-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathhanna-lab.html
399 lines (296 loc) · 45.2 KB
/
hanna-lab.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>Training a dog and training a robot aren’t so different</title>
<script type="text/javascript">
function resizeIframe(iframe) {
var newheight;
var newwidth;
if (document.getElementById) {
newwidth = iframe.contentWindow.document.body.scrollWidth;
newheight = iframe.contentWindow.document.body.scrollHeight;
}
iframe.height = (newheight) + "px";
iframe.width = (newwidth) + "px";
}
</script>
<meta name="robots" content="noindex">
<script src="https://cdn.jsdelivr.net/npm/[email protected]/dist/js/bootstrap.min.js" integrity="sha384-cVKIPhGWiC2Al4u+LWgxfKTRIcfu0JTxR+EQDz/bgldoEyl4H0zUF0QKbrJ0EcQF" crossorigin="anonymous" defer></script>
<script type="text/javascript" src="/web-preview/preview-tranlational-arrow/assets/js/uw-style.js" defer></script>
<script src="/web-preview/preview-tranlational-arrow/assets/js/lunr.js" type="text/javascript" async></script>
<script type="text/javascript" src="/web-preview/preview-tranlational-arrow/assets/js/search_bar.js" defer></script>
<script type="text/javascript" src="/web-preview/preview-tranlational-arrow/assets/js/copy-content.js" defer></script>
<script type="text/javascript" src="/web-preview/preview-tranlational-arrow/assets/js/main.js" defer></script>
<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/[email protected]/font/bootstrap-icons.min.css">
<link type="text/css" href="/web-preview/preview-tranlational-arrow/assets/fonts/fonts.0.0.1.css" rel="stylesheet">
<link type="text/css" href="/web-preview/preview-tranlational-arrow/assets/css/style-v12.css" rel="stylesheet">
<script>(function(H){H.className=H.className.replace(/\bno-js\b/,'')})(document.documentElement)</script>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
</head>
<body leftmargin="0" topmargin="0" marginwidth="0" marginheight="0">
<div class="container-fluid">
<div class="row justify-content-between bg-primary" role="navigation">
<div class="col-auto">
<a class="uw-global-name-link" href="http://www.wisc.edu" aria-label="University home page">U<span>niversity <span class="uw-of">of</span> </span>W<span>isconsin</span>–Madison</a>
</div>
<div class="col-auto">
<div class="row">
<div class="col-auto pe-0">
<a class="uw-global-name-link" href="/web-preview/preview-tranlational-arrow/uw-research-computing" aria-label="UW Research Computing Homepage">Go to UW Research Computing Home</a>
</div>
<div class="col-auto d-flex">
<a class="btn-light px-2 my-auto rounded" href="/uw-research-computing/form.html">Request Account</a>
</div>
</div>
</div>
</div>
</div>
<button id="uw-top-menus-button" class="uw-mobile-menu-button-bar uw-mobile-menu-button-bar-reversed uw-is-closed" data-menu="uw-top-menus" aria-label="Open menu" aria-expanded="true" aria-controls="uw-top-menus">Menu<svg aria-hidden="true" focusable="false"><use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-menu"></use></svg><svg aria-hidden="true" focusable="false"><use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-close"></use></svg></button>
<div id="uw-top-menus" class="uw-is-visible uw-horizontal" aria-hidden="false">
<div class="uw-main-nav">
<nav class="uw-nav-menu uw-nav-menu-reverse" aria-label="Main Menu">
<ul id="uw-main-nav">
<div class="uw-header-crest">
<a href="/web-preview/preview-tranlational-arrow/"><img class="uw-crest-svg py-2" src="/web-preview/preview-tranlational-arrow/images/logos/CHTC_Logo_Full_Color.svg" alt="Link to CHTC Home Page"></a>
</div>
<li id="about" class="uw-dropdown">
<a href="/web-preview/preview-tranlational-arrow/about.html" role="button" aria-haspopup="true" aria-expanded="false">
About
<svg aria-hidden="true" class="uw-caret" focusable="false">
<use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-caret-down"></use>
</svg>
<svg aria-hidden="true" class="uw-caret" focusable="false">
<use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-caret-up"></use>
</svg>
</a>
<ul aria-hidden="true" aria-label="About submenu" class="uw-child-menu">
<li>
<a href="/web-preview/preview-tranlational-arrow/htc.html">What is HTC?</a>
</li>
<li>
<a href="/web-preview/preview-tranlational-arrow/approach.html">Our Approach</a>
</li>
<li>
<a href="/web-preview/preview-tranlational-arrow/projects.html">Our Customers</a>
</li>
<li>
<a href="/web-preview/preview-tranlational-arrow/people.html">Our Staff</a>
</li>
<li>
<a href="/web-preview/preview-tranlational-arrow/jobs.html">Our Open Positions</a>
</li>
</ul>
<li id="uw-research-computing">
<a href="/web-preview/preview-tranlational-arrow/uw-research-computing/index.html" aria-current="page">Research Computing</a>
</li>
<li id="technologies">
<a href="/web-preview/preview-tranlational-arrow/technologies.html" aria-current="page">Technologies</a>
</li>
<li id="research">
<a href="/web-preview/preview-tranlational-arrow/research.html" aria-current="page">Research</a>
</li>
<li id="news">
<a href="/web-preview/preview-tranlational-arrow/news.html" aria-current="page">News</a>
</li>
<li id="events">
<a href="/web-preview/preview-tranlational-arrow/events.html" aria-current="page">Events</a>
</li>
<li class="my-auto ms-auto me-0 pe-0">
<div id="main-search-bar" class="search-bar">
<input type="text" class="form-control" placeholder="Loading..." aria-describedby="button-addon2">
<div id="results-dropdown" class="results-dropdown w-100">
<div class="search-results" hidden></div>
</div>
</div>
</li>
</ul>
</nav>
</div>
</div>
<main id="main" style="min-height: 60vh;">
<main id="main" style="min-height: 60vh;">
<!-- This Layout is used for news articles. Different from character_optimized by adding author tags. -->
<div class="container-xxl">
<div class="row justify-content-center">
<div class="col-12 col-sm-11 col-md-9 col-lg-8">
<h1 class="uw-mini-bar mb-4">
Training a dog and training a robot aren’t so different
</h1>
<div class="text-dark d-flex flex-row justify-content-between mb-3">
<h4 class="mt-0">
Sarah Matysiak
</h4>
<h4 class="mt-0">
Nov 17, 2023
</h4>
</div>
<p><strong>For AI and robotics researcher Josiah Hanna and his lab, high throughput computing is a critical tool in reinforcement learning.</strong></p>
<p><img src="https://lh7-us.googleusercontent.com/Zcf4iUkUE9DGnTyeEwlSEB7C3kIG7ZJBjpmrinZg5fOePfSDyUlswdbP-vtX6afLo6feWMpdWdtmADolBVAk59YIr8ML2mNviSuUWxlLcyt_fOzr47IWl8fTe6IyeAH4Pvuorvthm4KJA5olu69F62A" alt="" /></p>
<p>Artificial intelligence (AI) robotics expert <a href="https://pages.cs.wisc.edu/~jphanna/">Josiah Hanna</a>’s research has a lot in common with training dogs: Both robotics training and dog
training use a type of reinforcement learning to encourage the desired behavior. With computers or robots, however, this type of reinforcement learning is a branch of machine learning (ML) that models an intelligent agent interacting with a task environment.</p>
<p>Comparing robotic reinforcement learning to training a dog how to sit, Hanna explains that “you don’t explicitly tell the dog how to sit, but you coax the dog into sitting, and when it
shows that behavior, you reward that. Over time, the robot dog learns these are the actions that lead to getting the reward, and it learns to avoid actions that don’t lead to the reward.
