From f8057cd917f337bd8c09794eec6d57806ac7e4fd Mon Sep 17 00:00:00 2001 From: Roger Labbe Date: Sun, 7 Jun 2015 17:03:35 -0700 Subject: [PATCH] UKF chapter updated for Merwe parametization. Chapter is not complete; checking in because I am beginning to alter the formulation of unscented_transform in filterpy. --- 09_Unscented_Kalman_Filter.ipynb | 1557 ++++++++++++++++++++---------- 10_Extended_Kalman_Filters.ipynb | 88 +- code/ukf_internal.py | 96 +- experiments/ukfloc.py | 32 +- 4 files changed, 1200 insertions(+), 573 deletions(-) diff --git a/09_Unscented_Kalman_Filter.ipynb b/09_Unscented_Kalman_Filter.ipynb index 812523e..c89f036 100644 --- a/09_Unscented_Kalman_Filter.ipynb +++ b/09_Unscented_Kalman_Filter.ipynb @@ -16,12 +16,20 @@ }, { "cell_type": "code", - "execution_count": 1, + "execution_count": 3, "metadata": { "collapsed": false, "scrolled": false }, "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "The autoreload extension is already loaded. To reload it, use:\n", + " %reload_ext autoreload\n" + ] + }, { "data": { "text/html": [ @@ -251,7 +259,7 @@ "" ] }, - "execution_count": 1, + "execution_count": 3, "metadata": {}, "output_type": "execute_result" } @@ -281,17 +289,17 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 4, "metadata": { "collapsed": false, - "scrolled": false + "scrolled": true }, "outputs": [ { "data": { - "image/png": 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v7ApOXdsPTXWJ0TYywQHDoqYgyLuTBAmJ2o6q2nJcyD+Gk1n7UKetMepXuQci\n3LcHQlVd4O7sJUHC5ouIiNB/rVQqJUxCRESWwqL6NuhEHTIKT+PY1RSUVRuvNd3AWe6GIZETEOgV\nbsF0RG1beY0aqRd+RU7pJZP9AgR08u+JPmHD4Sx3tXC65mFRTURkfyQtqq35xaauvg5nrx5BeuYJ\nHEnfa/LGLQ0cZI7o3n4QHkt8Ds5OLhZM2TrS0tIAALGxsRInMQ+ej3VLS0uDKIpw9KrF99v/jZq6\napPbebmrMGnoU3Bz8UDHwK6QyRwsnPT2tZXrHBERmQ/nVJuQXZiBL395H0VleU1uJ5M5YEDUMLR3\niYKrwtMmCmoiKQiCgJiIwfDx8Md/NrxrclnK0vIifPXrBwCAEP9OeHz0bPh7t0decRYAoJ1PCARB\nsGhuIiKiBiyqAVRWl+Ps1aM4m3EEWQWXkVVg+m1oAJAJMnRq3x0dg7piUPeR8PH0148cElHLdGgX\ngXnT/4PjF/cjv+Qa0s6loEht/MdtZv5FvP/tCxAEGcQ/brLUJaQX7h/6JFcOISIiSdhlUa0TdbhW\ncBmnrxzGmSuHcSX3XKN3P2zgJHdGTMRgjOr3APy8Ai2UlMj+KOTO6Nc1HgAwst8D+PKX93Hu6jGT\n24o3/H97LvMYFnz3AsIDu2Jw9Gj0jRzC26ATEZHF2NUrTk1tFZKObMCe41tQVmm8cocpXUN7Y1CP\nUegW1gcKuXMrJySiGzk5KvDUfX/D2qQvcPJyWqN3K73R5ZyzuJxzFptSv8fkhL+ie7htzD0nIiLr\nZvNFdV19LY5eSMWJi7/jfNYJVFZrbms/QZBh7MCHMKrfZM7TJJKQk6MCj4x8AcD1ZS0PnNmJnYfX\nI7coEyIa/5x1saYA/9nwLvy9guDm4glNZSlUygBMuGs62vuFWSg9ERHZC5spquvq6yCTyZBXnIWs\ngkuorq1EVv4lHL904LYK6XY+IegW1gcRwdFwkjtD5RkAH08/CyQnotslCAIGdBuOAd2Go6qmEuVV\nanh7+OLEpYPYdWQDLuecNdonvzQbKM0GABSqc7Fo9Svo3zUBnm7eUFcUw9PVC2HtuiDAJxg+nv5w\nsOJVRYiIyHq1qaK6qqYSInSQOyiQnnUcmfmXkFOUgYvZZ6AuL7qjx3KSO6NLSE90C+uLqA59WEAT\ntTEuCle4KK6vWx0TEYeYiDgUlOZg5+H1SD25rdHPSWi19Ug9td1kn6vCHb0j4hDi3wn12jp4ufsi\nxL8Trw+uIGkAAAAgAElEQVRERHRLkhbVOlGH6ppKODu5QCZzQL22DrnFmcjMv4RrBZdRWVMOiNdv\n+51deAWZ+RdbfEwXhRuG9ByD4X0nwkXhZoazICJr4ecViAeHPYN+XePxv22foECdc0f7V9aUY9/J\nbQZtAgSEtouAj4cfdDotvDx84eXuC2+P6/+Ubj5wc/aAk9wZIkRoKksBcLSbiMjeSFpU/98XT6Ci\nWgOZIIOT3Bk1ddUGn+Y3F1eFO/p3G4a+kXch2L8T394lsnEdg7ri/55YguzCK6isroAgAJezz+K3\nQz+jqrbyjh5LhIiM3PPIyD3f5HYODo4QIKBeW4d3pq1oSXwiImqDJC2qK/6Y66wTdai+wxe6mzWs\nV+uicEN4YFf4ePrDVeGOiOAe6NS+Gxwd5OaITERthEyQIdivo/77iOBoDOk1FmcyjiAz/yLqtXXw\ndPNBiaYA2YVXcDXvAuq1dc0+nlZbb47YRETURrWpOdU38nBRIrpTf7T3DUd7v44IDegEB9n10+Fq\nHURkiovCDX0i70KfyLuM+ipryrHz0DqcvnIYnq5e8HD1wuXcc8gvuSZBUiIiamsEURQbX5OqFajV\nt15nlojIViiVSqkjEBGRBcikDkBERERE1NaxqCYiIiIiaiGLT/8gIiIiIrI1HKkmIiIiImohFtVE\nRERERC0keVH91FNPoXPnznB1dYW/vz8mTJiAM2fOSB2rWUpKSvDCCy8gKioKrq6uCA0NxXPPPYfi\n4mKpozXbF198gYSEBHh5eUEmk+Hq1atSR7pjS5cuRXh4OFxcXBAbG4s9e/ZIHalZUlJSMG7cOAQH\nB0Mmk2HFirZ9g5EFCxagX79+UCqV8Pf3x7hx43Dq1CmpYzXbkiVL0KtXLyiVSiiVSsTFxWHTpk1S\nxyIiIguRvKju168fVqxYgbNnz2Lr1q0QRREjRoxAfX3bu5FCdnY2srOzsXDhQpw8eRLfffcdUlJS\n8PDDD0sdrdmqqqpwzz33YP78+VJHaZbVq1dj9uzZePPNN3H06FHExcVhzJgxyMzMlDraHauoqEDP\nnj3xySefwMXFpc2vx56cnIyZM2ciNTUVO3fuhKOjI0aMGIGSkhKpozVLSEgIPvzwQxw5cgSHDh3C\nsGHDMGHCBBw7dkzqaEREZAFW90HF48ePo3fv3jh37hwiIiKkjtNimzdvRmJiItRqNdzd3aWO02xp\naWno378/rly5gtDQUKnj3LYBAwagd+/e+M9//qNvi4yMxAMPPID3339fwmQt4+HhgSVLlmDq1KlS\nRzGbiooKKJVKrF+/Hvfee6/UccxCpVLhgw8+wFNPPSV1FCIiamWSj1TfqKKiAsuWLUNERATCw8Ol\njmMWarUaCoUCrq6uUkexO7W1tTh8+DBGjRpl0D5q1Cjs27dPolTUmLKyMuh0Onh7e0sdpcW0Wi1W\nrVqF6upq3H333VLHISIiC7CKonrp0qXw8PCAh4cHNm7ciF9//RWOjm32Dup6paWleOutt/D0009D\nJrOKH7VdKSwshFarRUBAgEG7v78/cnNzJUpFjZk1axZiYmIwaNAgqaM024kTJ+Du7g5nZ2c8/fTT\n+OGHH9ClSxepYxERkQW0SqX35ptvQiaTNfkvJSVFv/1jjz2Go0ePIjk5Gd26dcOYMWOg0WhaI1qz\n3On5AEB5eTnuu+8+/TxLa9Kc8yFqTS+99BL27duHH3/8sU3PFe/atSuOHz+OAwcOYObMmXjooYeQ\nlpYmdSwiIrKAVplTXVRUhKKioia3CQkJgYuLi1F7XV0dvL29sWTJEjzxxBPmjtYsd3o+5eXlGDt2\nLARBwObNm61u6kdznp+2OKe6trYWbm5uWLVqFSZNmqRvf/7553H69GkkJSVJmK5lbGlO9Zw5c/DD\nDz8gKSkJkZGRUscxq5EjRyI4OBjLli2TOgoREbWyVpljoVKpoFKpmrWvTqeDKIrQ6XRmTtV8d3I+\nGo0GY8aMsdqCGmjZ89OWODk5oW/fvti2bZtBUb19+3ZMnjxZwmTUYNasWVizZo1NFtTA9bnV1nQt\nIyKi1iPpxOWLFy9i7dq1GDlyJHx9fZGVlYUPPvgAzs7OSExMlDJas2g0GowaNQoajQbr1q2DRqPR\nT2NRqVSQy+USJ7xzubm5yM3Nxfnz5wEAp06dQnFxMTp06NAmPlD20ksv4fHHH0f//v0RFxeHzz//\nHLm5uXjmmWekjnbHKioqkJ6eDuD6H58ZGRk4evQoVCoVQkJCJE53555//nl89913WLduHZRKpX6e\nu4eHB9zc3CROd+def/11JCYmIjg4GBqNBt9//z2Sk5OxZcsWqaMREZEliBLKzMwUx4wZI/r7+4tO\nTk5iSEiI+Nhjj4nnzp2TMlazJSUliYIgiDKZTBQEQf9PJpOJycnJUsdrlnnz5hmcR8N/V6xYIXW0\n27Z06VIxLCxMVCgUYmxsrLh7926pIzVLw+/Xzb9j06dPlzpas5j6f0UQBHH+/PlSR2uWadOmiR06\ndBAVCoXo7+8vjhw5Uty2bZvUsYiIyEKsbp1qIiIiIqK2huu8ERERERG1EItqIiIiIqIWYlFNRERE\nRNRCLKqJiIiIiFqIRTURERERUQuxqCYiIiIiaiEW1URERERELcSimoiIiIiohVhUExERERG1EItq\nIiIiIqIWYlFNRERERNRCLKqJiIiIiFqIRTURERERUQuxqCYiIiIiaiEW1URERERELcSimoiIiIio\nhVhUExERERG1EItqIiIiIqIWYlFNRERERNRCLKqJiIiIiFqIRTURERERUQuxqCYiIiIiaiEW1URE\nRERELcSimszu3//+N7p37w5XV1fIZDLMnz9f6kh3bPny5ZDJZFixYoXUUYiIiKgNYFFNZrVq1SrM\nmjULWq0Ws2bNwttvv42EhASpYxlpKJobK/gFQdD/IyIi6chkMoSHh0ua4VavGUQA4Ch1ALItGzdu\nBAB888036N+/v8Rpbq2xonnixIkYNGgQ2rVrZ+FERER0M2sZ4LCWHGSdWFSTWWVnZwMAAgICJE5y\ne0RRNNnu6ekJT09PC6chIiJr1thrBhHA6R9kJm+//TZkMhl27doFAAgPD4dMJoNMJkNGRgZkMhmm\nT59uct9p06ZBJpPh6tWr+rYrV65AJpMhISEBRUVFePrppxEYGAhnZ2f06NEDy5cvbzTL9u3bMW7c\nOAQEBMDZ2RkhISFITEzUj6JPmzYNM2bMAADMnz9fn1MmkyElJQVA03Oqjx49iilTpiAgIAAKhQKh\noaF48sknceXKlUZ/LitWrEBSUhLi4+Ph6ekJpVKJxMREnD179nZ+vEREVu2nn35CQkIClEolXFxc\n0K1bN8ybNw8VFRUG24WFhTU6lePm6+6uXbsgk10vUxpeExr+3fh60jA9RK1W47nnnkNQUBBcXFzQ\no0cPLF261Og4DY/b2FSO+Ph4/XGB23vNIAI4Uk1mkpCQAEEQsHz5cmRkZGD27Nnw8vIy2Kapt80a\n6ystLcXgwYOhUCgwZcoU1NTU4IcffsCMGTMgk8kwdepUg+3nzZuHd955B+7u7pgwYQJCQ0ORk5OD\n/fv34+uvv0ZiYiImTpwItVqN9evXIz4+HvHx8fr9w8LCmsy1efNmTJw4EaIo4v7770enTp1w7Ngx\nfP311/j555+xc+dO9OrVy+g8Nm7ciPXr12Ps2LF49tlncerUKWzatAkHDx7E6dOnoVKpGv3ZEBFZ\ns7///e949913oVKp8Mgjj8DLywvbtm3DO++8gw0bNmD37t1wd3fXb3+rKRQN/eHh4Zg3bx7mz58P\npVKJOXPm6Lfp3bu3wT61tbUYMWIENBoNHnvsMVRXV2PNmjWYOXMmzp8/j48//rjR4zSVAUCTrxkd\nOnRo8lzIzohEZjR06FBREAQxIyND33b58mVREARx+vTpJvd54oknGt1HEATxqaeeEnU6nb7v9OnT\noqOjo9itWzeDx9m6dasoCIIYHh4uZmVlGR3nxrZly5aJgiCI8+fPN5mpoX/FihX6tvLyctHX11d0\ndHQUd+3aZbD9V199JQqCIEZHRxu0z5s3TxQEQZTL5eLOnTsN+t544w1REATxww8/NJmBiMjapaam\nioIgiCEhIWJOTo5BX8O1febMmfq2Dh06iOHh4SYfy9R1VxRF/XW9MQ2vFUOGDBFra2v17YWFhWJ4\neLgoCIK4b98+fXtSUlKT1/+hQ4eKMpnMZLbG9iESRVHk9A+yam5ubli8eLHBqEFUVBTi4uJw9uxZ\nVFZW6tv//e9/AwAWLlyI9u3bGz2WqbY7sW7dOhQVFWHSpEkYOnSoQd+MGTPQp08fnDx5Evv37zfa\n96GHHjJaBeXpp58GABw8eLBFuYiIpPLVV18BAP72t78ZfbD7ww8/hLOzM5YvXw6tVtuqOQRBwIIF\nCyCXy/VtKpUKb7zxBgBg2bJlrXp8IoBzqsnKRUREGLxt2CAkJASiKKKkpETftn//fgiCgDFjxrRK\nlsOHDwMAhg0bZrJ/xIgRAIAjR44Y9cXGxhq1BQcHA4DBORARtSVNXRf9/f0RHR2NiooKnD9/vlVz\nODo6Ii4uzqi9YQDk6NGjrXp8IoBFNVm5m+dlN3B0vP5xgBtHP0pLS+Hp6QlXV9dWyaJWqwGg0WX2\nGtpLS0uN+kydh6lzICJqS9RqNQRBaPS6GBgYCMD0ddGcfH19Tc6R9vf3B/Dn9ZuoNbGoplbX8Cnq\n+vp6k/3muth6eXmhrKzM6NPm5qJUKgEAubm5JvtzcnIMtiMisnUN17uG69/Nbr4uymSyVnktKCws\nNLncXV5ensHxGzIArf+aRPaHRTW1Om9vbwBAZmamUV99fT2OHDlilgX1Bw0aBFEUsXnz5ltu6+Dg\nAODORon79u0LANi5c6fJ/ob2hu2IiGxd3759IYoikpKSjPry8/Nx8uRJuLu7o0uXLgCuvx7k5eWZ\nLGgb+3yJIAi3vFbX19dj7969Ru3JyckAgJiYGH1bw2vSjcu4NlCr1SanqjTnNYPsD4tqMrubC2QP\nDw9ERUVhz549OHnypL5dFEXMnz/fZLHdHC+88AIAYO7cucjKyjLqv3btmv5rX19fAEBGRsZtP/6E\nCROgUqmwdu1a7N6926Bv+fLlOHToEHr06IEBAwY0Jz4RUZvTsH7z+++/rx8VBq5f31977TVUVVXh\niSee0BelAwcORF1dHb788kuDx9m6dStWrVpl8hgqlQoFBQWorq5uNIcoivjb3/6G2tpafVthYSEW\nLFgAQRAM1rWOioqCUqnEunXrDDLX19dj9uzZJo/TnNcMsj9cp5rMztRbcK+99hqmTZuGu+66C5Mn\nT4abmxv27t2LrKwsxMfH628a0xIjR47EW2+9hXfeeQfdunXD+PHjERoaivz8fOzfvx+dO3fGzz//\nDACIi4uDm5sbVq1aBblcjtDQUAiCgKlTpyI0NNTk47u6umL58uWYNGkSRowYgUmTJiE8PBzHjx/H\npk2b4O3tjW+++abF50FE1FYMHDgQb7zxBhYsWIAePXpg8uTJ8PT0xPbt23HkyBH07NkTCxYs0G//\n4osvYtmyZZg5cyZ27tyJsLAwnD59Gtu3b8ekSZOwdu1ao2OMGjUK33//Pe655x4MGTIECoUCvXv3\nRmJion6bwMBAVFVVITo6GuPGjUN1dTXWrl2LvLw8zJo1CwMHDtRv6+joiDlz5uDtt99GTEwMJkyY\nAEEQkJSUBEEQ0KtXLxw7dswgQ3NeM8gOSbeaH9mi+Ph4USaTGaw53WDFihVidHS0qFAoRD8/P/HR\nRx8Vs7KyxGnTphnt07BOdUJCgsnjmNqnwZYtW8SxY8eKKpVKdHJyEkNCQsT77rtP3LRpk8F227dv\nF++66y7Rw8NDFARBlMlkYnJysiiK19cklclkRuuliqIoHj58WHzggQdEf39/US6Xi8HBweKMGTPE\ny5cvG2379ttvN/o4oig2eY5ERG3FmjVrxKFDh4qenp6iQqEQo6KixLfeekssLy832jY1NVUcNmyY\n6ObmJnp6eorDhw8X9+zZIy5fvtzk9bKgoECcOnWqGBgYKDo4OIgymczgvgcN61ir1Wrx2WefFYOC\ngkSFQiF2795dXLJkSaOZFy1aJEZERIhOTk5iUFCQ+Nxzz4nFxcX617GbNfWaQSSKoiiIIm9kT0RE\nRG2TTCZDWFgYLl26JHUUsnOcU01ERERE1EIsqomIiIiIWohFNRERERFRC1l8TjXvakRE9sSebgbE\n6zsR2ZObr+8cqSYiIiIiaiEW1URERERELSTpzV9s5W3RtLQ0AEBsbKzESczDFs8ntl8/wEZWj7TF\n5wewnfMBOA0CAC7ln0RMxGDJjm9Nv1fMYpq1ZLGWHACzNMaasjR1fedINRERmd2l7DNSRyAisigW\n1UREZHYOMgepIxARWRSLaiIiMjutTit1BCIii2JRTUREZieKOqkjEBFZlKQfVLQV9do6VNaW4dzV\nYyjWFKBEU4ASTSHKq9SoqqlAVU0FKqvLUVVTgbr62us7CQKEP/7rIDjAzcUD7i5KuLsq4e7iCQ8X\nJfy8ghDk2wGBqlC4KNykPEUiojui07GoJiL7wqL6NomiiLKKEuQWZyKvJAv5JdeQV3IN+SXZKNEU\nXN/o8B09IEQAEAEdtCgtL0JpeVGjm3u7+yLQtwNC/TujS2hPhLXrAgcHPn1EZJ10Iqd/EJF9kbQq\n+3Tt/6F7eD/06NgPAd7tpYxiQFNZipyiTOQWX0VOUSZyijKQU3QVVTUVkmUqKS9ESXkhTl85hC0H\nVkMhd0ZEcDS6hPZCVIcY+FvRz4+IiCPVRGRvJC2qL1w7hQvXTmH9nuXw8wpCl5CeCA2IQIh/J7RT\nhbTqp8e1Oi2Ky/JRqM5FQWk2cosykVOcidziTFRUlbXacc2lpq4aJy8fxMnLBwEAIf6d0D8qAX0i\nh8DD1TbW/yaitkvHOdVEZGesZv5AQWk2CkqzgRNbAAByRye09wtHkKoDvD184eWugpf79f96uHrB\n0UEORwdHyG4ovEVRRF19LWrqqlBbV4Oq2gqUVZSgtLwY6vIiqCuKUVpehEJ1LorUedDq6s2SXYAA\nV4UHAlTt4e3h98c/X3i6esPV2Q2uCne4KNzgonCHk1zREPb6fyCiXluPiqoyaKrUKK9UQ1OlRml5\nEfKKM5FdmIH8kmu3fIHKzL+IzPyL+Hn3MnQL64v+XePRo2M/ODrIzXKORER3giPVRGRvrKaovlld\nfS2u5JzDlZxzTW4nCDI4OjhCEGSoq6vBHzOVW4WT3BntfELQzicY/l5B8PdujwCfYFy9mA0HmWOz\n7/Tj6CCHs5MLVMoAk/119XXIL7mGrIKLOHf1OM5lHoOmstTktjqdFicvHcDJSwfg5a5CfMw4xPUY\nBWcnl2ZlIyJqDo5UE5G9kbSonjT0SZy8fBAXsk41e9RYFHV/rqhhJnIHJwT4BKOdKgSBqg4I9AlB\noG8ovD38IBOMVyG8djnfrMc3yuMoR3u/MLT3C8OAbsMhiiKyCzNwLvMoTl8+hPSskyb/mCgtL8K6\n3cuw9cAPGNJzLIb2vhcerl6tmpWICLj+Bz4RkT2RtKge2jsRQ3snorq2CheyTuJq/gVk5l/E1bwL\njY7EmlPDsnV+XoHw8w5CoCoU7XxCoPL0N5hWYm0EQdAX2cP6TECJphBp51Jw4MxO5BVnGW1fVVOB\nbQfXIOnwegzqMRKj+0/hvGsialUcqSYie2MV0z+cnVzQo+P1VUCA63Oj1RXFyMy/iOKyfJSWF6JU\nU6Rfdq6yWoN6bT3qtXVGI7RyByc4OTlDIb/+z8NFCaW7Cko3HyjdfaB084GPpz/8vAJtZu1nbw9f\njIy9HyP6TkRm/kXsP7UDv5/ZaTSCX6etRcqxX3HgTBJG9nsA8b0TIXd0kig1EbU1oihi7Nix2Lp1\nK9asWYNJkyY1ui2LaiKyN1ZRVN9MEIQ/PpiouuW2Wp0W9do66HQ6OMkVrbpiiLUTBAGhAZ0RGtAZ\nYwY+jN3HNiHl+CZUVmsMtquurcQve7/BnuObkRj3GPp2GWJyWgsR0Y0++ugjODhcv8YKgtDktpz+\nQUT2xqyV1IIFC9CvXz8olUr4+/tj3LhxOHXqlDkPYcRB5gCF3BkuCle7Lqhv5uGqxNhBD2P+jC8x\naeiT8PbwM9qmRFOAb7f+C4tXvYrM/IsSpCSituLgwYP49NNPsWzZstvaniPVRGRvzFpUJycnY+bM\nmUhNTcXOnTvh6OiIESNGoKSkxJyHoTugkDtjaO9EvDl1KSYMmW5yysvV/AtYtGou1u1ehpq6aglS\nEpE102g0eOSRR/Dll1/Cz8/4D3RTOFJNRPbGrNM/tmzZYvD9t99+C6VSiX379uHee+8156HoDskd\n5RjWZzwGdBuGrQfWYPexTQYrroiiDjsPr8fRC6mICR6O9t6dJExLRNbkmWeewdixYzF69Ojb3ocj\n1URkb1p1TnVZWRl0Oh28vb1b8zB0B9ycPXD/3TMwpOcYbNj7DY5dSDXoLy7Lx2+nVyLcrweiukfC\nzcVToqRE1JrefPNNvP/++01uk5SUhKtXr+L48eNIS0sDcP3Dijf+tzFlZWr9PlKyhgwNmMU0a8li\nLTkAZmmMNWSJiIhotE8Qb3VlbIEpU6bg4sWLSEtL03+oRa1W6/vT09Nb69B0m7KKL+D3S5tQUWN8\na3YXuTsGR9yHIBsYtY7t1w9pBw9KHYPsxI0XXaXSOpevLCoqQlFRUZPbhISE4LnnnsM333wDmezP\n2YJarRYymQxxcXFISUnRt994ff/0x//DmJ7TzJ6biEhKTV3fW22k+qWXXsK+ffuwZ8+eW35KnKQT\n7NMZAcpncDRjF87mHDRYorCqrhw7Tq9EVGB/xHRI4C3PiWyISqWCSnXrFZbee+89zJ07V/+9KIqI\njo7GRx99hPHjxze6n0yOZt9l1hwaRrSkzNCAWUyzlizWkgNglsZYU5YbBw9u1ipF9Zw5c/DDDz8g\nKSkJYWFhjW5nDT8cc7CmJ7u5Bg2IQ0ZuOlb+tgTZhVcM+s7kHEBpbS6mjp6D9n7h0gRsAVt4fm7E\n87F+TV1025qgoCAEBQUZtYeEhDR5fW/FN0GJiKyS2RcnnjVrFlavXo2dO3ciMjLS3A9PrahDuwjM\nfWgRooMHQ4Dhuws5RVexaPVcJB3ewBdLIrqlm68hRES2zqwj1c8//zy+++47rFu3DkqlErm5uQAA\nDw8PuLnZxt0LbZ2DgyNiOiQgyLsTDmZsQXFZvr5Pq63Hz7u/xsXs03hk5Ey4KtwlTEpEUtHpbr2y\nR3mV7YzWExHdDrOOVH/22WcoLy/H8OHD9W8ZBgUF4aOPPjLnYcgCAjxD8dojH6N/VIJR3/GL+7Hw\n+5dxNe+CBMmIqC2oq6+VOgIRkUWZdaT6dkYvqO1wUbjisVGz0D08Fqt2LEFVbaW+r6gsD/9a8zru\nHzIDd/Ucww+jEpGB2voaaHVa3umWiOyG2edUk+2JiRiMuY8sRoi/4dJ6Wm091uz6Aiu2LOadGInI\nCEericiesKim2+KrbIfZkz/A3b3GGvUdPr8bi1e/ioLSHAmSEZG1kjs6SR2BiMhiWFTTbZM7yvFA\n/NOYPnYuFE4uBn05RVexaOXLOHVZ+rsdEZF1EHmrciKyIyyq6Y7FRAzG3Ic+QpCqg0F7VW0lvtjw\nHjb/vho6vpgS2b2Kao3UEYiILIZFNTWLv3cQ5jz4T/SNHGLQLkLE5v0r8d9fFqCqpkKidERkDUo0\nhVJHICKyGBbV1GwKuTOm3vMSJg6ZAZlg+Kt08vJBLF79GvJKrkmUjoikVlldLnUEIiKLYVFNLSII\nAhL6jMNzE+fD3UVp0JdXkoWPVs3lPGsiO8U51URkT1hUk1lEhkRj7sOLEOrf2aC9+o951tsP/sjb\nmxPZGU4BIyJ7wqKazMbbww8vTn4P/brGG7SLEPHLvm+xfPMirmdNZEeyCi5JHYGIyGJYVJNZOTkq\n8NioWZg4ZAaEm+ZZH0nfi49/eB1FZXkSpSMiSyoqy5c6AhGRxbCoJrPTz7OeMA+uCneDvmuFV7Bo\n5Ss4n3lconREZCnVNZVSRyAishgW1dRquoT2wisPL0KgKtSgvaJag6U/v42kIxs4z5rIhvFdKSKy\nJyyqqVX5KtvhpSn/RK/OgwzadaIOP6d8jf9t/xS19TUSpSOi1lReVSZ1BCIii2FRTa1O4eSCGWNf\nReKgRyFAMOg7cCYJH695gyNaRFaspKQEL7zwAqKiouDq6orQ0FA899xzKC4ubnI/3lmViOyJ2Yvq\npUuXIjw8HC4uLoiNjcWePXvMfQhqgwRBwKj+k/H0uP+Ds5OrQV9W/iUsXPkKzmQckSgdETUlOzsb\n2dnZWLhwIU6ePInvvvsOKSkpePjhh5vcr7auGjqd1kIpiYikZdaievXq1Zg9ezbefPNNHD16FHFx\ncRgzZgwyMzPNeRhqw7qHx+LlhxYiwDvYoL2yWoPP1/0DWw+s4egWkZXp3r07fvzxRyQmJqJjx464\n++67sXDhQuzYsQPl5U3fNfFyzlkLpSQikpZZi+rFixdj+vTp+Mtf/oIuXbrg008/RWBgID777DNz\nHobauADv9njpwQ/Rs9NAg3YRIn5N/R++2vgBbxpBZOXUajUUCgVcXV2b3K6gNNdCiYiIpOVorgeq\nra3F4cOH8eqrrxq0jxo1Cvv27TPXYchGuChc8Zd7X8OOtJ+wMfV/BrczPnHpABaufBnTxryC0IDO\nTTwKEUmhtLQUb731Fp5++mnIZE2PzRw59Tscq5QWSmYsLS1NsmPfjFlMs5Ys1pIDYJbGWEOWiIiI\nRvvMNlJdWFgIrVaLgIAAg3Z/f3/k5nKkgowJgoCR/SbhuQnz4ObsYdBXqM7Fv9a8juSjG7nsHlEr\nefPNNyGTyZr8l5KSYrBPeXk57rvvPoSEhODDDz+85TGyStJbKz4RkVUx20h1c1jDXxzmxPNpvtE9\npkdVJ7cAACAASURBVCH57FoUlefo27TaevyY/F8cOLEbcRGJUDi6tOgYfH6smy2dT1MjGdZkzpw5\nmDp1apPbhISE6L8uLy/H2LFjIZPJsHHjRjg5Od3yGJrqEkT36gGF3LnFee9Ew+9TbGysRY9rCrOY\nZi1ZrCUHwCyNsaYsarW60T6zFdW+vr5wcHBAXp7h0mh5eXkIDAw012HIRrkrlLgn+gkcvLwd53MP\nGfRlFp/DxqO5uDtyIvw8gxt5BCK6UyqVCiqV6ra21Wg0GDNmDARBwObNm285l/pGv5/+DXf3ure5\nMYmI2gSzFdVOTk7o27cvtm3bhkmTJunbt2/fjsmTJ5vcxxr+4jAHa/oLyhykPJ8B/QfiSPo+rNzx\n/1Bd++ctjitq1Nh68huM7PcARvefDEcH+W0/Jp8f62Zr5wM0PZLRFmk0GowaNQoajQbr1q2DRqOB\nRqMBcL0wl8ub/v9x3e7luKvnGMgE3hqBiGyXWa9wL730EpYvX46vvvoKZ86cwaxZs5Cbm4tnnnnG\nnIchGxcTEYdXH1mMUH/DDynqRB22HvgBi1e/huzCDInSEdmfQ4cO4ffff8eZM2cQGRmJoKAgBAUF\noX379khNTb3l/vXaOqSdTbZAUiIi6Zh1TvWUKVNQVFSEd999Fzk5OYiOjsamTZsM5uQR3Q5fZTvM\nnrIAG/Z+i11HNhj0ZRVcwsJVLyNx0KNIiBkHmcxBopRE9iE+Ph463Z2tH+/hooSm6s8R+++2fYIf\nd30JTzcfQAAECBCE63dYFSAAwg33WxWEP9r+2O7GfpN9MNqm/I+R9P0Z6432afje1OM1PMb1bDdt\ncz3sDdkbyXTTeRUVFgIQkF76O653mTjvhkx/9Jv62eiP2bDNTT830/2Gj5GdnQ1AQLHu8g25DR//\njzhGj6HPZOLcm+ozeLwbtruc/0eGc5VGfQ2PcfM5/dnfSKYm+/7M8Oe9fQXkl12/l8blHPeb+k0/\nxh/JbjqnP8/T8HkxfAyD58Qok4DKWg0ECCirKDGd2eRjNNWnfzZM/K4Z3uGYWk4QLby0wo1viyqV\n0i2zZE629va1tZ3PqctpWPnbkj8uMoY6BkbhweHPIVDV+B9uaWlpiO3XD7CRVUSs7flpKVs7H8A2\nr3P/v707D2+qzNsHfp+TtGnapmlJF+jG2gItyGLZKqKsUgTEV1FAwWV+Mgg4LK4zFzqvjgIj4iDv\nBbjNy6AMssi8qAiISmnFVqVA2ZfKUugKpFtauibn90dLSJq00CTtSdv7c12xyXO2+7SYfnP6PM+5\nE5bnfT7/OP61+z0Z0xAR2Tdt9DzE9xnr0LaNvb+zgxu5vdiucfjzEx9gYPRwm2UXck/j75sW4uuf\nP0dVdaUM6YjIngFR9yBU11nuGERENjb/uAZnLx91+X5ZVFOr4KP2w9MJL+Gp8S/CW+VrtcxkMuKH\ntO1Y+vl8HL/wm0wJiciSIAh44ZG/sbAmIrekL8m//UpNJOs81URNdXfPe9EjLBZf/LgGpy5ZT71X\nYLiGT75Zir7dBuOh4U8jOCBUppREBNR+GH71iVUoMFxFTU01JEh1vbCkups6WbxGbfcs6+W4tZ7l\n8/r7sLPs7NmzAIDo6GhIkuX+JZv92y67tf+6JRbLrfdxc7ntsrpkkoRLly5BgoTOnW99wDAft4F9\n1C4zn51tJovtLRLaWW65Dwl7D37ZxJ8iUdsT7B+K/lHxLt8vi2pqdbS+HfDHyUuQ/nsq/pP0KYrL\nCqyWH7/wG05eTMPQ2DEYP+RxmVISEVB7xVrnF3L7FV2sJL8KANAzsl+LH7s+j4q6cQN95R03cD77\nZJstqgWh9g6gClEJhSBCFBVQiMq6O4Peeq4QFBAVCigEBQRRhAABpaWlEAQBGo2f9UA+i+e3BmuK\n9gcF2hngKgjiHQ9srT+oNSgoyP6AVEGAaGdQpr3BrALE2wxyrfc9rNdQO6gVCA2td4FKqL/m7X42\nt1tbsPivfdnZ2QCAsLAwcwb7e7LTXm/dkIAw9Ok2qFmm+GRRTa2SIAgYEBWP3p0HYNcvXyA5fSdM\n0q3ZCUySCSkn9uLg6f2I7ng32s4QOCKyJ1d/BVnXztfNUiLhYv5FSJBQdaIQUt17gyRJkCST9VXd\nuiu6VlefpZtXv03mK8k3t6ttQwPb2G/Lz8+HBAkXDYdvHV+SIMFkvqItSZL56rLVvqyOX3fl2SKL\neV8WV65NN6+A12u7nP97C/9UHDNt9FxEBPeAoq5IFkWFuWAWBQUUoghRVEJR1y6KCqcKJHcaLM0s\n9rlTlsawqKZWzctTjf8a8SyG9B6JLYkf4lLuWavl1cYqnMyunUf36wOf4d5+CQjQBMkRlYhczCSZ\ncOriIaSc2IsTFw/aXSfVjerIs7lyJ2gdDDeKERHcTe4YRE3GoprahLCgrlg4dRnSM1Lwbcq/ca3Y\n9rfXD4f+g32Hd6B/VDzu6z8JXTv1lCFpy6qqqYThRhEMN4qtvlZWlaPGVIMaY7X5AQAqDzVUHl5Q\nearh5aGGl6caHfyCEajtCH9NIBScE5zcxPXiPGz87gNcyD0tdxRyIQECuofFyB2DyCGcp9oFWsuf\nJe5Uaz8fo7EGv5z6EXt+3WLub73sL7vgc6Na5mTUXhQXFZmft5X3uTth+f7u799+zpuI2o+ioobr\nWF6ppjZHoVDinr4PYFDv+/HT0V3Y/ctW/HnphAbXF0UFekb0w8Do4bir+xCoVT4tmPbOVVSVI1d/\nGb8cTkbRjeuQPKqQX5CFQsM1WXMFB4ShW6de6BHeB326DoK3l+/tN7LQ2j/E2WVRXLZXzXG55nL+\n79j1yxc2M//c5O+rQ/ewWChEBfR6PQABQYGBtYPLbAZuiTZ3sxMEiwFlFoPHRJs2mAesWa5nuY9b\nA9MEZGVlAQAiIyMtthMt7rR3a/Cb1bHqnttrszwHoa4/cUPnYNl27tw5CAB69epVt51FZljsS7A4\n33rnVf98AdT2aa77Hlt+Xz2UnlB5eEGp8LD5ebnL//vukgNgloa4U5bG3t5ZVFOb5alUYfTdD8On\npiMuXDuOi4XHkF+QZbOeyWTE6czDOJ15GJv3KdE9NAbdw2LRIywGnTtGw1OpatHc5ZVlyCvIQn5B\nFvILryBPn4VcfSYKZC6eG3K1MBtXC7Pxy6kfzR9Q+vcYhr7dh8BX7Sd3PGojDp1Nxsa9q2E01dgs\n6xEWiwnDZqBbaG/zgDV3+iWcZqrL0l/+LCX5tTfJ6h4WK3MSoraHRTW1eUqFB6I7DsT0B5/Dmcvp\nSDryDU5lHra7rtFYg3NXjuHclWMAAIWoROeQKESG9EBQQCiC/UMR5B8Kf43O4dHmJpMRpeUl0Jdc\nRUFJPvTF+dCXXIW+OA/5hdk2UwQ6QxBE+Hn7Q2N+aKHx1kLt6QOl0gNKxa2HJEmorK5AZVV57dfq\n8tqcxfm4XpyH0vLbX321/ICyZd86RIX3xbA+Y9Gv+1AoFHy7oaYzGmvw9c+fIfHI1zbLPJUqTB05\nG4N6j2yW6bGIiJqCv+Wo3RAEAb07D0DvzgNwtTAHh84m43DGAbtXr28ymmpwIfe0zWAoD4Un/DWB\nUHt6w0vlDbXKB2pPb3h6qGA0mWA01cBkMsJoMqKmpgql5SV1j2LcqCg132zCNeclIkjbESEdwhHk\nH4pAbUfotCEI1HZEB02Qy4rZ8sob0JfkIb8gCxdzz+BCzhlkX79knq6sPpNkwtkrR3H2ylFofXUY\n3vcBxPcZB423v0vyUPvwP/95HRdybAcjdg6JwrTRcxEW1FWGVEREtlhUU7sUHBCKhKHTMH7I48jV\nZ+LwuZ9x5NwBu7OG2FNtrMK1opxmTmlNFEQE+YdCJfrC3zsIA/sMQccO4QjyD4OH0ra/oqupVd4I\nD+qG8KBuuLvnCAC1/bwz884hI+s40n9PxdXCbLvbFpfq8W3qJuz5bSsGRg3HqIFTEBbUpdkzU+t2\nIeeM3YIaABY//u4d3FSCiKjlsKimdk0QBIQGdkFoYBc8OGwGrhXl4nzOKZzPPonz2aegL8lv8Uyi\nqECQfyd0DAhHSIcIhHQIR6guEsEBYfBQepr7ig6Mlr9/ppenGj0j+6FnZD88OOwJ5BVcQXpGCo7+\nnoocfabN+kZjDQ6e2Y+DZ/ZjYPRwJAydLkNqctTatWuxYsUK5OXlITY2FqtWrcLw4cOb5ViX8s5h\n1bbXbNr9fXWY9/CbLKiJyO2wqCaqIwgCggNCERwQimGxYwAAhYZruJh7FlcLs3GtKBdXi3JwtTAb\n5ZVlTh3LW+ULf00gdH7B0PmFQKcNgc4vBEH+nRCo7dgq+x8LgoBOukh00kUiYeg05FzPxE/HduPg\n6URU1VTarH/43AEcyUhBt6C+6BdxrwyJqSm2bNmChQsXYt26dRg+fDjWrFmDhIQEnDp1ChERES4/\nXnL6t3bb//vZT9h/mojckst+cxcWFuKNN97ADz/8gMzMTAQGBmLixIl4++230aFDB1cdhqhFBWiC\nbO7AKEkSyioMKC0vRnnlDVRU3UB5ZRnKK8tQXVMFhaiAQnHzFroKKBUe8PHSwFftB1+1Fj5emlZZ\nNDdVaGBnPD5qDibd8yR+PbkPPx3bhevFeVbrSJIJ568excVrx3G95iImDJ3e5Cn5qGW8//77eOaZ\nZ/CHP/wBALB69Wrs2bMH69atw9KlS116rKuFOUg7m2TTvuDRd1hQE5Hbctlv9pycHOTk5GDFihWI\niYlBVlYW5s6di+nTp+O7775z1WGIZCcIQl2BzOni7oS3yhcjB07GfQMm4uTFNOxK3YTs65es1jFJ\nJiQf/RaHzx3AQ8NncTYHN1NVVYXDhw/jlVdesWofN24cUlJS7G5Tv3dGQ/NW2+/FEYoXVlm39Ok2\nGN3DYhtYv6n75/pc31IcDh5Mc5M8cc28/6asf6uLofx5rLs7ypnH4t5eNlxWVMfGxmL79u3m1926\ndcOKFSswceJElJaWwteXV5+I2jNRENG322DEdo3D0d9TsSv1C+QXWs+8UlpejH9//z9IPfEDpo6c\nzZkd3MT169dhNBoREhJi1R4cHIy8vLwGtnKt8YMfa5HjEBE5qllvU75582Y8++yzKC0thSjWXnXi\nbcrdH8/HvbWV8zGajEg7k4SvkjegtNJ2DmxBEDGi3wRMHPYEVJ5qGRI6rq29z+Xk5CA8PBzJyclW\nAxPfeustbNq0CWfOnAFgfd4ZGRkOHWv/mS9xWX/Gqm1cn5noqO3s0P6IiFwpKirK/LzFblNeVFSE\n119/HbNnzzYX1ERENylEBYbEjAJKvXEyOxUns1NRbawyL5ckE5LSd+LExYN4Yuyf0IN3gJNNYGAg\nFAoF8vOtZ8PJz89Hp06dXHac8qoyXCk4Z9UWGxbPgpqIWoXbXqlesmTJbQeh7N+/HyNGjDC/Li0t\nRUJCAjw8PLBnzx54enqal7niSgYRtT2GikIcvLAXWYX23xd6hw7BgMj7oVQ0/5zczmrsSkZrNXTo\nUPTr1w8fffSRuS06OhpTp07FO++8A8D5K/Rb9n2In4/vMb8O8g/FkllrHJo+z53+osMs9rlLFnfJ\nATBLQ9wpS2Pvc7e9Ur1o0SLMmjWr0XUsp1MqLS3FhAkTIIoidu7caVVQExE1ROMVgFExj+NKwTkc\nvLAXpZXWo0FO5/yK7MLfcU/UZARpwmRK2X4tXrwYM2fOxODBgxEfH48PP/wQeXl5mDNnjkv2ry/O\ntyqoASC+z1jOR01ErcZti2qdTgedTndHOzMYDEhISIAgCNi9eze8vb0bXd8dPnG4gjt9gnIFno97\na+vnE4c4PFj9CL5J+RxJ6Tut1i0p12PP8Q14YPBUjB/8GERR0eJ574TllYy24rHHHoNer8fbb7+N\n3Nxc9O3bF7t27XLZHNUpJ/batMX3ecAl+yYiagku61NtMBgwbtw4GAwG7NixAwaDAQaDAUBtYe7h\n4f5/siUi9+DpocIj9/0/9O02BJu+X40CwzXzMkkyYc+vW5CRdQJPjV8Mf987+9BPznv++efx/PPP\nN8u+M/PO2bSpVY1fmCEicicuG0F46NAh/Prrrzh9+jSio6MRGhqK0NBQhIWFITU11VWHIaJ2JDqi\nL157cjXi+4y1WXY++yT+/u+FOHnR/vyy1HoYjTU4l3Xcqi2my90ypSEicozLiur7778fJpMJRqMR\nJpPJ/DAajVaDGImImsLLU41po+dhzkOvQ6O2HhRSVmHAR1+/jf9L/l/UGKtlSkjOOlCvLzUAxPXk\n7w0ial041x0RtQoxXe7Gq0+sQs+IfjbLEo98jQ+2/QWFFt1EqPU4ceGgTdtd3YfKkISIyHEsqomo\n1fDzCcDzD/8Vk+Jn2tzGPDM/A+9+8SLOXj4qUzpylI/az+q12tMbnh4qmdIQETmGRTURtSqiIGLs\noEfwp0eXIkATZLWsrLwEa3e8ib0Hv4RJMsmUkJrCJJmQceWYVduUEc/KlIaIyHEsqomoVeoW2guv\nzvgHYrtaTy0oSSbsTNmIf+5cjvLKMpnS0Z0qMlyHodx6CkL2pyai1ohFNRG1Wt5evnhu0l/w4LAZ\nEGB9k5DjF37De1+8hFz9ZZnS0Z2oMdbIHYGIyCVYVBNRqyYKIh4Y/BjmTHkD3l4aq2XXinPx/pZX\ncOz8LzKlo9vJK7D+0OOpVNn0lyciag34zkVEbULvzgPwyvSViAzuYdVeWV2BT3cux67UL9jP2g1t\n3/+p1Wu1ygcKhcvuS0ZE1GJYVBNRm9HBLxgLpi7F0NgxNsv2/LYFn+5cjvLKGzIkI3sqqytQWHrd\nqi3Qv5NMaYiInMOimojaFA+lJ6aPnoep98+GKCqslp248Bve3/IKrhZmy5SOLJXWG6AIAL0j+8uQ\nhIjIeSyqiajNEQQB9/abgPn/9RZ8692FMb8wCys3v8zbm7sBf99Am7ahsba3pCciag1YVBNRm9Uj\nLBYvT38PEcHdrdrLq27g46/fwfcHt0OSJJnSUUHJVZs2X28/O2sSEbk/FtVE1KYFaIKwYOpSxPW6\nz6pdgoRvUj7Hv3a/h8rqCpnStW9F9fpTA0CRQS9DEiIi57GoJqI2z1OpwsxxC/Hwvc9CqDdd25GM\nn7Fq62vQl+TLlK79Uio85Y5AROQyLKqJqF0QBAEjB07G3Cl/hbfK12pZ9vVLWPHFSziTmS5TOve3\nbNkyDBo0CFqtFsHBwZg8eTJOnjzp1D4rqmxnYungF2RnTSIi9+fyolqSJCQkJEAURWzfvt3Vuyci\nckrPyH54cdoKdNJFWrXfqDBg3Vdv4Ye0/7CftR1JSUmYP38+UlNTsW/fPiiVSowZMwaFhYUO7/PD\nr/5m9TpAw4KaiFovlxfVK1euhEJRO42VIAi3WZuIqOUF+XfC4sf+jn7dh1q1S5IJX//8WW0/66py\nmdK5pz179uCpp55CTEwM+vTpg88//xzXrl1DSkqKQ/srryyDVO9mPPydQUStmUuL6oMHD2L16tVY\nv369K3dLRORyKk81nn3wVUyMfxICrIu5Ixk/4/2tr+JaUa5M6dxfSUkJTCYTAgICHNreQ2nbn7pj\nhwhnYxERycZlRbXBYMCMGTPwySefICiIf8IjIvcnCALGDXoUf3zodahVPlbLcvWXseKLF3H091SZ\n0rm3BQsWYMCAARg2bJhD21fY+UtAVHhfZ2MREclG6aodzZkzBxMmTMADDzzgql0SEbWImC4D8dK0\n9/DPncuRo880t1dU3cA/v/077u8/CZOHz4JS4SFjSvexePFipKSk4MCBAw122UhLa/zmOlU1lTZt\n1/MLbrtdU7l6f85gFvvcJYu75ACYpSHukCUqKqrBZY0W1UuWLMHSpUsb3XliYiIuX76MY8eOmU/2\n5iCf2w32cYdvjivxfNwbz8e9ucP53Bf1OFKFnbh0/ZRV+/70b3Dy/BGM6PkwfFTaBra+pbE33dZu\n0aJF2Lp1KxITE9GlSxeH92M0Vdu0BfiEOJGMiEhegtRI5avX66HXNz4Rf0REBObOnYvPPvsMonir\nN4nRaIQoioiPj0dycrK5vbi42Pw8IyPDmexERC4nSRLO5Kbh0KXvYao3kE6lVGN49EMIC+jR6D4s\ni2qt9vZFeGuxYMECbNu2DYmJiejZs6fNcsv399ud97WiXPxtw/NWbQunLkO30N4uyXrzQ1pcXJxL\n9ucMZrHPXbK4Sw6AWRriTlkae59r9Eq1TqeDTqe77QHeeecdvPzyy+bXkiShb9++WLlyJR566KEG\nt3OHb44ruNMP2xV4Pu6N59P8BmEQ7s0bjfXfvotCi7v+VdaU48dTm3F//0mYdM9Mu4PtAOs33bZi\n3rx52LhxI3bs2AGtVou8vDwAgEajgY+Pz222thWo7WjTtmrbn7F6wQ6nsxIRycElAxVDQ0MRExNj\nfsTGxgKovYrtzJ8HiYjk0qVjNF6Z8T5iOg+0WbY//Rus3Pwycq5n2tmybVq3bh1KS0sxevRohIaG\nmh8rV650aH+CIMDf1/aiTf2/DhARtRa8oyIRUQN81H6Y/dASTBz2hM3tzXP0mXhv80tISt/ZLm4W\nYzKZYDQaYTKZrB5vvPGGw/scfleCTVtmHrsFElHr5LLZP+ozmXi1gYhaP1EQMW7wVPQI74PPvvsH\nCkqumpfVGKuxPelTKBUeuKcvZz5qKnv9p69cPQ9PpQo+ag18vDQNdrEhInI3zVZUExG1Jd1Ce+PV\nGf/Atv0fI+1Mkrk9NLALBvceJWOy1qv+reIB4Mv9H1u9ri2w/RCgCUSgtiPUKh907dQLfboOgqeH\nqqWiEhHdFotqIqI7pFb5YNYDixDTeSC2Jn4Eo7EGT41/ER5Kzl/tCB8vDXqE98HvWScaXKeqphJV\nhmsoNFzDhZzTAICk9J3w8wnAqzNWQePddmZXIaLWjUU1EVETxfW6D11DeyH72kV00vHW2s4YcdeE\nRovqhpSUFSLtbBJGDpjcDKmIiJqORTURkQN0fiHQ+fFmJc7qHxWP5yb9BScuHERpeTHKKgwoqzDg\nRnnt18ZmA/m/5P/FiQsHERHcHYHajtBpQxCo7QitTwdIktTg3R6JiJoDi2oiIpJV326D0bfbYJt2\nSZJQUXUDRaV6LNv4J7vbZmQdR0bWcZt2UVBApVTju9P+8Fb5wtvL1/zVQ6mCQlRAqVBCFJVQikoo\nFAooRGXtQ6E0L7/VpoBC9LDerm49Rb31lKISoqhw+feJiNwbi2oiImoRkiTBZDLCJJlqHyYTJJvn\nddP21Wufcu/T2PHTv+74WCbJiPLqUpQXlDbfCTWiky4Sj4+ai26hvWQ5PhG1PBbVRETkci+vmw7J\nojiWTCZIaPvzed+Uq7+Mbfs/wqsz/iF3FCJqISyqiYjI5SqryuWOQETUonhHRSIiIhfrpIvE1Pv/\nKHcMImpBvFJNREQtRhRECKIIUbj1EERF7XPRsk2EKFi3W7XV30/dPm62FRcVQxAE6HSBUIgKCEL9\nfYu39l036FCp8DB/VYjWr81tSnvLlFCIHlAqlVCKHnUDGTlQkai9YVFNREQuN2rgFCQMedyqgBUE\nscWmuUtLSwMAxMXFtcjxiIhYVBMRkcv5qv2g8lTLHYOIqMWwTzUREbmcQsFrNkTUvrCoJiIilxMF\n/nohovaF73pERORyNcZquSMQEbUoQZKkFp2Nv7i4uCUPR0QkK61WK3eEFsP3dyJqT+q/v/NKNRER\nERGRk1hUExERERE5qcW7fxARERERtTW8Uk1ERERE5CQW1URERERETpK9qH7uuefQo0cPeHt7Izg4\nGFOmTMHp06fljuWQwsJCvPDCC+jduze8vb0RGRmJuXPnoqCgQO5oDvv4448xcuRI+Pv7QxRFXL58\nWe5ITbZ27Vp07doVarUacXFxOHDggNyRHJKcnIzJkycjPDwcoihiw4YNckdyyrJlyzBo0CBotVoE\nBwdj8uTJOHnypNyxHLZmzRr069cPWq0WWq0W8fHx2LVrl9yxiIiohcheVA8aNAgbNmzAmTNn8N13\n30GSJIwZMwY1NTVyR2uynJwc5OTkYMWKFThx4gQ2btyI5ORkTJ8+Xe5oDisvL8f48ePx5ptvyh3F\nIVu2bMHChQuxZMkSpKenIz4+HgkJCbhy5Yrc0ZqsrKwMd911Fz744AOo1WoIgiB3JKckJSVh/vz5\nSE1Nxb59+6BUKjFmzBgUFhbKHc0hERERePfdd3HkyBEcOnQIo0aNwpQpU3D06FG5oxERUQtwu4GK\nx44dQ//+/XH27FlERUXJHcdpu3fvxsSJE1FcXAxfX1+54zgsLS0NgwcPxqVLlxAZGSl3nDs2ZMgQ\n9O/fHx999JG5LTo6Go8++iiWLl0qYzLnaDQarFmzBrNmzZI7isuUlZVBq9Xiq6++woMPPih3HJfQ\n6XRYvnw5nnvuObmjEBFRM5P9SrWlsrIyrF+/HlFRUejatavccVyiuLgYKpUK3t7eckdpd6qqqnD4\n8GGMGzfOqn3cuHFISUmRKRU1pKSkBCaTCQEBAXJHcZrRaMTmzZtRUVGBESNGyB2HiIhagFsU1WvX\nroVGo4FGo8HOnTvx7bffQqlUyh3LaUVFRXj99dcxe/ZsiKJbfKvblevXr8NoNCIkJMSqPTg4GHl5\neTKlooYsWLAAAwYMwLBhw+SO4rDjx4/D19cXXl5emD17NrZu3YqePXvKHYuIiFpAs1R6S5YsgSiK\njT6Sk5PN6z/55JNIT09HUlISYmJikJCQAIPB0BzRHNLU8wGA0tJSTJo0ydzP0p04cj5EzWnx4sVI\nSUnB9u3bW3Vf8V69euHYsWP47bffMH/+fEybNg1paWlyxyIiohbQLH2q9Xo99Hp9o+tERERArVbb\ntFdXVyMgIABr1qzBU0895epoDmnq+ZSWlmLChAkQBAG7d+92u64fjvx8WmOf6qqqKvj4+GDz5s14\n5JFHzO3z5s3DqVOnkJiYKGM657SlPtWLFi3C1q1bkZiYiOjoaLnjuNTYsWMRHh6O9evXyx2F0N8Y\nAQAAAiFJREFUiIiaWbP0sdDpdNDpdA5tazKZIEkSTCaTi1M5rinnYzAYkJCQ4LYFNeDcz6c18fT0\nxN133429e/daFdXff/89pk6dKmMyumnBggXYtm1bmyyogdq+1e70XkZERM1H1o7L58+fx5dffomx\nY8ciMDAQWVlZWL58Oby8vDBx4kQ5oznEYDBg3LhxMBgM2LFjBwwGg7kbi06ng4eHh8wJmy4vLw95\neXk4d+4cAODkyZMoKChA586dW8WAssWLF2PmzJkYPHgw4uPj8eGHHyIvLw9z5syRO1qTlZWVISMj\nA0Dth8/MzEykp6dDp9MhIiJC5nRNN2/ePGzcuBE7duyAVqs193PXaDTw8fGROV3Tvfbaa5g4cSLC\nw8NhMBiwadMmJCUlYc+ePXJHIyKiliDJ6MqVK1JCQoIUHBwseXp6ShEREdKTTz4pnT17Vs5YDktM\nTJQEQZBEUZQEQTA/RFGUkpKS5I7nkL/+9a9W53Hz64YNG+SOdsfWrl0rdenSRVKpVFJcXJz0008/\nyR3JITf/fdX/N/bMM8/IHc0h9v5fEQRBevPNN+WO5pCnn35a6ty5s6RSqaTg4GBp7Nix0t69e+WO\nRURELcTt5qkmIiIiImptOM8bEREREZGTWFQTERERETmJRTURERERkZNYVBMREREROYlFNRERERGR\nk1hUExERERE5iUU1EREREZGTWFQTERERETmJRTURERERkZP+P8xio5J48c0FAAAAAElFTkSuQmCC\n", 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5wFtv35ucbLjO0tzVaKqRnH0SyVknoK7Ir3cbdycvdGzXHR3b9YCbI69uQHS7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\nJ/Dxxx9j8+bN1uyWiMjqVE4ueH7aq5gxeiGEuvdZX0nE+zv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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -318,40 +326,40 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "I generated this by taking 500,000 samples from the input, passing it through the nonlinear transform, and building a histogram of the result. From the output histogram we can compute a mean and standard deviation which would give us an updated, albeit approximated Gaussian.\n", + "I generated this by taking 500,000 samples from the input, passing it through the nonlinear transform, and building a histogram of the result. We call these points **sigma points**. From the output histogram we can compute a mean and standard deviation which would give us an updated, albeit approximated Gaussian.\n", "\n", - "It has perhaps occurred to you that this sampling process constitutes a solution to our problem. Suppose for every update we generated 500,000 points, passed them through the function, and then computed the mean and variance of the result. This is called a 'Monte Carlo' approach, and it used by some Kalman filter designs, such as the *Ensemble filter*. Sampling requires no specialized knowledge, and does not require a closed form solution. No matter how nonlinear or poorly behaved the function is, as long as we sample with enough points we will build an accurate output distribution.\n", + "It has perhaps occurred to you that this sampling process constitutes a solution to our problem. Suppose for every update we generated 500,000 points, passed them through the function, and then computed the mean and variance of the result. This is called a 'Monte Carlo' approach, and it used by some Kalman filter designs, such as the **Ensemble filter** and **particle filter**. Sampling requires no specialized knowledge, and does not require a closed form solution. No matter how nonlinear or poorly behaved the function is, as long as we sample with enough sigma points we will build an accurate output distribution.\n", "\n", - "\"Enough points\" is the rub. The graph above was created with 500,000 points, and the output is still not smooth. You wouldn't need to use that many points to get a reasonable estimate of the mean and variance, but it will require many points. What's worse, this is only for 1 dimension. In general, the number of points required increases by the power of the number of dimensions. If you only needed $50$ points for 1 dimension, you'd need $50^2=2,500$ for two dimensions, $50^3=125,000$ for three dimensions, and so on. So while this approach does work, it is very computationally expensive. The Unscented Kalman filter uses a similar technique but reduces the amount of computation needed by a drastic amount by using a deterministic method of choosing the points." + "\"Enough points\" is the rub. The graph above was created with 500,000 sigma points, and the output is still not smooth. What's worse, this is only for 1 dimension. In general, the number of points required increases by the power of the number of dimensions. If you only needed 500 points for 1 dimension, you'd need 500 squared, or 250,000 points for two dimensions, 500 cubed, or 125,000,000 points for three dimensions, and so on. So while this approach does work, it is very computationally expensive. The Unscented Kalman filter uses a similar technique but reduces the amount of computation needed by a drastic amount by using a deterministic method of choosing the points." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "## Choosing Sigma Points" + "## Sigma Points - Sampling from the Distribution" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "Let's look at the problem in terms of a 2D covariance ellipse. I choose 2D merely because it is easy to plot. Naturally this will extend to any number of dimensions. Assuming some arbitrary nonlinear function, we will take random points from the first covariance ellipse, pass them through the nonlinear function, and plot their new position." + "Let's look at the problem in terms of a 2D covariance ellipse. I choose 2D merely because it is easy to plot; this will extend to any number of dimensions. Assuming some arbitrary nonlinear function, we will take random points from the first covariance ellipse, pass them through the nonlinear function, and plot their new position. Then we can compute the the mean and covariance of the transformed points, and use that as our estimate of the mean and probability distribution." ] }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 5, "metadata": { "collapsed": false, - "scrolled": true + "scrolled": false }, "outputs": [ { "data": { - "image/png": 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dapC9E3gTOAksBWYAu1FbHerqE94JHAReBdJR+4THAXcTmZsMG1oSDsdKfvKT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\nZMRQ+RURERGREeP/AeivTGYQpa6mAAAAAElFTkSuQmCC\n", + "image/png": 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wWq243e7YfaJtyKJMJhMOhwO/38/48eMpLi5m3rx5TJ06VUpsblA4HGbTrk1k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\n7ASG6V2Wzt4G/p5HK+FPB8W6QmJrB0X9w2m4aOmgqCgKmqY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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -367,7 +375,7 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "Here on the left we show an ellipse depicting the $1\\sigma$ distribution of two state variables. The arrows show how three randomly sampled points might be transformed by some arbitrary nonlinear function to a new distribution. The ellipse on the right is drawn semi-transparently to indicate that it is an *estimate* of the mean and variance of this collection of points - if we were to sample, say, a million points the shape of the points might be very far from an ellipse. " + "On the left we show an ellipse depicting the $1\\sigma$ distribution of two state variables. The arrows show how several randomly sampled points might be transformed by some arbitrary nonlinear function to a new distribution. The ellipse on the right is drawn semi-transparently to indicate that it is an *estimate* of the mean and variance of this collection of points - if we were to sample, say, a million points the shape of the points might be very far different than an ellipse. " ] }, { @@ -387,7 +395,7 @@ }, { "cell_type": "code", - "execution_count": 4, + "execution_count": 6, "metadata": { "collapsed": false, "scrolled": false @@ -395,9 +403,9 @@ "outputs": [ { "data": { - "image/png": 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T0tMFDocgGASXK7HW3D5ubq79WcQnnzY1ET+2YXTdROlA2A8yQhAvt2l/3ro0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\norOhR7lsLiZitkybzfrQWkBKdpS17aPxmkpplMtHPZHNJpdni0WNjQ3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DFAUjOfEDMzjlMzgyKFfN4im1VIpwP0egoHBxpBEMzpmmLgNxy6hlJp61hYMFhf97Cz46FcpnhA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3VzJ8OJSXW0gJw4ZJsrO1sK+r06kbpZTU1roQQuFy6f3atqKxUd8ICKE6xD1Y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k/V815Sqe5w7jnn3rK/s+7a61tftcrbvs/9ZjJ8f4bQm2FKprnVrBA0GsDRozxOs8ljzc0Bt92m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\nsfXjSdi093b89dGdSMy1YkKBEsr0otfTe6ipHSn3OllisrLoR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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -407,7 +415,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "Difference in mean x=-0.026, y=43.140\n" + "Difference in mean x=0.004, y=42.983\n" ] } ], @@ -465,9 +473,40 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "We used 5,000 points to generate this solution. While the computed mean is quite accurate, computing 5,000 points for every update would cause our filter to be very slow. So, what would be fewest number of sampled points that we can use, and what kinds of constraints does this problem formulation put on the points? We will assume that we have no special knowledge about the nonlinear function as we want to find a generalized algorithm that works for any function. For reasons that come clear in the next section, we will call these points *sigma points*.\n", + "## Choosing Sigma Points\n", "\n", - "Let's consider the simplest possible case and see if it offers any insight. The simplest possible system is *identity* - the transformation does not alter the input. In mathematical notation this is just $f(x) = x$. It should be clear that if our algorithm does not work for the identity function then the filter will never converge. In other words, if the input is 1 (for a one dimensional system), the output must also be 1. If the output was different, such as 1.1, then when we fed 1.1 into the transform at the next time step, we'd get out yet another number, maybe 1.23. The filter would run away (diverge). \n", + "I used 5,000 randomly selected sigma points to generate this solution. While the computed mean is quite accurate, computing 5,000 points for every update would cause our filter to be very slow. So, what would be fewest number of sampled points that we can use, and what kinds of constraints does this problem formulation put on the points? We will assume that we have no special knowledge about the nonlinear function as we want to find a generalized algorithm that works for any function.\n", + "We can visualize this algorithm using the following diagram." + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "metadata": { + "collapsed": false, + "scrolled": true + }, + "outputs": [ + { + "data": { + "image/png": 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ZBsaD/Hj7iofaB+zz+fj000955513+OSTT0ilUqTTaRKJbMCy2WwYhkF5eTkv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\nbVte2hnuxEQwylR8CqdDwW4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oHpokFBqlo+8kj1Q8gXYftxvMBoqiUFJSQklJfvaVWpaJ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\ny8zf/PGDOT0SKh6Ps3//fr7//e/zzz/4IdFYlFQ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+ "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "ukf_internal.show_sigma_transform()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Let's consider the simplest possible case and see if it offers any insight. The simplest possible system is the *identity function*. In mathematical notation this is $f(x) = x$. It should be clear that if our algorithm does not work for the identity function then the filter will never converge. In other words, if the input is 1 (for a one dimensional system), the output must also be 1. If the output was different, such as 1.1, then when we fed 1.1 into the transform at the next time step, we'd get out yet another number, maybe 1.23. The filter would run away (diverge). \n", "\n", "The fewest number of points that we can use is one per dimension. This is the number that the linear Kalman filter uses. The input to a Kalman filter for the distribution $\\mathcal{N}(\\mu,\\sigma^2)$ is just $\\mu$ itself. So while this works for the linear case, it is not a good answer for the nonlinear case.\n", "\n", @@ -480,7 +519,7 @@ }, { "cell_type": "code", - "execution_count": 5, + "execution_count": 8, "metadata": { "collapsed": false, "scrolled": false @@ -490,7 +529,7 @@ "data": { "image/png": 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otXLrgBF9JkMikYiUiuq7RhZyTHnxfVg3shHUf9izBDl5N0VKRUSmgM06ETUY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\nkUj9HzdwR4nzciV9AAAAAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -505,23 +544,27 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "For this to work for identity we will want the sums of the weights to equal one. We can always come up with counterexamples, but in general if the sum is greater or less than one the sampling will not yield the correct output. Given that, we then have to select *sigma points* $\\mathcal{X}$ and their corresponding weights so that they compute to the mean and variance of the input Gaussian. So we can write\n", + "So we can take those three points, pass them through a nonlinear function f(x), and compute a new mean and variance. We can compute the mean as the average of the 3 points, but that is not very general. For example, for a very nonlinear problem we might want to weight the center point much higher than the outside points, or we might want to weight the outside points higher if the distribution is not Gaussian. A more general approach is to compute the mean as $\\mu = \\sum_i w_if(\\mathcal{X}_i)$.\n", + "\n", + "\n", + "For this to work for identity we will want the sums of the weights for the mean to equal one. We can always come up with counterexamples, but in general if the sum is greater or less than one the sampling will not yield the correct output. Given that, we then have to select *sigma points* $\\mathcal{X}$ and their corresponding weights so that they compute to the mean and variance of the input Gaussian. It is possible to use different weights for the mean ($w^m$) and for the variance ($w^c$). So we can write\n", "\n", "$$\\begin{aligned}\n", - "1 &= \\sum_i{w_i}\\;\\;\\;&(1) \\\\\n", - "\\mu &= \\sum_i w_i\\mathcal{X}_i\\;\\;\\;&(2) \\\\\n", - "\\Sigma &= \\sum_i w_i{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\\;\\;\\;&(3)\n", + "\\mathbf{Constraints:}\\\\\n", + "\\sum_i{w_i^m}&=1 \\\\\n", + "\\mu &= \\sum_i w_i^mf(\\mathcal{X}_i) \\\\\n", + "\\Sigma &= \\sum_i w_i^c{(f(\\mathcal{X})_i-\\mu)(f(\\mathcal{X})_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", "$$\n", "\n", - "If we look at this is should be clear that there is no one unique answer - the problem is unconstrained. For example, if you choose a smaller weight for the point at the mean for the input, you could compensate by choosing larger weights for the rest of the $\\mathcal{X}$, and vice versa if you chose a larger weight for it. Indeed, these equations do not require that any of the points be the mean of the input at all, though it seems 'nice' to do so, so to speak.\n", + "If we look at this is should be clear that there is no one unique answer - the problem is unconstrained. For example, if you choose a smaller weight for the point at the mean for the input, you could compensate by choosing larger weights for the rest of the $\\mathcal{X}$, and vice versa. We can use different weights for the mean and variances, or the same weights. Indeed, these equations do not require that any of the points be the mean of the input at all, though it seems 'nice' to do so, so to speak.\n", "\n", "But before we go on I want to make sure the idea is clear. We are choosing 3 points for each dimension in our covariances. That choice is *entirely deterministic*. Below are three different examples for the same covariance ellipse." ] }, { "cell_type": "code", - "execution_count": 6, + "execution_count": 9, "metadata": { "collapsed": false, "scrolled": false @@ -529,9 +572,9 @@ "outputs": [ { "data": { - "image/png": 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Ygd8ur9cLj0fAaLTIjkLSVeLKFbad29XT0wMh1Nfn0LUURQNFKed5vxPA4jdJ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\nw4YHZEeh27Ry5TLMmRNCX98x2VESpig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aGhr42te+utUrGAqF8Ps/fmVSOV6ttNtSagKnp0BDtdd095TmCypX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\nD0l8jPtbmd2vWv1UqlZ5V2ox8Z2njtDRDguxe9L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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -546,38 +589,33 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "Note that while I chose the points to lie along the major and minor axis of the ellipse, nothing in the constraints above require me to do that; however, it is fairly typical to do this. Furthermore, in each case I show the points evenly spaced; again, the constraints above do not require that. However, the technique that we develop in the next section *does* do this. It is a reasonable choice, after all; if we want to accurately sample our input it makes sense to sample in a symmetric manner.\n", + "The points do not lie along the major and minor axis of the ellipse; nothing in the constraints above require me to do that. Furthermore, in each case I show the points evenly spaced; again, the constraints above do not require that. \n", "\n", - "There are several published ways for selecting the sigma points. For now I will stick with the original implementation by Julier and Uhlmann [2]. This method defines a constant kappa ($\\kappa$) which controls how spread out the sigma points are. Before we work through the derivation, let's just look at some examples. I will use the class UnscentedKalmanFilter from FilterPy to generate the sigma points for us. It is convention to write\n", + "We can see that the arrangement and spacing of the sigma points will affect how we sample our distribution. Points that are close together will sample local effects, and thus probably work better for very nonlinear problems. Points that are far apart, or far off the axis of the ellipse will sample non-local effects and non Gaussian behavior. However, by varying the weights used for each point we can mitigate this. If the points are far from the mean but weighted very slightly we will incorporate some of the knowledge about the distribution without allowing the nonlinearity of the problem to create a bad estimate. " + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Van der Merwe's Scaled Sigma Point Algorithm\n", + "There are several published ways for selecting the sigma points for the Unscented Kalman filter, and you are free to invent your own. However, since 2005 or so research and industry have mostly settled on the version published by Rudolph Van der Merwe in his 2004 PhD dissertation [1] because it performs well with a variety of problems and it has a good tradeoff between performance and accuracy. It is a slight reformulation of the *Scaled Unscented Transform* published by Simon J. Julier [2].