# Depth-VSLAM

vSLAM 可以基于单目摄像头或深度摄像头。depth-vslam 示例可以使用图像序列、IMU 序列和轮式里程计序列作为输入，连续生成里程计数据。里程计数据来自您的机器人。

图中显示了 depth-vslam 示例的 pipeline。Depth-vslam 示例融合了来自 RealSense 深度摄像头的深度信息、来自 ICM42688 的 IMU 数据以及来自机器人的里程计数据，然后输出姿态和里程计数据。Depth-vslam 示例支持有目标和无目标模式。

![../../_images/depth-vslam-pipeline.png](data:image/png;base64,UklGRqLwAABXRUJQVlA4WAoAAAAQAAAATwoARAQAQUxQSK5pAAANB4OgbaRk+wf/2rBDuBeAgYjII5ctvGyQyusO8scRHCvYE8qdiCzZVoNaqkNMCPLO/Afc6gUSrf6M6P8E4D8+efc3ouy3P6AFENo3YSHQ80oc0fqTOaJVt8CgedMtrP/SzcIOlX1Brup6Ath3oFF2oSxCWkaXHaQa6HHe6rygo6rjP6i0MPkUQ4+g0z4F0HsMgPYhDkP80O/AljB7NWYNLiSWgN1gpT3OC7E0yG+DL6J2QS7wTTPmzPGzCluFObMYIIKjAw30FiSAdqim8MFBq6CaNBDwOOpaPWW/OR8ywr7RJ11IWsb8DioZVs5zdKmpqttgS7KVAHhc9TGSgJUOMuosJLwgN0Yzixla6NZ3pmHo9dCSZKmtUlMOt2UOkCnWWptmzdy1V4Cv1I4ETdHBrkoOjG6kl8hP6TNI8MbtJ33A/iFS5wwxu2IPk7cZSgbcK3uULcAWNbRE6PkAaFEr9jAss2dtcSXdY8ZW/IJcScxidCt2gbbSnDPGtnJ7apgV+LhyRUZJsUNlU7fuUSxG2t6+cmtB7U3mUUBmkO3IPGqoXOlv/Q7aXqP3KPS4d5ULety9AhZglZwBqtXAEpGjlEdInduxSGWKBDwXsoKeYWYlzDNOAO2gRlCggAIE9K+X0DAvYhkEgIFYwUOlVSi4UP8HmBH2aJdJNXuAv4ZcsKdIAxreMuraPQUNsE9Q03sA5WVmiiXI29AyHICAMwI/zIwpe0inHLQI2hMhmSD2CkBHQZ4JttioA0wGmD2DnmGttUoMqG0BvytHUGXFJyY5aNtIkJKUP+rdvX8IETEBoGLVKs/UUgX8tSv0puv4frxLFQSf4P1LHwf4rlJHFZTXbfNk20EAqpQyLiM8J/gsz3UB1bRSB38APwJUKfjmqu7deatt490dqjaO3ZTvhwJeSx3+8dAL6KzU7YIKN60OrdpKFTjkrVAeUOrWHarYRtfj5FT5CYZ//gedytdO+KHtFv/2x8u2vbjdtu28bTVrzrX2fgIABkn2sd9QN4dv9///mcpV5zhKYgDwhL3X/CBXtSJF+pYePngcERMAFIi//ygikre2bY7kNtbe9/si0lRVd6MBgjIza63fu/M/GG85kmjgurtcZkZ87wYwZofsCIAAI2ICfMu2bbttbVs519YBkqI9Lv//jfPmq0j0VssDgQ7N7sk+YiLmlCJiAv4/YmMy8Zf//fff/z/8/5f///C///7777//f/jff/9/+N9///33/y//+7+hOwrNCAKEQIkiIIB6PkWCMSYGAT0xvyBRIGgOgCIEUYAJYAMRIYCAKFEgACJ5rdBKyfY2zXlwwAEREWEwKIRndToUNdOhUsrzP07/uXw5wuNWeTcApAsRCtBFRwslasBEIKQAaGY13ezP9wXroiKAAONSfUjJRFgwiCoDKD23Eip6MaZa8/RafySDmQkAv9AQAVQ5V9Rq0xggSCkkAi6whQD8EgSAkAEUbdePY4C0L7gOQgGxrhU3r1BrICICokhRAIhnthDpAbEzO3NFzDfjEJvwxSYlxuN5/yIlB7cIRQQpEhAYQhs1IwwwpjAIURUqYdbtukNTK9ZBRSBUI6ruX+NcS5VqIUXQKyADn1cKJKXY9Jq8/bk+J5pEBwHwN47Y3qjWIQIKeD1dd7dDTh7XBVURDDeAQjWpjdBIEDAZEYhaOY/Hrul3JkUY+AVXPrgB8eTfH0KButYaAAgwjBQEPruQQAYYkMw/+szT0+lxfD0HjOU3jlUFzCA2MIY5FELr5OIpLpHy3bRe5GCsBYSsGkECAaCRGCAIBCljJSicx9TE/PD7Y38jiEzQykcJ+HZK//QydD6vUSKMHwMwgUEQz+yCNoqRKuk/8sTlVBc/5GKk1982AYFuIBq4yGQRitaxGXK9VJ+/f/XhTZW8rmGECyBBUSJaKQHhCxCAwSzGydvzcRim667OgJnHiociUGuahtmWzVRKAEY86w0YgxHAwu4sniffnX96yrYbgyT026RuniAEPBlAsGXpI/nONhVZzs2iFgfgPjjWktK6VBdItFkCkAEARQCUA5xhFqXd74a7xzPMG6cZuNIRG6rqvLv9q/7PNw4iGYnmWJRiylO+/r1gGEfKLOK3yQZzSICNAMBgsxIRgGKY01Zjm4apWRTIGYmHGz4dz2dzk1mz+R9LuIwW/VX6/Psg5Jzp4hqHGJuYhbRT2KgPayKINqmK6rA8J5bHC4acDcHfHqUmd7OUUhxNggA1KwYAgRWCYOM8TLk9KAIxTMS0O35AtrWuJNGcCQPgUkV7dUgYH8Zi3hlXN6DtqJsJvH+xvD8+2mxE0xQqffd9Kuc3Rx/GHYXyG+Q6D0QeONSnBRQDYKv6OEhs7y9TSsM0p8PcIAqK7c1s3h9/Pm02O9GsqSjW3dxc4/j4+6OnXZegFY6z7g+VabqeryQBAlSrCAGARiSj1fWcxhTgbwgFpOFOvFzqZiWlMykBRLOmQNG2p5rcDXh/xJCSWVMAwWS+rNfN5pIJgADVoEQAkBtVYN4k1GGOpknrGtR2tr8eYjk9RBqJ1qk+wZyAOF6Op+1lthq/IbBu1f90m9LjwxogSBjRts0gUCQR5end6Vxv9paKWkICh+HF9HRcF+SMlk19AcCdSZjuh3Eqtvvgp9UMQVWJSPOwxeOaSZBqG9dFG7LhdDqe3WOzTIi/BQSt1cYxudZSqpwkQBBUwxJpIhOIqE/vGDYEjSHKnn0CanhadxZpuy51y2YgqGb13yk2yX18PB3H7O4hfcH1CxqXp+nm7nv74T1sINopBTLBuF7qu8dq9y+14LeglW277v55Wp6WdYsRjZwCKIpmsKox6d1xv2MwiOc+DXw8H17c32G7PBxTmtDMKcKSLIaJ5XxXb7sSWL8UAObLfHv3Z/zv72Y3mJrJJ+VDjq0+knnMmyTw107Sgt1+SPWyFM8i1cT+jWKyhMR6jJyUVZ99AmSDe3a48ZqSydTKvhRz9mk0zGfuosIBrlvQENfr7jZlLNvFDe2VIJPl/aj16UN64UX4taeup/xf54fLaZ1HABDaOkXCOU1j+vDj/iW3yucdTfV4ffnCtf0Y1EgAQkunaHC2vZXxt9Pu0HRR1y0guBb8ybbTew3GBvOxzXlIsT4eb+5K/PopoPwK6+M2ot0r71KOXy4393XFc1+0OOfX62l7rJMTbd6btqvTdIzr1k1l3YK4lsOd764fthiIVmsWxnEsJY6Yc/3VWw//6ebH5TEOaPhUCfc02GXNjGedWC/2/X3dHj+smBLR6I1R1XT7/HBfYZ3qioVo5ZJvh3j8ccpsN4CQ9rlup8fhZSqhX7ei8Z/2Py9lQtNX1ZCm8fLG916ec6Tser75bjydHvLoRLuP6rvdgT99TtbuNK1XENc4jODlfCWJtisExihDrkD9FVO5FsuOGjt0QPrxNOzdLZ5tQtnSy2HdTsflxom2zxCZmjiTyKyrFX45zS+Slzd7R+OVNu335ZqKEn/NeLlWT4aS2fxYlOzpcd6lmZueaSTxtL68x3o6HhytP0LMN7vfPhmbK00rFbVwdtq60ABSTQcBOpW1aLAAf7XEOh/weJaJVNsTlVSZghOea0Ip0w1Cy2YHE6m2JwDIVg0FDprWKEzvrvf3g5/fGxqwIWrMN9tb7ZgCv95h++/w8/tMQmj7pGRpX97zxq/PM5qVB/z1ZVmOl0QAQts3KCRc35x/VvhtOq9QyPe80le6y8LUegABabxeDfSB4K8U0+DarmHohDlvV99pxTNcQNGcNnoNOGRCDwxa9nFksRYWANclaL7bSXp4TwMotF9ToNqIX7ZXOxL8dcL+pj5cI1Htj6BgDs9l5TOMpM7v5v+8u14ft8EJoQtarVLzoX4uwq6vFauSgiLtUHPI0I4lG8uT7RKc+JXOo65bEGx/gCySy7EoPcOA8GFdd3MJGkShFyrYtfMR0N5rrEoQsR7ry8PpCiPbESSzyd8/ji9Yf51Iq0tkguoAJhNosSV/jtlpuf9e5+sxshFdMQS/tbuhcbhiTULE5bR/UVcnWrJgtm8+3x1u6/w6RfIoYUQnFAKDF9pzbNTRXvhWN3THmPpb3429pVTXJCzKbr4+mSVrS0CEWX4XpznZ6wQDDN0AIsAwPsNivB8vy+WszO6ADH5p+nHwdQnnlTe4FKE5B7J1++Mn7xmvEUQAjm7IkHl9lqne3GgrRxIdMpAr//zYG6HViLDBNuMaic0JjCBOD3mfzPj6CEaZ2A0AEcSzS4pywUTmZF2CEotTdeTOAlyHQOQk2iI0aCkM95+afW68vkIkAKInyKs9twjV7Rh7LyRoPYIm1Uml7t9hElYghdiuNpsNBU1aMJiSSkKVfeMTSBHPLKGuPNgVlBO9Usq91D7PdRWCtV4+6G5CsiZFiN71up8TC/HqgBQ7AiAZnllElBNefl9PAZK9grBddx4b1oo1SDGG83XwLdoUAEPTlXs1BvC1+ZgEOwIIEM9sJkoTNiM6ZljLgjqhcYGrD0Ta81x1JltV1LybHiJ5l/TqiACIbkgAJJ7VNPm4s6dSS9cQobrvPv/c/pjnwMqjCGBOa4VANiqo6coAj8Yr+MpAJMFu8Ezf0u2w1iA6Z1iTP388XDGglQdCNY/T+lQdaFQE4Sk3U3FIeF2Jz37p6wP+dLiecu+ghECP+3LTDSsPQADp3k9GNGwh9ziVbHxtPg9e4uUOQO8ARHk/PPC7dNbKA+MU9eVdMbJhAdbMn+t1Ry7taj281IezjOihbihNjMaVB2jh9e7G0LQVaTf9FjctsbBnvc5/Sj+fjOigUm4qYqq91VWHuPD1+Hgl2xbEJslznaAlnUqpsH3a3NFHnbWg2m7lYTsP/7S7vgu0LuSmaeYxtKSjLWcH52E1Wh8xFEVJfTOtOmhLM4eVbYsIFOtcUYUlveDDnk9nEj2UgJBoqApfdQABTSKbFmBzYXKDlnVA2t+f3tROAlDKPYRjadcdspfiFa1bgsyrSIHLOQ7yKFeM6KfuKsWQjSsOw6jzhmhesAgTBRBa0M0WT9c6Ut2EwfkxdR2b9QbRBl5rCxMgTSVnx2JeVEpl3UCwm4BQKMETxJUGFA0krIEBEePnsXuXuZhjFSiYET01mgMfCwPUSkOVZkJUC0MpUpMILuUUEih6XxF3Ok9uBq40lMuwyxsTWnjU5vubx08TtJTDJsHyagA7CszqWYfOhLWGNc+OyiaG4u8P4/0cWMqrMgQ3A9RVqBO6nuRKg7nVWtHGgxQhcTFne2KtlYbuureHO+0M4BpDmutWIsAWZhIFcDnnI6/rut6gt5bmyn76yQ5tYJWRJCBDExe+JGIhp1grc/WEDttoOloLrTMARklsYgCDgLiQiy2O4yE/XLsLwTAEstYaKBMauSALklrIEVRE0LsLAAsDAisNDAuAbYxQkZFcyNlA6eIbOwzhOZexYKXRA2AjAyDJsYwXaaTqxdFjiJRjrrbSABJSK5M5YyFH1dA4o6DHyqgwuFYaCIjNDDJwIQfGto4HX7oMRDA8uNIAEoE2TggwcSEnHU92P9UuI8AsyaB1Bopo6QSxjCft+oG3u+gyEBwgwXUGEFAjE0ERC3kfdsPlWKzTUOJwjF0HcZ1BYBMjAJBayFma93i8iH0GQBlPcbUntcLAABvZH8sWchToEtRrCNIisM5IBtHOieV8wBL6rdGSSllpgAy/Sxk0kOo0MqaGU9FKA/H7lJIZ0WsANr0dR2yJFEAS/VYpIcqmCIAgjF2GEFEJ2sYIGSh1mS/DwojVf3FbkLHVaYLVz2gUmjWkrdDy3i6fIEQQRK8lZYH1f0a5YvYzpolSfEaDUjB6rOA02aKPQIIE2G0k8AIAUNbhxqu0oO5mVX0mgypxGhU1tlU3yF4FgASIfktcBqyR9x5xujK9vN0+4HNZKWw3Vtuu25Ptd9m3CgrEV8wFPRNzgxGoxOmNanKUClA9QYQoe17ImAgkeSp1QyEzDCTtK2aE4jmIOduCKQUQH552L/cv+OEKCj2RAsKDzwnCPOW1+uhJpbwr9HEaTaD4dTIRVeMMgk9G5l0s1QlD5Mxte5+RGRE9QVFl1fGsdMu9ykojDUylbkKpPs9JXycD5jrefSqNg0+mw42Oa9WYybJt5c1j/i8vt7KuPaGu9Zpu+byw3OyGxwuCSIdhsofj+fSw2PevB3ytfDyrtXCTnoaC27Rei4GJNmi54GqbhL5IgxsAPR8oZ8qxrATpnt3WNer58oR9/kqZNN7t/q//9xAqTyQHyrGuPnhUgzHdlP8S6z+S9YW0M6pW8vkgA+ZxrWCCIipxOKQ8PP3081n8SlmMd7eHf9oTUcCnIKh1LWmggApYynq5XC5pSF3BUspxROD5SAhlrOZGgxRbHoac9jg9nANfKVeZ278/lEryaQAo1vGFb/iYa9S836+xVXTFWi5eRTwrVVHsdkbFJ5frut9992qvpfIrZSD46X6qcOKJhbIOL/O2EUAp6zL5VOvl0hewMozPC0bUYneHTSEAWyx12t++vtuuwlfMwpquyfZURC1mEiJUZYcx5WVdS3SGAUDoWQEgChxWEVGVp8NY10tkXOOrZQBkTd+1zniqUvBxxBo+3v4J75an65j7gltKcYlnhlRkFCPqit10e3M+nYvVpfDrZWIpNeTg00DmKhBlh0TDqV7WmAb0xUCtFXxWiKJDqgHYNAy+rVtZMQ4kvmZe53GsQTyxebZli8Dw6mU5Xv6+CcjsDNgAPDNosJyWrRbYdNjt4sM7YanDfsLXzMkakOGJFZ5KiWkYEq9bXRfPINEZhWdoyfQom/s4J9WlFIzZBDP7mhlolPDUpFRO0+u72d6+9yQf8HlsCitxxbh/8X398PjT5cUOyC4JX3+nW3YagL8/DG5G02cxdPns8mx1LmMcTCaAwUtw0+3l7foeCHd8Rmup6fX7McevZ2a/JSBcilcap/ly3tKUYPqMJrfX0TYJj2UH4rL85U0pdsDntjRPnFLYFS7Oa8FnvYGL8xS+MVn4w//++++///7777///vvvv/9/+d9///333/+VcH2K/UBfcMOF7FMdkV9owwVDANkPBELEtsuAoSMSkmnbRQCk2A0gQbRNF5JAQ0eUQG66gEB0RAkIB7dcSCawHwCqBteGC1FhFLuBIMnIDRcsAaOhGzIiYLblApBEWDcIATLXhgsZVeSg2AFEKJA8AlsuS2SmrIoOSIAMMODcdAHEMDN6AACqqDFp04W4LLs7hdQBSGBQ11Zhy+Wcz8dpioQuUNk07NJ52HLB7w8//0xP07B0gFSGdtdedXfadPEy/fwEjbMgNj6JKdjOpe+45QK5Yr7+kgdPVtoebS4p5avpHzVh06Vw2L39+yiMSQLY6ESIVMLUNEbYlgvCko6BX9YXOwMDbZ6GmGtK++7zr2gMWy8F3x3flRdT9VCjg6BSnOmAGeLmCyL5ccynD2nICWpzZagVh+40ezJswWTS3v9xOuzoCLHF1Tnmsb0qIzZimvlsHNNyeoycQJBgExPFiFrVf/inq+Hn+2kybsMg5ylPw3J8+y6/cMkAookTAkot5epf/+VD+vjTWdiKaZlSlBjnUdspzEFRzYuEEEA+7FOcuMtm2IpJYCsA0svX+vBwXncDAYFqWoQAKCLlH/7X+K//OOdd69yKAchotmA/Pr4vyIccIiBrWh9DU55fv/z7vz85VsHvxqBAAe5VaapPq6kSRNNORS2p9bdfX5+L79OUuQ277Zc1B0U07hRWqeu/nU9F5bs0KMIsKuBGNHBBQvgO5VS+M8nww//++++//21SFEQQIECAn2Aji0CEGEkBFDde0HB+e4XDsydnSpbMDc28E4HQ4lI/Pf9BbL6MwFaTmdFBA2gGsJnNGBMTUnX6+cufvvFCT9s0ujsIVQmiGAahoQcjsTuByiOvuuzSRgumcro/HG7rtUYthaIoC5LNTE0qSHpdL++Xk3Y3ndlQtlnUFa9SngbfLhtCYQTCRJjYyoqrYuxe396W3ssEzYI2WBiuy/7WuMb5XMOQYIIFZSCaWTTYxVD7j7fRDh/P1437XDZUiIoagO32jnlZo9ZFyfBvJdXKqGAQLPF9ra6ccgfjVMyobRQErF4LwOnlIendg7m7oc0btpbo6L3nx0/7tio1qtsoALiuqw/JGNt2rEYCBNXgNkdwOIw2/FrfNYK3KOBGiqG+P6f93VivD3VAJzQAEqGSd+U8qzskoWyj0LCzqFuFQCNB9YDbAnxvv993adcBtQQ3UNi2fv/f3paHf7y50NEdCZBz6Q7tfDfuXalsoajX/N2tygUQ1R2+FPrO9Pnn5n3jVGybiOvpsb5+sZUIn5OhV9JRNZQu6j4bpS0TJcr5YXxlVZGInhmWzIe/68eWptguIdRhfyiPl/PCwfoG3IDx2LXHtoUA2TYJoKTxxXQ+XhYSvVPMTPovx6srEJXYJqlaSp32cQ2H2DvAjDT8ahjTLmZslQgd3+z+U74AFPpHqebXu0//RR+awm0SQiT8dPz+UCB0UuVDPM4CyE0SVtf5Hr9sJqKTloKr2/7+p+km1w0SQq3juPsrVwidVAhrun6+L7sUyz3xX6N6V9zAN1AynE4vbhP+aiJ6qQGS9zhG72W5R31KlKlzobfeQhNa6/ii8j6EnqpoWi+CabEnQgQoCh08IAIE30ABZBrScgbRVwP9rqsPI2VLPBEoKtpNUijUvXr2FPquIgi+eVIdRuf1WtBb6Lt93DMRC3xJgLat3u0RURS9K521xTapQqTpjdNpu3lRrrHUvkIEVIBzPbRa3EnbgikNXAsYFIXurWMknIexeso9FHzLpKfy6n57VI2+AqiiRFRc7eryLtbHcTjcDMv2+ES6GXuXtYxzwuNjqZa7XZ4q3jTT3bYNUG+B4DlHFABc2JWSX5glwOJ8oRvRvRgMGPS2rWUu0XnVGyZOw3aNwv5CyZs2l+OQHQv79fLy+6zzm3XOQQIg+reheNMddtPd+R7v+uEtE5KjFmV02LDEUI2UFnViYEhDXC8fxoSPiT4eA5lSsMx0mviGyQEIDnUXUh5TheUMLeisaNqrnB/rTH6ih8tVoc67qzTMY+k83jAliwo50V8FNzkqvWIxLyrqYYplK7Ojn90WlBohpnmX+HaJTFuFE+wvCDW7zDrOWs6xlMDusB6xc3R4C9TqrR7V7evbJRlUZeiykucM1WLLOUk1jeN6ZYKpvwGQPOGs3vV2CaoE2WeAAEgjl3Mgk9etxoheTyDRbA68YQ4G0WsEQEYs6CgfvF6RwF4H0M05V75doipo6LYktaiDw1AKBnU8QI3FWybhY/YbkFjUmRFrTUZ0/MjuJd4wASCEjvPlgo6ASXL0foJvmQiBwV4DQuSCDgT4cc8jQMHwhlkgZOo1BExY0sEECl0PYBj4lgkQ0W1FArasA0BD72e47C2TIOs2EEkQC3oGARDsezCY3jCF5AA7DSETsag3AMTngHzDpDCRvQakDBsjCYiAeg1IbI0U/vC///7/4X////K///6/oluxbJuSyuYDtiPHdpUHPJiT2Raker0AVkvBfp+N2n6E1fc39bKN5wlN47ZthwJfgWp/+VN5e5rufz/vr7uEGht2BOLlZ8rmZHKcPp8UaBrfrCMaqJeOwKyn7e7GGOX86ZTam5thWgaokfCCCsEo4fHSKWvGpc6TrHJ4RMpdipmLgNo+ZDTocgrNbfztk+yls7K7yecShfTU55zq8STLi4C1cVAgjH5BxZDadHdX/KUThxtdFwXYZG/d4uHkKS0Cjm2DiEr4wUpcTCHyh+93El56QlvdAJoFDCQCNC4CTm1DqFVs+naoF1Mgv/nuysGXDqhbKUrOQCjRASFhEfjPbYOoUMiEC6rD/aPvW+rFs7JqP+KTkgqa7LEM+F/aBgTEHKUmu5gS88d/nHY7w8sf5/xyXyME2FwG9QezqEuA2jZEGADKcTFVuZmmtufLx7pxtACqYjLPicUBLQH+v7YButh6xSXV9mZvuYe9eMC1sCQUTLOp+67/PDBrEVAbB2oyEBdV6ZjRgC+eIKusZE3u2XKMoxsXAe1TgPyySh0ejhUvP1NKKnWVX3/Xs/5+ktFkbyEAWLULKiZoHmt6+bDeqEJ0a3tnOQ5JTuKtpOGSKkEaQnzxvPDK1y8V548DqiXvAlt1SYB4+c11xcuDeLyfK+mdS1t1XkdxuLVSH47JjZ0bXCS2Hc9/2X7+cBx3TVSjQFAbj4YX9elEh0kAKWw+pinwr4vYgCwCAPXFBmQKf/j/h//99/8P//v/l//99/81F7ckiZKBEL/58VsRqADMQHzTl8n0rQgCYRS+7QuRhW9GlEDnNz4I8q0IIqK6A/yGJyKUuBWBqhWeDfqGR1TAbSsC6GacZxLitzop6G7xjQhMTZPHT1PbyPDNfjZZzrWTiPoUe1Xc4IONeMvHDiRLPp08KcBvc2JU61MU7yQEJJGGXi2JaDWPtwmWPHoS8FzCMDHh27xFmdofdh+P6KZaV5gPBvYp6M4YOhAfayr0efQHHzkAZJ8mR2QD+O1NjEBKN3g4pW6yvX2r4XC3c3TqvP+xPC1Py9OyhIdajZeVl5+y1uJ6Iz5gUKrjGblak3PGN/i5aP99/jjOavvJ42Xa7faIXsW8jEk4DeJDTZyz1vNz3jk7r0keMADVWs0qG6N9gyuCdh/08Iir6CbWtKkeH91UbMepfnsapv3OLufrZYs8WHw+o5r2Phwn0CC1yWAQFxkAhgk1ylYiOU3sZZECdHK+qW+uE/qpH9paH+7RY2qb5h4AZPqGZMPdbqofjser0rCz9fMZWtN3nz+KdM7R9UICoIXGfIhrWZZgHiysdjFjV1VN05CB05u9NxLx9SNoRoKqYjkluLPWoPgtRMbnAAcUSCYwYgul5A71myjgEQLIME8pxilZzDA/tIkLDZOSA6qZFRWg2L0+qkr7iVyXLaGFCoDBXj0gj0jepOlE93v2za59fJQga2bxr2MA+GRkLYW+20fRtZZls92cvUa/kQwqR8ikEt2uaedPc4N5kuzdrS816joeJuBaHCEIMnTvFAbkh2k9X853aKJGKqbBnk0guKeo5yEbr1OtMjpzGTC2p1QaQRHNrPpDdkaAIEKo9lSCuRW5VXpGBakwV1DdRpq1Ro5PkCBAA72xqSo+n9g1tswANJaQZSIQpNC/jZBESmsppKmF0IHx8TjpuZAO4H5mR+g5WO2vu+Ng6vfO8bfpbCVu36WoJzWzVsBdEaKExChzCT6RYTxo2UoZx8MNrkr16ezZc0SvqdN8u1SPOj62a8jxZGV/tXPOc60//6fPu9skLjSuJca7XbkgjDLIulY0YqLjeDmgndLpqOAzCUGU3SYBngWYWpyL3Bozb5Kj1hkRFf+zLA5ns3MZkLKXqjCAfBowMa7wwOhWNxtwiZEm1V5jJXTp4SEbsCgcpU9EyFDvPpXGhaVmgKMt7m4gYMGeJUEG3fBoZmonttt1O1DPQZDFhR2hNDxLqxqm0Wmzm66lGKd0jwKzRqZj9GXujDJv3/vjg3LqkvDUdVuKw7DWymnMCV5rRVWvqV5OQ/v4CKnMFYngVGpq25ze4+7zObDYNERZZUYSAIjOLUBQQkNVUGySi88hYDlkx5ZGexbgpJmeoRmptZjbESUqE5p5pZvsCyTaKw2jW3JQfLLqRghROJjLwQ1Ex61REg4voRpKBkCqpc1mV71OQ11uAJDwRWNMj58erAGexUcH1J6GDj6PKHG1gwJgDIyYZQkE1MpymZHdE4whN9lEgHha1S2NGQIU5Vo23+0tac3dZnaPWmoeH2kCU5OjAoo6TrDbf/OdJnLJ8aWj5vk0WuOI51FURlI7SYVFM1DPYtJ+H4CgUBSS5pY0RyvrnpjaG4RSm5yNIp5YLNUOVgWVGgWWDlNESdZteKtySA4PdKopeRcFiqhFbvbD3zCErVfB8tX1vjfYswhJrzQ7tQUqAD6dGKfo3BVQiVD2JkdRkdDM11ijd8cy19ybQ3hqihxYt1JWYbzZH/J6Pl9GQ7d1MTbxAFUHWKpKIHVN27R3v5csceXq0BJ6FpJcusV9AOkuFcLTE3Ff+r4C0lzC5P3+dC4AxEaWzFHU3oTyiL7NIPVUoCUq6rZW2P5+v8fD8Tw6Ou6waeQIu0eEaq3WNrumTeWXR7rE1SoDoxwH4ZlGl1HKno14lozeMaNG0Q6FOXGazwFzRxMXOD9/GdkZhXkArADC0wuxVeRpHHP29em8pcnRcYsIGYcIQp3aLpk7xdPZJSOxYm2Yzo+P5bn8z021Oc+llnnaX+UiUOP5EUw7tPFQy+n1p4Wdi5xPiohQ2NMh1kuddoe7nLE9/ZSI3isgh5gRQ+1vOiZQ48NdSckMq1aBiJJeO3ltMBW33DYKImqJ2WEONTKBXtudEQolICDD09dgmnJKrHW7LntS1nkOdJToWktCVSnyq9YArlr9eYw4Rb/vr8bHapjnOZdGBlgbu1o0e7dQdYLCM4xymf5yq7ot0Pl8R8D0eYyiHusPHzSqlnOtHQHJtYIn97ib9rvDfvxYM6ZqVnIKIJqZnZyb7KvSvSLAZyADpxnrFptDN4BM+Fy2Dnh3PY3h8wAzQrTKFTw07/XrvXtyTcgEgOoAhYaeCn9BmRjPwbB7xXcfQpuLIwATPpNll6iHc6h3Cqv67d/482dT0Nz4B2AQ34592m/vDCQhABA+l7VdbvDzr7lviJX9tMNxkmiGb9Sqq0Y3Iz6zZfKkh5JIrO3TIAVEfqvCVkB8jmuwiCCxsk+BDHzDJkQRn+NSBAMX6YU//O+//3/43/+//O+///7/8L///vvvv//+/+V///3/w/+X1AltSyJIbSs5tw7AUuamkndtgwha2zi3lBzaBkiAnIYtJf+lcUSTSDzOW0qGtiE6wrvKLSXntgFwLuiaTSVb60BEGLGltLQOCltLo3X85X///ffff//99/8v//vvv//+Pxv1CX5DEj8R/GYkfYr4ZmRGgCQ6rUCIGyMggRQ7DSEaNkcAgKnT/DE3RgAixE4jkODmiCBA9FoB3Bwhiui3gpHYGikLdhx+qU0RMoRBHccAYVMkC53otQQEktsiEOEJYqdhDZHObRFFKaHXkgiA3BYhyUUHxf4SSF1rdZqwKZIBwDJAdRdiZtdkn8u2iI9lDqK/EmUUUyct9UTBBKoHiQAIvg0jouRMdFhjGSbkHbHUt0ITIVC9R4QAh+lt2DRerxhE6y0irYRCjS/yBEkRU0YIItR1hLAIeAMaTG++eL97+MUzDOwshDOKQiSXeFjDy1X3c2wBSVTHUQSlsR52lOf6Bmz2p8WSMauryAQZrLWpYoEv1JU2zfBaKkMQOq4YCGp2j7mIuYLkmy6UNYa8uRm7CsAi8+bd7n6Zd63rfNgPfPuWLiNgHQcwgsjp7rfj2RpYSlbfeEUay4V0gj1FHhNUD7fO5Z24lmpjSiOwIVvALKzfEEaTN7wfi8MFZVfwLZdhmk8/OTybegqBcZ5OtU0LvLoAh+9w/EXYbvBpQ88lIbry7nYXH0/FmoYeesMF7OaH9yphbj1FjrliLCSW99fVh/u/xv/3FGNCR679ru2ODyPYN5Ti7RZBbRyHX362uavM5uhv+XnC0l61BG7uLC6XydCVGVVhuw6sE6284QJQa36pNz/HnDpKzJEi/W33Ccv785aG7/709MNlMnRmRY3duzxNw5xzfdsFpHx5TDeUMfqIFAOu9schlaWdTGZDikuthi5NRsJ56LLB33TReT3ZYHmotZPUaTrf/Ev9bbalHYGcxunxaTugT2vyK/s47LO1+W2XsZpty5AkqH8IdbZcHyyh96UdKiIN0/Y0udilAp7ibI077C0XAaR7+5fjtGNW7R+o07D/395//LkmIxd2KpVxM67nCUKXNkhIjRVJb7kA0ud4v+yN9gn2DHGuwOFfdhqcWN4LTEiLydCtZZZLyPDGu4bZsFtPMiUKfbMM5+t/SePAbAs8enY/Pw2T0K0ptSzV4q2XYBzy5QowmSiwU4gotYzv/hf9Wkgs8Z1J68IMdisA2eYKe+sFFCS3dH5jtz6YhE7JKUL9lddyrr7MA0jI0bVoMZN48y3VKcMfnobdSI9gp4h5Nn733fnXqVQs8gnKwgxEz6Ii/O0XwNhKTHt/WJKlDPWIKAW4uaId7ydomQeQIom+bYLgb8BQa+Dmu/MvZUzjEJL6QxkC3Y8/3H86HZWx0KcIyjoXEEa8CZdpGCpyXS6LJScJ9oIQRbXOwdankwhwoQcCMICdC3ojRjDb9B3efHi47G7MDYheQM9axv2/HGr59RN2CQt+igDRuQmQb8RAuNViY+a2qQaTASQBAmBbi0CMSYgJQ3vTlvnj2AGmxR7D1b0owPQ2DGAttdj84tX4y98CAUvuDsoIQ2NPJcTQpLscqXsfD+NcazIs+g0A0bkJgHg7XsjBE85lyCpwCgQhAmxrQAIxnTDGkruufjwbSS77foedIK0m53U5X4bd6CQVhNDchS8E0S2lvj9+nOYuY5OlCLsfHh8vF9slSyQ+ofaGPyDdPTXt498tJ9tmQYHuEZbqJUSQhEi2NgIEQZigUmqLzZd2uD1/uKKCTCIgtjaaSNKgOpVTtwGDOddFaPUUCIoEBVT85X///fff/zVv8Y+4GYn4y/+/ezoNtcDyvpe2Ik2V8G6fykRqC5I8NTmNn87e5YwCN208Muta99N//nzT97s6MQUEcdsOXzYa4SJSxDzAvElEYKOuTDKj8LIbKsKbd935+Psvue93DVOpsk06Vt1rVRN8wSg6heo5Ra2yHJMaUV5tiw7MOJ/YGF5yS5mY6xSp7W9uNN3/Y2qbtpuCq2kiAIqArJmJAPUHXFi5+TRYK75kSCbFxFRTkzuW6Ux5m+qKmuFjW1SZR8LZtKQAIJR005RpFpbWRJfHgZl42VxTrQ2s1qjsu0McT8lU02rapysqmJ2AIRoWaoAhzPn94TTFvLgC3WNy2ksmo5WgHFDUyKnZ6a5mg2wtTaclpTy5J3KrAQS8ZYkCGJRUS5vbq/4LLqaqzsP+BzviJSfGs2XbqeLLmMpsXW5cVtfS4rpxGMeU6VEXWARhbFUyEiBo090x0v66OexqdWIxrWk8X/8zHuMlA8YTvd/bJAAxRQnrd3ICWkETY6s3+4HrRRJZaQJpkDUqhhMA4fVhMmd6+PTofZOXU7BADkEvW1gyCKHQLGN3lTWfT9ltDY3Yzvb6pen6uMrgEA0gQbRqAiYQhhKNn+4+/9tPN+9zlpZSpKUpgnzZktHESpQZYX71Y3s+fX5sOqyfC1F8GJMti0CnRIdIgmjXpEAZICYfTm2tKU6FNICLKBh8gsleNDiBEjY3TnYdj5NQ5S6unhHrJX2/366no0+JAIyfRgMnYW727l33+Mv9YDvHQppMBYDhRXeD6ljlbZ/a7vrxvxxz7jrMxMq5GJKHeRHz4ISIli7AaSk1eJwCu15VyygQEogXnjWCSd42Aup4boPJRaydG9bzdD9je3rK2Y1EWycAScg2qUw3tzqLy6jXscxDe3CmPp3r/a/xLtMJrJ4Jtfg0DsEwgWj0YZlFgV0zh+ntQCLBTFdETOy8mgGGdXMZjuvdd656XLMRzZ5Ro9nl9uFnvkuz7I1Ak+dJ5ZQ1zF1qGgAwrJ4TWJbDSxo3ou1H3bUdf/ul/5ud8VYwNXWeB7X13EMEQKu2egZEzqZyrAPav2Sl7tsSeitQZ5pGFjvgv21YPxfG0XQ6itb8as2psFEQbwZCKdQY1tXP9XBXTuiBhBzVygk3TdHbAE028oCVdR23l99dHmUdAADD/PRz+8+74xuBilV2mqMuxj4go5e539fhjcA6O3fT5VwtdwLW5Gy8DMKGyyHVRchkFwCccA6RNlzQuVUkoRsSrtl9wwVS2jYa+wABC/cYs224IESQBvYAgCJQwrdcwISgoRuSEqpzywVZQbAbACDFTReGCBr6oWBbL4gA2BG+JDZdGBDsC+LGC7LCwJ5AgNhwSYkU0Q0JgMSmS5Eg2A22YBr+8L///vsvjrgtSQD4bSsG/G4GETIDZB2LQUDcygCIMhFdW+GAuJGBAkhX50I4HNsYBRPcEexZChgh28ZARNAzoJ6FinCB2xggY3XBu5ZCRsI2MmSzdDrn0aJbiUEnUTcyMJvj+DAdrHQrVtENwkZGygJKdPTrOvE61VLKRgYoIpK5g+pVcdrddL+XwTYzmFsNrTYbxA4VKjlZRGmxkZGIYdqu62W8H7dQh9LRd+1sJbiVAYAZrKwaJeKT7EH6A0GjNVd50lixnZHbertbH3HCPJOBTkwQQB2nprn9sf7Xe6UNDQB8Qqw1MiGXCHYgQYpCNk2X0zCW3rY1wOY7rdd372zMYwKjAyHms2DfXcU4/7t53Bu2NeY85tObOG2XoCdDD1bUc2XbvTsNnz6yIzY2OvOwne43+olJ7EIwtiAf/wNi5p7Y3ugZNe/Ku1PIp8QORMsHt/rpPnfqiA2OdKCssCQmRxemWWFo3xDbHbmIA0D2ISBMSiAuJIZENAhkdi1EYiNcANiJUAFApssIzPlecqqF1l/lYSFiAYDoxMQfEhDeWIuqpNE+u0lP9E2EZIkSRC4/hK6sP3iLTZ0+5Jtp7xd9bkPs+lCjDvOsQzcQAMVlx++Gb9XmRKp+gp+N5L8rxZKuctRaNaklZhDgRTgN5laPy80QFSZ8LmpBwG8m9TwbB5jaOJ/u7tOubZJwEQ4YzMophlyD7vVzEUiTwbcva8kKZbM6jMf50BkAJr9wRj4DkuaOWq4ncr9HyKHOlzm77/Ib+A28Z17e++WZbBJiPvQYp9d2OqMKSN1+F6f7hyGa2wODl8yep7knKOqxRh5vUEGL3rfOBrcZvYu6D9xS0F8v/5TNpqjmatX5JT+cJTB13T6f7o/jWX67j8tmUabydOEDSphNaeDpXUx0moFUd0nl8t73Kd4j4h26Sda3Gaq2UaLbFO+q2nZ6/mcqyaaucNOZt1/G+xEusAJizp7G81AKLpZT0DSUKvBpxJS0KufDLuntDzZNllzO6C/A5fd38A5K3CQq24UqN+Dl7YIF5JZQgzuoKrdFy9qQ8eXvr/XLL7rFQLwCF3I/TMlMVQp2+6734fHhrMtloiEAmOtpiDzUa3WHiebVo2w5S+iKIYkF3iHqpkFbsllAsgm5Cw3BeMUsp1MI4K1AQrsNiFuCSbpuGDK/OrgzSd2yMU8kAASjqMmHoczMSZfJBDF7CEbj08DytD7WrKhuh1d+OT+UYRDYF2a/syxUtumweoMsVSpuAeVeMXcYaMjgavzp5yV9CeaKQOaasK0vDtnsuq6BeM25/vnv/3UxuCGZGG/U0uQ2UAFYHU+nqyvy+FtAuExOmMbZUqILT0sZymbOCrmN2oSaDBbsCjSeIGlvRY1duQWez0W4t0NqU0jiFruoOqW5aZ07dCyvBOjusu6YvZRuiOssTHFTejZgblmxqK4P6Uz1jqCkqA0yMqgI4TI50e6Of/90fZ0yID4JsK2cXLJQaBksDeO6eTh6ohljwOywUWhW0VuOn38ea4wbkrWbihuSdSJuCLF+frm83ZDL+wxLEa4XwRqj4pYQi9oAUoPiZorlaRlDvEVOo0jNAnu+/R5NJ0WtE7r8/mq+I04zLpXT8u39x/FmR4uCZ7AzUAaErqMPKVSJrhjRJKHwBiSMGpV4DZZnppHbdmwGsom23OLUGjBvAJdCEa8FiqJS2YKQyhaxkJtKkVEYblsZEgoMnUvtvCJQzZsucywVQRN1kQzsdgU7DjUqiKfVchxfjCsolbqy5JvRsJXUF7Kua5GMYmvPp9dzsSZeW7++UyUbM6xaqHhDdCxD2ZgTPX//Os5bFmqEraIIYWMGTsFbpooyXvtoZsANHyfFx1SBqdYZ6Hb9XnePNWg40IULZXmHZPOMpxeWJd1ZFKCigkxjrlHFrsAkKbDuYHlW1i6uJpcLY5sUC5XiZrQs2VzQ8319YfsgbkGqyDYzbMLm4QjF1mBzbxdXYwVZI8Sc28b4eFZWSS10oYzyRAFw49NQFtlti4AUdZwPL/D+cd3ygK5Y56fnZxhVuIXl/df32afBdVXuNdXVbBSRYOpWRDhlm43ZhJKwXSBsFoNsVfAuuS5WDQxTbm7e2fnx06ndZRSaIFwuN3qYE08rr26JWw0CwWma7/TmsUyD2BWW8/l1mamB8YY4Lr9/nU+13AARt32MW64bjNfEiIPP13rCMPnucBvnx09dRyABwkVzCxBPTRhgUcJtN41W6+VxGceZQXRFSdb3lI3cDCov57DZyJ3GcKcxILcNOsjnsyznZlLi6aG4X1kVADB40SyEZ6q6wsabQx630+M/bneJ6I3JvFwCYbN2nTnutSxfPGrGp7/ntknCH4q4BJ9zrNj5VkuV7H6pFNkZCE34hlJQBw0ThQN2IwHkH6z5m/894riPi9/609M1LA0EQfRG+eaiHHTX9WvJOaIhSGL1P/i/R+YZFYZt3UMEQHwWmyIi/psXAAyxFyElc50XHETi89ni/yFML6IBpoIR3/IYURsa9ZJR5hHCtz0qxGpo4kv2rZDG2MwEbN5QTNHGiS/FjRsIUGpiQUk0bN4UpI1TUBi3bkgFbWNfMjZvUClSrUwgtXFDYzOA2MSoAMFNGwjBgUaukBm1bYMKGaiRQQKJTZvaBQ6phREIEAC3bEDZSqCFCzAIorZsOE61XhBgCxPaXGcJmzZ9GusaRLTwsJw0bd1YXk5/XrppLSyqXe3HoXLbRj6UxymRqYVptpvdbNS2DYbCLNHYwlSmklti22Y9W86JZmjhdf503iVy2wZQrngKM7B1CWEqYW7YutndxE/3mKjWhYLkJkRcVBIbg8co9fWueobYuCKYHIrgBSWZQiQbQZV0HSJUuZnT0bhV2aaIkC4oASpyRxOMYxBzkOhJlc6WJaJGanNMgcvKOm27CQKffYHzszTHmLz1h59045I1K0Qo2vfd+TTHZaV4WG/3gOLZ5+rTSy7mGEVzaw8/4TYFGjYjkN6142R2WUlF4xAbnv223V/faI5yIIc2uDWsUlPPT6PvEy8rcRpC6xamZx40v/82KQ8REaNub+JcRle7qjX3cXdMhgvLHF3aCoPPvGjCsniMAJB52I76iE1KDKTmCsdT4OIyKVF4/luczqeSg0xLKa8PZTdAaNMVlg57fzjBLi5JJuTCZ19mVVU4zKY0WKmCsU2pViYwYt/gArNIoQEWEA4zKzDupvKw5NyohoBi0M7JC0ydVk44rjGkCjYn0STjUIlNndq2LcYbl9CaSRlw/X76DdzSwQiophGVbE2AaFN6nwNbOinkQ6q6HuUGtiVqqk08wP11Ej/FXqA/4uUbQOPBajle04TGLPNxaprziFeaAgmiG/KPdAkHVtY8nq8D5d6SWOd08NTMR+PrBAFGdERBIHERt15wN73FlDiYGpLhVPe77lAqXmvVBID9gAHgQg5ELLhJ5+oCm1FVzrBysi69WtVoILqhRMku5Vict9evH95xJpuR1SFdNVm/D8ZXS4BZ9ANKQYKXcT7ep2sMy9mMoNh4RMk0RQO1RoGvVriJ7AZCMMx1MSdlTPfL/3vZjWYg2i4Ji4Jhan2oyYjXWqGcBHUEVMJ4McdcPl2fhrTJCDYdUUCwsdl8noXXixVORzcUpYDjcg62BWl6Pf/0lmMe0HQJjlON9/+cjuNM4hWv8kRQsg4gWq0hpKSLOYrN03CzPZaJjrYrSsJkf+vHmcQrLoimhD5IBYNmIV7MARirUjrcbA/XgFnDqaPy7l37eIqzJ7zmzL5cUy8AEEjX6XyOCzqIjcN4GE/nCDibjcCpWrq6LucKkq/akK6nNAHsApKU9814xmXdgYHV8XQdB0tQk4mYLOcrjzgeOwDUK4Z5OJ5SNoean0iBVYf9qAs7qOOEtP7/690uJ5Q2cz7v3x/2+OXzsevxynM3vT/xQDJaHwFT5Vxv3o28tIOcVwVHbCTcBDYVSSXMu0PC/FBAmF43pCjKKyavYtsDwFBuj0Pb4Y2jyFo3mBlJsLEJgKDwxiUuR1i3Ov55+McveUh7mqKpYJrH+O5vWcdfLONPINf18GJ5W79LtaLxk2k+Nt/rp0q+cTAg3v1ShmEY3AmooVFQrSp13v1tN1YsTG/tqNmi1EIHCLB5iBCiSrTDbZTjYyKpV08Wabc8eZibxIYnKKyPqWkfqotvF2RShZf9dYsqAATZ0EQFAUIdhsLkEJcjydPhTpeHdxf4PEJC+6RCZWTbvb+9uzsPqRXxJ5DgQCT9ffvzYa1o+MY4De+/n08WIbxhtPDTxfjdP/2ZZbmuNQShpRNuybP58O/vcn84qGg5Yu5jWq7l4rCREelTbBQRQEhSsOnfXX/8+Widmf4MAHAwlXPkjBwC25wYSpy55+QZbxhFoEA55/kvU0GtVRLaupFmRj58LrucvVRqMYJSUAsPL3netpUDkoEMNQq7Cir07ns/nUuJgBv+HBKsgYxU3hxfz46iNodxOuKHq9NQIxvBNwsGXcrtizxeftoMNEJEczchmMrNbjyNg/WqixGpCuG7uV5rlZknEbBWwSrWGtmvf8gfH+6mzkmY/hR8HBjMyoe6vykl1zZXKoahvdEchjeNslq5vzEsD+cKgYRaGykKbn5Ix3Ge2z7mxQgARkDKN3vT6ZLNvW5M7gY1hXQjZ5tms+6AsURMTvzJZIVlZz2LNhujsSmqPN3254cpkPiWQdQZh72n0wdNQ3YnQbR34ksT2y6qqWJJKgGK+VWK9anSnSrKSFBb6F7D6aU5TSnvbsd/X3ck8WdTESOHdFqr+cxi0dai1Gh3+x3O41zxppFYV9wcyNP7KaP1U35oxwkVWVqOfJraCudhW6OGkaxYlY0kwWddcsVTZprXNBczcLrvEv6Umg0j1xUbVSoGl5ENTEAAyevc9k3mcJ6ntw0Cw2/S+cHuAmLjA0XN0px3JnBZUq9F0+v5fNqCMqKWsuUdRaOec0nahpcXMt94bguk42995/yTkvKYj1sJRF25y0YDm5egyjld9ePc9E2Th4eKt40UNNxOb97cOtH+hSrjOLTXKRTLElGyFEop1cEiEJ4lQQCfdU5juzwVc7bKhM4g8CcFJoTNyFWRSAaEFh4IcJcLhLP6m5uWbxuglNN1i1Eg2x/CwDTXplERlqUGoF4iOznvyxY1TTlWAvV5Z4+Aoceo9C/eUvgzy61sMfJ2F2efbN2sQmxgBAGh4fl0HsLItw5mN3r8MMwieqCFUhM1owKxLPk3k1YIT6kWgAL4jKNSEeallhrz3Yg/x0OVZdYQgPZFkaRmpXwyEW8g6clO6x7dUBlBlygsWCQYs103AASfc1Io1etcaQ6zyWQ5LtVCUPMCCVJDaRxvIxkhi0jsBlZq3kUJiIuVj5XMuWwgZHjOUQhFWMo6ToCSu87VIDRwyuUxmMH0JgKQAdWsGwDwhBHksoUiIaEFhjQ1RumRomghgGxhoAjhLWUoCZR1BKCIbthsKRAg0RGJCiO42YIi2BcAgSC2W1JG9IUwkNhqSQRMMHRFYtMlTaLh25INsm9JooHEH/7/w//++++///777/9f/vfff/83Qyom5ESCAL8JyU53fN/DVA3fhBwFOUfUObm7FfCbj07jzQ/Tp/MRzW6/L6Xim4+jdnuOE2VGQh4A+K06MoGAqBetdU3edx1OD6dT3qXsUfGtugxCggdedDURKTXOcTwXjj6o2jfrwCLqbD1e9pTcSp0t7TrWcgn65EX8Nh0CnIaG1V4yNQ0QZ1PTtijlBLfsqPjSuy7mnqggpYaTP5B8Z2PRGoyh54NCxAtOMJVaaySFOORDXAqq2Rdf24nTaHk1iia1mhBEAGX/Xbo7xSpM6trfEZHiBZMn4RzRIqJ2abeLpy3wRZeggPDCYVihIIJotk0RAbD1SclLBcBVF5ZzKl2C8IITQDRwUYYwVsKMxi+4WLe61u//GufrEiBCVLuBAggMn8Z3+9vd+RjEuqvwec4HvmxQrU2T26gMQFvVnJLFF1tCbPApIqtWRDUBgNhsBEDIh9+Hd33TotCJsDWXGpEPOgdfMpuLmMwjTKhRxiltEL7UZrk+pH++T3b+R2WEAKHlCggZqFm13B8//NO+SwPWXIO5v/nu/DtecsZ8jtk7Fg/NIc0v7bQ4+EWWWDaOY07u5VoTSBHysGZDiSJIeC3jx4d3PyavY113cRjJ8BfMVBVUA1TAlbKnutUvtbCWZfqfhvPbUiom4mMDDA2XAkUYYKzz+WGMyD5rvQVhHH4vU44XLNyzJ51mhKe8n2+vP1/TCOKL7G0L390PP5wvNiQ05uQp2y//mZ5vmqGsuBhRHvHSJzNElZS88TGX95iIL7LLstbdn9Lb4xq70Y1tiTBmG2cfpojcsa62QIDshWOozKlnVfamvHmfReLL7NhK1au7y9NqRJO21Da4G6TDYZ7XWyBRfNkgjOfuNs/0ZDM+qApfanN3dzpG5WRo07TURGpKdDbVFRdChPiipTSO5ilDIbw6ZOJLbdp0H4+XzdCujfldcz+3NmvFBQSIl73v5mka7JBO01jwxbZUlNOclprRsOWWIljG3CPWW17Bro0yPOLKZ0FfbnFdkaY8LyQbFqWKPv/26fY7TCtGOZHDp67BW24BQB7iOhsgtitAsMQj9l0p4GqRm9lQDKTebhHhwzRuP28JJFo2A1RuNdQErRYRgPDWWyH4hBNAtG45YWW0nnW16G14xPViu2wkmjeBaY7Y7W3asiEgECLRxFlV0e5i3rJBSze77e3JmhjDkxlriS0bYJ722/trGxOTGzCJ2zZCAbKNgbCQyNUkfYpfWAG1wsk2BpNErCYRnxS+sBYoysAGRlAAxNUkAAJAgV9UgYAAoomLAIxYTyYBkuiK1PIB/ATZxGQkwPUkQPDeIAJcOBCSjGjkAZJYUbYAvTeAhmUjBYBo5sSqMomqlKSOQFQZyUUDKEDGdqY1JYAROaMzVDMDFw0iSDR0W1MiUGvOiI5gmKs7DYtGggLARkasKxvWbZgodgNBpXg2Lhs+Jr5KShJbTQPYDyiWaong4uFrpbRh8uUYQy8g5tLfpGkuwmaLfDN9+NFurXaCND7mf9qPwxxbLUDkfH4cZn7c/KRie0xNOxdis6VkWLacPCdE87MYxpvrACfbcAFwMGjdDDSAANjeRACCqqcSKdB1Bm61ICKNh8PlxyPh7gai0YdQ68w+1ZiqGYkNl7TpsB2BgIFQoxOiSlDbzKVMIrZcStXG2/vpeNqqM6A2hwiF77rDfrg/n7D1ktNg9ubvPk9TioDanBTKfbuv//UxN2nbBUUzwpaqCiXS1OAouMEQUzi2Yg435bheUjISTT6Z5zoNpwM3Y9hc10Crp0iaRVT85X///ff/D//77/8f/vff/wvHokAS4O9dCKIIkADX7TZtaR6g+nsXmGOKQHfIEVi1r6phO1VAv3MR04xInpsaWLcXUmYpT8Xzfl9WgDKxqZkHOY203PXz3emoruubCDC4SkfPqutac5pmXQEYDE09PspN4U3fnn8/h3V9yjEjXGt0hmSqmL2ux1N+gQSBYkMLj3IoKXmyuaaW9XgaUt/3Dq3Q0Zm0pt2wLA/v55czoUBLT5FHOVh2MCy3ujs+nA4frpvMVat8TpQTAXEwczCWbbFdlqhmVsEQ8vBG0AHVYGoMcHK6Ay2tWQFBJJ8KPBghZx3yMA/HN9dLenlTUdsZVuzgoxshF2OemXPOXZ/46eefZmsT16zSdKqpzwXmECpcTEgKuZY6JtRmViPOtc2jm4icxDKZGwialTnuzzLGelWS90CRT0UczG3dclSFpelm3J3+n/ff39VoZ8vo+fbe9egG4NAkjecWtdZAbg7v0k8/K4dWrKBa8skQNISJRMDhKUEXZEM7Y0as8PjuHatmTwAqQDdvxChYsYIAgvlMgIUynyCZKrRJw/9i53c0trIL4flprHl4E84TsW8jKA/Mwzx9+L+uh4lcrxJM5uCzjeLMIxYINUol02v7/07TgFY+11rqudM+ulnMJbzto4aHlSKYf3dbB/l6FaW866cDhock1RLVfHeXlmWFSDWyVJW4Dh7eGSBcgmqM1dPNDSegwNarZFTPqZ8NwaoAo5Sqwec7PJxKOBq6ajvr4Q0AxaSKUCHz4aYpjBnGFSsqzedLB7GqFJ/nsW7lbX0q2JFqZRZty+DhnQazWkPy9F2HOj4+npVQsV71aVuCKrYF+/n13fHh+PO64Wag0MyEpAcP8J6AOofI/rurUu8+3z9M5hDW5oVSqeFVAk9vti2UdsVMaGdEUj7CQRGwbpcDw2SI2rpArM8rtnMap/8y/XL85XE+wFOYoalXlId41anQb773OP1832e0XZsMK/RGy3lMl7xt200KDXKPtpbBg7xRTI4IROwmwphMXKHjUGM41B+u2WcChKG6mpo8yme31LZ3v1TzvRBOk4gVevOBhu0pGyATIDPh9yhpyV1lHnYgSAAktUbnKfv571uaDIAAUPh9SvPU2t1nvhNJ/De5Rgdjxjpl4ncvMzPO1kvEun25mq0v8DuYLDGqbSRi5T4Kfi9TEeH4y//++++///7777///vvvv//+/+V///3/y/+XY0WI35BESATERkZt3hA+JoU2LnDzBiEFjGjjIladBbDFEfoDkssIGQJAIyMqQK41CQEHBaqxCQYIhNkyghIlgk0MAihyjUkViFLHCUJQbQ0MSFTumgBs+SAKIKgmRoZgq0y0EikucWuQiNYuKATmfVYxavHAQMDQxEVIoszXl1Rq2OglqICg1vYlgfl8nJgaaukg1EpzNjACplpFX18i6nadd/tBjx9AQhZsZxRBOBHH//JbanY7K7FwoKVU1wK2L0A0M1PR2lIAPu1GbYutkIKUqZ0JJAwmIawx1WoMcMlgNk/lcaWpfZFKKbuGWFmi1sDNf6k//2iECAMgNHQDnDCk7t27ery785tUpAUDYZbiuiWT2LqgAK1LE1aURYEK95KxbNlooIj2ToCWeiulzN4DELhYEEwoF+RcidZNlWm2q25NiYStm7j/rv542fZo+ULUoubAUj7H+74ULBjDhIyqCrYuj2pRcp9WlCAQxRCH8cwsU8MDoIi+LzE+NO/TGMsFRoTmW70/2ojGbUB0h/EzjOtJZK01bl6u7yoHQmj9LFNuTTnNs7hYEKLauMfDOic1LliZmls7Y12Z1Mn+NDwuRA9U1LzHxFrMtVgAoCIwhp2HsWXFLBvHvuWqElOap/L26simHgCArF4/xvt9WTJUBWV5R5paFuYZdWqadSV4GnZ2OlWBpj6AYDv+hH+9Pi4YGJGHecrLQzF3timxhIVfH4bHwLoyCTAqHRD6oOA+n/srnBcMsrCb/Y3+8daGnNCmWeahKn78l/mBXFcCQ4gqohtSNObEqS4YIGD1kZEnXTaQYGsShDK3vDvt3LSyJEhmEqwbAEgVBuE1JyDrGgA5DZl5O5eaZ1Y05yKzfDic//3vpLCuzICc4RQ7QhBG8DUTQTz/PTaA39BVSsBNJoLNSETMSN41TZNOdzKuLIEC+DH6oUjwdSOIZhiPixHDEMS2nLkb4HBrQZJQFYXX+67Lag0Q1pgJoisKBiNebwUEPv9stYojG7MVCduWR4QIsxYUEqCZV9dNbtDmRFyCAeB4xbWttZD27CM1nr4semBQS03jPI3lw6kUJ8DmI0Bqrn0YVYW7yK2Tq0sMECDYFUi86luNMOezLyXLU8mRjYDN4+DXxystGZqwGLsf0mm4f5iItWYCJD4jlM87h7n43EPm77++rYcGgEwhG/dzVpXaD0USxoTzOZK40vTZIfniRkHg+Yf8/u8Bjw2LArv7eWCJkJoPjLTxd9v3ReHChWi61kIQDXCM16WODgCRQK1SEO2XJOcpGQWAl6JU1yIRLbCWEjm4FFTrWgWDGhAIBIhL0hQVgqEFxqtH52MJIkg0YREQQV2MgqEdymE2/OF///3/w//++w+aFBThSfGNSHWMYuyuu/H6jUgBZUHmTgigvvnI2bYcz8fh8Op8CRMYFL/lCMkTp3qedpWVLoWJ+EZdiQT40hlJ673GZ6MfDrgWCfGNOoQA6KWjEZY9yvHpZh/JyaSKb9OlZ031FSArAt60mw/rD/R8k88XfosOaYnTRLz0xogqtE1vJd7/gNd3af8O36RrzCnGSS8dmRGCkBTG3SuMOL67lvxNOp563A/VXjjlhBqiCpH88F9qWd+vQ8a36LKOJ9zuDS9d8ihBUDQBDkHm/k06Gu9+8v/jny1eOJbimZAoaV0uSsP9Lkp8fUBsJFwyheaJfUu87NRcrHUhBG1hA+EyEPrqgEmgTGwVFEBi2RzuDYYx7GWT1SllQlHnjdy/nsv56TSOga8KikAEpFQdrVIEzQmAyyUpZU0FL71QzCwgzYSNe1/ivKZs+qoAEdoWmHEQ2CRESemwt+qm5RLMM87ziwehWg2k1N0Mur49DeYOil8VkCJqBdxJiA1CDLCmfTsHnLFcYsoxj9TLh1mFXXu7g11+KYObI4jPMFWqQLaOGoKPVipXt3nHFCXCqQYBCRLuPg7FuwRoqQQEYRJfuJhlhrxr5gc607g6CeJzzCgrCGfDCOCy8HjN65LT7s85bF0dANgcJCBs+Pnz2bqDQ7FYEkCAeuGmidm75sr/cTZ6lsEN+iyjlA3JaA1D6KCPVirb8MLn/MQoBCRC1hYoADJUpV1Tj5M7uFR6JWNOOZGIYa4QSZiIzzOWM4acTGoXIcnjlZ23V/fTcPplQU0eJEC0RiNI8vqm4d1Pw3WTWJZ8tNyqDr+1OxIgSHyuWT0CMhibRSpZu3msVi1pvxt1uWzuCTCAaJA0ypFI1jGbzKAFX2og1bkaDACIzzj3DkRA7QJk/dp5rIoHff8i+8NbTQT4MRolxQLL/RU+HvctTVrstfvz/dw6lqCJAgJEsxSLkkdqkcA01uXqBhlaZ4QnNvUzdwkKLPab3XhvBtMCpNYaMDRNlwV8pCJxk3x9fBozWqghisHbLqYAYrFnDGEpqhDIhhHiqOKhumiXrZwDzVSRPdt5aJLER71lqcgwNYsUoDxUl2PaT8fFRjYTIJjL5+lqT+r/gmqdfuCxOk634xBXGhqq1Je76XYvXcB4xE736ZwWOJoqqdq2KorvEfFbnKMGGqvQdDFH4LtEiQhYYyFIqBr5XSIQIDYWwMRq3CgiAabmQgZFw3eJBkCwsRACRXKTiABAreVLAsQ2UQkWaLLEVhFAbDN/+d///i8DZN+KJEIGAvxWJECgoSsKJLTdQgy5MToCGQJts4UYgBnEfgBEmIFbLRgQPMkquwFRi9yMGy0ACeboiDIr6po6Y7tFhJvRohOQROV3H04Pmy0MEKolVLALAPBp2P+tcqsFfUz56T1uiU5IzdTd+ZC2Www+2vs3840F2AVME9J8toTtlnIr7kvkbD2gREr51h9O3GzBkLvn9bHeDaCan8UMS++uH7XdAgAlZ/GyIbvR2p0iSvXUN6exbUjbcFHLMCCVD0/Tzt3V8DQPo6fdd/XX2bGCKVOEgTT/A37zywYuPgAZiVJiq6B5o1MEmzY3PhSXcQ0D0HFg402786OwAKwNi9BiwzDYz/+oHoAaHaB8e/v+cPplTEauYrCgdS+S+moUCHa97gAIzwiAAJcdUPI0njU4IDR5SrBQmTORIGIds2m77nT/+JP9eDvBhASo4/G1RDB1O59B0ioA2XIDVcPt69dj1AqQYmtj0Jjj9Pt/+kdJRqxlZm+8zI9T6nJISAlCx89FsiRFgC4XK2HickPwcZe3hYBBhtYuGsxjnh76TKxmmqDI/f4w/uMTommHmywh2GJkpHj0wJPJf/6v6arNPYw0E8XFBqBa60YmEESLJ2eIV5lY0XSrkbt2N/90ptPnGYGqJkMwDEdfjUj14QF9SjLSnASWHFFRRYOh2VPBhJVISTBLfBLKktXJAkxXTWKdLk+LexjE1kJjmdy0lxBwNyHgXsKyDP9CoIo5bt/ZfL47jXXX+q7B4lMA0fIN65EjEpET9ASAkk91dqm92pvm08Mb3SRKaK9ZU4C+k9hB3AttwH0ElnOWrH8Zw1qLbj5gPj+ch2h73zVaeEho+8LitSpgGQLVLUSI9KQ5vqrAXH2XBOJJZcnmkgUrLiS02lKirIqthQm1usVOKljIbhWNu7BBJrvNBzexEDEWcyA3jePu8XSqyZcdX77HpdQDLCCqU8hCNPY39Rd9VXWqpf/QWSj0FGBKc3GyYjKzXXaxrJPXaC7mVqrBdoJlsV+LAtmjSfVKqL240ugGeQbqPNvszIe+q7//fvdpaDsFLxEIkDbFXCMbIRPVJcSgKEsdymgwAPxaItrvU0PiicvceFAWVgPVImdLVKC5CDVoCbux2K0Z6l7ADqs12n1MsWRjxgISlapwAslMU208LhLQAK3v8ac7cC3FRAtQPUICpVrO+V2fzAJfa51pzc4bmD0BxfIw7m8xWTiiTPNpuLvZ5/MlJTWX88xEfz7L0u4lZZWV7CJWrSutxR7tIaNyy8gASStELVGzXR26Ugy6RCDEVob9rMFcXhAMAkKPACCEzif/rjGTmZGyryFoqVUj0P7HCcBc2kYKSFIg7W5Z16UmR3Od2VqutpcyNMQdCJJq9loJcS+picRbKcTg5iXCIE1svAFSEi4P0HR5f/TX/6Mdj4ZtAymZBTsEQRkUMUp1rLjatR7E1yiApBFPzYwSiJgDbPdX++ny09kHo5oL07vDXLWX7tmk2GM0k5X9KstAdmn//ufSPSrXJKam1KRphlAVJapf9Tm5XRoQIM/bJttTG2yrSAEoiA5pIAWy1nkeH8EexgC/BgIhhD0NYc4qQEF3sy5ZPT+sUwbYXJS7dq6xF7rR1B4kscF9ROKCIzvJr38uLnULzApG4yhEMdCDubVS6bgsSFMsy91/eWUPf6vXsGIDeiYBgqIU0Dz/cidPWV8BBUCoIp8CkqNWwdBf7xNPp4c3Z58yGiyJMkHcizhQ9ikwwF2YULFm7QNOxdOgK16reZkmpR4+14T2tg+mOP7yWbg4KNOZr++H7WEZXUZ0UNIcluP06+BoPL4CADJBCvAJRMjrbHRv+k42HJ9oPpINBo65wrQXNLJbqSh7FU2xz/j318tIN8XNfsMZDZyELLVuJWl6ONIuDEhbfXFXrtdznW+JTkoQxoSuT6ezkNJXIBO+pPCUVIxgf5Ob6fM9g3ke60A1GYBBPGfZsci+Za+en+ZbJnJTYmkeZktdlzH99jjbwLZN6dKAYbuMr/K6PsHQV43p6nt+PhraJp7fH1N46lHy/XWbxp8HuhuRCKLNivjTLemJbFyGTOfJvNsZh0+P0c5oDx1xSVCMK26GUL3aTPRWMzK7HsTcQPoqniFr1N2VYpjxP32/4J+sb9inBFdpGkMdSolrBQx2UYCkjsfbP7EsF2N/AVD376efT31q2zleJDs0xyFKQY9F4Dgnt4jcqZ6Pk24CjsuDvkvnNcfGDIH9pcJdxlPtUgrqBfJDezqNY+cwLQFYDADhMSjlruACIZl2c1zqckxGosOyquyv8NOx33kT9QWyQz6eRu2wEFSYESrz+coIXiTQlYe8CRTVZQCR+zrCmTz0AnHnp7k4TcsAKowAFbvZcJmQ8fbDy7/Uiwwg+iwrkZt8GgjDi0uQQGA56GSBDEy4WJim8898lS6Onitah7EgyV6cJaIo4qJhvr99eleHMPYcyJiqAGIDpE17PG2Bziu2qBU1bYEQspXCzkORVgHYJogYh21R5wHoYCh8C0SsmFJAvQdEEOQmiC1yFth9LADCNkBIFdkB9R7iS9MGCKjCLcDeAyJIcBsE3QB1H4AQN0FA+ogdCDBsglDQ0YdJEpsgFXD2H+J1JdRiCOhCDkCy+7y+ZIMByEs4xGeZAtrMdtEQDdZeBHCjiAQT0VhFALCNIhBgZFshIARhG0WqnLS2AkASnNwkogJzMzWXKOZGbhGBCMEANhRSAKoZNonSbbv6YERLsahOQhtFBt+KQQE2E9FK5F4VsUkk3e63ZTtuQ1YrISPO47sf/DSWjSLpXJezjYxWAtCHh+6HZjBuEsF24T4WG+GJTUQRtns3/jo1SBtFYPflfz1+/+fEclELiYJ6/X357aSEzaKHeP9kaXeLqGZkwxCEmJUPffJpamy7CNKM/+fH7/7TCLg7rFUIqKFa4ua6b48z4BtG+ML+9o/9bUoGiGoVDEmRc8p1+G1qSGwYtUPetrdvIk3hgWYpU5iaH67vfj6ebhybRm0cjW/+saUJ+EhsERRAJK9lKpNj0yhFWkZEeI0VAg0tUiYjWf7zZKklN418kjll4xKFRLMknIwjeyRsICXNBSCTbBaAAboybCi1cBrRLilAxIZSCiBaJ/GX//33/4f/G45b+E1IZK7FbRgNqt+GNHutKXMwIL4JKVnD8rA92uyCvgGJdRqm4XziwaH4BqTQlsxUy6XI9h4VALsdg5BtPHCOYTCFLe9Wpbu79Uojer5MF/IEQC8SlEHVIWpAudCYc3KAHUiAnh0BQdQlPAI19ALZBbAFx3kYcvzw1vPhZjdnCh2YqpCeEQXSokK4kB9RZfbiQGm2rf6xqS7DULcKRx8OhPiMACZanEvEhTwMx9o4XxzHskunx0MEyHRzz3j84ZcAvAupQgE+G5k3qT39OowlLuSBjpc3o06whQYJZkM2nd8uBNmFgApAfC5Qm3Mz/H2Y4kKevfvQTEUvzcfLZT8VgAhE3ZhupuQVXVgwkdCzgSWzOFZSF/K6G5Z4gea81OmuVABQLVZ3u9EC6kFywCTiWRs83HEhr7VhyHiJ6ENKgBS1ctqlYblUwjoQBIB4zlEQad8k2oU897Ps5UmvrpQdQN2iGOdhPK1lMHRgwiQEnw01z6X03zeN8xIehaSKF7hJlq5rLUKyOWG95HONQBdOrqrAs5XNdZ7zh0bYejhqO5d6rWl/+2p6/1axraOzC/VeNIeeDcQphrzLUbnpwARKTePtllNc8imK/Ibow40pauAZB0pFZ6A2HZBSy/bipef1cvlhHZyJ6MQUBeo5WYUMgGzTgU0qOTyoWIcMQqY+9BUGaQgR2w4L84P5tS5y7h0fC71eJmw+VDOhWNdqxSgTvvV4nOb07imwzwAMwrceW6fZ7JInfCuyjA9eXuGbks/4w//+N159xMZBCtpOYqtCMLBNiIAspwhsIxWFrRIgTWwS0BeJEEFuIEGtBQbAnAY2CDEkmCfJd3XeOiJCRWCmOwFQbA8ICGFSRabP4LYRU1zKeBhHjkkREpokJZaHI6QGO47bRgJVkeZxjmQoAsAGYQI5H09Oi9witGFEhnMc9mbrL7qUoIxEeyRMsNrvzE538tR6aLMIo66x//NyujyVtdIMrTIJ3vWO8+cp5V0usVlE57gdh/PluM0Y3Ih2aSABS60earZMbRWJD8OL108P52VCA601Yfdu+HVsmqbRvElEwMHTej1pFMHmAczu9OCx7rqqTSKo+LMtb57WPRqpzYHmQ/2vDx92CG4RUbFheLrEKAtTCwGE1GKonsJii0icRxiQjDKhjbKCdt2cjkZsERWoqDIAQjMNS9mH2cy2iOQ7u2qLhKZKyECQ3CJiOy0VzbUGSDNsEpUCptYiIEBio2iFVbCxICAZwW0ikEg1FiKIMGKTqCTAWouAkGGjCARQaK4CQGwYAZvL1lERf/h/OatP8ZuRZPyE+K1IACQSxLcjSyAMvVd/xE0QkMzVe0gIIDZBUpVO9F8BhG2BICS4qfsQAZDcAAEoLJmi90iQAwsd8WsD1bIHei+DkDGWOZRAfkUgAqMF2XmkgBFc5kAwQvxqgIong9R5oArQ52WOQID4eqACiSLUc0RUk1Fc4ggUSXRbAVydACtSrtFziKJILmmJQwogqF6DAGxlwqyumhy150jhpJVY5HzahF4rgFiZzLf4+byfJKrfYLJ9Yp2m5uURvxBBLgTEj0RC/zaD2GXELyCuTLwsf6vzJK8dJ0qzb4ZhqniRBTkomhYBgADAKOhfo0AZuiwhEMLapMTN4AndRqgBWojNi6ShJANTwwKzBcAIwLMPsQYJQZBAEGCPAaiwhKp1iS3mvJUho/QalhJBIWgvUpyPXXI1HebIHup9cV6N07DbbcdwGTYQiDAH1WcUpFvUVQkp7fLpBKVJAPuLMFe/blHPY8aLTKacS8yD4NlTNbe+N1amaVSpG4YEVyEhEkS3VdvzBHFFAhpfDz+9r9t8n65Ch63TcPtjno5H44tEtLu2me8f7467tu+qTbuk6HgoltI8/vgDh/kwpQRkU8iJXkul/oqfCK1K2MA1ClKyHAS7ihglfNf1cTo1hpfZ3M2q1WqZUwXkoJv6nZjSlH/+B6Yxp4TBZAZavxEihB+Jdcn6pNsptrr47VgyuirnscT7D005/tw0+CplT4eoMTe73U07n3/7LaXNh2lUsMFIDuj/BwDuJpktx2XBzR77UR9RfQZRH+6iWZsIrdMEbVsaIXhXiRGudhfnY0r4OhmgoCdgGHwqnprGIs7nZESBhBZLSPzzR5EVsZucl3fHbTvsYbXCQLDLiFHL2RK5JkEBTEn1crbZFt+lUtRHopztqnNjOt5nw/OXBWEJleATQOxtOiMikJrDTYnHH/520jAkNReb0nllsqOH1oLXqqJIu900nc/rMe3TFubBHsMKyCCsSnxyzO4P78Mhv522AqlziEBoHvDdVZNPj8fS8SsgXGAVA09rOY+TE8U99S0L3r49Bke2F+xiLUYePSVHlOuEijTMg23X5Zp3voWT6jEBVtGI1UnSB1uuWw1Dsd2Migp1DVUg5dZmOMdjMnyN3oDlfi4wPQ2dJBgpKhiRvptZ1kqyudgKiQlH3wrMlUIWikp4ImEqSCnQYQVJYWsUAHJWrGd4fRfffSfVWhnsGCVK0xy+5y93hoEtvsrUGKb7aXJQTwNjCjKkOrvz7iahFDCaixRy528+BYyGMEARYTYSBApT7jKsspA5VinNgRrbqHOdBggQ+iUDgOipx3ESHF8pwUSalwCfJIapbVIlEBETYnh1N7IsZHvZ6mFS2MFjHbfAOKF+pK0kn++8XK/r4IwOI9AsQlyl+HTKnvR4QqKT/QIwo0eZh2jMHF9rhDeezWc8LcvDsL+OCqDWEpPh1eu7cb1UY3O58P6mljCHDngshdMB60elVNj9n+x4OV13CX1WKaFCqxUyDNnxeKbRTaZeISMSo5SpMQCmrwQgQYMBfApASAyGgpbYcZVWuMLQXJUMEvDYKSkpoYYgd9qYdQ5Lxco2JKq/BNtrnkasVlIkjHUDCRM6plwWKDR8zZQK5dkNegLB21SKapnRNtb3B14v75/SILG5TFyK5Dl2kdqBaS1VUVPKPt7c/vL/xV3e2YfruFP0F+Hmh/xZ6xWASEqACLFnUBRkAdNXBAiRABOekjBQsyXQWmZZrCuiyA3NlWRIFhx9N4a2RHOMbqZ1LVOkQI1hrOisgoR6e51tzYICKPRRCl+9ASLAJxGqMFTP3W6HRnq8f/d22I0UGqxIUXbwKATqpvwiaZhyqb+8Td9p04J5TsFN1lWIWucH2xGm9YrPEElV0BtvQEnj7DNSAlsMAch48L7cAIyDiQTLkieErY6UZAGLrqJQTtOcO8IuaAATD1cqiOl+AJp2HgGh2RK/+YVa680Ni2J5XM13DhFpytelho1SXxn5/gNOw4gLm2TXWKkop9YMgDt6PsHCeYxauMYAER/bjsuCkobeMnN/iKHEhQ277h8fq2NKe0H45s827/3puFT6MFT86+QKMzersp6CKNUMlzbTYX93J5cbFoHM0zA+vq1pxL+ZogLJXEJPFSOKmV3aAKLmHo5YBqDIouLghf8OkIhMBvtJzLy+mc7jbLywwQYDiOVgouFSE/HvVGSPYomMbkKNfLevUyUubjrnRQENKABI/ZuAIV8WDqT1ErlP99GmJl3aICgsCin8B/MwfXjy0dBLabTp/rG2vV3aWFBm1opqEwPsIYJnlFCYwG0SPK/fHS4P2GWpg8gs1LTe2nAkNkqKYXfLBzsQHZQQUdBYampgqySBEddTmpKl/gHS4lSSeR/YMpnSttLoWeoeMuM4No7GtksQiLp7ff3bOo4hdg6isCU7f5gTN0sAqOX25fK3881BQt8ULUpyHXafsXFSZGzTBGSqZxDBWvp382drtk6wrmnPuuaZtWeAYnlo/qn9qdjWCYBpp/PREsB+IaBaP983V23i1gmGD/fl55+QbKC6BYhhvDp8/C2c5MYJEClhWa3EaAF2Cimlavt4GCFi80SgDne36xsNcKJXnHHd2d7ucUlUAPhZAsA0TPn9cc7urGB3EMC+HqHy/n2BLohAAK3BiM8hGrUaI83GUG8gMc9NM1EPtSFxOVQiYWiuAmDPHwDGYCz5wIruIHiaRp/sFpNwUVSig41FBATYM4jBab+cIKVUewMCrU+c7jvHhdGAEdZWSFYJDj5/oPpyf/wQ1XYWwb6QNBFzdzgHdGGkyOiNBaJq0P05BHhgl1XWzV1gP1D1LmAPp0MCcVlUW7h5kloKIWhjcvJfoRKH73Fc3pX9JEQ3oMdExHVzF8TF0TSUTQTYUqwqp5CEf4WlzLWE0ZQywB4gKJiJuMetS+CFEd/n0wNHI1qKr9u0Z6n1OURoXarPOb27vrhVqAOQRJmpfJjuSEK4MGqzLUrbRgPYSARnyXssVc8hABEyS7HGlKo7QFnTk4RUR4thfxMSiEujPmcflh+3XRIaKbUgc3eP47PJACABOB+nF6MBRMsnqSmGu+ZdmYyEcHHUMuSX0zgC/IhNQ/wIIQ/th5z4TPpkNnBdpkEyAGCrEyRLqcEvD+/2Z2ERTgQbBgEQApdU2Bala5ms5DGb0DYpYF2Yhxu9PXm25xTNdzP49C9PecgZ7Z6KYfSr737gf7nzCW/jKYCLKtUlp0UzqhMwtQ1IYqFpni+FeFYb8py1HX9ZJ3On2OokT6eB/u5f8OtcFmGC5GLTAM2wqAKosvvnF+uHf7zZHElsF0JV0bDb35V3qyXjswoQSrVhzw+PlWl0Y4OTapS43hEf764/1IhFWEigA2LL8IS6rELU1//Mx+NPR08GCBLbBGqNsvk43U8PxfDclqo07l7Vf3kyyxMNLa7OpR61S10+zpnQIsx0jQSXoWFa04xzLKuUbod370rxPFxrSDQ0SVGQ0u6wLdeNfHYBRiKT47guCCk71dSkECpSOtxMD2MxYhlOr9fijlStWRC+a6bHhRWYCCvl/MvwtJQQ1CQoGN3Tzfjjv9wlPNcz9t/jx0eEjWlgUUvDAMDtapebX//TdYOluI1GGABHs5TBrYYWVqCZ0c5PFQGI1iRkgDPR8FQdpJ5nYEoRowWixOZGUmxfghDF2bosp1pOIkgtw/JuyGkLol3KIo7jO+eiisLH80htGYChVcpB1MfrK8fznTVi+P7mfN7O16uPOVlA7YulzKVpdrdtqcfh/uEHYjme4YJEtgsGa3XDsupfzbP5mkGqWVCGiM0dpJ5rgGATLzCqkEGaM8hPsDmJACSFILPcHryW0zAmp0xLMV5Xyoz4Ip2kYE6yWXxM4bnPKOftsJ9nlPP7JWX3PCL0UXumgBhVkfP1QeN0jkj4QwqLcUHE7/1LJY/utcbVBwdRYCnEfxNbjvjfAUkVlUrN1bv5eH4onZm+2Jxpsa1lv9/fzFq4fDjnKe+9EKTpE02X+kJflFrn9n1fOBVYqXXsDFs1FZLfTBPWGvVUcsoZBS6KIMCmA1EMCkCUOuz+eYc6nocTQU/crPHJEogg/H4uZTkuhfNUBMKMJNhmJADhYQiBu8N8rg6yYpw7bN6MEgaB+XC7Xc/nreZ9LpUw0gyNVkKIrO6olfbhx/nh9PvkbLzQt298XMMMFkLyfINl2Yo+kgIBQmwrDAoCIG89VGpq4eNxTonYyKkaAFCDluabA96ftmIZLikECERblQkgA9FcZeg83n36PqcZJLZ1CgKdomoa82HKJoXJZGivclEWpLsp5rMbvAIwbeqwECHVK6bp7m5yhgSYTA2GICwc8+Psu0Rhw6cgiXX261IKYCQBNhmGRxpHNwMBUFs9KHxslITGaww//O//tn9WUDggzoYAAPDIBp0BKlAKRQQ/AYC6VSs2uaijs6mLMCAJZ27/y2d3uz693taLeTLeP8e7K9p/0vPv5X8sIv+OPyxmD+y/OL2ef9z12f0b/f+qx0hPNX5nOnyb1V6Xmmoeof+9/m/E3/W/f/4pds83r4vv5h/+/4PsY/6e039/3oN/v31Ff//RKv76U/3R/58W3/32m/F//17QnM9HKf/7wFf/gLSz+mHcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5c0sZ/xf3kSWXNx0zu+k4XWMbs6Z3fScLrGN2dKPR8+Bv6yiMjcaYdvhKjHjDiqR3DJMJ957cVWlHesDxgkCrUHho440w7lzG+Wlbsktf9mPnAO7lVuze76ThdYxuzpnd9JwusY3Z0zu+dX2S+5CB4xQuHcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0D+cpIgqvh/gpLd4LsfSvzSoszppmT0UUBjoO3zFg5tNGlc7PVXoDqbA5eTCes8+0lwY0ByKqe9AHcuY3y6B41rhGQlUN80dy5jfLoO5cxvodtP1Jlqk8+S/dQe3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb4zgdtdz2DSocGtiun3d+We4RyqnA4CRnf3atd82UpAZ2cV+ZciRDzSU3LfrizFXueb3sqfIACdQQWPHNcPW9oBNrcFOqcNBYMX6KYjnraEjq3k6Hvl0HcuYyw49A596p0x6VDLmN8ug7lzG9D4Vf1Qecjxxph3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuVLhlT+mASQO5cxvl0HcuY3dKukOMiPlrW/OkqyKwsvbiFLUV1vWDowBnA/V3AdutD30eB/gb5cXvHl7RadxDZ1GcEhL0wVdyiWg8pbHdYoMnMo4nFpx47gkvzB7ig30ZpRcU+eKKQrFVH5d5svBYAbv2R2R2k01HmdxRzxVvB12u3OG88D8ECp532/9Y/PiyHq5TmN8ug7lQetSqFQ6ozxxph3LmN8ug5vR5dFUjoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jd72M/ph3LmN8ug7lxDd1w5/YwE0U+y5QyrDYNGsiPQ+DgJoiRSdqpkz/8zwwaaHa1aA66V34/qbtbsxtnVccnUuMoiuaG59dtRY1LM8qPFg5zE5wvJ8WxmtjV2WkwsGUX4uYAfP94jak8YYESbJOEap7Jt7RZyOFCwTpsmBnFUR71GIhilnnHaLKo9B7cuY3xqOGiy6h1dhLC93y6DuXMb5dB3LkUh3DvU5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQRA2+AWf0w7lzG+XQRAtwGY3Eqtm95WLg6HjHa/DbXAJHqYgIwF+Bp4ULYj8DVLXRDuveHij3K7Omd30nC6xjdnTO76ASmTJMkAZqc+wGVcNf3weg7lzG+XQdy5jfLmwq36Ydy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7ly+U7jUZ440w7lzG+XNc0xToPDR6afQ1PwLfuEzvfkp0/uuypOzMCN9Thjo2PUisBkzhBfkHC8MjyapYqs0ixiBDByxleHldFRh76i6VDLmN8ug7lzG+XNczsDuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3e94PCz+mHcuY3y6DnjyAYpu6VhweIKiCIZTgs3XZ2rOeNi8g3Rt0McF1My3X+L5Vncbz7sZpya0NpFMJ3/RQzJ31dXoD2jNBMu5lo5RX8Noolp6/Av+T3iTLnkB+JapNpvupdXmbe9AMTVBjagDuXMb5c1zeEUHcuY3y6DuXMb5dBECjuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y0WTG5cxvl0HcuY3y0WPIjuC2/FtKZ+v2xtGuHFcghvMe14ViB9viZ1J3R3vg9GunnKJNFGvQvihT+jpH1Ox2qYRZh10NTmG/dZGGP7+SCbI4/3jOwYHOHyxOkqlL+ySvTS+jF4HIFz5xrzP39X3FhcPu/SvxDftKTxxph3LmN8ug7ly+UwN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3KpVpaGXMb5dB3LmN8ZLVoruiXKeZ/PZvmZoU544zvm5pxEPmmTd7CJxGLIYjM9IRdBd6UEWNStVNfOE+XQdy5jd73x440w7lzG+XQdy5jfGSzfph3LmN8ug7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXL5TuNRnjjTDuXMb5c1zTFOg8h/CvrxqyXNcMkwn3inJVZ9SCwPFMQL5vnK+xI7VRSmZ3LmN8ug54+HHlzG+XQdy5jfLoO5VKjUZ440w7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dBEDnOg7lzG+XQdy5jMv/fCJav48XrhWXUetCzqm89uKrSjvWB4wSBfN+KpHcMkLm0xMN38+fq7mNSoZcxvjJdF1pQdy5jfLoO5cxvlosaD25cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy5jd73wwLP6Ydy5jfLoOePIBim7s75YB904CHblzG+XQdy5jfLoOwaqgjlfqdnjjTCIHP/uXMb5dB3LmN8ug7enIYmM3btWi9lS+b8VSO4ZJhPvPbiq0o71geMEgXzfiqR3DIBx8I1+wM8caYdy5jfLoO5cxmYIHgFn9MO5cxvl0EQLcanqY/ldxgvrtLLgFn9MOglHjyvAo4C2MxLzr6Dn8T/nQ4NG68DTqjPHGlXN4RQdy5jfLoO5cxvl0EQKO5cVGM1x5ph3LmN8ug7lzG+XQdy4oeR0bSg7lzG+XQdy5jfLoIgc50HcuY3y6DuXMZl/74RLV7gmRz7XMJlzvfoHyYBlOo7w+lJeICpQSjB1PdVekLSKjiuT6JteHgZW8b/Pawt/l5XL/zhSA12rBXy6T1PfzsMRwj9jpGkcltB57aG4pyDNIm3zRwnb8bW/TXUJAQB+xHWfYKLzPgFszKeLlVOKSin5UwAQsZyy50l/7HT30mK5R4LJ0KU0GzBHGmHcuXyndcHy6DuXMb5dB3LmN3vYz+bUyMNJCeAgjKn+x0hn/CKr7xJG10MfdRzSchumiOPwOCUAiK64Y8oLXRWtZc9ywtkqwc36PT6KmJitx7INUGhsjmQKd0w8euX3SBDbWHjyekvntrRjBIRLsk3ZQpjwxR04eCTnpH9TUFVIp+cAiXI5hbqbA5eF07hQeONMIgc26vQMvnQL+ldSaJnZvMcyosyqcxvi7OGLOYZLamwc8t1eiMx5uYNpTfpHrrf+SuTiPcBlZ2hX8sfiNgsairbGjJp7h268NKEXpNEssp8OC39MCHjdinc8pzdlAjUuplJPCSD8NII+0R+YSbMSleo2crVzz8DgX/DbaZyTsFgzLZBIH/OZKhrEZJoTlCSd97AqYfcYVC3hC5FLTZOG5xQvHo75HMRg0Adhx6GXMb5aLKN1B3LmN8ug7lzG+XQPMNSrBHh9JwusY3W2n6t/vuzCNCy3EYGTzZQm7Ucd1sUygYpue6N3EiXV2KcMohdjJzBf5Sidx+yRGLjjMkTHSx1KPFSHLiVyFSzl7W03YFbc8Id7Za8Wv0GCdmznH1RaeI0PtM45++WSS+/VWoYD6cM/OK0YGTLATizzyYUfQfXE8sr4ivuqEELUrqKSdXFXXXX2mvcATAzJVVORPtRNbvDwlc1KD8Wp6MNlyhC4BLzvuyhx+xef6mHANKtEUI2wGYz8sG4DtvQVEc3DoRjr3b7cn4sEf8eWtfPBsxAvhixLWn0Igf9KhlxDfqYttHtsUhFC+/SId8uhlEjInNkICjl2VIm5r6YLwn0W9LfbT6US1un0JcU/glzLgCBfVOsSG/3qNgbZGEwxy3P3/uBtiZaj0U7iTs2b/GnNdejXwMILei/48llblRbEgwQUhfDwKjfl0b1KMs7HkR3Bb8GR3Gd8xQ4o/Vsvr1SuO2KAEZYUJhcCTqTiOWywOgA7lzG+Ml0XWlB3LmN8ug7lzG+WixoPcFq9bZY+gcbdLaCxH3KwBWo13INmnYpVgjqyMREHgC4S8FkhVTNXt1//erUA57OCPMTHXN3eTYYHMQn+5+KXBX7EdUWL1XmwX86jXebNA4NB3CQoGx157MPHTwaUBkkIsScgLeJLayfAFIPtfmTolHDE68pg4eF9IDG7dAXbWvXNA2vNTPCd4CTRZY7DqzpyRYEkeVhm8e5PNGb+K9qHfXHa/shkpDU/A2Rq5/6eZJf1KPqoW2N8trslv1Mepoeu4dfAhufpUTwJcMbsQqMNtq+kvsElq+2Gt/D8nD9GjDOefkw29UehjbU5myhpgTKujQm0o8HQnjV3TykthzdTPCRAE/VClHIYAZdybwaRGsKssAsxWzGfC+xArcP4dYuILLFvhhnkAxTdhpggYr8NJ3MaVQaQRmDWpusRpags66OCBwC3Mzh/cqDSu7CJaTDuXMaoG7LoutKDuXMb5dB3LmN8tFjQe298gCFoVKx8RXMcfvBsQersBvVpH3wSOsaD489vZve2Io57jciXqqjXFwsoYoieWscXnRnR76UmI0/d71GoIswvl2lLtiX84OqtPHCihSPbACbzPmv3mTtYw+5VOA8qs30/nMJVGE7iFWo08nTU304O7U8F04pJTcMvImKonsErYFEYxSuDI8Xoc/gOFismdIr3rzzuo6yvkv45ee8De/sqv0VzP0VDLnShRsUQZwdxhAMY9DUFhfl2KXgIBLk4AS+lTXZdo0K3nPTWlnDTJHn8lBws+MpMYQXIMb1Al1ieNtn5T5EO3AjpaBRFV82nuhJ+Dy+dHKTcrtGpUNMvd76UobXzeNCxlWGqsFGIELTjj84Endl9KtJx3F4Lcuf2cJII67McpfuOzLRFLlM7Omd30nC6xjdnTO2tXlxyolZajunV4t48caYdy5jfLoO5cxvjJZv0wjzZF67/0TCfee3FVpR3rA8YJAvm/FUjtBvYT7z1j+sMAqdg7BCinyF9Rp6N1DLC2epbqn8ys8PjHiBlM1+soi4EIT6Izz37mypOufnQwM1laAbsog8szpc6unAPFT6I1XkkLRhnZuZawL6w/NPJrFuGnhZpQY9T/+SkOpqoHLiZ2Busn/PZVcOpNPwnFt4hC1ayf84EPGCwYJr86tauBpDK9yrTY2L7t4VFdIZuge2Ivsp4iTyM207MwOITtDZYuYN0v2mSHOyEVWK5UHUQ4i+2F7sjJWHO0PesDxOLEFGaeYEdOIvnXXPpiv+dwq23MgTECGDljEj0NA/R2pzG+XQdy5jfLoO5cQ3RJ440w7lzG+XQdy5jfLoO5cxvmhrumoM+Zg2E+OVJrOdgeYE73Rfn1c8oKX9Yjanp0bn2NRhUSC9LDU0Nhml9S2jMY+0t9tjfMHCO1QvZ4PSaVkc11KCu+q6XaAiVamfgYNhQ3wyL5FaBgKyZDYwqQjWGn39mORME2sUSvTMmMuKblW9RweuOqRWjesA5m0z99kUH44vvsHFSofIsbssC3diBJjU9TEjHPVK7DxcnV1b9Enz+8rpucism/QDC77MQeFiXROSXDdbyl0PMwNN7FLQy5jfGS6LrSg7lzG+XQdy5jfLRY0Hty5jfLoO5cxvl0HcuY3y6DuX4snrPP+n2i/uwdJNoUYqezdawm2dyImHVzUiRxxphzx5CCTTKU1kpSSyUI0/ykUWPC93juPhZ95/SLboLSkNrwhQCXEhi1X9fVdwWEtObb4rT5VxU6OmtDUTbv/mTqI4nvIszXNNbmS9Opw6VVitW7xNFWmXygIInfYqLKM/yfLvVM3Yd+yV8idpQ6otP5x0oO5cQ31F0qGXMb5dB3LmN8ua5nYHcuY3y6DuXMb5dB3LmN8ug7l+LJ6zz2Sr0B1NeFPALP5qx5c+2ShNScxTlCakx+03JzFdD8txcCkY83MOD45NIlpRhijfj+40hEZdhjYO9AE8hebBkh8YVolpuwarNWJ6g/lDGMYZ8+soRNBKzF7Mo5m5g5PKsJJTrsEMIDRaq0ueZdnYKxHvGAdsY0fAxThEcZW+hM2LjtTFR6L+rK8HoO5cxmYIQCLpQdy5jfLoO5cxu97Gf0w7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LiG7rh3ewXxYLP6YdypPL1C53Y0gMCOmnPorxF1QSjZU3uOcLN0VIVfcqQ+ATA+FfvrhbTKZW1FOo/j/fZF5AbuS8lG1tuJGxfGDuVFf6HTx1bEatfnnKgyYbZrJmQXW9Vl5vc0PYqieq4XMAo4zZIfZf6DuXMZmCEAi6UHcuY3y6DuXMbvexn9MO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lzG+XQdy4hu64dy5jfLqQG+XQQEipErT9xkZFmdNKFd4LsBCIVjR4VkwHuK/6x0oHMqlSwJHmgKssicOzvsqbztRCXSg7lxDfUXSoZcxvl0HcuY3y5rmdgdvaj0s6p957cVWlHesDxgkC+b8VSO4ZJhPvPbiqtoUz9jjTDuXMb5dB3LmN8ugiBbx0oO5cxvl0HcuHSqsVq3Y0lwNToN5eLQ7cl7O7ODGmez9JgVxtZMOXQdy5jUdi3EMjy8kFjeqM8cZqyjdQdy5jfLoO5cxvl0EQKO5cVsvV9Jm+Yo9AdTYHLyYT1nn/VXoDp9pFZgwb0MuY3y6DuXMb5dB3LiG7rh3LmN8ug7lzG7sklwqdB6TW1Ul/JEwn3ntxVaUd6s/GCQL5vxVI7hkNToYfo1Z440w54+HHlzG+XQdy5jfLoO5VKjUZ391tyq1sEjh/TDuVWpBEodUZ440sVKjpQdy5jfLoO5cxvl0EQLeOlB3LmN8ug7lw6VVitW7Glb5fbvr64TfiqR3DJMJ957cVWlHesDxgjqE2JvBVcS6DuXMb5c1zb188caYdy5jfLoO5cvRrc7CbL4v6o4XWMJVKrnftiK4t+tMUUDF5Zyg45OzURgpjx+CXcU5BJvaAY/DMysRnFnE6axZ9nEk6z34Zw/3oJuKGoGMOmFQm1tnjYW8WbGlBfkXXRYJaJtavjEjB2dc7J0C1LSuEJqnJ1oWm1Ys89CPf+sTna+/mmtkjIdXjYmFjhM5HKCIbAs/ph3LmN8ug7lzG+Mlq5zG+XQdy5jfLoICRUiVp+4yR62WUtsxph3LmN8ug7lzI41RM22d4WwLP6Ydy4hv2lJ440w7lzG+XQdy5e38u+809chfO1ECaRrgOO2v3jBnXaJwI3SexiTALjpW5IAlTaMnFFlPB0Yt0UqeGBsJVJ5eTAH2t7rFKp3j1dX2H+ZkIAvEZJw7SYxcIc5aJzuzKtZ4FEi91fo4Qsuua4FqECIFx7xQXLSZuhN6Qpar+KqydAgJq2yXUY6kXSg7lzG+XQdy5jfLmuaZcF0oO5cxvl0Hbwu0zaBEs5M5n/Ug6aKXhfbDyRHXxFz0B8mZ5PU5MQnFwJmvjyH0QvdE/Eb9WriHWa57qpawUwJ7P8c0vmK7nF0BMZcDGgbahzBRdKhlzG+WiyjdOvxAxnpHcuY3yLD0piY3y0WNC7TPmc7yH0LS4MJR+h+so0JfozLp1Z9pa68sGmrRyWusddTh+LtPApc3LQFEMRKVpOvR8RyCvS+I8o6dXLjN9l9m8QForDT53/wuxmpLXpYFCYmt4XSRnjjTDuXMb5dB3LmMy/+jLmN8ug7lzG+WfluLgYpvSlu6venaWvLiZvPquS3XfdBDY+Tv0vKlkQc1e5KANJXpHNqy1tBoRrjlhXFRRnckRTkMkr6GMnl3hruYR53JwMpefp9Eb5rSrxrVkurVxKhqNZ8xnIkGaa2FKhA0Gc4kW4SHRVDtl0glQha9++4JcqKG8F1kOqM8caVc29eoh67s8dCxS+Q8UkGfoyKbVMIYaKGCEohmnfeMoXEyn9iFvFeBz4jq2VuYlDcPZ0Gs9+lzuqYDamorH5T6d9KROOaHL1plmwIgUoQW+U3a0wsq9eulwC54Bzq0cXsPz9CNmPmp+WpQ7jTDuXMb5dB3LmN8ugiBbx0oO5cxvl0HcuHSqsVq3Yor71fr0treU5Y1/2zejaY/9syCZd/coQzI3q0tDXqNOtF9EqXr8nndisn5JM/Hi4wVwuzz0nPwI2mMTC9SaHEGPohRHUQHfEQpLchXLMWrg7yC9VYp6yixY6cRd6a65BIAjDupqA7ewojVSO6VI03RnSI79JzcbhLSTJYKQGJtjjFCJ89pRwpEUB+E/OSe9Q4d2MfDO6HNyKxmI8bkhejEzKB13supZ7leC4FWmy+3FpjZMBXxEJs10b0rze/ZTdlFiRRN2f2bieGBZOU1JnIMrsMVIxMo7/v7Ym0kfWo4VVPipxUHC1NwNuGvaTSJIiXSgoZx+2oCwPGCQL5vxVI7hkmE+89uKrSjvWB4wSBa5IiJFSoZcxvl0HcuY3y6DuVSpjTDuXMb5dB3LmMt0jvkdj1tqrK/TfDDWiuC927l0Ay4DiUxOBUFcxyEByFJGd49uU+/Gh8ynBMgPrgNy2F0zLtpJju6FV3VGD5IUW3UYFxxnlS618g7sVQw94z9+0I7z154Vg7xEXcg+WSJjMUCPe645lECImkcraFr9WgzNaURrNfxBS7fliqXrdO2Q+bcfWmMK1RpnG0n9ESdhDD4n9aod3XeppwaVIpCTSrmmXBdKDuXMb5dB3LmN8ug7lzG+XQdy5jfLoO5cxvl0HbumyqlImN8ug7lzG+XQQEnXjDq3Pmqm73ec80a78kmpYu0tt2WvudNcSE6wltDldFIcS4RnnsMKWyGlyPAbdQV6cxvYC+1HQP7voh5GGwLP9JCIWs9uy9KKFrpRugcPf5aw0CG6LYl8pgb5dB3LmN8ug7lzG+XQdy5jfLlQ/oPlWBy8mE9Z5+D+JjfLmm4OzH/nQd2lB3LmN8ug7lxqF5CZyp7As35qaUQqSWi/VlpqxMzYkmFED7sfF+XnjiV8naEeLJ2rPM/OriJBMJZEIbcyEBX4eVO94YKHk0BTEyt33s3ws8/CLzqcfhSYBkc+T8TuQBa8jNwcgZpcCg8v9Y1pi9RgR3LmN8ugiBznQc+A8qSM5WR1xdFCZM4neGAO4OpCF8j+zwK56W1RAJzaUN+F/RKrCMRZHZPRptdlxbYV5VwXSa5plwXSg7lzG+XQdy5jfLoO5cxvmOkjPGfQi3RmyHVGoulQy5jKVebxsaULzdB3LmN8ug7lQYG0tMuOeUya3NjdMHG0C6abjLVcTYpMoZCbi6ENEld2kwOJ+7SgOUWN6gXTt9M5YmL1+mBREHJ2GiYiKpgj8NT17A3z3/Y+j2JjCVGFDSKFgEMIZLPbl9yfTgPl73tAi5v3NH9y5jfLoOePbbG8dHhnk5W7WahAgrPOZ4MMnW8EB44YOIc73eUqg6YQYycdWpRac3dg83LRoZzM1z/7yj5rghKIyfrPfiaA2oKfnvIGuqMzX/0Zcxvl0HcuY3y6DuXMb5dB3Lm19B3KzxjwAPM+0/ph/Is/ph3A2Glrilqge1F20m1H8AWZQ50aIMcydqXF2OZK82Gld/PeV4hrhT5qgHi0K63up5MJe+GHH8tdR8g9bMP9ALcC4cJzGSLZefsSfpTsE9bUI/lgU3y6DuXL5TuNRmdOZYA8jWngePJT5Zd9wIluXD6QO3j36ioz85qNa476661yGCgs/R5KSrI8gXOVtaSbAznaTTDt6csjTCQOuj4mNxHEpR3rA8YJAvm/FUjuGSYT7z24o0tTB5jDxDl3O5cyFIO5cVOP+DjlUoseJph3tIulB3LrwG68yEhu1Li7HMnalxdjmTtS4uxyFyxFQ/w7lzAitWCTHqPQHU2ByRH4VZ59uK5lB3LmN8ugiBznQdy9npuIb1bZePtnDxxpVzTLgt98uYhB7cuY3y6DuXMb5a12ozxzNGXMZbuKh+AERCHqJFJ440++AWf0w7lzG+XQdy5jfLoO5cxvl0HcuY3y6DuXMb5dB3LmN8ug7lUquD5dB3LmN8ug7lzG+Mlq5zGiF0WfzIDimH10s6hc7TcZg1Er6TaKX+jiwbURHS0a8ApiD1pBtX6Xs732d+mWqCfHEo+TybdfRzJr6RHK1goO5c2voO32M1jJW4BZDQ3/DS2yboXd5bnwXjPrLR1Dvffoe5cxvi6/6fS8Z2d6xjdnTO76ThdYxuzpnd9JwusY3Z0zt8rU/eUI5zG+XQdy5jfLoO5cxvl0HcuY3y6DuXEN+tCRnjjTDuXMb5dB3Kgnyix/k3R1RwusYSqVXPjP6W3wZ4lVaS6TVXE8n46tOoGe91NK//TjMnBlhhP3cQEyudLT398onipdxlh7Ja/E5v6A2Hkhv4YOUYro9OtFyBdTcUdT3HejLp9oqV39sXwu0SOqnDuujvoO5d9G4nuUw9CZqi2TRVEApxuNMePPAo700rC7Fq8BrslzFdOkHhKTDk9RhcFWcMu40w7eNuAFOO/KQcsZP3KHPdBYxAhg5hdPGaxlWf/dKgkZ440w7lzA9FvxDKiDmepzXRs6VETz4WyKn46teIr5dDbjTDuXMb5dB3KpVpaGXMb5dB3LmN8ug7ena1Rfmw7Fieuehl7BAD5GqkTd8469VpVHc0nrjKMsoYS5a3vBrqRO0/n6rqN4nCmJSLCjw8PJKDVdIoxblrjqmSnGO859/Rj/S9ZwV8uruWTWdaYzfYLNGWZx3gsQRad9B3Lvo1pgwVHp3aGVyVJ0k/VvrqeYCZFPrB0zb04HVQ0xrKP6sIDYLcZs1Nmq2OW6+pX5qPdujgkjPHDxhAwUUBvl0HcuY3y6Dt6csjTDuXMb5dB9WdHfRGHhHlhxU5fIM6YbyCiE9W0AeEc1OwdYL05i8e4ukQpSo0AEPquy68spE+XQdy5jfLoO3p0Cm+XQdy5jfLoO5cxu97v6VAJDE3SfX4aGnjklDD7Bji8EmUp6ERqp16a8Vd/NpTsPUxvl13vjIa4k7nK//Vs6f1zJb8CjMK5oWgHALLhdb+baieBY8qyjGUHI2z6XQdyqVZVxXMtDnBdKDuVZY4bOAKDuVGrkyRsY3y6DuXMbymENAcb38ZJsJ/u+4rawsSNY37WJHU4KpqV3BF1dh+5cxvl0HcuY3e98MCz+mHcuY3y6DuXMZmCB4BVobw1ZVaUd6wPGCP9pr7XI7hkmE+8VOKRQI8caY7a/pRJU/62miLr0+yYXRHxm4JDUMT74eio4WI52xdjmTtS25THPSIJrDSeLMkBmndrm4oZn9y4owDKvqHxYFffxvx37S1V5dtTDpzM8U2ZEfJ+YN9yBKEVZuhvAKkcUTl8mNSRn62T4TQzlW2l/ElkeoLMa1x4+wQNvN/Rnx3sDufE9zZe8F1BeZdcGOm923Buo0QY5k7UuLscydqXF2OZOm7iiTInalxdhkTtS4uxzJ2pcXY5k7UuLscydqXFzyGaObTdUmATIIsHYU6gU1D+ALMoc6NEGOZO1Li7HMnaZB5iwVTecO/NYhRWBEj5VgcvJhPWef9VeDcaYd7SJfNab91nXyZ13B0PQsEqMBBIZVcE3BHwH/QfPkMCrr5I2tq60gkVSRZJUkZcJSNOF1jG7Omds72Fei9xnc8mDdEnecKka+g2+ZhbH3/4csVGIOObvdx3LNUbb8lU2iKueAeVz434A9MwotFDWw1W3rSE6uMdxPaAF9QU1zfTkGfLU4OOoR/HgloLfBt5w2PRjH6CSoW5Kwbuw+azabv5yAnKRzGszyWHKrdm930nC6xjdnTO76ThdYxuzpnd9JwusY3Z0zu+k4XWMbs6Z3fScLrGN2dM7vpOF1jG7Okbspke5U48jMmi3iymH/He4V3iXNhVB8w0BZ39198vhxhH6KXuZHm7y6UHcumQ6ozxxph3LmN8ug7lza9hWr/XR87Yx/gKWbe/X4DVET6byNBU3mB6bTMhRpf96u4YJOtnZ+cqy2Yqf7bJzYw9P9pPHGxxOabGQ7OsbkIpZvMWAIRZ5k6kTKg4Bdu6mc6Dxwwyb9tXiruzWYwK50Xb2dRjzAtnSs84V8XfMFH5vhSzk4KgWrzySBMYO2Vpnnz7NW+aQOcitVBP93/m/7P/G/0/99/nf7f/J/1v+F/o/7n/L/1/+J/p/77/O/wJUxEnlYGC+Hl5kdV0iCA7psCgZ+s7HtPDWb+LwrrV6LjJf3Lt5vWqFrLxdTgImdYqgOB0ZBIPwss+xflOZ9U7sHiXIAdy5pOqGXMb5dB3LmN8ug7lzIUbvNTSqwZ7dpvJkT/+f6Zl+UKLZk8mGoA0ReuGWh3r5YoIKbQENhazt58QN09VtN3GmHbvSqlU9mGtUth3AXk9mAh67FiI1RMb5dB3LmN8ug7lzG+XQdy5jfLoO5kjsWX10BkEkq+NseBMF1B4kTDxiVs62Ix9wLmeV49qgCrcpuONlGHJRhTnKYKBnUZ7WwB93qhJ1FqXlN+gFcA7Z7kHPTChwrvRxgghboPkN+tCRnjjTDuXMb5dB3LmN8ug7lza+id/VH5y9JmQyjPgwfkT+mHbxOLziyT/dNfuXMb5dB3LmNIgxqCVHYVc7Q9+AWf0w7lzG+XQdy5jfLoO5cxvloseRJaWs0laoJiRe1l3k04pXPjVStLZ9bJiqUdYJIcf3VRG9dW27CKrMZJ3bLKqh+fmR/uXEz09mDCIjgPXOyY4klb9ZMXTbi4UcIqk9Mvne1QUdG+3KuF9/c88L5vxVI7hkmE+89uKrSjvWB4wR30OYYcjAiYvwQSM8Ns62/kwnrPP9W/C63UDePnKhlzI4Pn8XJOXs6Z3fScLrGN2dM7vpOF1jG7Omd30nC6fsKgaTAvYHn+g7lzG+XQdy5jfLoO5cxvl0HcuXymb71KODWKPdwJjsMQGEzUxkNyYv4b60mTxHSl6UEwLir1zTJ6zz/qr0BuqO1h2OXkwm4DdRbljPHGmHcuY3y6DuXMb5dB3LmN8ug7lzG+XQeDR4OX3SoZcxvl0HcuY3y6DuXMb5dB3Ll8pgBsREjXaR6W4f6iDd9AZ86820ZibJ2gpvLCvy1TEYxUIvZWXT6CDrcoc4wisvuzwfLlUpn1hbJE8u3XVw73O4GtnemFhEl10d6UHMVnrp/oiy93tD52jmkWNRZXA7/IytxwYwGDRnJ10Z1FqUisicX6kLraaU783XAvFWVynMb5c2zRoNvVtiqbLNcqW5zIiXeEkcH7arEbv+rkjCXY1bWTMt2SzPClquKhWpw4+NdZK9GT/3wVYdUZ440w7lzG+XQdy5jfLoO5cxvBDD6DzsAguMEgXzfiqR3DJMJ957cT71vry4Vn9MO5cvlM33qUboIQ0UI9dZ1KAf0mYmAIgeQtapGd/8QqqDujGywUbSs0geAkBFklaJuHhIgL1mb521wUKAZtZmZ1E5iGzu+k4XSuzw8kv/xep7gNnpw0XDQBfTnlfXnaugfyYxWwYKmcFinywhwOaajZ8hLz7y2H7VoUw+cWG6c8oJ28sWLMHIuYt+jp+59fB2EsxbW9SGMh+c1Z/yiYoImxyP+P/jjTDuVio6QGfIeux72ZidTCl5ZHvSryG0kDD2Jt3v7ZwVWm0uO0lDeiJaEvvdP5CVtKgSPqKcsO/7dr62Kr6nSlkux2dTWfTEVUsbURdHl0oO5cxvl0HcuY3y6DuXMb5dB2/ck2cgMuY3y6DuXMjuFWuO0kw7lzG+Mlqy51l4aXpQQPc/azLPUZzMKFGEPpW0Zq+74eJxC2zySG+NUJ9zvSKMxhpZVxS8SMSGfFV3sv1kceV4neeO+9hw0zIbBOFJSoTfjAF7NA0QRk2+DeDETBdQ3uQ1lkQofVVKxODfTkySoOkjqAjtvDTjhDvcw4nGUKhLMgF7I5yBPV76ccFfMONPNTs8caV0Th5dwszPXeCkOw/LXEHSsP+iwMmBDrgmSoYRnnHd++HgcAxhw0nMdxwGMArC3HvWrCpCBjqjRzMC03miEfJ8o41tRglP75ZGmHcuY3y6DuXMb5dB3LmN8ug7fEzEKlR0Sw7DpWo5UpdNGsjbN5koB0AFyPlIzWCg7lzG+W3ZO9CJr99WOq1o5qah/AFdy1OUKDDH7TcnRLmTtM2E5b9j+JmBU3O+lewx+hu/Vsw4qWuo+Qetl5+xJ9rDs4N4tS2+2k9fMFUnZ440wl2gUD/kbX0ZESH3ynFJp0AXK+H4q7nzml82VsEiYbASjX4IM5XJ0frae33dkfKG9NFnWg00so5Dqip9527A8ED7rdm930nC6xjdnTO76ThdYxuzpnd9JwusY3Z0zu+gF6+2C17qGNQVRmnYBXGilexzLuCeA5Xv2qu+KbO7LU1tZQAOqDiJvSdmcS5UI5d1ek7EjG7CVwdmFvEkPfJleT51i8J2MOBekKXNIiCCvfuV2dM7vpOF1jD7kCOLw1ZlzQELtD8QWith38wlTvcGqf4xnGT9yhz3QWMQIZJ29OWRph0XDNftxVaUd6wPGCQL5vxVI7hkmE+88Qk1Qy5jfHCJ7dc49OcTM4BLv9ZGc6AOmEqbRfpll4bPD75GcjIHETWKKbqq0sUeNXrUAosz1YumHcr32AkFQvSJEPuFbIdUVFhJJiwTXjlOkCU/XqWbv4tUnRWUcyR2FbNEJ0yX/3FHoDp/BkzIQ4q9h5+N+vspMMP9IQpX6moGZ6PuYBe/8/qrLiAn7XjQUm3bBkR334c2/EnTXO06TN5lSeF5wDLMo1fw1bZjU7hQcC4ddpO/vmbWRgStqX9uGw/CjLGjfiTqOPm/FUjuGSYT7z24qtKO9coKV/NWNB7cueyes8/6q9AdTYHLyYT1nGhlzG+NrQc/IVGZvb8cM32gPlp9lA3ktIIXERedErq++QIMYUk0Jw9XnDPatxJ25KY/688MV0Pqv7raB7azxIsloSMy3Npw4gyRHLYOGe5tl/c/sj8KPIGnnDv1R6FHCVT4izBSyQ4nb3HUP75MX9jhXvHgvCkmMIND7x1VaCgHg1ouHCeCLQMgRlAozwE3SUDXPwSsDrEhlUNIeLYEbFi5pmQzxtZBakLHZVWmBjJF1WE/zY8gllzaKYM/07NBxr6XQReLK99+xvpcsF0R0SgDehjOcwZV/04i8lmW5PfJQlYy8hG7f1idTFHzoxVRqOtCRnjjTDuXMb5dB3LmN8ug7lxSHZE0DhqhYW2jMBEIItcbBycEfKX+HGIWOH0zHQhjMLqpSwDipd13empuLGiOFw7lUq0s/UDLqhGZj9iMSHNmn3VSKmK5DHxWGUb8R9541KSiBYp97YbTQIabDqsgAcMWcRSyFhVjDdbLJ/knsiGhOhmdoX+ChBzPKHGfXZfXMXQzkyR/OXrU9YwJ99jx5njvRAyX8NuJ6eMEgXzfiqR3DJMJ957Z7dMEAk9PbLmN3valdm9lxiLWw4vFgfVB6oZxEZJTjI2yBx4o2P9HRIykjQlsI2fHUTTn/x9jjytpfY0yNFrNyAwRdxKjdhIKOWSizY3y6DuXMb5dB3LmN8ug7lzG8NBxk/52u0e+o6KNcGkIHxuSpkaISNdEx/XQTCbXsAEabeRWrwKQPnFFYA4Osi75Uzu+k4XSn9lkT68qaC/64UigL3/TDqZI3u98iLWtTlwLKV49QdFHQ97+NK2/SSF7dQWS2DG605TzPGdNWzvp8J0OCOs3AkRNl8PrgDq2qtF6KCYK0OqYe6v/nkciJAI1u6EqGXMb5dB3LmN9LlgulQy5jMv/fE8TNrLgErc/ZFSkd/hVz8oYjOG7G/iqOmquU5rz0sRYDh8lX1Yu9zLbtRs1thItHgQeDcOKgn0XcPNX2KAiEslFHLXTKQrk9bDF02Zb09x0GVoY6jA+1QUcsjTDuXMb5dB3LmN8ug7lzG+XQdysZ7zObPEozwxKYas/b0OHTR1o3W0YfMT0DE/LVUHHXTfoeHy54SRn2Uq6aM3u+k4XS3yLf2UanjJg9nx8WRURvojERTvc9Q1FOr2CprnnMXQJ1C3ift6Tm+XQdy5jfLoO5cxvl0HcuIbuldRJ1EnBU3G5MwlbsIQRCy5bY81JBtlRyXYTN79qnnVdknJ9w+7U/o/+jnE687AoIwuVaKUrNXdK9I/DcN15pnkiBWQSMkkinTmsLbxJ9FtkIf8x7IrsJhyb2qCjlkaYdy5jfLoO5cxvl0HcuY3y6DuVlU2HIror1LnwIjZgFlmcBegtVhX7FT9v/jRYYA69kQ2m4fEFTJaRsdjnaVzepBFiCp752gvaYInqPVD/vnjjSoJdGOA97VC6AayTPVgLf6cPCYeTcPLoHMFDy9GoihNACXL9njHmw4TBo4flgq4WR/WsCPAjra6aUzIuLjRE0e7gpIi9UAt82UZm+L+Al0Y4+Wr1sdkPallc0jQm/FUjuGSYT7z24qtKOsvElXl62LaTNsb5dB3KpUxJBNswNxdgqPew0jJnjKIk+hk/xQexYJ6VMaYdy5jfLoO5cxvl0HcuY3y6DuXFLAsKRe+KO8FPf3Am05Mv4O/wRX2YrqbFObfKW7h25A3pNq28GYCaALYpljz9AukjrNB7bY3xkjW1p0SAyCkB/OIVur1mjwfJmqbCxpl1aGrZLA+X5zEKTA8b1XcFmESBVvVz7tL0/cqx8NdvEmRyaOUtHeJblqdnjh9jx5njyGnkXyCyO5cxvl0HcuX4ts4Ts8caYdvTliffEke6P3sP61AimiMGHjOu8+8HG/bOQSaC2eHfxVCrJzyvodiode7YsK9boPkN3XDuXMb5dB3LmN8ug7lzG+XQdy5fqBrL8ct+gfmZ78OYmGGzU0OBWePqIhWBEFZgDhgph0vd7kgZ/UaL0c+sw2BNMpdJqk5oOHoEVpkcXJKLd6iGKi7MjQ6xxhNXMTzKp3ANsu4ub/ewRT12jvlzA4BrlX2kGq0HOTpls6bT0rwEaao0myU2yDZSI9tY6I/EorJi3JVJXyhntBT4WEN64yHqmJ/qWKSLRlzG+XQP8oMATslFo4360szbUnmop7I7NY7B66Z6cqtEi1mOgxDHbcaXwhRfx977rLo5nQ8mnhgRn8X9xAKLdxhzR0k0GrHlLunG4EC5CyFt6Ci9XHE2xTolHHj/3rKbfQdy5jfLoO5cxvl0HcuY3y6DuXL+s+ifErhsNtUxYzNeWW4s5wlM6zRMb35wkrjmr9NwD296YwBu66/bUFZDfqMe4/dnRpkgF7YD+V1F2N8XngbU3xmC7Omd30nC6vldmbKP6RbR3ypjNndwoto8Y3Z0zu+gEj/1JLUXXQ4OixpYXxhUoTzfqENUYfdvsPhUjUKiKU7qwYhtGOlexpmEDTvxMVB8c0Z2G6hIujujJcchYNErDplKWzvMTYCpDaH5gPkMsllCewwPU/9FtNH9+kSLf173LG7Omd30nC6xjdnTO2w2hmq/+M4FvsOjeBc2U9VfWkAR4RPc+CJiq7wxiB5iip+54ehslsjNSdHOwZwgi2diOSAdZwVj9tDy8dtys/nyoxe4BbWW24iX89u1VKdX2ZeVrfgiJ8VeG0565JmImPoYRZxph3LmN8ug7lzG+XQdy5jfLoOhgz1vt+ndV8CKGqgIQPcjoSYpEFA79tpPuc26Qo7Ph2h+GT2RBa/wylxl3mSKstBOqkm8Wf0yd/gFn9MO5cxvl0HcuaVli3PSZwlOk9w1t1qVy5eGTlU8XDn6CrJpzyVA2Y62Px3PM3mVUTarvDrePov9X9i3auxweL3K8sEPPL/TjjJj+oJUqwOXkwnrCwUmYrHqC+dvHByZdgEt0jLb7RQbPaDuWpykBBQZctXRCakyJj3eF3ufbOgZMgS64upKZYkOqM8caYdy5jfLoO5cxvl0HcrF1B28CCUkHbKYvnsvDudpQctA7WxkxSevZDRLs7wylQsYg7L+Zj4FY23S1dA5HYV4d013QLzjxME5ph3LmN8ug7lzG+XQdy5jfLoO5WGa+ofPN5+JMYpx6VAN3B17xf9uDOmLtKhWoO5cxvl02h6fz6OWmcFPJfqNpRxS7nR3AWYVuC3RWo1DHfpAaMb5dB3LmN8ug7lzG+XQdy5jfLVPOUVoAbBmHczPCxvP4IMBs8RORZAbk5IxlzUfoOFflBKjjTDuXMb5dB3LmN8ug7lzG+XQdvmnSAaAPiqQzhJMJ7apyVWlHerN7NnUiaYdy5jfNLgbZlqQ1UttuLTnTEC2dM7vpOF1jG7Omd30nC6xjdnTO76Tfe30LAyn8Tf7WbDqjPHGmHcuY3y6DuXMb5dB3LmN8ug96/pTtuXXT/yWgeHty5jfLoO5cxvl0HcuY3y6DuXMcviJ/1Vz5/TDuXMb5dB3LmN8uiw6GNWMqqKqqKqqKvGQNVveNsb5dB3LmN8ug7lzG+XQdy5jfLmgAAP7/DxLIAAAAAAAAAAs8AAAAAAAAAAAAClYguCC5cO1kp2mVzlRDAfT0EZGhPSMay6wyZen07YCu82cL+GRvG8JMTXeei0qT19SevqT19SevqT19SevqT0d9J5eqHINEPv460lBO6x3xmT5XsJ3wVRHxeVOnb1U1jpfMt50CfePzdFCAdszTZ4sKi9EBTIYwnjchxHIWNEvpAJGYs2OnD0l5VVO2rSArV/8UUpNWLcpco/////////////////89N1YPaHpxe/B9ev4bhGJNbfWNAgu9AccxKbh3QAAABct25O/BUikHrXADWldD2yLhUfMdILN8fhXwaw0vAI2xhsipZ08QAAAE5+lKALxNnKloYoksur72n3cQK0LSVRPK8+ACihiWMn+wL85CHbS8AAbQw223+Scstm7cnfmCcZBBQgAmIBrkBDHWnAf99Qww30Fll2tN14SuVGGzLDlcWQmn/TtbwAABRVpT04LBQFBD6PSTGIM4pfPC1BDEJKgAAABDypsXARRmBtlS1ouUD8k7V6VpS4lU4A854jhIAQtYxiyvleE5rb4Rvc0Qq10IEuz72gLsMJLCHuVtWXGYn2NOSq9kbUX9tQViOadCEDXn7LFwVomhnJL4nd5gHPK+E6WfH8eDDV/JphAxscntyWmremWbra7SdNQqTwlhFM/ylnwuvFHxTMgcacExWrO+egCiY/6YEDU89P5CqIeP2Gn0KQGFqxP2eVtPiJ43d/ZYrsVH3gAKHXdMoozuyqN1JmGU4HAixKA0nAAAAMog27zWemrlJCuHD2Mi1GqMDmYcAiro1hBQ3ryyBcTiD5PcmhItpZRLmmj44/z4eOzU9A0gjumxdes3iR/F032lIlC8RfaJVw2po/MQy8njw0KorrgNqQJEPolLGg0hifk+bZcCl+kLbyhUBGM2piBBojiN1RO5o7IssOT0JP5gdd7IW1BfSw9uNKui8QlTbUoosMXpNU+L+s+vPiCgRmKOC+yQAikHgjDQJjGd0nWG6QjSrcKvWSg7n9a+KCgIeJNB5WK69YwdjWyQfLCP8cLFj6MOdbUODx5TZQAp5jsUBt8/cl9jZJdnQi6PCmpRGT6Zwfc1vFf7pBRv3KUINxEBuqcac6YfLLCFghZI9i3MxAbjGIn9CYXQQFDrAg7lmI9NB1I4SdEAAMLkJjb4U5Mf6MqYQoH6NDeAAABnoL/dsdQogRal6qCGNtGBt8cx2ZmMtiKxI176OU78h/wy2XERuhC1YFULDeSM6fua45apKwMJqX7zqUGPtIi3TApPsBSJobgHqzDWOY/GWeB9+mp2HQDeTnFxYwgLZjDuEzJzyq0z0L+0mOiHuN+gw9RhhEsKn4EURUoJLKdv7dGyGBA3wJQfnVmkhyBV0XKriQSF7YavSah4EEEyD1BKqLo+RclBgK6Gl27QKrgDyuUK9c5h59KqIi29GKbpdKAKu7UZPtarnD8W7xAQAAACYKDymjQ8ai4+f2Jmfodlwb1NwNRw0DkqjBl9FYKBRQiS1E/tcIy+0fbaluLjvjnrfWDfbGsqv//Pr5jlZpahimlsDN7LvGFynmWcH/WNqVzpcd0BNAAFBhde2qag593YeWbDP+X7ak2BbTi57XtBoKbubjduOdXbjnV2451PprAqs8SsRkqWN42gvvWSoE1mbBjGeEx667E4/4P+hv7J/bJrjPUoLQg4jBSHGuDd6kFlHrxLrFDwXns+YVhUAAABUFDgeqA8OagYANvG3ZAyydSndaD2EMRSS86Y6NLMzB4gtyMFhfrSVB5wcHJA1QOtaOJkWnJTb7iC7YbN2epER1bm7zPtM1R5rQEiKIZBmAP2Lq6YaJtmTJDX1/CEdWt8ffvwvMvsCH34hrwAAAAACl4ESJ/uUGmXEmed6QZHM38tCclCPYb5myV0EPoW2pXdjddMuC0E0jyLXjTERiAxQx4RmleWGctzCRDY+qAXccpvsjJvJ0moyAOHhi51wYkQ83JPHFurq2YMx4j/Er/lzHp1zYfmzo+k1QKJTGlHw1pGrtpD/eKwGrRVr9SE1Fa8O1Hw1EO+JHFvZ8/28wKLopb06ETwMPu/fPVwLqk8nNWtjnVbNrhfKIr+AV35BVMFtEJrThVBAAG8YAAAAAAAdD1QcHgmOlp4Vk3dqeRufGQn9cXdQ+3i9hOy/1KPTYzlU7qoVZMsHrVyqcKUdHEyXw0Ctnae2PpApbcWFn7Lbor81HPxuOG4sxDPOsije7SzFxoZNTY9hHrq4lkqNfMI54JKETN/XcdZCE8QOTbYfSGdyCQjaZDclwMLktAAAAAAAAEEJ/kqzNnoDSajPexxcEnhnFeEHuIfJo9YtlYTEdEYoM3PUEYIHNC8sGhGZtN49tLwa7riLHAAAAAAAMLJstwZudzGQPT1KfvsJufEFM9CQAAAAAAAAAIcT/JVM0DGrIhbn3CpTYfOew2JMbM5/XX1K3UGBtiqRw39i1RA9eI0cAAAAAAAwsmw4jXaHUBIW563NSkYaa7MfYrHgLNljalDV7UAAByvInAureg7gSlnnoMgcIoAGJMRgNkmq0AAFjk2W4M3O5k4rdlMbxyX1d8bnIYoE2ksqIouppq+jmJTejDvvvFvGs/m1NX0csLIhIGuYANpxSgDgBm6yAAALHJsOIPzPbLEsVunQJSw6gDEX2/lZ8T0iJNEEPU0G1sPo4118tZas9QMTMXCn2NN4ftRvm0GadfTg8wP18vA7TJJJR8xDhakXbF1HsarcugL7zuvAn5O2FIP72moW92VXa4GqQ0Nd8hsQxE2VbU3+HtZO8hc0hFEmevIRzjAn568Kzftco6nSFshNER9hUWJThvumaPeLfesnbpLyPkpH4/G+QGbPB8F34BGqNm7UMt9vMdjusliuWxysktXIERmFlWHBt+TY66/FB8bOykg/bdQu8m16scHP/yS0mMhwBMi0EYglU6kns/8V/pWmuESqrlIzoYg8t0/qid+628JRTxRoZsfh1sxG/cwFOHfnpCdJjlhoqmK0HbwCIvVTABcG0AABeirRMKyi58EptiN6sv2rpigkGpYyDdwp5PYUf5aMH/n/bqbVpvzZvLQPhhn0uNdY7RCYRjfH1CMJuauT9XNQl+oNmu77lU7P6YFSaOYgJEHaJKsD+Fi6IINNyZcUWmJ6bV2mMA4cnSvlxHyVX1uHoqqcOVGjMX6J3uMIsiWHF6H9b0dErDSigpYuK4Q9MX91XCtMcBwLcFJ64vnoY4BXVAy1XPRqF/7rhMuIWD7qcHKwlki7q1weQn23D3IsQb+P77eLK/cOKNtlorFvsufZ3pBiWAQfULaRTIu+ZUSV7i8CvBzJI1drn2xLJD3gIPz1yAX/9dL+rDuvGBWgZ/CRvrAD4hgQ5KXc0CO3XQu3Ew/qBRWZMXPhUAGnrk4HKOwxP8lWZs7udbdRwbISajKoyNRa0uIJEuq9QaOluQPjp22xjhFJIwa3/6vYcNR5GRaoLdleCReIo64O1J67OcTZ5jspR76eaE60qYV2MNSFgnM1JWOxEZHz+MYTdylqCxFgXy3fxvOX4e5f3x1x9GorQ5uQngzoeqw7gUylLO5H9EH6AG8aGEuEZcnzrKQZaq8ANW/qARedAf+pbmvLxaQxiJ35WsE0jmBHdi+AladybLs4FsNS0fO18aZvOkntzyMoxRD7E6KQra7Ef0Nq6wqmqs/yNoWVu+iw6oqSZDBYwC9G/m0YCPBvfCteGhk7DE9ToDRGd/EaC+0Wv6GFuZwZThrcE98C14FrwDAuTdsqKl0w3niws2oL85esY3wh8cy/OstzPD/sTMrghrXXEmzuL+LumR5fIotWCg7Lg8cr+AMeq5v68/Hq8U+1YMSM/WxtfaIe0o8Q6sNLvU52Mw3nnRf5BO8mLsuavxHPrXCrlUNxqcjQzmdI1BiRg8SGwxEV45MfJ+Mt/11a2nqIN2zvkNrkRJ7Rj0GiofKVeWsWC9yRYPaLRIRoJYQzBWYDNp0i6p6ZQzluEzUth738Uj3uETtr2e8sqUtADjWa5rP3DXKfJ9KR/aqDKQyooVio5I+FufVdvfO/2dQjCFSKxrC4xSdCIrmDpruM7m/THAdJ/HVdK39JuVeEvgEQDsG7BvuZlrSeim5SqDCOHW2OfO6GQXqgiIzgazyhMK3/B4Q1Nr2j0nPnxFZY8769/+pxIdlwiwjq888CG0Ybprt6t5NSQlnISD54kKhTj3K4UPML380dbuPok5CkgFIX0rmSM999okq0Q7XNqrFYX7afSZpuMZZUxmBJmS1/e2IP1En++hnUwgtUFDqpOkSNqeqYBW0rgMhkP21+8AEYBnInAzfnXllTtxawoVT/FleiW3uq1gRjfux15thuC8K7VMZBN9GSc0njefn0ItxNWk6Wu2K5gwXyAmbSfV+onkTVrcvNOmDoTX2PJSN2E1oVxODt+OCS7hpck/bpZlFefLjn2EbDcoxkuuyHuefXwq1JA0rUdUwgvLTUW0IaLcnPehjZMevrLVnUvX4YPfYkLycj81Q905L6dM+tdj1yM/n2iOqILMECCbgot/C3HfGaaemyM1vqVumZNw7jxqs4kPWIjdPygnie4RIBytbIVDve9ZYDj8l2Dn1HK4IpKE/YenrxGwz3fsGucMNTZ7uFEccd1KhXxrEQ8x0KvrEVrE14O/VBAxijwnG0x9ZF6Cl7JxJLRB0WNvQeVzJLhQXMOgOQYdefnhcl81il3aE+fWFv7/I6gAR5x0vYMK/oB5gjZA6isagf5oApZfo/mpqQZKn7w5xiTJWbui0sMXEECKpOTZbgzc7lgATlqOHEDvtRrMPgCVDeowAAABQ/a2sqQprXxj6Sk1WdlYE8BulYhqsbVTF8SUcOEdrH9CrEvk09H/Qp5w7MJgrugDeq5ZqlWfKpcPkwJaM3OubgI1++mkh9WB00JuNdXK1M8mgVoaxm4CVEL6qTeFjsXSrTlsOqKBs9/4CP7EGOw1uYRhqbgQnkhNRSwxor+MpVOf5DSOfPZYy/3DI/goE84bbp7XP6pWe6cyqzkshZd1gdilLQVybjNOEiaZpOKpJf5PjzyNIzVpNzwypTBeOA++D837ITjiVBUA0prqQ2VULrzQPbEsCDFfTAqI4VB1MN3Pr2BEztMl+9kpM4vZAuJ7DbChTKxVtNROiLLRHgLC5lvvcx786tzu/vXt+U2sIw7zFDYroi1KGcsVq6Y/bNWTLWoVKXL1nVIGWnJW5pE1M/UtvY1BMl6egUhMWiTFML0ALx82UOiFd34hBwHyEZfirV5aBHEqaUcNAgb0RORJyLuy8kEf2T3Fz0sBX2upmxFQqIeIVdy/n8aukxr6qrtyHPFVCjtNJ080qI28Pvw1XIsuJwYFy/nnjGrYoPSAKUNPWUQQWn1QMLJ3nU6AEk1E3B4yt9pcENTb43zBX6vvThR0F3sXIqDPpT2jPeneTZRrM9gwA0MHhSxvWZf7HrwCWWe1nH+f3CbPGgegGxSyVC34XEDkt6Sg/kH4wCk0lN3Gckmca6mdHbM2LpbHu2u90miFrnF9vJz3nLC3NuLIr3wa4JVvm6UgX3K5ixL4ufnRzjZj1roFyMh3r17A6AzL0t8IXLoTSrf/6Bm9D/QDW326jty/+W5Mcanpl8aP/hm81USy57Uuj4nyhsEUZcM/8LypW4gOCdWtVclXJfbz8Z6R0QUuWZZrF2Bt2m6zVkbwzBuuHZAOJR7uy8VjTgTpeScSA76Se/8ntfza83ypu+eem4FIxqc2OwFMOXpkUNXeMagzswneydAlyRPSSA6w0V2hoUHwjjfMXyQII8gnZZEzhCYH7HAA5aMTK3x4bgABvmph3bxIv8pkLCwvo1bLttFsHH5qnbTGF7H1kwsm8EVlP36q3n9ceZFSJ+/O+SrmNQtXxPjT1DBqBj4zX5vDdlFRT9jPYWVoXCzQ9NK7Q9KVMLzdcfSKBUHXl9FTiixVPLSSGTHCFEm6E+vhCxxWSXwW5AiUBoYVh+4nEcBUsCpfefMUSSoTcTw9HPWp00MY4WIjavO9geu7AYM/jQLeQKZY+r06s1+jyp8uSGnMBuBPXbZPkvaQBCrH5n2R9Ru+BIqExALrQGAtMMUKXmoEm4VsPBz+2sAJXGk3HCMOzu4gAzsPs6gDJkSiKdKEFsmcxIqeCgu2IiJ0608OXnrUWbCn/MvbSgHSsRv1fuEf0dK2CXqN8muR4fIUbHPWcNkWnfgdmP+AsZO31YKEfmMpvxRk72DbwZcCjt1+uSlzKSqS+DjnL/NRwhAbkHk9PuTgEWLfYvp94UY3zAMDdRr0qxaBnU7InQckjg5Gml5uckk3HtDmcdzYGMiIzyXdWVL/STkZzoVjd2gwW+ykLLUMAfjKM34wrqnTdfnjQyWRyli2MNQt971QuhVr8clWrmBwswCsMPJCDRD970aCS2ypCe2/p7uMTwquR9A/2cCqcG0vQE925ETiq43c4L3AfRyv2232TFMox8LUmdaVhJEmzBiZQtEnVJJdcTV4yRe3Uv+FhYWFhYWFs6SQibG1FZXrSANAF+O9OIvAKH6yn6T//8RRTgwh2ooZooLQ1PCNR1C7htP1YrzvgAKyChB5uAH7zcwGqgizJ+Bpbc9jCg2q41KCkSVvNp4fVe5bsul3YGdbQhCL+sXqYoINCH2ePst10yR2bM9n9XQkJUuPKfc+YiKP5QaYOKT5lpiP0PthDkQQlOvNShtI0xYNh4NCp4SWDecUCl4Baj8BA9elhQe0J++6h3FHhz1+xW4iJQzfufjWYNL2MrhM4fwFzilu+Ovb8erafcIAh+DY4JSt3cB49zOjXiJkiEZahalZ8FrhYJbX4N3+zXWAg24mRcOdpeLNqIDlRk3k732WdjaniM5SOTNy2++v6aUddcSJNwLSSVY7F1OpXBiijr3MjzHaDClm44Gz3EE8JK6e4dB+U3eKuEFsNEdqY12+Oa4KJhSl3Q2uM0RdN8556gxM9pRG83k9OF7ON0CINsbGEZWBQNO9Pc3/6hOsrDMAS+iZAeFfRRf2/IkYAAACJ3MEQG9mODVr9VH5gAodwxx2IPo915W/Y+ebMa0EL/HdcbcqDTMDTEBrHKGmIvyv2erxTbZq+sjxzWUoKfV8sKISkSfXA/mXQ6QmF1nqEknJHeQKK8ujyNBbkFc8J/ABHVLIOb+9x0EetzrbZkBD9Qy8Mp4jDgyos2mRs+8aOXVLyj7AbgJMGGhcX4F42eyCW6WqEW4Ja9d8W3p5Wr7tHtZP5JFOEwjHFwps4DPjzygNVsgICoVj26Fb7vfNNbMPiuY7QJb2GIE0TXnFO39OQTPhGS/H8u5M6FqU6iLhXRqHv1xN8BHSvZZqEQkn+8zGdGvL7eXuh4b2g6/fmnYv3+IvDYfARy26PN5gbWh02uzpH1j6vpULYJbgWWZoS6iKSmDA9TG06xL3Rdgxzly/qB+uuEMSoShrsqjUbZUAAxn1MYz8Eo1c+nvVDfaXwba9WxJRNCHpSIQWPmfFXZxDvcMH94aNNPTdx9vPnDEt+JGwZeQG5TF0Ogy1eBkaWKaBG9ZwV/4uEFPfb/1lCOuHk8mvKGrOOKufDST/ilQB5H37fez+kitp4oiXtft2jSGDAfDrXLePIAA0lHAAACYcme/cp1qiNX8TbCGWDAOE0GmMYbT6aDMU/rj9ynfIkduwBd5+2F/LYg2sLK4lLjxXVIzjellfLXufnwzIN4oP07S6eOW4bWlheNupZsGmRuiRSAu6mplUgZWV4LC2WF7heq+0sIWATZDJdH8g+/hb1FuGV2WiZb5Zhb8Tp+FS5h8nCpDva2kmVBhbdiGYNk6vvqLzXc/b/pu6E5mWrhNfQcwKcvXwMk0YUWTOhiUtYRk0LpdkMgo4ViFyHBLlJr2Ak/MORXzJDXf5JY7iBNHccGtoLn0stgPlrKIexDhBrPRLstnjAYM4a43+yA5U4ya2YKZbEDt6oNjXZLpZfW1AZfY3Sp12AOWEMADuUkwvjmtfmt/SmWLPq4HGMZD4svTtpcgWktJLI12lWAAAD9hAEPt9QwPkwYCSiAGuDY12CFxm9IyHwQVYWS/E/3qhfW6dAmMRIRMWlb/TnH/mwCRG3AVsdkZMkYb7zxZF9sGUGr44Wj5YZp7QOm2tvf8yjij+XjOWsm2N+OQ477YaMwg+oJMSWTIHc9o7J3oaMi8PrCEjgz2naiaOnaLceV+Yn62PfPqvt6CFi3vaJ4Oh4rjtagt6deQA69CGinuUInUf7RYkvVzITbo7Lm8WtZcT9mezZ7PhBGJyGGjmfbkpND8sp3QH+Ctd1dXfOmuwbZq6+oZHSVTm7d38NgRsK/ywAAAAAPJwgBpg2NdJzmU7XzocoRjGh2oQGUuTIcaZQjAaFy7wAzreUVtZ/R4nv/WOFEBgQzHNZK8vZ0uF6WPqm4Qc5Ud0mfXmy4lLoSKsYvBnsxR6De8h7Jb9adEQJLaoIa2eTnQ8ZDwp6KRpSMdmoPUFasaosR19TYG1g6Z8ZzK1vpwct3wsZ9pjgAAAABwuEBL5t3IQooKoUgzAe+RVSOQ8my8bKOCmhvZRju25VPfzlT84Y+ONi+cGOHgAIrqW9Yy8ZvefcA5NlYAA1D5FlIMIZNoCzKIB4A2NdjLVzW2oqqLas72YIAAAAAAh6QySysPYeuuZOoDhtq3OhCQr/LACWQmDvlyo/LDVPAIOoWNYCB24Bgtoj7RL4YtdItm6tuA38ghpTOsKsKVpjgER5ikfcDZRjoxr2huvpnYnBYtf4BA7cAwW0R9okejPw6n76TlytLhnK/g0ABFs+B8vbYx3+CNdpVgQ5hqgzbCDS4SXyJFLrIsgYmPp5rT+AlRM1MBEFxm+Dpvg6dFQ25bKU27h06hWs7f/pdb+ioyJoj1wi6zAmgoih8AmaOhSGsHSGdOoVMmFaNEq60j/D71hpdD4U8HbZOF2IShl9ljMg9MnDWv7eJ2mf22xIX/jvpCHY84wjBkVQJxIQchiRLgFWUhX50lwWti7CtdDv0N0IeNW88vGHHjK0+VSomFoaR+ursxTB0Eo7pVh3r4ezTXDkjfJKcPL6BMxQR00gPRND2DE6Ap7L0euX8Kk7bZEOySiJfTkA7ke9C2Tw+Absv1j0jrUHG+dsWZUsrAaNiHmEgceuj7PqN82lhkUDUV2urVwHjsPf722euqYIGGrJL17o4BY4XT/1ueDBfy0kZmfb479y4jUxeEiDL6+gNvZCfb9WADqcICXzbuQhRQVJ7z93eP6L0rNbiQ3DB9oAAbLAtUQYtrj4wGK+WIudmRpDtfzBFSPdXGOwlYxIIHTbzLbfHoA1pophVSl801oPOyd2r1QjmnopntAOITfhe8bkc+Y6cCA62Hg/p/tleNL0Je7m4rleigWxlqUNbS0hkAi2Ufm5Dr55xCEgPzuzTy0ChfUyg5a9URYkRL+Q8uYW0nx5TYrV1ot2BHmQEkAXp4DD+wf9nneRORFWkghYSGpYpRNaQWPKhgHdr4hbfsvA2eAciJbOvWJrp7tYAFPGNMhY6cptgAHK4QEvm3chCZrI/C5sII/vNSH4fxukDWUEQSqgKAAE4CCUqqmVkYqy9UG+Scyfn5hL5UwWan2Hivk8lFm6Ai7+1E8kh3sLFCJB/hNBNP7iZkBTF2wrbpZ1qQB4yHpF/hxzhKhtfYb0rmq6TDYvderPV+AW1xkof4QUp3cTJwZzwfpnK7Ic+MUBZtMnRmOJ6yYd28G3kBoobudhF1vmjaUcyPWA7llUdjWOLBp2VJoX4IwzR/MyvCU8AfOCj3om3N6U9A2HAgyAwaOPGh2BTaURU7ETHLO7Hh3SCGHKBz4RK4KNAa7hNXw0OvSA5OoZXutvtc9A4RHC1paaRiaNwAGe4QEvm3chCignWPX3aRzsXsxVsDzZMbqslLqa73nIK+5I+vKa1PXab52uCtvT575w3qzYc33a75OUfAYibHPblRFwe4qEj8hOVyowpwsnQwzLbOzjru19jNs/PvvLXVQVKPmOzBUdGU8rBGCT8e5xEzbX4LGnOO6eD+oFeXxfotcyukqgiAmUglh6e+Hn1dYqTTCDZwkT1CgdM130LlKBnNH1M717ZLT0P0/HELc45jnT8se4ygY3I3M/JQd6RiGJWCfiDMZMbmqhBZEDUCTk5C31dWM0K7S0Vu1VB5icSgs6IwHupHyTCMWd2bTq1rxeaRqJEjM2rpQQ4EbqLtKuf2kWtSHhq0NtVOjl2m20hWReqF5GY1yA0aFiGNbazlGHbY5mc/8io5C4klnRNwkLYHIpo0JHVJgeuwtw4viFyIpgvdhNI0veCUV7pXPVP3fjZyXt+rCkWVDS2Klie+8qaFfSQb2mPJH41sPNeJgt5dtTMtlR4M3gBd/bR4OX/CZULmDftzg6MNYzKHgJY1g+Kp+Ia1oKoygx9JiHTXVboMmpZEc4QXwWP5QMOJof0B7tC+kgHlIzLP5bYMc7nsiqE6AfX/FcM3lp5xlmI5/M+inIaNVwTHlVNwRZiNr/atFbtcjYnGUYsj9Q3RPBqlx5Mgy5ASXmlBewCFIeQHR4jjkAB47JLmDweaIA/bcAwW0R9oker7iKxlWBV5o9mYaLiyjW31L+KxSk/w0zZtY9k8WQIDWJ2mtu4yK03S8RxFfFLts0u4+zn539npBXCMIO9VXazC3ILNHV+InNHTIgMfAjGqYPBzedhFrbhWIx6P8sWMB3N2aYelw7kWbzm1yMmbkmuJWgizq3hcStABqoynYFkvvWs25RG2SFNtoSREUKJATbbE7Wx0oUbR7vnCSXimCyi/KeVMpyR15ViXoC8oyGlfPRDploHQgQ7noudllW0W/XJbGfCdobaaPRif0y8xV6oHemn+lFBXTWyIO4LWk+Z/8PA0Dm16lx+PzrFQgS4tAUCHuLPO4igWoQSbqGp6RdUDBQ7IQgE/xkDj/f1c5RcsZ+jcAZM55yvt4sTvgrAAdowyfdhzjidrzsRyu0Wy+1PXFA3oto0/yJsqzOW5QBusN92dUKVllbxAEzbAI39eX0HD+vVWBv4coQOP06Z3pAVXn7k96mSpNe16jqyHgWaaniqfSSpGCN6BflPN9gAkTd6ZS6vXWeLy6wYSxEX9TtynQxGUKaEHXvZtfZTAjDIxZ8/YQkrUVz418INHFW0/l+bCGFqma9ZGGQsbXqP7PJiDHYTe81bm4k7k4Pe9mm9l0lwG8W8yOxrjtWVpP5+RY5jOm4bUq7xvmyX6NhXuL+vebSqw6RDh824VpN4ClLQQCqUxgJI1FO1jKUiXDtHDOEUVhKXM/MhRQfaiFCFGxct18MKiEPMHf7dasaOcAAsoAOQAKkogHgDY12VMddFZYrVdMwNvrkqnvUvyS3pXqvgkRrDH6Z4CtxbHKivH5t27zQkr2Tnw4GmmLw8aKtOUhQmkFBP3RfL4jjADTPzdNOZR8LKe8lW3be+hfdHtjGoF+TTCJm+yXscCiXDP+eDwnZ5PERUIDjF4bJApkJdp3FzEXPAeepsgAZPY+FmsMenCz6dBv86RnWYfP+5V4ErzbylkUCxZD2LFyVh/Mre99emQjMBqvLQJ4AFwOuCfII3CCXvZB2/EcFxscqIE/Ucu4Py9HabQwRRg8fbPhx3qzR4D7rW1H7IkqMp64z4K9gWcuDhzTYJgn66XfoFSEOEgLkAqd92jThxdxdBzhviowwKgXOSarwddB+Sr738neqrisFKdNjygxfLxi3+M3NssJ8f0YNfCwPCUSHgXYGGc8IIT4xvt0625BYcmMRDzj5F+Eoy+lChZ4Vd8w8EWS9pp45tfRx2qWln9n3pSEicyf8+93QIDvnsYs71BV7V/PHv0XdSw505bWCDLSXOBYZ/SGDe+gi05+def7KWHdjDRq1hOUAAAEOGn2+ebq8koDXRA9TCEz2Lp0TOZqAnXbm6K1FoGretve/XBhcG8OHmCF8T1TlSvI5qgTfb1e3N/1z/XtGqiCYd+hlgITbOQ0pXaDydlRIYWQYtTGamgC6mbokaMPf/qkFbCQsJajp8uaOOaZg58SsBBMW1R1RzC2IGf2r81eqYScqPk73JHHGAJwpBr8ijLIcteOLAv5FTWwpuAEySACO/DFLnn1RjqkwADk9CmN3kGQtwrdQcLHR5hwZVv4sH/4Dcf51OdhxlbGkMDJ3qk/P+anyXJ/AueQ8QcNRlQKyd0pDIswC9l00PC+1eXD7LUBEAHoDJBKX8DMY+3VpMI5DzkcVxQwWffg03Yg6WaEDcQmHdMk1Ixmp5KZy4NPgrWXd/05W06N1Xv+Ce/7Z+VGnnmom4297ShRZr7Xx8pwg2Xo49T3XFtZiMQUJGQwEjebFOnUc1yw2grMzWRDbiwZryx7YmF8MH9bfifS38ymsQhiQ1TsWWKeg5sB2rmOa86t+eD2jUGIlZ510CgLywHSX5HxgILt9eY5Q8bOM5GUimkL4coQ5bBOksgFh626zqpb3+B648I8vBvrClPR+zFT+2YgwKkWIFpaLlGGljohkxsN9bcLATw3w7vNKV+gjxet93iixqJVxxCa18kSJGS8jhrbz5kGMFjzUa+7a2tLC7pHojS1WaPSUKb4lXLAz0qeK7GbediyIu0umIepfisKCzxhdEBQKW5ETg35GLBx/RrOEcAAGQTLD6wfAAj8RUnhy/QZBfinC1NVibgRk/cy3LYfC6RdStn19PwvmZijZS3s6l+IdycG4aJ2OIhz9y1DL3bf2D6yLSVIeSDID4YlsDcQBK8i00wqeTINyh55ErFwg72gFAHTIFtG0SoNYE0IWp+r3FL0XDPnju4gtdZ60UabVp7CYxrQ+p0ADzXxD9jEVGkg9FiwV1INahAcSgRDiihzGNBDiqHYWN21Za7nC8viIVCJ5rw4nupGh5RaWNfFx54Xtvo9kiiMJvqJ066hcDITcVMGUiHlnldFw3HM4F0XdpKi63WIGhSJ6FRSHcE6+7JCZWS0BmIinKVPIv/oFaQQ9iYgV5+U0XvjsYSq5T1nQKYBn9esSICI146fXepdJ5PF1KnYNpjtwSY25dtYR1Y4TU6U635WqIN/jgYWFSbiVtZOYhpMgWfylisMKGcX5a8eeFL9HCHH5SnmOgECh+xMoDKYhDrSTEcy9UmAAHvKXRCh0XKE8DDbJdr8v70y+E+iF6PhKG0rQMhDOVsRBEVCjT0LBgLrkbn0sWn2hBjyKwImi7gKBG9K514zLLnBd+zKLRyn/Kf8p/yn/Kf8p/yiM/Zm53IvHeRS3/XR4vbPLct1h4DV7ScrHRvNeaE/iPw3Xey1inf5sjJkjgAJNLAXCnQK4ZwOaLLL8U/bVH0UCwbnNqguMS34Elq4HF/ls8pCx3i/nPBnia795XbZz1LAh3TQReI47nPSSho2C2e12NPGi/ZSLxn3zCSZABTCgwA1i98qJR6fo6NCJiJeEY4g9ArSEUNVczTFXfbcnD5QadJ/HTpcPyFU87OXb22UkTAWNUIuNpPQfW9//6Vwgj+NFYOjIdlQc6c58WLcwJKyVKF+Igd1o1w6jDuir7cDZtmJxFCkCsZXREc0FdrtE3zYkplGTVCii/aXnscHa90AAAAAAAAABIgGyYAGOqTGl4OY8mTZ8K0OE2UVSAUKuD4IhWurXvZp4XEcI99yjbIAAAAAF69YF+qVVvuRDMNj49NFhDbRs9aNrDOoc3haF0PcGd24sCX+dsiOogxnBdZlpGwu6tI63lfrMAJTh8r+U25amyvDI3gbOzYy3b++moQUYC+FIzjgP8YhVv+AwvT13m6vMDk0+aBFl7q+y5kpQp3TFD6+u/LrobmKkWzyBDB45+tLHQ7N6PZdxz6GTxfmPjtVIWRLfovZAG7uTuhixtq3/BX8FVfwYBfe7mvE2POVxxbOkYruUe0QXlzvpBlqMnqdE2lyFZeg90etqI+Mfz7y4zvcrgKxgj5TVLLirN7qpVyTmjN38RRdflPa8WyHisAnH23P1+kLSsTeYbWXjSDo05IvW1cTWIMGpLcdk9eP2lUhwAAHV/lgHHmv8X0W4zp8raRfxQWijavCL5n6dwEcUyfkqLjOYcFTLiIWl2LxGljG6ONW7UGWup4ZmdCBYet8SGKZvxCHbi9+n+1BNuWAJvVqFgX7eJUWjracnk6TOl1Ya8Wf+oRURti7XvQEEmcBKDPf2olE0OxEupOvFZOJImDvtmAxMB62v95mmbkKTRjEZSp9Uxb0MqhWC5/CseShQFaZIc02jnIDw5fz79s21gklQjvMETk9jUrkSKPaF12qppJtXW1/pviqTbHcAbZhEhJY4qxP4TWc43vbv+uwnJOd53ZgLcB1LlaftvcXHr/JT2rYOEwB/g64syxsLrXhzRTNrw6U8NQS3AAZ5MLXHRI8LfBmoqyBU0nBHRc3bWpDkiyulWq9jhtpgquLIBMqxSCrqfeBredYM0vXsCdc+2rsVSXZfDU2J6AAAT904vxEG5s1D54Q4wJeq56/YMG6Y2AVSflPwuW1XBvlP8RtAkUlB7Ukwdcjh1hDiIEKwotgcmqu4iUsx/iDr94P5ddDWO1GQyUwLH5arjoNSNY0kNQt2O2frkPMZDrAMQoFd4dTf7RaZ9CsCQrcJ5YPKIgtvWkS1vjT5tbPhs7Fy3VfV9up7PkVavc3N/urbivlgpVkqXdrxqioesxCWub5ubvkOX8iAqAG05fKB4RIHBBPnAyTXnQSImZzY1h02380gGEZBLaymEqg7Nc2NXM79TKoWpV1lN5AZIx4G2QSYGp7ycAja1WoKg/OTXP39e9DAFKxShjjmiW6c7j4p4zLVHgaXAA01pPSE0VD29tAgGyVG3uvuDi+xRh5a7l9YO+yLo341qVQvIH2+ApahdUqSsbX6be9tPn3ZMvNRqEa8wQQqsfSpI0dXZf0/KLPmF0mW3GTXLi03NEwBL/KgQ9adhAIoR/SomttkG6VmDjy28/IoBO6Jk+37n3ElBhwwXNI2OTcnYeLstG0SqxC6NjJ8y6fo3qg1P/rr/Qk/NNgEKPOBaAOHG9jKVqbwDLEA7FnPP4WtBOgULUosyk9ValZiBvmDcX8kK1hBd1Z103054NTePZPSDjypVt8HBg9+ubfkD1smiDAEzr0c2qpStkDYxmlrj3sMAym3a+pvuqF59pJrXtP9LWlRTgATdeAH0/8IzcCuyiFZ5PKyvsngKsi5LFL7eqt26Sj57UIlPesd9VxcVDd6JC6wFtaC8RienJtB8rzAUBT5tLOH5vgIH9eBjlZvkyjKfEOI5riSgcAvYXTjCtJIQ4DqK1lCOEZuZd86ZERIU0cZxVbzWjW2ziEcoH5ciwuQBoe8s/OCQkVXgUOvKMkbw0+xw4bJ0hmXJHEUpiC1Tq1GpU5NVqEiLiNbCqDUAu0UVow8DEf1RgdyX6scu1FiYy0VwB+x8YC6a8CE6XCaVsDJ4Nn2u1a2sbrXCYbT0l/Lxj1qHCXa9I5WrgTJMNmXOuY8GQZ7fVfXhGQrsbjr4tD6aqmfuC3qFsRvlG17jjfWgpKSjUqWdWqCQ3AVY4fGLka8gw9pRhqbSICeAMIHpaePqp9YSHV72ZQpU41LK7makN/EHRdEI0cgOIwQwTbPovEjoo2yly1/UtltvIjFBuXYoZU3bKUVd0jadFUuGP2