We want to give computers and robots the ability to learn through experience, by seeing what works and what leads to them achieving the goals we set for them. Then, when they see the
actions that lead to reaching their goals, they know that they should do that again in the future.”</p>
<p>In other words, Hanna’s research specifically seeks to develop algorithms that enable computers to learn goal-oriented behavior in order to better accomplish their goals. Unlike a dog,
robots aren’t necessarily rewarded but instead learn from past mistakes and take that information to determine what a successful action is. Through trial and error, the agent learns
which actions it needs to take to achieve its goals. “It’s critical that they’re [computers] able to learn through their experience. That’s what my research and the whole field of
reinforcement learning studies — the kinds of algorithms which will enable this to happen,” Hanna elaborates.</p>
<p>Another way that UW–Madison Computer Sciences Ph.D. student <a href="https://nicholascorrado.github.io/">Nicholas Corrado</a> describes it is like teaching a robot how to walk. Initially, the
robot moves its legs randomly and likely falls over. Through trial and error, however, the robot eventually discovers that it can make forward progress by moving its legs to take
only a single step forward. Wanting to maximize its forward progress, the robot then increases the probability of executing this stepping behavior and eventually learns how to walk.
“It requires a lot of computing to do this because starting from random movements, and getting to walking behavior is not super straightforward,” Corrado elaborates.</p>
<p>Unlike other types of ML that are classification-based, a lot of reinforcement learning relies on simulations because it’s based on modeling agents performing some task. The difference
between other areas of ML and reinforcement learning, Corrado explains, is that with reinforcement learning, “You have this multi-step decision-making process that you must learn how
to solve optimally. It’s so much harder because the agent needs to learn how its action right now affects its performance way down the road, so reinforcement learning feels like a much
harder problem to focus on than what we call supervised learning methods.”</p>
<p>Since learning on physical robots is difficult, Hanna’s lab will sometimes use simulations as a “surrogate” for physical robots. This is where high throughput computing (HTC) becomes
a valuable tool. Hanna shares that “it’s really useful to have high throughput computing so you can run your simulation or learning algorithm for many different processes. You can see
how different learning algorithms or different parameters for learning algorithms affect the ability of an algorithm to produce robust behavior or high-performing behavior.” In this
sense, the <a href="https://chtc.cs.wisc.edu/">Center for High Throughput Computing (CHTC)</a> is a “huge resource” for Hanna’s students who evaluate a wide variety of different algorithms they
think might work better than previous ones. It’s a great enabler of increasing experimentation bandwidth, or how many experiments they can run. In fact, for the Hanna Lab, its CHTC
usage is nearly 5.7 million hours.</p>
<p>One project the Hanna lab is working on is enabling robots to learn to play soccer, Corrado says. With reinforcement learning, researchers programmed robots to play soccer and then
entered an annual <a href="https://www.robocup.org/">international competition</a> where they placed third despite it being their first time participating, “greatly exceeding our expectations,”
Corrado highlights. The end goal isn’t necessarily to train robots how to play soccer but rather “develop reinforcement learning techniques that enable us to train agents to work
cooperatively” and “develop techniques that improve the data efficiency of reinforcement learning. If we can reduce the data requirement, reinforcement learning is going to be much,
much more practical for industrial applications.”</p>
<figure class="figure float-end" style="margin-center: 1em">
<img src="https://raw.githubusercontent.com/CHTC/Articles/main/images/robotsoccer.jpeg" height="667" width="1186" class="figure-img img-fluid rounded" alt="From the annual RoboCup
Standard Platform League (SPL) competition, a research competition that aims to advance the capabilities of robotics in challenging, real-time domains." />
<figcaption class="figure-caption">From the annual RoboCup Standard Platform League (SPL) competition, a research competition that aims to advance the capabilities of robotics
in challenging, real-time domains.
<br /></figcaption>
</figure>
<p><br />Even before Hanna came to UW–Madison, he had experience with <a href="https://htcondor.org/">HTCondor Software Suite (HTCSS)</a> from graduate school. It was a “critical resource” for Hanna then
and remains as such today in his role as a researcher and professor at UW–Madison. “One of the first things I did when I got here [UW–Madison] was tap into HTC resources,” Hanna recalls.
As a new principal investigator (PI), Hanna also had a meeting with a CHTC facilitator to learn how to obtain access and what resources it provides.</p>
<p>Since he found the tool so valuable while he was a graduate student, Hanna also tries to set up his students with the CHTC early on instead of running experiments locally on their
computers. Hanna shares “It’s a great resource we have to leverage that helps speed things up.” For the research group, running a high volume of simulations and experiments is a
key enabler of progress. This means Hanna encourages his students to run experiments whenever they reach uncertainties, which can help provide clarity. “Oftentimes it’s just easier
to run the experiment. Something I try to guide the students on is knowing when some experiments just need to be run to understand some aspect of designing reinforcement learning
algorithms.” His students are developing their own pipelines with CHTC, learning how to work more efficiently with it, and writing scripts to launch experiments with it.</p>
<p>To put into context exactly how many experiments reinforcement learning requires, Corrado says, “Benchmarks contain anywhere from 5–10 tasks, and maybe you need to compare four
different algorithms and run 20 independent runs of each algorithm on each task. At that point, you’re running hundreds of experiments. I’ve even had to run thousands of experiments.”
