From fe9cb80af9c022744a88a831b64901d0f7f98018 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Sun, 25 Aug 2019 18:32:13 -0400 Subject: [PATCH 01/26] test commit --- cpp/cpp_template/hello_world.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/cpp/cpp_template/hello_world.cpp b/cpp/cpp_template/hello_world.cpp index de5bcf0a..d334f349 100644 --- a/cpp/cpp_template/hello_world.cpp +++ b/cpp/cpp_template/hello_world.cpp @@ -2,8 +2,9 @@ int main(int argc, char const *argv[]) { - std::cout << "hello world" << std::endl; - /* code */ - return 0; + //commit push test 1. + std::cout << "hello world" << std::endl; + /* code */ + return 0; } From b7d014b443e34440a828a60d42b82370ea7bdfb8 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Tue, 27 Aug 2019 11:52:59 -0400 Subject: [PATCH 02/26] commit test number 2. --- cpp/cpp_template/hello_world.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/cpp/cpp_template/hello_world.cpp b/cpp/cpp_template/hello_world.cpp index d334f349..5da002fa 100644 --- a/cpp/cpp_template/hello_world.cpp +++ b/cpp/cpp_template/hello_world.cpp @@ -3,6 +3,7 @@ int main(int argc, char const *argv[]) { //commit push test 1. + //commit push test 2 std::cout << "hello world" << std::endl; /* code */ return 0; From a55a8da91e04a7c239702cd29da17ef418862686 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Thu, 29 Aug 2019 21:26:11 -0400 Subject: [PATCH 03/26] Changed VT and psi dot with desired number --- python/lectures/2-F16-Intro.ipynb | 103 +++++++++++++++--------------- 1 file changed, 51 insertions(+), 52 deletions(-) diff --git a/python/lectures/2-F16-Intro.ipynb b/python/lectures/2-F16-Intro.ipynb index fa51411e..aa0e8fa7 100644 --- a/python/lectures/2-F16-Intro.ipynb +++ b/python/lectures/2-F16-Intro.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -17,14 +17,14 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 3, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "Requirement already satisfied: casadi in /home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages (3.4.5)\n" + "Requirement already satisfied: casadi in /home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages (3.4.5)\n" ] } ], @@ -44,28 +44,47 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 4, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "******************************************************************************\n", + "This program contains Ipopt, a library for large-scale nonlinear optimization.\n", + " Ipopt is released as open source code under the Eclipse Public License (EPL).\n", + " For more information visit http://projects.coin-or.org/Ipopt\n", + "******************************************************************************\n", + "\n", + " t_proc [s] t_wall [s] n_eval\n", + " S 0.0586 0.0632 1\n", + " nlp_f 0.00562 0.00557 157\n", + " nlp_grad_f 0.00523 0.00522 58\n", + " nlp_hess_l 0.0189 0.0189 56\n" + ] + } + ], "source": [ "p = f16.Parameters()\n", "x0, u0 = f16.trim(s0=[0, 0, 0, 0, 0, 0], x=f16.State(\n", - " VT=502), p=p,\n", - " phi_dot=0, theta_dot=0, psi_dot=0.0, gam=0)" + " VT=550), p=p,\n", + " phi_dot=0, theta_dot=0, psi_dot=3.0, gam=0)" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 5, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "Control(thtl=DM(0.138556), ail_deg=DM(0), elv_deg=DM(-0.75878), rdr_deg=DM(0))" + "Control(thtl=DM(22.0367), ail_deg=DM(-3.93766), elv_deg=DM(32.8209), rdr_deg=DM(-9.49423))" ] }, - "execution_count": 4, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" } @@ -77,30 +96,20 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 6, "metadata": {}, "outputs": [ { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'angle of attack')" - ] - }, - "execution_count": 5, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" + "ename": "AttributeError", + "evalue": "'function' object has no attribute 'to_casadi'", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mres\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mf16\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msimulate\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mf_control\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mp\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m20\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0.01\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 2\u001b[0m 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,sec'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 4\u001b[0m \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mylabel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34mr'$\\alpha$, deg'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgrid\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;32m~/Downloads/a497/aae497-f19/python/casadi_f16/f16.py\u001b[0m in \u001b[0;36msimulate\u001b[0;34m(x0, u0, p, t0, tf, dt)\u001b[0m\n\u001b[1;32m 723\u001b[0m \u001b[0mF\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mca\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mintegrator\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'F'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'idas'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdae\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m{\u001b[0m\u001b[0;34m't0'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'tf'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mdt\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'jit'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m}\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 724\u001b[0m \u001b[0mx\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mto_casadi\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreshape\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 725\u001b[0;31m \u001b[0mu\u001b[0m \u001b[0;34m=\u001b[0m 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6, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" + "ename": "AttributeError", + "evalue": "'function' object has no attribute 'to_casadi'", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mres\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mf16\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msimulate\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mf_control\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mp\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m20\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0.01\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 2\u001b[0m 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"execution_count": 5, "metadata": {}, "outputs": [ { @@ -44,7 +44,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -59,10 +59,10 @@ "******************************************************************************\n", "\n", " t_proc [s] t_wall [s] n_eval\n", - " S 0.0586 0.0632 1\n", - " nlp_f 0.00562 0.00557 157\n", - " nlp_grad_f 0.00523 0.00522 58\n", - " nlp_hess_l 0.0189 0.0189 56\n" + " S 0.00613 0.00608 1\n", + " nlp_f 0.00026 0.00026 8\n", + " nlp_grad_f 0.000657 0.000659 9\n", + " nlp_hess_l 0.00157 0.00158 7\n" ] } ], @@ -70,21 +70,21 @@ "p = f16.Parameters()\n", "x0, u0 = f16.trim(s0=[0, 0, 0, 0, 0, 0], x=f16.State(\n", " VT=550), p=p,\n", - " phi_dot=0, theta_dot=0, psi_dot=3.0, gam=0)" + " phi_dot=0, theta_dot=0, psi_dot=0.0, gam=0)" ] }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 7, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "Control(thtl=DM(22.0367), ail_deg=DM(-3.93766), elv_deg=DM(32.8209), rdr_deg=DM(-9.49423))" + "Control(thtl=DM(0.166459), ail_deg=DM(0), elv_deg=DM(-0.807378), rdr_deg=DM(0))" ] }, - "execution_count": 5, + "execution_count": 7, "metadata": {}, "output_type": "execute_result" } @@ -96,24 +96,34 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 8, "metadata": {}, "outputs": [ { - "ename": "AttributeError", - "evalue": "'function' object has no attribute 'to_casadi'", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", - "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mres\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mf16\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msimulate\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[0;34m,\u001b[0m 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"\u001b[0;32m~/Downloads/a497/aae497-f19/python/casadi_f16/f16.py\u001b[0m in \u001b[0;36msimulate\u001b[0;34m(x0, u0, p, t0, tf, dt)\u001b[0m\n\u001b[1;32m 723\u001b[0m \u001b[0mF\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mca\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mintegrator\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'F'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'idas'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdae\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m{\u001b[0m\u001b[0;34m't0'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'tf'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mdt\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'jit'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;32mTrue\u001b[0m\u001b[0;34m}\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 724\u001b[0m \u001b[0mx\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx0\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mto_casadi\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreshape\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 725\u001b[0;31m \u001b[0mu\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mu0\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mto_casadi\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreshape\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 726\u001b[0m data = {\n\u001b[1;32m 727\u001b[0m \u001b[0;34m't'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", - "\u001b[0;31mAttributeError\u001b[0m: 'function' object has no attribute 'to_casadi'" - ] + "data": { + "text/plain": [ + "Text(0.5, 1.0, 'angle of attack')" + ] + }, + "execution_count": 8, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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+ "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" } ], "source": [ - "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", + "res = f16.simulate(x0, u0, p, 0, 20, 0.01)\n", "plt.plot(res['t'], np.rad2deg(res['x'][:, f16.State().name_to_index('alpha')]))\n", "plt.xlabel('t ,sec')\n", "plt.ylabel(r'$\\alpha$, deg')\n", @@ -123,24 +133,34 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 9, "metadata": {}, "outputs": [ { - "ename": "AttributeError", - "evalue": "'function' object has no attribute 'to_casadi'", - "output_type": "error", - "traceback": [ - "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[0;31mAttributeError\u001b[0m Traceback (most recent call last)", - "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mres\u001b[0m \u001b[0;34m=\u001b[0m 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\u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0maxis\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'equal'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m;\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mxlabel\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'East, ft'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", - "\u001b[0;32m~/Downloads/a497/aae497-f19/python/casadi_f16/f16.py\u001b[0m in \u001b[0;36msimulate\u001b[0;34m(x0, u0, p, t0, tf, dt)\u001b[0m\n\u001b[1;32m 723\u001b[0m \u001b[0mF\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mca\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mintegrator\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'F'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'idas'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdae\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m{\u001b[0m\u001b[0;34m't0'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m 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\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mu0\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mto_casadi\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mreshape\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 726\u001b[0m data = {\n\u001b[1;32m 727\u001b[0m \u001b[0;34m't'\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", - "\u001b[0;31mAttributeError\u001b[0m: 'function' object has no attribute 'to_casadi'" - ] + "data": { + "text/plain": [ + "Text(0.5, 1.0, 'trajectory')" + ] + }, + "execution_count": 9, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" } ], "source": [ - "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", + "res = f16.simulate(x0, u0, p, 0, 20, 0.01)\n", "\n", "plt.plot(res['x'][:, f16.State().name_to_index('p_E')], res['x'][:, f16.State().name_to_index('p_N')])\n", "plt.axis('equal');\n", @@ -152,12 +172,12 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 15, "metadata": {}, "outputs": [], "source": [ "ss = f16.linearize(x0, u0, p)\n", - "s = control.tf([1, 0], [0, 1])\n", + "s = control.tf([1, 1], [0, 1])\n", "G = 180/np.pi*ss.sub_system(x=['alpha', 'Q'],\n", " u=['elv_deg'], y=['alpha', 'Q']).to_control()\n", "\n", @@ -178,12 +198,12 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 16, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", + "image/png": 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AKqviEUK0glOMrn/b3DXszi7hu3uTWjceIVxVly5mKIuPPjLtwj799PhBXtPT4aqroKYGpk49pwFg33777UbXr169+qR1Bw4cOO5xYmIiP/zww7HHxcXFZ318Uc/KkrE4IAd4Wyk1CFgL3KW1lla8QnQw8ZH+fLs9m4rqWuweMn6ROMHMmVZHYI3Zs804YuvWQVycScp69zZVk599ZhKxuDh46SWrIxXnSWmL5oFTSg0DfgBGa61/VEo9DxRprR86Yb9bgVsBwsPDh86fP7/1g3VxJSUl+PlJw+eG5Jw0zlXPy49HanhlYyWPXminS0DrJ2Ouel6sJuflZM11TgIDA+nZs+cZ91NZWXjddx/u//0vqsEI/Npmo+bKK6l85hl0RMR5x3O+ZCBY2LNnD4WFx4+ZmJycvFZrPexMz7WyZCwDyNBa/1j3+EPgDyfupLV+HXgdID4+XiclJbVagG1FSkoKcl6OJ+ekca56XqKzinll4zICu/QhKbFzqx/fVc+L1VzmvOTmmtuwMGvjoPnOyfbt2/H3b8IUYP7+pooyPd20Hzt6FIKDUZMn4xEbi8d5R9I8iouLm/Z+2jG73c7gwYPP6bmWJWNa60ylVLpSKl5rvROYCGyzKh4hhHW6hfriblPszJR2J6IR11xjblNSLA3DUrGx5zzSvnB9Vvem/C3w77qelPuAn1scjxDCAp7uNjoHe5NxtNzqUIQQotVZmoxprTcAZ6xLFUK0f1EBdjILK6wOQwjXcLbj7VnU/ls0D5kOSQjhEjoF2jlcKCVjQljp4Ycf5umnn26x109KSmLNmjVNXm+VlJQUJk2a1GrHk2RMCOESOgV5k1VUIROGC9GQ1qdfRLsgyZgQwiV0CrRTXavJK5Wxn8UJfv1rs4hm9e6775KQkMCgQYO46aabTtq+YcMGRo4cSUJCAldffTVH6+a/fOGFF+jXrx8JCQlcf/31AJSWlnLLLbdwwQUXMHjwYD777DMAysvLuf7660lISOC6666jvPzMpd/z5s1j4MCBDBgwgAceeOCM6/38/Lj33nsZMmQIEydOJCcn56TXnDlzJrNmzWLs2LH07t2bzz//HICKigp+/vOfM3DgQAYPHsySJUtOeu6p3ltzsroBvxBCAKbNGMCRwnLC/b0sjka4lOuuszqCdmfr1q08/vjjrFixgrCwMPLz80/a5+abb+bFF19k/Pjx/PnPf+aRRx7hueee48knn2T//v14eXlRUDeh+dNPP82ECRN46623KCgoYPjw4Vx00UW89tpr+Pj4sGnTJjZt2sSQIUNOG9fhw4d54IEHWLt2LcHBwVxyySV8+umnDB8+vNH1V111FaWlpQwZMoRnnnmGRx99lEceeYTZs2ef9NoHDhxg6dKl7N27l+TkZPbs2cNLdQPmbt68mR07dnDJJZecNB/n448/3uh7a86J06VkTAjhEgK8zYhJJRU1FkciXE56ullEs/nuu++45pprCKsbuy0kJOS47YWFhRQUFDB+/HgAZsyYwbJlywBISEjgxhtv5L333sPd3f3Y6z355JMkJiaSlJRERUUFaWlpLFu2jOnTpx97XkJCwmnjWr16NUlJSYSHh+Pu7s6NN97IsmXLTrkewGazcV1dwj59+nRSU1Mbfe1rr70Wm81Gr169iIuLY8eOHaSmph4rFezTpw9du3Y9KRn7+uuvG31vzUlKxoQQLsHT3fw2rKx1nGFP0eE4q9A68jhjzUxrjTrbHpt1Fi1axLJly1i4cCF//etf2bp1K1prPvroI+Lj40/a/2yOc6pZgc5mtqBTHe/E9UqpJr3u6d5bc5GSMSGES/B0M5ejqhpJxoRoaRMnTmT+/Pnk5eUBnFRNGRgYSHBwMMuXLwdg7ty5jB8/HofDQXp6OsnJyfz973+noKCAkpISJk6cyIsvvngsuVm/fj0A48aN49///jcAW7ZsYdOmTaeNa8SIESxdupTc3Fxqa2uZN28e48ePP+V6AIfDwYcffgjA+++/z5gxYxp97QULFuBwONi7dy/79u0jPj7+uPh27dpFWlraSUnXT37yk0bfW3OSkjEhhEuRDmJCtLz+/fvzf//3f4wfPx43NzcGDx7MO++8c9w+c+bMYdasWZSVlREXF8fbb79NbW0t06dPp7CwEK0199xzD0FBQdx///089NBDJCQkoLWmW7dufP755/z617/m5z//OQkJCSQmJjJ8+PDTxtWpUyeeeOIJkpOT0Vpz+eWXM2XKFIBTrvf19WXr1q0MHTqUwMBA/vOf/zT62vHx8YwfP56srCxeffVV7HY7v/nNb5g1axYDBw7E3d2dd955By+v49usPvTQQ9x9990nvbfmZNlE4eciPj5e79y50+owXI7LzB/nQuScNM6Vz8uyXTnc/NYqFswaxQXdQs78hGbkyufFSi5zXpwxuEA1ZXPOTdm3b99T7+CsUjvTd3RT92thVs5N6efnR0lJyWn3mTlzJpMmTeIa59RaLaCx/1OllMtPFC6EEMfklVYCEOYnPSmFOOYc23WJtkWSMSGES8gtNuOLhfp5WhyJcDn33mt1BMKFnalUDDipCtbVSDImhHAJWw4XEuLrib+XXJbECa680uoIWl8bakIkzp/0phRCWK6yppbvtmdzcd/Ic+5uL9qxnTvN0s60pTbb4vTO9/9SfoIK0YGoKtecamjl3jyKK2u4dECU1aEIV3TbbebWBRrwNxe73U5eXh6hoaHyA6SN01qTl5eH3W4/59eQZEyIDqTnSy/BJZeYB998Az16QPfuljcS/mpLJn5e7lzYM9TSOIRoLTExMWRkZDQ6j2JbVFFRcV7JSFtnt9uJiYk55+dLMiZEB5KTnExngNpamDoViouhUycYOxbGjDGJWguOMt2YtLwyFm0+woQ+EXi5u7XqsYWwioeHB927d7c6jGaTkpLC4MGDrQ6jzZI2Y0J0IAWJieaOzQYrVsDLL0NyMnz/Pdx5J8yda7aXlsJjj8HSpVBe3mLxFFdU84s5q7EpxT0X926x4wghhCuTkjEhOiKlYOBAs/z612ZdWhrUTfrLpk3w0EPmvocHDBtmSs5uvRV69myWEGodmjvnrWdfbilzbxlO9zDfZnldIYRoayQZE0IYXbrU3x81CvLyYOVKSE2F5cvhuefAOXr14sWwYIFJ0MaONc89y3ZnT/5vO0t25vDXqwZwYc+wZnwjot3505+sjkCIFiXJmBCicSEhMGmSWcBUV3rWDci6Zw/MmwevvWYex8SYpOz118HP74wv/f6PabyxfD8zRnXlppFdW+gNiHbjoousjkCIFiXJmBCiaby96+/fdhv88pewZYspNUtNNeNA+dZVNd55J+zdW19yNmwY2O0czCvlsUXb+WZbFmN7hfHQpH7WvBfRtmzYYG6dbR6FaGckGRNCnBs3Nxg0yCx33HH8tqAg2L8fvvgCAO3pyZaxlzF1xG24uykeTO7KzIl9cXeTPkSiCe6+29y2o3HGhGhIkjEhRPN79FF49FEc2Tl8P3ch+z79ioxaX64cFM39l/QismcXiI6uH1Jj7FhT1SmEEB2Q/CwVQjS7mloHi7dncdX8ndyYE8XHN9zFZe/+k2euHUSkl4K77jLjm737LvzsZxAba4bSAKishK1bweGw9k0IIUQrkZIxIUSz2Z1VzIdrM/h4/SFyiiuJDPDin9cNYsqgzthsdb0tvb3rh82oqTHDaKSmwoUXmnWrVsG4caYDwejR9SVnQ4fWdyAQZ83h0NRU1VJdWUt1Rd1tZS3VVcc/rq12UFvrwFHjIGufg9Tc3ThqNLU1Zp3Doc0c1lqjAe0A0Oafrp+jTymFzU2hbObWZlMoN4Vb3a3Nud7NhrunDXdPNzy83Mx9Dzc8PN1wr3vs4RGCu67Go7wGTy83lE2mDxLti+XJmFLKDVgDHNJaT7I6HiHE2Sksq2bhpsN8uCadjRmFuNsUyX0iuGZoDMnxEXi6n6YA3t0dhgwxi1OfPvD22/VDavz3v2Z9aqpJzrZtM2OijRoFgYEt++ZclMOhqSippqyokrKiKrMUVlFRWk1lWQ2VpdVUlJn7znXVFbVnfRxlg4J9h3FzV7i52bC51yVVSoEyCZdzRBNngmQeK7TWaIfGUatNAufQ1NZqdN1jh8Pcr611wJnmWO5R1ybxnmUoBZ7e7nj5uB+79fLxwMvbHU8fd+w+7tj9PPHx98Tb3wNvf0+8AzzxtLvJHJDCZVmejAF3AduBAKsDEUI0TU5xJYu3Z/HNtiyW78mlqsZBnyh//nRFX64a3JkwP69zf/HwcJg50ywA2dkmERs61Dx+5x34xz/MLAIJCfUlZz/9af2gtW2Yo9ZBydFKivMrzJJnbksLKo8lXeXFVehGEhibu8Lu44GXjzt2Xw/8grwI7eyH3ccDD283PL3c8bCbEqjGFndPUxLlTLyWLl1KUtL4Fn2/Wmtqqx3UVDmorqqlpqr25PtbdlBTo6nq3I2q8hoqy2uoLKumqszcL8gqM0loeQ01lY0nnTZ3VZegmSTNJ8ATv2A7vkFe+AXXLUF2vHzdJWkTrc7SK5dSKga4Angc+J2VsQghTk1rzd6cEr7eZhKwDekFaA2dg7y5cUQXpg6JoX90QMt8iUVEmETL6c9/hp/8pH5Ijbfegvffrx+Q9u23TfXnmDGmlM1Fv1gry2vIyyjmaGYZBVllFGSXU5hdRmFOOY7a4zMt7wBP/IK88AvyIqKLPz6BXvgEeB5bvOtuPbzaXumPUqouCXTDjkfjOyWGN/n1amscptSw2CSt5cXVdbdVlDnvF1WRd6iUssLKk5JaNw+bOdfBXviH2gkI8yYgzJvAcHOrG8uChThPVv+MfA64H/C3OA4hxAkKy6pZuTeX5XtyWb47h/R8M0flwM6B3HNRby7qG0nfTv6t/+Xv5wcTJ5oFoLoaDh40JWUAb75p5t0ECA01SdlVV9WXtFmgtLCSnLRictNLyE0vJie9mKLcimPb3TxsBIZ7E9zJl+6DwgkM98Y/1I5/iB2/EC/cPTr4BOorV5pbZ7vC03Bzt+Eb5IVv0JlLZx21DsqKqikpqKD0aCUlRyspKaik5GgFJfmVpG/Lp7Sw6rjnKDfIXP7jsQQtOMqH4ChfgqN8sPt5tLlkWLgGZVWWr5SaBFyutf6NUioJuK+xNmNKqVuBWwHCw8OHzp8/v3UDbQNKSkrwa8Ko5x2JnJPGne681Dg0+wsdbMmtZUtuLfsKHWjA7gZ9Q90YGOZGYoQbIXYX74StNd4ZGQRu3nxsKRowgB1/+ANoTf+//IXS7t0pHDiQov79qfX2bva/F0eNpjQbSjI1pZlQWVS/zdMP7MFgD1bYg8ArEDx8cMkvcVf5HCXWjTO24bnnWv3YjhpNdSlUlUJVCZQerYIqD6pKzGPdoFbUzRO8AsAzALwCFF4B5rGHr2v+/zYnV/lbcTXJyclrtdbDzrSflcnYE8BNQA1gx7QZ+1hrPf1Uz4mPj9c7d+5spQjbjpSUFJKSkqwOw6XIOWlcw/OiteZgXhnLd+ewbHcu3+/No6SyBpuCQbFBjO0VztheYSTGBuHR1gdnra42E57n58PFF5sR3R0OM3BtYiJbpkxhgLOH5znKO1TCwS15pG3L58jeAhw1GjcPG9G9gojtE0Jk9wDCYvzw9La6QqLpXOZz5IzBBQZ9Pe4z5NAU51dwNKuMgswy8jNLKcgs42hmKeXF1cee4+XjTmhnP0Jj/AirW0KifdtViafL/K24GKVUk5Ixy64KWusHgQcBGpSMnTIRE0Kcv9Jqzf82Hzmp6jEm2JsrB0UzrlcYF/YII9DnFG132iqPuvcTEgJr10JxMfzww7F2Z9rZ8H/VKrjxxvrBaMeMgV69TtnuTGvNoZ1HWfvlQTJ2HAUgNMaPQcmxxPYLoVPPwHb1hSuOp2zqWJuyrv1Dj9tWUVLN0cxS8g6Xkpthqqe3rzxyrIOBsimCo3wIi/EjolsAkd0DCI/xx82jjf/wEeek7fxEE0KctepaBxvTC1i22yRfG9LK0KzDz8udUT1CuXVsHGN7hdM11KfdV6Mcx9/flJBdfDEAec4SF6WgXz/47DPTEQBMB4LFi2HAAJPEeXujbW7s35TL2i8Pkn2gCJ8AT0b9tMnx5jwAACAASURBVAfxI6LwDTyPnqSi3bD7edCpZxCdegYdW6cdmsKccpOcZRSTl1FCxs6j7FqVBYDNTREW40dk90AiuwcQ2S2AwAjvjvXZ7KBcIhnTWqcAKRaHIUS7kJ5fxtJdOSzblcP3e/MoblD1OLmHBzddPIxB7aHqsSVccIFJxBwOM/G5s8dmXBwAjr89Ac8/T1an/uQG9yMofgj9br6M+AlxUgImzkjZFEGRPgRF+tBzaMSx9SVHK8g6UETWfrNs//4Im1MyAPDydadTjyA69w4iulcQYTF+2OSz2+64RDImhDh3ZVU1/LAvj2W7clm6K4f9uaWAGXZi0glVjykpKQzrFmJxxG2AzQZ9+5rl1lsBqKqo4cf8LgTGXUJs3lYu2P8uau0c+OpRMxYawMaNZpqniIjTvLg4axY03G9NfsF2/ILt9Bhs/m4cDs3RI6Vk7S8ic18hh3cXcGBTLgAedjc69QgkulcQ0b2Ciejqj9vpBlYWbYIkY0K0MVprdmQWs2xXDkt35bDmwFGqah3YPWyMjAvl5lFdGdc7nLgwX6neaCbVVbUsemkTR9zimfDGFIJGRqGKiuD77yEzs35YjZtugs2bIT6+fjDa8eOhWzdL42/zEhOtjqBV2WzKNPjv7Ee/MdEAlBZUcnh3AYd3F3BodwE/fLoPAHcvNzr3DiK2bwhd+oUQFNnBmhy0E5KMCdEGlFXVkLo7l8Xbs1myM5vs4koA4iP9mTm6G+N6hTOsWzB2qSprdjXVtXzx8iaO7Cngolv60fuCKLMhMBAuvfT4nV97zVRtLl8OH39sxjz72c/g3/82Eze+8YapCk1IMD05RdN8+625vegia+OwkG+QF70uiKTXBZEAlBdXcWRPIRk78knbns/BzXkA+IV40aVvCLH9QonpE4zdt511xmmnJBkTwkUdKSxn8fZsFm/PYsXePKpqHPh7uTOudzjj48MZ1yucqEC71WG2a7XVDr58bQsZO48y8ea+9YnYqYwaZZb77zftzrZvr9+Wng633Wbu+/ubAUzHjIFp00xJmji1xx4ztx04GTuRt78ncYPDiRtsZicoyi0nbVs+6dvy2bM2m20rjqBsiuheQXQfFEb3hDACwrwtjlqciiRjQrgIh0Oz+VAhi7dnsXhHNlsPm5FCu4T4cOOILlzUN5ILuoWcfuJt0axWfLSHg1vySLoxnj6jOp3dk2026N+//nGXLmaCc+cE6KmpZmqnnj1NMrZjhylJGzvWTIgeGnrq1xbiBAFh3gwY15kB4zrjqHWQtb+IA1vy2L8xl9T5u0mdv5vQzn4mMRsURngXC2bPEKckyZgQFnI4NGvTjvLF5iN8uSWTI4UV2BQM6RLMA5f24aK+EfSM8JOLpgWqKmrY/v0R+oyKov/Yzs3zorGxcMMNZgE4ehQ8Pc39TZvghRfg6afN4759TWL28MOmU4AQTWRzsx0bVmPUVT0oyCpj/6Zc9m/MYe3/DrDmiwP4hXjRa6ip9gyLlWuM1SQZE6KV1To0q/bn878tJgHLLq7E093GuF7h3HtJPBP6RBDi62l1mB3e3nXZ1FTW0m90dMsdJDi4/v6118LkybB6tSk1S02FDz+Ef/zDbH/xRTPnpnNA2gEDpN2ZaJKgSB8GX9yFwRd3oby4igOb89i7PpuNi9NZ/00agRHe9BoWSa9hkYRE+1odbockyZgQrcDh0Py4P5/PNx3mq62Z5JZU4eVuIzk+gssGRjGhTwT+dmlo60q2rzxCUKQPUT0CW++gdrtJtsaONY8djvqemiUlJkH7z3/M48BAuOQScM7Xq/UpZwoQwsnb35O+F3ai74WdqCipZt+GHHavyTpWYhba2Y/4kVHEj4jCJ0B+FLYWScaEaEE7M4v5ZP0hFm44xOHCCrw93JjQN4LLB3QiKT4cXy/5CLoiZ0+1EZO7W1t9Y2vQPvDBB+EPf4CDB+tLzhyO+u1jxphkzDmkxoUXHl/y1pa99prVEbRLdj8P+o2Jpt+YaEoLK9m7Lptdq7JY+dEefvhkL10HhtJ3dDRd+4fIQLMtTL4JhGhmmYUVLNx4iE/WH2b7kSLcbIpxvcJ44LI+XNwvEh9P+di5uuL8CgBCov0sjuQESpkxy7p1g+kNpvLV2oxntmQJPPssPPWU2ffuu81jgEOHoHMztX1rbdLbtMX5BnqRkBxLQnIs+UdK2bHyCDt+zGT/xlx8AjyJHxlF/7HRBIb7WB1quyTfCkI0g6oaB99sy+KD1Wmk7slFa0iMDeKRyf25IqETYX4yX2FbUlpgxnHzC24j/29Kwd/+Zu6XlZkJz1NTYeBAs+7QIYiJMT06nSVnY8aYeThtbaDE47//NbdXXmltHB1ESCdfLpzakxFXxZG2JY/tK4+w4VvTvqxr/1AGJsXQpV8IyibV4s1FkjEhzsPenBL+szqdj9ZmkFdaRXSgnd9O6MXVgzvTPUwawrZVpYVVAG1z0m8fH0hKMouTtzc8/7xJ0L77Dt5/36yfO9eUsGVmwt69MGwYeLnge37mGXMryVircnOz0X1QON0HhVNaWMnWZYfYuvwwn8/eSGC4NwOTYugzKgovH2nver4kGRPiLFXW1PLF5iPMW5XOqv35uNsUE/tGcP3wLozrFY6b/Fps+7Q2t+3lvzIkBO680yxaw759JjGbONFs//RT+PWvTSI2fPix0jOb9NYUdXwDvRh+ZRxDL+vG3vXZbF5yiNQFu/lx4T76j42m2kdbHWKbJsmYEE2UXVTBez+m8f6PB8ktqaJbqA8PXNqHqUM7E+EvI+G3J25100rVVjvOsGcbpBT06GEWp2nTICqqfjDaf/wDnngC28KFZvvXX5sx0caOhegWHOpDuDw3dxu9L4ii9wVR5KQVs/6bNDYuTgcFbrnbGXxJF4KjpFbgbEkyJsQZbEgv4J0V+1m0+Qg1Ds2E+Ahmju7GmJ5hMlBiO+XhZZKx6spaiyNpJaGhcNVVZgEoLYVNm6ipNG3neOUVU3oG0L27KTmbOBFmzLAmXuESwrv4c8kv+jNyShyL5nzPrtVZbP/+CHGDwhl2RTfCY/2tDrHNkGRMiEY4HJpvtmfx6tK9rE8rwM/LnekjuzJjVDe6SVuwds830IyvVFJQSWhnF+tR2Rp8fc0cmykp5vGCBbBxY33J2VdfwYED9cnY/fdDRIRJ0oYMqZ9VQHQIAWHedBpqY8qvLmRzSgablmSwb0MOPYdGcMGk7oR0kmvmmUgyJkQD1bUOFm44zKtL97I7u4QuIT48fGU/rhkWi5+MCdZh+IWYaufivAqLI3ER7u4wdKhZ7r7btDsrLDTbamth0SLYts089vaGESPg1lvrp306X3PnNs/riBblE+DJiMlxDJoYy8bF6WxcnM7eddn0HhHFBVd0JzBcJio/Ffl2EQKoqK5l/pp0Xlu6j0MF5fSJ8uf56xO5YmAn3GWwww7HN8gLdw8bBVllVofimpSCoCBz380Ntm41PTKdg9GmpprHANnZcNllptTMuZztXJuxsc0bv2hRdl8PRkyOIyE5hnVfp7E5JYPdq7NISI5h2OXdpPdlIyQZEx1aVY2D+WvSefG73WQVVTK0azCPTunPhD4R0h6sA7PZFCHRvuRmlFgdStsRFQXXXGOWhvLyzNRNb7xhJkIH03ngrbdg3DiorjYlb6f7vDmngLruupaJXbQIb39PRk/tSeJFsfy4cB8bFqez44dMhk/qTv+x0TKqfwOSjIkOqdah+WzDIf757S7S88sZ1jWY564bzMi4EEnCBABhMX7s25CL1lr+Js5H375mbLPqali/vr7dmbNX5rvvmqmeGg5GO3iwSdCcXnnF3Eoy1ib5Bnox4aa+DEyKYcWC3Sz7YBeblx5i/PW96RzfTqbsOk+SjIkORWvNt9uz+fuXO9idXUL/6ADe/vkAknqHyxeuOE5ojD/bVhyhtKCq7YzE78o8PMwYZsOHw7331q/v2RMuv9wkaZ98Ytb5+sLhwxAQAOnppl2ajHnW5oXH+jPlnsHs35jLig938+k/19NnVBSjp/bC7texqy4lGRMdxs7MYh79fCsr9uTRI9yXl28cwqX9o7DJIK2iEeGxphdl9sEi/ILDLY6mHRs/3ixgErAVK2D7dpOIAdxxhylJ8/eH3/2uvt1ZRIR1MYtzppQiLjGc2H4hrFl0gA3fpHFgcx6jr+lJ/IioDvujWJIx0e7ll1bx7Dc7ef/HNPztHjwyuT83jugiDfPFyRp8EXQCbgd47TT7axl1vFlFR5sBaBu65x7YsMH03nzlFfjnP01vzR9+MNsXLTITiffocfp2Z8KleHi6MerqHvQeHknKv3ew+J3t7F6dzYSb+7TNacjOkyRjot1yODTvr0rj71/uoLSqlptGduXui3oT7CtjIAnRZiQlmYFmwYxvtm4dOAejrayEqVPNbVRUfanZpZeaBE24vNDOfvz0vqFsXprByo/38sGjq0i6MZ4eQzpWyackY6JdOlzi4LrXv2f1gaOMigvlkSn96R0po0GLJqor8fr+k71s+CaNXz43Dg/PBm2WpASmdX34obn18jKD0Tp5eMDatfXDaSxfbvZ9/HH44x/NFE4vvmg6BowYYSZRFy5H2RQJybHE9g3h27e38eXrW4gfEcW4G3rjae8YaYpl71IpFQu8C0QBDuB1rfXzVsUj2ofKmlpeSdnL7BXl+Npr+Mc1CVwzNKbDtkMQ56dTz0DWfaXJ2l9EjPT6sk5YWOPrbTbo398st91m1qWnm6QNzKwBDz9skmvnwLVjx8JvflNf2iZcRnCULz+9fyhrvjjA2i8OkH2wiEtvG9ghRvC3stFMDXCv1rovMBK4XSnVz8J4RBu3/UgRV76YynPf7mZYlBuL7x3PtGGxkoiJc9apRyAoOLKnwOpQOrZ33jFLU8TG1jfuT0oy45wtWgS//70pSXvhBTP3JsDnn5uZAubOhf37pQ2gC3BzszHiyjgm35VIRWk1C55cw67VmVaH1eIsKxnTWh8BjtTdL1ZKbQc6A9usikm0TQ6H5u2VB3jqfzsI8PbgrZnDsGVuJ8yv4zUCFc3Ly8eDsBg/Du+WZMxSzkRs5syzf25wsBk64/LLzeOKivq5M/fvN/NuvvGGeRwdbUrO5sypL10TlojpE8K1fxzO1//awjdvbiMnrYQLr+6Baqe9312iO5lSqhswGPjR2khEW5NdVMGMt1fx18+3Ma53OF/dPZYJfSKtDku0I517BZO5t5DaaofVoYjmYLeb6k2A3/7WlJxt2gQvvWSG2Dh0qD4R++UvzVROjz8Oy5ZBebl1cXdAfsFeTPndYAaM78yGb9L48o0tVFfVWh1Wi1Da4mJZpZQfsBR4XGv9cSPbbwVuBQgPDx86f/78Vo7Q9ZWUlODn52d1GK1ue14tL2+ooLIWbujjSVKs+7EqyY56Ts5EzkvjnOclKTkZgJQlS45tK8rQpKdquk1U+Iabv6/G9muPXOXvJfHuuwHY8NxzrXrc7v/6F2ErVuB74AAADg8PMpKS2PfHPwJgKy/H4S2TX0PL/q1orcnfBZnrNd4h0GWcwt3eNkrIkpOT12qth51pP0uTMaWUB/A58JXW+tkz7R8fH6937tzZ8oG1MSkpKSQlJVkdRqvRWvPWigP87YvtdA/z5dXpQ+gZcXxPyY52TppKzkvjjp0XZ/vCBtfFitJq3rxvOSOu7M6wy+safTeyX3vkMn8vzhhSUqw5fl4erFwJqansLiuj14svmumdQkKga9fjp3Lq2tWaGC3WGn8r+zbk8M2bW/EPtTP5rsFtYmYMpVSTkjHLqimVKcJ4E9jelERMCICK6lruXbCRv36+jYl9IvjkNxeelIgJ0Zzsvqbd2KFd0m6swwoNhSuvhKee4tDUqWZdZSX84Q+mw8C8eTB9OnTrBv/4h9leVgabN4NDqrebS1xiOFfemUjJ0Uo+eWYtRXntp9rYygE8RgM3AZuVUhvq1v1Ra/2FhTEJF5ZdXMEv56xhU0Yh91zUm99O6ClTGYmWcUIP3GPTU9/T6pEIgC9c8GvBzw/+7//M/dpak3ilpsK4cWbd8uVm8NmgIBg9ur7kbNgw6RxwHqJ7BTH57kQ+f3Ejnzyzjqm/H4pfsN3qsM6blb0pUwH5JhVNsj+3lJvf+pHc4ipev2kol/SPsjokIURrcfXBWt3cIDHRLE5Dhphemc4BaRctMuvXrYPBg80YaIcOwYUXmoRNNFlU90Am35XIp/9cz8IXNvLT+4Zg923bE427RG9KIU5nU0YB17yyktLKWubdOlISMdFytG50qSip4qVZi1mzaN/x20TrePlls7Ql4eFw883w+uuwbRtkZ8Onn8LAgWb7G2/AFVeYdmeDBsHtt8MHH0i1ZhNFdA3g8l8nUJhTxqKXNlHTxntZSjImXNqG9AJufONHvD3d+HDWKBJj5RekaH3Sbsxi8+ebpS0LD4cpU8xMAABPPQXffWdmCIiMhHffhfvuq68if+UVeO01k8hJgtaomPhgLrmlP5n7Ckl5fydWjw5xPjrGpE+iTdqQXsBN//qRYF9P5t06ks5B0oVcWKdzr2C2Lj9EbbUDNw/5HSvOk68vJCebBaCmBjIy6pOxt96CNWvM/ZAQ0+7smmtMaZs4pseQCK5Qy/luyQA2dw0gITnm5J2ys83gvrff3voBNpFcUYRL2n6kiJveNInYB5KICRcQ3TuImmoHWQeLrA5FtEfu7qY3ptOqVbB7t0nKrroKdu6EH34w22przWC0f/oTfPUVFHXgv8mXXqLbqw8z7ev7WTdnFTnpxcdvz842Ce8dd5iBfV2UJGPC5RwqKGfm26vw9XRn3q0jiZZETLiA6F5BoODwrqNWhyI6AqWgZ0/4+c/hzTdNMvbCC2ZbTg7k5sKTT5oem8HBpsPA55+b7W24uu6sTZsG/frhn7mPKZ/fS+rsFdTW1FXrOhOxbdugXz+zr4uSZEy4lIKyKma8tYqyqlrm3DJcSsSEy5B2Y8JyzvZmUVGwejUUFMA338BDD5mqTOdsACkp0KOHmcvzX/8yiVx7TdAiImDJEujXj+C8A4x/YxYb5605ORFbsqR+AnkXJG3GhMuodWju/GADaXllvPuL4cRHyWCuwrV0igtkx4+ZOBxaxrhrTVaNvO/q/PzgoovM0pC3t+mh+cUXZngNgLAwM4tAr14mifP1BY+2PRzEMc6ELDmZkG3bCPrdJDNwVk5Om0jEQErGhAt5YfFulu3K4eHJ/RkZF2p1OEKcJKJbANUVtRRkllkdihCnNnIkfPwxZGXBjh2mdGzy5Po2aY88YsY2mzgR/vIXU7pWUmJpyOfNmZCFh2PLzTGJWHh4m0jEQErGhItYsjObF77bzTVDY7hheKzV4QjRqIhuAQBkHywiJNrX4mg6kKefNrf33WdtHG2NUhAfb5Zf/KJ+/aRJphNAaio89pgZOiM6ur4355o1ZpqnyEjrYu9gJBkTlisoq+L3CzYSH+nPX6cMQCmp/hGuKTjSBw+7G1kHiugzqpPV4XQczobpkow1j4kTzQKmJ+YPP5gOAc5r7/XXw969pkrTOQl6UhJ0725ZyGfkbCPmLBEDcz85uU2Ujkk1pbDcY4u2c7SsmmeuHYS3p5vV4QhxSsqmiOjqT/aBDjyUgGhfAgLgkkvgZz+rX/fee2bC87594bPP4JZb4PHHzTaHA2bPhrVrzdhoruDExvpbtpilXz+zLjnZ7OPCpGRMWGrZrhw+XJvB7ck96B8daHU4QpxRWKw/W5Yekkb8ov0aOdIs991nkq+dO838m2DGPvvtb819Pz8YNQrGjMHbqlKz0/WarGvUfywhc+ESMikZE5apqK7lj59sJi7cl99O6GV1OEI0SWi0H7XVDopyyq0ORYiWZ7OZErLevc3j+HhITzfzaM6YYZKhhx/GJy3NbN+4Ee6918zDmZPT8vEtWHDq4SsaDHvBtm1mXxclJWPCMnO/P0jG0XLe+8UI7B5SPSnahtDOpuF+3uESgiJ9LI6mg/CW8QZdSkwMXHedWQAKCji6apW5v2mTGen+2WfN4z59TLuzv/2tvi1Xc3JOcTRtWuOlXs6ETKZDEuJkxRXVzF6yh3G9wxnTK8zqcIRosuBOvqAg/3Cp1aF0HP/7n1mEawoKwuHpae7fdBMUFpqemk8+aQaf/fxz8K8bN/Lvf4drr4UXX4T1602vzvN1++2nr36MiHDpRAykZExY5INV6RSWV3Pvxb2tDkWIs+Lh6YZfkBeFUk0pROO8vMzE5qNHwwMPmNH/nT01KypM701nlaG/P1xxBcybZx47HKZqtIORZEy0uqoaB2+m7mdUXCiDYoOsDkeIsxYQ5k1RriRjreavfzW3Dz1kbRzi3DQcrujPfzZLWpopPUtNBWepGsDgwWZ2gLFjTfXm6NFmqqd2ruOln8JyKTuzySyq4BdjXHjMGiFOIyDcWxrwt6bFi80i2o8uXcxwGi+/DM89Z9Y5HHD55aZk7LnnzKwBoaHw4INmu9Zw8GC7nGdTSsZEq/t43SHC/DxJim+BxpxCtILAMDs7CquoqarFXcbGE6J52GzwxBPmfkWFmQw9NRWGDDHr9uwxvTpjYuoHox0zBgYMaPNVm01KxpRSjZURFmutq5s5HtHOFZZV892ObKaP7Iq7W9v+8IiOyz/U9O4rzq8gOEqmRRKi2dntJtkaO7Z+XXCwafifmgrLlpnhNQA+/BCmTjXTOe3fDxdcYJ7fhjT123AdkAPsAnbX3d+vlFqnlBraUsGJ9ueH/XlU1Tq4bGCU1aEIcc58Akwbl/LiKosjEaIDCQuDO+4wSVhGBuzbB+++a6ZqApg/H8aNg8BAU2L2hz/AokVQWWlp2E3R1GrKL4FPtNZfASilLgEuBeYDLwMjWiY80d6sOZCPp7uNhBgZbV+0Xc5krKxIKgdaRWio1REIV6OUmSuz4cj/M2eaoTScHQOeecYsBQWmh+d//wvFxaa0LTbWstAb09RkbJjWepbzgdb6a6XU37TWv1NKebVQbKIdWn3gKINiAvFyl3Y2ou3yCTTJ2L4NOXRPDMNNqtxb1kcfWR2BaAtCQmDKFLMAlJWZkfd965oSvPQSfPWVud+li0nKLrkEbr7ZmngbaOoVJF8p9YBSqmvdcj9wVCnlBjhaMD7RjhSWVbPlUCHDurX/bsrN5qWXTj/BbXa22edM0tJg9my6zp1rJvlNT2++GDsgbz9PhvykC7tXZ/HfFzZSUSIlZO2efIasp9TZLT4+JulyXiM//xzWrYPnn4cRI0wP3fffr3/9O+80g9KuXAlVrdsEoaklYz8D/gJ8CiggtW6dG3Bty4Qm2oPCsmq+2Z7Fl1syWbY7hxqHZnxv6UXZJC+9ZNpHvPxy4xPcNpwgFxofYToz07zGJ5+Aw8GxAv277oKrrzZfKlHSfu9cjLq6J0GRvqS8v4MFT67m8t8kEBrtZ3VY7ZNzaANnT7vWJJ+htquxa+TgwWa5804zREZJidlWVQXffgvbt5vHdjsMH26ec23LpzlNSsa01rnAb0+xec+5HlwpdSnwPCap+5fW+slzfS3hOnKKK/l6WyZfbsnk+7151Dg00YF2bhzRhUkJnRjaVUrGmmTaNJOIbdtmLigNE7KGF5l+/cy+J8rMNAMm7tsHHh5w9dUctNvpWlEBn31mqn7Wrze/AiMjW/e9tRN9L+xEcJQP/3t1Mx89tZaLf9Gf7gkyvVez+/57a44rnyHXFBdX/39it5t2YP7+UF4ONTX1+53pGqlU/TRNnp5m3+xsWLECli837c4KCsz2gwdN9adzOI2xYyE6utneUlOHtggH7gf6A8f6i2qtJ5zrgeuqOF8CLgYygNVKqYVa623n+prCOocKyvlqi0nAVh/MR2voFurDL8fGcdmAKBJiAlENR2EWZ+ac4NZ5QXEmZHD8RaaxUjMwv+b37TNj9Hz2GcTEsD8lha5JSaYn0pQppsj+9ttN13BxTqLiApn24DC+eGUzX7yyiRGT4xh6aVf5e28P5DPkmhr+n3h61l8Pe/Uyk8pv2mT2O9M1sjEREabE8+qrj19fVGR6c771likNBdN54P33YeRIU7Lm4XH8bANnoanVlP8G/gNMAmYBMzDDW5yP4cAerfU+AKXUB8AUQJKxNmJfTglfbjUJ2KaMQgD6RPlz54ReXDYwivhIf/lCOl8nJmQDBpj1OTmnv8ikpZlqFQ+PY18ix4mJgU8/Nb8wP/nEtH9xsd5FbYlfsJ2f3jeE7+bu4MfP9pF3qIQJN/fFQwaEbbvkM+S6Tvw/aXiNbDh1Uq9eZ5eInc7AgaYas7oaNm6sLzlzxvDaa/DII6bUzFlyNnhwk1++qclYqNb6TaXUXVrrpcBSpdTSs34zx+sMNGwBmcEZhsjIKHGQ/HTKeR62/SkrK8NnTUqrHrOqxsGhAjMdzKCYQB64tA8/6R9JXHgztJnRGjJWw/r34OBK0GffR2R4eTls8j7/WFzFz2zwpLtJwgDCw09/kVm40EwtcvXVx32J+Hz9DXufqG8NEBkSil92FjmX/ISiLl1a8h24tNDycvZ6N/L3YrMRfMMNhNx80xlfw93TjYtv6UdoZ19++Gwfh3YexdO7bU9yUl7uIOM7i6oIG4qraw/559aLpffqDxnucHCw9ziWv57O5DtDCQg74W8kNtaUjn30kfnMNdZuUzS/yZOPXdeeWvUUO/J34P/QQB6btY+A/Pz6/W65pXkSsYY8PGDYMLPcc0/9+gED4MorTYL22WdmnV/Tvw+beqVwdhU6opS6AjgMxJxm/6ZorMjkpAmnlFK3ArcC+EZ2JdKj4jwP2/5U+zrwcG/l8+IB46M8GRrpRqh3DZBO2tZ00s7jJT0r84jMSiEq8zt8yzKotXlxNDiRWvezHz2lxruaYneP84jGtSj3SsLYdaz7c1V1NatXrKA6OLjR/buuX0934KDdzv6UlPoN3nbcI+o7UPiGh+GXQaa8WQAAIABJREFUnUW1lyeFER23Y0VNTQ3V7idfDt3yj1L1t7+x74cfKLlmatOmXLFDl7GKwoPV0MYnKXF3rwF36+fgDKjMBKDI3nrjjXnWHDXHjIwGezk/rv4BD29FSUkJKQ0+U929vOgK7F+3joMNP2sdzInnpSUk1d02vK5l5GdQUFWALqxEn/DD/eCmTcdf/1qSUjBjBsyYgWd+PoGbN2M/fBhef71pz9dan3HBVE8GAgOAJcBaYHJTnnua1xwFfNXg8YPAg6d7Tu/evbU42ZIlS6wO4dxVV2i95ROt37tG64eDtP5LgNZv/kTrte9qXVF0zi/bps/JibKytO7XT2vQOjzcLGDWZWU1/pwXXzT7TJ163OqTzsvUqWa/2bNbJvY24lR/L47aWn3kscf1tvg+Ov3uu3VtRUXrBmaxdvU5OlvyGTorrfK3YupNTvo/Oeka6dwvKurU18hWAqzRTciJmjTOmNb6c611odZ6i9Y6WWs9VGu98OzSxpOsBnoppborpTyB64HzfU3RVhzZCF/cD8/Ew4IZkLkFxtwDv10Ht3wJQ24CL3+ro7Teib0mt2wxS79+9Y36GxuHbPJkU4qzcKFpaNyY9HRTnG6zmf3FSZTNRuQfHyTi97+n+H9fkv7LX1FbVGR1WKI1yGfIdTX8PznxGukc1BVMb9hTXSNdTJOSsbqE6Vml1MdKqYXO5XwOrLWuAe4AvgK2A/O11lvP5zWFi3M4YNUb8MoYeG0crH0H4pJh+kdwzxaY+GcI7WF1lK7jxIuMs42Ys1H/6RKyLl1Me7HqatOm5cQBKtPT4aqrTDfwq6+WhsenoZQi9Be3EP2Pf1C2YQMHb7yR6iNHrA6rY7n7brO0JvkMuS7n/8n69cdfI997D375y/r9zvSj1YU0tc3Yp8CbwH9pxhH3tdZfAF801+sJF5e/F764D8J6w+VPw4Cp4CNjjp3SggWn7pp9Yi/LBQtObjw8e7a5WK1bZ3p8TZlCdy8vs/6zz8yXSFxc00bwFwReOQn38DAy7vgtB66/gdjXX8ce39vqsDqGDRusOa58hlzXunVmeAunbduOfwxnvka6kKYmYxVa6xdaNBLR/gV3Bw9fUxo2/FdWR+P6nBeOadMa7xHkTMhOdZGJijKDFzpHD//oI7o6t9lsMHWq+RKRwSqbzHfkSLr++z3Sf3UrB6dPp9sH8/DqIaW57ZZ8htq2M10jXUhTk7HnlVJ/Ab4GKp0rtdb/396dx0dV3X0c//xmsq8kJGGnQJFNWUSwUrGyuLeu1VqtVvrUalH71Fpra63a1Vat1bZoa219urhU3Fu1dUcFRRHKKoQiIkFAwpZA9mTO88cdFjGBiGTOzcz3/Xqd183M3CRfDpObX+4995x5HZJKklM0DXqPgdWv+k7SeezrAFJWtvd9uncPJqOsqIB//IN35s2j/+jRwfgWXVbZL1mDB9Pnzt/zzulnUDvnTRVjyU4/Q+Hh9phwIf5/wpYtUFTU+v/Jvo6RIdHeYmw4cD4wiV2XKV38sUj79R0HL98E9VWQVeg7Tero0wcuvZR3Z8yg/4QJvtN0ei4WHAajXXWZPWXoZyh84v8nyaC9xdjpwADnXGKXMZfk84lxwSSuq2fDoON9pxHZLy2bNgGQ1lXrUCbEII3Nk+TW3mJsAdAFCPftCBJ+fY6AzEJY/IiKMem0muMrIaSVqhhLiPZOnCnSSbW3GOsGLDOzOXxwzJgmVpGPJj0LDj4NFj0IDbdA5gFYPkkkwRrXrIFolPTu3X1HEZEk0N5i7PoOTSGpZeQ5MO8vsOTRYHJXkU6mqWIN6T16YOnJs+RWqF10UbDVGTJJUu0qxlywOLjIgdH3COh2CLw2DUZ9qX3r/YmESFNFBel9Pu7yvNJuy5f7TiDSofb6W9DMZsa328ysere2zcy0JojsHzM48ptQuQyW/9t3GpGPrHHNGjJ6a1oDETkw9lqMOefGx7f5zrmC3Vq+c64gMRElKR18ejAJ7As/hViL7zQi7dZSVUXLpk1kfKKv7ygikiR0fUj8iKbD5GthwxJYcL/vNCLt1rBiBQCZmm5BJBxuv33va09u2BD6JatUjIk/w06H3mPhmWuhZqPvNCLt0hAfv5R50EGek6SQUaOCJrKn228PlqtqazHwDRuC1y67LNQFmYox8ScSgVN+Cw3b4F/f9Z1GpF3qly8nkp9Pmqa1SJzbbguayJ7OOguGDQsWA9+zINtRiL31VrDPWWf5y7kPKsbEr7Kh8JnvwOKHoPxfvtOI7FP9krfIGjIEM/MdRUR2LAa+Z0G2ZyH24ovBviGlYkz8G/8tKBsG//gGVK/znUakTa6xkYalS8kaMdx3lNRy3nlBE2nNngXZIYcErZMUYqBiTMIgLQPOvBsaa+DBKdDS5DuRSKvqy5fjmprIHq5iLKHWrAmaSFt2FGSlpVBZGbTS0k5RiIGKMQmLsqHB+LGK2fDsdb7TiLSqfvEiABVjInJAqRiT8Bh+Jhx+Mcy+A978P99pRD6kbuEiosXFpPXs6TuKiOxuwwbcxIlQWYnr0mXXGbK27rIMGRVjEi7H/wwOOg6evEID+iV0aufOJfvQQzV4XyRM4oP17a23aMjIoPqWX8HixW3fZRlCKsYkXKLpcNafoccoePArsHq270QiADStW0fT6tXkHj7Wd5TUM25c0ET2tNtdkw2ZWWz84jkUfGVK23dZhpSKMQmfjFw4dzoU9oJ7Pq+CTEKhds4cAHIOP9xzkhT0858HTWRPDz4Ib71FY14+a4YNo+zmm3adud6zIHvwQb9Z90LFmIRTXilc8ATkdw8Ksndf851IUlzNG28QKSwkc/Bg31FEJM5dcglbJ05kVY8edPvNb0jf887JHQXZtGlw6aV+QraDijEJr4IeuxVkZ8B/n/WdSFJY7RtzyBkzBovosJlwn/980ET2sPH2O1i3dh3FV15J3vgjW9+prCzUhRioGJOwK+gBU56CrgPhvrNh/n2+E0kK0ngxzzZtCprIbrbcfz8bp02j8LTT6Pq1C33H+VhUjEn45XeDKU9Cv/Hw2FR48ecQi/lOJcnIrNWW3rMnQ8uXUTxlygdfExEvqp58kvU//gl5EybQ46c/6fR3OHspxszsZjNbZmYLzexRM+viI4d0IlkF8KWHYOS58NIv4IEvQX2171QiIpJgWx99jLXfuYqcww6j162/wtLSfEf62HydGXsWOMQ5NwJYDlztKYd0JmkZcNodcMKNsPxp+ONk2LjCdypJRs59oK049jgqLrl013Mi4sWWvz/AuquvJveIT9HnD3cSyc72HemA8FKMOeeecc41xx/OBnr7yCGdkBkc8XX48uNQuwnumghv/cN3KkliGi8WApMnB01SlnOOyt9OY/0Pf0je0UfT+3e/I5KT4zvWAROGMWP/A2iqdflo+h8FF80IBvZPPx8evwwatvtOJUlI84uFwLXXBk1SUqyxkbXf/S4bb7+dwtNPp/dvf0MkM9N3rAPKXAedcjez54Durbx0jXPu8fg+1wBjgDNcG0HM7CLgIoDS0tLDpk+f3iF5O7Pt27eTl5fnO4YXFmum36r76bv6Yeqye7B06BVsKzgopftkb9QvrdvRLxMmTgRgxosv7nyt4G9/I/M/86n85c0Qn9aitf2Skd4vH6Y+aV1H9UukuprCP9xFxooVbDv1FGpPOKFT3TwzceLEuc65Mfvar8OKsX1+Y7MLgK8Dk51zte35nMGDB7vy8vKODdYJzZgxgwkTJviO4deqmfDIxbB9PXzmKl6KjeboScf6ThU6eq+0bme/7DjI73ZcXHHc8WQedBB9bp+26xNa2S8Zheb9cuKJwfZf/i+ihKZPQqYj+qV27lzeu/xbtFRX0+OGn1H42c8e0K+fCGbWrmLM192UJwDfBU5pbyEmslf9xsPUmTDsNJhxA2PevAIq3vCdSjq5pvc30LR6NTlj9nkslY5UVxc0SQnOOTb9359598sXYDnZ9Jv+QKcsxD4KX2PGpgH5wLNmNt/Mfu8phyST7CI4809w7nSiLbXwp+PgyW9rCgzZb3Vz3wQgZ8xhnpOIpIbmykrWfH0qG268kfxJk+j/0ENkpcASZF4m53DODfTxfSVFDDqeOWN/y1FNL8Hrd8Kyp+DYH8PwMzvVWAPxr3buPCwnh6yhQ31HEUl61c88w/rrridWV0e3a66h6LwvdfrJXNur88+UJtKKlrQcOOZGGH4WPHkFPHIhvPEHOPEX0EtnOWQf4r8Auscb6ek+04gktZatW3n/FzdS9dhjZB18MD1vupHMT37Sd6yEUjEmya33GPjaDJh/Lzz/Y7hrEow8ByZfH6x7KSLh97nP+U4gHcA5R/UTT/D+z39BS1UVXad+ndJLLsFS8I8fFWOS/CIRGH0+DDsVXrkFZt8BSx6DT10MR34Tcop9J5Sw2O3uyO0zZ1Fx4YX0vftP5H760x5DCVde6TuBHGCNq1ez/oc/oubVV8kaOYK+d/+JrCFDfMfyRsWYpI6sAjj2R3DYFJjxc5j1a3jzbhh3GYy7BDLzfSeUEGlYthSArGHDPCcRSR6xmho23nUXm//vz1h6Ot2uu5ais8/GolHf0bwKwwz8IolV3B/O+ANMfRX6fwZm3AC/HgmzfqNZ/GWn+mXlpHXvTrRLF99RZMKEoEmn5Vpa2Prww6w44QQ2/f5O8o87jgFPPknxueemfCEGOjMmqazbMPjivfDeXHjhp/DstTDzV3D4xcElTF2+TGkN5ctS4pZ6kY7knKP2tdd4/+Zf0rB0KdkjR9Jt2jSyR470HS1UVIyJ9DoMzn8UKubAzFvhpV/Aq7+FMV+BcZdCQU/fCSXBXGMjDSvfIW+SFqcW2V+1c+dSeduvqZ0zh7SePeh5yy8pOOmklJmu4qNQMSayQ5+xcM598P5bMOs2mP27YJ6y4WcFZ8p6jvKdUBKkaf16aGkh4xOf8B1FpNOpW7SYyt/8hppXXiFaUkK3a66hyxfOSrrFvQ8kFWMie+o2LBhTNvH78Nrt8J97YcF90HdcUJQNORmi+tFJZk1r1wGQ3lPTn4i0i3PUvP4Gm/74x6AIKyyk7DtXUnTuuUSys32nCz39RhFpS1E/OOlmmPQD+M89waSxD06Bgl4w9kI49HzIK/WdUjpA86aNAKSVlHhOIgB84Qu+E0gbXCzGtuefp+hXv2L1O6uIFhdTevk3KTrvPKJ5eb7jdRoqxkT2JaswGDv2qa/Df58JLl8+/yN48QYYchKMvgAGTAzmM5Ok4OobAPQXfVhcconvBLKHWG0tVU88weY//4XGlSuJlHSl+/XXUXj66USysnzH63RUjIm0VyQKg08MWmU5zP0LLLgf3nocCvsGE8seep4G/CeBWEM9AKYxLuFQWxtsc3L85hAaKyrYcu99bH3kEWLV1WQOHUrPW37Jf7KyGD5ZN7zsLxVjIvujdDCccAMccz0seyIozF78WTCZ7MBjYMTZMPgkyNAvj85ox3IsrqHBcxIB4KSTgu2MGV5jpCrX0kLNq6+y5Z572f7yyxCNUnDcsRR96Utkjx4d3B2p/5uPRcWYyMeRlgmHfD5om1fCvL/Bwgfg4a9CRh4MPQVGfCGYXDaiiQ07i/Ru3QBoen8D6b16eU4j4kdjRQVVjz7K1kcfo3ndOqIlJZRMnUqXs7+w82dEDgwVYyIHSvGA4EzZpGvh3VlBUfbW48GdmHndYfiZwTQZPUaC5tkJtbT4L5rmDRs8JxFJrFhdHduefZatDz9C7euvgxm548fT7arvkD95MpaR4TtiUlIxJnKgRSLQ/6ignfRLWP5vWDg9mLPstWnBXZrDTg1az9EqzEIovVcvSE+nbv58Ck443ncckQ7lmpqomT2b6ieeZNtzzxGrqSG9Tx9KL/8mhaeeSnoPTfHS0VSMiXSk9Cw4+LSg1W4Oxpe99Xgwf9msX0Nhn12FWa8xuiMzJKJ5eeRPOJqqf/6Tsm9fsXMMmUiycC0t1L45l+qnnmLb00/TsnUrkfx88o8/nsLTTiVnzBhMx6OEUTEmkig5xTD6y0Gr2wLl/woKszf+EJwxy+8JQ0+GwSfAJ8ZDmi4H+FR4+hlse/Y5tr/yCvmTJvmOk9qmTPGdICm4xkZq5sxh+/MvsO3ZZ2murMSys8mfNImCz55E7vjxRHQZ0gsVYyI+ZBfBqHODVl8Fy58OCrN5f4E37oSMfBg4CQadCAcdB7ldfSdOOXmfOYpoSQlb7r2PvAkTdJbAJxVj+61l2za2v/wy259/ge2vvEJs2zYsK4u8o8ZTcNJJ5B19NBFNGeKdijER37IKgzsuR3wBGmvhnZeCs2Y7CjSLQO/DgzNmg04MptXQOLMOZ2lpdP3qV9lw442s/8lP6H7ddVrg2JeNwYoIaEWEfXLO0fjOO9TMnMn2GS9RM2cONDURLS4m/7hjyZ88mdxx4zShccioGBMJk4ycXRPLxmKwbn5wA0D5v+C5HwatqF8wl9knJwc3CWTmew6dvIqnXEDzxko2/+luIhkZlH3veyrIfDjzzGCruaxa1bJ1KzWzZ7N95kxqZr1K87pgbdWMfv0o/vL55E+eTPbIkVhU0+uElYoxkbCKRKDX6KBN/D5UvRcUZv99BubfD3P+CJF06HsEfHISDJwM3YbrJoADyMwou/JKXFMTm//yVywjk9IrvqWCTLxq2V5D3X/mUTvnTWpen039osUQixHJzyf3iCPIvfhicscfSUbv3r6jSjupGBPpLAp7wdivBq25AVbPhrefhxUvBGtlPv8jyC3bVZgNmKiFzA8AM6Pb1VfjGhvZdNddxOrqKLn0EtKKinxHkxTRUlVF7dx51M6ZQ+2cOdQvXQotLZCWRvYhh1AydSq5Rx5J9ojhWJp+rXdG+l8T6YzSMmHA0UE79sewbT28/SKseA5WPAsL/x7s12NkUJx9chL0+ZTfzJ2YmQVjxiIRttxzD1sfeYSis86i+H++opnI5YBysRiNK1dSt2AhdQsXUrdgAQ3l5eAclpFB9ogRdL3oa+SOHUv2qFEafJ8kVIyJJIP87jDqnKDtGGu246zZq7+FmbdCeg7D84dC1tKgOCsZpBsBPgKLROh+3XV0+eIX2fTHP7L5nnvYfN99FJ56CiUXXkhGv36+I0on1LRhA/ULF1K3cBF1CxdSv2gRsZoaACL5+WQPH07+Ny4jd+xYskaMIKLF65OS12LMzK4EbgZKnXMbfWYRSRq7jzX7zHegYRusmglvv0D2oifg398L9svvGT9rNjG4pKnpM9ola9Aget10E6X/+79svvtutj70MFUPP7JzsszcsWOJ5Ob6jplcpk71neBjc83NNK5aRf2ychqWLaV+WTn15ctoqYz/6ktLI2vwYApPPYWs4SPIHjmCjH79NKVKivBWjJlZH+BYYLWvDCIpITN/5x2ab+R8lgmjBgSXNN9+IVgRYP49gEGPER+8pJmmv8D3JqN3b7pfdx0lU6ey+a9/Zcv9f2fbv/8N6enkHHoouUceSe6RR5I1bKh+oX5cZ5/tO0G7OedoXreOhpXv0LjybeqXL6dhWTkN//0vrqEh2Ck9ncyBA8kbfxRZQ4eQNXw4WUOHEsnK8htevPF5ZuxW4CrgcY8ZRFJPl75w2AVBi7XA2vmw8oWgQNvtkib9xgdnzD45SXOb7UVaaSll3/42JZddRt28edTMmsX2Wa9SeeutVN56K9GiInLHHUHWiBFkDR1G1tAhRAsKfMfuXCoqgm2fPn5z7CZWX09TRcXOoqth5Ts0vv02DatW4Wprd+4X7dKFzKFDKDrnHLKGDiFzyBAy+/fXgtvyAV6KMTM7BXjPObdAt4iLeBSJQu/Dgrbzkuas4KzZ2y8E02hAcElz4CQYfFJQoGVo0PCeIpmZ5I4bR+64cZRdCc0bN1Lz2mvUzJwVLML81L927pveqxdZw4aSOXQomZ8cSEa/fmR8oq/OjLTl/PODbQLnGXPO0VxZSdOaNTRVVNBYEWyLlizmv9ddT/OGDR/YP61nDzL7D6DLmMPIHDCAjAEDyBwwgGjXrpoKRfbJnHMd84XNngO6t/LSNcD3geOcc1VmtgoY09aYMTO7CLgIoLS09LDp06d3SN7ObPv27eTl5fmOESrqk9Z91H7JrN9A8eb5FG2ZT/Hm+aS11NASyWBL0Sg2lhzOpq5jacro0oGJEyMR75dIdTVpFWtIq6ggvaKCtIoK0vb4hd5SXExzWRktZaW0FHclVlxES3FXWroWEyssTPgccmH5ORp1+eUAzL/ttgPzBWMxItu2Edm6leiWLUS2bCW6Nb7dsmXn89bcvPNTnBmxLl1oLCqC7t1oKSmhpaSE5u7daSkrw6V4IR2W90rYTJw4ca5zbsy+9uuwYqzNb2g2HHge2HEetzewFjjcObd+b587ePBgV15e3sEJO58ZM2YwYcIE3zFCRX3Suo/VLy1N8O4sWPYUlD8FVRWABePLRn4RDjkjWNqpE/L1fonV1NCwahWNq1bR+O67wXbVuzS9+y4tVVUf3DkSIdq1mLSSUtJKSna10hKiXbuSVlJKtEsXol0KiRYUYFlZH/uMTGh+jnZkaOPMWKyhgVh1NS3bttFSVUXL5s00b9oU326mZdMmmjfvtt2yJbjreHfp6aSXlZHWvTvp3boF2969yOjTh/TevUnv1YtIRkZ4+iRk1C+tM7N2FWMJv0zpnFsElO14vK8zYyISEtF0GDAhaCfeCO8vDgqzJY/AE5cHd2kOPTlY/Lz/0cElUNmrSG4u2QcfTPbBB3/otVhNDU3r1gXtvbU0vb+elo2baN64keaNG2lYsYLmjRuhqanVr20ZGUQKC4gWFhIt7EI0L49Ibg6Wk0NkZ8sNttnZRHKD5ywjE8tIx9IzSFuzhoaVK7GMDCw9PWhpacH4QbOg2NvRIpHgOYBIBBeLQXMzrqUF19zcxsctuKYmXF0tsfp6YnV1uPp6YrV1xOrjH9fVE6vehnOO2BXfpmXbtl2F17ZqYlXVuMbGtvs4Ly8oYou7kv6JvmQfemjwuGsJ6T26k9atO+nduxEtLtaNFuKN5hkTkY/ODLoPD9rRV8HaeTD/Plj0YNAKegdnyw49D4r7+07bKUVyc8kcOJDMgQPb3Mc5R6yqameB1rJ1Ky1V1bRUVRGrrgrOEsUfN1dWEltdR6y2dmejpWWvGboCKw/wv+sji0aJxGKYGZEli4kWFBLNzyetRw+i+flECvKD5wryieQXEC3IJ1rclbSuxUSLizUvl3QK3osx51w/3xlE5GMwg16HBe24nwWXMOffCzN/FdyZefhFMOG7kK3lgw40M4tfmuyy16KtNc45XGMjsdpa3G4FWqyhIThb1djI4vnzGXbQoJ2PXVMTrrkJHOBcvMVwzgXPxWKAw8ViWCSKpadBNIpF0z74cVo0OMMWfz6SnY1lZQVn6LKysOwcItlZwQ0N6enYE08EoU8++UB3oUgoeC/GRCSJpGcFY8cOOQOq18JLN8Hrv4eFD8CkH8BhU3T5MiTMDMvMDM4ctbHOZoMZhWEYB6QiTJKcLpCLSMco6Akn3wYXvwxlw+DJK+DOz8A7r/hOJp1NeXnQRJKUijER6Vg9RsCUJ+Csv0B9Nfzlc/DA+VD1nu9k0llcfHHQRJKUijER6XhmcPBpcNkbMPEHsOI5+OspULfFdzIREe9UjIlI4qRnw9HfgS89BFvehQenQEvzPj9NRCSZqRgTkcTrdyR87lZYOQOevtp3GhERr3Q3pYj4Mfp8qFwGr02D0iEw9qu+E4mIeKFiTET8OfbHsHE5PPUdKB0M/cb7TiRh9IMf+E4g0qF0mVJE/IlE4fN/gvweMPMALQItyeeYY4ImkqRUjImIX1kFcMjpwfix+qp97i4paP78oIkkKRVjIuLf0FMg1gTLn/GdRMLo8suDJpKkVIyJiH+9xkBed1j6D99JREQSTsWYiPgXicCQk4LJYGMx32lERBJKxZiIhEPJYGiq1az8IpJyVIyJSDjklgTbmkq/OUREEkzzjIlIOOSVBduaSmCI1ygSMjfc4DuBSIdSMSYi4ZBdFGzrNvvNIeHz6U/7TiDSoXSZUkTCIdYSbCP6G1H28OqrQRNJUjrqiUg4tDQG22im3xwSPt//frCdMcNrDJGOojNjIhIOzQ3BNi3Dbw4RkQRTMSYi4VC7KdhmF/vNISKSYCrGRCQcqt8LtgU9/eYQEUkwFWMiEg7VayE9Z9ddlSIiKUID+EUkHKrfC86KmflOImFz222+E4h0KBVjIhIOVe/pEqW0btQo3wlEOpS3y5Rm9g0zKzezJWZ2k68cIhIS1WuhoLfvFBJGzz0XNJEk5eXMmJlNBE4FRjjnGsyszEcOEQmJxhqoXgPF/X0nkTD66U+D7THH+M0h0kF8nRmbCvzCOdcA4Jzb4CmHiIRBZXmwLdWalCKSenwVY4OAo8zsdTN7yczGesohImGwYWmwLRvmN4eIiAcddpnSzJ4Durfy0jXx71sEHAGMBaab2QDnnGvl61wEXARQWlrKDC2H8SHbt29Xv+xBfdK6sPbLgLefobel8/Kid8HWJPz7h7VffAtLv4zauhWA+SHIEpY+CRv1y8djrdQ/Hf9Nzf5NcJlyRvzx28ARzrnKvX3e4MGDXXl5eQISdi4zZsxgwoQJvmOEivqkdaHtl3s+D9vfh6/P9PLtQ9svnoWmX3ZkCMEv+9D0ScioX1pnZnOdc2P2tZ+vqS0eAyYBM8xsEJABbPSURUQSZV9ziE3d43UPfyxKCN15p+8EIh3KVzF2N3C3mS0GGoELWrtEKSIiwuDBvhOIdCgvA/idc43OufOcc4c450Y7517wkUNEPHFuV3t3NlxfAEuf3PWcyO7++c+giSQpzcAvIn6tWxBse4z0m0PC65Zbgu3JJ/vNIdJBtFC4iPi1bgHklGgpJBFJWSrGRMSvdQuCs2JaIFxEUpSKMRHxp6keKpdCTy0ELSLI7S1WAAAIh0lEQVSpS8WYiPizYQnEmjVeTERSmgbwi4g/a+cH2x46MyZ78be/+U4g0qFUjImIP+sWQFYX6NLXdxIJsz59fCcQ6VAqxkQk8fYcrH+1RkzIXjzwQLA9+2y/OUQ6iIoxEREJt9/9LtiqGJMkpT9HRSRxdp95f+38YOb9RQ998Pndm4hIClAxJiJ+aPC+iAigYkxEfFm3ADILoKi/7yQiIl6pGBMRP3bMvB/RYUhEUpsG8ItI4rU0w/uLYeyFvpNIZ/DQQ74TiHQoFWMikngby6G5XjPvS/uUlPhOINKhdH1ARBJv3cJg232E3xzSOfz5z0ETSVIqxkQk8dYvhLRsKDnIdxLpDFSMSZJTMSYiibduIXQ7GCJR30lERLxTMSYiieUcrF8EPXSJUkQEVIyJSKJtWQUNVRovJiISp2JMRBJrfXzwvs6MiYgAmtpCRBJt/SKwKJQN851EOounnvKdQKRDqRgTkcRatxBKBkF6tu8k0lnk5PhOINKhdJlSRBJr/UJdopSP5o47giaSpFSMiUjibK+Ebes0eF8+munTgyaSpLwUY2Y2ysxmm9l8M3vTzA73kUNEEmz9gmCrM2MiIjv5OjN2E/Aj59wo4Lr4YxFJdjuXQRruN4eISIj4KsYcUBD/uBBY6ymHiCTS+oXQpS9kF/lOIiISGr7uprwceNrMfklQEH7aUw4RSaT1izReTERkD+ac65gvbPYc0L2Vl64BJgMvOeceNrMvABc5545p4+tcBFwUf3gIsLgj8nZyJcBG3yFCRn3SOvVL69QvrVO/fJj6pHXql9YNds7l72unDivG9vpNzaqALs45Z2YGVDnnCtrxeW8658Z0fMLORf3yYeqT1qlfWqd+aZ365cPUJ61Tv7Suvf3ia8zYWuDo+MeTgP96yiEiIiLila8xY18Dfm1maUA9uy5DioiIiKQUL8WYc24mcNh+fOofDnSWJKF++TD1SevUL61Tv7RO/fJh6pPWqV9a165+8TJmTEREREQCWg5JRERExKPQF2NmdpaZLTGzmJmN2eO1EWb2Wvz1RWaW5Stnou2tX+Kv9zWz7WZ2pY98vrTVL2Z2rJnNjb9P5prZJJ85E20fP0dXm9kKMys3s+N9ZfRNy7S1zsy+EX9vLDEzrZayGzO70sycmZX4zhIGZnazmS0zs4Vm9qiZdfGdyRczOyH+c7PCzL63r/1DX4wRzCt2BvDy7k/GB//fA3zdOXcwMAFoSng6f1rtl93cCvwrcXFCo61+2Qic7JwbDlwA/C3RwTxr6+doGPBF4GDgBOAOM4smPl4oaJm2PZjZROBUYET8OPtLz5FCw8z6AMcCq31nCZFngUOccyOA5cDVnvN4ET+G3g6cCAwDzokfa9sU+mLMObfUOVfeykvHAQudcwvi+21yzrUkNp0/e+kXzOw0YCWwJLGp/GurX5xz/3HO7Vh2awmQZWaZiU3nz17eL6cCf3fONTjn3gFWAKl6RkjLtH3YVOAXzrkGAOfcBs95wuRW4CqC940AzrlnnHPN8Yezgd4+83h0OLDCObfSOdcI/J3gWNum0BdjezEIcGb2tJnNM7OrfAcKAzPLBb4L/Mh3lhD7PPCfHb9gUlwvoGK3x2viz6Wiy4GbzayC4AxQSv5Vv4dBwFFm9rqZvWRmY30HCgMzOwV4b8fJAGnV/5CaV2dgP46rvuYZ+4C9LZ3knHu8jU9LA8YDY4Fa4Hkzm+uce76DYibcfvbLj4BbnXPbg8UNks9+9suOzz0YuJHgzGpS2c9+ae1NkrR/6bdjmbZv7bZM25+AVpdpSyb76JM0oAg4guBYO93MBrgUuA1/H/3yfZLwGNIe7TnOmNk1QDNwbyKzhchHPq6Gohhra13KfVhDsL7lRgAzewoYDSRNMbaf/fIp4Mz4QNsuQMzM6p1z0w5sOn/2s18ws97Ao8CXnXNvH9hU/n2Mn6M+uz3uTRJfnttbH5nZX4Fvxh8+CPwxIaE820efTAUeiRdfb5hZjGANwspE5fNlL+slDwf6Awvif/D2BuaZ2eHOufUJjOjFvo4zZnYB8DlgcioU7W34yMfVznyZ8mlghJnlxAfzHw285TmTd865o5xz/Zxz/YDbgBuSqRDbX/G7ep4ErnbOzfKdJ0T+AXzRzDLNrD9wEPCG50y+aJm2D3uMoC8ws0FABim+GLRzbpFzrmy34+waYHQqFGL7YmYnEAyTOcU5V+s7j0dzgIPMrL+ZZRDcJPWPvX1C6IsxMzvdzNYA44AnzexpAOfcFuBXBP/o+cA859yT/pImVlv9kur20i+XAQOBa+NTF8w3szJvQRNsLz9HS4DpBH/I/Bu4NJVuhNnD14BbzGwBcANapg3gbmCAmS0mGIR8QQqf7ZB9mwbkA8/Gj7G/9x3Ih/hNDJcRnDRaCkyPH2vbpBn4RURERDwK/ZkxERERkWSmYkxERETEIxVjIiIiIh6pGBMRERHxSMWYiIiIiEcqxkRE9sLM/mxmZ/rOISLJS8WYiKQMC+i4JyKhooOSiCQ1M+tnZkvN7A5gHnC+mb1mZvPM7EEzy4vvd52ZzTGzxWb2B0vWxV1FJHRUjIlIKhgM/BU4FvgqcIxzbjTwJnBFfJ9pzrmxzrlDgGyC9fVERDpcKBYKFxHpYO8652ab2eeAYcCs+ImvDOC1+D4TzewqIAcoBpYA//QRVkRSi4oxEUkFNfGtAc86587Z/UUzywLuAMY45yrM7IdAVmIjikiq0mVKEUkls4EjzWwggJnlmNkgdhVeG+NjyHT3pIgkjM6MiUjKcM5VmtkU4H4zy4w//QPn3HIzuwtYBKwC5niKKCIpyJxzvjOIiIiIpCxdphQRERHxSMWYiIiIiEcqxkREREQ8UjEmIiIi4pGKMRERERGPVIyJiIiIeKRiTERERMQjFWMiIiIiHv0/OWVXZO3szf8AAAAASUVORK5CYII=\n", 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p519jHScvOBhetxCRt4A/GmP6yvh0qg29BYryCyJyHlbrwNVOx6L8l4iEYw0M+y5Wf7afAq90to4x5ttijbr/I1r6yX2KdcXibt9F65hY4L9PNymzT2t/jtUK/T9Y/Z4+677wfMcY8w8R2Yx1ivtXWP0INwNP9oWkzJaP1XKt+ihtMVOOE5Fnsa5gu9sYs8DhcHxKW8zOjN0v7wOsAVyrsU7x3W2MOe5oYH2IiDyI1aep6XTyd40xemcNpXqIJmZKKaWUUn5CO/8rpZRSSvmJPtHHLCkpyWRlZfl8P5WVlURGRvp8P8r/aN0HJq33wKV1H7h6ou5XrVpVZoxJbq+sTyRmWVlZrFy50uf7yc/PJy8vz+f7Uf5H6z4wab0HLq37wNUTdS8ibe/m0ExPZSqllFJK+QlNzJRSSiml/IQmZl3U6NGrV5VSSinlW32ij5mv1dQ3cu7P/01ymGF86VqGp8cwIj2aEWkxxEeGOB2eUkoppfoIRxMz+ybETwOjsO7d95/AVuBFIAvYDVxrjDniUIgA1NZ7uPGCgXy6cQ/vby3ln6sKm8vSYsIYnh7NiPQYhqdFMzI9hkFJkbiDtDFSKaV6i/vvvx+ARx991OFIVKBzusXsceBtY8xsEQkBIrBuvvqeMeYxEfkB8AOs22s4JjYimB/OGEF+xEHy8vIoLa9ly4HjbCkuZ3PxcTYVH+eTHWXUN1qnO0PcLoamRjEiLUZb15RSqhfQhEz5C8cSMxGJAS4C5gIYY+qAOhG5GsizF3sW675gjiZmbSVHh5IcnczknJYhSOoaPOwsrWDLgeNsthM2bV1TSiml1Klw7JZMIjIWmI91L7YxwCrgbmC/MSbOa7kjxpj4dta/HbgdIDU1ddzChQt9HnNFRQVRUVGntM6xWsO+ck+rR1GFB7txDbcL+kW56B9tPQbYf6NCxAevQJ2u06l71ftpvQeOn/zkJwD87Gc/A7TuA1lP1P2UKVNWGWNy2ytz8lSmGzgX+I4x5nMReRzrtGWXGGPmYyV25Obmmp4YCLC7Bp1rr3Vtc3E5H++vbV5GW9f8iw42GZi03gOHy2V9tzbVt9Z94HK67p1MzAqBQmPM5/b0S1iJ2UERSTfGFItIOlDiWIQ+EuJ2MSI9hhHpMXz1nJb5bfuubT5Qzic7dp3Qd214Woy9vvZdU0oppfoSxxIzY8wBEdknIsOMMVuBqVinNTcB3wAes/8udirGntZR37VdZRXNrWqbi4+Tv7WUl7TvmlJKKdXnOH1V5neAF+wrMncBt2ANertIRG4F9gJfdzA+x4W4XQxPi2F42hm2rqVZiZu2rimllFL+y9HEzBizBmiv89vUno6ltznd1rXUmNDm06jauqaUUpapU/VnR/kHp1vMVDfS1jWllDo9P/7xj50OQSlAE7OAcKata1bCZiVr2dq6ppRSSvmMJmYBSlvXlFKqxfTp0wFYsmSJw5GoQKeJmWpFW9eUUoGourra6RCUAjQxU11wJq1rOSlRzRcbaOuaUkop1TlNzNRp09Y1pZRSqntpYqa6VXe0rjUN46Gta0oppQKNJmaqR5ysdW1LcTmbio/zwTZtXVNK9byZM2c6HYJSgCZmykHerWt4ta6VVdQ2J2tdbV0bnh5DgrauKaVO07333ut0CEoBmpgpP5QUFcrknNNrXWt1g3dtXVNKKdXLaGKmeoVTaV37dKe2rimlTk1eXh4A+fn5jsahlCZmqlfT1jWllFJ9iSZmqs/R1jWllFK9lSZmKmCcSetaSkgDn1VvaW5dG5QUSbC2rimllOpmjidmIhIErAT2G2NmikgC8CKQBewGrjXGHHEuQtWXdbV17YsdxTzzsVfrWpCLnFRtXVNKKdW9HE/MgLuBzUCMPf0D4D1jzGMi8gN7+j6nglOBqW3rWn7+USZeeNFp9V3T1jWl/N+1117rdAhKAQ4nZiKSCVwJPAL8tz37aiDPfv4skI8mZsoPnHbftSAXQ1KiGJ4WzdC0aIalRTM8LZq0mDBExKFXo5TydueddzodglIAiDHGuZ2LvAQ8CkQD99qnMo8aY+K8ljlijIlvZ93bgdsBUlNTxy1cuNDn8VZUVBAVFeXz/Sj/c6p13+AxFFca9pV72Hvcw/4KD4XlHo7UtnzeItyQGe0iM8pl/Y120S/KRWSwJmv+Qj/zgaOmpgaAsLAwQOs+kPVE3U+ZMmWVMSa3vTLHWsxEZCZQYoxZJSJ5p7q+MWY+MB8gNzfXNI1B40v5+fn0xH6U/+muuj9aVcfWA+VsPVhu/T1QzhcHylm2r655mfTYMIalRTMs1WpdG5YWzZCUKELdQWe8f3Vq9DMfONqOY6Z1H7icrnsnT2VOAq4SkRlAGBAjIs8DB0Uk3RhTLCLpQImDMSrVreIiQjg/O5HzsxOb5xljKDpWw7YD5Ww5UM7WA8fZcqCcT3aUNZ8ODXIJWYkRDE+LaU7WhqVGMyAhApdLW9iUUqqvcCwxM8bcD9wPYLeY3WuMuVFEfg18A3jM/rvYqRiV6gkiQr+4cPrFhTNleErz/PpGD7vLKu1kzWplW7//GG+uL25eJjw4iKGpUQxLi2ZoanRz4pYcHerES1FKKXWG/OGqzLYeAxaJyK3AXuDrDsejlCOCg1zkpEaTkxrNrDEt8ytrG9h2sJxtB8ubk7b3NpewaGXL1aGJkSEMTW250GCofTo0JizYgVeilFKqq/wiMTPG5GNdfYkx5hAw1cl4lPJnkaFuzhkQzzkDWl8TU1ZRy1av06FbD5Tz4hf7qK5vbF4mLSaMnNQohqREkZMSTU5qFDkpUcRF6PhrSinlD/wiMVNKnbmkqFCShoQyaUhS8zyPx7DvSBXbD1awvaSC7SXl7CipYOGK1glbUlQoOSlRzYnaEDtpS4rSU6IqMMydO9fpEJQCNDFTqk9zuYSBiZEMTIxk2sjU5vkej6HoWDXbSyrYcdBK2LYdrOBfq/dTUdvQvFxCZIjdumY/UqPJSYkiOTpUx2BTfYomZspfaGKmVAByuYTM+Agy4yOYMqzlggNjDAeO1zS3sO0oKWf7wQpeX1vE8ZqWhC06zE12UiTZyVEMSookOzmSQUnWIyJEv1ZU71NWVgZAUlLSSZZUyrf0G1Qp1UxESI8NJz02nIuGttzs3RhDaUWt3bpWwY6SCgrKKllRcJhXvtzfahvpsWHNiVp2UhSDkiPJTookMz6CIB3aQ/mp2bNnAy3jmCnlFE3MlFInJSKkRIeREh3GxCGtWxSq6xrZfaiSXaWVFJRVsKu0kl1llby2pnUrW0iQiwGJEWQnRZKVFMmAhIjmR0ZcOCFuvZ+oUkppYqaUOiPhIUH2TdtjWs03xnC4so5dZZUUlFays6yCAjtpy99WSl2Dp3lZl0BGXHhzotY/IYKBiS2JW2x4sPZpU0oFBE3MlFI+ISIkRoWSGBXKeVkJrco8HkNJeS17D1ex51Al+w5Xsdd+LN18kLKKulbLR4e5GZAQQb+4cDLswXgz4sLJiAujX1w4SVGhegcEpVSfoImZUqrHuVxCWmwYabFhjB+UcEJ5ZW0D+45UsfdQS8K293AVuw9V8smOMirrGlstHxxk9Y3LiAtrk7iFkxEbRnpcOFGh+nWnlPJ/+k2llPI7kaFuhqfFMDwt5oQyYwzHaxooOlrd/Nh/tIaio9UUH6vm812HOXC8hkaPabVeTJibjLhw0mPDmpO25uex4aTGhuqN4gPYvHnznA5BKUATM6VULyMixIYHExsefEK/tiYNjR5KymvtpK2a4mM1dhJXQ/GxatbsO8qRqvoT1kuKCqVfXJh1ZWpcGNVl9VQmFJPudcpUryztm+bMmeN0CEoBmpgppfogd5CruVUst4NlqusaKT5mJWtFx6optlvdio5Vs6O0gg+3l1JV18jCratbtusSUmOsJC09LozM+HCyk6IYnBJFdnKk3ou0F9u3bx8A/fv3dzgSFeg0MVNKBaTwkCCyk6PITo5qt9wYw1tL88keNc5O2Goobjp9eqyG1XuP8Ma64lanTJOjQxmcbA28OyQ5ipEZMYzMiNGErRe46aabAB3HTDlPEzOllGqHiBAZLO0OBdKkvtHD3sNV7CypYFdZJTtLKthZWsGb64o5Vt1yqnRAQgRnZcRwVkYMo/rFck7/eGIjNFlTSp1IEzOllDpNwUEuBidHMbhNq1vTnRI2Fh1nU9FxNhYdY2PRcZZsONC8zNDUKMYNTGDcwHhyB8YzMDFCx2pTSmlippRS3a35TgnDwlrdi/R4TT0bCo+xas8RVu45whvrivjHir2AdeHBxMGJTBqSyKQhSWTGRzgVvlLKQY4lZiLSH/gbkAZ4gPnGmMdFJAF4EcgCdgPXGmOOOBWnUkp1l5iwYCYOSWq+rZXHY9heUsHKPYf5ouAwn+w8xGtriwDISoxg0pAkLhySxITBicRFhDgZulKqhzjZYtYA3GOMWS0i0cAqEfk3MBd4zxjzmIj8APgBcJ+DcSqllE+4XMKwtGiGpUVzw/kDMcZK1D7eXsYnO8pYvKaIFz7fi0tg3MB4pgxPYcqwFIanRetpz252zz33OB2CUoCDiZkxphgotp+Xi8hmoB9wNZBnL/YskI8mZkqpACAiDE2NZmhqNP954SDqGz2s3XeUD7aVsmxLCb96eyu/ensrGbFh5A1P4ZJhKUwakkR4iA6Me6ZmzZrldAhKASDGmJMv5esgRLKAD4FRwF5jTJxX2RFjTHw769wO3A6Qmpo6buHChT6Ps6Kigqio9i+tV32b1n1g8rd6P1LjYV1pI2tLG9l4qJHaRnC7YERCEGOSgxibEkRSuMvpMHulvXutvn4DBgwA/K/uVc/pibqfMmXKKmNMu8MsOp6YiUgU8AHwiDHmXyJytCuJmbfc3FyzcuVKX4dKfn4+eXl5Pt+P8j9a94HJn+u9tqGRLwqOsGxLCcu2HGT3oSoAhqdFM3VECpcMT2Vs/zi9U0EXNdVz0zhm/lz3yrd6ou5FpMPEzNGrMkUkGHgZeMEY8y979kERSTfGFItIOlDiXIRKKeWfQt1BXJiTxIU5Sfxk1kh2llawbHMJSzcf5M8f7OJP7+8kMTKEvGEpTBuRwuShyXojd6V6gZN+SkVkIFBpjCkTkQuAC4GdxphXzmTHYvVcfQbYbIz5X6+i14BvAI/ZfxefyX6UUioQNI2ndttF2RyrqueD7aW8t/kgSzcf5OXVhQQHCRdkJzJ1eApTR6TSP0GH41DKH3WamInIj7GukjQishCYhtUZ/0oRudgY870z2Pck4CZgvYissef9ECshWyQitwJ7ga+fwT6UUirgxEYEc9WYDK4ak0FDo4dVe47w3pYS3tt8kAdf38SDr28iJyWKqSNSmToihXMHxOspT6X8xMlazK4HRgARWElSmjGmSkTcwJpO1zwJY8zHQEffBFPPZNtKKaUs7iAX52cncn52Ij+cMYLdZZXNSdrTH+3izx/sJD4imLxhKUwdkcJFQ5P13p5KOehkiVmNMaYOqBORncaYKgBjTIOI1Pk+PKWUUt0pKymSWy8cxK0XDuJ4TT0fbSvjvc0HeX9rCa98uR+3Sxg/KIFLhqcwbUQqWUmRTofcIx544AGnQ1AKOHliFici12C1bMXaz2ma9mlkSimlfComLJgrz07nyrPTafQYvtx7hKWbras8H35zMw+/uZns5EimjUjlkuEp5A6Mxx3UN4fjmDZtmtMhKAWcPDH7AJjZznOxp5VSSvUBQS4hNyuB3KwEfjB9OHsPVbFsy0He21LC/31SwPwPdxET5m4+5Tk5J5mEyL5zm6g1a6zeOWPHjnU4EhXoTpaYbfB6bmjpE+b8qLRKKaV8ZkBiBHMnDWLupEFU1Dbw0bZS3ttSwvtbSnhtbREiMCojlsn2kB3jBsYT6u69dyD43vesa9maxjFTyiknS8yahr4dBpyHNXSFALOwRupXSinVx0WFupk+Op3po61TnusKj/LR9jI+3l7G/A938UT+TsKDgzg/O4ELhyRx0dBkclKi9H6eSp2GThMzY8xDACLyLnCuMabcnn4Q+KfPo1NKKeVXglzCOQPiOWdAPN+dmkNFbQOf7TzER9tL+WhHGQ+/uRne3ExqTCgXDklmck4Sk4YkkRwd6nToSvUKXVWBexgAACAASURBVB0GegDgfRVmHZDV7dEopZTqVaJC3Uwbmcq0kakA7D9azcfbS/loexnLtliD2wLkpEQxYXAiE+yhO/pS/zSlulNXE7PngBUi8gpW/7KvAs/6LCqllFK9Ur+4cOacN4A55w3A4zFsLDrOxzvKWL7rEC+tKuRvy/cA1j09L8hOZMLgRM4flEBchCZqSkEXEzNjzCMisgSYbM+6xRjzpe/CUkop1du5XMLozFhGZ8YyL28w9Y0e1hUe47Ndh1i+8xALv9jLgk93IwIj0mKYMDiRC7ITGT8ogdjwnh3k9he/+EWP7k+pjnT5jrbGmNXAah/GopRSqg8LDnIxbmA84wbGc9eUIdQ1eFhbeJTlOw/x2a5DPP/ZHp75uAARGJkew3lZCYwflMB5WQk+76M2ceJEn25fqa7qcmKmlFJKdacQt4vzsqzE67tTc6ipb2TNPitRW1FwuLlFDWBQUiTnZcU3Lz8wMaJbr/r89NNPAU3QlPM0MVNKKeUXwoKDuCDbOp0JUNfgYUPRMVbuPsyKgiO8u+kgi1ZaFxOkRIfaSVo85w1KYHhazBndiP2HP/whoOOYKedpYqaUUsovhbhdnDsgnnMHxHP7ReDxGHaUVrCi4DBf7D7MFwWHeXN9MQDRoW7GebWonZ0ZS1hw7x3wVgUuTcyUUkr1Ci6XMDQ1mqGp0dx4wUDAGp7ji4LDrLATtfytWwErqRuTGducqJ07ML7HLyhQ6nT4bWImIlcAjwNBwNPGmMccDkkppZSf6RcXTr9z+vGVc/oBcLiyjlV7jvDF7sOsKDjcfGcCERiWGs34Qdb9QMdnJZAWG+Zw9EqdyC8TMxEJAv4EXAoUAl+IyGvGmE3ORqaUUsqfJUSGcOnIVC61B7ytrmvky31HWLnbStZe9hpLLTM+nPH2jdvrwhIIrjnsZOhKASDG+N/9yEVkAvCgMeZye/p+AGPMo+0tn5uba1auXOnzuMaOHUtcXFyreddeey133nknVVVVzJgx44R15s6dy9y5cykrK2P27NknlM+bN485c+awb98+brrpphPK77nnHmbNmsXWrVu54447Tih/4IEHmDZtGmvWrGm+Ca+3X/ziF0ycOJFPP/20uXOrt9///veMHTuWpUuX8vDDD59Q/tRTTzFs2DBef/11fvvb355Q/txzz9G/f39efPFFnnzyyRPKX3rpJZKSkliwYAELFiw4ofytt94iIiKCJ554gkWLFp1Q3tQR9ze/+Q1vvPFGq7Lw8HCWLFkCwM9//nPee++9VuWJiYm8/PLLANx///0sX768VXlmZibPP/88YN3AeM2aNa3Khw4dyvz58wGYOXMmFRUVrcrHjh3L73//ewBuvPFGCgsLW5VPmDCBRx+1Dtmvfe1rHDp0qFX51KlT+fGPfwzA9OnTqa6ublU+c+ZM7r33XgDy8vJoS4893x97+fn5rFy50tFj7/bbb2fbtm2tyvXYO/1jzyB85ye/5FhIMm+t2MKXheV4QiIBkLpKwiqKuOGyC0h3V5IoVfz+d4H7vReox150dHS7++5OIrLKGJPbXplftpgB/YB9XtOFwPneC4jI7cDtAKmpqT1yJU1jYyNHjx5tNW/btm3k5+dTU1NzQhnAli1byM/P59ixY+2Wb9y4kfz8fEpKStotX79+PdHR0ezdu7fd8rVr1+J2u9mxY0e75atXr6auro4NGza0W75y5UqOHj3K2rVr2y3//PPPKS4uZv369e2WL1++nJ07d7Jx48Z2yz/55BNiY2PZsmVLu+UffvghYWFhbNu2rd3ypnrduXPnCeXV1dXN5QUFBSeUezye5vL23r/g4ODm8sLCwhPKi4qKmssbGhpOKC8sLGwuP3jw4Anle/fubS4vLS3l+PHjrcoLCgqayw8fPkxtbW2r8p07dzaXt/fe6LHn+2OvoqLC8WOvqKhIj702zvTYO7prHUOGDGGi2cSOZc/hiUikIT6LxviB1MYP5OmVVjIRBEjONQQd2YP7yG7cR/chjXUB870XqMfe2Wef7ejVuf7aYvZ14HJjzDft6ZuA8caY77S3fE+1mOXn5/s8i1b+Ses+MGm9B46lS5cCMG3aNErKa3j2zY+pikzni92H2VR0HI+xbuA+Mj2G3Kz45lOgenP2vqcnPve9scWsEOjvNZ0JFDkUi1JKqT6u6XT6tGnTSIkO47w0N3l5ZwFQUdvAavuCgi92H+bvn+/l/z7ZDbQMfNt0QUF3D3yrAo+/JmZfADkiMgjYD1wH/IezISmllApEUaFuLhqazEVDk4GWgW+/KDjMF7tbD3ybHB1qJWoDrdtJjUg/s4FvVeDxy8TMGNMgIt8G3sE6zf9XY8xGh8NSSimlWg18e8fF1sC3O0srWLH7MCt3H2FFwWHeWn8AgJgwNxdkJzJhcCITBycxNDVKW9RUp/wyMQMwxrwFvOV0HEoppVRnXC4hJzWanNRobjjfGvi26Gg1KwoOs3znIT7dVca7mw4CkBQVwvnZiUwcnMiE7EQGJUVqoqZa8dvETCmllOqtMuLC+YrXwLf7DlexfNchPtt5iE93HuLNddatpNJiwpgw2GpRm5CdSP+ECCfDVn5AEzOllFIB76mnnvLp9vsnRNA/IYJrc/tjjGH3oSo+3VnG8p2H+HBbKa98uR+wBr29cEgSk3OSmTQkkbiIEJ/GpfyPJmZKKaUC3rBhw3psXyLCoKRIBiVFcsP5AzHGsL2kgk93lFmtaeuLWfjFPkTg7Mw4Ls5JYvLQZMb2jyM4yNVjcSpnaGKmlFIq4L3++usAzJo1q8f3LdJyc/a5kwbR0OhhbeExPtpeyofbSvnj+zv4w7IdRIe6mTA4kclDk7koJ4mBiZE9HqvyPU3MlFJKBbym2345kZi15Q5yMW5gPOMGxvO9aUM5Vl3P8p1lfLi9jA+3lTZfSDAgIYLJOUlcPDSZSUOSiAzVn/S+QGtRKaWU8mOx4cFcMSqdK0alN/dPs1rTynj1y/288PleQoJcnJ+dwJRhKVwyPIWsJG1N6600MVNKKaV6Ce/+aTdPyKKuwcPKPYd5f0sJy7aU8LM3NvGzNzaRnRRJnp2kjR+UQIhb+6b1FpqYKaWUUr1UiNvFxMFJTBycxI+uHMneQ1Us23KQZVtLef7zPfz1kwIiQ4K4MCeJS4anMGVYCikxYU6HrTqhiZlSSinVRwxIjGDupEHMnTSIqroGPtlxiGVbSsjfWsI7G62+aaP7xXLpyFQuOyuVYanROsCtn9HETCmlVMB77rnnnA6h20WEuLl0ZCqXjkzFGMOWA+Us21LCe5sP8rul2/jff2+jf0I4l41M49KRqeQOjMetw3E4ThMzpZRSAa9///5Oh+BTIsKI9BhGpMdw15QhlJTX8N7mEt7deIDnlu/hmY8LiI8IZuqIVC4bmcrknGTCQ4KcDjsgaWKmlFIq4L344osAzJkzx+FIekZKdBjXjx/A9eMHUFHbwIfbSvn3poO8u/EAL60qJCzYxeScZC4bmcrUEakkROodCHqKJmZKKaUC3pNPPgkETmLmLSrUzYzR6cwYnU59o4cVBYebk7R/bzqISyA3K4Hpo9K4YlQa6bHhTofcp2lippRSSikAgoNcTBqSxKQhSfx01kg2Fh3nXTtJe+j1TTz0+ibOHRDHjNHpXDEqjcx4vel6d3MkMRORXwOzgDpgJ3CLMeaoXXY/cCvQCHzXGPOOEzEqpZRSgUxEGNUvllH9YvnvS4eyq7SCJRsOsGRDMQ+/uZmH39zMmMxYrhiVzozRaXqLqG7iVIvZv4H7jTENIvJL4H7gPhEZCVwHnAVkAEtFZKgxptGhOJVSSikFZCdHcdeUIdw1ZQh7D1WxZEMxb204wC/f3sIv397CyPQYZoxOY/rodAYnRzkdbq/lSGJmjHnXa/IzYLb9/GpgoTGmFigQkR3AeGB5D4eolFJKqQ4MSIzgjosHc8fFgyk8UsXbGw6wZMMBfvPuNn7z7jaGpUYzfXQaM0ank5MSpWOlnQIxxjgbgMjrwIvGmOdF5I/AZ8aY5+2yZ4AlxpiX2lnvduB2gNTU1HELFy70eawVFRVERel/AYFI6z4wab0HjmPHjgEQGxsLaN2friM1HlYebGTlgQa2HfFggPRIYXyam/PT3WRE+f84aT1R91OmTFlljMltr8xnLWYishRIa6foR8aYxfYyPwIagBeaVmtn+XYzR2PMfGA+QG5ursnLyzvTkE8qPz+fntiP8j9a94FJ6z1wad2fvq/af0vKa3hn40HeXFfEa7sOs3hnPSPSY5h5djqzzs5gQKJ/XjjgdN37LDEzxkzrrFxEvgHMBKaalma7QsB7lL9MoMg3ESqllFKWBQsWADB37lxH4+hLUqLDuOmCgdx0wUAOHq/hrfXFvL62iF+/s5Vfv7OVMZmxzBqTwZVnp+sQHF6cuirzCuA+4GJjTJVX0WvA30Xkf7E6/+cAKxwIUSmlVADRxMy3UmPCuGXSIG6ZNIjCI1W8ua6YN9a1XN15XlY8s8ZkMH1UOsnRoU6H6yinrsr8IxAK/NvuEPiZMeZbxpiNIrII2IR1ivMuvSJTKaWU6jsy41suHCgoq+TNdUW8vraYnyzeyIOvbWTC4ERmnp3BFWelER+Adxxw6qrMIZ2UPQI80oPhKKWUUsoBg5Ii+fYlOXz7khy2HSznjbVFvL6umPv/tZ4fv7qByTlJzDw7g0vPSiUmLNjpcHuEjvyvlFJKKccNTY3mvy8bxn9dOpSNRcd5fV0Rb6wt5p5/riXkFReXDEvhK+dkkDcshbDgvnuDdU3MlFJKKeU3vO848IMrhvPlvqO8tqaIN9YV8/bGA0SHuZk+Ko2rx/bjguxEglx9a4w0TcyUUkoFvLfeesvpEFQ7RIRzB8Rz7oB4HrhyBMt3HeLVL4t4a/0BFq0sJCU6lFljMrh6bAaj+8X2iYFsNTFTSikV8CIi/HNMLdXCHeRick4yk3OSeaR+FMu2lPDql/t5bvkenvm4gOykSK4am8HVY/sxKKn33rdTEzOllFIB74knngDgzjvvdDgS1RVhwUHMGJ3OjNHpHKuqZ8mGYhavKeLx97bz+6XbGZMZy1Vj+zFrTDop0WFOh3tKNDFTSikV8BYtWgRoYtYbxUYEc934AVw3fgAHjtXw+toiFq/dz8/f2MQjb25i4uAkrh6bweWj0nrFlZ2amCmllFKqT0iLDeO2i7K57aJsdpSU89qaIl5dU8T/vLSOH726ganDU7h6bD/yhiX77ZWdmpgppZRSqs8ZktIy/MaafUdZvKaIN9YVsWSDdWXnjFHpXD02g/P97MpOTcyUUkop1WeJCOcMiOcc+8rOT3ce4tU1+3ljXREvrtxHakwos87O4Cvn9OOsjBinw9XETCmllFKBwR3k4qKhyVw0NJmarzby3uYSXvlyP88u383THxcwJCWK8Qn15DkZo4P7VkoppfxCfn6+0yGoHhYWHMSVZ6dz5dnpHKms4831xSxes5+95TWOxqWJmVJKKaUCWnxkCDdeMJAbLxjIe8vedzQWl6N7V0oppZTyI05fCKCJmVJKKaWUn9DETCmllFLKT2hippRSSinlJ8QY43QMZ0xESoE97RTFAsc6WO10ypKAslMO0Pc6ey1ObvdU1+/q8l1ZTuve2e32lbr313oHrfvuKtfPfPds+3TWDeS6H2iMSW63xBjTZx/A/O4sA1Y6/ZpO9bU4ud1TXb+ry3dlOa17rfvuKPPXete6775y/cx3z7ZPZ12t+/Yfff1U5us+KPNHvor3TLd7qut3dfmuLKd17+x2te59T+u+e8q13rtn26ezrtZ9O/rEqcyeIiIrjTG5Tsehep7WfWDSeg9cWveBy+m67+stZt1tvtMBKMdo3QcmrffApXUfuByte20xU0oppZTyE9pippRSSinlJzQxU0oppZTyE5qYKaWUUkr5CU3MlFJKKaX8hCZm3UBEviIifxGRxSJymdPxqJ4jItki8oyIvOR0LMr3RCRSRJ61P+83OB2P6jn6WQ9cPf0bH/CJmYj8VURKRGRDm/lXiMhWEdkhIj/obBvGmFeNMbcBc4E5PgxXdaNuqvtdxphbfRup8qVTPA6uAV6yP+9X9XiwqludSt3rZ71vOcW679Hf+IBPzIAFwBXeM0QkCPgTMB0YCVwvIiNFZLSIvNHmkeK16gP2eqp3WED31b3qvRbQxeMAyAT22Ys19mCMyjcW0PW6V33LAk697nvkN97t6x34O2PMhyKS1Wb2eGCHMWYXgIgsBK42xjwKzGy7DRER4DFgiTFmtW8jVt2lO+pe9X6nchwAhVjJ2Rr0H9te7xTrflPPRqd86VTqXkQ204O/8frF0r5+tPxXDNaXcb9Olv8OMA2YLSLf8mVgyudOqe5FJFFE/gycIyL3+zo41WM6Og7+BXxNRJ7ET++zp85Yu3Wvn/WA0NHnvkd/4wO+xawD0s68Dm+RYIz5A/AH34WjetCp1v0hQJPxvqfd48AYUwnc0tPBqB7VUd3rZ73v66jue/Q3XlvM2lcI9PeazgSKHIpF9SytewV6HAQyrfvA5Rd1r4lZ+74AckRkkIiEANcBrzkck+oZWvcK9DgIZFr3gcsv6j7gEzMR+QewHBgmIoUicqsxpgH4NvAOsBlYZIzZ6GScqvtp3SvQ4yCQad0HLn+uezGmw+4zSimllFKqBwV8i5lSSimllL/QxEwppZRSyk9oYqaUUkop5Sc0MVNKKaWU8hN9YoDZpKQkk5WV5fP9VFZWEhkZ6fP9KP+jdR+YtN4Dl9Z94OqJul+1alWZMSa5vbI+kZhlZWWxcuVKn+8nPz+fvLw8n+9H+R+t+8Ck9R64tO4DV0/UvYjs6ajMkVOZIjJWRD4TkTUislJExnuV3S8iO0Rkq4hc7kR8SimllFJOcKrF7FfAQ8aYJSIyw57OE5GRWCPtngVkAEtFZKgxptGhOJVSSimleoxTnf8NEGM/j6XlXlRXAwuNMbXGmAJgBzC+nfWVUkoppfocR0b+F5ERWLc8EKzkcKIxZo+I/BH4zBjzvL3cM8ASY8xL7WzjduB2gNTU1HELFy70edwVFRVERUX5fD/K/2jdn7maBsPRWkN5naG6wVDdYM2rboDqBkNNo6G2ARqN9fAYg8eAx4AIBLuEYBcEuyAkSIgIhugQISZEiA4REsOEuFBBRLotZq33wKV1H7h6ou6nTJmyyhiT216Zz05lishSIK2doh8BU4H/Msa8LCLXAs8A07AStbbazRyNMfOB+QC5ubmmJzppamfQwKV1376GRg+HKusoLa+ltLyWkvKa5uelFbWUHLf+lpbXUlXXeY+EiJAgIkLcBAcJQS6vhwgej6GuzkNtvYfaBg/V9Y3UNXhO2EZYsIsBCREMSorkrIxYRvWLYVS/WFKiw07r9Wm9B47p06cDsGTJEkDrPpA5Xfc+S8yMMdM6KhORvwF325P/BJ62nxcC/b0WzaTlNKdSqgcYYyivbfBKtmpbki2v5KusopZDlXW01+geE+YmJSaM5KhQxmTGkRwdSkp0KMnRoSRGhRId5iY61E1kqJuoMDeRIW6CXKfW0lVd18ihyloOV9ZxqKKOwiNV7DlUxZ7DVWw/WMG7mw42xzYgIYJJQ5KYnJPExMGJxEWEdMM7pfqS6upqp0NQCnCu838RcDGQD1wCbLfnvwb8XUT+F6vzfw6wwokAleprahsaKauoo8yrReuEli57Xk39ia1RIUEukqNDSYoOJTM+gnMGxDcnW96JV1JUKGHBQT5/PeEhQWSGRJAZH9FueUVtA5uKjrOu8Cif7TrM62uL+MeKvQS5hImDE5l5djqXn5WmSZpSyq84lZjdBjwuIm6gBruvmDFmo4gsAjYBDcBdekWmUh2ra/BQVmG1XjW1YpVV1LVKssoqaikrr+V4TUO724iPCG5OrnIHJljPo1onW8nRocSGB3dr/y1fiwp1M35QAuMHJfDNydk0NHpYW3iM97eU8Ma6Iu57eT0PvLqB6aPSuXnCQMYNjO9Vr08p1Tc5kpgZYz4GxnVQ9gjwSM9GpJTzGho9HK2u50hlHUeq6jlcWcfRqjoOV9Vx1Hu60po+VFnHser6drcVHeYmOcpq3RqRFkPSkJDm1qy2f0PcgXFnNneQi3ED4xk3MJ57LhvKhv3HeXl1IS+vLuS1tUWMSI9hXt5grhydfsqnVZVSqrv0iZH/lfIHxhiq6xs5Xt3A8Zp6ymvqm58fr67neE3T8warrKaBY9X1HK2q40hlXYctWmB1ak+ICCEuIoSEyBAy4sJJiAxpTr6a/iZFhfTYqcTeTEQYnRnL6MxYvn/FMBavKeKvHxfw3X98yeNLt/HdqTnMOjvD6TBVD5o5c6bTISgFaGKmAlh9o3V1X1VtI5V1DS1/6xqorG1s9Xfz9jreP7aByrrGE8or6xqaE69GT+fDz4QEuYgJDyYmzE20/XdgQgQJkSHERQTbf0PsJMyajo8IITxEEy1fiQhxc/34AczJ7c+SDQf4w3vbuXvhGp7+qICrMhvJczpA1SPuvfdep0NQCtDETDmg0WOob/RQ1+ihvsFDfaPXdKOH+gbT8tx+1DXYyzR4qGlopLbe+ltT76G2vpGa+kZqGzzU1FvzrLKmeS3L1DTYzxs8J02ivLkFog4WERnitoZ1CHUTGRJERlwIkaFBxIQFExPuJiYsmOhWz912ImY915Ys/+VyCVeenc70UWm8traIx5Zs4ZHPa9hQ+yU/unLEaQ+5oZRSp0ITsy4wxlDb4KG2wVBR24CxB740zQNgGjzGYLwHxfR4T7csb7DneWizThe2aQy0mW69fNP6hkYPNHo8zX8bPIZG++H9vGnaYwwNjcZax9jzG03Lc4/B0+66HjweaPB4mpezkilDXYOVVDV4DPUNLYnXKeRDXRLqdhHqdhEWHGQ/rOehbhdRoW4SI615oe6WsrBgF2Fua/nIUDeRodYYWpEhbafdhIcE8enHH+qYRgHC5RK+ck4/LjsrlfueXcaSDQf4YFspD111FleNydALBPqops93fn6+o3EopYlZFxyvaWDMQ+9aE0vfcTaYbuYScLtcrQb0dLvkhGlX83wXQS4IcrmsabGWCQ124xJrmeAgF8FuF8FBQkiQy5oOchHsbjMdJIS420w3L+uyRnp3ty4LcbckXWHBQYQEuXBpR23lAxEhbr6WE8LdV+fyPy+t5e6Fa3hzXTG/uGY0SVGhToenlOqjNDHrgrBgF/ddMZyCXTsZMmQwLrFu++IScNl/remWedJU5qJ5eaHt8i3LdLh+8/JdWablb+tkyk6gguz50jJf//tXqnNDUqJ46VsT+evHBfz63a3MePwj/nD9OVyQneh0aEqpPkgTsy4IdQcxL28w+ewj76LBToejlOphQS7htouyuTAnibteWM1//OUz/mvaUO6aMkRbbJVS3SowBjBSSqluMCI9hte+cyGzxmTw239v4/bnVlJR2/EwJ0opdaq0xUwppU5BVKib388Zy7iB8Tz0+iZmP/kpf7k5l/4J7d8aSvUO1157rdMhKAVoYqaUUqdMRLh5QhaDkiK564