\n", "\n", - " import UnscentedKalmanFilter as UKF\n", - " \n", - "because UKF is the standardized shorthand used in the literature for this filter.\n", - "\n", - "I will plot the sigma points on top of a covariance ellipse showing the first and second deviations, and size them based on the weights assigned to them. I am using the covariance ellipse\n", - "\n", - "$$\\mathbf{P} = \\begin{bmatrix} 4&2\\\\2&4\\end{bmatrix}$$" + "Before we work through the derivation, let's just look at an example. I will plot the sigma points on top of a covariance ellipse showing the first and second standard deviations, and size them based on the weights assigned to them." ] }, { "cell_type": "code", - "execution_count": 7, + "execution_count": 10, "metadata": { "collapsed": false }, "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "0\n" - ] - }, { "data": { - "image/png": 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uLJ+JY9omwcCXJFuIcdjc3Wup3mbZXCadCjk5nZUJKeKK0skYw6BP6IWylJ8Q\nB1wYKs5vtP+tmCuU8jGmy7I6lLiydMqg3R2gDvkKI5Jki7EIgpCnV9usdVusmatMl+OUC9J/La5O\n1zViMRgEHq4f7vdwhBBXMXR9ntpYfrXer7EwI5uHiWtLGDpe4B76Iook2eKGuV7AUystljtV2sMG\nx+bSsjW62JJkPEZHSZItxEHVH3g8tdJiqbNCP+hxUpZfFVsgRZQRyYTEDXGGmwF4DdvvcGohiyH9\n12KLkgkdN3AZHvJLikIcRD17yNOrLRY7S4Qxh1NHZPlVsXWpRIyOciXJFmInzP5wlGB3V/A1m5NH\nZAKM2J5EPIanPIaHOAgLcRA1u33OrrVY7C6RSPkclfk1YpsScR038A51EUWSbLEjbdPhqZUmS73R\nDPMTMxKAxfalEjG8wJXtd4U4QNZbFuerTRa7SxTyGjNlmV8jti8Rj+Eq91AXUSTJFttWbVmcr7ZY\n7C2RzSjmpiQAi51JxHU86ckW4sBYrHZZarRYNpeYKhmUC8n9HpKIqFQihi+VbCG2brneY7HeYqm7\nSLlkMCXrG4sboOsaegzcwGfo+iQTEpKE2A9hqDi31mal3WLVXJYdHMUN2yyieIe4iCJnNLElSo3W\nSF1utVjpLTM3naCQPbwLzIvxiekQqoAgPLzLPAmxn4Ig5KmVFiudBrX+GkfnMmRkhShxg3RdA03h\nhyFhqA7lpFl5F4nr2lwDe7XTYN1a48hsWrZIF2OjaRCiCA/xWqpC7BfXCziz3GSlW6M9bHBiPitb\npIux0TRQKiRUCp3Dl2SPda21X/u1X+P7v//7KRaLzM7O8vrXv57vfOc74zyE2GNBEPLd5SaLrXWq\n/TWOL2QkwRZjpWsaoRpVOsTBJfF98gxdnyeXGpxvrdB1G5xakARbjJeuaSg4tPF9rEn2l7/8Zf7N\nv/k3PPTQQ3zxi1/EMAx+6Id+iHa7Pc7DiD3ibyTYS+0qzUGNkwtZUhKAxZiNFqWRSvZBJ/F9sowS\n7CYX2ssMVI+TR3Kyx4EYO01jVEQ5pPF9rCXJv/3bv73kvz/1qU9RLBb56le/yo/8yI+M81Bil/lB\nyHeXmix11um6TU4tSAAWu0PTIAhDguDwTo6JAonvk2PoBaMEu7OMh8WJ+eyh7JcVu+9iEeWQVrJ3\n9bp/r9cjDEPK5fJuHkaMmR+ELDZsiok1ul6Lk/Oyi6PYPZqmoZRUsqNG4ns0DbyApbpNLrGMr1kc\nn5UEW+zHwhD9AAAgAElEQVSewz7nRlNq9575m9/8Zp5++mkefvjhixuVdLvdi98/c+bMbh1a7JAf\nhFyo21TtJn3VZX4qLrs4bghDhR8ohn6A54f44ejTeagUQThagQVGSaOujYKLoeskDJ345r+YJpv2\nPEer5xPzCtw8M89UfjLW5L355psvfl0sFvdxJLtH4nv0DLyAxbrNWr9KGHOYKxsSjzaEocILQlx/\n9C8IRrE9DBWBUig1iukao/iOBkZMJxG7NMaLS1VbHnlthlvnp8mlJmNJyO3E912rZL/zne/kq1/9\nKg8++KC8iSNis4ItCfaI54cMvADHDRh6Ib4f4CkPP/TxlE+gfJRSBCokVCGKkFEI1kazqDUNQ49h\naHHiukFMM0gZCVKJGNmkQToRkwoSm7PPn/mQIg4+ie/RM9yoYK/1qyhJsHH9kIHrM3ADhn6I5wf4\nyscLfXzlEahgI8kOCFEowo3Iro3WyNA0DN0grhkYepy4HicRM0axPRkjnYgd6t/vps12kcMa3ncl\nyX7HO97BZz7zGR544AFOnTp11fvdcccdu3H4Pffwww8D0X4+mz3YxcQaZ588y/xUnNtf+ML9HtZY\nPPb4YwC84PkvuO59Lccd/Ru4hEMX3R8Q8x10f4iuFLlYing8RiKuYcR0dE0jFhtVNnRdA8UoMAOE\n4AUhnh/ieqN/SmkYRgY9kcGIpylmU0wV0iTiW38rbuf5RMFXv/5NFIoXvejFHJnO7/dwxuLZFd1J\nI/E9egauz3eXmmTjS6hz55ktG7zwBYcrvodKYTlDLMfDdlx8z0X3HTR/gOYPMdBIxQwS8RgJQ8cw\nRul0LKYR07VRsvis+K5CLsZ23w8ZeiE6Blo8TSyRxYinKOdSVIoZDH3rFe6DGt+VUijU6EPGNj48\n1L/6T4RK8eIX/39UCuldHOHe2U58H3uS/Uu/9Ev8xV/8BQ888AC33HLLuB9e7IIgCDmzvDHJ0Wsd\nugr2wPXp2ANMe4jtOthuH8fv4yufVFInnY6RTxokjMRmDeOanr3+SpJLV2Px/ID+YEhnYNPoQ8Ep\n0DILlHJpposZkttItidFqCCmaYfqNRdVEt+jZ7iRYF/oLBPoNrOHrIJtD1y69hCzP8Ry+zhun77v\nAAGpVIx0JkY5ESdubG334mdH9OeutjX0AxzHoTkwqds6nUFxFN/zaaYLaYxY9FbnsuyAxUXF4iIM\nBhqlYsipU3DsmL6luVqhAl3TD218H+sZ/e1vfzt//Md/zOc+9zmKxSLr6+sA5PN5stnsOA8lxiQI\nQs6stFhqV+m6TU7OZ/muOflvBj8M6VgDutYAezjEdi0s1wbdJ5c2mC4YJOPj7w+OGzGKuRjFXALP\nD+haFktml86gQK9fYraUY6qQGftxD7IgVMS1GEZM+hkPMonv0eN6wWifg41VRI7PZnmiPfnx3fMD\n2qZDd6NwYrk2tmdhGJBNGcyl4iS2mFRvR9KIkczHKOWTDL2Ajtml0+3QGRTpWiUWpnIUMuM/7m5p\ntny+9CWNRuOZVLFahSe/q7jttoAf+AFIJq4dt4NQETP0Qxvfx5pkf/CDH0TTNF71qlddcvt73vMe\n/vN//s/jPJQYA6UUT20k2O1h/VAs0zf0fNrmgI7l0BtamMMevvLIpg1mpnYnsb6auBFjuhSjFIR0\nTJulrs3An8EeuByZykey6rETYQgxSbIPPInv0bK5z8FiewUXi+Nzk7+KiDP0aPYcuraD6ZqYQwul\n+eQzBgvFJHFj72JqMh5jrpJm6Ad0uj2WuzZDf5bpQo75Sg79gF9N8P2Qh76q0Whc6Xem8cQTMYqF\ngBe/+NrtI2EIOoc3vo81yQ5DWec2Ss6tdVjtNGkN6pyc8ATbGQYs1buj4Ds06bk9knGNUjFOJrW/\nVTgjpjNdStEf+NS76zhegaEbcHyuSOoQtI+ESqHrOrFDGoSjQuJ7dIThqICy0llnoMyJXwe7P/A5\nv97BdBy6gy6Wb5FJxZipxEkm9nfFoqQRY24qjdn3WO2tMPArDFyfE7OFA11IWV0LWV271vg0Hntc\n57bbQlKpq98vVIrYIY7vk38GF1e0VOuy3GpStdc4sZCZ2KWHBq7PetvBHAzpJ1exfZtcymB+Okli\nD6saW5FJGSQTOvW2yYrpESrFybkSqcRkv02DEPTY4b2cKMQ4KaU4u9ZmpV2j4zY5dSQ3sQm25bis\nNvtY7gArtcLQd8hlDI6V0wcuqctn4qP43mrhdX1CpTg1VzywiXajAUpd+3VjmhqNZsixo1e/jwo1\n9EN8pXKyz97iiqoti8V6i1VzmaNzaZITuFX60POpd/p0rD7rdhPH7zObzHCskia2jZneey2m68xN\npam1B6yZ62jAyfnSRE+IDENFTJMkW4hxuFDtstJq0BjUODGfncj3VX/oUWvbdJ0+63YDlwEL6Twz\nmcyBbsNIGDHmZzJUmybVHhfj+3ZWH9krW7twNVpR62qCUKEd8kntk3vmFlfU6jmcqzZZNpeYm06S\nSU3WS8APQ+ptm5bZpzPoYno9NGPAXMGgFJGNTjQ0Zsspas0BVauO0Yhxer40sSsChCHoWuxQB2Ih\nxmG1YbLcbLJqrXJiPkMiPlkFFNfzqXVs2laf9qCD49sk0h6llEEhm9jv4W1JTNOYm0qzXu9Rt2Mk\nmzGOzRy8DasqFRhl0FePy+l0SKl09e8HwWht8Um9krIVk5VhiWsy+0OeXm2y2F2iUoxOUNqqjjWg\n1rZoOR06ww65lMGxUppgEL0TjYbGTCXFat2mZXXJduLMlXP7PayxC8LRuqujdWgPbyAW4kbVOzYX\nai2We8scmUmRSkYv7l2NUoqm6VDvWDT7bWzPpJA1mJrK4A8OXhX4ejYT7ZV6m5SZJJdOUsodrFVH\njh7VmZoKaTav/jq65ZaQbPbq3w8CNZrULkm2mHT9gcdTKy0Wu0vkc1ApRqOquxWu57PWsmjbFo1+\ng5gRcGQ6taczyXeDrmnMlFNUm01SnRS5dIJsarI+GAVBKFVsIW5Qxxpwbr3FYm+RmUqCXGYytq+G\nUWvIesuibfdoOk1SKY2j5YPd9rcVownvCeqdBqlWkkzS2NamZLstEdd4+ctDvnh/iN2//Hd9/HjA\n937vtYsjwUYr4GGO7wfnLyp2jesFGwn2MomUz2xlMtZhVkrR7PWpd22adot+YFEuJMilJ+cDRDIe\no5CL0XAaZNpJblqYrCTb9UISevzATUIVIipsx924QrlIKa9Tyk9GjAjCkHqnT6Nr0Rg08UKH6XKK\n9ARV6LOpOHZyQKPfItdJcmymsN9DukjTNBbmY7zunwecfTrkqad0PB8KecXNtyhuOq2RTl/7bzH0\nQuJ6fGIXVtgKSbInnH9xN8dVQr3P0enJ2DSiP/RYa5q0+z1aTot0SuPIVIbYBLYcFHMJlq0+PcfG\ndCbjA9KmgRsQ1xMk44c3CAuxUwPX58zKaLOZdFoxXZ6Mbat7/QHVlk3L6dAetClkDWbzmS3tuBs1\nU4UEy3WTjl1kpnSw4rumaUxVDCplxfe9ROH7inhcI6Zv7YPOcCO+pyZsbsB2SJI9wZRSPL3SYrlb\nxQm7nFzIRb7vVSlFtWPT6Fg0nAaeGjBTSV22ve0k0dAo5uN0+h0ancn4kLRp6I4qHclDHISF2Ak/\nCEebiXVX0eND5ieggBKEIWtNk4Zp0ew3IeaxMJ2a6CtdsZhOLm3QHfRodA9Wkr1J0zSMmMZ2/wxD\nNyB5yIsokmRPsKVaj7Vuk86gMRFrpfpBwHLdpGl1qTt1ihNc3XiufDZOx+zTdfoEw2BiLpluBuHD\nXOkQYifOrbVZ6VZxlcWJmegn2EPPZ7neo2636QzaVAoJ8pmDmXSOWykXZ7neo2MVCfxwYjaGc32F\nocdJTvCHpOuRJHtCNbt9lptt1q01js9nI/+mdYbeRgBuYnk95iupiVzf+2o0NPJZA9u1CYf+RCTZ\nSilcPySuJ0hE/PUpxF5arvdY7bToDJucWoj+bo69/oDVpkXNquMqm6Mz6Ylc3/tqYjGdVFLH9vqE\nrk/BiH5fvesFxDQD3VCRf33eCEmyJ1B/4HG+2ma5t8xMJRn5pZzapsNqs0e9XyfUhhyZif7M8p3I\npAzqdp9g6DNF9Cd3ut4owY7FvUMdhIXYjrbpsNxos2aucnQuHfkCSq1tUe2YVO0qiaRioXiwN5TZ\nLdmUgW3ZBEOfQib6SfbQDUnFkoTxLe1qM7EkyZ4wfhDy9GqL5e4K2SyRnmmulGK9ZVHt9qjZNTJp\njUoxfSjaQ64kGY+hGDDwXVwv+hOchl5A0kiijGC/hyJEJDhDj7Nro7Wwp8vxSG8m5ochq40eDdOk\n3q9RzBkUc9EvHuxUOmXQ7PTxhz5heI1tFCNi6AYkjTRh3N3voeyr6L5DxWWUUpxdbbPareJrDkcr\n0e3T8/yAlYZJw+zQHDSoFBPk0pOz9utOZdIG7aBLfxjdv+2mZyodw/0eihAHXhCEPL3aZqW3RjIV\nUi5Et1954PosN3rUrRam22F2wievb0VM00jENezQZeBGv/Aw8AIKsRRh3N7voewrSbInyErDZK3b\nouO2OLWQjexKIvbAZaXeo2Y36fsmc9OpQz1x4tkScR1P+bhB9C/BDd2AQiyJkkmPQlzXufUOa706\nrrI4NR3d3V+79oDVZo+qXSdgwJHpNLFD1H99LclEDC/0cP1JiO8hyVyS8JDHd0myJ0Sr57BUH/Xp\nHYtwn17LdFhtdqnbDYgNOTI7mWtf71QiruMHHv4EBOHBMGC2kCI8xMs7CbEVqw2TtU6bplPj1JFo\nLsW6ufxqrWNSs6skk4rZ0uFt/7uSuKHjT0ARJQhHa2onYwnCiOYi4yJJ9gRwhh7n1lssm6M+vXRE\n+/TW2xbr7S41u0ouq1POR/dy6G6JGzo+Pl7Eg7DrBaBiZBJJvENe6RDiWjrWgKV6m1VzhSMzmUju\nnqeUYrnRo9btUHfqG8vzSfvfc20WUbyIF1GcgU/ayJDPJOmZh/tDVPTereISz+7TS6dCyoVoThxZ\na5qstTtU7TUqpTjlfDSfx27TNQ1dBy8M8Pzo9u31BwGZRJZ8Rv7OQlzNwPU5tzZaKapcNMimo1dA\nCZVisdZlvdOm4dSZr6Qkwb6KzSKKH/Eiiu34ZBIZcunoLrwwLpJkR9z5jT49D5v56eitOKGUYqXR\nY63ToWqvM1NOkY1oJX6v6BqEKiBQ0Z2Bbjs+GSNDfgKWqhJiN2xOZF/prWIkfaaK0ftAGoQhi9Uu\n1V6L9rDB/PTh2t9guzaXLgzV6O8fVf2BTzYu8R0kyY60RrfPeqdLo1/j6Gwmcn16owTbZL3Tpt6v\nMldJTcQmK7tu48+sIrzMU3/gk01kpJItxFWsNEyqvRb9wOTIdPRa54IwZKnWo2o26QxbzE9N9vbo\n46RUSFSjexAqPB+yUskGpCc7soauz2K1w6q1ytxUKnJ9eps9etVum6bTYG4qRVJ6c7dEA0IUYUQr\nHUM3QMMgk0iRSkgIEuK5zP6Qlcbo6t7x+UzkNmvyw5Clapeq2aTndliYPlw7ON4ITQO1Ed+juCmP\n7XikjTTZVCJyhb/dIK/6CFJKjZZzMqskkyHFXLQ+LW62iFxMsKclwd4OXdNQSkX2cqLl+OTiWQpZ\nqWIL8VxBEHJ+vcOquUa5YERux95gI8FeN5uYXocjkmBvi66BAsKI9mXbfZ9cIifxfYO88iNovWVR\n7bWx/G4k+7BXmybVbueZBHsXLyEqFPrG/1RkL8BdSgGapkW2SmA7HrlEjqIEYSEus1jrsm42CPUB\n0+XUfg9nW0KlRi0iVgvL67AwJWtgb1eoRlcro3b1YpPt+GTjEt83ybXaiLEdl+V6l3VrjYWZNLGI\nvRFHCXaXhlMftYjsUoKtUFhWyOoaPHUmj1Jg90PmF6BS1iO9NmuoFDoaMT16J68wVDiDkGw2S0H6\nsYW4RKvnsNbu0uzXOXkkWn3YowS7S81s0Ru2WZBNZnZEKdDQIxnfRztVGmSTKdJJWUEGJMmOlDAc\ntYmsWmsUcnrklnNab1lUu11qG5Mcd6tFRKFYXw955BGNwVCn0x4Fq6Eb48wZxe0vCrnpdHQT7TAE\n3YhF7gMWjCY8po0M+XRSTsBCPIvrBVyodlg1V5ipJElEqIVOKcVyvUut17k4yVFaRLZvc55NTI/m\nlUrb8clJFfsS8i6IkOV6j2qviadsZiJ2GbHR67Pe6VCz15ktp0jt4jJOlvVMgv1cQajxrX/SqVaj\n2e8GG0k2WiST1J7tkUtKv54Qz3V+vcO6WSOeCCjlozXPZrVpUut1aA8bGxPxo/MB4SBRoUInFtlW\nEVPi+2Wid5Y+pLrWgNVWh3q/ysJMtJbrsxyX9VaPml1jupTc1WX6FIrVNa6YYG8KlMbyEpHs0X6m\n0qFHbuZ5GCqsvk8hWaCSj95cAiF2S7VlUe116HntyM2zaZkO9Z5J02kwK8v03RA/3GgFjFhsh9GV\nGM+DYipPMRutIuBukiQ7AvyN2eYrvVWmSoldrQKPm+v5o5VErBr5rE5mDzaaadSvf59qTcP1olfN\n9rwQQ4sTj2AV23I8UrEMxUyapCzdJwQAztBjsdZhtbcSuTaL/tBjrTkqoEyVErs6if0wcL0QIxbH\niNiSvAA9y6OQLFLKpSJbid8NcqaLgMVql3Wrjh53qRRz+z2cLQuVYrlhUrcaxOI+pT2qXoZbyJ2V\ngggWsnH9EEM3IhuEi6lZqWIL8Szn1zus21VyOZ1chLYb94OAlXqPml0nm9HIpnZ/7JtXH10vxLJg\n4ECvkwVgdS0gnYZcDgwjmnNuXC8krhkkIvRBa1PHcjmWW2CqIPH92STJPuB69pBqp0fbaXLqaHa/\nh7Mta02ThtXBCS0WpvZupnylArXrVLMrFUU8IUF4r/hBiO0EHJ3KU5EgLAQAtbZN3ezS93vcNJff\n7+Fs2Wiio0nNakJsSKWwu/FdoWi1Q2pVaLeh3dYYuhpKaXTao/71UjmGrilSKUW5HFKuwPw8FPLR\nSbg9P8DQ4yQiVkRxBj6aipNPZWUX3+eQJPsAU0qxWOtStdeplBKR2tWx2etT7/VoD5rMT6f2rMdM\nQ2N+Ac6cUQTh1Y6pOHYM9BvsltqsquxlAI9qEDZtj1wiTyknG1MIAaP38kqjx7q1zvx0OlKX2Ndb\nFg2zg+33ODK7ewl2EISsrSuWl2F9TSdQ1/4dhUqj72j0HVhZhSeeUBw7EnLkKMzN6+gHPNn2PEVc\nj0fqXA/QtT2KyYIUUK5AkuwDbK1pUTfbeMqhUohOm4g9cFlrbfbpJfd8IkylrHP77SHf+uaVgrLi\n5u8JOXp058F26IXUqopmE4IAstlRxaRY3P2KydBTJPQ4yXjEgrDlMZ2cllYRITYs1XrUrDrJVBip\nNpGONaDWM2kORpuJ7UYBRaHo9UKeeByWV3XYYVz1fY3zizEWlxQnT4XcegtkMgezsh0EIaHSiOux\nSCXZSilM2+NUsSjx/QokyT6ghq7ParNHza5ydC4dmdVEPP+ZPr1cVie7BxMdn0tD46abdDKZkJVl\nGDgaKMXCfMCxY3D06M43cumaAY/+IzSalwb+J59UvPAFIc/7nt0L4EMvwNAMNINILd/n+eFo1nmp\nQCkns86FuNgGOGhxOkJtgM7QY6XRpWbVqBR3Z6JjoBSLF0Iee+zKy7DuRKg0zp2LUa+FvPCFIUeP\nHrxE23EDUvEUKjHY76Fsi+34xLUUhXSGzB705UeNJNkH1GKte3FCSXofEtWdUEqx0jCp2U30mEd5\nHz/VamgszMeYn1eUp3oAnD5dvKEWEc8PefRRaDQvP7H4gca3vq2TTIUcP7Y7lfvBMCAVSxEm+rvy\n+Lula7rkEwWZdS4Ez7QBrlujNsCoTGL2w5CVRo96vz6aYJgef0IVBCGPP6H47hkddZ3WkJ2wbJ2H\nv6FwnFFB5CC1jwyGAWkjSxj39nso29K1PIqpirSKXEU03t2HTKvnUOv26LltZqei88Ld7NPr+ybT\nlYNRsdTQ0DQfTfNvuAe7VlM0Gld/jFBpXLgAgdqdpQGdoU86no7UEo6w0a+XkrWxhYBn2gB9HCqF\naGw6o5RiudajbrUItSGV4vjHHaiQxx5XPPnd3UmwnznOqCDy1FPhgdorwRkEpI0M6WQ0imqwsfeB\n45OXvQ+uSpLsAyYIQpbrPdatNWbKqchsnW05Q+o9i8ZgtCFBFBfTv55mE67XG9io61jW+AN3qBRD\nT5GOp0lHaLvl/sCH0KCQkl3AhBg8qw1wYTo6bYBN06Fp9zC9LrOV1NhbLRSKp86MKtg77b/e1vGU\nxne+rbO4eDAS7aEfADHS8USkJrX3bI+skaWUSZOI0HlpL0Xnr3lIrDZN6lYTYl5kttYNlRpVsfsN\nSrn4RG5IoFCEwfXvFwJqC/fbLmfok9RTZJKJSPVjt7pDKuky08W9W8JRiINqsRq9NkDX86l3LJr9\nJtOl1I7ns1xLvRHyxBN7k2BvCpXGt7+t0evt/6ZkjuOTiWfIpaNxzt/U7A6pZKaYLUdnXsFei87Z\n+hDoDzzWWqOetyhtrVvr2LT6PZTuUsxFK0hslYZGdgsLvGTSivQu5JNW3yeXiFY12PUCnIGinC5J\nEBaHXqvnUO9FsA2wbdHqd0ilIJ0cfwFl6IU8/thoXsteGwx1nngCgq3sYLaLLMcnl8hGKr5bfQ9d\nxSmlczKh/RokyT5ARmti1yjmY5Hpux24Po2uRXvQYqoUnQCxE/PzEDeufWnxxElFIjHet1UQhgyG\nIdlEJlJBuNVzKaVKTBeysja2ONTCUEWyDbBrD2hZNpbX25X+cYXi/Hm1sVrT/lhe0Vle2b+WkaEb\nQGiQTaTJpqJTpGr1hlTSU8yWspFpe9oPcuY7IDrWgKZpjiYNlqLzqXCtadJy2uQysQPVJqJQNNsB\njz8RsHihyOL5It95LKBaDXZctcjldF50e0hMu3JAnp0JOHVq/JvT2I5POp4hn0li7MKl2t0QhIqe\n5VFOlaWKLQ69WsemaXci1QYYhCG1tk2z36BcSOxKm4jrhpw/p7GXbSKX01i8sH/V7ChWsQdugDvU\nKKeL0gp4HdFoCjsEVhsm9X6NqWIiMsucNXt92n2LQWBzNH8w3mgKRa0acu78MzuEddqjk0OzHUPT\nFFNTIadOBRw/vr0lnDQ0Tp7SSaRCFi9AtaajAkhnFCdPKk6chExq/B80LMenFC9RiNB2tR3TJZco\nUMlnSSdl7VRxeAVByHrLGrUBzkSngFJr27ScDlrMJ5/ZnfherYJl7//5rtHQaTRD5mb29rgKhe34\nLORyFLPReW20u0NKG3NtojRHaD9Ikn0ANLt9mnaPYdjnWD6/38PZEs8PqHdsGv0GU6Uk+gG4XKRQ\nLC6GPPqoftX+PqU0Go0YzabCtkJuvU0jpm09SGhoHJmPsTCvsKyQMIRUGhLx3dncYOgH+D7kclny\nEUmylVK0u0OO5ReYK0dnp1IhdsN6y6Jpt4gnArLpaPRi94cezZ5NZ9Bmfnp3kj/FaLv0/a1ij4RK\nY20VZmfUnm5S0x/4xPUk2WSSVCIa6ZgfhJj9gO8pl5ktyVXK6xn7R5Df//3f5/Tp06TTae644w4e\nfPDBcR9ioiilWG2a1KwaM+VUZHqbqm2LltMmmYTMAZglr1CsrYX84z9ePcG+5P5K44kndc4+rXa0\nhJOGRj4Xo1iIkYzHdi0wm5ZHIVmkmEsdiA8yW2H2PeJ6mnI2WhM1xfVJfN8ezw+otkcrL82Wo5Fg\nw8aeB4MmhaxBYpfaAPv98Jr7Duy1alUjDPa2N7treRSS+UitMd3uuRQSBaYKWZIR+WCwn8b6Cv/0\npz/Nv//3/553v/vdPProo7z85S/nda97HUtLS+M8zESpd/q07C6hNozMyhz9oUfb6mO6PaZ2YVOC\nnQgDxZNPQhBuPRFVSuOJJzRse/+XcLqSIAyxBwGFRJ5KhGZvt7ouU+mK9GJPGInv27fWtGj0W6TS\nkNqFlTl2Q8ca0OlbuIFDcRf7xy0TPH/XHn7bnL6GZe9dkj10AwJfp5DMUYxIfFdK0THd0YRHie9b\nMtYk+7d/+7d5y1vewr/6V/+KW2+9ld/5nd9hYWGBD37wg+M8zMQIQ3WxV2/2gOyQuBW1tk170KGQ\nNXZlMsxO1OqKdmf7Y3E9nfU1DsSGBM9l2h45Y9Srl4hHo2LQH/gEfoxSusCUbLM7USS+b8/Q9am2\nTVpOk5mITGZXStHo2rSdFpViYldbJywLDkKryKZAaRtj2htd26OQKlCK0FXKruWRjmUp57KRW9N7\nv4wtQ3Jdl0ceeYTXvOY1l9z+mte8hq9+9avjOsxEqbYtGnYbLeaTy0RjcpjlDOk6fRzfpnBAKu8K\nxdo619yKt9O+epJ6YWn0gecgUSjMvk8hVaRSOBiTSrei2RltPjMjyzpNFInv27faNGk6TXIZnWRE\nlmRtmQ4dx0TpHtnU7p6T7P74Huta8X07LHssD3NdfhD+/+zdaYxk13nY/f+9t/a6t/a9l9k4pEia\novSKoi1SlhQnkV7SiYXAcAwbsA0DhiARlhUFMBDbCgIDlo1EEGJkERIoHwIjQGApAvzBkWEKFrV4\n02bLem2ZEmWSGs70Xl171d3P+6G6hzPUcNaqrrrVz08YzUxNs+tUV9VTz33Oc85h4hzNUkaoGHF8\n+Exdqti3bWblsYODA4IgoF6vX3d7rVZjZ2fnhv/N17/+9Vnd/VK4k8fjByH/sDPg+8NXqJY0xr3l\nqAhf69t//+0fuG2rPWZndEAi7eHbyzFmHZ1XLuXodm6SZHdjdDudG/7beAQvvzxE0715DfGOjSYh\n7iSOnoWYfeNx3+j5WSTbDdk/VJwxPUx7xNbLd/b6WKV4cPHixUUPYaYkvt/Z47G9gO9td7kyuUKr\nGqNzsHwXnK+NH2GouNweszPaJZcDZ867frTb+as7P92rm8X3O9E+CHgx3p/BiG6uOwzQ/QypkQ7j\ng8BZmXUAACAASURBVBt+zbLF98E4YDSMoyxFanx4x0WUVYoHdxLfozEHvYLaA4eu0yeRCEklolHF\nHtk+Q9fGxaawBIsdr9Jevxe724nR7cZ4+eVptaBQ8CkUr28EVApUqHEHm4zMlVKK4TiglChSyC7H\nbMHt6Ax8CokyZSsph8+IU22/Z9P1upgZjZixfAn2jfTHHgN3hBbzSZ7AZ9Is5g5vJ77f0ZhOYELT\n9xUTO6SRMiMT35VSdIcB9USNai46GzQsg5llSpVKBcMw2N3dve723d1dms3mDf+bxx57bFZ3v1DH\nV2i3+3g8P+D/e3GXQTZko7G2dAtijq+gH3rwoetuf2m7wyh5hVY2h7VE7S3TraBClPrBn2OhyNUK\nx5v+nxtPy6WSIRubuaWZ0u0OHCwrwZlii7ONwg/8++s9P4s0HHukzID7yxd45Hz9jvZ6v9P3TxT0\ner1FD2GmJL7f/uMZTVz8l7dxuopz68t32umN4keoFN+73GaYUtxXqpzIicP9XkCneG/3czvx/U6U\nywHnz1bu+fvczF7Hpla2OFuu0yz/4Ja9yxjf2z2HfCHO/dWzPHjmzjYTP+3xfWbv/kQiwVve8hae\nffbZ627/3Oc+xxNPPDGru1kJ+90xh5MO6ZS2dAn26xk7Hn17ghvamJklqmIfqd7ifV8ovH51o16b\n/VHodysIQ3ojP3InJe53bKqZCs2yFZnDlMTtk/h++3Y7I9rjQwq5+NIl2K+nN7TpO0OMWHgiCTZA\nYoZF3JvF9zsRn3Nh2fEDbCekkMpF5qTEIFQc9hyqmSprldyihxM5M82W/vW//tf83M/9HI8//jhP\nPPEE/+2//Td2dnZ4//vfP8u7ibQwVOx3RxxOOrRq0dlD+LA/ZmD3sTKxE92s/3ZoaDSa8Px3FL5/\n47G93hSipila67M/Cv1udQfTHUWKZoZMRE5K7I9ctDBJOVugWojGB4e4cxLfb831Atr9EX23x/lq\ndC6SDwcT+s6AfO7kYo45w3Oq7qVF5FWKeZ8F1+25FFIFSlaG+Jz2H5+1w56DGc9RsSw59+AuzDTJ\n/pf/8l/Sbrf5rd/6Lba3t3nkkUf47Gc/y8bGxizvJtKmq7f7GLGAdCoaq4pdz6c7mjD0h6yXlnPM\nOUtncyPkxZfuLHCVCiG1ynIk2J4fMJr4rJkFqvlofEArpdg7tGlmN2iVLenVW2ES329trzvd3tTM\nGMRi0ahiDycOA3uMHzpkUycXd7Im6JoivMmuUCcpEVeYc3z4Y9vH9TQa2TzliFSx/SCk2/c4W1hn\nrRKN06iXzczn/T/wgQ/wgQ98YNbfdmXsHg5pTw4pFaOx4AHgcGAzcAZkU8bS7Iv9WhoaDzwA/X7A\nQfv2Eu10OuSNb2JpPgwPug75VJFyLhuZI3Z7Q4+ElqGczUXmg0PcPYnvry8IQva70z2m15vR2Bcb\noN2f0HP65MyTnTmzLEilFOPJciTZubwilZ7PWEKlaPccypka1XyG2JJ+jr7WQdfBSuSp5iyysi/2\nXYnGM70iekcnaXnhZKkWDt6MUoreyGbgDuYShBUKzw+5shXw988HPP+dgO2dgCC481MYM2mDt7wF\nmo2Am69dV+StgB/+YUWxsBxvgcHYQwUxSql8ZHqxw1Bx0HWoZau0pMohTrmD3pjOpEciqU6sr/le\neX7AYGIz8ceY2ZP9TIrHdNbXl+d8grXm/NoGuwOXpJGhlInOEeqeHzIY+lSzFYnv9yAa5bIVsdcd\ncWh3KOaTkZlWH9ouI3eCboQkZtxDplActkO++S3odnWOT//SNEW5HPLoGwMK+Tu7TzNr8Na3huzt\nhVy+AttbrybRuqaoVkM2NqBeX55jjoMwpNN3qWeb1Evm0s4WvFZn4JIyspStHMWIfHAIMS97R1Xs\nSjk6fau9scPIG5FJGRgn/JmkodFqwT98TxEsuGUkEQ9ptuaTZDt+wHAcsGaVaEaope6gY1NIFakV\nLNIRWR+0jCTJPiETx+NwMGLo9qnXo3NV2BvajNwhZnr2b7L+IORrX9cYja9PKpXSODgw+MbXA972\nREAmfWfJcDyms9aCVkvRH4RcfsUGYK0VYuU1jGXZEPvIYd8lG7comVny2WhMM/tByGHP4UxujdYN\ntqES4jTpDCZ0J0MCzcXMROf90BvaDJ0hhfxiUoFSSafWCNneXmzBY3NTkcnM53Oh3XUopopU8mZk\n2gBtN2A4DrmvVKFZmuEK1VNoubKNFbbbme4okjPjGBHZ4iwIQwZjl5E/wkzPNjgoFFeu8AMJ9rW6\nfWN6XPpdHlugoZG3DNKZCenMhELBWLoEe+IE2DaUM0UaxegEs/1Dm1yiSCVnyopzcertdkYcjtuU\n89F5L9iuz8hx8JVHZkGHi2loXDgPhra4tpFkIuTM5nyq2NOdlxKUMnlqhWi0AQLsHEyoZqrUiybJ\niFwYLKvlyjhWlOcHHPRG9JwupVx0Fg8Mxi4jd0QyrmHMeL/XUCleeeXWX7e9NdO7XSoKRbtnU06X\nqBZMEvFoBLOx7TMaK+pmlc1aftHDEWKhRhOXznDEJBiRO+G+5nvRG01nKbMzLqDcqVpN5+L9d74G\nZzYUDz6kyM9hbU4QhHQHHuVMmXrJRI9Im0h34EKQoGqWZZZyBiTJPgH73TFdu0s6rZGIL0cf8O0Y\nTByG/ojsHFpFVKDwvVsHHde7+0r2suv0XeJ6mmI2RzkiPc1KKXYOJtTNOq1yTqoc4tSbzlIeUrAS\nkTqIaXDUjz3rWco7paFx3wUoFoMTv+9WM+TMhjaXKvZBzyGXyFM2s1jpaMxw+EHIfsemYTbYqOVm\nXlw7jeQneALa/TEdu0spF403GkyTqZHtYXsTMqnZXxjoMQ3TunXybJrLc1DMLE2rwSGVdJlmyYzM\nYpjDvktcS1MxizSkV0+ccn4Q0hlM6Ls9ilZ0ZildP2TiugTKJ7kEO6EkkwaPvhHSqZOraOetkIcf\nns8Wrr2hS+AZFDPRipPHbYC1vCxmnxVJsudsOHHpT8aEuAvre7sbEzdg4tnE49pcdrvQ0bn1GRaK\ntTmt+F4kzw+Otr6r0SzlIrNy2/ND2l2Xhtlgs5aPzIWBEPPSOTopMZ3Ul2a//dthuz4Tf0J6DgWU\nu1Uq6bzlMUUqOf9EO2eFPPaYImfN/vFPnID+MKCerbNesYgZy/MzvhlpA5yP6ESFiGr3xvSdPnkz\nOlUOANsLsb3JXPd7XWtpR3ta34ji7GZIvXb3iZxC0ekGHB6YHByY7B0EBGpRvX9T4dEJicVUmWou\nRzkXnQNcdtsTSuky9UJOFjsKARz2J/Sd3okf5HKvbDdg7E9IL8k2pjAtptSqOj/ywwrLml+cLpcC\nHn98Pn3Yx+0W1WyNetHCjEibiLQBzo/8JOdIKUVnaNN3emyUorE12zHb9dF9m3xmfkE4mdB585sD\n8i8GvPyyhu3ogCKTVpw7pzh/Qbvr6tB4EvDtv4PLV3Ta7ekH4JXLOtVqyMMPBxQK+kIq5Ptdm5Ru\nUjELNCO0qGQ49nAcnc1yhfVqbtHDEWLhXC+gO54w8ke0IrRtH0xnKnXfppxYrs8lDY1SWefJJ0Je\n+G7ASy/rMzt23dAV998fcuH8tD1l1kKl2D2ckE8VqVgW1QjtJnLcBliVNsCZkyR7jnojh749xIiF\nS9H3druUUrheiB44pJLzrbSmUwYPPaQ4dy5kMAhAg3wOksm7T4JdP+Sv/xp2dq//mYdKY3fPYDQO\neeJtIZZ5ss9Jd+gQuDEa+QrrFSsyq83DcFrlaJobrFVyxGd8KJEQUXQ4mDBw+pjpWKQWPLp+iBv4\npDWd2BIubNPQyGYMHn2ToloLef471x9WdsffT1NUyiEPPDDdyWRexZV2zyGhZalki5HaleO4DfBc\n4Rwb0gY4c5Jkz9GrU4nRahXxAoUbemSN5IkkghoambRBZkbrLHZ3FDu7r//hMRzqXL4c8IY3qBOr\nZo9tn8EwpGU1WK9YkdmuD+Cga5OJ56ha0TnyXYh5a/fG9Ow+lXK0WkU8P8RXHon4clWxX2t6IqRO\nrabY35+e4Lt1RScIby9mx2OK9Y2QtSZUqvNZW3SsN3RxHY31XIWNai4yp/aCtAHOW3Q+6SMmCEK6\nwwkDd8D5arQSE9cP8JVHPB691cUKxfYO3KrqcekS3H9RYRjzT7L9IDxa6NigEaE+PZj2bvYGAeeL\nNVkMI8SRse0xsCd4yiabjk7VEqaVbC/0ScSXPxHU0IjHNFpNaDYV/QdCBn0YDqHXh+EAQn/6tcVi\nQM4EKzfdlSqXA9Ocf1ug7Qb0hj4ts0WrYpGMUAFlMJI2wHmLzqshYqa92ANSybvvK14U11f4oU8y\nYuOGaZLt2Lf+OtfV8H3FvBd+H/fpFVJFqpZFJR+dCy6lFFt7Y2rZBs1Sjmw6WjMyQszL4WBCz+5h\nZeORm173joooUUiyr3V8gm/+6JpGHf3vlUt9ADY282jMZ8/r1xMcLXSsZGrUCxa5zHLPDlzL90N2\n2hPWrU3Wq9IGOC/RepdFyGF/GoRz2eglJp4f4Ic+8QgdnHNMQyN9G3EulVLEYvMPxgfdV/v0orTQ\nEWDv0Capm9StEmsVqXIIceywP6Hn9MlH6ITHY46v8AKfeASLKNfS0NDRCcKAIAzQOdnF7ArFbsfG\nShSoWjlqxWgtGNw+mFBMlqnnC5FapBk10X6XLSnXC+iOJoz9caSO2T3mB9NK9kkkobOmodFsAbc4\nJXJzE/Q5t4p0Bw6+q1Mzq6xHrE9vNJn2kDfNBueaxUgt7BJingZjh4E9At0nHaGzD44FQUhA9JPs\nRdvvOBikqJolWhErQnT6DoEXo2HVONsoLHo4K03eZXPQG9kMnAGZtB7J5CRUihBFLGLToMdqNY31\n1uvvs1rIB6yvz/eQm97QZTSGullnLWJ9ekGo2D6Y0LRabNQKZFLRu1AUYl46g2krYBQLKKFShEdn\nBazaIV8n6aBrE3pxGmad9UqOWIQKKI4bcNBxaVlrnGkUpE1kzqLzyR8hvZHD0BtiWtELwjDdsi0k\nQIvgBQJAPKbz6JsC0pmA73//1cdg6IrWWsgbHoDsHPf/7o9c+sOQltVko1rAitBCR4DtgzFWvEA9\nV5A9U4V4jf54Gt9bxejF9yAICVFEKCdcOu2eg+fGaFrTxeCpCB3copRia39MNVOjWcpTMKPTQx5V\n0Xl1RIRSisHYYeSOaGSi1+eklCIIp60WUdnH+UZSSYNHHpnuv/0P33NRwLmzIfk5H0IzGHv0BgFN\ns8l6pUA+G60gNt2KymCzVJdpRCFew3F9RraNH7qkktF6b8N0lipUgSTZd6ndc3BsjVauzmatQCYZ\nrQutg65DnAz1XEV2izoh8labscHYZeiOScRZyo3+byUIQxQhEc6vr9LQsEyDXGFEvjCiUDDmmmAP\nJx7dvk/DbLJWKUSuSuD5IXtth5bZYrOWl6N1hXiN3shh6A4xM9F8bwThtJK9AuH9xHUGDrYNDbPB\nRjVPNhWtTQ3Gtj8tAFlNzjYKkWxljaLoZYFLrj92GLlDzEy0rnCvWoXsegEGY49Oz6duNlgr5ylZ\n0dtjfGt/TCldoVksUM7P96RPIaJo2ioyIpuOZpKtaSe7xd2qOOw7jMfTBHuzXojUWQcwbQHd2h/T\nyDZYrxQwZTvWEyNJ9oz1R9NWkagGYf0oCKubb84hrtEfua9WsMsFyrnoJajtngNBkoZVZbMu04hC\nvNa1rYDRju+32ntJXKvdc7AnGk2zyWYtemtsAHbaE8xYnlquSLMs62xOkiTZM+QHIUPbwQkd0slo\nrtjVNQ1Nk5fF7eoNXXqD8GoPdiWCCfbE9jnseqxZLc42CpFscxJi3ka2x9idEI9FsxUQjicqNcmy\nb9NB18axdVq5JmfqhUgdNnOsN3SZTDQaVp1zzWLkDk+Kumheji+pwdhh4o1JJ/VIv5CPW7UUSqYW\nb6I7cBiOoGU2Wa9GrwcbpheGV/YnNM0WrXKeXDZ6VRohTsJg7DDyxmQiWsWGaRFF13SZqbwN+10b\n343RytXZqEazxcJ2A/baDhu5M5ypFyO1E8qqkJ/4DA3G7jQIR/CAgmvpuoaOge+HsofmDSgU7a6D\n42g0rWmPWxQTbKUUV/bGFBIlGvkS69VoHaggxEkajF3G3ohCNrrx3TD0o1MSFz2S5RUoxf7hBC1M\n0so12KzlI7eLCEx3krm8O6KebbFeLlKRdTYLEc05ryU1GDuMvRHZiCfZiZhOXI/h+VLueK0gCNk+\nmBD4CdZyLTZr0UywAXYPbYwwTStf58JaKdKzL0LMk1KKke0y8SeRr2THYzo6Bp4fLHo4S8fxA7b2\nxiSwWMs1ORPRBBtga2+MFS/SLJRlnc0CRTdaLJkgVIxdDzd0SSWjPeUeN3RiehzXD8jIS+Qq2w3Y\n79jkEgUq5rTym4rQSY7X6g1dRiM4V2hxvlmMbI+pECfB9gJ0d0LMACPiW58lYjoJPY7rKyIavuZi\nOPE47LmUUxUqVoH1qkXMiOZM7n7HRvlJ1koNzksf9kLJW2xGHC9A920SMS3yL+h4TCemSSX7Wr2h\nS2/oU83UqVgWa5UcRkRPdDju09vMn+Vcs0Q2gr2GQpwkxwvRfIdURBe0Xytu6Bh67KiSLSmAQnHY\nc5lMoGG2qOUsGiUzsp/jg5FHrx9wrrjJ+VaRRDz6r9kok3fYjLj+NAgnE9F/QSfjBgk9wcSW6cRQ\nKQ66Dp6r0TJb1AsWtWJ0t0Dyg/Bqn95aqSB9ekLcBtsL0AOHRCqaF9bXuja+F6IbymYiCEP2Dm10\nlaRlVVmrRPuocccN2Dmw2chtcqZWxMpEe1Z9FUiSPSPTIOySTEc/yU7EdFLxOIYWw/ECkqf0StgP\nQnYPJyS0LOv5KmsVK5J7pF5ra39MLl6SPj0h7oB7VMkurUARJZ0wSOlJXE8RKIUR0YrtvXLcgL2O\njRXPU8lO2//SEe2/hqOFjntjqpk6rVKReumUX0EtCUmyZ2TaLuKQjUe/0gGQScYw4hnG9vhUJtlj\n2+eg61BIFalki6xXcyQj3sC4dzgBP8VaucGFlvTpCXG7nKNKdjIRvZNcX0vXNdLJGHosycT2MdPR\nTSzv1mDs0em7VNJVymY+0v3Xx7b3x2SNPM18hTP1wqKHI45EO2tYIo4Xogc2qcRqTL9nEtMke3/S\np2hFu3p7p7pDh8EwpJZtULUsmmUrsv3Xx/ojl/5Qcb6wxvlWUbZmFOI2+UGIG/jE1XS9yirIJA30\neJbRuHOqkuxQKTo9F9uBprlGrWBRL2QjX3A46Nj4bpwzRwUUPeKLc1fJakSMBfODENf3UITEViQI\npxI6ZiqDrhKMbG/RwzkRjhdwZX+EPY7RMltslIusV/ORT7Ants/ugcO6tc6ZejGShyoIsSiOF+KG\n3kqstzmWTcbIJU0cT+Gckq38xrbPld0xoZ+cbr9aLdIoRneB47H+yKXbD9jIr3O+WSIpB84sFXk2\nZsD2AlzlkUtEd8HEa2maRiWXoTfO0+nvk02tbrUjVIpO32U8CSmmKhSzORpFcyWSUdcLuLw3pmmt\ns14uUitmFz0kISLF8QPcwCW1Qkm2YegUrDRdO09vMKBWXJ3H9lpBEHLQd/AcnUqmTjFj0qxYkd1+\n9Vqjic/OgcOZ/FnO1IpyYu8Siv6rbAm4fogXuCvXu5zPJsmnTTp2h5HtR/6QnRsZ2z7trkM6lmXN\nKlHNZ6kUsugRr27AdIbl0s6IarrBWlEWOgpxNxwvwFMuycStZ7SUUjhOyNa2wrYhmYS1lkYyqS9d\nxbSSS9MZ5LjU6+H6AYkVbCEbjD0O+y65RI5GoUStkKVkRb+vHqZbsW7tTVjPbbBZLclCxyW1elnT\nAkyDsHdbQThKNE2jnMswcCrs93ZIJfTIt04cu7a6Uc02KGZMGmVzJaobAGGoeGVnRCFRZq1YlQMJ\nhLhLjhfiBrduF1FK8Z3vBnzzr3V6fR3QAIVlKd70poA3vMFYqov3mGFQtDIMnCL7nUNa1QwayzO+\ne+H6AQddB4I4TbNF2cxSL5orsxbF80Mu746pZ5usFac7o4jltBoZxYJ5vsIP/ZVZFHOtopWmPzYZ\nuzkOukPqpWhXAUKlppv1Dz1yiTyNQnGlqhsw/bC/vDciredYLzS4b60kC2GEuEt+EOKrm8d3pRTf\nfSHgy18yCNW17zWNwUDjz/5UAwIefIOxVBe7tUKW4aTAuDum03cp5aLdbhAoRbfvMpoEFFNFilae\nRtmM/Nar1wqOCiilVJW1YoVzTdlJZJlJkj0DoVIEKoz8cbuvp1W2mLg+l3tj+iOXXDZ6vcpKKQZj\nj27fJRFL0zRrlMwMjZIZ+a2bXmv7YIIepNkorXHfWkmOTBfiHgShIlTBTeO744b8zd9or0mwXxUq\njW9+U+fc2ZD0Ep2loGsaa2UL262wNdgilfDJRLAtUClFd+DQG/mYMZM1q0AlZ1ItZFZm9hWmj/OV\nnRHZWIG1fE22Yo2A6L2blpAfKgIVYBir+WKPxwxaZRPPr7M92EbXvUht+zSxQwaTgGxWp5ZtkE9n\nqRayK7Gw8bX2OzauHeN8aYP71mSluRD3QilFECoU6qazQTs7ik7n5snzYKBxZSvkvguzHuW9SSfj\n1AsWXlhjr7tDvaRFZicVhWI0CRmOAywrQcusU8imqRVMUisY+67sj4mTZaPQ5OJ6CUMKKEtv9V6F\nCxAEIYpwpV/wuUyKZjlPiGK3t4NSYGWWN9EOlWI08ekNXYYjnXyiwGaxRbWQIZdZnV1grtXpO/QH\ninOFDS60SmRWeEcYIU6CH4SEKuBWxVDHAW7Zz6wdfd3yqRayeEFIqEJ2D/eoFlOkk8ubaAdKMRi5\nDIY+ziRGKVHkTLFFrZglE+FTG29mpz0hdJOcLa5xcb28Mv3lq06S7BkI1bTisartIscquQwohYbG\nTn8H1wsp5hJLtZgnCEP6I4/ByCdppKikG4RZRSGb4EKrtOjhzc1g5NHu+pzJn+F8syRbOQkxA0E4\nbQW81ZqGVApAcfNEWx193XJqlS0AdE1nr7NLzjQomMsVRzw/oD/yGU58MrEstWwVLQvFbIKzjdXt\nTT7o2kzGGueK61xcL69klX5Vzaz02ul0+OAHP8iDDz5IJpNhc3OTZ555hsPDw1ndxVI6rnRoulr0\nUE5EJZ9lo1JgzWoReAm298cLP8xAoRjbPnsdm8t7E0InRdNc42xpnQuNCuvlDFaE2lvu1HSvVJt1\na4Oz9TLl/GqcOiqWx6mO74TcapKy0dApFsObfk0+p1hrLU9B4kZaZYtWsUDLbDEZG2wfjPGDmz+u\neQuVYjjx2G1P2D5w0IMM69Y65yot7mtWWStnItlHfru6A5duP2Qzv8n5Zmkl2xxX2cxemVtbW2xt\nbfGxj32Mhx56iMuXL/PMM8/wMz/zM/zxH//xrO5m6QRBSBDeutKxSopWmnQqTvogQXvYY/egTTql\nUzDjJzqF5bgBw8m0qhHXEpjJHBXLJJ9NU8qlr04brvLCkLHtc+Vor9SNSomG7JUq5uC0xnf/qIXi\nVrN1ibjGm98U8sUvKoLwB79W1xRvelNIcolbMI7ViybZVIJUO0F73OHKfhczHaNgxk+0JXJs+4xs\nn7EdkDJSZOMlGpks+WyKUi5NckW2W72Z7sDloOOxmTvDuUaJ4grtgnVazOxV+vDDD/OZz3zm6t/P\nnz/Pxz72Mf7ZP/tnDIdDTHM1P/ynlY6AU5RjA5CKxzjbKJDpxsn00vTdAdsHPVJJHSsTJ5XUZ77n\naqAUthNg2wFj20cjhpk0WTOzZFMpctkk+Uzy1PSqTY8JnrBmrbNZlsNmxPyc1vgeBOF0UfstcktN\n07jvPgMI+OtvanQ6r+6TXSgoHn005IH7l2v7vpsx0wnOtYqk23HMoUnX6XF5f4CZjmGmY3NZGBkE\nIRM3YGwHTJyAuBYnm8xRsrKYqRT5bBIrmyS2QruF3Exv+GqCfb5RplqQ03qjaK6Xgr1ej2QySSaz\nutPXfhCu9PZ9N6NrGo2iSdlK0+5nORzk6LsDOt0hnrJJJw0yKYNEXCceu7OkO1AKzwtxvQDPU9ie\njx9AykiRilvUzTSZeHKaWJuplTlE5nY5bsiV3Qkta53NSoUzK9yPKJbTaYnv04WPt45dx4n25hnF\n9nYwPfExAc3WdLeOqCTYx2K6zno1R6WQ4aCboTvKM3AGHHRGBMomm4qRShkkYtodFzaCMMT11DS+\n+yG2GxAEGql4ikzMpGxmSCcT5LNJcpkkiVMW30eTgP1Dj43cJucaZTnNMcI0pdRcmom73S5vfetb\n+fEf/3F+93d/9+rtvV7v6p9feOGFedz1iRpMPL67u89AHVAvrW7f7+0IgpD+xGfs+Niehx04OKGN\nF/gE+MQMMHQNTZ9+IOmApk0XjoZKocJpch2GEIYQ0+LE9ThxLUbCSJDQ4yQTBul4jEwyRiJ+Oioa\nr+V4IXvtgHKySiOXZ620uklOVF28ePHqn/P51ZthOC3x/aBv88L+LmGiTyl3uhK913L9kMHEuya+\nT3BDFy/0CQmIxSCma6DdIL6H6mqcDwJAadP4bsSIawnieoykkSCVMEgnDNKJ2Eoe7nY7RnZAuxvS\nSDVZK1pUcku8WvaUupP4fsuo8ZGPfITf/u3fvunXfOELX+Ad73jH1b8Ph0P++T//52xsbPAf/sN/\nuNVdRNq0OKFxOpY93pxh6BTNBEUzgeeHjJ00thfg+grfnx49H6gAFSoUoFRIiCKGhq7paNr02HY9\nZhDXDeIxnURMJ27oJGIGqYQeuWrQrDluyN7hNMGuW5Jgi3sj8f3mdF1D1zQWu/RvOSRiOmUrSdlK\n4vohYzuD7QV4QYjnB/jKx1c+KpzutqUIUUAMHV3TrsZ3I2YQO4rvyZhBPKaRjBskYhLfR5OAdi+k\nkWrQKkiCvQpuWclut9u02+2bfpONjQ3S6WlD/nA45Omnn0bTNP7oj/7oB6YSr610rEKFZzhxJi+a\npgAAHgFJREFU+d+f/RydYId//PY3LXo4M/Htv/82AA89+NDMvmeoFK4f4PkBYahQR1WNUCl0TcPQ\nj3/pGLo20+nBeTyeRZjYPpd3J/SuDKhbed777h9diQ+lr3/96wA89thjCx7J7EQlzkl8v7mD3phP\nPfssjtHhHT/yxkUPZybmEQ+n7R8BXhAQHiXZoZoWUwxNQz+K7TFDJ2ZoMz1ld1Xie2/osn/oMbwy\npFnI8fQ/fvuihzQTpz2+3zKTKZfLlMvl27rjwWDAU0899boBeBXpmoaORiil7JvSNY1UPHbqeqdn\n5XiRY8taJ53bYq2UWYkEWyyWxPeb0zUNDY05dVWuDEPXSSd10pzulsm7dZxgb+Q26Y8vSwV7hcws\n4xkMBrz73e9mMBjwB3/wBwwGAwaDATAN5PH4ar75pgtiNCQGi3kZTabb9K0dLXLM2N1FD0mcMqc5\nvuuaxHcxP8fb9G3kNjlXL3NlfLDoIYkZmlmS/Y1vfIOvfOUraJrG/ffff/V2TdN47rnnruvpWyW6\nNu0nliAs5mE49tjet1nPbbBZLnOmUeDg8qJHJU6b0xzfpYgi5uWw53DY9dnMn+Fco0yjZHLlpUWP\nSszSzJLsd73rXYTh6VseouvTjelkOlHM2rUVjo2K7IMtFuc0x3dd0wmlH1DM2N7hhOFI40zhDOfq\nsk3fqpIG2Xt0vGpaYrCYpf2OTX+g2Myd4Wy9RLNsLXpIQpw6x2tupIYiZkUpxdb+BM+JcTa/wYVW\nmVJOTnJcVZJk36PjSgdKFqGJe6eUYudggmMbnC1scr5ZppJf/QVmQiyj4zU3UkQRsxCGist7I/Qw\nw/nSOhdaJXLZ5KKHJeZIkuwZiBsahmbgegGJ+Ok40lvMXhgqruyNIUhytrjOfa0yeVNWmQuxKImY\nQVyPTw9QEeIe+H7IK7sj0nqejWKLi+sl0snVXDAsXiVJ9gwk4wYJPY7rhZJki7viByGXd8ckNZON\n4hr3rZXIphOLHpYQp5quayRiOjpSRBF3z3EDXtkZUUhVWM/XubheltfSKSFJ9gwkYjpxPYHtBpgZ\nuTIVd8b1Ai7tjMgnSqwXmlxcK5FMyFtTiGWQjBsk9QSOK0UUcecmts/lvTG1TJO1QoULayVixuk8\nMv40kk/yGUjGp1OKrnf6Vt+Le2M7AZf3xlRSdVqFKhfXyxKAhVgiiZhOTI/jeAGWHLYi7sBg5LFz\nYNO01lkvljnXLB71+YvTQpLsGUjG9aNKhzTuids3HHts7du0zBatYpkLrZIEYCGWjBRRxN047Dkc\n9nzZgvWUkyR7BhIx46jSIUFY3J6Djk23H7CZ22StXOJMPS/HpAuxhKSIIu6EUortgwmOrXMmf4Yz\nNdmC9TSTJHsGDF0jGTPQtBieHxKPyXS/uLEgVGzvjwm8BOeKm2zWijTkEAIhltZxEcX1ZR8/cXOe\nH3J5d0RCMzlXbHK+WaJoyR7Yp5kk2TOSiBnosSSOG0iSLW7Icaf911kjz5lSg/NN2SNViGV3bRFF\ndhgRr2c08dnaH1NO12jmqlxoFWWLPiFJ9qxkkgZ6PMtw3JUdRsQPOF4AU8s2aOan/dfyYS1ENKST\nMYx4huHYoZSX9624Xrvn0On5rFmbNAtFzjUKGLKAXSBJ9syY6ThGwuL7/X0ayPSQeNXe4YT+ULGR\nO8NauchmLS8LHIWIEDMVI5awaI+HlPIy+ySmwnDaf+05BmfzZ9moFmlVpP9avEqS7BlJxQ2SqRTG\nIIHtBKSSUu047YJQcWVvBH6K84U1ztSL1IrZRQ9LCHGHzFScWMLkyiAkCBWGXCSfeq4XcHl3TNqw\nOF9qca5ZpCAn9IrXkCR7hgpmCqtnMhgPJck+5Ww34PLuiFy8xFq5wflWEVNOcBQikgxdI5dNku1n\nGY498qa8l0+z4Xja/ldJ12jkpgfMpOQAMXED8qqYoYKZwkpYbI06VItyRXtadfoOBx2XerZFs1Dm\nQqtIPCYXXUJEWcFMYSYsBuN9SbJPKaUU+x2b/jBkzdqY9l/LATPiJiTJniEzncBMZgj7uqxCP4X8\nIGR7f0LgxTiTP0erlGdT9r8WYiXksymspMVeZwellLyvF0wpRbcb0OlYaBoMBgGmqc/teXHcgK39\nMXEynCs0ZftVcVskyZ4hTdPImynMnslgbFOWVeinxmDksdOeUEiWaJbrnGkUpD9PiBWSiBtY6STJ\nfprRxJddpBaoPwj4m28qXviewdbWNM6+8ILGAw8EPPpGjXR6tp+9x7OT1UyNeq7CuUaBrLT/idsg\nSfaMFcwUuVSe7UGfsqxCX3lhqNhtTxhNYN3apJ4vcLZRkPYQIVZQ0UqT7+bo9A8kyV6Q4SjgC1+A\n7e3r0xfb1vmbv9EZ9H3e+a6QRPzet9Dz/ZDtg+tnJzdkdyhxB2QjxxkrmCmKGYsYKXpDd9HDEXM0\nsX1evDIAP8N9pfPc32pwcb0sCbYQK6qSz1BMF3AcsB05Zv2kKaV46UXF9vbrx9gXXzK4dCm85/sa\njDxe2hqS1grcVz7Pg5vTGUpJsMWdkEr2HDRLJoejCrvdy7JAZgUppWh3HTp9n4bZop4rca5ZlNXl\nQqy4mKFTK5q0J2UOem3Wa7Il50kKleJ737tVkqvx8stw4fzd9c0fz06OJ5rMTop7JlnBHJRyaYoZ\ni/1RgsHIw8rKtOKqcL2Arf0JhkpxvrjJWjlPq2LJIighTolGyWSvU6TdPsBxA5IJSb5Oiu8rBsNb\nx9pBX0Oh0LizuDyxfa7sj8nGclwoNdisFagW5EJK3D1JsudA0zQaR9Xs/e6WJNkrQCnFYd+l3XWp\nZqrUrQrnmrL3tRCnTczQqRayHIzLHHQ7rNUyix7SqRGLaaRSisnk5l+Xzii0O+iGDcPp1nyDUUgj\nu0YtV5TZSTET0pM9J5V8hmImD2Gc4dhb9HDEPRjbPi9dGTIeGpwrnONCrcVDZ6qSYAtxSjVKJqV0\nkfEkxPWkN/uk6JrGffepW37d2TPc9uxif+Ty4pUhoZvmfOE89zUavGGzIgm2mAl5Fc3J1Wr2uMJB\nd0dWokeQH4TsH9qMxoq62aRiFtms5cllZdcYIU6zeMygVjBpj4vsd3pSzT4hmqZx/pzGd78b0uvd\nuEZYrwdsnrl1gu16AbttG88zWDM3qFh5ztTzpJPyWS1mR5LsOarkM5Q7BTqTLgddm0pB9k2Oiu7A\nZb9jk0sUua9cpVXO0SiZ0nsthACm1ez9Xpl/OOzL2psTlM/r/NiPBXz1K4qt7VcTbUNXbJ4JePyt\nGpmb7JP96sJ1j1K6Qr1cYa2ao5KXCyUxe5Jkz5Gua5xtFBg7TV7qvoSZDkglZZHMMrPdgJ2DCQQJ\nNqyz1PI5Nmt5kjJ1KIS4RiJusFkrYHstXml/n3TSIBaTDsx50zSNWjXG//tUyPZWwHe+44IGP/Rw\nQK2uo2uv/xyMJj477QlJLcO5wgb1Yo71ao6YIc+bmA/JHObMyiRZqxSY+A2u7G9zrmXKPptL6Hjh\nS38YUM1UqRbLbNRyFK30oocmhFhS1UKW3qjA0BuxdXDIZkOO2T4pMUNnY0NnMOwB0Gisve7X+kHI\nbttmYkMj26JqFdms52VdjZg7SbJPwFrFoj9yGLpDdttjmlWZllom3YHLQccmG89xvlijWcrRKlsY\nUt0QQtzC2UaB0cTle+0hhz2Hkpz0uzTCUNEZuLS7DsVUibVShbVKnnoxK61/4kRIkn0CNE3jfKvI\nxHX53uGL0r+3JAYjj/2OjUGKNWuTipVns5Ynk5LnRghxe2KGztlGgYnX4uXuS2TSMVKyd/ZCKaXo\nDT0Oug4pI8vZ/Bq1vMVGLU8iLs+NODmSZJ+QVCLGRnUaiC+3L5FM6PJmX5DRxGe/Y6OCGLXsGuVs\nnlbZopST1hAhxJ3LmylapQJjr8HW3g5nWiaGtAUuRH/ksndok9AyrJublK3pzKTsCiUWQZLsE1Qr\nZumPizi+y6WdXc42s7JQ5gTZTsBeZ4LnGlQzDcrZAs2ySSWfkalDIcQ9Wa/mGE5cHN/hlZ0um42s\nrL85QcPxdGZSCxM0sxuUsznWqjkKpuzqJRZHkuwTdr5ZJAhCwk7I93f2OdPMysrmOXP9kO4gILFj\nU8lUqVRK1EsmtYJ8CAohZkPXNS6ulwiV4vuHAa/sDthsSO/vvNluSGfgkzIDqpkm5WyBVtmiLFvy\niSUgSfYJ03WN+9amgTg8DLi0fchmQyra8+B6Ae2uw85BQD6e52L5PupFk0bJlEWNQoiZi8cMLq6V\nCEPF97uXeWV3yHpNLubnwXYC9js2+4eKQqLM/eULNMsW1YLMTIrlIUn2AhiGzsX1MkrB5a7Oy9v7\nnGmaxCXRnomx7XPYc5jYimKqyHpmnbKZ5pHzdeIx6YMXQsxPMhHj/o0yAJe6l7m0M2SjkZUe7RkZ\njDzaPQff1ymny5wxPcpWkkfO1+ViRiwdSbIXJGboPLBRRtc19I7G97f3WaumSafkKbkbSin6I4/D\nnkMYxCinK2yUC5RzGSxnQiJmSIIthDgRqUSMBzbKaBq80t3m0naXtVpGFrvfpTBUdAcuh32HGClK\n6QbFQp5qPoNpj4gZuiTYYilJRrdAhqFz/3oZXdOId+Nc3t2mmItRKcpCjdsVhIpO36Hbd0noGarp\nFsVMnmohQ7Uw7XffvywfbEKIk5VMxHhgo4KuaWz343x/a59qKUnBkgNQbpfnh9P4PvDIxE3WzDqF\njEW9mKWcy6DrGtvflxlgsbwkyV6w48Uy2VScdDvNlf4WL0+GtKppqXrchOsFHPZd+kMfM2GxbrUo\nZk3qxSylXFp68oQQC5eIG7xhs0JmL06mk2Wre4XhZESzkpH2kZuwnYB2z2E0CcgnC5wrFCmZJrVi\nVnYLEZEiSfYS0DSNtWqOXDZJeifBzuBAqh43EIaKwdijN3RxHCikCpwvlihbWWqFrOyDKoRYOoah\nc65ZJJ9Nkd5Nsj3Y5aUrXZqVNNm0fAQf84OQwcijN/TwfZ1SukSrNG35qxdNOSRMRJK8w5eIlUny\n0Jkq5l6C7DVVj3opfWoXRSqlGE18ekOP4cQnG8tSSDbIm9Y0+JZMUgl5GQshllspl8ZMJ8hsx9nt\nm2zvbWGaHpVC8tRu43pcOOkPPSZOiJmwqKSq5FMW1XyGWjEra2lEpEl2smReW/XYG+7z0pVDrIxB\nuZA8NS0kE9unN/IYjDziWop8qkSjmKeQTVPKpSmaKdmGTwgRKYm4wQObFfKHKdJ7KfZGe7x0uU/e\nilHKn55kezj26I88hmOfdCxDLlljPWtRNKfxPZ9NyUJGsRIkyV5Sx1WPYjvNfrfE4eSQ7291yKR1\nKoUkycTqJdu2GxxNF7poKk4+ledsPkcunaGUS1OypE9dCBF9jZJJLpOk2M7Q7g85GLd58XKPnBmj\nkk+u5LkJE9unP5om13EtST5VolbMUcgcFU6s9Km5yBCnx8yTbKUUTz/9NH/8x3/Mpz/9aX7yJ39y\n1ndxaiTiBmcbBZolk51Dk/1emcNJh0vbbdJpjXIuGekt/4JQMZ74DMceo4kPxLASFutmk1w6S8ma\nBt90UnrxhFgGEt9nJ5OKc99aiVbZYrttcjAYcTg+5MUrHXLZGMVcItLFFD8IGU18hmOf0cQnpifI\nJXKcyeXJpdNXCydJafcTK2zmr+6Pf/zjGMY0MMgOD7ORTMQ40yjQLFvsdkz2uyXakw5bex0UY8xs\nHCsTJ5MylvpnHoaKiRMwtqdB13FDMvEM2USJcs4km0yRzyYp5dJYGVnEKMSykfg+e5lUnAtrJVqO\nxc6hyUGvTHvS5pXtHroRYmZiWJn40hdUglAxOYrtY9vH9SCbyGLGC9QLWbKpFAUzRclKyyJGcWrM\n9F37ta99jf/0n/4T3/jGN6jX67P81oJpZXujlqdRMtnrmBwOKgzsCQN3wP7BADcck03HsLIxzHR8\noT1tSikcL8RxAxw3YOIE2G5IUk+RTZhUU1myVgYrkySXTZLPJqViLcQSk/g+X+lknHPNIq3yNNnu\nDm2GzpiBO2B7f0igxliZOGYmRjYdW+hFThiqaWw/ivETJ8BxQ9KxDJlEnkYmQzZ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Ti/lDXakUV1bIJrAci3AYSJItxCRs7+612uiwZq2RSUecnMvJhBRxRZmUwSgc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\nWS2WOdcsHvf5i7NCkuwpSMb140qHNO6J2zcYeWzt27TMFq1imQutkgR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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -587,127 +625,82 @@ "name": "stdout", "output_type": "stream", "text": [ - "1.0\n" + "3.91\n" ] } ], "source": [ - "from filterpy.kalman import UnscentedKalmanFilter as UKF\n", - "from filterpy.common import plot_covariance_ellipse\n", - "import matplotlib.pyplot as plt\n", - "\n", - "x = np.array([0, 0])\n", - "P = np.array([[4, 2], [2, 4]])\n", - "\n", - "beta = 2\n", - "alpha, kappa = .3, 0\n", - "print(kappa)\n", - "S0 = UKF.sigma_points(x, P, alpha, kappa)\n", - "W0 = UKF.weights(2, alpha, beta, kappa)\n", - "\n", - "alpha, kappa = 1, 3-len(x)\n", - "S1 = UKF.sigma_points(x, P, alpha, kappa)\n", - "W1 = UKF.weights(2, alpha, beta, kappa)\n", - "\n", - "def plot_sigmas(s, w, **kwargs):\n", - " min_w = min(abs(w))\n", - " scale_factor = 100 / min_w\n", - " return plt.scatter(s[:, 0], s[:, 1], s=abs(w)*scale_factor, alpha=.5, **kwargs)\n", - "\n", - "plt.subplot(121)\n", - "plot_sigmas(S0, W0[1], c='b')\n", - "plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, std=[1, 2])\n", - "plt.title('alpha=0.3')\n", - "plt.subplot(122)\n", - "plot_sigmas(S1, W1[1], c='b', label='Kappa=2')\n", - "plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, std=[1, 2])\n", - "plt.title('alpha=1')\n", - "plt.show()\n", - "print(sum(W0[0]))" + "ukf_internal.plot_sigma_points()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "We can see that the sigma points lie between the first and second deviation, and that the larger $\\kappa$ spreads the points out further. Furthermore, the larger $\\kappa$ weighs the mean (center point) higher than the smaller $\\kappa$, and weighs the rest of the sigma points less. This should fit our intuition - the further a point is from the mean the less we should weight it. We don't know *how* these weights and sigma points are selected yet, but the choices look reasonable." - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Handling the Nonlinearities" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "I explained at the beginning of the chapter that there are two places for nonlinearities to occur. The first is in the state transition function, and the second is in the measurement function. For the linear Kalman filter we use the equation\n", + "We can see that the sigma points lie between the first and second deviation, and that the larger $\\alpha$ spreads the points out further. Furthermore, the larger $\\alpha$ weighs the mean (center point) higher than the smaller $\\alpha$, and weighs the rest of the sigma points less. This should fit our intuition - the further a point is from the mean the less we should weight it. We don't know *how* these weights and sigma points are selected yet, but the choices look reasonable.\n", "\n", - "$$ \\bf{x}^-=\\bf{Fx}$$\n", + "Van der Merwe's formulation uses 3 parameters to control how the sigma points are distributed and weighted: $\\alpha$, $\\beta$, and $\\kappa$. We will go into detail with these later. For now, $\\beta=2$ is a good choice for Gaussian problems, $\\kappa=3-N$ is a good choice for $\\kappa$, and $0 \\le \\alpha \\le 1$ is an appropriate choice for $\\alpha$, where a larger value spreads the sigma points further from the mean.\n", "\n", - "to propagate the state from one epoch to the next. As you remember F defines a set of linear equations that performs this calculation. However, suppose we are tracking a ball or missile in flight. Air drag causes the behavior to be nonlinear, and therefore there are no linear equations that will compute the state.\n", - "\n", - "The linear Kalman filter uses the measurement function in this equation\n", - "\n", - "$$\\hat{\\bf{x}} = \\bf{K}(\\bf{z-Hx}^-)$$\n", - "\n", - "to incorporate the measurements into the state. The term $\\bf{Hx}$ converts $\\bf{x}$ to a measurement using the linear equations implied by $\\bf{H}$.\n", - "\n", - "The UKF assumes that both the measurement function and state transition function are nonlinear, though in some problems only one or the other are nonlinear. If they are nonlinear we can not represent them with a matrix. Instead, we will define a function $h(x)$ for the measurement function and $f(x)$ for the state transition function. We will implement these as Python functions that take a state $x$ and return either a state $x$ for the state transition function, or a measurement vector $z$ for the measurement function. The functions will look something like:\n", - "\n", - " def hx(x):\n", - " z = # do something to compute z\n", - " return z\n", - " \n", - " def fx(x, dt):\n", - " x_est = x propagated forward in time by dt\n", - " return x_est" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## Sigma Point Algorithm" - ] - }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "As I already said there are several published algorithms for choosing the sigma points. I will present the method first chosen by the inventors of the UKF. This algorithm is performed for you automatically by the FilterPy UKF code, but it is valuable to understand how they are computed.\n", - "\n", - "Our first sigma point is always going to be the mean of our input. We will call this $\\mathcal{X}_0$. So,\n", + "Our first sigma point is always going to be the mean of our input. This is the sigma point displayed in the center of the ellipses in the diagram above. We will call this $\\boldsymbol{\\chi}_0$. So,\n", "\n", "$$ \\mathcal{X}_0 = \\mu$$\n", "\n", - "The corresponding weight for this sigma point is\n", - "\n", - "$$\n", - "W_0 = \\frac{\\kappa}{n+\\kappa}\n", - "$$\n", - "\n", - "where $n$ is the dimension of the problem, and $\\kappa$ is a scaling factor that will be discussed in a moment.\n", - "\n", - "The rest of the sigma points are defined to be\n", + "For notational convenience we define $\\lambda = \\alpha^2(n+\\kappa)-n$. Then the remaining sigma points are computed as\n", "\n", "$$ \n", "\\begin{aligned}\n", - "\\mathcal{X}_i &= \\mu + (\\sqrt{(n+\\kappa)\\Sigma})_i\\,\\,\\,\\, &\\text{for}\\text{ i=1 .. n} \\\\\n", - "\\mathcal{X}_i &= \\mu - (\\sqrt{(n+\\kappa)\\Sigma})_{i-n}\\,\\,\\,\\,\\, &\\text{for}\\text{ i=(n+1) .. 2n} \\\\\n", - "\\text{and the corresponding weights are} \\\\\n", - "W_i &= \\frac{1}{2(n+\\kappa)}\\,\\,\\,\\text{for i=1,2..2n}\n", - "\\end{aligned}\n", - "$$\n", + "\\boldsymbol{\\chi}_i &= \\mu + (\\sqrt{(n+\\lambda)\\Sigma})_i\\,\\,\\,\\, &\\text{for}\\text{ i=1 .. n} \\\\\n", + "\\boldsymbol{\\chi}_i &= \\mu - (\\sqrt{(n+\\lambda)\\Sigma})_{i-n}\\,\\,\\,\\,\\, &\\text{for}\\text{ i=(n+1) .. 2n} \\\\\n", + "\\end{aligned}$$\n", "\n", - "$\\kappa$ (kappa) is a scaling factor that controls how far away from the mean we want the points to be. A larger kappa will choose points further away from the mean, and a smaller kappa will choose points nearer the mean. Julier and Uhlmann suggest using $\\kappa + n = 3$ if the distribution is Gaussian, and perhaps choosing a different value if it is not Gaussian. \n", + "In other words, we scale the covariance matrix by a constant, take the square root of it, and then to ensure symmetry both add and subtract if from the mean. We will discuss how you take the square root of a matrix later.\n", + "\n", + "Van der Merwe's forumation uses one set of weights for the means, and another set for the covariance. The weights for the mean of $\\mathcal{X}_0$ is computed as\n", + "\n", + "$$W^m_0 = \\frac{\\lambda}{n+\\lambda}$$\n", + "\n", + "The weight for the covariance of $\\mathcal{X}_0$ is\n", + "\n", + "$$W^c_0 = \\frac{\\lambda}{n+\\lambda} + 1 -\\alpha^2 + \\beta$$\n", + "\n", + "The weights for the rest of the sigma points $\\boldsymbol{\\chi}_1 ... \\boldsymbol{\\chi}_{2n}$ are the same for the mean and covariance. They are\n", + "\n", + "$$W^m_i = W^c_i = \\frac{1}{2(n+\\lambda)}\\;\\;\\;i=1..2n$$\n", "\n", "It may not be obvious why this is 'correct', and indeed, it cannot be proven that this is ideal for all nonlinear problems. But you can see that we are choosing the sigma points proportional to the square root of the covariance matrix, and the square root of variance is standard deviation. So, the sigma points are spread roughly according to 1 standard deviation. However, there is an $n$ term in there - the more dimensions there are the more the points will be spread out and weighed less." ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The update step converts the sigmas into measurement space via the `h(x)` function.\n", + "\n", + "\n", + "$$\\mathcal{Z} = h(\\mathcal{Y})$$\n", + "\n", + "The mean and covariance of those points is computed with the unscented transform. The residual and Kalman gain is then computed. The cross variance is computed as:\n", + "\n", + "$$\\mathbf{P}_{xz} =\\sum W(\\mathcal{X}-x)(\\mathcal{X_z}-\\mathbf{x}_z)^\\mathsf{T}$$\n", + "\n", + "Finally, we compute the new state estimate using the residual and Kalman gain:\n", + "\n", + "$$\\hat{\\mathbf{x}} = \\mathbf{x}^- + \\mathbf{Ky}$$\n", + "\n", + "and the new covariance is computed as:\n", + "\n", + "$$ \\mathbf{P} = \\mathbf{P}^- - \\mathbf{PKP}_z\\mathbf{K}^\\mathsf{T}$$\n", + "\n", + "This function can be implemented as follows, assuming it is a method of a class that stores the necessary matrices and data." + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The computation of the new mean and covariance is called the *unscented transform*. " + ] + }, { "cell_type": "markdown", "metadata": {}, @@ -719,15 +712,46 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "The unscented transform is the core of the algorithm yet it is remarkably simple. Given a set of sigma points and a transfer function we need to compute the new mean and covariance of the points after they have passed through the function. In other words, loop through the sigma points and compute their new position after passing through your nonlinear function. Then just compute the mean and covariance of these points.