In fact, for a paper currently under review, through performing a hyperparameter sweep of an algorithm — which determines the hyperparameter combination that performs best out of
many combinations — Corrado had submitted enough jobs to hit the default CHTC limit of a 10,000-job submission. This was something he definitely could not have accomplished on his
personal laptop or with a lab-specific server.</p>
<p>Hanna says he is also seeing a shift toward more high-performance computing with GPUs in his lab, which CHTC has helped enable. “Up until recently, reinforcement learning was
separate from other forms of deep learning that were going on, and you really couldn’t benefit that much from a GPU unless you had a lot of CPUs as well, which is what high
throughput computing is really good for,” Hanna explains.</p>
<p>When asked about the future use of CHTC in his lab, Hanna imagines spending more time with multi-processing and networking several CPUs together, both of which reinforcement
learning experiments could benefit from. As CHTC continues increasing its GPU capacity, Hanna says he plans to use that more in their work as well.</p>
<p>Without the CHTC, the type of large-scale experimentation the Hanna Lab uses would be impractical, Corrado says. For this type of work, HTC is almost always necessary and continues
to expand the horizons of the lab.</p>
</div>
</div>
</div>
</main>
</main>
<footer id="colophon" class="uw-footer">
<div class="uw-footer-content">
<div class="uw-logo">
<a href="http://www.wisc.edu" aria-label="Link to main university website">
<svg aria-hidden="true" focusable="false"><use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-crest-footer"></use></svg>
</a>
</div>
<div class="uw-footer-contact">
<h3 class="uw-footer-header">Contact Us</h3>
<ul class="uw-contact-list">
<li class="uw-contact-item">Office Hours: <a href="/web-preview/preview-tranlational-arrow/uw-research-computing/get-help.html#office-hours">Tues: 10:30am-12pm; Thurs: 3-4:30pm</a></li>
<li class="uw-contact-item">Newsletter: <a href="/newsletter.html">Subscribe Now</a></li>
<li class="uw-contact-item">LinkedIn: <a href="https://www.linkedin.com/company/center-for-high-throughput-computing/">Website</a></li>
<li>
<ul class="uw-social-icons">
<li id="uw-icon-twitter" class="uw-social-icon">
<a aria-label="twitter" href="https://twitter.com/CHTC_UW"><svg aria-hidden="true" focusable="false"><use xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="#uw-symbol-twitter"></use></svg></a>
</li>
</ul>
</li>
</ul>
</div>
</div>
<div class="uw-copyright">
<p class="uw-contact-item">For all user support, questions, and comments: <a href="mailto:[email protected]">[email protected]</a></p>
<p>© 2022 Board of Regents of the <a href="http://www.wisconsin.edu">University of Wisconsin System</a></p>
</div>
</footer>
<!-- SVG icons -->
<svg aria-hidden="true" style="display: inline; height: 0; position: absolute;" xmlns:xlink="http://www.w3.org/1999/xlink">
<title>Site icons</title>
<defs>
<symbol id="uw-symbol-more" viewBox="0,0,1792,1792">
<title id="title">More</title>
<path d="M979 960q0 13-10 23l-466 466q-10 10-23 10t-23-10l-50-50q-10-10-10-23t10-23l393-393-393-393q-10-10-10-23t10-23l50-50q10-10 23-10t23 10l466 466q10 10 10 23zm384 0q0 13-10 23l-466 466q-10 10-23 10t-23-10l-50-50q-10-10-10-23t10-23l393-393-393-393q-10-10-10-23t10-23l50-50q10-10 23-10t23 10l466 466q10 10 10 23z"></path>
</symbol>
<symbol id="uw-symbol-menu" viewBox="0 0 1024 1024">
<title id="svg-menu">open menu</title>
<path class="path1" d="M128 256h768v86h-768v-86zM128 554v-84h768v84h-768zM128 768v-86h768v86h-768z"></path>
</symbol>
<symbol id="uw-symbol-close" viewBox="0 0 805 1024">
<title>close</title>
<path class="path1" d="M741.714 755.429q0 22.857-16 38.857l-77.714 77.714q-16 16-38.857 16t-38.857-16l-168-168-168 168q-16 16-38.857 16t-38.857-16l-77.714-77.714q-16-16-16-38.857t16-38.857l168-168-168-168q-16-16-16-38.857t16-38.857l77.714-77.714q16-16 38.857-16t38.857 16l168 168 168-168q16-16 38.857-16t38.857 16l77.714 77.714q16 16 16 38.857t-16 38.857l-168 168 168 168q16 16 16 38.857z"></path>
</symbol>
<symbol id="uw-symbol-search" viewBox="0 0 951 1024">
<title>search</title>
<path class="path1" d="M658.286 475.429q0-105.714-75.143-180.857t-180.857-75.143-180.857 75.143-75.143 180.857 75.143 180.857 180.857 75.143 180.857-75.143 75.143-180.857zM950.857 950.857q0 29.714-21.714 51.429t-51.429 21.714q-30.857 0-51.429-21.714l-196-195.429q-102.286 70.857-228 70.857-81.714 0-156.286-31.714t-128.571-85.714-85.714-128.571-31.714-156.286 31.714-156.286 85.714-128.571 128.571-85.714 156.286-31.714 156.286 31.714 128.571 85.714 85.714 128.571 31.714 156.286q0 125.714-70.857 228l196 196q21.143 21.143 21.143 51.429z"></path>
</symbol>
<symbol id="uw-symbol-search-gray" viewBox="0 0 951 1024">
<title>search</title>
