBBAAAEEEEAAgYgKDBzaWb7+5nPpcGOSnHd+hZDvveT9/ZKzJV/enrJBLqpZN+T2aAABBGJbgCAktseXp0MAAQQQQAABBBBAwFECC5fOkUdG95QmaQnSpLWxLYwNh9YMyZjyg1zVtruMHTbLhhZpAgEEYlmAICSWR5dnQwABBBBAAAEEEEDAYQJDjRBk2ZdzpfMtVYOqC1LS4yzPPGgWT2VWiMMGnO4g4EABghAHDgpdQgABBBBAAAEEEEAgVgW633mxVKiyR9pda+8uL7o0RpfIDLlnvPTucV+s8vFcCCBggwBBiA2INBE9gUMZA6TZAx/IjRPWywvXF9lubeFwaXr7VDksN8qE9S/Imb+cL+/dlyqD3+kmz69+SXok+v8M6yddL93GNJJ/bn1GrjEuK/rv/rfEmQgggAACCCCAQOwIHDp0SPSvg8ZfOTk55j/rXzt3fmc+pP633fu2yeYf/2frshhL0Foec158fUmtfa0kJiZKSq2LzF+ulZJi/rv+pf+cYvzFgQAC3hUgCPHu2MfGk3/7knSuM1BW3jdP9v698xnPtOzxOtL26W+N/1ZN7pu3V8785WXyeJ228nSDSbI9c4D8IgCNr8a1lKZDm8vsk69LD+O6ov8eQFOcigACCCCAAAIIuEbADDWMMEMDDf3LDDyMkGP9+vWnwo/SHkZDiPik45J7zgpzNkjKxUW+xLJBImPybpH86nLi4CVmCFPW0Sg11QxFUhtdap7aOi3tjL+XdT2/jgAC7hQgCHHnuNHrUwJfybiWTWWojJU1Kx+RXxb570807ye9Zk6WBX9cKtufanPabf2z0rrRQ3Js7BpZ+cjpq/yBJQjxR4lzEEAAAQQQQMCtAlbgoQHHunUbzKDDCkCKPpPvDAsNFGoVzsBINQIGPaxft/753Y+nyqhn75arelSTGikVbSf6eNYeqZH0S5n6wudm26dmpfjMULFmrWQtX2Geszwrq8R+dE5PPzWzREMSDU70mTgQQMDdAgQh7h4/em8IFMz8uEym7s2QPtUKSQpniiRO3Sw9Z10it207MyjZN62HJN/2pTy2dLv45iO56/4nL/7zZXn7v6tEJ3FWqd9Obh7whDzSq5EkFDZNEMJrhwACCCCAAAKxIOA7w2OdEXZoMGD9N9/ZFBpwWDMnNOjQkMMKOAINBawdY8I1I+S9aT9Ko3pXyoQxHwU8RDrLRR0sA8tD/5vvoc+soYjpYswk0b9bM0kCvikXIIBAVAQIQqLCzk3tFMjPuF2q3vQ/ucdn+UtB0HFIJm3PlOvf6yzG6hnznwcUroHJvD9Zrp7WR+bt/btYC2ryM/8o9a9/Rn4893Lp1quV1Dy8SRa8t1g2HhBJe2aFLH+wYOYIQYido0dbCCCAAAIIIBApAf2Arx/qdQaEfsi3PvRb99cP+Bp4aNChgUea8WHfqq1hVx83bF4lt9/3K2lxZaI0bF7ZrmZPtfPOlD3SpcPvZPiDr9jatlpZM2OKs9Ob6ewRMxRpfbkZjAQaEtnaYRpDAIFSBQhCeEHcL7BvmvRIvk02PbVK1jzW3HiefMm4varclP3nguUyX42Tlk2HSt2peyXDnDJSUB/kb51my4HXe0jB6tRv5aXOdWTgmvtk3rdGOGItWc2dK3f/4nqZXOf0jBKCEPe/MjwBAggggAACXhCwZjjoh/j5mQvM5S3WTA9rVoPWxrA+tGsIEu7jcO5+6dKrptRNjZfWnZNsvd3+H4+LLo25+/fD5e5bh9nadkmNZc6fb9ZL0YKw1j9b51ozRXTWiIZKkfCNyENzEwRiQIAgJAYGkUcoDDESp8rejD5GadRMuT/5apk9yKoLUiT4OLVsxgpGLMFc2W3U16pRw1oEU/DfM24/R2764ilZteYx0ZiFIIQ3DgEEEEAAAQScKKAhh872yDRCD7O+h8+SDv0Qbn4YNz6U64yPaH4o1xohH336b+ne93xbGdcuPyxrs3Ll7Skb5KKadW1t29/GrDGwlhoVrT+is0Z0xog1e8TfdjkPAQTsFSAIsdeT1qIkkP10U2nx5zby7k+vyPXLHpc6bSfKTT5LZXyXwlz5Vm8595Yfzlgqc2a3jUBk+x7Z8c3nsvSTqTLpb3Nkde5tJe4Sw64xURp0bosAAggggIDHBXyXuvjO+LCWuKQVLtFwWoFPq2BqmjEjpJ4xM8SOQ7fO/fjNfXJR9VSZ9o+CIqhOOayZIhpQ+QYjOmNEA5HOnTtRY8Qpg0U/PCNAEOKZoY7xB828X5KvzpSHV62RHu8b29s+YWxve8DY3rZwiUtBHZEv5Anj19u8YtQHyXz41AwPSyZ/41sy5PZBMnXZbsk1/2MlqVrrMqlz7jJZvYkgJMbfIB4PAQQQQAABVwj4zvrQD9jWUhffD9VOCz6Kg73prgay98BOY1ZIDVvcrdkgWhvkhi632dJmuBrRcbOWK/nO2tFQRJcq6d+jOWMnXM9Nuwg4SYAgxEmjQV+CF8jPkNur3iQ7nl8jfd9rKreJtUymsMnCOiIydalcOb6tjOk4T/b+3SqTqueskCcbpMnIg9fIiCljpO9l9aRmrWpGFJIvb/U+V255gyAk+MHhSgQQQAABBBAIRUDDjow5cyQj451TdT58Z3248YOztXuMbqGrW+mGcuzOOSrL3j8kjRteIZPGZobSVMSv1bHVYGS5UbzWN9iyljL16HEjoUjER4UbekGAIMQLo+yJZ9wn03oky901BkqfaZNk8/PbJdPaIsZ8/oI6Io/Wvk06TJ0pVWcfkNet6SL6y4UFVY+fKrhaiJb/kQy+6BqZuI8gxBOvEQ+JAAIIIICAQwRKCj96dO9uLqVww6yPsii1Voguk9HdY3QXmWAOLZC6cM5+qZZ0kRmCRKs2SDB9L+4aXTqjf2nopUVY9SAUsUuXdhA4LUAQwtsQMwLrn20tjR7KMp6nhYxds1IeKdjt9tRh1vIYs12q7esgf9+bIeYGMtaxb4b89qLfydtJ18jY/zwvvRtWlj3ZM2TMw0/IzPX5xlkEITHzovAgCCCAAAIIOFSgtPBDZwbYvZWtExiGju4pnyydI8HMDNmYfUTWZeVJXIXKMm74W9KqWUcnPJJtfSgtFLmtz+/NrXo5EEAgOAGCkODcuMqJAmaR1Kfl2188Jku3PyVtivbR+vX0SbI9c4D8osiv7/roj9L1N88YhVELf6FSLenwh+fliZpjpOvQSvKPTYvkD5ewa4wTh54+IYAAAggg4FYBq+DpuHHjz1j2ojM/YjX8KDpWr0wfLa/8e5T5n8uaHaJFUffvOSarFh8SnQ3S4OKm8tfh/3X9TJCy3t/iQhHd9rhz507S59Zby7qcX0cAgSICBCG8EjEkULDbS158dalTZAtc8yHz98nOXYfkREm/bp5U2IbES/U6NcTcSDd3t2zfkyfx1euINpu/b6fsOlTx1K8X/fcYAuVREEAAAQQQQCBMAtY2t1r7Q8MQrfmhtT76GN/0x+LMj7IYN2xeJTo75Ltd28xTUy6uJOdVr2D+c+Wk8mIGIEbw8d3WfDma/7MkVE6U/n1GyK+NwqhVEs4rq/mY+vXiQhHr3dFwhAMBBMoWIAgp24gzEEAAAQQQQAABBBAIWcAqjDlt2r/NXUP0sL7V1xkgGoZ4/dAiql+sXij/+/h1OZx74AwODT8aXtJc0pp3NneGcXs9EDvGWgus6ra8GqjpofVE0jt3kpuM94mlM3YI00asChCExOrI8lwIIIAAAggggAACjhAobvaHzvxw424vkQbVGSKHcvdLojHrI7FKVc/N/gjEe9r06TLVCNmsIqv6fnU2QhEN2TgQQOBMAYIQ3ggEEEAAAQQQQAABBMIgoAGI1v7Q2R/Wdrda90M/oDL7IwzgNGkKFDdLRIM3AhFeEAROCxCE8DYggAACCCCAAAIIIGCTQNHlLxp4MPvDJlyaCVig6CwRLazKjjMBM3JBDAoQhMTgoPJICCCAAAIIIIAAApEV0ABkqrE0Qet/6D9rfQb9wEntj8iOA3crXkBriEyY+NKpZTMEIrwpXhcgCPH6G8DzI4AAAggggAACCAQtoMteMjLeMYtVagBC8dOgKbkwAgK6XMt6X/V21BGJADq3cKSA64OQlStXGv8zZ5i4d9xxh9SrV8+R0HQKAQQQQAABBBBAIHYEfAMQfSrdreORRx42/86BgNMF9P3V2Uu+u80MGjTADEY4EPCCgOuDkNdee03uuusuL4wVz4gAAggggEBAAq+++qrceeedAV3DyQggULoAAQhvSKwJaB2RsUZRXz10RpNV0ybWnpPnQcBXgCCE9wEBBBBAAIEYFSAIidGB5bGiIqBbkurWpL7foDMDJCpDwU3DJFA0EOH9DhM0zTpCIKaCkGuvvVYuvPBCR8DSCQQQQAABBKItoEtGO3XqFO1ucH8EXC3gG4BYNUD4gOjqIaXzZQjo7BANRfTQpTJDjSVfWvw3Vg/9/5rtrGN1dEt+rpgKQubPn88f+Lz3DvPECCCAAAIIIICA7QL64Uh32fAtgkoAYjszDTpUQN9/DUSsGVCxFojo8+kyt8zMBZKYVEUGDxzo0JGgW+ESIAgJlyztIoAAAggggAACCLhOQD8gZRpfrumHQGaAuG746LDNAkUDEd12V2eIuPHQZ9Fdc7RI7Nfr1snhw4fN7a31eZgR4sYRDa3PBCGh+XE1AggggAACCCCAQIwI6IekcUYAot8U6+4v7KIRIwPLY4QsUHSXmdGjRpohgtMPc9aHEWzON2Z+fLtjh+Tm5p7q8qWXNpTXpkwmBHH6IIapfwQhYYKlWQQQQAABBBBAAAF3COiHpYnGMhj9wKTfDA82thHVD3l8S+yO8aOXkROwZktp7RwNC3WHGacFIhpo6l/z5mXKhg0bTZyKFStKQpUqcvz4cTl08KAQgkTunXHqnQhCnDoy9AsBBBBAAAEEEHCwgH7Q0K023Xz41gHR59APdBqCEIC4eVTpeyQEfHeYiXb9EN96H/MyM+W7774zCeLi4iSlVi2pUfNCSTICzr1798raNaulevXqxkyQV2K6AGwk3gG334MgxO0jSP8RQAABBBBAAIEoCFhFRLVmgBsP7T91QNw4cvTZSQK+O8xEsn6IVe8jI+MdY/bHcqOez2GTpWrVqnJ+jQvkgpo1JT4+XioYYYgeOgska/nnUsmYGfKqEYLobBYObwsQhHh7/Hl6BBBAAAEEEEAgKAGdIv/AkIdk1swZrvpQ4bsMhjogQQ09FyFwhkCk/p/S5Tj6c0fDD6veh7XkJTm5uhl+JCYlnTU6Zgjy+WdmCPLUU6PMLYE5ECAI4R1AAAEEEEAAAQQQCFhAP/z07NXbXEayZNHCgK/35wL91ldnbtgx66ToMhjqgPgzApyDgP8CulxGt5zW/9fsmh1SWr2PWrVrywUX1Dw166O4nh4/dkxWGDNBjhl//8vTowlB/B/OmD+TICTmh5gHRAABBBBAAAEE7BfQDzvt2nc0G9ZaIVMmv2zrTfQD0OPDnjDX+4e6Q4XvbjDa10eM7TKZGm/rcNEYAqaA73a7GpLq1rSBFFP1rffxuRFgWMVOtd5HDSP0SDHCD633YS15KY1dQ5DsVV/Kj7t/DPlnCMMbewIEIbE3pjwRAggggAACCCAQEYFmLS47dZ9QwwrfDus3yy++OFHyjQ8yJ0+eFP1AE8wSHGaBROQ14CYInCWgM8Z06Zy1u8zzzz1TYnFSq95HprHFbeb8zDLrffjDrT8z1qzOlh927bJtdoo/9+Uc9wgQhLhnrOgpAggggAACCCDgKIF27TsY21GeML+d1XX4wYQVvg+kH4iGDR9h1gHQoodNmjYz2/50wXzzQ9QHc9/1+/l1Foi2pR/EdBaIBjXaBgcCCEROwLeYqs4OsZa5WcvetN7Hjh075HBurrnFbVLVJOP//Wol1vvwt+drsrMlZ+cOQhB/wTx4HkGIBwedR0YAAQQQQAABBOwQ6Nuvv6xctUraXNneDCtCqRfiuxQmpVZtadS48anp7/qt7sovVpjr+/Wb5dKOorNAAp2ab4cLbSCAwGkBnR0y3Agl9e+1jDBSd3P5ZtMm8wSr2OkFxha31k4vodpt2rhRNn2z0VySo///sx12qKKxeT1BSGyOK0+FAAIIIIAAAgiEXUBnXGgx02uuu96cgu5vWFG0Y75LYS6p30Dq1qt3Vt+1bb1HaUtwfD9wMQsk7MPPDRAISOD6G240d3upUKGCJFevLhp4Jicn+1Xvw98bbdu6VdZ/vVYuvbShvDZlMiGIv3AePI8gxIODziMjgAACCCCAAAJ2CFjT3jt36Wp+mPEnrPC9b3FLYYrb/lKv0TX/y5YsliNHjhS7BMfasULP1R1h7Nhpxg4j2kAAgQKBa6693lwC0/pXV9gafli+eXl55sw0PeysWcT4xaYAQUhsjitPhQACCCCAAAIIhF1gwqRJMtHYLrOtsTRGAwwNK5YuXiT6gaSseiGlLYUpqeNah0Tb960X4humsCNM2IecGyAQlIDW6ul23Q3mbK/Uxk2CasOfi/RnRNbnn5nb5frWJPHnWs7xlgBBiLfGm6dFAAEEEEAAAQRsE9CiprozRMtWl5vr+/WwvpUtrbip71KY1EaNzCny/h5aAFELIWq9kD59fm/eXw+dBaI1AagH4K8k5yEQOQHrZ0XT5s0D+v89mB7qzyCdnaahyCDj58LggQODaYZrYlyAICTGB5jHQwABBBBAAAEEwiVgfbjRb3h963qUVC8kkKUwpfXZWoKj5zRKTTU/7GgwwoEAAs4U0PBTl9J16JRuFksN96Gz05YbM0M0DNFlcjo7hAMBXwGCEN4HBBBAAAEEEEAAgaAErOnu9Rs0lPoNG57RRtF6Ib5LYTQ00Wu0rkgwh37IWbJokfz0U57869Up0qrVZcE0wzUIIBAhAZ25pcGpFlaO5LH