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xeUnmpQhikygIANVQqlZBjEvNPAilK3nQWPjrlA4PbGSzL8kvWiuMIYj0cedOQRCMj0aKmRztfnHNJVQHDo2kRRNMPWoMcXNB9C/lt2xaW0dAKcXBBw0fI/2XwrxCzaxF/YCus2qC1Y1/Ytq1m/cBsbtpssq9lj/i/bGlPvkIYDniEuRLWA5NUxFluX6g6+t3YaNrzPM8bcByTjzFsuQ7u/9IPohvCc/+6XWwe1KEf0fixefCXAJAFWs4dCz2z0S6ajvhBy+FTbFjedHP/Bh/bMjZvvo0hbzqFJKqCNWrmmpuoIS9q/i+mKImbG5w3DTY2fWwe1KFIYm0wJrHy6bqudRYh+kePALqA2rmU+pEedGbcxZQk6G2FZw/SID7B0pxa0zLZpuFvm3+ZGHS2ihCRBAMnuiTNCXme57Xox9rYRzY+ccexrwwy9vwTf/L52j+9e/4fv/+ROw+sl71bzuwlRECjRbMQ48x/PYfalgospaqVobl3Zg5VGCtt2bBrPPjb+nQpUeUJ05YQ6SxhQZKWsXbijG9/MPjNabnyGRKeN+jBj+vVKieiTjjnmfJCWpir53kDAwPiYJTUWDjyl8fXfshOIEnzEmLzEan96x3Onf3b7w688OgffvqLF4/eI7/yhKlLiJCkgAt3EWPzZiEzFRtLiLEkkdUXteHSyg3J1yob/qvdnSPbzo+m+cyQKOhW8GgaFBtlSdTysMF4xw9/mmNzFm2FU9ZGIXDT0SVpTQHHx/zUUw/+y9AHl/+9FJ1EOejL+8sjV35obTfr/sWVp06fZqwb3DQA5DgziLtRKPFIwfYWWRp4cPhBzmu7dlakSBLSoX40XZ8eYYwxtjzxISPgpiEJUW6asiQ86UahiLF5M5Oe6ZaK4pjrwvjQXxx5/aev7vnrvzm+/+jC5tXdiSURXHlIgL95z73ionv1Zs43Z9UkcNOQxBhumrIk4bF5yNiU1blamKtUITtH01Ekyc2QokbTz08cuWhwbT9jjNX2OU/8w/J120O+RKDYIAlVHpagJM2xeXMoZ9t2MKAOyUCPmNDSsN2fuLnKnk90r/1VO+XAUXg0QZtoenyIsZXjnHNeHy6xQzO8NlxiQ+PgpgGA1KyoZUpvxGFOnP6mFvLnKU/nzeK1Mce68cUtG9Yxxhirv/TM0C/2s77/9JulfU/XGAAAhNAQXIcMcv+X/m7+iDv7lSBumfXi4AzpcV6q9vypidIV9zPG+i57H3uqvsD6u2nZqDGLVOZJEiV1CZLk4Lsbfsk5F0bSbnd+OK/S8Mvg2mkCw9Ni4HieZ1mWpI02UpcQzySX1KdLpeH6GR7kXKp2yBIHO5uf1Hzt35bmGq/AK+K+IkgHq21F8N+QVzQMK+mKEv+V5hUdSf+Ij20QL/hjAY02uIbRjvQ47zu/f/vd79pz7yCbv/vSm+xnvnX18R2/fM8vvfDsJ3uIhScAYCqbodesPyhwXMkb7qfW9oblXLW93zJvetm9L//BNdaS50rDtWd39GD0AADQydXGdbLNR0SK1HIizprU2RfnuWk/VZuxwWepBs5ghClLAm6arCTUzJWff/6ndxbthfQYs5N9EnSfvhh+ZC0AAPThuq7w2v4WTXxZz5MnujTgpgEg0xhThJMFbDsp3+IXU835gxES2r8BwwMAiLjpYp4FTGWnX8BNc85J9cUbdOxUSEJWkuZ1IUhCRBKYK2VJTHPTAAAAhQK4aQAgNFMs2m5pUoy8Kla6Y+8j0wMAAGXwczwoQHhngisE4KYhidTZGRjhpJKIukgwV4WSUFvM1NhNA4CRiHVigBlwHKdoTU74pQc3DQB03FahuGlqLkWt/pE3bQQWjv6ld4Ixxhbn9zuO4+xDKXAAkOglyeatg5vWRJKJrVbPdaPeDGNs7IEv/mSjs33dBZet2b1ATCfgpslKQm3gUCCCg+X9XNcluwUU0bQGqJ/wnGPXTh8dXs4YY+ynb3prfzfrWvaeladeOQ3tGBTNFWqneGiVpbxh2zad4nwtoONRzQVFbXhn5RDnnPOZIcbY8nU16KSQZyGisUYK0/ksREAjPHznH3+kzvkL99xi3Xx8Md93gx8HAJAe2lFs+ePif/1pbYGxhR8+x5Z2deUoyXn8+M5vrzqPHwcjTFwSDJx2ktA/KhfRtD7oXvWr9mWMsc2VO1894DhPzE7X9/bn9fIGfvwHb/nA7w2y7tXXDz3z1MwC+gaI7R+JpFUIB018VQB500AczO7+zIGfv99ZP+Zs/PqqA/e/fX/PdY9O16dWd0M1clxGQfKmcbZOrN5HNA0kwfrtv/PijdYvu9XhEpQhzV9kulmc1NeI6VNElAL0c9N0pidFluTE8Z88VOcnvrTp8X/+aH934wik4ws0kiTrzeJ0zJVO9hvZIh5w05BEAi5/9+J1PdaS0kNfefaTwbPn6cSDkISyuSKUNtxN09nQWURJ+nbc76xnjLH+9Zxz/vJE3/n/LyUelOJQ6NT0ISJJMU/wCg+ldWGZ9Ks3DTdNWRIpUZKU5oB+gZvWxUIMjKYNoxqk2AodnSRujvQkB+3cdNabxYkYCan6M9p8urTbLE5nj6ksSdI/h45OGJmKAjpKkmk/EtkPHdftZKoNXTasg5tWL4lt2ylDDDo6icvDZhfigZsmaCQix6NarcKZGB5Nm4piqtfwYkPjQ4wxxoZmoA1KDSQS0ZscTZuaBsc5TxxTp5REIl0Y61GZbrpTz4Euzu8/9uEfcr5t3cRj+6YxcOhI4kf0ulSOLYSbnt29xjqLrRN0rc1xnGRletK7aVlOLVaGU6aeVH2uVdeyzc76HsYeOXzqwkveAedIRxLXdQXdATdNCH07ps5MK3bu+r1B6hyU8Zn/hdrasH/7IGNs3ZrONbKKs1lcuflpV5uoQIVMF45+5vWfs/vIu5sEK4p0HF/HAZBbaTQiQ3HzngnOZ/5q+OEoAme62KjWSDzP8xPgkNKOaLodap+57q9vvO1D9AUVbjpnA0rMt8R9BeWDQWVb3Jh1phj37OL/u7jgMazodGyxQTQdhvp0dWLLrvd3q5eEbFAgpRpOS18vHLRt23lGuOqL8fevrz/01j2OY1k33vHA5oJHjkGqQaEkDXuIdImm9dssnjCyeelHd356qEurr1HOlXD9aDcLd1nMSuXdqzc7q5nrusu6GEABrutqaYqtsvR+eGjblt/9dGXbups2jEyfNiKx9++qfzFdR55p3m+sVCoi+Ql58VF0VS6XkTGdHarVKuXM9BDZWkXTC7XPPffesakd3Wxiq/Xl+c2r+/X/il5uf0hHsfOPqeXG0RzH/cTpa5T3zBT6FlBtxU139++84R+H73K2D33tzSMfW0bPmgslSZQUPbn7U9KwuuJvKXxdcGQtkYETzPFQKEnLylbaeO0WEXZ9usRK03Wx1fXcPtd2fyuyiPxSJg3X/m1prvGKBp1n3YqQ+zu+IphVprAvgnpT293BfxValPgvCn3R8LcFH90+QkiPVm761F8tX75l5jTnM59fyW76zmnU9KBCXeXGrCV4kSD+wESjwglNRpi++4rJTS9b+/Ler1pLLMZKw7WpK7FITYmnJrtUPTAwwIqU0QEqWSNGWMedh524acbY4F7OOedTO/ooDo+MjKn5Oviu5hvE//q/b/mEhuvgA/3rBsqs5dvFdXO9GF+ScFHjvr2BoQ5/uBiHIkvBsqxYesiuqEKmjHCsTToRJcn6WADs/aMsSXxumvasoXlqgIDFMCQjB/M014wGjpHHAjS/l06aKY4FyO8DKF1H/nXw4S1vCF53vKHhgcHFh5aStLy5eeEiuqhx3x70hu0e2PycWHpoaZrJnHWzVWQXp8d6OJFIorAxbEhNK0TTQLZrMjmsKJbL5ZBXBJezC6X+7AaCecqksGdHl2XtmJkeupEexZSkIekn59l9uzcy089CTKDqIpMeLduesyQh+gfpAWQ+c8z6kD1/hTD4S9u2dTqSWasO1aVKvUYwZCssSA/dJ5VZ90vDR77gZmD84d/0JzSm6hPRNCXUTzjbB3/LGZPysBzqrLuuKwI9kfbHC5xaU6Bi2UZA3yIeDSjQ6S1EJNn4aze8fXDdz0iSIYcizpVKxXVd3013nGPSme1m8cVK4KYLXtNDoSQdD0LC6S1Aaxx49uUdGZQcFAfyZkFutmSoixlKcyTpx3GRWa+dFGfqg2jaEEmEB5HuTIXr55xHtHg6jgySqDXXkEg2H0miTH0QTQMK3IEYG+mdtV98MuhiUMIiazcq8SsrZleFVabneWpjeUTTiKbbSmLbtuu6ogpSSitvjs1d1+048k3lptMcPxa9pkemk/RCDZyBgYF2Ow8RTQPR0Lfjfmc92Sl2y9MLhUGDnAWy/qpJQbC4tgHQ78haOssCZCWpVqsiNIsrYbgv5pxbllWtVkMeS2emKVGSlIuHRHSCgUNZks7BF7a3mIe4ncvPP+ND4mOxpUXJixT2lPJNJZqaqFHbW+hkhlGWRPR69NL1Yuu5+JPwj3q5XA65BysHiSXJerN4bubacVNJ1s2MPn3RJs1Uu28USi/FkqRjL8c1g/DCeMy40kvpn8NUlF5q7lY6c4JMJYllzyi9BGKLhCTiwJeQpR5RZzJWbFipVNq90Uhu2gxJCjJwYi0egpsG8q6CFBI9+QuD0f88/HU+r5JMnig3dDz1I+4NsRoYpUXUGkiBm2Yot5SB5PplenieR+Qb2CCJ53lZU13NrJ9/HmNzDabgzeVyWaTZid+4rivqtbd8WsfXiQf69ZgawvNg8NhOnig3NN8f6wbXddM0MNjMkBuiNFBoW3oDW94g0nsa7FDcI/5LXDf/a8YQjlu2lI4zATcNSRpjaild2fIhhnHTUrq4ONx0xFfkf4oFuGlQbNpIwjkXMXU4YZ3mvSYxwrK2BUaUJOtMjxzMNWLh0IwkSVDsCdw0QIv2CroMY4hIw2hW3fOmlR87Z9LKk97RNJAAor4B51wuEVmpVEyt74OypQAdoPSS4ZKIeWgwS0lQH1KEF3PG4FTd7GMBtJbE7IGTjKHSpfSSfpkeQHq6UBzIkt5GxcDAuVMAU304rBR7pgsQkaaiXC6Hd5nYHZ6eUBMbZAyj8qvVav4vlajJuKNb64WKcrlswGm/RuVNA9En2h2jG8FZpwlDHMcxjJ72m5PzLCF6ARaaVKTCULrjmYe6A9y0UZIEz//uOGwEZ53+7WIhUTDUBjDCUUpQ5SMJBk5xJAkHommjIM5tiR7XCDMVWwcTm6zYaGcMQ+26LnI89Jr9mN9f4KaNoVMTc81SkqnNYKiNyfwVozs3hl2h3ozxS+CmDUdKWlP8eUQ6ux0mJycLEddoRQwan4RTEJMDN623JOII8Cinc0bhZNM0qlqtktrtkkCSjLZrRz+yVsrb/WJPvNVplhmpOtbDZUki1JUyQIGbBjKHIKOlrASmXKwXh5prrUzXdRUe5yGlhIjvo83OfPDdtPSNtUTRkgqZObTt93dVKhtuWvfg9Glw02Yx0VHIvmREc/jBLvTBNK+VrET/CrvbgFzpiM1paZczQ2xoBkuIhLsz69GYpq/1tROt3bSqbyTcdA7NaUV6LNRfLF2x/RrLstbsngU3TVSS4NulS5KYRRE8LAWGOq4M2W3QyEcbHXcqGTZwpNSl0YUwuaCFoIvzjz64//N/U/vTu978wHVfWHnH+p43nrMDLwC/8s7o6ChjrLe3t/k6eLBI4uuGxwoCMdNXRGzF3Nxc1q9ouBY/ir8K/n7Tpk0S+8K2bbFjRTw2eismJyer1arfTXn2RcP15OSkyGCJ+ArP8+bm5hhj0i3qscces227YyvERQKL8jwvuETR7hXs7G49uX2R4LHpHYht2ydPnhQDIWUr0hiqFKP1wUIyc1qTHqXhOuecjw+x0nQdpAeVKXnOs7zEPa4jQ01B4GQyhCwymao3w+iORKQH6//Uzr+9b7vjbJ/qHnno/d3Ip1C/oi0mzjmnwXLOk2VkVyoVhSkTxYHIdo97NrxcPqcQiRY0Mz0oLw0V8CzEji/Kejkxetf7dyrvJjq2zf9R0m0AACAASURBVLI5CzHuEM6iR5LpTUpdRvOicpzeogbPTxypMbY4/7wTwIl6vFhJeeG0xAcn+vWY6E9W6BzhGN0w2Nm94ArFUKI3WWdUIpoGOB8fYmzl+Hmc/yF2hvTXj+FN0Pu6MNRqud24wV2CkUtt6SKlipjOufnJeh81PTJB/YT3yLFrndvfGfzl7sefmR67vztavMBSlNfIAuVyOW79BH72IHPi9CWRPXtRNouLKLJarSoPJ1VNQfwcCUTT4KblSDKybVcgmh7ftW0kIz3nppOOsjXcoEXhtKyFlCVJyiBabjNT7sQxoBXgpg1E7eHfX3LD9R0jFLFwT/mjHmtxn/6xGrrkKvhxtA5LMgccxznoncCoBzetAQLRdG24dC4DXYtvuxRykDiTSE2wdvLQYc8jqG58aEOFc75ty5aaEWw4oukCBdMvPdNh4V6XsM7fVB1lDzTxFrmuS/8gR6FDbXJRZmf6BtYxxm54V883ZuXroZhp2vq5aTo5Xh0l2bzn3sEzl4N7+dTq7rbOork6MHGdtFvJaf4N59x13fxHV5Q3plS7RElY+yVEsViXXoESjSQsJa67Z+HvZxlj/2f+pHRJpC/26rIJC25apSQijuapa+YqcdMtHVzLktNKUinoFL+OKElL32dZlihOQmrghB192b2x77UnLMv63hveI10S6VYEN51tHKe7JOII8HbOTiOdNOxhaTk3F1+jnIdER5YgN5YpMV8hd9lQlpF0SsWrrRi8j3P+3p97y4190iTJaEuLNttkwN8XfEtF+oZE35SBxcPoUpG1kM6lCzasZIxtG5nG4mFxlxB1Jz1EHC2XFVWoE865X8cyZFrqZ30Q4aZFL1CQpKVs/l5wHQeOc+BZzvmezatlSWLbdkbGA9IDbrrt3F96mQ61OhGnIIqSx+E8bJ5pFeGS5JnQHZclF5oU3z+SRuLmLEl2nQU3bTI33aGGd/vhmtFimnKdcM7FrpyQqEcImZunDpEk59o9ESNBcdpsdoVJ5TW5YsAQ1oubjlGlIW5JB4MRNxwWvsl47UVppmVZymtokLVk+nZiWRbnFcYcdFaeXgWkR3KFRvE14rbgopDBczcRNoarJbcTA1qKIWhfUix5ULBMC/zLU7uTmyRZ10oF6WG4ZiP66Hyyd/XSST4zzZaaV1JfLYoNCD46U81ot6gjhk+mIwhuOiuQIrZCYmp/j28OToGOTkR7LcsKFymHNOp2Gdz5z6DD48Ec4mhZRiJLexElEQkemaoF3HSB0KCZgjDRaaxFlS0pPwqnpSpYoDY3hhjlzlLVXpRekgB/jDHtCuUoCiHT74835mPmu+b8U8sBXaCfm6YzvIOS8MAh3PlnMtDRSfBzFU59ZF2PqSHzT3ALSia57XIQcy4hTXPgQJIowCFbMuG6LiatDZOMdvxGpVLJs3Ke8Il0uEhQHB31A+WcN5awrV5ipXwjD9PMqO4HY0wsnRWqiIfPbIhzwbU7FyIHVKvVAqoCxwJkO28SOUN+2XL6leZzhgicW4YI2pQokxckClUUsO3RkWfFFS0AbjrVPNovRhqcoOW/PkaQm24QL8jd5y9JzrvD20nik9Etp/NRThYHI2yqJKa5aTr+SNRrbzn+EVO3RPOhVjkccyWmOxQ2MkxOToYE0Wq/JQBpRw9uOjF31swtNpNNYBubadkGTbJWLK1hRKdoZudKzbAWzqOMLCMLl4c8Cm46877B2As3pLjhgo6LhxHbCFMpsp8xaglRLZ1k27Z/OFNESXIobUycm25AuVwO3saz2dZBhHTKbS+4GYxwzrv5wU0by0fHNSPhpkFVBz1X8yqrqfoRNZWiMON+EgigkUOAm6b1AWyuRxpLkkzTP+gEBbG+YQ1WLrcVQhK1vi/WHhae8WZx5FcgmjY59BNb6aSswud/wDZZBGuKirLCWeQ5iPUohQ1U9XYdoV2uS341WLSj9nNeZmlOTkgjCYt2Dre+W+ziGknDWdrSJVFltMHBFV2GTPuR1D5MIh6G1JotdiEmjKP93SsSP4rhVaqLSfCJGUbD0qIsnkrJ9AtxdAK96VUgMNdpcXvnXh8usaHxgibKZBT25paFpqmq5apFSayUpglFTsjTru3SBU4STU899ejjpwpNm2ZKk4k9F+CpgzMMP56Sopas9163i6PT5N5hF2IL1MY+suqWibM/Lc5PDV5qjdWoeIl80M5Nzz57kt+2nOg6Qw5zcB6hMk4aSXzHJGWar1fedEttuK47MDAgaAop7jX/DeLidc0vja6TTEe+jvkVE1st67LP/Wx/n/+bP3ty4tLlJHSSp5u+oIWgi/N/9Nt/uOp3tv3Dn3/+leud9f3n7F5YoQ8hqOd5o6OjjLHe3t7ma/824ZWSXTc8VowE6a9YsWKF53lzc3PRWzE3N5e4FeJ6cnLSf2maVmzatElJXzRcizonCR4rVCGe76fQpWmFkCRZKxIoR4gtZkgNr3jsscds286/Lxr+JBgcZPSKiNfNDmTFihWO4zS/Yqrea9u/cAV7/aLBtU84jucd7Oq/vvvYk4dPse8ek9OKoCRxWxHUQGJF+Qhz/S046emR4A0j0/UicNMhGR0Gv5ogTy2FnlaSDpT+pcXkpju2emTbrnHOeX26VBqu8/pwiR2a0SyjST433b16c3AJcfPqbrO5LxFzyc3oSJCQoOoIKGo8tahXlSbBPGdWWlTgk3KyGgwgBIun33TDDa/ucR44fIp9Y2JCrTB5J6UUPG86TaOkxz5M/wwBWUaSMqbObYISJY5mhdxwEF2SqNF0IANNVjSNvGkNQK2OBA+cUA6k6dbclsuCB/cUZ5k9Z2zec+9gYLa/Y4r7C2YFcR36uWlZE0OxQTnNHoQspqg80SkndCbLsiaDnHOx2yUufSG6NYdpafT0u+iSSHGv7bZc0zGSoCRqN4gne7WCbVPakR7Gby2RtR5VzJ7KrWezsKICdrqOXiUjB2IU6ZFydUhi8d+M1qn8eFC5JMqn2/xslbvowZGvukwn/rGsKLokmcpMx0h8SSzL4krLcCfTifCniKazijjkNiHr2Cd6TG3eEmJ6PWRnrpQHToii6C0hqs9DTVY9LSOxjYqmE9NJ0hmlrDm1SqUSsVayedx0wzMTNDAjblpIEuvhuXHT4TwvNW7acRhXfaJNMrtSUFSrCNw0cTJaVixpMKJoIIcuztqQCtXRmjY2OwMoLjctipFm9AHMh+zz+dmQUMtUbrop/grTQEPQKl2SxGX+wU23lIRCdB9XJ+3KtiCaTvgRziFfIs9wILyzzOamozy/WT9M9iEDiR/I8tpoo0v0qrUkiKZl0kmy9u8SYYRFb/m1hArFTQcjzXZsZvPiu0RJUh6XlcPG4ijZxzTzpvWSBNG0zI8SM7eSkdY8u45pDEVWOIBoWj6dlMWxWNTIPtGdDbME47np5tgnOKtoSdzL2tHHUh+XRWTrNsG8ae0kUXJsm2ncdM6Bj1qKLfj24nDTzRrI9PxTOg+RsloDbjqlJJl6mEKUXhJ71bjqTMz8m1xYiCjVdd2M9IAyWEDHJRBE01p+n3ODmIkXreGiGnUOXV8ulwXdoS9fD+il7ZCHx9hTr3wDPoLolhGlYVUr49phFmZZcKMClFhFyFjWj/QItkQw+lzdqSsUtGFZFp3peQ6SNPvolkmKySTxDxGWuB8qO53EskAdj6wlJYmabeKauumgeypaINnRbRVtJiHaLrFm8cDAgFAp/fOuQJ3nDNd1VVmFNqTHsbsv3f3axy/rZlfatx73nrRtGwfHtYwLivDpCh4ILau9nucNDAyUy2U66WLh3e26brVaxSjIzeQGBgYyVXgI6aGLm17YvWb9qrGp1d1EKXJSEVYR9GNZltxdpnqpDqMg/+9i1gGQ/tz04rz3zKnbBm3H2f7BX/l1agEsHUmq1WrWW+SJzMQ7OqnokkQ/LouITprrTGlqrhpJIrbOqZLzQj3cdNeVT7NTlcGPO44z+3VQcm3hc0HSg02DIfhoLbiOoMDo3JxHlkqFa5E3Xdl2a2Vk+jTnnNf/9It7kb8ZJQeTmVuJQiy4p09qFs8RcbS+meOAARnT4d1K3U3735LacIkxxlhpug6bMWFHEpFt3HqpyOyvL3F7Y5mdrSUerutm8WBadN+OKc4551OH94BiiyqJyCk2j5uOUgGnoyS5rRlK1EnEQ9fATUuXJOtt4uEPJ+qm/Vp3IMWkuAmNiNfcqEYmdQ9LPlBWUwLImHnWkpsG+yZ3vmaYPlM2RzuuA+PCSMajgcLSifRwzgLfWInfarFObYBWxe7TNNMs6XvBc5tfpmw4kGYSk4XBiBOmoo5hOtF0lFegbG4ySYKzZq0XLSO+ouVtSpbgZL0x5XMwcBJLkoXNND8zRJgL6URJjHng3TKNqUU0rXVYnWb3ndhgncPJhBkNEIwOda6JicoEEh8YrzcpBEpg3DSN7zSKwnI4aR6sNAZLGjukzk2DccsZ5XK5UPXV/Dha02kEcnUULgkw2RmESexQuxAMFJssSfJh3FSttvs3K4+jiXDKGDiJF3WyyOvQL5oGVLHVGiUPJF5tF4WKNI2jxTwAtmoAUq2LtPbeteHljDHGhsa1JzQBM3jqZHLGjcHBSgPNIXB6E2LpcthaRtO1rf1PPVXnvDb84o1rji7gQ2h+TG1knoOIoDVN7fBZaewhUGt4jEAV8lZuuv76JYdGV3cz1nfjR1eeOn2aIqkPSSRKIpETIFWugQjdkViAZHWlMXAkSpI+D9K2bQlnOLSPwevDJVYarmEJsQiSyCIHWDbLkgkeS4fuSCyG3CZg4CSQJH0XRP/zEGEuaP2pXzj62bseecenJr7w0XcHKXAWOIbOz/f2PG90dJQx1tvb23zt3yaim2TXwccyxrJ+RcRWBJWQ0SsiXrOzSY2JX+E4Tm9v78DAgOd5mzZtStwK/1wCiX3x2GOPVavVWIpyHOfkyZPVajWk7+gbLWNsbm5OokX19vbmMC6iXAf/Nue+aO6X8D8XoyPuK1asWOF53tzcnOM44a/wwUJSk1uF0dMlxg7N6LrWBGSaNqRFNGpAXWYMN30D/2Q5oPGWEBdPv+mGSuW5J86UQDpRBzddIEmCoRwFbtqATdIJdCIWdeUaGAZOXElEtKt8vaf1EmLXsqudAC7vgZsulpsWbjFZ+geSfGXphHMuN6UdAyeuJK7rJhZVbryi3/YWOtsxDJZExLAJssHkZr+lCWfoIK5O/C8lzFWhJMLw4pqfyOuQPqeMkSkiIa0E0G227rquwk5PbHLKJU/TZEYgURdIZn4pKzi28+/6RdOYu+UmiYiphfVEfIXEOEJu1rDar12s+zM6sgADJ2tJsgtk4aYhSaTIdGBgIMrNErlpkQhlgJuOrhPxXcyIE8DAiSWJX5ydAtkAbhqSdIbIFopisrLiXzNY6bg6cV03uy8TBk4sSWzbjp6tYVlWuVzOdgQikRMgaADpDwEoSJYuoLYvmLxKpzHypgGg3Rc9t0pABSw5hCpL1KiqKDmp+SRW6OemSRX3KZoklUolnGmVUmzPmMXD6DrJgQfAwIkliYhtFXMd+rppQK1Z5xBTG7N4GB2Tk5NIwiP1Ze248CvGQj4rKIimIUls+NsUm200va8xafEwok4cx8koCQ/mmkyS8KOCRBiR50IoomkguX1n4U9zHgAUNJlmUzKQBVzXDTHCgYGB8BvgphEUUJFEZPg2bJ1Kz02bt5IWrpNYiV8w1xwkCd8m7jhOFNpaLi7ElxNIDFFdWhB5oFaToYBEPP0eaWfMqgpmoKYHIMGsRaXz9NPAuFu/wpkE+ubqF4aHFVELPpqNUOR1ZNdZITU9EE0D0sx6YGAgpWcsWlTuuq5JqYfG2HOzu1Rb9xzcNCSRZtwsHTct4hTzGIB2OhEFS3NrL8w1sSTKBUamByDNTYtwI81B2nm6LeW+e3JyEmZDc4oT/LJGyaGGm0ZQoJMkWL2IqBO/8AjMlZokLRM51MoMbhqQb/pZL7aYEU3jk6aFMVPoJkTTkESy9xGhYtwZvcGFh5q5aSU+GuYaRRKf4hDRBhFRwU0DWc30/VOPO96c7Nw5fQM0ZuJKqRnwt4nTSsJBvWkg06K97CzZl2edZcr1plFUmn5RdSXGg3rTgLLIUXhMBI++QkDZk4XoGoLLBuCmIUm2PKxPfUgpRS0bC7vXWJZ1zUReOsm5ZA/MNZYkwk0T3HCEaBrICeVyudlTe55nWZYqzzW97/OHh2Z++MIntl7zcD2XYC2fKkuAYR2Emh5A3uF2gxVlYVcRa3rs3373u/bcO8hqW61NH6tPre7Ou+0AKctkShP/Q9bbEU0DuaLh8Bciean5eIF8DmQCkrlIMeGjKR64aUgiPyQJR8cDFY0M05jqjEOYa7gkItmf5AoKomlAxdgQMbVySZZ2//vMLGML9RfZ+3q6M28yup7mR9Sf3uVf799YN03nBCZI0jJSjnhntVpteZpinijd+oHHb9m4/Xf2rDj0qf4sdUKh9j/MNb3RKgO2twAKtxJkZFTUtrdgSwv9rUbZWWMRt7fQ2R0ASdLQjoIHEHvKzd7xQeQQXphrQ6c09Ev4aeIgPWBt5kiSYG1QuGmaSzdS3AGRg8Nhrj5EfaWG+EDhzqPEbrq2z3Gc/UcX6EkMio2yJBFpvoZARlybuu+DyI4JmKv/kfADZ18S4sW/Wrrphd1rLrtkg7PxJ3f2bJ2gJrGW1ja7e421tcYYY2z/9kHLsq7Z6Bipkyj+qDnA9E9+MTWgxsAh5ab9KCHopjnnWkXTi/PeqV1X9bO+2/7bTfv2HV8E6ZFKkoP33zHoHD51Zpby8MlfuJNz/rkP/PjuYwbqJIpLsm27ZYAp6n4oT/+Q2CmCySHipkF6NHNrviQUUnFiuun5k08vf+cSxlh3z1L2g9Nw0+kk+Y3P/OmEs265+KH/k5/d8SHG2OKrb3pnj4E6icJNhwwJEVMb46b9qQMGDhE33fDV9CVpeZo4HVzQQrgl//yd+/72hk+uvXjh2KMPvvwfnVt+9o3nRqAXgJgjeJ43OjrKGOvt7W2+9m8ThH2y6+BjGWNZvyJiK4JK6PCKK7sefeSVt9kXjY2OMrbw3dE/8X584esnpmS1wp++5dwXzde2bUd51KZNm9rdI5ozOjrqOM6mTZuStUIoRDxNVncnUJS4oGO0vb29OYyLKNfBv82hLxzHGRgYcBxHPLDBmQhnHWItmSrKRwgd1LIWzMLuNT1vfahePra+/6W7+d7BM7eicExizO5e0//SKN/bz9j+7YPfHpw4q9TCIboVKS+Fk7KZDAf4atIdRDorbuml7h1TM/9+eM+Btz5Up+dOtJ67LYwP/Xdv8ZJjjuM4YzUDdRI+cxT/G1HaarWaJkdC7Rw2mIQLblqtJOJsipZeWEiS/ynvsaHdLkQ6G7ogSVwjSWZCLMIxXdTMNfh2DByFkoQr35eEgnJwyBagN/SqqAd6UK+O8E8TRzQNAMlNqFKp6FIWI+IpvUAOxlYulyN2WbVapRxNX4hPLpAbRZg4xhT0bsgaC7XQB92tkbGJjeOUm4NjASCJ5GlmyMJRejmDJ78kliS7lbGWLyVSrqQg5hqrPoz/4Seeqg9uGsgJ6XcQiD8nSyOaXZlEFzTvYekYSlPeJo5oGpLkN9+XVczTr31KkHloN9EmwoEUx1yjK1yXLyui6azm+EBDzCIxYEHECrS0iuicGNx0gYICEdkpF4k4Ny1qLWUxvQ1peM5f0JCKUeCm85HEdd24ZqbLGZXI9JBjc0iVDY9ZshiZftUObPMDkg1A13UFN029ecibxnl30ExKlMtl9L5aA0umf1K9hrzp/KgxIkd16B7m6IXJyUmE0mp5NrNtDNy0TEmEreTPRWqRN52zBvKUJJwSBTedtSSJVz5CkzsXdq+xLOvS3bPqNYZoWj5h6rouwmpfG/nUHvMPis45AdbzvIGBASxLKPT1GSl/et/e10c57z7hPH10oW91t9rWgptGYQew0mkKR2Bc6Du+Qp4w8uDw8BBjbPlwTf1gQd50Vp/6SqXSfMg8kFuQm8+LRHEfKDx/pJ+tdthy9drs2z7F+emve2uHxhcUNxbcdFaS+J56YGCgODoJ8rBx9xrIddM5MMIRT9cFN52FJOkf0nC8fQOW9q5a089YV9fSU9+rwU2bHVOLbC2FDkthPKvwRIwctC1GOKZKOcO27XxGU+lXlvzRRse56/HukYdu61Md/USfsmEHR/oYszgKND5NSpeqqubZlSyjoubQ4p6FCEiGWB8QYTXxWlyy0O