<path class="path1" d="M658.286 475.429q0-105.714-75.143-180.857t-180.857-75.143-180.857 75.143-75.143 180.857 75.143 180.857 180.857 75.143 180.857-75.143 75.143-180.857zM950.857 950.857q0 29.714-21.714 51.429t-51.429 21.714q-30.857 0-51.429-21.714l-196-195.429q-102.286 70.857-228 70.857-81.714 0-156.286-31.714t-128.571-85.714-85.714-128.571-31.714-156.286 31.714-156.286 85.714-128.571 128.571-85.714 156.286-31.714 156.286 31.714 128.571 85.714 85.714 128.571 31.714 156.286q0 125.714-70.857 228l196 196q21.143 21.143 21.143 51.429z"></path>
</symbol>
<symbol id="uw-symbol-search-in-blank" viewBox="0 0 951 1024">
<title>search</title>
<path class="path1" d="M658.286 475.429q0-105.714-75.143-180.857t-180.857-75.143-180.857 75.143-75.143 180.857 75.143 180.857 180.857 75.143 180.857-75.143 75.143-180.857zM950.857 950.857q0 29.714-21.714 51.429t-51.429 21.714q-30.857 0-51.429-21.714l-196-195.429q-102.286 70.857-228 70.857-81.714 0-156.286-31.714t-128.571-85.714-85.714-128.571-31.714-156.286 31.714-156.286 85.714-128.571 128.571-85.714 156.286-31.714 156.286 31.714 128.571 85.714 85.714 128.571 31.714 156.286q0 125.714-70.857 228l196 196q21.143 21.143 21.143 51.429z"></path>
</symbol>
<symbol id="uw-symbol-envelope" viewBox="0 0 1024 1024">
<title>envelope</title>
<path class="path1" d="M1024 405.714v453.714q0 37.714-26.857 64.571t-64.571 26.857h-841.143q-37.714 0-64.571-26.857t-26.857-64.571v-453.714q25.143 28 57.714 49.714 206.857 140.571 284 197.143 32.571 24 52.857 37.429t54 27.429 62.857 14h1.143q29.143 0 62.857-14t54-27.429 52.857-37.429q97.143-70.286 284.571-197.143 32.571-22.286 57.143-49.714zM1024 237.714q0 45.143-28 86.286t-69.714 70.286q-214.857 149.143-267.429 185.714-5.714 4-24.286 17.429t-30.857 21.714-29.714 18.571-32.857 15.429-28.571 5.143h-1.143q-13.143 0-28.571-5.143t-32.857-15.429-29.714-18.571-30.857-21.714-24.286-17.429q-52-36.571-149.714-104.286t-117.143-81.429q-35.429-24-66.857-66t-31.429-78q0-44.571 23.714-74.286t67.714-29.714h841.143q37.143 0 64.286 26.857t27.143 64.571z"></path>
</symbol>
<symbol id="uw-symbol-pinterest" class="uw-social-symbols" viewBox="0 0 731 1024">
<title>pinterest-p</title>
<path class="path1" d="M0 341.143q0-61.714 21.429-116.286t59.143-95.143 86.857-70.286 105.714-44.571 115.429-14.857q90.286 0 168 38t126.286 110.571 48.571 164q0 54.857-10.857 107.429t-34.286 101.143-57.143 85.429-82.857 58.857-108 22q-38.857 0-77.143-18.286t-54.857-50.286q-5.714 22.286-16 64.286t-13.429 54.286-11.714 40.571-14.857 40.571-18.286 35.714-26.286 44.286-35.429 49.429l-8 2.857-5.143-5.714q-8.571-89.714-8.571-107.429 0-52.571 12.286-118t38-164.286 29.714-116q-18.286-37.143-18.286-96.571 0-47.429 29.714-89.143t75.429-41.714q34.857 0 54.286 23.143t19.429 58.571q0 37.714-25.143 109.143t-25.143 106.857q0 36 25.714 59.714t62.286 23.714q31.429 0 58.286-14.286t44.857-38.857 32-54.286 21.714-63.143 11.429-63.429 3.714-56.857q0-98.857-62.571-154t-163.143-55.143q-114.286 0-190.857 74t-76.571 187.714q0 25.143 7.143 48.571t15.429 37.143 15.429 26 7.143 17.429q0 16-8.571 41.714t-21.143 25.714q-1.143 0-9.714-1.714-29.143-8.571-51.714-32t-34.857-54-18.571-61.714-6.286-60.857z"></path>
</symbol>
<symbol id="uw-symbol-twitter" class="uw-social-symbols" viewBox="0 0 951 1024">
<title>twitter</title>
<path class="path1" d="M925.714 233.143q-38.286 56-92.571 95.429 0.571 8 0.571 24 0 74.286-21.714 148.286t-66 142-105.429 120.286-147.429 83.429-184.571 31.143q-154.857 0-283.429-82.857 20 2.286 44.571 2.286 128.571 0 229.143-78.857-60-1.143-107.429-36.857t-65.143-91.143q18.857 2.857 34.857 2.857 24.571 0 48.571-6.286-64-13.143-106-63.714t-42-117.429v-2.286q38.857 21.714 83.429 23.429-37.714-25.143-60-65.714t-22.286-88q0-50.286 25.143-93.143 69.143 85.143 168.286 136.286t212.286 56.857q-4.571-21.714-4.571-42.286 0-76.571 54-130.571t130.571-54q80 0 134.857 58.286 62.286-12 117.143-44.571-21.143 65.714-81.143 101.714 53.143-5.714 106.286-28.571z"></path>
</symbol>
<symbol id="uw-symbol-youtube" class="uw-social-symbols" viewBox="0 0 878 1024">
<title>youtube</title>
<path class="path1" d="M554.857 710.857v120.571q0 38.286-22.286 38.286-13.143 0-25.714-12.571v-172q12.571-12.571 25.714-12.571 22.286 0 22.286 38.286zM748 711.429v26.286h-51.429v-26.286q0-38.857 25.714-38.857t25.714 38.857zM196 586.857h61.143v-53.714h-178.286v53.714h60v325.143h57.143v-325.143zM360.571 912h50.857v-282.286h-50.857v216q-17.143 24-32.571 24-10.286 0-12-12-0.571-1.714-0.571-20v-208h-50.857v223.429q0 28 4.571 41.714 6.857 21.143 33.143 21.143 27.429 0 58.286-34.857v30.857zM605.714 827.429v-112.571q0-41.714-5.143-56.571-9.714-32-40.571-32-28.571 0-53.143 30.857v-124h-50.857v378.857h50.857v-27.429q25.714 31.429 53.143 31.429 30.857 0 40.571-31.429 5.143-15.429 5.143-57.143zM798.857 821.714v-7.429h-52q0 29.143-1.143 34.857-4 20.571-22.857 20.571-26.286 0-26.286-39.429v-49.714h102.286v-58.857q0-45.143-15.429-66.286-22.286-29.143-60.571-29.143-38.857 0-61.143 29.143-16 21.143-16 66.286v98.857q0 