{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Tutorial 15: Reaction Wheel & Magnetorquer Slew Control\n", "\n", "This tutorial covers Attitude Control strategies for spacecraft detumbling and precise attitude slewing using **B-Dot controllers** for Magnetorquers and **PID controllers** for Reaction Wheels.\n", "\n", "---" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 1. Theory Prerequisite\n", "\n", "### 1.1 B-Dot Detumbling\n", "When a spacecraft is tumbling tipsy after release, Magnetorquers (MGT) can interact with the Earth's magnetic field $B$ to generate damping torque.\n", "\n", "- **Control Law**: Dipole Moment $m = -K \\dot{B}$\n", "- **Torque Produced**: $T = m \\times B$\n", "- **Effect**: Slows down the rotation rate without requiring reaction wheels.\n", "\n", "### 1.2 PID Slew Control\n", "Once detumbled, precise re-orientation requires Reaction Wheels (RW).\n", "\n", "- **Input**: Angular error (e.g., from quaternions)\n", "- **Action**: Controller $u = K_p e + K_i \\int e dt + K_d \\dot{e}$\n", "- **Output**: Desired momentum exchange causing rotational acceleration opposite to rigid body." ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Imports successful.\n" ] } ], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt\n", "from opengnc.classical_control.bdot import BDot\n", "from opengnc.classical_control.pid import PID\n", "\n", "print(\"Imports successful.\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 2. Demonstration: B-Dot Detumbling Simulation\n", "\n", "We simulate a tumbling spacecraft slowing down its angular rates via magnetic torque interaction." ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "image/png": 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OXB2EtUbAQQ1VxwAAAAAAQHHhwgVq2bIlVQdhrRFwj5ryDfHz87OLtWNWr15NI0aMIJVKZevTATuH6wWshWsGrIVrBqyFawYc+ZrJzc2VjhwlI1QHYa0RKEMfOajZS1jz8vKSc7H1xQr2D9cLWAvXDFgL1wxYC9cMNIVrpjbTo1BgBAAAAAAAwA4hrAEAAAAAANghhDUAAAAAAAA7hDlrAAAAAABQLyXpy8rKqLy8nOxxzpqrqysVFxc3yvnxvDgXF5fLfh2ENQAAAAAAuCylpaWUlJREhYWFZK9BMiIiQqqzN8a6x/weXJbfx8fnsl4HYQ0AAAAAAOqsoqKCzpw5Iz1JvNCzm5tbowQia88xPz9fwlNNC1HXRzBMS0ujixcvUtu2bS+rhw1hDQAAAAAALqtXjcMQrx3G5fHtUUVFhZynh4dHg4c1FhoaSmfPnpXhl5cT1hyuwMiCBQsoLi5OvtD9+vWjHTt2WDz20KFDNHHiRDme0/28efPq9Jo8tvXhhx+m4OBgSeP8mikpKfX+2QAAAAAAHFVjhCBHUV89iw71FV2yZAk9+eST9PLLL9OePXuoW7duNHLkSEpNTTV7PI+ZjY+Pp7lz58oY1bq+5hNPPEHLli2jpUuX0t9//02XLl2iG264ocE+JwAAAAAAgEOFtXfffZemTp1KU6ZMoY4dO9LChQulq/WLL74we3yfPn3orbfeoltvvZXc3d3r9Jo5OTn0+eefy3FDhgyhXr160Zdffklbtmyhbdu2kaM5mZpPP+9JpAK1rc8EAAAAAACaxJw1HmO6e/dumjFjhlFX67Bhw2jr1q0N9pr8OI815X2KhIQEiomJkWP69+9f5XVLSkqkKXJzc2XLr8PNln7edZ4+3niGnMmFfk/fQSM6RdDwDmEU6e9h0/MC+6Vcs7a+dsFx4JoBa+GaAWvhmrEv/H3goho8L4ybPdJoNPptY5wjvwe/l7k5a9Zctw4T1tLT02VNhPDwcKP9fP/o0aMN9prJyclS0SYgIKDKMfyYOXPmzKFXX321yv7Vq1fbfNJlZooTtfBypsRCJ9p+NlvarD+PUrS3hroGVVDXIA1F2Oe8ULCxNWvW2PoUwMHgmgFr4ZoBa+GasQ+8fhlPOeJqi9wZYs/y8vIa5X3461BUVEQbN26UtecMWbO8gcOENUfCPXU8D86wZ42r44wYMYL8/Pxsem6jdWn+h2VrqCSkPa07nkG7z2fThQInulDgQn9eIIoP8aJhHcKkx61rC39ydrav0qvQuPh64X8Mhw8fLgs8AtQE1wxYC9cMWAvXjH3hYny8fhkX4uOCffZIo9FIUPP19a1S/OOhhx6igwcPSrAyxaPpuNDgc889Z/XXxNPTk6666qoqXxNl1F2TCmshISHShWhahZHvWyoeUh+vyVtOxtnZ2Ua9a9W9L8+PMzdHjn+Y2MsPlBAPotFXtaaHhiZQWl4J/e9ICq06lExbTmbQ6fRC+uSfs9Ii/DxoeMdwGtkpgvrFB5HKxaGmOUI9sqfrFxwDrhmwFq4ZsBauGfvAI9U4APF0Im4cjIrU5TY5F0+Vi9lKjMrQR+U8DavHf/rpp/TPP/+YrWbZoUMH2rdvn9WVLvl4fi9z16g116zDhDUeisjFPdauXUvjx4/Xf9H5/rRp0xrsNflx/oLyPi7Zz44dO0bnz5+nAQMGUFMQ6utOt/WNkZZXrKb1x9IkuG04mkrJucX0zbZz0vw9VTQ0IUzmuQ1uF0qebnVfMwIAAAAAmiYOah1fWmWT9z782kjycqt9xOFihFyUcODAgWYfDwoKsjj1qTE4TFhjPLRw8uTJ1Lt3b+rbt6+sm1ZQUCCVHNldd91FLVq0kDljjHvEDh8+rL+dmJhIe/fulS7aNm3a1Oo1/f396d5775Xj+JvFwxgfeeQRCWrmios4Ol8PFV3fLUpasbqctpxKp1UHU6TnLaOglH75N1Gah8qZrmobKsGNh0wGeLnZ+tQBAAAAAGqN55L98ssvNHPmTP2++++/XzIB//7PeOgkD2e0FYcKa7fccgulpaXRSy+9JAm3e/futHLlSn2BEO7tMuyi5PXQevToob//9ttvSxs8eDBt2LChVq/J3nvvPXld7lnjKo+8DttHH31ETZ2HyoWGJIRLK6/Q0K6zmbTqkHa4ZGJ2Ea0+nCLNxdmJescGynDJoR3CqVWIt61PHQAAAABshIcicg+Xrd67tk6dOiVhrEuXLvoRdryu8tChQ/XH7N+/X/ICu+KKK2Q5r379+kmY69y5s6zH3JAcKqwxHp5oadijEsAUcXFx+jKddX1NxpMCFyxYIK254kDWLz5Y2szrOtChS7nasHYomY4m59H2M5nS/vvnEWod6k3DOobT8A7h1CMmUJ4LAAAAAM0Dz9WyZiiirWRnZ8uWR92xVatWUVZWlr4gCK+pzCPzJkyYIPe5B27u3Ll05ZVXSkdOQwc1Zv9fRbDL/wA7t/CX9uTwdnQhs1CGSXLbfjqTTqUV0Km/T9P//X2agrzdaEhCGA3rEE5Xtg0hb3dccgAAAABge7GxsfJ77Q8//EDe3t709NNP05gxY+j333+XSu4PPPCArLU8aNAgOX7UqFH0wgsv0J9//ikj8RoDfnOGyxYd5EVTrmglLadITRuPp0lwW380lTILSumn3Relubk60xWtg2WoJIe3CCzEDQAAAAA2EhERQa+//rr0lv388880e/ZsKS44btw4WrJkCY0dO9Zo6tPOnTspMzNTQl5jVSFFWIN6xRUjx3aLkqYur6CdZzPpf4dTJbydzyyUSpPcXvztIHVp4S+hbVjHMOoY6We2zCoAAAAAQEOuj8zN0NmzZ6scx8Mh//Of/9C6deukjgWvy8Zz1hoawho0GF6TbWDrEGk8z+1kaj6t4eGSh1Po3wvZdCAxR9p7/ztOUf4eMs+Ne936xweRuyuWBQAAAAAA2ysqKqKbbrqJPvjgA2rVqpWEu1mzZknvW0NDWINGwb1mbcN9pT10dRtZiJuHSXJ423QinS7lFNPXW89J83JzoSvahMhct2vah2G4JAAAAADYDJfu37Jli/4+BzdujQFhDWy2EPfNfaKlKeu5rTmcSmuPpFBqXgmtOZwijXWI9KMhCaES3rpHo7okAAAAADQPCGtgV+u5aTSdZVmAdUdTaf2xVNp7IZuOJOVKW7D+FAV6qWhwu1C6JiFMtliMGwAAAACaKoQ1sNtlAR4d2pYy8kvo7+NpEt64ymRWoZp+23tJGnew9YoNlODGwyUTInxRpAQAAAAAmgyENbBrwT7udEPPltLKyito97ksbUXJo6l0LCWPdp7NkvbmymNSpOTqhDAa0j6MBrYJdojFGAEAAAAALMFvs+AwXF2cqV98sLTp1ybQxSzdUgBHU2XOGxcp+X77eWm8ptuA+GC6pr12yGRssLetTx8AAAAAwCoIa+CwWgZ60Z39Y6VxkZKtpzMkuPGQyYtZRTJ8ktsryw5TXLCXzHEb3D6U+sej1w0AAAAA7B9+Y4UmU6SE561xe/V6jazpxgVKOLjtOptFZzMK6ezWc/TV1nPk5uJMfVoFasNbuzBqF+6DuW4AAAAAYHcQ1qBJr+l231WtKb+kjLaeyqC/j6fShmNp0uu2+WSGtNkrjlKEn4e+143Xd/P3VNn6IwAAAAAAIKxB0+fj7krDO4ZL02g0dCa9QD9EkkNccm4xLdl1QRqv4dYjOoCukl63UOrSwp+csa4bAAAAANgAwho0u163+FAfaVOuaCVz3XacydSHNx4+uetclrR31xynIG83urJtiAS3K9uGymLeAAAAAACNAWENqLnPdeNeNG4ziaTC5Mbj6TJkcsvJDMosKKXf916SxjpF+UlwG9Q2RNZ4c3d1sfVHAAAAAIAmCmENwKTC5O39YqSpyyvo3