{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Tutorial 16: Fault Detection, Isolation, and Recovery (FDIR)\n", "\n", "This tutorial covers **FDIR** techniques for spacecraft systems. FDIR is critical for autonomy and survival, ensuring the spacecraft can detect failures in sensors or actuators and respond appropriately (e.g., by re-allocating controls or triggering a **Safe Mode**).\n", "\n", "---\n", "## 1. Theory Prerequisite\n", "\n", "### 1.1 Residual Generation\n", "A **residual** is a signal that is zero (or small) in normal operation and non-zero during a fault.\n", "- **Analytical Redundancy**: Comparing outputs of two different sensors/models that relate algebraically.\n", "- **Observer Residuals**: Using an estimator (like a Luenberger Observer) to predict the output $\\hat{y}$. Residual $r = y - \\hat{y}$.\n", "\n", "### 1.2 Parity Space\n", "For redundant sensors (e.g., 4 gyros for 3 axes):\n", "$$ y = M x + v + f $$\n", "where $M$ is the geometry matrix ($p \\times n$, $p > n$).\n", "We find a Parity Matrix $P$ such that $P M = 0$ and $P P^T = I$.\n", "- **Parity Vector**: $p_{vec} = P y$\n", "- **Detection**: $\\|p_{vec}\\| > \\text{threshold}$\n", "- **Isolation**: The column of $P$ that aligns best with $p_{vec}$ identifies the faulty sensor.\n", "\n", "### 1.3 Actuator Accommodation\n", "Control allocation: $\\tau = B u$. We find $u$ to minimize $u^T W u$:\n", "$$ u = W^{-1} B^T (B W^{-1} B^T)^{-1} \\tau $$\n", "If actuator $i$ fails, we set its weight $W_{ii} \\to \\infty$ (or very large), forcing the allocator to use the remaining healthy actuators." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Imports successful.\n" ] } ], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt\n", "import time\n", "from opengnc.fdir.parity_space import ParitySpaceDetector\n", "from opengnc.fdir.failure_accommodation import ActuatorAccommodation\n", "from opengnc.fdir.safe_mode import SafeModeLogic, SafeModeCondition, SystemMode\n", "\n", "print(\"Imports successful.\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 2. Demonstration: Sensor Fault Isolation (Parity Space)\n", "\n", "We simulate 4 gyros aligned on a tetrahedral structure tracking a 3D rate vector.\n", "Around step 100, **Gyro 2 develops a bias fault (sticks/off-by-one).**" ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [ { "data": { "image/png": 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"text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# Geometry Matrix for 4 Gyros (Rows = Gyro axes in Body Frame)\n", "M = np.array([\n", " [1.0, 0.0, 0.0], # Gyro 1 on X\n", " [0.0, 1.0, 0.0], # Gyro 2 on Y\n", " [0.0, 0.0, 1.0], # Gyro 3 on Z\n", " [0.577, 0.577, 0.577] # Gyro 4 skewed\n", "])\n", "\n", "detector = ParitySpaceDetector(M)\n", "\n", "steps = 200\n", "dt = 0.1\n", "threshold = 0.15\n", "\n", "history_pvec_norm = []\n", "history_isolated = []\n", "history_y = []\n", "\n", "for k in range(steps):\n", " # 1. True Rate (sine wave for dynamics)\n", " true_rate = np.array([0.1*np.sin(0.05*k), 0.05*np.cos(0.04*k), 0.02])\n", " \n", " # 2. Measurement without fault\n", " noise = np.random.normal(0, 0.01, size=4)\n", " y = M @ true_rate + noise\n", " \n", " # 3. Inject Fault at k >= 100 on Gyro 2 (index 1)\n", " if k >= 100:\n", " y[1] += 0.5 # Add step bias\n", " \n", " # 4. Parity Space detection\n", " p_vec = detector.get_parity_vector(y)\n", " p_norm = np.linalg.norm(p_vec)\n", " \n", " isolated_idx = -1\n", " if detector.detect_fault(y, threshold):\n", " isolated_idx = detector.isolate_fault(y)\n", " \n", " history_pvec_norm.append(p_norm)\n", " history_isolated.append(isolated_idx)\n", " history_y.append(y.copy())\n", "\n", "history_y = np.array(history_y)\n", "history_pvec_norm = np.array(history_pvec_norm)\n", "history_isolated = np.array(history_isolated)\n", "\n", "# Plotting\n", "plt.figure(figsize=(12, 6))\n", "\n", "plt.subplot(3, 1, 1)\n", "for i in range(4):\n", " plt.plot(history_y[:, i], label=f'Gyro {i+1}')\n", "plt.axvline(100, color='r', linestyle='--', label='Fault Injection')\n", "plt.ylabel('Gyro Output')\n", "plt.legend(loc='lower left')\n", "plt.title('Parity Space Fault Detection')\n", "plt.grid(True)\n", "\n", "plt.subplot(3, 1, 2)\n", "plt.plot(history_pvec_norm, label='Parity Vector Norm', color='k')\n", "plt.axhline(threshold, color='g', linestyle='--', label='Threshold')\n", "plt.axvline(100, color='r', linestyle='--')\n", "plt.ylabel('||p||')\n", "plt.legend()\n", "plt.grid(True)\n", "\n", "plt.subplot(3, 1, 3)\n", "plt.step(range(steps), history_isolated + 1, where='post', color='orange', label='Isolated Index')\n", "plt.axvline(100, color='r', linestyle='--')\n", "plt.yticks(range(0, 5), ['None', 'Gyro 1', 'Gyro 2', 'Gyro 3', 'Gyro 4'])\n", "plt.xlabel('Step')\n", "plt.ylabel('Isolation')\n", "plt.grid(True)\n", "\n", "plt.tight_layout()\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 3. Demonstration: Actuator Failure Accommodation\n", "\n", "We have 4 Reaction Wheels generating moments along 3 axes. \n", "At Step 50, **Reaction Wheel 1 completely fails (health sets to 0)**. We show that the accommodation weights update to rely only on the remaining healthy wheels." ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Nominal commands: [ 0.08834041 -0.06165959 0.00834041 0.02020726]\n", "Allocated after failure: [ 5.30364342e-13 -1.50000000e-01 -8.00000000e-02 1.73310225e-01]\n", "\n", "Demand \t\t: [ 0.1 -0.05 0.02]\n", "Actual Nominal \t: [ 0.1 -0.05 0.02]\n", "Actual Corrected: [ 0.1 -0.05 0.02]\n" ] }, { "data": { "image/png": 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+2aHxVKU5+NNJFQVA3hg5HTQqENHykqhbnk44aJ8H1mUdoJb2dWusjA5qFXiqu6E+ew899JA/+FT3SgURCir1XuhgPLCbnOqnnk/jufTcgRd1zxO9lrIo7r1XgKV9H7yu1gsMlkuq90UJrst63yTwvSvNe7R48WK33xXUBu8LBYXB+6Go7zRtT98b6uKnk2/quqfxnIFBmZ5HXe2Cn0MBYyj7uyhFnbgLfj/UrVf73RtrpX2t28HdfYv6vO5v3dU+EAWfwftBXZq9faBtq9uiuspqf6q7o7pLq5spEA0YIwZEOfWxV+uAgjFdgqmFRXP/hENxrWYKBgMzymkMgM5OKwX4sGHD3IGH7tfYAQWD5SFc2cQ0xmzUqFGu5eeee+5xB+06eNBZ2+LOQJeV9o9o0LouwdSC4B2kRkpxGQKLWx48Lm9/Hx9OGq+mMTM6yNL4NA3G10H7xIkTCyWVKC/787p18H3LLbe4lg7VQx14K4DVmLOSqEVCr1GPUbIUPcabL6+0dVkBpE5SFEcBjcYyKdCdMmWKq7vaxzqI1vg573nUGqjWy6J440JL+n6JpNK8d6V5j7Qv9F1YXFIeL3lRSd9pWqZWcrXo6MSW9rla4hRwKMBQWfU8OtH08MMPF/k8wSdDgulkhQKhonhJSkqTYXJ/elnsb9311tE4scBxe57AaQr0HGq5VM8CJUfR979+q/Tb2q5du5BfAxAOBGJAlNOPun7cx40bV+g+pbJXFrnx48e7H3Cdifz+++9D/vHUmeDgjHDemc7AM9HqkqPbev7A7QWn0y/uuTRHl+gAL5gyc+ns6L7S04dKZVfrorpkBdLr1vPuLx286eBfz6Hud8EU/Ok9VSDm7dOS3jMdvKkr3L7eV+3T4vand380CHzvva5UHi3z7vf+e2e+g9cLpOBAB446yAqcB0wHeqEePAaWM7Duq7uiWqZLCl7KSi0janHSAbcSTuhzpZMc+5rTTHVZwY9asDxKplHUZ3h/6LOoQEQXvX4lJFEiGQUmXnY8BVP72ideS1Nw+YJbrQLf+8A6oi5s2vfqfh24rlqzdWAe2CoW7npfmvdI379qWVSL1v6cONLrUNdfXRRs6eSRsqgqONM+1vMoy6vuDyUY0j5REKJgLLic3merqP2m9yOwFU+t/NrvXhdlPUa3dTIusBWsqO+l0tbd4l6f1+qm38bSfBa1/k033eQueh3qaqrn9k6aAZFC10QgiumHUj/4yqKlrGXBFx0QKDugstd543P0A11Uim/v7K4X4BR1sKYfK2XDCkyJrjPhGiNU1BnkwDPG6tY0e/bsAut5WduCn0stFvohVPfGwPsUbOisb+/eva28qOzBrRQ6y11U6vRQqPuSuuoo0CrqPdPBrA6olG1NB7FqxVGab2XwCuSVUQdlOuBTFkWNnQnmrad9poyVge+Buneqy5gOlIoaVxUJGuemgyedPAhMta2uQ+rS6WVYC6wjgV2V1I0ueLyb3lMdsAW2rOg9KCp7nOp/aQIVHdypG6IytgXWFwXwKk9RmeD2h+qFPnuqC+oeuK9uicXVZWW/DGcLk8buBNI+UV3S8yowUhn0vaNguKiTBeq6GHzwrBYfj8qqOhpcR/TZUB0J/C5SNsLg9071Xt3MAsdvaTyj9oO6VIZz3r59vUfKKqjXo5MtwVSm0tQ7jbcNps+BeJ8XPY++r5TRsqjfjOBu3cG0z/TeeenyPQqi1J1X77GCvGDBJwO1j8XLCur912cmkNL5h1p3i/u90tg6naBSkKrXUly9UwtfcIp91UOdPCiPVP9AWdEiBkQxBVgKtNTtqigaE6MDFrWw6KBA3QR1plFpu9X1ToPE9cOu7eigRmeS9SOkAdG6rR8j/dBpvJnOdGpcgh6v7jb6sdeZTZ0xDO7zr8BQAaKSguiAVGeptT0doGkshEdnW7VMB0kav6BugBrrpMsDDzzgfrjVLUVprr309eqiEjjXT7ip7EoLrUBJ6ZWV9ln7L3jsSai0LR1kFHegrvdSZ7fVzVRJEXTQogQbmmpAiTX0PiiIULckJasQHWwoQNVBpZeuWt1VFUAqhbXeT6Whf+WVV9w+1WB57WsFMXpvdJAcPIYmUtRlUGM2tP/1ejTY3ktfr4AxsCunug9pP2r/qD6rLntzWgXWM62jlgPVW6XN1vgQHTRq8L9aSwLpM6FWC62vqQq0v72EIoH0uVKLj7rfabt633RmX93ylHY/MDFHOOjzpvntdNF7V5qz/KrL6pqlz4w+ZwrC9do0ZjNc1O1ZXb/UyqMxNgqWlY49MBHN/fff704uaD8qmYnKovdKSRdUHi+40Pum7yztVy3T69TnIDgRjOrIP//5T5fWXS1i+m5TPVYLZ/DnVJ8HBRTqKv3VV1+5OqTvMJ0QUQAQmDimvN8j1WeVWfVWn13tO70WtcDos6o6vq9J5vXdpEBV+1ctTKrLqnPqQuol4vnrX//qukYqyYj2u94bBTBqBdRyb26y4qibnsqmz5pO3njTXuh3QvtN+z64G6XoPdDnQJ8H1TUvTb3XQqmAUZ9nlVcnK7RdjWFWy1modVfb1PepvjO0TbVAqk7oZI6CRu0LfXeqS6PKrBNa+u7UPlE9VTp/BZV67/Q86rKoE5X6zilpagigwkQsXyOAfTr77LN91atX92VmZha7zsCBA31JSUn+1NFKBz906FBfs2bNXPptpblXuu7A1NLvvPOOr02bNr7ExMRCKdqVtlqPVXryE0880aXOD05fr5Tp9913n0vBrPXatWvn0o/reYLTis+aNcvXoUMHV5bgFMYfffSRew6lea9Zs6Z7vT/++GOBx3upk0tK51xUKmylPS6K0tffdNNNLt22nlfPr7TJwa8xlPT1SputtNcnnXRSiWVUSnntM8/333/vUmYrHbPe78MOO8w3atSoAo9RenulsW/QoIHb561atfJdc801BdJ7//bbb77zzz/fv51OnTq596U0+8dLLR6cIr+o/a/beu5A3v4KThNd3PNNnjzZ7QO9lrp16/ouvfRS3++//15oX73xxhu+ww8/3K2nOqupGYqqZ88++6zv0EMPdeu1bt3avZ6i3q+ffvrJTRmg9173eansi0utrnT12p4+Y5qeYciQIS4ldmnSgRdVzpKoLqoMl19+eZH3B39+VI5Bgwb56tev79Ko9+zZ072+4qahKGp7we9jME1LoP2leq19e/DBB/uGDRvm27ZtW4H11q1b57bVvHlzt6+Uul+p8JVyPpDqaPfu3d22tD9HjhzppuUoKkX5k08+6T4rWrdjx46+mTNnFvqces/t7Qd9zxx11FFFTs9RXFr24O+W4upCad4j0WvWd57qmKamUHmGDx/uW716tX8dvUdnnnlmocd+/PHHbsqApk2butei/5paQtNfBH/XjBkzxtU77Z86deq457zrrrsKvTfFfQ/eeeedrm7r8ZrW4fjjjy8wDUDwftJ3s75f9Jr0fPqdCZyCQnT72muvdfVF29R3+sqVK/er7v773/9233cJCQmF6omu67FKWa/vPNVP/Sbqd0v0u6d6qdep8mi94447zvfqq6/ucx8BFSFOfyou7AMAAEBl4U1sru5+4RhHC+AP0dFXBQAAAABiCIEYAAAAAFQwAjEAAAAAqGCMEQMAAACACkaLGAAAAABUMAIxAAAAAKhgTOgcBpqNfvXq1W7iyLi4uEgXBwAAAECEaOTXjh07rGnTphYfX3y7F4FYGCgIa968eaSLAQAAACBKrFy50g444IBi7ycQCwO1hHk7u2bNmhEty549e2zq1KnWo0cPS0pKimhZUHlQbxAq6g5CQb1BKKg3qCx1Z/v27a6RxosRikMgFgZed0QFYdEQiKWmprpy8CWF0qLeIFTUnWLs3Gl27LH51+fNM0tNjXSJogr1BqGg3qCy1Z19DVkiEAMAINw0M8yPP/5xHQCAIGRNBAAAAIAKRiAGAAAAABWMrokAAACVJCV2Tk6O5ebmWqyO80lMTLRdu3bF7D5AdNSdhIQEt739nbaKQAwAACDK7d6929asWWM7lQgmhgPRxo0buyzVzNuKSNcdJf9o0qSJJScnh7wNAjEAAIAolpeXZ0uXLnVn4TVBrA78YjEQ0X7IyMiw9PT0EifJBcqz7iio04mRDRs2uM/loYceGvI2CcQAAAg3HSQfdNAf14H9oIM+HUhqXiKdhY9V2gfaF9WrVycQQ0TrTkpKikuDv3z5cv92Q0EgBgBAuOlgedmySJcCVQzBB1C1Po98ogEAAACggtEiBgBAmGkMQdbChZazYUOkixKVlLUs/fvvLSM52Y17Qsl2x8dbXt26lrtjh+VmZ1us0tTo8VlZlhcX564DweLU9bBaNassCMQAAAizrNmzLa5bN0sys+XNDzQfXcoKaWpma194MdLFqBTymjSx3NtutT2JiTHfPVGfqT2bNkW6GIhSiY0aWXyDBlZZEIgBABBmu5ctt9q7drnrKcccY75Efm6DWwy3bNlsderUjcnsf2WVW7eO7UxOtviUFIuvRC2Ilw8bZi+++aa7rjmXmjVubH3POMNuv+EGq16tmk2dMcP+fNlltmzOHGsccPDc4vjjXWbIX2bO9C9b9vvv1rprV3vvuefs9JNOKvRca9avt3/cd58t+O47+235crtmwAB7cNSoCnqliBZxSQrVKw9+GQAACLO8zEz/9YMmTjBLS4toeaJxctVvP/jAjurd22UeQ8k0Ca3SZCc3b27VQszOFgkJNWpYr169bOLEie49/+qrr2zAgAGWWKeOjRkzxk5t2NASr7zSZi9dav2OO849ZtGiRZa1e7ftzM62NfHx1qJFC7d81owZVq1aNevYs6clNWxYuGUwPt4at2xpo84/3x555BFLqFXLqrVqFYmXDZQagRgAAGGWl5kR6SIgFsYh7smt8OdNSUooUyumgidNpCtKv9+9e3ebNm2aC8Q0p9Oxxx5r06dPt379+rl1dL1Lly4u3biuDxw40L/8+OOPLzZNuAK2xx57zF2fMGFCGF4pUP4IxAAACLO8nTsjXQRUcQrC2tz+YYU/749397TU5NAOH7///nubNWuWHeTNsWdmp556qr3++uv+259++qmdcsopLqGLrgcGYoMGDQrDKwCiR2yP+AQAoBzkZdAiBsj777/vWr7UknXUUUfZ+vXrbdiwYQUCsV9++cXWrFnjbs+YMcO6du1qJ598srsuS5YssRUrVrgADahKaBEDAKAcx4gB5dVFUK1TkXjeslCg9dRTT1lmZqYbu6WkHX379vXff8IJJ7jEHGrxOvrooy0rK8vat2/vuiZu2LDBjY3TfSkpKa5rosbLAVUFgRgAAGGWl5FpOQkJFp+aStcTlAuN0wq1i2BFSktLs0MOOcQ/dkvB1rPPPmuDBw92y1JTU61Tp06uG+LmzZvd+DDNLaeLgjQt1+XEE090ARuBGKoSfh8AAAiz3N27bfEhh1rG5MlkTAT2UqbDkSNH2m233eZavgJbzdTqpUtg90N1T9QydVHUOkBVQyAGAECY5e7Nmhifnh7pogBR5YILLnCtXePGjfMvU5C1ePFi+/DDD934MI+uv/3227Zy5cpSBWILFy50l4yMDNetUdd//PHHcnstwP6K/jZtAAAqYddEiac1DChAY8SGDh1qY8eOtSFDhriui507d3Zp7pWSv0OHDv51jzvuODf/mJfmfl/atWvnv645y15++WWXoXHZsmXl9nqA/UEgBgBAmPm2bbMDVyy36lcNMZsx3SwlJdJFAircc889V+TyESNGuItHGRWLGvul4CywC6MSeJREgRxQmRCIAQAQZnk7My1NB5DzvtTRY6SLAwCIQowRAwAgjHy7d5sve3ekiwEAiHIEYgAAhFEuc4gBAEqBQAwAgDBiMmcAQGkQiAEAEEYEYgCAKhmIad6JFi1auAw7Smv65ZdfFrvuDz/8YH379nXrawb6Rx99tNA6d955p7sv8NK6detyfhUAgKoqLyN/DjEAAKpMIDZ58mS78cYb7Y477rAFCxbY0UcfbT179rT169cXuf7OnTutVatWdv/991vjxo2L3e4RRxxha9as8V8+//zzcnwVAIBYCMTyEhLMUlMjXRwAQJSqVIHYww8/bFdccYUNGjTI2rRpY+PHj7fU1FSbMGFCketr8r8HHnjA+vXr5+aiKGlyQQVq3qV+/frl+CoAAFW9a6IvPt5WXnKpmbopMqkzAKAyzyO2e/duN0v6Lbfc4l8WHx9v3bt3t9mzZ+/XthcvXmxNmzZ13R01u/vo0aPtwAMPLHb97Oxsd/Fs377d/dfs77pEkvf8kS4HKhfqDUJF3Sls97Zt7n9cair7pRjUm7LRftJkxZrQeF+TGldl3oTN3r4AIll3tB1tT5/PBPWACFDa77ZKE4ht3LjRcnNzrVGjRgWW6/ZPP/0U8nY1zkwzvx922GGuW+Jdd91lJ510kn3//fdWo0aNIh+jQE3rBZs6daproYsG06ZNi3QRUAlRbxAq6s4f6syfbw3MbM22bfb1Bx9EujhRjXpTOl7PnYyMDHdiOtbt2LEj0kVAJbUjjHVHn8WsrCybOXOm5eTkFBoeVaUCsfJyxhln+K+3bdvWBWYHHXSQvfrqqzZ48OAiH6NWOY1VC2wRa968ufXo0cNq1qxpkaQIXD9sp59+uiUlJUW0LKg8qDcIFXWnsE1Ll9rWvDw7ev48O3bbVsudPNmsevVIFyuqUG/KZteuXbZy5UpLT093vXcqCw0lef755/3B5AEHHGDnn3++O5mt1zFlyhQ788wzbdWqVQXG8jdr1swNKVmyZIl/2bJly+zggw+2t99+28466yyXXC3Qm2++6YasfPPNN67Xksb/33777S6XAODz+VwQpkaW4LqzP5/LlJQUO/nkkwt9Lr3eclUmENO4LTX7rVu3rsBy3S4pEUdZ1a5d2/70pz/Zr7/+Wuw6+nIoasyZfkyi5QclmsqCyoN6g1BRd/4Ql7XL/a+u35Fff3Xd6I19UyTqTemoR5AOHlWXXH2qJFTmXr162cSJE13wrSEmAwYMcK9hzJgx7gBWAZpaFDSeXxYtWuRaGdSisGLFCpf5WmbMmOGOvXTC3NsXgZRoTSfE1WtJx3J6zj59+tjcuXOtXbt2EXn9iB55e7sjFlV3QqXtaHtFfY+V9nut0nyak5OTrUOHDvbxxx8X2Km6rXFd4aJm/99++82aNGkStm0CAGJHbibp61EBNOZld2bFX/aOtSktBU86Ya6eQ+ecc44b2+91SVULnxKrTZ8+3b++rnfp0sVOPPHEQsuPP/74YlsENUXR8OHD3fYOPfRQu++++9z/9957L+RdDJS3StMiJuoOqDMpHTt2tE6dOrkPXWZmpmv6lv79+7vmbJ0N8fpu/vjjj/7ravpeuHCh++AfcsghbvnNN99sZ599tuuOuHr1apcaXy1vF198cQRfKQCgssrLYEJnVIA9O83ua1rxzztytVlyaJlANf5+1qxZ7pjLc+qpp9rrr7/uv/3pp5/aKaec4loBdX3gwIH+QMw73isNnaxXV7S6deuGVFagIlSqQOyiiy6yDRs2uD6/a9eutWOOOcb1L/YSeKgJO7C5UYFVYHP0gw8+6C5du3b1n2X5/fffXdC1adMma9CggTsLM2fOHHcdAICyYkJn4A/vv/++OwGuZAYau6XjtCeeeKJAIKbWKyVMU28kdUEcNmyYW/+pp55y62ismI7xFKCVlo731MvpwgsvLJfXBcRcICZDhw51l6IENmGL+hV76SqLM2nSpLCWDwAQ2zSPGFDuklLzW6ci8bxloEBLAZV6MD3yyCNuTFjfvn39959wwglu+ImO4Y4++mg3Pqx9+/auRUsn35cuXeruU1IEdU1UgoR9efnll11CkHfeeccaNmwY0ssEKkKlC8QAAIhmtIihQijzW4hdBCtSWlqafzjIhAkTXLD17LPP+jNTa9ofDTdRN8TNmze7nkkaIqKLgjQt10VjxhSw7SsQ0wn2yy+/3F577TU3Hg2IZpUmWQcAAJUByTqAoqlb4siRI+22225zLV+BrWZq9dIlsPuhsipqmborap19eeWVV9w4Mv1XWnwg2hGIAQAQ5mQdvvh4y/7tt/wMc2nR32oBVJQLLrjAtXaNGzfOv0xB1uLFi+3DDz904/g9uq55wzSH2r4CMXVHVNK2hx56yKW4Vy4BXbZt21aurwfYHwRiAACEicYle2PE4tPSI10cIOpojJjG+o8dO9aNGxNNQ6Q09/r8aKoijwIqzT/mpbkvyTPPPOMSfFxzzTUu6Yd3ue6668r9NQGhYowYAABh4tP4ldxcdz0hnZYwxLbnnnuuyOUjRoxwF4/mBitq7JeCs8AujN6kvKVJ2AZUBrSIAQAQ5kQdcT6fxWn+owsuMCtFljcAQOwhEAMAIExy9wZi8ampFqdJanXZ20IGAEAgAjEAAMIkL3On+x+fzvgwAEDJCMQAAAhz18T4tLJNegsAiD0EYgAAhEne3jnEEsiYCADYBwIxAADC3SKWSosYAKBkBGIAAIRJrjeHGGPEAAD7QCAGAECY5GV4kzkzhxgAoGRM6AwAQLjnEatT22zvdaObIgCgCARiAACEe4yYuibSKgYAKAFdEwEACJO8vWPEEhgjBtjAgQMtLi7OXZKSkqxly5Y2fPhw27Vrl7t/ypQp7r61a9cWeFyTJk2sRYsWBZYtW7bMEhISbMaMGUU+1+eff24nnnii1atXz1JSUqx169b2yCOPlOOrA/YfLWIAAIRJ7t709fHJ1XQUmr/w6afNqlWLbMGACOnVq5dNnDjR9uzZY1999ZUNGDDABV9jxoyxLl26WGJiok2fPt369evn1l+0aJFlZWXZzp07XfDlBWSffvqpVatWzY477rginyctLc2GDh1qbdu2ddcVmP3tb39z16+88soKfc1AaRGIAQAQ7mQdKSlm//lP/sJx4wjEEHY+n8+ycrIq/HlTElNcIFVaCp4aN27srjdv3ty6d+9u06ZNc4FYenq6HXvssQUCMV1XgJaXl+euq1XNW3788cdb9erVi3yedu3auYtHAdybb75pn332GYEYqk4gprMU+vCn7h18vHz5cnvrrbesTZs21qNHj/IoIwAAlWwesZRIFwVVnIKw414uunWoPM29ZK6lJoWWgOb777+3WbNm2UEHHeRfduqpp9rrr7/uv62Wr1NOOcVyc3Pd9cBAbNCgQaV+rq+//to91z//+c+QygpE5RixPn362PPPP++ub9261TURP/TQQ275U089VR5lBACgUmCMGFDQ+++/71q+1JJ11FFH2fr1623YsGEFArFffvnF1qxZ425rDFjXrl3t5JNP9o8HW7Jkia1YscIFaPtywAEHuFa4jh072jXXXGOXX355Ob46oIJbxBYsWOAf/KgzGI0aNXJnHd544w27/fbbbciQIftZJAAAKnmLGBkTUQFdBNU6FYnnLQsFWjpRn5mZ6Y4fNSasb9++/vtPOOEES05Odi1eRx99tOt51b59e9c1ccOGDbZ06VJ3nxJwqGuil+ijOOqKmJGRYXPmzLERI0bYIYccYhdffHHIrxeIqkBMgydr1Kjhrk+dOtXOO+88i4+Pdx8OdVMEACBW5e5tEXPp64FypHFaoXYRrEhKlqFgSCZMmOCCrWeffdYGDx7slmmoS6dOnVw3xM2bN7vxYcqOqIuCNC3XRRkRFbDtKxBTZkZR69u6devszjvvJBBD1emaqA/T22+/bStXrrQPP/zQPy5MTc01a9YsjzICABD1fLm55tu5012PZxJnoBCduB85cqTddtttruUrsNVMrV66BHY/VPdELVMXRa1TVmpVy87ODlv5gYgHYup+ePPNN7tsNBof1rlzZ3/rWGC2GgAAYkne3iBMaBEDinbBBRe41q5xyia6l4KsxYsXuxP8Gh/m0XXv5P++AjFt77333nPb0UWtbg8++KD95S9/KdfXA1Ro18Tzzz/fNRtrUKWalz3dunWzc889d78KAwBAZR8fFpeUZPG1a6urSP4dtI4Bfhojpvm+xo4d6/IKqOuiTuorwYaycnfo0MG/rk74a/4xL839vlq/brnlFjemTM9x8MEHuxT5mksMqFLziGk+CG9OCI/69wIAEKsKJOrQPEsNGkS6SEBEPffcc0UuVxINXTzKqFjU2C8FZ4FdGBVsFefvf/+7uwBVLhBTQo7S0uR5AADEmlwvEKNbIgAgXGPEatWq5b8oIcfHH39s8+fP99//1VdfuWW6HwCAWJSXufOPQEwJAq65Jv9CsgAAQKgtYhMnTvRf/8c//mEXXnihjR8/3g22FM1+fvXVV5M1EQAQs/xdE9PTzHJyzJ58Mv+OsWPVxyqyhQMAVP6siZoDQlkTvSBMdP3GG2909wEAEIvyMpnMGQBQjoFYTk6O/fTTT4WWa1lJgygBAIiFFrGENMaIAQDKIWvioEGD3Gzov/32mz9T4ty5c+3+++939wEAEItyMzPdf5J1AADKpUVMk+MNHz7cHnroITfjuS4PP/ywDRs2zB544AErb5qwT5NJK9Wp5pf48ssvi133hx9+sL59+7r14+Li7NFHH93vbQIAUJS8DAIxAEA5BmLx8fEuEFu1apVt3brVXXRdywLHjZWHyZMnu7Fod9xxhy1YsMBNKN2zZ09b702aGWTnzp3WqlUr11oXPO9ZqNsEAKDkecSYwBkAUA6BWCBlSazITIlqebviiitcF8g2bdq4zI2pqanFJgnRLOxqpevXr5+bFDAc2wQAoMQxYrSIAQDKY4zYunXrXNZEzRumViOfz1fgfqWyLw+7d+9285XdcsstBVrnunfvbrNnz67QbWZnZ7uLZ/v27e7/nj173CWSvOePdDlQuVBvECrqzh9y9gZivpQU25OYaPbLL/l36Dr7pwDqTdloP+l4S0nRYjkxmnfM6e0LIJJ1R9vR9vT5DO4VWNrvtjIHYgMHDrQVK1bYqFGjrEmTJm7sVUXYuHGjC/IaNWpUYLluF5XFsTy3OXr0aLvrrrsKLZ86daprTYsG06ZNi3QRUAlRbxAq6o7ZAStXmH4BFv78i2VMmfLHHT/+GMliRTXqTekkJia6IRYZGRnuJHJloTlmX3nlFf9raNq0qfXp08dGjhzpxuV/9NFHdsEFF7hjrsBjsdatW1tycrJ9++23/mU69tTwkbffftu6du1a4vPOmTPHzjrrLDv88MPts88+K8dXiMpmx44dYduWPotZWVk2c+ZMl1U+eHhUuQRin3/+uavUxxxzjMUqtaBpXFlgi1jz5s2tR48eEZ/UWhG4fthOP/10S0pKimhZUHlQbxAq6s4fVkyYaDpE7nBSF0s78cRIFyeqUW/KZteuXbZy5UpLT093AUxlofdW4+413EPvuXohaSiIXoPG7+u4SQGalmsYiSxatMi9Xh3gbt682SVTk3nz5rlhJkqqVqNGjWIbApS74JprrrHTTjvN9dyK9HEZooPP53NBWEl1p6xUT1NSUlziwuDPpddbLuyBmAKO4O6IFaF+/fqu2U9dIwPpdnGJOMprm/oiKGrMmb5wouUHJZrKgsqDeoNQUXfMfHvT1yfXqmVJ+