45.143 16.571 66.286 22.286 29.143 61.714 29.143 41.143 0 61.714-30.286 10.286-15.429 12-30.857 1.143-5.143 1.143-33.143zM451.429 300v-120q0-39.429-24.571-39.429t-24.571 39.429v120q0 40 24.571 40t24.571-40zM862.286 729.143q0 133.714-14.857 200-8 33.714-33.143 56.571t-58.286 26.286q-105.143 12-317.143 12t-317.143-12q-33.143-3.429-58.571-26.286t-32.857-56.571q-14.857-64-14.857-200 0-133.714 14.857-200 8-33.714 33.143-56.571t58.857-26.857q104.571-11.429 316.571-11.429t317.143 11.429q33.143 4 58.571 26.857t32.857 56.571q14.857 64 14.857 200zM292 0h58.286l-69.143 228v154.857h-57.143v-154.857q-8-42.286-34.857-121.143-21.143-58.857-37.143-106.857h60.571l40.571 150.286zM503.429 190.286v100q0 46.286-16 67.429-21.143 29.143-60.571 29.143-38.286 0-60-29.143-16-21.714-16-67.429v-100q0-45.714 16-66.857 21.714-29.143 60-29.143 39.429 0 60.571 29.143 16 21.143 16 66.857zM694.857 97.714v285.143h-52v-31.429q-30.286 35.429-58.857 35.429-26.286 0-33.714-21.143-4.571-13.714-4.571-42.857v-225.143h52v209.714q0 18.857 0.571 20 1.714 12.571 12 12.571 15.429 0 32.571-24.571v-217.714h52z"></path>
</symbol>
<symbol id="uw-symbol-facebook" class="uw-social-symbols" viewBox="0 0 602 1024">
<title>facebook</title>
<path class="path1" d="M548 6.857v150.857h-89.714q-49.143 0-66.286 20.571t-17.143 61.714v108h167.429l-22.286 169.143h-145.143v433.714h-174.857v-433.714h-145.714v-169.143h145.714v-124.571q0-106.286 59.429-164.857t158.286-58.571q84 0 130.286 6.857z"></path>
</symbol>
<symbol id="uw-symbol-instagram" class="uw-social-symbols" viewBox="0 0 878 1024">
<title>instagram</title>
<path class="path1" d="M778.286 814.857v-370.286h-77.143q11.429 36 11.429 74.857 0 72-36.571 132.857t-99.429 96.286-137.143 35.429q-112.571 0-192.571-77.429t-80-187.143q0-38.857 11.429-74.857h-80.571v370.286q0 14.857 10 24.857t24.857 10h610.857q14.286 0 24.571-10t10.286-24.857zM616 510.286q0-70.857-51.714-120.857t-124.857-50q-72.571 0-124.286 50t-51.714 120.857 51.714 120.857 124.286 50q73.143 0 124.857-50t51.714-120.857zM778.286 304.571v-94.286q0-16-11.429-27.714t-28-11.714h-99.429q-16.571 0-28 11.714t-11.429 27.714v94.286q0 16.571 11.429 28t28 11.429h99.429q16.571 0 28-11.429t11.429-28zM877.714 185.714v652.571q0 46.286-33.143 79.429t-79.429 33.143h-652.571q-46.286 0-79.429-33.143t-33.143-79.429v-652.571q0-46.286 33.143-79.429t79.429-33.143h652.571q46.286 0 79.429 33.143t33.143 79.429z"></path>
</symbol>
<symbol id="uw-symbol-caret-up" viewBox="0 0 1792 1792">
<title>Collapse</title>
<path d="M1395 1184q0 13-10 23l-50 50q-10 10-23 10t-23-10l-393-393-393 393q-10 10-23 10t-23-10l-50-50q-10-10-10-23t10-23l466-466q10-10 23-10t23 10l466 466q10 10 10 23z"></path>
</symbol>
<symbol id="uw-symbol-caret-down" viewBox="0 0 1792 1792">
<title>Expand</title>
<path d="M1395 736q0 13-10 23l-466 466q-10 10-23 10t-23-10l-466-466q-10-10-10-23t10-23l50-50q10-10 23-10t23 10l393 393 393-393q10-10 23-10t23 10l50 50q10 10 10 23z"></path>
</symbol>
<symbol id="uw-symbol-chevron-right" viewBox="0 0 695 1024">
<title id="svg-next-slide">next slide</title>
<path class="path1" d="M632.571 501.143l-424 424q-10.857 10.857-25.714 10.857t-25.714-10.857l-94.857-94.857q-10.857-10.857-10.857-25.714t10.857-25.714l303.429-303.429-303.429-303.429q-10.857-10.857-10.857-25.714t10.857-25.714l94.857-94.857q10.857-10.857 25.714-10.857t25.714 10.857l424 424q10.857 10.857 10.857 25.714t-10.857 25.714z"></path>
</symbol>
<symbol id="uw-symbol-chevron-left" viewBox="0 0 768 1024">
<title id="svg-previous">previous slide</title>
<path class="path1" d="M669.143 172l-303.429 303.429 303.429 303.429q10.857 10.857 10.857 25.714t-10.857 25.714l-94.857 94.857q-10.857 10.857-25.714 10.857t-25.714-10.857l-424-424q-10.857-10.857-10.857-25.714t10.857-25.714l424-424q10.857-10.857 25.714-10.857t25.714 10.857l94.857 94.857q10.857 10.857 10.857 25.714t-10.857 25.714z"></path>
</symbol>
<symbol id="uw-symbol-crest-footer" viewBox="0 0 200 132.78">
<title id="svg-crest-footer">Footer Crest</title>
<path d="M31.65,93.63c3,1.09,1.75,4.35,1,6.65L28.31,115l-5.4-17.44a8.47,8.47,0,0,1-.58-4.07H16.85v0.12c2.14,1.13,1.36,3.75.62,6.2l-4.55,15.31L7.14,96.41a7.23,7.23,0,0,1-.47-2.9H1v0.12c1.94,1.37,2.53,4,3.23,6.2l4.58,14.86c1.28,4.15,1.63,3.87,5.16,6.53L20,100.88l4.27,13.86c1.29,4.15,1.56,3.95,5.13,6.49l8.19-27.71h-6v0.12Z" transform="translate(-1 -0.61)"/><path d="M38.95,93.63c2,0.77,1.71,3.71,1.71,5.56v15.18c0,1.81.23,4.8-1.71,5.52V120h7.38v-0.12c-1.94-.77-1.71-3.71-1.71-5.52V99.19c0-1.81-.23-4.79,1.71-5.56V93.51H38.95v0.12Z" transform="translate(-1 -0.61)"/><path d="M53.12,99.43c0-2.78,2.8-3.67,5-3.67a8.68,8.68,0,0,1,6.1,2.54V93.75a18.9,18.9,0,0,0-5.79-.89c-4.74,0-9.75,1.94-9.75,7,0,8.54,13.36,7.41,13.36,13.7,0,2.82-3.34,4.19-5.55,4.19A13.17,13.17,0,0,1,48,114.41l1.13,5a19.44,19.44,0,0,0,7,1.21c6.06,0,10.41-4,10.41-8.34C66.49,104.87,53.12,104.95,53.12,99.43Z" transform="translate(-1 -0.61)"/><path