/PZEty41+1gYi4duqRtH204RZ4qF+rbKkh63ji8tQ/HotwAAAAAUH8Q1gAsULk4Sxjj9szIBErLK6GNx9PonxNptOlkBqXnl+iHTzIeIjmoTYi2tQ2hcD8PW38EAAAAAKjBgw8+SAcOHKBNmzZVeaxly5Y0bdo0mj59OtkCwhpALXEYm9irpTQuVHI0OY82nUinf06m044zGRLmfv03URrjJQEGteG5biHULz4Ia7sBAABA86DREKkLbfPeKi8uUlDrww8dOkSffPIJ/fPPP2Yf79ChA+3du5dsBb89AtQBD3fsEOknbepV8VRSVk67z2VJeNt0Mp0OJObQ8ZR8aV9sPkMqFyfqGROoGzKprTLJlScBAAAAmhwOarOjbPPez18icvOu9eFvvfUW9enThwYOHGj28aCgIEpOTiZbQVgDqAdcaGRg6xBpzxJRVkEpbTmVQZtO8rDJdFnbbfuZTGlvrz4ua7kNbB0swyWvbBNKMcFetv4IAAAAAM1KWVkZ/fLLLzRzJpeZ07r//vupb9++dO+998r9vLw88vT0tNk5IqwBNIBAbzca0zVSGg+ZPJdRKMMlN51IkxCXU6Smvw4mS2PRQZ40MD6EBrYJpgGtgynMF/PdAAAAwEHxUETu4bLVe9fSqVOnJIx16dJF7ldUVNDSpUtp6NCh+mP2799Pt9xyC/37778yb23VqlWy//fff6c///xThlA2JIQ1gEYYMhkX4i3tzv6xVFZeQfsTc7RDJk+k057zWXQhs4iWZGoX5mZtw3yk521A6xDqHx9EAV5utv4YAAAAALXDc8asGIpoK9nZ2bL18fGRLQexrKws8vDQ/tF827ZtlJiYSBMmTJBAd/jwYX2P3GuvvUbLly9v8HNEWANoZK4uzjJ/jdujQ9tSfkkZ7TybSVtOpkuv2+GkXDqRmi/tq63n5Odd5yh/XXgLpj5xQeTtjv90AQAAAC5HbGys/FH9hx9+IG9vb3r66adpzJgx0msWHR1NDzzwAA0bNowGDRokx/O+s2fP0ooVK+S4yMhIamj4jQ/AxnzcXema9mHSSDffbfuZDAlu3E6m5kvBEm7/t/E0uTo7UffoABrYhufIBVOPmAAszg0AAABgpYiICHr99ddp7ty59PPPP9Ps2bOpV69eNG7cOFqyZAmNHTuWPvroI/3xPJdt/fr19PHHH9OWLVuoMSCsAdjhfLdRnSOlsZTcYtoqwS2dNp/MoMTsItp1Lkva+2tPkLurs/S2ca/bFW1CqHOUn/TeAQAAAED1ZsyYIc0Q956Zw2HtkUcekSGQvr6+1BgQ1gDsHC+uPb5HC2nsQmYhbdYNmeTGi3PzcgHc3lp1jHzdXWVdt/7xwdJ4eQEsEwAAAABwedq1a0fBwcFSMbKxIKwBOJjoIC+6tW+MNK40ycMktcEtXXrgcovL6H9HUqUxPw9X6tsqiPq10oa3jlEIbwAAAADW4iGRvC6bq2vjRSiHGyu1YMECiouLkyot/fr1ox07dlR7PJffTEhIkOO5igtPCDTEkwrNNf5GKPj9TB/nsa0AtsbXYttwX5o8MI7+787e9O9LI2jZtEE0/doEuqZ9qMyHU8Lb6yuO0NgPN1H3V1fTPYt20v/9fYr2XciW6pQAAAAAYLnEf/v27aUICc9na0wO1bPGE/2efPJJWrhwoQS1efPm0ciRI+nYsWMUFqYtzmCIJ/7ddtttNGfOHLruuuvo+++/p/Hjx9OePXuoc+fOckxSUpLRc/766y9ZBG/ixIlG+3ls6tSpU/X3G2ucKoA1uMesS0t/aQ8Mbi1B7NClXClYsv10Ju04k0l5JWW07miqNMaBrndcoK7nLYg6t/AnFea8AQAAAIjWrVtL3rAFhwpr7777rgSmKVOmyH0ObbwY3RdffCGL1JmaP38+jRo1ip555hm5P2vWLFqzZg19+OGH8lylCowhLtV5zTXXUHx8vNF+DmemxwLYOy400i06QNp9V7Wm8goNHUnKpW2nM2ibhDftsMkNx9KkMS83F+odx8MmtfPeOoTXfnFJAAAAAGiGYa20tJR2795tVK3F2dlZ1j7YunWr2efwfu6JM8Q9cb/99pvZ41NSUiT8ffXVV1Ue42GPHPZiYmLo9ttvpyeeeMLieNWSkhJpitzcXNmq1Wpptqacgz2cCzS+9mFe0ib3j5bwdiwlj7afyaKdZ7Utu0hNG4+nSWOeKmeK8XKmUx4nZJHuLi38pQIlgCX4GQPWwjUD1sI1Y1/4+8Dz6CsqKqTZI41Go982xjnye/B78dfGxcV4iSVrrluHCWvp6elUXl5O4eHhRvv5/tGjR80+Jzk52ezxvN8cDmncg3bDDTcY7X/00UepZ8+eFBQUJEMrOTDy8Enu6TOHh12++uqrVfavXr2avLzsp5eCexkBGP9Xcl0A0ehuREmFRKdynehErpNsC9QVdCzHmY6tP0Pvrz9DKicNxfgQtfbTULyvhlr5asjDYX6SQGPCzxiwFq4ZsBauGfvAHRg8Ai0/P186WOxZXl5eo7wPfx2Kiopo48aNVFZWZvRYYWFhrV8Hv2IZ4OGUkyZNkmIkhgx757p27Upubm5SspNDmbu7e5XX4TBn+BzuWeMVz0eMGEF+fn5ka5zm+Yfb8OHDSaVS2fp0wI5VVGjoaFI2fbNqG+V6RNCu89mUWaCmU3lEp/K0FSW5sGRChC/1jg2k3rEBsg31rfrfBTQf+BkD1sI1A9bCNWNfiouL6cKFC+Tj41Pl92h7odFoJKhxxwwXaGuMr4mnpyddddVVVb4myqi7JhXWQkJCpAuRhyoa4vuW5pLx/toe/88//8jEQS5iUhMubsIJmRfM48owpjjAmQtx/MPEnn6g2Nv5gH3q2CKQrozQ0OjRPeQvZ6fTC2jXWZ7vxsMmM+l8ZiEdTsqT9vW28/KcuGAvWahbWqsgud8YPxjBvuBnDFgL1wxYC9eMfeDRb/zvPE9R4maPKnRDH5XzbGj8Hvxe5q5Ra65Zhwlr3JvVq1cvWrt2rVR0VL7ofH/atGlmnzNgwAB5/PHHH9fv47/C8H5Tn3/+ubx+t27dajyXvXv3yjfAXAVKgKaMf+i0DvWRdkufGNmXklssoW3nmUzacTaLjibn0tmMQmlLd1+UY0J83KlvK+55C5I137BQNwAAAEATCmuMhxZOnjyZevfuTX379pXS/QUFBfrqkHfddRe1aNFChieyxx57jAYPHkzvvPMOjRkzhhYvXky7du2iTz75pEpXJK/HxseZK1Kyfft2qRDJ3aZ8n4uL3HHHHRQYGNhInxzAfoX7edB1XaOksdxiNe0+lyXhjUPcvgs5lJ5fQisOJEtTlgvoGRtIfbi1CqLu0QHkoTKefAsAAADQ3DlUWLvlllsoLS2NXnrpJSkS0r17d1q5cqW+iMj58+eNujUHDhwoa6u9+OKL9Pzzz1Pbtm2lEqSyxpqCQxyPY+U12UzxcEZ+/JVXXpEKj61atZKwZlplEgC0/DxUdE37MGmsWF1OBxJzZI03Dm+7z2bJWm+GFSdVLk6yvluvmEDqFattYX72OeYdAAAAoLE4VFhjPOTR0rDHDRs2VNl30003SavOfffdJ80crgK5bdu2Op4tAHCPmTJ/jclyAcl5Etx26IZPpuaV0L/ns6V9tumMHNcy0FNCGxcs4V649uG+sm4cAAAAQHPhcGENABwbz1XrGOUnbfLAOOnVvpBZRHvOZ8nwyV3nsuhYci5dzCqS9vveS/I8bzcX6h4TIL1vHN56xASSvycmlQMAAEDThbAGADYvWhIT7CVtfI8Wsi+vWC1z3Ti87T6fRf+e0w6d3HwyQ5r2eUTtwnwluClDJ1F1EgAAAJoShDUAsDu+Hioa1DZEmjJ08kRqnja8ncuiPeeypNrksZQ8aT/s0C4ZEOTtRj1jAql3nDa8dWnhj8IlAAAAUK0HH3yQDhw4QJs2baryWMuWLWUK1vTp08kWENYAwCGGTiZE+Emb1C9W9nGFyT26njfe7ruYQ5kFpfS/IynSlMIlHaP8qUd0APWICaAe0YEUHeSJ3jcAAIAGxFMcisqKbPLenq7W/Tt/6NAhqRTPay6b06FDB1m2y1YQ1gDAIfHabSM6RUhjJWXldOhSrjbA6ea+peWV0L4L2dIWbdE+L9jbTZYK4Mbz3rpG+0sFSwAAAKgfHNT6fd/PJu+9/fbt5KXyqvXxb731FvXp00eqyJsTFBQkVehtBWENAJoEd1cXGQLJ7T9Xav+qxwVKuHDJ3gvaSpOHL+VSRkEprT2aKo3xH9/ahPpIz1v3aC5cEkDtwn2xaDcAAEATV1ZWRr/88gvNnDlTv+/++++X9ZzvvfdeuZ+Xl0eenp42O0eENQBokngIRHSQl7Rx3Vvoe984sHFwkwB3IUsqUZ5IzZf2466LcpyXmwt1bemvD288jBLrvgEAANR+KCL3cNnqvWvr1KlTEsa6dOki9ysqKmjp0qU0dOhQ/TH79++XtZ7Z4MGDKScnR27zHLft27dT7969qSEhrAFAs+p946GP3BQ8920vr/F2QdsDx1Uo80vKaNvpTGmKFgGesnSAMv+tUxSKlwAAAFj6g6k1QxFtJTs7W7Y+Pj6yXbVqFWVlZZGHh/YPtLzWcmJiIk2YMEHu//3337J9+eWXJbg1dFBjCGsAQM197tuwjuHSlMqTp9Ly6V9eMkDXA8cVJxOzi6T9uT9JjnN1dqIOkX7SA9etZYDMfWsbhuGTAAAAjiI2NlaC5Q8//EDe3t709NNP05gxY+j333+n6OhoeuCBB2jYsGE0aNAg/XPmzZtHZ8+epUWLFjXKOSKsAQAY4LDFc9a43dInRvZxT9v+i9p5b9oAl0Xp+aV0IDFH2nfbtUsHeKpcqHMLDnAB1C06gLq19KeYIKz9BgAAYI8iIiLo9ddfp7lz59LPP/9Ms2fPpl69etG4ceNoyZIlNHbsWProo4/0x3NA27hxowyVbKx/2xHWAABq4OPuSgNbh0hjSvGS/RdzaN9FbbXJg4k5VFBaTjvPZklTBHipZL036X3jXrjoAArH/DcAAAC7MGPGDGmGuOfM1K+//kqLFy+WXjcXl8abBoGwBgBwGcVLxnSN1A+fPJ2WL+u9cS8cb49cyqXsQjX9cyJdmiLcz13b+6YLb11bBJC/F5YPAAAAsFf33HMPhYaGUr9+2iUJ/vvf/9J1113X4O+LsAYAUE/DJ9uG+0q7sVdL2VdaVkHHkvOk940DHPfEHU/Jo5TcElpzOEWaIi7YSwKc0vvWKcqPvNzwIxoAAMAecOERW8BvAgAADcTN1Zm6tPSXRhQr+wpLy2TxblmsW9cLdy6jkM7q2h/7LslxXKekTZgPdY7yp84ttI0DnLc7fmwDAAA0F7X6V5/XF7BWx44dydUVv1QAABji3rI+cUHSFNmFpdLrpgyf5C33vh1PyZf2y7+JchzPZY4P8Zbg1sUgwPl6YAglAABAU1SrNNW9e3eZo8GT6mvD2dmZjh8/TvHx8Zd7fgAATV6Alxtd1S5UmiI1t5gOXsqhAxdzpeLkoUs5lJRTTKfSCqT9vlfbA8da6QJc5yg/CXGdWviTvycCHAAAgKOrddcXr9DNk+pqwoGuc+fOl3teAADNWpifBw3hlqBd/42l5ZVIgDukWzLgYGKurP12Jr1A2jLdEErGSwZog5s2wPFwykBvNxt9GgAAAGiwsMYrdLdp04YCAgJq9aJXXXUVeXp61umEAADAvFBfd7qmfZg0RWZBqSwboPS+8fZCZhGdzyyU9ucB7SLerEWAp274pJ/0xHWM8qMwXywjAAAA9aO2o/CaA009fS1qFdbWr19v1YuuWLGirucDAABWCPKuOoSS58BxERNl0W7uiePiJdwLx23loWSjANgx0k+CG89/49txwd7kzBVOAAAAakGl0g69LywsRIeNTmlpqWwvd022y64AUl5eTgcOHKDY2FgKDAy83JcDAIB6mAN3RZsQaYqcIrX0vB1KrJwDdzq9QIZW/p2XRn8fT9Mf6+XmQgkRvtQpStv7xgGufYQveagabxFQAABwHBxIeAReamqq3Pfy8pJ6F/akoqJCAlRxcbHU12jo90pLS5Ovw+UWXLT62Y8//jh16dKF7r33XglqPERyy5YtcjLLly+nq6+++rJOCAAA6h8XHBnYOkSagpcROJqcR4cv5dLhpFzpjTualEuFpeW053y2NMN15FqHehv0wvnLbcyDAwAAFhERIVslsNnjsMSioiLp+WuMIMmBMCYm5rLfy+qw9tNPP9Edd9wht5ctW0Znzpyho0eP0jfffEMvvPACbd68+bJOCAAAGm8ZgZ4xgdIUZeUVdDajQIKbYYjjuXHKUgK/GVSijPT30A+fVEJcuA+WbQEAaG44lERGRlJYWBip1WqyN2q1mjZu3Ci1NZRhmw3Jzc2tXnrwrP4XNT09XZ+ceW7aTTfdRO3ataN77rmH5s+ff9knBAAAtuPq4kxtwnyljeveQv/XyNS8Ehk6qQQ43vI8OF5OgNv/jlT+JdXH3ZXC3VxoV8UR6tgiQIZU8jBKDocAAND0h0Re7jythuDi4kJlZWXk4eHRKGGtvlj9L2d4eDgdPnxYkvPKlSvp448/1k8otMdvDAAAXP5fS8P9PKQZLiWQV6yuHEZ5KZcOJeXQ8eR8yi8po/wSJzq1/QIRXdAv6B0b5EUJEX6UEOkr2w6RvhQd6IViJgAAAPUV1qZMmUI333yzhDX+B3zYsGH6ddgSEhKsfTkAAHBQvh4q6hMXJE2hLq+gY5eyafGqTeQeHk/HUwsk0HEhE+6J42ZYjZKLmXCvmxLeeMv3sag3AABAHcLaK6+8IoteX7hwQYZAuru7y37uVZs+fXpDnCMAADgIlYuzhK0+oRoaPaq9fqhJen4JHUvOoyNJuRLejibnyvw3Lmby7/lsaYZ4TTgePmnYC8dLCvAwTQAAgOai1mHtrrvuonHjxtHIkSPpxhtvrPL45MmT6/vcAACgiQjxcaeQNu5GywkoxUyOJGnD21HZ5unXg+O29mjlXDg3V2dqF+6jHUqp643jYBji42Z3JaIBAAAaNay1adOGZs+eLZUguTz/9ddfL61FC+0EdAAAgLoWMxnbLcpoTTjuheMApwQ5vs+9cAcTc6WZLgzeNsxHglu7cKX5yHpzAAAAjqzW40leeukl2r17N504cYLGjh1Lv/32G7Vu3Zp69epFr732Gu3du5caw4IFCyguLk4qufTr14927NhR7fFLly6VuXR8PK8PxxUsDd19993yF1nDNmrUKKNjMjMzadKkSeTn5ycL/vEac/n5+Q3y+QAAmjuer9a3VRDdNSCO5tzQhX596Ao6+MpI+vuZq+n/7uxFTwxrR9d2jqC4YF50lWRZge1nMunrrefoxd8O0s3/t5W6v7aG+s3+H935+Xaatfww/bjzAu29kE0FJWW2/ngAAAANN2etZcuW9NBDD0nLy8ujv/76i37//XcaMmQI+fr6SpB78MEHqVOnTlTflixZQk8++SQtXLhQgtq8efNkWOaxY8dkTQdTvFj3bbfdRnPmzKHrrruOvv/+exo/fjzt2bNH5t0pOJx9+eWX+vvKPDwFB7WkpCRas2aNrNHARVbuu+8+eT0AAGh4XDEyNthb2shO2uVjWLG6nE6m8vpveXQsJY+OJ+fJXDgeQpmSWyLtnxPpRq/VMtCT2of7UttwXlLAR3riWof6kIcKFY0BAMC+OGl4AZ16UF5eThs2bKA//vhDerD+85//UH3jgNanTx/68MMP5X5FRQVFR0fTI488Yra4yS233EIFBQW0fPly/b7+/ftT9+7dJfApPWvZ2dnSU2jOkSNHqGPHjrRz507q3bu37OMlC0aPHk0XL16kqKjKoTuKkpISaYrc3Fw5T16jjnvnbGlT4iZp+Yn5dE3PayjWP5Za+LQgT1dPm54X2C/+AwX/oWL48OEOtS4JNO9rJq+4jE6m5euCXD4dT82nEyn5lJZfavZ4Z93SAm3DfahdmI8Mq+Tb3HvHRVOg6V8z4FhwzYAjXzOcDUJCQignJ6fGbFBvYa2hlZaWkpeXF/3000/SO2ZY2ITDFvfumYqJiZGeuMcff1y/7+WXX5Zgtm/fPn1Y4/u8ynhgYKD0EP73v/+l4OBgefyLL76gp556irKysvSvoSyox0MsJ0yYYLZi5quvvlplP/fE8Wewpb+K/qLNJZur7Pd28qZA50AKcg6SrdL4vp+zH7k44S/OAOD4CtRESUVESYVOlFzoJFu+X1hmvkCJi5OGwjyIwr00FOFJFO7JWw2FeRK5IsMBAEAd8PrUt99+e63CWq2GQfbo0aPWlbZ4iGFD4F4p7r3jRbkN8f2jR4+afU5ycrLZ43m/4RDIG264gVq1akWnTp2i559/nq699lraunWrLEfAx5oOsXR1daWgoCCj1zE0Y8YMCYmmPWsjRoywec9awKUAapXUiv49/S+VeZdRUmES5ZbmUoGmgArKC+hi+cUqz+GgFukdSVHeUdILJ81bt/VpQQHuAajE1oTZ01+iwDE42jXDf7PkHrcTul443kpLyaeC0nJtuCtyqtITFxPkRa1DvalNqI92G+ZN8SHe5O1u9QyDZs/RrhmwPVwz4MjXDGeD2qrVvyiGPVnFxcX00UcfydDAAQMGyL5t27bRoUOHZB6bo7n11lv1t3n4ZteuXaVwCg/pHDp0aJ1ek+e8mc57Y3xh2PriGBw7mAZGDaQVKStkKCefD4e1xLxEuph/Ub9VbifmJ5K6Qq3fRylVX9PL1Yta+Laglj4tJby19G0pt3kb5ROFIZZNhD1cv+BYHOmaaRHkRi2CfOjqBOMQx3PfOLTxcMoTqXm6bb4Ms1QW+V57NM34tQI8qbVuKGUbgy2qUzatawbsA64ZcMRrxpr3r1VY46GDCp6L9uijj9KsWbOqHMMLZTcUHtfJPV0pKcZpge9HRFRONjfE+605nsXHx8t7nTx5UsIaH5uaWrnOjzIMkitEVvc6jsTPzY/8gv2oQ3CHKo9VaCoorTBNG97yE+liXuWW96UWplJhWSGdyDohzZwQzxB9LxyHN2ne2i332Hm4ejTCpwQAsA6PGGgZ6CXtmoQw4564vBIJbYYhjlt6fql+jbiNx9OqrDXHvW9tZbmCyiAX6uuO0QkAAGCW1WM1eJ7Wrl27quzn9de4AAfP8WoIPKeMlwlYu3atvqePC4zw/WnTppl9Dvf88eOGc9a4+1PpETSHi4ZkZGRQZGSk/jV4ThwvW8Dvz9atWyfvzQVPmjpnJ2cK9w6X1itc+/kNlZSX0KX8S0YhTrbcE5d3kfLV+ZRelC5tX5p2nqCpYI9gCXKRPpFGQU72eUeSl8q28/wAAAxxsArz85BmuMg3yyoo1Rc2kR65tHw6laqtTpmeXyJt2+lMo+f4erjqe9+4KiW3+FBvGWbJa9EBAEDzZXVY8/T0pM2bN1Pbtm2N9vM+LrrRkHgeGBcU4VDYt29fKd3P1R65lD676667ZJFuLtXPHnvsMRo8eDC98847NGbMGFq8eLEEzU8++UQe57XSuBDIxIkTpZeM56w9++yzsgA4LwnAOnToIPPapk6dKhUkebwrh0MePmmuEmRz4+7iTq38W0kzxX995iGWSnBLyk+SIJdUoN1yyONeuYziDGn70/ebfY9A90AJctIz5x2lv81Bjrc+bj6N8EkBAGoW6O1GfbyDqE9ckNF+Xt/tVFplgOMt3z+XUSBDKvecz5ZmyFWWK/CieIMAx3Pj+DaGVAIANA9WhzXupeJ11LiQCAcmtn37dulRmzlzJjUkLsWflpYmC3RzcQ8uwc9l9JUiIufPnydn58q/Qg4cOFAqML744otSOIQDJld+VNZY42GV+/fvp6+++kp6zzh8cREQHuJpOOfsu+++k4DGwyL59Tncvf/++w36WZvKX5/93f2ldQruZDHMKcFNWoFuq2t56jzKKsmSdjjjsMVhnIY9cqa3+XEMMQIAW+KiI11bBkgzxOvEnc0o0M+L4wB3Oq2AzqQXUJG6nE6lFUhbYzJhOMjbTYqZKCFOG+i8KToISw0AADTrsMbrmfG8rvnz59O3336r733iRaVvvvlmamgcmiwNe+SiIKZuuukmaZZ6CVetWlXje3LlRyyA3bBhrmNwR7PHcJjjHjklyEnPnEEPXXZJthyTm5lLRzPNVwXlAijcCxfhE0ERXhFym3vnlNs8xNPNBX+lBoDGxwtxJ0T4STNUUaGhpNxiOq0bRnk6vUBCHIe5pJxiyiwolbbrXOWyMqa9cdqeOG2Iiw/xkV4/AABwLHWqL8yhrDGCGYAUPwnyo/ZB7c0+XqAukCCnDK1UgpwS7jKLM2Wo5amcU9Is4SIoEt44xHlrQ5zhNsgjSObvAQA0BmdnJ6kqye3KtqFVhlRyz5vSC2epN86U0hunhLhWId7SYoK9yN0Va2kCANgjLAYDDs1b5U1tA9tKM6eorIiSC5L1jUMdN8P7XCRFKYJyMOOg2ddxc3aTHjjTECe9dLrbKIQCAI01pLJzC39p9dEbx6PEORRycIsL1gY4uR3iTS0DPTGsEgDAkcIaL0z93nvv0Y8//ihzxEpLS40e55L2APaC13izVABFmTfHQynNhTjlPi9dUFpRShfyLkirrhdQCW+GwS7cS1tNM8wrTAqyAAA0dm9cYWmZUS8cb3mu3Nn0QsovKaOLWUXS/jmRXmVYJc+Diwv2kvCmD3LB3hQV4EkuvDo4AADYT1jj6omfffYZPfXUU1K444UXXqCzZ89K4Q4u/AHgaPPmAj0CpVmaN8eLgvN6cjzEMrlQF+Z0tyXQ5SdLIRSZO1eaS8eyjll8P65sKUshcIDThTijrVc4eugAoN55uZnvjZM14/JLJLSdTS+gMxkFdCatQBvkMgqoWF0hwyu50THjdePcXJxlCKVhgIsL8ZL5ceF+WDsOAMAmYY0rI3766adSCv+VV16h2267jVq3bk1du3albdu2yYLZAE2JylmlX9TbkvzS/Co9crzlkJdSmEIpBSlUXF6sr2xpqRgK83XzrRrmTIKdr8oXvwgBQP2sGefrIa1vq6AqwypT8or1YU3CHIe6jAI6n1FIpeUV+sXATXmqXKTQieGQSg5zvC8Mi4ADADRcWOOS+V26dJHbPj4+lJOTI7evu+66Bi/dD2CveK23Nm5tqE1gG7OPK8sUcIiT8KYLcIZhjre8iHheaZ60k9knqx3eWSXMmQQ67sXDL0QAcDnDKiP9PaUNbG28+Hd5hYYuZRdpQ1yGdm6cdlhlAV3IKpJCJ0eT86SZ8lA5y4LfsRzeZOtFLfzdKb2YSF1eQSpVI35