bU/eOc7w5h+aOoIvW4rat0RFNWPjLsLn00W+QJrx/EUs/1Znq/w2XbjtV8CPFxAZYOkxcN7r4OkIuaeMIZuEI7CXyzHmFsMO37eYpE/Li/cNkWAho9e/mctVL650G0B6re8NEhlqnd/qCF63WYCaBzYxk7MagCIvKDW8Kbn34TrcRLaMwcHC7PvLCjJmkdI7FvQT0EKbYv2pdH06rzdkTV3usgtdx2C2ZJco8RX4UxCThlrGEnaiuTJr9vL/2pAvbctT62yl26s32Q+qTz5xJTE3zGvIx9Oe/UfgBuoAYGNfEWQTRSkA/i2lrxfK09dDuByaEfZKhnbVldE/PU7ywvfqMICg/+PYAAfGvONa1F+AtjOwZe1/63bzw3SW5KIlfqVN29D0Suljk5X9LNy4zyBxflAE0BqZU+fIFBWp/ubivApwZqP8VIcsamuWrYddmmuAA12Oz+amyq8InF+NZ5dLIHpLvlSWpSyQFaXbBCIOfmpguvdQtehRfJnDIk1asuoNK0WW9rtRnXtL8LcqYIjNOJiGqnqlX2t5gdU0ZbDiDexgWHQ2Am1zq4cQmbsKHmg8Dal6VmzM13QmQjpGIpmkphItfvFzCsa2IHKBdU9On90r2mlQ2AFDhR9cgMx7XlzWlhM+o88qFT+406RlGnA7r+Tg7tTfFIO8JSF/hz8JKCYvJXE9p7NRzq3yWENwhERfkTdJ728RwzC1U6dxUbrWCy61Pyh8DL3shA/tpBrXQWvva9vnbNsnA6h3W12Dl1Y/NxPWBcF3wUgSv1s+2BhTJvfEIxH+JZndVxceijv4ZnM6hL2vbGbUev13XzdVyT4rF6UCEaiQ954BWHJO8NNR8iqsxXaQclH3GS9VlJRgSpAjwsDuZNkmYXUyBGQDeJRS8I8P5uO2G7uxMrY2J/th4hTp3lKDaqq0Bg2GdyYGUCvzMBSuhjKC3IuRPXy9zQwNo4VPrn4cnKMXUc2e/E3UxlgwHQV1kc0rRuC8KXpGOINV+tyX+OjuN49u+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhu+G74bvhLxSyAFI9JvE6hLdS/0/hxmjxGUlMx/VdnVes/ZSIEhOeQ/4Wl0f4jur3wTwMC+xJuMorehP5ft8p6IPt8rNf5ft8p5TJJ16WXlVwAHlswl77aTlue0Dbi7x76vXRVqZxmbnqjM5qO8rnxbHXOfJpQKjGHnRgcEMyWOa1IgYJVhDlJ5Q/ano+J66c81H/U4+2E+ts45IiQxisY3tbXz3GVc7rlrcxChhN56lwyGu9PkVo9CRCEUI9GYKXxQ0DadyEWi3+Y6wblPSAUC4C4hwvzwH67f2bQ7XRNQcWc04tqxDYSaKBf+fjPpPyYG58rHDLZO2B2vyZXoh1EjHlG8e5sWO3bU/b0GVze/A37QAgIV5MzBWvZQL3D5EO6V6Y5ARWNvYEc/jKKJayP6gzQi0M5jYFXmwrHJTn6PbrL9mvjcogsmIE6h3G99x9d1EkgnOfCjFuG0O0cIgBa2vtUdnxVk04PdKnQf0a4Jd1yunzFPcROLBDGxZUde8RWOSqi3OHEzJxckEflJCMCfZJRbpkRnZQ20SrBGxn2HLBTyNa65wdAkr53a1Ri8u+amDN+kOucHQJK+d2tUYvLvmpgzfpDrnB0CSvndrVGLy7zZcKG26wQhBuxeiTI+0TETsnSprSm1dde5bwsBEwJQ1/vtWQ6sClLtOYv6RS704OF4M1uhDCbJ9t13vTm7AGhu0hF3nj3Z/gS1Jo76w4hnFvt7oAfLljsRERb0CxPDD+EFAYS/7Mb6O0ERCwgVCvG90aqA1200T3SV4EBIZccGuSpKZDGYVQoe1Lt1NnLNZqPMVsEfAFRLnnyoCvbgACwnldmQlq9GRKC/HhjG23JTcoBQgGo1lIYpmR0z8Ap+7FQnpomnwhFUzbc8ZFzKrPSjS+IeA3zoHTsaCWNMxtvKfWQf0Le70ypqg5m4FJDyIZA2UHdASmd5rgw///MN0b35W0zaTYpVvHrWU1MEiTtOsBUVc21JgABriLvRYGQAAAAAOg8IS1IH90Zn5Mblv4vQEbhtLOjNqCZfibpSMahT8Amt5Vm48M4T+9AX/JtLXbgRilWOjOqJUh6PvF/so+6mRW3wqC1xqnuRQ4/gBJWllAp0BrcbaRgmcM9URg+23G4BQhdScREqqZnLGmifTNcfhBWCiJ0NBfwaRqCsbPVQIHtlY/r4H8DjWrUrFDA0WvReipx5m7fmXKrL/PvCWk7AYUpPxhgmlODVTdn+8AdeJS8B88aPU/UxPpE4o12FoFH7HEVGQAAASSxiKHL+t10kL8odKsUO/N7drHMFEv7YLxxizx1cSf7LDTDF/P3/i69YGYo8B97sBaPijq59GLReNiB76lEcABnf5sKRui4d2HIaRRh0behijqKudfJ2bS9n5MrB8FGUtypzeOkYq6hJSteVhwbV30aMmvEdFGD4iynfVp7tngF2oOwKhicGCTr/SDwrHr5kTk+CAc0bfaW7gw61OHfTcyd6HHco8/HToG2iVl4a0k276XbegkB2OyL+uh/TTcnz6RJEnGY8NC85pmbKfgG4fLJdJ9jZNSN6/cnibfOjLmY825pA2L1RUrZX3hBewVitmY3ADwNiY+maBsJrPf5CzTME3kADxYTHm4OHlo4FBF5QyhjQlLugqnoETKGVMz/WVx0TQ2ZK2T36HiQT6btkAA65LtyBCCDSIFWMD5zFduvrZQdhkpHDyGkKk9fsGZFPiO6lxnhWXyI9YzZkBwAAAAABOoEo/D/gjRuT32etiTRNJ+2ni9Vu9TksQC7LsIyx+MzAv18GT4jREb6tTKmGPX6SJN5PjcqMMVGxWo0EyifFQB5nOYjpTogEaDwyT8/E8PSvPpR7lTU7av+waTZwXWhsd6jb1G3nDC/3SfOqzl2pu17ivSU2kvbls4slX99FiWwWgeK5FoMd3DF8SEb0TRWMbSdOcJ0XPF9aDQG5RMl6qMuxWHHqlmyEPGyahzMboeC4M22pZyVL94wEYpKRG3hRrYUeneg+PMshWUN4oo8ffleIv22tMb/UrpOQybpCGYS2HSgctvVvHpdDJSGwUxtcsU318cZvfTmiMbIkbgDAX/lIxdbV01tloIL6xiUYafMjGE/zzwTxnYZK1nnj/cccSFC4kgqCWOZtJvPRkDjmtaCzQgEqhtQ36QLfh0jKQCRbUk+kCWEc1Qn1AXamECNooQAA5n1NMMP4FS4NBOCF5RGfJ8Ic6cr+w/jK5mB7Qf7l/vt7baa1yQ6DWL4bTj+wqyl1pZViXzXUZA4cKbkEKIayI7r9u9UDkTVYAJj/+bpbTo9IL/B7lr6k/OaATppJbV58O1LhgvQJju830I607OVbm76bPBFummwqVSwm5xt/4j/o85M3y8RlZMinmfyR4AsrFI+jOaXYmCxGkql/oUT3+N+hqplEr4YdkdJyb6uTZj/4JQCXC4BIZgEQJWDg/1f6ULg6fX4miHLFs4mEJBExZASeHeZuFGTwut4Sx63Rnn7uixcYDOm0DqIN2eMRd/CqTkhBPE0Wyj7muPf61D50z1WMsYd2phCkzVnMYMqEdA2zFm/oDXmt6k2IJenB/QtBddvQaPkW978049jGfgFqRjViCN8zQ3zeKKo2/MLUSCZlzcL6EdypfWjVUp6auqiqJAq3oGfp0mf3KLjb57idfkXvS+JaXok8gBNk75KgtPoUfqSCDJKpPPhnooM+wMTmkWvy/77uUQunNY3thV5sopeH4uptzlB0DGUbcKWJX+Aj7Q3s6tLSzrJXDpBE2kqvJYFfAeOtFc7km/W3rVpCgQSR9IBihegZVOBU/1oYaGjiRmusf1WPgux/V+gAAAW68hJHBrAUB/LH6PXFAWAapNLrMmag4aVxt+KZz+SuRQf3YMpQO+NXm6Qn1B4Aa9wUqEvepFkF9pkOeV/J7UNOzyPAKHyI+VzzhU0xR5G8InVK0S65py1GGM1saeVIEcMaAtnqhaVAxSJf9nslmXNS41CUPXIK+Ivf5Lh6Zg5xIvbjSyEKDWvySdIGe7CnEEjO4eY2WLfzuBGB7tw0UEbDqrtXo9x4fV0oPdLtL4zZyIjYA9fjs7nSoDMeF9/kIBH+0LoDLsU6o2HSiR+Sf0AXoBvEdIu22/GVeHGqsiLLt8724IeMewz4RB40EQ+UN91sIcr9LTaUwavW+hs1Dk2mJxUAx0L4ZQ2Kil93vllA86xVaUNQbRA+BFIQ4/q3PuaTY5iorygSQJLb+fKoqO6zBU5GlRwACiL9RGqcfl5qua+PFaVP8rdVZk7Yzcg7yg1NE8hwaUP6u8eczB1DoAeGWStdlsqcAcFC8dERh6VXLAkRKCJ8LC2YEv8oad0/dvOqTmRwrS+x+T8jn/wBthktpn7SvAQhZTcD+Z/ki7m8Mo9Rse0ML2+FBa2pDUlKmSGukZij6A2+mf3tZyU5yNxWj4n22WDfaMpifNwnBTn92jBS3IB5GbSHL5zuzjEKlEa/Su7sYwPrUoEgpbmoIrXUUXV+4xhSDEZploPkuWf/V3nU9ovxaedpfW9LHbWraMzWLb2UErl+hm+TMDJu2HcvR1V+9w1QflBVZXKX7Ydy9HVX73DVB+UFVlcpfth3L0dVfvcNT2qN5BIjfe2lhywv+KDWhgFviL98JXdbmKGVWf1h9Hp3JvSnBOnOzpgVrUE+1CECCOnrzQZ5hP/4E6+khMLTeTokEH+oTiMw1A+K1ICmEOZjfH07YnP8sPWKGl3Lyp4fvF7yaO0l/bRnNsOZdYeYNp0KgvEE5r49HTH5LUQQWNWarf4ry/XKkhkxDwAY8sf0/474WjMKLSao07SDDybFX+fzXSAQ/8yxfDEY//gfbRSekSEN8KpT6FQetwfQ+TKI+WcOTVFZGXVYHWtEeYGKt60YUhMCr5RB4pP4ADQ0eE8Xnb9heYFFqj2uraTuPhjTzgm20IDlO5Bdo5lNaNL03nkYk8cyqBzyF7+/kl+X9/y8WPcaGbx398OVmB6cmS9fwyZnZVsIE+LOzVeqbQz3qX9+Lc04sL7iIV8PJM7v6ogABptEzZzwAASV2hTyzmWFPrhmNkBayQcaBqD1BhiE6brkChccCu0EOqgzhXJ0S75HqLxXR7Tm2/Rit4/muAhdWpR+57gD+xBfbdkmP2LSGOSZaWpTt2w9Xt8zApRmrndV2fv/IniAEDI4yImda2+54Tyj7UL8dB2ndlEIJtW+P2j1TnMfuclCzKJJ+OUhfxcUrN4tQjUAVnSFg/s1AD0E1Q5ugEFRiL/jDjppAtW/9rDtu1MzaqzW/ZbDemYWwtDHTFOQODYZW+N4XifvqoAMocj1L2C63HpVOKISKcrXUQf/YxTvDY/orj3Xte66ysXG7EERhVylDBwc/y5iX6a7MUXQsNoRM87svoiUn4nKOrWSYpPC7u4tDWmya4SefUS8BnWU5k3yf3IapmEGWmsLBckvRmm2j6vG4B9XhWxG6wu6KUMFegdGyd8Aa/WUw4eo1UXXoXTA3KRVxO81wzeeAdv4NFOWevQnNp2FCOPQhgywoUawnbiknsf+GQDiUOol4nkBoIwQ1Vp8bN0UlJSUlJSUlJSUlJSUlJSUSy1Y2WQAHL5udfN+4pg5+LrqPemHsVChAdo8Qv2ab5lg2ELPuuHuqwc9/WDjKuD4kAZ0siTEpzCkv9RQRNdI/oOmamfNzKeV/blq8WIc/r/vsi5PeYrXoIZrYUm1cHPc9362R12ZtODqEAVAmJmybC3cGlCggo0Kd3o4hcHjHCfpP+KVL3rx2FVkREvSi096UdxqKqV0kPXiMiYL53bgHfHWa+n7MLO/TVOw4EyVTapkWug+zu9KQVkWHvY+3XmzCHZnQag2HuB49kLEX0r7b7zFpatFTDcWcuG3Xn4/dqONutZHkiJ4+g9WbKLrrnX3s1AjrUvkI5nsStateSmyzW5CHhUWChg7KWW5Nr7vGZiRENcFTFV79PI2csu5oLvIbMDKtpEKK/j74OM5LMoF46Z/WJXa/c75kBWJ4gXGotEugyCAblRDM0Juh9SPs3uqnip3di3+brU5hes+W319mvLuMmAUSjMLQdKZDgAI3OgID06LzQzV6gdZZsc/SPz+vUw4Zo3o9dCxaNM6YCiwN0DyZuDiEEwFxJqypBSiRkKp455chOOSSfJlHACQPxzplclI44MwCzQwuDdYwfZT1JNz/mI2VUCSmaMpBJ4qtaDAhSDWewNId5qe8o2S3D54Nv53u0DhdZD3TQ900PdND3TQ900PdND3TQ90xDhBm8NMwCe8NPMAA7PcpG4YUjEYmbwUsg67Fwr7KGMEbAgM7UD4jBPxCfXQWQbp4sta+WM8hUF+0ruDLmFjNEJh9Fe0rgXOJE8jASRBGzZm8C0m77y5+bUuOQ0Zt9+5iLtrJONlZZePumdBfvuayBLTVVzmpfsOUcwRW8tbhOrSji297YeyN/GnAIuhs1oKRGiMKewl+gOinrf4ZtJ+JHrWqBxtaOSJh7oY446zI65SNmNkFPDZ+2PNUMsi+YwoftYRzfYhcju9da9gNStM1ynYax8GPE+TOCxbn2xCW7+hBVOxTnIrCvDHEc0m5/InDAdnHoTEMtA9OGr1t8/zp9qb3lHlPkw2Spkn+A7tVqk3I+q+agTVvzTrzY/gTruAW4qvecTFPAPZmBOGnVim8rD6li/LHnKURLM+GdrWX+t5QYUacn0iSBXP5EpNMQHoy/aaa4qbha/0aOtngJ/l2arrDg02BLSd+sV4tHR/hhC6UYJEbVo3lxGZfOO6Wur7PGGPzj2vHUlivlSwY4HLwaaD1B5Homou5XtR8JhXw/QnhEAAi9tjMDsaBuBIi9ikrc4x7gL/4gLLm3G6X0uSZll6TOIoaBe+6oGB8NP8mDhMCdn5pQAdx0X5oGlvS76lB0H3Uyx/8T+Y/R7bnmp4APjvWVzS9lqSbRUtRdJsEwY2+Gyaz9vvy6gIyzVPAACcVQZjBtEhGjS4408Y0dFIFF/DQCN8QGlIBO+oJelanHlG3+QvGXtmNi1uHDc9kX86PCSYTVbUvlLgPYhFCLwvGksB+9WesBynaX1kJK8p/Txc2x4Pjrjcq2mXOlj9QSHpeDjnlN8kb5Xde/VjfrKWo5WWD/oRLQrB7+qBXf2AQ5PemL5S+R0N7pwXTmy70XIOZ+U7iUWFctobdIlrlspZeb5LSao/Tltd7sVQqe+dGV/rxBSS0g4c+fHi09UbvgkeMPoSXfRVJzEyXroYwxRn4K3EYJGJhDA7gNyRHRATp1zZBgBZpHrRmlBZX4qWgjDbx+s+VuqvU41bvFdjWxB3ZamozKxICS9x/cuiGByS4+OD56Avq4vulxEdLHZkxoK892XPceKIAAeplyjS67fX3QOgcvo13Q14eUq2hIH6BKkO4GH3NTYRB06wT20AdskahBYAbcWbPQna48dxQ1aHBR4BqyazGb8N3o7vmtSUt2SArStQneH6m17tqLQ9fNUc6O6Dwafvi6IjZKgsAoyGPTkTQkt+HVdEDJI1GKzO8EMhTvldHuy9yy53pUY1HB+vImIePnsZ1feZmeQYrEv/yuieJhjMmxqA28sCihjy0Q3bGkY+1c8UtB360T1jOIKpygIeI+Le4Zxn1OlAxMd2IYjtojtS0YoLHq/R2Yhr86fHWECNA9UZntT/tkIMRzUfXz6dnfZEkuOw/oi0KAAJEyhSZg9aIEPEGDJa3uci256fqilkHa+QqKEiuWN/mdRwXSZuFZlOxH7Igm5dcWNVhDCe9GedEvsYVMzceuAI6PPSYqbpiQShA4LsEN3m429fXAG0HjxQ05+F+m1jlptHcA3JdQ1WEODrkURaLzgTr/VpWD7dpRaLHeybXUwI7EabHLMCrA5THjE46tABiqqte59KFV6FisBFE9aRx8Ni9HqABist/MrJYv3MZwjGdVKwZZcfU3Ulbi4RW3O9D6fpIolRi9fPM6EPlQSPdzd8r1ywHr2NoGw9V8wgW9PQ9T3gQmLabZ3Gs3rugq9QYV2EzG8Kzso6ZToUd9PuVVWCOo4Fzc/D7I7Tev1+VTjtus34eGRNizr3vLY5FsxTjuU7CE5XtOFqmH6OYjx1zbbaG8xQ4wIkhpM91ZHzAw+VD+BrCgLpQpaSVrGPCEn9RbHHWY9mU1ilDu7LweVfAAA19Cre263FsCOedr6qy9gEUsboLoKM1RaRe7M8BXwL+PP17DrF3cS0D8YrAQMHtcmC/HgsQ9itWbR37pZSrM5rsSSIQvQCkqsE+/Ab5yHri32UTv0+Uf0T4DVXrfnN6HcqLOq15M8Jak1WkTpPZu9hYg/h9+rCiKAhT9W3jn1zCoaNPN99vnT74Pjp/fXh+bKHFk7aERVsEyWE1ZhuE2YqN+eOyKMjJnlYYuKX12WcI9lzV8E8MsDbz9htNUKGksdOswviuNqtt8CHYZ4DoTrhSExOsqHAjMFFTqdzwpwds55F6iMysrhOmfnlhWL04pqX/D0KFipLDp42ZTQ5kEzjGBCy+FmO5Q+e/vn09Pq4Wdeb8mdVVJo6plA3vIfGWMMsx9Lyz5QdI9uQMkb318RlLpSFYos6l22HMa27Zhf683o0CAYxgZWFqiTCSrye3GHkT+xFbwT4HXE3jkp2ypA3KwfaERoZTwq1yG4cBRfG2sOVEPXQCFMtysaMMJa4I867drxJwE7loGyUAAZms1I2zbwkt+I3Fn+wqypyVD4Czxf3rSHim2dxuqofAxY9dSkJPGozeFAZWtvqfYyN7Zjcf6RhYldlPXkfnODivFlZQjY7YSqifNcCehslfS6IpbXoc0MM/pOOQEeoMFHN8P0b5Pr7Xr+l5NWDE6SRrWH9/8uLkhMYuQpCUsYHGW2hBWcXEFLFEGCFxGqBbqqjt+jGFfkJeF9rEx0T0/1mkbfdXEc0FgwE7LJGjM0Si5q6jeGIY47j2cyxW/ZF9lKMiBmN4OuHEvx90Z0Sz4EAd2VldnBxdeaJ8ZUXN08ESVdSwv7gXYU6arSIDMV0y7dIIFBoEqjbnQZmA5kQeeux+1jaeiOmj2Uk6somFuQE9hxx0egujjPypHLPF4ozITFoVbXjtWP73/iowhJ9CpO24vFAEkcAw2W+rZF6tiOTcR4AJHKz2tuxsHDQyuchfxF5s2R61yIN6oNNTggPKO/p3/1u6N2PMf36sv4DZPImEYeVPcQI7rHsLZH52n22TWWdknRlEgO+QiaZv7MlChL7egdkSYlWvna+I62pLgDcaB6kRXzfnQ7bXg/8uS7RAppeEMYoxzxLIAEpxfdQXIFoXcuVMLNV4mEsw4NDZYjpFupjrSI2SgVzMis55K47aPjaSfNr96RTKN5F0NGH1HYP5g5vgk6Oc26zYKOw8SnAqsha7foOr0UM68jNOMTKsOPbV0HmjfJ+jbUZ1/9lYXVt7MZwMuKDPT5MN1yDh+pEDF0nl+iLgH6j4OcXcNWT2mFWGEdcH6dwEjcJgMJxP2Shyp2bY3Grwg0mE8x3hqANL4Rz7TTgu7BgGI/+yxCfnLct/lrHuU/GvWrfyAPolupP5uyNFBh+nuQUS2LXk4qYGL5pt1WQ0iLtDZGZpoWuLqe+LWAInKibLfdekKMiWv2NeG3DjVksmk0RkgMn2IslePEAJPC11vDxGLUcS9H+wroGzxemrPcS1tW3GAZ3Lu/u3jrF0PUFN6BG5BEbfCSehuglf04gfH4UqkV0mPVKcTxjFf5e8eRTroyKMEzvfXIRxi+Zgvad/sMHcArMZQqBa3KeQXwUNLg8u+IP0enFmCA0edmyBFo3Nqy779TxQltu5RkgxPnoxm5KhDiXHPY0ppKuywMctgowcwF+990oCaVR23PPsNIM8qbFLJ7l220KqbcHGirZjMv4wTKvMtsHF82cu6e+pjvv76yuMgZrlxyFPWCr88loDa+FxSV562OhYGsfGJAwf30vcDkqWEjH8TSzoPjfTEnzHo6ZbMNDk4kGAAGm9jV/XY5sOfOXHGIqfiIL/Q54QRQ0imTPqf1rbc4GckRzw/ECdDp48he7gF7M+vugM2Ep8aUJpeDN7wtCtjsrW/qgRhKbGWTxuMkkspff3F/tUi9wGtT52MzylPbWSViB7DieY3r3wC5t9Enjlc2p3k+EDS/tW6nFG/MuOsh7w1Rc/bAlBrvR0o8OC49IQq+XoYHEcUbgc4C3fW3y5D+r4mVZIc6H33RJv2qeiugntno4ApEtcDxid7cIhEicA+3pvu/VqEKR8IP+2K5MyKEZzegpvsqWM9mP+GkNeLmSgUmeZ+CsDwt7NdYuhNfbDCFZkDEzL1p9yskp+JoLcFD9a5LLNlLnuAaSQbc6an+ZFnIwGz3hvWrzIX+y+fKcvwGgqgoXNk8bcLierlx5dW9wrZS5hycz3ww33VnD6vduoB7qwtL4OnfUb8ZjOqCuILHcAovnffZevBVC6sTNwd90WJm4O+6LEzjCwoIyalKfoFPFykG6Eek3aguTjNzIi4svbmN/Rg7HBFFEY8u4u9m4LsqyevxP9KwIbzCKPgUKXiHHSyfuTv0noCsLkEDdbucid1GbRt2EYoHrLhzGtiNgE5ugQyVQMGs9fxtPEBEe1sgG8qpOYyZjPINWW99T+MpUB3CTkE6TAhE/Z8w1o371lyv2dOcCfy3IKW/iyxftbqmETTuhfSXsSusrth+bCQpF0jA3nyDfIlMD5zoyMczz/CUO5+0nU3v6Ei9G8FyY1/d0hEAY3HnpoAAaFVH9Tt+nb/DOLgQKTTeWJ/VyUyNUwMdgbp+hJz8QPePj0pH6u3Cszcw5Tb44SJRZ6xtb+Z+iAfSJmsAP5edRO/0svW+YcuXv4d0Q9QKam3bl1CQMD7QYaETWHS9inhKBU4Y0zd4afG7yimJtwEAACca4X0MSYIJQEQzqdgALMLwLPka4INUNbo2mgHxcNC2FBOTYMXtEs3xPnnqvH8zVimAUNsSeiY2BI43AYJXalRbHfH3WSZ+SQThVpfH4peiAAT7WfoPBoXiLmP795rOnpwUq8ZzFIXBTdEBKwW5GSrOnMabUAO6DRVdwrO481J6qR/zI2LO8sA9QdZyEFBCUtG8YLV4gLIQt4Lmo+vYoLhVNqhQADx3PVxdaCCWpyo9WnXRcMuWgR497ty8BOugImsa2a2y1AxYxc0kjH23xAFo0y+3chenSM/E7C69H1ObwznEZ+2E/8E7AVYNnYHhJyLsaKE39fulvrWgyAu3M6U5gQkcTxeEmvKC0r/VZz8IpxET2aLJWCUqZPeXmxpbFQW9cWnVxh8AADCnaNM/gxkYB80dYYJK34cjQTDmhfDNC+PfEq8Q87h1F/48YSxcpnv+A/rGCl84SaiQ5KHneSAY5fqvIBjHh2zru3vqJDc8kAyRwj5e1ukif8tmTCE6JBWzv7ZmNExACAd0hs61FIQ6nheBR8AAXV1zKkOUD+4R40aRE5kaw48E3rgX75LT0YzTjk+yhxqe06MObgNfFbGZqe+JmrCjV8n/kbP1KwCts+ucAAAo8ofpgCNWBMmZCb04BMwV/qDsRXvrGmGr7lD/pIg6a2wbZnsdXGYQY/IReX8AAB04gp0o0DL55vuHXtXctL4z5ai7oPmNwSZwUFVk1xYiIRitU2QGEw7m1IT/ebz4AAAAAAAAAAAA1WielLijHe35AhIaxLWPlJZq/SuQ0bPbE4t9wNHG3DpmodUZZG9yGjZ4DCpAAAAAAAAA=)

