{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# The Unscented Kalman Filter" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline\n", "from __future__ import division, print_function" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "text/html": [ "\n", " \n", " " ], "text/plain": [ "" ] }, "execution_count": 2, "metadata": {}, "output_type": "execute_result" } ], "source": [ "#format the book\n", "import book_format\n", "book_format.set_style()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the last chapter we discussed the difficulties that nonlinear systems pose. This nonlinearity can appear in two places. It can be in our measurements, such as a radar that is measuring the slant range to an object. Slant range requires you to take a square root to compute the x,y coordinates:\n", "\n", "$$x=\\sqrt{\\text{slant}^2 - \\text{altitude}^2}$$\n", "\n", "The nonlinearity can also occur in the process model - we may be tracking a ball traveling through the air, where the effects of air drag lead to nonlinear behavior. The standard Kalman filter performs poorly or not at all with these sorts of problems.\n", "\n", "In the last chapter I showed you a plot like this. I have altered the equation somewhat to emphasize the effects of nonlinearity." ] }, { "cell_type": "code", "execution_count": 3, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.book_plots import set_figsize, figsize\n", "import matplotlib.pyplot as plt\n", "from kf_book.nonlinear_plots import plot_nonlinear_func\n", "from numpy.random import normal\n", "import numpy as np\n", "\n", "# create 500,000 samples with mean 0, std 1\n", "gaussian = (0., 1.)\n", "data = normal(loc=gaussian[0], scale=gaussian[1], size=500000)\n", "\n", "def f(x):\n", " return (np.cos(4*(x/2 + 0.7))) - 1.3*x\n", "\n", "plot_nonlinear_func(data, f)" ] }, { "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. 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", "Let me show you a scatter plot of the data before and after being passed through `f(x)`." ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "N = 30000\n", "plt.subplot(121)\n", "plt.scatter(data[:N], range(N), alpha=.2, s=1)\n", "plt.title('Input')\n", "plt.subplot(122)\n", "plt.title('Output')\n", "plt.scatter(f(data[:N]), range(N), alpha=.2, s=1);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The data itself appears to be Gaussian, which it is. By that I mean it looks like white noise scattered around the mean zero. In contrast `g(data)` has a defined structure. There are two bands, with a significant number of points in between. On the outside of the bands there are scattered points, but with many more on the negative side.\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 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 sigma points, and the output is still not smooth. What's worse, this is only for 1 dimension. 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. Ensemble filters and particle filters use clever techniques to significantly reduce this dimensionality, but the computational burdens are still very large. The unscented Kalman filter uses sigma points but drastically reduces the amount of computation by using a deterministic method to choose the points." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Sigma Points - Sampling from a 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; this extends 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 mean and covariance of the transformed points, and use that as our estimate of the mean and probability distribution." ] }, { "cell_type": "code", "execution_count": 5, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import kf_book.ukf_internal as ukf_internal\n", "ukf_internal.show_2d_transform()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "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. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's write a function which passes 10,000 points randomly drawn from the Gaussian\n", "\n", "$$\\mu = \\begin{bmatrix}0\\\\0\\end{bmatrix}, \n", "\\Sigma=\\begin{bmatrix}32&15\\\\15&40\\end{bmatrix}$$\n", "\n", "through the nonlinear system:\n", "\n", "$$\\begin{cases}\\begin{aligned}\\bar x&=x+y\\\\\n", "\\bar y&= 0.1x^2 + y^2\\end{aligned} \\end{cases}$$ " ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Difference in mean x=0.099, y=42.853\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import numpy as np\n", "from numpy.random import multivariate_normal\n", "from kf_book.nonlinear_plots import plot_monte_carlo_mean\n", "\n", "def f_nonlinear_xy(x, y):\n", " return np.array([x + y, .1*x**2 + y*y])\n", "\n", "mean = (0., 0.)\n", "p = np.array([[32., 15.], [15., 40.]])\n", "# Compute linearized mean\n", "mean_fx = f_nonlinear_xy(*mean)\n", "\n", "#generate random points\n", "xs, ys = multivariate_normal(mean=mean, cov=p, size=10000).T\n", "plot_monte_carlo_mean(xs, ys, f_nonlinear_xy, mean_fx, 'Linearized Mean');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This plot shows the strong nonlinearity that occurs with this function, and the large error that would result if we linearized in the way of the Extended Kalman filter (we will be learning this in the next chapter)." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## A Quick Example\n", "\n", "I'm soon going to proceed into the math the Unscented Kalman Filter (UKF) uses to choose sigma points and then perform the computation. But let's just start with an example so you can see the destination, so to speak. \n", "\n", "We will learn that the UKF can use many different algorithms to generate the sigma points. Several algorithms are provided by FilterPy. Here's one possibility:" ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "from filterpy.kalman import JulierSigmaPoints\n", "\n", "sigmas = JulierSigmaPoints(n=2, kappa=1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This will become clearer later, but the object will generate weighted sigma points for any given mean and covariance. Let's just look at an example, where the point's size indicate how much it is weighted:" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.ukf_internal import plot_sigmas\n", "plot_sigmas(sigmas, x=[3, 17], cov=[[1, .5], [.5, 3]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "You can see we have 5 points centered around the mean (3, 17) in an odd pattern. It may seem absurd that this will do as well or better than 500,000 randomly generated points, but it will!\n", "\n", "Okay, now let's implement the filter. We will implement a standard linear filter in 1D; we aren't quite ready to tackle a nonlinear filter yet. The design of the filter is not much different than what we have learned so far, with one difference. The KalmanFilter class uses the matrix $\\mathbf F$ to compute the state transition function. Matrices mean **linear** algrebra, which work for linear problems, but not nonlinear ones. So, instead of a matrix we provide a function, just like we did above. The KalmanFilter class uses another matrix $\\mathbf H$ to implement the measurement function, which converts a state into the equivalent measurement. Again, a matrix implies linearity, so instead of a matrix we provide a function. Perhaps it is clear why $\\mathbf H$ is called the 'measurement function'; for the linear Kalman filter it is a matrix, but that is just a fast way to compute a function that happens to be linear. \n", "\n", "Without further ado, here are the state transistion function and measurement function for a 1D tracking problem, where the state is $\\mathbf x = [x \\, \\, \\dot x]^ \\mathsf T$:" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [], "source": [ "def fx(x, dt):\n", " xout = np.empty_like(x)\n", " xout[0] = x[1] * dt + x[0]\n", " xout[1] = x[1]\n", " return xout\n", "\n", "def hx(x):\n", " return x[:1] # return position [x] " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Let's be clear, this is a linear example. There is no need to use a UKF for a linear problem, but I'm starting with the simplest possible example. But notice how I wrote `fx()` to compute $\\mathbf{\\bar x}$ as a set of equations instead of a matrix multiplication. This is to illustrate that I could implement any arbitrary nonlinear function here; we are not constrained to linear equations.\n", "\n", "The rest of the design is the same. Design $\\mathbf P$, $\\mathbf R$, and $\\mathbf Q$. You know how to do that, so let's just finish up the filter and run it." ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from numpy.random import randn\n", "from filterpy.kalman import UnscentedKalmanFilter\n", "from filterpy.common import Q_discrete_white_noise\n", "\n", "ukf = UnscentedKalmanFilter(dim_x=2, dim_z=1, dt=1., hx=hx, fx=fx, points=sigmas)\n", "ukf.P *= 10\n", "ukf.R *= .5\n", "ukf.Q = Q_discrete_white_noise(2, dt=1., var=0.03)\n", "\n", "zs, xs = [], []\n", "for i in range(50):\n", " z = i + randn()*.5\n", " ukf.predict()\n", " ukf.update(z)\n", " xs.append(ukf.x[0])\n", " zs.append(z)\n", " \n", "plt.plot(xs);\n", "plt.plot(zs, marker='x', ls='');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "There really isn't a lot new here. You have to create an object that creates sigma points for you, and provide functions instead of matrices for $\\mathbf F$ and $\\mathbf H$, but the rest is the same as before. This should give you enough confidence to plow through a bit of math and algorithms so you can understand what the UKF is doing." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Choosing Sigma Points\n", "\n", "At the start of the chapter I used 500,000 randomly generated sigma points to compute the the probability distribution of a Gaussian passed through a nonlinear function. While the computed mean is quite accurate, computing 500,000 points for every update would cause our filter to be extremely 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", "\n", "Let's consider the simplest possible case and see if it offers any insight. The simplest possible system is the **identity function**: $f(x) = x$. If our algorithm does not work for the identity function then the filter cannot 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. This filter diverges. \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 $\\mu$ itself. So while this works for the linear case, it is not a good answer for the nonlinear case.\n", "\n", "Perhaps we can use one point per dimension, but altered somehow. However, if we were to pass some value $\\mu+\\Delta$ into the identity function $f(x)=x$ it would not converge, so this will not work. If we didn't alter $\\mu$ then this would be the standard Kalman filter. We must conclude that one sample will not work.\n", "\n", "What is the next lowest number we can choose? Two. Consider the fact that Gaussians are symmetric, and that we probably want to always have one of our sample points be the mean of the input for the identity function to work. Two points would require us to select the mean, and then one other point. That one other point would introduce an asymmetry in our input that we probably don't want. It would be very difficult to make this work for the identity function $f(x)=x$.\n", "\n", "The next lowest number is 3 points. 3 points allows us to select the mean, and then one point on each side of the mean, as depicted on the chart below." ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.show_3_sigma_points()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can pass these points through a nonlinear function f(x) and compute the resulting mean and variance. The mean can be computed 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. \n", "\n", "A more general approach is to compute the weighted mean $\\mu = \\sum_i w_i\\, f(\\mathcal{X}_i)$, where the calligraphic $\\mathcal{X}$ are the sigma points. We need the sums of the weights to equal one. Given that requirement, our task is to select $\\mathcal{X}$ and their corresponding weights so that they compute to the mean and variance of the transformed sigma points. \n", "\n", "If we weight the means it also makes sense to weight the covariances. It is possible to use different weights for the mean ($w^m$) and for the covariance ($w^c$). I use superscripts to allow space for indexes in the following equations. We can write\n", "\n", "$$\\begin{aligned}\n", "\\mathbf{Constraints:}\\\\\n", "1 &= \\sum_i{w_i^m} \\\\\n", "1 &= \\sum_i{w_i^c} \\\\\n", "\\mu &= \\sum_i w_i^mf(\\mathcal{X}_i) \\\\\n", "\\Sigma &= \\sum_i w_i^c{(f(\\mathcal{X})_i-\\mu)(f(\\mathcal{X})_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", "$$\n", "\n", "The first two equations are the constraint that the weights must sum to one. The third equation is how you compute a weight mean. The forth equation may be less familiar, but recall that the equation for the covariance of two random variables is:\n", "\n", "$$COV(x,y) = \\frac{\\sum(x-\\bar x)(y-\\bar{y})}{n}$$\n", "\n", "These constraints do not form a unique solution. For example, if you make $w^m_0$ smaller you can compensate by making $w^m_1$ and $w^m_2$ larger. You can use different weights for the mean and covariances, 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", "We want an algorithm that satisfies the constraints, preferably with only 3 points per dimension. Before we go on I want to make sure the idea is clear. Below are three different examples for the same covariance ellipse with different sigma points. The size of the sigma points is proportional to the weight given to each." ] }, { "cell_type": "code", "execution_count": 12, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.show_sigma_selections()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The points do not lie along the major and minor axis of the ellipse; nothing in the constraints require me to do that. I show the points evenly spaced, but the constraints do not require that. \n", "\n", "The arrangement and weighting of the sigma points affect how we sample the 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. \n", "\n", "Please understand there are infinite ways to select sigma points. The constraints I choose are just one way to do it. For example, not all algorithms for creating the sigma points require the weights to sum to one. In fact, the algorithm I favor in this book does not have that property." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## The Unscented Transform\n", "\n", "For the moment, assume an algorithm for selecting the sigma points and weights exists. How are the sigma points used to implement a filter?\n", "\n", "The *unscented transform* is the core of the algorithm yet it is remarkably simple. It passes the sigma points $\\boldsymbol{\\chi}$ through a nonlinear function yielding a transformed set of points. \n", "\n", "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\n", "\n", "It then computes the mean and covariance of the transformed points. That mean and covariance becomes the new estimate. The figure below depicts the operation of the unscented transform. The green ellipse on the right represents the computed mean and covariance to the transformed sigma points. " ] }, { "cell_type": "code", "execution_count": 13, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.show_sigma_transform(with_text=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The mean and covariance of the sigma points are computed as:\n", "\n", "$$\\begin{aligned}\n", "\\mu &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal{Y}}_i \\\\\n", "\\Sigma &= \\sum_{i=0}^{2n} w^c_i{(\\boldsymbol{\\mathcal{Y}}_i-\\mu)(\\boldsymbol{\\mathcal{Y}}_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", "$$\n", "\n", "These equations should be familar - they are the constraint equations we developed above. \n", "\n", "In short, the unscented transform takes points sampled from some arbitary probability distribution, passes them through an arbitrary, nonlinear function and produces a Gaussian for each transformed points. I hope you can envision how we can use this to implement a nonlinear Kalman filter. Once we have Gaussians all of the mathematical apparatus we have already developed comes into play!