XVfOVPn/Dnm8ZxXlaC06Gp03TnnXc6HYJSgJ7KVEqp0zY5J5lX75pETHgwN/zlc5asL3Y6JHWaqqqqqKqqcjoMpTQxU0qpM5GdHMUrd05kdGYsd/59NS98vsfpkNRpmDFjBjNmzHA6DKU0MVNKqTMVFxHC87eez5RhKfzolQ08vnQ7xnTzSMpKqYDg08RMRL4uIhtFxCMiuW3K7heRHSKyVUQu95o/TkTW22V/EB1oSynVC4SHBPHUTeO45tx+/G7pNn762kY83X2bC6VUn+frFrMNwDXAh94zRWQkcB1wFnAF8ISINN1E8EngdiDHflzh4xiVUqpbBAe5+M3sMdw2eRB/W76H77+87pTuyaqUUj69KtMYsxlob3T5q4GFxphaoEBEdgDjRWQ3EGOMWW6v9zfgK8ASX8aplFLdxeUSfjhjBBEhbh5/bzv1jR5++/UxuIO054hS6uScGi6jH/CZ13ShPa/eft52/glE5HasljVSU1N75MazFRUVeoPbAKV1H5jOpN7PCYav5QTz8poiig4c5I6zQ3HrXQL81gUXXAC03MRcP/OBy+m6P+PETESWAmntFP3IGLO4o9XamWc6mX/iTGPmA/MBcnNzTV5e3smDPUP5+fn0xH6U/9G6D0xnWu95eTDio108/OZm4hKi+eN/nEOoO+ik66me17ae9TMfuJyu+zNOzIwx005jtUKgv9d0JlBkz89sZ75SSvVK35ycTYjbxU8Wb+SO51bx5xvHERasyZm/KSsrAyApKcnhSFSgc6rTw2vAdSISKiKDsDr5rzDGFAPlInKBfTXmzUBHrW5KKdUr3Dwhi0evGc0H20r55rMrqarT+2v6m9mzZzN79mynw1DK58NlfFVECoEJwJsi8g6AMWYjsAjYBLwN3GWMabRXmwc8DewAdqId/5VSfcD14wfw69lj+HRnGXP/+oXe/Fwp1S5fX5X5CvBKB2WPAI+0M38lMMqXcSmllBNmj8sk1O3iey+u4canP+fZW8YTGxHsdFhKKT+i128rpVQPmjUmgydvOJdNRce5/i+fcaii1umQlFJ+RBMzpZTqYZedlcb8m8exs7SC6+Z/RsnxGqdDUkr5CU3MlFLKAXnDUvi/W85j/9Fq5sz/jKKj1U6HFNDmzZvHvHnznA5DKU3MlFLKKRMHJ/HcreMpK6/l639ezp5DlU6HFLDmzJnDnDlznA5DKU3MlFLKSeMGJvD32y6gsq6B2X9ezob9x5wOKSDt27ePffv2OR2GUpqYKaWU00ZnxrLojgkEu4Q5Ty3nw22lTocUcG666SZuuukmp8NQShMzpZTyB0NTo/nXnZPonxDBfy74gpdWFZ58JaVUn6OJmVJK+Ym02DAWfWsC52cncO8/1/L40u0Y0+7tp7q13AAAGnxJREFUgpVSfZQmZkop5UdiwoL5v7njueacfvxu6TbmPb9a7xKgVADRxEwppfxMiNvFb68dwwNXjuDdTQf46p8+oaBMr9hUKhD49JZMSimlTo+I8M3J2YxMj+Guv6/mqj9+zK++djbTR6c7HVqfdM899zgdglKAtpgppZRfmzgkide/cyHZSZHMe2E1339pLZV6arPbzZo1i1mzZjkdhlKamCmllL/LjI/gpXkT+faUIfxzVSEz/vARKwoOOx1Wn7J161a2bt3qdBhKaWKmlFK9QXCQi3svH8aLt0+g0WO49qnl3PfSOo5U1jkdWp9wxx13cMcddzgdhlK+TcxE5OsislFEPCKS6zX/UhFZJSLr7b+XeJWNs+fvEJE/iIj4MkallOpN/n979x5XVZ3vf/z1gQ0iCgIiiALiBUlTf16wzKwoHbOycyqb6nSmxnnMHCtnfjPOTKfpek7zyF81Z7r4a2aynJqcrFM2NlamTudnhZaShYapSSaiiOD9Sl4Q+P7+gAhkW6Js1ob9fj4e++He67MuH/yszf6w1trfdV7vBP7nlxdz2yV9mLe6lLFPLOXllVs5UV3jdWoi0gICfcRsHXAdsOyk6XuAq51zg4EfAnMaxGYCU4DMuseEAOcoItKmREf6uOeKAbxdd+3ZffPXcfmTy1i0tlzjnom0cQFtzJxzG5xzTU7aO+c+dc6V1b1cD0SZWQczSwFinXN5rva3y4vANYHMUUSkrRqQEsvfbr+AP9+aTXiYMfXl1UyY8QF/y9/G8apqr9MTkTMQDMNlTAI+dc4dN7OeQMP7kJQCPf0tZGZTqD2yRnJyMrm5uYHOk4qKilbZjgQf1T40tZW6RwD3DHPklUWyuLiCf5/3Gf9nwVouTvUxpqePpGhdTvxdDhw4AFBf77ZSe2l5Xtf+rBszM1sCdPcTus859+Z3LHsu8Dtg/NeT/Mzm97i8c24WMAsgOzvb5eTknG7KZyw3N5fW2I4EH9U+NLW1ul8G3OscH3y5h+c/LGbBl7t5q+gEIzPimTikB2MHJJEaH+11mkHpscceA6ivd1urvbQcr2t/1o2Zc27cmSxnZqnAfOBW51xR3eRSILXBbKlA2cnLioiIf2bGxf27cXH/bpQfPMr8T7fz99Xb+c+31vOfb60nKzmGMZmJZPeKZ0RGPEkxUV6nHBTGjTujjzKRFufJqUwziwMWAvc455Z/Pd05V25mh81sFLASuBX4gxc5ioi0dSldOjI1px9Tc/qxeXcF7xXu4t0Nu3jpo608/2ExAGkJHclKjqFfUgyZSZ3JSIwmOTaKpJgoIn2hcwq0oKAAgKFDh3qciYS6gDZmZnYttY1VN2ChmRU45y4Hfgb0Ax4wswfqZh/vnNsF3AHMBjoCi+seIiJyFvp060yfbp35yUV9qKyqYV3ZQVZt2U9B6QE27axg6cbdnKhufOVIYudIunbqQEyUj85RPmKiIujcIZyI8DDCwwxfmBFW969hVDtHdY2jqtpRXVPT+HXd8xoHNTWOGlf7qK4B9/Vz981zw4j0hRERbkSEhxHpCyOy7t/OHXzEdowgJspHbFQEsR0jiI+OIDk2iq6dIvGFN7+hnDZtGoCuKxPPBbQxc87Np/Z05cnTpwPTT7FMPjAokHmJiISySF8Yw9PjGZ4eXz+tqrqGrfuOsG3fEXYeOkb5wWPsPHSMvRWVVByvYt9XlWzde4TDx6qoqqmhuqau6apx9Y2WL6xpwxZ+8sMMMwgPM8LMMDPCw/jmudU+r3GOg0cdlVU1nKiuobK6hsqqGo5X1fDV8SqqavwPCxJmkNi5A8mxUSTHdiA1PpreiZ3ISOxE766d6BEXdUaNm0hrCYZvZYqIiMd84WH07daZvt06e53Kd3LOcfRENYeOVnH42AkOHTvB3opKdh0+zq5Dx9h56Dg7Dx+jdP9R8or28lXlN0OHRIQbfRI7M7BHLANTYhnYI5YBKbEe/jQijakxExGRNsXMiI70ER3po3uXb//ygnOO3RXH2bLnCMV7Kijec4SNOw+TV7SX+Z9ur58vfNgUog5vZ07eFkb0SqBGA/WKR9SYiYhIu2VmJMXUfpnhvN4JjWJ7K46zofwwn5cfZMacNzkWm84Db64HICoczi/+mIsyE7m4fzcykzqjOwRKa1BjJiIiIalr5w6MyezAmMxEBvlG4ZwjfcAw8rfu460V69m6/wjTF26AhRtIju3AmH7duCSrG5dmdSMmKsLr9KWdUmMmIiIhb/To0fXP0xKiiT+4iZycHEr3H+HDL/fwwaY9vFu4k9dXlxIRbozum8jl53bnewOT6RbTwcPMpb1RYyYiIiFvxYoVQOMGDSA1PpqbzkvnpvPSqa5xrC7Zz/+s38E763dy7/y13PfGWoanxzNxSAoTh/RQkyZnTY2ZiIiEvHvvvRf49nHMwsOMkRkJjMxI4N4rB1C44zDvrN/BP9bt4LcLPmf6wg2M6ZfItcN6Mv7cZKIj9RErzae9RkREpJnMjAEptUNtTBvXny92HOaNgu28VVDGtLkFREeGc/m53blxZBrn907QFwfktKkxExEROUtZ3WP4zYRz+PfxWXyyZR9vFJTx9mdlzP90O30SO3HTeWlMGp5K18461SnfTo2ZiIhICwkLM87v05Xz+3TlPyYOZNHacl75uISHFxXy+3e+YPy53bn5vHRG9+2qo2jilxozERGRAOgYGc6kEalMGpHKlzsP88rH23h9dSkLPyunX1JnJo/O4LrhPXUtmjSivUFERELejBkzArr+zOQY/uPqgdw1IYuFn5Xzwopi7n9jHb9/5wtuGpnGraMz6BnXMaA5SNugxkxERELe0KFDW2U7URG1R9GuG96T/K37eWF5Mc99WMyfP9jM5ed250cX9mZkRrxOc4YwNWYiIhLylixZAsC4ceNaZXtm3wy9sf3AUebkbeWVj0tYvG4HQ9PiuP2SvowfmExYmBq0UBMWyJWb2ffNbL2Z1ZhZtp94uplVmNmdDaaNMLO1ZrbJzJ4y/dkgIiIBNn36dKZPn+7JtnvGdeTuK87ho3vG8tA1g9j3VSW3v7SKcU8s5dWPSzheVe1JXuKNgDZmwDrgOmDZKeJPAotPmjYTmAJk1j0mBCw7ERGRINExMpxbRvXi/Ttz+OPNw4juEM7df1/LRb97n2eWFnHo2AmvU5RWENBTmc65DYDfc+Vmdg2wGfiqwbQUINY5l1f3+kXgGpo2byIiIu1SeJgxcUgPrhqcwvJNe3lmaRGPLi7kT+9t4uZR6fz4wt4kxUZ5naYEiCfXmJlZJ+A3wPeAOxuEegKlDV6X1k3zt44p1B5ZIzk5+Vtvo9FSKioqWmU7EnxU+9CkuoeOAwcOAN/ckimYav+TfjCuWxSLik8wa+lmnl+2mTGpPq7sHUFSdKBPfIUer2t/1o2ZmS0BuvsJ3eece/MUi/0WeNI5V3HS0TR/15M5fytwzs0CZgFkZ2e7nJyc0875TOXm5tIa25Hgo9qHJtU9dMTFxQHU1zsYaz8Z2LLnK2Z9sJl5+aUsKz3KxCE9uCOnLwNSYr1Or93wuvZn3Zg5587kKyznA9eb2X8BcUCNmR0DXgdSG8yXCpSdbY4iIiLf5tlnn/U6hdOSkdiJh68dzC/GZvL8h8W8/NFW3lpTxthzkph6aV9G9ErwOkU5S56cynTOXfT1czN7EKhwzv2x7vVhMxsFrARuBf7gRY4iIhI6srKyvE6hWZJjo7j3ygFMzenLi3lbeWF5MZNm5nFe7wR+emk/Ls5M1FhobVSgh8u41sxKgQuAhWb2zmksdgfwHLAJKEIX/ouISIAtWLCABQsWeJ1Gs8VFR/LzsZksv/syHpg4kJK9R/jhXz5m4h8+ZOFn5VTX+L0aSIJYoL+VOR+Y/x3zPHjS63xgUADTEhERaeTxxx8H4Oqrr/Y4kzMTHenjx2N6c8uoXrzx6XZmLi3ip/+9mj6Jnbj9kr5cM6wnkT59UaAtUJVERETaiUhfGDeMTGPJry7hTzcPJyoinLte/4xLfv8+z39YzJHKKq9TlO+gxkxERKSdCQ8zrhqSwsKfj2H2j0aSlhDNQ29/zoWPvsdT737JwSMarDZY6V6ZIiIi7ZSZkZOVRE5WEqu27uPp94t44v9t5NmlRfzrqF78ZIwGqw02asxERERCwIheCTw/OYEN5YeYmVvEcx9sZvbyLVyfncptF/ehV9dOXqcoqDETERFhzpw5XqfQagakxPLUvwzjV9/rz7PLagerffXjEg1WGyTUmImISMhLS0vzOoVWl5HYiUeuG8y0cbWD1b6kwWqDgi7+FxGRkDd37lzmzp3rdRqe+Hqw2hV3X8Yvx/VnVcl+Js3M44Zn81i6cTfOaSy01qTGTEREQt7MmTOZOXOm12l4Ki46kl+My2T5by7j/qsGaLBaj6gxExERkXqdOvj4yUV9WHpXDr+bNJgjldX89L9X870nlvLaJ9uorKrxOsV2TY2ZiIiINNHBF86NI9NZ8qtL+OPNw+oHqx3zu/f4v0u+ZNfhY16n2C7p4n8RERE5pfAwY+KQHlw1OIWlG3fzl+VbeHLJRv74/pdcNTiFW0dnMCwtTjdNbyFqzEREROQ7NRystmh3BXPytjJvVSlvFJQxJLULP7wgg6uGpBAVEe51qm2aGjMREQl58+bN8zqFNqVvt848+E/ncuflWcxfXcpf87by67+t4eFFG7hxZBo3jkzTgLVnSI2ZiIiEvMTERK9TaJM6d/BxywUZ/GBUL1YU7WX2ii08s7SIp3OLGN23Kzedl874gck6itYMAW3MzOz7wIPAAOA851x+g9gQ4FkgFqgBRjrnjpnZCGA20BFYBPzCaRAVEREJoNmzZwMwefJkT/Noq8yMC/slcmG/RHYcPMa8VduYm7+Nn7/yKXHREVw7rCc3jkzjnO66q8B3CfQRs3XAddQ2YPXMzAe8BNzinFtjZl2Br291PxOYAnxEbWM2AVgc4DxFRCSEqTFrOd27RPGzyzKZmtOPFUV7efWTEl7+qIQXlm9haFoc149I5arBKcR3ivQ61aAU0MbMObcB8PdNjfHAZ865NXXz7a2bLwWIdc7l1b1+EbgGNWYiIiJtSliYMSYzkTGZiez7qpL5n25n7icl3P/GOn67YD2X9E/i2mE9GTsgSac6G/DqGrP+gDOzd4BuwKvOuf8CegKlDeYrrZvWhJlNofbIGsnJyeTm5gY0YYCKiopW2Y4EH9U+NKnuoePAgQMA9fVW7VteX+CeoY6Sw1GsKKti5eZdLNmwk44+yE72cUEPH+ckhBHm8bAbXtf+rBszM1sCdPcTus859+a3bHcMMBI4ArxrZquAQ37m9Xt9mXNuFjALIDs72+Xk5DQz8+bLzc2lNbYjwUe1D02qe+iIi4sDqK+3ah9YPwSqaxx5RXt5o2A7/1i3gw+2HyOxcwcmDErmikEpnN87AV9464+D73Xtz7oxc86NO4PFSoGlzrk9AGa2CBhO7XVnqQ3mSwXKzjZHERERCS7hDU51Tr9mEEs27GTR2nJeX7Wdlz4qIT46gvEDu3PF4O6M7ptIpC80blbk1anMd4C7zCwaqAQuAZ50zpWb2WEzGwWsBG4F/uBRjiIiEiIWLVrkdQohLSoinIlDejBxSA+OVlazdOMuFq/bwcK15czN30ZMlI+x5yRx2YBkLsnsRpfoCK9TDphAD5dxLbWNVTdgoZkVOOcud87tN7MngE+oPVW5yDm3sG6xO/hmuIzF6MJ/EREJsOjoaK9TkDodI8OZMCiFCYNSOHaimuWb9rB43Q7eK9zFGwVlhIcZI9LjuWxAEpedk0RmUud2dTuoQH8rcz4w/xSxl6g9dXny9HxgUCDzEhERaejpp58GYOrUqR5nIg1FRYQzdkAyYwckU13jKNh2gPcLd/Fe4S4eXVzIo4sL6RnXkUvP6caYfolc0CexzR9N08j/IiIS8l577TVAjVkwCw8zRvSKZ0SveO68PIvyg0d5v3A37xXu5O+ra69LM4PBPbswum8iY/olkp0R3+aG4lBjJiIiIm1OSpeO3Hx+Ojefn05lVQ1rSg+wfNMelm/aw3MfbOaZpUVE+sIYkR7PqD5dGZkRz9D0OKIjg7v1Ce7sRERERL5DpC+MkRkJjMxIYNq4/nx1vIqPi/fVNmpFe5nx7kacqz3qdm6PWLJ7JTAyI54RGfEkxUR5nX4jasxERESkXenUwcel5yRx6TlJABw8eoLVJftZtWU/n2zZx8srt/KX5cUApCdEMyw9jqFpcfyvtDgqq729PbcaMxEREWnXunSM4NKsJC7Nqm3UKqtqWFd2kFVb9pO/dR8rN+/jzYLaYVOz4sMYP9a7XNWYiYhIyNPtl0JLpC+M4enxDE+P59/oA8COg8co2HaAws/XeZqbGjMREREJed27RDGhS3ei9hR6mkdo3N9AREREpA1QYyYiIiISJNSYiYiIiAQJNWYiIiIiQUKNmYiIiEiQUGMmIiIiEiQC2piZ2ffNbL2Z1ZhZdoPpEWb2VzNba2YbzOyeBrERddM3mdlTZmaBzFFEREQkWAT6iNk64Dpg2UnTvw90cM4NBkYAt5lZRl1sJjAFyKx7TAhwjiIiIiJBIaADzDrnNgD4OejlgE5m5gM6ApXAITNLAWKdc3l1y70IXAMsDmSep2vatGnExcU1mnbDDTcwdepUjhw5wpVXXtlkmcmTJzN58mT27NnD9ddf3yR+xx13cOONN7Jt2zZuueWWJvFf//rXXH311XzxxRfcdtttTeL3338/48aNo6CggGnTpjWJP/zww4wePZoVK1Zw7733NonPmDGDoUOHsmTJEqZPn94k/uyzz5KVlcWCBQt4/PHHm8TnzJlDWloac+fOZebMmU3i8+bNIzExkdmzZzN79uwm8UWLFhEdHc3TTz/Na6+91iT+9Wjcjz32GG+//XajWMeOHVm8uHbXeOihh3j33Xcbxbt27crrr78OwD333ENeXl6jeGpqKi+99BJQW9uCgoJG8f79+zNr1qz67T/44ION4kOHDmXGjBkA/OAHP6C0tLRR/IILLuCRRx4BYNKkSezdu7dRfOzYsTzwwAMAXHHFFRw9erRRfOLEidx5550A5OTkcDLte6Gx702ZMoWNGzc2imvfC/y+B2jfC9F9LyYmpsn01uTVyP/zgH8GyoFo4JfOuX11pzsbVrkU6OlvBWY2hdojayQnJ7fK7TSqq6s5cOBAo2kbN24kNzeXY8eONYkBFBYWkpuby8GDB/3G169fT25uLrt27fIbX7t2LTExMZSUlPiNr1mzBp/Px6ZNm/zGV69eTWVlJevWrfMbz8/P58CBA6xZs8ZvfOXKlZSXl7N27Vq/8by8PIqKili/fr3f+PLly+nSpQuFhYV+48uWLSMqKoqNGzf6jX9d16Kioibxo0eP1seLi4ubxGtqaurj/v7/IiIi6uOlpaVN4mVlZfXxqqqqJvHS0tL6+M6dO5vES0pK6uO7d+/m0KFDjeLFxcX18X379nH8+PFG8aKiovq4v/8b7XuB3/cqKio83/fKysq0752kNfa9hISEkP+9F6r73pAhQzy9RZc5d3Z3UTezJUB3P6H7nHNv1s2TC9zpnMuve30hMBWYDMQDHwBXAF2BR5xz4+rmuwi4yzl39bflkJ2d7fLz88/q5zgdubm5fjt4af9U+9Ckuocu1T50tUbtzWyVcy7bX+ysj5h93UQ1083AP5xzJ4BdZrYcyKa2QUttMF8qUHa2OYqIiIi0BV4Nl1ECXGa1OgGjgELnXDlw2MxG1X0b81bgTY9yFBEREWlVgR4u41ozKwUuABaa2Tt1oT8Bnan91uYnwAvOuc/qYncAzwGbgCKC5MJ/ERERkUAL9Lcy5wPz/UyvoHbIDH/L5AODApmXiIiISDA664v/g4GZ7Qa2+gl1AQ6eYrEziSUCe5qdYOB928/i5Xqbu/zpzn8686n23q63vdQ+WOsOqn1LxfWeb5l1n8myoVz7Xs65bn4jzrl2+wBmtWQMyPf6Z2ruz+Llepu7/OnOfzrzqfaqfUvEgrXuqn3LxfWeb5l1n8myqr3/R3u/V+aCAMSCUaDyPdv1Nnf5053/dOZT7b1dr2ofeKp9y8RV95ZZ95ksq9r70S5OZbYWM8t3pxh3RNo31T40qe6hS7UPXV7Xvr0fMWtps7xOQDyj2ocm1T10qfahy9Pa64iZiIiISJDQETMRERGRIKHGTERERCRIqDETERERCRJqzERERESChBqzFmBm15jZn83sTTMb73U+0nrMrI+ZPW9m87zORQLPzDqZ2V/r3u//6nU+0nr0Xg9drf0ZH/KNmZn9xcx2mdm6k6ZPMLMvzGyTmd39betwzr3hnPs3YDJwYwDTlRbUQrXf7Jz7cWAzlUBq5n5wHTCv7v3+T62erLSo5tRe7/X2pZm1b9XP+JBvzIDZwISGE8wsHPgTcAUwEPgXMxtoZoPN7O2THkkNFr2/bjlpG2bTcrWXtms2p7kfAKnAtrrZqlsxRwmM2Zx+7aV9mU3za98qn/G+QG8g2DnnlplZxkmTzwM2Oec2A5jZq8A/O+ceASaevA4zM+BRYLFzbnVgM5aW0hK1l7avOfsBUEptc1aA/rBt85pZ+89bNzsJpObU3sw20Iqf8frF4l9PvvmrGGp/Gff8lvn/NzAOuN7Mbg9kYhJwzaq9mXU1s2eAYWZ2T6CTk1Zzqv3g78AkM5tJkN5nT86a39rrvR4STvW+b9XP+JA/YnYK5mfaKW+R4Jx7CngqcOlIK2pu7fcCasbbH7/7gXPuK+BHrZ2MtKpT1V7v9fbvVLVv1c94HTHzrxRIa/A6FSjzKBdpXaq9gPaDUKbah66gqL0aM/8+ATLNrLeZRQI3AW95nJO0DtVeQPtBKFPtQ1dQ1D7kGzMzewXIA7LMrNTMfuycqwJ+BrwDbABec86t9zJPaXmqvYD2g1Cm2oeuYK69OXfKy2dEREREpBWF/BEzERERkWChxkxEREQkSKgxExEREQkSasxEREREgoQaMxEREZEgocZMREREJEioMRMREREJEmrMRERERILE/wcmmt7vZzBgugAAAABJRU5ErkJggg==\n", 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\n", 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\n", 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\n", 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+ys76Jn59xyUU6KtUzlgsZlw3YyTXzRhJTW09P3puCz9ZvJUfPbeFq6eX87HLJjJn4lDNqxIRiRiFqRy3fs8R/t8zW3hf5VgumjA07HJyxqyKwXzvpgv44vXn8LMlW/nF0u08tmYv544eyP+6dAJvP380/Qtz74zyIiLyRtpNkcPcna88vJrSonzuul6f3usNIwcV8Q/Xns3zd13Ft959Hs2tcb7w4ErmfPMvfPXhNWzYeyTsEkVEpJdpz1QOW7G/jSWbD/H1+ecytLgw7HJyWv/CPG6eM46bLqrghS2H+MXS7dy/dDs/XryVyvFD+ODF47h+xqic/P5DEZGoU5jKUa1tcX61oZmJZcXcNGdc2OVEhpkxd9Iw5k4axqGjzTy4vJYHXqjls79cwdf+sJZ3XTCG91w4lnNHD9TcKhGRHKEwlaMeXL6DXY3Ove88S5POQzK0uJDb3zSZ2y6fxJLNB/nFC9v5xZLt/Oi5rZxVXsp7Zo9h/qwxlA8sCrtUERHpAYWpHHSsuZXvPr6BKYNjXHvuyLDLibxY7PUvV64/1swjK3fz0Es7+OaiV/j2H1/h8qnDec+FY3jLOeUU99MmKSKSbfSXOwf9fMk29h05wd/MLdKhpAwzeEAhH7p4PB+6eDxbDhzloZd28NBLO/n0whqKCmJUTRvBW88fxVVnj1CwEhHJEvprnWOamttY8PRmrphaxtQhTWGXI6cwsayYz11zFp99yzRe3HqIRat288fVe/jTmj30y49RddZw3nreKK46p5wSBSsRkYylv9A55v4XtnOgsZlPXTWVo1tXhl2OpCAWe33S+pfffi7Lt9WxaNVuFq3azWNr9lKYF2PupKFcdfYI3nx2OeOGDQi7ZBERSaIwlUOOt7Rx71ObuGTSMC6aMJTqrWFXJKcrL2bMmTiUOROH8uUbprN8ex2Prd7DE+v38dU/rOWrf1jLlBElQbAawezxQ8jXBwxEREKlMJVDFr6wnf1HTnD3TReEXYqkQSxmXDRhKBdNGMqXbpjOlgNHeeKVfTz5yj7ue24LP3h6MyX98pkzcSiXTh7GpZPLOHtkKbGY5smJiPQlhakc0doWZ8HTm7lowhAunqSvjclFE8uKufXyidx6+USOHG/h2VcP8OzGAyzedJAnXtkHJE7HcMnkYZS1tjB67xGmDC9RuBIR6WXdhikzuw+4Adjn7jM6WW7A94C3AseAj7j7S+kuVE7tj6v3sKvhOF+bP0Of4IuA0qICrj9vFNefNwqAXfVNLN50kMWbDrB440H2HG7mJ2ufprQonwvHDWH2+MRlZsVgTWYXEUmzVP6q/hj4b+CnXSy/HpgaXOYC/xP8lD7i7vzw2S1MGDaAq84eEXY5EoLRg/tz4+yx3Dh7LO7OLxc9Sf7IaSzfVsdL2+r4j79swB1iBtPKS5kxZhAzRg9kxphBnDNqoE7DICLSA93+BXX3p81swimGzAd+6u4OLDGzwWY2yt13p6lG6cZL2+tYUVvP1+efq0M6gpkxsjhGVRCuABqaWqiprWf51kOs2NHAk6/s48HlO4LxMKmsmBljBjF91ECmlpcwdUQpYwb3178nEZEUpOO/o2OA2qTbO4L7FKb6yA+f2cKg/gW8J3jjFOloUP8Crpw2nCunDQcSezP3Hj7B6p0NrNl1mNW7GnhxyyF+X7PrtXWKCmJMHl7C1BElTC0vZcqIEiaWFVMxZAD9C/WFzSIi7SyxQ6mbQYk9U490MWfqUeBb7v5scPuvwBfcfXknY28HbgcoLy+fvXDhwh4Vn4rGxkZKSkp6/XnCsv9YnC883cTbJhVw47TCk5bleu+nEuXe4cz7b2x2dh+Ns6sxcdl51NnVGOfQ8ZP/TgzuZwzvbwwfEGN4f2PEgMT1If2MIUVGfoh7tPTaR7d/9R7N3qFv+p83b95yd6/sbFk69kztACqSbo8FdnU20N0XAAsAKisrvaqqKg1Pf2rV1dX0xfOE5dt/fIVYbDNfev+bGDno5C/MzfXeTyXKvUP6+2880cqmfY1sPXiU2kPH2B5cth1q4vndTXT8P1lZSSEjBxUxcmDRaz/LBxZRVtKPocWFDCspZFhxv17Zw6XXPrr953Lv7k7coS3uiYs7bW1OazxOmzvPPreYKTPnvL48GNPa5sTdaY078Xjw0514HOKeGBOPv/7Y3n6fQzx4nLi3X5LGxJ0257XrcSd43A6P2b5u0nO0P15b/I3rn/R88cT6nT/fyT1M7V/Iv91QFdrrk44w9TBwp5ktJDHxvEHzpfrGidY2fr2slrecM+INQUoknUr65TOzYjAzKwa/YdmJ1jZ21jVRW9fEnoYm9jScYM/hJvY0HGdHXRPLt9VRd6yl08ftX5D3WrgaWpy4DCwqYGD/AgYW5VNalE9pUQGlRfkMDH623y4q0KHGXJL8Rt+aHAiCS2s8TjxO4mcXY9YfaqNw44FEiEgOD8mP3RYEkU7WT76/s/USzxtPYcypHzulwBP8TF6vW9VP9v4LdRryYkbMIGZGzIy8mGGWuD/PDDMjL/b68lgM8syIxYLx9vr4WHB/XvvjxRLjC2IxYmYUhDy/M5VTIzwAVAFlZrYD+ApQAODu9wKLSJwWYSOJUyN8tLeKlZM9tmYvB48284G548MuRSKsX34ek4aXMGl417vYj7e0sffwcQ4ebeZQYzMHj5547fqho80cPNrMwcZmXt3byOGmFo6caO32efNjRv+CPIoK8+hfkPfa9RNHm/jJlhfoX5hHUXB/v/w8CvKMgrwY+cHPgjwjPxajID9GQez1ZYV5MfKD6zEzjPY/9kDSG0PMEpP3zU4eZ8EYx1/bY+cOTuJ/3+6OB/fx2n0n33/S9eBx4p742Zb05t0WPzkgxOPOuu0tbH9+62tvwO17ANri8cRPPzkAdHxjj3fy5t9xXGfh4bU3/xTCQ1tQb/J6afPC0rQ9VPubfl6sk0twf35e92MK82Ov3ZcfBIP2f1/5sUQwyH/DejHyYpz8s4v1YjFj06sbmH7O2acckx889mthJZb499te50nBJfg3fnKQCcJRUtiJBWHotfXt9fF9qbq6uk+fr6NUPs13czfLHfhE2iqSlN2/dBsVQ/tzxZSysEsROaWigjzGDytm/LDilMbH405jc2siWB1vDS4tHD7++u1jza00NcdpamnjeEsbTc1tNLW0sacRDh5tpqkucbupuY0TrXFa2uKvvdnnvLVrTrk4L/b6G2H7m2v7m3msYzBIWt5ZCCjIi1FUYN0Gj+7e4DsPD5CXF4SIztZrXzcINKtXreTCC2adPNa6Dzz5sRixGCf/DIJytqg+voWqyoruB0qv0MllstTGfY0s2XyIf7zubH18XXJOLGaJw31FBae9bmLezOVdLo/HnZZ4nJY2p7UtTnNbnNY2p6UtuC8ep6U1MSZ5L1H7nI/kPUWv7WlK2nPUPt8DEv9TN9r3XgV7skjcmbwnyzqM7Xg9sYknHqP9Db9jeGkPQUuXPM8Vl1/2WghK3hvSftglm0LC6YjvyuPiScPCLkMiSGEqS92/dDsFecZ7K3U6BJHTEYsZ/WJ55Op5SocUxSgr6Rd2GSKRoq+bz0InWtt46OUdXHPuSP3RFBERCZnCVBZ68pV91B9r4b06SaeIiEjoFKay0IPLdzKitB+Xa+K5iIhI6BSmsszBxhNUr9/HOy8YQ36eXj4REZGw6d04yzy8Yhetcec9F+oQn4iISCZQmMoyv3lpBzPGDOSskaVhlyIiIiIoTGWV9XuOsHrnYe2VEhERySAKU1nk9zU7yYsZ75g5OuxSREREJKAwlSXcnUdW7ubSycMYpnNLiYiIZAyFqSyxeudhth86xg3njwq7FBEREUmiMJUlHlm5i/yYce25I8MuRURERJIoTGWB9kN8V0wtY/CAwrDLERERkSQKU1mgpraenfVNvO18TTwXERHJNApTWeDRlbspzItx9fTysEsRERGRDhSmMlw87jy6ajdvmlbGoP4FYZcjIiIiHShMZbiXttexu+E4N+gQn4iISEZSmMpwf1q9h8K8GFedMyLsUkRERKQTClMZzN3589q9XDplGKVFOsQnIiKSiRSmMtiGvY1sP3RME89FREQymMJUBnt87R4A3nKOwpSIiEimUpjKYI+v3cvMisGUDywKuxQRERHpgsJUhtp7+DgrdjRwjQ7xiYiIZDSFqQz1+Nq9AJovJSIikuEUpjLUn9fuZfywAUwdURJ2KSIiInIKClMZ6MjxFp7fdIBrppdjZmGXIyIiIqegMJWBntqwn5Y25+rpI8MuRURERLqhMJWBnnhlH4MHFDB7/JCwSxEREZFuKExlmHjceXrDfq6YOpy8mA7xiYiIZDqFqQyzZtdhDjQ2UzVteNiliIiISAoUpjJM9fp9ALxJYUpERCQrKExlmOoN+zlvzCCGl/YLuxQRERFJQUphysyuM7P1ZrbRzO7qZPkgM/uDma0wszVm9tH0l5r7Go618PL2OqrO0l4pERGRbNFtmDKzPOD7wPXAdOBmM5veYdgngLXuPhOoAv7dzArTXGvOe2bjfuIOV+oQn4iISNZIZc/UHGCju29292ZgITC/wxgHSi1xhskS4BDQmtZKI6B6/X4GFuUzq2Jw2KWIiIhIilIJU2OA2qTbO4L7kv03cA6wC1gFfNrd42mpMCLiceepDfu5Ytpw8vM0lU1ERCRbmLufeoDZe4Fr3f224PYtwBx3/2TSmBuBy4C/ByYDjwMz3f1wh8e6HbgdoLy8fPbChQvT2ErnGhsbKSnJ/O+323a4ja8sPs6tMwq5YmxBWh4zW3rvDVHuHaLdf5R7h2j3r96j2Tv0Tf/z5s1b7u6VnS3LT2H9HUBF0u2xJPZAJfso8G1PJLONZrYFOBt4IXmQuy8AFgBUVlZ6VVVVSg30RHV1NX3xPD31/Sc3Auv523dcwYiBRWl5zGzpvTdEuXeIdv9R7h2i3b96rwq7jNCE3X8qx5NeBKaa2cRgUvlNwMMdxmwHrgIws3LgLGBzOgvNdc++eoCzR5amLUiJiIhI3+g2TLl7K3An8BiwDviVu68xszvM7I5g2NeBS81sFfBX4B/d/UBvFZ1rmprbWL6tjsunlIVdioiIiJymVA7z4e6LgEUd7rs36fou4Jr0lhYdy7YdorktzmVTFaZERESyjT42lgGe23iQ/JgxZ8LQsEsRERGR06QwlQGe23iAC8cNobhfSjsKRUREJIMoTIWs/lgzq3c1cJnmS4mIiGQlhamQPb/pIO5w2ZRhYZciIiIiZ0BhKmTPbjxAcWEeM/UVMiIiIllJYSpkz208wMWThlGgr5ARERHJSnoHD9GOumNsPXhM86VERESymMJUiBZvPAigMCUiIpLFFKZCtHjTAcpK+jGtPLpfTikiIpLtFKZC4u4s3XKIuZOGYmZhlyMiIiJnSGEqJLWHmtjdcJyLJ+qs5yIiItlMYSokS7Yk5kvNnaTzS4mIiGQzhamQLN18iKHFhUwdoflSIiIi2UxhKiRLNh9kzgTNlxIREcl2ClMh2FF3jJ31TVw8SfOlREREsp3CVAiWbj4EaL6UiIhILlCYCsHSLQcZPKCAs8pLwy5FREREekhhKgRLtxzioglDicU0X0pERCTbKUz1sT0Nx9l28BhzdX4pERGRnKAw1ceWBueXuljzpURERHKCwlQfW7L5IKVF+ZwzamDYpYiIiEgaKEz1saWbDzFnwlDyNF9KREQkJyhM9aF9R46z+cBR5ur8UiIiIjlDYaoPLd9aB8BFExSmREREcoXCVB9atq2Ofvkxzh09KOxSREREJE0UpvrQsm11zKwYTGG+fu0iIiK5Qu/qfaSpuY01OxuoHD8k7FJEREQkjRSm+siKHfW0xp3KCQpTIiIiuURhqo8s25r4cuMLxylMiYiI5BKFqT6ybFsdU0eUMHhAYdiliIiISBopTPWBeNx5aVudDvGJiIjkIIWpPvDqvkYOH29l9nidX0pERCTXKEz1gWXbEvOl9Ek+ERGR3JNSmDKz68xsvZltNLO7uhhTZWY1ZrbGzJ5Kb5nZbfnWOspKChk/bEDYpYiIiEia5Xc3wMzygO8DVwM7gBfN7GF3X5s0ZjBwD3Cdu283sxG9VXA2Wratjtnjh2CmLz5rtG4AABUaSURBVDcWERHJNansmZoDbHT3ze7eDCwE5ncY8wHgIXffDuDu+9JbZvbad+Q42w8do1LzpURERHJSKmFqDFCbdHtHcF+yacAQM6s2s+Vm9uF0FZjt2r/ceLY+ySciIpKTzN1PPcDsvcC17n5bcPsWYI67fzJpzH8DlcBVQH/geeBt7r6hw2PdDtwOUF5ePnvhwoVpbKVzjY2NlJSU9PrzdOWBdSd4oraV/3nLAPJjfXuYL+zewxTl3iHa/Ue5d4h2/+o9mr1D3/Q/b9685e5e2dmybudMkdgTVZF0eyywq5MxB9z9KHDUzJ4GZgInhSl3XwAsAKisrPSqqqqUGuiJ6upq+uJ5uvIfa57jgnEx3vLmS/r8ucPuPUxR7h2i3X+Ue4do96/eq8IuIzRh95/KYb4XgalmNtHMCoGbgIc7jPk9cIWZ5ZvZAGAusC69pWaf9i831iE+ERGR3NXtnil3bzWzO4HHgDzgPndfY2Z3BMvvdfd1ZvYnYCUQB37o7qt7s/BssDL4cuPZ+j4+ERGRnJXKYT7cfRGwqMN993a4/R3gO+krLfvV1NYDcMG4wSFXIiIiIr1FZ0DvRTW19VQM7c+wkn5hlyIiIiK9RGGqF62orWdWhQ7xiYiI5DKFqV6y7/BxdjUcZ+bYQWGXIiIiIr1IYaqXvKz5UiIiIpGgMNVLamrryY8Z547WnikREZFcpjDVS2q213POqIEUFeSFXYqIiIj0IoWpXtAWd1btbGBmhfZKiYiI5DqFqV6waX8jjSda9Uk+ERGRCFCY6gU12xOTz2dVaPK5iIhIrlOY6gUv19ZTWpTPpLLisEsRERGRXqYw1QsSJ+scTCxmYZciIiIivUxhKs2amttYv/cIM8fqEJ+IiEgUKEyl2aqdDbTFXfOlREREIkJhKs1qausAmKUzn4uIiESCwlSa1dTWM3ZIf8pK+oVdioiIiPQBhak0W1HboEN8IiIiEaIwlUb7jhxnZ32TwpSIiEiEKEylkU7WKSIiEj0KU2lUU1tPfsyYMUbfySciIhIVClNpVFNbz9mjSikqyAu7FBEREekjClNpEo87K3do8rmIiEjUKEylyab9jTSeaNWZz0VERCJGYSpNXq5NTD6/QCfrFBERiRSFqTSpqa2ntCifSWUlYZciIiIifUhhKk1qttczc+xgYjELuxQRERHpQwpTadDU3Mb6vUeYWaFTIoiIiESNwlQarN7VQFvcmVUxJOxSREREpI8pTKWBznwuIiISXQpTaVBTW8+Ywf0ZXtov7FJERESkjylMpUFNbT2zdEoEERGRSFKY6qF9R46zs76JWTpZp4iISCQpTPXQitoGAO2ZEhERiSiFqR6qqa0jL2bMGK3TIoiIiERRSmHKzK4zs/VmttHM7jrFuIvMrM3MbkxfiZmtpraes0eW0r8wL+xSREREJATdhikzywO+D1wPTAduNrPpXYz7V+CxdBeZqeJxZ2Vtg06JICIiEmGp7JmaA2x0983u3gwsBOZ3Mu6TwG+AfWmsL6NtPtDIkROtzFSYEhERiaxUwtQYoDbp9o7gvteY2RjgXcC96Sst870cnKzzAoUpERGRyDJ3P/UAs/cC17r7bcHtW4A57v7JpDG/Bv7d3ZeY2Y+BR9z9wU4e63bgdoDy8vLZCxcuTFsjXWlsbKSkpKRXHvsna06wZHcr379qADHLvC847s3eM12Ue4do9x/l3iHa/av3aPYOfdP/vHnzlrt7ZWfL8lNYfwdQkXR7LLCrw5hKYKElAkUZ8FYza3X33yUPcvcFwAKAyspKr6qqSqmBnqiurqa3nuc7K5/hwgkFvHnexb3y+D3Vm71nuij3DtHuP8q9Q7T7V+9VYZcRmrD7T+Uw34vAVDObaGaFwE3Aw8kD3H2iu09w9wnAg8DHOwapXNPU3MYre45o8rmIiEjEdbtnyt1bzexOEp/SywPuc/c1ZnZHsDxS86TardnVQFvcmakzn4uIiERaKof5cPdFwKIO93Uaotz9Iz0vK/PV1CYmn+vM5yIiItGmM6CfoZdr6xkzuD8jSovCLkVERERCpDB1hmq212u+lIiIiChMnYn9R06ws76JmRX6Pj4REZGoU5g6Ayva50tVDAm5EhEREQmbwtQZqKmtJy9mnDdGe6ZERESiTmHqDNTU1nNWeSn9C/PCLkVERERCpjB1muJxZ0VtvU6JICIiIoDC1GnbfKCRIydamaWTdYqIiAgKU6etprYB0Mk6RUREJEFh6jTV1NZR0i+fycOj++3cIiIi8jqFqdNUU1vP+WMHkRezsEsRERGRDKAwdRqamtt4ZfcRnflcREREXqMwdRpW72qgNe5cME4n6xQREZEEhanTULO9/czn2jMlIiIiCQpTp+Hl2jrGDunP8NJ+YZciIiIiGUJh6jTUbK/XXikRERE5icJUivYePs6uhuOaLyUiIiInUZhK0cvBfKkLdLJOERERSaIwlaKXa+soyDOmjxoYdikiIiKSQRSmUlSzvZ7powdRVJAXdikiIiKSQRSmUtDaFmfljgYu0ORzERER6UBhKgUb9jbS1NKm+VIiIiLyBgpTKXi5tg7QyTpFRETkjRSmUlCzvZ6hxYWMGzog7FJEREQkwyhMpeDl2nouqBiMmYVdioiIiGQYhaluNDS1sHFfow7xiYiISKcUprqxckf7yTp15nMRERF5I4WpbtRsr8cMzq8YFHYpIiIikoEUprrxcm09U4aXMLCoIOxSREREJAMpTJ2Cu1NTW6/5UiIiItIlhalT2HzgKIeONjN7vOZLiYiISOcUpk5h+dbEyTorJwwNuRIRERHJVApTp7Bs2yGGDChg8vDisEsRERGRDJVSmDKz68xsvZltNLO7Oln+QTNbGVwWm9nM9Jfa95Ztq2P2+CE6WaeIiIh0qdswZWZ5wPeB64HpwM1mNr3DsC3Ale5+PvB1YEG6C+1rBxtPsHn/UWaP1yE+ERER6Voqe6bmABvdfbO7NwMLgfnJA9x9sbvXBTeXAGPTW2bfW76tfb6UJp+LiIhI18zdTz3A7EbgOne/Lbh9CzDX3e/sYvzngbPbx3dYdjtwO0B5efnshQsX9rD87jU2NlJSUnLa6/1yfTOPb23hnrcMoDAvOw/znWnvuSDKvUO0+49y7xDt/tV7NHuHvul/3rx5y929srNl+Sms31mS6DSBmdk84Fbg8s6Wu/sCgkOAlZWVXlVVlcLT90x1dTVn8jz/tW4x51c411x1WfqL6iNn2nsuiHLvEO3+o9w7RLt/9V4VdhmhCbv/VA7z7QAqkm6PBXZ1HGRm5wM/BOa7+8H0lBeO4y1trNrRoFMiiIiISLdSCVMvAlPNbKKZFQI3AQ8nDzCzccBDwC3uviH9ZfatVTsbaG6L62SdIiIi0q1uD/O5e6uZ3Qk8BuQB97n7GjO7I1h+L/BlYBhwT3Aagdaujitmg2XByToVpkRERKQ7qcyZwt0XAYs63Hdv0vXbgDdMOM9Wy7cdYmJZMWUl/cIuRURERDKczoDeQTzuLA9O1ikiIiLSHYWpDjbsO0LdsRbmTtTkcxEREemewlQHSzYlPoh48aRhIVciIiIi2UBhqoPnNx9k7JD+VAwdEHYpIiIikgUUppLE487SLYe0V0pERERSpjCV5JU9R6g/1sIlClMiIiKSIoWpJEs2B/OlJitMiYiISGoUppIs2XyQcUMHMGZw/7BLERERkSyhMBV4fb6UTokgIiIiqVOYCqzbc5iGphYu0SE+EREROQ0KU4HndX4pEREROQMKU4FnXj3ApOHFjBqk+VIiIiKSOoUp4HhLG0s2H+TKacPDLkVERESyjMIUsHTLIU60xhWmRERE5LQpTAFPrd9Pv/yY5kuJiIjIaVOYAp5+dT9zJw2jqCAv7FJEREQky0Q+TO2oO8bGfY28aWpZ2KWIiIhIFop8mHp6wwEAqs7SfCkRERE5fZEPU39dt5exQ/ozeXhJ2KWIiIhIFop0mGo80cozGw9wzfSRmFnY5YiIiEgWinSYenrDfppb41xzbnnYpYiIiEiWinSYemzNHoYWF1I5fkjYpYiIiEiWimyYam6N88Qr+7jq7BHk50X21yAiIiI9FNkU8dSG/Rw53spbzxsVdikiIiKSxSIbpn738k6GFRdyuc4vJSIiIj0QyTB1+HgLj6/by9tnjqZAh/hERESkByKZJP60ag/NrXHmzxoddikiIiKS5SIZpu5/YTuTyoqZVTE47FJEREQky0UuTK2oraemtp4PXzJeJ+oUERGRHotcmPrJ4q0UF+bxntljwy5FREREckCkwtTew8d5ZOVubpw9ltKigrDLERERkRwQqTD1X0+8StydWy+fFHYpIiIikiMiE6Y27mvkly/W8v6LKhg3bEDY5YiIiEiOSClMmdl1ZrbezDaa2V2dLDczuztYvtLMLkx/qWeuLe588aGVDCjM59NvmRp2OSIiIpJDug1TZpYHfB+4HpgO3Gxm0zsMux6YGlxuB/4nzXWeMXfnXx5dy4tb6/jyDdMZUVoUdkkiIiKSQ/JTGDMH2OjumwHMbCEwH1ibNGY+8FN3d2CJmQ02s1HuvjvtFaeooamFpZsP8oOaEyzfu5WPXjZBn+ATERGRtLNE/jnFALMbgevc/bbg9i3AXHe/M2nMI8C33f3Z4PZfgX9092UdHut2EnuuKC8vn71w4cJ09nKSbYfb+Mri4xTEnHdNLeS6CQXEInZeqcbGRkpKSsIuIxRR7h2i3X+Ue4do96/eo9k79E3/8+bNW+7ulZ0tS2XPVGcJpGMCS2UM7r4AWABQWVnpVVVVKTz9mTne0sasC46wa/3LXP+Web32PJmsurqa3vwdZ7Io9w7R7j/KvUO0+1fvVWGXEZqw+09lAvoOoCLp9lhg1xmM6VNFBXnMrBhM//xo7Y0SERGRvpVKmHoRmGpmE82sELgJeLjDmIeBDwef6rsYaAhzvpSIiIhIX+n2MJ+7t5rZncBjQB5wn7uvMbM7guX3AouAtwIbgWPAR3uvZBEREZHMkcqcKdx9EYnAlHzfvUnXHfhEeksTERERyXyROQO6iIiISG9QmBIRERHpAYUpERERkR5QmBIRERHpAYUpERERkR5QmBIRERHpAYUpERERkR7o9ouOe+2JzfYD2/rgqcqAA33wPJlIvUdXlPuPcu8Q7f7Ve3T1Rf/j3X14ZwtCC1N9xcyWdfUtz7lOvUezd4h2/1HuHaLdv3qPZu8Qfv86zCciIiLSAwpTIiIiIj0QhTC1IOwCQqTeoyvK/Ue5d4h2/+o9ukLtP+fnTImIiIj0pijsmRIRERHpNVkbpszsOjNbb2YbzeyuTpabmd0dLF9pZhemum6mS6H3DwY9rzSzxWY2M2nZVjNbZWY1ZrasbytPjxT6rzKzhqDHGjP7cqrrZroUev+HpL5Xm1mbmQ0NlmX1a29m95nZPjNb3cXynN3mIaX+c3a7T6H3XN7mu+s9l7f5CjN70szWmdkaM/t0J2MyY7t396y7AHnAJmASUAisAKZ3GPNW4I+AARcDS1NdN5MvKfZ+KTAkuH59e+/B7a1AWdh99HL/VcAjZ7JuJl9Ot37g7cATOfTavwm4EFjdxfKc3OZPo/9c3u676z0nt/lUeu8wNte2+VHAhcH1UmBDpr7XZ+ueqTnARnff7O7NwEJgfocx84GfesISYLCZjUpx3UzWbf3uvtjd64KbS4CxfVxjb+rJ65fzr30HNwMP9EllfcDdnwYOnWJIrm7zQPf95/J2n8Jr35Wsf+1Ps/dc2+Z3u/tLwfUjwDpgTIdhGbHdZ2uYGgPUJt3ewRt/wV2NSWXdTHa69d9KIrW3c+DPZrbczG7vhfp6W6r9X2JmK8zsj2Z27mmum6lSrt/MBgDXAb9JujvbX/vu5Oo2fyZybbtPRS5u8ynL9W3ezCYAFwBLOyzKiO0+v7ceuJdZJ/d1/FhiV2NSWTeTpVy/mc0j8Uf18qS7L3P3XWY2AnjczF4J/ueTLVLp/yUSp/1vNLO3Ar8Dpqa4biY7nfrfDjzn7sn/o8321747ubrNn5Yc3e67k6vb/OnI2W3ezEpIhMTPuPvhjos7WaXPt/ts3TO1A6hIuj0W2JXimFTWzWQp1W9m5wM/BOa7+8H2+919V/BzH/BbErtCs0m3/bv7YXdvDK4vAgrMrCyVdTPc6dR/Ex129+fAa9+dXN3mU5bD2/0p5fA2fzpycps3swISQeoX7v5QJ0MyY7vvi0lk6b6Q2KO2GZjI6xPLzu0w5m2cPCnthVTXzeRLir2PAzYCl3a4vxgoTbq+GLgu7J56of+RvH4OtTnA9uDfQc6/9sG4QSTmWBTn0msf1D6Brich5+Q2fxr95+x2n0LvObnNp9J7sDwnt/ngNfwp8J+nGJMR231WHuZz91YzuxN4jMSM/fvcfY2Z3REsvxdYRGKW/0bgGPDRU60bQhtnJMXevwwMA+4xM4BWT3wBZDnw2+C+fOB+d/9TCG2csRT7vxH4OzNrBZqAmzyxdUXhtQd4F/Bndz+atHrWv/Zm9gCJT22VmdkO4CtAAeT2Nt8uhf5zdrtPofec3OYhpd4hR7d54DLgFmCVmdUE9/0Tif84ZNR2rzOgi4iIiPRAts6ZEhEREckIClMiIiIiPaAwJSIiItIDClMiIiIiPaAwJSIiItIDClMikrHMbLCZfTzsOkRETkVhSkQy2WBAYUpEMprClIhksm8Dk82sxsy+09UgM8szsx+b2WozW2Vmnw3un2xmfwq+6PUZMzs7uL/czH4bfDHuCjO7tI/6EZEclJVnQBeRyLgLmOHus7oZNwsY4+4zIHF4MLh/AXCHu79qZnOBe4A3A3cDT7n7u8wsDyjpnfJFJAp0BnQRyVhmNgF4pD0knWLcEGAZia+WeBT4MzAA2A+sTxraz93PMbP9wFh3P9EbdYtItGjPlIhkPXevM7OZwLXAJ4D3AZ8B6lPYqyUi0iOaMyUimewIUJp8h5m90nGQmZUBMXf/DfDPwIXufhjYYmbvDcZYELgA/gr8XXB/npkN7MUeRCTHKUyJSMZy94PAc8HE8u8Eock6GToGqA6+Wf7HwBeD+z8I3GpmK4A1wPzg/k8D88xsFbAcOLcX2xCRHKc5UyKSNczsBmCSu98ddi0iIu0UpkRERER6QIf5RERERHpAYUpERESkBxSmRERERHpAYUpERESkBxSmRERERHpAYUpERESkBxSmRERERHrg/wfOCLh16ena+AAAAABJRU5ErkJggg==\n", 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\n", 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\n", 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f8dOX57Onosrr0iTBKJiJiIg0kq5tMpk8bgQ3ntSDp2eu5PwHPmD5pmKvy5IEomAmIiLSiIJ+H7ed0Y/Hrj6GdTt2c/a9/9OpTdlLwUxERMQDo/q247Vvn0Df9i349jMfcbtObQoKZiIiIp7p0DJ976nNf0ROba7YXOJ1WeIhBTMREREP1Ty1edY97/MvndpMWgpmIiIiCSD61Oa3dGozaSmYiYiIJIiapzYvmTCdjTv1gbTJRMFMREQkgVSf2px4xVA+31jMufdPY8GaHV6XJY1EwUxERCQBnT4gnxfGH4sBFz00nTcWrPO6JGkECmYiIiIJqn+HFvzzluPo2z6b8U99yH3/+RznnNdlSRwpmImIiCSwdtlpPHPDCM4b3IE/vfkZ33t2nt4U0IwFvC5AREREDiwt6Oevlwymd142d01dwpdbS5lwxVDaZad5XZo0MB0xExERaQLMjJtH9eKhbxzN4nW7OO++aXy6dqfXZUkDUzATERFpQsYMbM/z40cScvD1hz5g6sL1XpckDciTYGZmF5nZQjMLmVlBjbHbzGypmS0xs9Fe1CciIpLIBnbMYcotx9E7L5vxT83lwaJlelNAM+HVEbMFwAXAe9Ezzaw/MBYYAIwBHjAzf+OXJyIiktjatUjj2XEjOPPI9vzhjcXc8cpCqkIKZ02dJxf/O+cWQfh8eQ3nApOdc2XACjNbCgwDpjduhSIiIokvLejnnrFD6NgynQnvLWfDzj3cc+kQ0oI6ptFUJdq7MjsCM6Ier47M+wozGweMA8jLy6OoqCjuxRUXFzfKfiTxqPfJSX1PXk2t9yMzYFffFJ75dANn/flNvnt0GlkpXzn4IXXgde/jFszM7G0gP8bQ7c65V2pbLca8mMdlnXMTgYkABQUFrrCw8FDKrJeioiIaYz+SeNT75KS+J6+m2PtC4LhP1vG9Z+fx1/nG49cOo1OrDK/LanK87n3cgplz7tRDWG010DnqcSdgbcNUJCIi0rydeVR72mSlcMMTc7jggQ+YdM0w+ndo4XVZUg+J9nEZU4CxZpZqZt2B3sAsj2sSERFpMkb0aMML44/F7zMunjCdaUs3e12S1INXH5dxvpmtBkYCr5rZVADn3ELgOeBT4A3gZuecvndCRESkHvrkZ/PiTcfSoWUaVz82i1fmrfG6JKkjT4KZc+5l51wn51yqcy7POTc6auxO51xP51wf59zrXtQnIiLS1HVomc7z449lSJdWfGfyPCa+p886awoS7VSmiIiINJCc9CBPXDuMM49sz29fW8yv/72IkD7rLKEl2sdliIiISANKC/q599IhtGuRyqPTVrClpIw/XTSIoF/HZhKRgpmIiEgz5/MZd5zVn7bZqfzxjSXs3F3BA5cPJT1FH0SbaBSXRUREkoCZ8c3CXvz2/CMp+mwTVz46kx27K7wuS2pQMBMREUkilw3vwr2XDmHequ2MnTiDjbv2eF2SRFEwExERSTJnHdWBR646hi82l3DRQ9NZtbXU65IkQsFMREQkCZ10RFueun4420sr+PpDH/DZhl1elyQomImIiCStoV1b8dyNI3EOLp4wnY9WbvO6pKSnYCYiIpLE+uRn88L4Y8lJD3L5IzN5//NNXpeU1BTMREREklyXNhk8P34kXVpncO2k2bw2f53XJSUtBTMRERGhXXYaz44byaBOLbn56Q+ZPGul1yUlJQUzERERASAnI8iT1w3nxN5tufWl+Tzy/nKvS0o6Bw1mZtbVzHIj90eY2Q/N7Pz4lyYiIiKNLT3Fz8NXFnDGwHx+8+oi7n77c335eSM6YDAzs58D/wFmmNlvgL8BucC3zexvjVCfiIiINLKUgI97Lx3ChUd34q9vf8bvXl+scNZIDvZdmZcC/YAMYCWQ75wrNbMAMC/exYmIiIg3An4fd339KDJT/Ux8bznFZZX8+tyB+H3mdWnN2sGC2R7nXDlQbmbLnHOlAM65SjMrj395IiIi4hWfz/jVOQPITA3wYNEySsoq+dNFgwj6dYl6vBwsmLU0swsAA3Ii96l+HNfKRERExHNmxk/G9CUrNcBdU5dQWl7FfZcNITXg97q0Zulgwexd4KwY9y3yWERERJLAzaN6kZUa4BdTFnL943OYcMVQMlIOFiOkvg72E10Qdd8RDmTV90VERCSJXHVsNzJS/PzkxU+48u+zePSaY2iRFvS6rGblYCeJsyLTUOAmoD3QARgP9I9vaSIiIpJoLirozH2XHc3Hq7dz2cMz2FqiS84b0gGDmXPuV865XxH+iIyjnXM/dM79gHBQ69QYBYqIiEhi+dqR7Zl4RQGfbyjmkgnT2bhzj9clNRt1fVtFFyA6EpcD3Rq8GhEREWkSRvVtx6RrhrFm+24unjCdNdt3e11Ss1DXYPYkMMvMfmlmvwBmAo8f6k7N7C4zW2xmn5jZy2bWMmrsNjNbamZLzGz0oe5DRERE4mtkzzY8df1wtpSUc/FD0/lyS4nXJTV5dQpmzrk7gWuAbcB24Brn3O8OY79vAQOdc0cBnwG3AZhZf2AsMAAYAzxgZno/roiISII6uksrnrlhBKXllVz00HSWbtzldUlNWp0/Ic4596Fz7u7I9NHh7NQ596ZzrjLycAb7rlc7F5jsnCtzzq0AlgLDDmdfIiIiEl8DO+YwedxIQg4umTCDT9fu9LqkJsu8/u4rM/sX8Kxz7ikzuw+Y4Zx7KjL2d+B159wLMdYbB4wDyMvLGzp58uS411pcXExWVlbc9yOJR71PTup78lLvD836khB/nL2HPZWOHxak0aNl0zvp1Ri9HzVq1FznXEGssbh9MpyZvQ3kxxi63Tn3SmSZ24FK4B/Vq8VYPmZydM5NBCYCFBQUuMLCwsMt+aCKiopojP1I4lHvk5P6nrzU+0N33MhSLntkBn/5qIJHrx7CsO6tvS6pXrzufdy+7Mo5d6pzbmCMqTqUXUX4mwQud/sO260GOkdtphOwNl41ioiISMPq3DqD5288lnYtUrny0Zn87/PNXpfUpHjyLaRmNgb4CXBO9RejR0wBxppZqpl1B3oDs7yoUURERA5Nfk4az44bSbc2mVz7+GzeWbTB65KaDK++Hv4+IBt4y8zmmdlDAM65hcBzwKfAG8DNzrkqj2oUERGRQ9Q2O5XJ40bQNz+bG5+cy2vz13ldUpPgSTBzzvVyznV2zg2OTOOjxu50zvV0zvVxzr3uRX0iIiJy+FpmpPDU9cMZ3Lkltzz9IS9/tNrrkhKeV0fMREREJAm0SAvyxHXDGNGjDd9/7mOenb3S65ISmoKZiIiIxFVGSoBHrz6GE3u35ScvzueJ6V94XVLCUjATERGRuEsL+pl45VBO7ZfHHa8s5JH3l3tdUkJSMBMREZFGkRrw8+A3jubMI9vzm1cXcf9/l3pdUsKJ2wfMioiIiNQU9Pu4e+xgUgI+7pq6hLKKKr532hGYxfqM+eSjYCYiIiKNKuD38aeLBpHi93HPf5ZSVhni1jP6KpyhYCYiIiIe8PuM311wJCkBHxPeW05ZZYg7zuqPz5fc4UzBTERERDzh8xn/d+4AUgM+HvnfCsoqq7jzvCOTOpwpmImIiIhnzIzbz+xHatDH/f9dRllliLu+Pgh/koYzBTMRERHxlJnxo9F9SQv4+fNbn1FeGeKvlwwm6E++D49QMBMREZGE8K1TepMS8PG71xdTURXi3kuPJiWQXOEsuZ6tiIiIJLQbT+rJHWf1Z+rCDdz01Fz2VFR5XVKjUjATERGRhHLt8d35zXkDeWfxRsY9mVzhTMFMREREEs43RnTljxcexfufb+LaSbMpLa/0uqRGoWAmIiIiCeniYzrzl4sHMWP5Fq5+dDbFZc0/nCmYiYiISMI6f0gn7h47hLkrt3Hl32eyc0+F1yXFlYKZiIiIJLSzB3Xg/suOZv6aHXzjkZlsLy33uqS4UTATERGRhDdmYD4PfWMoi9ft4rKHZ7K1pHmGMwUzERERaRJO6ZfHI1cVsGxTMWMnTmfTrjKvS2pwCmYiIiLSZJx4RFseu/oYVm3dzSUTp7Nh5x6vS2pQCmYiIiLSpBzbK5fHrx3Ghh17uGTCdNZu3+11SQ1GwUxERESanGHdW/PEdcPZUlzOJROns2prqdclNQhPgpmZ/drMPjGzeWb2ppl1iBq7zcyWmtkSMxvtRX0iIiKS+IZ2bcVT1w9nR2kFYyfO4MstJV6XdNi8OmJ2l3PuKOfcYODfwB0AZtYfGAsMAMYAD5iZ36MaRUREJMEN6tySp28YQUl5JZdMmMHyTcVel3RYPAlmzrmdUQ8zARe5fy4w2TlX5pxbASwFhjV2fSIiItJ0DOyYwzM3jKCiKsQlE2ewdOMur0s6ZOacO/hS8dix2Z3AlcAOYJRzbpOZ3QfMcM49FVnm78DrzrkXYqw/DhgHkJeXN3Ty5Mlxr7m4uJisrKy470cSj3qfnNT35KXeN01rikP8YdYeHI4fH5NO5+z6H39qjN6PGjVqrnOuINZY3IKZmb0N5McYut0590rUcrcBac65X5jZ/cD0GsHsNefciwfaV0FBgZszZ04DVh9bUVERhYWFcd+PJB71Pjmp78lLvW+6lm0q5rKHZ1BeGeKp64czoENOvdZvjN6bWa3BLG6nMp1zpzrnBsaYXqmx6NPAhZH7q4HOUWOdgLXxqlFERESal55ts3h23EjSg34ue3gmn6ze7nVJ9eLVuzJ7Rz08B1gcuT8FGGtmqWbWHegNzGrs+kRERKTp6pabybM3jiQ7LcDlD8/kw5XbvC6pzrx6V+bvzWyBmX0CnA58B8A5txB4DvgUeAO42TlX5VGNIiIi0kR1bp3BszeOpHVWClc8MpPZX2z1uqQ68epdmRdGTmse5Zw72zm3JmrsTudcT+dcH+fc617UJyIiIk1fx5bpPDtuJHkt0rjq0VnMWL7F65IOSp/8LyIiIs1Wfk4ak28cQYeW6Vz92CymLd3sdUkHpGAmIiIizVq77DQmjxtBtzaZXDtpNu9+tsnrkmqlYCYiIiLNXm5WKk/fMIKebbO44fE5vLNog9clxaRgJiIiIkmhdWYKT98wnD752Yx/ai5TF673uqSvUDATERGRpNEyI2XvB8/e/I8PeW3+Oq9L2o+CmYiIiCSVnPQgT143jEGdW/KtZz5iyseJ81n2CmYiIiKSdLLTgjxx7TCGdm3Fdyd/xEsfrva6JEDBTERERJJUZmqASdccw4gebfjB8x/z3OxVXpekYCYiIiLJKyMlwKNXH8PxvXL58YufULSqwtN6FMxEREQkqaUF/Tx8ZQGj+rRlybYqnHOe1aJgJiIiIkkvLejnoSuGcv3AVMzMszoUzERERESA1IAfv8+7UAYKZiIiIiIJQ8FMREREJEEomImIiIgkCPPynQcNxcw2AV/GGMoBdtSy2qGM5QKb611g/B3ouXi53fquX9fl67Kceu/tdptL7xO176DeN9S4XvMNs+1DWTeZe9/VOdc25ohzrtlOwMSGHAPmeP2c6vtcvNxufdev6/J1WU69V+8bYixR+67eN9y4XvMNs+1DWVe9jz0191OZ/4rDWCKKV72Hu936rl/X5euynHrv7XbV+/hT7xtmXH1vmG0fyrrqfQzN4lRmYzGzOc65Aq/rkMan3icn9T15qffJy+veN/cjZg1totcFiGfU++Skvicv9T55edp7HTETERERSRA6YiYiIiKSIBTMRERERBKEgpmIiIhIglAwExEREUkQCmYNwMzOM7OHzewVMzvd63qk8ZhZDzP7u5m94HUtEn9mlmlmj0de75d7XY80Hr3Wk1dj/41P+mBmZo+a2UYzW1Bj/hgzW2JmS83s1gNtwzn3T+fcDcDVwCVxLFcaUAP1frlz7rr4VirxVM/fgwuAFyKv93MavVhpUPXpvV7rzUs9e9+of+OTPpgBk4Ax0TPMzA/cD5wB9AcuNbP+Znakmf27xtQuatWfRdaTpmESDdd7abomUcffA6ATsCqyWFUj1ijxMYm6916al0nUv/eN8jc+EO8dJDrn3Htm1q3G7GHAUufccgAzmwyc65z7HXBWzW2YmQG/B153zn0Y34qloTRE76Xpq8/vAbCacDibh/5j2+TVs/efNm51Ek/16b2ZLaIR/8brH5bYOrLvf8UQ/ssmrEEAAB3ESURBVMe44wGW/xZwKvB1Mxsfz8Ik7urVezNrY2YPAUPM7LZ4FyeNprbfg5eAC83sQRL0e/bksMXsvV7rSaG2132j/o1P+iNmtbAY82r9igTn3D3APfErRxpRfXu/BVAYb35i/h4450qAaxq7GGlUtfVer/Xmr7beN+rfeB0xi2010DnqcSdgrUe1SONS7wX0e5DM1PvklRC9VzCLbTbQ28y6m1kKMBaY4nFN0jjUewH9HiQz9T55JUTvkz6YmdkzwHSgj5mtNrPrnHOVwC3AVGAR8JxzbqGXdUrDU+8F9HuQzNT75JXIvTfnar18RkREREQaUdIfMRMRERFJFApmIiIiIglCwUxEREQkQSiYiYiIiCSIZvEBs7m5ua5bt25x309JSQmZmZlx348kHvU+OanvyUu9T16N0fu5c+duds61jTXWLIJZt27dmDNnTtz3U1RURGFhYdz3I4lHvU9O6nvyUu+TV2P03sy+rG1MpzJFREREEkTCBjMzG2NmS8xsqZnd6nU9IiIiIvGWkMHMzPzA/cAZQH/gUjPr721VIiIiIvGVqNeYDQOWOueWA5jZZOBc4FMviiktr+R7z85j8+Y9PLOqbteyWcwvqY+xXN0Wi7lcrfuIuWysbX51buzl6ra96G3uN27VNxa13Fe3tf88++q8GButuR2rsa99j7/6fM32X26/9S2qWoNVK8uZuWfxfvsxbL/tE1knemzvY7P99mkGvprbiKzviyxfvV543lfXMbPIstXjMZaNmufzVa8TXm/fcvvmVW/T77N9833gj2w/PD+8zt5lIuN+n+Hz2b77UcvH+l0TEZGvStRg1hFYFfV4NTA8egEzGweMA8jLy6OoqChuxeyudCz8cjehUIgNJRsbbLt1/TKsmMvVsnKs2XVd/7DqAWJ9u5c7wFht26pettb9xNym27d8jfWjF4u17ZrzXI1tuOqFvli23zLR+9cXmx2Yz/ZN/v3u21fm+yPBcP/H+5YN+MLzA5HlApHx6sf77kPAjIAvvE7QBwGf7Xc/GBmrvp/ihxSfEfSHlyktKYnrvy2SuIqLi9X7JOV17xM1mMX67/X+f4admwhMBCgoKHDxfgfFGafqXTrJrK69d87hXHVwc3sDnMPtC4BRj0NRyxCZH3I11o3cD7modRw11t9/vZrLRt9WLxfa+3j/sVAoPK8qtG+Zqsi8kHOEQlDlXGS5fferotbbN2/feGXIURUKURmKfrxvqtx7G6KyKvx4//uOyqoQe6ocFVWR+VUhyqvCy1VUhqgIhaioCtX6H4H6CviMjJQy0lP8pAX9pAX8pAV9ZKQEyEz173+b4iczNUBGavh+RkqA7LQAOelBWqQFaZEeIDstiN+no4dNgf69T15e9z5Rg9lqoHPU407AWo9qEamz6lOQkUdelpLUqkLh8FZeFQ5s5VUhyivDU1msx5Uhyquq2FMRYnd5FXsqw/c/X/4F7fI7sKciFJlXxe6KELvLK1m7vYLS8kpKyqsoLQvf1kV2aoAW6cHwFAluLTOCtMlKJTcrldysFNpmpZKbHX7cMj2IT2FOJGkkajCbDfQ2s+7AGmAscJm3JYlIUxE+pRk+ynU4iorWUlg4sE7LhkKOPZVVlJRVUVpeSXFZJcV7Ktm5p5IduyvYubsifLsncru7kp27K1i5tZSPV5ezpbicytBXD/X5fUbrzBRys1Jpm51Kx5ZpdGqVQadW6XRqlUHnVunkZqUqvIk0EwkZzJxzlWZ2CzAV8AOPOucWelyWiEitfD4jIyVARkoASK33+qGQY8fuCjYXl7G5uDxyG5l2hR9vKi5j4ZodbCkp32/d1ICPjpGgFg5s6fTIzaJf+2w6t8pQaBNpQhIymAE4514DXvO6DhGRxuDzGa0yU2iVmULvvAMvW1peyZptu1m1rZTV23ZHplJWbd3N/NXb2VZasXfZjBQ/ffKz6Zvfgn7tw7d98rPJSQ/G+RmJyKFI2GAmIiKxZaQE6J2XTe+87JjjxWWVLN1YzOJ1O1m8fheL1u3ktfnreGbWyr3LdMhJo2/7Fgzo0ILh3dswtGsr0lMO79SviBw+BTMRkWYmKzXA4M4tGdy55d55zjk27Cxj0fqdLF63i8WR23c/28S9/1lK0G8M7tySkT3aMKJnG47u0uqwr9ETkfpTMBMRSQJmRn5OGvk5aYzq027v/OKySmZ/sZUZy7cwY9kW7vvvUu75z1JSAj6GdG7JyJ5tGNGjDUO6tCQ1oKAmEm8KZiIiSSwrNcCoPu32hrWdeyqY88VWpi/bwvTlW7j7nc/529ufkxrwMapPO84Z3IGT+7bT0TSROFEwExGRvVqkBTm5bx4n9w2/A2HH7gpmrdjK/z7fxKvz1/PGwvVkpQY4fUAe5wzqwHG9cgn6E/Jrl0WaJAUzERGpVU56kNP653Fa/zzuOHsAM5ZvYcq8tby2YB0vfbiG1pkpnHlke84Z3IGhXVrpozlEDpOCmYiI1InfZxzXK5fjeuXyf+cN4N0lm5jy8Vqen7uKJ2d8SYecNM4e1IGLCjrRq13sd4yKyIEpmImISL2lBvycPiCf0wfkU1JWyVufbmDKx2v5+/9WMOG95ZzaL4+bCnsytGsrr0sVaVIUzERE5LBkpgY4b0hHzhvSkS3FZTw540smffAFFz64gWHdWnNTYU8K+7TFTKc5RQ5GV2yKiEiDaZOVyndPPYIPbj2ZO87qz+ptpVwzaTZn3P0+//xoDZVVIa9LFEloCmYiItLgMlICXHt8d9798Sj+fNEgqkKO7z47j8I/FfH4B1+wu7zK6xJFEpKCmYiIxE3Q7+PCoZ2Y+t0TefjKAtplp/KLKQs57g//4f7/LmVPhQKaSDQFMxERiTufzzitfx4v3nQsz904kkGdcrhr6hJO++u7vLNog9fliSQMBTMREWk0Zsaw7q157JphPHPDCNICfq57fA7XPz6bVVtLvS5PxHMKZiIi4omRPdvw2ndO4Kdf68sHy7Zw6l/e5Z53PtfpTUlqCmYiIuKZoN/HuBN78s4PTuLU/nn85a3PGP239/jvko1elybiCQUzERHxXPucdO6/7Gieum44fp9xzWOzufHJOazZvtvr0kQalYKZiIgkjON75/L6d07gR6P78O5nmzjlz0Xc/9+llFfq888kOSiYiYhIQkkN+Ll5VC/e+UEhJx3RlrumLuGihz7QmwMkKSiYiYhIQurYMp0JVxTw4OVHs3xzCV+7531en7/O67JE4krBTEREEtoZR7bntW+fQI+2Wdz0jw+545UFeuemNFsKZiIikvA6t87g+RtHcsMJ3Xli+pdc+OAHrNhc4nVZIg1OwUxERJqElICP28/sz9+vKmDN9t2cdc/7vDJvjddliTQoBTMREWlSTumXx2vfPoF+7VvwncnzuPXFT/Sl6NJseBLMzOyXZrbGzOZFpq9Fjd1mZkvNbImZjfaiPhERSWwdWqYzedwIvlnYk8mzV3He/dNYunGX12WJHDYvj5j91Tk3ODK9BmBm/YGxwABgDPCAmfk9rFFERBJUwO/jx2P68vi1w9hcXMbZ907j5Y9We12WyGFJtFOZ5wKTnXNlzrkVwFJgmMc1iYhIAjvpiLa8/p0TGNQ5h+89+zF/eXMJzjmvyxI5JObFL6+Z/RK4GtgJzAF+4JzbZmb3ATOcc09Flvs78Lpz7oUY2xgHjAPIy8sbOnny5LjXXVxcTFZWVtz3I4lHvU9O6nvTUhlyPL6wnPfXVDKyg59rB6YS9NkhbUu9T16N0ftRo0bNdc4VxBoLxGunZvY2kB9j6HbgQeDXgIvc/hm4Foj1CoqZHJ1zE4GJAAUFBa6wsPDwiz6IoqIiGmM/knjU++Skvjc9p4xy3P/fpfzpzc8IpaYx8YoCcjKC9d6Oep+8vO593IKZc+7UuixnZg8D/448XA10jhruBKxt4NJERKSZMjNuObk3nVtn8KPnP+GCB6cx6ZphdG6d4XVpInXi1bsy20c9PB9YELk/BRhrZqlm1h3oDcxq7PpERKRpO3dwR568bhibi8s5/4FpfLRym9clidSJVxf//9HM5pvZJ8Ao4HsAzrmFwHPAp8AbwM3OOX04jYiI1NvwHm146ZvHkp7iZ+zEGbyxYL3XJYkclCfBzDl3hXPuSOfcUc65c5xz66LG7nTO9XTO9XHOve5FfSIi0jz0bJvFy988jn7tW3DTP+byyPvL9Y5NSWiJ9nEZIiIiDSo3K5XJ40Ywun8+v3l1Eb+cspCqkMKZJCYFMxERafbSgn4euPxobjihO49P/5Ibn5yjr3GShKRgJiIiScHnM24/sz//d+4A3lm8kasencWuPRVelyWyHwUzERFJKleO7MbdY4fw4cptXP7ITLaVlHtdksheCmYiIpJ0zhnUgQlXDGXx+l1cMnE6G3fu8bokEUDBTEREktQp/fKYdM0xrN62m4smTGfV1lKvSxJRMBMRkeR1bM9cnrp+ONtKyrl4wnSWbSr2uiRJcgpmIiKS1I7u0orJ40ZSURXi4oem8+nanV6XJElMwUxERJJe/w4tePbGkaQEfIydOJ2l2/RRGuINBTMRERHC3xLw/PiRtMpM4a45e5i2dLPXJUkSUjATERGJ6NQqg+dvHEnbdOOaSbN5+9MNXpckSUbBTEREJEq7FmncOiydfvnZjH9qLlM+Xut1SZJEFMxERERqyEoxnrp+OEd3bcV3Jn/Ec3NWeV2SJAkFMxERkRiy04I8fs0wju+Vy49f+IQnp3/hdUmSBBTMREREapGe4ufhKws4tV87fv7KQia+t8zrkqSZUzATERE5gLSgnwe/MZQzj2rPb19bzN1vf45zzuuypJkKeF2AiIhIogv6fdwzdghpAT9/ffszdldU8ZMxfTAzr0uTZkbBTEREpA78PuOurx9FeoqPh95dxp6KKu44qz8+n8KZNBwFMxERkTry+YxfnzuQtICfR/63gj0VVdx5/pH4Fc6kgSiYiYiI1IOZcfuZ/chI8XPPf5ayu6KKP180iIBfl23L4VMwExERqScz4/un9yEtxc8f31hCWUWIey4dQkpA4UwOj36DREREDtE3C3vxi7P788bC9dzwxBxKyyu9LkmaOAUzERGRw3DNcd35w4VH8v7nm7js4ZlsKyn3uiRpwhTMREREDtMlx3ThwW8M5dN1O/n6Qx+wZvtur0uSJkrBTEREpAGMHpDPk9cOY+OuMi584AOWrN/ldUnSBMU1mJnZRWa20MxCZlZQY+w2M1tqZkvMbHTU/KFmNj8ydo/p0/tERKSJGN6jDc+PH0nIOS566ANmf7HV65KkiYn3EbMFwAXAe9Ezzaw/MBYYAIwBHjAzf2T4QWAc0DsyjYlzjSIiIg2mb34LXrzpWHKzUvnGIzN569MNXpckTUhcg5lzbpFzbkmMoXOByc65MufcCmApMMzM2gMtnHPTXfiLyJ4AzotnjSIiIg2tc+sMXrjpWPq2b8GNT85h8qyVXpckTYRXn2PWEZgR9Xh1ZF5F5H7N+V9hZuMIH1kjLy+PoqKiuBQarbi4uFH2I4lHvU9O6nvyaqje39THcd9uP7e+NJ9Z8xdzdo+gvl8zwXn9uj/sYGZmbwP5MYZud869UttqMea5A8z/6kznJgITAQoKClxhYeHBiz1MRUVFNMZ+JPGo98lJfU9eDdn7U0aF+PELn/DSR2vIzu3AL84eoO/XTGBev+4PO5g55049hNVWA52jHncC1kbmd4oxX0REpEkK+n38+aJB5Gal8PD7K9hcUs6fLxpEWtB/8JUl6Xj1cRlTgLFmlmpm3Qlf5D/LObcO2GVmIyLvxrwSqO2om4iISJPg8xm3n9mfn36tL69+so5LJkxn3Q591pl8Vbw/LuN8M1sNjAReNbOpAM65hcBzwKfAG8DNzrmqyGo3AY8QfkPAMuD1eNYoIiLSWMad2JMJVwxl6cZizr53GnP0cRpSQ7zflfmyc66Tcy7VOZfnnBsdNXanc66nc66Pc+71qPlznHMDI2O3RN6dKSIi0iyMHpDPP28+jqxUP5c+PIN/zPzS65IkgeiT/0VERBpZ77xsXrn5eI7tmcvtLy/gtpfmU14Z8rosSQAKZiIiIh7IyQjy6NXHMP6knjwzayWXPTyDjbv2eF2WeEzBTERExCN+n3HrGX2599IhLFi7g3PuncbHq7Z7XZZ4SMFMRETEY2cP6sCLNx2L32dcNGE6L8xdffCVpFlSMBMREUkAAzrk8K9vHc/QLq344fMf88spC6mo0nVnyUbBTEREJEG0zkzhieuGcc1x3Zj0wRdcPGE6KzaXeF2WNCIFMxERkQQS9Pv4xdkDuOfSISzbWMzX7n6fJ2d8iT49KjkomImIiCSgcwZ14M3vnURBt1b8/J8LuOqx2azfoXdtNncKZiIiIgkqPyeNJ64dxq/PHcCsFVsY/bf3mPKxvkK6OVMwExERSWBmxhUju/Hat0+ge24m337mI255+kO2l5Z7XZrEgYKZiIhIE9CjbRYvjB/JD08/gjcWrOf0v75H0ZKNXpclDUzBTEREpIkI+H3ccnJv/nnzceSkB7n6sdnc/vJ8SssrvS5NGoiCmYiISBMzsGP4M89uOKE7T89ayei/vccbC9bpnZvNgIKZiIhIE5QW9HP7mf2ZfMMIMoIBxj/1IZc+PINP1+70ujQ5DApmIiIiTdjwHm149dvH8+tzB7Bk/S7Ouvd9fvryfLYUl3ldmhwCBTMREZEmLuD3ccXIbhT9cBRXHduNZ2evovBPRTzy/nLKK/W1Tk2JgpmIiEgzkZMR5BdnD2Dqd0/g6C6t+M2rixjzt/d4Z9EGXX/WRCiYiYiINDO92mXz+LXDeOzqY8DgusfncNVjs/l8wy6vS5ODUDATERFppkb1bcfU757Iz8/qz0crtzHm7vf53rPz+EwBLWEFvC5ARERE4ifo93Hd8d05f0hHHvjvUv4xcyUvf7SG0/vn8c1RvRjcuaXXJUoUHTETERFJAq0zU/jZWf354NaT+c4pvZm5Yivn3T+Nyx6ewbSlm3UNWoJQMBMREUkirTJT+N5pRzDt1pP56df6snRjMZc/MpPz7p/G1IXrCYUU0LykYCYiIpKEslIDjDuxJ+/9eBR3nj+QbaUV3PjkXEb/7T1e+nA1FVX6mA0vKJiJiIgksbSgn8uHd+U/PziJu8cOxmfG95/7mGN//x/+8MZivthc4nWJSSWuwczMLjKzhWYWMrOCqPndzGy3mc2LTA9FjQ01s/lmttTM7jEzi2eNIiIiEv6Q2nMHd+T175zAo1cXMKhTDhPeXUbhn4oYO3E6//xoDXsqqrwus9mL97syFwAXABNijC1zzg2OMf9BYBwwA3gNGAO8HrcKRUREZC+fzzi5bx4n981j/Y49vPjhap6dvYrvPjuPFq8EOH9IRy45pgv9O7TwutRmKa7BzDm3CKCuB73MrD3Qwjk3PfL4CeA8FMxEREQaXX5OGjeP6sVNJ/VkxvItPDtnFc/MXsXj07/kqE45XHJMZ84e1IEWaUGvS202rDHeHmtmRcAPnXNzIo+7AQuBz4CdwM+cc+9HTnf+3jl3amS5E4CfOOfOirHNcYSPrJGXlzd08uTJcX8excXFZGVlxX0/knjU++Skvicv9b52xeWO6esqeXdVBauLHQEfDGzjZ2ienyHtAmSlNO0rkBqj96NGjZrrnCuINXbYR8zM7G0gP8bQ7c65V2pZbR3QxTm3xcyGAv80swFArG7GTI7OuYnARICCggJXWFhY79rrq6ioiMbYjyQe9T45qe/JS70/sLMA5xwfr97BlHlrmbpwPX9fsBu/r4IRPVozZmB7RvfPo12LNK9LrTeve3/Ywaz66FY91ykDyiL355rZMuAIYDXQKWrRTsDaw61RREREGpaZMbhzSwZ3bsnPz+rHgjU7eX3BOt5YsJ6f/3MBd7yygKO7tGLMgHxGD8inS5sMr0tuEjz5SiYzawtsdc5VmVkPoDew3Dm31cx2mdkIYCZwJXCvFzWKiIhI3ZgZR3bK4chOOfxodB+WbizmjQXreWPheu58bRF3vraIfu1bcNIRbTm+Vy4F3VqRFvR7XXZCimswM7PzCQertsCrZjbPOTcaOBH4PzOrBKqA8c65rZHVbgImAemEL/rXhf8iIiJNhJnROy+b3nnZfOuU3qzcUsrUhet569MNPPL+ch56dxkpAR8FXVtxXK9cju+Vy8COOfh9TfvatIYS73dlvgy8HGP+i8CLtawzBxgYz7pERESkcXRpk8ENJ/bghhN7UFJWyawVW5m2dDP/W7qZu6Yu4a6pS2iRFmBkzzYc3yuXY3vl0iM3s86f6NDceHIqU0RERJJPZmqAUX3bMapvOwA2F5fxwbItTPs8HNSmLtwAQG5WKkO6hK9fG9KlJUd1aklWanJEluR4liIiIpJwcrNSOWdQB84Z1AHnHCu3ljJt6RbmfLmVeSu389an4aDmMzgiL5shXVoypHMrhnRpSc+2Wfia4elPBTMRERHxnJnRtU0mXdtkctnwLgBsLy1n3qrtfLRyOx+t2s6rn6zjmVmrAMhODXBkpxz6tW9B3/xs+rVvQa92WU3+TQUKZiIiIpKQWmakUNinHYV9wqc+QyHHii0l4aC2chvz1+zgHzO/ZE9FCAC/z+iem7k3qPXNz6Zv+xZ0yElrMtesKZiJiIhIk+DzGT3bZtGzbRZfHxr+2NOqkOPLLSUsXr+Lxet2smj9Lj5evZ1/f7Ju73rZaQF6ts2iR24m3XMz6d42cpubSUZKYkWhxKpGREREpB78PqNH2yx6tM3ia0e23zt/154KPtuwi0XrdrF4/U5WbC5hxvItvPTRmv3Wz2+Rtjes9cjNpHJrFYWN/ByiKZiJiIhIs5OdFmRo19YM7dp6v/m7y6v4YksJKzaHp+WbSlixuZjX569jW2kFg9r6Ge9RzaBgJiIiIkkkPcVPv/Yt6Ne+xVfGtpWU85/3/udBVfv4PN27iIiISIJolZlCm3Rvo5GCmYiIiEiCUDATERERSRAKZiIiIiIJwpxzXtdw2MxsE/BljKEcYEctqx3KWC6wud4Fxt+BnouX263v+nVdvi7Lqffebre59D5R+w7qfUON6zXfMNs+lHWTufddnXNtY44455rtBExsyDFgjtfPqb7Pxcvt1nf9ui5fl+XUe/W+IcYSte/qfcON6zXfMNs+lHXV+9hTcz+V+a84jCWieNV7uNut7/p1Xb4uy6n33m5XvY8/9b5hxtX3htn2oayr3sfQLE5lNhYzm+OcK/C6Dml86n1yUt+Tl3qfvLzufXM/YtbQJnpdgHhGvU9O6nvyUu+Tl6e91xEzERERkQShI2YiIiIiCULBTERERCRBKJiJiIiIJAgFMxEREZEEoWDWAMzsPDN72MxeMbPTva5HGo+Z9TCzv5vZC17XIvFnZplm9njk9X651/VI49FrPXk19t/4pA9mZvaomW00swU15o8xsyVmttTMbj3QNpxz/3TO3QBcDVwSx3KlATVQ75c7566Lb6UST/X8PbgAeCHyej+n0YuVBlWf3uu13rzUs/eN+jc+6YMZMAkYEz3DzPzA/cAZQH/gUjPrb2ZHmtm/a0ztolb9WWQ9aRom0XC9l6ZrEnX8PQA6Aasii1U1Yo0SH5Ooe++leZlE/XvfKH/jA/HeQaJzzr1nZt1qzB4GLHXOLQcws8nAuc653wFn1dyGmRnwe+B159yH8a1YGkpD9F6avvr8HgCrCYezeeg/tk1ePXv/aeNWJ/FUn96b2SIa8W+8/mGJrSP7/lcM4X+MOx5g+W8BpwJfN7Px8SxM4q5evTezNmb2EDDEzG6Ld3HSaGr7PXgJuNDMHiRBv2dPDlvM3uu1nhRqe9036t/4pD9iVguLMa/Wr0hwzt0D3BO/cqQR1bf3WwCF8eYn5u+Bc64EuKaxi5FGVVvv9Vpv/mrrfaP+jdcRs9hWA52jHncC1npUizQu9V5AvwfJTL1PXgnRewWz2GYDvc2su5mlAGOBKR7XJI1DvRfQ70EyU++TV0L0PumDmZk9A0wH+pjZajO7zjlXCdwCTAUWAc855xZ6Wac0PPVeQL8HyUy9T16J3HtzrtbLZ0RERESkESX9ETMRERGRRKFgJiIiIpIgFMxEREREEoSCmYiIiEiCUDATERERSRAKZiIiIiIJQsFMREREJEEomImIiIgkiP8HUZkNqhZGrBMAAAAASUVORK5CYII=\n", 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" ] @@ -246,6 +266,13 @@ "loop_analysis('sys4', (s+3)/s*sys3[1, 0], zeta=0.9, wd=5, k=0.75, t_vect=np.linspace(0, 2, 1000), k_vect=np.logspace(-2, 1, 1000),\n", " omega_vect=np.logspace(-2, 2, 1000))" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { From 22173d9ea753f16e15f44571e83478e9805423db Mon Sep 17 00:00:00 2001 From: jjffkkgg <49571274+jjffkkgg@users.noreply.github.com> Date: Fri, 30 Aug 2019 16:13:19 -0400 Subject: [PATCH 05/26] change TF to right code --- python/lectures/2-F16-Intro.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/lectures/2-F16-Intro.ipynb b/python/lectures/2-F16-Intro.ipynb index 3bbce6a6..a3c26429 100644 --- a/python/lectures/2-F16-Intro.ipynb +++ b/python/lectures/2-F16-Intro.ipynb @@ -177,7 +177,7 @@ "outputs": [], "source": [ "ss = f16.linearize(x0, u0, p)\n", - "s = control.tf([1, 1], [0, 1])\n", + "s = control.tf([1, 0], [0, 1])\n", "G = 180/np.pi*ss.sub_system(x=['alpha', 'Q'],\n", " u=['elv_deg'], y=['alpha', 'Q']).to_control()\n", "\n", From 8743c369680938d393e2ddcb759c9ee179cd2313 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Fri, 30 Aug 2019 17:11:05 -0400 Subject: [PATCH 06/26] Remove merge folder. --- python/lectures/2-F16-Intro.ipynb | 299 ------------------------------ 1 file changed, 299 deletions(-) delete mode 100644 python/lectures/2-F16-Intro.ipynb diff --git a/python/lectures/2-F16-Intro.ipynb b/python/lectures/2-F16-Intro.ipynb deleted file mode 100644 index a3c26429..00000000 --- a/python/lectures/2-F16-Intro.ipynb +++ /dev/null @@ -1,299 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 4, - "metadata": {}, - "outputs": [], - "source": [ - "import sys\n", - "sys.path.insert(0, '../casadi_f16')\n", - "import f16\n", - "import control\n", - "import numpy as np\n", - "import matplotlib.pyplot as plt\n", - "from analysis import loop_analysis" - ] - }, - { - "cell_type": "code", - "execution_count": 5, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Requirement already satisfied: casadi in /home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages (3.4.5)\n" - ] - } - ], - "source": [ - "!pip install casadi" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Pitch-Rate CAS Design\n", - "\n", - "* Example 4.5-1\n", - "* pg. 310" - ] - }, - { - "cell_type": "code", - "execution_count": 6, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "\n", - "******************************************************************************\n", - "This program contains Ipopt, a library for large-scale nonlinear optimization.\n", - " Ipopt is released as open source code under the Eclipse Public License (EPL).\n", - " For more information visit http://projects.coin-or.org/Ipopt\n", - "******************************************************************************\n", - "\n", - " t_proc [s] t_wall [s] n_eval\n", - " S 0.00613 0.00608 1\n", - " nlp_f 0.00026 0.00026 8\n", - " nlp_grad_f 0.000657 0.000659 9\n", - " nlp_hess_l 0.00157 0.00158 7\n" - ] - } - ], - "source": [ - "p = f16.Parameters()\n", - "x0, u0 = f16.trim(s0=[0, 0, 0, 0, 0, 0], x=f16.State(\n", - " VT=550), p=p,\n", - " phi_dot=0, theta_dot=0, psi_dot=0.0, gam=0)" - ] - }, - { - "cell_type": "code", - "execution_count": 7, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Control(thtl=DM(0.166459), ail_deg=DM(0), elv_deg=DM(-0.807378), rdr_deg=DM(0))" - ] - }, - "execution_count": 7, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "f_control = lambda t, x: f16.Control(thtl=u0.thtl, ail_deg=u0.ail_deg, elv_deg=u0.elv_deg + 1*np.sin(2*np.pi*2*t), rdr_deg=u0.rdr_deg)\n", - "f_control(0, x0)" - ] - }, - { - "cell_type": "code", - "execution_count": 8, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'angle of attack')" - ] - }, - "execution_count": 8, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "res = f16.simulate(x0, u0, p, 0, 20, 0.01)\n", - "plt.plot(res['t'], np.rad2deg(res['x'][:, f16.State().name_to_index('alpha')]))\n", - "plt.xlabel('t ,sec')\n", - "plt.ylabel(r'$\\alpha$, deg')\n", - "plt.grid()\n", - "plt.title('angle of attack')" - ] - }, - { - "cell_type": "code", - "execution_count": 9, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'trajectory')" - ] - }, - "execution_count": 9, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "res = f16.simulate(x0, u0, p, 0, 20, 0.01)\n", - "\n", - "plt.plot(res['x'][:, f16.State().name_to_index('p_E')], res['x'][:, f16.State().name_to_index('p_N')])\n", - "plt.axis('equal');\n", - "plt.xlabel('East, ft')\n", - "plt.ylabel('North, ft')\n", - "plt.grid()\n", - "plt.title('trajectory')" - ] - }, - { - "cell_type": "code", - "execution_count": 15, - "metadata": {}, - "outputs": [], - "source": [ - "ss = f16.linearize(x0, u0, p)\n", - "s = control.tf([1, 0], [0, 1])\n", - "G = 180/np.pi*ss.sub_system(x=['alpha', 'Q'],\n", - " u=['elv_deg'], y=['alpha', 'Q']).to_control()\n", - "\n", - "# represents elevator motor\n", - "sysa = -20.2/(s + 20.2) # actuator and sign change\n", - "\n", - "sys1 = G*sysa # output is on left, input on right, so plant*actuator\n", - "sysf = control.ss(-10, [10, 0], [[1], [0]], [[0, 0], [0, 1]]) # aoa low-pass filter\n", - "sys2 = sysf*sys1\n", - "\n", - "# closed inner loop\n", - "Kalpha = 0.2 # inner aoa gain\n", - "sys3 = control.ss(sys2.A - sys2.B*[Kalpha, 0]*sys2.C, sys2.B, sys2.C, sys2.D)\n", - "\n", - "sysi = (s+3)/s # PI controller\n", - "sys4 = sys3[1, 0]*sysi" - ] - }, - { - "cell_type": "code", - "execution_count": 16, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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\n", 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\n", 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\n", 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\n", 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "loop_analysis('sys4', (s+3)/s*sys3[1, 0], zeta=0.9, wd=5, k=0.75, t_vect=np.linspace(0, 2, 1000), k_vect=np.logspace(-2, 1, 1000),\n", - " omega_vect=np.logspace(-2, 2, 1000))" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.7.3" - } - }, - "nbformat": 4, - "nbformat_minor": 4 -} From 10c0008953e93a764f20fe067534b51e6732a706 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Fri, 30 Aug 2019 17:26:38 -0400 Subject: [PATCH 07/26] modified VT and psi with new file --- lectures/2-F16-Intro.ipynb | 65 +++++++++++++++++++++----------------- 1 file changed, 36 insertions(+), 29 deletions(-) diff --git a/lectures/2-F16-Intro.ipynb b/lectures/2-F16-Intro.ipynb index b9db9bd6..68bbf1c7 100644 --- a/lectures/2-F16-Intro.ipynb +++ b/lectures/2-F16-Intro.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 4, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -33,17 +33,17 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "p = f16.Parameters()\n", - "x0, u0 = f16.trim(x=f16.State(VT=502), p=p, phi_dot=0, theta_dot=0, psi_dot=0.0, gam=0)" + "x0, u0 = f16.trim(x=f16.State(VT=550), p=p, phi_dot=0, theta_dot=0, psi_dot=0.3, gam=0)" ] }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 3, "metadata": {}, "outputs": [ { @@ -52,7 +52,7 @@ "Control(thtl=DM(0.138556), ail_cmd_deg=DM(0), elv_cmd_deg=DM(-0.75878), rdr_cmd_deg=DM(0))" ] }, - "execution_count": 6, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -70,7 +70,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 4, "metadata": {}, "outputs": [ { @@ -79,15 +79,15 @@ "Text(0.5, 1.0, 'angle of attack')" ] }, - "execution_count": 7, + "execution_count": 4, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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" + "
" ] }, "metadata": { @@ -107,7 +107,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 5, "metadata": {}, "outputs": [ { @@ -116,15 +116,15 @@ "Text(0.5, 1.0, 'trajectory')" ] }, - "execution_count": 8, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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MHQBcBLwJcJGYmVnP50gi4u+7bsBcYD/gg8AC4MjcDacT9w9LuifdHyvpfklPpK9jSpadLWmdpLWSTisZb5G0Ks27SpI/H8jMrMZ6Pdmefrn/HfBzir2XyRHx6YjYPADb/hiwpuT+LGBJREwClqT7SDoamA4cA0wFrpbU9Xko1wAzgUnpNnUAcpmZWT/0WCSSrgR+CmynuJT85RHx4kBsNL0z/r3AdSXD04B5aXoecHbJ+IKI2BER64F1wPGSxgOjI+LBiAhgfsk6ZmZWIyp+B5eZIf0W2AHspLhI43/NojjZPrrqjUqLgC9RfGDWJyPiDEnbIuLgkmVejIgxkr4FPBQRt6Tx64F7gaeAKyLi1DT+x8CnI+KMMtubSbHnQlNTU8uCBQsqztrZ2cmoUaOq/E4Hl7NVpxGzPbp1J19dvoPPnLAvk8Y03geQNuJz1sXZqtPfbKeccsqKiGgtN6+3D7aq5D0m/SbpDGBzRKyQ1FbJKmXGopfxPQcj5lKc56G1tTXa2irZbKG9vZ3+LF9LzladRsy21+NbYPkyJk8+jpbDGu8jgBrxOevibNUZyGyVXEZ+oJ0MnCXpdGBfYLSkW4DnJY2PiE3psFXXeZgOYGLJ+s3AxjTeXGbczMxqaFD2OnoTEbMjojkiDqc4if6jiDif4sKQM9JiM4C70vRiYLqkfSQdQXFSfVlEbAK2SzoxvVrrwpJ1zMysRuqxR9KTK4CFki4CNgDnAkTEakkLgccoztdckj4CGOBi4CaKlybfm25mZlZDdS2SiGgH2tP0r4ApPSw3B5hTZnw5cOzgJTQzs77U/NCWmZm9sbhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLEvNi0TSREkPSFojabWkj6XxsZLul/RE+jqmZJ3ZktZJWivptJLxFkmr0ryrJKnW34+Z2XBXjz2SncBfRcRRwInAJZKOBmYBSyJiErAk3SfNmw4cA0wFrpY0Ij3WNcBMYFK6Ta3lN2JmZnUokojYFBEr0/R2YA0wAZgGzEuLzQPOTtPTgAURsSMi1gPrgOMljQdGR8SDERHA/JJ1zMysRkbWc+OSDgeOA5YCTRGxCYqykXRoWmwC8FDJah1p7LU03X283HZmUuy50NTURHt7e8UZOzs7+7V8LTlbdRox26NbdwKwcuXDbF8/oo+la68Rn7MuzladgcxWtyKRNAq4A/h4RLzcy+mNcjOil/E9ByPmAnMBWltbo62treKc7e3t9Gf5WnK26jRitr0e3wLLlzF58nG0HDa23nH20IjPWRdnq85AZqvLq7Yk/Q5FidwaEXem4efT4SrS181pvAOYWLJ6M7AxjTeXGTczsxqqx6u2BFwPrImIr5XMWgzMSNMzgLtKxqdL2kfSERQn1Zelw2DbJZ2YHvPCknXMzKxG6nFo62TgAmCVpEfS2F8DVwALJV0EbADOBYiI1ZIWAo9RvOLrkojYlda7GLgJ2A+4N93MzKyGal4kEfETyp/fAJjSwzpzgDllxpcDxw5cOjMz6y+/s93MzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCyLi8TMzLK4SMzMLIuLxMzMsrhIzMwsi4vEzMyyuEjMzCzLkC8SSVMlrZW0TtKseucxMxtuhnSRSBoB/CPwHuBo4DxJR9c3lZnZ8DKkiwQ4HlgXEU9GxG+ABcC0OmcyMxtWFBH1zlA1SecAUyPiw+n+BcAJEfHRbsvNBGYCNDU1tSxYsKDibXR2djJq1KiBCz2AnK06jZhtw8u7+P7aVzn3qP1586jG+/uuEZ+zLs5Wnf5mO+WUU1ZERGvZmRExZG/AucB1JfcvAL7Z2zotLS3RHw888EC/lq8lZ6tOo2Zr1FwRzlatN1I2YHn08Hu18f706Z8OYGLJ/WZgY52ymJkNS0O9SH4KTJJ0hKS9genA4jpnMjMbVkbWO0COiNgp6aPAvwAjgBsiYnWdY5mZDStDukgAIuKfgH+qdw4zs+FqqB/aMjOzOnORmJlZFheJmZllcZGYmVmWIf3O9mpI2gI83Y9VxgFbBylOLmerTqNma9Rc4GzVeiNlOywiDik3Y9gVSX9JWh49XRagzpytOo2arVFzgbNVa7hk86EtMzPL4iIxM7MsLpK+za13gF44W3UaNVuj5gJnq9awyOZzJGZmlsV7JGZmlsVFYmZmWYZ9kUh6h6SHJD0iabmk40vmzZa0TtJaSaeVjLdIWpXmXSVJaXwfSbel8aWSDs/Mdmna9mpJX2mUXCXb+6SkkDSuUbJJulLSLyT9XNL3JR3cKNn6yD015VonadZgbadkexMlPSBpTfr5+lgaHyvpfklPpK9jStbp1/M3ABlHSHpY0j2NlE3SwZIWpZ+zNZJOaoRski5L/5aPSvqepH1rlqunT7waLjfgPuA9afp0oD1NHw38DNgHOAL4JTAizVsGnAQIuLdk/f8NXJumpwO3ZeQ6BfghsE+6f2gj5CrJN5Hi8v1PA+MaJRvwJ8DINP1l4MuNkq2XzCNSniOBvVPOowf55348MDlNHwg8np6jrwCz0visnOdvADJ+AvgucE+63xDZgHnAh9P03sDB9c4GTADWA/ul+wuBD9Qq16D9oA6VG8Uvwz9L0+cB303Ts4HZ3ZY7Kf0H/EXJ+HnAt0uXSdMjKd41qipzLQROLTNe11wlj78IeDvwFLuLpCGylWznfcCtjZitW86TgH/p6d+4Rv8P7gL+J7AWGJ/GxgNrq33+MvM0A0uAd7O7SOqeDRhN8Qtb3cbrmo2iSJ4Bxqaf1Xso/qiqSa5hf2gL+DhwpaRngK9SPMGw+x+mS0cam5Cmu4+/bp2I2Am8BLypyly/D/xxOqTyr5L+sEFyIeks4NmI+Fm3WXXP1s2HKP6iasRspXrKVhPpkN1xwFKgKSI2AaSvh/aRsbfnL8c/AJ8Cflsy1gjZjgS2ADemw27XSTqg3tki4lmK318bgE3ASxFxX61yDfkPtqqEpB8Cv1tm1meAKcBlEXGHpD8FrgdOpdit6y56GaePef3NNRIYA5wI/CGwUNKRtchVQba/pvhrZ4/V6p0tIu5Ky3wG2AncWstsVarVdvbcsDQKuAP4eES83Mvh8Gqev2oznQFsjogVktoqWaVW2Sj+X04GLo2IpZK+QXHIqK7Z0rmPaRSHqbYBt0s6v1a5hkWRRMSpPc2TNB/4WLp7O3Bdmu6gOA/QpRnYmMaby4yXrtMhaSRwEPBClbkuBu6MYv9ymaTfUlxkbdBz9ZZN0tsoflh/ln7pNAMrVbxIoa7ZSjLOAM4ApqTnr3Q7g5qtSj1lG1SSfoeiRG6NiDvT8POSxkfEJknjgc19ZOzt+avWycBZkk4H9gVGS7qlQbJ1AB0RsTTdX0RRJPXOdiqwPiK2AEi6E3hnzXLlHssc6jdgDdCWpqcAK9L0Mbz+ZNST7D4Z9VOKPYWuk1Gnp/FLeP3J2YUZuT4CfCFN/z7FbqjqnatMzqfYfY6k7tmAqcBjwCHdxuuerZfMI1OeI9h9sv2YQf65FzAf+Idu41fy+pOzX6n2+RugnG3sPkfSENmAHwNvTdOXp1x1zQacAKwG9k+PNw+4tFa5Bu0HdajcgD8CVqQndSnQUjLvMxSvZlhLySsXgFbg0TTvW+y+QsC+FHs16yhe+XBkRq69gVvSdlYC726EXGVyPkUqkkbIlh7nGeCRdLu2UbL1kft0ildO/ZLiEF0tfu4D+HnJc3U6xTmgJcAT6evYap+/AcrZxu4iaYhswDuA5em5+wHFIei6ZwP+FvhFesybKUqiJrl8iRQzM8viV22ZmVkWF4mZmWVxkZiZWRYXiZmZZXGRmJlZlmHxhkSzWpC0C1hVMrQgIq7o52O0Ab+JiP+oYNnvUbwf4EbgReC+iBj0NzKadeciMRs4r0bEOzIfow3oBHotEkm/C7wzIg5L99spXvvvIrGa8/tIzAaIpM6IGFVm/HPAmcB+FAXxFxERkv6S4goGOynejT8LeAjYRXFhwEsj4sc9bOvnwCSKN5PdAXwaeBZ4leKKxa8O8Ldn1iMXidkAKXNo60sRcZuksRHxQlrmZopLrdwtaSNwRETskHRwRGyTdDnQGRFf7WNbh1O84/vYdL8d+GRELB/wb8ysDz60ZTZwejq0dYqkT1FcB2ksxTWR7qa4xMatkn5AcakNsyHJr9oyG0SS9gWuBs6JiLcB36G4hhfAe4F/BFqAFekKw2ZDjovEbHB1lcbW9Nkf5wBI2guYGBEPUHyA08HAKGA7xUffkpZ7n6QvVbCd161nVkv+C8hs4Own6ZGS+/8cEbMkfYfi3MlTFJfohuJz2m+RdBDF5bq/ns6R3A0skjSN4jLg/w14uYJt3wRcK8kn263mfLLdrIGlD3S6LNIHFpk1IheJmZll8TkSMzPL4iIxM7MsLhIzM8viIjEzsywuEjMzy+IiMTOzLP8fJHbVx50rtbwAAAAASUVORK5CYII=\n", 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" + "
" ] }, "metadata": { @@ -146,7 +146,7 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -161,7 +161,7 @@ }, { "cell_type": "code", - "execution_count": 14, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -173,7 +173,7 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 8, "metadata": {}, "outputs": [ { @@ -196,7 +196,7 @@ " [0.]]" ] }, - "execution_count": 15, + "execution_count": 8, "metadata": {}, "output_type": "execute_result" } @@ -212,7 +212,7 @@ }, { "cell_type": "code", - "execution_count": 16, + "execution_count": 9, "metadata": {}, "outputs": [ { @@ -228,15 +228,15 @@ "[-21, 0, -8, 8]" ] }, - "execution_count": 16, + "execution_count": 9, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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FVlYW999/P6dOneL555+ncePGZGdn8+CDD7JmzZpqc+3fv58HHniAZcuWsX79elatWsWiRYv8Pg/OBnzQoEGsXbuW4cOHf5OzqpycHD7++GPeffddZs6cSVFREbO8d6Fv2LCBuXPnMnXqVIq8PelW8PfaIskKhDHGNcuWLeN73/serVq1AqBFixbnjD9x4gT5+flcffXVAEydOpUVK1YAkJ6ezm233cYbb7xBQoJzQebSpUt57LHHGDBgACNGjKCoqIg9e/awYsUKJk+e/M186enp1eZatWoVI0aMoHXr1iQkJHDbbbexYsUKv88DxMXFMWHCBAAmT57MJ5984nPZt956K3FxcVx66aV07dqVrVu38sknn3yz99SzZ086dep0XieF/l5bJNllrsYY16gqUttLab3effddVqxYwZIlS/jd737Hpk2bUFUWLlxIjx49zpu+Nu34+yK12nzBmr/2qj4vIgEtt7rXFim2BxEtBzfCyf1upzAmpowaNYq//vWvHD16FIBjx46dM76iW+/PPvsMONutt8fjYe/evWRmZvLEE0+Qn59PYWEh1113HX/605++2eCuW7cOgGHDhvHmm28CsHHjRrKzs6vNdcUVV/Dxxx9z5MgRysvLmTt3LsOHD/f7PIDH4+Et73dy/+Uvf/lmr6eqBQsW4PF42LlzJ7t27aJHjx7n5Nu+fTt79uw5rxD4e22RZHsQ0VB0Al6+Di4ZDbfOcTuNMTGjT58+PPjggwwfPpz4+HgGDhzIq6++es40c+bM4Yc//CH333//N916l5eXM3nyZE6cOIGqct9999GsWTP+8z//k5/+9Kekp6ejqnTu3Jl33nmHH/3oR0yfPp309HQGDBjA5ZdfXm2udu3a8fvf/57MzExUlRtvvJFx48YB+Hy+oKCAJk2asGnTJjIyMkhNTWX+/Pk+l92jRw+GDx9OXl4es2fPJikpibvuuouZM2fSr18/EhISePXVV2nYsOE58/l7bRGlqnVmyMjI0FBkZWWFNH9Ilj+u+pumqjuW+Z3E1XwBiOV8sZxNNXbzbd68WVVVT5486XuCmu+AOHeIEL/5YsTJkye1SZMmNU43depUXbBgQUSzVLynlQGrNYhtrh1iiparfgLNOsH7v4LyMrfTGGNMjewQU7QkJsF1j8L8ybDmFbj8h24nMqZm1rdSwAoLC2ucpurhs1hnexDR1HMMdBkGWY/C6WM1T29MFKgVgQtGuN9L1wuEiMSLyDoRifDZlhggAtc/5py0Xv6Y22mMISkpiaNHj1qRuACoKkePHiUpKSlsy4yFQ0z3AluApm4HiYq0PpAxHVa9CIPvgDY93U5k6rH27duTm5tLfn5+WDcs4VZUVGT5ApCUlET79u3DtjxXC4SItAe+DTwK/D83s0RV5oOwYQEs+x1MfNPtNKYeS0xMpEuXLixfvpyBAwe6Hccvyxe8gpKCoOcVN3ctReQt4PdACvBzVT2vX1sRmQHMAEhLS8uYN29e0O0VFhaSnJwc9Pzh1Cnnr3TJeZO1A5/gZKpzQ0ws5fMllvPFcjawfKGyfMFbcnwJT9/y9BpVHVzrmYO5NjYcAzAGeM77eATwTk3z1On7IKoqKlB9opvqK99W9XhUNcby+RDL+WI5m6rlC5XlC86BwgOa8XpGnbwPYigwVkRygHnASBF5w8U80dUwGYbdDzn/gp3L3E5jjLkAPbvuWTzqCXp+1wqEqv5KVduramdgIrBMVSe7lccVGdOgWUf46CHwBP8mGmNMVduObWPJziXc1uu2oJfh+mWu9VpCQxjxKzjwJWx/3+00xpgLyHPrnyM5MZk7+90Z9DJiokCo6nL1cYK6Xuh3q9MFx7+etLtWjTFhsenoJpbtXcaUPlNIbZga9HJiokDUa/EJcPV9sG8NzY9/6XYaY8wF4Pn1z9O0QVMm9wrtqL0ViFgw4PuQchGddi9wO4kxpo7bcHgDH+d+zNQ+U0lpkBLSsqxAxIKEhjD0JzQ7sRF2f+52GmNMHTbry1mkNkwN6eR0BSsQsWLQVEoSm8Jnf3Q7iTGmjso+nM2n+z5lep/pNElsEvLyrEDEigaNOdDuOtj2Dzi2y+00xpg66JWNr5DSIIWJPSeGZXlWIGLIvotvgLh4+PcLbkcxxtQxX5/4mo/2fMTEHhPDsvcAViBiSknDltD7O7D2dSg66XYcY0wdMmfTHBLjEsNy7qGCFYhYM+RHUFIA6//idhJjTB1x5MwRluxcwncu+Q4tG7UM23KtQMSa9oPh4gxY/ZLdOGeMCcibW96kXMuZ2mdqWJdrBSIWDZoKR7ZD7iq3kxhjYlxRWRELti9gVMdRdGzaMazLtgIRi/reAolNYO1rbicxxsS493Pe50TxCSb1nBT2ZVuBiEUNU6DPzbDpbSgudDuNMSaGzds6j26p3RicVvvvA6qJFYhYNWgKlBQ6RcIYY3zYcHgDm45uYkLPCYhI2JdvBSJWdbgCWl4C2fPdTmKMiVHzts2jcUJjbup6U0SWbwUiVolAn1tg96dQkOd2GmNMjCksKWRpzlJu7HojyQ0i833YViBiWd9bQD2wZYnbSYwxMeaD3R9QVF7EuG7jItaGFYhY1qYXtO5p5yGMMedZsnMJnZp2on/r/hFrwwpErOtzC+z+DE4ecDuJMSZG7Cvcx+q81dzU9aaInJyu4FqBEJEOIpIlIltEZJOI3OtWlpjWeyyg9p3VxphvvLPzHQBu6haZk9MV3NyDKAN+pqq9gCHA3SLS28U8sal1T0jtCF994HYSY0yM+OfufzKozSAuSr4oou24ViBU9YCqrvU+LgC2ABe7lSdmicCl18Ku5VBW7HYaY0wtlZaW8sUXX+DxeMKyvN0nd/PV8a+4ttO1YVledURjoEM4EekMrAD6qurJKuNmADMA0tLSMubNmxd0O4WFhSQnR+ZysHDwl6/lkVX02/gIX6Y/xPEWA1xI5ojl9RfL2cDyhaou5zt48CBbt26lTZs29O4d+kGSD058wJL8JTx08UO0SGgR0DyZmZlrVLX2t1qrqqsDkAysAW6padqMjAwNRVZWVkjzR5rffMWFqg+3Uv3Hr6Kap6pYXn+xnE3V8oWqrudbuXKlbty4MSxtTXpnkk74+4RazQOs1iC2z65exSQiicBC4E1V/ZubWWJagybOndU5/3I7iTEmCFdccQV9+vQBYMOGDRw8eDCo5eSdymPDkQ2M6jgqnPH8cvMqJgFeArao6lNu5agzOl0FeRvtm+aMqcPKyspYtmwZL7/8Mtu3b6/1/J8f+ByAYe2HhTuaT27uQQwFpgAjRWS9d7jRxTyxreOVzl3Ve//tdhJjTJASEhKYPn06LVu2ZO7cuaxcubJW83++/3NaJLXg0uaXRijhuRKi0ooPqvoJELk7PC40HS6HuASnb6ZLR7udxhgTpKZNmzJ9+nQWLlzI+++/z7Fjx7jhhhvO3vBWzY1vj1c8mBh/9skIXmhkd1LXFQ2aQLv+sKd2/3EYY2JPgwYNmDBhAldeeSVJSUkRvRs6FFYg6pKLBsHBbAjT9dTGGPfExcVx3XXXkZmZCcC+ffvIz88/O4HqOcMbm16n36t9OVh4IGrfV28Foi5pl+58idDxr91OYowJExGhvLychQsX8sILL7DvIt93R2cfziatcRptm7SNWjYrEHVJ23Tn54Ev3c1hjAmr+Ph4Jk6cSGJiIq9Mm8bmnj3Pmyb7SDbprdOjmssKRF3SppdzovpgtttJjDFh1qZNG+68807aHjzIXydM4JNPPqm4mZijZ46yr3Af6a2sQBh/EhpCqx6Qt9ntJMaYCEhOTmbqa6/RZ+NGcnNzvykQG45sAKBf635RzePaZa4mSC27waEtbqcwxkRIYlkZ3124kPK5c4mLi+PkyZNsOej8zfdq0SuqWWwPoq5p0RWO54Cn3O0kxpgIiQMSExNRVebNm8eBrAN0TuhM48TGUc9h6pIWXcFTCidy3U5ijIkwEeFb3/oWnmIPA78eyO7du6PavhWIuqZFV+fnsZ3u5jDGRJYIiNC5Sxfu+9/naZV3nNdeeIHsfv2qvds6nKxA1DXNOjo/T+xzN4cxJmpaHjvGnS++SPvcXD65+mrK46Kz6Q7oJLWI+PpWigJVLQ1zHlOT5DbOz1OH3M1hjImMKndJrz+0nin/mMKsUbOY0vYqzpw5Q/zzz1NSUoKIkBjBKIGWobXAYWA78JX38dcislZEMiIVzviQ2AgaNoVCKxDG1Ad5p/MASGucRkJCAikpKagqixYt4rXXXuPUqVMRazvQAvE+cKOqtlLVlsANwF+Bu4DnIhXO+JHcxgqEMfVE3imnQFTuYkNE6N27N/v37+fFF1/k8OHDEWk70AIxWFX/WfGLqi4FhqnqSqBhRJIZ/5pYgTCmvjh0+hAN4xvStEHTc57v27cv06ZNo6SkhJdeeoldu3aFve1AC8QxEXlARDp5h18Ax0UkHoidrkW9Z/39DSMyM899rq5qmOx02mfcU8Nn7byhskOHYNYsd3Kb6Jg1y3mf/anFZ6CgtIDUBqk+uwTv0KEDd955JymlpfztrbcoKSnxuYzEIG+KDrRAfB9oDywCFgMdvc/FA7cG03DY1ac/uIQkKCtyO4UJxqFDkJkJ99xTvz6z9cmsWc77m5npu0jU8jNwuvQ0jRIb+R3f/C9/4QePPsptixfTID8fVcVT+SsBDh2iB/QI5qUEVCBU9Yiq/lhVB6rqAFW9R1UPq2qJqu4IpuGwGz/+7OPevSEv72xf6nl5znMV4+q6xMZQesbtFAbO67O/2s9axYZh82ZnXOXPrLlwjB/vvL+bN59fJIL4DJwpO0PjhGruoB4/nqRu3Wj32WeQmcnH773HWxV7E972GkJSMC8loAIhIq1F5A8i8p6ILKsYgmmwynKvF5FtIrJDRH4Z0sLatDn7uPIbU+kNOdWpE2RlhZg6BiQmWYGIVW3aOJ+xig2EV+Lx4+duGLKyzv3MmgtH1c+Aj21RbT4Dp8tO0yjB/x5E1fYavPACmzdvZs6LL1Jw/fWweTPFENQhh0APMb0JbAW6AA8BOcCqYBqs4D1/MQvniqjewCQRCc+/9xVvTN++zuB9Q9Y//fSF8UeZ0MgOMcWyyn+wXpfdcYcVh/qkapGosi2q6TPgUQ8HCg/w2b7POFB4oNpDTFXbu2rxYia+9x6H9u3jxWHDyBsyhG2wLZiXEeiJi5aq+pKI3KuqHwMfi8jHwTRYyeXADlXdBSAi84BxQOh9WWdl4enblzjvpV8FKc353V3/y66cct54Yw3Peyf70RtrQm4qnA4fLmJ+rv9MTZMSubh5I649rvQqPgmPdYLUDpB6McQ3iHi+PocPQ95LEW8nGK5lmz/F/7h7e8N/OB/nBvn50LqVFYf6pGKj3bcvVGyLmjXiD49cQ+Hmx3xu6co95Rw4dYCckzmcKTt7lGB0h1GU5O6jZOcOinfspHjnTjyF51+oEnflVaR9/TU9V61i+t69zL3tNl4dO5bSlSvLgnkJgRaIijumD4jIt4H9OCetQ3ExsLfS77nAFVUnEpEZwAyAtLQ0li9f7neBI7w/P/30UwaXlH5z/W2Zx8OmvYc51rgpB7zXFANk5+RVXYSrPB7POfkqU+B0KeQXK6+TzoTESUxqkU9S0WEa7tuGaOR7d23o8XDqdGx28RHtbE28P0/tXu9/osKyb6YDKCktZdWnn1LavHkkowWlsLCw2r8tt9XVfInHj3NZaSkV/76Ve8rYenAr+Wf8/0PXLL4ZVzS6grTENNIS0+izZBWp//M6O0vO/gNU3rQpmtzkvHnjS0poU+bUgosOHmTq/PmsePjh4F+YqtY4AGOAVKAvkAWsAcYGMm81yxwPvFjp9ynAn6qbJyMjQ6tVcaqwd2/nZ+vWzuB97pO//e3c6WJMVlZWjdOcKSnTXyz4Uvv81/uRD1RFIPncEvVsNX2G8vLOfg5Bi5s1O/vZzMuLXs4AxfJ7q1pH81X+DFTZFtXmM7Drlu/qV9d+S4/Nn6+n1qzRsuPHfU9YTXuJsF6D2E4HehXTO6p6QlU3qmqmqmao6pLgyxLg7DF0qPR7e5w9k9BVHOfbuNEZvMcBB9x3X/XXJtcBSYnxxMcLSYnWz2LMqnwy0mFGc2wAABMYSURBVGvVyy/7v7LFXHiqnpCusi2qzWcgrlEjEtPSaH7rrTQeNIj4Zs1q3V5EL3MVkS4i8pSI/E1EllQMwTRYySrgUu+yGwATgeCXWXllVz4JVOnkTZPdu52VWMcVlZbTMCHe7RjGl6p/qF6lzZv7vrLFXHj8Xa3k7+qmGkiTxnhOnw6pvWAvcw30HMQi4CXg74TpzmlVLRORe4B/4txw97Kqbgp6gQsWnH28eTOkpfmebnPo58DdVlRaTqMGViBiQnV35Ff9rFX8wVb8MS9YAHffHdl8JvoWLPB/tVIQn4G4Ro0pPb3X/wQBtFeclhbUZY+BFogiVf1jMA1UR1XfA94Ly8Luvtu5M7EeKCr12CGmuqpiA2HF4cJV8b6OH+/7irVafgbiGjfGc6aa+54CaC/Yy1wD3co8IyK/EZErRWRQxRBMgxFV9a7WKsPyrKxzn6ujTpeU0SjR9iBcVcNn7byhsjZtrDhc6O6+u/rLmWvxGYhLbkL5yZMhtVcKEb3MtR/OVUYjOXuISb2/myg7WljCJW2S3Y5hjImCxLQ09PRpygsLiU+O7t99oAXiZqCrqvruKtBE1eHCYoZ0bel2DGNMFCS0cc6nlh08SPwll0S17UAPMX0J+Li2ykRbSZmH/NOltE6xr+Ewpj5IbOsUiNK86N/YG+geRBqwVURWAcUVT6rq2IikMn4dPeWsfisQxlygqlwZ1xjoBXD11b6nj+D51EALxG8ilsDUyv5852qGtk2DuqzZGGMCFlCBUKeDPhMDco44N8x0allN//DGmLqv0p7BzjFjaNCxEx2eq/QFQ1H4Vsxqz0GIyCfenwUicrLSUCAiNVx3ZSJh99FTxMcJ7ZtbgTCmvmjYtRslO3dGvd1qC4SqXu39maKqTSsNKaratLp5TWTkHD3Nxc0a0SDBbpQzpr5oeEk3SvbuxVNcXPPEYWRbmTom5+gpO7xkTD3TsHt38Hgo3v5VVNu1AlGHlHuU7XkFXNomxe0oxpgoapSeDsCZ7C+j2q4ViDpk1+FCiko99LnIju4ZU58ktGtHfOtWnPnSCoTxY9N+57qAPhdbgTCmPhERGqX3p+jL7Ki2awWiDtm0/wQNEuLo1tr6YTKmvmnUvz8lu3dTdvx41NoM9EY5EwOyc0/Qs20KifFW14254FW5z6GVd6BFi6hFsC1NHVFS5mH93nwyOsXeF94bYy5MViDqiA378iku83BFl+j992CMcUE13yuy96672TFyFOrxROV7baxA1BH//to57ji4sxUIY+qrJlddSem+fZTu2ROV9lwpECLyBxHZKiLZIvK2iFhX4jX499dH6da6Ca2SrRdXY+qr5KFDAShc8a+otOfWHsQHQF9VTQe2A79yKUedUFLmYVXOcS7vYl8SZEx91qBzZxp060bBhx9GpT1XCoSqLlXViu9IXQm0dyNHXbF69zEKi8sY0aO121GMMS5LuXY0p1etisrlrqIRPslRYwCRvwPzVfUNP+NnADMA0tLSMubNmxd0W4WFhSRH+Ttda8NfvvnbSliaU8qzoxrTKCHyXfz6E8vrL5azgeULleU7K2HPHlr+9+85MWUKRUOvCmiezMzMNao6uNaNqWpEBuBDYKOPYVylaR4E3sZbqGoaMjIyNBRZWVkhzR9p/vJd+9Ry/f4Ln0c3jA+xvP5iOZuq5QuV5TvL4/HoVyNH6e4ZMwKeB1itQWzHI3ajnKqOrm68iEwFxgCjvC/A+JB7/DTb8wq5dXAHt6MYY2KAiJBy3XUce/11yo4fJ6F55O6NcusqpuuBB4CxqnrajQx1xT83OV9UPrJnG5eTGGNiReq4cVBaysl334toO25dxfQskAJ8ICLrRWS2Szli3jvZ++ndrildrf8lY4xXUo/uNOzVixOLFkW0HbeuYrpEVTuo6gDvMNONHLEu9/hp1u3JZ0z/dm5HMcbEmNRxYynauJHiHTsi1obdSR3D3ttwAIAx/S5yOYkxJtakjhkD8fER3YuwAhHD3sk+QHr7VDraV4waY6pIaNWK5OHDyX97EZ6Skoi0YQUiRm3PKyA79wRj+9vegzHGt+aTJlF+9CgF/1wakeVbgYhR81ftJTFeuHngxW5HMcbEqCZDryKxU0eO/+UvEVm+FYgYVFLm4e11+xjdK42W1jmfMcYPiYuj+aRJnFm3jqItW8K+fCsQMejDLXkcO1XCrZfZzXHGmOo1u/lmJCkpInsRViBi0LxVe2nbNIlhl1rnfMaY6sWnppI6diwnFi+h7MiRsC7bCkSM2Xm4kBXbDzPx8g7Ex7nXMZ8xpu5oMX0aWlrKsTd89nkaNCsQMWbOZzk0iI/jtis6uR3FGFNHNOzShZTRozn+l7l4Tp0K23KtQMSQU6XKW2tyGdO/Ha1T7OS0MSZwLe/8AZ6TJzm+YEHYlmkFIob8K7eM0yXl3DG0i9tRjDF1TKP+/Wl82WUce3UOGqYb56xAxIiycg8f7inlss7N6XtxqttxjDF1UMs7f0DZwYOcWLIkLMuzAhEj/p69nyNnlB9e09XtKMaYOqrJsGEk9e3Lkednh2UvwgpEDPB4lOeydtI+WRjdK83tOMaYOkpEaP3jeyjdt4/8t0PvxM8KRAxYuvkgXx0qZEy3BsTZpa3GmBA0GTaMpP7pHJk9O+RO/KxAuExV+dOyHXRp1YTL28a7HccYU8c5exE/oezAAU4sXBjSsqxAuGz5tsNs2n+SH43oRpzY3oMxJnRNhl5Fo0GDODL7//AUFwe9HCsQLvJ4lCeXbqNDi0Z8Z4D12mqMCQ8RofVPfkJZXh7HQ7i72tUCISI/FxEVkVZu5nDLuxsOsGn/Sf7ftd1pkGC12hgTPk2GXEGT4cM4Mvv/gl6Ga1slEekAXAvscSuDm0rLPTz1wXZ6tk1hbH/bezDGhF+bn/0spK433Py39WngF4C6mME1C1bn8vWRU/z8Wz2sUz5jTEQkde9O6i03Bz2/qEZ/+ywiY4FRqnqviOQAg1XVZz+1IjIDmAGQlpaWMW/evKDbLSwsJDk5Oej5w6W4XHlgxRlaNRIevCIJ8Z6cjpV8/sRyvljOBpYvVJYveHH5+Qy/+eY1qjq41jOrakQG4ENgo49hHPAFkOqdLgdoFcgyMzIyNBRZWVkhzR8u//vBdu30wDv6xa6j5zwfK/n8ieV8sZxN1fKFyvKFBlitQWzHE8JRofwUntG+nheRfkAX4Evvf87tgbUicrmqHoxUnlixP/8Mz3+8g2/3a8flXVq4HccYY/yKWIHwR1U3AG0qfq/pENOF5rF/bEUVfnlDT7ejGGNMtezayihanXOMJV/u5z+GdaVDi8ZuxzHGmGpFfQ+iKlXt7HaGaPB4lIf+vpm2TZOYOaKb23GMMaZGtgcRJX9dvZcN+07wwA09aNzA9bpsjDE1sgIRBSeLSnns/a1c3rmFdalhjKkz7F/ZKEhpmMBjt/SjS6vkb+55MMaYWGcFIgpEhOv7tnM7hjHG1IodYjLGGOOTFQhjjDE+WYEwxhjjkxUIY4wxPlmBMMYY45MVCGOMMT5ZgTDGGOOTFQhjjDE+WYEwxhjjkxUIY4wxPlmBMMYY45MVCGOMMT5ZgTDGGOOTFQhjjDE+uVYgROTHIrJNRDaJyBNu5TDGGOObK98HISKZwDggXVWLRaSNGzmMMcb459YexI+Ax1S1GEBVD7mUwxhjjB9uFYjuwDUi8oWIfCwil7mUwxhjjB+iqpFZsMiHQFsfox4EHgWWAfcClwHzga7qI4yIzABmAKSlpWXMmzcv6EyFhYUkJycHPX+kWb7gxXI2sHyhsnyhyczMXKOqg2s9o6pGfQDeB0ZU+n0n0Lqm+TIyMjQUWVlZIc0faZYveLGcTdXyhcryhQZYrUFsq906xLQIGAkgIt2BBsARl7IYY4zxwZWrmICXgZdFZCNQAkz1VjljjDExwpUCoaolwGQ32jbGGBMYu5PaGGOMT1YgjDHG+GQFwhhjjE9WIIwxxvhkBcIYY4xPViCMMcb4ZAXCGGOMT1YgjDHG+GQFwhhjjE9WIIwxxvhkBcIYY4xPViCMMcb4ZAXCGGOMT1YgjDHG+GQFwhhjjE9WIIwxxvhkBcIYY4xPViCMMcb4ZAXCGGOMT64UCBEZICIrRWS9iKwWkcvdyGGMMcY/t/YgngAeUtUBwH95fzfGGBND3CoQCjT1Pk4F9ruUwxhjjB+iqtFvVKQX8E9AcIrUVaq628+0M4AZ3l97ANtCaLoVcCSE+SPN8gUvlrOB5QuV5QtND1VNqe1MESsQIvIh0NbHqAeBUcDHqrpQRG4FZqjq6IgEOTfTalUdHOl2gmX5ghfL2cDyhcryhSbYfAmRCANQ3QZfRF4D7vX+ugB4MVI5jDHGBMetcxD7geHexyOBr1zKYYwxxo+I7UHU4IfAMyKSABRx9hxDpP05Su0Ey/IFL5azgeULleULTVD5XDlJbYwxJvbZndTGGGN8sgJhjDHGpwuuQIjIH0Rkq4hki8jbItKs0rhficgOEdkmItf5mb+FiHwgIl95fzYPY7bxIrJJRDwiMrjS87d5ux2pGDwiMsDH/L8VkX2VprsxXNlqyNdZRM5Uane2n/kjtu5qyHetiKwRkQ3enyP9zO/K+vOOc/Wz56Ot+ZXWQ46IrPczXY53va4XkdWRyuOj3YDeKxG53rtOd4jIL6OYz+92psp0UVt/Na0LcfzROz5bRAbVuFBVvaAG4FtAgvfx48Dj3se9gS+BhkAXYCcQ72P+J4Bfeh//smL+MGXrhXOz33JgsJ9p+gG7/Iz7LfDzCK47n/mAzsDGAOaP2LqrId9A4CLv477Avhhbf65/9mrI/T/Af/kZlwO0ikaO2r5XQLx3XXYFGnjXce8o5fO5nXFr/QWyLoAbgX/g3KA8BPiipuVecHsQqrpUVcu8v64E2nsfjwPmqWqxqn4N7AB8dRI4DpjjfTwH+E4Ys21R1ZruBJ8EzA1Xm7URYL7qRGzdgf98qrpOVSu6a9kEJIlIw3C2HYhq1p/rnz1/RESAW3HpMxeiy4EdqrpLVUuAeTjrMOKq2c64JZB1MQ54TR0rgWYi0q66hV5wBaKKO3AqJsDFwN5K43K9z1WVpqoHALw/20Q04fkmUP0f6z3e3cOXI3kIwocuIrJORD4WkWv8TOP2ugP4LrBOVYv9jHdj/cXyZ+8aIE9V/d2LpMBS76G7aF2OXqGm9yrQ9RpplbczVUVr/QWyLmq9vty6DyIkUk03Hqq62DvNg0AZ8GbFbD6mD/s1voFkq2beK4DTqrrRzyTPA7/Dyf07nEMDd0Qh3wGgo6oeFZEMYJGI9FHVk7VpO4L5Kubtg7O7/y0/k7i1/qLy2Tuv0cCy1rTHOlRV94tIG+ADEdmqqisinY/A3quIrtcgtzNVRWz9VY3r47mq66LW66tOFgitod8mEZkKjAFGqffgG0617FBpsvb47kU2T0TaqeoB7+7XoXBmq8FEqvljVdW8isci8gLwTm0bCCaf97/xYu/jNSKyE+gOVD3pFtK6CzYfgIi0B94GblfVnX6W7cr6I0qfvaoC+DtJAG4BMqpZxn7vz0Mi8jbOoYywbOACXZfVvFeBrtegBLmdqbqMiK2/KgJZF7VeXxfcISYRuR54ABirqqcrjVoCTBSRhiLSBbgU+LePRSwBpnofTwWq/a81XEQkDhiPc+zQ3zSVjxfeDPjb0wgrEWktIvHex11x1t0uH5O6te6aAe8Cv1LVT6uZzpX1R+x+9kYDW1U119dIEWkiIikVj3H2zKL1mQvkvVoFXCoiXUSkAc4/WEuilM/fdqbyNNFcf4GsiyXA7d6rmYYAJyoOafoV6bPr0R5wTgDuBdZ7h9mVxj2Ic6Z/G3BDpedfxHvVCdAS+Ainf6iPgBZhzHYzThUvBvKAf1YaNwJY6WOeytleBzYA2d43u12Y153PfDjH9TfhXBmxFrgp2uuuhny/Bk5Ves/XA21iZf3FwmfPT95XgZlVnrsIeM/7uKv3Pf/S+/4/GMk8VXL4fK8q5/P+fiOw3btuo5nP53bGzfXna10AMyveY5xDTLO84zfg50rKyoN1tWGMMcanC+4QkzHGmPCwAmGMMcYnKxDGGGN8sgJhjDHGJysQxhhjfLICYUwUiMirIvI9t3MYUxtWIIypJe+NRva3Yy549iE3JgDifCfGFhF5DudmwSki8rmIrBWRBSKS7J3uv0RklYhsFJE/e3tLNaZOsgJhTOB6AK8B1wI/AEar6iCcPqn+n3eaZ1X1MlXtCzTC6avHmDqpTnbWZ4xLdqvqShEZg/MlQJ96dxAaAJ97p8kUkV8AjYEWOF0s/N2NsMaEygqEMYE75f0pwAeqOqnySBFJAp7D6eNmr4j8FkiKbkRjwscOMRlTeyuBoSJyCYCINBaR7pwtBke85yTsqiVTp9kehDG1pKqHRWQaMLfSV5v+WlW3e7+7YAPOdxGvcimiMWFhvbkaY4zxyQ4xGWOM8ckKhDHGGJ+sQBhjjPHJCoQxxhifrEAYY4zxyQqEMcYYn6xAGGOM8en/AwUFmHh4Q8D3AAAAAElFTkSuQmCC\n", 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" + "
