From 03fbcc0f4549f27d8fb709fe0a39ea8882ad00e3 Mon Sep 17 00:00:00 2001 From: Jan Stenner <51407266+janstenner@users.noreply.github.com> Date: Thu, 5 Oct 2023 08:02:48 +0200 Subject: [PATCH] Newest version into main (#134) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Feature 100 additional rl (#110) * initital file to start working with * bugfixes * update * #100 add td3 agent * #100 add test scripts * #100 convert action space using wrappers * #100 add experiments with td3 * fix `TD3Policy` not defined * adapt td3 to multi dims action and state * #100 log first results with TD3 * #100 add wandb support * #100 add notebook example for `TD3` * #100 fix `max_steps` not defined * #100 re organise * fix spelling * #100 add wandb logged plots * add wandb, statistcs, revise to project toml * #100 rm wandb * #100 fix multiple methods with same name * #100 fix infos * #100 rm Wandb * #100 fix minor issues * #100 add `wandb` example * #100 update with figures * #100 remove `@show` --------- Co-authored-by: Jan Stenner * initial GUI commit * Feature 23 modeling variable dc link voltage (#118) * #23 Save for merge. * #23 Add battery notebook. * #23 Start plotting the data. * Added Plotly.js * Adjusting the notebook and src to the current version. * Changed function within PV arrays. Added battery model. Changed DEMO PV to DC link models. * Commiting current state of the notebook. Implementation to Env is still missing. * Implementing variable dc link voltage. * Include variable_dc_link.jl * Deleted Prints and added stuff to nb * Updated parameter check. Added default values for battery and pv. * Changed temperature offset to match the one in the battery. * Finalization of DC Link voltages, adding two example scripts and one example notebook. * Fixed bug in the pv array * Update project.toml * Added check for the source_type key. * Corrected calculation of DC link voltages. * #118 Corrected typos * Cleaned up code. Added calculation of v_dc to env.reset. * Cleared notebook and added figures. * Revert "Merged changes." This reverts commit 2d20e954b23c7e586ddbbf8b53b2d4aafc7583d5, reversing changes made to 9d25c2c0459cb715a0adcb08c68419c712d6742c. --------- Co-authored-by: Marvin Meyer Co-authored-by: webbah * Feature 96 non linear modelling (#120) * small test file non linear * test_non_linear * added Nodconstructor test for nonlinear things * update * smal Test * update: same result as in the nodeconstructor * update * update * update * small update * another try * NodeConstructor works with functions * Update: - node_constructor.jl - electric_grid_env.jl Both work with nonlinearity * Small changed using DifferentialEqautions.jl * small updates * Update Env * update: env_example_nonlinear.jl * updated env_example_nonlinear.jl and custom_crontrol.jl to get the last x value. Nothing in the middle * Changed the accuracy of the ODE solver to speed up * minor changes * Info for the solver * Updated Info, and small Notebook * Reexport added * merge ended * Toml update * fixed nameof bug and updated the Project.toml * Deleted unnecessary things * Updated Nonlinear.ipynb --------- Co-authored-by: Jan Stenner * gui update * mini gui fix * import Interpolations.LinearInterpolation * docs update 1 * docs update 2 * RL example preparation 2 * RL example updates * Changed dtype of the matrix to Float. (#121) * RL update * added fixes and osc feature from RL Classic branch * updates to RL Single Example (also notebook&docs) * Feature 96 non linear modelling (#123) * small test file non linear * test_non_linear * added Nodconstructor test for nonlinear things * update * smal Test * update: same result as in the nodeconstructor * update * update * update * small update * another try * NodeConstructor works with functions * Update: - node_constructor.jl - electric_grid_env.jl Both work with nonlinearity * Small changed using DifferentialEqautions.jl * small updates * Update Env * update: env_example_nonlinear.jl * updated env_example_nonlinear.jl and custom_crontrol.jl to get the last x value. Nothing in the middle * Changed the accuracy of the ODE solver to speed up * minor changes * Info for the solver * Updated Info, and small Notebook * Reexport added * merge ended * Toml update * fixed nameof bug and updated the Project.toml * Deleted unnecessary things * Updated Nonlinear.ipynb * changes Notebook * Updated notebook * Update Project.toml --------- Co-authored-by: Benedikt Brück <129491081+benebrueck@users.noreply.github.com> Co-authored-by: Benedikt Brück Co-authored-by: Jan Stenner Co-authored-by: Jan Stenner <51407266+janstenner@users.noreply.github.com> * cleanup: Nonlinear Notebook and RLtests Docs update: New Nonlinear contents and fixed a bug with multiple plots per page ("gd" to "gdd" etc.) BY HAND * cleanup * cleanup and minor fixes again * Update README.md (#127) correct typo * Feature 102 extended unit tests (#126) * #101 Add tests for other voltages * #45 extended tests * delete `RL_tests` * changes done Sep oliver (#132) Co-authored-by: SeptimusBoshoff * updated two RL scripts * Cleanup with Daniel and Marvin * Hotfix example scripts (#133) * Update test_battery. * Added comments and formatting to scripts. * Deleted DEMO from nb names * Changed the plotting function * Renaming the DC Link example scripts * readme cleanups and RL_example restore * Changed names within the NB (#135) * typo and formatting corrections --------- Co-authored-by: Vikas <64703416+VikasChidananda@users.noreply.github.com> Co-authored-by: webbah Co-authored-by: MarvinMeyer <25954606+MarvinMeyer@users.noreply.github.com> Co-authored-by: Marvin Meyer Co-authored-by: Benedikt Brück <129491081+benebrueck@users.noreply.github.com> Co-authored-by: Benedikt Brück Co-authored-by: Oliver Wallscheid <56304296+wallscheid@users.noreply.github.com> Co-authored-by: SeptimusBoshoff Co-authored-by: Wallscheid --- README.md | 32 +- .../2_Classical_Controllers_PQ.ipynb | 24524 ---------------- ...ess.ipynb => Auxiliaries_OU_process.ipynb} | 15 +- ...nb => Classical_Controllers_1_Swing.ipynb} | 8 +- .../Classical_Controllers_2_PQ.ipynb | 210 + ...nb => Classical_Controllers_3_Droop.ipynb} | 14 +- ...pynb => Classical_Controllers_4_VSG.ipynb} | 16 +- examples/notebooks/DC_link_models.ipynb | 632 +- examples/notebooks/Default_Parameters.ipynb | 15 +- ...Env_Create_DEMO.ipynb => Env_Create.ipynb} | 59 +- ...ction_DEMO.ipynb => Env_Interaction.ipynb} | 47 +- examples/notebooks/Learning_via_TD3.ipynb | 125 +- .../notebooks/Monitoring_Training_Wandb.ipynb | 5 - ...pynb => NodeConstructor_Application.ipynb} | 18 +- ...EMO.ipynb => NodeConstructor_Theory.ipynb} | 36 +- ...b => RL_Classical_Controllers_Merge.ipynb} | 49 +- ...RL_Complex_DEMO.ipynb => RL_Complex.ipynb} | 30 +- ....ipynb => RL_Complex_external_agent.ipynb} | 162 +- ...Agent_DEMO.ipynb => RL_Single_Agent.ipynb} | 226 +- examples/notebooks/readme.md | 24 +- examples/scripts/Control_Example.jl | 83 +- .../{test_battery.jl => DC-Link_Battery.jl} | 20 +- .../scripts/{test_pfe.jl => DC-Link_Pfe.jl} | 0 examples/scripts/DC-Link_Pv.jl | 55 + examples/scripts/Filter Design Example.jl | 19 +- ...O.jl => RL_Classical_Controllers_Merge.jl} | 4 +- examples/scripts/RL_Complex_DEMO.jl | 143 - .../scripts/RL_Complex_DEMO_external_agent.jl | 201 - ...trollers_Merge_2.jl => RL_Droop_Hybrid.jl} | 43 +- examples/scripts/RL_example.jl | 43 +- examples/scripts/Simplest_Example.jl | 30 +- examples/scripts/env_example.jl | 28 - examples/scripts/logging_example.jl | 40 - examples/scripts/test_pv.jl | 44 - 34 files changed, 928 insertions(+), 26072 deletions(-) delete mode 100644 examples/notebooks/2_Classical_Controllers_PQ.ipynb rename examples/notebooks/{1_Auxiliaries_OU_process.ipynb => Auxiliaries_OU_process.ipynb} (99%) rename examples/notebooks/{1_Classical_Controllers_Swing.ipynb => Classical_Controllers_1_Swing.ipynb} (99%) create mode 100644 examples/notebooks/Classical_Controllers_2_PQ.ipynb rename examples/notebooks/{3_Classical_Controllers_Droop.ipynb => Classical_Controllers_3_Droop.ipynb} (99%) rename examples/notebooks/{4_Classical_Controllers_VSG.ipynb => Classical_Controllers_4_VSG.ipynb} (99%) rename examples/notebooks/{Env_Create_DEMO.ipynb => Env_Create.ipynb} (92%) rename examples/notebooks/{Env_Interaction_DEMO.ipynb => Env_Interaction.ipynb} (99%) rename examples/notebooks/{NodeConstructor_Application_DEMO.ipynb => NodeConstructor_Application.ipynb} (99%) rename examples/notebooks/{NodeConstructor_Theory_DEMO.ipynb => NodeConstructor_Theory.ipynb} (99%) rename examples/notebooks/{RL_Classical_Controllers_Merge_DEMO.ipynb => RL_Classical_Controllers_Merge.ipynb} (99%) rename examples/notebooks/{RL_Complex_DEMO.ipynb => RL_Complex.ipynb} (99%) rename examples/notebooks/{RL_Complex_DEMO_external_agent.ipynb => RL_Complex_external_agent.ipynb} (99%) rename examples/notebooks/{RL_Single_Agent_DEMO.ipynb => RL_Single_Agent.ipynb} (95%) rename examples/scripts/{test_battery.jl => DC-Link_Battery.jl} (81%) rename examples/scripts/{test_pfe.jl => DC-Link_Pfe.jl} (100%) create mode 100644 examples/scripts/DC-Link_Pv.jl rename examples/scripts/{RL_Classical_Controllers_Merge_DEMO.jl => RL_Classical_Controllers_Merge.jl} (94%) delete mode 100644 examples/scripts/RL_Complex_DEMO.jl delete mode 100644 examples/scripts/RL_Complex_DEMO_external_agent.jl rename examples/scripts/{RL_Classical_Controllers_Merge_2.jl => RL_Droop_Hybrid.jl} (72%) delete mode 100644 examples/scripts/env_example.jl delete mode 100644 examples/scripts/logging_example.jl delete mode 100644 examples/scripts/test_pv.jl diff --git a/README.md b/README.md index 51dc29cc..4cd797a7 100644 --- a/README.md +++ b/README.md @@ -16,17 +16,17 @@ ElectricGrid.jl is a library for setting up realistic electric grid simulations with extensive support for control options. With ElectricGrid.jl you can -- create a simulation environment for an electric grid by defining its sources, loads, and cable connections -- set detailed parameters of your electric components - or let them be auto-generated -- choose different control modes for each source in your system -- use the agent architecture of [ReinforcementLearning.jl](https://juliareinforcementlearning.org/) to either train RL agents as controllers or write your own ones +- create a simulation environment for an electric grid by defining its sources, loads, and cable connections, +- set detailed parameters of your electric components or let them be auto-generated, +- choose different control modes for each power electronic converter in your system and +- use the agent architecture of [ReinforcementLearning.jl](https://juliareinforcementlearning.org/) to either train RL agents as controllers or write your own ones. ![ElectricGrid Framework](docs/src/assets/Overview_EG.png) ## Installation -- Installation using the julia package manager (recommended if you want to use ElectricGrid in your project): - - In a Julia terminal run the follwing: +- Installation using the Julia package manager (recommended if you want to use ElectricGrid in your project): + - In a Julia terminal run the following: ``` import Pkg Pkg.add("ElectricGrid") @@ -36,7 +36,7 @@ or press `]` in the Julia Repl to enter Pkg mode and then run add ElectricGrid ``` -- Install from Github source (recommended if you want to run the example notebooks and scripts): +- Install from GitHub source (recommended if you want to run the example notebooks and scripts): - Clone the git and navigate to the directory ``` git clone https://github.com/upb-lea/ElectricGrid.jl.git @@ -45,12 +45,12 @@ git clone https://github.com/upb-lea/ElectricGrid.jl.git ## Getting Started To get started with ElectricGrid.jl the following interactive notebooks are useful. They show how to use the ElectricGrid.jl framework to build and simulate the dynamics of an electric power grid controlled via classic controllers or train common RL agents for different control tasks: -* [Create an environment with ElectricGrid.jl](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Create_DEMO.ipynb) -* [Theory behind ElectricGrid.jl - Modelling Dynamics using Linear State-Space Systems](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Theory_DEMO.ipynb) -* [Classic Controlled Electric Power Grids - State of the Art](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Classical_Controllers_Introduction.ipynb) -* [Use RL Agents in the ElectricGrid.jl Framework](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Single_Agent_DEMO.ipynb) +* [Create an environment with ElectricGrid.jl](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Creat.ipynb) +* [Theory behind ElectricGrid.jl - Modelling Dynamics using Linear State-Space Systems](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Theory.ipynb) +* [Classic Controlled Electric Power Grids - State-of-the-Art](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Classical_Controllers_1_Swing.ipynb) +* [Use RL Agents in the ElectricGrid.jl Framework](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Single_Agent.ipynb) -An overview of all parameters defining the experiment setting with regards to the electric grid can be found here: +An overview of all parameters defining the experiment setting in regard to the electric grid can be found here: * [Default Parameters](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Default_Parameters.ipynb) @@ -73,18 +73,18 @@ There should also appear a plot that looks like this: ## Using the GUI The current version of ElectricGrid features a graphical user interface (GUI) that helps with setting up a simulation. -This is built on the library [QML.jl](https://github.com/JuliaGraphics/QML.jl), that, at the time of writing, stopped working in it's current release version. -For that reason it is **required to clone this codebase** and install `QML.jl` in it's github main state manually if you want to use the gui. +This is built on the library [QML.jl](https://github.com/JuliaGraphics/QML.jl), that, at the time of writing, stopped working in its current release version. +For that reason it is **required to clone this codebase** and install `QML.jl` in its GitHub main state manually if you want to use the GUI. ``` import Pkg Pkg.add("QML#main") ``` -or press `]` in the Julia Repl to enter Pkg mode and then run +or press `]` in the Julia RPEL to enter Pkg mode and then run ``` add QML#main ``` -![gui example](docs/src/assets/gui_example.png) +![GUI example](docs/src/assets/gui_example.png) Usage of the GUI is explained in the [GUI section in the docs](https://upb-lea.github.io/ElectricGrid.jl/dev/Gui/). diff --git a/examples/notebooks/2_Classical_Controllers_PQ.ipynb b/examples/notebooks/2_Classical_Controllers_PQ.ipynb deleted file mode 100644 index 6934a36c..00000000 --- a/examples/notebooks/2_Classical_Controllers_PQ.ipynb +++ /dev/null @@ -1,24524 +0,0 @@ -{ - "cells": [ - { - "attachments": {}, - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# PQ Mode - Controllable Source and Load\n", - "\n", - "| | Mode | Description |\n", - "| --- | --- | --- |\n", - "| 1 | \"Swing\" | Ideal voltage source without dynamics (i.e., an infinite bus) |\n", - "| 2 | __\"PQ\"__ | __Grid following controllable source/load (real and imaginary power)__ |\n", - "| 3 | \"Droop\" | Simple grid forming with power balancing through a droop mechanism |\n", - "| 4 | \"Synchronverter\" or \"VSG\"| Grid forming control mimicking a generator, i.e., virtual synchronous generator |\n", - "\n", - "- The control structure of power electronic inverters can be divided into cascading levels. \n", - "- The lowest of these employed in the package is an \"inner\" current control loop, on top of which all other levels are built.\n", - "\n", - "## Summary\n", - "\n", - "- The following example is intended to introduce you to the control mode which will enable the inverter to act like a controllable source or load.\n", - "- The mode takes as input the active power (P, Watts) and the reactive power (Q, VAr) as set points.\n", - "- Most solar photovoltaic resources, wind power plants and variable loads can be represented by this mode.\n", - "- An inverter in this control mode must be placed in a network with other \"grid-forming\" sources (e.g., swing, droop, or VSG) as it is \"grid following\".\n", - "\n", - "### Theory\n", - "\n", - "An inverter in the PQ mode is effectively controlled as a current supply, only ever regulating the current exchanged with the grid. This current control loop operates in the direct-quadrature-zero (DQ0) frame, and employs over voltage and current limitations to simulate the protection of the switches (not depicted). This limitations cause non-linear saturation effects when the inverter is pushed to extreme. \n", - "\n", - "\n", - "![](figures/current_control.jpg)\n", - "\n", - "The main disadvantage of an inverter in this mode is that the output voltage is maintained by the external network, which means that the inverter needs to synchronize to the network by making use of a phase-locked-loop (PLL). The PLL extracts the angle (and frequency) of the positive phase sequence voltage measured after the first filter inductor. \n", - "\n", - "A possible disadvantage to the PQ mode is that the inverter may continue injecting currents into the grid when there is a network fault, leading to excessively high voltages. By the same token, when the network voltage is low, the inverter will continue drawing the same amount of power, further deteriorating the voltage profile. Other modes, such as the \"Droop\" and in particular the \"VSG\" mode can alleviate some of these issues, providing control structures which regulate both the grid frequency and voltage. \n", - "\n", - "![](figures/PQ_mode.jpg)\n" - ] - }, - { - "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [], - "source": [ - "using ElectricGrid;" - ] - }, - { - "attachments": {}, - "cell_type": "markdown", - "metadata": {}, - "source": [ - "_______________________________________________________________________________\n", - "### Network and Control Configuration \n", - "\n", - "The following example network structure is considered:\n", - "- The PQ-controlled inverter is connected to an external network represented by a source in \"Swing\" mode.\n", - "- The \"strength\" of this external network is quantifiable by its _fault_ _level_.\n", - "- The effective impedance of the external network can be computed from the short-circuit power, the X/R ratio, and the nominal rms voltage.\n", - "- Setting I_kp and I_ki (the PI gains) is optional.\n", - "- If not provided they will be automatically determined via a loop-shaping method.\n", - "- The kp's and ki's for all PI controllers are equal.\n", - "\n", - "With this configuration, a time domain simulation is conducted below." - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "┌ Info: Normalization is done based on the defined parameter limits.\n", - "└ @ JEG c:\\Gitlab\\JEG\\ElectricGrid.jl\\src\\electric_grid_env.jl:329\n" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "┌ Info: Time simulation run time: 0.16 [s] ~> 1601 steps\n", - "└ @ JEG c:\\Gitlab\\JEG\\ElectricGrid.jl\\src\\electric_grid_env.jl:330\n", - "┌ Info: 2 'classically' controlled sources have been initialised.\n", - "└ @ JEG c:\\Gitlab\\JEG\\ElectricGrid.jl\\src\\classical_control.jl:2686\n", - "┌ Info: 1 source has been set up in Swing mode.\n", - "└ @ JEG c:\\Gitlab\\JEG\\ElectricGrid.jl\\src\\classical_control.jl:2695\n", - "┌ Info: 1 source has been set up in PQ mode.\n", - "└ @ JEG c:\\Gitlab\\JEG\\ElectricGrid.jl\\src\\classical_control.jl:2695\n" - ] - } - ], - "source": [ - "# total run time, seconds\n", - "t_end = 0.16 \n", - "\n", - "# Connectivity Matrix\n", - "CM = [ 0. 1.\n", - " -1. 0.] \n", - "\n", - "R, L = FaultLevel(300e3, 0.5, 230) # short-circuit power [VA], X/R ratio, nominal rms voltage [V]\n", - "\n", - "parameters = Dict{Any, Any}(\n", - " \"source\" => Any[\n", - " Dict{Any, Any}(\"pwr\" => 300e3, \n", - " \"mode\" => \"Swing\", \n", - " \"R1\" => R, # Equivalent external network resistance [Ω]\n", - " \"L1\" => L) # Equivalent external network inductance [H] \n", - " Dict{Any, Any}(\"pwr\" => 100e3, # Rated apparent power [VA]\n", - " \"mode\" => \"PQ\", # Controller mode\n", - " \"p_set\" => 50e3, # Real power set point (generating) [W] \n", - " \"q_set\" => -40e3, # Imaginary power set point (inductive) [VAi] \n", - " \"I_kp\" => 0.01, # Current proportional gain [V/A] (**optional**)\n", - " \"I_ki\" => 5.0) # Current integral gain [V/A⋅s] (**optional**)\n", - " ],\n", - " \"cable\" => Any[\n", - " Dict{Any, Any}(\"R\" => 0.1, \n", - " \"L\" => 0.25e-3, \n", - " \"C\" => 0.1e-4),\n", - " ],\n", - " \"grid\" => Dict{Any, Any}(\"process_start\" => 0.06) # Time to wait before accepting p_set and q_set [s]\n", - " );\n", - "\n", - "env = ElectricGridEnv(CM = CM, parameters = parameters, t_end = t_end, verbosity = 2);\n", - "\n", - "agents = SetupAgents(env);\n", - "\n", - "hook = Simulate(agents, env);" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "_______________________________________________________________________________\n", - "### Low-Level Rendering" - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": {}, - "outputs": [ - { - "data": { - "application/vnd.plotly.v1+json": { - "config": 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UvJHepBS8keJn45oEKmlx1xwai1cQAQreCpqshHe1ktZECl4K3khvRwreSPGzcU0ClbS4aw6NxSuIAAVvBU1WwrtaSWsiBS8Fb6S3IwVvpPjZuCaBSlrcNYfG4hVEgIK3giYr4V2tpDWRgpeCN9LbkYI3UvxsXJNAJS3umkNj8QoiQMFbQZOV8K5W0ppIwUvBG+ntSMEbKX42rkmgkhZ3zaGxeAURoOCtoMlKeFcraU2k4KXgjfR2pOCNFD8b1yRQSYu75tAiLf7v1SksujOF9u2AAWdnUVuTjbQ/UTUuOOzY0X3sFLxRzRDbdRKopDWRgpeCN9I7mII3UvxsXJNA1It7ZsCRVo/Ti57W7Hm8i99yZwpvv5u2OnnIQRmccry76Iv3iPR699qyFP78TArrvk5hn70ylugv95dkwbuhPlW1Lzz2Of/q6xTat43/fRDkmqj6Aqh6t1HwUvCq2kog5Sh4A8HKSgMiEOTirtLlpAre8VPSqK9PWQjatc1i4uiMCo7ElLGPXwxqQP8s9ulWmkFSBe8Tz6bxvy8BtTXARYOyFSH4TBqhEPvzbk5h1ercveBmBybb9lqX6TVRMJh1Q+7lzzQDCl4KXq92buQ6Cl4jGFlJSARML+663U6i4BUPuAlTct7ddttkse6bFEYOyyh92tflF8fyK1amMO+WNDp2yOKwg7NY/EDaEv2jLi4d2pFEwSs83E8+m7MD8ddltywuuqC6XnyefzmNhx7PCT3rfqiAlz/Ta2KQDCh4KXgjfQZQ8EaKn41rEjC9uGs2j7zgnbwA2LmL7uWxLC8FX+dds1YM79+Xp3DycVkc2rs6xI4UejKUo+6GNFavSaHP4Rn8+ojin7STKHin1KUtr16/UzN48LEU6jfm/n+v/eP/Wd/UjTVrbtry7grP7oOPwXr5izsD02uitIMgGFDwUvCaulc91UPB6wkbL4qIgOnFXXcYUvBiz+5IXz5H9/JYlrcLvj06p7DorhQ6dcxi1LDqELxzF6ax8uOcyBFhDP98J20xKOfdS5rgFbGas+emLQ//xDEZiJhm4emuJjsQMbvX1KVR0yqLaVf+wCDuXl6Ta2LQdkDBS8Eb6UOQgjdS/Gxck4DJxV2zaat4EgXv3fenC7y6IyY0s8Z6xehMVcRwyvFOnZjJb9Yaf3Xa8nCWYpA0wSs8ui+8ki7YsFiMi5d7plKukQwO2C+Ls07Lvey52UEcxmZyTSxmByYZUPBS8EZ6z1DwRoqfjWsSMLm4azadWMErP+NeNDCDLp2zkBkb4v4p18v8Oa+xx++OvvgHj7Ybg6QJXvtnbLlZz+n5NsE7znUUY+BmB3EYj8k1UTKwx/CbZEDBS8Eb6T1DwRspfjauScDk4q7ZdGIFr/TkzZnaYI3RGdPqhVOlXFPMoyX6Ljfu2L199jElSfA6P+XLcVaTHTg/5UsGbnYQBzs3tSbmQ3kaw1qCYEDBS8Eb6T1DwRspfjauScDU4q7ZbL540kIaij3o7ZvYhg1Kdhyv07stJzrPpcQu/SQJ3lKiTtpBNcTxlnrxqQQGptZEGdrk3KxpkgEFLwWv12evkesoeI1gZCUhETC1uHvtbtIEr9yctPdeGQxsPGzBnqZMen298orzdW7jLBfDmiTBa89M4Mw9XC1xvKVefIT9xp2BqTVRMiiWktAUAwpeCt5InwkUvJHiZ+OaBEwt7prNJtbDKz9bO706U2amE5+P182TXS6GNSmCt1Q4gzT4aonjdYb12NcHyUDGuHtdO4K6ztSaGAYDCl4K3qDuA6V6KXiVMLFQTAiYWty9Difv4d25M9Jj5gBbtfZaVSyuKyVoTG5UicVAi3TCLUa13O9JEbzFPPx2VG6M4jq3Ov0qFb8r65DhDuXyMuu0Z7qsiTWx1OZN0wwoeCl4Tdu/Vn0UvFq4WDhiAiYWdz9DyAteAOkxs4CuPf1UF/m18khdZ/qtahA6UsiUOmSjXOxiUgSvm5hz84JHbsAGOuA2RrmZSxzMEseYdhNrotsY3X5XnQYKXgpeVVsJpBwFbyBYWWlABEws7n66ljTBW+ozppsI8MMwLteqfKouFbuYFMHrxsAtzjkuc+mnH6XCemSd+bCPmiymTYzfJk4Ta6IbA2kHNT4ZUPBS8Pq5V31fS8HrGyErCJGAicXdT3eTJHjLidpqEDpuYk/YSakySRG8xfKuOu8PGc+d1INInAevFFsf4hzTbmJNDIsBBS8Fr5/nr+9rKXh9I2QFIRIwsbj76W6SBK/bZ8o4P+T9zKG8ttwmHVmm1Cf/pAheFQYqLwYm5iOqOlTGF+fNeybWRBUGMq5fHsHtZb4oeCl4vdiNsWsoeI2hZEUhEDCxuPvpZpIEr9tnzKRvXFMRe6VimZMgeOWn+naOgwac94dbrLOf+ykO15aKY7f3ze1eiXIcJtZEycB+vLZzTCYYUPBS8EZ5r4CCN1L8bFyTgInFXbPJguJJErzyM2apI4STvHFN7szv2CEL+5HCTtsoFfaRBMGrGqdtQuj4ueeCvlblxUdmsyh18l7QfSxXv981UTV8yQQDCl4K3ijvFQreSOmzcV0Cfhd33fac5ZMkeN0+Y6oKIr9Mo7hedWylMjUkQfDKE9YOOSiDU47PlpwGt9CXKObPVJu6dhDHTA1+18QwGVDwUvCaunc91UMPrydsvCgiAn4Xd7/dTpLgdTs9SdXz45dpFNfreKuKeQCTIHhVPbeqgiiKefTbplseYll/PvyjxFHTfvvh53q/a6IuAz+ZGih4KXj92Lrvayl4fSNkBSES8Lu4++2qXfCmTjwHqZPP81tlJNfn0wy1ymLalaVTLSV145qq2BOTM/7qNOo3pmCPb0yC4NXZiKXy2T8SQ/bZqI4dxJWB3zUxTAYUvBS8Pm9Zf5dT8Prjx6vDJeB3cffb26QIXlWvXVI3rulsxCoW+pEkwatyZK7b1wC/91VU1+tkHojry5/fNVGHQd0Naaxek8LIYRns2LF0GEyp+aTgpeCN6l632qXgjRQ/G9ck4Hdx12yuSfGkCF4Zv+m2CSepG9fc4pftE19MECRB8Op4LHV4+b3Hwrx+1tw0Vq1OQUX0x5WB3zVRZ1w6ZYvNIwUvBW+Y93eTtih4I8XPxjUJ+F3cNZtLrOB1O1JWDlzVE+yXa9jX6zy4i33yrXTBqxrSIuclqZ5+HdGvcjhD2HYs2vO7Juow0PkyQsGrbg2pbDar7y9Xr58lGwlQ8NIUKomA38Xd71iT4uFVFXxJ3bim84m+mDe80gWv7ouMTpyn33ssrOvzRwa7xLHL/sSVgZ81MWwG9PDSwxvW/V20HQreSPGzcU0CfhZ3zaaKFk+K4JVHyqocF+s3bs8Ed9N16Hi1ionDShe8qjvzJXedrBam5yqo+nRFv0zPtvdeGQw8Oz7+OD9rolcGXtOzUfBS8AZ1PyvVS8GrhImFYkLAz+JuYghJEbw6gs/tgAoTXMOsQx464XbCmOxTvrwtJVWlC15db6WuMApzPr22pZqHWNYfVwZ+1kTVWH5TDCh4KXiV79clS5/Hx5+twYjBZxRcs+6bbzFk7HV4692V1n+/7fqx6NWza76MuG7izEXWv4874kBcNXoAamtaWv+m4FXGz4IxIOBncTfR/SQIXvngdjtlTPLSFQYmOAdZhxfh4nxBqHTBqxuTm//0XZPFtIml09gFOW+m61aNY5ft5uOeY8bAz5qo++IjWOi8LDvnjIKXgtf1Pn7t9fdw/mUzrHID+x1bIHg31G/CpLpFOPCn3dD32EOx4pNVmDB9IaaOG4Quu3SCuHb2gntx44zhaLdNG8xZcK9VjxTNFLyu+FkgRgT8LO6+h/He68jMHJWvplLz8Ibt1fHN3XAFup/zRfMyF68MAal0wasaw21H70foGJ5CI9UlhYGfNTFsBhS8FLzKN28xD68QuHXz78H08YMsQesUwELg7rpTB0sMiz+nAKbgVcbPgjEg4Gdx9939hAhemYqp36kZ9NpfLRYxSWLHi1fLKQwqXfCOn5JGfX3hYRpu94eM5VZJ4eVWVxx+l3HsOjll48jAz5rohYEXkSznm4KXglf53i8meJ0CVlQmvbhDzju5wPsrfnN6gHUE77ffb1TuKwuSQBAE2mzdCpHZ4Xuvo+HakQUe3vQp5wcxzMDq/NuyFBbfn0K7tllcOUZN7IrOXD0zhXVfpzDq4qynhPOBDchDxeJT9vMvp9Dn8AyOOVKtgrvvT0F4hvudlsXP9s+iZYtm1oWbNjeoVRCzUsPHp60eXTdNPTxh7k0prPg4hWEXZNGls7rtxGzo+e4khYGfNdEPgwFnA/t2y9mPalItCl4KXuX1oJTgve/R5wricp2C9/QTDsvH9PoRvKpGrTwgFiQBTQKpVEp5cdWs2rV4wzvL8d1Vl+TLtTr1fNScMdD1ujgVGHv1Fqz9CvjtWc3Q+2cp5a7V3dCAf63IYvSw5vjJ7sqXxbKgl7E8/KcGPPZEFscfncJJxzSDsEOdB32cQPzrQ6Bu7hb8pEsKoy/OCXeVPycDlWviWubTf2cxpa4BP+6UwqQx6gzuWdKAZ57/wQ7iMD6va6JksG07YMak5spDKWYHqk4ICl4KXmVDi9rDq+INVh4MC5KABwJ+Pt95aK7wEkdIAw7ug/TAMb6rDasC+SlfdbOavV9xTbrvhZ2XT7LOtFyVHNIg02vpppZK0ql7fhmIrwO/PiIeXm6va6KXzZvifvOziZWCl4JXec1mDK8yKhZMKAGvi7sRHE7BCyC96GkjVQddidhhPqUuZcVteonB9BL3GvSYvNavc+iEbMMpDipZ8HqdS68Cyes8BXldkhh4XROjYEDBS8GrfF8XE7zM0qCMjwUTQMDr4m5k6MUE75hZQNeeRqoPshLpldH16sk+eX04Bjkmr3V72YDnTMtVyYLXq7e+WD5ir3MQ9XVeGcRR9HtdE3XTssk582MHFLwUvK73vj0tmSxsz7XLPLyuCFkgIQS8Lu5Ghl9M8PYbChzV10j1QVaim3fV2Zc4Pui98NI9dMLehl0oV7Lg9RLSITl4eVnwMk9BX5MkBl7XxCgYUPBS8AZ9b5etXyUuVxqpStlIB8PGE0/A6+JuBEwRwVspuXhlKjIv4QyCXVIEr59xTJmZxrpvUhC5eDtun9votHHTFiOmFWYlOsdKO/tlZ9C+bTxiWL2w83M/eAmJ8dJH1Wu8rol+BK8zL7VOX1XLVlO5VJYpAUKZbxURS8EbylSwEQUCXhd3hardi1Sw4PXrmZNCsVPHLEYNU09l5Q413BJys9Lee2Uw8Gw9wWYXCN26Vq7g9WMLfkRSuDNdvrUkMfC6JvoR7l7tgB5eengjXQcoeCPFz8Y1CXhd3DWbKV68QgWvn8/4dhB+RIIR/gYq8ROLnATBK4/HFSjnTNXPISwZDOifxT6NOVgNTEvoVfix5bgx8Lom+mEgY6B1Dq8Rk0zBS8Eb+s1ub5CCN1L8bFyTgNfFXbMZZcGLPbsjffkcI9UHVYkfryYF7w8E7GJZ5OIVf5UW0uAnpEOM188LQ1D27aVeP2Ivbgy8rolRMKDgpeD1cr8au4aC1xhKVhQCAa+Lu5GuFfHwVoLgNfWA9hq3Z4S9oUq8fop1ij0K3vjkodU1Db+i308eWt2+qpT3sibKrz5ecnKLPnllQMFLwati04GVoeANDC0rDoCAl8XdWDcqVPDKDA1+P0P7EYvG5sBnRX7GYH/In9m3Mj288gANLzHMAr3zAA6f0xHJ5X4Fr9/rTQ/ay5rodwxer6fgpeA1bf9a9VHwauFi4YgJeFncjXW5QgWv3JU/clgGO3bU26hlZ+dHLBqbA58VjZ+Stg7fmDoxg9oaPRb2h/zIi9JWTyotpMGvt9+r0PE5bUYv9zsGv9cbHUxjXKzKc9zert8xeL2egpeC17T9a9WncqMwS4MWUhYOkAAFrz5cP7F69ta8blTR73FwV/hhQcGbjPR0fkW/sE4/dmTaur2siV5DEmTf5QkLx4cAACAASURBVObHmpospk1Uz9pCwUvBa9r+teqj4NXCxcIRE/CyuBvrcgV6eKVI8xqrZ2dnQigYmwsPFcnT0tptk8XEMeoPadmU/YSpayZUpodXnq518nFZHNpbn4HfLA8eps34JSbsuNIFb1QMKHgpeI3f0DoVUvDq0GLZqAlQ8OrNgN+YzSQJXq+fYe0MpNCZV5ey/nOlhTSYCEuJk9jTuxtypU2IvTgdwOFlTTTBwEseXwpeCl4v96yxayh4jaFkRSEQ8LK4G+uW3cO7U2fgs5WIe5YGEw82yc9UejNj86FZkYn+U/ACMluHlzhozSkLpLgJ0W+iDlOD87ImmtjI6oVBMcE7Z8G9+Nvr7+HGGcPRbps2FpZ133yLIWOvw1vvrrT+fdv1Y9GrZ9c8siVLn8fEmYusfx93xIG4avQA1Na0NIU09Hp40lpIyCl4QwLNZowQ8LK4G2lYVGIXvHt2B95/M/aC1+8nbDs7Ex5SY3PhoSIT4l969sYNT+HHnSrPw+vnSF2J3IvQ8TBdgV1iov8m6jA1QC9roon+e6nDKXiF2L1l8VLsu1fnvODdUL8Jk+oW4cCfdkPfYw/Fik9WYcL0hZg6bhC67NIJr73+HmYvuDdfXtQh/kYMPsMU0tDroeANCTkFb0ig2YwRAl4WdyMNV6jg9fJQKsWLgheQPC/7XQp7dKk8wWsiHMGkTRm7NzUqMtF/uYHTayy0Rnddi3pZE00y0DltzS54hZf248/W4JCfdy8QsELg1s2/B9PHD7I8vk4BLATurjt1sMSw+HMKYFdgMSxAwRvSpFDwhgSazRgh4GVxN9IwBW/OizIhl3/Wy7G0xubBY0UmHvIUvEClZ+swYcMmvhZ4NOMml3lZE2V6vitGZ9C+rV56PtkBLwyk4BVi99V/vGOFIvzzvZUFgreYgJVe3CHnnVzg/RV9cXqATXENsx4K3pBo6wjeTZu3hNQrNkMCxQm0bNEcUdlh5t3lqL9muNWx9F49kHn3Det/a674fWyna878LD5cCQwfkvNIev/LbdIaOiq3s3/+rFyWgkr6mzM/08gi7ZnFfQ9l8JcXgTNOTuOIQ1NoyHgTC8W5mayraQvrNwCjJubamD8rN59e/h57IoulTwHHHgUcf7T3ery0beKaoaOSxcDLmmiawZGHNShNjRC8QtDe9+hz+bhbp8B1/i4qdgre0084LB/TS8GrhJ6FBAEdwbuhfjOhkUCkBGprWiAqO8y++zo2TW8UvF17IPPeG0h37YEW46+PlEm5xi++PPfrDdea6eLoK4H6jcDMq4DaGjN1hlXL6ElAfT0weWwK27bzJi4ffyqLPz+dwrF9gBOOTmPLFv3UXmGN19nOhytS+P1NWey+G3Dp77z3QjL49ZFZHHdU5QleE/fEm2+nsPCPWezbLYsLz4uWgZc10SQDYU9DL1AXvPYNZ3YrlHG8H3707wKPbzHBK+N7xW8UvN7v5aq7UkfwqpStOoAccKgEvHy+M9bBCty0ZuLzrZ2fibAAY/OhWZEJFvIz7jHCu9knVVFpyUzFYMtsF513zWLYoMoR/JY4WpnCvFvS8JuX2hRLTRMuWlx3TfSbj1p2wguDYlkanB5exvCasArWUZSAiojlSWs0nrgQ0F3cjfabgje/aeuigRl06ezNS2p0ThQrkw/5mlZZTLvSu0iTD3nh1Ro+tDoFrxehozhNgRcz1XdT9ZgYsO6aaKrv9oNYJo5Wu6dUBC+zNJiwCtZBwUsbqHgCuou70QFT8FbshiVTD/lKFrxeNhkVu3+k0OnUMYtRw9SEjtH70EdlpuxAdMHEFwMfQ8lfqrsmRslARfCKgTEPrwnLYB1NCNDDS6OoJAK6i7vRsVWY4A3iGFhTosnovChUZuozvBQLIgevyMVbSSetmZy7uIg9hakvKCIZHHJQBqcc7+8LRVwY6K6J8vTFA/bL4qzT/L2w6DLgSWvFLZZZGnTvZI/lKXg9guNlkRDQXdyNdrLCBK9JT47kaFI0GZ0bl8pM9tt+2hoFr9pmpTDnulxbQdhB1CfO6a6JJhnU3ZDG6jUp5TSFFLwUvJGuBRS8keJn45oEdBd3zerLF6fghfQO7b1XBgPP9uchMzo3FLyuOOWGwwH9s9inmz/PnjxxbuSwDHbsWJ12EJcNnLproknBKxmo5uWm4KXgdV2ogixAwRskXdZtmoDu4m60fQre/C73Stuhb1Lsjb86jfqNKVw9Po3WW1dOqkaTAs1kXUbvUZfKbrkzhbffTcOE6I8LA9010eTBIRS8ZqyXIQ1mOLrWQsHriogFYkRAd3E32nWb4E2deA6yj9xhVZ9e9LTRZkxVFkRIQxB1mhpvuXpMihP7aWs771Q5h/EEwaDSsnWYZGBSPPu5B3TXRJMMpLeYHl4/MwhQ8Prjp3w1Ba8yKhaMAQHdxd1olytM8MqNWibDDypV8Jo4SlXaUqUKXsnARMypyc/iRu9Rl8qCEHt9Ds/g10dEF9ahuyYGwYCC158VU/D646d8NQWvMioWjAEB3cXdaJcrTPAGJUp0d2YbnQOPlZnss/wkfM5vUtive+V4eE0yCMq2PE6v8mVJFP26a+KUujTWfZ2CifhrGdNPwatsgkULUvD646d8NQWvMioWjAEB3cXdaJcpeC2cJoWT0fkpUZmpQydk9fbT1o46rHKyFJict+dfTuOhx1Mwkd4rDBuQbQTBwER6Lz8MdNdEkwzkFx8KXj8zyJAGf/Q0rqbg1YDFopET0F3cjXa4WgXvpyuAnbvkUZp8YBqdnxKVmQ7DqETBKw+L8HukrkRsmmkYdmD6ZS0uDHTXRJP3LwWvGculh9cMR9daKHhdEbFAjAjoLu5Gu16NgvfTFchMHmxhTI+ZBXTtCZmS6orRGbRvG13sourcmjp0QrYn6+u+dxbnn+UvvZfqGPyWMy3OTNfnd3wq1ydV9OusifIwGr9HbEvesj56eFUssHQZCl5//JSvpuBVRsWCMSCgs7gb726FCd4HH0vhhVfSOPm4LA7t7U2YZe6eBzz9YA5lz4OQvmQKTG56MT5HRSo0HW9qP1546AWVEdJgWqDmw0Rqspg20ZtthTH39jaCYtCubRYTR0fHQGdNNM1A8BX3l+qmPebhLW71FLwhrQYUvCGBZjNGCOgs7kYatFdSYYLXhDDNXDsCeP/NPAWRgs1EvcbnpkyFFLyAjLk1GW9q8tN4GPYQhNiLAwOdNTEIBjpzR8FLwatjL8bLUvAaR8oKAySgs7gb70Y1Ct6LTgI2fA+03x746gsrrGHuC/tj5ccpVEoOVtP5UuVnXGFfqp9yjduiZoWmRb9oPg5iTwdDEBvt4sBAZ00MIlWhzhxQ8FLw6tiL8bIUvMaRssIACegs7sa7UW2Cd/13yAw7OYfxyFOs0AZx4MYTbc7Hk8+mEXX+UdX5DcIjHQehozp+US4IwRsEV50x6ZYNgkHdDWmsXmMmxZfueGR5nTUxCAY6/abgpeDVsRfjZSl4jSNlhQES0FncjXej2gSvHO+e3ZE+6lRk5k4C9uyOJw+4rqIEr8w7anKTnRS8Jg5xMG6nRSo0eZysrJ6CF7EI79FZEyl4w7jb9NtgDK8+M09XUPB6wsaLIiKgs7gb72KFCV7fCeafWoLM4vlA7z5InzU07+19sv8zFSV4g/DGzr+5GT78CBUT1mFEnK7/DtmnliC18+7Afr0hQ0X6nZpBr/3jn63DRH+zD/8R2ffeQKprD6SO6ou5d/0o8vAenTXRxEZWvPQEsl9+jtTWrYEj+2ots/Tw0sOrZTCmC1PwmibK+oIkoLO4G+9HhQlev0JPZmgQYQypk89DZtRZVhzv8lNuwl2v7gGTG6CMz1VjhUbSMEnhv2cPpC++CtiqNapR8GYmXwh8ujJHdufOePbn12Hpiz+qntCWZS/lvnLIvz174OG951iZUKIM79FZE32/+NjWQAuDeBm+YIzy7UvBS8GrbCxBFKTgDYJqQusUOVlffMJ6s0/td3DBYQRhjVhncTfeJ6fgXf4S8NlKpCcviISF2/h8C97GDA0y/27mDxOB11/BlyeOwYzXjkHnXbMYNii6dExu4xe/+96VLmxecBAb98Rf7dZIX7UAtz3ZCW++ncKA/lns0y3eDES3/YZ1yJefbO1WSNW2tl58VuxzDm5cOyBSsadiA7KMX7GXGd0fWPu5FceeeeoBpDasx9+PnI173t4/UgY6a6JvBteOBN5/w0pRmH3/DYuBXB9U5oKCl4JXxU4CK0PBGxjaZFUsNjCJBV8++LfdAem6u0Ifo87ibrpz9py04qEnFnyRsktnwTfdp3L1+Ra8jRka0jPvBLbrgOxDtyP7yB1Yd8g5mPrhgKoQvHmvZu8+wNo1uRRtvfvgmd3H4U9PIVKho2NLvmzB5tm0bB1AZuYoNLRqjcvbP4q998pg4NnxD2nwJfpfegKZW+qsbCXpWXfn74Wvtu+Bac2uj9QOdNbEWXPTWLXaY4aVxhd+8dLTrO5uZJ98wFoPIL58XD5byRwpeCl4lQwlqEIUvEGRTVa9Uuxgp87A99/lU1SJk7fC/NNZ3I32y/EpL/GC15ahQeTetf4ahU/9zt1xxebfV4Tg9bVJRwo9IXKuvgkQTMacbaH42/ELce8/do9U6OjYtx/Ba/dsitAWS/A2ev//p+3lWLvX0bH39Is+m2CQHjgaOPhoyxYaRp9leThv3PY6ZH/SIzIGOmuiLwaN3l0Z4mRnkF8jXIySgpeCV2fdMl6Wgtc40kRWKB96wsOTWfZS7vQtzfgtE2B0FncT7ck6MjfPBF5+Ml9l3AWvPAmr3TZZTBzj4ZO7PUPD5XNy4/5yTU7w1bbGqLaPoqYCTtnyI3idMcwCgXzx+27Hnpicua4i4pjzp6K1ymLalZq2IO2g0bOZvwEaPZ5fNdsB9/xscWRiT+ce9yz25IvPTp2RvuqmH5psjO3+e+3R+FvPyyNjoLMm+mbgsAN5P1Dw6lhi07LM0uCPn/LVFLzKqKq3oONz3g/CZ2uk5z0cKhedxd1Yx+zhHPIAhn5DkVn2YmxDGnzHrtozNNg2pTRcdKLl1Zq4wyPYkG4T+4MX/Bw6Ib2YBSErMfLsqdq3H1vIf9k58hSkz7qooElpC3O2W4hRM3dT7U4k5fy8AMoXn3S/ocBRtqwEIr578mAI0X9bj8UYNUzzZcIQCZ010avglfH7TRh8uQYNky5Es3mPKI2GHl56eJUMJahCFLxBkU1OvXnvrvycJz5pTrowt2Fr2FXA/geHNlidxd1Yp6Tg37N7rsr338Sac2ej/Qu3o+VH8Yzh9SNyxBCLeTet/974KVt8xl3RsmfsBa+fTToZRwyztCcpAle16IKHDlgYmWdP1b792EJe9Be5z+VXj0d+NAwnX994QIlqp0Iu54tBY3aKYrH6UvRP+6/FuOLa/wp5VLnmVNdEXwxK3Au6A6bgpeDVtRmj5Sl4jeJMXmWNXgy5WSM/wBIewKABqC7uJvshNy6J+D2RpUIIXiH4Ttp8Kzr9J6GC15GhQfKUQvjZbc7F0q1+i7gfvOA5F3GxGGabUckUbUv+63Kcdu1RJs3NeF2ej5O1M5j7kJWOreDP9kl/96lj0L5tfDeu+RJ7A460hl3ss730fIpY5n5zorED1TXRM4PGUCZrs5qiJ7eUEVPwUvAaX+B0KqTg1aFVfWXzmQmcnzSlEA45W4Pq4m5spuyLfd3dyNxwZXUI3lIenUZv93v/1Qc3Nx8X+4MXvH7CRbEYZptRNf/r09i0YAbebtUb+954tTFzC6Iiz3HMMnZVnLQn47jtHWxkJDzdGy+/CV06x1fwvrYshcUPpPVjrqUdOON3JYcYiH7VNdGz4HWzAw2jpeCl4NUwF/NFKXjNM01SjUXjGBsHKD/npYt5fwKCoLq4m2o+L/gbN+jZP+nH2cPr+QHfCC5TyqvVKAC+3LoLZvzo5lgLXnnohBjSnKkNeibh8gWj1eYN2DD4hJznL0T71xtErrRXwVsqrMXeB2knH13xTKwFr1cG5WKYLQ4xEP2qa6JfBvnsDF6MsPEaCl4KXh/mk7t0zoJ7ccvipQX1TBkzAH2PPdT6b0uWPo+JMxdZ//+4Iw7EVaMHoLampfVvCl7f+BNdQV74FHmolxPDQUFRXdxNtZ8PZ2iMYawUwev14WZxk977El4taROjOv4l1oLXs0erTAyztKtWLZvjg99dih9/9wa+OP1qdDimtymTM16PPE5W9zSwvO2L3Lsl0g9+MWYEtvvyTbx13Bz0OLUxxt34CPxX6PV+yG/Wsu1fcPZG3g+fjHoYu3Xb2n9nNWtQXRM9M5DhTQb2a1DwUvBqmnfT4kLwir8Rg89o8uNrr7+H2QvuxY0zhqPdNm0scWwvS8HrG39yKygVv9s4Yun9MPHmrwpRdXFXrc+tnNPTWRWCV37C7HkQ0pdMaYJIblgUccz7ntIDh/aOZne629z5ErwlYpjtgveZK+5H74/n4tvufbDNZerHq7r12/TvnjbuucQwyz5+dO187PL+EuvUtT1G5HL0xvHv7vvT+PvyFPqdmkGv/dVDL/Ibdsucprhm1Ahs/9WbWHHs1djjtPBffFTXRM+CV4Y3GfiSQcFLwet7fSgneMVvu+7UIe/tdQpgCl7f+JNbgcxOUEL4yIMIxDGTxYRREGBUF3cjbRfxdNoF768z92G3dS+HnqlCZWxeH26ibrcXGftGnXbH9cGvj1AXECp9N1VGMjjkoAxOOV6vj6UyNNgF781zVqP/sn7ItGqN5jc+ZKrbxuvxJHjd7v3GXr618Ens/cpMrO7YGztOjW8ssycGipu1PphzO7r88w58smdf7Hb5UOPz51ah6proiYGL08Otb87fKXgpeHVtpkl5Z0iDDGfYUL8Jk+oW4cCfdssL3hWfrMKE6QsxddwgdNmlE0MafNNPbgWuMXzyIIIQN66pLu5GZqXIQ98ueA+oWY5e//4jwvRwq47Lj+Atl4rKLohf2LovNpx8UewFr+6nfOtEtWG5NFulEuqLkIbHnsxi/zt/g3aZL2J7vLQYg5fjZGXKsSZ5Vx0G+NkrK7HjwgvxbasdsM2N4R81rno/eBJ7ipu1/nb3Gzjg6ZFYt313bDuj8ZAW1Y4ZKKe6JnpioPjiozoMCl4KXlVbUSonBO3gMbMxfdwg7NO1syV4Tz/hMPTq2dW63o/grd+4WakPLJQMApumXobMe2+g5fjrkN6r+BHCGwYfj9T671Gz4BFgqzaBD7ymVQuEZYdbHrgVWx76I5qffC6an/pba2ySific36t2OQ74v8LfAweg2MCC27N46+0ULjwvhe5763k3Nw4/E9kvP0erqQuR2nn3Ji1m3n0dm6YNx4qWPfDuSdfhtBNTir0Kt9gd/wP89R/AqSem8KtfqDOQ40t37YGWE64v2unmzdJ49IkMmt9/Aw75fgmaHd0XLc6+ONwBKrY2rDHaYu5MxQsAbLziAmQ/WVHSBmRNH6xIYafJh1n/DGsNUB/FDyWvnJ7FV+tSGDsc+HFHtRqK3f/FrvznP77D7tfnNjDW3PEXtcoNllJdE6+/EfjwI+DSwSns0UXtfth85w1oeGJJwRpYrOubNqttCqXgpeA1aPq5qmQYwzGHH2jUw7tx0xbjfWWF8SVQf+HxyK7/DrULHgW2Li5mN15zqSWKW112DdIH/CLwwQjPWlh2mB/bBCH497PGJv9bgeA95Ty0aBTEgQNQbOC6+Vnr4XbZ78TDTfGixmIbzs4JmNo7nyt+4fffWhkKNqRa4/aDHsXwofEUvF4ZNPz5fmy6cy6aH30qWpxTXMQ2a5bGM89nsezeZRiydjiEOG51xe/1QIdU+qLROXEzr059nlxtoLHvH6wANk69FF02vYFWtvskpKEpN+OFQbH7v1iDgkF6ykB02rIiEgaqa+KoK7PYsAGYdXUKtbVq6FQZqK7JFLwUvGqWp1HKHrfLGF4NcCz6AwEZruA4O92JyC3e0zRS1c93JtotFsdpD2no2WI5DloTz5AGT58vBTSX/LOS6+YhJ6HZxu9xx35347yLtzeB23gdXhmUPErW1kMrS8MKYMH8/2DK5ydav5QKfzA+MM0KtXMRu+WedbT/50v+iD7fxfM+kF3VZiAydcjUfC6btcTmyP+7bp7l6XcLAdGcOqXiqmtikAyUOtp4Kpxq2Woql8pms2o+92qiUmSs6775FkufeRX9++ZOeXGGLDBLQ5UbiNfhu+zUz1erGOfmtRvO61QXd9/tNcZxOk8XsgveLhuXx/ZB71XsQfEEvfWTR6Dm0zfx8N5zcMrIeKajkqesXTE6o3UKmEq6PSl4r//vLKZ+cTxaNXwfy3y8njJVKL70yHts0chXcP66iQhz86rO/S3zMde0ymLalYoZRTQ2a4n6nxj7IE78z1ygMV+3Tv/8llVdE7UFr0t6Qi/9poe3ODUKXkVrkhvTHn/m1fwVt10/Nh+zK/4j8/AqwmSxPAFlz630BNdujfS8hwMnqLq4++5IiYd+0gWv/RhlHHx0SYyb7r8dzZfegWfbnosj55zrG3cQFWg/4Bs7oeLZE4J37boUrpyWwSXfXIqd1yfniGnle7+R16wxH2HEl4OAnTsjPfmmIKbSV52eRL/ii5/s2LzRb1mhLSh1Kp2vEZS/WGVN/PfqFGbPTaNjhyxGX6wo+jUZqAyRgpeCV8VOAivDtGSBoa3oilW8XHKA+RPXZt4JbNch0HGrLO4mOlDyhKVPV+DB+77H37/cHYd8f39sPbzjp6RRX5/C1IkZ1NaofSzLXDsSeP8NQISxXH0TsFXr0igbd2/H+WhdT4JXMRWVELziT8SGnvn1DByw4QmkyxxOYMImvdThRey5ZmdxdER8TRj6yuHWf41jWIcnBjfPBF5+UjlE4ZrL/x/G/79+QEgv/vYpUFkTw2CgYp8UvBS8KnYSWBkK3sDQVnTFbnlI7YNzS2NlEoTK4m6ivXInLMlwgT7f3hpbwast9hoFrBXCcfl1wM4uO90aP3d+1WwHbLcwnumotBkIw1H8nG8XvHG2Ay+5iHVedgUycT/89tUTUJv9HukQXnp17+9/vpPGortS2HuvDAaerfjyN/lC4NOVyunmohT9KmuiJ8GryUBlXih4KXhV7CSwMhS8gaGt3IoVvVxygLqfQP2AUVnc/dQvry13rKr0nsZZ6GiJPRGvPGkwsPZzLS+l/PS/cf4zyl5kE3OjUoeXB7yot6Rn39GoFLxXXJPBjp+/FNsYVi/5mFVOF7PjEGLv6H8MtzI1pMscQ6wyb0GU8cRAblhb9LRSl6JkoLImPv9yGg89noLOISzOUyaVQLgUouCl4DVhR57roOD1jC65F+puRNMt74OcyuLuo/r8peUWeykmEyN4ZXJ5zfjDL4YNxnbrV2DNObPR6Vc9TGA3VodXwat64IIUvLPnZZD61xu5+M0YxrCGIfYefCyFHf80M7ZhHdoMFL38TtH/y2VXYO+N4Z+8qLImemawU2ekrzIXl03BS8FrbJH3UhEFrxdqyb5G22Mb4sY1lcXd9+y4pGVKmuBVScNVjOk7l89E1//3JL7qcxG2O/MU39hNVuBZ8F47AnjffQOaXfCu/DiFWat/ZXU/bjGst9yZwtvvpjGgfxb7dFPYrKSYjtA+V0JM4eHbYxveIwT5C6+kcfJxWRzaW4GBh9PFomSgsiZqC17VLD2aNy0FLwWvpsmYLU7Ba5ZnEmrzEpMb1sY1lcXd9xy4PPDiLnil2FPdka0bsyn5vnD1gzj443n45md90e53Q31jN1mBl0+4on2VDA2inBS89yxpsMTU9LXHo8Wm+MWwaqen8+DdFGJq3eNP4jdfXxvL1GS6DLRf+AFEyUBlTZQvPv1OzaDX/u5xzF4YqNy/FLwUvCp2ElgZCt7A0FZsxTob1uQgvYhkL4BUFncv9dqvcdulLgXvod8/kMu9eeQpSJ91kd9mjV2v6930LHhvfQMHvzAS33TsjnZT5xjrv4mKtD1aolGN2HUpeB/+UwOefDaNCQ2Xot0X7p5hE2PTqUNX7KnmYbb3QWwK+99bG8M6NMNidMbitawuA7f7v1g/hL2t+PObkaQmU1kTw2CgMj8UvBS8KnYSWBkK3sDQVmbFGg99+wCD8gg4Iaos7n7BuwlAKXi7bHo9kgec2/i0Be9FJwEb9A9OePpP3+Pw+06yuhO3T/meBK+Gd9MpeEfUTEenj9TTWLnNoanfddPTebmPhb0tWvh9bE+cmzU3jVWrUxg5LIMdO7p7N93u/2JzI0T/4ju+i4SBypqoLXgVQ3t07ZSCl4JX12aMlqfgNYqz8ivzugEtoJivSASvFIAlUiwlTvBq7kiXcyJEZa/F/dAu80Xs0lFpx21qZGgQ45eC9533GjDvljR+k74Vvf4dv+N1tbJ1iJCOP0wEXn8F6WFXAfsfrLSeyResuMYxazPwIPYkgyhO3VMRvLqnDnoR/SrGQsFLwatiJ4GVoeANDG1FVuzFw2MNVMM75geMyuLup36Vz9oUvDnCQvDueP9Ea2e6laFgzJzyh1X4mhi9i3U9WqL2fIYGhQMknIL3iB+9gGPevzKSk7bKkQlD7Mmjey9adyl2q49fWIc2A/kCOPchZXuWgnfE95ei03/CZaCyJmoz8PjVx+0uTZTgffIXwMb/Bxz5l9ywn/4V8O2/gGa1wIG3ALv0c8OR/51HCyuj8leQgtcfv6RdXe7ABbexBpG3MXQPr4Jwj7vg1fqc72FXvpwT+Sn70m+HW+nJ4iR6PQleDc+eFLwrP2mwjmz9eevlOP2DEbFKTSaPk223TRYTxyhkJ9DYtOe8L8U9MWTtZblcvBreYbc1xe/vUoyLeuZMbVCqzss6Jtvp/+107PdduKEtgQhej1993AAnRvCuWw48cxSw1yhg77HA2zOAlbfmxO/KP/7w/2s7uSGxfqfgVcLkvxAFr3+GSarBz6cs1R3uB8Gg/QAAIABJREFUfnipLO5+6lc5eMApeDN7dEfzcfHZtKUleBUEfime0qu114//g4FrhgOfrQT27IH05bP9TIGRaz0JXo2HvBS8GzdtgbSHuH3S143lFuC9iD1xnWAQx7zU2gwaTxC0jteedbeWLUbFwG1N/OrrFK6pS0P5xcfHS7AbsEQJ3udOBPafmfPkCm+v+OvzIvDJYmDZGOCwR4B2+7khCV7wzllwL9Z88RWuGj3AamxS3SI8/syr6LjDtlgwcyS67KKmypVGEvNCFLwxn6CQu+dHtPoRy6rDdFvcVespVU7l4AEpcA5pvxwnvT0C9Tt3x1aTq1fwdt41i2H9/4PMsJMtrHE4XlbO0dSJGbVT4DQf8sUEb93XxyG1YX0sxi/mQVvs+Xj5qbshjT1WLIld1pIwGQib26f+xdypeyFmq3BbE8Nk4Lb+JkbwbliVC2Ho/Fug09FNvb3vzgKOeCp6wbvum28xZOx1GDn4DPTq2RWvvf4e7nv0OUv8/vO9lfn/X1vT0m3uEvE7BW8iptHYILx6eCzvkIcNL7odd1vcdetzllcR7VJMHbvzchz+1xGxS8ul5eH1kGRfMst7jtpmMXF0Birs/M6P6vW6MYvQ3KxpF7zjr06jfmMKM7a6FM1XhBu/WY7Ha8tSWPxAGgfsl8VZpymENGgysLctPOr5E+dCFHtu9qAt9nxsvp0yM43aL1dgxJeDQg1tcVsTPTMIYB4TI3iF4QlP7qsDgYYNwHYH57y7MtThR11z/1b8CyykQQjecdMWYvTQMy1PrvD2ir8Rg8/Aik9WoW7+PZg+fhDabdNGsauVXYyCt7Lnz2jvXU4Yc2vL84Y3t4ptv7st7hpVFS2aGd0fWPt5SS+djIsUhzr8ctvlOODpkfhyu+7YfmYRD+/7bwC1rYGdu/jtltb1OoLX75zZhaXXE9u0BqdYWFfw6nKwC14ZPnF16wnY6oPwj5YthUTHDkQdugycgrf+g0axt+0OSNfdpThTwRYLm0EUp+65rYm6Lz5+7MBtNhMleN0Gq/F7YIJ3Q/0mK4Th9BMOw+677djE2zt7wb24ccZwCl6HyBD/VBHHGnPMonEj4OOTpjWUp5Ygs3g+0LsP0heMCWR0bou730bdPNzyASo+4/fdfTk63DESq37UHT++vlDwytCIMD9tyrHrxK/6fbjZhaVK/LPf+VG5Xjtm0f51QiFDg+hDMcE7YfdFaPfCHUideA5SJ5+n0tVAy+iKPT8vLDINXNzimHUZ+Lkf5H034/vfoPl/wkvV57YmhsnAzaApeIsTCkzwiuaEJ3fwmNlY/flaDOx3rOXdlaEOP+vZ1fp3tfypiFhppCplq4VbIscpBavXk8P8CmYFqG6Lu0IVpYus/86KQ83WboVm8x4pWk4+1FwFb+OOfytzweSbfHVL92IdwetH5Ih+FXhSQ5h/FRban3CF4J18IfDpSqTHzAK69nRtxi54774/jb8vT2HEjxeh02vxEbyyX6rHyfoJSZGiaso3v0Ht+vDEnttE6Yo9Pwwk70mpS9FmVXihLW5romcGAWTbSJTglXG89lRk2/8yF9u73c+Bg/7oZp753wMVvMq9qIKCKiKWgrcKDMHnJ02LkNzhHOAnTbfF3ddMKQg2bcEbwSlkWoJXIxVXMbYFbTX/EJnJg4EA519lfj0JXo0MDU4PrxQUZ+69zApxicKr7zo3nRVOGJPhPJMXaIfhSAZxO2JZ514QDP0IXsng4h/dgF3eXxKap99tTZRC/OTjsji0t3sstx8GbvdnogSvyMzQpjPQcwbw3HFAtzG5jA32FGVMS+ZmEuH+TsEbLu84t2Zi05lbSIDf8bst7r7qp+DVxucUFEHPv0oHtQWvh1RUdg9vYgSvpui3z4WME/1ddjp2XxNuHtpyNqEteF1OWSzXlrSDIdsuQpd/3gF4/VKmYuS2Mm5rojYDl30Mmt0rKJ4YwSs2p8m0ZMKraxe8cUtLJuN47anIOu2wnRXbe+BPu6HvsYf6mdOKupaCt6KmK9DOmnizz4w6C/gquE+abou7H0Aq8Xt2D++Zey9H+5tH4v9ad8fOf3DE8DZ+Ihf9Uf1M7qfv9mtnzU1j1eoULhqYQRcXz57up3xnH5sI3kkXWvl40x68hKbGr/sJVzdDg9PD+8930lh0Vwr77fEf9H/+JKB2a6TnPWxqOJ7rkcfJjhyWwY4dXTy8mmnZnJ2SLxlxO2JZW+wZEP0ye0tYnn63NTFMBm7GKgWvSBZwy+Kl+eJTxgwo0F0yxPStd1daZW67fqyVVUv+LVn6PCbOXGT987gjDrSybIWaWauc4I2bh1fA3nWnDjjm8ANRd+M96N/3SCtjgz1FWajw3KwkwN8peAOEW2FVZ3x4N+RQTYjmctjcFnc/yHUF77BDliEzcxRWtOyBPf678LAF6emMQvDqZCjw65F1xonm5z+A+D/VudUVvCrz7mzb7uG1e5SHvnK4VTS96GnV7gZWTscO/B4NLhnE7YhlLQaNor9cDH+5yZIMenRYjXOWnxVaaI/bmihfgJVefBT2MfgxWNFX4XC88faH8Nszj7GSA8g9VdPHDbJErXRISuej+H3C9IWYOm5QXqfZkwvYM2356Zv2ta+cC3z5V+AX9wCvDsiFNIh0ZOIEth2PjUcMrz0tmfDq2gUv05IVn3LG8GrfChV5gV/xIwatcnCDHzhui7ufulWOVbZ7eFUFb9i79nUe8n7n3CkuvYhHP3NW7Fpdwasy78qC9/0zA/3CocNKxw78ZliRmTF6tlyOsz8ZEZs4Zi0GCiFNKoJXbGgN88XHbU0Mk4GbfRYLaSgmcO3pYZ2/S4el/BIvHJWRZdcS3tw3xhUOu8f03HHDGn+BbVorJ3jp4aXg1bDRZBX1EMdYDEDQgsdtcfczKSreaQreQsJxFLy33JnC2++moZydQGZo0AjDsHt4N9SnMGFKGjU1WVzT8jLg/fB26Jey93yfWmUx7Ur3jUom7lshrGoz32LK5ydWpZfbfhDLhM/De/FxWxPjLniLHQbmFLDSizvkvJObhJ46PcB+ngFRXRuY4BUDEvEfr/7jHYy7pD9uWPSgFdLQvm0bKyfvGSccxhhex6zLt7JNm7dEZQ9sN2ACmXeXo/6a4Ujv1QM1V/zec2sNz/8ZGxfMQLP9e6PVyGme6yl1YcsWzRGUHW649DfIfvk5aqbdjPQuuxftwpz5WXy4Eti9M3DZr163mImQhn1vLWS2vv9h+etbnHIeWpz2W+MsSlU4dFQuXnP+rFTZNk3M+WNPZLH0KeDYo4Djj06h4e8vYuN1V/i2Iz+w5BwNH5LCHgpnfsi52uqu55SbbZZOW2UbMjkxKZnPaXsZMu++gVbDr0GzA36hXJ/pgh+sAK67MWvZ6Yih5e1AtL1x9ng0LHvZV78lA5mLt/amR5HaOroDnHQZbL7/Vmx+8Hb4uV+ddlBzxXVI77Wf6ektqK/cmrh+AzBqYha1NcDsa9ztQDJofvSpaHnuxcr9rt+opg2KeXidIQnFHI9OwSvOUZAxvRS8CtMkoJ5/2YyCks7AaIVqKr6ITgyvqlFXPJQqHEDDC3/G5ptmoNkvjkaLwY5PNBo8hIjaNG040l17oOUE78K5VJM1rZojKDusPycnUmvuKC18rr8xiw8/AnbfDbjksNetsQrB23ne762HiviTDOQYmp98HpqfGo7g3VAPjL4yi5oaYNbV7oLX71wJUfH7BVmLx2VDUvmxBzX/KqYo5+jSwe6CN/vph9g44QKktt0era7Pnbqp8te8eU7wbtmSE7zDxuReMq7/+W3Y8tDtCHPOi/XXOS9uY9o09VJk3nsDLcd7F2hXTstAeDmv3foyNPvQX11u/VX5XZfBlgdu9T130g7mdJyAzLKX0fKya5D+abAvPuXWxLAYqDohnIJXCNk1X3xVsOmsWIhC7Dy88gjhTWuLm2LLbYEjngLaqb3sBOrhVblZqqWMjuBVKVst3JI2ThOfNC0mjZsegtqp7vb5zs+8qMSzFoQ0nLIKmTFn46tmO+CbcXf/kBFBxgLKzvQ8COlLpvjpmvK1Wim5fMYsik41ac9AncqDLVFQa5OOx/7aQxpEN6bMTGPdNylcs+8i1DwZ/eETMnPE3ntlMPBshRy8MjvB3IeArVp7moK4HbGsdS/YT9vzseFy/NVp1G8M1w7KrYmeGSieOKhrKHbBW0zsWmvKJ6tQMTG8TgDiMAp7ijJFQBS8iqD8FlMRsdy05pdy/K/PbzYzsNCpCEevRAITvIrCp0DwDspAjvWjK54pLXj37I705YVpy7yO3+06rQec35P1igleIRx8pHZyG5/K71oxix4ZOAWvtIsxv3gB2993JRDiS04xJtob9wzMmWQQlyOWJYNDDsrglOMVRL/PQ1jEPETBoNyaqP3iY4BBuXvUnpZMlCt2qm3FZGkoNVCRveHblUCfF1WWK6tMYILXmd/N2aN99+qMG2cMt9JlVMMfBW81zLL7GFU2bLnXkiuRkblYFY9pVa1XlKPgLU9LR/Ca8OrbN+pMHJ37vF9Jgtcrg1KCd9SRy9DhjuhPW9MSvIove273qUxRd9nu9+PHL8wDevdB+oIxbpcF9rsWA2G3Pk6ak4OQgjdMOyi3Jmoz8LCBU2cCRV9LaTB7Pt3Y5+EtN+i4HTxRrK/ircKeokxnEiu5LAVvJc+eub6bWOxlb0yKZ+cIAxO8ip4+JQ/vS08gc0sd0H57K0VVWAnoBauwBa9o0+lRrSTBm7l7HvD0g9rHwJYSvIOPX409FoaXg7XUCvDgYym88EoafQ7P4NdHuHg3l72EzNxJvu00bifOaYs9A15umSHk4kOXY5f/CSc9m1HBa4BBuadSYk5aq3TBK/ovsjd8/Nmaom52c9IiXjVR8MZrPqLqjUmR4tVrpjL2oASvap9VBK+sSwhdkaIqTMGr8wnTS/7ZYnPkFLwNF52I1Ib1SM+8E9iug8q0Givz79UpzJ6bRscOWYy+2D0dl9eXM6fgtYurPncdYY0nysMndE7XUrV9t0mSDE762Soc8nD/0A5eKNUvKT4H9M9in24utiD3HvictyYMQjh1r9yaqPXiE8LXmaoQvE82blKMQ0hDuZuWB08Up8MYXrelvsJ/93nCkHP0ecEXwFnyQQle1RjmuAteHa+WV7HnnO8mHt6A4wDLruErU5h3Sxoi+f+wQRELXh8bwPyuKDqC19RhMa8tS2HxA2kcsF8WZy6N/sQ5HQZ+T5qT8xXFi0+5NTEKBlXh4S2XpaHNT4Aj/wLUdlK+jQOL4aXgLSRAD6+yTSa3oKEYvjwg0/XZyAcmeBVFmvMBUmzTml3wi8/lQWWsKGaQUQjeJkwUWQZxQ+mEdIj286E8mt7osh7evw+P/PAJHaFj6sXHzn7I68dH5uWXdqXDwJTgff7lNB56PAWxUe7EP52QYxDwiw8FbxArSbh1RiJ4IzuTOVy2Ba1R8EYIPy5Nyxg+UzvLpeDduTPSk28yOsrABK/iZo1SgvfFC57Fob0bN201xoWm+w1FZvH8UD9vawleuUlHU+w5JzROgtfuZTzrNAUPr8eYRafgtYeS/Pbf0QtenUwVXkW/0w7sgnfoV9GfODd+Shr19SlMnZhBbY1LHLNiDL/bYhYFA2OCVzIIcLNhVYQ0uBlJkd8DE7zlsjTYdwl66HNFXkLBqzFtn65AdvlLSIm4RBGfGXJ8okZPtYqaiuGzN2oyJtheb2CCV1H4lBK8T/Z/Jr85yO4xy8wcFV/BqzhmN2NqwsQm+HFUX7fLjf6uI/gtD69HBk7BWyB0tr7B00Y4kyC0BK9HBs7+yvjpdm2zmJCJXvDqMDC1BsZN8EbBoJwdU/AWpxOY4DW5qCShLgpexVkUXssbJgEbvs9fkDaQs1ax9UCLyZ3qwiNpSqDkhYThz3lxE7wbB5+EFpu/x7OnP4wjj9namqcoBa9MDXXycdm8x7mU8XgVe8765Oagfqdm0Gv/LEyJBy9GryV45ZeInTojfZXel4hygvei/7oV2UeiPXxCWeh8ugKZyYOtjCLpWXd7QV5wjWx3dq9FlcNA3LM3zwRefhJ+13QpeDt1zGLkj8Oxg3JrorId2BkYfA44DaqiBa/b6Wr2wfKkNd9rSSAVUPAqYJVppkTRngflLnj9lVxspjhQYOcuCpXEt4ipGD77CIOoU9QfiODViDl2ejPXjh2Bdl+8ib8fORs/O6tH5IJXOW6xcVd6tnYrNJv3iC/jdIrMihO8Hg4GcQregnzEvf+US0sX4KfhchMmRZdSpgoN21cxkrgI3rCydRRjEjYDY4I3hNj7iha8KjeAxzL08HoEp3sZBa8LscYMBlYp2wNMegQQQJyq7hz6LZ+R8asGD4pIuuAdOSyDHTtmUbGC16DQKSV4EUCWDjdbVxb8oiIfsetOwSuqy3vTzvkHrFAWD0LabXwqv2tt3DMctymP1p1x1J/Q/I8zIztxTouB8G4aXAPzdnDs0tyLj6m9ESUmv5TgjZJBKTul4C1OxqjgdTtdzd4FnrTWdEKqOS1ZXtg6vTXCQ3blhdbBAqkTz0Hq5PNUnkWxLGPq07Z9cEF5+QLx8Go89J2fCIsKXltMZBBsyxmRsuALUPCa2vHu5WZRHj/gK/SirOAd/K9cmEBEL8M6Qsf0fRrFSWPF7ESHgbje5H0a9ouPMcFrKJa73H2bKMErTlR7dSDQsKHpkBnS4GX5Dv4aenjLMLYnIy+2k12KhhCSiwdmCYYSrjv7Z/pBKusPQvDq9FVb8MpjlicvCCX0RVnw+fBuOudaZijI5741KKZ17V55/EEK3qkNRgWULgPpcRepsU45vnx2AlM5eGUfJf/hx3+AHRdeGJnot6cHc2NgWvCGzYCCV/cOMVB+wyrg6V8B2/0c6HQM8M5M4LDHc7l3xcETOx4P7D1WuSGjHl7lVquwIAVv6UnP51Mt80kqIwXNsKuA/Q+uPAsKSpzIuGfDn/OCELw6m/a0BW8IcXF2o1MVfDoi382om3jTgrIpt44AkKmorhidQfu2LmLvDxOtWHwvG5WKeXjt7He7JrrT1nQ27pkOPbKfbtZtVnSHT+gwyH+R8LB5sZhJhm0HpdZELQZy86IhBqVu1cR4eMUGtudOBPafmRvqsjHAYY8A7fYD3p4BrLxV6/CJQAWvOFFt8JjZWP352ibzwpCGpqZarSEN+fyU5WJb5edww8JO4dlupkhQ4iSgegMRvBqitJTgfemQ2Tjkt42b1uwhDRp1m5hQ1V3ZgQpeGfe+7Q5I191lYljKdaiO3/Lq+ZgbV8F7+yDgs5VIG4yLV4WgI3T8MCjWnyhOGnPrx6+PcMnBa3itqkjBa5hBVQneH3UFXjwT+MU9OcErQh3sAljhxg1M8G6o34RJdYtw4E+7ocfeu+OuJU9j9JAzUVvTEuLgiUN+3h29enZV6GIyitDDW2IepYfSLV2PbVNb0CfqBGFxJoVPQf+kx8Cw6Imb4F0/eQRqPn0TD+89B6eM7A440jyZFhRuNqAq+EzOu9wRL1IxjRrWePhGCPGAxViojj9wwXtfdIdP2L2s+3Qrf/iGydhVwbRA8EZ44pwzVV7Z+0Yjht/t/mvC4PngX3yMeHjl8y7gzCKJ8fDaQxoO+mMujKFNZ0D8/1fOBb78azw8vGID27hpCzF66JmW7dbNvwfTxw9Cu23a4LXX38N9jz6Hq0YPsARwNfxR8Baf5cy1I4H331D63Jnx8Wk0ahszKXycYzH9MBX1ByJ4NcSZU1A1EbwOT0lcBa/pfjm5BDH3bvfKhvoUJkxJo6ZVFtOuDO6UNdGPYh7eBx9L4YVX0hA5kH/xzoxcXtcAc5qW4qEa1mKJfg3bd+MvfrfHzp70dnSiX4eB6TUwbNFfak2UDAb0z8Ltxcc0g8R7eJ0DtOfobVYLHHgLsEs/lVvGKhOYh9cueNu3bYPpf7gL4y7pbwleEepgF8DKva3gghS8RSavUbQo5yiVb8cR7cr2Y36mhY+9L0EcPhE3wbv21tvR7oU78NqO5+LnU86FM0NBkHz9eDhN9ysOgjfMnfnFBK9d6Bz97W2RHbygLPbk1ym3r1gaC0zBSWOpChH9hk8GLBC8H10b+IuPm+C9aGAGXTq7xLM3Mgg641BiPLwa94RK0cAErz2koe+xh1phDLvu1AHi/y9Z+jxe/cc79PA6ZqjaYnjlzmXlm3/9d2gYfRZSG9YjXSybg4rFR1TGtPApELw+YiTLeQhUXtKUcWpu1mgSw0vBa6FuIngDmHu3OdUSvD4P3nATvL/OPIDM4vmIIhex8sa9AOI27XMQ5YlzU+rSWPd1CkqbFw3batgMjAhewwyqzsPrtji5/B6Y4G3iif7mWwwZex3eenclOu6wLRbMHIkuu3Ty2f3KuVxFPFSV4HVLRVZiak2n9wnLgoLwwsq+ByGmjXt4NR/6roLXke4rrE+FgrmO4DM973U3pLF6TQryQI4g5t7tntAZv99cwcUEr/ycf8B+WZy1z7LIDp9QjmOWtmrwgIyCeO49749M9Csz8Ll5sZhNFtjhrsEzKLUmyhefqRMzqK1x8fBS8LotL4W/yxAGsWGtz4t61xYpHZrg9d3TCqhAeK4nzlxk9fS4Iw4s8GBT8Dom0OtDwOt1EduP6Ri+Ag9vAJ/JjAtezc0aboLXKXBjL3gXPW3EAp2f0aMQvFq5VzVfdJyQigneAqFzSPwFb1C2GfbBC8UMWEvwGo5jDtsOSq2JnhjMfQjYqrWRNaFYJYkKaRDpx94Y98Mw2/xEa6OanQ8FryGTExvxZi+4FzfOGG7FKYsQDvE3YvAZ1v9S8BaC1g5nkJcHdICDITMoXo186AeUezGIB6ppwavbRwre4qbURPDKjZwh5qfWSccFuTPf4/HHroJ3UMb4hjCVteCrr1O4pi6NdttkMXFM+Y17urav0r71bJnQzCo6J6IjlnUYiH6afumXmyfDYmBU8Bp6AS5lK4kSvM5BiuwMH92R+69xOWlNHjP8s55d86JP9UauxHL2GGXRf6cApuB1CN7R/YG1nyPt4WSs/CEUEeTe9GSbPr1crm0GcPiEacGrc+hEwcN8aoM1fCkanmx9Ln79h3ObHFcblKgoxl75k75m3LLrPANwpsIKc9yyfzqC12//4ip4lW1ACL2AsstIwTtt5H/QctRJ1vSkAxZSdhvVYeBMI6hi6ypl8qJ/wjfIDDs5UAbF1kQZWtKxQxajL3bJWBLA5sWqFLwiNdmXL8VL8ErRd/5lM/Jz4vzMr2LQlVDGuUFP9FlkopgwfSGmjhtkxSqrCt73P8xi48YtZYf979XA+vpKIFO8j7XfrUHvJf2wucXWeL7fY9oD6fbiDHRc+QQ+6DUMn+51qvb1pi/4YEX5uK3uqx5A74/m4a2OffFS52Gemm/fFth221TRa9uteR37Pzkc63bogWVHX69V/7btAFG3869Vq+audqjT0Pa3XYaaT97AF+ddh/pde7pe+oebckX+MCPHtmHJbWh4+I8Qgvf4eefn/93spHPRrG/Tf7s24KPAcy+msOQx4JcHZ3HqCaUryr73OjZPH4FU1+5oMU5vXkrVuvSpXA5WkeT/2KN+4CI5+BiW8qV33gv8bVkK/U8Hfv7T8rYv581r/1q0yHkxN2/OvfjIv0vG5u4FYR+bR5yJ7Nov0GLKTUjtvLvyOPwU/HBlCsJGu+yWxaWDy9e0efplyL73JlqMm4NUV3fbV+3X7xcAKz5K4RJxsvBVv7Iua3n7s6qX+y6nwyCIe0EMwG4Hm87LnTgXFIOtalti/YZNBdzCZrClwT0NoOhgojy8do+uGFylhDTYY1yTdNKaFLynn3BY/jANr4L3gks3+16I4l5Brw1/xm++vhZvt+qNW9tP1e6u3+u1G/R5QZ9vb0Wf73Ji7ck2v/VZW9PLO23+ECO+HISvmu2AadvfY7x+ExUOWXsZumx6Azduex1WtFR/6N/8+xZW8/X33oL6+2+1GJ6x6EJ8N3kYtrzzOlpP+gOa771//vea036LmjMGmuhyyToe/lMDHv1zBif8Oo2TjskJsmJ/W95ehu+uugTNu/VE68lzjfTJ2bbkEsa45QBm/mEL/rUii9HDmmPPPYq/hMmyznkyAgGAXCeFfQTVRrm+vvTXDG69uwG9f5bGgP6lbUDU8e2Y89Hw8YdoM/NWNNt1D1MIYJ+HjtedhsyXn+NHc+9DevuOxtowxWDTc0uxfv40tDjgF9h6zA9OML8dnXztFvzfqiyuHNMcbaeGz+D9D7Kom7sFP+mSwphLmpcdzua/PY/vZ433xUDFcZYowVvJm9bEZ/9bFi+1jCKJglecKifSrok/r4JXLGLZbHmvyU47plBb63epiO76fZ8dj+0+exkf9hqGz7qdpt2R1l99iF6PXoD61jvglVP/R/t60xfsuXu6bJXt7xqHmvdewldnTUX9Xod4av6zVVmsX1/aLn51+2FWvX857zmt+teuA9aubVpvKpVytUOdhga/lPNA3fbzR7CxeRvlS0cOy4mJhtdewIY5E6yXpJ/fNgMbrr4YDe++gdqJv0ezbvth032LsGnJbWjZ93y0PH2Acv1eCgqx+/iTWRzXJ2WJ3lJ/ss/NfnowakdN99JUk2ucbQfRhltHZ89twAcrgRFDm+EnLg5V5zy51e38PZ3KCeqMY0383Yicx/e/5zTDhlnj0PCPl1AzZByaH3qMbhOeyqvagKj8u365Z0Lrxc97aqvURfZ52OnuwvvBaEMlKtNhENT9GSaD5s3ScHpYn3k+i/seyuDwQ1I445TyzwETDJwe5lLznCgPr0FjDnTTmt2jK/qc1JAGMTbG8KpbZeaik4AN3/vKpdtw0YkVk483jJ30ptNfGY/h9btDuzEOekXLHtjjv2ejCdOg46Rt5q0aw+o3frXYHfXPd9JYdFcKe++VwcCzs00O4FC/C72XVD5wQQhVGavvMW92sRiKoKH8AAAgAElEQVRe0XN7erZOfw3/8AlVG7DEul/bLzFVRU8ai+nmxSDuBYHFbou7PXYF8PorSAfEoNiaqGMHQTEoZh4UvMVvmsAEb7VtWmOWBsUHqNzI4/PUobzgCWhxUxyNUjETAt+tIdOi2qjgNTHnMRK8d9+fxt+Xp9Dv1Ax67V/a6x7EA67JRqEQhb60QU9pmDxupioleO1Cp/Ob4QteaQPieONDe5eJqwxg46Kch6hPnFO9DyzRH1D+Wfsx04d8cWugp+75FbxhPrMoeEMWvG4P6CT+zjy8CrMq0xT17oP0BWMULiheRIqJKE5Y0u10UB4eez9MP1CMCl4ToswpeJ1fCUy0oTixqh5OCl7/3k0Vwdtl0/LQD59QtQG/B2+UM8moBa8ygwAFb5gMiq2JcRD99PAqLtwAAvPwqnehOkqqBJtXw0lreWE2cDRw8NHeJz9EgeO9k0BQ6XicfZJpv5SPaXYZlFHB6zgVzRNPm+DdatIcdJxwhFVNPg1TiPag+qAPIh2VTIPUrm0WE0fnPIthvFDZ50zZw2vAu1lK8BakZ0uHf/iEqg0ggJSBci4KvP0/fQGZuZOAngchfckUT7eY7kXKDISNyhdUwwcuFIQUtHsxx8DgiXZ2JsXWRE8MPIb36MwPPbz08OrYi/GyFLw5pCZjTcN+0HsyipCEmGlvoknBa6RvNsGbHjMHu11TAYI3oM+4TsEZ5n0gk/3XtMpi2pUuKZIM2H4pwVsgdA76NpeDtXZrpOc97Ok21b1o1tw0Vq3+4YjnUtcbsf0SlYd90pizG1Pq0lj3tTuDIF/KCmLaDwjW0+9b8AYUy00Pr/rdSw+vOitfJSl48cMGG0MnjlXEARSaR+p6NjLDniQK3tIzoSp2TIeZyB6NvzqN+o0pXDE6g/Zts6F6eLUOGzBwDLiS4D0iXAZiHlS93KEJ3lNWITPmbGDbHZCuu8vzMqJzoSoDNB64kK3dCs3mPaLThGvZAnsMmEGxNVGKfnkvluxw4wmhQTCg4HU1k3wBCl51Vr5KUvAC8rO7qbhb3dO7fE2gx4uDfOAVdMmAN81en0nBa0T42Ty8zS+5GrvMOgkFDw/5+XznzkhPbjy1wuOcuV2m+qD3m6GgVD+aHC886izgqy98ZT1xG7P8XUfwmrB9VcEbdtYWZRuQXv6ANtfa+xGmp19H9AcZx+y0xyAZFFsTVe0gSAaJF7wyF++mtU2HGpejhVUX0GopR8ELZCZfCHy60lzaGMNezSBsMXPzTODlJ5H2G7Ps1jnDgi92grfRS7Qh1RrfnH0VOtwxskmsXpAPOzt+1YdcUP2RgndA/yz26ZYJbAd8MZOLi+BtInQCCh8pxkAnrMPIy16Ze7+o4DUcJ+uXAQx4+ksh+OrrFK6pS6OmJotpEzPIv/gEwICC1+0hFNDv4ihh8dfnRd8N0MPrG6FaBVUveBs/6Qhaxs57l2eThxi7pzbbP5QK+oFn749JgWVU8BrasCLHt+ac2VUteJ25P8O0sdeWpbD4gTQO2C+Ls04rH8Nr4mWvlIc3SsGrI/qD8vLL+75A8IYo+nUYmPD0l1t3w2LgXBOl2G63TRYTx5S/F4Jm4OSTmE1rwrv73InA/jOBXfrpPn6blKfg9Y1QrYKqF7wBveWH/SlTbbZtglcm3p+8ANi5i+7lWuVjK3gNbdaIg+CV3j0xMXOm5k77KvoXYMxelIJXJ9G+CSGuKnjDFBQ6Ys/kPVnMzgoOXrhvOPD+m0iPmQV0VT++W2uRaSyswyDouYlK8MaJAQWvmhUHKng31G/CpLpFePyZV9Fxh22xYOZIdNphO+u/2Y/hVetqZZeqdsGb9/b0Gwoc1dfYZAaR+slY50JOGWVCYMixG/PwSi+8z4NGRL+keHjruDnY9/ERkYQ0KD/kDMdU223SedpamLHscRG8zk/ZQYuqYvw775rFsEEuXm5DL3ul1qQCwfvqXODpB5E2vMYWa7vJiX9lFs2gD1yYMjONdd/kNnG2XZpjYCo9o31YzjVReS0Qa9cfJgZ6ClxiBa8YmAhpaNMZOOiPvh/NgQpeedzuMYcfiLob70H/vkeiyy6dIE4lu+/R53DV6AGorWnpexCVUEHVC96APJ2xPoAiwN3JxWw+loLXoPCTgnfFPuegyz/vaPJQC9qbJpgrP+QMjts5184+hCn2tASvFHs+4ilLeXgFk4JYahO5nhUfJMoMArQB2dWoTpxTZhDgoRNhM3AKXq3wnhDDTQSXxIQ0iMF8shh4ZyZw2ONAbSfFu7R4scAErzhaeNy0hRg99EzLq2sXvCs+WYW6+fdg+vhBaLdNG18DqJSLq1rwBin8QnioeLaxkPtm0tNnzMNrUIhUlOANKIRH2GI+drDx8IkwBW/BgQ/dgvduKgveEO81ZbEXQp/k0bp9Ds/g15kHkFk8H/B5iqXKeqfMQAhe6ewI6MCFgqwlq/+MzC11gTBwromeGIQQ2pYowVsuQ4MYaFyyNJQTvPTwFl9SEnvSWpDZFILYDKey4quUMSj2VJozKXxMCV6TfXITvGHEc6t6eE2Ou9jc272bQbdlb1/5ZClDMczlBK/MRzx1Yga1360OLQ+tstAxdIx6uXu/oC87Bnvwgr0fUmiffFwWh/YO/sWnHIOC4323Co6BL8EbcGhLokMaVB5+imUC8/CK9pcsfR6v/uMdjLukP25Y9KAV0tC+bRsMGXsdzjjhMPQ99lDFblZ+sWr28AYdZ5sJMQ+pjiWGKUSsfhk85KISBa/JkI5S86wqdoKeeyl4LbH3cXAPeScHZcFryLtZTvA2yUcckqhQZRC0DYi5iUrwqjKAoRcfZdG/x4fITB4MBJCP27kmKov+CJwyiQpp0HnoupQNVPCKtoU39/zLZhR047brx6JXz64GhxH/qqpa8Mq0VAF90gpD6HixMJMhBkrtGxIZ8pOYis269cvkhpXvh52F2vVf4Nu2XdDm6xVN8jmHYQdxEbwFgmNTeIJXnjJ30cAMunTOlp5+Q7boSfD6iBl2s2fxu6rYk/d/EBuoZD+bbGCMmegP48CFJllLAmLgFLyqdhAGg8R7eN+eAbwxrnCYPaYDe49VuWXzZQITvPaQBrFRzf7HkIbic5TIkAZ5IIKBXfqlLDuMB4vWXdVYOAwBVtAvg4dPmPLwmmSwduwItPvizfyQnemXTLbl18MbdF+iEryqh27A0Od8LcEb0sYgVaETtA0IGw3zpDH7PaF6vHYYYs+5eSyozasUvF6eggauEWL33VnAEU8B7fbLVSg2sr06ENj5NK3sDZEIXm5aqyLBa+jBV/a2CaMND/dt/mS5EPJiyu6ZWuyNCV6DG1bWTRiBbVZT8Iq5Ltis1CO8+FVVwWvqc345wRtVPuKCcJKa0l7uSASvDO8KeHOUrh2YOk6+2DLcRPRPuhD4bKXxfMTONVFZ9Mvn05GnIH3WRR6eJPqXJCakYcMq4OlfAZ1/29SbK4TwyluBI/+inL0hEsErY3uZlqzQkJPo4TX5SbvkbW/o86n+slL+ClPiU6dfpto0JngNfl5cP3kEaj6NVvCqZikIWuyE9RnXaXu6Qsfv53wtwXv3vFDy0KoyyBg6YbDc/Z8/5rjxaN2g7U72RZWBqRefcgzCOnXPuSbGiYGTT2IEb7mT1oSXd9kY4LBHfvD8ujwsjQte4b0dPGY2Vn++tmTT8hAKZ6iDzoO90sqqxEMmUvAayMXpOtcRbAqIa59MPfCMCF7DG1aaCF6HF8vU2MvNrfLn7IDFTlifce0sdI5SNTUXOoI3DHEleKgKHVMvn25rTcFJYyEccKB82qD9wIWBo4GDj3Ybiqff/706hdlz02jXmKbPxJHWxTriVfAG1Z9ysBIjeJPg4fVk1RV+UVUKXul53akz0lfdFOgMhpGSSmsAEXmdTQkNI4LXMIMmgnfR0wVTYmrsRgSvQc92sf408WqFkKlENSWb6K+puSgneJsk/jeYpaSUDUgGHTtkMfriMum4DL/slbPJsFPURWEHbmtvGAzsa2Les94qi2lXuqRlCym23M4oMYJXDOqVc4F/L413DK+bgVbb79UoeMM8Bc3UA9aYXRoWe6r9MpUZohIFbxgePmUPb8CCV3q1OnXMYtSwjDGBWc7OtISOoZMVywneJv0J4Z5TZhBCX+Rc1d2Qxuo1KYwclkGnv96G7CNNTyFUXT9UyikzEC8+ky8EPl2JdIgxxUGtA/Y10RODEPdyJErwCqOMe5YGlRunmspUo+ANJX630YjilqkhqEXX7Z4x1a4JwWuqL3LMbh5e0+0VYz2lLo11X6dwxegM2rctsWFJZssI+MtGwafsELxIWg95Q4Lfk+ANIAertAVlBiEK3oKXsK9fRGbuJGDP7khfPsdtufD0uzIDIXgN2YFbRwsOIQkoL7VnwRsSg8R6eN0mX+N34zG8Gm1XVdGqE7z2uNqA82JahhSzTA1hiK+iN5AhDnEUvN9NvxJbffByfthpR0hDGMyV4jdDEjtFYzcDjJV8/uU0Hno8hUMOyuCU48vk4DUodMoJXqeXWxhG0AJLmUGIO/PDTlGnmos6jPmQi0EYDOxrosx/3HnXLIYNivakuWLPgcR5eA2pxUAFb7kNbPvu1Rk3zhiOdtu0MTSUeFdTdYJXHqsboKehYMZDEhmqVhZZiIUhDiYEb/6EvWFXAfsfrIquZLm1t96Odi/ckfu9iF1Vm+CVn7LFIRCd3wz+U7ay0DHo4S4neIUZOF9Agha8qgzCsEV5o8ijda1jfn+yKnfEcu3WSM972Pc9V6wCVQZh5OAtKnh/1JimzzAD+5qozSDgrz3Oeap4wSuyMzxzFLDrmcDH9wCbSiRBaLltYWyvi8UHJng31G/CpLpFOPCn3dBj791x15KnMXrImaitaYk5C+7FIT/vXlWnrVWb4A09xCBmmRoiF7w+P+saEbyGP7PnY8IjErzKG1VC2DwlENi9WrESvIZeusQYtQVvQDlY5XNUVejkd+b3Gwoc1TcQ4VmqT3ER/WEKXme6wCAY+BK8YTl+Go2i4gVvQHdMYILXftKa6Hvd/Hswffwgy6PLk9aKz2aS0pJFcehCnDI15BfcMMI5HOZkYrE3IngNHjohhhi14FWNXQzLu1fg2fv+fmQWz0eQCf7lYReWJ7F3mc+4Br/uaAtewy9ZzpVaCqt+p2bQa/9oD50oJXjz62BAa4/qxs0ww8ycLyJBMPAkeEN6+U2ch1cOqFwe3rgePNG+bRtM/8NdGHdJf0vw8qS1hAveL9dYn9WytVuh2bxHAnpXa1ptZF7VIiM0ITq9gjPRthHBa3izRtSCVzVuLyzBW/CQ33E5MjNHBbpZSVXomBy/m+B19inonKeqDMJci2R6tr33ymDg2dnAM3aoMjBpB25rYRin7tnXxDgysDNKjIc37gdPSOj2kIa+xx5qhTHsulMHiP/Pk9YSLnjlW23Pg5C+ZIrbWmXs99DDKEr1PMT8w8W6kDHwWde34A0gxKRA8BY5pjPoB2zBcb5HlPHu3TwTePlJpAP+nF2wgWp3Ct4unbP5rwB+T3grdWurCh0TL52