\n", "\n", "The name \"unscented\" might be confusing. It doesn't really mean much. It was a joke fostered by the inventor that his algorithm didn't \"stink\", and soon the name stuck. There is no mathematical meaning to the term." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Accuracy of the Unscented Transform\n", "\n", "Earlier we wrote a function that found the mean of a distribution by passing 50,000 points through a nonlinear function. Let's now pass 5 sigma points through the same function, and compute their mean with the unscented transform. We will use the FilterPy function *MerweScaledSigmaPoints()* to create the sigma points and `unscented_transform` to perform the transform; we will learn about these functions later. In the first example in this chapter I used `JulierSigmaPoints`; they both choose sigma points, but in different ways which I will explain later." ] }, { "cell_type": "code", "execution_count": 14, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Difference in mean x=-0.097, y=0.549\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from filterpy.kalman import unscented_transform, MerweScaledSigmaPoints\n", "import scipy.stats as stats\n", "\n", "\n", "#initial mean and covariance\n", "mean = (0., 0.)\n", "p = np.array([[32., 15], [15., 40.]])\n", "\n", "# create sigma points and weights\n", "points = MerweScaledSigmaPoints(n=2, alpha=.3, beta=2., kappa=.1)\n", "sigmas = points.sigma_points(mean, p)\n", "\n", "### pass through nonlinear function\n", "sigmas_f = np.empty((5, 2))\n", "for i in range(5):\n", " sigmas_f[i] = f_nonlinear_xy(sigmas[i, 0], sigmas[i ,1])\n", "\n", "### use unscented transform to get new mean and covariance\n", "ukf_mean, ukf_cov = unscented_transform(sigmas_f, points.Wm, points.Wc)\n", "\n", "#generate random points\n", "np.random.seed(100)\n", "xs, ys = multivariate_normal(mean=mean, cov=p, size=5000).T\n", "\n", "plot_monte_carlo_mean(xs, ys, f_nonlinear_xy, ukf_mean, 'Unscented Mean')\n", "ax = plt.gcf().axes[0]\n", "ax.scatter(sigmas[:,0], sigmas[:,1], c='r', s=30);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I find this result remarkable. Using only 5 points we were able to compute the mean with amazing accuracy. The error in x is only -0.097, and the error in y is 0.549. In contrast, a linearized approach (used by the EKF, which we will learn in the next chapter) gave an error of over 43 in y. If you look at the code that generates the sigma points you'll see that it has no knowledge of the nonlinear function, only of the mean and covariance of our initial distribution. The same 5 sigma points would be generated if we had a completely different nonlinear function. \n", "\n", "I will admit to choosing a nonlinear function that makes the performance of the unscented tranform striking compared to the EKF. But the physical world is filled with very nonlinear behavior, and the UKF takes it in stride. I did not 'work' to find a function where the unscented transform happened to work well. You will see in the next chapter how more traditional techniques struggle with strong nonlinearities. This graph is the foundation of why I advise you to use the UKF or similar modern technique whenever possible." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## The Unscented Kalman Filter\n", "\n", "We can now present the UKF algorithm. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Predict Step\n", "\n", "The UKF's predict step computes the prior using the process model $f()$. $f()$ is assumed to be nonlinear, so we generate sigma points $\\mathcal{X}$ and their corresponding weights $W^m, W^c$\n", "according to some function:\n", "\n", "$$\\begin{aligned}\n", "\\boldsymbol\\chi &= \\text{sigma-function}(\\mathbf x, \\mathbf P) \\\\\n", "W^m, W^c &= \\text{weight-function}(\\mathtt{n, parameters})\\end{aligned}$$\n", "\n", "We pass each sigma point through $f(\\mathbf x, \\Delta t)$. This projects the sigma points forward in time according to the process model, forming the new prior, which is a set of sigma points we name $\\boldsymbol{\\mathcal Y}$:\n", "\n", "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi}, \\Delta t)$$\n", "\n", "We compute the mean and covariance of the prior using the *unscented transform* on the transformed sigma points. \n", "\n", "$$\\mathbf{\\bar x}, \\mathbf{\\bar P} = \n", "UT(\\mathcal{Y}, w_m, w_c, \\mathbf Q)$$\n", "\n", "These are the equations for the unscented transform:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf{\\bar x} &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal Y}_i \\\\\n", "\\mathbf{\\bar P} &= \\sum_{i=0}^{2n} w^c_i({\\boldsymbol{\\mathcal Y}_i - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y}_i-\\mathbf{\\bar x})^\\mathsf{T}} + \\mathbf Q\n", "\\end{aligned}\n", "$$\n", "\n", "This table compares the linear Kalman filter with the Unscented Kalman Filter equations. I've dropped the subscript $i$ for readability.\n", "\n", "$$\\begin{array}{l|l}\n", "\\text{Kalman} & \\text{Unscented} \\\\\n", "\\hline \n", "& \\boldsymbol{\\mathcal Y} = f(\\boldsymbol\\chi) \\\\\n", "\\mathbf{\\bar x} = \\mathbf{Fx} & \n", "\\mathbf{\\bar x} = \\sum w^m\\boldsymbol{\\mathcal Y} \\\\\n", "\\mathbf{\\bar P} = \\mathbf{FPF}^\\mathsf T + \\mathbf Q & \n", "\\mathbf{\\bar P} = \\sum w^c({\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})^\\mathsf T}+\\mathbf Q\n", "\\end{array}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Update Step\n", "\n", "Kalman filters perform the update in measurement space. Thus we must convert the sigma points of the prior into measurements using a measurement function $h(x)$ that you define.\n", "\n", "$$\\boldsymbol{\\mathcal{Z}} = h(\\boldsymbol{\\mathcal{Y}})$$\n", "\n", "We compute the mean and covariance of these points using the unscented transform. The $z$ subscript denotes that these are the mean and covariance of the measurement sigma points.\n", "\n", "$$\\begin{aligned}\n", "\\boldsymbol\\mu_z, \\mathbf P_z &= \n", "UT(\\boldsymbol{\\mathcal Z}, w_m, w_c, \\mathbf R) \\\\\n", "\\boldsymbol\\mu_z &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal Z}_i \\\\\n", "\\mathbf P_z &= \\sum_{i=0}^{2n} w^c_i{(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol{\\mu}_z)(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol{\\mu}_z)^\\mathsf T} + \\mathbf R\n", "\\end{aligned}\n", "$$\n", "\n", "Next we compute the residual and Kalman gain. The residual of the measurement $\\mathbf z$ is trivial to compute:\n", "\n", "$$\\mathbf y = \\mathbf z - \\boldsymbol\\mu_z$$\n", "\n", "To compute the Kalman gain we first compute the [cross covariance](https://en.wikipedia.org/wiki/Cross-covariance) of the state and the measurements, which is defined as: \n", "\n", "$$\\mathbf P_{xz} =\\sum_{i=0}^{2n} w^c_i(\\boldsymbol{\\mathcal Y}_i-\\mathbf{\\bar x})(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol\\mu_z)^\\mathsf T$$\n", "\n", "And then the Kalman gain is defined as\n", "\n", "$$\\mathbf{K} = \\mathbf P_{xz} \\mathbf P_z^{-1}$$\n", "\n", "If you think of the inverse as a *kind of* matrix reciprocal, you can see that the Kalman gain is a simple ratio which computes:\n", "\n", "$$\\mathbf{K} \\approx \\frac{\\mathbf P_{xz}}{\\mathbf P_z} \n", "\\approx \\frac{\\text{belief in state}}{\\text{belief in measurement}}$$\n", "\n", "Finally, we compute the new state estimate using the residual and Kalman gain:\n", "\n", "$$\\mathbf x = \\bar{\\mathbf x} + \\mathbf{Ky}$$\n", "\n", "and the new covariance is computed as:\n", "\n", "$$ \\mathbf P = \\mathbf{\\bar P} - \\mathbf{KP_z}\\mathbf{K}^\\mathsf{T}$$\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. The linear algebra is slightly different from the linear Kalman filter, but the algorithm is the same Bayesian algorithm we have been implementing throughout the book. \n", "\n", "This table compares the equations of the linear KF and UKF equations.\n", "\n", "$$\\begin{array}{l|l}\n", "\\textrm{Kalman Filter} & \\textrm{Unscented Kalman Filter} \\\\\n", "\\hline \n", "& \\boldsymbol{\\mathcal Y} = f(\\boldsymbol\\chi) \\\\\n", "\\mathbf{\\bar x} = \\mathbf{Fx} & \n", "\\mathbf{\\bar x} = \\sum w^m\\boldsymbol{\\mathcal Y} \\\\\n", "\\mathbf{\\bar P} = \\mathbf{FPF}^\\mathsf T+\\mathbf Q & \n", "\\mathbf{\\bar P} = \\sum w^c({\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})^\\mathsf T}+\\mathbf Q \\\\\n", "\\hline \n", "& \\boldsymbol{\\mathcal Z} = h(\\boldsymbol{\\mathcal{Y}}) \\\\\n", "& \\boldsymbol\\mu_z = \\sum w^m\\boldsymbol{\\mathcal{Z}} \\\\\n", "\\mathbf y = \\mathbf z - \\mathbf{Hx} &\n", "\\mathbf y = \\mathbf z - \\boldsymbol\\mu_z \\\\\n", "\\mathbf S = \\mathbf{H\\bar PH}^\\mathsf{T} + \\mathbf R & \n", "\\mathbf P_z = \\sum w^c{(\\boldsymbol{\\mathcal Z}-\\boldsymbol\\mu_z)(\\boldsymbol{\\mathcal{Z}}-\\boldsymbol\\mu_z)^\\mathsf{T}} + \\mathbf R \\\\ \n", "\\mathbf K = \\mathbf{\\bar PH}^\\mathsf T \\mathbf S^{-1} &\n", "\\mathbf K = \\left[\\sum w^c(\\boldsymbol{\\mathcal Y}-\\bar{\\mathbf x})(\\boldsymbol{\\mathcal{Z}}-\\boldsymbol\\mu_z)^\\mathsf{T}\\right] \\mathbf P_z^{-1} \\\\\n", "\\mathbf x = \\mathbf{\\bar x} + \\mathbf{Ky} & \\mathbf x = \\mathbf{\\bar x} + \\mathbf{Ky}\\\\\n", "\\mathbf P = (\\mathbf{I}-\\mathbf{KH})\\mathbf{\\bar P} & \\mathbf P = \\bar{\\mathbf P} - \\mathbf{KP_z}\\mathbf{K}^\\mathsf{T}\n", "\\end{array}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Van der Merwe's Scaled Sigma Point Algorithm\n", "\n", "There are many algorithms for selecting sigma points. 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]. 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", "This formulation uses 3 parameters to control how the sigma points are distributed and weighted: $\\alpha$, $\\beta$, and $\\kappa$. Before we work through the equations, let's look at an example. I will plot the sigma points on top of a covariance ellipse showing the first and second standard deviations, and scale the points based on the mean weights." ] }, { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.plot_sigma_points()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the sigma points lie between the first and second standard deviation, and that the larger $\\alpha$ spreads the points out. Furthermore, the larger $\\alpha$ weights the mean (center point) higher than the smaller $\\alpha$, and weights the rest 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": [ "### Sigma Point Computation\n", "\n", "The first sigma point is the mean of the input. This is the sigma point displayed in the center of the ellipses in the diagram above. We will call this $\\boldsymbol{\\chi}_0$.\n", "\n", "$$ \\mathcal{X}_0 = \\mu$$\n", "\n", "For notational convenience we define $\\lambda = \\alpha^2(n+\\kappa)-n$, where $n$ is the dimension of $\\mathbf x$. The remaining sigma points are computed as\n", "\n", "$$ \n", "\\boldsymbol{\\chi}_i = \\begin{cases}\n", "\\mu + \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right ]_{i}& \\text{for i=1 .. n} \\\\\n", "\\mu - \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} &\\text{for i=(n+1) .. 2n}\\end{cases}\n", "$$\n", "The $i$ subscript chooses the i$^{th}$ column vector of the matrix.\n", "\n", "In other words, we scale the covariance matrix by a constant, take the square root of it, and ensure symmetry by both adding and subtracting it from the mean. We will discuss how you take the square root of a matrix later.\n", "\n", "### Weight Computation\n", "\n", "This formulation 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 $\\pm 1\\sigma$ times some scaling factor. There is an $n$ term in the denominator, so with more dimensions the points will be spread out and weighed less.\n", "\n", "**Important note:** Ordinarily these weights do not sum to one. I get many questions about this. Getting weights that sum to greater than one, or even negative values is expected. I cover this in more detail below.\n", "\n", "\n", "### Reasonable Choices for the Parameters\n", "\n", "$\\beta=2$ is a good choice for Gaussian problems, $\\kappa=3-n$ where $n$ is the dimension of $\\mathbf x$ is a good choice for $\\kappa$, and $0 \\le \\alpha \\le 1$ is an appropriate choice for $\\alpha$, where a larger value for $\\alpha$ spreads the sigma points further from the mean." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Using the UKF\n", "\n", "Let's solve some problems so you can gain confidence in how easy the UKF is to use. We will start with a linear problem you already know how to solve with the linear Kalman filter. Although the UKF was designed for nonlinear problems, it finds the same optimal result as the linear Kalman filter for linear problems. We will write a filter to track an object in 2D using a constant velocity model. This will allow us to focus on what is the same (and most is the same!) and what is different with the UKF. \n", "\n", "Designing a Kalman filter requires you to specify the $\\bf{x}$, $\\bf{F}$, $\\bf{H}$, $\\bf{R}$, and $\\bf{Q}$ matrices. We have done this many times so I will give you the matrices without a lot of discussion. We want a constant velocity model, so we define $\\bf{x}$ to be\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x & \\dot x & y & \\dot y \\end{bmatrix}^\\mathsf{T}$$\n", "\n", "With this ordering of state variables the state transition matrix is\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1 & \\Delta t & 0 & 0 \\\\\n", "0&1&0&0 \\\\\n", "0&0&1&\\Delta t\\\\\n", "0&0&0&1\n", "\\end{bmatrix}$$\n", "\n", "which implement the Newtonian equations\n", "\n", "$$\\begin{aligned}\n", "x_k &= x_{k-1} + \\dot x_{k-1}\\Delta t \\\\\n", "y_k &= y_{k-1} + \\dot y_{k-1}\\Delta t\n", "\\end{aligned}$$\n", "\n", "Our sensors provide position but not velocity, so the measurement function is\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1&0&0&0 \\\\ 0&0&1&0\n", "\\end{bmatrix}$$\n", "\n", "The sensor readings are in meters with an error of $\\sigma=0.3$ meters in both *x* and *y*. This gives us a measurement noise matrix of \n", "\n", "$$\\mathbf R = \\begin{bmatrix}0.3^2 &0\\\\0 & 0.3^2\\end{bmatrix}$$\n", "\n", "Finally, let's assume that the process noise can be represented by the discrete white noise model - that is, that over each time period the acceleration is constant. We can use `FilterPy`'s `Q_discrete_white_noise()` to create this matrix for us, but for review the matrix is\n", "\n", "$$\\mathbf Q = \\begin{bmatrix}\n", "\\frac{1}{4}\\Delta t^4 & \\frac{1}{2}\\Delta t^3 \\\\\n", "\\frac{1}{2}\\Delta t^3 & \\Delta t^2\\end{bmatrix} \\sigma^2$$\n", "\n", "My implementation of this filter is:" ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from filterpy.kalman import KalmanFilter\n", "from filterpy.common import Q_discrete_white_noise\n", "from numpy.random import randn\n", "\n", "std_x, std_y = .3, .3\n", "dt = 1.0\n", "\n", "np.random.seed(1234)\n", "kf = KalmanFilter(4, 2)\n", "kf.x = np.array([0., 0., 0., 0.])