p289db8O+691yw5ObKFi1LUm9JR7x0dPGr4hC6iYzFfVlaFlyUuJaXUB7JaTweoagmTgw46yF566SXXEqbXoSBJ4/nVonDJJZe4dXS9S5curtuXrivpmrf8+OOPd9vz9kVxrXDalo7v1HpW3HqILXl7uyOWVHfKStvR9or6Hivt91qZAzGlgB8xYoQ9/fTT/rMUFUFN1B06dHBj08455xz/TtXtoUOHRs02AQCxKW9vIOaSdWh8wIMP5t9x550EYgg7BWE/t+9Q4c972IKvLC7EYRjff/+9zZo1ywVknlNPPdVef/11/+1PP/3UTjnlFBd86rqGxMj06dP3OV/txIkTbcmSJfbiiy/aP//5z5DKCFSkMgdiF110kev3ePDBB7vxUMERn5qRy4u6Aw4YMMA6duzoJpNWUJiZmen/YPbv39+aNWvmxnB5fTd/3Ns3X9eVZn/hwoWuaf+QQw4p1TYBAChT+nqyJgJ+77//vjvu0hgaJTpTK8ITTzxRIBC77777bM2aNS73wIwZM9zctFr/qaeecusouNIYMQVoxVm8eLFrKNDwGXV3BCqDkFrEIkVB4IYNG+z222+3tWvXunFqU6ZM8Q/w1Ic0sLlx9erV1q5duwKTUeuiQZ46s1KabQIAsC95u3ebb2+WrPi0tEgXBzFAXQTVOhWJ5y0LBVoKqHSS+5FHHnFBUt++ff33n3DCCa6Hko7LlIxDY8Pat2/veijp+Gzp0qXuPo3FUddEjcsJptYzdUdUIrU//elPYXmdQFQGYmo9iiR1GSyu26AXXHnUdbI049lK2iYAAKVtDfMHYkUcLALhpLEpoXYRrEhpaWn+XkhK2qFg69lnn7XBgwe7ZepdpR5J6oaoXlUaH6bxXbooSNNyXU488UQXsBUViCkJw/z58+3rr7/2H895qcUV+CmrtZJ3ANFmv9pu9WEITqNKdhoAQKyOD9OBcVzQfDIA8qnXklLXa1iIWrDUyuW1mk2aNMm2bNlSoPuhstHpJLu6K1511VXFblfHnt99912BZU8++aR98sknbvxZy5Yty/FVAaErc9oQNS3rbEPDhg3dWY46deoUuAAAEKstYgl0SwRKpHnD1No1btw4/zIFYhrj9eGHHxaYI0zXlflQqfu1TkkB3pFHHlngouNUZVjUdR2vAlWiRWz48OGuiVj9ff/617+6D5KSYCiLouaEQOSs2pplw15baBs3xtvk9fMtPo6UrSidPF8e9QYhifW6k5wYb9d1O9QO9RJ1cMAHlEhdBXVCf+zYsTZkyBAXJHXu3NlNC6SuhMpm7dGcYZp/TMk+lOYeqGrifGWcFOzAAw+0559/3jUdqyl4wYIFru/vCy+84GZP/+CDDyzWaNK2WrVq2bZt2yLaNfPX9Tus+8MzI/b8ABCLzj66qd3XZJv9ftUQq37kkdby9dc0QEUz0+avcPjhOmUf6WJGFR1c63ihd+/ezCNWyqEgSlqhLnaVaULncNO4Lx1z6ViL+cEQ6bpT0ueytLFBmVvENJDSm1xPG/bS1Wtwpc5sIHIa1qxuD51/lEvRr+yPiYmMU0Dp5OTkUm8QkliuO1+v2GrPzVpm67fvsrwamQVT1+uH/ogjIltAAEBUK3MgpiBM0Z9axlq3bm2vvvqqy3bz3nvvWe3atcunlCiVmtWT7M9HN7HEVV9b76ObcJYRZTo7Tb1BKGK57jSsUd0FYhsysgPmEKNrIgCgdMrcNqeJjr/55ht3XRPnaYyYmuNuuOEGNwEfAACxoEGNau7/hh3ZlpcZlKxDGYXvvDP/EpRdGACAkFrEFHB5unfvbj/99JN99dVXbpxY27Zt2asAgJjQID0/ENuxK8d2b/eSdeztmqjJne+6K/+6TlImJ0esnACAKjiPmBx00EHuAgBALKmZkmjJCfG2OzfPMrdsKzhGDACA8gjE5s2b51LYr1+/3mUhCfTwww+HskkAACqVuLg41z1RU4dkbdvuflAJxAAA5RaI3XfffXbbbbfZYYcdZo0aNXI/RJ7A6wAAVHX19wZiu7ftyA/E0lIjXSQAQFUNxB577DGbMGGCDRw4sHxKBABAJRsnlrM3a2ICLWIAgPLKmqhJ0E488cSyPgwAgCqbOTEvI2geMQAAwh2IKWuiUtYDABDrGqTvzYa4M7Ng1kQAFWr69OluiMzWrVtLXK9Fixb26KOPlmtZ7rzzTjfJfbQbNWqUXXnllRYL9eG5554rdXLBKVOmuPcvOA9GVARiN998s/3888928MEH29lnn23nnXdegQsAALHWIpaQtdP9j/fmEate3ezLL/Mvug7EIA1jOeecc0IOmvaHDrxr166939tROUu6KOgq6lj5448/tmi2du1aN9zo1ltvLfB+ea8rKSnJWrZsacOHD7ddu3b5AxTdp8cGatKkiQtwAy1btsyt6+2HN99803r06GH16tVzyxcuXLjPMmrfFrXPP/roo30+9oQTTrA1a9ZYrVq1rKx69erlXv9LL71kUTdG7Nprr3UZE0899VT/zgQAIJYDscTsLPc/Pn1vIJaQYHbssZEsGoAw0MG8Z/LkyXb77be7BglPekB3ZJ/PZ7m5uW5Z4PJIUVl0nK5hRcH+7//+zwUrwa1ECkImTpxoe/bscfMEDxgwwG1jzJgx1qVLF0tMTHSBdL9+/dz6ixYtsqysLNu5c6cLvryATLFCtWrV/MOZMjMz3eMvvPBCu+KKK0r9Go444ohCgVfdunX3+bjk5GRr3LixhUpB6b/+9S/761//alHVIvaf//zH3njjDfvf//7nzjbozQq8AAAQU4GYz2fVduefMSZZBypcZmbxl70tGaVaNytr3+uWo88//9xOOukkS0lJsebNm7sT/zp497zwwgvWqVMnd1/Tpk3tkksucdMoFUWBwqBBg2zbtm1FtlwpaLjsssusRo0aduCBB9ozzzxTbLl0MO9d1LqibXm3f/rpJ7cNHRN36NDBBR56HcFdE3NyctzrUQudGjH+8Y9/uAAnsLVwx44ddumll1paWpprYXrkkUfslFNOseuvv96/TnZ2tmtta9asmVvvuOOOc681uBXw3XfftTZt2rjyrFixosjXNWnSJNezLZgeo9em/azyde/e3aZNm+buU3B57LHHFnhOXVeApYArePnxxx9v1ff2CFBAoyBW2yuLxMTEAu+BLgqyVB86duzo9r+WBdeHfbW6fvPNN65RSY+vWbOme//mz5/vv1/7Rrd/++03i6pATFGouiUCABDrGqRXt+q5uy3efAWTdezebfbAA/kXXQfKi+pccZe+fQuu27Bh8euecUbBddWyEbxOOdHBrlpi+vbta99++61reVJAM3ToUP86aqG566677LPPPnPd3NT6UlwGb7X0aByYDrDVoqWLAhjPQw895A7iv/76a7v66qttyJAhBVq5ymrEiBF2//33u9ahtm3bFrpfrUnq5qYGiy+++MK2b99ub7/9doF1brzxRnefgigFPnqdCxYsKLCO9sfs2bNdEKX9dMEFF7j9tnjx4gJBpp5PLV4//PCDNdR7HmTz5s32448/un1Qku+//95mzZrlAh+Pghe1dnl0XQFj165dCyxXIKR1y8uePXvsnnvucQGV9mVJ9aEoCnoPOOAANzeyWv70Hqo7okcBuqbp0vsQVV0TFeXfcccdrjKlpjJfCgAgdtWvkWype/a2OsTHW5w3HmzPHrPhw/OvX321+slErpBABL3//vuFuumpy1yg0aNHuwNjr/Xn0EMPdd3CdHD/1FNPuVYVtWApeYKCGAVYul+tMxkZGYW2r8AhsPUqWO/evV0AJmqdUuuTggjNkRuKu+++204//fRi73/88cftlltusXPPPdfdfuKJJ+yDDz4o0BqmHmcvv/yydevWzS3TcbZa/jxq2dIy/feWK7jUuC0t1zy/XoDy5JNP2tFHH11sebQNdaMM3H7w+6VWPLXAqVujyutRcKXnUnCrlrsZM2bYsGHD3Pp6r2TJkiXuOcIRiH333XcF3l+19H355ZeuPnhatWpVYn0obh+o3K1bt/bXuWDaP8uXL7eoCsT0QnXmQlGi+oEGRo8SHL0DAFBVpSYnWr24nL030hg3jYq3dw67ImmsYqBiuvI5weOIli2zcNDBuHeA7pk7d6795S9/8d9Wq4ZaeAKTIyhQUOC1dOlSO/zww12rhRoClORBXQ69jHY6oNbBeVkEtlp5wVpx3RxLo6SWJZV13bp1rlulJyEhwXWF816DAhcFUIHrKJAMDAwVkCiA/dOf/lRg+wqW1N0xMAgtqlUukMZ0iddtsKj3S91CFaCqa6BaKgNbG/UcavFSsKdttW/f3r2WDRs2uPdL96mLqbom7q/DDjvMtRIGdp0U1Qc1DqnubNmypcz1QS2Ql19+ueviqO6Sal0M7vGn16AWxqgKxIrKfgMAQKxqmpx/dj+PXiKIBC9TZyTXLXEzaXbIIYcUWPb7778XuK1WjL/97W9uHFUwdRFTUNCzZ0+XdU/judQQoG1o2e4Quv4GNyIoGNufVOV6jeVN+0gBnAIQ/Q8U2AKk4GFfJ4Tq16/v/iuAadCgQbHv14QJE1yw9eyzz9rgwYPdMvWGU8CoFkR1cdT4MJVHFwVpWq6LxowFdmkMVXJycqH649UHXRS86zUoACtLfVAQp3Fl//3vf90YPwX56vLptVqKXl/w/ol4IKaCAgCAfI0T8wOxnGoEYkAo1KKiMUvBB9yBrUGbNm1yXRjVUqSuifvqgaUD+OAukJGg8qoXmcYinXzyyW6ZyqXyewk91LVOwaHWUeDptaT98ssv/se0a9fOPU4td0pqsj/U8qN9qH0e3MIWSN0SR44c6VqPFLQoyPNazRS0KJDT+DCPyqrWMHVXvOqqq6y8/PTTT64+aFyekopIYKKN0tJr10VzJF988cWui6cXiCllv3oAar9HVbKO4OhcfXUDLwAAxJIGCfldE7OTmS8MCIXGaSkphJJRqOuhkk+88847/mQdCk4UWGmskpIyqKuaEjWURK1mOk7VPFYbN24s9y5mJfn73//ugki9JiUFue6661wQ47VcKXOfsihqzJJak5RkQy1QCoS8dRQwaBxd//79XbISdQHUWCltV606ZaHtqjueEqLsi7rsqbVr3Lhx/mUKxPQeffjhh24cn0fXlThj5cqVhcaHqXVJ762CP9F+WLhwYaE5yUrDqw8ae6dunaWpD4HUnVJ1S0GjxoApSYqCYHWB9cyZM8d1g+zcubNFVSCmN/7MM890TZeK8uvUqeMuSpep/wAAxJJ6cfln3bOSCMSAUGhMk1pR1AKk1h61QijVuZdMQt3DlJr99ddfd+OOxo4daw8++GCJ21Q3ObXKXHTRRe7xekwkA021uCiI0oG9uhKqG13gGK2HH37Y3XfWWWe5IEld+xQYBK6jFhtt46abbnJjpzRcKLAVrSw0PkqtWvvqkqkxYgpatP+86QRUTgUpGsensW4epdPXWDcvzX0gBUt6XxVDiOYha9eunY0fP77MZffqw2uvvebGg6llbF/1IZACS7WoaV8qwNXcZmeccYbLyul55ZVXXOBb3okJ43zai2WgiqGHKJpXU2twP9TAyDhWqCVQQamakdXUG0n6ACgTjzICBfeBBopDvUGoqDtmb416xFq/9owtPfJ46/363vk0dcDijdtQMoUKGENSmVBvykbdpHQivGXLlkUmWIgVgVkTi5qkuDK9DgVZCgCKa8lR0KP5wpRq3xufFU46llfg5HXLq+ryylB31IKqQFfdHfWZC+VzWdrYoMxjxJSdRAMFQ03xCQBAVVLLlz84fEd8fjYvRz/K3pw6MXzgDMBc97epU6e6xgplOVQXSx3Aa9yVR3OaaeyTEmHo4F0p8aVPnz7lUiY1pCjxicbfoSB1f9UUACUFYeFS5kBMTY3q+0kgBgCAWXputvu/LS6gZUdZzQIGsQOIXWqBUVc6zfullqgjjzzSPvroowJjkkTd6zR2SuOf1OVPkwl7GQ7Lg5KFeAlDUHA6gn1Ndh2xQEwzdavP7apVq1xFCu5SsK+5CwAAqEpS9wZim310sQNQmDL7KSFESTReSj3OEFvKHIhpsjalcxw0aFCB5k1F+PofDalCAQCoKNV377I9GlfgS7S8PJ/Fx8dpEJTZM8/kr3DllZq4KNLFBABU9kDssssuc1G7sokUlawDAIBYkpSd5QKxjIRqti1rj9VJSzbTpKJ7U2/bwIEEYgiLMuZXAxDln8fEUAYcKgVlcZPuAQAQU/amdM5KrGYbMrLzAzEgjLxhIJoLy5tUF0BkeXPT7U/m1zIHYqeddprLnEggBgCAWd7eQGxnYnXbsCPb/tSoRqSLhCpG8x5pvtb169e725rbKBZ7JCkF+e7du13a8Mqcvh6Vu+74fD4XhOnzqM+lPp8VFoidffbZbs4Bpbs86qijCkWBf/7zn0MuDAAAlU2e5glTIJaUH4gB5aFx48buvxeMxSIdAGdlZblWwVgMRBFddUdBmPe5rLBATBkTxZvfIFBFJOsYN26cPfDAA7Z27Vo7+uij7fHHH3dzLhRHs26PGjXKzQlw6KGH2pgxY9wEkp6BAwfaf/7znwKP0WznU6ZMKdfXAQCoGnL3tohlqmsigRjKiY6xmjRpYg0bNnQTYscive6ZM2faySefzETgiGjd0Tb2pyUs5EBMTXuRMnnyZLvxxhtt/PjxbjbwRx991AVNmnNBX0zBZs2a5WYLHz16tJ111ln28ssv2znnnGMLFixwqfc9vXr1sokTJ/pvV6sWMCknAAClaBHTGLGNGQRiKF86+AvHAWBlpNedk5Nj1atXJxBDlag7laqD7cMPP2xXXHGFS53fpk0bF5Cpn/SECROKXP+xxx5zQdawYcPcpHn33HOPtW/f3s1oHkiBl5oWvUudOnUq6BUBACozX06O+XbtctfpmggAKNcWMZkxY4ab/XvRokXutoIiBTsnnXSSlRcNsNNEd7fccot/mQbbde/e3WbPnl3kY7RcLWiB1IL29ttvF1g2ffp016KmAEzJSP75z39avXr1ii1Ldna2u3i2b9/ub/aMdHcB7/kjXQ5ULtQbhCrW607utvzvf69FbN32Xfn7Ij7e4vb+1vg0MDxG909xYr3eIDTUG1SWulPa5ylzIPbiiy+6FqnzzjvPrr32WrdMs4V369bNnnvuObvkkkusPGzcuNGNP9PcZYF0+6effiryMRpHVtT6Wu5Ri5leS8uWLd1E1SNHjrQzzjjDBXHFNf2rq+Ndd91VaPnUqVNdC100mDZtWqSLgEqIeoNQxWrdSdyyxVopIEtMtJz4RFuyZqN98MEHBVeaOjVSxYt6sVpvsH+oN4j2uuOltg97IHbvvffa2LFjXeZEjwIydRtU17/yCsTKS79+/fzXlQWybdu2dvDBB7tWMgWXRVGrXGBLm1rEmjdvbj169LCaNWtaJCkCVyU7/fTTo6oPLKIb9QahivW6k/3LL7ZSPTTS0/NvxyVb796nRrpYUS/W6w1CQ71BZak7Xm+5sAdiS5YscSnsgyltvVqTykv9+vVdC9W6desKLNft4lJHanlZ1pdWrVq55/r111+LDcQ0pqyohB56Y6PliyGayoLKg3qDUMVq3dmTvdv9T0jPnztsy849FhefYIl5uWYvvZS/0qWXagdFsphRK1brDfYP9QbRXndK+xxlTtahlp+PP/640PKPPvrI3VdekpOTrUOHDgWeWxkcdbtz585FPkbLg8uqaLi49eX333+3TZs2uRSxAACUJC8zP2NiUo10S4iPM5/PbHPmbg1sNhs0KP+i6wAA7G+L2E033eS6Ii5cuNBOOOEE/xgxjQ9TlsLypO6AAwYMsI4dO7q5w5S+PjMz041Zk/79+1uzZs3cGC657rrrrGvXrvbQQw/ZmWeeaZMmTbL58+fbM8884+7PyMhwY7369u3rWsk0Rmz48OF2yCGHuKQeAACUJnV9Qlqa1U1LdlkT1+/Itoa1Q8qFBQCIIWX+pRgyZIgLWhTcvPrqq26ZUsNrjq8+ffpYebroootsw4YNdvvtt7uEG8ccc4ybeNlLyLFixQqXSdGjQFFzh912222u26QmdFbGRG8OMXV1/Pbbb92Ezlu3brWmTZu6cV4a68ZcYgCAfcndG4hpjFiD9PwJnTdoLjECMQDAPoT0S3Huuee6SyQMHTrUXYqiBBvBLrjgAncpSkpKin344YdhLyMAIDbkZWb+EYjVqGa2xvbOJZYW6aIBAKJcqceIbdmyxR5//PEis4Bs27at2PsAAKiq8jK8QCwtPxAzLxADACBMgdgTTzxhM2fOLDI9e61ateyzzz5zwRgAALE2Riw+7Y9AbKO6JgIAEK5A7I033rCrrrqq2Pv/9re/2euvv17azQEAUGWyJiakp1v9dFrEAADlMEZMGQWV7KI4uk/rAAAQc2PE0vaOEfMCMSV82pvQyl0HACDUQEwZBlevXm0HHnhgkffrvsCMhQAAxFrWRHFZExMTlS0qwqUDAESzUkdO7dq1c6nfi/PWW2+5dQAAiLlkHQFjxOiaCAAIa4uYUsb369fPDjjgADeXmFrIJDc315588kl75JFH3JxdAADEXLKOgKyJO3bl2K6sbKv+/rv5K2m6F7WQAQAQoNS/DH379rXhw4fbtddea7feequ1atXKLV+yZIllZGTYsGHD7Pzzzy/t5gAAqDJjxJSsI616oiUnxtvunDzbtGm7NbvwwvyVFKwRiAEAgpTpl+Hee++1Pn362EsvvWS//vqr+Xw+69q1q11yySXWqVOnsmwKAIAq1CKWbnFxcW6c2KqtWS6FfbNIFw4AENXKfIpOARdBFwAg1ulkZK4/a2Ka+1+/xt5AbMfuCJcOABDtSHMIAEAIfNnZZjk5/hYx8WdOzCRhBwCgZARiAADsx/gwiU9Ndf+9hB2baBEDAOwDgRgAAPszPiwtzeL2zqPpBWIbM3dFtGwAgOhHIAYAwP5M5rx3fJg0SE92/zdm0CIGAChZSPl0c3JybPr06fbbb7+5jIk1atSw1atXW82aNS19bz95AABiYjLngN89r0VsbVae2cSJ+QuT84MzAAD2KxBbvny59erVy1asWGHZ2dl2+umnu0BszJgx7vb48ePLukkAACrtGLGiA7Fcs78PjFjZAABVsGviddddZx07drQtW7ZYSkqKf/m5555rH3/8cbjLBwBAVMrLzO+amJAe2DWxuvu/YUe2S28PAEDYWsQ+++wzmzVrliUHdbVo0aKFrVq1qqybQxjtWb3aVt16mzXbuNFWvf2OxcfFRbpIqCTyfD7qDUISy3Vnz7p1hcaI1a+R/9u4J3uP7XrnPUtJSjDr2dMsMaSRAACAKqzMvwx5eXmWm5tbaPnvv//uuigicvKysixr9mzTIUHW4sWRLg4qGeoNQhXrdSfpgOb+66nJiZZeLdFyd+yylHPPz1+opB4EYgCAIGX+ZejRo4c9+uij9swzz7jbcXFxlpGRYXfccYf17t27rJtDGCU2bGiNRo+2hd8stGOOPsYSEhMiXSRUErk5udQbhCTW605ccjVLP6lLgWX105Nt3Y6IFQkAUFUDsYceesh69uxpbdq0sV27drmsiYsXL7b69evbK6+8Uj6lRKkk1KhhNc4603bEx1mN3r0tKSkp0kVCJbFnzx7qDUJC3SlMCTvWrYl0KQAAVS4QO+CAA+ybb76xSZMm2bfffutawwYPHmyXXnppgeQdAADEIi9zIgAAJQmp03piYqL95S9/CeWhAABUaQ3SCcQAAOUQiD3//PMl3t+/f/+ybhIAgCqDFjEAQLkEYppHLHh8wM6dO106+9TUVAIxAEBMIxADAJTLhM6ayDnwojFiP//8s3Xp0oVkHQCAmFc/vZrtSUi0p86/weyJJ8yC5t0EACCkQKwohx56qN1///2FWssAAIjFFrGchET7T7szza65xoxskgCAIoRthkkl8Fi9enW4NocQbN211d785U1btGuRbVq0yRISYm9OH4RGk7RTbxCKWK87yQnJ1qtFL6tTvU6hrombMrMtL89n8fFxESwhAKDKBGLvvvtugds+n8/WrFljTzzxhJ144onhLBvKaPOuzfbI14+461O+nhLp4qASot4gVLFcd37b+pvddvxt/tv10qpZfF6udVjxg2V+mGQ1epxmFoNBKgAgzIHYOeecU+B2XFycNWjQwE477TQ32TMiJz053c5scaatWrXKmjVrZvHxYel5ihiQl5dHvUFIYrnurMpYZQvWL7CVO1YWWJ6cGG+Nks0mvTLSTEOnMzLM0tIiVk4AQBUJxPSji+jUMLWh3XPCPfbBBx9Y7xN6WxLjElBKyn5KvUEoYrnufLHqC7vqo6tsY9bGQvfVTyNBBwCgZLF1+hIAgDCpn1Lf/S8yECOFPQAg3C1iN954Y6nXffjhhy3cxo0bZw888ICtXbvWjj76aHv88cetU6dOxa7/2muv2ahRo2zZsmUuu+OYMWOsd+/eBca43XHHHfbvf//btm7d6sa5PfXUU25dAACKUy+lnvu/ZdcWy8nLscT4xAIp7AEACGsg9vXXX7uLuqMcdthhbtkvv/zismW1b9++wNixcJs8ebILBMePH2/HHXecPfroo9azZ083j1nDhg0LrT9r1iy7+OKLbfTo0XbWWWfZyy+/7Ma4LViwwI488ki3ztixY+1f//qX/ec//7GWLVu6oE3b/PHHH6169ephfw0AgKqhTrU6Fh8Xb3m+PBeMNUht4L+vfjpdEwEAYQ7Ezj77bKtRo4YLXOrUyU/Xq4mdBw0aZCeddJLddNNNVl7UwnbFFVe45xIFZP/9739twoQJNmLEiELrP/bYY9arVy8bNmyYu33PPffYtGnTXIZHPVatYQrmbrvtNuvTp49b5/nnn7dGjRrZ22+/bf369Su31wIAqNwS4hNcMLZp1ybXPbFgIPZHi9jXKzZbXmp2hEoZnXJycm3pDrMFK7ZaYiIZJVE61BvsS9PaKdakVopV2UBMmRGnTp3qD8JE1//5z39ajx49yi0Q2717t3311Vd2yy23+JcpQ1f37t1t9uzZRT5Gy4O7Uqq1S0GWLF261HVx1DY8tWrVcq1temxxgVh2dra7eLZv3+7+q5VQl0jynj/S5UDlQr1BqGK97tSrXs8FYusy1tkhNQ/xL6+T+sfP6yX//tKykulhUViiPfr9l5EuBCod6g2Kd/Pph9rfTm4Z8d+q0j5PmQMxBR0bNmwotFzLduzYYeVl48aNbuJQtVYF0u2ffvqpyMcoyCpqfS337veWFbdOUdTV8a677iq0XAFqamqqRQO1/AFlRb1BqGK17vgyfO7/p3M/tW3VtvmXZ+/cY0/3HGS7cs1qpcZbWkL+egCA8rP815/sg4xFEf+t2rlzZ/kEYueee67rGqiWMS9Jxty5c133v/POO89igVrlAlvaFJw2b97ctQjWrFkzomVTBK5Kdvrpp8dcKmmEjnqDUMV63Zk7e64tXrrYmv2pmfU+4o9EUM75+V3er45M0aJarNcbhIZ6g8pSd7zecmEPxDS26uabb7ZLLrnE3+yWmJhogwcPdtkMy0v9+vVdQpB169YVWK7bjRs3LvIxWl7S+t5/LWvSpEmBdY455phiy1KtWjV3CaY3Nlq+GKKpLKg8qDcIVazWnQZp+ePCtuzeEpOvf3/Far3B/qHeINrrTmmfo0zziKlr4Pz58+3ee++1TZs2+TMobt682Z588klLS0uz8pKcnGwdOnSwjz/+uMDk0rrduXPnIh+j5YHri6Jhb31lSVQwFriOIli18BW3TQAAAseIFTmXWG6u2bx5+RddBwBgf1rE1CKl7neLFi1yQUzbtm2tIqk74IABA6xjx46uW6QyHmZmZvqzKPbv39+aNWvmxnDJddddZ127dnXdKM8880ybNGmSCySfeeYZf4r966+/3iUa0bxhXvr6pk2bujT3AACUZlJnJewoYNcuM2+Oy4wMs3I8UQkAqJzK3DVR828tWbLEBS0V7aKLLnJJQW6//XaXTEPdB6dMmeJPtrFixQqXSdFzwgknuLnDlJ5+5MiRLthSxkRvDjEZPny4C+auvPJKN6Fzly5d3DaZQwwAUNpArFCLGAAA4Q7E1HqkMWKak0tdBYO7I5Z3soqhQ4e6S1GmT59eaNkFF1zgLsVRq9jdd9/tLgAAlAWBGACgwgKx3r3zs0L9+c9/dkGMR5Mj67bGkQEAEAvqpeSPEduxe4dl52ZbtYTCiZwAAAhLIPbpp5+W9SEAAFRJNZNrWlJ8ku3J22ObsjZZ0/SmkS4SAKCqBmJKfgEAAPK7t6tVbG3mWgIxAED5BmKipBbPPvusy54oRxxxhF122WVWq1atUDYHAEClVb96fReIMU4MAFAWZZpHTJT+/eCDD7ZHHnnEzR+my8MPP+yWLViwoKybAwCgaiTs2BUQiGkyzzvuyL8w8SwAIBwtYjfccINL1PHvf//bEhPzH56Tk2OXX365m5Nr5syZ5VFOAACiOmFHgRax5GSzO++MXKEAAFUvEFOLWGAQ5jaSmOjm49JEywAAxOSkzllBkzoDABDOromaJ0wTJwdbuXKl1ahRo6ybAwCgSrSIFQjE8vLMfvgh/6LrAACEGog9//zzlp2dbRdddJENHjzYJk+e7IIvXSZNmuS6Jl588cWl3RwAAFV3UuesLLMjj8y/6DoAAKF2TRw0aJD16tXLHnzwQZeut3///m5smCQlJdmQIUPs/vvvL+3mAACouoEYAADhCsR8Pp/7n5ycbI899piNHj3afvvtN7dMGRNTU1NLuykAAKpU+nrZtGuT+63UyUoAAMKarCPwx0WB11FHHVWWhwMAUGXHiGXlZNnOnJ2WlpQW6SIBAKpaINatW7cC2RKLwlxiAIBYkpqUaqmJqS4IU/dEAjEAQNgDsZ49e1p6enpZHgIAQEy0iu3csdNlTjyo5kGRLg4AoKoFYsOGDbOGDRuWX2kAAKikCTtW7lhJwg4AQPgDMQYfAwBQysyJSUlmN9/8x3UAAPY3ayIAACioXvV6BQOx5GSzBx6IbKEAAFVjQuelS5dagwYNyrc0AABU4hYxpbAHACCsLWIHHcTgYwAASgzEsvYGYnl5ZitW5F8/8ECz+FKf9wQAxIgyJesAAADFzyXm75qYlWXWsmX+9YwMszRS2gMACuIUHQAA4U7WAQBAOAOxnJwcu/vuu+33338vy8MAAIiZMWJ5vrxIFwcAUNUCscTERHvggQdcQAYAAPLVrV7X/c/Jy7Ht2dsjXRwAQFXsmnjaaafZjBkzyqc0AABUQskJyVarWi13ncyJAIBySdZxxhln2IgRI+y7776zDh06WFrQAOQ///nPZd0kAABVYi6xbdnb3Dixg5MaR7o4AICqFohdffXV7v/DDz9c6L64uDjLzc0NT8kAAKhk48SWbFuSn7CjZqRLAwCocoFYnuZGAQAAxaewT0zUmcv8O3QdAIAg/DoAABDuSZ2rVTMbNy7SRQIAVLV5xJSs4+yzz7ZDDjnEXTQu7LPPPgt/6QAAqIQp7AEACHsg9uKLL1r37t0tNTXVrr32WndJSUmxbt262csvv1zWzQEAUPUmdfb5zDZsyL/oOgAA+9s18d5777WxY8faDTfc4F+mYEzJO+655x675JJLyrpJAACqRNZEfyC2c6dZw4b5d2RkmAVlGAYAoMwtYkuWLHHdEoOpe+LSpUvDVS4AACpvixgAAOEOxJo3b24ff/xxoeUfffSRu6+8bN682S699FKrWbOm1a5d2wYPHmwZOstYgl27dtk111xj9erVs/T0dOvbt6+tW7euUMr94MukSZPK7XUAAKp21sQtu7ZYTl5OpIsDAKhqXRNvuukm1xVx4cKFdsIJJ7hlX3zxhT333HP22GOPWXlRELZmzRqbNm2a7dmzxwYNGmRXXnlliePS1H3yv//9r7322mtWq1YtGzp0qJ133nmuvIEmTpxovXr18t9WoAcAQFnUqVbH4uPiLc+XZ1uzt1p++xgAAGEKxIYMGWKNGze2hx56yF599VW37PDDD7fJkydbnz59rDwsWrTIpkyZYvPmzbOOHTu6ZY8//rj17t3bHnzwQWvatGmhx2zbts2effZZF6iddtpp/oBLZZ0zZ44df/zxBQIvvSYAAEKVEJ9gdavXdV0TlcKeQAwAEPZ5xM4991x3qSizZ892wZIXhIkyN8bHx9vcuXOLLMtXX33lWs60nqd169Z24IEHuu0FBmLqvnj55Zdbq1at7KqrrnKtbeqiWJzs7Gx38Wzfvt391/PpEkne80e6HKhcqDcIFXWnoLrV8gOxdRnr7LC9y9y+Yf8UQL1BKKg3qCx1p7TPU+ZATMGKWqY07irQ1q1brX379i6ZR7itXbvWGnrZp/ZKTEy0unXruvuKe0xycnKhboaNGjUq8Ji7777btZgpHf/UqVPt6quvdmPP1P2yOKNHj7a77rqr0HI9XtuJBurCCZQV9Qahou7k82Xkp6qfOW+mnbx32Ycffmi51atHtFzRinqDUFBvEO11Z6cy55ZHILZs2TLLzc0ttFwtRKtWrSrTtkaMGGFjxozZZ7fE8jRq1Cj/9Xbt2llmZqY98MADJQZit9xyi914440FWsSUqKRHjx4umUgkKQJXJTv99NMtKSkpomVB5UG9QaioOwXNnT3XFi9dbI1bH2B5f/2rW9bzzDPNqlWLdNGiCvUGoaDeoLLUHa+3XNgCsXfffdd/XWf3lPzCo8BMmRRbtGhR5sQfAwcO3GcLnMZvrV+/vsDynJwcl0mxuLFdWr57927XUhfYKqasiSWNBzvuuOPcfGgKLKsV88Op5UXdpzc2Wr4YoqksqDyoNwgVdSdfg7QG7v8my7D4558PLT1xDKHeIBTUG0R73Sntc5Q6EDvnnHPcf42dGjBgQKEnUxCmBB5l0aBBA3fZl86dO7uASuO+OnTo4JZ98sknlpeX5wKnomg9lUsBotLWy88//2wrVqxw2yuOskHWqVOn2CAMAIB9zSWmZB0AAIQlEFPQIy1btnRjxOrXr7h8UMp0qPTyV1xxhY0fP941LyoVfb9+/fwZE9Utslu3bvb8889bp06dXIud5hpTF0KNJVOXwb///e8uCPMSdbz33nuuhUy3q1ev7pos77vvPrv55psr7LUBAKripM4bzDIz8xdq7HAJCaAAALGpzGPEli5dapHw0ksvueBLwZayJaqV61//+pf/fgVnavEKHBz3yCOP+NdVV8OePXvak08+6b9fLWbjxo1z8435fD475JBD7OGHH3YBHwAAZVWven4iqx1b15mlp+cvzMgwS0uLbMEAAFUjfb0SWsyYMcN189M4rEAlJbnYH2rVKmnyZnWNVDAVSK1cCrR0KYpa2QIncgYAYH/QNREAUG6B2Ndff+0mUlbLkwIyBUgbN250aduVYr68AjEAAKJdvZT8FrGMPRmRLgoAIMqVOZmTuvGdffbZtmXLFktJSbE5c+bY8uXLXXKMBx98sHxKCQBAJVAzuaYlxZPNDQBQDi1iyir49NNPu7FXCQkJbuyVUsyPHTvWZVM877zzyrpJhMvmpZb4ysV26o4dlvj7aAaHo9QSfT7qDUIS83UnIdns9LvMWp3izyys7olbs8o2ryYAIPaUORBTggsFYaKuiBonpqyGylK4cuXK8igjSit3t8VtWGRuSuldkS4MKhMdPlNvEArqjpnNn+gPxMQFYkYgBgAIcyDWrl07l77+0EMPta5du9rtt9/uxoi98MILduSRR5Z1cwinWgdYzqVv2ty5X9pxx3WyxISQcrEgBuXk5lBvEJKYrjvLZ5nNuN8sY32hzIm/RqxQAIDKosy/mppna8eOHe76vffea/3797chQ4a4wGzChAnlUUaUVnKa+VqcbBt/zHD/jVnnUUq+PXuoNwhJTNed+MS9gdi6Qgk7cuPMfuvezg6ufbBZQkLEiggAqEKBWMeOHf3X1TVxypQp4S4TAADRL71R/v+gFjF1TdydHG+v3HOe3Xb8bZEpGwCg6mVNBAAACsQa5v/fvcNsd6Z/MXOJAQDKpUWsZcuWLitUcZYsWVLWTQIAUPlUq2GWWN0sZ1d+q1jdlgUCsY1ZGyNcQABAlQrErr/++gK39+zZ4yZ5VhfFYcOGhbNsAABEL52UVKvY1hVmmRv8gZjGiKVk59kLZ75oZi+aZWSYpaVFurQAgMoeiF133XVFLh83bpzNnz8/HGUCAKDyjBNTIBaQsKN+9fwWMQAAKmSM2BlnnGFvvPFGuDYHAEAlStjxRyCmFjEAACosEHv99detbt264docAACVJ2FHQObE1KRUS0lIiVyZAABVd0LnwGQdPp/P1q5daxs2bLAnn3wy3OUDAKBStYgJrWIAgLAHYn369CkQiMXHx1uDBg3slFNOsdatW5d1cwAAVF5pDYqcS4xADAAQ9kDszjvvLOtDAACIqUmd61UnEAMAhHmMWEJCgq1fX/AHRzZt2uTuAwAg1gOx2qn1bGbbdFvWpY1+OCNTNgBA1QrENCasKNnZ2ZacnByOMgEAUMmSdazTD6R/cZ3aTeyaG1vYc2MuMKtePXLlAwBU/q6J//rXv9x/jQ/7v//7P0tPT/ffl5ubazNnzmSMGAAgNgOx3GyzXdvMUmq7m/VT8ucSe+fXd+zDZR9GsoRRa8+ePXb/a/dHuhioZKg3KMmQo4dY/yP6W5ULxB555BF/i9j48eMLdENUS1iLFi3ccgAAYkZSilm1WmbZ2/K7J+4NxNo2aGuJcYmW48uxjD0ZkS5l1Mrekx3pIqASot6gOLvzdltlUupAbOnSpe7/qaeeam+++abVqVOnPMsFAEDlkN4gPxDLXG/W4E9u0aHJTW3BkF/MZz5b9esC86WlRrqUUWVPzh6bMX2GdT2lqyUlJkW6OKgkqDfYl1o6MVaVsyZ++umn5VMSAAAqa8KOTb8WmkssbudO02QvzWs2N0tLi1jxorV7Wb2EenZgjQMtKYkDapQO9QYW68k6+vbta2PGjCm0fOzYsXbBBReEq1wAAFSyhB2FMwoDABC2QExJOXr37l1o+RlnnOHuAwAgNlPYF2wRAwAgrIFYRkZGkWnq1US8ffv2sm4OAIDKjRYxAEBFBGJHHXWUTZ48udDySZMmWZs2bUIpAwAAlVcagRgAoAKSdYwaNcrOO+88++233+y0005zyz7++GN75ZVX7LXXXguhCAAAVGJ0TQQAVEQgdvbZZ9vbb79t9913