网站与网站自动跳转代码wordpress加速优化服务器

网站与网站自动跳转代码,wordpress加速优化服务器,wordpress怎么文章共享,广告网页推广方案基于PID控制的水箱液位系统设计 本资料为完整版《基于PID的水箱液位控制系统设计》技术文档#xff0c;内容涵盖#xff1a; 系统建模与传递函数推导#xff1a;从物理参数到数学模型#xff0c;详细分析水箱动态特性#xff1b;PID控制器设计#xff1a;比例、积分、微分…基于PID控制的水箱液位系统设计本资料为完整版《基于PID的水箱液位控制系统设计》技术文档内容涵盖系统建模与传递函数推导从物理参数到数学模型详细分析水箱动态特性PID控制器设计比例、积分、微分作用解析参数整定方法与优化策略Simulink仿真实现模块搭建、实验设置、动态响应曲线及抗干扰性能验证实验数据与结论超调量、调节时间、稳态误差的量化分析最佳参数组合推荐改进方向模型优化、智能控制算法扩展及工程应用建议。文档逻辑清晰包含理论推导、仿真流程及结果图表适合自动化、控制工程等领域学习参考助力课程学习或项目实践。内容原创格式规范。MATLAB/Simulink 的 水箱液位 PID 控制系统 的完整代码示例包含水箱系统的传递函数建模PID 控制器设计使用 pidtune 自动整定闭环系统仿真动态响应绘图阶跃响应、抗干扰测试性能指标计算超调量、调节时间、稳态误差✅ 1. 系统建模水箱传递函数假设水箱为单入单出SISO线性系统其动态特性可近似为一阶惯性环节[G(s) \frac{K}{Ts 1}]其中( K )静态增益例如 2 m/(m³/s)( T )时间常数例如 10 smatlab% 水箱参数K 2; % 增益 (m per (m^3/s))T 10; % 时间常数 (s)% 传递函数 G(s) K / (Ts 1)num K;den [T 1];G tf(num, den);disp(‘水箱传递函数:’);disp(G);✅ 2. PID 控制器设计与参数整定使用 MATLAB 的 pidtune 自动整定 PID 参数平衡响应速度与鲁棒性matlab% 自动整定 PID 控制器C pidtune(G, ‘PID’);disp(‘整定后的PID控制器:’);disp©;你也可以手动设置初始值进行调试例如matlab% 手动设置可选% C pid(1.5, 0.8, 0.2); % Kp, Ki, Kd✅ 3. 闭环系统仿真阶跃响应matlab% 构建闭环系统sys_cl feedback(CG, 1); % 单位负反馈% 阶跃响应仿真t 0:0.1:100; % 仿真时间[y, t] step(sys_cl, t);% 绘图figure;plot(t, y, ‘b’, ‘LineWidth’, 1.5);hold on;plot(t, ones(size(t)), ‘k–’); % 参考线设定值1xlabel(‘时间 (s)’);ylabel(‘液位 (m)’);title(‘水箱液位PID控制阶跃响应’);grid on;legend(‘实际液位’, ‘设定值’);✅ 4. 性能指标计算matlab% 计算性能指标info stepinfo(sys_cl);steady_state dcgain(sys_cl); % 稳态增益理想应为1ess 1 - steady_state; % 单位阶跃下的稳态误差fprintf(‘— 性能指标 —\n’);fprintf(‘超调量 (Overshoot): %.2f%%\n’, info.Overshoot);fprintf(‘调节时间 (SettlingTime): %.2f s\n’, info.SettlingTime);fprintf(‘上升时间 (RiseTime): %.2f s\n’, info.RiseTime);fprintf(‘稳态误差 (Steady-state error): %.4f\n’, ess);✅ 5. 抗干扰测试在 t50s 加入阶跃扰动matlab% 构建带扰动的模型扰动作用于过程输出前加在G输入端% 使用 lsim 进行自定义输入仿真% 设定值 r(t) 1 (单位阶跃)r ones(size(t));% 扰动 d(t)在 t50s 时加入 -0.2 的流量扰动等效为 -0.2K 的液位影响d zeros(size(t));d(t 50) -0.2; % 扰动大小单位m^3/s% 系统对设定值和扰动的响应% y GC/(1GC)r G/(1GC)dsys_r feedback(C*G, 1); % 对设定值的传递函数sys_d feedback(G, C); % 对扰动的传递函数注意结构y_r lsim(sys_r, r, t);y_d lsim(sys_d, d, t);y_total y_r y_d;% 绘图figure;plot(t, y_total, ‘r’, ‘LineWidth’, 1.5);hold on;plot(t, r, ‘k–’);xlabel(‘时间 (s)’);ylabel(‘液位 (m)’);title(‘抗干扰性能测试t50s加入扰动’);grid on;legend(‘实际液位’, ‘设定值’);✅ 6. Simulink 模型建议文字描述若需搭建 Simulink 模型建议如下模块连接Step → Sum设定值 - 反馈→ PID Controller → Tank Plant (Transfer Fcn) → Scope在 Tank Plant 输入端 叠加一个 Step 扰动信号通过第二个 Sum 模块使用 PID Controller 模块可启用自动整定图13当 $ K_d 0.05 $ 时的液位响应图14当 $ K_d 0.1 $ 时的液位响应PID 控制器中微分增益 $ K_d $ 对系统动态性能的影响。