\n", "kf.R = np.diag([std_x**2, std_y**2])\n", "kf.F = np.array([[1, dt, 0, 0], \n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])\n", "kf.H = np.array([[1, 0, 0, 0],\n", " [0, 0, 1, 0]])\n", " \n", "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()*std_x, \n", " i + randn()*std_y]) for i in range(100)] \n", "xs, _, _, _ = kf.batch_filter(zs)\n", "plt.plot(xs[:, 0], xs[:, 2]);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This should hold no surprises for you. Now let's implement a UKF. Again, this is purely for educational purposes; using a UKF for a linear problem confers no benefit. `FilterPy` implements the UKF with the class `UnscentedKalmanFilter`. \n", "\n", "The first thing to do is implement the functions `f(x, dt)` and `h(x)`. `f(x, dt)` implements the state transition function, and `h(x)` implements the measurement function. These correspond to the matrices $\\mathbf F$ and $\\mathbf H$ in the linear filter.\n", "\n", "Below is a reasonable implementation of these two functions. Each is expected to return a 1D NumPy array or list containing the result. You may give them more readable names than `f` and `h`." ] }, { "cell_type": "code", "execution_count": 17, "metadata": { "scrolled": false }, "outputs": [], "source": [ "def f_cv(x, dt):\n", " \"\"\" state transition function for a \n", " constant velocity aircraft\"\"\"\n", " \n", " F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])\n", " return np.dot(F, x)\n", "\n", "def h_cv(x):\n", " return x[[0, 2]]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Next you specify how to compute the sigma points and weights. We gave Van der Merwe's version above, but there are many different choices. FilterPy uses a class named `SigmaPoints` which must implement a method:\n", "\n", "```python\n", "def sigma_points(self, x, P)\n", "```\n", "\n", "and contain attributes `Wm` and `Wc`, which hold the weights for computing the mean and covariance, respectively.\n", "\n", "FilterPy derives the class `MerweScaledSigmaPoints` from `SigmaPoints` and implements the aforementioned methods.\n", "\n", "When you create the UKF you will pass in the $f()$ and $h()$ functions and the sigma point object, as in this example:\n", "\n", "```python\n", "from filterpy.kalman import MerweScaledSigmaPoints\n", "from filterpy.kalman import UnscentedKalmanFilter as UKF\n", "\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)\n", "```\n", "\n", "The rest of the code is the same as for the linear kalman filter. I'll use the same measurements and compute the standard deviation of the difference between the two solutions." ] }, { "cell_type": "code", "execution_count": 18, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "UKF standard deviation 0.013 meters\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from filterpy.kalman import UnscentedKalmanFilter as UKF\n", "\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,\n", " 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", "ukf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=1, var=0.02)\n", "\n", "uxs = []\n", "for z in zs:\n", " ukf.predict()\n", " ukf.update(z)\n", " uxs.append(ukf.x.copy())\n", "uxs = np.array(uxs)\n", "\n", "plt.plot(uxs[:, 0], uxs[:, 2])\n", "print('UKF standard deviation {:.3f} meters'.format(np.std(uxs - xs)))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This gave me a standard deviation of 0.013 meters, which is quite small. \n", "\n", "The implementation of the UKF is not that different from the linear Kalman filter. Instead of implementing the state transition and measurement functions as the matrices $\\mathbf F$ and $\\mathbf H$ you supply nonlinear functions `f()` and `h()`. The rest of the theory and implementation remains the same. The code implementing `predict()` and `update()` differs, but from a designer's point of view the problem formulation and filter design is very similar." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking an Airplane\n", "\n", "Let's tackle our first nonlinear problem. We will write a filter to track an airplane using radar as the sensor. To keep the problem as similar to the previous one as possible we will track in two dimensions. We will track one dimension on the ground and the altitude of the aircraft. Each dimension is independent so we can do this with no loss of generality.\n", "\n", "Radars work by emitting radio waves or microwaves. Anything in the beam's path will reflect some of the signal back to the radar. By timing how long it takes for the reflected signal to return it can compute the *slant distance* to the target. Slant distance is the straight line distance from the radar to the object. Bearing is computed using the *directive gain* of the antenna.\n", "\n", "We compute the (x,y) position of the aircraft from the slant distance and elevation angle as illustrated by this diagram:" ] }, { "cell_type": "code", "execution_count": 19, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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"text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import kf_book.ekf_internal as ekf_internal\n", "ekf_internal.show_radar_chart()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The *elevation angle* $\\epsilon$ is the angle above the line of sight formed by the ground.\n", "\n", "We will assume that the aircraft is flying at a constant altitude. Thus we have a three variable state vector:\n", "\n", "$$\\mathbf x = \\begin{bmatrix}\\mathtt{distance} \\\\\\mathtt{velocity}\\\\ \\mathtt{altitude}\\end{bmatrix}= \\begin{bmatrix}x \\\\ \\dot x\\\\ y\\end{bmatrix}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The state transition function is linear \n", "\n", "$$\\mathbf{\\bar x} = \\begin{bmatrix} 1 & \\Delta t & 0 \\\\ 0& 1& 0 \\\\ 0&0&1\\end{bmatrix}\n", "\\begin{bmatrix}x \\\\ \\dot x\\\\ y\\end{bmatrix}\n", "$$\n", "\n", "and can be computed with:" ] }, { "cell_type": "code", "execution_count": 20, "metadata": { "scrolled": false }, "outputs": [], "source": [ "def f_radar(x, dt):\n", " \"\"\" state transition function for a constant velocity \n", " aircraft with state vector [x, velocity, altitude]'\"\"\"\n", " \n", " F = np.array([[1, dt, 0],\n", " [0, 1, 0],\n", " [0, 0, 1]], dtype=float)\n", " return np.dot(F, x)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Next we design the measurement function. As in the linear Kalman filter the measurement function converts the filter's prior into a measurement. We need to convert the position and velocity of the aircraft into the elevation angle and range from the radar station.\n", "\n", "Range is computed with the Pythagorean theorem:\n", "\n", "$$\\text{range} = \\sqrt{(x_\\text{ac} - x_\\text{radar})^2 + (y_\\text{ac} - y_\\mathtt{radar})^2}$$\n", "\n", "The elevation angle $\\epsilon$ is the arctangent of $y/x$:\n", "\n", "$$\\epsilon = \\tan^{-1}{\\frac{y_\\mathtt{ac} - y_\\text{radar}}{x_\\text{ac} - x_\\text{radar}}}$$\n", "\n", "We need to define a Python function to compute this. I'll take advantage of the fact that a function can own a variable to store the radar's position. While this isn't necessary for this problem (we could hard code the value, or use a global), this gives the function more flexibility." ] }, { "cell_type": "code", "execution_count": 21, "metadata": { "scrolled": false }, "outputs": [], "source": [ "def h_radar(x):\n", " dx = x[0] - h_radar.radar_pos[0]\n", " dy = x[2] - h_radar.radar_pos[1]\n", " slant_range = math.sqrt(dx**2 + dy**2)\n", " elevation_angle = math.atan2(dy, dx)\n", " return [slant_range, elevation_angle]\n", "\n", "h_radar.radar_pos = (0, 0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "There is a nonlinearity that we are not considering, the fact that angles are modular. The residual is the difference between the measurement and the prior projected into measurement space. The angular difference between 359° and 1° is 2°, but 359° - 1° = 358°. This is exacerbated by the UKF which computes sums of weighted values in the unscented transform. For now we will place our sensors and targets in positions that avoid these nonlinear regions. Later I will show you how to handle this problem.\n", "\n", "We need to simulate the radar and the aircraft. By now this should be second nature for you, so I offer the code without discussion." ] }, { "cell_type": "code", "execution_count": 22, "metadata": { "scrolled": false }, "outputs": [], "source": [ "from numpy.linalg import norm\n", "from math import atan2\n", "\n", "class RadarStation(object):\n", " \n", " def __init__(self, pos, range_std, elev_angle_std):\n", " self.pos = np.asarray(pos) \n", " self.range_std = range_std\n", " self.elev_angle_std = elev_angle_std\n", "\n", " \n", " def reading_of(self, ac_pos):\n", " \"\"\" Returns (range, elevation angle) to aircraft. \n", " Elevation angle is in radians.\n", " \"\"\"\n", " \n", " diff = np.subtract(ac_pos, self.pos)\n", " rng = norm(diff)\n", " brg = atan2(diff[1], diff[0])\n", " return rng, brg\n", "\n", "\n", " def noisy_reading(self, ac_pos):\n", " \"\"\" Compute range and elevation angle to aircraft with \n", " simulated noise\"\"\"\n", " \n", " rng, brg = self.reading_of(ac_pos) \n", " rng += randn() * self.range_std\n", " brg += randn() * self.elev_angle_std \n", " return rng, brg \n", "\n", "class ACSim(object): \n", " def __init__(self, pos, vel, vel_std):\n", " self.pos = np.asarray(pos, dtype=float)\n", " self.vel = np.asarray(vel, dtype=float)\n", " self.vel_std = vel_std \n", " \n", " def update(self, dt):\n", " \"\"\" Compute and returns next position. Incorporates \n", " random variation in velocity. \"\"\"\n", " \n", " dx = self.vel*dt + (randn() * self.vel_std) * dt \n", " self.pos += dx \n", " return self.pos" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A military grade radar achieves 1 meter RMS range accuracy, and 1 mrad RMS for elevation angle [1]. We will assume a more modest 5 meter range accuracy, and 0.5° angular accuracy as this provides a more challenging data set for the filter.\n", "\n", "The design of $\\mathbf Q$ requires some discussion. The state is $\\begin{bmatrix}x & \\dot x & y\\end{bmatrix}^\\mathtt{T}$. The first two elements are down range distance and velocity, so we can use `Q_discrete_white_noise` noise to compute the values for the upper left hand side of Q. The third element is altitude, which we assume is independent of $x$. That results in a block design for $\\mathbf Q$:\n", "\n", "$$\\mathbf Q = \\begin{bmatrix}\\mathbf Q_\\mathtt{x} & \\boldsymbol 0 \\\\ \\boldsymbol 0 & Q_\\mathtt{y}\\end{bmatrix}$$\n", "\n", "I'll start with the aircraft positioned directly over the radar station, flying at 100 m/s. A typical height finder radar might update only once every 3 seconds so we will use that for our epoch period. " ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import math\n", "from kf_book.ukf_internal import plot_radar\n", "\n", "dt = 3. # 12 seconds between readings\n", "range_std = 5 # meters\n", "elevation_angle_std = math.radians(0.5)\n", "ac_pos = (0., 1000.)\n", "ac_vel = (100., 0.)\n", "radar_pos = (0., 0.)\n", "h_radar.radar_pos = radar_pos\n", "\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", "\n", "kf.R = np.diag([range_std**2, elevation_angle_std**2])\n", "kf.x = np.array([0., 90., 1100.])\n", "kf.P = np.diag([300**2, 30**2, 150**2])\n", "\n", "np.random.seed(200)\n", "pos = (0, 0)\n", "radar = RadarStation(pos, range_std, elevation_angle_std)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", "time = np.arange(0, 360 + dt, dt)\n", "xs = []\n", "for _ in time:\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " kf.predict()\n", " kf.update([r[0], r[1]]) \n", " xs.append(kf.x) \n", "plot_radar(xs, time)" ] }, { "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 a significant amount of mathematics. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Tracking Maneuevering Aircraft" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The previous example produced good results, but it assumed the aircraft did not change altitude. Here are the filter results if the aircraft starts climbing after one minute." ] }, { "cell_type": "code", "execution_count": 24, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Actual altitude: 2515.6\n", "UKF altitude : 1042.1\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.ukf_internal import plot_altitude\n", "\n", "# reset aircraft position\n", "kf.x = np.array([0., 90., 1100.])\n", "kf.P = np.diag([300**2, 30**2, 150**2])\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", "np.random.seed(200)\n", "time = np.arange(0, 360 + dt, dt)\n", "xs, ys = [], []\n", "for t in time:\n", " if t >= 60:\n", " ac.vel[1] = 300/60 # 300 meters/minute climb\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " ys.append(ac.pos[1])\n", " kf.predict()\n", " kf.update([r[0], r[1]]) \n", " xs.append(kf.x)\n", "\n", "plot_altitude(xs, time, ys)\n", "print('Actual altitude: {:.1f}'.format(ac.pos[1]))\n", "print('UKF altitude : {:.1f}'.format(xs[-1][2]))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The filter is unable to track the changing altitude. What do we have to change in our design?\n", "\n", "I hope you answered \"add climb rate to the state\", like so:\n", "\n", "\n", "$$\\mathbf x = \\begin{bmatrix}\\mathtt{distance} \\\\\\mathtt{velocity}\\\\ \\mathtt{altitude} \\\\ \\mathtt{climb\\, rate}\\end{bmatrix}= \\begin{bmatrix}x \\\\\\dot x\\\\ y \\\\ \\dot y\\end{bmatrix}$$\n", "\n", "This requires the following change to the state transition function, which is still linear.\n", "\n", "$$\\mathbf{F} = \\begin{bmatrix} 1 & \\Delta t & 0 &0 \\\\ 0& 1& 0 &0\\\\ 0&0&1&\\Delta t \\\\ 0&0&0&1\\end{bmatrix}\n", "\\begin{bmatrix}x \\\\\\dot x\\\\ y\\\\ \\dot y\\end{bmatrix} \n", "$$\n", "\n", "The measurement function stays the same, but we must alter $\\mathbf Q$ to account for the dimensionality change of $\\mathbf x$." ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [], "source": [ "def f_cv_radar(x, dt):\n", " \"\"\" state transition function for a constant velocity \n", " aircraft\"\"\"\n", " F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]], dtype=float)\n", " return np.dot(F, x)\n", " \n", "def cv_UKF(fx, hx, R_std):\n", " points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1.)\n", " kf = UKF(4, len(R_std), dt, fx=fx, hx=hx, 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", " kf.R = np.diag(R_std)\n", " kf.R = np.dot(kf.R, kf.R) # square to get rariance\n", " kf.x = np.array([0., 90., 1100., 0.])\n", " kf.P = np.diag([300**2, 3**2, 150**2, 3**2])\n", " return kf" ] }, { "cell_type": "code", "execution_count": 26, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Actual altitude: 2515.6\n", "UKF altitude : 2500.1\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "np.random.seed(200)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", "kf_cv = cv_UKF(f_cv_radar, h_radar, R_std=[range_std, elevation_angle_std])\n", "time = np.arange(0, 360 + dt, dt)\n", "xs, ys = [], []\n", "for t in time:\n", " if t >= 60:\n", " ac.vel[1] = 300/60 # 300 meters/minute climb\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " ys.append(ac.pos[1])\n", " kf_cv.predict()\n", " kf_cv.update([r[0], r[1]]) \n", " xs.append(kf_cv.x)\n", "\n", "plot_altitude(xs, time, ys)\n", "print('Actual altitude: {:.1f}'.format(ac.pos[1]))\n", "print('UKF altitude : {:.1f}'.format(xs[-1][2]))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A significant amount of noise has been introduced into the altitude estimate, but we are now accurately tracking altitude." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Sensor Fusion" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's consider an example of sensor fusion. We have some type of Doppler system that produces a velocity estimate with 2 m/s RMS accuracy. I say \"some type\" because as with the radar I am not trying to teach you how to create an accurate filter for a Doppler system. A full implementation must account for the signal to noise ratio, atmospheric effects, the geometry of the system, and so on. \n", "\n", "The radar's accuracy in the last examples allowed us to estimate velocities to within one m/s or so, I will degrade that accuracy to illustrate the effect of sensor fusion. Let's change the range error to $\\sigma=500$ meters and then compute the standard deviation of the estimated velocity. I'll skip the first several measurements because the filter is converging during that time, causing artificially large deviations.\n", "\n", "The standard deviation without using Doppler is:" ] }, { "cell_type": "code", "execution_count": 27, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Velocity std 3.4 m/s\n" ] } ], "source": [ "range_std = 500.\n", "elevation_angle_std = math.degrees(0.5)\n", "np.random.seed(200)\n", "pos = (0, 0)\n", "radar = RadarStation(pos, range_std, elevation_angle_std)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", "kf_sf = cv_UKF(f_cv_radar, h_radar, R_std=[range_std, elevation_angle_std])\n", "time = np.arange(0, 360 + dt, dt)\n", "xs = []\n", "for _ in time:\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " kf_sf.predict()\n", " kf_sf.update([r[0], r[1]]) \n", " xs.append(kf_sf.x)\n", "\n", "xs = np.asarray(xs)\n", "plot_radar(xs, time, plot_x=False, plot_vel=True, plot_alt=False)\n", "print('Velocity std {:.1f} m/s'.format(np.std(xs[10:, 1])))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For Doppler we need to include the velocity in $x$ and $y$ into the measurement. The `ACSim` class stores velocity in the data member `vel`. To perform the Kalman filter update we just need to call `update` with a list containing the slant distance, elevation angle, and velocity in $x$ and $y$:\n", "\n", "$$z = [\\mathtt{slant\\_range},\\, \\text{elevation angle},\\, \\dot x,\\, \\dot y]$$\n", "\n", "The measurement contains four values so the measurement function also needs to return four values. The slant range and elevation angle will be computed as before, and we do not need to compute the velocity in $x$ and $y$ as they are provided by the state estimate." ] }, { "cell_type": "code", "execution_count": 28, "metadata": {}, "outputs": [], "source": [ "def h_vel(x):\n", " dx = x[0] - h_vel.radar_pos[0]\n", " dz = x[2] - h_vel.radar_pos[1]\n", " slant_range = math.sqrt(dx**2 + dz**2)\n", " elevation_angle = math.atan2(dz, dx)\n", " return slant_range, elevation_angle, x[1], x[3]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we can implement our filter." ] }, { "cell_type": "code", "execution_count": 29, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Velocity std 0.9 m/s\n" ] } ], "source": [ "h_radar.radar_pos = (0, 0)\n", "h_vel.radar_pos = (0, 0)\n", "\n", "range_std = 500.\n", "elevation_angle_std = math.degrees(0.5)\n", "vel_std = 2.\n", "\n", "np.random.seed(200)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "radar = RadarStation((0, 0), range_std, elevation_angle_std)\n", "\n", "kf_sf2 = cv_UKF(f_cv_radar, h_vel, \n", " R_std=[range_std, elevation_angle_std, vel_std, vel_std])\n", "\n", "time = np.arange(0, 360 + dt, dt)\n", "xs = []\n", "for t in time:\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " # simulate the doppler velocity reading\n", " vx = ac.vel[0] + randn()*vel_std\n", " vz = ac.vel[1] + randn()*vel_std\n", " kf_sf2.predict()\n", " kf_sf2.update([r[0], r[1], vx, vz]) \n", " xs.append(kf_sf2.x)\n", "xs = np.asarray(xs)\n", "plot_radar(xs, time, plot_x=False, plot_vel=True, plot_alt=False)\n", "print('Velocity std {:.1f} m/s'.format(np.std(xs[10:,1])))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "By incorporating the velocity sensor we were able to reduce the standard deviation from 3.5 m/s to 1.3 m/s. \n", "\n", "Sensor fusion is a large topic, and this is a rather simplistic implementation. In a typical navigation problem we have sensors that provide *complementary* information. For example, a GPS might provide somewhat accurate position updates once a second with poor velocity estimation while an inertial system might provide very accurate velocity updates at 50Hz but terrible position estimates. The strengths and weaknesses of each sensor are orthogonal to each other. This leads to the *Complementary filter*, which blends the high update rate inertial velocity measurements with the accurate but slowly updated position estimates of the GPS to produce high rate and accurate position and velocity estimates. The high rate velocity estimates are integrated between the GPS updates to produce accurate and high rate position estimates." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Multiple Position Sensors\n", "\n", "The last sensor fusion problem was a toy example. Let's tackle a problem that is not so toy-like. Before GPS ships and aircraft navigated via various range and bearing systems such as VOR, LORAN, TACAN, DME, and so on. These systems emit beacons in the form of radio waves. The sensor extracts the range and/or bearing to the beacon from the signal. For example, an aircraft might have two VOR receivers. The pilot tunes each receiver to a different VOR station. Each VOR receiver displays the *radial* - the direction from the VOR station on the ground to the aircraft. The pilot uses a chart to find the intersection point of the radials, which identifies the location of the aircraft.\n", "\n", "That is a manual approach with low accuracy. A Kalman filter will produce far more accurate position estimates. Assume we have two sensors, each of which provides a bearing only measurement to the target, as in the chart below. The width of the perimeters are proportional to the $3\\sigma$ of the sensor noise. The aircraft must be positioned somewhere within the intersection of the two perimeters with a high degree of probability." ] }, { "cell_type": "code", "execution_count": 30, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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DjV/+bR8+qetUuimyClYGm2GA4lwTyouyUVaYheI8E3IyDMgy6mBK08r+hVGSJIxZnRgy2zE0ZkdH/xiau4bQ3DWE7kFzrBanTzgXLy7BN29ZA51m5jeFx+u4IYyOwPbBTjg+OzDtfT3rylwE3fLVtK7MDMjZN0SrBY6j++A49AmE0eHp7cww0K1YC8MlV4MzZcamgcRPvI4bZOaoDDYhSaZn0Iwnnv8IHf1jSjdFEQwDzMo0YO2SUpQVZqG8KBvzC7Og18bPQo4MwyDDqEOGUYd5BVlYWVno3WZ3utHSPYyWriE0pXhQ9PGJdnT0j+JHWy9Fflaa0s2JKkngYft4N+x73oUkTK96GJeT57lRfuESmu1JMGyaEYb1G6BfdwVcJ4/B+t4OCMMD4e0sSXAc/hTOYwdhuORq6NddAYbjYttgQogXBUBEUQaDATzPQ6WirjjRZ829+Mmf98KSQilv6XoNli+Yjco5uVDzZhRk6ZCm12LBggVKNy0ieq0aNfPyUTPvfKqLb1B0qnMQR5p6U+Y9busdxbd/8zb+7Qvr/V6T6YqncYPv6YR5+5+nXeCATc9A2uXXQLtkFX3xjSIl+gbDstDWLIdm4WI4jh6A7aO3IZrDu2gl8Tys7+2As/440m+6E6r8ghi3NnXF07hBlEcpcITEGUmS8Oanp/DMW0chxtfHMyaKctOxZmER1iwsRlVJLlg2ta6CC4KI+vYB7D/Zif31XegZinxtmETBsQzuu/ECXLO6XOmmRMw76/PxO5BEMez9WJ0e+ouvgn7VejDq+JnJJNEjuV2w7/8Itr3vQnKEXzmO4TgYLt1Is0GETBPdA0RIgnPzAv5n+yG8c/i00k2JGYYBFs3Nw5qFRVhdVYSiPFrAcZwkSejsH8OB+i7sr+9CQ8dAUqfLXbemHPdevxIqLrHG90hmfRiVCvq1l0J/0ZVgdfoYto7EC9FmhW3vu3Ac+HhaC6uqCoppNoiQaaAAiJAENmJx4McvfIz69jBzyBOITqPCyooCrK4qwgWVhTClaZVuUkIYtThwqLEb++u7cKSpB0739CtOxbvF8/Lx0J3rE6JPRDTrwzDQrbgQhkuvBpeeMfXjSdIRRkdg+3AXHEf3h70PzQYREj4KgAhJUC1dQ/iPFz7GwKhN6aZE1aK5udi0tgJrFxVDo6Y/4jPhcgvYW9uOHfub0NA+qHRzoio/04AfffFSlM6O32pYkcz6aKuXIe3y68Dl5MWwZSRR8ANnYTt3v0+4aDaIkKklVAD0zDPP4N5770VaWhoslvM57xQApZb29nbvTYklJamzToivPSfa8fNX9sHFJ8fVfZ1GhcuXleK6tQtm9IWW+kZwp7uHsWN/Ez74rC1pZoV0GhW+e+uFWLuoeMrHytk3Ipn1UeXPhvHG26EumhvTtpHJEmHccLe3wvzGXyAM9IX1eJoNio5E6BskMgkTAHV1daG6uhppaWkYHR2lACiFpXJdfkmS8OLuE3j5/TqlmxIVc/JM2LR2AS5fPg8G3cxv7k7lvhEuq92F94624q19TegaME+9QwK4a8Ni3Hp5dciS0HL1Db63C+bXXwp/1odhYFh/JQyXbARDlaYUkSjjhuR2w/bBLtg+eS/sfTyzQV+AKn92DFuWvBKlb5DpS5h1gO677z5ccsklyM7OxquvvqpEEwhRlNPF46d//QT7TnYp3ZQZ4VgGF1YXY9PaClSX5tE6JjJL02tww7pKXH9hBU6c7sNb+05h38muhK4e+MLuE2g7O4Jvf/5CRdMmnbVHYd7+Utg3r3tmfe6AuoiuLJOpMWo10q66AZqFi2He/uewZoP4nk6MPPNzpN90J7SL6As8ITMh+wzQCy+8gG3btuHkyZN4+OGH8eqrr9IMUApzOp2QJAkMw0Crjf+boKPB4eLx2HMfoLa1X+mmRMyo1+DGdRXYuKoc2abYVLRKxb4RDYOjNuw60Iw3Pj0Fq8OtdHMitqx8Fh6+6xJoNZOv08Wyb0iSBNv7O2D7eHd4O9CsT1xJxHEjktmgtMuugf6Sq+mi0zQkYt8g4Yn7FLi+vj4sWrQIjz/+OLZt24a77747rACovb0dc+fOhcl0vlyu0+lEQ0MDACArK2tSPmdTUxNsNs8N5ROnOgcGBtDV5bnyXlJSgqysLO82QRBQW1sLwPPizZ8/32/f1tZWjI15Fjirrq72W1BrZGQEZ86cAQAUFhYiL8//xtfjx49DkiTo9XpUVFT4bevo6MDQ0BAAoLKyEjqdzrvNYrGgpaUFAJCfn4+CAv+bIU+ePOmd1l20aJHftp6eHvT1ea4slZWVwWg0erc5HA40NjYCALKzszFnzhy/fU+dOgW73Q6GYbBkyRK/bf39/eju9qSFzJ07F5mZ5+/14HkedXWetC6TyYR58+b57Xv69Gnve1xTUwPOJ6d5eHgY7e3tAICioiLk5ub67Xvs2DEAngXNJi6O2d7ejuHhYQBAVVWV3wA3NjaG1tZWAMCsWbMwe7Z/CkFdXR14nodWq0VVVZXftu7ubvT3e4KV8vJypKWdX8XeZrOhqakJAJCTk4PiYv/7FxobG+FwOMBxHGpqamC1u/Docx+goX0QTqcTTqdnjQi93gC1z5ogoijCYvG8RiqVGgaDwe+4VqsVwrkV59PTTX5/BF0uFxwOOwBAp9NDo9F4t0mSBPO5Bfo4TuX3XMafD897vjQbjf6Dh9vtBu9y4LKaAnxh4wrMKyny27e2thaCIECn06GystJvW2dnJwYHPTfuL1iwwO/5WK1WNDc3AwDy8vJQWFjot29DQwOcTidUKhWqq6v9tvX29uLs2bMAgHnz5tEYgfNjhNnmxKsfnsQbn57C0PAoJEkEw7BIT0/3O67D4YDL5QQAGAxpfu0VBQEWq2d8Vqs10Ov9g12rxQJBFAAwfq89ALicTjiC9G9JOj/OB+rfNpsVPM+jfLYJv/zOzTAazj/XmI4RjQ3Q7fkn0vq7oNXq/PY1m82QJAksy3rH0fFZn35GFbUxwldfXx96enoAAKWlpcjIOF9FzuVyob6+HgCQkZGB0tJSv31bWlq8f1sXL17s91keHBxEZ2cnAKC4uBg5OTnebaIo4sSJEwAAo9GIsrIyv+O2tbVhdHQUALBw4UK/8WV0dBRtbW0AgIKCAuTn+y92S2OER7Axwt3ZhsG/PgtrVwcAQKfVQjPhi/r4fhzLInvVOqTfdCcYjecx9D3CI9m/R/iiMcLDYrFAEPzvh42rFLht27ahsrIS999//7T243keE+M0SZLgdru92wPtM759IlEUvdvEADe1hnvciW3yPe7EN2L8uJIk+X0RGCcIwoyOG+y5+h534nP1fQ0DHXf8uQa6whTucePlvZnqubrdbvA8H/DDEuq9Cee4brcbgiDAbHPikT99gKauIe++ohj8+sP4tkDXKELu67stwL7j21g2/OOyDIMNK+ZieZEaGQYNdOrJr5PL5YIoin5/iMZF4zUM9DqEe9x46YdyjhHpBi3uuXY5blhXif/73C582ngWQICb+P3e8wmvIUL3Q/HcvgwC9CUE74eS5HvcyW2SRM++p7pH8cizH+Lxey5Hml4z6blG870Rhgage+tlcKNDkHS6SftKoghJkjzPdMKsj9DREZUxYqJQ77nvc53u34VwX8NA+/u2aaKpniuNEZOP69smdXEp1HfdD/v2l6Gr/wxSoM/VuXNJDANn/XEIQwMw3f4VcJnZ9D3inGT+HjGd447vO9VxA0nEMWK6ZAuA/va3v+GNN97A0aNHpz1lq1KpJu3DMIz3S4IqQNqBSqUK+CUCAFiW9W4L1FHDPe7ENvkeN9Cbp1arIUlSwONyHDej4/r+G+y4E5+r72sY6LjjzzXQ+xXucePlvZnquY4/z6lew0iOKwgCbC4RP3jmXbT1jvrty7LBPwvj2wK9/iH39d0WYN/pHnf94jnYetVSpKlF75WbQM9Vo9FAEISYvIaiKE77cxOP/VCJMSI3w4AvbajClUsLsfNIF5r7Xf4H9nvPJ7yGCN1fWIaBxDKT9vPsG7wfMozvcSe/vgx7ft/GjkE8/Mf38Pg9lyPdoI3Je+NqbYLzpd9DZR4BWDbQxwYMy3oit5x8ZH7pfr97faIxRgTaFuq4vs812HFn2r+n+ixPNNVzpTFi8nEntonTaCGsvhT2eZUwfLYXsPpnxDDnzjW+H3+2GyO//zlMt94NjtPQ9wgk7/cIGiNCv4bTJUsKnMViQXl5Oe666y48/PDD3t9v27YN//jHP9DZ2Qm1Wo20tDS6ByjFjI2NeXNyJ6bQJIuhMTse/sN76OgfU7op07KsfBa+tHEZyouyFTl/KvQNJTS2D+C5t4/hRGt4JXjjRensDPzHl69AhlEXtb4hSRIcB/fAsuu1gLOlE+nXXoq0K6+ne33iWDKNG5LbDes722E/uHfKxzIch7Rrb4F+5YUytCwxJVPfIP7i9h6gtra2SfmbE23evBmvv/46BUApJtnLUo5aHHjo97vR2Z84JYoXFGXjSxuXYmm5sqVWk71vKEmSJBxt6sVzb3+G0z0jSjcnbKWzM/Djr16J000NM+4bksDDsuNvcBzZN+VjGY6D8YbboFu6KqJzEfkk47hhP/wprDv/BilAytBE+tXrkXb1ZjAcBekTJWPfIB5xWwZ79uzZeP/99yf9/sknn8SHH36InTt3TrpJjZBEZ7Y58fAf30uY4CdNp8a9m1bgihXzqLJQkmMYBisqCrB8wWy8c+g0/rDjKGzO+K8Y19Y7ih/98X3cvjoPqhlcExOtFoy9/Ee4O1qnfCxrTIfpti9DXVwa+QkJmQH9yguhypuFsZf/BNFmCflY+4E94Pt6YdpyN1hDWsjHEpLKFFkIdVy4VeBoBih59fb2enNbJ1ZUSWRWuws//MN7aOkeVropYVlVWYh//dzqmJW0jkSy9o14NDBqw6//vh9HmnqVbkpYirN1+O4tK2DUa6fdN/iBsxh74f9BGJ165ktVOAem274MzpQ55WNJfEjmcUMYHcbYX/4Avnfq9eO4rBxk3HUfuGy6uDwumftGqovbFLhgKAAiycjudONHf3wfjR2DSjdlSmk6Nf7l+pW4fHkpzfqkOEmSsPvwaTzzVmLMBtXMy8OjX7os4DpBwfBnuzH6/P9MeRUdALQ1K5B+4+1ggtzMS4gSJJcT5tf/DGf9sSkfy6abkPHFbVDlzpKhZYQoJ+ECoEAoACKJzOHi8eizH6CuLf4XOY3HWR+ivIFRG371t/042hz/s0HLymfhR1svhUY9uZrQRHxPJ0b/938g2m1TPjZtw/XQr7uCLgqQuCRJEuwf/RPWD3ZN+VjWYETGF++HalbhlI8lJFFRAESIgkRRwuPPf4jDp3qUbkpIdK8PmYokSXjn0Gk889YR2F2T18qIJxcuKsa/fWF9yL7s7mzD6Iu/g+RwhDwWo9Ei/Zat0FZUh3wcIfHAWX8c5tdehOR2hXwcqzfAdNd9UBfOCfk4QhIVBUCEKOiPO47itT0NSjcjpFWVhfj6TauQk2GY+sEk5fWPWPHrvx+I+9mg2y+vxheuWhJwm6utGWMv/X7KL4lcVi5Md3wFqjy6N4AkDv5sN8b+/AyE0dD3mzI6HTLu/BrUc0rlaRghMqIAiCScuro6b1nK6urEver6/tFW/OyVqcvpKkWvUeFrN6xMqFmfZOkbiW58Nuj3bx2BI05mg8xmMyRRBMOySE9PBwA8eMdFWL+4xO9xnuDnaUhBViUfpy4th+nWe8Dq6cJAokvFcUO0WTD2l6mrGjJqDTK23p+yQVAq9o1UEUnsQFEFURTP896fRNXYPoBfv3ZA6WYEVZBtxFPbrsaVK+cnTPADJEffSAYMw+DqVWX4v/ddhVlZ8VFWV5JEiJIESRK9v/v5K/tw2qfqoruj7dzMT+jgR7NgITLu/BcKfpJEKo4brMGIjK33QTO/IuTjJLcLoy/+Du7uDplaFl9SsW+Q4CgAIorSarXen0Q0NGbHj1/cAzcvTv1gBSwrn4WffX0j5uRnKN2UaUv0vpFsSmdn4mfbNmLxvHylmwKW5cCyLFj2fPEDFy/gif/9CCMWB9xd7Z57fqZIe9NW1sB065ep0lsSSdVxg1FrYLr9q9AsWBjycZLTgbEbQDs5AAAgAElEQVQX/h/4s90ytSx+pGrfIIFRChwhEXK5BTz09G40dQ0p3ZSANl9UiXuuWQaOo88OiR5eEPH7Nw9jx/5mpZsS0OpcDve5PgOc9pCP09YsR/pNd4LhZFkPnBBZSAIP86vPw9lwIuTjWIMRGXd/ne55I0mBUuAIkYkkSfjv1w7EZfCj4lh865Y1+OqmFRT8kKhTcSzu37wKX79pFTg2vlIqs1xjWHT4DbS1dQMhru3plq5C+ufuouCHJB2GUyH981+EtnpZyMeJNgtG//d/IAwNyNQyQuILfTsiJAKvfdyA9z9rU7oZk2Qadfive6/EhpXzlW4KSXLXrC7Hf3zlCpgM8ZFOYuDtuKF3L/SiE/2jNpwdsQZ8nG7pKhg33wGGsgpIkmI4FdJv3gptzfKQjxPNYxh9/rcQrVMvDExIsqG/AIRM06HGbjz79mdKN2OS8qIs/PzrG1FVkqt0U0iKqJmXj59/fSNKZyt7jxknCrimbz/ShPPr/LSfHcWY1X/dH23NchhvvD2hioEQEgmGZZF+053QVi0O+ThhdBhjf/0TJIEKA5DUQvcAEUV1d3dDEARwHIfCwvhfqbqzfwzf/e0/YXOGriwlt0uWlOCbN6+BVpM8KT2J1jdSmcPF4+evfIpP6jrlOZ/DAUmSwDAMdFotrhg4jErL5MpWHMuiujQPWo0K2oVLkH7LVkp7S3I0bviTBB5jL/8JrqaTIR+nW3khjJu2JPXFAeobyYvuASIJp7+/H2fPnkV/f7/STZmSxe7CE89/GHfBz51X1uB7t61LquAHSKy+kep0GhUeunM9tly6SJbzuVxOOJ1OuFxOLB1rDhj8AIAgijjVOQhmXiUFPymCxg1/DKeCacvdU5bIdhz+FI5De2VqlTKobxBfFAAREgZJkvDTlz9B92B85Up/+dpluOPKxUl91Y4kBoZh8MWNS7H1qiWynbPUOYALh2pDPqaZzcLTYgXgUzKbkFTCqNUw3f4VqOeWhXycZeff4WptkqlVhCiLUuCIoqxWqzeVJS0tPhZZDGTXgWb85vWDSjfDz303rMSmC0Nf1UtkidI3yGSvfVyPP+6M3X1yAs8jw23Blt6PoUPwexeG1en4e8GlcHFqPHDLGlxJxUGSHo0bwYk2K0ae+QWE4eCV31i9AZlf/Ta47OS7l5T6RvKiFDiScNLS0mA0GuN6MOobtuIPO44q3QwvhgG+8bnVSR38AInRN0hgn7t4Ie67YWXMjq9nJNwweDBk8ONk1dg5ay1cnGeR09+/dQSDo7aYtYnEBxo3gmMNaTDd8RUwmuCVG0W7DWN/+QNEpyPoYxIV9Q3iiwIgQkKQJAm/+vt+OFzxUSGHYYAHblmLq1eFTmUgRGmbLqzANz63OurHZSQJV/UfQKY7eDqqBOCf+asxqjZ6f2d1uPHfrx9AnCU9ECIrVd5spN+yNeRj+P5emF97gT4rJKlRAERICLsONONYy1mlm+H1jc+txhUr5indDELCcvWqMtx/4wVRPebaoVqU2PtCPmZv9mJ06vMn/f5QYw/eO9Ia1fYQkmi0FdVIu3JTyMe4Gutge3+nTC0iRH4UABFF2Ww2WK1W2Gzxl5rSN2yN6X0M03XfDStx1QWpM/MTz32DhO+6tQvwletCL8gYrgpzO5aNNUOSJEiiFPAKdYNxLk6Ygn9OKBUuudG4ER79RVdCW7Mi5GNsH78DZ238pH/PFPUN4osCIKKopqYm1NfXo6kpvirPxFvq21euW5709/xMFK99g0zfTeurZlwdLt85hMsGPV/GeJ4HL/Dgef/PZ682Gx/mLvXkigZBqXDJjcaN8DAMg/Qbb4eqoDjk48zbXwLfI8/6XrFGfYP4ogCIkADiKfXtrg2LcdP6KqWbQciM3Hp5NW69LLJ1gjhRwJV9h8FJIs7yaux2ZCOHt0AtnQ+ALJweu/LXQGSmLndNqXCEnCuPfdtXwBrTgz5G4nmYX3sREh8fFwMJiRYKgIiicnJykJeXh5ycHKWb4hVPqW9XrpiHWy+vVroZiojHvkFm5q6rluCSJSXT3m/N8Elk8hZ86kjHNwbLUG/XYK57GAsdZ2F028AzHHbOWgu7Shf2MSkVLjnRuDE9XEYmTLd9GQwX/MIB398L20dvy9iq2KC+QXzRsthEUcXFoaff5SZJEn75t31xkfpWOScH2zavStlFTuOtb5CZYxgG37x5DboGzGjpHg5rn9mOQSwcbcHvzbPwus2zNomgUmGM0cIkOTHP3ov92iwMaUzTast4Kty/f/HSlP2MJSMaN6ZPXVwK4/W3wrz9z0EfY9vzLjSVi6Eumv4FjHhBfYP4ohkgQnzsOtCM46dDV5iSQ45Jjx984WJo1LR6PUkuWo0KD2+9BJnGqWdrOFFATc8xPDhU6g1+PmcYwAPZfWg3FmBQ7Ql61ozU44Hml5HpMoc63CSUCkeIh27ZaujXXhr8AZIEy/Y/UyocSRoUABFyTrykvmlUHH5418XINumVbgohMZGbYcAPvrAeKi70n6D0jgb88GwBTrkNSGMEPJzZjq+azkLNSJAYFkczF+CZkk2wsxqU27rxg1PPY9HY9AIaSoUjxCNtw/VQzS4Kuj1ZUuEIASgAIgSAJ/Xt16/FR9W3b968GguKKUeZJLeFc/OwbXPgNYJEUUJbczte6FbDKnGoUNvw65wWXKg7P8MjgMX7uStwJKsKT1bchXZ9PoyCA//a+nds7vkYrCSG1Q6rw43fvH4wKs+JkETGcCqk33g7GDb4V0Pbnnfh7mqXsVWExAb36KOPPqp0I3xJkgSXy+X3O61WSznaSaqxsRG9vb0YHh5Gbm6uYu041NiNl98/qdj5x33+koXYTBXfAMRP3yCxU1aYDZvDjcaOQe/vbA43DtR3on3ECcCT8vb9zC6YOMH7GJ7n8bFhPhpUOdBoNLCp9NiXVQ294ESpvRfl1i5UmNtRn14KB6edsh3dg2ZUz83D7Gxj9J8kkRWNGzPDppsgSRLcZ1qCPobvaINu+dqQgVI8or6RvCKJHRKr95Kk43A4vD9KEUUJz719TLHzj1tVWYitVy9VuhlxIx76Bom9e65ZhmXlswAAvUMWfHz8DEaszkkpb756VCbs15VAFH2CIlaFvxZfid/PvT6ilLjn3j5GawMlARo3Zs5w8YakTIWjvkF8UQBEFMVxHFiWBReiBGesfXisDWfOjip2fgCYk2fC925bB5almc5x8dA3SOxxHIsHblmLtt4RHGrshlsQA6a8jRPA4u3MxQDLBby6dzSzMqKUuKauIXxS2xG150WUQePGzCVrKhz1DeKLkeLskpcoijCb/f/opaeng02wqVaSGNy8gPt+9ib6RpS7Cdqo1+Bn265GQU7wxegISVZtvSO47bFXcaChCwBwrXEMX0vrnDTrM25fVjWOZlZMeVyVyOPm7g9x2aCnsEmzoRB/nHs9RjTBP2dFuen4zbeuAzdFcQZCUoH1g12wfRh8pkeVNxuZ//JdMCpaUYUoK5LYgUZ5ktJ2HWhWNPgBgG98bjUFPyQlbd/TgOX3/g4HGrqQadThqUty8K/GjqDBz1ltFj7LKA/r2JGkxHUNmLH78OmIngshySZZU+EIASgAIinM7nTj5ffrFG3DJUtKsK5mjqJtIERuLreA7/zmbdz0o5cxYnFgdVURDj55M7ayLUHXBxqv+iYx0/uzNd2UuJferYUzDqpBEqK0cFLh7HvfgzDYL2OrCIkOCoBIynp9TwNGrU7Fzp+RpsXXbghcBpiQZNXWO4KLv/kn/PzVfQCA72xZi49/dQ/yTnwIACidnQkuwBeug1kLMawxRXTOfm0Wflp+Bz7IWQYA2Nh3IOjCqUNmO9749FRE5yEk2agKiqG/+Kqg2yVRhPX9HTK2iJDooACIKKqvrw89PT3o6+uT9byjFgf+/nGDrOecaNvmVTClTV2iN1Up1TdI7ExMeXv9idvw1LaNYHo74Gr0zMaqVRzmzsrw229i6pvT6YTD4YDTGf4FjOmkxL364UlY7K4ARyHxjsaN6JsqFc5Z9xn4nk4ZWxQZ6hvEFwVARFE9PT3o6upCT0+PrOf96wd1ii56SqlvU1Oqb5DoC5TydvT3X8Pm9VWQJAnWd9/0e3yOSe9NhRPBTEp9czod5wKg6ZezDSclzupw428fKr8uGJk+GjeibzwVLhTr7jdDbo8H1DeILwqASMrpG7Zix/5mxc5PqW8klQRLeSudnQkAcDfXT150kWG8qXAn00sjTn0LJpyUuH98cgqDo8oWSCEkXqgKiqFbtjrodtfpRrham2RsESEzwz366KOPKt0IX5Gs5koSl16vR3Z2NrKysqDTBb75Odp+98ZhnO4ZluVcgXz31gtRXpSt2PkThRJ9g0TX9j0NuPbBF9HSPYxMow5/+dEt+OYta71lpiVJgvmvz0K0Wibty7EsNDodXtIthptV+21jWQ4ajQZqtTriNT1EhkWdaT66dTlYZG7DLNcI1gzXoUuXh35tFgRRgt3FY/XC4Kk/JP7QuBE7qoJiOA7uBYIUEBH6e6FbsTZuv69R30hekcQONANEFJWRkYHMzExkZGRM/eAoaOsdwQfH2mQ5VyCXLCnBhdWU+hYOufsGiZ5QKW++nCcOg+8Lno5SvPFaLFkyuey1Wq32/sxUqJS4dw6dRlf/2IzPQeRD40bscBlZ0K26KOh2vrsDrvrjMrZoeqhvEF8UAJGU8uLu41Bq6V9KfSOpYKqUt3GSwMP2/s6gx2H1BhguugLbNq9Cul4T0zYHS4kzOcfw0rsnYnpuQhKJ4eKrwGiDz55Y33sLkiDI2CJCIkMBEEkZfcNW7K/vUuz8VPWNJLtgVd406slpao7Dn0IYGQp6LP36DWB1emSl63HfjbG/cBCsStzw3g8xNGaP+fkJSQSsIQ2GdZcH3S4M9sN57KCMLSIkMhQAEUW5XC7vT6ztOtCs2OzP8vLZVPVtmuTsG2Rmwk15Gye5nLB9+M+gx2NNmdCvWu/9/4uXlKBmXp73/0VR9P5E28SUuPtP/x2NP38SkkCLoyYCGjdiT7/2UrBpxqDbrR/sguR2y9ii8FDfIL4oACKKqq+vx/Hjx1FfXx/T87h5Af881DL1A2PkSxuXKnbuRCVX3yAzE27Kmy/7px9AtE0ufDAu7bKNYHzu72EYBl/auMz7/xaLGWNjY7BYJi9kGg0TU+KKD7yFsw9+DfzA2Zicj0QPjRuxx2i0MFy6Meh20TwK+4GPZGxReKhvEF8UAJGU8EltB0at4S+aGE0XLy5BGVV9I0loOilv40SrBbZP3g+6ncudBe2SVZN+X1WSizUyVmSbmBLnrj+Gs9+4E/ZDe2VrAyHxSrdiLbisnKDbbXt2Q7RTGXkSv2QJgN577z18+ctfRlVVFdLS0lBUVITNmzfj8OHDcpyexLGMjAxkZWXFvCrLW/uUWZ+AYxlsvXqJIudOdHL1DTJ900158+U4tBeSK/jFiLQrN4EJUtr6i1cvBcMAKpWnApxKNfMqcFMZT4nrzyiEODaKgUe+hZFn/5tS4uIUjRvyYDgVDFdcF3S75HDAceRTGVs0NeobxBcjSbG/K2LLli0YHBzEli1bsGjRIvT39+Opp57CoUOH8Pbbb+OKK67wPlYURZjN/mkN6enpYFmarCKRae0Zxjd/vUuRc1+7uhzbbpp8NZuQRNXWO4LbHnsVBxo8BUW+s2Ut/uveDSFnfcZJAo+hXz4B0Ry4tLS6aC4yvvKtkGs3/OLVfXj3SGtkjZ8BlcjjV/ltwLvbAQCaRUuR8+CPocqdJXtbCIkHkiRh5OmnwPcGLi7EZWYj6xs/BEPf30iMRRI7yBIA9fX1IT8/3+93FosF5eXlqKmpwe7du72/pwCIRNtvXjuAXQflv/9Hq+bw9HdvQLZJL/u5CYmF7XsacPdPtmPE4kCmUYdnH9wc1qzPOOfJYxh75dmg2zO+9HVoSiev++Orf8SKr/3sTbj56BdAmMqN6yrwhYxhDP3yCUh2K1hTBrK/+zj0FwRfG4WQZOZqqsfoS08H3Z5x573QLFgkY4tIKookdpAlqpgY/ACA0WjEokWL0NHRIUcTSIqy2l344NgZRc69+aJKCn5IUphJypsvR4j7Z9RFc6cMfgAgLzMNm9YsmNZ5o+XdI61g11yGWb96AeqySkqJIylPXV4FVX5B0O32g3TPHIlPKqVOPDo6iiNHjvilvwVTV1eHuXPnwmQyeX/ndDrR0NAAAMjKykJJSYnfPk1NTbDZPDfgLV3qX4FrYGAAXV2eKduSkhJkZWV5twmCgNraWgCe6HH+/Pl++7a2tmJszJO+UV1dDZXq/Es4MjKCM2c8X7YLCwuRl5fnt+/x48chSRL0ej0qKir8tnV0dGBoyLMmRmVlJXS68wuNWSwWtLR4ZjDy8/NRUOA/2Jw8eRJutxtqtRqLFvlfaenp6UFfXx8AoKysDEbj+dKVDocDjY2NAIDs7GzMmeNfpvnUqVOw2+1gGAZLlvjfx9Lf34/u7m4AwNy5c5GZeb7iE8/zqKurAwCYTCbMmzfPb9/Tp097I/WamhpwPvn+w8PDaG9vBwAUFRUhNzfXb99jx44BAAwGAxYs8P8S1N7ejuHhYQBAVVUVtFot3jvaCoeLB8+7vf1Bq9VCO2EhN7PZDEkSwbKc32s0/jq5zt2zkGZIA+fznguCAKvVU81Ko9ZAp/cEPEa9BjdfvBCNjY1wOBzgOA41NTV+x+3r60NPTw8AoLS01C8v2eVyeSvVZGRkoLS01G/flpYWWCye8y5evNjvKsfg4CA6OzsBAMXFxcjJOX+jqiiKOHHCs7Cj0WhEWVmZ33Hb2towOjoKAFi4cCE0mvMLUI6OjqKtrQ0AUFBQMOnCRm1tLQRBgE6nQ2Vlpd+2zs5ODA4OAgAWLFgAg8Hg3Wa1WtHc3AwAyMvLQ2Fhod++DQ0NcDqdUKlUqK6u9tvW29uLs2c9lbnmzZtHYwSiP0a898kRPPjcIdS2ez5bvilv0xkjjLwTrlbPvXiSJMJs9vRflUoFg8Hgt8L8VGNEVa4Il90KcGq/PgoAY2Oe/stxHNImlOq12+1wuz0lcI1GI1j2/HHDGSPGxkS88ObH+OrNl2PWT/+IkT/8ApY3X4H5lWcxdGAPLLd/DWUrVyMtLc27n81mQ1OT53nn5OSguLjY77g0RnjQGOGRaGOE0+lET24htM2N0KjV3r+B44Y/O4gzJZWAKTNhv0eMGxsbQ2urJ/121qxZmD17tt++dXV14HkeWq0WVVX+F4e6u7vR398PACgvL6cxAtEdI8Y/p9OhWAD09a9/HVarFT/84Q+nfCzP85iYqSdJEtzn6szz/OQrbzzPe7dPJIqid1ugdSTCPe7ENvkeVwiwErLb7YYkSVCrJ9+4KwjCjI4b7Ln6Hnfic/V9DQMdd/y5BsrHD/e4U72Gra2t4HkearUaZWVlUX1vJEnCjv3jX7gAUZS82yaSRBGiJAGYfE5Jks7vO3ljwOPeetkipOk13vcm0Osb6j33fa7Tfc/DfQ0D7e/bpomm6i8ulwuiKPr9IQp03FCfZd/jtrS0wO32fCkVRTHgaxTucWmMiGyM+Mcnp/DVn74Ps52HyaDB8//2Ob9Zn+mMEY5Dn5zfKHk+c+PPhdUboF10vsz1VO+NlgMurc7HP4/1TgqAxj+PLBPgcy6J3u0TP8zhjhHvH+/CVz4ngdFokXX/g9DWrMTgLx6D+kwzMn79KFzf/HekXXylz3FDf25ojJh83HDHCN/2jn92xseN8b8pNEaEf9xIv0fYisug5j4O+rlhG47BuXzdtI8b7fdmvG9E+t6E0w95ng+YdhWN/k1jROjXcLoUCYB+9KMf4cUXX8Svf/1rrFy5csrHq1SqSX9gGYbxDgC+V0989wk0QAAAy7LebYE6arjHndgm3+MGevPUajUkSQp4XI7jZnRc33+DHXfic/V9DQMdd/y5BvpyE+5xp3oNLRaLNwCa+Fxn+t6cON2Hzn7zuf8HWJbxbpuIYVmwkhjwnAzDnN938sZJx83NMGDT2gpvewVBCPj6hnrPfZ9rsPd8pv17qv4y0VT9RaPRQBCEKY8b6rPse1yLxeL9cu2p+DW9zw2NEZPbG+4Y4XILeOjp3d61fWpKsvC7b23AuhX+VzXDHSMYnofj2IHzGxl4b4xmGAba5Wv81v2Z6r0BgEurZ2FvQ3+A7ec+j2yAzznDerdP/DCHO0Z0D9nR2DGIqhLPVWXDxRswnJ4J129+DFV3OyxPPgim5W5kbL0PDKea8nNDY8Tk44Y7Rvi2VxRFqFQq77jh+3gaI2L8PcJggLCgGkzLyUn7MgwD3ekGiCsm3ycXre8REwV7b8b7xvjznO57E04/9H1MsOcayXFpjJj6NZwuWYog+Hrsscfw6KOP4j//8z/xgx/8YNJ2KoKQWo4dO+b9YzUxxWCmnnxpD/bWyn+P2f03XoDr1ipzj0IyiWXfIMHNpMpbMI4j+2B+4+Wg27O/8UNw2blBt0803jf2NAzg3ZPDEbcrUpcvK8V3br3Q73eSy+lNiQOoSpxSaNxQBt/fi+Hf/iTo9vSbvgDd0gtkbNFk1DeSV9xWgRs3Hvw8+uijeOSRRwI+hgKg1OI7tRrN93hozI57frL9XFqbfAxaNZ77t5ug0yiWXZo0YtU3SHAzrfIWyFSlcjXlVcj4wtemdczxvmG1u3DP//kHnO7JqRSxpOJYPPvgZmQYdZO22T7eTVXiFETjhnJGnvsN3G3NAbepi0uR+ZVvydwif9Q3klfcVoEDgCeeeAKPPvooHn744aDBD0k9LMt6f6Jpb2277MEPAFy5Yh4FP1ESq75BJotWlbdA+K4zQYMfANCtWj/tY473i/Q0HS5bVjqD1kWGF0R8erIz4DbDxRuoSpyCaNxQjn5V8EDf3dkGvifwZ0Yu1DeIL1l6wVNPPYV///d/xzXXXINNmzZh3759fj+ERNv++uBfuGLp2jVTl/ElJJ609Y7g4m/+yXu/z3e2rMXHv7oHpbMzp9gzPI6De4Ju4zKyoClfOKPjX6dQSewDIcYYdeEczPrpH2G8fgsAwPzKs+h76GvgB87K1TxCZKeprAGbbgq63R6iDD4hcpPlUvUbb7wBANi1axd27do1abvMtyGRJGe1u1Db2if7eZfMz8ec/IypH0hInIhFypsv0WaBs+6zoNt1F6yb8Srx8wuzUFWSg4b2wRkdZ7o+a+mFw8UHnfH1rRI39Msn4Dp5DGe/cSelxJGkxXAq6FZcCNuHbwfc7jxxGGlX3QhWR+vjEeXJMgP0wQcfeMsSB/ohqWtwcBD9/f3e2u7RcPhUDwRR/n6l1JXoZBWLvkE8Ypny5stx7BCkAKVOAYDhOOiWr43ouBP7hhKfPTcv4rPm3ikfRylx8qJxQ1m6FWs9JRUDkNxuOE8clrlF51HfIL4oEZIoqrOzE2fOnPEuuBUN++vlzzPOTtdjzaLiqR9IwhaLvkFin/Lmy9VwIug2zaJlYCcsVBquiX3jopoSmAzaKfaKvv1B7gOaiFLi5EPjhrI4Uya0VYuDbg81JsQa9Q3iiwIgklR4QcThUz2yn3fjqjKoOPo4kfi2fU8Dlt/7Oxxo6EKmUYfXn7gNT23bOKMS18GINgvc7aeDbo9mGphGzeHqC+ZH7XjhOtjYfX5h1SmMp8TlPPQkGH2aNyWO7osgyUYX4rPtPtMC0WGXsTWEBEblqoiiiouLIYqBFyCNxMm2flgdgVcgjhWWYbBxVZms50wF0e4bqWziwqarq4rw8iOfj8msj/ecTfVBt7HpGVDNKY342IH6xjWry/G3j+shZ1b1qNWJU53nF0UNh+HiDVCXVWLwyYfgbmnEwCPfQvqW8wunkpmhcUN56tJysAYjRJtl0jZJEOBuaYS2epns7aK+QXxRLyCKysnJQV5eHnJycqJyvPHFG+W0dlERcjIMsp832UW7b6QqOVPefLkaa4Nu01bWRLRy97hAfWNWthEXVBRGfMxIhZsG54tS4mKHxg3lMSwLTcWioNtdp4KPDbFEfYP4ogCIJA1JkrAvgi8jM7VpbYXs5yQkHHKmvPmSeB6u5oag2zUV1TE573Vr5S+GEGnJfUqJI8ks1Gfcdepk0OIohMiFAiCSNDr6xnB22CrrOfMzDVg8P1/WcxIyFbmqvAXjbmuG5HYF3MaoNVCXxma9rBULCpCdLm+J3Y7+MfQMmqd+YBBUJY4kI01ZZdCUTtFhh7ujVeYWEeKPAiCiKFEUvT8zpUT1t7WLimeUykOCi2bfSCVKpbz5CpX+pimvAqNWz+j4wfoGyzJYXSV/GlyoRVHDQSlx0UPjRnxgNFqo5wefkQ01RsQK9Q3iiwIgoqgTJ07gyJEjOHFi5qUxlbj/Z3VVkeznTBXR7BupQqmUN1+SJMF5qi7o9mikv4XqG6sXyv+ZjMbYQylx0UHjRvzQVNQE3eZqrJN9HUjqG8QXBUAkKYxYHGjskHdxszSdGtXzKP2NKE/plDdfQm8XxLGRoNs1C4LfHB0NS8tmQytjwAcAta39sNgDp/xNF6XEkWQRqhCCMDwAYbBPxtYQ4o8CIKIoo9Ho/ZmJgw1dspa/BYCVFQW09k8MRatvJLt4SHnz5QyR2qKeUxrx4qe+QvUNjZrD8gWzZ3yO6RAlCYcbu6N2PEqJixyNG/GDM2VCVRB8gXC50+CobxBftOgAUVRZWXTWzznZ1h+V40zHmoXBB3Yyc9HqG8ls+54G3P2T7RixOJBp1OHZBzcrMuvjyxUq/a0yeErMdEzVN9YsLMa+k/KmxJ48049Ll5VG7XjjKXHampUY+uUT3pS47O8+HtVFZJMNjRvxRVtZA74n8P25rsZaGC66Ura2UN8gvujyNUkKzd1Dsp6PYxmsqCiQ9ZyEjIunlDdfwuhI0C87QPQCoKmsqiyE3LVJmrtiMwZRShxJZKHu+XN3tEG0Tl4slVO4y4kAACAASURBVBA5UABEEp7LLaD97Jis56wuzYNRr5H1nIQA8Zfy5svdEnztHy47F1yOPPfMZRh1qJqTK8u5xrX2joAXYlNdilLiSKLiZheBNQUfm1whxgxCYokCIJLwWnuGIcp8AxBVfyNKiIcqb6G4u9uDbtNUVMtaMl7uanBuXkT72dGYHZ+qxJFExDAMtCFmgfjuDhlbQ8h5FAARRbW1taGlpQVtbW0RHyNWqSehKFFqN9VEo28ki3hNeZso1JcZ9bzga4JMVzh9Y40Cn9EWGVJxKSUuNBo34k+oz76cARD1DeKLAiCiqNHRUQwPD2N0NPIrp3IHQCX5JhTkpMt6zlQUjb6RDOI55c2XJPAQ+nqCblcXzInaucLpG8V5JhRky1vtSa6xiFLigqNxI/6oCoN/9vneLkgyLUxKfYP4ogCIJDy5CyCsovQ3IpN4T3nzJfT1QhKEgNvY9Ayw6SZZ28MwDFZVFcp6TjkvxlBKHEkUbEYWWL0h4DbJ7aL1gIgiqAw2UdTChQtntL8SBRCqSuS9uTpVzbRvJDKXW8BDT+/2zvqsrirCy498Pu5mfXy5Q6SyqAqjWzI+3L5ROScXwKmonjuU8UIIcq4PZrh4A9RllRh88iG4Wxox8Mi3kL7lbmRsvQ8Ml3p/4lN53IhXDMNAVTAHrtONAbfz3Z1Q5cV+7S7qG8QXzQARRWk0Gu9PJJQogFBelC3r+VLVTPtGokqUlLeJ+J4Q9/9EMf0NCL9vyP1ZdfMiOvrkT6+hlLjzUnXciHehLoKEGjuiifoG8UUBEEloct//k5GmRY5JL+s5SepIpJS3iULdzMyFWA0+lgpyjDBo1bKeU4miLAClxJH4pgpxEYQqwRElUABEEprcXzbKi7JlLeVLUkOiVHkLRs4CCNPBMAzKCrNkPadSAdA4qhJH4lG8FEIgZBwFQERRo6OjGBkZibgqi9wFECj9TT4z7RuJIlFT3nzJXQBhOn1D7s+s0gEQkNopcakybiSaeCiEQH2D+KIAiCiqra0Nzc3NEdXlV6IAAgVA8plJ30gUiZzy5kvOAgjA9PqG3J/Z8UIISkvVlLhUGDcS0XghhGD47s6Yt4H6BvFFARBJWFQAgSSqRE95m0jOAgjTJXcKnFKFEIKhlDgSL+KhEAIh41KvRiaJKwUFBRAEARw3/Svenf3yzv5QAQR5zaRvxLO23hHc9tirONDQBcCT8vZf925IuFkfX3IXQJhO3yjMTYdBq4bN6Y56O4Lp6BvDvAJ5A69QxlPiRv7wC1jefAXmV56Fs+4och78MVS5s5RuXlQl67iRDJQuhEB9g/iiAIgoKj8/P+J9B8fsUWzJ1KgAgrxm0jfi1fY9Dbj7J9sxYnEg06jDsw9uTthZn3FKFECYTt8YL4RwolW+xRaHzPKOTeEYT4nT1qzE0C+f8KbEZX/3cegvuEjp5kVNMo4bySJ0IYROSJIU07+x1DeIL0qBIwlL7i8ZlP5GIpVsKW++RIslRAEEU9QLIERC7s/ukMwXZ6aDUuKIUkIXQnBDslllbhFJZRQAkYQ1TAEQSQDJUOUtFNES/H4XLiM+PjOyB0BxOAPkK5WrxBHlMAwDNiN4aqhokTetnaQ2CoBIwpI7BW7urAxZz0cSX7JUeQtFNJuDbouH2R8AKJH5sxvPM0DjUrVKHFEWmx78syiaKQAi8qF7gIiiamtr4XK5oNFoUFNTM6195Z4Byk6nAghymknfUJrLLeChp3d7Z31WVxXh5Uc+nzSzPr5E80jQbbEKgKbbN+QuXhLvM0C+DBdvgLqsEoNPPgR3SyMGHvkW0rfcjYyt94HhEu8rQiKPG6mANaYH3SaaY1s9kfoG8UUzQERRgiBAFEUIQe4hCEaSJAyZHTFq1WQGrRpaTeJ9GUhkkfYNpSV7yttEoiXEDJAxNjMv0+0bRr0GKk6+P3eJMAPkK5lS4hJ13EgVIWeAYpwCR32D+KIAiChKp9N5f6bDYnfJuthgtml67SMzF2nfUFIqpLxNFOqqbaxmgKbbNxiGQXa6fP3I7uLhcCVWUYFkSYlLxHEjlYQaE2IdAFHfIL7okjZRVGVlZUT7yX3/D6W/yS/SvqGEVEp5myjUl5ZYBUCR9I2sdD36RmwxaE1gQ2N2FOYGT/eJV4meEpdI40YqCjUrHOt7gKhvEF80A0QSktz3/2RRAESCSLWUt4lCfWlhjfFRBAGg+4CmI5lS4kh8CTkDREUQiIwoACIJSe4ce5oBIoGkYsrbRKFT4OKncqLcFzES7T6giZIlJY7El9ABUGyLIBDiiwIgkpDkvrqaLfPVYxLfknlh0+mQBAGi1RJwG8NxYIIseqgEuS9iyD1LHSu0cCqJJjYtRBU4yxgkSZKxNSSVxX9CL0lqnZ2dEAQBHMehuLg47P2GZawAB9AMkBIi7Rux1tY7gtseexUHGroAeFLe/uveDSk16zNOtAUOfgBPuVuGYWJy3kj6htwXMRI5BW6i8ZS4kT/8ApY3X4H5lWfhrDuKnAd/DFXuLKWb5ydexw3iwXAcWIMx4NghCQIkuw2MIS0m56a+QXzRDBBR1ODgIPr7+zE4ODi9/cbku5kZoBkgJUTaN2KJUt78iWMh0t9iVAIbiKxvyH0RI5kCICBxUuLicdwg/liTMqWwqW8QXxQAkYQk9wxQlpHKZqYySnkLTIkKcJGS+yKG3GOUXCgljsxU6MVQqRACkQelwBFFLViwAJIkTTtVxi3zQmY0AyS/SPtGtFHKW3CSPfhMbCwrwEXSN+S+iOFyJ+9ii/GcEhcv4wYJLtTYINqtMTsv9Q3iiwIgoiiDIbKbpOVcBFXFsdBr1bKdj3hE2jeiafueBtz9k+0YsTiQadTh2Qc3p/ysjy8p1IUIVez+vETSN0xp2hi0JDgxyW/mHk+J09asxNAvn/CmxGV/93HoL7hIsXbFw7hBQmNUIf6exvBvO/UN4ku2FDiLxYIHHngAhYWF0Ol0WLZsGf7yl7/IdXqSZARBvi8XKo4yRVMNpbyFSQweADFsfM2QMQwDVsYrv4Io30UaJVFKHJk2NsTf1BBjCiHRJNs3u5tvvhnPPfccHnnkEezcuROrVq3CHXfcgZdeekmuJpAkIufVVY6l6fJUkuoLm05LqC/5cXjhgOPk+yzLOUutNFo4lUxLiABISpELB0R5sqTA7dixA++88w5eeukl3HHHHQCAyy+/HGfOnMH3v/993HbbbeC4+LpaSORhtVq9OblpaeGXvpTz6ioX6moViZlI+8ZMUMrb9IT8shLDGaBI+wbHsnBDnrFDzlnqeBAvKXFKjBtkekLODsdwBoj6BvElSwD02muvwWg0YsuWLX6/v+eee3DnnXdi//79WLdunRxNIXGmubkZbrcbarUaS5cuDXs/XsYvFzQDpIxI+0YkamoWo66uFmBVwLrvYXVNGV5+5PM06zOVEGlOTAwvHETaN+T8LCf7PUDBLNr6VZw5c+b8L/7yHgAgLS0N8+fPx6ZNm/C9730POTk5MTm/nOMGiVCo2eEYXtykvkF8yRIA1dbWYuHChVBNuCl2yZIl3u2hAqC6ujrMnTsXJtP5yiFOpxMNDQ0AgKysLJSUlPjt09TUBJvNU6FoYkcfGBhAV5enolNJSQmysrK82wRBQG1tLQAgPT0d8+fP99u3tbUVY2OeMo3V1dV+z2lkZMQ78BcWFiIvL89v3+PHj0OSJOj1elRUVPht6+jowNDQEACgsrISOt35ikUWiwUtLS0AgPz8fBQUFPjte/LkSe+HetGiRX7benp60NfXBwAoKyuD0Wj0bnM4HGhsbAQAZGdnY86cOX77njp1Cna7HQzDeN+rcf39/eju7gYAzJ07F5mZ578o8jyPuro6AIDJZMK8efP89j39/9m78/A4qjNf/N+q3jftkrXYsmRLlmzLCzbewAEMxtjGhC0kDEsgCZnfhJkJDPMkk4UQEhImc+/Ncy93bmDCkLAHCDisNhjvYPBuIVu2dkvWbu1q9d61/P5oq90t9Sp1V3Wr38/z6DHo1HK6++2jOnVOvef8eYyNjQHApFWfh4eH0d7eDgAoKipCTk6OX3lNTQ0AYGR0FID/g5R2ux1utwsAYDQawfrcZeI4tzceNBoNNBr/jFBjY2MQRQEsq/B7jwDA6XR4z1tWVuZ358hms6GpqQkAkJ2dPWlxtYaGBjgcDigUClRVVfmV9fX1oaenBwBQUlKC9PTLayO4XC7U1dUBANLT01FSUuK3b0tLCywWz0JyS5YsAetzsTk4OIjOzk4AwOzZs/0uNARBwJkzZ7zv0fz58/2O29bWhtFRz9ouCxcuhFqt9paNjo6ira0NAFBQUIC8vDy/fWtra8HzPLRaLSoqKvzKOjs7vWsvlJeX+z2MarVa0dzcDADIzc1FYWGh374cx6GmpgZKpRKLFy/2K+vt7cXFi55pNqWlpVNqI+rr6z2dHwAQOGya68SLT9yC/osXUHPxArURIdqInq5u4NJr9X3vAcBssaDp0vdmOm1EVVWV3wyB4eFhuN1uAJ54nmj8u6rX61FeXu5X5nDYYTZ7skzFso1wOBxwuZwAAIPeAIVS6R2lTrU2wuXytMHzSkuRywrghwYgisCA1oAzZ87gzJkzePHFF3HkyBG/Ok+njaivr4fT6Zx0jQHEpo0A6DoiptcRl753LqcTDqfne6PT6aBSqbyjytNtI0JdR7jdbtTU1ARsI9rb2zE8PAwAqKyshEZzOXmK2WxGa2srAGDWrFnIz8/32/fs2bPgOA4ajQaVlf4zB7q7u9Hf3w+AriPicR0x/j2NhiQdoMHBwUkNAOD5soyXh8Jx3KQLZVEUvX8EOW7yXUiO47zlEwmCEPIPaKTHnVgn3+PyAbIjud1uiKIIlWpyBhSe56d13GCv1fe4E1+r73sY6LjjrzVQyshIjxvuPczPz4coit7GK9LPRuAFYMIouigKEIRL7504sQzesonvL+CZyuO5Yzv5nL6vJ1QchvpsApWF+szH9w133EAifQ8D7e9bp4nCvVaXywVBEAJOZw31WoMdNzc3FzzPY2BgwPvdmepxQ8XhBx98AABQaQ1wO6xwdVVDqWCojUD4z5znObBB7tiGisPptt/jJnZEgNCfDUQxbm2Ed19vPS8fK5XaiHH//MMf4tFHH4Xt8z2wf7kPWT/6Dd548008+uijuHjxIn784x/jr3/9a0SvNdL3UBRF5OXlged5bzsUizYiELqOgPc8U72OECFenkY7Xl9x8vcmVp/N+N+Uixcvwu12R/3ZRBKHHMf5dSTGxSK+Z0obEa/riGhJlgY7VN71cDnZlUrlpG0YhvE2AIHu+iiVyoANBACwLOstCxSokR53Yp18jxvow1OpVBBFMeBxFQrFtI7r+2+w4058rb7vYaDjjr/WQJ9PpMcN9x4WFBT4nTvyz0YB14R4ZxgW7PgUF2ZiGbxlgV4Pw7JgRSHgOUWf84aKw2Cfje8fY1+hPvPxfUMdd7rxHS5eJgr3WtVqNXieD3vcSN/D8bu8Vqs16N3dSI8bLA5ZlsXu3bsBAC++8Ec88MADOHjwILq7u6mNQPjPnFWqgk51Y332nU4bMem4Pq/V9677uFDHFUXEpY1gGObyvuOv4dI0n1RrI3zPAXiyxOm/thGAZ9bHQw89hH//93/Hnj17gh53Ku2sIAhQKpWTRoem20bQdUQcriMuXVAzYC63H5fKx/8/Hp/NeGyMj5JF+9lEEoe+2/iabnzPpDYiXtcR0WLEqXSborRu3TrwPI9jx475/f7s2bOoqqrCH//4R/z93/89AE9Pc3xYc5zJZAr4AZDU9b3/8T76RqIf8pyKdIMGr/38DknORaS1a9cubN68Gfn5+ejs7MSWLVuwe/duPP300/jpT38qd/USnu3L/bDu/iBgmf7am2C4brPENQrtriffhsMlTXrmOblpePZfbpbkXImkpKQEFy5cwIsvvogHH3xwUvmOHTuwbds2GAwG7/Qbklqsez6C7Yu9AcuMW+6EbvV6iWtEkt1U+g6S9CqWLFmCurq6ScON43MIJ85pJCQcKdfmSaV0tqnmlVdeAQBvJsp7770XAPDqq6/KWa2kETLRQQKms/VOf5OAlCm3k8mJEycAYNIzEiR1iKEyvdHNbiIRSSLt9ttvh8Viwfbt2/1+//LLL6OwsBBr1qyRohpkBpEyNTUv4UUTkY7FYsF7770HAN6Ozx133AGdToe6ujqcPHlSzuolh5DpbBOvAyRl+nwpF11NdIIgoLu7G8899xz+4z/+AwzD0AhrKgvxPWQScP0wMjNJ8gzQli1bcOONN+IHP/gBzGYzysrK8MYbb+CTTz7Ba6+9RmsApbD6+npv5plo7ghKeXdVyrvG5LKpxkaktm/fDpvNhrKyMqxatQqAZ8h827ZtePvtt/Hqq69i5cqVMT/vjBJyQcP4recxldgQRVHSmxlSjlInou985zv4zne+M+n3q1atwm9+8xts2rQpLueNd7tBYiDkCFD8rgcpNogvyVrov/3tb7j//vvxxBNPYPPmzTh69CjeeOMN751XkpqcTqf3JxpS3l11cTzcXPwu5khgU42NSI1Pc7vnnnv8fj/eJr3xxhuBM4kRr5B3awNk+ImVqcSG3SntZ5nqCyiXl5fj6quv9v5UVFRAo9Hg5MmTePbZZ72phmMt3u0GmT4xVNsQx+8NxQbxJVkWOKPRiGeeeQbPPPOMVKckSUCpVAbNaBOKSintqOHwmAN5mbRytJSmGhuR6Orqwv79+wFM7gBt2bIFmZmZ6Ovrw6effoqtW7fG/PwzBTNhrRxfgi1+D7hPJTaGx+xxq08gqf4M0M9+9rNJSRBGRkbwyCOP4JVXXsGmTZtw7NixKWVvCiWe7QaJDdEavG1g1JqgZdNFsUF8URQQWU1c2DJSafr4NZKBDI/ZqQMksanGRiRef/11CIKAFStWTFpsTa1W46677sLzzz+PV199lTpAIbDG9KBlwpg5buedSmwMSdwBSjcE7xymqoyMDDz//PPYu3cvTpw4gffffx+33XZbTM8Rz3aDxIZgGQtaxpqCtynTRbFBfKX2GD1JWllpOknPN2iW9uKJxNf49LdTp06BYZhJP88//zwA4P333/eu2E4mY01pQcuEsVEJaxLekMTf4SyTtG1UstBoNFixYgUATFoag6QGPkTbEKpNISSWaASIJCWpLy6knj5D4qe6uhq1tbVgGAZ5eXlBtxseHobdbsf27dsDPsxNANYYqgOUWB1HqUeApL5Jk0zGV5YfX5CSpA5RFCFaQ4wAGUwS1oakMhoBIklJ6osLqS+eSPyMj/5cc8016O3tDfrzr//6r37bk8kYlQqMNvBUL9HtguB0SFyj4KQeAco00hS4QBwOB6qrqwEA8+bNk7k2RGqi3Ro0CQJrNIVeW4yQGKJII7Lq7e1FV1cXent7o9pP6hEgqS+eyNRjIxSe5/HGG28AAO6///6Q2953330AgAMHDqCjoyNmdZhp5HgOaCqxIfVNjOx0vaTnSwbDw8P4/ve/j+7ubqjVanzzm9+M+Tni0W6Q2AnVJsTz+R+AYoP4oylwRFYXL1705uXPz8+PeL9Mk7R3V4ctiXMnO1VMNTZC2b17N3p7e6HVavGNb3wj5LaLFi3CFVdcgerqarz++uv4yU9+EpM6zDQKUxr4gYsBywSLGcgJPs1wqqYSG1J3gFJ9BOjpp5/GCy+84P3/wcFBtLa2wul0QqlU4o9//CNKSkpift54tBskdkJ2gEJMqY0Fig3iizpAJCllp0l7d5VGgGaG8elst9xyC9LTw99tvO+++1BdXY1XX32VOkBBhEyEYEmc54CGx6S9iZHqzwA1NTWhqanJ+/8ajQZFRUW49tpr8cgjj2DZsmUy1o7IJVRyFNZIz/8Q6VAHiMiqtLQUoihGvRZEukEDhgFEiRZ2p2eApDfV2Ajl9ddfx+uvvx7x9o899hgee+yxmJ1/JpJjCtxUYkPKmxgqJQujTi3Z+RJJW1ubrOePR7tBYifUTZF4T4Gj2CC+qANEZJWWNrUhb4WCRYZBK9nUtFGrExwvQKmgx+akMtXYINIKddc2Xqmwo40Nh4uD3cXFpS6BZBq1dJElE2o3ElvIEaA4p8Cm2CC+6GqOJC2pnwMaoeeACJmETcsIWpYoqbAlXwMoxae/ERJMyEVQQ4wmExJr1AEiSUvq54C6B4I33ISkqpAjQAnyDFDXgLT1oEVQCQlMMNMiqCQxUAeIyMrpdMLhcMDpdEa9r9QjQM1dtGiflKYTG0Q6oebtC6MjcTlntLHR0j0cl3oEQx0g+VC7kdj4kEkQ4tsBotggvugZICKr+vp6b1rKaLMCSX2RQR0gaU0nNoh0Qt215YcHILqcYNSamJ4z2tiQ+rtLU+DkQ+1G4hJsVgjmIDdFGAas0RjX81NsEF80AkSSltQXGdQBImQyRqWGIisnaDnX0ylhbQKTvANEI0CETBKqLVDm5oNR0D15Ih2KNiKrzMxMcBwHpTL6UCzIlnbNgJ4hC6x2Fwwpmt5WatOJDSItZeEc8EMDAcu47g6o5s6P6fmiiY0RiwODEidByM+K751sEhy1G4mL6+kIWqYsnBP381NsEF8UBURWxcXFU953fmFmDGsSmZbuYSydP0vy86ai6cQGkZayYA6ctdUBy7je2I8ARRMbUo/+MAwwvyhL0nOSy6jdSFxcd4gRoIL4d4AoNogvmgJHkpZJr0FehrSZ4GgaHCGThbp76w5x0SMFqb+zRTkmaNV0b5GQiUKPAM2WsCaEUAeIJLkyie+0UgeIkMmU+UVBy/iBixBd8mVdkvo7K3WbREgyEGxW8CNBvosMA+Ws4G0IIfFAHSCS1KgDRIj8WK0uYRMhSN4BKqQOECEThU2AoFJJWBtC6BkgIrOmpibvQ4nl5eVR7y91B4gSIUhnurFBpCVlIoRIY0OOBAj0/I+8qN1ITHInQAAoNog/GgEisrLZbLBarbDZbFPaX47pJlIvqpiqphsbRFqhHmKOdSKESGNDlgQIMiRnIZdRu5GY5E6AAFBsEH/UASJJTY5ECI2dg5Kej5BkkIiJEORIgKDT0FQeQiaiBAgk0dAUOCKrWKzGXFaUhb4R6e7oVDf14BvXLpLsfKmKVupOLpEkQmDUmpicK9LYONnYHZPzRYoSIMiP2o3EkygJECg2iC8aASJJT+qLjtrWfljsLknPSUiiS7RECCMWBxo6pB2tpQQIhExGCRBIIqIOEEl6UneABFHEyQZp7ywTkgxCToPraJWwJsDx+i6IoqSnpAQIhAQQ6rsvVQIEQiaiDhBJenJMOzla1yX5OQlJdKEeZnY1npWwJtJ/RykBAiGBhfruS5UAgZCJ6BkgIquBgQEIggCWZZGTE3z6TCjjiRCkfA7oVFMPOF6AUkH3EOIlFrFBpKUuLYc1SJm7ow2C1QLWYJz2ecLFhsvN46vm3mmfJxqF2ZQAIRFQu5FY+NGRkFPgVPMWSFYXig3iizpARFZdXV1wu91QqVTTapCkToRgdbhxtrUPy8ryJTtnqolVbBDpKPKLwKZlQDCPBCx3NZ2DdvnqaZ8nXGzUtPTC6eanfZ5olM+m6W+JgNqNxOJqCj76o8jKgTInT7K6UGwQX3T7mswIFXOkb8xoGhwh/hiGgWbB4qDlroZaSepxTIbv5oLZ2ZKfk5BEF+o7r66okrAmhPijESAiq+LiYu+Q9HSsqizEi598FaNaReZoXSe+v20FGIaR9LypIlaxQaSlrqiC/cQXActcLfUQ3e5pZ30KFRuiKOJYvfRJSq6sKJT8nGQyajcSh+hywt3aFLRcHeJmSTxQbBBf1AEissrMjM1Dw7Nz01CQZUTPkCUmx4tE34gNFy6OoiQ/Q7JzppJYxQaRlqqkDIxKDdE9OVW86HbD3dYEdfn01tEKFRvNXUMYGrNP6/jRKs5LQ0G2SdJzksCo3UgcruZ6iHzgqaisTg/VnFJJ60OxQXxRN5jMCAzDYPVCaRZT8yXHVBtCEhmjVEJdtjBoubMhvtng5JiaumYhrWRPyEShsr+pyxeCUSgkrA0h/qgDRGaMNTJ0gI7WSbu4IyHJINTcfldjLcQ4LtAjx3dSjraHkEQmCgJcTeeClqsX0PM/RF7UASKy4nne+zNdC+fmwqhTx6BWkWvsHEJXv1nSc6aKWMYGkZa6PPgIkDBmDpkWNxLBYqOtdwRtvaPTOna00g0aLJhDCRASBbUbiYHrvADBFjgpPqNQQDW/UuIaUWwQf/QMEJFVbW2tNy3lsmXLpnUspYLFygUFOFhzIUa1i8zHx5rx0M0rJD1nKohlbBBpsXoDVHPnw32hJWC5q6EWqmmsAB8sNnYeCf7AdbysriyiRCgJhNqNxBAq+5tqbhlYrVbC2nhQbBBfNAJEZhQ5pqLsOXkeDhcn+XkJSWShMjyFejZgqmwON/Z/1Rbz44ZD098ImczZSOmvSWKjDhCRlclkQlpaGkym2GRQWlFeAAUr7d1Yq8ONz09LO+qUCmIdG0RamhAXOVxvF/jhwSkfO1Bs7K9ulfxGhFqpoMWQEwy1G/LjBi6CH+gLWq6ukDb99TiKDeKLpsARWc2bNy+mxzPo1FgyLw9fNV+M6XHD+ehwIzaunEdTYWIo1rFBpKXIzoUiOxf8YH/AcsepwzDcsG1Kx54YG6IoYocM09+WzZ8FrZr+jCYSajfk5zh5OGiZMr8IinR50lFTbBBfNAJEZpzVldJPSTnfM4LGjqnf0SZkJgo11cVx6ihELjYjNmfb+tEhQzISmv5GiD/R7YLjq6NBy6Ve/JSQYKgDRGYcudbk2HlU+jvQhCQy7fLVQcsEmwXOupqYnGfHkcaYHCdaq2S42UJIInPWnoLocAQt1y5bJWFtCAmOOkBkxsnLNKAkP13y835+ph1mq1Py8xKSqJS5+VCVlAUtdxw/NO1zDJntOHxW+rV/youykJWmk/y8EmJTEwAAIABJREFUhCQqURRhP/5F0HJ1WSUUWTkS1oiQ4CTpAO3btw/f/e53UVlZCYPBgKKiItx66604efKkFKcnCay1tRVNTU1obW2N6XHlmAbn5gTsOXle8vPOVPGKDSIt3ZVXBy1zd7SB6+2K+pi+sfHpiRbwQvwWVg2Gpr8lJmo35MN1XQi5xpc2RFsgBYoN4kuSDtBzzz2HtrY2PPLII9i5cyeeeeYZ9PX1Ye3atdi3b58UVSAJymw2Y3R0FGZzbOfvX11VHNPjRWrn0aa4rnKfSuIVG0Ra6soqsMbgWZfsJ4LfMQ5mPDaGR0bxybHm6VRvyq6qmvo6RiR+qN2QjyPE6I8iPQPq8kUS1mYyig3iS5L0NX/4wx+Ql5fn97vNmzejrKwMTz/9NK6//nopqkFSyLzCTFTMyUaDxIkJLg5bcbKxB1dWFEp6XkISFaNQQrtiHWyffRqw3Hn6JAwbbwGrjX46We2FYQya7dOtYtSqSnMxJ0/6abaEJCrBZoHz7FdBy7UrrwbD0lMXJHFI0gGa2PkBAKPRiEWLFqGjo0OKKpAEtXjxYoiiGJf00VvXlEveAQKAt/bXYuWCAkqJPU3xjA0iLe2KdbB9vhsIMDoqul1wnj4B3eqvRXy8xYsXQxAEvPLlnlhWM2I3r10gy3lJeNRuyMNRfQwiHzirI6NQQLtircQ1moxig/iSbQGD0dFRnDp1KqLRn7Nnz2Lu3LlIS0vz/s7pdKK+vh4AkJmZieJi/ylPTU1NsNlsAIBly5b5lQ0MDKCryzPvvLi4GJmZl3PS8zyP2lrPCsYmk2lS3vjW1lbv8OnixYuhVF5+C0dGRnDhgmdBzMLCQuTm5vrte/r0aYiiCJ1OhwUL/P+AdnR0YGhoCABQUVEBrVbrLbNYLGhpaQHg6UwWFBT47Xvu3Dm43W6oVCosWuQ/xNzT04O+Ps+CZPPnz4fRaPSWORwONDQ0AACysrIwZ47/lI7GxkbY7XYwDIOlS5f6lfX396O7uxsAMHfuXGRkZHjLOI7D2bOeld7T0tJQWlrqt+/58+cxNjYGAKiqqvJ7D4eHh9He3g4AKCoqQk6O/wOTNTWerFF6vR7l5eV+Ze3t7RgeHgYAVFZWYv2SYryw4xTG7C5wnNsbDxqNBhqN1m/fsbExiKIAllX4vUfj75PL5UluYNAboPCpL8/zsFotAAC1Sg2tTof69kEcq+vCmkWz0dDQAIfDAYVCgaoq/5TAfX196OnpAQCUlJQgPf3yHWWXy4W6ujoAQHp6OkpKSvz2bWlpgcXiOe+SJUvA+txZGxwcRGenZx727NmzkZ2d7S0TBAFnzpwB4LkJMX/+fL/jtrW1YXR0FACwcOFCqNVqb9no6Cja2toAAAUFBZNubNTW1oLneWi1WlRUVPiVdXZ2YnDQ0xktLy+HXq/3llmtVjQ3e6Yx5ebmorDQM3o2Hhf19fVwOp1QKpVYvNg/hWpvby8uXvSs+VRaWkptBBK3jdBULoGz7jQAQBQFjI154lepVEJx/AtoV633XphMbCMUCoX3uONtRPX5QTS09/vFKACYzZ74VSgUMBj8v8t2ux1utwuAJ/5Z9vJxI20jMoxarF3kn2myu7sb/f2e9Y7KyspgMBi8ZTabDU1NngyR2dnZmD3bf19qIzym0kaMozbCQ7Y2or4e+k8/hNZph1bnP5JrtVjgnFuG7pbzcb2OCNRGAP7XEePvczTXERqNxltmNpu9zw/NmjUL+fn+iyCfPXsWHMdBo9GgsrLSr4zaCI94tRHj39NoyNYB+sd//EdYrVb8/Oc/D7stx3GTnqsQRRFut9tbHmif8fKJBEHwlgmCMKk80uNOrJPvcXmeD3hcURShUqkmlfE8P63jBnutvsed+Fp938NAxx1/rYHulkR6XDk/G41KgRuvnIe/fV4PUQSESw9KB3pGRxQECKIIYPI5RVG8vO/kwoDHfeXTGqyqLPJ+NoHe31Cfue9rjfYzj/Q9DLS/b50mChcvLpcLgiD4/SEKdNxQ3+VQrzXQexTpcamNkL+N0F95tbcDBNHznRs/Bz9wEe4LLVBfyhgX7rOxO5x4/2gbRHHylJrx7yPLBPiei4K3fOKXOdI2Yt2CXCgV/ueNRXxTG0FtxMTjJksbIba3gDGPQJxwM2K83DZ/EYQwsZSo1xHB6hTsPeQ4zq8jMY7aCHjrGK82IlpRd4AOHDiADRs2RLRtdXU1li9fPun3v/jFL/D666/jP//zP7Fy5crwlVQqJ/2BZRjG2wD43j3x3SdQAwEALMt6ywIFaqTHnVgn3+MG+vBUKhVEUQx4XIVCMa3j+v4b7LgTX6vvexjouOOvNdDFTaTHlfuz2by6DO8eqgfDACzL+JX51ZllwYpCwHMyDHN538mFAY/b3mfG/upWzDaqwPN8wPc31Gfu+1qDfebTfQ/DxctE4eJFrVaD5/mwxw31XQ72WgVBiPp7k0hxGOi4qdZGqErLocjOBT/YDzDwPg8wvq/j+CFvByjcZ3Py/AiGLC5oAzw35P0+sgG+5wzrLZ/4ZY6kjVBCxLVLJ68zNt34pjaC2ohAx02WNkLXfA4MywaeWpadB7ZgDhQB3qNkuY4IVKdg76HvNr6ojYC3jvFqI6LFiFF2m3p6erBjx46Itr3jjjuQlZXl97tf/epXePLJJ/Hb3/4WP/vZzybtIwiCd1hznMlkCvgBkOQ3MjICQfB0PHyHv2PpyZcO4GRjT1yOHUpuuh7/9dg2qFWTv+QkPClig0jLfuQgLLveC1zIMMj64eNQZGQFLr/E6eLwwL9vx8iYAwhysREv6xbNxs/ui/xZJSI9ajekxQ30YfgP/x603HjzXdBdeZWENQqOYmPmmkrfIeoRoIKCAjz00EPR1w6XOz9PPvlkwM4PST0XLlzwzjuOV4N089pyWTpA/aM2fHy0Cbeurwy/MZlEitgg0tIsXw3r3o8gBph6AlGEbf9OmG6/L+QxPviyAT39wxAEESzLQKWSLhvb1rXl4TcisqJ2Q1q2fTuDljFqDbRLw8/ykQrFBvEl2bDKU089hSeffBKPP/44fvnLX0p1WkKwckEh8jL04TeMg7f2n4XV7pLl3IQkGlarg2ZJ8Asix+mT4C52By0fszmx/bO6eFQtrKIcE5bNnyXLuQlJRO6udjjraoKWa5evAqPWBC0nRE6SJEH4/e9/jyeeeAKbN2/GzTffjCNHjviVr10rf3pEIo/CwsKgc1tjhWUZbFlTjpd3BW+o42XM7sJ7h+px741Lw29M/EgRG0R6ujXXwFF9NGi5de8OpN/z/YBl7xw8B6vDDa1GCxEimMlP5cXNltVllD43CVC7IR3b3o9ClmtXJdZ0UYoN4kuSDtCHH34IAPjkk0/wySefTCqfSvYGMjNMTPEZLzeunIfX95wBx0/OZhJv733RgJvXLUCGURt+Y+IlVWwQaSlnFUKzZCWcZ04GLHc1nYO7/TxUxf6pgwdGbfjosCdVrFoj7V1ltVKBG1bOC78hkR21G9JwtTTA1doUtFx7xRoocyavASknig3iS5IpcAcOHPCkSgzyQ0i8pRu1WL9kTvgN48Dh4vDmvlpZzk1IIjJs2AImxF1Y654PJ/1t+MueM3Bxk9OmSuHaZXNh1E1O8UtIKhJFEdYQoz+MUgn9tZslrBEh0aPUaiRlbF0j3wPMnxxrRkffqGznJySRKDKzoV0ZPDOUu6MNrsaz3v8/3z2MPafOS1G1gG6m5AeEeLnO1YDr6Qxarl39NSjSKckASWzUASIpo7I4B/MK5GmUeUHE/377CHgZpuARkoj0X7sRjCr4qIpt7w6IggCOF/B/3jkCuSYLVMzJxvyi0Km5CUkVIs/Bui/4UiiMVgv91TdIWCNCpkaSZ4AICeb06dPetJRLl8Y3UQDDMPi7G5bgt699HtfzBNPUNYR3D9XjG9cukuX8yUbK2CDSY40m6NZdB9tnnwYs5/p74Tx9Au8O6tDaO+JXZjabIQoCGJZFWlpaXOv5d9dXxfX4JLao3YgvR/Ux8EMDQcv1V90AVm+QsEaRo9ggvmgEiMhK6mfB1iwsQsWcbEnOFcjre87QVLgI0XOCM59u3YaQF0sXd76Pt/edDlAiQrz0bzwtKc3DigUFcT0HiS1qN+JHdLtg+2xX0HLWlAbd2mskrFF0KDaIL+oAEVnpdDro9XrodDpJzscwDB7cvFyScwXC8QJNhYuQ1LFBpMdqtdCv3xiwTBRFnG9sw8KRyc/+KFgFFAoFFGx809k+cNMySn2dZKjdiB/70c8gjJmDluuv2RRyWqvcKDaIL5oCR2S1YMECyc9ZVZqHlQsKcLKxR/JzAzQVLlJyxAaRnnbVetiPfgZ+dNjv990DY7A73VjpbkC9cS5cCpW3zGA0xr1e6xbNRkVxTtzPQ2KL2o34EGxW2L7YG7RckZUD7RVrJKxR9Cg2iC8aASIp6dublsl6fpoKR4gHo1RCv2GL3+9sDje6B8cAAFrBhauGzkhbJwa4fxM9I0DIOMvHf4PocAQtN1x/MxgF3VMnyYM6QCQlzSvMxLXL5sp2fpoKR8hlmiUroczLB3Bp6luP/2jQQssFzLFdlKw+G1fMw5y8dMnOR0gic9afgbP2VNByZcFsqBfJe1ORkGhRB4ikrPtuXAoFK9/8/vGpcISkOoZlob/+ZgCXp75NdN1ANdT85N/HmkrJ4p6NS+J+HkKSgWCzwvLRX0NuY7hhGz0rR5IOdYCIrDo6OtDW1oaOjg7Jz52fZcTm1WWSn9cXTYULTs7YINJTL1gMa26xd+rbREbe7p0KZ7fbYbPZYLfbY16PbWsXICddH/PjEmlQuxFblo//BsFqCVquLl8E9fwKCWs0dRQbxBd1gIishoaGMDAwgKGhIVnOf/f1VdCq5Zu3zPEC/uebX8Lh4mSrQ6KSOzaItBwuDv9vrBBuJvj3cXwqnNvtgsvlgtvtimkd9BoV7rqOkpMkM2o3Yifc1DdGq4Vx210S1mh6KDaIL+oAkZSWYdTi1qvlvXvV2juCZ7YfobUJSMoSRRG//+thNIwK+DIr9MKj1w1UQyPEZyrcndcshEmvicuxCUkmkUx9M950OxRpGRLViJDYopQdRFYVFRUQRVHW+cN3fG0hdh5pwpg9tneTo3HoTAdKZp3Ft2jVea9EiA0ijdd2n8bRui4AwDlTCeZZuzHH0RdwWyNvxyZXG/ZlX4FYRkamUYuvy3wzhEwftRuxEcnUN82yVRLWaPooNogvGgEistJqtdDpdNBqtbLVQa9V4VsbFst2/nGv7TmDo+c65a5GwkiE2CDx9/npC/jrgXOXf8EwOJBzRcipcIusHShxDoBVxG4hVLmnw5LYoHZj+iKd+pZsHQmKDeKLOkCEANiyphx5GfI/+Py//noYbb0jcleDEEm0dA3h/7xzdNLvLSp9RFPhYpUVrijHhE2r5sfkWIQkM5r6RlIFdYAIAaBWKfDDO+Rfxdrh4vCbVz+D2eqUuyqExNWIxYHfvPY5XBwfsPycqQQd2ryg+/tmhZsOhgF+eMcaKBX055CQmTj1jZBAqMUnsrJYLDCbzbBYgje4UllWlo8tMqfFBoCLw1b8xxuHwKX4IqmJFBskttwcj6df+xwDo7bgG4WYCicIIgRBQIW5DSXW7mnV5etXVWBRSe60jkESB7UbU+esrZ6RU9/GUWwQX9QBIrJqaWlBY2MjWlpa5K4KAOA7W5YnxFS40+f78MKO4H+IUkGixQaJDVEU8dz7J1DXPhB222BT4XieA8/z4HkOG/tPItNlnlJdCrONuP/GpVPalyQmajemhuvpxNgHb4TcJtmnvlFsEF/UASLEh06jSoipcACw40gTPjnWLHc1CImpjw43YvfJ8xFvH24qnErksOXiEWj46LI4MgzwyJ1roaHEByTFCVYLzG/9CaI7+DN1NPWNzDTUASKyysvLQ35+PvLygl/gSC1RpsIBwH99cAKnWy7KXQ1ZJGJskOk52dCNF3ZUR7dTgKlwLKsAy7JgWU8WuHTOipv6joEVI582SlPfZiZqN6Ij8hzMb/0Z/Gjw5DvJPvVtHMUG8cWICbb6oiAIGBsb8/udyWQCy1JfjUjH7nTjn57Zib6REM8oSESrVuLX37kOC+fSxRpJXmfOX8STLx0MmvQgnMqxNmwYCN15Op02H19kh5/SVphtxP/95y00+kNSmiiKsHz4FhzVkzMx+jLddi+0y66UqFaERG8qfQfqVRASQCJNhXO4ODz50kE0dQ7KXRVCpqTuQj9+/cpnU+78AEC9qQRnTaUht1lqbsHCsbaQ29DUN0I8HMcPhe386NZeS50fMiNRB4iQIBJpKpzN6cYTLx5Aa8+w3FUhJCpNnYN48qWDcLi4aR/rUPZSdGtzQm7ztYEa5DuC3yygqW+EAK7WJlg+eTfkNup5C2DYeItENSJEWtQBIiSERMkKBwAWuwuP/2k/2i+Oyl0VQiLS2jOMJ148AJszNguWCgyLXXmrMaYM/p1UQMDmi0dh5CZPX6Wsb4QA/NAAxt5+CQjxBIQiMwembzwARqGQrmKESIg6QERW586dQ01NDc6dOyd3VQLSaVR45M61clfDy2xz4mcv7E2JkaBEjw0SWnPXEH7+wj5Y7NFlZwvHodDgbcMS2DgRHBd4VEknOLHl4hEohcvlNPUtNVC7EZrgdMD85p8g2IM/38qoNUj7u++B1SXGzb9YodggvqgDRGTldru9P4lq6fxZCTMVDgBGrU787IV9M/6ZoGSIDRJYffsAfv7CPozFuPMzrl9pwE7TYoTK4ZPjGsWGgVPeu9w09S01ULsRnCiKGHv3NXD9vSG3M915P5S5+RLVSjoUG8QXdYCIrFQqlfcnkX1ny3LMyjTIXQ2v8elwdRf65a5K3CRLbBB/ta19+MWf98ds2lsgDMOiRZ+Pw6bykNuVWbuwaqSepr6lEGo3AhNFEdY9H8LVcDbkdoaN26BZsFiiWkmLYoP4ojTYhETofPcwfvzH3XC6p57JKta0aiWe+PY1WDJvltxVIQRfNffiqWlme4uKKOKmvmOYZ+sOugnLMFh03/0o3rpNmjoRkoBsB3fBeuCTkNtolqyE6fZ7k369H5J6KA02IXE0rzATj921Tu5q+HG4ODzx4gHsOXle7qqQFPfJsWY8+dIB6To/AMAw2Ju7EoOqtKCbzC/Mgu74XtiPfiZdvQhJILYv9oXt/CgL58B0y7eo80NSBnWACInCVVVzcPeGxJoewPECntl+FC/sOAWeF+SuDkkxHC/gufeP4w/vHQcvSD+hgGOV2DlrHeyselLZ7Nw0ZJi0AADLJ+/CfuJLqatHiKzsRz+Ddc+HIbdhjSakfeu7YGhqGEkh1AEiJEr3bFyCdYtmy12NSd7/ogFPvnwg5lm3CAnGbHXiiT/vx86jzbLWw6LSY1feGgi4fPc6y6RDQZbRf7sdb8NRc1zq6hEiC/uJL8Ou9cMolEj71nehSMuQqFaEJAZ6BojIqqenBzzPQ6FQoKCgQO7qRMzh4vCj//oUbb2JtyZPQZYRv/j2NZiTly53VaYlWWMjVbT1juCpVw6ibyR4Ot14cTgcnuxuDAOtVuv9fZmlExv7j8OgVWFhcU7Qvxum2+6l1e1nKGo3PBynjmDsw7dCb8QwSPvGA9AsWiZNpWRGsTFz0TNAJOn09fWht7cXfX19clclKlq1Eo/fdw1MusnTbuTWM2TBvz77KY7Xd8ldlWlJ1thIBUfOdeJH/7Vbls4PALhcTjicTrhcTr/fNxtn4/ictSgvyg75h2/svddhP3k43tUkMqB2A7Af+zx85weA6fZ7U6bzA1BsEH/UASJkimZlGfHTe9dDwSbeQ6N2F4enXv0M7xw8F3KtFEKiIYoi3txXi9++9jkcrsCLkMpJqWBx9z99G1m3fjPstpaP/gr7sc8lqBUh0rF9uR+Wj/8WdjvT1++GdslKCWpESGKiKXBEVhaLBYIggGVZGI3G8DskoI+PNuHZ90/IXY2grl02Fz+8Yw3UKoXcVYnKTIiNmcTh4vDM9iM4dKZD7qqA4zgAIgAGSqXS+/tH71yDG1bOAwDYDx+A5dP3wx7LsPEW6K++Pk41JVJL5XbD9tmnsO7/OOx2xq13QrdqvQQ1SiypHBsz3VT6DtQBIiQGnn3vOD4+Ju+D4KGUF2XhR3dfhYJsk9xVIUmoq9+M//HmFzjfMyJ3VYK69eoKPHTzCr/f2Q7tgXXvjrD76q+9Cfprb6IUwCQpiaII274dsB3aG3Zb46ZboVt3XfwrRYiEqANEiEw4XsAv/rwPta39clclKI1KgQduWoZt6xbQhR6JiCCIeP+Lery2+4y06/tE6YqyfPzygWuhUEz+O2H7fA+s+8J3gjRVK2D6+t2UCpgkFdHlxNh7b8BZVxN2W8OmW6Gnzg+ZgagDRIiMRi0OPPbsLtkeDI9UVWkufnjHGhoNIiF19ZvxzPajqGsfkLsqIRVmG/H7h2+CMURCkkinwykL51BKYJI0+JEhmN/8E7iL3WG3TdVpbyQ1UAeIJB2HwwFRFMFMSGebrLr6zfi35/dg1OoMv7GMkmE0aKbFRrJIhlEfgechwrPWz//8waaIOvP244dg2bk97Hbji0KqZpdMv6JEcqnSbrgvtMD815cg2CxhtzV9/VvQXrFWgloltlSJjVREHSCSdGpqauB2u6FSqbBs2cxIx3mhdwQ//e+9GEuCBUkTeTRoJsZGokuWUR+zeRQGjRKPfr0Km66N/MLOUX0EYx+ETw/MKBQwbvsmtMtXT6eaRAap0G7YTx6G9ePtEPnwNyhMt98L7VJa8wpIjdhIVbQOECEJYG5+Bp767gYYtIn/LEFtaz/++f9+jA+/bKB02SlMEES8+3kdfvifnyR85wcA9BoVfrB5AWZl6KLaT3vFWphuvxcIM+op8jzG3n8Dll3vRXSRSYgURJ6D5ePtsHz017BxybAs0r7xAHV+CAlCGX6T2HvhhRfw/e9/HwaDARZL+OFbMnNlZWV5V2aeSeYXZeFXD16HX/x5P+wJuF6KL6ebx/MfncKXZzsSajRopsZGokmWUZ9xBq0K/3jHWszJMUwpNrRLrwRrSsfY2y9BsId+Xs9+5CD4/oswfePbYLXRdbaIPGZquyHYrDC//RLcbeGzjbJ6A9K++R2o5s6XoGbJY6bGBpkayafAdXV1YfHixTAYDBgdHZ3UAaIpcGQmOdvah1++dABOd3LcRVYrFbj16grcec1CGEI8VE6S35jNie2f1eGDLxvg5gS5qxMRnVqJp767ARXFOdM+Fj804HmAvL837LaK7Fyk3f0QlDl50z4vIdHi+npgfvNP4IcHw26rnFWItLu/B0VGlgQ1IyQxJMUzQLfccgsYhkFWVhbeeecd6gCRGe90y0X86uWDCftAeSAmnRp3XbcIN69dkHQLqJLQnC4OHx5uxDsHz8HqcMtdnYhp1Ur86sHrsKgkN2bHFJwOjL37GlwNZ8Nuy2i0SLvz21CXL4zZ+QkJx1lfi7G/vQrRHf6ZUs3CpTDddg8YtUaCmhGSOBK+A/Taa6/h4Ycfxrlz5/D4449TB4ikjLOtfXjy5YNwJPh0uIly0vW454YqXH9FacA1Vkjy4HgBe06exxt7azE0Zpe7OlExaFX41YPXxWTkZyJRFGHbvxO2z/dEtL1u9XoYbthGF5kkrgSnA9bdH8Bx8nBE2xuu2wzdNZsSNqsnIfGU0B2gvr4+LFq0CL/+9a/x8MMP48EHH4y4A9Te3o65c+ciLS3N+zun04n6+noAQGZmJoqLi/32aWpqgs3mmd89MdvHwMAAurq6AADFxcXIzMz0lvE8j9raWgCeN2/evHl++7a2tsJsNgMAFi9eDKXy8mNUIyMjuHDhAgCgsLAQubn+dypPnz4NURSh0+mwYMECv7KOjg4MDQ0BACoqKvxSNFosFrS0tAAA8vLyUFBQ4LfvuXPnvJlNFi1a5FfW09ODvr4+AMD8+fNhNBq9ZQ6HAw0NDQA8c2PnzJnjt29jYyPsdjsYhsHSpUv9yvr7+9Hd7Vl7YO7cucjIuLxuBsdxOHvWc0c1LS0NpaWlfvueP3/e+xlXVVX5zccdHh5Ge3s7AKCoqAg5Of4XPDU1nsXe9Ho9ysvL/cra29sxPDwMAKisrIRGc/kCxWw2o7W1FQAwa9Ys5Ofn++179uxZcBwHjUaDyspKv7Lu7m7093sWOC0rK4PBYPCW2Ww2NDU1AQCys7Mxe/Zsv30bGhrgcDigUCigSsvHL1864L3r7nQ64XQ6AAA6nR4qnwUYBUGAxeJ5j5RKFfR6vd9xrVYreN7TmTKZ0vz+6LlcLjgcngtcrVYHtfryVDZRFDE25olfhULp91rGXw/HeepnNF5uPObkpuH2q+YhV+MEwzAoKChAXp7/dKDa2lrwPA+tVouKigq/ss7OTgwOeqZvlJeX+70eq9WK5mbPvPbc3FwUFhb67VtfXw+n0wmlUonFixf7lfX29uLixYsAgNLSUmojMLmNEEURr334Od4/0oqBMSdMJv9nvBwOB1wuT9p2vd7gV1+B52GxetpolUoNnc7/ORirxQJe4AEwfu89ALicTjiCxLcoXm7nA8W3zWYFx3niuzAvB7/53vWYX+SZ0hOvNmLo2CEMv/MKwPPQaNTQaPzT5I6NjUEURbAsi/Q5c2H8+t1Ql5QBiF0bUVVV5VfW19eHnp4eAEBJSQnS09Mvv78uF+rq6gAA6enpKCkp8du3paXF+/d1yZIlfhcCg4OD6OzsBADMnj0b2dnZ3jJBEHDmzBkAgNFoxPz5/s+RtLW1YXR0FACwcOFCv/ZldHQUbW1tAEBtxDTaiM7Dn0N7eA90nBtqjX9He3w/BcvCYDSCUalhuv1eaBYupeuIS2bydQS1EYHbCIvFAn5CYpBwHSDJkiA8/PDDqKiowA9+8IOo9+U4blKGKlEU4Xa7veWB9hkvn0gQBG+S3Y7AAAAbeUlEQVSZIEye+x7pcSfWyfe4Ez+I8eOKouh3ITCO5/lpHTfYa/U97sTX6vseBjru+GsNdEcp0uOGew+bm5vB8zyUSiUWLFgQt88m3Gt1u93gOC7glyXUZxPJcd1uN3ieR1VxDn77vevxiz/vx5jdBVEUIQjB7z+MlwW6RxFyX9+yAPuOl7Fs5Mft6Dfj9+8cR44e2Hbl7EmNFuBpbAVBCPiA6VTew8bGRnAcB7vdDlEUA74PkR43VduIr5p78fKur3Cqrg2CIIJlA9wd9vvMJ7yHCB2HwqV9GQSIJQSPQ1H0Pe7k91cUPPsatUr85nsbvJ2fia+1t7d30sXNVD8bRcUSmDfeDsPBnRCFyfuKguCJQwD88CBGX/6DdzQoVm3ERKGO6/tao/27EGl8B9rft04ThXutsW4jfOs7/t0ZbzfG/6YkUxshOB1w7noP2iMHPWW6yWvViJfOJTIMFOmZSPu7h6Cc5ekQpup1xETBPpvx2Ejm64hojju+b7jjBpKMbUS0ou4AHThwABs2bIho2+rqaixfvhzbt2/Hhx9+iOrq6ikNzyqVykn7MQzjvUjwvXviu0+giwgAYFnWWxYoUCM97sQ6+R430IenUqkgimLA4yoUimkd1/ffYMed+Fp938NAxx1/rYE+s0iPG+49tNvt4DjO71jx+GzCvdbx1xnuPZzKcX2zzswvysLT378Bj/9pH5xOZ+AL0kvGywK9/wzDBN/XtyzAvlM+LoCOQRue29WIk+12PHTLGiyYk+09jlqtBs/zMXsP7Xa79w+nSqWK+nuTqm0Ey7Kou9CPv+w9g6+aL17angXLCmCYAHfD/D7zCe8hQscLyzAQWWbSfp59g8chw/ged3KdGJZBhlGDf9q6ECX5GX5lvp9HoD+y02kj2FmFcNxyDwzH9wND/RPqxAKi6Pn3EvuxQ3A11YFddwNUan3Q40bTRvgK9Zn7vtZgx51ufIf7Lk8U7rXGuo3wra8gCFAqld52w3f7ZGgjXC0NsHz4JviBfm+MMYG+V5fKxMJiZPz9Y2D1l0djUvU6YqJgn814bIy/zmS9joj0uOP7hjruTGojohX1FLienh7s2LEjom3vuOMOqNVqlJWV4b777sPjjz/uLXv44YfxwQcfoLOzEyqVyjscSM8ApZbTp097/1hNHB6fyTr7zfjFn/djYDR0Gt5EN78wEzevLcc1S+dCo47tgHKqxsZUOVwcDnzVhp1HmtDaOyJ3daYlL0OP33zv+qAp2eMdGyLHwbLzHTiqj0a8Dz0blBiSrd2I9lkfANBdeTUMm28Do5BlJZOklWyxQSKXkM8AtbW1TZq7OdGtt96K9957DwB1gEjqGLE48PRrnyfN+iuhGLQqbFw5D1tWl6EoNy38DiRmOvpG8fHRZuw91QqbM3myugVTVZqLn97zNaQZ5O1IiKIIx/EvYN39PsQAU2UCUWRm+z0bREgo3lGf0chuWDAqFQybboPuyqviXDNCkktCdoAcDgeOHDky6fe/+93vcPDgQXz88cfIycnxPthFHSCSStwcj+feP4HdJ8/LXZWYWV42C1vXlGN1ZRFljosTjhdw9Fwndh5twunzfXJXJ2a2rinD97ethDKB4oYb6IPlgzfg7miLeB8aDSKhTGXURzV3PkxfvxuKrNhnQiQk2SVkByiYaLLAUQeIzGSiKOKjw414YUc1BHm+jnGRnabD5tVl2HTlfGSl6cLvQMIaHLVh1/EW7DreknSprENRsAz+v1tWYsua8vAby0AUBDiOfgbrvh0RjwaxaRkwXHcTNEtXgaGV5wkAkefgqD4G22e7IFzKxhkOo1LBsPEWaFetpxTXhARBHSBCkthXzb34jze+gMUefsG7ZKJgGawoL8CahUVYVVlEnaEoDY7acKy+C0frulDd1DujOskAkKbX4Kf3rkdV6eTMgolmKqNBipxZMFy/FerKJXQBm6JEUYTrXA2s+3eCH+wPv8MlNOpDSGSSqgMUDHWAUkt/f783u8nENVFSUc/gGJ565TN09Ed2dzAZlRdlYc3CIqxZNBtzZ6UHvShM1dgQRRGtPSOXOj2daO4alrtKcVOSn45f3H8t8jIN4Tf2IWdsTGU0CABURXOh37iNng+Ks0RrN1znG2Hd+xG47o6I96FRn/hItNggsUMdIJJ0ampqvFlZJi40l6psDjf+11tf4nhDt9xVibu8DD3WLJyN1QuLUFWa5/fsRyrFhpvjceZ8H47WdeJYfXfSZweMxFWLZ+Nf7loH7RSyByZCbExlNAgA1GWVMFx/M5QFs8NvTKKWCLEBAO7uDtj2fgTX+cao9qNRn/hJlNggsTeVvgPlUCQkwei1Kjx+/zV4bfdpvH3wnNzViau+ERs+PNyIDw83Qq9RYcWCfFy5oBAL5mSHXCQ22QmCiM5+Mxo7B3GioRsnG3vgcEU+mpDs7rmhCndfX5XUd7eVOXlIf/Cfox4NcjXXw9VcD03VChg2bKEL3RmGH+yHdd8OOM/VRLUfjfoQIi0aASKyGhkZgSAIYFkWGRkZ4XdIMZ/VXMAz24/CxU1eMXmmU0BA8aw0zC/IxNLyIpQVZaEoJy3kQq2JaLyz09w15P053zMMpzv1PlONSoHH7lqHq6rmTOs4idZuTHU0iFEooF25DvqvbQJrDLzmEYmOXLHBj43CdnAXHKeOAFFeVtGojzQSrd0gsUNT4AiZgZo6B/H064dSYlpUOFq1EvMKMlBWlOX9Kcw2JUy6bZ4X0DUwRp2dAPIy9Hj8/mtQWpApd1XiQhRFOM+chG3/x+BHhqLal1GpoFl6JXRXXg1lflGcakjigevphP34ITjPnIzqmTAAUGTmeBJkLF5Ooz6ETAN1gAiZoSx2F/77o5PYV90md1USDsMAGQYtMk1aZKfpkWnSIsukQ1aaDlkmHTIv/XeGUTvl9WU4XsCIxYEhsx1DY3a/f4ct4//vwKjVEe3N35Sw6cp5+O6WK2DQqeWuStyJPAfHycOwHfwUgs0SfocJVHNKoF21HpqFy8AoaZZ6IhLdbjjPfQXH8S/g7roQ9f6s0QT9tTdBe8UaMAr6jAmZLuoAETLDHa/vwv979/iMWgNGKgzjSbls1KmhYBkoWBYKxaV/L02r4wURvCCA50VwvABBFGGxuzBqdcpc++SUk67HP9++GisWFMhdFckJTgccRw7C9uV+iK7o44fVG6FdsQbalVdBkZEVhxqSaPFDA7Cf/BLO6qMQ7NGPyDNaLfRX3QDdmq/RIrmExBB1gEjS4TgOoiiCYRgo6W5nRFJlNEgUBYiip+PCMPT9TzY3rpyH722Nz6hPMrUbgtUC26E9cBw/BJGf2lRI9YLF0F15NVRllTRVKoxYx4YoCHA118Fx/BBczfVTOgajUEK7ej306zeC1UeX8p3ETjK1GyQ61AEiSYfSUk7dsbou/OG9mTsaZDaPQhBEsCyDtLR0uatDIpSTrsc/3bYKKysK43aOZGw3+JEh2A58AkfN8SkfQ5GZDe2VV0O7fDVdSAcRq9gQrBY4qo/AceJL8KNTX4tLe8Ua6K/dDEU6PXQvt2RsN0hkKA02ISlk9cIiLCrJTYnRIJIc4jnqk+wUGVkw3XYPdFdtgHXvDrgaz0Z9DH54ENbdH8C2bwdUc8ugrqiCumIxFOkzM7GE1PjhQbgaz8LVeBbutmaIgjDlY2kql0B//VYoc/NjWENCSKzQCBCRVWtrKziOg1KpRGlpqdzVSVozcTTIZrNBFAUwDAu9Xi93dUgIUoz6+JoJ7Ya7vRX2IwfgrD8TddrkiZSzCj2doQWLoSyck9LT5KKJDVEUwXVd8HR6Gs6C6+uZ1rkZloW6cgl0666DanbJtI5FYm8mtBskMJoCR0gKS5Vng0hioVGf6eFHR+A4dRiOU4chWMbC7xAGa0qDesFiz0/pAjAqVQxqOXOIbhdc5xvhaqiFq/EsBGv0mfomYk1p0K28CpoVa6Ew0XRdQqRGHSBCyIwcDSKJR+pRn5lO5Dm46mthP/EF3G3NMTkmo1JBNW8BNBVVUM0tA5uZnXKjQ6IoQhgagPtCC5wNtXCfb4h6vZ5g1KXl0F55NdQViymdNSEyog4QIQQAYHe68e7n9Xj3UD0crtj8sScEAPQaFe74WiVuXV8JrZou+uKB6+uF4+QXcHx1fEoptINhtFoo82dDWTgHqoI5UBbOmVGdIm9np6cDXHcHuJ5OcD2dEJ2OmJ2D0WqhXbYa2iuvgjJnVsyOSwiZOuoAEUL8jFoceGv/WXx8rBkcP/UHeglRKVncvKYcd123GGkGWsNECoLTAeeZU3AcPzTt51OCSdZOkRSdHV/K/CLoVq2HpuoKWsOHkARDHSCSdM6fP+99KHHevHlyV2fG6hu24rXdp3Ggpm26z1tLxmazQhREMCwDPaX8lQ3DADdcUYp7Ni5BbkZifA6p1m6Iogiuow2OU4fhajoHwWaN6/kYrRbKWUVQpGeANaaDNZrApmV4/jWlgzWlgVHF95kv0eWEYBkDbx6BaBmDMDYK3mKGaDGDHx0B19sVsLMTy3aD1RuhrlgM7Yq1UBbNTfhOIQkt1dqNVEJpsEnSGRsb8+blJ/GTl2nAY99chzuuWYhXdtXgeEO33FUKi+M47zpARB5rFxXh25uWYU5eYj3YnWrtBsMwUBWXQlVcClEQwHVegKuhFs7GWvADfTE/n+hwwH2hBe5QddJowZrSwBrTPJ0iowmsMQ2MQgGwLMAqPP/NsIDi0kUILwCi4FkQVuABQYDIcRCsYxDGzBAsZghjoxAsY1MeyeE4HqIggJniTVNlbj7UFYuhrqiiTs8Mk2rtBgmNOkCEpJCS/Aw88cC1ONvah5d31aCufUDuKpEEVFWaiwduWo7K4hy5q0ImYFjW2xky3HgL+MF+OBvPwtVQC/eFFsnqITod4J2OuHTAJMUwUM2dD80CT6dHkUUxT0gqoClwRFY8z3v/W6FQyFiT1COKIo7Xd+PlXV+hvc8sd3Um8W2a6C6sNErzM/DATcuwYkFBQr/n1G4EJtiscDXVwdVYC1dzfUwTKCSLSNoNRqOFuqzSs3ZS2UKwOlpnLBVQuzFz0TNAhJCoCYKIA1+14S97z+DicHyfLSCJqSDLiHs3LsE1y2jKz0whchzcF5rhamnwJglIxQ4R4J/oQT2/Eqq58yhtNSEzCHWACCFTJggiTjZ2Y8eRJpxq6kmaZAlkahgGWFVRiK1ryhN+xIdMnyiK4Af7wfV2Xs6a1t0x4zpF3s5OwWyoCouTJqsdIWTqqANECImJnsExfHKsGbtPnMeY3SV3dUgMpek12HTlPGxZU468zMTI6kbkkeydIursEEIA6gCRJDQ8PAxBEMCyLDIzM+WuDpnA5eZx6Ew7dh5tQkPHoKTndrtdEEXPSIUqzil3U8HC4hxsXVuOq6vmQKVM7vnv1G7EjyiKEIYHwZtHLmVlu5SZLUZZ2iLFaLWeDHO+WeYupeBmjWlQpGUE7OxQbJBgKDZmLkqDTZJOe3u7Ny0lNUiJR61S4PoVpbh+RSmau4aw80gTDtZcgIvjw+88TXa73ZsGmzpAU6NVK3HdsrnYsqYc8wpnzveL2o34YRgGiqycsNnQxtfp8XaOxkYhOOyAKAC8APFSmmsIAkSeAxgGDDueIpv1/LeCBRgWrE7v17mZzjpDFBskGIoN4os6QISQiJQVZeGHd67Bd7degb0nz2Pn0SZ0D1rkrhYJYE5uGrauLceG5SUw6KjzSGKPUWugyNJQ2mhCSFKiKXBEVgMDA94h6Zwc+kOaTERRRE3LRXxxph3H6rsxNGaP6fFdLhdEUQTDMFCr6SI+nCyTDmsWFmH9kmIsmZc3o5+DoHaDBEOxQYKh2Ji56BkgQogsRFFEc9cQjtZ14VhdF1p7R+SuUkqYV5CBNQtnY83CIswrzJzRnR5CCCEkEOoAEUISQt+wFcfqu3C0rhO1rf3geEHuKs0ISgWLpfPysGbhbKxeWIScdFrAkRBCSGqjDhAhJOFY7S5UN/fiWF0Xjjd0w0JptaNi0qmxqrIQaxbOxhXl+dBpVHJXiRBCCEkY1AEihCQ0nhdQ1z6AY3VdqG8fwPmeYTjd8c8ol0w0KgXmFWRi4dwcrK4sQmVxDhQKav8IIYSQQKgDRJJOTU2NNy3lsmXL5K4OkZggiOjsN6OpcxAt3cNo7hrydorM5lFvGuy0tHS5qxoXGpUC8wszUVaU5f0pykkDy9KzPKFQu0GCodggwVBszFy0DhAhJKmwLIPiWekonpWOG1Z6fjfeKdr12XG0XjSje9gOC6dI+pEirVqJeQUZ1NkhhBBCZEYdICIrvV4PjuOgVFIoEo/xTtF1y+di/aXYmD+/DJ39ZjR3DaFrwIzhMQeGxuwYMtsxNGbHqNUpd7XBMECaXoPsNB0yTTpkmXTINGkxOzeNOjsxRu0GCYZigwRDsUF80RQ4QkjS43gBIxaHt0M0ZLZjeMyOQbMdwxbP/49YnHBzPARRBMcL4AURvCBgYgvIMICCZaFUsFCwDFiGgUqpQIZRg6w0T8cmy6S7/N+XOjwZRi2U9KwOIYQQIimaAkcISUlKBYucdP2U0kKLoghe8PSCFCxDa+kQQgghMxx1gAghKY1hGCgV1OkhhBBCUgXN1yCEEEIIIYSkDBoBIrJqb2/3PpRYXFwsd3VIAqHYIMFQbJBgKDZIMBQbxBeNABFZDQ8PY2hoCMPDw3JXhSQYig0SDMUGCYZigwRDsUF8UQeIEEIIIYQQkjIoDTaRldPphCiKYBgGGo1G7uqQBEKxQYKh2CDBUGyQYCg2Zi5Kg02SDjVCJBiKDRIMxQYJhmKDBEOxQXxJOqxy6NAhbN26FZmZmdDpdCgvL8dTTz0lZRUIIYQQQgghKUyyEaC//OUvuP/++/HNb34Tr7zyCoxGI1paWtDd3S1VFQghhBBCCCEpTpJngLq6ulBRUYFvf/vbePbZZ0Nuy/M8LBaL3+8MBgM9AzRD+c7ZNJlMMtaEJBqKDRIMxQYJhmKDBEOxMXMJggCr1er3O6PRCIVCEXQfSUaAXnjhBVitVvzbv/1b2G0D9ccmvigyM018gI2QcRQbJBiKDRIMxQYJhmJj5gs3viPJsMpnn32GrKws1NfXY/ny5VAqlcjLy8M//MM/wGw2S1EFQgghhBBCCJGmA9TV1QWbzYa77roL3/rWt7Bnzx786Ec/wiuvvIKtW7eG7aURQgghhBBCSCxEPQXuwIED2LBhQ0TbVldXY/ny5RAEAQ6HA7/85S/xk5/8BABw3XXXQa1W49FHH8XevXuxcePGaKtCCCGEEEIIIVGJugNUUVGB//7v/45o2+LiYgBAdnY2mpqacNNNN/mVb9myBY8++ihOnTrl7QCxLAuDweC3HcMwYBgm2qoSQgghhBBCZjBRFCfNJguXPC3qDlBBQQEeeuihqPZZunQpjhw5Mun345X1rSTLspTxjRBCCCGEEBIXkvQ07rzzTgDAxx9/7Pf7nTt3AgDWrl0rRTUIIYQQQgghKU6SNNibNm3CLbfcgl//+tcQBAFr167FiRMn8Ktf/Qrbtm3D+vXrpagGIYQQQgghJMVJNtfsrbfewqOPPornn38eW7ZswXPPPYd/+Zd/wTvvvCNVFUgCGRsbw49//GNs2rQJubm5YBgGTz75ZNDtx58TMxqNyMjIwB133IHz589LV2EiqwMHDnifBZz4E2h6LZmZLBYLHn30URQWFkKr1WL58uV488035a4WkRm1DwSI7rqCrimIZB0gnU6H3/3ud2hvb4fb7caFCxfw9NNPQ6PRSFUFkkAGBwfx/PPPw+l04rbbbgu57f/f3v2ENP3HcRx/jQY6CZXpJQ86UKkgZVKjSwMnhCjr4CRs3YIu0qFDlI5g4SUS9ODNSKKBKIl/LkMTD3oIpIN02IioZCwhiNoGNVFC2O/wY/Kz1u83f+n3O/g+H+DB7+fLd6/Dl7fv9/fPfPv2rdrb2/Xjxw/NzMzo6dOnevfunbxer758+WJQYpSChw8fan19/cDPuXPnzI4FgwQCAUUiET148EBLS0vyeDwKBoOampoyOxpKAPXB2ortK+gpIBn0CBzws4aGBmUyGdlsNn39+lUTExO/3TccDqusrEzRaFSVlZWSpPPnz6u5uVkjIyMaHh42KjZM1tzczDuDFrW4uKiVlRVNTU0pGAxKknw+n5LJpO7evau+vj6dOHHC5JQwE/XB2ortK+gpIBl4Bwj4p2K/2nxvb0/RaFS9vb37hUr6u9D5fD4tLCwcZ0wAJWJhYUEnT57U1atXD2y/ceOGPn36pFevXpmUDEApKKavoKdAHgMQStrm5qZ2dnbU2tr6y1pra6s+fPig3d1dE5LBDLdu3ZLdbldlZaU6Ozv18uVLsyPBIPF4XGfPnpXdfvDBhXxtiMfjZsRCCaE+4L/QUyCPAQglLZVKSZKcTucva06nU7lcTplMxuhYMFhVVZVu376tx48fa3V1VWNjY9ra2lJ7e7uWl5fNjgcDpFKp39aB/DqsifqAYtFTII93gPDH1tbW5PP5itr39evXcrvdh/6Mf7utXcyjdCgd/+d8aWtrU1tb2/52r9ernp4etbS06N69e+rs7DyuuCgh1AEUQn3AYVFLwACEP3b69Gk9efKkqH3r6+sPdeyamhpJha/uptNp2Ww2VVdXH+qYMNdRnS/V1dXy+/0aHx/Xzs6OHA7HUUVECaqpqfltHZAKX9GFdVEfUAg9BfIYgPDHTp06pZs3bx7LsRsbG+VwOBSLxX5Zi8ViampqUnl5+bF8No7HUZ4vuVxOElfsrKClpUXT09Pa29s78B5Qvjbwdcf4GfUBP6OnQB7vAKGk2e12XblyRfPz8/r+/fv+9o8fP2p1dVWBQMDEdDBTJpNRNBqV2+3mD5YF9PT0KJvNam5u7sD2SCSiuro6Xbx40aRkKEXUBxRCT4E87gDBNEtLS9re3t4vQm/evNHs7Kwkqbu7WxUVFZKkoaEheTwe+f1+DQ4Oand3V+FwWLW1tbpz545p+WGc69evq76+XhcuXFBtba3ev3+v0dFRff78Wc+ePTM7HgzQ1dWly5cvq7+/X9++fVNTU5Omp6f14sULTU5O8j+ALIz6gLxi+gp6CkiSLZe/RwwYzOVyKZlMFlxLJBJyuVz7v29sbGhgYEDr6+uy2+3q6OjQyMiIGhsbDUoLMz169EjPnz9XIpFQNpuV0+nUpUuXFAqF5PF4zI4Hg2SzWd2/f18zMzNKp9M6c+aMQqGQrl27ZnY0mIj6gLxi+wp6CjAAAQAAALAM3gECAAAAYBkMQAAAAAAsgwEIAAAAgGUwAAEAAACwDAYgAAAAAJbBAAQAAADAMhiAAAAAAFgGAxAAAAAAy2AAAgAAAGAZDEAAAAAALIMBCAAAAIBl/AWpCxYA7h+UAgAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.show_two_sensor_bearing()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We compute the bearing between a sensor and the target as:" ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [], "source": [ "def bearing(sensor, target_pos):\n", " return math.atan2(target_pos[1] - sensor[1], \n", " target_pos[0] - sensor[0])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The filter receives the measurement from the two sensors in a vector. The code will accept any iterable container, so I use a Python list for efficiency. We can implement that as:" ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [], "source": [ "def measurement(A_pos, B_pos, pos):\n", " angle_a = bearing(A_pos, pos)\n", " angle_b = bearing(B_pos, pos)\n", " return [angle_a, angle_b]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Assume a constant velocity model for the aircraft. For a change of pace I compute the new positions explicitly rather than using matrix-vector multiplication:" ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [], "source": [ "def fx_VOR(x, dt):\n", " x[0] += x[1] * dt\n", " x[2] += x[3] * dt\n", " return x" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Next we implement the measurement function. It converts the prior to an array containing the measurement to both stations. I'm not a fan of global variables, but I put the position of the stations in the global variables `sa_pos` and `sb_pos` to demonstrate this method of sharing data with $h()$:" ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [], "source": [ "sa_pos = [-400, 0]\n", "sb_pos = [400, 0]\n", "\n", "def hx_VOR(x):\n", " # measurement to A\n", " pos = (x[0], x[2])\n", " return measurement(sa_pos, sb_pos, pos)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we write boilerplate which constructs the filter, runs it, and plots the results:" ] }, { "cell_type": "code", "execution_count": 35, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def moving_target_filter(pos, std_noise, Q, dt=0.1, kappa=0.0):\n", " points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=kappa)\n", " f = UKF(dim_x=4, dim_z=2, dt=dt, \n", " hx=hx_VOR, fx=fx_VOR, points=points)\n", " f.x = np.array([pos[0], 1., pos[1], 1.])\n", "\n", " q = Q_discrete_white_noise(2, dt, Q)\n", " f.Q[0:2, 0:2] = q\n", " f.Q[2:4, 2:4] = q\n", " f.R *= std_noise**2\n", " f.P *= 1000 \n", " return f\n", "\n", "def plot_straight_line_target(f, std_noise):\n", " xs, txs = [], []\n", " for i in range(300):\n", " target_pos[0] += 1 + randn()*0.0001\n", " target_pos[1] += 1 + randn()*0.0001\n", " txs.append((target_pos[0], target_pos[1]))\n", "\n", " z = measurement(sa_pos, sb_pos, target_pos)\n", " z[0] += randn() * std_noise\n", " z[1] += randn() * std_noise\n", "\n", " f.predict()\n", " f.update(z)\n", " xs.append(f.x)\n", "\n", " xs = np.asarray(xs)\n", " txs = np.asarray(txs)\n", "\n", " plt.plot(xs[:, 0], xs[:, 2])\n", " plt.plot(txs[:, 0], txs[:, 1], ls='--', lw=2, c='k')\n", " plt.show()\n", "\n", "np.random.seed(123)\n", "target_pos = [100, 200]\n", "\n", "std_noise = math.radians(0.5)\n", "f = moving_target_filter(target_pos, std_noise, Q=1.0)\n", "plot_straight_line_target(f, std_noise)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This looks quite good to me. The beginning of the track exhibits large errors, but the filter settles down and produces good estimates.\n", "\n", "Let's revisit the nonlinearity of the angles. I will position the target between the two sensors at (0,0). This will cause a nonlinearity in the computation of the residuals because the mean angle will be near zero. As the angle goes below 0 the measurement function will compute a large positive angle of nearly $2\\pi$. The residual between the prediction and measurement will thus be very large, nearly $2\\pi$ instead of nearly 0. This makes it impossible for the filter to perform accurately, as seen in the example below." ] }, { "cell_type": "code", "execution_count": 36, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "target_pos = [0, 0]\n", "f = moving_target_filter(target_pos, std_noise, Q=1.0)\n", "plot_straight_line_target(f, std_noise)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This performance is unacceptable. `FilterPy`'s UKF code allows you to specify a function which computes the residuals in cases of nonlinear behavior like this,. The final example in this chapter demonstrates its use." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Effects of Sensor Error and Geometry" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The geometry of the sensors relative to the tracked object imposes a physical limitation that can be extremely difficult to deal with when designing filters. If the radials of the VOR stations are nearly parallel to each other then a very small angular error translates into a very large distance error. What is worse, this behavior is nonlinear - the error in the *x-axis* vs the *y-axis* will vary depending on the actual bearing. These scatter plots show the error distribution for a 1°$\\sigma$ error for two different bearings." ] }, { "cell_type": "code", "execution_count": 37, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.plot_scatter_of_bearing_error()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Exercise: Explain Filter Performance" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that for small angular errors the positional errors are very large. Explain how we got such relatively good performance out of the UKF in the target tracking problems above. Answer for both the one sensor and multiple sensor problem. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Solution" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This is very important to understand. Try very hard to answer this before reading the answer below. If you cannot answer this you may need to revisit some of the earlier material in the **Multidimensional Kalman Filter** chapter.\n", "\n", "There are several factors contributing to our success. First, let's consider the case of having only one sensor. Any single measurement has an extreme range of possible positions. But, our target is moving, and the UKF is taking that into account. Let's plot the results of several measurements taken in a row for a moving target." ] }, { "cell_type": "code", "execution_count": 38, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ukf_internal.plot_scatter_moving_target()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Each individual measurement has a very large position error. However, a plot of successive measurements shows a clear trend - the target is obviously moving towards the upper right. When a Kalman filter computes the Kalman gain it takes the distribution of errors into account by using the measurement function. In this example the error lies on an approximately 45° line, so the filter will discount errors in that direction. On the other hand, there is almost no error in measurement orthogonal to that, and again the Kalman gain will take that into account. \n", "\n", "This graph makes it look easy because we have plotted 100 measurements for each position update. The movement of the aircraft is obvious. In contrast, the Kalman filter only gets one measurement per update. Therefore the filter will not be able to generate as good a fit as the dotted green line implies. \n", "\n", "Now consider that the bearing gives us no distance information. Suppose we set the initial estimate to 1,000 kilometers away from the sensor (vs the actual distance of 7.07 km) and make $\\mathbf P$ very small. At that distance a 1° error translates into a positional error of 17.5 km. The KF would never be able to converge onto the actual target position because the filter is incorrectly very certain about its position estimates and because there is no distance information provided in the measurements." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's consider the effect of adding a second sensor. Here are two plots showing the effects of different sensor placements. I used a square and a triangle as a symbol for the two sensors, and drew a distribution of the errors due to each sensor using the same symbol shape and color. I then computed the $(x, y)$ coordinate corresponding to the two noisy bearing measurements and plotted them with red dots to show the distribution of the noisy measurements in $x$ and $y$." ] }, { "cell_type": "code", "execution_count": 39, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "with figsize(10,5):\n", " ukf_internal.plot_iscts_two_sensors()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the first plot I placed the sensors nearly orthogonal to the target's initial position so we get these lovely 'x' shape intersections. We can see how the errors in $x$ and $y$ change as the target moves by the shape the scattered red dots make - as the target gets further away from the sensors, but nearer the $y$ coordinate of sensor B the shape becomes strongly elliptical.