qC2NYJ43J/igzCOk+EP2SglduqAzihcOL4DWVJlLVFmS5qhC8Ij/vl3+Nx9HCzgkSIQ5Dxl6Ht95dCZ60pil4pYDcswew3Q5IbdcBqa49gG13ALbroHsvBF4+zPi1gsEYylDgG5DBGEYvfTGx2PsWvAEwsAveYoImaMGr/KAP+LO6tIkCoXP0B8hMHgz4jN0uZ2/K45dCx0DGCF0Pb/4zepEXIi/3kvOa8VPSqK93SUsXQrYIe7+aCN7GI5aDEv2SwdSJGdTWxCOsIwwGngRvSGuB004rXvCKY4NfHQg0bCh92zarBQ68Bdiln/KtHUoMr/MIYcbwagheKXbLTemePXLepJ27KE98kAUzhpLOa/cxAJGl3QdxQYgpiYp6eA14VuIoeCFjQwEUfZgHPP8yI0BcHvRNHvKGQ0ictqWUg9jgKWuifTfBK+OY8zG1IdnAnKkNpZeGxpAutN8e6Vl3e1pCdC7KH/nceLRu0C9+Sqn5DNuBGw/nvRAEA/uaGEcGdkZS8Mov7Y8/86r185QxA6yv7BXzVy6kwcMgIhG8jOFVFLw2sZsW3hLh0V37OTKffAh8tgLZTz9EasP6XGUiBUvdXcBWrT2YgcFLZEqikBb7gp4H8BndC5kgFludfpho36/g/f/tnQmYFcW1x89tthlABTSy+DQGNMEliATfU1FjJAGXLG7PKGpUEImARoEZAR0FEdAZwA0wiOASBWPivkSJ8fmiURNjXJK4vAgxmgBuoFEc1nvfV31vXfr2re6uqq7e7vzn+/LFYapr+VV19b9Pnzonkix7XMwQid0FIhQ70illY8wuxaNGsLXBBFjUn9GTeMgHCd6qqAkRrgHGWYpBxH0Q7QUV/Yr4oJQUg4St3BSBW52W4OUvoREdIPR6LnDBy1xJ7XU75hTiX9knjjmlTUXIcjJKRPDCh1dC8D55H+WXLbQL2mJ3yHDxRUzksc8m760qfs5snJes6E3YrSANkRqiPjgTKH4NzIEpwWv0s6pD8K49cy71+dYBlSgiFBrcX3bwgQUacXJ6As1XJJ+I+OGqLHQMPOSVBW+EL71lS+pOBWpq9FkDEa5Dr3u/Ym4ibJ8n++jdq0ANF6TnPqh6GYmAQSjB60qSE7iHhyzA+uqMlMW/sjsFcMgm4rt8xWFEmz6s9NVtXU305LeIdvkvokPukO6LccHrl2yC9wo+vN6Cd+vrL9PnDy4nermYUcpX7PJqnKL3wEPJuuBK6QVgumA52YAB/z2dvpnwX9Vp13lN4n0wsNmHFbyRiP4EBa9sOCqKUHCJ1uWMZovWf5qjiePz1PuOi4neeo2sxjlE/QeGXcZV1ysLXgMP+SDBK8p8FpWlO21h6ZwTxNeBnfJ6bXQHGGUZkMHkI7ILuWJ98vYN+rTzPVGZQQJfO1lfmRa7dPZimjllNHHBmzljIxe2fc8h2m9y5VJIa1gytw+v7AKupXKyiSc+OeWw8rA7j51KHY88VgrDtnf+Rp9NG0/0xQaqO/kcqjtllNR1pgt9evbRVPjic9px/i/I2rW36eoD62u97Xra9NgvEmXw73EnU/7DtYkx2PrXP9Hn0y+kdnvuRTs03xbILIoCn08bT1tff4W6XnEDtd9vkLEmfjNxMX3jvdvpw8seo70H7FhRLx93+30HUtdp8421ySq6ZPoW+ngd0eWN7WmP3XKedUfZB1GjzTdspf9bWaCG8e1pt7suiIQ5a/etvxWoZf5W+o8+OZp2SXvP8Rc2fEafnnMMUecu1O22J4zOgagy3q+v9stR44XFfv177EmU/+h92qH5Vmq3597G+iBqS1T5xnuW0MZf3hrrHuRcB1/bO0f8OdLtnmeNjd+5Dpy8RQ3EfR+wPpz7ky12V265voP9/7XIQEZHsLFzwevMf8D+PXOCNythyYzeZTVQmcxCZYt0Q/NkWyh2OOhwZaHANxmGy/RmLzMFtuhuPIesXXrSjgvvlbnEeJlNj95DrbffQB2/eQx1Hnep8fplKoxqo5Vpm5dJug+fNZ5N29552/g6ZA/2j95aQ6Mu+g9iD3bnT1QP2Y/WEU2evoXq64huvKb4MPX6iXv9zb9lK73y5wKNG9We9r4vesGbNqEjEqFRvWz97vd5unXZNhr49RyNP9db9LM9fMsfnyUVg4XKvS0qG5fg/fXTefr5/dvo29+06NQT23l2e/PTj9EXC2fFug/HxUD2xWfLH35LG+ZMpQ6DD6MujVeHnWL7ehkd4RS8sPBWYjfu0mBkVmuwEpmFaiLTWvmwkMFPObLTEclBJdnGeTkDn/NVm6woH/MJba++hv2sG9qlIaKIAb6hsfjcG177sgkn2FzEHXfTeWhr+Ge3UeGhn4kjWIRa1ETSn3EN339BLg2ifpXdqsZPJxo0JOTIt18unVY4gVBU7mgV+UkjiNZ9QFbznUZDV8oyMHFwVnXiqpKQGIhH7uwD3xPdMX+9+pkEA96XmvLhZa4Lf7myMgQZD1u2x8nJ+vAy4MxsvvD2B2lR88Sy7wgLRXb2RcW3nMyFxlC98wTl4xK8tg/h5efZm53RA0MSDMq+q4YfNBJNby8Ssw9lVd8MP/CVxu4oHDb5RCYFb0Qnw2UTTtiCN2axE5fg5aKfZ/PyXJeGIwQECV4eqaKurkCzmoqHqKISGrJir5xWfdqi2EJFxpFpjLGVZhBxLGDR+qsSvIbvRbfgHXZUno72SUAT1TqUeSbUXJQGUVzeA2ZX+/UGwInEwus+Ceg8Ldin5y50RctS+u/vHdmmQmPEJnjZhDvDN8W46ZatigZOZ8vc1F5lEo3UYPiBr8shrPAKJXgjFP1ByQ/CWrZlHqR+cxJF+37tOS2c4750a2QWXlmhY/ohHyR4GRv3YTrTfeD8+YvP8ccV6IhDvSMUxL0GREI07P3vteb44c2Rpxdo/319GBgWmzL7YJXoN5gAhbWvKnijmgMZFjUTh1dmsApljAteUaw3d6IJJJ4Qz5AJlwZeM/+0GmXmpYpR8KQAu/cla/rNCkvQfNEkN5qoHraqlMJmu0ur4A0SHVGIDdnoBOWT6TGeyq74pH/4nyjfPInoawPIumSe6pLxLZ8lwVt+4TfMIehlq7z3RuTO4zdB7rB5Ue1D0gxSIHhNM+B7YppFP18jmc+0FrR7scNsv/lOsdTQXxN1PzDoCvvvkQjeKbMWU8PYU8vuDG6LLxJPRC94na4Ndha275wotSB0C3GBHbcbhai/cftROvsQSTgujUkJu9mHErwRZpoLEl6mBa9Kwokogt0HTT2PDWt/0v/v5AWv6ZdNGQvv1Cst2rgpR+UMeBF9YZASewmE42JrJI5MY6wdKQZO16IYv/ZV7Q2G9yG+J0ozGPcDotYNZMXIoOYFL/PnfXVKcZhpSC3sFex4z917lVPaQfDGIHhZE3zjZ1nYpi8yenjBPYKy31pEMUCDHvwVfze80am0bfqBr9K2kMGhw8g6t1G5mjCCN6zY9uts3IJX9oCK/YJ54xVEb70qzgKnPAPyF5Qt0Ge+FJmFtyqFr0f3TK9/GcFbJUD4wVG27y14UB5kQMk58y1avaYY83i33gVx6YjEdtAgqg7v8S9uAw8h68IZQZdL/33qDIs2bnS8XHitgwSs3FWHSw3PhbLgTYBBzQpelnzio99tX20a/rvsYuMWXp67mfvoun9njTKXhrmL7qGbrr6Yuu+0g/TNluWCsfrwOkDxE8sUZUKKpA+KuReG4Y1OZd3lG0630z+bPh2t0ge7bEgGYQRvWHeKNAleqYQTbP2zeW/dQIX6ztSuZVms2Q654GUWzk5jh9r4LANJH5zzIG3VmnYe0buryDJ0dkBL8EZ0eFHKtSUioRl0//MMaN27FaipIR/6/vdqT4pBQpFqqkR/yD3QzYDviVKiv8TA3g8WPBQ0fcb/XhMuDdxtYfPHRT5M5PYZXnRl2GeS8oG1SAQvq9QZ3Pgvb66qEreZTG8XckkmJXjpo7W07YrzKNf6RWQZmJL4lOs7HVyAG7bwyCwB05/UZdoUlgm52YcSvBH67wVZeE0fWJzRYtH6T3JkZ7Dq5mHV4wcVmf/6qEtiO5nP590pRr9yVcKC17BVS0bwinwqTa8DxlpG7EX5dSNoLxBmGtu5J1ktdwVdKv13GQZhX7alO+MqWCV4DRti+J6YZgYcSeYFr5ePLv/3NAleBp2J2iXLH7P533bd5HJEBh6ezPlvugs8S9clJngdYXroaweQdclc49iitOjpdrb8wIvTfyohy4YXozDiO5Tg5Va+CNxbggSvyU/qPOSVvZ/N3Oa5FPPXTCy6MiSUTrutC17RmjC5DtjEy66F1AjeCKzc0v7sCVm5RSHqwuyBXhZeKcHLGRg+OCn7PKwZwdtpZ6Jv/w9RfZ/i0NMqeGUnpq2US1LwVhxgi+ChnOfO+YaDnIdZG6YfeFJ9CWlVlWpDoVCYzT6U4DVs5XMOOU7BK5VswfnpMmZXBqGF9/bRRO+tMv41x+k2UV/nYemO4MCWjIU3DsErtRaccZgTiEXuPrwX5v4XbTOyDFIl+g0m4GB74jv/3ERXtVjUfacCNTV6h2VLkgGbu8wLXqe4ZS4N/IDajv3T59Kg8ExuM0UTFbyMMv/savgTV7neFIQjcy6mRCI1pCQGL+dQTj6h4U+ZVsH74p9ytPxeiwYfWKARJ1c/cEy+6Mg84MvZBTUPB5rYAJ2h2g575iKit16LTPD6Wbqj+JQtI3h5SK7DD8nTCd8tinHTgkNmLbB2Ta4/1bURdeIFWQam2atwcFtfTc4H2xNffm0TLVhiUd89CzR+NASvytyEKpvWQ2uhBlXDFycueNlmXEq1aDJ0WDmNZwSW41DLIYFIDUlu9CJWYTZ7bcEbgZXPObagh26YMbsZBonrCoGTgEWP99dp4Rz2x4vbnOAVrQnT92LQuiu/ZPJDqxovmaH2O0HIMJP3AuubbMSSJDNuttxo0Zq12yNpmEwzrSJ4Tbarsy5qwsIrGrgzLNkOX610d5AAZTxKg0SbmS3i9Evmg3CmSWaH9Zqal9p/Om7owTS9YSTV13W0f0+D4K0IU8YOMnTuGm4uuM8qOxUep6+sTK8TcC9ISwze8sM3RKYhbcEbMfcg4WHyIR/kPmELXu6+keD6rxC8788nevJ+o6HRyr6RnQo06/J4rVoyFl7hmjDsRyqzFirWg+EoGTJbnvvwnumvXNIMIjy0GsTBbeU2+eLD9sRHVmymBx7NeX5hKu+9CTJgfahZwcsBpyXxRNCCzPLf/aJLuEOtucumQvA6PrmRiU+w3Ipqoi7TCyOiWJx+3TQptkzgCLPZawveiN06Uit4ExA4fI04LdGntTefXjiIOe9HmPXmtd5lBC8PydWnd4EmjS8JcsMvXtJiL0L/9aA9wd1H0/MhzSDBMx1RC3M1OxkAACAASURBVN57HtxEK56yaNhReTp6qIcvO3vOJhyesuYFb9DN4PF3WHgVwPkJXvY3Z3INtwBOi+BlYcryjWfYow4bK7Z8Uyf4OddXgMZsfSvzSOBzppBDCLcOXcFr+iHrHleQ+DIZMSQw2QJ334gxlbBonp1Mxn0pOcFrkj0fp4zgZWWrTs7zuTF0ZkFK7BkW2QqPJruoZ6YxQwYJLiZHnl6g/ff1tvSbPiynwqEq9bjBaAlsT5QWvAm++LQJC6/KonCUheBVAOd2aeDuDDy5xsHf2Lcim9ylsxfTzCmj7RTLqRG87O1z2QL7s2eoMGUpedinyeKa5EYv5BDiAawreE1/RlUVvCYFd2CyhRB8FbadwKIVLwHfeIby868gMphhK+glg3cwii8c2oLXcFguKbGX8HqoOrxnuD+B9wNbCKXYt0klXKgS/QYZsD3x2p9uor++YZGv6Dcc/zdwAxAUgIVXTA2CV2c1sdzl/1hNYxrn0uwpo2n//n3pipalxLPLsSrZ33UF74bWzZq9krzsi89o84QRlGvdQO2nzKNc/4GSF24vtu3mqyn/uxVkDTuR2p0+Xvn6OC7gfWw3YhxZw0+KtskP19KWSSOoUN+FOv704Wjbkqy98OYrtHX2BMr1H0Dtp1wneVWxWJf6jqSzDrfOvogKb76mva6COvn2qhzdeDNRv68U6MIx1aW33Xcb5R+8g6wf/IjanXh2UHW+f79hEdHKv+fogvOI9upb/fkyDN9QHXNd/M81RC3X52i33kQNw1/WnnOvPj39bI7uf4ToPwcV6PRTvHsexdx3aN/ObnDLVu84yOzvl1yRo42biK6eVqD6umIft5x1lP3/HW56kKhzuIyeQWuBtVN46VnaesPllDvwUGp/0VUmp1iqLve9YXp9SjEIsedIDTKg0GO/JnriNzkaPrRAx36HiEr7cm6XntR+7vJQTbA9cfZ1m333BHsdRMhg2zZvy7pzcBC84qmG4HUlyXBjch5Kc/+NuzEcc9TBtuA1ZeHdGrC5h7prSxdv/uVS2nzf7WR9uR91nl08aKfys+Hc46jwxefU5fqfU+5LvVQuja3sll/9kjb97EbqcPRJ1OlHF0ba7rbXX6bWqy6idvscQPVNN0Talkrln4/4pl2867L/VbmM2rdvRzrrsHXGhbTtjVep/rLrqN2+Byq1KVP4vdVEM+fmqUd3olmXWVWX8HXd8cSzqOPJI2Wq9Cxz1dw8/XM10aUTLdq9FPfcWThNc/7jicUH4U1XbqANo79Luc5dqcstj4YaP7/44Sfy9OgKouOGEX1veDVzXq68Jyx+hHJdwglMXqdl5ez/zOe9/SXZ3+cuyNPfVhFNON+ir+5VvNrkWhTV74Zrcu3pTNz/vU0076Y87d2XaOK44jzp3v+i9vka++lc7zWQ9D3x/ItEt9+dpwH7EY0daZYB2xOvuX5L1Tpzs4qSwRcbt0gtDQheMSYIXqnlIy7k9NvNjA+vYyh5HpRbNaSYM5Xq9JtDEIz4UoOfswJ7ypkY/JQc2KZEAV03C22XBn5gJcKoBX6Zjky6NARmVIr4gJ7E9JaLOPuqO+de7Un5rxp2IeB9kXVpEH1uN+liIZNi2uTaU5l7Xpa7njgP75lcC4H3QwTxj1U5iNxvTEVSYXviuT8pCk6/eNTl2NzfPoGsEeNUh2CkPAQvBG+ohbT+08/osd+8QKefyL6TVLssZCVKQwUE/sCu71LMty4Zpqx8OEtVKIeaAY2LuS8VG9+CBzUqkL8k6YedV091k09oC94YDmt4PXifeMqiLz17Kw1852dkItZ00AM+TXNeIXhL8bYtQ6mdpQRvRH6LsoLXHZKL3Q8m/cmD1oLd3g1NRK88T1aCh3irEi9wo4aBg7QyDJK+J4SC11CIMFXBa2IPkn8CVZaE4IXg1V079nX8YNqjv3mhXM9t102mgwb2L/+e+ji8AgLcCiJ7c5bfXhM+mS47mdvGfZ9yrV+EjkgR1F4UJ9SD2pT5u66VS0vw8gggEa8N0YOXx4od9tmtNOzzO0ILXpnYs0k/3J3z77RwfuUXZpNPSB1WiuhriqzgFYlyk/MjI/Z07zWZ+1i2TFSZxqQPLnLRn5AxZN0nuWLq324FamoouvmYmpf27erowsnBFt40xGOH4IXgld0zIimXpigNFQPkDypmBZ2+iGgXH39cJmiuGEPUusF46tJIoBvc7IL6Z2pTDWpH9e+6m6+W4I1I9LjHLBIf/IG8/8Zn6ez1TURfG0DWJfNUcZXLyzzgTQoq7Y6WLnSK0r6v3UaFh8xYuVn1WRW85bTnIcNy8Ti/vXsVqOECn3Bc084jencVWQasqbrroUrwGrI6y9wPJsWl7vjZdVUMSlGJZI06Xm2vWdOJWuZvDUwrnIZnAQQvBG+Yeyj0takVvEwUljJy0R59yRp5CdEe/YTjzd94OdHLzxkNeRQabEAF/LNm2M0uqJ+pi8Fb6rCuKNMSvIazW3kx9xO8/Ta/Qud/fHEsgtfkJ/Og9RX09wpRuvJeyi9fSGTIh1BK8IaI+ew3NlkLb1VILlapoRcwabEXgzuP0jroWyDd+9/djjSDBFMr8z679wdTDKQFbwpefCB4IXiD9opI/55mwWvHTmR+Tu+tImKWXmYZc4vekr+vHV+RHVTzswRHSlKx8piywZk8HKI4Qv/imkJER/CaerAEjV8keLngMSV4//K6RUvvyvlac9JgyeGsKgLu9/gT5ZsnhRb9vO458y1avSZHE8fnabfe4mgJUc29rOAVCjIueNmL/DT9w7XSYq+GBa+UH3dEBxeD9gP332c0W7T+0xxd1pCnHt0KZMrSv3JVJ1qwZCvtt0+eRp3hk2UtBesAgheCV/W+MVo+1YKXjdQtes+9xH5gsh/bWvS7FfZ/Wwn5ZmlPhiErj2/7Jd/VpIKt+/ZNc/xZELwzm/JUX1d88PAHsinBK/OAT5Pgrejv3m9TftoYIkNZxqT8VyPy3QwleA0JMKH12H3T8UQ8u/clK8HINVXWeM373z08mfuBJ52wnxMJptqOisH/PNOBHn48H5xWGIJX+3Ed9YUISxY14VL9qRe8btHr4mKLORZiZcjwmIgZaiai0+MVvTP0UDE04spqNPumI3jjEoCiT+zcwgnBm6ejhxbI5BcHKcFr6CS8+x6QFbzcz9YZkst+WTcgPqTEnuZ9ZvqejyrTWJYYeArekJZ+KcHL10HCLz6w8MLCa3pvUaovE4K3NCLbN/G9lURvvVb8F3YA6LRxnr69SiASKFyON9x8ZzSuGDH5rmqh0xT8WRO8/CEXq+BNga8eXxMv/ilHy++1aPCBBRpxcp5MrfnyqfedCtTU6HNgK6L4y7KCl3EQCXPdsHzOe01K7KUkDndVX3nklJChGaX8uFMi+nmIutNOytNBg4pfgEy8+PzywQ703B/y5Ky3ak9OCQMIXgheLb1g6qIsCV5TY05LPWXLY0TxMaPyXzTFT2ez1xK8EYkeNwfRw7dK8Ia05sg84HW4mppTdz1uP1NT1vak/VdDC14DlmeZtZCWPUAkzk2sUxkGpHlewPQ9ERWDny5tT/+3skDjRuWpnyDVuD2OmM6MBDGD4IXgDVojkf4dgjdSvL6VR/0wStNpfRGIsrVPIVySluA18PlYZpWIHr5TZ1i0cWOO6joV6Kp3jrKrCeNHKPOANyEkZMYrU6ZK8JZCMVmnjSX6zokyVQjLyBzeK0dDiOAzrorgnXqlRRs35cjp260bls8JQ2YtRL3HyE6g6AWlHIs8RPZDfnDRT+ylhYFQ8PJkLAp7oJu5jOBNCwMIXghe2T0jknIQvJFglas04s+NpqxpcoNRL6XTP2XBG1PSCTZ6kQDhn7P77lmgsc+3PcHr9mE19eCV+pwf4WdcFcErWhcmOMgI3qi/Isne9VFlGpPy4y6Ft0z6YDM/ZMjdexg7nT3QzfzSq9pRayttj/4gmJS0GD8geCF4ZfeMSMpB8EaCVa5SQ+GJvBrLp8iXU2jh1ThBryx4IxQ97jG5BQjPisbKmRK8/AHvtBa6+5EmCy/rW4Uo4X7lIRNwyAjecvZFQ3F/nZzDCl4Tn9mlxJ4B1wm5zcy/VKKCN80MDIjxLK0DCF4IXhP7iXYdELza6IxcGKU4ibJuE4PXsXIpC94YD+65Ba/zIV9fX6BznhpqYwvj0hD4cItR4MuugYo+G+qfjHVTZ33JjklF8PLDSiNPL9D++5YO2BngELgWmAUxBQkXOFPTiRecL5TzZm7znLryi3/jHKL+A2Wn2Hg5keg3sUal1kFKRD8ELwSv8RtLpUIIXhVa5svq+LFK9aIUBSGVMXhLA9CxwKkKXhMPFCneRMRDkA07qhiCy/mA26tvgYbd1bYFL7dKm3gRkxG8Jj4Xe829iuAVWqNDCl4u9phv+KzLfaJUxOS/LnOPmBa8SR9clBmzs4woRJ3OHuiskzMITC+dknUAwQvBq3rfGC0PwWsUp3JleUM55asaDvlAVR6IzgUafUyz4HULG6fPXo/u4QUvf2D6Ptw0mOpMnco1bnFq4rASPwzo69rBXXoisOyFFryaYfk496yJPdbvKktkyDMMNcEg5P2aNQYQvBC8Ks8O42UheI0jVaowMgtkjJ/ylQbsLKyx2asK3iitfO5xuwWv83dW9vBl36f6wgayNOMuSz3cNJhqz5/khW7Ba2JOpD7jRmjVUhG8XhnRwli6ldZCBFEqJKe+oljLjRatWZvbHj4r5FpNOlKHDoOqdRuSgdQ6SEm2PcYLgheCV+e+MXYNBK8xlHoVGTrE4248MiGtN0rxVRpWriwJXqeLAwPQ7xcTqN/mV8nStDjKPNzCfiI1Ob28rirBq3FY0dkvbunu7pd0ImKXHhXB6zVvYZJw8IQe++2Tp1FnFJMYVP2EFFOm10KVGwoXYpqxqWUOLpZD04U8JGmKRVWIOr4HaibgyBoDCF4IXlP3klY9ELxa2MxdxDf9nXuS1XKXsXrTEoYmaECqVi5lwRtT0gk2TvfDx/mAZ3/PN4cTvF6WQifjNL7ouH2bw/ZRRvhHLXSMCN4QB4mkhA53GTh0GFnnNgbdipH/XeR3rXr/OzsJBtV7jnASQ7qOmFwYELwQvCbXk3JdELzKyIxfEGbT9+qMic/GxgcqqFD10J6y4I3ws7Z7OFELXpkHfFgxGcWcV/U7pBBzpysW9jlilx4VwSs6rGS/AIXw38/iWuAvPscfV6AjDi0etAuz97lfpETrIG33g1D0TxpBtO4DLVcnEVM3hzQxgOCF4I3iGSNdJwSvNKrICuZ5th3NT92ijqU9Bi/vs6owVxK8MSadEFl4+cGqyxrytH5deAtvFkWOiEtY62saOKgIXsZA5HMcRogs+6VFf3w5R6edlKeDBoldGsLUH8Vm55tpTGPvk4rUYSiznykevM/OEHWqe6CzLzIM0rQOIHgheE3dS1r1QPBqYTN6UdnSM6qBaMhwI3WHsZwY6YBkJapjVxK8Mfsw8kM03K/SKXLYZ/iwLg0yIieM1VByypSLVfmbhvRb5ByclkJ3p8qpe0OmMPYabNKCV0bohBFSypMscYFQ8IZw66g5BuOnEw0aIkFye5GsMYDgheBVWuCmC0PwmiaqXp/xN/CID+yoj9D7CtWxKwnemH3XnL6lo84s0KUzLHvgLCj+uk9y9PHkcD68WXu48VkXZtkK4WqSBg6qgrfqsBKDE+LAahoYqO4D7hdCdn35xUTjZX/OfItWr8nRxPF52q232MqdBdGvugc6uc9osWj9J9lhAMELwau6bxgtD8FrFKdeZaYtkabr0xuV1FWqUQVUBG+YB4lU512FnMLumKEFWrDEslMKjx9d9Ff8w7gWGtz6BFmaVscsihw2bqHgDeHGw4XOuFF56tfXQ+jwDGOaIeCC5l9V8ArnLsR96nSX6dEtGQZBjNx/N51pTCk03fwHiDp3Ve2y8fIiK3eYfSprDCB4IXiN31QqFULwqtCKqCz3NTUVqeHX91F++UKilJzO9qWm+NBXEbw8UkXu+2dS7vizIpq87dUGCd7HL7yDhn1+B+n2h1tzmE+wp8gJ8Yk4KkDlMGLdCtTUUDqsFKKfSg/5pU9GMiwjgpff9xohqdLAQBWsMLoG36u+fQJZI8YpVVkzDEIcsMwaAwheCF6lm9x0YQhe00T16iv73BqwRISxGOj1PsRVUQreEKJKZ0TOB/qA/YgeeDRHgw8s0IiTiyIvrOCVerjxMGwRWTZ1uLBrTKaVDeTAQ/312JWsOct0u+x7nargXXJnjv76hkXOw0qsAV1f+0AGIeqOBBgRldMh1xVoVlMpHbLi/c/7JpVaOYZ1oMpKKPo1GTA3qataLNq5O9Glk7aJu5KipBOsgxC8ELyq94zR8hC8RnFqV2bS18xkXdoDkr1QMfmEkoU3QcG7V98CrXjKomFH5enoocVPzk9efAcd9ekdtPXYM6njyeoW5yyKHL4MvAQvKVr2pGLwhvCNlV22qoLXK7KETprlrKaYFr346EbskFoHmkJSdg3olBP2WzMWO6/rq/1y9OORW8XdSRkDCF4IXp37xtg1ELzGUIaqyOSp8nxKrXxegFSsXEqClx+MMmA1l5lc58OMHaJ55vlKwfv7pjvooH/dQesPP5N2PkdN8HJrTl2nAs26vGQdE3RKhaXMmEyVqTq0pfkglhE6cXzhMCV4dV5OZRjoCklT8+1VT9VLm+ILL69XikEIV4EoOYheXHXuWynBG8JlJAoGELwQvFGsK+k6IXilUUVaUPXwlmdnNB8gkQ4uoHKVFKtagjciP073sLgo7d6tQN27Ea16J0fOg1VhBK/UAz6Fn7E5I8+0sop+69xSevgheTrhux6HtWKIvaoqeL2y5EUmeEMm94hqP5jRbNH6TyujCuiIPVHEB3ef43jx0eHkK3gVXs75mvr2Ny06dtgWYVfSxgCCF4JX554xdg0ErzGU4SrStHhVNWqqnnCjUbpa5aEvLXgT8t/jDzMWnSF2wRtzog2VSTaVVlYm6YTKelIZg7OsquD1emHRESQyol+nXl0WKteZyjQmtQ5KLz66h0RVxqVSVih4NdyvOIPvHW3Rtw4XC17VOOcq49ApC8ELwauzboxdA8FrDGW4ikKc2K5oOEsRGkodV0mWIC14ExL+/GFWV1egjRtz5Iyo8Og1z9Exb11OG/cYQJ2nzVNaLzIWrbR+xmYDNSV0vA5/OWHGkWUwDYLX6R+eFeumcB2EEHt+DOJ48VG6iUuFTTPwFbwabHXGJHsNBC8Er+xaiaQcBG8kWLUq1TnA4m6Ih+LSjfWq1fGQF6lYo6QFb8xJJzgCLnj57yzpBP/5w7JXafCTE2n9rgNo56vVBK+MRSvNgtdUli2pWMQhklrILmVVwSsKzWa3pbFOZdZCWsWeKEueygsvn5/7H8nZPvK+2famnUf07iqyNNIWy64DnXJCwavhhrO9nvbUr+8mYVfSdp4DgheCV+eeMXYNBK8xlKErMvGQMlFH6IEoVhCF4FWpU7G7vsUheMV4hIL3lmai51YoJeIIjEVc+lJSqO9M7RY8ZHJqK+pSFbzsYmGUDY0vEVKiP2WWPQ7PVOIFKQYxvPjoLDBR33X2K15Pw/j21Lu3h+BNGQMIXghenXvG2DUQvMZQhq7IRKKE8hu9wuGH0B0PW4HCQ1/WwmuCpc6wnILXmWWN1RW5hTelp9LZ2E0JncDQbAprSWd++TXGBK9GSCopsRdxpjlddqbWgRSDlIk9t3W6wh1DwxWNZxz0FLwp9OmH4IXg1d07jFwHwWsEo5lKNDa9ioZjsm6ZGayjFgWRIi14E7JwRSV4+afg007K00GDxNEJdKxExufSo0KhD7JivFyp0GwxRSfQEbw8NJs7U55qlAIudCaOzxMLfyf6Ua0zrnXw4p9ytPxeqyIhCymuA9bXQEu/wp4S19j9rNw67kh8r7nl+g4kfI6nkAEELwRv3PdbRXsQvInir2w87AYV9vqkUPBQahIpVtMueLmoYSidWdbY728+/Cp99f6J9EGPAdRrjpoPr4xFK82C10SGKZnQbHEx0BG8XnOoKk4DrdwpDk9nYh2weymQQYr3QqEPNu/vHn3Jmnaz1E4cKHhjevmT6mypEAQvBK/KejFeFoLXOFL9CkPG0DUWy1d/BNpXyj70pQVvzEkn+MC5qGG/u0+Qr/6fV6nXzybS6h0H0H9cVxK8b71KtHNPol16+bKrScGrKMxkIlWUE7iMaiAaMlx7PQZdaFTwKn6NyLLYEwpe/uldISZzEIO4XnyC1ono717rWHYPZHU6UyvPb+4otPCmkQEELwSvzj1j7BoIXmMojVRUjtTQfGegCHI3aDJbm5HBKFQim3xCWfDGlHRCJHjdJ8jZw/4rVw21i1pLnyTuZ0xfG0DWJf4WXxnBm+YIHc6kHE0N2zPFlR/yEj7naYpOoCN4eUg1t1uKykFTp9DxzLiXYutm4DqQuF9lUiunUezxPcLrS4WK4HXWMfViseBN4/MAgheCV0EWmC8KwWueaZgaVR5+VYJX0VIUpp+mr5Udt5TgTSjpBGPCwyWx/3ZmWWO/Vwne0nxxAezHdOoMy47rO7MpT/V1Hn6bKZ//sAH3pQRvTGm1dQSvV/9VXlRk3Doo7FkA0ze3q76wmcZkGJT3k/HTiQYNiXhEatV7Ct4rziN6bxVZ0xYR7dHPt1IpwZvC/QCCF4JX7W4xXBqC1zDQkNWFsUyoWAhCdtP45bKxOKUEb4IWLn4ohwFyi1Nmmep9qcPCWxJnMoI36BMuq0P2pcH45ElWKBQ6NzQRvfI8WRIuCFJW7phO5psUvCr3vIzYU6lPcuqMFgv74uOVptnZyTTfC2UrfV2BZjU5vnYoCFTn4b8fn+1h4eWROiQEtNEJ9qlMRfC2btxMV7QspUd/80K5xtuum0wHDexf/v3FV96ksy+62v796/v0pZuuvpi677SD/bv7+hmNI+nEY4+Ia6hK7eQKhYLYjKFUDQoHEYDgDSIU8981AtHbPUzQqmmCkOxDWkrw6jI0MBD2MFu9mmjdJySMplB+KWm+k/KNZ5RbDAqOXwuClx/oc74IyM47AxUoePk9sHtfsqbLHfzRnXIdwcuFmvswo4pFVhjlwDWIuPyYddnNaLZo/aeVWQhVBKqUpT8hH35ZJmFf/pwMTvlBJ6EPbxoNICqCd/2nn9Gtd/+Kzj/reKqv60hM3E6ZvZgWNU+kfl/uQyv/sZounb2YZk4Zbf9+32O/pRdeep2mN4y0y89bdI89HRPGnEKsrvMnX0sTx5xSIZhl5yvqchC8URMu1Q/BGxNo2WY0TuvaVWuE9pHtUhzlZIWPjOCVrSuOcbnbKD+EGudQvnmSlOAt+z3uVKCmxu0Woaq6FSxESYxdKFgVTpJzkeDp1hGjZV9H8HpaZxX6LSX2MrgOVNw6ZEL0pVHsOe85keBV2bcCBW/pAHTUCVhU9xEVweuu2y1amcB95721tqBlP04B3KPbDjRl1mJqGHuqLYbZj1MAq/Y76vIQvFEThuCNibB6Mzqbtcpmqd6jGK6QfOjLCN6kkk7IUOJzm/v+mVR46GflS9jvuePPElYh8xmbXaizbmT6bKqMUPBKzjvrQ6CVm/uufvsEskaMM9VtYT1hBG+f3gWaNN7x4qLwkisleLkfs8RBwEgheVQeNtNYmiz9uvy4ldsZS1llD+cMRp5eoEP/U+DSoHBf6Y5B57owgtdt0XULWKcg7tF9xwrrL+ur2wKs0/+oroHgjYqsq14VC++mzVtj6lXbbmbT1FGUf3cldbr0WrL2OVAKxuZ5U2nbn56jjmMmU7vDj5a6Jk2F8m+8TJtmXkxW/wOo02XXe3aNCY2gdbjpqp9Q/s1XlfjFxWLdmcdRfWEDtRt0qD1fuZ13pcLHH1D7E86iDiedI+zG31YSXffTAu31FaKLx+Y8u9p6xpH23+rvfDqu4Si1c+3CAr39d6KLfpyjvUtncgofrqWNF59KuV16Ut11P/es75+riWZfW6DdehNNnSBmsOXeW2nr/bf7slTqsE/h9u0s+69bt3lb3EWXj2soeuotaKkcg+zccYZjzrJowP4Cr78Nn1HrmO+leh0sui1Pr/01R2f+MEcHDy5S2vbM47R50dXU7rDh1PHHU3ynqWlWntatz9GVUy3auXs1A9m9xNRa0KlHdC+o9Nt5/f77VO+J+T8+S5uuu8zeZzpOmKXTRaVrgvZkXpmu4OX+uAd/Y9+yHy4TvHvu3qv8u1vwtiy8m2ZPHV326YXgVZrS2iwMwZu+ed3ysxtp6xP3UvvhJ1GHMy+Q6uDGi35IhY/ep7qZt1Duy3tJXZOqQqUHda5zV6q7+ZGaFbx/+/FP6D8+f7U8PjbHbK79hP5rf8nRotvzNGC/Ao05uyi0RD+yoimpeX9kRYF+9WuiY75D9N1h2wWfTL9lRH/5Reeiq8gafFikw9QVvJOaCtS6kWjOlTmqr9/eRRkGrLRIKDkHqiKaIgXkU7loHaj02+ulgTe57fFf0uY75yvtn3GzCCt4J11eoNZWskV/n57tqowAcb78MXaqgpeJ1SXLHxNidx8u42K31649yu4L7EJYeONetTXQnorglSlbA0iSHwL3x5XNupPVlMIu0jKf5KVcGmI6qa+zUP550QTq8+/Xypeyw2q2L69PLF6Zz9isQhl+On02dY1nWC6JA0aeB74cnVM5+BR2TDouDaxNz2xrkiGpAsPTKfhEh2Wge32YTGMycYhVXAN0xxD2Ou6HXBGrWyHjpNO9R7QnptWtS9XC6yV2GX/48IZdhW3wehkRyxepTNk2iDCSISsloEgwKoHJwcuMuaYEb49dyZo8rxitwSfLlJTg5T57MUQo0J1zT8ErcchKhoFKEgvdMfDrdAWv14ErWbEe5MecBbHn9fIi88Im489eDnEoEeou7DrQvT7w5c8nAYc78YZQ8ErcU7p9D3OdqD1JnwAAIABJREFUiuAVuTE420aUhjAz0UavlRGxELzxLw6VLDlZ2OBlCMo89AMFb4yhqWTG5C5TYeEtWXWDHvQyYo9SekjFOX7PlKr84eyTJEBoEXPBDeKoM19e1+gKXk+hc0sz0XMrfOMRc7HXu1eBGi4Q+w6nOeECZxkm0xhfQ333LND40QEMGucQ9R9octqN1eW1DmRe+t38hIJ32nlE766ioHCHxgYkWZGK4GWCdkzjXFrz/scVtY867diyawPi8EqCR7EiAQjelK4EBattPqbsUlGTknlYBwrelAu/12bdQfu/fYeNkkdmCBJqgafSWWUpHzfropfQkbFKBjKIefy6gtdL9MswkLJuplToVFjmVuVowRKL3KI1L+HWIfPyl4X9kMdT3m+fPI06Y/vBO5mXfnfiDaHgTalbl4rgjfp5k6b6EaVBMBtunxVehJ9O/PMbq+x/cmcjYdc1NS+1/3bc0IPLgZkheNO05F194f5cRGT5hRfKwKdsWcoyD/0gwcvroBhCU8mOy1nujQX309deWmD/k1WyaOYnjSBa9wFZzXcS7dKrqtpAsVcjgtdvzubMt2j1mhw5wzhVgIo5DrWu4A0S/X4MpMReSoWOc674J3l3eDYZsVcrDDyt3BKuCG4GELw6O3G6roHgdcyH02zvNOezIm4/F7dfC7t27qJ7yin33CcbYeFN18J39qb8APDxRUu7wFOha0LwqriCqPTNVNknf7WBej50DX1pF6JeUxqJOncNTAksJXhjjEGry6KcQKNbgZoaBHFofQ7upc13VVfwMnbCsUhYqO9/JEfPPG/RsKPydPRQQUiy0uFVYr7hc5bpTlMs1+lmGgu8FzLCwOtekNkDnTF49983T1WCV2ItxTLJgkZg4RWTh+AVcBFZeJnAdcabcwtgd6w6twCG4E3q1pdol4uYQ4eRdW6j8II8/4Tp4/8o0VI6ikhY6YIsvDJWoiQHK7JQBfU58GQ+Eck8KJMcN2/bV+x5RCXhJ/NZHfNmbhPfB8sWED15f9lNJOqxhhG8ohTLMi4pgWIvxULHPR+6mcbAoDrSBwRv1Hd79PVD8EoKXreAtR8KpRzSLAf1FS1LyRms2W0BhuCNfjFrt8CtFfVdyFrwYHU1TrcHn1O92u3HfaHEAztQ8KY8y5Tb/44hDhKrQdZNmTrinkqv9rzG4ufHLOW7KvEp2CSDMIJXKNokQlIFuXVk6WtPy40WrVmbo3Gj8tSvb8laLfGCH5heOgNh2fg6FGVbI4mzG24G7j0xaD8xeR+o1gULLyy80mtGZOFlgvcXDz9d4ZfrFrz//b0j6aCB/e12wgjeLVvF1hXpAaCgMoHWySPtrGv1l11H1r6VWde2/vZx2vTT2dRu0BCqmxR9Nh3lzitewLJuffGTHxJLPtH5lkeFV3do34681mFhw2f0xejv2td1Wfa/iq3HU/xvbxPNuylPe/clmjCumERi8y+X0pb7bqcOJ55FHU8eWdWR8ycWP//fNNc76URQHfGMLriVCZfm7cQLV13WriJL1oZzjyX6YgN1XvwI5brsUFGRiJm7pdYpIyn/j5VUP3sJWTEkXrGsYuKMfF7gWhCA4fblBXrhjwX60akWHXLQ9sIbRnzTd+0GrYNNd9xAWx+/13MdBc9OfCXmLcjT31YRTTjfor1LeXLyr79MrVddRO32OYDqmm4QdiaIQVbuAzY4Uwzce2ISDFo3bpFaPBC8YkxtwsLr9M11Y3AfLmN/9xK8Th9d+0aKyML7RetmqUWNQuYIbL1rPuVX3EfWsBOp/enjKyreevPVlP/dCmo/YhxZw08y12iCNW0+6yi79Y63PyXsRef6juS1DgtvvkJbZk+gXP8B1GHKdQmOwrvpt1fl6Iabifp9pUA/GVMsl3/2Cdq6+Bqyhgyj9udNrrj44/U5mn4NUY9uBZpW+afKtXDdZZR/+TlqP/oSsg4bnsqxs05dv4ho5d9zdOF5RHtxyx4RbZl9ERXefI06TJlHOVcoqcd+TcRcQZjf6rHfEQ8taN2YBsJEBvvRMQJ4jWfLhFPtNNMd5iyj3JcqDy/ydVDXiah5ulhk+zE0Pf6w9YkYsBfeLewAZ31X6vjTh6qa+Ocaoubrc9SnF9Hki8QMsrQn+jFgqbY7zF1exYDvH04G7j2Rr4P2F15J1jeizTjIOyibYhuCtw0LXtVNAz68qsRqoDyPK+tOTMD/nZ329zjdn8XRB8Wh9HVpkPgkmjQT4ed5H1cOmc/5tmiO+ZO+LkfPTGM3NBG98nw5coWz/sCT+QlkGgzj0hAYj1gQP1ZmHeQbTif6+P1M7Aci1x57Hftk3ZNikJH7gI01kIHATU3EwL0npnkvgOCF4JV+dogEL6I0SOPLbEEetoqGDCNrVPHwWv6aiURvvUppDb+lCztos/YTvGn2XeM8IHgtWvVOjkaeXiB2wpz/+M3dkjtz9Nc3rKpryhdL+H7rrkev68IIXs+QVD6in8dtHXxggUac7JFwIQMhyXzvg4AXN6n00lz0T1tEtEc/09NutD7PdeATj5i//B1+SJ5O+G7Ryl0leCVSdRsdiEJlELwQvIHLReT64Iy1izi8gQizXeDdlbTtmosp1/pF8RR61x0ov2whFeo7U7uWZXZoq1r5CUo+4Sd4g8RyGhjxiAN1dQWa1VQSLj6HD72sge6xZGHsrM+e1lqfsGqBJ/MlDvqYnvswgpf1RTVKQaCVO2PxuHlYror7gAneUrQN67SxRN85sWLaAhk4LcQZOMTryUDxa4en4E0hAwheCF7Te7FSfYjSoIQrucI8ZJejB6KHQnIdNNNykJXWV/BmxLojjEHqYZ2Tecgz8ln5nO05Hh8rLQ/LdllD3vZldv8ErRkzK7OylrCCVxSaTMbKfdpJeTpokMB/le8PAw8h68IZUQzZeJ3CiB0+bkk8vbQng9KLo20IWFDtA2x8AAYqVH3xEb38VeyJKU+tDsELwWvgttGvAoJXn13sV3JLFgssP/zkKgtI7P2JoMEg8eIreDPySVf0kPPyXZYWvBkZu+d4+INaEIs3KCxbOdmIT4IW00s1rOAVWq194lAHWbmD7hvT4zdRnzA0mc+LTxADmVjGJvptsg4hA591wEPTOcO5VeyJCbj3qPCA4IXgVVkvxstC8BpHigrDEAhIPuEpeFNu2XAiEVp4PQ7b1Jrg5S4affcs0PjRlb6ooli85YxUOxWoqdHDdzWBg0phBa/QWilh5Z7ZlKf6umoLbxKiP8xtzq4V+mb7uPfMaLFo/Sc+6aUTcG2JhIHXQWUPVxjnnpj2WMwQvBC8Ye+ZUNdD8IbCh4tNE+APfY+sW56CN0OfdHnAeecnei8f3ECrVom/X+IG01MUpj6/k/YiK7fUyXyebCTGaCVhBa/wRYYnmnFHZPFKR+yYiKz4cDvXjtfLnNfXjiBLfxat3F4MRPezV8ZB557IfaDtsx7HnxXmVo3kWgheCN5IFpZspRC8sqRQLi4CfuLNS/Bm6WEnErFeh3WkBG+GfBf9BKxItMkc2ktC7IcVvJ6hyQSuKZxZ714FarggIELD/Acyc4iVR57Yb588jTpju9VatA7Khz07FWjW5R4MfA57xbV3qbbjyYBHanCEqPO6dyoEbwJfO1TGDMELwauyXoyXheA1jhQVhiSQF2z2vEovwZvnD7sY/Th1hykSsV6CPfAzLutEyv32nJy8TqazMqI5DHTp4J9/mV/7nGW6U6J8XVjB6yVetKzcGXrhcYL2DMtVitTgtFJKWfozFIeYc/BkcEsz0XMryHLsZ17uQBWCN8UhydiYIXgheJU3W5MXQPCapIm6TBAo+yMKQhN5Ct6UWzacXIRWW4+wXEGfce16MyR4WXe9xiQS/YEn8xMae1jB68VBZN0MFP0JMQh7r3t9oifui3voMLLOLcYd9/P9tgv4+P6G7WeU13sxEN0LXuugvCcmkIBFlQ0ELwSv6poxWh6C1yhOVGaCgE9oIk/Bm5EoBQwPP6zjPGktEq0yB7ZqSfCSYN4DXTp84veaWIpedZgQvKLQZCIfzPsfydEzz1s07Ki8nV656icDGQa9OIoYlO8Fhx9/rYp+xsWXwdcGkHXJPBuf1zoo74kZePGB4IXgjXJfDqwbgjcQEQrETcDn4JpQ8GbAsuFEKHx4Cx5WVf597PP98oVEnbuQdcGV26sMiGwR9/QFtccf8FVxdQUMuDXYKzpBUr7bJgSvUMwLIg0EiX6/LyJBc5H03z1TTbteYIMs/WmPTuDHWciAH2Cs70LWggfty71Y8T0xqXtBZQ1B8ELwqqwX42UheI0jRYUGCHgdRBIK3gxYNgIFL/8k63jAVVl0uBgiIsuROjULDzrn+D0FnCscU9nf1++gEndlGT+daNAQAytPrgoTgpeLuOOPK9ARh5YOYgmEDo+9OnF8nnbrLQhJNu08ondXkeU44CQ3iuRLeQlZnk6dr3NR/Fln77Pkw++m7snA5Y/rtQ74npgFBhC8ELyJ7joQvIniR+MeBLzCLIkEb9asO7KhiNzCkH/uZsic4iargnfk6QXaf1/vWLxSB5US8t02IXhlw3IF+XEnEaXC1MbleS+4XmQCGXDR73gRNNXHqOsJZFB6kfFiUBa8GWAAwQvBG/X95Fs/BG+i+NG4l+AVnNRmRUWC1yukV1rhBgreUmgp9+d8/hLAxuU8wZ41wevnj1m27DXfSY+/2ptWPGXR4Yfk6YTvCnxXWWSHhE6lmxC8XgexnJa6f/U9mubOt6i7V+KNjH3dcN+TXgyca3rVgLNpwRKLpMKyLX0yrbe9Z7881wGP1HDaWFp30El0VYt4HZQFbwbOMUDwQvAmeoNC8CaKH417EfDImiQUvAlZ+XQnzzMGq2Mc/9rpQFvoOB/yXNxlXfD6ZltzMFj2l0H0x5dzVPHJ3wU9KeumCcHrFaLN+cXi9YEX0NK7ciTKTMdQZO3rhvue4Vb8Pr0LNGm8w9rvSCTz7OCZ9MCjORp8YIFGnCyIwctF/+59yZp+s+5tmdh1ngwcBzL91oG9J/7xBco3TyJKOQMIXgjexG401jAEb6L40bgXAY/0mkLBm5CVT3fyPGNvOsTeb9cNqnzIcx680YGHkHXhDPu3rGXZ8gxHxcbiiD86//VjaNU7OaqIZuGEnmA6aROClw2FZ92r8M91HNp8cPBi3wgNWfDbDLpPhJ/qHff/3f+13P/FJ8NRKjgbIQOH9X7F4Gvtrx2iSB32nvjEg5Rf0kLk2BeCuCfxdwheCN4k1l25TQjeRPGjcR8Cos/VVYI3g9adwGDzp42lZZ+eXPmQL1m8C/WdKdf6BZEjXFHWBC+b8pYbLVqzNkduP17np+yJL460V4dXhIYk4w+bErzCg2sOV42FhzzlK/rzPNlCBn1X+a0vSrVtv8iVXmTnDXqKVq/xfvHJcpQKXwaOg6wLBz5srwOR3zvbEz+5eS7Rk/dXuDql8eECwQvBm+i6hOBNFD8a9xO8AlcFt+DN4iddz8NYDjeOedbMiod8+cDawEOIXnmeaOeeZLXclUkLL+s09+Ot8s8tMdg8eBhN/dcUqvOJ0JCk77IpwRuUWvamna+llR0H0ryZ26rvlIyF4/O61T1Dk5UyLvoyyOAXDhEHLwY8896sLy2nde17CV/+bMHbNJborddSH6kDgheCN1HRA8GbKH407id4BQfX3II3z08mxxyWKszElRNKdCtQU4PDJ5GHpCKipp4PUau1Q1noOK24tq8ei9RQOqCTRQvvv9bkioex3AxKFvvNPfvRVOsWT99V2wJYWh+WICNfmPmRudaU4PXy4+VjW9H1R/Tnvc+mhgsEvqsZi7/sxdUroQJ31/h5t0von18ZLmbgPLiYwQNrnIkng9JLPxP9X+xxgJCBLXjPGk7UuoGs5juJdukls4QTKQPBC8GbyMLjjULwJoofjfsRcBxc4f6qFYI3o+lE2ZC9Qgxx8coe8h/vM5zGjy4KHeen623XXGy7NVilaA5JRSoIu3i9ElDw8TDRP3hIF+8IDQkeVjQleBlDoR9vydL9106H0tvHzRAySNLCHXbundf/9jlLeCiNj4+J/nVHnC0+sMZ9fXvsStacZSa7FWtdXgycLz5eDHbIbaFPzzmGmLtTuwUPxdpv1cYgeCF4VdeM0fIQvEZxojKTBARB+CsEb4YtXJ5xRT2EjjMagduim1SkgrBTzVMsu6MwOEX/bicP356UwdVgftwPErNqmRS8fgkoWnNd6e8TH6qKV2y/BCWUdCPsvLuv5y4+Xtb+lR0PoDU/ula8DjyiuZjuY9T1eX7xKB3I+2P9cMqNaqSDBlWH56t//Q+0Yc7UCr/+qPurWz8ELwSv7toxch0ErxGMqCQiAtyHjX+qcwpebv1wxqSNqBvGq/UUvA6r9V9+dBcNOLInkcuS7RY6WRW83H+1rq5Aky4oUI9upYd5ScSs7tCPctNuFmYXswVfgnFHTQpeLz/eDef+gOrzG+jfl91F3fr2rFqDWbXsi24mbu2viFZReuFd164nfTplGfXrK8gy5xGv2/gNG0OFQkt/yYLNGGy6cpnwXujwy0W06bFfpP7AGkMIwQvBG8Ot5N0EBG+i+NF4AAF32KUKwZvhlKp+maPevPBy+urnz9G/jxtH3U46gdzRCNyfspMUfmEXMD+sw+Kwjju3QPV1BWIWv14zv0/1hQ0VKZQr2ko44YJJwSvy42UWv3VXNtF+m54ja1QD0ZDhlahr5FM+HxT3YXUeYmTh6/LjSuvAwze17OqTwbTK7nuHM3DGG2Zro9NEfwZ0yRmU/3Ct970S9iY1eD0ELwSvweWkXhUErzozXBEjAf7J8msHkHXJ3O2Z1jJ+Qt3rVDZ7wD0w4zk6e30T0R59yZp2M5HLl7lC8PY/oBhw3hGmLMbZCd0UEzXzF+fsEGX9vsJEb56Yq8Nev19Ah2+4j+jQYWSd21jdTsKfsk0KXjY4t3WP+XR+cfdtNOzzO4i+fQJZI8ZVMkh4/KEn3lWB6JM+s3zXLW47ol/04sMYFJY00+DWJ8TrIGP7IAQvBK/pvUOpPgheJVwoHDeBLz6nbQ0jioe0GufQjoMPLiZLyfgD30vw8s/bMz/8LnXaWjx1XXj2CSo89LPtnyz52JkYPGxYpgUvW07sQT/nhhxt3JQjZullMVd7bF1LUz88jai+C1mXzCPao1/Fykv6wJZpwev242W/r//9q3T+xxdvf/FxEEgyQkVUWwAX/TzRyIwWi/Za8wT98JNriEovvM62y6H6RC8EUXUy4nrd8akX3GJR6/+tpAkfja4IRVjuRsaSbkDwQvBGfAv5Vw/Bmyh+NC5DwGHl7TZjAf37g4+KUQtYGJ4MhSNzDtVL8HLh09B1NvX82wpiIbfy/3ib6Lnif9N3Tqx0cfjBjzIveBkXZuFbsLgoetkP+7T9g7XX2OMuW7qdgu+GJjsesfBzv8yaClnGtOB1+vEePZTskG3sZ86ab9n/zyNy8G6Xw/HVwKd8PibnJ/3/GlSgBUss6t313zThn6cVX3hdbg21kHTDvQx5tIb99snTkYeSzYDFop7x6amUW/9B1X6XtbCMELwQvCG33nCXQ/CG44er4yGQnzSCaN0H1PWKG+jz3/2PnVUoq5/xGTEvwTt1hkUbN+boqq8vpboVP7M/Y9J7KyuDyjtSz1pDjqb88oXen/7jmR4jrTBL7/p1xarsA0rssN7l59nz7v6sn3TsYdOCl3/OZmNn0QrWf5Iriv5Vl1UL+4x9xpZdHM5P+j26k23pZ6l0h/299OLjtORyN5+MhyNzsxGtA8Zg+Ge32V95Klx8HHG7eUxuWdZJlYPgheBNau3Z7ULwJoofjcsS4FZeR3krw+lUuTXLGZKr7Me4U4Gavv+nouV2j75EH75fFX6LH1RjESoq3B1keWalHD+cxaycDmtm0gf1TAteNh3cysv+m1n1mhoLVP/S45Rf0lLxObucXdDLvzkrcyvoJ38RrGDwwduUnzamMrvgLc229T+LEVqCpofvDRUMPl9D+cYzii4+LMNi565lt64Ogw+jbWOnBVWbir9D8ELwJroQIXgTxY/GFQjkS6lG2SVZf9Dx1LrMenP00GK4JXfweS7qOCKnFYdbvJmVm6UUzToPv2VQFnjcjzMFFs4oBC9jwCJUPP0c2Z+zeRguPtfcfaMcf7iG3Bn4/LNDjP/7u+JvX9+XymG4ygyYC9MuvYoCmL0EpTyzmML2Vi7KGKxezXzbifr0djDgcZdZ1I4Dh5TdujqPnUobBx+l01Ts10DwQvDGvuicDULwJoofjSsScKcWVrw8NcVFgpdbt0aeXrATDfDP9nand+9L1vSby/2v+JvL+pmaQZrqiPPgIvNj7tylaPUceAjxDHymmpKtJyrBK2yff93YuSdZx/+oOHbXepDtd2bL8cNZ9V2KQ2jdII5akNkBSnTc+ZVr555EH79vu3V1m7FQ6kutRAuRF4HgheCNfJH5NQDBmyh+NK5IoFYErzvZALPqXDqjeFBpZlPejkdbtmyyf3SFHav4W60LXjZ+7rPJBM8eexG99er2Q3yKa8hE8VgFL0uyUfJhZ5+07cOaoti8JgaW1jqYP/eNl9tfM+yfBF92kkTE45KzPtiphFuW0Y677gLBm+SkGGg7VygUqtOqGKgYVVQSgODFisgSgVoRvDydKgvDNWl8nv7yukVL78pR714FarggX5wSfjiN/bc79JLLp9l9ij9Lcyrb1yqr9vwHir6MCfzELXjLYfjYWJl1l4VqS2jsCeDe3uS7K4nee9v+pN8mx89IfLSW6OXniA481HbvyNKeCAuv+O6B4I1pV4HgjQk0mjFCIEube9CAnelU//AS0TPPW/apdO7Ty64vH85yH9BzHOZi5bJySjuIie/fP1pL2644zw5R5ZmQIlQD8hfHLnhZ1373BFF9V6JBQ+Q7ipI1TyBLeyIELwRvojckBG+i+NG4IoEsbe5BQ3PGHV35d7JDUU0cny8f1LGvZxatzl1sS477h4th+9PmgoeCmquNvzNfzn+8TdYI5subjHWXgUxE8NbGDGIUhglkaU+E4IXgNbz81aqD4FXjhdLJEsjS5h5Eiochq6sr2LF3u7NwZI0ld4agi5n1l0etyGhaYYkhprYIBG9qp6bNdSxLeyIELwRvojcoBG+i+NG4IoEsbe4yQ+OpRFnZ007K00GD5I8ulA+w1GA8Vhl2SZaB4E2SPtp2EsjSngjBC8Gb6N0LwZsofjSuSCBLm7vM0Hi0hsEHFmjEyfLWXbtudniF/Y+5OwhcHmTaRxk9AhC8etxwlXkCWdoTIXgheM3fAQo1QvAqwELRxAlkaXNPHBY6EBkBCN7I0KJiRQJZ2hMheCF4FZe32eIQvGZ5orZoCWRpc4+WBGpPkgAEb5L00baTQJb2RAheCN5E714I3kTxo3FFAlna3BWHhuIZIgDBm6HJqvGuZmlPhOCF4E30doTgTRQ/GlckkKXNXXFoKJ4hAhC8GZqsGu9qlvZECF4I3kRvRwjeRPGjcUUCWdrcFYeG4hkiAMGbocmq8a5maU+E4IXgTfR2hOBNFD8aVySQpc1dcWgoniECELwZmqwa72qW9kQIXgjeRG9HCN5E8aNxRQJZ2twVh4biGSIAwZuhyarxrmZpT4TgheBN9HaE4E0UPxpXJJClzV1xaCieIQIQvBmarBrvapb2RAheCN5Eb0cI3kTxo3FFAlna3BWHhuIZIgDBm6HJqvGuZmlPhOCF4E30doTgTRQ/GlckkKXNXXFoKJ4hAhC8GZqsGu9qlvZEXcHbunEzXdGy1J7J6Q0jqb6uo/3fL77yJp190dX2f399n75009UXU/eddrB/59c8+psX7N9nNI6kE489IpWrIVcoFOSTyqdyCNnoFARvNuYJvSwSyNLmjjmrXQIQvLU7t1kbWZb2RB3B6xSuxw09uCx4V/5jNV06ezHNnDKa+n25D9332G/phZdeL/993qJ77KmcMOYUWv/pZ3T+5Gtp4phT6KCB/VM3xRC8MU0JBG9MoNGMEQJZ2tyNDBiVpJIABG8qp6VNdipLe6KO4GXCdc/de9lz6xS0TOC+895aW9CyH6cA7tFtB5oyazE1jD3VFsPsxymA07ZQIHhjmhEI3phAoxkjBLK0uRsZMCpJJQEI3lROS5vsVJb2RFXB6xSpfhZcNvFOK26P7jtWWH/Z393Xp2mxQPDGNBsqgnfT5q0x9QrNgICYABMaWIdYHUkTaN/OsruwdVs+6a6g/TZOIA17ouyerCJ43RZckeBlll/ul+sWvC0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", - "image/svg+xml": [ - "00.050.10.15−50k050ksource2_p_invsource2_q_invsource2_v_mag_invsource2_freqsource2_θTime in SecondsState values" - ], - "text/html": [ - "\n", - " \n", - "\n" - ], - "text/plain": [ - "data: [\n", - " \"scatter with fields mode, name, type, x, and y\",\n", - " \"scatter with fields mode, name, type, x, and y\",\n", - " \"scatter with fields mode, name, type, x, and y\",\n", - " \"scatter with fields mode, name, type, x, and y\",\n", - " \"scatter with fields mode, name, type, x, and y\"\n", - "]\n", - "\n", - "layout: \"layout with fields height, legend, margin, plot_bgcolor, template, width, xaxis, yaxis, and yaxis2\"\n", - "\n" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "RenderHookResults(hook = hook, \n", - " states_to_plot = [], \n", - " actions_to_plot = [], \n", - " v_mag_inv = [2], # Scaled L₂ norm in αβγ coordinates [V]\n", - " power_p_inv = [2], # Real power [Watts]\n", - " power_q_inv = [2], # Imaginary power [VAi]\n", - " angles = [2], # Relative angle [degrees]\n", - " freq = [2], # Angular velocity [Hz]\n", - " )" - ] - }, - { - "attachments": {}, - "cell_type": "markdown", - "metadata": {}, - "source": [ - "_______________________________________________________________________________\n", - "### Analysis\n", - "\n", - "- The plot shows the instantaneous 3-phase real and imaginary power delivered by the inverter. \n", - "- At 0.06 s the real and imaginary power set points take effect.