" ] }, "metadata": { @@ -257,24 +257,24 @@ }, { "cell_type": "code", - "execution_count": 17, + "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 17, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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+ "image/png": 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" + "
" ] }, "metadata": { @@ -293,14 +293,14 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 11, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/plain": [ - "
" + "
" ] }, "metadata": { @@ -312,6 +312,13 @@ "source": [ "bode('test', (s+3)/s*sys3[1, 0], omega=np.logspace(-2, 4), margins=True, Hz=True)" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { From b6c054ab38d4300c9f4ee4d37ce484c391a7f903 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Fri, 30 Aug 2019 18:27:30 -0400 Subject: [PATCH 08/26] Changed gains, preliminary changes in class --- lectures/2-F16-Intro.ipynb | 76 +++++++++++++++++++------------------- 1 file changed, 39 insertions(+), 37 deletions(-) diff --git a/lectures/2-F16-Intro.ipynb b/lectures/2-F16-Intro.ipynb index 68bbf1c7..3d61d3bf 100644 --- a/lectures/2-F16-Intro.ipynb +++ b/lectures/2-F16-Intro.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 13, "metadata": {}, "outputs": [], "source": [ @@ -33,26 +33,26 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 30, "metadata": {}, "outputs": [], "source": [ "p = f16.Parameters()\n", - "x0, u0 = f16.trim(x=f16.State(VT=550), p=p, phi_dot=0, theta_dot=0, psi_dot=0.3, gam=0)" + "x0, u0 = f16.trim(x=f16.State(VT=550), p=p, phi_dot=0.0, theta_dot=0, psi_dot=0.3, gam=0)" ] }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 35, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "Control(thtl=DM(0.138556), ail_cmd_deg=DM(0), elv_cmd_deg=DM(-0.75878), rdr_cmd_deg=DM(0))" + "Control(thtl=DM(0.836629), ail_cmd_deg=DM(0.0749844), elv_cmd_deg=DM(-1.7033), rdr_cmd_deg=DM(-0.328985))" ] }, - "execution_count": 3, + "execution_count": 35, "metadata": {}, "output_type": "execute_result" } @@ -62,7 +62,7 @@ " return f16.Control(\n", " thtl=u0.thtl,\n", " ail_cmd_deg=u0.ail_cmd_deg,\n", - " elv_cmd_deg=u0.elv_cmd_deg + 1*np.sin(2*np.pi*2*t),\n", + " elv_cmd_deg=u0.elv_cmd_deg + 0*np.sin(2*np.pi*2*t),\n", " rdr_cmd_deg=u0.rdr_cmd_deg)\n", "\n", "f_control(0, x0)" @@ -70,7 +70,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 36, "metadata": {}, "outputs": [ { @@ -79,15 +79,15 @@ "Text(0.5, 1.0, 'angle of attack')" ] }, - "execution_count": 4, + "execution_count": 36, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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ce5vDDNbYgLtNdw/U3ry7XIrD8dSfzNnWQE9zxLMG0BkP0X0updN0NsWQpysRrqmwrPNtpVJlbYym8ySzBTZ0xcjki571TL7Ip7ceof/gGD875q3dEIRLEVEMDi6X8Z65Qok3/ONjfOjBfZ61M1NZZudKrO2IMjkz5yn6GjEDxCtbGxlO5Vy+/GGHYuhpCjPksBi01oyYG3Ak6KelseHsm7epAEZSbldTl/l6VzxUtVZxFVnHODfo4WSekB/ioQDdiTAjqZwru2gkabi4umq4obJzJVK54lmViqWgrGyp41UZUc7sq91npqlFLStDEOoZUQwOEuGGy6Ly+bHD4+wZSPHFx497gumWe+ieDZ2ANy10NJ23LQLwbt5+BS2NDUZmkWMTTWYLzBXLdFqbeyLMcDLvOjfS4Dc27yb3Bl0ua8OVlKi4ksbSeYqma2bY4SqKhgLEQwFXnGAklaMlpFBK0d0UpljWTDpaY1iWTDzcQCwUcCsVpxvKVCrONF1LxrMFxZ2KpFZ8YiJb5raPbOEftxz2rAlCvSKKwUEiEiCVK17yT3gvOFxEL1S5i6yN/pY1RgD55GTlCThXKDE9W3AFkAccVsFoKkezuQH3NIXJOOIEww5XERibe/VTf3dTGKWUrQCs9anZOQolbZ/blQhT1jBhbu5Oa8P6d6Rqc28JG417O+PuazvjE5Z8wzXcVJYrqVjWjM+4lQ5U0mirXUmWVXTD8qaaimH7cImRVJ5Pbz1yyf+/Eq4cRDE4SIQbKJU1s2aTNq01P3xhyLU5XgocGk4TCxkFe4dHvCmlAK9YZSiG05OV92ZlHXXGQ/SYisGZPTSSrmzA1kZrbZzOrCPr3+EqxdAZNzb+cIOfpkiDfY7zqR3wuHyc1oax7nU1NZtyWcplNJ1zXaPLce3RtHfjd7q4nIpjKJmjwa9Y1hwxZa5Ohc3RGPRz3bImzlQF6wHOpA2rJ18se6q5BaFeEcXgIF7VL2nb4XHe/bVnefdXd15MsWryqS2Hue2vt9ibuZOjYxluX9tGpMHvybIZSeWIhwJ0xsMkwoGacYDOswRqR1J5mkPWBmxtonnXuc4NeDyTtzN1nDEEcCsOyy3U6VAqzmsOO6wNgK542N5ktdaMpvK0hHyu+1vrIzWUTrW1Ya1Xn2ud3xkP4/MpuhNhjytpKJmlpylMTyLsqa8AmMxVMpWOjnktiscPj/Pur+5kIiNKQ6gfRDE4SESMJ9KkGWfYajaEe/5M0n6tHtBa88kthxlO5fjergHP+nAqR29TmJWtjZyadAdLx9J5Os2n6t7miCvl1NoQuxIhwg1+2qJBBqarnsxNxWApjsrmbvzbEa+4krQ27mcEpnO2lQFud5CzDsG6v3U/sILHIde5o2kjFjA5M8dcqWxbMtb9vdc2Xu+MhxhN5W23znDSUJTRUMBWDJa1Ya13n8WFBTCYzNHbHLHdXNU1EpM5zWbTOqvlavrrH+znh3uG+c5z3t+jIFwslnLm85eUUqNKqT1nWW9RSn1HKfW8Umq7Uur6pZLNorUxCGAHLvc7uoHWU1fOwWQl6+a50+5MmOxcya4wXtHa6AkuW0/AYCmGGimlcStttFJPYFUuV1w23qf65sYGwg1+cz1kv57MFsgXy7YrCaDb4Q6y/u2IGettsRB+n6o89TsC04Z8IQolzdTsnL3xWwqrwe+jPRb0WAzW+Z2JMHOlsq3oR1KV+on2WBClvBZDxT0W8mYtTRsWg+2GcigOrTWTOc0NK5oJBnyeuo9SWduV1jtOeNuPCMLFYikthq8A951j/U+AXVrrlwPvAD65FEI5sZ42xzLGE+XBkTR3rW8H4PSk1398sbA6kzZFGjxtKayn3c54iOUt3gpjY5O1LIYwg05XUTpH0O+judFwqfU0Vc63noRbzA043OCn2ZGSalUmW9iKI5nzWATWupV5NJzM0R4LEQwY/x39PkVHLGRnCI0k855zrXtaG79lMVjrlgUznDTadFhuwoo1UolvWHIH/D7aoiH7XK212d/JVCpxwz1mKeW5YpmxTJ6epkgl08qhGKZmCxTKhgLuSoQ8gWvD1WZcq5abCYw6iZn8pZ9CLVxaLJli0FpvA85VAXQtsMU89gCwWinVtRSyWdiKIZ1nJJVnerbAvRs78fuUK3tnKcgXS3y2/2jNgKa1ibz6mk5OTsy6sl2swKqVcprOF+2iPWetARgb1vRsgdk5Y+MZTRluJsuXv6w5YiuOEfvJvPJfptuRkmr1MnKugbFRWn55q/DNkq+sYTwzZ7pjKueC4bYZTuWYMF1FvY5zrfuMpCvXbqtSDCPpijXSVVOpON1UzvWQ/Rmm80Vm50q2G6orETKzpSrvWWtDwToVoYVlIfSaFsXZejit74xxcmLWTs+1yBVK9H2sn1/+7JOS0SQsKYGLLYCD3cAvAY8rpW4BVgHLAc/EF6XU/cD9AF1dXfT391/QDTOZjOtcrTV+BTv3HmZmyGiYVhg9RmsIduw/QX9o+ILucyFyffQbj/DFPXP8YMdh/nize9PccSBP0AeN2TGyhRLf+9FWmsPGhr19yNjkTx58gemMsdF87yePsSLuY6agmSuWSY2eob9/hOlB49jv/ngbvTEfB05mCWvsz2R2Yo50rsgPf7qV3aNGUDVYztrrDcUcRwZm6O/v5+TYLM0dfntNa01AwTN7DnOy0di0T+x7jvRxQ86xUePeP9j6BEcH83Q1+ly/C38+x/GpMg898jgA46eP0N9/AjBqAwC2bd/NeFbjU+AvzNrnlzJ5To+X6O/v58CpLOFA5T2NzhrnPrp9F8WBACOpHPnpEXvdX8hxdND4fzFgZhRNnjlOf/9pRkdMmR95gtVNfg5OGp/J6IlDPJs5StAHO/YdZn3ZGGL0nPkeh47uQ+UKnEiVXe/xmWFjfWU4x+FSme/+uJ/2SEXxvjBWZDyTZzyT518e2sqy2MI9x1X/368XRK75sVhy1ZNi+Bvgk0qpXcALwHNATRtaa/0A8ADA5s2bdV9f3wXdsL+/n+pzu57eQqSlnWBnDDjAW19/N1vGdgDQ13f7Bd3nQuQaSzcBgxxLwV1334PfV3ki/vbQc/S0TPOa267jq/ufYfnVN7J5dSsAxx4/Drv38YZX3cnxiRk+s/tJlq2/jr6ru4xWGFu2ccdN19F3Qy+Nxyd54PmnWL7hZdy9oYMP7exn47I4fX2bAEi1DPJvB59j7cs2c/rgKDx/gOWtUfsze3jiebYcGOWOO+8m9aMf8oqr19DXt8GWs3v7IwSbWki0NuLbd4Q3v7aPgN/Y3NoHknzy2cdZtv46Urt283PrltPXd5197iPJPXxv1yA9666Dp3by2lfezMuWNwGGC+ePH/0hzT2rSU7O0J2YIBH323I9VzjEtoHD3HnX3cw8uZWbVrfT13cDYMRg3r/tYVqXreH6Tcsp/WgLt75sA323r3a9p76+PrYdGoMntnPvbTdx61VtNJ2a4h+fe5KVG6+n7+oukrsGYPsu7rv7VtZ3xel+Ziuhpmb6+m4C4NRTJ+DZvbzhVa9kcNsxnv/ZSe655x7bIjvy2DHYtZ833H4dW07tZs21N7JpVav9GZx88gTs3AtAbPlG+m5c9tL+Yzmo9X+/HhC55sdiyVU3WUla65TW+p1a6xsxYgwdgHcq/CLTEQ8xlslzYChl5653xEM100IXE6uf0cxcyTNfYCSVoyseZnmLtwjNGSeoFKm5g7wVV5I7JXU0lbcD02C4QMBweQwlc8RCASIBt8tmPJNncDqL1pVMJQsrJXUoaQS8LaUA2JlRR8cypHNFVwzBunYyW+CEORWux+FqCgZ8tEWDjKRzDCdzds2F81ytDTfWaDpnvw+ASNBPImxYCoM1XFyd8RDjGTP2kXKvdzpiG8bnYq6b9++Mh1wZTYPTOfzm1LnupjC5QtnVvXcomSPc4GNjV8J1Xft8R/yn1nAirTWHR9I1ByoJwkuhbhSDUqpZKRU0f/xdYJvWeslTgToTxqyAA8NpNpoTwTpiS6sYSmXNsbEZbl5tpDl6mtmZKafWhuXMLBpL5emIG3GCjliIBr+yfdl2vUC8UmGslKE4Mvki6XzR5W/vdbTPdqZtWlgpqVaPoO6mqg26yag3GExmPee2R0MEfIrtx42wk6Xk7HNNOZ45MUUo4LMzxpzro6bS8SoV4/29cCZJWdeQKxFmNJW3ez05lU6nqVTGM3OV5n3m9aysKetzHEpmiYcDdjFhdfHcUDJLa1jh8yk7fuVWHFl6myOeFiGV9Ryr2hpZ2dpYMzj97WcH+Lm/38ZnZU6EsMAsZbrq14GngI1KqTNKqd9RSr1LKfUu85BrgL1KqQPA64E/WCrZnKztiHFoJMOB4TTX9RpPch3xEOl8kezcwk7w+r1/2sHbv/gzT2AxOaeZK5W5e713IplVE9AZN/oGNTc2MDBdURzOrCOfz+gdZCkGKyBrbXQNfh9dcWN92H56dmyS8RA+ZWxwQ8lcTYsA4LlT055zAZY3RxiYznJwOM1VHVHXms+nWNMetWccbOiKu9at43+6f4T1XTF8DlcaGErr6NgMpydnWdXa6FqzlIqVyttTHdg2g9OWxdBbFRQHYwMfSmZpiwbtFNxgwEdrNGhv7oPTOde5HWaNhMXQdI7WqlYdTsUxmDTOb2lsIOj32b+fyvlGKuzyloinsA7gx/uMmNeP9y5N7Eu4cliyGIPW+m0vsv4UsH6JxDkrG7pi9vdWfxzraW88k2dF1SZ0oZycmOEn+4y4+q7T0/bwG4DpnKEorulJEAsFXNXLGTNTxtr8l3lqEfKs66i8h96miMtiiIcCNAYrv/Zes1ah2s0ERvpmVyJsWwzrO9uBrONcY1N89NAYPgUrqz6ba3oSzBXLjGfmPBs/wLW9CQ6PZgj4FKvb3Irj6u44SoHWXqVhrf90v/H5beyOw3Rlc7Tk2mYO2KmWqzMe4mfHZxiczhJuqKTnWmvW5zg4nfMolc54yHb5DCWzVdZGyPz9FGkMBhhMZllxllYdYGz8GzZ0oJSiMxFyZTQZ189x65pWNPDMCW9Cn/X/4qDpTqpWnoJwodSNK6lecG7Qm81AYMUNsHDupOfPOEdouovUpvKGYug2nxbPTNWqTnYWqbkb3TmrhJ2KYzjpTt0Ewz8+OO1MKXWv9zZHODExY/jqq3z5a9qjBP0+jo/PsKotaj9ZW1gWFxhKoppNZkXwhq64XcNg0RgMsKKl0XWck6t7KsrCcvlZtEaDdMRDHBhOEwz4PEqnM2FUTp+enKW3KWIHg8FrMfRWuaE6E2HGHH2Y3PGJSvVzuWxYdq1mtpgVn7AsCrsGwvxMjVYdlf9fpbJRQ9HTHKYz4a7WthicztLgV+QKZVc8QhBeKqIYqljTHuXP33gtn3zrjTSZT5KWb3msytSfnJnjbQ88zdaDozWvlcwW+P7uQddsAItDI2n8PkUsFOBwVZHatKkYOuMhc2N3b/xQcQcta44wYCqOXMGYLdBZFScYTuUolsoMpbzuIOv61gzman99T1OYnSenKGvsWc4WwYCP9aaFtbHGU/26zhjXL0vQHgty65pWz/ovv2I5b9m8nA++6TrPGsCHfuF67ruumzfd0OtZu3NdO8GAj2XNETZ01rYowKgR8Fc9SV/VEaVQ0mw5MMraqvfkrH4emvYqQ8tiyBVKTMzMuQLbFasgbxevtUaMe8dCARqDfvvhwq6BaArb13VaE6Npo7q9pylCt1mtPeWYnZHJF0nlirxynVGAWSs4/cHv7+V1f79twV2gwuVPPaWr1g3vfOUa18/tpmKYcPT4B/jmjtM8dWyCgeks976/03Odj/xgP9945jS5Qom3bF7hWjs2NsPK1kaaGxs8/Yymc0ZuflssRG9zhB0nK+0SLD+0M7PIKmKbnjE2Dmfrid7mCKWyZjSdZ8R2B1XobQqTL5Z5YSBJi6OlhfN8i/VdMYarOje84eW97B1M8fqXdXvev1KKb9x/OwGf8lwXIBoK8NFfucHzusU9Gzq4Z0NHzbXmxiDf//1XEg0GarpQ+jZ28tjhcV51tff3ck23Yb2UytpWIBYBv4/2WIhDw2nS+aJHkXaaWWsDduDaazGMpHK2BdTqKLwzNn/LDeXNaHr8yLh9rLiRthEAACAASURBVGXl9TYb2UxgWCitUSMIbwXOb17dSv/BMU/genauyFeePAHAlgMjvOHlXuUqCGdDFMN5YP0xTmTcimGnuWGfnpollSuQCDe41i0f95b9Ix7FMGw+vXfGQzxT1SdnOq/piBv9gpa1REhmC2TyRWKhgMeVtKzZcLcMTmftVEi3xWB8f2pylrGMu20FVDamxw6Pc20Nd4/THXRVe4zqMOe77rmK+67vZnVb7diLlbGzGFzd7ZXX4h23r6I7Ea6pGNY74kgvX97sWV/bEeVhM6BbbSV1JcKUyprnzUysFS3uVFcwLIaAqazciqHShM9KEbYthkSYdK5IrlAi3OCvrDdHmMkbT/wj6RzXYrxnK3B+tjkRzrjU7tPTohiEeSGupPMgGPCRCAc8rZH3DCSJBv1ojadnUXK2YP/x7hnwZt1a8wlWtkUZTGZdg+Sn89oVQ4BK+4SRlNH/39pwrY1/YCrryLuvbP5WLcPzZ6YplbXHVWStz86VPJsgwKuv6WLTqhbe97qNnjgAGFbBmvaoy09fDzT4ffynl/cQCXotlXCDnz949XpuWd3K3RvaPetOt1h1/MLa/C1lvtKhEJvN7KJRR8ZTW7jymXUkKmnP1RaHsx0LVOZg9DRF7HuOuTKejPNXt0dpjQY9XV+HXqQGQhDOhSiG86Q9FmLc4UoqmD77ezYaro7qLqYHzQK1G1Y0M5jMki9W/Lxaa3uE5vLmiFGM5XAFTOe17ZaonqQ2ms67XEXLHIrDympxZhZZG8/248ZGVt2TyJllVStAHAsF+Na77+A9964720dzSfKHP7eBf3vX7YQCXsVxoznGU6nK52thKYJth8YImum+FkoZ9QpjKaPoL9LgJ+owIo2W36bFMJ0j4aiB6KyqcxiYzhI1i/HOVgPhU0anWWemlIVV1HjDimZ7nKsTrTX9B0c9LihBAFEM501bLOiyGIaTRvDwtqvaUApOjLv/+KzagrvWtaM1rswiaz5yRzxkWwTO9elc2RVcBuwA81jaXZ3cHgsR9PsYmDa6mEYajM3EIhYK0BRpYNthw621tsNtFTRFGrhnQwdBv49XX+N1u1yJvO66bu5Y28aHf+F6jyW0tiOGTxm/r9XtjZ74RqfZhO/U5CwrWt0ZT53xMDNzJWbyRSPjqUZ8YtSVCmucHzZ/p9U1EFY1eZeZZeVkaDpLwKe4aUUzpyeznoymo9NlfuvLz/Bf/nnHS/ikhMsViTGcJ23RkKv61HLtrGmP0hkPebqgWk9wN69pha1G9bK1KTs7oC5rcbuK8sUS6UJlJkJn3KhetiyGsXSeax1+f59P0dMcZmA6S1lr16Qzi97mCPuHUgQDPpa3eGMBD7xjkz3rWTBSZf/l926ruRZu8LOqLcrx8Rletswbn+iKhzk8mqbB7zPrJypuHGcMYnDanSHWmXCnRFcXFHaa1doWzhqKrkTINTvEOr/bHNaULZSYnJmjLVaxNPdMGBbs7jNJZvJFoosYCxIuPcRiOE/aYkFXVtKgIzhY3QoBjFhANOjnGtNH7VQc9gjNeMj+43du/FDZKKqrl0cds5MtrCK26klnFle1G3n8V3fHPambAKGAX5TCPHjzjUYg9003egO6V3VEOTExy7GxGY8Stjf/VI5B0yKwaG0M4veps1ZVW9lQFoOOVNrOeJiJmTlXWvTAtFGDYf1ex6riYxPZyrHVSkUQRDGcJ22xEFOzc3bPfDudsCniyjaxsOYAtMesJ35HjrpjxnG4wU97LFTZ+G1rwh1HGJjKMpMvMjNX8mziVpHbiYkZT5UvwBtv6AGoWQ8gzJ//+qr1PPLH99RMpd3YHadUNlqaVFdsW+6iY+MzTM8WXL8rn0/RHgsymsqTL5YYz+SrXE2VOgettdFnyc5oClEyx5xaWBZFdVDbYjJXpiliBECq42OCIIrhPGmPBdEau8hoYDpLazRIJOh3DXexGEnl6TKHyPc0VRWpWVZB3IojhCvBZbvRnbtIbXA66znPYpnZS2c8M1czs+i+63vY/iev5nfuXONZE+aP36e4qsP7OQNcv6zJ/v6mlW5Xk6XsrfYW3lYdhuVp961yJApYfZi01kzNGqNSrapru7mfqTjKZc2wOYv6bIphIqvtJo2nJ71V06cnZ/k/jx5lrlj2rAmXP6IYzpNKkZuVTpi13UCd8bAxlN7xRzSSqnT97G0OuxTDSMpoYW35dZe1RByupIqbyWK5Wb1spSg6lQYYisWiOrhs0Znwxh6EhWdtR4zXXNPJvRs7PMVzTZEGmhsb7MaBtXo4WfEHoMqVZBQipnLFymQ4y5WUcG/+VtV1r1kn41yDyizq1W1GfKxW1tKHHtzHR354gG/uPH3hH4ZwySKK4TxpM4vcxtOGue708VpPgpYfV2ttj8kEbz+jsXRlDSoxAiuNVYErUNjbHKGsK7nzy6paVLufUr19hYSl5Qu/eTNffuctHkWslGJDV5zJmTmUMmoQnHQmQoylc/ZDQm+zNzg9ls47FEPlwQQqlqhzzkTUbMXhVAxTswXmzFnUvc2RmimrVmfaJ49MXOCnIFzKiGI4T9qqLIbB6aydSlo9R3hqtsBcqWxnFi1z9CuyjnPVIrREyBXKTM7MMZrKkwgpV5DYUgRPHRvHVyO3/tqeBG+/bRX/7VXr7CptoT6xqstXtTZ6qsI7zCDy8fEMSuEKXjtrGapnaFe7i6otio6429XpVCydNYZQ5Ysl+7V9Epi+IhHFcJ60x0yLITNHKlcgnS/aT2z2H601YN78t+JKMp74R8w/Nqu4zcJZxDaaztEc8qabAjx9bJKepoinAlkpxYd+4Xr+6LUbF+4NC4vCL960jIBP8XZzlKgTq9jxyaMT9Fb9np0uocFklqDfZ1ux4QY/8XCghmIw/39WDZqyFIsVgxivylgaSRo/t8eMNOxaTSCFyxtRDOdJItxAwKeYyOTtYrNej8Vg/EFZrSm6HK4kwHYXVVsMzvWxTJ6mKsXgtBCqB94IlxY3rGjm+Q++tmYiwDqzh9Nzp6Y98YcORwGcNSfCWVzX4chaGkoahY5W1pFzDSqKo6fJUAyTs3OuliyWK+vWNa0UStpTPAdweCTNyQlptXG5spQT3L6klBpVSu05y3qTUuo/lFK7lVJ7lVLvXCrZzgefT9EaDTKRmbMVg7Vht0WDBHzKthRGU+7WFFZw2Gp0ly+WXRaDNdbyzJQxSa2lSjGEG/z20+FNK7xFVcKlhXNQkpP1jowyZ/NCgEQ4QChg9GE6MzXrcSc6XULGyNBKskG1u2gwmSWgjP+3HfEQWuNJdQW4xWyVXp21lCuUeNOnn+AXP/OkZC1dpiylxfAV4L5zrL8H2Ke1vgHoAz7umAFdF7TFQkzM5O3iNsv37/MpV7+aYdMUt1xMli94YDrrsCYqiqEp0kBj0M/hkQzjmTk6Gr3ZQ+/uW0tHPMQvb1q+SO9OuNjEww2sMQPSd6xrc61ZU95G03ljnGlb7VRXMEeGOhRHRzxEyuzcCkbiRGvEnEUd82YtWRaFNSBpqGoI0M6TU3Y1tTXvW7i8WDLFoLXeBnjnEzoOAeLKeMyJmccWl0K286U9FmTMtBiCfh/t0Yo7qNPRr2YkbfTNtxq0WbOZB6ez9h+Zs92BUoplzRGePm5kgHRGvL+W373rKrb/yatZ1SaupMuZf/i1G3n/fRvp2+DtW7WytZF9gynGM3OeEbPOOgdnKjVUspYqnVuzdjvwWnUOg+bcB8uSHa9qN++s4t8zkES4/KinBimfBr4PDAJx4Ne01jXtVKXU/cD9AF1dXfT391/QDTOZzLzOVdk8x0aLhAppWkKabdsetdf8czmOTZXp7+9n77EcUZ92XTvuL/HC0QEaMkaf/+P7dpE5UVEA4XKOw2b/mii5C35Pi818P7Ol4nKS61pg27Yzntcjc3kOjxrPSjPDJ+jvrxyTHpsjWyjx0E/6GUvnmZsese87PGac8/CjT7G+xc+xkVnWJYz/q+NZ40/ssR27UcNGTGLP0Rxxv+a5nz2BX8HOvYdZWzxp3+vJw3MowK/gyecPsaZQWXupXE6/x6VgseSqJ8XwOmAX8CpgLfATpdRjWmtPvpzW+gHgAYDNmzfrvr6+C7phf38/8zn3gDrKth8eYGguyNXLY/T13WKvPZLcw+HnBujr6+Nvdz/GhmVh+vputtc3nnyGM1NZmrt7YM8h3vzaPlfWyY+nXuCF8VP4FKzrjM5LrqVkvp/ZUnElyDUQOclPTxkhul/7uTtcsyAmE2f4t4O7ia66Ds0z3HHjNfSZw6E6BpN8YufjLF93LXdd103yxz+kKxakr6+PXKHEex99mNbe1fT1rQfgI89tY8PyRu69dzNdT28h0tJOX19l0t5DY7vpiI/R0hhENzbS17d5Qd4fXBm/x4VkseSqp6ykdwLf1gZHgOPA1RdZJhfWlLLTk1nXMHowYgapXJHsXMnV+dKitzlixhiytMeCnpRTaybytb0JQn6pUBa83L3e6M3U2xRmRWt18Nn4/7bTLIJc5XA1OQvgrFnSlivJauldHWNY5qiBqG7AN2i2DF/RGvF0FQajncavfu5Jdpw4l+dYqGfqSTGcAl4NoJTqAjYCxy6qRFU4B9lcUzVW0gomn5w0GqT1NLn/cHubI6RzRfYMpGq2vn799T2873Ub+cRbblwEyYXLgRWtjXz1d27lq797q6eq2ooHPGbOjXZaE23RSudWK7DcFnHMiXB0B06bNTpWjKKjRgHc0HSO3uaw/bBTzb9sP8UzJ6b45JbDL/UtCxeJpUxX/TrwFLBRKXVGKfU7Sql3KaXeZR7yIeAOpdQLwBbgA1rr8bNd72KwsrXRbl3dt9HdWdOqWdh1ysjSqB4ib2WJvDCQrNnoLhjw8Z5713k6cgqCkzvXt9ds4LeitZFgwMfu09MEA+7Jcs7OrVYfptawu3jOOQcC3FXTzgI4rbXd0rszHrLnVDvZO2h4f3efnvYMCBIuDc47xqCU+qMaLyeBnVrrXS92vtb6bS+yPgi89nzluRgopfjG/bcxNVugudGdSWsVJD151MgsqrYYzqfRnSBcKH6fYm1HjP1DKa7pSXgny8XDjGUqfZYsVxIYm/+zpwwXVHWfpvZYiIlMnlJZ4/cpu7Nrb3OEaMjIuhvP5F1WsNXsMZUrMpzKef4WhPpnPhbDZuBdwDLz636MeoPPK6Xev/Ci1SfNjUE719zJ8pZGgn4fD+81so7Wd7k3f6clYOWHC8JCYsWp7ljb5lnrNNNZT03O0tzYQGODcq2Npa1UV28fprJ29wgDQ3FYHYed6azWrAhrOJRzZK1w6TCfrKQ24BVa6wyAUurPgX8H7gZ2Ah9dePEuHfw+xaq2Rg6PZmiNBu0/Got4uIH3vW4jB4bTohiEReH/u3ctsVCA37vrKs9aZyLMs6emaJsMmtZtpUSoMx4mVyiTzhstvf1mwaaxVqlz6IyHPQ36rDWLVM4YJnXLmlaOjc9wZmqWm1e3euTRWksb+DpmPhbDSsBZ6VIAVmmts0C+9ilXFq8wW15XtzOweM+96/jHt91Uc7ymILxUOuNh3vu6jTQ1NnjW1nZEmZotsPv0dM3iODD7MCWzdMVDBPw+19pYVQzC6rMEuGIQluKwlEGtIUB/9dA+7v7YVlK5woW/WWFRmY/F8C/A00qp75k/vxH4ulIqCuxbcMkuQd5++yq2n5jkt2VSmlBnWAkPqVzRjHFVyoMsq8DKWnKPFK2a9TCdJRgwOrsWza6r7s6thiJY0xGlpbHB04CvUCrz+ceOA/DjvSP8irR4qUvO22LQWn8I+D1gGiPo/C6t9V9qrWe01r+xWAJeSly/rImt7+3j3o3edgaCcDG51mHF3rC8ybXmHgKUo6eqz5K1Bka7jJ4mo7NrMOCjubHBpRgGHNPnaqW6OocC7T4tfZbqlfNWDGYPo2uAJq31PwCjSqlbXuQ0QRDqgM54mFdd3cnqtkbuXN/uWrNaeg8ljelxKx3Fc7VmPThHjnpmPUxnCfgUHfEQ7bGQp8+Sc5Lh0bHMwr1BYUGZjyvpM0AZo2XFXwJp4FvAzec6SRCE+uDz79hMWWsa/O7nwUTYGP+548QkpbJmVWvVyFHnrIfpLLc5sp6qK6MHp7N0JcL4TeXw3Cm3VWB1Jr6uNyEZS3XMfILPt2qt3wPkALTWU0BdtcUWBOHs+H3KoxTAqM9Z1xljy4FRgJrB6bF0nmKpzHAq55oFUe0uGkxW1g2Loaqdhulqunl1K4PTWZkOV6fMRzEUlFJ+jPbYKKU6MCwIQRAucdZ1xLCKlKtrcKxZD6PpPGXtLt60rAmrwnlwutInrCMeYnauxEy+kho7OJ2lpbGB9V0ximVtD7eymCtp3vrAU3zx8eOL8TaF82Q+iuFTwHeATqXUXwGPA3+9KFIJgrCk3GBOBmxpbPDU4FizHuyRoI4q/o54iFyhTCZfpGRu9L0OiwHc6axDSaMSuqsq28li91iJp49N8qEH94k1cRE57xiD1vprSqmdGI3uFPALWuv9iyaZIAhLxhte3sO/7zzDO1+52rPWGQ+RLZTYP2SkuDrnUTuzlqKhEoWSptfRgA8MxWANmBqczrK8pbGyVqUYzqQrTojj4xnWdUrvsIvBvOYxaK0PAAcWSRZBEC4SbbEQ//Ff76y51m1u9E8fm0SpSidXcNc5hLJGwZrdgC9WKZyzGJzOcsuaVtothVIVg5jMVayEQyOiGC4WL6oYztI8z0Zr/YmFE0cQhHrDavr4yIFRehJhe2QtuC0Gn9niwtmZFSqupEy+SCpXpLc5QlvUyFupthgmc2XWdkQ5OjZTc9aDsDScj8VgqeyNGKmp3zd/fiOwbTGEEgShfriqw3ADZQslNnW4+3xVqqbzdgDaqnNojQbxqUocweq62tMUtusjqrOWJrKaTWsTjKbzks56EXlRxaC1/gsApdSPMZropc2fPwh8c1GlEwThotMYDNDbFGYwmeNGM0ht0RRpoMGvGEvnyRdLRIN+EhFjW/H7FG2OAjirpfcy16wHd2fWyZympynM8pbGmoohmS2wZf8Ib7qh1+7nJCw8L6WJ3hywekGlEQShLvndu66iubHB09tIKUVHzEhZHZgy+iw5u6Y6K6PtBnyOrCVnDcTUbIG5suGK6mkKe1JZAf7uRwf5o3/bzb/uOL3g71GoMB/F8M/AdqXUB82W2z8D/u/5nqyU+pJSalQptecs6+9TSu0yv/YopUpKKW+/XkEQlpzfvnMNu/7Xa1ldYxZJRyJsz3pY1eYujutMVCqjB6ez+BR0me6njqoCOGdL7/ZY0ONmAnjcHF366MGxhXljQk3m00Tvr4B3AlMYjfTeqbX+yDzu9RXgvnNc/2Na6xu11jcC/xN4VGst08QFoc5Z1drI8fEZTk3OsrKqnUZHLGRnJQ1O5+hKhF0tvV1V01VDgMYzc5QdtQy5QokTEzMA7B+udIcVFp75pqs+Czx7ITfSWm9TSq0+z8PfBnz9Qu4jCMLSsq4zxvd3DwJ4LAZrZnS5rD0tvTviIdJ5Y2Z0uMFfZTGEKJU109kCrWYG05HRDFob9zs2lqFQKtds8SG8dOalGJYCpVQjhmXx++c45n6M0aJ0dXXR399/QffKZDIXfO5iUq9yQf3KJnLNj4WUKz9WaXkxN3KU/v4T9s/J4QLFsuahn/ZzdDjLmoTPvu/EgFH38B8/eZSORh8/OzhHQGleeOZJRodLAPzwkcdZFjc2/2eGjfusDuc4ouG7P+qno3FpFMOV8Ht0obVesi+MYPWeFznm14D/ON9rbtq0SV8oW7duveBzF5N6lUvr+pVN5JofCynX1Exer/rAg3rt/3xIZ+eKrrUHdw/qVR94UO8fSur1f/oD/dcP7bPXHtk/old94EG948Sk1lrr93xtp77lLx7SWmv9xJExveoDD+onDo/Zx3/p8WN61Qce1N/fNaBXfeBB/eSR8QV7Dy/G5fh7BHbos+yrF2wxKKV6gEmt9UKP9Xwr4kYShEuG5sYg//Tbt9Dc2EC4we9as4rc9g6kmCuWXVXTtcaGtoaNjCaratpZGT2czBEM+Lh+mTFoyDnbweJrPztJoVjmt14pUxRfCi/FlfTPwFql1Le01u9dCGGUUk3APcB/XojrCYKwNNy9oaPm613mdLinj00AsLKtEpzurGqLMTid5aqo4RqqNOCrZMgPp3J0J8L2edVZS8nZAn/6HSPp8b7re+xWHsL8mc8Et03On7XWrwGuAr58nud/HXgK2KiUOqOU+h2l1LuUUu9yHPaLwI+11jPnK5cgCPXLsuYIQb+P/kNGeqmzAV9rNIhS2LMeRlI52iKGxdDcWCmcsxhKGoohGgoQafB7xoY+e3rK/n7nySmEC2c+kZvfVEr9u1LqNsdrH9da7z2fk7XWb9Na92itG7TWy7XWX9Raf05r/TnHMV/RWr91HjIJglDHBPw+Vrc3MpbO0+BXriE/Ab+PtmiQsXSeEXPWg+VKUkp5Bv2MpHJ0mVZAe9xb53B4JG1/f0DSWV8S81EMo8Bm4NtKqYNKqeNA9+KIJQjC5cLG7oT5b5xgwL3lWNXPVrygLeyomnbUOWitzVkOYfu86nnSh0cydMRDLG+JcHpSGvC9FOajGP4zsFFr3Qvci9FAb/uiSCUIwmXDz19vPD/+wo3LPGvWzGhLMbRGKluSs53G9GyBuWKZroShGNqi3rGhZ6ayrGiJsKw5YvdlEi6M+SiG08AaAK31oNb6N4H/sihSCYJw2fD6l/Xw5P94Fb9zpzdTqDMeZtzRSdVjMWTcfZa6E9YQIK8raSRlTIdb1hJhQDqzviTmoxj+APiWUuqflVJ/qJT6OCBBYkEQXpTq5noWnQmjAd+xsRnaYyHCAbdimMjk7ZGhUBka1B4LMTkzZ4//1FoznDJabvQ2RRhO5TyjQXOFEn//k0OcnJBt68WYT6+kfcArgG8AUWAYePMiySUIwhXAmvYohZLmyaPjNdtplDVMzswxXEMxWGsAqVyR2bkSPU1h+7ypWXcM4lvPnuGTWw7zoQf3LcE7u7SZb6+kPPCQ+SUIgvCSsKbDDSVz3LG2HWdnf7vILZ1nOJlDqUrtg3M6XEc8ZFsUXU1hfKbRMZ7J2/UQAE8dNWopdp6cQmtd04IRDKQDlSAIF411nTH7+5ctS7jWnJv/cDJHeyxkN82rVTUNxnQ4uzgu7bYYDpnprFOzBUZSC92w4fJCFIMgCBeNpkgDt6xuJeBTvPqaLteac/O3qp7ttZhbMYw4gtOVqunK5l8olTk+PsN1vYbyOSXprOek7rqrCoJwZfHld97MaDrPitZGjjpeb3f0SxpJ5VjeUolBtFe107BiEJ2JELm5MoCnOK5Q0tyxto29g6mafZaECmIxCIJwUYmGAqypMRkuGgoQDfoZSeWMdhhNlXhBNOgn0uBn3OFKaosGCQWMmdNBv8/VgM+KQWxa1QIgdQ4vgigGQRDqlhWtjew6PU0yW2C1owGfUspV5zBipqpaa22xoCvGYMUgVrVFaY0GayqGUlnbWU5XOqIYBEGoW9Z2xHju1LTxvSNQDe6WGcOOdhmAp8/SsCM43REL2ZaGkz/77gvc8TdbODMl8QdRDIIg1C1rOypWwrqOKsXgaJkx7GiwB9AeC3piDKGAj6ZIA22xIBNVlkGprPn69tPkCmUe3jO8GG/lkkIUgyAIdcsta9oACDf4XEN+oNJhNV8sMTkz585airstBqsBX62ureDOUto7KJ1ZJStJEIS65fa1bfz+vevYtLrFU5DWEQszNVuw+yJ1e1xJc5TLGp9PuWIQ7TVcSQeHjRqHpkgDR8cyi/mWLgnEYhAEoW7x+xTvfd1G7t3Y6Vmz6hz2mE/41RZDqayZzhYAXC2722JBZuZKZOdK9vHHx43+SXdv6JBUVkQxCIJwiWK1x3jWnNbW2+xWDGAUwJXLmtFU3o5BdNQogBtJ5YiHAmzsijGemSNXqCiNK5ElUwxKqS8ppUaVUnvOcUyfUmqXUmqvUurRpZJNEIRLj9Vm7cNP94/g9ylWOMaGtjsqoydn55grlelJVKa/AVUxiCzdTWF6zQlzV3qdw1JaDF8B7jvbolKqGfgM8Cat9XXAry6RXIIgXIKsbG3E71OcmcqysrWRUMBvr1X3WQJ3Z1aACccEuOFUnu6msO2OGq3RS2n78ckrZjLckikGrfU2YPIch/w68G2t9Snz+NElEUwQhEuSYMBnV0yvr1HjAIbFYHdeTbgVw5irziFLVyJst9qozloaz5Z5y/95it/+yjOL8E7qj3rKStoANCil+oE48Emt9T/VOlApdT9wP0BXVxf9/f0XdMNMJnPB5y4m9SoX1K9sItf8uFzkWhvJcwToVVOu87TWBHzw7P4jnD5hZDOd2PccyWM+CuYAn2deOEDP7DFKZgwiPz3Cgd3Gs+vTu/YSnzpkX2/HmVlAcXg0w3cefoSWcH2EZxfr91hPiiEAbAJeDUSAp5RST2utD1UfqLV+AHgAYPPmzbqvr++Cbtjf38+FnruY1KtcUL+yiVzz43KR69Y7Smw/Mcmd69rx+9zprF0/e4RIcytNLRF8+4/wxp/rI2C27U5s+xHx9l76+q5nOJlD/3gLt75sI2+4ZSX/fesPaOleSV/fRvta/7zvR0ARgOY119NXI0vqYrBYv8f6UHsGZ4CHtdYzWutxYBtww0WWSRCEOiYS9HPPhg6PUoDKzOihZI7OeNhWCs41MALPYLTL8PkUrdEQEzNuV9JApsxKM7h9cvzyHw1aT4rhe8BdSqmAUqoRuBXYf5FlEgThEqUzHmI4mbMzjpwYRW5G8NkbgwgyVjXkZ2xW84qVzYQCPgbNYPblzJK5kpRSXwf6gHal1Bngz4EGAK3157TW+5VSDwPPA2XgC1rrs6a2CoIgnIs17VH6D40xnS1w1/p211pHPGS3vnBOfwNDaTgthnJZM53X9DRHgQSRDwAAFDVJREFUWNYcsSutL2eWTDFord92Hsd8DPjYEogjCMJlzpr2KHPFMmPpvD1b2sLZFmM4lSPo99EaDZprQU6eqriLxmfylLShOHqbI5y5Amoc6smVJAiCsGCs76oogw1dcddaRzxEOl8kVygxnMzR1RSyezG1OdxMACNJQ4F0JcJ0Jmq37C6VNXsGkmitF+OtLDmiGARBuCx5+fJmIg1G0dttV7W61pwzo4eT7nnS7bEQ2UKJmbyRheQMTludWasVwJefOM4b/vFxvrdrcNHez1IiikEQhMuSBr+P7/3+K/nue15JPNzgWrPaYljzpLsS3j5L447pcGA06WuLBskXy8zMuXsp/dCc4fCDF4YW580sMaIYBEG4bNnQFefGFc2e1529lIY809/cvZSGkjn8ynAxVdppVNxJWmsOmW279w9fHrMcRDEIgnDFYVkFR0Yz5Itll8VQURpGnGE4laMppPD7jFnS4G6ZMZjMkc4XaY+FOD2ZJV+89DuzimIQBOGKozMeJhjw8ejBMQBWtVVGiNp9lhyupJaQEZhut1t2V4LTJyeMDCYrJXb4MqhzEMUgCMIVh9+nWN3WyPYTRm8k52zp1mgQpbCzj4aSOVrCbsXg6sxqKoJNq1qAy6NltygGQRCuSK5qN9JZG/zuWQ4Nfh8tjUE7+2jYoRisWgdnjGHYDE6/YqWpGC6DAjhRDIIgXJFsXm1s5Nf2JGjwu7dCoy1GnnS+yOxciVazm2ow4KMp0uCKMQwncyTCAa4yrY7RGnUOlxr11F1VEARhyfiFm5ax48QUb799lWfNqlcYMd1EVowBjJnR41WupO6mMOEGP9Ggn8mZOc/1vvDYMYaSOf7/N1y7CO9k4RHFIAjCFUl7LMTn3r7prGu7Tk/bfZQsV5K1NlY1L7q7yRgJ2hYLudxMAKlcgQ8/ZPQDfevNK1hfVYVdj4grSRAEoYqOuGExWPEDp2LoMK0Ji6Fkzp4n3RYLMlFlMewdqNQ2PHtqajHFXjBEMQiCIFTRGQ8xO1eyC9eaQ06LwYg/ABRKZcYyebrMArm2aMjlZgI4NJK2vz8wnOZSQBSDIAhCFavNWdKPHBhlWXOEoN/tSkrnjAZ8Y+k8WmP3WmqPBT2upMOjaeLhABu6YpdMxpIoBkEQhCquMhXDsfEZ1nZWtew2C+AmZuZsV5PVUqM1GmRyZs7VZG9oOsfylkZ6myMMJkUxCIIgXJKsbKvUNayvVgxW9bPZmRUq09/aYiGKZU0qW7SPH07l6E6EDMUwfWlURS+ZYlBKfUkpNaqUqjmVTSnVp5RKKqV2mV//a6lkEwRBcBIK+O3me3dWTX9zNtkb9kx/M9dm3HUO3U0RepvCTM7MkSvUfy+lpbQYvgLc9yLHPKa1vtH8+sslkEkQBKEmn3rrTXzsV17OPes7XK9X+iUZWUvBgI/mRqOtd1vU3TIjXywxMTNHT1PY0867nlkyxaC13gZMLtX9BEEQXgor2xr51c0r8PmU6/XKBj9nD/mpTH9zd18dTRn/GrMcjPOqC+BG0zn+06ce43u7BhbvzcyTeitwu10ptRsYBN6rtd5b6yCl1P3A/QBdXV309/df0M0ymcwFn7uY1KtcUL+yiVzzQ+SaH9VyRQKw68BRTqXKRMBeS+aNoPNTz+2hceIgBycNt9HoyYOkA4by2PrUDiY7KlvvD47PsXewwEe+v5um6cMvSa6Fop4Uw7PAKq11Rin188B3gfW1DtRaPwA8ALB582bd19d3QTfs7+/nQs9dTOpVLqhf2USu+SFyzY9quXp29uOPxZlNJ7lpRQt9fTcBxuznP+z/AS3dK+nr20hq9yBsf47X3XUroYCfDz29ld41G+nbvMK+1jcHnwWGGMvBba+8i7A5jvRC5Foo6iYrSWud0lpnzO9/ADQopdpf5DRBEIQlZ3VblEOjaQamsnbNAxjtvFujQcbMGMOwmZ7a1RS23UzVrqSDZtFbqaw5NjazFOK/KHWjGJRS3cp01CmlbsGQbeLiSiUIguBlTXuUY2MzlLV7lgNUGvCB0S6jMegnHgrQGPQTbvC5WmaUypoT4zP2kJ96meWwZK4kpdTXgT6gXSl1BvhzoAFAa/054FeAdyulikAWeKt2VokIgiDUCVc5lMG6qjqHjnjIbplhNNhzBKej7j5L45k8xbJm06oWHjs8zuCVphi01m97kfVPA59eInEEQRAumNuvarO/v7o74Vprj4U4Pm64hKysJYu2WNDlSrK6t17X20Qw4Kubyuh6Cj4LgiBcElzVEeOjv/JyVrQ04q9KZ7Wa7GmtGUnluXVNq73WFvXOcgCjQK6nKcxQnVRGi2IQBEG4AN7iyCxy0h4LkS+WSeWKtivJojUasoPNUAlOdzeFaY+FmJipj+K3ugk+C4IgXA5YBXAHh9MUy9qlGNpjQcYdTfaGUjmCfh+tjUFao0G7YtrJ82em+duHD1AolZfmDSCKQRAEYUGxWmY8f2YaqDTYs9bmimXSeaPJ3kgyR2cihM+naIt6h/wAvP/fn+ez/Uf5yb6RJZDeQBSDIAjCArK8xRjz+eRRI9t+WXPEXmuPmy0z0pV0VqsBnxWYLpcryZj5Yske7vP0saXL3hfFIAiCsICsaDUC0o8cGAVgbUclnbXSgM+wDEZSOduiaI2GKJU1qVzBPt5Z8HZwCae/iWIQBEFYQBr8PlaYVsOy5giRYKXFhbMzq9baZTFU2nlX3EmHRzMAXL8swenJ2SWRH0QxCIIgLDgvW27Mcnj58ibX607FkMwWyBfLDovB2zLDKni7eXUrI+k8pfLS1PyKYhAEQVhg3rJ5Oe2xEL92szultTUaxKfM6W/mWFAra6kyy8E95CceDrCuM0aprBlNL02dg9QxCIIgLDB3re/gmT99td0Kw8LZZG+oavqb1WRvwlUZnaU7EabXDGAPTmfpaYqw2IjFIAiCsAhUKwULq8neSNW86JZGUzE4K6NTebqbwnSatRFWD6bFRhSDIAjCEmI12bNcSZ1xQzEEAz4S4YCr+nnYtBhsN1ONOofFQBSDIAjCEtIRMxVDMkd7LEQwUNmG2+Mh22IolsqMpfP0NIVpiRozpSdrVEYvBqIYBEEQlpAVrY0MJrMcHs3YxXAW7bEQY2bweSyTp6yNIT+hwP9r7+5jrKjOOI5/fyzsKizIy+pKUUHRVCuNFFCstQTUWKSNirWtxqQ2mhBbbdWmiVZT9Y++oWn/sNEaWw22UTHWlxqK1dZibZpqBIqK8Q0tKhVBEcS1ioBP/5i5cO/lzu7ddWfuhf19kpudnXPuzrNnZufZOXPnnGROB18xmJntgQ7uGEYELHt1465zOVRN8gOVN6edGMzM9kDlU4FWJ4aO9tYdw2VU35wePayVdwoafbWwxCDpVknrJa3sod7RkrZLOrOo2MzMinLE2OE7lqccNKqirKO9jc0fbmPLtu1lVwxJd9PoYW01R1/NQ5FXDAuA2d1VkNQCzAceKiIgM7OitQ1u4Yo5h3PGlHFMHV+ZGMa0lx5y+4h1mz+kdfAgRg1Nbjxnjb6ahyKn9nxM0oQeqn0XuAc4OveAzMwaZN6MiTXX7xwvKfk4a+eItp3zRbe3sjGdyyHrGYn+otKEEUVIE8OiiJhUo2wccAdwAnBLWu8PGT9nHjAPoLOzc+rChQv7FE9XVxft7e09VyxYs8YFzRub4+odx9U7RcW1atN2fvz4h1w6tY3Fr2wlgCumJ11JD63eyp3Pf8QNJw5l2BB94rhmzZq1LCKm1SyMiMJewARgZUbZ3cCx6fIC4Mx6fubUqVOjr5YsWdLn9+apWeOKaN7YHFfvOK7eKSqu1za8H+MvWxR3PflazLj2b3HRHct3lN27/PUYf9miWLX+vX6JC1gaGefVZvpU0jRgoaTVwJnAjZJOb2xIZmbFKY2+WnoAbv8RbTvKdg6yl/99hqYZRC8iDi4tS1pA0pV0f+MiMjMr1t6tLXS0t7H81Y1s2fbxjsHzYGfSKB99NS+FJQZJdwIzgQ5Ja4CrgSEAEXFTUXGYmTWzCWOG8kg6+1v5cw47pgXdkxJDRJzdi7rfyjEUM7OmNX7MMJa+uhGonBZ09NBWJHirgK6kZrrHYGY24JVmfRukncNhAAxuGcSooa2FdCU5MZiZNZGTj+xkv+FtfO/Ew3Z5XqGjvXXP6koyM7Oejd1nb564YtfZ36A0yU/SlTT9p3/luP0+ZubM/o/BVwxmZk0m68nmMe1tbOjaQteWbazbvIUhOZ3BnRjMzHYTSVfSR6zd9AEAo/fK5xTuxGBmtpvoaG+ja8s2Xnn7fQBG753PmElODGZmu4nS3Az/fm0TAKPanBjMzAa08WOGAvDoC+tpbRnE6L2cGMzMBrRSYnj+zfeY0DGUlkFODGZmA9q+7W0Mb0ueMqieFrQ/OTGYme0mJDH5oJEATD94TG7bcWIwM9uNXDHnCM6ZfhBnTBmX2zb85LOZ2W7kiLEj+Mncz+a6DV8xmJlZBScGMzOr4MRgZmYVnBjMzKxCYYlB0q2S1ktamVF+mqSnJa2QtFTS8UXFZmZmOxV5xbAAmN1N+SPAURExGTgP+G0RQZmZWaXCEkNEPAa80015V0RE+u0wILLqmplZfrTzXFzAxqQJwKKImJRRPhf4GbAf8OWI+FdGvXnAPIDOzs6pCxcu7FM8XV1dtLfn91h5XzVrXNC8sTmu3nFcvbMnxjVr1qxlETGtVllTJYayejOAqyLipDp+5lvAq30MqQN4u4/vzVOzxgXNG5vj6h3H1Tt7YlzjI2LfWgVN+eRzRDwmaaKkjojo9pfO+sXqIWlpVsZspGaNC5o3NsfVO46rdwZaXE3zcVVJhyqd6FTSFKAV2NDYqMzMBp7Crhgk3QnMBDokrQGuBoYARMRNwFeBb0raCnwAfCOK7OcyMzOgwMQQEWf3UD4fmF9QOCU3F7y9ejVrXNC8sTmu3nFcvTOg4ir05rOZmTW/prnHYGZmzcGJwczMKgyIxCBptqQXJK2SdHmNckm6Pi1/Ov1UVN4xHShpiaTnJD0r6eIadWZKejcdP2qFpKvyjivd7mpJz5TGrapR3oj2+nRZO6yQtFnSJVV1CmuvWmN/SRot6S+SXkq/jsp4b7fHYw5xXSfp+XRf3SdpZMZ7u93vOcR1jaT/lu2vORnvLbq97iqLabWkFRnvzaW9ss4NhR5fEbFHv4AW4GXgEJKPwD4FfKaqzhzgQUDAscATBcQ1FpiSLg8HXqwR10ySBwKLbrPVQEc35YW3V419+ibJAzoNaS9gBjAFWFm27lrg8nT5cmB+X47HHOI6GRicLs+vFVc9+z2HuK4BflDHvi60varKf0HysG1h7ZV1bijy+BoIVwzHAKsi4pWI+AhYCJxWVec04HeReBwYKWlsnkFFxNqIWJ4uvwc8B+Q3iWv/Kry9qpwIvBwRfX3i/ROL2mN/nQbcli7fBpxe4631HI/9GldEPBwR29JvHwcO6K/tfZK46lR4e5Wkz1V9Hbizv7ZXZ0xZ54bCjq+BkBjGAa+Xfb+GXU/A9dTJjZKhQj4HPFGj+POSnpL0oKQjCwopgIclLVMyLlW1hrYXcBbZf6yNaK+SzohYC8kfN8mYX9Ua3XbnkVzt1dLTfs/DRWkX160ZXSONbK8vAusi4qWM8tzbq+rcUNjxNRASg2qsq/6Mbj11ciGpHbgHuCQiNlcVLyfpLjkK+BVwfxExAV+IiCnAKcCFSsauKtfI9moFTgXurlHcqPbqjUa23ZXANuD2jCo97ff+9mtgIjAZWEvSbVOtYe0FnE33Vwu5tlcP54bMt9VY1+v2GgiJYQ1wYNn3BwBv9KFOv5M0hGTH3x4R91aXR8TmiOhKlxcDQyR15B1XRLyRfl0P3EdyeVquIe2VOgVYHhHrqgsa1V5l1pW61NKv62vUadSxdi7wFeCcSDujq9Wx3/tVRKyLiO0R8THwm4ztNaq9BgNnAHdl1cmzvTLODYUdXwMhMTwJHCbp4PS/zbOAB6rqPEAyHIckHQu8W7pky0vaf3kL8FxE/DKjzv5pPSQdQ7K/ch0/StIwScNLyyQ3Lqtn3Su8vcpk/hfXiPaq8gBwbrp8LvDHGnXqOR77laTZwGXAqRHxv4w69ez3/o6r/L7U3IztFd5eqZOA5yNiTa3CPNurm3NDccdXf99Rb8YXyadoXiS5W39luu4C4IJ0WcANafkzwLQCYjqe5BLvaWBF+ppTFddFwLMknyx4HDiugLgOSbf3VLrtpmivdLtDSU70+5Sta0h7kSSntcBWkv/SzgfGkMxE+FL6dXRa91PA4u6Ox5zjWkXS71w6zm6qjitrv+cc1+/T4+dpkpPX2GZor3T9gtJxVVa3kPbq5txQ2PHlITHMzKzCQOhKMjOzXnBiMDOzCk4MZmZWwYnBzMwqODGYmVkFJwazOkgaKek7jY7DrAhODGb1GQk4MdiA4MRgVp+fAxPTsfevy6okqUXSAkkr07H6L03XT5T053TAtX9IOjxd36lkjoSn0tdxBf0+ZpkGNzoAs93E5cCkiJjcQ73JwLiImARJF1S6/maSJ2lfkjQduBE4Abge+HtEzJXUArTnE75Z/fzks1kd0uGPF5VO+N3UGwUsBRYDfwIeJhnK4y3ghbKqbRFxhKS3gAMiYksecZv1ha8YzPpRRGyUdBTwJeBCkoleLgE21XG1YdYUfI/BrD7vkUyzWJOkRySNS4f5HhQR9wA/IpmicTPwH0lfS+sqTR6QDIb27XR9i6QRuf4WZnVwYjCrQ0RsAP6Z3lSuuPksaRBwKMkUkeOAR5VMIL8A+GFa7RzgfEml0ThL0y1eDMyS9AywDCh61jmzXfgeg9knJGkScF5EfL/RsZj1BycGMzOr4K4kMzOr4MRgZmYVnBjMzKyCE4OZmVVwYjAzswpODGZmVuH/iZ7oFRyZOVYAAAAASUVORK5CYII=\n", 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\n", 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" + "
" ] }, "metadata": { @@ -107,7 +107,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 37, "metadata": {}, "outputs": [ { @@ -116,15 +116,15 @@ "Text(0.5, 1.0, 'trajectory')" ] }, - "execution_count": 5, + "execution_count": 37, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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\n", "text/plain": [ - "
" + "
" ] }, "metadata": { @@ -146,7 +146,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 18, "metadata": {}, "outputs": [], "source": [ @@ -161,7 +161,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 19, "metadata": {}, "outputs": [], "source": [ @@ -173,14 +173,14 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 49, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "A = [[-1.01891025e+00 9.05061276e-01 -2.14991949e-03 0.00000000e+00]\n", - " [ 8.22098092e-01 -1.07720402e+00 -1.75517913e-01 0.00000000e+00]\n", + "A = [[-1.15371111e+00 9.02529247e-01 -2.35984889e-03 0.00000000e+00]\n", + " [ 4.14184294e+00 -1.43382853e+00 -2.24838693e-01 0.00000000e+00]\n", " [ 0.00000000e+00 0.00000000e+00 -2.02020000e+01 2.31497868e+03]\n", " [ 1.00000000e+00 0.00000000e+00 0.00000000e+00 -1.00000000e+01]]\n", "\n", @@ -196,7 +196,7 @@ " [0.]]" ] }, - "execution_count": 8, + "execution_count": 49, "metadata": {}, "output_type": "execute_result" } @@ -206,13 +206,14 @@ "s = control.tf([1, 0], [0, 1])\n", "G = -(180/np.pi)*ss.sub_system(x=['alpha', 'Q', 'elv_deg'],\n", " u=['elv_cmd_deg'], y=['alpha', 'Q']).to_control()\n", - "sys3 = control.feedback(G, 0.2*10/(s+10)*select(2, 0))\n", + "kalpha = 0.2\n", + "sys3 = control.feedback(G, kalpha*10/(s+10)*select(2, 0))\n", "sys3" ] }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 50, "metadata": {}, "outputs": [ { @@ -228,15 +229,15 @@ "[-21, 0, -8, 8]" ] }, - "execution_count": 9, + "execution_count": 50, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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\n", "text/plain": [ - "
" + "
" ] }, "metadata": { @@ -249,7 +250,7 @@ "from analysis import rlocus\n", "H = (10/(s+10))*select(2, 0)\n", "plt.figure()\n", - "kalpha = 0.2\n", + "kalpha = 0.35\n", "rlocus('alpha', control.minreal(H*G), kvect=np.linspace(0, 10, 1000), k=kalpha);\n", "plt.plot([0, -2], [0, 2], '--')\n", "plt.axis([-21, 0, -8, 8])" @@ -257,24 +258,24 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 58, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 10, + "execution_count": 58, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", + "image/png": 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\n", 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" + "
" ] }, "metadata": { @@ -286,21 +287,22 @@ "source": [ "plt.figure()\n", "sys3 = control.feedback(G, kalpha*(10/(s+10))*select(2, 0))\n", - "rlocus('p', (s+3)/s*sys3[1, 0], kvect=np.linspace(0, 1, 1000), k=1)\n", - "plt.plot([0, -10], [0, 10*np.cos(0.707)], '--')\n", + "rlocus('p', (s+3)/s*sys3[1, 0], kvect=np.linspace(0, 1, 1000), k=0.5)\n", + "zeta_des = 0.707 # baed on max overshoot\n", + "plt.plot([0, -10], [0, 10*np.cos(zeta_des)], '--')\n", "#plt.axis([-20, 0, -5, 5])" ] }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 59, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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3wBvHr4Z3nMdGf/l9oejWFxEREQlnYZmw5WfeddVW480kfwOQ55wbHGxUIiIiIqdPqC4ifCr1AJY451aYnfg0N3FxcS41NbXI8p9++olKlTQlTSipTUNL7Rl6atPQUnuGnto0tEpSe86cOXOTcy6+4PKSkLBdiXfMxCG/MbPr8OZ6Guic23KsjVNTU5kxY0aR5dnZ2WRmZoYiTvGpTUNL7Rl6atPQUnuGnto0tEpSe5pZwSuTeMvDeUjUnxRwDd6Fn9ebWSLeWV4O70LUSc65GwvZrj/etfNITExsO2JE0Vd8ycvLIzb2ZK6UIgWpTUNL7Rl6atPQUnuGnto0tEpSe2ZlZc10zmUUXB7uCdtFwB3OuXMLKUvFu1Bvy2PVkZGR4dTDdnqpTUNL7Rl6atPQUnuGnto0tEpSe5pZoQlbuM/DdhX5hkPNLClf2SXAnNMekYiIiMhpFrbHsPnXKzwHuCXf4r+YWTrekOjyAmUiIiIipVLYJmzOuZ1AzQLLSsts1CIiIiLFFu5DoiIiIiJlnhI2ERERkTCnhE1EREQkzClhO0m5W3aSt2d/0GGIiIhIKRa2Jx2UFI+Nmcf4BRvo0KAm3Zsm0KNpInVrVgw6LBERESlFlLCdpF93aUC9mpUYN389j4yexyOj59E4IZbuzbzkrU3dakRFqiNTRMqOQxOUZmdnBxqHSGmihO0kZaTWICO1Bvf1bsbyTT8xfsEGxi/YwN8nL2PYxKVUrRBNZlo83Zsm0K1JPNUqxgQdsojIKTVw4MCgQxApdZSwhVBqXCVu7FyfGzvXZ8fufUxetIlxCzYwYcEGPpy1hsgIo2296vRomkCPZgk0jI/FzIIOW0QkpPr06RN0CCKljhK2U6Ry+WjOPyOJ889I4uBBx+zcrYyb7/W+PfnJAp78ZAF1a1Ske9MEejZLpH39GsREaehUREq+nJwcANLS0gKORKT0UMJ2GkREGK3rVqd13ercdV4aa7buOjx0+s60lbwxZTmx5aLo0jiO7k0TyGqaQFxsuaDDFhH5WW65xbtqoI5hEwkdJWwBqF2tAtd0qMc1Heqxa+8Bpizxhk7Hz9/AJ3PWYQatkqvRo2kC3Zsl0DypioZORUREyjAlbAGrEBNJj2aJ9GiWiLvYMW/tdsbN38C4BRsY8sVChnyxkKSq5clqmkDPZgl0ahhH+ejIoMMWERGR00gJWxgxM1rUrkqL2lW5s0djNu7Yw4Qcr+ftw+9W8/Y3KykfHcHZDePo3iyB7k0TSKpaIeiwRURE5BRTwhbG4iuX44qMFK7ISGHP/gNMW/aj3/u2nnELNgDQPKkKPfzkrVVyNSIiNHQqIiJS2ihhKyHKRUXSpXE8XRrH81Cf5izekMfY+d6UIS9OWMxfxy8mLjaGzLQEejRNoHPjOCqXjw46bBEpgx544IGgQxApdZSwlUBmRuPEyjROrMxtmQ3ZunMvExduZNz8DXw+dx3vzswlOtI4q75/uaxmCdSrWSnosEWkjOjZs2fQIYiUOkrYSoFqFWO4KL0OF6XXYf+Bg8xcsYXxC7wTFx4dM49Hx8yjYXwlejRLpHvTBDLqVdflskTklJk1axYA6enpAUciUnooYStloiIjOKtBTc5qUJN7ezdjxWbvclnj5m/gH18t49VJS6lSPopuad5Zp7pcloiE2oABAwDNwyYSSkrYSrl6NStxw9n1ueHs+uTt2c/kRd7Q6YScDYyevYYIg4x6NfyL1SfQKEGXyxIREQk3StjKkNhyUfRqmUSvlt7lsr5fvY3x870zTp/6ZAFPfbKAlBoV6J6WQPdmiXRoUINyUZrzTUREJGhK2MqoiAgjPaUa6SnV+MO5aazdtosJCzYybv56Rs5YxZtTV1AxJpLOjeLo0SyBrLQEEqqUDzpsERGRMkkJmwCQVLUCV59Vl6vPqsvufQeYumQz4xasZ/z8DXw+bz0AZyZX9c46bZpIi9pVNOebiIjIaaKETY5SPjqSLP8i9O4ix4J1O/wTF9bz3LhFDB27iITK5eje1Juw9+xGcVQqp11JRDxPPPFE0CGIlDph+ytrZsuBHcABYL9zLsPMagAjgVRgOXCFc25LUDGWBWZGs6QqNEuqwh1Zjdict+fwnG///X4tI6avIiYygg4Na3oXq2+aEHTIIhKwTp06BR2CSKkTtgmbL8s5tynf4z8B45xzT5nZn/zH9wQTWtlUM7Ycl7ZJ5tI2yew7cJDpy39k/PwNjF+wgYc+mstDH82lTqzRZ9cCejRLoHVKNc35JlLGTJkyBVDiJhJK4Z6wFXQRkOnffxPIRglbYKIjI+jUMI5ODeN44MLmLNvkzfn23tQFvPblUl6ZuISqFaLJTIune1PN+SZSVtx3332A5mETCSVzzgUdQ6HMbBmwBXDAMOfcq2a21TlXLd86W5xz1QvZtj/QHyAxMbHtiBEjinyevLw8YmNjQx5/WZaXl0dEuUrM3XyA2RsPMHvjfnbsBQMaV4+gVXwk6fFR1I41zflWDNpHQ09tGloF2/PQxLlDhw4NKqQST/toaJWk9szKyprpnMsouDycE7bazrk1ZpYAfAH8FvioOAlbfhkZGW7GjBlFlmdnZ5OZmRmiqAWObtODBx2zc7cevuLCvLXbAUiuXuHwiQsdGtSkfLTmfCuM9tHQU5uGVsH2PHRfPWw/n/bR0CpJ7WlmhSZsYTsk6pxb4//dYGbvA+2B9WaW5Jxba2ZJwIZAg5RiiYgwWtetTuu61RmYb8638QvWM2rGKv45dQUVoiM5O9+cb7Wqas43ERGRQ8IyYTOzSkCEc26Hf/9c4FHgI+B64Cn/74fBRSk/11Fzvi3dfPjEhbHzvTnfmidV8ZK3pgm0Sq5GpOZ8ExGRMiwsEzYgEXjfP74pCnjbOfepmU0HRpnZTcBK4JcBxighUD46kqw0r1ftUedYuD6PcQvWM2HBBl6csJi/jl9MzUoxdPNPXOjaJJ4q5aODDltEjkHHromEXlgmbM65pUCrQpZvBnqc/ojkdDAz0mpVJq1WZW7PbMTWnXuZuHAj4xd4vW//+XY1URFGRmr1w8e+NYzXxepFwk16enrQIYiUOmGZsIkAVKsYw0XpdbgovQ77Dxxk1qqth5O3Jz5ewBMf/+9i9ZlNE+ioExdEwsLYsWMB6NmzZ8CRiJQeStikRIiKjCAjtQYZqTX4Y6+mrN66i+ycDUxYsIFRM3J5c+oKykd788Jl+b1vdapVCDpskTJp0KBBgBI2kVBSwiYlUp1qFfjVWfX41Vn12L3vAF8v3Ux2zv+GTx8EmiTGetdETUugbb3qROuKCyIiUkIpYZMSr3x0JJlpCWSmJfBQn+Ys2fgTExZsYELOBl7/chnDJi6lcrkoujSJ89ZrEk9CFU0bIiIiJYcSNilVzIxGCbE0Sojl110bsGP3Pr5avNkbPs3ZwMc/rAOgRe0qZKUlkJkWT7qudyoiImFOCZuUapXLR9OrZS16tayFc475a3eQvXAD2Qs28vLEJbwwYTFVK0TTtUk8mU3i6dIkjoTK6n0TEZHwooRNygwzo3ntKjSvXYXbMxuxbdc+Ji/axIScDWTnbGT07DWA1/vWrUk83ZrE00bHvomcsGHDhgUdgkipo4RNyqyqFaK54MwkLjgziYMHHfPWbmfiwo1MXLiRVyct5aXsJcSWi+LsRjXp1iSBbmnxOvNUpBjS0tKCDkGk1FHCJoJ3vdOWdarSsk5V7shqxPbd+5iyeDMTF25k0sKNfDbXu2RWo4RYujWJp3PjOM6qX4OKMfoIiRQ0evRoAPr06RNwJCKlh35tRApRpcCxb0s25pGd4/W+Df96Ba9PXkZMZARt61Wnc+M4ujaOp0XtKkTomqciDBkyBFDCJhJKSthEjsM787QyjRIqc3OXBuzed4Dpy3/ky0Wb+HLRJp7+LIenP8uhesVoOjWKo0ujODo3jiO5esWgQxcRkVJCCZvICSofHUmXxvF0aRwPwMYde/hq8SYmLdrI5EWb+O/3awFoEFeJTo1q0qlhHB0a1KRGpZggwxYRkRJMCZvISYqvXI6LW9fh4tZ1cM6xaEMekxZuZPLiTbz/7Wre+nolAE1rVaZTwzg6NqxJ+/o1qFohOuDIRUSkpFDCJhJCZkaTxMo0SfSGT/cdOMj3uduYumQTU5du5l/frODvXy0jwqBlnap0bOj1wGXUq06lcvo4iohI4fQLIXIKRfsnJrStV53fdG/M7n0H+G7lVqYu3czUJZsOXzor0j9LtX1qddrXr0m71OpUq6ghVCmZhg8fHnQIIqWOEjaR06h8dCQdG9akY8OacE4Tdu7dz4zlW/hm2WamL9vCm1NW8LcvlwGQlliZdvWrE7trP0237aZWVV2BQUqGlJSUoEMQKXWUsIkEqGJMFF2bxNO1iXcCw+59B/g+dxvTlm1m2vItvP/tan7ae4BXZo+jbo2KtEutQfv61WmXWoP6cZUw0zQiEn5GjhwJQN++fQOORKT0UMImEkbKR0fSvn4N2tevAcD+Awd5a8wE9teoz/TlPzIhZwPvfZsLQFxsOdqlVicjtQbtU2vQLKmyLmIvYeHll18GlLCJhJISNpEwFhUZQWrVSDK7NODmLg0OT+I7ffkWpi/7kWnLf+STOesAqBQTSZt61WmfWoOM1Bq0qVeNclGRAb8CEREJBSVsIiVI/kl8r2pfF4C123YxbdmPTF/+I9OXbWHIFwsBqBAdSYcGNejmD7lqCFVEpORSwiZSwiVVrcBF6XW4KL0OANt27vOvxLCRSYs2MWH0PACSq1c4nLx1aliTyuU1D5yISEmhhE2klKlaMZqezRPp2TwRgJWbdzJxkXcR+w++W82/vllJVITRpl51ujWJp2ezRNJqVQ44ahEROZawTNjMLAX4J1ALOAi86px7zsweBn4NbPRXvc8593EwUYqUDHVrVuTamvW4tkM99u4/yLcrtzBpoXch+0PXQW1ZpwqXt0nmovQ6VNcltOQkvfvuu0GHIFLqhGXCBuwHBjrnvjWzysBMM/vCL3vWOTc4wNhESqyYqAg6NKhJhwY1+WOvpmzcsYf/fr+Gd7/N5eHR83j84/n0bJbI5W2T6dYkXmedys8SFxcXdAgipU5YJmzOubXAWv/+DjObD9QJNiqR0ie+cjn6nV2ffmfXZ/7a7bw7M5cPvlvNJ3PWERdbjkvb1OHytsk0SdSQqRTfG2+8AUC/fv0CjUOkNDHnXNAxHJOZpQKTgJbAH4B+wHZgBl4v3JZCtukP9AdITExsO2LEiCLrz8vLIzY2NtRhl2lq09A63e25/6Dj+40HmLx6P7M3HuCAg/pVIuicHEXn2lGUiyr5Z5pqHw2tgu05YMAAAIYOHRpUSCWe9tHQKkntmZWVNdM5l1FweVgnbGYWC0wEHnfO/cfMEoFNgAMeA5Kcczceq46MjAw3Y8aMIsuzs7PJzMwMXdCiNg2xINtzU94ePpy1hn/PWMWCdTuoVjGa6zqm0q9TKjVK8LFu2kdDq2B7HrqfnZ0dSDylgfbR0CpJ7WlmhSZsYTkkCmBm0cB7wL+cc/8BcM6tz1f+N2BMQOGJlAlxseW4qXN9bupcn5krfuTl7KU8P24Rr05awpXt6nJzl/okV68YdJgiIqVeWCZs5s3u+Tow3zn3TL7lSf7xbQCXAHOCiE+kLGpbrwavXV+DRet38MrEpbz19QqGf72CX7SqzS3dGtC0VpWgQxQRKbXCMmEDzgauBX4ws1n+svuAq8wsHW9IdDlwSzDhiZRdjRMrM+SKVgw8twmvfbmMEdNX8v53q+neNIFbuzWkXWp1XVFBRCTEwjJhc85NBgr7xtecayJhona1Cvxfn+bc2aMR/5y6gjemLOeKYVNpU7cad2Q1onvTBCVuZdTHH+urWiTUNMmSiJyUahVjuLNHY766pzuP/KIF67fv4aY3Z3DhXyfz6Zy1HDwYvic2yalRsWJFKlbUsY0ioaSETURCokJMJNd3SiX77kz+cvmZ/LRnP7e+9S3nP/clH81ewwElbmXGSy+9xEsvvRR0GCKlihI2EQmp6MgIrshIYewfujG0bzoHnOPOd77jnGcn8t7MXPYfOBh0iHKKjRo1ilGjRgUdhkipooRNRE6JqMgILm5dh88HdOXFq2XqLGoAACAASURBVNsQExnBwH/PpvuQiYyYtpK9+5W4iYgUlxI2ETmlIiKMC85M4uM7u/DqtW2pWiGaP/3nB7IGZzN86nJ27zsQdIgiImFPCZuInBYREca5LWrx0W/O5h83tCOxSjke/HAuZz81nufHLWLLT3uDDlFEJGyF5bQeIlJ6mRlZaQlkNoln+vItDJu4hGe+WMjL2Uvo2y6FmzrXJ6WGzjAUEclPCZuIBMLMaF+/Bu3r1yBn3Q5enfS/qydceGYS/bs2oEXtqkGHKT+DriEqEnoaEhWRwKXV8q6e8OU9Wdx4dipj563ngucnc+3r3zBl8Sac05QgIlK2KWETkbCRVLUC91/QnCn39uCPvdKYv3YHV7/2Db944Svem5mrExRKiMGDBzN48OCgwxApVZSwiUjYqVohmtszGzH5niyeuvQMdu7dz8B/z6bTU+P5y6cLWL11V9AhyjGMGTOGMWPGBB2GSKmiY9hEJGyVj47kyvZ16dsuhSlLNvPmlOW8MnEJr0xcwjnNE7muYyqdGtbUNUtFpNRTwiYiYc/MOLtRHGc3imP11l386+sVjJi+is/mrqdRQizXdazHpW2SiS2nrzQRKZ00JCoiJUqdahX4Y6+mTPlTd4b8shUVYyL5vw/n0uGJcTz04RwWrt8RdIgiIiGnf0dFpEQqHx3JZW2TuaxtMrNWbeWfU5bzzrRVvDl1Ba3rVqNvRgoXtqqtXrcAVKhQIegQREodfZOJSImXnlKN9L7p3H9BM97/bjUjp6/iT//5gUfHzOPCM5Po264ubepW07Fup8knn3wSdAgipY4SNhEpNWrGluPmLg24qXN9vl25lVHTVzH6+zWMmpFLo4RYrmyXwiWt6wQdpojICVPCJiKljpnRtl512tarzoN9mvPf79cwYvoqBv13Pn/+dAGt4iIgaQNdGscTGaFet1B77LHHAHjwwQcDjkSk9FDCJiKlWmy5KPq2q0vfdnVZuH4HI6evYuQ3y+j3j+kkVinHxa3rcHmbZBonVg461FJj3LhxgBI2kVBSwiYiZUaTxMo8eGFzOlRcz4GEprw7M5fXvlzGsIlLOTO5Kpe3TabPmbWpXikm6FBFRI6ghE1EypzoCOOclkn0apnExh17+HDWat77djX/9+FcHhszjx5NE7msbTKZafFER2r2IxEJnhI2ESnT4it7Jyrc3KUBc9ds472Zq/lw1mo+nbuOmpViuCi9Dpe3TaZ57SpBhyoiZZgSNhERX4vaVWlRuyr39m7KxJyNvPdtLsO/Xs7fv1pG86QqXN42mYvSa1MztlzQoYa1mjVrBh2CSKlT4hI2M+sFPAdEAq85554KOCQRKWWiIyPo2TyRns0T2fLTXkZ/v4Z3Z+by6Jh5PPHxfLKaJnB522Sy0hKIidKQaUHvvfde0CGIlDolKmEzs0jgReAcIBeYbmYfOefmBRuZiJRW1SvFcF3HVK7rmErOuh28920u73+3mi/mradGpRh+0ao2l7dNpkXtKpqYV0ROmRKVsAHtgcXOuaUAZjYCuAgINGHLzMw8atkVV1zB7bffzs6dO+ndu/dR5f369aNfv35s2rSJyy+//Kjy2267jb59+7Jq1Squvfbao8oHDhxInz59yMnJ4ZZbbjmq/IEHHqBnz57MmjWLAQMGHFX+xBNP0KlTJ6ZMmcJ99913VPnQoUNJT09n7NixDBo06KjyYcOGkZaWxujRoxkyZMgRZVu3bmX06NGkpKQwcuRIXn755aO2f/fdd4mLi+ONN97gjTfeOKr8448/pmLFirz00kuMGjXqqPLs7GwABg8ezJgxY44oq1ChwuGZ1h977LHDUwwcUrNmzcM9APfeey9Tp049ojw5OZm33noLgAEDBjBr1qwjyps0acKrr74KQP/+/Vm4cOER5enp6QwdOhSAa665htzc3CPKO3bsyJNPPgnAZZddxubNm48o79Gjx+HpEM4//3zWrl1LtWrVDpdfeOGF3HXXXYD2vYL7HsDw4cOPu+8BJ7Xv/fG8NAb8eRjjl+3kjR07eWPKcqJ/2kCNrTl8+sqjVK8UUyr2vV27dh1RXtS+t3XrVqpVq3Z437vrrrsYNWoUDRo0OGJ77XvF/9579dVXj/jcQ9n63ivuvnfI8b73OnToQGZm5knve0EqaQlbHWBVvse5wFkFVzKz/kB/gMTExMM7eWHy8vKOWV4cW7duPWrZwoULyc7OZvfu3YWWL1iwgOzsbLZt21Zo+dy5c8nOzmbDhg2Flv/www9UrlyZlStXFlo+e/ZsoqKiWLx4caHl3377LXv37mXOnDmFls+YMYOtW7cye/bsQsu/+eYb1q5dyw8//HBU+YEDB5g6dSpLlixh7ty5hW7/1VdfUbVqVRYsWFBo+aRJkyhfvjwLFy4stPzQe7ZkyZKjynft2nW4fNmyZUeVHzx48HB5Ye0XHR19uDw3N/eo8jVr1hwuX7NmzVHlubm5h8vXr19/VPnKlSsPl2/cuJHt27cfUb5s2bLD5T/++CMHDhw4oo4lS5YcLte+d3R5cfa9yMjIk973Dqz6npjpU4mKrsC+Wmewt05b1tfpQrtBX5BRK5LduXls2boNwx3etqTte3v27DmivKh979A+emjf+/zzz/nxxx+pUaPGEdtr3yv+917Bzz2Ure+94u57hxzve2/37t0h2feCZM65468VJszsl8B5zrmb/cfXAu2dc78tapuMjAw3Y8aMIuvMzs4uNFuXn09tGlpqz9A7VW06f+12RkxbyfvfrWb77v3Uq1mRvu1SuLxtMgmVy4f8+cJFwfY8dP9k/xkuy/S5D62S1J5mNtM5l1FweUk7WjYXSMn3OBlYE1AsIiJHaJZUhUcuasm0+3vybN9WJFYpz18+zaHTk+O5ZfgMJuRs4MDBkvNPsoiEj5I2JDodaGxm9YHVwJXA1cGGJCJypPLRkVzSOplLWiezZGMeI6ev4r2ZuXw2dz21q5bninYpXN2+LglVSm+vm4iEVolK2Jxz+83sN8BneNN6/N05NzfgsEREitQwPpb7ejfjrnPTGDt/Pe9MW8nQsYt4ccJiep+RRL9OqbSuWz3oMEMqOTk56BBESp0SlbABOOc+Bj4OOg4RkRMRExVB7zOS6H1GEss2/cQ/py7n3Rm5fDhrDa2Sq3J9p1QuODOJclGRQYd60g6dbSgioVPSjmETESnx6sdV4qE+LZh6Xw8evagFeXv284dRszn7qfE883kO67fvDjpEEQkzJa6HTUSktIgtF8V1HVO5tkM9Ji/exBtfLeevExbzUvYSzj8jiX6d6tGmbvUSNyHvoTnQDs3LJSInTwmbiEjAzIwujePp0jieFZt/YvjUFYycsYrRs9fQpm41bu3WkJ7NEomIKBmJW8FJV0Xk5GlIVEQkjNSrWYkHLmzO1/d6w6Ub8/bQf/hMzh06iX/PWMXe/QeDDlFEAqCETUQkDFXyh0snDMzkuSvTiYow7n73e7o9PYHXvlzKT3v2Bx2iiJxGSthERMJYVGQEF6XX4ZPfdeGNG9pRt0ZFBv13Pp38ExQ25+05fiUiUuLpGDYRkRLAzMhMSyAzLYFvV27hlewlPD9+Ma9+uZS+GSn8umsDkqtXDDpMwLtQuIiElhI2EZESpk3d6rx6XQaLN+xg2MSlvD1tJW9PW8kVGSnckdWI2tUqBBrfq6++Gujzi5RGGhIVESmhGiVU5ulftmLi3Vn0bZfCqBmryHw6mwc/mMPabbuCDk9EQkgJm4hICVe7WgUGXXwG2XdncXlGMu9MW0m3v2Tz8EdzA5mEt3///vTv3/+0P69IaaYhURGRUqJOtQo8cckZ3NatIS9OWMxbX6/gnWkrufqsutyW2ZCEyqfnYvMLFy48Lc8jUpaoh01EpJRJqVGRpy47k/EDM7kovTb/nLqCLn+ewKAx89i4Q2eVipRESthEREqpujUr8pfLWzHuD9248Mza/P2rZXT9ywQGf5bD9t37gg5PRE6AEjYRkVIuNa4SQ65oxbiBmfRsnsgLExbT7S/eBLy79x0IOjwRKQYlbCIiZUT9uEr89arWjPltZ1rWqcqg/86nx5CJvDszlwMHXcieJz09nfT09JDVJyI66UBEpMxpWacqw286iymLN/HUpwu469+z+dukpfyxVxrdmyZgdnIXmR86dGiIIhWRQ9TDJiJSRnVqFMeHd5zNi1e3Ye+Bg9z05gyuGDaVmSt+DDo0ESlACZuISBlmZlxwZhKf/74rj1/SkhWbd3LZy1O5+c0ZLN6w42fVec0113DNNdeEOFKRsu24CZuZ1TOzOP9+BzO7y8wuOfWhiYjI6RIdGcGvzqpH9t2Z3H1eGt8s3cx5Q7/kgQ9+YNMJXmA+NzeX3NzcUxSpSNl0zITNzB4ExgNfm9kgYCgQB9xpZjpIQUSklKkYE8UdWY2Y+McsrjmrLu9M8y539eKExTqjVCRAxzvp4CqgGVARWAnUcs7tNLMoYNapDk5ERIJRo1IMj1zUkus6pfLkxwt4+rMc3v5mJXefl8YvWtUmIuLkTkwQkRNzvCHR3c65vc65rcAS59xOAOfcfmDvKY9OREQC1TA+lteuz+CdX3egeqVoBoycxSUvfcW0ZToxQeR0Ol4PWzUzuxQwoKp/n0OPT0VAZvY00AcvIVwC3OCc22pmqcB8IMdf9Wvn3K2nIgYRETlSx4Y1+eiOznwwazVPf5bDFcOmcl6LRP50frOj1+3YMYAIRUq34yVsE4ELC7lv/uNT4QvgXufcfjP7M3AvcI9ftsQ5p9kYRUQCEBFhXNommfNbJvH65KW8nL2Ec+ZPJCslktbt91G1YjQATz75ZMCRipQ+xxsSnQPM9W8/FLg/51QE5Jz73B9yBfgaSD4VzyMiIj9PhZhIftO9MRPuzuSXGSmMXbGfboMn8M+py9l/4GDQ4YmUSuZc0ZcjMbOH/LtpQDvgQ7zetT7AJOfczac0OLPRwEjn3Fv+kOhcYCGwHXjAOfdlEdv1B/oDJCYmth0xYkSRz5GXl0dsbGyIIy/b1KahpfYMPbVpaOWsz+ODFZHM//EgtWONfd+MoMK25Tz66KNBh1ZiaR8NrZLUnllZWTOdcxkFlx8zYTu8ktnnwGXOuR3+48rAv51zvX5OMGY2FqhVSNH9zrkP/XXuBzKAS51zzszKAbHOuc1m1hb4AGjhnNt+rOfKyMhwM2bMKLI8OzubzMzMn/MypAhq09BSe4ae2jS0srOz6datG5/PW88TH89nxeadVNiymDGDbqJhfMn4kQw32kdDqyS1p5kVmrAV91qidTnyrNC9QOrPDcY51/NY5WZ2Pd7xcj2cn1E65/YAe/z7M81sCdAEKDobExGR08LMOK9FLTLT4ulw7Z/YWqcj5z07ies7pXJn98aHj28TkZ+nuJemGg5MM7OH/WHSb4A3T0VAZtYL7ySDXxyaRsRfHm9mkf79BkBjYOmpiEFERH6eclGRVF07neTZr/HLjGT+/tUyMgdPYPjXK3R8m8hJKFbC5px7HLgB2AJsxZtq41SdBvQCUBn4wsxmmdkr/vKuwPdmNht4F7jVOaeJgEREwlDkvp08eemZjPltZ5okVubBD+ZwwfOTmbJ4U9ChiZRIxR0SxTn3LfDtKYzl0PM0KmL5e8B7p/r5RUTk5PTo0ePw/Ra1qzKifwc+nbOOxz+ez9WvfUOvFrW4/4JmpNSoGGCUIiVLsRM2ERGR4njwwQePeGxmnH9GEllNE3jty6W8OGEJ43M20L9LA27PakjFGP0UiRxPcY9hExEROSnlo73528bf1Y3zW9bihQmL6T54Ih/OWk1xZiwQKcuUsImISEidf/75nH/++UWWJ1WtwHNXtubdWzsSVzmG342YxS9fmcqc1dtOY5QiJYsSNhERCaldu3axa9eu466XkVqDD+/ozJ8vO4Plm3+izwuT+dN737Mpb89piFKkZFHCJiIigYmMMPq2q8v4uzK56ez6vDszl6yns3nty6Xs0zQgIocpYRMRkcBVKR/NAxc257Pfd6VNveoM+u98zn/uSyYv0jQgIqCETUREwkjD+FjeuKEdr12Xwd79B7nm9W+4ZfgMVv248/gbi5RiOpdaRERC6sILLzyp7c2Mns0T6dw4jtcnL+OF8YvpmTORW7o15LZuDakQExmiSEVKDiVsIiISUnfddVdI6ikfHckdWY24tE0dnvx4Ac+PW8S7M1Zx/wXN6X1GLcwsJM8jUhJoSFRERMJaUtUKPH9Va0b270CVCtHc8fa3XP23b8hZtyPo0EROGyVsIiISUpmZmWRmZoa83rMa1GTMbzvz2MUtmb9uO72f/5KHP5rLtp37Qv5cIuFGCZuIiJQYUZERXNuhHhMGZnJV+xT+OXU5WUOyGTFtJQcP6moJUnopYRMRkRKneqUYBl18BqN/25mG8ZX4039+4JKXvuK7lVuCDk3klFDCJiIiJVaL2lUZdUtHhvZNZ+223Vzy0hTu/vdsNu7Q1RKkdFHCJiIiJZqZcXHrOoy/K5NbujXgg1mr6T44m9cnL9PVEqTU0LQeIiISUldccUUgzxtbLop7z2/GFRkpPDp6Ho+NmcfI6St5uE8LOjWKCyQmkVBRwiYiIiF1++23B/r8h66WMHb+Bh4dM5erX/uGC85I4r4LmlGnWoVAYxP5uTQkKiIiIbVz50527gz2UlJmxjnNE/ni990YeE4Txi1YT48h2bwwfhG79x0INDaRn0MJm4iIhFTv3r3p3bt30GEA3tUSftujMWP/0I2stAQGf76Qc5+dxLj564MOTeSEKGETEZFSL7l6RV6+pi1v3XQWMVER3PTmDG74xzSWbfop6NBEikUJm4iIlBmdG8fxye+68MAFzZi+fAvnPTuJpz9bwM69+4MOTeSYlLCJiEiZEh0Zwc1dGjB+YDcubJXEixOW0GPIREbPXoNzulqChCclbCIiUiYlVCnPM1ek895tHalRKYbfvvMdV/3ta11UXsJS2CVsZvawma02s1n+rXe+snvNbLGZ5ZjZeUHGKSIihevXrx/9+vULOoxia1uvBh/9pjODLm7JgnU76P38lzw6eh7bd+ui8hI+wnUetmedc4PzLzCz5sCVQAugNjDWzJo453R+tohIGClJydohkRHGNR3qccEZSQz+PId/TFnGR7NXc0+vplzWJpmICAs6RCnjwq6H7RguAkY45/Y455YBi4H2AcckIiIFbNq0iU2bNgUdxs9SvVIMj19yBqN/05mUGhW5+93vueyVKfyQuy3o0KSMs3A7wNLMHgb6AduBGcBA59wWM3sB+No595a/3uvAJ865dwupoz/QHyAxMbHtiBEjiny+vLw8YmNjQ/0yyjS1aWipPUNPbRpaBdtzwIABAAwdOjSokELioHNMWbOfUTl72bEXuqVEcXnjGGJjTn1vm/bR0CpJ7ZmVlTXTOZdRcHkgQ6JmNhaoVUjR/cDLwGOA8/8OAW4ECvuEFJptOudeBV4FyMjIcJmZmUXGkp2dzbHK5cSpTUNL7Rl6atPQKtie1apVAygVbdwduHP3PoZ+sYg3py5n1uZ93HVuGle1r0vkKRwm1T4aWqWhPQNJ2JxzPYuznpn9DRjjP8wFUvIVJwNrQhyaiIjIEaqUj+b/+jSnb7sUHv5oLg98MId3pq3k0Yta0LZejaDDkzIi7I5hM7OkfA8vAeb49z8CrjSzcmZWH2gMTDvd8YmISNmUVqsyb//6LF64ujU//rSXy16eyh9GzWLDjt1BhyZlQDieJfoXM0vHG+5cDtwC4Jyba2ajgHnAfuAOnSEqIiKnk5lx4Zm1yUpL4MUJi/nbl0v5fO56BvRszPWdUomODLt+ECklwi5hc85de4yyx4HHT2M4IiJygm677bagQzjlKpWL4o+9mnJ522QeGT2PQf+dz8jpq3jkFy3o1Cgu6PCkFAq7hE1EREq2vn37Bh3CadMgPpY3bmjH2PkbeHTMXK5+7RsuODOJ+3s3o3a1CkGHJ6WI+m5FRCSkVq1axapVq4IO47QxM85pnsgXv+/G73s2Yey89fQYMpEXJyxmz34duSOhoYRNRERC6tprr+Xaa4s8uqXUKh8dye96NmbsH7rRtUkcT3+Ww3nPTmLCgg1BhyalgBI2ERGREEqpUZFh12bw5o3tiTDjhjemc/Ob01m5eWfQoUkJpoRNRETkFOjWJJ5PB3Tlnl5NmbJkMz2fncgzXyxk114Nk8qJU8ImIiJyisRERXBbZkPGD8ykV4taPD9uET2fmcinc9YRbpeGlPCmhE1EROQUq1W1PM9f1Zp3ft2B2HJR3PrWTK77+zSWbMwLOjQpITSth4iIhNTAgQODDiFsdWxYkzF3dmb41BU8+8VCeg2dxE2dG/Db7o2oVE4/yVI07R0iIhJSffr0CTqEsBYdGcGNnevTp1Vt/vzpAl6ZuIQPvlvNfRc0o8+ZSZiduovKS8mlIVEREQmpnJwccnJygg4j7MVXLsfgX7bivds6EVc5hjvf+Y4rX/2anHU7gg5NwpASNhERCalbbrmFW265JegwSoy29arz4R2defySluSs30Hv57/kX/P3sG3XvqBDkzCihE1ERCRgkRHGr86qx4SBmVzZLoWxK/bTY0g2787M5eBBnU0qSthERETCRvVKMTx+yRk81LE8KTUqcte/Z3P5K1OYs3pb0KFJwJSwiYiIhJnUqpG8d2snBv+yFSt/3EmfFyZz//s/sOWnvUGHJgFRwiYiIhKGIiKMy9smM/6uTPp1SmXE9FVkDcnmX9+s4ICGScscTeshIiIh9cADDwQdQqlSpXw0D/VpQd92KTz04Vzuf38OI6at4pGLWtCmbvWgw5PTRD1sIiISUj179qRnz55Bh1HqNK1VhRH9O/Dclels2LGbS1+awt3/ns2mvD1BhyangRI2EREJqVmzZjFr1qygwyiVzIyL0uswfmAmt3ZryAezVpM1OJt/fLWM/QcOBh2enEJK2EREJKQGDBjAgAEDgg6jVKtULoo/nd+UTwd0JT2lGo+MnseFf53M10s3Bx2anCJK2EREREqohvGx/PPG9rxyTVt27N7Pla9+zZ3vfMf67buDDk1CTAmbiIhICWZm9GpZi7F/6MadPRrz6dx1dB+czbCJS9i7X8OkpYUSNhERkVKgQkwkfzinCWN/342ODWvy5CcL6PXcJL5ctDHo0CQEwi5hM7ORZjbLvy03s1n+8lQz25Wv7JWgYxUREQk3dWtW5LXr2/GPfu04eNBx7evTuHX4THK37Aw6NDkJYTcPm3Ou76H7ZjYEyH89jiXOufTTH5WIiBTXE088EXQIAmQ1TaBjw5q8PnkZfx2/iOxnNnBHZiN+3bUB5aMjgw5PTlDYJWyHmJkBVwDdg45FRESKr1OnTkGHIL7y0ZHckdWIi1vX4fH/zmPIFwv598xcHurTnB7NEoMOT06AOReel7cws67AM865DP9xKjAXWAhsBx5wzn1ZxLb9gf4AiYmJbUeMGFHk8+Tl5REbGxvS2Ms6tWloqT1DT20aWgXbc86cOQC0bNkyqJBKvFO1j87ddIC35u9h7U+OVvGR/KpZDAkVw+7oqJArSZ/5rKysmYdyn/wCSdjMbCxQq5Ci+51zH/rrvAwsds4N8R+XA2Kdc5vNrC3wAdDCObf9WM+VkZHhZsyYUWR5dnY2mZmZP++FSKHUpqGl9gw9tWloFWzPQ/ezs7MDiac0OJX76N79B3lzynKGjl3IvgOOW7o14PbMRlSIKb3DpCXpM29mhSZsgQyJOueOec0SM4sCLgXa5ttmD7DHvz/TzJYATYCiszERERE5QkxUBL/u2oBfpNfmyY/n89fxi/nPt6t54IJm9GpZC++IJAk34doP2hNY4JzLPbTAzOLNLNK/3wBoDCwNKD4REZESLbFKeYZe2ZqR/TtQuXwUt/3rW677+zQWb8gLOjQpRLgmbFcC7xRY1hX43sxmA+8CtzrnfjztkYmIiJQiZzWoyZjfduaRX7Rg1qqt9Bo6iSc/nk/env1Bhyb5hOVZos65foUsew947/RHIyIiUrpFRUZwfadULjgziac/zWHYpKW8/91q7r+gGb9oVVvDpGEgLBM2EREpuYYOHRp0CPIzxcWW48+Xn8mV7VN46KO5/G7ELP719UoeuagFzZKqBB1emRauQ6IiIlJCpaenk56uOc5LstZ1q/P+7Wfz5KVnsGjDDi7862Qe/mgu23btCzq0MksJm4iIhNTYsWMZO3Zs0GHISYqMMK5qX5cJd2Vydfu6/HPqcroPzmbU9FUcPBiec7iWZkrYREQkpAYNGsSgQYOCDkNCpFrFGB67uCUf/aYzqXGV+ON733Ppy1P4Pndr0KGVKUrYRERE5Lha1qnKu7d25JkrWpG7ZRcXvfgV9/7nB378aW/QoZUJSthERESkWMyMS9skM/6ubtx4dn1GzVhF9yHZvPX1Cg5omPSUUsImIiIiJ6RK+WgevLA5n/yuC81qVeGBD+bwixcmM3PFlqBDK7WUsImIiMjP0iSxMm//+iz+elVrNuft5bKXpzBw1Gw27tgTdGiljuZhExGRkBo2bFjQIchpZGb0aVWb7k0TeGHCYl77cimfz13H789pwnUd6xEVqb6hUFAriohISKWlpZGWlhZ0GHKaVSoXxT29mvLZgK60rledR8fM44LnJ/P10s1Bh1YqKGETEZGQGj16NKNHjw46DAlIg/hY3ryhHcOubUvenv1c+erX3PnOd6zbtjvo0Eo0DYmKiEhIDRkyBIA+ffoEHIkExcw4r0UtujaO55WJS3h54hLGzl/PnT0ac+PZ9YmJUn/RiVKLiYiIyClRISaS35/ThLG/70anhnE89ckCej03iS8XbQw6tBJHCZuIiIicUnVrVuS16zP4R792HDzouPb1adw6fCa5W3YGHVqJoYRNRERETouspgl89vuu3H1eGtkLN9DzmYk8P24Ru/cdCDq0sKeETURERE6bclGRPKZQUQAAIABJREFU3JHViHEDM+nRNJFnvljIuc9OYtz89UGHFtZ00oGIiITU8OHDgw5BSoA61Srw4q/acPXiTTz00VxuenMG3Zsm8H8XNic1rlLQ4YUd9bCJiEhIpaSkkJKSEnQYUkKc3SiOj+/swv29m/HN0s2c++wkBn+Ww869+4MOLawoYRMRkZAaOXIkI0eODDoMKUFioiL4ddcGTLgrkwvOTOKFCYvpOWQiH/+wFud0UXlQwiYiIiH28ssv8/LLLwcdhpRACf/P3n2HSVWe/x9/3zOzHZa2wFIXkCZFULCADZUoFqxYoqiYKPaEbzTFkvxMNJZEIzEGFKNii5FgLChoAnGxgAUVpPe20ju7sGx7fn/sQJZlK8zsmTn7eV3XXDvzPOfsfK7bx9mbM3POpCfz5JV9mXDzANJTErjttW8Y/vwXLNu02+tonlPDJiIiIjHlhI5Nee/OU/jdRT2Zm7OTIaM/4ffvL2B3fqHX0Tyjhk1ERERiTigY4LoBHfjv3YO47Li2PPfJSs56Yjpvf/t9vXyb1JOGzcwuN7P5ZlZiZv3Lzd1jZsvMbLGZnVNmvJ+ZzQ3PPWVmVvfJRUREpC5lNEjisWHH8PbtJ5PZKJlRb8zmymc/Z8G6XV5Hq1NeHWGbB1wKfFx20Mx6AFcBPYEhwBgzC4anxwIjgS7h25A6SysiIiKe6tuuMW/fdjKPXtqbpZt2c8FfPuH/vTOPnXvrx9uknlyHzTm3EEq/HLaci4B/OOf2ASvNbBlwgpmtAtKdczPD+70MXAxMqbPQIiJSIxMnTvQ6gvhUIGBcdUJ7hvTK5Il/L+GVz1fz3nfr+eWQ7gzr15ZAwL9vvsXaZ9jaAGvLPM4Jj7UJ3y8/LiIiMSYjI4OMjAyvY4iPNU5N5MGLe/HuHafQISONX7z5HZeOncF3OTu8jhY1UTvCZmZTgcwKpu5zzr1T2W4VjLkqxit77pGUvn1Ky5Ytyc7OrjRnbm5ulfNSe6ppZKmekaeaRlb5en7wwQcADBmiT64cLq3Rmruju2NGeiJvLN7JRU9/xultQ1zWNZGGif9rHfxQz6g1bM65wYexWw5Q9vLYbYF14fG2FYxX9tzjgHEA/fv3d4MGDar0CbOzs6lqXmpPNY0s1TPyVNPIKl/PBx54AIBHH33Um0A+oDVaO2cAd+YX8tTUpbw4YxXfbi3k7nO6cfUJ7QkGzBf1jLW3RN8FrjKzJDPrSOnJBV8659YDu83spPDZodcBlR2lExERkXomPTmB+y/owZSfnkqPVun8+u15XPj0p3y9ervX0SLCq8t6XGJmOcAA4H0z+xDAOTcfmAAsAD4AbnfOFYd3uxX4G7AMWI5OOBAREZFyurZsyN9vOpGnrz6WrbkFXDZ2Bs99t4/Nu/d5He2IeHWW6FvAW5XM/R74fQXjs4BeUY4mIiIicc7MuOCY1pzRrQVPf7SMcdOXc+bj2fzfD7py3YAsQsFYe4OxevGXWERERKQG0pJC/HJId35/SgrHZjXhd+8t4PynPmXm8q1eR6s1NWwiIhJRkydPZvLkyV7HEDkgMy3ASzccz7hr+5FXUMQPn/ucO1//lg07872OVmOevCUqIiL+lZqa6nUEkUOYGWf3zOS0rs0Zm72csdOXM23hRn5yVhd+dHJHEkOxfQwrttOJiEjcGTNmDGPGjPE6hkiFkhOC/N8PujL1/05n4FEZPDplEUNGf8zHSzZ7Ha1KathERCSiJkyYwIQJE7yOIVKl9s1S+dv1/XlxxPGUOMd1L3zJLa98Tc72PV5Hq5AaNhEREam3zujegg//7zR+fk43pi/ZzFlPTOepaUvJLyyufuc6pIZNRERE6rWkUJDbz+jMtLtOZ3CPlvzpP0s4+8mPmbpgo9fRDlDDJiIiIgK0bpzCX68+jtduPJHEUIAbX57Fj8Z/xaoteV5HU8MmIiIiUtbJnTOY8tNTuf/8o/ly5TbOfvJjHv9wMXsKijzLpMt6iIhIRGVnZ3sdQeSIJQQD3HhqJy7s05pHpizihc9WcvWJ7UlN9KZ1UsMmIiIiUokW6ck8eWVfNu3Kp0V6smc59JaoiIiISDW8bNZADZuIiIhIzFPDJiIiIhLj1LCJiIiIxDg1bCIiIiIxTg2biIiISIxTwyYiIiIS49SwiYiIiMQ4NWwiIiIiMc6cc15niCoz2wksLTPUCNhZ5nEGsCXKMco/Z7T2rW7bquYrmjvcMb/UtCbbVbZNbcbLj3lRz4qeNxr7RXqNVjRen9ZoTbbVGq3dvnWxRisa0xqt+Vys1rOi5z2cfbOcc80PmXXO+foGjKvm8ay6zhCtfavbtqr5iuYOd8wvNa3JdpVtU5vxWFijR1JTL9doTernVU1j/f/7+rRGa7NvXazRWKlprK/RmtYuVuoZ7ZrWh7dEJ1Xz2IsM0dq3um2rmq9o7kjGoq0ualqT7SrbpjbjsbBGj+R5vVyjFY3XpzVak221Rmu3b12s0YrGtEZrPher9TzS561yX9+/JVodM5vlnOvvdQ4/UU0jS/WMPNU0slTPyFNNI8sP9awPR9iqM87rAD6kmkaW6hl5qmlkqZ6Rp5pGVtzXs94fYRMRERGJdTrCJiIiIhLj1LCJiIiIxDg1bCIiIiIxTg2biIiISIxTw1YFMzvazJ4xs4lmdqvXeeKdmV1sZs+Z2TtmdrbXefzAzDqZ2fNmNtHrLPHKzNLM7KXw2rzG6zx+oHUZWXrtjLx4/Pvu24bNzF4ws01mNq/c+BAzW2xmy8zsV1X9DufcQufcLcAVQFxfv+VIRaiebzvnbgJGAFdGMW5ciFBNVzjnfhzdpPGnlrW9FJgYXpsX1nnYOFGbmmpdVq+W9dRrZw3UsqZx9/fdtw0bMB4YUnbAzILAX4FzgR7AD82sh5n1NrP3yt1ahPe5EPgUmFa38WPOeCJQz7D7w/vVd+OJXE3lYOOpYW2BtsDa8GbFdZgx3oyn5jWV6o2n9vXUa2fVxlOLmsbb3/eQ1wGixTn3sZl1KDd8ArDMObcCwMz+AVzknHsEuKCS3/Mu8K6ZvQ/8PXqJY1sk6mlmBjwKTHHOfRPdxLEvUmtUDlWb2gI5lDZts/H3P2KPSC1ruqBu08Wf2tTTzBai185q1XaNxtvf9/r24tSG//1LGkpfqNtUtrGZDTKzp8zsWWBytMPFoVrVE7gTGAwMM7NbohksjtV2jTYzs2eAY83snmiHi3OV1fZfwGVmNhbvvn8wXlVYU63Lw1bZGtVr5+GrbI3G3d933x5hq4RVMFbpVz0457KB7GiF8YHa1vMp4KnoxfGF2tZ0K6AX8JqpsLbOuTzghroO4xOV1VTr8vBUVk+9dh6+ymqaTZz9fa9vR9hygHZlHrcF1nmUxQ9Uz8hTTaNHtY081TSyVM/I801N61vD9hXQxcw6mlkicBXwrseZ4pnqGXmqafSotpGnmkaW6hl5vqmpbxs2M3sdmAl0M7McM/uxc64IuAP4EFgITHDOzfcyZ7xQPSNPNY0e1TbyVNPIUj0jz+81Necq/XiMiIiIiMQA3x5hExEREfELNWwiIiIiMU4Nm4iIiEiMU8MmIiIiEuPUsImIiIjEODVsIiIiIjFODZuISBXMLLfc4xFm9rRXeUSkflLDJiIiIhLj6tuXv4uIRIyZzS7zsBswxDk33as8IuJfathERKqWUq4xa0r4uwidc30BzGwo8AtgRt3HE5H6QA2biEjV9u5vzKD0M2xA/zKPuwB/BM50zhXWfTwRqQ/0GTYRkcNkZmnABOAm59w6r/OIiH+pYRMROXwvAi865z7xOoiI+JsaNhGRw2BmWcAw4EdmNjt861/dfiIih8Occ15nEBEREZEq6AibiIiISIxTwyYiIiIS49SwiYiIiMQ4NWwiIiIiMU4Nm4iIiEiMU8MmIiIiEuPUsImIiIjEODVsIiIiIjFODZuIiIhIjFPDJiIiIhLj1LCJiIiIxDg1bCIiIiIxTg2biIiISIxTwyYiIiIS49SwiYiIiMS4kNcBoi0jI8N16NCh0vm8vDzS0tLqLlA9oJpGluoZeappZKmekaeaRlY81fPrr7/e4pxrXn7c9w1bhw4dmDVrVqXz2dnZDBo0qO4C1QOqaWSpnpGnmkaW6hl5qmlkxVM9zWx1ReN6S1REREQkxqlhExEREYlxathEREREYpwaNhEREZEYp4ZNREREJMapYRMRERGJcWrYRERERGKcGjYRERGRGOf7C+eK1FRRcQm5+4rYnb//Vsju/KLwWCG7wuP5hcWUOIdz4Nj/E5wD9j92YAatGqXQsXkanTLS6JiRRlqS/pcTEZHa018P8ZWCopIDzdWuvYXsyi9kx55Cdu4tcws/3rG3gJ17i9i5p4CdewvJKyiu9vcnBI2UhCCBgGGA2f6fAIYZBx4Xl8DWvH3hRq5Uy/QkOmU0ONDEdWqeRseMBrRvmkowYNEpikgd239F+ezsbE9ziPiJGjbxXEmJI7+omL0FxeTtKyZ3XxF5BaVHtvL2FZGbv/9+MXkFRQcf9dp7cHOWX1hS5XMlhQI0Tk2gUUoCjVMSadM4hR6t0mmUUjrWIDlEw+QQ6ckhGiYn0CCp9HHD5AQaJodICgUwq3ljlV9YzKqteazcnMeKLXms2JzHyi25TJ67nh17Cg9s16ZxCnec2Zlh/dqSENQnFURE5GBq2Oox5xzFJY6iEkdhcQlFxf+7v/9WUOQo2P+4qCR831FQVDq2r6iY/MLSn/sKS9hXVMKylfv478554cel83sLSxuyvYXFB93fU1BUbZNVVnJCgAZJIdKSQjRKSSA9OYHMRsmkJyeQnpJAenKI9JSEcNNVOlbanJXeT04IRrGiFeUN0j0zne6Z6YfMbc8rYMWWPJZvyuXvX67hnn/N5a8fLePOMztz6XFq3CR+3XXXXV5HEPEdNWxH6J3Z37N8Uy4ODnyuqcSVNkOO0qNHJWU+61TiXPhWuk1JCQc/Dt8vdi68r6O45H/7FYfHSkr+t01ReKyoOPyzpHS7sreiEkdRyf6m7H/NWaQFDBICkLppHUmhIEkJARKDAVITg6QkBslokEhqYojkhOCBsZSE//1MSwrRIKn0Z+n98M/EEGlJQUI+amKapCXSLy2RfllNuLx/W7IXb+bJqUv45Ztz+etHy7nzzM5ccmwbr2OK1NrQoUO9jiDiO2rYjtCkOeuZunAjASv9PNP+nwYEyj4Of7YpGDACZge2LbtNIFD62IBAwAiaEQyUbhsMQND237fwfUgMBUgJGKFAePzALUAo/FyhgBEIGAlBIxQIEAqWjoWCARICRjBoJJQZTwgGSAwFSAgGwvfDY8EACaHwz2CAhKCRnBAkKRQgKfwzFDCmT59+4DMsUjNmxhndWzCoW3OmLdzEk1OX8POJ3/HXj5bxg9ZFnFJc4qtmVfxt8eLFAHTr1s3jJCL+oYbtCD13Xb9afaZJpCpmxuAeLTnr6Bb8Z8FGnpy6lOfm7mHa+o/5yVldGNqntU5OkJh38803AzrpQCSS9E/2I6RmTaLBzDi7Zybv33kKd/RNIjEUYNQbsznvz5+waVe+1/FERKSOqWETiWGBgNE/M8Tkn5zK01cfy9rte/jxS7PYU1DkdTQREalDathE4kAgYFxwTGueuupY5q3byc/emENJFE4aERGR2KSGTSSODO7RkvvP78EH8zfwhw8Xex1HRETqiE46EIkzPzq5Ayu35PLM9OV0zEjlyuPbex1J5CD333+/1xFEfEcNm0icMTMeGNqT1Vv3cN9b82jXJJWBnTO8jiVywODBg72OIOI7ektUJA6FggH+es1xdMxI45ZXv2bZplyvI4kcMHv2bGbPnu11DBFfUcMmEqfSkxN4YcTxJIYC/Gj8V2zLK/A6kggAo0aNYtSoUV7HEPEVNWwicaxd01TGXdefDbvyGfnyLPYVFXsdSUREokANm0icO659E564vA+zVm/nV2/OxTld7kNExG900oGIDwzt05rVW/N4/N9L6JiRxk/O6uJ1JBERiSA1bCI+cfsZnVmxJY8//WcJWc1SuahvG68jiYhIhKhhE/EJM+ORS3uTs20vP5/4HR2apdGnXWOvY0k99PDDD3sdQcR39Bk2ER9JCgV59tp+NEpJ4NEpi7yOI/XUwIEDGThwoNcxRHxFDZuIzzRJS+Tm0zoxc8VWvlq1zes4Ug/NmDGDGTNmeB1DxFfUsIn40DUnZtEsLZGnpi31OorUQ/feey/33nuv1zFEfEUNm4gPpSQGufHUTnyydAuz1+7wOo6IiBwhNWwiPnXtgCwapybwFx1lExGJe2rYRHyqQVKIH53ckWmLNjHv+51exxERkSOghk3Ex64f2IGGSSGe/u8yr6OIiMgR8KRhM7PLzWy+mZWYWf9yc/eY2TIzW2xm55QZ72dmc8NzT5mZ1X1ykfjSKCWBESd34IP5G1i8YbfXcaSeGD16NKNHj/Y6hoiveHWEbR5wKfBx2UEz6wFcBfQEhgBjzCwYnh4LjAS6hG9D6iytSBz70ckdSUsM8vRHOsomdaNv37707dvX6xgivuJJw+acW+icW1zB1EXAP5xz+5xzK4FlwAlm1gpId87NdKXfbP0ycHEdRhaJW03SErl2QAfe+24dyzbleh1H6oGpU6cydepUr2OI+EqsfTVVG+DzMo9zwmOF4fvlxytkZiMpPRpHy5Ytyc7OrvQJc3Nzq5yX2lNNIysS9ewRcCQY/OYfnzHymKTIBItjWqORVb6ed999N4DeFj0CWqOR5Yd6Rq1hM7OpQGYFU/c5596pbLcKxlwV4xVyzo0DxgH079/fDRo0qNKc2dnZVDUvtaeaRlak6jmncAHjZ6zikWuOJ6tZ2pEHi2Nao5FVvp6NG5d+h61qfPi0RiPLD/WM2luizrnBzrleFdwqa9ag9MhZuzKP2wLrwuNtKxgXkRq6+bROBAPGmI+Wex1FRERqKdYu6/EucJWZJZlZR0pPLvjSObce2G1mJ4XPDr0OqKrxE5FyWqQnc9Xx7Xjzmxxytu/xOo6IiNSCV5f1uMTMcoABwPtm9iGAc24+MAFYAHwA3O6cKw7vdivwN0pPRFgOTKnz4CJx7pbTj8IMnpmuo2wiIvHEk5MOnHNvAW9VMvd74PcVjM8CekU5moivtW6cwrB+bZnwVQ53nNGFzEbJXkcSH3r22We9jiDiO7H2lqiIRNltgzpT7JyOsknUdOvWjW7dunkdQ8RX1LCJ1DPtmqZyybFteP3LNWzane91HPGhSZMmMWnSJK9jiPiKGjaReuj2MzpTWFzC3z5Z6XUU8aEnnniCJ554wusYIr6ihk2kHuqYkcbQPq159fPVbMsr8DqOiIhUQw2bSD11xxmd2VtYzPOfrvA6ioiIVEMNm0g91aVlQ4b0zOTVz9ewt6C4+h1ERMQzathE6rHrB3Zg595CJn2nLw4REYllsfbl7yJSh07s2JQuLRrw6ueruaJ/u+p3EKmBV155xesIIr6jI2wi9ZiZMfykLL7L2cmctTu8jiM+0a5dO9q10z8ARCJJDZtIPXfJcW1ITQzy6uervY4iPvHGG2/wxhtveB1DxFfUsInUc+nJCVx8bBvenbOOHXt0iQ85cmPHjmXs2LFexxDxFTVsIsLwE7PYV1TCxK9zvI4iIiIVUMMmIvRonU6/rCa8+vlqSkqc13FERKQcNWwiAsC1J2WxausePlu+xesoIiJSjho2EQHg3N6ZNE1L5JWZOvlARCTW6DpsIgJAUijIlce349npy1m3Yy+tG6d4HUni1MSJE72OIOI7OsImIgdcfUJ7HPD6l2u8jiJxLCMjg4yMDK9jiPiKGjYROaBd01TO6NaCf3y1loKiEq/jSJwaP34848eP9zqGiK+oYRORg1x7Uhabd+/j3ws2eB1F4pQaNpHIU8MmIgc5rWtz2jVN0ckHIiIxRA2biBwkGDCuOTGLL1ZuY+nG3V7HERER1LCJSAWu6N+OxFBA3y8qIhIj1LCJyCGapiVyfu9WvPnN9+TtK/I6johIvaeGTUQqNPykLHL3FfH27O+9jiJxZvLkyUyePNnrGCK+ooZNRCp0XPvG9GiVziszV+Ocvl9Uai41NZXU1FSvY4j4iho2EamQmXHtgCwWbdjNN2u2ex1H4siYMWMYM2aM1zFEfEUNm4hU6qK+rWmYFNIlPqRWJkyYwIQJE7yOIeIrathEpFKpiSEu69eWyXM3sDV3n9dxRETqLTVsIlKl4Se1p6C4hAmzcryOIiJSb6lhE5EqdW7RkAGdmvHaF6spLtHJByIiXlDDJiLVun5gFjnb9/LWt7rEh4iIF0JeBxCR2HdOz0yObd+YP3ywiHN7ZZKWpJcOqVx2drbXEUR8R0fYRKRaZsavL+jBpt37eGb6cq/jiIjUO2rYRKRGjmvfhIv7tmbcxyvI2b7H6zgSwx5//HEef/xxr2OI+IoaNhGpsV8M6Y4ZPPbBYq+jSAx77733eO+997yOIeIrathEpMZaN05h5GlHMWnOOr5evc3rOCIi9YYaNhGplVtO70TL9CR+995CSnSZDxGROqGGTURqJTUxxC+HdGfO2h28M0eX+RARqQtq2ESk1i7u24Y+bRvx2JTF7Cko8jqOxJiUlBRSUlK8jiHiK2rYRKTWAgHjN0N7sGFXPs9OX+F1HIkxU6ZMYcqUKV7HEPEVTxo2M7vczOabWYmZ9S8z/gMz+9rM5oZ/nllmrl94fJmZPWVm5kV2ESnVL6spFxzTimc/Xs66HXu9jiMi4mteHWGbB1wKfFxufAsw1DnXG7geeKXM3FhgJNAlfBtSBzlFpAq/Orc7JQ7+8MEir6NIDHnwwQd58MEHvY4h4iueNGzOuYXOuUMu5OSc+9Y5ty78cD6QbGZJZtYKSHfOzXTOOeBl4OI6jCwiFWjbJJWRp3bi7dnr+HbNdq/jSIyYNm0a06ZN8zqGiK/E8hcCXgZ865zbZ2ZtgJwyczlAm8p2NLORlB6No2XLllV+r11ubq6+9y7CVNPIivV69go6GiUZd7/2OfeflEw8fFoh1msab8rXc8eOHYC+U/RIaI1Glh/qGbWGzcymApkVTN3nnHunmn17Ao8BZ+8fqmCzSi8A5ZwbB4wD6N+/vxs0aFClz5WdnU1V81J7qmlkxUM9dzdey88nfseuJl25qG+l/5aKGfFQ03hSvp6NGzcGUI2PgNZoZPmhnlFr2Jxzgw9nPzNrC7wFXOec2/8t0zlA2zKbtQXWld9XRLxx2XFteWnmKh6bsoize2SSkhj0OpKIiK/E1GU9zKwx8D5wj3Pus/3jzrn1wG4zOyl8duh1QJVH6USk7gQCxm8u6Mm6nfk894ku81HfNWvWjGbNmnkdQ8RXvLqsxyVmlgMMAN43sw/DU3cAnYFfm9ns8K1FeO5W4G/AMmA5oIv8iMSQEzo25bzemYzNXs6GnflexxEPvfnmm7z55ptexxDxFa/OEn3LOdfWOZfknGvpnDsnPP6Qcy7NOde3zG1TeG6Wc66Xc+4o59wd4bNFRSSG3HPu0RQ7x5XjZvKNzhoVEYmYmHpLVETiW7umqbx244kUFTsuf2YmT/5nCUXFJV7Hkjp2zz33cM8993gdQ8RX1LCJSEQd36EpU0adykV9W/PnaUsZ9sxMVm3J8zqW1KGZM2cyc+ZMr2OI+IoaNhGJuPTkBP50RV+evvpYVmzO5bynPuGNr9agTzKIiByeWL5wrojEuQuOaU2/rCbcNWEOv3xzLtMWbuLRy46haVpiVJ4vd18RW3bvY1d+Ibvzi9i1t7Dc/SJ25ReyMieff63/lkHdmnNGtxY0iVIeEZFIUcMmIlHVqlEKr/74RJ7/dCV//HAx54z+mMcv78PpXZsf0e/dV1TMovW7mZOzgzlrdzInZwfLN+dS2UE8M2iYFKJhcgKBYkfOiq28O2cdAYP+WU056+gWnHV0S45qnhYX39YgIvWLGjYRibpAwLjptE6c3DmDUW98y/UvfMmIgR341bndSU6o/iK7JSWOFVvymLN2R2mDlrOThet2URA+oSGjQSJ92jZm6DGtadc0hYbJCaQnh0hPSSA9JYGGySEaJIYIBEobsezsbE477XTmfr+TaQs3MnXhJh6ZsohHpiyiQ7NUzjq6JWcd3YLjOzQlIahPjtRW27Ztq99IRGpFDZuI1JkerdN5945TeOyDRbz42Spe/Xw1gYARMDAMs9LvoTM7+H5BUQl7C4sBSEsM0rttI244uQN92jWmT7vGtG5U++8wDQTswP4/O7sb3+/Yy3/DzdsrM1fz/KcrSU8OcUb3Ftx9djfaNU2NfEF86tVXX/U6gojvqGETkTqVnBDk/w3tyQ96tOTjJVtwzuGg9KcjfB8c4cfOEQoG6J7ZkD7tGnNU8wYEA5F/y7JN4xSuHdCBawd0IG9fEZ8s3cK0hRuZMm8DHy3axB8v78M5PSv6emQRkehTwyYinhh4VAYDj8rwOkaF0pJCDOmVyZBemdx5ZhfueP0bbn7la358Skd+OaQ7iSG9TVqVUaNGATB69GiPk4j4h151RESq0L5ZKv+8ZQAjBnbg+U9XcsWzM8nZvsfrWDFt9uzZzJ492+sYIr6ihk1EpBpJoSAPXNiTsdccx/JNuZz350/4z4KNXscSkXpEDZuISA2d27sV7/3kFLKapXHTy7N46L0FFOqrt0SkDqhhExGphaxmaUy8dQDXD8jib3qLVETqiBo2EZFaSgoF+e1Fvfjr1cexdGMu5z/1KVP1FukBXbt2pWvXrl7HEPEVnSUqInKYzj+mFT1bp3P737/hxpdn8Ysh3bhtUGevY3lu3LhxXkcQ8R0dYRMROQIdMtJ489aBXNinNX/4YDFvf/u915FExId0hE1E5AglJwR5/PI+bNyVzy8mfkfbJin079DU61ieGTlyJKAjbSKRpCNsIiIRkBgK8MzwfrRpksLIV75m9dY8ryN5ZsmSJSxZssTrGCK+ooZNRCRCmqRyPiMZAAAgAElEQVQl8sKI4ylxjh+N/4qdewu9jiQiPqGGTUQkgjpmpPHM8H6s2baH2177WtdpE5GIUMMmIhJhJ3VqxiOXHsNny7by67fn4ZzzOpKIxDmddCAiEgXD+rVl1ZY8nv5oGZ2apzHytKO8jlRn+vbt63UEEd9RwyYiEiU/+0FXVm7N45Epi8hqlsY5PTO9jlQnRo8e7XUEEd+p0VuiZrbbzHaVu601s7fMrFO0Q4qIxKNAwHji8j70aduYUf+YzdycnV5HEpE4VdPPsP0J+DnQBmgL3A08B/wDeCE60URE4l9yQpDnrutP07REfvzSV6zfudfrSFE3fPhwhg8f7nUMEV+pacM2xDn3rHNut3Nul3NuHHCec+4NoEkU84mIxL3mDZN4YcTx7Cko5kfjZ5G3r8jrSFGVk5NDTk6O1zFEfKWmDVuJmV1hZoHw7Yoyczr9SUSkGt0yG/LXa45jycbd/PQf3+rMURGplZo2bNcA1wKbgI3h+8PNLAW4I0rZRER85fSuzbn//KOZunATr32xxus4IhJHanSWqHNuBTC0kulPIxdHRMTfRgzswH8XbeLhyQs5tUsGWc3SvI4kInGgpmeJdjWzaWY2L/z4GDO7P7rRRET8x8z4w7BjCAaMn//zO4pL/PfW6IABAxgwYIDXMUR8paZviT4H3AMUAjjnvgOuilYoERE/a9UohQeG9uTLVdt48bOVXseJuEceeYRHHnnE6xgivlLThi3VOfdluTF/n+YkIhJFlx7Xhh/0aMkfPlzMsk27vY4jIjGupg3bFjM7ivAZoWY2DFgftVQiIj5nZjx8SW/SEoPcNWEORT76kvjLLruMyy67zOsYIr5S04btduBZoLuZfQ+MAm6JWioRkXqgecMkHrq4N3NydvLM9OVex4mYrVu3snXrVq9jiPhKlWeJmtnPyjycDHxEaZOXB1xG6TcgiIjIYTr/mFZMmdeKP09bypndW9KjdbrXkUQkBlV3hK1h+NYfuJXSbzVoTOnRtR7RjSYiUj88eFEvGqUk8rMJsyko8s9boyISOVU2bM653zrnfgtkAMc55+52zt0F9KP0O0VFROQINUlL5NFLe7Now26emrbU6zgiEoNqdOFcoD1QUOZxAdAh4mlEROqpwT1aMqxfW8ZOX87gHi3p266x15EO21lnneV1BBHfqWnD9grwpZm9RemZopcAL0UtlYhIPfSboT2YsWwLd02Yzfs/OZXkhKDXkQ7Lr3/9a68jiPhOjc4Sdc79HrgB2A7sAG5wzumqiCIiEZSenMBjw45h+eY8Hv9wsddxRCSG1PSyHjjnvnHO/Tl8+/ZIntTMLjez+WZWYmb9K5hvb2a5ZnZ3mbF+ZjbXzJaZ2VNmZkeSQUQkFp3apTnDT2rP85+t5MuV27yOc1jOPfdczj33XK9jiPhKjRu2CJsHXAp8XMn8k8CUcmNjgZFAl/BtSNTSiYh46J5zj6Zdk1Tu/ucc8vbF35fK7N27l71793odQ8RXPGnYnHMLnXMVHu83s4uBFcD8MmOtgHTn3EznnANeBi6uk7AiInUsLSnE45f3Ye32PTzx7yVexxGRGFDTkw7qhJmlAb8EfgDcXWaqDZBT5nFOeKyy3zOS0qNxtGzZkuzs7EqfMzc3t8p5qT3VNLJUz8iLl5oOahvixc9W0r5kPR0axe4JCOXruWPHDoC4qHGsipc1Gi/8UM+oNWxmNhXIrGDqPufcO5Xs9lvgSedcbrmPqFX0eTVX2XM758YB4wD69+/vBg0aVGnO7OxsqpqX2lNNI0v1jLx4qemxJxYy+E/T+efqRN65/WRCQa8+xVK18vVs3Lj0kiTxUONYFS9rNF74oZ5Ra9icc4MPY7cTgWFm9gdKv1GhxMzygTc5+EK9bYF1R55SRCR2NUpJ4IGhPbn9798wfsYqbjy1k9eRauSCCy7wOoKI78TUW6LOuVP33zezB4Bc59zT4ce7zewk4AvgOuAvnoQUEalD5/XO5MzuLXji30sY0iuTtk1SvY5Urbvvvrv6jUSkVjw5vm5ml5hZDjAAeN/MPqzBbrcCfwOWAcs59CxSERHfMTN+e2FPAP7fO/MpPe9KROobT46wOefeAt6qZpsHyj2eBfSKYiwRkZjUrmkqP/tBV34/eSFT5m3gvN6tvI5Upf2fFYr3D3mLxJLY/ASriIgc5IaTO9CzdToPvDufXfmFXscRkTqmhk1EJA6EggEeubQ3W3L38YcPFnkdR0TqmBo2EZE4cUzbxlw/sAOvfbGGr1dv9zqOiNQhNWwiInHkrrO7kZmezL3/mkthcYnXcUSkjqhhExGJIw2SQvz2wp4s3rib5z5Z4XWcCl1xxRVcccUVXscQ8ZWYug6biIhU7+yemZzTsyV/nrqU83u3IqtZmteRDnLbbbd5HUHEd3SETUQkDv32wl4kBAPc//a8mLs22549e9izZ4/XMUR8RQ2biEgcymyUzM/P6cYnS7fwzuzY+qa+8847j/POO8/rGCK+ooZNRCRODT8piz7tGvPgewvYsafA6zgiEkVq2ERE4lQwYDxySW927C3k9+8v9DqOiESRGjYRkTjWo3U6N53aiX9+ncOnS7d4HUdEokQNm4hInBs1uAudMtL41b++I29fkddxRCQK1LCJiMS55IQgj152DDnb9/LHDxd7HYcRI0YwYsQIr2OI+IquwyYi4gMndGzKdQOyeGnmKi44phX9OzT1LIuaNZHI0xE2ERGf+MWQ7rRulMIv3/yO/MJiz3Js2bKFLVv0eTqRSFLDJiLiEw2SQjx8aW+Wb87jL/9d6lmOYcOGMWzYMM+eX8SP1LCJiPjI6V2bc9lxbXlm+grmfb/T6zgiEiFq2EREfObXFxxNk9REfjHxOwqLS7yOIyIRoIZNRMRnGqcm8tDFPVmwfhfjPl7hdRwRiQA1bCIiPjSkVyvO653Jn6ctZdmmXK/jiMgRUsMmIuJTD1zYk5SEIL988zuKS1ydPe+tt97KrbfeWmfPJ1IfqGETEfGpFg2T+c0FPfh69XZenrmqzp73yiuv5Morr6yz5xOpD9SwiYj42KXHteH0rs35wweLWbttT50859q1a1m7dm2dPJdIfaGGTUTEx8yMhy/tTcDgnn/NxbnovzV67bXXcu2110b9eUTqEzVsIiI+16ZxCr8672g+XbaFf87K8TqOiBwGNWwiIvXANSe054SOTXnw/QXkbK+bt0ZFJHLUsImI1AOBgPHHYcfgHPzk9W91QV2ROKOGTUSknshqlsbDl/bmmzU7GD11iddxRKQWQl4HEBGRunNhn9Z8tnQLY7KXM6BTBqd0yYj4c9x1110R/50i9Z2OsImI1DMPXNiTo5o3YNQbs9m8e1/Ef//QoUMZOnRoxH+vSH2mhk1EpJ5JSQzy9NXHsju/kJ9NmE1JhL8FYfHixSxevDiiv1OkvlPDJiJSD3XPTOc3Q3vwydItPBvhL4i/+eabufnmmyP6O0XqOzVsIiL11NUntOf83q14/N+L+Xr1dq/jiEgV1LCJiNRT+78FoVWjZH7y+rfs3FvodSQRqYQaNhGReqxRSgJ/+eGxbNyVz6/e/K5OvrpKRGpPDZuISD13bPsm/PycbkyZt4HXvljjdRwRqYCuwyYiItx0aic+W76V3723gH5ZTTi6Vfph/677778/gslEBHSETUREKP3qqj9d0YdGKQnc+fq37CkoOuzfNXjwYAYPHhzBdCKihk1ERADIaJDE6Cv7snxzLg+8O/+wf8/s2bOZPXt2BJOJiBo2ERE54OTOGdw+qDMTZuUw4au1h/U7Ro0axahRoyKcTKR+86RhM7PLzWy+mZWYWf9yc8eY2czw/FwzSw6P9ws/XmZmT5mZeZFdRMTvRg3uwqldMrj3rblMX7LZ6zgigndH2OYBlwIflx00sxDwKnCLc64nMAjYf2GgscBIoEv4NqSuwoqI1CehYIAx1xxHl5YNue3Vr5n3/U6vI4nUe540bM65hc65ir5o7mzgO+fcnPB2W51zxWbWCkh3zs10pRcJehm4uA4ji4jUKw2TExh/w/E0SknghvFfkbN9j9eRROq1WLusR1fAmdmHQHPgH865PwBtgJwy2+WExypkZiMpPRpHy5Ytyc7OrvQJc3Nzq5yX2lNNI0v1jDzVtOZu72U89EU+VzydzX0npZCWcOinUcrXc8eOHQCq8RHQGo0sP9Qzag2bmU0FMiuYus85904VeU4Bjgf2ANPM7GtgVwXbVno5bufcOGAcQP/+/d2gQYMqzZmdnU1V81J7qmlkqZ6Rp5rWTqceW7n+hS95aUUyL//oBJITggfNl6/nmDFjABg4cGBdxvQVrdHI8kM9o9awOecO5yI8OcB059wWADObDBxH6efa2pbZri2w7ohDiohItQYc1YzHr+jDT17/lrv+OYe/XHUsgUDl532pUROJvFi7rMeHwDFmlho+AeF0YIFzbj2w28xOCp8deh1Q2VE6ERGJsAv7tOaec7vz/nfrefSDRVVuO2PGDGbMmFFHyUTqB08+w2ZmlwB/ofRzau+b2Wzn3DnOue1m9ifgK0rf8pzsnHs/vNutwHggBZgSvomISB0ZeVon1u3Yy7iPV9CqUTI3nNyxwu3uvfdeQJ9hE4kkTxo259xbwFuVzL1K6Vug5cdnAb2iHE1ERCphZvxmaE/W78znd+8toFWjZIb0auV1LJF6IdbeEhURkRgWDBhP/fBY+rZrzE//MZuvV2/zOpJIvaCGTUREaiU5Icjz1x9P68Yp/PilWazPLfE6kojvqWETEZFaa5qWyPgbjidoxmNf5bN4w26vI4n4mho2ERE5LFnN0njtphMBuPyZGcxaVfr26OjRoxk9erSX0UR8Rw2biIgctu6Z6dx3YjIZDZK45m9fMHXBRvr27Uvfvn29jibiK2rYRETkiDRPDfDPWwbQLbMhN7/6NQ+8/CFTp071OpaIr6hhExGRI9asQRKv33QSA49qxvgFRfz8hX/jXKXfICgitaSGTUREIiItKcTz1x9P2pYFbG9/Og+9v5CSEjVtIpHgyYVzRUTEnxJDATKWvU+gcC/Pfwpbc/fxh2F9SAzp+IDIkdD/QSIiElEGNF39X35+Tjfenr2OG1+exZ6CIq9jicQ1NWwiIhJxBtx+Rmceu6w3ny7dzA+f+4JteQVexxKJW3pLVEREIurZZ589cP/K49vTJDWRO1//lmFjZzBm+HF0z0z3MJ1IfNIRNhERiahu3brRrVu3A4/P7pnJqzeeyK78Ii58+jNe+HSlTkYQqSU1bCIiElGTJk1i0qRJB40d36EpH446ldO6ZPC79xYwYvxXbNqV71FCkfijhk1ERCLqiSee4IknnjhkvFmDJJ67rj8PXdyLL1duZcifP+E/CzZ6kFAk/qhhExGROmNmDD8pi/fuPIXM9GRuenkW9701l70FxV5HE4lpathERKTOdW7RkLduH8jNp3XitS/WcMFfPmHe9zu9jiUSs9SwiYiIJ5JCQe4572heu/FEcvcVccmYzxj38XKdkCBSATVsIiLiqZM7Z/DBT0/jrO4teXjyIoY//wVrt+3xOpZITNF12EREJKJeeeWVWu/TJC2RscOP45+zcnhg0nzOemI61w3I4o4zO9M4NTEKKUXiixo2ERGJqHbt2h3WfmbGFce347SuzXnyP0t44bOVTJi1ltvP6Mz1AzuQnBCMcFKR+KG3REVEJKLeeOMN3njjjcPeP7NRMo8NO4bJPz2VfllNeGTKIs56YjpvfZujz7dJvaWGTUREImrs2LGMHTv2iH9P98x0XrzhBP5+44k0SUvg/96YwwV/+ZRPl26JQEqR+KKGTUREYtrAzhm8e/sp/PmqvuzcW8jw57/guhe+ZMG6XV5HE6kzathERCTmBQLGRX3b8N+7T+f+849mztodnP+XT7jz9W/5evV2nNNbpeJvOulARETiRlIoyI2nduLyfu0YM30Zf/98DZPmrKNn63SuG5DFhX3akJKokxPEf3SETURE4k6j1ATuOfdoPr/3LB66uBdFxY5fvjmXkx6ZxkPvLWDVljyvI4pElI6wiYhIRE2cOLHOnistKcTwk7K45sT2fLlyGy9/vprxM1bxt09XcnrX5lw3IItB3VoQDFidZRKJBjVsIiISURkZGXX+nGbGiZ2acWKnZmzclc/rX67h71+s4ccvzaJd0xSuPiGLC45pRbumqXWeTSQS1LCJiEhEjR8/HoARI0Z48vwt05MZNbgrt5/RmX/P38jLM1fx2AeLeOyDRfRolc45PTM5p1dLurVsiJmOvEl8UMMmIiIR5XXDtl9CMMD5x7Ti/GNasXprHh/O38CH8zcyetoSnpy6hA7NUjmnZyZn98zk2HaNCehtU4lhathERMT3spqlMfK0oxh52lFs2p3PfxZs5IN5G3j+05U8+/EKWjRM4uyeLTmnZyYndGxKUkhnmkpsUcMmIiL1SouGyVxzYhbXnJjFzr2FfLRoEx/O38CbX3/Pq5+vITEU4Nh2jTmhY1NO6NiU49o3IS1Jfy7FW1qBIiJSbzVKSeDiY9tw8bFtyC8s5tOlW/h8xVa+XLWNv360jL/8F4IBo1frdE7o2JTjO5TemqQleh1d6hk1bCIiIkByQpDBPVoyuEdLAHL3FfHN6u18uXIbX67axkszV/PcJysB6NqyAf2ymnB0q3S6Z6bTvVVD0pMTvIwvPqeGTUREImry5MleR4iIBkkhTuvanNO6Ngcgv7CY73J28tWqbXyxchuT527g9S/XHti+bZMUumem06NVQ7q3SufoVulkNU3VyQwSEWrYREQkolJT/Xmts+SE4IHPtd1+Bjjn2LArn0Xrd7Ng/S4WbdjNwvW7+O+ijZSEv9o0JSFI18yGdGiWSlazNLKappLVLJX2zVJp3iBJlxWRGlPDJiIiETVmzBgAbrvtNo+TRJeZ0apRCq0apXBG9xYHxvMLi1m6MZeFG3axcP0ulmzczaxV25k0Z92BRg4gNTFI+3ADl9UsjfZNU2nTOIWW6cnsKnA459TQyQFq2EREJKImTJgA+L9hq0xyQpDebRvRu22jg8YLikrI2b6H1dv2sGbrHlZtzWPN1j0s35zHR4s3U1BUctD2d0//gOYNk8hslEzL9CRapifTMj2ZzPRkmjdMomlaIk3TEmmcmqDLkNQDathERETqQGIoQKfmDejUvMEhcyUljo2781m/M5+NO/P59Ot5NGzZjo278tmwM59FG3YzffFm8gqKK/zdDZJCNElLoGlqIk3SEg/8bJKaQHpKAg2TQ6QnJ9AwufR+6S2BhkkhfcYuTnjSsJnZ5cADwNHACc65WeHxBOBvwHHhbC875x4Jz/UDxgMpwGTgp845d8gvFxERiTOBwP/eXgVI2bqYQYO6H7Jd7r4iNuzMZ/PufWzfU1B6yytgW14h2/cUsC2v9LZsUy7b8woqbfD2M4MGiaUNXFpSiNTEICmJQdISQ6QkBklNDJKaGAr/LL2fkhgkOSFAcihIUpmfSaEgyQlBkkKB0p8JARKDpTc1hUfOqyNs84BLgWfLjV8OJDnneptZKrDAzF53zq0CxgIjgc8pbdiGAFPqLrKIiIi3GiSF6NyiAZ1bHHqUriL5hcXszi9id35h+Of/7u/KL2RXmcd7CorI21fM3oJiNuzKZ29BMXsKiskrKGJPQTHFJYd/jCQUMBJDARKCARJD4UYu/DMhZCQEAyQEAgQDRihY+jgUCP8MGsGAkRAovR8KGIFA6c9gIEAwAMFAIPy49BYKGAEzAlZ6Hb1lawrZ8OUaAuHxYIDwTyNohoW3DZgRCBB+XDoXMA7MH9u+CYmhwGHX4Uh40rA55xYCFX2Y0gFpZhai9EhaAbDLzFoB6c65meH9XgYuJkYatkGDBh0ydsUVV3DbbbexZ88ezjvvvEPmR4wYwYgRI9iyZQvDhg07ZP7WW2/lyiuvZO3atVx77bWHzN91110MHTqUxYsXc/PNNx8yf//99zN48GBmz57NqFGjDpl/+OGHGThwIDNmzODee+89ZH706NH07duXqVOn8tBDDx0y/+yzz9KtWzcmTZrEE088cdDcjh07mDRpEu3ateONN95g7Nixh+w/ceJEMjIyGD9+/IHvHSxr8uTJpKamMmbMmAOfhykrOzsbgMcff5z33nvvoLmUlBSmTCldGg8++CDTpk07aL5Zs2a8+eabANxzzz3MnDnzoPm2bdvy6quvAjBq1Chmz5590HzXrl0ZN24cACNHjmTJkiUHzfft25fRo0cDMHz4cHJycg6aHzBgAI888ggAl112GVu3bj1o/qyzzuLXv/41AOeeey7r16+ncePGB+YvuOAC7r77bkBrr/zaA3jllVeqXXuA1l4N1t7evXsPmq9s7e3YsYPGjRsfWHvFxcXMnTv3kPWptVfz171x48Yd9P89eLP2ksO3k7p25ekxY9lbUMxPfnY3y1etwQUScBbEBUJ07NKNET++ifzCYp4e8wxbd+7GBULh+SBt2rZn4AmnUVhcwvsf/JsdBYUQnnMWpEmz5rTv0IGikhK+nbuQEgfOghAI4CxASmoaqQ0aUlTs2L5jJ84CYBb+Gb5VZ8Hc6repxqz7B5PRIOmIf8/hiLXPsE0ELgLWA6nA/znntplZf6DsK08O0KayX2JmIyk9GkfLli0PLPKK5ObmVjlfEzt27DhkbMmSJWRnZ5Ofn1/h/KJFi8jOzmbnzp0Vzs+fP5/s7Gw2bdpU4fzcuXNp2LAha9asqXB+zpw5hEIhli1bVuH8N998Q0FBAfPmzatwftasWezYsYM5c+ZUOP/FF1+wfv165s6de8h8cXExM2fOZPny5cyfP7/C/T/77DMaNWrEokWLKpz/+OOPSU5OZsmSJRXO7/9vtnz58kPm9+7de2B+5cqVh8yXlJQcmK+ofgkJCQfmc3JyDplft27dgfl169YdMp+Tk3NgfuPGjYfMr1mz5sD85s2b2bVr10HzK1euPDC/bds2iouLD/ody5cvPzCvtXfofE3WXjAY1Nqrwdrbt2/fQfOVrb39a3T/2rvvvvv41a9+dcjza+3V/HWv/P/34O3aW79uHTM//QSAbTkryNtw8D8GCpPySdq8iCSAlZ9TsnnzgTkDmrienNKg9C3ej+a/TVG5tdf9uOO47uzrAPjli+MOWXsDBgzgyrOvBGDUqEOb6dMHDeKiiy4ib28+9//6N2ABHBZu5owBA0/h7HPOYdfu3fzpydEHxksbPeP0QWdw/AnHs3Xbdl544cX/zWNgxqAzzqBHz17M/nIGIY/e3rVofQzMzKYCmRVM3eeceye8TTZwd5nPsJ0M3AaMAJoAnwDnAs2AR5xzg8PbnQr8wjk3tLoc/fv3d7Nmzap0Pjs7u8KjFHL4VNPIUj0jTzWNLNUz8lTTyIqneprZ1865/uXHo3aEbX9zVUtXAx845wqBTWb2GdCf0satbZnt2gLrjjyliIiISOzz5pNzlVsDnGml0oCTgEXOufXAbjM7yUo/+HYd8I6XQUVERETqiicNm5ldYmY5wADgfTP7MDz1V6ABpWeRfgW86Jz7Ljx3K6WX/FgGLCdGTjgQERERiTavzhJ9C3irgvFcSi/tUdE+s4BeUY4mIiIiEnNi7S1RERERESlHDZuIiIhIjFPDJiIiIhLj1LCJiIiIxDg1bCIiIiIxLmrfdBArzGwnsLTMUCNgZ5nHGcCWKMco/5zR2re6bauar2jucMf8UtOabFfZNrUZLz/mRT0ret5o7BfpNVrReH1aozXZVmu0dvvWxRqtaExrtOZzsVrPip73cPbNcs41P2TWOefrGzCumsez6jpDtPatbtuq5iuaO9wxv9S0JttVtk1txmNhjR5JTb1cozWpn1c1jfX/7+vTGq3NvnWxRmOlprG+Rmtau1ipZ7RrWh/eEp1UzWMvMkRr3+q2rWq+orkjGYu2uqhpTbarbJvajMfCGj2S5/VyjVY0Xp/WaE221Rqt3b51sUYrGtMarflcrNbzSJ+3yn19/5ZodcxslqvgS1bl8KmmkaV6Rp5qGlmqZ+SpppHlh3rWhyNs1RnndQAfUk0jS/WMPNU0slTPyFNNIyvu61nvj7CJiIiIxDodYRMRERGJcWrYRERERGKcGjYRERGRGKeGTURERCTGqWGrgpkdbWbPmNlEM7vV6zzxzswuNrPnzOwdMzvb6zx+YGadzOx5M5vodZZ4ZWZpZvZSeG1e43UeP9C6jCy9dkZePP59923DZmYvmNkmM5tXbnyImS02s2Vm9quqfodzbqFz7hbgCiCur99ypCJUz7edczcBI4Aroxg3LkSopiuccz+ObtL4U8vaXgpMDK/NC+s8bJyoTU21LqtXy3rqtbMGalnTuPv77tuGDRgPDCk7YGZB4K/AuUAP4Idm1sPMepvZe+VuLcL7XAh8Ckyr2/gxZzwRqGfY/eH96rvxRK6mcrDx1LC2QFtgbXiz4jrMGG/GU/OaSvXGU/t66rWzauOpRU3j7e97yOsA0eKc+9jMOpQbPgFY5pxbAWBm/wAucs49AlxQye95F3jXzN4H/h69xLEtEvU0MwMeBaY4576JbuLYF6k1KoeqTW2BHEqbttn4+x+xR6SWNV1Qt+niT23qaWYL0WtntWq7RuPt73t9e3Fqw//+JQ2lL9RtKtvYzAaZ2VNm9iwwOdrh4lCt6gncCQwGhpnZLdEMFsdqu0abmdkzwLFmdk+0w8W5ymr7L+AyMxuLd98/GK8qrKnW5WGrbI3qtfPwVbZG4+7vu2+PsFXCKhir9KsenHPZQHa0wvhAbev5FPBU9OL4Qm1ruhXQC3jNVFhb51wecENdh/GJymqqdXl4KqunXjsPX2U1zSbO/r7XtyNsOUC7Mo/bAus8yuIHqmfkqabRo9pGnmoaWapn5PmmpvWtYfsK6GJmHc0sEbgKeNfjTPFM9Yw81TR6VNvIU00jS/WMPN/U1LcNm/2JUtoAAAFkSURBVJm9DswEuplZjpn92DlXBNwBfAgsBCY45+Z7mTNeqJ6Rp5pGj2obeappZKmekef3mppzlX48RkRERERigG+PsImIiIj4hRo2ERERkRinhk1EREQkxqlhExEREYlxathEREREYpwaNhEREZEYp4ZNRKQKZpZb7vEIM3vaqzwiUj+pYRMRERGJcfXty99FRCLGzGaXedgNGOKcm+5VHhHxLzVsIiJVSynXmDUl/F2Ezrm+AGY2FPgFMKPu44lIfaCGTUSkanv3N2ZQ+hk2oH+Zx12APwJnOucK6z6eiNQH+gybiMhhMrM0YAJwk3Nundd5RMS/1LCJiBy+F4EXnXOfeB1ERPxNDZuIyGEwsyxgGPAjM5sdvvWvbj8RkcNhzjmvM4iIiIhIFXSETURERCTGqWETERERiXFq2ERE5P+3W8cCAAAAAIP8raexoygC5oQNAGBO2AAA5oQNAGBO2AAA5gIx4q5DXNKj3gAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": { From 5e9744dfbb636d86f0fd11e296326243ddd41e0a Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Sun, 1 Sep 2019 13:56:54 -0400 Subject: [PATCH 09/26] First edit on HW file --- homework/1-F16-Roll.ipynb | 75 ------- homework/HW1.ipynb | 393 +++++++++++++++++++++++++++++++++++++ lectures/2-F16-Intro.ipynb | 42 ++-- 3 files changed, 414 insertions(+), 96 deletions(-) delete mode 100644 homework/1-F16-Roll.ipynb create mode 100644 homework/HW1.ipynb diff --git a/homework/1-F16-Roll.ipynb b/homework/1-F16-Roll.ipynb deleted file mode 100644 index 4262c82c..00000000 --- a/homework/1-F16-Roll.ipynb +++ /dev/null @@ -1,75 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 4, - "metadata": {}, - "outputs": [], - "source": [ - "import sys\n", - "sys.path.insert(0, '../python/casadi_f16')\n", - "import f16\n", - "import control\n", - "import numpy as np\n", - "import matplotlib.pyplot as plt\n", - "from analysis import loop_analysis" - ] - }, - { - "cell_type": "code", - "execution_count": 5, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Requirement already satisfied: casadi in /home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages (3.4.5)\n" - ] - } - ], - "source": [ - "!pip install casadi" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Roll Autopilot Design\n", - "\n", - "* See Roll Autopilot design example in section 4.6 of Stevens and Lewis.\n", - "* Homework 1: Due 8/30 @ 11 pm: Trim the F16 model around a VT=550 ft/s, 20 deg/s yaw rate turn.\n", - "* Find the A, B, C, D matrices for the state space model.\n", - "* Find the transfer function for the aileron to roll rate (P).\n", - "* Design a PID controller attempting to meet the following specifications\n", - " * Maximum overshoot: 20%\n", - " * Rise time: 0.1 second\n", - " * Settling time 1 second\n", - "* Simulate and plot the response of your controlled system and the linear model for a step response in roll rate of 10 deg/s and 100 deg/s. How do the nonlinear and linear responses compare?\n", - "* Using git, fork aae497-f16 on github. Complete the homework. Submit your homework via pull request on aae497-f16." - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.7.3" - } - }, - "nbformat": 4, - "nbformat_minor": 4 -} diff --git a/homework/HW1.ipynb b/homework/HW1.ipynb new file mode 100644 index 00000000..b21faca1 --- /dev/null +++ b/homework/HW1.ipynb @@ -0,0 +1,393 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [], + "source": [ + "import sys\n", + "sys.path.insert(0, '../python/casadi_f16')\n", + "import f16\n", + "import control\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "from analysis import loop_analysis\n", + "\n", + "plt.rcParams['figure.figsize'] = (10, 10)" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Requirement already satisfied: casadi in /home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages (3.4.5)\n" + ] + } + ], + "source": [ + "!pip install casadi" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Roll Autopilot Design\n", + "\n", + "* See Roll Autopilot design example in section 4.6 of Stevens and Lewis.\n", + "\n", + "* Homework 1: Due 9/4 @ 11 pm: Trim the F16 model around a VT=550 ft/s, 20 deg/s yaw rate turn.\n", + "* Find the A, B, C, D matrices for the state space model.\n", + "* Find the transfer function for the elevator to pitch rate (Q).\n", + "* Design a PID controller meeting the following specifications\n", + " * Maximum overshoot: 20% in pitch rate\n", + " * Rise time: 0.1 second\n", + " * Settling time 1 second\n", + "* Simulate and plot the response of your controlled linear system model for a step response in roll rate of 10 deg/s and 100 deg/s.\n", + "* Using git, fork aae497-f16 on github. Complete the homework. Submit your homework via pull request on aae497-f16" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "metadata": {}, + "outputs": [], + "source": [ + "p = f16.Parameters()\n", + "x0, u0 = f16.trim(x=f16.State(VT=550), p=p, phi_dot=0.0, theta_dot=0, psi_dot=0.35, gam=0)" + ] + }, + { + "cell_type": "code", + "execution_count": 19, + "metadata": {}, + "outputs": [], + "source": [ + "def select(n, i):\n", + " D = np.zeros((1, n))\n", + " D[0, i] = 1\n", + " return control.ss([], [], [], D)" + ] + }, + { + "cell_type": "code", + "execution_count": 44, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "A = [[-1.15172381e+00 9.03410483e-01 -2.33982494e-03 0.00000000e+00]\n", + " [ 3.98011044e+00 -1.48162479e+00 -2.35792732e-01 0.00000000e+00]\n", + " [ 0.00000000e+00 0.00000000e+00 -2.02020000e+01 2.31497868e+03]\n", + " [ 1.00000000e+00 0.00000000e+00 0.00000000e+00 -1.00000000e+01]]\n", + "\n", + "B = [[ 0. ]\n", + " [ 0. ]\n", + " [-1157.48933772]\n", + " [ 0. ]]\n", + "\n", + "C = [[1. 0. 0. 0.]\n", + " [0. 1. 0. 0.]]\n", + "\n", + "D = [[0.]\n", + " [0.]]" + ] + }, + "execution_count": 44, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "ss = f16.linearize(x0, u0, p)\n", + "s = control.tf([1, 0], [0, 1])\n", + "G = -(180/np.pi)*ss.sub_system(x=['alpha', 'Q', 'elv_deg'],\n", + " u=['elv_cmd_deg'], y=['alpha', 'Q']).to_control()\n", + "kalpha = 0.2\n", + "sys3 = control.feedback(G, kalpha*10/(s+10)*select(2, 0))\n", + "sys3" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "3 states have been removed from the model\n" + ] + }, + { + "data": { + "text/plain": [ + "[-21, 0, -8, 8]" + ] + }, + "execution_count": 21, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "from analysis import rlocus\n", + "H = (10/(s+10))*select(2, 0)\n", + "plt.figure()\n", + "kalpha = 0.35\n", + "rlocus('alpha', control.minreal(H*G), kvect=np.linspace(0, 10, 1000), k=kalpha);\n", + "plt.plot([0, -2], [0, 2], '--')\n", + "plt.axis([-21, 0, -8, 8])" + ] + }, + { + "cell_type": "code", + "execution_count": 36, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[]" + ] + }, + "execution_count": 36, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "plt.figure()\n", + "sys3 = control.feedback(G, kalpha*(10/(s+10))*select(2, 0))\n", + "rlocus('q', (s+3)/s*sys3[1, 0], kvect=np.linspace(0, 1, 1000), k=0.5)\n", + "zeta_des = 0.707 # baed on max overshoot\n", + "plt.plot([0, -10], [0, 10*np.cos(zeta_des)], '--')\n", + "#plt.axis([-20, 0, -5, 5])" + ] + }, + { + "cell_type": "code", + "execution_count": 26, + "metadata": {}, + "outputs": [ + { + "data": { + "text/latex": [ + "$$\\frac{272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753}{s^5 + 32.84 s^4 + 552.6 s^3 + 4358 s^2 + 1.291e+04 s + 9753}$$" + ], + "text/plain": [ + "\n", + " 272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753\n", + "-----------------------------------------------------------\n", + "s^5 + 32.84 s^4 + 552.6 s^3 + 4358 s^2 + 1.291e+04 s + 9753" + ] + }, + "execution_count": 26, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "G0 = (s+3)/s*sys3[1, 0]\n", + "Gc = control.feedback(G0,1)" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[]" + ] + }, + "execution_count": 41, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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gOiKghrfnN5r1AYCTMGWQDDYjr8awOtr8eclzv33wBQCsOqYgksGnx9ZCWAEAq5qwSlbvUiAAsKYIq2S4FDiBq64DAJ0irJLhpwIb/p5AAKCThFViKRAAaEJYJcOwshQIAIxHWCXDsLIUCACMR1glg1/CbMYKABiTsErssQIAmhBWiU8FAgBNCKvE5nUAoAlhlQzCakZYAQDjEVZJ0lu0xwoAGJuwSpL+QjIzO+1RAABrnLBK/K5AAKAJYVXrcMZKWAEA4xFWtT84mrECAMYkrHoLg+PM3HTHAQCsecKqPwwrM1YAwJiE1dKMlbACAMYjrPqLg+OspUAAYDzCyowVANCIsLLHCgBoRFj1hkuBZqwAgDEJq6UZK3usAIDxCCt7rACARoSVPVYAQCPCammPlaVAAGA8wsqMFQDQiLDyuwIBgEaEVd/lFgCANoRVz+UWAIA2hFXf5RYAgDaEVc/mdQCgDWHVd7kFAKANYWXGCgBoRFjZYwUANCKsRldeN2MFAIxJWPVdIBQAaENY9c1YAQBtCKuePVYAQBvCyowVANCIsOotJGU2KWXaIwEA1jhh1V8wWwUANCGseov2VwEATQir/kIy61ILAMD4hFVvwTWsAIAmhFV/wVIgANCEsOotWgoEAJoQVmasAIBGhFXP5RYAgDaEVd/lFgCANoRVz+UWAIA2hJU9VgBAI8Kqt2iPFQDQhLDqu0AoANCGsPKpQACgEWFljxUA0IiwcuV1AKARYWXGCgBoRFjZYwUANCKsXHkdAGhEWPUXk5nZaY8CADgHCCtLgQBAI8LKUiAA0Iiw8kuYAYBGhJXLLQAAjXQ7rGodLAXaYwUANNDtsOovDo5mrACABoRVYo8VANCEsEqSGWEFAIxvrLAqpfx8KeXOUsodpZT3l1I2lFK2llI+Xkr5yvC4pdVgmxNWAEBDZxxWpZQrkvyrJDtrrS9JMpvkzUluSnJbrfWaJLcN769O/d7gWFx5HQAY37hLgXNJziulzCXZmOShJNcnuWX4+C1J3jjme0zOKKz8ShsAoIEzDqta64NJfi3J/UkeTrKv1vpnSS6ttT48fM7DSS5pMdCJsBQIADQ0zlLglgxmp65KcnmSTaWUnziN199YStlVStm1d+/eMx3GeIQVANDQOEuBP5jkvlrr3lrrQpI/SvJdSR4tpVyWJMPjnpVeXGu9uda6s9a6c9u2bWMMYwzCCgBoaJywuj/Ja0opG0spJcl1Se5OcmuSG4bPuSHJh8cb4gTZYwUANHTGUzW11s+UUj6U5LNJFpN8LsnNSc5P8sFSylsziK83tRjoRJixAgAaGqsoaq2/nOSXjzp9MIPZq9VvKazMWAEA4+v2ldfraCnQjBUAML5uh1VfWAEA7XQ8rCwFAgDtCKvEjBUA0ISwSoQVANCEsEqEFQDQRMfDarh5vdhjBQCMT1glNq8DAE10PKwsBQIA7QirRFgBAE10PKxcIBQAaKfjYeUCoQBAO8IqMWMFADQhrBIzVgBAE90Oq2qPFQDQTrfDyuZ1AKChjoeVpUAAoB1hlZixAgCaEFaJsAIAmuh4WNljBQC0I6ySpHT7rwEAaKPbRdFfTMpsUsq0RwIAnAOElWVAAKARYSWsAIBGOh5WPWEFADTT8bBadHFQAKAZYWXGCgBopNthVXtmrACAZrodVvZYAQANdTys7LECANoRVmasAIBGhJWwAgAa6XhY2WMFALTT8bCyxwoAaKfjYdUb/BJmAIAGOh5W9lgBAO0IK2EFADTS8bBy5XUAoJ2Oh5UZKwCgHWElrACARoSVsAIAGul2WNW+PVYAQDPdDisXCAUAGhJWlgIBgEaElbACABrpeFj5JcwAQDsdDyt7rACAdoSVGSsAoJGOh1UvKWasAIA2hJUZKwCgkY6HlT1WAEA7wsqMFQDQiLASVgBAI90Nq1qTao8VANBOh8OqPzgKKwCgke6GVX9xcJzp7l8BANBWd6tiKazMWAEAbQgrYQUANNLhsOoNjsIKAGikw2E1mrFygVAAoA1hZcYKAGikw2FlKRAAaKvDYTWcsSqWAgGANjocVmasAIC2OhxWNq8DAG0JKzNWAEAjwkpYAQCNdDis7LECANrqbljVUVjZYwUAtNHdsLJ5HQBoTFhZCgQAGhFWwgoAaKTDYWXzOgDQ1lhhVUq5qJTyoVLKF0spd5dSvrOUsrWU8vFSyleGxy2tBtuUPVYAQGPjzli9K8nHaq0vSvKyJHcnuSnJbbXWa5LcNry/+lgKBAAaO+OwKqVcmOR7kvx2ktRaD9Van0hyfZJbhk+7Jckbxx3kRFgKBAAaG2fG6uoke5P8Tinlc6WU95RSNiW5tNb6cJIMj5c0GGd7oxmrYikQAGhjnLCaS/LKJO+utb4iyf6cxrJfKeXGUsquUsquvXv3jjGMM9R3gVAAoK1xwmp3kt211s8M738og9B6tJRyWZIMj3tWenGt9eZa685a685t27aNMYwzZI8VANDYGYdVrfWRJA+UUl44PHVdkruS3JrkhuG5G5J8eKwRToqwAgAaG7cqfi7J+0op65Lcm+SnM4i1D5ZS3prk/iRvGvM9JkNYAQCNjVUVtdbPJ9m5wkPXjfN9zwqfCgQAGuvulderzesAQFvdDStXXgcAGhNWlgIBgEaElbACABrpcFgN91i58joA0EiHw2oxKTPJTHf/CgCAtrpbFf2eZUAAoKkOh9WisAIAmupwWPXsrwIAmupwWC26hhUA0FTHw8pSIADQjrACAGikw2HlU4EAQFvdDavas8cKAGiqu2FlKRAAaExYAQA00vGwshQIALTT4bCyxwoAaKvDYWUpEABoS1gBADTS4bByHSsAoC1hBQDQSIfDyqcCAYC2uh1WRVgBAO10O6wsBQIADXU4rOyxAgDa6nBY2WMFALTV3bCqZqwAgLa6G1b2WAEAjQkrAIBGOhxWvWSmu398AKC97paFGSsAoDFhBQDQiLACAGikw2HVF1YAQFMdDisXCAUA2up4WJmxAgDa6XZYFTNWAEA73Qyrfj9JNWMFADTV0bBaHBztsQIAGupmWNXe4GjGCgBoqJthtTRjJawAgHaEFQBAIx0Nq9FSoD1WAEA7HQ0rm9cBgPY6HlaWAgGAdoQVAEAjHQ0rl1sAANrreFjZYwUAtNPRsLIUCAC0J6wAABrpdlgVS4EAQDsdDSub1wGA9joaVi4QCgC0182wqmasAID2uhlWNq8DABMgrAAAGuloWLlAKADQXkfDyuZ1AKC9joeVpUAAoB1hBQDQSEfDqj84CisAoKGOhpU9VgBAex0PKzNWAEA7wgoAoJFuh1WxFAgAtNPRsHKBUACgvY6GlaVAAKC9boZVHc1YCSsAoJ1uhpUZKwBgAjoaVmasAID2OhpWi0lKMtPNPz4AMBljl0UpZbaU8rlSyp8M728tpXy8lPKV4XHL+MNsrL/oE4EAQHMtpmzenuTuZfdvSnJbrfWaJLcN768u/UXLgABAc2OFVSnlyiQ/muQ9y05fn+SW4e1bkrxxnPeYiH5PWAEAzY07Y/UbSX4xSX/ZuUtrrQ8nyfB4yZjv0V6/ZykQAGjujMOqlPL6JHtqrbef4etvLKXsKqXs2rt375kO48xYCgQAJmCcGavXJnlDKeVrST6Q5AdKKb+X5NFSymVJMjzuWenFtdaba607a607t23bNsYwzoCwAgAm4IzDqtb6jlrrlbXWHUnenOQvaq0/keTWJDcMn3ZDkg+PPcrWhBUAMAGTuJDTO5P8UCnlK0l+aHh/den3kmKPFQDQVpNpm1rrJ5N8cnj7G0mua/F9J8Z1rACACejmpceryy0AAO11M6zssQIAJqCjYWXGCgBor6NhZY8VANBeh8PKjBUA0FaHw8qMFQDQVkfDyh4rAKC9DoeVGSsAoK2OhpU9VgBAe8IKAKARYQUA0EhHw8oeKwCgvY6G1WJShBUA0FZ3w8pSIADQWDfDqloKBADa62ZY9XvJzPy0RwEAnGM6GlZ+pQ0A0F6Hw8oeKwCgLWEFANBIR8PKL2EGANrraFjZYwUAtNfhsDJjBQC0JawAABrpXlj1+0ntCysAoLnuhVXtDY72WAEAjXUvrPqLg6MZKwCgsQ6HlRkrAKCtDoeVGSsAoK0OhtVoj5WwAgDa6mBYWQoEACajw2FlxgoAaEtYAQA00sGwsscKAJiMDoeVPVYAQFsdDCtLgQDAZAgrAIBGhBUAQCMdDCt7rACAyehgWJmxAgAmQ1gBADQirAAAGulgWLlAKAAwGR0MK7+EGQCYjO6GVRFWAEBb3Q0rS4EAQGPCCgCgkQ6GlQuEAgCT0cGwMmMFAEyGsAIAaERYAQA00sGwcoFQAGAyOhhWLhAKAExGh8PKjBUA0JawAgBopINhZY8VADAZ3Qur6gKhAMBkdC+s+ouDX8BcyrRHAgCcY7oZVpYBAYAJEFYAAI10MKx69lcBABPRwbBaFFYAwER0NKwsBQIA7QkrAIBGOhhWPWEFAExEB8PKHisAYDI6GlZmrACA9oQVAEAjHQwre6wAgMnoYFjZYwUATEZHw8qMFQDQnrACAGikg2FljxUAMBkdDCt7rACAyTjjsCqlbC+lfKKUcncp5c5SytuH57eWUj5eSvnK8Lil3XAbsBQIAEzIODNWi0n+Ta31xUlek+RtpZRrk9yU5LZa6zVJbhveXz2EFQAwIWccVrXWh2utnx3efirJ3UmuSHJ9kluGT7slyRvHHWRTwgoAmJAme6xKKTuSvCLJZ5JcWmt9OBnEV5JLWrxHM/1+Urq3tQwAmLyxC6OUcn6SP0zyr2utT57G624spewqpezau3fvuMM4dWasAIAJGSusSinzGUTV+2qtfzQ8/Wgp5bLh45cl2bPSa2utN9dad9Zad27btm2cYZweYQUATMg4nwosSX47yd211l9f9tCtSW4Y3r4hyYfPfHgTIKwAgAkZpzBem+Qnk3yhlPL54bl/l+SdST5YSnlrkvuTvGm8ITbmAqEAwISccWHUWv97knKch6870+87cS4QCgBMSPc+HmcpEACYEGEFANBIB8PKHisAYDI6GFb2WAEAkyGsAAAa6VZY1Zr0F5KZ+WmPBAA4B3UrrPq9wXFWWAEA7XUsrBYGR5vXAYAJ6FZY9YZhZcYKAJiAboVVf3FwtMcKAJiAjoaVTwUCAO11K6wsBQIAE9StsFravC6sAID2uhVWveFSoBkrAGACuhVWLrcAAExQt8LKHisAYIK6FVb2WAEAE9StsFraY2UpEABor1thZcYKAJigjoXV6AKhZqwAgPa6FVYutwAATFC3wsrlFgCACepWWLncAgAwQd0KK5vXAYAJ6lZY2WMFAExQt8LqNPZYLfT6ObjYm/CAAIBzSbd2cZ/CHqvFXj//50e+mN/79NfTrzXXvfiS/PsfvTbbt248S4MEANaqjs1Yja5jdfyw+j/+5K6896/vyxtefnl+6rt25K/v+UZ+5F1/lb/44qNnaZAAwFrVrbAazVjNzK748Ofu/2b+y//8en76tTvya296Wf7966/NR9/+v+T5F2/Mv/gvt+dDt+8+i4MFANaaboVV/8Sb1//zX341WzbO5xf+4QuXzm3fujEfuPE785qrt+YX/uvf5Tc/cU9qrWdjtADAGtOxsDr+5RYeeuLZfPyuR/OWVz8vm9YfufXs/PVzee9PvSpveNnl+dU//VJ+6Y/vyGKvfzZGDACsIR3bvH78GauP3vFI+jX5sZ3bV3zp+rnZ/MaPvzxXbDkv7/7kV3Pf3v35v37sZbn8ovMmOWIAYA3p4IxVWXGP1Z/d+UheeOkF2XHxpuO+fGam5N++7kX5T//kpfm73U/kh3/jU3n3J7+aZw4tTnDQAMBa0bEZq4UVZ6v2PbOQv/3a43nb93/rKX2bH9u5Pf/gqq353z58Z/7jx76Y3/rEPXndS56b777m4rx8+0W5/KLzMj/brWYFALoWVv3FFfdX7fr64+nX5Lu+5eJT/lbPf86m3PIzr87tX388v/+ZB/LROx7Jfx1+anCmJJdcsCEXbZzPxnWz2bR+Luevn8uG+dlsmJ/J+rnZrB8d52ayYX5wXH576dyy12w46jWzM6XZX81ytdaM9ufX4f3R7cHjSR3eW76Pf6XzR6yYM1sAAAnnSURBVL9+6fmn8dw6ePIJx3D4fM3Rny044XOXPWfp3Y4Yz7IxjF6/7NzRf/5jnnvc91rpz77yc+tRf/ijx3Win9XRf88n+7lmxbGf+Ge1/DzHd/inyvH45+jk/B2d3HM3b8hrv/XU/33eWrfCqreQzB77R/6brz2e+dmSVzzvotP+lt/x/K35judvzX/sfXu++MhTuePBfXnoiWfz0L4DefLZhew/tJinDizmkX0HcmCxlwML/Rxc6OXgYj8HFyezAb4s661yxPnD91b+lyoArG3f98Jtwuqs6S+sOGP1t/c9npdeeVE2zK98fatTMTc7k5dcsTkvuWLzqQ+nX3Oo18/BhcGvzzm42M+BpegaRthiLwcX+jkwOi6MntdP/+jZieSIQqorn05NTUlZCrCl3Cpl6XYpyeje4Pbh84Pj4Ug76XOXvdfy15YjnnP4sSPOrfjcld9rafTlyO93zOuPGu+Jx3Xs39Pg/kpjKCv8PR1/XCf6e1r2FscZw5HnDv85jvPcFf6ejvyzr/BeJ/m5Hv1ey/+ZYGX+hk7OP0YnV/yTdEIb5qe7FadbYbXCHqsDC7184cF9eet3X33WhzMzU7JhZnYYdH4xNACsdd3aYd3vHfMLmL/86FNZ6NW8fPupzzQBAKykY2G1cExY3fXQk0mSay8TVgDAeLoVVissBd718JO5YP1crtziQp8AwHi6FVYrXG7hroeezIsuuyAzE7p0AQDQHd0Kq96hIy630O/X3P3wk7n2sgunOCgA4FzRwbBav3T3/sefyf5DvVx7ubACAMbXrbBaPJTMHQ6rLz/6VJLkBZdeMK0RAQDnkG6FVe9gMrtu6e59j+1Pkly97fxpjQgAOId0LKwOHRNWF5+/LpvPc3FOAGB83QqrxUPJ3OGwunfv/lx18aYpDggAOJd0K6yO2rx+72PCCgBop4NhNZixevLAQh57+qD9VQBAM90Kq8WDS0uB9+0dbFw3YwUAtNKtsOotLM1YjT4R+C3bhBUA0EbHwurw5RbufWx/ZkqyfevGKQ8KADhXdCesah0uBQ42r9+79+ls37ox6+dmpzwwAOBc0Z2w6veS1COWAu2vAgBa6k5Y9Q4OjrPrUmsVVgBAc90Jq8VhWM2tz6NPHswzh3outQAANNWdsOotDI6z87n3saeTJFebsQIAGupQWI2WAtfn3r2jX74srACAdjoUVsMZq7n1ue+x/dkwP5NLL9gw3TEBAOeU7oTVaI/V7Pxw4/r5mZkp0x0TAHBO6U5YHbEU+LRlQACgue6E1cKBwWFmfR745rM2rgMAzXUorJ5Jkuw5MJNev7qGFQDQXIfC6tkkyQNPDe4KKwCgtc6F1def7CdJrr7YxUEBgLY6FFaDpcD79vXznE3rsnnj/JQHBACca7oTVouDzetf/mY/OywDAgAT0J2wGs5Y3fHoobzg0gumPBgA4FzUobAa7LHac6DkxZcJKwCgvQ6F1TPpza5PUvKi51447dEAAOeg7oTVgSdzcGbwScAXPteMFQDQ3sTCqpTyulLKl0op95RSbprU+5yyA09kXzZlx3M2ZvN5PhEIALQ3kbAqpcwm+c0k/yjJtUneUkq5dhLvdarqs/uyZ2FDXrVj6zSHAQCcwyY1Y/XqJPfUWu+ttR5K8oEk10/ovU7Js08+lm/0NuY1Vz9nmsMAAM5hkwqrK5I8sOz+7uG5qdi775n0Hv9a9pTn5AevvXRawwAAznGTCquywrl6xBNKubGUsquUsmvv3r0TGsbA+Yf25LFszfadr7e/CgCYmLkJfd/dSbYvu39lkoeWP6HWenOSm5Nk586dR0RXa+dt25Htv/T5XDWzUu8BALQxqRmrv01yTSnlqlLKuiRvTnLrhN7rlMzNzSYz3bm6BABw9k1kxqrWulhK+dkkf5pkNsl7a613TuK9AABWi0ktBabW+pEkH5nU9wcAWG2sjQEANCKsAAAaEVYAAI0IKwCARoQVAEAjwgoAoBFhBQDQiLACAGhEWAEANCKsAAAaEVYAAI0IKwCARoQVAEAjwgoAoBFhBQDQiLACAGhEWAEANCKsAAAaEVYAAI0IKwCARkqtddpjSCllb5Kvn4W3ujjJY2fhfTh1fiark5/L6uNnsjr5uaw+Z+Nn8vxa67aVHlgVYXW2lFJ21Vp3TnscHOZnsjr5uaw+fiark5/L6jPtn4mlQACARoQVAEAjXQurm6c9AI7hZ7I6+bmsPn4mq5Ofy+oz1Z9Jp/ZYAQBMUtdmrAAAJqYTYVVKeV0p5UullHtKKTdNezwkpZTtpZRPlFLuLqXcWUp5+7THxEApZbaU8rlSyp9MeywMlFIuKqV8qJTyxeH/Zr5z2mPqulLKzw//v+uOUsr7Sykbpj2mLiqlvLeUsqeUcseyc1tLKR8vpXxleNxyNsd0zodVKWU2yW8m+UdJrk3yllLKtdMdFUkWk/ybWuuLk7wmydv8XFaNtye5e9qD4AjvSvKxWuuLkrwsfj5TVUq5Ism/SrKz1vqSJLNJ3jzdUXXW7yZ53VHnbkpyW631miS3De+fNed8WCV5dZJ7aq331loPJflAkuunPKbOq7U+XGv97PD2Uxn8i+KK6Y6KUsqVSX40yXumPRYGSikXJvmeJL+dJLXWQ7XWJ6Y7KpLMJTmvlDKXZGOSh6Y8nk6qtX4qyeNHnb4+yS3D27ckeePZHFMXwuqKJA8su787/gW+qpRSdiR5RZLPTHckJPmNJL+YpD/tgbDk6iR7k/zOcIn2PaWUTdMeVJfVWh9M8mtJ7k/ycJJ9tdY/m+6oWObSWuvDyeA/4pNccjbfvAthVVY456OQq0Qp5fwkf5jkX9dan5z2eLqslPL6JHtqrbdPeywcYS7JK5O8u9b6iiT7c5aXNjjScM/O9UmuSnJ5kk2llJ+Y7qhYLboQVruTbF92/8qYsl0VSinzGUTV+2qtfzTt8ZDXJnlDKeVrGSyZ/0Ap5femOyQy+P+w3bXW0YzuhzIILabnB5PcV2vdW2tdSPJHSb5rymPisEdLKZclyfC452y+eRfC6m+TXFNKuaqUsi6DDYa3TnlMnVdKKRnsGbm71vrr0x4PSa31HbXWK2utOzL438lf1Fr9V/iU1VofSfJAKeWFw1PXJblrikNisAT4mlLKxuH/l10XHyhYTW5NcsPw9g1JPnw233zubL7ZNNRaF0spP5vkTzP45MZ7a613TnlYDGZHfjLJF0opnx+e+3e11o9McUywWv1ckvcN/+Pw3iQ/PeXxdFqt9TOllA8l+WwGn3D+XFyBfSpKKe9P8n1JLi6l7E7yy0nemeSDpZS3ZhDBbzqrY3LldQCANrqwFAgAcFYIKwCARoQVAEAjwgoAoBFhBQDQiLACAGhEWAEANCKsAAAa+f8BOk8fDwCQmskAAAAASUVORK5CYII=\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "t,y = control.step_response(Gc, T=np.linspace(0,10,10000))\n", + "plt.plot(t,10*y)\n", + "plt.plot(t,100*y)" + ] + }, + { + "cell_type": "code", + "execution_count": 38, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "Control(thtl=DM(0.941823), ail_cmd_deg=DM(0.0834429), elv_cmd_deg=DM(-1.40861), rdr_cmd_deg=DM(-0.351551))" + ] + }, + "execution_count": 38, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "def f_control(t, x):\n", + " return f16.Control(\n", + " thtl=u0.thtl,\n", + " ail_cmd_deg=u0.ail_cmd_deg,\n", + " elv_cmd_deg=u0.elv_cmd_deg + 1*np.sin(2*np.pi*2*t),\n", + " rdr_cmd_deg=u0.rdr_cmd_deg)\n", + "\n", + "f_control(0, x0)" + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "Text(0.5, 1.0, 'angle of attack')" + ] + }, + "execution_count": 39, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", + "plt.plot(res['t'], np.rad2deg(res['x'][:, f16.State().name_to_index('alpha')]))\n", + "plt.xlabel('t ,sec')\n", + "plt.ylabel(r'$\\alpha$, deg')\n", + "plt.grid()\n", + "plt.title('angle of attack')" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "Text(0.5, 1.0, 'trajectory')" + ] + }, + "execution_count": 40, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", + "\n", + "plt.plot(res['x'][:, f16.State().name_to_index('p_E')], res['x'][:, f16.State().name_to_index('p_N')])\n", + "plt.axis('equal');\n", + "plt.xlabel('East, ft')\n", + "plt.ylabel('North, ft')\n", + "plt.grid()\n", + "plt.title('trajectory')" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/lectures/2-F16-Intro.ipynb b/lectures/2-F16-Intro.ipynb index 3d61d3bf..c34c64ad 100644 --- a/lectures/2-F16-Intro.ipynb +++ b/lectures/2-F16-Intro.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 13, + "execution_count": 46, "metadata": {}, "outputs": [], "source": [ @@ -33,7 +33,7 @@ }, { "cell_type": "code", - "execution_count": 30, + "execution_count": 47, "metadata": {}, "outputs": [], "source": [ @@ -43,7 +43,7 @@ }, { "cell_type": "code", - "execution_count": 35, + "execution_count": 58, "metadata": {}, "outputs": [ { @@ -52,7 +52,7 @@ "Control(thtl=DM(0.836629), ail_cmd_deg=DM(0.0749844), elv_cmd_deg=DM(-1.7033), rdr_cmd_deg=DM(-0.328985))" ] }, - "execution_count": 35, + "execution_count": 58, "metadata": {}, "output_type": "execute_result" } @@ -62,7 +62,7 @@ " return f16.Control(\n", " thtl=u0.thtl,\n", " ail_cmd_deg=u0.ail_cmd_deg,\n", - " elv_cmd_deg=u0.elv_cmd_deg + 0*np.sin(2*np.pi*2*t),\n", + " elv_cmd_deg=u0.elv_cmd_deg + 1*np.sin(2*np.pi*2*t),\n", " rdr_cmd_deg=u0.rdr_cmd_deg)\n", "\n", "f_control(0, x0)" @@ -70,7 +70,7 @@ }, { "cell_type": "code", - "execution_count": 36, + "execution_count": 59, "metadata": {}, "outputs": [ { @@ -79,13 +79,13 @@ "Text(0.5, 1.0, 'angle of attack')" ] }, - "execution_count": 36, + "execution_count": 59, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -107,7 +107,7 @@ }, { "cell_type": "code", - "execution_count": 37, + "execution_count": 60, "metadata": {}, "outputs": [ { @@ -116,13 +116,13 @@ "Text(0.5, 1.0, 'trajectory')" ] }, - "execution_count": 37, + "execution_count": 60, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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\n", 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\n", 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" ] @@ -146,7 +146,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 61, "metadata": {}, "outputs": [], "source": [ @@ -161,7 +161,7 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 62, "metadata": {}, "outputs": [], "source": [ @@ -173,7 +173,7 @@ }, { "cell_type": "code", - "execution_count": 49, + "execution_count": 63, "metadata": {}, "outputs": [ { @@ -196,7 +196,7 @@ " [0.]]" ] }, - "execution_count": 49, + "execution_count": 63, "metadata": {}, "output_type": "execute_result" } @@ -213,7 +213,7 @@ }, { "cell_type": "code", - "execution_count": 50, + "execution_count": 64, "metadata": {}, "outputs": [ { @@ -229,7 +229,7 @@ "[-21, 0, -8, 8]" ] }, - "execution_count": 50, + "execution_count": 64, "metadata": {}, "output_type": "execute_result" }, @@ -258,16 +258,16 @@ }, { "cell_type": "code", - "execution_count": 58, + "execution_count": 65, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 58, + "execution_count": 65, "metadata": {}, "output_type": "execute_result" }, @@ -295,7 +295,7 @@ }, { "cell_type": "code", - "execution_count": 59, + "execution_count": 66, "metadata": {}, "outputs": [ { From d421d78a52c602bb8c6748b1c477ec82442c23eb Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Sun, 1 Sep 2019 15:03:48 -0400 Subject: [PATCH 10/26] Final commit for HW1 --- homework/HW1.ipynb | 149 +++++++-------------------------------------- 1 file changed, 21 insertions(+), 128 deletions(-) diff --git a/homework/HW1.ipynb b/homework/HW1.ipynb index b21faca1..95a2194b 100644 --- a/homework/HW1.ipynb +++ b/homework/HW1.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 16, + "execution_count": 46, "metadata": {}, "outputs": [], "source": [ @@ -38,9 +38,9 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "# Roll Autopilot Design\n", + "# Autopilot Design\n", "\n", - "* See Roll Autopilot design example in section 4.6 of Stevens and Lewis.\n", + "* See Autopilot design example in section 4.6 of Stevens and Lewis.\n", "\n", "* Homework 1: Due 9/4 @ 11 pm: Trim the F16 model around a VT=550 ft/s, 20 deg/s yaw rate turn.\n", "* Find the A, B, C, D matrices for the state space model.\n", @@ -77,7 +77,7 @@ }, { "cell_type": "code", - "execution_count": 44, + "execution_count": 45, "metadata": {}, "outputs": [ { @@ -100,7 +100,7 @@ " [0.]]" ] }, - "execution_count": 44, + "execution_count": 45, "metadata": {}, "output_type": "execute_result" } @@ -111,13 +111,13 @@ "G = -(180/np.pi)*ss.sub_system(x=['alpha', 'Q', 'elv_deg'],\n", " u=['elv_cmd_deg'], y=['alpha', 'Q']).to_control()\n", "kalpha = 0.2\n", - "sys3 = control.feedback(G, kalpha*10/(s+10)*select(2, 0))\n", + "sys3 = control.feedback(G, kalpha*(10/(s+10))*select(2, 0))\n", "sys3" ] }, { "cell_type": "code", - "execution_count": 21, + "execution_count": 55, "metadata": {}, "outputs": [ { @@ -133,7 +133,7 @@ "[-21, 0, -8, 8]" ] }, - "execution_count": 21, + "execution_count": 55, "metadata": {}, "output_type": "execute_result" }, @@ -152,7 +152,9 @@ ], "source": [ "from analysis import rlocus\n", + "\n", "H = (10/(s+10))*select(2, 0)\n", + "\n", "plt.figure()\n", "kalpha = 0.35\n", "rlocus('alpha', control.minreal(H*G), kvect=np.linspace(0, 10, 1000), k=kalpha);\n", @@ -190,38 +192,39 @@ ], "source": [ "plt.figure()\n", + "\n", "sys3 = control.feedback(G, kalpha*(10/(s+10))*select(2, 0))\n", "rlocus('q', (s+3)/s*sys3[1, 0], kvect=np.linspace(0, 1, 1000), k=0.5)\n", "zeta_des = 0.707 # baed on max overshoot\n", - "plt.plot([0, -10], [0, 10*np.cos(zeta_des)], '--')\n", - "#plt.axis([-20, 0, -5, 5])" + "plt.plot([0, -10], [0, 10*np.cos(zeta_des)], '--')" ] }, { "cell_type": "code", - "execution_count": 26, + "execution_count": 53, "metadata": {}, "outputs": [ { "data": { "text/latex": [ - "$$\\frac{272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753}{s^5 + 32.84 s^4 + 552.6 s^3 + 4358 s^2 + 1.291e+04 s + 9753}$$" + "$$\\frac{272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753}{s^5 + 32.84 s^4 + 279.7 s^3 + 480.3 s^2 + 119.5 s}$$" ], "text/plain": [ "\n", - " 272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753\n", - "-----------------------------------------------------------\n", - "s^5 + 32.84 s^4 + 552.6 s^3 + 4358 s^2 + 1.291e+04 s + 9753" + " 272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753\n", + "-------------------------------------------------\n", + "s^5 + 32.84 s^4 + 279.7 s^3 + 480.3 s^2 + 119.5 s" ] }, - "execution_count": 26, + "execution_count": 53, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "G0 = (s+3)/s*sys3[1, 0]\n", - "Gc = control.feedback(G0,1)" + "G0 = ((s+3)/s)*sys3[1, 0]\n", + "Gc = control.feedback(G0,1)\n", + "G0" ] }, { @@ -257,116 +260,6 @@ "plt.plot(t,10*y)\n", "plt.plot(t,100*y)" ] - }, - { - "cell_type": "code", - "execution_count": 38, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Control(thtl=DM(0.941823), ail_cmd_deg=DM(0.0834429), elv_cmd_deg=DM(-1.40861), rdr_cmd_deg=DM(-0.351551))" - ] - }, - "execution_count": 38, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "def f_control(t, x):\n", - " return f16.Control(\n", - " thtl=u0.thtl,\n", - " ail_cmd_deg=u0.ail_cmd_deg,\n", - " elv_cmd_deg=u0.elv_cmd_deg + 1*np.sin(2*np.pi*2*t),\n", - " rdr_cmd_deg=u0.rdr_cmd_deg)\n", - "\n", - "f_control(0, x0)" - ] - }, - { - "cell_type": "code", - "execution_count": 39, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'angle of attack')" - ] - }, - "execution_count": 39, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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rFLEIdtPF+Trc0KGDde2uowAAEJEoYhHs+gX58hgxKwYAgCMUsQiWkxKnVTOy9NTuWlnLI48AAAg0iliEu/HiAh1v6tTemjbXUQAAiDgUsQh3/fwpivYYPcnlSQAAAo4iFuEykmJ11ZxcrX3tpNp6+l3HAQAgolDEoM9cfZFau/v1vecPuY4CAEBEiXYdAO4tKEzTR1eX6P6NFRr0Ws0rSNXrx/t0KqVK1y+YoqQ4fpsAAOAP/AkLSdK/3DBX/YNe/WpLpbxDN1D+9uAu3b3+iH5z5yrlpMS5DQgAQBji0iQkSbHRHn3jtoXaddd12vjPV+meaxL1wB0rVHO6W196ZI/reAAAhCWKGN4gJT5GBekJSog2unJWjj5z9UV6cX+9thw75ToaAABhhyKGUd1xWakyEmN0/8YK11EAAAg7FDGMKj4mSu9dPlXP76tXU0ev6zgAAIQVihjGdOviQg16rV7YV+86CgAAYYUihjHNzU/RtKxEPVte5zoKAABhhSKGMRljdP38Kdp4pEmt3ey+DwDAZKGIYVyunZenAa/Vq4cbXUcBACBsUMQwLkuKM5SeGKN1BxpcRwEAIGxQxDAuUR7fvmIvH2yU98zW+wAA4IJQxDBuV83J1anOPu2qOu06CgAAYYEihnG7claOPEZ6icuTAABMCooYxi09MVZLizO07iBFDACAyUARw4SsmZOr8uo2NbT1uI4CAEDIo4hhQq6akytJeolZMQAALhhFDBMyZ0qK8tPi2cYCAIBJQBHDhBhjtGZOrv50uEm9A4Ou4wAAENIoYpiwq2bnqrNvUNsqWlxHAQAgpFHEMGGrZ2YpNtqjF/bVu44CAEBIo4hhwhJjo3XN3Fw9+nq1uvu4PAkAwPmiiOG83L6qRK3d/Vq79YTrKAAAhCyKGM7LitJMXTYzS99/8bBqW7tdxwEAICRRxHBejDH62s0LNOi1+tD/bdHBunbXkQAACDkUMZy3mbnJ+r/bl+t0V79u+J9X9dUn9qq1q991LAAAQgZFDBfk0ulZev4frtBfXjJVv9hUoXfds0EtnX2uYwEAEBIoYrhgWclx+sZtC/XgJ1bqZHO37npir+tIAACEBIoYJs3qGdn66yun64ldNdpdddp1HAAAgh5FDJPqziumKyk2Sg9srHQdBQCAoEcRw6RKiY/RrUsK9eTuGrX3sHAfAIDRUMQw6W5dUqi+Aa9eOtjoOgoAAEGNIoZJt7Q4Q9nJcXquvM51FAAAghpFDJMuymN01ZwcvXq4UYNe6zoOAABBiyIGv7hsZrbaegZUXt3qOgoAAEGLIga/WD0jW5K04WiT4yQAAAQvihj8IiclTrPzUrThCEUMAICRUMTgN6tmZGl7ZYv6BryuowAAEJQoYvCbFaWZ6un3ag/rxAAAGBZFDH6zojRTkvTa8WbHSQAACE4UMfhNdnKcZuQkacvxU66jAAAQlChi8KuV07O0raKF/cQAABgGRQx+tbI0Ux29A9pX0+Y6CgAAQYciBr86s06My5MAALwVRQx+lZ+WoOLMRBbsAwAwDIoY/G5FaaZeq2iWl3ViAAC8AUUMfreyNFOnu/p1uKHDdRQAAIIKRQx+t7I0SxLrxAAAeDOKGPxuamaC8tPitYV1YgAAvAFFDH5njPGtEzveLGtZJwYAwBkUMQTEytIsNbb36nhTp+soAAAEDYoYAoLnTgIA8FYUMQTEjJwk5abE6aWDDa6jAAAQNChiCAhjjG5YmK+XDjSqtbvfdRwAAIICRQwBc+uSQvUNevWH8lrXUQAACAoUMQTMoqI0zcxN1v0bK7l7EgAAUcQQQMYYffLKGdpf26YX97NWDAAAihgC6pbFBSrJStQ3n9mvnv5B13EAAHCKIoaAiony6Bu3LdTxpk5974VDruMAAOAURQwBd9nMbH1gZbF++uoxba1gXzEAQOSiiMGJf7lhrooyEvT53+5SZ++A6zgAADhBEYMTyXHR+u57F+tEc5d+8vJR13EAAHCCIgZnVpRm6h0Lpui+DRVs8goAiEgUMTj1qbIZau8d0JO7alxHAQAg4ChicGphYZrmTEnR77ZXuY4CAEDAUcTglDFGtywu1K6Tp1Xb2u06DgAAAUURg3PXzM2VJK07wG77AIDIQhGDczNzkzU1M0EvHWh0HQUAgIAKWBEzxvzcGNNgjCk/57VvG2MOGGN2G2MeNcakByoPgocxRqumZ2lrRbO8Xh4GDgCIHIGcEbtf0vVveu0FSQustRdLOiTpSwHMgyCyojRLrd39OtzQ4ToKAAABE7AiZq19RVLzm1573lp7Zlv1zZKKApUHwWVFSaYk6bXjpxwnAQAgcIy1gbsUZIwpkfSUtXbBMO89Kek31toHRzj2Tkl3SlJeXt6ytWvX+jGp1NHRoeTkZL+eI5gFevzWWn1ufbdmZXj0qcXxATvvcPi1j9zxR/LYpcgeP2OPzLFLgRn/mjVrtltrlw/3XrRfzzxOxpgvSxqQ9KuRPmOtvVfSvZK0fPlyW1ZW5tdM69evl7/PEcxcjH9l1XYdqGtz/vPOr33kjj+Sxy5F9vgZe5nrGM64Hr/zuyaNMbdLulHSB20gp+cQdBYWpaniVBePOwIARAynRcwYc72kL0q62Vrb5TIL3FtQmCZJ2lvd6jgJAACBEcjtKx6StEnSbGNMlTHm45J+KClF0gvGmJ3GmB8HKg+Cz8KhIraHIgYAiBABWyNmrX3/MC//LFDnR/DLTIpVYXoCRQwAEDGcrxEDzrWgMFXlFDEAQISgiCGoLCz0Ldhv62HBPgAg/FHEEFTmF/jWie2vaXOcBAAA/6OIIajML0yVJO2liAEAIgBFDEElNyVeOSlxKq9hnRgAIPxRxBB05hekah8zYgCACEARQ9BZUJCmww0d6ukfdB0FAAC/oogh6MwvSNWg1+pgXbvrKAAA+BVFDEHnzJ2TLNgHAIQ7ihiCztTMBKXER2svC/YBAGGOIoagY4zR/IJUZsQAAGGPIoagNL8gTftr2zQw6HUdBQAAv6GIISjNL0hV74BXx5o6XUcBAMBvKGIISgsKzyzYZ50YACB8UcQQlKZnJyku2qPyataJAQDCF0UMQSk6yqM5+anMiAEAwhpFDEHrzJ2T1lrXUQAA8AuKGILW4qnpau8Z0OGGDtdRAADwC4oYgtalpVmSpC3HTjlOAgCAf1DEELSmZiYoPy1em481u44CAIBfUMQQtIwxunR6lrYcP8U6MQBAWKKIIaitLM1UU0efjjayTgwAEH4oYghql83MliStP9joOAkAAJOPIoagNjUzUXOmpOj5ffWuowAAMOkoYgh6187L07aKZjV39rmOAgDApKKIIei9ff4Uea30h/I611EAAJhUFDEEvfkFqZqZm6zf76hyHQUAgElFEUPQM8boPcuKtL2yRce4exIAEEYoYggJty0plMdIj+yodh0FAIBJQxFDSMhLjdflF+XokR1V8nrZ3BUAEB4oYggZ71paqJrWHr1WwSOPAADhgSKGkHHdvClKio3SY69zeRIAEB4oYggZCbFRevuCKXp6T616+gddxwEA4IJRxBBSbrq4QO09A9pynMuTAIDQRxFDSFk1I0tx0R69dKDBdRQAAC4YRQwhJT4mSqtnZGndgQZZy92TAIDQRhFDyFkzJ1cnmrt0ornLdRQAAC4IRQwhZ0VppiRpW0WL4yQAAFwYihhCzqzcFKXER2tbJQv2AQChjSKGkOPxGC2blsGMGAAg5FHEEJKWT8vQ4YYOne7qcx0FAIDzRhFDSFo0NV2StK+mzXESAADOH0UMIWlufqokaV8tRQwAELooYghJ2clxykuNY0YMABDSKGIIWfPyU5kRAwCENIoYQtb8gjQdaejgAeAAgJBFEUPImpOfogGv1dHGDtdRAAA4LxQxhKyZucmSpCMNFDEAQGiiiCFklWYnyWOkoxQxAECIooghZMVFR6k4M1FHuDQJAAhRFDGEtJm5yTra0Ok6BgAA54UihpA2IydZx5s6NTDodR0FAIAJo4ghpM3ITVbfoFcnW7pdRwEAYMIoYghp3DkJAAhlFDGEtBk5viLGXmIAgFBEEUNIS0uIUXZyrI5RxAAAIYgihpA3PTtZxxq5cxIAEHooYgh5M3KTdKyJIgYACD0UMYS86dnJau7sU0tnn+soAABMCEUMIW96TpIk6VgT68QAAKGFIoaQN/3snZNcngQAhBaKGELe1IwExUQZFuwDAEIORQwhLzrKo+LMRLawAACEHIoYwsL0nGTunAQAhByKGMLC9JwkVZ7i4d8AgNBCEUNYmJGdrP5Bqyoe/g0ACCEUMYSFGblsYQEACD0UMYSF6dm+LSy4cxIAEEooYggLGUmxykiMYS8xAEBIoYghbEzPSWYLCwBASKGIIWxMz+bh3wCA0EIRQ9iYnpOsxvZetff0u44CAMC4UMQQNs4+/Jt1YgCAEEERQ9iYMVTEjrJODAAQIihiCBvFmUmK8vDwbwBA6KCIIWzERns0NSOBTV0BACGDIoawMiMnmRkxAEDIoIghrEzPSdLxpk55vdZ1FAAAxkQRQ1iZnpOs3gGvqk/z8G8AQPCjiCGsTM8+8/BvLk8CAIIfRQxhZXqO7+HfRxtYsA8ACH4UMYSV7ORYZSfHan9tm+soAACMiSKGsGKM0fyCNJXXUMQAAMGPIoawM78gVYfr29U7MOg6CgAAo6KIIewsKEzTgNfqUB3rxAAAwY0ihrCzoCBNklRe0+o4CQAAo6OIIexMzUxQSny0yqspYgCA4EYRQ9gxxmhhYZp2V1HEAADBjSKGsLSkOF37a9vU3ceCfQBA8KKIISwtLc7QgNdqd9Vp11EAABgRRQxhaUlxhiRpxwmKGAAgeEWP94PGmM8N83KrpO3W2p2TFwm4cJlJsZqenaTtlS2uowAAMKKJzIgtl/RJSYVD/9wpqUzST40xX5j8aMCFWVKcoddPtMha6zoKAADDmkgRy5K01Fr7eWvt5+UrZjmSrpD0UT9kAy7I0mnpOtXZpxPNXa6jAAAwrIkUsWJJfed83S9pmrW2W1LvpKYCJsHSs+vEuDwJAAhO414jJunXkjYbYx4f+vomSQ8ZY5Ik7Zv0ZMAFmpWXouS4aG2vbNFtS4pcxwEA4C3GXcSstf9hjHlG0tskGUmftNZuG3r7g/4IB1yIKI/R4qnp2lHJnZMAgOA07kuTxhgjaa6kNGvt9yU1GGNW+C0ZMAmWFqfrQF2buvoGXEcBAOAtJrJG7EeSVkl6/9DX7ZLunvREwCRaNDVdXivtrWlzHQUAgLeYSBFbaa39tKQeSbLWtkiK9UsqYJIsLEqTJJ47CQAIShMpYv3GmChJVpKMMTmSvH5JBUyS3JR45afF86gjAEBQmkgR+x9Jj0rKNcZ8Q9KfJH3TL6mASXRxURozYgCAoDTuImat/ZWkL0j6lqRaSbdaa3833uONMT83xjQYY8rPeS3TGPOCMebw0L8zJhIeGI+Li9J1vKlTrd39rqMAAPAGE3rot7X2gLX2bmvtD621+yd4rvslXf+m1/5Z0h+ttRdJ+uPQ18CkunhondjeambFAADBZcx9xEZ42PdZ1trvjedE1tpXjDElb3r5FvmeVylJD0haL+mL4/l+wHjNmZIqSTpQ167VM7MdpwEA4M/MWA9ENsbcNfTD2ZIukfTE0Nc3SXrFWvuJcZ/MV8SestYuGPr6tLU2/Zz3W6y1w16eNMbcKd+DxpWXl7ds7dq14z3teeno6FBycrJfzxHMwmn81lp9Zl2XluZF62ML4sb8fDiN/XxE8vgjeexSZI+fsUfm2KXAjH/NmjXbrbXLh3tvzBkxa+3XJMkY87x8D/1uH/r6q5LGvUbsQllr75V0ryQtX77clpWV+fV869evl7/PEczCbfzzDm1Sh9eqrGz1mJ8Nt7FPVCSPP5LHLkX2+Bl7mesYzrge/4U89LtPUskFnr/eGJMvSUP/brjA7wcMa1Zeig7VtWusGWAAAAJpIkXsl5JeM8Z8dehy5Rb51nVdiCck3T7049slPT7KZ4HzNmtKitp7B1TX1uM6CgAAZ01k+4pvSPqYpBZJpyV9zFr7rfEeb4x5SNImSbONMVXGmI9L+k9J1xpjDku6duhrYNLNyvVd/z9Y1+44CRuZzX8AACAASURBVAAAfzbmGrFzWWt3SNpxPiey1r5/hLeuPp/vB0zErLwUSdLh+g6Vzc51nAYAAJ8J7SMGhKqMpFhlJ8fqSEOH6ygAAJxFEUPEmJaVpMrmTtcxAAA467yLmDEm3xgz9qZMQJCYlpWoylNdrmMAAHDWhcyI/VLSAWPMdyYrDOBPJVlJqm3tUU//oOsoAABImkARM8YsO/dra+01kqZLum+yQwH+MC0rUZJ0splZMQBAcJjIjNjtxpiHjTGXnvPad621eyc7FOAP07KSJEkVXJ4EAASJiRSxBknLJT1ijDlojDkuaYp/YgGTr2RoRqzyFAv2AQDBYSL7iH1I0mxrba8xpkDStyS97p9YwORLT4xVWkKMKihiAIAgMZEZsZOSSiXJWltjrb1d0l/7JRXgJyXcOQkACCITmRH7rKTfG2PO7K5fJImpBYSUqZmJ2lPd6joGAACSJvasyX2SlkpaKylJUp2kW/yUC/CLwowE1Z7ukddrXUcBAGDCz5rslfT00D9AyClKT1DfoFeNHb3KS413HQcAEOF4xBEiSmFGgiSpqqXbcRIAAChiiDAF6b4iVnOaIgYAcI8ihohSOFTEqiliAIAgQBFDREmJj1FqfLSquTQJAAgCFDFEnMKMRGbEAABBgSKGiFOYHs8aMQBAUKCIIeIUpidwaRIAEBQoYog4hRkJau8dUGt3v+soAIAIRxFDxClMT5QkZsUAAM5RxBBxCtJ9O+qzYB8A4BpFDBHnzO76LNgHALhGEUPEyU6KU2y0hxkxAIBzFDFEHI/H+O6cpIgBAByjiCEiFaTHs1gfAOAcRQwRqTA9gTViAADnKGKISAXpCWpo71XvwKDrKACACEYRQ0QqSPfdOVnX2uM4CQAgklHEEJGKhooY68QAAC5RxBCRzsyIceckAMAlihgiUj676wMAggBFDBEpLjpKOSlx3DkJAHCKIoaI5dvCgsX6AAB3KGKIWOyuDwBwjSKGiFWY4Sti1lrXUQAAEYoihohVkBavvgGvmjr6XEcBAEQoihgiVmFGoiSxYB8A4AxFDBGrgC0sAACOUcQQsYrSmREDALhFEUPESk2IVlJsFDNiAABnKGKIWMYYFaQn8LxJAIAzFDFEtMKMBNW0UsQAAG5QxBDRmBEDALhEEUNEK0xPUEtXv7r6BlxHAQBEIIoYIlpRRoIkqYpZMQCAAxQxRLRpWUmSpMpTXY6TAAAiEUUMEa0ky7eXWOWpTsdJAACRiCKGiJaeGKu0hBhmxAAATlDEEPFKshJVwYwYAMABihgi3rSsJGbEAABOUMQQ8UqyElXV0qW+Aa/rKACACEMRQ8SblpUkrxXPnAQABBxFDBGvJNt35yTrxAAAgUYRQ8Q7s5fY8UaKGAAgsChiiHhZSbHKSIzR4YZ211EAABGGIoaIZ4zRRbkpOlzf4ToKACDCUMQASRflJetQfbusta6jAAAiCEUMkDQrL0VtPQNqaO91HQUAEEEoYoB8M2KSdKiedWIAgMChiAHyzYhJ0iHWiQEAAogiBuicOyeZEQMABBBFDJDvzsk5U1K1v7bNdRQAQAShiAFDFhalaX9duwa83DkJAAgMihgwZH5BqvoGvKrp4OHfAIDAoIgBQxYWpkmSKtooYgCAwKCIAUNKspKUHBetSooYACBAKGLAEI/HaF5BqipaKWIAgMCgiAHnWFiYppPtXg0MUsYAAP5HEQPOsaAwVX1e6Whjp+soAIAIQBEDznFmwf6e6lbHSQAAkYAiBpyjNDtZ8VFSOUUMABAAFDHgHFEeo+JUj3ZXnXYdBQAQAShiwJuUpHq0r7aNBfsAAL+jiAFvUpIWpZ5+Lwv2AQB+RxED3qQk1fefBQv2AQD+RhED3mRKklFSbBQL9gEAfkcRA97EY4zmF6SxYB8A4HcUMWAYCwrTWLAPAPA7ihgwjIVFqSzYBwD4HUUMGMa8fN8O+wfq2hwnAQCEM4oYMIzS7CRFe4wO1be7jgIACGMUMWAYsdEelWYn6VB9h+soAIAwRhEDRjArL4UZMQCAX1HEgBHMykvRieYudfcNuo4CAAhTFDFgBLPykmWtdKSBy5MAAP+giAEjmDUlRZK4PAkA8BuKGDCCaZmJio3y6DAzYgAAP6GIASOIjvJoamaCKprY1BUA4B8UMWAUpdlJqjhFEQMA+AdFDBhFSZaviHm91nUUAEAYoogBo5iWnaSefq/q23tcRwEAhCGKGDCK0qwkSdJx1okBAPyAIgaMoiQ7UZJU0dTlOAkAIBxRxIBRFKQlKDbaw4J9AIBfUMSAUXg8RtMyE7k0CQDwC4oYMIaS7CT2EgMA+AVFDBhDaXaSKpu7NMgWFgCASUYRA8YwLStRfQNe1bWxhQUAYHJRxIAxTMv0bWFRyYJ9AMAko4gBY5iW5dvC4sQptrAAAEwuihgwhoL0BMVEGVU2U8QAAJMrKIqYMeYfjDF7jTHlxpiHjDHxrjMBZ0R5jIoyEpkRAwBMOudFzBhTKOkzkpZbaxdIipL0l25TAW9UnJmoymbWiAEAJpfzIjYkWlKCMSZaUqKkGsd5gDeYlpWoyqYuWcsWFgCAyWOC4Q8WY8xnJX1DUrek5621HxzmM3dKulOS8vLylq1du9avmTo6OpScnOzXcwSzSB7/cGN/rqJfDx3o0/9elaiUWOMoWWDwax+ZY5cie/yMPTLHLgVm/GvWrNlurV0+3HvRfj3zOBhjMiTdIqlU0mlJvzPGfMha++C5n7PW3ivpXklavny5LSsr82uu9evXy9/nCGaRPP7hxj6wr14PHdimojmLtaQ4w02wAOHXvsx1DGciefyMvcx1DGdcjz8YLk1eI+m4tbbRWtsv6RFJqx1nAt7g7BYW3DkJAJhEwVDETki61BiTaIwxkq6WtN9xJuANpmb6ilgld04CACaR8yJmrd0i6WFJOyTtkS/TvU5DAW8SHxOlKanxFDEAwKRyvkZMkqy1d0m6y3UOYDTFWYk85ggAMKmcz4gBoaIkK5Hd9QEAk4oiBozTtKwkNbb3qqtvwHUUAECYoIgB41ScyZ2TAIDJRREDxunMFhYs2AcATBaKGDBO0zKTJImHfwMAJg1FDBintMQYpSXEqII7JwEAk4QiBkxASVYia8QAAJOGIgZMQHFWEmvEAACThiIGTMC0zERVn+5W/6DXdRQAQBigiAETUJyVqEGvVc3pbtdRAABhgCIGTMA0Hv4NAJhEFDFgAkqyfVtY8MxJAMBkoIgBE5CbEqf4GA8zYgCASUERAybAGKPiTB7+DQCYHBQxYIKKM5PYXR8AMCkoYsAETRva1NVa6zoKACDEUcSACSrJTlJ3/6BqW3tcRwEAhDiKGDBBc6akSJIO1rU7TgIACHUUMWCCZg8VsX21bY6TAABCHUUMmKDU+BgVZSRoP0UMAHCBKGLAeZgzJVUHuDQJALhAFDHgPMzNT9Gxxg719A+6jgIACGEUMeA8LChMk9dK5dWtrqMAAEIYRQw4D0uLMyRJO060OE4CAAhlFDHgPOSkxKk4M1HbKyliAIDzRxEDztOyaRnaXnmaHfYBAOeNIgacp6XTMtTU0asKnjsJADhPFDHgPF0+M1uS9MqhRsdJAAChiiIGnKeS7CRNy0rUyxQxAMB5oogBF6BsVo42HT3FfmIAgPNCEQMuQNnsXHX3D2rzsVOuowAAQhBFDLgAq2ZkKSk2Ss/vq3cdBQAQgihiwAWIj4nSlbNz9MK+enm9bGMBAJgYihhwga6bN0WN7b3aWXXadRQAQIihiAEXaM3sXEV7jF7g8iQAYIIoYsAFSkuM0aXTs/T83jrXUQAAIYYiBkyCa+fl6Whjp440dLiOAgAIIRQxYBJcOy9Pkrg8CQCYEIoYMAkK0hO0sDBNL+zj8iQAYPwoYsAkuW5enl4/eVoNbT2uowAAQgRFDJgk187Pk7XSi/sbXEcBAIQIihgwSWbnpWhqZoLWHaCIAQDGhyIGTBJjjC4tzdL2ymZZyy77AICxUcSASbRsWoZauvp1vKnTdRQAQAigiAGTaHlJhiRpe2WL4yQAgFBAEQMm0fTsZKUlxFDEAADjQhEDJpHHY7Roarp2V7W6jgIACAEUMWCSzS9I1eGGdvUNeF1HAQAEOYoYMMnmF6Sqf9DqUH276ygAgCBHEQMm2YKCNEnS3houTwIARkcRAyZZcWaikuOitbemzXUUAECQo4gBk8zjMZqXn6ryambEAACjo4gBfjCvIFX7a9s16GWHfQDAyChigB/MK0hVd/+gKk+xwz4AYGQUMcAP5uWnSpL213LnJABgZBQxwA9m5iYrymO0v5YF+wCAkVHEAD+Ij4nSjJwkihgAYFQUMcBP5uanUsQAAKOiiAF+Mjc/VTWtPTrd1ec6CgAgSFHEAD+Zy4J9AMAYKGKAn8zNT5EkLk8CAEZEEQP8JDclXtnJsdpHEQMAjIAiBvgRC/YBAKOhiAF+NDc/VYfrO9Q/6HUdBQAQhChigB/NzU9R36BXxxp51BEA4K0oYoAf/fnOSS5PAgDeiiIG+NGMnGTFRnkoYgCAYVHEAD+KifJoZm4yd04CAIZFEQP8zHfnJJu6AgDeiiIG+Nnc/BQ1dfSqsb3XdRQAQJChiAF+Nr8gTZJUXt3qOAkAINhQxAA/WzQ1TdEeoy3Hm11HAQAEGYoY4GeJsdFaNDVdW46fch0FABBkKGJAAKwszdSeqlZ19Q24jgIACCIUMSAALp2epQGv5fIkAOANKGJAAKwozVRSbJSeK69zHQUAEEQoYkAAxMdE6eq5eXp+Xz0PAAcAnEURAwLktiWFau7s0zN7al1HAQAECYoYECBXzsrR9Owk3bP+qAaYFQMAiCIGBIzHY/SPb5+tA3Xtumf9UddxAABBgCIGBNA7FkzRzYsK9N0XDum3W0+6jgMAcCzadQAgkhhj9J33LtLp7n598ZHdkqT3XTLVcSoAgCvMiAEBFhvt0b0fXqbLL8rRFx/ZrS3H2HEfACIVRQxwID4mSvd8cKmKMxP1z4/sYfE+AEQoihjgSFJctL58w1wdb+rU4ztrXMcBADhAEQMcunZenmblJesXmypcRwEAOEARAxwyxuh9y6dqV1WrDtW3u44DAAgwihjg2C2LC2WM9PRudtwHgEhDEQMcy0mJ09LiDK070OA6CgAgwChiQBC4ak6u9lS3qr6tx3UUAEAAUcSAIHD13FxJ0vqDzIoBQCShiAFBYHZeirKTY7X5WLPrKACAAKKIAUHAGKOV07O06egpWWtdxwEABAhFDAgSl07PUl1bjypPdbmOAgAIEIoYECRWTc+UJG3m2ZMAEDEoYkCQmJGTrOzkOIoYAEQQihgQJIwxunR6pjYfa2adGABECIoYEETOrBOrYJ0YAEQEihgQRFbPyJIkbTjS5DgJACAQKGJAECnNTlJBWjxFDAAiBEUMCCLGGF02M1sbj57SoJd1YgAQ7ihiQJB520XZau3u176aNtdRAAB+RhEDgszqGdmSeO4kAESCoChixph0Y8zDxpgDxpj9xphVrjMBruSkxGn5tAw9vafWdRQAgJ8FRRGT9ANJf7DWzpG0SNJ+x3kAp955cb4O1LXrSEO76ygAAD9yXsSMMamSrpD0M0my1vZZa0+7TQW49c6F+fIY6bfbqlxHAQD4kXG9g7cxZrGkeyXtk282bLukz1prO9/0uTsl3SlJeXl5y9auXevXXB0dHUpOTvbrOYJZJI8/WMb+4109er1hUN++IlGpcUb9XqvNNQNq7La6ZEq0pqb45+9RwTJ+FyJ57FJkj5+xR+bYpcCMf82aNduttcuHey8YithySZslXWat3WKM+YGkNmvtv410zPLly+22bdv8mmv9+vUqKyvz6zmCWSSPP1jGfqShQzf8z6taUJCqq+fm6ddbTqj6dLckKSbK6P6PrdBlM7Mn/bzBMn4XInnsUmSPn7GXuY7hTCDGb4wZsYg5vzQpqUpSlbV2y9DXD0ta6jAPEBRm5ibre+9bpAN17fr2cweVnxavB+5YoR3/dq2mZSXpn363S119A65jAggAa61aOvsmdExda48O1Y9/nanXa/XCvnodaegY9zG1rd26f8NxNbT3jPuY9QcbdN+G4+odGBzX53v6B/WzPx3Xc3vrxn2OqpYu/eDFwzraOP6xuBLtOoC1ts4Yc9IYM9tae1DS1fJdpgQi3o0XF+jqOXnq6B1QTkrc2de/edtCve8nm/Tg5krdecUMhwmB4NbdN6j4GI+MMeP6/MnmLu040aKr5+YpOW7sPyJ7+gd190tH1Nk7qM9dN2tcx6w/2KC7ntirZcUZ+s93X6zY6NHnRAYGvfqrX2zTSwcb9bHLSnTXTfPHPMeOEy36wE83q6ffq2+9a6Hev6J4zGO+8kS5Htx8QrHRHv3+k6u1sCht1M+3dvXr1rs3qL6tVz/bcFzP/f0VSowdffwv7KvXX/3Cd0VrT3Wrvve+xWPm+vKj5fr9Dt962R99cKluWJg/6uc7egf0Fz/ZrOrT3bpv43G9+LkrlZ0cN+oxLgXDjJgk/Z2kXxljdktaLOmbjvMAQSMhNuoNJUySVpRmakVpph7YWMkO/AhJTR292ni0SQOD3nF9vrW7X//2WLm+/Ogetff0j+uYH647rHl3/UG3/WjjuI45capLN/zgVX127U596P+2jCvbfz57QP+77oh+vuG4vvjw7rHH0dWvv3vodbV19+uR16t17ytHxzzm16+d0EsHG7WoKE33bajQxjEegWat1VceL1dGYqyWFKfr60/tU2v36OM/XN+uBzef0M2LCpSWEKNvPjP25gU/33BcDe29+uL1c3SyuVu/2FQ5Zq5vP3dAs/KSdcdlpXpkR7UOjzFjd6yxQ7/fUaWPv61Uc/NT9Z3nDmqsJVUPDS3j+OZtC9XeM6CfvnpszLG4FBRFzFq701q73Fp7sbX2Vmtti+tMQLC7fVWJqk93a9PRU66jIMzsPHlaB+rG/2SHZ/fU6uYf/knfff6gvOP4i0FFU6eu/u7L+sBPt+iTD+4Y8w9WSfrSI7v1y82V+tWWE/rCOArPgbo2fef5Q7q4KF27q07r+y8eHvOYe14+ogGv1WeumqmdJ0+fnYUZSVffgNZuPaH3LivSP1wzS0/vqdXemtZRj3luX53aewZ0/8dW6Ko5ubpvQ8Wol+i8Xqv7N1RoSXG6fvvJVcpOjtX9GytGPcfrJ0+rvLpNn14zU/9xywJ19g3qsderRz3mwc2Vio3y6K6b5umjq0u06dgpHRvlst7AoFdrt57QFRfl6FNlM3RJSYZ+s/XkqL+W2ypbdKi+Qx9/W6n+Zs0MRXuMfrP15Ki5HnrthKI9Rn995XR9/G2lOtbUqW2VI1cEa60eeu2Elk3L0AdWFmvN7Fw9sqN63IXfhaAoYgAm7uq5uUqJi9bjO0f/HyzCS0tn37jKjuT7Q/wHLx7WJx7Ypt1V49sV6CcvH9Wtd2/Q9d9/VQ9vH3v7lKONHfrM2tdV0dSp/113RL9+7cSYx3z96f3yWqsPXVqsF/fX65k9o6/9qTndrWf21Olv18zU56+dpWfL61RePXrheez1GkV7jO776CW6dUmhfr3lxKizYgNeqz+U1+m6+Xn6h2tnaW5+qh7cPPpYXjrQqJ5+r25bWqiPri5RbJRHvxtjy5ln99SqKCNBFxel6fbVJTrV2afn99aP+PltlS061tSpD186TXHRUXrv8ql6cX/9qGuyHtlRpcTYKN26pFALCtO0sDBNv9s+cuHxWqsnd9fquvl5ykqO03uXFynKY/ToKOVta0WL6tt69ReXTJUkvW/5VB1v6tTOkyP/Pnt6d63iYzy6aVGBspPjdPXcXD2+q2bE38/WWj29u1Zls3OVmxKvGxZOUVJs1Kilcn9tu441deq9y4okSe9ZVqTG9l5tPtY84jGuUcSAEBUfE6W3L5iiP5TXqad/fIteETwGvVbP7qkd8zLTGV6v1d+vfV1L/uMFvefHG9XRO/aNGve+ekz//eIhvXKoUbf//DU1dfSO+vmmbq+++8Ihlc3O0SUlGfrak3vVNsYlPd8siPTHz5dpRWmm/uePh9U/yuzDkYYOvbi/XndcVqqv3bxApdlJum/D8VHP8dTuGkm+P1Q/srpE8TGeUQuftVZP7a7RZTOzlZkUqw9fOk3d/YN6YlfNiMccaB5US1e/3rkwX8YY/cXyIu2pbtX+2pFnBp8pr1V2cqxWlmYpLTFG187P0+M7q0ccf1tPv/50pEnvWDBFxhhdPjNb2clx+sMoi9D/uL9eMVFG187LkyTdvKhAXiu9dGD4R6BZa7Vuf4Muvyj77Hq1Gxbmq7y6TXWtw5e3Y61eNXf26br5UyRJuSnxWlacoT/uH/kxa+sPNigmyujKWTmSpGvn5cljRs515pjVM7LPriO7bt4UNbb3at8IP8eHGzpU09qjq+fmSpISY6N12cxsrT/YOOLM2/pDvvNfNcd3zJWzchQb7dFLQfzIOIoYEMJuWVyg9t6BUf/nB/+z1uqXmyp01+PlOnGqa1zHfOmR3frUr3boA/+3RT/70+hFRJJ+v6NKj+2s0XXz8rTz5Gl97/lDo36+pbNPP1x3RFfPydXTn3mbWrv79dNXRl8r81xFv2R9N4PcddN8tfcM6JejrPsZ9Fo9vrNaZbNzlJMSpzsvn66G9t5RZ3ge2VGlKI/Rh1dNU5TH6IMri7WtskUH60ZeK/TErhpdXJSmkuwkpSXE6J0LC/TEzpoR/wKy8+RpVbV066ZFBZKkxVPTdVFu8qgzKa/VDSo5LlpXDBWLmxcXKspj9OQI5a27b1Dr9jfo7fOnKMrjuxHglkUFaunqH3G5wB/316t/0Or6Bb7F5h6P0TVzc/XywcYRL0++uL9eK0uzlBIfI0maMyVFhekJemHf8P/NH6hrV01rz9kiIknXDBWZPx4Y/tdld+OgPEa64qI/b4dz1dxc7attU21r97DHrDvQoBWlmUoaKnvpibFaWpyhdSMUnuNNnao41aWy2TlnX7ty6Mcj/f/rzPN2zz2mbHauqk93j3hn58sHGzU3P1W5qfGSfGtsV5ZmBvWzeyliQAhbNT1L2clxenznyH/Tx8Q9s6dWH73vNf16y9iX2STpnpeP6t8e36sHNlXqL+/dNOYs0qajp/TbbVX66OoSXTUnV99+7oDq20a+1DTotfrvFw5p8dR0/fhDy/SeZUV6cEvlqMc8+nq1OnoH9PnrZuuivBTdtKhAD26uHHHLk74BrzbXDOjaeXkqSE/QgsI0rSzN1MPbq0acfdh4tEn1bb26bYnvMtCaObnKT4vXo68Pf3nOWqtn9tSe/X0rSbctKRz1MtjRxg6VV7fp5qFSdeaYjt4BrRvhD/And9UqNsqj6+b7ZpGMMbp5UYG2VrQMWyz6B73aXu8be3xMlCQpMylWq2dk6ek9tcOO/+VDDeruH3zDHXxXzMpRcly0nhnhObHP7qnTlNR4LZmafva1a+f57ooe7tJZRVOnjjZ2np0ROjOWa+bm6k9HGtXd99bydubnZM3sPx8zMzdZUzMTRpzh2tU4qGXTMpSeGHv2tauHitxwP8cnm7t0uKHjDeeQfL/+5dVtahjm9+XZUjXrz8dkJ8dpUVHaiOXt5UONmp2Xovy0hLOvnSllw81wtff0a3tlyxuKm++YXB1t7NTJ5vH9JSnQKGJACIuO8ujGi/O17mDDqHdFeb123OuKws3J5i59/re79M1n9o9r37XNx07pb361Q1uPN+tfHt0zYqk4o+Z0t37w4mFdP3+KHv2b1app7dGPXhr9Trh7Xj6qKanx+ud3zNFXb5qvQa/VvaPMVr18qEE1rT2684rp8niMPr1mpvoGvCOu4bLW6rfbTmpRUZrmFaRKkj6wolidfYMj7sW07kCD2vul9ywvOvvau5YW6nhTp3ZVDb8e69Ed1UqJjz5bFKI8RjcszNcrh5qGLaP7a9tVcarrDeUlKzlOV87K0RM7q4f9PfrEzhoZ49vK5YxVM3xF7olh/gLi9Vo9vadGV87OUerQLJIk3ThU5J7e/daStOFIkzr7fY8WO9eNF+er8lSX9ta89dLZ03vqlJkUq5WlmWdf+//t3Xd4VNe56OHfmpFGDfXekJAEEiBAiF5DsTHGNti4Yhw3nObEqSchub5JnN5umn2cOI5jxy027qbZBmNRDKabJpBkRBPqBSShgqSZdf6YGTFd5NzAgPS9z6OH0Z61mb20Zs/+5ltlBwcamTs8gQ+Ka9y6J9vO97CprJ75+UkYDBeW0piWE0dIoJEPD7tnqzbYgqC5eYlO2+cOT6Sz28Inx9y7tT8qqWNUamRvRgiswdvcvES2lTe4ZRHrWjo52WJhdp5zUJWTMIi06BCP2aqNZfWANcBxZA/M7M87KiqtJys+jMGxoU7bZ+UmsK/irNsaaW3ne9h1/Exv1swuJSqE3MRwNnl4ja1HG+mx6N7u0guvYf3d0z5XAgnEhLjKLSpIoavH4vUCu2LXKcb8ZB0Tf7nhih4ncbGKSuv459bjNLf3vRxBe1cPS5/Zwar9VTy9+RjfWrHPZ3mLbdp/ekwIOx69hrGDo/jl2hLafIzHemn7SbrNFh69YThjB0ezqCCFFz854XUM16nGdjaX1bNk4mCCA40Mjg1l3sgk3tx72mv31Cs7K4gbZOKa4dYLckZsGJOGxPD6bs+z1IqrWiipaeX28em92yZkxpAWHcKbezxnnlburyTCZB23ZDc/PxlTgMFjl157Vw/vF9dww6jk3iwSWMcjdZktbDjiHlisPViNQdGbqbK7eWwqVc2d7DzhnBXSWrNqfxWThsSQFHkhsDAaFDeNsX4BcQ34dp1oorblPDeOdg6qhsSFkZ8a4bGrcc2BakICYMYw5ztVzBuRRIBBsdoleOvsNrPhSC3XjUwiwOh8Gb0+P5kz7d3scMlwFZXWcb7HwvX5SU7bgwONzBgax4YjtW5tueFI7g1dzwAAHL5JREFULUMTBrkFL5OyYggzGfnQJcPV1NbF3lNn3IIqsI6Z6uy2uHWb2j8TXLNbSilm5yaw9WijW/C2saSO9JgQsuPDnLYPTw4nMSLIrRuwo8vM9mONTtkwu1m58WgNmz9zDpK2lTfSZbYwyyWoAmuX5q7jZ9zOy01l9YSZjBQOjnbanhUXRlp0iFsgprWmvP7cRc3avZQkEBPiKleQHkVGbKjH2ZMfHq5l+ZsHGZ4SQdwgEw+/tJfjDW0e/hf/0FpT09x50dm657Ye54HndvHYqsPc8bdPPHbNOPpLUTmnmtp5YdlEvjc/lw+Ka30Go8UNZspqz/Hta60Lc/6fBcOpbz3vtdvsfI+ZFbsqmDs8kfQY68Xy/qmZtHWZvc5mfWXXKYwG1TvbDOCuCemcbe/mAw9jq5rauigqqeOWsalOC3/eNi6NE43tHqfyr9xfRaBROQUjBoNi8dhUtpY3uHVpttm6+SYkGZ0Ci8iQQObkJrD6QLXb9P8Pimto7zKzuDDNafvY9CiSI4NZc8D5i4HWmrWHqpns0C1pd+3wRI+z4YqrWjjW0MbCMaludVw4xvYF5JDz66y2zcyzB62Obhqdwv7TzU7j+OxfYgoTAggKMDqVjw4zMS0njjUHq5wu1pvK6mnvMrNglHNQBdbAItRkZI1L9+R7B2uIG2RifGaM2z7XDE+kqrmTI9UXxsk1d3Sz83gT14xwr0dQgJEZQ+P56Eid03EVldSh9YUxYY4mZcUQajK6jRPbcKSOmGBFXlK42z5z8hLo6Daz8/iFoLKz28zW8gbm5Ca4LZJrD962lDU4ZQS3lTfQ1WNhdp57UDU6LYro0EA2lToHSUWldYSZjB7/XrOGxdNldg4qtdZsLK1j+tA4twVylbJOKth21HocduX11mVUPq707x1KJBAT4iqnlGLRmBS2lTf23osSoLalk+++sZ8RyRG8uGwizz84EYOCX7/X90KNl0Pb+R7ufHo7k3+1gZv/spWmPm7fUtHUzq/fK2FOXgJP3TOO0tpWnvjI+9pQ7V09vLj9JNfnJzE5K5aHpmeRFh3CX310G64/Zb2DwQ2jrN1Y4zOiGZkSwYufnPT4rXn94Voa27r4/OSM3m0F6VGMSI7g5e2n3PaxWDTvfFrJ54bFO2V4pmXHkRoVwuu73ZcYWHOwmh6L5uaxzsHIglHJhJqMvOWy1pXFYs0izRwa7zTmB6yZJ61xywptKKmjs9vCxCT3VdEXFaTQcM59+v9beytJiw5hfIZz9sFgUFyfn8zmsnqnbNWR6laO1bdxw2j3VdFDTNYZwGsOVjtlX+wBpWsWCax/58ExoU4zIXvMFtYerGZuXmLvIHJH9tdedeDCPluPNtDS2cPEZKNbefs+FU0dHHRYLmPtwWqiQwOZkhXrVj440MicvATWFdf0Bq+d3WaKSuuY5zCw39HsvASUsg7Mt9tUVk+PRXsMKME6mL6mpdNpxuGGkloSwoPIT3FfET8owMj0nDiKSi7MOOzsNvPx0QYKEowe7zwwOSuWoACD0zixT8ob6ex278q0m5UbT+v5HvY6fEEoKq0j1GRk4hD3oMpoUMwcFs+msvreL2RaazaWeA6qAMZlRhNqMvbOkAQoqz1HdXOnW2bPbuaweNq6zOxxPC5bvUbEem77y0UCMSH6gTsnDsaoVO+sOLNF853X9tPRbebxJWMJCjCSGBHMF2dm80FxbZ/3n9tzsokFf97CDY9vcfrg8uXVnacY97P13PjEFp8LQdr9cu0Rdp1oYtn0IZRUt/LDdw75LP/05mNoDb+4JZ/5+UksKkjhua0nvN5/7829lTR3dLNs+hAATAEG7p+ayc4TTRz0MOap8mwHB+vNLJmQ3vvhr5Ti3ikZlNa2OmUF7N7Yc5qUyGCnm68rpVgyaTCHq1ucLt5gHX9W3dzJLS5BlcGguG1cGh8fbXAKpgHe/bSSoQmDGJEc4bQ9LCiA+flJrN7vHLzsPnmG6ubO3hmDjrLiBzEmLdItw7fmQBUJ4UEMjXa/JMzOS2CQy3p1dS2dbD3awC1jU53GO9ktKkihy2xxGo+1+kAVRoNi/kj3oArg5oJUWjt7eru1zA4BZXSYya28UopFBSlsPdpAfat1WY6t5Y00tnW5dUvapUWHUjg4yikQfXdfJRHBAYz0cjG+bkQSgcYL3ZNt53tYf9hzt6TdDaOSaWzr6n3PfHiklvYus9sYNLv48CAK0qOcArF1xdYMWoHDwH5Hs3OtwZt9AH5nt5nNZQ3MHZ7gsU3AmuGqPNtBqe38336skfYuMwXxnuseYjIyNTuWotILmbcNJbWEBBqZ7CEIBeuYtwCDosiW4dJaU1RSz7ScOLeMo92s3Hga27o4ZFsMt6zWumyFt6AqKMDI1GznZSwuzLD0vM/U7FgCDMqpC7SotI7cxHBiQ/wbCkkgJkQ/kBoVYp1Jt/0kW4828Is1R/j4aAOP3TSSnIRBveU+PyUDU4CB532szF3XbuGB53bR3NHN2fZu7n9up8/ZeWD9QP/B2wcZHBtK1dlOvvDCbp9rm5XXn+NfO0/xwNQh/PDGETwyJ4c1B6vZdcLzootn2rp4fU8FiwpSemdQPTwrh45uMy9ud19eQWvNy9tPkp8awTiHjM0dE9IJMxl5bpv7chFv2BbidBxXBbBwTCrhwQG87DKDsralk81l9SwuTHPLciwqSCE40MArO50zXG/urSQ8KKB3TShHt41LQ2t402EAfkWTtevx5rGpHjMWtxam0WoLDOze3VdJcKDB42uANStWXNXSG4yfaeuiqLSeBaOSMXh4jeBAI/NGJvJ+8YX16l7fcxqLxi2gtBudFklOwqDeupgtmpX7q5iaHUusl3v+Tc2OJT48iHc+tQZJm8vqqW7u5NZxaR7Lw4U1tdbYMlyv7aogOjSQOR665uxuGpNCSU0rR+taae7o5r1DNSwqSCXAS/ASGRrI9Jw41hywzp5875C1S9bXcc3KTSAk8EL35Ft7K0mODPYavABcn5/EgdPNlNa0cqati3WHa7k+P9ljBg2swduEjBje3Hsai20x2nPne3qzuZ7MGZ6A0aB4a681qH5jz2kiQwLJi/GeEbp2RBInG9vZV3GWzm4zqw9UM2d4gtO4QEfhwYFMyY5l1f4qzBbNzuNNVJ7t8BqAA8wcGu80Fu+dfZUYFE5LcLianRfP6TMdHKq0ZgRXHagiPzXCKdPselzjM6P5oLgGrTV1rZ3sON7kNCPVXyQQE6Kf+MGC4aREhbD0mR08u/U490/N5C6XG/3GhJlYOCaFt2zZIk9WlHZhtmhe/eJkXn5oEl09Fn6+xnt3psWi+fG7xQyOCeWlZZP4050FlNe3+Vwb6+lNxzAZDTw823rD8mUzhhATZuIvRUc9ln9tdwWd3RaWzRjSuy03KZxZufG88MkJt6DPeoueVpZMHOwUwEQEB7K4MI3VB6ppdFjc1GLRvL6nghGxht6xXnYhJiO3Fqbx3qFqpwVR3/60EovG4wU5Iti+1lVl74Dic+d7eP9QNQtcBrfbpceEMjU7ltf3VPR20azYVYFSOC3d4GhKViwpkcG8ussaJLZ0dvPOp5Vcn5/ssWsOrLMPAwyqd32wFbsr6OqxcNfEdI/lwRoktnb28Pqe03SbLfxrxymm5cSSFT/IY3mlFLePS2P3yTPsqzjLB8U1nD7TwdJJ3m88HWA0cNPoFD4qqaO5vZvntp0gNszktWsOYGhiOMOTI3h7XxUVTe2sO1zDLWPTvGZeANuCrdb2e2n7Sc73WLhjvPe6A9wwOsV6O7FjjTyz5RhZcWFuXbKOQkzW7sn3D9Wwr+IsRaV13OohYHd0+7h0ggIM/H3LMV7afpKuHgtLJ/u+UffSyYM52djO+iO1PLftBBmx1veQNwnhwVw3MpHXdlfwWW0rHxTXcGthGiaj9+NaWJBCmMnI89tOsGp/FWfbu1kywfdx3TkhncqzHWwsreOlHacIDwrweaPu2EFBXDM8kTf2nKa1s5s395xmdm6C08xPVzeOTiEowLqw76HKZg5VtnD7ON/tuLgwjWP1bew6cYa391ZitmifAfXlIoGYEP1EZEgg73x1Gj+8cQRPf34cP75phMdy90/NpKPb7HE80q4TTeypNfOlz2WTHhNKZlwYy6YPYfWBKq8LKH5QXENpbSvfvnYYYbYFMWflxvPMlmMel4toOGcd/H77+LTeQduhpgAemJpJUWm920rmFovmXztPMTEzhrwk5+65h6Zn0XCuy23F9Fd2niLUZPQYwNw7JYOuHgsrHOq/rbyR02c6mJEa6FYe4J7Jg+k2W5eEAOtYpH/tOMWEzGiGxIV53GfJxHTausy99yt8decp2rrMLPERjCyZOJiKpg5WHaii7XwPL+04ybUOEwFcGQyK+6ZmsvVoIzuONfLCthO0dZl5YFqm19eIDw/i9vHprNhVwe4TTTyz5RhTs2Pd/raOpmTFUjg4iic2fMaP3i2m8mxHb5evN0snZxA3KIjvvLaPn60+TFZcGNeO8J4VAWvA122xcNN/f8zmsnq+9Lksj2OEHN09MZ39FWeZ/6fNBBgMfHFmls/yCRHBzB+ZxJNF5fzug1KuGZ7IqDT3MVWOrhuZSGJEEHf/fQclNa18Z16uxwylo3unZNDY1sXNT24lMiSwz79XdJiJ+6Zm8sae0/x+fRnzRiT6bBOwztDMjg/jSy/uYX/FWb42O8drt6Tdl2Zm09LRzbV/3IzRoHy+VwAGBQVwz5QM3tlXxQ/eOsio1EifwR5YZ5umx4Tw9Vc+ZdX+KpZOziDE5Hsc1v3TMmlq6+KaP2yirvU89/dxXJEhgdxckMobeyr4+iufEh4UwKIC79lAsC5HEhEcwGMri/nb5mNMHBJDtpcvE5eTBGJC9CMxYSaWTR/CvJFJXi8U+amRjM+I5oVPTmJ2mK2otea375cQFaR4yCHz9OD0IQQFGPjrRvdB7lprntx4lCFxYU7rPD0yZyhn2rs9Loj66s5TdJkt3D/V+cJ075RMQk1Gt9XfPz7awMnGdo/ZgWk5seQlhfPsx8d7x4o0d3Szan81N41O6V2N3NHQxHCm5cTy0icne5eLeHrLMWLDTBQmer5Y5CSEMz0njn9sOU5LZzcr91dxqqmdh2Z4v+iPy4juveVPWW0rT20qZ3JWjNcxP2DN1uQlhfPLtUf46r/20tzRzcOzc7yWB+vfLSUymGXP7+ZPtvXMRqd5fw2Ar8/NISzIyG1PfUJLZw+P3jDcZ3mlFD9dlM+58z28svMUiwpSvI7fsRsUFMBvbh1F5dkOOrrN/OHOAp8ZIYARKRH8ZOFI2rt6uLUwjQen+Q5eAJZOyuALM4aQkzCIv95T6LVrytGvFo/i9nFpLC5M5fe3j+mzfHhwIP98YCILx6Tws5vzPU44cDUpK5Ynloxl8dhUXnxwksdxbq6+M28YD8/K5p7Jg/ndRRyXKcDAM/dN4MbRyTy6YDi3XUR2Z0x6FH+8s4DpOXE8dc84r0G+o29dM4w7xqcxcUgMTywZ22ewZwow8N9LCkmLDmXBqCS+MXdon68xOSuWr8/J4Wx7N1/+XDYzhrrPsHT13fm5DI4J5VRTOz+/Jd9tcoqrUFMAjy0cyZGaFrp7LPzoRs9fVi87rfVV9zNu3Dh9qRUVFV3y17iSDeT6D4S6r9xXqTOWr9bri2t6t20srdMZy1fr//v8OrfyP373kM7+wRpdeabdafu2ow06Y/lq/fL2k2773PW3T/TEX6zXnd09vdu6esx60i8+1Pc8s93jcf1kZbHb6zz0/C5d+NN1Tv+PoxU7T+mM5av1R0dqtdZa/2l9mc5Yvlofqjzrtf5byup1xvLV+s8flvU+frLoM59tf/D0WZ35/dX6tr9u1QU/+UDf9MQWbTZbvJa37zPs0bU6Y/lqPezRtbq4stlnea21Lq5s1mN/uk5nLF+tn9hQ1md5rbU+Ut2sl/59u/76K3v12faui9qnvK5V/3F9qd536kzvtr7e+zXNHXp7eUOf9XbUdr5bd3R5brsryUA47725kupusVz8e0trrbt7zBf9nrc7Xn9O17Z09P5+OeoP7NZeYhrJiAkxAM3PTyIlMpg/b/gMi0XTY7bw2/dLSI0KYWaa+9iiZdOHoMFt3NcztkzS4kL3QdtfmZVNbct5p7Wh1hXXUtPSyX1TMj0e17IZ1td5apM1+1Zc1cz6w7UsnTTY67ifRWNTGBIXxmOritl2tIGnN5czb0QiIz1M4bebPjSOG0cn84f1Zdz77A6y4sN4YKrv7Et+aiQ/XTiSA6ebiQo18fhdfWcG8lMjef3LU3h4Vjavf3lK7yr3voxIiWDr8jnsfHQuX5vTdyYBIC8pgpcemsSf7xpLZIjn7lVXWfGD+OY1wxjjI0PnKjEimElZsX3W21GoKcDrwG4hXPXV5esqwGi46Pe8XWZcGAnhfWdOLxfPozmFEP1aoNHAf12Xy7df28+fNnzGuc4eiqtaePLuQgKbSt3Kp8eEctPoZF7ZeYpH5uQQFWriSHULG0rq+MbcoR4vtDOGxpGfGsFfNpazqCCVQKOBP28oY0hcmNc1iFKjQrh74mBe3H6SCZkxPLf1OBHBASzz0QUYFGDk14tH8fl/7OTuZ3YQG2bixwtH9vk3+H+3j2FIXBhn2rt4ZM7QPsewAHx+inUCRIBBXfQFY3RaVJ9dha5CTMaLOh4hxNVPAjEhBqibC1L5qKSOxzdYF0W9e9JgbhidzMaN7oEYwFdm5bDqQDW/WlvCLxeP4ieriokMCfQ62Fcpxfeuy+PeZ3fy8zWHiQgOpKz2HE/eXehzrND35ufyybFGHnnlUwwKnlhS2Oc33klZsax8ZBo7jjX13rS6L8GBRr4zL7fPcq4CvawdJYQQ/xsSiAkxQBkMisfvGsviQmu2anpOnM/yuUnhfGFGFk9tKmfXiSaONbTx68WjfA6QnTksngemZfLc1hMALB6b6vG2MI7CgwN56+GprC+uJTcpnPxU3zPa7PKSIvqcZSaEEFcaCcSEGMAMBsWcPO/rNLn67nW5GJR1JuOPbxrhdL9Eb3504wjm5iXSZTYza5j7/ek8iQgOvCLW9xFCiEtNAjEhxEUzGhTfm5/H9/6NfZRSTB/qO9smhBADlQx2EEIIIYTwEwnEhBBCCCH8RAIxIYQQQgg/kUBMCCGEEMJPJBATQgghhPATCcSEEEIIIfxEAjEhhBBCCD+RQEwIIYQQwk8kEBNCCCGE8BMJxIQQQggh/EQCMSGEEEIIP5FATAghhBDCTyQQE0IIIYTwEwnEhBBCCCH8RAIxIYQQQgg/kUBMCCGEEMJPJBATQgghhPATCcSEEEIIIfxEAjEhhBBCCD+RQEwIIYQQwk8kEBNCCCGE8BMJxIQQQggh/EQCMSGEEEIIP1Faa38fw79NKVUPnLzELxMHNFzi17iSDeT6D+S6w8Cu/0CuOwzs+kvdB67LUf8MrXW8pyeuykDsclBK7dZaj/f3cfjLQK7/QK47DOz6D+S6w8Cuv9R9YNYd/F9/6ZoUQgghhPATCcSEEEIIIfxEAjHvnvb3AfjZQK7/QK47DOz6D+S6w8Cuv9R94PJr/WWMmBBCCCGEn0hGTAghhBDCTyQQE0IIIYTwkwEfiCml5iulSpVSR5VS3/fwvFJKPW57/oBSqtAfx3kpKKXSlVJFSqkjSqlipdQ3PJSZpZRqVkrts/38yB/HeikopU4opQ7a6rXbw/P9su2VUrkO7blPKdWilPqmS5l+1e5KqWeVUnVKqUMO22KUUuuVUp/Z/o32sq/Pz4grnZe6/04pVWJ7X7+tlIrysq/Pc+Rq4KX+jymlKh3e3wu87Nsf236FQ71PKKX2edn3qm57b9e3K/K811oP2B/ACJQDWYAJ2A+McCmzAHgPUMBkYIe/j/s/WP9koND2OBwo81D/WcBqfx/rJar/CSDOx/P9tu0d6mgEarAuNthv2x2YCRQChxy2/Rb4vu3x94HfePn7+PyMuNJ/vNR9HhBge/wbT3W3PefzHLkafrzU/zHgv/rYr1+2vcvzvwd+1B/b3tv17Uo87wd6RmwicFRrfUxr3QW8CixyKbMIeEFbbQeilFLJl/tALwWtdbXWeq/tcStwBEj171FdUfpt2zuYC5RrrS/1nSr8Smu9GWhy2bwIeN72+HngZg+7XsxnxBXNU9211uu01j22X7cDaZf9wC4TL21/Mfpl29sppRRwB/DKZT2oy8TH9e2KO+8HeiCWClQ4/H4a90DkYspc9ZRSmcBYYIeHp6copfYrpd5TSo28rAd2aWlgnVJqj1Lqix6eHwhtfxfeP4j7a7vbJWqtq8H6oQ0keCgzEN4DD2LN/HrS1zlyNfuarWv2WS/dU/297WcAtVrrz7w832/a3uX6dsWd9wM9EFMetrmu53ExZa5qSqlBwJvAN7XWLS5P78XabTUGeAJ453If3yU0TWtdCFwPfFUpNdPl+X7d9kopE7AQeN3D0/253f8d/f098CjQA7zspUhf58jV6q9ANlAAVGPtonPVr9seWILvbFi/aPs+rm9ed/Ow7ZK1/UAPxE4D6Q6/pwFV/4syVy2lVCDWN+nLWuu3XJ/XWrdorc/ZHq8FApVScZf5MC8JrXWV7d864G2s6WhH/brtsX7A7tVa17o+0Z/b3UGtvavZ9m+dhzL99j2glLoPuBFYqm0DY1xdxDlyVdJa12qtzVprC/B3PNerP7d9ALAYWOGtTH9oey/XtyvuvB/ogdguYKhSaogtO3AXsNKlzErgXtsMuslAsz2tebWzjRH4B3BEa/0HL2WSbOVQSk3E+p5pvHxHeWkopcKUUuH2x1gHLx9yKdZv297G6zfi/truLlYC99ke3we866HMxXxGXHWUUvOB5cBCrXW7lzIXc45clVzGet6C53r1y7a3uQYo0Vqf9vRkf2h7H9e3K++898dshivpB+vMuDKsMyQetW37MvBl22MFPGl7/iAw3t/H/B+s+3Ss6dYDwD7bzwKX+n8NKMY6a2Q7MNXfx/0fqnuWrU77bfUbaG0fijWwinTY1m/bHWvAWQ10Y/22uwyIBTYAn9n+jbGVTQHWOuzr9hlxNf14qftRrGNg7Of9U65193aOXG0/Xur/ou2cPoD1Aps8UNretv2f9nPdoWy/ansf17cr7ryXWxwJIYQQQvjJQO+aFEIIIYTwGwnEhBBCCCH8RAIxIYQQQgg/kUBMCCGEEMJPJBATQgghhPATCcSEEP2OUipKKfWwv49DCCH6IoGYEKI/igIkEBNCXPEkEBNC9Ee/BrKVUvuUUr/zVkgpZVRK/VMpdUgpdVAp9S3b9myl1Pu2Gx5vUUrl2bYnKqXett0Mfb9Sauplqo8Qop8K8PcBCCHEJfB9IF9rXdBHuQIgVWudD9YuTdv2p7GuPP6ZUmoS8BdgDvA4sElrfYtSyggMujSHL4QYKGRlfSFEv6OUygRW2wMsH+Wigd3AWmANsA7r7Z/qgVKHokFa6+FKqXogTWt9/lIctxBi4JGMmBBiwNJan1FKjQGuA74K3AF8Ezh7Edk0IYT4/yZjxIQQ/VErEO7tSaXUBqVUqlIqDjBord8EfggUaq1bgONKqdttZZUtWAPrTYK/YttuVEpFXNJaCCH6PQnEhBD9jta6EdhqG4TvNFhfKWUAcoAmIBXYqJTaB/wT+IGt2FJgmVJqP1AMLLJt/wYwWyl1ENgDjLzUdRFC9G8yRkwIMaAopfKBB7XW3/b3sQghhARiQgghhBB+Il2TQgghhBB+IoGYEEIIIYSfSCAmhBBCCOEnEogJIYQQQviJBGJCCCGEEH4igZgQQgghhJ/8D1YNMUGNCSHYAAAAAElFTkSuQmCC\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", - "plt.plot(res['t'], np.rad2deg(res['x'][:, f16.State().name_to_index('alpha')]))\n", - "plt.xlabel('t ,sec')\n", - "plt.ylabel(r'$\\alpha$, deg')\n", - "plt.grid()\n", - "plt.title('angle of attack')" - ] - }, - { - "cell_type": "code", - "execution_count": 40, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "Text(0.5, 1.0, 'trajectory')" - ] - }, - "execution_count": 40, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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\n", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "res = f16.simulate(x0, f_control, p, 0, 20, 0.01)\n", - "\n", - "plt.plot(res['x'][:, f16.State().name_to_index('p_E')], res['x'][:, f16.State().name_to_index('p_N')])\n", - "plt.axis('equal');\n", - "plt.xlabel('East, ft')\n", - "plt.ylabel('North, ft')\n", - "plt.grid()\n", - "plt.title('trajectory')" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { From ff105435b5ec8040625d0bda1d8d4e6e939ebfb6 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Sun, 1 Sep 2019 15:06:49 -0400 Subject: [PATCH 11/26] change in assignment question --- homework/HW1.ipynb | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/homework/HW1.ipynb b/homework/HW1.ipynb index 95a2194b..acf99665 100644 --- a/homework/HW1.ipynb +++ b/homework/HW1.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 46, + "execution_count": 57, "metadata": {}, "outputs": [], "source": [ @@ -19,7 +19,7 @@ }, { "cell_type": "code", - "execution_count": 17, + "execution_count": 58, "metadata": {}, "outputs": [ { @@ -55,7 +55,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 59, "metadata": {}, "outputs": [], "source": [ @@ -65,7 +65,7 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 60, "metadata": {}, "outputs": [], "source": [ @@ -77,7 +77,7 @@ }, { "cell_type": "code", - "execution_count": 45, + "execution_count": 61, "metadata": {}, "outputs": [ { @@ -100,7 +100,7 @@ " [0.]]" ] }, - "execution_count": 45, + "execution_count": 61, "metadata": {}, "output_type": "execute_result" } @@ -117,7 +117,7 @@ }, { "cell_type": "code", - "execution_count": 55, + "execution_count": 62, "metadata": {}, "outputs": [ { @@ -133,7 +133,7 @@ "[-21, 0, -8, 8]" ] }, - "execution_count": 55, + "execution_count": 62, "metadata": {}, "output_type": "execute_result" }, @@ -164,16 +164,16 @@ }, { "cell_type": "code", - "execution_count": 36, + "execution_count": 63, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 36, + "execution_count": 63, "metadata": {}, "output_type": "execute_result" }, @@ -201,22 +201,22 @@ }, { "cell_type": "code", - "execution_count": 53, + "execution_count": 64, "metadata": {}, "outputs": [ { "data": { "text/latex": [ - "$$\\frac{272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753}{s^5 + 32.84 s^4 + 279.7 s^3 + 480.3 s^2 + 119.5 s}$$" + "$$\\frac{272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753}{s^5 + 32.84 s^4 + 279.7 s^3 + 484.4 s^2 + 495.4 s}$$" ], "text/plain": [ "\n", " 272.9 s^3 + 3873 s^2 + 1.241e+04 s + 9753\n", "-------------------------------------------------\n", - "s^5 + 32.84 s^4 + 279.7 s^3 + 480.3 s^2 + 119.5 s" + "s^5 + 32.84 s^4 + 279.7 s^3 + 484.4 s^2 + 495.4 s" ] }, - "execution_count": 53, + "execution_count": 64, "metadata": {}, "output_type": "execute_result" } @@ -229,16 +229,16 @@ }, { "cell_type": "code", - "execution_count": 41, + "execution_count": 65, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 41, + "execution_count": 65, "metadata": {}, "output_type": "execute_result" }, From 6cb336043724095edf0af9b2dc523a4eed0b19ba Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Wed, 11 Sep 2019 17:53:03 -0400 Subject: [PATCH 12/26] written on 9/11 lecture --- lectures/4-Casadi-Basics.ipynb | 225 ++++++++++++++++++++++++++++----- lectures/Untitled.ipynb | 194 ++++++++++++++++++++++++++++ lectures/casadi_practice.ipynb | 217 +++++++++++++++++++++++++++++++ lectures/gen.c | 116 +++++++++++++++++ 4 files changed, 719 insertions(+), 33 deletions(-) create mode 100644 lectures/Untitled.ipynb create mode 100644 lectures/casadi_practice.ipynb create mode 100644 lectures/gen.c diff --git a/lectures/4-Casadi-Basics.ipynb b/lectures/4-Casadi-Basics.ipynb index 84e05850..0b1639f3 100644 --- a/lectures/4-Casadi-Basics.ipynb +++ b/lectures/4-Casadi-Basics.ipynb @@ -11,7 +11,7 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 13, "metadata": {}, "outputs": [], "source": [ @@ -43,11 +43,23 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 14, "metadata": {}, - "outputs": [], + "outputs": [ + { + "data": { + "text/plain": [ + "SX(x)" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ - "x = ca.SX.sym('x')" + "x = ca.SX.sym('x')\n", + "x" ] }, { @@ -59,7 +71,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 15, "metadata": {}, "outputs": [ { @@ -68,7 +80,7 @@ "SX((-2*sq(x)))" ] }, - "execution_count": 3, + "execution_count": 15, "metadata": {}, "output_type": "execute_result" } @@ -80,7 +92,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 16, "metadata": {}, "outputs": [ { @@ -90,7 +102,7 @@ "" ] }, - "execution_count": 4, + "execution_count": 16, "metadata": {}, "output_type": "execute_result" } @@ -117,17 +129,17 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 17, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", + "image/png": 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\n", "text/plain": [ "" ] }, - "execution_count": 5, + "execution_count": 17, "metadata": {}, "output_type": "execute_result" } @@ -148,7 +160,7 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 18, "metadata": {}, "outputs": [ { @@ -158,7 +170,7 @@ "" ] }, - "execution_count": 6, + "execution_count": 18, "metadata": {}, "output_type": "execute_result" } @@ -186,7 +198,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 19, "metadata": {}, "outputs": [ { @@ -195,7 +207,7 @@ "SX((-2*(x+x)))" ] }, - "execution_count": 7, + "execution_count": 19, "metadata": {}, "output_type": "execute_result" } @@ -207,7 +219,7 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 20, "metadata": {}, "outputs": [ { @@ -217,7 +229,7 @@ "" ] }, - "execution_count": 8, + "execution_count": 20, "metadata": {}, "output_type": "execute_result" } @@ -235,7 +247,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 21, "metadata": {}, "outputs": [ { @@ -244,19 +256,20 @@ "Function(y:(x)->(y) SXFunction)" ] }, - "execution_count": 9, + "execution_count": 21, "metadata": {}, "output_type": "execute_result" } ], "source": [ + "# name of fn , list of var, list of output expression, name of input, name of output\n", "f = ca.Function('y', [x], [y], ['x'], ['y'])\n", "f" ] }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 22, "metadata": {}, "outputs": [ { @@ -265,7 +278,7 @@ "DM(-0)" ] }, - "execution_count": 10, + "execution_count": 22, "metadata": {}, "output_type": "execute_result" } @@ -274,6 +287,27 @@ "f(0)" ] }, + { + "cell_type": "code", + "execution_count": 29, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "" + ] + }, + "execution_count": 29, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "draw_expr(f(x))" + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -281,6 +315,35 @@ "# Integration" ] }, + { + "cell_type": "code", + "execution_count": 48, + "metadata": {}, + "outputs": [], + "source": [ + "import scipy.integrate\n", + "f = ca.Function('y', [x], [2*x + ca.sin(x)**2], ['x'], ['y'])" + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "4.06 ms ± 142 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)\n" + ] + } + ], + "source": [ + "%%timeit\n", + "res = scipy.integrate.solve_ivp(fun=lambda t, y: f(y), t_span=[0,1], y0=[0], t_eval=np.arange(0,1,0.01))\n", + "res" + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -290,7 +353,44 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 50, + "metadata": {}, + "outputs": [], + "source": [ + "f_fast = ca.Function('y', [x], [2*x + ca.sin(x)**2], ['x'], ['y'], {'jit': True})" + ] + }, + { + "cell_type": "code", + "execution_count": 51, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "3.97 ms ± 85.8 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)\n" + ] + } + ], + "source": [ + "%%timeit\n", + "res = scipy.integrate.solve_ivp(fun=lambda t, y: f(y), t_span=[0,1], y0=[0], t_eval=np.arange(0,1,0.01))\n", + "res" + ] + }, + { + "cell_type": "code", + "execution_count": 52, + "metadata": {}, + "outputs": [], + "source": [ + "## Casadi integration" + ] + }, + { + "cell_type": "code", + "execution_count": 53, "metadata": {}, "outputs": [ { @@ -299,7 +399,7 @@ "Function(F:(x0,p[0],z0[0],rx0[0],rp[0],rz0[0])->(xf,qf[0],zf[0],rxf[0],rqf[0],rzf[0]) CvodesInterface)" ] }, - "execution_count": 11, + "execution_count": 53, "metadata": {}, "output_type": "execute_result" } @@ -313,16 +413,16 @@ }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 55, "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "[]" + "[]" ] }, - "execution_count": 12, + "execution_count": 55, "metadata": {}, "output_type": "execute_result" }, @@ -362,17 +462,17 @@ }, { "cell_type": "code", - "execution_count": 13, + "execution_count": 56, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", "text/plain": [ "" ] }, - "execution_count": 13, + "execution_count": 56, "metadata": {}, "output_type": "execute_result" } @@ -384,7 +484,7 @@ " 't': [],\n", " 'x': []\n", "}\n", - "for t in np.arange(0, 0.2, 0.1):\n", + "for t in np.arange(0, 0.4, 0.1):\n", " res = F(x0=xi)\n", " xi = res['xf']\n", " data['t'].append(t)\n", @@ -409,7 +509,16 @@ }, { "cell_type": "code", - "execution_count": 14, + "execution_count": 58, + "metadata": {}, + "outputs": [], + "source": [ + "int_chain = ca.Function('int_chain', [x0],[xi],['x0'],['xi'])" + ] + }, + { + "cell_type": "code", + "execution_count": 59, "metadata": {}, "outputs": [ { @@ -468,10 +577,12 @@ "/* y:(x)->(y) */\n", "static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) {\n", " casadi_real a0, a1;\n", - " a0=-2.;\n", + " a0=2.;\n", " a1=arg[0] ? arg[0][0] : 0;\n", - " a1=casadi_sq(a1);\n", " a0=(a0*a1);\n", + " a1=sin(a1);\n", + " a1=casadi_sq(a1);\n", + " a0=(a0+a1);\n", " if (res[0]!=0) res[0][0]=a0;\n", " return 0;\n", "}\n", @@ -538,6 +649,54 @@ "f.generate('gen.c')\n", "print(open('gen.c','r').read())" ] + }, + { + "cell_type": "code", + "execution_count": 64, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "1-Basics.ipynb\t 4-Casadi-Inv-Pend.ipynb\tdata.json RootLocus.ipynb\n", + "2-F16-Intro.ipynb 4-Casadi.ipynb\t\tgen.c\t source.dot\n", + "3-Mocap-Data.ipynb analysis.py\t\tjit_tmp.c _temp.png\n", + "4-Casadi-Basics.ipynb data\t\t\t__pycache__\n" + ] + } + ], + "source": [ + "!ls" + ] + }, + { + "cell_type": "code", + "execution_count": 65, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/Scrt1.o: In function `_start':\n", + "(.text+0x20): undefined reference to `main'\n", + "/tmp/ccCNccAE.o: In function `gen_f0':\n", + "gen.c:(.text+0x7d): undefined reference to `sin'\n", + "collect2: error: ld returned 1 exit status\n" + ] + } + ], + "source": [ + "! gcc gen.c" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/lectures/Untitled.ipynb b/lectures/Untitled.ipynb new file mode 100644 index 00000000..402410fb --- /dev/null +++ b/lectures/Untitled.ipynb @@ -0,0 +1,194 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 27, + "metadata": {}, + "outputs": [ + { + "ename": "SyntaxError", + "evalue": "invalid syntax (, line 2)", + "output_type": "error", + "traceback": [ + "\u001b[0;36m File \u001b[0;32m\"\"\u001b[0;36m, line \u001b[0;32m2\u001b[0m\n\u001b[0;31m impot matplotlib.pyplot as plt\u001b[0m\n\u001b[0m ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m invalid syntax\n" + ] + } + ], + "source": [ + "import casadi as ca\n", + "impot matplotlib.pyplot as plt" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$m \\ddot{x} + c \\dot{x} +kx=u$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{x} = \\begin{bmatrix} x \\\\ \\dot{x} \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{u} = \\begin{bmatrix} u \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{y} = \\begin{bmatrix} x \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\ddot{x} = (-c \\dot{x} -kx + u)/m$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\dot{\\vec{x}} = \\begin{bmatrix} \\dot{x} \\\\ (-c \\dot{x} -kx + u)/m \\end{bmatrix}$" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "SX([x_1, ((u-((c*x_1)+(k*x_0)))/m)])" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = ca.SX.sym('m')\n", + "c = ca.SX.sym('c')\n", + "k = ca.SX.sym('k')\n", + "p = ca.vertcat(m,c,k)\n", + "u = ca.SX.sym('u')\n", + "xvec = ca.SX.sym('x', 2)\n", + "x = xvec[0]\n", + "xdot = xvec[1]\n", + "\n", + "# or,\n", + "''' \n", + "x = ca.SX.sym('x')\n", + "xd = ca.SX.sym('xd') \n", + "'''\n", + "\n", + "xv_dot = ca.vertcat(xdot, (-c*xdot - k*x + u)/m)\n", + "xv_dot" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "Function(rhs:(x[2],u,p[3])->(x_dot[2]) SXFunction)" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "f_rhs = ca.Function('rhs', [xvec, u, p], [xv_dot], ['x','u','p'],['x_dot'], {'jit':True})\n", + "f_rhs" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "DM([2, -7])" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "f_rhs([1,2],[0],[1,2,3])" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "metadata": {}, + "outputs": [ + { + "ename": "NameError", + "evalue": "name 'plt' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mnumpy\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[0mscipy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mintegrate\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msolve_ivp\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfun\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mlambda\u001b[0m \u001b[0mt\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mx\u001b[0m\u001b[0;34m:\u001b[0m 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t, x: np.array(f_rhs(x, 1, [1,2,3])).reshape(-1), t_span=[0,1], y0 =[0,0], t_eval=np.arange(0,1,0.1))\n", + "plt.plot(res['t'],res['y'][0,:]);" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/lectures/casadi_practice.ipynb b/lectures/casadi_practice.ipynb new file mode 100644 index 00000000..8b722d29 --- /dev/null +++ b/lectures/casadi_practice.ipynb @@ -0,0 +1,217 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 27, + "metadata": {}, + "outputs": [ + { + "ename": "SyntaxError", + "evalue": "invalid syntax (, line 2)", + "output_type": "error", + "traceback": [ + "\u001b[0;36m File \u001b[0;32m\"\"\u001b[0;36m, line \u001b[0;32m2\u001b[0m\n\u001b[0;31m impot matplotlib.pyplot as plt\u001b[0m\n\u001b[0m ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m invalid syntax\n" + ] + } + ], + "source": [ + "import casadi as ca\n", + "impot matplotlib.pyplot as plt" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$m \\ddot{x} + c \\dot{x} +kx=u$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{x} = \\begin{bmatrix} x \\\\ \\dot{x} \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{u} = \\begin{bmatrix} u \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\vec{y} = \\begin{bmatrix} x \\end{bmatrix}$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\ddot{x} = (-c \\dot{x} -kx + u)/m$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$\\dot{\\vec{x}} = \\begin{bmatrix} \\dot{x} \\\\ (-c \\dot{x} -kx + u)/m \\end{bmatrix}$" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "SX([x_1, ((u-((c*x_1)+(k*x_0)))/m)])" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "m = ca.SX.sym('m')\n", + "c = ca.SX.sym('c')\n", + "k = ca.SX.sym('k')\n", + "p = ca.vertcat(m,c,k)\n", + "u = ca.SX.sym('u')\n", + "xvec = ca.SX.sym('x', 2)\n", + "x = xvec[0]\n", + "xdot = xvec[1]\n", + "\n", + "# or,\n", + "''' \n", + "x = ca.SX.sym('x')\n", + "xd = ca.SX.sym('xd') \n", + "'''\n", + "\n", + "xv_dot = ca.vertcat(xdot, (-c*xdot - k*x + u)/m)\n", + "xv_dot" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "Function(rhs:(x[2],u,p[3])->(x_dot[2]) SXFunction)" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "f_rhs = ca.Function('rhs', [xvec, u, p], [xv_dot], ['x','u','p'],['x_dot'], {'jit':True})\n", + "f_rhs" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "DM([2, -7])" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "f_rhs([1,2],[0],[1,2,3])" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "metadata": {}, + "outputs": [ + { + "ename": "NameError", + "evalue": "name 'plt' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[0;32mimport\u001b[0m \u001b[0mnumpy\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 3\u001b[0m \u001b[0mscipy\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mintegrate\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msolve_ivp\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfun\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mlambda\u001b[0m \u001b[0mt\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mx\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mf_rhs\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mx\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m 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\u001b[0mt_eval\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marange\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;36m0.1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 4\u001b[0;31m \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mplot\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mres\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m't'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mres\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'y'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mT\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m;\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m", + "\u001b[0;31mNameError\u001b[0m: name 'plt' is not defined" + ] + } + ], + "source": [ + "import scipy.integrate\n", + "import numpy as np\n", + "scipy.integrate.solve_ivp(fun = lambda t, x: np.array(f_rhs(x, 1, [1,2,3])).reshape(-1), t_span=[0,1], y0 =[0,0], t_eval=np.arange(0,1,0.1))\n", + "plt.plot(res['t'],res['y'][0,:]);" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "SX(\n", + "[[00, 1], \n", + " [(-(k/m)), (-(c/m))]])" + ] + }, + "execution_count": 29, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "A = ca.jacobian(xv_dot, xvec)\n", + "A" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/lectures/gen.c b/lectures/gen.c new file mode 100644 index 00000000..5f508091 --- /dev/null +++ b/lectures/gen.c @@ -0,0 +1,116 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CODEGEN_PREFIX + #define NAMESPACE_CONCAT(NS, ID) _NAMESPACE_CONCAT(NS, ID) + #define _NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) gen_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int long long int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[5] = {1, 1, 0, 1, 0}; + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +/* y:(x)->(y) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { + casadi_real a0, a1; + a0=2.; + a1=arg[0] ? arg[0][0] : 0; + a0=(a0*a1); + a1=sin(a1); + a1=casadi_sq(a1); + a0=(a0+a1); + if (res[0]!=0) res[0][0]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int y(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT void y_incref(void) { +} + +CASADI_SYMBOL_EXPORT void y_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int y_n_in(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_int y_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT const char* y_name_in(casadi_int i){ + switch (i) { + case 0: return "x"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* y_name_out(casadi_int i){ + switch (i) { + case 0: return "y"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* y_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* y_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int y_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 1; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif From 0951576efb0ce7d00a4b780ea896e1a3552ef262 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Mon, 16 Sep 2019 15:00:10 -0400 Subject: [PATCH 13/26] pull before class --- homework/HW3 practice.ipynb | 109 ++++++++++++++++++++++++++++ homework/HW3_practice.ipynb | 6 ++ lectures/casadi_practice.ipynb | 6 +- lectures/rhs.c | 129 +++++++++++++++++++++++++++++++++ 4 files changed, 247 insertions(+), 3 deletions(-) create mode 100644 homework/HW3 practice.ipynb create mode 100644 homework/HW3_practice.ipynb create mode 100644 lectures/rhs.c diff --git a/homework/HW3 practice.ipynb b/homework/HW3 practice.ipynb new file mode 100644 index 00000000..39f6ff78 --- /dev/null +++ b/homework/HW3 practice.ipynb @@ -0,0 +1,109 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import matplotlib.pyplot as plt\n", + "%matplotlib inline\n", + "import numpy as np\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Parameter" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [], + "source": [ + "S=2170.0;\n", + "CBAR=17.5;\n", + "MASS=5.0E3; \n", + "IYY= 4.1E6;\n", + "TSTAT=6.0E4;\n", + "DTDV = -38.0;\n", + "ZE = 2.0;\n", + "CDCLS= 0.042;\n", + "CLA = 0.085;\n", + "CMA = -0.022; \n", + "CMDE = -0.016; \n", + "CMQ =-16.0;\n", + "CMADOT= -6.0;\n", + "CLADOT= 0.0;\n", + "RTOD = 57.29578;\n", + "GD=32.17;\n", + "R0 = 2.377e-5;" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [], + "source": [ + "thtl = ca.SX.sym('thtl')\n", + "elev = ca.SX.sym('elev')\n", + "xcg = ca.SX.sym('xcg')\n", + "land = ca.SX.sym('land')\n", + "VT = ca.SX.sym('VT')\n", + "alhpa = RTOD * ca.SX.sym('alpha')\n", + "theta = ca.SX.sym('theta')\n", + "Q = ca.SX.sym('Q')\n", + "H = ca.SX.sym('H')" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [], + "source": [ + "tfac = 1.0 - 0.703e-5 * H\n", + "T = 519.0 * tfac\n", + "rho = R0 * (tfac ** 4.14)\n", + "qbar = 0.5*rho*VT*VT\n", + "mach = VT / np.sqrt(1.4*1716.3*T)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "qs = qbar * S;\n", + "salp = np.sin()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/homework/HW3_practice.ipynb b/homework/HW3_practice.ipynb new file mode 100644 index 00000000..2fd64429 --- /dev/null +++ b/homework/HW3_practice.ipynb @@ -0,0 +1,6 @@ +{ + "cells": [], + "metadata": {}, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/lectures/casadi_practice.ipynb b/lectures/casadi_practice.ipynb index 8b722d29..77dad100 100644 --- a/lectures/casadi_practice.ipynb +++ b/lectures/casadi_practice.ipynb @@ -2,15 +2,15 @@ "cells": [ { "cell_type": "code", - "execution_count": 27, + "execution_count": 1, "metadata": {}, "outputs": [ { "ename": "SyntaxError", - "evalue": "invalid syntax (, line 2)", + "evalue": "invalid syntax (, line 2)", "output_type": "error", "traceback": [ - "\u001b[0;36m File \u001b[0;32m\"\"\u001b[0;36m, line \u001b[0;32m2\u001b[0m\n\u001b[0;31m impot matplotlib.pyplot as plt\u001b[0m\n\u001b[0m ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m invalid syntax\n" + "\u001b[0;36m File \u001b[0;32m\"\"\u001b[0;36m, line \u001b[0;32m2\u001b[0m\n\u001b[0;31m impot matplotlib.pyplot as plt\u001b[0m\n\u001b[0m ^\u001b[0m\n\u001b[0;31mSyntaxError\u001b[0m\u001b[0;31m:\u001b[0m invalid syntax\n" ] } ], diff --git a/lectures/rhs.c b/lectures/rhs.c new file mode 100644 index 00000000..bcf935db --- /dev/null +++ b/lectures/rhs.c @@ -0,0 +1,129 @@ +/* This file was automatically generated by CasADi. + The CasADi copyright holders make no ownership claim of its contents. */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CODEGEN_PREFIX + #define NAMESPACE_CONCAT(NS, ID) _NAMESPACE_CONCAT(NS, ID) + #define _NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) rhs_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int long long int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[6] = {2, 1, 0, 2, 0, 1}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[7] = {3, 1, 0, 3, 0, 1, 2}; + +/* rhs:(x[2],u,p[3])->(x_dot[2]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem) { + casadi_real a0, a1, a2, a3; + a0=arg[0] ? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[1] ? arg[1][0] : 0; + a2=arg[2] ? arg[2][1] : 0; + a2=(a2*a0); + a0=arg[2] ? arg[2][2] : 0; + a3=arg[0] ? arg[0][0] : 0; + a0=(a0*a3); + a2=(a2+a0); + a3=sin(a3); + a2=(a2+a3); + a1=(a1-a2); + a2=arg[2] ? arg[2][0] : 0; + a1=(a1/a2); + if (res[0]!=0) res[0][1]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int rhs(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, void* mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT void rhs_incref(void) { +} + +CASADI_SYMBOL_EXPORT void rhs_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int rhs_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int rhs_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT const char* rhs_name_in(casadi_int i){ + switch (i) { + case 0: return "x"; + case 1: return "u"; + case 2: return "p"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* rhs_name_out(casadi_int i){ + switch (i) { + case 0: return "x_dot"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* rhs_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* rhs_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int rhs_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif From 5ecba09548ddf5f842cde025bbb805482a45eacb Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Fri, 20 Sep 2019 14:27:12 -0400 Subject: [PATCH 14/26] First draft of the HW --- homework/HW3 practice.ipynb | 147 +++++++++++- homework/HW3.ipynb | 369 ++++++++++++++++++++++++++++++ homework/HW3_practice.ipynb | 6 - lectures/4-Casadi-MSD.ipynb | 48 ++-- lectures/4-Casadi-Transport.ipynb | 132 +++++++++-- lectures/rhs.c | 2 + 6 files changed, 641 insertions(+), 63 deletions(-) create mode 100644 homework/HW3.ipynb delete mode 100644 homework/HW3_practice.ipynb diff --git a/homework/HW3 practice.ipynb b/homework/HW3 practice.ipynb index 39f6ff78..87d11809 100644 --- a/homework/HW3 practice.ipynb +++ b/homework/HW3 practice.ipynb @@ -1,5 +1,12 @@ { "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Importing Libraries" + ] + }, { "cell_type": "code", "execution_count": 1, @@ -9,7 +16,27 @@ "import casadi as ca\n", "import matplotlib.pyplot as plt\n", "%matplotlib inline\n", - "import numpy as np\n" + "import numpy as np\n", + "\n", + "from casadi.tools.graph import dotgraph\n", + "from IPython.display import Image" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Functions" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "def draw_graph(expr):\n", + " return Image(dotgraph(expr).create_png())" ] }, { @@ -21,7 +48,7 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -41,12 +68,20 @@ "CLADOT= 0.0;\n", "RTOD = 57.29578;\n", "GD=32.17;\n", - "R0 = 2.377e-5;" + "R0 = 2.377e-5;\n", + "\n", + "CLO = 0.0\n", + "CDO = 0.0\n", + "CMO = 0.0\n", + "DCDG = 0.0\n", + "DCMG = 0.0\n", + "\n", + "xd_vec = [0,0,0,0,0,0]" ] }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -55,15 +90,22 @@ "xcg = ca.SX.sym('xcg')\n", "land = ca.SX.sym('land')\n", "VT = ca.SX.sym('VT')\n", - "alhpa = RTOD * ca.SX.sym('alpha')\n", + "alpha = RTOD * ca.SX.sym('alpha')\n", "theta = ca.SX.sym('theta')\n", "Q = ca.SX.sym('Q')\n", "H = ca.SX.sym('H')" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Code" + ] + }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -76,13 +118,102 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "qs = qbar * S;\n", - "salp = np.sin()" + "salp = np.sin(alpha)\n", + "calp = np.cos(alpha)\n", + "gam = theta - alpha\n", + "sgam = np.sin(gam)\n", + "cgam =np.cos(gam)" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "" + ] + }, + "execution_count": 8, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "logic_land = ca.if_else(land == 0, 1, ca.if_else(land == 1, 2 ,3))\n", + "draw_graph(logic_land)" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Landing gear & Flaps ? \n" + ] + } + ], + "source": [ + "if logic_land == 1:\n", + " CLO = 0.20\n", + " CDO = 0.16\n", + " CMO = 0.05\n", + " DCDG = 0.0\n", + " DCMG = 0.0\n", + "elif logic_land == 2:\n", + " CLO = 1.0\n", + " CDO = 0.08\n", + " CMO = -0.2\n", + " DCDG = 0.02\n", + " DCMG = -0.05\n", + "else:\n", + " print(\"Landing gear & Flaps ? \")" ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [], + "source": [ + "thr = (TSTAT + VT + DTDV) * thtl\n", + "CL = CLO + CLA * alpha\n", + "CM = DCMG + CMO + (CMA * alpha) + (CMDE * elev) + CL * (xcg - 0.25)\n", + "CD = DCDG + CDO + CDCLS * (CL ** 2)" + ] + }, + { + "cell_type": "code", + "execution_count": 19, + "metadata": {}, + "outputs": [], + "source": [ + "xd_vec[0] = ((thr * calp - qs * CD) / MASS) - (GD * sgam)\n", + "xd_vec[1] = (-thr * salp - qs *CL + MASS * (VT * Q + GD * cgam)) / (MASS * VT + qs * CLADOT)\n", + "xd_vec[2] = Q\n", + "xd_vec[3] = 0.5 * CBAR * (CMQ * Q + CMADOT * xd_vec[1]) / VT\n", + "xd_vec[4] = VT * sgam\n", + "xd_vec[5] = VT * cgam" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/homework/HW3.ipynb b/homework/HW3.ipynb new file mode 100644 index 00000000..6731ac66 --- /dev/null +++ b/homework/HW3.ipynb @@ -0,0 +1,369 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import numpy as np\n", + "from casadi.tools.graph import dotgraph\n", + "from IPython.display import Image\n", + "\n", + "def draw_graph(expr):\n", + " return Image(dotgraph(expr).create_png())" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "def rhs(x, u):\n", + " s = 2170\n", + " cbar = 17.5\n", + " mass = 5.0e3\n", + " iyy = 4.1e6\n", + " tstat = 6.0e4\n", + " dtdv = -38.0\n", + " ze = 2.0\n", + " cdcls = 0.042\n", + " cla = 0.085\n", + " cma = -0.022\n", + " cmde = -0.016\n", + " cmq = -16.0\n", + " cmadot = -6.0\n", + " cladot = 0.0\n", + " rtod = 57.29578\n", + " gd = 32.17\n", + " \n", + " thtl = u[0]\n", + " elev_deg = u[1]\n", + " xcg = u[2]\n", + " land = u[3]\n", + " phi = u[4]\n", + " \n", + " vt = x[0] # velocity, ft/s\n", + " alpha = x[1]\n", + " alpha_deg = rtod*alpha # angle of attack, deg\n", + " theta = x[2] # pitch angle, rad\n", + " q = x[3] # pitch rate, rad/s\n", + " h = x[4] # altitude, ft\n", + " pos = x[5] # horizontal position from origin, ft (not used in dynamics)\n", + " \n", + " r0 = 2.377e-3\n", + " tfac = 1.0 - 0.703e-5*h\n", + " temperature = ca.if_else(h > 35000, 390.0, 519.0*tfac)\n", + " rho = r0*(tfac**4.14)\n", + " mach = vt/ca.sqrt(1.4*1716.3*temperature)\n", + " qbar = 0.5*rho*vt**2\n", + " \n", + " qs = qbar*s\n", + " salp = ca.sin(alpha + phi)\n", + " calp = ca.cos(alpha + phi)\n", + " gam = theta - alpha\n", + " sgam = ca.sin(gam)\n", + " cgam = ca.cos(gam)\n", + " \n", + " aero_p = ca.if_else(\n", + " land,\n", + " (1.0, 0.08, -0.20, 0.02, -0.05),\n", + " (0.2, 0.016, 0.05, 0.0, 0.0))\n", + " cl0 = aero_p[0]\n", + " cd0 = aero_p[1]\n", + " cm0 = aero_p[2]\n", + " dcdg = aero_p[3]\n", + " dcmg = aero_p[4]\n", + " \n", + " thr = (tstat + vt*dtdv)*ca.fmax(thtl, 0)\n", + " cl = cl0 + cla*alpha_deg\n", + " cm = dcmg + cm0 + cma*alpha_deg + cmde*elev_deg + cl*(xcg - 0.25)\n", + " cd = dcdg + cd0 + cdcls*cl**2\n", + " \n", + " x_dot = ca.SX.zeros(6)\n", + " x_dot[0] = (thr*calp - qs*cd)/mass - gd*sgam\n", + " x_dot[1] = (-thr*salp - qs*cl + mass*(vt*q + gd*cgam))/(mass*vt + qs*cladot)\n", + " x_dot[2] = q\n", + " d = 0.5*cbar*(cmq*q + cmadot*x_dot[1])/vt\n", + " x_dot[3] = (qs*cbar*(cm + d) + thr*np.cos(phi)*ze)/iyy\n", + " x_dot[4] = vt*sgam\n", + " x_dot[5] = vt*cgam\n", + " return x_dot" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "def constrain(s, vt, h, gamma):\n", + " \n", + " # s is our design vector:\n", + " # s = [thtl, elev_deg, alpha, phi]\n", + " thtl = s[0]\n", + " elev_deg = s[1]\n", + " alpha = s[2]\n", + " phi = s[3]\n", + " \n", + " pos = 0 # we don't care what horiz. position we are at\n", + " q = 0 # we don't want to be rotating, so no pitch-rate\n", + " xcg = 0.25 # we assume xcg at 1/4 chord\n", + " land = 0 # we assume we do not have flaps/gear deployed\n", + " #phi = 0 # tilt start from 0 angle\n", + " theta = alpha + gamma\n", + " \n", + " # vt, alpha, theta, q, h, pos\n", + " x = ca.vertcat(vt, alpha, theta, q, h, pos)\n", + " \n", + " # thtl, elev_deg, xcg, land\n", + " u = ca.vertcat(thtl, elev_deg, xcg, land, phi)\n", + " return x, u\n", + "\n", + "def trim_cost(x, u):\n", + " x_dot = rhs(x, u)\n", + " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2 + x_dot[4]**2\n", + "\n", + "def objective(s, vt, h, gamma):\n", + " x, u = constrain(s, vt, h, gamma)\n", + " return trim_cost(x, u)" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "def solve_problem(vt):\n", + " s = ca.SX.sym('s', 4)\n", + " nlp = {'x': s, 'f': objective(s, vt, h=0, gamma=0)}\n", + " S = ca.nlpsol('S', 'ipopt', nlp)\n", + "\n", + " # s = [thtl, elev_deg, alpha]\n", + " s0 = [0.293, 2.46, np.deg2rad(0.58), 0]\n", + " res = S(x0=s0)\n", + " return res['x']" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "\n", + "******************************************************************************\n", + "This program contains Ipopt, a library for large-scale nonlinear optimization.\n", + " Ipopt is released as open source code under the Eclipse Public License (EPL).\n", + " For more information visit http://projects.coin-or.org/Ipopt\n", + "******************************************************************************\n", + "\n", + "This is Ipopt version 3.12.3, running with linear solver mumps.\n", + "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n", + "\n", + "Number of nonzeros in equality constraint Jacobian...: 0\n", + "Number of nonzeros in inequality constraint Jacobian.: 0\n", + "Number of nonzeros in Lagrangian Hessian.............: 10\n", + "\n", + "Total number of variables............................: 4\n", + " variables with only lower bounds: 0\n", + " variables with lower and upper bounds: 0\n", + " variables with only upper bounds: 0\n", + "Total number of equality constraints.................: 0\n", + "Total number of inequality constraints...............: 0\n", + " inequality constraints with only lower bounds: 0\n", + " inequality constraints with lower and upper bounds: 0\n", + " inequality constraints with only upper bounds: 0\n", + "\n", + "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", + " 0 6.9479791e-06 0.00e+00 7.00e-02 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0\n", + " 1 6.2730582e-09 0.00e+00 3.17e-04 -2.5 3.17e-04 0.0 1.00e+00 1.00e+00f 1\n", + " 2 4.8414662e-09 0.00e+00 1.53e-05 -5.7 4.60e-05 -0.5 1.00e+00 1.00e+00f 1\n", + " 3 3.1564402e-09 0.00e+00 1.24e-05 -8.6 1.12e-04 -1.0 1.00e+00 1.00e+00f 1\n", + " 4 1.0726230e-09 0.00e+00 7.22e-06 -8.6 1.95e-04 -1.4 1.00e+00 1.00e+00f 1\n", + " 5 1.0835394e-10 0.00e+00 2.30e-06 -8.6 1.86e-04 -1.9 1.00e+00 1.00e+00f 1\n", + " 6 1.9580602e-12 0.00e+00 3.09e-07 -8.6 7.50e-05 -2.4 1.00e+00 1.00e+00f 1\n", + " 7 9.9345468e-13 0.00e+00 1.88e-05 -8.6 1.54e-03 - 1.00e+00 5.00e-01f 2\n", + " 8 2.6740765e-25 0.00e+00 1.64e-11 -8.6 6.35e-06 - 1.00e+00 1.00e+00f 1\n", + "\n", + "Number of Iterations....: 8\n", + "\n", + " (scaled) (unscaled)\n", + "Objective...............: 2.6740765114651061e-25 2.6740765114651061e-25\n", + "Dual infeasibility......: 1.6395699208311231e-11 1.6395699208311231e-11\n", + "Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Overall NLP error.......: 1.6395699208311231e-11 1.6395699208311231e-11\n", + "\n", + "\n", + "Number of objective function evaluations = 14\n", + "Number of objective gradient evaluations = 9\n", + "Number of equality constraint evaluations = 0\n", + "Number of inequality constraint evaluations = 0\n", + "Number of equality constraint Jacobian evaluations = 0\n", + "Number of inequality constraint Jacobian evaluations = 0\n", + "Number of Lagrangian Hessian evaluations = 8\n", + "Total CPU secs in IPOPT (w/o function evaluations) = 0.012\n", + "Total CPU secs in NLP function evaluations = 0.001\n", + "\n", + "EXIT: Optimal Solution Found.\n", + " t_proc [s] t_wall [s] n_eval\n", + " S 0.0191 0.0227 1\n", + " nlp_f 0.000113 0.000104 14\n", + " nlp_grad_f 0.000133 0.000125 10\n", + " nlp_hess_l 0.000104 0.000102 8\n" + ] + }, + { + "data": { + "text/plain": [ + "DM([0.292672, 2.46087, 0.0101174, 0.000583127])" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "solve_problem(500)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "#### Trim condition for 500ft: Throttle = 0.293814; Elevetor = 2.49057 (deg); angle of attack = 0.00973849 (deg); tilt of engine = 0.0999033 (rad)" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "This is Ipopt version 3.12.3, running with linear solver mumps.\n", + "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n", + "\n", + "Number of nonzeros in equality constraint Jacobian...: 0\n", + "Number of nonzeros in inequality constraint Jacobian.: 0\n", + "Number of nonzeros in Lagrangian Hessian.............: 10\n", + "\n", + "Total number of variables............................: 4\n", + " variables with only lower bounds: 0\n", + " variables with lower and upper bounds: 0\n", + " variables with only upper bounds: 0\n", + "Total number of equality constraints.................: 0\n", + "Total number of inequality constraints...............: 0\n", + " inequality constraints with only lower bounds: 0\n", + " inequality constraints with lower and upper bounds: 0\n", + " inequality constraints with only upper bounds: 0\n", + "\n", + "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", + " 0 1.9740511e+01 0.00e+00 7.18e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0\n", + " 1 5.8303348e+00 0.00e+00 3.13e+01 -1.0 7.04e-01 2.0 1.00e+00 1.00e+00f 1\n", + " 2 1.5559139e+00 0.00e+00 1.73e+01 -1.0 2.57e-01 1.5 1.00e+00 1.00e+00f 1\n", + " 3 8.5019416e-01 0.00e+00 3.73e+00 -1.0 6.82e-02 1.9 1.00e+00 1.00e+00f 1\n", + " 4 4.3563408e-01 0.00e+00 1.29e+01 -1.0 6.22e+01 - 1.00e+00 5.00e-01f 2\n", + " 5 2.8172361e-02 0.00e+00 5.46e+00 -1.0 3.44e+01 - 1.00e+00 1.00e+00f 1\n", + " 6 1.7003886e-03 0.00e+00 2.32e-01 -1.0 7.06e-03 1.5 1.00e+00 1.00e+00f 1\n", + " 7 5.0843506e-04 0.00e+00 7.82e-02 -1.7 8.31e-03 1.0 1.00e+00 1.00e+00f 1\n", + " 8 5.2423747e-05 0.00e+00 2.00e-02 -2.5 7.00e-03 0.5 1.00e+00 1.00e+00f 1\n", + " 9 1.1131631e-05 0.00e+00 2.29e-03 -3.8 2.31e-03 0.0 1.00e+00 1.00e+00f 1\n", + "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", + " 10 8.7338321e-06 0.00e+00 6.32e-04 -3.8 2.09e-03 -0.4 1.00e+00 1.00e+00f 1\n", + " 11 5.1938476e-06 0.00e+00 2.80e-03 -5.7 4.72e-03 -0.9 1.00e+00 1.00e+00f 1\n", + " 12 2.3134668e-17 0.00e+00 3.11e-08 -5.7 4.10e-01 - 1.00e+00 1.00e+00f 1\n", + " 13 2.4584111e-30 0.00e+00 5.27e-14 -8.6 7.77e-08 - 1.00e+00 1.00e+00f 1\n", + "\n", + "Number of Iterations....: 13\n", + "\n", + " (scaled) (unscaled)\n", + "Objective...............: 2.4584110924205866e-30 2.4584110924205866e-30\n", + "Dual infeasibility......: 5.2689383742881798e-14 5.2689383742881798e-14\n", + "Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Overall NLP error.......: 5.2689383742881798e-14 5.2689383742881798e-14\n", + "\n", + "\n", + "Number of objective function evaluations = 19\n", + "Number of objective gradient evaluations = 14\n", + "Number of equality constraint evaluations = 0\n", + "Number of inequality constraint evaluations = 0\n", + "Number of equality constraint Jacobian evaluations = 0\n", + "Number of inequality constraint Jacobian evaluations = 0\n", + "Number of Lagrangian Hessian evaluations = 13\n", + "Total CPU secs in IPOPT (w/o function evaluations) = 0.008\n", + "Total CPU secs in NLP function evaluations = 0.001\n", + "\n", + "EXIT: Optimal Solution Found.\n", + " t_proc [s] t_wall [s] n_eval\n", + " S 0.00983 0.00911 1\n", + " nlp_f 0.000125 0.000115 19\n", + " nlp_grad_f 8e-05 7.61e-05 15\n", + " nlp_hess_l 8.2e-05 8.05e-05 13\n" + ] + }, + { + "data": { + "text/plain": [ + "DM([0.744659, -63.3935, 0.989956, -0.143232])" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "solve_problem(100)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "#### Trim condition for 500ft: Throttle = 0.748023; Elevetor = -63.0721 (deg); angle of attack = 0.986785 (deg); tilt of engine = -0.130796 (rad)\n", + "\n", + "Elevetor needs abnormal degree of tilt." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/homework/HW3_practice.ipynb b/homework/HW3_practice.ipynb deleted file mode 100644 index 2fd64429..00000000 --- a/homework/HW3_practice.ipynb +++ /dev/null @@ -1,6 +0,0 @@ -{ - "cells": [], - "metadata": {}, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/lectures/4-Casadi-MSD.ipynb b/lectures/4-Casadi-MSD.ipynb index 87bd24a8..7be1781c 100644 --- a/lectures/4-Casadi-MSD.ipynb +++ b/lectures/4-Casadi-MSD.ipynb @@ -83,7 +83,7 @@ }, { "cell_type": "code", - "execution_count": 18, + "execution_count": 2, "metadata": {}, "outputs": [ { @@ -92,7 +92,7 @@ "SX([x_1, (((u-(((c*x_1)+(k*x_0))+sin(x_0)))+3)/m)])" ] }, - "execution_count": 18, + "execution_count": 2, "metadata": {}, "output_type": "execute_result" } @@ -116,7 +116,7 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 3, "metadata": {}, "outputs": [ { @@ -125,7 +125,7 @@ "Function(rhs:(x[2],u,p[3])->(x_dot[2]) SXFunction)" ] }, - "execution_count": 19, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -137,7 +137,7 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 4, "metadata": {}, "outputs": [ { @@ -146,7 +146,7 @@ "DM([2, -4.84147])" ] }, - "execution_count": 20, + "execution_count": 4, "metadata": {}, "output_type": "execute_result" } @@ -157,7 +157,7 @@ }, { "cell_type": "code", - "execution_count": 31, + "execution_count": 5, "metadata": {}, "outputs": [ { @@ -186,7 +186,7 @@ }, { "cell_type": "code", - "execution_count": 32, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -197,7 +197,7 @@ " [(-((k+cos(x_0))/m)), (-(c/m))]])" ] }, - "execution_count": 32, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } @@ -209,7 +209,7 @@ }, { "cell_type": "code", - "execution_count": 33, + "execution_count": 7, "metadata": {}, "outputs": [ { @@ -218,7 +218,7 @@ "SX([00, (1./m)])" ] }, - "execution_count": 33, + "execution_count": 7, "metadata": {}, "output_type": "execute_result" } @@ -230,7 +230,7 @@ }, { "cell_type": "code", - "execution_count": 34, + "execution_count": 8, "metadata": {}, "outputs": [ { @@ -239,7 +239,7 @@ "SX([[1, 00]])" ] }, - "execution_count": 34, + "execution_count": 8, "metadata": {}, "output_type": "execute_result" } @@ -251,7 +251,7 @@ }, { "cell_type": "code", - "execution_count": 35, + "execution_count": 9, "metadata": {}, "outputs": [ { @@ -260,7 +260,7 @@ "SX(00)" ] }, - "execution_count": 35, + "execution_count": 9, "metadata": {}, "output_type": "execute_result" } @@ -272,7 +272,7 @@ }, { "cell_type": "code", - "execution_count": 36, + "execution_count": 10, "metadata": {}, "outputs": [ { @@ -281,7 +281,7 @@ "Function(f_ss:(x[2],p[3])->(A[2x2,3nz],B[2x1,1nz],C[1x2,1nz],D[1x1,0nz]) SXFunction)" ] }, - "execution_count": 36, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" } @@ -293,7 +293,7 @@ }, { "cell_type": "code", - "execution_count": 37, + "execution_count": 11, "metadata": {}, "outputs": [ { @@ -310,7 +310,7 @@ "D = [[0.]]" ] }, - "execution_count": 37, + "execution_count": 11, "metadata": {}, "output_type": "execute_result" } @@ -323,7 +323,7 @@ }, { "cell_type": "code", - "execution_count": 38, + "execution_count": 12, "metadata": {}, "outputs": [ { @@ -332,7 +332,7 @@ "'rhs.c'" ] }, - "execution_count": 38, + "execution_count": 12, "metadata": {}, "output_type": "execute_result" } @@ -344,7 +344,7 @@ }, { "cell_type": "code", - "execution_count": 39, + "execution_count": 13, "metadata": {}, "outputs": [ { @@ -368,7 +368,7 @@ }, { "cell_type": "code", - "execution_count": 40, + "execution_count": 14, "metadata": {}, "outputs": [ { @@ -383,7 +383,7 @@ "s^2 + 2 s + 4" ] }, - "execution_count": 40, + "execution_count": 14, "metadata": {}, "output_type": "execute_result" } diff --git a/lectures/4-Casadi-Transport.ipynb b/lectures/4-Casadi-Transport.ipynb index 2af16d57..40e3be89 100644 --- a/lectures/4-Casadi-Transport.ipynb +++ b/lectures/4-Casadi-Transport.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -17,7 +17,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -43,6 +43,7 @@ " elev_deg = u[1]\n", " xcg = u[2]\n", " land = u[3]\n", + " phi = u[4]\n", " \n", " vt = x[0] # velocity, ft/s\n", " alpha = x[1]\n", @@ -60,8 +61,8 @@ " qbar = 0.5*rho*vt**2\n", " \n", " qs = qbar*s\n", - " salp = ca.sin(alpha)\n", - " calp = ca.cos(alpha)\n", + " salp = ca.sin(alpha + phi)\n", + " calp = ca.cos(alpha + phi)\n", " gam = theta - alpha\n", " sgam = ca.sin(gam)\n", " cgam = ca.cos(gam)\n", @@ -94,7 +95,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -110,18 +111,19 @@ " q = 0 # we don't want to be rotating, so no pitch-rate\n", " xcg = 0.25 # we assume xcg at 1/4 chord\n", " land = 0 # we assume we do not have flaps/gear deployed\n", + " phi = 0 # tilt start from 0 angle\n", " theta = alpha + gamma\n", " \n", " # vt, alpha, theta, q, h, pos\n", " x = ca.vertcat(vt, alpha, theta, q, h, pos)\n", " \n", " # thtl, elev_deg, xcg, land\n", - " u = ca.vertcat(thtl, elev_deg, xcg, land)\n", + " u = ca.vertcat(thtl, elev_deg, xcg, land, phi)\n", " return x, u\n", "\n", "def trim_cost(x, u):\n", " x_dot = rhs(x, u)\n", - " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2\n", + " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2 + x_dot[4]**2\n", "\n", "def objective(s, vt, h, gamma):\n", " x, u = constrain(s, vt, h, gamma)\n", @@ -130,13 +132,13 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ - "def solve_problem():\n", + "def solve_problem(vt):\n", " s = ca.SX.sym('s', 3)\n", - " nlp = {'x': s, 'f': objective(s, vt=500, h=0, gamma=0)}\n", + " nlp = {'x': s, 'f': objective(s, vt, h=0, gamma=0)}\n", " S = ca.nlpsol('S', 'ipopt', nlp)\n", "\n", " # s = [thtl, elev_deg, alpha]\n", @@ -147,20 +149,13 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 10, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "\n", - "******************************************************************************\n", - "This program contains Ipopt, a library for large-scale nonlinear optimization.\n", - " Ipopt is released as open source code under the Eclipse Public License (EPL).\n", - " For more information visit http://projects.coin-or.org/Ipopt\n", - "******************************************************************************\n", - "\n", "This is Ipopt version 3.12.3, running with linear solver mumps.\n", "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n", "\n", @@ -200,15 +195,15 @@ "Number of equality constraint Jacobian evaluations = 0\n", "Number of inequality constraint Jacobian evaluations = 0\n", "Number of Lagrangian Hessian evaluations = 2\n", - "Total CPU secs in IPOPT (w/o function evaluations) = 0.001\n", + "Total CPU secs in IPOPT (w/o function evaluations) = 0.003\n", "Total CPU secs in NLP function evaluations = 0.000\n", "\n", "EXIT: Optimal Solution Found.\n", " t_proc [s] t_wall [s] n_eval\n", - " S 0.00517 0.00396 1\n", - " nlp_f 1.3e-05 1.26e-05 3\n", - " nlp_grad_f 6.9e-05 2.43e-05 4\n", - " nlp_hess_l 1e-05 9.88e-06 2\n" + " S 0.00891 0.00769 1\n", + " nlp_f 5.3e-05 4.95e-05 3\n", + " nlp_grad_f 7.6e-05 7.16e-05 4\n", + " nlp_hess_l 4e-05 3.89e-05 2\n" ] }, { @@ -217,14 +212,101 @@ "DM([0.292673, 2.4607, 0.0101196])" ] }, - "execution_count": 5, + "execution_count": 10, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "solve_problem(500)" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "This is Ipopt version 3.12.3, running with linear solver mumps.\n", + "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n", + "\n", + "Number of nonzeros in equality constraint Jacobian...: 0\n", + "Number of nonzeros in inequality constraint Jacobian.: 0\n", + "Number of nonzeros in Lagrangian Hessian.............: 6\n", + "\n", + "Total number of variables............................: 3\n", + " variables with only lower bounds: 0\n", + " variables with lower and upper bounds: 0\n", + " variables with only upper bounds: 0\n", + "Total number of equality constraints.................: 0\n", + "Total number of inequality constraints...............: 0\n", + " inequality constraints with only lower bounds: 0\n", + " inequality constraints with lower and upper bounds: 0\n", + " inequality constraints with only upper bounds: 0\n", + "\n", + "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", + " 0 1.9740511e+01 0.00e+00 7.18e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0\n", + " 1 3.4679706e+00 0.00e+00 2.06e+01 -1.0 5.82e-01 2.0 1.00e+00 1.00e+00f 1\n", + " 2 1.1332451e+00 0.00e+00 7.15e+00 -1.0 5.54e+01 - 1.00e+00 1.00e+00f 1\n", + " 3 3.4516912e-01 0.00e+00 1.13e+01 -1.0 6.47e+00 - 1.00e+00 1.00e+00f 1\n", + " 4 3.2683405e-02 0.00e+00 6.89e-01 -1.0 4.54e-01 - 1.00e+00 1.00e+00f 1\n", + " 5 1.0664816e-03 0.00e+00 1.08e+00 -1.7 7.49e-01 - 1.00e+00 1.00e+00f 1\n", + " 6 1.0199944e-07 0.00e+00 2.99e-03 -1.7 9.36e-02 - 1.00e+00 1.00e+00f 1\n", + " 7 1.3060717e-14 0.00e+00 4.01e-06 -3.8 1.22e-03 - 1.00e+00 1.00e+00f 1\n", + " 8 6.6936905e-29 0.00e+00 2.44e-14 -8.6 5.01e-07 - 1.00e+00 1.00e+00f 1\n", + "\n", + "Number of Iterations....: 8\n", + "\n", + " (scaled) (unscaled)\n", + "Objective...............: 6.6936904628357522e-29 6.6936904628357522e-29\n", + "Dual infeasibility......: 2.4408013738033131e-14 2.4408013738033131e-14\n", + "Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00\n", + "Overall NLP error.......: 2.4408013738033131e-14 2.4408013738033131e-14\n", + "\n", + "\n", + "Number of objective function evaluations = 9\n", + "Number of objective gradient evaluations = 9\n", + "Number of equality constraint evaluations = 0\n", + "Number of inequality constraint evaluations = 0\n", + "Number of equality constraint Jacobian evaluations = 0\n", + "Number of inequality constraint Jacobian evaluations = 0\n", + "Number of Lagrangian Hessian evaluations = 8\n", + "Total CPU secs in IPOPT (w/o function evaluations) = 0.004\n", + "Total CPU secs in NLP function evaluations = 0.000\n", + "\n", + "EXIT: Optimal Solution Found.\n", + " t_proc [s] t_wall [s] n_eval\n", + " S 0.00673 0.00923 1\n", + " nlp_f 6.9e-05 6.44e-05 9\n", + " nlp_grad_f 5.5e-05 5.26e-05 10\n", + " nlp_hess_l 4.6e-05 4.55e-05 8\n" + ] + }, + { + "data": { + "text/plain": [ + "DM([0.789464, -59.575, 0.951846])" + ] + }, + "execution_count": 11, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "solve_problem()" + "solve_problem(100)" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/lectures/rhs.c b/lectures/rhs.c index bcf935db..e7ef2f83 100644 --- a/lectures/rhs.c +++ b/lectures/rhs.c @@ -63,6 +63,8 @@ static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, a3=sin(a3); a2=(a2+a3); a1=(a1-a2); + a2=3.; + a1=(a1+a2); a2=arg[2] ? arg[2][0] : 0; a1=(a1/a2); if (res[0]!=0) res[0][1]=a1; From 99029c868fafce0cdadf568e2ba779e8d5004db1 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Fri, 20 Sep 2019 17:00:02 -0400 Subject: [PATCH 15/26] HW 3 fix --- homework/HW3.ipynb | 430 +++++++++++++++++------- lectures/4-Casadi-Transport.ipynb | 529 ++++++++++++++++++++++++++++++ 2 files changed, 840 insertions(+), 119 deletions(-) create mode 100644 lectures/4-Casadi-Transport.ipynb diff --git a/homework/HW3.ipynb b/homework/HW3.ipynb index 6731ac66..5a78b468 100644 --- a/homework/HW3.ipynb +++ b/homework/HW3.