IAICmFtZatmxJSUlJFBMTIz1qq1evpp49e9LOnTuN1iYDAPPLFFiqbKn00HGA4yGWSoDjJqFOd5/n2HHhlLO5Z6VZwkVRQr1CZa5cqKduq7sf5ll5m4u0AABYw0U3l43bVWQ8P44DF89/O5Oer+2J0wU6bpeyi2Vo5fGUfGnGXGn2vrUy544DnLQgbbVKvs0Bj4dzAgA0J1b/1JswYQKtXbuW+vXrR4888gjdcccd9Pnnn0uxkSeeeKJhzhKgGfXQcYsPiLd4THFZsb5HTt9Tpwtyyv6MogwpisLLGHCrDq9DJwFOCXO6IMeNe+kCVYGk1qgb4NMCQFPE1SOV4Y+mOMglZhXRucxCOpdRQOcyCnUtn86m5ZO6guh8ZqG0f05UfW0eQqkNbjys0ksX5LQ9dAFeKowmAIAmx+qwNnfuXP3tW265hWJjY2nLli3Utm1bGjt2bH2fHwCY8HD1oBi/GGmWqMvVlFqUKpUsOcClFem2uvvKYzzsktehq6mXjs37aV5lz5xpb52ndl+wZzC5OuMv3wBgOcjJ/DUJcpU9cmq1mpb/uYJ6XzmELuWUSpjjeXEyP06CXSHlFKkpNa9E2s6zxssPMD8PVwluEuB0wyujA7W9f5H+HuSKJQgAwAFZ9VsV/zC9//77ZW5aq1baUuj9+/eXBgD2Q+VSc1EUVqgu1Ac5fZgzE/J4Lbqc0hxp1c2lcyInCWymQY738cLjvJ+33PgcAQAUvApAhJ8HRQf7Ur/44CqP5xSq6VwmD6fkIKfrldP10KXkllBucRkdSMyRZm7YZlSAh4Q3Hk7JAY7XkFNuB3u7oVcOABw/rKlUKvr5559RSASgieBlAmJVsRTrF2vxGF5L8Zc/f6Hug7pTpjpTgpy5gJdemE5lmjL9AuNHMo9U+948f4/DmxLulBBnFOq8QlD5EgCEv5eKunoFUNeWAVUeKyotpwtZypBKbZDjHjnedzGzSCpXXsgskrblVEaV53u5uejDW0tdb5w2yHlKwOOFyAEAbMHqnz7jx4+XNdUwPw2geeCg5OnsSa0DWlOCKsHicRWaCsoqzjIKctw4uPE+nkfHW75fVlFGOSU50qrrqVMKpSjBLcQjRHrrDAOeEvi48TILAND8eLq5ULtwX2mmeAkCHjrJwY2HVvJWgptsCyk5t5gKS8stFD3RCvJ20xZUCfTUbSvDHC8OzsM7AQDsIqzx3LTXXnuNNm/eTL169SJvb+MJxFhnDaB5cnZy1oemhCDLoU5ZxoB75NKL02VrGOSUxvd5CQMulHKp4JK0mvByBUY9dYYBz0N7brzlXj301gE0nyUIIvw9pPWJM15LjpWUlUuVSumJM+iNU3rmsgvVlFlQKm3fheyqr+9EsryB0gvXItBTeue4qiX31vH7IswBQKOFNa78GBAQQLt375ZmiH/5QVgDgNouY9CGzK9Lp+C5cvoAV1gZ4kxDXWZRpgzBVBYdr6m3ztXJlYI8giS8BXkGaYOcLswp+5X7HABdnF3q+asAAPbC3dXFYvVKllus1oa4zCK6qOuN0wY5HlZZSCVlFZSYXSRtG2VanIsnAS7QUx/ilNvcM+ehws8YAKinsHbmzBlrnwIAUCfuLu61KpTCQzB5/Tl9qCvWBTmTXruM4gzpreNgx/PsuNWEi6YEegRWCXFyX+mtU/Z7BKNwCkAT4+ehok5R/tLMjRRI0w2x1M6JK5TQxuvMKQGutKyCLuUUSyMLRXdDfd2NQlxLuV0Z7jBnDqD5wn/9ANAkhmByeOLWLrBdtceWlpdSZnGmBDcOctKU28UZ2seKtFueg6chjdzmVlOPHfN18zUaclkl4Onu821PV08MxwRwYPzfb5ifh7ReZuo08Xy59PwSusjBLUsJcYUGt4tkvhwHPm57zQyzZIFeKl2Iq9o7x/v8PF3xswSgOYe1J598kmbNmlVlfpolM2bMoGeeeYaCgqqODQcAsCU3FzeK8I6QVhMuhMI9doahTglzhgFPCXflmnLpueNW07p1zMPFQ3rtlJ47bjzs0ui+7nEOeAh3AI43X04Jcz1jAs32zPGcOCXE8VbfKye3C2VJgqxCtbSDiblm38fX3VWGU0YGeMg2yl+75bl0HOzC/d1luCcANNGwNn/+fAlgtQ1rCxYsoKlTpyKsAYBD4wW+leUEasJDMXNLcquEOMMwZ3ifC6cUlxdTUkGStNoOC1WCnGzdg6oEO8Otl6sXwh2AHeP/PgO93aR1aVl1mCXLK1Zrh1ZmVg6t5BDHYY5vp+eXUl5JGR1LyZNmCQ+1NAxxUUqw04W7EB93CZcA4IBhjf/y065du1r/o19QUHC55wUA4HBDMQM8AqTxMgc1/UwtLCvUD7U0t80s0d5W7nOxFW7JBcnSaoOXPeACKtxbZ9pTZxTwdKHPW+WNcAdgZ3w9VJQQwc3P7OO8xhyHtkvZRZSUwwGumJL4fk4RJWUXy2NcBEUZarnvYtVFw5nKRVs1U+mNi9QFOyXU8X4/Dwy3BLDLsPbll19a/cLh4eF1OR8AgCaPf9nhYMQt2je6xuM53BWVFRmHOb7N1S8N7xuEO+614947a8Id9yRysONKnRzeAtwDqt7XbZXb6L0DsP0ac23CfKRZ+vnBQyg5zCktKUcb4njL91Nyi0ldrtEvHG6Jj7urcYjz56GX2p65cAl6HuTlhnIIAPWpVv9FTZ48uV7fFAAAao/DkJfKS1pL35a1ek6hutBimOOhmMptPoYf4zDIc/S4cia32lICHvcoKsHOX+Uv1Tezj2ZTkJeuN093DIc8BDyAxsP/rfGi3tw6tzA/1LKsvIJS8kqkR84wxPH6c0qPHQe+/JIyOpGaL80S7n3jXjgJb37a9e0iDcJcpJ8nCqIAWAF//gAAaIKUcFfTsgcKDms5JTlSUIVDnLLlfRzosouzZavc58d4WGZ1AW/Dng1m30vlrNIGOw9/bYjT9dJJD55B8OP9vI+3GKIJ0HBcXZxl6CO33haO4eGWPLRSwptueCWHOA50ybnaoZcFpeVSECW3uPr5cx4qZwl0vP6cYZDj+8oC5iHemEMHwBDWAABAKk1yq02VTNOAp/TQcaCT6pmFGbTv+D7yj/CnXHWuUQDkgKeuUNd6nTuFi5OLfjF1fzfd1uQ+hzo/dz/9bd6PkAdQf8MtW4f6SLOEi6Ek5+jCG291t3mrva/toStWV9CZ9AJplrg6O1G4QXhTeumUnroQL1cqr2igDwtgRxDWAACgXgOeWq2mFRdX0OhBo0mlUlUJeEovnRLu5LaFnjze8tw7XhZBGc5pDVcnV32AMxfylN47hDyA+imGwq1tuK/FY4rV5TJHjsObstWGuSJKzi2RQJeax732Gn31S0ucyIXmHNpAETzs0s9dlkgI9/WQ2xz0wnTbIC839NKBw0JYAwCAxg14Pp4U6RNZ6+cUlxXrh2jmlubKbeV+TmmOLJkgt3l/qfYxbjJMU1NWLyHPsNfOKOS5+cl+Xgydb/OW5/EBgHkeKheKDfaWZgnPoUvLLzEIcobBjkOddr+6nCgtv1TagUSqtpcuzFcX5nQBTsKc4T5fDwrwUuGPNGB3rP4XhStD3nLLLeTl5dUwZwQAAGDAw9VDWri3dVWGbRHyGPfKSYjTBTnlthLoDPcZ3XbzI5WLcU8kQHOdQ8dz2rhZUlJSSkuX/UWd+wyijMIySsktkUCXmlesv83bjAJtL90lLpqSU1zt+7q5OkuA04Y5dwqTXjrDgKcNd7wIOUId2G1Ymz59Oj322GN000030b333ksDBw5smDMDAACw85DHj0sryZW181iBukBabRc7N+151Ic6M2HOYtBz95NF0wGaCx7W6Ksi6hTlV2W4tSF1eQWl55dUhjldiDMMdTzsMrOglErLKuhiFi86bnnoJfNUuVQOu5Shl3zbXRYe54DH21Afd/TUgW3CWmJiIi1btowWLVpEV199NcXHx9OUKVOkvH9ERO0nptfVggUL6K233qLk5GTq1q0bffDBB9S3b1+Lxy9dupRmzpxJZ8+epbZt29Ibb7xBo0eP1s+rePHFF2nFihV0+vRp8vf3p2HDhtHcuXMpKipK/xpxcXF07tw5o9edM2eOBFcAAGha6hryuHBKXmmeNA5vhkFOf7s01+zjeeo8/Zw+bqmFtS++YrgIurkwx+HPR+Ujt33cfOS+r8pXu1+57+aLsAdNkqoWvXSspKxcFg2XICeBrliWM9AGPKWnrliqXRapy+lsRqG06t/bSUKbhDdpuiAnoU63T/c4Dw8FqJew5urqShMmTJCWkpJC3377LX311VcSiEaNGiW9bWPHjiVnZ2drX7pGS5YsoSeffJIWLlxI/fr1o3nz5tHIkSPp2LFjFBYWVuX4LVu20G233SbB6rrrrqPvv/+exo8fT3v27KHOnTtTYWGh3OZz5+CXlZUlvYbXX3897dq1y+i1XnvtNZo6dar+vq+v5cmzAADQ/PCSBEEeQdKsVV5RTvnqfG2IU5sEPNNgx2HPJPxVaCqkEAuvb8etLjjscXiTUKeqDHFKM91nep+Hfzo71f+//QCNwd3VhVoGekmrDi9hYDzUUts46PE8Ow52vM0uVMtC47UZfqmsT2fUM2cY6PT3PSjAU4ViKc3MZc2CDg8Pp0GDBtHx48elHThwQHrYAgMDZW4b97zVp3fffVcCE/fkMQ5tf/75J33xxRdme7nmz58vAfKZZ56R+7NmzaI1a9bQhx9+KM/lnjS+b4gf45668+fPU0xMjFE4a4yeQwAAaH5cnCuXJrAWBzUedmk2zOl67Xhffmm+tufP5D6HRA1pJOzVdZ4ecyInCXBKb51pb55y36hHT9fD5+HkQWqNuk7vC9DYSxjUVCBF6alL5+InHOLytMMuK29rt0orLa/QrU9XRqfSLC9noBRLCfHRDbv0MR/q+PFgH3fydnPBMMzmGta4R+2bb76RQMbDB7m3avny5TKEsKCgQHqhOLSZDh28HKWlpbR7926aMWOGfh/33vF7bt261exzeD/3xBninrjffvvN4vvk5OTIhR0QEGC0n4dGctjjAHf77bfTE088Ib2M5pSUlEhT5Obm6oddcrM15Rzs4VzA/uF6AWvhmml8HHY83D0ozL3qKJPahj0OcRLgTLYc5vT7dOFOv9UFPx4CyoFP7qvz6jRfj81ePFt66DjYGW6V24b3uXHYM3ffzcWtTu8PjsPef85wH3OYt6s0irAc7DQajYQ0Dm0c7jjI8Rw7qXKp661Lz+OKlyWyRh0XS5FqmLk199bx4uMh3m4U5OMmi4wHy9ZNtsHebrpQp73dHHrs1HZ0zVhzDlaHNR7iuGrVKmrXrp30ct11110UFFQ55MPb25ueeuopmVdWn9LT06m8vFx68wzx/aNHj5p9Ds9rM3c87zenuLiYnnvuORk66efnp9//6KOPUs+ePeVz8tBKDoxJSUnS02cOD7t89dVXq+xfvXq1XVXRNO1VBKgOrhewFq4Zx+ZMzuSn+59ZLrrmQdIrVqIpoSJNkX5brCmudSsh7R84OfRx8RZul8OFXMjdyV1CLG/5f8pt/T5zt8l4Py/hAPatqf2c4SuOx3HJWC4vXdP9DaasgihfTZTLrdRJtnlqopxSJ9nm6rbcSiucZPHxi9nF0mri7KQhH1eSoi2+Ko1sfQxuS3OrPMbFgUc8r7GDa4anYtWW1T+FeG7Y33//TQMGDLB4TGhoKJ05c4YcCSfcm2++Wf7C8fHHHxs9Ztg717VrV3Jzc6P7779fQpm7e9UJ2RzmDJ/DPWvR0dE0YsQIoxBoy8/KF+rw4cOrraAEwHC9gLVwzYC1ikuL6c/Vf1LfK/tK2OOePu6546ZU1zS9b26fUpGznMqpUFMo7XLwPL7qeva4ebl6md3KbZUXebtqtzynEeoPfs5Ur7C0THrqMrgVlMpt7rHLVG4XKI+VUE5RGVVotOGPGw9qrgn3xAVJ75y2ce8cD72svK3beruRl50Mx1Tb0TWjjLprkLA2ePBg6WUyN0xx8eLF0tPG35DY2FiqTyEhIeTi4iJDMA3xfUtzyXh/bY5XghoP21y3bl2NgYqLm5SVlUmFyfbt21d5nAOcuRDHF4atLw57Ph+wb7hewFq4ZsAans6eFO0ffVnXDBdqKSgroILSyiDHwzf1wU43rLOm+1yRk/E8vtKSUsoqybrsz6cEPwlwJmHO6D7f1gU8o1BocCzfRjEXLfycMc9fpSJ/b09qXYuitrxkgTbEaYddcojj2+l5vE6dbr/uNh9XXqGh7CK1tNPp1c+xY+6uzhLaeDhmEA/H5Nu6poQ85TYf09Dr2Kns4Jqx5v2tDmtc3IOLdphWX8zLy5PHOKw1BO7N6tWrF61du1bmyLGKigq5P23aNLPP4d4/fvzxxx/X7+NEbdgrqAS1EydO0Pr16yk4OLjGc9m7d6/MlzNXgRIAAABsV6hFWbrgcpRVlEkvnVGY092W+6XaOX6F6sLKnr6yAqP7ym0OfPUd/JQ1+Ux790wDn2k4NDye9ytbfi2Ev+aLFwOP8PeQVpOKCg1lFep66/JMwp3Rbe22pKxCWm2rYsr5uDhToLdKH+yCJeTpwpy3LtgZ7PPzaNrz7awOazxM0FzavXjxolRXbEg8tJALl/Tu3VsqNnLpfi5oolSH5KDYokULGZ7IuAw/9wS+8847NGbMGOn545L8n3zyiT6o3XjjjVK+nwuk8Jw4ZT4bz0/jgMhFSrZv307XXHONVITk+1xc5I477pCqlwAAANC0uDq71kvoU+bhGYU6JchxD6BJsFOGclbZX1Z5v1xTbrQmX12XajDFgU1p+iBnEOqM9usCnqXHlC33JtrD8DeoPxyKuCeMW7tw3xozQ2FpufTGaXvltCGO78s+ua0dmqn02vHxXB1TuzRCZbG+mipkBurDnEmwMxiO6efuLHP+OHA2ybDWo0cP+Q+O29ChQ40qIXLI4Tlq3OPWkG655RZKS0ujl156SUJV9+7daeXKlfoiIlxu33B9t4EDB8raarzw9fPPPy+LYnMlSF5jTVng+48//pDb/FqGuJeNlx7g4Ywc8l555RWp8NiqVSsJa6ZVJgEAAABM8Vy1ui7LYO6X35LyEn1wU3r9DAOepZBnGAb5vrLlKp6G4a8+cW+dYeirTcCT/TUcz2Ea7B9nBm93V2nRQbUrsMfr2GUYBrj8UqOwp8y5UwJffkmZVMhUlkGomSv1v7KIWoc7TsXYWl/tytBDHgLI5e99fHz0j3EPVFxcHE2cOJEaGg95tDTsccOGDVX23XTTTdLM4XPmH3zV4fl527Ztq+PZAgAAANTfL78erh7Sgj1rnrZR2/BnGuB4y8GNbytb5TG5b3i8wX7l2OLyYv2yEMrQUarHHMg9dhzeNGoNfbb8M6NeQaXx18j0vhL6TB9XbvPjfBtDQm27jl1Lt5oXJ1cUq8u1wzINApxSSMWwx07bk1ciyyRwz5sjqXVYe/nll/UBh3u4PDxqHtcKAAAAAPYf/oI8Kpdhulxc6MUw1FUJeOYCoZn9RvvURVSmKauc/1daanVVvdpyd3G3GPqqC4UeLh7kqdKGPv19fkxVeRthsH55qFwo0t9TWk14+tOy5StksXBHYnU/Ms8ZAwAAAACwVOjFx81HWn3hXkCe/8dBThZxL86jtX+vpZ79epKatPuVVlxWXNnTV1ZodJ97/Tj4Gd03GQLKvY3cLne9P0uMgpwuwElz8ah628WD3F3dydOl5uMMtxw4MV+wKl4fztG+LrUKa1xs4/jx41I+n4tqVPchMzMz6/P8AAAAAKCZ49893VzcpPH8P7W7mo66HqVe4b3qpQw7D9nkUKcPb2rjIFcl9BncNtdMj1WGhjJlf31VBrXEMLgpoZBvS2+gi6eEQOUYflz/mOFtg+MM9xsGQ8whbFi1+uq+9957UglRue1oiRQAAAAAoNpiKFzARFW7uVJ1DYOmoY8b9+Ipoc7s7fJiKikr0YdH3q+8hnJbCYTc+6jg+4YhsaFwWDPXw6eEPA540ly1W+UxZb/hsRzGq32uq0ezqzLqau3Qx7vvvrshzwcAAAAAoElp6DBouEagPsBxWDPcGoQ6i4+b2WcpNBq+Z36FrpBMI3E3CXr6UKcLdMpjEv5091VOKjpXfI6uLL2SglT1N0ezoVndb7lixQpycXGRipCGVq9eLSX8r7322vo8PwAAAAAAqGUvFzde/Lwh8RxCLvRi2sOnhDol5Cn7ldvSdIFPeay0vFR/X3lMv6+s8ljunVQor5VL1heYebb8WXIkVoe16dOn09y5c6vsr6iokMcQ1gAAAAAAmi4ehqj0ZNXHGoK1CYdlmjKj8Ma39YHQINiZC3rSO1haRCfOnmjwIGvzsHbixAnq2LFjlf0JCQl08uTJ+jovAAAAAAAA4nDIwxhVbiryobpVGeXS/StSV0ihFEdi9UIP/v7+dPr06Sr7Oah5eztWUgUAAAAAAGgyYW3cuHH0+OOP06lTp4yC2lNPPUXXX399fZ8fAAAAAABAs2R1WHvzzTelB42HPbZq1Upahw4dKDg4mN5+++2GOUsAAAAAAIBmxrUuwyC3bNlCa9asoX379pGnpyd17dqVrrrqqoY5QwAAAAAAgGbIta6T/EaMGCENAAAAAAAA7GAYJPv7779p7Nix1KZNG2k8V+2ff/6p/7MDAAAAAABopqwOa99++y0NGzaMvLy86NFHH5XGQyGHDh1K33//fcOcJQAAAAAAQDNj9TDI119/XYqMPPHEE/p9HNjeffddmjVrFt1+++31fY4AAAAAAADNjtU9a7zGGg+BNMVDIc+cOVNf5wUAAAAAANCsWR3WoqOjae3atVX2/+9//5PHAAAAAAAAwAbDIHnxax72uHfvXho4cKDs27x5My1atIjmz59fD6cEAAAAAAAAVoe1Bx98kCIiIuidd96hH3/8UfbxothLliyhcePGNcQ5AgAAAAAANDt1WmdtwoQJ0gAAAAAAAMCO1lkDAAAAAAAAO+hZCwwMJCcnp1q9YGZm5uWeEwAAAAAAQLNXq7A2b968hj8TAAAAAAAAsC6sTZ48uTaHAQAAAAAAgC3nrJ06dYpefPFFuu222yg1NVX2/fXXX3To0KH6Oi8AAAAAAIBmzeqw9vfff1OXLl1o+/bt9Msvv1B+fr7s37dvH7388ssNcY4AAAAAAADNjtVhbfr06fTf//6X1qxZQ25ubvr9Q4YMoW3bttX3+QEAAAAAADRLVoe1AwcOmF1jLSwsjNLT06mhLViwgOLi4sjDw4P69etHO3bsqPb4pUuXUkJCghzPPYIrVqwwelyj0dBLL71EkZGR5OnpScOGDaMTJ05UqXA5adIk8vPzo4CAALr33nv1PYoAAAAAAAB2EdY4rCQlJVXZ/++//1KLFi2oIS1ZsoSefPJJGW65Z88e6tatG40cOVI/b87Uli1bZF4dhys+v/Hjx0s7ePCg/pg333yT3n//fVq4cKEM7fT29pbXLC4u1h/DQY3n43Fv4vLly2njxo103333NehnBQAAAACA5s3qsHbrrbfSc889R8nJybL2WkVFBW3evJmefvppuuuuu6ghvfvuuzR16lSaMmUKdezYUQKWl5cXffHFF2aPnz9/Po0aNYqeeeYZ6tChA82aNYt69uxJH374ob5XjZcl4GIp48aNo65du9LXX39Nly5dot9++02OOXLkCK1cuZI+++wz6ckbNGgQffDBB7R48WI5DgAAAAAAwGal+w3Nnj2bHn74YYqOjqby8nIJTby9/fbbJfQ0lNLSUtq9ezfNmDFDv8/Z2VmGLW7dutXsc3g/98QZ4l4zJYidOXNGQie/hsLf319CGT+XgylvuTexd+/e+mP4eH5v7okzNyS0pKREmiI3N1e2arVamq0p52AP5wL2D9cLWAvXDFgL1wxYC9cMOPI1Y8051Dqs3XjjjfSf//xHws6nn34q87x4/hrP3erRowe1bduWGhLPh+NQGB4ebrSf7x89etTscziImTue9yuPK/uqO4bn4xlydXWloKAg/TGm5syZQ6+++mqV/atXr5aeQHvBwzoBagvXC1gL1wxYC9cMWAvXDDjiNVNYWFj/YS0rK4vGjBlDUVFRMgyR2+jRo+t6jk0a9/4Z9uhxzxr3RI4YMUKKlNhDmucLdfjw4aRSqWx9OmDncL2AtXDNgLVwzYC1cM2AI18zyqi7eg1ra9eupXPnztGXX34p87pef/11Gjx4sPS2TZw4kdzd3akhhYSEkIuLC6WkpBjt5/sRERFmn8P7qzte2fI+rgZpeEz37t31x5gWMCkrK5MKkZbel78W5r4efGHY+uKw5/MB+4brBayFawashWsGrIVrBhzxmrHm/a0qMBIbG0uvvPIKnT59WpIp97JxwQ8OOjyPjeeUNRRe061Xr14SGhVc3ITvDxgwwOxzeL/h8YzPWzm+VatWErgMj+Gky3PRlGN4m52dbfTZ1q1bJ+/Nc9sAAAAAAADsosCI4SLY3PLy8uj777+n559/nv7v//5Pep0aCg8tnDx5shT76Nu3r1RyLCgokCGZjKtR8vIBPGeMPfbYY9L7984778gQTq7guGvXLvrkk0/kca5m+fjjj8si3zznjsPbzJkzJYRyiX/GVSS5oiSHUq4+yV2o06ZNk+IjfBwAAAAAAIBdhTWlmuKiRYuk5eTkGFVVbAi33HILpaWlSXETLu7BQxW5rL5SIOT8+fNSpVExcOBACZJcpZLDJAcyrgTZuXNn/THPPvusBD5eN4170Lg0P78mL6Kt+O677ySgDR06VF6fh33y2mwAAAAAAAB2E9Z4seiffvpJ1jbjxaG5cAYvOs29W3y7oXFo4mbOhg0bquy76aabpFnCvWuvvfaaNEu48iOHPgAAAAAAALsLazt27JCAtmTJEglsvL4Y90BxbxMHHgAAAAAAALBBWOvfvz9169aNZs2aRZMmTaLAwMB6PA0AAAAAAACoU1jjwhw9e/as7eEAAAAAAABwGWpduh9BDQAAAAAAoPFYtc4aAAAAAAAANA6ENQAAAAAAAEcPaxqNRtYy42qQAAAAAAAAYEdhrU2bNnThwoWGOyMAAAAAAACwLqw5OztT27ZtKSMjo+HOCAAAAAAAAKyfszZ37lx65pln6ODBgw1zRgAAAAAAAFD7ddYUd911FxUWFsoC2W5ubuTp6Wn0eGZmZn2eHwAAAAAAQLNkdVibN29ew5wJAAAAAAAA1D2sTZ482dqnAAAAAAAAQEOHNUNcwr+0tNRon5+f3+W8JAAAAAAAANSlwEhBQQFNmzaNwsLCyNvbmwIDA40aAAAAAAAA2CCsPfvss7Ru3