70OQBI48VkGZXa2V5cgJvOSRKxlsg5n5yclE5WIm86Z0liHcsEbjq9JELhEpsgCsLoMh9CNJ03xIHTGZW5oOMiDW6dWBz2Dw4HsoaIfAutcORNK8y3NTKt2OxcaTFThgHrblEErRR50xS/jky3A7MjQmzCNLXjjOwyytOyAmZJmUB60EmBSimJxFw9OjoRhACFxcOMxnaC1qHOajJJhN4yXejTJZ8SblqlJOIJ6cNPOjqhE2xCEgMGDo92oBrcNDnQSWiTdbifWBtJk6tHKsmPSPAoPQoTOxsTqJpI4pdGA0ekYWQqsLBSXbJjsb2FUmdoviXE7C0tjuPocdIHBoK2BmbO9haTSI8G+GF13ICUjk7obBnIIqhP5jjATceSJM/lDZAecNNJJoMiLyduJj8RnXDOTWWEY+1nyVQSsweOiFFy+7Dp4qb1OxbAMG66XfAlxnbEOvd0dEInmpYuSeLtFeCmI0piWVa5XC6mTjpHQNjeQnYbhUY6N3hXC453gJKxvQWkR+uY2k+sjrIyrpwIFkKad+CeWDmkIInBA0dhXXItnB7cNGlJIlZrouOmzeOmXddNyVqAmw6XJP2HsKhueuHow47jOM5YjZzExnPT7VjRkAwQcNMZSSKK/qSM9cBNh0jibzVUElBrzU3PDLHSdJ3z2nBJXICbJlOtiWAvGMwq0lQ4iliBm2as9nf7hu5e3c1Y3467h555pc4AIh9UYdmoRJOz2qEEyqxUEdDKTfev53sHGVs8un/jvpcfvGoZLYnNW6SK9UaRVd1wWKpanQRnjiYdC+A4jpQaxzgWoFkSIiW6tIl4gqH1hpWMMVY5NMM5P1TZUBqutZx0N/ytCPGE0puv/dvSXOMVLa+DsR4U1VE5sV4RJJRTtiL4r0JFBd2i2u5u+NuCG21wDaMt+dbid6dPjWxb5+6rIm+aPrVXLpdBTGfESiOTF5Q0kaHUQl/16ZGgjz80AzeNNa7CLR7CR+P7R3oJsXv15uAd6/vBTdOVJHG1pozymczgpuXqE9x0UAZSS7I4shbIyVHys9WaKLhpA4CCvdkpFklKCVXHUW/aFGh0oD1ZeJ4natJDFTBOOipCNG1UN0MJ6d10CzUuHF1jbRUbco/u325ZlmWtOboAbSGOzgn6uWlw0x0lURi5mJQ3LVAbc27fft+psz9N/+B9nHM+s/PVuXm9dKKwvFGlUnl+4kjtzCdvv23bjuMc9E5gCEeEfvWmAYTV2Xn2Zlqvf70zsubomie+zBhjs+P/69uHLWsrY6Xp+hQ0FnWCsur/Wjd+epw/28/YsS/f/pNlFZgoomlIogx0Vi8ykuSVt6zinPPab37ra0f10okSI7Esa8NKZt344pYN60QwPfNi6Qt7MHBMd9MAIuuMFNXZn3b33DCwjjHG+i770Xe+B6V1CKIdh3Pev97hfGpVN2OMscV575lTIw84jrP9f4w9Dy0hmoYkZ/4rT27UPG76fDe98Z9fO8wYY7MzP/P+9+qlk5zNtfVibNeVX+MvL+tijrOnPnsIQzgiwE2bD6RRRhmuYTngXcs+XvmwCAdvvOpKx3EYW7nNWQ29tXPQbZMa6yecp19dZIyxhSVvfhd0FfVLj7zpAnU2ehCayeWb1+yj92+/+1177h1kbHb3mv5PPCPWYFd3Q1sd9CYAbrpYYTWo6pbDAz5aVhzdztds3nPvIGOMsb4dU5xzzuGjYwDcdLEkyVpmw7lpnSXJwVwjbuDEEI4LcNPFDSFt2zayKEcCPcAepHyNMCnJSrfgpgE4F+gh/dcOfFp2OgQ3DRR6YMBHY0ZCH+CmIYnk4BSS0JQkIyMRMWAsN42BY76bBoCijVIA0bRmoDO9giTNCJ70CklISZKFkSSjpDFwYk/IsIQIAABAYW5nzhKi53mQhKwkoB3JSgJzpSxJOOCmIYlMKDmSEZLAXOGmaQHEFmVJwAiTlQTmSlmScICbBgAAUA9w05AkP1ODJDQlgblSliQccNOQRCbACJOVBOYKN50fQGxRlgSMMFlJYK6UJQkHuGkAAAD1ADcNSfIzNUhCUxKYK2VJwgE3DUlkAowwWUlgrnDTAAAAQCYANw0AAKAeOBYAAABAV+BYAEgidXaGYvxUJYG5UpbENDcNAACAaJoxxhbnpwYvtbZOQEUAAAAk3fSfPTlx6XLoBwAAgKSbXjj6R//ynlVXQD0AAADKwQPYsJIxxiqjj5dKw3VeHy6xofFz/wtdAQAAZIRKpcLboEUq9OL88w+MHGJs8dijD75yfWXf5+66elkXlAgAAKAEITtWFnav6Xnpbr53EFoCAACg6KYBAAAA9bigc4L34vz++ybfY1++hLET3sEvjH518eK+/ksuViPvwtGHHxj5pvfj/2BfvkSx6hYOPPzAwW