\n", - "- After the transients have died away the inverter settles down to the specified power set points.\n", - "- The inverter's phase-locked loop frequency and angle are indicators of the control stability.\n", - "- The stability of the inverter decreases with the short-circuit power (i.e., fault level).\n", - "\n", - "_______________________________________________________________________________\n", - "### References\n", - "\n", - "- D. Weber, S. Heid, H. Bode, J. H. Lange, E. Hüllermeier and O. Wallscheid, \"Safe Bayesian Optimization for Data-Driven Power Electronics Control Design in Microgrids: From Simulations to Real-World Experiments,\" in IEEE Access, vol. 9, pp. 35654-35669, 2021, doi: 10.1109/ACCESS.2021.3062144." - ] - } - ], - "metadata": { - "@webio": { - "lastCommId": "21db56943fa34ca68e24e4d920cbd404", - "lastKernelId": "d8eb21b3-f772-4fce-8739-947f621cc8e0" - }, - "kernelspec": { - "display_name": "Julia 1.8.5", - "language": "julia", - "name": "julia-1.8" - }, - "language_info": { - "file_extension": ".jl", - "mimetype": "application/julia", - "name": "julia", - "version": "1.8.5" - }, - "vscode": { - "interpreter": { - "hash": "77fa586337b96eece9c55e46754526368717afeb3fb3c8ebd1dc061a7e168173" - } - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/examples/notebooks/1_Auxiliaries_OU_process.ipynb b/examples/notebooks/Auxiliaries_OU_process.ipynb similarity index 99% rename from examples/notebooks/1_Auxiliaries_OU_process.ipynb rename to examples/notebooks/Auxiliaries_OU_process.ipynb index 6f472ba2..5fd0a47e 100644 --- a/examples/notebooks/1_Auxiliaries_OU_process.ipynb +++ b/examples/notebooks/Auxiliaries_OU_process.ipynb @@ -7,16 +7,11 @@ "source": [ "# Ornstein–Uhlenbeck process\n", "\n", - "| | Auxiliary | Description |\n", - "| --- | --- | --- |\n", - "| 1 | __\"Ornstein–Uhlenbeck\"__ | __Randomise the electrical network's dynamics__ |\n", - "\n", - "\n", "## Summary\n", "\n", "- In practicality an energy network is always in flux. \n", - "- The stochastic nature of the the loads and renewable generation can be simulated with ElectricGrid.jl. \n", - "- This notebooks will show you how to add stochastic reference signals via Ornstein–Uhlenbeck processes.\n", + "- The stochastic nature of the loads and renewable generation can be simulated with ElectricGrid.jl. \n", + "- This notebook will show you how to add stochastic reference signals via Ornstein–Uhlenbeck processes.\n", "\n", "The Ornstein-Uhlenbeck process is described by the following stochastic differential equation (SDE):\n", "$$\n", @@ -45,7 +40,7 @@ "The following grid example is configured with\n", "- Two inverters, a load, and two cables.\n", "- The one inverter is placed in the familiar PQ mode, while the other is in VSG mode.\n", - "- The active and reactive power set points are confired as Ornstein–Uhlenbeck processes.\n", + "- The active and reactive power set points are configured as Ornstein–Uhlenbeck processes.\n", "- The simulation is run for multiple episodes.\n" ] }, @@ -9051,8 +9046,8 @@ " episode = 2,\n", " states_to_plot = [], \n", " actions_to_plot = [], \n", - " power_p_inv = [2], # Real power [Watts]\n", - " power_q_inv = [2], # Imaginary power [VAi]\n", + " power_p_inv = [2], # Real power [W]\n", + " power_q_inv = [2], # Imaginary power [VA]\n", " )" ] }, diff --git a/examples/notebooks/1_Classical_Controllers_Swing.ipynb b/examples/notebooks/Classical_Controllers_1_Swing.ipynb similarity index 99% rename from examples/notebooks/1_Classical_Controllers_Swing.ipynb rename to examples/notebooks/Classical_Controllers_1_Swing.ipynb index be7e6484..ff3a154f 100644 --- a/examples/notebooks/1_Classical_Controllers_Swing.ipynb +++ b/examples/notebooks/Classical_Controllers_1_Swing.ipynb @@ -43,7 +43,7 @@ "_______________________________________________________________________________\n", "### Network Configuration \n", "\n", - "- We specify the control mode of the source as \"Swing\", often referred to as an infinite bus. \n", + "- We specify the control mode of the source as \"swing\", often referred to as an infinite bus. \n", "- This is open-loop control of the source, where the output voltage magnitude, relative angle, and frequency at the source terminals are fixed." ] }, @@ -18126,8 +18126,8 @@ "RenderHookResults(hook = hook, \n", " states_to_plot = [], \n", " actions_to_plot = [], \n", - " power_p_inv = [1], # Real power [Watts]\n", - " power_q_inv = [1], # Imaginary power [VAi]\n", + " power_p_inv = [1], # Real power [W]\n", + " power_q_inv = [1], # Imaginary power [VA]\n", " v_mag_inv = [1], # Scaled L₂ norm in αβγ coordinates [V]\n", " i_mag_inv = [1], # Scaled L₂ norm in αβγ coordinates [A]\n", " angles = [1], # Relative angle [degrees]\n", @@ -18143,7 +18143,7 @@ "_______________________________________________________________________________\n", "### Analysis\n", "\n", - "- The plot shows the instantaneous 3-phase real [W] and imaginary [VAi] power delivered by the source. \n", + "- The plot shows the instantaneous 3-phase real [W] and imaginary [VA] power delivered by the source. \n", "- The frequency is a constant 60 Hz.\n", "- The relative positive phase sequence angle at the terminals of the source is 20 degrees.\n", "- The voltage at the source terminals ramps up to a magnitude of 1.05*230 V over a period of 0.04 s." diff --git a/examples/notebooks/Classical_Controllers_2_PQ.ipynb b/examples/notebooks/Classical_Controllers_2_PQ.ipynb new file mode 100644 index 00000000..c2887d8a --- /dev/null +++ b/examples/notebooks/Classical_Controllers_2_PQ.ipynb @@ -0,0 +1,210 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# PQ Mode - Controllable Source and Load\n", + "\n", + "| | Mode | Description |\n", + "| --- | --- | --- |\n", + "| 1 | \"Swing\" | Ideal voltage source without dynamics (i.e., an infinite bus) |\n", + "| 2 | __\"PQ\"__ | __Grid following controllable source/load (real and imaginary power)__ |\n", + "| 3 | \"Droop\" | Simple grid forming with power balancing through a droop mechanism |\n", + "| 4 | \"Synchronverter\" or \"VSG\"| Grid forming control mimicking a generator, i.e., virtual synchronous generator |\n", + "\n", + "- The control structure of power electronic inverters can be divided into cascading levels. \n", + "- The lowest of these employed in the package is an \"inner\" current control loop, on top of which all other levels are built.\n", + "\n", + "## Summary\n", + "\n", + "- The following example is intended to introduce you to the control mode which will enable the inverter to act like a controllable source or load.\n", + "- The mode takes as input the active power (P, W) and the reactive power (Q, VA) as set points.\n", + "- Most solar photovoltaic resources, wind power plants and variable loads can be represented by this mode.\n", + "- An inverter in this control mode must be placed in a network with other \"grid-forming\" sources (e.g., swing, droop, or VSG) as it is \"grid following\".\n", + "\n", + "### Theory\n", + "\n", + "An inverter in the PQ mode is effectively controlled as a current supply, only ever regulating the current exchanged with the grid. This current control loop operates in the direct-quadrature-zero (DQ0) frame, and employs over voltage and current limitations to simulate the protection of the switches (not depicted). This limitations cause non-linear saturation effects when the inverter is pushed to extreme. \n", + "\n", + "\n", + "![](figures/current_control.jpg)\n", + "\n", + "The main disadvantage of an inverter in this mode is that the output voltage is maintained by the external network, which means that the inverter needs to synchronize to the network by making use of a phase-locked-loop (PLL). The PLL extracts the angle (and frequency) of the positive phase sequence voltage measured after the first filter inductor. \n", + "\n", + "A possible disadvantage to the PQ mode is that the inverter may continue injecting currents into the grid when there is a network fault, leading to excessively high voltages. By the same token, when the network voltage is low, the inverter will continue drawing the same amount of power, further deteriorating the voltage profile. Other modes, such as the \"Droop\" and in particular the \"VSG\" mode can alleviate some of these issues, providing control structures which regulate both the grid frequency and voltage. \n", + "\n", + "![](figures/PQ_mode.jpg)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "metadata": {}, + "outputs": [], + "source": [ + "using ElectricGrid;" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "_______________________________________________________________________________\n", + "### Network and Control Configuration \n", + "\n", + "The following example network structure is considered:\n", + "- The PQ-controlled inverter is connected to an external network represented by a source in \"Swing\" mode.\n", + "- The \"strength\" of this external network is quantifiable by its _fault_ _level_.\n", + "- The effective impedance of the external network can be computed from the short-circuit power, the X/R ratio, and the nominal rms voltage.\n", + "- Setting I_kp and I_ki (the PI gains) is optional.\n", + "- If not provided they will be automatically determined via a loop-shaping method.\n", + "- The kp's and ki's for all PI controllers are equal.\n", + "\n", + "With this configuration, a time domain simulation is conducted below." + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "┌ Info: Normalization is done based on the defined parameter limits.\n", + "└ @ ElectricGrid c:\\Users\\SeptimusBoshoff\\OneDrive - Power System Dynamics\\Documents\\Doctor of Philosophy\\Paderborn Projects\\Repos\\dare\\src\\electric_grid_env.jl:331\n", + "┌ Info: Time simulation run time: 0.16 [s] ~> 1601 steps\n", + "└ @ ElectricGrid c:\\Users\\SeptimusBoshoff\\OneDrive - Power System Dynamics\\Documents\\Doctor of Philosophy\\Paderborn Projects\\Repos\\dare\\src\\electric_grid_env.jl:332\n" + ] + } + ], + "source": [ + "# total run time, seconds\n", + "t_end = 0.16 \n", + "\n", + "# Connectivity Matrix\n", + "CM = [ 0. 1.\n", + " -1. 0.] \n", + "\n", + "R, L = FaultLevel(300e3, 0.5, 230) # short-circuit power [VA], X/R ratio, nominal rms voltage [V]\n", + "\n", + "parameters = Dict{Any, Any}(\n", + " \"source\" => Any[\n", + " Dict{Any, Any}(\"pwr\" => 300e3, \n", + " \"mode\" => \"Swing\", \n", + " \"R1\" => R, # Equivalent external network resistance [Ω]\n", + " \"L1\" => L) # Equivalent external network inductance [H] \n", + " Dict{Any, Any}(\"pwr\" => 100e3, # Rated apparent power [VA]\n", + " \"mode\" => \"PQ\", # Controller mode\n", + " \"p_set\" => 50e3, # Real power set point (generating) [W] \n", + " \"q_set\" => -40e3, # Imaginary power set point (inductive) [VAi] \n", + " \"I_kp\" => 0.01, # Current proportional gain [V/A] (**optional**)\n", + " \"I_ki\" => 5.0) # Current integral gain [V/A⋅s] (**optional**)\n", + " ],\n", + " \"cable\" => Any[\n", + " Dict{Any, Any}(\"R\" => 0.1, \n", + " \"L\" => 0.25e-3, \n", + " \"C\" => 0.1e-4),\n", + " ],\n", + " \"grid\" => Dict{Any, Any}(\"process_start\" => 0.06) # Time to wait before accepting p_set and q_set [s]\n", + " );\n", + "\n", + "env = ElectricGridEnv(CM = CM, parameters = parameters, t_end = t_end, verbosity = 2);\n", + "\n", + "agents = SetupAgents(env);\n", + "\n", + "hook = Simulate(agents, env);" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "_______________________________________________________________________________\n", + "### Low-Level Rendering" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "RenderHookResults(hook = hook, \n", + " states_to_plot = [\"source2_i_L1_a\"], # Inductor current [A]\n", + " actions_to_plot = [\"source2_u_a\"], # Inverter voltage [V]\n", + " )" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "_______________________________________________________________________________\n", + "### High-Level Rendering" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "RenderHookResults(hook = hook, \n", + " states_to_plot = [], \n", + " actions_to_plot = [], \n", + " v_mag_inv = [2], # Scaled L₂ norm in αβγ coordinates [V]\n", + " power_p_inv = [2], # Real power [W]\n", + " power_q_inv = [2], # Imaginary power [VA]\n", + " angles = [2], # Relative angle [degrees]\n", + " freq = [2], # Angular velocity [Hz]\n", + " )" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "_______________________________________________________________________________\n", + "### Analysis\n", + "\n", + "- The plot shows the instantaneous 3-phase real and imaginary power delivered by the inverter. \n", + "- At 0.06 s the real and imaginary power set points take effect.\n", + "- After the transients have died away the inverter settles down to the specified power set points.\n", + "- The inverter's phase-locked loop frequency and angle are indicators of the control stability.\n", + "- The stability of the inverter decreases with the short-circuit power (i.e., fault level).\n", + "\n", + "_______________________________________________________________________________\n", + "### References\n", + "\n", + "- D. Weber, S. Heid, H. Bode, J. H. Lange, E. Hüllermeier and O. Wallscheid, \"Safe Bayesian Optimization for Data-Driven Power Electronics Control Design in Microgrids: From Simulations to Real-World Experiments,\" in IEEE Access, vol. 9, pp. 35654-35669, 2021, doi: 10.1109/ACCESS.2021.3062144." + ] + } + ], + "metadata": { + "@webio": { + "lastCommId": "21db56943fa34ca68e24e4d920cbd404", + "lastKernelId": "d8eb21b3-f772-4fce-8739-947f621cc8e0" + }, + "kernelspec": { + "display_name": "Julia 1.8.5", + "language": "julia", + "name": "julia-1.8" + }, + "language_info": { + "file_extension": ".jl", + "mimetype": "application/julia", + "name": "julia", + "version": "1.9.2" + }, + "vscode": { + "interpreter": { + "hash": "77fa586337b96eece9c55e46754526368717afeb3fb3c8ebd1dc061a7e168173" + } + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/examples/notebooks/3_Classical_Controllers_Droop.ipynb b/examples/notebooks/Classical_Controllers_3_Droop.ipynb similarity index 99% rename from examples/notebooks/3_Classical_Controllers_Droop.ipynb rename to examples/notebooks/Classical_Controllers_3_Droop.ipynb index 17d18a15..e900426e 100644 --- a/examples/notebooks/3_Classical_Controllers_Droop.ipynb +++ b/examples/notebooks/Classical_Controllers_3_Droop.ipynb @@ -16,7 +16,7 @@ "\n", "- The control structure of power electronic inverters can be divided into cascading levels. \n", "- The second level above the current control loop is a voltage control loop.\n", - "- A third level on top of the voltage control is called \"Droop\".\n", + "- A third level on top of the voltage control is called \"droop\".\n", "\n", "## Summary\n", "\n", @@ -38,10 +38,10 @@ "\n", "![](figures/Droop_control.jpg)\n", "\n", - "If the user does not specify $D_p$ and $D_q$, then they are automatically tuned based on the converter power rating and the network's maximum allowable frequency and voltage deviations, i.e., $Δfmax$ and $ΔEmax$. The formulas that are implemented to calculate the droop coefficients are as follows,\n", + "If the user does not specify $D_p$ and $D_q$, then they are automatically tuned based on the converter power rating and the network's maximum allowable frequency and voltage deviations, i.e., $Δf_{\\mathrm{max}}$ and $ΔE_{\\mathrm{max}}$. The formulas that are implemented to calculate the droop coefficients are as follows,\n", "\n", "$$\n", - " D_p = \\frac{S_{rated}}{{ω_{set}}^2 Δfmax}, \\quad D_q = \\frac{S_{rated}}{V_{set}*\\sqrt{2}*ΔEmax}.\n", + " D_p = \\frac{S_{\\mathrm{rated}}}{{ω_{\\mathrm{set}}}^2 Δf_{\\mathrm{max}}}, \\quad D_q = \\frac{S_{\\mathrm{rated}}}{V_{\\mathrm{set}}*\\sqrt{2}*ΔE_{\\mathrm{max}}}.\n", "$$\n", "\n", "![](figures/Droop_mode.jpg)" @@ -117,7 +117,7 @@ " \"V_kp\" => 0.6, # Voltage proportional gain [A/V] (**optional**)\n", " \"V_ki\" => 12, # Current integral gain [A/V⋅s] (**optional**)\n", " \"Dp\" => 810, # Frequency droop coefficient [N⋅m⋅s/rad] (**optional**)\n", - " \"Dq\" => 24e3) # Voltage droop coefficient [VAi/V] (**optional**)\n", + " \"Dq\" => 24e3) # Voltage droop coefficient [VA/V] (**optional**)\n", " Dict{Any, Any}(\"pwr\" => 100e3, \n", " \"mode\" => \"PQ\", \n", " \"p_set\" => 50e3, # Real power set point (generating) [W] \n", @@ -19725,10 +19725,10 @@ " states_to_plot = [], \n", " actions_to_plot = [], \n", " v_mag_poc = [1], # Scaled L₂ norm in αβγ coordinates [V]\n", - " power_p_inv = [2], # Real power [Watts]\n", - " power_q_inv = [2], # Imaginary power [VAi]\n", + " power_p_inv = [2], # Real power [W]\n", + " power_q_inv = [2], # Imaginary power [VA]\n", " power_p_poc = [1], # Real power [Watts]\n", - " power_q_poc = [1], # Imaginary power [VAi]\n", + " power_q_poc = [1], # Imaginary power [VA]\n", " angles = [1 2], # Relative angle [degrees]\n", " freq = [1 2], # Angular velocity [Hz]\n", " )" diff --git a/examples/notebooks/4_Classical_Controllers_VSG.ipynb b/examples/notebooks/Classical_Controllers_4_VSG.ipynb similarity index 99% rename from examples/notebooks/4_Classical_Controllers_VSG.ipynb rename to examples/notebooks/Classical_Controllers_4_VSG.ipynb index c2930f04..a5881ea8 100644 --- a/examples/notebooks/4_Classical_Controllers_VSG.ipynb +++ b/examples/notebooks/Classical_Controllers_4_VSG.ipynb @@ -25,20 +25,20 @@ "\n", "### Theory\n", "\n", - "The specific VSG mode that is available to users is the \"Synchronverter\" mode. The mode aims to mimic a synchronous generator, and thereby has two more coefficients, two time constants $τv$ and $τf$, which are used to calculate the virtual mass moment of inertia, $J$ and integral gain $K$. The mode provides additional flexibility over the droop mode, in that real and imaginary power set points can be provided. Unlike the PQ mode these set points are more akin to biases, because the inverter will not necessarily output these powers. For example, the real power set point will only be reached if the VSG is connected to a swing supply with a fixed frequency. Moreover, an inverter in VSG mode may present with unwanted oscillatory behaviour similar to the hunting effect in synchronous generators.\n", + "The specific VSG mode that is available to users is the \"synchronverter\" mode. The mode aims to mimic a synchronous generator, and thereby has two more coefficients, two time constants $τv$ and $τf$, which are used to calculate the virtual mass moment of inertia, $J$ and integral gain $K$. The mode provides additional flexibility over the droop mode, in that real and imaginary power set points can be provided. Unlike the PQ mode these set points are more akin to biases, because the inverter will not necessarily output these powers. For example, the real power set point will only be reached if the VSG is connected to a swing supply with a fixed frequency. Moreover, an inverter in VSG mode may present with unwanted oscillatory behaviour similar to the hunting effect in synchronous generators.\n", "\n", "![](figures/VSG_control.jpg)\n", "\n", - "Similar to the droop mode, if the user does not specify $D_p$ and $D_q$, then they are automatically tuned based on the converter power rating and the network's maximum allowable frequency and voltage deviations, i.e. $Δfmax$ and $ΔEmax$. The formulas to compute the droop coefficients are the same as for the droop mode and given by,\n", + "Similar to the droop mode, if the user does not specify $D_p$ and $D_q$, then they are automatically tuned based on the converter power rating and the network's maximum allowable frequency and voltage deviations, i.e. $Δf_{\\mathrm{max}}$ and $ΔE_{\\mathrm{max}}$. The formulas to compute the droop coefficients are the same as for the droop mode and given by,\n", "\n", "$$\n", - " D_p = \\frac{S_{rated}}{{ω_{set}}^2 Δfmax}, \\quad D_q = \\frac{S_{rated}}{V_{set}*\\sqrt{2}*ΔEmax},\n", + " D_p = \\frac{S_{\\mathrm{rated}}}{{ω_{\\mathrm{set}}}^2 Δf_{\\mathrm{max}}}, \\quad D_q = \\frac{S_{\\mathrm{rated}}}{V_{\\mathrm{set}}*\\sqrt{2}*ΔE_{\\mathrm{max}}}.\n", "$$\n", "\n", "The two new quantities that correspond to the \"inertia\" are computed as follows,\n", "\n", "$$\n", - " J = τf*D_p, \\quad K = τv*ω_{set}*D_q.\n", + " J = τf*D_p, \\quad K = τv*ω_{\\mathrm{set}}*D_q.\n", "$$\n", "\n", "![](figures/VSG_mode.jpg)" @@ -19726,10 +19726,10 @@ " states_to_plot = [], \n", " actions_to_plot = [], \n", " v_mag_poc = [1], # Scaled L₂ norm in αβγ coordinates [V]\n", - " power_p_inv = [2], # Real power [Watts]\n", - " power_q_inv = [2], # Imaginary power [VAi]\n", - " power_p_poc = [1], # Real power [Watts]\n", - " power_q_poc = [1], # Imaginary power [VAi]\n", + " power_p_inv = [2], # Real power [W]\n", + " power_q_inv = [2], # Imaginary power [VA]\n", + " power_p_poc = [1], # Real power [W]\n", + " power_q_poc = [1], # Imaginary power [VA]\n", " angles = [1 2], # Relative angle [degrees]\n", " freq = [1 2], # Angular velocity [Hz]\n", " )" diff --git a/examples/notebooks/DC_link_models.ipynb b/examples/notebooks/DC_link_models.ipynb index c20d2b2a..26f0a42d 100644 --- a/examples/notebooks/DC_link_models.ipynb +++ b/examples/notebooks/DC_link_models.ipynb @@ -15,8 +15,8 @@ "source": [ "Since there are not only ideal sources in the regular grid, alternative, variable DC-link voltages shall be presented here. The models to be used will be discussed in detail and it will be explained how they can be created and used in the Env.\n", "\n", - "- ### Modelling a PV-Array,\n", - "- ### Modelling a Batterie,\n", + "- ### Modelling a PV-array,\n", + "- ### Modelling a battery,\n", "- ### Access the models." ] }, @@ -60,7 +60,7 @@ }, "metadata": { "application/vnd.webio.node+json": { - "kernelId": "af809732-c03a-4537-bcbb-3347a8387549" + "kernelId": "6c954a06-8414-46f2-85c9-f3cf8504e8bc" } }, "output_type": "display_data" @@ -88,7 +88,7 @@ "\n", "As a basis serves the [paper](https://doi.org/10.1016/j.nrjag.2014.04.001) which explains the physical characteristics of a PV module in more detail. In order to avoid further calculations at runtime, a simpler approximation is used, the ideal single diode model. This neglects the parallel and series resistance of the PV module.\n", "\n", - "![Equivalent curcuit diagram of the PV array](figures/PV_equivalent_circuit_diagram.png)\n", + "![Equivalent circuit diagram of the PV array](figures/PV_equivalent_circuit_diagram.png)\n", "\n", "In the following we define a mutable struct with the most important data of a PV module, most of the data are given by the data sheets." ] @@ -141,7 +141,7 @@ "id": "b9d6d75f", "metadata": {}, "source": [ - "Now let us take a look characteristics for different irradiations. Therefore, we define a function that gives us the current as a function of voltage, irradiation and temperature. In addition, a function should also output the voltage as a function of current, irradiation and temperature, since this will later be interesting for our application in ElectricGrid.jl." + "Now let us take a look at the characteristics for different irradiation levels. Therefore, we define a function that gives us the current as a function of voltage, irradiation and temperature. In addition, a function should also output the voltage as a function of current, irradiation and temperature, since this will later be interesting for our application in ElectricGrid.jl." ] }, { @@ -4148,38 +4148,55 @@ } }, "text/html": [ - "\n", - " \n", + " \n", + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", - "\n" + "\n", + "\n", + "\n", + "" ], "text/plain": [ "data: [\n", @@ -4201,7 +4218,7 @@ ], "source": [ "labels = [\"200 W/m^2\" \"400 W/m^2\" \"600 W/m^2\" \"800 W/m^2\" \"1000 W/m^2\"];\n", - "plot([scatter(x=V, y=i[:,1], mode=\"lines\", name=labels[1]),\n", + "Plot([scatter(x=V, y=i[:,1], mode=\"lines\", name=labels[1]),\n", "scatter(x=V, y=i[:,2], mode=\"lines\", name=labels[2]),\n", "scatter(x=V, y=i[:,3], mode=\"lines\", name=labels[3]),\n", "scatter(x=V, y=i[:,4], mode=\"lines\", name=labels[4]),\n", @@ -8129,38 +8146,55 @@ } }, "text/html": [ - "\n", - " \n", + " \n", + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", - "\n" + "\n", + "\n", + "\n", + "" ], "text/plain": [ "data: [\n", @@ -8181,7 +8215,7 @@ } ], "source": [ - "plot([\n", + "Plot([\n", "scatter(x=V, y=P[:,1], mode=\"lines\", name=labels[1]),\n", "scatter(x=V, y=P[:,2], mode=\"lines\", name=labels[2]),\n", "scatter(x=V, y=P[:,3], mode=\"lines\", name=labels[3]),\n", @@ -8197,7 +8231,7 @@ "source": [ "### Side note regarding the V(I) characteristics:\n", "\n", - "For the V(I) characteristic, the axes are swapped during plotting and the explicit function is not used. When plotting with the explicit function, there is a problem with the logarithm, which must not be less than zero. Therefore, the range of values must be very fine tuned. But since we can see in the upper two plots how steep the function is, this is very difficult." + "For the V(I) characteristic, the axes are swapped during plotting and the explicit function is not used. When plotting with the explicit function, there is a problem with the logarithm, which must not be less than zero. Therefore, the range of values must be very fine-tuned. But since we can see in the upper two plots how steep the function is, this is very difficult." ] }, { @@ -12109,38 +12143,55 @@ } }, "text/html": [ - "\n", - " \n", + " \n", + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", - "\n" + "\n", + "\n", + "\n", + "" ], "text/plain": [ "data: [\n", @@ -12161,7 +12212,7 @@ } ], "source": [ - "plot([\n", + "Plot([\n", "scatter(x=i[:,1], y=V, mode=\"lines\", name=labels[1]),\n", "scatter(x=i[:,2], y=V, mode=\"lines\", name=labels[2]),\n", "scatter(x=i[:,3], y=V, mode=\"lines\", name=labels[3]),\n", @@ -16079,38 +16130,55 @@ } }, "text/html": [ - "\n", - " \n", + " \n", + "\n", + "\n", + "\n", + " \n", + " \n", + " \n", - "\n" + "\n", + "\n", + "\n", + "" ], "text/plain": [ "data: [\n", @@ -16131,7 +16199,7 @@ } ], "source": [ - "plot([\n", + "Plot([\n", "scatter(x=i[:,1], y=P[:,1], mode=\"lines\", name=labels[1]),\n", "scatter(x=i[:,2], y=P[:,2], mode=\"lines\", name=labels[2]),\n", "scatter(x=i[:,3], y=P[:,3], mode=\"lines\", 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module - V(I)\"},\n", " {\"editable\":false,\"responsive\":true,\"staticPlot\":false,\"scrollZoom\":true},\n", @@ -19314,11 +19382,11 @@ "id": "c6881568", "metadata": {}, "source": [ - "The modeling of the battery follows that described in the implementation in [this papper](https://de.mathworks.com/content/dam/mathworks/tag-team/Objects/i/71900-ieee-2012-high-fidelity-lithium-battery-model-with-thermal-effect.pdf). The battery is a lithium-ion battery, which is shown in the following equivalent circuit.