\n", + "The unscented transform is the core of the algorithm yet it is remarkably simple. For each dimension in the state space we deterministically choose 3 sigma points and corresponding weights using the algorithm above. We pass the sigma points through the nonlinear function yielding a transformed set of points\n", "\n", - "In other words, we just compute the mean and covariance from the equations above:\n", + "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "data": { + "image/png": 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ZBsaD/Hj7iofaB+zz+fj000955513+OSTT0ilUqTTaRKJbMCy2WwYhkF5eTkv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\nbVte2hnuxEQwylR8CqdDwW4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oHpokFBqlo+8kj1Q8gXYftxvMBoqiUFJSQklJfvaVWpaJ\n33/puu0MXuD67QwuTDNFaWk77e2v09b2MqWlC3KtGNe3Y0SjI0Qig0QiI8Ri48Tj4ySTU3y7IpwN\ny98MbaXTEUhHSMagZ7KPnosnAdA0DVXNtkuYpolpmjdUXxVFQVXVXMCcaSm4lVgsllvVpWkahmHk\nVnV5PB4qKyupqamhqamJ5uZmmpubcyF2JtDW1NTgcDycKmwkniSRieM0iq/fXdy9cDRNpS7DbmJu\nKK5HeSHukqIo/PGzaxia+D3hcJArgTMsK3t0TvU63o07rSInk1MMDn5CT89bDAx8nLvkIlu5VbDb\nS8huZ9jCwoVv0NKyG5frxmqTrpdQWjr/O8+TTken2y0GGB8/xtDQ53i9J0kkfDMn/s6Xz2RuDMm3\nen9v9/cz77NlWbk2hpKSEioqKqirq6O1tZX58+fT2tp6U4W5tLT0vnyOxePxXF/v3YrEU8TTCQxD\nwo6ASDRDa6Wbco+0wIjiJ+FXzHkuh53/+pUNhKKHOX5ihN5wR1EOwN2r7+sfjsWGrrts4swNl01k\nN0MYaFoZ8+a9woIF+2ho2H7TWjTLMkkkJonFxqefxojFxolGRwiH+4lEhm4YvrOsNJrmQFGmV3WZ\n6dzg3Z3QNC3XpqDr+g2tCzO9uIlEgmQyic1my21RyP57ZP8uu+nCIh6PE4/H8Xq9dHZ2Aje2NgC5\nYTXTNCkpKckNn9XX1+cqwt9uw6ipqaGioiJXob7eBx98wE9+8hMaGxtZvnw5GzduZOXKlaxYsYJF\nixbd9jKPRDJNNJkAJYPdJpXfuS6eyIBpp8ThwuOUFhhR/KTnV4hpl/sn+A9vfcWpUyZNttU0uIpj\n6ON+9Pze+qpkE+gFTmMYl0inJwHlpssmSkrm0dr6AjU167HbS4nHs8E2Ehm4bkDOSyIxSTodRlXt\nqKqe2zf8/WvXVGy2mQCs5PYTK4oyvZ+4ClXVSacjRCLDQHaH8UyrxMyVx9u2beOnP/0pL7zwAtXV\nN15+Ypomk5OTTExM4PV6b3gaHBy8aX9uKBRCVdXcUBtkh+ISiQTp9O37lmde5vrBtmQySSqVwuVy\n5cJybW0tTU1NjI6O8sUXXxCPx3Mv73Zn+9ZjsRi1tbUsW7aMDRs2sGrVKpYvX86SJUuIpeDgqUv0\nRzpZvvD+XmssCs/oRIJYwMOTix5h3eKGfB9HiHsmA29C3IXD5/v563fPcvaswhL3Y1QYNfk+0j25\nX9seQqEQ7733HpFImGxV9W+Bk2Q3MKSYqbQqSnY4zWZzoSja9JBaKledBSW34uy7hte+vUPYNJPT\nF264MYxyHI4aXK7s/mCPpxWns3b6qS73+5n9wdezLAuf7wwXu/6W3t63yMQn0e0asVgs92+TTCZZ\nvnw5P/vZz9izZw8LFy6843/v69/O1NTUTUHZ6/UyPDycC8ter5fJyUmmpqZy68m+XSW+3UqzuzET\nihVFIRqNUl5RQWV9E41Lmli7YTEt7S00L2jOXQ0s5pbO3gjV9nnsWr2c5prSfB9HiHsm4VeIu/TO\n7zt467NuOi7YWV2+GZctP4Ni9+rW1dpv7NqV3fOb/bF/cnqwbOyGdoNIZJhwuI9AoI9AoB+IADMX\nT9xZa0GWct0NcgqmmcE0sy0DM7fHOZ11uN2NeDytuFyNNwXa+3nVsmVZXAh8hbPsEk16F1dO/IYz\nZ85gGAahULZC7nBkbyGrrq7mJz/5Cfv27WPDhg23bD+4H6LR6C3D8ujoKAMDA4yMjOTCcjAYJJlM\nYhhGLrj/IAo4nA5UVSURS+AuddM0v4mFKxcyf8l8Wha20NLegsvjun/vqJhVTNPi9KUQj9StZffG\nxRi6dEOKwifhV4i7ZFkW/+WDU3x0aJhr3S7WVDyJrhXe0vcbq7UA14DzgB/w8/+3d+fxcdf3ncdf\ncx+aQ6MZSaP7liXLl3zbgG3AYMDGgRAKpIHsJk3S5ug22za723Z36eOxTTYt5Nhe2yZps4QckDhA\nzBFuDATft3zItizrPkaa0dz3/PYPB4ODb0sajebzfDz80GBrPB/xGM+8f9/5fD9flSqE0ZgkkfCf\nO8b4g9aBs+E0k7ncqqOGs1sHVKjV/HasmBG9vhCj0fWh1dmq3x6HfH6g1emsWdtcGEkFOeh/m2XL\nFP7Hp2/EboSXXnqJn/zkJ7z++uvodDpCoRCZTAatVovJZEKtVrN582YeeOABbr311mmbzHAh8Xic\njRs3XvTi5nqp1CqUzNm3B4vdQnlNOY3zGqlvrWfl+pXYHLJCOBv4g0kGBtSsqm1nzcLZ0eolhIRf\nIa5BMpXm8ae389YOH96hQuYXrkKbYyPQhoYG2bp164d+5y3gaS5+sMT5q7Nnx4UlUJQ0Op2VZFKP\nolgAO1D02682wIrJVMqGDffjdNb+9jCL3HA6eJSUtYs71xXx5w+uPhfEE4kE27Zt4+mnn+aZZ54h\nHqUfA34AACAASURBVI+fa0F4f3RcPB5nzZo1F+0Tng5/9md/xjvvvHPV9wtG4gRjYQwGrvq4Z51B\nxxf/5xepbqq+6scVM0/vYBRtopi1rfNpqZ7+57AQU0HCrxDXKBCO882fvsuOvREiY07mOVagVmmy\nXdYV+2j43Qv8gLPtClrAjNVahs1W+aHe2dLz+mZNplL0+rP//q+0hSKXpDIp9oy/QduCOF+5fxGr\n2qo+8j2KonDgwAG2bNnCT3/6UwYHB1GpVBftE77nnntoaMjuEcqX88ruLnb07qFtjhG9TqY95LPD\nnUHqbC3c3t6C0y7tLWJ2kPArxHUY80f425/9hl17YyQnSplbuBS1KjfCQjAYZOvWX53b6Ha2VzcC\nWAEdFouFzZs3Y7FcWU/zVByVPBOMRPsYUg6w7kYj/+uzt6DTXvoCp7e3l+eee44nn3wy633C1+r5\n7SfY1b+bJfOsV73yK2aPeCLD0RNRllUu4Y7ljTl38SrExUj4FeI6DY0H+bufvcfufQlUoXJa7Itz\n4k3iaja8Xc3fmc2jkqeCoijs975DTbOfP7yvjfVL6q/4vhMTE5fsEzYajWg0mhnTJwxnW3pe2NHJ\ngZF9LJknr+35zONNEBg3c2PTQpbOKc92OUJMGgm/QkyCnuEJHn96B3v2JTHEq2myLsiJwDdbV2sn\n23h8hDPJXay70cDffPaWa9rx/n6f8FNPPcWzzz57wT7hRCJxXp+w0+mcgp/m0sLRBC/uPk6nr4OF\nLbk5yURMjpNnwhRpqrllfhvVpfI+L2YPCb9CTJJTA16+9fQO9u5PY03VU2+ZmxMBeDau1k42RVE4\n6PsNFQ0+vvDxVjYsv/rZvr/7983UPmFfMMqv98oBF/kunVY4cCxIu3sxG5Y1YZQRZ2IWkfArxCQ6\n0j3Kd7fsZv+BDEVKM7WWOdkuSUwSb3yU7sRO1t1k4Ot/cCt63eRtbuzp6eG5557jxz/+cdb7hIe9\nIV49cITRRDfNdQVT8hhi5hvzJfB5DKysW8jqeR/d6ClELrtchp1ZuzCEmOHa6kr4w82LWThfxTgn\nOBM6zkWuH0WOceiLUScL6e6N8+7h3kn9u2tqavjjP/5jdu7cycjICP/yL//Cpk2bMJlM6PV6YrEY\nfX19fOc732H9+vUUFRXxyCOP8MILL5w7uniyJJJpkukUWq2s/Ocz70SSIlMR5S5pfRH5R8KvEFdp\ncXMZX/hYO4sWqvCqTnI6dFQC8CygUqmoLmiirw9e2dNFKn2xecjXp7CwkIceeoitW7cyMTHBL37x\nCz7zmc/gdDoxGo3E43H8fj9PPvkkn/zkJ3E4HGzYsIEnnniC8fHx6378RCpNKpNCJ+E3b6XSCsFw\nBofJQVmRtL6I/CPhV4hrsKylgi/du4T2hWqCmtOcCh6WADwLFOlLycSsdPdHOXhqeMofT6/Xc9tt\nt/H9738fj8fD22+/zde+9jXq6+sxGAwkk0lisRivvPIKX/rSlygvL6e9vZ3HH3+crq6ua3rMRPJs\n+NVq5eU/X/n8SWwGO6UOqxxnLPKS9PwKcR06ukf5x2f2cOBgGkO8imbbQtlIluMGI2fwGw9z7+0u\nvnr/qqzVcSV9wsXFxTzwwAPcd999V9wnfPj0CNs6D2K0BSh15d6x3eL6HesK4TbWcfO8VqpK5P1d\nzD7S8yvEFJpXV8J/+sRylrRrSZj6OO7fR0aZmo/LxfQoMVYwMa7hcNcYo75w1uq4UJ/wxo0bz+sT\n7u3t5dvf/vZ5fcIvvvjiJfuEFeXsL7lGy0/xRIZoVEWRyUGZU/p9RX6S8CvEdWqpdvHV+1ewtF1H\nxjLIMf9eCcA5TKvW4dSXMzIC7xzqyXY5wAd9ws8///xl+4Qfeuihy/YJKyjyCUWeGp9InN3o5rSh\n1UgEEPlJ2h6EmCQ9wxN8+xc72XcwQdLvYq59KVq1LttliWsQSPg4EXuXtTfp+dsv3DZjQ8K1zBMO\nKQVs6zyApShMcZEccpJvDncGqbPN4daFLZQ4ZNSdmJ1kzq8Q06jfE+C7W3ay/1CMiVEb8wqXY9CY\nsl2WuEpnjzx+m/rWAH/+qSU5c/TrlfQJ2x1FzF25ilV3LmbZDXOnbJ6wmHmC4RRnetMsrWjntqX1\nsvovZi0Jv0JMs3F/hL9/Zhd7DgXp7zHSZl+BRWfLdlniKg1GzhAwHuYTd5bwlY+vyHY5V21iYoKX\nXnqJH//4x7zxxhvodDqCwSCKoqDWaNAbdGg0Gpbfspyb7rqJBSsXoDfISvBsdqonglVVzk1zWplT\n7cp2OUJMGQm/QmRBJJbkn3+1m/f2j3PqhJY51qU4DMXZLktchUQ6zp6JV1lzo5pvffH2nB4JlUgk\n2LZtG0899RQ//8UWYvEY6VSSdCqNSqXCaDaSSqZoW9bGurvXsXTtUmwOuWCbTRLJDB2dEdrL2rl9\naaMcZyxmtctlWM2jjz766IXuGI/Hz902Go2TX5kQs5hOq2F5SwXhRIRQ0k/n4CBaTFh0ciGZKzRq\nLeOxUfQFEVrrHLhz+DAAjUZDQ0MDmzdv5rZ7HsZcW0FRqZHAuI94LI6SUUgmkgz3DXPgvQP88ge/\nZPur24lFY9iddqx2mQqQ64Y8cYw4mFtRRXWpvA6J2e1yGVbCrxBTRK1W0d7kRqPN4IuNc2pomFQK\n7Dqn9NrliEQ6TlgZo8ytY0FDabbLmRRD4yF8JFiybi6/97l7uHnzzbjKXAQnggR8ATRaDYlYAt+Y\njyN7jvDST1/i5adfxuvxUmAtwFHskOdvjslkFE73x6ix17GkqRKTQTbiitntchlW2h6EmAbbDpzh\nRy93cKhDwZSspNm2ALVKk+2yxGWEkn6OR99m/Toj//vz62dF6Nt/cohtnQcodEVwOs7v8Q0FQux9\ney/bnt/GoR2H0Gg0xCIxFEVBo9Wg00ufcC4a9yXwjOpYXr2AtYtqs12OEFPuchlWmn6EmAZrF9Xi\nsJr4V8M+Dh/p56AvxFz7Mgwa+VRlJivQ2kjHTQx5ovR7ArPiNCytRo1GrSGV/ui6h8VmYe2mtazd\ntJZkIknH7g7efeldtr+6nVQyRSqRIpaK8dav3mLH6ztIJaRPOBeMjCcot1RSV+bIdilCzAiy8ivE\nNOr3BPjn53azvyPCYJ+RVtsSbPqibJeVNdGoh9/85st4vYeJxcYoLV1Ne/tfUlKy7AruO8qvf303\nmza9gU43dfNKTwYOYS7r4csPtnLH8sYpe5zpcrx3jDePHkRt9lJeemUXX4qicProad575T3eefEd\nxkfHUaEiEU8AnNswV91YzbrN61hx6wrKqsum8scQVygUSdHVnWRp5WJuW1KPZobOrBZiMsmGNyFm\nEFuBgRWtlUzE/ETSAY4NDqDFgEVrnxUfqV+NTCbFc8+tZPHiv2LVqsfx+0/R1fVTTpz4IRUVt2Gx\nVF70vslkiJdeupP29r/E6Zw/pXWmMgkCmWFqKvUsac6Neb+X4g/FOOMZI6UOYbdeWe+nSqWiqKSI\nhasWcvcjd0ufcA7pH45RqHUzv6aK0hzetCnE1ZANb0LMMHqdhhWtlaBKEkz6OD06QigWxWEoRqXK\nn1WZdDpBQUEFNTWbACgrW8fx498jmQwTCJxgzpz/eMH7ZTJJXnnlXpqbP01j44PTUutQtAe3W+Hm\n9rppebypFIomODPqIU4Ah+3aNj4V2AqYs3AOG35vAxs/tZHK+kqSiSRjQ2PngnA4GObk4ZNs27qN\nZ37wDH1dfej0OlxlLjRa6XefDvFEhr7BBA1F9SxprkAn/99FnpDwK8QMpFKpmFdXQrmrgLGoh9HA\nBH2+URyG4rw5Elmt1uJwzD333xqNgUQiyPDwO4RCvdTUfAyz2X3efRRF4a23/gOlpatoa/vStNSp\nVes54++iqDjBhmUNOf+xcSSepHtknEjaT1Hh9T/X9AY9tc21rN20lns/ey/NC5vR6rSMDoyiUqlI\nJVLEY3F6TvSw681d/Pz//pyje4+CAs5SJwaTYRJ+KnEhfUNRbJpi5lVVy3gzkVck/Aoxg1UW21jY\nWMpoyEMoEeLE8AAmjQWzNj8/nnQ45tLR8X9QlAxqtY7q6jvP+/OdO/8LOp2FpUsfnbaaVCoVntgQ\ntqI4y+e6KbTk9uthLJHi9PA4gaQXl2NyJzVoNBrKqstYccsKPv4HH2fJTUuw2C14R73nzxPu/eg8\n4UJXIRZ7fj7vp0I8kaF3IEGjs5FlcyrR62TVV+QPCb9CzHC2AgMrWysJJUPElAAnhweJJhIU6l15\n1QYBoNNZGB3djd9/gnC4l/nz//O5XtHDh79LMHiaG2/8x2mvK5D0ojEFmdfoyPkVtGQqQ9fQOL74\nGCXOqRtTdrV9wi/+5MUL9glvfWIrz/zbM1gLrRSXF6NW59e/iWv14VXfmtLCbJcjxLSSOb9C5AhF\nUXh9XzdPv3mMzs4MYZ+NVvtizNr8Ol2rq+tpXn/9bC/vpk1vUl6+lq6up+jq+hm33bYlKxcEveGT\npB3H+cInGrhv7dzL32EGC0cTvLj7OJ2+Dha2ZOe5dd484e2H0GgvPk/4yJ4jjA6MYiowodFqWP/x\n9ay/bz3VjdVZqT0XxBMZjpyIsNC9kPWLG7GYZBazyC8y7UGIHKFSqagvd7CwoRRvdJxoOsjxoT60\n6PNqGoTVWsOhQ4+hKBn0+kI0GgMdHd/h9tufQZ2lfuhIKkRMO8L8ZlvOn/SmVqvoGvAxEBi84lFn\nk+0jfcILmtHoNIwOfrRPOB6Nk8lkSCVTJOIJTnWc4pWfv8Ibz71BJp3BXe3GaJL3qA+TVV+R76Tt\nQYgcY7cYWd1WRZo4UWWC7rERJiJBCvUuNHlwKpxGo2dk5D0CgS6CwTP4fIe5/fbnpnSW7+VEU2Ei\n6iHamiwsbs7t+bVqtYrekQCDgRGKCjVoNdm9qDrXJ3zr+X3C4yPjxONxUonUed+fyWRIp9MEJ4Ic\n2XOEZ//9WQ5tP4TRZMRd5c77SRLv9/o2OBuk11fkLQm/QuQgrUbNokY3lSUWvLExJqJ+TnsGKdDa\nMWrM2S5vyiUSAfr6XiSVCrNmzb+eNxUiG2KZKEEGaGk0s7y1Iqu1TIYRX5jBgAdzQQaDfub00H64\nT3jzI5vZ/+5+PEOei35/OpUmk84wOjDKvnf2seV7WxjoHsDutONyu/Lm05IPk1VfIS6fYeV4YyFm\nsGUtFdSVOfjBi/vYe8RH58n3cMZqqbW0olXP3n++5eU3n7s9NPQ2lZW3Z7Ea0Kq0pNNnJyXMBmaj\nDqPGQDwRznYpF6UoCulUGo1Wg8FoIBaJkclkLvr90XAUgG1bt7H91e0YzUY23L+BW+69JW9Om4sn\nMvgmMixwu2mqdGa7HCFmLFn5FWKGMxt1rJpbSUGBmlDahzfio3tsALPWikmbvVaAqZJOJ9i27TMo\nSopEYoJEwsfcuX+U1ZpSmSSeVA+NdXrWLKzJai2TIRRN0Ds2TkK58lPepptKpeL2+29n8yObaV7Q\njM1hI+QPEQlFMJlNpFNpLrRfW1EUUskUsUiMzkOd/Pqnv+adl95BrVbjrnajN8zezV/d/RGK9G7a\nKqtk1VfkNZn2IMQs0u8J8MTLBznQOcHJE1CorqbeMnfWHIyhKBlef/1BamvvIRodZfv2s6POHnjg\nJDZbfdbqmkiM0ZvZzic2OvnT31udtTomy+BYkFcPHmE8fYammty6gIqEIhzde5QDvznAnrf3MNI/\ngsFoIBqJomQu+HYGgMFkIJPOsGDlAu566C7ab2xHq5s9n54EQim6e5K0ly/i1sX1GPWz52cT4mrJ\ntAchZhFbgYEb5lVjt2oIZXx4IxN0efoxaQtmxcEY7777RZzOBbS2fgGz2U1Hx3cBMJvduN03Zq2u\nQNJHXD/E8vkOljSXZ62OyZLJKJwZ8eEJeyh15dYJazq9jvLachbftJhNn9rE3Q/fTdP8JmyFZ1eG\no5EoBrOBdCoNH8rC7/cHD/UMsfut3fzy+79kdHCUouKiczOFc5WiKJzqiVBlq2VRXSWljtx/LRDi\nesjKrxCz1LA3xBMvH2TfMS8nToJVqaDe0oZek1th5n27d/93Uqkwq1Z969zvPfPMcjyePTgcbdx/\n/+Gs1dYfPk3cfoTP3VfHA7fMy1odkyWVzvD89k72D+9l6fzZ9foeCoQ4tvcY+3+zn73v7MUz6EFv\n0F9wZVitVqMz6LAWWrnzwTu5+WM343K7slT5tRsZi+Mb17G4Yj43t9ehVudukBdiMsjKrxCzlMWk\nZ1VbFc5CPcH0OP6Yn5OjvahV6pybC9zR8fd4vQdZs+Z75/1+Oh2lr+/XxGIeqqs3UlCQnVXXsfgQ\nepuPtUvKaKwoykoNk+n9cWdDwVEcM2Dc2WTSG/RU1FWwZM0S7n74bjZ+aiONbY1Y7VZC/hCxSAyj\n2UgqmTq3qS4SinBs/zGe/9Hz7HpjFzq9DneVG51+5rcTJVMZunqjNDqaWDanCqs5Ny9+hZhMMupM\niFlMpVJRV+ZgeUs5ScKktUEG/R4G/MOYtZacGIt26tRP6Op6ittu+wWq35ljbLM10dHxXRQlTTod\npa7u3qzUOBztxeIKcuuySqpKZsdK6XggynDAi0afwGycvbNg3w/DS9cuPRuGf38jDfMasNgtBCeC\nxKJnw3AiliCdTuMd9XLgvQNs+f4WTh87jdU+s49V7huKYVY5aS2voaU691athZgKEn6FyAMFRj3L\nWyporCwkkpkgqQpxarSfQCyEVeeYsRvi+vp+zYEDX+eOO15EqzV95M+1WhPBYDfj4wfw+4/T3Pxp\n9Hr7b+/7MjqdFZ1uavsbFUWhK9RBbX2aT6xrmTUra+FYkgGvj3hm5k58mAp6o57KusqzYfiRu7nr\nk3fR0NaAxWYh6A8Sj8bR6DTEY3H6u/rZ/up2nvv35/CN+XC5XdidM+fiJxJN0z+UosnZxIrWSgyz\naAOfENdDen6FyDPJVJpX95zmhR0n6TqdZnBAQ4WxicqCetQz6IS4kZEdvP32Z9m48TXM5ovPYQ2F\netmypZ143Ed19SY2bHgWn+8IL798D/fddwC93jqldYaSAY5Ht3HbzSa+8blbc6qd5FI8E2Fe2X+M\n/shJ5jbKBqn3vX9y3P7f7GffO/sYHxkHBVKpszOey2rKuPOhO1m7aS0OlyOrtR7rCuHUVbGysZm2\nupKs1iLETHK5DCvhV4hZyheM8ottR3n30CCnuyA0Yaa2oIViY/mMCHDPPruKdet+SGHhnMt+r99/\nir17/5rBwTfQ6SwUFrawYsXfUVjYPOV19oe7iFmP8ul7qnlkw8Ipf7zpkkyleWHHCQ6M7KN9rlU2\nSV1EwBc4G4bf3c++d/cxOjAKnG05mrtkLht/fyPLb1k+7fODPd4EoyNqFpXP49bF9ejy/FhnIT5M\nwq8Qea6zd4yfvdnBsa4g3WcgHbFRa5lDkb50RoTgme6QbzsVjWP8108vYemc3B9z9mHbDpxh+5n9\nVFeDtUA+Mr8SAV+Ajt0d7P/Nfva/u5/RgVGMZiMr169k06c20bxg6i/I4okMR0+GaXG1cUNrHRXF\ntil/TCFyyeUyrLzaCTHLzal28d8fXsuOo/1s3d7JyTMBzpzZTV/YQa2lhUK9bJK5mHAqSEQZo6RY\nQ+ss3EzktJuxGqwEQz4Jv1fI5rCx+vbVrL797GEnAV+Ajl0d7H9vP4d3Hp6W8NvdH8FdUEF9abEE\nXyGugbzaCZEH1GoVq+dVsby1grcP9vDizpN0nfFxsnc7xnAxtZYWrDo5DvV39YZOUFkJaxdWU2Ca\nfcfiOm0mbAYrw+ExZtea9vSxOWys3rCa1Rum5+S/kbE4mYSJ2vJKFtSXTstjCjHbSPgVIo9oNWpu\nWVzHDfOqeH1fNy/v7qK7x8PRPg8W3FSZG7Dpc3+O7WQIp4L4M4O0VWnYsLwx2+VMCafNjFVvpcuX\nJp1R0Ejf74wWi6cZHEnQ6mpmQUMpep30+QpxLST8CpGHDHotd61sYu3CGl7Z08Vre7vp6x+ms38Y\nfaiIyoKGvO4JVhSFntBxKith3aJqCi2zc9yjXqfBaSugwGshEEzhsOfGyLPdb+3m5adfZqR/hOKy\nYm6880Zu/tjNl32+plNpvvGVb4AKHvijB2ia3zRNFV8/RVE43Rel3FJJY1kx7iKZ0CHEtZLwK0Qe\nKzDpufemVm5dXM+b+7t588AZege89PZ76R63UFnQQImxYkaNSJsOI7F+opphFtTM3lXf95U7rRSN\nOPH6B2Z8+PV7/Tz2p49xaMehc7/Xe7KXvW/v5Z0X3+Ev/uEvLnkqW8fuDna/tRuAQzsO8fjPH6eq\noWrK654MI2MJVGkzNaUVzJOxZkJcFznkQgiBQa+lpdrFzYtqKSs2ouiDqA0RhoMjdPv6UFAway1o\n8iAEh5J+OoN7mDdf4bObFtJU6cx2SVPKqNcy4InQ4xuk1KVHPYNX+7/x5W/g9Xh57KnH2PTIJiw2\nC50HO8mkMwz1DhGLxlh84+KL3r9jVwe73tgFnF0FjkVirFy/crrKv2aRWJoz/XGai5pZ0VKNrWB2\nHLQixFSRE96EEFdMq1FTV+bg5kW11JZbURsiaExhxmNjdI2fIZwMolXrMKhNs7IlIp6OcnhiO43N\nSe5cXcWm1ZefQZzrdFoNYxNRRgNedPo0phl81PH8FfO573P3YbFbsNgszF8+n8Z5jbz9wtugwIlD\nJ1h0wyJc7gtP5qifW8/6+9YTDUc5ffQ06XSaux66a5p/iquTTit0doeptNQyr6qShgrpyRficiT8\nCiGumlqtoqLYxk0LqmmtKcJgTqA1h0mpA/T5+xkIDpBWUhg1BWjVs6N7KpicoGNiJ5W1MdYsdfK5\nTUvy5uCHVCrDyEQYf3yCohnc+mC2mD9y0VVWU0ZwIsiJQycAiEVi3LDhhov+HQXWApbfspwD7x0g\nmUjO+PDb1RfBjJOW0lqWzinPm+ekENfjchl2drxrCSGmhEqlYm5tMXNrixn3R3jvSB/vHemjZyDM\n8PBx9nk6sWlLcZuqcOhLUKvU2S75moxGBzgdOUjTnDQrFzr5w7uXotXk5s9yLcqcVhwmB32jPTk5\n9eHhrz7MG8++QSQUYcdrOwj5Q1jsl94QNnfJXHpP9k5ThddmyBMnGTXQ4j4bfDV59JwUYipJ+BVC\nXBGn3czdq+ewcWUzx3o8vHu4l30nRxgeHqZ/dJjOMS1F+lKcBjdF+hI0ObAinMqk6A2fYCzTxfyF\ncMfKGh68ZV5eBV8As1FHsc2Sc1Mf3mc0G1m9YTWvbXmNVDJFx+6Oy/byeke9tLS3TFOFVy8QSjE8\nmqatuIUlTeWzcs60ENky89+dhBAzilqtoq2uhLa6EgLhONuP9LG7c5CuAT/jYwOMjA9wclyDXVeM\ny+CmyFCKTj2z3rgzSobhaA+94ZM4XHGWNKr41O3zWLuwZlb2Ml+JcqcV54iLUW9fzoVfgDUb1/Da\nltcAOLbv2CXDbzqd5uB7B7nvD+6brvKuSjyRoasvSoOjibYaN6Uy1kyISSXhVwhxzWwFBjYsb2TD\n8kbG/BH2nxxi/8lhOnu9eL3DjI0N0+VVUaB2YNe7KNS7sOkKszY6LZ1JMRYfoid8ggJ7hPmLYH6T\ng0+smZv3G4mqSuyU9LroH+wjEktjnsEb3y6kZVELao2aTDrD6WOnL/m9O1/fid1lp7qpepqqu3KZ\njEJXb4RSUzkNpWXMqZrd00aEyAYJv0KISeGym7ltaQO3LW1gIhTj4Klh9p8a5ljPGL4JL/4JL2cm\nThCe0GDR2rHpirDpHVi0hejVhilbcU1lknjjo4zFB5lIerAXppnTBi31Vu65sYWFDfl7mMeH6XUa\nakoLGQiUMjI2Sl2lOdslXRWDyUBNcw3dx7oZ7hu+5Pdu+d4WNn5y4zRVdnV6BqPoFBuNrmoWN5XJ\nc1OIKSDhVwgx6QotRtYuqmXtolqi8SQn+70c7x2js2+MnuEAwaCXQMDLYADCfsikdJi1FkwaC2at\n5dxtvdqIRqW54gCQzCSIpIKEU8FzX8NpH3ZHBlcZNBdBS00Rq9uqWNVWJTvnf0d9mYNTQyUcGh6m\nsjSDTpdbvc8VtRV0H+tmfGQcRVEu+LzZ9cYuPEMe1m1eN/0FXsbgaIxwUEtbST1L55TL8cVCTBEJ\nv0KIKWUy6FjQUMqChlIAwtEEp4d8dA366Br0MuAJMhFKEI34iER8RCIwHIVIGJJJSKdVaFU6tGrd\nua8qVKSVFGklTUZJk1bSpJUUqJOYC6CgAMwF4DKDzaaipcbJ4qYy2pvKZu1RxZOhwKSnyuWg3+9k\nZNxPpTu3/l+5q9wAZNIZouEoZsv5q9fpVJoffftH3P/5+9EbZlYfusebwONRmFsyh6XNldjleSrE\nlJHwK4SYVgUmPfPrS5lffzYMK4pCKJpg2BtiaDzEsPfsrxFfiFA0QTSeIpVK/PYXpFKgABo1qDWg\n0Xxw22LSUua0UO60UlFso6zIQnWpHatZTsS6UvVlDrpH3Bwb91BWYsipsWeOYse52xcKvy/85AWS\niSR3PHjHdJd2Sb5Akv6hFK2uVhY3VlLusma7JCFmNQm/QoisUqlUWM0GrGbDBY8STqczRBMpIrEk\nkXiSSCxJRlHQazUYdBr0Og0GnRaDToPZqJMeyetUZDNR5iikL1DImDdKqSt3Lhw+PNs3Fomd92e9\nJ3t58jtP8hf/8Bfo9DNnmkUwnOJMX5ymojksqC2n1l2Y7ZKEmPUk/AohZjSNRo3FpMcic06nTUO5\ng/7xck54juF06NFqcuOCosBScO52NBw9dzsejfPNr36TFbesYNHqRdko7YIisTSnzkSpL2yiraqC\nOdUXPpZZCDG5cms3gxBCiClX5rRS7XJRqHcyOBK7/B1mCK3ug/WceOyD403/6dF/wj/u57P/7bPZ\nKOuC4okMJ89EqLbV0lJRwfz6kmyXJETekPArhBDiI+bVlVBlr2TcmyESS2e7nCvy4fCrKApwF9Ec\nUgAACCtJREFUdqzZtq3b+OrffpVC58xoKUgkM3R2h3GbKml2V9He6JZ2HSGmkYRfIYQQH2ErMNBY\n5qLcVkHvYPTyd5hpFHj9l6/zxLee4IEvPsCSm5ZkuyIAYvE0x7pCFBsqaC6tYVlLOZo8O05biGyT\nnl8hhBAX1FLtYmAsgGdwlPGJBM7C3Oi7VhSFXW/uYuuPtrJkzRIe+vJD2S4JONvje6I7QkVBDc3u\nala0VqDTyixfIaabXG4KIYS4IJ1WQ2t1MTWFtfQNxUhnlGyXdEmpVOrc7ed++BwNbQ187dtfy2JF\nHwhFUnSejlBlraO1vIZVcysl+AqRJRJ+hRBCXFR1qZ2qIhd2nZMz/TO7/SESjJy7Xd1UzaP/+ihG\nc/YPiwiEUpzsjlJnb6StopoVrZXS6iBEFsm/PiGEEBelUqlY1OimvqiOaFjL6Hj88neaAs/82zO8\nuuXVi/55Kplix2s7AKhqrOJv/t/fnDf3N1t8gSRdPTEaHM3Mq6pi6ZxyOVZbiCyTnl8hhBCXZDUb\naG8sI5qMc2z4CAVmLQWm6f3I/sWfvIi10Mot99yCRnP+Y3uGPDz2p49xfP9x6lrr+Ovv/zU2h21a\n67sQjzdB/1CSpqI5zKuuOHeqoRAiu2TlVwghxGVVFNtoqSylxl7HqZ4wqfT09v8m40m6jnTxzT/5\nJp4hDwCJeIJfPfErvnL3Vzi+/zjzls3j6098HXuRfVpr+12ZjMKZgSjDIwqtrrm011dL8BViBpGV\nXyGEEFekrbaEiVCMUCLI6d5xmusKLn+nSdJ+UztvPPMGO1/byc7XduJwOQgFQyTjSVQqFXc8eAef\n/8vPo8nyJrJkKsOpngjatJX5pY20N5ZTWZz9VWghxAck/AohhLgiarWKpXPKCccSHBwK0zsYpbrc\nNC2P/fCfPMzuN3cTnAgC4BvzAWC2mPn8X32emz9287TUcSmhcIquvihOQymNJbUsa6mg0JL9DXdC\niPOplPePwfkdfr//3G27PbsfIQkhhJg5PBNh3jvSyzHPcaz25LQF4P7T/fzwsR/SsasDjVbDDRtu\n4IEvPoCz1Dktj38pw544Q6Mp6grrqS92s2ROOUa9rC8JkQ2Xy7ASfoUQQly1YW+Incf6pj0AzzTJ\nZIYzA1ESUQONRY3MrXbTWuOS44qFyKLLZVi5LBVCCHHV3EUWVrRWAXD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+ "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "ukf_internal.show_sigma_transform(with_text=True)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "We then compute the new mean and covariance using these equations.\n", "\n", "$$\\begin{aligned}\n", - "\\mu &= \\sum_i w_i\\mathcal{X}_i\\;\\;\\;&(2) \\\\\n", - "\\Sigma &= \\sum_i w_i{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\\;\\;\\;&(3)\n", + "\\mu &= \\sum_i w_i\\boldsymbol{\\mathcal{Y}}_i \\\\\n", + "\\Sigma &= \\sum_i w_i{(\\boldsymbol{\\mathcal{Y}}_i-\\mu)(\\boldsymbol{\\mathcal{Y}}_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", - "$$" + "$$\n", + "\n", + "These equations should be familar - they are just the constraint equations we developed above." ] }, { @@ -760,12 +784,12 @@ "First, we generate the weights and sigma points as specified above.\n", "\n", "$$\\begin{aligned}\n", - "\\mathcal{X} &= sigma\\_function(\\bf{x}, \\bf{P}) \\\\\n", - "W &= weight\\_function(n, \\kappa)\\end{aligned}$$\n", + "\\mathcal{X} &= sigma\\_function(\\bf{\\mu}, \\bf{\\Sigma}) \\\\\n", + "W &= weight\\_function()\\end{aligned}$$\n", "\n", "We pass each sigma point through the function f. This projects the sigma points forward in time according to our process model.\n", "\n", - "$$\\mathcal{X_f} = f(\\mathcal{X})$$" + "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$" ] }, { @@ -775,8 +799,8 @@ "Now we compute the predicted mean and covariance using the *unscented transform *on the transformed sigma points. I've dropped the subscript $i$ for readability.\n", "\n", "$$\\begin{aligned}\n", - "\\mathbf{x}^- &= \\sum W\\mathcal{X_f} \\\\\n", - "\\mathbf{P}^- &= \\sum W{(\\mathcal{X_f}-\\bf{x}^-)(\\mathcal{X_f}-\\bf{x}^-)^\\mathsf{T}} + \\mathbf{Q}\n", + "\\mathbf{\\mu}^- &= \\sum w^m\\boldsymbol{\\mathcal{Y}} \\\\\n", + "\\mathbf{\\Sigma}^- &= \\sum w^c({\\boldsymbol{\\mathcal{Y}}-\\bf{\\mu}^-)(\\boldsymbol{\\mathcal{Y}}-\\bf{\\mu}^-)^\\mathsf{T}} + \\mathbf{Q}\n", "\\end{aligned}\n", "$$\n", "\n", @@ -785,33 +809,7 @@ "$$ \\begin{aligned}\n", "\\mathbf{x}^- &= \\mathbf{Fx}\\\\\n", "\\mathbf{P}^- &= \\mathbf{FPF}^\\mathsf{T}+\\mathbf{Q}\n", - "\\end{aligned}$$\n", - "\n", - "Graphically, this looks something like this, where the arrows show the effect of passing the sigma points through the nonlinear function*f(x)*, and the green ellipse is the new mean and covariance calculated by the unscented transform from the mean and standard deviation of the transformed points." - ] - }, - { - "cell_type": "code", - "execution_count": 10, - "metadata": { - "collapsed": false, - "scrolled": false - }, - "outputs": [ - { - "data": { - "image/png": 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cJACKu1YRyCE3d5zpwWlKfaXZXo64DafNye6S3VybvMb3Z0aJxpo59Eg1B3fX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\nSUVORK5CYII=\n", - "text/plain": [ - "" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "with book_format.figsize(10, 4):\n", - " ukf_internal.show_sigma_transform()" + "\\end{aligned}$$" ] }, { @@ -827,13 +825,13 @@ "source": [ "Now we can perform the update step of the filter. Recall that Kalman filters perform the update state in measurement space. So, the first thing we do is convert the sigma points from the predict step into measurements using the $h(x)$ function that you define.\n", "\n", - "$$\\mathcal{X_z} = h(\\mathcal{X})$$\n", + "$$\\boldsymbol{\\mathcal{Z}} = h(\\boldsymbol{\\mathcal{Y}})$$\n", "\n", "Now we can compute the mean and covariance of these points using the unscented transform.\n", "\n", "$$\\begin{aligned}\n", - "\\mathbf{x}_z &= \\sum w\\mathcal{X_z} \\\\\n", - "\\mathbf{P}_z &= \\sum w{(\\mathcal{X_z}-x)(\\mathcal{X_z}-x)^\\mathsf{T}} + \\mathbf{R}\n", + "\\mathbf{\\mu}_z &= \\sum w^m\\boldsymbol{\\mathcal{Z}} \\\\\n", + "\\mathbf{P}_z &= \\sum w^c{(\\boldsymbol{\\mathcal{Z}}-\\mu^-)(\\boldsymbol{\\mathcal{Z}}-\\mu^-)^\\mathsf{T}} + \\mathbf{R}\n", "\\end{aligned}\n", "$$\n", "\n", @@ -841,12 +839,12 @@ "\n", "All that is left is to compute the residual and Kalman gain. The residual is trivial to compute:\n", "\n", - "$$ \\mathbf{y} = \\mathbf{z} - \\mathbf{x}_z$$\n", + "$$\\mathbf{y} = \\boldsymbol{\\mathcal{Z}} - \\boldsymbol{\\mu}_z$$\n", "\n", "\n", "The Kalman gain is not much worse. We have to compute the cross variance of the state and the measurements, which we state without proof to be: \n", "\n", - "$$\\mathbf{P}_{xz} =\\sum W(\\mathcal{X}-x)(\\mathcal{X_z}-\\mathbf{x}_z)^\\mathsf{T}$$\n", + "$$\\mathbf{P}_{xz} =\\sum w^c(\\boldsymbol{\\chi}-\\mu)(\\boldsymbol{\\mathcal{Z}}-\\mathbf{\\mu}_z)^\\mathsf{T}$$\n", "\n", "And then the Kalman gain is defined as\n", "\n", @@ -858,7 +856,7 @@ "\n", "and the new covariance is computed as:\n", "\n", - "$$ \\mathbf{P} = \\mathbf{P}^- - \\mathbf{PKP}_z\\mathbf{K}^\\mathsf{T}$$\n", + "$$ \\hat{\\mathbf{P}} = \\mathbf{\\Sigma}^- - \\mathbf{KP_z}\\mathbf{K}^\\mathsf{T}$$\n", "\n", "This step contains a few equations you have to take on faith, but you should be able to see how they relate to the linear Kalman filter equations. We convert the mean and covariance into measurement space, add the measurement error into the measurement covariance, compute the residual and kalman gain, compute the new state estimate as the old estimate plus the residual times the Kalman gain, and then convert both back into state space. The linear algebra is slightly different from the linear Kalman filter, but the algorithm is the same." ] @@ -874,14 +872,14 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "We are now ready to consider implementing a Kalman filter. All of the math is above is already implemented in FilterPy, and you are perhaps a bit lost at this point, so lets just launch into solving some problems so you can gain confidence in how easy the UKF actually is. Later we will revisit how the UKF is implemented in Python.\n", + "We are now ready to consider implementing an unscented Kalman filter. All of the math is above is already implemented in FilterPy, and you are perhaps a bit lost at this point, so lets just launch into solving some problems so you can gain confidence in how easy the UKF actually is. Later we will revisit how the UKF is implemented in Python.\n", "\n", "\n", - "Let's start by solving a problem you already know how to do. Although the UKF was designed for nonlinear problems, it works fine on linear problems. We will write a solver for the linear problem of tracking using a constant velocity model in 2D. This will allows us to focus on what is the same (and most is the same!) and what is different with the UKF. \n", + "Let's start by solving a problem you already know how to do. Although the UKF was designed for nonlinear problems, it works fine on linear problems. In fact, it is guaranteed to get the same result as the linear Kalman filter for linear problems. We will write a solver for the linear problem of tracking using a constant velocity model in 2D. This will allows us to focus on what is the same (and most is the same!) and what is different with the UKF. \n", "\n", "To design a linear Kalman filter you need to design the $\\bf{x}$, $\\bf{F}$, $\\bf{H}$, $\\bf{R}$, and $\\bf{Q}$ matrices. We have done this many times already so let me just present a design to you without a lot of comment. We want a constant velocity model, so we can define $\\bf{x}$ to be\n", "\n", - "$$ \\mathbf{x} = \\begin{bmatrix}x \\\\ \\dot{x} \\\\ y \\\\ \\dot{y} \\end{bmatrix}$$.\n", + "$$ \\mathbf{x} = \\begin{bmatrix}x & \\dot{x} & y & \\dot{y} \\end{bmatrix}^\\mathsf{T}$$.\n", "\n", "With this ordering of state variables we can define our state transition model to be\n", "\n", @@ -915,7 +913,7 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 35, "metadata": { "collapsed": false, "scrolled": false @@ -923,9 +921,9 @@ "outputs": [ { "data": { - "image/png": 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LH+DW6OCMtT4e/kiJyUJKTBYS5Gk8akrzBsMqERHRPDOpn0B5/SV8cun/oKtPM21dRLAC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\n25ePP/5YSE9PF9zc3ISEhATh9ddf/04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uu9oAgGty8VKfTlS8p2Ol76ilq37SsV5e3spPW6O1izYoI34RJ7QAAFzKLUH9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\nOlr6jg4V/04Xh67+2NsF/sF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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -937,12 +935,13 @@ "from filterpy.common import Q_discrete_white_noise\n", "from numpy import random\n", "\n", + "sigma_x, sigma_y = .3, .3\n", "dt = 1.0\n", "\n", "random.seed(1234)\n", "kf = KalmanFilter(4, 2)\n", "kf.x = np.array([0., 0., 0., 0.])\n", - "kf.R = np.diag([0.09, 0.09])\n", + "kf.R = np.diag([sigma_x**2, sigma_y**2])\n", "kf.F = np.array([[1, dt, 0, 0], \n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", @@ -953,7 +952,7 @@ "kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=1, var=0.02)\n", "kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=1, var=0.02)\n", "\n", - "zs = [np.array([i + randn()*0.3, i + randn()*0.3]) for i in range(100)] \n", + "zs = [np.array([i + randn()*sigma_x, i + randn()*sigma_y]) for i in range(100)] \n", "xs, _, _, _ = kf.batch_filter(zs)\n", "plt.plot(xs[:, 0], xs[:, 2])\n", "plt.show()" @@ -965,14 +964,14 @@ "source": [ "This should hold no surprises for you. Now let's implement this filter as an Unscented Kalman filter. Again, this is purely for educational purposes; using a UKF for a linear filter confers no benefit.\n", "\n", - "The equations of the UKF are implemented for you with the `FilterPy` class `UnscentedKalmanFilter`; all you have to do is specify the matrices and the nonlinear functions *f(x)* and *h(x)*. *f(x)* implements the state transition function that is implemented by the matrix $\\mathbf{F}$ in the linear filter, and *h(x)* implements the measurement function implemented with the matrix $\\mathbf{H}$. In nonlinear problems these functions are nonlinear, so we cannot use matrices to specify them.\n", + "The equations of the UKF are implemented for you with the `FilterPy` class `UnscentedKalmanFilter`; all you have to do is specify the matrices and the nonlinear functions `f(x)` and `h(x)`. `f(x)` implements the state transition function that is implemented by the matrix $\\mathbf{F}$ in the linear filter, and `h(x)` implements the measurement function implemented with the matrix $\\mathbf{H}$. In nonlinear problems these functions are nonlinear, so we cannot use matrices to specify them.\n", "\n", - "For our linear problem we can just define these functions to implement the linear equations. The function *f(x)* takes the signature `def f(x,dt)` and *h(x)* takes the signature `def h(x)`. Below is a reasonable implementation of these two functions. Each is expected to return a 1-D NumPy array with the result." + "For our linear problem we can just define these functions to implement the linear equations. The function `f(x)` takes the signature `def f(x,dt)` and `h(x)` takes the signature `def h(x)`. Below is a reasonable implementation of these two functions. Each is expected to return a 1-D NumPy array with the result." ] }, { "cell_type": "code", - "execution_count": 12, + "execution_count": 36, "metadata": { "collapsed": false, "scrolled": false @@ -996,10 +995,25 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "Other than these two functions, everything else is nearly the same. When you create the UKF you will pass in the two functions like so:\n", + "You need to tell the filter how to compute the sigma points and weights. We gave the Van der Merwe's scaled unscented transform version above, but there are many different choices. FilterPy uses a `SigmaPoints` class which must implement two methods:\n", "\n", + " def sigma_points(self, x, P)\n", + " def weights(self)\n", + " \n", + "FilterPy provides the class `MerweScaledSigmaPoints`, which implements the sigma point algorithm in this chapter." + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Other than these two functions, everything else is nearly the same. When you create the UKF you will pass in the two functions and sigma point class object like so:\n", + "\n", + " from filterpy.kalman import MerweScaledSigmaPoints\n", " from filterpy.kalman import UnscentedKalmanFilter as UKF\n", - " ukf = UKF(dim_x=4, dim_z=2, fx=f_cv, hx=h_cv, dt=dt, alpha=.1, beta=2, kappa=1)" + " \n", + " points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1)\n", + " ukf = UKF(dim_x=4, dim_z=2, fx=f_cv, hx=h_cv, dt=dt, points=points)" ] }, { @@ -1011,7 +1025,7 @@ }, { "cell_type": "code", - "execution_count": 15, + "execution_count": 38, "metadata": { "collapsed": false, "scrolled": false @@ -1019,9 +1033,9 @@ "outputs": [ { "data": { - "image/png": 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4nCS8vE+2iWGViIhogRoeHcS5q3/EpeKPYDBOzlrr4+GPBOViJEZlID4iDe6u3DaSFgaG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\nRGYiEokEsVgsiESiab9+/vOfT6s7dOi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13HPPjR7fvn27Xn75ZXV0dGjFihXavXu38vLyPNUGAEzK+Y5zOlT6tg6X7VdX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\nHTzzxwkDenhIlApzbtCynBs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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1036,9 +1050,13 @@ } ], "source": [ + "from filterpy.kalman import MerweScaledSigmaPoints\n", "from filterpy.kalman import UnscentedKalmanFilter as UKF\n", "\n", - "ukf = UKF(dim_x=4, dim_z=2, fx=f_cv, hx=h_cv, dt=dt, alpha=.1, beta=2., kappa=1.)\n", + "import numpy as np\n", + "\n", + "sigmas = MerweScaledSigmaPoints(4, alpha=.1, beta=2., kappa=1.)\n", + "ukf = UKF(dim_x=4, dim_z=2, fx=f_cv, hx=h_cv, dt=dt, points=sigmas)\n", "ukf.x = np.array([0., 0., 0., 0.])\n", "ukf.R = np.diag([0.09, 0.09]) \n", "ukf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=1, var=0.02)\n", @@ -1065,13 +1083,6 @@ "You can see that there is not much difference in the implementation of the UKF vs linear Kalman filter. We merely replace $\\mathbf{F}$ with the function *f(x)*, and the matrix $\\mathbf{H}$ with the function *h(x)*. The rest of the theory and implementation remains the same. Well, of course under the hood the `FilterPy` implementation is quite different than the Kalman filter code, but from a designer's point of view the problem formulation and filter design is very similar." ] }, - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "# Batch Estimation" - ] - }, { "cell_type": "markdown", "metadata": {}, @@ -1099,7 +1110,7 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 39, "metadata": { "collapsed": false, "scrolled": false @@ -1107,9 +1118,9 @@ "outputs": [ { "data": { - "image/png": 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ebhlQ7Pz++++aOHGiYmNj9eeff8rlcsnlcmn//v05AmBh2759u2688Ub5+/tn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\nAADAZgiAAAAANkMABAAAsJn/BxMG41yPuWvXAAAAAElFTkSuQmCC\n", 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V7tdMn25ef+01M3rrckkNGkiffirVqiX99JM0fLhUo4Y0ZIgJuA0bSsOGmSkPkuTrK11/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\nBcqP9957T0FBQTp48KD27Nn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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1145,7 +1156,7 @@ }, { "cell_type": "code", - "execution_count": 20, + "execution_count": 40, "metadata": { "collapsed": false, "scrolled": false @@ -1181,7 +1192,7 @@ }, { "cell_type": "code", - "execution_count": 21, + "execution_count": 41, "metadata": { "collapsed": false, "scrolled": false @@ -1209,7 +1220,7 @@ }, { "cell_type": "code", - "execution_count": 22, + "execution_count": 42, "metadata": { "collapsed": false, "scrolled": false @@ -1277,7 +1288,7 @@ }, { "cell_type": "code", - "execution_count": 27, + "execution_count": 43, "metadata": { "collapsed": false, "scrolled": false @@ -1285,9 +1296,9 @@ "outputs": [ { "data": { - "image/png": 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F0NBQHD58GCkpKQCAnp4e5OXl4fXXX7/hz6empjqq1UmhuLgYANdtpLhuo8N1Gz2u3ehM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\nHMuXL9f6xcTEaPMaPCciIocTIiKy8tZbb4miKPL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Nfq1UKsfkNb1+5d7f3x8pKSkAgOzsbJw4cQLbt2/Hxo0bAQBNTU1Dwn1TUxNiYmK80isR\nERGJEwQB9s6LsDWXoqalDB09V0TXKAKUSIrIQHJkBsKCo3i4FNFN8nq4/zaHwwGn04nk5GTExMTg\n4MGD0Ol0AIDu7m4YjUZs27Zt2PU5OTmeanXCO3nyJADuqTtwb92D++oe3Ff3mIj72tzaALPVgJOW\nAjRdviBaHxI8FdmqxdBp9EiK0YxJoJ+I++oLuK/u8c27T8aKV8P9z3/+c9x3332Ij49He3s7Pvjg\nA3z55Zc4cOAAAOC5557DK6+8gvT0dKhUKmzduhUhISF45JFHvNk2ERERfa3t6mWYK4wwWQw41yR+\na2yQPBiZaQuh0+QjLX42ZFKZB7okmjy8Gu6bmprw6KOPorGxEUqlEpmZmThw4ACWLl0KAHjxxRfR\n1dWFdevWwW63Izc3FwcPHoRCofBm20RERJNaZ/dVFFcehclSgMoLpRAw8sf3/GVyzE6ZB51Gj5mJ\nOvj7+XuoU6LJx6vhfteuXaI1mzZtwqZNmzzQDREREQ2np68bpdUnYLIacKbGDIezf8R6qVSG9BlZ\n0Gn0mJOyAIHyIA91SjS5+dw990REROQb+h19OFNbBLPFgNPVx9Hb3yO6JnV6BnRqPbJUizAlKNQD\nXRLRNzHcExER0SCn04HKujKYLAaUVB5FZ89V0TXxUSnQqfOhVS9GWEikB7okouEw3BMREU1ygiCg\ntqkCJksBiiqO4EqHXXRN1NQ4aDV66DT5iA6b7oEuicgVDPdERESTVH1LLcxWA0wWAy5daRKtV04J\nh06dB50mH/GRKZxFT+SDGO6JiIgmkZa2RpgsBpitBjRcOidarwgMQdbXs+hT4mZCKpF6oEsiulku\nhfvKykrs378fR44cQXl5OVpaWiCVShEREYGZM2di0aJF+O53vzvkCF0iIiLyDW0dl2G2GmG2GFDr\nwiz6AP9AzE3NhU6jhyYhEzIZrwUSjRcj/tv6v//7v3j99ddhNBohkUiQmpqK5ORkZGdnDxwtbbfj\n9OnT+PTTT/Hiiy9i8eLF+Nd//VesXLnSU/0TERHRDXR0t6Ok8ihMFoNLs+j9ZP7ISNJBq8lHRrIO\ncr8AD3VKRGNp2HCfm5uLkpISrFy5Eh999BHuvPNOKJXKG9a2tbXh0KFD2Lt3Lx5++GFkZmbi2LFj\nbmuaiIiIrtfT24XT1cdhshpwtrZYfBa9RAr1jEzo1HrMTV2AoAAeEkk03g0b7vV6Pfbv34+YmBjR\nF1Eqlbj//vtx//33o6GhAW+88caYNklEREQ31tffhzO1JpgsBpTaTqCvv1d0TUrczK9n0S9GSPCN\nL9wR0fg0bLh//fXXb+oFY2Njb3otERERiXM4HbCePwWzxYBTVcfQ1dspuiY+MgU6jR7ZqjxMC+Us\neqKJip+QISIiGgecghO2+rMwWQ0orijE1a420TWcRU80+Ywq3DudThw+fBg2mw12ux2CcP2Hc158\n8cUxa46IiGgyEwQBF5qrYbIYUGQ1wn61RXRN2JQIaDV50KrzER+ZzFn0RJOMy+HebDbjwQcfhM1m\nG7GO4Z6IiOjWNF2+MDiL/mJrvWh9SJBycBZ9UqyGs+iJJjGXw/2Pf/xjXL58Ge+++y7mz58/7OQc\nIiIiGr3LVy7CZDXCbDWgrnnkC2kAECQPxty0hdCp9VAlzIFMKvNAl0Tk61wO9+Xl5diyZQt+/OMf\nu7MfIiKiSaOr9yq+LP4zzFYjbA1nRev9/eSYkzIfWrUeMxO18Pfz90CXRDSeuBzu09LSbniPPRER\nEbmuo+sKSqqO4e+lf0FTW63o4VIyqR9mJmZDp9FjdvI8BMiDPNQpEY1HLof7zZs34/nnn8fDDz+M\nxMREd/ZEREQ0oXT1dKLUdhxmixFnzhXB6XSMWC+RSKGKnz1wuFRaLhSBIR7qlIjGO5fD/f33348r\nV64gPT0dd9xxBxISEiCTXX9/39tvvz2mDRIREY1Hvf09KLOZYLYaUG4zoc8hfrhUUqwGOrUe2arF\nCFWEeaBLIppoXA73f/vb3/DTn/4UPT09OHDgwLB1DPdERDRZ9Tv6cLa2GGarEaerv0JPX7fomvjI\nFGjVechWL0Z4aLQHuiSiiczlcP/ss89i6tSp+OSTT8ZsWs6rr76KTz75BFarFQEBAcjNzcWrr76K\njIyMwZo1a9bg97///ZB1ubm5KCwsvOX3JyIiulVOpwMVF0phthpRUnkUnT1XRddEh8UjZkoKkiIy\ncGf+3R7okogmC5fDfVVVFf7jP/4DS5cuHbM3//LLL/HMM89g3rx5cDqd2LhxI+666y6Ul5cjLGzg\nryMlEgmWLl2KPXv2DK6Ty+Vj1gMREdFoOQUnahosMFsNKKooRHtnq+iaaaFR0Kr10KnzEBeRBJPJ\n5IFOiWiycTncz5o1C3a7fUzf/Nu39+zZswdKpRKFhYW49957AQyczieXyxEVFTWm701ERDQagiCg\nrsUGk6UAZusR2NubRdeEKsKgVeVBq9EjMVrF02KJyO1cDvfbtm3DI488grvuuguLFy92SzNXrlyB\n0+kcvGoPDFy5NxqNiI6OxtSpU3Hbbbfh5ZdfRmRkpFt6ICIi+qbm1gaYLAUwWQxosl8QrVcEhiBL\ntRhadR5S42ZCysOliMiDJIKLw+uXL1+O6upqVFRUQKPRYMaMGTeclvOXv/zlppt56KGHUFVVhZMn\nTw5e3fjwww+hUCiQnJwMm82GDRs2wOFwwGQyDd6e09bWNvgaFRUVN/3+REREANDZ046alnLYWspw\n6Wq9aL2/LAAzwjVIishArDKJgZ6IXKJSqQa/HovPswKjCPdJSUmQSCQjHmQlkUhgs4kfmX0jL7zw\nAvbu3Quj0YikpKRh6xoaGpCYmIgPP/wQq1atAsBwT0REt66nvwvnWs7C1lKGxrYa0XqZ1A8J09RI\nisjA9LBUyKQu/2U4EREA94R7l/8kqqmpGZM3vJHnn38ee/fuxeHDh0cM9gAQGxuL+Ph4VFZW3vD5\nnJwcN3Q4OZ08eRIA99QduLfuwX11j4m8r719PSi1ncBJSwHO1JjhcPaPWC+VygZOi1XrMSdl/i2d\nFjuR99WbuK/uwX11j29eoB4rLof7trY20d8oysvLMWvWrFE18Oyzz2Lfvn04fPgw1Gq1aH1zczPq\n6uoQGxs7qvchIiICAIejH2fPFcNkMeBU9VfoFZlFL4EEqdNnQafJR1baQiiCQj3UKRHR6Lkc7u+5\n5x4cOnQICoXihs+bTCbcc889aG4Wnx5wzbp16/D+++9j//79UCqVaGxsBACEhIRAoVCgo6MDmzZt\nwgMPPICYmBjU1NRg/fr1iI6OHrwlh4iISIxTcKK6/gxMFgOKK46go7tddE18VApyNPnIVuUhLCTC\nA10SEd06l8N9bW0t7r33Xhw4cACBgYFDnjMajbjvvvuQmpo6qjffsWMHJBIJ7rzzziGPb968GRs3\nboRMJkNpaSn27NmD1tZWxMbGYsmSJfjoo4+G/SWDiIgIGBhdeaG5GiaLAWarAa1XL4muiZoaB61G\nD50mH9Fh0z3QJRHR2HI53B86dAi33XYbvvvd7+LPf/4z/P39AQB//etfsWrVKmRlZY16Uo7T6Rzx\n+cDAwOtm4RMREY2k4dJ5mK0GmK1GNLeKT7pRTgmHTp0HrVqPhKhUzqInonFtVIdY/fWvf8WSJUvw\nwAMP4JNPPsGf//xnPPzww9Dr9fj0008RHBzszl6JiIhuqKWtEWarEWarEfUtNaL1wYEhyEpbCJ0m\nH6nTZ0Eqkbq/SSIiDxjV3K6srCwcOHAAd911F/Lz83HixAmsWLECe/fuHZw5T0RE5AmtVy+hqOII\nzBYDapvExyDL/QIwJ2U+dJp8pCdmwU/m74EuiYg8a9RDeefPn4/PPvsMy5cvx4MPPog9e/ZAKuUV\nDyIicr+rXVdQXFEIs9WAqrpyCBj5qBaZzA+zErXQqvMwO2U+AvwDR6wnIhrvhg33QUFBNzy06tpj\nfX19+Pjjj/GnP/0JwMAHlyQSCTo7O93bMRERTSpdPR04VfUVzFYjLOeK4RRG/ryWVCKFOmEutGo9\n5qYtQHDAFA91SkTkfcOG+4cffnjUL8YPIRER0Vi4driU2WpEeY0J/Y4+0TWpcbOgVechS7UIIcFT\nPdAlEZHvGTbc/+53v/NgG0RENNn1O/pwprYIZosBp20nRA+XAoAZUWnQavKQrVqMsJBID3RJROTb\nRn3PPRER0VhxOh2orCuDyWJASeVRdPZcFV0TMy0BOo0eWrUekVN5WjkR0TcNG+4PHz6MO+6446Ze\n9FbWEhHRxCYIAmqbKmCyFKCo4giudNhF14Qro6FT50OrzkNcRKIHuiQiGp+GDfcrVqxAVlYWnnrq\nKaxatQqhoaEjvlBbWxv+9Kc/4d1330VJSQk/WEtEREPUt9TCbDXAZDXgUluTaL1ySji0qsXQqvWY\nEZ3Gz3UREblg2HBfWVmJX/7yl1i7di3Wrl2LefPmIScnBykpKQgLC4MgCLDb7bDZbDhx4gROnjwJ\niUSCNWvW4OOPP/bkPwMREfmolrZGmC0Dgb7h0jnRekVgCLJUi6HT6JESN5OHSxERjdKw4X769Ol4\n77338PLLL+P999/H/v378d5776G7e+gHnIKDg7FgwQK8/vrr+Md//EeEh4e7vWkiIvJdbR2XUWQ9\nApPVgNpGq2h9gH8g5qbmQqfRQ5OQCZmMHwcjIrpZon+CRkZG4vnnn8fzzz+Pvr4+nDt3DpcuXQIA\nREREYMaMGfDz4x/ERESTWWf3VRRXHoXZUoCKujIIIrPo/WT+yEjSQavJR0ayDnK/AA91SkQ0sY0q\nlfv7+yM1NRWpqanu6oeIiMaJnr5ulFYfh8liwJnaIjic/SPWSyVSqGdkQqfWY27qAgQFKDzUKRHR\n5MFL7kRE5LK+/j6cPVcEk8WA0urj6O3vEV2TEjcTOrWeh0sREXnAqML9gQMH8D//8z+orq6G3W6H\nIAgABk6mFQQBEokE1dXVbmmUiIi8wyk40dhWgw/+ehQlVcfQ1dMhumZ6ZDJ06oFZ9NNCebgUEZGn\nuBzuX3/9dfzbv/0bYmJiMH/+fMyZM+e6Go4pIyKaGARBgK3BArO1AMfLv0R3n3igj5waB51aD51G\nj+hp8R7okoiIvs3lcP/f//3fWLJkCT7//HP4+/u7syciIvICQRBQ12KDyWJAkdWIy+3NomuUU8Kh\nU+dBq9YjISqVF3mIiLzM5XBvt9vx4IMPMtgTEU0wF+11MFmNMFsMaLJfEK1XBIUiO20RtJxFT0Tk\nc1wO9wsWLIDFYnFnL0RE5CH29maYrUdgshbgwkXxz0r5ywKQrV4ErVoPTcJczqInIvJRLv/p/Jvf\n/AYrVqyAVqvFo48+OiZv/uqrr+KTTz6B1WpFQEAAcnNz8eqrryIjI2NI3ebNm7Fz507Y7XYsWLAA\n27dvx6xZs8akByKiyaK9sw3FFQOHS1XXnxGt95fJkZGSA6UsDvFhaVgwP9cDXRIR0a1wOdzff//9\n6O3txeOPP46nnnoK06dPh0wmG3z+2rSc8vJyl9/8yy+/xDPPPIN58+bB6XRi48aNuOuuu1BeXo6w\nsDAAwGuvvYY33ngDu3fvhlqtxpYtW7B06VJYLBZMmTJlFP+oRESTT3dvF05VHYPJYoDlXDGcIodL\nSaUyzJyRDa0mD3NSFiBQHoSTJ096qFsiIrpVLof76OhoxMTEQK1WD1sz2g9SHThwYMj3e/bsgVKp\nRGFhIe69914IgoA333wT69evx6pVqwAAu3fvRlRUFD744AOsXbt2VO9HRDQZ9PX34UytGSZLAUqr\nT6DP0TtivQQSpMXPhladh6y0hVAEhXqoUyIiGmsuh/u///3vbmxjwJUrV+B0Ogev2ttsNjQ1NWHZ\nsmWDNYGBgcjPz0dhYSHDPRHR15xOByrrymGyFKC4stClWfSJMWpo1XnQqvKgnDLNA10SEZG7SYRr\nJ1H5gIceeghVVVU4efIkJBIJCgsLkZeXh3PnziE+/v9mJv/oRz9CfX394JX/tra2wecqKio83jcR\nkTcIgoDLHY2wNZfC1lKOrt520TVTgyORHJGBpMgMhASGeaBLIiIajkqlGvxaqVSOyWuOatxBb28v\ndu7cic8tuKkdAAAgAElEQVQ++wy1tbUAgKSkJNx333144oknbmlM5gsvvIDCwkIYjUaXbu/hLGUi\nmqyudF0eCPTNpbjSfVm0XhGgRHJEBpIjZyNMEeWBDomIyFtGNed+yZIlKCkpQXR0NNLS0gAAJpMJ\nn3/+OXbu3Ikvvvhi8Jaa0Xj++eexd+9eHD58GElJSYOPx8TEAACampqGXLlvamoafO7bcnJyRv3+\ndGPXPkTHPR173Fv3mMj72nb1MsxWI0yWApy7WClarwgKRbZqMXI0+UiK1dzSLPqJvK/exH11D+6r\ne3Bf3eObd5+MFZfD/fr161FWVoZdu3bhscceg1Q68B8Kp9OJP/zhD3jiiSewfv16vPPOO6Nq4Nln\nn8W+fftw+PDh6z6sm5ycjJiYGBw8eBA6nQ4A0N3dDaPRiG3bto3qfYiIxpvOnqsoqTgKk6UAFRdK\nIWDkuyjl/oGYm7oAOZp8aBIyOYueiGgScvlP/k8//RTr1q3D6tWrhzwulUrx2GOPoaioCH/84x9H\nFe7XrVuH999/H/v374dSqURjYyMAICQkBAqFAhKJBM899xxeeeUVpKenQ6VSYevWrQgJCcEjjzzi\n8vsQEY0XPX3dKLOdhNlqQFmNCQ5H/4j1MqkfZiZpkaPJx+zkeZD7B3ioUyIi8kUuh/vW1tbBW3Fu\nJCUlBXa7fVRvvmPHDkgkEtx5551DHt+8eTM2btwIAHjxxRfR1dWFdevWwW63Izc3FwcPHoRCoRjV\nexER+aproyvNViNKq4+jt79nxHoJJEiNz0COJh+ZaQuhCAzxUKdEROTrXA73qamp2L9/P55++unr\nPswqCAI+/fTTEcP/jTidIx+mcs2mTZuwadOmUb02EZEvczj6Yb1wGmaLAaeqjqGrt1N0TXxUCnI0\n+chW5SEsJMIDXRIR0Xjjcrh/5pln8PTTT+Puu+/Gs88+C41GAwA4e/Ys3nrrLXzxxRfYsWOH2xol\nIhrvnIITVXXlMFuNKK4sREfXFdE1kcpY6DT50Gn0iJ4WL1pPRESTm8vh/qmnnkJLSwteeuklHDp0\naMhzcrkcL730Ep588skxb5CIaDwTBAG1TRUwWwwoqjiCtg7x0ZVTp4QPHC6l1iMhKpWjf4mIyGWj\nGqWwYcMGPPnkkzh06NDgnPvExEQsW7YM4eHhbmmQiGi8EQQB9S01MFmNMFsNuHzlouiakCAlslSL\noVXnITku/ZZGVxIR0eQ16jlpkZGR+MEPfuCOXoiIxrUmex3MFgPMViOa7BdE64MCFMhMWwidWo+0\n+NmQSWUe6JKIiCYyDkEmIroFl69cHDhcympAXbNNtF7uH4i5KQugVechPTELfrKbP9mbiIjo24YN\n91KpFBKJBF1dXZDL5YPfC8Lwh6hIJBI4HA63NEpE5CuudLSiqMIIs9UIW8NZ0Xo/mT8yknOgVeuR\nkaTjLHoiInKbYcP9xo0bIZFIIJPJBr8nIpqsOruvoqTyKMxWI6wXTkMQRh7lK5XKMHNGNrSaPMxO\nno+ggGAPdUpERJPZsOF+8+bNI35PRDTR9fR1o7T6BExWA87UmOFwjnxarEQihSp+NrRqPTJTF0AR\nFOqhTomIiAa4fM/9li1b8P3vfx+zZ8++4fNlZWX4+OOPeYWfiMa10Z4WCwBJsRro1HpkqxYjVBHm\ngS6JiIhuzOVwv3nzZqSlpQ0b7k+fPo1f/vKXDPdENO44nA5UnD8Ns9WAkqpj6OrpEF0zPSIJWk0+\ntOrFCA+N9kCXRERE4sZsWk57ezv8/Dh8h4jGB6fgRE2DBWarAUXWI2jvahNdEzk1Djq1HlpNHmKm\nJXigSyIiotEZMY2XlJSgpKRkcEKOwWBAf//195xevnwZO3bsQHp6unu6JCIaA4Ig4EKzDWbrwCx6\ne3uz6JqB02L10Gn0iI9M4WmxRETk00YM93/605+wZcuWwe/fffddvPvuuzesDQsLw549e8a2OyKi\nMXDtcCmT1YCL9jrR+ilBSmSpFkGn1vO0WCIiGldGDPdr167FfffdBwCYP38+tmzZgnvuuWdIjUQi\ngUKhQGpqKvz9eRgLEfmGy1eaB6/QX2iuFq0PkgdjbtpCaNV5UCfM5WmxREQ0Lo0Y7uPi4hAXFwcA\n+Nvf/oZZs2YhKirKI40REY1WV+9V1F46A+Pej1HdcEa03t9Pjjkp86FV52Fmohb+fnIPdElEROQ+\nLn8C9vbbb3djG0REN6ez5ypKKo/BbDHAev4UBAx/ijYAyKR+mJmYDa06D3NS5iNAHuShTomIiNxv\n2HD/wx/+EBKJBDt37oRMJhv8Xsxvf/vbMW2QiOjbhhwuVWuGwzGKw6XScqEIDPFQp0RERJ41bLg/\nfPgwJBIJnE4nZDLZ4PfDEQSBUySIyG36+vtw9lwRTBYDD5ciIiIaxrDhvqamZsTviYjczel0oOJC\nKUyWApcPlwpTRCMv624eLkVERJOSV0+dKigowLZt22A2m1FfX49du3Zh9erVg8+vWbMGv//974es\nyc3NRWFhoadbJSIPEQQBNY1WmCwFKKo4gvbOVtE11w6XkveFYWpwBHJycjzQKRERke9xOdw3Njai\noaEB2dnZg4+dOXMG//Vf/4W2tjY8/PDD+P73vz+qN+/o6MDcuXOxevVqPP7449fd1iORSLB06dIh\n8/Plck6zIJqI6ltqYbIUwGw14tKVJtH6a4dLadV5SIhKhUQiwcmTJz3QKRERke9yOdw/88wzuHjx\nIgoKCgAMnEp72223obW1FYGBgfjoo4+wf/9+fOc733H5zZcvX47ly5cDGLhK/22CIEAul3P8JtEE\ndamtCSZLAUxWAxounROt5+FSREREI3M53B89ehRPP/304Pfvv/8+7HY7zGYz0tPTceedd2Lbtm2j\nCvdiJBIJjEYjoqOjMXXqVNx22214+eWXERkZOWbvQUSedaXDjqKKIzBZDKhptIjWB8qDMTd1AXSa\nfB4uRUREJEIiCMLIQ6G/FhgYiB07duCHP/whAGDp0qVwOBz429/+BgDYvn07Nm7ciEuXLt1UIyEh\nIdi+fTsef/zxwcc+/PBDKBQKJCcnw2azYcOGDXA4HDCZTENuz2lraxv8uqKi4qben4jcp7e/G7WX\nzqKmuQyNbTWis+ilEhkSpqmRFJmB+LA0yKRe/XgQERGRW6hUqsGvlUrlmLymy//FnDZtGhoaGgAA\nnZ2dOHLkCDZu3Dj4vEQiQXd395g0dc3DDz88+HVGRgZ0Oh0SExPx2WefYdWqVWP6XkQ0tvodfbhg\nr4CtuQx19ko4BceI9RJIEDs1BcmRGUiYpoHcL8BDnRIREU0cLof7vLw8vP3220hPT8eBAwfQ3d2N\nlStXDj5vtVoxffp0tzR5TWxsLOLj41FZWTlsDadkjJ1rH07kno69ibq3Dkc/zp4rhslqwOmqr9DT\nJ/4Lf0rcTOjUemSpFiMk+NauWkzUffU27qt7cF/dg/vqHtxX9/jm3SdjxeVw/8orr+Duu+/GAw88\nAAB44YUXMGvWLABAf38/9u3bhxUrVox5g9/U3NyMuro6xMbGuvV9iMh1TsGJqrpymC0GFFcWoqO7\nXXTN9Mhk6L6edDMtlB+YJyIiGisuh/u0tDScPXsW5eXlCA0NRXJy8uBzXV1d2L59O7Kyskb15h0d\nHYP3yDudTtTW1qK4uBjh4eGYNm0aNm3ahAceeAAxMTGoqanB+vXrER0dzVtyiLxMEASca6qEyWpA\nkdWIto7LomsilbHQavTQafSImZbggS6JiIgmn1F9Ss3f3x+ZmZnXPR4SEoLvfe97o37zEydOYMmS\nJQAG7tnftGkTNm3ahDVr1uDtt99GaWkp9uzZg9bWVsTGxmLJkiX46KOPoFAoRv1eRHTrGi6dh9la\nALPFiOa2BtF6pWIastV50Kn1mBGddt1ZFkRERDS2RhXue3t7sXPnTnz22Weora0FACQlJeG+++7D\nE088AX9//1G9+e233w6n0zns8wcOHBjV6xHR2LvU1gSz1QiT1YD6lhrR+uCAKchSLYROk4/UuFmQ\ncnQlERGRx7gc7u12O5YsWYKSkhJER0cjLS0NAGAymfD5559j586d+OKLLxAWFua2ZonIM0Y7i17u\nH4g5KfOhU+uRnpgFP9noftEnIiKiseFyuF+/fj3Kysqwa9cuPPbYY5BKB06GdDqd+MMf/oAnnngC\n69evxzvvvOO2ZonIfTq7r6Kk8ihMVgMqLpRCEIb/WzUAkMn8kJGkg1atx+zkeZD7c3QlERGRt7kc\n7j/99FOsW7cOq1evHvK4VCrFY489hqKiIvzxj39kuCcaR3r6ulFafQImqwFnasxwOPtHrJdIpNAk\nzIVWrcfctAUIDpjioU6JiIjIFS6H+9bW1sFbcW4kJSUFdrt9TJoiIvfp6+/D2XNFMFkMKK0+jt7+\nHtE1KbEzodXoka1ahJDgqR7okoiIiG6Gy+E+NTUV+/fvx9NPP33dxAtBEPDpp5+OGP6JyHucTgcq\nLpTCZClASdUxdPV0iK7hLHoiIqLxx+Vw/8wzz+Dpp5/G3XffjWeffRYajQYAcPbsWbz11lv44osv\nsGPHDrc1SkSjIwgCbA0WmK0FKKooRHtnq+iaqKlxA7Po1XpET4v3QJdEREQ0llwO90899RRaWlrw\n0ksv4dChQ0Oek8vleOmll/Dkk0+OeYNE5DpBEFDXYoPJMnC41OX2ZtE1U6eEQ6seOFwqPjKFs+iJ\niIjGsVHNud+wYQOefPJJHDp0COfOnQMAJCYmYunSpQgPD3dLg0Qk7qK9DiaLAWarEU32C6L1U4KU\nyFItgk6tR3JcOqQSqQe6JCIiIncbVbgHgFOnTuH48eOoqamBRCJBU1MTIiMjceedd7qjPyIahr29\nefBwqQsXq0XrA+XByEzNhVajhzphLmQ8XIqIiGjCcTncd3R04KGHHsLnn38OAAgLC4MgCGhtbcWb\nb76Ju+++G/v27cOUKRyNR+Qu7Z2tKK4ohMlqQHX9GdF6fz85ZifPg1atx6wkLfz95B7okoiIiLzF\n5XD/s5/9DJ9//jl+8Ytf4Kc//engbTgtLS146623sHXrVvzsZz/Du+++67ZmiSajrp4OnKo6BpPF\nAOv5U3CKHC4llcowMzEbWrUec1LmI1Ae5KFOiYiIyNtcDvd79+7FE088gV/+8pdDHo+IiMCWLVvQ\n2NiIffv2MdwTjYHe/h6U2UwwWwpQVmNCv6NvxHoJJFDFz4ZWo0dm2kIoAkM81CkRERH5EpfDvdPp\nRHZ29rDPZ2ZmYu/evWPSFNFk5HD0w3L+FEyWApyq/go9vV2ia5JiNNCq85CtXgylYpoHuiQiIiJf\n5nK4X7FiBf785z/jn//5n2/4/GeffYZ77713zBojmgycghO2+jMDoysrC9HRdUV0TVx44uAs+nBl\ntAe6JCIiovHC5XD/i1/8Av/wD/+Ae++9F8888wxUKhUAwGq14je/+Q3q6+vxn//5n7h48eKQdVFR\nPNmS6JsEQcClq42oaSnD/5a8A/vVFtE14cpo6NT50Gn0iA2f4YEuiYiIaDxyOdxnZGQAAE6fPj04\nMWe4mmskEgkcDscttEc0cVy018NkNcBkKcBFe51ofWhwGLTqPOg0esyIVvFwKSIiIhLlcrjfuHHj\nqF+cYYQmO3t7C4oqjDBZDDh/sUq0PihAgay0RdBp9EibngEpZ9ETERHRKLgc7jdv3uzGNogmjo6u\nKyiuPAqTpQBVdeUQIIxYL/cLwOyU+dBp9EifkQ1/P38PdUpEREQTzahPqB1LBQUF2LZtG8xmM+rr\n67Fr1y6sXr16SM3mzZuxc+dO2O12LFiwANu3b8esWbO81DHRjXX3duFU1TGYLQacPV8Cp3Pk29Ek\nEimmT03FnQu+g9nJ8xDAWfREREQ0Brwa7js6OjB37lysXr0ajz/++HW38bz22mt44403sHv3bqjV\namzZsgVLly6FxWLhSbjkdX39vSivMcFkMaDMdhJ9jt4R6yWQIC1+NnQaPYT2IAT4B0GnyfFQt0RE\nRDQZeDXcL1++HMuXLwcArFmzZshzgiDgzTffxPr167Fq1SoAwO7duxEVFYUPPvgAa9eu9XS7RIOz\n6M1WA0qqjrk0i35GtAo6tR7Z6sWYOmXgZOeTJ0+6u1UiIiKahLwa7kdis9nQ1NSEZcuWDT4WGBiI\n/Px8FBYWMtyTxzgFJ6rrz8A8iln0MdMSoNPoka3KQ1RYnAe6JCIiIvLhcN/Y2AgAiI4eekhPVFQU\n6uvrvdESTSKCIOD8xSqYrQaYrUa0Xr0kumZaaBS06oHDpeIiEjktioiIiDzOZ8P9SEYKTbzdYexN\npj1t7WxBTXMpbC3laO++LFof6K9AUsQsJEdmIGLKdEgkEjTUtqChVvxgKmBy7a0ncV/dg/vqHtxX\n9+C+ugf3dWxdOxR2LPlsuI+JiQEANDU1IT4+fvDxpqamweeIxsLV7lbUtJTD1lIGe0eTaL1cFogZ\n4elIjsxAtDIRUonUA10SERERifPZcJ+cnIyYmBgcPHgQOp0OANDd3Q2j0Yht27YNuy4nh9NHxsq1\n384n4p62dVxGkfUIzFYjahotovVyvwDMSZkPrUaPmYnZ8JPd2iz6iby33sR9dQ/uq3twX92D++oe\n3Ff3aGtrG/PX9PoozIqKCgCA0+lEbW0tiouLER4ejoSEBDz33HN45ZVXkJ6eDpVKha1btyIkJASP\nPPKIN9umcera4VJmqxGVF0pFD5eSyfwwK1ELrVqP2SnzEOAf6KFOiYiIiG6OV8P9iRMnsGTJEgAD\n99Fv2rQJmzZtwpo1a/Db3/4WL774Irq6urBu3TrY7Xbk5ubi4MGDUCgU3mybxpGunk6crv4KZqsR\nZ88Vu3S4lDp+DrQaPTJTcxEcyPMUiIiIaPzwari//fbb4XQ6R6y5FviJXNXb34MymwlmSwHKakzo\nd/SJrkmJnYls9WJkqxYjVBHmgS6JiIiIxp7P3nNPNBr9jj6crS2G2WrE6eqv0NPXLbomPipl4HAp\n1WJMC43yQJdERERE7sVwT+OW0+lAxYVSmK1GlFQeRWfPVdE10dPioVProVXnISpsuge6JCIiIvIc\nhnsaV5yCEzUNVpitBhRVHEF7Z6vomvDQaGjVedDycCkiIiKa4BjuyecJgoALzdVfnxZ7BPb2ZtE1\noYowaFV50Gr0SIxWMdATERHRpMBwTz6r8fJ5mC1GmK0GXGytF61XBIYgK20RtBo9UuNmQiqVeaBL\nIiIiIt/BcE8+5VJbE8xWI0xWA+pbakTrA+XBmJu6AFq1HpqEuZDJ+CNNREREkxeTEHld29XLMFcY\nYbYaUdtoFa3395NjdvI8aNV6zErSwt9P7oEuiYiIiHwfwz15xdWuKyipPAqT1YCqC2Xip8VK/TAz\nMRs6jR6zk+chQB7koU6JiIiIxg+Ge/KYrp4OnK4+DpPFAMu5YjiFkQ8wk0ikUCfMgVbN02KJiIiI\nXMFwT27V29eDspqTMFkMKHf1tNi4mdCq9chKW4RQxVQPdElEREQ0MTDc05hzOPpx9lwxTBaDy6fF\nJkSlQjt4WmykB7okIiIimngY7mlMOAUnqurKYbYYUFRZiM7udtE1/3darB5RYXEe6JKIiIhoYmO4\np5smCALOX6yCyVIAc8URtF29JLomXBn9daDPQ2w4T4slIiIiGksM9zRqTZcvwGQxwGQ1oNmFw6WU\nimnIVi2GTqPHDJ4WS0REROQ2DPfkkstXmmG2DgT6umabaH1wwBRkqRZCp8lHatwsnhZLRERE5AEM\n9zSs7r4O1LScgXHfx6iuPyNaL/cPxJyU+dCp9UhPzIKfzN8DXRIRERHRNQz3NERXTydOVR2DyWqA\npbbYtcOlkrTI0eQjIzkHAf6BHuqUiIiIiL6N4Z7Q29+DcpsJJqsB5TYT+hy9I9ZLJFKo4mdDp9Yj\nM20hD5ciIiIi8hEM95OUw9EPy/lTMFsNKKk6hp7eLtE1iTFq6NR6ZKsXQ6mY5oEuiYiIiGg0fD7c\nb968GVu2bBnyWExMDOrrxae00FBOwQlb/RmYvp5F39F1RXTN1OBI5GUug1ajR4QyxgNdEhEREdHN\n8vlwDwDp6en4+9//Pvi9TMbJK64SBAEXmqsHAr3VCPvVFtE100KjoFPrEdgfjjBFFHJycjzQKRER\nERHdqnER7mUyGaKiorzdxrjSZK8bOFzKYsBFF2bRhwaHIVu9GFq1HkkxakgkEpw8edIDnRIRERHR\nWBkX4b66uhrTp09HQEAAFixYgFdeeQXJycnebsvn2NubYbYaYbIYcKG5WrQ+KECBzLSF0Kn1UMXP\n5ix6IiIionHO58N9bm4udu/ejfT0dDQ1NWHr1q1YtGgRysrKMG0aP9TZ3tmG4oojMFkNrs2i9wvA\n7JT50Gn0SJ+RDX8/zqInIiIimigkgiCMPMjcx3R2diI5ORk///nP8fzzzwMA2traBp+vqKjwVmse\n09vfjfOXLbA1l6Gh1SY6i14qkSJuaiqSIzMQP00Nf5ncQ50SERER0XBUKtXg10qlckxe0+ev3H9b\ncHAwMjIyUFlZ6e1WPKrf0YcL9grUNJfhgr0STsEhuiZGmYTkiAzMCE9HgH+QB7okIiIiIm8ad+G+\nu7sbZ86cwZIlS274/ESa7NLv6MOZ2iKYrUacrj6O3r5u0TVjOYv+2gdqJ9Ke+grurXtwX92D++oe\n3Ff34L66B/fVPb5598lY8flw/y//8i9YuXIlEhIScPHiRbz00kvo6urC6tWrvd2aWzidDlRcKIXJ\nakBJ5VF09XSIrokNnwGdWs9Z9ERERESTnM+H+7q6OvzgBz9AS0sLIiMjsXDhQhw7dgwJCQnebm3M\nOAUnahqsMFsLUFRRiPbOVtE14cpo6NT50KoXIy4iyf1NEhEREZHP8/lw/8c//tHbLbjFwOFSNpit\nBpitRtjbm0XXKBXTkK3Og06tx4zoNEgkEg90SkRERETjhc+H+4lm8HApqxEX7XWi9YrAEGSpFkOr\nzkPq9FmQSqQe6JKIiIiIxiOGew+4fKUZZqsBJqsBdc020foAeRAyU3OhVeuhSZgLmYz/NxERERGR\nOKZGN2nvbEVRRSHMFgOqG8QPl/KXyZGRkgOdWo9ZSTr4+3EWPRERERGNDsP9GOrq6cCpqmMwWQyw\nnj8Fp+AcsV4qlWFmYja0aj3mpMxHoJyz6ImIiIjo5jHc36Le/h6U2U7CZDGgvMaEfkffiPUSSKCK\nnw2tJh+ZablQBIZ4qFMiIiIimugY7m+Cw9EPy/kSmCwGnKr+Cj29XaJrkmI00Gn0yFItuuXDpYiI\niIiIboTh3kVOwYnq+jMwWQworjiCju520TWx4TOg0+RDp9YjXBntgS6JiIiIaDJjuB+BIAg4f7Fq\ncBZ969VLomvCQ6Oh0+ihVesRF5HogS6JiIiIiAYw3N9A0+ULMFkNMFsMuNhaL1ofGhyGbPVi6DT5\nSIxW8XApIiIiIvIKhvuvXbrSBLP1CMwuzqIPClAgK20RdBo90qZnQCqVeaBLIiIiIqLhTepw39Zx\nGcUVhTBZDahpsIjWy/0CMDtlPnQaPdJnZMPfz98DXRIRERERuWbShfuOriso+XoWfeWFUggQRqyX\nSf0wMzEbOo0es1PmI8A/0EOdEhERERGNzqQI9929XThd/RVMFgPOniuG0+kYsV4ikQ7MolfnITNt\nIWfRExEREdG4MGHDfW9/D8ptJpisBpTbTOhz9IquSY5Nh1adh2zVYoQqwjzQJRERERHR2Jlw4b7M\ndhImqwGnq75CT1+3aH18ZAp0Gj2yVYsxLTTKAx0SEREREbnHhAv37/6/raI10WHx0Gr00KrzEB02\n3QNdERERERG534QL98OZFhoFrVoPnToPcRFJnEVPRERERBPOhA73oYowZKsWQ6vWIylGzUBPRERE\nRBPahAv3wYEhyEpbCK1aj7Tps3i4FBERERFNGlJvN+CKt99+G8nJyQgKCkJOTg6MRuOwtS8/sQv/\ncOfTUCfMYbAnIiIioknF58P9hx9+iOeeew4bNmxAcXExFi1ahOXLl+P8+fM3rJfJJtxfRhARERER\nucTnw/0bb7yBH/7wh/inf/onaDQavPXWW4iNjcWOHTu83RoRERERkU/x6XDf29sLs9mMZcuWDXl8\n2bJlKCws9FJXRERERES+yafDfUtLCxwOB6Kjo4c8HhUVhcbGRi91RURERETkmybcDeptbW3ebmHC\nUKlUALin7sC9dQ/uq3twX92D++oe3Ff34L6OHz595T4iIgIymQxNTU1DHm9qakJsbKyXuiIiIiIi\n8k0+He7lcjl0Oh0OHjw45PG//vWvWLRokZe6IiIiIiLyTT5/W84LL7yAxx57DPPnz8eiRYvwzjvv\noLGxEU899dRgjVKp9GKHRERERES+wefD/UMPPYRLly5h69ataGhowJw5c/CXv/wFCQkJ3m6NiIiI\niMinSARBELzdBBERERER3TqfvufeVW+//TaSk5MRFBSEnJwcGI1Gb7c0rmzevBlSqXTI/+Li4q6r\nmT59OoKDg3HHHXegvLzcS936roKCAqxcuRLx8fGQSqXYvXv3dTVi+9jT04Of/OQniIyMxJQpU/Dd\n734XdXV1nvpH8Eli+7pmzZrrfn6//Zkc7uv1Xn31VcybNw9KpRJRUVFYuXIlysrKrqvjz+zouLKv\n/Jkdve3btyMzMxNKpRJKpfL/b+/eg6Is2zCAX+8iK6CoKHIQ+BDwDJoMaIAKSGI6OAbjEc1KSyoV\nNZ3xlCGQg2Kjo46SaYfZPzI8DE5NOQkFchh1xgARD2kEJVqQIGBbQsje3x+OW8tZRHfB6zezM+yz\nz+777DX3uDfr874gICAAJ0+eNJjDWn10beXKWu0c27Ztg0qlQnR0tMH4k6rZLt/cHzlyBKtXr8bm\nzZtx4cIFBAQEYPr06SgtLTX20rqUESNGoKysTH8rLCzUP5aYmIhdu3Zh3759OH/+POzs7BAaGgqt\nVjrGvEsAAA4vSURBVGvEFZuev/76C2PGjMGePXtgaWkJRVEMHm9PjqtXr0ZKSgqSk5ORnZ2Nu3fv\nYsaMGdDpdE/77ZiMtnJVFAWhoaEG9dv4Q5+5NpWZmYkVK1bg7NmzSE9PR48ePTBlyhRUVVXp57Bm\nH117cmXNPjoXFxfs2LED+fn5yM3NRUhICMLDw1FQUACAtdpRbeXKWn18586dw6FDhzBmzBiDz68n\nWrPSxY0fP16ioqIMxoYOHSobN2400oq6ni1btoiXl1ezj+l0OnFwcJCEhAT92L1798Ta2lo++uij\np7XELqd3796i0Wj099uTY3V1tajVajl8+LB+TmlpqahUKjl16tTTW7wJa5yriMirr74qM2bMaPE5\nzLV9tFqtmJmZyddffy0irNnO0jhXEdZsZ+nfv78cPHiQtdrJHuYqwlp9XNXV1eLh4SGnT5+W4OBg\niY6OFpEn/+9rl/7m/p9//kFeXh6mTp1qMD516lScOXPGSKvqmoqLi+Hk5AR3d3dERkaipKQEAFBS\nUoLy8nKDjC0sLBAYGMiMH0F7cszNzUV9fb3BHGdnZ4wcOZJZt0JRFOTk5MDe3h7Dhw9HVFQUbt++\nrX+cubbP3bt3odPpYGNjA4A121ka5wqwZh9XQ0MDkpOTUVtbi8DAQNZqJ2mcK8BafVxRUVGYM2cO\ngoKCIP85xfVJ16zJXy2nNRUVFWhoaIC9vb3BuJ2dHcrKyoy0qq7Hz88PGo0GI0aMQHl5ObZu3YqA\ngABcvnxZn2NzGf/222/GWG6X1J4cy8rKYGZmhgEDBhjMsbe3b/KH3Ohf06ZNw6xZs+Dm5oaSkhJs\n3rwZISEhyM3NhVqtZq7ttGrVKnh7e8Pf3x8Aa7azNM4VYM12VGFhIfz9/VFXVwdLS0scPXoUw4cP\n1zc6rNWOaSlXgLX6OA4dOoTi4mIcPnwYAAy25Dzpf1+7dHNPnWPatGn6n728vODv7w83NzdoNBo8\n//zzLT6v8d5n6hjm+HjmzZun/9nT0xM+Pj5wdXXFN998g4iICCOurOtYs2YNzpw5g5ycnHbVI2u2\nfVrKlTXbMSNGjMDFixdRU1ODY8eOYf78+cjIyGj1OazVtrWUq6+vL2u1g65du4Z3330XOTk5MDMz\nAwCIiMG39y3pjJrt0ttybG1tYWZm1uQ3mPLycjg6OhppVV2flZUVPD09UVRUpM+xuYwdHByMsbwu\n6WFWreXo4OCAhoYGVFZWGswpKytj1o/A0dERzs7OKCoqAsBc2/LOO+/gyJEjSE9Px+DBg/XjrNnH\n01KuzWHNto+5uTnc3d3h7e2NhIQE+Pn5Yf/+/e36nGKmLWsp1+awVtvn7NmzqKiogKenJ8zNzWFu\nbo6srCwkJSVBrVbD1tYWwJOr2S7d3KvVavj4+CA1NdVgPC0trcmlmqj9amtrcfXqVTg6OsLNzQ0O\nDg4GGdfW1iInJ4cZP4L25Ojj4wNzc3ODOTdv3sSPP/7IrB/B7du3cevWLf0HPnNt2apVq/QN6LBh\nwwweY812XGu5Noc12zENDQ3Q6XSs1U72MNfmsFbbJyIiApcuXUJBQQEKCgpw4cIF+Pr6IjIyEhcu\nXMDQoUOfbM129pnBT9uRI0dErVbLxx9/LFeuXJGVK1eKtbW13Lhxw9hL6zLWrl0rmZmZUlxcLOfO\nnZOwsDDp27evPsPExETp27evpKSkSGFhocybN0+cnJxEq9UaeeWmRavVSn5+vuTn54uVlZXEx8dL\nfn7+I+X49ttvi7Ozs3z33XeSl5cnwcHB4u3tLTqdzlhvy+hay1Wr1cratWvl7NmzUlJSIhkZGeLn\n5ycuLi7MtQ3Lli2TPn36SHp6uvz+++/6239zY80+urZyZc12zPr16yU7O1tKSkrk4sWLsmHDBlGp\nVJKamioirNWOai1X1mrnCgoKkhUrVujvP8ma7fLNvYhIUlKSDB48WHr27Cm+vr6SnZ1t7CV1KfPn\nz5dBgwaJWq0WJycnmT17tly9etVgTmxsrDg6OoqFhYUEBwfL5cuXjbRa05WRkSGKooiiKKJSqfQ/\nL168WD+nrRzr6uokOjpaBgwYIFZWVjJz5ky5efPm034rJqW1XO/duycvvvii2NnZiVqtFldXV1m8\neHGTzJhrU43zfHiLi4szmMeafTRt5cqa7ZjXXntNXF1dpWfPnmJnZyehoaH6xv4h1uqjay1X1mrn\n+u+lMB96UjWriLRjdz8REREREZm8Lr3nnoiIiIiI/sXmnoiIiIiom2BzT0RERETUTbC5JyIiIiLq\nJtjcExERERF1E2zuiYiIiIi6CTb3RERERETdBJt7IqIuIDg4GJMnTzbqGnbu3AkPD48W/zT90zBu\n3DisX7/eaMcnIjJ1bO6JiEzImTNnEBcXh5qaGoN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uIiafX4sdZ77DuP5L2jymsYpXiWvRzJq9TmaeePGs/ePbVQQGUFfRFlUW4dXW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\nHwAAAABJRU5ErkJggg==\n", 