8s2Wyb+9ecwvtKZNfjuStuZfDBQhCHD5AdA8BBBBAAAEEEHCqgM7waNe+o7ksRpfH+B6+xU11ycrH8+bJUSPACHQpTEnPXly9EKc60S8EvC5gFUrVekKRPnQpnS6p09ljWruIAwEVIAjhPUAAAQQQQAABBBAIWqBd+w4SXznhrCBEG7TCCv3nqlWrSpOmzcyiqnYdvvVCnn/uGbuapR0EELBRIFKFUkvrsm6pq1vrahiiM0OoJWTjALu0KYIQlw4c3UYAAQQQQAABBJwg0LNXb9m2fbu59r+4Q8MKDURCWQpT2nNaS3A0CKFOiBPeCPqAwJkCkSyUWpr9po0bZdM3G80QRMMQDUU4vCtAEOLdsefJEUAAAQQQQACBkAX69usvK1etkvQuXUNuK5gGfJfglLVlbzDtcw0CCIQmYBVK9d1dKrQWg796r1EvJMuoG5KYWMUIQ14hDAme0vVXEoS4fgh5AAQQQAABBBBAIHoCw4aPkIw5c6SzEYQEW/w01N5TLyRUQa5HIHwCVqHUaP6M8H06KwzR/8ZMsvCNu9NbJghx+gjRPwQQQAABBBBAwMECuiWmfuOrRRDtrP8R6CPr+n+tA6DLY6gXEqge5yMQPoFoFkot6ak0PM0yttc9ZhRw1q11dYtdDm8JEIR4a7x5WgQQQAABBBBAwFaBCZMmycSJL0naFW0kOTnZ1rYDbYx6IYGKcT4C4RWwdpZKqVVbmjZvHt6bBdh6Xl6e6M8MDUUGDRoggwcODLAFTnezAEGIm0ePviOAAAIIIIAAAlEWcEohRGWw6oWUK1dOXp3C+v8ovxrcHgFZnpUlWkdIQxANQ5x26M+M5cbMEA1DdJvv0aNGOq2L9CdMAgQhYYKlWQQQQAABBBBAwAsC1ged1MZNpG69elF/ZGv9f0pKinww992o94cOIOBlAScVSi1pHKxldWyt6603lSDEW+PN0yKAAAIIIIAAArYKWFPfdXvc+g0b2tp2sI1RLyRYOa5DwF4Bq1Cqbq8dHx9vb+M2tGb9rLj00oby2pTJ5ta6HN4QIAjxxjjzlAgggAACCCCAQFgErCDkgpo1RbfHdMpBvRCnjAT98LKAEwulWuORs3OHbFi3TqpXr26EIK+IziLj8I4AQYh3xponRQABBBBAAAEEwiLQrn0HY+vcitLaKJjqlIN6IU4ZCfrhVQEnF0o1d41Z/rlUqliRekIefUEJQjw68Dw2AggggAACCCBgl0DPXr3lm82bpXOXrnY1aUs71AuxhZFGEAhKwGn1g6yHsLbO1RDkqadGmVtuc3hPgCDEe2POEyOAAAIIIIAAArYK6K4QK7OzJf3qLra2a0djmzZulE3fbDQ/7Dz/3DN2NEkbCCDgh4ATC6VaM8W0+395ejQhiB/jGKunEITE6sjyXAgggAACCCCAQIQExo4bL/qhR2eEVIiLi9Bd/b/N8s+Wyb69e80ghG9//XfjTARCEXBaoVQNQbJXfSk/7v7R3CZXt8vl8K4AQYh3x54nRwABBBBAAAEEbBGYMGmSTJz4krS9sr0kJiXZ0qadjfjWC3lr1hsURbQTl7YQKEGg23U3SG5urlzR7sqoG+nPgDWrs+WHXbukz623ytBHHo56n+hAdAUIQqLrz90RQAABBBBAAAHXC2TMmSPDho+QNKNYanJysqOeRz8Arfv6a9EdInSLzKdGj5JGqamO6iOdQUHzI9oAACAASURBVCDWBJy2m9QaY+me/gwgBIm1Ny345yEICd6OKxFAAAEEEEAAAQQMgcz580Wnwac2biJ169VzjIkWS11rfAt85MgRcxq8fgucmJjomP7REQRiVcAqlFq/QUOp37BhVB9z/ddrZdvWrfwMiOooOO/mBCHOGxN6hAACCCCAAAIIuEpg3fr1ojvHOCkI0Q8+WzZ9IxWNnSH+MHig+U0wBwIIREagrEKpeXl5kmXU7tGfGRfUrBm2TunPAQ1CKleuLB9/+D5BaNik3dcwQYj7xoweI4AAAggggAACjhKwpsGn1KotTZs3j2rffGsBsBQmqkPBzT0soEvldMlch07pEh8ff4aE/j+6YvnncuDAAfO/hytAtUKQqlWrmvfSWWFaJJUDARUgCOE9QAABBBBAAAEEEAhZoFmLy8xvdlu2ujzktoJtgKUwwcpxHQL2CpRUKFVDkK/XfiXf5eSYs7SysrJEZ5TZvYRGi6KuXbNaqlevLq9NeUUmGMWcNZihRoi94+zm1ghC3Dx69B0BBBBAAAEEEHCIQLv2HYyv2MqZO8dE42ApTDTUuScCZwuUVCi1uJ1b9Ny+/fqbYYhdM8oOHTwoWcaMk0rGsrhXjRDEKo6s99HaJWydy1urAgQhvAcIIIAAAggggAACIQtojZBNmzdLepeuIbcVSAMshQlEi3MRCL+AVTNICyfrshfrKG3nFiukqGbsOtXa2H0q2ENrjyxbvMgMQZ56apR0Tk8/oyn9OaX9IwwJVjh2riMIiZ2x5EkQQAABBBBAAIGoCQwYOFiWLF0q11x3fcT6wFKYiFFzIwT8FiiuUKpVr6O03ZusuiKJSUnS+ldXSIW4OL/vqSdatUeOGctv/vL06LNCED3HdwbKlMkvS+u0tIDuwcmxI0AQEjtjyZMggAACCCCAAAJREdAPF127XSe5ubnS2ZgREugHmGA6zVKYYNS4BoHwCxQtlGqFIFq8+LUpk0vduWXsuPGiQYqGIVpvqGih1ZJ671t7RLfJLm2XKMKQ8L8DbrgDQYgbRok+IoAAAggggAACDhXQDxUPDHlIVmVny9GjR811/o0aNw5bGMJSGIe+CHQLgUIBLZSqu7Rc2fEqydm5QzasWyf16tUtMwSxACdMmiQTjeKmGqjqzBANRUo7iqs9UtZg5BjFWm8xlsnooTNDrDoiZV3Hr8eOAEFI7IwlT4IAAggggAACCERUQEMQ/fY3c/58+cPgQfL27AzRDxh66A4ydepdLMnGmn+7Dt+lMPqN7+BBA0r9dtmu+9IOAgj4L9C2XXupXKWKuROMbpNr7dySkpLidyNa1FTrhsQZYUgLY2ZIaT9HSqs9UtoNrVomiYmJhCF+j0zsnEgQEjtjyZMggAACCCCAAAIRE/ANQQYZgcTggQPNe2sokpHxjvl3PfTbXJ0looUTQz1WfrFCdFtMtsAMVZLrEQiPgBUuaNHTw4cPm0VL//78s0HV4rDCEO2pLpPRcLXosWnjRtn0zUYprfZIaU9q3UNDmjdnziBYDc9r4chWCUIcOSx0CgEEEEAAAQQQcLaAVQegpFBCPxBpGKJT3K1DwxCdJeLvuv+iAjoF/tNPFkilSpXkrVlvSCDfMDtbk94hEBsCVqFUfZoqCQnF7twSyJPqz5G+/e42ipweNneg8Q1UA6k94k8YostjZhlhCIc3BAhCvDHOPCUCCCCAAAIIIGCbgLWG39+ZGfrhSGeJ6IcaPfTb4lq1a5szRQI9dHlM1mfLzDX9fGgJVI/zEQivgBWQ6l3s2qLWt7ipLrep37BhULVHSntyDW211pHuIqM1QzhiX4AgJPbHmCdEAAEEEEAAAQRsE7C+8Q1mKroGIdOm/Vsy5sw51Z9gZoms/3qt6LfB2gf9sMWBAALOENAwQUOFsnZuCbS3vmGIBqg/7v4hqNojpd3X+tlGGBLo6LjzfIIQd44bvUYAAQQQQAABBCIuoAGGfuOrszH0W1MtMhjsoR86phqhiG9xVa0B4O8skeXGrJB9xuyQ5597RjqnpwfbDa5DAAEbBdq173iqXoeNzZ5qSguoal2PKkYx1lenvGL7bi/WjBZC1nCMnrPaJAhx1njQGwQQQAABBBBAwJECBWv1+0sto6hgqCGI7wPqt8eZmQtOzRLR+iHWjjOl1RKhXogjXxM65WEB/RmhS+B0Nkg4j7Hjxkvr1peHLQC1ZrXYtbQnnBa0HbwAQUjwdlyJAAIIIIAAAgh4QsCalr7T2BpXQxCdERKOo7hZIqVtwUu9kHCMAm0iEJyA/pzQI5SZYsHd2d6rfJfhaB2icP28s7fXtBaoAEFIoGKcjwACCCCAAAIIeEzA+oY0UstQAtmC16oX4m/hVo8NHY+LAAJBCOiSvW7X3WCGOh/Mfdf14U4QBDF/CUFIzA8xD4gAAggggAACCAQvEOgOMcHf6ewr/d2Cd+niRXLo4EHqhdiJT1sIeFxAa5HockCKp8bmi0AQEpvjylMhgAACCCCAAAIhC1jFUbUYqa6Xj+aU99K24LXqhZx7biV5c+YbkmLUMeFAAAEEQhWwgmCKp4Yq6bzrCUKcNyb0CAEEEEAAAQQQiLqAVRxVw483jXXy0QxBfDFK2oI3MSlJ1mRn8+1t1N8cOoBAbAlEemlgbOk592kIQpw7NvQMAQQQQAABBBCIioBvcVStC6JTw514FC2uWiEuTnR2yKBBA2TwwIFO7DJ9QgABlwlQPNVlA+ZndwlC/ITiNAQQQAABBBBAwCsCuj2lhgxu2T6y6Ba8Ok66u41TAxyvvEc8JwKxImAVT9Vld1o8lcP9AgQh7h9DngABBBBAAAEEELBNQAMQDULcuguLNUtEv8XVJT3UC7Ht1aAhBDwtoIGrLpPRmkk6U47D3QIEIe4eP3qPAAIIIIAAAgjYJqDfet7Sq7dZD8RJdUGCeUD90KLPo4EOBwIIIGCHAPVC7FB0RhsEIc4YB3qBAAIIIIAAAghEVUBnUOgf8rUYqZPrgkQViZsjgICnBfTnpIbFzDhz/2tAEOL+MeQJEEAAAQQQQACBkAWsbSIpNBoyJQ0ggEAMCyzPypK+/fqzQ5XLx5ggxOUDSPcRQAABBBBAAIFQBfQP9jobRIuLsvY9VE2uRwCBWBewCkoPfeRhlt+5dLAJQlw6cHQbAQQQQAABBBCwQ8B3q1zdDUHrg3AggAACCJQuoLNCNESeZRRlbpSaCpfLBAhCXDZgdBcBBBBAAAEEELBTgOJ/dmrSFgIIeEVAQ+R27Tua4fGSRQu98tgx85wEITEzlDwIAggggAACCCAQmIC1HaRbt8oN7Gk5GwEEELBXwPoZ2qN7dxk9aqS9jdNaWAUIQsLKS+MIIIAAAggggIAzBfTbzG7X3RATW+U6U5heIYCAFwSsWXUskXHXaBOEuGu86C0CCCCAAAIIIGCLgFXsT4ujdk5Pt6VNGkEAAQS8JmAtkUlJSRGts8ThDgGCEHeME71EAAEEEEAAAQRsE2BJjG2UNIQAAgiI9TOV7cfd8zIQhLhnrOgpAggggAACCCAQsgC7xIRMSAMIIIDAWQLsIuOul4IgxF3jRW8RQAABBBBAAIGQBKwlMVrYTwv8cSCAAAIIhC7AEpnQDSPZAkFIJLW5FwIIIIAAAgggEEWB5VlZot9aak0QrQ3CgQACCCBgn8C06dNFw+ahjzwsuhsXh3MFCEKcOzb0DAEEEEAAAQQQsE2AJTG2UdIQAgggUKJAz169Zd369WbhVC2gyuFMAYIQZ44LvUIAAQQQQAABBGwVmDBpkkyc+BLfVNqqSmMIIIDAmQI5OTnm1uSt09JkyuSX4XGoAEGIQweGbiGAAAIIIIAAAnYJ6B/MbzG+pWyUmsofzO1CpR0EEECgBIFhw0dIxpw55hJEtid35mtCEOLMcaFXCCCAAAIIIICAbQLWH8r120n9lpIDAQQQQCB8AroUUcNn/fuSRQvDdyNaDlqAICRoOi5EAAEEEEAAAQScL2AVSNUdYnSnGA4EnCCgHxD10L8fLPxnnblk/Tfr13fu/M78b4lJVcy/1yqsuZCYmCjWX0nGP+tBPQYnjCx9sAR0RoiG0BROdeY7QRDizHGhVwgggAACCCCAgC0CukuMFu57c+YMPijaIkojgQhooLHTCDg05ND3MGv5Cjlw8IDk7MyRw7m5gTTl17kXXnihNGnc2AxJUmpdZM6A0vCEkMQvPk6yWUALp+r7z89fm2FtaI4gxAZEmkAAAQQQQAABBJwoYG3lOGjQABk8cKATu0ifYkjADDqMLZp1Fsfnyz8vNuyIi4uTc+PjJb7wr3PjK5sCcXEVpEKFOKlg/HpchQrmf/P952PHj5v/7fixY6L/rH8/fvyY+d+OHSv4dz327t0jP+XlSZ7xV9FDwxCtk5Pa6FIzIGGZWAy9fA59FP1/QsMQZuQ5b4AIQpw3JvQIAQQQQAABBBAIWUC/idedC/Sbcf02Uv/OgYCdAvqO6dKrzMwF8tXatfLNN9+YzVesWNEMOiqde675dw07EpOSToUfdvahtLY0DDl08KD5l/5zXt4R2bd37xmXaCFLgpFIjYg37/PAkIckc/58mWX8HNYgjsMZAgQhzhgHeoEAAggggAACCNgqYG2Xy64FtrJ6ujEr+NBvuefNy5QNGzaeCj4SqlSR5OTqckHNmmbgobM5nHpoKPLDrl1GKLLHmEGy99RsEu2vFYzo3/nQ6tQRdFe/9P+bdu07mu+ThiEczhAgCHHGONALBBBAAAEEEEDANgFru1yd+q9BCAcCwQrohzgNPsaNGy/f7tghuUZdD53xocFHkjHLo0bNC0WLlTo5+Cjr2TUM0VkjGoxoQGIdupRGA5Hb+vyeGiNlIfLrpQpYwbQWrNZlMhzRFyAIif4Y0AMEEEAAAQQQQMBWAbbLtZXTk41ZS17enj37VPhxXrVqUqfexa4PPsoaUCsY2b51y6laIxoqdu7cSfrcemtZl/PrCJwlwHa6znspCEKcNyb0CAEEEEAAAQQQCFqA2SBB03n+Qp35obUMPvponlnvw5r5cYEx66NWrVqunvUR7OBqKLJvzx7Ztm3rqSU0OktEQxG+2Q9W1ZvXWdvpMivEGeNPEOKMcaAXCCCAAAIIIICALQI6G0Q/zE6Z/DI1DmwRjf1GdPbHmLHjTtX8OL/G+VK1ajVJqV3brPfBUSCgy2b0r5ydO06R6AwRls7whvgroAWsdXbIkkUL/b2E88IkQBASJliaRQABBBBAAAEEIi2gH2j79uvPVo2Rhnfh/azaH1YAEmfU/ahTp65Z7FR3eOEoXWDb1q1GKPL9qV1oCER4Y/wRYFaIP0qROYcgJDLO3AUBBBBAAAEEEAi7gG7TqGEIs0HCTu3aG2gAojOGXvvXVHP5S5yxu8slDRp6dulLqAOpS2dyjCKy1iwRApFQRWP/emaFOGOMCUKcMQ70AgEEEEAAAQQQCEnAmg2iH8SGPvJwSG1xcewJaAAydfp0efvtDPn++++lcuXK8ou69QhAbBpq3XVGZ4lYgYjWDxk8aAC7zdjkG0vNaBCpobX+nKb4bvRGliAkevbcGQEEEEAAAQQQsE1Al8Roscs3Z87gw5dtqu5vyApAZs+eI999951R+6OqXJhSiwAkTENbNBDRwqr6gVe34uVAwBJgVkj03wWCkOiPAT1AAAEEEEAAAQRCErC+YRxkfAM9eODAkNri4tgR8C2CqgVQq59/AQFIhIa3aCDCTK0IwbvkNvzMjv5AEYREfwzoAQIIIIAAAgggEJKANRvkg7nvSmJiYkhtcbH7BXQWyN//8aLMmPGGaBHUS+o3IACJ0rBqILLu67VmUdUGDRrInXfcxra7URoLp922Z6/esjMnhx1kojQwBCFRgue2CCCAAAIIIICAHQK6HEb/QM1sEDs03d2GVQj1L2PGSW5urrkDTGrjJmyB64Bh1doh677+Wo4fO2YGIdQPccCgRLkL1g4y1AqJzkAQhETHnbsigAACCCCAAAK2CAwbPsLcBYTaILZwurYR32UwWgfkYmMWiAYhHM4SWG/MDtGiqnoQXjprbKLRG2qFREO94J4EIdGz584IIIAAAggggEBIAjnGtOpbjNkgrdPS5PnnngmpLS52p4DOApkw8SV5e/ZsOWrMNmAZjPPHUZfLrFmdLfr3RqmpMmrUSPPvHN4TsGaFjDbeAZ0pxBE5AYKQyFlzJwQQQAABBBBAwFaBCZMmyUTjQ/CUyS+bYQiHtwR0WdTjw4bLhg0bpVpysjRt3oJlMC56BXRmiM4Q0YPlES4aOBu7qkGmhtl6aI0njsgJEIREzpo7IYAAAggggAACtgnoH6B1WjWzQWwjdVVD+k2y1gKxZoHUrVfPVf2nswUCWjNk+eefmbND9P9lDTU5vCVgBdo6q0+3W+aIjABBSGScuQsCCCCAAAIIIGCrAH94tpXTNY357gijtUCaNG0miUlJruk/HS1ewKodUqVKFXl1yisslfHQi6L/T7dr35EgLMJjThASYXBuhwACCCCAAAIIhCpgTadOMrbKnTVzRqjNcb1LBHyXwqTUqi2NGjeWCnFxLuk93SxLYK+xxe7KL1aYs0RYKlOWVmz9uha91lleujwmJSUlth7OoU9DEOLQgaFbCCCAAAIIIIBASQIU2PPeuzFt+nT5x4sTzaUwqY0aiQYhHLEnUHSpjC6XSDQCT47YFrBmhWjBVC2cyhF+AYKQ8BtzBwQQQAABBBBAwFaBvv36y05jxxjdMpcPSbbSOq4x/YA0dtx489tilsI4bnjC1iFrqUxiYhWjbghLZcIG7aCGmRUS2cEgCImsN3dDAAEEEEAAAQRCEtDlET2NXQYGDRoggwcODKktLna2gIYgjz4+TD75ZKFoMdT6DRqyFMbZQ2Zr73SpTNZny6RKQoK8+upk6obYquu8xpZnZYmG3CyLiszYEIRExpm7IIAAAggggAACtgjwraEtjI5vpGgIktq4ieP7TAftF9DdZLKMXWWOGUui2Cbbfl+ntag7gen/+0sWLXRa12KuPwQhMTekPBACCCCAAAIIxKoAW+bG6sie+Vw6zvfdP0RWfPGFaADC1rjeGPeSnjIvL8+cGaJ/1/oRWkeCIzYFtBaQLoUj9Ar/+BKEhN+YOyCAAAIIIIAAArYIWH9I1gKKndPTbWmTRpwloEufNATZYyyLoCiqs8Ymmr3xLaLK0olojkR4703R1PD6+rZOEBI5a+6EAAIIIIAAAgiEJECR1JD4HH+xhiB33dVP8o1lEL9s2kwuqFnT8X2mg5ET0DDkS2N73X1GSEaNoMi5R/pOLH+MjDhBSGScuQsCCCCAAAIIIBCSAEVSQ+Jz/MVaKPF+YyYIIYjjhyrqHVxphCE/7NolrdPSzCUUHLElQNHUyIwnQUhknLkLAggggAACCCAQksCESZNk4sSX5IO570pKSkpIbXGxswSsmSA/nzwpLS5rJYlJSc7qIL1xnMCa7GzJ2bnDXCKnS+U4YkuAoqnhH0+CkPAbcwcEEEAAAQQQQCAkAYqkhsTn6It9l8Oktf4VIYijR8tZnbPCkD633mpuucoROwJWPahZM2ewbXKYhpUgJEywNIsAAggggAACCNglkDl/vjww5CHzm1+KpNqlGv12cnJy5A6jJogWRqUmSPTHw409WG7sJqM1Q9hNxo2jV3KfKZoa/vEkCAm/MXdAAAEEEEAAAQRCEtAQRNeN67KYxMTEkNriYmcI6AedO/v2ky1btxGCOGNIXNuLpYsXyaGDBwlDXDuCxXfc+rm/ZNHCGHsyZzwOQYgzxoFeIIAAAggggAACxQqwLCb2Xgwd00cfHyaffLJQmjZvLim1asfeQ/JEERPw3VpXi6dqEVUO9wtkzJkjuoMMs33CM5YEIeFxpVUEEEAAAQQQQMAWAWutOMtibOGMeiO+IUhq4yZSt169qPeJDrhfQMMQnRlSvlw5efXVydSVcP+QCstjwjuIBCHh9aV1BBBAAAEEEEAgJAGWxYTE57iL9Rte/aZXAxANQjgQsEsgLy9PlhlhSKVKleTVKa8QhtgFG8V29OeF1ohieYz9g0AQYr8pLSKAAAIIIIAAArYIWN8IsiuELZxRb8Sa3UMIEvWhiNkOaK0QnRmiW2xrTSEOdwuwPCZ840cQEj5bWkYAAQQQQAABBEISYFlMSHyOuli3yb3T2CGmQoUKcrmxTW6FuDhH9Y/OxI7AD7t2ycovVpg7TOmSOg73ClhhOGNp/xgShNhvSosIIIAAAggggIAtAn379Rf9AM20aFs4o9aIfpi5/c6+sm3bNkn71RWSmJQUtb5wY28IaBCigQi1hdw/3iyPCc8YEoSEx5VWEUAAAQQQQACBkARycnKk23U3CMtiQmJ0xMX33v+AuUNMy1aXywU1azqiT3QitgWsnWR+PnFCXqN4qqsHW2uEaK0odo+xdxgJQuz1pDUEEEAAAQQQQMAWAWtZDNth2sIZtUaoCxI1es/fWIunfrpgvlx00UXy4fvved7DrQAsjwnPyBGEhMeVVhFAAAEEEEAAgZAErN1iWBYTEmNUL9ZlTXcYS2LKG3VBWhtLYqgLEtXh8OTNqRcSG8PO8hj7x5EgxH5TWkQAAQQQQAABBEIS0G8AdVlM67Q0ih2GJBm9i3UM7+zbT7ZsNeqCGMVRqQsSvbHw+p2pF+L+N8DaPYYZgvaNJUGIfZa0hAACCCCAAAIIlCqw9cgPsvLAFrnpoitKPc9aE06hQ/e+UGPHjRddFkNdEPeOYaz03KoXctKoF/LWmzPNrXU53CXAVur2jxdBiP2mtIgAAggggAACCBQrMHLdDHnt2/mypetLpQrpNGj9BvCDue/yocWF75IVZNWtV09SGzdx4RPQ5VgTsOqF6CwznVXA4T4BnSWogQjLJe0ZO4IQexxpBQEEEEAAAQQQKFVAZ4NctuAh2X8sV97+1Z9KnRWif+BNSkyUWTNnoOoygVNLYrZslQ5XdaIuiMvGL5a7u/7rtbJt61a21HXpIFuzzAjI7RlAghB7HGkFAQQQQAABBBAoVUBngzy5/g3znHqVLyhxVogW2OzZq7cMGjRABg8ciKrLBCZMmiQTJ75kzgTRGSEcCDhFQJfILFuyWMqVKydLF3/qlG7RDz8FrJlmQx952NxWnSM0AYKQ0Py4GgEEEEAAAQQQKFPAdzaIdXJJs0LYNrdMTseekJOTI7+5uadUOvdcaX1FG8f2k455V8DaRUY/SOsHag53CbRr35Ei2jYNGUGITZA0gwACCCCAAAIIlCTgOxvEOqekWSFsm+ve9+je+x+QpUuXSfPLWklycrJ7H4Sex7SAtYsMSyzcN8xso2vfmBGE2GdJSwgggAACCCCAwFkCxc0GsU4qOiuEbXPd+wJRINW9Y+e1nlM41b0jzja69o0dQYh9lrSEAAIIIIAAAgicJVDcbBDrpKKzQtg2150vkFUgdceOndKm3ZUUSHXnMHqq15s2bpRN32ykcKrLRt3aRpcaUqEPHEFI6Ia0gAACCCCAAAIIFCtQ2myQ4maFWIU2mbLurhfKGremzZtLSq3a7uo8vfWkAIVT3TvsuqtYo9RUM8TiCF6AICR4O65EAAEEEEAAAQRKFShtNoh1oe+sEK0PorvGaBDC4Q4B/Yb2mm7XSWLVqtKsRUt3dJpeImAIWIVTmV3grtdBt9HVJTJLFi10V8cd1luCEIcNCN1BAAEEEEAAgdgR2H8sV/QvPVYe2CK/+XyM+c9Ppv6f3FGn86kH1TBED3YEcN/YW7NB0oxdYiiQ6r7x83qPP10wX8qXL892ui56EagTYs9gEYTY40grCCCAAAIIIIBAqQIahFy24CHznGeb9pUh9W8843ydCdKzV28ZPWqk9OjeHU0XCOhskK7GbJCKlSqxXa4Lxosuni2Qs3OHrMnONrfS1S11OZwvYNUJYcxCGyuCkND8uBoBBBBAAAEEEPBLoKwgZNr06aJTnmfNnGGu/+ZwvoA1G6Rlq8vlgpo1nd9heohAMQLMCnHfa8HswdDHjCAkdENaQAABBBBAAAEEyhQoKwjR+iDLs7JY912mpDNOYDaIM8aBXoQuYM0KYTZa6JaRaqFvv/5mPSnqhAQvThASvB1XIoAAAggggAACfguUFYSwE4DflI44kZ1iHDEMdMImAWaF2AQZoWbYYSx0aIKQ0A1pAQEEEEAAAQQQKFOgtCDEqg/C7g1lMjriBJ0N8ttbekleXp5c0e5KR/SJTiAQigCzQkLRi/y1mfPni84ipE5I8PYEIcHbcSUCCCCAAAIIIOC3QGlBiLULwPPPPSOd09P9bpMToyNg1XNp2ry5pNSqHZ1OcFcEbBZY9MkCcwcZllvYDBuG5qyCqfr7hf6+wRG4AEFI4GZcgQACCCCAAAIIBCxQWhAybPgI0TDkg7nvSkpKSsBtc0FkBW7u2Ut27NgpbYzZIBXi4iJ7c+6GQJgEmBUSJtgwNau7jO3MySG4CtKXICRIOC5DAAEEEEAAAQQCESgtCNEpzjnGH2h1xxgOZwtYU9LrN2go9Rs2dHZn6R0CAQgcP3ZMMj/+yJyVxiyDAOCidKruMqaz01av+jJKPXD3bQlC3D1+9B4BBBBAAAEEXCJQWhBCoVSXDKLRTQ2tNAzp0Cld4uPj3dNxeoqAHwJrsrNFZ4YwO80PrCifYhVMZcv14AaCICQ4N65CAAEEEEAAAQQCEigpCNGZIBqE9Ln1VrPwHYdzBXRd/jXdrpPKVapIy1aXO7ej9AyBIAX27t0rWZ8towhnkH6RvIyCqaFpE4SE5sfVCCCAAAIIIICAXwIlBSHWH2YplOoXY1RPssZKQ5ALataMal+4OQLhEtCtdKtWrSoffTA3XLegXRsErIKp7DYWHCZBSHBuHr8qV3avy5bP1+yUPEMivlZT+VXzRlIjIZws+yT7g3myIfFyuaXdxeG8EW0jgAACCCAQFoGSghBrBxKmooeF3dZG773/qHnTtAAAIABJREFUAVmyZKl0uKoTRVJtlaUxJwms/3qtbNu6leUxThqUEvrCssrgB4kgJHg7D16ZK+tmPix97nlVVhzIL/L8CdJs4L/kreduloaVwkHzlYxr2VSGNp8tJ1/vEY4b0CYCCCCAAAJhFSgpCNGaE8uzsqj8H1b90Bu3ljDpdrm6bS4HArEqYBVNZbme80e4b7/+sm79en7/CGKoCEKCQPPmJbvko/uvkhtfWC9J14yQKWP6y5VNakk1I/TI3f2lzH/xT9J35IdyMH2SrM0cIJfYjkQQYjspDSKAAAIIRFSgpCBEv9FLSkxkx5iIjkbgN7MKE6Zd0UaSk5MDb4ArEHCRgC6PKV++vCxd/KmLeu29rlo7xyxZtFASjd9HOPwXIAjx38rTZ+Zn3i+/uPoFkdtmy2pjRsbZq2LzJfvpK6TF49tl0IffyYSuPtNC8vfJpi+WyJc784xlNJdJu1b1zQCl6JG7e51kf75GjNNEkutL28uaSK1TJxKEePoF5OERQACBGBAoLgix1njzzavzB/jOu/rJ1+vWSXtjWQwHArEuoDvH6A4y1C5y9khbdYumTH5ZWqelObuzDusdQYjDBsSZ3flWXupcRwYu6S5Tt2VIn5Jqg+3LlGn/EWn5uyulaWGAseujP0rX3zwjq3N9niyhnYx4/7/yZPvChvI3yrQ70uXuN3bKGQtuKtWSfm+skFd66HkEIc58N+gVAggggIC/AsUFITqluWev3jJ61Ejp0b27v01xXoQFrHGq36Ch1G/YMMJ353YIRF7AWh6jP5f05xOHMwWsMF13HNNAncN/AYIQ/628e2b+W9L73Fvkje5TZW9GH6nmr8RXz0rryx+S1fXuk1nv/0VurFdB9q35twy6dpC88WM7mbQ2UwYYa2g2v9RZmgxcKd3+uVBeu72pMVvEKMa65GX5v18/KPPlPpm39+/SmSDEX3XOQwABBBBwqEBxQUjGnDkybPgIvnV16JhZ3bIK2ra9sr0kJiU5vLd0DwF7BJYb2+geO3qU5TH2cIalFSsIIbAKnJcgJHAz713x1Thp2XSo7H1sqWx/qs0Zz79lyZuyIqcISUrBzi6Z9yfL1S80kX9sWiR/8C0asuJJaZBmJMsjsuSbJy+XLUtek1mfVpNbhvY4o7bIssfrSNunO8nsk69LD4IQ7