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 48, "metadata": {}, "outputs": [], "source": [ @@ -10,6 +10,8 @@ "import numpy as np\n", "from casadi.tools.graph import dotgraph\n", "from IPython.display import Image\n", + "import matplotlib.pyplot as plt\n", + "import control\n", "\n", "def draw_graph(expr):\n", " return Image(dotgraph(expr).create_png())" @@ -17,7 +19,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 49, "metadata": {}, "outputs": [], "source": [ @@ -44,6 +46,7 @@ " xcg = u[2]\n", " land = u[3]\n", " phi = u[4]\n", + " phi_deg = rtod * phi\n", " \n", " vt = x[0] # velocity, ft/s\n", " alpha = x[1]\n", @@ -78,8 +81,8 @@ " dcmg = aero_p[4]\n", " \n", " thr = (tstat + vt*dtdv)*ca.fmax(thtl, 0)\n", - " cl = cl0 + cla*alpha_deg\n", - " cm = dcmg + cm0 + cma*alpha_deg + cmde*elev_deg + cl*(xcg - 0.25)\n", + " cl = cl0 + cla*(alpha_deg + phi_deg)\n", + " cm = dcmg + cm0 + cma*(alpha_deg + phi_deg) + cmde*elev_deg + cl*(xcg - 0.25)\n", " cd = dcdg + cd0 + cdcls*cl**2\n", " \n", " x_dot = ca.SX.zeros(6)\n", @@ -87,7 +90,7 @@ " x_dot[1] = (-thr*salp - qs*cl + mass*(vt*q + gd*cgam))/(mass*vt + qs*cladot)\n", " x_dot[2] = q\n", " d = 0.5*cbar*(cmq*q + cmadot*x_dot[1])/vt\n", - " x_dot[3] = (qs*cbar*(cm + d) + thr*np.cos(phi)*ze)/iyy\n", + " x_dot[3] = (qs*cbar*(cm + d) + thr*ze)/iyy\n", " x_dot[4] = vt*sgam\n", " x_dot[5] = vt*cgam\n", " return x_dot" @@ -95,11 +98,11 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 50, "metadata": {}, "outputs": [], "source": [ - "def constrain(s, vt, h, gamma):\n", + "def constrain(s, vt, h, q, gamma):\n", " \n", " # s is our design vector:\n", " # s = [thtl, elev_deg, alpha, phi]\n", @@ -126,14 +129,47 @@ " x_dot = rhs(x, u)\n", " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2 + x_dot[4]**2\n", "\n", - "def objective(s, vt, h, gamma):\n", - " x, u = constrain(s, vt, h, gamma)\n", + "def objective(s, vt, h, q, gamma):\n", + " x, u = constrain(s, vt, h, q, gamma)\n", " return trim_cost(x, u)" ] }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 59, + "metadata": {}, + "outputs": [], + "source": [ + "def trim(vt, h, q, gamma):\n", + " s = ca.SX.sym('s', 4)\n", + " nlp = {'x': s, 'f': objective(s, vt, h, q, gamma)}\n", + " S = ca.nlpsol('S', 'ipopt', nlp, {\n", + " 'print_time': 0,\n", + " 'ipopt': {\n", + " 'sb': 'yes',\n", + " 'print_level': 0,\n", + " }\n", + " })\n", + " # s = [thtl, elev_deg, alpha, phi]\n", + " s0 = [0.293, 2.46, np.deg2rad(0.58), 0]\n", + " res = S(x0=s0, lbg=0, ubg=0, lbx=[0, -60, -np.deg2rad(5),-1], ubx=[1, 60, np.deg2rad(18),1])\n", + " trim_cost = res['f']\n", + " trim_tol = 1e-5\n", + " if trim_cost > trim_tol:\n", + " raise ValueError('Trim failed to converge', trim_cost)\n", + " assert np.abs(float(res['f'])) < trim_tol\n", + " s_opt = res['x']\n", + " x0, u0 = constrain(s_opt, vt, h, q, gamma)\n", + " return {\n", + " 'x0': np.array(x0).reshape(-1),\n", + " 'u0': np.array(u0).reshape(-1),\n", + " 's': np.array(s_opt).reshape(-1)\n", + " }" + ] + }, + { + "cell_type": "code", + "execution_count": 60, "metadata": {}, "outputs": [], "source": [ @@ -150,101 +186,272 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 61, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "def power_required_curve():\n", + " throttle = []\n", + " vt_list = np.arange(190, 500, 5)\n", + " for vt in vt_list:\n", + " res = trim(vt=vt, h=1000, q=0, gamma=0)\n", + " throttle.append(res['s'][0])\n", + " plt.plot(vt_list, 100*np.array(throttle))\n", + " plt.grid()\n", + " plt.ylabel(r'throttle, %')\n", + " plt.xlabel('VT, ft/s')\n", + " plt.title('power required curve')\n", + " \n", + "power_required_curve()" + ] + }, + { + "cell_type": "code", + "execution_count": 62, + "metadata": {}, + "outputs": [], + "source": [ + "def linearize(trim):\n", + " x0 = trim['x0']\n", + " u0 = trim['u0']\n", + " x = ca.SX.sym('x', 6)\n", + " u = ca.SX.sym('u', 5)\n", + " y = x\n", + " A = ca.jacobian(rhs(x, u), x)\n", + " B = ca.jacobian(rhs(x, u), u)\n", + " C = ca.jacobian(y, x)\n", + " D = ca.jacobian(y, u)\n", + " f_ss = ca.Function('ss', [x, u], [A, B, C, D])\n", + " return control.ss(*f_ss(x0, u0))" + ] + }, + { + "cell_type": "code", + "execution_count": 63, + "metadata": {}, + "outputs": [], + "source": [ + "def pitch_rate_control_design(vt, H, xlim, ylim, tf=3):\n", + " trim_state = trim(vt=vt, h=1000, q=0, gamma=0)\n", + " print(trim_state)\n", + " sys = linearize(trim_state)\n", + " G = control.minreal(control.tf(sys[3, 1]), 1e-2)\n", + " control.rlocus(G*H, kvect=np.linspace(0, 1, 1000), xlim=xlim, ylim=ylim);\n", + " Go = G*H\n", + " Gc = control.feedback(Go)\n", + " plt.plot([0, -3], [0, 3*np.arccos(0.707)], '--')\n", + " #plt.axis('equal')\n", + " plt.grid()\n", + " \n", + " plt.figure()\n", + " control.bode(Go, margins=True, dB=True, Hz=True, omega_limits=[1e-2, 1e2], omega_num=1000);\n", + " plt.grid()\n", + "\n", + " plt.figure()\n", + " t = np.linspace(0, tf, 1000)\n", + " r = np.array(t > 0.1, dtype=float)\n", + " t, y, x = control.forced_response(Gc, T=t, U=r)\n", + " _, u, _ = control.forced_response((1/G)*Gc, T=t, U=r)\n", + "\n", + " u_norm = np.abs(u)\n", + " max_u_norm = np.max(u_norm)\n", + " print('u_norm max', max_u_norm)\n", + "\n", + " plt.plot(t, y, label='x')\n", + " plt.plot(t, r, label='r')\n", + " plt.plot(t, u_norm/max_u_norm, label='u normalized')\n", + " plt.gca().set_ylim(0, 1.5)\n", + " plt.grid()\n", + " plt.legend()" + ] + }, + { + "cell_type": "code", + "execution_count": 64, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "\n", - "******************************************************************************\n", - "This program contains Ipopt, a library for large-scale nonlinear optimization.\n", - " Ipopt is released as open source code under the Eclipse Public License (EPL).\n", - " For more information visit http://projects.coin-or.org/Ipopt\n", - "******************************************************************************\n", - "\n", - "This is Ipopt version 3.12.3, running with linear solver mumps.\n", - "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n", - "\n", - "Number of nonzeros in equality constraint Jacobian...: 0\n", - "Number of nonzeros in inequality constraint Jacobian.: 0\n", - "Number of nonzeros in Lagrangian Hessian.............: 10\n", - "\n", - "Total number of variables............................: 4\n", - " variables with only lower bounds: 0\n", - " variables with lower and upper bounds: 0\n", - " variables with only upper bounds: 0\n", - "Total number of equality constraints.................: 0\n", - "Total number of inequality constraints...............: 0\n", - " inequality constraints with only lower bounds: 0\n", - " inequality constraints with lower and upper bounds: 0\n", - " inequality constraints with only upper bounds: 0\n", - "\n", - "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", - " 0 6.9479791e-06 0.00e+00 7.00e-02 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0\n", - " 1 6.2730582e-09 0.00e+00 3.17e-04 -2.5 3.17e-04 0.0 1.00e+00 1.00e+00f 1\n", - " 2 4.8414662e-09 0.00e+00 1.53e-05 -5.7 4.60e-05 -0.5 1.00e+00 1.00e+00f 1\n", - " 3 3.1564402e-09 0.00e+00 1.24e-05 -8.6 1.12e-04 -1.0 1.00e+00 1.00e+00f 1\n", - " 4 1.0726230e-09 0.00e+00 7.22e-06 -8.6 1.95e-04 -1.4 1.00e+00 1.00e+00f 1\n", - " 5 1.0835394e-10 0.00e+00 2.30e-06 -8.6 1.86e-04 -1.9 1.00e+00 1.00e+00f 1\n", - " 6 1.9580602e-12 0.00e+00 3.09e-07 -8.6 7.50e-05 -2.4 1.00e+00 1.00e+00f 1\n", - " 7 9.9345468e-13 0.00e+00 1.88e-05 -8.6 1.54e-03 - 1.00e+00 5.00e-01f 2\n", - " 8 2.6740765e-25 0.00e+00 1.64e-11 -8.6 6.35e-06 - 1.00e+00 1.00e+00f 1\n", - "\n", - "Number of Iterations....: 8\n", - "\n", - " (scaled) (unscaled)\n", - "Objective...............: 2.6740765114651061e-25 2.6740765114651061e-25\n", - "Dual infeasibility......: 1.6395699208311231e-11 1.6395699208311231e-11\n", - "Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00\n", - "Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00\n", - "Overall NLP error.......: 1.6395699208311231e-11 1.6395699208311231e-11\n", - "\n", - "\n", - "Number of objective function evaluations = 14\n", - "Number of objective gradient evaluations = 9\n", - "Number of equality constraint evaluations = 0\n", - "Number of inequality constraint evaluations = 0\n", - "Number of equality constraint Jacobian evaluations = 0\n", - "Number of inequality constraint Jacobian evaluations = 0\n", - "Number of Lagrangian Hessian evaluations = 8\n", - "Total CPU secs in IPOPT (w/o function evaluations) = 0.012\n", - "Total CPU secs in NLP function evaluations = 0.001\n", - "\n", - "EXIT: Optimal Solution Found.\n", - " t_proc [s] t_wall [s] n_eval\n", - " S 0.0191 0.0227 1\n", - " nlp_f 0.000113 0.000104 14\n", - " nlp_grad_f 0.000133 0.000125 10\n", - " nlp_hess_l 0.000104 0.000102 8\n" + "{'x0': array([5.00000000e+02, 6.63038474e-02, 6.63038474e-02, 0.00000000e+00,\n", + " 1.00000000e+03, 0.00000000e+00]), 'u0': array([ 0.28664364, 2.34269577, 0.25 , 0. , -0.05467222]), 's': array([ 0.28664364, 2.34269577, 0.06630385, -0.05467222])}\n", + "1 states have been removed from the model\n", + "u_norm max 854.9989115390152\n" ] }, { "data": { + "image/png": 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\n", "text/plain": [ - "DM([0.292672, 2.46087, 0.0101174, 0.000583127])" + "
" ] }, - "execution_count": 5, - "metadata": {}, - "output_type": "execute_result" + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + }, + { + "data": { + "image/png": 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\n", 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" } ], "source": [ - "solve_problem(500)" + "s = control.tf([1, 0], [0, 1])\n", + "# this is a PID controller with an extra pole at the origin\n", + "pitch_rate_control_design(500, -900*((s + 2 + 1j)*(s + 2 - 1j)/s**2), [-8, 2], [-4, 4])" ] }, { - "cell_type": "markdown", + "cell_type": "code", + "execution_count": 65, "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'x0': array([1.0000000e+02, 1.8498115e-01, 1.8498115e-01, 0.0000000e+00,\n", + " 1.0000000e+03, 0.0000000e+00]), 'u0': array([ 0.81255081, -59.99973395, 0.25 , 0. ,\n", + " 0.78395542]), 's': array([ 0.81255081, -59.99973395, 0.18498115, 0.78395542])}\n", + "1 states have been removed from the model\n", + "u_norm max 998.9331937051704\n" + ] + }, + { + "data": { + "image/png": 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\n", 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\n", 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], "source": [ - "#### Trim condition for 500ft: Throttle = 0.293814; Elevetor = 2.49057 (deg); angle of attack = 0.00973849 (deg); tilt of engine = 0.0999033 (rad)" + "pitch_rate_control_design(100, -1000*((s+0.5)/s)**2, [-3, 1], [-2, 2])" ] }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 67, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'x0': array([5.00000000e+02, 6.63038474e-02, 6.63038474e-02, 0.00000000e+00,\n", + " 1.00000000e+03, 0.00000000e+00]), 'u0': array([ 0.28664364, 2.34269577, 0.25 , 0. , -0.05467222]), 's': array([ 0.28664364, 2.34269577, 0.06630385, -0.05467222])}\n", + "1 states have been removed from the model\n", + "u_norm max 939.8924635994522\n" + ] + }, + { + "data": { + "image/png": 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\n", 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eF5FZwI+AtcAZwIvBKDPQOibH1ithAGS0ieapSYPIzingvn+tJViJ2RhjGluwvgKPVtUBIhID7Abaqmq5iDwLrA5SmU3KyF7p3Hl+H56Yv4meGfHcdp61bxhjmr9gJY0iAFUtEpHtqlruTquIlAapzCbn9vN7sS23gMc/3ES7xBguz+oS6pCMMaZBgpU02orIXYB4vcedPuGZsy2ViPDHiQM5mF/ML99cTUS4+NQLyxhjmqpg3Wg3A2gDJHi9r5x+3pcdiMg2EVkjIitFZLk7L1VE/iMim92fKUGKP2CiIsJ47sdDGJ6Zxl2vreI1G2bEGNOMBa33VEOJyDYgS1VzvOY9BhxS1UdF5B4gRVV/Wdd+6tt7KtCOl5Qz9R/L+XRzDndf2IdbR/eqGiXXGGOamtp6TwXl8pSIPFXXclW9vZ67vgTwuO9fAhYAdSaNpiI2Kpznr83il2+s5vEPN7Ett5Df//A0oiKa1agqxphWLlifWCvcVwwwGNjsvgYBvo6vocCHIrJCRKa689qp6l4A92fbgEYdZNER4Txx5SDuOL83b6zYxZXPLWb3keOhDssYY3wW1MtTIvIxcKGqlrrTkcCHqjrah207quoeEWkL/Af4GfCOqiZ7rXNYVU9o13CTzFSArl27Dtm+fXtgfqEAem/13qrG8SeuHMTovs0q/xljWrhGvbnPS0ecBvBKCe68k1LVPe7PA8BbwFBgv4h0AHB/Hqhl2+dUNUtVszIymmZnrYsHdmDuz86mQ1IsU/6+jIffXU9RqQ1yaIxp2oKdNB4FvhKRmSIyE/gS+P3JNhKReBFpU/keuBDnjvJ3gGvd1a4F3g5G0I2lR3o8b90ykmuGd+P5z7Zy8VOf8tWOw6EOyxhjahX03lMi0h4Y5k4uVdWTPmxCRDJxzi7Aaaz/p6o+IiJpwGtAV2AHcLmqHqprX02l99TJfLY5h1+8sYp9R4u48dxM7ji/N3FRNmaVMSY0ars8FZSkISLdVXVbHcsF6KSquwJeeDXNJWkAHC0q5ZF3v2b28p10So7lN98fwPdOaWddc40xja6x2zT+JCJvisiPReQU9wl+XUXkPBF5CPgc6B+ksputxJhI/njZQF6/eQRtYiK4edYKpsxcxracglCHZowxQHCHRh8AXA2chfPkvkLga+B94A1VLQpKwdU0pzMNb2XlFcxctI0n52+muKycq4d142fn9arx+eTGGBNojXp5qilprkmj0oGjRTwxfzOvLd9JbGQ4N4/K5CdnZxIbFR7q0IwxLZgljWbumwP5/HHeRv6zfj/tEqO5dXQvrsjqQkykJQ9jTOBZ0mghlm07xGPzNrBs22HatonmplE9+dHQrnbmYYwJKEsaLYiqsjg7l//96BsWZ+eSnhDFDedk8qNhXUmMiQx1eMaYFiAkScPtWns1kKmqD4pIV6C9qn4RtEKraYlJw9uybYd46qPNfLo5h4ToCC7P6syUkT3omhYX6tCMMc1YqJLG34AK4DxV7e8+/+JDVT0zaIVW09KTRqU1u/J48fOtzF21h3JVLhzQjuvP6sHQHql2n4cxxm+hShpfqupgEflKVc9w561S1dODVmg1rSVpVNp/tIiXF2/j/5bu4EhhKb3aJjDpzC5cOrgzqfFRoQ7PGNNMhCppLAVGAsvc5JGBc6ZxRtAKraa1JY1Kx0vKmbt6D69+sYMvdxwhMly48JT2XJnVhZE904gIt+d4GGNq16gPYfLyFM4YUm1F5BHgMuC+IJdpcB76dEVWF67I6sLGffm8umwHc77czXur95KeEM3Fp7VnwqCODO6aYpevjDE+a4wBC/sB5wMCfKSqXwe1wGpa65lGTYpKy/l4wwHeWbWHjzYcoKSsgk7JsXx/YAfO79+OwV2T7QzEGAM0/oCFqXUtP9nItIFkSaNm+UWlfLhuP++s2sOiLTmUlitJsZF4+mZwXr+2nNs7gxRrAzGm1WrspLEV53GtgjOM+WH3fTKwQ1V7BLzQWljSOLn8olI+25zDRxsO8PGGA+QWlCACfdu1YXhmGsMz0xjWI9WSiDGtSKgawp/BeUTr++70OGCMqv48aIVWY0nDP+UVyqpdR1j0TQ5Lsg+xfPshikorAOiWFsdpnZKqXgM6JpIcZ4nEmJYoVEljhaoOqTZveU2BBIsljYYpKatg9a4jLN16iDW78lizO4/dR45XLU+NjyIzPZ4e6fH0yIinU3IsbdvE0C4xmnaJMcRHN7yvhapyvLScY8VlFBa7P0vKKSguo6CkzPlZXDnt/CwsKScqQoiPiiA+OoKUuEg6JsfSKSWWzslxJMXZnfPG1CVUvadyROQ+YBbO5arJQG6QyzQBFBURRlb3VLK6f9tMdaighDW789i0L5/snGNkHyxg4aaDvL7ixGdqxUaGkxATQZvoCBJiIoiPiiAqIgwRCBMhTACE0vIKikrL3VcFRWXlHC8pd5JDSRm+freJCg8jPjqcuKgISsorqhJIdR2SYhjQIZEBHRM5rVMSZ3a3y2/G+CLYSeMq4Ld8++jWT9x5phlLjY9iVJ8MRvXJ+M78Y8Vl7Msr4sDRIvbnF7H/aDE5+cUUlJSRX1TGseIyjhWVUVhajqpSoYoqVChEhQvRkeEkxUXRLiKMmMhwYiPDiY+OICE6nLho54whPirc/RlBfLT73p0f5yak6sorlEMFJew5cpw9R46z/VAhG/YeZf3eoyzYdJDyCicj9W3XhqE9UhmWmcrZvdLt0psxNbABC02rVlRaztrdeSzdeogl2bms2H6YwpJywgTO6JrCqD4ZePpmcGrHJMLC7H4W03qEqk3jY5zLUt+hqucFrdBqLGkYf5SVV7Bq1xEWbjzIgk0HWb0rD4D0hCjO7Z3BqL7OGZadhZiWLlRJw7sRPAaYCJSp6i+CVmg1ljRMQ+QcK+bTzQdZsPEgn2w6yOHCUsIEBndNYXS/tnj6ZjCgQ6LdVW9anCbzPA0RWaiqoxqrPEsaJlDKK5TVu47w8YYDfLzxIGt2O2ch7RKjGd23LZ6+bTm7dzoJAegxZkyohepMw/vO8DBgCPCUqvYNWqHVWNIwwXIgv8i5jOWeheQXlxEZLgztkVqVRHpmxNtZiGmWQpU0vO8MLwO2Ag+q6mdBK7QaSxqmMZSWV7Bi+2E+3niABRsOsnF/PgBdUmMZ3bcto/u1ZURmmj3T3TQboUoaMapaVG1etKoWB63QaixpmFDYfeQ4CzYe4OMNB/n8mxyOl5YTHRHGyJ5pjO7XltF929Il1Z6uaJqukD6E6WTzgsmShgm1otJyvth6yDkL2XiQrTkFAGSmx3N273TO6pXOiJ5p9nx306Q06h3hItIe6ATEisgZOJenABIB+3plWpWYyHDO7ZPBuX0y+O142JpTwMcbDvDp5oO8sWIXLy/eTniYcHrnJM7ulc7ZvTMY1CW5xhsVjQm1YI1yey1wHZAFeH/NzwdmquqcgBdaCzvTME1ZSVkFX+04zGff5PDZNzms2nmECoW4qHCGZ6ZxVq90zumdTu+2CdagbhpVqC5PTVTVN4NWgA8saZjmJO94KUuyc/lss5NEKi9ltW0Tzdm9nEtZI3ul0SEpNsSRmpausZ+nMVlVZ4nIz6n5jvC/BLzQWljSMM3ZrsOFfP5NDp9uzmHRllwOFZQA0CM9nhE90xjhPu8ko010iCM1LU1jj3Ib7/5MCNL+jWkVOqfEceWZXbnyzK5UVCjr9x5lSXYui7bk8s7KPfxz6Q4A+rRLYERmGiN6pjGsR5qN2GuCxgYsNKaZKiuvYO2eoyzaksPiLbks33aY46XliED/9olVZyJDM1OtZ5bxW6jaNDKAG4HueJ3VqOr1QSu0GksaprUoKXMGW1y8JZfFW3JZseMwJWUVhAmc1imJ4T3TGNkznTO7pxAXZUOdmLqFKmksAj4FVgBVT8JpzMZxSxqmtSoqLefLHYdZssW5nLVy5xHKKpSIMOH0LsmMdM9EBndLsTvVzQlClTRWquqgoBXgA0saxjgKS8pYvu0wi7bksjg7lzW7jrgPwApjUJdkhmemMiwzjcFdU4iNsiTS2oUqaTwMLFLV94NWyElY0jCmZkeLSlm29VDVA6jW7s6jQiEyXDi9czLD3Z5Zg7sl2+WsVihUSSMfpydVMVCKc2e4qmpi0AqtxpKGMb45WlTKim2HWZKdy5Kth1i7O49yr8tZw3qkMjwzjSHdUoi34d9bvCbzPI3GZknDmPo5VlzG8m2HWJJ9iKVbc1m969skclrnJIZnpjGsRypZ3VPtGSItUKjONGoamDAP2K6qZfXc51hgGhAOPK+qj9a1viUNYwKjoLiMFdvdM5FsJ4mUVSjhYcJpnZIYlumciWR1S6GNdfFt9kKVNJYAg4E17qzTgFVAGnCzqn7o5/7CgU3ABcAuYBlwlaqur20bSxrGBEdhiZNElmY7bSKrdh2htFy/7eKbmcawTOdMxO4TaX4a+47wStuAn6jqOjeIAcD/AA8BcwC/kgYwFPhGVbPd/b0KXALUmjSMMcERFxXBOb0zOKd3BgDHS9wuvtm5LM0+xN8/38azn2QTJnBKxySGV56JdE8lKdaSSHMV7LGX+1UmDAD3jOCMyg/9eugE7PSa3uXOq9XGjRuZOXMmAKWlpXg8HmbNmgVAYWEhHo+H2bNnA5CXl4fH42HOHGcQ3pycHDweD3PnzgVg3759eDwe5s2bB8DOnTvxeDzMnz8fgOzsbDweDwsXLqwq2+PxsGjRIgDWrl2Lx+Nh2bJlAKxcuRKPx8PKlSsBWLZsGR6Ph7Vr1wKwaNEiPB4PGzduBGDhwoV4PB6ys53qmz9/Ph6Ph507nSqZN28eHo+Hffv2ATB37lw8Hg85OTkAzJkzB4/HQ16e82zr2bNn4/F4KCwsBGDWrFl4PB5KS0sBmDlzJh6Pp6ouZ8yYwZgxY6qmp0+fzrhx46qmp02bxoQJE6qmH3/8cSZOnFg1/eijjzJp0qSq6YceeojJkydXTd9///1MmTKlavree+9l6tSpVdN33303t956a9X0nXfeyZ133lk1feutt3L33XdXTU+dOpV77723anrKlCncf//9VdOTJ0/moYceqpqeNGkSjz767dXOiRMn8vjjj1dNT5gwgWnTplVNjxs3junTp1dNjxkzhhkzZlRNezyeVnXsjbvwfHomlPHzC/tyTacc2i/6M89c0Y/bzutN4dHDzFi4mZ+8tJxBD37IWQ+8w8BrH+Ddr3aQV1hqx14TPPZqE+wzjY0i8jfgVXf6SmCTiETj9KbyV01jQ59wfU1EpgJTAaKjbSA3Y0IhTMvI6prE2MHpdM9fy5P/O537p73A2gPFPPXqB5RnDOS22WsQWUP76DYUdBvNf9YfYKR75mKapmC3acQCtwBn43zgfwZMB4qAOFU95uf+RgC/U9XvudP3AqjqH2rbxto0jGl6Zs6cSWkFDPSMr7pPZMX2wxSXVSACfdu1qbpPZFiPVBuAMQRaRJdbEYnAaQg/H9iN0xD+I+9LYNVZ0jCmeSguK2f1rjyWbMll6dZDLN9+iKLSCgD6tW/DsB7OHetDe6SSnmBXEIItVL2negN/AAYAMZXzVTWzAfu8CHgSp8vti6r6SF3rW9IwpumpbLuIjKy9QbykrII1u4+wJPvbM5HCEmcIu15tE6puNhyWmUrbNjG17sfUT6iSxmfAb4EngPHAFLfM3wat0GosaRjT9FQ2tC5YsMDnbUrLK1izO4+l7s2Gy7cd5lixc7tXZno8wzJTGdbDSSL2ZMOGC1XSWKGqQ0Rkjaqe5s77VFXPCVqh1VjSMKbpqezJ492DyV9l5RVVD6Vamn2IL7YdIr/ISSLd0uKcy1luEumcEheQuFuTUCWNz4FzgDeA/+K0Qzyqqn2DVmg1ljSMaR3KK5Sv9x6talj/Yush8o47l8E6JcdWXcoa3iONLqmxiNTUGdNUClXSOBP4GkjGuaEvCXhMVZcErdBqLGkY0/RU3hsUFxe8M4CKCmXj/nyWZjsN60u3Hqp6xnqHpBivNpE0uqfFWRKppkX0nqoPSxrGND31adNoKFVl84FjLHVH8V2afYicY8UAtG0TzTC3e+/wzDR6ZsS3+iTSqMOIiMg7dS1X1Ql1LTfGtGw//elPG71MET2aprgAACAASURBVKFPuzb0adeGa0Z0R1XZcrCApVtzqxrX567aA0B6QrTbxddpF+ndNoGwsNadRCoF5UxDRA7iDPfxCrCUandyq+rCgBdaCzvTMMb4QlXZnlvoNKxvPcTS7Fz25BUBkBIXWdWoPqxHGv3at2nxSaRRL0+5o9FeAFwFDATeA16p6ya8YLGkYUzTUzn+WVJSUogjqZ2qsuvw8aoksiQ7l12HjwOQFBvJmd1TqwZh7N8hkfAWlkRC1qbhjjN1FfAn4EFV/d+gFliNJQ1jmp5QtGkEwu4jx52Gdfdy1rZcp0G/TUwEZ3ZPrbpr/dSOiUSEB3s82OBq9KHR3WRxMU7C6A48hTMcujGmlbv99ttDHUK9dEqO5dLBnbl0cGcA9uUVsXRrbtXTDf+74QAA8VHhZHX/tk1kYOckIpt5EqkUrMtTLwGnAh8Ar6rq2oAX4iM70zDGNJYD+UVVZyFLsw+x+YAzJmtsZDhDuqUwPNM5ExnYOYnoiPAQR1u3xm7TqAAK3EnvAgRQVU0MeKG1sKRhTNNT+YyX9PT0EEcSXLnHivnCbQ9ZuvUQG/blAxAdEcbgrilVj8gd1CWZmMimlUTsPg1jTJPRXNs0GupwQQlfbDtU9Yjcr/cdRRWiIsIY1CWZ4W6byOCuKcRGhTaJWNIwxjQZlU8kHD9+fIgjCa28wlKWbXMvZ209xNrdeVQoRIYLp3dOrmoTGdIthfjoYD8z77ssaRhjTBN3tKiUFdsOs8RtE1mzO4/yCiUiTDi1U1LV+FlZ3VJoExPc56xb0jDGNBmVz7Fv3759iCNp2gqKy1ix/XBVm8jqXUcoLVfCBE7tlFQ1ku+ZPVJJig1sErGkYYxpMlprm0ZDHS8p58sdh6vGz1q54wgl5c4jcgd0SPS6az2V5LiGPSLXkoYxpsmYN28eAGPHjg1xJM1bUWk5X+04UtXF98sdznPWwXlE7j9vHE5qPZ+v3ug39xljTG0sWQRGTGQ4I3qmMaJnGuA8Z33VzjyWZueyfu9RUuIC3+5hScMY0+h27twJQJcuXUIcScsSHRHO0B6pDO2RGrQyLGkYYxrdNddcA1ibRnNkScMY0+juu+++UIdg6qnFN4S7z/bY7k4mAXnVVvGeV315OpATpNBqiiVQ29S1Xm3LTlY3tc3znrb6svqy+vJvvaZcX91UNeOEuaraal7Ac3XNq74cWN6YsQRqm7rWq23Zyeqmjjryrj+rL6svq68WXl8tY6xe3809ybyalgdLfcrydZu61qtt2cnqprZ5jVVnVl/+sfryj9WXj1r85amGEJHlWkM/ZVMzqy//WH35x+rLP8Gqr9Z2puGv50IdQDNj9eUfqy//WH35Jyj1ZWcaxhhjfGZnGsYYY3xmScMYY4zPLGkYY4zxmSUNY4wxPrOkUU8i8gMRmSEib4vIhaGOp6kTkUwReUFE3gh1LE2ViMSLyEvucXV1qONp6uyY8k+gPrNaZdIQkRdF5ICIrK02f6yIbBSRb0Tknrr2oar/UtUbgeuAK4MYbsgFqL6yVfUnwY206fGz7i4F3nCPqwmNHmwT4E99tdZjypuf9RWQz6xWmTSAmcB3BvQXkXDgaWAcMAC4SkQGiMhpIvJutVdbr03vc7dryWYSuPpqbWbiY90BnYGd7mrljRhjUzIT3+vL1K++GvSZ1SpHuVXVT0Ske7XZQ4FvVDUbQEReBS5R1T8A36++DxER4FHgA1X9MrgRh1Yg6qu18qfugF04iWMlrfQLnZ/1tb5xo2t6/KkvEfmaAHxmtcoDsxad+PZbHjj/wJ3qWP9nwBjgMhG5OZiBNVF+1ZeIpInIM8AZInJvsINr4mqruznARBH5G407DlpTV2N92TFVq9qOr4B8ZrXKM41aSA3zar1dXlWfAp4KXjhNnr/1lQu0xuRakxrrTlULgCmNHUwzUFt92TFVs9rqKyCfWXam8a1dgPezJzsDe0IUS3Ng9VV/Vnf+sfryT1Drq9klDX967PhpGdBbRHqISBQwCXgngPtvaay+6s/qzj9WX/4Jan01q6QRqF4UIvIKsBjoKyK7ROQnqloG3Ab8G/gaeE1V1wUu+ubL6qv+rO78Y/Xln1DUV7Ma5VZERgC/U9XvudP3Arg9dowxxgRZc2sIr6lXwLDqK4nIVGAqQGxs7JAuXbpUX8UnFRUVhIU1q5OxkLL68k9rrq+ioiIAYmJifN6mNddXfTS0vjZt2pSjNTwjvLklDZ967Kjqc7gPIMnKytLly5fXq7AFCxbg8XjqtW1rZPXln9ZcXzNmzADgxhtv9Hmb1lxf9dHQ+hKR7TXNb25Jw3pRGNMC+JMsTNPS3M71rBeFMcaEULM601DVMhGp7BUQDrwYrF4Un24+yPaj5ZRXKOFhNV0VM8bUV+VlkwULFoQ0DuO/ZpU0AFT1feD9YJfzq7fWsPNQEf+7+iNuPKcHPzm7BxHhze3EzJim6brrrgt1CKaeml3SaCyv3Diclz9YxIaiRP7wwQYWbDzIC9dlERdlVWZMQ1nSaL7sq3MtOqfEMbJjBC9fP5THLhvI0q253DV7Fc3pvhZjmqrS0lJKS0tDHYaphxabNERkvIg8l5eX1+B9XZHVhXvG9WPeun38e92+AERnTOt2wQUXcMEFF4Q6DFMPLTZpqOpcVZ2alJQUkP1df1YPembE8+T8zXa2YUwD3XDDDdxwww2hDsPUg12g91FEeBg3npPJPXPW8OWOIwzplhLqkIxptiZPnhzqEEw9tdgzjWD4/ukdiY4I493Vdj+hMQ1RWFhIYWFhqMMw9WBJww8J0REMy0xj4caDoQ7FmGbtoosu4qKLLgp1GKYe7PKUn87tnc7D733N3rzjdEiKDXU4xjRLP/3pT0MdgqknSxp+OqOr05axeleeJQ1j6unKK68MdQimnuzylJ9O6ZhIRJiwZlfDu/Ia01rl5eURiO7wpvG12DMNERkPjO/Vq1dA9xsTGU6vtgms22MHvDH1dckllwA29lRz1GKThqrOBeZmZWUFfAzmzIx4vt6bH+jdGtNq3H777aEOwdRTi00awdQ9LZ4P1+2nrLzCBjE0ph4uvfTSUIdg6sk+8eqhe3o8ZRXKrsPHQx2KMc1STk4OOTk5oQ7D1EOTTRoicreIqIiku9PdReS4iKx0X8+EKrbuafEAbMstCFUIxjRrl112GZdddlmowzD10CQvT4lIF+ACYEe1RVtUdVAIQvqODkkxAOw/WhTiSIxpnn7+85+HOgRTT3UmDRHpjPNI1XOAjsBxYC3wHvCBqlYEKa4ngF8Abwdp/w3SNjEagP1Hi0McSctWUFzG13uPkn2wgNyCEo6XlhMXFU5afBR927ehX/tEoiKa7MmyqcP48eNDHYKpp1qThoj8HegEvAv8ETgAxAB9gLHAr0XkHlX9JJABicgEYLeqrhI54TGrPUTkK+AocJ+qfhrIsn0VHRFOanyUnWkEwYGjRbz11W4+2nCAr3YcprS89hGFoyPCGN23LRMGdeTCAe2sU0Izsm+f84iB9u3bhzgS4y+pbZhvETlVVdfWuqFIFNBVVb/xu1CR+UBNR8uvgV8BF6pqnohsA7JUNUdEooEEVc0VkSHAv4BTVPVoDfufCkwFaNeu3ZBXX33V3xABOHbsGAkJCTUu+83nx0mPFe4YHFOvfbdEddXXyWQfKefd7FJWHiynQqFbYhinpIXTJyWMjglhJEULUWFQUg6Hi5Ud+RVsPFTO8v3l5BUr6bHCxT0iGdUlgrATv2w0SQ2pr+Zu06ZNAPTp08fnbVpzfdVHQ+tr9OjRK1Q1q/r8Ws806koY7vISwO+E4W47pqb5InIa0AOoPMvoDHwpIkNVdR9Q7G6/QkS24Jz1LK9h/88BzwFkZWVp5UPs/bVgwQJq2zYz+wsOF5bg8Zxdr323RHXVV23W7s7jj/M28OnmHJLjIpl6bncuz+pMzwzfDvbyCuWjr/fzt4VbeGn9Eb44HMODl5zCmd1T6/EbNK761FdLUVTknKX78/u35vqqj2DV10kbwkVkDVD9dCQP58P6YVXNDVQwqroGaOtV9ja+PdPIAA6parmIZAK9gexAle2vdonRbNh3wkmO8dHhghL+9OFGXvliBylxUdwzrh+Th3cjIdq/vhnhYcKFp7TnggHteH/NPh55bz1XPLuYm87tyV0X9LE2jyZq7NixoQ7B1JMv/6EfAOXAP93pSe7Po8BMoLFatM4FHhSRMjeem1X1UCOVfYKU+CgOF5aiqtTQ9mLq8O7qPdz3r7XkF5Vx7Yju/L8L+pAUG9mgfYoIFw/swOh+GTz07nqeWbiFz7/J4ekfDaZrWlyAIjeBsnPnTgC6dOkS4kiMv3xJGmep6lle02tE5HNVPUtEgvr4LVXt7vX+TeDNYJbnj5S4KErKKigsKSfez2/HrVVeYSn3v7OWt1fu4fQuyTw2cSB927cJaBlxURH84dKBjOqTwS/fXMOEpz9j+tWDGdkzPaDlmIa55pprABt7qjny5dMuQUSGqepSABEZClRecC4LWmRNXGpcFACHC0ssafhgxfbD3PbPLzmYX8xdF/ThFk/PoPZ2GntqB/q1T+SGl5dzzQtf8LvxA7hmRPeglWf8c99994U6BFNPvnza3QC8KCKViSIfuEFE4oE/BC2yJi45zrmccqSwlM72uPBaqSovL97Ow++tp0NSLHNuGcnAzsmNUnb39Hjm3DKSO175it+8vY6N+/P57fhTiLSuuSE3ZkyNfWFMM3DSpKGqy4DTRCQJp4vuEa/FrwUtsiYuJd450zhUUBLiSJqu4yXl3DtnNf9auYfz+7XlL1cMIimuYW0X/kqMieT5a8/ksXkbePaTbLblFPL01YMb3IZiGiY72+nDkpmZGeJIjL9O+pVLRNqJyAvAq6p6REQGiMhPGiG2BhGR8SLyXLAe9JLidXnKnOjA0SKueHYxb6/aw90X9mHGj7MaPWFUCg8T7r2oP49NHMiS7Fwunf4523Js3LBQuv7667n++utDHYapB1/O02cC/8YZRgRgE3BnsAIKFFWdq6pTk5KSgrL/FPcD8LCdaZxgw76j/ODpz9ly8BjP/ziL287rTVhY6HuYXXFmF2bdMIzcghJ+MP1zlmQHrLe48dMDDzzAAw88EOowTD34kjTSVfU1oAJAVSu7vLZqlZc3DheWhjiSpmXhpoNc9rfFlKvy2k0jOL9/u1CH9B3DM9P41y1nkRYfxTUvLOW15TtDHVKrNGrUKEaNGhXqMEw9+JI0CkQkDfcGPxEZjnNzX6sWER5Gm5gI8o5b0qj02e5Srp+5jM4psfzr1rM4tVNwzvIaymkgP4vhmWn84o3V/OH9rymvqH2MKxN4GzduZOPGjaEOw9SDL72n7gLeAXqKyOdABmAD4eOcbRy1pAHAPxZv4/k1JZzdK51nrhni953djS0pNpK/X3cmD8xdz7OfZLNpfz5/uvx00hOiQx1aq3DTTTcBdp9Gc+RL76kvRWQU0BcQYKOq2iclzgfPEUsaPPfJFn7//gYGZYTz/LVZxESGhzokn0SEh/HQD06lT/s2PPTuesY++Sl/vuJ0RvXJCHVoLd7vf//7UIdg6qmuodFre4hvHxFBVecEKaZmIyk2slVfnlJVnvroG56Yv4mLB3bgh+3zmk3C8HbN8G6c2T2FO15ZybUvfsFVQ7vyy7F9SXZ7yJnAGzlyZKhDMPVUV5vGePf1E+AF4Gr39TwQ1OFDAiHYXW7BucGvtSYNVeXReRt4Yv4mJg7uzFOTziCiCfSQqq9+7RN5+7azuPGcHry2fCfn/Xkhry3fSYW1dQTF2rVrWbu2zoG0TRNVa9JQ1SmqOgWnAXyAqk5U1YnAKY0WXQMEu8sttN4zjYoK5bfvrOPZhdlMHt6VP102kPBmnDAqxUSG8+uLB/Duz86mR3o8v3hjNeOmfcr7a/Za8giw2267jdtuuy3UYZh68KW1sruq7vWa3o/zHItWL9FNGq1ppNvyCuWeN1fz+opd3HhOD351Uf8W97v375DI6zeN4N01e5k2fxO3/N+X9G3XhmtGdOMHZ3Rq8o38zcGf/vSnUIdg6smXo3+BiPwbeAXnrGMS8HFQo2omkmIjKSmroKi0gtio5nct31+l5RXc9doq5q7awx3n9+bOMb1bXMKoFBYmTDi9Ixef1oG5q/Yw49Ns7vvXWh79YAMXn9aBcae1Z2TPdHteRz2deeaZoQ7B1JMvvaduE5Ef4jzPAuA5VX0ruGE1D8mxTkNp3vHSFp80isvKue2fX/Gf9fu5Z1w/bh7VM9QhNYrwMOEHZ3TikkEdWbnzCLOW7OC9NXuZvXwnbWIiGNUngxE90xiemUZmenyLTaKBtnLlSgAGDRoU4kiMv+rqPSXqPkDcTRInJArvdQJFRE4HnsEZfn0bcHXlc8BF5F6chvly4HZV/Xcgy/ZX5V3hecdLaZ/Ucp8VfryknJtmreCTTQd5YMIpXDuye6hDanQiwhldUzijawqPlJ7K59/k8P6afXy6+SDvrnau3qYnRDGgYxL9O7RhQIdEerVNoGtqHG1ibHDE6u680xmJyO7TaH7qOtP4WETeBN5W1R2VM0UkCjgbuBbnMtXMAMf0PHC3qi4UkeuB/wF+IyIDcC6NnYIzDtZ8EemjqiEb0sQ7abRUx4rLuH7mMpZtO8RjEwdyxZn2pLWYyHDO79+O8/u3Q1XZllvIkuxclm87zNd7j/LilhxKy7/9LpUcF0nX1Dg6JceSnhBNekI0aQlR7NtXRtzWQyRER5AQHUF8dDgJMRFER7Tss1aAJ598MtQhmHqqK2mMBa4HXhGRHsARIBanx9WHwBOqujIIMfUFPnHf/wdnsMTfAJfgjLRbDGwVkW+AocDiIMTgk8qkcaSFjnSbV1jKtX//gjW783jyykFcMqhTqENqckSEHunx9EiP56qhXQGn7eebA8fIPljAzsOF7DxUyI5DhWzan8/i7FyOeI1X9teVJx6+keFCfHQEcZHhREWEERURRmS48zOq2s/I8DDCw4QwEcLDIEyEsDAhTCBcBBEhPMx5iTuvch1nuXPHrvO7fPs7ffd3dH+6a347Xfdy7zqqvv6cOR8BMLEg6dvl1fZb3aYdpexcvK2WpScRhMuGwbgQGcgwN+0o5ezyioA/7KzWpKGqRcB0YLqIRALpwPFqz9MIhrXABOBt4HKg8qttJ2CJ13q73HknEJGpwFSAdu3a1fsU+NixY3Vue7CwAoClX60h6uCGepXRVB0tUR5fVsSeYxXcMiiapCObWbBgc53bnKy+Wpt4oB/QLwWoelBXFGUVkRwrUfYdKaQ8IpbjZUpRuXK8DIrKlKIyKCpXisvLKKtQSiugrBRKipXCCiirgDKFsgqlrAIq1HkpXu9VqaDyPd99764bUpH9AFgzd71/261fF4RgWq6zFiwkKjyw6c2nvoPusCF7T7qij0RkPtC+hkW/xjm7eUpE7scZ86rya3xNv3mNx76qPgc8B5CVlaUej6decS5YsIC6ts07Xsr/fPIhHbr1xHNOy3mYzIGjRVz9/FL2H4cXpgz1eViNk9WX+a5Q1pequgnE+RfSqvnuT3dO9RbL2pZ/u33N+6PaduMnTADg7bffqXG7miz6fBEjz/L/TvLAtrq6+wxG2g3wLhctWsQF53kC3jkjJB3OVfVkz3q8EEBE+gAXu/N28e1ZB0BnYE/go/Ndm+gIRGhRgxbuPnKcq2cs4UB+MTOnDGVEz7RQh2SCQNxLU2FBuchycuFlRQCkxvs+VEtitNiAkn5IjgkLSm++JtfJXETauj/DgPtwelKBc9YxSUSi3TaW3sAXoYnSERYmJMa0nLvCt+UUcMUzi8ktKGHWDcMsYRhjTuBT0hCRbiIyxn0fKyJtghjTVSKyCdiAcybxdwBVXYfzTPL1wDzg1lD2nKqUHNcyRrrduC+fy59dzPHScl65cTiDu6acfCNjTKtz0stTInIjTqNyKtAT57LQM8D5wQhIVacB02pZ9gjwSDDKra+WMP7Uqp1HuPbvXxAdEcY/pw6nd7tgficwxjRnvpxp3AqcBRwFUNXNQNtgBtWcNPeksTQ7l6ufX0qbmAhev2mkJQxjTJ18SRrFqlp1I4KIRNAEeuw1FYnNOGl8vPEAP37xC9onxfD6TSPpmhYX6pCMMU2cL0ljoYj8CogVkQuA14G5wQ2r4RrjeRoAybGR5BU2v6Tx/pq9TH15Ob3aJjB76vAWPQyKMSZwfEka9wAHgTXATcD7OL2amrTGeJ4GfHt5KsBDcAXV7GU7uO2fX3J652T+eeNw0qwbozHGR76MclsBzABmiEgq0DnQgxQ2ZylxUZRVKPnFZSQ28YHpvB/Pem6fDJ6ZPJi4KHs2hDHGdyc90xCRBSKS6CaMlcDfReQvwQ+techo43xLP3C0OMSR1K2svIJfvbWWJ+Zv4tLBnXjh2ixLGMYYv/lyeSrJHZr8UuDvqjoEONkd3a1GWzdpHMxvuknjeEk5N8/6kle+2MGto3vy58tPJzLAg5gZY1oHX75qRohIB+AKnLGhjJe2ie6ZRn5RiCOpWe6xYm58eTlf7TzCg5ecwo9HdA91SMaYZsyXpPEgzvDkn6nqMhHJBOoe7rQVyUhweh01xTONjfvy+clLyziQX8z0Hw1m3GkdQh2SMaaZ86Uh/HWcbraV09nAxGAG1ZwkxkYQFRHGgSaWNP67YT+3v7KS2KhwXrtpBIO6JIc6JGNMC+DLMCIxOI9YPQWo6syvqtcHMa4GE5HxwPhevXoFuxzaJUazL69pXJ5SVZ7/dCu//+BrBnRI5Plrs+iQFBvqsIwxLYQvraH/wHn2xfeAhThjT+UHM6hAaKz7NAA6J8ex83Bh0Ms5maLScn7xxmoeef9rxp7SntdvHmEJwxgTUL4kjV6q+hugQFVfwnm+xWnBDat56ZYWx47c0CaN7bkFXDp9Ea+v2MXt5/fm6R/ZPRjGmMDz5VOlcoyMIyJyKrAP6B60iJqhrmlx5BaUcKy4jIToxv+g/nDdPn7++irCRHjxuizO69eu0WMwxrQOvpxpPCciKcBvcB6EtB54rCGFisjlIrJORCpEJMtr/lARWem+VonID72WLRCRjV7Lm8xIu91S4wEa/WyjtLyCP7z/NVP/sYIe6fG8+7OzLWEYY4LKl95Tz7tvFwKBehD2WpybBZ+tYX6Wqpa594asEpG5qlrmLr9aVZcHKIaA6dU2AYBN+/MZ0DGxUcrccvAY/2/2SlbvyuPqYV25f/wAoiPCG6VsY0zr5UvvqWicLrbdvddX1QfrW6iqfu3uu/p876/qMTSTIdh7ZsQTHRHG2t15/OCMTkEtS1WZtXQHj7y3ntjIcJ6ZPISxp7YPapnGGFPJlwvwbwN5wAog6DcjiMgw4EWgG3CN11kGOONelQNvAg83lYETI8LD6N8hkbV7gjsM+54jx/n1W2v4eONBzu2TweOXDaRtog1pboxpPHKyz10RWauqp/q9Y5H5OF11q/u1qr7trrMAuLumS04i0h94CThXVYtEpJOq7nafT/4mMEtVX66l7Kk4j6ilXbt2Q1599VV/wwfg2LFjJCQk+LTurPXFfLK7jKfPjyMyTE6+gR8qVPloRxlvbiqhAri8TxRjukaccKYWav7Ul2nd9bVp0yYA+vTp4/M2rbm+6qOh9TV69OgVqpp1wgJVrfMFPAecdrL16vMCFuC0YdS2/OOalgPXAX/1pYwhQ4ZofX388cc+r/ufdfu02y/f1c+/OVjv8mqyfk+eXvLXz7TbL9/Va15YqjtyCwK6/0Dyp75M666vUaNG6ahRo/zapjXXV300tL6A5VrDZ2qtl6dEZA1Om0IEMEVEsnEuT4mTa3RgvVNY7WX2AHaq0xDeDegLbHMfMZusqjkiEgl8H5gf6PIbYnjPNKLCw/hw3X5G9kxv8P4O5hfzl/9sYvayHSTHRfHklYO4ZFDHJnd2YYxpXepq0/h+sAp1u9L+L5ABvCciK1X1e8DZwD0iUgpUALe4iSIe+LebMMJxEsaMYMVXHwnREVwwoB1vr9zNPeP6ERNZv55MhSVlzFy0jekfb6GotJxrR3bnjvN7kxwXFeCIjTHGf3Uljf3AzUAvnEe9vqDfbZSuN1V9C3irhvn/wBm2pPr8AmBIIMoOpsnDu/Hemr28tGgbN43q6de2BcVl/GPJdmZ8kk1uQQnn9WvLry/uT88Mu4ZrjGk66koaL+HcDf4pMA4YANzRGEE1VyN6puHpm8Ff//sN5/dvV3X/Rl12Hipk1tLtvLZsJ4cLSzmndzp3nN+brO6pjRCxMcb4p66kMUBVTwMQkReALxonpObtoUtO5YfTP+eaF5YybdIZDO1x4of/gfwi5q8/wAdr9/LZNzmEiXBB/3ZMHZXJ4K4pIYjaGGN8U1fSqBxzCrdhuhHCaf66pMbx0vVDuekfK7ji2cX0a9+GUzslERURRu6xYjbsy2e7O9xI19Q4fja6F1cN62qj0RpjmoW6ksbpInLUfS9ArDtd2XuqccbLqKfGep5GTU7pmMS8O8/l1S928PHGA3y2OYeS8grS4qPo174NVw3tyrm9M+jfoY31hjLGNCu1Jg1VbdYDGanqXGBuVlbWjaEoPyE6ghvOyeSGcwI1XJcxxoSeL6PcGmOMMYAlDWOMMX6wpGGMMcZnljSMMcb4zJKGMcYYn1nSMMYY47MWmzREZLyIPJeXF9wHIxljTGvSYpOGqs5V1alJSUmhDsUYY1qMFps0jDHGBJ4lDWOMMT4LSdIQkctFZJ2IVIhIltf8SBF5SUTWiMjXInKv17Ih7vxvROQpsUGbjDGm0YXqTGMtcCnwSbX5lwPR7pDsQ4CbRKS7u+xvwFSgt/sa2yiRGmOMqRKSpKGqX6vqxpoWAfHuM8FjgRLgqIh0ABJVdbH7wPOXgR80XsTGGGOg6bVpvAEUAHuBHcDjqnoI6ATs8lpvlzvvpDZu3MjM110xJAAAC2RJREFUmTMBKC0txePxMGvWLAAKCwvxeDzMnj0bgLy8PDweD3PmzAGgrKwMj8fD3LlzAdi3bx8ej4d58+YBsHPnTjweD/PnzwcgOzsbj8fDwoULq8r2eDwsWrQIgLVr1+LxeFi2bBkAK1euxOPxsHLlSgCWLVuGx+Nh7dq1ACxatAiPx8PGjU5+XbhwIR6Ph+zsbADmz5+Px+Nh586dAMybNw+Px8O+ffsAmDt3Lh6Ph5ycHADmzJmDx+Ohshvy7Nmz8Xg8FBY6z/eYNWsWHo+H0lLnUSozZ87E4/FU1eWMGTMYM2ZM1fT06dMZN25c1fSBAweYMGFC1fTjjz/OxIkTq6YfffRRJk2aVDX90EMPMXny5Krp+++/nylTplRN33vvvUydOrVq+u677+bWW2+tmr7zzju58847q6ZvvfVW7r777qrpqVOncu+9VVc4mTJlCvfff3/V9OTJk3nooYeqpidNmsSjjz5aNT1x4kQef/zxqukJEyYwbdq0qulx48Yxffr0qukxY8YwY8a3j673eDx1HnubNm2q9djLyclp0cfegQMHWLlypV/H3qZNm6qmqx9706ZNs2Ov2rGXm5sL+P+5V3ns1UacL+6BJyLzgfY1LPq1qr7trrMAuFtVl7vTZwG3ANcBKXz7qNk04A+qOsZd7xzgF6o6vpayp+JcyiIlJWXIjBkzSEtLQ1XZvHkz6enppKb+//buP7auso7j+Puzdl23tdvY1nb9tbbbOhURWQYGoiFECVGjCIpMohCEkEkCCSRCVDTRxAQT+QtFBAbMPww/IwIaMjAyIUhkMAdBGdCuP9a1W7t2Xdd1W+n69Y9z2h0v97b3dL27dzvfV3KTe57z67mfPD3PPefcnmcp4+PjtLS0UFFRwVlnncXx48dpbW2lsrKSJUuWcOjQIXp6eqiqqmLx4sWMjY2xa9cuVqxYwaJFi/joo49oa2ujurqa8vJyRkdHaW9vp6amhrKyMo4dO0ZHRwe1tbUsXLiQo0eP0tnZSV1dHQsWLODIkSPs3r2b+vp65s+fz8jICF1dXaxcuZLS0lIOHz7Mnj17aGhoYN68eQwPD9Pd3U1jYyMlJSWT9WtqamLu3LkMDQ2xd+9eVq1aRXFxMQcPHmTfvn2T04ODg/T29rJ69WqKioo4cOAAfX19rFmzhjlz5jAwMMD+/ftpbm5GEv39/fT397N27VogaEwDAwOT0319fQwODtLc3AzAgQMH6O/vZ2IMk3379jE8PMzq1cF46Xv37mVkZIRVq4LHxff09HD06FGampoA6O7uZnR0lMbGRgD27NnD2NgYDQ0NAHR1dTE+Ps7KlSsBJg9Y9fX1AHR2djJnzhzq6uoA6OjooLi4mNra4PtFe3s7JSUl1NTUANDW1kZpaSnV1dVAcOBdsGABK1YEzba1tZWysjKqqqoAaGlpYdGiRVRWVgLw4YcfsmTJEioqKgD44IMPWLp0KcuXL5+cXrZsWca2NzAwQFFRUdq2N9HWztS219LSwsjICOecc07WbQ+YzDa17fX29jI0NORtL9L2JtpS3OPeRFvbuHHjW2Y2ec95kpnl7QVsBc6PTN8HXBuZfgS4GqgGdkbKrwEeyGYf69evt5l6+eWXZ7xuEnle8Xhe8Xhe8ZxsXsCbluaYWmiXpzqBLyqwELiQoLPoAQ5JujD81dR1wLP5rKhzziVRvn5ye6WkLuAi4K+StoSz7gPKCH5dtQ141MzeCefdDGwCWoBW4IVTW2vnnHM5u6dRKCT1AR3h5GIg9WFU0bLU+cuB/TmqWrq6zNY6Uy2Xad502WQqi057Xp6X5xVvuULOq8HMKj5Wmu6a1Zn6Ah6cqix1Phmu6eWqLrO1zlTLZZo3XTZTZBTNz/PyvDyvMzyvQrunkWvPT1OWbn6uzGRf2a4z1XKZ5k2XTaayU5WZ5xWP5xWP55WlM/7y1MmQ9Kal+8mZS8vzisfzisfziidXeSXtTCOuB/NdgdOM5xWP5xWP5xVPTvLyMw3nnHNZ8zMN55xzWfNOwznnXNa803DOOZc17zRmSNIVkh6S9Kyky/Jdn0InaZWkhyU9ne+6FCpJC8NByB6S9N1816fQeZuKZ7aOWYnsNCQ9IqlX0rsp5V+W9H44OuCPptqGmf3ZzG4ieCLvhhxWN+9mKa9dZnZjbmtaeGJm903g6bBdXf6xjSVAnLyS2qaiYuY1K8esRHYawGZSRv6TVETw7KuvAGcD10g6W9JnJP0l5VUZWfWn4Xpnss3MXl5Js5ksswPqgN3hYsdPYR0LyWayz8vNLK+TOmYVz3TF05mZvRIZRnbC54AWM9sFIOlx4BtmdjfwtdRthE/b/RXwgpltz22N82s28kqqONkRDC5WB+wgoV/oYub131Nbu8ITJy9J7zELx6xENswMajnxLQ+mHx3wVuBS4CpJP8hlxQpUrLwkLZP0e2CdpB9nWi4hMmX3J+Bbku7n1D7SptClzcvbVEaZ2tesHLMSeaaRgdKUZfzPRzO7F7g3d9UpeHHz6geS2LmmkzY7MzsMfD/NvKTLlJe3qfQy5TUrxyw/0zihC6iPTNcB3Xmqy+nA85o5zy4ezyuenOblncYJ24BmSU2SSoDvAM/luU6FzPOaOc8uHs8rnpzmlchOQ9JjwOvAJyR1SbrRzMaAW4AtwHvAk2b2n3zWs1B4XjPn2cXjecWTj7z8gYXOOeeylsgzDeecczPjnYZzzrmseafhnHMua95pOOecy5p3Gs4557LmnYZzzrmseafhEkHScUk7Iq/GfNdpNklaJ2lT+P56Sb9Nmb9V0vlTrP+4pOZc19Od/vzZUy4pjpjZeZlmSioO/ynqdPUT4Jcnsf79wJ3ATbNTHXem8jMNl1jhN/KnJD0PvBiW3SFpm6R3JP0isuxd4aA2f5P0mKQfhuWT3+AlLZfUHr4vkvTryLY2huWXhOs8LWmnpD+Gj9lH0gWS/inpbUlvSCqX9Kqk8yL1eE3SuSmfoxw418zezuIzXx4523pfUls461XgUkn+RdJNyRuIS4r5knaE79vM7Mrw/UUEB9wBBUNgNhOMRyDgOUkXA4cJnt+zjuBvZjvw1jT7uxE4aGYXSJoHvCbpxXDeOuDTBA+Rew34vKQ3gCeADWa2TdIi4AiwiWCktdskrQXmmdk7Kfs6H3g3pWyDpC9EptcAmNlzhM8hkvQk8I+wfFxSC/DZLD6bSzDvNFxSZLo89ZKZDYTvLwtf/w6nywg6kXLgGTMbAZCUzcPfLgPOlXRVOL043NYo8IaZdYXb2gE0AgeBHjPbBmBmQ+H8p4CfSboDuIFgpLZU1UBfStkTZnbLxISkrdGZku4kyCQ6glsvUIN3Gm4K3mm4pDsceS/gbjN7ILqApNvIPFbIGCcu85ambOtWM9uSsq1LgGORouMEf4dKtw8zG5H0EsFIdVcTnFWkOpKy7ylJ+hLwbeDilFml4bacy8jvaTh3whbgBkllAJJqFYxv/gpwpaT54f2Dr0fWaQfWh++vStnWzZLmhttaK2nhFPveCdRIuiBcvjxyf2ETweA52yJnRVHvEV5+mo6kBuB3wNVmltpBrAX86bFuSn6m4VzIzF6U9Cng9fDe9DDwPTPbLukJgrG7OwhuGk+4B3hS0rXA3yPlmwguO20Pb3T3AVdMse9RSRuA30iaT/CN/1Jg2MzekjQEPJph3Z2SFksqN7ND03zM64FlwDPhZ+w2s69KqiK4XNUzzfou4fzR6M7FJOnnBAfze07R/mqArcAnzWw8wzK3A4fMbNMM93E7MGRmD8+4oi4R/PKUcwVM0nXAv4C7MnUYofv5/3slcQ0CfziJ9V1C+JmGc865rPmZhnPOuax5p+Gccy5r3mk455zLmncazjnnsuadhnPOuax5p+Gccy5r/wMiI37ldnyLzQAAAABJRU5ErkJggg==\n", 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "pitch_rate_control_design(500, -1000*((s+0.5)/s)**2, [-3, 1], [-2, 2])" + ] + }, + { + "cell_type": "code", + "execution_count": 10, "metadata": {}, "outputs": [ { @@ -270,29 +477,29 @@ "\n", "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", " 0 1.9740511e+01 0.00e+00 7.18e+01 -1.0 0.00e+00 - 0.00e+00 0.00e+00 0\n", - " 1 5.8303348e+00 0.00e+00 3.13e+01 -1.0 7.04e-01 2.0 1.00e+00 1.00e+00f 1\n", - " 2 1.5559139e+00 0.00e+00 1.73e+01 -1.0 2.57e-01 1.5 1.00e+00 1.00e+00f 1\n", - " 3 8.5019416e-01 0.00e+00 3.73e+00 -1.0 6.82e-02 1.9 1.00e+00 1.00e+00f 1\n", - " 4 4.3563408e-01 0.00e+00 1.29e+01 -1.0 6.22e+01 - 1.00e+00 5.00e-01f 2\n", - " 5 2.8172361e-02 0.00e+00 5.46e+00 -1.0 3.44e+01 - 1.00e+00 1.00e+00f 1\n", - " 6 1.7003886e-03 0.00e+00 2.32e-01 -1.0 7.06e-03 1.5 1.00e+00 1.00e+00f 1\n", - " 7 5.0843506e-04 0.00e+00 7.82e-02 -1.7 8.31e-03 1.0 1.00e+00 1.00e+00f 1\n", - " 8 5.2423747e-05 0.00e+00 2.00e-02 -2.5 7.00e-03 0.5 1.00e+00 1.00e+00f 1\n", - " 9 1.1131631e-05 0.00e+00 2.29e-03 -3.8 2.31e-03 0.0 1.00e+00 1.00e+00f 1\n", + " 1 5.8303170e+00 0.00e+00 3.13e+01 -1.0 7.04e-01 2.0 1.00e+00 1.00e+00f 1\n", + " 2 1.5556905e+00 0.00e+00 1.73e+01 -1.0 2.57e-01 1.5 1.00e+00 1.00e+00f 1\n", + " 3 8.5032704e-01 0.00e+00 3.73e+00 -1.0 6.82e-02 1.9 1.00e+00 1.00e+00f 1\n", + " 4 4.5158797e-01 0.00e+00 1.34e+01 -1.0 6.20e+01 - 1.00e+00 5.00e-01f 2\n", + " 5 3.2991294e-02 0.00e+00 5.86e+00 -1.0 3.46e+01 - 1.00e+00 1.00e+00f 1\n", + " 6 2.3864534e-03 0.00e+00 2.67e-01 -1.0 8.12e-03 1.5 1.00e+00 1.00e+00f 1\n", + " 7 7.0666420e-04 0.00e+00 9.23e-02 -1.7 9.91e-03 1.0 1.00e+00 1.00e+00f 1\n", + " 8 6.0356854e-05 0.00e+00 2.32e-02 -2.5 8.40e-03 0.5 1.00e+00 1.00e+00f 1\n", + " 9 2.6763574e-06 0.00e+00 2.76e-03 -3.8 2.91e-03 0.0 1.00e+00 1.00e+00f 1\n", "iter objective inf_pr inf_du lg(mu) ||d|| lg(rg) alpha_du alpha_pr ls\n", - " 10 8.7338321e-06 0.00e+00 6.32e-04 -3.8 2.09e-03 -0.4 1.00e+00 1.00e+00f 1\n", - " 11 5.1938476e-06 0.00e+00 2.80e-03 -5.7 4.72e-03 -0.9 1.00e+00 1.00e+00f 1\n", - " 12 2.3134668e-17 0.00e+00 3.11e-08 -5.7 4.10e-01 - 1.00e+00 1.00e+00f 1\n", - " 13 2.4584111e-30 0.00e+00 5.27e-14 -8.6 7.77e-08 - 1.00e+00 1.00e+00f 1\n", + " 10 1.5716977e-06 0.00e+00 3.07e-04 -3.8 8.66e-04 -0.4 1.00e+00 1.00e+00f 1\n", + " 11 9.8815132e-07 0.00e+00 4.97e-04 -5.7 1.93e-03 -0.9 1.00e+00 1.00e+00f 1\n", + " 12 3.1201570e-07 0.00e+00 1.29e-03 -5.7 3.24e-03 -1.4 1.00e+00 1.00e+00f 1\n", + " 13 9.3236332e-20 0.00e+00 9.89e-09 -5.7 1.00e-01 - 1.00e+00 1.00e+00f 1\n", "\n", "Number of Iterations....: 13\n", "\n", " (scaled) (unscaled)\n", - "Objective...............: 2.4584110924205866e-30 2.4584110924205866e-30\n", - "Dual infeasibility......: 5.2689383742881798e-14 5.2689383742881798e-14\n", + "Objective...............: 9.3236331816029821e-20 9.3236331816029821e-20\n", + "Dual infeasibility......: 9.8856427839891519e-09 9.8856427839891519e-09\n", "Constraint violation....: 0.0000000000000000e+00 0.0000000000000000e+00\n", "Complementarity.........: 0.0000000000000000e+00 0.0000000000000000e+00\n", - "Overall NLP error.......: 5.2689383742881798e-14 5.2689383742881798e-14\n", + "Overall NLP error.......: 9.8856427839891519e-09 9.8856427839891519e-09\n", "\n", "\n", "Number of objective function evaluations = 19\n", @@ -302,47 +509,32 @@ "Number of equality constraint Jacobian evaluations = 0\n", "Number of inequality constraint Jacobian evaluations = 0\n", "Number of Lagrangian Hessian evaluations = 13\n", - "Total CPU secs in IPOPT (w/o function evaluations) = 0.008\n", + "Total CPU secs in IPOPT (w/o function evaluations) = 0.012\n", "Total CPU secs in NLP function evaluations = 0.001\n", "\n", "EXIT: Optimal Solution Found.\n", " t_proc [s] t_wall [s] n_eval\n", - " S 0.00983 0.00911 1\n", - " nlp_f 0.000125 0.000115 19\n", - " nlp_grad_f 8e-05 7.61e-05 15\n", - " nlp_hess_l 8.2e-05 8.05e-05 13\n" + " S 0.0176 0.016 1\n", + " nlp_f 0.000151 0.00014 19\n", + " nlp_grad_f 0.000103 9.95e-05 15\n", + " nlp_hess_l 0.000104 0.000102 13\n" ] }, { "data": { "text/plain": [ - "DM([0.744659, -63.3935, 0.989956, -0.143232])" + "DM([0.744734, -63.268, 0.989885, -0.142952])" ] }, - "execution_count": 6, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" } ], "source": [ + "solve_problem(500)\n", "solve_problem(100)" ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "#### Trim condition for 500ft: Throttle = 0.748023; Elevetor = -63.0721 (deg); angle of attack = 0.986785 (deg); tilt of engine = -0.130796 (rad)\n", - "\n", - "Elevetor needs abnormal degree of tilt." - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { diff --git a/lectures/4-Casadi-Transport.ipynb b/lectures/4-Casadi-Transport.ipynb new file mode 100644 index 00000000..98b9480a --- /dev/null +++ b/lectures/4-Casadi-Transport.ipynb @@ -0,0 +1,529 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import numpy as np\n", + "import control\n", + "import matplotlib.pyplot as plt\n", + "\n", + "from casadi.tools.graph import dotgraph\n", + "from IPython.display import Image\n", + "\n", + "def draw_graph(expr):\n", + " return Image(dotgraph(expr).create_png())\n", + "\n", + "# make matrix printing prettier\n", + "np.set_printoptions(precision=3, suppress=True)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This notebook will walk through trimming and control design for a transport aircxraft using casadi." + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [], + "source": [ + "def rhs(x, u):\n", + " s = 2170\n", + " cbar = 17.5\n", + " mass = 5.0e3\n", + " iyy = 4.1e6\n", + " tstat = 6.0e4\n", + " dtdv = -38.0\n", + " ze = 2.0\n", + " cdcls = 0.042\n", + " cla = 0.085\n", + " cma = -0.022\n", + " cmde = -0.016\n", + " cmq = -16.0\n", + " cmadot = -6.0\n", + " cladot = 0.0\n", + " rtod = 57.29578\n", + " gd = 32.17\n", + " \n", + " thtl = u[0]\n", + " elev_deg = u[1]\n", + " xcg = u[2]\n", + " land = u[3]\n", + " \n", + " vt = x[0] # velocity, ft/s\n", + " alpha = x[1]\n", + " alpha_deg = rtod*alpha # angle of attack, deg\n", + " theta = x[2] # pitch angle, rad\n", + " q = x[3] # pitch rate, rad/s\n", + " h = x[4] # altitude, ft\n", + " pos = x[5] # horizontal position from origin, ft (not used in dynamics)\n", + " \n", + " r0 = 2.377e-3\n", + " tfac = 1.0 - 0.703e-5*h\n", + " temperature = ca.if_else(h > 35000, 390.0, 519.0*tfac)\n", + " rho = r0*(tfac**4.14)\n", + " mach = vt/ca.sqrt(1.4*1716.3*temperature)\n", + " qbar = 0.5*rho*vt**2\n", + " \n", + " qs = qbar*s\n", + " salp = ca.sin(alpha)\n", + " calp = ca.cos(alpha)\n", + " gam = theta - alpha\n", + " sgam = ca.sin(gam)\n", + " cgam = ca.cos(gam)\n", + " \n", + " aero_p = ca.if_else(\n", + " land,\n", + " (1.0, 0.08, -0.20, 0.02, -0.05),\n", + " (0.2, 0.016, 0.05, 0.0, 0.0))\n", + " cl0 = aero_p[0]\n", + " cd0 = aero_p[1]\n", + " cm0 = aero_p[2]\n", + " dcdg = aero_p[3]\n", + " dcmg = aero_p[4]\n", + " \n", + " thr = (tstat + vt*dtdv)*ca.fmax(thtl, 0)\n", + " cl = cl0 + cla*alpha_deg\n", + " cm = dcmg + cm0 + cma*alpha_deg + cmde*elev_deg + cl*(xcg - 0.25)\n", + " cd = dcdg + cd0 + cdcls*cl**2\n", + " \n", + " x_dot = ca.SX.zeros(6)\n", + " x_dot[0] = (thr*calp - qs*cd)/mass - gd*sgam\n", + " x_dot[1] = (-thr*salp - qs*cl + mass*(vt*q + gd*cgam))/(mass*vt + qs*cladot)\n", + " x_dot[2] = q\n", + " d = 0.5*cbar*(cmq*q + cmadot*x_dot[1])/vt\n", + " x_dot[3] = (qs*cbar*(cm + d) + thr*ze)/iyy\n", + " x_dot[4] = vt*sgam\n", + " x_dot[5] = vt*cgam\n", + " return x_dot" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "metadata": {}, + "outputs": [], + "source": [ + "def constrain(s, vt, h, q, gamma):\n", + " \n", + " # s is our design vector:\n", + " # s = [thtl, elev_deg, alpha]\n", + " thtl = s[0]\n", + " elev_deg = s[1]\n", + " alpha = s[2]\n", + " \n", + " pos = 0 # we don't care what horiz. position we are at\n", + " xcg = 0.25 # we assume xcg at 1/4 chord\n", + " land = 0 # we assume we do not have flaps/gear deployed\n", + " theta = alpha + gamma\n", + " \n", + " # vt, alpha, theta, q, h, pos\n", + " x = ca.vertcat(vt, alpha, theta, q, h, pos)\n", + " \n", + " # thtl, elev_deg, xcg, land\n", + " u = ca.vertcat(thtl, elev_deg, xcg, land)\n", + " return x, u\n", + "\n", + "def trim_cost(x, u):\n", + " x_dot = rhs(x, u)\n", + " return x_dot[0]**2 + 100*x_dot[1]**2 + 10*x_dot[3]**2\n", + "\n", + "def objective(s, vt, h, q, gamma):\n", + " x, u = constrain(s, vt, h, q, gamma)\n", + " return trim_cost(x, u)" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "metadata": {}, + "outputs": [], + "source": [ + "def trim(vt, h, q, gamma):\n", + " s = ca.SX.sym('s', 3)\n", + " nlp = {'x': s, 'f': objective(s, vt=vt, h=h, q=q, gamma=gamma)}\n", + " S = ca.nlpsol('S', 'ipopt', nlp, {\n", + " 'print_time': 0,\n", + " 'ipopt': {\n", + " 'sb': 'yes',\n", + " 'print_level': 0,\n", + " }\n", + " })\n", + " # s = [thtl, elev_deg, alpha]\n", + " s0 = [0.293, 2.46, np.deg2rad(0.58)]\n", + " res = S(x0=s0, lbg=0, ubg=0, lbx=[0, -60, -np.deg2rad(5)], ubx=[1, 60, np.deg2rad(18)])\n", + " trim_cost = res['f']\n", + " trim_tol = 1e-10\n", + " if trim_cost > trim_tol:\n", + " raise ValueError('Trim failed to converge', trim_cost)\n", + " assert np.abs(float(res['f'])) < trim_tol\n", + " s_opt = res['x']\n", + " x0, u0 = constrain(s_opt, vt, h, q, gamma)\n", + " return {\n", + " 'x0': np.array(x0).reshape(-1),\n", + " 'u0': np.array(u0).reshape(-1),\n", + " 's': np.array(s_opt).reshape(-1)\n", + " }" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "def power_required_curve():\n", + " throttle = []\n", + " vt_list = np.arange(190, 500, 5)\n", + " for vt in vt_list:\n", + " res = trim(vt=vt, h=0, q=0, gamma=0)\n", + " throttle.append(res['s'][0])\n", + " plt.plot(vt_list, 100*np.array(throttle))\n", + " plt.grid()\n", + " plt.ylabel(r'throttle, %')\n", + " plt.xlabel('VT, ft/s')\n", + " plt.title('power required curve')\n", + " \n", + "power_required_curve()" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "metadata": {}, + "outputs": [], + "source": [ + "def linearize(trim):\n", + " x0 = trim['x0']\n", + " u0 = trim['u0']\n", + " x = ca.SX.sym('x', 6)\n", + " u = ca.SX.sym('u', 4)\n", + " y = x\n", + " A = ca.jacobian(rhs(x, u), x)\n", + " B = ca.jacobian(rhs(x, u), u)\n", + " C = ca.jacobian(y, x)\n", + " D = ca.jacobian(y, u)\n", + " f_ss = ca.Function('ss', [x, u], [A, B, C, D])\n", + " return control.ss(*f_ss(x0, u0))" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": {}, + "outputs": [], + "source": [ + "def pitch_rate_control_design(vt, H, xlim, ylim, tf=3):\n", + " trim_state = trim(vt=vt, h=0, q=0, gamma=0)\n", + " print(trim_state)\n", + " sys = linearize(trim_state)\n", + " G = control.minreal(control.tf(sys[3, 1]), 1e-2)\n", + " control.rlocus(G*H, kvect=np.linspace(0, 1, 1000), xlim=xlim, ylim=ylim);\n", + " Go = G*H\n", + " Gc = control.feedback(Go)\n", + " plt.plot([0, -3], [0, 3*np.arccos(0.707)], '--')\n", + " #plt.axis('equal')\n", + " plt.grid()\n", + " \n", + " plt.figure()\n", + " control.bode(Go, margins=True, dB=True, Hz=True, omega_limits=[1e-2, 1e2], omega_num=1000);\n", + " plt.grid()\n", + "\n", + " plt.figure()\n", + " t = np.linspace(0, tf, 1000)\n", + " r = np.array(t > 0.1, dtype=float)\n", + " t, y, x = control.forced_response(Gc, T=t, U=r)\n", + " _, u, _ = control.forced_response((1/G)*Gc, T=t, U=r)\n", + "\n", + " u_norm = np.abs(u)\n", + " max_u_norm = np.max(u_norm)\n", + " print('u_norm max', max_u_norm)\n", + "\n", + " plt.plot(t, y, label='x')\n", + " plt.plot(t, r, label='r')\n", + " plt.plot(t, u_norm/max_u_norm, label='u normalized')\n", + " plt.gca().set_ylim(0, 1.5)\n", + " plt.grid()\n", + " plt.legend()" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'x0': array([500. , 0.01, 0.01, 0. , 0. , 0. ]), 'u0': array([0.293, 2.461, 0.25 , 0. ]), 's': array([0.293, 2.461, 0.01 ])}\n", + "1 states have been removed from the model\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/jgoppert/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/xferfcn.py:896: ComplexWarning: Casting complex values to real discards the imaginary part\n", + " num[i, j, np + 1 - len(numpoly):np + 1] = numpoly[::-1]\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "u_norm max 853.5644464374589\n" + ] + }, + { + "data": { + "image/png": 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\n", 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\n", 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "s = control.tf([1, 0], [0, 1])\n", + "# this is a PID controller with an extra pole at the origin\n", + "pitch_rate_control_design(500, -900*((s + 2 + 1j)*(s + 2 - 1j)/s**2), [-8, 2], [-4, 4])" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "{'x0': array([200. , 0.273, 0.273, 0. , 0. , 0. ]), 'u0': array([ 0.233, -17.501, 0.25 , 0. ]), 's': array([ 0.233, -17.501, 0.273])}\n", + "1 states have been removed from the model\n", + "u_norm max 990.9811402666699\n" + ] + }, + { + "data": { + "image/png": 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\n", 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ZAoDW15NybDvvbO9GZU0dKYnxEZbSMIzOSrA9ikmqegkwAadXMFVV/wh8HUeB+ERE0kQko+EcuBxnttQLbn7cz+eDlDHqWfLxfvaXVPKNz+Q3xq1bt47CNa9RWVPPG9arMAwjggSrKCoBVLUS2KWqdW5YgZoW8vYA3haRj4EPgH+r6lJgDnCZiGzFGQifE6SMUU1lTR2/W7aVM3pmNC60A+jduzfd64/SOyuFpz9odhjIMAwjLAQ76ylPRL4LiNc5btjvPqyqWgCc3Uz8EeDSIOXqMDzy+lZ2H63g77degIg0xuflOUrji+P689tlW9h26DhD8jIiJaZhGJ2YYHsU84AMnLGJhvOG8BNBlh3zvPpJIX9Yvp1p4/pxsTvbqYHa2lpqa2v56kUDSEuK57evbY2QlIZhdHaC6lGo6s9DJUhn451tRXx74UeM7pvFz6acedr1DRscP0/d0pK45TMDefSNbdy+t4Sz+maFW1TDMDo5wc56etTfdVX9djDlxyKqysJVe7jvhU8YlJvGUzPGNTujqW/fk+47bp0wiKdX7eGHi9fxr1njSYw3F12GYYSPYJ84a9wjBTgP2Ooe5+D4bzK82Fd8gjv+9iGzF6/ngoHdePq2C8lNb365SW5uLrm5jjkqMyWRB64dxSf7S/m/180EZRhGeAnW9PQXABGZgTNVtsYN/xF4NWjpYoQ9Ryv48zs7+fsHuwD4/hXDuX3iYOLjxGeemppTJ41dOaonU8/ry6NvbOOsvtlcNrJHu8psGIbRQEi8x+J4jc0AjrrhdDeu07L3WAX/2VLEi+v2817BEeJEmHJ2b753xXD6ZHdpMf8nn3xyWtyDXxzF1kPH+e9Fa1lw6wWc0y+7PUQ3DMM4hVApijnARyLyphueCPwsRGW3G8cra1i98xjZqYl0TU2ia1oSmSkJp0xT9YeqUnKihkPHqyg4XM72w2VsPXicVTuPsa/4BACDctO487NDuen8fvTKallBNNCvX7/T4lIS43n8q2O54U/v8tUn3+fvt15og9uGYbQ7IVEUqvpnEXkZuMCN+qGqFoai7PZk26Eybp6/6pS4+Dghu0siXZLiSUqIIyk+juSEOOLjhJo6paaunuraeiqq6zhSXkVN3aneQ3pmpnBu/2xuu2QgFw7OYXiPjIAVjzc5OTnNxvfMSuHpmRdy45/e5cvz3uP3XzmPCcP8LlkxDMMIimBnPeWr6k4AVzE83+S6AH1UdW8w92kvhvXIYPEdF1NcUc2x8hqOVVS7Rw2V1XVUuUqhuraeunolMV4c5ZEQT5fEOHLSk8lNTyY3PYn8nDQGdU8jIyUxJLJVV1f7vNYnuwuLvnkRt8xfxc3zV/Hjq0dw8/j8NikkwzCMlhDH20YbM4v8A2fm1PM4s58O48yAGgJMwllhfZ+qvha8qL4ZO3asrl69uj1vEXays53xh+LiYp9pyqpquWvhRyzbdIhJw7vz0JfO9jmLyjAMoykissZr0zjf6YJRFO6NRuJ4iR2Ps8NdBbAJeAl41vUD1a7EoqIYPdrxqbhu3Tq/6VSVv767iwdf2kRaUjw/uPIMbhzbjzg/M6oMwzAgcEUR9BiFqm4EfhxsOcapdOvWLaB0IsLXL87n4sE5/PhfG5i9eD0LP9jNPVee0bhbnmEYRjDYEt8opaqqiqqqqoDTD+2RwaKZF/K7G8/hYGkVX37ifW7407u8tfUwwfYaDcPo3ARteooGYtH0FMgYhS8qa+p4ZvUe5r65ncLSSgZ3T+MrFwxg6nl9yUoNzWC7YRgdn7CNUUQDsagozj7b8cD+8ccft7mMypo6Xlx3gL+9v4uPdheTlBDHxGHd+dxZvbh0RF7IZmgZhtExCdsYhXszwRnQHqSq94tIf6Cnqn4QivI7I127dg26jJTEeK4f05frx/Rlw74SnvtwLy+vL+S1jQdJio9j3MCuXDw4l4sH53BWnywSzNmgYRjNEKqV2XOBeuCzwP3AceA5YFyIyu90VFaGdrLYqD5ZjOqTxU8/N5KP9hxj6YZC3t52hIde2QxAWlI8Z/bO4sw+mZzVJ4uRvTPJz0mzvboNwwiZorhAVc8TkY8AVPWYiCSFqOxOyaefftou5cbFCWMGdGPMAGdW1ZGyKt4rOMoHO46wfl8JT3+wmz/X1AMg4izuG5ibxqDcNAbmpjEgN438nDT6ZHchKcF6IIbRGQiVoqgRkXhAAUSkO04Pw2gj+fn5YblPTnoynxvdi8+N7gVAbV09BUXlbDpQSsHhcnYUOcdzH+6jrKq2MV+cQJ+uXcjPSWNATqr7mUZ+Tir9uqVaT8QwYohQKYpHgX/i7Jv9IHA98JMQld0paZj1FG4S4uMY1iODYT1O3Z9bVTlcVsXuIxXsOlLBriPl7HQ/X1i7n9LK2lPSD8xNY3TfLEb3zWZ03yxG9c6iS5IpD8PoiITKKeDfRGQNjssOAb6gqptCUXZnpaKiItIinIKIkJeRQl5GCmPzT18MWFxR3ag4dhSVs3F/Ke8XHOX5tfsBSIwXzu3flYsH5zB+SC5n980205VhdBCC9fXkd/mwqh71dz1UxOL02GDWUUQTB0srWbe3hNU7j7Jy+xE27C9BFbokxjN+SA6XjujBZ8/Io0dmSqRFNYxOR7imx67BGZcQoD9wzD3PBnYDA4Msv9MyaNCgSIsQEnpkpnDZyJTGHfmKK6p5r+Ao72wr4o1PD7Fs0yEAzuqTxWfPyOPSEXmM6p1lvqoMI4oIdivUgdC49ekLqvqSG74KmBy8eJ2XzMzMSIvQLmSnJnHlqJ5cOaon96uy5WAZr396kNc3HeLRN7byyOtbyctI5tIReUwe0YPxQ3JtYNwwIkyoBrPHqertDQFVfVlEHghR2Z2S8vLySIvQ7ogIw3tmMLxnBnd4hnCkrIrlmw/z+qcHeWHtfp7+YA8piXF8Zkh3Jo/I47Mj8sjLMBOVYYSbUCmKIhH5CbAAxxQ1HTgSorI7JVu3bo20CGEnJz2ZqWP6MnVMX6pq63i/4CivbzrIsk2HWLbpIABn98vmshF5XDqiB2f0bNvugYZhtI6Q+HpyB7XvAya4Uf8Bfm6D2W1nzJgxAKxZsybCkkQeVeXTwuMs23iQZZ8e4uM9zgB/n+wuTB6Rx+SRPbhgYI7NojKMVhJWX0+uQvhOKMoyHDIyMlpO1EkQEUb0ymREr0y+delQDpVWNg6EL1q9h7+8u4v05AQmDMtl8ogeTBjW3Xb6M4wQEiqngG/irsr2RlU/G4ryOyNlZWWRFiFqyctMYdr5/Zl2fn9OVNexcnsRyzY5A+IvrS8E4MzemVwytDsThuYyJr8ryQk2IG4YbSVUpqcxXsEUYCpQq6o/CLrwAIhF01OsrKMIJ/X1yob9Jby1tYj/bDnMml3HqK1XuiTGc+Ggbo7iGJbL4O7pNrZhGITf9NTUkP6OiKwIRdmdlSFDhkRahA5HXJy4LkOymTVpCGVVtby3/QhvbT3MW1uLeHPzRgB6Z6VwydDuXDwkh4sG5ZBni/0Mwy+hMj15r9COA8YAPUNRdmclPT090iJ0eNKTE5g8sgeT3cV+e45W8PY2p7fx8oYDLFq9B4DB3dO4aHAOFw3K5cJB3cix8Q3DOIVQTY/1XqFdC+wAbglR2Z2S48ePR1qEmKNft1RuOr8/N53fn7p6ZeP+UlZuL+LdgiP888N9LHhvNwBn9MzgwkE5XDQ4hwsH5tj2sUanJ1RjFCmqWtkkLllVq4IuPABsjMIIlpq6etbvK+Hd7Ud4d/sRVu86SmVNPSLOwPhFruIYM6AbWV1McRixQVj3zBaRD1X1vJbi2otYVBTjxjmbA65atSrCknROqmrr+HhPidPj2H6Ej3YXU13nKI4zemZywcBunD+wG+Pyu9E9w0xVRsckLIPZItIT6AN0EZFzcUxPAJlAapBlXwk8AsQDT6jqnGDK62ikpaVFWoROTXJCPOe7yuCuyVBZU8dHu4v5YMdRPth5hEWr9jB/5U4ABuWmMS6/W2P6vl272KwqI6YIdoziCmAG0Bf4X6/448CP2lqou1ve74HLgL3AKhF5QVU3tl3UjkVpaWmkRTC8SEmMdwa8B+cAQ6mpq2fDvhI+2HGUVTuPnjI43isrpVFpnJ/fjSF5Nh3X6NiEyvQ0VVWfC4E8DeVdBPxMVa9ww7MBVPVXzaWPRdOTjVF0LOrrlc0Hj7Nq51He33GUD3Yc5fBxZ4iuW1oS4/K7Mi6/GxcMzGFErwwS4s3diBF5AjU9BdVaRWS6e5ovIt9tegRRdB9gj1d4rxvXLJs3b2b+/PkA1NTU4PF4WLBgAeDsFOfxeFi0aBEAJSUleDweFi9eDEBRUREej4clS5YAUFhYiMfjYenSpQDs2bMHj8fDsmXLACgoKMDj8bBixYrGe3s8HlauXAnAhg0b8Hg8jWMLa9euxePxsHbtWsAZc/B4PGzYsAGAlStX4vF42Lx5MwArVqzA4/EwYMAAhg0bxrJly/B4POzZ41TH0qVL8Xg8FBY6K5CXLFmCx+OhqKgIgMWLF+PxeCgpKQFg0aJFeDyexh3zFixYgMfjoaamBoD58+fj8Xga63LevHlMnnzSQ/zcuXO56qqrGsOPPPIIU6ZMaQw//PDDTJ06tTE8Z84cpk2b1hh+4IEHmD59emP43nvv5eabb24Mz549m5kzZzaG7777bmbNmtUYvuuuu7jrrrsaw7NmzeLuu+9uDM+cOZPZs2c3hm+++WbuvffexvD06dN54IGTjoynTZvGnDknrZhTp07l4YcfbgxPmTKFRx55pDF81VVXMXfu3Mbw5MmTmTdvXmPY4/Ewf/584uKEIbldeGr2DC6q38gHP7qUl2ZdQM72lxmYXM6mA8f5xb83cc1jb3PmT1/iq0++z69eWMsFU77Gs/+KrrZXUFAAYG2vg7Q9aPtzL1CCNT01GNJDPem/uX76KV0fEZkJzARITo69wcTzzjuPrKysSIthtBERIT8nlYzDG7hhwCXceOMktuw5xPgvfp3EIedxOO8KHt9ahI68kR+8p/x179uMyE2mvNswSqqC7+UbRigJiekp1Jjpica3xokTJ0ZYEiOUNLwBzpgxg5ITNXy0+xirdx5j1c6jrN1TTFVtPQD9u6Uy1jVXjcvvyqDcdNv1zwg54Z4e2x24DcjHq5eiqt9oY3kJwBbgUmAfsAr4sqp+0lz6WFQUDd3C5cuXR1QOI3xU19bzyf4SVu88xupdR1m98xhHyqsByE5NZOyArowZ4CiOs/pmmaNDI2jC6usJeB54C1gG1AVbmKrWisidwCs402Of8qUkYpWnnnoq0iIY7UCDfT4x8fRFe0kJcZzbvyvn9u/KbQxCVdlRVM7qXcdYvdNRHA17jCclxDG6TxZj3R7HmAFdyU5NCut3MToPoepRrFXVc0IgT5uIxR6FEZsE21MsKqtiTYPi2HWMDftKqKlz/sND89IbFcfYAd3o183Wcxj+CXeP4kURuVpVXwpReZ2ehpku3rNAjI7PrbfeGlT+3PRkrjizJ1ec6fjcPFFdx8d7i1mzyxnneHHdfp7+wPFZlZeRzLj8bowZ4Ix12LRco62EqkdxHGcGVBVQgzNrSVU1M+jCAyAWexQ2RmG0hfp6Zcuh46zaeYw1O4+yaucx9hWfACA1KZ5z+2czdoDjeuSc/tmkJ4fqXdHoiIR1MDvSxKKiaJi73q9fvwhLYoSShjUFqalBebhpFQdKTjgD5K7i+LSwlHqFOIERvTKdQfL8bowd0JXe2V3CJpcRecI966k5538lwC5VrQ36Bi0Qi4rCiE2ioad4vLKGj3YXN45zrN1TTEW1Mweld1ZKo9IYm9+VM3pmEm/TcmOWcI9RzAXOA9a74bOAj4EcEbldVV8N0X06DQ2rc6+88soIS2KEkv/6r/+KtAhkpCQyYVh3JgzrDkBtXT2bDhx3puTuOsaqHUdZ8vF+wNn86dz+2YwZ4AyQm7mqcxKqHsVC4IGGKawiMhL4PvAAsLi9Z0TFYo8iGt48jc6JqrKv+ETjAPnqncfYfPA4auaqmCPcpqfTpsc2xIVj6mwsKooGfzo9e9qOsrFEgx+kjuaepdQ1V61pwVw1ZkBXRvQyc1VHIdymp80i8gdgoRu+EdgiIsk4s6CMViYbJWsAACAASURBVGIKIja59tprgY7XU8xMSWTisO5MDMBclZYUz7n9nTEOM1fFBqHqUXQB7gA+gzM19m2ccYtKIFVVy4K+iR9isUfR4M32mmuuibAkRihp8N553XXXRViS0OJtrnJckDizq8xcFd3Y9NgOjo1RGB0dM1dFP+EeoxgK/AoYCaQ0xKvqoKALD4BYVBQNPv5zc3MjLIkRSjrz79rUXLVm5zEKSyuBk+aqMe603HP7dzVzVRgIt6J4G7gP+C1wDXCzW/Z9QRceALGoKIzYxHqKJzFzVeQJt6JYo6pjRGS9qp7lxr2lqpcEXXgAxKKiiFVbdmfHxp78Y+aq8BJuRfEOcAnwLPAGzh4Sc1R1eNCFB0AsKgp78zQMM1e1N+FWFOOATUA2ziK7LODXqvpe0IUHQCwqio46397wj62PCY6WzFVn9Mx0puWauSogbNaTYUQh1lMMPa0xV53R01ytexOWBXci8oK/66o6JZjyOzOLFi0C4MYbb4ywJEYo+eEPfxhpEWKOtiwGNHNV6wiqRyEih4E9wNPA+ziL7RpR1RVBSRcgsdijsDdPwwgNgZqrHOXRjT6dyFwVFtOTiMQDlwE3AaOBfwNPh3t/61hUFJHYt8Bof2yfkeig0dW6u62st7mqV1ZK4xhHrJurwj5G4fp1ugl4CLhfVf8vJAUHQCwqCiM2sZ5idNJZZ1eFTVG4CuJzOEoiH3gBeEpV9wVVcCuIRUWxYMECAKZPnx5hSYxQYnuhdww6i7kqXKanvwCjgJeBhaq6oc2FBUEsKgp78zSM6MLbXLVm11E+2n2qucrZ3MlRHB3FXBUuRVEPlLtB74IEUFXNbHPhrSAWFUVNjeOdPTExMcKSGKGkoKAAgEGDwuIGzWhHYsFcZesoDCMKsZ5i7NIRzVWmKDo48+fPB2DGjBkRlcMILStWODPGJ06cGGFJjHAQ7eYqUxQdHHvzNIzYoyVz1Tn9sxkzwJmae27/bDJS2tf0bIrCMKKQzZs3AzB8eFj8ZRpRTqTNVaYoDCMKsZ6i0RLhNFeFxdeT0X7MmzcPgNtuuy3Ckhih5Je//GWkRTCinIyURCYM684EL99VnxYeZ5Xr9HD1zmO8uO4A4JirbhzXn3uvGdmuMlmPIkppWJDVsEDLMAwDTjdXDe6exozxA9tUlpmeDCMK2bDBWZM6atSoCEtiGGZ6Moyo5M477wRsjMLoWJiiiFLmzp0LwB133BFhSYxQ8tBDD0VaBMNoNTFhenL3xdjlFZUFlLQinAsUtYNoTe8TynwtpfF1vbn4aKmv5u4VqjxWX63P4y+d1Vfr0gVTX03jQllfA1S1e4upVDXmDuDxVoZXh0OOUOZrKY2v683FR0t9tbXOrL7aJ4+/dFZf4auvpnHhrK+GI/rdG7aNJa0Mh0uOUOZrKY2v683FR0t9tfVeVl/tk8dfOquv1qULpr6axoWzvoAYMT0Fi4is1gBG/g0Hq6/WYfXVOqy+Wkc46itWexSt5fFIC9DBsPpqHVZfrcPqq3W0e31Zj8IwDMPwi/UoDMMwDL+YojAMwzD8YorCMAzD8IspCsMwDMMvpij8ICJfEJF5IvK8iFweaXmiHREZJCJPisizkZYlWhGRNBH5i9uuvhJpeToC1q5aR3s8t2JWUYjIUyJySEQ2NIm/UkQ2i8g2EfmhvzJU9V+qehswA7ixHcWNOCGqrwJVvaV9JY0+Wll31wHPuu1qStiFjRJaU2edtV1508r6CvlzK2YVBTAfuNI7QkTigd8DVwEjgZtEZKSInCUiLzY58ryy/sTNF8vMJ3T11dmYT4B1B/QF9rjJ6sIoY7Qxn8DrzGhbfYXsuRWz3mNV9T8ikt8k+nxgm6oWAIjIQuBaVf0V8PmmZYiIAHOAl1X1w/aVOLKEor46K62pO2AvjrJYS2y/qPmllXW2MbzSRR+tqS8R2USIn1udraH24eTbHDh/2j5+0n8LmAxcLyK3t6dgUUqr6ktEckTkj8C5IjK7vYWLcnzV3WJgqoj8gQj47Ilymq0za1c+8dXGQv7citkehQ+kmTifS9NV9VHg0fYTJ+ppbX0dATqjQm2OZutOVcuBm8MtTAfBV51Zu2oeX/UV8udWZ+tR7AX6eYX7AvsjJEtHwOqr7VjdtR6rs9YRtvrqbIpiFTBURAaKSBIwDXghwjJFM1ZfbcfqrvVYnbWOsNVXzCoKEXkaeBcYLiJ7ReQWVa0F7gReATYBz6jqJ5GUM1qw+mo7Vnetx+qsdUS6vsx7rGEYhuGXDj2YLSLXANdkZGTcNmzYsDaXU15eTlpaWugEi3GsvlqHd31t2bIFgGDaa6xj7at1BFNfa9asKdIA9sxu9x6FiPQD/gr0BOpx9nt9REQWAcPdZNlAsaqe4+aZDdyCsyDp26r6ir97jB07VlevXt1mGZcvX47H42lz/s6G1Vfr8K6vefPmAXDbbbdFUKLoxtpX6wimvkRkTSC744WjR1ELfE9VPxSRDGCNiLymqo1Ly0XkN0CJez4SZ1DmTKA3sExEhqlqZ17FasQIpiCMjki7KwpVPQAccM+Pu6sG++CutnRXP98AfNbNci2wUFWrgB0isg1nBeK77S2rYRixQYOlRNVZ+KOq7qd7HT15rk7YX/pTC28u6tTI5vI1jWrOmnN6mpbvVV7T/uPMYR2jcJegnwu87xV9CXBQVbe64T7Ae17XW1o9bbQztXX17D5awY6icvYcreDjbdW8VbYRVUhMELokxpOXkUJeRjL9uqUyMDeNpISYnVAXFA0mguXLl592TVWprqunqraeqpp657ymjqraeqpr670+nbjaeqW2ruFTqa2vP/nZGOekqatXauqUuvp6aprkq6t38tQr1Ncr9arOubrn9V7nDfH13mm887WQ1013ykPbDeM+pGtra4l/Y2ljmoaHeuPjsElco1LAx4M9xjm/Zzyfu6x97xE2RSEi6cBzwF2qWup16Sbgae+kzWQ/7ecXkZnATIAePXo0+8cLlLKysqDyxxqqSkFJPeuL6thyrI7txfVUNTH8Je/YQZxAbT3U1J96LV6gZ5rQJz2Ofhlx9M+Mo39GHNnJgtOB7LioKtX1UFGjVNQ6n1V1SlUdVNY6n86hjZ9llTU89tFSquqgzvNtquuFC+9/iZp6qKlX99Opy/YgXpwjTiA+riEsxAkkxLnxAuLGxQEizh9R3HyC8+mci3NdINE7jUBc3Mm0IuJ17lWunPyTN37KyXBNjZKUJF7X407J0xDvnafhRHyU2Wy4aZ7G6yfv7au5Nhd9WlwziQJp/U3v2VKeDKlq9+dXWBSFiCTiKIm/qepir/gEHLfLY7ySB7TaUFUfBx4HZzA7mMEvGzxz2Li/lH+s2cPSDYUcKKlEBM7omcm087tyVt9sBnVPo3+3VD7+YCWXfnZSY76aunqOlFVTWFrJriPlbC48zpaDx/m08DgfFJ5oTNctLYmRvTIZ2TuTEb0yGNkri0Hd00iMD1/vQ1WpqK6jtLKG0hO17mdNY/h4ZQ2llbWnxDWkOV7pnNfUBfbampwQR2pSPHH1cXTL7EJqSjyHt+9A6qu5dOIlJCfEk5wYR3JCHEkJcU44Ic7riHfj40hOjCMpPt79dNInxseRECckxAsJcXHup5DQEB8nxMd1POVs/8fWEY76andF4Y5BPAlsUtX/bXJ5MvCpqu71insB+LuI/C/OYPZQ4IP2lrOzUllTx4vrDvC393fx0e5ikhLimDC0O3dfPpxLR+SRnZp0Wp74uFMfPInxcfTMSqFnVgrn9Ms+5VppZQ2fHjjOxv0lbDxQyqYDx5m/cifV7utzUkIcA3PS6JWdQq+sFHpkppCbnkx6cgJpyQmkJyeQlBDn9Ybr3Lu6tp4TNXVUnnLUn/agLznRVCHUUlfv/0GfkhhHZkoimV0SyUxJoFtaEgNy0shMSXDjEsnskkBmSiIZKY6cqUnxpCY1fMbTJTGeBFcBOn/kiQB4PD8B4LE/faf1P5ZhRIhw9CjGA18F1ovIWjfuR6r6Es7sJm+zE6r6iYg8gzPYXQvMshlPoed4ZQ0L3tvNk28XUFRWzaDuafz08yOZel6fZpVDW8lMSeT8gd04f2C3xriaunoKDpez8UAJmw4cp+BwGYWllWzYV0JRWXXQ9+ySGN/4IM/skkhuehKDuqc1PuCzuiSSkXLqA79BKWSkJNr4imE0IRyznt7Gh5lNVWf4iH8QeLClshsW3A0ZMiQYETsVpZU1PPnWDv78zg5KK2u5ZGgu/+UZzEWDcsJmokiMj2N4zwyG98zgi+eeeq26tp7iimrKqmobj+raeq/BTqc3kBQfT5ckxzzTJSmelETnLb6hB2IYRujo0CuzVXUJsGTs2LE2Ob0FqmrrWPDebh57YyvHKmq4fGQPZk0awtlNTEWRJikhjrzMFDrzdnmGEW10aEVhtEx9vbJk3X4efnUze46e4DNDcvnhVWcwqk9WpEUzDKODYIoihtmwr4SfPr+Bj3YXM7JXJn/9xllMGNaiWxfDMIxT6NCKwsYomqe4opqHX93M397fTU5aMg9/6WyuO7cPcXEda5qkYRjRQTimx/pyCvgQcA1QDWwHblbVYnf19iZgs1vEe6ra7DaINkZxKvX1yrNr9jJn6acUV1Qz4+J8/vuyYWSmJEZaNMMwOjARcwoIvAbMVtVaEfkfYDZwj5tne4MnWSMwth06zj3PrWfNrmOMy+/K/ddewIhemZEWyzCMGCBiTgFV9VWvZO8B17e3LLFITV09f1qxnUdf30ZqcjwPf+lspp7Xp8OtxjUMI3qJBqeAAN8AFnmFB4rIR0Ap8BNVfSssAnYw1u8t4fvPfsynhcf53Ohe/HzKmeSmJ0daLMMwYoywbYXqOgVcATzYxN/Tj4GxwHWqqiKSDKSr6hERGQP8CziziSPBpk4BxyxcuLDNspWVlZGent7m/OGmrl55YXsNSwpqyEwSvjoyiTE9wqfzO1p9RRrv+rId7lrG2lfrCKa+Jk2aFNDGRY6L33Y+cJxMvgJ8t0n813H2mUj1k3c5MNZf+WPGjNFgePPNN4PKH052HynX6+a+owPueVHvWviRFldUh12GjlRf0YB3fU2cOFEnTpwYMVk6Ata+Wkcw9QWs1gCe4RFzCigiV+IMXk9U1Qqv+O7AUVWtE5FBOE4BC9pbzo7Aq58U8r1nPgbgkWnncO05tk2HYRjtT8ScAgKPAsnAa+7Aa8M02AnA/SJSi7Nn9u2qejQMckYtqsofVmznoVc2c1afLH7/5fPo1y010mIZhtFJ8KsoRKQvjofXS3Bcfp8ANgD/Bl5W1Ra3WlHfTgFf8pH+OZy9K1qkMyy4U1X+Z+lm/rhiO9ec3ZuHrh9NSmJ8pMUyDKMT4dPNpoj8GXgKZ0Hc/+DsRHcHsAy4EnhbRCaEQ0hfqOoSVZ2ZlRW7fov+/M5O/rhiO9Mv7M+j084xJWEYRtjx16P4japuaCZ+A7BYRJKA/u0jlgHOjnO/enkTl4/swf1TRtnaCMMwIoJPReFDSXhfrwa2hVwio5FfvbyJ9OQEHrr+bPPTZBhGxGhxMFtE1gNNF1uUAKuBX6jqkfYQLBBieYxi95EK3tpaxPevGE5WqvlqMgwjcgSyFdjLOIPXX3GPJcB/gEJgfkuZReQpETkkIhu84s4RkfdEZK2IrBaR872uzRaRbSKyWUSu8Fd2LI9RvLh+PwBfONemwBqGEVkCmR47XlXHe4XXi8g7qjpeRKYHkH8+8BiOB9kGfg38XFVfFpGr3bBHREbizLI6E2eW1TIRGaadcM/sj/cUMyg3jT7ZXSItimEYnZxAehTpInJBQ8B9+29YL17bUmZV/Q/QdB2EAg2uTbOA/e75tcBCVa1S1R04YyDn0wnZeKCUEb3N+6thGJEnEEVxK/CEiOwQkR3AE8BtIpIG/KqN970LeEhE9gAP47gYB+gD7PFKt9eN88vmzZuZP38+ADU1NXg8HhYsWABARUUFHo+HRYscn4MlJSV4PB4WL3bcTRUVFbFlyxaWLFkCQGFhIR6Ph6VLlwKwZ88ePB4Py5YtA6CgoACPx8OKFSsa7+3xeFi5ciUAGzZswOPxsGrVKgDWrl2Lx+Nh7VpnreGqVavweDxs2OBY4lauXInH42HzZmf7jRUrVjDh0svZc/QEZ/bOZNmyZXg8Hvbscapl6dKleDweCgsLAViyZAkej4eioiIAFi9ejMfjoaSkBIBFixbh8XioqHAWvy9YsACPx0NNTQ0A8+fPx+PxNNblvHnzmDx5cmN47ty5XHXVVY3hRx55hG3bTs5hePjhh5k6dWpjeM6cOUybNq0x/MADDzB9+smO57333svNN9/cGJ49ezYzZ85sDN99993MmjWrMXzXXXdx1113NYZnzZrF3Xff3RieOXMms2fPbgzffPPN3HvvvY3h6dOn88ADDzSGp02bxpw5cxrDU6dO5eGHH24MT5kyhUceeaQxfNVVVzF37tzG8OTJk5k3b15j2OPxtNj2jh07Bjhtb+3atY2/VVFRER6PJ6ransfjoaDAcYQQjW1vypQpjWFrey23PX/PPe+6b4mAnQKKSJabvjjg0k/mzQdeVNVRbvhRYIWqPiciNwAzVXWyiPweeFdVF7jpngRechfhNS2z0Slg165dx8ybN4+cnBxUla1bt5Kbm0u3bt2or69n27ZtdO/ena5du1JXV8f27dvJy8sjOzub2tpaiouLSUxMJCsri9raWgoKCujZsyeZmZnU1NSwY8cOevXqRUZGBtXV1ezcuZPevXuTnp5OVVUVu3btok+fPqSlpVFZWcnu3bvp27cvqampnDhxgj179tCvXz+6dOlCRUUFe/fupX///qSkpFBeXs6+ffsYMGAAycnJlJWV8dGOQzy5rwe3nKGck6McOHCAgQMHkpiYSGlpKYWFhQwaNIiEhARKSko4ePBgY7i4uJhDhw4xePBg4uPjOXbsGIcPH2bIkCHExcVx9OhRioqKGDp0KCLCkSNHOHLkSKOTuqKiIo4ePdoYPnz4MMXFxQwdOhSAQ4cOERcXR25uLgAHDx6krKyMwYMHA87DrqKigkGDBgFw4MABKisrGThwIAD79++nurqa/Px8APbt20dtbS0DBgwAYO/evdTX19O/vzPzuuEh1a9fPwB2795NXFwcffv2BWDXrl0kJCTQp4/zPrFz506SkpLo3bs3ADt27CAlJYVevXoBzsM2NTWVnj17ArB9+3bS09Pp0aMHANu2bSMzM5O8vDwAtm7dSnZ2Nt27O1vIbtmyhW7dujV+/y1btpCTk+O37TW0tbq6Oj755BNSU1MZMmRIY1vr0aNH1LS9/fv3k5+fT1JSEsePH49I22v4fs21vdLSUhomr1jbc9pecnIyaWlprX7uFRQU8M1vfjM0TgGBHji+ml52wyOBWwJxJOVVRj6wwStcwkklJUCpez4bZzOjhnSvABe1VH6sOQV889ODOuCeF3XVjiORFqVZoq2+oh2rr9Zh9dU6wuEUMBDT03z3gd3bDW/BMR0Fw35gonv+WWCre/4CME1EkkVkII5DwA+CvFeH4/DxKgDKiva3kNIwDKP9CURR5KrqMzj7XaOqDc76AkJEnsZxJT5cRPaKyC3AbcBvRORj4Je4JiRV/QR4BtgILAVmaSec8XSsohqAe+/5boQlMQzDCGx6bLmI5OAuuhORC3FMRwGhqjf5uDTGR/oHgQcDKTtWF9yVVTm68Zf33xdhSQzDMALrUXwXxyQ0WETewVkP8a12lSpANEYX3JVX1ZKWFM9nxo9vObFhGEY702KPQlU/FJGJwHCcgefNqlrT7pJ1YsqrakmOd6Y7jho1KtLiGIbRyfGpKETkOh+XhokI6rXvtRFajlfVUnr0EHfeOYfly5dHWhzDMDo5/noU17ifecDFwBtueBLOPtamKNqJ8qpaBvTuwZzpD0VaFMMwDN9jFKp6s6rejDOIPVJVp6rqVBw/TAHjwyngAyKyznUK+KqI9Hbj80XkhBu/VkT+2ELZ14jI4w0rQWOFE9V15GRnMm7cuEiLYhiGEdBgdr6qHvAKHwSGteIe83F2xPPmIVUdrarnAC8C93pd266q57jH7f4KjtXB7KraempOlDe6XjAMw4gkgSiK5SLyiojMEJGv47gcfzPQG2gzTgFVtdQrmMbp+110aqpr6/l044ZT/MwYhmFEikBmPd0pIl8EGvbHflxV/xnsjUXkQeBrOGsyJnldGigiHwGlwE9U9a1g79XRqKqt47yzR/P9OzyRFsUwDMO3U0AREfV1sRVp3HT5eDkFbHJtNpCiqveJSDKQrqpHRGQM8C/gzCY9kIZ8jU4Be/ToMWbhwoUtieGTsrIy0tPTW04YJu5eUcHwrvHcNjo50qI0S7TVV7Rj9dU6rL5aRzD1NWnSpICcAvrrUbwpIs8Bz6vq7oZIEUkCPgN8HccENb9NEp7k7zjmrPtUtQqoAlDVNSKyHWc8ZHXTTKr6OPA4wNixY7U1LnObsnz58la53G1v5J1ldEkW0tLSonJAO9rqK9qx+modVl+tIxz15W+M4kocn05Pi8h+Edno7kexFbgJ+K2qzm/LTUVkqFdwCvCpG99dROLd80E4TgEL2nKPjkx1bT3vr3yH73//+5EWxTAMw3ePQlUrgbnAXBFJBHKBE9rK/Shcp4AeIFdE9gL3AVeLyHAcR4O7gIbZTROA+0WkwfHg7aradHe8mKeqto6rL53EN87ztebRMAwjfATiFBDXZceBFhM2n7c5p4BP+kj7HHDaJkW+iEWngKpKVW09fXvmMWrU8EiLYxiGEdD02KglFtdR1NQpqlC4f2/jFpeGYRiRpEMrilikuq4egNeWvsyPfvSjCEtjGIYRoOlJRAYAQ1V1mYh0ARJU9Xj7itY5qapx9qL48rQvMWXEbRGWxjAMI4AehYjcBjwL/MmN6ouzvsFoB6pqnR5F/z69GD7cxigMw4g8gZieZgHjcVZKo6pbcTzKBo2IfEdENojIJyJylxvXTUReE5Gt7mdXP/ljzilgg6Io2LqFFStWRFgawzCMwBRFlapWNwREJIEQ+GYSkVE4e2efD5wNfN5dX/FD4HVVHQq87oabJRYHs6tdRbH42We47z7bCtUwjMgTyBjFChH5EdBFRC4D7gCWhODeI4D3VLUCQERWAF8ErsVZdwHwF5y9L+4Jwf06BFW1zhjFXd+axUUDMiIsjWEYRmA9ih8Ch4H1wDeBl4CfhODeG4AJIpIjIqnA1UA/oEeDW3P3MyRmro5Cg+lpQN8+DBo0KMLSGIZh+HEK2GxikW5AX1VdF5Kbi9yCMwZSBmwETgA3q2q2V5pjqnraOEWsOgX8pKiOh1ZXctdZ9QzOhIyM6OtVRFN9dQSsvlqH1VfrCIdTwBYVhYgsx/HHlACsxeldrFDV77ZJMt/3+SWwF/gO4FHVAyLSC1iuqn6n/4wdO1ZXrz7Nb2DARJMTsjc+Pcg35q+m1/q/klx+MCr3zI6m+uoIWH21Dquv1hFMfYlI0N5jG8hS1VIRuRX4s+sOPFQ9ijxVPSQi/YHrgIuAgTieaee4n8+H4l4dhaoax/T0qwcfYHBOlwhLYxiGEZiiSHDf7G8Afhzi+z8nIjlADTBLVY+JyBzgGdcstRv4UojvGdWccBfcDezXh345aRGWxjAMIzBFcT/wCvC2qq5y3X9vDcXNVfWSZuKOAJcGkj8WnQKWVdUC8P47/2FTknDllU23GzcMwwgvgWyF+g/gH17hAmBqewoVKKq6BFgyduzYmPF10aAoHvvtw8RpnSkKwzAiTouKQkRSgFuAM4GUhnhV/UY7ytVpKausJSFOWPT3BYhIpMUxDMMIaB3F/wN6AlcAK3B8PZlDwHaivKqW9JQEevXqRc+ePSMtjmEYRkCKYoiq/hQoV9W/AJ8DzmpfsTovx6tqSUtKYMmSJSxZEooF8IZhGMERyGB2jftZ7PpnKgTy202iVhCLg9lHy6vpmpbIb37zGwCuueaaCEtkGEZnJ5AexeOuB9efAi/grKD+dagEEJF4EflIRF50wz8TkX0istY9rvaVNxadAh4qrSIvI4Vnn32WZ599NtLiGIZhBDTr6Qn3dAXQHs6HvgNsAjK94n6rqg+3w72inkPHqxjdN4vc3NxIi2IYhgEENuspGWc6bL53elW9P9ibi0hfnDGPB4GQugTpiFRU11JUVkWf7C4sXrwYgOuuuy7CUhmG0dkJZIzieaAEWANUhfj+vwN+ADT1fHeniHwNWA18T1WPNc3YxClgUD6RysrKosKn0s4SZ1V25eFdFJUWAUSFXE2JlvrqKFh9tQ6rr9YRlvpSVb8HsKGlNG05gM8Dc91zD/Cie94DiMcZP3kQeKqlssaMGaPB8OabbwaVP1T89d2dOuCeF3VnUZkWFxdrcXFxpEVqlmipr46C1VfrsPpqHcHUF7BaA3heB9KjWCkiZ6nq+hDrqPHAFHewOgXIFJEFqjq9IYGIzANeDPF9o5Y3Nh2kT3YX+ndLtcV2hmFEDT5nPYnIetdL7GeAD0Vks4is84oPClWdrap9VTUfmAa8oarTXQeEDXwRZ4OjmOdgaSX/2VrElHN6IyIsWrSIRYsWRVoswzAMvz2Kz4dNilP5tYicg7Mv906cXfWaJZbWUTz8ymbiBG4a1x+AP/zhDwDceOONkRTLMAzDr6I4CNwODMHZBvVJVa1tDyFUdTnO3tio6ldbkS8mnAI+v3Yf/1izl9snDqZ/TioAL730UoSlMgzDcPCnKP6Csyr7LeAqYCTOmgcjhCzdUMj3nvmYcfld+d7lwxrjU1NTIyiVYRjGSfwpipGqehaAiDwJfBAekToHqsrc5dt5+NXNnN03mydnjCMx/uSQ0YIFCwCYPn26ryIMwzDCgj9F0eDjCVWttVk4oeNIWRWzF6/n1Y0HmXJ2b+ZMPYvUpFN/iieecBbEm6IwDCPS+FMUZ4tIvX5ivQAACvZJREFUqXsuQBc3LICqaqbvrOGhIw5mv7T+AD/91wZKK2v46edH8o3x+c1OhX3ttdciIJ1hGMbp+FQUqhofTkGaIiJXAo/gLL57QlXnNE3TkQazC0squf/FT3hpfSFn9cni71+6kOE9my5IP0liYmIYpTMMw/BNIAvuwo6IxAO/By4D9gKrROQFVd0YWclaT1VtHU++vYPH3thGbb3y/SuG880Jg0iI9++4d/78+QDMmDGj/YU0DMPwQ1QqCuB8YJs6+3MjIguBa3FcnHcY3vz0EPe/uJEdReVcNrIHP/3cyMbpry1hisIwjGhBHHcf0YWIXA9cqaq3uuGvAheo6p1eabydAo5ZuHBhm+9XVlZGenp6cEJ7sed4Pf/YUs26w3X0TBW+PCKJ0d2jVSe3nlDXV6xj9dU6rL5aRzD1NWnSpDWqOraldNH69GpuitUpGk1VHwceBxg7dqx6PJ4232z58uUEk7+Bvccq+N/XtvDPj/aRkZzAj64+gxkXDyQpIZD9oToOoaqvzoLVV+uw+mod4aivaFUUe4F+XuG+wP4IydIix8qr+f2b2/jru7tAYOaEQdwxcQhZqTYgbRhGxydaFcUqYKiIDAT24TgN/HJkRTqd4opqnnpnJ39+ewfl1bVcP6Yvd00eRu/sLpEWzTAMI2REpaJwF/jdCbyCMz32KVX9JMJiNXKsvJon397B/JU7Kauq5coze/Ldy4cxrIfv6a6GYRgdlahUFACq+hLg1zNeuBfcHS2vZt5bBfx15U4qauq4elQvvnXpEM7oGfG1h4ZhGO1G1CqKQAjXgrudReU8+fYO/rFmD1W19Xx+dG++9dkh1oMwDKNT0KEVRXuzZtdRHv9PAa9uPEhiXBxfOLc3MycMYkieKQjDMDoPpiiaUF1bz6sbC3ny7R18tLuYrC6JzPIM4WsXDyAvIyXS4hmGYYSdDq0oQjlGsfdYBQs/2MPCVXsoKquif7dUfj7lTL40tu9pnl0NwzA6ExF9AorI3cBDQHdVLRKR/P/f3v3HXlXXcRx/vqJEJsgaYMWPgUygdBCML8xWY0wZs5akSWJLG8pcP6ZLt2QlttXWZltuNftBEhb+4RTEVGxroCuCkckXCEwDHCIW05JggSLphHd/nAOezu493++53/uLe1+P7W7nfM75nPO5r53v+dxzzr6fA+wG9qar/Dkivlqt/kCfUZw8FWx68RA/3v5f/rr+DwRw2ZQLuP7S8cyZPIpB7/PQ6mZmLesoJI0jGfTv77lFL0XE9Ga04dn9h7lxVS/nnyO+Pvcirps9jrEf9JvlzMyyWnlF8SNgKfBEqxpw6cQR3HfDTAb9azfzLpvSqmaYmbW1lgwKKGkBcHlEfEPSAaAnc+vpBeBF4BhwV0RsrrKNth0UsNM5r3KcVznOq5xmDArYsI5C0tPAhyssWgbcCcyPiKO5jmIwMDQiDkuaCTwOXBIRxyps54yenp7Ytm1bzW31IGTlOK9ynFc5zqucgeQlqbWjx0bEvErlkqYCFwK70leAjgV2SJodEf8E3k7rb5f0EjAZqL0XMDOzAWn5+yhyVxSjgCMRcVLSRGAzMDUijvSxjUPAK5mi4cDREvMjgX/X/i2qyu+nnvX6Wqfa8krl7ZJXpX3Vq47zKl+naD3nVW69geSVL6tnXuMjYlSfa0VESz/AAWBkOn0NyTOKXcAO4Moat7mi5Py2Bn23FY2q19c61ZZXKm+XvGrNzHk1pk7Res6reXnly5qZ1+lPy/+TLCImZKYfBR6tw2afLDnfKLXupz/1+lqn2vJK5e2SV637cl6NqVO0nvMqt95A8sqXNTMvoA1uPbUDSduiHw90LOG8ynFe5TivcpqRV2e9o7N2K1rdgLOM8yrHeZXjvMppeF6+ojAzs0K+ojAzs0LuKMzMrJA7CjMzK+SOooCkqyT9UtITkua3uj3tTtJESfdLWtvqtrQrSedJeiA9rr7U6vacDXxcldOI81bHdhSSfiXpdUnP58qvkLRX0j5J3yraRkQ8HhE3A4uBRQ1sbsvVKa/9EbGksS1tPyWz+zywNj2uFjS9sW2iTGbdelxllcyr7uetju0ogFXAFdkCSYOAnwGfBi4GvijpYklTJf0297kgU/WutF4nW0X98uo2q+hndiRjm/0jXe1kE9vYblbR/8ystrzqdt5q+X9mN0pEbEqHLc+aDeyLiP0Akh4GPhcRdwOfzW9DyaiFPwB+FxE7Gtvi1qpHXt2qTHbAQZLOYied/UOtUMnM/tbc1rWfMnlJ2k2dz1vddqCO4b1fc5D80Y4pWP9WYB6wUFLVV7J2sFJ5SRoh6RfADEnfbnTj2ly17H4DXCNpOS0YiqHNVczMx1VV1Y6xup+3OvaKoopKL8Gu+h+HEXEvcG/jmtP2yuZ1GOjGDrWSitlFxHHgxmY35ixRLTMfV5VVy6vu561uu6I4CIzLzI8FXm1RW84Gzqt2zq48Z1ZO0/Lqto6iF5gk6UJJ5wDXAeta3KZ25rxq5+zKc2blNC2vju0oJD0EPANMkXRQ0pKIeBe4BVgP7AbWRMQLrWxnu3BetXN25TmzclqdlwcFNDOzQh17RWFmZvXhjsLMzAq5ozAzs0LuKMzMrJA7CjMzK+SOwszMCrmjsI4i6aSknZnPhFa3qZ4kzZC0Mp1eLOmnueUbJfUU1H9Y0qRGt9M6S7eN9WSd70RETK+2UNL7039UOlvdCXx/APWXA0uBm+vTHOsGvqKwjpf+8n5E0pPAhrTsDkm9kp6T9L3MusvSF8E8LekhSd9My8/8Upc0UtKBdHqQpB9mtvWVtHxuWmetpD2SHkyHrUfSLEl/krRL0lZJwyRtljQ9044tkqblvscwYFpE7OrHd16QuaraK+nldNFmYJ4k/0i0fvPBYp1miKSd6fTLEXF1Ov0JkpPsESWvh5xEMp6/gHWS5gDHScbLmUHyt7ED2N7H/pYARyNilqTBwBZJG9JlM4BLSAZq2wJ8UtJWYDWwKCJ6JZ0PnABWkryR7DZJk4HBEfFcbl89wPO5skWSPpWZvwggItaRjvsjaQ3wx7T8lKR9wMf78d3MAHcU1nmq3Xp6KiKOpNPz089f0vmhJB3HMOCxiHgLQFJ/BlibD0yTtDCdH55u6x1ga0QcTLe1E5gAHAVei4hegIg4li5/BPiOpDuAm0jeaJb3EeBQrmx1RNxyekbSxuxCSUtJMsm+6ex1YDTuKKyf3FFYtziemRZwd0Tcl11B0m1Uf9/Gu7x3q/bc3LZujYj1uW3NBd7OFJ0k+XtTpX1ExFuSniJ5o9u1JFcPeSdy+y4k6XLgC8Cc3KJz022Z9YufUVg3Wg/cJGkogKQxSt75vQm4WtKQ9HnAlZk6B4CZ6fTC3La+JukD6bYmSzqvYN97gNGSZqXrD8s8L1hJ8sKZ3szVT9Zu0ltLfZE0Hvg5cG1E5DuFyYBHZbV+8xWFdZ2I2CDpY8Az6fPlN4HrI2KHpNUk77N+heTB72n3AGsk3QD8PlO+kuSW0o70YfUh4KqCfb8jaRHwE0lDSH7ZzwPejIjtko4Bv65Sd4+k4ZKGRcQbfXzNxcAI4LH0O74aEZ+R9CGSW1Gv9VHf7AwPM25WhaTvkpzA72nS/kYDG4GPRsSpKuvcDrwREStr3MftwLGIuL/mhlrX8a0nszYg6cvAs8Cyap1Eajn//+yjrP8ADwygvnUhX1GYmVkhX1GYmVkhdxRmZlbIHYWZmRVyR2FmZoXcUZiZWSF3FGZmVuh/9qAnc/CtiR0AAAAASUVORK5CYII=\n", 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "pitch_rate_control_design(200, -1000*((s+0.5)/s)**2, [-3, 1], [-2, 2])" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": {}, + "outputs": [], + "source": [ + "def lqr_design(out_num, in_num, tf=3, R=1e-5, y_max=1.5):\n", + " trim_500 = trim(vt=500, h=0, q=0, gamma=0)\n", + " # input: thtl, elev, xcg, land\n", + " # state: vt, alpha, theta, q, h, pos\n", + " sys = control.minreal(linearize(trim_500)[out_num, in_num], 1e-3)\n", + " assert np.linalg.matrix_rank(control.ctrb(sys.A, sys.B)) == sys.A.shape[0]\n", + " assert np.linalg.matrix_rank(control.obsv(sys.A, sys.C)) == sys.A.shape[0]\n", + "\n", + " Q = sys.C.T.dot(sys.C)\n", + " K, S, E = control.lqr(sys, Q, R)\n", + " sys_c = control.ss( sys.A - sys.B*K, sys.B, sys.C, sys.D)\n", + " final_value = float(sys_c.horner(0))\n", + " N = 1.0/final_value\n", + " sys_c = control.ss( sys.A - sys.B*K, sys.B*N, sys.C, sys.D)\n", + "\n", + " t = np.linspace(0, tf, 1000)\n", + " r = np.array(t > 0.1, dtype=float)\n", + " t, y, x = control.forced_response(sys_c, T=np.linspace(0, tf, 1000), U=r)\n", + " u_norm = np.linalg.norm(K.dot(x), axis=0)\n", + " max_u_norm = np.max(u_norm)\n", + " print('u_norm max', max_u_norm)\n", + "\n", + " plt.plot(t, r, 'r--', label='r')\n", + " plt.plot(t, y, 'b-', label='y')\n", + " plt.plot(t, u_norm/max_u_norm, 'g-', label='u normalized')\n", + " plt.gca().set_ylim(-0.1, y_max)\n", + " plt.grid()\n", + " plt.legend()" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "1 states have been removed from the model\n", + "u_norm max 324.04247010257035\n" + ] + }, + { + "data": { + "image/png": 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\n", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "lqr_design(2, 1, tf=10, R=1e-5)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Here we see that the LQR is not able to design a reasonable pitch rate controller." + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "1 states have been removed from the model\n", + "u_norm max 61120.83319605678\n" + ] + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "lqr_design(3, 1, tf=10, R=1e-5, y_max=1.5)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Here we see the LQR is doing a poor job of designing a pitch rate controller. This is likely because none of the\n", + "states provide derivative of the pitch rate signal to prevent overshoot." + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} From bbf01cf2b3634e25dcd5f236b769ad97b3da00d9 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Mon, 23 Sep 2019 14:31:35 -0400 Subject: [PATCH 16/26] commit before class --- homework/HW3.ipynb | 44 ++++++++++++++++++++++++++++++++------------ 1 file changed, 32 insertions(+), 12 deletions(-) diff --git a/homework/HW3.ipynb b/homework/HW3.ipynb index 5a78b468..7c97c98b 100644 --- a/homework/HW3.ipynb +++ b/homework/HW3.