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oEvBx9dERjHGaCR/0v1rh1NwE1iZJPDVNOFq6SeSxlbhKGOc8FxcS9qCqtlw0/ufFn2Cq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\n8cUXlZaWpt27d8tud88tZT179tSAAQM0b948t5wfADwd4R8AAACwCHb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RY7G3cYKfxzD4eQTC12MYvN2GwN3Z2+Cr+ahUbUi88iMOnPsS1R1WxenIwdYZ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\nRK5CYII=\n", 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XcRx7UxNR2MG+JUDLXKSEMfMwOmxil7+XzPn3QH/G5MBImBy01XoCcIA8FL9f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\nD7E4ICIiIiIiAMD/Ay8FCO4E+KCIAAAAAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1328,7 +1339,8 @@ "radar_pos = (0., 0.)\n", "h_radar.radar_pos = radar_pos\n", "\n", - "kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, alpha=.1, beta=2., kappa=0.)\n", + "points = MerweScaledSigmaPoints(n=3, alpha=.1, beta=2., kappa=0.)\n", + "kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, points=points)\n", "\n", "kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", "kf.Q[2, 2] = 0.1\n", @@ -1383,7 +1395,7 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "This may or may not impress you, but it impresses me. In the Extended Kalman filter chapter we will solve the same problem, but it will take significant amounts of mathematics to handle the same problem. " + "This may or may not impress you, but it impresses me! In the Extended Kalman filter chapter we will solve the same problem, but it will take significant amounts of mathematics to handle the same problem. " ] }, { @@ -1402,7 +1414,7 @@ }, { "cell_type": "code", - "execution_count": 28, + "execution_count": 45, "metadata": { "collapsed": false, "scrolled": false @@ -1410,9 +1422,9 @@ "outputs": [ { "data": { - "image/png": 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tqv+OjTRMc9Z0mrum6cjzVlCay45jX1BaWffFTSaTmf7Bw4kNG8WVCy7s3r3n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\nseoAAAAASUVORK5CYII=\n", + "image/png": 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Jx4UCfUMZHR7H6Ig4wgOjsbezt3GlIgIKByIiImJFJrOJC6VnOPblQY7nH6Kk4kKnzrO3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\nFYWwsDDI5XKMHz8eQMPn/T8uY2NjbNu2Dc899xzc3NwQFhY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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1475,7 +1487,7 @@ }, { "cell_type": "code", - "execution_count": 31, + "execution_count": 46, "metadata": { "collapsed": false, "scrolled": false @@ -1483,9 +1495,9 @@ "outputs": [ { "data": { - "image/png": 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KRYPeHxERPR3K7tyE/PzvojYrCxsE+8zAR3O+x9QRESyQiZ5CBiuSExMTMX/+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\n+18ajUavr8QjImoOi2QiIgPQsJhtrf1usXv3zm9SUhJcXV1bPEe3bt0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o0aNx6tQpSX9VVRWioqJgZ2cHc3NzhIaG4tq1a5KYoqIihIeHw8rKClZWVoiI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\nTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1512,7 +1524,8 @@ "\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", - "kf = UKF(4, 2, dt, fx=f_cv_radar, hx=h_radar, alpha=.1, beta=2., kappa=-1.)\n", + "points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1.)\n", + "kf = UKF(4, 2, dt, fx=f_cv_radar, hx=h_radar, points=points)\n", "\n", "kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", "kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", @@ -1566,7 +1579,7 @@ }, { "cell_type": "code", - "execution_count": 32, + "execution_count": 47, "metadata": { "collapsed": false, "scrolled": false @@ -1581,9 +1594,9 @@ }, { "data": { - "image/png": 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ShoOZJ4prs8THz938Cdx2PZjpW474nneKmfONLY0ckJOVP+LrDWSChguAC+L2/ZYKnL3y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\niAaU/w+qnw8sqTr4JAAAAABJRU5ErkJggg==\n", 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NNTiRtI8RCxobCgsT6z6OIMo03W8+eNzulbwf1pbjZn4Kixk9WntHO2Jkev1D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\ns70HRvuEDX9gBi5m4mKkZX+vSvjrb9Xg+LkkzAx9qNv+VbXX8MWB9yA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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1594,9 +1607,10 @@ "range_std = 500.\n", "bearing_std = math.degrees(0.5)\n", "radar = RadarStation(pos=(0, 0), range_std=range_std, bearing_std=bearing_std)\n", - "\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", - "kf = UKF(4, 2, dt, fx=f_cv_radar, hx=h_radar, alpha=.1, beta=2, kappa=-1.)\n", + "\n", + "points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1.)\n", + "kf = UKF(4, 2, dt, fx=f_cv_radar, hx=h_radar, points=points)\n", "\n", "kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", "kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", @@ -1625,7 +1639,7 @@ }, { "cell_type": "code", - "execution_count": 34, + "execution_count": 48, "metadata": { "collapsed": false, "scrolled": false @@ -1640,9 +1654,9 @@ }, { "data": { - "image/png": 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AP/c9jwOnP2bG48JmIiZk4pJpuhCuAFcZ5Lq2gP+hiVaArYvOAXBa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\nIiIiIovCBJiIiIiILAoTYCIiIiKyKP8fz/w3G2g+y84AAAAASUVORK5CYII=\n", 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19HWhs4dWqzYkY+T8A8NPIWO5qT/llPpjSJbzzWTFqptKNdqKKnNM0BPzo5nv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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1665,7 +1679,8 @@ "vel_std = 2.\n", "\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", - "kf = UKF(4, 4, dt, fx=f_cv_radar, hx=h_vel, alpha=.2, beta=2., kappa=-1.)\n", + "points = MerweScaledSigmaPoints(n=4, alpha=.2, beta=2., kappa=-1.)\n", + "kf = UKF(4, 4, dt, fx=f_cv_radar, hx=h_vel, points=points)\n", "\n", "kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", "kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", @@ -1727,7 +1742,7 @@ }, { "cell_type": "code", - "execution_count": 35, + "execution_count": 49, "metadata": { "collapsed": false, "scrolled": false @@ -1735,9 +1750,9 @@ "outputs": [ { "data": { - "image/png": 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b7C5sOtr3s8ivpuE5zCnKYV4viS7+2ip4yqRniRuLKB1O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\nm4iIiIiUFhQU9NC2Ea+53LFjB1566aURdxoXF4fW1lYAwKx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6S/e4rOAK/Mtt/4PUHe2vz6R4Cyw5eSi39fzuR1fpIB+vm4E/fXqyx/USnSeZ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\nK8gdLJ2oJKWiZfYi+JNSgtwzosiQn//NwEJycnK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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1779,7 +1794,7 @@ }, { "cell_type": "code", - "execution_count": 37, + "execution_count": 50, "metadata": { "collapsed": false, "scrolled": false @@ -1787,9 +1802,9 @@ "outputs": [ { "data": { - "image/png": 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Rfqm1zWBTLqzeBO9/Ai6X5/qI0ELShm/j9z+cS3yE5/tURaTDNQdVERGRG9nhkwarNsG6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\ngg==\n", 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M8+bNY+PGjQQEBPS0WbVqFV5eXixZsoTW1lbS09NZt27dBR84FRERkYHV2GzwfnZ3KN+8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\niIiIiOh+5/ISl+7ubly8eBEA4HA48MMPP+DEiRM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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1824,7 +1839,8 @@ "\n", "\n", "def moving_target_filter(target_pos, std_noise, Q, dt=0.1, kappa=0.0):\n", - " f = UKF(dim_x=4, dim_z=2, dt=dt, hx=hx_VOR, fx=fx_VOR, alpha=.1, beta=2, kappa=kappa)\n", + " points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=kappa)\n", + " f = UKF(dim_x=4, dim_z=2, dt=dt, hx=hx_VOR, fx=fx_VOR, points=points)\n", " f.x = np.array([target_pos[0], 1., target_pos[1], 1.])\n", "\n", " q = Q_discrete_white_noise(2, dt, Q)\n", @@ -1880,7 +1896,7 @@ }, { "cell_type": "code", - "execution_count": 38, + "execution_count": 51, "metadata": { "collapsed": false, "scrolled": false @@ -1888,9 +1904,9 @@ "outputs": [ { "data": { - "image/png": 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pJzyklPcnetPzqm64ja4E+gXXwqQiUp0UUkVExKO89vErLNswmu/SEyqt39O/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\n3yZJAAAAAElFTkSuQmCC\n", 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88wj2t/LAuH8Q5N+injsVkcZAAV1EROQcFZcWkpK+igP23ezYX8Dn3wxj96Hp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\npyvIrR7gd5xLY+bT9YLVdAm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lMrN175Ws2zqe8sogt7q/Lzx8C/x5XDC+PrE1vQ0REZFG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\nd9AZY4wxxhjzINxBZ4wxxhhjzINwB50xxhhjjDE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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1928,7 +1944,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 24, "metadata": { "collapsed": false, "scrolled": false @@ -1954,7 +1970,7 @@ }, { "cell_type": "code", - "execution_count": 39, + "execution_count": 52, "metadata": { "collapsed": false, "scrolled": false @@ -1992,7 +2008,7 @@ }, { "cell_type": "code", - "execution_count": 40, + "execution_count": 53, "metadata": { "collapsed": false, "scrolled": false @@ -2000,9 +2016,9 @@ "outputs": [ { "data": { - "image/png": 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C7NvgkSlKTs83JpOJV8+aKjq8F3y80HrcaBQUFpZOUqPaD7TZE7egMJ+VWxfQ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\n", 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YV/n4w29b4Gw+rHgTXFyUmNc34weZaNPCfDyij/kDF8D1/wertpVN0Jt6+tGv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\n7d4ebZp1RHPXNmjm2ErvcxWLYtzOv4W0a6cRl3IIKeknDdb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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2033,7 +2049,7 @@ }, { "cell_type": "code", - "execution_count": 41, + "execution_count": 54, "metadata": { "collapsed": false, "scrolled": false @@ -2041,9 +2057,9 @@ "outputs": [ { "data": { - "image/png": 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aDRw4WngJqYj2sZjNTphMhdfb/XnLu0zo8aw90xORClSlz6CKyNVlS+zaEvtG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\nIiJN+X8/zErzSE+nHQAAAABJRU5ErkJggg==\n", 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1raYvDOwIowfpxnMpWcsGtsIcoF6tDNIuBeDvU/B9l6v1zkXkKpXrnHMRkdIS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\nzTkRERERkU6wOSciIiIi0on/Bxf0I2o4ZvLoAAAAAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2081,7 +2097,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 28, "metadata": { "collapsed": false, "scrolled": false @@ -2107,7 +2123,7 @@ }, { "cell_type": "code", - "execution_count": 42, + "execution_count": 55, "metadata": { "collapsed": false, "scrolled": false @@ -2115,9 +2131,9 @@ "outputs": [ { "data": { - "image/png": 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4qVpm6XfG9994TkDl6FpmvUwmratzEVHtwYBKRHWCTCaDv/opw307RQme6zUX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\niIiISFIYUImIiIhIUhhQiYiIiEhS/j/ji2ztMbjKOAAAAABJRU5ErkJggg==\n", 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R4RulJhQqOb5YcTFH3J6TnLBDh450VnzsHu0t6utxvxu2/Y+ef/NlLVn1mF58L1ezn7hW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\nKcb48eONnTt3utXMnz/fSEpKMkJDQ43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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2158,7 +2174,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 30, "metadata": { "collapsed": false, "scrolled": false @@ -2184,7 +2200,7 @@ }, { "cell_type": "code", - "execution_count": 43, + "execution_count": 56, "metadata": { "collapsed": false, "scrolled": false @@ -2226,7 +2242,7 @@ }, { "cell_type": "code", - "execution_count": 44, + "execution_count": 57, "metadata": { "collapsed": false, "scrolled": false @@ -2234,9 +2250,9 @@ "outputs": [ { "data": { - "image/png": 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4OLmkXlwcYckSN927m9x+e4TbbjvZ9zM726RDhwSdO0M8bqNTp0+orKxsztsR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\neKMNSEREWjbDMMjKSicrC+L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ZWRm33XYbOTk5X/fRIiIiInXmch3j0UePp/Z5PvrocVyu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\nE7IAAAAASUVORK5CYII=\n", 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5n8/HyJF2+YhpmvTvH6exMU1envm19d2TJiW4/fZD28fPmOFn/vwoDz3kZdGiKI2NUdzu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\nfvk3HpiIiHROsVgM+ASPB3w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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2289,7 +2305,7 @@ }, { "cell_type": "code", - "execution_count": 45, + "execution_count": 58, "metadata": { "collapsed": false, "scrolled": false @@ -2297,9 +2313,9 @@ "outputs": [ { "data": { - "image/png": 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HmLthrpxupxZ/uFjtnm6nZ7Y/U9dlA0CDRJgEEJZO91D27189tH364ZzZs8vV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\nemnQoEH8MdfChg0bdP/99ys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8rak31v1TgYCpTdtXa/ZfJ+qjz1dFu3QAiGlhBWmfzye/319lmSWn06m1a9eGVRgA4MLZ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\nfv16paWlRaI+AAAAoFaK+M2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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2345,7 +2361,7 @@ }, { "cell_type": "code", - "execution_count": 46, + "execution_count": 59, "metadata": { "collapsed": false, "scrolled": false @@ -2353,9 +2369,9 @@ "outputs": [ { "data": { - "image/png": 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Pbdq0UceOHZWdna39+/fXdF0AUL/YtszDhzX04i80enSkxXDFilKdOGFq/Ph4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\nYaFat24do6rQkMTHxysjI0N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evSVav96h4cOTJUljxwY0aZJHM2b4lZpqq9+uv8rw+xN7AABQj9WoR7mwsFBt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\ngC+//FKRSEStWrWqsj0tLU3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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2441,7 +2457,7 @@ }, { "cell_type": "code", - "execution_count": 47, + "execution_count": 60, "metadata": { "collapsed": false, "scrolled": false @@ -2449,9 +2465,9 @@ "outputs": [ { "data": { - "image/png": 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KKc5v5J4xQw7LkpmVpf2XXaavIpE4fxoAOD7t2rWr2/b5fMf1mpjCdVpamiZNmqRbbrml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\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2491,7 +2507,7 @@ }, { "cell_type": "code", - "execution_count": 50, + "execution_count": 36, "metadata": { "collapsed": false, "scrolled": false @@ -2510,7 +2526,7 @@ }, { "cell_type": "code", - "execution_count": 64, + "execution_count": 61, "metadata": { "collapsed": false, "scrolled": false @@ -2518,9 +2534,9 @@ "outputs": [ { "data": { - "image/png": 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Vw7RSjqX/o51TKR1xdP1V3W4uhdd1NMJxoLm5kNc1UnzqolVBMAi9vYpUCjZu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/e88a1rRVaDv0HLyx6nT3uMjGh27pQIbbmsax3+hmjU0NbmUCjA8HAjmCJlBFaoWi4fK1Y3CKst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\np9PJOXPmcM+ePQH3czgcDAoK4qFDh1TpR5Lz5s3j3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v/AMUJoUIdWHWcz4RlMK8xlLHTXTOQiFuo9UqG63W+AXxhfncoy3FfKG+b5/h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\ncy0ucvhv/y3jv/zLxz7v+Li8v9cbeeOXl8WL3unI8ZpNUe4rFbmZMEY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amzfl9UJB5hhj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\nx5YtW1BQUIDc3FyYmpoiMTERO3bswPXr17W+38XFB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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -2545,14 +2561,16 @@ " [15., 40.]])\n", "\n", "### compute mean via UKF\n", - "alpha, beta, kappa = .1, 2., 1.\n", - "Wm, Wc = UKF.weights(2, alpha, beta, kappa)\n", - "sigmas = UKF.sigma_points(mean, p, alpha, kappa)\n", + "\n", + "points = MerweScaledSigmaPoints(n=2, alpha=.1, beta=2., kappa=1.)\n", + "Wm, Wc = points.weights()\n", + "sigmas = points.sigma_points(mean, p)\n", "sigmas_f = np.zeros((5, 2))\n", + "\n", "for i in range(5):\n", " sigmas_f[i] = f_nonlinear_xy(sigmas[i, 0], sigmas[i ,1])\n", "\n", - "ukf_mean, _ = unscented_transform(sigmas_f, Wm, Wc, noise_cov=np.zeros((2,2)))\n", + "ukf_mean, _ = unscented_transform(sigmas_f, Wm, Wc)\n", "\n", "# generate 500000 points to compute accurate mean\n", "np.random.seed(73291)\n", @@ -2610,6 +2628,8 @@ "cell_type": "markdown", "metadata": {}, "source": [ + "Now let's implement these equations with Python. As you have seen FilterPy already implements this code for you, but it is instructive to learn how to go from equations to code. Plus, if you encounter a problem and need to debug your code you will likely need to step through the code with the debugger.\n", + "\n", "Implementing the UKF is quite straightforward. First, let's write the code to compute the mean and covariance given the sigma points. \n", "\n", "We will store the sigma points and weights in matrices, like so:\n", @@ -2627,13 +2647,6 @@ "\\mathcal{X}_{1,0} & \\mathcal{X}_{1,1} & \\mathcal{X}_{1,2} \\\\\n", "\\vdots & \\vdots & \\vdots \\\\\n", "\\mathcal{X}_{2n+1,0} & \\mathcal{X}_{2n+1,1} & \\mathcal{X}_{2n+1,2}\n", - "\\end{bmatrix} \\\\\n", - "sigmas &= \n", - "\\begin{bmatrix}\n", - "\\mathcal{X}_{0,0} & \\mathcal{X}_{0,1} & \\mathcal{X}_{0,2n+1} \\\\\n", - "\\mathcal{X}_{1,0} & \\mathcal{X}_{1,1} & \\mathcal{X}_{1,2n+1} \\\\\n", - "\\vdots & \\vdots & \\vdots \\\\\n", - "\\mathcal{X}_{D-1,0} & \\mathcal{X}_{D-1,1} & \\mathcal{X}_{D-1,2n+1}\n", "\\end{bmatrix}\n", "\\end{aligned}\n", "$$\n", @@ -2652,39 +2665,25 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "Computing the weights in numpy is extremely simple. Recall that for the Julier implementation\n", + "Computing the weights in numpy is extremely simple. Recall that for the Van der Merwe scaled sigma point implementation\n", "\n", "$$\n", "\\begin{aligned}\n", - "W_0 &= \\frac{\\kappa}{n+\\kappa} \\\\\n", - "W_i &= \\frac{1}{2(n+\\kappa)}\\,\\,\\,\\text{for i=1,2..2n}\n", + "W^m_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n", + "W^c_0 &= \\frac{\\lambda}{n+\\lambda} + 1 -\\alpha^2 + \\beta \\\\\n", + "W^m_i = W^c_i &= \\frac{1}{2(n+\\lambda)}\\;\\;\\;i=1..2n\n", "\\end{aligned}\n", "$$\n", "\n", - "These two lines of code implement these equations with the `np.full()` method, which creates and fills an array with the same value. Then the value for the mean($W_0$) is computed and overwrites the filled in value. \n", - "\n", - " W = np.full((2*n+1,1), .5 / (n+kappa))\n", - " W[0] = kappa / (n+kappa)\n", + "with $\\lambda=\\alpha^2(n+\\kappa)-n$.\n", " \n", - "Our final function will look something like this." - ] - }, - { - "cell_type": "code", - "execution_count": 65, - "metadata": { - "collapsed": false, - "scrolled": false - }, - "outputs": [], - "source": [ - "def weights(n, kappa):\n", - " \"\"\" Computes the weights for an unscented Kalman filter. \"\"\"\n", + "Our code will look something like this.\n", "\n", - " k = .5 / (n+kappa)\n", - " W = np.full(2*n+1, k)\n", - " W[0] = kappa / (n+kappa)\n", - " return W" + " lambda_ = alpha**2 * (n +kappa) - n\n", + " Wc = np.full(2*n + 1, 1. / (2*(n+lambda_))\n", + " Wm = np.full(2*n + 1, 1. / (2*(n+lambda_))\n", + " Wc[0] = lambda_ / (n + lambda_) + (1. - alpha**2 + beta)\n", + " Wm[0] = lambda_ / (n + lambda_)" ] }, { @@ -2703,14 +2702,14 @@ "$$\n", "\\begin{aligned}\n", "\\mathcal{X}_0 &= \\mu \\\\\n", - "\\mathcal{X}_i &= \\mu + \\bigg[\\sqrt{(n+\\kappa)\\Sigma} \\bigg]_i\\,\\,\\,\\, &\\text{for}\\text{ i=1 .. n} \\\\\n", - "\\mathcal{X}_i &= \\mu - \\bigg[\\sqrt{(n+\\kappa)\\Sigma}\\bigg]_{i-n}\\,\\,\\,\\,\\, &\\text{for}\\text{ i=(n+1) .. 2n}\n", + "\\mathcal{X}_i &= \\mu + \\bigg[\\sqrt{(n+\\lambda)\\Sigma} \\bigg]_i\\,\\,\\,\\, &\\text{for}\\text{ i=1 .. n} \\\\\n", + "\\mathcal{X}_i &= \\mu - \\bigg[\\sqrt{(n+\\lambda)\\Sigma}\\bigg]_{i-n}\\,\\,\\,\\,\\, &\\text{for}\\text{ i=(n+1) .. 2n}\n", "\\end{aligned}\n", "$$\n", "\n", "The Python for this is not much more difficult once we wrap our heads around the $[\\sqrt{(n+\\kappa)\\Sigma}]_i$ term.\n", "\n", - "The term $[\\sqrt{(n+\\kappa)\\Sigma}]_i$ has to be a matrix because $\\Sigma$ is a matrix. The subscript $i$ is choosing the column vector of the matrix. What is the 'square root of a matrix'? The usual definition is that the square root of a matrix $\\Sigma$ is just the matrix $S$ that, when multiplied by itself, yields $\\Sigma$.\n", + "The term $[\\sqrt{(n+\\kappa)\\Sigma}]_i$ has to be a matrix because $\\Sigma$ is a matrix. The subscript $i$ is choosing the column vector of the matrix. What is the square root of a matrix? There is no unique definition. A typical definition is that the square root of a matrix $\\Sigma$ is just the matrix $S$ that, when multiplied by itself, yields $\\Sigma$.\n", "\n", "$$\n", "\\begin{aligned}\n", @@ -2720,25 +2719,22 @@ "\\end{aligned}\n", "$$\n", "\n", - "However there is an alternative definition, and we will chose that because it has numerical properties that makes it much easier for us to compute its value. We can alternatively define the square root as the matrix S, which when multiplied by its transpose, returns $\\Sigma$:\n", + "However there is an alternative definition, and we will chose it because it has numerical properties that makes it much easier for us to compute its value. We can define the square root as the matrix S, which when multiplied by its transpose, returns $\\Sigma$:\n", "\n", "$$\n", "\\Sigma = SS^\\mathsf{T} \\\\\n", "$$\n", "\n", - "This latter method is typically chosen in computational linear algebra because this expression is easy to compute using something called the *Cholesky decomposition* [3]. \n", - "NumPy provides this with the `numpy.linalg.cholesky()` method. If your language of choice is Fortran, C, C++, or the like standard libraries such as LAPACK also provide this routine. And, of course, Matlab provides `chol()`, which does the same thing.\n", + "This method is frequently chosen in computational linear algebra because this expression is easy to compute using something called the *Cholesky decomposition* [3]. \n", + "SciPy provides this with the `scipy.linalg.cholesky()` method. If your language of choice is Fortran, C, or C++, libraries such as LAPACK provide this routine. Matlab provides `chol()`.\n", "\n", - "This method returns a lower triangular matrix, so we will take the transpose of it so that in our for loop we can access it row-wise as `U[i]`, rather than the more cumbersome column-wise notation `U[i,:]`.\n", - "\n", - " Sigmas = np.zeros((2*n+1, n))\n", - " U = linalg.cholesky((n+kappa)*P).T\n", + " sigmas = np.zeros((2*n+1, n))\n", + " U = scipylinalg.cholesky((n+kappa)*P)\n", "\n", + " sigmas[0] = X\n", " for k in range (n):\n", - " Sigmas[k+1] = X + U[k]\n", - " Sigmas[n+k+1] = X - U[k]\n", - "\n", - " Sigmas[0] = X" + " sigmas[k+1] = X + U[k]\n", + " sigmas[n+k+1] = X - U[k]" ] }, { @@ -2748,23 +2744,21 @@ "Now let's implement the unscented transform. Recall the equations\n", "\n", "$$\\begin{aligned}\n", - "\\mu &= \\sum_i w_i\\mathcal{X}_i\\;\\;\\;&(2) \\\\\n", - "\\Sigma &= \\sum_i w_i{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\\;\\;\\;&(3)\n", + "\\mu &= \\sum_i w_i^m\\mathcal{X}_i \\\\\n", + "\\Sigma &= \\sum_i w_i^c{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", "$$\n", "\n", - "The scaled UKF uses different weights for the means and covariance, so we will use the variable `Wm` for the mean weights and `Wc` for the covariance weights.\n", - "\n", "We implement the sum of the means with\n", "\n", - " X = np.dot (Wm, Sigmas)\n", + " X = np.dot (Wm, sigmas)\n", "\n", - "If you are not a heavy user of NumPy this may look foreign to you. NumPy is not just a library that make linear algebra possible; under the hood it is written in C to achieve much faster speeds than Python can reach. A typical speedup is 100x. To get that speedup we must avoid using for loops, and instead use NumPy's built in functions to perform calculations. So, instead of writing a for loop to compute the sum, we call the built in `numpy.dot(x,y)` method. If passed a 1D array and a 2D array it will compute sum of inner products:" + "If you are not a heavy user of NumPy this may look foreign to you. NumPy is not just a library that make linear algebra possible; under the hood it is written in C to achieve much faster speeds than Python can reach. A typical speedup is 100x. To get that speedup we must avoid using for loops, and instead use NumPy's built in functions to perform calculations. So, instead of writing a for loop to compute the sum, we call the built in `numpy.dot(x,y)` method. If passed a 1D array and a 2D array it will compute the sum of inner products:" ] }, { "cell_type": "code", - "execution_count": 66, + "execution_count": 39, "metadata": { "collapsed": false, "scrolled": false @@ -2776,7 +2770,7 @@ "array([410, 520, 630])" ] }, - "execution_count": 66, + "execution_count": 39, "metadata": {}, "output_type": "execute_result" } @@ -2794,84 +2788,14 @@ "source": [ "All that is left is to compute $\\mathbf{P} = \\sum_i w_i{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}} + \\mathbf{Q}$\n", "\n", - " kmax, n = Sigmas.shape\n", + " kmax, n = sigmas.shape\n", " P = zeros((n, n))\n", " for k in range(kmax):\n", - " y = Sigmas[k] - x\n", + " y = sigmas[k] - x\n", " P += Wc[k] * np.outer(y, y) \n", " P += Q\n", "\n", - "This introduces another feature of NumPy. The state variable $X$ is one dimensional, as is $Xi[k]$, so the difference $Xi[k]-X$ is also one dimensional. NumPy will not compute the transpose of a 1-D array; it considers the transpose of `[1,2,3]` to be `[1,2,3]`. So we call the function `np.outer(y,y)` which computes the value of $\\mathbf{yy}^\\mathsf{T}$ for a 1D array $\\mathbf{y}$.\n", - "\n", - "Our `sigma_points` function can be implemented as below" - ] - }, - { - "cell_type": "code", - "execution_count": 67, - "metadata": { - "collapsed": false, - "scrolled": false - }, - "outputs": [], - "source": [ - "def sigma_points(x, P, kappa):\n", - " \"\"\" Computes the sigma pointsfor an unscented Kalman filter\n", - " given the mean (x) and covariance(P) of the filter.\n", - " kappa is an arbitrary constant. Returns tuple of the sigma points\n", - " and weights.\n", - "\n", - " Works with both scalar and array inputs:\n", - " sigma_points (5, 9, 2) # mean 5, covariance 9\n", - " sigma_points ([5, 2], 9*eye(2), 2) # means 5 and 2, covariance 9I\n", - "\n", - " **Parameters**\n", - "\n", - " X An array-like object of the means of length n\n", - " Can be a scalar if 1D.\n", - " examples: 1, [1,2], np.array([1,2])\n", - "\n", - " P : scalar, or np.array\n", - " Covariance of the filter. If scalar, is treated as eye(n)*P.\n", - "\n", - " kappa : float\n", - " Scaling factor.\n", - "\n", - " **Returns**\n", - "\n", - " sigmas : np.array, of size (n, 2n+1)\n", - " 2D array of sigma points. Each column contains all of\n", - " the sigmas for one dimension in the problem space. They\n", - " are ordered as:\n", - "\n", - " .. math::\n", - " sigmas[0] = x \\n\n", - " sigmas[1..n] = x + [\\sqrt{(n+\\kappa)P}]_k \\n\n", - " sigmas[n+1..2n] = x - [\\sqrt{(n+\\kappa)P}]_k\n", - " \"\"\"\n", - "\n", - " if np.isscalar(x):\n", - " x = asarray([x])\n", - " n = np.size(x) # dimension of problem\n", - "\n", - " if np.isscalar(P):\n", - " P = eye(n)*P\n", - "\n", - " Sigmas = zeros((2*n+1, n))\n", - "\n", - " # implements U'*U = (n+kappa)*P. Returns lower triangular matrix.\n", - " # Take transpose so we can access with U[i]\n", - " U = cholesky((n+kappa)*P).T\n", - " #U = sqrtm((n+kappa)*P).T\n", - "\n", - " for k in range(n):\n", - " Sigmas[k+1] = x + U[k]\n", - " Sigmas[n+k+1] = x - U[k]\n", - "\n", - " # handle value for the mean separately as special case\n", - " Sigmas[0] = x\n", - "\n", - " return Sigmas" + "This introduces another feature of NumPy. The state variable $X$ is one dimensional, as is $sigmas[k]$, so the difference $sigmas[k]-X$ is also one dimensional. NumPy will not compute the transpose of a 1-D array; it considers the transpose of `[1,2,3]` to be `[1,2,3]`. So we call the function `np.outer(y,y)` which computes the value of $\\mathbf{yy}^\\mathsf{T}$ for a 1D array $\\mathbf{y}$." ] }, { @@ -2887,37 +2811,24 @@ "source": [ "For the predict step, we will generate the weights and sigma points as specified above. We pass each sigma point through the function f.\n", "\n", - "$$\\mathcal{X_f} = f(\\mathcal{X})$$\n", + "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\n", "\n", - "Then we compute the predicted mean and covariance using the unscented transform. In the code below you can see that I am assuming that this is a method in a class that stores the various matrices and vectors needed by the filter." - ] - }, - { - "cell_type": "code", - "execution_count": 68, - "metadata": { - "collapsed": false, - "scrolled": false - }, - "outputs": [], - "source": [ - "def predict(self):\n", - " \"\"\" Performs the predict step of the UKF. On return, self.xp and\n", - " self.Pp contain the predicted state (xp) and covariance (Pp). 'p'\n", - " stands for prediction.\n", + "Then we compute the predicted mean and covariance using the unscented transform. In the code below you can see that I am assuming that this is a method in a class that stores the various matrices and vectors needed by the filter.\n", "\n", - " Important: this MUST be called before update() is called for the first\n", - " time.\n", - " \"\"\"\n", + " def predict(self):\n", + " \"\"\" Performs the predict step of the UKF. On return, self.xp and\n", + " self.Pp contain the predicted state (xp) and covariance (Pp). 'p'\n", + " stands for prediction.\n", + " \"\"\"\n", "\n", - " # calculate sigma points for given mean and covariance\n", - " sigmas = self.sigma_points(self.x, self.P, self.kappa)\n", + " # calculate sigma points for given mean and covariance\n", + " sigmas = sigma_points(self.x, self.P, self.kappa)\n", "\n", - " for i in range(self._num_sigmas):\n", - " self.sigmas_f[i] = self.fx(sigmas[i], self._dt)\n", + " for i in range(self._num_sigmas):\n", + " self.sigmas_f[i] = self.fx(sigmas[i], self._dt)\n", "\n", - " self.xp, self.Pp = unscented_transform(\n", - " self.sigmas_f, self.W, self.W, self.Q)" + " self.xp, self.Pp = unscented_transform(\n", + " self.sigmas_f, self.W, self.W, self.Q)" ] }, { @@ -2934,26 +2845,29 @@ "The update step converts the sigmas into measurement space via the `h(x)` function.\n", "\n", "\n", - "$$\\mathcal{X_z} = h(\\mathcal{X_f})$$\n", + "$$\\mathcal{Z} = h(\\mathcal{Y})$$\n", "\n", - "The mean an covariance of those points is computed with the unscented transform. The residual and Kalman gain is then computed. The cross variance is computed as:\n", + "The mean and covariance of those points is computed with the unscented transform. The residual and Kalman gain is then computed. The cross variance is computed as:\n", + "\n", + "$$\\mathbf{P}_{xz} =\\sum w^c(\\boldsymbol{\\chi}-\\mu)(\\boldsymbol{\\mathcal{Z}}-\\mathbf{\\mu}_z)^\\mathsf{T}$$\n", "\n", - "$$\\mathbf{P}_{xz} =\\sum W(\\mathcal{X}-x)(\\mathcal{X_z}-\\mathbf{x}_z)^\\mathsf{T}$$\n", "\n", "Finally, we compute the new state estimate using the residual and Kalman gain:\n", "\n", - "$$\\hat{\\mathbf{x}} = \\mathbf{x}^- + \\mathbf{Ky}$$\n", + "\n", + "$$K = \\mathbf{P}_{xz} \\mathbf{P}_z^{-1}\\\\\n", + "\\hat{\\mathbf{x}} = \\mathbf{x}^- + \\mathbf{Ky}$$\n", "\n", "and the new covariance is computed as:\n", "\n", - "$$ \\mathbf{P} = \\mathbf{P}^- - \\mathbf{PKP}_z\\mathbf{K}^\\mathsf{T}$$\n", + "$$ \\mathbf{P} = \\mathbf{P}^- - \\mathbf{KP}_z\\mathbf{K}^\\mathsf{T}$$\n", "\n", "This function can be implemented as follows, assuming it is a method of a class that stores the necessary matrices and data." ] }, { "cell_type": "code", - "execution_count": 69, + "execution_count": 42, "metadata": { "collapsed": false, "scrolled": false @@ -3027,7 +2941,7 @@ }, { "cell_type": "code", - "execution_count": 71, + "execution_count": 43, "metadata": { "collapsed": false, "scrolled": false @@ -3035,9 +2949,9 @@ "outputs": [ { "data": { - "image/png": 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F0NBQHD58GCkpKQCAnp4e5OXl4fXXX7/hz6empjqq1UmhuLgYANdtpLhuo8N1Gz2u3ehM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\nHMuXL9f6xcTEaPMaPCciIocTIiKy8tZbb4miKPL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Nfq1UKsfkNb1+5d7f3x8pKSkAgOzsbJw4cQLbt2/Hxo0bAQBNTU1Dwn1TUxNiYmK80isR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\n3DisX7/eaMcnIjJ1bO6JiEzImTNnEBcXh5qaGoN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uIiafX4sdZ77DuP5L2jymsYpXiWvRzJq9TmaeePGs/ePbVQQGUFfRFlUW4dXW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\nHwAAAABJRU5ErkJggg==\n", 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oEvBx9dERjHGaCR/0v1rh1NwE1iZJPDVNOFq6SeSxlbhKGOc8FxcS9qCqtlw0/ufFn2Cq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\n8cUXlZaWpt27d8tud88tZT179tSAAQM0b948t5wfADwd4R8AAACwCHb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RY7G3cYKfxzD4eQTC12MYvN2GwN3Z2+Cr+ahUbUi88iMOnPsS1R1WxenIwdYZ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\nRK5CYII=\n", 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XcRx7UxNR2MG+JUDLXKSEMfMwOmxil7+XzPn3QH/G5MBImBy01XoCcIA8FL9f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\nD7E4ICIiIiIiAMD/Ay8FCO4E+KCIAAAAAElFTkSuQmCC\n", "text/plain": [ - "" + "" ] }, "metadata": {}, @@ -3074,7 +2988,8 @@ "radar_pos = (0., 0.)\n", "h_radar.radar_pos = radar_pos\n", "\n", - "kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, alpha=.1, beta=2., kappa=0.)\n", + "points = MerweScaledSigmaPoints(n=3, alpha=.1, beta=2., kappa=0.)\n", + "kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, points=points)\n", "\n", "kf.Q[0:2 ,0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n", "kf.Q[2, 2] = 0.1\n", @@ -3083,7 +2998,6 @@ "kf.x = np.array([0., 90., 1100.])\n", "kf.P = np.diag([300**2, 30**2, 150**2])\n", "\n", - "\n", "radar = RadarStation(pos=(0, 0), range_std=range_std, bearing_std=bearing_std)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", @@ -3105,7 +3019,7 @@ }, { "cell_type": "code", - "execution_count": 72, + "execution_count": 44, "metadata": { "collapsed": false, "scrolled": false @@ -3119,15 +3033,15 @@ " [ -5.26709207, 0.01521311, 195.7945557 ]])" ] }, - "execution_count": 72, + "execution_count": 44, "metadata": {}, "output_type": "execute_result" }, { "data": { - "image/png": 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Xk1n6Zm/qezkrkqkkzsdSPz+y2cLq/ZeZ+tNFTn47hiqVbfT2/OVZRf79KGue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\nSUREREQ6w+KTiIiIiHTm/wE0Bsio3telbgAAAABJRU5ErkJggg==\n", 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nOjVh84dDn8gcWKWOxe27Gbw4fxtHL0YD0K2lB0sm98G7Xs1KzVHVVNffjXZt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\nAyn48UAKgPrZKoYGemJoDy8M7uEJB1terr45yr9aiT0nMrA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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -3165,21 +3079,47 @@ }, { "cell_type": "code", - "execution_count": 73, + "execution_count": 48, "metadata": { "collapsed": false, "scrolled": false }, "outputs": [ { - "ename": "AttributeError", - "evalue": "'UnscentedKalmanFilter' object has no attribute 'rts_smoother'", - "output_type": "error", - "traceback": [ - "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", - "\u001b[1;31mAttributeError\u001b[0m Traceback (most recent call last)", - "\u001b[1;32m\u001b[0m in \u001b[0;36m\u001b[1;34m()\u001b[0m\n\u001b[1;32m----> 1\u001b[1;33m \u001b[0mMs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mP\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mK\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mkf\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mrts_smoother\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mxs\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mcovs\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m\u001b[0;32m 2\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 3\u001b[0m \u001b[0mplt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mfigure\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 4\u001b[0m \u001b[0mplt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mplot\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mt\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mxs\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m/\u001b[0m\u001b[1;36m1000.\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlabel\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m'KF'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlw\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m2\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 5\u001b[0m \u001b[0mplt\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mplot\u001b[0m\u001b[1;33m(\u001b[0m\u001b[0mt\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mMs\u001b[0m\u001b[1;33m[\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m/\u001b[0m\u001b[1;36m1000.