**图：深度 VSLAM pipeline**

有关 pipeline 流中使用的 ROS 节点和主题的信息，参见 [Depth-VSLAM 的 pipeline 流](https://docs.qualcomm.com/doc/80-70017-265Y/topic/depth-vslam_5_3_4.html#pipeline-depth-vslam)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写和安装](https://docs.qualcomm.com/doc/80-70017-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `SSH`。
- RealSense D455 摄像头已部署。

**用例1：运行开箱即用的深度-VLSAM**

**步骤：**

该示例遵循以下节点序列。

realsense2-camera in depth mode
    qti-robot-amr-ctrl
    depth-vslam
    qti-robot-keyboard
    Copy to clipboard

1. 连接 RealSense D455 摄像头并启动机器人。
2. 启动五个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。

    `ROS_DOMAIN_ID` 的取值范围为：[0, 232]

ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) export HOME=/home
        (ssh) source /usr/share/qirp-setup.sh
        (ssh) source /usr/bin/ros_setup.bash
        (ssh) export ROS_DOMAIN_ID=xx
        Copy to clipboard

Note

在接下来的步骤 3 到 7 中，每一步都在此步骤中部署的单独终端窗口中运行。
3. 在终端 1 中，以深度模式启动 `realsense2_camera`。

(ssh) ros2 launch realsense2_camera rs_launch.py enable_sync:=true align_depth.enable:=true rgb_camera.profile:=848x480x30 depth_module.profile:=848x480x30
        Copy to clipboard
4. 在终端 2 中，启动 `qti_robot_amr_ctrl`。

(ssh) ros2 launch qti_robot_amr_ctrl qti_robot_amr_ctrl.launch.py
        Copy to clipboard

Note

将此步骤替换为您的机器人启动命令。
5. 在终端 3 中，运行 `depth-vslam`。

(ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/share/mono-vslam/Configuration/vslam-node_profile.xml
        (ssh) cd /usr/lib/depth-vslam/
        (ssh) chmod 777 depth-vslam
        (ssh) ./depth-vslam
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    终端中显示以下日志。

![../../_images/depth-vslam-log.png](data:image/png;base64,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)
6. 在终端 4 中，运行 `qti_robot_keyboard`。

(ssh) ros2 run qti_robot_keyboard qti_keyboard
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Note

将此步骤替换为您的键盘命令。
7. 在终端 5，您可以通过执行此命令观察输出结果。

(ssh) ros2 topic echo /robot_odom
        (ssh) ros2 topic echo /vslam_odom_raw
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8. 要在 Ubuntu PC 上的 Rviz2 中显示结果，执行以下配置。

    1. 按照[安装 Rviz2](https://docs.qualcomm.com/doc/80-70017-265Y/topic/install-rviz2_5_1_3.html#install-rviz2-5-1-3) 安装 Rviz2。
    2. 选择框架 `/odom`。
    3. 按显示类型添加 `TF`、`Grid`。
    4. 按主题添加 `vslam/labeled_img`、`odom` 和 `robot_odom`。

![../../_images/depth-vslam-rviz2.png](data:image/png;base64,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)

表：Depth-vslam 的默认配置和输出文件

    | 文件 | 默认路径 | 说明 |
    | --- | --- | --- |
    | 配置文件及路径 | /usr/share/mono-vslam/Configuration/rgbdWSlam.cfg<br>        /usr/share/mono-vslam/Configuration/vslam.cfg<br>        Copy to clipboard | <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">rgbdWSlam.cfg</span></code> 文件配置了 depth-vslam 算法的参数，例如初始化模式。</p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">vslam.cfg</span></code> 文件配置了 deep-vslam 的硬件参数，比如摄像头参数。</p></li><br></ul> |
    | 输出文件 | /usr/share/mono-vslam/vwslam/fusion_output.csv<br>        Copy to clipboard | .csv 文件包含基础链接的姿态。 |

**用例 2：编译并运行 depth-VLSAM**

**步骤：**

1. 在主机上，编译 QIRP SDK 提供的 `depth-vslam`。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/nodes/navigation/vslam/depth-vslam/
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `depth-vslam` 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/nodes/navigation/vslam/depth-vslam/install/depth-vslam
        tar czvf depth_vslam.tar.gz lib share
        scp depth_vslam.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) tar -zxf /opt/depth_vslam.tar.gz -C /usr/
        Copy to clipboard
3. 参考[案例 1：运行开箱即用的 depth-VLSAM](https://docs.qualcomm.com/doc/80-70017-265Y/topic/depth-vslam_5_3_4.html#caseone-dvslam)，在设备上运行 `depth-vslam`。

## Depth-VSLAM 的 pipeline 流

> 
> 
> 表：Depth-VSLAM pipeline 中使用的 ROS 节点
> 
> 
> | ROS 节点 | 说明 |
> | --- | --- |
> | qti-robot-amr-ctrl<br>    Copy to clipboard | 发布 `/cmd_vel` 和 `/odom` ROS 主题。 |
> | realsense2-camera<br>    Copy to clipboard | 发布 `/camera_info` 和 `/image_raw` ROS 主题。 |

表：Depth-VSLAM pipeline 中使用的 ROS 专题

| ROS 主题 | Type | 说明 |
| --- | --- | --- |
| robot_odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| vslam_odom_raw<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| vslam/labeled_img<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| sensor_imu<br>    Copy to clipboard | <sensor_msgs::msg::Imu><br>    Copy to clipboard | 由 `depth-vslam` 节点发布。 |
| /camera/color/image_raw<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
| /camera/aligned_depth_to_color/image_raw<br>    Copy to clipboard | <sensor_msgs::msg::Image><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
| /camera/color/camera_info<br>    Copy to clipboard | <sensor_msgs::msg::CameraInfo><br>    Copy to clipboard | 由 `realsense2-camera` 节点发布，由 `depth-vslam` 节点订阅。 |
| odom<br>    Copy to clipboard | <nav_msgs::msg::Odometry><br>    Copy to clipboard | 由 `mono-vslam` 节点发布。 |

Last Published: Jan 24, 2025

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