n73++uuWkpJibdu2tY8++si6du0aShkAAKhaXRPj482830RdBwBgfwMxOfPMM90l2Pfff29HHnlkKJsEAKByt4hlbjDLyzWLTzBLSTGbPj3SJQMARLH9Pk23Y8cOe+aZZ6xTp0529NFHh6dUAABUFmn1NWuYmS/XbOfmSJcGAFDVAzGlqu/fv781adLEHnzwQTdebM6cOeEtHQAA0S4hySy1Xv71TBJ2AADKoWvi2rVr7bnnnrNnn33Wpaq/8MILLTs7240ZI2MiACCmx4nt3JifsKPREWaZmWYtWuTft2yZWVpapEsIAKisLWJK0nHYYYfZt99+a48++qitXr3aHn/88fItHQAAlTVhx8aN+RcAAPYnEPvf//5ngwcPtrvuussl6khISLCKtHnzZrv00kutZs2aVrt2bVcWTS5dEo1dO+WUU9xj4uLibOvWrWHZLgAABZDCHgBQXoHY559/7hJzdOjQwY477jh74oknbGMFnulTsPTDDz/YtGnT7P3333dj1K688soSH7Nz507r1auXjRw5MqzbBQBgny1iAACEY4zY8ccf7y7qljh58mSbMGGC3XjjjZaXl+eCmObNm1uNGjWsPCxatMimTJli8+bNs44dO7pl6hbZu3dvlyikadOmRT7u+uuvd/+nF5NCONTtalycLh6Nl5M9e/a4SyR5zx/pcqByod4gVNSdfPEp9U39RPK2r7Fc7Ys9eyxp731u38T4/glGvUEoqDeoLHWntM8T5/P5fKE+yc8//+wSd7zwwguu29/pp59u7777roWbgr6bbrrJtmzZ4l+Wk5Nj1atXt9dee83OPffcEh+vQOzUU091j1f3w/3d7p133um6aAZ7+eWXLTU1NcRXCQCorA7Y/IV1WP60bUhvY7MOHWEJu3bZWf36ufvenzTJcqtXj3QRAQAVRL3yLrnkEtu2bZsb/hTWCZ09St4xduxYGz16tL333nsusCkPytbYsOHebh97JSYmWt26dd19Fb3dW265xbUGBraIqUWwR48eJe7siorA1UKpoDgpyTsfC5SMeoNQUXfyxS1NM1v+tNVPyXO9KlzWxL169uxJ1sQg1BuEgnqDylJ3vN5y+7JfgZhHiTvOOeccdymLESNG2JgxY0pcR90Ho021atXcJZje2Gj5YoimsqDyoN4gVDFfd2rld2WPy1ifvx/0G7G3y3uSrsfyvilBzNcbhIR6g2ivO6V9jrAEYqFSt8CBAweWuE6rVq2scePGtn59wQHQ6kKojIe6L1TltV0AQIxmTczabJaz2ywlxWzevEiXCgAQxSIaiDVo0MBd9qVz585uDNpXX33lsjbKJ5984hKFKINjqMpruwCAGJNSxyw+0Swvxyxzg1mtZpEuEQCgqqSvj6TDDz/cpaG/4oor7Msvv7QvvvjChg4dav369fNnNly1apW1bt3a3e/ROK+FCxfar7/+6m5/99137rZavEq7XQAA9ik+3ixt75jjTFLYAwCqSCAmL730kgu0unXr5gZCd+nSxU3YHDgIT1kclaXEM378eGvXrp0LtOTkk092twMzO+5ruwAAlEp6gz/mEtNvUYsW+ZeA3yUAAKKia2JZKJOh0sMXp0WLFhaciV9p5nXZn+0CAFCmcWIZ68z0e7R8ef7t0GeJAQBUYZWmRQwAgKiW3vCPQAwAgH0gEAMAIKwtYowRAwDsG4EYAADhQCAGACgDAjEAAMIhLSBZBwAA+0AgBgBAuJN1AABQVbImAgBQabomxsWZtWmTf1vXAQAIQiAGAEA4sybu3pH/6/rDD5EuEQAgitE1EQCAcKhWwywxJf96JuPEAAAlIxADACAc1AXRP5cYgRgAoGQEYgAAhIsXiG1YYXbEEfmXnTsjXSoAQBRijBgAAOWROfHHH/Ov+3wRLRIAIDrRIgYAQLj4uyZuiHRJAABRjkAMAIBwt4iRrAMAsA8EYgAAhL1FbGOkSwIAiHIEYgAAhAstYgCAUiIQAwAgXNIYIwYAKB2yJgIAEO6uiWoRO+igP+YXAwAgCIEYAADhDsQSdpstWmyWUjvSJQIARCm6JgIAEC5JKWbVauVfz6R7IgCgeARiAACUS+bEdZEuCQAgihGIAQAQ7kBsj8/srIFmxx5rlpUV6RIBAKIQY8QAAAh3IOYzsx9+y7+dlxfpEgEAohAtYgAAlMdcYgAAlIBADACA8hgjBgBACQjEAAAIJ1rEAAClQCAGAEA4EYgBAEqBQAwAgHBKaxDpEgAAKgGyJgIAUB4tYqlxZqn1Il0aAECUokUMAIBwSqtvlhxvNqyG2bJFZmlpkS4RACAKEYgBABBOCUl/tIRlrIt0aQAAUYpADACA8uqeSCAGACgGgRgAAOGWXNfsuUyzi4aaZWVFujQAgChUaQKxzZs326WXXmo1a9a02rVr2+DBgy0jI6PExzzzzDN2yimnuMfExcXZ1q1bC63TokULd1/g5f777y/HVwIAqPJSG5gtzzX7apFZXl6kSwMAiEKVJhBTEPbDDz/YtGnT7P3337eZM2falVdeWeJjdu7cab169bKRI0eWuN7dd99ta9as8V/+/ve/h7n0AICYkk4KewBAFUhfv2jRIpsyZYrNmzfPOnbs6JY9/vjj1rt3b3vwwQetadOmRT7u+uuvd/+nT59e4vZr1KhhjRs3LoeSAwBiUlrDP64v+q9ZavVIlibqxOXmWpOtX1ncT3lmCQmRLg4qCeoN9qnh4Wb1D7XKolIEYrNnz3bdEb0gTLp3727x8fE2d+5cO/fcc/dr++qKeM8999iBBx5ol1xyid1www2WmFj8rsnOznYXz/bt293/PXv2uEskec8f6XKgcqHeIFTUnaLFpdT74wf2zcvNkuMiW6Aoo33TSVeWRrokqEyoN9iX3FNHWd4J10X8t6q0z1MpArG1a9daw4YNCxY8MdHq1q3r7tsf1157rbVv395ta9asWXbLLbe47okPP/xwsY8ZPXq03XXXXYWWT5061VJTUy0aqAsnUFbUG4SKulNQtUyzXnuvb0o72CyZs/cAUN6WLVlvv2/9IOK/VRoeFfWB2IgRI2zMmDH77JZYnm688Ub/9bZt21pycrL97W9/c8FWtWrVinyMgrXAx6lFrHnz5tajRw+XGCSSFIGrkp1++umWlJQU0bKg8qDeIFTUnWJkZprZZe5qzWs+ZVLnINQbhIJ6g31pu/cS6brj9ZaL6kDspptusoEDB5a4TqtWrdz4rfXr1xdYnpOT4zIphnts13HHHee2vWzZMjvssMOKXEcBWlFBmt7YaPliiKayoPKg3iBU1J0g2hd7e0i4/cK+KRL1BqGg3iDa605pnyOigViDBg3cZV86d+7sUs9/9dVX1qFDB7fsk08+sby8PBc4hdPChQvd2LPgrpAAAJSaWsBcqxgAAJV4jNjhhx/u0tBfccUVNn78eNe8OHToUOvXr58/Y+KqVausW7du9vzzz1unTm4opxs/psuvv/7qbn/33XcuQ6KScmhMmJKAKNnHqaee6pbrthJ1/OUvf7E6depE9DUDAAAAqLoqzTxiL730krVu3doFW0pb36VLFzdhs0fB2c8//1xgcJyCtnbt2rkATk4++WR3+91333W31b1w0qRJ1rVrVzviiCPs3nvvdYFY4HYBAAAAICZbxEQtWC+//HKx97do0cJ8Pl+BZXfeeae7FEfZEufMmRPWcgIAYLt2mfXtm3/9jTfMqjOPGACgkgZiAABUGrm5Zh988Md1AAAqa9dEAAAAAKgqCMQAAAAAoIIRiAEAAABABSMQAwAAAIAKRiAGAAAAABWMrIlh4KXN3759e6SL4uZT01xqKktSUlKki4NKgnqDUFF3ipGZ+cd1/TaQObEA6g1CQb1BZak7XkwQPLVWMAKxMNixY4f737x580gXBQAQbZo2jXQJAAARihFq1apV7P1xvn2FatinvLw8W716tdWoUcPi4uIiWhZF4AoIV65caTVr1oxoWVB5UG8QKuoOQkG9QSioN6gsdUfhlYKwpk2bWnx88SPBaBELA+3gAw44wKKJKhlfUigr6g1CRd1BKKg3CAX1BpWh7pTUEuYhWQcAAAAAVDACMQAAAACoYARiVUy1atXsjjvucP+B0qLeIFTUHYSCeoNQUG9Q1eoOyToAAAAAoILRIgYAAAAAFYxADAAAAAAqGIEYAAAAAFQwAjEAAAAAqGAEYlXIuHHjrEWLFla9enU77rjj7Msvv4x0kRBFRo8ebccee6zVqFHDGjZsaOecc479/PPPBdbZtWuXXXPNNVavXj1LT0+3vn372rp16yJWZkSf+++/3+Li4uz666/3L6PeoDirVq2yv/zlL65upKSk2FFHHWXz58/33698Ybfffrs1adLE3d+9e3dbvHhxRMuMyMrNzbVRo0ZZy5YtXZ04+OCD7Z577nF1xUO9gcycOdPOPvtsa9q0qftdevvtty1QaerJ5s2b7dJLL3WTPNeuXdsGDx5sGRkZVlEIxKqIyZMn24033uhScy5YsMCOPvpo69mzp61fvz7SRUOUmDFjhjtYnjNnjk2bNs327NljPXr0sMzMTP86N9xwg7333nv22muvufVXr15t5513XkTLjegxb948e/rpp61t27YFllNvUJQtW7bYiSeeaElJSfa///3PfvzxR3vooYesTp06/nXGjh1r//rXv2z8+PE2d+5cS0tLc79dCu4Rm8aMGWNPPfWUPfHEE7Zo0SJ3W/Xk8ccf969DvYHo+EXHu2qIKEpp6omCsB9++MEdF73//vsuuLvyyiutwih9PSq/Tp06+a655hr/7dzcXF/Tpk19o0ePjmi5EL3Wr1+v04u+GTNmuNtbt271JSUl+V577TX/OosWLXLrzJ49O4IlRTTYsWOH79BDD/VNmzbN17VrV991113nllNvUJx//OMfvi5duhR7f15enq9x48a+Bx54wL9M9alatWq+V155pYJKiWhz5pln+i677LICy8477zzfpZde6q5Tb1AU/ea89dZb/tulqSc//vije9y8efP86/zvf//zxcXF+VatWuWrCLSIVQG7d++2r776yjW5euLj493t2bNnR7RsiF7btm1z/+vWrev+qw6plSywHrVu3doOPPBA6hFca+qZZ55ZoH4I9QbFeffdd61jx452wQUXuO7Q7dq1s3//+9/++5cuXWpr164tUHdq1arlutZTd2LXCSecYB9//LH98ssv7vY333xjn3/+uZ1xxhnuNvUGpVGaeqL/6o6o7ymP1tcxtFrQKkJihTwLytXGjRtdn+pGjRoVWK7bP/30U8TKheiVl5fnxvio29CRRx7plukLKzk52X0pBdcj3YfYNWnSJNflWV0Tg1FvUJwlS5a4LmbqNj9y5EhXf6699lpXXwYMGOCvH0X9dlF3YteIESNs+/bt7oROQkKCO7659957XRcyod6gNEpTT/RfJ4kCJSYmuhPUFVWXCMSAGG3d+P77791ZRqAkK1eutOuuu871n1ciIKAsJ3x0pvm+++5zt9Uipu8djddQIAYU5dVXX7WXXnrJXn75ZTviiCNs4cKF7sShEjJQb1DV0DWxCqhfv747axScpUy3GzduHLFyIToNHTrUDUj99NNP7YADDvAvV11RN9etW7cWWJ96FNvU9VBJf9q3b+/OFOqihBwaAK3rOrtIvUFRlKmsTZs2BZYdfvjhtmLFCnfdqx/8diHQsGHDXKtYv379XJbNv/71ry4hkDL/CvUGpVGaeqL