\n", + "The modeling of the battery follows that described in the implementation in [this paper](https://de.mathworks.com/content/dam/mathworks/tag-team/Objects/i/71900-ieee-2012-high-fidelity-lithium-battery-model-with-thermal-effect.pdf). The battery is a lithium-ion battery, which is shown in the following equivalent circuit.\n", "\n", - "![Equivalent curcuit diagram of the battery](figures/battery_equivalent_curcuit_diagram.png)\n", + "![Equivalent circuit diagram of the battery](figures/battery_equivalent_curcuit_diagram.png)\n", "\n", - "The most important components are the input resistance $R_0$ and the RC pairs, which reflect the individual cells within the battery. The number of the cell is indicated by the index $n$. all quantities of the battery are dependent on the state of charge (SOC) and the temperature of the battery. Since these are nonlinear characteristics, they must be recorded experimentally and stored in look-up tables. Here, the values from the Matlab implementation were also used ([Source](https://de.mathworks.com/help/autoblks/ref/equivalentcircuitbattery.html)).\n", + "The most important components are the input resistance $R_0$ and the RC pairs, which reflect the individual cells within the battery. The number of the cell is indicated by the index $n$. All quantities of the battery are dependent on the state of charge (SOC) and the temperature of the battery. Since these are nonlinear characteristics, they must be recorded experimentally and stored in look-up tables. Here, the values from the Matlab implementation were also used ([Source](https://de.mathworks.com/help/autoblks/ref/equivalentcircuitbattery.html)).\n", "\n", "Now we create a battery. To do this, we first store the characteristic curves for the individual cell. If no specific values are entered here, the default values described above are used." ] @@ -19420,14 +19488,6 @@ "# Layout(title=\"Charge and discharge characteristic\", xaxis_title=\"SOC\", yaxis_title=\"V\"))" ] }, - { - "cell_type": "code", - "execution_count": null, - "id": "0b577cf6", - "metadata": {}, - "outputs": [], - "source": [] - }, { "cell_type": "markdown", "id": "4fc16be3", @@ -19441,7 +19501,7 @@ "id": "e4f89292", "metadata": {}, "source": [ - "As already shown in the basic enviroment notebooks, we now want to create an enviroment that uses the presented models instead of the ideal sources. The first step is to create an `env` with the corresponding parameter dict entries, specifying the DC link. In the first example we want to have a fully charged battery being discharged over a load." + "As already shown in the basic environment notebooks, we now want to create an environment that uses the presented models instead of the ideal sources. The first step is to create an `env` with the corresponding parameter dict entries, specifying the DC link. In the first example we want to have a fully charged battery being discharged over a load." ] }, { @@ -119564,24 +119624,24 @@ 0, 0, 4.357392634506253e-10, - 5.137206566520001e-09, - 2.4579134214090275e-08, - 8.18903911212226e-08, - 2.1580665074870608e-07, - 4.814150451554064e-07, - 9.574390448590137e-07, - 1.7461758546644577e-06, - 2.971251645218082e-06, - 4.784410604840613e-06, - 7.364070285687735e-06, - 1.0910284797993184e-05, - 1.5649336500043405e-05, - 2.1831941942365288e-05, - 2.9726437970233722e-05, - 3.962038982163436e-05, - 5.181865105808638e-05, - 6.663596623737582e-05, - 8.439582220994408e-05, + 5.137206566520001e-9, + 2.4579134214090275e-8, + 8.18903911212226e-8, + 2.1580665074870608e-7, + 4.814150451554064e-7, + 9.574390448590137e-7, + 0.0000017461758546644577, + 0.000002971251645218082, + 0.000004784410604840613, + 0.000007364070285687735, + 0.000010910284797993184, + 0.000015649336500043405, + 0.000021831941942365288, + 0.000029726437970233722, + 0.00003962038982163436, + 0.00005181865105808638, + 0.00006663596623737582, + 0.00008439582220994408, 0.00010542824366879378, 0.00013006274463830524, 0.00015862529081122262, @@ -140439,7 +140499,7 @@ "\n", "\n", " \n", " \n", @@ -140447,9 +140507,9 @@ " require([\"plotly\"], function(Plotly) {\n", " window.PLOTLYENV = window.PLOTLYENV || {}\n", " \n", - " if (document.getElementById('e36ac69a-886d-4abf-af17-79a9faeec14c')) {\n", + " if (document.getElementById('1d44e9c0-dca7-42f2-9062-cc8b061fae35')) {\n", " Plotly.newPlot(\n", - " 'e36ac69a-886d-4abf-af17-79a9faeec14c',\n", + " '1d44e9c0-dca7-42f2-9062-cc8b061fae35',\n", " 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(document.getElementById('3aecdf76-afbe-45cb-8663-c5a9807e1c8d')) {\n", + " if (document.getElementById('aadcc8aa-f671-42d3-b33f-1a0d946f9f9f')) {\n", " Plotly.newPlot(\n", - " '3aecdf76-afbe-45cb-8663-c5a9807e1c8d',\n", + " 'aadcc8aa-f671-42d3-b33f-1a0d946f9f9f',\n", " 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values\"}},\"yaxis2\":{\"titlefont\":{\"color\":\"orange\"},\"overlaying\":\"y\",\"title\":\"Action values\",\"side\":\"right\"}},\n", " {\"editable\":false,\"responsive\":true,\"staticPlot\":false,\"scrollZoom\":true},\n", @@ -301603,8 +301663,8 @@ ], "metadata": { "@webio": { - "lastCommId": "057178f479824c338ad8702d9073c67e", - "lastKernelId": "af809732-c03a-4537-bcbb-3347a8387549" + "lastCommId": "863b1cc1d0904afd8a9a1f7d582f1ab6", + "lastKernelId": "6c954a06-8414-46f2-85c9-f3cf8504e8bc" }, "kernelspec": { "display_name": "Julia 1.8.5", diff --git a/examples/notebooks/Default_Parameters.ipynb b/examples/notebooks/Default_Parameters.ipynb index 1ad1073d..c7cdf4fd 100644 --- a/examples/notebooks/Default_Parameters.ipynb +++ b/examples/notebooks/Default_Parameters.ipynb @@ -40,19 +40,19 @@ "\n", "| Property | Default Value | Unit | Description |\n", "| --- | --- | --- | --- |\n", - "| pwr | | VAr | rated apparent power |\n", + "| pwr | | VA | rated apparent power |\n", "| control_type | \"classic\" | | The inner control structure. Either PI control (\"classic\") or Reinforment Learning (\"RL\") |\n", "| mode | \"Synchronverter\" | | The higher level control functions. |\n", "| p_set | 0.0 | W | real power set point |\n", - "| q_set | 0.0 | VAi | imaginary power set point |\n", + "| q_set | 0.0 | VA | imaginary power set point |\n", "| v_pu_set | 1.0 | per unit | nominal voltage set point |\n", "| fltr | \"LCL\" | \"L\", \"LC\", or \"LCL\" | The topology of the inverter's filter |\n", - "| v_rip | 0.01537 | | | # TODO is the default unit in percentage or a ratio?\n", + "| v_rip | 0.01537 | | | \n", "| i_rip | 0.15 | | |\n", "| vdc | 800.0 | V | |\n", "| pf | 0.8 | | power factor |\n", "| Dp | * | N⋅m⋅s/rad | frequency droop coefficient |\n", - "| Dq | * | VAi/V | voltage droop coefficient |\n", + "| Dq | * | VA/V | voltage droop coefficient |\n", "| I_kp | * | V/A | current proportional gain |\n", "| I_ki | * | V/A⋅s | current integral gain |\n", "| V_kp | * | A/V | voltage proportional gain |\n", @@ -77,13 +77,6 @@ "## Note\n", "*These values are automatically calculated from others.\n" ] - }, - { - "cell_type": "code", - "execution_count": 10, - "metadata": {}, - "outputs": [], - "source": [] } ], "metadata": { diff --git a/examples/notebooks/Env_Create_DEMO.ipynb b/examples/notebooks/Env_Create.ipynb similarity index 92% rename from examples/notebooks/Env_Create_DEMO.ipynb rename to examples/notebooks/Env_Create.ipynb index 4587a015..b534df58 100644 --- a/examples/notebooks/Env_Create_DEMO.ipynb +++ b/examples/notebooks/Env_Create.ipynb @@ -9,30 +9,27 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "22d57658", "metadata": {}, "source": [ - "This notebook is intended to show the functionality of the `ElectricGridEnv` which creates an environment for simulation of power electronics-driven microgrids with ad-hoc data generation. It can be used to train and test reinforcement learing agents (e.g., from [juliareinforcementlearning.jl](https://juliareinforcementlearning.org/)), in particular for autonomous grid operation.\n", + "This notebook is intended to show the functionality of the `ElectricGridEnv` which creates an environment for simulation of power electronics-driven microgrids with ad-hoc data generation. It can be used to train and test reinforcement learning agents (e.g., from [juliareinforcementlearning.jl](https://juliareinforcementlearning.org/)), in particular for autonomous grid operation.\n", "These agents can learn to handle different control tasks and can be compared to classical control approaches. In this notebook, the following topics are covered:\n", "\n", - "- ### Create an enviroment, \n", - "- ### Setup an RL-env, \n", + "- ### Create an environment, \n", + "- ### Set up an RL-env, \n", "- ### Detailed parameterisation." ] }, { - "attachments": {}, "cell_type": "markdown", "id": "ba5e5ae4", "metadata": {}, "source": [ - "## Create an Enviroment " + "## Create an environment " ] }, { - "attachments": {}, "cell_type": "markdown", "id": "1eabf77a", "metadata": {}, @@ -42,15 +39,14 @@ "\n", "![](figures/ExampleGrid.png \"\")\n", "\n", - "For better visuablilty, a partially visible electrical circuit is displayed in the background as single phase diagram (by default a three-phase four wire system is created).\n", - "If it is not defined during the initialization of the env, all parameters (connections between the different sources and loads, parameters of the electric components,...) are drawn randomly, while a few are set to fixed values per default.\n", - "One of the latter would be for example the stepsize `ts`. \n", + "For better readability, a partially visible electrical circuit is displayed in the background as single phase diagram (by default a three-phase four wire system is created).\n", + "If it is not defined during the initialization of the env, all parameters (connections between the different sources and loads, parameters of the electric components, ...) are drawn randomly, while a few are set to fixed values per default.\n", + "One of the latter would be for example the step size `ts`. \n", "The most important parameters will be investigated during this notebook.\n", "After the initialization a step-wise interaction with the environment is possible.\n" ] }, { - "attachments": {}, "cell_type": "markdown", "id": "f1549593", "metadata": {}, @@ -156,7 +152,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "822ae85f", "metadata": {}, @@ -203,13 +198,12 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "69cbc0da", "metadata": {}, "source": [ "Since we have not yet interacted with the env, the `Current State` is still the initial - which by default is zero.\n", - "To learn how to interact with the environment applying differnt actions, see `Env_Interaction_DEMO.ipynb`.\n", + "To learn how to interact with the environment applying different actions, see `Env_Interaction.ipynb`.\n", "\n", "\n", "If the state is not zero, the reset method can be used which sets the state to the internally defined `x0` (which consists of zeros per default).\n", @@ -272,7 +266,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "975110c2", "metadata": {}, @@ -281,7 +274,7 @@ "\n", "\n", "Till now, we have investigated the difference between states and actions. \n", - "To get a little bit more intuition about what the different states are, the `state_ids` and `action_ids` can be investigated:" + "To get a better intuition about what the different states are, the `state_ids` and `action_ids` can be investigated:" ] }, { @@ -315,7 +308,7 @@ "metadata": {}, "source": [ "The labels define to which source the state belongs and what it is. \n", - "For example the first state is called `\"source1_i_L1_a\"`. That tells, it belongs to the first source (in the picture above the PV plant) and represents the current `i` through the incductor `L1` of phase `a`.\n", + "For example the first state is called `\"source1_i_L1_a\"`. That tells, it belongs to the first source (in the picture above the PV plant) and represents the current `i` through the inductor `L1` of phase `a`.\n", "For example, this information can be used to control the current through the filter inductance (or to learn this control task).\n", "\n", "Analogously, this can apply to the `action_ids`:" @@ -346,20 +339,19 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "6e989372", "metadata": {}, "source": [ "For example, `\"source1_u_a\"` belongs to the first source and represents the action `u` applied to phase `a`.\n", "\n", - "All states of phase `a` of the example in the figure above (PV, wind turbine and houshold) are labeled in the circuit below (currents in red, voltages in green).\n", - "Hint: since the parameters of the elctirc grid (e.g., the filter-types,...) are drawn randomly, if not pre-defined, the `state-ids` could differ after every execution.\n", - "In the subsequent section of this notebook, it is explained how the parameters of the env can be pre-defined to create reproducable experiments.\n", + "All states of phase `a` of the example in the figure above (PV, wind turbine and household) are labeled in the circuit below (currents in red, voltages in green).\n", + "Hint: since the parameters of the elctirc grid (e.g., the filter-types, ...) are drawn randomly, if not pre-defined, the `state-ids` could differ after every execution.\n", + "In the subsequent section of this notebook, it is explained how the parameters of the env can be pre-defined to create reproducible experiments.\n", "\n", "![](figures/S2_L1_states.png \"\")\n", "\n", - "If we investigate the `State Space` of the env, we'll see that it ranges from -1.0..1.0:" + "If we investigate the `State Space` of the env, we'll see that it ranges from -1.0…1.0:" ] }, { @@ -449,7 +441,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "08e1d5e0", "metadata": {}, @@ -458,7 +449,7 @@ "The voltage limit for normalization is depending on the filter capacitor and can be found using `env.nc.parameters[\"source\"][1][\"v_limit\"]`.\n", "The same concept holds for the cables and loads (parametrisation can be found in the parameter dict, too).\n", "\n", - "Since the `Action Space` is defined in a range -1.0..1.0, the actions are \"normalized\" by the DC-link voltage of the specific source. \n", + "Since the `Action Space` is defined in a range -1.0…1.0, the actions are \"normalized\" by the DC-link voltage of the specific source. \n", "In the simulation the chosen action is multiplied by half of the DC-link voltage (and can be interpreted as modulation index in an electrical engineering context).\n", "The DC-link voltage can be found in (or set via) the parameter dict, too:" ] @@ -504,7 +495,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "866acdb8", "metadata": {}, @@ -515,7 +505,7 @@ "- `\"f_grid\"`: grid frequency (frequency of the voltage sinusoidal signal) (default: 50 Hz)\n", "- `\"phases\"`: number of phases in the electric power grid (exclusive neutral). (default: 3)\n", "- `\"fs\"`: sample frequency of the simulation. Every step the environment if simulated `ts = 1/fs` s forward (default: 10 kHz)\n", - "- `\"v_rms\"`: root mean square value of the basic grid voltage (default: 230 V)\n", + "- `\"v_rms\"`: root-mean-square value of the basic grid voltage (default: 230 V)\n", "- ...\n" ] }, @@ -580,7 +570,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "d5a6bfdc", "metadata": {}, @@ -588,7 +577,7 @@ "A selection of the most important parameters that can be defined and configured via the parameter dict is given in the following:\n", "\n", "- `\"pwr\"`: maximum apparent power of the source (default: random)\n", - "- `\"source_type\"`: type of the electric component sitting on the DC side, e.g., ideal (constant `vdc`), PV,... (default: ideal)\n", + "- `\"source_type\"`: type of the electric component sitting on the DC side, e.g., ideal (constant `vdc`), PV, ... (default: ideal)\n", "- `\"control_type\"`: defines whether the source is classically controlled or RL controlled (default = \"classic\")\n", "- `\"mode\"`: allows to specify which control mode the source (default = \"Droop\", and classic control_type) (for more information, see Classic_Controllers_Notebook.iypnb)\n", "- `\"vdc\"`: DC-link voltage, fixed if `\"source_type\"` is ideal (drawn random $U$[690, 800] V), otherwise drawn from function\n", @@ -675,10 +664,10 @@ "id": "c9d8ac58", "metadata": {}, "source": [ - "Defines passive loads which can be pluged/connected to the grid. All combinations of the passive components of a resistor, inductor and capacitor (\"impedance\") can be chosen:\n", + "Defines passive loads which can be plugged/connected to the grid. All combinations of the passive components of a resistor, inductor and capacitor (\"impedance\") can be chosen:\n", "\n", "- `\"impedance\"`: type/circuit of the load (can be something out of [RLC, RL, RC, LC, R, L, C]). Components will be connected in parallel (default: random)\n", - "- `\"pwr\"`: apparant power drawn from the load assuming fixed vrms grid voltage and frequency and the number of phases (see parameters of \"grid\")\n", + "- `\"pwr\"`: apparent power drawn from the load assuming fixed vrms grid voltage and frequency and the number of phases (see parameters of \"grid\")\n", "- `\"pf\"`: power factor resulting from chosen parameters\n", "- `\"Z\"`: impedance resulting from chosen parameters\n", "- `\"R\"`: load resistance\n", @@ -748,7 +737,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "94e91c4f", "metadata": {}, @@ -757,7 +745,7 @@ "If no parameters are defined they are automatically designed based on the power flowing through the cable.\n", "\n", "\n", - "- `\"len\"`: length of the cable (default: random [1m, 1km])\n", + "- `\"len\"`: length of the cable (default: random [1 m, 1 km])\n", "- `\"i_limit\"`: maximal allowed current flowing through the inductor (default: calculated based on power flow and inductance)\n", "- `\"v_limit\"`: since the capacitance is added to the one (if) defined in the source, the limit for the voltage can be found in the source parameter dict\n", "- `\"Cb\"`: cable capacity coatings (default: 0.4 µF/km)\n", @@ -800,7 +788,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "6f85446a", "metadata": {}, @@ -808,7 +795,7 @@ "For all information about the parameters which can be defined investigate the parameter dict itself or have a look into the documentation.\n", "\n", "The next step would be to interact with the env to run an experiment.\n", - "To learn how to do this, see the `Env_Interaction_DEMO.ipynb`." + "To learn how to do this, see the `Env_Interaction.ipynb`." ] } ], @@ -818,7 +805,7 @@ "lastKernelId": "1ef185b7-9426-4e2c-9930-7975d88915a0" }, "kernelspec": { - "display_name": "Julia 1.8.0", + "display_name": "Julia 1.8.5", "language": "julia", "name": "julia-1.8" }, @@ -826,7 +813,7 @@ "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.8.0" + "version": "1.8.5" } }, "nbformat": 4, diff --git a/examples/notebooks/Env_Interaction_DEMO.ipynb b/examples/notebooks/Env_Interaction.ipynb similarity index 99% rename from examples/notebooks/Env_Interaction_DEMO.ipynb rename to examples/notebooks/Env_Interaction.ipynb index 4c7c4cd7..e8a594f2 100644 --- a/examples/notebooks/Env_Interaction_DEMO.ipynb +++ b/examples/notebooks/Env_Interaction.ipynb @@ -7,7 +7,7 @@ "source": [ "# Interaction with the ElectricGridEnv\n", "\n", - "This is the second notebook belonging to the environment (`env`). In the previous one we saw how to set up a simple `env` and showed some of the basic parameters (see `Env_Create_DEMO.ipynb`). This notebook is intended to show how to interact with the env and, above all, how to extract, store the data and covers the following topics:\n", + "This is the second notebook belonging to the environment (`env`). In the previous one we saw how to set up a simple `env` and showed some basic parameters (see `Env_Create.ipynb`). This notebook is intended to show how to interact with the env and, above all, how to extract, store the data and covers the following topics:\n", "\n", "\n", "- ### Apply actions,\n", @@ -16,23 +16,21 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "ade818fa", "metadata": {}, "source": [ "## Basic interaction with the environment\n", "\n", - "The dynamic behaviour of the environment is simulated using linear state-space models. It interacts step-wise with the agent/controller like shown in the figure below. Based on the input/action `u` at timestep `k` the state `x` is calculated.\n", + "The dynamic behaviour of the environment is simulated using linear state-space models. It interacts step-wise with the agent/controller like shown in the figure below. Based on the input/action `u` at time step `k` the state `x` is calculated.\n", "\n", "![](figures/RL_interaction.png)\n", "\n", - "Based on that action `u_k` and the internal state-space model, the system response is evolved for one timestep and the new states `x_k+1` are calulated.\n", - "The state-space model is defined depending on the electric components - for more information about the ordinary differential equations behind,... see NodeConstructor_DEMO.ipynb" + "Based on that action `u_k` and the internal state-space model, the system response is evolved for one time step and the new states `x_k+1` are calculated.\n", + "The state-space model is defined depending on the electric components - for more information about the ordinary differential equations behind, ... see NodeConstructor_DEMO.ipynb" ] }, { - "attachments": {}, "cell_type": "markdown", "id": "8209b098", "metadata": {}, @@ -45,10 +43,10 @@ "To get an `env` consisting of that specific setting with the correct filter type and load, the parameter dict is defined in beforehand and handed over to the `env`.\n", "\n", "Instead of `num_sorces` and `num_loads`, now the parameter dict and the connection matrix `CM` is used which defines if there is a connection between two nodes (e.g., source <-> load) or not. \n", - "If there is a connetion the corresponding matrix entry is not zero, if there is no connection the entry is `0`. For more information about the CM matrix see `NodeConstructor_Application_DEMO.ipynb`.\n", + "If there is a connection the corresponding matrix entry is not zero, if there is no connection the entry is `0`. For more information about the CM matrix see `NodeConstructor_Application.ipynb`.\n", "\n", - "To create a usefull example we first calulate a load which fits in case of power rating to the power of the source.\n", - "Therefore, the function `ParallelLoadImpedance()` provied by the `ElectricGrid` package is used which calulates the passive parameters for a load for specified apparant power." + "To create an useful example we first calculate a load which fits in case of power rating to the power of the source.\n", + "Therefore, the function `ParallelLoadImpedance()` provided by the `ElectricGrid` package is used which calculates the passive parameters for a load for specified apparent power." ] }, { @@ -272,7 +270,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "273d6d9b", "metadata": {}, @@ -284,7 +281,7 @@ "This acts as a configuration tool to define the corresponding classic controllers and RL agents.\n", "Additionally, it links inputs to the `env.state_ids` and outputs to the `env.action_ids`.\n", "\n", - "In our example, we only apply classic controllers to learn how the tool works (learning with RL agents is investigated in `RL_Single_Agent_DEMO.ipynb`). \n", + "In our example, we only apply classic controllers to learn how the tool works (learning with RL agents is investigated in `RL_Single_Agent.ipynb`). \n", "The interaction of the different components (env, agent, classic controllers, ...) is shown in the diagram below.\n", "\n", "\n", @@ -313,7 +310,7 @@ "source": [ "Then, the experiment is executed for (default) one episode. The length of the episode is defined depending on the parameter `env.maxsteps` (default = 500), which alternatively can be defined via `env.t_end` and `env.ts`. \n", "Inside `Simulate()` the run command (RL.base) executes 500 steps applying the defined controllers in the env.\n", - "Every step the control inputs are calulated based on the corresponding states and the env is evolved for `ts`. Then, the new state is given to the controller/agent again. \n", + "Every step the control inputs are calculated based on the corresponding states and the env is evolved for `ts`. Then, the new state is given to the controller/agent again. \n", "\n", "The 500 steps only gets executed if none of the defined voltage and current limits of the states are exceeded (which would be equivalent to a system crash).\n", "In that case, a flag in the env is set (`env.done = true`) which terminates the episode.\n", @@ -403,7 +400,7 @@ "id": "229ad5f4", "metadata": {}, "source": [ - "If not defined in beforehand and handed over to the `Simulate()` methode, it returns a default `hook`. \n", + "If not defined in beforehand and handed over to the `Simulate()` method, it returns a default `hook`. \n", "\n" ] }, @@ -416,19 +413,18 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "c4da41da", "metadata": {}, "source": [ "To collect the data - so how the states evolved over time by the chosen actions - hooks ([ReinforcmentLearning.jl/data-hooks](https://juliareinforcementlearning.org/docs/How_to_use_hooks/)) are used which will be executed at different stages of the experiment.\n", - "Via theses hooks the data to be collected is stored in a `DataFrame` labeled via the state and action IDs. This all happens using the `DataHook` provided by the `ElectricGrid` package.\n", + "Via these hooks the data to be collected is stored in a `DataFrame` labeled via the state and action IDs. This all happens using the `DataHook` provided by the `ElectricGrid` package.\n", "\n", "This `DataFrame` can be seen in the output of the upper cell. It contains 500 rows - one for each simulated step.\n", "In the different colons the information about the simulation is stored, e.g., the number of the episode, time, states, actions...\n", - "By default a `DefaultDataHook` is generated which collects all available information about the states of the `env`. \n", + "By default, a `DefaultDataHook` is generated which collects all available information about the states of the `env`. \n", "\n", - "If we are interested how the state of the current through the filter inductor of source 1 (first state in the env `source1_i_L1_a`) evolves over time, we can grap the data like follows:" + "If we are interested how the state of the current through the filter inductor of source 1 (first state in the env `source1_i_L1_a`) evolves over time, we can get the data like follows:" ] }, { @@ -489,7 +485,7 @@ "It only has to be defined which states and actions should be logged during initialisation. Then the `hook` has to be handed over to the `Simulate()` (or `Learn()`) command.\n", "\n", "In the following, we will collect only the state `\"source1_i_L1_a\"` and the first action `\"source1_u_a\"`.\n", - "Alternatively, for example the number of source can be used to collect all the data for a specific source (compare out-commented example code). A lot of other flags can be defined to collect more measurements (RMS, reward, powers,...).