/+775VV1/8RuX9uHh0/30vXGRf3qNQhPn9933+kOfNLLCVv9SrVh3qDfUsnp84sPeJgxR0Iozkp++x37EEA+c8Z/JupePm+YkjP+lf0cMYY/Ux58EnX5i/8rorG1lm3gmVDSsZG5rhnPParp0Vzvm2XTu5GswMsdJ0ndeGS9tGprlSjA+xQzOcjw8pl4RzXp8eYey89d78caiyc7jGOecj27aIC3VQbqjnzGTXthEaOjljJIdmOAZOgzNhpeG6QnWwlWLgTo9sGxrn9emR5pHcfeZJygAAAsRJREFUYRdibczpG9xcOvvxefvS6xljpX+1DiwoiQYWf7D8vT1drHvV9W977bTSuOT4voldf191nGPXfvq/rFYdJS189Vv/sKukWIiLfu3Xd/QxxtgV71v6Sl1xlKTYUM+Nn3/70G/fREInNIyE0MAJOJOVp15R4k3qJzzn2LXO7evEj3P/9PMfH2Td7//ATfv2HV88784Obrp/vbNx8KozPxz71smLlzDG3tLF60qsv+vKr718861LrJ47f+4Tn1yrtI9P/+DUfSsGHGfjT578s6NqLX929/o3ffDWd6oegPZ11wlxvvzsa/euUiqKckMNjB/78h4KOiFiJIQGTsCZfOXle5epEKHncttxNvtpdH/34x/2MMa6upayH5zu6KbrJzzHcZx9Bxv/Y9UH3/PaacbYTxetnu5c23Nwn+M4jnfkf1566deePM356Ov33PUVJZ17RpKXF5eWhtf0M9Z32Y++8z2Fkkx8Y3TtQxfPHP7S4VPsuSec5+cX844XxxzHcZyxGluc3+9s3LrxwB33PKDYF6gz1FbM4x7lOlmsjflG8o0JpfUfupYoHzhnMH/Edya3WDcfX2TK8YsXvaMuwny2dElXTG6a16dLZ7npLVu2qaT86tMlVpqucz4+tKFyiATFVht+kAA3zZv2IuWPkW3r1AoQ5KYVG+o5QYZv2lDhVFAfLpHhppUPnIAzObv2pmrg7PK56dJwrSU3fUGkUn4XXnyVffkS1n3ZRYtfGP2qfdMdahbQu5Zt3rB0ZORJ7/tXfPquW9QuE/ev3zD5yCNjx997x+/+6hJGARcuu0rlivU/1V/50Xe/6Xme56leO1duqD4fPPO9kwuv0dDJOSNRm+lBZeAEnMnnDt7zfqUb+C7pX9HD2LKrr116eOTpV5YevO8/N4iDvGkAAADSQL1pAAAAuGkAAAAAbhoAAMBI/H9MpDoBnWR4gwAAAABJRU5ErkJggg==)
90
Figure13. Computer simulation ofnon‐game optimal
controlalgorithmmpngame_ocforsafeown shipcontrolin
situation of passing 19 encountered ships in restricted
visibilityatsea,D
s=2.5nm,d(tk)=3.76nm(nauticalmile).
5 CONCLUSIONS
The synthesis of an optimal on‐line control on the
model of a multi‐stage positional game makes it
possibletodeterminethesafegametrajectoryof the
own ship in situations when she passes a greater j
numberoftheencounteredobjects.
The trajectory has been described as
a certain
sequenceofmanoeuvreswiththecourseandspeed.
The computer programs designed in the Matlab
also takes into consideration the following:
regulations of the Convention on the International
RegulationsforPreventingCollisionsatSea,advance
time for a manoeuvre calculated with regard to the
ship’s dynamic features and
the assessment of the
final deflection between the real traj ectory and its
assumedvalues.
Theessentialinfluencetoformofsafeandoptimal
trajectoryandvalueofdeflectionbetweengameand
reference trajectories has a degree of cooperation
betweenownandencounteredships.
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