From 2c8a2d0a8ee36980b3f58b362f781895562807a4 Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Sun, 31 May 2015 14:30:53 -0700 Subject: [PATCH] Updated robot localization example. Put into a function, added parameters so we can run the alg with different landmarks and sigmas. --- 11_Extended_Kalman_Filters.ipynb | 377 ++++++++++---------- 12_Designing_Nonlinear_Kalman_Filters.ipynb | 191 ++++++++-- experiments/ekf4.py | 8 +- 3 files changed, 356 insertions(+), 220 deletions(-) diff --git a/11_Extended_Kalman_Filters.ipynb b/11_Extended_Kalman_Filters.ipynb index 8345ac9..cbe64ac 100644 --- a/11_Extended_Kalman_Filters.ipynb +++ b/11_Extended_Kalman_Filters.ipynb @@ -269,10 +269,6 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "**Author's note: this is still being heavily edited and added to - there is a lot of duplicate material, incorrect code, and so on. The examples are just a brain dump, not fully formulated and not ready to be used.**\n", - "\n", - "**The Unscented Kalman filter (UKF) chapter is much further along. The UKF is almost always better performing than the Extended Kalman filter, and is much easier to implement, so if you have an urgent need for nonlinear Kalman filter I'll point you towards that chapter for now.**\n", - "\n", "At this point in the book we have developed the theory for the linear Kalman filter. Then, in the last two chapters we broached the topic of using Kalman filters for nonlinear problems. I chose to start off with the Unscented Kalman filter, which probably felt like quite a departure from the linear Kalman filter math. It was also a departure from the historical development of the Kalman filter.\n", "\n", "Shortly after Dr. Kálmán published his paper on the Kalman filter people recognized that his theory was limited to linear problems and immediately began work on extending the theory to work with nonlinear problems. As I have said elsewhere the only equation we really know how to solve is $\\mathbf{Ax} = \\mathbf{b}$. That is a slight exaggeration. Many of us have spent years at school learning sophisticated tricks and techniques to handle equations that are not linear. Yet after all that work the vast majority of equations that arise from simple physical systems remain intractable. Certainly there is no way to find general analytic solutions to the Kalman filter equations for nonlinear systems. \n", @@ -316,7 +312,7 @@ "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAu0AAAEWCAYAAADSA6kgAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -365,7 +361,7 @@ "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAu0AAAEWCAYAAADSA6kgAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -440,7 +436,7 @@ "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAr8AAAERCAYAAABy58/tAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nSUVORK5CYII=\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -776,9 +772,9 @@ "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAwYAAAEtCAYAAACyMncIAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nmBgQERERERGYGBAREREREYD/B9dczURecGdNAAAAAElFTkSuQmCC\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAwYAAAEtCAYAAACyMncIAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -786,9 +782,9 @@ }, { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAvoAAAEtCAYAAAB5zMTfAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nQgghhBCiH/p/GRR2N6gNbqAAAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAvoAAAEtCAYAAAB5zMTfAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -796,9 +792,9 @@ }, { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAwMAAAEtCAYAAABUG7xMAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nTkSuQmCC\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAwMAAAEtCAYAAABUG7xMAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\nAAALEgAACxIB0t1+/AAAIABJREFUeJzs3XtcVHX+P/DXmRsMDDCCDGgoXlaNtSTBS1DmjRBblPxm\nGSqsZcVurhvrtu72fVRku+1uu377ol11f2uylOu2RbvZlpBmaTp9Q401b+slxUC5iFxkYGBmzvn9\nAXOcgQFGucwAr+ejiTnn8znnvM/McWbe5/P5nCNIkiSBiIiIiIgGHYWnAyAiIiIiIs9gMkBERERE\nNEgxGSAiIiIiGqSYDBARERERDVJMBoiIiIiIBikmA0REREREgxSTASIiIiKiQcpjycDevXuxcOFC\nREREQKFQICcnp12dU6dO4b/+678wZMgQ+Pv7IzY2FidPnpTLm5qasHr1aoSGhkKn0yElJQWlpaVO\n66iurkZaWhr0ej30ej3S09NRW1vb6/tHREREROTtPJYMmEwmTJo0CRs2bIBWq4UgCE7l586dwx13\n3IGxY8diz549OHbsGF544QXodDq5TmZmJvLy8rB9+3bs27cPdXV1SE5OhiiKcp2lS5eiqKgI+fn5\n2LlzJw4fPoy0tLQ+208iIiIiIm8leMMdiAMCAvDqq68iPT1dnrd06VIolUrk5ua6XKa2thYGgwFb\nt25FamoqAKCkpASRkZH4+OOPkZiYiBMnTmDixInYv38/4uLiAAD79+/HjBkzcPLkSYwfP773d46I\niIiIyEt55ZgBURTx4YcfIioqCklJSTAYDJg2bRreeecduc6hQ4dgsViQmJgoz4uIiEBUVBSMRiMA\nwGg0QqfTyYkAAMTHx8Pf31+uQ0REREQ0WHllMlBRUYH6+nr89re/RVJSEnbt2oXU1FQsW7YMH330\nEQCgrKwMSqUSISEhTsuGhYWhrKxMrhMaGupULggCDAaDXIeIiIiIaLBSeToAV+x9/u+9915kZmYC\nACZNmoSDBw/ilVdewT333NPhsjfa64mDiomIiIioPwsKCrruZbyyZWDo0KFQqVT4/ve/7zT/5ptv\nxoULFwAA4eHhsNlsqKqqcqpTXl6O8PBwuU5lZaVTuSRJqKiokOsQEREREQ1WXpkMaDQaTJ061eky\nokDLpUZHjRoFAIiNjYVarUZBQYFcXlJSgpMnTyI+Ph4AEBcXh/r6eqfxAUajESaTSa5DRERERDRY\neaybkMlkwunTpwG0dAsqLi5GUVERQkJCMGLECKxduxYPPPAAZsyYgdmzZ2PPnj3429/+hn/+858A\nWppBVq5cibVr18JgMCA4OBhr1qxBdHQ0EhISAEAegJyRkYHNmzdDkiRkZGRgwYIFGDduXIex3UgT\nC1FfOnjwIABgypQpHo6EyD08Zqk/4fFK/Ul3u7p7rGWgsLAQMTExiImJgdlsRlZWFmJiYpCVlQUA\nSElJwebNm7F+/XpMmjQJr776KnJzczF//nx5HdnZ2Vi0aBGWLFmCO++8E4GBgdixY4fTPQu2bduG\n6OhozJs3D0lJSZg8eXKHlyslIiIiIhpMvOI+A97AMatiywB5O561ov6Gxyz1JzxeqT/p7m9Yrxwz\nQEREREREvY/JABERERHRIMVkgIiIiIhokGIyQEREREQ0SDEZICIiIiIapJgMEBERERENUkwGiIiI\niIgGKSYDRERERESDFJMBIiIiIqJBiskAEREREdEgxWSAiIiIiGiQYjJARERERDRIMRkgIiIiIhqk\nmAwQEREREQ1STAaIiIiIiAYpJgNERERERIMUkwEiIiIiokGKyQARERER0SDFZICIiIiIaJBiMkBE\nRERENEgxGSAiIiIiGqSYDBARERERDVJMBoiIiIiIBimPJQN79+7FwoULERERAYVCgZycHKfyFStW\nQKFQOD3i4+Od6jQ1NWH16tUIDQ2FTqdDSkoKSktLnepUV1cjLS0Ner0eer0e6enpqK2t7fX9IyIi\nIiLydh5LBkwmEyZNmoQNGzZAq9VCEASnckEQcPfdd6OsrEx+fPTRR051MjMzkZeXh+3bt2Pfvn2o\nq6tDcnIyRFGU6yxduhRFRUXIz8/Hzp07cfjwYaSlpfXJPhIREREReTOVpzY8f/58zJ8/H0BLK0Bb\nkiRBo9HAYDC4XL62thZbtmzB1q1bMXfuXABAbm4uIiMjsWvXLiQmJuLEiRPIz8/H/v37MX36dADA\npk2bMGPGDJw6dQrjx4/vnZ0jIiIiIuoHvHbMgCAI+OKLLxAWFoYJEybgscceQ2VlpVx+6NAhWCwW\nJCYmyvMiIiIQFRUFo9EIADAajdDpdIiLi5PrxMfHw9/fX65DRERERDRYeaxloCtJSUm47777MHr0\naJw7dw5PP/005syZg0OHDkGj0aCsrAxKpRIhISFOy4WFhaGsrAwAUFZWhtDQUKdyQRBgMBjkOkRE\nREREg5XXJgNLliyRn0+cOBGxsbGIjIzEv/71LyxatKjD5SRJ6va2Dx482O11EPUFHqvU3/CYpf6E\nxyv1B+PGjevW8l7bTaitYcOGISIiAmfOnAEAhIeHw2azoaqqyqleeXk5wsPD5TqOXYuAlmShoqJC\nruNKXeOVHo6eiIiIiMj7eG3LQFuVlZUoLS3FsGHDAACxsbFQq9UoKChAamoqAKCkpAQnT56UL0Ea\nFxeH+vp6GI1GedyA0WiEyWRqd5lSRxNuHo+bQkf17g4RdYP9bNWUKVM8HAmRe3jMUn/C45X6k+5e\nMt9jyYDJZMLp06cBAKIoori4GEVFRQgJCUFwcDCysrKwePFihIeH4/z583jqqacQFhYmdxEKCgrC\nypUrsXbtWhgMBgQHB2PNmjWIjo5GQkICACAqKgpJSUnIyMjA5s2bIUkSMjIysGDBgk6bVKy25t5/\nAYiIiIiIPMxj3YQKCwsRExODmJgYmM1mZGVlISYmBllZWVAqlTh69ChSUlIwYcIErFixQr5KkL+/\nv7yO7OxsLFq0CEuWLMGdd96JwMBA7Nixw+meBdu2bUN0dDTmzZuHpKQkTJ48Gbm5uZ3GZrVZem2/\niYiIiIi8hSD1xIjbAcCxieVSzTncHHmbB6Mh6hybsKm/4TFL/QmPV+pPHH/DBgUFXffy/WYAcV+y\nsJsQEREREQ0CTAZcsNqsng6BiIiIiKjXMRlwgQOIiYiIiGgwYDLggsXKAcRERERENPAxGXCBLQNE\nRERENBgwGXCBlxYlIiIiosGAyYAL7CZERERERIMBkwEX2E2IiIiIiAYDJgMusGWAiIiIiAYDJgMu\ncMwAEREREQ0GTAZcYDchIiIiIhoMmAy4wG5CRERERDQYMBlwwcKWASIiIiIaBJgMuGC1WT0dAhER\nERFRr2My4ILVypYBIiIiIhr4mAy4YOHVhIiIiIhoEGAy4AJbBoiIiIhoMGAy4ALvM0BEREREgwGT\nARfYTYiIiIiIBgMmAy6wmxARERERDQZMBlxgywARERERDQZMBlzgmAEiIiIiGgyYDLhgtTIZICIi\nIqKBz2PJwN69e7Fw4UJERERAoVAgJyenw7oZGRlQKBT4n//5H6f5TU1NWL16NUJDQ6HT6ZCSkoLS\n0lKnOtXV1UhLS4Ner4der0d6ejpqa2s7jc1ia4YkSTe+c0RERERE/YDHkgGTyYRJkyZhw4YN0Gq1\nEATBZb13330XhYWFGD58eLs6mZmZyMvLw/bt27Fv3z7U1dUhOTkZoijKdZYuXYqioiLk5+dj586d\nOHz4MNLS0rqMz2qzdm8HiYiIiIi8nMpTG54/fz7mz58PAFixYoXLOsXFxcjMzMTu3buRlJTkVFZb\nW4stW7Zg69atmDt3LgAgNzcXkZGR2LVrFxITE3HixAnk5+dj//79mD59OgBg06ZNmDFjBk6dOoXx\n48d3GJ/VZoFape6BPSUiIiIi8k5eO2bAarUiNTUVzzzzDCZMmNCu/NChQ7BYLEhMTJTnRUREICoq\nCkajEQBgNBqh0+kQFxcn14mPj4e/v79cp8Pt23h5USIiIiIa2Lw2GcjKyoLBYEBGRobL8rKyMiiV\nSoSEhDjNDwsLQ1lZmVwnNDTUqVwQBBgMBrlORywcRExEREREA5zHugl15rPPPkNOTg6Kioqc5rsz\nqLenBv4W/fswArUhXVck8qCDBw96OgSi68JjlvoTHq/UH4wbN65by3tly8Dnn3+OS5cuYdiwYVCr\n1VCr1SguLsYvf/lLjBw5EgAQHh4Om82Gqqoqp2XLy8sRHh4u16msrHQqlyQJFRUVcp2O2ERbD+4R\nEREREZH38cqWgccffxz333+/PC1JEubNm4elS5fi0UcfBQDExsZCrVajoKAAqampAICSkhKcPHkS\n8fHxAIC4uDjU19fDaDTK4waMRiNMJpNcpyPjJ4xDZHj3Mi2i3mI/WzVlyhQPR0LkHh6z1J/weKX+\npKtL5nfFY8mAyWTC6dOnAQCiKKK4uBhFRUUICQnBiBEj2vX1V6vVCA8Pl5tCgoKCsHLlSqxduxYG\ngwHBwcFYs2YNoqOjkZCQAACIiopCUlISMjIysHnzZkiShIyMDCxYsKDLJhUOICYiIiKigc5j3YQK\nCwsRExODmJgYmM1mZGVlISYmBllZWW6vIzs7G4sWLcKSJUtw5513IjAwEDt27HC6H8G2bdsQHR2N\nefPmISkpCZMnT0Zubm6X6+YAYiIiIiIa6NxuGbh8+TL279+PEydO4PLlyxAEAUOHDkVUVBTi4+Mx\ndOjQ69rwrFmznG4O1pVz5861m6fRaLBx40Zs3Lixw+X0er1bP/7bstqYDBARERHRwNZpMtDU1IS3\n334bb775Jvbv39/piuLj4/HQQw9h+fLl8PHx6dEgPcHCZICIiIiIBrgOuwm9/vrrGDt2LB5//HEM\nGTIE2dnZ2LdvH0pLS9HQ0ACTyYSSkhLs27cP2dnZGDJkCFatWoWxY8fijTfe6Mt96BUcM0BERERE\nA12HLQMvvPACfv7zn+Phhx9GUFCQyzparRbDhw/HHXfcgZ/+9KeoqanBli1b8MILL+BHP/pRrwXd\nFzhmgIiIiIgGug6TgW+//RYajea6VqbX67FmzRr85Cc/6XZgnsYxA0REREQ00HXYTeh6E4GeWtZb\nsJsQEREREQ10N3SfAYvFgpqaGkiS1K7MYDB0OyhvwG5CRERERDTQuZ0MmM1m/O53v8OWLVtw8eJF\nl4mAIAiw2Ww9GqCnsGWAiIiIiAY6t5OBH/3oR/jLX/6CuLg4LF682OWgYsebffV3HDNARERERAOd\n28nAe++9h/T0dGzdurUXw/Ee7CZERERERANdhwOI29Jqtbj99tt7Mxavwm5CRERERDTQuZ0MLF26\nFB988EFvxuJV2DJARERERAOd292EXnzxRaSnpyMpKQkPP/wwRowYAaVS2a7etGnTejRAT+GYASIi\nIiIa6NxOBhobGwEABQUFKCgocFlnIF1NyMJkgIiIiIgGOLeTgZUrV+If//gHUlNTMW3aNJdXExpI\nrFaOGSAiIiKigc3tZKCgoACrV69GdnZ2b8bjNdgyQEREREQDndsDiAMDAzFu3LjejMWrcMwAERER\nEQ10bicDjz32GN5++21YrdbejMdrsJsQEREREQ10bncTGj9+PP7xj3/gtttuQ1paGkaOHOnyakIP\nPPBAjwboKewmREREREQDndvJwLJly+TnTz31lMs6giAMmGSgyWL2dAhERERERL3K7WTg008/7c04\nvI65yeTpEIiIiIiIepXbycCsWbN6MQzv02QxwybaoFS07wpFRERERDQQuD2AeDAyNzd4OgQiIiIi\nol7TYTKQnp6OEydOXPcKT5w4gR/+8IfdCspbNLKrEBERERENYB0mA9XV1bjlllswe/ZsvP766zhz\n5kyHKzl9+jRee+01zJo1C7feeiuqq6t7Jdi+1tjElgEiIiIiGrg6TAZ27NiBffv2Qa/X44knnsD4\n8eMxZMgQxMTEYO7cuZgzZw5uu+026PV6TJgwAT/72c8wdOhQfPHFF/jggw+63PDevXuxcOFCRERE\nQKFQICcnx6n8mWeeQVRUFHQ6HYKDg5GQkACj0ehUp6mpCatXr0ZoaCh0Oh1SUlJQWlrqVKe6uhpp\naWnQ6/XQ6/VIT09HbW2tWy8OWwaIiIiIaCDrdMxAfHw83n//fZSUlODPf/4zFi9eDH9/f1y6dAll\nZWUIDAzEkiVLkJOTg5KSErz77ru4/fbb3dqwyWTCpEmTsGHDBmi1WgiC4FR+880347XXXsPRo0fx\nxRdfYPTo0Zg3bx7Ky8vlOpmZmcjLy8P27duxb98+1NXVITk5GaIoynWWLl2KoqIi5OfnY+fOnTh8\n+DDS0tLcitHczGSAiIiIiAYuQZIkydNBBAQE4NVXX0V6enqHderq6qDX65Gfn4+7774btbW1MBgM\n2Lp1K1JTUwEAJSUliIyMxMcff4zExEScOHECEydOxP79+xEXFwcA2L9/P2bMmIGTJ09i/Pjx8vod\nWwue2doy5mHZ3asx/ftze2OXibrl4MGDAIApU6Z4OBIi9/CYpf6Exyv1J46/YYOCgq57+X5xNaHm\n5mZs3rwZISEhiI2NBQAcOnQIFosFiYmJcr2IiAhERUXJ3YmMRiN0Op2cCAAtrR3+/v7tuhy5wjED\nRERERDSQuX2fAU/48MMPkZqaioaGBoSGhuJf//oXgoODAQBlZWVQKpUICQlxWiYsLAxlZWVyndDQ\nUKdyQRBgMBjkOp05e+40dLaDPbQ3RD3PfvaKqL/gMUv9CY9X6g/GjRvXreW9umVgzpw5+Pe//w2j\n0Yjk5GQsWLAAxcXFnS7Tk72emm1NPbYuIiIiIiJv49UtA35+fhgzZgzGjBmDadOmYfz48di6dSuy\nsrIQHh4Om82Gqqoqp9aB8vJyzJw5EwAQHh6OyspKp3VKkoSKigqEh4d3uf1AvY79BckrsT8r9Tc8\nZqk/4fFK/Ym7V8nsiFe3DLRls9nkKwXFxsZCrVajoKBALi8pKcHJkycRHx8PAIiLi0N9fb3T+ACj\n0QiTySTX6YyZlxYlIiIiogHMYy0DJpMJp0+fBgCIooji4mIUFRUhJCQEer0eL774IhYuXCif3X/1\n1Vdx8eJFPPDAAwBaRkuvXLkSa9euhcFgQHBwMNasWYPo6GgkJCQAAKKiopCUlISMjAxs3rwZkiQh\nIyMDCxYscKt/Fe8zQEREREQD2XW3DNTW1qKgoABvv/22W4NwO1JYWIiYmBjExMTAbDYjKysLMTEx\nyMrKgkqlwvHjx7Fo0SKMHz8eCxcuRHV1Nfbt24eJEyfK68jOzsaiRYuwZMkS3HnnnQgMDMSOHTuc\n7lmwbds2REdHY968eUhKSsLkyZORm5vrVoyNzbyaEBERERENXNfVMvDCCy/gt7/9LRobGyEIAj75\n5BP5zP3IkSPx0ksv4cc//rFb65o1a5bTzcHaysvL63IdGo0GGzduxMaNGzuso9fr3f7x3xZbBoiI\niIhoIHO7ZeCNN97AM888g2XLluFvf/ub01V7QkNDce+99+Ldd9/tlSA9hS0DRERERDSQuZ0MbNy4\nEYsXL8bmzZsxe/bsduW33XYbjh8/3qPBeVpjk6lHL1VKRERERORN3E4Gvv32W3lgritDhgzBlStX\neiQobyGKNliszZ4Og4iIiIioV7idDOj1elRUVHRYfvz4cQwbNqxHgvImHDdARERERAOV28lAcnIy\nNm/ejKqqqnZlR44cwZ/+9CekpKT0aHDeoLGZyQARERERDUxuJwO//vWvIQgCbr31Vjz11FMAgC1b\ntmDJkiWYOnUqwsPD8cwzz/RaoJ7ClgEiIiIiGqjcTgaGDRuGwsJCJCcn47333gPQcg3/nTt3Yvny\n5fjyyy8xdOjQXgvUUxqbeEUhIiIiIhqYrus+AwaDAZs3b8amTZtQWVkJURQRGhoKpVLZW/F5HFsG\niIiIiGiguq5kwE4QBBgMhp6OxSuZea8BIiIiIhqgOkwG1q1bB0EQrnuFzz77bLcC8jYNbBkgIiIi\nogGq02TgRgy0ZMDMZICIiIiIBqgOBxCLouj0uHDhAm699VakpaWhsLAQNTU1qKmpwVdffYW0tDRM\nmjQJ3333XV/G3icazPWeDoGIiIiIqFe4fTWhVatWYcKECcjJyUFsbCwCAwMRGBiIKVOmICcnB+PG\njcOqVat6M1aPqG2o9nQIRERERES9wu1kYM+ePZg9e3aH5bNnz8bu3bt7JChvUld/xdMhEBERERH1\nCreTAR8fHxw4cKDD8gMHDsDX17dHgvImtSYmA0REREQ0MLmdDCxfvhxvv/02fvKTn+DkyZOwWq2w\nWq04ceIEVq1ahW3btmHZsmW9GatHXG2ogSjaPB0GEREREVGPc/s+A7///e9x+fJlvPbaa3jttdfk\ny45KkgQASE1NxYsvvtg7UfYxP98ANJivAgBESUR9Yx0C/Yd4OCoiIiIiop7ldjLg4+OD3NxcPPnk\nk/joo49QXFwMAIiMjMQ999yD6OjoXguyrwX5D5GTAaClqxCTASIiIiIaaK77DsTR0dED6oe/K0H+\nwbhUdUGerq2/ghGGsR6MiIiIiIio57k9ZmAwCfIPdprmIGIiIiIiGojcbhlQKBQQBEEeI+DIPl8Q\nBNhs/X+wbdsuQUwGiIiIiGggcjsZePbZZ9vNs9lsKC4uxvvvv48JEyZgwYIFPRqcpwTpnFsG6pgM\nEBEREdEA5HYy8Nxzz3VYdunSJdx+++0YP358T8Tkce27CfEuxEREREQ08PTImIFhw4bhRz/6EX79\n61+7vczevXuxcOFCREREQKFQICcnRy6zWq345S9/iejoaOh0OgwfPhzLli3Dd99957SOpqYmrF69\nGqGhodDpdEhJSUFpaalTnerqaqSlpUGv10Ov1yM9PR21tbWdxhbIMQNERERENAj02ABif39/fPvt\nt27XN5lMmDRpEjZs2ACtVivft8Be9vXXX+Ppp5/G119/jX/+85/47rvvkJSU5DQmITMzE3l5edi+\nfTv27duHuro6JCcnQxRFuc7SpUtRVFSE/Px87Ny5E4cPH0ZaWlqnsbVtGairZ8sAEREREQ08131p\nUVe++eYbbNy48bq6Cc2fPx/z588HAKxYscKpLCgoCAUFBU7zNm3ahIkTJ+LkyZOYOHEiamtrsWXL\nFmzduhVz584FAOTm5iIyMhK7du1CYmIiTpw4gfz8fOzfvx/Tp0+X1zNjxgycOnWqw3gD/fVO01cb\namATbVAqlG7vHxERERGRt3M7GRg9erTLqwnV1NSgtrYW/v7+eP/993s8QDt7154hQ1qu9HPo0CFY\nLBYkJibKdSIiIhAVFQWj0YjExEQYjUbodDrExcXJdeLj4+Hv7w+j0dhhMqBSqqHTBqG+sWWbEiRc\nbaiBXhfSW7tHRERERNTn3E4GZs6c2W6eIAgYMmQIvve97+HBBx9EcHCwiyW7r7m5GT//+c+xcOFC\nDB8+HABQVlYGpVKJkBDnH+hhYWEoKyuT64SGhraL2WAwyHVcOXjwINQKXwDXxhZ8WbgfQwOG99Ae\nEfWMgwcPejoEouvCY5b6Ex6v1B+MGzeuW8u7nQxs3bq1Wxu6UVarFcuXL0ddXR0+/PDDLuu7ug/C\njfDT6FBtKpenTc11GAomA0REREQ0cLidDDz88MPIyMiQ+9639dVXX+GNN97Ali1beiw4q9WK1NRU\nHDt2DJ999pncRQgAwsPDYbPZUFVV5dQ6UF5eLrdihIeHo7Ky0mmdkiShoqIC4eHhHW53ypQpOHf1\nMEqrz8rzAoO1mDJlSk/tGlG32M9W8Zik/oLHLPUnPF6pP+nqKpldcftqQlu3bsXZs2c7LP/22297\ntPXAYrFgyZIlOHr0KPbs2QODweBUHhsbC7Va7TTQuKSkBCdPnkR8fDwAIC4uDvX19TAajXIdo9EI\nk8kk1+mIYYhzK0BFzcXu7hIRERERkVfpkasJAcCVK1fg4+Pjdn2TyYTTp08DAERRRHFxMYqKihAS\nEoLhw4fj/vvvx8GDB7Fjxw5IkiT38dfr9fD19UVQUBBWrlyJtWvXwmAwIDg4GGvWrEF0dDQSEhIA\nAFFRUUhKSkJGRgY2b94MSZKQkZGBBQsWdNm/yjDkJqfpiurSDmoSEREREfVPnSYDn3/+OT7//HO5\nH35eXh7OnDnTrt6VK1ewfft2REdHu73hwsJCzJkzB0DLoN6srCxkZWVhxYoVyMrKwgcffABBEBAb\nG+u03NatW5Geng4AyM7OhkqlwpIlS9DY2IiEhAS89dZbTvcs2LZtG1avXo158+YBAFJSUvDKK690\nGZ9Bz5YBIiIiIhrYOk0G9uzZg+eff16ezsvLQ15ensu6EydOxMaNG93e8KxZs5xuDtZWZ2V2Go0G\nGzdu7HS7er0eubm5bsdlNyRgKFRKNaw2CwDA1FgHk/kq/H0DrntdRERERETeqNMxA7/85S9RUVGB\niooKAMDrr78uT9sflZWVMJlM+OabbzBt2rQ+CbovKBRKhOqHOc2rqGbrABERERENHJ22DGi1Wmi1\nWgAtA4QNBgP8/Pz6JDBvYNAPx6WqC/J0RXUpRg+b4MGIiIiIiIh6jtsDiEeNGtWLYXin0DaDiCs5\nboCIiIiIBpAOk4HZs2dDEAQUFBRApVLJ0x2RJAmCIODTTz/tlUA9IazN5UXLeUUhIiIiIhpAOkwG\n2t7JV5KkHru7b38Rqm/TMsAxA0REREQ0gHSYDHz22WedTg8GbVsGKmsuQRRtUCiUHoqIiIiIiKjn\nuH0H4r1796KysrLD8srKSuzdu7dHgvIW/tpA6LRB8rTF1oyyKyUejIiIiIiIqOe4nQzMmjULn3zy\nSYflu3fvxuzZs3skKG8SGeZ8p+Li8tMeioSIiIiIqGe5nQx0pbm5udMBxv3VyPA2yUDZKQ9FQkRE\nRETUszq9tGhtbS1qa2vlgcOXL1/GhQsX2tW7cuUK/vrXv+Kmm25qV9bfsWWAiIiIiAaqTpOB7Oxs\nrFu3Tp7OzMxEZmZmh/V/97vf9VxkXiKyTcvApcvFaLY0QaP28VBEREREREQ9o9Nk4O6774a/vz8A\nYO3atUgtmzVOAAAgAElEQVRNTcXkyZOd6giCAH9/f0ydOhWxsbG9F6mH+PsGIDRoGCprLwEAREnE\ndxVnMfam73s4MiIiIiKi7uk0GYiPj0d8fDwAoL6+Hvfddx9uvfXWPgnMm4wMHycnA0BLVyEmA0RE\nRETU37k9gPi5554blIkAAIwKH+80fb7sPx6KhIiIiIio53TYMpCTk3NDVwdKT0/vVkDeKLJNMnD6\nu2948zEiIiIi6vc6TAYeeuihG1rhQEwGRhjGQuvjj8YmEwDAZL6KCxVn27UYEBERERH1Jx0mA99+\n+21fxuHVlAolbh55G74+vV+ed/z8ISYDRERERNSvdZgMjBo1qg/D8H5RkTFOycCJ4q9xz+2pHoyI\niIiIiKh7euwOxANd1CjnS6peKDuN+sY6D0VDRERERNR9nV5atK2ysjL8+c9/xqFDh1BXVwdRFOUy\nSZIgCAI+/fTTHg/SGwT5B+Om0NEorTwHAJAg4UTxYUy9eZZnAyMiIiIiukFuJwNHjx7FzJkz0dDQ\ngPHjx+Obb77BxIkTceXKFVy6dAljxozBiBEjejNWj4uKjJGTAQA49J99TAaIiIiIqN9yu5vQU089\nBV9fXxw/fhy7d+8GAGRnZ6O0tBRvv/02ampqsH79+l4L1BvEjL/Dafpk8deoM9V4KBoiIiIiou5x\nOxn44osvkJGRgdGjR8v3H5AkCQCQmpqKBx54AE8++WTvROklbho6GsNCRsrToiTi0Km9HoyIiIiI\niOjGuZ0MNDc346abbgIAaLVaAEBNzbWz4rfddhsKCwvd3vDevXuxcOFCREREQKFQICcnx6k8Ly8P\n8+bNg8FggEKhwOeff95uHU1NTVi9ejVCQ0Oh0+mQkpKC0tJSpzrV1dVIS0uDXq+HXq9Heno6amtr\n3Y7TkSAImBY122le4cnPbmhdRERERESe5nYyMHLkSFy4cAEA4Ofnh/DwcBw4cEAuP3bsGHQ6ndsb\nNplMmDRpEjZs2ACtVtvubscNDQ2488478dJLLwGAy7shZ2ZmIi8vD9u3b8e+fftQV1eH5ORkp4HN\nS5cuRVFREfLz87Fz504cPnwYaWlpbsfZVuyEuyDgWiwlFd/iQvmZG14fEREREZGnuD2AeM6cOXj/\n/fexbt06AMDy5cvx0ksvoba2FqIoIjc3FytXrnR7w/Pnz8f8+fMBACtWrGhXvnz5cgDA5cuXXS5f\nW1uLLVu2YOvWrZg7dy4AIDc3F5GRkdi1axcSExNx4sQJ5OfnY//+/Zg+fToAYNOmTZgxYwZOnTqF\n8eOv/6Zhel0IJoyMxskLRfK8PYf/iR/O//l1r4uIiIiIyJPcbhlYu3YtsrKyYDabAQDPP/88Hnro\nIbz33nvYsWMH0tPT+3QA8aFDh2CxWJCYmCjPi4iIQFRUFIxGIwDAaDRCp9MhLi5OrhMfHw9/f3+5\nzo2YeVuy0/TXp/fjSl3FDa+PiIiIiMgT3G4ZiIyMRGRkpDzt6+uLP/3pT/jTn/7UK4F1paysDEql\nEiEhIU7zw8LCUFZWJtcJDQ11KhcEAQaDQa5zI6JGxSA8eATKrnwHoGUg8Z6vP8B9Mx+54XUSERER\nEfW167rpWH9gv8JRdxw8eLDLOqODo+VkAAC+OLITIarR0PkEdXv7RO5y51gl8iY8Zqk/4fFK/cG4\nceO6tbzb3YS8TXh4OGw2G6qqqpzml5eXIzw8XK5TWVnpVC5JEioqKuQ6N2pM6C3QagLkaZtoRVHx\nZ91aJxERERFRX+q3LQOxsbFQq9UoKChAamoqAKCkpAQnT55EfHw8ACAuLg719fUwGo3yuAGj0QiT\nySTXcWXKlCluxWDzu4rtu1+Vp89VHsV9CSswwjD2RneLyC32s1XuHqtEnsZjlvoTHq/Un9zoJfPt\nPJYMmEwmnD59GgAgiiKKi4tRVFSEkJAQjBgxAtXV1SguLpbvZXD69GkEBgZi2LBhCAsLQ1BQEFau\nXIm1a9fCYDAgODgYa9asQXR0NBISEgAAUVFRSEpKQkZGBjZv3gxJkpCRkYEFCxZ0u0kFAG7//hx8\nXrQDl6paLrkqQcJfd72KNUtehEqp7vb6iYiIiPqCJElobm7uke7W1HMEQYBGo3F5if0e24bkoXf9\ns88+w5w5c1qCEAT54FuxYoV8ydCHH364Xflzzz2HZ599FkDLjdCefPJJbNu2DY2NjUhISMBrr70m\n3xwNaLkx2urVq/HBBx8AAFJSUvDKK68gMDDQKR7HrCooyP1+/8fPH8Yb/3zeaV7StCW4Jy7V7XUQ\nXS+etaL+hscs9SeD7XgVRRFNTU3QaDRQKpWeDocc2Gw2NDc3w8fHBwqF6979N/ob1s5jyYC36c4L\nufXj/8HhU/vkaYWgwE8Xv4Axw6N6LD4iR4Pti4r6Px6z1J8MtuPVbDbDx8enV88+042TJAlNTU3w\n9fV1Wd7dZKDfDiD2JvfPehSBfkPkaVES8ebH63G1ocaDURERERG5h4mA9+rt94bJQA/w1wYiNWGV\n07za+iq8+dEfYbE2eygqIiIiIqLOMRnoIRNHT8Hc2EVO886UHsObH/0RNpvVQ1EREREREXWMyUAP\nSo5fjrE3TXSad/RcIf780R/QbG3yUFRERERERK4xGehBSoUSj/zglwgPHuE0/+i3X+H199fhakP3\nrgNLRERERP3PZ599BoVCgXfeecfTobTDZKCH+WsDsWrROoQEhTnNP3vxOP741zU4d+mkhyIjIiIi\nGjwUCoVbj5ycHE+H6lH99g7E3ixIF4wnFv8Wr/9jnXxDMgCoqa9C9t//G4lT70Pi1AegVvHGZERE\nRES94a233nKa3rRpE7788ku8+eabTvPj4+P7Miyvw2Sgl+h1Ifjp4hfw5w9/jzOlx+T5kiQi/6u/\n4/+Of4qk6Utw+/fnQqHgDT6IiIiIetLSpUudpgsKCvDVV1+1m9+WyWSCv79/b4bmVdhNqBf5+wZg\n1aJ1mBNzb7uymvoqbN/9GrL//t/4ruJbD0RHRERENLitWLECWq0WxcXFWLhwIYKCgpCcnAwAOHLk\nCB566CGMHTsWWq0WoaGhSE1NxXfffdduPbW1tfjFL36BMWPGwNfXFxEREVi2bBkuXrzY4bYtFgvu\nv/9+6HQ67N69u9f2sStsGehlSqUK985YgfEjbsW2Xa+gzlTtVH6+7D/441/X4Hs3TcRd0T/ArWOn\nQ8mWAiIiIqI+IYoiEhMTMX36dKxfvx4qVcvP4127duHUqVNYsWIFhg8fjjNnzuCNN97AV199haNH\nj0Kr1QJoaUmYOXMmjh07hoceeghTpkzB5cuX8fHHH+Ps2bMYPnx4u202NTVh8eLF2LdvH/Lz83HH\nHXf06T47YjLQR74/KhZPLd+I/P97B198sxNWm8Wp/EzpMZwpPYYhuqG4Y1IS4iYmIMBP76FoiYiI\niFzr7TviSpLUq+tvy2KxYMGCBVi/fr3T/B//+MdYs2aN07yFCxfijjvuQF5eHpYtWwYA+OMf/4gj\nR47g73//O+677z657n//93+73F5DQwNSUlJw+PBhfPLJJ5g6dWoP79H1YTehPuTvG4D/mrkSz/zw\nNdw6ZprLOtX1l/Hhgbfw9P97GBvfexp7//0vVF+93MeREhEREQ0ejz/+eLt59jP/AFBfX4+qqiqM\nGzcOer0ehw8flsveffdd3HLLLU6JQEfq6uqQlJSEI0eOYM+ePR5PBAC2DHjEkIBQPJL8FI6dO4hP\nv/4nzpQcbVdHkkScKTmKMyVH8e5nf8KwkJEYP2ISJoyIxvciboGvRutizURERES9q6/P3Pc2hUKB\nUaNGtZtfXV2NX/3qV3j33XdRXe3czbu29tq9o86ePYtFixa5ta01a9agsbERhw8fxq233tqtuHsK\nkwEPEQQBt4yZilvGTEVp5XnsO/IvFJ78HBZrs8v6l6ou4FLVBXxe9CEUggKR4eMxYUQ0xgyPQqh+\nGIYEDOVViYiIiIiuk0ajgULRvrPMAw88gAMHDuDJJ5/E5MmTERAQAAB48MEHIYqiXO96uk3de++9\n2L59O1544QVs27bN5Xb7GpMBL3BT6Cg8OHcVFtyRji+P7cbBk5+h9PL5DuuLkohzl0463cBMo/LB\n8KGjEBE6GsOGRmKIbij0ASHQ64bC3zeg1/v3EREREfVHrlo6qqursXv3bqxbtw7PPPOMPN9sNuPK\nlStOdceOHYtvvvnGrW0lJyfjnnvuwfLly+Hv748///nP3Qu+BzAZ8CL+vgGYG3sv5sbei8qaSzhy\n9kv8++yXKC47DUkSO1222dqE82X/wfmy/7QrUynV0OtCEKQLgd7hEeQfDI3aByqlBmqVGhqVL3x9\ntPBVa6FR+wIAJLT8A1EqVP3qKkeSJKHZ2oRmixlKpQoqpRoqpRoKQdGuntVmQbO1CT5qX6iUvBGc\nOyRJgk20otnaBIulGT4a7aDouiZJkvxvURAUPZ5ku9P0zsSeiOjGufoMdTVPqWz5zePYAgAA//u/\n/9vus3rx4sVYt24d3n33XSxevLjLGB588EGYTCY8+uij0Ol02LBhw/XsQo9jMuClQvXDMDd2EebG\nLkJDUz3OlBzDqe/+jf9cOILy6pLrWpfVZsHl2jJcri3rVkwKQQGVSgO1Ug2VSgOl0EHTVgc/VgS4\nmN/B75qWH10tP7wcn4toO/9auUKhgJ+PDlbRioamethsVtf70JoYAIDZ0ghRtMnlWh9/6LRB0GkD\nodMGQgJgtTZDrdLAR6OFj1oLX40vVEoNrjZUo85UIydMjnzUWmg1fvD18YOfj65lfX4t6/X3DYRG\n7YOm5kYolSr4+eogiWJL8mJtRrOlCRZrE5otTS0/th2et5Sbce7CWVhtzSg2FUGlVKGxyQQBCmjU\nPvBRa1v/+sIm2mAy16G+8SpM5jqYGq/CJloR6DcEWh9/KAQFGprq0djc4PQeNVvMaLKYoVAoIQgC\nLPbty3/NENskqH6+AVApVPL7pFKq4e8bALVKAwECBMH+UEDAtR/TgiBAgACbaENTcyPMlkZYLE1Q\nKdVQq32gVmmgUqggKBRQCNcejtOO6xJFEaJkg020QRLtx4wIq9WChqZ6WKzNEMWWcptogyjaIEri\ntWPJfoy1/oV0bdrVMS3vk8O+QGh9JVunHZ+3LZMkEVabBRabxelY7A0u/w06Vei8vMs0pLPlW788\n3zZ29LnRxaq7qCBBQst/kryta685oIACLU9b3wOH9+ba+6doDVXs5DPH4ThoXZ8cm3AtTkmSIKJ1\nmdYfEyqluuV4VqmhUqigVKigUCqhUqigVvvAR+ULtdoHGlXLcS9JIkRJdO6OID8Rrr0urdtVKpRQ\nKtVQKpRQqzStCbrQcnyLIiSIrf8+Wo53URQBQYCP2gcatRY+at+WH0WS/Wi/tr+O/waUCiUUghIK\nhbLl32Cbbg6CoIBSoYRK2bqPCqV8QslkrkOtqbq1XA21ygdKhaL1LXPcVsu01WaF1WaBSqmGT+vn\nm1rlA7Wq5bVUK1teT7VS0/rZrmKXWeqUq5MuruYFBgZi1qxZ+MMf/oDm5maMHDkSX3zxBfbu3YuQ\nkBCnZX7xi1/gvffeQ2pqKgoKChATE4Oamhrs3LkTzz//PO66665261+5ciXq6+vxs5/9DDqdDi+8\n8ELP7uh1YDLQD/j56DBp7HRMGjsdAFB99TJOfXcEZ0qOorymFJXVF2EyX+31OERJRLPFjGaLude3\ndUNsQFMXsYmS/Ud3k8vyxiYTGptMqKzp+CYh3uTbSveaJftCg4tjsLa+ygOR9J1rCUPnLXfewlVC\n41yh8/Iu2y3cGVPYl6+VQzy9m2a5x2JrhsXWDLj++KEeomhNNFRKdcvJK3vLsEIhJ/D2RFGj9kGg\n3xAIggCrzQKloqUluaa6BkqFChcajrQsr1DhWs7XsrxCEODnG9DaFbdNQuQirrZnnyVJak32bHLS\nJ0mi88kFQQGF4wkHXHuucmj1VinVUCpU8NVo4evjB1+NHwQAjc0NMDVeRUNTPRrMV2Eyt/y1ibZr\nr49Kg9FhUfD19e2dN8SL2F/XrubZbdu2DU888QQ2bdoEi8WCmTNn4tNPP0VCQoLTMn5+fti7dy+e\ne+455OXlIScnB2FhYZg5cybGjx/vtC1HTzzxBK5evYpnn30WAQEB+NWvftWDe+s+QRpoQ8JvkOOo\n8KCgIA9Gcv0kSUJNfRVKK8+h9PI5XK4tR039ZdTUV6GmvgpNzY2eDpGIiIj6kACh6xMArR77wdO4\n5XtTejki6o6LFRfw9dkv5G7Q9pOXd0X/AGGBI+V6N/Ibli0DA4AgCBgSMBRDAobiljHtr1fb2NSA\nWlMVaq5WtSYILYnC1YYaWGwWWK3NsNgsaLaYYW5uhLm5Ac2WJqcmb5to63LcgrdRKlXwUWthE62w\ntTY1u6ynUEGj0sDc3Oj2Bye1dLnSqH2hVmlgMl/t9S4uRETkPn6fDSxX6iqQ/9U77ebfPPI2p2Tg\nRjAZGAS0Pn7Q+vghPHjEDa9DkiSIok3u22yxNrXrM95SsYPlXRR01iilaNNM2tI82vLXqcnUoZ7V\nZkGj2dTSD99H19JX3aFJzj7o1WqzwmazQAJa+5+2jB8QRRtM5nrUN9ahvrEW9Y11UAgKqFVqWKzN\nMDc3oqm1L32zxQx/3wCXl3SVJAlNFjPMTSY0NjegwVwvr6++sQ6mxjpYrC2Dbq02CxrMV6Fs7TOs\nUflAo9I4PPeBRu0DtfxcA7XSB1WV1VArNTAMGwqrzQqtjz+Aa339my1mNDWbISgU0PkGwl8bAJ02\nEH6+AVAICtQ11LT0+xdt8PXxh5+PPwRBkN8TtcoHvhptaxIoQaPWQKPyhUbdEo9G5eM02FoUbbja\nWAtI15pcLdZmmFqbo53GeABO/a/tx5FCUMjjMjRqDWw2a+v4hGbYREtrE7p0rb+zQ7O6BKm1X7XU\n2o9ZCYVC4XAcKaBUqODn6w+NyhdKZUsfZoWghFKplI8vhdCmP7nDXzg+x7U+1K7Gtkjy8S2168vu\nVNb6el1r6ld1a4BwZ/+mer+LUOfbPnSo5QY9sbEx17vpLrcuQbL3/ofgMC4AkgTR4X2Qx4DA/v6J\n8nvT8hnXeiwqHMeAOHfTsG/D3sddfl0lh9dYkiAoFNeWVSgAqaX/u6V17E/LuBUrbGLrmBF5TI65\nddxQc0sXEYfjWO6/77jnDn36RdEGa+vJD/vYHvt4KqF1bM21cTYCFK199R0/N6SWg9J5zEvLhHxs\nimJL1xab1DrmRhSd+sVIotg6JqclFvm5aIOPRgu9LgQAYLU6f5fYX1/Y/y8Ird12VLDarHI31WZr\nS3cr+/L2k1pWm7WlGxbRINLYZOr2OpgMkFsEQYBSqWo52w7vvGqMRuUDPx9dh+WOP7rgYh8UCiUC\n/IIQ4BcE4MYTp75w8OBBAMCUGO9o1lUolAjyD243PzjQ4IFo+sa1wcIA4B0DFjtLJLoePNzDwbRh\nvxpZX1+xyzveGQACoFEooVH7wN/TsQxgjid9rDaL/LBYLZAkGyQJkCC2/JVEmJsbUGeqlr8fbK0n\nvc6cPQ1RsmH4TcNgtVpgFVsvSOGQ9NlEG+oba9v/GHM1QLWDeBUKBZSCEkLrX3umKcF+4sPVyQZJ\nvgCCff/srd/m5kaYm0xyS7dW4yePa/Dz1cGv9a9Kobr22tgs8NcG9uC7QH2JyQARERFRq65O+rhL\nYWq5uZS3nHC5XqIkApLk9pWVzGYvvTAIyYIDDZg//UH5GPfz1UHro8OwkO6fvPTYbc/27t2LhQsX\nIiIiAgqFAjk5Oe3qPPfcc7jpppvg5+eH2bNn4/jx407lTU1NWL16NUJDQ6HT6ZCSkoLS0lKnOtXV\n1UhLS4Ner4der0d6errTYGEiIiKigaTlkq9e0y5GPSA40ID5tz+IpOlLkDDlvxB/SyImj4vvVhdw\nO48lAyaTCZMmTcKGDRug1WrbNW+/+OKLeOmll/DKK6+gsLAQBoMBd999N+rr6+U6mZmZyMvLw/bt\n27Fv3z7U1dUhOTnZ6ZrMS5cuRVFREfLz87Fz504cPnwYaWlpfbafRERERETeymPdhObPn4/58+cD\nAFasWOFUJkkSsrOz8dRTT2HRokUAgJycHBgMBmzbtg2PPfYYamtrsWXLFmzduhVz584FAOTm5iIy\nMhK7du1CYmIiTpw4gfz8fOzfvx/Tp7dco3/Tpk2YMWMGTp065XTtVyIiIiKiwcYrxwycO3cO5eXl\nSExMlOf5+vrirrvuwoEDB/DYY4/h0KFDsFgsTnUiIiIQFRUFo9GIxMREGI1G6HQ6xMXFyXXi4+Ph\n7+8Po9HIZICIiMjLSZIEm83W6cNqtbqcb1/e8apLbf/a12+1WmG1WmGxWORuyTU1NS1XdGrzUCqV\n8nNJktDU1OTyYbVaXW63o1jcrXO9ZQDkK0jZ/9r3QalUYs6cORg1atR1vzfUd5qbm1FTUwObzdZ6\nRa+Wx5AhQ7p1FTrAS5OBsrIyAEBYWJjTfIPBgIsXL8p1lEolQkJCnOqEhYXJy5eVlSE0NNSpXBAE\nGAwGuY4rmzdvvnbZQ1F0+byr6c7KLBYLzGaz/Gj7YSaKovwP1NWj7YdY2+eO+9qdR3fWYd9n+XKQ\nDgeuSqWCWq2GRqOBUql0Krveh6sPecfnoijCYrHAYrHAarW2+2B09byzss7q2acdP2ztr4dCoYDN\nZpNjEUXRqY