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 48, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -19,7 +19,7 @@ }, { "cell_type": "code", - "execution_count": 49, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -98,7 +98,7 @@ }, { "cell_type": "code", - "execution_count": 50, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -136,7 +136,7 @@ }, { "cell_type": "code", - "execution_count": 59, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -169,7 +169,7 @@ }, { "cell_type": "code", - "execution_count": 60, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -186,7 +186,7 @@ }, { "cell_type": "code", - "execution_count": 61, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -220,7 +220,7 @@ }, { "cell_type": "code", - "execution_count": 62, + "execution_count": 7, "metadata": {}, "outputs": [], "source": [ @@ -240,7 +240,7 @@ }, { "cell_type": "code", - "execution_count": 63, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -280,7 +280,7 @@ }, { "cell_type": "code", - "execution_count": 64, + "execution_count": 9, "metadata": {}, "outputs": [ { @@ -289,7 +289,27 @@ "text": [ "{'x0': array([5.00000000e+02, 6.63038474e-02, 6.63038474e-02, 0.00000000e+00,\n", " 1.00000000e+03, 0.00000000e+00]), 'u0': array([ 0.28664364, 2.34269577, 0.25 , 0. , -0.05467222]), 's': array([ 0.28664364, 2.34269577, 0.06630385, -0.05467222])}\n", - "1 states have been removed from the model\n", + "1 states have been removed from the model\n" + ] + }, + { + "name": "stderr", + "output_type": "stream", + "text": [ + "/home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:301: RuntimeWarning: divide by zero encountered in log10\n", + " [-20.*np.log10(gm), -1e5],\n", + "/home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:304: RuntimeWarning: divide by zero encountered in log10\n", + " ax_mag.semilogx([Wcg, Wcg], [0,-20*np.log10(gm)],\n", + "/home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/freqplot.py:347: RuntimeWarning: divide by zero encountered in log10\n", + " (20*np.log10(gm) if dB else gm,\n", + "/home/taehwan/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/control/xferfcn.py:896: ComplexWarning: Casting complex values to real discards the imaginary part\n", + " num[i, j, np + 1 - len(numpoly):np + 1] = numpoly[::-1]\n" + ] + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ "u_norm max 854.9989115390152\n" ] }, @@ -338,7 +358,7 @@ }, { "cell_type": "code", - "execution_count": 65, + "execution_count": 10, "metadata": {}, "outputs": [ { @@ -395,7 +415,7 @@ }, { "cell_type": "code", - "execution_count": 67, + "execution_count": 11, "metadata": {}, "outputs": [ { From 1fd90d772e38919b2cb5a9da5903cf36d08da05b Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Mon, 23 Sep 2019 14:59:59 -0400 Subject: [PATCH 17/26] changed README --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ff6dea2c..72477c8e 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# AAE497 Fall 2019 [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/jgoppert/aae497-f19/master) [](https://mybinder.org/v2/gh/jgoppert/aae497-f19/master?urlpath=lab) [![nbviewer](https://img.shields.io/badge/view%20on-nbviewer-brightgreen.svg)](http://nbviewer.jupyter.org/github/jgoppert/aae497-f19/tree/master) +# AAE497 Fall 2019 [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/jgoppert/aae497-f19/master) [](https://mybinder.org/v2/gh/jjffkkgg/aae497-f19/master?urlpath=lab) [![nbviewer](https://img.shields.io/badge/view%20on-nbviewer-brightgreen.svg)](http://nbviewer.jupyter.org/github/jgoppert/aae497-f19/tree/master) Class notebook. From 2e166e45795772cdf71333297439a717a21ee309 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Mon, 23 Sep 2019 15:02:00 -0400 Subject: [PATCH 18/26] changed readme again --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 72477c8e..787b23f6 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,4 @@ -# AAE497 Fall 2019 [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/jgoppert/aae497-f19/master) [](https://mybinder.org/v2/gh/jjffkkgg/aae497-f19/master?urlpath=lab) [![nbviewer](https://img.shields.io/badge/view%20on-nbviewer-brightgreen.svg)](http://nbviewer.jupyter.org/github/jgoppert/aae497-f19/tree/master) +# AAE497 Fall 2019 [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/jjffkkgg/aae497-f19/master) [](https://mybinder.org/v2/gh/jjffkkgg/aae497-f19/master?urlpath=lab) [![nbviewer](https://img.shields.io/badge/view%20on-nbviewer-brightgreen.svg)](http://nbviewer.jupyter.org/github/jjffkkgg/aae497-f19/tree/master) Class notebook. From 0cdb53bd95a44692737a2326b7316483c88fdad1 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Mon, 30 Sep 2019 14:30:22 -0400 Subject: [PATCH 19/26] commit before pull --- lectures/6-MatrixKinematics.ipynb | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/lectures/6-MatrixKinematics.ipynb b/lectures/6-MatrixKinematics.ipynb index b4384afc..eaf1f19d 100644 --- a/lectures/6-MatrixKinematics.ipynb +++ b/lectures/6-MatrixKinematics.ipynb @@ -19,6 +19,13 @@ " return Image(dotgraph(expr).create_png())" ] }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, { "cell_type": "code", "execution_count": 2, @@ -111,6 +118,13 @@ "source": [ "draw_graph(rhs(x, u, p))" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { From ab5096616a0f43aacd227c07c1e877858bf1a8cd Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Tue, 22 Oct 2019 23:08:37 -0400 Subject: [PATCH 20/26] Completed the HW#6 --- cpp/cpp_template/CMakeLists.txt | 1 + cpp/cpp_template/movies.cpp | 35 ++++ homework/6-Casadi-Brach.ipynb | 5 +- homework/HW5.ipynb | 190 ++++++++++++++++++ lectures/8-Trajectory-Optimization.ipynb | 2 +- lectures/9-Discrete-Transfer-Code.ipynb | 2 +- .../f16/src/RocketPlugin/control_desing.ipynb | 55 +++-- 7 files changed, 270 insertions(+), 20 deletions(-) create mode 100644 cpp/cpp_template/movies.cpp create mode 100644 homework/HW5.ipynb diff --git a/cpp/cpp_template/CMakeLists.txt b/cpp/cpp_template/CMakeLists.txt index 52d86de6..0d1b614c 100644 --- a/cpp/cpp_template/CMakeLists.txt +++ b/cpp/cpp_template/CMakeLists.txt @@ -9,6 +9,7 @@ find_package(gazebo) add_executable(hello_world hello_world.cpp) add_executable(my_test my_test.cpp) +add_executable(movies movies.cpp) # my gazebo plugin add_library(my_gazebo_plugin SHARED my_gazebo_plugin.cpp) diff --git a/cpp/cpp_template/movies.cpp b/cpp/cpp_template/movies.cpp new file mode 100644 index 00000000..2bcc151b --- /dev/null +++ b/cpp/cpp_template/movies.cpp @@ -0,0 +1,35 @@ +#include +#include + +using namespace std; + +class movie +{ + +public: + std::string m_title; + int m_year; + float m_rating; + std::vector m_actor; + std::string m_genre{"horror"}; + + void print() { + std::cout << m_title << "generated in" << m_year << std::endl; + } + movie(std::string title, int year, float rating, std::vector actor, std::string genre): + m_title(title), m_year(year), m_rating(rating), m_genre(genre) + { + } + virtual ~movie() { + } +}; + +int main(int argc, char const *argv[]) +{ + movie test1("movie",1975,9.5,{"A","B"},"Comedy"); + movie test2("drama",2019,5.5, {"C","D"},"history"); + std::cout << test1.m_title << " is made in " << test1.m_year << " with rating " << test1.m_rating << std::endl; + std::cout << test2.m_title << " is made in " << test2.m_year << " with rating " << test2.m_rating << std::endl; + + return 0; +} diff --git a/homework/6-Casadi-Brach.ipynb b/homework/6-Casadi-Brach.ipynb index 0ebbef68..3bf10148 100644 --- a/homework/6-Casadi-Brach.ipynb +++ b/homework/6-Casadi-Brach.ipynb @@ -34,6 +34,9 @@ " starts at a height of 1 m and ends at a height of 0 m and the length of the path is\n", " x_end m.\n", " \"\"\"\n", + " \n", + " \n", + " \n", " x = np.linspace(0, x_end, n_x) # x position where path changes\n", " dx = x[1] - x[0] # path steps width\n", " n_dy = n_x - 1 # number of height changes we need to find\n", @@ -139,7 +142,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.4" + "version": "3.7.3" } }, "nbformat": 4, diff --git a/homework/HW5.ipynb b/homework/HW5.ipynb new file mode 100644 index 00000000..00312213 --- /dev/null +++ b/homework/HW5.ipynb @@ -0,0 +1,190 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import sys\n", + "sys.path.insert(0, '../python/pyecca')\n", + "\n", + "import matplotlib.pyplot as plt\n", + "from pyecca.util import rk4\n", + "import numpy as np\n", + "\n", + "from casadi.tools.graph import dotgraph\n", + "from IPython.display import Image\n", + "\n", + "def draw_graph(expr):\n", + " return Image(dotgraph(expr).create_png())\n" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "metadata": {}, + "outputs": [], + "source": [ + "# def constraint()\n", + "def numerical(x_end, n_x):\n", + " \"\"\"\n", + " Edit this function and setup an optimal control problem that minimizes the time\n", + " it takes for a ball rolling a long a curve to reach the end of the path assuming it\n", + " starts at a height of 1 m and ends at a height of 0 m and the length of the path is\n", + " x_end m.\n", + " \"\"\"\n", + " \n", + " x = np.linspace(0, x_end, n_x) # x position where path changes\n", + " dx = x[1] - x[0] # path steps width\n", + " n_dy = n_x - 1 # number of height changes we need to find\n", + " dy0 = -(1/n_dy)*np.ones(n_dy) # initial guess for height change along path\n", + " \n", + " dy_vec = ca.SX.sym('dy', n_dy)\n", + " \n", + " t = 0\n", + " y = 1\n", + " g = 9.81\n", + " for i in range(n_dy):\n", + " dy = dy_vec[i]\n", + " d = np.sqrt(dx**2 + dy**2)\n", + " vbar = (np.sqrt(2*g*(1-y)) + np.sqrt(2*g*(1-(y+dy)))) / 2\n", + " y += dy\n", + " t += d/vbar\n", + " y_f = y\n", + " t_f = t\n", + " \n", + " \n", + " nlp = {'x':dy_vec,'f':t_f,'g':y_f}\n", + " \n", + " S = ca.nlpsol('S', 'ipopt', nlp, {\n", + " 'print_time': 0,\n", + " 'ipopt': {\n", + " 'sb': 'yes',\n", + " 'print_level': 0,\n", + " }\n", + " })\n", + " \n", + " res = S(x0=dy0, lbg=0, ubg=0)\n", + " \n", + " dy_opt = res['x'] # TODO, find optimal change in y along path\n", + " y_opt = ca.vertcat(1, 1 + np.cumsum(dy_opt))\n", + " return x, y_opt" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "metadata": {}, + "outputs": [], + "source": [ + "# NLP declaration to solve for boundary condition of brachistochrone\n", + "def analytical(x_end, n_x):\n", + " c = ca.SX.sym('c')\n", + " theta_f = ca.SX.sym('theta_f')\n", + " xf = c*(theta_f - np.sin(theta_f))\n", + " yf = 1 - c*(1 - np.cos(theta_f))\n", + "\n", + " nlp = {'x':ca.vertcat(c, theta_f), 'f':0,'g':ca.vertcat(xf-x_end,yf)}\n", + " S = ca.nlpsol('S', 'ipopt', nlp, {\n", + " 'print_time': 0,\n", + " 'ipopt': {\n", + " 'sb': 'yes',\n", + " 'print_level': 0,\n", + " }\n", + " })\n", + " res = S(x0=(1, np.pi), lbg=(0, 0), ubg=(0, 0))\n", + " C_opt = float(res['x'][0])\n", + " theta_f_opt = float(res['x'][1])\n", + " theta = np.linspace(0, theta_f_opt, n_x)\n", + " xa = C_opt*(theta - np.sin(theta))\n", + " ya = 1 - C_opt*(1 - np.cos(theta))\n", + " return xa, ya" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "" + ] + }, + "execution_count": 29, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "n_x = 100 # number of points for approximation of path\n", + "x_end = 3 # final x position when height is zero\n", + "\n", + "# analytical solution\n", + "xa, ya = analytical(x_end=x_end, n_x=n_x)\n", + "\n", + "# numerical solution\n", + "x, y_opt = numerical(x_end=x_end, n_x=n_x)\n", + "\n", + "# plot\n", + "plt.title('brachistochrone')\n", + "plt.plot(x, y_opt, label='numerical')\n", + "plt.plot(xa, ya, 'r--', label='analytical', alpha=0.5)\n", + "plt.grid(True)\n", + "plt.xlabel('x, m')\n", + "plt.ylabel('z, m')\n", + "plt.legend()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/lectures/8-Trajectory-Optimization.ipynb b/lectures/8-Trajectory-Optimization.ipynb index 085dff41..6d085449 100644 --- a/lectures/8-Trajectory-Optimization.ipynb +++ b/lectures/8-Trajectory-Optimization.ipynb @@ -194,7 +194,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.4" + "version": "3.7.3" } }, "nbformat": 4, diff --git a/lectures/9-Discrete-Transfer-Code.ipynb b/lectures/9-Discrete-Transfer-Code.ipynb index 70b5b6c8..1359f823 100644 --- a/lectures/9-Discrete-Transfer-Code.ipynb +++ b/lectures/9-Discrete-Transfer-Code.ipynb @@ -298,7 +298,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.4" + "version": "3.7.3" } }, "nbformat": 4, diff --git a/ros/src/f16/src/RocketPlugin/control_desing.ipynb b/ros/src/f16/src/RocketPlugin/control_desing.ipynb index 365a90e9..20f08e2b 100644 --- a/ros/src/f16/src/RocketPlugin/control_desing.ipynb +++ b/ros/src/f16/src/RocketPlugin/control_desing.ipynb @@ -14,7 +14,7 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 125, "metadata": {}, "outputs": [ { @@ -24,23 +24,26 @@ "0 states have been removed from the model\n", "3 states have been removed from the model\n", "0 states have been removed from the model\n", - "0.006444345923162772 90.17592000230144 5.526835585912837e-08 10.389902555983701\n", + "5.3266587668672924 15.423262912373218 43.89454246748842 13.597077923014613\n", "1\n", - "max delay 0.15148041106013638 s\n", - "gain margin -43.816423106556854 dB\n", - "9.069545283696397e-05 87.74344924399776 7.435090029085431e-09 10.204547247687254\n", + "max delay 0.0197973947597971 s\n", + "Minimum freq required 50.51169672237464 Hz\n", + "gain margin 14.529097523407177 dB\n", + "8.172621605551754 11.967348564221169 48.34601949821576 13.377789017126236\n", "2\n", - "max delay 0.15007153665846054 s\n", - "gain margin -80.84828972898974 dB\n", - "0.0027841220063513318 83.48078604923586 3.5469488730565634e-08 9.881143767912524\n", + "max delay 0.015613165592018285 s\n", + "Minimum freq required 64.0485104770308 Hz\n", + "gain margin 18.247227828797726 dB\n", + "90.58857468512979 6.043887279911019 136.03760804293645 12.993016368402024\n", "3\n", - "max delay 0.14745404104366366 s\n", - "gain margin -51.10623473809642 dB\n" + "max delay 0.008118648484918735 s\n", + "Minimum freq required 123.17321064677303 Hz\n", + "gain margin 39.1414685309982 dB\n" ] }, { "data": { - "image/png": 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\n", 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\n", + "image/png": 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\n", 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\n", + "image/png": 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\n", 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\n", 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\n", 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\n", + "image/png": 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CsL72TiGEM/AZcJeUMhYYAdR0g3kHmAnEmLaxzRVsa7etqIi4ggIeCA/HVdcyCqftXF15KCKCb3Jz2a6mTrdrRmnkzpV3csdPdxDsHcz8S+fT0b8jU1ZM4ePdH9s6vBZNCIG3afllvV6PXq9v8mzQNhkRLqVMAOoKfgywV0q5x3Revum8UMBXSrnZ9PMy4Drg1+aKuTV7NSODNs7OzAgNtXUoDfJQRARvHT3KEykp/NGnj63DUepx/2/3s2TnEh678DFevPRFdELHg8MeZOznY7l31b2M6jiKSD/77XxhjvsPH2Z3SYlF79nX25uFMTHnPa+6upoBAwZw5MgR7r333iZPjW5v04h0AaQQ4ncgCFgupXwFaA9k1jov07SvTkKImWilEoKDg4mLi2tUMCUlJY2+1t409l2OAt8BNwM7Nm60cFQN19D3uBF4++RJFsTFMcBqUTWO+vcFvx//ncWJi5nUfhJjnMawft3pyocZ7WawIXUD//vqfzzQ5QELRntulvp78fPzo7i4GIAqvZ7q6uom37O2Kr3+1P3rUl1dfer4hg0bKCgoYPLkyWzdupUePXqccW5FRYX57yyltMoGrEarhjp7u7bWOXHAwFo/PwykAG0BT2AzcCkwCFhd67zhwM/mxDFgwADZWGvXrm30tfamse9yV2KidIuLk1kVFZYNqJEa+h7lBoOM2LRJDtq+XRqNRusE1Uit/d9XQm6C9JjrIS/56BKpr9bXec70H6dL97nuMqckp4kRms9Sfy/x8fEWuU9jFRUV/WvfnDlz5Kuvvvqv/XXFCmyXdXymWq2CWko5WkrZs47tx3Nclgmsk1LmSSnLgFVAf9P+2os2hAPHrBW7oqk9MWGIHUxM2BjuTk48FxXFP8XFrMjLs3U4iolRGpnx8ww8XDz4cuKXOOvqrvR4YNgDVBgq+HTvp80coWPIzc2loKAAgPLyclavXk23bt2adE97a9X8HegthPA0NYpfAsRLKbOAYiHEUFOvqanAuZKPYgGLMzPtbmLCxpgSHEx3T0+eSknBoKZOtwtLdy5lY/pGFoxZQKhP/W1lPYJ60DekL9/Ef9OM0TmOrKwsRo4cSe/evRk0aBCXXXYZ48aNa9I9bdKmIYQYDyxGa7f4RQixW0p5uZTypBDideAfQAKrpJS/mC67G/gY8EBrAFeN4FZUYjDw1rFjTGjbli52NDFhYzjrdMzt2JGJBw6wLDub21tYg76jySrOYvafsxkZNZL/9PnPec+/occNPLHmCdIL01t8g3hz6927N7t27bLoPW1S0pBSrpBShksp3aSUwVLKy2sd+0xKGWuqyppda/92075oKeV/TXVuipUszcqiwGDgETueMqQhxrdtyxAfH55KSaFYTZ1uU0+seYJyQznvjXvPrO6f13W7DoDfj/xu7dAUM9hb9ZRiB/RGI69nZnKJnx9DmrgIvb0QQrAoJoasqipeUNOL2Mye43v4ZPcnzBo8i5jA83cXBejWthsh3iGsSV1j5egUc6ikofzL8pwcMux8YsLGGOzry7SQEBZmZqrpRWxk9urZtHFvwxPDnzD7GiEEozqOYm3KWjW9iB1QSUM5gzRNTNjTy8vuJyZsjJc6dcJDp+O+w4fVB1Az+yPpD/5I+oOnLn4Kfw//Bl07Mmok2aXZHMw7aKXorKMl/BtraIwqaShn+PXECfaXljI7IqLJ0w3Yo2BXV56LiuL3kyf5KT/f1uG0GtXGamb/OZuoNlHcO+jeBl8/LHwYAP8c+8fSoVmNu7s7+fn5dp04pJTk5+fj7u5u9jX2NiJcsSEpJS+kpdGhBU1M2Bj3tm/P0qwsZh0+zKg2bfBxVv8bWNvn+z5nT/YevpjwBW7ODR/z061tN7xcvNh+bDtT+0y1QoSWFx4eTmZmJrm5uTZ5fkVFhVnJwN3dnfDw8POeV0P936Kc8tfJk2wpKuKdmBhcWsjEhI3hotPxfteuXLRrF0+mpLDIjPl7lMYr15fz1JqnGBg2kBt73tioezjpnOgf2r9FlTRcXFzo2LGjzZ4fFxdHv379LH5fx/1kUBrshbQ02ru6Mq0VjGO4wM+Pe9u3582jR9lcWGjrcBzaoq2LyCjK4NXLXkUnGv+RMyhsELuP70ZfrdZ/tyWVNBQA1hcUsL6wkEcjI3Fz4FJGbfM6diTczY07EhOpVCPFrSKvLI95G+cxrss4RkSNOO/5JSWQlgZVVf8+1i+0HxWGCg6fOGz5QBWztY5PB+W8XkhLI9jFhemtoJRRw8fZmfe6dCGhrIwX1dgNq5i7fi4lVSW8PPrlc563ZQtceSX4+UFUFAQGwoMPQmnp6XNig2IBOJBzwIoRK+ejkobC5sJCVp88ySORkXg4Odk6nGZ1RWAgU4ODmZeWpqqpLCzpRBJv//M2d/S7gx5BPeo8p7oaHn8cLrgAtm+H2bNh6VIYPx4WLoTRo6Hmr6Vb227ohI4DuSpp2JJKGgrPpabS1sWFu8LCbB2KTSyKiSHC3Z3JCQkUqSlGLObxvx7HxcmFOSPm1Hm8shJuugnmz4c77oDkZHjpJe37Zcvgu++0RDJ9OkgJHi4edPLvpJKGjamk0cqtLyjg95MneTQiAq9WVsqo4efszGfdu5NWUcGsw6q+3BK2ZG7hm/hveHjYw4T5/PuXEYMBJk2Cb7+F11+HJUvAtCrpKePHw9y52jlff63tiw2KVdVTNqaSRismpeTx5GTCXF25t329CyG2Chf6+fFUhw58kp3NF9nZtg6nRZNS8vAfDxPsFcwjFz5Sx3G4805YuRLefhseOMeifA8/DH36aFVYlZVa0jh84rDqQWVDKmm0YqtOnGBTURHPREW1uraMujzdoQMX+voyIzGRA7VbYJUG+eHgD/yd8TfPj3web1fvfx1/7jn48EN45hm4++5z38vJSauySkmBzz+HzgGdMRgNpBemWyl65XxU0miljFLyZHIy0e7u3B4SYutw7IKzTsfXsbH4Ojszfv9+ClX7RoPpq/U8uvpRurftzu39bv/X8R9/1JLGbbfBnDnm3XPsWOjZExYvhk7+0QAknUyyXNBKg6ik0Up9lZPDntJSnu/Y0aFHfzdUmJsbX/foQUpFBf9JSMBox/MG2aP3d7zP4ROHeeWyV/61hGtiIkyZAgMHwjvvgLlTmwkB//sf7N4NRcnaUqVJJ1TSsBX1adEKVRqNPJWSQi8vL4eeY6qxhrdpw2vR0fyYn8/TKSm2DqfFKKwo5Ll1zzEiagRXxVx1xrGSEpgwAdzctF5RDZgfD4Abb9Su/fOHINyd3VVJw4ZU0miFFmVmklxRwYLoaHQOOJOtJcxq354ZoaHMS09nybFjtg6nRXh+3fPkleXx2mWvnTFDspRat9mDB2H5cmjMMi1+fjBuHHz1laCjb4xKGjakkkYrk21auW5cYCCXOeB6GZYihODtmBjGBgRw96FD/KamUT+n1NJUFm1bxPT+0xkQNuCMY+++C199pXWfvfTSxj/jhhsgJwcC8q9Q1VM2pJJGK/NMSgrlRiOvRUfbOhS756zT8XWPHvT08uL6+Hh2FBfbOiS7JKVk8ZHFeLt68+KoF884tmsX3H+/1pj96KNNe86YMVpvqqqDo0k6mWTX61Q4MpU0WpE9JSUszcriv+3b09XT09bhtAg+zs780rs3gc7OjNmzh/0lJbYOye58n/A9Owt2MnfkXIK8gk7tLyqC66+HoCBthHdT+1u0aQMXXghZu/tQpi/jeMnxJkauNIZKGq2EEbj30CH8nZ15pkMHW4fTorR3c+Ovvn1x1+kYvWePWl+8ljJ9GQ/+8SCdvDpx58A7T+2XEmbMgNRUrR0jKKj+ezTEFVdAZmI7KA4h+WSyZW6qNIhKGq3Er8DfRUW8Gh2Nv4uLrcNpcaI9PPirTx+MwKW7d5NUXm7rkOzCnLg5pBemc1/n+87oYvvuu9rUH3PnwkUXWe55Y8eavkkeTWZRpuVurJhNJY1WIKeqiveAi/38uE0N5Gu0bl5erO7ThwqjkeG7dhHfykeN7zi2gwWbFzCj/wx6t+l9an/tdozZsy37zN69wddPQvpFZBRlWPbmillU0mgFHkpKohx4t0uXM7pCKg3X29ubdf36IYGLd+1iZyttHNdX65n+83SCvYJ55bJXTu23dDvG2XQ6uOhCgS79EjIKVdKwBZskDSHE9UKIA0IIoxBiYK39k4UQu2ttRiFEX9OxAUKIfUKII0KIRUJ9+pnljxMn+Cw7m5uA7l5etg7HIcR6ebGhb1+8nZwYuXs3f7fCdThe3/w6u4/v5q0r36KNextAa8e4/XbLt2OcbfhwMOZ240hmgXUeoJyTrUoa+4EJwPraO6WUn0sp+0op+wJTgFQp5W7T4XeAmUCMaRuLck4n9XpuP3iQbp6e3GrrYBxMZ09PNvTrR4irK5ft2cOPeXm2DqnZHMg5wLNxzzK+23jGdx9/av9LL2mjvV9+2bLtGGerufeh3VbKSso52SRpSCkTpJSJ5zntZuBLACFEKOArpdwstc7Zy4DrrBxmizfryBGOV1XxabduuNk6GAcU4e7Ohn796OXlxfj9+1mU6fgNs5WGSm5dcSu+br68c9U7p/Zv3RrAU0/BzTdry7Ra06BBoHPWkxXf0boPUuokbDlARggRBzwspdxex7Ek4Fop5X5TFdZ8KeVo07HhwKNSynH13HcmWqmE4ODgAcuXL29UfCUlJXifvTJMC7EeeBaYCkyjZb9Lbfb4HhXAi8BGYCJwN2DORPP2+C7n817yeyzPWM7c2Llc2PZCAI4e9eDOO/sRElLFm2/uxN3daPU4Jk3rQL5I5o+lRlx0lu0N2BL/XurS1PcYOXLkDinlwH8dkFJaZQNWo1VDnb1dW+ucOGBgHdcOAfbV+nkQsLrWz8OBn82JY8CAAbKx1q5d2+hrbeloRYVsu3Gj7P/PP7KqulpK2XLf5Wz2+h4Go1Hed+iQZO1aed2+fbLEYDjvNfb6LvWJS4mTYo6QM36acWpfQYGUsbFS+vpWyeTk5otlxKR4idtJmZRv+Ye2tL+X+jT1PYDtso7PVKtVT0kpR0spe9ax/WjG5TdhqpoyyQTCa/0cDqhZ5OpgMBq5KT6e8upqPuveXU173kychGBhTAwLO3fmx7w8Lti5kxQHGsuRU5rD5O8nEx0QzeuXvw5AVRVMnKhNef7sswfo2Iy1RX37GaGyDVv25TbfQxXADrvcCiF0wPXAqTolKWUWUCyEGGrqNTUVMCf5tDpPp6ayobCQd7t0Ub2lbOC+8HBW9epFemUlg3bsYM3Jk7YOqcmqjdXc/N3N5Jfn88313+Dt6o2UMHMm/PUXLF0K/fs3b0+m4UM9ANi8rapZn6vYrsvteCFEJjAM+EUI8XutwxcDmVLKs+cIuBtYChwBktAGOSu1rMrPZ356OjNCQ7lVDeKzmbGBgWzr359gV1fG7NnDwoyMFj253jNrn2FNyhrevvJt+ob0BeD55+GTT7TV9/7zH+s8t6y6moOlpWwqLGRHcTF5VacTxIjBQeBUwd5drtZ5uFIv5/OfYnlSyhXAinqOxQFD69i/Hehp3charsSyMiYnJNDHy4s3One2dTitXoynJ1v692fqwYM8kJTEzpIS3u3SBc8Wthb7Dwd/YN7GeUzvN51p/aYB8MYbWrK47TZtnW9LOlRWxqfZ2fxx4gQ7ioupPut4lLs7NwQFMTMsDF3IflLi/S0bgHJeNkkaimXl6/WM27cPFyH4oWdPPFrYB5Oj8nF25rvYWOampTEnNZWdxcV8HRtLjxZSbbjj2A4mfz+ZQWGDWHzlYgDef1+bImTCBFiyxPwlW89FSsmqEyd4OT2dDYWF6IAL/Px4NDKSHl5etHVxocJo5HBZGWsLCng9M5PXMzNx+m8p2W90anoASoOopNHCVRmNTDpwgPSKCtb27UuUh4etQ1Jq0QnBM1FRDPP1ZXJCAoN27OCtmBhuCw21dWjnlFGYwdVfXk1bz7b8dPNPuDu7s2wZ3HUXXHklfPklOFvg0+OPEyd4LDmZXSUlRLq58XKnTtwaHEyYW90jix6OjCSrspIX09J4a/BR+L9EVqb0YFxHv6YHo5jF7hrCFfMZpeSOxETiCgr4sFs3LvBT/+PYq8sCAr+XxaoAACAASURBVNgzcCCDfX2ZlpjIfxISsNe+VYUVhYz7chyl+lJ+ueUXQrxDeOstre1i1Cj49ltwbWJTQlJ5Odfu28fle/dSaDDwYdeuHBkyhNmRkfUmjBqhbm682aULfXbugmrBhNTdfJWT07SAFLOppNFCSSmZdfgwn2VnM7djRyYHB9s6JOU8Qt3cWN2nD8926MCn2dnMBDbb2bxVpVWlXPXFVcTnxvPN9d8QG9STefPgv/+Fa66BlSuhKYXZEoOBJ5OT6bFtG3+dPMn8Tp2IHzyYaaGhDe4ePiAsF+4eQESpLzfFx/NhVlbjA1PMppJGC/V0SgpvHTvGIxERPBEZaetwFDM5CcGcjh1Z06cPeuCiXbt4PDmZSqP1R1GfT7m+nGuWX8PmzM18OfFLRnUYw6xZ8OSTcOutWgnD3b1x95ZS8kV2Nl23bWNeejo3tmvHoSFDeDQyErdGjiWKjvCB6pNc8EMsl/v7Mz0xkS+ysxsXoGI2lTRaGCklz6Sk8KKpa+3LnTqp6c5boBH+/nwATAsJYX56OgN37LDpGuTl+nImfTOJtSlr+fjaj7k0dBJXXAFvvgkPPaR1r23s2l27iosZvmsXkxMSCHV1ZVO/fizr3v281VDnE+IdAsH72Ldb8n3PnlzSpg1TExIcYmyMPVNJowWRUvJQUhIvpKVxR0gI76j1MVo0L2Bpt26s7NWLPL2ewTt2MOvwYQoNhmaNo6iyiCs+v4JfD//Ku+Pepa9uCkOHwrp18OGH8NprjVsXI7uqihmJiQzYsYND5eUs7dqVbQMGMMxCbW+h3qHQbj+HEpxxF0782LMn3Tw9mXTgAIfUkrxWo5JGC2EwGrnz0CH+LzOTWe3b837XrjiphOEQrgoMJGHQIO4OC+PNo0fpunUrX2RnN8uAwLyyPC5ddikb0zfy6fjPqN42k0GDtMWU/voLpk1r+D2rjEZeS08nZutWPj5+nAfCwzk0eDB3hIais+C/2RDvEGi3j/IyJ1JTwdfZmZ979cJJCK7et6/Zk29roZJGC1BoMHD1/v0sycriychIFnbubNH/+RTba+PiwptdurCtf38i3N2ZnJDAsJ07WVdgvek5EvMSueCDC9ifs58PR/3KN8/cwj33wMiRsGePtthRQ1RLyWfHj9Nj2zYeSU7mYj8/9g8axILOnWljhXXptaRxAID9+7V9HT08WBEbS3JFBbcfPNiiR+LbKzVOw86llpczbt8+EsvLWdKlC9PDwmwdUotiMMDx45CVBQUFUFiofS0qgupqbbW5Gj4+0KYN+PlBYCBERUG7dpYZwGaugb6+bOnfn4+yspiTmsqI3bu5IiCAuR070t/Hx2LP+TPpT67/5npchBv/c9rHrHGdqajQqqIeeKBh1VFGKYkD7vnnHxLKyujj5cWvvXoxNjDQYvHWpZ1XO0TQISTapIk1LmrThpc7deKhpCQWHT3KfeHh9d5DaTiVNOzYyrw8ph48iAR+692bS/3VlAl1KSnRPjQSE+HgQW1LT4fMTC1ZNKVjkoeHljy6doV+/U5v7dtbL5k4CcH0sDAmBwez+OhRXkpPZ8COHYz29+eRiAgu8/dvdFuWURpZsGkBj//1OFGFt+Kz/j1e3e7GyJHw3nsQE2P+vcqqq/k0O5s3MjNJALoD3/TowYSgoGYpCTvpnGgX6EKhXxGJib5nHHsgPJz1BQU8nJTEEB8fhqoxTBajkoYd0huNPJGSwmsZGfT19ubrHj2I8fS0dVh2obzcifXrYft2+OcfbUtKOn1cp4OOHaFTJxgzBsLDtS00FPz9tVKEnx/4+p7uDSSEllhKSrRSSEEB5OZqa12npkJKChw4AD/+eLpkEhYGF1+sbcOHQ48ejWssPhcPJydmR0ZyZ1gY7x07xsLMTC7fu5deXl7MCA3lluBgAhtQ7ZNTmsPUFVP5fWM2odu3kLRjIGFh8PHHMHWq+UkwobSUT44fZ0lWFicMBvp7e/Mk8NygQc3ezhbiHYI+NJ3ExDOnpRNC8FG3bgzYsYMb4uPZNXBgg/6slPqppGFnDpSWMu3gQf4pLubusDBej47GvRXPJVVeDps2wZo12rZt20WnSg6RkTBwoNZY2707dOsG0dHQ2J6c3t5wrsmBi4th3z7YuVOLaf16qFkUMiBASyAjRmhbr16WSyJ+zs7MjozkvvBwvsjO5q2jR5l15AgPJyVxdWAg44OCuDIgAP9zfCiuTFzF1AXLKFzzMCSNptRXMm8e3HcfmPP7SHJ5OT/n5/N5djb/FBejA65t25YHwsO5yM+PdevW2aRjRqhPKEfbHuHgwX/PZerv4sI3sbFcsHMnUxISWNmrl2oLtACVNOyE3mjk5fR0nk9Lw8/Zma979OD6du1sHZZN5OXBDz9og8nWrtUW+3FygiFD4JZb0rn55g4MGADNPQjexwcuuEDb/vtfrdSRkqIlj/XrtS6qP/ygnevvf2YS6d276UnETadjWmgo00JD2VtSwkfHj/Nldjbf5eXhLAQX+flxsZ8fF/n5MdTXFx9nZ3bE5zPt+Tj2/d4PCpbTtp2eh+fDXXcJ6quxkVKSXlnJ1qIiNhUW8tuJEySaFpTq6+3N69HR3NyuHSFNHGdhCSHeIVT576Uo7zry87W2qNoG+PiwsHNn7jl8mPnp6TzRoYNtAnUgKmnYgTUnT3L/kSPsKy3lxqAgFsfEENTUyX1amOxsWLFCSxRxcVojdXS09uE8ejRcdJH2oR0Xl8KIEfbxP74QWjVYp07aNOGgtaWsW6e9w7p1WpUWnE4il1yife3ZxEn+e3t783+dO7MgOpptRUX8mJ/PbydOMDctjZomHKd8F6qTvKFdL/xnFnLN4AzGDnPH01WwQQ/kQVF1NScNBvL1elIqKjhSXk5iWRm5ej0AbkJwSZs23NO+PVcGBNDZzqpJQ7xCKPHdAWhtWhdc8O9z7goLY0NhIU+npDDU15dRqm2wSVTSsKGk8nIeSUpiRV4eUe7u/NCzJ9e2bWvrsJrN0aPw/fdaotiwQfvNvWtXeOwxmDQJ+vRp3p5LlhAZCVOmaBtARkbdScTZGSIjBzJsmFYK6dwZOnTQtsDA87+30aiVyA4fFhw65Ich3g+frZ1wPWCgolMRdC+kulsaLp2P4TLYk5NIPqGQTw7Vf88wV1c6e3hwTWAg/Xx8GOrrS28vL7teMjjIKwhjgNbttr6kIYTg/S5d2F1Sws2m9o2mjkZvzVTSsIHk8nLmpaXxSXY2bkIwr2NHHggPbxVtF+np8N13WqLYtEnb17MnPPuslih69Gh5ieJcIiK0eZtuvVX7OTMT/v4b9u6FNWsqWbfOm88/P/MaN7fTXX99fbWqOaNR28rKtGSRn39mrzBXV4jpWUzI4NWken9JeNdEXrvmCW6IvQEhBBXV1eTq9ZwwGDBIiZQSiTYgro2zM/7OzrjacXKoTzuvdtAmFRcXSWJi/f9wvJ2d+TY2lkE7dnBTfDxr+vTBuQW+rz1QSaMZHSgt5fWMDJZlZ+ME3BMWxmORkYQ6+G89ycmnE8W2bdq+vn1h7lyYOFFrwG4twsPhxhu1LS5uHyNGjODkSa2XVlqath09qo0nqdmk1NpDhNC6AAcFQdu22tfOnSUnPLfwQcozxKWvJtAjkJcvnM2sIctwdz49u6C7kxMRTk5E2O7VrSLIMwicqmnfoZyDB89dddbDy4v3u3bl1oQEHktO5jW1wmWjqKRhZdVS8nNeHouPHmVNQQHuOh33hoWZtW5ASyUlxMdrVU8rVsCuXdr+gQNh/nwtUaj/X0/z99e2fv3Mv6a4spjP9n7Go9vfZn/OfkK8Q1gwZgEzB8zE29XbesHamSCvIACCowpITDx/e8vk4GA2FRayIDOTrp6ezFCDZRvMrKQhhCgGzh6PXwhsBx6SUiZbOrCWbn9JCZ9lZ/N5Tg6ZlZVEurkxv1MnpoeGOmR/caNRGzOxYoWWLA4f1n4zHjYMXn1Vq3qKirJ1lC2bURrZmL6RL/Z9wef7PqekqoR+If1YcvUSbu196xkli9ainZfWw9A/PJsdcWHo9eefjfeNzp1JKi/n7kOHiHJ357KAgGaI1HGYW9J4HTgGfAEI4CYgBEgEPgRGWCO4lkRKSXxZGT/n5bE8J4c9paU4C8HYgAAWde7M1YGBDleHmpMDf/4Jv/2mfc3O1hp4R42CBx+Ea6/VBtUpjWeURrYf2843B75h+YHlZBZl4uniyaQek7hn4D0Mbj+4Vc90HOSplTQ8QzIxGPqRkgJdupz7Gmedjq9jY7lo1y4mHTjAmr59GWDBKVocnblJY6yUckitn98XQmyRUj4vhHjCGoG1BKXV1WwsLOSX/HxW5ueTUlEBwBAfHxZ37syN7do5VNfZggLYvFkbk/DHH9ogN9Dq1y+7TFs7+qqrtKoWpfFOlp/kz+Q/WXV4Fb8e+ZWc0hxcdC6M7TyWV0a/wtVdr25VVVDn4ubsho+rD04+RwA4dOj8SQO0DgC/9OrFxbt3c9mePazu08eic3s5MnOThlEIcQPwrennSbWOtZppJE/q9WwuKmJdQQHrCgrYUVKCQUo8dDpG+/vzWGQkVwUG0t4B2iqMRjhyRJuu4++/YeNGbTS0lFppYtgwrSH78suhf3/LT6HRmhwvOc6GtA1sSNe2vdl7MUojAR4BjO08lis7X8kVMVcQ4KGqUerSzqsd1b4JgJY0zBXh7s7aPn0YsXs3o/fsYVWvXmqOKjOYmzQmA28Ab6MliS3ArUIID+C/VorNpvKqqtgGbE5LY0dxMTtLSk6VJFyEYLCPD7MjIri4TRuG+/nh2YK7y9ZM+Ld3r9ZovXOnNjV2SYl23Ntb6/8+aRJceKE2MtvLy7Yxt0RSSo4WH2VX1i52Hd/Fn/v/JGN3BmmFaQB4ungyNHwoT1/8NGOixzCk/RCcdC3331VzCfIKosgphYCAhiUNgCgPD+L69mX0nj2M2L2bT7p3p5knGmhxzEoapobuq+s5vNFy4diPwTt3kgKQkkK0uzuDfHy4MyyMQaZBTy0tSZSWOrF/vzZO4sgRbSbYmplhjx49fZ6Xlzao7rbbtN48/ftr4yicVT87s5VUlZByMoXE/EQO5R/iUP4hEvMTScxL5GSFthSpQBDuEc4FnS7gv4P/y/DI4fQP7Y+Lk+N1krC2IM8g0grT6Nr1zCnSzRXl4cGW/v0Zf+AAN8XHcxNwgdHYIsetNAdze091Ad4BgqWUPYUQvYFrpJRzG/NQIcT1wBy02ZQHSym3m/a7AEuB/qbYlkkpXzIdGwB8DHgAq4D7pBVXWFnYuTNJ+/cz7cILrbKAjCVIqfXjz8k5c8vNhWPHtNHI6enaVlh45oo6bdpoo68vvVT72rUrxMZqU2O3sHzYbKqqq8gtzSW3LJfc0lyySrLIKMwgo8i0mb4vqDhz4aT2Pu3pEtiFG2NvJLZdLP1C+tEnpA/bN21nxIgRtnkZB9LOqx3bj22nXxetQ0ZjtHV1ZXWfPsw6fJj3s7JI3LmT97p0YZCv7/kvbmXM/f1xCfAI8B6AlHKvEOILoFFJA9gPTKi5Xy3XA25Syl5CCE8gXgjxpZQyFS1pzUSrGlsFjAV+beTzz+uatm2JA4smDCmhslKbubWuraxM+1pcfHpgV1HRmQO9an4+eVJLDqYpgv4lIECbkqJTJ22+I70+iZEjo4mI0MZIBAU51sjr85FSUmGooNxQTklVCUWVRRRWFFJUWaR9X1nr+4pCiqqKyC/LP5UgcstyKaosqvPegR6BRPhFENUmiuGRw0993zWwKzGBMarR2sqCPIPILculSxfJJ58Iiou1ecoayk2n472uXYnMymJxZSWDd+5kSnAwz0ZFEe3hYfnAWyhzk4anlHLbWV37Gr0Ar5QyAairq6AEvIQQzmgliiqgSAgRCvhKKTebrlsGXIcVk8bMR5PZt8+bNu+mUV0NBr2OaoOgulpgMOio1p/+3mgQGAyCaoNO21f7XL2OqgonqiqdqKpwQsqGfVK7uBnw9Nbj4a3Hs2YL0RPUpYqBAZX4BpTjG1CJj38Fvv4V+AZU4ONfiZNL9Rn3iU+Ip6pbd5KAI1kSsrT9tQtrslafhubeX22sxmA0nNr0Rv0ZP9dsaZlpfF70OQZpOq9afyoZlOvLz/i+9tcKQ4VZf94Cga+bL75uvgR4BBDkFUTHNh0J8gwiyCvojK/B3sGE+4bj6WJfk/i1NkFeQRiMBtp3LgW8OXxYq1ZtrAuB/w0Zwkvp6fxfRgafZWdzdWAgd4SGMsbfv1VM93Mu5iaNPCFENKaeUkKISZz62LGob4FrTff2BB6QUp4QQgwEMmudlwm0r+8mQoiZaKUSgoODiYuLa3Agnyz3oyqnEzjpQacHncH0vUH7+VzfuxjAreaaKnApB+fyM7+6lP17X81X12JwLwS3QvTOegrRRlLWqxI4btrO5WCD/xhszlk44ySccBJOOAtndOhwzju9z0k44apzxVXnipvODTcnN/x1/oS4hODm5nb6mJMbbjrtZ08nT7ycvU599XLywtPZEy8nL9yd3NGJeuqyjUCJtlVTzTHTf41VUlLSqH+b9siW75KfnQ/A0ZNrgav54Yd4iopyGn2/kpISdm7cyOXAQOBH4Kf8fH7Kz8cD6Af0BHoAEYA/2uA1S6pG+425Au1/75qvlXXsq+9YqcHAc3FxWDrFmZs07gXeB7oJIY4CKWg9quolhFiNNgDwbE9KKX+s57LBaH9eYWh/FxtM96nr76Te9gwp5fumeBk4cKBsTL3xjn/28/fWbxgwYACg/QZaQyshCcAFgetZ+6nnfNvu37p1K0OHDLWrmGrvd9Y5n7G5OLnU+eEdFxfnMO0A6l0so/JIJfMOzmPo6LYIAU5OPRgxokej73f2u0wEqoxG1hYU8F1uLmsLCnjftL4IgI+TExFubgS4uBBgmgDSWQicTJsO0EtJpdFIpdFIhdFIpenncqOR8upqyoxGymp9rWxEc60APHU6PJ2c8DQ14l8wfDgeFi4ZnTNpCCEerPXjKmAtoANK0f4sX6/vWinl6EbEcwvwm5RSD+QIIf5GS/YbgNqrw4dDE37FM0PPdj3J88ljYNhAaz6m2WR6ZBIdEG3rMBTF4mrmnyqsPk5kZMO73ZrDVafj8oAALjdNOZJTVcWO4mKOlJdzpLycjMpKThoMpFVUsMc0k3A1YJSSailx0elwEwI3nQ53nQ430+bt5ESwi8upD3pPJyc8an3wm/PVQ6fD03S/2r+UxcXFWTxhwPlLGjXNSV2BQWglNQFMAdZbPBpIB0YJIT5Dq54aCiyUUmYJIYqFEEOBrcBUYLEVnq8oSgtTM/+U1hhunaTxr2e6unLF2csEthLn7IgspXxOSvkc0BboL6V8WEr5EDCAM3/zbxAhxHghRCYwDPhFCPG76dBbgDda76p/gI+klHtNx+5G6457BEjCio3giqK0HDXzT+WW5p4aq2G9zviKuW0akWjtMjWqgKjGPlRKuQJYUcf+ErRut3Vdsx2t/UlRFOWUmvmnckpz6NJF67KenQ0hdbWoKk1mbtL4FNgmhFiB1gA9HvjEalEpiqI0QDuvduSW5XKlabLCQ4dU0rAWs8bJSylfBKYBJ4ECYFrNSG1FURRbC/LSBvh17ar93JjpRBTzmD2jkJRyJ7DTirEoiqI0Ss38UxER2hrrzdEYbq8MBvjpJ/jkkxguucTyMz+oGbkURWnx2nm1I7c0FycnbZqc1pg0CgthwQKIjtaWVN68OZDj5xvw2whq7lJFUVq8mvmnpJR07So4cMDWETWf48fhlVdgyRJtOYMRI2DRIvD23kJo6AiLP0+VNBRFafFq5p8qqCigSxdIStKqaRxZfj48+qg2KemiRdryyjt2wNq1MHzMCdbmrbbKc1XSUBSlxTt7gJ/BAKmpto3JWqqq4NVXtWTx6qtaVdTBg/DZZ9C7r4E3t71JzOIY5ifOJ7Mo8/w3bCBVPaUoSot35gA/rd9tYqLWvuFI/vgDZs3S3u3qq+Gll7R1cAD+Tv+bO1feyYHcA4zqOIrJAZMJ9230GOx6qZKGoigtXs38UzUD/MCxGsNPnIDJk+Hyy7VS1C+/aD2kYmOhtKqU+369j+EfDae4qpgVN65g9ZTVdPLuZJVYVElDUZQWr3b1VGAg+Ps7TtJYtQqmT9cWXXv2WXjsMXB3145tztjM5O8nk1KQwr2D7uWlS1/Cx60RK1A1gEoaiqK0eLWrp4Sg0euF25PKSnjoIXjrLa1EsXLl6cWljNLIgk0LeGLNE0T4RrD+tvUM7zD83De0EJU0FEVp8WrPPwXQpQv89ZeNg2qCtDS44QbYtg0eeEBru3Bz046dLD/JlBVT+OXwL0zsPpGl1yyljXubZotNJQ1FURxCzfxToJU0li3Txi14t7Al2levhhtv1NouvvsOJkw4fezIiSOM+2IcySeTefOKN7ln0D11LZttVaohXFEUh1Az/xRwqjH88GEbBtQIH30EV1wBYWGwffuZCWNj+kaGLh1KXlkef039i3sH39vsCQNU0lAUxUEEeQaRW3pm0mgpjeFSwjPPwO23w8iR8PffEBNz+vjPiT9z6bJLCfQMZMv0Lc3WflEXlTQURXEI7bzanWrTqPnAbQmN4dXVMGMGvPACTJumdaf19T19/Kv9XzHh6wn0Ce7D5js20znAtoNPVNJQFMUhBHkGkVeWh5QSDw+stl64JVVXa4nigw/gySe1ry4up48v27OMW76/hWHhw1g9dTUBHgG2C9ZEJQ1FURxCkFcQeqOewspCgGZbL7yxDAaYMgU+/RSefx7mzj1zGvNv479l2o/TGNVxFL/d+hu+br7136wZqaShKIpDqBngV1NFZc/rhRuN8J//wJdfwvz58PTTZx7/M+lPbvlOK2H8eNOPeLp42ibQOqikoSiKQ6g9wA+0kkZREeTk2DKqf5NSG3vxxRcwb542U21t245uY/xX4+ke1J2Vt6y0q4QBKmkoiuIgauafOrvbrb1VUb30kjaV+QMPaFOC1JZRmME1X15DO692/H7r7806aM9cKmkoiuIQ6qqeAvvqQVXT4H3rrfDaa2e2YZRWlXLt8msp05ex8paVhHiH2C7Qc1AjwhVFcQhnV09FRoKrq/0kjXXr4K67tJlqP/wQdLV+ZTdKI7f9eBu7j+9m5S0r6RHUw3aBnodKGoqiOISa+adqqqecnKB7d9i3z8aBASkp2mJJnTvDV1+d2a0WYMGmBXwb/y2vjH6FK2OutE2QZlLVU4qiOIzaA/wA+vSBvXttGBBQXAzXXKP1mPrpJ/DzO/P4lswtPLHmCSZ2n8jDFzxsmyAbwCZJQwhxvRDigBDCKIQYWGu/qxDiIyHEPiHEHiHEiFrHBpj2HxFCLBK2mHRFURS7Vnv+KdCSRlaWthaFLUgJt90GCQnw9ddnTg0CUFBRwM3f3Ux7n/YsvWapTeaSaihblTT2AxOA9WftnwEgpewFXAYsEELUxPgOMBOIMW1jmydURVFaitrzT4GWNAD27LFNPIsXw/ffw8svw+jRZx6TUjLj5xlkFmWyfNJyu+wpVRebJA0pZYKUsq7mqR7AX6ZzcoACYKAQIhTwlVJullJKYBlwXbMFrChKi1B7enSwbdLYtg0eflirmnrwwX8f/2LfF3wb/y0vjHyBoeFDmz/ARrK3No09wLVCCGchREdgABABtAcya52XadqnKIpySk1JQ5qGgbdtq00z3txJ4+RJbU2MsDBtuvOza52Olxxn1m+zGBo+lEcueKR5g2siq/WeEkKsBurqaPyklPLHei77EOgObAfSgE2AAairoq/eyQGEEDPRqrIIDg4mLi7O/MBrKSkpafS19sZR3sVR3gPUu1hDYVYheqOeX/76BW9nbfWliIhe/P23G3Fx2826R1PfRZvmPJaMjEAWLdrF3r3FZx2XPBv/LMUVxdwdejcb1m9o9LPOxWp/J1JKm21AHDDwHMc3oVVZhQIHa+2/GXjPnGcMGDBANtbatWsbfa29cZR3cZT3kFK9izV8uudTyRzkobxDp/Y99piULi5SVlaad4+mvsuSJVKClAsW1H18+b7lkjnI+RvmN+k559PU9wC2yzo+U+2qekoI4SmE8DJ9fxlgkFLGSymzgGIhxFBTr6mpQH2lFUVRWqmaAX61u9326wd6ffOM10hN1aYHGTkS7r//38cLKwq577f7GBg2kIcueMj6AVmBrbrcjhdCZALDgF+EEL+bDrUDdgohEoBHgSm1LrsbWAocAZKAX5sxZEVRWoCz558CGDJE+7p1q3WfbTRq3WuF0NoxdHV8us6Jm0NOaQ7vXvUuzrqWObbaJlFLKVcAK+rYnwp0reea7UBP60amKEpLVjP/VO1ut5GREBwMW7bAPfdY79mLFmlThXzwAXTo8O/j+3P2s3jbYmYOmMmAsAHWC8TK7Kp6SlEUpSnqqp4SQittWLOkcfAgPP44jBunrcR3Nikl//v1f/i5+/HiqBetF0gzUElDURSHcfb8UzWGDtWmSD9xwvLPNBi0BZU8PWHJkn93rwX4+sDXxKXGMW/UPAI9Ay0fRDNSSUNRFIdy9gA/sG67xvz52kC+d96BkDoGGVRVV/H4X4/TJ7gP0/tPt3wAzUwlDUVRHEqQV9AZ1VOgJQ0XF7D0sIXdu+G55+Cmm+CGG+o+573t75FSkMLLo1/GSedk2QBsQCUNRVEcytnzTwF4eWlVVGvWWO45lZUwZYo26vytt+o+p6iyiOfXP8+ojqMYEz3Gcg+3IZU0FEVxKCHeIRwvOf6v/aNGwc6d2hQflvDss7B/v9ZbKiCg7nMWbFpAXlke8y+d3yJmsDWHShqKojiUUO9QckpzMBgNZ+y/9FJtLMW6dU1/xqZN8OqrMH06XFnPmknZJdks2LyAG2JvYFD7QU1/qJ1QSUNRFIcS6hOKRNbZruHlBb//Xs+FZiopgalTtfEfr79eFBmC0wAAD/9JREFU/3mvbnqVckM5c0fObdoD7YxKGoqiOJRQ71AAsoqzztjv6gpjx8IPP2gljsZ6+GFIToZly8DHp+5zckpzeGf7O0zuNZmYwJi6T2qhVNJQFMWhhPqYkkZJ1r+OTZwIx4/D5s2Nu/eqVfDee1riGD68/vNe3/w65fpynhz+ZOMeZMdU0lAUxaHUV9IAuOoqrcTx3XcNv29eHtxxB/TqBS+8cI7zyvJ4c9ub3NTzJrq2rXNWpBZNJQ1FURxKsHcwUHdJw9cXxoyB5cu1mW/NVTMZYX4+fPopuLnVf+7CLQsp05c5ZCkDVNJQFMXBuDq50tazbZ0lDYAZMyArC1auNP+eL78Mv/wCCxeeXkK2LoUVhSzetpiJPSYS2y62gZG3DCppKIricEK9Q+ssaYDWRTY8XEsAst71P09bswaeegpuvhnuvvvc5y7ZuYSiyiIeu/CxRkTdMqikoSiKwwn1qT9pODvD7Nmwfv35R4jv3w8TJkC3bvD++3VPRlhDX63nja1vMDJqZIue+vx8VNJQFMXhhHqH1ls9BVoVVWQkzJoFFRV1n3P4MFxxhTZ77a+/grf3uZ/59YGvySzK5P/bu/coKcozj+Pfh4vAKDAgchNQCKNCAEmYeITVFW+7w8oa1vWsF3aJZgMinv0jMSZLOLvnaDaJF/afWckgHtRlE1Zdjx5JdIzGZWJAjAw3RRiUCCKKGhRQbgozz/7RNdqL3TPV011T3dW/zzl9Tvdb71v1PNRUP1R1XW6dXJpP5AtLRUNEEqf1ViKe5fhTz56weDFs2QK33PLlw1Qvvpg6pfbo0VTBGDGi7eW5OwvXLGTMgDFMq5pWoCyKk4qGiCTOkFOGcKzlGB8e+TBrn2nTUr9VPPAAzJiRur3I6tVQWzuaCy9MXT3++9+3/cN3q5U7V7LxvY3cOvlWuliyv1ZL8yG1IiJt+PwCv0/2MKBiQNZ+d9yRutngj34EK1ak2rp2Hcrs2XD33alTdMNY+OJCBp48kJkTZuYbetFT0RCRxPn8Ar+Dexg/aHzWfmbw3e+mHtG6alXqMFVz8xpmzPiz0Mvatncb9dvruWPqHfTs1jPv2IudioaIJM7Q3kMBeOfjd0L1r6xMPd8boKEhh6v+gMWNi+nWpRuzJ83OaVypSvbBNxEpS8P6DAPg7Y/fjnQ5h48d5qFND3HVmKsYfEqGZ70mkIqGiCROj249GHzKYHYd2BXpch597VH2H93PzdXtXPWXICoaIpJII/qOiLxo1DXWMWbAGC4646JIl1NMVDREJJGiLhrr96zn5XdeZm713MQ8yjWMWIqGmd1jZk1m9oqZPWFmlWnT5pvZdjPbZmZ/mdY+ycxeDabVWjmtJRHJ2Yg+qaKR7QK/fNWtraOiewWzzp0VyfyLVVx7Gs8B49x9AvA6MB/AzMYC1wJfBWqAn5tZ12BMHTAHqApeNZ0dtIiUjhF9R3Dk+JE2L/DrqANHD7B883KuG3cdlT0r2x+QILEUDXd/1t1bn/r+EjAseP9N4GF3/9TddwDbgfPMbAjQx93XeOq/DcuAGZ0euIiUjBF9U/f+iOIQ1bJNyzh87HBZ/QDeqhh+0/g2UB+8Px1IP0dud9B2evD+xHYRkYyiKhruTl1jHd8Y+o1E3802m8gu7jOz3wKZTlxe4O5PBn0WAMeBX7YOy9Df22jPtuw5pA5lMWjQIBoaGsIHnubgwYMdHltskpJLUvIA5RK1/Z/tB+D5xuepfC/8IaT2ctm4fyNb927lB2f/oOhyThfZOnH3WF7At4A1QEVa23xgftrn3wCTgSFAU1r7dcB9YZYzadIk76iVK1d2eGyxSUouScnDXblEraWlxXv9Wy//3jPfy2lce7lc8z/XeOWdlX7os0N5RBe9fNcJ0OgZvlPjOnuqBvghcKW7H06btAK41sx6mNlIUj94v+zue4BPzOz84KypWcCTnR64iJQMM2NUv1Fs37e9YPN8/+D7PL71cW449wYqulcUbL6lJK57T90L9ACeC86cfcnd57r7a2b2KLCF1GGrW9y9ORhzM/AQ0IvUbyD1X5qriEiaqlOr2LZ3W8Hmt3TDUo61HGNu9dyCzbPUxFI03H10G9N+AvwkQ3sjMC7KuEQkWar6V/H0G0/T3NJM1y5d2x/QhuaWZu5bdx+XjLyEswecXaAIS08xnD0lIhKJqv5VfNb8WUFuXFi/vZ5dB3Yxd1L57mWAioaIJFjVqVUAvPHhG3nPq66xjsGnDGbGOeV9iZiKhogkVlX/oGh8lF/R2LFvB/Vv1POdr32H7l27FyK0kqWiISKJNbT3UCq6V+S9p3H/+vsxM+ZMmlOgyEqXioaIJJaZMbr/6Lz2ND49/ilLNyxl+lnTGd53eAGjK00qGiKSaOcMOIctf9rS4fGPbXmMDw59wLzqeQWMqnSpaIhIok0YOIEd+3fw8acfd2j8orWLGN1/NJd/5fICR1aaVDREJNEmDJoAwOYPNuc8dsOeDazZvYZ51fPoYvq6BBUNEUm4cwefC8Ar77+S89hFaxfRq1svbph4Q4GjKl0qGiKSaMP7DKeyZyWb3tuU07h9R/ax/NXlzBw/k369+kUUXelR0RCRRDMzJg6eSOOexpzGPbjxQY4cP8It590SUWSlSUVDRBJvyrApbNizgUOfHQrV/3jLcWr/UMsFIy5g4uCJEUdXWlQ0RCTxpgyfQrM30/huuL2NR197lLcOvMVtU26LOLLSo6IhIok3efhkAFa/vbrdvu7O3avvZsyAMUw/a3rUoZUcFQ0RSbz+vfozbuA4nt/xfLt91+5by6b3N3HblNt0mm0G+hcRkbJwRdUVvPDWC21e5OfuPLjzQYb1Gcb146/vxOhKh4qGiJSF6WdN53jLcZ7947NZ+zzR9ARNnzRx+9Tb6dGtRydGVzpUNESkLJw/7HxOqziN5a8uzzj9WPMxFvzvAs6oOINZ587q5OhKh4qGiJSFbl26cePEG1mxbQXvfPzOl6bfuepOmvY2cdOom+jWJZYnYZcEFQ0RKRs3Vd9Ei7dw1+q7/l/7unfX8eMXfsy1465l8qmTY4quNKhoiEjZGNVvFHOr57Jo7SJW70qdfrvlT1u48uErGdJ7CLU1tTFHWPy0DyYiZeWnl/6U5958jsv/63IuHnkxDTsb6H1Sb56Z+QynnXxa3OEVPe1piEhZqexZye9u+B1Xj72anft3cvXYq1k7ey3jB42PO7SSoD0NESk7Q3sPZdnfLIs7jJKkPQ0REQlNRUNEREKLpWiY2T1m1mRmr5jZE2ZWGbSfamYrzeygmd17wphJZvaqmW03s1ozszhiFxEpZ3HtaTwHjHP3CcDrwPyg/SjwL8D3M4ypA+YAVcGrphPiFBGRNLEUDXd/1t2PBx9fAoYF7YfcfRWp4vE5MxsC9HH3Ne7uwDJgRmfGLCIixXH21LeBR9rpczqwO+3z7qAtIzObQ2qvhEGDBtHQ0NChwA4ePNjhscUmKbkkJQ9QLsUqKblElUdkRcPMfgsMzjBpgbs/GfRZABwHftne7DK0ebbO7r4EWAJQXV3tU6dODRPylzQ0NNDRscUmKbkkJQ9QLsUqKblElUdkRcPdL2trupl9C5gOXBoccmrLboJDWIFhwLv5RSgiIrmK5fCUmdUAPwQucvfD7fV39z1m9omZnQ/8AZgF/EeYZa1bt26vmb2V1tQXOBDy/QBgb5jlZJA+v1z7ZGo/sa2tz63v09tKMZdCr5O24gzTJ9dcivXvK9u0UsylnLeVKNcJwBkZW92901/AduBtYGPwWpw2bSfwEXCQ1B7G2KC9GtgM/BG4F7AOLntJ2PdAYx45Lulon0ztJ7a19Tkt/vS2ksul0Ouks3Mp1r+vJOVSzttKlOukrVcsexruPrqNaWdmaW8ExhVg8b/K8X0hlpNrn0ztJ7a19flXWfp0VFy5FHqdhJ1PoXIp1r+vbNNKMZdy3laiXCdZWVCRJAMza3T36rjjKISk5JKUPEC5FKuk5BJVHrqNSNuWxB1AASUll6TkAcqlWCUll0jy0J6GiIiEpj0NEREJTUVDRERCU9EQEZHQVDQ6yMzGmNliM3vMzG6OO56OMrMZZna/mT1pZn8Rdzz5MLNRZrbUzB6LO5aOMLOTzew/g/UxM+548lHq66JVwraPwnxnRXHxR7G/gAeAD4DNJ7TXANtIXXz4zyHn1QVYmoA8+sWVRwS5PBb331hH8gL+Afjr4P0jccdeiHVUTOsizzxi3T4KnEte31mxJx3TP/SfA19P/4cGupK62nwUcBKwCRgLjAd+fcJrYDDmSuBF4PpSziMY9+/A10t9nQTjiuaLKse85gMTgz7L4449n1yKcV3kmUes20ehcinEd1Yx3Bq907n7C2Z25gnN5wHb3f1NADN7GPimu/+M1I0VM81nBbDCzJ4ClkcXcWaFyCN4AuKdQL27r4824uwKtU6KTS558cWNOTdShIeOc8xlS+dGF14ueZjZVopg+8gm13VSiO+sovvDjNHppO6H1aq9Z3ZMDR47ex/wdNTB5SCnPIB/Ai4DrjazuVEG1gG5rpNTzWwx8DUzm5+tXxHIltfjwN+aWR0R3wqigDLmUkLrolW2dVLM20c22dZJQb6zynJPI4tcn9nRADREFUwecs2jFqiNLpy85JrLh0ApbNgZ83L3Q8CNnR1MnrLlUirrolW2PIp5+8gmWy4NFOA7S3saX9gNDE/7XKrP7EhKHpCsXNIlKa+k5JKUPCDiXFQ0vrAWqDKzkWZ2EnAtsCLmmDoiKXlAsnJJl6S8kpJLUvKAqHOJ+9f/mM44+G9gD3CMVFX+x6D9r4DXSZ15sCDuOMslj6TlktS8kpJLUvKIKxfdsFBERELT4SkREQlNRUNEREJT0RARkdBUNEREJDQVDRERCU1FQ0REQlPREIlRcD+gX6d97m5m6+KMSaQtKhoiEbCUjmxfF5C6dbVIUVLRECkQMzvTzLaa2c+B9cBSM2s0s9fM7Pa0fjVm1mRmq4CrTphNDVAfPMXvKTPbZGabzeyaTkxFJCvd5VaksM4GbnT3eWbW390/MrOuwPNmNoHUrR3uBy4h9VS1R04YfzFwOzANeNfdrwAws76dloFIG7SnIVJYb7n7S8H7vzOz9cAG4Kukns53DrDD3d/w1D18ftE60MyGAh+5+2HgVeAyM7vLzC509wOdm4ZIZioaIoV1CMDMRgLfBy519wnAU0DPoE+2G75NA34D4O6vA5NIFY+fmdm/Rhm0SFgqGiLR6EOqgBwws0GkCgJAEzDSzL4SfL4ubUwNUA+f73UcdvdfAAtJPQdaJHb6TUMkAu6+ycw2AK8BbwKrg/ajZjYHeMrM9gKrgHHB7x5V7t4UzGI8cI+ZtZC67fXNnZ6ESAa6NbpIETCzC4C/d/dSekSqlCEVDRERCU2/aYiISGgqGiIiEpqKhoiIhKaiISIioaloiIhIaCoaIiISmoqGiIiE9n90B0z5n0U2SAAAAABJRU5ErkJggg==\n", 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" ] @@ -110,7 +113,10 @@ "\n", "# One Controller to rule them all, One Controller to find them,\n", "# One Controller to bring them all, and in the rocket bind them\n", - "H = 10*(s/100+1)*(s/100+1)/s \n", + "# H= 10*(s/100+1)*(s/100+1)/s \n", + "# H = (5*s+50)/((s)*(s+5))\n", + "#H = (140*(s+60)*(s+60))/(s*(2138*s + 20008.8))\n", + "H = 140*(s+50)*(s+50)/(s*(2138*s + 208.8))\n", "\n", "Go_list = []\n", "for trim_point in trim_points:\n", @@ -185,8 +191,23 @@ " print(gm, pm, wg, wp)\n", " print(trim_point['name'])\n", " print('max delay', np.deg2rad(pm)/wp, 's')\n", + " print('Minimum freq required',1/(np.deg2rad(pm) / wp),'Hz')\n", " print('gain margin', 20*np.log10(gm), 'dB')" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { @@ -206,7 +227,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.7.4" + "version": "3.7.3" }, "mimetype": "text/x-python", "name": "python", From 463ae3ebddda2b4235dde3b5e5eb71203d40016d Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Thu, 24 Oct 2019 11:51:55 -0400 Subject: [PATCH 21/26] wrote quadtree cpp and setup compliers --- homework/hw7/CMakeLists.txt | 3 + homework/hw7/quadtree.cpp | 228 ++++++++++++++++++++++++++++++++++++ 2 files changed, 231 insertions(+) create mode 100644 homework/hw7/CMakeLists.txt create mode 100644 homework/hw7/quadtree.cpp diff --git a/homework/hw7/CMakeLists.txt b/homework/hw7/CMakeLists.txt new file mode 100644 index 00000000..76a0196e --- /dev/null +++ b/homework/hw7/CMakeLists.txt @@ -0,0 +1,3 @@ +project(quadtree) +cmake_minimum_required(VERSION 3.5) +add_executable(quadtree quadtree.cpp) \ No newline at end of file diff --git a/homework/hw7/quadtree.cpp b/homework/hw7/quadtree.cpp new file mode 100644 index 00000000..68deb774 --- /dev/null +++ b/homework/hw7/quadtree.cpp @@ -0,0 +1,228 @@ +// import relevant libraries +#include +#include +#include +#include +#include +#include +#include /* srand, rand */ +#include /* time */ +#include /* sqrt */ +#include + +struct Position +{ + double x, y; +}; + +struct Landmark +{ + Position pos; + int id; +}; + +class QuadTree +{ +public: + QuadTree() = delete; + virtual ~QuadTree() + { + if (m_verbose) + { + std::stringstream s; + s << std::string(m_depth, ' ') << "QuadTree deconstructor" + << " size: " << m_size + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + std::cout << s.str(); + } + } + QuadTree(const Position ¢er, double size, double resolution, int depth = 0) : m_center(center), m_size(size), m_resolution(resolution), m_depth(depth) + { + if (m_verbose) + { + std::stringstream s; + s << std::string(m_depth, ' ') << "QuadTree constructor" + << " size: " << m_size + << " resolution: " << m_resolution + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + std::cout << s.str(); + } + } + /** + * This function is is just used to check if a point is actuall contained in the tree + **/ + bool contains(const Position &p) + { + double tol = 1e-5; + return ( + (p.x > (m_center.x - m_size - tol)) && (p.x < (m_center.x + m_size + tol)) && (p.y > (m_center.y - m_size - tol)) && (p.y < (m_center.y + m_size + tol))); + } + /** + * Allows landmark insertion into QuadTree + **/ + void insert(const Landmark &lm, int depth = 0) + { + if (m_check && !contains(lm.pos)) + { + std::stringstream s; + s << "landmark not inside" + << " x: " << lm.pos.x + << " y: " << lm.pos.y + << " size: " << m_size + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + throw std::runtime_error(s.str()); + } + if (m_size < m_resolution) + { + m_landmarks.push_back(lm); + } + else + { + if (lm.pos.x > m_center.x) + { + if (lm.pos.y > m_center.y) + { + Position center{m_center.x + m_size / 2, m_center.y + m_size / 2}; + subInsert(m_NE, lm, center); + } + else + { + Position center{m_center.x + m_size / 2, m_center.y - m_size / 2}; + subInsert(m_SE, lm, center); + } + } + else + { + if (lm.pos.y > m_center.y) + { + Position center{m_center.x - m_size / 2, m_center.y + m_size / 2}; + subInsert(m_NW, lm, center); + } + else + { + Position center{m_center.x - m_size / 2, m_center.y - m_size / 2}; + subInsert(m_SW, lm, center); + } + } + } + } + /** + * search: TODO + * + * This function must recursively search the quadtree to find all landmarks + * that are within the search radius. + **/ + std::list search(const Position &position, double radius) + { + std::list close_landmarks; + /* write your code here */ + return close_landmarks; + } + +private: + void subInsert(std::shared_ptr &tree, const Landmark &lm, const Position &pos) + { + if (!tree.get()) + { + tree = std::make_shared(pos, m_size / 2, m_depth + 1); + } + tree->insert(lm); + } + std::shared_ptr m_NE{}, m_SE{}, m_SW{}, m_NW{}; + std::list m_landmarks{}; + Position m_center{0, 0}; + double m_size{1024}; + double m_resolution{1}; + bool m_check{true}; + int m_depth{0}; + bool m_verbose{false}; +}; + +int main(int argc, char const *argv[]) +{ + srand(1234); // seed random number generator + + Position center{0, 0}; // center of space + double size = 1000; // size of space + double resolution = 1; // smallest cell in quadtree + int n_landmarks = 1000; // number of landmarks + QuadTree tree(center, size, resolution); + double search_radius = 50.0; // radius we want to find landmarks within + + // create random landmarks + std::list landmarks; + for (int id = 0; id < n_landmarks; id++) + { + float x = size * 2 * (double(rand()) / RAND_MAX - 0.5); + float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); //creating random -1000 to 1000 for x and y + //std::cout << "inserting landmark id: " << id << " x: " << x << " y: " << y << std::endl; + landmarks.push_back(Landmark{x, y, id}); // landmark insertion(푸시백) + } + std::cout << "created " << landmarks.size() << " landmarks" << std::endl; + + // where you are + float x = size * 2 * (double(rand()) / RAND_MAX - 0.5); + float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); + Position vehicle_position{x, y}; + std::cout << "searcing at x: " << x << " y: " << y << " radius: " << search_radius << std::endl; + + // brute force search + std::list close_landmarks_brute_force; + auto start = std::chrono::high_resolution_clock::now(); + for (auto &lm : landmarks) + { + float dx = vehicle_position.x - lm.pos.x; + float dy = vehicle_position.y - lm.pos.y; + float d = sqrt(dx * dx + dy * dy); + if (d < search_radius) + { + close_landmarks_brute_force.push_back(lm); + } + } + double elapsed_brute_force_search = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << "search landmarks brute force,\telapsed time " + << elapsed_brute_force_search << " ns" << std::endl; + // output close landmarks + for (auto &lm : close_landmarks_brute_force) + { + std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; + } + + // insert random landmarks into quadtree + std::cout << "quadtree inserting landmarks"; + start = std::chrono::high_resolution_clock::now(); + for (auto &lm : landmarks) + { + tree.insert(lm); + } + double elapsed_quadtree_insert = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << ",\telapsed time " << elapsed_quadtree_insert << " ns" << std::endl; + + // quadtree search + std::list close_landmarks_quadtree = tree.search(vehicle_position, search_radius); + std::cout << "quadtree searching"; + start = std::chrono::high_resolution_clock::now(); + for (auto &lm : close_landmarks_quadtree) + { + std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; + } + double elapsed_quadtree_search = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << ",\t\telapsed time " << elapsed_quadtree_search << " ns" << std::endl; + + /* code */ + + std::ofstream myfile; + myfile.open("myname.txt"); + myfile << elapsed_quadtree_search << std::endl; + myfile.close(); + return 0; +} From 38cc0facf492def882ee3b3ecb7875071a1cbe4a Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Tue, 29 Oct 2019 10:56:16 -0400 Subject: [PATCH 22/26] Finished the code of hw 7 --- homework/hw7/CMakeLists.txt | 2 +- homework/hw7/quadtree.cpp | 52 +----- homework/hw7/quadtree_test | Bin 0 -> 194192 bytes homework/hw7/quadtree_test.cpp | 288 +++++++++++++++++++++++++++++++++ 4 files changed, 290 insertions(+), 52 deletions(-) create mode 100755 homework/hw7/quadtree_test create mode 100644 homework/hw7/quadtree_test.cpp diff --git a/homework/hw7/CMakeLists.txt b/homework/hw7/CMakeLists.txt index 76a0196e..b63a477c 100644 --- a/homework/hw7/CMakeLists.txt +++ b/homework/hw7/CMakeLists.txt @@ -1,3 +1,3 @@ project(quadtree) cmake_minimum_required(VERSION 3.5) -add_executable(quadtree quadtree.cpp) \ No newline at end of file +add_executable(quadtree_test quadtree_test.cpp) diff --git a/homework/hw7/quadtree.cpp b/homework/hw7/quadtree.cpp index 93e9c737..08d43c7c 100644 --- a/homework/hw7/quadtree.cpp +++ b/homework/hw7/quadtree.cpp @@ -1,10 +1,6 @@ // import relevant libraries #include #include -<<<<<<< HEAD -#include -======= ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 #include #include #include @@ -60,14 +56,10 @@ class QuadTree { double tol = 1e-5; return ( -<<<<<<< HEAD - (p.x > (m_center.x - m_size - tol)) && (p.x < (m_center.x + m_size + tol)) && (p.y > (m_center.y - m_size - tol)) && (p.y < (m_center.y + m_size + tol))); -======= (p.x > (m_center.x - m_size - tol)) && (p.x < (m_center.x + m_size + tol)) && (p.y > (m_center.y - m_size - tol)) && (p.y < (m_center.y + m_size + tol))); ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 } /** * Allows landmark insertion into QuadTree @@ -88,10 +80,7 @@ class QuadTree if (m_size < m_resolution) { m_landmarks.push_back(lm); -<<<<<<< HEAD -======= //std::cout << "resolution reached, adding landmark: " << m_landmarks.size() << std::endl; ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 } else { @@ -132,11 +121,7 @@ class QuadTree std::list search(const Position &position, double radius) { std::list close_landmarks; -<<<<<<< HEAD - /* write your code here */ -======= // just fill in your logic here ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 return close_landmarks; } @@ -163,14 +148,6 @@ int main(int argc, char const *argv[]) { srand(1234); // seed random number generator -<<<<<<< HEAD - Position center{0, 0}; // center of space - double size = 1000; // size of space - double resolution = 1; // smallest cell in quadtree - int n_landmarks = 1000; // number of landmarks - QuadTree tree(center, size, resolution); - double search_radius = 50.0; // radius we want to find landmarks within -======= Position center{0, 0}; // center of space double size = 1000; // size of space double resolution = 1; // smallest cell in quadtree @@ -178,22 +155,15 @@ int main(int argc, char const *argv[]) QuadTree tree(center, size, resolution); double search_radius = 50.0; // radius we want to find landmarks within std::cout << "size: " << size << " resolution: " << resolution << " n_landmarks: " << n_landmarks << std::endl; ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 // create random landmarks std::list landmarks; for (int id = 0; id < n_landmarks; id++) { float x = size * 2 * (double(rand()) / RAND_MAX - 0.5); -<<<<<<< HEAD - float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); //creating random -1000 to 1000 for x and y - //std::cout << "inserting landmark id: " << id << " x: " << x << " y: " << y << std::endl; - landmarks.push_back(Landmark{x, y, id}); // landmark insertion(푸시백) -======= float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); //std::cout << "inserting landmark id: " << id << " x: " << x << " y: " << y << std::endl; landmarks.push_back(Landmark{x, y, id}); ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 } std::cout << "created " << landmarks.size() << " landmarks" << std::endl; @@ -240,38 +210,18 @@ int main(int argc, char const *argv[]) std::cout << ",\telapsed time " << elapsed_quadtree_insert << " ns" << std::endl; // quadtree search -<<<<<<< HEAD - std::list close_landmarks_quadtree = tree.search(vehicle_position, search_radius); - std::cout << "quadtree searching"; - start = std::chrono::high_resolution_clock::now(); - for (auto &lm : close_landmarks_quadtree) - { - std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; - } -======= std::cout << "quadtree searching"; start = std::chrono::high_resolution_clock::now(); std::list close_landmarks_quadtree = tree.search(vehicle_position, search_radius); ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 double elapsed_quadtree_search = std::chrono::duration_cast( std::chrono::high_resolution_clock::now() - start) .count(); std::cout << ",\t\telapsed time " << elapsed_quadtree_search << " ns" << std::endl; -<<<<<<< HEAD - - /* code */ - - std::ofstream myfile; - myfile.open("myname.txt"); - myfile << elapsed_quadtree_search << std::endl; - myfile.close(); -======= for (auto &lm : close_landmarks_quadtree) { std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; } std::cout << "quadtree speed up: " << elapsed_brute_force_search/elapsed_quadtree_search << std::endl; ->>>>>>> eb4087acefb7e3964fbf7138371e79e42431d5e2 return 0; -} +} \ No newline at end of file diff --git a/homework/hw7/quadtree_test b/homework/hw7/quadtree_test new file mode 100755 index 0000000000000000000000000000000000000000..8f62c82b79239a4be6d9651b6fcfa369e661ed1a GIT binary patch literal 194192 zcmce<4SbE|{|A2G=V4FA#yreZPK=PWc^swYVH^ze{19fgVPc!vG$pB-oMu@DJ z>pnXkN=)i&(REF|tlC`~YmI~@K?2D?SrkP}(BidFe74kLv>;e*cqd5IS6-E_l?;(Q 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-0,0 +1,288 @@ +// import relevant libraries +#include +#include +#include +#include +#include +#include +#include /* srand, rand */ +#include /* time */ +#include /* sqrt */ +#include + +struct Position +{ + double x, y; +}; + +struct Landmark +{ + Position pos; + int id; +}; + +class QuadTree +{ +// enum CornerType {CORNER_TL, CORNER_TR, CORNER_BL, CORNER_BR}; +// private: +// QuadTree* m_pChild[4]; // 자식노드 정의 +// float m_nCenter; +// float