\n", + "Alternatively, for example the number of source can be used to collect all the data for a specific source (compare out-commented example code). A lot of other flags can be defined to collect more measurements (RMS, reward, powers, ...).\n", "For more details we refer to the documentation and the other example notebooks." ] }, @@ -577,13 +573,12 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "e8ba375e", "metadata": {}, "source": [ - "Investigating the `DataFrame` we can see, that even more states then planned are logged.\n", - "The `ElectricGrid` framework stores all information available with regards to the state we have chosen.\n", + "Investigating the `DataFrame` we can see, that even more states than planned are logged.\n", + "The `ElectricGrid` framework stores all information available in regard to the state we have chosen.\n", "Here, additionally the voltage across the inductor and the state after the action is applied is stored as well. \n", "For more detailed information, see `API-Doku -> DataHook`.\n", "\n", @@ -3539,7 +3534,7 @@ "id": "ad5f321a", "metadata": {}, "source": [ - "As can be seen, the state `\"source1_i_L1_a\"` (belonging to the left y-axis) and the action `\"source1_u_a\"` (right y-axis) are plotted over the 500 timesteps while one timestep takes `ts = 1e-4` s resulting in an episode time of 0.05 s.\n", + "As can be seen, the state `\"source1_i_L1_a\"` (belonging to the left y-axis) and the action `\"source1_u_a\"` (right y-axis) are plotted over the 500 time steps while one time step takes `ts = 1e-4` s resulting in an episode time of 0.05 s.\n", "Here, the states and actions plotted/collected are not normalised.\n", "\n", "Above the `control_type` of the source is chosen as classic in `mode => Step`. \n", @@ -7541,8 +7536,8 @@ "source": [ "Based on this introduction, more enhanced environments can be created consisting of more sources and loads connected to each other, e.g.,\n", "- controlled by classic grid controllers to share the power based on the droop concept --> See: `Classic_Controllers_Notebooks`,\n", - "- train RL agents to fullfill current control for single sources --> See: `RL_Single_Agent_DEMO.ipynb`,\n", - "- train RL agents to interact in a larger power grid with classically controlled sources --> See: `RL_Classical_Controllers_Merge_DEMO.ipynb`." + "- train RL agents to fulfill current control for single sources --> See: `RL_Single_Agent.ipynb`,\n", + "- train RL agents to interact in a larger power grid with classically controlled sources --> See: `RL_Classical_Controllers_Merge.ipynb`." ] } ], @@ -7552,7 +7547,7 @@ "lastKernelId": "8cc8f05b-7271-478b-be3e-2c70de70b869" }, "kernelspec": { - "display_name": "Julia 1.8.0", + "display_name": "Julia 1.8.5", "language": "julia", "name": "julia-1.8" }, @@ -7560,7 +7555,7 @@ "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.8.0" + "version": "1.8.5" } }, "nbformat": 4, diff --git a/examples/notebooks/Learning_via_TD3.ipynb b/examples/notebooks/Learning_via_TD3.ipynb index a3a9140a..b404fef6 100644 --- a/examples/notebooks/Learning_via_TD3.ipynb +++ b/examples/notebooks/Learning_via_TD3.ipynb @@ -15,7 +15,7 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "This notebook illustrates how to use TD3 to learn a policy for a simple `ElectricGridEnv`. The environment is the same as the one used in [RL_Complex_DEMO_external_agent](RL_Complex_DEMO_external_agent.ipynb)." + "This notebook illustrates how to use TD3 to learn a policy for a simple `ElectricGridEnv`. The environment is the same as the one used in [RL_Complex_external_agent](RL_Complex_external_agent.ipynb)." ] }, { @@ -218,119 +218,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 6%|██▎ | ETA: 0:00:17\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 12%|████▊ | ETA: 0:00:15\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 18%|███████▎ | ETA: 0:00:14\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 24%|█████████▋ | ETA: 0:00:13\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 30%|████████████▎ | ETA: 0:00:12\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 36%|██████████████▋ | ETA: 0:00:11\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 42%|█████████████████▎ | ETA: 0:00:10\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 48%|███████████████████▋ | ETA: 0:00:09\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 54%|██████████████████████▏ | ETA: 0:00:08\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 60%|████████████████████████▋ | ETA: 0:00:07\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 66%|███████████████████████████ | ETA: 0:00:06\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 72%|█████████████████████████████▌ | ETA: 0:00:05\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 78%|████████████████████████████████ | ETA: 0:00:04\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 84%|██████████████████████████████████▌ | ETA: 0:00:03\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 90%|████████████████████████████████████▉ | ETA: 0:00:02\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 96%|███████████████████████████████████████▍ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:16\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:16\u001b[39m\u001b[K\n" ] }, { @@ -21213,17 +21101,16 @@ ], "metadata": { "kernelspec": { - "display_name": "Julia 1.9.0", + "display_name": "Julia 1.8.5", "language": "julia", - "name": "julia-1.9" + "name": "julia-1.8" }, "language_info": { "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.9.0" - }, - "orig_nbformat": 4 + "version": "1.8.5" + } }, "nbformat": 4, "nbformat_minor": 2 diff --git a/examples/notebooks/Monitoring_Training_Wandb.ipynb b/examples/notebooks/Monitoring_Training_Wandb.ipynb index 48d8c60f..f1df0670 100644 --- a/examples/notebooks/Monitoring_Training_Wandb.ipynb +++ b/examples/notebooks/Monitoring_Training_Wandb.ipynb @@ -17969,11 +17969,6 @@ " style=\"width:700px;\"/>\n", "" ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [] } ], "metadata": { diff --git a/examples/notebooks/NodeConstructor_Application_DEMO.ipynb b/examples/notebooks/NodeConstructor_Application.ipynb similarity index 99% rename from examples/notebooks/NodeConstructor_Application_DEMO.ipynb rename to examples/notebooks/NodeConstructor_Application.ipynb index 311fa35b..c118ecce 100644 --- a/examples/notebooks/NodeConstructor_Application_DEMO.ipynb +++ b/examples/notebooks/NodeConstructor_Application.ipynb @@ -75,7 +75,7 @@ "source": [ "The first column of the above matrix indicates which element we start from. The sources are considered first and after that the loads. The first row of the matrix indicates the elements to which we can connect. The number and order is identical to the first column.\n", "\n", - "Since our grid elements cannot be connected to themselves, there are always zeros on the main diagonal. In the second row of the table we can identify the connections of the first source. This source is not connected to the second source but to the first load, which is why we find a \"1\" in this cell. We can read this entry as: \"Source 1 is connected to load 1 by cable 1\". In the third row of the table above, all connections are made from source 2, which is connected to load 1 via cable 2. The fourth line contains the connections of the 1 load. As shown before, it is connected to source 1 and source 2, but the entries have a negative sign. The negative sign indicates that the flow direction of the current is assumed to be negative. The sign of the entries is taken into account when constructing the DGLs, but has no influence on the subsequent current flow in the simulation. The matrix is antisymmetric, which means that we have a mirroring of the matrix along the main diagonal with the sign of the entries reversed.\n", + "Since our grid elements cannot be connected to themselves, there are always zeros on the main diagonal. In the second row of the table we can identify the connections of the first source. This source is not connected to the second source but to the first load, which is why we find a \"1\" in this cell. We can read this entry as: \"Source 1 is connected to load 1 by cable 1\". In the third row of the table above, all connections are made from source 2, which is connected to load 1 via cable 2. The fourth line contains the connections of the 1 load. As shown before, it is connected to source 1 and source 2, but the entries have a negative sign. The negative sign indicates that the flow direction of the current is assumed to be negative. The sign of the entries is taken into account when constructing the ODEs, but has no influence on the subsequent current flow in the simulation. The matrix is antisymmetric, which means that we have a mirroring of the matrix along the main diagonal with the sign of the entries reversed.\n", "\n", "In Julia, this matrix then looks like this:" ] @@ -1213,7 +1213,7 @@ "id": "84112f3f", "metadata": {}, "source": [ - "After the grid has been created it can be passed to the function `GetSystem()`, which then returns the system matrices for the state-space representation in the continous-time domain." + "After the grid has been created it can be passed to the function `GetSystem()`, which then returns the system matrices for the state-space representation in the continuous-time domain." ] }, { @@ -1255,7 +1255,7 @@ "id": "a9d76899", "metadata": {}, "source": [ - "To use `lsim()` you need defined initial states `x0`, a time vector `t` and a input signal `u`. In our case we apply a jump to 250 V to the system." + "To use `lsim()` you need defined initial states `x0`, a time vector `t` and an input signal `u`. In our case we apply a jump to 250 V to the system." ] }, { @@ -22233,7 +22233,7 @@ "source": [ "### Random Grid Generation \n", "\n", - "The manual creation of a grid can be time consuming because all parameters have to be specified. To quickly create different topologies with little effort, automatic generation can be used. One needs to set only the number of sources and loads, all other parameters are set by default or are randomly selected. An important feature is the creation of random node structures, where the parameters of the elements are chosen randomly." + "The manual creation of a grid can be time-consuming because all parameters have to be specified. To quickly create different topologies with little effort, automatic generation can be used. One needs to set only the number of sources and loads, all other parameters are set by default or are randomly selected. An important feature is the creation of random node structures, where the parameters of the elements are chosen randomly." ] }, { @@ -22355,7 +22355,7 @@ "source": [ "For larger networks, of course, only the number of sources and loads can be handed over, so that the network structures are created on the basis of the default values. An important point here is that it is ensured that no subnets are created. By default, it is ensured that each element of the network has at least one connection to the other components of the network, so that no subnetworks are created.\n", "\n", - "Internally, this is done by checking for connections for each element. If these are not present, they are automatically created. For smaller networks it is advisable to specify a `CM` matrix, because otherwise usually too many connections are made than necessary. However, this is no longer noticeable with more than 10+ elements.\n", + "Internally, this is done by checking for connections for each element. If these are not present, they are automatically created. For smaller networks it is advisable to specify a `CM` matrix, because otherwise usually too many connections are made than necessary. However, this is no longer noticeable with more than 10 elements.\n", "\n", "During initialisation, an optimisation problem is solved in the background in order to optimally design the cables. The power flow equations must be solved in order to determine the cable diameters based on the power expected in the steady state. This is a non-linear optimisation problem which, depending on the system, requires quite a bit of computation time." ] @@ -23733,14 +23733,14 @@ "Until now, only single-phase grids have been created with NodeConstructor. In this context, we are talking about single-phase grids with a neutral conductor. In most real-world applications, however, 3 phases with neutral conductors are the standard. In the following, the system matrix is expanded to include a simulation of a symmetrical three-phase grid with a neutral conductor:\n", "\n", "\\begin{equation}\n", - "A_{all} = \\begin{pmatrix}\n", + "A_{\\mathrm{all}} = \\begin{pmatrix}\n", " A_{a} & 0 & 0 \\\\\n", " 0 & A_{b} & 0 \\\\\n", " 0 & 0 & A_{c} \n", " \\end{pmatrix}\n", "\\end{equation}\n", "\n", - "Lets see how this looks like in Julia." + "Let's see how this looks like in Julia." ] }, { @@ -23849,7 +23849,7 @@ "id": "38b7c27f", "metadata": {}, "source": [ - "Lets have a look:" + "Let's have a look:" ] }, { @@ -84813,7 +84813,7 @@ "id": "d6cec2be", "metadata": {}, "source": [ - "The `lsim()` function ist used to simulate the system." + "The `lsim()` function is used to simulate the system." ] }, { diff --git a/examples/notebooks/NodeConstructor_Theory_DEMO.ipynb b/examples/notebooks/NodeConstructor_Theory.ipynb similarity index 99% rename from examples/notebooks/NodeConstructor_Theory_DEMO.ipynb rename to examples/notebooks/NodeConstructor_Theory.ipynb index 9e262544..8508f786 100644 --- a/examples/notebooks/NodeConstructor_Theory_DEMO.ipynb +++ b/examples/notebooks/NodeConstructor_Theory.ipynb @@ -84,7 +84,7 @@ "source": [ "If we annotate the above equivalent circuit, we get the following representation:\n", "\n", - "![Equivalent curcuit with annotations.](figures/ExampleGridCurcuit_Annotations_Kirchhof.png)\n", + "![Equivalent circuit with annotations.](figures/ExampleGridCurcuit_Annotations_Kirchhof.png)\n", "\n", "In this, the components are annotated and the currents are noted with the technical flow direction. For the sake of clarity, the voltages are only indicated by green arrows, but have the same name as the corresponding component to which they are applied.\n", "\n", @@ -166,9 +166,9 @@ " \\vec{y}(t) &= \\mathbf{C} \\vec{x}(t) + \\mathbf{D} \\vec{u}(t).\n", "\\end{align*}\n", "\n", - "This system type is the continous time-invariant one, indicated by the time variable $t \\in \\mathbb{R}$ and the constant matrices $\\mathbf{A}$, $\\mathbf{B}$, $\\mathbf{C}$ and $\\mathbf{D}$.\n", + "This system type is the continuous time-invariant one, indicated by the time variable $t \\in \\mathbb{R}$ and the constant matrices $\\mathbf{A}$, $\\mathbf{B}$, $\\mathbf{C}$ and $\\mathbf{D}$.\n", "\n", - "$\\vec{x}(t)$ describes in general the state vector, $\\dot{\\vec{x}}(t)$ the changes of this state vector. The change of the system is described on the one hand by the system dynamics, which is expressed by the matrix $\\mathbf{A}$ and on the other hand by the input signals $u(t)$ acting on the system combined with the matrix $\\mathbf{B}$. The output $\\vec{y}(t)$ of our system is determined by the output matrix $\\mathbf{C}$ and the feedthrough matrix $\\mathbf{D}$. Since we are interested in how our grid evolves over time, the first equation is most important for our application, as it describes the change of states. All states are always simulated and the remaining measured variables of the system are additionally calculated in the environment. From this combination, controllers can then pick up the necessary values depending on the mode selected via IDs. For more information see `Env_Interaction_DEMO.ipynb`. In the case of RL agents, the featurize function can be used to influence which values are available (see `RL_Single_Agent_DEMO.ipynb`).\n", + "$\\vec{x}(t)$ describes in general the state vector, $\\dot{\\vec{x}}(t)$ the changes of this state vector. The change of the system is described on the one hand by the system dynamics, which is expressed by the matrix $\\mathbf{A}$ and on the other hand by the input signals $u(t)$ acting on the system combined with the matrix $\\mathbf{B}$. The output $\\vec{y}(t)$ of our system is determined by the output matrix $\\mathbf{C}$ and the feedthrough matrix $\\mathbf{D}$. Since we are interested in how our grid evolves over time, the first equation is most important for our application, as it describes the change of states. All states are always simulated and the remaining measured variables of the system are additionally calculated in the environment. From this combination, controllers can then pick up the necessary values depending on the mode selected via IDs. For more information see `Env_Interaction.ipynb`. In the case of RL agents, the featurize function can be used to influence which values are available (see `RL_Single_Agent.ipynb`).\n", "\n", "These measured variables are also available in the environment in the later simulation, whereby the respective controllers only have access to certain measured variables depending on their mode.\n", "\n", @@ -248,7 +248,7 @@ "id": "ffc56bfb", "metadata": {}, "source": [ - "Next, we will deal with the solving of the ODE. The ODE was defined above in continuous time, but since modern control engineering takes place in a digital environment, it first has to be discretised on a fixed time grid to obtain the diverence equation system in the discrete-time domain. Assuming ideal digital-to-analog (D/A) and analog-to-digital (A/D) conversion with zero-order hold capability, the following system of difference equations results:\n", + "Next, we will deal with the solving of the ODE. The ODE was defined above in continuous time, but since modern control engineering takes place in a digital environment, it first has to be discretised on a fixed time grid to obtain the difference equation system in the discrete-time domain. Assuming ideal digital-to-analog (D/A) and analog-to-digital (A/D) conversion with zero-order hold capability, the following system of difference equations results:\n", "\n", "\\begin{align*}\n", " \\dot{\\vec{x}}[k] &= \\mathbf{A}_d \\vec{x}[k] + \\mathbf{B}_d \\vec{u}[k],\\\\\n", @@ -308,7 +308,7 @@ "id": "d6f38a88", "metadata": {}, "source": [ - "First, we define the values of the components:" + "First, we define the values of the components:" ] }, { @@ -463,7 +463,7 @@ "id": "7389beff", "metadata": {}, "source": [ - "To use `lsim()` you need defined initial states `x0`, a time vector `t` and a input signal `u`. In our case we apply a jump to 230 V to the system." + "To use `lsim()` you need defined initial states `x0`, a time vector `t` and an input signal `u`. In our case we apply a jump to 230 V to the system." ] }, { @@ -499,15 +499,15 @@ "type": "scatter", "x": [ 0, - 1e-05, - 2e-05, - 3e-05, - 4e-05, - 5e-05, - 6e-05, - 7e-05, - 8e-05, - 9e-05, + 0.00001, + 0.00002, + 0.00003, + 0.00004, + 0.00005, + 0.00006, + 0.00007, + 0.00008, + 0.00009, 0.0001, 0.00011, 0.00012, @@ -21406,14 +21406,14 @@ "id": "51579436", "metadata": {}, "source": [ - "We have seen how such systems can be set up and solved manually. In the `NodeConstructor_Application_DEMO.ipynb` we look at how to automate these tedious calculations with the help of the `ElectricGrid` package, in particular the NodeConstructor." + "We have seen how such systems can be set up and solved manually. In the `NodeConstructor_Application.ipynb` we look at how to automate these tedious calculations with the help of the `ElectricGrid` package, in particular the NodeConstructor." ] } ], "metadata": { "@webio": { - "lastCommId": "d27e2e64028f4cc48220acc504137c3d", - "lastKernelId": "c21352a1-c2aa-4c91-8309-b7be3997c19c" + "lastCommId": "a802c47995ce4c6685d4a5ac79263079", + "lastKernelId": "9699b599-68c6-4a49-86ab-933a4e4529f1" }, "kernelspec": { "display_name": "Julia 1.8.5", diff --git a/examples/notebooks/RL_Classical_Controllers_Merge_DEMO.ipynb b/examples/notebooks/RL_Classical_Controllers_Merge.ipynb similarity index 99% rename from examples/notebooks/RL_Classical_Controllers_Merge_DEMO.ipynb rename to examples/notebooks/RL_Classical_Controllers_Merge.ipynb index 3b20bd00..0eb23bba 100644 --- a/examples/notebooks/RL_Classical_Controllers_Merge_DEMO.ipynb +++ b/examples/notebooks/RL_Classical_Controllers_Merge.ipynb @@ -1,7 +1,6 @@ { "cells": [ { - "attachments": {}, "cell_type": "markdown", "id": "2888dffe", "metadata": {}, @@ -10,9 +9,9 @@ "In this notebook it will be shown how to control one source with an reinforcement learning (RL) agent learning a control task while connected to a stable grid provided by a classic controller. The topics covered are:\n", "\n", " - ### Merging classic controllers and RL agents,\n", - " - ### Reward and featurize functions with named policys,\n", + " - ### Reward and featurize functions with named policies,\n", " - ### MultiController,\n", - " - ### Training an RL agent in a classicly controlled grid.\n", + " - ### Training an RL agent in a classically controlled grid.\n", "\n", "## Merging classic controllers and RL agents\n", "\n", @@ -80,22 +79,21 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "f039119e", "metadata": {}, "source": [ - "Like already introduced in `RL_Single_Agent_DEMO.ipynb`, an appropriate `reference(t)` function has to be defined to represent the control objectives.\n", + "Like already introduced in `RL_Single_Agent.ipynb`, an appropriate `reference(t)` function has to be defined to represent the control objectives.\n", "In this example, we will use the time `t` handed over to the function to generate time-varying reference signals.\n", - "In more detail a three-phase sinusoidal refrence signal shifted by 120° and an aplitude of 10 A is created.\n", + "In more detail a three-phase sinusoidal reference signal shifted by 120° and an amplitude of 10 A is created.\n", "This should teach the agent to draw time-varying current from the grid. \n", "The phase is thereby chosen similar to the definition in the `Swing` mode:\n", "\n", "$i_\\mathrm{L,ref} = - 10 \\,\\text{cos}\\left(2 \\pi \\,50 \\, t - \\frac{2}{3} \\pi (n-1) \\right)$, with $n \\in [0,1,2]$.\n", "\n", - "Here, $n$ represents the index refering to the 3 phases of the grid.\n", + "Here, $n$ represents the index referring to the 3 phases of the grid.\n", "\n", - "For more enhanced reference functions, the reference current could be chosen with regards to power (active and reactive) reference values.\n", + "For more enhanced reference functions, the reference current could be chosen in regard to power (active and reactive) reference values.\n", "Feel free to implement, change and contribute! " ] }, @@ -128,7 +126,7 @@ "id": "55f9ce89", "metadata": {}, "source": [ - "## Reward and featurize functions with named policys\n", + "## Reward and featurize functions with named policies\n", "\n", "Afterwards the `featurize()` function adds the signal generated by the `reference` function to the state for the agent `my_ddpg`:" ] @@ -159,15 +157,14 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "ba45180b", "metadata": {}, "source": [ - "Then, the `reward()` function is defined. Here, again it is based on the root-mean square error (RMSE) teaching the agent `my_ddpg` to match the reference signal to the measured signal. \n", + "Then, the `reward()` function is defined. Here, again it is based on the root-mean-square error (RMSE) teaching the agent `my_ddpg` to match the reference signal to the measured signal. \n", "\n", "If the measured state is greater than `1` a punishment is returned which is chosen to be `r = -1`.\n", - "It not and if the measured value differs from the reference, the average error is substracted from the maximal reward: `r = 1 - RMSE`:\n", + "It not and if the measured value differs from the reference, the average error is subtracted from the maximal reward: `r = 1 - RMSE`:\n", "\n", "$r = 1 - \\frac{1}{3} \\sum_{{p \\in \\{\\mathrm{a,b,c}\\}}} \\sqrt{\\frac{|i_\\mathrm{L,ref,p} - i_\\mathrm{L1,p}|}{2}}$\n", "\n", @@ -224,7 +221,7 @@ "id": "70bb0752", "metadata": {}, "source": [ - "Then, the defined parameters, featurize and reward functions are used to create an environment consisting of the electircal power grid. Here, no `CM` matrix defining the connection is used. Since the grid consists only of 2 sources that is the only connection possible. The `ElectricGridEnv` creates this internally based on the length of the parameter dict sources." + "Then, the defined parameters, featurize and reward functions are used to create an environment consisting of the electrical power grid. Here, no `CM` matrix defining the connection is used. Since the grid consists only of 2 sources that is the only connection possible. The `ElectricGridEnv` creates this internally based on the length of the parameter dict sources." ] }, { @@ -257,7 +254,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "475ded2d", "metadata": {}, @@ -268,9 +264,9 @@ "\n", " - `\"control_type\" = \"classic\"`: Predefined classic controllers are used to calculate the actions for that source based on its states.\n", "\n", - " - `\"control_type\" = \"RL\"`: Based on the defined agent name (here, `my_ddpg`), the corresponding states are forwarded to the defined RL agent which returns the actions beloning to the source.\n", + " - `\"control_type\" = \"RL\"`: Based on the defined agent name (here, `my_ddpg`), the corresponding states are forwarded to the defined RL agent which returns the actions belonging to the source.\n", "\n", - "In the following, we will use the `CreateAgentDDPG()` methode to create the DDPG `agent`. This `agent` is linked in the `my_custom_agents` dict to the chosen name `my_ddpg`, which is used in the `SetupAgents` method to configure the control side of the experiment:" + "In the following, we will use the `CreateAgentDDPG()` method to create the DDPG `agent`. This `agent` is linked in the `my_custom_agents` dict to the chosen name `my_ddpg`, which is used in the `SetupAgents` method to configure the control side of the experiment:" ] }, { @@ -290,7 +286,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "763bf166", "metadata": {}, @@ -332,7 +327,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "07a41629", "metadata": {}, @@ -365,7 +359,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "8371d587", "metadata": {}, @@ -399,16 +392,15 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "6cab250b", "metadata": {}, "source": [ - "## Training an RL agent in a classicly controlled grid\n", + "## Training an RL agent in a classically controlled grid\n", "\n", "Then the `Learn()` function is used to train 20 episodes. \n", "Here, only the RL agent is trained. \n", - "The classic controller is executed to control the second source without paramter adaptions." + "The classic controller is executed to control the second source without parameter adaptions." ] }, { @@ -421,14 +413,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 0%|█ | ETA: 7:53:14\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:02:27\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:02:27\u001b[39m\u001b[K\n" ] }, { @@ -51716,7 +51701,7 @@ "lastKernelId": "56222657-ca3f-4d82-ad04-2a8b293027de" }, "kernelspec": { - "display_name": "Julia 1.8.2", + "display_name": "Julia 1.8.5", "language": "julia", "name": "julia-1.8" }, @@ -51724,7 +51709,7 @@ "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.8.2" + "version": "1.8.5" } }, "nbformat": 4, diff --git a/examples/notebooks/RL_Complex_DEMO.ipynb b/examples/notebooks/RL_Complex.ipynb similarity index 99% rename from examples/notebooks/RL_Complex_DEMO.ipynb rename to examples/notebooks/RL_Complex.ipynb index dd518cb1..1a809f78 100644 --- a/examples/notebooks/RL_Complex_DEMO.ipynb +++ b/examples/notebooks/RL_Complex.ipynb @@ -11,13 +11,13 @@ "\n", "- ### One RL agent controlling different sources,\n", "- ### Featurize and reward for all multiple sources,\n", - "- ### Train an agent to controll all multiple sources at once.