713PDECCCAQYwLFBSHsGOOOQdaCtp8uXizpV3dxR4fpJQI2CGzauFE2fbOR3WNssAxnE+3adzSXxegyJg7/BQhC/Lfy7pmFQcjxp1bJmsfOrJKecfs5ctPUIjRGHZGTrzco2OVFxsqalY/IL884JVuebtpCHo9/RtYtf1BSi5HN37dJ5g5Nl9+8XFOeWbdcHkxlaYx3X0CeHAEEEIgNgeKCEJ0NorNCVq/6MjYeMgafQr9xvabbdVK5ShVp2eryGHxCHgmB4gUOHTxozAZZJCy7cPYbws4xwY0PQUhwbt666tuXpHOdgTL//96Un2bcLL51TnN3b5c9WtzUPDLlj3Xvkjd9g5Bit7stDDVOhST5smP5HPn3f96WDz5cIut3fC87T23P20LGrlkpj/ySIMRbLx1PiwACCMSeQHFBiM400PoTH8x9N/YeOEaeSLc21g8aumWubp3LgYCXBOZ//JF0aN+e2QYOHnTdOUYDdd05hsN/AYIQ/608fGZhCLF9kHz43QTx3RDmTJQMuf2cm2SqbxASV9ysj8L2Cn/t+LOt5fKHsqTCxZ2le5f20v6aZtKofltJmHuDtHlcCEI8/Obx6AgggEAsCRQXhOjWubVSUkQr/nM4U8DaNrdDp3SJj493ZifpFQJhElj5xQrJPXxYli1ZFKY70GyoAtbPKLbQDUySICQwL8+eXVDQdIk0G/u5LHqk+RmzQk6h5M6UnlX+r3BGyLWScXtVuWnm9fKf7/4rvX0rrG5+UdrXv1fW3jdPjDqocn/y1fJCk3/IpkV/8KkRkl9w/dRGBCGefet4cAQQQCC2BIoLQpq1uMzcLYZdGZw71vfe/4B8/vly0SCEAwGvCVAnxPkjzha6wY0RQUhwbh68apcRTDQzgokj0mzgFPn30z1ObZErkivr/vdXeXjgGHl3Z77UeOgT+eFvHSU/8375xdUviPxmqiz+Tx9pqGtqcr+QF397rdz7YZI8tvQrearNPLn73BtkcqMnZcXiEdIqQWlzZes7j8q1PV+Q9fksjfHgy8YjI4AAAjEpUDQI6RV/ueiMEN3yUNfgczhPQOuDdDXqgyRQH8R5g0OPIiJgbaNLnZCIcAd1EysIYYwC4yMICczL22fn75C5j90kv3txhWgJj4QadeX8ysdl//c7zX+XhGYycMpMGd+rkZh5huRL9rOdpd1DSyQ3oYbUPb9i4bk15JpJH8ucATqzxDhnXHv51dAsyTfPqSzH9xs1Qn46X/7v+nryxtv75alVa+Sx5tQI8fbLx9MjgAAC7hcoGoRcue8is/aEzgbRWSEczhOwPmBQH8R5Y0OPIidAnZDIWQdzJ2sL3UGDBsjggQODacKT1xCEeHLYQ3zo3K2ydMF78n7GSvlOm7qopfS4tpu0a1VfqvlWUi28Te7WpfLezFny0TeHpUqDrvK733eX1rV9T7SKpX4k3xyuIg3a/Vq69+wsjXZlyPAx70rlm0fKo92Oy7t/HiUZKffIP+9OC/EBuDyaAitXrpT9+/dLp06dotkN7o0AAghEXKBoEHLxVydFd43RLQ87p7PsIuID4scNqQ/iBxKnxLzAmuxsOXhgv7GDzKcx/6xufUBdZqm/j7CFrv8jSBDivxVnIoBAiAIagqQbP6RfffVVuemmm0JsjcsRQAABdwkUDULOX3ZQtNq/7hiTYhRM5XCegO7q84Xxe9ev2rR1XufoEQIREsjZuUM0DJk1c4Y0Sk2N0F25TSACusxSx4YgxH81ghD/rTgTAQRCELBCEJ0N8vbbbxOEhGDJpQgg4E6BokHIj69lmVserl71pTsfyAO97nLNtXLSeM6WrS73wNPyiAgUL/DDrl2iu8dQg8K5b4gus9yZk8NW7AEMEUFIAFicigACwQn4hiDaAkFIcI5chQAC7hYoGoRseWG+LM/KEt3ykMN5AjnGhwr9lrVuvXqS2riJ8zpIjxCIkIBVMJUaFBECD+I2OnuN308CgyMICcyLsxFAIEABKwTRy+6880557rnnCEICNOR0BBCIDYHigpB169fzDZ5Dh1fHpmev3kKhVIcOEN2KqAAFUyPKHfDNdJnltOnTmWEYgBxBSABYnIoAAoEJ+IYgWhfkvPPOM2uEMCMkMEfORgCB2BAoGoQsfnS6+WC67p7DeQK6bEmL2eqymAtq1nReB+kRAhEUWLp4kSRUriwffTA3gnflVv4KWEGIzjBMTEz09zJPn0cQ4unh5+ERCJ9A0RBEi6MuWLCAICR85LSMAAIOFygahMy9d5LUMoqkTpn8ssN77s3u6ber+uGiQ6d0iY+P9yYCT41AocD6r9fKj7t3y7IlizBxoIC1wxUFbf0fHIIQ/604EwEE/BQoLgTRSwlC/ATkNAQQiEmBokHIzDv+am53OHrUyJh8Xrc/lK65/3TxYkm/uovbH4X+IxCywKaNG2XTNxvZ5SpkyfA0YM1gIwjx35cgxH8rzgxAQHcG0Q/D+te2bdvMJRF6XHXVVdKpU6cAWuJUtwmUFIIQhLhtJOkvAgjYLVA0CJn82yekz623mjsxcDhPoGu36yT3yBFpe2V753WOHiEQYQFr5xidwdY6LS3Cd+d2ZQlkzp8vGt4yPmVJnf51ghD/rTjTDwH9xn/kyJGSZVTBP3z4cIlX6DKJHj16mMUzOWJHoLQQhCAkdsaZJ0EAAf8FDuful/99PFUWLp0jPxz4XrZ/v9m8+LxqF8m+rfulTVpXeeyPY+SimnX9b5QzIyLQrMVlklKrtlkslQMBrwvk5eXJpwvms4WuQ1+EhYsWyL333ysDB/aXwfc84NBeOqtbBCHOGg/X9mbr1q1y7733yrvvvivly5eXEydO+PUsOjtEi2jWM7am43C3QFkhCEGIu8eX3iOAQGACGzavkveMAGRGxgvmhZUqVZB4o35d5cTy5r8fyz8p+388JseOnjT//aq23WVI//EEIoExh+1sa8cYts71lzhezq9dXfyupPLTHvn2xzx/Gw/+vLiqxv9TiVLBaCFv7w758cjppuKqXigXJpq/Int27BGfXwr+fjF8pbWFbo/u3VnO54Bx1pB9w+ZsM2TPyp4vO7/fInl5uWf0TH9f6dimu9zQ5TYH9Nh5XSAIcd6YuK5HOgvkVmNq726jgNKxY8cC7n9SUpJkZGSwZCZgOedc4E8Ior21aoRoAEb45ZzxoycIuElAw3OnHxp+vDztSTl+4iepnlJemqRVkQQjAImrdM5ZXc/Zki87jb+2rS/4UHj374fL3bcOc/ojxnz/lhszW/v268+OMX6PdE8ZPqalFCyE9vc4IUcP/CBfffpfeWNRjgT+J0g/7tN6sDx9cy2pZJy6/8vHZdQbp6+54t4npFdt/ZUDsuJP4+TffjTn9VPYQtcZb8AXqxfKMy89KN9sWWOG7EnVy8l551eQuIqnf4/Zv+e46O8velRJSJIH73mGQKTI8BGEOON9dm0v9ANwx44dzWUwJ08WfKsV6HHOOeeY18431rZRPyRQveif728Ioj21gpDo95oeIICAWwWC/b0mEs+r39A9+8+H5V1jJkjN2vHSrG1l8w+n/hz7fzwuqxYfkt05R6VVs44yYcxH/lzGOWESsNbbs3Wuv8ADZMyYOhLn7+lnnHdSDn89Q0b/a439YUi3P8n49ETRj4fHtj8uf5pw+sbXPz5ark40f0W2/elJ+XtQfffWRbqFbqNLL2WnqygNu/4e88r00eZMw4qVyknjtASplxpfbMhudVHDkJXG7y1HDp2Qhpe0kIljPjSCkcAiyyg9bthvSxASduLYvYEuh2nRooUcOnQo6BDE0ilXrpwkJCTIwoULpWXLlrGLFmNPFkgIEmOPzuMggECEBR588EF57rnnQv79Jpzdfs4IQfQPqA2bVzZngRQ3A6Ss+2sYsjH7iLlUZuywWWWdzq+HScDagSHtijaSnJwcprvEUrO+QchJOZr3k5S8SLq8VIyvKAWLxKzjhHw37xkZ/9F+e1EIQmz1XP7ZMqlxfnV5a9ZMW9ulsbIFNAR58m93yqLP5gb1e4z+vqK/v1RJqGoG7ZcaoYjXD4IQr78BITx/urHl36JFi+T48eMhtHLmpRqCfPnll7a1R0PhEyAECZ8tLSOAwNkCTg9CNADRIKSu8e1c685JIQ3h8syD5lKZcUYQ0tEIRDgiLzBt+nQZO268uWNMorGEl6MsAZ8g5OQhmffoGHmvtEuM2h3Nru0jvdulyLnWbP6jm+TFJ6ZIQTlhmw6CEJsgC5rRIKRiXJx8/OH7trZLY2ULPPznm8wQpMWViWYQEsyhMw8/nrXHDENmv7rB8zNDCEKCeYu4RmbPni2/+c1vwiLx9ttvi+4qw+FcAUIQ544NPUMgVgWcHIToN3W3/uFyOZy/S7rcUi2omSBFx03/sHo8r7Lxh9WNnv/DajTeaSsI6dApXeLj/S4BGo2uOuSeAQYhhb2+4MZH5ZErq5hLV0SOysYxI2WSnZNCCEJsfT9WfrFCco3l8MuWLLK1XRorXUCXw7zy71FmAKJBSCiHLr/8JGMfSzANRIKQUN6k/cZP6uefN0q9XyVGcYtQWnLdtRqCvPPOO37vDuPvA+oSme5GNWoNQzicKUAI4sxxoVcIxLqAk4MQ6w+pacZMEF2vbcdh/WG1d4/7ZMg94+1oMvJtjBwpUtfYFvjOOyN/7xDvOGHSJJk48SUhCPEXMrggRKSrPPmXTmKW6pCfZf+7w2XUp6Xfs/L5taX6uXqOH7u9EIT4O4B+nbcmO1sO7N9HEOKXlj0nfbdrm/S5t5VUST4hba5JtCVot5Zgen3WIUFIMO+oFYAYa5VF/1k/tHtoBsN+45nr1Klj1gYJ17Fv3z457zwK+YTLN9h2CUGCleM6BBAIVcDJQchNdzWQ/JM/yNW32Pv71nvTfpRyPyfIxzN3h8oXnet15qgxg9Qo/iXywAOuCkR0WYzOCuncpatUMJYCcJQlEGwQ0lIef7qnJJfT9k/KofnD5MkPzr5XXMrl8psbO0mLOslyrm9xkZ+PS+7+HfJFxjSZXbjz0hlXE4SUNXAB/fr6r9fKNqNG4OpVLGMPCC6Ek62g/aoe1aRGSsUQWjp9qW7f/vGb+yQpPkXenrLBljbd2AhBSCCjVjQAsa71WBASzmUxFqluj3inC79BCuR1ctu5hCBuGzH6i0BsCTg1CNmweZXcft+vjOKoCdKkdRVb0dcuPyxrs3LNP6heVNOYWeG2wwpCrH67KBAZNnyEaMHUa6673m3qUepvkEHIxffImAF1C3ebOSE/TH5Cxm488xEuSO8v93atJwlmWFLScVz2fDlL/vpGkZ1nCEJsfR82bdwom77ZKEsWLZTExNCWaNjasRhurMed9Y2g/Xvp0rO6rU9pzQpx7e8vNmgQhPiDWFIAYl375JMiPXr401JMnPOc8Q3Jg+PDO0332WeflSFDhsSEVyw8BCFILIwiz4CAuwWcGoToVrmjnr1b2l17nqRcXMlW5Fxju8O5xqyQITc8aBSV7G1r2xFpTJfG6IyQoocLApEHhjwkny5eLOlXd4kIlftvEkQQEneJ3Pz/7pJ2SYUJx8l98t6j42WeD0Zcs9vkid83kspWQVX9tRNHJe/oCTknrpKcW8E3HTkpe5c/J0+99ePpFghCbH21rCDkg7nvSkpKiq1t09jZAuEM2k/9/mIsvdQlmF48CEJKG/WyAhAvvjHGMxt/rBEj+gnroSGIhiEc0RcgBIn+GNADBBAQcWoQYu0Wc12f8yUh8cwNQUMdN52+nDHlB7l74wnzr5g7HByIaBCy7LPPpP1VnWKOPTwP5BuE5MpnL74uS0u6UfVLpFWTVGneqK6cV+l0wpG/fpo89urXPlfVk35P9pcmZj0Q4zixX7768A2Z8cl2OVL4nyqn/loG/K6N1La2njl5QJaMHSdvWQVXCUJsHW5dFqPLY2bNnCGNUlNtbZvGzhawgnY7l8X43mXOlN3SttWvPbtVO0FIaf/XrVxZUAz1tdf4f9NH4EHjn43qKGE9CELCyut344QgflNxIgIIhFnAqUGIbpmrYcgtg2qGReDNibvkhh0/y/Bs+7aqD0tHg2lUa4Hp7E+tH+KwumB9+/WXdRs2mNvncvgj4BOE+HN6kXOO718p//7bLFl1zOcXWt0v43rVlIJ4MV/WTv+LTF7te0LhuZXbyB8fu1FSKhT8e/7GCfLY5J0F/0IQEsRolHxJzs4dogVTp0x+WVqnpdnaNo2dLRDOoF3vpruTtWh4PUGIW1++14yQ4q677jK7P3/+fGPzlk72P0pZgYj+Jq5V0T1yPPfJJ/JgcVNdbXz+J43lRiNGjLCxRZoKRkB3B9KaMLqdMTv5BCPINQggYJeAU4MQq5BdOGaEWFOXe9dpL0NSb7SLMnLt6JdJxjfIZx0ODkCsvmoQ8tXatcwI8fttCTIIOZkvu7+eJ1P/s1h2Fsk4Uof8We65sCAG+fnHN+X/jS+5QGe1mx6Xx9tULtiG9+hGGf3Ea7JP/5kgxO8R9OdEZoT4o2TfOVbQ3qPvBbbsFlO0Z7qN7nnnNpapL3xuX6dd1BIzQgIZrJICEYqlBqLo17kUS/WLKSInpaeny4IFC4RwKiLc3AQBBEoQcGoQsnDpHHlkdE8Jx9Tl/T8eN7+xG/7gK3JDl9vc924ULZbqggDEQjZrhCxaJOnGrjEc/gj4BiEn5WjeT3LGYq7yFSW+ou/SsRNyeMunMmnqR/Kdtc6lyG1uG/GUtDR3oz4phxcNkxH/K6UfcbfJ06MaiVml5+cD8s5j42QBQYg/AxfQOVYQQo2QgNiCPtkK2rVQ6nnnF055Crq1sy+cO32vpNZtKxPGfGRjq+5piiAkmLEqGoh4LAjR7XOrVasWjJzf12zZskXq1avn9/mcGF4BwpDw+tI6AgiULeDUIORw7n7pYkzfb3FlojRsXrnsBwngjI3ZR0Qr++sfUls16xjAlQ451QpCXBSAWHLsGhPoO1R2sVSznkdvo55HvFUX5Gc5uOYNeXpakZ1eCm99/6inpK65c/EJ+f4fT8hfd5TWp67y5F86SaI2ffKQzHt0jLxHEBLoIJZ5PsVSyySy9YRwBu1WDSoN2TVs9+JBEBLKqFuBiO4YYywd8NKhSybmGNvK/fzzz7Y+drly5eSXv/ylZBvrDzmcJUAY4qzxoDcIeE3AqUGIjsNNdzWQPQd2iE5ftvNY8v5+OfhDJfl45m47m41cW7p0Wb/UcGANkLIQxo4bL9OMXfI6GzNCKsSZn8Y5ShUoOwgxL49rKv0e/93pAqhGyLFrwd9l3Ps+O70U3ud0EHJMtg9/Up4vpjzI6S4RhETiBdVCqTorZPWqkpcpRaIfXrmHFbTXTY2X1p2TbH3snC35or/HjBs2Szq27W5r225pjCDELSPlsH7qUgn9YByOg2Ux4VC1p03CEHscaQUBBAIXcHIQYk1ftnML3d05R0XXb9/9++Fy963DAgfjipAEJkyaJBMnvkQQ4rein0GIttekj4y+rbGcnhiyVzKf/Zu8WyTv6z/yKWlUsNZF9r41XJ5aXlpnbpZRY1qJOSfLmBHyoTEj5AP9Z2qE+D2C/pyohVK1YCpBiD9a9pyjQfveAzule98a9jRY2IqGIAd2xcm0f3whF9X0Tq1LX0SCEFtfKW81Zn0otuupy5cvL23btpVPP/3UriZpJwwChCFhQKVJBBAoU8DJQYh+a9fn3jQ5mJcj1xvb6IZ66JTlZR8eksN7y0vGa5ukSoKxuwpHRAWsIKRDp3SJjzcLVXCUKhBAEGK0c8nvHpPBLRIKipsax8975svTf/24oMBp4dHuT6Pk5vPKmf92dONf5dHJ1p64xXSk1R/lr72SxTz7eI48N+xF+Vb/mSDE1vd25RcrjKDppMz7yIyZOCIgYG2hm2bMCKlnzAyx49D6U5++c1DaXHadZ3eMUUeCEDveJo+2sdWYGteiRQs5ePBgyAIagugfNDQEadmyZcjt0UB4BQhDwutL6wggcLaAk4MQ7a21ljvl4kqiM0NCObQuiNYHYTZIKIqhXavLYnR5jG6fm5hk75T00Hrm1KsDC0KMNVPS54n+ctmpsjo/y3fv/VnGLzy9/iXupsdkTJuEggc+sVNmPTlBlhW7POY8ufGxh6VTUkGs8vO+d+T/jV1WcB1BiK0vjAYh5c45Rz76YK6t7dJY6QIFs0Jy5Lpbq4e8e4wG7Tob5Mj+ijJxbKZcekkLz/IThHh26O15cDuWyGhdEK01otuz6jatHO4QIAxxxzjRSwRiRcDpQYg6j3r2btFv75qkJUiT1lWCordCkN497pMh94wPqg0uCl0gw6iDpgVT065oI8nJyaE3GPMtBBqEGCBN7pCnb7+0YKcXPY5vl1kjXzoddsR1lmF/vlqqFU4bObHnc/nncxnyzRlhSLxcfvsQ+V2TKoWzS36W798ZLn9dXNgmQYitb97yz5ZJdeP/h7ffmmVruzRWusAXqxfK4D91NXeO0R1kQjkI2k/rEYSE8iZxrSkQShiiM0EqV64sr7/+OiGIC98nwhAXDhpdRsClAm4IQpR2qLGV7ifGlro1UiqKTmVOSPTdMrRkfP2Wbvn8A6IF7Fo2vVLGP/FflsRE8V3NnD9fdAtdghB/ByGIIETipMU9j8vtl5wuRnt083/kiX+e3kWm6e3D5M4m8aeW0Jw8flB+2LJV1u86LJJYQ1Ib1JeaCQXLZ/Q4eTBLxj39tvxg/QeCEH8H0K/zli5eJI0uvVSmTH7Zr/M5yT4Ba4mMhiFXdU8OeGaI/h6zNuuwOdvQyzvF+I4IQYh976enW1pp7KBzl1EdXv/uz2HNAmnfvr288MILLIfxB82h5wQShuhyKn/fEYc+Lt1CAIEoCfzrX/+S2bNnG8vTT0apB/7f1iqeqlfolrpa8V//8FrcoWu1t63Pk+3rj0p+/nHRmSBaHJW6IP57h+NMKwhp2ry5pNSqHY5bxFibwQQhBkFcB3l45LVy0aksI1/Wvf5neXmtxXO+3DDkPul8YfH///ginvxpu8x98SWZ51t0lSDE1vds8cJPpEnjxgQhtqr635j1e0tcpXPMLdv9rRmixbc3rT4mOzYfNkOQB43ZhvweQ40Q/988zvRLQP+Q+vzzz5uzREo6qlSpYgYf/fr1kzvvvNOvdjnJ2QL+hiGhzB5ytgC9QwCBSAm4IQhRiw2bV8kbGS+YS2X00D+46iyRuIrlpKLxzxqAHP3pZzmw97j56zoL5KEBz3p6vXak3iF/7nPo0CFp176jpDZuInV1C2COMgT6y9Nj6hUsc/n5oHz42NiCXVv8OKp1fUgeu7p6QaFT4zhxcJk88/Q78v2pa8+X9rffJtc1Pl/Otaqr+rZ78rgc3LFcZr76P/n6SJEbdhkqf+2SZLadv+Vxeeyl07/e7dFRck1V/ZWjsvlPI+VFP/rq9VM+nPue9Ln1Vhn6yMNep4ja8+symT8/01e+/+FbM2DXoF0DEf09xvfQGSAagOw0Zhl+v+24VCh3rvTvM8IM2zkKBJgRwpsQNoHXXntNPlu/UiZ99T/zHt0u/pX0vuwacwnMeeeFVkgubJ2m4aAF/AlDrCDk2WefZRZQ0NJciIC3BTp16uQqAP1Dq4YiWkx15/ebZdfuHZJQOVEqVqwke3cfkY5tfy3973iYAMSBo9qsxWVyQc2a0rLV5Q7sndO61Ep6/+EKqandytso/53yccGuLX4d58vVt/eUpomFJx9eL2/8K9MnCCn875Wry2Wt28gvG9SR6ueaN5I9G9bK0s+/lE0Hiq2iKlJRrSJtAAAgAElEQVS7i/Tv0dDcVnfXsokyw9j0xDp+0fUO+e2l+is/yJIX35JSd+f16zli+6RDxuYIujRGQxANQziiKzDDCNqf++eZgVRlYymmBu1HDv0s55xTXvJ/Omb+fpPWIl2G9B/v2W1ySxopgpDovsMxf/eVB7bIZQseMp/z2aZ9ZUj9G2P+mb38gGWFIVYQQmFcL78lPDsCCKhATk6OdLvuBj5UOPh1uOba6+Wn/HxpbRRM5UDA6wI/7NolumvM8889I53T073O4Zjn15B9w+ZsWbcxWz5Z9LGkpNQw6rg0l4suqCutmnWUVs07sgymhNEiCHHMaxybHSEIic1xLe2pSgtDCEK89z7wxAggULyAtfRi0KABMnjgQJgcKNC3X39ZuWqVpHfp6sDe0SUEIiuwzajztv7rtfLB3HeND9spkb05dytTYHlWlujPLIKqMqlOnUAQ4r8VZwYhQBASBFoMXFJSGEIQEgODyyMggIBtArr0okf37jJ61Ejb2qQh+wTGjhsv06ZPl85GEFIh7vTOJvbdgZYQcI/Amuxsydm5Q1av+tI9nfZQT60tvwlC/B90ghD/rTgzCAGCkCDQYuSS4sIQgpAYGVweAwEEbBHQYpyt09LMb/A4nCfAFrrOGxN6FD2B5Z8tk+rJyfL2W7Oi1wnuXKKAhrYa3s6aOUMapaYi5YcAQYgfSJwSvABBSPB2sXBl0TCEICQWRpVnQAABuwR69uotiYmJbEVpF6jN7VhTzdk5xmZYmnOlwKJPFkibK64guHXo6FlBCEuX/B8gghD/rTgzCAGCkCDQYuwS3zDkqquuEv13iqXG2CDzOAggEJSABiF66Dd4HM4TsOq41G/QUOo3bOi8DtIjBCIkkJeXJ58umM/WuRHyDuY21lK+JYsWmgE7R9kCBCFlG3FGCAIEISHgxdClVhiiWyfPnj2bICSGxpZHQQCB4AW0sN269etF/+DK4UyBdu07SHzlBLbQdebw0KsICezdu1eyjKUxWs9I6xpxOE9g2PARonVCqOHi/9gQhPhvxZlBCBCEBIEWo5dYYYg+HjNCYnSQeSwEEAhIQP/gqnUoCEICYovoyTprZ9PmzewcE1F1buY0AWvHGApxOm1kTvfngSEPmcG6Lo3h8E+AIMQ/J84KUoAgJEi4GL3MCkMIQmJ0gHksBBAISICpzAFxReVka4w6dEqX+Pj4qPSBmyIQbYGVX6yQI7m58uH777HsItqDUcL9WWoZ+MAQhARuxhUBCBCEBIDlkVM1DHnggQdEl8lwIIAAAl4WmDBpkkyc+BJV/h38Elg7x1Aw1cGDRNfCLkCh1LATh3yDbtfdILVSUii+HYAkQUgAWJwauABBSOBmXrhi5cqV0rJlSy88Ks+IAAIIlChgfcieMvllcxtdDucJWAVTU2rVlqbNmzuvg/QIgTALHDp4UJYuXiSDBg2QwQMHhvluNB+MgPVzqs+tt8rQRx4OpglPXkMQ4slhj9xDE4REzpo7IYAAAgi4S0DXc+t0Zv2Dq/4BlsOZAjf37CWbt2yVzl26OrOD9AqBMApY9UEIbMOIHGLT/F4SHCBBSHBuXOWnAEGIn1CchgACCCDgOQHrWzy+aXX20FMnxNnjQ+/CK6D1QQ4fOiSfLV0c3hvRetACy7OyRHcho5htYIQEIYF5cXaAAgQhAYJxOgIIIICApwTate9oLovRP8ByOFOAOiHOHBd6FRkBrQ/SunWa/OPvz0fmhtwlYIFp06eLBrazZs6QRqmpAV/v1QsIQrw68hF6boKQCEFzGwQQQAABVwpQ6d/5w2bN3LmgZk1p2epy53eYHiJgkwD1QWyCDHMz1qw13To3xSiYyuGfAEGIf06cFaQAQUiQcFyGAAIIIOAJgWHDR4jOOFiyaKEnntetD6nTzleuWiXp1Alx6xDS7yAEqA8SBFoULnlgyEOidUI0COHwX4AgxH8rzgxCgCAkCDQuQQABBBDwjID1TZ4GIYmJiZ55brc9qLXVcYdO6RIfH++27tNfBIIS0PogR3JzjV1jPg3qei6KjAAzC4NzJggJzo2r/BQgCPETitMQQAABBDwpwNpudwx7Tk6OdLvuBklt3ETq1qvnjk7TSwRCEDh+7JgsWviJtL/ySmoYheAYiUv1Z5PWmho9amQkbhcz9yAIiZmhdOaDEIQ4c1zoFQIIIICAMwSsQpxU+3fGeJTWi2uuvV52//j/27sT8Kqqc+HjrzIZJAwRTU1Q4oABREAIAoJeidje2pbQKuqt4OfUT6BXQa8XrIK9ilqhVkFbBq1IC7YI8klolTqBIjIIOESqQERBTRgNMzEE6rffjSv3EDOcYZ999vBfz5OHCHuvvfZv7Rxz3vOud+1kG13vTxUjdEDALIvhtckBzCR2YYK0ugW7bsVOi16AQEj0VhwZhwCBkDjQOAUBBBBAIDQCphCn/gKrv8jSvCtgsndYHuPdOWJkzgmsWrlCKg8dklf+8RLL9pxjdbwns3WuZoMUDBjgeP9B7pBASJBn1wP3RiDEA5PAEBBAAAEEPC3AFrqenp6qwZmgVVZ2G+nUubM/Bs0oEYhDwOwWQ5ZBHHgun2ICtNOffspeHkOLXoBASPRWHBmHAIGQONA4BQEEEEAgVAJa6K7EqkHBzjHen/brb7hJPvjwQ5bHeH+qGGECAhuLi2XjJ8XCm+sEEF06VXceK1ywwP7/BwW3Y0MnEBKbF0fHKEAgJEYwDkcAAQQQCJ0AO8f4Z8r1DYe+8dCMEM0MoSEQRIGlb74hWVlZ8sK8uUG8vUDdk26dq3VC5s6ZHaj7cuNmCIS4oRziaxAICfHkc+sIIIAAAlEJsHNMVEyeOMgsjzklM1O6duvuiTExCAScFNi+bZvotrnDht0iw4cOdbJr+kqCgO4Y0z43l5194rAlEBIHGqdEL0AgJHorjkQAAQQQCKeA2TmGgqn+mH+Tik7RVH/MF6OMTWD9xx+J7hjz8sIX7awQmncF1q1fL7q0klou8c0RgZD43DgrSgECIVFCcRgCCCCAQGgFTJYBn8D64xEwgavcDh2lbU6OPwbNKBGIQuBwZaW8teRNuahPHzIMovBK9SFsv57YDBAIScyPs+sRIBDCI4IAAggggED9AqQ312/kpSO+/++Xy46dOyma6qVJYSwJC2gmiGaETJr4qOT365dwf3SQXAGzrJLsnficCYTE58ZZUQoQCIkSisMQQAABBEItcONNvxBNc2bnGH88BhRN9cc8McroBTQbZM2qd6Rp06Yyb+5z7EASPV3KjtRCqatWr+b/G3HOAIGQOOE4LToBAiHROXEUAggggEC4BczOMXyy54/nQJczXTHoatm9e7dorRAaAn4XKC35UtYWFQm1ivwzk5pJmG3VcdFtjmmxCxAIid2MM2IQIBASAxaHIoAAAgiEVsCs9X5g3H1SMGBAaB38dOOTp06VKVOm2bvH6C4yNAT8LLD87aXSNC3N3jI3PT3dz7cSirGb2lIUSo1/ugmExG/HmVEIEAiJAolDEEAAAQRCL2B+qdUgiAZDaN4XMHOW3ry59O7T1/sDZoQI1CLAlrn+ezQolJr4nBEISdyQHuoQIBDC44EAAggggEB0AprmrG+uqRMSnZcXjiIrxAuzwBgSFVi1coUcqqiQV19eSDZIopgunW9ee1hOGT84gZD47TgzCgECIVEgcQgCCCCAAAKWgKkTooEQUtP98UiQFeKPeWKUtQuQDeLPp0MLbOvrz9w5s/15Ax4YNYEQD0xCkIdAICTIs8u9IYAAAgg4KWBSnbXwXY+8PCe7pq8kCpgAli6P0WUyNAT8JKDZIJVWNsgrZIP4Zto0AKIZhLrFMUsp4582AiHx23FmFAIEQqJA4hAEEEAAAQQsAZNdMGzYLTJ86FBMfCJg5q1VRob06NnLJ6NmmAiIkA3iz6dAt8zVjBCKayc2fwRCEvPj7HoECITwiCCAAAIIIBC9gH7K1z43VyZNfDT6kzgy5QImK4QdZFI+FQwgSoHDlZWyZtU7cuTwYbJBojTzymGznn3WXkpJfZDEZoRASGJ+nE0ghGcAAQQQQAABxwTGjP216BIZCqY6RupKR5oVcsWgq2XHzp2S3/8yV67JRRBIRGBjcbFs/KRYRo+6U3QLVpp/BEaMvEM0K4T/TyQ2ZwRCEvPjbAIhPAMIIIAAAgg4JmB2AtACeJoZQvOPgKnx0jYnR3I7dPTPwBlp6ATKy8tlxbK3pXOnTjLjmadDd/9+v2EyB52ZQQIhzjjSSy0CLI3h0UAAAQQQQCB6AVNvgk9pozfz0pHX33CTrHn3Xbnokn6SlpbmpaExFgSqBN5/d43st7KYfv/EJAoz++y5WLd+vQy66hqhllTiE0cgJHFDeqhDgEAIjwcCCCCAAAKxCfBpX2xeXjq6tLTU3s2BwqlemhXGEilgCqTqchgNuNL8JWDqg5A1mPi8EQhJ3JAeCITwDCCAAAIIIOCYgKkTooXw0tPTHeuXjtwRoHCqO85cJXYBUyD1hBNOkBfmzeX1JXbClJ+hu8Vo5qAGQmiJCRAIScyPs+sRICOERwQBBBBAAIHYBEytCbZGjM3NK0ebwqk7rcKp/Sic6pVpYRyWgCmQymuLPx8Hs3SSbB5n5o9AiDOO9FKLAIEQHg0EEEAAAQRiEzC/7BYMGCD6hoXmPwETzDolM1N0S10aAqkW2Ld3r71dbu/eveT3j09K9XC4fhwC5nVFt1fP79cvjh44JVKAQAjPQ1IFCIQklZfOEUAAAQQCKqB1JjQgwvaI/p1g3eJS37hoIEQDIjQEUiWgS2KKPnhPyg+W27vEsCNVqmYiseuabXNZNpmYozmbQIgzjvRSiwCBEB4NBBBAAAEEYhcwdSb0F96srKzYO+CMlAtELpHp1acvu8ikfEbCO4D1H38kmzdtsouj6rIKmj8FKKTt7LwRCHHWk96qCRAI4ZFAAAEEEEAgdgGz+whvXGK389IZZqtLdpHx0qyEaywaANFACHUl/D3vbJvr/PwRCHHelB4jBAiE8DgggAACCCAQnwCf/sXn5rWzzHaXbXNyJLdDR68Nj/EEWKC8vFxWvL1U2rZtK3+eMZ1dYnw815OnTpUpU6YJWYLOTSKBEOcs6akGAQIhPBYIIIAAAgjEJ6Db6BYuWGDXCWEb3fgMvXIW9UK8MhPhGYfWBXnv3TVS8fXX8vsnJkmPvLzw3HwA75Rtc52fVAIhzpvSY4QAgRAeBwQQQAABBOITYBvd+Ny8eBb1Qrw4K8EeE3VBgjO/Zqkky5ucnVMCIc560ls1AQIhPBIIIIAAAgjEJ2C20dVtEnW7RJq/BVatXi36qS71Qvw9j34YfWnJl7K2qEjYgtsPs1X/GM3yuulPP0VmT/1cUR9BICRqKg6MR4BASDxqnIMAAggggMBRAZbHBOtJoF5IsObTi3ezb+9eWbPqHTnppJNk3tznWFbnxUmKcUwaQC0pLbXrg9CcEyAQ4pwlPdUgQCCExwIBBBBAAIH4BVgeE7+dV8809UK0cKoWUKUh4JSAFkdd885KOf644+SZZ56W9rm5TnVNPykSMLvFsCzG+QkgEOK8aeh71OCHaZsObpefvvOw/Z8jz/qJ/J/T+lX9W9cWZ4TeCgAEEEAAAQTqEtDlMbp7jBY6ZHlMcJ4V/YRXl8p06txZsrLbBOfGuJOUCWhxVM0EqbT+/M1DD4guqaP5X8DsFsOyGOfnkkCI86ah7/H2tdNl4sa/1elwSetOsrjPuNBbAYAAAggggEB9AmZ5DNsm1ifln3/XANf1N94kGzYUS9du3eWUzEz/DJ6Rek4gcocYgiCem56EBsRuMQnx1XkygZDk2Ya2592VB6TVS4PrvH8NgmgwhIYAAggggAACdQuY5TGjR90pmh5NC4ZAZDAkr2cvycjICMaNcReuCmgQZO2HRbJ92zZ5YNx9doFUWjAEzLKYYcNukeFDhwbjpjx0FwRCPDQZQRpKXVkhZIMEaaa5FwQQQAABNwR0eUx2VpZoejQtOAK6LeYVg66WiooKybugp6Q3bx6cm+NOXBHQ3WF0lxhqSLjC7epFWBaTXG4CIcn1DW3vdWWFkA0S2seCG0cAAQQQiFNg/IRHRHccYXlMnIAePs186tuoUSPp1aevpKWleXi0DM1LAus//kg2b9pEEMRLk+LgWDQA3jw9XebOme1gr3RlBAiE8CwkTaCmrBCyQZLGTccIIIAAAgEW0MKaulac5THBnGQzvxoE0ZohZIYEc56dvCsTBNGlMPq6kG69YaYFR4BlMcmfSwIhyTcO7RVqygohGyS0jwM3jgACCCCQoIB+Oqh1JZYtXZJgT5zuRQETDNHMEJbJeHGGvDEmrQmy7uOP7eUwujOM1gUhCOKNuXFyFBTJdlKz5r4IhCTfONRXiMwKIRsk1I8CN48AAgggkKCALo3RJTJso5ggpIdPj1wm08XKDKGAqocnKwVDiyyMqjVBhltFNAmCpGAiknxJtk1PMvC33RMIccc5tFeJzAohGyS0jwE3jgACCCDggID+cnxh34vtXSH0U2BaMAU0GHLDjTfL/v372Vo3mFMc111VD4LochhaMAVM0HvSxEftrB9acgQIhCTHlV4jBDQr5P09n4kGQmgIIIAAAgggEL8A6dLx2/npTN1N5tYRI2XDhmLJ7dBR2ubk+Gn4jNVhgfLyclnzzko5ePAgdYIctvVid1oPqsR6DXjeKpJKxk/yZohASPJs6flbAc0K0UCILo2hIYAAAggggED8AhRNjd/Ob2dqBtD1N95kB0POOrudnNWund9ugfE6ILBv71754L137Z7u/tVoOyOMFlwBiqS6N7cEQtyz5koIIIAAAggggEDCAhRNTZjQVx3op8MaANOsEM0OoYVHoKyszA6CNLYK6D704DiWSYRg6sn6c2+SCYS4Z82VEEAAAQQQQACBhAUompowoe86GDHyDlm0eLG9ra5ur6vb7NKCLbCxuFi+/OJz0V2EHnzgfoIgwZ5u++4okuruJBMIcdebqyGAAAIIIIAAAgkJUDQ1IT7fnmwCYPrG+NzzOsspmZm+vRcGXrtAZFHU7t262ZkgWVlZkIVAoHDBAtGMEIqkujPZBELcceYqCCCAAAIIIICAYwKkTztG6auOtH7AbSNuly1btrBUxlczF91gdSnMRx8W2UVRh1lb4w6xtsilWGZ0dkE4SpfB6c/4ywtfZN5dmFACIS4gcwkEEEAAAQQQQMBJAQrqOanpv75YKuO/OatrxJoFsnnTJvni8812PZAHqQcSrAmO4m506Zv+XGsAbPjQoVGcwSGJChAISVSQ8xFAAAEEEEAAgRQIDLrqGnuLxWVLl6Tg6lwy1QJmqYyOQ+uGsFQm1TMS3/VZChOfW9DOIhvE/RklEOK+OVdEAAEEEEAAAQQSFjDryUePulMGWyn0tPAJVF8qo9vsNrQyCmj+EDBLYXS0t/7ncHtrXJbC+GPunBwlGX5OakbfF4GQ6K04EgEEEEAAAQQQ8JQAW+l6ajpSNhhTM0YH0KlzZ8nKbpOysXDh+gX27d0rGz8plu3btsmpp54qd43+b3aFqZ8tsEfoz68ujXl+zmwK47o4ywRCXMTmUggggAACCCCAgJMCJivkgXH32Z8m08IrEJkdotvsdrJ2ltE/ad4R0GUwGgDZYi1pa9iwIVkg3pmalI2k1HoWrrSWOfbIy7N3i6G5J0AgxD1rroQAAggggAACCDgqoFvp6i/R2nSnARoCkbVD2ubkSG6HjqB4QCByRxjdFveuu0ZJ+9xcD4yMIaRSYPLUqTJlyjSZ/vRTdjCE5p4AgRD3rLkSAggggAACCCDguID5RVo/Tczv18/x/unQfwL6KfNk682VZgxpzZD2HTqwXCZF0xi5DKbZiSfKL385jJo+KZoLr11WA9m6vJFskNTMDIGQ1LhzVQQQQAABBBBAwBEB/WX6wr4X279M66eKNASMgNYdeHj8b2XLli32MhnNEKF+iDvPh1kGs9Wyb9CggVzWv79oYWOKobrj74erEMRO7SwRCEmtP1dHAAEEEEAAAQQSFjDFMudaxfZIt0+YM3AdRC6XISCS3OktLy+Xzzd9ZtcBOXTokLAMJrnefu3dZINkZ2WJvm7T3BcgEOK+OVdEAAEEEEAAAQQcFSArxFHOwHZGQCR5U6tLYEpLvhRdllRJACR50AHp2WSDUOg6dRNKICR19lwZAQQQQAABBBBwTICsEMcoA9+RBkRm/GmmbLO2byVDJLHp1iKoO7ZtFV0Cc/zxx0tHqx4LhVATMw362SYbRLP3WM6YutkmEJI6e66MAAIIIIAAAgg4JmCyQvSXa1KtHWMNdEcaEJk56y92FkNaWpqckpkpp+ecYX9Pq11A63/stWrzbCzeILusQIgWQb3gggtk2LBbWJrGg1OvADvF1EvkygEEQlxh5iIIIIAAAggggEDyBSi+l3zjIF4hMiCi99cqI0Oy27ShsGq1yTbZH6UlJVJpBUM0ADJw4EApKPgJAZAg/mAk4Z7IBkkCapxdEgiJE47TEEAAAQQQQAABrwmYrJAsqwDfywtf9NrwGI/HBVatXi2LFr0h8+fPl/0HDtij1SwR/QrrbjNa+2O7tYRo547tsmfPHjtbRpe/9O+fLwUDBrALjMefaa8Nj2wQ78wIgRDvzAUjQQABBBBAAAEEEhZwMitEAytae0S3/dTgCi08Arr1rgZFChcsqLpp3X735MzvSYaVMRLkpsEPzf7Q4qf6vbauXbtK7949Jb9fP7I/gjz5Sbw3XYJ25VXX2FudT5r4aBKvRNfRCBAIiUaJYxBAAAEEEEAAAZ8IaPBCf9nWlkhWiL4BHj/ht7Jv3377F3eK+vnkAUjCMHXpjAZFNGPENM0SSU9vLq1OOsn3gRGt+aGBD838OLB/n535oU2Xvgy5bjDBjyQ8U2HscvyER0R/lvS1VF9TaakVIBCSWn+ujgACCCCAAAIIOC6gQQzN5Ihna0YNpOgv7NpHo0aNpFl6ul0QUrNCBl97reNjpUP/COizoZkiq1atkddff71q+YzegZ8CIybwsavsK9m9a1dV4ONEK/ChxYYv6NnDDn5kW1lQ6dbzT0MgUQGyQRIVdP58AiHOm9IjAggggAACCCCQUgGTFaJ/Llu6JOqx6Cf+I0bebmeBaMHM87t1l4ZWMGT520vtJQK6G42+UaQhoAL6vKxfv94OjGiAJLLp85OW1tSuqZHWNE1OsL53e0lNeXm5/dzqn1+XH5S91vcVX38tBw8etIcaGfjQT+j12SbwwbOdDAENTOvPiC6JIRskGcKx90kgJHYzzkAAAQQQQAABBDwvoL90jxh5h72l5/ChQ+sc7zFZII0bS2779scUx9Q3km+9sdiuE5LIchvPozHAhARMYGTdug32lryRS2lMxxoYSW/eXBo2bFQVJNF/0//WoJs2s31vo4YNq/5Oszi0VR4+LOZ7fS61HT5cae3icvTv9+0zgY9ye2eXyJap2wOfdprkWgGP/PxLCHwkNNucHK2AeS3WjDrNrKN5Q4BAiDfmgVEggAACCCCAAAKOCwyyaoWssz6x1+BFbcVO9c3qPWPulS1btthZIJ06d6l6Ixo5oPUffySbN21iiYzjsxTsDjUgos+gBttKrO9XW9kjX3z5pWzdujUpN651PbKys6RNdhsroHeOHezQZ59lLknhptN6BPS514C0eR0m48g7jwyBEO/MBSNBAAEEEEAAAQQcFdA3oT/44Y/segfVdynQX9AnT5lmF+9rZGWBnHnW2aK7gtTVkrFExoxjyOCfszONo7Pv/c70+dxrPYf6DOiXNvO9/r220pIt9p/mDWR29qlV/61/Z770L5tb/83uRt6f9zCNUF9fteYSNZa8N+sEQrw3J4wIAQQQQAABBBBwTEDXpmvh08idCqLNAqk+CKeXyOg4dHy6Zl4Lu9IQQACBoAhoUE8D0ZqNpK+/ZIN4a2YJhHhrPhgNAggggAACCCDgqID+Mn5h34vtT8qft4qdxpoFUn0wG4uLZeMnxfYOMvGud4/MRtH+KcLq6JTTGQIIeECA7XI9MAl1DIFAiLfnh9EhgAACCCCAAAIJC5jtdFu2bCm7d++usxZINBdLZIlMZDaKXqumZTvRjIFjEEAAAa8KHN2B6w472636skSvjjls4yIQErYZ534RQAABBBBAIFQCJvviL3/9qxx//PFyVrtz6q0FUh9QPEtkqtck+eabb+xdPiKX7NR3Xf4dAQQQ8IPAjTf9wi6Qqq9vbDnuzRkjEOLNeWFUCCCAAAIIIIBAwgKR2RcntW4tHTudV+OOMPFcSHeQ0Z1kolkiU70miQZjit57V/r26cOnpfHgcw4CCHhWwBRIjWbrcs/eRAgGRiAkBJPMLSKAAAIIIIBAuARM9sUL8+dLpZV1cYa1I0x2drY0bNTIUQizRKa2rI7IcRyyxmF2pjF1RsgGcXQ66AwBBFIsYAqkamFUrclEgdQUT0gdlycQ4t25YWQIIIAAAggggEDMApp98fD4CbJhQ7G0Prm1tDunvaQ3bx5zP9GcYJbI6C/7y5YuOeaUyCwQHUeHc49mo+hymLeWvCln5LSVeXPnRHMZjkEAAQR8IVDTLl2+GHgIB0kgJISTzi0jgAACCCCAQPAE3MoCqS5XWvKlrC0qqip6Wt84TDaIbpdbMGBA8CaCO0IAgVAKLFq82C6QGs1ywVACeeymCYR4bEIYDgIIIIAAAgggEKuAm1kgNY1t1coVsquszN5O94X5hbVmo9jZIG++Ia2teiXz5j5H2nisE83xCCDgSQGWxHhyWuocFIEQ/80ZI0YAAQQQQAABBGwBk30x36oFojU4klULpD5uDXAseu1V+7DGjRvXOg6TDaIBE/3UlIYAAgjUGFy1lvjp1rN+aeMnPCJaJFW3ytUtwWneFyAQ4v05YoQIIIAAAggggMB3BHRrxnvGjLWzL1q0aGHvCJOsWsBSNq4AACAASURBVCDR8G/ftk02b/pM2nfoWOM4NFiyYtnb9ljJBolGlGMQCK+AZrnpFrQaVOjRo7u9jM6rhUfNkhgdoy75o/lDgECIP+aJUSKAAAIIIIAAAlUC+uljqrNAapoODXbUtjONqSXClpI8yAggEI2A2YbWHKsZIrm5uZKff4lnskU0K08DNiWlpfLywhc9G6yJxjtsxxAICduMc78IIIAAAggg4HuBwgULRHcnOCUzU7p26+6L+1lpZYMcOXJEXvnHS7xZ8MWMMUgEUi8weepUmTJlmj0QDbJqsNU0zcAw2SKpGqlZEkPx51TNQPzXJRASvx1nIoAAAggggAACKRPQTyE1fTyvZy/JyMhI2TiiubAum3n/3TVCNkg0WhyDAAKRAmZL2lbW61zbnDNk3969sn37NvtP03QJTW77c+ylNO2trBE3Gkti3FBO3jUIhCTPlp4RQAABBBBAAIGkCWhK9oV9L7Y/Jc3vf1nSruNEx7qrTGVFhcx7fo5kZWU50SV9IIBAiARMMCQyC06zQ0pKSqwdq74SDbaaprVENFskPz95S2hKraUwV151jZ3d9vyc2WS5+fBZJBDiw0ljyAgggAACCCCAgAqYTyS9vETGZINQSJBnFgEEEhEwWXBtc3Ik1yrKXL3pa40JipSXl1f9czIKro4YeYf9+ssuMYnMaGrPJRCSWn+ujgACCCCAAAIIJCRg3hxorRANiHit6ZIYfYMy1/rU1K2Uda8ZMB4EEHBGwLzeaSBEAyK1tbKysqNLaLZttYIjZVWHOVFw1RRx1S3AdStwmj8FCIT4c94YNQIIIIAAAgggYAt4eYmMvhFZ/vZSe92+fnJKQwABBBIRMLu06PbhnTp3lqzsNlF1p8FY+8uqLRJZcFVfm/LzL7GX0kTT9LoajNGgrr6meXVL32juJezHEAgJ+xPA/SOAAAIIIICA7wW8ukRmbVGR6La5059+yjPbXfp+srkBBEIuEBkMiScTTrNFdn1l1RWJseBq5Fa5+ppGhpu/H0QCIf6eP0aPAAIIIIAAAgjYAmbNejxvDJJBqGv031m+TPpceCHZIMkApk8EQiygQYkf/PByKyNuf0I7Z2l2iAZETMaIITUFV3V7Xs0a0Wa2ytXlMLoshuZvAQIh/p4/Ro8AAggggAACCNgC5o3B119XyEX/dom9m0wq28biYtn4STHZIKmcBK6NQIAFju7ccrUdDOndp6+kN2+e8N1qQESX9GkmW2TB1Xbtzpbi4k/kpwMHyv33/Trh69BB6gUIhKR+DhgBAggggAACCCDgiIBXlsjop6xvLXlTOnfqJDOeedqRe6MTBBBAoLqA1uwYZG1j28gK/OZd0NORYIi5hgZCjmaK/G/B1W7nny9/mjGdiQiAAIGQAEwit4AAAggggAACCBgBLyyRMdkgbC3Jc4kAAskWMAFgDYb0sjJD0tLSknJJLfz8zb/+ZRWAfisp/dOpuwIEQtz15moIIIAAAggggEBSBaqWyFQckl4X9knam4LabsJkg5yR01bmzZ2T1HulcwQQCLeAvt6NGftr0WCIbqd71tntkrYscP3HH8nmTZvYCjwgjxyBkIBMJLeBAAIIIIAAAggYgVQukTHZIBQU5HlEAIFkCmgQ5Ff3jJE331yS9CCI3ocuk3n/3TXCa1syZ9W9vgmEuGfNlRBAAAEEEEAAAdcEUrFERrNBVix7W1q0aGFlgzwnuvMCDQEEEHBaQAul3jpipGzYUGwHQXI7dHT6Et/pT1/fFr32qr2LjC77o/lbgECIv+eP0SOAAAIIIIAAAjUK6KelVwy6WnZ+9ZVrS2R0p4W1RUUybNgtMnzoUGYGAQQQcFxAC6TeNuJ22bJlix0A0UCIW23pm29IgwYNZNnSJW5dkuskSYBASJJg6RYBBBBAAAEEEEi1wOSpU2XKlGnSKiNDevTslfThrLSyQY4cOSKv/OMlskGSrs0FEAifgAZBbrzpZjl0qFLa5eZKVnYbVxE00KsBXw2EkPHmKr3jFyMQ4jgpHSKAAAIIIIAAAqkV0GyQyVYAZNazz0qjxo3lzLPOTvqnpmb9PNkgqZ17ro5AUAVWrV5tZ4JUHDok53Y6T07JzHT9Vk0NpOlPPyU98vJcvz4XdE6AQIhzlvSEAAIIIIAAAgikXEDfLNwz5l47bVwzQTp17uLKzjGrVq6QyooKmff8HMnKykq5AwNAAIHgCGgB6HvuGSsVVp2OVAVBVJOCqcF5pgiEBGcuuRMEEEAAAQQQCLGAyQJ5Yf58OWS9WXAjC8RwmzcHg6+91t5RgYYAAgg4JaCZbX/4wxQ7E6RLt+6SYQV4U9UomJoqeeevSyDEeVN6RAABBBBAAAEEXBXQLJCHx0+wd1BofXJr6XDuea5kgZib1GyQQ1Y2yIxnnpb21rp9GgIIIOCEgAZBxk94RJo2bSrdL+jp6utabeN/643F0rChFkx9y4lbpI8UCRAISRE8l0UAAQQQQAABBBIViMwCqbSyQM6waoFkZ2dLw0aNEu066vPLyspktRUIYUvJqMk4EAEEohAwxZ51O+7O53fzRBBEh73+449k86ZN8vLCF1kGGMU8evUQAiFenRnGhQACCCCAAAII1CFQPQuk3TntJb15c9fMNEW88vBh0eKBuouCZoLMnTPbtetzIQQQCK6AZoFoNogGQbr3uMDV4G59qmabcAqm1ifl7X8nEOLt+WF0CCCAAAIIIIDAMQKJZIFo8EKbBjDM9+Xl5fbfHT5sBTYqj/591ff23+l/H7aPOWL9qedWWmv1I9up3/uebNm6lawQnlUEEEhIQF/fNAhSuGCBXez5fKsmiJsZbtEM3tQJYYesaLS8ewyBEO/ODSNDAAEEEEAAAQSOEVi3fr21I8xYuxaItrPObidpTdPiDmBEw9usWTNJT0+XFt9mm5gdYfTv7K/mzewAyKxZf7HfvFAwNRpVjkEAgZoERoy8Q3SHGN0at9N5nT0XBDFjXvzaq3JR374yaeKjTKRPBQiE+HTiGDYCCCCAAAIIhEfAZIFooEG/j6ZFE8BoboIZEX9q35F/H821zDE33vQL0SU7D4y7TwoGDIjlVI5FAAEE7NcPfR1pZNU5yrOKo7q53C8W/uVvLxX55l8UTI0FzWPHEgjx2IQwHAQQQAABBBBAoLqAFg0sLdlSlYHhdADDSXGCIU5q0hcC4RMwwRBdEtO7T1/PFEmNnAkKpvr/uSQQ4v855A4QQAABBBBAAAHPCGjGigZDdBkPxQQ9My0MBAFfCZhgSFpamh0M8VqdkO3btsn7766R0aPutJcD0vwnQCDEf3PGiBFAAAEEEEAAAU8LEAzx9PQwOAR8IaC7xmjhVF0eo8EQLzUKpnppNuIbC4GQ+Nw4CwEEEEAAAQQQQKAOgdLSUrnyqmvsIzQzRLfXpSGAAAKxCOiywClTptk7yPTo2SuWU5N+rBZM7dqli/36RvOfAIEQ/80ZI0YAAQQQQAABBHwhoMtjBlnBEN1dhmCIL6aMQSLgOYExY39dtZ2ul4Ihq1ausLcSX/72W54zY0D1CxAIqd+IIxBAAAEEEEAAAQTiFDBr/QmGxAnIaQggICYYotvqdu3W3RMipmDq3DmzyXjzxIzENggCIbF5cTQCCCCAAAIIIIBAjAKaGaIFVLV2CAVUY8TjcAQQsAXMjlRtc3Ikt0PHlKtQMDXlU5DQAAiEJMTHyQgggAACCCCAAALRCGgwZMTIO0Rrhzww7j4pGDAgmtM4BgEEEKgSMMEQDYRoQCSVzRRMze/XTyZNfDSVQ+HacQgQCIkDjVMQQAABBBBAAAEEYheI3E2GbSdj9+MMBMIuEPka0qlzZ8nKbpM0Eg10rP2wSE7POUMyrGKtNbWlb74hDRo0kGVLlyRtHHScHAECIclxpVcEEEAAAQQQQACBGgT0jYxmhmjtkGHDbpHhQ4fihAACCEQtEBkM0XohWjfE6WaCILr8RVuetWNNTcGQtUVFUlrypR0I0TpINP8IEAjxz1wxUgQQQAABBBBAIDACGgxZtHix9MjLY/vJwMwqN4KAOwIaDPnBDy+36g7trzVIEe9INAhS9MF7snPHTnsJX+GCBdKocWPJ63GBpDdvfky3G4uLZeMnxdQ+ihc7hecRCEkhPpdGAAEEEEAAAQTCLDB+wiMy69lnCYaE+SHg3hGIU0DrDf2k4KdyyNrCtnefvt8JUsTT7b69e+WD996VgwcPVmWsmZ2vGjVqJHkX9DzmOhRMjUfZG+cQCPHGPDAKBBBAAAEEEEAglAKTp06VKVOm2dtP6o4ypJeH8jHgphGISUAzQjSQqtka2moKUsTUoXWwCYLoeXf/avQxBZ1NMKShFQzRoEtaWprdPQVTY1X2zvEEQrwzF4wEAQQQQAABBBAIpYC+mRkz9teSlZVl776gQREaAgggUJOABkH09UKX1g2+9lrp3aun/PLW26R6kCIWPQ2CrH5npTSxlsDcddeoGne1MsEQDYJoMESvp+2tNxZLw4ZaMPWtWC7JsSkWIBCS4gng8ggggAACCCCAAAJiF0/VrTE1I0QzQwiG8FQggEB1gcggSGSx5dqCFNEIlpWVSZG1HKaxFQR58IH7RbfDra3pUj7NRNFaIRoM0bb+449k86ZN8vLCF+1gLs0fAgRC/DFPjBIBBBBAAAEEEAi8wLr16+1giL7Z0WCIFlKlIYAAAiqgrw9aZFlfH3T7bS1kGtlMZllkkKI+OQ1gfLbxk6iCIKYvs5yvlbWlbg9rNxndNUZ3j9FstrqCKPWNhX93V4BAiLveXA0BBBBAAAEEEECgDgHzZkcLIT4w7r4aU9QBRACBcAmYIKnetb4u1BZwMBkbJkhRl5IGQTZ9utHeFvfxSY/FlIWmS3M08KLXOd/awnfRa6+yHbjPHkkCIT6bMIaLAAIIIIAAAggEXUA/8dXMEH3zo5/8ah0AGgIIhFNAl71oJkh9QRCjExmk0IyNmpoGQXRJyznntJMnJk2Ma0mLuc4pmZmyy1pec1HfvnZWCM0fAgRC/DFPjBIBBBBAAAEEEAiVgAZD9M2PvgnSJTK6VIaGAALhEjA7w2jtoGes14Boa3DUFQwxNT00CDJj+tMJ7VSlAVt9jdKWnt6Mgqk+ejwJhPhoshgqAggggAACCCAQNgF9I6Tp7lo8dZyVEk8R1bA9AdxvGAUii6JqIFQzLWLdWlsDqbqzTNucHMnt0NHe6nbdxx/bNT26d+smTzw+MeY+a5qLyGAIBVP987QSCPHPXDFSBBBAAAEEEEAglAL6ZiYyNb56kcRQonDTCARUILJOkC6LGz7slrgDFiZIoYGQXWVfyfZt2+z6IlpnJNbASm3cLOXz54NIIMSf88aoEUAAAQQQQACBUAnom6OxVoFC/VPfHGntEBoCCARLQLO/Jk+ZZt9UXUVRo73ryCCFnpNoYKW+YEielb3Ca1O0s5Pa4wiEpNafqyOAAAIIIIAAAgjEIGDS3XWJjKbLR1szIIZLcCgCCLgsoAELDYCYZXBO/mybYEiygxRmOQ8FU11+eOK8HIGQOOE4DQEEEEAAAQQQQCA1AmaLTE1td+JT49TcBVdFAAEV0CyvCVYtIC06mqyMDbekNRji1JIbt8Yc1usQCAnrzHPfCCCAAAIIIICAjwX0zZOu/9c3HiyV8fFEMvRQCxQuWCBaEFmb1gJhq+xQPw6u3jyBEFe5uRgCCCCAAAIIIICAUwIaBDHba7KrjFOq9INA8gUid4XhZzf53lzhuwIEQngqEEAAAQQQQAABBHwtYJbK6E1ooUI+Vfb1dDL4gAvoEpgxVuHj0tJS3y+FCfhUBfr2CIQEenq5OQQQQAABBBBAIBwCkbvKUEg1HHPOXfpLILIgKvV9/DV3QRwtgZAgzir3hAACCCCAAAIIhFRg8tSpMiVi+82CAQNCKsFtI+AdAc0C0YKoGrDsYW0xqzurUFTUO/MTxpEQCAnjrHPPCCCAAAIIIIBAgAX0zZZus6up9xoI0SKMbLMb4Ann1jwrYLJAtCiqNgqienaqQjcwAiGhm3JuGAEEEEAAAQQQCIeA1iEwb8B0m12yQ8Ix79ylNwSqZ4HozyABSW/MDaMQIRDCU4AAAggggAACCCAQWIHI7BBqhwR2mrkxDwlUrwVCFoiHJoehVAkQCOFhQAABBBBAAAEEEAi8QOTOMrqrjO4uQ0MAAWcFIneE0VogZIE460tvzgkQCHHOkp4QQAABBBBAAAEEPCxQfWeZcVaqvmaJ0BBAIDEB/dnSIsWLFi+2f6aGWXV58vv1S6xTzkYgiQIEQpKIS9cIIIAAAggggAAC3hOonh0yZPDPqV3gvWliRD4QqF4MdbD1szTEyrhiRxgfTF7Ih0ggJOQPALePAAIIIIAAAgiEUUDfwI23tvM0xVT1E+zhQ4eGkYJ7RiAugerLYEZZy83IsIqLkpNSIEAgJAXoXBIBBBBAAAEEEEDAGwLVi6nqJ9rsLuONuWEU3hSI3A1GMz+0GKr+zJAF4s35YlQ1CxAI4clAAAEEEEAAAQQQCL2ALpeZOesvUlpaan+qPWnioyyXCf1TAUCkQPVlMARAeD78LEAgxM+zx9gRQAABBBBAAAEEHBWgfoijnHQWAIHIAIh+z24wAZhUbkEIhPAQIIAAAggggAACCCAQIVC9fgjb7fJ4hFFAfw60ho7JlNIACHVAwvgkBPOeCYQEc165KwQQQAABBBBAAIEEBSK3BNWuCIgkCMrpvhDQAIhugzvZ2g7XLBUrKPiJ/fzTEAiKQKACIU899ZTkWZFKGgIIIIAAAmEVyMnJkZYtW4b19rlvBJIioMUhp1hvCvVPAiJJIaZTDwhoAMQ86xoEzMrKEt1amkKoHpgchuC4QKACIY7r0CECCCCAAAI+Exg5cqQ89thjPhs1w0XAHwL6KbluuaufkhMQ8cecMcr6BQiA1G/EEcET8H0gRKdk8+bNop+