m_nCorner[4]; + +// private: +// QuadTree* _AddChild(float nCornerTL, int nCornerTR, int nCornerBL, int nCornerBR); + + +public: + QuadTree() = delete; + virtual ~QuadTree() + { + if (m_verbose) + { + std::stringstream s; + s << std::string(m_depth, ' ') << "QuadTree deconstructor" + << " size: " << m_size + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + std::cout << s.str(); + } + } + QuadTree(const Position ¢er, double size, double resolution, int depth = 0) : m_center(center), m_size(size), m_resolution(resolution), m_depth(depth) + { + if (m_verbose) + { + std::stringstream s; + s << std::string(m_depth, ' ') << "QuadTree constructor" + << " size: " << m_size + << " resolution: " << m_resolution + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + std::cout << s.str(); + } + } + /** + * This function is just used to check if a point is actually contained in the tree + **/ + bool contains(const Position &p) + { + double tol = 1e-5; + return ( + (p.x > (m_center.x - m_size - tol)) + && (p.x < (m_center.x + m_size + tol)) + && (p.y > (m_center.y - m_size - tol)) + && (p.y < (m_center.y + m_size + tol))); + } + /** + * Allows landmark insertion into QuadTree + **/ + void insert(const Landmark &lm, int depth = 0) + { + if (m_check && !contains(lm.pos)) + { + std::stringstream s; + s << "landmark not inside" + << " x: " << lm.pos.x + << " y: " << lm.pos.y + << " size: " << m_size + << " center: " << m_center.x << ", " << m_center.y + << std::endl; + throw std::runtime_error(s.str()); + } + if (m_size < m_resolution) // break 문 + { + m_landmarks.push_back(lm); + //std::cout << "resolution reached, adding landmark: " << m_landmarks.size() << std::endl; + } + else + { + if (lm.pos.x > m_center.x) + { + if (lm.pos.y > m_center.y) + { + Position center{m_center.x + m_size / 2, m_center.y + m_size / 2}; + subInsert(m_NE, lm, center); + } + else + { + Position center{m_center.x + m_size / 2, m_center.y - m_size / 2}; + subInsert(m_SE, lm, center); + } + } + else + { + if (lm.pos.y > m_center.y) + { + Position center{m_center.x - m_size / 2, m_center.y + m_size / 2}; + subInsert(m_NW, lm, center); + } + else + { + Position center{m_center.x - m_size / 2, m_center.y - m_size / 2}; + subInsert(m_SW, lm, center); + } + } + } + } + /** + * search: TODO + * + * This function must recursively search the quadtree to find all landmarks + * that are within the search radius. + **/ + std::list search(const Position &position, double radius) + { + std::list close_landmarks; + std::list empty_land; + + float dx = position.x - m_center.x; + float dy = position.y - m_center.y; + float d = sqrt(dx*dx + dy*dy); + bool sub_check = d < (radius + (2*m_size)/sqrt(2)); + + if (m_size <= m_resolution) + { + for (auto i:m_landmarks) + { + close_landmarks.push_back(i); + } + return close_landmarks; + } + + + if (sub_check && m_NW.get()) + { + close_landmarks.splice(close_landmarks.begin(),m_NW->search(position, radius)); + } + if (sub_check && m_NE.get()) + { + close_landmarks.splice(close_landmarks.begin(),m_NE->search(position, radius)); + } + if (sub_check && m_SE.get()) + { + close_landmarks.splice(close_landmarks.begin(),m_SE->search(position, radius)); + } + if (sub_check && m_SW.get()) + { + close_landmarks.splice(close_landmarks.begin(),m_SW->search(position, radius)); + } + + return close_landmarks; + } + +private: + void subInsert(std::shared_ptr &tree, const Landmark &lm, const Position &pos) + { + if (!tree.get()) // 쿼드트리내에 랜드마크가 없을경우 + { + tree = std::make_shared(pos, m_size / 2, m_depth + 1); //새로운 쿼드트리 형성 + } + tree->insert(lm); + } + std::shared_ptr m_NE{}, m_SE{}, m_SW{}, m_NW{}; + std::list m_landmarks{}; + Position m_center{0, 0}; + double m_size{1024}; + double m_resolution{1}; + bool m_check{true}; + int m_depth{0}; + bool m_verbose{false}; +}; + + + +int main(int argc, char const *argv[]) +{ + srand(1234); // seed random number generator + + Position center{0, 0}; // center of space + double size = 1000; // size of space + double resolution = 1; // smallest cell in quadtree + int n_landmarks = 1000; // number of landmarks + QuadTree tree(center, size, resolution); // Defining quadtree object + double search_radius = 50.0; // radius we want to find landmarks within + std::cout << "size: " << size << " resolution: " << resolution << " n_landmarks: " << n_landmarks << std::endl; + + // create random landmarks + std::list landmarks; + for (int id = 0; id < n_landmarks; id++) + { + float x = size * 2 * (double(rand()) / RAND_MAX - 0.5); + float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); //creating random -1000 to 1000 for x and y + //std::cout << "inserting landmark id: " << id << " x: " << x << " y: " << y << std::endl; + landmarks.push_back(Landmark{x, y, id}); // landmark struct insertion(푸시백) (x,y,id) + } + std::cout << "created " << landmarks.size() << " landmarks" << std::endl; + + // where you are + float x = size * 2 * (double(rand()) / RAND_MAX - 0.5); + float y = size * 2 * (double(rand()) / RAND_MAX - 0.5); // x,y 위치 랜덤지정 + Position vehicle_position{x, y}; // x,y 로 vehicle position struct 지정 + std::cout << "searcing at x: " << x << " y: " << y << " radius: " << search_radius << std::endl; + + // brute force search + std::list close_landmarks_brute_force; + auto start = std::chrono::high_resolution_clock::now(); + for (auto &lm : landmarks) + { + float dx = vehicle_position.x - lm.pos.x; + float dy = vehicle_position.y - lm.pos.y; // landmark 와 vehicle position 의 x,y 거리차이 + float d = sqrt(dx * dx + dy * dy); // 거리 계산 + if (d < search_radius) // 거리가 search 반경보다 작을경우.. + { + close_landmarks_brute_force.push_back(lm); // landmark position 데이터 삽입 + } + } + double elapsed_brute_force_search = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << "search landmarks brute force,\telapsed time " + << elapsed_brute_force_search << " ns" << std::endl; + // output close landmarks + for (auto &lm : close_landmarks_brute_force) + { + std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; + } + + +/* Quadtree landmark insertion and searching */ + + // insert random landmarks into quadtree + std::cout << "quadtree inserting landmarks"; + start = std::chrono::high_resolution_clock::now(); + for (auto &lm : landmarks) + { + tree.insert(lm); + } + double elapsed_quadtree_insert = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << ",\telapsed time " << elapsed_quadtree_insert << " ns" << std::endl; + + + // quadtree searching method + std::cout << "quadtree searching"; + start = std::chrono::high_resolution_clock::now(); + std::list close_landmarks_quadtree = tree.search(vehicle_position, search_radius); // 서칭 메소드 콜 (x,y,id 반환) + double elapsed_quadtree_search = std::chrono::duration_cast( + std::chrono::high_resolution_clock::now() - start) + .count(); + std::cout << ",\t\telapsed time " << elapsed_quadtree_search << " ns" << std::endl; + + + + for (auto &lm : close_landmarks_quadtree) //lm 을 메소드 리턴 value 에 어드레스 패싱 + { + std::cout << "id: " << lm.id << " x: " << lm.pos.x << " y: " << lm.pos.y << std::endl; + } + + std::cout << "quadtree speed up: " << elapsed_brute_force_search/elapsed_quadtree_search << std::endl; + + + // data export + std::ofstream myfile; + myfile.open("myname.txt"); + myfile << elapsed_quadtree_search << std::endl; + myfile.close(); + + return 0; +} From fa9c41ebe734a2791a39c50a6c60e2a73debb404 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Tue, 29 Oct 2019 12:09:36 -0400 Subject: [PATCH 23/26] Add hw_7 plot with hw7_plot.ipynb. Finished the HW7. --- homework/hw7/hw7_plot.ipynb | 84 ++++++++++++++++++++++++++++++++++ homework/hw7/plot.txt | 9 ++++ homework/hw7/quadtree_test.cpp | 6 +-- 3 files changed, 96 insertions(+), 3 deletions(-) create mode 100644 homework/hw7/hw7_plot.ipynb create mode 100644 homework/hw7/plot.txt diff --git a/homework/hw7/hw7_plot.ipynb b/homework/hw7/hw7_plot.ipynb new file mode 100644 index 00000000..a6cfde6d --- /dev/null +++ b/homework/hw7/hw7_plot.ipynb @@ -0,0 +1,84 @@ +{ + "nbformat": 4, + "nbformat_minor": 2, + "metadata": { + "language_info": { + "name": "python", + "codemirror_mode": { + "name": "ipython", + "version": 3 + } + }, + "orig_nbformat": 2, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "npconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": 3 + }, + "cells": [ + { + "cell_type": "code", + "execution_count": 99, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": "[['47725', '0.01'], ['48458', '0.05'], ['34593', '0.1'], ['37482', '0.5'], ['38587', '1'], ['17576', '2'], ['19668', '3'], ['32571', '4'], ['16773', '5']]\n" + } + ], + "source": [ + "import numpy as np\n", + "from matplotlib import pyplot as plt\n", + "\n", + "filename = 'plot.txt'\n", + "data = open(filename,'r')\n", + "lines = data.readlines\n", + "\n", + "numbers = [[i for i in line.split()] for line in data.readlines()]\n", + "\n", + "print(numbers)\n", + "time=[]\n", + "res=[]\n", + "\n", + "for j in numbers:\n", + " time.append(float(j[0]))\n", + " res.append(float(j[1]))\n" + ] + }, + { + "cell_type": "code", + "execution_count": 100, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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\n", 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"text/plain": "
" + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "plt.plot(res, time)\n", + "plt.xlabel('resolution')\n", + "plt.ylabel('time (ns)')\n", + "plt.title('Result')\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ] +} \ No newline at end of file diff --git a/homework/hw7/plot.txt b/homework/hw7/plot.txt new file mode 100644 index 00000000..abfa6337 --- /dev/null +++ b/homework/hw7/plot.txt @@ -0,0 +1,9 @@ +47725 0.01 +48458 0.05 +34593 0.1 +37482 0.5 +38587 1 +17576 2 +19668 3 +32571 4 +16773 5 diff --git a/homework/hw7/quadtree_test.cpp b/homework/hw7/quadtree_test.cpp index aae6a4e0..a29bae72 100644 --- a/homework/hw7/quadtree_test.cpp +++ b/homework/hw7/quadtree_test.cpp @@ -196,7 +196,7 @@ int main(int argc, char const *argv[]) Position center{0, 0}; // center of space double size = 1000; // size of space - double resolution = 1; // smallest cell in quadtree + double resolution = 0.01; // smallest cell in quadtree int n_landmarks = 1000; // number of landmarks QuadTree tree(center, size, resolution); // Defining quadtree object double search_radius = 50.0; // radius we want to find landmarks within @@ -280,8 +280,8 @@ int main(int argc, char const *argv[]) // data export std::ofstream myfile; - myfile.open("myname.txt"); - myfile << elapsed_quadtree_search << std::endl; + myfile.open("plot.txt"); + myfile << elapsed_quadtree_search << " " << resolution << std::endl; myfile.close(); return 0; From 88f80faf648b97e88091c9b4fb3562c66d6d74b7 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Tue, 29 Oct 2019 14:07:44 -0400 Subject: [PATCH 24/26] changed resolution to 1 again --- homework/hw7/quadtree_test.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/homework/hw7/quadtree_test.cpp b/homework/hw7/quadtree_test.cpp index a29bae72..3e5120e9 100644 --- a/homework/hw7/quadtree_test.cpp +++ b/homework/hw7/quadtree_test.cpp @@ -196,7 +196,7 @@ int main(int argc, char const *argv[]) Position center{0, 0}; // center of space double size = 1000; // size of space - double resolution = 0.01; // smallest cell in quadtree + double resolution = 1; // smallest cell in quadtree int n_landmarks = 1000; // number of landmarks QuadTree tree(center, size, resolution); // Defining quadtree object double search_radius = 50.0; // radius we want to find landmarks within From 575dfc9d7accdc2fc687bef1cff81f670f660525 Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Wed, 5 Feb 2020 15:48:27 -0500 Subject: [PATCH 25/26] Before removing up --- lectures/10-Multirotor-Copy1.ipynb | 441 +++++++++++++++++++++++++++++ lectures/11-Multirotor.ipynb | 45 ++- 2 files changed, 473 insertions(+), 13 deletions(-) create mode 100644 lectures/10-Multirotor-Copy1.ipynb diff --git a/lectures/10-Multirotor-Copy1.ipynb b/lectures/10-Multirotor-Copy1.ipynb new file mode 100644 index 00000000..ffc89c5a --- /dev/null +++ b/lectures/10-Multirotor-Copy1.ipynb @@ -0,0 +1,441 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Multirotor Dynamic Model" + ] + }, + { + "cell_type": "code", + "execution_count": 45, + "metadata": {}, + "outputs": [], + "source": [ + "import casadi as ca\n", + "import numpy as np\n", + "import sys\n", + "sys.path.insert(0, '../python/pyecca')\n", + "import pyecca.lie.so3 as so3\n", + "from pyecca.util import rk4\n", + "import control\n", + "import matplotlib.pyplot as plt\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Here we will develop a simple thrust model for the propeller." + ] + }, + { + "cell_type": "code", + "execution_count": 48, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "(0.09759837383777031, 0.0009759837383777032)" + ] + }, + "execution_count": 48, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "def thrust(throttle, rho, r, V, kV, CT, Cm):\n", + " \"\"\"\n", + " throttle: 0-1 controls voltage, []\n", + " rho: density of air, [kg/m^3]\n", + " r: radius of propeller, [m]\n", + " V: voltage of battery [V]\n", + " kV: motor kV constant, [rpm/V]\n", + " \"\"\"\n", + " omega = throttle*V*kV*(2*ca.pi/60)\n", + " q = 0.5*rho*(omega*r)**2\n", + " s = ca.pi*r**2\n", + " return CT*q*s,Cm*q*s\n", + "\n", + "thrust(throttle=0.5, rho=1.225, r=0.05, V=11.1, kV=1550, CT=1.0e-2, Cm=1e-4)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$ u_{norm} = \\begin{bmatrix}u_{roll}\\\\u_{pitch}\\\\u_{yaw}\\\\u_{thrust} \\end{bmatrix} $" + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [], + "source": [ + "def motor2mix(u_motor):\n", + " map = np.array([\n", + " [-1,1,1,-1],\n", + " [1,-1,1,-1],\n", + " [1,1,-1,-1],\n", + " [1,1,1,1]])\n", + " return ca.mtimes(map,u_motor)\n", + "\n", + "def mix2motor(u_mix):\n", + " map = np.linalg.inv(np.array([\n", + " [-1,1,1,-1],\n", + " [1,-1,1,-1],\n", + " [1,1,-1,-1],\n", + " [1,1,1,1]]))\n", + " return ca.mtimes(map,u_mix)\n", + "\n", + "# Derivative of Euler angles\n", + "def euler_kinematics(e, w):\n", + " v = ca.SX.sym('v',3)\n", + " v[0] = (w[1]*ca.sin(e[2])+w[2]*ca.cos(e[2]))/ca.cos(e[1])\n", + " v[1] = w[1]*ca.cos(e[2]) - w[2]*ca.sin(e[2])\n", + " v[2] = w[0] + (w[1]*ca.sin(e[2]+w[2]*ca.cos(e[2])))*ca.tan(e[1])\n", + " return v" + ] + }, + { + "cell_type": "code", + "execution_count": 52, + "metadata": {}, + "outputs": [], + "source": [ + "def copter_equations(jit=True):\n", + " # state space model\n", + " #x: state: (position, orientation, velocity (body frame), angular velocity (body frame))\n", + " # 3 mrp,4 3 3\n", + " x = ca.SX.sym('x',12)\n", + " pos_n = x[0:3]\n", + " euler = x[3:6]\n", + " vel_b = x[6:9]\n", + " omega_b = x[9:12]\n", + "\n", + " #u: control, normalized to roll, pitch, yaw, and thrust\n", + " u_mix = ca.SX.sym('u_mix', 4)\n", + "\n", + " #y: output, just state for now\n", + " y = x\n", + "\n", + " #parameters: Jx Jy Jz Jxy g m CL0 CLa CD0\n", + " p = ca.SX.sym('J',6)\n", + " Jx = p[0]\n", + " Jy = p[1]\n", + " Jz = p[2]\n", + " Jxz = p[3]\n", + " g = p[4]\n", + " m = p[5]\n", + "\n", + " #inertia tensor\n", + " J_b = ca.SX.zeros(3,3)\n", + " J_b[0,0] = Jx\n", + " J_b[1,1] = Jy\n", + " J_b[2,2] = Jz\n", + " J_b[0,2] = J_b[2,0] = Jxz\n", + "\n", + " C_nb = so3.Dcm.from_euler(euler) # DCM rotation\n", + " g_n = ca.vertcat(0,0,g) # gravity\n", + " vel_n = ca.mtimes(C_nb, vel_b) # inertial velocity\n", + "\n", + " l_arm = 0.5\n", + " arm_angles = [45, -135, -45, 135]\n", + "\n", + " thrusts = []\n", + " F_b = ca.vertcat(0,0,0)\n", + " M_b = ca.vertcat(0,0,0)\n", + " u_motor = mix2motor(u_mix)\n", + " for i in range(u_motor.size()[0]):\n", + " thrust_i = thrust(throttle=u_motor[i], rho=1.225, r=0.05, V=11.1, kV=1550, CT=1.0e-2, Cm=1e-4)\n", + " thrusts.append(thrust_i)\n", + " angle = arm_angles[i]\n", + " arm_vect = np.array([np.cos(angle),np.sin(angle),0])\n", + " thrust_vect = ca.vertcat(0,0,-thrust_i)\n", + " M_b += ca.cross(arm_vect,thrust_vect)\n", + " F_b += thrust_vect\n", + " m = 0.2; \n", + " F_b += ca.mtimes(C_nb.T, m*g_n)\n", + "\n", + " force = ca.Function('force',[x,u_mix,p],[F_b],['x','u_mix','p'],['F_b'])\n", + " moment = ca.Function('moment',[x,u_mix,p],[M_b],['x','u_mix','p'],['M_b'])\n", + " \n", + " # xdot = rhs hand side\n", + " rhs = ca.Function('rhs',[x,u_mix,p],[ca.vertcat(\n", + " ca.mtimes(C_nb, vel_b),\n", + " euler_kinematics(euler,omega_b),\n", + " F_b/m - ca.cross(omega_b,vel_b),\n", + " ca.mtimes(ca.inv(J_b), M_b - ca.cross(omega_b, ca.mtimes(J_b, omega_b))))],\n", + " ['x','u_mix','p'],['rhs'],{'jit': jit})\n", + " return {\n", + " 'x': x,\n", + " 'u_mix': u_mix,\n", + " 'p': p,\n", + " 'rhs': rhs\n", + " }" + ] + }, + { + "cell_type": "code", + "execution_count": 53, + "metadata": {}, + "outputs": [ + { + "ename": "TypeError", + "evalue": "bad operand type for unary -: 'tuple'", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mTypeError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 14\u001b[0m \u001b[0;32mreturn\u001b[0m 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\u001b[0;36mlinearize\u001b[0;34m()\u001b[0m\n\u001b[1;32m 1\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0mlinearize\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 2\u001b[0m \u001b[0;31m# Get state space and make a casadi function\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m \u001b[0meqs\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mcopter_equations\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 4\u001b[0m \u001b[0mx\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0meqs\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m'x'\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 5\u001b[0m \u001b[0mu_mix\u001b[0m \u001b[0;34m=\u001b[0m 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\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcos\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mangle\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msin\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mangle\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 49\u001b[0;31m \u001b[0mthrust_vect\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mca\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mvertcat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0mthrust_i\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 50\u001b[0m \u001b[0mM_b\u001b[0m \u001b[0;34m+=\u001b[0m \u001b[0mca\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcross\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0marm_vect\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0mthrust_vect\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 51\u001b[0m \u001b[0mF_b\u001b[0m \u001b[0;34m+=\u001b[0m \u001b[0mthrust_vect\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mTypeError\u001b[0m: bad operand type for unary -: 'tuple'" + ] + } + ], + "source": [ + "def linearize():\n", + " # Get state space and make a casadi function\n", + " eqs = copter_equations()\n", + " x = eqs['x']\n", + " u_mix = eqs['u_mix']\n", + " p = eqs['p']\n", + " rhs = eqs['rhs']\n", + " xdot = rhs(x,u_mix,p)\n", + " A = ca.jacobian(xdot,x)\n", + " B = ca.jacobian(xdot,u_mix)\n", + " C = ca.jacobian(x,x)\n", + " D = ca.jacobian(x,u_mix)\n", + " \n", + " return ca.Function('ss',[x,u_mix,p],[A,B,C,D],['x','u_mix','p'],['A','B','C','D'])\n", + "\n", + "lin = linearize()\n", + "x0 = np.zeros(12)\n", + "u0 = np.array([0.5,0.5,0.5,0.5])\n", + "p0 = np.array([1,1,1,0,9.81,0.03979546333854039])\n", + "A,B,C,D = lin(x0,u0,p0)\n", + "A = np.array(A)\n", + "B = np.array(B)\n", + "C = np.array(C)\n", + "D = np.array(D)\n", + "# do controller design\n", + "sys_ss = control.ss(A,B,C,D)\n", + "sys = control.tf(sys_ss).minreal()\n", + "sys\n", + "\n", + "G_pitch_rate = sys[10,1]\n", + "G_roll_rate = sys[9,0]\n", + "G_yaw_rate = sys[11,2]\n", + "G_yaw_rate\n", + "\n", + "sys\n", + "#G_roll_rate =\n", + "#G_yaw_rate =\n" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "image/png": 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\n", 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\n", 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\n", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "s = control.tf([1,0],[0,1])\n", + "H = (20+1*s)*10\n", + "\n", + "Ga = 1/(s/2+1)\n", + "Go = Ga*G_pitch_rate*H\n", + "\n", + "Gc = control.feedback(Go)\n", + "plt.figure()\n", + "control.rlocus(Go,kvect= np.linspace(0,1));\n", + "plt.axis('equal')\n", + "t,y = control.step_response(Gc)\n", + "control.step_info(Gc)\n", + "plt.figure()\n", + "control.bode(Go)\n", + "plt.figure()\n", + "plt.plot(t,y)\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": 38, + "metadata": {}, + "outputs": [ + { + "ename": "ValueError", + "evalue": "On entry to DGEEV parameter number 5 had an illegal value", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mValueError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in 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"\u001b[0;32m~/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/scipy/signal/ltisys.py\u001b[0m in \u001b[0;36m_default_response_times\u001b[0;34m(A, n)\u001b[0m\n\u001b[1;32m 2056\u001b[0m \u001b[0;31m# TODO: This could use some more work.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 2057\u001b[0m \u001b[0;31m# For example, what is expected when the system is unstable?\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2058\u001b[0;31m \u001b[0mvals\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mlinalg\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0meigvals\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mA\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 2059\u001b[0m \u001b[0mr\u001b[0m \u001b[0;34m=\u001b[0m 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homogeneous_eigvals=homogeneous_eigvals)\n\u001b[0m\u001b[1;32m 770\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 771\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;32m~/anaconda3/envs/aae497-f19/lib/python3.7/site-packages/scipy/linalg/decomp.py\u001b[0m in \u001b[0;36meig\u001b[0;34m(a, b, left, right, overwrite_a, overwrite_b, check_finite, homogeneous_eigvals)\u001b[0m\n\u001b[1;32m 231\u001b[0m lwork = _compute_lwork(geev_lwork, a1.shape[0],\n\u001b[1;32m 232\u001b[0m \u001b[0mcompute_vl\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mcompute_vl\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 233\u001b[0;31m compute_vr=compute_vr)\n\u001b[0m\u001b[1;32m 234\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 235\u001b[0m \u001b[0;32mif\u001b[0m \u001b[0mgeev\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtypecode\u001b[0m \u001b[0;32min\u001b[0m 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\u001b[0;32mraise\u001b[0m \u001b[0mValueError\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m''\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mValueError\u001b[0m: On entry to DGEEV parameter number 5 had an illegal value" + ] + }, + { + "data": { + "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "data": { + "image/png": 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C8HHgMuB8/nAKyHPTIiIS0NSpUwF45JFHYo0btQB8GRjv7m/GuncREenXtGnTgsSNWgCeIXsXsJeDZCEiIr365je/GSRu1ALwXuA5M2viyD4AXQYqIjJIRS0AS4NmISIivSovLwegvr4+1rhRvwncEOteRUQkslmzZgWJ22cBMLPXyF7t845FgLv7KUGyEhGRLl//+teDxO2zALj7ySF2ambLgWnAm8B+4Ap3/z8h9iUiIvlFvR9A3HYCE939LOCXwKKE8hARSb1MJkMmk4k9btRO4Fi5+6PdJp8AvpJEHiIig8HXvva1IHETKQA9zAVqkk5CRCStBl0BMLN6YHSeRTe5+7bcOjcBb5G953BvcSqACoDS0tIAmYqIpNvhw9mbMg4bNizWuMEKgLuX97XczC4Hvghc4O75rjTqjLMeWA9QVlbW63oiIkPVhRdeCMCuXbtijZvIKSAzmwJ8GzjP3Q8lkYOIyGBx5ZVXBombVB/AWuAEYKeZATzh7t9IKBcRkVSbM2dOkLhJXQX0oST2KyIyGB06lD1RMnz48FjjpuEqIBER6cPFF18MDJE+ABERie7qq68OElcFQEQk5UINBpfUUBAiIhJRR0cHHR0dscdVC0BEJOUuueQSQH0AIiJF59prrw0SVwVARCTlZsyYESSu+gBERFLu4MGDHDx4MPa4agGIiKTcV76SHTFffQAiIkXm+uuvDxJXBUBEJOWmTZsWJK76AEREUu7AgQMcOHAg9rhqAYiIpNzs2bMB9QGIiBSdhQsXBomrAiAiknJTpkwJEld9ACIiKdfe3k57e3vscdUCEBFJucsuuwxQH4CISNG5+eabg8RVARARSbny8vIgcdUHICKScm1tbbS1tcUeVy0AEZGUmzt3LqA+ABGRonPLLbcEiZtoATCzBcByYJS7xz/WqYjIEHDeeecFiZtYH4CZjQUuBP49qRxERAaD1tZWWltbY4+bZAvgB8CNwLYEcxARSb2rrroKGCJ9AGY2Hfi1uz9jZv2tWwFUAJSWlhYgOxGRdLntttuCxA1WAMysHhidZ9FNwGLgoihx3H09sB6grKzMY0tQRGSQmDx5cpC4wQqAu+f95oKZfRw4A+j8738M8JSZnevu8Q94LSIyyLW0tAAwceLEWOMW/BSQuz8LnNY5bWbPA2W6CkhEJL958+YBQ6QPQEREolu+fHmQuIkXAHcfl3QOIiJpds455wSJq7GARERSrrm5mebm5tjjJt4CEBGRvs2fPx9QH4CISNFZtWpVkLgqACIiKTdp0qQgcdUHICKSck1NTTQ1NcUeVy0AEZGUu+GGGwD1AYiIFJ21a9cGiasCICKScnEPAdFJfQAiIinX2NhIY2Nj7HHVAhARSbnFixcD6gMQESk6d911V5C4KgAiIik3YcKEIHHVByAiknINDQ00NDTEHlctABGRlFu6dCmgPgARkaKzadOmIHFVAEREUm78+PFB4qoPQEQk5err66mvr489rloAIiIpd+uttwJQXl4ea1wVABGRlNu8eXOQuCoAIiIpN3bs2CBx1QcgIpJydXV11NXVxR43sRaAmX0LmAe8BfzE3W9MKhcRkTSrrKwEYMqUKbHGTaQAmNnngUuAs9z9DTM7LYk8REQGgy1btgSJm1QL4Gqg0t3fAHD3lxPKQ0Qk9UaPHh0kblJ9AB8BPmtmT5pZg5md09uKZlZhZrvNbPcrr7xSwBRFRNKhtraW2tra2OMGawGYWT2Qr2zdlNvvHwOfAs4B7jez8e7uPVd29/XAeoCysrJ3LBcRGepWrlwJwLRp02KNG6wAuHuv31gws6uBrbkP/H81s7eBEkD/4ouI9PDAAw8EiZvUKaCHgPMBzOwjwPHAwYRyERFJtZKSEkpKSmKPm1Qn8CZgk5m1AG8Cl+c7/SMiIrB161YAZsyYEWvcRAqAu78JzEli3yIig82aNWuAIVIAREQkum3btgWJqwIgIpJyI0aMCBJXYwGJiKRcTU0NNTU1scdVC0BEJOXuuOMOAGbNmhVrXBUAEZGU27FjR5C4KgAiIik3fPjwIHHVByAiknLV1dVUV1fHHlctABGRlNu4cSMAc+bE+/UpFQARkZTbuXNnkLgqACIiKTds2LAgcdUHICKSclVVVVRVVcUeVwVARCTlQhUAG0yDcJrZK8C/HeXmJaRzyGnlNTDKa2CU18CkNS84ttw+4O6jes4cVAXgWJjZbncvSzqPnpTXwCivgVFeA5PWvCBMbjoFJCJSpFQARESKVDEVgPVJJ9AL5TUwymtglNfApDUvCJBb0fQBiIjIkYqpBSAiIt2oAIiIFKkhVQDMbLmZPWdme83sx2Z2ardli8xsn5m1mtmf97L9e8xsp5n9Kvfzj2PK66tm9jMze9vMyrrN/ysza+72eNvMJuXZ/jtm9utu610cOK9xZvZ6t/3d2cv2hT5eF5rZHjN7Nvfz/F62L+jxyi1L7P3VYx813X7v582suZf1ns8dx2Yz2x13Hnn2F+k1MbMpuWO4z8wWFiCvXj8zeqxXkOPV3+9vWWtyy/ea2X89ph26+5B5ABcB78o9/x7wvdzzM4FngBOAM4D9wHF5tv8fwMLc84Wd28eQ158AE4BdQFkv63wcaOtl2XeABQGOV968gHFAS4TtC3q8gLOB9+eeTwR+nZLjlej7q498VwJLeln2PFAScv8DfU2A43LHbjxwfO6Ynhk4r7yfGUkcryi/P3Ax8AhgwKeAJ49ln0OqBeDuj7r7W7nJJ4AxueeXAFvc/Q13/9/APuDcPCEuAX6Ye/5D4Esx5fULd2/tZ7W/BP4hjv1FFTGvvhT0eLn70+7+Ym7yZ8CJZnZCHPs8lrxI+P2Vj5kZ8BcU+D11jM4F9rl7m7u/CWwhe8yC6eMzIwlRfv9LgHs96wngVDN739HucEgVgB7mkq2UAKcD7d2WvZCb19N73f0lgNzP04JmeKRZ9P3HOi/X5NsU4tRBHmeY2dNm1mBmn+1lnSSP10zgaXd/o5flhTxeaXx/fRb4jbv/qpflDjyaO5VWETCP7vp7TaIex1C6f2b0VIjjFeX3j/UYDbrhoM2sHhidZ9FN7r4tt85NwFvAfZ2b5Vk/1utfo+TVx7afBA65e0svq9wBLCOb8zKyTfu5AfN6CSh191fN7BPAQ2b2MXf/XZR9Bsyrc9uPkW2uX9TLKoU+XsHfX0fsLFqO/bUoP+PuL5rZacBOM3vO3f85VF5Ee02CHMej/MzoKfbjlS/VPPN6/v6xHqNBVwDcvbyv5WZ2OfBF4ALPnTQjWyXHdlttDPBiz22B35jZ+9z9pVyz6uW48urHbPr4Y3X333Q+N7MNwMMh88r9V/1G7vkeM9sPfATo2flV8ONlZmOAHwN/7e77e4ld0ONFAd5fA8nRzN4FzAA+0UeMF3M/XzazH5M9/XBMH2hRj10fr0nU4xhrXr18ZvSMEfvxyiPK7x/rMRpSp4DMbArwbWC6ux/qtmg7MNvMTjCzM4APA/+aJ8R24PLc88uBPv8TjYOZ/RHwVbLn+3pbp/s5vi8DvbUU4spplJkdl3s+nuzxasuzakGPV+4KjZ8Ai9z9f/WxXkGPF+l7f5UDz7n7C/kWmtl/MbOTO5+TbUmFfk9FeU2agA+b2RlmdjzZf4y2B86rt8+M7usU6nhF+f23A3+duxroU0BH52nFoxKyV7vQD7Kdb+1Ac+5xZ7dlN5HtYW8Fpnabv5HcFR3ASOAx4Fe5n++JKa8vk63cbwC/AX7abVkGeCLPNt3z2gw8C+zNvQHeFzIvsufXf0b2KoSngGlpOF7AzcDvu72+zcBpSR+vpN9fefKsAr7RY977gR255+Nzr+0zudf5phB59Nh/3teke1656YuBX+aOZSHyyvuZkdTxyvf7A9/ofD3JngK6Pbf8WXq5qjDqQ0NBiIgUqSF1CkhERKJTARARKVIqACIiRUoFQESkSKkAiIgUKRUAkT6Y2X/mRoBsMbPa3kaLjBjreTMriTM/kWOhAiDSt9fdfZK7TwT+A7gm6YRE4qICIBLd43QbeMvMbjCzptwAZ7d0m/9QbtCwnxVwoDWRAVMBEIkgNzTGBeS+mm9mF5Ed8uFcYBLwCTP7XG71ue7+CaAMuNbMRiaQski/VABE+naSZe+q9SrwHmBnbv5FucfTZIfL+CjZggDZD/1nyI4vP7bbfJFUUQEQ6dvr7j4J+ADZuzR19gEY8N1c/8Akd/+Qu99tZhmyg7F92t3/lGyBODGJxEX6owIgEoG7dwDXAgvMbBjwU2Cumb0bwMxOz40VPwL4rbsfMrOPkr1tn0gqDbr7AYgkxd2fzp3ame3um83sT4DHs3df5P8Cc4A64BtmtpfsyKBPJJawSD80GqiISJHSKSARkSKlAiAiUqRUAEREipQKgIhIkVIBEBEpUioAIiJFSgVARKRI/X8AFvglvWAbFAAAAABJRU5ErkJggg==\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "s = control.tf([1,0],[0,1])\n", + "H = (20+1*s)*10\n", + "\n", + "Ga = 1/(s/2+1)\n", + "Go = Ga*G_roll_rate*H\n", + "\n", + "Gc = control.feedback(Go)\n", + "plt.figure()\n", + "control.rlocus(Go,kvect= np.linspace(0,1));\n", + "plt.axis('equal')\n", + "t,y = control.step_response(Gc)\n", + "control.step_info(Gc)\n", + "plt.figure()\n", + "control.bode(Go)\n", + "plt.figure()\n", + "plt.plot(t,y)\n", + "plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "t0 = ca.SX.sym('t0')\n", + "h = ca.SX.sym('h')\n", + "x0 = ca.SX.sym('x', 12)\n", + "x1 = rk4(lambda t, x: xdot(x, u, p), t0, x0, h)\n", + "predict = ca.Function('predict', [x0, u, p, t0, h], [x1], {'jit': jit})" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# Kinematics\n", + "\n", + "Consider the dynamics\n", + "\n", + "v = $\\begin{bmatrix}\n", + "a\n", + "\\end{bmatrix}$" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def SO3_adjoint(V):\n", + " v = V[0:3]\n", + " w = V[3:6]" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.7.3" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/lectures/11-Multirotor.ipynb b/lectures/11-Multirotor.ipynb index a5b27d5e..e8466b3d 100644 --- a/lectures/11-Multirotor.ipynb +++ b/lectures/11-Multirotor.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 33, "metadata": {}, "outputs": [], "source": [ @@ -92,9 +92,9 @@ " )\n", " \n", " # controller\n", - " roll_cmd = 0.1\n", + " roll_cmd = 0.2\n", " pitch_cmd = 0.2\n", - " yaw_cmd = 0.3\n", + " yaw_cmd = 0.2\n", "\n", " kp_roll = 4\n", " kp_rollr = 0.2\n", @@ -105,6 +105,9 @@ " kp_pitch = kp_roll\n", " kp_pitchr = kp_rollr\n", " \n", + " kp_climb = 0.5\n", + " \n", + " \n", " u_control = ca.SX.zeros(4)\n", " \n", " r_nb_cmd = so3.Mrp.from_euler(ca.vertcat(roll_cmd, pitch_cmd, yaw_cmd))\n", @@ -118,11 +121,13 @@ " \n", " yawr_cmd = kp_yaw*e_theta[2]\n", " yaw_mix = kp_yawr*(yawr_cmd - omega_b[2])\n", + " \n", + " \n", "\n", " u_control[0] = roll_mix\n", " u_control[1] = pitch_mix\n", " u_control[2] = yaw_mix\n", - " u_control[3] = 0.5\n", + " u_control[3] = 0.515\n", " control = ca.Function('control', [x, p], [u_control], ['x', 'p'], ['u'])\n", " \n", " rhs = ca.Function('rhs', [x, u, p], [x_dot], ['x', 'u', 'p'], ['x_dot'])\n", @@ -141,9 +146,16 @@ "eqs = derive_equations()" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Simulation" + ] + }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 34, "metadata": {}, "outputs": [], "source": [ @@ -182,12 +194,12 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 36, "metadata": {}, "outputs": [ { "data": { - "image/png": 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\n", 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\n", 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\n", 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\n", 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\n", + "image/png": 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\n", 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\n", 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\n", 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\n", 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\n", 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\n", "text/plain": [ "
" ] @@ -259,7 +271,7 @@ } ], "source": [ - "data = simulate(eqs, dt=0.01, tf=10)\n", + "data = simulate(eqs, dt=0.01, tf=20)\n", "\n", "plt.figure()\n", "plt.plot(data['t'], -data['x'][:, eqs['x_id']['z']], 'r.')\n", @@ -304,6 +316,13 @@ "plt.title('shadow state')\n", "plt.grid()" ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] } ], "metadata": { From 28e42c8d8dc0c8f0451ae458dfcf4666ea44a61f Mon Sep 17 00:00:00 2001 From: Taehwan Seo Date: Wed, 26 Aug 2020 10:51:47 +0900 Subject: [PATCH 26/26] accepted all incoming changes --- lectures/02-F16-Intro.ipynb | 91 ------------------------------------- 1 file changed, 91 deletions(-) diff --git a/lectures/02-F16-Intro.ipynb b/lectures/02-F16-Intro.ipynb index 6999ad10..f3c2c9db 100644 --- a/lectures/02-F16-Intro.ipynb +++ b/lectures/02-F16-Intro.ipynb @@ -2,11 +2,7 @@ "cells": [ { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 46, -======= "execution_count": 1, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [], "source": [ @@ -37,11 +33,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 47, -======= "execution_count": 2, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [], "source": [ @@ -51,11 +43,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 58, -======= "execution_count": 3, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { @@ -64,11 +52,7 @@ "Control(thtl=DM(0.836629), ail_cmd_deg=DM(0.0749844), elv_cmd_deg=DM(-1.7033), rdr_cmd_deg=DM(-0.328985))" ] }, -<<<<<<< HEAD - "execution_count": 58, -======= "execution_count": 3, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" } @@ -86,11 +70,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 59, -======= "execution_count": 4, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { @@ -99,21 +79,13 @@ "Text(0.5, 1.0, 'angle of attack')" ] }, -<<<<<<< HEAD - "execution_count": 59, -======= "execution_count": 4, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" }, { "data": { -<<<<<<< HEAD - "image/png": 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\n", 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ce5vDDNbYgLtNdw/U3ry7XIrD8dSfzNnWQE9zxLMG0BkP0X0updN0NsWQpysRrqmwrPNtpVJlbYym8ySzBTZ0xcjki571TL7Ip7ceof/gGD875q3dEIRLEVEMDi6X8Z65Qok3/ONjfOjBfZ61M1NZZudKrO2IMjkz5yn6GjEDxCtbGxlO5Vy+/GGHYuhpCjPksBi01oyYG3Ak6KelseHsm7epAEZSbldTl/l6VzxUtVZxFVnHODfo4WSekB/ioQDdiTAjqZwru2gkabi4umq4obJzJVK54lmViqWgrGyp41UZUc7sq91npqlFLStDEOoZUQwOEuGGy6Ly+bHD4+wZSPHFx497gumWe+ieDZ2ANy10NJ23LQLwbt5+BS2NDUZmkWMTTWYLzBXLdFqbeyLMcDLvOjfS4Dc27yb3Bl0ua8OVlKi4ksbSeYqma2bY4SqKhgLEQwFXnGAklaMlpFBK0d0UpljWTDpaY1iWTDzcQCwUcCsVpxvKVCrONF1LxrMFxZ2KpFZ8YiJb5raPbOEftxz2rAlCvSKKwUEiEiCVK17yT3gvOFxEL1S5i6yN/pY1RgD55GTlCThXKDE9W3AFkAccVsFoKkezuQH3NIXJOOIEww5XERibe/VTf3dTGKWUrQCs9anZOQolbZ/blQhT1jBhbu5Oa8P6d6Rqc28JG417O+PuazvjE5Z8wzXcVJYrqVjWjM+4lQ5U0mirXUmWVXTD8qaaimH7cImRVJ5Pbz1yyf+/Eq4cRDE4SIQbKJU1s2aTNq01P3xhyLU5XgocGk4TCxkFe4dHvCmlAK9YZSiG05OV92ZlHXXGQ/SYisGZPTSSrmzA1kZrbZzOrCPr3+EqxdAZNzb+cIOfpkiDfY7zqR3wuHyc1oax7nU1NZtyWcplNJ1zXaPLce3RtHfjd7q4nIpjKJmjwa9Y1hwxZa5Ohc3RGPRz3bImzlQF6wHOpA2rJ18se6q5BaFeEcXgIF7VL2nb4XHe/bVnefdXd15MsWryqS2Hue2vt9ibuZOjYxluX9tGpMHvybIZSeWIhwJ0xsMkwoGacYDOswRqR1J5mkPWBmxtonnXuc4NeDyTtzN1nDEEcCsOyy3U6VAqzmsOO6wNgK542N5ktdaMpvK0hHyu+1vrIzWUTrW1Ya1Xn2ud3xkP4/MpuhNhjytpKJmlpylMTyLsqa8AmMxVMpWOjnktiscPj/Pur+5kIiNKQ6gfRDE4SESMJ9KkGWfYajaEe/5M0n6tHtBa88kthxlO5fjergHP+nAqR29TmJWtjZyadAdLx9J5Os2n6t7miCvl1NoQuxIhwg1+2qJBBqarnsxNxWApjsrmbvzbEa+4krQ27mcEpnO2lQFud5CzDsG6v3U/sILHIde5o2kjFjA5M8dcqWxbMtb9vdc2Xu+MhxhN5W23znDSUJTRUMBWDJa1Ya13n8WFBTCYzNHbHLHdXNU1EpM5zWbTOqvlavrrH+znh3uG+c5z3t+jIFwslnLm85eUUqNKqT1nWW9RSn1HKfW8Umq7Uur6pZLNorUxCGAHLvc7uoHWU1fOwWQl6+a50+5MmOxcya4wXtHa6AkuW0/AYCmGGimlcStttFJPYFUuV1w23qf65sYGwg1+cz1kv57MFsgXy7YrCaDb4Q6y/u2IGettsRB+n6o89TsC04Z8IQolzdTsnL3xWwqrwe+jPRb0WAzW+Z2JMHOlsq3oR1KV+on2WBClvBZDxT0W8mYtTRsWg+2GcigOrTWTOc0NK5oJBnyeuo9SWduV1jtOeNuPCMLFYikthq8A951j/U+AXVrrlwPvAD65FEI5sZ42xzLGE+XBkTR3rW8H4PSk1398sbA6kzZFGjxtKayn3c54iOUt3gpjY5O1LIYwg05XUTpH0O+judFwqfU0Vc63noRbzA043OCn2ZGSalUmW9iKI5nzWATWupV5NJzM0R4LEQwY/x39PkVHLGRnCI0k855zrXtaG79lMVjrlgUznDTadFhuwoo1UolvWHIH/D7aoiH7XK212d/JVCpxwz1mKeW5YpmxTJ6epkgl08qhGKZmCxTKhgLuSoQ8gWvD1WZcq5abCYw6iZn8pZ9CLVxaLJli0FpvA85VAXQtsMU89gCwWinVtRSyWdiKIZ1nJJVnerbAvRs78fuUK3tnKcgXS3y2/2jNgKa1ibz6mk5OTsy6sl2swKqVcprOF+2iPWetARgb1vRsgdk5Y+MZTRluJsuXv6w5YiuOEfvJvPJfptuRkmr1MnKugbFRWn55q/DNkq+sYTwzZ7pjKueC4bYZTuWYMF1FvY5zrfuMpCvXbqtSDCPpijXSVVOpON1UzvWQ/Rmm80Vm50q2G6orETKzpSrvWWtDwToVoYVlIfSaFsXZejit74xxcmLWTs+1yBVK9H2sn1/+7JOS0SQsKYGLLYCD3cAvAY8rpW4BVgHLAc/EF6XU/cD9AF1dXfT391/QDTOZjOtcrTV+BTv3HmZmyGiYVhg9RmsIduw/QX9o+ILucyFyffQbj/DFPXP8YMdh/nize9PccSBP0AeN2TGyhRLf+9FWmsPGhr19yNjkTx58gemMsdF87yePsSLuY6agmSuWSY2eob9/hOlB49jv/ngbvTEfB05mCWvsz2R2Yo50rsgPf7qV3aNGUDVYztrrDcUcRwZm6O/v5+TYLM0dfntNa01AwTN7DnOy0di0T+x7jvRxQ86xUePeP9j6BEcH83Q1+ly/C38+x/GpMg898jgA46eP0N9/AjBqAwC2bd/NeFbjU+AvzNrnlzJ5To+X6O/v58CpLOFA5T2NzhrnPrp9F8WBACOpHPnpEXvdX8hxdND4fzFgZhRNnjlOf/9pRkdMmR95gtVNfg5OGp/J6IlDPJs5StAHO/YdZn3ZGGL0nPkeh47uQ+UKnEiVXe/xmWFjfWU4x+FSme/+uJ/2SEXxvjBWZDyTZzyT518e2sqy2MI9x1X/368XRK75sVhy1ZNi+Bvgk0qpXcALwHNATRtaa/0A8ADA5s2bdV9f3wXdsL+/n+pzu57eQqSlnWBnDDjAW19/N1vGdgDQ13f7Bd3nQuQaSzcBgxxLwV1334PfV3ki/vbQc/S0TPOa267jq/ufYfnVN7J5dSsAxx4/Drv38YZX3cnxiRk+s/tJlq2/jr6ru4xWGFu2ccdN19F3Qy+Nxyd54PmnWL7hZdy9oYMP7exn47I4fX2bAEi1DPJvB59j7cs2c/rgKDx/gOWtUfsze3jiebYcGOWOO+8m9aMf8oqr19DXt8GWs3v7IwSbWki0NuLbd4Q3v7aPgN/Y3NoHknzy2cdZtv46Urt283PrltPXd5197iPJPXxv1yA9666Dp3by2lfezMuWNwGGC+ePH/0hzT2rSU7O0J2YIBH323I9VzjEtoHD3HnX3cw8uZWbVrfT13cDYMRg3r/tYVqXreH6Tcsp/WgLt75sA323r3a9p76+PrYdGoMntnPvbTdx61VtNJ2a4h+fe5KVG6+n7+oukrsGYPsu7rv7VtZ3xel+Ziuhpmb6+m4C4NRTJ+DZvbzhVa9kcNsxnv/ZSe655x7bIjvy2DHYtZ833H4dW07tZs21N7JpVav9GZx88gTs3AtAbPlG+m5c9tL+Yzmo9X+/HhC55sdiyVU3WUla65TW+p1a6xsxYgwdgHcq/CLTEQ8xlslzYChl5653xEM100IXE6uf0cxcyTNfYCSVoyseZnmLtwjNGSeoFKm5g7wVV5I7JXU0lbcD02C4QMBweQwlc8RCASIBt8tmPJNncDqL1pVMJQsrJXUoaQS8LaUA2JlRR8cypHNFVwzBunYyW+CEORWux+FqCgZ8tEWDjKRzDCdzds2F81ytDTfWaDpnvw+ASNBPImxYCoM1XFyd8RDjGTP2kXKvdzpiG8bnYq6b9++Mh1wZTYPTOfzm1LnupjC5QtnVvXcomSPc4GNjV8J1Xft8R/yn1nAirTWHR9I1ByoJwkuhbhSDUqpZKRU0f/xdYJvWeslTgToTxqyAA8NpNpoTwTpiS6sYSmXNsbEZbl5tpDl6mtmZKafWhuXMLBpL5emIG3GCjliIBr+yfdl2vUC8UmGslKE4Mvki6XzR5W/vdbTPdqZtWlgpqVaPoO6mqg26yag3GExmPee2R0MEfIrtx42wk6Xk7HNNOZ45MUUo4LMzxpzro6bS8SoV4/29cCZJWdeQKxFmNJW3ez05lU6nqVTGM3OV5n3m9aysKetzHEpmiYcDdjFhdfHcUDJLa1jh8yk7fuVWHFl6myOeFiGV9Ryr2hpZ2dpYMzj97WcH+Lm/38ZnZU6EsMAsZbrq14GngI1KqTNKqd9RSr1LKfUu85BrgL1KqQPA64E/WCrZnKztiHFoJMOB4TTX9RpPch3xEOl8kezcwk7w+r1/2sHbv/gzT2AxOaeZK5W5e713IplVE9AZN/oGNTc2MDBdURzOrCOfz+gdZCkGKyBrbXQNfh9dcWN92H56dmyS8RA+ZWxwQ8lcTYsA4LlT055zAZY3RxiYznJwOM1VHVHXms+nWNMetWccbOiKu9at43+6f4T1XTF8DlcaGErr6NgMpydnWdXa6FqzlIqVyttTHdg2g9OWxdBbFRQHYwMfSmZpiwbtFNxgwEdrNGhv7oPTOde5HWaNhMXQdI7WqlYdTsUxmDTOb2lsIOj32b+fyvlGKuzyloinsA7gx/uMmNeP9y5N7Eu4cliyGIPW+m0vsv4UsH6JxDkrG7pi9vdWfxzraW88k2dF1SZ0oZycmOEn+4y4+q7T0/bwG4DpnKEorulJEAsFXNXLGTNTxtr8l3lqEfKs66i8h96miMtiiIcCNAYrv/Zes1ah2s0ERvpmVyJsWwzrO9uBrONcY1N89NAYPgUrqz6ba3oSzBXLjGfmPBs/wLW9CQ6PZgj4FKvb3Irj6u44SoHWXqVhrf90v/H5beyOw3Rlc7Tk2mYO2KmWqzMe4mfHZxiczhJuqKTnWmvW5zg4nfMolc54yHb5DCWzVdZGyPz9FGkMBhhMZllxllYdYGz8GzZ0oJSiMxFyZTQZ189x65pWNPDMCW9Cn/X/4qDpTqpWnoJwodSNK6lecG7Qm81AYMUNsHDupOfPOEdouovUpvKGYug2nxbPTNWqTnYWqbkb3TmrhJ2KYzjpTt0Ewz8+OO1MKXWv9zZHODExY/jqq3z5a9qjBP0+jo/PsKotaj9ZW1gWFxhKoppNZkXwhq64XcNg0RgMsKKl0XWck6t7KsrCcvlZtEaDdMRDHBhOEwz4PEqnM2FUTp+enKW3KWIHg8FrMfRWuaE6E2HGHH2Y3PGJSvVzuWxYdq1mtpgVn7AsCrsGwvxMjVYdlf9fpbJRQ9HTHKYz4a7WthicztLgV+QKZVc8QhBeKqIYqljTHuXP33gtn3zrjTSZT5KWb3msytSfnJnjbQ88zdaDozWvlcwW+P7uQddsAItDI2n8PkUsFOBwVZHatKkYOuMhc2N3b/xQcQcta44wYCqOXMGYLdBZFScYTuUolsoMpbzuIOv61gzman99T1OYnSenKGvsWc4WwYCP9aaFtbHGU/26zhjXL0vQHgty65pWz/ovv2I5b9m8nA++6TrPGsCHfuF67ruumzfd0OtZu3NdO8GAj2XNETZ01rYowKgR8Fc9SV/VEaVQ0mw5MMraqvfkrH4emvYqQ8tiyBVKTMzMuQLbFasgbxevtUaMe8dCARqDfvvhwq6BaArb13VaE6Npo7q9pylCt1mtPeWYnZHJF0nlirxynVGAWSs4/cHv7+V1f79twV2gwuVPPaWr1g3vfOUa18/tpmKYcPT4B/jmjtM8dWyCgeks976/03Odj/xgP9945jS5Qom3bF7hWjs2NsPK1kaaGxs8/Yymc0ZuflssRG9zhB0nK+0SLD+0M7PIKmKbnjE2Dmfrid7mCKWyZjSdZ8R2B1XobQqTL5Z5YSBJi6OlhfN8i/VdMYarOje84eW97B1M8fqXdXvev1KKb9x/OwGf8lwXIBoK8NFfucHzusU9Gzq4Z0NHzbXmxiDf//1XEg0GarpQ+jZ28tjhcV51tff3ck23Yb2UytpWIBYBv4/2WIhDw2nS+aJHkXaaWWsDduDaazGMpHK2BdTqKLwzNn/LDeXNaHr8yLh9rLiRthEAACAASURBVGXl9TYb2UxgWCitUSMIbwXOb17dSv/BMU/genauyFeePAHAlgMjvOHlXuUqCGdDFMN5YP0xTmTcimGnuWGfnpollSuQCDe41i0f95b9Ix7FMGw+vXfGQzxT1SdnOq/piBv9gpa1REhmC2TyRWKhgMeVtKzZcLcMTmftVEi3xWB8f2pylrGMu20FVDamxw6Pc20Nd4/THXRVe4zqMOe77rmK+67vZnVb7diLlbGzGFzd7ZXX4h23r6I7Ea6pGNY74kgvX97sWV/bEeVhM6BbbSV1JcKUyprnzUysFS3uVFcwLIaAqazciqHShM9KEbYthkSYdK5IrlAi3OCvrDdHmMkbT/wj6RzXYrxnK3B+tjkRzrjU7tPTohiEeSGupPMgGPCRCAc8rZH3DCSJBv1ojadnUXK2YP/x7hnwZt1a8wlWtkUZTGZdg+Sn89oVQ4BK+4SRlNH/39pwrY1/YCrryLuvbP5WLcPzZ6YplbXHVWStz86VPJsgwKuv6WLTqhbe97qNnjgAGFbBmvaoy09fDzT4ffynl/cQCXotlXCDnz949XpuWd3K3RvaPetOt1h1/MLa/C1lvtKhEJvN7KJRR8ZTW7jymXUkKmnP1RaHsx0LVOZg9DRF7HuOuTKejPNXt0dpjQY9XV+HXqQGQhDOhSiG86Q9FmLc4UoqmD77ezYaro7qLqYHzQK1G1Y0M5jMki9W/Lxaa3uE5vLmiFGM5XAFTOe17ZaonqQ2ms67XEXLHIrDympxZhZZG8/248ZGVt2TyJllVStAHAsF+Na77+A9964720dzSfKHP7eBf3vX7YQCXsVxoznGU6nK52thKYJth8YImum+FkoZ9QpjKaPoL9LgJ+owIo2W36bFMJ0j4aiB6KyqcxiYzhI1i/HOVgPhU0anWWemlIVV1HjDimZ7nKsTrTX9B0c9LihBAFEM501bLOiyGIaTRvDwtqvaUApOjLv/+KzagrvWtaM1rswiaz5yRzxkWwTO9elc2RVcBuwA81jaXZ3cHgsR9PsYmDa6mEYajM3EIhYK0BRpYNthw621tsNtFTRFGrhnQwdBv49XX+N1u1yJvO66bu5Y28aHf+F6jyW0tiOGTxm/r9XtjZ74RqfZhO/U5CwrWt0ZT53xMDNzJWbyRSPjqUZ8YtSVCmucHzZ/p9U1EFY1eZeZZeVkaDpLwKe4aUUzpyeznoymo9NlfuvLz/Bf/nnHS/ikhMsViTGcJ23RkKv61HLtrGmP0hkPebqgWk9wN69pha1G9bK1KTs7oC5rcbuK8sUS6UJlJkJn3KhetiyGsXSeax1+f59P0dMcZmA6S1lr16Qzi97mCPuHUgQDPpa3eGMBD7xjkz3rWTBSZf/l926ruRZu8LOqLcrx8Rletswbn+iKhzk8mqbB7zPrJypuHGcMYnDanSHWmXCnRFcXFHaa1doWzhqKrkTINTvEOr/bHNaULZSYnJmjLVaxNPdMGBbs7jNJZvJFoosYCxIuPcRiOE/aYkFXVtKgIzhY3QoBjFhANOjnGtNH7VQc9gjNeMj+43du/FDZKKqrl0cds5MtrCK26klnFle1G3n8V3fHPambAKGAX5TCPHjzjUYg9003egO6V3VEOTExy7GxGY8Stjf/VI5B0yKwaG0M4veps1ZVW9lQFoOOVNrOeJiJmTlXWvTAtFGDYf1ex6riYxPZyrHVSkUQRDGcJ22xEFOzc3bPfDudsCniyjaxsOYAtMesJ35HjrpjxnG4wU97LFTZ+G1rwh1HGJjKMpMvMjNX8mziVpHbiYkZT5UvwBtv6AGoWQ8gzJ//+qr1PPLH99RMpd3YHadUNlqaVFdsW+6iY+MzTM8WXL8rn0/RHgsymsqTL5YYz+SrXE2VOgettdFnyc5oClEyx5xaWBZFdVDbYjJXpiliBECq42OCIIrhPGmPBdEau8hoYDpLazRIJOh3DXexGEnl6TKHyPc0VRWpWVZB3IojhCvBZbvRnbtIbXA66znPYpnZS2c8M1czs+i+63vY/iev5nfuXONZE+aP36e4qsP7OQNcv6zJ/v6mlW5Xk6XsrfYW3lYdhuVp961yJApYfZi01kzNGqNSrapru7mfqTjKZc2wOYv6bIphIqvtJo2nJ71V06cnZ/k/jx5lrlj2rAmXP6IYzpNKkZuVTpi13UCd8bAxlN7xRzSSqnT97G0OuxTDSMpoYW35dZe1RByupIqbyWK5Wb1spSg6lQYYisWiOrhs0Znwxh6EhWdtR4zXXNPJvRs7PMVzTZEGmhsb7MaBtXo4WfEHoMqVZBQipnLFymQ4y5WUcG/+VtV1r1kn41yDyizq1W1GfKxW1tKHHtzHR354gG/uPH3hH4ZwySKK4TxpM4vcxtOGue708VpPgpYfV2ttj8kEbz+jsXRlDSoxAiuNVYErUNjbHKGsK7nzy6paVLufUr19hYSl5Qu/eTNffuctHkWslGJDV5zJmTmUMmoQnHQmQoylc/ZDQm+zNzg9ls47FEPlwQQqlqhzzkTUbMXhVAxTswXmzFnUvc2RmimrVmfaJ49MXOCnIFzKiGI4T9qqLIbB6aydSlo9R3hqtsBcqWxnFi1z9CuyjnPVIrREyBXKTM7MMZrKkwgpV5DYUgRPHRvHVyO3/tqeBG+/bRX/7VXr7CptoT6xqstXtTZ6qsI7zCDy8fEMSuEKXjtrGapnaFe7i6otio6429XpVCydNYZQ5Ysl+7V9Epi+IhHFcJ60x0yLITNHKlcgnS/aT2z2H601YN78t+JKMp74R8w/Nqu4zcJZxDaaztEc8qabAjx9bJKepoinAlkpxYd+4Xr+6LUbF+4NC4vCL960jIBP8XZzlKgTq9jxyaMT9Fb9np0uocFklqDfZ1ux4QY/8XCghmIw/39WDZqyFIsVgxivylgaSRo/t8eMNOxaTSCFyxtRDOdJItxAwKeYyOTtYrNej8Vg/EFZrSm6HK4kwHYXVVsMzvWxTJ6mKsXgtBCqB94IlxY3rGjm+Q++tmYiwDqzh9Nzp6Y98YcORwGcNSfCWVzX4chaGkoahY5W1pFzDSqKo6fJUAyTs3OuliyWK+vWNa0UStpTPAdweCTNyQlptXG5spQT3L6klBpVSu05y3qTUuo/lFK7lVJ7lVLvXCrZzgefT9EaDTKRmbMVg7Vht0WDBHzKthRGU+7WFFZw2Gp0ly+WXRaDNdbyzJQxSa2lSjGEG/z20+FNK7xFVcKlhXNQkpP1jowyZ/NCgEQ4QChg9GE6MzXrcSc6XULGyNBKskG1u2gwmSWgjP+3HfEQWuNJdQW4xWyVXp21lCuUeNOnn+AXP/OkZC1dpiylxfAV4L5zrL8H2Ke1vgHoAz7umAFdF7TFQkzM5O3iNsv37/MpV7+aYdMUt1xMli94YDrrsCYqiqEp0kBj0M/hkQzjmTk6Gr3ZQ+/uW0tHPMQvb1q+SO9OuNjEww2sMQPSd6xrc61ZU95G03ljnGlb7VRXMEeGOhRHRzxEyuzcCkbiRGvEnEUd82YtWRaFNSBpqGoI0M6TU3Y1tTXvW7i8WDLFoLXeBnjnEzoOAeLKeMyJmccWl0K286U9FmTMtBiCfh/t0Yo7qNPRr2YkbfTNtxq0WbOZB6ez9h+Zs92BUoplzRGePm5kgHRGvL+W373rKrb/yatZ1SaupMuZf/i1G3n/fRvp2+DtW7WytZF9gynGM3OeEbPOOgdnKjVUspYqnVuzdjvwWnUOg+bcB8uSHa9qN++s4t8zkES4/KinBimfBr4PDAJx4Ne01jXtVKXU/cD9AF1dXfT391/QDTOZzLzOVdk8x0aLhAppWkKabdsetdf8czmOTZXp7+9n77EcUZ92XTvuL/HC0QEaMkaf/+P7dpE5UVEA4XKOw2b/mii5C35Pi818P7Ol4nKS61pg27Yzntcjc3kOjxrPSjPDJ+jvrxyTHpsjWyjx0E/6GUvnmZsese87PGac8/CjT7G+xc+xkVnWJYz/q+NZ40/ssR27UcNGTGLP0Rxxv+a5nz2BX8HOvYdZWzxp3+vJw3MowK/gyecPsaZQWXupXE6/x6VgseSqJ8XwOmAX8CpgLfATpdRjWmtPvpzW+gHgAYDNmzfrvr6+C7phf38/8zn3gDrKth8eYGguyNXLY/T13WKvPZLcw+HnBujr6+Nvdz/GhmVh+vputtc3nnyGM1NZmrt7YM8h3vzaPlfWyY+nXuCF8VP4FKzrjM5LrqVkvp/ZUnElyDUQOclPTxkhul/7uTtcsyAmE2f4t4O7ia66Ds0z3HHjNfSZw6E6BpN8YufjLF93LXdd103yxz+kKxakr6+PXKHEex99mNbe1fT1rQfgI89tY8PyRu69dzNdT28h0tJOX19l0t5DY7vpiI/R0hhENzbS17d5Qd4fXBm/x4VkseSqp6ykdwLf1gZHgOPA1RdZJhfWlLLTk1nXMHowYgapXJHsXMnV+dKitzlixhiytMeCnpRTaybytb0JQn6pUBa83L3e6M3U2xRmRWt18Nn4/7bTLIJc5XA1OQvgrFnSlivJauldHWNY5qiBqG7AN2i2DF/RGvF0FQajncavfu5Jdpw4l+dYqGfqSTGcAl4NoJTqAjYCxy6qRFU4B9lcUzVW0gomn5w0GqT1NLn/cHubI6RzRfYMpGq2vn799T2873Ub+cRbblwEyYXLgRWtjXz1d27lq797q6eq2ooHPGbOjXZaE23RSudWK7DcFnHMiXB0B06bNTpWjKKjRgHc0HSO3uaw/bBTzb9sP8UzJ6b45JbDL/UtCxeJpUxX/TrwFLBRKXVGKfU7Sql3KaXeZR7yIeAOpdQLwBbgA1rr8bNd72KwsrXRbl3dt9HdWdOqWdh1ysjSqB4ib2WJvDCQrNnoLhjw8Z5713k6cgqCkzvXt9ds4LeitZFgwMfu09MEA+7Jcs7OrVYfptawu3jOOQcC3FXTzgI4rbXd0rszHrLnVDvZO2h4f3efnvYMCBIuDc47xqCU+qMaLyeBnVrrXS92vtb6bS+yPgi89nzluRgopfjG/bcxNVugudGdSWsVJD151MgsqrYYzqfRnSBcKH6fYm1HjP1DKa7pSXgny8XDjGUqfZYsVxIYm/+zpwwXVHWfpvZYiIlMnlJZ4/cpu7Nrb3OEaMjIuhvP5F1WsNXsMZUrMpzKef4WhPpnPhbDZuBdwDLz636MeoPPK6Xev/Ci1SfNjUE719zJ8pZGgn4fD+81so7Wd7k3f6clYOWHC8JCYsWp7ljb5lnrNNNZT03O0tzYQGODcq2Npa1UV28fprJ29wgDQ3FYHYed6azWrAhrOJRzZK1w6TCfrKQ24BVa6wyAUurPgX8H7gZ2Ah9dePEuHfw+xaq2Rg6PZmiNBu0/Got4uIH3vW4jB4bTohiEReH/u3ctsVCA37vrKs9aZyLMs6emaJsMmtZtpUSoMx4mVyiTzhstvf1mwaaxVqlz6IyHPQ36rDWLVM4YJnXLmlaOjc9wZmqWm1e3euTRWksb+DpmPhbDSsBZ6VIAVmmts0C+9ilXFq8wW15XtzOweM+96/jHt91Uc7ymILxUOuNh3vu6jTQ1NnjW1nZEmZotsPv0dM3iODD7MCWzdMVDBPw+19pYVQzC6rMEuGIQluKwlEGtIUB/9dA+7v7YVlK5woW/WWFRmY/F8C/A00qp75k/vxH4ulIqCuxbcMkuQd5++yq2n5jkt2VSmlBnWAkPqVzRjHFVyoMsq8DKWnKPFK2a9TCdJRgwOrsWza6r7s6thiJY0xGlpbHB04CvUCrz+ceOA/DjvSP8irR4qUvO22LQWn8I+D1gGiPo/C6t9V9qrWe01r+xWAJeSly/rImt7+3j3o3edgaCcDG51mHF3rC8ybXmHgKUo6eqz5K1Bka7jJ4mo7NrMOCjubHBpRgGHNPnaqW6OocC7T4tfZbqlfNWDGYPo2uAJq31PwCjSqlbXuQ0QRDqgM54mFdd3cnqtkbuXN/uWrNaeg8ljelxKx3Fc7VmPThHjnpmPUxnCfgUHfEQ7bGQp8+Sc5Lh0bHMwr1BYUGZjyvpM0AZo2XFXwJp4FvAzec6SRCE+uDz79hMWWsa/O7nwUTYGP+548QkpbJmVWvVyFHnrIfpLLc5sp6qK6MHp7N0JcL4TeXw3Cm3VWB1Jr6uNyEZS3XMfILPt2qt3wPkALTWU0BdtcUWBOHs+H3KoxTAqM9Z1xljy4FRgJrB6bF0nmKpzHAq55oFUe0uGkxW1g2Loaqdhulqunl1K4PTWZkOV6fMRzEUlFJ+jPbYKKU6MCwIQRAucdZ1xLCKlKtrcKxZD6PpPGXtLt60rAmrwnlwutInrCMeYnauxEy+kho7OJ2lpbGB9V0ximVtD7eymCtp3vrAU3zx8eOL8TaF82Q+iuFTwHeATqXUXwGPA3+9KFIJgrCk3GBOBmxpbPDU4FizHuyRoI4q/o54iFyhTCZfpGRu9L0OiwHc6axDSaMSuqsq28li91iJp49N8qEH94k1cRE57xiD1vprSqmdGI3uFPALWuv9iyaZIAhLxhte3sO/7zzDO1+52rPWGQ+RLZTYP2SkuDrnUTuzlqKhEoWSptfRgA8MxWANmBqczrK8pbGyVqUYzqQrTojj4xnWdUrvsIvBvOYxaK0PAAcWSRZBEC4SbbEQ//Ff76y51m1u9E8fm0SpSidXcNc5hLJGwZrdgC9WKZyzGJzOcsuaVtothVIVg5jMVayEQyOiGC4WL6oYztI8z0Zr/YmFE0cQhHrDavr4yIFRehJhe2QtuC0Gn9niwtmZFSqupEy+SCpXpLc5QlvUyFupthgmc2XWdkQ5OjZTc9aDsDScj8VgqeyNGKmp3zd/fiOwbTGEEgShfriqw3ADZQslNnW4+3xVqqbzdgDaqnNojQbxqUocweq62tMUtusjqrOWJrKaTWsTjKbzks56EXlRxaC1/gsApdSPMZropc2fPwh8c1GlEwThotMYDNDbFGYwmeNGM0ht0RRpoMGvGEvnyRdLRIN+EhFjW/H7FG2OAjirpfcy16wHd2fWyZympynM8pbGmoohmS2wZf8Ib7qh1+7nJCw8L6WJ3hywekGlEQShLvndu66iubHB09tIKUVHzEhZHZgy+iw5u6Y6K6PtBnyOrCVnDcTUbIG5suGK6mkKe1JZAf7uRwf5o3/bzb/uOL3g71GoMB/F8M/AdqXUB82W2z8D/u/5nqyU+pJSalQptecs6+9TSu0yv/YopUpKKW+/XkEQlpzfvnMNu/7Xa1ldYxZJRyJsz3pY1eYujutMVCqjB6ez+BR0me6njqoCOGdL7/ZY0ONmAnjcHF366MGxhXljQk3m00Tvr4B3AlMYjfTeqbX+yDzu9RXgvnNc/2Na6xu11jcC/xN4VGst08QFoc5Z1drI8fEZTk3OsrKqnUZHLGRnJQ1O5+hKhF0tvV1V01VDgMYzc5QdtQy5QokTEzMA7B+udIcVFp75pqs+Czx7ITfSWm9TSq0+z8PfBnz9Qu4jCMLSsq4zxvd3DwJ4LAZrZnS5rD0tvTviIdJ5Y2Z0uMFfZTGEKJU109kCrWYG05HRDFob9zs2lqFQKtds8SG8dOalGJYCpVQjhmXx++c45n6M0aJ0dXXR399/QffKZDIXfO5iUq9yQf3KJnLNj4WUKz9WaXkxN3KU/v4T9s/J4QLFsuahn/ZzdDjLmoTPvu/EgFH38B8/eZSORh8/OzhHQGleeOZJRodLAPzwkcdZFjc2/2eGjfusDuc4ouG7P+qno3FpFMOV8Ht0obVesi+MYPWeFznm14D/ON9rbtq0SV8oW7duveBzF5N6lUvr+pVN5JofCynX1Exer/rAg3rt/3xIZ+eKrrUHdw/qVR94UO8fSur1f/oD/dcP7bPXHtk/old94EG948Sk1lrr93xtp77lLx7SWmv9xJExveoDD+onDo/Zx3/p8WN61Qce1N/fNaBXfeBB/eSR8QV7Dy/G5fh7BHbos+yrF2wxKKV6gEmt9UKP9Xwr4kYShEuG5sYg//Tbt9Dc2EC4we9as4rc9g6kmCuWXVXTtcaGtoaNjCaratpZGT2czBEM+Lh+mTFoyDnbweJrPztJoVjmt14pUxRfCi/FlfTPwFql1Le01u9dCGGUUk3APcB/XojrCYKwNNy9oaPm613mdLinj00AsLKtEpzurGqLMTid5aqo4RqqNOCrZMgPp3J0J8L2edVZS8nZAn/6HSPp8b7re+xWHsL8mc8Et03On7XWrwGuAr58nud/HXgK2KiUOqOU+h2l1LuUUu9yHPaLwI+11jPnK5cgCPXLsuYIQb+P/kNGeqmzAV9rNIhS2LMeRlI52iKGxdDcWCmcsxhKGoohGgoQafB7xoY+e3rK/n7nySmEC2c+kZvfVEr9u1LqNsdrH9da7z2fk7XWb9Na92itG7TWy7XWX9Raf05r/TnHMV/RWr91HjIJglDHBPw+Vrc3MpbO0+BXriE/Ab+PtmiQsXSeEXPWg+VKUkp5Bv2MpHJ0mVZAe9xb53B4JG1/f0DSWV8S81EMo8Bm4NtKqYNKqeNA9+KIJQjC5cLG7oT5b5xgwL3lWNXPVrygLeyomnbUOWitzVkOYfu86nnSh0cydMRDLG+JcHpSGvC9FOajGP4zsFFr3Qvci9FAb/uiSCUIwmXDz19vPD/+wo3LPGvWzGhLMbRGKluSs53G9GyBuWKZroShGNqi3rGhZ6ayrGiJsKw5YvdlEi6M+SiG08AaAK31oNb6N4H/sihSCYJw2fD6l/Xw5P94Fb9zpzdTqDMeZtzRSdVjMWTcfZa6E9YQIK8raSRlTIdb1hJhQDqzviTmoxj+APiWUuqflVJ/qJT6OCBBYkEQXpTq5noWnQmjAd+xsRnaYyHCAbdimMjk7ZGhUBka1B4LMTkzZ4//1FoznDJabvQ2RRhO5TyjQXOFEn//k0OcnJBt68WYT6+kfcArgG8AUWAYePMiySUIwhXAmvYohZLmyaPjNdtplDVMzswxXEMxWGsAqVyR2bkSPU1h+7ypWXcM4lvPnuGTWw7zoQf3LcE7u7SZb6+kPPCQ+SUIgvCSsKbDDSVz3LG2HWdnf7vILZ1nOJlDqUrtg3M6XEc8ZFsUXU1hfKbRMZ7J2/UQAE8dNWopdp6cQmtd04IRDKQDlSAIF411nTH7+5ctS7jWnJv/cDJHeyxkN82rVTUNxnQ4uzgu7bYYDpnprFOzBUZSC92w4fJCFIMgCBeNpkgDt6xuJeBTvPqaLteac/O3qp7ttZhbMYw4gtOVqunK5l8olTk+PsN1vYbyOSXprOek7rqrCoJwZfHld97MaDrPitZGjjpeb3f0SxpJ5VjeUolBtFe107BiEJ2JELm5MoCnOK5Q0tyxto29g6mafZaECmIxCIJwUYmGAqypMRkuGgoQDfoZSeWMdhhNlXhBNOgn0uBn3OFKaosGCQWMmdNBv8/VgM+KQWxa1QIgdQ4vgigGQRDqlhWtjew6PU0yW2C1owGfUspV5zBipqpaa22xoCvGYMUgVrVFaY0GayqGUlnbWU5XOqIYBEGoW9Z2xHju1LTxvSNQDe6WGcOOdhmAp8/SsCM43REL2ZaGkz/77gvc8TdbODMl8QdRDIIg1C1rOypWwrqOKsXgaJkx7GiwB9AeC3piDKGAj6ZIA22xIBNVlkGprPn69tPkCmUe3jO8GG/lkkIUgyAIdcsta9oACDf4XEN+oNJhNV8sMTkz585airstBqsBX62ureDOUto7KJ1ZJStJEIS65fa1bfz+vevYtLrFU5DWEQszNVuw+yJ1e1xJc5TLGp9PuWIQ7TVcSQeHjRqHpkgDR8cyi/mWLgnEYhAEoW7x+xTvfd1G7t3Y6Vmz6hz2mE/41RZDqayZzhYAXC2722JBZuZKZOdK9vHHx43+SXdv6JBUVkQxCIJwiWK1x3jWnNbW2+xWDGAUwJXLmtFU3o5BdNQogBtJ5YiHAmzsijGemSNXqCiNK5ElUwxKqS8ppUaVUnvOcUyfUmqXUmqvUurRpZJNEIRLj9Vm7cNP94/g9ylWOMaGtjsqoydn55grlelJVKa/AVUxiCzdTWF6zQlzV3qdw1JaDF8B7jvbolKqGfgM8Cat9XXAry6RXIIgXIKsbG3E71OcmcqysrWRUMBvr1X3WQJ3Z1aACccEuOFUnu6msO2OGq3RS2n78ckrZjLckikGrfU2YPIch/w68G2t9Snz+NElEUwQhEuSYMBnV0yvr1HjAIbFYHdeTbgVw5irziFLVyJst9qozloaz5Z5y/95it/+yjOL8E7qj3rKStoANCil+oE48Emt9T/VOlApdT9wP0BXVxf9/f0XdMNMJnPB5y4m9SoX1K9sItf8uFzkWhvJcwToVVOu87TWBHzw7P4jnD5hZDOd2PccyWM+CuYAn2deOEDP7DFKZgwiPz3Cgd3Gs+vTu/YSnzpkX2/HmVlAcXg0w3cefoSWcH2EZxfr91hPiiEAbAJeDUSAp5RST2utD1UfqLV+AHgAYPPmzbqvr++Cbtjf38+FnruY1KtcUL+yiVzz43KR69Y7Smw/Mcmd69rx+9zprF0/e4RIcytNLRF8+4/wxp/rI2C27U5s+xHx9l76+q5nOJlD/3gLt75sI2+4ZSX/fesPaOleSV/fRvta/7zvR0ARgOY119NXI0vqYrBYv8f6UHsGZ4CHtdYzWutxYBtww0WWSRCEOiYS9HPPhg6PUoDKzOihZI7OeNhWCs41MALPYLTL8PkUrdEQEzNuV9JApsxKM7h9cvzyHw1aT4rhe8BdSqmAUqoRuBXYf5FlEgThEqUzHmI4mbMzjpwYRW5G8NkbgwgyVjXkZ2xW84qVzYQCPgbNYPblzJK5kpRSXwf6gHal1Bngz4EGAK3157TW+5VSDwPPA2XgC1rrs6a2CoIgnIs17VH6D40xnS1w1/p211pHPGS3vnBOfwNDaTgthnJZM53X9DRHgQSRDwAAFDVJREFUWNYcsSutL2eWTDFord92Hsd8DPjYEogjCMJlzpr2KHPFMmPpvD1b2sLZFmM4lSPo99EaDZprQU6eqriLxmfylLShOHqbI5y5Amoc6smVJAiCsGCs76oogw1dcddaRzxEOl8kVygxnMzR1RSyezG1OdxMACNJQ4F0JcJ0Jmq37C6VNXsGkmitF+OtLDmiGARBuCx5+fJmIg1G0dttV7W61pwzo4eT7nnS7bEQ2UKJmbyRheQMTludWasVwJefOM4b/vFxvrdrcNHez1IiikEQhMuSBr+P7/3+K/nue15JPNzgWrPaYljzpLsS3j5L447pcGA06WuLBskXy8zMuXsp/dCc4fCDF4YW580sMaIYBEG4bNnQFefGFc2e1529lIY809/cvZSGkjn8ynAxVdppVNxJWmsOmW279w9fHrMcRDEIgnDFYVkFR0Yz5Itll8VQURpGnGE4laMppPD7jFnS4G6ZMZjMkc4XaY+FOD2ZJV+89DuzimIQBOGKozMeJhjw8ejBMQBWtVVGiNp9lhyupJaQEZhut1t2V4LTJyeMDCYrJXb4MqhzEMUgCMIVh9+nWN3WyPYTRm8k52zp1mgQpbCzj4aSOVrCbsXg6sxqKoJNq1qAy6NltygGQRCuSK5qN9JZG/zuWQ4Nfh8tjUE7+2jYoRisWgdnjGHYDE6/YqWpGC6DAjhRDIIgXJFsXm1s5Nf2JGjwu7dCoy1GnnS+yOxciVazm2ow4KMp0uCKMQwncyTCAa4yrY7RGnUOlxr11F1VEARhyfiFm5ax48QUb799lWfNqlcYMd1EVowBjJnR41WupO6mMOEGP9Ggn8mZOc/1vvDYMYaSOf7/N1y7CO9k4RHFIAjCFUl7LMTn3r7prGu7Tk/bfZQsV5K1NlY1L7q7yRgJ2hYLudxMAKlcgQ8/ZPQDfevNK1hfVYVdj4grSRAEoYqOuGExWPEDp2LoMK0Ji6Fkzp4n3RYLMlFlMewdqNQ2PHtqajHFXjBEMQiCIFTRGQ8xO1eyC9eaQ06LwYg/ABRKZcYyebrMArm2aMjlZgI4NJK2vz8wnOZSQBSDIAhCFavNWdKPHBhlWXOEoN/tSkrnjAZ8Y+k8WmP3WmqPBT2upMOjaeLhABu6YpdMxpIoBkEQhCquMhXDsfEZ1nZWtew2C+AmZuZsV5PVUqM1GmRyZs7VZG9oOsfylkZ6myMMJkUxCIIgXJKsbKvUNayvVgxW9bPZmRUq09/aYiGKZU0qW7SPH07l6E6EDMUwfWlURS+ZYlBKfUkpNaqUqjmVTSnVp5RKKqV2mV//a6lkEwRBcBIK+O3me3dWTX9zNtkb9kx/M9dm3HUO3U0RepvCTM7MkSvUfy+lpbQYvgLc9yLHPKa1vtH8+sslkEkQBKEmn3rrTXzsV17OPes7XK9X+iUZWUvBgI/mRqOtd1vU3TIjXywxMTNHT1PY0867nlkyxaC13gZMLtX9BEEQXgor2xr51c0r8PmU6/XKBj9nD/mpTH9zd18dTRn/GrMcjPOqC+BG0zn+06ce43u7BhbvzcyTeitwu10ptRsYBN6rtd5b6yCl1P3A/QBdXV309/df0M0ymcwFn7uY1KtcUL+yiVzzQ+SaH9VyRQKw68BRTqXKRMBeS+aNoPNTz+2hceIgBycNt9HoyYOkA4by2PrUDiY7KlvvD47PsXewwEe+v5um6cMvSa6Fop4Uw7PAKq11Rin188B3gfW1DtRaPwA8ALB582bd19d3QTfs7+/nQs9dTOpVLqhf2USu+SFyzY9quXp29uOPxZlNJ7lpRQt9fTcBxuznP+z/AS3dK+nr20hq9yBsf47X3XUroYCfDz29ld41G+nbvMK+1jcHnwWGGMvBba+8i7A5jvRC5Foo6iYrSWud0lpnzO9/ADQopdpf5DRBEIQlZ3VblEOjaQamsnbNAxjtvFujQcbMGMOwmZ7a1RS23UzVrqSDZtFbqaw5NjazFOK/KHWjGJRS3cp01CmlbsGQbeLiSiUIguBlTXuUY2MzlLV7lgNUGvCB0S6jMegnHgrQGPQTbvC5WmaUypoT4zP2kJ96meWwZK4kpdTXgT6gXSl1BvhzoAFAa/054FeAdyulikAWeKt2VokIgiDUCVc5lMG6qjqHjnjIbplhNNhzBKej7j5L45k8xbJm06oWHjs8zuCVphi01m97kfVPA59eInEEQRAumNuvarO/v7o74Vprj4U4Pm64hKysJYu2WNDlSrK6t17X20Qw4Kubyuh6Cj4LgiBcElzVEeOjv/JyVrQ04q9KZ7Wa7GmtGUnluXVNq73WFvXOcgCjQK6nKcxQnVRGi2IQBEG4AN7iyCxy0h4LkS+WSeWKtivJojUasoPNUAlOdzeFaY+FmJipj+K3ugk+C4IgXA5YBXAHh9MUy9qlGNpjQcYdTfaGUjmCfh+tjUFao0G7YtrJ82em+duHD1AolZfmDSCKQRAEYUGxWmY8f2YaqDTYs9bmimXSeaPJ3kgyR2cihM+naIt6h/wAvP/fn+ez/Uf5yb6RJZDeQBSDIAjCArK8xRjz+eRRI9t+WXPEXmuPmy0z0pV0VqsBnxWYLpcryZj5Yske7vP0saXL3hfFIAiCsICsaDUC0o8cGAVgbUclnbXSgM+wDEZSOduiaI2GKJU1qVzBPt5Z8HZwCae/iWIQBEFYQBr8PlaYVsOy5giRYKXFhbMzq9baZTFU2nlX3EmHRzMAXL8swenJ2SWRH0QxCIIgLDgvW27Mcnj58ibX607FkMwWyBfLDovB2zLDKni7eXUrI+k8pfLS1PyKYhAEQVhg3rJ5Oe2xEL92szultTUaxKfM6W/mWFAra6kyy8E95CceDrCuM0aprBlNL02dg9QxCIIgLDB3re/gmT99td0Kw8LZZG+oavqb1WRvwlUZnaU7EabXDGAPTmfpaYqw2IjFIAiCsAhUKwULq8neSNW86JZGUzE4K6NTebqbwnSatRFWD6bFRhSDIAjCEmI12bNcSZ1xQzEEAz4S4YCr+nnYtBhsN1ONOofFQBSDIAjCEtIRMxVDMkd7LEQwUNmG2+Mh22IolsqMpfP0NIVpiRozpSdrVEYvBqIYBEEQlpAVrY0MJrMcHs3YxXAW7bEQY2bweSyTp6yNIT+hwP9r7+5jrKjOOI5/fyzsKizIy+pKUUHRVCuNFFCstQTUWKSNirWtxqQ2mhBbbdWmiVZT9Y++oWn/sNEaWw22UTHWlxqK1dZibZpqBIqK8Q0tKhVBEcS1ioBP/5i5cO/lzu7ddWfuhf19kpudnXPuzrNnZufZOXPnnGROB18xmJntgQ7uGEYELHt1465zOVRN8gOVN6edGMzM9kDlU4FWJ4aO9tYdw2VU35wePayVdwoafbWwxCDpVknrJa3sod7RkrZLOrOo2MzMinLE2OE7lqccNKqirKO9jc0fbmPLtu1lVwxJd9PoYW01R1/NQ5FXDAuA2d1VkNQCzAceKiIgM7OitQ1u4Yo5h3PGlHFMHV+ZGMa0lx5y+4h1mz+kdfAgRg1Nbjxnjb6ahyKn9nxM0oQeqn0XuAc4OveAzMwaZN6MiTXX7xwvKfk4a+eItp3zRbe3sjGdyyHrGYn+otKEEUVIE8OiiJhUo2wccAdwAnBLWu8PGT9nHjAPoLOzc+rChQv7FE9XVxft7e09VyxYs8YFzRub4+odx9U7RcW1atN2fvz4h1w6tY3Fr2wlgCumJ11JD63eyp3Pf8QNJw5l2BB94rhmzZq1LCKm1SyMiMJewARgZUbZ3cCx6fIC4Mx6fubUqVOjr5YsWdLn9+apWeOKaN7YHFfvOK7eKSqu1za8H+MvWxR3PflazLj2b3HRHct3lN27/PUYf9miWLX+vX6JC1gaGefVZvpU0jRgoaTVwJnAjZJOb2xIZmbFKY2+WnoAbv8RbTvKdg6yl/99hqYZRC8iDi4tS1pA0pV0f+MiMjMr1t6tLXS0t7H81Y1s2fbxjsHzYGfSKB99NS+FJQZJdwIzgQ5Ja4CrgSEAEXFTUXGYmTWzCWOG8kg6+1v5cw47pgXdkxJDRJzdi7rfyjEUM7OmNX7MMJa+uhGonBZ09NBWJHirgK6kZrrHYGY24JVmfRukncNhAAxuGcSooa2FdCU5MZiZNZGTj+xkv+FtfO/Ew3Z5XqGjvXXP6koyM7Oejd1nb564YtfZ36A0yU/SlTT9p3/luP0+ZubM/o/BVwxmZk0m68nmMe1tbOjaQteWbazbvIUhOZ3BnRjMzHYTSVfSR6zd9AEAo/fK5xTuxGBmtpvoaG+ja8s2Xnn7fQBG753PmElODGZmu4nS3Az/fm0TAKPanBjMzAa08WOGAvDoC+tpbRnE6L2cGMzMBrRSYnj+zfeY0DGUlkFODGZmA9q+7W0Mb0ueMqieFrQ/OTGYme0mJDH5oJEATD94TG7bcWIwM9uNXDHnCM6ZfhBnTBmX2zb85LOZ2W7kiLEj+Mncz+a6DV8xmJlZBScGMzOr4MRgZmYVnBjMzKxCYYlB0q2S1ktamVF+mqSnJa2QtFTS8UXFZmZmOxV5xbAAmN1N+SPAURExGTgP+G0RQZmZWaXCEkNEPAa80015V0RE+u0wILLqmplZfrTzXFzAxqQJwKKImJRRPhf4GbAf8OWI+FdGvXnAPIDOzs6pCxcu7FM8XV1dtLfn91h5XzVrXNC8sTmu3nFcvbMnxjVr1qxlETGtVllTJYayejOAqyLipDp+5lvAq30MqQN4u4/vzVOzxgXNG5vj6h3H1Tt7YlzjI2LfWgVN+eRzRDwmaaKkjojo9pfO+sXqIWlpVsZspGaNC5o3NsfVO46rdwZaXE3zcVVJhyqd6FTSFKAV2NDYqMzMBp7Crhgk3QnMBDokrQGuBoYARMRNwFeBb0raCnwAfCOK7OcyMzOgwMQQEWf3UD4fmF9QOCU3F7y9ejVrXNC8sTmu3nFcvTOg4ir05rOZmTW/prnHYGZmzcGJwczMKgyIxCBptqQXJK2SdHmNckm6Pi1/Ov1UVN4xHShpiaTnJD0r6eIadWZKejcdP2qFpKvyjivd7mpJz5TGrapR3oj2+nRZO6yQtFnSJVV1CmuvWmN/SRot6S+SXkq/jsp4b7fHYw5xXSfp+XRf3SdpZMZ7u93vOcR1jaT/lu2vORnvLbq97iqLabWkFRnvzaW9ss4NhR5fEbFHv4AW4GXgEJKPwD4FfKaqzhzgQUDAscATBcQ1FpiSLg8HXqwR10ySBwKLbrPVQEc35YW3V419+ibJAzoNaS9gBjAFWFm27lrg8nT5cmB+X47HHOI6GRicLs+vFVc9+z2HuK4BflDHvi60varKf0HysG1h7ZV1bijy+BoIVwzHAKsi4pWI+AhYCJxWVec04HeReBwYKWlsnkFFxNqIWJ4uvwc8B+Q3iWv/Kry9qpwIvBwRfX3i/ROL2mN/nQbcli7fBpxe4631HI/9GldEPBwR29JvHwcO6K/tfZK46lR4e5Wkz1V9Hbizv7ZXZ0xZ54bCjq+BkBjGAa+Xfb+GXU/A9dTJjZKhQj4HPFGj+POSnpL0oKQjCwopgIclLVMyLlW1hrYXcBbZf6yNaK+SzohYC8kfN8mYX9Ua3XbnkVzt1dLTfs/DRWkX160ZXSONbK8vAusi4qWM8tzbq+rcUNjxNRASg2qsq/6Mbj11ciGpHbgHuCQiNlcVLyfpLjkK+BVwfxExAV+IiCnAKcCFSsauKtfI9moFTgXurlHcqPbqjUa23ZXANuD2jCo97ff+9mtgIjAZWEvSbVOtYe0FnE33Vwu5tlcP54bMt9VY1+v2GgiJYQ1wYNn3BwBv9KFOv5M0hGTH3x4R91aXR8TmiOhKlxcDQyR15B1XRLyRfl0P3EdyeVquIe2VOgVYHhHrqgsa1V5l1pW61NKv62vUadSxdi7wFeCcSDujq9Wx3/tVRKyLiO0R8THwm4ztNaq9BgNnAHdl1cmzvTLODYUdXwMhMTwJHCbp4PS/zbOAB6rqPEAyHIckHQu8W7pky0vaf3kL8FxE/DKjzv5pPSQdQ7K/ch0/StIwScNLyyQ3Lqtn3Su8vcpk/hfXiPaq8gBwbrp8LvDHGnXqOR77laTZwGXAqRHxv4w69ez3/o6r/L7U3IztFd5eqZOA5yNiTa3CPNurm3NDccdXf99Rb8YXyadoXiS5W39luu4C4IJ0WcANafkzwLQCYjqe5BLvaWBF+ppTFddFwLMknyx4HDiugLgOSbf3VLrtpmivdLtDSU70+5Sta0h7kSSntcBWkv/SzgfGkMxE+FL6dXRa91PA4u6Ox5zjWkXS71w6zm6qjitrv+cc1+/T4+dpkpPX2GZor3T9gtJxVVa3kPbq5txQ2PHlITHMzKzCQOhKMjOzXnBiMDOzCk4MZmZWwYnBzMwqODGYmVkFJwazOkgaKek7jY7DrAhODGb1GQk4MdiA4MRgVp+fAxPTsfevy6okqUXSAkkr07H6L03XT5T053TAtX9IOjxd36lkjoSn0tdxBf0+ZpkGNzoAs93E5cCkiJjcQ73JwLiImARJF1S6/maSJ2lfkjQduBE4Abge+HtEzJXUArTnE75Z/fzks1kd0uGPF5VO+N3UGwUsBRYDfwIeJhnK4y3ghbKqbRFxhKS3gAMiYksecZv1ha8YzPpRRGyUdBTwJeBCkoleLgE21XG1YdYUfI/BrD7vkUyzWJOkRySNS4f5HhQR9wA/IpmicTPwH0lfS+sqTR6QDIb27XR9i6QRuf4WZnVwYjCrQ0RsAP6Z3lSuuPksaRBwKMkUkeOAR5VMIL8A+GFa7RzgfEml0ThL0y1eDMyS9AywDCh61jmzXfgeg9knJGkScF5EfL/RsZj1BycGMzOr4K4kMzOr4MRgZmYVnBjMzKyCE4OZmVVwYjAzswpODGZmVuH/iZ7oFRyZOVYAAAAASUVORK5CYII=\n", ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "text/plain": [ "
" ] @@ -135,11 +107,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 60, -======= "execution_count": 5, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { @@ -148,21 +116,13 @@ "Text(0.5, 1.0, 'trajectory')" ] }, -<<<<<<< HEAD - "execution_count": 60, -======= "execution_count": 5, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" }, { "data": { -<<<<<<< HEAD - "image/png": 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\n", -======= "image/png": 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\n", ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "text/plain": [ "
" ] @@ -186,11 +146,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 61, -======= "execution_count": 6, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [], "source": [ @@ -205,11 +161,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 62, -======= "execution_count": 7, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [], "source": [ @@ -221,11 +173,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 63, -======= "execution_count": 8, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { @@ -248,11 +196,7 @@ " [0.]]" ] }, -<<<<<<< HEAD - "execution_count": 63, -======= "execution_count": 8, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" } @@ -269,11 +213,7 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 64, -======= "execution_count": 9, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { @@ -289,21 +229,13 @@ "[-21, 0, -8, 8]" ] }, -<<<<<<< HEAD - "execution_count": 64, -======= "execution_count": 9, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" }, { "data": { -<<<<<<< HEAD - "image/png": 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\n", -======= "image/png": 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\n", ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "text/plain": [ "
" ] @@ -326,37 +258,22 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 65, -======= "execution_count": 10, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { "data": { "text/plain": [ -<<<<<<< HEAD - "[]" - ] - }, - "execution_count": 65, -======= "[]" ] }, "execution_count": 10, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "output_type": "execute_result" }, { "data": { -<<<<<<< HEAD - "image/png": 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\n", -======= "image/png": 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\n", ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "text/plain": [ "
" ] @@ -378,20 +295,12 @@ }, { "cell_type": "code", -<<<<<<< HEAD - "execution_count": 66, -======= "execution_count": 11, ->>>>>>> 4d1aa6857b9bc18de00be169c5fb3d5aa32cf732 "metadata": {}, "outputs": [ { "data": { -<<<<<<< HEAD - "image/png": 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\n", -======= "image/png": 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\n", 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