\n", + "- ### Train an agent to control all multiple sources at once.\n", " \n", "## One RL agent controlling different sources\n", "\n", - "The experiment is shown in the figure below. Two sources will be feeded by a negative reference value and therefore act as active loads. The electrical power grid is here abstracted similar to the output of the `DrawGraph(env.nc)` method.\n", + "The experiment is shown in the figure below. Two sources will be fed by a negative reference value and therefore act as active loads. The electrical power grid is here abstracted similar to the output of the `DrawGraph(env.nc)` method.\n", "The sources and loads shown as colored circles connected via cables.\n", - "This is similar like the usage of the GUI, where the sources, loads and cables can be parameterized and connected interactivly.\n", + "This is similar like the usage of the GUI, where the sources, loads and cables can be parameterized and connected interactively.\n", "\n", "![](figures/RL_Complex_Demo.png \"\")\n" ] @@ -90,8 +90,8 @@ "\n", "\n", "As `reference(t)` function for simplicity, DC-values are used, one per source, since we are dealing with a single phase grid.\n", - "The first an third reference values are negative, so these sources will draw power from the grid.\n", - "The second reference value is positiv, so the second source will provide power." + "The first and third reference values are negative, so these sources will draw power from the grid.\n", + "The second reference value is positive, so the second source will provide power." ] }, { @@ -125,7 +125,7 @@ "## Featurize and reward for multiple sources\n", "\n", "Afterwards the `featurize()` function adds the signal generated by the `reference` function to the state for the agent `my_ddpg`.\n", - "All reference values are normalized regarding to the limit current or voltage of the source they will refer to (like shown later):" + "All reference values are normalized considering the limit current or voltage of the source they will refer to (like shown later):" ] }, { @@ -163,10 +163,10 @@ "id": "ba45180b", "metadata": {}, "source": [ - "Then, the `reward()` function is defined. Here, again it is based on the root-mean square error (RMSE) teach the agent `my_ddpg` to match the reference signal to the measured signal. \n", + "Then, the `reward()` function is defined. Here, again it is based on the root-mean-square error (RMSE) teach the agent `my_ddpg` to match the reference signal to the measured signal. \n", "\n", "If the measured state is greater than `1` a punishment of `r = -1` is returned.\n", - "It not and if the measured value differs from the reference, the average error is substracted from the maximal reward: `r = 1 - RMSE`:\n", + "It not and if the measured value differs from the reference, the average error is subtracted from the maximal reward: `r = 1 - RMSE`:\n", "\n", "$r = 1 - \\frac{1}{3} \\sum_{{p \\in \\{\\mathrm{1,2,3}\\}}} \\sqrt{\\frac{|x_\\mathrm{ref,p} - x_\\mathrm{meas,p}|}{2}}$\n", "\n", @@ -233,9 +233,9 @@ "id": "70bb0752", "metadata": {}, "source": [ - "## Train an agent to controll multiple sources\n", + "## Train an agent to control multiple sources\n", "\n", - "The defined parameters, featurize and reward functions are used to create an environment consisting of the electircal power grid:" + "The defined parameters, featurize and reward functions are used to create an environment consisting of the electrical power grid:" ] }, { @@ -274,7 +274,7 @@ "id": "475ded2d", "metadata": {}, "source": [ - "Like already shon in `RL_Single_Agent_DEMO.ipynb`, again an DDPG agent is created. \n", + "Like already shown in `RL_Single_Agent.ipynb`, again an DDPG agent is created. \n", "The `SetupAgents()` function is then used to configure the `controllers` utilizing `MultiController`." ] }, @@ -299,7 +299,7 @@ "id": "763bf166", "metadata": {}, "source": [ - "Here, the `controllers` struct constits only of the one `my_ddpg` agent:" + "Here, the `controllers` struct consists only of the one `my_ddpg` agent:" ] }, { @@ -366,7 +366,7 @@ "id": "8371d587", "metadata": {}, "source": [ - "And has knowlegde about all the states of the three sources:" + "And has knowledge about all the states of the three sources:" ] }, { @@ -401,7 +401,7 @@ "id": "6cab250b", "metadata": {}, "source": [ - "The next steps are straigth forward compared to the prior RL example notebooks like `RL_Classical_Controllers_Merge_DEMO.ipynb`" + "The next steps are straight forward compared to the prior RL example notebooks like `RL_Classical_Controllers_Merge.ipynb`" ] }, { @@ -448,7 +448,7 @@ "id": "d56598c5", "metadata": {}, "source": [ - "After the training, the `Simulate()` function is used to run a test epiode without action noise and the state to be controlled ($i_\\mathrm{L1}$) is plotted:" + "After the training, the `Simulate()` function is used to run a test episode without action noise and the state to be controlled ($i_\\mathrm{L1}$) is plotted:" ] }, { diff --git a/examples/notebooks/RL_Complex_DEMO_external_agent.ipynb b/examples/notebooks/RL_Complex_external_agent.ipynb similarity index 99% rename from examples/notebooks/RL_Complex_DEMO_external_agent.ipynb rename to examples/notebooks/RL_Complex_external_agent.ipynb index c9af42a5..1bac6390 100644 --- a/examples/notebooks/RL_Complex_DEMO_external_agent.ipynb +++ b/examples/notebooks/RL_Complex_external_agent.ipynb @@ -1,12 +1,11 @@ { "cells": [ { - "attachments": {}, "cell_type": "markdown", "metadata": {}, "source": [ "In this section we want to set up a ElectricGrid simulation utilizing a reinforcement learning agent from `ReinforcementLearning.jl`.\n", - "We start with the same code we used in the `Reinforcement Learning in Larger Grids` section (or in the `RL_Complex_DEMO` notebook, respectively)." + "We start with the same code we used in the `Reinforcement Learning in Larger Grids` section (or in the `RL_Complex` notebook, respectively)." ] }, { @@ -132,7 +131,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "metadata": {}, "source": [ @@ -202,7 +200,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "metadata": {}, "source": [ @@ -218,154 +215,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 20%|█████████ | ETA: 0:00:05\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 41%|█████████████████ | ETA: 0:00:03\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 60%|█████████████████████████ | ETA: 0:00:03\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - 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] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:06:53\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:06:53\u001b[39m\u001b[K\n" ] }, { @@ -406,7 +256,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "metadata": {}, "source": [ @@ -261503,7 +261352,7 @@ ], "metadata": { "kernelspec": { - "display_name": "Julia 1.8.2", + "display_name": "Julia 1.8.5", "language": "julia", "name": "julia-1.8" }, @@ -261511,9 +261360,8 @@ "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.8.2" - }, - "orig_nbformat": 4 + "version": "1.8.5" + } }, "nbformat": 4, "nbformat_minor": 2 diff --git a/examples/notebooks/RL_Single_Agent_DEMO.ipynb b/examples/notebooks/RL_Single_Agent.ipynb similarity index 95% rename from examples/notebooks/RL_Single_Agent_DEMO.ipynb rename to examples/notebooks/RL_Single_Agent.ipynb index 7c929ac9..46f3956a 100644 --- a/examples/notebooks/RL_Single_Agent_DEMO.ipynb +++ b/examples/notebooks/RL_Single_Agent.ipynb @@ -1,7 +1,6 @@ { "cells": [ { - "attachments": {}, "cell_type": "markdown", "id": "2888dffe", "metadata": {}, @@ -17,7 +16,7 @@ "## Introduction to RL with ElectricGrid.jl\n", "\n", "In the following, a reinforcement learning (RL) agent is trained to control the current flowing through an inductor.\n", - "It will be shown how the agent can learn and be applied to an simple electrical power grid simulated with de `ElectricGrid` package.\n", + "It will be shown how the agent can learn and be applied to a simple electrical power grid simulated with de `ElectricGrid` package.\n", "\n", "The use case is shown in the figure below.\n", "\n", @@ -25,13 +24,13 @@ "\n", "First we define the environment with the configuration shown in the figure. \n", "It consists of a single phase electrical power grid with 1 source and 1 load connected via a cable.\n", - "For more information on how to setup an environment see `Env_Create_DEMO.ipynb`.\n", + "For more information on how to set up an environment see `Env_Create.ipynb`.\n", "\n", "The parameter dict is used for configuration.\n", - "Within the source dict, two imporant entires will have to be defined:\n", + "Within the source dict, two important entries will have to be defined:\n", " - `\"control_type\"`: Defines whether the source is controlled applying a classic controller (`\"classic\"`) or using an RL agent (`\"RL\"`).\n", " - `\"mode\"`: Defines the control mode of controller/agent:\n", - " - `\"classic\"`: Different predefined classic control modes can be chosen to apply a specific control behaviour (e.g., droop, VSG, step response,...). For more information see Classic_Controllers-notebooks or UserGuide.\n", + " - `\"classic\"`: Different predefined classic control modes can be chosen to apply a specific control behaviour (e.g., droop, VSG, step response, ...). For more information see Classic_Controllers-notebooks or user guide.\n", " - `\"RL\"`: An agent name, which is used later on to link the defined agent to this source.\n", " \n", "Here, `RL` is selected as `control_type` and the name `my_ddpg` as the `mode`. \n" @@ -74,7 +73,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "f039119e", "metadata": {}, @@ -111,7 +109,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "55f9ce89", "metadata": {}, @@ -126,16 +123,16 @@ "- `name` contains the key of the agent.\n", "\n", "In the following, the signal generated by the `reference` function is added to the state provided to the agent `my_ddpg`. This will help the agent to learn because later we will define a reward that has maximum value if the measured current fits the reference value.\n", - "The reference value has to be normalized in an appropirate way that it fits to the range of the normalized states.\n", + "The reference value has to be normalized appropriately that it fits to the range of the normalized states.\n", "\n", "Additionally, more signals could be added here to enhance the learning process.\n", "\n", "As stated before, `state` already contains all state values of the source the agent with key `name` should control.\n", - "However, the environment maintains a lot more states than that. Through `featurize` we could expose them to the agent but we refrain from that here since we want to simulate a scenario where the source the agent controls is far away (e.g. 1km) from the load its supplying. \n", - "In cases like this it's common that the agent has no knowlegde about states of the load since no communication and measurements exchange between source and load is assumed.\n", + "However, the environment maintains a lot more states than that. Through `featurize` we could expose them to the agent, but we refrain from that here since we want to simulate a scenario where the source the agent controls is far away (e.g. 1 km) from the load it's supplying. \n", + "In cases like this it's common that the agent has no knowledge about states of the load since no communication and measurements exchange between source and load is assumed.\n", "\n", - "In anonther example, the electrical power grid consits of multiple sources and loads. The other sources are controlled by other agents or classic controllers. In that case, typically every controller/agent has knowlegde of the states of the source it controls but not about the states another agent/controller controls.\n", - "Handing the corresponding source-depending states to the correct controllers/agents is handeled internally based on the `keys` (above: `my_ddpg`- for more information see `MultiController` and `inner_featurize` of the `env`)." + "In another example, the electrical power grid consists of multiple sources and loads. The other sources are controlled by other agents or classic controllers. In that case, typically every controller/agent has knowledge of the states of the source it controls but not about the states another agent/controller controls.\n", + "Handing the corresponding source-depending states to the correct controllers/agents is handled internally based on the `keys` (above: `my_ddpg`- for more information see `MultiController` and `inner_featurize` of the `env`)." ] }, { @@ -175,13 +172,13 @@ "Since the states are normalized by the limits the electrical components can handle, a value greater than `1` means that the state limit is exceeded typically leading to a system crash.\n", "Therefore, first it is checked if the measured state is greater than `1`. In that case a punishment is returned which, here, is chosen to be `r = -1`.\n", "\n", - "In case the controlled state is within the valid state space, the reward is caculated based on the error between the wanted reference value and the measured state value. \n", - "If these values are the same, meaning the agent perfectly fullfills the control task, a reward of `r = 1` is returned to the agent. ( -> r $\\in$ [-1, 1]).\n", - "If the measured value differs from the reference, the error - based on the root-mean square error (RMSE) in this example - is substracted from the maximal reward: `r = 1 - RMSE`:\n", + "In case the controlled state is within the valid state space, the reward is calculated based on the error between the wanted reference value and the measured state value. \n", + "If these values are the same, meaning the agent perfectly fulfills the control task, a reward of `r = 1` is returned to the agent. ( -> r $\\in$ [-1, 1]).\n", + "If the measured value differs from the reference, the error - based on the root-mean-square error (RMSE) in this example - is subtracted from the maximal reward: `r = 1 - RMSE`:\n", "\n", "$r = 1 - \\sqrt{\\frac{|i_\\mathrm{L,ref} - i_\\mathrm{L1}|}{2}}$\n", "\n", - "To keep the reward in the wanted range, the current difference is devided by 2. " + "To keep the reward in the wanted range, the current difference is divided by 2. " ] }, { @@ -218,7 +215,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "70bb0752", "metadata": {}, @@ -262,12 +258,11 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "475ded2d", "metadata": {}, "source": [ - "In this example, a `Deep Deterministic Policy Gradient` agent (compare the corresponding [paper](https://arxiv.org/abs/1509.02971), or this nice [introdution](https://spinningup.openai.com/en/latest/algorithms/ddpg.html)) is chosen which can learn a control task on continous state and action spaces.\n", + "In this example, a `Deep Deterministic Policy Gradient` agent (compare the corresponding [paper](https://arxiv.org/abs/1509.02971), or this nice [introduction](https://spinningup.openai.com/en/latest/algorithms/ddpg.html)) is chosen which can learn a control task on continuous state and action spaces.\n", "It is configured using the `CreateAgentDdpg()` function:\n", "\n" ] @@ -285,7 +280,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "8f0fbaa2", "metadata": {}, @@ -328,17 +322,16 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "6cab250b", "metadata": {}, "source": [ - "To use the predefined agent in the experiment, the `SetupAgents()` takes a dictonary as secound input. Like shown above, the dictonary `my_custom_agents` links the predefined `agent` to the chosen agent name (`\"mode\"`) in the parameter dict.\n", + "To use the predefined agent in the experiment, the `SetupAgents()` takes a dictionary as second input. Like shown above, the dictionary `my_custom_agents` links the predefined `agent` to the chosen agent name (`\"mode\"`) in the parameter dict.\n", "\n", "Internally, the `SetupAgents()` function extends the `agent` by a name to a [named policy](https://juliareinforcementlearning.org/docs/rlcore/#ReinforcementLearningCore.NamedPolicy ).\n", "Using this named policy the [MultiController](https://juliareinforcementlearning.org/docs/rlzoo/#ReinforcementLearningZoo.MADDPGManager) enables to call the different agents/controllers via name during training and application.\n", "This is used for example in the `reward()` function to return a specific reward to the `my_ddpg` agent (`if name == \"my_ddpg\" ...`)\n", - "Later, that functionality helps to give different rewards to different agents seperated by name.\n", + "Later, that functionality helps to give different rewards to different agents separated by name.\n", "\n", "\n", "\n", @@ -355,70 +348,7 @@ "name": "stderr", "output_type": "stream", "text": [ - 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] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 77%|████████████████████████████████ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" ] }, { @@ -687,21 +574,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 42%|██████████████████ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 84%|███████████████████████████████████ | ETA: 0:00:00\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" ] }, { @@ -744,21 +617,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 38%|████████████████ | ETA: 0:00:02\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 78%|█████████████████████████████████ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" ] }, { @@ -801,21 +660,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 38%|████████████████ | ETA: 0:00:02\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 78%|████████████████████████████████ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" ] }, { @@ -858,21 +703,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\r\u001b[32mProgress: 38%|████████████████ | ETA: 0:00:02\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 77%|████████████████████████████████ | ETA: 0:00:01\u001b[39m\u001b[K" - ] - }, - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\r\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" + "\u001b[32mProgress: 100%|█████████████████████████████████████████| Time: 0:00:02\u001b[39m\u001b[K\n" ] }, { @@ -913,7 +744,7 @@ "id": "5a518f3b", "metadata": {}, "source": [ - "After the training, the `Simulate()` function is used to run a test epiode without action noise and afterwards the input voltage ($v_{i1}$) and current ($i_\\mathrm{L1}$) of the source is plotted:" + "After the training, the `Simulate()` function is used to run a test episode without action noise and afterwards the input voltage ($v_{i1}$) and current ($i_\\mathrm{L1}$) of the source is plotted:" ] }, { @@ -2873,7 +2704,6 @@ ] }, { - "attachments": {}, "cell_type": "markdown", "id": "069f706d", "metadata": {}, @@ -2888,15 +2718,15 @@ "lastKernelId": "99741b41-2de8-4b3a-b10a-a475fb0a43fa" }, "kernelspec": { - "display_name": "Julia 1.9.1", + "display_name": "Julia 1.8.5", "language": "julia", - "name": "julia-1.9" + "name": "julia-1.8" }, "language_info": { "file_extension": ".jl", "mimetype": "application/julia", "name": "julia", - "version": "1.9.1" + "version": "1.8.5" } }, "nbformat": 4, diff --git a/examples/notebooks/readme.md b/examples/notebooks/readme.md index a020d602..60cdb8c7 100644 --- a/examples/notebooks/readme.md +++ b/examples/notebooks/readme.md @@ -3,30 +3,30 @@ In the following, the notebooks' content is briefly described and a useful order for new users is suggested. Environment: -* [Set up an experiment/environment with an electirc energy grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Create_DEMO.ipynb) -* [Interacting with the environment - the basic contept](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Interaction_DEMO.ipynb) +* [Set up an experiment/environment with an electirc energy grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Create.ipynb) +* [Interacting with the environment - the basic contept](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Env_Interaction.ipynb) Nodeconstructor: -* [The theoretical principles behind the calculations](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Theory_DEMO.ipynb) -* [Background of automated energy grid configuration](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Application_DEMO.ipynb) +* [The theoretical principles behind the calculations](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Theory.ipynb) +* [Background of automated energy grid configuration](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/NodeConstructor_Application.ipynb) Classic controllers: -* [Auxiliaries provided from the classic control side](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/1_Auxiliaries_OU_process.ipynb) +* [Auxiliaries provided from the classic control side](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Auxiliaries_OU_process.ipynb) -* [Open-loop swing mode - infinite bus](https://github.com/upb-lea/ElectricGrid.jl/blob/develop/examples/notebooks/1_Classical_Controllers_Swing.ipynb) +* [Open-loop swing mode - infinite bus](https://github.com/upb-lea/ElectricGrid.jl/blob/develop/examples/notebooks/Classical_Controllers_1_Swing.ipynb) -* [PQ mode - controllable source and load](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/2_Classical_Controllers_PQ.ipynb) +* [PQ mode - controllable source and load](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Classical_Controllers_2_PQ.ipynb) -* [Droop mode - simple grid forming](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/3_Classical_Controllers_Droop.ipynb) +* [Droop mode - simple grid forming](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Classical_Controllers_3_Droop.ipynb) -* [VSG mode - enhanced grid forming](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/4_Classical_Controllers_VSG.ipynb) +* [VSG mode - enhanced grid forming](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/Classical_Controllers_4_VSG.ipynb) Reinforcement Learning: -* [Train an RL agent in the ElectricGrid.jl framework](https://github.com/upb-lea/ElectricGrid.jl/blob/develop/examples/notebooks/RL_Single_Agent_DEMO.ipynb) +* [Train an RL agent in the ElectricGrid.jl framework](https://github.com/upb-lea/ElectricGrid.jl/blob/develop/examples/notebooks/RL_Single_Agent.ipynb) -* [Train an RL agent in a classicly controlled grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Classical_Controllers_Merge_DEMO.ipynb) +* [Train an RL agent in a classicly controlled grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Classical_Controllers_Merge.ipynb) -* [Train an RL agent controlling the whole grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Complex_DEMO.ipynb) +* [Train an RL agent controlling the whole grid](https://github.com/upb-lea/ElectricGrid.jl/blob/main/examples/notebooks/RL_Complex.ipynb) Miscellanous: diff --git a/examples/scripts/Control_Example.jl b/examples/scripts/Control_Example.jl index 76783e81..ff73af67 100644 --- a/examples/scripts/Control_Example.jl +++ b/examples/scripts/Control_Example.jl @@ -1,5 +1,13 @@ using ElectricGrid +#= Description: + + This script is for classical control of sources. It is a relatively simple script, with + most of the functionality commented out. By uncommenting certain sections it can be very + quick to build a new network. + +=# + println("...........o0o----ooo0§0ooo~~~ START ~~~ooo0§0ooo----o0o...........\n\n") #_______________________________________________________________________________ @@ -8,47 +16,37 @@ println("...........o0o----ooo0§0ooo~~~ START ~~~ooo0§0ooo----o0o........... #------------------------------------------------------------------------------- # Time simulation -Timestep = 100e-6 # time step, seconds ~ 100μs => 10kHz, 50μs => 20kHz, 20μs => 50kHz +Timestep = 100e-6 # time step, seconds ~ 100 μs => 10 kHz, 50 μs => 20 kHz, 20 μs => 50 kHz t_end = 0.2 # total run time, seconds num_eps = 1 # number of episodes to run #------------------------------------------------------------------------------- # Connectivity Matrix -#= CM = [ 0. 0. 0. 1. - 0. 0. 0. 2. - 0. 0. 0. 3. - -1. -2. -3. 0.] =# CM = [ 0. 0. 1. 0. 0. 2. -1. -2. 0.] -#= CM = [0. 1. - -1. 0.] =# - #------------------------------------------------------------------------------- # Cable Impedances cable_list = [] cable = Dict() -cable["R"] = 0.1 # Ω, line resistance #0.208 +cable["R"] = 0.1 # Ω, line resistance cable["L"] = 0.25e-3 # H, line inductance cable["C"] = 0.05e-4 # F, line capacitance cable["i_limit"] = 10e12 # A, line current limit -#push!(cable_list, cable, cable, cable) - push!(cable_list, cable, cable) -#push!(cable_list, cable) #------------------------------------------------------------------------------- # Sources #= Modes: - 1 -> "Swing" - voltage source without dynamics (i.e. an Infinite Bus) + 1 -> "Swing" - voltage source without dynamics (i.e. an infinite Bus) 2 -> "PQ" - grid following controllable source/load (active and reactive Power) 3 -> "Droop" - simple grid forming with power balancing 4 -> "Synchronverter" - enhanced droop control @@ -89,8 +87,8 @@ source["mode"] = 2 source["fltr"] = "L" # Filter type source["pwr"] = 100e3 # Rated Apparent Power, VA -source["p_set"] = 30e3 # Real Power Set Point, Watt -source["q_set"] = -10e3 # Imaginary Power Set Point, VAi +source["p_set"] = 30e3 # Real Power Set Point, W +source["q_set"] = -10e3 # Imaginary Power Set Point, VA source["v_pu_set"] = 1.00 # Voltage Set Point, p.u. source["v_δ_set"] = 0 # Voltage Angle, degrees @@ -98,7 +96,7 @@ source["v_δ_set"] = 0 # Voltage Angle, degrees source["std_asy"] = 2.5e3 # Asymptotic Standard Deviation source["σ"] = 100e3 # Brownian motion scale i.e. ∝ diffusion, volatility parameter source["Δt"] = 0.01 # Time Step, seconds -source["X₀"] = 0 # Initial Process Values, Watt +source["X₀"] = 0 # Initial Process Values, W source["k"] = 2 # Interpolation degree source["τv"] = 0.002 # Time constant of the voltage loop, seconds @@ -119,41 +117,6 @@ source["V_ki"] = 5.856 # A/Vs =# push!(source_list, source) -#= -source["Dp"] = 202 # frequency droop coefficient -source["Dq"] = 6148 # voltage droop coefficient -source["I_kp"] = 0.0032 # V/A -source["I_ki"] = 0.3497 # V/As -source["V_kp"] = 0.2964# A/V -source["V_ki"] = 5.856 # A/Vs -source["fltr"] = "LCL" -source["control_type"] = "classic" -source["v_δ_set"] = 0 # degrees -source["v_rip"] = 0.01537 -source["i_rip"] = 0.15 -source["vdc"] = 800 #V -source["τv"] = 0.002 -source["τf"] = 0.002 -source["pf"] = 0.8 # Power Factor -source["κ"] = 3 # mean reversion parameter -source["γ"] = 50e3 # Asymptotoic Mean -source["X₀"] = 25 # initial values -source["L1"] = 0.002 -source["R1"] = 0.04 -source["L2"] = 0.002 -source["R2"] = 0.05 -source["R_C"] = 0.09 -source["C"] = 0.003 =# - -#= source = Dict() - -source["pwr"] = 200e3 -source["vdc"] = 800 -source["fltr"] = "LC" -source["i_rip"] = 0.15 -source["v_rip"] = 0.01537 - -push!