Tr6+OOPyd3dnT777DN69dVXKSoqir7++ut6OCUAAAAAAACwehjksmXLJJRdffXVNGXKFLryyitloezY2Fj67rvvaNKkSQ1zpgAAAAAAAM2I1T1rXJo/Pj5ePz9NKdU/aNAg2rhxY/2fIQAAAAAAQDNkdVjjoHbmzBm5nZCQQD/++KO+xy0gIKD+zxAAAAAAAKAZsjqs8dDHffv2ye3p06fTggULyMPDg5544gl65plnGuIcAQAAAAAAmh2r56xxKFMMGzaMjh49Srt375Z5a127dq3v8wMAAAAAAGiWLmudNcaFRbgBAAAAAABAI4e1999/v9Yv+Oijj17O+QAAAAAAAEBtw9p7771XqxdzcnJCWAMAAAAAAGissKZUfwQAAAAAAAAHmbMGAAAAAABgMxoNUWkBUXEOUUmudlus25bw7RxyLsymrucPEJUNIVKpqMmGtXvuuafax7/44ovLOR8AAAAAAGhOKioMQha3bIPbOSbhy/A45X4ukaa82rdwIaJWRKTm53j6UpMNa1lZWUb31Wo1HTx4kLKzs2nIkCH1eW4AAAAAAOAI1MXGIatIuc3bbJP7po/ncvfY5Z+DsyuRux+RBzd/3W1/aeVuPnTifAq1dnEnR2J1WPv111+r7KuoqKAHH3yQWrduTQ0lMzOTHnnkEVq2bBk5OzvTxIkTaf78+eTj42PxOcXFxfTUU0/R4sWLqaSkhEaOHEkfffQRhYeHy+O8uPfcuXNp06ZNlJ6eTnFxcfTAAw/QY489pn+NDRs20DXXXFPltZOSkigiIqKBPi0AAAAAQCOqKK/stao2WFm4X15y+efg6kHkEaANWJ4B2rClbM0EMOP7fkQqL654aP7jqdV0bMUKas2v19zmrHF4evLJJ+nqq6+mZ599lhrCpEmTJCCtWbNGevOmTJlC9913H33//ffVLuD9559/0tKlS8nf35+mTZtGN9xwA23evFke58W8w8LC6Ntvv6Xo6GjasmWLvKaLi4sca+jYsWPk5+env8/PAwAAAACwr7lb+URFWQYt2+S+rilhq8hgOOFl9245VQYtCVABFu4HGt9Xmsqjnr4QTUe9FRg5deoUlZWVUUM4cuQIrVy5knbu3Em9e/eWfR988AGNHj2a3n77bYqKiqrynJycHPr8888lzCnDM7/88kvq0KEDbdu2jfr3719l/l18fDxt3bqVfvnllyphjcNZQIBjJXEAAAAAcNBeLumxqiZs6UOXyeMVl/n7OPdOVRu0DAOWyT43X+7Fqa+vAtQlrHEPmiGNRiM9XtyDNXnyZGoIHKA4KClBjQ0bNkx69LZv304TJkyo8hzuNeMeOD5OkZCQQDExMfJ6HNbM4ZAXFBRUZX/37t1lKGXnzp3plVdeoSuuuMLi+fJx3BS5ubn6+X3cbE05B3s4F7B/uF7AWrhmwFq4ZqDJXjNlJfpeLKfiyp4u7W1tyHLSz+nKIicZXsj7ci7rbTUubtreK89A0nCgkp6sQNJ4csDi2wGkMQhhGhliqBtu6HoZc7rKy7XNDqnt6Jqx5hysDmv//vuv0X0OTKGhofTOO+/UWCmyrpKTk6sMO3R1dZVQxY9Zeo6bm1uV3jCer2bpOTwMcsmSJRI8FZGRkbRw4UIJihzAPvvsMxnuySGxZ8+eZl9nzpw59Oqrr1bZv3r1avLy8iJ7wUNKAWoL1wtYC9cMWAvXDNjtNaPRkGtFEbmV5WtbOW/zqt4uyydVeT6567auFaWX9bZqZw9Su/pQqYs3qV28qdSVtz66Ld/30W4N9qldvancyc383K1SXcvVdzEQUYquNQ9r7ODnTGFhYcOFtfXr11N9mT59Or3xxhs1DoFsDFzRcty4cfTyyy/TiBEj9Pvbt28vTTFw4EAZ8vnee+/RN998Y/a1ZsyYYdQDyT1rPCeOX9dw3pst0zxfqMOHDyeVA60zAbaB6wWshWsGrIVrBhr1mpEhhtyTlUlO3NNVmKHr1cokKuR9mboesExyKjS4XcfhhRonZ/1wQY2uh4uHDWpva3u9tLe1c7k0usflMRcV8afDfxVN6+eMMurO7hfF5kqNd999d7XH8DwyrrqYmppqtJ/nx3GFSEsVGXl/aWmpLClg2LuWkpJS5TmHDx+moUOHSnGRF198scbz7tu3r1SQtMTd3V2aKb4wbH1x2PP5gH3D9QLWwjUD1sI1A9ZSOWtIVZwhIUsburSBSwlgclv26Y6RIJZd90Iarp5EXkHa5qnbegVX3pZtMJEXBy6+H0hOPLRQN4/LfJ1CaG4/Z1RWvL/VYa1Hjx7kZKZblfd5eHhQmzZtJICZK3dviodPcqvJgAEDJHTxPLRevXrJvnXr1smSAf369TP7HD6OvxBr166VMv9KRcfz58/L6ykOHTokBUh4vt3rr79OtbF3714ZHgkAAAAA9VnJsICoMJ2oIEO3TdcFLeN9roUZNDonmVT/FtX9/ThEWQxdgbrQZRjAgohUnvX5iQHqP6yNGjWKPv74Y+rSpYv0MDGu0rh//34JadxLxUU9uKIiDyusD1zBkd936tSpMn+MuzG5WuOtt96qrwSZmJgovWNff/21nBeX6r/33ntlOCLPbePhh7xOGwc1pbgID33koMbrr/Fxylw2Lt2vhMh58+ZRq1atqFOnTrJuG89Z46DI888AAAAAwIKKCu1wQ6PAlW4QvEwCGW9ruVYXdxvo+yZ4mKEU07DQu2UUupRQFihDDAGaXFjjxaN5+OLMmTON9v/3v/+lc+fOSYjheV+zZs2qt7DGvvvuOwloHMiURbHff/99/eMc4LjnzHDCHs8rU441XBRb8dNPP1FaWpqss8ZNERsbS2fPnpXbPJSSPy+HQS4O0rVrV/rf//5Xq55DAAAAgCajXF0ZqvQhK9NyCOPHNOV1WxjZK4TIm0NWsO52iPa2blvmHkB/7zxEV42aQCrfUJSLhybLScO1963APVY8HJGHOxo6efKkDD3k0vdHjx6lPn36UF5eXn2fr0PiSYT8deOvjb0UGFmxYoWsU2frMbtg/3C9gLVwzYC1cM3YCP8KWJJHVJBW2fJTtcFL7utuy740bS9ZnYcbKkFLCV2GIcwkmLl5m69kaADXDFjLnq4Za7KB1T1rPC+NS9ybhjXex48xnkum3AYAAACARlJepuv90gUsw7BlFMp021oOO6zkpBtKaNrbZdzzVbkv6PLW7QJo5qwOazzv64EHHpDeNe49U+as8Vyu559/Xu6vWrVKFpEGAAAAgHooulFT75eyn6sdWkvlTeQTSuRtpun3h2kDGM/1cnZpiE8KAPUR1ri0PRfc+PDDD/XrjPE6ZJ9++indfvvtcp/D3IMPPmjtSwMAAAA0D+pibdDigJWfomvKbcN9aURlRXXo/Qom8tEFLMOwJQGMbyshTDfsEADsUp3WWZs0aZI0Szw9UdYUAAAAmhlebJmHIFoMXwYhrDjH+qIbHLj0PV0cvMLM94Dx0EP0fgE0CXVeFJurJPJC1Tw/zVBMTEx9nBcAAACAnRThyK1FD5huXpjG+PeiajmriHzCtT1dFrccyMJqVXQDAJoeq8PaiRMn6J577pGCIoa4qCQvjF1eXocSrQAAAACNif/YLL1gyUR53JKI8lK0W30A04WwsmIrXthJ2+tlNnyZ7PMIQAADgPoNa7zwtaurKy1fvpwiIyMloAEAAADYTQjjIhuG4YvDmGko4/sVZdaVn7fYA2ZwmysgutR54BIAgBGrf5rs3btXKkEmJCRY+1QAAACAywxhBqFLH8AMGveGVahr/7oy3yuCyNegcehStvphiF4N+ekAAOonrHXs2JHS09OtfRoAAACA+TlhxTnkW3SRnE6tIypKM9MrxreTLyOEcfiK1AWwCIPbYUQuWFAZAJpQWHvjjTfo2WefpdmzZ1OXLl2qrABe0yrcAAAA0IyqI/Kcr7xLRLnckgxu61peEqnUhTSEjz9ai9fkYYZK2FJCmPSERepauLYnzNWt4T8fAIC9hbVhw4bJdujQoUb7UWAEAACgGVEX6cOWhLDcRN3tyhAmvWGa2v1eUOriTargWHLyizLoATPoBeOGEAYAzYzVYW39+vUNcyYAAABgH8MSi7LMhLBEXc+Y7jYfUxtOLpWhy49bC93tFtr7vpGk9gylv9asp9GjR1cZsQMA0JxZHdYGDx5s8bGDBw9e7vkAAABAQ+LFmHMSiXIuEuVe1N7OVe7rAllZUe1eS+WlC15R2mYUwnT7eF5YTQs0q62YiwYA0Ixcdm3ZvLw8+uGHH+izzz6TKpEYBgkAAGDDoYkSvgxD2AWD24lEpXm1ey3PIKPeL/1tCWUcxCKxThgAgL2GtY0bN9Lnn39OP//8M0VFRdENN9xACxYsqN+zAwAAAK1ytW4+mC50mfaKcePS9rXhGUjk15LInwNYC+3WP9q4h0zl2dCfCAAAamBVWEtOTqZFixZJSMvNzaWbb76ZSkpK6LfffpOS/gAAAFDHeWIF6UQ55yuDl2kg42IdpKn5tVTeuvDVUhfElG2LyoDm5t0YnwoAABorrI0dO1Z608aMGUPz5s2jUaNGkYuLCy1cuPByzwEAAKBpKy/TFubgIYnZPCzxvG6r3L9Yu3liLm663i9zvWK62xiaCADQ/MLaX3/9RY8++ig9+OCD1LZt24Y9KwAAAEeiLtb1hpmGMN2We8ZqLGHvpK2ayD1hlnrFeKFnZ+dG+lAAAOAwYW3Tpk0y/LFXr17UoUMHuvPOO+nWW29t2LMDAACwB8W5uuClhDGTUFaQWvNrOKsqe8ECYnTb6MothzJX98b4NAAA0NTCWv/+/aXxEMglS5bQF198QU8++SRVVFTQmjVrKDo6mnx9fRv2bAEAABoqjGWfI8o6V7k1HLLI5e5rM1fMMHyZhjKf8JpL2AMAAFxONUhvb2+65557pB07dkx62+bOnUvTp0+n4cOH0x9//GHtSwIAADT8MEXpFeMgdrZqMCvOrl0FRUu9YgGx2scxVwwAAOxlnbX27dvTm2++SXPmzKFly5ZJbxsAAIBNCnhw5UTDAKbfnifK50qKNfAK1oauwFhtIJNQFlMZytx9GuOTAAAA1N+i2IyrQo4fP14aAABAvauoIMpPMRPEdC2nFgU83HwNgpgSygzCmTuG8gMAQBMMawAAAJdNXaQdoph5RrvNOlN5m3vHyktqLmtvNojxNg7DFAEAwOEgrAEAQOMt/FyYqQ1h+lCmBLIz2nXIquPkrC1fXyWI6XrGfCJQ1h4AAJoUhDUAAKg/FeXSCxaSd5ic/k3XVlI07CErya3++e5+2l6woFZEga102zhtKOM1x1xUjfVJAAAAbA5hDQAArFNaqBumaDhUUbfNPk+qCjVdwcedtPB830iDIGaw5VDmFYShigAAADoIawAAYCGQnSHKOEWUeUq3Pa1tNQxX1DirqEAVTF4tO5NzcLw2hCmhjHvI3Lwa7WMAAAA4MocJa5mZmfTII4/IEgHOzs40ceJEmj9/Pvn4WC6lXFxcTE899RQtXryYSkpKaOTIkfTRRx9ReHi4/hgnM3/B/eGHH+jWW2/V39+wYYMsAH7o0CFZ/PvFF1+ku+++uwE+JQBAI689Zi6Q8TbvUh2GK2q3ZZ5htHblKho9ejQ5qzBsEQAAoMmHtUmTJlFSUhKtWbOG1Go1TZkyhe677z76/vvvLT7niSeeoD///JOWLl1K/v7+NG3aNLrhhhto8+bNRsd9+eWXNGrUKP39gIAA/e0zZ87QmDFj6IEHHqDvvvuO1q5dS//5z38oMjJSwh8AgF0rK9EV8zhdNZTlXOR+MMvP9fAnCmpNFNxauw2K192Or76yolrdYB8HAACgOXGIsHbkyBFauXIl7dy5k3r37i37PvjgA/mr7dtvv01RUVFVnpOTk0Off/65hLkhQ4boQ1mHDh1o27Zt1L9/f6NwFhERYfa9Fy5cSK1ataJ33nlH7vPzN23aRO+99x7CGgDYh3K1ds0xfRAz2HIg01RU30OmD2GGgaw15o8BAADYmEOEta1bt0qgUoIaGzZsmAyH3L59O02YMKHKc3bv3i09cHycIiEhgWJiYuT1DMPaww8/LL1l8fHx0oPGvXbK8Eg+1vA1GIe0xx9/3OL58pBLborcXG31Mz4fbramnIM9nAvYP1wvdlT2Pj+ZnDJPkVPGSaKMk7Ll+1zUw6maBaE1bt5EgfGkCeLWmjQyXFF7n7xCLAeysrI6nSquGbAWrhmwFq4ZcORrxppzcIiwlpycTGFhYUb7XF1dKSgoSB6z9Bw3NzejIY2M56sZPue1116TnjcvLy9avXo1PfTQQ5Sfn0+PPvqo/nUM57gpr8EBrKioiDw9Pau895w5c+jVV1+tsp9fn9/HXvCQUoDawvXSOFwqSsi7OJl8SpLIR7f1LU4i75JkUlUUW3xembMbFbhHUL57OBXoWr57hGxLXP0rA1mhriVmEBG3hoNrBqyFawashWsGHPGaKSzkf4gdIKxNnz6d3njjjRqHQDakmTNn6m/36NGDCgoK6K233tKHtbqYMWOGFCRRcLDjwiQjRowgPz8/soc0zxfq8OHDSYXJ/1ADXC8NgIcl5iZqe8aUXrJMXU9ZbqLlp/Gi0AGx2t6x4DZEwW1ky/d5QWgvJyeyhz8H4ZoBa+GaAWvhmgFHvmaUUXd2H9a4UmNNVRV5aCLPJ0tNTTXaX1ZWJhUiLc014/2lpaWUnZ1t1LuWkpJi8TmsX79+NGvWLBnG6O7uLsfycwzxfQ5d5nrVGD+Pmym+MGx9cdjz+YB9w/VSB8U5ROkcxk4QpZ/QbU9q55KVWe4lI88gopC2RMFtiULa6LZtyYmrL7q6k6PMIsM1A9bCNQPWwjUDjnjNWPP+Ng1roaGh0moyYMAACV08D61Xr16yb926dVRRUSHhyhw+jr8QXL2Ry/yzY8eO0fnz5+X1LNm7dy8FBgbqwxYfu2LFCqNjOJVX9xoA0MzmknFvWNoxovTjui2HsuNEBcZ/ZDLirNIW85BQ1sYgnLXVFvYAAACAZs8h5qxxBUYurT916lSpzsjdmFyGn9dCUypBJiYm0tChQ+nrr7+mvn37Sqn+e++9V4Yj8tw27gnjddo4ZCnFRXjNNu4l4/seHh4SwmbPnk1PP/20/r254MiHH35Izz77LN1zzz0SEn/88UdZEgAAmpHyMm0J/PRjVYNZaZ7l5/mEV+khk3DGi0O7OMSPYAAAALARh/lNgdc444DGgUxZFPv999/XP84BjnvODCfscXl95VjDRbEV3PO2YMECWY9No9FQmzZt6N1335VQqOCy/RzM+BhehLtly5b02WefoWw/QFOlLpI5ZJWB7ChR2nHt0MXyUvPPcXbV9ZK1IwptTxTCTTunTNYqAwAAAGjKYY17x6pbADsuLk4ClyHuLeMwxs0c7q0zXAzbkquvvpr+/fffOpw1ANitomyD3jHuLTuu3fJ6ZZYWinb11PaMKYEstJ12y0HN1a2xPwEAAAA0cQ4T1gAA6qQwkyj1MFHqEeNglm9+2Q/hEaANZPpQxtt2RP7RRM7OjXn2AAAA0IwhrAFA0+kp4yGLHMokmPH2aPVFPnyjKnvH9Nv2RN6hlheKBgAAAGgkCGsA4FiKc7U9ZEoYk+0Rorwky88JiCEK7UAUlqALZLxtS+Rh+3UPAQAAACxBWAMA+1RaoAtlR3XDGDmYHSXKuWD5OX4ttYGMw1gYh7MO2nDm7tOYZw4AAABQLxDWAMC21MXaQh+GQxc5nGWft1zowydCF8p0gYwbD19E5UUAAABoQhDWAKBxcLVWDmAcxFIOEqXw9pC2TL6m3PxzvEIMwlhC5RaLRgMAAEAzgLAGAPWvOEcXxg7qwtkhbc9ZSa7l6othHav2lnmHNPaZAwAAANgNhDUAqLtytbZnjMOY0jicWZpX5qzSDlcM76QNZ+GdicI7EvlGovoiAAAAgAmENQCo3RBGrraYeVwXynS9ZbxmWXmp5WIfHMrCdaGMwxlXYHRRNfbZAwAAADgkhDUAMFZWqq26yEMYkw+QS9J+GnVxL6n25ps/3s1XG8ikp6yTrtesA5FnYGOfOQAAAECTgrAG0JwVZupCmTaYSeOgVqHWH+JMRO7cuebkTE7BbXU9ZRzIdMGM1zDDEEYAAACAeoewBtBchjFmndWGMV2PmTRLc8u44EdEF2llIR1o04ksumL8PaTy9G3sMwcAAABothDWAJriumW8XplhbxkHNEuVGANidcGsqz6gkX9LfW+ZRq2mnMQVRK4ejfs5AAAAAJo5hDUAR1aQQZS837i3LO2Y+XXLXNy0c8kMgxkPY8RC0gAAAAB2CWENwFHkJRMl7atsl/YS5V40fywX9zDsKeMW0g6VGAEAAAAcCMIagD3OL8u5aBDM9mq3+Snmjw+K15bGNwxnflEo+gEAAADg4BDWAGxe+OOMcW8Zb4syqx7r5KztHYvsRhTZXbvlYObhZ4szBwAAAIAGhrAG0FgqyokyThn3liXtJyrJqXqssytRaAdtIIvSBTOeX+bmbYszBwAAAAAbQFgDaKhgln6c6NK/lb1lXPxDXWC+8AcHMaW3jBsvMK1C9UUAAACA5gxhDaA+hjJmntYFs3+JEvdow5m5YObqqR26qPSWcQtNQOEPAAAAAKgCYQ3A2mCWm1gZypSAVpxd9ViVt24YY4/KYBbSlsjZxRZnDgAAAAAOBmENoDr5abpAtqcyoBWkmh/KKD1mPYla9NQGNC4GgmAGAAAAAHWEsAagKMrWFv4w7DHLuVD1OCcX7ZyyFj204YyDGd93dbPFWQMAAABAE4WwBs2TupgoeT/RxV3aXjMOaJmnzBzopO0h40Cm9JhxD5rK0wYnDQAAAADNCcIaNJ8CIBzMEncRXdxJlHyQqEJd9djAOG0gU4Yz8kLTWMcMAAAAAGwAYQ2ansJMosTdleGMbxdlVT3OO5SoRW+iFr0qe828gmxxxgAAAAAAVSCsgWMrK9WuXyY9Zrpwxr1oplw9tNUYOZy15HDWmygghsjJyRZnDQAAAABQI4Q1cKzhjFlnK3vNZDjjfqLy0qrHBrfRBTNdz1l4ZxQAAQAAAACH4jBhLTMzkx555BFatmwZOTs708SJE2n+/Pnk4+Nj8TnFxcX01FNP0eLFi6mkpIRGjhxJH330EYWHh8vjixYtoilTpph9bkpKCoWFhdGGDRvommuuqfJ4UlISRURE1OMnhCpK8nXBbAfRhZ3aXrPCjKrHeQbpQpmu14znm2E4IwAAAAA4OIcJa5MmTZKAtGbNGlKr1RKy7rvvPvr+++8tPueJJ56gP//8k5YuXUr+/v40bdo0uuGGG2jz5s3y+C233EKjRo0yes7dd98tIY+DmqFjx46Rn19loQnTx6Gees24t+zCdqILO4hSDhJpKsyvZ2bYaxYUj+GMAAAAANDkOERYO3LkCK1cuZJ27txJvXv3ln0ffPABjR49mt5++22Kioqq8pycnBz6/PPPJcwNGTJE9n355ZfUoUMH2rZtG/Xv3588PT2lKdLS0mjdunXyPFMczgICAhr0cza70vm8ppkSzLiZW2zaP5qoZR+i6L7aLQc1V3dbnDEAAAAAQKNyiLC2detWCUpKUGPDhg2T4ZDbt2+nCRMmVHnO7t27pQeOj1MkJCRQTEyMvB6HNVNff/01eXl50Y033ljlse7du8tQys6dO9Mrr7xCV1xxhcXz5eO4KXJzc2XL58PN1pRzaNRzyU0ip8Sd5HRxBzld3ElOyfvJyaR0vsZZRZqIrqRp2UfbWvQh8jMJ4ho58cY7b7DN9QIODdcMWAvXDFgL1ww48jVjzTk4RFhLTk6uMuzQ1dWVgoKC5DFLz3Fzc6vSG8bz1Sw9h3vUbr/9dqPetsjISFq4cKEERQ5gn332GV199dUSEnv27Gn2debMmUOvvvpqlf2rV6+WMGgveEhpQ3DSlJF/0XkKyj9JgQUnKajgBHmpq841K3b1p0zvNpTl3YYyvdtStlccVTi7EfH1e4bbXiLiBk35eoGmC9cMWAvXDFgL1ww44jVTWFjoGGFt+vTp9MYbb9Q4BLIxcG8bv9c333xjtL99+/bSFAMHDqRTp07Re++9V+VYxYwZM+jJJ5806lmLjo6mESNGGM17s2Wa5wt1+PDhpFKpLv8Fi7J1PWbbtdtLe8mprMjoEI2TM1FYJ6ow6DVzCYilUCcnCr38MwBHul6gycM1A9bCNQPWwjUDjnzNKKPu7D6scaVGLuhRnfj4eKm6mJpqPJ+prKxMKkRaqsjI+0tLSyk7O9uod42rPJp7DveY8VDHXr161Xjeffv2pU2bNll83N3dXZopvjBsfXHUy/lkXyA6v43o/FbtNvWwbnyiAY8A3TyzvrJ14kWn3X3Jpd7OHhqbvV2/YP9wzYC1cM2AtXDNgCNeM9a8v03DWmhoqLSaDBgwQEIXz0NTwhQXAqmoqKB+/fqZfQ4fx1+ItWvXSpl/paLj+fPn5fUM5efn048//ijDF2tj7969MjyyWaioIEo7UhnMzm0lyr1ofl2z6P5EMf21IS24LZGzsy3OGAAAAACgSXCIOWtcwZFL7E+dOlXmj3E3Jpfhv/XWW/WVIBMTE2no0KFSJIR7vrhU/7333ivDEXluGw8/5HXaOKiZFhdZsmSJ9NTdcccdVd573rx51KpVK+rUqZOU9OceOA6KPP+sSSorIUrcUxnOLmwjKs4xPsbJhSiyG1HMAG044+aDpQwAAAAAAJpdWGPfffedBDQOZMqi2O+//77+cQ5w3HNmOGGP55Upxxouim2usAivv2auND8PpeThmhwGuThI165d6X//+5/ZhbIdUlGWtmy+Es44qJVXVrIUKi9t2fzYgdpgxmucuVtejBwAAAAAAJpRWOPeseoWwI6LiyMNL6xswMPDgxYsWCCtOlu2bLH42LPPPiutychJJKfTG6nrhR/J9dO5RKlHqs438w7V9ZjpwhmvbeaC8eAAAAAAAI3JYcIa1JP1s8l177fUynBfUOvKIY3cexYUT+TkZLtzBAAAAAAAhLVmJ24QVaQcpDNl4RR71a3k2moQ5psBAAAAANghhLXmpvttVN7pRjq4YgXFJIzm2qG2PiMAAAAAADADtdUBAAAAAADsEMIaAAAAAACAHUJYAwAAAAAAsEMIawAAAAAAAHYIYQ0AAAAAAMAOIawBAAAAAADYIYQ1AAAAAAAAO4SwBgAAAAAAYIcQ1gAAAAAAAOwQwhoAAAAAAIAdQlgDAAAAAACwQ662PoHmQKPRyDY3N5fsgVqtpsLCQjkflUpl69MBO4frBayFawashWsGrIVrBhz5mlEygZIRqoOw1gjy8vJkGx0dbetTAQAAAAAAO8kI/v7+1R7jpKlNpIPLUlFRQZcuXSJfX19ycnKy9elImufgeOHCBfLz87P16YCdw/UC1sI1A9bCNQPWwjUDjnzNcPzioBYVFUXOztXPSkPPWiPgb0LLli3J3vCFauuLFRwHrhewFq4ZsBauGbAWrhlw1Gumph41BQqMAAAAAAAA2CGENQAAAAAAADuEsNYMubu708svvyxbgJrgegFr4ZoBa+GaAWvhmoHmcs2gwAgAAAAAAIAdQs8aAAAAAACAHUJYAwAAAAAAsEMIawAAAAAAAHYIYQ0AAAAAAMAOIaw1MwsWLKC4uDjy8PCgfv360Y4dO2x9SmADc+bMoT59+pCvry+FhYXR+PHj6dixY0bHFBcX08MPP0zBwcHk4+NDEydOpJSUFKNjzp8/T2PGjCEvLy95nWeeeYbKysoa+dOALcydO5ecnJzo8ccf1+/DNQOmEhMT6Y477pBrwtPTk7p06UK7du3SP841zl566SWKjIyUx4cNG0YnTpwweo3MzEyaNGmSLGIbEBBA9957L+Xn59vg00BDKy8vp5kzZ1KrVq3kemjdujXNmjVLrhMFrpnmbePGjTR27FiKioqSf4N+++03o8fr6/rYv38/XXnllfL7cnR0NL355ptkM1wNEpqHxYsXa9zc3DRffPGF5tChQ5qpU6dqAgICNCkpKbY+NWhkI0eO1Hz55ZeagwcPavbu3asZPXq0JiYmRpOfn68/5oEHHtBER0dr1q5dq9m1a5emf//+moEDB+ofLysr03Tu3FkzbNgwzb///qtZsWKFJiQkRDNjxgwbfSpoLDt27NDExcVpunbtqnnsscf0+3HNgKHMzExNbGys5u6779Zs375dc/r0ac2qVas0J0+e1B8zd+5cjb+/v+a3337T7Nu3T3P99ddrWrVqpSkqKtIfM2rUKE23bt0027Zt0/zzzz+aNm3aaG677TYbfSpoSK+//romODhYs3z5cs2ZM2c0S5cu1fj4+Gjmz5+vPwbXTPO2YsUKzQsvvKD55ZdfOMFrfv31V6PH6+P6yMnJ0YSHh2smTZokvyf98MMPGk9PT83//d//aWwBYa0Z6du3r+bhhx/W3y8vL9dERUVp5syZY9PzAttLTU2VH3p///233M/OztaoVCr5h1Jx5MgROWbr1q36H5jOzs6a5ORk/TEff/yxxs/PT1NSUmKDTwGNIS8vT9O2bVvNmjVrNIMHD9aHNVwzYOq5557TDBo0yOLjFRUVmoiICM1bb72l38fXkbu7u/xyxA4fPizX0M6dO/XH/PXXXxonJydNYmJiA38CaGxjxozR3HPPPUb7brjhBvmlmeGaAUOmYa2+ro+PPvpIExgYaPTvEv88a9++vcYWMAyymSgtLaXdu3dLd7DC2dlZ7m/dutWm5wa2l5OTI9ugoCDZ8rWiVquNrpeEhASKiYnRXy+85SFN4eHh+mNGjhxJubm5dOjQoUb/DNA4eJgjD2M0vDYYrhkw9ccff1Dv3r3ppptukiGvPXr0oE8//VT/+JkzZyg5OdnomvH395ch+obXDA9T4tdR8PH879f27dsb+RNBQxs4cCCtXbuWjh8/Lvf37dtHmzZtomuvvVbu45qB6tTX9cHHXHXVVeTm5mb0bxVPF8nKyqLG5tro7wg2kZ6eLmPBDX9JYnz/6NGjNjsvsL2KigqZd3TFFVdQ586dZR//sOMfUvwDzfR64ceUY8xdT8pj0PQsXryY9uzZQzt37qzyGK4ZMHX69Gn6+OOP6cknn6Tnn39erptHH31UrpPJkyfrv+fmrgnDa4aDniFXV1f5wxKumaZn+vTp8scb/kOPi4uL/N7y+uuvy/wihmsGqlNf1wdved6k6WsojwUGBlJjQlgDaOa4p+TgwYPy10sASy5cuECPPfYYrVmzRiZcA9TmD0H81+vZs2fLfe5Z4581CxculLAGYOrHH3+k7777jr7//nvq1KkT7d27V/6YyMUkcM1Ac4VhkM1ESEiI/JXKtDIb34+IiLDZeYFtTZs2jZYvX07r16+nli1b6vfzNcFDZ7Ozsy1eL7w1dz0pj0HTwsMcU1NTqWfPnvJXSG5///03vf/++3Kb/+qIawYMcTW2jh07Gu3r0KGDVAQ1/J5X9+8Sb/m6M8TVQ7maG66Zpoerw3Lv2q233ipDpu+880564oknpIIxwzUD1am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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Final rates magnitude: 0.03476 rad/s\n" ] } ], "source": [ "# Spacecraft Properties\n", "Inertia = np.diag([0.1, 0.1, 0.1]) # 3U CubeSat kind [kg*m^2]\n", "inv_I = np.linalg.inv(Inertia)\n", "\n", "omega = np.array([0.1, -0.08, 0.05]) # Initial tumbling rates [rad/s]\n", "B_field = np.array([2e-5, 1e-5, -3e-5]) # Earth B-field approximation [Tesla]\n", "\n", "bdot_ctrl = BDot(gain=100000.0) # High gain for demo scaling\n", "\n", "dt = 0.5\n", "steps = 2000\n", "history_omega = []\n", "\n", "for k in range(steps):\n", " # 1. Measure B_dot (approximated here via cross product w x B for body rotation info)\n", " # B_dot in body frame: dB_dt = - omega x B\n", " B_dot = -np.cross(omega, B_field)\n", " \n", " # 2. Control Output\n", " dipole = bdot_ctrl.calculate_control(B_dot)\n", " \n", " # 3. Torque generation\n", " T_ctrl = np.cross(dipole, B_field)\n", " \n", " # 4. Dynamics (Euler's equations):\n", " # I * omega_dot + omega x (I * omega) = T\n", " omega_dot = inv_I @ (T_ctrl - np.cross(omega, Inertia @ omega))\n", " omega = omega + omega_dot * dt\n", " \n", " history_omega.append(omega.copy())\n", " \n", "history_omega = np.array(history_omega)\n", "time = np.arange(steps) * dt\n", "\n", "plt.figure(figsize=(10, 4))\n", "plt.plot(time, history_omega[:, 0], label='$\\omega_x$')\n", "plt.plot(time, history_omega[:, 1], label='$\\omega_y$')\n", "plt.plot(time, history_omega[:, 2], label='$\\omega_z$')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Angular Velocity [rad/s]')\n", "plt.title('B-Dot Magnetic Detumbling')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()\n", "\n", "print(f\"Final rates magnitude: {np.linalg.norm(omega):.5f} rad/s\")\n" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 3. Demonstration: PID Slew Maneuver\n", "\n", "Here we control a single axis angle using a Reaction Wheel output mapping into PID demands." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# 1D Angle Tracking loop\n", "pid_axis = PID(kp=1.0, ki=0.01, kd=3.0, output_limits=(-0.05, 0.05)) # Torque limits [Nm]\n", "\n", "angle = -1.0 # radians (Start demand from -1 rad offset index offset)\n", "rate = 0.0\n", "target_angle = 0.0\n", "\n", "dt_pid = 0.1\n", "slew_steps = 300\n", "history_angle = []\n", "history_torque = []\n", "I_axis = 0.1\n", "\n", "for k in range(slew_steps):\n", " error = target_angle - angle\n", " \n", " # Update PID\n", " torque = pid_axis.update(error, dt_pid)\n", " \n", " # 1D Rigid Dynamics\n", " accel = torque / I_axis\n", " rate += accel * dt_pid\n", " angle += rate * dt_pid\n", " \n", " history_angle.append(angle)\n", " history_torque.append(torque)\n", " \n", "time_slew = np.arange(slew_steps) * dt_pid\n", "\n", "plt.figure(figsize=(10, 5))\n", "plt.subplot(2, 1, 1)\n", "plt.plot(time_slew, history_angle, 'b-', label='Current Angle')\n", "plt.axhline(y=target_angle, color='r', linestyle='--', label='Target')\n", "plt.ylabel('Angle [rad]')\n", "plt.title('Reaction Wheel PID Slew Maneuver')\n", "plt.legend()\n", "plt.grid(True)\n", "\n", "plt.subplot(2, 1, 2)\n", "plt.plot(time_slew, history_torque, 'g-', label='Control Torque')\n", "plt.ylabel('Torque [N-m]')\n", "plt.xlabel('Time [s]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] } ], "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": "3.10.11" } }, "nbformat": 4, "nbformat_minor": 4 }