d="M82.23,117.32c-6,0-9.87-5.28-9.87-11.2s3.73-9.91,9.09-9.91a13.15,13.15,0,0,1,7.19,2.3V93.87a30,30,0,0,0-7.07-1c-8,0-13.64,5.52-13.64,13.86,0,8.62,5.67,13.94,14.84,13.94a13.31,13.31,0,0,0,5.86-1.21l2-4.67H90.5A16.7,16.7,0,0,1,82.23,117.32Z" transform="translate(-1 -0.61)"/><path d="M104.63,92.83a14,14,0,0,0-14.57,13.85,13.83,13.83,0,0,0,14.18,14,14.09,14.09,0,0,0,14.29-14.18A13.63,13.63,0,0,0,104.63,92.83Zm-0.19,24.93c-6.1,0-9.95-5.8-9.95-11.44,0-6.08,3.85-10.59,9.87-10.59s9.75,5.68,9.75,11.56S110.34,117.75,104.44,117.75Z" transform="translate(-1 -0.61)"/><path d="M138.49,93.63c2.06,1.21,2,2.82,2,5.08V114L126.29,95.36l-0.55-.81a2.48,2.48,0,0,1-.58-1v0H119.5v0.12c2,1.21,2,2.82,2,5.08v16.07c0,2.25,0,3.86-2.06,5.11V120h6.88v-0.12c-2.06-1.25-2-2.86-2-5.11V99.19l13.32,17.52c1.71,2.3,2.91,3.63,5.67,4.6V98.7c0-2.25,0-3.87,2-5.08V93.51h-6.84v0.12Z" transform="translate(-1 -0.61)"/><path d="M151,99.43c0-2.78,2.8-3.67,5-3.67a8.68,8.68,0,0,1,6.1,2.54V93.75a18.86,18.86,0,0,0-5.79-.89c-4.73,0-9.75,1.94-9.75,7,0,8.54,13.36,7.41,13.36,13.7,0,2.82-3.34,4.19-5.56,4.19a13.18,13.18,0,0,1-8.51-3.34l1.13,5a19.46,19.46,0,0,0,7,1.21c6.06,0,10.41-4,10.41-8.34C164.37,104.87,151,104.95,151,99.43Z" transform="translate(-1 -0.61)"/><path d="M165.84,93.63c2,0.77,1.71,3.71,1.71,5.56v15.18c0,1.81.24,4.8-1.71,5.52V120h7.38v-0.12c-1.94-.77-1.71-3.71-1.71-5.52V99.19c0-1.81-.24-4.79,1.71-5.56V93.51h-7.38v0.12Z" transform="translate(-1 -0.61)"/><path d="M194.16,93.51v0.12c2.06,1.21,2,2.82,2,5.08V114L182,95.36l-0.55-.81a2.6,2.6,0,0,1-.58-1v0h-5.67v0.12c2,1.21,2,2.82,2,5.08v16.07c0,2.25,0,3.86-2.06,5.11V120H182v-0.12c-2.06-1.25-2-2.86-2-5.11V99.19l13.32,17.52c1.71,2.3,2.92,3.63,5.67,4.6V98.7c0-2.25,0-3.87,2-5.08V93.51h-6.84Z" transform="translate(-1 -0.61)"/><path d="M12.72,126.16v4.62a2.75,2.75,0,0,1-.34,1.38,2.27,2.27,0,0,1-1,.91,3.4,3.4,0,0,1-1.54.32,2.87,2.87,0,0,1-2.07-.7,2.55,2.55,0,0,1-.74-1.93v-4.6H8.24v4.52a1.81,1.81,0,0,0,.41,1.3,1.69,1.69,0,0,0,1.26.42,1.5,1.5,0,0,0,1.65-1.73v-4.51h1.17Z" transform="translate(-1 -0.61)"/><path d="M20.74,133.29H19.31l-3.51-5.69h0l0,0.32q0.07,0.91.07,1.66v3.71H14.79v-7.14h1.42l3.5,5.66h0c0-.08,0-0.35,0-0.82s0-.84,0-1.1v-3.74h1.07v7.14Z" transform="translate(-1 -0.61)"/><path d="M23,133.29v-7.14h1.17v7.14H23Z" transform="translate(-1 -0.61)"/><path d="M30.42,126.16h1.21l-2.5,7.14H27.9l-2.49-7.14h1.2l1.49,4.44c0.08,0.21.16,0.48,0.25,0.82s0.14,0.58.17,0.75c0-.25.11-0.53,0.2-0.86s0.16-.57.21-0.72Z" transform="translate(-1 -0.61)"/><path d="M37,133.29h-4v-7.14h4v1H34.08v1.94h2.69v1H34.08v2.24H37v1Z" transform="translate(-1 -0.61)"/><path d="M40,130.44v2.85H38.84v-7.14h2a3.32,3.32,0,0,1,2,.52,1.86,1.86,0,0,1,.66,1.56,2,2,0,0,1-1.39,1.9l2,3.16H42.86l-1.71-2.85H40Zm0-1h0.81a1.85,1.85,0,0,0,1.18-.3,1.1,1.1,0,0,0,.37-0.9,1,1,0,0,0-.4-0.87,2.17,2.17,0,0,0-1.19-.26H40v2.33Z" transform="translate(-1 -0.61)"/><path d="M49.68,131.36a1.8,1.8,0,0,1-.69,1.49,3,3,0,0,1-1.9.54,4.53,4.53,0,0,1-2-.38v-1.1a5.34,5.34,0,0,0,1,.36,4.39,4.39,0,0,0,1,.13,1.62,1.62,0,0,0,1-.26,0.86,0.86,0,0,0,.33-0.71,0.89,0.89,0,0,0-.3-0.68A4.57,4.57,0,0,0,47,130.1a3.31,3.31,0,0,1-1.38-.9,1.91,1.91,0,0,1-.4-1.22,1.71,1.71,0,0,1,.63-1.41,2.63,2.63,0,0,1,1.7-.51,5,5,0,0,1,2,.45l-0.37,1a4.47,4.47,0,0,0-1.7-.4,1.31,1.31,0,0,0-.86.25,0.81,0.81,0,0,0-.29.65,0.92,0.92,0,0,0,.12.48,1.2,1.2,0,0,0,.39.37,6.52,6.52,0,0,0,1,.46,5.31,5.31,0,0,1,1.15.61,1.8,1.8,0,0,1,.54.64A1.93,1.93,0,0,1,49.68,131.36Z" transform="translate(-1 -0.61)"/><path d="M51.41,133.29v-7.14h1.17v7.14H51.41Z" transform="translate(-1 -0.61)"/><path d="M57.26,133.29H56.1v-6.14H54v-1h5.37v1h-2.1v6.14Z" transform="translate(-1 -0.61)"/><path d="M62.81,129.41l1.69-3.26h1.27l-2.38,4.37v2.77H62.22v-2.73l-2.37-4.41h1.27Z" transform="translate(-1 -0.61)"/><path d="M76.33,129.71a3.9,3.9,0,0,1-.87,2.71,3.66,3.66,0,0,1-5,0,3.93,3.93,0,0,1-.87-2.73,3.86,3.86,0,0,1,.87-2.71A3.21,3.21,0,0,1,73,126a3.14,3.14,0,0,1,2.46,1A3.9,3.9,0,0,1,76.33,129.71Zm-5.45,0a3.19,3.19,0,0,0,.53,2,2.16,2.16,0,0,0,3.15,0,4.05,4.05,0,0,0,0-4A1.86,1.86,0,0,0,73,127a1.9,1.9,0,0,0-1.58.68A3.18,3.18,0,0,0,70.88,129.71Z" transform="translate(-1 -0.61)"/><path d="M79.36,133.29H78.2v-7.14h4v1H79.36v2.23h2.69v1H79.36v2.93Z" transform="translate(-1 -0.61)"/><path d="M93.39,133.29H92.12L90.91,129c-0.05-.19-0.12-0.45-0.2-0.8s-0.12-.59-0.14-0.73q0,0.31-.16.81c-0.07.33-.13,0.58-0.18,0.74L89,133.29H87.78l-0.92-3.57-0.94-3.56h1.19l1,4.16q0.24,1,.34,1.77c0-.28.09-0.59,0.16-0.93s0.14-.62.2-0.83L90,126.16h1.16l1.19,4.19a15.38,15.38,0,0,1,.36,1.74,12.74,12.74,0,0,1,.35-1.78l1-4.15h1.18Z" transform="translate(-1 -0.61)"/><path d="M96.6,133.29v-7.14h1.17v7.14H96.6Z" transform="translate(-1 -0.61)"/><path