5KpXLrodVqERQUhJKSEoiiiP/7v/9z+Ro7vj6OXE139aXq6kvW8Vjt7Hh09UXk+Po4\nTrc9zlUqlfxl1ba+u/Nc1VEoFPK62/5VKBRO8Xb23HFeZ9vv6LW3L2ffX8djte3D/iPF8XUURVGe\nb384/qBxnNfRe9TR++ZOeVfa/tuorKwEAISGhnb5xdXpVZF6qMydzzGnS4y6+Hx0/Ldg/9v2R1bb\n5wCc3lP7cq5icjWvq++b6/nOahtXRz+om5ub5e+rpqbru32y42dMR+vvqsyx6y/1jo8//pjJgJc7\ncOCA3KPG0fr16/HII490a91emQx0pqsvkZ64oXJGRka310FEREQ9w9UZeVdJV9s6bZMq+3NH9pMR\n9pMC9ocgCE4nW1yddJHvzdJ6gsvxr1qthkqlarddV79jOqvjzskqd9bdNil03I+2J1bJ+6jVagQH\nB7c7uVVVVdXtdXtlMhAeHg4AKC8vR0REhDy/vLxcLgsPD4fNZkNVVZXTQVxeXo6ZM2fKdexno+wk\nSUJFRYW8HldSUlKczgoBzjehcZwG4HZd+7T9w8LHxwdqtbrdB5r97I9jU5D9uc1mc3nWyM7xH739\nb9uztO7Oazv/epZ1dWbc/tx+BtTxTFrbs6quzrC7KnPnA9TxzHrb18cVVy0MrpZxtQ7HD1sATmfi\nHM9425uWHT+QXZ11d5xntVphNptRX18vn9Vr+/q2/dv2NXE13dWXqmOZqzptX/OO3pPOzly2Pc4d\n993Vmc3O1mF/3Tuqa39YrVan7djPzrpzDLg6FjqKqaMv9bbxdNVCZG+1aHtW117mqlXFsbWjq38r\n3Slvy91/Xz297PUs5/jvtKvPtI4+H139m3B879s259vLHN9X+2e+Y5ydtcp01ZIBtP9OcvUdBcAp\nrrb74/gZoFKp4OPjI//IdWxBc0fbzw9X2+iqvKsTgdQ9kZGRng6BujBp0iTk5+f3yrq9MhkYPXo0\nwsPDUVBQgNjYWAAt18D94osvsH79egBAbGws1Go1CgoKkJqaCgAoKSnByZMnER8fDwCIi4tDfX09\njEajPG7AaDTCZDLJdVz5xz/+0Zu7R9Rt8k3HpvTPa2DT4MNjlvqTwXa8Dsb7DJw/fx5jxozBm2++\niR/+8IcAgK1bt+Lhhx/G+fPnMXLkSA9H6CwgIKDD47G7l8z3WDJgMplw+vRpAC1nJ4qLi1FUVISQ\nkBCMGDECmZmZ+O1vf4ubb74Z48aNw29+8xsEBARg6dKlAICgoCCsXLkSa9euhcFgQHBwMNasWYPo\n6GgkJCQAAKKiopCUlISMjAx5HEBGRgYWLFiAcePGeWrXiYiIiKiX2X/cu/KDH/ygXe8KV7Zt24bK\nyko88cQTvRGiV/BYMlBYWIg5c+YAaGnCzMrKQlZWFlasWIEtW7Zg7dq1aGxsxKpVq1BdXY3bb78d\nBQUF8Pe/diP37OxsqFQqLFmyBI2NjUhISMBbb73l9MZu27YNq1evxrx58wC0dAF65ZVX+nZniYiI\niMgj1q1bh7FjxzrNmzBhAt577z2oVJ3/FN62bRuOHTvGZKA3zJo1q8srBNgThI5oNBps3LgRGzdu\n7LCOXq9Hbm7uDcdJRERERP3XvHnzMG3atBtevjfGrDQ2NkKr1fb4em+Ex+5ATERERETkCefPn4dC\noUBOTk6HdWbNmoWPPvpIrmt/2EmShJdffhm33nortFotwsLC8Mgjj7S7ws+oUaMwf/587N69G9On\nT4dWq8Uf/vCHXtu36+WVA4iJiIiIiHpCTU0NLl++7LKss7P+Tz/9NNauXYuSkhJkZ2e3K//xj3+M\nLVu2YMWKFfjpT3+KCxcu4OWXX8ZXX32FwsJC+Pj4yNs4c+YM7r//fjz22GN49NFHvWqAMpMBIiIi\nInLbTzfc26vr3/hEz17VMSkpyWlaEAQcOXKky+USEhIwfPhw1NTUyBewsTtw4AA2b96M3NxcLFu2\nzGlbM2bMwF/+8hc8+uijAFpaEM6ePYsPPvgAycnJPbBHPYvJABERERENWC+//DKioqKc5vn6+nZr\nne+88w50Oh0SExOdWh0mTJgAg8GAPXv2yMkAAIwYMcIrEwGAyQARERERDWBTp05tN4D4/Pnz3Vrn\nqVOnUF9fj7CwMJflbW96O2bMmG5trzcxGSAiIiIiug6iKCIkJAR/+9vfXJYPGTLEadpbrhzkCpMB\nIiIiInJbT/fp92YdDTAeO3Ysdu3ahenTpzvdA6s/4qVFiYiIiIhc8Pf3R3V1dbv5Dz74IERRxPPP\nP+fQXewAABCOSURBVN+uzGazoaampi/C6xFsGSAiIiIicmHq1Kl45513kJmZiWnTpkGhUODBBx/E\njBkzsGrVKvzxj3/EkSNHkJiYCB8fH5w5cwbvvfcefv3rXyM9Pd3T4buFyQARERERDUjXe/fgtvUf\nf/xxfPPNN3jrrbfw8ssvA2hpFQBarlIUExODN954A08//TRUKhUiIyOxZMkSzJkz54Zj6GuCJEmS\np4PwBrW1tfLzoKAgD0ZC1LWDBw8CAKZMmeLhSIjcw2OW+pPBdryazeZuX2qTeldn71F3f8NyzAAR\nERER0SDFZICIiIiIaJBiMkBERERENEgxGSAiIiIiGqSYDBARERERDVJMBoiIiIiIBikmA0RERERE\ngxSTASIiIqJBjred8l69/d4wGSAiIiIaxDQaDcxmM2w2m6dDoTZsNhvMZjM0Gk2vbUPVa2smIiIi\nIq+nUCjg6+uL5uZmWCwWT4dDDgRBgK+vLwRB6LVtMBkgIiIiGuQEQYCPj4+nwyAPYDchIiIiIqJB\nyquTgatXryIzMxOjRo2Cn58f7rjjDhw8eNCpznPPPYebbroJfn5+mD17No4fP+5U3tTUhNWrVyM0\nNBQ6nQ4pKSkoLS3ty90gIiIiIvJKXp0MPPLII/jkk0/wl7/8BUePHkViYiISEhJw8eJFAMCLL76I\nl156Ca+88goKCwthMBhw9913o76+Xl5HZmYm8vLysH37duzbtw91dXVITk6GKIqe2i0iIiIiIq/g\ntclAY2Mj8vLy8Pvf/x533XUXxowZg6ysLHzve9/D66+/DgDIzs7GU089hUWLFmHixInIycnB1atX\nsW3bNgBAbW0ttmzZgvXr12Pu3LmYPHkycnNzceTIEezatcuTu0dERERE5HFemwxYrVbYbLZ2g1l8\nfX2xf/9+nDt3DuXl5UhMTHQqu+uuu3DgwAEAwKFDh2CxWJzqREREICoqSq5DRERERDRYeW0yEBAQ\ngLi4OPzmN7/BxYsXYbPZ8NZbb+HLL7/EpUuXUFZWBgAICwtzWs5gMMhlZf+/vXuPaer8wwD+HNoV\nCgOGEygXgWIQp7ioiBd0QxggmgVmZDq8RLyEuelkECWBbBOj4mVhm5sjw8Vhp3HT/eGWObOVDDbo\n0IxgNM47EYaQ0IF0LJBWbu/vD0Pz67iq0wP0+SRN6Hve0/ehOXnTb895TxsboVAo8Oyzz9r08fb2\nhtFofDL/CBERERHRCDWiby167NgxrF+/Hv7+/lAoFAgPD0dKSgqqqqoG3e9R78Xa2tr6SPsTPW4h\nISEAeKzS6MFjlkYTHq9kT0bsmQEACA4Oxi+//IL29nbU19fj/Pnz6OjowMSJE6HRaACgzzf8RqPR\nuk2j0aC7uxt379616dPY2GjtQ0RERERkr0Z0MdBLrVbD29sbJpMJer0eSUlJ0Gq10Gg00Ov11n4W\niwUGgwGRkZEAgPDwcDz11FM2ferr63H9+nVrHyIiIiIieyUJIYTcIQai1+vR3d2NyZMno7q6Gtu3\nb4ezszPKy8uhUChw4MAB5OXloaioCCEhIdi9ezcMBgNu3LgBFxcXAMCbb76J77//HkePHsW4ceOQ\nmZmJ1tZWVFVVPdafdiYiIiIiGulG9JqB1tZWZGdno76+HuPGjUNycjL27NkDhUIBAMjKyoLZbMbm\nzZthMpkwd+5c6PV6ayEA3L/9qFKpxIoVK2A2mxEbG4vjx4+zECAiIiIiuzeizwwQEREREdHjMyrW\nDDwJBQUF0Gq1UKvVmDVrFgwGg9yRiPrIzc2Fg4ODzcPX11fuWEQAgLKyMiQmJsLf3x8ODg7Q6XR9\n+uTm5sLPzw/Ozs6Ijo7G1atXZUhKNPTxmpqa2me+5XpDksvevXsREREBd3d3eHl5ITExEVeuXOnT\n72HmWBYDAE6ePIm3334b77zzDi5evIjIyEgsXrwYd+7ckTsaUR+TJ09GY2Oj9XH58mW5IxEBANrb\n2/H888/j4MGDUKvVfS7H3L9/Pz744AMcOnQIlZWV8PLyQlxcHNra2mRKTPZsqONVkiTExcXZzLdn\nz56VKS3Zu19//RVbtmzBuXPnUFJSAqVSidjYWJhMJmufh55jBYnZs2eLtLQ0m7aQkBCRnZ0tUyKi\n/u3YsUOEhYXJHYNoSE8//bTQ6XTW5z09PUKj0Yi8vDxrm9lsFq6urqKwsFCOiERW/z5ehRBi7dq1\n4uWXX5YpEdHg2trahEKhEGfOnBFCPNoca/dnBjo6OnDhwgXEx8fbtMfHx6OiokKmVEQDu337Nvz8\n/BAcHIyUlBTU1NTIHYloSDU1NTAajTZzrZOTE1588UXOtTQiSZIEg8EAb29vhIaGIi0tDU1NTXLH\nIgIA/PPPP+jp6YGHhweAR5tj7b4YaG5uRnd3N7y9vW3avby80NjYKFMqov7NnTsXOp0OP/30Ez7/\n/HM0NjYiMjISLS0tckcjGlTvfMq5lkaLhIQEHDt2DCUlJcjPz8fvv/+OmJgYdHR0yB2NCOnp6Zgx\nYwbmzZsH4NHm2BF9a1EispWQkGD9OywsDPPmzYNWq4VOp0NGRoaMyYgeHm/1TCPRihUrrH9PnToV\n4eHhCAwMxA8//IClS5fKmIzsXWZmJioqKmAwGIY1fw7Vx+7PDIwfPx4KhQJGo9Gm3Wg0wsfHR6ZU\nRMPj7OyMqVOnorq6Wu4oRIPSaDQA0O9c27uNaCTz8fGBv78/51uSVUZGBk6ePImSkhIEBQVZ2x9l\njrX7YkClUiE8PBx6vd6mvbi4mLcQoxHPYrHg2rVrLFxpxNNqtdBoNDZzrcVigcFg4FxLo0JTUxMa\nGho435Js0tPTrYXApEmTbLY9yhyryM3NzX0cgUcTNzc37NixA76+vlCr1di9ezcMBgOKiorg7u4u\ndzwiq23btsHJyQk9PT24efMmtmzZgtu3b6OwsJDHKsmuvb0dV69eRWNjI44cOYJp06bB3d0dnZ2d\ncHd3R3d3N/bt24fQ0FB0d3cjMzMTRqMRhw8fhkqlkjs+2ZnBjlelUomcnBy4ubmhq6sLFy9exMaN\nG9HT04NDhw7xeKUnbvPmzfjyyy/xzTffwN/fH21tbWhra4MkSVCpVJAk6eHn2Md636NRpKCgQAQF\nBQlHR0cxa9YsUV5eLnckoj5ee+014evrK1QqlfDz8xPJycni2rVrcsciEkIIUVpaKiRJEpIkCQcH\nB+vf69ats/bJzc0VPj4+wsnJSSxcuFBcuXJFxsRkzwY7Xs1ms1i0aJHw8vISKpVKBAYGinXr1on6\n+nq5Y5Od+vdx2vvYuXOnTb+HmWMlIYR4cnUNERERERGNFHa/ZoCIiIiIyF6xGCAiIiIislMsBoiI\niIiI7BSLASIiIiIiO8VigIiIiIjITrEYICIiIiKyUywGiIiIiIjsFIsBIqIxbuHChYiOjpY7Rh8N\nDQ1Qq9UoLS2VLcOnn36KwMBAdHR0yJaBiEhOLAaIiMaAiooK7Ny5E62trX22SZIESZJkSDW4nTt3\nYvr06bIWKhs2bMC9e/dQWFgoWwYiIjmxGCAiGgMGKwaKi4uh1+tlSDWwpqYm6HQ6bNq0SdYcTk5O\nWLt2LfLz8yGEkDULEZEcWAwQEY0h/X2gVSqVUCqVMqQZ2PHjxwEAS5culTkJsGLFCtTV1aGkpETu\nKERETxyLASKiUS43NxdZWVkAAK1WCwcHBzg4OKCsrAxA3zUDtbW1cHBwwP79+1FQUIDg4GC4uLgg\nNjYWdXV16Onpwa5du+Dv7w9nZ2ckJSXh7t27fcbV6/WIioqCq6srXF1dsXjxYly6dGlYmb/99ltE\nRETAzc3Npt1oNGLjxo2YMGECnJycoNFosGTJEly9evWhxr558yZSUlLg5eUFtVqNSZMmISMjw6bP\nzJkzMW7cOJw+fXpY2YmIxpKR9VURERE9sGXLluHWrVv46quv8NFHH2H8+PEAgOeee87ap781A19/\n/TXu3buHrVu3oqWlBQcOHMCrr76KhQsXory8HNnZ2aiursbHH3+MzMxM6HQ6674nTpzAmjVrEB8f\nj3379sFiseDw4cN44YUXUFlZidDQ0AHzdnZ2orKyEmlpaX22JScn448//sBbb70FrVaLv/76C2Vl\nZbh16xamTJnyQGNfuXIF8+fPh1KpRFpaGoKDg1FTU4NTp07hww8/tBl35syZ+O233x7gXSciGiME\nERGNeu+//76QJEn8+eeffbZFRUWJ6Oho6/OamhohSZLw9PQUra2t1vacnBwhSZKYNm2a6Orqsrav\nXLlSqFQqYbFYhBBCtLW1CQ8PD7FhwwabcUwmk/Dy8hIrV64cNGt1dbWQJEkcPHiwz/6SJIn8/PwB\n932QsaOiooSrq6uora0dNI8QQqSlpQlHR8ch+xERjTW8TIiIyE4tW7bM5jKd2bNnAwBWr14NhUJh\n097Z2Yk7d+4AuL8g+e+//0ZKSgqam5utj66uLixYsGDIW4X2XnLk4eFh065Wq6FSqVBaWgqTydTv\nvsMdu6mpCWVlZUhNTUVgYOCQ74WHhwc6OjrQ1tY2ZF8iorGElwkREdmpgIAAm+fu7u4AgAkTJvTb\n3vsB/ebNmwCAuLi4fl/3/wuJwYh/LXZ2dHTE/v37sW3bNnh7e2POnDlYsmQJ1qxZA39//wca+/bt\n2wCAsLCwB8oyEm/BSkT0OLEYICKyUwN9aB+ovfcDc09PDwBAp9PBz8/vgcftXdPQ37f/6enpSEpK\nwnfffYfi4mLs2rULeXl5OHPmDKKioh557IGYTCY4OjrCxcXlP3tNIqLRgMUAEdEY8CS/0Z44cSKA\n+x/qY2JiHnj/gIAAODs7o6ampt/tQUFBSE9PR3p6OhoaGjB9+nTs2bMHUVFRwx67t9/ly5eHlamm\npsZmwTURkb3gmgEiojGg9xvtlpaWxz5WQkICnnnmGeTl5aGzs7PP9ubm5kH3VyqVmDNnDiorK23a\nzWYzzGazTZufnx88PT2tP6a2aNGiQcduamoCcL9YiIqKwtGjR1FbW2vT59+XJwHAhQsXEBkZOWhu\nIqKxiGcGiIjGgIiICABAdnY2UlJSoFKp8NJLL8HT0xNA/x+AH5arqys+++wzrFq1CjNmzLDex7+u\nrg4//vgjwsLCUFRUNOhrJCUlYfv27WhtbbWuSbhx4wZiYmKwfPlyTJkyBY6Ojjh79iyuX7+O/Px8\nAICbm9uwx/7kk0+wYMEChIeH4/XXX4dWq0VdXR1OnjxpXXsAAFVVVTCZTHjllVf+s/eIiGi0YDFA\nRDQGhIeHY+/evSgoKMD69eshhEBpaSk8PT0hSdKwLyMaqN+/25cvXw5fX1/k5eUhPz8fFosFfn5+\nmD9/PjZt2jTkOKtWrUJWVhZOnz6N1NRUAPcvH1q9ejV+/vlnnDhxApIkITQ0FF988YW1z4OMHRYW\nhvPnz+Pdd99FYWEhzGYzAgICkJiYaJPl1KlTCAgIQGxs7LDeIyKisUQS/+XXRURERMO0adMmXLp0\nCefOnZMtg8ViQVBQEHJycrB161bZchARyYVrBoiISBbvvfceLl26NOTvEjxOR44cgZOTE9544w3Z\nMhARyYlnBoiIiIiI7BTPDBARERER2SkWA0REREREdorFABERERGRnWIxQERERERkp1gMEBERERHZ\nKRYDRERERER2isUAEREREZGdYjFARERERGSn/gcxPkGiO1GVFwAAAABJRU5ErkJggg==\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -901,7 +897,7 @@ "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAQEAAAAmBAMAAAA2HDP0AAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAEO+Zu3ZEIokyq83d\nZlSLRjhlAAAD0ElEQVRYCcWXPWgUQRTH/5v72s19ZIlN0MiFWKa5RkQEOSEiVhrkRIRoqmihcAEr\nFbzCYAoTDkQIKBiLKCLiaSPhUC74UeqCBNIEAiJYWEREtBDjzNzO7Oz59uP8wIHczr73n//88mbC\nvaB/eAf+20gMD9voJ7af3n28ToT/RaiHJEjZ93MT/2I7wpMmsPCU0P5eKKqcNAHwNfZ2W6Z3h2lV\nOW86tCyAwNqw8HZ8DoXxEs6u0Evd6DMMVkMEqpzJOs5TOprgktky8b42iHcYx93t1EIZyw/BbMgX\n8umWswcgfxWaYOvR6TEk6zewhFlcWyKN3WByAYVPYQJeznxlH87BfE4dBE0gHHvY7o+MZbM6ELZB\n3wLSP0IEopwfMIRVoEXpQgguVhzMr1bza2PUQhkrlpD+Il+IpyjnkrWAOzDI0wohYNAxxqUarG9R\numXzBJbXC6XuTiHzIspX5GMRnF55gJlqZrFKWIbUgFAToWIt/BSIJf6QS9C32c3Y0Dz6SijoN7Fr\npz+uQa6MfOhfo0ZLTjsIMrFKodcgNYREg7CO7dRB0DvBzeYvU1eG2IaHXqO/TqRiO3UQXBBe5XRL\nPH0fQVgDlXs+nfsS4mTNHNBWdBDsFamGQZxsOd0SyZgfIU5JnNFM/ASGu0nBfTJhWopJLJn85Uk4\nYcJVZVG0vQV+gsR6O7PNuwdJpdWwVCxwQjihrNQf1QzwEwy2M8ZtT+ERaFheOmhGOHkExhNtmZ9g\nFuBN1ZapmpIIAh7UsVQ2cEI4CQLzyPV72Kodgr8G7PBEU/Vms6WsOYEI6lgqGzShnATBWG/jlbFL\n/7731SDlQDVV0psTiKCOJZOBT8pJENSzDnKb37WFimCSBXM84etR7zcfN5tOR1BbTk1pp95mc6TJ\nOvA+75K3F0uC1Ah7r7Af3lTxIVtbcQ9kUGQiPgKd2jfxFup+A0kwdXJCdFGiqeIS2dpyAhXkiagR\n6MQJMhtXUfM7SAIU2Xccy4mmikt63NaWE4hgzOYdgU6cwFg8XbHzO1fX8f4t0muH+Ubyv7bEV+Rs\nFuBDb23FKfBgvOadCYOc2qfABIVjRqtQSjm9Uw57UwSZz7ybbQ+9tU3IYLzmnamDnFCSVgetRrZu\nOtaeOosoAjy0l6WCbG3jNe/cIsoJQ6aTtQftK0aNqT2CW3OKkWxt4zXvnCDKKfNyHNbsFayt2D6C\n7Ah/F4NsbdUZSVXgM8qJ33hveDUofPaixCxm885XRjjhYln39wigf2Hpku7nXTkxguLo/u43+Vsr\nUqOHbKQnT/0tv+59MpOT+AmTXbj1s0kQCQAAAABJRU5ErkJggg==\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAQEAAAAmBAMAAAA2HDP0AAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAEO+Zu3ZEIokyq83d\nZlSLRjhlAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAD0ElEQVRYCcWXPWgUQRTH/5v72s19ZIlN0MiF\nWKa5RkQEOSEiVhrkRIRoqmihcAErFbzCYAoTDkQIKBiLKCLiaSPhUC74UeqCBNIEAiJYWEREtBDj\nzNzO7Oz59uP8wIHczr73n//88mbCvaB/eAf+20gMD9voJ7af3n28ToT/RaiHJEjZ93MT/2I7wpMm\nsPCU0P5eKKqcNAHwNfZ2W6Z3h2lVOW86tCyAwNqw8HZ8DoXxEs6u0Evd6DMMVkMEqpzJOs5TOprg\nktky8b42iHcYx93t1EIZyw/BbMgX8umWswcgfxWaYOvR6TEk6zewhFlcWyKN3WByAYVPYQJeznxl\nH87BfE4dBE0gHHvY7o+MZbM6ELZB3wLSP0IEopwfMIRVoEXpQgguVhzMr1bza2PUQhkrlpD+Il+I\npyjnkrWAOzDI0wohYNAxxqUarG9RumXzBJbXC6XuTiHzIspX5GMRnF55gJlqZrFKWIbUgFAToWIt\n/BSIJf6QS9C32c3Y0Dz6SijoN7Frpz+uQa6MfOhfo0ZLTjsIMrFKodcgNYREg7CO7dRB0DvBzeYv\nU1eG2IaHXqO/TqRiO3UQXBBe5XRLPH0fQVgDlXs+nfsS4mTNHNBWdBDsFamGQZxsOd0SyZgfIU5J\nnNFM/ASGu0nBfTJhWopJLJn85Uk4YcJVZVG0vQV+gsR6O7PNuwdJpdWwVCxwQjihrNQf1QzwEwy2\nM8ZtT+ERaFheOmhGOHkExhNtmZ9gFuBN1ZapmpIIAh7UsVQ2cEI4CQLzyPV72Kodgr8G7PBEU/Vm\ns6WsOYEI6lgqGzShnATBWG/jlbFL/7731SDlQDVV0psTiKCOJZOBT8pJENSzDnKb37WFimCSBXM8\n4etR7zcfN5tOR1BbTk1pp95mc6TJOvA+75K3F0uC1Ah7r7Af3lTxIVtbcQ9kUGQiPgKd2jfxFup+\nA0kwdXJCdFGiqeIS2dpyAhXkiagR6MQJMhtXUfM7SAIU2Xccy4mmikt63NaWE4hgzOYdgU6cwFg8\nXbHzO1fX8f4t0muH+Ubyv7bEV+RsFuBDb23FKfBgvOadCYOc2qfABIVjRqtQSjm9Uw57UwSZz7yb\nbQ+9tU3IYLzmnamDnFCSVgetRrZuOtaeOosoAjy0l6WCbG3jNe/cIsoJQ6aTtQftK0aNqT2CW3OK\nkWxt4zXvnCDKKfNyHNbsFayt2D6C7Ah/F4NsbdUZSVXgM8qJ33hveDUofPaixCxm885XRjjhYln3\n9wigf2Hpku7nXTkxguLo/u43+VsrUqOHbKQnT/0tv+59MpOT+AmTXbj1s0kQCQAAAABJRU5ErkJg\ngg==\n", "text/latex": [ "$$\\left[\\begin{matrix}\\frac{x_{pos}}{\\sqrt{x_{alt}^{2} + x_{pos}^{2}}} & 0 & \\frac{x_{alt}}{\\sqrt{x_{alt}^{2} + x_{pos}^{2}}}\\end{matrix}\\right]$$" ], @@ -1050,7 +1046,7 @@ "data": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAhQAAAEWCAYAAAA+Wg5zAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nRU5ErkJggg==\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1483,7 +1479,7 @@ }, { "cell_type": "code", - "execution_count": 17, + "execution_count": 37, "metadata": { "collapsed": true }, @@ -1492,13 +1488,14 @@ "from filterpy.kalman import ExtendedKalmanFilter as EKF\n", "from numpy import dot, array, sqrt\n", "class RobotEKF(EKF):\n", - " def __init__(self, dt, wheelbase):\n", + " def __init__(self, dt, wheelbase, sigma_vel, sigma_steer):\n", " EKF.