(source_list, source) =# #------------------------------------------------------------------------------- # Loads @@ -238,15 +201,15 @@ for eps in 1:num_eps states_to_plot = [], actions_to_plot = [], power_p_inv = [1 2], - power_p_poc = [], - power_q_inv = [], - power_q_poc = [], - v_mag_inv = [], - v_mag_poc = [], - i_mag_inv = [], - i_mag_poc = [], - freq = [], - angles = [], + power_p_poc = [1 2], + power_q_inv = [1 2], + power_q_poc = [1 2], + v_mag_inv = [1 2], + v_mag_poc = [1 2], + i_mag_inv = [1 2], + i_mag_poc = [1 2], + freq = [1 2], + angles = [1 2], i_sat = [], v_sat = [], i_err_t = [], diff --git a/examples/scripts/test_battery.jl b/examples/scripts/DC-Link_Battery.jl similarity index 81% rename from examples/scripts/test_battery.jl rename to examples/scripts/DC-Link_Battery.jl index e4974f03..c6c0e21b 100644 --- a/examples/scripts/test_battery.jl +++ b/examples/scripts/DC-Link_Battery.jl @@ -2,13 +2,19 @@ using ElectricGrid using LinearAlgebra using DataFrames using PlotlyJS +""" +This script contains parts of the DC_linkModels.ipynb notebook. +For comments and more documentation see refering notebook in examples/notebooks. +""" +# constructing a simple grid CM = [ 0. 1. -1. 0.] +# create suitable load R_load, L_load, X, Z = ParallelLoadImpedance(5e3, .95, 230) - +# configer the other parameters parameters = Dict{Any,Any}( "source" => Any[ Dict{Any,Any}("source_type" => "battery", "pwr" => 15000.0, "fltr" => "L", @@ -22,25 +28,23 @@ parameters = Dict{Any,Any}( "grid" => Dict{Any,Any}("fs" => 1e4, "phase" => 3, "v_rms" => 230, "f_grid" => 50, "ramp_end" => 0.9) ) - -states = [] -states_all = [] -Charging = [] -Discharging = [] -V_dc_char = [] -V_dc_dis = [] +# create env env = ElectricGridEnv(num_sources=1, num_loads=1, CM=CM, parameters=parameters, t_end=2, verbosity=2) +#create agent Multi_Agent = SetupAgents(env) +# define information we like to collect hook = DataHook(collect_state_ids = [], collect_action_ids = [], collect_vdc_ids = [1], collect_soc_ids = [1], collect_idc_ids = [1],) +# run experiment hook = Simulate(Multi_Agent, env, hook=hook) +# render results p = RenderHookResults(hook = hook, states_to_plot = [], vdc_to_plot = [1], diff --git a/examples/scripts/test_pfe.jl b/examples/scripts/DC-Link_Pfe.jl similarity index 100% rename from examples/scripts/test_pfe.jl rename to examples/scripts/DC-Link_Pfe.jl diff --git a/examples/scripts/DC-Link_Pv.jl b/examples/scripts/DC-Link_Pv.jl new file mode 100644 index 00000000..ad5a05b1 --- /dev/null +++ b/examples/scripts/DC-Link_Pv.jl @@ -0,0 +1,55 @@ +using ElectricGrid +using LinearAlgebra +using DataFrames +using PlotlyJS +""" +This script contains parts of the DC_linkModels.ipynb notebook. +For comments and more documentation see refering notebook in examples/notebooks. +""" + +# constructing a simple grid +CM = [0.0 1.0 + -1.0 0.0] + +# create suitable load +R_load, L_load, X, Z = ParallelLoadImpedance(1e3, 1.0, 230) + +# configer the other parameters +parameters = Dict{Any,Any}( + "source" => Any[ + Dict{Any,Any}("source_type" => "pv", + "fltr" => "L", "L1" => 0.001, "C" => 2e-8, "L2" => 0.001, "R_C" => 0.01, + "R2" => 0.05, "mode" => 1, "parallel" => 20, "serial" => 20, + "i_limit" => 1e4, "v_limit" => 1e5, "module_N_cell" => 36), + ], + "load" => Any[ + Dict{Any,Any}("impedance" => "R", "R" => 1e100, "i_limit" => 10e4, "v_limit" => 10e4), + ], + "cable" => Any[ + Dict{Any,Any}("R" => 1e-3, "L" => 1e-4, "C" => 1e-4, "i_limit" => 1e4, "v_limit" => 1e6,), + ], + "grid" => Dict{Any,Any}("fs" => 1e4, "phase" => 3, "v_rms" => 230, "f_grid" => 50, "ramp_end" => 0.9) +) + +# create env +env = ElectricGridEnv(num_sources=1, num_loads=1, CM=CM, parameters=parameters, t_end=2, verbosity=2) + +#create controller +Multi_Agent = SetupAgents(env) + +# define information which sould be collected +hook = DataHook(collect_state_ids=["source1_i_L1_a", "source1_v_C_cables_a"], + collect_action_ids=[], + collect_vdc_ids=[1], + collect_soc_ids=[1], + collect_idc_ids=[1]) + +# run experiment +hook = Simulate(Multi_Agent, env, hook=hook) + +# render results +p = RenderHookResults(hook=hook, + states_to_plot=["source1_i_L1_a", "source1_v_C_cables_a"], + vdc_to_plot=[1], + idc_to_plot=[1], + return_plot=false); diff --git a/examples/scripts/Filter Design Example.jl b/examples/scripts/Filter Design Example.jl index e1031dab..a5e9dea0 100644 --- a/examples/scripts/Filter Design Example.jl +++ b/examples/scripts/Filter Design Example.jl @@ -1,5 +1,12 @@ print("\n...........o0o----ooo0o0ooo~~~ START ~~~ooo0o0ooo----o0o...........\n") +#= Description: + + This script has all of the equations that have been used to automatically design the + filter inductor and capacitor. + +=# + #____________________________________________________________ # Inputs @@ -57,12 +64,12 @@ println("Cf = ", round(Cf*1e6, digits = 3), " μF\n") # Verifying Design #= Theory - The design should be valid for the entire range. That is, the if - the network voltage is at 0.95 p.u. then the ripple voltage should - be still be below the specified value. In other words, at 0.95 p.u. - the ripple voltage is maximised, which is why we designed the Cf at - 0.95 p.u. For the ripple current we use the inverse methodology. The - ripple current is maximised at 1.05 p.u. + The design should be valid for the entire range. That is, the if + the network voltage is at 0.95 p.u. then the ripple voltage should + be still be below the specified value. In other words, at 0.95 p.u. + the ripple voltage is maximised, which is why we designed the Cf at + 0.95 p.u. For the ripple current we use the inverse methodology. The + ripple current is maximised at 1.05 p.u. =# Vorms = Vrms*1.05 diff --git a/examples/scripts/RL_Classical_Controllers_Merge_DEMO.jl b/examples/scripts/RL_Classical_Controllers_Merge.jl similarity index 94% rename from examples/scripts/RL_Classical_Controllers_Merge_DEMO.jl rename to examples/scripts/RL_Classical_Controllers_Merge.jl index e9a8b63e..627a4f23 100644 --- a/examples/scripts/RL_Classical_Controllers_Merge_DEMO.jl +++ b/examples/scripts/RL_Classical_Controllers_Merge.jl @@ -2,8 +2,8 @@ using ElectricGrid #using ReinforcementLearning """ -This scipt contains the content of the RL_Classical_Controllers_Merge_DEMO.ipynb notebook. -For comments and more documentation see refering notebookin examples/notebooks +This script contains the content of the RL_Classical_Controllers_Merge.ipynb notebook. +For comments and more documentation see refering notebook in examples/notebooks """ parameters = diff --git a/examples/scripts/RL_Complex_DEMO.jl b/examples/scripts/RL_Complex_DEMO.jl deleted file mode 100644 index 33b61d50..00000000 --- a/examples/scripts/RL_Complex_DEMO.jl +++ /dev/null @@ -1,143 +0,0 @@ -using ElectricGrid - -""" -This scipt contains the content of the RL_Complex_DEMO.ipynb notebook. -For comments and more documentation see refering notebookin examples/notebooks -""" -CM = [0.0 1.0 0 - -1.0 0.0 2.0 - 0 -2.0 0.0] - - - -S_load = 1e2 -pf_load = 1 -v_rms = 230 -R_load, L_load, X, Z = ParallelLoadImpedance(S_load, pf_load, v_rms) - -parameters = -Dict{Any, Any}( - "source" => Any[ - Dict{Any, Any}( - "pwr" => 200e3, - "control_type" => "RL", - "mode" => "my_ddpg", - "fltr" => "L", - "i_limit" => 2000., - "load" => true), - Dict{Any, Any}( - "pwr" => 200e3, - "fltr" => "LC", - "control_type" => - "RL", "mode" => "my_ddpg"), - Dict{Any, Any}( - "pwr" => 200e3, - "fltr" => "L", - "control_type" => - "RL", "mode" => "my_ddpg", - "i_limit" => 2000., - "load" => true), - ], - #"load" => Any[ - # Dict{Any, Any}("impedance" => "RLC", "R" => R_load, "v_limit" => 1e4, "i_limit" => 1e4) - # ], - "grid" => Dict{Any, Any}( - "phase" => 1, - "ramp_end" => 0.04,) -) - -function reference(t) - - #return [-1., -2.] - return [-10., 230., -15.] -end - -featurize_ddpg = function(state, env, name) - if name == "my_ddpg" - #norm_ref = env.nc.parameters["source"][1]["i_limit"] - #state = vcat(state, reference(env.t)/norm_ref) - - refs = reference(env.t) - refs[1] = refs[1] / env.nc.parameters["source"][1]["i_limit"] - refs[2] = refs[2] / env.nc.parameters["source"][2]["v_limit"] - refs[3] = refs[3] / env.nc.parameters["source"][3]["i_limit"] - - state = vcat(state, refs) - end -end - -function reward_function(env, name=nothing) - if name == "my_ddpg" - #println("Inside reward") - state_to_control_1 = env.state[findfirst(x -> x == "source1_i_L1", env.state_ids)] - state_to_control_2 = env.state[findfirst(x -> x == "source2_v_C_filt", env.state_ids)] - state_to_control_3 = env.state[findfirst(x -> x == "source3_i_L1", env.state_ids)] - - state_to_control = [state_to_control_1, state_to_control_2, state_to_control_3] - #state_to_control = [state_to_control_1, state_to_control_3] - - if any(abs.(state_to_control).>1) - return -1 - else - refs = reference(env.t) - refs[1] = refs[1] / env.nc.parameters["source"][1]["i_limit"] - refs[2] = refs[2] / env.nc.parameters["source"][2]["v_limit"] - refs[3] = refs[3] / env.nc.parameters["source"][3]["i_limit"] - - r = 1-1/3*(sum((abs.(refs - state_to_control)/2).^0.5)) - - #refs = reference(env.t) - #norm_ref = env.nc.parameters["source"][1]["i_limit"] - #r = 1-1/3*(sum((abs.(refs/norm_ref - state_to_control)/2).^0.5)) - - #println(r) - return r - end - else - return 1 - end - -end - -env = ElectricGridEnv( - CM = CM, - parameters = parameters, - t_end = 1, - featurize = featurize_ddpg, - reward_function = reward_function, - action_delay = 0, - verbosity = 2) - - - - -agent = CreateAgentDdpg(na = length(env.agent_dict["my_ddpg"]["action_ids"]), - ns = length(state(env, "my_ddpg")), - use_gpu = false) - -my_custom_agents = Dict("my_ddpg" => agent) - -controllers = SetupAgents(env, my_custom_agents) - -hook_learn = DataHook(collect_state_ids = env.state_ids, - collect_action_ids = env.action_ids) - -Learn(controllers, env, num_episodes = 1000, hook=hook_learn) - -RenderHookResults(hook = hook_learn, - episode = 1, - states_to_plot = env.state_ids, - actions_to_plot = env.action_ids, - plot_reward=true) - - -hook = DataHook(collect_state_ids = env.state_ids, - collect_action_ids = env.action_ids) - -hook = Simulate(controllers, env, hook=hook) - - -RenderHookResults(hook = hook, - states_to_plot = env.state_ids, - actions_to_plot = env.action_ids, - plot_reward=true) diff --git a/examples/scripts/RL_Complex_DEMO_external_agent.jl b/examples/scripts/RL_Complex_DEMO_external_agent.jl deleted file mode 100644 index b5c07cf7..00000000 --- a/examples/scripts/RL_Complex_DEMO_external_agent.jl +++ /dev/null @@ -1,201 +0,0 @@ -using ElectricGrid -using ReinforcementLearning -using StableRNGs -using Flux -using Flux.Losses -using IntervalSets -""" -This scipt contains the content of the RL_Complex_DEMO.ipynb notebook. -For comments and more documentation see refering notebookin examples/notebooks -""" -CM = [0.0 1.0 0 - -1.0 0.0 2.0 - 0 -2.0 0.0] - - - - - -parameters = -Dict{Any, Any}( - "source" => Any[ - Dict{Any, Any}( - "pwr" => 200e3, - "control_type" => "RL", - "mode" => "my_ddpg", - "fltr" => "L", - "i_limit" => 2000.), - Dict{Any, Any}( - "pwr" => 200e3, - "fltr" => "LC", - "control_type" => - "RL", "mode" => "my_ddpg"), - Dict{Any, Any}( - "pwr" => 200e3, - "fltr" => "L", - "control_type" => - "RL", "mode" => "my_ddpg", - "i_limit" => 2000.), - ], - #"load" => Any[ - # Dict{Any, Any}("impedance" => "RLC", "R" => R_load, "v_limit" => 1e4, "i_limit" => 1e4) - # ], - "grid" => Dict{Any, Any}( - "phase" => 1, - "ramp_end" => 0.04,) -) - -function reference(t) - - #return [-1., -2.] - return [-10., 230., -15.] -end - -featurize_ddpg = function(state, env, name) - if name == "my_ddpg" - #norm_ref = env.nc.parameters["source"][1]["i_limit"] - #state = vcat(state, reference(env.t)/norm_ref) - - refs = reference(env.t) - refs[1] = refs[1] / env.nc.parameters["source"][1]["i_limit"] - refs[2] = refs[2] / env.nc.parameters["source"][2]["v_limit"] - refs[3] = refs[3] / env.nc.parameters["source"][3]["i_limit"] - - state = vcat(state, refs) - end -end - -function reward_function(env, name=nothing) - if name == "my_ddpg" - #println("Inside reward") - state_to_control_1 = env.state[findfirst(x -> x == "source1_i_L1", env.state_ids)] - state_to_control_2 = env.state[findfirst(x -> x == "source2_v_C_filt", env.state_ids)] - state_to_control_3 = env.state[findfirst(x -> x == "source3_i_L1", env.state_ids)] - - state_to_control = [state_to_control_1, state_to_control_2, state_to_control_3] - #state_to_control = [state_to_control_1, state_to_control_3] - - if any(abs.(state_to_control).>1) - return -1 - else - refs = reference(env.t) - refs[1] = refs[1] / env.nc.parameters["source"][1]["i_limit"] - refs[2] = refs[2] / env.nc.parameters["source"][2]["v_limit"] - refs[3] = refs[3] / env.nc.parameters["source"][3]["i_limit"] - - r = 1-1/3*(sum((abs.(refs - state_to_control)/2).^0.5)) - - #refs = reference(env.t) - #norm_ref = env.nc.parameters["source"][1]["i_limit"] - #r = 1-1/3*(sum((abs.(refs/norm_ref - state_to_control)/2).^0.5)) - - #println(r) - return r - end - else - return 1 - end - -end - -env = ElectricGridEnv( - CM = CM, - parameters = parameters, - t_end = 1, - featurize = featurize_ddpg, - reward_function = reward_function, - action_delay = 0, - verbosity = 2) - - - - -#agent = CreateAgentDdpg(na = length(env.agent_dict["my_ddpg"]["action_ids"]), -# ns = length(state(env, "my_ddpg")), -# use_gpu = false) - - - -rng = StableRNG(1) -init = Flux.glorot_uniform(rng) - -ns = length(ElectricGrid.state(env, "my_ddpg"))#length(env.agent_dict["my_ddpg"]["state_ids"]) -na = length(env.agent_dict["my_ddpg"]["action_ids"]) - -CreateActor() = Chain( - Dense(ns, 30, relu; init = init), - Dense(30, 30, relu; init = init), - Dense(30, na, tanh; init = init), -) |> gpu - -CreateCritic() = Chain( - Dense(ns + na, 30, relu; init = init), - Dense(30, 30, relu; init = init), - Dense(30, 1; init = init), -) |> gpu - -agent = Agent( - policy = DDPGPolicy( - behavior_actor = NeuralNetworkApproximator( - model = CreateActor(), - optimizer = ADAM(), - ), - behavior_critic = NeuralNetworkApproximator( - model = CreateCritic(), - optimizer = ADAM(), - ), - target_actor = NeuralNetworkApproximator( - model = CreateActor(), - optimizer = ADAM(), - ), - target_critic = NeuralNetworkApproximator( - model = CreateCritic(), - optimizer = ADAM(), - ), - γ = 0.99f0, - ρ = 0.995f0, - na = na, - batch_size = 64, - start_steps = 1000, - start_policy = RandomPolicy(-1.0..1.0; rng = rng), - update_after = 50,#1000, - update_freq = 1, - act_limit = 1.0, - act_noise = 0.001, - rng = rng, - ), - trajectory = CircularArraySARTTrajectory( - capacity = 10000, - state = Vector{Float32} => (ns,), - action = Float32 => (na, ), - ), -) - - - -my_custom_agents = Dict("my_ddpg" => agent) - -controllers = SetupAgents(env, my_custom_agents) - -hook_learn = DataHook(collect_state_ids = env.state_ids, - collect_action_ids = env.action_ids) - -Learn(controllers, env, num_episodes = 20, hook=hook_learn) - -RenderHookResults(hook = hook_learn, - episode = 1, - states_to_plot = env.state_ids, - actions_to_plot = env.action_ids, - plot_reward=true) - - -hook = DataHook(collect_state_ids = env.state_ids, - collect_action_ids = env.action_ids) - -hook = Simulate(controllers, env, hook=hook) - - -RenderHookResults(hook = hook, - states_to_plot = env.state_ids, - actions_to_plot = env.action_ids, - plot_reward=true) diff --git a/examples/scripts/RL_Classical_Controllers_Merge_2.jl b/examples/scripts/RL_Droop_Hybrid.jl similarity index 72% rename from examples/scripts/RL_Classical_Controllers_Merge_2.jl rename to examples/scripts/RL_Droop_Hybrid.jl index ae033bee..21a5281c 100644 --- a/examples/scripts/RL_Classical_Controllers_Merge_2.jl +++ b/examples/scripts/RL_Droop_Hybrid.jl @@ -1,5 +1,12 @@ +# This is code that is associated to the article "Hybrid control of interconnected power converters using both expert-driven droop and data-driven reinforcement learning approaches", which is currently in the publication process. + +# In this script we set up an experiment with two sources - one being controlled by a classical controller in Droop mode, the other by RL - each of which are connected to a load. The goal of the RL agent will be to control the input voltage of the source such that the corresponding current will match a reference signal which is a 3-phase sine signal. + + using ElectricGrid +# create CM matrix and the parameters dict + CM = [ 0. 0. 1. 0. 0. 2. -1. -2. 0.] @@ -36,6 +43,7 @@ Dict{Any, Any}( +# This function provides the reference signal. Note that we are outputting zeros in the first 0.04 seconds which is about the time the system needs to start up properly. function reference(t) if t < 0.04 @@ -47,27 +55,21 @@ function reference(t) return +10 * cos.(θph) end + +# The featurize function adds the reference signal to the state of the agent (normalized). + featurize_ddpg = function(state, env, name) if name == "ElectricGrid_ddpg_1" - #state = state[findall(x -> split(x, "_")[2] == "i" , env.agent_dict["ElectricGrid_ddpg_1"]["state_ids"])] - norm_ref = env.nc.parameters["source"][1]["i_limit"] state = vcat(state, reference(env.t)/norm_ref) - # θ = 2*pi*50*env.t - - # state_to_control_1 = env.state[findfirst(x -> x == "source1_i_L1_a", env.state_ids)] - # state_to_control_2 = env.state[findfirst(x -> x == "source1_i_L1_b", env.state_ids)] - # state_to_control_3 = env.state[findfirst(x -> x == "source1_i_L1_c", env.state_ids)] - - # state_to_control = [state_to_control_1, state_to_control_2, state_to_control_3] - - # Il_dq0 = DQ0Transform(state_to_control, θ) - # state = vcat(state, Il_dq0) end end + +# The reward function computes the error of all three phases, takes the square root and then sums them together. + function reward_function(env, name = nothing) if name == "classic" return 0 @@ -92,6 +94,9 @@ function reward_function(env, name = nothing) end + +# Now we can set up the env and the controllers and define a training functions. + env = ElectricGridEnv( CM = CM, parameters = parameters, @@ -106,6 +111,9 @@ controllers = SetupAgents(env) learnhook = DataHook() + +# We will train with the default action noise (0.032) for 1.5m steps and then proceed with a learning phase with an action noise scheduler equipped. Learning will not always be successful - a successful run usually gets a highscore per episode of about 9500 in the first learning phase. + function learn() num_steps = 50_000 @@ -165,12 +173,17 @@ function learn2() end -#learn() +# Start training! + +learn() + + +# Now we start a simulation run with the fully trained agent and plot the results. hook = DataHook(collect_state_ids = env.state_ids, collect_action_ids = env.action_ids); -#Simulate(controllers, env, hook=hook); +Simulate(controllers, env, hook=hook); -#RenderHookResults(hook = hook, states_to_plot = env.state_ids, actions_to_plot = env.action_ids, plot_reward=true) +RenderHookResults(hook = hook, states_to_plot = env.state_ids, actions_to_plot = env.action_ids, plot_reward=true) diff --git a/examples/scripts/RL_example.jl b/examples/scripts/RL_example.jl index d5fa3632..515e1fe3 100644 --- a/examples/scripts/RL_example.jl +++ b/examples/scripts/RL_example.jl @@ -1,3 +1,5 @@ +# In this script we set up an experiment with one source that is controlled by RL that is connected to one load. Note that this is a single phase setup. The goal of the RL agent will be to control the input voltage of the source such that the corresponding current will match a reference signal which is a constant of 10 A. + using ElectricGrid using PlotlyJS @@ -19,6 +21,8 @@ parameters = Dict{Any, Any}( ) +# The reference function just returns the 10.0 A and the featurize_ddpg adds it to the controller's state (normalized). + function reference(t) return 10.0 end @@ -31,6 +35,9 @@ featurize_ddpg = function(state, env, name) end end + +# The reward function computes the error and takes the square root. + function reward_function(env, name = nothing) index_1 = findfirst(x -> x == "source1_i_L1", env.state_ids) state_to_control = env.state[index_1] @@ -46,6 +53,9 @@ function reward_function(env, name = nothing) end end + +# Now we can set up the env and the controllers and define a training functions. + env = ElectricGridEnv( CM = CM, parameters = parameters, @@ -54,8 +64,6 @@ env = ElectricGridEnv( reward_function = reward_function, action_delay = 0); -#agent = CreateAgentDdpg(na = length(env.agent_dict["my_ddpg"]["action_ids"]), ns = length(state(env, "my_ddpg")), use_gpu = false) - agent = CreateAgentDdpg(na = length(env.agent_dict["my_ddpg"]["action_ids"]), ns = length(state(env, "my_ddpg")), @@ -63,28 +71,15 @@ agent = CreateAgentDdpg(na = length(env.agent_dict["my_ddpg"]["action_ids"]), controllers = SetupAgents(env, Dict("my_ddpg" => agent)) -#run(ma["ElectricGrid_ddpg_1"]["policy"], env) + +# We start training with 30_000 steps with the default action noise (0.032). learnhook = DataHook() Learn(controllers, env, steps = 30_000, hook = learnhook); -function learn1() - steps_total = 1_500_000 - - steps_loop = 50_000 - Learn(controllers, env, steps = steps_loop, hook = learnhook) +# Here we define a second training function with an action noise scheduler enabled. - while length(controllers.hook.df[!,"reward"]) <= steps_total - - println("Steps so far: $(length(controllers.hook.df[!,"reward"]))") - Learn(controllers, env, steps = steps_loop, hook = learnhook) - - end - -end - -# second training phase with action noise scheduler function learn2() num_steps = 10_000 @@ -102,14 +97,26 @@ function learn2() end end + +# Run it! + learn2() + +# Run an additional 20_000 steps of training with action noise set to 0.0. + controllers.agents["my_ddpg"]["policy"].policy.policy.act_noise = 0.0 Learn(controllers, env, steps = 20_000, hook = learnhook); + +# We now plot the learning rate per time step. + p = plot(learnhook.df[!, :reward]) display(p) + +# Now we also want to run a simulation with the fully trained agent and plot the results. + states_to_plot = ["source1_i_L1"] actions_to_plot = ["source1_u"] diff --git a/examples/scripts/Simplest_Example.jl b/examples/scripts/Simplest_Example.jl index bd63a171..7230385e 100644 --- a/examples/scripts/Simplest_Example.jl +++ b/examples/scripts/Simplest_Example.jl @@ -1,6 +1,12 @@ using ElectricGrid using PlotlyJS +#= Description: + + The simplest example to get a classically controlled network running. + +=# + print("\n...........o0o----ooo0§0ooo~~~ START ~~~ooo0§0ooo----o0o...........\n\n") #_______________________________________________________________________________ @@ -18,9 +24,6 @@ CM = [ 0. 0. 1. 0. 0. 2. -1. -2. 0.] -#= CM = [ 0. 1. - -1. 0.] =# - #------------------------------------------------------------------------------- # Parameters @@ -86,21 +89,20 @@ hook = Simulate(Multi_Agent, env) p = RenderHookResults(hook = hook, states_to_plot = ["source1_v_C_filt_a", "source1_v_C_filt_b", "source1_v_C_filt_c"], actions_to_plot = [], - power_p_inv = [], - power_q_inv = [], + power_p_inv = [1 2], + power_q_inv = [1 2], power_p_poc = [1 2], - power_q_poc = [], - v_mag_inv = [], - v_mag_poc = [1], - i_mag_inv = [], - i_mag_poc = [], + power_q_poc = [1 2], + v_mag_inv = [1 2], + v_mag_poc = [1 2], + i_mag_inv = [1 2], + i_mag_poc = [1 2], i_sat = [], i_dq = [], v_dq = [], - freq = [], - angles = [], + freq = [1 2], + angles = [1 2], return_plot = true) -#PlotlyJS.savefig(p, "VSG_voltages.png") -#DrawGraph(env.nc) + print("\n...........o0o----ooo0§0ooo~~~ END ~~~ooo0§0ooo----o0o...........\n") diff --git a/examples/scripts/env_example.jl b/examples/scripts/env_example.jl deleted file mode 100644 index e41cb779..00000000 --- a/examples/scripts/env_example.jl +++ /dev/null @@ -1,28 +0,0 @@ -using ElectricGrid -#using ReinforcementLearning -CM = [0. 1. - -1. 0.] - -S_source = 1e4 - -S_load = 1e2 -pf_load = 1 -v_rms = 230 -R_load, L_load, X, Z = ParallelLoadImpedance(S_load, pf_load, v_rms) - -parameters = Dict{Any, Any}( - "source" => Any[ - Dict{Any, Any}("pwr" => S_source, "control_type" => "classic", "mode" => "Swing", "fltr" => "LC", "i_limit" => 1e4, "v_limit" => 1e4,), - ], - "load" => Any[ - Dict{Any, Any}("impedance" => "RLC", "R" => R_load, "v_limit" => 1e4, "i_limit" => 1e4) - ], - #"cable" => Any[ - # Dict{Any, Any}("R" => 1e-3, "L" => 1e-4, "C" => 1e-4), - # ], - "grid" => Dict{Any, Any}("fs"=>1e4, "phase"=>3, "v_rms"=>230, "f_grid" => 50, "ramp_end"=>0.00) - ) - - -env = ElectricGridEnv(CM = CM, parameters = parameters, verbosity = 2) -#env = ElectricGridEnv(num_sources = 2, num_loads = 1) diff --git a/examples/scripts/logging_example.jl b/examples/scripts/logging_example.jl deleted file mode 100644 index 876b6da4..00000000 --- a/examples/scripts/logging_example.jl +++ /dev/null @@ -1,40 +0,0 @@ -using ElectricGrid -using Logging - -global_logger(CustomLogger(file_name = split(string(@__FILE__), "\\")[end], add_timestamp = false, log_file = true, log_level = Logging.Info, log_level_file = Logging.Debug)) - - -Timestep = 100 -t_final = 0.5 -ts = Timestep*1e-6 -t = 0:ts:t_final - -fs = 1/ts - -CM = [ 0. 0. 1. - 0. 0. 2 - -1. -2. 0.] - -source1 = Dict("pwr" => 200e3, - "vdc" => 800, - "fltr" => "LC") - -source2 = Dict("pwr" => 150e3, - "vdc" => 800, - "fltr" => "LCL") - -parameters = Dict() - -parameters["source"] = [source1, source2] -parameters["grid"] = Dict("fs" => fs, "phase" => 3, "v_rms" => 230) - - -num_sources = 2 -num_loads = 1 - -env = ElectricGridEnv(ts = ts, use_gpu = false, CM = CM, num_sources = num_sources, num_loads = num_loads, -parameters = parameters, maxsteps = length(t), action_delay = 1) - - -#example log -@info "env created with" maxsteps = env.maxsteps x0 = env.x0 A = env.A diff --git a/examples/scripts/test_pv.jl b/examples/scripts/test_pv.jl deleted file mode 100644 index 5c19ef9c..00000000 --- a/examples/scripts/test_pv.jl +++ /dev/null @@ -1,44 +0,0 @@ -using ElectricGrid -using LinearAlgebra -using DataFrames -using PlotlyJS - -CM = [ 0. 1. - -1. 0.] - -R_load, L_load, X, Z = ParallelLoadImpedance(1e3, 1., 230) - -parameters = Dict{Any, Any}( - "source" => Any[ - Dict{Any, Any}("source_type" => "pv", - "fltr"=>"L", "L1"=>0.001, "C"=>2e-8, "L2"=>0.001, "R_C"=>0.01, - "R2"=> 0.05, "mode" => 1, "parallel" => 20, "serial" => 20, - "i_limit" => 1e4, "v_limit" => 1e5, "module_N_cell" => 36), - ], - "load" => Any[ - Dict{Any, Any}("impedance" => "R", "R" => 1e100, "i_limit" => 10e4, "v_limit" => 10e4), - ], - "cable" => Any[ - Dict{Any, Any}("R" => 1e-3, "L" => 1e-4, "C" => 1e-4, "i_limit" => 1e4, "v_limit" => 1e6,), - ], - "grid" => Dict{Any, Any}("fs"=>1e4, "phase"=>3, "v_rms"=>230, "f_grid" => 50, "ramp_end" => 0.9) - ) - - -env = ElectricGridEnv(num_sources=1, num_loads=1, CM = CM, parameters = parameters, t_end=2, verbosity=2) - -Multi_Agent = SetupAgents(env) - -hook = DataHook(collect_state_ids = ["source1_i_L1_a", "source1_v_C_cables_a"], - collect_action_ids = [], - collect_vdc_ids = [1], - collect_soc_ids = [1], - collect_idc_ids = [1],) - -hook = Simulate(Multi_Agent, env, hook=hook) - -p = RenderHookResults(hook = hook, - states_to_plot = ["source1_i_L1_a", "source1_v_C_cables_a"], - vdc_to_plot = [1], - idc_to_plot = [1], - return_plot = false);