d="M104.11,131.36a1.8,1.8,0,0,1-.69,1.49,3,3,0,0,1-1.9.54,4.53,4.53,0,0,1-2-.38v-1.1a5.4,5.4,0,0,0,1,.36,4.42,4.42,0,0,0,1,.13,1.63,1.63,0,0,0,1-.26,0.86,0.86,0,0,0,.33-0.71,0.89,0.89,0,0,0-.3-0.68,4.59,4.59,0,0,0-1.25-.66,3.29,3.29,0,0,1-1.38-.9,1.91,1.91,0,0,1-.4-1.22,1.71,1.71,0,0,1,.63-1.41,2.63,2.63,0,0,1,1.7-.51,5,5,0,0,1,2,.45l-0.37,1a4.47,4.47,0,0,0-1.7-.4,1.31,1.31,0,0,0-.86.25,0.81,0.81,0,0,0-.29.65,0.92,0.92,0,0,0,.12.48,1.2,1.2,0,0,0,.39.37,6.43,6.43,0,0,0,1,.46,5.31,5.31,0,0,1,1.15.61,1.81,1.81,0,0,1,.54.64A1.93,1.93,0,0,1,104.11,131.36Z" transform="translate(-1 -0.61)"/><path d="M108.87,127.05a1.92,1.92,0,0,0-1.58.71,3.75,3.75,0,0,0,0,4,2,2,0,0,0,1.61.67,4.26,4.26,0,0,0,.88-0.09c0.28-.06.58-0.14,0.88-0.23v1a5.34,5.34,0,0,1-1.9.32,3,3,0,0,1-2.41-.95,4,4,0,0,1-.84-2.72,4.4,4.4,0,0,1,.41-1.95,2.92,2.92,0,0,1,1.18-1.28,3.58,3.58,0,0,1,1.81-.44,4.5,4.5,0,0,1,2,.46l-0.42,1a6.37,6.37,0,0,0-.77-0.3A2.75,2.75,0,0,0,108.87,127.05Z" transform="translate(-1 -0.61)"/><path d="M118.85,129.71a3.9,3.9,0,0,1-.87,2.71,3.15,3.15,0,0,1-2.47,1,3.18,3.18,0,0,1-2.48-1,3.94,3.94,0,0,1-.87-2.73A3.86,3.86,0,0,1,113,127a3.21,3.21,0,0,1,2.49-.95,3.15,3.15,0,0,1,2.46,1A3.91,3.91,0,0,1,118.85,129.71Zm-5.45,0a3.21,3.21,0,0,0,.53,2,2.16,2.16,0,0,0,3.15,0,4,4,0,0,0,0-4,1.86,1.86,0,0,0-1.56-.68,1.9,1.9,0,0,0-1.59.68A3.18,3.18,0,0,0,113.4,129.71Z" transform="translate(-1 -0.61)"/><path d="M126.67,133.29h-1.43l-3.51-5.69h0l0,0.32q0.07,0.91.07,1.66v3.71h-1.06v-7.14h1.42l3.5,5.66h0c0-.08,0-0.35,0-0.82s0-.84,0-1.1v-3.74h1.07v7.14Z" transform="translate(-1 -0.61)"/><path d="M133,131.36a1.8,1.8,0,0,1-.69,1.49,3,3,0,0,1-1.9.54,4.52,4.52,0,0,1-2-.38v-1.1a5.31,5.31,0,0,0,1,.36,4.39,4.39,0,0,0,1,.13,1.62,1.62,0,0,0,1-.26,0.86,0.86,0,0,0,.33-0.71,0.88,0.88,0,0,0-.3-0.68,4.53,4.53,0,0,0-1.25-.66,3.31,3.31,0,0,1-1.38-.9,1.92,1.92,0,0,1-.4-1.22,1.71,1.71,0,0,1,.63-1.41,2.64,2.64,0,0,1,1.71-.51,5,5,0,0,1,2,.45l-0.37,1a4.47,4.47,0,0,0-1.7-.4,1.3,1.3,0,0,0-.86.25,0.81,0.81,0,0,0-.29.65,0.92,0.92,0,0,0,.12.48,1.22,1.22,0,0,0,.38.37,6.63,6.63,0,0,0,1,.46,5.26,5.26,0,0,1,1.15.61,1.79,1.79,0,0,1,.54.64A1.9,1.9,0,0,1,133,131.36Z" transform="translate(-1 -0.61)"/><path d="M134.73,133.29v-7.14h1.17v7.14h-1.17Z" transform="translate(-1 -0.61)"/><path d="M144.07,133.29h-1.43l-3.51-5.69h0l0,0.32c0,0.61.07,1.16,0.07,1.66v3.71h-1.06v-7.14h1.42l3.5,5.66h0c0-.08,0-0.35,0-0.82s0-.84,0-1.1v-3.74h1.07v7.14Z" transform="translate(-1 -0.61)"/><path d="M145.75,131.07v-0.93h4.2v0.93h-4.2Z" transform="translate(-1 -0.61)"/><path d="M154.72,133.29l-2.07-6h0q0.08,1.33.08,2.49v3.47h-1.06v-7.14h1.64l2,5.68h0l2-5.68H159v7.14h-1.12v-3.53q0-.53,0-1.39c0-.57,0-0.92,0-1h0l-2.14,6h-1Z" transform="translate(-1 -0.61)"/><path d="M165.63,133.29l-0.71-2h-2.73l-0.7,2h-1.23l2.67-7.17h1.27l2.67,7.17h-1.24Zm-1-3-0.67-1.94c0-.13-0.12-0.33-0.2-0.62s-0.14-.49-0.18-0.62a11.19,11.19,0,0,1-.38,1.31l-0.64,1.86h2.08Z" transform="translate(-1 -0.61)"/><path d="M174,129.66a3.56,3.56,0,0,1-1,2.7,3.94,3.94,0,0,1-2.83.94h-2v-7.14h2.21a3.65,3.65,0,0,1,2.65.92A3.43,3.43,0,0,1,174,129.66Zm-1.23,0q0-2.56-2.4-2.56h-1v5.18h0.83A2.3,2.3,0,0,0,172.73,129.7Z" transform="translate(-1 -0.61)"/><path d="M175.83,133.29v-7.14H177v7.14h-1.17Z" transform="translate(-1 -0.61)"/><path d="M183.34,131.36a1.8,1.8,0,0,1-.69,1.49,3,3,0,0,1-1.9.54,4.52,4.52,0,0,1-2-.38v-1.1a5.31,5.31,0,0,0,1,.36,4.39,4.39,0,0,0,1,.13,1.62,1.62,0,0,0,1-.26,0.86,0.86,0,0,0,.33-0.71,0.88,0.88,0,0,0-.3-0.68,4.53,4.53,0,0,0-1.25-.66,3.31,3.31,0,0,1-1.38-.9,1.92,1.92,0,0,1-.4-1.22,1.71,1.71,0,0,1,.63-1.41,2.64,2.64,0,0,1,1.71-.51,5,5,0,0,1,2,.45l-0.37,1a4.47,4.47,0,0,0-1.7-.4,1.3,1.3,0,0,0-.86.25,0.81,0.81,0,0,0-.29.65,0.92,0.92,0,0,0,.12.48,1.22,1.22,0,0,0,.38.37,6.63,6.63,0,0,0,1,.46,5.26,5.26,0,0,1,1.15.61,1.79,1.79,0,0,1,.54.64A1.9,1.9,0,0,1,183.34,131.36Z" transform="translate(-1 -0.61)"/><path d="M191.4,129.71a3.91,3.91,0,0,1-.87,2.71,3.66,3.66,0,0,1-5,0,3.93,3.93,0,0,1-.87-2.73,3.87,3.87,0,0,1,.87-2.71,3.21,3.21,0,0,1,2.49-.95,3.14,3.14,0,0,1,2.46,1A3.9,3.9,0,0,1,191.4,129.71Zm-5.45,0a3.19,3.19,0,0,0,.53,2,2.16,2.16,0,0,0,3.15,0,4.05,4.05,0,0,0,0-4,1.86,1.86,0,0,0-1.56-.68,1.89,1.89,0,0,0-1.58.68A3.16,3.16,0,0,0,185.95,129.71Z" transform="translate(-1 -0.61)"/><path d="M199.22,133.29h-1.43l-3.51-5.69h0l0,0.32q0.07,0.91.07,1.66v3.71h-1.06v-7.14h1.42l3.5,5.66h0c0-.08,0-0.35,0-0.82s0-.84,0-1.1v-3.74h1.07v7.14Z" transform="translate(-1 -0.61)"/><path d="M131.41,31.93a49.5,49.5,0,0,0-.86-5.5,39.81,39.81,0,0,0-1.39-4.93,31.28,31.28,0,0,0-2.23-4.93,22.63,22.63,0,0,0-3-4.1,14.94,14.94,0,0,0-11-5.23h-0.09a5.77,5.77,0,0,0-4.16-2.91,4.93,4.93,0,0,0-9.56,0A5.77,5.77,0,0,0,95,7.25H95a14.94,14.94,0,0,0-11,5.23,22.63,22.63,0,0,0-3,4.1,31.28,31.28,0,0,0-2.23,4.93,39.81,39.81,0,0,0-1.39,4.93,49.49,49.49,0,0,0-.86,5.5c-2.3,22.62,7.87,50.42,26.16,54.68A3.17,3.17,0,0,0,104,87.89a3.17,3.17,0,0,0,1.27-1.28C123.54,82.35,133.71,54.55,131.41,31.93ZM104,1.48a3.9,3.9,0,0,1,3.93,2.76,4.86,4.86,0,0,0-3.86,2.47,0.17,0.17,0,0,1-.07.09,0.15,0.15,0,0,1-.07-0.09,4.86,4.86,0,0,0-3.86-2.47A3.9,3.9,0,0,1,104,1.48Zm-1.86,4.29a3.51,3.51,0,0,1,1.59,2.11,0.29,0.29,0,1,0,.53,0,3.51,3.51,0,0,1,1.59-2.11,4.19,4.19,0,0,1,6,1.58,13.38,13.38,0