__init__(self, 3, 2, 2)\n", " self.dt = dt\n", " self.wheelbase = wheelbase\n", + " self.sigma_vel = sigma_vel\n", + " self.sigma_steer = sigma_steer\n", "\n", " a, x, y, v, w, theta, time = symbols('a, x, y, v, w, theta, t')\n", - "\n", " d = v*time\n", " beta = (d/w)*sympy.tan(a)\n", " r = w/sympy.tan(a)\n", @@ -1525,7 +1522,7 @@ " V = array(self.V_j.evalf(subs=self.subs)).astype(float)\n", "\n", " # covariance of motion noise in control space\n", - " M = array([[0.1*u[0]**2, 0], [0, sigma_steer**2]])\n", + " M = array([[self.sigma_vel*u[0]**2, 0], [0, self.sigma_steer**2]])\n", "\n", " self.P = dot(F, self.P).dot(F.T) + dot(V, M).dot(V.T)\n", "\n", @@ -1547,7 +1544,7 @@ " coshb = cos(h + b)\n", " return x + array([[-r*sinh + r*sinhb],\n", " [r*cosh - r*coshb],\n", - " [b]])\n" + " [b]])" ] }, { @@ -1580,210 +1577,214 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "The rest of the code runs the simulation, and shouldn't need to much comment by now. I create a variable `map` that contains the coordinates of the landmarks. I update the simulated robot position 10 times a second, but run the EKF only once. This is for two reasons. First, we are not using Runge Kutta to integrate the differental equations of motion, so a narrow time step allows our simulation to be more accurate. Second, it is fairly normal in embedded systems to have limited processing speed. This forces you to run your Kalman filter only as frequently as absolutely needed." + "The rest of the code runs the simulation and plots the results, and shouldn't need too much comment by now. I create a variable `landmarks` that contains the coordinates of the landmarks. I update the simulated robot position 10 times a second, but run the EKF only once. This is for two reasons. First, we are not using Runge Kutta to integrate the differental equations of motion, so a narrow time step allows our simulation to be more accurate. Second, it is fairly normal in embedded systems to have limited processing speed. This forces you to run your Kalman filter only as frequently as absolutely needed." ] }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 113, "metadata": { - "collapsed": false + "collapsed": false, + "scrolled": true }, - "outputs": [ - { - "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtIAAAEWCAYAAABL+3CVAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", - "text/plain": [ - "" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "from filterpy.common import plot_covariance_ellipse\n", "from math import sqrt, tan, cos, sin, atan2\n", "dt = 1.0\n", - "ekf = RobotEKF(dt, wheelbase=0.5)\n", - "sigma_steer = np.radians(1)\n", - "sigma_h = np.radians(1)\n", - "sigma_r = 0.1\n", - "#np.random.seed(1234)\n", "\n", - "m = array([[5, 10],\n", - " [10, 5],\n", - " [15, 15]])\n", + "def run_localization(landmarks, sigma_vel, sigma_steer, sigma_range, sigma_bearing):\n", + " ekf = RobotEKF(dt, wheelbase=0.5, sigma_vel=sigma_vel, sigma_steer=sigma_steer)\n", + " ekf.x = array([[2, 6, .3]]).T\n", + " ekf.P = np.diag([.1, .1, .1])\n", + " ekf.R = np.diag([sigma_range**2, sigma_bearing**2])\n", "\n", - "ekf.x = array([[2, 6, .3]]).T\n", - "u = array([1.1, .01])\n", - "ekf.P = np.diag([.1, .1, .1])\n", - "ekf.R = np.diag([sigma_r**2, sigma_h**2])\n", - "c = [0, 1, 2]\n", + " sim_pos = ekf.x.copy() # simulated position\n", + " u = array([1.1, .01]) # steering command (vel, steering angle radians)\n", "\n", - "xp = ekf.x.copy()\n", + " plt.scatter(landmarks[:, 0], landmarks[:, 1], marker='s', s=60)\n", + " for i in range(200):\n", + " sim_pos = ekf.move(sim_pos, u, dt/10.) # simulate robot\n", + " plt.plot(sim_pos[0], sim_pos[1], ',', color='g')\n", "\n", - "plt.scatter(m[:, 0], m[:, 1], marker='s', s=60)\n", - "for i in range(150):\n", - " xp = ekf.move(xp, u, dt/10.) # simulate robot\n", - " plt.plot(xp[0], xp[1], ',', color='g')\n", + " if i % 10 == 0:\n", + " ekf.predict(u=u)\n", "\n", - " if i % 10 == 0:\n", - " ekf.predict(u=u)\n", + " plot_covariance_ellipse((ekf.x[0,0], ekf.x[1,0]), ekf.P[0:2, 0:2], std=6,\n", + " facecolor='b', alpha=0.08)\n", "\n", - " plot_covariance_ellipse((ekf.x[0,0], ekf.x[1,0]), ekf.P[0:2, 0:2], std=10,\n", - " facecolor='b', alpha=0.08)\n", + " x, y= sim_pos[0, 0], sim_pos[1, 0]\n", + " for lmark in landmarks:\n", + " d = np.sqrt((lmark[0] - x)**2 + (lmark[1] - y)**2) \n", + " a = atan2(lmark[1] - y, lmark[0] - x) - sim_pos[2, 0]\n", + " z = np.array([[d + randn()*sigma_range], [a + randn()*sigma_bearing]])\n", "\n", - " for lmark in m:\n", - " d = np.sqrt((lmark[0] - xp[0, 0])**2 + (lmark[1] - xp[1, 0])**2) + randn()*sigma_r\n", - " a = atan2(lmark[1] - xp[1, 0], lmark[0] - xp[0, 0]) - xp[2, 0] + randn()*sigma_h\n", - " z = np.array([[d], [a]])\n", + " ekf.update(z, HJacobian=H_of, Hx=Hx, residual=residual,\n", + " args=(lmark), hx_args=(lmark))\n", "\n", - " ekf.update(z, HJacobian=H_of, Hx=Hx, residual=residual,\n", - " args=(lmark), hx_args=(lmark))\n", - "\n", - " plot_covariance_ellipse((ekf.x[0,0], ekf.x[1,0]), ekf.P[0:2, 0:2], std=10,\n", - " facecolor='g', alpha=0.4)\n", - "\n", - " #plt.plot(ekf.x[0], ekf.x[1], 'x', color='r')\n", - "\n", - "plt.axis('equal')\n", - "plt.show()" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Example: A falling Ball" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "**author's note: ignore this section for now. **\n", - "\n", - "In the **Designing Kalman Filters** chapter I first considered tracking a ball in a vacuum, and then in the atmosphere. The Kalman filter performed very well for vacuum, but diverged from the ball's path in the atmosphere. Let us look at the output; to avoid littering this chapter with code from that chapter I have placed it all in the file `ekf_internal.py'." + " plot_covariance_ellipse((ekf.x[0,0], ekf.x[1,0]), ekf.P[0:2, 0:2], std=6,\n", + " facecolor='g', alpha=0.4)\n", + " plt.axis('equal')\n", + " #plt.xlim((0,20))\n", + " plt.show()\n", + " return ekf" ] }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 110, + "metadata": { + "collapsed": false, + "scrolled": true + }, + "outputs": [ + { + "data": { + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtMAAAEWCAYAAACkORurAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nrkJggg==\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[ 0.01969482 0.02094075 0.00154535]\n" + ] + } + ], + "source": [ + "landmarks = array([[5, 10], [10, 5], [15, 15], [20, 5]])\n", + "\n", + "ekf = run_localization(landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n", + " sigma_range=0.3, sigma_bearing=0.1)\n", + "print(ekf.P.diagonal())" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "I have plotted the landmarks as solid squares. The path of the robot is drawn with a dashed line, which is admittedly hard to see. The covariance after the predict step is drawn in a very light shade of blue, and the covariance after all of the landmark measurements are incorporated are shown in green. To make them visible at this scale I have set the ellipse boundary at 10$\\sigma$.\n", + "\n", + "From this we can see that there is a lot of uncertainty added by our motion model, and that most of the error in in the direction of motion. We can see that from the shape of the blue ellipses. After a few steps we can see that the filter incorporates the landmark measurements. \n", + "\n", + "We can see the fantastic effect that multiple landmarks has on our uncertainty by only using the first two landmarks." + ] + }, + { + "cell_type": "code", + "execution_count": 109, + "metadata": { + "collapsed": false, + "scrolled": true + }, + "outputs": [ + { + "data": { + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtMAAAEWCAYAAACkORurAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nhBDiAv3/KKRWGS+18VIAAAAASUVORK5CYII=\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[ 0.02126405 0.04551132 0.00022729]\n" + ] + } + ], + "source": [ + "ekf = run_localization(landmarks[0:2], sigma_vel=1.e-10, sigma_steer=1.e-10,\n", + " sigma_range=1.4, sigma_bearing=.05)\n", + "print(ekf.P.diagonal())" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We can see that the covariance gets smaller as it passes through the landmarks but quickly expands once past them. Let's see what happens with only one landmark" + ] + }, + { + "cell_type": "code", + "execution_count": 114, + "metadata": { + "collapsed": false, + "scrolled": false + }, + "outputs": [ + { + "data": { + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtMAAAEWCAYAAACkORurAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nKUyLiIiIiEyQwrSIiIiIyAT9f/5EVslhnvSLAAAAAElFTkSuQmCC\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[ 0.26908765 0.8039095 0.00355399]\n" + ] + } + ], + "source": [ + "ekf = run_localization(landmarks[0:1], sigma_vel=1.e-10, sigma_steer=1.e-10,\n", + " sigma_range=1.4, sigma_bearing=.05)\n", + "print(ekf.P.diagonal())" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "As you probably suspected, only one landmark produces a very bad covariance. What is worse, the filter starts to diverge from the robot's path. On the other hand, a large number of landmarks allows us to make very accurate estimates." + ] + }, + { + "cell_type": "code", + "execution_count": 119, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAuEAAAEWCAYAAADIP0muAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nwomIiIiIyhmTcCIiIiKicvZ/gTSlQEsVFI4AAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtMAAAEWCAYAAACkORurAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n4mSaiIiIiChE/wPYCq7E7HQlHgAAAABJRU5ErkJggg==\n", "text/plain": [ - "" + "" ] }, "metadata": {}, "output_type": "display_data" + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[ 0.00883285 0.00866094 0.00077284]\n" + ] } ], "source": [ - "import ekf_internal\n", - "ekf_internal.plot_ball()" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "We can artificially force the Kalman filter to track the ball by making $Q$ large. That would cause the filter to mistrust its prediction, and scale the kalman gain $K$ to strongly favor the measurments. However, this is not a valid approach. If the Kalman filter is correctly predicting the process we should not 'lie' to the filter by telling it there are process errors that do not exist. We may get away with that for some problems, in some conditions, but in general the Kalman filter's performance will be substandard.