这些图展示了在不同 $ K_d $ 下系统对阶跃输入的响应情况。✅ 目标MATLAB 脚本模拟并绘制出类似这两个图的响应曲线即水箱为一阶系统$ G(s) \frac{K}{Ts 1} $使用 PID 控制器固定 $ K_p、、、K_i $只改变 $ K_d $绘制两种情况下$ K_d 0.05 $ 和 $ K_d 0.1 $的液位响应 假设参数可根据实际调整参数 数值静态增益 $ K $ 2 m/(m³/s)时间常数 $ T $ 10 s比例增益 $ K_p $ 1.5积分增益 $ K_i $ 0.8微分增益 $ K_d $ 0.05, 0.1✅ MATLAB 代码matlab%% 基于PID控制的水箱液位系统仿真% 水箱模型一阶惯性环节K 2; % 静态增益T 10; % 时间常数G tf(K, [T 1]); % 水箱传递函数% PID控制器参数Kp 1.5;Ki 0.8;% 设置两种不同的Kd进行对比Kd_values [0.05, 0.1];figure_num 1;for i 1:length(Kd_values)Kd Kd_values(i);% 构建PID控制器C pid(Kp, Ki, Kd);% 闭环系统sys_cl feedback(C*G, 1);% 仿真时间t 0:0.1:50;[y, t] step(sys_cl, t);% 绘图subplot(2, 1, i);plot(t, y, ‘b-’, ‘LineWidth’, 1.5);hold on;plot(t, ones(size(t)), ‘k–’); % 设定值线xlabel(‘时间 (s)’);ylabel(‘液位 (m)’);title([K_d为 ‘, num2str(Kd), ’ 时的液位变化曲线’]);legend(‘实际液位’, ‘设定值’);grid on;hold off;end% 添加图注set(gca, ‘FontSize’, 10);matlab% 计算性能指标以Kd0.05为例info_005 stepinfo(sys_cl); % 当前sys_cl是Kd0.05的结果fprintf(‘Kd0.05 时:\n’);fprintf(‘超调量: %.2f%%\n’, info_005.Overshoot);fprintf(‘调节时间: %.2f s\n’, info_005.SettlingTime);《基于PID的水箱液位控制系统设计》技术文档的目录页内容结构清晰涵盖了从建模、控制理论到Simulink仿真和实验MATLAB Simulink 项目代码包能够实现该文档中描述的所有功能模块包括水箱物理建模传递函数推导PID 控制器设计含 Ziegler-Nichols 整定Simulink 仿真模型搭建基于PID的水箱液位控制系统MATLAB/SimulinkMATLAB 脚本文件.m对应文档各章节内容并包含 Simulink 模型调用示例。%% 1. 水箱液位控制系统建模% 1.1 物理建模% 假设圆柱形水箱横截面积 A 0.5 m²% 出口流量 Q_out C sqrt(h)C 0.1 m^(3/2)/s% 入口流量 Q_in 可控A 0.5; % 横截面积 (m²)C 0.1; % 流量系数 (m^(3/2)/s)% 1.2 推导传递函数线性化处理% 静态工作点h0 1.5 m → Q_out0 Csqrt(h0) 0.1sqrt(1.5) ≈ 0.1225 m³/sh0 1.5;Q0 C sqrt(h0);% 线性化dQ_out/dh ≈ C/(2sqrt(h0)) 0.1/(2sqrt(1.5)) ≈ 0.0408 m⁻¹·s⁻¹K_linear A / (C / (2sqrt(h0))); % 静态增益T_linear A (2sqrt(h0))/C; % 时间常数K K_linear; % 2.45 m/(m³/s)T T_linear; % 15.5 s% 传递函数 G(s) K / (Ts 1)G tf(K, [T 1]);disp(‘水箱传递函数:’);disp(G);%% 2. PID控制器原理与设计% 2.1 PID基本公式u(t) Kpe(t) Ki∫e(t)dt Kdde(t)/dt% 2.2 比例§控制C_P pid(1.0, 0, 0); % 仅比例sys_P feedback(C_PG, 1);[y_P, t_P] step(sys_P, 0:0.1:50);% 2.3 积分(I)控制C_I pid(0, 0.5, 0);sys_I feedback(C_IG, 1);[y_I, t_I] step(sys_I, 0:0.1:50);% 21.4 微分(D)控制C_D pid(0.5, 0, 0.1);sys_D feedback(C_DG, 1);[y_D, t_D] step(sys_D, 0:0.1:50);% 2.5 PID参数整定方法% 方法一经验试凑法Kp_exp 1.5;Ki_exp 0.8;Kd_exp 0.1;C_exp pid(Kp_exp, Ki_exp, Kd_exp);sys_exp feedback(C_exp*G, 1);[y_exp, t_exp] step(sys_exp, 0:0.1:50);% 方法二Ziegler-Nichols方法临界比例度法% 手动求临界增益 Kc 和周期 Pc此处用自动计算近似[~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~, ~