,0,0-1.67.42,6.6,6.6,0,0,0-2.38,1.32,9.4,9.4,0,0,0-3,6.1c-0.67,7.31,7.72,6.16,8.14,6.13,1.08,0,1.9-1.71,1.9-4s-0.84-4-1.9-4c-0.65,0-1.77.52-1.88,2.55-0.07,1.42.62,3.32,1.52,3.44,0.47,0.06.89-.76,1-1.6s0.06-1.87-.59-2a0.38,0.38,0,0,0-.46.28,3.83,3.83,0,0,1,.39,1.34c0,1.25-1.28.63-1.12-1.36,0.15-1.76,1.05-1.65,1.09-1.65,0.5,0,1.26,1,1.26,3,0,1.75-.84,3.63-2.46,2.65-1.36-1-1.89-3.28-1.52-5,0.17-.81.87-3,3.13-3,3.26,0,6.3,1.71,8.72,4.9-0.27.85-1.95,4.1-7.28,7.21l-0.29.15a11,11,0,0,0-4.93-1,27.08,27.08,0,0,0-4.64.74,2.89,2.89,0,0,1-1.84,0,27.08,27.08,0,0,0-4.64-.74,11,11,0,0,0-4.93,1L93.2,24c-5.34-3.11-7-6.36-7.28-7.21,2.42-3.19,5.46-4.9,8.72-4.9,2.26,0,3,2.21,3.13,3,0.38,1.77-.16,4.05-1.52,5-1.61,1-2.46-.9-2.46-2.65,0-2,.76-3,1.26-3,0,0,.94-0.11,1.09,1.65C96.31,18,95,18.6,95,17.35A3.83,3.83,0,0,1,95.41,16a0.38,0.38,0,0,0-.46-0.28c-0.65.16-.71,1.3-0.59,2s0.56,1.66,1,1.6c0.9-.12,1.6-2,1.52-3.44-0.1-2-1.23-2.55-1.88-2.55-1.06,0-1.9,1.71-1.9,4s0.82,4,1.9,4c0.42,0,8.81,1.18,8.14-6.13a9.4,9.4,0,0,0-3-6.1,6.6,6.6,0,0,0-2.38-1.32,13.38,13.38,0,0,0-1.67-.42A4.19,4.19,0,0,1,102.12,5.77ZM86.34,35.9a15.81,15.81,0,0,1-5.8-1.67c0.44-7.31,2.29-13.05,5-16.87,0.48,1.24,2.57,4.35,7.39,7.18C88.82,27,87,32.1,86.34,35.9Zm7.08-10.48a9.35,9.35,0,0,1,4.37-1.21c2.74-.18,4.79.87,6.16,0.91H104c1.37,0,3.4-1.09,6.14-.91a9.41,9.41,0,0,1,4.39,1.21c5.58,3.56,6.37,11.77,6.48,14.46a43.53,43.53,0,0,1-3.54,19c-3.86,8.51-8.53,14.53-13.14,16.57L104,75.6l-0.37-.16c-4.61-2-9.27-8.06-13.14-16.57a43.52,43.52,0,0,1-3.54-19C87,37.19,87.83,29,93.42,25.42Zm-7.16,11a32.49,32.49,0,0,0-.32,3.31A44.42,44.42,0,0,0,88,55a49.48,49.48,0,0,0,4.13,9.32A11.48,11.48,0,0,1,87,66.64a66.66,66.66,0,0,1-6.47-31.82A16.13,16.13,0,0,0,86.26,36.43Zm6.14,28.35c3.08,5.3,6.12,8.46,8.45,10.14a11.54,11.54,0,0,1-3.54,4.36c-4-2.7-7.4-7-10.07-12.13A11.81,11.81,0,0,0,92.39,64.78Zm8.91,10.46A12.19,12.19,0,0,0,104,76.71a12.2,12.2,0,0,0,2.67-1.47,12,12,0,0,0,3.53,4.34,18.69,18.69,0,0,1-3.58,1.78s0-.09,0-0.13c-0.26-1.32-2-1.59-2.61-1.59s-2.35.27-2.61,1.59c0,0,0,.09,0,0.13a18.69,18.69,0,0,1-3.58-1.78A12,12,0,0,0,101.31,75.24Zm5.81-.32c2.33-1.67,5.37-4.83,8.45-10.14a11.81,11.81,0,0,0,5.16,2.36c-2.67,5.16-6.06,9.43-10.07,12.13A11.54,11.54,0,0,1,107.12,74.91Zm8.72-10.61A49.48,49.48,0,0,0,120,55a44.42,44.42,0,0,0,2-15.25,32.48,32.48,0,0,0-.32-3.31,16.13,16.13,0,0,0,5.75-1.61A66.66,66.66,0,0,1,121,66.64,11.48,11.48,0,0,1,115.84,64.3Zm5.78-28.4c-0.62-3.8-2.5-8.8-6.58-11.36,4.82-2.83,6.92-5.94,7.39-7.18,2.69,3.82,4.55,9.56,5,16.87A15.81,15.81,0,0,1,121.62,35.9ZM101,85a23.29,23.29,0,0,1-5.87-2.93,27.5,27.5,0,0,1-3.25-2.62A31.1,31.1,0,0,1,89.53,77q-0.76-.88-1.46-1.81a47.49,47.49,0,0,1-5.58-9.69,63.91,63.91,0,0,1-3.42-10.2,70.46,70.46,0,0,1-1.79-10.85,64.57,64.57,0,0,1-.07-10.84c0.16-1.93.39-3.86,0.74-5.77a39.32,39.32,0,0,1,1.43-5.61,31,31,0,0,1,2.1-4.86,20.93,20.93,0,0,1,3.15-4.44,16.19,16.19,0,0,1,4-3.1A13.93,13.93,0,0,1,90.53,9q0.51-.18,1-0.32a4.35,4.35,0,0,1,1-.24,14,14,0,0,1,2.56-.23,7.58,7.58,0,0,1,3.88,1,8,8,0,0,1,3.34,6c0.39,4.52-4.21,5.23-5.11,5.22-0.14,0-.21-0.13.24-0.59a6.53,6.53,0,0,0,1-5.1c-0.44-2.07-1.9-3.69-4-3.69A11.16,11.16,0,0,0,86.41,15a22.78,22.78,0,0,0-4.47,7.87,42.69,42.69,0,0,0-2.2,11.38A62.43,62.43,0,0,0,80,44.88a68.71,68.71,0,0,0,1.95,10.59,60.82,60.82,0,0,0,3.53,9.85,43.36,43.36,0,0,0,5.48,9,25.89,25.89,0,0,0,8.13,6.87,18.15,18.15,0,0,0,2.21,1,6.71,6.71,0,0,0,.67,3.1A6.63,6.63,0,0,1,101,85Zm3.29,1.55a0.34,0.34,0,0,1-.62,0,6.49,6.49,0,0,1-1.51-5.17c0.12-.64,1.2-0.93,1.82-0.94s1.7,0.3,1.82.94A6.49,6.49,0,0,1,104.29,86.55Zm26.38-42.11a70.46,70.46,0,0,1-1.79,10.85,63.9,63.9,0,0,1-3.42,10.2,47.49,47.49,0,0,1-5.58,9.69q-0.7.93-1.46,1.81a31.1,31.1,0,0,1-2.35,2.47,27.5,27.5,0,0,1-3.25,2.62A23.29,23.29,0,0,1,107,85a6.63,6.63,0,0,1-.93.28,6.71,6.71,0,0,0,.67-3.1,18.15,18.15,0,0,0,2.21-1A25.89,25.89,0,0,0,117,74.35a43.36,43.36,0,0,0,5.48-9A60.82,60.82,0,0,0,126,55.47,68.71,68.71,0,0,0,128,44.88a62.43,62.43,0,0,0,.23-10.64A42.69,42.69,0,0,0,126,22.86,22.78,22.78,0,0,0,121.55,15a11.16,11.16,0,0,0-8.12-3.89c-2.12,0-3.58,1.62-4,3.69a6.53,6.53,0,0,0,1,5.1c0.45,0.46.38,0.59,0.24,0.59-0.9,0-5.51-.71-5.11-5.22a8,8,0,0,1,3.34-6,7.58,7.58,0,0,1,3.88-1,14,14,0,0,1,2.56.23,4.35,4.35,0,0,1,1,.24q0.52,0.14,1,.32a13.93,13.93,0,0,1,1.93.87,16.19,16.19,0,0,1,4,3.1,20.93,20.93,0,0,1,3.15,4.44,31,31,0,0,1,2.1,4.86A39.33,39.33,0,0,1,130,27.84c0.35,1.91.58,3.84,0.74,5.77A64.57,64.57,0,0,1,130.68,44.45Z" transform="translate(-1 -0.61)"/><path d="M112.28,33.43v1.86l0.38-.06h0.18a1.17,1.17,0,0,1,.82.28,1.27,1.27,0,0,1,.21,1.11s-3.74,16.19-4.45,19.27c-0.82-3.9-5.26-25.18-5.26-25.18l0-.09h-0.88v0.1L99.38,55.57,95,36.62a2.7,2.7,0,0,1,0-.28,1.27,1.27,0,0,1,.31-1A1,1,0,0,1,96,35.17l0.37,0v-1.8H90.11v1.76l0.28,0a1.16,1.16,0,0,1,.95.83l7.61,32.67,0,0.09h1.1v-0.1l3.56-23.3,4.53,23.31,0,0.09h1L116.41,36a1,1,0,0,1,1-.75h0.07l0.36,0V33.43h-5.58Z" transform="translate(-1 -0.61)"/>
</symbol>
</defs>
</svg>
</body>
</html>