\n", + "landmarks = array([[5, 10], [10, 5], [15, 15], [20, 5], [15, 10], \n", + " [10,14], [23, 14], [25, 25], [10, 20]])\n", "\n", - "Recall from the **Designing Kalman Filters** chapter that the acceleration is\n", - "\n", - "$$a_x = (0.0039 + \\frac{0.0058}{1+\\exp{[(v-35)/5]}})*v*v_x \\\\\n", - "a_y = (0.0039 + \\frac{0.0058}{1+\\exp{[(v-35)/5]}})*v*v_y- g\n", - "$$\n", - "\n", - "These equations will be *very* unpleasant to work with while we develop this subject, so for now I will retreat to a simpler one dimensional problem using this simplified equation for acceleration that does not take the nonlinearity of the drag coefficient into account:\n", - "\n", - "\n", - "$$\\begin{aligned}\n", - "\\ddot{y} &= \\frac{0.0034ge^{-y/20000}\\dot{y}^2}{2\\beta} - g \\\\\n", - "\\ddot{x} &= \\frac{0.0034ge^{-x/20000}\\dot{x}^2}{2\\beta}\n", - "\\end{aligned}$$\n", - "\n", - "Here $\\beta$ is the ballistic coefficient, where a high number indicates a low drag." - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "This is still nonlinear, so we need to linearize this equation at the current state point. If our state is position and velocity, we need an equation for some arbitrarily small change in $\\mathbf{x}$, like so:\n", - "\n", - "$$ \\begin{bmatrix}\\Delta \\dot{x} \\\\ \\Delta \\ddot{x} \\\\ \\Delta \\dot{y} \\\\ \\Delta \\ddot{y}\\end{bmatrix} = \n", - "\\large\\begin{bmatrix}\n", - "\\frac{\\partial \\dot{x}}{\\partial x} & \n", - "\\frac{\\partial \\dot{x}}{\\partial \\dot{x}} & \n", - "\\frac{\\partial \\dot{x}}{\\partial y} & \n", - "\\frac{\\partial \\dot{x}}{\\partial \\dot{y}} \\\\ \n", - "\\frac{\\partial \\ddot{x}}{\\partial x} & \n", - "\\frac{\\partial \\ddot{x}}{\\partial \\dot{x}}& \n", - "\\frac{\\partial \\ddot{x}}{\\partial y}& \n", - "\\frac{\\partial \\dot{x}}{\\partial \\dot{y}}\\\\\n", - "\\frac{\\partial \\dot{y}}{\\partial x} & \n", - "\\frac{\\partial \\dot{y}}{\\partial \\dot{x}} & \n", - "\\frac{\\partial \\dot{y}}{\\partial y} & \n", - "\\frac{\\partial \\dot{y}}{\\partial \\dot{y}} \\\\ \n", - "\\frac{\\partial \\ddot{y}}{\\partial x} & \n", - "\\frac{\\partial \\ddot{y}}{\\partial \\dot{x}}& \n", - "\\frac{\\partial \\ddot{y}}{\\partial y}& \n", - "\\frac{\\partial \\dot{y}}{\\partial \\dot{y}}\n", - "\\end{bmatrix}\\normalsize\n", - "\\begin{bmatrix}\\Delta x \\\\ \\Delta \\dot{x} \\\\ \\Delta \\dot{y} \\\\ \\Delta \\ddot{y}\\end{bmatrix}$$\n", - "\n", - "The equations do not contain both an x and a y, so any partial derivative with both in it must be equal to zero. We also know that $\\large\\frac{\\partial \\dot{x}}{\\partial x}\\normalsize = 0$ and that $\\large\\frac{\\partial \\dot{x}}{\\partial \\dot{x}}\\normalsize = 1$, so our matrix ends up being\n", - "\n", - "$$\\mathbf{F} = \\begin{bmatrix}0&1&0&0 \\\\\n", - "\\frac{0.0034e^{-x/22000}\\dot{x}^2g}{44000\\beta}&0&0&0\n", - "\\end{bmatrix}$$\n", - "\n" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "$$\\begin{aligned}\\ddot{x} &= -\\frac{1}{2}C_d\\rho A \\dot{x}\\\\\n", - "\\ddot{y} &= -\\frac{1}{2}C_d\\rho A \\dot{y}-g\\end{aligned}$$" - ] - }, - { - "cell_type": "code", - "execution_count": 21, - "metadata": { - "collapsed": false - }, - "outputs": [], - "source": [ - "from sympy.abc import *\n", - "from sympy import *\n", - "\n", - "init_printing(pretty_print=True, use_latex='mathjax')\n", - "\n", - "x1 = (0.0034*g*exp(-x/22000)*((x)**2))/(2*b) - g\n", - "\n", - "x2 = (a*g*exp(-x/c)*(Derivative(x)**2))/(2*b) - g\n", - "\n", - "#pprint(x1)\n", - "#pprint(Derivative(x)*Derivative(x,n=2))\n", - "#pprint(diff(x2, x))" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "** orphan text\n", - "This approach has many issues. First, of course, is the fact that the linearization does not produce an exact answer. More importantly, we are not linearizing the actual path, but our filter's estimation of the path. We linearize the estimation because it is statistically likely to be correct; but of course it is not required to be. So if the filter's output is bad that will cause us to linearize an incorrect estimate, which will almost certainly lead to an even worse estimate. In these cases the filter will quickly diverge. This is where the 'black art' of Kalman filter comes in. We are trying to linearize an estimate, and there is no guarantee that the filter will be stable. A vast amount of the literature on Kalman filters is devoted to this problem. Another issue is that we need to linearize the system using analytic methods. It may be difficult or impossible to find an analytic solution to some problems. In other cases we may be able to find the linearization, but the computation is very expensive. **\n" + "ekf = run_localization(landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n", + " sigma_range=0.3, sigma_bearing=0.1)\n", + "print(ekf.P.diagonal())" ] } ], @@ -1803,7 +1804,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.4.1" + "version": "3.4.3" } }, "nbformat": 4, diff --git a/12_Designing_Nonlinear_Kalman_Filters.ipynb b/12_Designing_Nonlinear_Kalman_Filters.ipynb index 7367378..e9cee0c 100644 --- a/12_Designing_Nonlinear_Kalman_Filters.ipynb +++ b/12_Designing_Nonlinear_Kalman_Filters.ipynb @@ -16,7 +16,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 1, "metadata": { "collapsed": false }, @@ -30,7 +30,7 @@ "@import url('http://fonts.googleapis.com/css?family=Arimo');\n", "\n", " div.cell{\n", - " width: 850px;\n", + " width: 900px;\n", " margin-left: 0% !important;\n", " margin-right: auto;\n", " }\n", @@ -117,9 +117,6 @@ " font-family: 'Arimo',verdana,arial,sans-serif;\n", " line-height: 125%;\n", " font-size: 120%;\n", - " width:740px;\n", - " margin-left:auto;\n", - " margin-right:auto;\n", " text-align:justify;\n", " text-justify:inter-word;\n", " }\n", @@ -240,7 +237,10 @@ " },\n", " displayAlign: 'center', // Change this to 'center' to center equations.\n", " \"HTML-CSS\": {\n", - " scale:85,\n", + " scale:100,\n", + " availableFonts: [\"Neo-Euler\"],\n", + " preferredFont: \"Neo-Euler\",\n", + " webFont: \"Neo-Euler\",\n", " styles: {'.MathJax_Display': {\"margin\": 4}}\n", " }\n", " });\n", @@ -250,7 +250,7 @@ "" ] }, - "execution_count": 3, + "execution_count": 1, "metadata": {}, "output_type": "execute_result" } @@ -368,16 +368,16 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 2, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAt0AAAEPCAYAAACeKXhLAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAt0AAAEPCAYAAACeKXhLAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\nAAALEgAACxIB0t1+/AAAIABJREFUeJzs3XeYHMWdP/53T96cFVZa5VXOWgWUAREEIhkQcAZjbION\nw/ngfv7avuOM74zts30OZxvD+c6ACLYRYKJAJOWslVY5C63Crna1OcxO7O7fH1hiR92bq6ene96v\n5+Exrpn5VEnsU/PZ6k9VSaqqqiAiIiIiIsM4zB4AEREREZHdMekmIiIiIjIYk24iIiIiIoMx6SYi\nIiIiMhiTbiIiIiIig7ni3WFTU1O8uyQiIiIiEiYrK6vHn+FKNxERERGRwZh0ExEREREZLO7lJe31\nZmneTmoa/Xj0Dx+gsTVoeF9etxOP3bcQU0cNMLwvOyktLQUAlJSUmDwSsoNX1x/Civf3GtpHY2Mj\nAGDe1GI88eWr4HLGrq20bfwI/jWrNJ+THA5k3PUleEdPMHR8RO1xjjVe6OgBtKx8FqqiaF5LW7IM\nqfOuNmFU1tTXEmmudJskFI7ixy9ujFvC/YMvLGLCTWSyOxaNx5eWTo1LXwfLa/A/b5Wi/aXDwbJt\nugk3AKTfdBcTbiIb8o6ZiPRld+q+5v/oHQTLtsd5RMmLSbcJVFXFf7+2HScrGwzvy+dx4YdfXIzJ\nI/sb3hcRde22BePwlRumxaWv1TtP4r3tJwAAoSMH0PL2St33pS1ZBt/UWXEZExHFn2/aHKRddaPu\na63vrETo2ME4jyg5Mek2wSvrDmHj/jOG9+N1O/H4/YswcXg/w/siou67Zf7YuK14//GdXTiwdTda\nXlsBtFv1vihlziKkzL0qLmMhIvOkzL8aKbMWaNpVRUHLqysQqTxrwqiSC5PuONt+6Bxe+HCf4f14\nXE78230LmXATJajbFozDF6+bYng/3nAbjj/9OwTbtKVs3onTkXbNzZAkyfBxEJG5JElC2nW3wjtB\n+wu/Gomg+eVnoLQ0mzCy5MGkO44qaprxy5VbDe/H5XTgX+9dgCms4SZKaLcvGo9/uHqiYfGdiozr\nL2yHN+zH8Yo6KMpnK92eEWOQces9kBz8GiBKFpLDgYxbPw/PiNGa15TmRjSvfBZqNGrCyJIDZ9s4\nCUdk/OwvmxEIG//D/MgdczB99EDD+yGivrv7qom4cU6x+MCqioV1e9A/9OnekUAoijPVn55s4how\nCBnLvwjJaeoBVkRkAsnlQsbyB+DqX6h5LXKuHK2rXonZgE3iMOmOk2feK8OpqkbD+/nKDdOwcMpQ\nw/shIjEkScJDy2Zg3sQioXEnN5/E2NbYvSM1TW2oDUvIvPvLcHh9QvsjIutweH2fzgOp6ZrXgnt2\nILh9gwmjsj+hSfeTTz6JKVOmICsrC1lZWZg7dy7effddkV1Y0pYDZ7Fq23HD+7lj4TjcMn+s4f0Q\nkVgOh4RH77wCkwTtwRgWqsUV9Qc07TIc+IM8GheiXOEmSnbO7Fxk3vUAJKdT81rrB28ifPKoCaOy\nN6FJd1FREX7+85+jrKwMu3btwlVXXYVbb70Ve/caexlEIquub8Vv/2b8GZhXTx+OL8RhUxYRGcPj\nduJf712A4QOy+xQnJ+rHTc374ID28fCG/Ckod2ThF3/dgqisvSiDiJKLe8gIpC29XfuCqqLl1RWQ\n62riPygbE5p033zzzbjuuuswYsQIjBo1Ck888QQyMjKwY8cOkd1YRlRW8IuXt8AfjBjaz8wxhfjm\nbbN4AgGRxaWlePDDLy7GgNy0Xn3eqci4uXkfvKp278i+zJE4kjEMAHC8oh4rVu/py1CJyCZSZlyB\nlFnzNe1KMIDmV56DGjE2h0kmhtV0y7KMv/71rwgGg1i4cKFR3SS0Fz7Yi6Nn6wzto3hQLr57zzzN\nVc9EZE25mSn49y9eifQUT48/O69+PwqiLZr2s75+2JIbe0rKG5uPYsfhil6Pk4jsI+3aW+AeNkrT\nHq2uhP/DN00YkT0Jz9T279+P9PR0+Hw+PPTQQ1i5ciXGjBkjupuEV3b8PP628YihfeSk+/Cv9y6A\n18P6TCI7KczPwPfumQeno/tPrwY1ncWpv59Oki4HkRr99FzuJlcaPuw3E6qkne5/8+o21DcHxAya\niCxLcrqQeecX4czJ07wW2LkZoUPJWyYskqQKPhcmEong7NmzaGpqwiuvvILf/e53WLt2LUpKSgAA\nTU1Nl957/LjxmwvNEAhH8fPXD6LRHzasD5dTwjeWjsWwftqdx0RkDxsPVeNv27q+vVZtbcGxiibU\nKB58L/UEHsRRuKDgnCsbvyy4Bhc8mR1+dnxRNr6yZBTL04gIzvoapH/wGiRZjmlXPV60LF0OJb3j\nuSQZFBd/drxrVlZWjz8vfKXb7XZjxIgRmDZtGn7yk59gzpw5ePLJJ0V3k9De2nHW0IQbAJbPG8aE\nm8jm5o/rhzmj8zt8XVVVVNb5se1sG2oUDxxQMVW+ADcUSACKoo34YsNWZMgdr2YfOtuI0pPGlsER\nkTXIuQUITJuraZfCIaRu+gC4LBmnnjG8LkGWZSiK/i75i6vfdrLraCWOXDiO7Oy+nUDQmdvmj8WX\nbphmWHz6TGlpKQB7/qySNUydNh2P/WkNDp2ujWkPR2XsPVGF6gY/gE9Xqec6ajHXGZtATw2ew39W\nv4VnhtyIk+mDdfvYcNyPu25YhNzMFEP+DEQd4RybeNQZM9DiAkJH9se+IIcwuLka6dfcbM7AEkD7\nao3eELrS/b3vfQ+bNm1CeXk59u/fj+9///tYv3497r33XpHdJCx/IIzfv7HT0D5mjB6IL14/1dA+\niChxuF1OfP/zC1CQlXqpraElgI37Tv894f7MJqUATypjEEbsubs5kVb808mVuLZ6OySdisLWQBi/\nf30Hb6EjIkiShPSb74YzK0fzWmDLWoSPHzJhVPYgNOmurq7Gvffei7Fjx2LJkiXYtWsXVq9ejWuu\nuUZkNwnrmffKUNvUZlj8wrx0fOeuuXD0YHMVEVlfdroPj923EC6nhE/ON2DLwbMIhGKPBUyTZPxr\n9hnMTgvgP/tfh5OpsVc8O6Hi1qpN+PqpvyE9qp2ndh6txNqyciP/GERkEY6UVGTc8QVIDm2a2PLW\nX6G0+XU+RV0RmnQ/++yzKC8vRzAYRHV1NT744IOkSbh3Ha3EB6WfGBbf7XLgu/fMR1ovjhEjIuvL\nyfChqt6PQ+U1uHxButgVwG/zTmKurwUb0otxxDcQvx61HO8XzNTEmdBSju8fewEjW89pXvvfVbt5\nmgkRAQDcg4ch9aobNe1Kawv8779uwoisj4c7CxCPspIvLZ2GEYXaRz1EZH87Dldg2oP/g22HtIny\nLal1+EXeKQxwRXA6pT92pQwFACiSE28WLsSTw29Dq9MX85mOyk1YZkJE7aVcsRieUWM17cF9uxA6\ncsCEEVkbk24BXvpov6FlJVeMH4wb5xR3/UYishVVVfGbV7dh/j8+g9PVsRt4LpaTPJRZBbekIuhw\nY13+NKiXHf13MHMEfjr6vm6Xm+w8WoktB84a94ciIsuQHA6k33QXJJ9P81rrqpUsM+khJt19dOp8\nA1ZtM+688X7ZqfjH22fzDF2iJNPQEsBt//YyHnnyfUSisSdATU6L4Hd5n2Cu77PbJzfnTUabS//0\nkQZPZo/KTf70bhmCYe1V8kSUfJyZ2Ui/7jZNu9LagtbVLDPpCSbdfaCqKp5+qxSKQY9inQ4J37l7\nXq+ugyYi67pYTvLm5qOa1x4aFMKqGX6UFH6WYJenDsCxtKJOY/ak3KSmqQ0r1x4U84chIsvzTpkJ\nT/F4TXtoP8tMeoJJdx+s21OuOTtXpPuumYyxQzq+GIOI7KWzcpKsNC9WzJDxRHEAXgcwICcN2ek+\nBB1urM+bCnTzaVh3y01e33QEFTXNwv5sRGRdkiQhfdmdLDPpIybdveQPhPHse3sMiz9xeAFuWzDO\nsPhElFg6KycpGVOIjXcVYmnGZ+UkkCQMG5CNssIZHZaVdNhXN8pNhjadwf+8vYubKokIQOdlJv41\nq0wYkfUw6e6lP3+8Hw2tQUNie91O/OPnZvM8bqIk0Vk5ybdvn421370KAz4p07yWNn4yrrvv9l71\n2Z1yk4LNb2Lr/jO9ik9E9tNRmUlw11ZEKjhXdIVJdy+UVzUaunny/uumYGBehmHxiSgxdFVO8rf/\nWI5ff/1aRD58Q/NZyedD+rI7MW/SEMyb2Hk9d2e6KjcJ/vz/IVBT0+v4RGQfl8pMvDplJu+9BlVR\ndD5FFzHp7iFVVfHHt3dBVox55DpxeAFunDPakNhElDi6Kicp+9+v4rYF4xDcvQ3R89rzudOuvAHO\njCxIkoSv3VyCzFRv78fSSblJccNJVHzzHxA6aFw5HRFZhzMzG2mLrtO0RyvOIFi23YQRWQeT7h4q\nPVqJ/acuGBKbZSVEyaGrcpJNv30AwwfmQGnzo02nVtLVvxC+GXMv/f/sdB8evqWkT2PqrNzE29qA\nC9/7KppXPseVLCKCb9YCuPoN0LS3rVnFTZWdYNLdA4qiYsX7ew2Lz7ISInvrTjnJb755PbweFwDA\nv2YVlID24q30G26H5HTGtM2bWNSnMpOLOio3gSKjacXvUfvDf4Lc1NDnfojIuiSnE2lLtftJlDY/\n/GveNWFE1sCkuwfW7y3XfFGKMn5oPstKiGysu+UkF0UqziC4a6smjm9yCdxDRmjaL5aZpHldfR9r\nJ+UmwV1bUP2tz7PchCjJeYaNgnfidE17cNcWRCp5q60eJt3dFInKeOmj/YbEdjokPHzLTJaVENlU\nd8tJLlJVFX6dm94krw9pS27qsJ/sdB9umDFIyJg7KzeR6y6w3ISIkHbtzZA82v0k/tWv87hRHUy6\nu2n1jhOobjCmTmnZFaMxbEC2IbGJyDw9LSe5KHz0ICLnyjXx0hZdB0dGZqd9zhldgCH5aX0e+0Us\nNyGijjgzspCqs6kycvYUwsd4q+3lmHR3QyAUwcsGXYmck+7DPVdNNCQ2EZmnp+UkF6mKor95st8A\n+GYt6LJfh0PC564Y0t0LKruF5SZE1JGU2QvgKtDfVMknYbGYdHfDG5uOoMkfMiT2A0unIi3FY0hs\nIjJHT8tJ2gvt3YloTZWmPW3JTZrNkx0ZWpCOa2Zo6777on25iZIWu9rOchOi5CU5XUi9+kZNe/RC\nFUL7Sk0YUeJi0t2FlrYQXt94xJDY44fmY/HUYYbEJqL46205yaXPRyJoW79a0+4eMgLuUdpV8c7c\nf91UpBvwC/3BzBF47oqvwTNucuwLLDchSlqe0RPgLhquaW9b9x7UaNSEESUmJt1deGfrMQTC4n9g\nHH8/aUAS+QyYiEzT23KS9gKlmyE3NWra065e1uO5IjPNi/uumdz1G3uhtEZG9UM/QsYd92teY7kJ\nUfKRJAlpS5Zp2uWmRgR3bjJhRImJSXcnAqEI3t5yzJDYS2eP6vDxMhFZS1/KSS5SggEENn6oafeM\nmQD3EO0KUndcP2sUhhu0SfvVTceQ/cC3kP/D38CRmRXzGstNiJKPe8gIeEZP0LS3bfoISjBowogS\nD5PuTnyw8yRaAmHhcX0eF+7m5kkiy+trOUl7gS1rdS/CSbtKu3rUXQ6HhPuvm9Lrz3em7EQVTlTU\nI2XmfPT/7UssNyEipF11g6ZNafMjsHWtCaNJPEy6OxCJynh9kzG13LfOG4PsdF/XbySihCWinOQi\nJRhAYMdGTbtvykzdq5Z7YvrogZg0vF+fYnTk1fWHAACuggHo959/ZLkJUZJz9S+Eb3KJpj2wfQOU\nYMCEESUWJt0dWLenHHXN4n9AMlO93f4iJqLEJKKcpL3gzk1QQ7GPXyWnC6mLr+/zWCXJuNXuLQfP\n4lxN86f9uFwsNyEipC6+XnPSkhoKIli62aQRJQ4m3ToURb20giPa8sXjkepzGxKbiIwlspzkUsxI\nGIFtGzTtvmmz4czO7fOYAWDMkHzMGS/mpsr2VBV47bK5kuUmRMnNmZMH79TZmvbA9g1QIxETRpQ4\nmHTr2HLwLCrrWoXHLchKxdLZxcLjEpHxRJaTtBcs2w6lLXa+kRwOpMy9sk/jvdwXrp0ChwGnJa3d\nU46axtjbelluQpTcUudeictv6FJaWxDcs92kESUGoUn3T3/6U8ycORNZWVno168fbr75Zhw8aK1r\nQFVVxWsbjFnl/vySSfC4u3e5BRElDtHlJBepchSBLWs07Z4J0+DMyevVWDtS1C8LV0/v3SkonZEV\nFW/p/L2w3IQoeTlz8+GdME3THti6DqosmzCixCA06V6/fj2++c1vYuvWrVizZg1cLheWLFmChgbr\nPEo8drYOJyrEj3dwQQaunCb+C4+IjGNEOUl7oQNluudyp86/ulfxunLP1RPhcop/wPnhrk8Q7OA+\nA5abECUnvXlMbqhD6GCZCaNJDEJn39WrV+P+++/H+PHjMXHiRLzwwguoqanBli1bRHZjqHe3Hzck\n7h0Lx8Ph4EU4RFZhVDnJRaqioG3Tx5p2z+gJcPUb2Ou4nSnITsPiKUOFx/UHI9i473SHr7PchCj5\nuPoXwlM8XtMe2Pxx0j7hMrSmu7m5GYqiICfHGpfANPtD2Lj/jPC4BVmpWMTr3oksw6hykvbCxw5B\nrq3WtKfOX9KnuF25Y9H4y0sthVi17ThUVe3wdZabECUfvfkseqEK4ROHTRiN+SS1s1myj5YvX46T\nJ0+itLT00hXGTU2fPaI9ftyYVeXeWrP/PN7eeU543NvmDMHC8f2FxyUisVRVxV82leN3qw4jKsdO\njek+F36wfAqunNS3c7MvSlvzFtznz8a0RfsPQuuSW4XE78xza05gb7n4ko5vLxuHYf3Su3yfo6ke\nWa/8HzxnP9G8Fho1AU2f+yLUtAzh4yOi+Ev/8HW4LlTGtEUKh8J/Ze8v/jJLcfFnh2FkZWV18k59\nhq10P/roo9iyZQtee+21Swl3IlMUFVuO1AiPm+ZzYc7ofOFxiUis5rYIvrNiF3791iFNwj1ucBZe\nfGSBsITb0dyoSbgBIDheu/HICFdPNqZ8ZcuRC916n5KVi4YH/hn++ddpXvOeOIi8p38M9+kToodH\nRCbQm9fc58/A0dKk8257693uny488sgjWLlyJdauXYthw4Z1+L6SEu2tRWbZdbQSsvMEsrNThMa9\nd8kkzJ3DK9+tqrS0FEBi/aySeDsOV+BL//WKZrMk8Gk5yc8eWtLrzZJ6Wt9/A4Hs7Jg2Z04+Ri67\nDZKjb2sh3fmZLQFQVqmg7ERVn/q6XHmjitHjJiEzzdu9D8yejcDOpaj/1eNQmj/7u3c2NyL3uV8j\n676HkXHHF/r8d0KJi3Os/anTp6Ph9BHIDXUx7QOifqSXGLNp3CjtqzV6Q/hM9u1vfxsvv/wy1qxZ\ng9GjR4sObxgjNlCmeFy48Qrr/B0QJRujTyfR7TMSRmjPDk27r2RuXJPLOxZpNzj1VSSq4KNd2pKR\nzvB0EyJ7kxwO+GbM1bSHyrYn3WU5Qmf4b3zjG3juuefw0ksvISsrC1VVVaiqqoLf7+/6wya60ODH\nzqOVXb+xh66fNQrpKR7hcYmo74w+naQjoQNlUIKBmDbJ5YJv6izhfXVm0oh+GD1YzI2X7b234zgU\npWdbhXi6CZG9+abNguSMXbxQAm1Jd3yg0KT7qaeeQmtrK66++moUFhZe+ueXv/ylyG6EW7enHKK3\nk0oScMMc3j5JlIjicTpJRwKlmzVt3onT4UhNM6S/jkiShGUGPImrqvfj8Ome74/h6SZE9uVITYd3\nwlRNu958aGdCk25FUSDLMhRFifnnBz/4gchuhFJVFWv3nBIed8bogRiQ2/UufiKKHzPKSdqLVJxB\ntFK7gdJXMs+Q/royb+IQZKZ2s/66B9btKe/1Z1luQmRPvpnaeS5acQaRCvFHNSeqpN+dcrKyAedq\nWoTHvWE2V7mJEolZ5STtBXdpLwpzDRoC96AhhvbbEY/biWtKRgiPu+nAWUSivb/qmeUmRPbjGjQU\nroGDNe1686JdJX3Svb4PKzId6Z+ThhmjC4XHJaLeMbOc5CI1EkHo0F5Ne4pJq9wXXT9rlPDLcloD\nYew6dr5PMVhuQmQvkiQhRWe1O3R4b9JsqEzqpFtRVKzf2/HVxb21dNYoXvlOlADMLidpL3z8INRQ\nMKZN8vp06xzjaUBuOmaMFn9ud19KTNpjuQmRfXgnTIPkjj1gQg0GET5+yKQRxVdSJ937PqlGQ2uw\n6zf2gNvlwDUlI4XGJKKeS4RykvZC+3Zp2rzjJmu+gMxw4xzxGyp3HKmAPxAWEovlJkT2IHm88F7+\nCzSA0H7t/GhHSZ10ry0Tv4Fy/sQh3b8YgogMkQjlJO0pbX6ETxzWtHsnTo/bGDozvXggBuSKPT0l\nElWw5aB202hvsdyEyB68k2Zo2sLHD0MJtJkwmvhK2qQ7FI5i68FzwuMumSF+UxIRdU8ilZO0Fzq0\nF6ocu7HQkZEJ9/DE2HDtcEi4cupw4XHXlpULj8lyEyJrcw8vhiM9I6ZNlaO6e17sJmmT7l3HziMQ\njgqNmZeZgonD+wmNSUTdk2jlJO2F9pVq2rwTpyfU9eaLpw4THvNA+QU0Ci7hA1huQmRlktOp+5Qv\nGUpMEmfGj7OdRyqEx1w0ZSg3UBKZINHKSdqTG+oQOastZfPpPGI1U2F+BsYU5QmNqapAqQG3/QIs\nNyGyMr2kO3L6JOTGehNGEz9JmXQrioodR8R/ERixUkREHUvUcpL29K45dhUMgHPAIBNG0zkj5rDt\nh8WX8bXHchMi63EVFsGZr60MsPu18EmZdB89W4vmtpDQmEP7Z2HYgGyhMYmoY4lcTtJe+OhBTZt3\n0nRIog/HFmD+pCFwCn5aV3a8CuFI7y/K6Q6WmxBZiyRJuk/7wkcPmDCa+EnKpHv7YfGlJVdOHZaQ\nX6JEdpTI5STtKa0tiJwr17R7x5t7NndHstN9mFY8QGjMUETG3pNVQmPqYbkJkbV4xk/RtEXOlkPx\nt5owmvhI0qRb/OPOhVOGCo9JRLGsUE7SXvi4dpXbmd8PzrwCE0bTPYunDBMec4cBCx0d6V65SWPc\nxkNE+px5/eDMzde02/minKRLuitrW3CupkVozPFD81GQLfaMWyKKZZVykvb0Sks8oyeYMJLumz1+\nMDwup9CYO45UQlFUoTE703W5yT+w3ITIZJIk6c6Hdi4xSbqke4cBp5bMHjdYeEwi+oxVyknaUyMR\nhD/Rjtc7ZqIJo+k+n8eFqaP6C41Z3xLAycr4nkrAchOixOfRmQ/DJ49AjURMGI3xki/pNuAx5+xx\niXcKAZEdWK2cpL3wqWOaLw5Hahpcg4eZM6AemDVW/Jy204ATo7qD5SZEictdNBwOX0pMmxqJIFJ+\nwqQRGSupku5wRMaRs7VCYw7Kz8CggkyhMYnImuUk7ek9IvUUj0+oC3E6MtOApDsemyk7wnITosQk\nOZ3wjB6vaQ/ZtMQk8Wd/gY6cqdV8efcVV7mJxLNiOUl7qqrqbgZK9Hrui3IzUzB6cK7QmMfO1SMk\n+BbgnmC5CVFi8ozWKTE5dhCqGr99IPGSVEn3/k+qhcc0YkWIKFlZuZykPbm2GkpLc0yb5HTBPXKM\nSSPqOdElJlFZweEzYp809gbLTYgSi3vkWEjO2M3bSksT5Loak0ZknKRKuvcJTrozUjwYN0R73A0R\n9ZzVy0na06tHdBUNg8PrM2E0vTN7vPgN4gdOXRAeszdYbkKUOBw+H1yDtMcu27GuO2mS7lA4imPn\nxO6eLxlTCKczaf4KiQxj9XKSy+l9WbiHjjRhJL03tH8W+mWnCo1pxNPG3mK5CVHicA8bpWmLnGbS\nbVmHz9QiKoudPEXf3EaUbOxSTtKeqqqIlJ/UtOt9qSQySZIwrXig0JjHztUjaGJdtx6WmxCZTzfp\nLj9hu7rupEm6jXisOWmE2LNsiZKJncpJ2pNrqqG0xV5jLLlccOs8Pk10k4b3ExovKis4kgB13Zdj\nuQmRudyDh0Fyxi6uKK0tkOsSoyRNlKRJukU/1hyYm478LLGPXomShd3KSdrTeyTqGjwMktttwmj6\nxoiFhUQqMWmP5SZE5pHcbriKhmna7VbXLTTp3rBhA26++WYMHjwYDocDK1asEBm+1yJRWXg996QR\nYleAiJKBHctJLhc5pf2S8FistOSi3MwUDMrPEBrzYHlin0jAchMic+jte2HS3Qm/34/Jkyfjv//7\nv5GSkgJJkkSG77Xyqkbh9dwsLSHqGbuWk7Snqioip61fz92e6BKTTyoboCiJXafJchOi+EuGum6h\nSffSpUvxxBNP4Pbbb4cjgW5dO1nZIDzmRMFfRER2ZudykvaUhjrdem6947CsQvQCQyAcRWVdi9CY\nRmC5CVF8uQcN1dZ1+1uhNIqtVDBT4mTGBjpRIfY/WGEe67mJuiMZyknai54/p2lzDSyC5LLun8+I\nBYbj5+qExzQKy02I4kNyu+EaqL0fIHr+rAmjMQaT7l7gKjdR15KhnORy0Urtl4Pel4iVGFHXbcTT\nRyOx3IQoPlyFOkl3pXYxw6pMXX4pLS01vI+orGDvkXJEBdYQqm11cRk7JQ7+9+6Zg2ca8f0Xd+N8\nQ0Dz2t3zh+FbN45FXcVJ1FWYMDgDpe3eAXdj7KpnZUsbIib8/Ij8mfWpbWhsFLeau3HXIUztb8Gy\njElXwONNR9brz8HR5r/ULNddQPX3HkLrVTejbd61QAKVV1oF51gCAE9LAKmXzTW1u3fAn50Y96IU\nFxf36fO2nxkq6wNCE24AKMpPExqPyC5UVcWfN57CV/6wRZNwp/tc+PkXZuCfb5kAj8tp0ggNpKpw\n1WtP5pBzrf9krChPbDldZV1bwm+m7Eh49CTUfe1fES4aEdMuKQoyPnoD2S89Ccnf2sGniagz0Zx8\nTZuzvgawyWZKU1e6S0pKDO+jdscJZGdXCovncjqwbMl8uO2YNJDGxdWXePysWl1DSwAP/OxN3c2S\nJWMKsfLxO2yxWbIjcn0t6lNTgNSUS22S24ORVy2BFMeVTyN+Zn15F7DumNjNjwOHjUZRv6yu35ig\n1EVXoem6h58QAAAgAElEQVSFp9DyauzRuN4TBzHwTz9H3nd/Au+EqSaNzjo4x1J7qiyjbucaqJFI\nTPvIUSPgzMkzaVSfaWpq6vpNnRB+ZOCePXuwZ88eKIqC06dPY8+ePTh71rwieNH13EP7ZzHhJrpM\nspxO0hndTZQDBsU14TbKyMIciD4BVvTcHG883YRIPMnphKv/IE273vxqRUK/DXbu3Inp06dj+vTp\nCAaDePzxxzF9+nQ8/vjjIrvpkdPVYneVFw/KFRqPyMqS7XSSzthxE+VFKV638M2UZ6r7tmKUKHi6\nCZFYupspbXKCidCke/HixVAUBYqiQJblS//+zDPPiOymRyprxdbWjWTSTQQgOU8n6Uy0Srsr1FU4\nxISRGGOU4Lmvojbxz+ruLp5uQiSOa2CRpi1aLa5M2EzWf+7ZiZa2EJrbQkJjiv7iIbIilpNoyTqb\nKF39EmPHvQijCsXOfVa4IKcnWG5CJIarf6GmTa7Vzq9WZOuku1LwSorTIWFof+tu/CHqK5aT6FMj\nEcg6t6Y58wpMGI0xRhSK/SWqsq7FsieYdIblJkR948jVnmAiN9ZBlaMmjEYsWyfdoh9f9s9J4yZK\nSlosJ+mY3FCraXNkZkPyeE0YjTEG5WcKjReJKqhp9Hf9RgtiuQlR7zm8PjgyLptvVBVyvXaetRqb\nJ93NQuMVCt5IRGQVLCfpnFx7QdPmstEqNwDkZPiQIvgJhp3qui/HchOi3nPmae83kOuYdCc00RP6\nYMErPUSJjuUk3aNXz633pWFlkiRhUIHYhQe71XXrYbkJUc/plebJddrFDauxddItuqabK92UTFhO\n0n1ynU7SrVOXaHWiS0wqasQ+jUxULDch6hlnLpNuS1EUVfgqiugvHKJExXKSntH7MnDm22ulGwAK\n88QuPNi5vORyLDch6j79lW7rn2Bi26S7pS2EUEQWGlP05RBEiYblJL2ju9Jts/ISABhcIHbhoabJ\nnhspO8NyE6Ku6dZ065TxWY1tk+6G1qDQeF63E7mZKUJjEiUSlpP0jhqJQGm7LHmUJDiy7PckQHSJ\nXUOL2HnaKlhuQtQ5Z472XgCltcXyxwbaNumua2oTGm9AbjokSRIakyhRsJyk95RWbV2yIz0DktN+\nx4sOzE0XGs8fjCAUtvaXaG+x3ISoY5LTBUeadr5RWq1dkmbbpFv0SnduBle5yX5YTtJ3Sote0m3P\n/R+pPjc8gu8qqG8JCI1nNSw3IdKnN48qLU0677QO2ybd9c1iJ/I8lpaQzbCcRAylVfsl4Miw5821\nkiQhN9MnNKboudqKWG5CpHX5EyBAf5HDSuybdAtePcnhSjfZCMtJxNF73OlIt++ma9FP/UQ/lbQq\nlpsQxdJd6dYp57MS+ybdgldPuImS7IDlJOIpzcmz0g2InwtF77+xOpabEH1Kv7yESXdCamgVnHRz\npZssjuUkxtDfSGnPmm4AyEnnSrfRWG5CBDgyuNJtGaJXunMyxNYxEsUTy0mMk0wbKQHxK92s6dbH\nchNKdiwvsRB/MCI0Hle6yYpYTmI8xa9T062zQmMXoudCfzAsNJ7dsNyEkpX+SjePDEw4qqoiEBJ7\n9mtWOle6yVpYThIfajikaXP47PtLelaaV2g80XO1HbHchJKRpDOPqiFrl6PZMukOR2QoqiosnkOS\n4HXb76ILsi+Wk8SPGtIm3fB44j+QOEnxuoXGC4TFPpW0K5abULKR3Npf8PUWOazElkl3QPANZz6P\ni7dRkiWwnCT+1Ij2S0DyiF0NTiQpXrE/O8EkvZGyt1huQslC8uok3XqLHBZiz6Q7JHblRPSXDJER\nWE4Sf6osQ41o5xvJzZXu7mJ5Sc+x3ISSgd7ihRoJW/ppji2TbtErJ0y6KdGxnMQcakS7CVDyeCE5\nbDm1Avj0yZ9ITLp7h+UmZHeSwwHJrf0lX2/etQpbfjOInsRTPGJXdohEYTmJufQedeo9ErWTVMEr\n3cFwFKrAPTjJhuUmZGe6q90Wruu2adLN8hKyP5aTmE8Na3fS27m0BADcLgecDnF7XBRVRSgiC4uX\njFhuQnYlebQnx1m5rlt40v2HP/wBw4cPR0pKCkpKSrBp0ybRXXRJ9EZK0TWMRH3FcpLEoIZ1yku8\n9j5eVJIk4SUm3EzZdyw3ITvS30xp3WMDhSbdL7/8Mv7pn/4Jjz32GPbs2YO5c+di6dKlOHv2rMhu\nuqQoYh9V8rhAShQsJ0kwsjZZlJz2/7v3usX+GWWZiaAoLDchO5FcOouesnWfjAlNun/1q1/hgQce\nwJe//GWMGTMGv/3tbzFw4EA89dRTIrvpkiz4N3mHwEepRL3FcpLEo7tqmATHi4qeE0Xeq0AsNyEb\n0Z1qrDtfCEu6w+Ewdu/ejWuvvTam/dprr8WWLVtEddMtoudvRxJ8iVJiq6hpZjmJVTjt/2RM9Iwo\n+ukkda/cxP/xOyaNjqibJG2aauUSKWHPCGtrayHLMvr37x/T3q9fP1RVVel+prS0VFT3MY4cr0Vj\no7jHZ2fPnTNsrGQNZv/3VxQVRblenK7+rC3d58IPlk/BlZPysX8fV63M4Ko6h/TL5prI+fM4kQDz\nhZE/s/X1dWhsEbeZqWzPHuRn2rsW3jSSD46vfBdZr/wfPGc/udSsuN04JjshJ8DPKmD+HEuJKb26\nGq7L5tiKgwcRrTWnRKq4uLhPn7fl6SV8Ukl243BIePyuKeif/WliMm5wFl58ZAGunDTA5JERUaJT\nsnLR8MA/wz//ukttzbfcBzm3wMRREfWShZM8YSvd+fn5cDqdqK6ujmmvrq7GwIEDdT9TUlIiqvsY\nTdInyD7QICxe0eDBho2VEtvF1ZdE+e//en4RVq47iP98cAk3SyaA8KksNO1aH9PmHjgQ2Sb+vMTj\nZzZ/bSVkp19YvGlTp6J/brqweNSB2bMR2LkUoUN7UXT/V80eDYDEm2MpsTQe2IZIKHauGTJxIjzD\nRpkynqampq7f1AlhK90ejwczZszABx98ENP+4YcfYu7cuaK66RbRm3ws/EsV2cwVE4rw62/wdJKE\nobffIwkmDNE12BL3zcRNysz5yL7/G2YPg6h7dOq3rTxfCP3mfvTRR3Hfffdh1qxZmDt3Lp5++mlU\nVVXha1/7mshuuiT6Pwh31hORHt25xsKbfLpL9JzIE6KISJ/OXKOzudIqhCbdy5cvR11dHZ544gmc\nP38ekyZNwrvvvouioiKR3XRJ9GkjUZ4hS0R69Cb/JEi6ZdEr3UKjEZFd2O1YVuHPqB9++GE8/PDD\nosP2iEfwZTa8LY2I9Ehu7cUNasS6VxR3VyAUERpP9JxNRDahd+uvx2PCQMSw7hp9J1IE17uK/oIh\n6o0HH3wQDocDjz76qNlDob/Tu/Jd72p4O1EUFaGI2BvhUrw6t86RUM899xwcDself1wuFwYPHoy7\n7roLx44dM3t4RLrUsPbKd8mjvRreKuyZdAuewAMhrnSTuQKBAFauXImUlBT8+c9/hmzha3DtRG/y\nV8P2XukWvQjhdjngctryqyghvfrqq9i2bRs2btyIn/70pygrK8PVV1+N5uZms4dGpKGGtPOp5GXS\nnVB8ole6w1zpJnO98cYbaGlpwc9+9jNcuHABq1evNntIBP3JX+9Lwk5El9uleLjKHU9Tp07FrFmz\ncMUVV+C+++7DU089hYqKCmzdutXsoRHFUFVVdxFDcjPpTiipPq50k72sWLEC48aNwze+8Q0UFhZi\nxYoVZg+JAMDl1mzqUeUoVNm+c0ZAdNLt5fGXZsrIyAAARCJcXKIEE41qNlJKDgfgsu6cYcukW/RK\nNzdSkpkqKyvx8ccf46677oIkSVi+fDnefvttNDaacw0ufUaSJP0SExuvdosuLxE9X1PnotEootEo\nQqEQDh8+jH/5l39B//79sXjxYrOHRhRDb1O65PFa+pxuWybdojdShiIyZB4bSCZ58cUXIcsy7r77\nbgDA3XffjVAohJdfftnkkRHQQV13xL6bKUU/+eNKd3yNHTsWHo8HKSkpmDBhAo4cOYJ33nkH6em8\nEZQSi93quQGbJt1OpwMel9gjqNp4ggmZZMWKFZgyZQpGjx4NAJg1axaGDx/OEpMEkWx13f6g2F8o\nWNMdX2+88QZKS0uxc+dOvPHGGxg/fjyWLl2KI0eOmD00ohi69dwe7YlRVmLLpBsQ/8iyoUV7bA2R\n0UpLS3H48GEsW7YMjY2Nl/656aabsG3bNhw/ftzsISY9hy9V06a0tZowkvgQPRdypTu+Jk6ciOnT\np2PGjBm4+eab8dZbb0FVVfzwhz80e2hEMZQ2v6ZN8jHpTkjZ6WIfQdS3BITGI+qOi6vZP/7xj5Gb\nm3vpn9/+9rcAgOeff97M4REAR3qGpk1pte/xa6Lnwqw0a3+JWp3P58Pw4cOxf/9+s4dCFENpbtK0\nOdKzTBiJOLZNunMyUoTGq29m0k3xFQ6H8Ze//AVz5szBunXrYv5Zu3Ytpk6dihdeeMHsYSY9R0am\npk1psW/S3SA46c7NFDtXU8+0tbXh5MmTKCgoMHsoRDH0Fi/05lsrse1zvTzBEzlXuineVq1ahfr6\nejz88MNYuHCh5vWvfvWrePjhh7Fu3TqePGAiR4Z25UVp0a7Q2IXouTBX8AIJda6srAwXLlyAqqo4\nf/48fv/736OxsRHf+ta3zB4aUQwm3RbClW6yuueffx6ZmZm48847dV+/55578Oijj+L5559n0m0i\n3fISG690i54LczJYXhIPF49Zaz+fFBQUYNKkSVi9ejWuueYas4ZGpEtv8cKRzqQ7IYlePWloZdJN\n8fX66693+npmZib8fu1GE4ovvRpDO9d0i95ImZep3YhK4t1///24//77zR4GUbfpLV5YfaXbtjXd\nousEudJNRHp0a7ptmnTLsoJGv9ikmyvdRKRHv7yEGykTkuiV7prGNqHxiMge9B532rW8pL4lAFUV\nF8/pkHh6CRFpqKpqy/IS2ybdoldPapvbEI7IQmMSkfVJqWmQHLFTqRoKQgna7+lYRW2L0HjZ6T44\nHNa90pmIjKEG2qBGYi8llJwuSCnWLkezbdIteqVbVYHzdWK/cIjI+iSHA47sXE27XFdjwmiMVSk4\n6ebJJUSkR67Xzp+OnNxLG4KtyrZJt9fjEj6hi17lISJ7cOb107TJdRdMGImxztWILZsZkJsuNB4R\n2YPeooUzz/pnyds26QaAQfnao7z6oqLWnnWaRNQ3el8Gcn2tCSMxVqXgp32i52gisgf9pFu7uGE1\ntk66CwVP6KIfrRKRPSTLSrfohQfRczQR2YPe/Oli0p3YxK90M+kmIi3dlW6b1XRHojIuNIg9xWlQ\nvrVPIiAiY+jNn47cfBNGIpatk+7CPCbdRGS8jpJuVeT5eiY7X9cKRfCfh+UlRHQ5VVF0N1JypTvB\nDS4Qu4rS3BZCY6vYiyGIyPocGVmQ3J6YNjUcstUlOWcuaM/M7YvsdB/SUjxdv5GIkorS0qw9LtDr\ng5Ru/V/ShSXdf/zjH3HllVciOzsbDocDZ86cERW61/rnpsMp+AzYExX1QuMRkfVJkgRnvk5dd021\nCaMxxknBc19hHk8uISItuVY7bzrzCix/XCAgMOkOBAK4/vrr8e///u+iQvaZy+lA/5w0oTGZdBOR\nHr3NlNGqChNGYowTlWLnPtZzE5GeaNU5TZtLZ1HDilyiAn37298GAJSWlooKKcSg/ExU1rUKi3dS\n8BcPEdmDa+BghA7sjmmLnj9r0mjEUlUVJyoahMZkPTcR6YlWaudN14DBJoxEPFvXdAPAiMIcofFE\nf/EQkT24Cos0bXpfHlZ0ocGP1kBYaMyRg7S3eBIRRc/rrHTrzK9WZPuke5Tgib22qY2bKYlIQ28l\nRq6vhRIMmDAasYwoqxspeEGEiKxPCbRBbqjTtDsHDDJhNOJ1Wl7y2GOP4Sc/+UmnAdatW4eFCxf2\nqvN4lKK0+sNobGwUGvOtDzdhfFG20JiU2BKtbIoSU4YCOJtj55uKj95H1IRHoyJ/Zj8sPSd0Hs3L\n8OLoof3C4pH1cY4lAHBVnUP6ZXONnJmD0/sPmDSiWMXFxX36fKdJ9yOPPIIvfOELnQYoKkrsJf+s\nVDfSfS60BqPCYp6ra2PSTUQacm6BJul2NtSYknSLdLbWLzTe4LxUofGIyB6c9dqbKOVc7T0IVtVp\n0p2Xl4e8vDzDOi8pKTEsdnuzD/qx69h5YfHCrsy4jZ3MdXH1hf+9qTvawi3wN8Ze6tAv1YvMOP78\niP6ZlWUFravKkZ0tbqFh8ezJKCkZLyweWRfnWGqv+dQBhC6ba9JnXYGUBPn5aGrq230Fwmq6q6qq\nsGfPHhw7dgwAcPDgQezZswcNDeZvPBRd132ovAZRWREak4isT3czZYW1N1N+cr4BbaFI12/sAdFz\nMhHZg503UQICk+6nn34a06dPx7333gtJknDjjTdixowZePvtt0V10WuiN+wEwlHhF0UQkfXpbqZs\nqIXcIvY2x3ja/4n2cW9fcRMlEV1Obmq09SZKQGDS/cMf/hCKokBRFMiyfOl/u6oJjwcjVlX2nxL/\nRURE1ubw+eDS+YKInD5pwmjE2H9K7K2a/XPSkJHqFRqTiKwvUn5C0+YaOBgOr8+E0RjD9kcGAkB+\nVipy0sX+R9v/iX2udyYicdzDRmnaIqeOmzCSvpNlBQdP1XT9xh4YPdi4fUJEZF2R09qkW28+tbKk\nSLolScLE4WKvED10upZ13USk4R6qk3TrrOBYwcnKBgTC4k5+AiB8LiYie9CbJ5l0W9SkEWIn+mA4\nasiFEURkbe6hIzRtcn0t5Gax9wXEgxFP9ETPxURkfXJTg7aeW5LgHqKdT60saZLuySP6C4+57yRL\nTIgoliMlFa6B2g2VVlzt3ic46c5J92FwQabQmERkfR3Wc/tSTBiNcZIm6S7MzxBe173rWKXQeERk\nD+6hIzVtVku6g+Go8A3jE4f3gyRJQmMSkfUlQ2kJkERJtyRJmDxS7Gr34TO1aGoNCo1JRNanu5nS\nYkn3nhNViETF7lthaQkRXU5VVd350cOk29pEb+BRVaD0KFe7iSiWe+hI4LIVXbmhDtFa6xw1uv2Q\n9pKKvppkQJkfEVmbXFMNuTF2j5zkcMBVZK96biDJku5JBuya3364QnhMIrI2hy8F7kFDNe3howdM\nGE3PKYqKnYIXFHLSfRiUnyE0JhFZX/iYdl50DRoKh88+53NflFRJd2F+BvIyxRbl7z5+HuGILDQm\nEVmfZ8wETVv42EETRtJzR8/WoskfEhpz0gjWcxORlt686Bkz0YSRGC+pkm5JkjBt1AChMUMRmRfl\nEJGGZ7T2SyNy9hSUtlYTRtMzOwx4gjeteKDwmERkbUprCyJnyzXtTLptYvZ47VFefcUSEyK6nLOg\nP5w5+bGNqorw8cPmDKgHdhwRO6dJEjBzTKHQmERkfeHjhzRtzrwCuPLtuek66ZLuqaMGwO0S+8fe\ndugcFEUVGpOIrE2SJP0Sk6OJXWJSUdOMMxeahcYcNyQfWYKPbCUi69Pb5+IZrZ037SLpkm6fx4Up\ngo8ObGgNCr9EgoisT+8RafjkEahRsVeri7RuT7nwmLPGDhIek4isTY1EEP7kqKadSbfNzB4nvsTE\niC8qIrI2d9EwzY1qajiEyKnjJo2oc6qqYt3ecuFxZ41j0k1EscKnjkGNRGLaHCmpcBcNN2lExkvK\npNuI2sItB84iFE7c1Ssiij/J6YK7eLymPXRgtwmj6dqRM7WoqvcLjVmYl86r34lII7RfOw96isdD\ncjpNGE18JGXSnZeViuJBuUJjBsJR4ZuPiMj6vGMnadpCR/ZDDYs9kk+E9XtPC485a+wgHhVIRDGU\nUBDho/s17Z5xk00YTfwkZdINGPO4kyUmRHQ5T/F4SJdd8qCGQwgl2JndUVnBxn1nhMc14sQoIrK2\n8JED2tISXwo8o8aZNKL4SNqke44BXwS7jp1Hs+ALJYjI2iS3G95xUzTtoX2lJoymY2XHz6O5Tez8\nlZHiwbgh+V2/kYiSSmj/Lk2bZ8JUSC6XCaOJn6RNuof2z8LQ/llCY8qKio37xD+eJSJr804u0bRF\nTh6F4k+ci3LWlpULj7lg8hA4nUn7NUNEOpTWFt1TS3yTZpgwmvhK2tlQkiQsmjJUeNz3d56EqvLM\nbiL6jHvICDizsmPaVEVB6GCZSSOK1dgaxNZD54THXTx1mPCYRGRtoQO7gcvyJGdWNlw2PrXkoqRN\nugFg0ZRhwmOeqmrEkTO1wuMSkXVJDge8E7WrOKF92kesZviw9CSisiI0Zv+cNIxlaQkRXSaoU1ri\nnTQDksP+Kan9/4Sd6JeThonDC4THXbUtMc/gJSLzeCdrk+5IxWlEay+YMJrPKIqK97afEB538dRh\nPLWEiGJEa6oQrTyrafdO0pbg2VFSJ92AMavdmw+cRWNrUHhcIrIuV7+BcPXX3hEQ3LXFhNF8pvRo\nJWqa2oTHZWkJEV0uWKqd71wDB8PVb4AJo4m/pE+6508aArdL7F9DVFbwwc6TQmMSkfX5pszUtAX3\nbDf1zO5V244JjzlqUA4vxCGiGEooiODenZp2n85Gc7sSkm02NDTgW9/6FsaNG4fU1FQMGTIEX//6\n11FfXy8ivKHSUzyYMXqg8Lird5yAonBDJRF9xjt1FiS3O6ZNDQZN21B5vq4Fu49XCY+72IAniERk\nbaH9u6GGYqsAJLcb3qmzTBpR/AlJuisrK1FZWYlf/OIXOHDgAF588UVs2LAB99xzj4jwhrtyqvgd\nszVNbdjJGyqJqB1HSiq8E6dr2gM7N5ty6pERtdwOScKCyeJPhiIi61JVFcHSzZp276QZcPhSTBiR\nOYScQj5hwgS89tprl/7/iBEj8Itf/ALLli1Da2sr0tPTRXRjmJljC5Gd7hNeh/3m5qO8jY2IYqTM\nnI9g2faYtuj5c4hWnIZ78LC4jaMtGMEHpeLL4GaOLURuZvJ8iRJR16JnyxGtrtS0p5TMM2E05jGs\nprupqQlerxepqalGdSGM2+XEtSUjhMfdf+oCjw8kohiugYPhHqRdCQ7u1K4CGem97cfhD0a6fmMP\n3TC7WHhMIrK2gM4qt3vwMLgGJtfCpKQa8EyzsbERM2fOxI033ojf/OY3Ma81NTVd+vfjxxPnaL2G\n1hCeeGU/FMF/HROHZOPLS/glRESfcX9yBGlbP45pU51ONN96P9Q4PGqNRBU88co+NAfEJt0FmT58\n73MT4XDwqEAi+pQUaEPmm89DkuWYdv/cJYgMH2PSqHqnuPizfC4rq+e3mne60v3YY4/B4XB0+s+G\nDRtiPtPa2oqbbroJRUVF+PnPf97jAZklJ92LCUPEXgsPAAfONOJ8g/jjuIjIuiJDRkHx+mLaJFmG\n5/iBuPS/40St8IQbAOaOLWDCTUQxvCcOahJuxetDpGikSSMyT6c13Y888gi+8IUvdBqgqKjo0r+3\ntrbihhtugMPhwDvvvAOPx9PpZ0tKEuuYGGfWIPzg2XXC4x5vcOOmaxLrz0rdU1paCiDxflbJ+lpb\nLiCwZW1MW05tBXInfwmSx9vruF39zMqygv9Z9w6ys7N1X+8tj8uJry6/BhmpvR87JR/OsfamhIJo\nWPM6lMvmm9R5V2P0nDkmjar32ldr9EanSXdeXh7y8vK6FailpQVLly6FJEl47733LFHLfbkpIweg\nMC8dlXWtQuNu2Hcan18yCf1zE3tDKRHFT8rM+QhuWw9V+ez6daXNj+DubUiZs8iwfjftP4Oqer/w\nuAsnD2HCTUQxQru3QQnEPu2XHA74Zs43aUTmErKRsqWlBddeey0aGxvx7LPPoqWlBVVVVaiqqkIk\nIv4RplEcDglLDdgEJCsqXt90RHhcIrIuZ3au7vGBbVvXQZWjhvSpqipe3XDIkNg3zOHeFSL6jBqN\nom3rOk27d3IJnFlin7RZhZCke9euXdi+fTsOHz6M0aNHo7CwEIWFhRg0aBC2bt0qoou4uXr6cHhc\nTuFxPyg9iVoDrlomIutKmXe1pk1pbkRo3y5D+tt26BzKq/r2eFTP6MG5KB7cvaeiRJQcQvtLobRo\n55uUeVeZMJrEICTpXrx4MRRFgSzLUBTl0j+yLGPhwoUiuoibjFQvrpo2THjcSFTBXz7eLzwuEVmX\nq98AeMdM1LS3bVkTU3YigiwreP6DvUJjXnTTXGudQEBExlIVBW2b12javeMmw5Xf34QRJQbDzum2\nss8tHAeHJH4H/ke7TuFcTbPwuERkXSkLlmja5NoLCB8R+0v6mrJTOFfTIjQmAAzITcOCSUOExyUi\n6wof2Qe5rkbTrvd0L5kw6dYxMC8D8ycVdf3GHlJUFS8YtNJERNbkHjQUnuHaeui2TR8Juxo+HJHx\n54+NOY7wtvnj4HTyq4SIPqWqKto2faxp94wYDfeg5P4FnTNlB+5YNN6QuFsOnsOxs3WGxCYia9Jb\n/YmeP4fw4X1C4q/adsyQPSU56T4smSH+Nl8isq7wob2Inj+naU+Zr32ql2yYdHdg+MAclIwZaEjs\nFe/vEbaCRUTW5x4xGi6dFSD/2nehXnapRE/5A2G8ss6YE0tumTcGHrf4jedEZE2qHIV/zSpNu2vQ\nELiHjTJhRImFSXcn7lw0wZC4+z65gLLjVYbEJiLrkSQJaYuXatrl2gsI7d3Zp9h/23gYLYFwn2Lo\nSfO5DTlilYisK1i2A3J9raY97cobIBmwV85qmHR3YvywAowfmm9I7GdXl0GWxZ5OQETW5R45Rncl\nyL9uNdRe3ndQ0+jHm5uP9nVoum6cU4xUn9uQ2ERkPWokjLYN72vaPcOL4RnJE44AJt1dunOxMavd\n5VVNeHf7cUNiE5H1SJKEtKtv1LQrLU0I7NjYq5h/ercMoUjfylP0eFxOHhNIRDEC2zdAadGe0JZ6\n9TITRpOYmHR3YcbogSgelGtI7Bc/3I/G1qAhsYnIetyDh8E7brKmPbDpIyjBQI9i7TlRhc0Hzooa\nWmC4LXcAABOwSURBVIwbZo9CdrrPkNhEZD1Kmx9tm7UnlnjHTUn6E0vaY9LdBUmScP91UwyJ3RaK\n4LnVewyJTUTWlHrVDcBltY9KMICAzhFcHYnKCp5+q1T00AAAqV63YU8Aicia2jZ/DDUYu4goORyf\nzmd0CZPubpgyagCmjjLmBqWPd5/C4dPaA+SJKDm58vvDN3WWpj2wbb3uBiU96w9Wo6JW/EU4AHDb\ngrHITPMaEpuIrEeuq0Fwu7YEzjt1Flz5/UwYUeJi0t1N91831bDYT71Zyk2VRHRJ6qLrIblcMW2q\nHEXr+290+dlGfxgf7Kk0ZFw56T7cMo+13ET0KVVV0fr+61DlaEy75HIhddF1Jo0qcTHp7qZRg3IN\nu+r4VFUj3ttxwpDYRGQ9zqxspMxZpGkPHzuI0LGDnX72zR1nEY4a80v8XVdOQIqXJ5YQ0afCRw8i\nfPywpj3lisVwZmabMKLExqS7Bz6/ZBKcDmPOmXzhg32G3BhHRNaUuuAaOHS+tPyrX+/wCMEdhyuw\n51S9IeMZkJuG62bxcgsi+pQaCcO/+m+admdWNlJ5+6QuJt09MKggE9eWjDQkdlsogt/9bTtvqiQi\nAIDk8SL92ls07XJDne4pAa2BMJ58o28X6XTm3iWT4XLyK4OIPtW26WPITQ2a9rRrb4Xk4b4PPZxB\ne+juqybCa9C1x7uPV+GjXZ8YEpuIrMczfgo8w7W3PgY2fwy5oS6m7X/f2YX6lp4dK9hdwwdkY8Hk\noYbEJiLrketrEdi8RtPuGTEGHp1jT+lTTLp7KDczBbcvHGdY/P9bVcYyEyIC8PcLc5Z+DpIjdqpW\no1G0vv/6pf+/43AF1pSVGzaOr9w4HQ6DSuuIyHpaV+tsnnQ6P52veN17h5h098LtC8djQG6aIbFZ\nZkJE7bkKBsCnt6ny6EGEDu01vKxk4eQhmDzSmCNTich6Qgf3IHz8kKY9Zc5iHhHYBSbdveBxO/HQ\nshmGxWeZCRG1l7rwWjgysjTtratexbN/22RYWUmKx4UvLZ1mSGwish6ltQWt776qaXdkZiNlATdP\ndoVJdy/NHDsIs8YWGhb//1aV4UKD37D4RGQdDq9Pd1NlfXUt1LVvG9bv3VdNRF5WqmHxichaWt99\nDUqbNjdJv/YWOLw+E0ZkLUy6++DBZTPgdhnzV9gWiuC/Xt6CKC/NISIAnglT4R0z8dL/D0dknKpq\nwCh/BUb4K4T3N7ggAzfzIhwi+rvQwT0IHd6rafeOnQTP+CkmjMh6mHT3wYDcdNyxcLxh8Q+fqcVL\nH+4zLD4RWYckSUi/8U44UlKhqipOVtZf+qV8Ye1e+OSQ0P6+dlMJjwgkIgCdlJWkpiH9xju5ebKb\nOKP20R2LjNtUCQCvbjiM3cfOGxafiKzDkZGJtKWfQ2VtC1oD4UvtKUoIC+q0K1C9tWDSEEwZNUBY\nPCKyto7KStKWfg6O9AwTRmRNTLr7yON24sEbjdtUCQC/emUr6puN2ShFRNZy1FeIzYF0TbuoMpMU\njwtfuoGbJ4noUx2WlYybDO8EzhU9ISzpfvDBBzFq1CikpqaiX79+uPXWW3H48GFR4RParHGDsGiK\ncRdHNPlD+NUrW6EoPEaQKJk1tgbxy1e2YX3eVAQdHs3ri2r3IEMO9qmPB5ZORT43TxIRALmpAa3v\nrNS0O1LTkH7DHSwr6SFhSffMmTOxYsUKHDlyBO+//z5UVcWSJUsQjUa7/rANPLRsBrLTjdu5u/dk\nNVauO2hYfCJKbIqi4lcrt6KhNYiAy4dNedpb33xKGDc274Ok9m4D9pSR/XHdzFF9HSoR2YAqR9Hy\n2vNQgton7Swr6R1hSfdDDz2EefPmYciQIZg2bRp+9KMf4fz58zh16pSoLhJaZpoXX7+lxNA+/vLx\nAew6WmloH0SUmP7y8X6Unai69P+Ppw3GqdSBmvcNjjRirr/n5/yneFz41m2zePMkEQEA2tauRuRs\nuaadZSW9Z0hNt9/vx7PPPovi4mIMHz7ciC4S0hUTigwtM1FUFb94eQsqapoN64OIEs+m/Wfw17WX\nPemSJKzLn4ZWZ4rm/XPaTmFw4EKP+nhg6VT0z9XWihNR8gmfOIK2zR9r2h2Z2UhftpxlJb0kNOn+\nwx/+gIyMDGRkZOCdd97BqlWr4HK5RHaR8IwuM/EHI/jRCxvgb3dyARHZ1yeVDfjNq9t0Xws6vfio\noAQKYr8AJai4umYXUqLdq+9mWQkRXSS3NKHl9Zc07ZLDgczb74Mj1bgT2+xOUlW1w915jz32GH7y\nk590GmDdunVYuHAhAKC5uRk1NTWorKzEf/3Xf+HQoUPYvXs3MjI+q/tpamq69O/Hjx/v6/gT0r7y\nBjy75oShfYwdlIUHrynmo2AiG2sJRPDrtw+hobXzX7Kv8J/EPP9JTftpTx5ezZoOtZNVKa/bge/c\nOhF5Gd4+j5eILE5RkLb2bbirzmleCkyZjdBEY8toE11xcfGlf8/Kyurx5ztNuuvq6lBXV9dpgKKi\nIqSkaB9vRiIR5OTk4Mknn8T9999/qT0Zkm4AeGHdSez+pN7QPq6cOAA3zyoytA8iMkdUVvDU6qP4\npLq1y/dKqoo7GndhaEQ752xKG4VtaSM6/OwdVwzFvHH9+jRWIrIH7/6dSNm3Q9MeGVgE/+JlgCO5\nT5rua9Ldae1HXl4e8vLyej4qAIqiQFVVKErHu+hLSuz7G9OY8ZPw7d+tRk1Tm2F9lJ0LYvGcPFw1\nPXnq5uOttLQUgL1/VinxqKqK37++A/UhF7Kzs7v1mc0Z8zCoYi1coU+TdLfbDQBYHD6NQE4hTqdq\nL7spGTMQ3/r8Ij4xI9Nwjk0coSMH0HzmGHDZnONIz0DOV7/D00oQu3DcG0J+ZTl58iR+9rOfYffu\n3Thz5gy2bNmCO++8Ez6fD8uWLRPRheVkpHrxnbvnwmnwl9nv39iBA6d6tmGKiBLb6xuP4IPSnp1A\n0uZKwUcF2ou6JABLLuxETjh2A3ZeZgoeueMKJtxEhOiF82h5/UXd1zJu/TwTbkGEJN1erxfr16/H\n0qVLUVxcjLvvvhtZWVnYunUrCgoKRHRhSeOGFuDzSyYZ2kckquBHz2/AqfMNhvZDRPGxZvcpPLt6\nT68+ey61P7alap98edQollZvg1f+tDbcIUn4/+6ai8w01nETJTulzY/mv/4JajikeS11wTXwjBxj\nwqjsSUjSPXjwYLz77ruorq5GKBTCmTNn8MILL2D06NEiwlva7QvHY9oo7WNdkdpCETz+7DpU13dd\n+0lEiWvX0Ur89m/b+xRjc9oofOLJ17RnRf249sIOSKqCe66eiInDWcdNlOxUOYrmV56D3KDdv+cp\nHo/UxdebMCr7Su6K+DhwOCQ8uvwK5Bh4jCAANLQG8fhz69DU2rcroInIHEfP1OKnf94EWelwb3u3\nqJKEVZmT0ODWPg4eHKzBcsdpLF88oU99EJE9+D94E5Fy7Wlrzvz+yPjcfZCSfOOkaPzbjIPsdB/+\nefkVMPos+YraFvzH8+sRCEWM7YiIhDpX04z/eH4DQhFZSLyQw433+s9GyOGOaXc5HbjKUYXw3r6t\nphOR9QV2bUVgxyZNu8OXgqx7vgKHz9jFwmTEpDtOpowaEJfVpWPn6vHTlzYhKnd8agwRJY66pjb8\n4Jm1aG7T1lP2RZM7Ax8WzIy5OGfEwBy4XU60rnoV4ZNHhfZHRNYRPnkE/ndf1b4gSci44344c7Ul\natR3TLrj6J6rJmLKyP6G91N2ogq/WrkVMhNvooTW2BrED55da9jRomdT+2Nr7kQAQGFeBrL+Xuam\nyjKaVz6LSOVZQ/olosQVqTiD5pefhapzpHP6tbdw46SBmHTHkdPpwHfvmYcBucZfobpx/xn8+tVt\nUPpYH0pExmj2h/Bvz6zBmQvNXb+5D/ZljkRg1GQMyo+t8VbDITS/9EfI9bWG9k9EiSNaewHNf/4j\n1Ij2llvftNnwzV5owqiSB5PuOMtI9eKxexcixdPpvURCrN97Gv/9GhNvokTT0hbCY39ag/Kqvl20\n0B1DB2Rj6ff+Ge6hIzWvKW2taHrxaSgtxib+RGQ+uaUJzS/9D5Q2v+Y199CRSL/hDkhGbz5Lcky6\nTTB0QHZcNlYCwJqycibeRAmkpS2Ef3tmLU5VNRreV0aKB4/dtxCpaSnIvOcrcPXTHl8qN9Sh6c9/\nhBLkyUdEdqUEA58+2Wqs17zm6jcQmXd/GZLL+MXAZMek2ySzxw/GvUsmx6WvNWXl+NUrrPEmMltT\naxD/8n8f42Sl8ZdZOR0SvvcP8zEgNx3ApycSZH7+q3Bmaa+Vj1ZVoGXlM1CjUcPHRUTxpUYiaH75\nGUSrKzWvObNykHnvV+HwpZgwsuTDpNtEdy4ejwWThsSlr/V7T+OXK7fyVBMikzS2BvGvcSopAYAH\nb5yOyZdt3HZmZiPz3q/BkardVxI+dRwtf3sBqszEm8guVDmKltee1z2L25Gahsx7vwZnRpYJI0tO\nTLpNJEkSvn37bIwszIlLfxv3n8GPX9yAYJhfqkTxdL6uBf/v6Q9xujo+CfcVYwrw/7d3vyFNrXEc\nwL9nlv9K72q65uZuGimLjSgVy0XlCmXdyDctqtGM4pa9ivXvhSC0SIRAgqikfDfoQgVxXwWpLwLT\n9qKwkc11S7QSYseiIdehN5jPfRHt3jX/1PVux3v7fuAweM7Zs69wePbb8TnP+WljybT7FuWtQO7+\nnyEtXpyw74/gU/z+6y8Q0X9nvXAiUo6IRvH7nRv447dnCfukxenIdR7Bojw+mTaVJCFESif7jo2l\n5kuHiIiIiCgZfvjh2/9DwCvdRERERERJxqKbiIiIiCjJUj69hIiIiIjoe8Mr3UREREREScaim4iI\niIgoyVJadLe3t8Nms0GtVkOlUuHNmzcJx4TDYbhcLqjVaqjVatTX13PFE1oQqquroVKp4jan06l0\nLKKYtrY2FBcXIysrCxUVFejp6VE6EtG0PB5Pwniq1+uVjkUEAOju7kZdXR0KCwuhUqng9XoTjvF4\nPDAYDMjOzobNZsPAwMCc/aa06J6YmIDdbse5c+dmPMbpdMLv96OjowP37t1DX18fXC5XClMSTU+S\nJBw+fBihUCi2Xb9+XelYRACAW7duwe12o6mpCX6/H1arFTt27MDIyIjS0YimZTKZ4sbT/v5+pSMR\nAQAikQjWrl2LS5cuISsrC5Ikxe2/cOECLl68iCtXruDRo0fQarWoqanB+Pj4rP0qciPl48ePUVlZ\niVevXuHHH/96ImMwGITZbEZvby+qqqoAAL29vdi8eTOeP3+O0tLSVEclirHZbLBYLLh8+bLSUYgS\nbNiwAevWrYv7IVhaWgqHw4GWlhYFkxEl8ng8uHPnDgttWvBycnJw9epV1NfXAwCEENDr9Th+/Dga\nGxsBAJOTk9BqtWhtbcXRo0dn7GtBzen2+XxYunRprOAGAKvViiVLlsDn8ymYjOiTmzdvIj8/HxaL\nBWfOnJnzVy1RKnz8+BF9fX2ora2Na6+trcXDhw8VSkU0u6GhIRgMBqxatQr79+/H8PCw0pGI5jQ8\nPAxZluPG28zMTGzZsmXO8XZRssN9i1AohPz8/Lg2SZKg1WoRCoUUSkX0idPpRFFREfR6PZ49e4bG\nxkY8ffoUHR0dSkej79z79+8RjUaxYsWKuHaOnbRQbdy4EV6vFyaTCbIso7m5GVarFYFAAMuXL1c6\nHtGMPo+p0423b9++nfW9877S3dTUlHAzxJdbd3f3fD+GKCm+5fw9cuQIampqYDabsXfvXty+fRtd\nXV148uSJwn8FEdF/i91uh8PhgMViwfbt23H37l1MTU1Ne8Ma0X/Fl3O/vzTvK90nTpyIzXOZidFo\n/Kq+dDod3r17F9cmhMDo6Ch0Ot0/zkg0k/mcv2VlZUhLS8Pg4CDWr1+fjHhEXyUvLw9paWmQZTmu\nXZZlFBQUKJSK6OtlZ2fDbDZjcHBQ6ShEs/pcj8qyjMLCwli7LMtz1qrzLro1Gg00Gs18uwEAVFVV\nYXx8HD6fLzav2+fzIRKJwGq1/iufQfR38zl/+/v7EY1GWdSQ4tLT01FeXo7Ozk7s3r071t7V1YU9\ne/YomIzo60xOTiIYDGLbtm1KRyGaVXFxMXQ6HTo7O1FeXg7g0/nb09OD1tbWWd+b0jndn5cFevHi\nBQAgEAjgw4cPWLlyJZYtW4Y1a9bAbrejoaEB7e3tEEKgoaEBu3btQklJSSqjEsUZGhrCjRs3sHPn\nTmg0GgwMDODUqVMoKyvDpk2blI5HhJMnT8LlcqGyshJWqxXXrl1DKBTCsWPHlI5GlOD06dOoq6uD\n0WjE6Ogozp8/j4mJCRw8eFDpaESIRCJ4+fIlAGBqagqvX7+G3++HRqOB0WiE2+1GS0sLTCYTSkpK\n0NzcjJycnLmf3SFS6OzZs0KSJCFJklCpVLFXr9cbOyYcDosDBw6I3NxckZubK1wulxgbG0tlTKIE\nIyMjYuvWrUKj0YiMjAyxevVq4Xa7RTgcVjoaUUxbW5soKioSGRkZoqKiQjx48EDpSETT2rdvn9Dr\n9SI9PV0YDAbhcDhEMBhUOhaREEKI+/fvJ9SrkiSJQ4cOxY7xeDyioKBAZGZmiurqahEIBObsV5F1\nuomIiIiIvicLap1uIiIiIqL/IxbdRERERERJxqKbiIiIiCjJWHQTERERESUZi24iIiIioiRj0U1E\nRERElGQsuomIiIiIkoxFNxERERFRkrHoJiIiIiJKsj8BgelwWBkwC3AAAAAASUVORK5CYII=\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -488,19 +488,19 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 3, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAAsAAAATBAMAAAC0B+rjAAAALVBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAADAOrOgAAAADnRSTlMAIokQdkQymVRmzbur3ZYT\n5QUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAABhSURBVAgdY2BgYGAEYiBgQqFMILwwCKUAotgSChuB\nVAXjBC4BBu4JnAJMBxh8gdrYLzBcB1JcGxheMkgyyDUwLGGYyLCdgSGWQYG7AKitcqcaSDvjBBDJ\nwCkApqC2sYA4ADr+DeweQRu1AAAAAElFTkSuQmCC\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAAsAAAASBAMAAAB/WzlGAAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAdolEMpnNqyK7EO/d\nVGbrAyG9AAAAX0lEQVQIHWNgYGBgBGIgYEKhjCE8ARDFEppeAaQqFyh0NzBwFjAbsBYwyC9gYmA6\nwHAUqI1zAsNHhoUM6y8wJDJcYShlYLBhUGAPAGqLm6sC0s7xAEQy8DWAKag1YEsBkk8P0x6j9zMA\nAAAASUVORK5CYII=\n", "text/plain": [ "\\phi" ] }, - "execution_count": 7, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -523,14 +523,14 @@ }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 4, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAACkAAAAwBAMAAAB+l06WAAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAzRAiu5mrdu/dZjKJ\nRFRer8KoAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABOklEQVQ4EWNggAMhOAuJYfIJiQNjqoRhE2Vg\nH76irBk/s2C+H3r0fyzgA328YQ+xGs2yXCCfGSxmGuINk2MWALJ4QDymBIbzF6DCrA+ADLAomwID\nRwNUVBNEq4MIjgkMbL9BDCCIAxG3QQTjJ7go0wSQwAEQAQSc0DTKs4CBgXtD8GOwIMP9AxAaZGwc\n8wJGAzB3CkSQoYqBgWUBlwFPAojP6sDAwAtyHNDYSqDDWMHGlwEFKgQYGNgLGBimAkUZgaoY+AIY\njJnV/wItBXJ+MVgx2D8AMrYyMBQzMH1hYFgD5IgzLGZwBdLMc86EAQ2KN2CYBOTdZDjAEgCkGYGB\nBxS1D+A6AORxR3mdBlIwwPaJUwHEZl4AImGA+89TMJPLACYCpiWEwBQ4HBES70GWAB2NEAGxoL6H\nCAIAAx9b8PUdS4gAAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAACkAAAAwBAMAAAB+l06WAAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAzRAiu5mrdu/dZjKJ\nRFRer8KoAAABNklEQVQ4EWNggAMhOAuJYfIJiQNjqoRhE2VgH76irBk/s2C+H3r0fyzgA328YQ+x\nGs2yXDjfNMQbxmYWALLYQTymBIbzF6DCrA+ADB4Qh02BgaMBxAACTRABFuWYwMD2G8QDgjgQcRdE\nMH6CizJNAAkUgAgg4ISmUZ4FDAzcoWLJYEGG+wcgNMjYFIUDFgZg7hSIIEMVAwNLAu8F1gQQn9WB\ngYEX5DigsfUKPAw8QJqBoQyIKwSAzi9gYJgKdBiLA1CAL4DBmFn9L9BSIOc7gzqD/gMgYysDQzED\n0xcGhjVAjjjDa4ZUIM0850wY0KB4A4ZJQN5NhgNsAUCaERh4QFH7AK4DQB53lN9pIAUDbJ84FUBs\n5gUgEga4/zwFM7kMYCJgWkIITIFDDCHxHmQJNMwRoozIWgFe5Vu10Z1KpwAAAABJRU5ErkJggg==\n", "text/plain": [ " 1 \n", "───────\n", @@ -538,7 +538,7 @@ "2⋅╲╱ φ " ] }, - "execution_count": 6, + "execution_count": 4, "metadata": {}, "output_type": "execute_result" } @@ -556,20 +556,20 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 5, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAIsAAAAcBAMAAACjVFE3AAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAMmYiu80QdonvRN2Z\nVKvu110NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAACmUlEQVQ4EZVUO4gTURS9k8lnkszqWNiIkJG1\nWMEihG0sZEO0XDCicRuRAV3ELqVi4bgiNiLW22y0tTBoIeIqg65aiEtAwWoxiBYW4mJhI7Kee+fz\n3mSywb0w95537sl5n3kToh2EtfZmB+ptpTfo27a9/2jsizSPqVbPyktZaixjNCN6meZ6WUVlmOXG\nMQUvYT8rmHC0xNBwkWjMYukANxBvJZucnwgcSVUPxKyQvmQtnSHa5cjY/C3FQrYCgVrilZaYhR7h\nS1Zpln/blnH0W7Y5rAQhMk94ROYmrHwmil3OKi6ss81lIcoDKReJKn7FCTXnw1Kc/+kBPSIq15mJ\n24wlSmxzSWDNk3KPaO/GxxDTJ6GQrjGxRvRACF5xKsSmIOs4FDZ8opWtrUiUtrlCdJsbe+yjsqhI\nhCI24am8ZtZwXn1Q3ZHVPPSohaY9aNApTQQoNrk2k8c5vTfdgjZTejU1h55D06JpusNiFWIz1Wfi\nHJ68m6tbQx6FkbbB3V7GzH2873foLz7jOMlKsTE2Ga7iuUoW2WLKDI1sam7ANtUANqfDfpw1G17N\nKmwKzah5s9N52umclZG8KawGm9rtmq75N9JERWwqyaZ+UYMwZxLpTeG7xxEXurl6PkgkAsQmPOKv\nIBZwevOaIm2DN4WjrfStlIblYmMHDHErcLv81ERpG9wsvn77D844/AMV9vc/X7DMHjOYi4yXreuM\n44ht1ldeuHKLq3W0GnE7XY/IsNxDMV3BcYptwvECUS4AnI7b6XpLhraPkuPZVNxXEN81f3/H8Pg6\nm+BiW6BxFyXz0SUqTDHEgP+2uhqpYD5awQ9QJUVnUNUBNbJrTRRvdVHjxsGZcWSWmwqynMaYTW0w\nCW5MapLtTWzvpPkP4lmKXRXJfWcAAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAIsAAAAcBAMAAACjVFE3AAAAMFBMVEX///8AAAAAAAAAAAAAAAAA\nAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAv3aB7AAAAD3RSTlMAMmYiu80QdonvRN2Z\nVKvu110NAAACmklEQVQ4EZVUPYgTURCezSabzWaTS2MjB4looWAR5JqrLqhY+ROLeI0cC3qIlVtq\ndauHWHiIYHfNLZZn4aGFiKcscqeNhAiCNodBz0Lw5yotRM6Zebv73mY3wQxk5ptvZr837+3bAIxh\n5sarMbqHti7Cl6G1/yjsDXseQ72Zbi+mqUxGa4X0Msz46Q6rn+aymIITsx8ljDm4QVBroMu0fSH7\nWlafSChR2UE8xbkrWYHOAVRrDPVfHOgIzICh4mjSIrHYj+axl26Knm1zHj5rYnJYNgikn3EA9B2U\n8pgQniG5i12Sucp5qccBZSzPEgPCBabAOPnTQfQIoNQkxvLJK1YkmctM1B0OqwB7tt4JDO+ZQrdA\nxAbAAyZS755lCjzHIe4AF2Bld1fgAZlrAEtUmNz8wUOFTRhYRpzKJrHam7nPsjog89CBo1isnjD1\ne0oTQpbJtYk8Tm7b8aaVlZKbqtfgOfachlXoUrM0lqmsETGHv3zf8u0+ZcKSMni3l3llD25jff4Z\n2VnqZBlth+A6/hYcE0wWJQYGNjXTI5lygNeGRxc95BUZmmYdTMi3qIB2s9N52umcZ8xvCqfBTU24\nhmv8ZTZ2LGPFm/oNl+BKL64OTIPfPR5xwa3UqoHsIcQy4oi3MZ2Ft/BN6UieDb6pO3j31sxETyxj\nBwTxVuDt8hILJWXwZtH1mzzwoUYPSLO//vmEY/rE4FqgvTx1nXBkkUx35UWDb3G5iaUjUTkZpzkt\n+Rj0BuPIRTIinwXIBQj3R+VkvMWp7WHI0WrS7ksIYND3dwx/nsrG2Ggz1O5iwO97qOX6WKK/LTez\nJR9O8B2rqW9XeaJcw2Rg10o52uq8wmXBg1lkmqsEaU5h9JaSjIJbo4pgOyPL4xT/AbQYkt2B1tcR\nAAAAAElFTkSuQmCC\n", "text/plain": [ " ⎛ 2 ⎞\n", "(φ - 1)⋅⎝φ + 1⎠" ] }, - "execution_count": 7, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" } @@ -587,14 +587,14 @@ }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 6, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAZ4AAABLCAMAAAB3JhEVAAAAPFBMVEX///8AAAAAAAAAAAAAAAAA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\nMB2G8BXjPe1/W0n2gP6pJLOpfwGec844NmVfmwAAAABJRU5ErkJggg==\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAZ4AAABLCAMAAAB3JhEVAAAAPFBMVEX///8AAAAAAAAAAAAAAAAA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\nc844NmVfmwAAAABJRU5ErkJggg==\n", "text/plain": [ "⎡ x - xₐ y - yₐ ⎤\n", "⎢ ────────────────────────── 0 ────────────────────────── 0⎥\n", @@ -609,7 +609,7 @@ "⎣╲╱ (x - x_b) + (y - y_b) ╲╱ (x - x_b) + (y - y_b) ⎦" ] }, - "execution_count": 8, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } @@ -677,7 +677,7 @@ }, { "cell_type": "code", - "execution_count": 9, + "execution_count": 7, "metadata": { "collapsed": false }, @@ -707,7 +707,7 @@ }, { "cell_type": "code", - "execution_count": 10, + "execution_count": 8, "metadata": { "collapsed": false }, @@ -743,16 +743,16 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 9, "metadata": { "collapsed": false }, "outputs": [ { "data": { - "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtsAAAEWCAYAAAC37ltfAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nNhERERGRkzBsExERERE5yf8DK4lNp9gyNB8AAAAASUVORK5CYII=\n", + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAtsAAAEWCAYAAAC37ltfAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\nrkJggg==\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -838,6 +838,141 @@ "We start by assuming some function $\\mathbf f$" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Example: A falling Ball" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "**author's note: ignore this section for now. **\n", + "\n", + "In the **Designing Kalman Filters** chapter I first considered tracking a ball in a vacuum, and then in the atmosphere. The Kalman filter performed very well for vacuum, but diverged from the ball's path in the atmosphere. Let us look at the output; to avoid littering this chapter with code from that chapter I have placed it all in the file `ekf_internal.py'." + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "data": { + "image/png": "iVBORw0KGgoAAAANSUhEUgAAAuEAAAEWCAYAAADIP0muAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz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\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "import ekf_internal\n", + "ekf_internal.plot_ball()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We can artificially force the Kalman filter to track the ball by making $Q$ large. That would cause the filter to mistrust its prediction, and scale the kalman gain $K$ to strongly favor the measurments. However, this is not a valid approach. If the Kalman filter is correctly predicting the process we should not 'lie' to the filter by telling it there are process errors that do not exist. We may get away with that for some problems, in some conditions, but in general the Kalman filter's performance will be substandard.\n", + "\n", + "Recall from the **Designing Kalman Filters** chapter that the acceleration is\n", + "\n", + "$$a_x = (0.0039 + \\frac{0.0058}{1+\\exp{[(v-35)/5]}})*v*v_x \\\\\n", + "a_y = (0.0039 + \\frac{0.0058}{1+\\exp{[(v-35)/5]}})*v*v_y- g\n", + "$$\n", + "\n", + "These equations will be *very* unpleasant to work with while we develop this subject, so for now I will retreat to a simpler one dimensional problem using this simplified equation for acceleration that does not take the nonlinearity of the drag coefficient into account:\n", + "\n", + "\n", + "$$\\begin{aligned}\n", + "\\ddot{y} &= \\frac{0.0034ge^{-y/20000}\\dot{y}^2}{2\\beta} - g \\\\\n", + "\\ddot{x} &= \\frac{0.0034ge^{-x/20000}\\dot{x}^2}{2\\beta}\n", + "\\end{aligned}$$\n", + "\n", + "Here $\\beta$ is the ballistic coefficient, where a high number indicates a low drag." + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "This is still nonlinear, so we need to linearize this equation at the current state point. If our state is position and velocity, we need an equation for some arbitrarily small change in $\\mathbf{x}$, like so:\n", + "\n", + "$$ \\begin{bmatrix}\\Delta \\dot{x} \\\\ \\Delta \\ddot{x} \\\\ \\Delta \\dot{y} \\\\ \\Delta \\ddot{y}\\end{bmatrix} = \n", + "\\large\\begin{bmatrix}\n", + "\\frac{\\partial \\dot{x}}{\\partial x} & \n", + "\\frac{\\partial \\dot{x}}{\\partial \\dot{x}} & \n", + "\\frac{\\partial \\dot{x}}{\\partial y} & \n", + "\\frac{\\partial \\dot{x}}{\\partial \\dot{y}} \\\\ \n", + "\\frac{\\partial \\ddot{x}}{\\partial x} & \n", + "\\frac{\\partial \\ddot{x}}{\\partial \\dot{x}}& \n", + "\\frac{\\partial \\ddot{x}}{\\partial y}& \n", + "\\frac{\\partial \\dot{x}}{\\partial \\dot{y}}\\\\\n", + "\\frac{\\partial \\dot{y}}{\\partial x} & \n", + "\\frac{\\partial \\dot{y}}{\\partial \\dot{x}} & \n", + "\\frac{\\partial \\dot{y}}{\\partial y} & \n", + "\\frac{\\partial \\dot{y}}{\\partial \\dot{y}} \\\\ \n", + "\\frac{\\partial \\ddot{y}}{\\partial x} & \n", + "\\frac{\\partial \\ddot{y}}{\\partial \\dot{x}}& \n", + "\\frac{\\partial \\ddot{y}}{\\partial y}& \n", + "\\frac{\\partial \\dot{y}}{\\partial \\dot{y}}\n", + "\\end{bmatrix}\\normalsize\n", + "\\begin{bmatrix}\\Delta x \\\\ \\Delta \\dot{x} \\\\ \\Delta \\dot{y} \\\\ \\Delta \\ddot{y}\\end{bmatrix}$$\n", + "\n", + "The equations do not contain both an x and a y, so any partial derivative with both in it must be equal to zero. We also know that $\\large\\frac{\\partial \\dot{x}}{\\partial x}\\normalsize = 0$ and that $\\large\\frac{\\partial \\dot{x}}{\\partial \\dot{x}}\\normalsize = 1$, so our matrix ends up being\n", + "\n", + "$$\\mathbf{F} = \\begin{bmatrix}0&1&0&0 \\\\\n", + "\\frac{0.0034e^{-x/22000}\\dot{x}^2g}{44000\\beta}&0&0&0\n", + "\\end{bmatrix}$$\n", + "\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "$$\\begin{aligned}\\ddot{x} &= -\\frac{1}{2}C_d\\rho A \\dot{x}\\\\\n", + "\\ddot{y} &= -\\frac{1}{2}C_d\\rho A \\dot{y}-g\\end{aligned}$$" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "from sympy.abc import *\n", + "from sympy import *\n", + "\n", + "init_printing(pretty_print=True, use_latex='mathjax')\n", + "\n", + "x1 = (0.0034*g*exp(-x/22000)*((x)**2))/(2*b) - g\n", + "\n", + "x2 = (a*g*exp(-x/c)*(Derivative(x)**2))/(2*b) - g\n", + "\n", + "#pprint(x1)\n", + "#pprint(Derivative(x)*Derivative(x,n=2))\n", + "#pprint(diff(x2, x))" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "** orphan text\n", + "This approach has many issues. First, of course, is the fact that the linearization does not produce an exact answer. More importantly, we are not linearizing the actual path, but our filter's estimation of the path. We linearize the estimation because it is statistically likely to be correct; but of course it is not required to be. So if the filter's output is bad that will cause us to linearize an incorrect estimate, which will almost certainly lead to an even worse estimate. In these cases the filter will quickly diverge. This is where the 'black art' of Kalman filter comes in. We are trying to linearize an estimate, and there is no guarantee that the filter will be stable. A vast amount of the literature on Kalman filters is devoted to this problem. Another issue is that we need to linearize the system using analytic methods. It may be difficult or impossible to find an analytic solution to some problems. In other cases we may be able to find the linearization, but the computation is very expensive. **\n" + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -869,7 +1004,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.4.3" + "version": "3.4.1" } }, "nbformat": 4, diff --git a/experiments/ekf4.py b/experiments/ekf4.py index 42074d3..080c956 100644 --- a/experiments/ekf4.py +++ b/experiments/ekf4.py @@ -40,8 +40,8 @@ def residual(a,b): return y -sigma_r = 0.1 -sigma_h = np.radians(1) +sigma_r = 1 +sigma_h = .1#np.radians(1) sigma_steer = np.radians(1) #only partway through. predict is using old control and movement code. computation of m uses @@ -130,8 +130,8 @@ def H_of(x, p): dist = np.sqrt(hyp) H = array( - [[-(px - x[0, 0]) / dist, -(py - x[1, 0]) / dist, 0], - [ (py - x[1, 0]) / hyp, -(px - x[0, 0]) / hyp, -1]]) + [[(-px + x[0, 0]) / dist, (-py + x[1, 0]) / dist, 0.], + [ -(-py + x[1, 0]) / hyp, -(px - x[0, 0]) / hyp, -1.]]) return H