A0RBAAAEEEAi7AIGQsD8B3L8bAgRE3FDmGskWqB4AYSvcZIvTv5cEAhEI2b17t8yYMcNLrowFAQQQQACBlAjoBwMDBw5MybW5KAJhE6gpIKJLCXRJAQ0BrwpoAGSmtV10YeHf7OwmAiBenSnGlUyBQARCkglE3wgggAACCCCAAAII1CWgAZFFi96wd9jQlt+vnwy2AiK6ywYNAa8IaN0PDX7oc2q2wc3Pv4QaIF6ZIMbhqgCBEFe5uRgCCCCAAAIIIIBAUAX0jeasWX+pCoi0z821AyJabJKGQKoEtACqPpf6pwmADBt2C4G6VE0I1/WEAIEQT0wDg0AAAQQQQAABBBAIksAsa+mBFlbVpktldPvRIdb2o7oMgYZAsgVqqv9hMpU0QEdDIOwCBELC/gRw/wgggAACCCCAAAJJE9CAyEzr03iz04y+Gc3PP7ocgYaA0wKa9WGWaWkwRANvmpU00HreqF3jtDb9+VmAQIifZ4+xI4AAAggggAACCPhCoHodEX1TqkERiqv6Yvo8PUgNeGjdD63/ocuztGl9GhNwIwvJ09PH4FIkQCAkRfBcFgEEEEAAAQQQQCCcAmSJhHPenb7r2rI/NMDG8hentekvaAIEQoI2o9wPAggggAACCCCAgC8E9I2s2cXDDHiwVUdEP8kP+44z+w/sltJtm2Wr9bXvwB45NbOtnHqK9WX9Geamz4x+LbZ2KdLsD832MEV59Zkh+yPMTwf3HosAgZBYtDgWAQQQQAABBBBAAIEkCGiWiNZ20De5YQ2KaPDj76/NlL+/OkO2bNskBw7u/450sxNbyI/7XydXF9wamqBI9eCHomjQI69Hd2p/JOFnkS7DIUAgJBzzzF0igAACCCCAAAII+EQgjEGRF60AyJOz/ke27fhSGjc5Xk7NaSItWze0vyorvpFDh/4lB/cekR2lldbXIXsmf9R/iNz887GBDIjUFPzQzI9++ZfYtWVY+uKTH2aG6VkBAiGenRoGhgACCCCAAAIIIBB2gZqCIrrjTA8rGyAIO89oFsgjU0fIPxbNllYnN5Gzzmsi2TknSKMmx9U69Qf2HZGPVh2QzevLpdmJzWXC2HnS7byLff2oaMFTXeoSuexFb4jgh6+nlcF7WIBAiIcnh6EhgAACCCCAAAIIIKACZmeQ6stnNDsgt/059lIJv9UV0SDI//zuelm6cqG069xUOuY1qzMAUv1J2L3zsCxZsEsOVfxLJoyZKxf39teWxBr4WP3tdrf6vc4xwQ9+3hFwR4BAiDvOXAUBBBBAAAEEEEAAAccEdDveVavW2NummjfQ2rkGRvLzjy6f8HrhzNEPDJI3ly+QvPzmkpObFpeNLptZ8rc9cuhAY5ky/nU558wucfXjxkm1ZX3oPJntbnOt5S8se3FjNrhG2AUIhIT9CQjk/f9TJnTtJKPL7pblnz8ovY65x2//7QOR0+5eLp8/eOy/yop75PTeD0nG+LXy/qhzY9AplOuOGyhFVedV/+8YuuJQBBBAAAEEEEAgBgFdTrHeyiioni2SlZVlv8Fub2WM5Omf1ptsr7TZhU/IxCfvtDNBuvRJT2hYulRm4ayddq2QF6ZvSKgvJ08uLS21l7vol+7yUmL9twZDzE4vWuxUA1bZ1jx5PWjlpAt9IeAFAQIhXpgFxuC4wIp7TpfeD2XKo+tWye2R/8//Yprknz5CljWpkIr242Xt+6MkMtzxxbR8OX3oJ3L38s+leoyk7kESCHF8EukQAQQQQAABBOIS0GwRe9mFlTESuQuNduaFpTS6JGbgDe3kmwbl0v/KVjEth6kNZJNVL2T1or0y9vY/2kVU3W4m20MDUpqpY4IgZhwahLKDUVZQyg/ZOm77cT0E3BYgEOK2ONdzR2DRbZJx6RNy0cwyKRzcquqau2YVSMaQfXLvvSL33y8y9fNFcstp5p8rZN41J8iVr9wqr5c9LvkxjZRASExcHIwAAggggAACrgloYETfmGvGSGQtCh2AvkHX5RhZ2afa2SOanaCZJMlsJhvk3wpayclZjR271MJny+S4I2ny2pwdjvVZU0eRQY+Ski12nQ+T7aHHR2Z82Bk5li8ZH0mdEjpHIGYBAiExk3GCLwQq5sk1J1wpr9z6upQ9bkIaFVJ4XQsZWHS/rH1W5NpOo6XtMYGSRXJbxqXy5I/ny54/F0gTc6Pblsof7vxv+c3f3pOSPRXW354oJ597mdw5daqM6pv57VEEQnzxXDBIBBBAAAEEELCDIpopsm7dBntJTfWsESXSrAUNiGRbARINlDhZiHXo6Hwp/vwd+eG1GY7ORnHRQfng7X328hhdJpNo04CHBjhMdodm2JggiOlbAxwmeKRFa1nqkqg65yPgjgCBEHecuYrrAl/ItPzTZWhZ5PKXo4GO+cO0NojIPaf3lt9dEhH0+OcE6Vo9OFKxQu45t7c8tPU8GXzvHVJwZjPZ/uF0eXz8Qlkv/WTqR1ZGyZl6cwRCXJ9iLogAAggggAACjglE1rPQN/wmAFD9AhoQ0Tf/+qZfW6xZJLospv9VmY7UBqk+Ni2cWjh9u9z887Fy87Vj6rWJDHRUfW9leGhwaK8VBNG/iyxEazI9NDCkASJd6kJ9j3qZOQABTwoQCPHktDAoJwT+OaGrdBrdVmaWFYq9OsYuhDpFBr5eJpoksui2DLl01uCqZTBH64NUWy6zaLTk/OwZufhP6+XPVvqmabtm/0xO/Y8X5Kr531h/TyDEifmiDwQQQAABBBDwnoAuqzFBAg2QaKspg8SMXJeBaCaJBg3sr+bNpPm33+vff7m1WMZPuT6hnWLqUlowfYd0aneJ3DBonD1uDfBo0yUs5r/1z5oCHXpcZIZHZEYMy1u892wyIgQSESAQkoge53pboFrgww6M3NtZ5u/5sxRY614qCq+TFgPfkP+yC6NGLJupVkC1xpv8TvYIGSHefhgYHQIIIIAAAgg4LaD1RjTQoF8aWDCBktqySfT6DZoclBNO3iQX/ntLyTqjaiGyY0N7be5X8lVJE/l6x3eXxpg6HWYpix2wsQI1+t92lge7tzg2D3SEgNcFCIR4fYYYXwICL8nNJ/xIVtz7gay9u9XRpTLpM6WscLDYuR27ZklBxhDZbG95u89eKjNzSA1b6lqHVuwqkc/WvS9r1/9Tlr3ysvz9pbel2KoX0qXW7XLZPjeBieNUBBBAAAEEEAiIgAmSmMyMNR8uknkvTxCnC6UaLg2ENDySJb+46ndVmSkmI4WCpQF5qLgNBBwQIBDiACJdeFVgl8wqyJAhYgU/ZohcbwU99k39XBZVbRPzbR0RDY5M2CHfb/8r6fLi1/LHyyPup6JIpl1xuYx4sUTsMqknt5XWZ3WRn/UQef6JBZJBIMSrk8+4EEAAAQQQQMCDAu9+uESG33WZdOmTbtcJcbrpzjG5bXvL5Idfdbpr+kMAgQAJEAgJ0GRyK98VsOt+jDhTXnypqQy+dInctfZ9GXXu/x5nL5d5+GKZ//hmGWhtOV9VT+TbQz79Q1856z8/kgFPLpEZ13WSViaD01528xCBEB46BBBAAAEEEEAgBgFTLDUZgRBTLPWagltl5P99JIZRcSgCCIRNgEBI2GY8bPdr1/L4s7S70srgWFkgy63tYnpFGtgBjVekw/c3yiuVv5HPF90ip0X8e+F1x8nAmVfL81/PliuqlrEekKWjushFv93I0piwPU/cLwIIIIAAAggkLDDwhrPlqz1fSsGNpyTcV2QHpZ9VyLJ/7JYJY+bKxb0HONo3nSGAQLAECIQEaz65m+8IHN0y94ldIq1ufV3KdLuYY5r+++Xy5MEKaX+/1gqJSBexjvvUyijpOHSxNDxvqEy491I5Zf+nUvj7h2TuusPS8MABOZulMTxzCCCAAAIIIIBATAITn7xTZhc+IT8c3FpOTG8Q07l1Hfxm4S45uLuJFM74RJqd2NKxfukIAQSCJ0AgJHhzyh0dI/DtbjAzRYbM32NtdVu9OnmFzLvmBLnyudPkJsg0lAAABUNJREFUbnv3mOp822TphKFy40ML7eKoTVpky/n/MU4ev6eNzOz8fXnykr/Klv93jVV8lV1jePAQQAABBBBAAIFoBMzyGN01RnePcaKZbBCWxTihSR8IBF+AQEjw55g7RAABBBBAAAEEEEDAUwLjHrtZXnxtpiPb6GptkCV/2yOHDjQmG8RTs8xgEPCuAIEQ784NI0MAAQQQQAABBBBAIJACmhUydPSl8slna6X/oJOkZeuGcd2nBkFWLd4jmhEy9vY/yo/6W9XvaQgggEA9AgRCeEQQQAABBBBAAAEEEEDAdYEt2zbLkFvzZP+BvXFlhkQGQVgS4/r0cUEEfC1AIMTX08fgEUAAAQQQQAABBBDwr8CGTz+QUeOukK3bv5B2nZvK2dZXfQVUNQCy+6tKWb14vxzYW2lvlauBEBoCCCAQrQCBkGilOA4BBBBAAAEEEEAAAQQcF9BlMo9ZO8lozRBtWkRVv07OamwHRTTwoU2DHztKDsmWzYdl144KyTy5jfzXLY+xVa7jM0KHCARfgEBI8OeYO0QAAQQQQAABBBBAwPMCmh3ynLWtrgmI1Dbgs8/oJD++7Hr5sVUPhG1yPT+tDBABTwoQCPHktDAoBBBAAAEEEEAAAQTCK7Bk+QLZ8GmRDbBl+yZJP7GlfC+zrXQ772I558wu4YXhzhFAwBEBAiGOMNIJAggggAACCCCAAAIIIIAAAgj4QYBAiB9miTEigAACCCCAAAIIIIAAAggggIAjAgRCHGGkEwQQQAABBBBAAAEEEEAAAQQQ8IMAgRA/zBJjRAABBBBAAAEEEEAAAQQQQAABRwQIhDjCSCcIIIAAAggggAACCCCAAAIIIOAHAQIhfpglxogAAggggAACCCCAAAIIIIAAAo4IEAhxhJFOEEAAAQQQQAABBBBAAAEEEEDADwIEQvwwS4wRAQQQQAABBBBAAAEEEEAAAQQcESAQ4ggjnSCAAAIIIIAAAggggAACCCCAgB8ECIT4YZYYIwIIIIAAAggggAACCCCAAAIIOCJAIMQRRjpBAAEEEEAAAQQQQAABBBBAAAE/CBAI8cMsMUYEEEAAAQQQQAABBBBAAAEEEHBEgECII4x0ggACCCCAAAIIIIAAAggggAACfhAgEOKHWWKMCCCAAAIIIIAAAggggAACCCDgiACBEEcY6QQBBBBAAAEEEEAAAQQQQAABBPwgQCDED7PEGBFAAAEEEEAAAQQQQAABBBBAwBEBAiGOMNIJAggggAACCCCAAAIIIIAAAgj4QYBAiB9miTEigAACCCCAAAIIIIAAAggggIAjAgRCHGGkEwQQQAABBBBAAAEEEEAAAQQQ8IMAgRA/zBJjRAABBBBAAAEEEEAAAQQQQAABRwQIhDjCSCcIIIAAAggggAACCCCAAAIIIOAHAQIhfpglxogAAggggAACCCCAAAIIIIAAAo4IEAhxhJFOEEAAAQQQQAABBBBAAAEEEEDADwIEQvwwS4wRAQQQQAABBBBAAAEEEEAAAQQcESAQ4ggjnSCAAAIIIIAAAggggAACCCCAgB8ECIT4YZYYIwIIIIAAAggggAACCCCAAAIIOCJAIMQRRjpBAAEEEEAAAQQQQAABBBBAAAE/CBAI8cMsMUYEEEAAAQQQQAABBBBAAAEEEHBEgECII4x0ggACCCCAAAIIIIAAAggggAACfhAgEOKHWWKMCCCAAAIIIIAAAggggAACCCDgiACBEEcY6QQBBBBAAAEEEEAAAQQQQAABBPwgQCDED7PEGBFAAAEEEEAAAQQQQAABBBBAwBGB/w81pJ2iAZoZQAAAAABJRU5ErkJggg==;" vertex="1" parent="1">
<mxGeometry x="490" y="490" width="799.76" height="372" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-40" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-37" target="A_GgksQ0xEa6116n2t8S-38">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-37" value="Calculate linear and angular speed based of distance" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="180" y="655" width="120" height="60" as="geometry" />
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-41" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.5;exitY=1;exitDx=0;exitDy=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" source="A_GgksQ0xEa6116n2t8S-38" target="A_GgksQ0xEa6116n2t8S-34">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="370" y="720" />
<mxPoint x="140" y="720" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="A_GgksQ0xEa6116n2t8S-38" value="Send /cmd_vel message" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="310" y="655" width="120" height="60" as="geometry" />
</mxCell>
</root>
</mxGraphModel>
</diagram>
</mxfile>