\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mc\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m'k'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlabel\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;34m'RTS'\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mlw\u001b[0m\u001b[1;33m=\u001b[0m\u001b[1;36m2\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n", - "\u001b[1;31mAttributeError\u001b[0m: 'UnscentedKalmanFilter' object has no attribute 'rts_smoother'" + "data": { + "image/png": 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55ZVXcDqdtccLCgr41a9+xa9+9atrFv+beQ2Hw1F7195qtZKXl8fYsWNrz/H0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\nUV1drbc1EBEZMjb3REQGpKPmPiMjA+np6XpaFfD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MUlMyJP7YCks2UKnnXVkWpmBvffPLSvvdzgpsLbWlZc9H6d9GqYTJQ1IxNn4e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eBUHArdJsXLhxChczT+k8TsHV0RMjQ8dieMhoNDU33tMtKBeKioIejwe4l0Qi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\niwMiIiIiIvoNiwMiIiIiIgIA/D/Iy7I4U4IzHwAAAABJRU5ErkJggg==\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + }, + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Difference in position in meters: [-0.7717 -0.1195 0.0426 -1.1727 -1.0871]\n" ] } ], @@ -3217,37 +3157,58 @@ "cell_type": "markdown", "metadata": {}, "source": [ - "From these charts we can see that the improvement in the position is small compared, but the improvement in the velocity good, and spectacular for the altitude. The difference in the position are very small, so I printed the difference between the UKF and the smoothed results for the last 5 points." + "From these charts we can see that the improvement in the position is small, but the improvement in the velocity is good, and spectacular for the altitude. The difference in the position are very small, so I printed the difference between the UKF and the smoothed results for the last 5 points." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "## Choosing Values for kappa" + "## Choosing the Sigma Parameters" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "I have found the literature on choosing values for $\\kappa$ to be rather lacking. Julier's original paper suggests a value of $n+\\kappa=3$ if the distribution is Gaussian, and if not a \"different choice of $\\kappa$ might be more appropriate\"[2]. He also describes it as a \"fine tuning\" parameter. So let's just explore what it does. I will let $n=1$ just to minimize the size of the arrays we need to look at." + "** author's note: this entire section needs a lot of work. Ignore for now.**\n", + "\n", + "I have found the literature on choosing values for $\\alpha$, $\\beta$, and $\\kappa$ to be rather lacking. Van der Merwe's dissertation contains the most information, but it is not exhaustive. So let's just explore what they do. \n", + "\n", + "Van der Merwe suggests using $\\beta=2$ for Gaussian problems, and $\\kappa=3-n$. So let's start there and vary $\\alpha$. I will let $n=1$ minimize the size of the arrays we need to look at and to avoid having to compute the square root of matrices" ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 100, "metadata": { "collapsed": false, "scrolled": false }, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 3. -3.]\n", + "mean weights: [ 0.66666667 0.16666667 0.16666667]\n", + "cov weights: [ 2.66666667 0.16666667 0.16666667]\n", + "lambda: 2\n", + "sum cov 3.0\n" + ] + } + ], "source": [ - "def print_sigmas(n=1, mean=5, cov=3, kappa=2):\n", - " print('sigmas: ', UKF.sigma_points(mean, cov, kappa).T[0])\n", - " print('weights:', UKF.weights(n, kappa))\n", + "def print_sigmas(n=1, mean=5, cov=3, alpha=.1, beta=2., kappa=2):\n", + " points = MerweScaledSigmaPoints(n, alpha, beta, kappa)\n", + " print('sigmas: ', points.sigma_points(mean, cov).T[0])\n", + " Wm, Wc = points.weights()\n", + " print('mean weights:', Wm)\n", + " print('cov weights:', Wc)\n", + " print('lambda:', alpha**2 *(n+kappa) - n)\n", + " print('sum cov', sum(Wc))\n", " \n", - "print_sigmas(mean=0, cov=3, kappa=2)" + "print_sigmas(mean=0, cov=3, alpha=1)" ] }, { @@ -3258,7 +3219,7 @@ "\n", "$$\\begin{aligned}\n", "\\mathcal{X}_0 &= \\mu\\\\\n", - "\\mathcal{X}_i &= \\mu \\pm \\sqrt{(n+\\kappa)\\Sigma}\n", + "\\mathcal{X}_i &= \\mu \\pm \\sqrt{(n+\\lambda)\\Sigma}\n", "\\end{aligned}$$\n", "\n", "Here you will appreciate my choice of $n=1$ as it reduces everything to scalars, allowing us to avoid computing the square root of matrices. So, for our values the equation is\n", @@ -3270,39 +3231,631 @@ "&= \\pm 3\n", "\\end{aligned}$$\n", "\n", - "So as $\\kappa$ gets larger the sigma points get more spread out. Let's set it to an absurd value." + "So as $\\alpha$ gets larger the sigma points get more spread out. Let's set it to an absurd value." ] }, { "cell_type": "code", - "execution_count": null, + "execution_count": 80, "metadata": { "collapsed": false, - "scrolled": false + "scrolled": true }, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 600. -600.]\n", + "mean weights: [ 0.99999167 0.00000417 0.00000417]\n", + "cov weights: [-39996.00000833 0.00000417 0.00000417]\n", + "lambda: 119999\n" + ] + } + ], "source": [ - "print_sigmas(mean=0, cov=3, kappa=200)" + "print_sigmas(mean=0, cov=3, alpha=200)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ - "We can see that the sigma point spread starts to be dominated by $\\kappa$ ($\\sqrt{200*3}$). Here $k+n=201$ instead of the $k+n=3$ suggested by Julier. If our data was Gaussian we'd be incorporating data many standard deviations away from the mean; for nonlinear problems this is unlikely to produce good results. But suppose our distribution was not Gaussian, but instead had very fat tails? We might need to sample from those tails to get a good estimate, and hence it would make sense to make $kappa$ larger (not 200, which was absurdly large just to make the change in the sigma points stark). \n", + "We can see that the sigma point spread over 100 standard deviations.If our data was Gaussian we'd be incorporating data many standard deviations away from the mean; for nonlinear problems this is unlikely to produce good results. But suppose our distribution was not Gaussian, but instead had very fat tails? We might need to sample from those tails to get a good estimate, and hence it would make sense to make $kappa$ larger (not 200, which was absurdly large just to make the change in the sigma points stark). \n", "\n", "With a similar line of reasoning, suppose that our distribution has nearly no tails - the probability distribution looks more like an inverted parabola. In such a case we'd probably want to pull the sigma points in closer to the mean to avoid sampling in regions where there will never be real data.\n", "\n", - "Now let's look at the change in the weights. When we have $k+n=3$ the weights were 0.6667 for the mean, and 0.1667 for the two outlying sigma points. On the other hand, when $\\kappa=200$ the mean weight shot up to 0.995 and the outlier weights were set to 0.0025. Recall the equations for the weights:\n", + "Now let's look at the change in the weights. When we have $k+n=3$ the weights were 0.6667 for the mean, and 0.1667 for the two outlying sigma points. On the other hand, when $\\alpha=200$ the mean weight shot up to 0.99999 and the outlier weights were set to 0.000004. Recall the equations for the weights:\n", "\n", "$$\\begin{aligned}\n", - "W_0 &= \\frac{\\kappa}{n+\\kappa} \\\\\n", - "W_i &= \\frac{1}{2(n+\\kappa)}\n", + "W_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n", + "W_i &= \\frac{1}{2(n+\\lambda)}\n", "\\end{aligned}$$\n", "\n", - "We can see that as $\\kappa$ gets larger the fraction for the weight of the mean ($\\kappa/(n+\\kappa)$) approaches 1, and the fraction for the weights of the rest of the sigma points approaches 0. This is invariant on the size of your covariance. So as we sample further and further away from the mean we end up giving less weight to those samples, and if we sampled very close to the mean we'd give very similar weights to all." + "We can see that as $\\lambda$ gets larger the fraction for the weight of the mean ($\\lambda/(n+\\lambda)$) approaches 1, and the fraction for the weights of the rest of the sigma points approaches 0. This is invariant on the size of your covariance. So as we sample further and further away from the mean we end up giving less weight to those samples, and if we sampled very close to the mean we'd give very similar weights to all.\n", + "\n", + "However, the advice that Van der Merwe gives is to constrain $\\alpha$ in the range $0 \\gt \\alpha \\ge 1$. He suggests $10^{-3}$ as a good value. Lets try that." ] }, + { + "cell_type": "code", + "execution_count": 92, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 0.36055513 -0.36055513]\n", + "mean weights: [-0.49748744 0.25125628 0.25125628]\n", + "cov weights: [-96.01 50. 50. ]\n", + "lambda: -0.99\n" + ] + } + ], + "source": [ + "print_sigmas(mean=0, cov=13, alpha=.1, kappa=0)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "I must admit to not fully understanding this advice. " + ] + }, + { + "cell_type": "code", + "execution_count": 78, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 0.3 -0.3]\n", + "mean weights: [-32.33333333 16.66666667 16.66666667]\n", + "cov weights: [-32.33333333 16.66666667 16.66666667]\n", + "lambda: -0.97\n" + ] + } + ], + "source": [ + "print_sigmas(mean=0, cov=3, alpha=.1)" + ] + }, + { + "cell_type": "code", + "execution_count": 96, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 3. -3.]\n", + "mean weights: [ 0.66666667 0.16666667 0.16666667]\n", + "cov weights: [ 2.66666667 0.16666667 0.16666667]\n", + "lambda: 2\n" + ] + } + ], + "source": [ + "print_sigmas(mean=0, cov=3, alpha=1)" + ] + }, + { + "cell_type": "code", + "execution_count": 106, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "sigmas: [ 0. 0.24494897 -0.24494897]\n", + "mean weights: [-49. 25. 25.]\n", + "cov weights: [-46.01 25. 25. ]\n", + "lambda: -0.98\n", + "sum cov 3.99\n" + ] + } + ], + "source": [ + "print_sigmas(mean=0, cov=3, alpha=.1, beta=2, kappa=1)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Robot Localization - A Fully Worked Example" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "It is time to try a real problem. I warn you that this is far from a simple problem. However, most books choose simple, textbook problems with simple answers, and you are left wondering how to implement a real world solution. \n", + "\n", + "We will consider the problem of robot localization. In this scenario we have a robot that is moving through a landscape with sensors that give range and bearings to various landmarks. This could be a self driving car using computer vision to identify trees, buildings, and other landmarks. Or, it might be one of those small robots that vacuum your house. It could be a search and rescue device meant to go into dangerous areas to search for survivors. It doesn't matter too much. \n", + "\n", + "Our robot is wheeled, which means that it manuevers by turning it's wheels. When it does so, the robot pivots around the rear axle while moving forward. This is nonlinear behavior which we will have to account for. The robot has a sensor that gives it approximate range and bearing to known targets in the landscape. This is nonlinear because computing a position from a range and bearing requires square roots and trigonometry. \n", + "\n", + "### Robot Motion Model" + ] + }, + { + "cell_type": "code", + "execution_count": 107, + "metadata": { + "collapsed": false + }, + "outputs": [ + { + "data": { + "image/png": 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6r5pcVUhLO6t27fj1gD0CBYA6QzPkna0mm1tdv55X+4XALRAoADiMZsj6qSYr\nFHX1xFHUf/zJBlAlNEO6n5KSPBUWesnHp+pLFcHB7rUXB2oPgQKAVVWaIR999FH993//t5o0aeLC\nSlEbLJZimWaJpLIDxV13SZcvn1J4eIQCA73k6yvddZd/mXMBwzTN2tn2DEC9UNVmyGHDhtEM6QF2\n7fpZplkoX1+pc+e7FRDgJT8/ycvLkGmaNhtO1ZWSkhJ5e3urpDZ2zYLLECgAN1TVZsj4+HiaIVEm\nw7gVKJyBQOEeCBRAPXZ7M+TOnTtVWFhoPda9e3draKAZEtVFoEB1ESiAO1xVmiFHjBihAQMG0AyJ\nWkOgQHURKIA7QGXNkHFxcRo+fLji4uJohoRTuFugiIiIULt27ZSUlFRn7+HpWAMFnOT2ZshNmzbp\n+PHj1mPsDAnULcMw6BWqYwQKoBaVNkOWhobbmyENw7A2Q65evZpmSMCJWIyvewQKoAaq0gzJzpAA\nPInF1QUAd6qMjAwtXbpUY8aMUVBQkHXJ1DAMxcTE6Mcff9QLL7ygrKws6/36pmnqyJEjeuedd9S3\nb1/CBOBk586d02OPPaZGjRqpUaNGGjFihE6dOuXqsjwCf9vBo1WlGZKdIYH6ITMzU/3799f58+c1\nbdo0de3aVTt37lR0dLTy8nioWV0jUMDt0QwJeIZ58+bpzJkzSkxM1FNPPSVJmjp1ql588UX9x3/8\nh4urc3/cNgq3UNVmyOHDh9MMCVRBfbxttGvXrsrMzFR6errNn/GLFy+qVatWGjBggHbs2OFouSgH\nKxSoV2iGBFCen3/+Wb1797b7B0OLFi3UqFEjF1XlOfgbF3ecinaGDA8Ptz4me926dQoICHBhpQCA\nUgQKuATNkABqW/v27XXixAmVlJTIYvn7TYwXLlxQVlaWCyvzDNw2ijpTWFiopKQkvfTSS+rcubPN\nbZehoaFavHixevXqpdTUVJvbLv/2t7/pk08+0bhx4wgTAKps5MiRunTpkpYvX24zPnfuXBdV5Flo\nyoRDaIYE3FN9bMrMzMxUVFSU0tPTNXXqVOtto6mpqcrLy1O3bt14lkcd4pIHqqSiZsgePXpo6NCh\n+uMf/6jevXvLy8vLhZUC8FSNGzdWcnKyXnrpJesqxYABA5SUlKSYmBj+QVPHWKGAVVWaIePj4zVw\n4ECaIQE3MXv27DLH58yZo1mzZlX7dTXB48vdA4HCw1TUDNmkSRPFxsYqPj5esbGx9C8AHmD27Nll\nhoOKLnmFFxVvAAAGzUlEQVSU95qaIlC4By55uCF32xkyIyNDS5YskSQVFBQoKytL8+bNk4+Pj4sr\nAwCUIlDUU1Vphhw+fLg+//xzde3atd5eO0xLS9OqVav0yiuvWHszxowZo48++khTpkxxcXUAgFIE\nijucJzdDFhYWasOGDZoxY4bN+PHjxzVy5EgXVQUAKAuB4g7AzpBl+/TTT/Xkk0/ajXl7e+u3v/2t\ni6oCAJSFQOEkVWmGHD16NDtD3ubq1atq0qSJFi9erOPHj+ubb77Rzz//rMOHD8vPz8/V5QEAbsNO\nmbWopjtDXr16VZ988omeeOIJwsT/O3/+vFq3bi3p1oN9fHx8FBUVpZs3b/IYYgC4A7FCUU2e0gzp\nasnJyYqLi5MkxcfHKz4+XpLk7e2ttWvXas6cOa4sDwDwCwSKcnhyM+SdICcnR8HBwXbjWVlZTtsO\nGABQdR4dKCprhhw6dKhefPFFj2uGvBPcHuBul5qaqujoaCdXAwCojNsHCpoh659z587p559/thvf\nuXOnTp8+rZdfftkFVQH1j2maXHaF07hFoKhsZ8iYmJh6tTOkp9uzZ4/y8vJ06dIlNW/eXJKUnp6u\nyZMna8WKFQoPD3dxhUD9MG7cOHXo0EGvvfYaq6yoc/UmUNAM6TmysrI0f/58/du//Zv1X1gXL17U\nqlWrFBUV5erygHrj2rVreuutt7RmzRo9+uijBAvUqTsuUFTUDBkZGUkzpAfIz89XYGCg/vCHP7i6\nFMAtHDt2jGCBOueSQEEzJMpz7tw5tWjRwtVlAG6prGAB1BrTiSTxxRdffPF1h3y1bt3anDhxYpl/\nXw8aNKjcv8tnzZpVq58NxcXF5uDBg2v1nHA+p65QmOwfgEr867/+q15//XVXlwG4hbi4OH311Vd2\n40FBQbr33nv1xhtvaM+ePWW+dsuWLXVdnpXFYimzTtQvbL2NOwphAqg7QUFB6tevn1avXq3du3dr\n0KBBri4JbuSOa8oEANSu21ckCBGoKwQKAHBTBQUF6tevH0ECTuGSSx43btzQwoUL1a9fPzVt2lS+\nvr5q0aKFhg0bpmXLlqm4uNgVZQG1ZufOnbJYLDZfDRs2VM+ePTV//nwVFRW5ukR4gI8//phLG3Aa\np69QnDx5UsOGDdNPP/2kQYMG6dVXX1VISIgyMjK0detWTZw4UUePHtXcuXOdXRpQ68aNG6ehQ4fK\nNE1duHBBy5cv14wZM3TkyBEtW7bM1eXBzbVu3drVJcCDODVQ5OXlafjw4Tp9+rTWrFmjkSNH2hxP\nSEjQ/v37tX//fmeWBdSZnj17aty4cdbv//Ef/1GdO3fWxx9/rLlz57LnBgC34dRLHkuWLNGJEyc0\nffp0uzBRqlevXpo6daozywKcJjAwUL1795YknTlzxsXVAEDtcWqgWL16tQzD0HPPPefMtwXuKKdO\nnZJhGGrVqpWrSwGAWuPUSx7ff/+9goKCFBER4cy3BVwmNzdXV65ckWmaunjxohYtWqRDhw5p5MiR\natu2ravLA4Ba49RAkZ2drZYtWzrzLQGXmjVrlmbNmmUz9tJLL+ntt992UUUAUDeceskjKCjI5kFg\ngLubMmWKtm3bps2bN2vu3Llq0qSJPvvsM2VkZLi6NACoVU4NFN27d1dWVpbS0tKc+baAy3Ts2FHR\n0dGKjY1VQkKCNmzYoPT0dE2aNMnVpQFArXJqoBgzZoykW3d7AJ7ooYce0vjx47VlyxZt377d1eUA\nQK1xaqCYNGmS7rnnHs2fP1/r168vc86BAwf0/vvvO7MswKneeOMNeXl5ac6cOa4uBQBqjVMDRUBA\ngDZu3Kh27dpp5MiRiouL0/z585WYmKh58+ZpyJAheuCBB3T27FlnlgU4VYcOHTR27FilpKQoKSnJ\n1eUAQK1w+rM8OnTooIMHD2rBggXKzc3V22+/rSlTpujdd9+VJC1dulRvvfWWs8sCnOq1116TxWLR\nH/7wB1eXAgC1wjBN03R1EQAA15g9e7ZTXwf3RaAAAAAOc8njywEAgHshUAAAAIcRKAAAgMMIFAAA\nwGEECgAA4DACBQAAcBiBAgAAOIxAAQAAHEagAAAADiNQAAAAhxEoAACAwwgUAADAYQQKAADgMAIF\nAABwGIECAAA4jEABAAAcRqAAAAAOI1AAAACHESgAAIDDCBQAAMBhBAoAAOAwAgUAAHAYgQIAADiM\nQAEAABxGoAAAAA4jUAAAAIcRKAAAgMMIFAAAwGEECgAA4DACBQAAcBiBAgAAOIxAAQAAHEagAAAA\nDiNQAAAAhxEoAACAwwgUAADAYQQKAADgMAIFAABwGIECAAA4jEABAAAc9n8DNbNy7oW9RgAAAABJ\nRU5ErkJggg==\n", + "text/plain": [ + "" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "ekf_internal.plot_bicycle()" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "At a first approximation n automobile steers by turning the front tires while moving forward. The front of the car moves in the direction that the wheels are pointing while pivoting around the rear tires. This simple description is complicated by issues such as slippage due to friction, the differing behavior of the rubber tires at different speeds, and the need for the outside tire to travel a different radius than the inner tire. Accurately modelling steering requires an ugly set of differential equations. For Kalman filtering, especially for lower speed robotic applications a simpler *bicycle model* has been found to perform well. \n", + "\n", + "I have depicted this model above. Here we see the front tire is pointing in direction $\\alpha$. Over a short time period the car moves forward and the rear wheel ends up further ahead and slightly turned inward, as depicted with the blue shaded tire. Over such a short time frame we can approximate this as a turn around a radius $R$. If you google bicycle model you will find that we can compute the turn angle $\\beta$ with\n", + "\n", + "$$\\beta = \\frac{d}{w} \\tan{(\\alpha)}$$\n", + "\n", + "and the turning radius R is given by \n", + "\n", + "$$R = \\frac{d}{\\beta}$$\n", + "\n", + "where the distance the rear wheel travels given a forward velocity $v$ is $d=v\\Delta t$.\n", + "\n", + "If we let $\\theta$ be our current orientation then we can compute the position $C$ before the turn starts as\n", + "\n", + "$$ C_x = x - R\\sin(\\theta) \\\\\n", + "C_y = y + R\\cos(\\theta)\n", + "$$\n", + "\n", + "After the move forward for time $\\Delta t$ the new position and orientation of the robot is\n", + "\n", + "$$\\begin{aligned} x &= C_x + R\\sin(\\theta + \\beta) \\\\\n", + "y &= C_y - R\\cos(\\theta + \\beta) \\\\\n", + "\\theta &= \\theta + \\beta\n", + "\\end{aligned}\n", + "$$\n", + "\n", + "Once we substitute in for $C$ we get\n", + "\n", + "$$\\begin{aligned} x &= x - R\\sin(\\theta) + R\\sin(\\theta + \\beta) \\\\\n", + "y &= y + R\\cos(\\theta) - R\\cos(\\theta + \\beta) \\\\\n", + "\\theta &= \\theta + \\beta\n", + "\\end{aligned}\n", + "$$\n", + "\n", + "You don't really need to understand this math in detail, as it is already a simplification of the real motion. The important thing to recognize is that our motion model is nonlinear, and we will need to deal with that with our Kalman filter." + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Design the State Variables\n", + "\n", + "For our robot we will maintain the position and orientation of the robot:\n", + "\n", + "$$\\mathbf{x} = \\begin{bmatrix}x & y & \\theta\\end{bmatrix}^\\mathsf{T}$$\n", + "\n", + "I could include velocities into this model, but as you will see the math will already be quite challenging.\n", + "\n", + "Our control input $\\mathbf{u}$ is the velocity and steering angle\n", + "\n", + "$$\\mathbf{u} = \\begin{bmatrix}v & \\alpha\\end{bmatrix}^\\mathsf{T}$$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Design the System Model\n", + "\n", + "In general we model our system as a nonlinear motion model plus noise.\n", + "\n", + "$$x^- = x + f(x, u) + \\mathcal{N}(0, Q)$$\n", + "\n", + "Using the motion model for a robot that we created above, we can write:" + ] + }, + { + "cell_type": "code", + "execution_count": 116, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "from math import tan, sin, cos, sqrt\n", + "\n", + "def move(x, u, dt, wheelbase):\n", + " h = x[2]\n", + " v = u[0]\n", + " dist = v*dt\n", + " steering_angle = u[1]\n", + " if abs(steering_angle) < 0.0001:\n", + " # approximate straight line with huge radius\n", + " r = 1.e-30\n", + " b = dist / wheelbase * tan(steering_angle)\n", + " r = wheelbase / tan(steering_angle) # radius\n", + "\n", + " sinh = sin(h)\n", + " sinhb = sin(h + b)\n", + " cosh = cos(h)\n", + " coshb = cos(h + b)\n", + "\n", + " return x + array([-r*sinh + r*sinhb, r*cosh - r*coshb, b])" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Now we can use this function to implement the function `f(x)` which implements the system model." + ] + }, + { + "cell_type": "code", + "execution_count": 117, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "def fx(x, dt, u):\n", + " return move(x, u, dt, wheelbase)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Design the Measurement Model\n", + "\n", + "Now we need to design our measurement model. For this problem we are assuming that we have a sensor that receives a noisy bearing and range to multiple known locations in the landscape. The measurement model must convert the state $\\begin{bmatrix}x & y&\\theta\\end{bmatrix}^\\mathsf{T}$ into a range and bearing to the landmark. Using $p$ be the position of a landmark, the range $r$ is\n", + "\n", + "$$r = \\sqrt{(p_x - x)^2 + (p_y - y)^2}$$\n", + "\n", + "We assume that the sensor provides bearing relative to the orientation of the robot, so we must subtract the robot's orientation from the bearing to get the sensor reading, like so:\n", + "\n", + "$$\\phi = \\arctan(\\frac{p_y - y}{p_x - x}) - \\theta$$\n", + "\n", + "\n", + "Thus our function is\n", + "\n", + "\n", + "$$\\begin{aligned}\n", + "\\mathbf{x}& = h(x,p) &+ \\mathcal{N}(0, R)\\\\\n", + "&= \\begin{bmatrix}\n", + "\\sqrt{(p_x - x)^2 + (p_y - y)^2} \\\\\n", + "\\arctan(\\frac{p_y - y}{p_x - x}) - \\theta \n", + "\\end{bmatrix} &+ \\mathcal{N}(0, R)\n", + "\\end{aligned}$$\n", + "\n", + "This is clearly nonlinear but it poses no particular difficulty to us as we just need to compute this with a python function `h(x)`:" + ] + }, + { + "cell_type": "code", + "execution_count": 118, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "from math import atan2\n", + "\n", + "def Hx(x, landmark):\n", + " \"\"\" takes a state variable and returns the measurement that would\n", + " correspond to that state.\n", + " \"\"\"\n", + " px = landmark[0]\n", + " py = landmark[1]\n", + " dist = np.sqrt((px - x[0])**2 + (py - x[1])**2)\n", + "\n", + " Hx = array([dist, atan2(py - x[1], px - x[0]) - x[2]])\n", + " return Hx" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Design Measurement Noise\n", + "\n", + "This is quite straightforward as we need to specify measurement noise in measurement space, hence it is linear. It is reasonable to assume that the range and bearing measurement noise is independent, hence\n", + "\n", + "$$R=\\begin{bmatrix}\\sigma_{range}^2 & 0 \\\\ 0 & \\sigma_{bearing}^2\\end{bmatrix}$$" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Implementation" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Before we begin coding the main loop we have another issue to handle. The residual is notionally computed as $y = z - h(x)$ but this will not work because our measurement contains an angle in it. Suppose z has a bearing of $1^\\circ$ and $h(x)$ has a bearing of $359^\\circ$. Naively subtracting them would yield a bearing difference of $-358^\\circ$. this will throw off the computation of the Kalman gain because the correct angle difference in this case is $-2^\\circ$. So we will have to write code to correctly compute the bearing residual." + ] + }, + { + "cell_type": "code", + "execution_count": 115, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "def normalize_angle(x):\n", + " if x > np.pi:\n", + " x -= 2*np.pi\n", + " if x < -np.pi:\n", + " x = 2*np.pi\n", + " return x" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "The state vector has the bearing at position 2, but the measurement vector has it at position 1, so we need to write functions to handle each." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [ + "def residual_h(a, b):\n", + " y = a - b\n", + " y[1] = normalize_angle(y[1])\n", + " return y\n", + "\n", + "\n", + "def residual_x(a, b):\n", + " y = a - b\n", + " y[2] = normalize_angle(y[2])\n", + " return y" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "Our difficulties are not over. The unscented transform computes the average of the state and measurement vectors, but each contains a bearing. There is no unique way to compute the average of a set of angles. For example, what is the average of 359$^\\circ$ and 3$^\\circ$? Intuition suggests the answer should be 1$^\\circ$, but a naive sum/count approach yields 181$^\\circ$.\n", + "\n", + "One common approach is to take the arctan of the sum of the sins and cosines.\n", + "\n", + "$$\\bar{\\theta} = atan2\\left(\\frac{\\sum_{i=1}^n \\sin\\theta_i}{n}, \\frac{\\sum_{i=1}^n \\cos\\theta_i}{n}\\right)$$\n" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "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": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] + }, { "cell_type": "markdown", "metadata": {}, @@ -3314,12 +3867,32 @@ "cell_type": "markdown", "metadata": {}, "source": [ + "- [1] Rudolph Van der Merwe. \"Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic State-Space Models\" dissertation (2004).\n", + "\n", + "- [2] Simon J. Julier. \"The Scaled Unscented Transformation\". Proceedings of the American Control Conference 6. IEEE. (2002)\n", + "\n", "- [1] http://www.esdradar.com/brochures/Compact%20Tracking%2037250X.pdf\n", "\n", "- [2] Julier, Simon J.; Uhlmann, Jeffrey \"A New Extension of the Kalman Filter to Nonlinear Systems\". Proc. SPIE 3068, Signal Processing, Sensor Fusion, and Target Recognition VI, 182 (July 28, 1997)\n", "\n", "- [3] Cholesky decomposition. Wikipedia. http://en.wikipedia.org/wiki/Cholesky_decomposition" ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "**orphan text**: I have found the literature on choosing values for $\\alpha$, $\\beta$, and $\\kappa$ to be rather lacking. Julier's original paper suggests a value of $n+\\kappa=3$ if the distribution is Gaussian, and if not a \"different choice of $\\kappa$ might be more appropriate\"[2]. He also describes it as a \"fine tuning\" parameter. So let's just explore what it does. I will let $n=1$ just to minimize the size of the arrays we need to look at." + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": { + "collapsed": true + }, + "outputs": [], + "source": [] } ], "metadata": { diff --git a/10_Extended_Kalman_Filters.ipynb b/10_Extended_Kalman_Filters.ipynb index c78c9b1..5d4f807 100644 --- a/10_Extended_Kalman_Filters.ipynb +++ b/10_Extended_Kalman_Filters.ipynb @@ -312,7 +312,7 @@ "data": { "image/png": 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ZE56gtITh7SE9NW64ggNDPNg14Ns8EtorKyv1l7/8RUuXLtXpp58uSXr55ZeV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\n2/a8rlLV9ZWqqXO/bnY2ebt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Lvk9xfrmaqi+YqksvLag8b0P6iMeYGcqnjZw7F/5/2qQgtAMAACwj4UhIXa5WtfV9FP/0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\nhjqdJyd9Ti2VmJj4GQhJ0rq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V7tdMn25ef+01M3rrckkNGkiffirVqiX99JM0fLhUo4Y0ZIgJuA0bSsOGmSkPkuTrK11/\nvQnNf/5z8X0mQH4IvwAAlAPvvWfCpiTdfbc0apT01VfSffcVfM2TT+aOykrSjBnSuHEmAJ/Xpo37\nNQ89lPuc86ZPz/26USPp55/NKPSQIVLFiiaUS2bKw3kVKkiVK7sfA0oC0x4AACjjdu+W1qyRoqPN\n9z4+0qBBeac+XKxdu9yvjx6VDh+Wbrml8NecN2+eOR4SYgLt669LBw4U7T0AJYWRXwAAyrh335Wy\ns8282/POz7k9dEiqXz//6ypWLPqzLr5m0SIzWjx7ttS5s1SlivTmm9KXXxb93kBJYOQXAIAS5nK5\ntG9fuvbtS5fL5bqqe2VlmSa1//kfadMm91+tW0sLFhTuPiEhJiQvW1a0569eLXXsKI0caaZIhIWZ\nkejLrebg52cCO1DSCL8AAJQgl8ul2Nh0derkq06dfBUbe3UB+LvvpORk01AWHp77q2VLMz83Jqbw\n93r2WTNl4fXXpZ07pV9+MY1tl9KihVlfePFiadcuM284Li535LkgTZqY8w4flo4dK3yNwNUi/AIA\n4EkLFkgvvih9/bV08GCeFHjgQKaio/2VlORUUpJT0dH+OnCgkAvmFvC4qCipWrW8r91/v1lSbOnS\nvK/lNzL7+OPSW29J77xjlju7/XZp69ZLP3/ECLNpxYABUocO0v790vjxee9/8fcvvGDmBV9zjdn5\nDSgpDsvK/99mKSkpOV8Hn2/TBAAAl3funNnWbMMGkz4PHDDpdO5c7dtnRn2Tksz4U506LsXHZ6px\nY38vFw2UD5fLsIz8AgDgaUlJZr2vAwfMLg5nzkgDB0qSGjb0VUxMuurUcalOHZdiYtLVsKGvlwsG\n7IORXwAArlZqqrRypZSQYLq4QkOlXr3MArfPPis984zZ6eG/XC5XzlSHhg195XQyFgV4yuUyLEud\nAQBQVJZlllNYtkw6ccKs/3XzzdLzz+duqXb4sDR5sukAq17d7XKn06ngYH9VqmQGhgGUHMIvAACF\n8ccfpnPsP/8x3VutW5stzC4KtpJM19fs2dKrr0pBQfnebsgQs8Xv1KnFXDcAN4RfAADyk5kp/fij\nWY8rLU2qWVPq2VPq3//yi9jWqmXCr0/+f80eOmQy8b59UkaGWfMWQMlgzi8AAOft2SMtWWLSqY+P\ndMMNUteuUmCgRx8zdaqZFly9unTkiFmjF4BnMOcXAICCpKZKK1ZI69ZJLpdJpH36uDWnedqhQ1Kl\nSmbkt2lTs0Mao79AyWHkFwBgHy5XbqPayZMmhXbvLrVvL1WoUCIlTJ0qPfWUGWBu1cr0zq1dy+gv\n4CmM/AIA7O3oUSk2Vtq2zczVvf56aejQ/LdEK2ZpaWY3swv/Pm7Z0gRhACWDkV8AQPmSkeHeqBYS\nYhrVrrvu8o1qJeiTT8zIb3i4tysByhdGfgEA5d9vv5nR3UOHJF9f06j29NMeb1QDUPYRfgEAZc/p\n06ZRbf16M483LEy6806pQQNvVwaglCP8AgBKP5dL+uUXaflyKSUlt1Ft6tQSa1QDUD4QfgEApdOR\nI2Yqw/btZg/gNm3MkghVq3q7MgBlGOEXAFA6ZGRIa9ZI//63lJ5uGtVuvVV65JFS1agGoGwj/AIA\nvGf3brPO1+HDZpeHzp2lv/xFCgjwdmUAyinCLwCg5Jw+Lf3wg/Tzz2Ye7zXXSHffLdWv7+3KANgE\n4ReAZ9x8sxQRIb3xhrcrQWnickkbN5pGtVOnpMqVaVQD4FWEXwCF88cfJrB8/72UmGiajlq1kiZO\nlHr0MHMyPT0v8/33pdGjzWghyo6kJNOotmOHaVT705+k4cNpVANQKhB+ARTOffeZ3bIWLJCaNjWd\n+KtWScePe7syeFt6umlUW73afF2njtSrl/ToozSqASh1CL8ALu/kSRNsli0zP7KWpIYNpXbtCr7m\nH/+Q5swxo3+BgVK3btLrr0v16pnXV66UoqLMPSdNkrZsMfu8zp9vRgpXrpSGDDHnOp3m92nTpOef\nL6Y3iUKzLGnXLjO6m5hoGtVuvJFGNQBlAuEXwOVVqmR+ffWVCTn+/pe/JjNTmjFDuvZaM2XimWek\n/v3NaPGFJk+WZs40o4VjxkgPPyxt3Wqe8/rr5vU9e8y5FSt6/r2hcE6dcm9Ua9ZMuvfe3H/MAEAZ\nQfgFcHk+Pmb+7bBhuSOzN94oPfCA1KFD/tdER+d+3aSJ9Le/mZHdw4fdA9OMGWZUWDKjujfdlHtO\nlSrmx+YhIcX1zlAQl0vasMEE3vONalFRZgthGtUAlGGEXwCFc++9Uu/eZgOCH3+UFi+WZs+WXnrJ\nTFuwLPfzN2yQpk+XNm0y84LPv75/v3v4bd069+u6dc3vR48yougNiYlmKsPOnWaqSWSkNGKEFBzs\n7coAwGMIvwAKz9/frOzQo4c0ZYoZCZ42TXr6affzzpwxO3P16mXm/oaEmKkPXbqYXbwu5Oub+/X5\n5iiXq1jfBv4rPd3M5V692vy51K1r/swGDqRRDUC5RfgFcOWuu07KzjarQFxo+3YpOVn661+lxo3N\nsS1bin5/Pz9zf3iGZZlR3dhYsxyZn5+ZZjJxYuHmcQNAOUD4BXB5yclmfu9jj5mNLCpXltavN41q\nt9xivpdypzY0amTC1BtvSCNHStu2mZHiomrSxATrZcukNm1Mw1tgoMfeli2kpOQ2qlmW1Ly5dP/9\nuVNMAMBmCL8ALq9yZemGG8zSZbt3mx+X168vPfKI9Nxz5pwLN7moVUtauNCs1PDWW9L110v/7/9J\nt9/uft/8frR+4bHOnaXHHzerRCQns9RZYWRn5zaqnT5tmgajoqS77spdMg4AbMxhWRd3qRgpKSk5\nXwfT7AAApdfhw2Yqw65dZiWGyEgTeKtU8XZluIRPPjGbJIaHe7sSoHy5XIZl5BcAypq0NNOktmaN\nWU/5fKPaoEE0qgHAZRB+AaC0syyzU15srFkGzt+fRjUAuEKEXwAojU6elJYvlzZuNOG3RQupXz+z\nEx4A4IoRfgGgNMjONito/PCDlJpqNpa45RbpnntoVAMADyL8AvCslBQzSrl2rRQWVvB5c+dKK1ZI\nX35ZcrWVNocOmakMu3ebRrW2baUnnqBRDQCKEeEXgGe9+qrZAe5SwVeShg83WyOvWye1b18ytXlb\nWprZHnrtWtOoVq+eaVSLjvZ2ZQBgG4RfAJ6TkSG984708ceXPi8rSwoIMBtnvPWW9P77JVJeibMs\ns9tdbKzZ3tnf32zxPGmS2V0NAFDiCL8APGfZMuncObPG7HkrV5rvv/tOmjpV2rTJTHW44w6pb1/p\nvvuk994zP/YvD06cMI1qv/xivr/2Wumhh6Tatb1bFwBAEuEXgCfFxZkNFvJba3biRGn2bKlpU6lS\nJXOsfXvpzBnT6NWxY8nW6inZ2WbqxooVplGtalUz7ePee2lUA4BSiPALwHN27ZIaNcr/tWnTTCi8\nULVqZuvknTvLVvg9eFBaskTas8eMWLdrJ40aZd4LAKBUI/wC8JzTpwv+8X67dvkfr1LFrBBRmp07\n596o1qCBaVR77DFvVwYAKCLCLwDPCQ42ATg/FSvmf/zUKTNVoDSxLGnbNmnpUtOoFhBgGtUmT6ZR\nDQDKOMIvAM9p2tSMjhbWiRMmLDdrVnw1FaWWZctMQ54kXXed1L+/FBLi3boAAB5F+AXgOV26mKXL\nLCv/preLJSRIQUFmc4eSlp1tnr9ihWm6q1bNzEm+7z4a1QCgHCP8AvCcHj3MFIHly92b2woKwl9/\nLd1/v+RTQv8pOnDANKr9/rtpVGvfXnryydzVJwAA5R7hF4Dn+PmZndtiYnLD7803m1HWi507J332\nmfTNN8VXz7lzZvm1tWvNxhoNGki33nr53ecAAOUW4ReAZ02YILVoYZYBu1TIfOcd6cYbpQ4dPPds\ny5K2bjWNaseOmVHorl2l556TfH099xwAQJnlsCzLyu+FlAuWHgoODi6xggCgSI4fN41qmzeb78PD\npZ49pVq1vFsXcBmffCK1amX+JwvAcy6XYRn5BVC2ZGWZRrWVK6WzZ3Mb1R54oHBNdgAAWyP8Aij9\n9u83jWr79plGtQ4dpDFjCl47GIAbp9Opzz77TPfee2+B50ybNk2ff/65fv31V48//9ixYwoJCdHK\nlSvVtWtXj98fKArCL4DS5+xZadUqKT7ejPQ2bGga1UJDvV0ZUObt3btXYWFhWr9+vSIjI3OOT5gw\nQWPGjMn5fvDgwUpOTtY3xdmUCngB4ReA91mWtGWLaVRLTpYCA6Vu3WhUA4rRxS0/FStWVEV+mgIb\nYCV3AN6RnCwtWmQC7pQpJvwOHCi99JI51qULwRcopMWLF6tLly6qXr26atSoodtuu03bt2/P99yw\n/67C0r59ezmdTkVFRUky0x4iIiJyvv7ggw/03Xffyel0yul0Ki4uTnv37pXT6dSGDRvc7ul0OvXF\nF1/kfL9u3Tq1bdtWgYGBioyM1E8//ZSnjq1bt6p3796qUqWKateurQEDBujIkSMe+TyAS2HkF0DJ\nyMqSfvrJTGc4e1aqXt00qvXrR6MacJXOnj2rp556Sq1bt9a5c+c0Y8YM3Xnnndq2bZt8LtpEJiEh\nQR06dNCSJUt0/fXXy8/PL8/9JkyYoO3bt+vEiRP68MMPJUnVqlXToUOHLltLamqqevfure7du+vD\nDz/UwYMH3aZTSFJiYqK6du2qYcOG6bXXXlNmZqYmT56su+66Sz/++KMc/DcBxYjwC6D47NtnGtX2\n7zeNah070qgGFIOLG9kWLFig4OBgJSQkqHPnzm6v1axZU5JUo0YNhYSE5Hu/ihUrKiAgQH5+fgWe\nU5CPP/5YmZmZiomJUVBQkMLDw/Xcc8/p0UcfzTnn73//u9q0aaOXX34559jChQtVo0YNrV+/Xu3b\nty/SM4GiIPwC8JwzZ8zI7k8/mZHexo2lXr2kJk28XRlQrv3222+aMmWKEhIS9Mcff8jlcsnlcmn/\n/v15wm9x27Ztm66//noFBQXlHOvUqZPbOT///LPi4uJUuXJlt+MOh0N79uwh/KJYEX4BXDnLkn79\n1WwykZwsBQXRqAZ4QZ8+fdSoUSPNnz9f9evXV4UKFRQeHq6MjIyruu/F0w+cTtMqdGGzXGZmZp7r\nCtg/y+31Pn36aNasWXleK+pIM1BUhF8ARZOcbFZl+PVXM1e3VSvTqPbfH6UCKFnJycnasWOH5s2b\np27dukmSNmzYoKysrHzPPz/HNzs7+5L39fPzy3OPWv/dOfHw4cNq27atJOmXX35xOyc8PFwLFy7U\n2bNnc0Z/4+Pj3c6JjIzUJ598okaNGuWZkwwUN1Z7AHBpmZnS6tW5qzB88IHUsqX04ovm10MPEXwB\nL6pWrZpq1qyp+fPna/fu3Vq1apUef/zxAkNlSEiIAgMDtXjxYh05csRtK9gLhYaGasuWLdq5c6eO\nHTumrKwsBQYGqlOnTnrllVe0detWrV27Vk8//bTbdQMGDJCPj4+GDBmirVu3aunSpXrppZfcznni\niSeUkpKiBx98UAkJCdqzZ4+WLVumESNGKDU11TMfDFAAwi+AvPbuld5+24TdF1+UTp+Wxo0zX48b\nJ0VEsEIDUEo4nU4tWrRImzdvVkREhEaPHq0XX3xR/v7++Z7v4+OjuXPn6t1331X9+vV1zz33SDJT\nHC6c5jBs2DBdd911ateunWrXrq21a9dKMs10klkq7c9//nOeYFuxYkV9++232rVrlyIjI/WXv/xF\nM2fOdLt33bp1tWbNGjmdTt12221q1aqVRo0apYCAgALrBjzFYRUwMefCfwkGBweXWEEAvODMGWnl\nSikhQcrOzm1Ua9zY25UB5dYnn5hZQ+Hh3q4EKF8ul2GZaAPYkWVJmzebRrXjx83SYzffbDabYP4d\nAKAc4285wC7++MM0qv3nP2bKQkSENHiwVKOGtysDAKDEEH6B8iozU4qPN+vunjtnmtJ69pT692e+\nLgDAtgi/QHny++9mR7WDB830hU6dpKeeMuvvAgAAwi9QpqWm5jaquVxmJ7U77pAaNfJ2ZQAAlEqE\nX6AssSxp0ybTqHbyZG6j2vPP06gGAEAh8LclUNodPWoa1bZuNXN1r79eGjJEql7d25UBAFDmEH6B\n0iYzU1qTSPxxAAAN7klEQVS7VoqLk9LSpFq1TKPagAE0qgEAcJUIv0Bp8NtvplHt0CHJ11e64Qbp\n6aelwEBvVwYAQLlC+AW8ITVVWrFCWrfO7KgWFibdeafUsKG3KwMAoFwj/AIlweUyjWrLl+c2qnXv\nLk2dKlWo4O3qAACwDcIvUFyOHpViY6Vt28xc3TZtpMcek6pV83ZlAADYFuEX8JSMDNOo9u9/m0a1\nkBDTqPbwwzSqAQBQShB+gauxe7cZ3T3fqNa5M41qAACUYoRfoChOn85tVHO5pGuukfr2lRo08HZl\nAACgEAi/wKW4XNIvv5hGtZQUqVIl06g2bRqNagAAlEGEX+BiR46YqQzbt0tOp2lUGzZMqlrV25UB\nAICrRPgFMjKkNWtMo1p6umlUu/VW6ZFHaFQDAKCcIfzCfiwrt1Ht8GHJz880qv3lL1JAgLerAwAA\nxYjwC3s4dUr64Qfp55/NPN6mTaW775bq1/d2ZQAAoAQRflE+uVzSxo3SsmUm+FauLEVFmS2EaVQD\nAMC2CL8oP5KSzFSGHTtMo9qf/iSNGEGjGgAAyEH4RdmVnm4a1VavNl/XqSP16iU9+iiNagAAIF+E\nX5QdliXt2mVGdxMTTaPajTfSqAYAAAqN8IvSLSUlt1HNsqRmzaR775Xq1fN2ZQAAoAwi/KJ0cblM\n0P3hB9OoVqWKaVTr25dGNQAAcNUIv/C+xERpyRJp504TcCMjpccfl4KDvV0ZAAAoZwi/KHnp6aZJ\nbfVqs7ta3bqmUW3QIBrVAABAsSL8ovhZlhnVjY01y5H5+Uk33SRNnCj5+3u7OgAAYCOEXxSPlBRp\n+XJpwwYTfps3l+6/34zyAgAAeAnhF56RnZ3bqHb6tGlUu+UWs4Ww0+nt6gAAACQRfnE1Dh82jWq7\ndplGtbZtpZEjTfAFAAAohQi/KLy0tNxGtcxMs9Zur17S4ME0qgEAgDKB8IuCWZa0Y4dpVDt61DSn\n3XSTNGkSjWoAAKBMIvzC3cmTplFt40YTflu0kPr1k+rU8XZlAAAAV43wa3fZ2dL69aZRLTXVbCxx\nyy3SPffQqAYAAModwq8dHTpkGtV27zaNau3aSU88UayNaikpZhB57VopLKzYHgMAAHBJhF87SEuT\n4uJM8szMlOrXN41qQ4aUWAmvvir16EHwBQAA3kX4LY8sS9q+3YzuHj0qBQRIXbtKkyeb3dWu0JEj\n0pw5UmioVLmylJhoZk2MGSP5+hZ8XUaG9M470scfX/GjAQAAPILwW16cOGEa1X75xYTfa6+V+veX\natf2yO3375f69JH++U+pZcvc4wsXmuPffSf5FPC/pmXLpHPnpKgoj5QCAABwxQi/ZVV2trRunbRi\nhWlUq1rVNKrde2+xNKqNGCE9+KB78JWkQYOkt9+WZs+Wnnkm/2vj4qTISJYCBgAA3kf4LUsOHjRT\nGfbsMQG3fXtp1CgzB6EYJSaaxw4bJn3xhcnX582fb+byxsQUHH537ZIaNSrWEgEAAAqF8FuanTuX\n26iWlWUa1W69VXrssRItY98+83vdulLPnu6Pb9pUGjo095z8nD7tsdkXAAAAV4XwW5pYlrR1q7R0\nqWlUCww0jWrPPntVjWpXq2FD87uvr5lhcbGpU6XGjQu+PjjYBGAAAABvI/x62/HjpiNs0yYTfsPD\nPdqo5gn165sR36VLzZLAF1u+XIqOLvj6pk3N4DUAAIC3EX5LWlaWe6NatWpm0uz995fqHdXefVe6\n4w5TZrNmucfff9+spPb00wVf26WL9NZbJtvT9AYAALyJ8FsSDhwwHWO//252VGvfXnrySalSJW9X\nVmgNG5odkN94Q6pXz2wGl5hoAu2SJeZtFaRHDxOQly83XwMAAHgL4bc4nDsnrVol/fijGelt0MA0\nqpXx7c1q1ZJeeKHo1/n5ScOHmxUhCL8AAMCbCL+eYFnSf/5jJsUeO5bbqPbcc5fe+sxGJkyQWrQw\nq7SV8X8DAACAMozwe6WSk02j2ubN5vuWLaVHHjHDo8gjOFhKSvJ2FQAAwO4Iv4WVlSUlJJhGtTNn\npOrVzRII/frRxQUAAFBGEH4vZf9+0821d6/p6OrQQRozpkw1qgEAACAX4fdCZ8+aRrX4eDPS27Ch\naVQLDfV2ZQAAAPAAe4dfy5K2bDGNasnJplGtWzca1QAAAMop+4Xf5GQTdn/91XzfqpX06KM0qgEA\nANhAmQ+/LpdLBw5kSpIaNvSV8+Jd0rKyzDSGlSvNtIaaNc1isw8+SKMaAKDYrV8vLVokDRwoRUR4\nuxoAZTr8ulwuxcamKzraX5IUE5OuXr385Ty/o9revZKPj9SxozRunFSxoncLBgDYTrt2UuvW0ocf\nSh98QAgGvM1hWZaV3wspKSk5XwcHB5dYQUWxb1+6OnXyVVKSGe2tXt2lBe9mqO7GZVJkpNmHFwCA\nUiIzU/r+ezM206yZ9MADUni4t6sCypfLZdgyPfJ7McuSTqRUkG+nPubAMe/WAwDAhSzLzLhLTZWu\nuUZq2tTbFQH2U6ZHfi+e9tC+/UidPr1DK1as8HJlAADksizpq6+kuDipb1/p5pu9XRFQfl0uwzrz\nHCkBgwcPltPplNPplK+vrxo0aKBBgwYpMTGxSPdxOp3q1ctf8fGZio/PVMOGFeSgiQ3wOMuy1LVr\nV/Xt29ft+NmzZ9WiRQuNHDnSS5UBpd/GjdL48VLVqtJrrxF8AW/zSvh1OBzq2bOnkpKStG/fPsXE\nxGjFihUaOHBgke/ldDrVuLG/Gjf2l8PhUAED2YWWlZV1VdcD5ZHD4dDChQu1YsUKxcTE5Bx/5pln\nZFmWZs+e7cXqgNKtdWtCL1CaeCX8WpYlf39/hYSEqF69eurZs6ceeOABxcfHSzLTGR577DGFhYUp\nKChIzZs316uvvuoWbLOzs/X000+revXqql69usaNG6fs7Gy35yxevFhdunRR9erVVaNGDd12223a\nvn17zut79+6V0+nUv/71L0VFRSkoKEjz588vmQ8BKGNCQ0M1a9YsjRs3Tvv379fy5cs1b948vf/+\n+woMDPR2eUCpVaGCtysAcCGvhF9JbkF2z549Wrx4sdq3by/JhN8GDRro008/1fbt2/XSSy/pr3/9\nq9uI0+zZs/Xuu+9q/vz5io+PV3Z2tj7++GO3aQ9nz57VU089pXXr1mnVqlUKDg7WnXfeqczMTLda\nJk2apFGjRmnbtm266667ivmdA2XXiBEj1KlTJz3yyCMaMmSIxo8fr86dO3u7LAAACs0rDW+DBw/W\nRx99pICAAGVnZystLU29e/fWwoULVb169XyvmThxon7++WctXbpUklSvXj2NHj1akyZNkmTC9LXX\nXqv69evrhx9+yPceZ86cUXBwsOLi4tS5c2ft3btXYWFhmj17tsaNG+fR9wiUV+f/f9OsWTNt2bJF\nvmwFDgAoRUplw5skdevWTZs2bVJCQoJGjx6tVatW6ciRIzmvz5s3T+3atVNISIgqV66s119/XQcO\nHJBk3lRSUpJuuOGGnPMdDoc6duzoNqL822+/acCAAWratKmCg4NVp04duVwu7d+/362Wdu3aFfO7\nBcqP9957T0FBQTp48KD27Nn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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -772,9 +772,9 @@ "outputs": [ { "data": { - "image/png": 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BAIsXL77LlRAZZ6L3rCAIuHTpIr4++lc0DV+GteP4ZwVIzczh5uQJextH+MlC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\n", 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ethI1GX0YkjaGotwpZCYMVYmQ9JsBkRjcdNNN3HTTTcC52YFvc7lc+Pr6YrPZLnp9Q0MD\nr732Gm+88QaTJk0C4K233iIpKYnFixdTWlrKzp07KSsrY9WqVRQUFADwyiuvMG7cOHbv3o3D4fDO\nzYmIiMg1raOzg8raA1Ts3ca6jV+wv2YHvqGuc7MCl/CkFRuRSGHOZEZlTcASqGoG6X8DIjHojcFg\nYOXKlURHRxMWFsaECRP4l3/5F6KiogBYv3497e3tlJaWuq+x2+1kZ2dTXl5OaWkp5eXlBAcHU1RU\n5O5TXFxMUFAQ5eXlSgxERETEI23trZw4VcOByj0sWTOf6sZDGL5xpoB/OPQ2KxAcEEpEiI2kGAdp\n8TmkxmYTGhzu3cBFejEoEoNp06bxve99j5SUFPbv38/PfvYzSkpKWL9+Pb6+vlRVVWEymYiIiOhy\nXXR0NFVVVQBUVVW5E4nzDAYDNpvN3UdERETk21wuF9V1R9m2by1fbP2cqvqDYPg6ETB4cKZAcmwm\n9sgU7LZUspNGYLVEejFikcszKBKDGTNmuP+dm5vLyJEjSUpKYsGCBXznO9/p9jqX69JOBLyYdevW\nXfEYIv1Bn1UZbPSZlYGqo7ODQycqOFa/n6r6QzS21sHqbzxTeLgRUFhgFClReaRE5hLsH3buxRb4\natcB4EAfRy0CGRkZV3T9oEgMvi02Nha73c7evXsBiImJoaOjgxMnTnSZNaiurmbChAnuPsePH+8y\njsvloqamhpiYmP4LXkRERAaMTlcntaePUtdUw+mWOppaTnHk5Fd00Pp1Jw8SAX9zIBHBsfia/An2\nDyMpMgdroE3bicqgMigTg+PHj3P06FFiY2MBGDlyJGazGafTycyZMwE4cuQIFRUVFBcXA1BUVERj\nYyPl5eXudQbl5eU0NTW5+1zMqFGjvHw3Ilfm/Leu+qzKYKHPrFxttQ1VVBzcxL5jO9l5YCNNLacu\neQyrJQqrJRJ7VCojM8eTHONQEiBXXUNDwxVdPyASg6amJvbs2QNAZ2cnBw8eZNOmTURERBAeHs5T\nTz3F97//fWJiYjhw4ABz584lOjraXUYUGhrKvffeyxNPPIHNZnNvV5qfn8/kyZMByM7OZtq0acyZ\nM4ff/e53uFwu5syZw6233nrF0y4iIiIycLlcLo7XV7Jpbzmb9q7mSM2+Sx7D3zeQpJgMcpNHkZsy\niqiwWC9EKnJ1DYjEYO3atZSUlADnFgQ/9dRTPPXUU/zoRz/ipZdeYtu2bbz11lvU19cTGxtLSUkJ\nf/7znwkKCnKPMW/ePHx8fJgxYwbNzc1MnjyZt99+u0v2/u677/Lwww8zdepUAG6//XZefPHF/r1Z\nERER8bqm5lPsOryFXYc2U3FoE3Wnj/d+0TeYTb4U5E7Cv8NKeFAMYwvHaUZArnkGV1+s0L3GfHMa\nRqciy0CnsgwZbPSZlb7W2dnB8YYqjtdVsv9YBRWHNnO45ivAs0ecAL8gMhPziY1IIjTISoBfMOnx\nuVgCQ/V5lUHlSp9hB8SMgYiIiMil6Og4y+4jW9m8t5ytX33B6WbPa6sNGEiNzyE7cRgpcdmkxGbi\nYzJ7MVqRwUGJgYiIiAwKtQ1VrNj8V/Ye3U513VHa2ls8vtbHZCY1Lpv8tEKGphcSGqTDxES+TYmB\niIiIDEgul4uauqNsP7CeHQfWs+fwVlwelgcBxEcmk5k4jMzEfNLicvA1+3kxWpHBT4mBiIiIDBht\n7a3sObKVHQc2sG3/Wo8XDfuZA0iITsMWFkd6fC6OhHxCgsK8HK3ItUWJgYiIiFx1lbUHWLL+Qzbs\nXklH51mPrgkKCGFIymiGZRTjSBiqdQIiV0iJgYiIiPS71rZmvqrcwbodK9n21VpaOhs9ui4+KoUb\nh00nK2k4IYFWbSEq0oeUGIiIiIjXNTSeZN+xnew+tJVtezfQ0FwDHjzT+5jMZNiHkJM8gpzkkTpY\nTMSLlBiIiIiIVzS1nGb7/nV8Wv4nak9Xdm3sISmwBkeSm3LuhOEM+xAtGhbpJ0oMREREpM+caqqj\nbM2f+WLHUto6mz2+zmg0kR6fy7ihNzMkdTRGo8mLUYrIxSgxEBERkcvW2tbM1q/WsmHbl1Qc2ES7\nz2kMRs/q/m3WeDLsQ8hOGo4jYSj+vgFejlZEeqLEQERERC7Zzl07+GDR2xxt3oHJ928v+p47Vfhi\nDAYjidHppMXlkBqXRUpsNpbA0P4LWER6pcRAREREelVXf5L5n77Puu0rOXGmCmtsAD5m09dJwUX4\nmMxEhcXiSBjK+PxbtHBYZIBTYiAiIiIX6Ojo4Iu1ayhb+gm7KzdiiTfiH+iLMRKiCO7x2tiIRMYO\nmUpBdgl+Kg8SGTSUGIiIiAgAe/ft5sNF77H78CbafZqwWAMgCKIy/Hu8zuzjywjHOOxRKaTH5xEf\nldw/AYtIn1JiICIicp063XiaBYs+YM2mZdQ0HsIaF4DJx4h/FPjT+zf94SE2hqUXMWHYdKyWqH6I\nWES8SYmBiIjIdcLlcrFly2Y+XvwXdh3ZgH+ki4BgXwiHyPCgXq8P9LeQmzwSR8JQkmMc2KzxOnlY\n5BqixEBEROQaVlNTwydl8ynfsoS6lmOE2gIICvHHmmzu9VqjwYjVEkVUWCwjM8czwjEOs0/v14nI\n4KTEQERE5BrS1tbG6tWr+dS5kI27VhEcB/HpkQTYIQBrr9fbwuIYml5EbvIIEqLT8fXRqcMi1wuP\nE4Pa2lpWrVrFzp07qa2txWAwEBkZSXZ2NsXFxURGRnozThEREbkIl8vFxi1r+XTZfHbu3crxumME\nhvkRk2glc3zvf5sD/YLJSBhCcoyDnOSRxIQnqDxI5DrVY2LQ2trKO++8w+uvv86qVat6HKi4uJh7\n7rmHH/7wh/j56dsFERERb6mvr2fRYidL135Ms28NIZHnFgpb04xYie/1el+zP0NSRjMicxzZScPx\nMak8SER6SAxefvll/uVf/oXa2lpKS0uZN28eI0eOJDU1FavVisvloq6ujv3797N+/XoWLVrEgw8+\nyFNPPcXPfvYz7r///v68DxERkWtW9cmjLFz2F7Z+tY6T9bU0t5zBagvGHOeD2YPdgwBSYrMYnjGW\nDPsQYiISMBlNXo5aRAYbg8vlcl2swW6385Of/IQf//jHhIZ6dmR5fX09r732Gv/5n//J4cOH+zTQ\n/tTQ0OD+t6f3LnK1rFu3DoBRo0Zd5UhEPKPPbO9On6ln7ZaVrFy/lGMN+zD3vmHQRYWH2BiaWkBR\nXimxEQl9G+R1Qp9XGUyu9Bm22xmDffv24evbwznnFxEWFsbjjz/OQw89dMmBiIiIXK+aW5vYuncd\ny9aWcfj4bvA9627zJCkwGowkxThIinEQGRpDRIiNqLA4osJitV5ARDzWbWJwqUlBX10rIiJyLXO5\nXByvr+TI8f1s2v4lOw5spJVTGIx/e4C/hD+hloBQRmaOZ+KI27FatAmIiFyZy9qutL29nfr6ei5W\nhWSz2a44KBERkWuJy+XicM1XrNxUxsbdq2ntbPq60QgGev5W32AwkhqXzdDUAuKjkjEZTUSExhAa\nFK4ZARHpMx4nBi0tLfziF7/gtddeo7Ky8qJJgcFgoKOjo08DFBERGawOVO7hk8//yJ5jm3H5tHt8\nndFgxB6VSnJsJimxmTgS8rEEas2biHiXx4nB/fffz+9//3uKior4/ve/f9EFDfrWQkRErmftZ9tY\n9oWTZWvLON50CN/gv/1d9OCvbXS4nazEYWQlDiM9Phc/X892GxIR6SseJwZ/+ctfuOuuu3jjjTe8\nGI6IiMjgcvLkSeYv/DNf7loKwU2Y/Uxg4Ouk4CJMRh9S47KJjUgkPiqFrMR8rJaofoxaRORCHicG\nAQEBFBYWejMWERGRAe/s2bN88cUXfOr8Kxv3rCIwupOY5HDMEQDdnw1gMvmQnTSCERljyU0ZTYBf\nYL/FLCLiCY8TgzvvvJOPPvpIB5eJiMh1Z//+/ZSVleF0OlmzbiVZRXFkjrKTWhDW43VGgxFHYj4j\nHTcwJK2AQL/gfopYROTSeZwYPP/889x1111MmzaNH//4xyQkJGAyXfjNyJgxY/o0QBERkf52+vRp\nPvvsM5xOJ4uXLuJMZx22hDDsGZF859FCTD7Gbq+1BISSkzySnJSRZCbmKxkQkUHD48SgubkZAKfT\nidPpvGgf7UokIiKDUWdnJxs2bMDpdFJWVsbq1auJSgghf3wqJfc48PHtvkTovAz7EMYNvYkhaQWY\njL33FxEZaDxODO69914+/PBDZs6cyZgxYy7rmGUREZGB4ujRoyxatIiysjIWLVrEiRMnAIiMD6H0\nrhGkDY3tdQxrcCQFOZMoyCkhIjTa2yGLiHiVx4mB0+nk4YcfZt68ed6MR0RExCuam5tZsWKFe63A\ntm3bADAYDUQnhjFl0hgcwxIxBvZ+3oDNGs+UUd9lVNaNmh0QkWuGx4lBSEgIGRkZ3oxFRESkz7hc\nLrZv3+5OBJYvX05LSwsAwWEBDJ+QwfCx2VhsPnRyvgz24klBeIiNzIR8EmxpOBKGEhUWq7N7ROSa\n43FiMHv2bN555x3mzJmDj4/Hl4mIiPSb2tpaFi1a5F4PV1lZCUBQqD/ZRXbyxqRhtQXjMp11X/N1\nUnChpOgMbh07iwz7ECUCInLN8/gJ3+Fw8OGHHzJs2DBmzZpFYmLiRXcluuOOO/o0QBERke60tbWx\nZs0aysrKKCsrY8OGDRhNBpKyo0kriOCGJAdR8WEYzS73NS7O9jDiOen2PCYOv43clFEYDd3vQCQi\nci3xODH4h3/4B/e/586de9E+BoPhshKD5cuX88ILL7BhwwYqKyt5/fXXufvuu7v0efrpp3n11Vep\nq6ujoKCA3/zmN+Tk5LjbW1tb+elPf8p7771Hc3MzkyZN4qWXXiI+Pt7dp66ujkceeYSPP/4YgNtu\nu41f//rXWkgtIjJIuFwu9u7d654RWLp0KY2NjQAEBPsy/jtDyC1KxmT+5rf7rosP9g1BASFkJuST\nmTCUzMRhhIfoFGIRuf54nBgsXbrUa0E0NTUxdOhQ7r77bu66664Lpmuff/55fvnLX/Lmm2/icDh4\n5plnmDJlCrt27SI4+Nz+0I899hgfffQR7733HuHh4Tz++ONMnz6d9evXYzSe+7bnzjvv5MiRI5SV\nleFyubjvvvuYNWsWH330kdfuTURErkxDQwNLly51rxXYv3+/uy0g2JfS7xeROSIJY1AbnS7Ptsw2\nGk2kxGSSnTScrKTh2G2pmhkQkeueweVy9f5VSj+yWCz85je/4a677gLOfTsUFxfHI4884p6paGlp\nwWaz8cILLzB79mwaGhqw2Wy88cYbzJw5E4AjR46QlJTEwoULKS0tZefOneTm5rJq1SqKiooAWLVq\nFePGjaOiogKHw+GOoaGhwf1vzSbIQLdu3ToARo0adZUjEfFMb5/Zjo4O1q1b97fDxZwcPbkPv0Af\n/PzN+AaYCQkLJik1gfDoYFpcjbhcnb2+p8nkgz0qlRGOG8hOGk5kaAw+JnOf3pdcm/Q7VgaTK32G\nHfCriPfv3091dTWlpaXu1/z9/Rk/fjyrV69m9uzZrF+/nvb29i597HY72dnZlJeXU1paSnl5OcHB\nwe6kAKC4uJigoCDKy8u7JAYiItK/Dh8+7D5cbPHixXSa2hhRkk7OTXby/UZf5IpOmjtPdTueJSCU\n4Y6xpMfnERuRSGRYrLYVFRHpRbeJwV133cXcuXPJzs6+pAF37tzJv/7rv/Lmm29ecXAAVVVVAERH\ndz04xmazuXebqKqqwmQyERER0aVPdHS0+/qqqiqiorrWjBoMBmw2m7vPxZz/pkBkoNNnVQaTM2fO\nMG/ePNasWcMXX3zBkaOHyRgeT3x6BBP/IYfY1AiMxkvfBSjIL4ScuEIcMSMwGX042wCHG6o4TPe/\n50U8od+xMhhc6dEC3SYGdXV15OXlMX78eO644w6mTJlCenr6Rfvu2bOHRYsW8f7777Ny5Upuvvnm\nKwrKU71tHTfAqqRERK5bnZ2dVFRU8MUXX7BmzRq2bNmC2d9ITmESQ6ZEMzUtF1//y5vEDgu0kRKV\nS0K4g9CASG0rKiJymbr9Lfzxxx+zevVq/v3f/51HH32Us2fPEhoaSkpKClarFZfLxcmTJzlw4ACn\nTp3CbDYeBtKTAAAgAElEQVRz6623snLlSgoLC/sswJiYGACqq6ux2+3u16urq91tMTExdHR0cOLE\niS6zBtXV1UyYMMHd5/jx413Gdrlc1NTUuMe5GNUUykCn+lcZqA4fPuw+U2Dx4sWcOHGCQIsf8RmR\n3HjHEDJHJGD06f0hPjQ4ggx7HsH+Ifj7BRLgF0SAbxBWSyRxkclYArUWTLxHv2NlMPnmGoPL0ePX\nM8XFxXzwwQfU1NSwYMECVq9eTUVFBceOHQMgMjKSGTNmcMMNNzBt2rQLSnX6QkpKCjExMTidTkaO\nHAmcW3y8cuVKXnjhBQBGjhyJ2WzG6XR2WXxcUVFBcXExAEVFRTQ2NlJeXu5eZ1BeXk5TU5O7j4iI\nXL7GxkaWLVvm3kp077492BLCsNlDGTEtifjUUVgi/D0eLyosjpsL/55hGWO1PkBEpB94NG9rs9m4\n5557uOeee7wSRFNTE3v27AHOTTcfPHiQTZs2ERERQUJCAo899hg///nPycrKIiMjg+eeew6LxcKd\nd94JnFt1fe+99/LEE09gs9nc25Xm5+czefJkALKzs5k2bRpz5szhd7/7HS6Xizlz5nDrrbdecT2W\niMj1qKOjg40bN+J0Olm0xMmhmj3EpoZhCQ9kyLQoJiVkYDR5vgVocEAoY7InkhTjICw4gsTodCUE\nIiL9aEDsSrR27VpKSkqAc+sGnnrqKZ566il+9KMf8dprr/HEE0/Q3NzMgw8+SF1dHYWFhTidToKC\ngtxjzJs3Dx8fH2bMmEFzczOTJ0/m7bff7lJr+u677/Lwww8zdepUAG6//XZefPHF/r1ZEZFB7Pzu\nQYsWLWLx4sUY/NoZOi6FzFI7Q/wvtntQz6zBkUwYfitZicOICbdjVCIgInLVDLhzDAYCnWMgg4nq\nX8Wbvl0eVFFRgcFoIC41nLziZBwj7L0P8g0Gg5GIoBhiwpKZMHoq6fG5mEwD4jsqkYvS71gZTK75\ncwxERKT/fLM8yOl0snr1atrb2wEIiQhkwnfzyS1MxuTr2XhRobEkx2Zij0rFbkvBHpXK9q07AchM\nzPfWbYiIyGVQYiAicp07Xx7kdDpZsmQJJ06ccLdZbRZKbh+PPSucTlNbj+OEBFkZklpASmwmIYFW\nosPtWC2R3g5fRET6iBIDEZHrTHflQTZ7KJZoPxwj8hk2Ko/whEBOtdUA0En3SUF8ZDLTCv6evNTR\nWiwsIjKIKTEQEbnG9VQeZPbzoaA0hxElGfh02Um0kVNtjd2OGeAXxJDUMeSnF5GbMgqjwfPdh0RE\nZGBSYiAicg3qqTzIaDQydkIRRVPz6LQ00N7R6tGYJqMPKXFZjHSMY3TWjfia/bwVvoiIXAWXlBh8\n+umn/Pd//zf79u2jrq6O8xsaGQwGXC4XBoOBffv2eSVQERHpXmNjI59//rn7pOGKigp3m1+AmeFF\nORSMG0GyIw7fYAOHj39Fa0cNdPQ+dmpcNgU5kxiWXkyAX6AX70JERK4mjxODf//3f+f//J//Q0xM\nDGPGjGHIkCEX9PnmmQEiIuI9PZUHmcxGRkxwMGJ8NpYIP85yfkbgNEcbd0E3FUI+JjPJsZkE+VsI\nCbQSEWojL2UMNmtc/9yUiIhcVR4nBv/1X/9FSUkJCxcuxGw2ezMmERG5iG+WBy1evJiTJ0+62/wC\nfCmZfAMjxmfhCj5NW0cLwDeSgu4F+lsYP/RmxuXfhCUwzGvxi4jIwOZxYlBXV8cPfvADJQUiIv2k\np/IgH7OJ4tJhDBubSVC4iZaOJgBaOe5ReRBAuCWKiSNupzB3Mn5m/94vEBGRa5rHiUFBQQG7du3y\nZiwiIte1nsqDAELDQrjpuxNJy4+h2XiS9o42oIWWXhIBo9FEtDWe2IhEYsITiI1IIjYigciwWO0m\nJCIibh4nBi+++CI333wzI0aM4Ic//KE3YxIRuW4cOnTIPSPw7fIgXz8zpX83nqEFGYTZgjjVVktz\naxOnXFW9zgoE+gVTlDeZUZk3Eh0ej49Js70iItIzjxOD733ve7S1tXHXXXdx//33Ex8fj8n09UE2\n53cl2rFjh1cCFRG5FnRXHhQU6k9EbAjDJ44mc0gqIZH+NHecotPVSSu1VJ+u7XFco9FEREg0kaEx\n5KcXMipzgrYTFRGRS+JxYhAdHU1MTAwOh6PbPtqVSESkq57Kg+wZkdz6v4pIcNjo+oV+C01nW3od\nOzQ4ghEZYxmaVkhidDpmH1/v3ISIiFwXPE4MPv/8cy+GISJy7eipPCgx08YNNw0jMtGCy3j2kscO\n8rcwLGMsIxw3kBafozUCIiLSZ3TysYjIFTpfHuR0Olm0aFGX3YMwQNGUfIbfkEVQuA8tHecOEXDh\nWVIQERpNVsIwMhKGEBuRhM0ah8lo6v1CERGRS3RJiUFbWxuvvvoqCxYs4ODBgwAkJyczffp07rvv\nPm1lKiLXhZ7Kg6y2YIZPcJA7JJs0RzKGoBZOnK6it92DfM3+xEUkEReZSFxkMrERScRHJRPoF9w/\nNyUiIte9SzrHoKSkhM2bNxMdHU16ejoA69evZ+HChbz66qssWbIEq9XqtWBFRK6WnsqD/ALMTCod\nx7DxqbT51btfP9l5AE53P6af2Z+c5JGMz7+ZlLhslQWJiMhV5XFiMHfuXLZv387rr7/OrFmzMBrP\n/QHr7OzknXfe4b777mPu3Ln89re/9VqwIiL9pcfyIGD0+DxGT8kmINREW2czAG3UX2yoLoxGE0NT\nC7hh6E2kxWVjMqmiU0REBgaP/yLNnz+fBx98kLvvvrvL60ajkVmzZrFx40b+8Ic/KDEQkUGpo6OD\nDRs2uGcFvn24mMVioaSkhOLJw2m3nKC6/hDQRlunZ+MPTStkfP4tJEan4+8b4J2bEBERuQIeJwb1\n9fXu8qGLSU1Npa6urk+CEhHpDz2VBxmNRgoLC5lSOoXRY4fhF9bJ2l2fc+TkRnqbGIgIjSY3eSRB\nAaEE+QeTEptNgi3Vy3cjIiJyZTxODNLS0vjwww954IEHLjivwOVyMX/+/B4TBxGRq6238qC09FQm\nlU6k+IYCcodmU9VwgPJti1i0c0uP454/XCwqLJYhqWMozJ2snYNERGTQ8TgxeOihh3jggQeYOnUq\njz76KJmZmQBUVFTwq1/9iiVLlvDyyy97LVARkUvlSXnQzd8rIXm4lVbDaTo6zwK1rK9ZwPrFC3od\nPy9lNFNGf49EW7rWCoiIyKDn8V+y+++/n9raWp599lkWL17cpc3X15dnn32WOXPm9HmAIiKXwpPy\noEk3jSPWEUp9WyXVdUc546oDl2fjn188PGX091UeJCIi15RL+orrZz/7GXPmzGHx4sXucwySkpIo\nLS0lIiLCKwGKiPTkm+VBTqeTXbt2dWlPTk6mtHQKY8bnExztw8HjuzhSs5tT1Z6/h59vAA77ENLt\neYx0jCckKKyP70JEROTqu+S576ioKGbOnOmNWEREeuXp7kGlpaWUTJrIsaY9rNjyVzbXLoLansc2\nGX0ICrAQ5G8h0C+Y4IAQHAlDGZ09UTsJiYjINU9FsSIy4HlSHlRaWkppaSljxoyhvqmWL3cu5a3l\nz3P6TM9bCBkNRrKTRjC14A6SojMu2FxBRETketFtYmA0GjEYDDQ3N+Pr6+v+2eXqvhDXYDDQ0dHh\nlUBF5PrhUXnQtMkUjx9DZm46ba4z1J0+zp5T5Xz+hz9QXXek1/dwJAylMGcSOckjCfQP9tatiIiI\nDBrdJgZPPvkkBoMBk8nk/llExBvOlwedTwTKy8tpb2/H7GsiPj2SsbcOIWtoKiFR/hh9wEUn7WeP\nn9s9qMaz9/AxmclPK2RIWgHp8bmEBFm9e1MiIiKDTLeJwdNPP93jzyIiV6Lb8iADWKMs3Dh9PAl5\nobiMX89CnqUFzl7a+/iZ/blh6E2UjLgdS6AWDYuIiHTH4zUGzzzzDN/97nfJy8u7aPv27dv5y1/+\nopkFEbmoi5UHGU1GzH4mWs+0kzvMwYTpo/CzneVsZysALi6vNNFoMJIal82orAmMcIzTwmEREREP\neJwYPP3006Snp3ebGGzdupV//ud/VmIgIkD35UEAIeGB3HpfEUk5NgxGAAPnDhJo4mynZ+ObTb5Y\nQ6KwWiKxWqIIt0Rh/dt/dlsKgX5aNyAiInIp+mxXotOnT+Pjo02ORK5nhw4dwul0smjRInd5kF+A\nGXtGJKOnZhAXF0diehwdfo10ur45G9D9pgYBvoEMd4wlMdpBgi2V8BAbJqMPfmZ/7SAkIiLSh3p8\nkt+8eTObN29270S0YsUKzp69sMD35MmTvPzyy2RlZXknShEZkHraPSgyLoS/mz0Oe3Y433x+b6eh\n11OG/X0DSbClkWHPY1z+zQT5W7x0ByIiInJej4nBBx98wDPPPOP++ZVXXuGVV165aF+r1cpbb73V\nt9GJyIBysfKg4HB/HMPjSBwdRNbEYmwxUQSH+Z9bKHwJ/HwDSLKlM9xxA6OzbsTX7OeluxAREZGL\n6TExmD17NtOnTwdgzJgxPPPMM0ybNq1LH4PBQFBQEGlpaZjNZu9FKiJXxcXKgxwj7eSMSeQfJk7E\nYr1wYa8nSUFkaAxTx9zB6KwJNLedIcAvCOO5BQciIiJyFfSYGMTFxREXFwfA0qVLycnJwWaz9Utg\nInJ1nD59mmXLll20PMg/yJcfPHwjMWmhlzRmZGgMOckjCPS34HK5SIvLwZE41J0IqFRIRETk6vN4\ntfCNN97oxTBE5Gr5dnnQ6tWru6wlirBZmXTTePJGOmgyH+NM62mPxjWbfMmw51GQO5n8tAKMRpO3\nbkFERET6QLeJwT333IPBYODVV1/FZDK5f+7Na6+91qcBnvf00093We8AEBMTQ2VlZZc+r776KnV1\ndRQUFPCb3/yGnJwcd3trays//elPee+992hubmbSpEm89NJLxMfHeyVmkYHqYuVB5xmNRgoLC5kw\nfRS+US3UNx8H4Hjnbmi9cCyjwUi6PY+haYWEBUfg7xtIgF8Q0eHx+PponYCIiMhg0W1i8Nlnn2Ew\nGOjs7MRkMrl/7o7L5fL61oFZWVl8/vnn7p9Npq+/gXz++ef55S9/yZtvvonD4eCZZ55hypQp7Nq1\ni+Dgc/uZP/bYY3z00Ue89957hIeH8/jjjzN9+nTWr1+P0ajaZrl29bR7EEBycjJTp06ltLSUwuIx\nLFz3Npu/WsOZ5u7HTIrO4PZxPyIpOgOzj6+X70BERES8rdvE4MCBAz3+fDWYTKaLrnFwuVzMmzeP\nuXPn8p3vfAeAN998E5vNxrvvvsvs2bNpaGjgtdde44033mDSpEkAvPXWWyQlJbF48WJKS0v79V5E\nvKmjo4ONGzd2KQ86f7gYgMViYdKkSUyZMoXS0lLS0tIwGAw0NZ/i1//zJJW1B7od22AwUjr6+0wb\ncwcmk84uERERuVYMqr/q+/btIz4+Hj8/PwoKCvj5z39OSkoK+/fvp7q6usvDvb+/P+PHj2f16tXM\nnj2b9evX097e3qWP3W4nOzub1atXKzGQQe/w4cPuRGDJkiWcOHHC3Xa+PGjKlClMnTqVMWPGXLCL\n2NHj+3mrbB6VJw5eMHZcRBIhQVasliiK86aQFOPw+v2IiIhI//I4MaiqquLYsWMMHz7c/drOnTv5\nz//8TxoaGpgxYwbf/e53vRIkQGFhIW+++SZZWVlUV1fz3HPPUVxczPbt26mqqgIgOjq6yzU2m829\nBqGqqgqTyURERESXPtHR0VRXV3f7vuvWrevjOxHpG2fOnGHDhg2sWbOGL7744oJZvbi4OAoKCigs\nLGTUqFGEhIS428rXrmR31QZONlbR3N7ImdbTNLc3XvAeEUGxjHXcTlhgpPu140dOcfyI/r+QK6ff\nrzKY6PMqg0FGRsYVXe9xYvDQQw9RU1PD8uXLgXOnHU+YMIH6+nr8/f3585//zIcffsitt956RQF1\n55vnJ+Tl5VFUVERKSgpvvvkmBQUF3V7n7XUPIv2ls7OTXbt2uROBzZs3d9k9KCgoiFGjRrmTAbvd\n3uXz3+nqpObUYQ7W7mBvzWY6Oi88xfybYkKTKMn+e3xMOp9ERETkeuBxYlBeXs4DDzzg/vntt9+m\nrq6ODRs2kJWVxaRJk3jhhRe8lhh8W2BgILm5uezdu5e/+7u/A6C6uhq73e7uU11dTUxMDHBuB6OO\njg5OnDjRZdagqqqK8ePHd/s+o0aN8tIdiPTuyJEjLFq0yL2D0LfLgwoKCsjLy6OwsJC77777oocM\nHq75itVbnWz5ag2nmxs8et+sxGHcO/3/4mf277N7ETnv/Dev+v0qg4E+rzKYNDR49ne+Ox4nBidO\nnHAfdgbw8ccfM27cOIYMGQLAjBkzePLJJ68omEvR0tLCzp07KSkpISUlhZiYGJxOJyNHjnS3r1y5\nkhdeeAGAkSNHYjabcTqdzJw5Ezj30FVRUUFxcXG/xS3Sk6amJpYvX+5eK7Bjx44u7UlJSZSWllJa\nWkpJSQnh4eHuP1rnk4K29laOnTjI3qPb2bRnNQer93j8/imxWUwe9V3yUkZrtk1EROQ643FiEB4e\nzrFjx4Bztc2rVq3qkggYDAZaWlr6PsK/+elPf8ptt91GQkICNTU1PPvsszQ3N3P33XcD57Yi/fnP\nf05WVhYZGRk899xzWCwW7rzzTgBCQ0O59957eeKJJ7DZbO7tSvPz85k8ebLX4hbpSWdnJ5s2bXIn\nAqtWraKtrc3dHhwcTElJCaWlpUyZMoWMjIwLHthdLhetZ89wuOYrlm/+K+t2LaOjo+cyIYDQoHBu\nHH4rKbFZhAaFYwkK07kDIiIi1zGPE4MbbriBl156iaysLD799FNaWlq47bbb3O27d+/26kFhR48e\nZebMmdTW1hIVFUVRURFr1qwhISEBgCeeeILm5mYefPBB6urqKCwsxOl0EhQU5B5j3rx5+Pj4MGPG\nDJqbm5k8eTJvv/22vhmVfnX06NEu5UG1tbXuNoPBwJgxY9yzAoWFhRctDwJobj3D2orP+XT9+zS2\n1sOXvb+3v28geSmjyU8vIid5hM4fEBERETeDy+VyedJx7969TJ06lf379wPw+OOPu8t0zp49S1JS\nEjfffDOvvvqq96LtJ9+szwoNDb2Kkci14MyZM13Kg7Zv396lPSEhwX24WElJyQU7Z31Tp6uTjbtX\nsmzTAg5V76HT1elRDJkJ+YzLv4nspJGYfbSYWK4u1WzLYKLPqwwmV/oM6/GMQXp6OhUVFezYsYOQ\nkBBSUlLcbc3NzfzmN79h2LBhlxyAyLWms7OTzZs3u2cEVqxY0aU8KCgoiIkTJ7pnBRwOh0ezVgeq\ndvPHJS9xtIfDx84LCbSSEptJuj2PoWkFWC1RV3JLIiIich24pAPOzGYz+fn5F7xusVjcOwOJXI8q\nKyu7lAcdP37c3WYwGBg9enSX8iBfX89LeCprD7B62yJWbFmIq4cZAktAKFZLFEV5UyjMnYzJaLqi\nexIREZHryyUlBm1tbbz66qssWLCAgwfPnY6anJzM9OnTue+++7qthRa51pw5c4YVK1a4y4O2bdvW\npd1ut7vLgyZNmtRjedC37T9WwbEThwkOsLB6q5MdBzd02zc63E5kQCLZcaMZXzzxsu9HRERExOPE\noK6ujpKSEjZv3kx0dDTp6ekArF+/noULF/Lqq6+yZMkSrFar14IVuVo6OzvZunWrOxFYsWIFra2t\n7vbAwMAu5UGZmZmXvKi9/Ww7/7P8v1m19dNe+45wjOPmwpnYrHE6jVNERET6hMeJwdy5c9m+fTuv\nv/46s2bNwmg0AucemN555x3uu+8+5s6dy29/+1uvBSvSn44dO8bixYvd5UHV1dXuNoPBwMiRI92J\nQFFREX5+l7fVp8vlYufBDXy08vdUnjjYY9/Q4AhmTnqAnOSRl/VeIiIiIt3xODGYP38+Dz74oPvc\ngPOMRiOzZs1i48aN/OEPf1BiIINWc3Nzl/KgrVu3dmm32+3uRGDSpElERkZ6PHbb2VY2713D0eP7\naW1rxm5LZXTWjRyu+YpPyt/hq6Pbe7w+OSaTcfk3k59WiK9ZZw2IiIhI3/M4Maivr3eXD11Mamoq\ndXV1fRKUSH9wuVxdyoOWL19+QXnQjTfe6E4GsrKyLuvMi+q6o/x/n/yC6pNHurz+x6Uv93idwWAk\nJDCMKaO/xw1Db8JoMF7ye4uIiIh4yuPEIC0tjQ8//JAHHnjgoievzp8/v8fEQWQgqKqq6lIeVFVV\n1aV9xIgR7kSguLj4ssuDTjXVcby+kh0HNrB88wJa2z0/FXxU5gS+P/F/EegXfFnvLSIiInI5PE4M\nHnroIR544AGmTp3Ko48+SmZmJgAVFRX86le/YsmSJbz8cs/fgIr0t5aWFlauXOmeFdi8eXOX9ri4\nOHciMHnyZKKirmy//+bWM/xx6cts3L0SFx6dHeiWnTSC6cU/JMGWekUxiIiIiFwOjxOD+++/n9ra\nWp599lkWL17cpc3X15dnn32WOXPm9HmAIpfC5XKxbds295kCy5Yto6Xl62/rAwICupQHZWdnX1Z5\nEJw7hXjtzs9Yu/NzquqO0Nh8is7Ojh6vSY3LJiw4gi1ffcHZjnZMRh+yk4YzccRtZNiHXFYcIiIi\nIn3hks4x+NnPfsacOXNYvHix+xyDpKQkSktLL2mfdpG+VF1d3aU86NixY13ahw8f3qU8yN/f/4rf\ns+rkYd5f+lv29rJo+LxAfwvTi/6BsUOmYjAYaGw+xbETh4iPTCbQXyVDIiIicvVdUmIAEBUVxcyZ\nM70Ri4hHWlpaWLVqlbs8aNOmTV3aY2Nju5QH2Wy2PnvvytqDLN/8CWu2L6Gzh1OIAUxGH7ISh+FI\nHEpx7hT8fAPcbcEBIWTY8/osLhEREZErdcmJwZIlS1iwYAEHDhwAzp18fMsttzBp0qS+jk0EOFce\ntGPHDncisGzZMpqbm93tAQEBTJgwgdLSUqZMmUJubu5llwd19/67D2/h0y/f73Vb0fMKcibxg4mz\n8fXR1qIiIiIyOHicGDQ1NXHHHXewcOFCAKxWKy6Xi/r6eubNm8fUqVP505/+RHCwyiLkyh0/ftxd\nHuR0OqmsrOzSPmzYMPeswNixY/ukPOhiTp+p591FL7L9QPenC2clDeeWwpnYrHZONZ3E7ONLeEjf\nzVKIiIiI9AePE4Of/OQnLFy4kH/6p3/ikUceca8pqK2t5Ve/+hXPPfccP/nJT3jllVe8Fqxcu1pb\nW1m1apV70fCGDRu6tMfExHQpD4qOju7T9687fZzdh7cCLkKDIqipr+TAsV1s2fcFbd1sNRoVGsv0\nsbMYll7knqEI8Avs07hERERE+ovHicH777/Pfffdxz//8z93eT0yMpJnnnmGqqoq/vSnPykxEI+4\nXC527tzZpTzozJkz7nZ/f3/Gjx/vTgby8vIuf/egzg4qDm3i5KnjjHDc4F7s63K52Fe5g2WbFrDl\nqzW9rhk4L8M+hOK8UoalF2EyXXI1noiIiMiA5PFTTWdnJ8OHD++2PT8/n/fff79PgpJrU21tbZfy\noKNHj3Zpz8/PdycCN9xwQ5+UBx2q3ssfl77M4ZqvAPjTZ6+QYEvjeH0lzW1nerm6q5TYLL4z/sck\nxziuOC4RERGRgcbjxODmm2/mk08+4R//8R8v2r5gwQJuueWWPgtMBr+2tjbKy8spKytzlwe5XF8f\n+hUdHd2lPCgmJqZP3/9Q9V7+68//L+1n29yvuXBxqGbvJY1jNvlSMvLvmFYwA5PR1KcxioiIiAwU\nHicG//RP/8Tf//3fc8stt/DQQw+RkZEBwO7du3nxxReprKzkP/7jP6ipqelyXV9uFSkDm8vlYu/e\nve5E4LPPPqOxsdHd7ufn16U8aMiQIX26e9A3dXZ28N7Sl7okBb0JCbISEmjlTGsj4ZYospNHkhSd\nQYItlQC/IK/EKSIiIjJQeJwY5ObmArB161b3zkTd9TnPYDDQ0dHzSbAyuDU0NLB06VLKysooKytz\nb2N7Xl5enjsRGD9+PAEBARcfqA81tzbxx6W/5UjNvl77+vr44UjMZ0L+LTgShnotUREREREZ6DxO\nDJ588slLHlwPWdeejo4O1q1b554VWLNmTZfkLyIigilTpjB16lSmTJlCfHx8v8RV21BF3enjbN5b\nzuptizjb0d6lfWhaIY6EISz84o/4GH0YP2w6JcNv0+JhERERkb/x+Kno6aef9mIYMpAdPnwYp9NJ\nWVkZixcvpq6uzt3m4+PjLg+aOnUqw4cPx2TyXh2+y+WiqeU0Qf4WDAYD1XVHebtsHger93R7ja/Z\nn+9NuA+rJZKxQ6ZhNBiVtIqIiIh8i74ulQucOXOGZcuWuWcFdu7c2aU9LS2NqVOnUlpaysSJEwkJ\nCfFqPOe//a86eZi3yuZx7MQhwoIjiAiJ5mD1ngtmB77ttrGzsFoiAbR4WERERKQbSgwEl8vFli1b\n3LMCK1asoK3t60W7FouFkpISdzKQlpbWJ+/bdraVbfvWcrBqN82tTfj5BpCbPApHwhCMRhNnO9pZ\ntPYvLNnw4QWHjNU3nqC+8US3Y4cFR5CfXsTQtALS4/P6JF4RERGRa5kSg+tUTU2N+5Rhp9NJVVWV\nu81gMDB69Gh3IlBYWIjZbL7i9+zs7KCh6SS1DdVs2L2SDbuWX3CWwLJNnxASaCU81MbpM/WcaKj2\neHx/30ASbGkMTSugOK8Us4/vFccsIiJyvXG5XLS1tXXZYlyuPoPBgK+vr1fLoZUYXCfa2tpYvXq1\ne/egjRs3dmn//9u796iqqvVv4N+1wX3hTsDmfhdNgQ6CgOIFVAQ10/x5xxumcrRS1FOOdFhpJZVm\nppaJZ5RRvh61rGNvxxRSjFBLjNcrKqIoqIGgGxRkc13vH/7Yxy1bQG6by/czBmOw55xrzWfBGmus\nZ68153RwcEBkZCQiIyMxbNgwWFtbN6u/yqoK1Ig1kHWT4687OTh69iD+vJSCUvX9Bre990CFew9U\nDQyHeqAAAB4pSURBVLarJZcaYcyAmRjgG8mxA0RERM1QU1OD8vJySKXSVh0zSE+vuroaarUaMpkM\nEomkVfpgYtBJiaKIy5cva60pUFpaqqmXy+UIDQ3VDBru3bt3k26qb6tuIj0zFcWlKlRVVUAhN8Hd\ne7eRce1PVFdXQUTLftvQzUCKyOBJMJaborTsHpyUHvB09IasW/NXSSYiIurqKioqIJfL+UVbO2Rg\nYAC5XI7y8nLI5a1z38PEoBMpKirSrCmQmJioc02B2qcCAwcObPKaAqIoIjP3DI6c+r84n32yWTGb\nKMzh32MArM3tkXv7Ck5nHUdFVbmmXoCAvs+GYkTwZDxQ38czZkqYGlk0q08iIiJ6MiYF7Vdr/2+Y\nGHRg1dXVSEtL0yQCf/zxh9aaAtbW1hg+fLhmgTEHBwed+ymvKMOde/lQV6jRzbAb7K1cUF1dhRsF\n2ci5nYXc/CvILbiCB+oSzXSholjTpJhlUgWszWyhtHREQM9B8Hbrq7WWwP8MfgmpZw8g6+Z5ONm4\nI8QnEjYW9v9ba697p0RERETUbEwMOpjc3FzNOIFffvkFRUVFmrraNQVqBw37+/tr3kGrqCzHrcJr\nUFeUobxSjQfq+7h84xwu555FQfFfrR63k9ID4QH/A1+PYHQzfPJAZmOFGSKDJiGy1SMiIiIiokcx\nMWjnSktL8euvv2qmEr148aJWfffu3TXjBMLCwmAok+DKzQwUFN1A0slsFBTdQu7tK8i7e6PJ3/I3\nxEXZHX/zCoGRzBiq+wWorqlCd0cfKC0dcfVWBixNlfBy8uGjSSIiIqJ2jIlBO1O7pkDtU4HU1NQ6\nawoMGzYMERERGBjaHzJTCW6rbuF20S1s+887yC242moJwKNkUgWedfFDmN8L8HDo9cSb/v++BkRE\nRERER44cwdChQ7Fr1y5MmjRJ3+FoYWLQDuTn52utKZCf/9+5+wVBQFBQEIaNHASv51whMxVwu+gm\nrt85igtJB1ukf0GQwNrMFkYKUxSV3EHx/y4cprR0hIuyO5yVnnCx9YS1uT0EQYBcagRpN1mL9E1E\nRETU2ho7vef27dsxa9asVo6m/WJioAfl5eVaawqcOnVKq97JyREjxg5FL38PSM1E5BZmoaQ8C/8v\nN6tZ/VqZ2cLU2AKybnLIuilgaWqN3m4B8HTorbnRF0URJWX30M1QCrm0abMWEREREbUnO3bs0Poc\nHx+P33//Hdu3b9cqDwkJacuw2h0mBm1AFEVkZmZqZg86cuRInTUFwkeFIWBgbxjbSJB/LxcVlfdw\n7f4poOH1wOqwt3KBh30vGMlNYKwwhZONB5yUHjCSmTS4rSAIMDUyf/pOiYiIiNqpqKgorc+JiYk4\nceJEnfLHlZaWwtjYuDVDa1eYGLQSlUqltabA9evXter/5vccho4OgaPXM7hXmQ9VSSHu4gru3ml8\nH1JDGWyfcYKtpROsLexgb+WC7o7enOefiIiI6ClFR0dj9+7duHjxIhYuXIhff/0V/v7+SE5Oxpkz\nZ7BhwwakpKTg1q1bMDExQXh4ONauXQtnZ2et/RQXF+O9997D3r17cevWLVhbWyM0NBTr1q174tTx\nlZWViIqKws8//4x9+/Zh2LBhbXHIdXTJxGDLli1Yt24d8vLy4O3tjU8++QQDBw5s1j6rqqqQlpam\nmT3ojz/+QE3NfwcBW1tbY3hkOIJCfSF9pgpX8zNQUfkXrqsaN1WoQmYMT4fecLd/Fg7WrrB7xhmW\nZjaQCK2zJDYRERFRV1NTU4OIiAgEBwfjo48+gqHhw1vlX375BZmZmYiOjoaDgwOysrKwdetWnDhx\nAufOndMsGltaWorQ0FCcP38es2fPRt++fVFYWIiff/4ZV65c0ZkYlJeXY8KECfjtt99w8OBBDBgw\noE2P+VFdLjHYvXs3Fi9ejM8//xwDBw7EZ599hpEjRyIjI6NOxteQ69evaxKBQ4cO1VlTYNCgQQiP\nGIZn/V1RXHULGdfTcfXBCeBBw/s2NbKAp2NvdHf0hqeDN+ytXZgEEBERUbvS2lORi6LYqvt/XGVl\nJV544QV89NFHWuULFizA0qVLtcrGjBmDAQMG4Pvvv8e0adMAAOvWrcOZM2fw7bffYvz48Zq2K1as\n0NnfgwcPMHbsWKSnpyMpKQmBgYEtfERPp8slBh9//DFmz56NOXPmAAA2bdqEAwcO4PPPP0dcXFy9\n25aWluLIkSOaZODSpUta9d27d0dkZCSGR4TDxtUEGbknceFaOlIu/dlgXN0MpOju5INern3wrKsf\nbC2dOO8/ERERURt7+eWX65TVPhEAgJKSEpSXl8PLywsWFhZIT0/XJAbfffcdfHx8tJKCJ7l37x5G\njBiBS5cuITk5Gc8991zLHUQTdanEoKKiAunp6Vi2bJlWeUREBI4dO6Zzm1OnTmlmDzp69KjWmgJm\nZmaaNQUiIiKgMO+G4+eT8PuFvSjNbnjUsLmJFf7m2Q+93QLQ3ckbUkNOAUpEREQdR1t/o9/aJBIJ\n3Nzc6pSrVCq88cYb+O6776BSqbTqiouLNb9fuXIF48aNa1RfS5cuRVlZGdLT0+Hr69usuFtKl0oM\nCgsLUV1dDVtbW61ypVKJvLw8ndv06dNH83vtmgKRkZGa988giEjPTMW+k9uQ/ddFnft4lKWpDfy6\n94efVwhc7Xrw9SAiIiKidkIqlepc82DSpEk4duwYXnvtNfTp0wempqYAgClTpmiNKX2atz1efPFF\n7Nq1C2vWrMHOnTsbvdZCa+pSiUFTKJVK9OvXD/369UNgYCAsLB7O+POg/D6++nEjLuenQ11Z/6AB\nE5k5XKx6wc26F6xMHCAIAu7cLMGdm+ltcQjURZw8eVLfIRA9FZ6z1JF0lfPV1dUVcrlc32Hoja4n\nICqVCocOHcLq1avx5ptvasrVajXu3r2r1dbT0xNnz55tVF+jR4/GqFGjMH36dBgbG+OLL75o1Hb3\n79/HuXPndNZ5eXk1ah9P0qUSA2traxgYGGitLAw8XHnY3t5e5zY//fSTVvZXeP8mLtw6gWt3LkAU\na3RuAwBSQzk8bHzhYeMLKxN7jhcgIiIiakd03ZvpKjMwMAAArScDALBhw4Y6icSECROwevVqfPfd\nd5gwYUKDMUyZMgWlpaWYN28eTExMsHHjxqc5hBbXpRIDqVSKgIAAJCYmag0KSUpKwsSJE3VuUzs6\nPPuvi9h//F+4lHu63j66O3qjv08E/Lr3RzdDacsFT/QEtd9i9e3bV8+REDUOz1nqSLra+apWq/Ud\nQpvR9XRAV5mZmRnCwsKwdu1aVFRUwMXFBampqUhJSYGVlZXWNq+//jr27t2LqVOnIjExEf7+/igq\nKsKBAwfwzjvvYPDgwXX2P2fOHJSUlGDJkiUwMTHBmjVr6o3b1NT0iefjo+MdmqJLJQbAw4EeM2bM\nQFBQEEJCQrB161bk5eVh/vz5Otvn3r6C/xz7P8i4/uTXfuRSI/TzDsdA30goLR1bK3QiIiIiagGC\nINR5OqCrrNbOnTsRGxuL+Ph4VFZWIjQ0FIcPH0Z4eLjWNkZGRkhJScGqVavw/fffIyEhAba2tggN\nDUWPHj20+npUbGws7t+/j7feegumpqZ44403WvBoG08QO9tw8kb4/PPPsXbtWvz111/w9fXFhg0b\ntBY4ezTbeith9hNfGVJaOGCw32gE9xoCmVShsw1Ra+tq32ZRx8dzljqSrna+qtXqLj3GoCOo73/0\n6D2subn5U++7yz0xAB4uUrFgwYJGtdWVFHR38kF4wDg869qHswoRERERUafQJRODpvJw6IVR/aLQ\nw7l9zDVLRERERNRSmBg0wjNmSkwMi0FvtwDOLkREREREnRITgwb8zbMfpkcuhqwb37cjIiIios6L\niUEDZo96HRKJgb7DICIiIiJqVRw52wAmBURERETUFTAxICIiIiIiJgZERERERMTEgIiIiIiIwMSA\niIiIiIjAxICIiIiIiMDEgIiIiIi6sGvXrkEikSAhIUFT9tVXX0EikSAnJ0ePkbU9JgZERERE1KnV\n3ujr+lm4cCEEQYAgCPXuY+fOndi4cWMbRawfXOCMiIiIiLqE1atXw9PTU6usZ8+e2Lt3LwwN678t\n3rlzJ86fP4/Y2NjWDFGvmBgQERERUZcQGRmJoKCgJm/f0FOFpigrK4NCoWjx/TYFXyUiIiIioi5L\n1xiDx4WFhWH//v2atrU/tURRxObNm+Hr6wuFQgFbW1vMnTsXd+7c0dqPm5sbRo4ciUOHDiE4OBgK\nhQJr165ttWN7WnxiQERERERdQlFREQoLC3XW1fc0YOXKlVi2bBlu3LiBTz75pE79ggUL8OWXXyI6\nOhqLFi1CTk4ONm/ejBMnTiAtLQ0ymUzTR1ZWFiZOnIiYmBjMmzcPLi4uLXNwLYCJARERERE1yaKN\nL7bq/jfF/rtF9zdixAitz4Ig4MyZMw1uFx4eDgcHBxQVFSEqKkqr7tixY9i2bRu++eYbTJs2Tauv\nQYMG4euvv8a8efMAPHyycOXKFfz4448YPXp0CxxRy2JiQERERERdwubNm9GrVy+tMrlc3qx97tmz\nByYmJoiIiNB6GtGzZ08olUokJydrEgMAcHZ2bpdJAcDEgIiIiIi6iMDAwDqDj69du9asfWZmZqKk\npAS2trY66wsKCrQ+e3h4NKu/1sTEgIiIiIioiWpqamBlZYXdu3frrLe0tNT63F5mINKFiQERERER\nNUlLjwFoz540ONnT0xO//PILgoODYWxs3MZRtSxOV0pERERE1ABjY2OoVKo65VOmTEFNTQ3eeeed\nOnXV1dUoKipqi/BaBJ8YEBERERE1IDAwEHv27MHixYsRFBQEiUSCKVOmYNCgQXjllVewbt06nDlz\nBhEREZDJZMjKysLevXvx7rvvYubMmfoOv1GYGBARERFRp/e0qxY/3v7ll1/G2bNnsWPHDmzevBnA\nw6cFwMPZjvz9/bF161asXLkShoaGcHV1xeTJkzF06NAmx9DWBFEURX0H0d4UFxdrfjc3N9djJEQN\nO3nyJACgb9++eo6EqHF4zlJH0tXOV7Va3ezpO6l11fc/au49LMcYEBEREREREwMiIiIiImJiQERE\nREREYGJARERERERgYkBERERERGBiQEREREREYGJARERERERgYkBEREREj+ASV+1Xa/9vmBgQERER\nEQBAKpVCrVajurpa36HQY6qrq6FWqyGVSlutD8NW2zMRERERdSgSiQRyuRwVFRWorKzUdzj0CEEQ\nIJfLIQhCq/XBxICIiIiINARBgEwm03cYpAd8lYiIiIiIiDpGYhAWFgaJRKL1ExUVpdVGpVJhxowZ\nsLCwgIWFBWbOnIni4mKtNjk5OXjhhRdgYmICGxsbxMbG8jEZERERERE6yKtEgiDgpZdeQlxcnKZM\noVBotYmKisKNGzdw8OBBiKKIuXPnYsaMGfjxxx8BPByw8fzzz8PGxgapqakoLCzErFmzIIoiNm3a\n1KbHQ0RERETU3nSIxAB4mAgolUqddRcuXMDBgwdx9OhRBAcHAwDi4+MxaNAgXL58GV5eXkhMTERG\nRgZycnLg6OgIAFi7di3mzp2LuLg4mJiYtNmxEBERERG1Nx3iVSIA2LVrF2xsbODj44PXX38dJSUl\nmrrjx4/DxMQE/fv315SFhITA2NgYx44d07Tp3bu3JikAgIiICJSXl+PPP/9suwMhIiIiImqHOsQT\ng6ioKLi5ucHBwQHnzp3D8uXLcebMGRw8eBAAkJeXBxsbG61tBEGAUqlEXl6epo2tra1WG2traxgY\nGGjaEBERERF1VXpLDFauXKk1ZkCXI0eOYPDgwZg3b56mzNvbG56enggKCsKpU6fg5+fX6D6bslrc\n4wOYidobLy8vADxXqePgOUsdCc9X6kr0lhgsWbIEM2fOrLeNs7OzznJ/f38YGBjg8uXL8PPzg52d\nHQoKCrTaiKKI27dvw87ODgBgZ2enea2oVmFhIaqrqzVtiIiIiIi6Kr0lBlZWVrCysmrStmfPnkV1\ndTXs7e0BAP3790dJSQmOHz+uGWdw/PhxlJaWIiQkBMDDMQdr1qzBzZs3NeMMkpKSIJPJEBAQ0AJH\nRERERETUcQliU96vaUNXr17Fjh078Pzzz8PKygoZGRn4xz/+AWNjY6SlpWmWhR41ahRu3LiBbdu2\nQRRFxMTEwMPDA/v27QMA1NTUwM/PDzY2Nli/fj0KCwsRHR2N8ePHY+PGjfo8RCIiIiIivWv3icGN\nGzcwffp0nDt3DiUlJXB2dsbo0aPx9ttvw8LCQtOuqKgICxcu1KxbMHbsWHz66acwMzPTtMnNzcXL\nL7+Mw4cPQ6FQYPr06Vi3bh26devW5sdFRERERNSetPvEgIiIiIiIWl+HWcegLW3ZsgXu7u5QKBTo\n27cvUlNT9R0SUR2rVq2CRCLR+nFwcNB3WEQAgJSUFIwZMwZOTk6QSCRISEio02bVqlVwdHSEkZER\nhgwZgoyMDD1EStTw+RodHV3nels7hpGorb3//vsIDAyEubk5lEolxowZg/Pnz9dp15RrLBODx+ze\nvRuLFy/GypUrcerUKYSEhGDkyJHIzc3Vd2hEdTz77LPIy8vT/Jw9e1bfIREBAEpLS/Hcc89h48aN\nUCgUmvFgtT788EN8/PHH+PTTT5GWlgalUonhw4drLV5J1FYaOl8FQcDw4cO1rrf79+/XU7TU1f36\n66949dVXcfz4cRw+fBiGhoYIDw+HSqXStGnyNVYkLUFBQWJMTIxWmZeXl7h8+XI9RUSk29tvvy36\n+PjoOwyiBpmYmIgJCQmazzU1NaKdnZ0YFxenKSsrKxNNTU3F+Ph4fYRIpPH4+SqKojhr1ixx9OjR\neoqIqH4lJSWigYGB+NNPP4mi2LxrLJ8YPKKiogLp6emIiIjQKo+IiKizBgJRe3D16lU4OjrCw8MD\nU6dORXZ2tr5DImpQdnY28vPzta61crkcgwcP5rWW2iVBEJCamgpbW1v07NkTMTExddZPItKXe/fu\noaamBpaWlgCad41lYvCI2gXPbG1ttcqVSiXy8vL0FBWRbv369UNCQgIOHjyIf/7zn8jLy0NISAju\n3r2r79CI6lV7PeW1ljqKESNG4JtvvsHhw4exfv16nDhxAkOHDkVFRYW+QyNCbGws+vTpo1nLqznX\nWL0tcEZEzTNixAjN7z4+Pujfvz/c3d2RkJCAJUuW6DEyoqZ7/N1uovZg8uTJmt+9vb0REBAAV1dX\n/Oc//8G4ceP0GBl1dUuXLsWxY8eQmpraqOtnQ234xOAR1tb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FokWLsHDhQqSmpmLBggXYsGFDS+UmAKE9I9S2T6TvR01ttY7SEBEREVFbonGh\nHxgYiMDAQHz11VcYPHgw/vOf/+DWrVtYtWoVevfuXaf/0KFDUVZWptWwpC7YNxwGIkPVdrm4FH+e\n+lmHiYiIiIiordC40Dc3N8f69etRWFiI2NhYREVFQShs+PAJEyYgJ4dfbG1JnUwsMLTPOLW2Y+f/\ng7zb13SUiIiIiIjaCo0L/Z9//hkzZ86ElZVVvfurqqpw8+ZN1baZmRm8vLyeOCA1bsyA6bC1sFdt\nK5UK7D+zTYeJiIiIiKgt0LjQ9/b2xh9//NHg/t27d8Pb21sroUhzxoYmmDJsgVpbxvVklN2/q6NE\nRERERNQWNGvVnfrIZDJtnYqayN87BM52HqptpVKBUxkHdZiIiIiIiHRNK4X+vXv3sH//fjg4OGjj\ndNREAoEAYb3HqLUlZsZBLudfvoiIiIg6qkYL/Y8++ghCoRAikQgAMGvWLAiFwjr/2Nra4ueff8aM\nGTNaJTTVFdJjGIwMTVTbFeIyZN5I0WEiIiIiItIlg8Z29uvXD6+88goA4Ntvv8XIkSPh4+Oj1kcg\nEKBTp07o168fnn766ZZLSo0yNTZDP9+hOJlxQNWWfPkYAroO0GEqIiIiItKVRgv9sWPHYuzYsQCA\nyspKvPTSSwgNDW2VYNR0/XsOVyv0M3OSUS2pgqmxmQ5TEREREZEuaDxGf/PmzSzy2zgvJ1/YWv41\nT0Iqr0X6tdM6TEREREREutLgE/2EhAQAwJAhQyAQCFTbjxMeHq6dZNRkAoEAIb7hiEv6VdW2++SP\n6OMzCMaPjN8nIiIiovavwUJ/2LBhEAgEqK6uhpGREYYNG/bYkwkEAsjlcm3moyYK/p9C/37VPazY\n8hpemvgBnGzddZiMiIiIiFpTg0N3Dh8+jPj4eBgaGqq2H/dPfHx8ky6ekJCA8ePHw83NDUKhED/8\n8EODfV988UUIhUJ8/vnnau0SiQSvvfYa7O3tYW5ujgkTJuDWrVtNytGeONt5wNNRfcJ06f07+G7v\np5DJpTpKRUREREStrdEn+o1ta4NYLEZAQADmzp2LOXPmQCAQ1Nvv119/RVJSElxcXOr0WbRoEXbv\n3o3Y2FjY2toiJiYG0dHRSElJgVCote+B6ZU5Y2Lw9W//QFnlX1/HLS7Lx+FzuzCq3xQdJiMiIiKi\n1qJxJVxZWYmbN282uP/mzZsQi8VNunhUVBSWL1+OyZMnN1iU5+bmYtGiRfjll19UbxceKi8vx6ZN\nm7Bq1Sqv7cMOAAAgAElEQVRERESgb9++2LJlC9LT03Ho0KEmZWlP7K2d8e7sr+DrEajWfuDsdpRU\nFOsoFRERERG1Jo0L/ZiYGEyYMKHB/RMnTsRbb72llVAPyWQyzJgxA//4xz/g6+tbZ39KSgqkUilG\njRqlanNzc4Ofnx8SExO1mkXfGBuZYt6YxehkYqFqk8pqcfz8nzpMRUREREStpdF19B918OBBzJs3\nr8H9kyZNwubNm7UQ6S/Lli2Dg4MDXnzxxXr3FxUVQSQSwc7OTq3d0dERxcUNP7lOTk7Was62rLfr\nEJy+9ldxn3QxAa4mvRocJkVtS0e6V0n/8X4lfcN7lvTB/36stik0fqJfWFgIV1fXBvc7OjpqdRLs\n0aNH8cMPP+Df//63WrtSqdTaNToC787+EApEqu37NWW4V3VHh4mIiIiIqDVo/ES/c+fOyMzMbHD/\npUuXYG1trZVQAHDs2DEUFhbC2dlZ1SaXy/H2229jzZo1uHnzJpycnCCXy1FSUqL2VL+oqKjR9fxD\nQkK0llMfpBcfQeaNv55ayE3uIyRkrA4T0eM8fMrU0e5V0k+8X0nf8J4lfVJeXt7sYzV+oj9u3Dhs\n2LABSUlJdfadPXsW69evx9ix2iseX3nlFVy4cAHnz5/H+fPnkZaWBhcXF8TExKiW8QwODoahoSHi\n4uJUx+Xn5yMrKwuDBg3SWhZ917vrALXt9JwzOkpCRERERK1F4yf6H374If78808MGjQIUVFR6NWr\nFwDgwoUL2LdvH5ycnPB///d/Tbq4WCxGdnY2AEChUCA3NxdpaWmws7ODu7s77O3t1fobGhrCyclJ\nNVbJysoK8+fPx5IlS+Dg4KBaXjMwMBCRkZFNytKe9fLuBwEEUOLBsKf82zk4lrYXGTlJsLdxwYSw\nufxyLhEREVE7o3Gh7+zsjKSkJCxduhS///479u7dCwCwtLTE7NmzsWLFCjg5OTXp4klJSRgxYgSA\nB1/VXbZsGZYtW4Z58+Zh06ZNGp1j9erVMDAwwLRp01BdXY3IyEhs3bqVk00fYdnJGt7OPZBTeEnV\n9tuxB3MfLuedx737d/HCU+/yvxkRERFROyJQNmN2q0KhwJ07DyZ02tvb68WHqR4d32RlZaXDJLpx\n9tIRbI1b0+D+ZyNfQ6h/RCsmosZw/CjpE96vpG94z5I+eZIatlkVukAggFAohFAo5FNgPRHiGw5H\nG7cG9/+W8G+Ui0tbMRERERERtaQmFfrZ2dmYOnUqLC0t4ejoCEdHR1hZWWHatGm4evVqS2UkLRAK\nRYgKnd7gfkltNZIuHW29QERERETUojQeo5+ZmYnBgwejuroa48ePR48ePQAAWVlZ+OOPPxAXF4cT\nJ07A39+/xcLSk+njMwhdzvshp+BSvfuv3bqIyJCnWzkVEREREbUEjQv9pUuXwtTUFMnJyejWrZva\nvmvXriEsLAxLly7Fnj17tB6StEMoEOKlCR/g8Lk/oFQq0dMrCF9uX6ran1N4CQqlAkJB259zQURE\nRESN07jQP378ON566606RT4AdO3aFQsXLsTKlSu1Go60z8TIFGNDZwAAFEoFzIzNUSWpBABUS8Qo\nvHsTrvZeOkxIRERERNqg8aNbmUwGU1PTBvebmppCJpNpJRS1DqFACG+XHmpt1wou6igNEREREWmT\nxoV+cHAwNm7ciLKysjr7ysrKsHHjRi5TpYe6uvRU285hoU9ERETULmg8dOfjjz9GZGQkfH19MXfu\nXPj6+gJ4MBn3xx9/xL1797B+/foWC0oto6ureqF/7dZFKJVKLptKREREpOc0LvSHDh2KuLg4LF68\nGJ9//rnavqCgIGzfvh1Dhw7VekBqWe4OXWFoYASprBYAUC4uxaXcVPT0CtJxMiIiIiJ6EhoX+gAw\nfPhwnDt3DoWFhcjNzQUAeHp6wtnZuUXCUcszEBnCx7UXLuaeU7VtP/IvvDNrLYwNTXSYjIiIiIie\nRLPWUXR2dkZoaChCQ0NZ5LcDUaEzIHhkSc3Sits4cGa7DhMRERER0ZNq8Il+QkJCs04YHh7e7DCk\nG55OPhgaOA5H0/76BkJi5kFED57FNfWJiIiI9FSDhf6wYcOafDKBQAC5XP4keUhHxg18FmcuHUa1\nRAwAqKq5j1t3rsPdoauOkxERERFRczRY6B8+fLg1c5COGRuZwsetN9KvnVa1Xb55noU+ERERkZ7S\n6hN90m++7gFqhf6VvHREhjytw0RERERE1FzNGoCdnZ2NkydP4t69e9rOQzrk6xGotn2t4KJq2U0i\nIiIi0i9NKvR/+uknuLu7w9fXF+Hh4Th37sGSjHfu3IGPjw+2bdvWIiGpddhbu8Da3E61LZXVIu3q\nKR0mIiIiIqLm0rjQ/+233zB79mz07NkTq1atglKpVO2zt7eHn58ftmzZ0iIhqXUIBAL4uqs/1d9y\n4EscT9+no0RERERE1FwaF/r//Oc/ERERgQMHDmDOnDl19g8YMADnz5/XajhqfT08+9Zp23FkPfJu\nX9NBGiIiIiJqLo0L/UuXLuHppxuemOng4IDbt29rJRTpTmC3UHRz9a/TnnrlpA7SEBEREVFzaVzo\nd+rUCZWVlQ3uz8nJQefOnbUSinTHQGSIV5/+GH18Bqm1Z1xP0lEiIiIiImoOjQv9ESNGYPPmzZBI\nJHX2FRQUYOPGjRg9erRWw5FuCIUiTB/xitpXcYtK83C3vEiHqYiIiIioKTQu9JcvX46CggKEhITg\n22+/BQD8+eefePvtt9GrVy8IBAIsW7asxYJS6zIzMUcXFz+1tszryTpKQ0RERERNpXGh3717dyQm\nJsLZ2RkfffQRAOCLL77AypUr0bdvX5w8eRKenp5NunhCQgLGjx8PNzc3CIVC/PDDD6p9MpkMb7/9\nNgIDA2Fubg4XFxfMnDkTeXl5aueQSCR47bXXYG9vD3Nzc0yYMAG3bt1qUg6qX68u/dS2L+Sc1VES\nIiIiImqqJq2j7+fnh7i4ONy5cwenT59GYmIiioqKEB8fj+7duzf54mKxGAEBAVizZg1MTU0hEAjU\n9qWmpuL9999Hamoqdu3ahby8PIwZMwZyuVzVb9GiRdi5cydiY2Nx/PhxVFRUIDo6GgqFosl5SF0v\nb/VC/0peOlKzOSmXiIiISB8YaNoxISEB4eHhAABbW1v079//iS8eFRWFqKgoAMC8efPU9llZWSEu\nLk6tbf369fD390dWVhb8/f1RXl6OTZs2YfPmzYiIiAAAbNmyBZ6enjh06BBGjRr1xBk7MgcbV7h2\n9sKtuzdUbT/FrYWdpSM8HLvpLpiekctlEIk0/qVGREREpBUaP9EfNmwY3N3dERMTg7NndTOEo7y8\nHABgY2MDAEhJSYFUKlUr6N3c3ODn54fExESdZGxvpg5/ESLhX0VqrUyCr3d+gGu3LuowVdsmV8gh\nk0txt7wIK7a+jre+nY7N+z5HhfierqMRERFRB6Jxof/jjz+iT58++OabbxAaGoquXbvi3XffRXp6\nekvmU6mtrcXixYsxfvx4uLi4AACKioogEolgZ2en1tfR0RHFxcWtkqu96+Lih6nDX1Rrq6mtwrd/\nfIhLuak6StV2xaf8jsVfT8Wy7/6Gjze/hMKSm5ArZDh35Tg+2foaMnKSoFQqUVXT8FK1RERERNog\nUCqVyqYccO/ePfz++++IjY3FkSNHIJPJ4Ofnh2nTpmH69OnNGqsPABYWFvjmm2/q/equTCbDs88+\ni0uXLiEhIUH1RP/nn3/G3LlzIZVK1fpHRESge/fuWLdunart4dsAAMjOzm5Wxo7sXO5hZOSrvyUR\nCoQY4vs0PO166ChV21J47zoOZv6kcX+7Ts7o33U07C3cWjAVERER6TMfHx/Vv1tZWTXp2CZNxgUA\na2trPPfcczhw4AAKCgqwbt06ODo64uOPP4afn9/jT9BEMpkMM2bMQEZGBuLj41VFPgA4OTlBLpej\npKRE7ZiioiI4OTlpPUtH1tdjOPp4DFNrUygVOH75d5RUcn19uUKGMzn7m3RMibgQ+9I3I/PW6RZK\nRURERB3ZE80QtLa2houLC1xcXGBsbIzq6mpt5QIASKVSTJ8+HRcvXsTRo0fh4OCgtj84OBiGhoaI\ni4vDjBkzAAD5+fnIysrCoEGD6jslACAkJESrOTuKfv364VhaN/x27N+qNoVSjlM5u/DWjM9hbmqp\nw3S6FZf0KyqqSx7fsR4pNw5heOgYtQnOyckPvlnAe5X0Ae9X0je8Z0mfPDoqpamaXOjL5XIcOnQI\nsbGx+OOPP1BeXg5HR0c8//zzmD59epPOJRaLVcNoFAoFcnNzkZaWBjs7O7i4uGDq1KlITk7Gnj17\noFQqUVT04MmxtbU1TExMYGVlhfnz52PJkiVwcHCAra0tYmJiEBgYiMjIyKb+aKSBoX2iYWhgjNj4\nb1Rtpffv4L0NczG0TzSiB8+CkYGxDhO2PqmsFkfO7Wpw//SIV2Bt3hnf71sJSW39fxmOS9qBv0W/\n01IRiYiog1MoFKitrdV1DPofRkZGEAqbPMBGYxoX+ocPH8a2bduwc+dOlJSUwMbGBlOmTMH06dMx\nbNgwiESiJl88KSkJI0aMAADVl3WXLVuGefPmYdmyZdi9ezcEAgGCg4PVjtu8ebNqLP/q1athYGCA\nadOmobq6GpGRkdi6davamvykXYN6jcTN4mwkZvy1/KkSShxN2wMTIzOMHThDh+laX9rVRIhr7qu2\nTY3MMHPU67iSl46urv7o6zMYAPDOzLVIuZwACzNrlItL8Z9Tf43nT792Bnm3c+Du0EWjayqVShSW\n5MLGwgGmxmba/YGIiKhdUSgUkEgkMDExYX3UhiiVStTU1MDY2LjFin2NJ+MKhUJYWFhg/PjxmD59\nOkaPHg0DA/1ZG/zR1x5NnchAddVKJfhi+9soeGSNfQCw6mSLj57fCKGw6X/x01dfbH8bNwovq7aH\n9XkKTw+d3+gxSqUSn8f+HTdvX1W1dTK1xAvR76CLi1+jr5ULS/Lw4/7PcevuDRgbmWLhpI/g5dS8\nSfBE2qDLYRAFd2+gsOQmursHwMLMutWvT/qpow3deVhMsshve5RKpeovYQ15khpW40p9+/btiI6O\nbjQIdRxGhsZYNHUFdp/8ESfS96nay8WlyM7PgK9HoA7TtZ682zlqRT4ADA4Y89jjBAIBRg94Bhv3\nfKJqE1dXYM2v72HqsAUwQec6x8gVchw//yf2JG6BVPbg9auktho/H/wKb89cDVEH+ssVtR1KpRJV\nkvuolUugUCogFDT9qZS45j5+PboRF66dgYmxGeytnBHeZ5zqbVhDkrKO4aeDa6FQyGFjYY9FU1fA\nxqLurx0iAov8Nqql/79oXOhPmTKlJXOQHjIxMsUzw19ETW0VkrOOqdqTso7qZaF/In0/TlzYj8qq\nchgbmmBwwBiMCJrQYP+qmkr8uP8Ltbbu7gFwtHHV6Hq9vPuhu3sAruT99S0KpVKB7Uf+hb4ew2DT\nyQkJ23bAqpMNRgRPxLbD/6rzBgUAikrzcPbSEQz057wUaj0SaQ3+c+pnnLkYj2qJGACQdPNPTB3+\nIrq5+j/2eKlMisSMA7hZfBXnr51GrbQGwIOP8lWIy3Ct4CJqR0owoOeIeo+/dusifj74FRQKOQCg\n7P4d7Dz2b8yPXqqln5CISP81eR19fcWhOy3n8s3z+Ob3ZaptY0MT/POFH1BTWwVTY3MYGhjqMJ1m\nsvMz8NVv79dpf2PKJ+jq2rNOe5WkEht3f4JrBepfCP5b9FIEdA3V+LrVkirsOvE9EjMONj30I6zM\n7fDOrDUwMzYHANwtL8LZi0dQUlGMUP8I+Lj1fqLz65JCqUBlVTk6mVhAJNKf4YLtVW7RFVzMTcWZ\nzEMovX+n3j6Otm7w9wpGUPchsLNyhKHICEaGf03Sl8pqsWHPP3H55vnHXm9on2gM7RMNC1MrHE/f\nh0u5qSi7fwd3y+tf1nfBU++hV5d+Gv0s1RIxTmfGw8jQGAFdQ2FqbAapTPrYeS9yhRz3Ku/CyMAE\nxkYmyC3KhlAgQBeXnnxqqic64tAdjshoux73/+dJalgW+vTEFAo5Ptj0N1SIy9TaBRBAJDLASxP+\nge7uATpKp5nv9v4/nL9Wdz37wb3HYNqIl9Ta7pYX4V+7/g+3y26ptQd1D8PcMYub9Qf9hZyz2Pzn\nKkjlzV8Rwd2hK16a8AF2n/gBZy4dVrWLRAaIeeYzjSf6thXllaU4mXEACWn/QZWkEgKBEJ6OPnhq\n8Gz4uPXSdbwOR1Jbje1H1iMp62iTjxVAgEG9R2PK0L8BADb9+Rku5JzVcsIHjI1MMTFsHvr6DEat\nTAKBQACrTraq/TK5FOXiUhiKjPHljrdRUl73K+o2FvZwtfdGJxMLeDr6oL/fcBgZGkNccx9Hzu3G\n6YuH6vx+Bzx4S/fc2CV68XCjo2OhT20JC30tYKHfsnad2Iz4lD/q3Wdj3hkfzPtXm30aW15ZimWb\n/gaFUlFnn4WZNf5v/neqycVyuQyf/vwmikrz1Pp1cfbDwqc/gqGBUbNzZOdfwNe/fQAlGv8l2c2t\nF+aNWYwjqbsa/G9en6F9omFkYIyurj3h6x7Yav8/amUSZF5PgZ2lg9q3Av6XUqnEjaLLSLl8HBdy\nzqKsgafFD9lbOUMkMoClmTV6egcjuHs4rMxtGz2GmqZWJsGVm+nIuH4WF66dxf3q5q/lDAC+HoGQ\nymqRU3Cpzj6BQIghAVGwtbTHrhM/QlnPr8fm6uszGBOHzENiRhyOp+9H1SOrZGnC0swGXVz8kHY1\n8bF9Xe298XT487CxsIdlJ5sOt9ywvmChT9p29OhRjBgxArGxsXjmmWeadGxLFvpts/IivTMiaCJO\nZ8arLTP5UFnlXaRdPYVg3yE6SFa/Kkkl8m/nwM2hC05fPFRvkQ8A96vu4UbRFXRxefDV59MX4+sU\n+V5OvnjhqXeeqMgHAB+33hjUezROXmj4C7udrZzwQvS7MDU2Q9SAGbhecBk5hXWLpvocS9sLADiY\n/Buc7Tzw4vj3YdXJFnKFXG1YRVMoFHKU3r8DqawWtpYOMDZU/43qdtktrPvjY5RUFEMAAaYMX4Ah\nAVEAgNKKO7iQcwbXCy9DrpCh8G4ubt8r0Pjad8oLATyYo3Al/wL+PB2LuWNi0LtL/2b9LKQu5fJx\n7DiyHlWSykb7DfQfCS+LviitLMS1snPIKbjU4K+n+obqmBqZYcKQeejpFQxrczsAgLV5Z8TGf4ua\n2qoGryuAAI62bqqhcnFJOxrsm5p9EqnZJxv9ORpTUVWmUZEPALfuXMdXv/0DACASGqCvz2A8NXgW\nbCzsm319IqqfpktSfv/995g7d24Lp2mbWOiTVliYWWPKsBfww/9MTn3oyLldCOoe1ibGr5aUF2Pl\nL4tRJamEsZFpgx+xeigp6xi6uPipJh8+6sGr+r8/cZH/UPTAZ5GafbLeJ44WplZ4buwS1fhhI0Nj\nvDzxA6zfvRxXb2U26TqFJTfx4fcLAABmJhaYNOS5Bic91qdWKsEvh77G+WunIZNL/8poZg17K2e4\nOXhDIBAi6dJRVaGohBI7j30HT0cfZOdnYE/iFtVESm2oldbgx/1f4J1ZX8HWkkXVkzidGY9fDn3d\n4Nulh6vi9PDoA0dbNyQnJ8PRyhPjIiajWiLGxRspOHPpCG4UXm60WLezdMQbUz9RFfgPBXUPQ0+v\nYCRnHcPexK1qf9lwsnXH9IiFcO3sCWMjUwAP3gZZdrLGzoRNWr2nHkcAQaNv4OQKGZIvH8P5q6fw\nzIgXMaBnRKtlI+oItm7dqra9fv16nD59Gt9//71a+6BBg1ozVpvCoTukNUqlEpv3rWrwydnrU/6p\n0WocLe2XQ9/gVGb9k18NDYzwdPh8bDu8Tq09sNtAXLt1EZWPDF0wFBnhH/PW1SlSnlRWbhq+2/sp\n5AoZnh46H0Hdw5B/JwfOdh71rhNeXlmK5T++Asl/Vy15KKBrKLLzL6hWRHmc6RELMajXSI36botf\nh5MZBzTq21wikQHc7bsioOsAhAVE4fzVRPxy6JsGnxY/anDvMejuHoCALv1bZYiSQiFHYclN2Fja\nw1BkhIzryZDJpejl3a/Nf9DsdtktVFbfh6u9F4pL83H43B84d+VEvX2NjUwxsGckogfNUnsL1Ngw\niPLKUnz7x4coLLmp1m5lbodFUz6BnZVjo/lKK+5g++F1yL6VgV7e/TAj8lWY/LfA/183i6/iaOoe\n3Lx9FSXlxZArZI2eGwBsLR2weNpKCIVCGBoYQQAhbt29jrL7d3HtVgZOZR5SLWf70JCAsXhq8GwY\nigxRK5OgWiLGmh3voqzybqPXGt1/KkaGTGn2GzTSHg7daZ/mzZuHbdu2obq68Qd4YrEYnTp10uq1\n2+rQHRb6pFVyhRwnLxxAVc19ZN5IQW7RFdU+D0cfxEz7FACatda2NtRKJXhv49w6RfFDw/uOR1To\nDLy7YY7ak+r6RARPwoSwlnkVmJSUBIVSgQH9B2jUPz7ld+w68YNqWyQ0wD/mrkNFVRl+OfQ1pLJa\neDh2w7WCSyivLGnwPC+Ofx/+3up/8EmkNfgj4XsU37uF/j2Gw87KQTU0QdsEAiF6eYegv99w+HkF\n1RnffL0wC6cyD8HC1Ao9PPvC1NgM+89sR3o9E6kBwNrcDtNGvFznZ9Kmm8VX8cP+L3CnnmFHJkZm\nGN53PEYPeEZn93xDFAo5dp34AUdSdzfaTygUYZD/SPTuOgDdXHvVO9H0cUWTRFqDE+n7kJadiPw7\n1+HS2RNzxsRovBRtc92vuodvdi5DQUkugAcfpRsVMgUB3Qbg4o1zqJXWYFCvUTA1bvgP/PtV95Ca\nnYiM60moqa3CsD5PIah7WJ1+NbXV/10u9Bru3CvA7bJb9f4+YygywgD/CAwJGIvs/AuokYhhb+MK\nRxsX2Fu7wNDASPXl68zrKaioKoO9tQt6ePSBVFYLc1NLzkXRAhb67VN9hf7DtqysLLz22ms4duwY\ngoKCcOTIEaSnp+PLL79EQkICCgoKYG5ujsjISHz22Wdwd3dXO3d5eTmWL1+O3377DQUFBejcuTOG\nDh2KlStXwsXFpd5CXyqV4tlnn8W+ffuwa9cuRETU/1aPY/RJb4iEIoQHjgXwYNLo2l/fU+27WZyN\nRWufhpmJBZ4aNAuDe49u9Xzp1043WOS7dPZC9KBZMDQwwkD/kTie/meD57G1sEdkyNMtFRMCgQAi\ngeYfwBraJxqp2Ym4WZwNABgRNAG2lvawtbTHO7PWqvrVSiX46rf3kfvffv9r57Hv0MOjj9pT8F0n\nflA9vb+an1HvcTbmnVEuLq33abtAIGx0YuWIoAlwtfeGUCBEF5eejX7wyNu5B7yde6i1PT9uCb76\n9f06S50CwL3KEmzcuwLzxixGH5/6X92Wi0uRV3wNXV39H/v0/X5VOZKzjqGw9Cb8vUJQIS7FzoRN\nDT45rqmtwr4zsZBIqzFxyHNq+6SyWlRUlaFCfA/3q+5BJBTBpbMXMnLO4uqtTDjauqGvz2A423ng\nSt4FpF45AQdbVwzuNbreJ8JKpRIKpaLOh9Mk0hqczjyEnIJLEAiEqjGtV/LS61055lFCoQjPRf0d\ngd00XzK2PsaGJogInoSI4ElPdJ6msjCzxuLpK5GcdQwikQF6dxmg+n/8cK6IJucIDxyr+n2tISZG\nphgRNFG1rVDIcSrzEH49thFy+V/3h1ReixPp+9Q+NPiQAAJYmdtCIq1p8E2cQCDE0MBxiB48q96J\nvgqlAheuncXd8kJ4OfnC29m3Q32pnKg+CoUCo0aNwoABA7Bq1SoYGDz4M+7QoUO4cuUK5s2bBxcX\nF1y9ehX/+te/cPbsWWRkZMDU9MHbQ7FYjKFDhyIzMxPPPfccQkJCcPfuXezbtw/Xrl2Di4tLnWtK\nJBJMmTIFx48fx4EDBzB4cOMfAGwpLPSpxXRz9Udg19A6y1ZW1dzHtsPrUFSah0lDntP4D6Hcomxc\nzD2HHh594O3s26xMZy8dqbfdyMAY86IWq8baTx46H/bWzjhwdnudCcYBXQfg6fC/oZOJRbMytAQD\nkSEWTvoQadmJ6GRqgV4NTEg1MjTGy5OW4cCZ7aoi79yVE6pxxnfKC3EyI05V1NTKJEhq4L/ZQ69N\nXg4ft16Qy2Uoq7z74ANIV0+h9P4d+LoHYmCvSFiYWePH/V/WefI+ddgCDHlMAfU4QoEQMyIX4ovt\nS+ud26BQyLHpz8/g49YbPm69YG/tAgORAUyNO+FCzlkcP/8nFEoFTI07YdqIlxHUPQzi6gpcK7gE\nZzsPiIQiJJz/E9cKLiL/do6qqD+deUjjjEfT9mJIwFjYWTlCoVTg1yMbcCrz0GOHluw/s61O2+nM\nQ5gX9Xc427lDKqtFfMrvSL6cgNKK25DLZXC190Yv734YEhiFCnEZvt+3qs5SsJpw6eyFp8Pno7u7\n/n6DAXgwHG+ghkPStEkoFGFw79HobOWEjXs+Qa1M8thjlFDiXiNv3IAHH9U7mrYHWTfTMHv0mzA2\nNEbZ/buolUlwv+oeTmfG40bRX1/rtjSzwbiBzyLUP7LBOVJ3y4tw914RvJ19VfMeqGNryfl0uhhI\nIpVK8dRTT2HVqlVq7S+//DJiYmLU2saPH4/Bgwdj586dmDlzJgBg5cqVSE9Px44dOzB58mRV33ff\nfbfe61VVVWHChAk4d+4cDh48iH79NPu2R0vg0B1qUaUVd/DPLQvrjHF9yN87BPPGLH7sHy4Fd3Ox\nMnYx5HIZhAIhFk9fCXeHrk3KUnb/Dj7ctEBt8lxPzyCYmVggIngiXO296xxTLanCpdxzKBeXQqlU\nopurf6NLRGpLa75W/t/x9p1MLfHi+Pfh5dQd566cwOZ9qxo8dnCv0ZgW8bJG11EqlUjKOoo9J7eg\nouoeRgSNx/jBc7X2B0pJRTEuXk+BVC5F3u1rSLmcoJXzaktw9yGYG7UYB5N3Ys/JH5/oXEKBEB6O\nPkP9b/YAACAASURBVCi7fwfl4lItJXwwL8LPMwgD/Iajd9cBGg836mjDIJrqzr1CHE3dg9Tsk2rz\nfFqTr0cgRgRNhFKpwOmL8bh88zyUSiWUSoXqLaeZiQWG9x2PsIAxzX6QUVNbjftV99DZyqlNLL7Q\nkI52zzZ16I6+FvoNDd358ccfcfXqVXTp0vD3ZCorKyGRSKBUKtG9e3c899xz+PzzzwEAvXr1glAo\nRHp6eoPHPxy6s2HDBvz444+4fPkyDh48iICAx39HiEN3SG/ZWtpjQthc/Hp0Y737M68nY9W2vyPE\nNxzmplYwM7FAD4/AOmNmj6buVr3+VigVSEj7D2aOer3O+aolYtTKJLA0s6nzG9XJCwfUinw3+y54\naeIHjeY3NTardzxuezImdBqSso6qnjiKqyuwevtSDO0Tjexb9Q/VMTXuhPDAsRgzYLrG1xEIBOjv\nNxwhvuGQK+RaW6noITtLR7W3Az08+uDng1899rsE2mBkaIJZI1+HjUVn3C0vRnf33si4noxfDn2t\n6pNy5TjOZZ/UyvrwCqVC7antk+jm6o85Y2JgbGgKQwNDGIj4sSdts7d2xtThCzA+bA52HFmverNo\nYWYNb2df/P/27jw+ivp+/Phr9t5NdnNvTnJCAuGQUw4V5PSiKq1FUCvWg1ptRf1ZH+pDLXigtJ71\n+BX79aDtj3rU1vbriQoWKR4U5T5DgiGBbK7dnLvZ7O78/kh3ZEnCDZuE9/PxmAdkZnbms5vZyXs+\nx/vjb2+j2l0ZMdOwxWQjP30gFrONA3Xl1DdWd9vt8GjsLN94xJmIW31NvPfF/+PDr97AmZCBTqcn\nPjYJVVXZX7tXe8DMSSvEbouj1lOFisq44qkkxaWys3wjL7+3BJ+/ldy0ImZN/Cn9nAVdXlPtgXZ2\nV2xmw+5/426qZVj/cUwYMqNT1zMRHX2tDlin05Gbm9tpvdvt5p577uGvf/0rbndkV8aDg+s9e/Yw\na9bRdT2888478Xq9fPPNNwwdGv0WUQn0xSk38axLSInPoNpdiaIorFj314i+wa76ioi0lXq9geH9\nJ/DDiddjt8Wjqipfbvs04phfbV/ZKdDfXPo1yz54En+gDWdCJqOLJjJl5OWYjGbaA37+vWVFxP4T\nhsw4Be+294mLSWTq6B/ywZd/0daF1FCXgzQvO3ceWSn55GcUH/fsnzqd/rT0GR5bPIUYi5131/5Z\nG4x5Mhw65sBui+dnl96vtfTkpBV2nH/QZD5d//eIbjOHBvlGg4nUxCxiLQ4aWuo5UFeO1RxDRnIu\nAGWHyUl/rMYWT2Vg9lkEQ0FCoRB2Wxwp8ek4T/GAWPE9s9HCNTMWMHXULFp9TWSnFkZ8j/yBNuoa\nXOgUHSnx6Z2+J962Vv72r/+JmPn6VAiGAlqWpMqasoht9U01neYU+HT93ynOHcmmPV9p6/ZW7eTp\nN+8BOroWhufY0OsMmE1W3E01EQkPdu7byOcb32fc4GkU9RuGMyFLZhgWJ43JZOoy5/7s2bNZu3Yt\nd911FyNGjMBu72jJmjNnDqHQ9/feY2nhuPzyy3n99dd59NFHWb58+VHn+j9VJNAXp8WgnBEMyhkB\ndKR9fOmfj1JRU9rlvsFggPU7V7N732aunPrzbjNz1DW4tNR8oVCQt1Yt1Wqlq92VvP/lX6jxHOAn\nF9zOt7v/TYu3UXut1WRjzMBJJ/Mt9moXjLmCplZPlwMEw5zxGUwZeXmPbo4/1JD8MQzJH0O1u5Ld\nFVs4UPcdDc0dg4YbW9x4Wurpl5LPOUMv4IMvX6e8uqTL49ht8Vx49myGFYwjLjaRQLCdzaXraGyp\nZ3TRRGKsjk6v0en0/GDCNbz83pJuyzfvwv/DsILvMyu1tfsw6AzaYOgWbyM7921Cp+gYnDeGzaVf\n8d4Xyztl+BlbPJWLx83FoDfyxZYVfLTuLa27XHJcGpede90JD6gVJ096UnaX600Gc7fboKOF8eoZ\ntzE4bzRvrVpKk7cBs9FCZkoeVlMMRqMJqymGwXmjGJo/lrpGF8s/eb7bQfQnSyDYHhHkd7U9IotZ\na9eDwKvq9/HO5x35z3U6PcMKxjLrvJ/KZGPihHXVQuF2u/n0009ZtGgRDzzwfSY5n89HfX1kl8iC\nggI2b958VOeaOXMmF198Mddccw0xMTG8/PLLJ1b4EySBvjjt4mOTWHDFo7z12Uus2/5Zt10rGlvd\n/OF/F3d7nJ37NjEhrmOQ3fbvvu1yENu6HZ8xYcgMPt8YmUFn7OBpMujsIDqdntmTf0ZxzkjeXPX7\nLj/LswdN7lVB/sGcCZlHrLkelDOCL7Z+wrodn+GwJXDRuDmoqoqnuZaCzMERs/4a9EZGdJPF52Bn\n9R/P1dN/yapv/5f9tXsjtk0dNSsiyAc6zSwcY3VEdB0bWXguZ/Ufz87yjdQ2VGG3xZPtLIjIRT/j\n7B8zeuAkNpSsJS4mibP6j5PuOH3M8AETGJw3hoaWOhLsKd12d0mOS+OXP3yYHeUbWPnNO+yv/Q6H\nLZ5+qf0ZVXgeFpONippSslLySEnIYM2mD1m7+aOILkTREgoF2bB7LZtKvqQgczAZyTmMLppEdmr/\nXnsfEqdHV9dHV+v0+o7vzcE19wBPP/10pweDK664gkWLFvHXv/6VK6644ohlmDNnDi0tLdx0003E\nxsby7LPPHstbOKkk0BdRYTZZuWbGAqaMvIzPN35AbUMVJqOZipoy3Ef5R2bXvk3aBE9fHCYDyp8/\nfpa6Bpf2s4Jy1Kn1zjRD8sdQmD2M1Rve46vtK6lvqCZEiMG5o5ky6vIjH6AXC2dJOTTta0Zyzgkd\nd2zxVMYWT8XlrsRVX0F7wE9SXCo5qQOO63h6nZ7i3JGH3SfR4YxI9Sj6HqPBSHJc2hH3UxQlokX1\nUDlp31+HM8ZcwbRRszhQt4/2oB9VVanx7CcQDPy3pUGl3FXC3gM7aWr1EAgFqKgu7ZRRyGQwk5Gc\ni8tdgc/v7XZcSkJsMhkpudQ3VlNVt6/LSp+QGmJ3xWZ2V2zmXxveJcmRSm56EUPyRjM0f6xMPiY6\n6ar2vqt1DoeD888/n9/85jf4/X6ys7NZs2YNq1evJikpKeI1v/rVr3j77beZO3cuK1asYOTIkXg8\nHj788EMeeughJk6c2On4N9xwA83Nzdxxxx3Exsby6KOPntw3epQk0BdRlZGcG5G1JRgK8uFXb7Di\n67eOOIhy975NqKpKRU1ptxMmARFBPnTk90+JTz+xgvdhJoOZaaN/yLTRP9Syckge7hOXmpB5yieI\nEuJE6XR6MlNytZ8PTWWclz6QScNnaj+3+b2s37WGLWXrqGuoYkDWUC47d5422F5VVfyBNvztPkAh\nEPTT4msixmKP6JJT31jN5tKv2fHdBvZW7eyU1jisrtFFXaOL9TtXYzZZKeo3jOzUAditcej1BhRF\nh0JHwoDk+PSOsQ49bLI6ceooitKp9r6rdWHLly9nwYIFLF26lPb2diZNmsTKlSuZNi0yHa3NZmP1\n6tUsXLiQv/3tbyxbtozU1FQmTZpEYWFhxLkOtmDBApqamnjwwQex2+3cc889J/HdHh1Jryl6pH3V\npXy87q+dBn0danTRJP6z818R69IS+5GelM23u//d5WvmTL2lxw/EPdNSv4neTa5XcTKF1BBrNn3I\n+18sp7Wt+YSO5UzI5KppvyQ3vRCF7wO+M+2aPVNmxu2tJL2mOOP0c+Zz/SV3s2nPV/xpxTO0+b1d\n7ndokA8wfvB0zuo/ni2l62gPRubv1+n0nNV//CkpsxBCiBOnU3RMPOtixg+ejsu9j2r3ftZt/4zt\n5d8SCgWP6VjV7kqeeaujFlVRdAzIGsKEITMIhozdjm1oD/hPevpfIaJFAn3Row0rGMt91zzHN7vW\nkOhwotfp+J93H+92/8yUPCYMnYHZaGHq6FmdZhYdlD2iR81oK4QQomtGg5GslHyyUvIZWXgu/vY2\n9lXvYXPpV/xnx2oau8ne0x1VDbFr3yZ27duEUW8ixhzHxzv+SD9nARnJOTS1NrC59Guq3ZVkJucy\ncfhMxgyc1GsGsze2ePD6W4iPTeo0sF+cuSTQFz1egj2Zqf8dCBoKBUlypFLX6Oq03w8m/ITJIy/V\nbsrTRv2QL7d+EpFBZmRR3578Sggh+iqT0UxBZjEFmcVceu489tfuZXfFFhqa62nxNhJUg9q4ogN1\n5dpcAF1pD/rxtNbgaaXL/Spr9/KXT55n9YZ3uXHmvRGZrY5WU6uHGk8VVrON9oCfA3XltPgaCQTa\nibcnk5Gcg9UcQ6zFcUJZ4FRV5cOv3+TDr97QBj6nJfbj7EGTGVs8Bbst/riPLXo/6aMvep2V37zD\nO5+/FrHunKEXcuWUmzvtu/27b3npfx8lGAyQ5cznjh8v6RWTsJxp/UdF7ybXq+iJvtjyMW+s+v0x\nd/c5lEFvxGaORa83YDFZKcgoJjk+HXdTDbv3bcblqaR/xmDmTL0FR0win296ny+2fIzLXXFUx1dQ\nSE3MIje9iER7CnWN1TS3NhBrdZAUl0pe+kBy04u6raV//8u/dGq9DjMZLRRmDeXCMXPITi847s9A\nnFqnso9+VAP91atX88QTT/DNN9+wf/9+Xn31VebNmxexz8KFC/nDH/6A2+1m7NixvPDCCxQXF2vb\n29rauOuuu3j99dfxer1MnTqVF198kczMyOwWEuj3Ha2+Zh585cb/ZnHoyK7wwLz/S2wXkxZBRzaH\n2oYq8jMG9ZomWAmcRG8i16voqWo8B9hbtZP0pGwUdHyxdQXrtn+G198a7aIdE6PBxOC80Zw37GIG\nZA0BOibYe/uzP3SaOb4r8y+5nyH95fvZU/XZwbgtLS0MGzaMefPmce2113ZKS7RkyRKeeuopli1b\nRmFhIQ899BDTp09n586dxMbGAnD77bfzz3/+k9dff53ExETuvPNOZs6cyfr166M+7bA4NWyWWK6Z\nfhtvrVqKTm/gmum3dRvkQ0dO8USH8zSWUAghRE+Q8t8Um2FXnD+fS8+Zx6drPkRBIa8gh7IDO2j2\nNmLQG0lNyCTLmc+Kr99i42HSNp9u7QE/G3avZcPutQzvP4Hi3FF8sv5vVLsro1000cP1mK47drud\nF154gWuvvRbo6HOWkZHBbbfdxr333gt0PPE4nU6eeOIJ5s+fT0NDA06nk9dee425c+cCUFFRQU5O\nDh988AEzZnyfQlFq9PuekBrqs/mRpYZU9CZyvYre5kjXrKqqrPzmH6z85h2aWj3HdQ6doiMlIUOb\neTUtMeu/SSX0VNXto66xmrZ2Lw3N9UecN+ZomI0Wbpm1iOS4NL7evpJP/vM3bT4CqdHv2fpsjf7h\nlJWV4XK5IoJ1i8XCxIkTWbt2LfPnz2f9+vW0t7dH7JOVlcWgQYNYu3ZtxHrR9/TVIF8IIUR0KYrC\n1FGXc/6IH+BrayEQCuBvb6PswA427F5La1sz/ZwFDMgaQkV1GR+vf5tgMACAUW9i/JDpXHD2bOy2\nIwdl3rYW9lbtYu+BndQ3VpMUl4ozIZMWXxP7qvews3zjEWeMT03I4rqL/g+ZKXkATB01iwlDZvCf\nHf+ipqGKZJkk8ozVYwP9qqoqAFJTI0e6O51O9u/fr+2j1+tJSkqK2Cc1NRWXq3NWlrCPPvoIo9GI\nyWRCp9MRCoVQVRWDwUBBQQEpKSndzqImhBBCiDODXqcn5qCuoSnx6Zw9aHLEPsMKxnHOsAuo8Rwg\nxmInyZGKyWg+6nNYzTEMyhnBoJwRXW4PqSH2VG7lH58vo7y6pNP2cYOn8aNJN3YarGs1x3DeWRcD\nHTXGonepqCnFZraT6Eg58s6H0WMD/cM50SD8wgsvPOx2g8GAXq/H4XCQlpZGTEwMJpMJk8lEbGws\niYmJHdN6+/2kpqaSlZVFv379MJlMNDU10dDQQCAQoLi4mPj4eFRVjShzIBDA5/Ph9Xrxer00NDTg\ndrvxeDy0t7fjcDiIi4sjPj6efv36YbVGpt0KhUK0t7fT3t6OqqrYbDb0+q4n/hC9W7h5WYjeQK5X\n0duc7GvWg5dKqk/qMcMm9b+S8oQdlFRv5ICnFIsxhlG508iLH8zmjVsO+9qcnByZGbcHa2pqYsuW\njt9hMBRg077P2VKxlvT4fKYWz6GwsPC4j91jA/20tDQAXC4XWVlZ2nqXy6VtS0tLIxgMUldXF1Gr\nX1VVxcSJE7s99tixYwkEAlqgrCgd02L7/X727dtHc3MzgUCAmpoaamoO31x2JHFxcTQ3N2M2m4mP\nj6exsZHm5mOb0jsxMVEL7tva2ggEAp32sVgsxMTEaA8lTU1NGI1GCgsLycjIIC4ujri4OGJjYwkP\nywiFQgSDQYLBIIFAAIvFQmFhIYmJifj9fu1h4uDFbDbjcDiIjY1FURSqqqowm81kZ2dHDH5WVZVg\nMKg9gNTX12u/J4/Hw9atW6mursbr9ZKVlUViYiJ1dXVUV1dTX1+PTqfDYrFgNpuxWCzaotPpKC8v\np6qqCr/fj9/vx+fzUVtbS1NTk/bglZmZicViob29nUAg0On96PV6YmJiGD58OMOGDdMe4gyGU/OV\nCAaDNDc309jYSGlpKaWlpXg8HhoaGrSlqakJVVXR6XTo9XqsVisJCQkkJCQQHx+P2WxGVVWam5vR\n6XQkJSWRmJhIXFwcoVCIQCBAIBDQ3ktMTAxWqxVFUTCbzSQlJWnXud/vJxQKYTQaI1q3hBBC9EyK\nopCTPIic5EEd8wWgShfWPqLRW8++ul00tbnZeWA9Tb56APZ79lBas7lvBvp5eXmkpaWxYsUKRo0a\nBXQ0Pa1Zs4YnnngCgFGjRmE0GlmxYkXEYNwdO3YwYcKEbo/95Zfdj6RXVZW2tjZCoRA1NTWUl5fT\n0tKi1cA3NDTgcrnQ6/UYDAbKy8vZs2cPJSUltLe3k5iYSEJCAsFgkK+//lobQNHa2kpra0c6L51O\npwXlNpuNxMREUlJSSElJwWw2U19fT21tLdXV1ZSUlFBfX9+pnOEWBkArn8/no66uLmK/ioqjy+N7\nomJjY7FYLLS1teH3+2lrawPQAtZjfbg5Xm63mx07dhz1/m+88X3uYZ1OR1ZWFgkJCdhsNmJiYnA6\nnRQXFxMbG0tbW1vEYjabSUxMpLW1lYqKCtavX09ZWRmNjY0kJSVRVFREc3MzBw4cwOVyEQyeWC7n\nUy0hIYHU1FTS0tJISkoiNjY2YjGbzbS1tZGQkKCluPV6vWRkZBAbG0t1dTUGg4GUlBTtAdrpdKLT\n6aiqqmLHjh3s2bMHnU6nPcCFr/2tW7dq2bTi4+OJj49Hp9NpDyXNzc1UVlYSDAa174rT6SQ3N5fU\n1FQURcHhcJxwjVUgEKCqqopQKKR9Py0Wi/aAVF5eTmNjo3YN+Hw+2traMBqN2O32iMXhcGA2m/tM\nN8DW1lZKS0vx+/1aBUF42bZtGz6fD5PJhNfrJTk5maSkJJKTk0lLSyM5ORmTyYTRaOwxn4fP5yMQ\nCGgZ3E6nYDCoPWgfLBQKdfnAHQqF+O6771i/fj2tra04HA5aW1tpa2sjLy+PnJwc4uLicDgc6PV6\nPB4Pbrcbu92O3+/H5XLh9/vR6XTad9xsPvquJX3R0Qwgb2trY+fOnVRWVuLxePB4PDQ3N2MymbR7\nmNPp1Cq6FEUhKSkJq9VKKBTSKqtONVVVtVgjXI5whVH4HnQmdt3Zu3cv+fn5EanbX3vtNa6//nr2\n7t1LdnZ2lEv4Pa+/iVU73uxy27f7VnEhPzruY0c9vebu3buB729kGzZsICkpiX79+nH77bezePFi\nBg4cyIABA3jkkUew2+1cddVVQEdt+Q033MDdd9+N0+nU0mueddZZTJs27bjKpCiKFizk5OSQk5Nz\n3O/P5/Ph8Xi0YLC2tpaEhAQSExOP+o9de3s71dXVGI1G7aZhMpkiXh8KhWhpaaGpqYmmpia8Xi/x\n8fE0NTWxYcMG9u/fT11dHXV1dTQ2Nmo3AkVRMBqNGAwGjEYjtbW1fPvttzQ1NWnnMZvN2mI0GvF6\nvbjdbtxuN8FgkJycHDweDxUVFZ2CeZ1Op9VkOxwOMjMzqa6uxmazMX78ePr374/FYmHXrl3U19eT\nnp5OZmYmqampqKpKa2srXq9Xe0hqbW3F7/dTUFBAQUGBFoRZLBZSU1NJSEjQHrz27NmD3++PeB/h\nhyOTyUQwGOTAgQN89NFHbN++nWAwiNvtpry8nPLy7mdTPFpVVVXaOJOw+Ph44uLiGDBgAMOGDSM9\nPV2rlU9KSiIhIUH7zDZt2kRraytJSUlUV1dTW1uL3+8HOq779vZ2XC4XLpeL+vp69Hq99rtsa2uj\nsbExovWoubmZ6upqQqEQVqtVax0JP5S1tbVpv9djeVDqacLfrXALTiAQIBQK4XA4IlrG/H6/1nUu\nPT2dtLQ0qqqq2L9/v5YhI0xRFGw2G16vt9O2IzEYDGRnZ1NYWIjZbMbn87F//34MBgN5eXnk5+eT\nl5dHXl4eBoOBXbt24XK5aGpqIi8vj8LCQuLj47Vr9uDFYDAQHx+vtfp091DR3t5OQ0MDLS0tAFit\nVhwOB3v37uW7774DOpqN9+7dS21tLY2NjTQ0NGj/NjQ04PF42LdvHycjSVv4fmOz2cjLyyM1NTWi\ntS18nTscDnQ6HS0tLbS0tNDa2qrdn5OTk7HZbFpglZKSgk6n08rX1b8ej4fKykptCVeKJCYm4nQ6\ncTgc2nVSVFREVlaWds9VVZXdu3fjcrkwmUza+tjYWBwOh/ZwFxsbqz3U7ty5kwMHDqAoCm1tbREt\neOHvZXx8PDabDeiopPD7/eTk5JCQkKBV3rS0tFBTU3PUFQUmk0n7DA8nKSmJjIwMbUlISNDKFRcX\nR0NDAzU1NdhsNoxGI/X19dTX19PQ0EBubi7Dhw/Xlry8PO09ABH3ovr6etxuN42NjVgsFmw2Gzab\njUAgQFNTE42NjdrfrvD/w/f+gxedTqe1VMbExBAbG0tSUhL5+fnYbDbt2gl/58NL+IE8fJzW1lZ2\n7drFunXriI+PZ8iQjpz04Rbu8N/Tbdu2sWPHji5b0I+FyWTSHvztdju5ubmcddZZ2O12dDpdRGB+\npH+9Xq/WGq7X62lpacHlcrFjx45uK9MMBgNxcXG8/fbbTJo06YTeS08UDty7cskll2ixzuEsX76c\nmpoaFixYcCqKeELiYhKZ3cVkoMciquk1P/vsM6ZMmdJREEXRbsrXXXcdr7zyCgCLFi1i6dKluN1u\nxo0b12nCLL/fz1133cXy5cvxer1MmzZNJsyKgrq6OgKBgPZQYDKZ0Ov1Wm1sQkJCj6nJ606461Zj\nY6MWXFRWVrJ9+3atBv/ghx+fz4fb7cZms+F0Ohk+fDjFxcU4HA4OHDhASUkJcXFxpKenk5qaqrXA\nHI1Tka4w/P3q6vcQCoWor6+nqqoKl8tFXV0dLS0tNDc3a4vP58NsNlNdXc2OHTu02qLKykpaW1tJ\nTU0lEAhQW1uLoiiEQiHt4SIlJYX+/ftTVFSkBeLhFqiqqioKCgoYNmyYFhB5PB5UVdUezGw2GxkZ\nGej1empra6mpqaGqqoqysjJqa2sB8Hg8J/xHWVEUUlNTMRgMtLa20tLSorVOHdzic3C3MrPZTHt7\nuxasHBywHE3AdTJZrVbS09OxWq3a5xgO8E+UwWDQgiq9Xh+xtLa2YjKZGDp0KDabTatYCP+e6urq\ntAevniI8Fiv8+z2dwsHHsTw4Op1ORo0aRWJiIo2NjdhsNgwGA3v27GH//v3aw5mqqloQ3NzcjNFo\nxOl0YrVatRarqqqqk9rCaLfbCQQCeL3ek3bMnkBRFAYMGEBubq7WhTImJkbrRuvz+Thw4AD79u1D\nURStK7HP59MC89N1zcfGxmoPu+EEI+GHZ4APPvjgiOMTe6NwoL9o0SIKCiJn/i0qKmLo0KEYDAat\npayrGv2ZM2eydetWysrKTnv5w7aU/IeX3nskYp0t4KSxTMcTv3lK+z1CL5sZ93SSQF/0Jn0lL/nh\nHi5OtvAfWUVRtAcEvV6Poig0NjbidrvR6XTauIRwy0ZlZaU29iczM7PTA1kwGKS1tVV70DsWPp+P\n0tJS9uzZQyAQwGg0kpmZSVtbG2VlZRFLe3s7hYWFZGVlYbVaKSkpobS0lMbGRgKBgNYUH14CgYDW\nCuPxeLp9qNDpdFqAAh3drTweDxkZGQwYMACdTofVaiUvLw+n06mN5wknBQj/m5WV1e37P9rrVVVV\nbcxMU1MTe/bsob6+XhsnEv7dADQ2NmpdqA4ebxJuHfX5fASDQWpqaiK6LIavtUP/tdvtZGZmaovT\n6URRFKqrq6mrq9Me0FwuF9u3b6e6uloL5kKhEPn5+WRmZhIIBLT14XE3Bz/cpaSkUFRUxMCBA+nX\nrx8AZrNZ+1zj4uKw2+1ARw14+PgJCQkYjUbKyspoamrCarViNpuxWq1at84jCYVC+Hw+7bPqTvhz\nO3DgAPv372f//v14PB7sdrvWDcThcJCSkoLX69W6pSYmJmK32ykpKWHDhg3acuDAAeD7VpjweCGj\n0ai1Wtrtdnw+n/YAHe7udnCLSPj/NpsNq9UasYRr2pubm7WKGJfLpbXehq+hcFAXXsIP5OHjWCwW\nsrOzMZlMNDQ0aC1DB3+3zGYzhYWFDB48WGtxOR7hrsDha8Pj8bBr1y62bNmidRE+ODA/0r8Gg0G7\nroLBIDExMSQlJTFgwABSUrrOzBI+v8FgICEh4bjfS08VDty//PJLzj777KPe/9BAf9u2bZSWlp7U\nsnm93k7JVLqzfvOX/PaV+2hqaKGqvJ7y7dXU7m8EYPv27aSnf58etc/k0RdC9H6nsxVHr9fjdHY9\nA3JSUlKnNLxh+fn55OfnH/a44cDsWFksFoqLiyNaIcPGjRt3XMfsjqqqWitUeCxFfHy8NnC+Jwh3\nFzQajcTExGiJFaIpNTW1Uxrn06Wra3LgwIHHfTydTndUgaleryctLY20tDRGjOg6pePhjBw5/YRA\nIQAAEh1JREFUktmzZ2s/19TUYDKZelUl2umoTAl3NQv35Qe0MYeni9lsJiUlRfro/7eP/qHOP/98\nVq9eDRAxPibc2qaqKs8//zwvvfQSJSUlOBwOfvCDH7BkyZKI729ubi6DBg3irrvu4r777mPTpk3c\nc889/PrXvz6qstZUenjjmVUoisLgwYOZfM4FZGdnk52dTWJi4vF+BIAE+kII0ScoikJsbCxFRUXR\nLoo4w3RXmyzE6eLxeLRunIc6XEXH/fffz913301FRQXPPPNMp+0///nPeeWVV7juuuu47bbbKC8v\n57nnnuPrr79m3bp1WkuboiiUlJTw4x//mPnz53PTTTcd02Df8ePHU1paqmXSO9TBvVKOlQT6Qggh\nhBBCc9uzl5+yY/9uwTsn/ZiHjj9QFIVNmzYd8XXTpk0jIyMDj8ejJXoJW7t2LS+99BJ/+tOfuPrq\nqyPOdd555/HHP/6Rm266Ceio+d+zZw///Oc/mTlz5jGX32w2a4PaTzYJ9IUQQgghRK/13HPPMWjQ\noIh1J5pu+c033yQ2NpYZM2ZEtBYUFRXhdDpZtWqVFugD9OvX77iC/FNNAn0hhBBCCNFrjRkzptNg\n3L17957QMXft2kVzc3O3Y3gOnVD1cGO9okkCfSGEEEIIIQ4SCoVISkqKmFjzYIdmMTraDDunmwT6\nQgghhBBCcyr60fdU3Q3WLSgo4JNPPmHs2LFaeuLeqPNc20IIIYQQQpwBYmJitFmdDzZnzhxCoRAP\nPfRQp23BYBCPx3M6infCpEZfCCGEEEKckcaMGcObb77J7bffztlnn41Op2POnDmcd9553Hrrrfz2\nt79l06ZNzJgxA7PZTElJCW+//TYPP/ww1157bbSLf0QS6AshhBBCiF7pWCcEPHT/W265hc2bN/Pn\nP/+Z5557DuiozYeObD4jR47k97//Pffffz8Gg4GcnByuvPJKpkyZctxlOJ0UNTxHfR938GQDvWn2\nPnFmOh2zNgpxssj1KnqbM+2a9fl8J5xuUpw6R/r9nEgMK330hRBCCCGE6IMk0BdCCCGEEKIPkkBf\nCCGEEEKIPkgCfSGEEEIIIfogCfSFEEIIIYTogyTQF0IIIYQQog+SQF8IIYQQQog+SAJ9IYQQQog+\n7gyZNqnXOdW/Fwn0hRBCCCH6MJPJhM/nk2C/h1FVFZ/Ph8lkOmXnMJyyIwshhBBCiKjT6XSYzWba\n2tqiXRRxCLPZjE536urdJdAXQgghhOjjdDodFosl2sUQp5l03RFCCCGEEKIP6tGBfiAQ4L777iM/\nPx+r1Up+fj4PPPAAwWAwYr+FCxeSmZmJzWZj8uTJbNu2LUolFkIIIYQQomfo0YH+4sWLWbp0Kc89\n9xw7d+7k2Wef5cUXX+Sxxx7T9lmyZAlPPfUUzz//POvWrcPpdDJ9+nSam5ujWHIhhBBCCCGiq0f3\n0V+3bh2XXnopl1xyCQDZ2dnMnDmTr776CugYrfzMM89w7733MmvWLACWLVuG0+lk+fLlzJ8/P2pl\nF0IIIYQQIpp6dI3+RRddxMqVK9m5cycA27ZtY9WqVVrgX1ZWhsvlYsaMGdprLBYLEydOZO3atVEp\nsxBCCCGEED1Bj67Rv+WWW6ioqGDQoEEYDAYCgQD3338/N998MwBVVVUApKamRrzO6XSyf//+015e\nIYQQQggheooeHej/7ne/49VXX+X1119n8ODBfPvttyxYsIDc3Fyuv/76w75WUZRutzU0NJzsogpx\nUg0YMACQa1X0DnK9it5GrllxpujRgf6jjz7K/fffz+zZswEYPHgw3333HY899hjXX389aWlpALhc\nLrKysrTXuVwubZsQQgghhBBnoh7dR19V1U6zhel0Om0K57y8PNLS0lixYoW23efzsWbNGiZMmHBa\nyyqEEEIIIURP0qNr9C+//HIef/xx8vLyKC4u5ttvv+Xpp59m3rx5QEf3nNtvv53FixczcOBABgwY\nwCOPPILdbueqq66KOFZcXFw03oIQQgghhBBR0aMD/aeffhqHw8Gtt96Ky+UiPT2d+fPn8+CDD2r7\n3H333Xi9Xm699Vbcbjfjxo1jxYoVxMTERLHkQgghhBBCRJeihvvBCCGEEEIIIfqMHt1H/2R58cUX\nycvLw2q1Mnr0aNasWRPtIgnRpYULF6LT6SKWjIyMaBdLCABWr17NpZdeSlZWFjqdjmXLlnXaZ+HC\nhWRmZmKz2Zg8eTLbtm2LQkmFOPL1et1113W638r4PhEtjz32GGPGjCEuLg6n08mll17K1q1bO+13\nrPfYPh/ov/HGG9x+++3cf//9bNiwgQkTJnDRRRexb9++aBdNiC4NHDiQqqoqbdm8eXO0iyQEAC0t\nLQwbNoxnn30Wq9XaKY3xkiVLeOqpp3j++edZt24dTqeT6dOn09zcHKUSizPZka5XRVGYPn16xP32\n/fffj1JpxZnuX//6F7/4xS/44osvWLlyJQaDgWnTpuF2u7V9juseq/ZxZ599tjp//vyIdQMGDFDv\nvffeKJVIiO79+te/VocMGRLtYghxRLGxseqyZcu0n0OhkJqWlqYuXrxYW+f1elW73a4uXbo0GkUU\nQnPo9aqqqjpv3jx15syZUSqREIfX3Nys6vV69d1331VV9fjvsX26Rt/v9/PNN98wY8aMiPUzZsxg\n7dq1USqVEIdXWlpKZmYm+fn5zJ07l7KysmgXSYgjKisrw+VyRdxvLRYLEydOlPut6JEURWHNmjWk\npqZSVFTE/PnzqampiXaxhACgsbGRUChEQkICcPz32D4d6NfW1hIMBklNTY1Y73Q6qaqqilKphOje\nuHHjWLZsGR999BF/+MMfqKqqYsKECdTX10e7aEIcVvieKvdb0VtceOGF/OlPf2LlypU8+eSTfP31\n10yZMgW/3x/tognBggULGDFiBOPHjweO/x7bo9NrCnGmufDCC7X/DxkyhPHjx5OXl8eyZcu44447\nolgyIY7foX2jhegJrrzySu3/gwcPZtSoUeTk5PDee+8xa9asKJZMnOnuvPNO1q5dy5o1a47q/nm4\nffp0jX5ycjJ6vR6XyxWxPpyTX4iezmazMXjwYEpKSqJdFCEOKy0tDaDL+214mxA9WXp6OllZWXK/\nFVF1xx138MYbb7By5Upyc3O19cd7j+3Tgb7JZGLUqFGsWLEiYv3HH38sKbREr+Dz+di+fbs8mIoe\nLy8vj7S0tIj7rc/nY82aNXK/Fb1CTU0NlZWVcr8VUbNgwQItyC8sLIzYdrz3WP3ChQsXnqoC9wQO\nh4Nf//rXZGRkYLVaeeSRR1izZg2vvvoqcXFx0S6eEBHuuusuLBYLoVCIXbt28Ytf/ILS0lKWLl0q\n16uIupaWFrZt20ZVVRUvv/wyQ4cOJS4ujvb2duLi4ggGgzz++OMUFRURDAa58847cblcvPTSS5hM\npmgXX5xhDne9GgwG7rvvPhwOB4FAgA0bNnDjjTcSCoV4/vnn5XoVp92tt97KH//4R9566y2ysrJo\nbm6mubkZRVEwmUwoinJ899hTnh+oB3jxxRfV3Nxc1Ww2q6NHj1Y///zzaBdJiC7NmTNHzcjIUE0m\nk5qZmaleccUV6vbt26NdLCFUVVXVVatWqYqiqIqiqDqdTvv/T3/6U22fhQsXqunp6arFYlHPP/98\ndevWrVEssTiTHe569Xq96gUXXKA6nU7VZDKpOTk56k9/+lO1oqIi2sUWZ6hDr9PwsmjRooj9jvUe\nq6iqqp7eZxYhhBBCCCHEqdan++gLIYQQQghxppJAXwghhBBCiD5IAn0hhBBCCCH6IAn0hRBCCCGE\n6IMk0BdCCCGEEKIPkkBfCCGEEEKIPkgCfSGEEEIIIfogCfSFEKKXO//885k8eXK0i9FJZWUlVquV\nVatWRa0ML7zwAjk5Ofj9/qiVQQghokUCfSGE6AXWrl3LokWLaGho6LRNURQURYlCqQ5v0aJFDB8+\nPKoPITfccANtbW0sXbo0amUQQohokUBfCCF6gcMF+h9//DErVqyIQqm6V1NTw7Jly7j55pujWg6L\nxcK8efN48sknkYnghRBnGgn0hRCiF+kqWDUYDBgMhiiUpnt//vOfAZg1a1aUSwJXXnkl5eXlrFy5\nMtpFEUKI00oCfSGE6OEWLlzI3XffDUBeXh46nQ6dTsfq1auBzn309+7di06nY8mSJbz44ovk5+cT\nExPDtGnTKC8vJxQK8fDDD5OVlYXNZuOyyy6jrq6u03lXrFjBpEmTsNvt2O12LrroIjZu3HhUZX7n\nnXcYM2YMDocjYr3L5eLGG2+kX79+WCwW0tLSuPjii9m2bdtxnXvXrl3MnTsXp9OJ1WqlsLCQO+64\nI2KfkSNHkpiYyN///vejKrsQQvQVPasKSAghRCc/+tGP2L17N3/5y1945plnSE5OBmDQoEHaPl31\n0X/99ddpa2vjtttuo76+nt/85jf8+Mc/5vzzz+fzzz/n3nvvpaSkhN/97nfceeedLFu2THvt8uXL\n+clPfsKMGTN4/PHH8fl8vPTSS5x33nmsW7eOoqKibsvb3t7OunXrmD9/fqdtV1xxBVu2bOGXv/wl\neXl5VFdXs3r1anbv3k1xcfExnXvr1q2cc845GAwG5s+fT35+PmVlZbz55ps8/fTTEecdOXIk//73\nv4/hUxdCiD5AFUII0eP99re/VRVFUb/77rtO2yZNmqROnjxZ+7msrExVFEVNSUlRGxoatPX33Xef\nqiiKOnToUDUQCGjrr7rqKtVkMqk+n09VVVVtbm5WExIS1BtuuCHiPG63W3U6nepVV1112LKWlJSo\niqKozz77bKfXK4qiPvnkk92+9ljOPWnSJNVut6t79+49bHlUVVXnz5+vms3mI+4nhBB9iXTdEUKI\nPupHP/pRRNeZs88+G4BrrrkGvV4fsb69vZ19+/YBHYN7PR4Pc+fOpba2VlsCgQDnnnvuEdNlhrsB\nJSQkRKy3Wq2YTCZWrVqF2+3u8rVHe+6amhpWr17NddddR05OzhE/i4SEBPx+P83NzUfcVwgh+grp\nuiOEEH1UdnZ2xM9xcXEA9OvXr8v14eB7165dAEyfPr3L4x78kHA46iEDh81mM0uWLOGuu+4iNTWV\nsWPHcvHFF/OTn/yErKysYzp3aWkpAEOGDDmmsvTENKRCCHGqSKAvhBB9VHcBeXfrw8FwKBQCYNmy\nZWRmZh7zecNjCLqqtV+wYAGXXXYZ//jHP/j44495+OGHWbx4Me+++y6TJk064XN3x+12YzabiYmJ\nOWnHFEKInk4CfSGE6AVOZ010QUEB0BGwT5ky5Zhfn52djc1mo6ysrMvtubm5LFiwgAULFlBZWcnw\n4cN59NFHmTRp0lGfO7zf5s2bj6pMZWVlEYOXhRDiTCB99IUQohcI10TX19ef8nNdeOGFxMfHs3jx\nYtrb2zttr62tPezrDQYDY8eOZd26dRHrvV4vXq83Yl1mZiYpKSnaRGAXXHDBYc9dU1MDdDwITJo0\niddee429e/dG7HNolyGAb775hgkTJhy23EII0ddIjb4QQvQCY8aMAeDee+9l7ty5mEwmpk6dSkpK\nCtB1cHu87HY7v//977n66qsZMWKElqe+vLycDz/8kCFDhvDqq68e9hiXXXYZv/rVr2hoaNDGAOzc\nuZMpU6Ywe/ZsiouLMZvNvP/+++zYsYMnn3wSAIfDcdTnfu655zj33HMZNWoUP/vZz8jLy6O8vJw3\n3nhD6+sPsH79etxuN5dffvlJ+4yEEKI3kEBfCCF6gVGjRvHYY4/x4osvcv3116OqKqtWrSIlJQVF\nUY66a093+x26fvbs2WRkZLB48WKefPJJfD4fmZmZnHPOOdx8881HPM/VV1/N3Xffzd///neuu+46\noKNLzzXXXMOnn37K8uXLURSFoqIiXnnlFW2fYzn3kCFD+PLLL3nggQdYunQpXq+X7OxsLr300oiy\nvPnmm2RnZzNt2rSj+oyEEKKvUNSTWQ0khBBC/NfNN9/Mxo0b+eKLL6JWBp/PR25uLvfddx+33XZb\n1MohhBDRIH30hRBCnBIPPvggGzduPGLe/VPp5ZdfxmKx8POf/zxqZRBCiGiRGn0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cTdytbDuatAf9e42oNWyJiIiIiKgp6i30ly1bhvnz58PQ0FCtE/n7+8Pf3x/vvfce/u//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\n10trayte7/ldm2kwGLTE12KxoNfr0ev16HQ6dDqd9ntLSwt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Z2LdvH0pLS9HQ0ACTyYSSkhLs27cP2dnZGDJkCFatWoWxY8fijTfe6Mt96BUcM0BERERE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\n", 