/wUntcnJyXCbFiqpLBGJVgLp5dOjQwfWpDjwTqdudO3eOaNkQPTSWVUHYW2+9ZZ988olLDRxIdUjZzQLrkdLb66CJehS7unXrZt999507K+1d1MqhbkLedeoNiqKuz8FTZGjcz0EHHeSu6ztIBzuBdUdd0jQ2g7oTu3bu3OnG6ATSyWYd1wj1BqVRmnqi/zqJqBOOHh0fqa5pLFmFqJCUICh3kyZNcplgnnvuOZcF5sorr/TVrl3bt3bt2kgXDVFiyJAhvlq1avmmT5/uW7Nmjf+yc+dO/zpXXXWV78ADD/R98sknvvnz5/s6d+7sLkCgwKyJQr1BUb788ktfYmKi79577/UtXrzY99JLL/lSU1N9L774on+d+++/3/1WvfPOO75vv/3W16dPH1/Lli19WVlZES07ImfAgAG+Zs2a+d5//33f0qVLfW+++aavfv36vuHDh/vXod7Ay+b79ddfu4tCmocffthdX758eanrSa9evXzt2rXzzZ071/f555+77MAXX3yxr6IQiFUhjz/+uDsYSk5Oduns58yZE+kiIYroS6qoy8SJE/3r6Mvp6quv9tWpU8cdMJ177rkuWANKCsSoNyjOe++95zvyyCPdicLWrVv7nnnmmQL3K8X0qFGjfI0aNXLrdOvWzffzzz9HrLyIvO3bt7vvFx3PVK9e3deqVSvfrbfe6svOzvavQ72BfPrpp0Ue1yiYL2092bRpkwu80tPTfTVr1vQNGjTIBXgVJU5/KqbtDQAAAAAgjBEDAAAAgApGIAYAAAAAFYxADAAAAAAqGIEYAAAAAFQwAjEAAAAAqGAEYgAAAABQwQjEAAAAAKCCEYgBAAAAQAUjEAMAAACACkYgBgBAkA0bNtiQIUPswAMPtGrVqlnjxo2tZ8+e9sUXX7j74+Li7O233450MQEAlVhipAsAAEC06du3r+3evdv+85//WKtWrWzdunX28ccf26ZNmyJdNABAFRHn8/l8kS4EAADRYuvWrVanTh2bPn26de3atdD9LVq0sOXLl/tvH3TQQbZs2TJ3/Z133rG77rrLfvzxR2vatKkNGDDAbr31VktMTPS3pD355JP27rvvuu03adLExo4da+eff34FvkIAQDSgayIAAAHS09PdRV0Ps7OzC90/b94893/ixIm2Zs0a/+3PPvvM+vfvb9ddd50LxJ5++ml77rnn7N577y3w+FGjRrkWt2+++cYuvfRS69evny1atKiCXh0AIFrQIgYAQJA33njDrrjiCsvKyrL27du7ljEFTG3btvW3bL311lt2zjnn+B/TvXt369atm91yyy3+ZS+++KINHz7cVq9e7X/cVVddZU899ZR/neOPP949h1rKAACxgxYxAACCqMVKwZO6EPbq1ct1I1SwpBau4qiF6+677/a3qOmiYE6tZjt37vSv17lz5wKP021axAAg9pCsAwCAIlSvXt1OP/10d1F3wssvv9zuuOMOGzhwYJHrZ2RkuPFh5513XpHbAgAgEC1iAACUQps2bSwzM9NdT0pKstzc3AL3q8Xs559/tkMOOaTQJT7+j5/bOXPmFHicbh9++OEV9CoAANGCFjEAAAIoRf0FF1xgl112mRsTVqNGDZs/f77LbtinTx9/5kSlsz/xxBPdPGPKsnj77bfbWWed5eYeUxZEBV/qrvj999/bP//5T//2X3vtNevYsaN16dLFXnrpJfvyyy/t2WefjeArBgBEAsk6AAAIoEyJd955p02dOtV+++0327NnjzVv3twFZyNHjrSUlBR777337MYbb3Rp65s1a+ZPX//hhx+6cWJff/21azVr3bq169KosWJeso5x48a5jIwzZ8506evHjBljF154YYRfNQCgohGIAQBQQYrKtggAiE2MEQMAAACACkYgBgAAAAAVjGQdAABUEEYDAAA8tIgBAAAAQAUjEAMAAACACkYgBgAAAAAVjEAMAAAAACoYgRgAAAAAVDACMQAAAACoYARiAAAAAFDBCMQAAAAAwCrW/wMDavjjoeZsmQAAAABJRU5ErkJggg==", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# Control Allocation Matrix for 4 Wheels (Columns = Wheel normal vectors)\n", "B = np.array([\n", " [1.0, 0.0, 0.0, 0.577],\n", " [0.0, 1.0, 0.0, 0.577],\n", " [0.0, 0.0, 1.0, 0.577]\n", "])\n", "\n", "accommodation = ActuatorAccommodation(B)\n", "\n", "tau_demand = np.array([0.1, -0.05, 0.02]) # Constant demand for demo\n", "\n", "u_nominal = accommodation.allocate(tau_demand)\n", "\n", "# 1. Normal Operation\n", "print(\"Nominal commands:\", u_nominal.flatten())\n", "\n", "# 2. RW 1 FAILS (index 0)\n", "accommodation.set_health(0, 0.0)\n", "u_failed = accommodation.allocate(tau_demand)\n", "print(\"Allocated after failure:\", u_failed.flatten())\n", "\n", "# 3. Verify Torque matches demand\n", "tau_actual_nom = B @ u_nominal\n", "tau_actual_fail = B @ u_failed\n", "\n", "print(f\"\\nDemand \\t\\t: {tau_demand}\")\n", "print(f\"Actual Nominal \\t: {tau_actual_nom.flatten()}\")\n", "print(f\"Actual Corrected: {tau_actual_fail.flatten()}\")\n", "\n", "# Simulating over time index\n", "accommodation.set_health(0, 1.0) # Reset health\n", "history_u = []\n", "for k in range(100):\n", " if k == 50:\n", " accommodation.set_health(0, 0.0) # Fail\n", " u = accommodation.allocate(tau_demand)\n", " history_u.append(u.flatten())\n", " \n", "history_u = np.array(history_u)\n", "\n", "plt.figure(figsize=(10, 4))\n", "plt.plot(history_u[:, 0], label='RW 1')\n", "plt.plot(history_u[:, 1], label='RW 2')\n", "plt.plot(history_u[:, 2], label='RW 3')\n", "plt.plot(history_u[:, 3], label='RW 4')\n", "plt.axvline(50, color='r', linestyle='--', label='Health Trigger (RW1 Fails)')\n", "plt.xlabel('Step')\n", "plt.ylabel('Actuator Torque Commands')\n", "plt.title('Actuator Fail Accommodation via Pseudoinverse Updates')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 4. Demonstration: Safe Mode Transition Logic\n", "\n", "We tie the Residual Detector to a `SafeModeLogic` unit. If the residual condition is high for more than a trigger time duration, mode transitions to **SAFE**." ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Logs:\n", "Time 1.18s: NOMINAL -> SAFE Reason: Condition HI_RESIDUAL triggered\n" ] } ], "source": [ "safe_logic = SafeModeLogic()\n", "\n", "# Condition stateful simulator for mockup time check\n", "residual_val = 0.0\n", "def check_hi_residual():\n", " return residual_val > 1.0\n", "\n", "condition = SafeModeCondition(check_hi_residual, trigger_time_sec=0.5)\n", "safe_logic.add_condition(\"HI_RESIDUAL\", condition)\n", "\n", "history_mode = []\n", "time_elapsed = []\n", "start_sim = time.time()\n", "\n", "# Run mock loop\n", "for k in range(15):\n", " time.sleep(0.1)\n", " curr_time = time.time() - start_sim\n", " \n", " # Fault occurs at k == 5\n", " if k >= 5:\n", " residual_val = 1.5 # Fault trigger HIGH\n", " else:\n", " residual_val = 0.1 # Normal\n", " \n", " mode_status = safe_logic.update()\n", " history_mode.append(mode_status.value)\n", " time_elapsed.append(curr_time)\n", " \n", "plt.figure(figsize=(10, 3))\n", "plt.step(time_elapsed, history_mode, label='System Mode', where='post')\n", "plt.xlabel('Relative Time [s]')\n", "plt.ylabel('Mode')\n", "plt.title('FDIR Safe-Mode Trigger State Control')\n", "plt.axvline(time_elapsed[5], color='r', linestyle='--', label='Condition Violated')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()\n", "\n", "print(\"Logs:\")\n", "for entry in safe_logic.history:\n", " print(f\"Time {entry['time']-start_sim:.2f}s: {entry['from_mode']} -> {entry['to_mode']} Reason: {entry['reason']}\")" ] } ], "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", "version": "3.10.0" } }, "nbformat": 4, "nbformat_minor": 4 }