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1dTX27NmDtWvXIiIiAo8++ijGjBmDN95443ruQ5/gnAEiIiIiGujc9gw8//zz+MUvfoEH\nHngA4eHhLuuo1WoMHToUt99+O372s5+hqakJmzZtwvPPP4+HH364z4K+HjhngIiIiIgGOrfJwMmT\nJ6FSqa5qY1qtFqtXr8ZPf/rTXgfma5wzQEREREQDndthQlebCHhrXX/BYUJERERENNBd030GzGYz\nmpqaIIpitzKdTtfroPwBhwkRERER0UDncTLQ3t6O3//+99i0aRPOnDnjMhEQBAFWq9WrAfoKewaI\niIiIaKDzOBl4+OGH8eabbyI1NRWLFy92OanY8WZf/R3nDBARERHRQOdxMvD+++8jNzcXmzdv7sNw\n/AeHCRERERHRQOd2AnFXarUat912W1/G4lc4TIiIiIiIBjqPk4GlS5fiww8/7MtY/Ap7BoiIiIho\noPN4mNALL7yA3NxcZGZm4oEHHsDw4cMhl8u71ZsyZYpXA/QVzhkgIiIiooHO42Sgra0NAFBaWorS\n0lKXdQbS1YTMTAaIiIiIaIDzOBlYuXIl/v73vyM7OxtTpkxxeTWhgcRi4ZwBIiIiIhrYPE4GSktL\nsWrVKqxdu7Yv4/Eb7BkgIiIiooHO4wnEYWFhGDt2bF/G4lc4Z4CIiIiIBjqPk4GHHnoIb7/9NiwW\nS1/G4zc4TIiIiIiIBjqPhwklJCTg73//O2655Rbk5ORgxIgRLq8mdO+993o1QF8xMxkgIiIiogHO\n42Rg2bJl0uMnnnjCZR1BEAZMMtBh6fB1CEREREREfcrjZODzzz/vyzj8TnuH0dchEBERERH1KY+T\ngZkzZ/ZhGP6nw9wOq80Kuaz7UCgiIiIiooHA4wnEgajd1OrrEIiIiIiI+ozbZCA3NxdHjx696g0e\nPXoUP/rRj3oVlL9o41AhIiIiIhrA3CYDjY2NuPnmmzFr1iy8/vrrOHHihNuNHD9+HK+99hpmzpyJ\nCRMmoLGxsU+Cvd7aOtgzQEREREQDl9tk4KOPPsKePXug1Wrx2GOPISEhAREREUhOTsacOXMwe/Zs\n3HLLLdBqtRg3bhx+/vOfY/Dgwdi7dy8+/PDDK77w7t27sXDhQsTFxUEmk6GwsNCp/KmnnkJiYiI0\nGg0iIyORnp4OvV7vVKejowOrVq1CdHQ0NBoNsrKyUFNT41SnsbEROTk50Gq10Gq1yM3NhcFg8OjN\nYc8AEREREQ1kPc4ZSEtLwwcffIDq6mr85S9/weLFixESEoKzZ8+itrYWYWFhWLJkCQoLC1FdXY33\n3nsPt912m0cvbDQaMXHiRKxbtw5qtRqCIDiV33jjjXjttddw+PBh7N27F6NGjcLcuXNRV1cn1cnP\nz0dxcTG2bt2KPXv2oLm5GfPnz4fNZpPqLF26FBUVFSgpKcG2bdtw8OBB5OTkeBRju4nJABEREREN\nXIIoiqKvgwgNDcWrr76K3Nxct3Wam5uh1WpRUlKCO++8EwaDATqdDps3b0Z2djYAoLq6GvHx8fj0\n00+RkZGBo0ePYvz48di3bx9SU1MBAPv27cP06dNRWVmJhIQEafuOvQVPbe6c87DszlWYetOcvthl\nol4pLy8HAEyePNnHkRB5hm2W+hO2V+pPHL/DhoeHX/X6/eJqQiaTCRs3bkRUVBRSUlIAAAcOHIDZ\nbEZGRoZULy4uDomJidJwIr1eD41GIyUCQGdvR0hISLchR660cpgQEREREQ1gHt9nwBc+/vhjZGdn\no7W1FdHR0fjnP/+JyMhIAEBtbS3kcjmioqKc1omJiUFtba1UJzo62qlcEATodDqpTk9OfncCodZy\nL+0NkffZz14R9Rdss9SfsL1SfzB27Nhere/XPQOzZ8/G//7v/0Kv12P+/PlYsGABqqqqelzHm6Oe\nTJZ2r22LiIiIiMjf+HXPwKBBgzB69GiMHj0aU6ZMQUJCAjZv3oyCggLExsbCarXi/PnzTr0DdXV1\nmDFjBgAgNjYWDQ0NTtsURRH19fWIjY294uuHRYRyvCD5JY5npf6GbZb6E7ZX6k88vUqmO37dM9CV\n1WqVrhSUkpICpVKJ0tJSqby6uhqVlZVIS0sDAKSmpqKlpcVpfoBer4fRaJTq9ISXFiUiIiKigcxn\nPQNGoxHHjx8HANhsNlRVVaGiogJRUVHQarV44YUXsHDhQuns/quvvoozZ87g3nvvBdA5W3rlypVY\ns2YNdDodIiMjsXr1aiQlJSE9PR0AkJiYiMzMTOTl5WHjxo0QRRF5eXlYsGCBR+Or2pkMEBEREdEA\ndtU9AwaDAaWlpXj77bc9moTrTllZGZKTk5GcnIz29nYUFBQgOTkZBQUFUCgUOHLkCBYtWoSEhAQs\nXLgQjY2N2LNnD8aPHy9tY+3atVi0aBGWLFmCadOmISwsDB999JHTPQu2bNmCpKQkzJ07F5mZmZg0\naRKKioo8irGV9xkgIiIiogHsqnoGnn/+efzud79DW1sbBEHAZ599Jp25HzFiBF566SX85Cc/8Whb\nM2fOdLo5WFfFxcVX3IZKpcL69euxfv16t3W0Wq3HX/67au9ovab1iIiIiIj6A497Bt544w089dRT\nWLZsGd555x2nq/ZER0fjrrvuwnvvvdcnQfoK5wwQERER0UDmcTKwfv16LF68GBs3bsSsWbO6ld9y\nyy04cuSIV4PztTZTq1cvVUpERERE5E88TgZOnjwpTcx1JSIiAhcuXPBKUP7CZrPCZOnwdRhERERE\nRH3C42RAq9Wivr7ebfmRI0cwZMgQrwTlTzhvgIiIiIgGKo+Tgfnz52Pjxo04f/58t7JDhw7hz3/+\nM7KysrwanD9o5bwBIiIiIhqgPE4GfvOb30AQBEyYMAFPPPEEAGDTpk1YsmQJbr31VsTGxuKpp57q\ns0B9hZOIiYiIiGig8jgZGDJkCMrKyjB//ny8//77ADqv4b9t2zYsX74cX375JQYPHtxngfpKO+81\nQEREREQD1FXdZ0Cn02Hjxo3YsGEDGhoaYLPZEB0dDblc3lfx+Rx7BoiIiIhooLqqZMBOEATodDpv\nx+KX2jiBmIiIiIgGKLfJwLPPPgtBEK56g08//XSvAvI37BkgIiIiooGqx2TgWgy4ZMDEngEiIiIi\nGpjcTiC22WxOP6dPn8aECROQk5ODsrIyNDU1oampCV999RVycnIwceJEfP/999cz9uuitb3Z1yEQ\nEREREfUJj68m9Oijj2LcuHEoLCxESkoKwsLCEBYWhsmTJ6OwsBBjx47Fo48+2pex+oTB2OjrEIiI\niIiI+oTHycDOnTsxa9Yst+WzZs3Cjh07vBKUP2lmMkBEREREA5THyUBQUBD279/vtnz//v0IDg72\nSlD+xGC84OsQiIiIiIj6hMfJwPLly/H222/jpz/9KSorK2GxWGCxWHD06FE8+uij2LJlC5YtW9aX\nsfrExVYDrDarr8MgIiIiIvI6j+8z8Ic//AHnzp3Da6+9htdee0267KgoigCA7OxsvPDCC30T5XUW\nog6Dsa1z4rAo2tDSakC4JtLHUREREREReZfHyUBQUBCKiorw+OOP45NPPkFVVRUAID4+Hj/4wQ+Q\nlJTUZ0Feb+EhkVIyAHQOFWIyQEREREQDzVXfgTgpKWlAffF3JTwkEmfOnZKec94AEREREQ1EHs8Z\nCCRhIRFOzw0tTAaIiIiIaODxuGdAJpNBEARpjoAj+3JBEGC19v/JtuEhzkOC2DNARERERAORx8nA\n008/3W2Z1WpFVVUVPvjgA4wbNw4LFizwanC+Et61Z4DJABERERENQB4nA88884zbsrNnz+K2225D\nQkKCN2Lyua6ThXnjMSIiIiIaiLwyZ2DIkCF4+OGH8Zvf/MbjdXbv3o2FCxciLi4OMpkMhYWFUpnF\nYsGvfvUrJCUlQaPRYOjQoVi2bBm+//57p210dHRg1apViI6OhkajQVZWFmpqapzqNDY2IicnB1qt\nFlqtFrm5uTAYDD3GxmFCRERERBQIvDaBOCQkBCdPnvS4vtFoxMSJE7Fu3Tqo1WrpvgX2sn/96194\n8skn8a9//Qv/+Mc/8P333yMzM9NpTkJ+fj6Ki4uxdetW7NmzB83NzZg/fz5sNptUZ+nSpaioqEBJ\nSQm2bduGgwcPIicnp8fYwrokA82cQExEREREA9BVX1rUla+//hrr16+/qmFC8+bNw7x58wAAK1as\ncCoLDw9HaWmp07INGzZg/PjxqKysxPjx42EwGLBp0yZs3rwZc+bMAQAUFRUhPj4e27dvR0ZGBo4e\nPYqSkhLs27cPU6dOlbYzffp0HDt2zG28YYO0ECBAROdk6YttBlitFsjlXnm7iIiIiIj8gsffbkeN\nGuXyakJNTU0wGAwICQnBBx984PUA7exDeyIiOif3HjhwAGazGRkZGVKduLg4JCYmQq/XIyMjA3q9\nHhqNBqmpqVKdtLQ0hISEQK/Xu00G5HIFNIPCcbG1SVrW3NqIiNDovtg1IiIiIiKf8DgZmDFjRrdl\ngiAgIiICN9xwA+677z5ERvbNXXpNJhN+8YtfYOHChRg6dCgAoLa2FnK5HFFRUU51Y2JiUFtbK9WJ\njnb+Ai8IAnQ6nVTHlfLyciiFYKdlX5bvR3ToMG/sDpHXlJeX+zoEoqvCNkv9Cdsr9Qdjx47t1foe\nJwObN2/u1QtdK4vFguXLl6O5uRkff/zxFeu7ug/CtVCrNIDx8nNjh4HJABERERENKB4nAw888ADy\n8vKksfddffXVV3jjjTewadMmrwVnsViQnZ2Nb775Brt27ZKGCAFAbGwsrFYrzp8/79Q7UFdXJ/Vi\nxMbGoqGhwWmboiiivr4esbGxbl938uTJqDJWoKbxhLQsNFKNyZMne2vXiHrFfraKbZL6C7ZZ6k/Y\nXqk/udJVMq/E46sJbd68Gd9++63b8pMnT3q198BsNmPJkiU4fPgwdu7cCZ1O51SekpICpVLpNNG4\nuroalZWVSEtLAwCkpqaipaUFer1eqqPX62E0GqU67ui0Q52e1zfWuKlJRERERNQ/ee3yOBcuXEBQ\nUJDH9Y1GI44fPw4AsNlsqKqqQkVFBaKiojB06FDcc889KC8vx0cffQRRFKUx/lqtFsHBwQgPD8fK\nlSuxZs0a6HQ6REZGYvXq1UhKSkJ6ejoAIDExEZmZmcjLy8PGjRshiiLy8vKwYMGCK46v0kU4Dwli\nMkBEREREA02PycAXX3yBL774QhqHX1xcjBMnTnSrd+HCBWzduhVJSUkev3BZWRlmz54NoHNSb0FB\nAQoKCrBixQoUFBTgww8/hCAISElJcVpv8+bNyM3NBQCsXbsWCoUCS5YsQVtbG9LT0/HWW2853bNg\ny5YtWLVqFebOnQsAyMrKwiuvvHLF+HQRXXoGms5AFEWnbRMRERER9Wc9JgM7d+7Ec889Jz0vLi5G\ncXGxy7rjx4/H+vXrPX7hmTNnOt0crKueyuxUKhXWr1/f4+tqtVoUFRV5HJdduCYKKkUQTJYOAEBb\nhxEtbQaEDtJe9baIiIiIiPxRj3MGfvWrX6G+vh719fUAgNdff116bv9paGiA0WjE119/jSlTplyX\noK8HmSBDtHaI0zIOFSIiIiKigaTHngG1Wg21Wg2gc4KwTqfDoEGDrktg/kAXMQw1505Jz+sbz2DM\nsPG+C4iIiIiIyIs8nkA8cuTIPgzDP3WbRNzEngEiIiIiGjjcJgOzZs2CIAgoLS2FQqGQnrtjn1z7\n+eef90mgvtB1EnFd4xkfRUJERERE5H1uk4Gud/IVRdFrd/ftL3RaXl6UiIiIiAYut8nArl27enwe\nCLr2DJwz1MJiNUMhV/ooIiIiIiIi7/H4DsS7d+9GQ0OD2/KGhgbs3r3bK0H5C3VQCLSaKOm5zWZF\nTcMp3wVERERERORFHicDM2fOxGeffea2fMeOHZg1a5ZXgvIn8bEJTs9P1f6fjyIhIiIiIvIuj5OB\nKzGZTAPy7rwjuyQDVbXHfRQJEREREZF39XhpUYPBAIPBIE0cPnfuHE6fPt2t3oULF/Df//3fGDZs\nWLey/q57MnDMR5EQEREREXlXj8nA2rVr8eyzz0rP8/PzkZ+f77b+73//e+9F5ieG626ATJDBJtoA\nAA2GszC2NSNEHebjyIiIiIiIeqfHZODOO+9ESEgIAGDNmjXIzs7GpEmTnOoIgoCQkBDceuutSElJ\n6btIfUTrt2xwAAAgAElEQVSlDMKQwfGoafhOWnaq9hjGj5rsw6iIiIiIiHqvx2QgLS0NaWlpAICW\nlhbcfffdmDBhwnUJzJ+MjB3nlAxU1R5nMkBERERE/Z7HE4ifeeaZgEwEAGBk7Fin5yfPHvVRJERE\nRERE3uO2Z6CwsPCarg6Um5vbq4D80aghiU7PT545CpO5AyplkI8iIiIiIiLqPbfJwP33339NGxyI\nyUC0dgiiwmJwvrkOAGCxmnGi5jBuGjnw5kgQERERUeBwmwycPHnyesbh1wRBwI3xk7Dv623SsqNV\n/2IyQERERET9mttkYOTIkdcxDP+X6CIZICIiIiLqz7x2B+KBbmzcBMhkcul5fWMNzhvqfBgRERER\nEVHv9Hhp0a5qa2vxl7/8BQcOHEBzczNsNptUJooiBEHA559/7vUg/YE6aBBGD7kRJ2q+kZZ9c6oc\ndyT90IdRERERERFdO4+TgcOHD2PGjBlobW1FQkICvv76a4wfPx4XLlzA2bNnMXr0aAwfPrwvY/W5\nxJEpTslAeeVuJgNERERE1G95PEzoiSeeQHBwMI4cOYIdO3YAANauXYuamhq8/fbbaGpqwosvvthn\ngfqD5ITbnZ6fqv0/1Dee8VE0RERERES943EysHfvXuTl5WHUqFHS/QdEUQQAZGdn495778Xjjz/e\nN1H6iaiwGIwZepPTsvLKL3wUDRERERFR73icDJhMJgwbNgwAoFarAQBNTU1S+S233IKysjKPX3j3\n7t1YuHAh4uLiIJPJUFhY6FReXFyMuXPnQqfTQSaT4Ysvun/p7ujowKpVqxAdHQ2NRoOsrCzU1NQ4\n1WlsbEROTg60Wi20Wi1yc3NhMBg8jrOrWxNnOT0vq9wlJUVERERERP2Jx8nAiBEjcPr0aQDAoEGD\nEBsbi/3790vl33zzDTQajccvbDQaMXHiRKxbtw5qtbrb3Y5bW1sxbdo0vPTSSwDg8m7I+fn5KC4u\nxtatW7Fnzx40Nzdj/vz5ThObly5dioqKCpSUlGDbtm04ePAgcnJyPI6zq1vGpkIhV0rPzzfX8TKj\nRERERNQveTyBePbs2fjggw/w7LPPAgCWL1+Ol156CQaDATabDUVFRVi5cqXHLzxv3jzMmzcPALBi\nxYpu5cuXLwcAnDt3zuX6BoMBmzZtwubNmzFnzhwAQFFREeLj47F9+3ZkZGTg6NGjKCkpwb59+zB1\n6lQAwIYNGzB9+nQcO3YMCQkJHsdrNyhIg4ljbsPBY3ukZTsOfICbRiZf9baIiIiIiHzJ42RgzZo1\nmD17Ntrb2xEcHIznnnsOjY2N+Nvf/gaFQoHc3NzrOoH4wIEDMJvNyMjIkJbFxcUhMTERer0eGRkZ\n0Ov10Gg0SE1NleqkpaUhJCQEer3+mpIBAJg1aaFTMnC8+mucrjuBETE3XPsOERERERFdZx4PE4qP\nj8fdd9+N4OBgAEBwcDD+/Oc/o6mpCefOncOmTZsQGhraZ4F2VVtbC7lcjqioKKflMTExqK2tlepE\nR0c7lQuCAJ1OJ9W5FvGxY3FD3M1Oy7aXF1/z9oiIiIiIfOGqbjrWH3hjMm95efkV68SH3YwTOCw9\nrzixH9t2fojBoUN7/fpEnvKkrRL5E7ZZ6k/YXqk/GDt2bK/W97hnwN/ExsbCarXi/PnzTsvr6uoQ\nGxsr1WloaHAqF0UR9fX1Up1rNVQ7BhEhMU7LDpzazisLEREREVG/0W97BlJSUqBUKlFaWors7GwA\nQHV1NSorK5GWlgYASE1NRUtLC/R6vTRvQK/Xw2g0SnVcmTx5skcxhOqUeO3vz0jP65pPIyjSiolj\nbrvGvSLyjP1sladtlcjX2GapP2F7pf6kN5fMB3yYDBiNRhw/fhwAYLPZUFVVhYqKCkRFRWH48OFo\nbGxEVVWVdC+D48ePIywsDEOGDEFMTAzCw8OxcuVKrFmzBjqdDpGRkVi9ejWSkpKQnp4OAEhMTERm\nZiby8vKwceNGiKKIvLw8LFiwoNddKgBwY/wtuHHELag8XSEte2fH6xgZeyPCQrS93j4RERHR9SCK\nIkwmE0c4+BlBEKBSqVxeYt9rryH66K++a9cuzJ49uzMIQZAa34oVK6RLhj7wwAPdyp955hk8/fTT\nADpvhPb4449jy5YtaGtrQ3p6Ol577TXp5mhA543RVq1ahQ8//BAAkJWVhVdeeQVhYWFO8ThmVeHh\n4R7vR03DKfzpv1fDJl6+t0FifDLysp6ETOi3o7DIz/GsFfU3bLPUnwRae7XZbOjo6IBKpYJcLvd1\nOOTAarXCZDIhKCgIMpnr75XX+h3WzmfJgL/pzRu57X/ewSdf/rfTskV3PIBZkxZ6JTairgLtPyrq\n/9hmqT8JtPba3t6OoKCgPj37TNdOFEV0dHRIV/TsqrfJAE9de0HGrYsxZuhNTss+3PcmqhtO+igi\nIiIiIs8xEfBfff23YTLgBTKZHDlzfw61apC0zGq14C//fAEG4wUfRkZERERE5B6TAS+JDIvGkjmP\nOC07b6jDax88A2P7RR9FRURERETkHpMBL0pOmIa0m+90Wnb2/Gm88v5TuNjau8s+ERERERF5G5MB\nL7tnZh7Gj3SecFRz7hTWv///cKG5wc1aRERERDRQ7dq1CzKZDO+++66vQ+mGyYCXyeUK3P/DX2Js\n3ASn5XUXqvEf7/wSVbXHfBQZERERUeCQyWQe/RQWFvo6VJ/qt3cg9mcqRRDyFj6J//r49043JLvY\n2oS17/077pq2Anck/ZAz94mIiIj6yFtvveX0fMOGDfjyyy/x17/+1Wl5Wlra9QzL7zAZ6CMqZRAe\nXPD/UFTyn6g4sV9abrVa8P4X/4VvTh3AfbN/gsgwnQ+jJCIiIhqYli5d6vS8tLQUX331VbflXRmN\nRoSEhPRlaH6Fw4T6kFKhxIofPI70lH/rVlZZ9S/8rmgVPt7/Nto6jD6IjoiIiCiwrVixAmq1GlVV\nVVi4cCHCw8Mxf/58AMChQ4dw//33Y8yYMVCr1YiOjkZ2dja+//77btsxGAz45S9/idGjRyM4OBhx\ncXFYtmwZzpw54/a1zWYz7rnnHmg0GuzYsaPP9vFK2DPQx2SCDAun5SJONxpbd7yGdlOrVGaydKC0\n7G/Y+/U2ZNx6N26fkIkgpeu7yxERERGR99lsNmRkZGDq1Kl48cUXoVB0fj3evn07jh07hhUrVmDo\n0KE4ceIE3njjDXz11Vc4fPgw1Go1gM6ehBkzZuCbb77B/fffj8mTJ+PcuXP49NNP8e2332Lo0KHd\nXrOjowOLFy/Gnj17UFJSgttvv/267rMjJgPXSXLCNIyIuQFbPnsZJ2q+cSprbb+Iv+/ZjJL/eRdT\nb5qDaRPnQRfRveEQERER+Vpfz3kURbFPt9+V2WzGggUL8OKLLzot/8lPfoLVq1c7LVu4cCFuv/12\nFBcXY9myZQCAP/3pTzh06BD+9re/4e6775bq/vu//7vL12ttbUVWVhYOHjyIzz77DLfeequX9+jq\ncJjQdTQ4PBY/vfs3uG/OIwhVh3crbzO1YlfFR/jtm49g/ftPYvf//hNNLed9ECkRERFR4HjkkUe6\nLbOf+QeAlpYWnD9/HmPHjoVWq8XBgwelsvfeew8333yzUyLgTnNzMzIzM3Ho0CHs3LnT54kAwJ6B\n604myJB2cwZSEqZjV8VH2HHg705Dh+xOVB/GierDeG/XnzEydhySbrgNN4+eAp12KK9CRERERD5z\nvc/c9zWZTIaRI0d2W97Y2Ihf//rXeO+999DY2OhUZjBcvpnst99+i0WLFnn0WqtXr0ZbWxsOHjyI\nCRMmXHmF64DJgI8EqdSYO+VeTJuQiZ3/+hD7DpfC2Nbssu6p2v/Dqdr/wz/2FiJcE4VxwydibNwE\nJAyfiIjQwdc5ciIiIqKBQ6VSQSbrPljm3nvvxf79+/H4449j0qRJCA0NBQDcd999sNlsUr2rOUl7\n1113YevWrXj++eexZcsWl697vTEZ8LEQdRjmpy3H3Cn34l/H92HPoU97vDGZoeU8vjq6E18d3QkA\niNAMRmSYDhFh0YgK02HY4FEYFj0KWk0UlArV9doNIiIion7JVU9HY2MjduzYgWeffRZPPfWUtLy9\nvR0XLlxwqjtmzBh8/fXXHr3W/Pnz8YMf/ADLly9HSEgI/vKXv/QueC9gMuAnlAoVpiTOwpTEWWho\nOotD336JihP6K96xuLHlHBpbzgEurlylDgpBWEgEwgdFICwkEmEhEZ3PQyIQEhyGQcEaDArWICQ4\nDOqgQX20Z0REJIoiRIgQIHCoJ5EPufr8uVoml8sBwKkHAAD+8z//s1vysHjxYjz77LN47733sHjx\n4ivGcN9998FoNOLBBx+ERqPBunXrrmYXvI7JgB+K1g7BnJRFmJOyCI0Xz+Hrk/+Dr09+hZNnjsJs\nMXm8nbYOI9o6jKi7UH3FuuqgEIQEh0IhV0IuV0AhV3b+yBRdlikgk8kBUYQIXPrd+aGw/2fX+U+8\nXAdiD2WO5Q7b61Lv8uOeyjpp1GGIiYhDSHAoTJZ2nDlXhQ5zO1SKIEDo/GDbxM4Pt0yQocPUBmP7\nRYgQIRfkkMnknbcoF2SQyxSQyxWQy+Sd74FMefmxXAFR7LwalFW0QqMOhwABZksHZDIZ5LLO90su\nV0ImCDhnqMWF5gbIBBlkcjkUMgVUyuDOpCxIA7lMjqaW8zBbTAhSBiNIpUawSo0gpRoqZVDnerLO\n+L6v/x6CIEP7oXOw2ixQKYMhE2Sw2qyw2aywiTbIL9WVy+TSunKZHDbRhnZTGzpMbTCZ2yGXKxCk\nVCMqPAbR2iEIHaSFQq6U3m/7MU8u79yOI5vNCrPFBJPFBLOlA2aLCRarBYJw+QtPW4cRre0tkMsV\nUCpUUMpVaDe1oqXNAIvVAptogyjaIIoibDYr5HIllAoVbDYrLFbzpR8LLFYzrJd+O/3YLN3q2EQb\nZIIMgiBc+t35WIDrL2GiaIPVZoVVvPT+XWoj9v2QQSY97tpObbBBtF2K3+ExLtWX1rd3BYv2TwW6\nPHf+ffmX6NF6lxdf23a6cfjPUXC73KHE6aFDHXs7aGsDAHxW+aaLdR0edzmmAJA+k5c/n3LIBYf3\n1FtEwCpaYbFcbl9SG5LJINpsUnuzWi2dPw7t9/LvS21BvHRsctgnANKxRSaXQwYBgkwOQRAgF+zH\nGcfjjvLyc/symRxWqxUWmxlWmxUKuRJBiiAEqdRQylUOr3X58+v493f82zsdiS9VFgQBQUo1lAql\n0+cK0udJgMncgYttTZAJcgSr1J3HikufG1EUYRMvPZaWOX+huqo/iyiiw9wOs8UkHX/lMgXES6+h\nuHTMUCpUkMsUnS3L/nkX4JCAdf/8K+QKhASHIiQ4FMFBg9DW0QqzpQO1tXWQCTI04rT0nstlCofX\nl0MmUziXyS/XEQQZrDYLRFGEShkElSIIKmWw9FguUzh9AbVeOpZ2HkNNMFvMsFhNl947SO+fKNo6\n/9+ztzPRig5TGxRyJSLDdAhWDbr8/7dcwcTTBVe9AK6WhYWFYebMmfjjH/8Ik8mEESNGYO/evdi9\nezeioqKc1vnlL3+J999/H9nZ2SgtLUVycjKampqwbds2PPfcc7jjjju6bX/lypVoaWnBz3/+c2g0\nGjz//PPe3dGrwGTAz0WEDsYdST/EHUk/hNlixqna/8Px77/Gse8P4VTdMdhsVq+8jj1xoH6m544j\nr5LJ5NAEhwEAzJYOmKymzi8IRFehqfv1EgKOTbTBZjUB3jl8Ux+qON1327YnhVabRTpB5W1OJ/cu\nJQiOJ/rMVjM6zG24d8ZPkDjqlj6JwZ84nqjqaZndli1b8Nhjj2HDhg0wm82YMWMGPv/8c6Snpzut\nM2jQIOzevRvPPPMMiouLUVhYiJiYGMyYMQMJCQlOr+Xosccew8WLF/H0008jNDQUv/71r93GfuZc\nFfYf2QYA0ok/pUKFCaOnYGT0TVf9XjgSxIE2JfwaOc4KDw/vftlPf2S2mHDhYgMuNNfjQnM96i5U\n43T9CZxvrsdFY2OfHVyIiIho4Hjoh0/i5hsm+zoM6sHhE+XY+M/fdls+d8q9mHbTD6Xn1/Idlj0D\n/ZhSoUJMxDDERAzrVmYTbTC2NaPZ2AiDsREG4wU0Gxs7f1ob0dregtaOFrS1t6C5tQkWq9kHe0BE\nRERE18obcz6ZDAxQMkGG0EFahA7SYlj0qB7r2kQbWloNaDe1dY4N7TIG23GsttVmgdVmhTTi99K4\nzM6er8tdbfbxmYLj4x7L7NE41HO1To9lneP+LjQ34JzhLDrM7QCA2MjhCAuJkOZbCILs0rhXwGqz\nQaVQQaMOh0wmuzRWvLP7zWr/sVouPba/B/ZlnV27IcGhkAkytLQ1QxAEKBVBEEWbw3vZObY4LCQC\nuoih0th+i9WMdlObNKbebDVBq4lCkFKNDnM7Okxt6DB3/pjM9rGjVlhtNtTV10IUbRg2JA5ymRId\n5s7x2J1jqTvHH9tEm7QfNmk8vA0CIM1HUCmCYROtaGlrRn3jGTS1nMPFNoNUTxp3C8Bqcz0kSKlQ\nQaUIujRmNwgKeedhxT6mNVilRkhwqDQm1mTtgEoRhLCQCKgUQdJ4fpkgQICsc0y2xSTNy7DPvbB3\nc7vt9r70Wy5TQCaTXZqDYHOak+COIAiX5lQoIJd1zq8QBJm0D/axyaIoOrX1znboODdBuNS+hEuf\nLfs4cvs8Fcc26ziC2Xm5Y1zO5dKnxOXy7ttxs56b179MdPEITvMLnMeau1nXoeCbbzrvvD5+/E3u\n61+aYHv5mCBc2k7nnI6ubbovej9lggxKRRCUCuWlcemi1IYEQebUzhRypTS/yP63d24X6LJMkObG\n2I8pju3LZrN1zgOwWi8fO2wWWC8dj+3LOufWKKTx6Vab5dIxox1mq6nbJOVu7aFz4aXH3Y+/NpsN\nHeY2mC0m6TNnH4svXprjJZcpEDooXBrPf7nty7q9J5fn7Vz738U+d6pzLpFFmpskE2SwWM2X5i51\nwGazOs1VA+zt0PXn32TuQEv7RbS2N6O9ow3qoBAEqYLxffX3EEUbdDHRl+ZnWGCzWS79bazS/4X2\n3zbp/wmr9H+DQq6EAAEmSwdM5vZLvzukOB0JEKR5DwqFCspL8yCc5jsJgAyyy/ORIEAmk0GlDIbJ\n1I7Giw3osHRI/297axgx+bdgFZMB8gKZIJOuNET9Q3l5OQBg8uTr161rsnSgpbUZMplMSgAUciUn\nqJFHzoQ0AACGDh7p20B8TBAEaTIwEOTrcMiNclnfHmMdk8LOC054f7KvzX5SyunCC84XYVDIlQhS\nqjFIFerV1ybvi40agew5j0oXUZBdmsg/eljv5gsATAaIyEMqRRAiw6J9HQYRUb/nnBT2DZkg67yK\nnuLKSWd7e3ufxUHeoVGHIfXmO12WOc57vRY+u+3Z7t27sXDhQsTFxUEmk6GwsLBbnWeeeQbDhg3D\noEGDMGvWLBw5csSpvKOjA6tWrUJ0dDQ0Gg2ysrJQU1PjVKexsRE5OTnQarXQarXIzc3t9ZtGRERE\nRDQQ+CwZMBqNmDhxItatWwe1Wt2te+yFF17ASy+9hFdeeQVlZWXQ6XS488470dLSItXJz89HcXEx\ntm7dij179qC5uRnz5893ukHE0qVLUVFRgZKSEmzbtg0HDx5ETk7OddtPIiIiIiJ/5bNhQvPmzcO8\nefMAACtWrHAqE0URa9euxRNPPIFFixYBAAoLC6HT6bBlyxY89NBDMBgM2LRpEzZv3ow5c+YAAIqK\nihAfH4/t27cjIyMDR48eRUlJCfbt24epU6cCADZs2IDp06fj2LFjTtd+JSIiIiIKNH45Z+C7775D\nXV0dMjIypGXBwcG44447sH//fjz00EM4cOAAzGazU524uDgkJiZCr9cjIyMDer0eGo0GqampUp20\ntDSEhIRAr9czGSAiIuonRFGE2WyGxWKBxWJxemyxdL/ambs7zdpsts6rAlmtbh8fOXIEVqtVGo3g\nePU6x5tUOT73dNnVrNeVXC53+gE6h0w7/pjN5s4rqdlsDldEE52ed32ckpKCuLi4a/7bUN8zGo04\nceKE099UoVBgyJAhUlu4Vn6ZDNTW1gIAYmJinJbrdDqcOXNGqiOXyxEVFeVUJyYmRlq/trYW0dHO\nEx4FQYBOp5PquLJhwwanN9v+YXE86FgsFthsNsjl8s4rAXT5gHZd5vjcfnk5xx97bDKZTDoQ2B/3\ntOxay7o+tnN3+cWuB6muBzBRFF0eoLsejDz96RqPq2XuHl9NXQAICgqCRqORLkdpp1Aouv0NHeNz\nFbP9sdlsdvoxmUwwmUzo6OiQHptMJuk9cjxwOw5zc+fs2bMAgCFDhvR4yUxXbDabFJfFYum2vie3\nanf3mvZ27vjeuWtfPW2za5lMJoNCoYBSqYRSqZS2f6V22bXtX+nHsV5vPnN98Zm91jL739zxy469\nvfX02Gq1On2eXbUJx3r23/a/lz0ee7s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"text/latex": [ "$$\\left[\\begin{matrix}\\frac{x_{pos}}{\\sqrt{x_{alt}^{2} + x_{pos}^{2}}} & 0 & \\frac{x_{alt}}{\\sqrt{x_{alt}^{2} + x_{pos}^{2}}}\\end{matrix}\\right]$$" ], @@ -1046,7 +1046,7 @@ "data": { "image/png": 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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1402,12 +1402,12 @@ "source": [ "from math import sqrt\n", "\n", - "def H_of(x, p):\n", + "def H_of(x, landmark_pos):\n", " \"\"\" compute Jacobian of H matrix where h(x) computes the range and\n", " bearing to a landmark for state x \"\"\"\n", "\n", - " px = p[0]\n", - " py = p[1]\n", + " px = landmark_pos[0]\n", + " py = landmark_pos[1]\n", " hyp = (px - x[0, 0])**2 + (py - x[1, 0])**2\n", " dist = sqrt(hyp)\n", "\n", @@ -1435,12 +1435,12 @@ "outputs": [], "source": [ "from math import atan2\n", - "def Hx(x, p):\n", + "def Hx(x, landmark_pos):\n", " \"\"\" takes a state variable and returns the measurement that would\n", " correspond to that state.\n", " \"\"\"\n", - " px = p[0]\n", - " py = p[1]\n", + " px = landmark_pos[0]\n", + " py = landmark_pos[1]\n", " dist = sqrt((px - x[0, 0])**2 + (py - x[1, 0])**2)\n", "\n", " Hx = array([[dist],\n", @@ -1479,7 +1479,7 @@ }, { "cell_type": "code", - "execution_count": 37, + "execution_count": 17, "metadata": { "collapsed": true }, @@ -1582,7 +1582,7 @@ }, { "cell_type": "code", - "execution_count": 113, + "execution_count": 19, "metadata": { "collapsed": false, "scrolled": true @@ -1632,7 +1632,7 @@ }, { "cell_type": "code", - "execution_count": 110, + "execution_count": 20, "metadata": { "collapsed": false, "scrolled": true @@ -1640,9 +1640,9 @@ "outputs": [ { "data": { - "image/png": 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2acfI5aBcCSFW/EP8YX5B/Q3hmpAlvRkSlnnKYynCWHHoqMeGpavZuGyQm1d3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66bEeCf6am62PsWr2E6QHAzJGgb4lAzSCKtXJOpHWxrBiUglwXQ3PSYCVp6fc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\nqVQg9G1Cz73u67rWtnIpib3J6zYMwzCMW818uhjGHuG7Nr5fMM4KSuH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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1652,7 +1652,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "[ 0.01969482 0.02094075 0.00154535]\n" + "[ 0.0199192 0.02067011 0.00153754]\n" ] } ], @@ -1677,7 +1677,7 @@ }, { "cell_type": "code", - "execution_count": 109, + "execution_count": 21, "metadata": { "collapsed": false, "scrolled": true @@ -1685,9 +1685,9 @@ "outputs": [ { "data": { - "image/png": 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/+Ul++ctfbuTQQgghxIb0js4ysjBKUkqI1Aw/7TMtHOtu5D9+1cTYRfKOy3NT\nyE5yEwkamZmLz50GyMsyMLc8SfvICKe7x1ffV55U0Ou0jP75AuXuImZnNIxNxi/lbbNqMVnCjHim\naB+aumj/FUXhrsocPvTALu6rqGJfwZ3cmrOdO8uzLvNOCCGupnVHpr1eL52dncDKV2b9/f00NDSQ\nlJREVlYWKSkpMdvrdDpSU1PXzS8RQgghrqZQOEI4EsJmVXEl6UlJ0tHUMcWJgUZCRyL80b5y3Imx\no89arYbKfDddE+kMjvaS6IgdNa6thb17VfKzDXT293KsKZHS7GSM/6hbrR2dmmjlnp35LAZ8NPY1\nYrNqsJg0McdxJ+mYHJukbWCaWwrTuJRkh5mH7yojGo0Sja6kgQghrh/rjkzX1dVRVVVFVVUVfr+f\nmpoaqqqqqKmp+X30TwghhLgiK/N3FKKvpxhrNArbS8xgmOfUUAv/ebSFeW/8RL6dhalkOdwsLWqZ\nm48dnW5qWnl1J+vRGnwcPH1bTCC9eoyiNHYVZpFjz6Wlw0c4HNuekqRjPjDHwMQcXl/86PVaFEWR\nQFqI69C6I9P79u0jEnnjkx16e3s31CEhhBBiMyTbzVj0Fha887hf/xJVVRXKi000ts3RNNLND181\n8Z57KmKCVJNRR3VJBsOeSbr7uqjaruXoUYWmJujpgRdegIoKeDn6BH9o/jJ35O7G6wtiMeljzn9/\ndQETc0vMdy/S1D7F9m3m1fNotQoWq8LMkof+cQ9lubHf8gohbhwbrjMthBBCXI/Skmw4TLa4xU9U\nVaGsyMRUYISmwUF+c6Y/bt9bSzMoSEmHkIXRySB798LBg5Cfv/L6cnSlfrTNHmFgboyTHaNxx9Dr\ntLzjjhJ2ZpagWXbQ0ukjEjk3Qu20a5jzeRiSFQ2FuKFJMC2EEOKmlO22k2R24FtSCAZjv2HV6VS2\nFRrpmO7gty19dF+wqqBOq+FN27MpSsqnbyDI8vLK/j3lK2sqnF2IJSvdwLBnhDM94yyHYldOhJVl\nwt91Vyk7M8uI+hNoaj+X8mHQqwTDy/iDobj9hBA3DgmmhRBC3JR0Wg1ZrgQSTU7G11jV0JGgIz1N\npXWig5/VdcXlLpfnuSjNTCPZlEr3gJ8njpxbzfAsu02L3hRkYHacMz3jrCU10cYf7i1jV2YFuuVE\nTjZ6mfGEUBUIR8IE1wjChRA3DgmmhRBC3DAikSgnWof50asd/LZpAF9g7fJ1Z5XnuUhLSGV0bHnN\nBcXOLhP6cLhTAAAgAElEQVTePt5P7en4dI+37MqnMCmXrw1+gr+ufH7Nc2SlGRjyjHCqY/Sii5al\nJdl4z70V7MmvINtaQkdHhLauAA6jg+SL1LwWQtwYNrycuBBCCPH78psz/fzidBtj8xMkGK3Ut6Wx\npzyL20oz19y+JCuJrMQUuqdNzMyFSHLGlrpTFIWifCOnzgzR0JNCRV4K2W7Hanvyly0AfDb3J7T1\ntLDTomI0xJa5S07U0jO4yMD0JN0jMxRmJK3Zl2S7mUfv30FdezL17Sks+Py4nTYqC9wbuSVCiGtM\ngmkhhBA3jMaeCdomO0lLizI1P81A3zCzvgVmF/w8sLsgbqlwRVGoLHDTMZ7O0FhPXDDd1QWFhRrS\n0zR0TfdypMHJB+63o/69SrQmuvITjfKfta14/PO0dg5xS7kl5jyKouBO1jExN03n0MWDaQCdTsMd\nFdncui2D+aUANrMBnVZz0e2FENc/SfMQQghxQwgEQywFg4QiAXIzjewos1CQr9A43sQrrZ38+LXO\nNdMsduS7yXS48C6qeH2x+cl1dSuvORkGFkIzdI+PrQbSZymKwlv3FFKelo8aSqBnML42dUqilmnf\nND2jcxdN9TifVqshMcEsgbQQNwEZmRZCCHFDCARDhCJhVM25UWFXkh69VqGlsxUAs1HH3TvzYvYz\nGXWU5rjomUqnd2CYihIzXV3Q3Q319ZCYCAUFCrmZev6+5UG+uqueSCQaU3vabNSz/7ZCPEtL1A01\nkGBZJiXp3Ci3xaxF1fqYXvQwPrNIapLtKt8NIcT1QkamhRBC3BBsFgNWg5FoWCUUOjf667DrKC00\n0DbZzqutfXQOTcfte0dZJvnJmSzMa+JWNTzr6ZaP8R7nM/RPT9A2MBXXnu12cFdlPuXuUjp7gszM\nxh4nwaZhzjfPoNSNFmJLkWBaCCHEDUFRFBITTJh1FjyLsbWZnQ4dmRkaWsZXytwtLMWmYtgsBqqL\nM8h1ZNPdH6CgIMoDD0B1NTzwAHxlaKXsXbpbx7BnlFOd8YuwAOwpy+TNZQWUpZTS1hVkauZcQG0y\nqgTCQXxSN1qILUWCaSGEEDeMjGQbdqOdufn42szZ6Qa0piVax3r40WudMasNAtxamk6hKwMlZGVk\nIsgTRx6jPi12ERZ3io754Cx9E9OMTi2s2Yd7qvJ4U1kR5a5yOrqX6R8OnDtXNPqGcqaFEDcPyZkW\nQghxw8hxO0i2OGmbHiY/KxpXvWNboYmTjSM0DTrIa3fElMzT67TctSOH0blZnmy9n8/f8RWM+tgx\nJa1GxZ2iXRmd7hojLTk+91lRFO7fXYBRr0XfpKVrqpfjY3NEo5DvNGMz6a/OxQshrksyMi2EEOKa\n8vqC/LZxgN+c7mdk6tL5xnlpDjKcSahhE7Oe+HQKvU6lKM9I51Q3x1uGWLwg3aM0J4Une+/no+7/\noK3Tt+YocnqqnnHvBG0Dk/gvsSjMXTtyeOTuW9hbvIvylO0UJ26j0JVJea7rDV65EOJmICPTQggh\nrplAMMQ3fn6GtvEBQuEQqbYUCtJS2H9rIXarMW57RVEoz02hdczNyPgAiQ5d3DZJTh2jNi9dUwP8\npjGJ/bcVndv/SQXvpwMc+tlpXu1doG9oibys2POYjRrM5ihT3ll6x+YozUm5aP/z0xPJS3MyMOFh\nyb9MfpoTg17+tAqxlcjItBBCiGvmTM843ZMjjC31ETKOcXL0FLVtZ/jWLxsZnV47Z3l7nouMBDce\nT4RgMBLTVlu78pqfbWB4fojG3lGUJxWUJ1fSQaI10dUyd+XuYsbGoszMxY8+Jzo1zPjm6B/3rHsN\niqKQ43ZQmpMigbQQW9C6wfTRo0c5cOAAmZmZqKrKoUOHVttCoRCf/vSn2bFjB1arlfT0dN73vvcx\nODh4VTsthBDi5jA978PjnyfNraMoz8htOy14lXFO9Dfy3dqWNdM+EqxGCtISSTa7GBoLxrQ1Na28\nmk1akpM1fLp9L/91T0vMIiwAualO7izPpSS5mPZuP75A7IRGh03LfGCesZnFzb1gIcRNZ91g2uv1\nUllZyXPPPYfJZIqZ7OH1ejl16hSf/exnOXXqFN///vcZHBzkwQcfJByOn2kthBBCnG/Jv0wwHED/\n+kRArVahcpsZxTjPyaFmvv/bdry+YNx+u0vTyXZkMjoeIhiMUFsLL7wAPT0rr7W18NWBx3mn5Rk6\nhiaZW/DHHePO7VlU5mSTacvjdMsS/vMCaqtFxbe8xPS8l1A4ErevEEKctW4wvX//fp566ikefvhh\nVDV2c7vdzuHDh3n3u99NUVERu3fv5sUXX6S1tZW2trar1mkhhBA3B6tJj15jiEnXUFWFsiITYa2H\n5pGVMncXThTMTLFTluXGZU6lbyjA3r1w8CDk56+8vhxdqRud5FAZXZjgTM943LkVReEdd5awK7eQ\ndHMOp1uW8C6tTGrUaFQgilS5E0KsZ9Nzpj2elfwyp9O52YcWQghxk3HajJj1ZhaXYkd/VVWhtMjE\n+NIwZ/oHebV5KG7fN+/IIT8pm8mpKAvelVHlnvLYutFpLh1jC2O09E/G1Z0GMOi1/OFdpVTnFZNl\nLaCh2U//cADvUohoVEGjqmhUJW4/IYQ4a1NnSgSDQZ544gkOHDhAenr6Zh5aCCHETSg10UqCwcrY\nXHxqoEGvUlxooL2zA1ujmRy3nYyUhNX2ZLuZqqJ0Rudz+Fzdu4BzQfRZDrsOdAsMz07RPji1ZmUO\no0HHH99djuVVHfZ+G71TAwwMzZJhTyPLZY+rZS2EEOfbtGA6FArx/ve/n/n5eX74wx9ectv6+vrN\nOu2WIvdNXEieCXG+G/F5CEeiLM14mJhYoN08g9m4VuAa5VjrcQLzM+yvyogJbo3BMP808i7eGvpH\nrM7FNSfAq5EoZ3qaSIiE8G5PvWhfskygpmhRlhKZC1uxocURnbsh7+tZN3LfxdUhz8TlKyoqumT7\npgTToVCIRx55hObmZo4cOSIpHkIIsYUFlsOc7pthwuPH7TCR77aSZIuvGQ2gURVyXFb6PA6mZycw\np8UH0+kuhSbPHAMzc3SNJVCUdm50+k0/38P3b6/l8OkhWqc6sFpCJFhij+FIgPGJBSbn/USj8asm\nni8jyUJGkuUKr1wIsRVtOJheXl7mPe95Dy0tLRw5cgSXa/2Vn6qrqzd62i3l7KdIuW/iLHkmxPmu\nt+fhGz8/Q7fXy7h/mmmPg9mogZ1mN/dVF6DVxE/VScudZzaq5/RYA5mZ1phgt7YW9u4FgynIyFCQ\nRcXOzp070T6lIVoTJVq9kgedmNrPT37npGO2haJ8y2p1kLOmPAskJCeSW1hGivPmD5avt2dCXHvy\nTFy5s/MBL+YNlcZraGigoaGBSCRCf38/DQ0NDA4OEg6Hefe7383x48f51re+RTQaZWxsjLGxMfz+\n+DJEQgghbm6eRT+DU7P0zPaRkbXMsmGUkyOnONLcyndrWwgux+dGZyQnkJGYiEG1MjUTu0T42brR\n7hQdYXWRD/+uejWQPt+d27PZnpOFy5hJc8cS4XBsu8WsshDwMjW/tLkXLITY8tYNpuvq6qiqqqKq\nqgq/309NTQ1VVVXU1NQwNDTEyy+/zOjoKLt27SI9PX315zvf+c7vo/9CCCGuI/3jHmZ9Hpx2De5k\nPcV5Ziq2GenxdFLX085/Hm0hvEbd5u15LjLt6QwMBwDi6kYfParwH3NP8H77V/m3207F7a8oCm+9\ntZDKzAKMkRQa22IDaoNeJRgO4vXHr3YohBAbsW6ax759+4hELl6w/lJtQgghtpZgKEwwFMRwXppF\nglXLjjITZ1r60A8YSD1j4+6duTH77SxK42RHGkOeISaml9m7V8feva8H1OWPcXDvi7w58s+8dnKe\n4elZRqcXSEuyxRwjwWrkD/eWETkSpWGonVPNE5QWmrCYNQSXIyRodJhluW8hxCaT3ypCCCE2jUmv\nRa/RsxCMHWgxG7VsKzTR0t6FrdVCliuBwozE1XatRmX3tgwGZybpHGgh2anlL4/+Dyg/V+5OVRVS\nknSMzk/Q3DcZF0wDJNnNvOeeCgy/0dI4aKahaQCLNcriYoSCdBuJdvPVvQFCiC1HgmkhhBCbxmkz\nYdaZGPLGL5DiSNCSkR6iZaKDn9WZSXXegtVsWG2/pTCVMz1pDM+P8JdH/6+4mtEAqS4dzS2TdAxO\nsW9HDlqtZs0+PHJPBZmNNhp7U5lYmMHoNrA9N53UROvmXrAQYsuTYFoIIcSmSbabsBstBAIKgWAk\nJt0DICfDiGfeS/t4H0fPJPLWPefqt6qqwp8c38nni37Nw8F/wrMQwm6L/TNls2hQdT7G5+cYmV4k\n221fsx8mo477dxeypzSToakFdFo1ZiRcCCE2y6YvJy6EEOLmNL+4Uqf5UvQ6LbmpThKNSUxOrz3Z\nrzDXwPDCCGd6RxifWVx9X3lSIVoT5Y7SXIqTimjt9LG8HD8vx56gYd6/yNh5+15MgtVIWW4KRZlJ\nspKhEOKqkJFpIYQQlzQ+s8jh+h5Gpj3YLSbyUh3cWpqB02Zac/virCROdCUxND1FZpohpm2lbrSW\nlORl+maHeLXFzTt/WQqwWu7urh05DE3NM+Obo71ngoqS2LrQFpOKd2mJmQUpcyeEuPYkmBZCCHFR\nkUiUHx/v4rXuFsa8oxi0elJGUmgbnOSttxZTlJUUt09RZiLuhEQ6plV8/jAm47m85qamlUVYcjIM\n1J0e552/LGXiY4sxC6moqsLbby9mdsHH8QEvbd0+SvKNqyPLRoPKdCjAwlLw6t8AIYRYh6R5CCGE\nuKgpj5ehKQ9T/lHurLZSXqrBp45yYqCB//5tM40943H76HVaijKSSLWkMTCyEvBeWDf6r4/9GSmJ\nGv489SVa+ifjjmG3Gnnb7cVUpZezNG+ipXOJSGRl5Hp5OYpO1WGUMndCiOuABNNCCCEuamURljmc\nDi1arYLNoqWixEJiSpCTw2f4aV0HI1PzcfvtKcsk25nO1FQUnz/M3r1w8CDw9sfoKX+MZ/a9iDtF\ny6R3io6h6TXPnZfm5F13lXFrViWK38mJ04v0D/sZmwxi01tJvEiaiRBC/D5JMC2EEOKSItEIem3s\n5L28LBPOpBAtE+386LVOfIHYyYZJdjMVuW7Sren0DqyMTj9x5DEOKC+ulryz27SEFB+jc3MMrxGQ\nA+SmOnnknu3cUbiD0sQKfLNOrEoqOUlpbM9zXYWrFUKIyyPfkQkhhLgoo16LTtWxsEZVjfwcI6db\n5mke7eanJ8y8882lMe1v3p5Nx9A0n2z5Y/465fm4utGKopCcqGVycYrOwWkykhPW7EOK08KfPHgL\nHYPTdI/MoKoKOwvTSLAaN+9ChRDiCkkwLYQQ4qISzAZMOgO++fiSeBpVpbTAxKnmIZoGnFQOuyk4\nr5az/ZmVNIzP5vyUtp5mqrZr4upOO2xaRuYWmfJcujKHoiiUZCdTkp28CVclhBCbR9I8hBBiC4pG\no4TD8aPNF0pNtJJss7Mc1OLzx29vMmnITNPSPd3PK40Dq3Woz9aMDv9tmB15WaSas2jp8MXVqTab\nVXzLPuYWA5tzYUII8XsmwbQQQmwxzb0T/OuPT/H//PcJ/uNXTdS1Da9WyriQQa8lN9WOw+BkeiY2\nL7q2duU1PU3PUsRD7+QY6t+v/Fk5WzNaVVX231pIeVoe6nICHb2xC78YdCqhSAhfMHQVrlQIIa4+\nSfMQQogtZHDCw/eOtdI60cHS8iK24QQy+tPoGJzmwB0l2CyGuH3y050ktyUxNDtFZvq598/WjNaq\nKv/H8xfggW+/qTFuf4tJz/7bCvEGgpwabqa1c4mSAiMajcKSL4JBY8Ri1F3NyxZCiKtGgmkhhNhC\nzvRMMDQ3itm+xPZsMzNzPjoHW/H451kKLPNH+8qxXzCxryDdSZojke5eHfMLYU6d1NDUtFIz+myF\njv/5pv+X46eWGJyaxesLYjHpY46Rk+rgnW8qRXNMpWm0g/ozU7iTdMx7wziMqWSk2H6ft0EIITaN\npHkIIcQWEYlE6RmZZWppkpx0AzqdgjtFT/V2C57ICKcG2vnBqx1xudQmg47KAjcZtgz6hwIxNaOf\n2fcie/eCTqvBZlWYXpqhZ3R2zfPnpzt55J4Kbs/fTom9koAnGcOyi7zELIoy4ldSFEKIG8G6wfTR\no0c5cOAAmZmZqKrKoUOH4rb53Oc+R0ZGBmazmbvvvpuWlpar0lkhhBBXLhqNshyKEIouYzCcqxut\n06lsLzEzFRilaXCAX5/qi9t3V1Eaeclp+Lx6njjy2OqI9PmSHFomvTN0Ds1ctA/uRCsffKCSD95f\nxdt37eLt1dW8555y8tOdm3adQgjx+7RuMO31eqmsrOS5557DZDKhKLGF+7/4xS/y7LPP8vzzz1NX\nV4fL5eK+++5jcXHxqnVaCCHE5VMUBa1GRUUlckFhDp1OpazYRNdMJ8fb++gZiQ2IbRYDH2/aQ649\njz+yP8v/vPOf2bs39hiJDh3zgXkm57yX7IdWq6EgI5G33V7M224vJtvt2IzLE0KIa2LdnOn9+/ez\nf/9+AD70oQ/FtEWjUb785S/zmc98hne+850AHDp0CJfLxbe+9S0+/OEPb36PhRBbWmurn/7+i7fn\n5EBpqSzmsRZVVbCadOg1BpZ8YRJssX8CEqxaMtJDdE318UpjEnlpThRFQXlyZRAl+NchXjrSzFyH\nh/buMcpLYgdYDHoIRZbxBoKEwxE0GskkFELc/DY0AbG3t5fx8XHuv//+1feMRiN33XUXx44dk2Ba\nCLHp+vth//6LB8s/+Ymf0tKLNt+UAsthhmeWSBmbIy3Ril5/8V/tmSk2nH1OZuYmY4Lp2tqVyhyZ\nqXpOjM/SMzFO98gMRf+SvFrmDuCttxUyu+DneP88/cMBcjPPVf9QVBVVgXAkTEiCaSHEFrGhYHps\nbAwAt9sd877L5WJkZGQjhxZCCPEGtA9M8b3jA0x652maWsZuslKR62LfLbkY1giqc1MdOE0O+udG\nyc06FwifLXOn0ahkpOp5suMBSjMaYwJpgMQEM/dV5zPv89E41kwk7Ccv24CiKPj8YVS0mHR6tBJI\nCyG2iKtWGu/C3Orz1dfXX63T3tTkvokLbcVnYmEhB7j4yPTCwgL19U2/vw5dQ8HlMN+vG6Rpqouo\nzstYXy/BgIaT7ekc+52Lu8rd2M2xJer8wRBLs/OMTHmwmWZoabbS3W1ieNjIs8/6Ga76OAB7A3/D\nq6eayDJ70Ws1cefOtYYYjTjp6Rigq3cCRwJ4l6LoQomEvFOcOnXy93IPxKVtxd8R4tLkmbh8RUVF\nl2zfUDCdmpoKwPj4OJmZmavvj4+Pr7YJIYS4OrrHFxibnyOq81JasDKA4fOH6R0axDfuIxKNsn9n\nBnrduWDYqNeSl2JlaD6J8elxqqoWqapa5MvdT/Hugs8CnwWgvTfKfHCR0RkfOS5r3LlLMuxYDFpe\nbdcxsehhbs6DTlHIsrkpcEvNaCHE1rGhYDovL4/U1FQOHz7Mrl27APD7/bzyyis8/fTTF92vurp6\nI6fdcs5+ipT7Js7ays/E1JT/ku02m23L3Jfx5Q70gyMkv56JkZWVBUBBfpRTTV4WNTC2nMA792yL\n+bYwt3AJ/08TODH4O77c/TgAB5QXeX13AMKKn6DHhDU5k+rqwjXPXw08ePcyvWNzdA7NoKqwqyid\ntGQJpq+1rfw7QqxNnokr5/F4Ltm+bjDt9Xrp7OwEIBKJ0N/fT0NDA0lJSWRlZfH444/zhS98gW3b\ntlFUVMRTTz2FzWbjve997+ZcgRBCiDUFlsOEomG0F/wm12gUyktMnGrq41SPlSxXAru3Zay2JzvM\nVOal8un2x3lf0rPcUm5GvSDFOcGqYWBqCY/30h9ejAYdpTkplOakbNZlCSHEDWXdGSJ1dXVUVVVR\nVVWF3++npqaGqqoqampqAPjUpz7FJz7xCQ4ePMju3bsZHx/n8OHDWCyWq955IYTYyrQaFVVRCYfj\n20xGDUV5erqmuznROkwgGAJAeXKl1N1dldn88846dGEHPQOBNY6tEI6ECCyvcXAhhBCr1h2Z3rdv\nH5ELq/tfoKamZjW4FkKIqyknZ6X83aXab3S+wDJL/mXsFgPaNSb/nZViN2PVWxjyAOctIHi2zF1K\nkp7BUS/90+M0dI2x5/9kxVTneGhPEZ4lP/VDDZiNQdJTz01WDIWjqIoWzYVD1kIIIWJctWoeQghx\nNZSWGm/aOtKBYIgjDX009Y3jDy5jMZrIdtm4syIbd2L8JMBMVwIOk53W0dj3z5a5A8hJ1/OFMwco\n7v1dXJm7TJede3bmEwgFaRpqYcm3UuZOo1EYmwySZHKRIfnPQghxSRJMCyHEdeKVxgGONLfQMdWN\nokaIhjWkjKfSNzrPW6rzqMhzoarnJhKmJdpINNsIB7X4/SFqa1cC6Z4eeOEF6Cl/DIB3WZ5mwrPA\n3KIfhzW2rGB1SToKYDilo32yh1d/N41eB+GQjsIMF5X5sesICCGEiCXBtBBCXAfmFv2c6h6hc6aH\nshI9TruOQCBCz8A49UNz+JaXMeg0lGQnr+6j1apsy07mt80rZe727l0ZkT4bSD+z70UAGtuWmPPN\nMzjhiQumAXaVpJOaaKX2tJ3RmUXmfYs4zFbetD0HZ4Lp93YPhBDiRiTBtBBCXAd6R2cZm58gISGK\n064DwGBQKS0y0TcYoH2ynZ8eN5BgMZCWdC71YldJGj+sTaZ5doonjqyMRB+oeJGDe19c3SbBpjI/\nu8DYzCLbLzLSnJGSwHvfUok/EGJ0ZoG0RCtGg+4qXrEQQtwcJJgWQojrwMJSEF8ogMUaP+EvJ1PP\n0pKXlrEufvE7E398d9nqQizJdgtFqXaeX/p73pv4DLeUW9BcMGfRoFPxvsHKHEaDlrw057rbCSGE\nWCHTtIUQGxKNRolGo+tvuIWFwxHC4UtXRVq5h1FAiWtTFIXiAiNzoQk6hyfoHJ5eef/1Mne7CpL4\nm+T/xEgSnb3xlU7CEVBVBa0m/thCCCE2RkamhRDrikSiBENhgsthQq8HhdFolChwNo7WahS0GhWd\nVoNWo6LVyGf1QDDE1PwSQxMLWIw6nDYjdqsRi1EXsyIhgMNmxKI3M+2LHz1eKXWnkJmm4x/a30JJ\nZyMVh9yr1Tnq6+t5c6mL5qlU6ofO0N7toyjPuDpZcWpmmRR9Ag6r5D8LIcRmk2BaCHFRweUw/mCI\n4HKYQBCWlyEUWgmgzwbRCgpRoqhqFK02jFYbRqcDrQYMei1mgy6mAsVWsRwKU9vQz4m2MWaX5tCq\nOkw6E6XZybypMgN3ojXmA0dGko0Eg42+yfgR7LOl7p5t/ygPW/+JvrE5pj/hjdkmKcHIQ4W58Bo0\njXVQd3qGRIeWSDTKkldLVq6bHVKZQwghNp0E00KIONFodCWHNxDG51sJonUaDTqtBrNJg6IQN7Ia\nDkcIRSIsByME/BEi0QgGQwi/KYRBr8Fs0KHZIqPV0WiUxp5xjjb10DHbRoItSjgCS3NRJpfSGZ5c\n4G13FlCYkbj6QSPJbsZpsREd1bHgDWGzaM+Vuit/jCeOwAHlRazmJeYDi4xOL5KYYI45b0l2MgkW\nAz87YaZ3YoJZn4dwJMLOtFT2lGViMsqEQiGE2GwSTAshYiyHwiwsBfEuRQn4FQw6LRaLNi54vpBG\no6LRqJwtABGJRFkKLDPnCaHXh/Gbwhi3SFDtD4R4tXmEPk8vudkqqa6VmxIIROjuH6VxfBHlmMIf\n3aMjIyUBWPlwUpqdQsd4GoPDQ5QVa3k5+hjPHHyRF154kYMHV47dN6hhwTPP2Mwi5XmuuHOnJdn4\nwP2V9I/PMTqziM+/TGlOyup5hBBCbC4JpoUQq7y+IF5/iMVFUKIaEsz6K07RUFUFq0lPJKLDF1xm\nbm4lqA6Yw1hMOkw3YNm14HKYwHKISCT6+geHldH6C43NLjI2N0tE48Wdcm702GBQ2VZooLVznraJ\nLn5yXMsf31OGzWwAYFdx2v/f3p0H2XXXd59//85+9769b1Jr69ZmGcuWDRY8XhhswuaCqgnJBAyG\npwqHmDzGMFNDjMeYQGxw4ZCE4MQwKRuSYYyZBD9PKB7izGNho7EJFpYNlqzdWlrqRb3d7rudff64\nUkutlmRJ3a0W6u+rStWtc0+f87tXx7c/9+vv+f14eXc7/9uOD8MRJueJvuKKE8d2bI2R0KfsBsRx\nfNoPObqusay9nmXt9bP8CgghhDiVhGkhBAATZZeJUki5DLYxe2FX0xQpxyIZm5SqtUp1EPr4QUQm\nab1pxftSUap4TJR9ChMhpm6g6xGOE2BbGtmkPeVDx3jZpRJUSSW1ac9P0xQrlzu8un2A1w9neHlX\nnhuvWgJA3SMJnr1tH18o/YQ9hZ24XoRtaZNLgwNEEWiqNjPH78prJ4QQlzMJ00IIylWfUiWkXFKk\nE/aczMShVK1S7fk6xQkP3w8JoyqZ5NycbzaNl1xe3HaY3+4Zxg0CcokE2ZRDT0cjbU1Joqi2TPfx\nQB1GMXEcnXby0T17YMUKxYolNjt3HWTr7iZu+q9LAYi/FBOGEf2jJYo7S2zb2cu6VSlM80RoHi0E\nZMwU2WPVbCGEEPNLwrQQC5znhxQrPsUipBxrzoOtZeqYhsNE2aUQRoRhlUzSwrYu7ttRFMVUvYAo\njlGAaeiTC6GcLAwjNm3dzy+27aGvfBA/drE0m6yd4/DIEla2t3L1yhaUqpLP1Kaeq88kSJpJ+kvT\nZ+Z46SVYsQL+/OU/AWDx2E/49f9ymKt72oFai8Zt1/cwUXJ55VDMr397mMUdFpmUzkQxojRhsKaz\nhdVdjdOOLYQQ4uKTMC3EAhaGUa29Y6LW2nG6/t+5oJQim3IoVT0K4wHgoZQ6bZg9X2fqIz5ZxfUp\nVXyqbm2qP6XAtgMStkbmlJaNPYdHeGXvEQ5M7GZ1j00um8D1Yo4OjfDa4CgVfyVeEHLD+g4cyydh\nmyeSKFUAACAASURBVDTlkqTtFNVhCMMYXVfs2QN798KWLbCl7U4+3fkYybTHyMAIh4cmuLrnxPhS\nCYs/uHkt6V9abD+U50hfH4eDMqbmsCLfxYaVrZPBXQghxPySMC3EAjZedpkogq6MebkhMOVYVFxF\nYdwHXHJpe0qgj+MYzw8Jo3iygnx8YZiTA28YRpTdWh92GMUoVdvPsQycUyrexYpHseyzr7dEqRLQ\nkk+RTycpFQNcNyIIK+TSzmSFfuuefvaP7aezQ6cuVxubYysWdVjksiE797yOoZk01iW4elXD5Dlb\n8kmSAxlGxzwaGwz+rvdOsAEe41a3dmNhJq1zuLfIUKE87bXJpR3+8J1r+c2+Jt44soih8SqmrrFu\nWRNXLm+RfmkhhLhEzDhMB0HA/fffz5NPPklfXx9tbW185CMf4YEHHkDXL06VSwhx/lwvoOrGBL6i\nLm1dtPNGUYzrB4RRRBBGRHFMqeoxVgzJZirUZxPYpk4YxQRhhOvVqsdRVKsgGwbYFiRsg6RjUnGD\nWs93uTYfdhwpUDG6HpFIeCSdgGzKRimF6wXsPTzG/3jpIIXqBF5cIW1maUznWNHewLK2eiaKEZrm\nUpd2UEoxOFai4I6xqik57blkMzpdi2L2HN6JscOivSmJY9XGtXpJI9t62zjUt5uHfnvX5Mwc/3cf\nvPvdx18LjUpYZGSiShhG06YM1DSNq1a0ctWKVsIwIoZLvr9cCCEWmhmH6QcffJDHHnuM73//+6xb\nt45XX32VO+64A9u2ue+++2ZjjEKIOVB2fapVLlpFOggjqp6P64e4x9orwrAWkuPYoux6FAoBQ6kJ\nHFsjjhUqMsgmHUxTx1CKOI7x3YhKJaTqBAyPV3DdiIMDZRQabfksjbkESik8P6RU9PD9iCiu3SA4\nMFri33+1n+3D2/FVgXRK4+BYhDGa4EhhOYOFxVy9vJ2SAZbhY+gaFc8DFU65CfBkzY0G4xMufeVe\nXt5VR3tTkiQmb3tqEQB/lPl7/tfV35rc/9prT/ysUrWVJNWx78/mcp+bWwghflfNOEy/9NJL3Hbb\nbbzvfe8DYPHixbz//e/nV7/61YwHJ4SYG64X4HoxYaCwnbnt9pooV9l9eIi+kSLVaoyuDJrrsixu\nzOPYBrpWC4n5dJLtB47w0q5BShWXhGXR1Zpj5eI8zfn0lHaNMIwYGJ3gP3YeZF//MKFWRtcVaTNN\nR30j161cRHNdGtNwGC+7lMoRflDi/92ynz0j+9AT46xdUas8x3FMYTxkz4FtVA9VCYKQ61Z34tgB\nCUuvLZceT+/F3rOn9nXFCljUYfKbbf3c/ssP88ZbRsk/kiD+UszW3X08vXkHrx/6LclESC6rs2LF\nidemXAmxdYt0wkTTJCwLIcTvohn/Fn3Pe97D17/+dXbu3MnKlSvZvn07mzZt4t57752N8Qkh5kDF\nC6hULrwqXShVGRid4GihxOBYES8IAbAMnXTCprMxR9qxeHVfH28MHGWoNMpYdRxNA0d3yPXX05Co\nZ1lrE+uWtOP6Ac/+Zif7jw5yuHCEQFVIWjr7Cw288kY965d38NZVHWTTDgBRHLNl9xF+tXsf/e4b\n1NdHJHSDg6MRvRNN9I+OsaG7i6uWt5NJ2BTKFXqHCuzpG2Qs6OPqpcnJYKyUoi6ns7ZHsX3XHswB\nk1wqwfpEEwlbkXJsdGXh+TG2dSJM791b+7piBdiWxpOF/8LdzU+zp3cM74sBAFcua2ForEz1FZfX\nd79OzzKb+vyJt90DvS5NqTbaG2V1QiGE+F2l4jiOZ3qQe++9l6997WsYhkEQBNx33338+Z//+ZR9\nCoXC5Pe7d++e6SmFEBfIDyIKpYBK2SCTOL9e6dGSy66+MY4UxikF45SCIuWwTBD7AOhKx1YOXiXB\neBEqagTNLlOf1cmmFLqm8EOYKELgWTSbHdRbjZQ9n4HqYUbDQfJZhWlGaHqM62pUyiYNeidL65u4\nvqeZbNLi1/sGeeVQH33ePtpaQlLpCNsCQ9M5OgwjoybLkj1cs6SDrsYMrh/y6/19vNz7BlZ+kI7W\n0z+/UgUOHbTpTq/mbT3NtDca/OL1AV44+DrtnSWyaUVvr822bUlefz0NH7iT1Xse4fUVn+fjjfcx\nOpDnuo4ebrqyCfvYzCSuH/D/vX6U148Mc7jSi5Wokkwoqm5EpWSzrqGHD1zbRSbxu7cipBBCLATd\n3d2T3+dyuWmPz7gy/Td/8zc8/vjjPPnkk6xdu5atW7dy9913s2TJEj75yU/O9PBCiFnmBRGepybD\n3rmoeAGvHRqmd6zA0Wo/hXCYTDommY1pSIB57J0kjHz291Y5WBxk2BvGskJaHAvNSZFOJ7GOzdTR\nmIdK1aO37w12HDyKR5lszmNpp4FpKqJIIwgjspmIIPDoG9hPNBxi7tNY05lld/8Yh6v76eqERELD\nC2o3HBp6TEuTwjR99g/uxTxokU/aJG2DsYmAclghl4ipdSlPl0pAOusyWO1j+0Gbpnw9DWmbjJGm\nMFEmm4bOTpf/x/0/YAW8dfBhrn/3KO/mPsoV8KIqRdefckzbNHjH6mbqMzavHUgxXCngTrikNMXS\nfD3XLG+SIC2EEL/DZhym/+Iv/oL77ruPD3/4wwCsXbuWAwcO8NBDD50xTG/YsGGmp11QtmzZAsjr\nJk6YyTUxMl5heCQml0xMmV7uTAbHimx6dS8DTDDi9NO+SGNDSzuGMf1n9x/yUOYEZn6EnsaQmJCJ\nYokJDEw3xYrGenLJE/MjR6rCQHGQclhgcVOe1rYWLKP2tuQFAbGKSNiKxZ06O/YUmVAab4zrkNbo\nqq+je2licl+lIhKJ2nR4ixbBGwc9/GKVMZXm2iu6eXUwZn9whM6OFA35M4fX1taYV7ZV0TMZWhf1\n0L1SZzhIcv8bN8FeeOSmx3hk0WO1nulOWLSoVqUIw5ihsQqNLe1cc/XVOKe00Fwfx4wVq/QeHWd0\nooKmKdYuaZ6V+aLlPUKcSq4JcSq5Ji7cyd0VpzPjMB3H8bQbZzRNYxa6R4QQs8wPQjw/RlPaOQXp\nvUeG2bxtHztGtoNV4Kq19hlntRgaDth/uMSR0mHqGssk0xG6ppNN64yMjXOkWCHqjVne1kB9JkWx\nFDI47BLboySdcUbdmP0DFt0dzSgUlmFQ9Xw8P8axI5Ytttn7xh72HW4mSgywds2JsGroGq4fEYYn\nVhxc3GHym+1HOTjSz4GBRmzDQFMGQVAFzhymTVPRWK8zUjzK3sNj/E/XLOL+N27iP+e/j5Mfm9zv\n5BsJT6i9751uDmilFPlMQhZbEUKIy8yMbx//4Ac/yNe+9jV++tOfsn//fn784x/zzW9+kw996EOz\nMT4hxCzygwjfP7e5ivf2DfM/frOTV49uxclOsKr7zEHa92P2HXTpK/aTqauQSEWTs3RoGjTWGzjJ\ngL7SYfYcOcrweInD/T5j7gjJjE9bi0E5LjBSLjBUKE4e1zJ0Ah98PyKTUVhOSF9hkKOlERLOifNr\nSkOhCEImA7WuK1qbDQZL/ezpG8IyTDR0/HD6B/3nnpv698Z6nb8d/H0+tKkbpSn23TnKsvolDA3q\nDI8Ep30NKtUYU3PIpkyZC1oIIRaQGVemv/nNb5LNZrnrrrsYGBigra2NT33qU9x///2zMT4hxCwK\nwoggAPtNFlQaHCvyi9f2smPkNZpbfNpbz36j4oFej8GJEZRZIpUJThsm8zkdTQvpn+gj7NVwJ9IU\ng3Gasx66rpHP6oyNDdM/miKfSWFoGpqmoes6XhCi+yHZtMaEP0Iq9nD9ANM48RamaYooigmjmONP\nr6nBoPfwEL1Do+QTdWiY+P70MP3aa3DjjfD5n9/JIzc9xgNb/oQPZ/+StfVXUyhW6WrO8Z/WLWai\nWmXv/u1YliKTnvoa9g145OxGWutTMie0EEIsIDMO06lUim984xt84xvfmI3xCCHmkB+EBAGk7TOH\nvaoX8Pxv97FzZAe5vPemQdp1IwaOeoxWR2ls8zD0M7eP5DI6YRhyeGgEr1jFrgswj0035zgaE6bP\nuFtgeDxDS11tujhD13C9ED+orZaomzFeVGGoUCbpWGiq9lx0pRHGEVEUAbWgaxiKujrFcGUIkwRJ\nI814cZgoitA0jeeeqwXpfWvv5PM/h9tUbZXCR256jNd2VCj5ZcbLLh1NWa5Z2U7/SJlgV8COXXto\naQlpzBvYtmJwOGBoWHFtRxfX9LSd6z+HEEKIy4CUT4RYIGpVW1Co0/b0Hrdl1yH2DL1BaIzR1fnm\ns0z0Hw0YrRawEh6mFZ/12AD5Op1yOaTgjRFSmrJ/JqVTCsYZmShPblOoWnXah2o1wnFiAsoMj1cI\nTuqR1jRVW1GRqZXn5kaDo5VBKp5P1qyjMB4RRrV9/lt8J3fdBcu2PcYjNz3GjTee+DldhzAO8ILa\nOZKOya3XLuXGdd305K6kPJxnx07FL18u099rs7pxFW9b00lbQ+ZNXzMhhBCXj7ld+kwIccmI4pgo\nAu0sYXd4vMyOw/0cLh1k3RrrTW9SDMOY/kGfseoY+WYf/SxV6UkxmIZJJRjHVxWCUMc41pfh2Bqj\nuBTdEqVqlZRTa4yuVafB9cAwI4LQp1T1CIKI4wsjHl+ae99euGLNidNl0hrVqEgYB2TsNLaX5gub\n/xioVaABrrhi+jA1DaIwOFbprsmlHW5ev5hl7Tl+s6eJo2NVihWXhjqHq3tauLq79U0/TAghhLi8\nSJgWYoGIolqYPlvYe3nPYXonDtLcqHDO0gpyXGE8ZKxcRhkediJCncP/7Ap8DeIY3Qzx4wrFik1d\nOll7UEEyoVN2i4wWK5NhWqHQNB3PCwkJscyYqu8yUXVJOsfbUGrPa+vWqWFa0xSphOKrfe8A4E/y\n/8LHM9/kyjXJyX1OrkhPUjEQEUVTK92phMWqxY0sbavD82srP9qWgW3qEqSFEGIBkjAtxAIRxzFx\nfOYw3Tc8zr6BAYbdftZ3O6fd51SjhZCyX8JJhOdWlQbcqkYQB9iJAC90KVY8silnsvfZcRSFSoVi\n1Z3yc7qmai0qsYauK7y4ykTZpSmXQlMa+/fDrr3wyivQ1BCzYoXi73rvBODTXX/DZ1v+G29pW03v\nyDC7x4c5OuzR1HDmt8BKNaIx6VCXnv5aaJoiYZsXvBy7EEKIy4f0TAuxQEy2eZyhdWPX4SGOlHpp\nazFOuyDL6YyMhpS8Mk4yQJ1hVcFTea5GGIWYdohuxlTDKsWKN/m4bWr4kUfF9QiPtVgcPFirTlum\nDrGJimv7lCo+cXTKCd73pyhVC9KP3FTrhbYsRRh7hHHAmq5mluaWc7DXJwhOPx9+EEUUSzFZO01L\nffqcnpcQQoiFSSrTQiwQx9s89NNUpv0g5ODRUUaqQ1x5lmrtyarViGLFI8TDdiLO9bN54GuEsYdu\n+Ji2olyuUq56ZJPHKsCqtjy5G7mUXY9MwuHAAWhtg4Sto2MShRpBVMUPQo4vlPL40J2Qg6sOf4t3\nfwTezWOT5zQNRYWAAJ9FzU0UK62MucO8vvsIq7vtaR8ejvR7ZKwsHQ150omzz2YihBBiYZMwLcQC\nER1v8zhN5j14dIzh8jDJZIRtnVsorlRj3MDDNKNzbvGA2k2CcaxQqjZ1XRSFeEFAGIXoWu1GRMvS\nGBr2eCPyKQw6vPAChJGiqVFhYhP4Bpgh/zrxFf51K3x5w2M8cM3fU/V9BlqmnzOMQFM6qYRJIgHr\nV3RQ9QNeG4h5bccRliyyyGZqq0KOFXx6D0dc3bac61a1n/PzEkIIsTBJmBZigTjbzXH7+0cZrhyl\nsfnsi7mcrFQJ8SIPw4zOucUDgFhx8ux1hqkIIp+qG5BK1M6vaVAohDStiLhyZW2/jRuhXIGfHPw8\nq0Y+y+v2/8Wtzr28dXUnUPuwoDRYvmz6WMIgRqFRn7HJZgxCz+AdVyzF0HV2H01z6MAR3KiIYUKl\nrNFd38NbVy2hZ1HjuT8vIYQQC5KEaSEWCMWJ6eNOFscxg2NFxtxRunLnfkNdtRrjhz5G4tSm5Tdz\nYgClUi1M+65H1Q9IJWxGR6BvQNF7JOBlLWRdN7zQcCdvV3/Powf/mNu0Rzmo9dMx+AniRSfOHccx\nmjr9hwY/iLHQyaZNGrMJytUA0HjH2iW09WU4PLSYvrFRyl6F+o4065Y3cdNVS87zeQkhhFiIJEwL\nsUAoVWutiE+Z6q1U9Si6ZTQ9wLLOvT+46sYEYUjSPP1NfKczNFyrOis04lhRLkF9o8KthMf6nyFf\nD4kkhNWQ19r+jNeK8L+vqfU//5dlf8fYiMFQIYdfHagtQnMsPEdxhK7XZv04le9HJJVBOmGQdCxM\nQ0fXPcqVmJWLG+jubKDstaO0gPbGFPXZhExzJ4QQ4pxImBZigVCq9ic6pTQ9MlGh7JdIJs5vcp8g\njAnjCE0/9zA9PASNdTGuq3CHNcbKtTp1FIcEdq3K/MzgEwB0Z/4z/3P+qyxvazrxHADHVmQcGz1M\nUS6fWIQmjGJMa3qYjuOY8VJERz5BfbZ2k6Np6NSlHWwzwA9CojimSSVwLAPbkrdFIYQQ505+awix\nQGhKoWkQnpJ9RyfKlIIiyeT5hek4imutFeew79BwLUjv2gWV9lr/cjarY6agqRm2V35Bc3wbzww+\nwa3Nd+BWIyZQnNqKresK3QxJpwyssI5yqVr7cHCsX9rQFZo2dUTFUoQKbVrqsrQ3Zie3K6VIOiYg\nc0ULIYS4cDLPtBALxPE2jyl3/wETFZdqUCHhnGeYPv5VvXllurEBVq6Enh7o7onIJA0OJv8ryRRs\nr/yczuA/ERFxU/4jAETxsVUPT2m1MIzacuJKxWSMehI0cKTfJ4wiDB10bfpz6O13aUo1sry9DkOX\ntzwhhBCzS36zCLFATLZ5nNIz7YcRYRRinPtEHsCxFQmVIo5qgXdo+M1/pqERni38n+yuf5TWwY+Q\nTCjWJG5C01RtUZljQ4ti0JQ2rcqslELXIYwDmrM52p3lDA7CSMFH12uV6ZONFwNGRiM6c61s6JFp\n7oQQQsw+afMQYoHQNa0WRE8N00FIGJ/7cuDHmaZCVwZhoIC41g/dcOLxoeETf//X3icA+EDnHbw/\nvoPD+1MMUiJwLcyEO+3YQRBjaCbWaRK+ZSr8yKMunaa7uZNi4HDoyDYsA9LtJ1o2SuWA13ZW6Gno\n4arl7dTnkuf1/IQQQohzMSuV6b6+Pj7+8Y/T3NxMIpFg7dq1PP/887NxaCHELNE0VavcqnhadfrU\n1o9zYVsKQzMYHtbYubPWD71z54kK9YuVJ4BakP5A5x18oPMOoFYddxIhhrLwKvbk+RUnWqSDIMZQ\nJo55+s/7rh/RkHHoaW+mo66ZVfl1FIbS/Pb1Kgd6PXbtq/DKtipLcku5euky3nXNsvN+fkIIIcS5\nmHFlemxsjLe//e3ccMMN/PSnP6WpqYl9+/bR3Nw8G+MTQswiQ9cwjJAgjLC0k6u+5z8NnG0pTF0j\nZSuWttW27Uo9wfXcUatEb72DnSW4vvGOaT+bTPlYeoKJUoJkfrzWI62dGEYQxJiWiW1NvzmwUPSx\nVIK2+gbqsjpNLU3EUZ69/Q30TwwyMTaOpWtc09bIFUta+b3rutGlV1oIIcQcmXGYfvjhh+no6OCJ\nJ56Y3NbV1TXTwwoh5oCha+h6SBBFWNTCdMIyMTUTzy+f17HSKY3n1FdY7/4x/9r7XUgxWX3+ALUg\nvXLl6X82kQ5JJGPK4wm8sgNxCYVCVxpxBEGoMDULx5j6FhXHMSMFn4ZEO0ubG8imLNJ5j/aGet6y\nsoGB0TbGKxUcy2BZW92U2TuEEEKIuTDjcs3TTz/Nddddxx/8wR/Q0tLC+vXr+fa3vz0bYxNCzLJa\nZRrC8MTKgSnHwtYdXO/cWj0+//M7AfjK1rv4gP0NAk/nPW0fnwzSxzWcZSVupSCb83EMh0ohTRCA\nrnQMXaPqRji6QyZhT7sBseoFjI/HNCZaaGvIUVdn0phNk8/YtDUmuaq7mXeuX8o71i2WIC2EEOKi\nmHGY3rdvH48++igrVqzgmWee4e677+YLX/iCBGohLkHHw3QwLUzbeG8Spj//8zv5/M/v5JGbaqsR\nPnLTY2RTBpZuU61Mfys5+WbE08nWeyQdg8hNElXTGIYOSlFxIxw9SSbpTNk/iiP6j3rUWY205erp\naE6QThiYuoGmKSxTxzJ1tNOsgCiEEELMFRXH8fnfeXQSy7K47rrr2Lx58+S2L37xi/z4xz9m+/bt\nk9sKhcLk97t3757JKYUQM1Aoe4yPa6RsG00pBgtlnt25hyH2sHTx+b0dHO6HPX0TeOZR6ptKcJ5L\ncJcmbPp6k5T8Es2tVRrqdIZGoN5oY3ljPZZ5oq+7UAzpH9RZYq/k5rWdtNY7mLpGEHvUZRVJWyYn\nEkIIMfu6u7snv8/lctMen3Flur29nTVr1kzZtmrVKg4ePDjTQwsh5oChaeh6PFmdziYtEnqSclUR\nRW/yw6doyEPKSOJWLMLw/MeSyrg4ToCj6qiM1TE+rmFikzKtKUG6WAo5MhjTZi1m3eI8bfUOKdus\nzXMdT18iXQghhLhYZlzKefvb386OHTumbNu1axdLliw5489s2LBhpqddULZs2QLI6yZOmMk14XoB\nwwWPalkjm6q1UgwGSYr7C9TlPXLZ81u9pexW8Po8dE0jlw1R51mdnmj2yVkNWKbGkZEhGnIpOltb\nqM+lCMOYoyM+o0WfKzuXs2FZN+9/62qcY7N8BGFE2avSkNfIpZ03OdPlS94jxKnkmhCnkmviwp3c\nXXE6Mw7T99xzDxs3buTBBx/kwx/+MFu3buVb3/oWDz300EwPLYSYA5apY1tQKkXEcYxSio7GLHV9\necbGj5x3mG5tNugfrePoeJFkOsAyzz1Mu26Erky6uiziao7qeBbH1xk6qhgZruIHkDZyrGvp5NoV\nS3jX1d0Y+onxKSCOL2SWbCGEEGJ2zDhMb9iwgaeffpp7772Xr3zlK3R1dfHVr36VT3/607MxPiHE\nLFNKYRo6phni+iGOZdBen6XOrmfv2CG6Os/veE0NBk25NIXBFKXxAK3OxzjHeZ2LlZi0kSafTjLm\narx16RV05luI4lrFOY4US9tyXLm8lVWLmk77XOK4NmWeEEIIMR9m5Y6d9773vbz3ve+djUMJIS4C\n29Sx7ZBKKcCxDFryGVqy9bxRSDFa8Mnnzr06rWmKJYssxkstHJqoYCcDsKI3DdRxDJVyRDaZZmLc\nIG+2s759OTdf2cNE1aVcrZLL6eQzNinHOu0xlDpWmZYsLYQQYp7IsmBCLEC2ZWBbijCOCMMITVOs\nXtxCe7qTI/3+eR+vvs6gozlBS6KV0aMJwgD8IDprxbgwEWLraYJSEiPIsyS7jKtXLGKi4qLrEa3N\nFg1Z54xBGmohWqnznkRECCGEmDUSpoVYoCxTx7bBDWrTcPR0NNKWacGrWEwUz39qjuVLLNob6sib\njQwfdQjDmCCszRpy6mwbYQjjhYioWE9Gb2Z5dg3rly1G0yCRjMhmFLmUQ8Kevpz4yaI4RtNAkzQt\nhBBinkiYFmKBciwDxwHX94njGNPQWbWomY70IvYf8s+7D1nTFCuX23TUN9JotTPcn6Vc1ImPVb+9\nIMIPInw/4vCRmNJwE6mwnZX5K9i4egmL21Lk6xS5tEldOnFOfddRVAvT5zuDiBBCCDFbZJUDIRYo\nQ9dwLJ2KFVLxApK2ydquVvb1LWbo8FEO95fobDt7ZfhUpqm4YpVDprcBZyDJaHmIwbEShu2htJgo\nVEwUdNxSgqXptdxyxTpufstymuvS2KYxZW7pc3G84i2rHgohhJgvEqaFWMCSjknVCykUfBJWLcxe\nv6aLkdIEr/VvJZsOyWbOL+DqumJZl0V9nc7AUYeRgk/FrxBGIX6sCHyTK1qW8e71a3j/W1fXlhG/\nQPECbvN4/fUqBw7Uvp+Y6AJgaKg6+XhXF6xevXDn3hZCiItFwrQQC9jpqtPtDVmuWd5FJSiza+92\nVq6ATPr8A29dTqcupxMEFsVSglI5ZO8Bj7es6WFj9xpuvHLZjMcfxTG6tjAr0wcOwHveczwsTw/N\n//2/V1m9+uKOSQghFiIJ00IscKdWp5VSXLW8nYmKCwdhx+7tdC+rheMLYRgKTYO+wYiVDT2sbV/B\nO9YumZWxR1GMuUAr00IIIS4NEqaFWOBOrk6XXZ+UY6FpihvWLcXQNbT9Orv2vUZra0R7i3FeVeA4\njukfDDhyBLrza1nT3sUN65ain+OiLm8mCCPSJue8SIwQQggx2yRMCyEmq9Pj4wFhaKDrGkopNq7p\nqt0YuM/iwMg+Xh0aoavTJF+nn3UGjTiOGRoJ6e3zseMsaxu7uWb5Eq5e0TFrM2+EYYSmxxi6WpBt\nHkIIIS4NEqaFEBi6Rsox8P2AYsUjl6r14Cql2NDTSWdjjl/tzHNguI+Dh/az98AEddlaT7Rt1cJs\nHMeUyhETxYjxYoRNhmXZlXTWtXD1ig66WvKzOmY/jNB1MGdwA6MQQggxUxKmhRAApBIWXhDi+xFl\n1yd50oIprfUZPvC21ew41MjO3laOjhcYq44w2j+GF3pEcYRSiqSZImdm6KzL0ZTJceXSNpa3N8zJ\nPNB+EGInwJQWDyGEEPNIwrQQYlImaROGVcYKPpahT+lFVkqxenEzqxc3M16q0jtUYGCsiOsFBFGE\nAnIph6Zcmua6NHVpZ84WU4njmCAKyVqc99zUQgghxGySMC2EmGToGknHxA98ikWXXOr0gTibcliT\ncljT1TIPowTXDzGP3Xi4UFc/7OqqTX8HMDExAUAmk5nyuBBCiLknYVoIMUXSMfGCENeNKFV90glr\nvoc0TdXzSWcgYZ/fCo2Xk9Wrncl5pLdseQ2ADRs2zOOIhBBiYZJmQyHENJmERSYNEQFl15/v4UxR\n9QJ0I8axNWnxEEIIMe8kTAshptF1jWzKJpsBP/SpXEKBuur5JBJMuUFSCCGEmC+zHqYfeughbirB\nHAAACupJREFUNE3jT//0T2f70EKIi8g0dLIpm1wW3MCn6gXzPSRcX6rSQgghLi2zGqZ/+ctf8t3v\nfpcrr7xywd4UJMTlxDJ1MkmLbBaqvofrz1+gjqKYilurSicsud1DCCHEpWHWwnShUOCjH/0ojz/+\nOPn87C7OIISYP7ZlkE1ZZDJQ8eYvUE9UXGwnJuno2BKmhRBCXCJm7TfSpz71KX7/93+fG2+8kTiO\nZ+uwQohLgGMZRMkY8CkWPYIwIuVcvFk+ihUX3YhIpxSZ5KU3u4gQQoiFa1bC9He/+1327dvHD37w\nA4A3bfHYsmXLbJx2wZHXTZzqYl8TXhBSqoaUywoig4RtoM1xS5frhwSxTzodkXZMdE1ayM5E3iPE\nqeSaEKeSa+L8dXd3n/XxGYfpnTt38sUvfpHNmzej67UbguI4luq0EJchy9DREgpdC6lUA4rVCMc0\nsIy5uRmw4gUEUUA6FZG0DAnSQgghLjkqnmHqfeKJJ/jkJz85GaQBwjBEKYWu65RKJUzTpFAoTD6e\ny+VmcsoF5/inSFmQQRw339dEHMcUKx7lakixCCrWSNgm5iyF6jCMKFa9Y60dkE5aONInfUbzfT2I\nS49cE+JUck1cuDfLsDP+7fShD32I6667bvLvcRzziU98gp6eHu69915MU+aCFeJyo5Qik7SxjADT\n8Km6EeWKC65GwjJnNG1d1QuoeB7JJCQTtfMYukyJL4QQ4tI04zCdy+WmpfRkMkk+n2fNmjUzPbwQ\n4hJmWwaWqVO1Axw7oOpGVKsuFU/DMnQMXcPQtTe9jyIMI9wgxPUCDDMml4OkY5ByTJlmUwghxCVt\nTv6/qVJKfgEKsUAopUjYJgnbrFWVnVql2vcjKj6EVdDU1FBdu68CICYII1AxpgnZHNiWRtKeWXVb\nCCGEuFjmJExv2rRpLg4rhLjEOZaBYxl4TogfhARhRBBG+EFEEEREESgFmqp9VQoSOpiGwjJ1HMuQ\nlg4hhBC/U+SOHiHErLNMfUpluRaoQ+L4eIhWKGpfNU1JgBZCCPE7S8K0EGLOHe+dFkIIIS438ttN\nCCGEEEKICyRhWgghhBBCiAskYVoIIYQQQogLJGFaCCGEEEKICyRhWgghhBBCiAskYVoIIYQQQogL\nJGFaCCGEEEKICyRhWgghhBBCiAskYVoIIYQQQogLJGFaCCGEEEKICyR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DyNw4x9ZZlQbw5Nv48J56biu7CYe2jBOnw7R2LROLaLAYjJiNG66CK4RAAmkh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\nJscDmtvqr3h739f4rkEikyCbjJ06HmgGjrqsSG7gqhU9ZBNxItGQZMI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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1697,7 +1697,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "[ 0.02126405 0.04551132 0.00022729]\n" + "[ 0.01938022 0.04634068 0.00022408]\n" ] } ], @@ -1716,7 +1716,7 @@ }, { "cell_type": "code", - "execution_count": 114, + "execution_count": 22, "metadata": { "collapsed": false, "scrolled": false @@ -1724,9 +1724,9 @@ "outputs": [ { "data": { - "image/png": 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o0Ri2SFQLnL6aI+K1Me51YdHayZcGg2SPU4tat0m8kuPU1TyPHwwSsQdYayhD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\nTtDso7QyOJUR4Bvpf8/nRv4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FxXyZ8uo6KpWCz2HGorNQb+yXZqhUCh6nhvxaidl4mamg\nE5fJQb3RGxrM4vdqKW0UuZoq47YaCTodGFQWVlaHM61+r3avP/XRMQ8hm4fNDTVeX5uf/3k4dgx+\n/udhakrB79XuXoQsEHKPMu5zY9U7+Ncn/tVeEH1NyKsjt5bnraUCvV6PJ2bCjDkDbDS1rNYGfwDw\nuXRsdOokSmWWslUAHj8UYMITpLszQrEyGNxHdrPTF5YKbO3WQnsdZh6bDhGzxYY6dUQCelK1fi30\n9VMOj054mQkH8BgDLCxv7n0/GtKTqmU4t5CTzh5C3OEkmBZCiPuMzaTHoDWwtd0P9q71cs7WC5xZ\n6NfphjxWbCM2Vus3lHC4tZSaJebTKxj0GkJuK6N661B22jSixmTqkq2XuRgvcXTMg9/sJX+TwSxe\nt5bVrRWWCxWamzv9TLbFT2b3cuFjj+2vDXh1VDfLzGfLVOsbfORQkG9W/wXAUEDvdGhoK+tkVlZY\nyFQZ0Wt59ECAqC1MPD2YbVapFII+HelaltO7nTd0Wg0fPRxiwjlGPD04yMVq0WAyt0lW81zJNPa+\n/7EjYaa8ITSd0YHyE5dDA5pNEpUSF+Olgff+uWMTTHtirK/p9oJ2h02LRr9Fslrk3IJkp4W4k0kw\nLYQQ9xnTiA6jVk+no9DebUMX8usoNgtcSZbY3G4R81pxGG2s1gezohaTBp2hTa5eYT69wlTQgcvo\nHOrqAf2ez9lGnreWi8zE3ASsbtbWlIHuFQDJhAqXQ02u0S+DODYdIGT1UV3tsrXTZXJyf61Oq8Lh\nUJFrFHB+zcTE/+Hkr5+8wL9wfJNMYbh8I+DVktm9XAjw2HSAcVeAzs4I5Rva9QW8WmrbVRbzZXKV\nNQAenPAy6fNhUtlJ5wdfPxrq1zbP5+p72WOdVsPTD8WYco2TzrTY2v2siqIQDuhI1TOcnssOBuZm\nw265xxRLie29co9ocLezx4L0nRbiTibBtBBC3KO2d9q8dDbO915f+P/Ze9MgSfLzvO+XZ9330dXV\nd0/PPTuzxywWuwR2FwcJQrRoM3RQpiQKYTsIKRCmEIRJixGUwBDpsKEgKUoWLymCMuwImlLQoumw\nRAK0RSwMgBB2sefcM30fdd9XVmZlpj9kXzXVswtywd2dxf/3pSOq3s7KzJ6pfurt531eeoOjLqkk\nSURDPnyKn8HQE25Bv0I44rLXqnB9o0I+HSETieKM1Il4uKm0Rqlb5vqGl+qRDiVptp0JP3QqqWLS\nZbfeoNrqc3o2RSaUoVAaF7EvvuhZTQqdEjc3q4QCOmfnMmSCU+yd4J2em9b5n4s/yj+79KcYP2vx\nwQuzLCbm2S1Yk3aTrL4vkKuUGz10TeWpC7MsJRbY2B7PhVZVeT/7eu+wOy1JEs9eXmA5ucju3mjM\nQx6LqPgCFuVeg7uFzuHjZ+ZSPLKYZzo8w72NIwGeTWtYUofNWuVw0PGAKys5Ls7NkA3mubNv90gl\nNRTdYKNa5LVV0Z0WCN6rCDEtEAgE71NeuVvgj1+9xZdfe51/8yfXMYZH3eN42E9QO1rMAp7wLHRL\nvLFWQpIkZjMx4v449Ym0Do2GUWe9WEdRZGbTcUJqZKJOkiSyaY1Cu8SNzSqXl6fIR3OUKhau646l\ndXzj6yqNlsVeq8KtzYrXnY5PUyyPC+TPfeXTfP7Fz/C30r/CbqvMtY0yp2aSrOSyxPXURPdYVSUy\n+xaWV/YtLFdOTbGcmUJ1wxQq42J9dlqn0itxa7tMvdUHYGk6wYW5HOngFBv32UNm8z5Kgwq3d9tj\nHyY+9tgSK+l5+h2N6n4HXJIk5qZ1tpo7h4OOx+/VJ548xbnsEv2OTnHf7rEw43mtv327MPFhRSAQ\nvDcQYlogEAjep9zZqbPV2ma9uc713U2+cWP78LlUNEhQDzI4JqbTSRXD7rBdq7NdbrGYi5M4wTet\naTKJmESpU+GNNS/SLh1KTWw5BMhlNCq9Cne2q+SSYWaSCXxSmNoJtpBUXKPQKfLGepmZdJSlbJqI\nFqd4n+D95ed/i5lpnb320aKVZy7NspCYY6842Z2eyXnr0G9sVhgYFooi8/TFOZaTC2zumGMi1ad7\nNpLt5h4v3T3KeX7uygKnUvMTSR3phIqjDCh2mtw61m2OhHx83yPzrKROcXfTODynXOZo0HFtrz52\nnsftHusbJqblkE5puOqA7XqVW1vViXsmEAjefYSYFggEgvcp/aGFMRpw6WyArdYmL9/ZO+y2pmJB\nQnqAXv/IwiFJErmsxl67xLX1Mku5OMlggtYJFo6prE6xW+bmVoULC2my4TSNpj0hZEMBBX/QptCu\ncWe7xiNLU0xHcuyVTVZWGEvreOIxjbbZYr1co9rs8fiZaWZjM+wUzbHYO4BMUmXgdNg9FP4JVqaz\nxPX0RHc6FFAIhR12W2VeW/PE94XFDMtTU4SVxERO9Xxep9ApcH29dGiPScdDPHF6hoX4Anc3jpI6\nJE239QQAACAASURBVEkim3IpDSqHw5sHPHEmz7mZPHEtcxjHJ8sS+f1Bx2/dGu9Og2f3uDTv2T1u\nr3p2j/yU5uVrC6uHQPCeRIhpgUAgeJ8yMEeMnBGJmEoi6bJW2+Krb2wBkI4GCOlB+oPxxSy5rEa1\nV+Hebp2gXyOXiBBQw7Q69y06iasM3R579QadgclCNkHMF6dcOzmto9Qpc32jwuXlLPlYhm5HOvRi\nH6R1qIpMKqlQaJV4bbXE2bk0v7jxSf5t87/jH1z+F2Oxd5IkMZ3V2N2P1AN45uKc150ujLBG49c1\nm9PZbe/x+moJ13WRJIkPPTLPUnKBnT1zrD4UVIlEXbaaxbEkje+7NM9KdhbXDI3ZQ1JxmYHbZr1c\nZaPYGDvH739imTOZJapVl9b+8peZ/UHH1WODjse/5weunuLc1BJmP8jW3pBcRqdjNtgo1Sg3eif9\nqAUCwbuIENMCgUDwPmRojrBGIyTZRZYlluf8lHoF7uxUafeGh53p4VAa28oX9CvofptSp8FaocHC\n1L5vujk+hChJElNplUK7xPWNCucXMmTDGcrVcdF97x5kUxpNs8FGqcHQsjk7lyYTyh4OIh5P68hP\naRS7ZT7+f59C+QWZb/3oDj8z9wds702uAc9l9y0kO1UGQ4uFXJwz+SwJX/owVu+AZFzFlQds1yvc\n3q4BcCqf5Ex+ioQvw/beeP1cXmevvcfra6XDXGifrvLs5QVWUktsbB0JcFmGTEJiu7nLt+9bAT6V\nDPPUuTmWk8vcWfPi9Y4POr54e3fiumJhP594coWL2bPs7Np0eiMyaZXdVunQ9y0QCN47CDEtEAgE\n70MONhyy77rQdZl4XKbQ9gYMVUUmGw8T1EJ0OuNCOZNSqXSr3N6usjAVJxmMTfimYd8P3a9wd6fG\nSj7BVDhNtwtD80icv/iil2OdjMkUuxWurZd5dGWamViOYnlyI2I0rPJ7vZ/kZ+f/Pdd+vMSjKznm\nEzksQ59YtBLwKUQiLoW2l0AC8PTFWRaTcxSKI6xjyRuSJJHPaey2CrxybAvhhy/Ps5SYZ680Gjvv\neFRD0U12GuPJGxeXspyb8daGH8+qTiehZlS5u1eh2hzvHj9zcY6z07P4pTgbO973HAw63j426Hic\nM3MpnrmwyJnUaW6tGmRSCuVekVtbFYamWDEuELyXEGJaIBAI3ofomoquqriudChY81MahY7nh3Zd\nl+lkhKgvQqt7v5jWqPZrrO01mEmFSYfiGAMJ0xy3ToSC6n4Xu85ercNyPkkykKJctcaSOr70JRgO\nvGUvt7ar5NMRFjIpwlqMcnVcIH/uK58GoNApcm29jKYqPHo6x1xshs3dSQvJdNaL1Htj3ws9PxXn\nzEyWhD/D9n3d6emsTttssFaoUqp3AZhJR7mwkGMqmGN9yxirz09p7HUKvLpvIzng448vczq9SLVy\nNIyoqRKZ1H5qyL1xb7OqKnz88SVOp09RKNp0+/axQcfCRP0Bz15Z4NLcPBmfd+2BoMNus8Ib66UT\n6wUCwbuDENMCgUDwPuCk2DRdVVBkhdH+UGAipoFisNess15okk9HiPojdO4T00G/gt9vU+422Sy3\nmUlHiPnj1JuTHdF0UqPSrXJnp875+TRTkSyl6mSqRzioMnR67NWb7FU7XkxeJMdeyRO8xwcMv/Ch\n36A1bLBRqtPqGjxxepr55DSDvjrh3U7vDyLu7A8iwn53OjFLsTTenVYUiUxGZbdV5OVjdokPPzLP\nqdQ89TpjSR25jE7XarJRro55mzOJY8OI6wYHUdWzOS+N5MZGGWM4fg/mp+JcPbO/anx1gOu6zOZ0\nSt0yt7drYyvGD5Blib/89BkuTi/jGCFGtkuhWzrswgsEgvcGQkwLBALBQ4xtO/zH1wv83p9u8s3r\n22PPBXwqmqyNCcpMWqXUrXBrq+KJ5ECEdmdSyKX3rR53dqosTSdIBZNUG5NiOptSDrvYi7k409Ek\n1lBjKjcaS+o4fVo6fO0bGxUuLGbIxzMMDe1QRB8MGKqqTCIuU+pWubFZwe/TuLKcYzaWn/BOS5JE\nLuMlkLyx5q3pns3EODc7RTKQYeu+7vRMTqPUK3Jrs0Lf8ARvKhbksZU8C/GFsSUrsiwxldHGMqoP\n+L5L85yemgMrRKXh3b9QUCUUdthpHqWGHOf5Kwuczc2jjqKsbw+JhFVUn8Ves3ro476fSMjHD35g\nhYtTZ7GGKu1hm2K9y8CY/MAiEAjeHYSYFggEgoeYl+8WuFmo8Er5Bl9++c7h2myAkF9HV3SG5lHX\neiqjUelVD9M6UqEwMjq9/rhQPm71ODWd8LYctiaj7wJ+FX/Aodyts1FscmYuxVQ4S3G/O32Q1AGQ\nS2uUuxXu7NRQZJmffOOD/F7vJ/lvZv7pxHVNpXXK3cphtvLVs3nm49O02zKd3vi55rIa5V6Z29uV\nw47wM5fmWEzMUSqNby0M+j2f9W67zOvHBO/3XZrjVGaG0dA/Zj2ZnvKOfWu7MrZF0qd7a8PPZE5R\nKEtYlndf7k8NOY6uqXziyVNcmDpDqeRSa1rkMhrFTonrG+WJe3DAcj7Jxx5b4dHpR/ApOi2jw3al\n/cB6gUDwziLEtEAgEDzErBWaVIwKms/kVuUOf3ptG9PyxGbIr6Er2thgXdCvEAjYFNt17u7UyaXC\nxHwRWp0TrB4Bm3KnQanZYy4dI6zFHmj1KHer3NmpcWkpy3TES/VwHHcsqSMSVlF0k2KrhvILMo2f\nGvCFs1+l3nAm/NiphIrheqvIi7UOoYDOpaUpZiJ5tnfHu9MHq9AL7QrX9i0Q06kI52anSAWm2Lov\nqSOf070UkvUjAev3aTx9cY5TqSXWtoxD20zQrxCNuuy1yocLYg44N5/m0vwMKS3DdtGrTyZUbLnP\ndq3CnRO6zQu5OB+6tMjZ9Flu3zOIx9TDbZLt3mRiyQFPnpvhB6+e5dH8ZSK+EH5deWCtQCB4ZxFi\nWiAQCB5iaq0eA3vA4izI+oC16h7fuuktAwn5dXTVh2mNd0jTSY1av85GsUE+FSHqj9K+T0x7dSrl\nnieSl/PJfavHuL3ghRcgm1ap9WusF5pk4iFmUkkCSoTaCbaQ3218jl/Y+CR/8PFbxCN+zsxmyASn\nJhanSJJEJqlS6hwldXzg3AzziTzNlkR/MH7sg0HEa8cE8jOX5lhIzFAqj8bEeiquYtJlp9Zgs9g8\nfPzRlRyncznCSpKtY3aS/JROoVPk+kZ5otv8sceXmIvm6Hd91BoWkiQxk9PZaRfG/kpwnGcuzfHI\nwhy54Cz3NgziMZlCu3I4RPkgnjib58c//hh/4yOPMD8Vf9NagUDwziHEtEAgEDyktLsGrb6BK1v4\ndInlBR+bzS1eWy1i2w6RkE5A9Y2tDAdIJVUagwabpTb5VJioP0K7NymmMyltXyQ3WMnHyYRT1Bv2\n2LDjtWteRN2B1WO90OD8QppcOEOpOi6QP/eVT/M/PP3r/Ejgn7JeqDOyHa6ezTMXn6ZYnlwDPpXR\nKPcq3Nmp4zgusbCfCwtZcuFptu5L9kgnvEHE7VqNnX0LRC4Z5vxcjqngNOs7R+L4wGdd6JR445j4\nliRpf234IruFEcbQuyfJuMpI7rNT92wvx4mF/VxeSDIXnuHuhtfRzmU0mkadjVKDzgndZkmS+KGn\nTnNxehl3GMYauZS6JW5uvvW68NlslKXpxFvWCQSCdw4hpgUCgeAhpW+OGI6G6KoXKh2Paqg+i2K7\nzupeg1Q0QFAP0jfui7QLKKCYVDotXBdi/jCmIU1sDQz6FXx+h0q3SWdgMZ2I4lfCNNojXngBfu3X\nYG3N+7q9qVLp1ri7U+fiQpZcOEOz5WJazlhSh9+nEAw6lLtNVnfrzGaiLGbTRLQEhfK4QI6GVSR1\nSLFVY31/s+BT52eZj09Ta7iHYheOhgX3WqWxDu+zl+dZSs1Rrbp0j61Oz2U1Kv0yd3drY8N8i7kE\nlxanmQ7PsLrpReUdH3J8fW3S23xhNs58IklUSXFv00BVZeIxmXK3yo2tk5M3wkGdH3xqhQtTZ+j3\nZLpmj2qnR7f/YKuHQCB4byLEtEAgEDykjGx7fzX20WOZlEapW+HmVoVMLERID0ysDAdIxFXqvQab\npRa5ZJiwHqHVnuxOJ+Iq9X6TjWKDlXySTDBFpWbx3HPwmc/A8rL39fs/qlIf1FkvNgn6NZbzKX6/\n/zl+9ut/byypA7zOeLVX495uHfDsC3OxPLtFc8JGkU1rFDuVw65tMhrg/PwUU8GpyRzpjOoNC24d\nDSKmYkGuLOeYi86yvnUkVAN+hXDYpdCscH1zXPA+f2WRlfQ8nZZKfX9RTD6rUx9UWN2rTXSbZVni\nqdNpzmVXqFVlqnXLG6DsVbi9dXJKB8DSdILnH1nmcu4SuqLTNrrs1boPrBcIBO9NhJgWCASChwDD\nHNE3xjcGOo6LgwPHxPRU2hOqG4UGPl0lEggiuerYECJAKqZSHzTZKDaZTUeJB2I02pMe51RcoT5o\nsF5scnY+TSacpnbM6nHpklcXCqooukW5XWez1OSv/MkF/tHSH/HXY780IZCP7CNNbNvh7FyK+VQG\n1Q1TrY+fw1H6SO1w899T52aYT8xQqtgMjyd1BFRCIZdCpzpmmfi+S/Msp2fpdVQarWNJHRlvdfmN\n+3KbY2E/T52f5VRyidUNbwW4rsvEYpLXnV6f7E5nYgE+fHmRc5nT3F0bEg7L9EcddmqNiY2Ix3n6\n0hwff+wMj01fJqyH0FTxa1kgeNgQ/2sFAoHgPc5gaLG+1+Lbt8qUGt2JBS3HO9MHNopKr8l6wbN6\nhLQgvfs80Ym4Stdqs1drM5UMkwzGT1wZHot4y1ZKzQ6qLDGdjOGXwzT3hfdzzx3VphMalV6d5X+Z\nxPlHDrPJNIobpHFfAkjQrxxuTtwoNZEkiUdPTzMby7NTGO/6BnwKoZBLqVM7TMfIJsOcmcmSCWTY\nuS93OpdRDzctHhAK6Fw9O8NifJ61zeGhuE+nNHqjFtuVxuFGxAM+cG6GlVwenxRje/+c8lmdYqfE\njQfE2H3g3AxXFubJhWa4s2qQTCiUjnXVH8Qzl+b4Lz96hb/23EUWc2KwUCB42BBiWiAQCN7jbBSb\n/N4Lt/iDb77Gv3vhDpX9TqcsS8iShHufiyOZUKl269zbrZOMBAhoQXr3+aYVRSISlqj3mwxNi2Qw\nhjVUMI51sO/d8/zCiZhKvd9grdjg7GyKTDBFuTa5NOTX1v4+v1H+MX7zsRcB9mPycuyWJteApxIq\nlZ4XzwdweTnLXHyK4UCb2HI4lVEpdsrc3DoSpR+8MMN8fJZi2cY85vVOpzTaZpvNsrc98YAnz+U5\nlc3DKESpYh3ev0xKpdgtT2wVVBSZjzy6yOnUEjt73jBiIq5i0afYbFGodbgfSZL4wQ+scD63hD0M\nYVkulV6V2zsPtnocsJxPcHo2hXT8k5FAIHgoEGJaIBAI3sOYls2fXttlrXmXje4trhfu8bU3tnAc\nF0WWAYn7F4lnkiq1QZ3NUotkNEBID9LrT/qmk3GV2qDBZrnFbCZKzB+j0TwSyS96mphU3BPTW6U2\nZ+ZSntWjfmT1OD5g+Fcjv0Sl06bS6HHl1BQz0SztNmPDgofnuL8UxnVddE3lkeUs+ej0RLc5k9Jo\nmc2xLOZ8OsrpmSzpQGYsd1pVZJIxiXK3xo1jXmhNVXj64hzLyUXWt4eHySGejaTC7e0qjjN+j5bz\nSS4t5smHZ7i9ZiBJ0v6HgBr39j8E3E84qPMDT65wIXOGbkeia/aod/oT68UFAsH7ByGmBQKB4D1M\nrd1np9qmO2rw+CNByoMCNzYrbJdbqLKMIisTnelQUMWRTOrdLroiE9KDDAaTw4XJhEpj0GSr1GYu\nGyURiNNojrh3D770JXjpJe9ro67SNFpsl1skIwHyyRh+JcxPf/XvTqwCj8cUav0ma8UmQb/O2bkM\nmVCWvdK4mAyHVGTNpNRusFnysp4fPz3NbGyaZgsGx8S3psokohLlXpWbx9IxPnRpjsXkHKWyPeYJ\nz+5vT7y9NW6veGQ5y5npHFEtxda+AI9FVFCHFJsN1gtN7udjjy1zPrfEaBBkpzAknVSp9evc3TtZ\nTAOszCT58KUlLk1dRFNUemafSqv/wHqBQPBwI8S0QCAQvIdZLzSpD2ok4jJ+v0xuSmantcMr94oE\n/RqaomLZ9/emIRaRaRltBqa1n+gxWRMKKCCb1HsdokEfqUCCRtuZGBjUVBmf36Hea7NbbXNmLs3v\ntP8u/1X+n46ldIDnxW4OGmyVWgBcWckxE8tRLFsTXu90UqN6zOoRCfk4P59hKpxj576kjmxap9Kt\nHtaC150+P5cjG8yxcSxHOpVQMRxve+JxL7QkSTz/6CLLyUX2ijYDw94/tkqxW5mweoDXaf7Y48tc\nyJ5mc3uEpkoYdpdio0XtTQTyh68s8NErp3k8f4WoP0TQpz2wViAQPNwIMS0QCATvAVzXpW9Y9I3x\nDm6l2aNjdojHVABmpnSqgyobxSaqLOFTdJyRxH36l2hEpTXo0OwOvUQP1AmrBUA0rNAcdBiYI7Kx\nCBoBsjmbT3wCrl6FT3wCVlbwfNODJgu/meBD/8c8/9OZr9JsOYxG4y+ciqm0hi12qy2skc1sJsp8\nOkVQiVGujQvkTFKl2q+yum/1ALh6Ns9sbJpyxR7LvU7GFbpWm91qayyL+UOX5llMzlKt2odbESVJ\nIpVUKXUr3LqvOz2XjXF5aZp8JM/aflTeVFqj2q+wVmhgWZP36Ox8midOz7OUWOL2qkE8plDp1rnz\nAKvHAc9eWeRvf/wx/ubHL5OKBd+0ViAQPLwIMS0QCATvMq7r0uwa1FsWzY41NjjXGZgMbYOg33u7\n9vlkfAGHWrfFVqVD0K+hyCrWfSvDYxGFjtlmr9ZhKhEioodpnbAyPBZVaBltdittFnJxksEE9f30\njSefPKr7jY2/z78o/Sj/2zOv4X7eZSmXJKYnJrYcappMMAC1fvvQvvHoqRz5aG7C6hENq7jykHK7\nyd7+QN9UMszpfIakPz3WnVYUbxFKtV8f606n40EuLU6Tj8ywuXNUn0153uaTBO9zlxdYTs3TaSk0\nWhYBv4LP71LttNgst074CcFHH1vk3PQ8fhJ0ug71fp2t0qQt5H7mp+LkkpG3rBMIBA8vQkwLBALB\nu8xgOKLXdzEGEr2uRN9wGJojHMel0zcZjob49KOUh1RCodb3vMZBn4Yqa9zfUI2EFAajPtVWj2TY\nT8QXodMdL7p3b190Dz3RvZxPkDompldWvLrPfeXT/JMP/yb/RfCXKNTaDAyLC4sZcpGpw2SM4yTi\nKo1+k42CJ0wvLGaYjWcZDlS6vfGkjlTS25x4EHsH8MELsywmZikUR2Pd6VTCy9C+uzsukL/v0hxL\nyVkaDeh0vePHoyojBpRaDYr3LUKJhv08dX6GU8llbq96w4ip+H7udmF8XfgBuqbyl546zfmpFWTH\nz2Bk0BbbCgUCAd+BmP7qV7/KD//wDzM7O4ssy3zxi1+cqPn5n/95ZmZmCAaDfOQjH+HGjRt/IScr\nEAgE7zdc1/VypHfbfOnbd/gPL97izlaTgTnaf27EyLXQtCMxnYiptIwWO5U2Ib+GJilY92laWZYI\nBSWaRgckiPonxfSLL0I4pGA6A2qdHslwgFQohjGQGJrja8AVRSIclGgOOuxWO5ydSzEdSzE0VHr3\nDTcmYt6il82y17nVVIVz82ly4Sl2iuMn6lk9vPXnB8xlY5zOT5HwjXen00mN1rDJdqXJ4Fg6Rizs\n57HTeebjc4fWjYPkjXK3yu2dyZznp87Pcm5mlpia4d6GQSKu0DSabFfaE57xA/LpCD/0gbM8mr9E\n1BehZ1gPrBUIBN87qG9V0Ov1uHz5Mn/n7/wdfvzHf3wiA/MLX/gCv/Irv8IXv/hFzpw5wz/+x/+Y\n7//+7+f27duEw+G/sBMXCASCt8vNmwabmw9+fmEBzp/3/4Wew9CyKdUNXnhjjY3ObWzXpt49Qzpx\ngdlMGHNkIcsusnz03hsNK/TtLqVGl1gotd+ZnhR10YhCu99mZLvEfBG6ZRfXdVldlVhd9dI6kkkJ\nSVdoGx1KzR5zmRj/7vpP8e++wcRwYSSi0u63KdQ6rMwmOTOb4mYxS6FcZmVBOayLRVRMp0ul1aHV\nNYiF/Ty6MsWLd3O8uLuLteAcbvrzajtU2h2aHYN4xLvfT1+c5e5eiVcKVWanvXpNlQmHJKq9Bqt7\nDS4tZQ9f8+mLc1zfKLO3VqDaMEkndDIplXv3atzdqfPclcWxa1EUmR988hSVZpdvbbdIxV2GTo9C\nvUuzY5CIBk78eV1YyiLJEq/cjXN2Li1yoQUCwVuL6U9+8pN88pOfBOBTn/rU2HOu6/Krv/qr/OzP\n/iw/8iM/AsAXv/hFstksv/M7v8NP/MRPfPfPWCAQCL5LbG7CJz/5YLH8h39ocP78X+w5WCObl+8U\nKfS20UJdfDIUOzu8fCdFLKxhORaqOi7YZNnrEnfMLkMrhiarjKxJUReNqOw1OjS7BqlYCP9egE7P\n5v63/oBfoWV0Of+vMwD89OwfULZWJ44XCyvs1Tvs7SdkXFzK8K07WV4r73Jq3ncoLCVJIhaVqfWa\nrBUaPHZ6mnQ8xKlcmnvVJIVyh/m871itQr3XZKPY4NHINHDUnd6op9kpNFma835OqaRKtVZno9gc\nE9N+XeWpc7PsNiusb90mFdeIR1UsupSaTSrNHpl4aOx6ppJhPvzIAs1+h9sbNwgFZer9Bhul5gPF\nNMD5hQznFzIPfF4gEHxv8bY80+vr65RKJX7gB37g8DG/38+zzz7LN77xjbd9cgKBQPB+p9Lsc3e3\nQm1YZGFWZ35Gp2GWWS1UqDR7uC6c1PsMBhV6wz7myEaTNczRZGc6EpLpmT2qrT75VISoL0qzbbOy\nwlhax/mzCr9e/hsA9P77IdlQknbHxbLGA6zjUZWO2aXc6OI4DrOZGDOpBD4pTO2+leGJmEpj0GCz\ndDTQ9/iZHHPxGXYL5lhM3kHtRml8+O/pi7MsJmfZK44OzyUVV2gOGmwUmxNRe4+fmWY5k0d1IuyV\nzf3tjQr1QfMwqu9+njyX59LCDBl/nnbXpm8OaHQGJ9YKBALBSbxlZ/rNKBaLAExNTY09ns1m2dvb\ne+D3vfTSS2/nZR8Kvheu8b2KuPfvLg/T/e90FoAHd6Y7nQ4vvXTtu/JarusyMG0s20GRJII+7+33\n26t1bm6t4YaqlEperT2Cmxs3iUk99op16r0629vjg3Gdtkul4RAegU/x0TIltre3J1631nK4ee8u\nQTvDoNmj0Coi2V4fZXHRx+e+8g8BeN74hzyRfYTrb7yG1atjdUa8cXObTGK859Lpuly7e5s//opF\nKupH6jWg63Dtxh6n5o9qTdNlrVDl63aIvN5BliXPX9zr0m9YvHpt6/DYw/3abzjhw9oDlGEXtwsv\nvrLN3LRX3+w4vH7nBv/h/zXIJcYj5+JSh+BQ59XXtzBOwaDvUq5ZfOWbOm7n5N9LWdUkOtLY68rs\ndQu8fu0mUefNY+9O4mH6t/9+RNz/d4/3+70/ffr0mz7/F5bmIXxkAoFAcETPGNHtu1RqLp2eS9cY\nYTsu5daQvt0lcmzEJBKC3qhLtTsEl4l14QABHxi2gW27+FWdoTletbPj2Sj8ukTfMtBUibAWpLvf\ndP3V1V/k94b/kM+e+jk+e+rnUDWHjjmg3hkynw6R8MVptidfNxR06Zo9ym1v0G8pFyYdSNDpyljH\nuuO6LqGqNu3hgHr3aCjwwmycXDBDqcphNrZPl1C0ES2jR7VtjL3eo4tJpkNT1Bsy5v41RsPQHHbY\nq092kBezYU5lUqR8Gbb2XMJBiZ7Vo9IyHjgsGA3qfPSRHOfS8+R8eTIxvxgsFAgE3zFvqzOdy+UA\nKJVKzM7OHj5eKpUOnzuJq1evvp2XfU9z8Ons/XyN71XEvX93eRjvf7VqvOnzkUjku3I9fcNiba/F\nCy/v0hr08Q00PnFmkXwqxP+35uDvrnPuzOyhNzqbdegNLMLxLL6ISaNeYW5ufKB7aDo0O0OmZ2Yx\nNjYZWTIzM7OHXd2vfQ2efhr61oDgKM7ZcxfoSHF+45Uf509WJ4cLW/0+MSXB7NIZns0nKA79fH2z\nSy4XRNOO+i6yZtKuhEhMzXH16hnvPo6i9N4YovnazO17oQE6Rp+wGyE7e4rHz3he6McdlxZRjLsj\nfEGLqbQOQM8cEBiFSEwvcvXi3Ni5mb4MvK5gUeLUXIBg2GJrQyOcynP16iMT9/v8JZN//Ycv86eb\nLxOO2CTSJtF0klNnL5KMPnh5ytMfGNI1TEJ+nWjI98C6+3kY/+2/nxD3/93je+Xet1on28QOeFud\n6aWlJXK5HF/+8pcPHzMMg6997Ws888wzb+fQAoFA8L7AcVzKjR5/+M013ihd45Xyf+JG7Tpf+tYa\n68U6baODz+eMDRn6fDLIJl1jwNAaTWw3BPDpMi4WveEQXZXRZZ3+wObePfjSl7ykji99CepVmb7Z\n58nfneHvvfIk/3Xyf+Gnzv3zieOFAl5drd0n4NNYyCaI+xNU6vctWokotIedsezmS8tTTO8vZTne\n0Y3t1+7Vjlrcsixx9Uyehfgs23tHsXfxqLy/PKYzcW4femSehcQM9bpLpzciElHomV2qrf6JHeRw\nQOcjjy1zLrPCxraFrkk0jTZ71cljHycS8jGdivyZhLRAIBC8pZju9Xq8+uqrvPrqqziOw+bmJq++\n+irb29tIksRnP/tZvvCFL/D7v//7XLt2jU996lNEIhF+7Md+7J04f4FAIHhXcBxv/Xd3YNIdmFgj\nL2vZGtn0DYuh6Q3k9QYmf/StdVbrq9h6jQ88FsDRmuw2y3z7ToGe1SUcUiaOHwjI9E2D3nByKcoB\nwaBMz+wjyxJ+xU+v70zU/F7/J/mX1b/N//7hN3jtbxbGNhweJxSQ6Vt9ai3POnF6NkkmlKZS71Zm\nrgAAIABJREFUH68NB2Us16Da6dHpefaNs3Mp5lNpVCdErXFU7y2E6UwsTbl8aoqF1BTSKECl5l1f\nPKbRHrYp1LsTg4XJaIAnTs+wGF/gzqqBpkiomkvH6FFvnzwseGkpyyML88xEZ+j2HEx7SH84ed0C\ngUDwdnlLm8eLL77IRz/6UcDzu33+85/n85//PJ/61Kf47d/+bX7mZ36GwWDAZz7zGRqNBh/84Af5\n8pe/TCgUeosjCwQCwbvLwoIXf/dmz59Eb2AyGI4whjDa12d+vwW4SJKMaYKqQtA/4uZWldVika5b\n4vJyAEWRmMlprK/t4m5qDDAIRCZnTPw+GbM/RHJ0TnZNezUDyyB4IKYHDisr3ubCeh2+7Ps0v/DB\nX+e1N0Y0uwZL096Gw3u7Do4znl0dDCn0rQH1/SSLs3MppsJJ7m56qR4HVg9JkoiEZFqDNru1DudC\nXiTe5VM57hSn2Smukk5qAISCCqbTodbp0+2bhIOepUNRZK6ey7NRm2Nz9w6ZlIZfl1E1m0a/Tane\nZTo9voL72SsLrBUaVNZqbO31CYdk2sMuxUaPVOxk68YPXF2m2R3guDaaojzwPgoEAsHb4S3F9PPP\nP4/jTHY7jnMgsAUCgeBh4vx5/58pR9pxXNr9Ib2+w2AAqqygqQrWyGG31EVTHXQ1QEDX6Bk2hjnk\nWzcKFPs7zC3oh1aORFzhptOl1upDwCDmm/wjoaZKuIxwHR+jExaygGf1MAcmMVUnoPnp9b0O8Oe+\n8mmY9nzRrusyckw6fQOfrpBLRggWwzRbI5IJ7fBYQb+MYXdp9gxGIxu/T2M+myBeSlCpd8lPHVkf\nIiGFbr9Hpdnj3HwagCvLU3zzepaNjQ26fZtwUEGSJMIhL8O62OiyEkweHuPRUzleupVjq7lNpWaR\nSWlEwjJto0u52ZsQ05qq8PEnlim32ryy9yrxOHSHPcqNLhcXT858DgV0/vrzFwl9U8OyHU7lkyfW\nCQQCwdvhbQ0gCgQCwfcKtu3Q6g3pdF0sUyIS8KEoB9FuBqYh0xvB7JRKyK9jWjbXtipsViqMlC7p\n5FH3VJIkAn6ZdqsPUp8l/QQxrUkYko3kSNi2Fyt3kJL0wgvw3HOgaxKDroXu8xNQfPxW8SegOD5c\nKEkSfr+X6NHoGCzlEiTW49RaxTExLcsSfp9Ebzig2u6TS0Y4O5fipbUMe9XmmJgOBmSqzf6YxcLv\nU7mwmOFedZqdvT3OrXhLT8Ihha7RpdTosTJzJGYVRebJc3k2awusbt8kGVcIBhQGbYNm9+S/FixN\nJ3ji9By1foPV2hrZsMXQsk+sPSAU0PnrH7n0pjUCgUDwdhBiWiAQCE7AcVzMkY1tO1gjh3Z/SL8P\nmuQjFjra9tcfWvQNB8uUWS1WubGzQzIa5PxclttbdQrdErkZdSIu1O+TKA2HyIqBrk/a4nRVouvY\nqHgdcGvkomveMa5d2xfTukTLNvkHO/85AD8S+GU++MQJx9IkhiPP3700HScZTHCnsTtRFwzIdM0+\n9bZBLhnhzFyK6WiKe/VVegObUMDzdodDCltW/9AScsDVs3leXS3wza0djKGN36cQDslU214X+36u\nnMrxxlqeYrfExk6bUFCmOhrQ7D3YevP8lQWKtQ4jx/Naa8pfWMKrQCAQfEcIMS0QCN6THIhZ07Jx\nXBfXdQ9TLRRZQlMVVEVGU+Xvaq69NbIZDEeYls3QBMtyaXWHdHsOuArpuMPQsvHrKrbtMBhabBa6\nXN8scLe6xkCqEfEHuFdYZq/SpTmscTE1KXA1TcIwTWTdQNfCJz5v2SYKoMoq1sjlT7/hCem1tX0r\nxz6/mP8/cV240y/T6pqk4trYsXRdwrRN+kOLpekEmUicayWFvmET9B8NP4YCMv1u37OfAD5d5ex8\nmtvlKQrlMisLXm3ALzO0ezQ6BqORg6p6gjYRCXBuLsN6bZrtvTKnlxTCIYWNYfdEMa0oMt9/dZlC\no8VLu6+wOA/D0YM70wB+n8aPfvQS+tdUjOHogRYPgUAgeKcQYlogELynsG2H/tBiaB6IWbDtowUf\nrguq6qIoDpoGmupZDAK6emi7+PPgOC49w2QwtOn3vQ1+iuwtIrGGGowk/LpKq+3guCayJDG0Rmzs\ndfj6zVW2e3fpuzUW5hUsc8ArOz3aDR/BjIN6wjut67pYjoVPslGUyQ8DmioxckcokoQm65imxXPP\nKfxf7qfhomfl6PZG3LgJ5shhOhGgYEdotcsTYlrTPG91d2AhyxLz2RjJnQT1Rovg9JGYDgZkKg0v\nHu+AR5ameOlulleLuyzP+ZBlCUWR8OnQHQ5odAdk4kcfFj5wboY3Nop8e6/A4qxL0C9j2gO6A2vM\nqnJAPh3l6uk5Kr06m7trOCOb3uDBCSYAAZ/Gj31sMl9aIBAI3g2EmBYIBO8ZDHNEb2DS7YFpgqZ4\nA34B9ShJAmBkO4wcB6Pv0HNtdH1EMDDCpysEfdqfWVRbI5tO32Rjr8vNjTrNnsHQHGHZNqqkENHj\nPHF6lnDAx9Aa0euZgEG3b/KNG5ts9m4TiPaYSWsEAhJBv8rNu22aA4mw6pyYIeG44OJMCOl797w0\nDlkG23HQdBkdjV98xetE//Lzv8ULL3i1qiYzcoaYI4dMzEdsEGWnW5h4LZ8mMehY9IdervNSLk4y\nFKfUrDE7feSFDgRkjJFJu3+U/zyTiTKXTnKnEqNSM5jKeIkcfr/EwDJodI0xMT2VDHNuNstOc5p7\nGyXOnw4gKw7maIQxHBHwjwt92E/qKDZoDzt0nA4Bn/jVJBAIHh7EO5ZAIHjXcV2X7sCkb9h0u6BI\nKvGQ9kD7hi4r6HgdVcdxGZgWjeYIXbcZBm2Cfo3gCaLtJAZDi9XdBl99dZdCo0nTqtIa1hmMBliW\ni2RFSOlTvLG5x3QyjIvL0BqRiGh0+hbbnQ1kf4e5vI+BaSFJIEsSqirRsmpIiv/E17X3Ezruv8QX\nX/TE9AH/vP6XAPjsmX9+uF3wuef274MqMXJshpZNJhog1lS5VXUmOsC6JtF2zMOOrxeRl+Ru7R6j\nkXuYMuLTZCxnSP++bOsrp6a4tTvNVvH2kZj2yRimQesES8bzjy6wUWzwza0KjdYITZWxbIv+0DpR\nTOuawl999gJ8FSqtFvlUZKJGIBAI3qsIMS0QCN51On2TTs9m0JcI+nR0bXKJyYOQZYmQXyfgaAxM\ni2ZrhDWysEY20WODguB1tE1rRKfv+Yd7gyGv3C1zY6NC0djGlJpkUiqnF1QkyYcxkNnbtbm1vkbH\nMAgVVZJxBVkCczOE0dMIZas8vhJBkjxhLOFZREzTwXR7KNrJ2/Ts/cTRg870vXuwuuptLkwmIT8D\n/6b7GQB+MvdvMcy9E6/dcR0c1yWgK6SjOrocoNuziYSP3t41XcK0rcMFMOGgzuJUgpvlBOXaUeyd\n59O26A0sbNs57PBfWszy9TcyrNbXabUtYlHNE9MDg1Z3OHFeyWiQp87PUu40uLt+G0UGy7YYvMnS\nlGQ0wN/6+GWa3QHTQkwLBIKHCCGmBQLBu0pvYNIbeEI6GvSPLRL5s3Agqq2RQr9nYlkOjmsQ8uvs\nVtvc2amzVWrT7AzpmwaNbo/V7Q61fgNTK7M0r3NuOUjIr6DIEv0B7O66FGt9TH+RgdPCF/KTyubI\nxqL8x683qBtVzilBVCWC47peV1qWaHccRq6JpJk4rs1JV3TgAT+p+f5l36ehCn8j8mtcmbpMa9ik\nNTg57//49+fTEWL+KM1OY0xM65qMaZsMjKOO87n5NC+vj8feybKEqsJwZNIzrMO12qqqcGk5y93y\nNNuFbWJRDV2T6NojhtbJAvmDF2a5s1Ojeq9GuVdGTej43uJD0p/lLwoCgUDwXkGIaYFA8K4xNEf0\njBG9HoQDvj+3kD6OpipEFT+trsGLWxVu7xSptDtU+1WaRoOha2CaNoXSiMagiaXWSMUdyv0Qxt0I\np/Ixwn4/W1syhWqfmrVLNNknNWdSLA9o9qOohNB8Jo7TZKQ4NLp9YkE/sux1pnsDm5FroqojXNdF\nPkExu44LknT43G/sfBp8wF/2fNHt7oi7dySiIR8jgvTbby6mXRfyqQhRX4Rau8rc9FGNb99bPThm\n3zg7lyIXTXG3du8wxs67fxKWPWIwPBLTAI+vTPPt23m+ubVHqz1CkiVcFxz35IUyiiLzyQ+s0DdG\n3CvFiYeCxCMnW14EAoHgYUaIaYFA8K7gui49w6LTgYCuo34X84K3K02+eXOLW7sFdrqb2GqbuZyP\nMwsajqNz7eYQOdgkmWiSyVsMTYdOt0a/16G/ZuF3E3S60HELpHJ9guERIKHrDh2jT7du0B01SWdN\n+qMu7d7Q+zCgeCJyYNhYjoms2iCBJI8vWwGwTAdF1vgj6+f4o68cLVq5d8973rFdJEkhGvKGHk1T\nYmQ7b3qfZjJR4oEY60V7zDcty979Htnu4eM+XeVUPsmtUoZCucbSnCemFVVi5Ex2nCMhH0+ey1Ns\nL3F3/S6zeR0X73gPIpeK8Neev8Cd7SxL0wk09Tu37wgEAsHDghDTAoHgXWEwHDEwXGQUfNqf762o\nOzBp9Qb0DJOhZTOybe7uVrm5XaTU32UoN8lmFbIZP4GAhOvA9esme60arr9JLm8gyaAGZEIBmVZn\nRKFYxaz5UCMNpuf6BMNHHWFNk+k0bZyugaP2iCVs2q0h3aGJbTtoupeBPRg4DEcWui6hK/Jh9/lg\n2QrA77Z+GuLww4H/keeeOtoMeDB86LigSAq6ppCIBAioAfoDh2h4Ukw7rovjuqRjQbKxCGoxQLtr\nE4t491WSwMXFdrys7oNu9uXlKV6+l+NaucjirOcv1/aHGg1z0r7xwfOz3NqsUlwtsr3bIShJvImW\nBiCbCJFNTOZsCwQCwfsFIaYFAsE7juu6GOaIwQDCfwaPrOu6FOsddqotdmttqp02favH0B7SNQzW\ndls0en3a9h7xBMxO+VB9QYamjm1LrK4P2au3sZQ60/tC+jghv8pOL0DHLhKR++gBCRcFad/1rKpQ\naUk4doNk2kTTJGzHxjRHSDIoCsiyzNB0GVomoZCMX1d54YX9ZSsXP83nvuK91l/2/RMGjSRysHbi\ntQ5NB01WCfo0/JpKSAvQ63eIht/8bXtpOkFqK0WtXhoX0/uC+zgLuTizqQR3axGqdYtMSgNpX5yf\n4CrRNIVnryxQbHZ4o3SdSDhGOh6cLBQIBILvIYSYFggE7ziGedCVlr8je4frumyUGryxXmS3UaFu\n1GgO6xh2j1BIwrZdNvdMqr0mfbdOJNNnINlsNv1UeiHCeoRey0dvMGIgV5idN5BPeNla2YfrOlhq\nHTk4ZGBEUGQZdT9xYzSSMAxwtT7hmLXfcXawXZetbbhwTsZ2HIami+XY+HQVv64dLlpZvv5bfOYz\nMBo5fP3FHkHVD+7J129aLj7VRySgo6oyAS1Af9CeqDtwYx/YLVbyCdKhJLcbuywvjBdKh3VHHu4r\nKznulWbZ2L5FKqFij0BVVXz6yZaMs/NpfvDJ02gv+QgHdJanE2/x0xMIBIL3N0JMCwSCdxzDHGEY\nEPS9dVd6r9bmP93aYrdZZre7Td9pkkkqLOQVwiE/na7DGzcNek4DLdbg7OwQRZFxkTEMi16/TqnY\nY9BIYEh1Tp0xUBQN7svY6PcUWg2VgdMgmmlhuzJ9wyIY8N4mqzUY9jVsd4Tfb6IqB3YJCVyXnS24\nfFHGMl1G9ggXm2+Ofotv3jvyQ7+w/5J9wyHkCyKN/PSQT/RCG0OXoKoTDuiEAjphPUShb4/VeCvW\nJWSOBhnnp2Lk4nFuVnQ6XZtIWPGsHcdqjvPoqRyv3cux1y6wV+pjjRw05c1TNa6ezXNqOoEkS0SC\nJ0f/CQQCwfcKQkwLBIJ3FNt2sEYuji296UCabTt8+94ur61vs9q8w5AW+ZzG2dRRfF6na/P6jQE7\nzQr4GkzPDA87zhIQ8Mvoqkyj6Kdtl9EidWpdGc0XIhIYF4GNio++1cMfa6GHLfo9CcOycV3Pb1yr\nSsiuhu1a+IIWkizjuhK9Lrx6T2LnprdE5Y/9f887YBo+HvosT509ag8f+KV7fZugGsEX9mONNCxr\nUkybpkNS9xEJ6kwnI8QCEW7XxheyjEZHvuqDTGhZljk9k+LaXoZStXRMTMvIsjSxCEdVZT70yDzb\ntQavb72GJEn4VR9B/cFiWpIkkjFh7xAIBAIQYlogELzDWLaDZYGmPtje0e4Z/Mnrq6xWttlo3yOX\nk5jJ+ceEoDF0uHZryF6zguRvMJUfTnigAeoVLw3DH+2jxtp0hwrlOihp+bAzPugr9LpgMSAU7SHJ\nEo7j4DgOtTq0m3D3NkSDMpI+IBJxkCUZY+iSjPro9TV2/rP/lj8Gfv7qr/P1l1pcL67hP+s7sXPb\n6thE/FGiWpBmQ8WyXAL3pcaZposvqBMJ+IiEfKSjEXzK+GChOXJQFQ1dG7/wc/MpcjezvF7eZXHW\nZWi66IpO4AF/CTgzl+Kx5RkGpkV/2GcxFz9xU6FAIBAIJhFiWiAQvKNYIxvLAlU5uStd7/T545fv\ncqNyk45d4twZH+HQuFi0bYebd4YUGg0stUn+AUJ6aEi06joDu0Ek00LzyXQZ0TZ76C2FQCaKJHk1\nhj3AF+4hK5732MXFwSURd8hlZUamzKAzwtFGhMJel7dcdriu/ivIwBN7v8EHPiADNoZpo8oq0aD/\nxO57s+Uwm4mRT8TYbGsMrcmV3Ia575kOeuu757IxYptxGq3qkZgeOp5Ivm8ZykwmyqnpNJuNDDuF\nJqGAQkANko6dvBRHkiQ++dQKkaCPdtfi8bPZ72pUoUAgELyfEWJaIBC8o4xsh9HIs2DcT73T50sv\n3eZa5RqO1uCRM/7DddvH2dyxKFR7dEY1ZpaGJw4TAtQrfvqmgRbsovn2V2kHFBotk65h0Or5CPsD\n9DoKHcMgPdU7/N6jBAyoVV38PoluxyXgd9AUmX+/+7+CCh8L/BSD0gx/5ce8k2h3oD9w8CkasfDk\nkpKBYeOMVNLhCItTMb69GaA/6I/VGEMbHIVoIEAo4InppVycdDDBeqPI4uz+sYYufsVPyD/+Vi5J\nEs9cmmN1r85rxRrBoE1My5KKPtiaoWsqz15ZYGQ76CIPWiAQCL5jhJgWCATvKI7jxa4p93U++0OL\n/+flu1yvXAdfk7PLJ29E7PZsNndMKoMymdkBqnpy0PHQkOi0FIZui1iic/SEBMGgTL/fp9HRcY0w\nje6AkTtAUY/y4Lw8ZglFlqjVJXyKTGX+XwGwVYQfmvkUW9smAd3H0ln/se9zGRg2/oBOKhqYOK96\n0ybujzOTjpJNhAn7QjR65bGaVtcm6ouQjYcOrS1L03Ey4QQ3yvLhxsLBwMGv+U+MF1yYinHlVI7m\nYIW97jbZzBRLb5G8oSrfWbqKQCAQCI4QYlogELxjHHR6pfuSNFzX5WvX1rlbW2Wk1jn3ACHtui73\n1kyq3QaByIBg8OQV2/9/e/caG1d193v8u/ee2XPxjGfsscd2bMd27oQmNJAC8Tnldkoe6DnN0x6p\nVVM1XFSJVgXE5fQFPaUlqAhaqge1VaEFVPWhKhSo2jeHE7UgQYCchDYUEppLI0JCbo6d+D5jz3Xv\ndV6YmJgkpji+5PL7SCOcPWv2XvP3aOeXxZq1ADL9LsVykWDFME5g7CoYIdcin/fIl4oc7LTo6ctT\ndPKEjkK0AiIRsLHJD9u8957FnvhTAFTv+SbzFg1Tl3bIZD1cJ0Rl1GXRgg9HcrO5MvhBQo5L8iQj\n0/2DZarCCZpqK6mrqqAyHGN/99j3MTDoEQ/FaUjFR48FAw6tDVX880ia/R1HWdAWoae/zMJkktpK\n94TrWJbFNctaKZUN+w7Xs3ReijptniIiMukUpkVk2vgf2YHvmHf2HGZX5wGO5A+wdPHJ5/UCdB0t\n09mTZ8jvp7m2dMrrGB+GBoMU/AzRitxJ27iuzcBAiXw/FMtlwskC0QqoqBhZ4/lQ6NXRtnMGb8DL\nxfAiHtHoSHAezJZJhKuoq64Y88XI3t4y8VAlQbd8wsoZ5bKhf8BnbkOS1vokVfEIVdFKvJJDruAR\nCY2cu3+wzKKqJC11iTGvX7G4kZ37u9h88AhVlSX8kks6kaQ+efLR+Vg0xPWXzSVfLBMM2IRc3fJF\nRCab7qwiMm0M4PuMWe+4P5vj7+8dYHffLubNdQkGTx6kjTEc7CjRl+ulqqaAc4rpHTCyZnQub+Hb\neYLhwknbBIMj6y6HoyWMW6K6zrDPXg8fZO853nXUxOOkEmHeL3oUhyPYbpZwaGR1jHLZJlkZp746\nNnrOQtGjf9CnJlqFieTxPDNmzveRnhLxQBWtddWkPlhablYqTuJggp6+LE31DkPDZcrFAKmKBI01\nlWP6nK6KcWFLHV2DLex4dw9zknOZ11iFY/WfshbR8PhrRouIyOlRmBaRaXNsvvTxI7Zb9xzmUOYA\nVdU+iZNMVzimr9+jZ6BIkSHqEuVxrzOUCVL0CoRiOSwLuruhpmZsm4ADXilA2S+SbfkjWWBx5Cpg\nZJqF4wSIhIOUyhAIWGC7mKBFIDgyQp4IJairrhizKsmhziK10Vpct5peb4jhnE88NvK8MYaOzhKt\nlQ18ak569DWLW2vZum8WOw9voyEdZO+BAk3xJhbNrjnpCP1/u3gO2VyRmo4aGlIx/uunZrNz+6nD\ntIiITC2FaRGZNpb14SoZAD2Dw7zb0cWRXAcXzRl/J72Dh0sM5AeIVxVPuXoHjIx854cClEyGWMXI\nknOZzIlhekduPVQD1dCU/zcqkyMj2OWywTIOQWdkS+2eXo9EuJpyLEzG2BQKHoUCNFQlaE5/OHLs\neT6dR8p8ur6JWckqNu3ppT/TPxqmu3s9bK+ClppaFjWnRl+3sDlFW02afX0J3t42SKkQZGlrEysW\nN5/0/UXDQb585WIGhgrEoyHcoFbeEBGZSQrTIjJtbMvCtkemewBse7+TQ9kDpGtsXPfk0zsASmWf\n3v4yQ+UMzcnxR6XLZYtCPoBPib7BEtks5IZh717I1a8fbbc4chWHd9dQ8gxWQy++MdiWRb5gCDoR\nYpEghZyPVwyQqq6k5EcY7Iee/jKJcJKGVJzwcbsEHuwsEg8maUvXsmx+A3u6eniv6yiNdUHyBcOe\nfUXmVs7j4gX1uMEPb72WZXHlp1vpy+bY23uQ+uo0/+VTs4lFTz1KHwg4o9NERERkZilMi8i0sSxr\ndGS67PkcPNpPd+4IS+eMfyvq6/MZLhRww6VTLoV3TDFvU/bL2MES1bWGo7H1wMhU6GPTOI4xWFgY\nbGsk4Hs+lEsWkZBLLBLkaI9POlpLa32SQ8UAxYJNIB+irj7F7HRy9DxDuTKHDpdZVt/K5YubmFUT\npzlVw6Fskp3vZsjlfRojc/n0nGaWtKX5qLaGKlZfs4T3Opqoq44xr7H6XymniIicARSmRWTafDjN\nAzp6BunN9RGO+IRC469t3DtQZqg4TDThnfBcdw/UfDhrgnLJwfN8OlJ/oCM3EqBPNmcaRlb9AAs+\nGC3P5zxcJ0JF2GUwa4gGYtQlEjTXVrJ/X5Zi3qHRrWVeU4rwBytj+L5h13t5muLNXDSnmbmN1Rhj\n+OxFjfQM5OnJHaEuWsG8+jSfu7iF8Cm29K5Pxak/bik8ERE5OyhMi8i0sSwL2wIsw4Gj/fTmu6lO\nfvyc30zWp+DniVWcGKYP7P8wTP+fg/858kMaWnP/TrR6ADh5kB5ZVQSwbPBtSsUy5ZJNPBQmaAcY\nHrJpSVazcHaKYtkjM+RRG6kn7BSpTYys12yMYdeeHEEvyeKWOXzukjmj73N2XZL/eeUidu+fRTIe\n5IK2JMn4iZu4iIjI2U1hWkSmlePY2LbP0YEhMsUMcyrHH5X2fUO+YCj5RVz3wyke3T3Q0w0Ha/+T\ngwdHjv2Pxpvo6QzTcRio7Bj3vMWyIeAa/FIQv+RS8IpEnAjhgEs2a9GcqGd+Ywo34LB7X4GGZIKU\nVUXePkh3bwnXtdj9fh67VMlFsxayasWC0dFqgFjEpSkN6aowAcemIhw85frZIiJy9lKYFpFpFXBs\nHMenP5sj7+UIh079RTsAzzOUSj4GH8cZCdOjI9AVwNs3sWABpD4YfbYdH5sgnjd+SC+XfEIhg29c\nctkgwXgAB5dSwaExUcfchlpqqip4d28BU4xxWctSahMVvLOvkt179gBQH2vhguYW/u3SuSedohGL\nuKDBaBGRc5rCtIhMq4Bj4+ORKxXB8kbWcB6HMfB/y9+BCtj+wQj0F5puGn3+7aOwcOGHbQNBH8ty\n8Mvj3N4MlEsQj/nkCxEyQxUEgxZ+OEC6Ks3s2hSJaJQdu/JErSQXNy9hVfsiGlIx6t6J07y/FguY\nnU5w5UUtRLQpiojIeUthWkSmVcCxsWwfz/PGXS8a4H+t/yYAX3D/gz29e2lbmD1hK/Lm2R/+bFng\nhn2ClkOuGMIv29gB/4Tz5guGgOPiBm0KTpGonybXm6WqNkLEVFEcirC7x6M12cYFDW3898vnU5sc\nmSd95UUtfHbJyEU1bUNERBSmRWRaBRybWDiAYzmUy+Mvc/cfVz2OMYaNm4exLQfPs05YGu/4lTwA\nAgFDNO6RG4yQz8SIVg2ObWCgUPAJ2xFyw0GiTpxgoIpEeB41EZvWykqS0UrS6RqWL2jiMwtnEXLH\n3ioVokVE5BiFaRGZdiE3QCQcAGNTLptxp3pYlkU0YhNyXHJDNvGTLI93PNsxVFblyGbiDGXyBNwS\nbkVu9Pl8wWC8MEP9cSrMLKorZrFi+UXMqa9lVm2IyooQ6aoorfVVRDV9Q0REPobCtIhMOzfoEI8G\nCdphhnM+lfHxl8erqXaoOBojmxn8+DBtQzReJlVbwBypZqjbIp8ZxnGL+MYw0BfE5JPUhZpYlJ7H\n1Z9azMrlC4m4QSpiPjXJkdU3RERE/hUK0yIy7dyAQ0t9nPiBJH0DR/61MO1G6R0MkR8ITJ6OAAAQ\nGklEQVQuEo6OPz0kEDRUpXNYdohAd4piKUa5UGZwAAJeJbMirXx20QJWrVjMxfMasW2LzHABY0bW\njhYREflXnfbwy9q1a7Fte8xj1qxZk9E3ETlH2bZFW0OSVLSK7t7yx7aPRBxaGkOkwrUc6QzjjT84\nDYwE6uq6PLPnD1CdMpQLYSrtRi6uv4TvfXUl/3v1NSxf0DQ6/1khWkREJmJSRqYXLVrE+vXrR//s\nOB+/o5mInN9mpxM0JKt4vz9Kd0+ZmtT4t6O22UF6+2IUuqvp2NdLujFPKHTqAGx8yA0F6O8NkumL\nkArUsbhxAbf+ezsLGmtwPjKVwzAyRcT+6HIhIiIi45iUMO04Dul0ejJOJSLniUg4yKUXNHCot5W9\nB3ZSlXRwnFMHWcexWbI4BDtr6OxzOfx+L8FwgVhlmUDAEAgYyp5FuWhTKNgMZwMEieLn4qTsBJct\nXszXrl7GnIbUSc/v+2YkTGulDhER+QQmJUzv2bOHxsZGQqEQl112GQ8++CBtbW2TcWoROYctmVPH\ntr09HN19hD37+pnX5mKNMzIcCTtcvDTMe+/bdB2JMZgfZrh3mGHfwzMejuUQsIO4jkvMjVAoQFUq\nQXvbUj5/6WJmpSpPeW6DwbYY9/oiIiIfddph+vLLL+epp55i0aJFdHV18cADD9De3s727duprq6e\njD6KyDkqEgpy1aebOdqbY2fvdvbsG2ZOy/iBOuDYLJwbZs5snyPdIQYzlRRLhlLZEAxYhEMW+aLP\nYAaWNrYyv3YOVy6dQzoZO+U5j41KK0iLiMgnZZlJ/tbN8PAwbW1t3HPPPdx1112jxwcGBkZ/fvfd\ndyfzkiJyFiuUPN7vGub/7eyho/A+XmCQxnpDJPzJzzWYgSM9FqYYoSnSSlsqxZLZKdzA+N/jKHk+\nRa9AohJiWltaRESOM3/+/NGfE4nECc9P+tJ40WiUCy+8kN27d0/2qUXkHBQKOjRUh7l0bg3b9gc5\nmu/m/f2HiMdLVCUgGuGELcSPly9Adgj6BiwoR0mH6qhJpljcWE1T6tSj0ccrez6OA4GP299cRETk\nIyY9TOfzeXbu3Mk111xzyjbLly+f7MueMd58803g3H6PZyrVfmadTv1LZY++TIHLej32dPSxfX8H\nXcOd9OS6GcpniVU4uK6FG7SwLCiXDfmiITvkQ9klEa6itSlFY7KOxbPrWNBU+4k2XhkYylMR80kl\nQgQ/ZhT7TKTP/sxS/WeW6j9zzpfaHz+74mROO0x/5zvfYdWqVTQ3N3PkyBF++MMfksvluPHGG0/3\n1CJynggGHCrCAUpxWDQ7zcLmWvYcbmbfkT6OZvoZLg1TLBQoDhcAcOwAVU6IpsoYVRWVNKYqmZVK\n0JJOnrDk3cfxfYNvfNygdVYGaRERmVmnHaYPHTrE6tWr6e7upra2lhUrVvDGG2/Q3Nw8Gf0TkfNE\nRcSlWPYolXxsglw8v5GL5zfSmxkmM1xguFBiuFAEjoVvl0Q0TKoyelpfHMwVS7juyBbnIiIin9Rp\nh+nf//73k9EPERHi0RCel6d/oIRtWYTdANXxKNXx6JRczxhDsVwmmYSIO+mz3kRE5Dygvz1E5IwR\ncGxiURffFBkcLGJZEApO3W0qVyzjuhB2nU88PURERAQUpkXkDBN2AxhjMKZEJlPEwpqSKRi+byiU\nSiQSEA1pOTwREZkYhWkROeNEQkGMAWNKZLMFIDSpgdoYQyZXIBKBSEij0iIiMnEK0yJyRoqGgxhj\nsKwymUyBsh+ctBHkbK5IIOgTq7CJRdxJOaeIiJyfFKZF5IxVEXFxHBvHLpLJlhgc8qgIuxMeSTbG\nMJQvYiyPeMyiMhrSFuIiInJaFKZF5IwWdgMEHBvHKTA07JPJ5wnYASJu4BOF6rLnk80VCLqGRAXE\noy62rSAtIiKnR2FaRM54AccmGQsTDJTIh8rk8mUGc2WCjoMbGAnbpwrGpbJHoVSm7HtUxCAatolH\nQwrSIiIyKRSmReSsYFkWsYhLNBQkFyqRj5TJ5T0KJY+hAlhYo1uIj3x50eAbg+0YXBdioZF52NGw\nVu4QEZHJozAtImcV27aoiLhEQkEioTJlz6dU9ih7Bs/zALCskYfjQDBg4wYcwm5Ao9EiIjLpFKZF\n5Kxk29aYUWbP8/F8AxwL0xa2ZSlAi4jIlFKYFpFzguPYOJO/t4uIiMi4tFOBiIiIiMgEKUyLiIiI\niEyQwrSIiIiIyAQpTIuIiIiITJDCtIiIiIjIBClMi4iIiIhMkMK0iIiIiMgEKUyLiIiIiEyQwrSI\niIiIyAQpTIuIiIiITJDCtIiIiIjIBClMi4iIiIhMkMK0iIiIiMgEKUyLiIiIiEyQwrSIiIiIyAQp\nTIuIiIiITJDCtIiIiIjIBClMi4iIiIhMkMK0iIiIiMgEKUyLiIiIiEyQwrSIiIiIyAQpTIuIiIiI\nTJDCtIiIiIjIBClMi4iIiIhMkMK0iIiIiMgEKUyLiIiIiEzQpIXpxx57jLa2NiKRCMuXL2fDhg2T\ndWoRERERkTPSpITp5557jjvvvJN7772XLVu20N7ezvXXX8+BAwcm4/QiIiIiImekSQnTjzzyCDff\nfDPf+MY3WLhwIT//+c9paGjgl7/85WScXkRERETkjHTaYbpYLPLWW2+xcuXKMcdXrlzJxo0bT/f0\nIiIiIiJnrNMO093d3XieR11d3Zjj6XSazs7O0z29iIiIiMgZKzATFx0YGJiJy06L+fPnA+f2ezxT\nqfYzS/WfOar9zFL9Z5bqP3NU+xGnPTJdU1OD4zh0dXWNOd7V1UVDQ8Ppnl5ERERE5Ix12mHadV0u\nueQSXnzxxTHHX3rpJdrb20/39CIiIiIiZ6xJmeZx9913s2bNGi699FLa29v51a9+RWdnJ9/61rdG\n2yQSicm4lIiIiIjIGWNSwvRXvvIVenp6eOCBBzh8+DBLlixh3bp1NDc3T8bpRURERETOSJYxxsx0\nJ0REREREzkaTtp34+ayvr4/bb7+dCy64gGg0yuzZs/n2t79Nb2/vCe3WrFlDMpkkmUxyww03nPff\ngJ0sTzzxBFdffTXJZBLbttm/f/8JbVT/qfPYY4/R1tZGJBJh+fLlbNiwYaa7dE567bXXWLVqFU1N\nTdi2zVNPPXVCm7Vr19LY2Eg0GuXqq69mx44dM9DTc89DDz3EZz7zGRKJBOl0mlWrVrF9+/YT2qn+\nU+PRRx/loosuIpFIkEgkaG9vZ926dWPaqPbT46GHHsK2bW6//fYxx8/n+itMT4KOjg46Ojr4yU9+\nwrZt2/jd737Ha6+9xurVq8e0+9rXvsaWLVv4y1/+wp///Gfeeust1qxZM0O9Prfkcjmuu+467r//\n/lO2Uf2nxnPPPcedd97Jvffey5YtW2hvb+f666/nwIEDM921c87Q0BBLly7lZz/7GZFIBMuyxjz/\n4x//mEceeYRf/OIXbN68mXQ6zbXXXks2m52hHp87Xn31VW677TY2bdrEyy+/TCAQ4HOf+xx9fX2j\nbVT/qdPc3MzDDz/M22+/zd///neuueYavvjFL7J161ZAtZ8ub7zxBk8++SRLly4dc/857+tvZEqs\nW7fO2LZtMpmMMcaYHTt2GMuyzMaNG0fbbNiwwViWZXbt2jVT3TznbN682ViWZfbt2zfmuOo/dS69\n9FJzyy23jDk2f/58893vfneGenR+iMVi5qmnnhr9s+/7pr6+3jz44IOjx3K5nInH4+bxxx+fiS6e\n07LZrHEcx7zwwgvGGNV/JlRXV5snnnhCtZ8m/f39Zu7cuWb9+vXmqquuMrfffrsxRp99Y4zRyPQU\nGRgYIBQKEY1GAdi0aROxWIwVK1aMtmlvb6eiooJNmzbNVDfPG6r/1CgWi7z11lusXLlyzPGVK1ey\ncePGGerV+Wnv3r10dXWN+V2Ew2GuuOIK/S6mwODgIL7vU1VVBaj+08nzPJ599lny+TxXXHGFaj9N\nbrnlFr785S9z5ZVXYo77up3qP0M7IJ7r+vv7+f73v88tt9yCbY/8e6Wzs5Pa2tox7SzL0rbr00T1\nnxrd3d14nkddXd2Y46rr9DtW75P9Ljo6OmaiS+e0O+64g2XLlo3+A131n3r/+Mc/WLFiBYVCgUgk\nwvPPP8/ChQtHA5tqP3WefPJJ9uzZwzPPPAMwZoqHPvuaMz2ue++9F9u2x3289tprY16TzWb5whe+\nMDq/SyZuIvUXkRN9dG61nJ67776bjRs38sc//vFfqq3qPzkWLVrEO++8w9/+9jduu+02vvrVr/Lm\nm2+O+xrV/vTt2rWL733vezz99NM4jgOAMWbM6PSpnC/118j0OO666y5uuOGGcdscv5Z2Npvl85//\nPLZt88ILL+C67uhz9fX1HD16dMxrjTEcOXKE+vr6ye34OeKT1n88qv/UqKmpwXEcurq6xhzv6uqi\noaFhhnp1fjr2Oe7q6qKpqWn0eFdXlz7jk+iuu+7i+eef55VXXqG1tXX0uOo/9YLBIHPmzAFg2bJl\nbN68mUcffZQf/OAHgGo/VTZt2kR3dzcXXnjh6DHP83j99dd5/PHH2bZtG3B+118j0+NIpVIsWLBg\n3EckEgEgk8lw3XXXYYxh3bp1o3Olj1mxYgXZbHbM/NxNmzYxNDSkbddP4ZPU/+Oo/lPDdV0uueQS\nXnzxxTHHX3rpJdV1mrW1tVFfXz/md5HP59mwYYN+F5Pkjjvu4LnnnuPll19mwYIFY55T/aef53n4\nvq/aT7EvfelLbNu2ja1bt7J161a2bNnC8uXLWb16NVu2bGH+/Pnnff2dtWvXrp3pTpztMpkMK1eu\nZHBwkGeffRYYGaXOZrOEQiEcx6G2tpa//vWvPPPMMyxbtowDBw7wzW9+k8svv5xbb711ht/B2a+z\ns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Demrr81zNF5nO1frf89sJu53oFQu1+naYDXh09DRNZitFzl4rYDHq2RvzErAE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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1736,7 +1736,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "[ 0.26908765 0.8039095 0.00355399]\n" + "[ 0.29442198 0.82419287 0.00369511]\n" ] } ], @@ -1755,16 +1755,17 @@ }, { "cell_type": "code", - "execution_count": 119, + "execution_count": 23, "metadata": { - "collapsed": false + "collapsed": false, + "scrolled": true }, "outputs": [ { "data": { - "image/png": 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yxBNPcOONN9LS0oLL5eL+++8/7Zw777yT5uZmgsEg1113HQcOHFiQyYqIvN44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\n4mSaiIiIiChE/wPYCq7E7HQlHgAAAABJRU5ErkJggg==\n", 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VJ6hVSYeIyII55f/tPfbYY9xwww20tbVhmib33HPPccfccccdtLa2Eo1Gufrq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\ny+H0PXv27MFvv/2Gu3fvAgBaWlr61ik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"text/plain": [ - "" + "" ] }, "metadata": {}, @@ -1774,7 +1775,7 @@ "name": "stdout", "output_type": "stream", "text": [ - "[ 0.00883285 0.00866094 0.00077284]\n" + "[ 0.00881439 0.0086407 0.00077058]\n" ] } ], @@ -1786,6 +1787,19 @@ " sigma_range=0.3, sigma_bearing=0.1)\n", "print(ekf.P.diagonal())" ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "### Discussion\n", + "\n", + "I said that this was a 'real' problem, and in some ways it is. I've seen alternative presentations that used robot motion models that led to much easier Jacobians. On the other hand, my model of a automobile's movement is itself simplistic in several ways. First, it uses the *bicycle model* to compute how it moves. A real car has two sets of tires, and each travels on a different radius. The wheels do not grip the surface perfectly. I also assumed that the robot was able to instaneously respond to my control input changes. In fact, I didn't even bother changing the control input during the run. Sebastian Thrun writes in *Probabalistic Robots* that simplied models are justified because the filters perform well when used to track real vehicles. The lesson here is that while you have to have a reasonably accurate nonlinear model, it does not need to be perfect to operate well. As a designer you will need to balance the fidelity of your model with the difficulty of the math and the computation required to implement the equations. \n", + "\n", + "Another way in which this problem was simplistic is that we assumed that we knew the correspondance between the landmarks and measurements. But suppose we are using radar - how would we know that a specific signal return corresponded to a specific building in the local scene? This question hints at SLAM algorithms - simultaneous localization and mapping. SLAM is not the point of this book, so I will not elaborate on this topic. \n", + "\n", + "However, this example should underscore how difficult EKFs can be. EKF have a well deserved reputation for difficulty. Especially when the problem is highly nonlinear you must design " + ] } ], "metadata": { @@ -1804,7 +1818,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.4.3" + "version": "3.4.1" } }, "nbformat": 4, diff --git a/code/ukf_internal.py b/code/ukf_internal.py index 64d5ada..632954e 100644 --- a/code/ukf_internal.py +++ b/code/ukf_internal.py @@ -4,12 +4,13 @@ Created on Tue May 27 21:21:19 2014 @author: rlabbe """ +from filterpy.kalman import UnscentedKalmanFilter as UKF +from filterpy.kalman import MerweScaledSigmaPoints import matplotlib.pyplot as plt from matplotlib.patches import Ellipse,Arrow -import stats -import numpy as np import math -from filterpy.kalman import UnscentedKalmanFilter as UKF +import numpy as np +import stats from stats import plot_covariance_ellipse def _sigma_points(mean, sigma, kappa): @@ -59,8 +60,6 @@ def show_three_gps(): plt.show() - - def show_four_gps(): circle1=plt.Circle((-4,2),5,color='#004080',fill=False,linewidth=20, alpha=.7) circle2=plt.Circle((5.5,1),5,color='#E24A33', fill=False, linewidth=8, alpha=.7) @@ -77,21 +76,24 @@ def show_four_gps(): plt.axis('equal') plt.show() -def show_sigma_transform(): + + +def show_sigma_transform(with_text=False): fig = plt.figure() ax=fig.gca() x = np.array([0, 5]) P = np.array([[4, -2.2], [-2.2, 3]]) - plot_covariance_ellipse(x, P, facecolor='b', variance=9, alpha=0.5) - S = UKF.sigma_points(x=x, P=P, alpha=.5, kappa=0) + plot_covariance_ellipse(x, P, facecolor='b', alpha=0.6, variance=9) + sigmas = MerweScaledSigmaPoints(2, alpha=.5, beta=2., kappa=0.) + + S = sigmas.sigma_points(x=x, P=P) plt.scatter(S[:,0], S[:,1], c='k', s=80) x = np.array([15, 5]) P = np.array([[3, 1.2],[1.2, 6]]) - plot_covariance_ellipse(x, P, facecolor='g', variance=9, alpha=0.5) - + plot_covariance_ellipse(x, P, facecolor='g', variance=9, alpha=0.3) ax.add_artist(arrow(S[0,0], S[0,1], 11, 4.1, 0.6)) ax.add_artist(arrow(S[1,0], S[1,1], 13, 7.7, 0.6)) @@ -102,21 +104,30 @@ def show_sigma_transform(): ax.axes.get_xaxis().set_visible(False) ax.axes.get_yaxis().set_visible(False) + if with_text: + plt.text(2.5, 1.5, r"$\chi$", fontsize=32) + plt.text(13, -1, r"$\mathcal{Y}$", fontsize=32) + #plt.axis('equal') plt.show() + def show_2d_transform(): + plt.cla() ax=plt.gca() ax.add_artist(Ellipse(xy=(2,5), width=2, height=3,angle=70,linewidth=1,ec='k')) - ax.add_artist(Ellipse(xy=(7,5), width=2.2, alpha=0.3, height=3.8,angle=150,linewidth=1,ec='k')) + ax.add_artist(Ellipse(xy=(7,5), width=2.2, alpha=0.3, height=3.8,angle=150,fc='g',linewidth=1,ec='k')) ax.add_artist(arrow(2, 5, 6, 4.8)) - ax.add_artist(arrow(1.5, 5.5, 7, 3.8)) ax.add_artist(arrow(2.3, 4.1, 8, 6)) + ax.add_artist(arrow(3.3, 5.1, 6.5, 4.3)) + ax.add_artist(arrow(1.3, 4.8, 7.2, 6.3)) + ax.add_artist(arrow(1.1, 5.2, 8.2, 5.3)) + ax.add_artist(arrow(2, 4.4, 7.3, 4.5)) ax.axes.get_xaxis().set_visible(False) ax.axes.get_yaxis().set_visible(False) @@ -139,27 +150,34 @@ def show_3_sigma_points(): def show_sigma_selections(): ax=plt.gca() - ax.add_artist(Ellipse(xy=(2,5), alpha=0.5, width=2, height=3,angle=0,linewidth=1,ec='k')) - ax.add_artist(Ellipse(xy=(5,5), alpha=0.5, width=2, height=3,angle=0,linewidth=1,ec='k')) - ax.add_artist(Ellipse(xy=(8,5), alpha=0.5, width=2, height=3,angle=0,linewidth=1,ec='k')) ax.axes.get_xaxis().set_visible(False) ax.axes.get_yaxis().set_visible(False) - plt.scatter([1.5,2,2.5],[5,5,5],c='k', s=50) - plt.scatter([2,2],[4.5, 5.5],c='k', s=50) + x = np.array([2, 5]) + P = np.array([[3, 1.1], [1.1, 4]]) - plt.scatter([4.8,5,5.2],[5,5,5],c='k', s=50) - plt.scatter([5,5],[4.8, 5.2],c='k', s=50) + points = MerweScaledSigmaPoints(2, .05, 2., 1.) + sigmas = points.sigma_points(x, P) + plot_covariance_ellipse(x, P, facecolor='b', alpha=0.6, variance=[.5]) + plt.scatter(sigmas[:,0], sigmas[:, 1], c='k', s=50) - plt.scatter([7.2,8,8.8],[5,5,5],c='k', s=50) - plt.scatter([8,8],[4,6],c='k' ,s=50) + x = np.array([5, 5]) + points = MerweScaledSigmaPoints(2, .15, 2., 1.) + sigmas = points.sigma_points(x, P) + plot_covariance_ellipse(x, P, facecolor='b', alpha=0.6, variance=[.5]) + plt.scatter(sigmas[:,0], sigmas[:, 1], c='k', s=50) + + x = np.array([8, 5]) + points = MerweScaledSigmaPoints(2, .4, 2., 1.) + sigmas = points.sigma_points(x, P) + plot_covariance_ellipse(x, P, facecolor='b', alpha=0.6, variance=[.5]) + plt.scatter(sigmas[:,0], sigmas[:, 1], c='k', s=50) plt.axis('equal') plt.xlim(0,10); plt.ylim(0,10) plt.show() - def show_sigmas_for_2_kappas(): # generate the Gaussian data @@ -190,9 +208,41 @@ def show_sigmas_for_2_kappas(): plt.show() +def plot_sigma_points(): + x = np.array([0, 0]) + P = np.array([[4, 2], [2, 4]]) + + sigmas = MerweScaledSigmaPoints(n=2, alpha=.3, beta=2., kappa=1.) + S0 = sigmas.sigma_points(x, P) + Wm0, Wc0 = sigmas.weights() + + sigmas = MerweScaledSigmaPoints(n=2, alpha=1., beta=2., kappa=1.) + S1 = sigmas.sigma_points(x, P) + Wm1, Wc1 = sigmas.weights() + + def plot_sigmas(s, w, **kwargs): + min_w = min(abs(w)) + scale_factor = 100 / min_w + return plt.scatter(s[:, 0], s[:, 1], s=abs(w)*scale_factor, alpha=.5, **kwargs) + + plt.subplot(121) + plot_sigmas(S0, Wc0, c='b') + plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, variance=[1, 4]) + plt.title('alpha=0.3') + plt.subplot(122) + plot_sigmas(S1, Wc1, c='b', label='Kappa=2') + plot_covariance_ellipse(x, P, facecolor='g', alpha=0.2, variance=[1, 4]) + plt.title('alpha=1') + plt.show() + print(sum(Wc0)) if __name__ == '__main__': - show_four_gps() + + #show_2d_transform() + #show_sigma_selections() + + show_sigma_transform(True) + #show_four_gps() #show_sigma_transform() #show_sigma_selections() diff --git a/experiments/ukfloc.py b/experiments/ukfloc.py index 21fd96c..07c3158 100644 --- a/experiments/ukfloc.py +++ b/experiments/ukfloc.py @@ -16,33 +16,23 @@ from numpy.random import randn -def normalize_angle(x, index): - def normalize(x): - if x > np.pi: - x -= 2*np.pi - if x < -np.pi: - x = 2*np.pi - return x +def normalize_angle(x): + if x > np.pi: + x -= 2*np.pi + if x < -np.pi: + x = 2*np.pi + return x - if x.ndim > 1: - for i in range(len(x)): - x[i, index] = normalize(x[i, index]) - - else: - x[index] = normalize(x[index]) - - -def residual(a,b , index=1): +def residual_h(a, b): y = a - b - normalize_angle(y, index) + y[1] = normalize_angle(y[1]) return y -def residual_h(a, b): - return residual(a, b, 1) - def residual_x(a, b): - return residual(a, b, 2) + y = a - b + y[2] = normalize_angle(y[2]) + return y def move(x, u, dt, wheelbase):