\n", "\n", "In the second plot the airplane starts very near one sensor, and then flies past the second sensor. The intersections of the errors are very non-orthogonal, and the resulting position errors become very spread out." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Implementation of the UKF\n", "\n", "FilterPy implements the UKF, but it is instructive to learn how to translate equations into code. Implementing the UKF is quite straightforward. First, let's write code to compute the mean and covariance of the sigma points. \n", "\n", "We will store the sigma points and weights in matrices, like so:\n", "\n", "$$ \n", "\\begin{aligned}\n", "\\text{weights} &= \n", "\\begin{bmatrix}\n", "w_0& w_1 & \\dots & w_{2n}\n", "\\end{bmatrix} \n", "\\\\\n", "\\text{sigmas} &= \n", "\\begin{bmatrix}\n", "\\mathcal{X}_{0,0} & \\mathcal{X}_{0,1} & \\dots & \\mathcal{X}_{0,n-1} \\\\\n", "\\mathcal{X}_{1,0} & \\mathcal{X}_{1,1} & \\dots & \\mathcal{X}_{1,n-1} \\\\\n", "\\vdots & \\vdots & \\ddots & \\vdots \\\\\n", "\\mathcal{X}_{2n,0} & \\mathcal{X}_{2n,1} & \\dots & \\mathcal{X}_{2n,n-1}\n", "\\end{bmatrix}\n", "\\end{aligned}\n", "$$\n", "\n", "\n", "That's a lot of subscripts to describe something very simple, so here's an example for a two dimensional problem ($n$=2):" ] }, { "cell_type": "code", "execution_count": 40, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[ 0. , 0. ],\n", " [ 0.173, 0.017],\n", " [ 0. , 0.172],\n", " [-0.173, -0.017],\n", " [ 0. , -0.172]])" ] }, "execution_count": 40, "metadata": {}, "output_type": "execute_result" } ], "source": [ "points = MerweScaledSigmaPoints(n=2, alpha=.1, beta=2., kappa=1.)\n", "points.sigma_points(x=[0.,0], P=[[1.,.1],[.1, 1]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The sigma point for the mean is on the first row. Its position is (0, 0), which is equal to the mean (0,0). The second sigma point is at position (0.173, 0.017), and so on. There are are $2n+1 = 5$ rows, one row per sigma point. If $n=3$, then there would be 3 columns and 7 rows.\n", "\n", "The choice to store the sigmas in row-column vs column row format is somewhat arbitrary; my choice makes the rest of the code clearer as I can refer to the i$^{th}$ sigma point as `sigmas[i]` instead of `sigmas[:, i]`." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Weights\n", "\n", "Computing the weights with NumPy is easy. Recall that the Van der Merwe scaled sigma point implementation states:\n", "\n", "$$\n", "\\begin{aligned}\n", "\\lambda&=\\alpha^2(n+\\kappa)-n \\\\ \n", "W^m_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n", "W^c_0 &= \\frac{\\lambda}{n+\\lambda} + 1 -\\alpha^2 + \\beta \\\\\n", "W^m_i = W^c_i &= \\frac{1}{2(n+\\lambda)}\\;\\;\\;i=1..2n\n", "\\end{aligned}\n", "$$\n", " \n", "Code for these is:\n", "\n", "```python\n", "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_)\n", "```\n", "\n", "I use the underscore in `lambda_` because `lambda` is a reserved word in Python. A trailing underscore is the Pythonic workaround." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Sigma Points\n", "\n", "The equations for the sigma points are:\n", "\n", "$$\n", "\\begin{cases}\n", "\\mathcal{X}_0 = \\mu \\\\\n", "\\mathcal{X}_i = \\mu + \\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i, & \\texttt{for i=1..n} \\\\\n", "\\mathcal{X}_i = \\mu - \\left[\\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} & \\texttt{for i=(n+1)..2n}\n", "\\end{cases}\n", "$$\n", "\n", "The Python is not difficult once we understand the $\\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i$ term.\n", "\n", "The term $\\sqrt{(n+\\lambda)\\Sigma}$ is a matrix because $\\Sigma$ is a matrix. The subscript $i$ in $[\\sqrt{(n+\\lambda)\\Sigma}]_i$ is choosing the column vector of the matrix. What is the square root of a matrix? There is no unique definition. One definition is that the square root of a matrix $\\Sigma$ is the matrix $S$ that, when multiplied by itself, yields $\\Sigma$: if $\\Sigma = SS$ then $S = \\sqrt{\\Sigma}$.\n", "\n", "We will choose an alternative definition that has numerical properties which make it easier to compute. We can define the square root as the matrix S, which when multiplied by its transpose, returns $\\Sigma$:\n", "\n", "$$\n", "\\Sigma = \\mathbf{SS}^\\mathsf T\n", "$$\n", "\n", "This definition is favored because $\\mathbf S$ is computed using the [*Cholesky decomposition*](https://en.wikipedia.org/wiki/Cholesky_decomposition) [3]. It decomposes a Hermitian, positive-definite matrix into a triangular matrix and its conjugate transpose. The matrix can be either upper \n", "or lower triangular, like so:\n", "\n", "$$A=LL^{∗} \\\\ A=U^{∗}U$$\n", "\n", "The asterick denotes the conjugate transpose; we have only real numbers so for us we can write:\n", "\n", "$$A=LL^\\mathsf T \\\\ A=U^\\mathsf T U$$\n", "\n", "$\\mathbf P$ has these properties, so we can treat $\\mathbf S = \\text{cholesky}(\\mathbf P)$ as the square root of $\\mathbf P$.\n", "\n", "SciPy provides `cholesky()` method in `scipy.linalg`. If your language of choice is Fortran, C, or C++, libraries such as LAPACK provide this routine. Matlab provides `chol()`.\n", "\n", "By default `scipy.linalg.cholesky()` returns a upper triangular matrix, so I elected to write the code to expect an upper triangular matrix. If you provide your own square root implementation you will need to take this into account." ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[2.005, 0.122],\n", " [0.122, 2.995]])" ] }, "execution_count": 41, "metadata": {}, "output_type": "execute_result" } ], "source": [ "import scipy\n", "a = np.array([[2., .1], [.1, 3]])\n", "s = scipy.linalg.cholesky(a)\n", "np.dot(s, s.T)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So we can implement the sigma points with this code:\n", "\n", "```python\n", "sigmas = np.zeros((2*n+1, n))\n", "U = scipy.linalg.cholesky((n+lambda_)*P) # sqrt\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", "\n", "Now let's implement the unscented transform. Recall the equations\n", "\n", "$$\\begin{aligned}\n", "\\mu &= \\sum_i w_i^m\\mathcal{X}_i \\\\\n", "\\Sigma &= \\sum_i w_i^c{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\n", "\\end{aligned}\n", "$$\n", "\n", "We implement the sum of the means with\n", "\n", "```python\n", "x = np.dot(Wm, sigmas)\n", "```\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 and Fortran to achieve much faster speeds than Python can reach. A typical speedup is 20x to 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 of products, we call the built in `numpy.dot(x, y)` method. The dot product of two vectors is the sum of the element-wise multiplications of each element. If passed a 1D array and a 2D array it will compute the sum of inner products:" ] }, { "cell_type": "code", "execution_count": 42, "metadata": { "scrolled": false }, "outputs": [ { "data": { "text/plain": [ "array([410, 520, 630])" ] }, "execution_count": 42, "metadata": {}, "output_type": "execute_result" } ], "source": [ "a = np.array([10, 100])\n", "b = np.array([[1, 2, 3],\n", " [4, 5, 6]])\n", "np.dot(a, b)" ] }, { "cell_type": "markdown", "metadata": {}, "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", "```python\n", "kmax, n = sigmas.shape\n", "P = zeros((n, n))\n", "for k in range(kmax):\n", " y = sigmas[k] - x\n", " P += Wc[k] * np.outer(y, y) \n", "P += Q\n", "```\n", "\n", "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 the 1D array $\\mathbf{y}$. An alternative implementation could be:\n", "\n", "```python\n", "y = (sigmas[k] - x).reshape(kmax, 1) # convert into 2D array\n", "P += Wc[K] * np.dot(y, y.T)\n", "```\n", "\n", "This code is slower and not idiomatic, so we will not use it." ] }, { "cell_type": "markdown", "metadata": { "collapsed": true }, "source": [ "### Predict Step\n", "\n", "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", "$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\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.\n", "\n", "```python\n", "def predict(self, sigma_points_fn):\n", " \"\"\" Performs the predict step of the UKF. On return, \n", " self.xp and self.Pp contain the predicted state (xp) \n", " and covariance (Pp). 'p' stands for prediction.\n", " \"\"\"\n", "\n", " # calculate sigma points for given mean and covariance\n", " sigmas = sigma_points_fn(self.x, self.P)\n", "\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.Wm, self.Wc, self.Q)\n", "```" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Update Step" ] }, { "cell_type": "markdown", "metadata": { "scrolled": false }, "source": [ "The update step converts the sigmas into measurement space via the function `h(x)`.\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", "$$\\mathbf P_{xz} =\\sum_{i=0}^{2n} w^c_i(\\boldsymbol{\\mathcal Y}_i-\\mu)(\\boldsymbol{\\mathcal Z}_i-\\mu_z)^\\mathsf T$$\n", "\n", "Finally, we compute the new state estimate using the residual and Kalman gain:\n", "\n", "$$\\begin{aligned}\n", "K &= \\mathbf P_{xz} \\mathbf P_z^{-1}\\\\\n", "{\\mathbf x} &= \\mathbf{\\bar x} + \\mathbf{Ky}\n", "\\end{aligned}$$\n", "\n", "and the new covariance is computed as:\n", "\n", "$$ \\mathbf P = \\mathbf{\\bar P} - \\mathbf{KP}_z\\mathbf{K}^\\mathsf{T}$$\n", "\n", "This function can be implemented as follows, assuming it is a method of a class that stores the necessary matrices and data.\n", "\n", "```python\n", "def update(self, z):\n", " # rename for readability\n", " sigmas_f = self.sigmas_f\n", " sigmas_h = self.sigmas_h\n", "\n", " # transform sigma points into measurement space\n", " for i in range(self._num_sigmas):\n", " sigmas_h[i] = self.hx(sigmas_f[i])\n", "\n", " # mean and covariance of prediction passed through UT\n", " zp, Pz = unscented_transform(sigmas_h, self.Wm, self.Wc, self.R)\n", "\n", " # compute cross variance of the state and the measurements\n", " Pxz = np.zeros((self._dim_x, self._dim_z))\n", " for i in range(self._num_sigmas):\n", " Pxz += self.Wc[i] * np.outer(sigmas_f[i] - self.xp,\n", " sigmas_h[i] - zp)\n", "\n", " K = dot(Pxz, inv(Pz)) # Kalman gain\n", "\n", " self.x = self.xp + dot(K, z-zp)\n", " self.P = self.Pp - dot(K, Pz).dot(K.T)\n", "```" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### FilterPy's Implementation\n", "\n", "FilterPy has generalized the code somewhat. You can specify different sigma point algorithms, specify how to compute the residual of the state variables (you can not subtract angles because they are modular), provide a matrix square root function, and more. See the help for details.\n", "\n", "https://filterpy.readthedocs.org/#unscented-kalman-filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Batch Processing\n", "\n", "The Kalman filter is recursive - estimates are based on the currernt measurement and prior estimate. But it is very common to have a set of data that have been already collected which we want to filter. In this case the filter can be run in a *batch* mode, where all of the measurements are filtered at once.\n", "\n", "Collect your measurements into an array or list.\n", "\n", "```python\n", "zs = read_altitude_from_csv()\n", "```\n", "\n", "Then call the `batch_filter()` method.\n", "\n", "```python\n", "Xs, Ps = ukf.batch_filter(zs)\n", "```\n", "\n", "The function takes the list/array of measurements, filters it, and returns an array of state estimates (`Xs`) and covariance matrices (`Ps`) for the entire data set. \n", "\n", "Here is a complete example drawing from the radar tracking problem above." ] }, { "cell_type": "code", "execution_count": 43, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "dt = 12. # 12 seconds between readings\n", "range_std = 5 # meters\n", "bearing_std = math.radians(0.5)\n", "\n", "ac_pos = (0., 1000.)\n", "ac_vel = (100., 0.)\n", "radar_pos = (0., 0.)\n", "h_radar.radar_pos = radar_pos\n", "\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", "\n", "kf.R = np.diag([range_std**2, bearing_std**2])\n", "kf.x = np.array([0., 90., 1100.])\n", "kf.P = np.diag([300**2, 30**2, 150**2])\n", "\n", "radar = RadarStation((0, 0), range_std, bearing_std)\n", "ac = ACSim(ac_pos, (100, 0), 0.02)\n", "\n", "np.random.seed(200)\n", "\n", "t = np.arange(0, 360 + dt, dt)\n", "n = len(t)\n", "\n", "zs = []\n", "for i in range(len(t)):\n", " ac.update(dt)\n", " r = radar.noisy_reading(ac.pos)\n", " zs.append([r[0], r[1]])\n", "\n", "xs, covs = kf.batch_filter(zs)\n", "ukf_internal.plot_radar(xs, t)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Smoothing the Results\n", "\n", "Assume that we are tracking a car. Suppose we get a noisy measurement that implies that the car is starting to turn to the left, but the state function has predicted that the car is moving straight. The Kalman filter has no choice but to move the state estimate somewhat towards the noisy measurement, as it cannot judge whether this is just a particularly noisy measurement or the true start of a turn. \n", "\n", "If we are collecting data and post-processing it we have measurements after the questionable one that informs us if a turn was made or not. Suppose the subsequent measurements all continue turning left. We can then be sure that the measurement was not very noisy, but instead a turn was initiated.\n", "\n", "We will not develop the math or algorithm here, I will just show you how to call the algorithm in `FilterPy`. The algorithm that we have implemented is called an *RTS smoother*, after the three inventors of the algorithm: Rauch, Tung, and Striebel.\n", "\n", "The routine is `UnscentedKalmanFilter.rts_smoother()`. Using it is trivial; we pass in the means and covariances computed from the `batch_filter` step, and receive back the smoothed means, covariances, and Kalman gain." ] }, { "cell_type": "code", "execution_count": 44, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Difference in position in meters:\n", "\t [-1.4166 -0.2815 1.2679 -1.2405 -2.1863]\n" ] }, { "data": { "image/png": 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\n", 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\n", 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YLgYD+9S/XbPZPGS7iqJgMBgGbTObzbZjx9LuqZ5r/3YHPtf+r+FQ7fa9hkONtI603ZHEJq/a+uEhxMedAA8djcPEpk//XzhDtXvl7Aj+uecEG/eXszwt/LTP1Wg0YjKZhiytOlxsRtKu0Wgccttw7fYde7p2hzLS9/dQx/fv00ADn2vfOdH3/ujp6cFisdj9ghyq3bG+hkO9RiNtdyKuEUO1O1HXiNjYWNsHBle8RvTnqNiM1zUiMTERLy8v22syla8RA030NSItLY2qqipqa2uH3K7G96Erf46YNWuW3bViql4jnP05ou93d1FREe3t7YOOgcl5jRiNSZOY9RluymP/bSPdb+XKlaxcudL2//POO48rrriCOXPm8NBDD7Fly5Zh+6PX6wc9lkajsV2Y+n/b1P+YoS5cAFqt1rZtqBNoqHb7vjVxc3OzbR/Yp/7tDvWmMhgMKIoyZH91Ot0Ztdv/71O1O/C59n8Nh2q37zUcKs4jbXckscnpncaYGuEz4tj0/wZmqHavnR/JP/ec4JOsapo7jKd9rn3P83Sv4XDvw1O1azabh9w2XLv9n+up2j3T9/fpnutAA59r/28SwRoTs9nskNfQYrGM+ryZ6GvEUO1O1DXC3d3dpa8R/TkqNuN1jXB3d7f74mgqXyMGmuhrhLu7u925MZWvEWr4HDHwC9Wpeo1w9ueI/p9ne3p6Bh0Dk/MaMRqqW2C6rq6O0NBQHn74YbuS+Tk5OaSlpfHCCy9w66232h1z11138eyzz9LR0YGHhwf33XcfTz75JO3t7YNWDw8NDeXiiy/mtddeG7Yfl112GQcOHLBNRQJZYHoqeuy9LF76soi1S+N5+KrB01DGQlEUVj73BTnVrTx+7WxuWBQ3Lu0KIYQQQgj1cNkFppOSkvD09LTNHe3v6NGjJCcn277x6Lu3bOC+VVVV1NXVjejeMUVRJOESJ0fMTlP4YzQ0Gg2rF/Suaba/bNzaFUIIIYQQk9ekyTz0ej1XXXUVmzZtsss8S0tL2b59O6tWrbL9bOXKlXh4eLBhwwa7NvoWkx5urTSw3vy6Y8cOFi9ePK7PwVFaWlpobm623bArxs9o1jAbTRyumReNVgMHSpsorG07434Ke3JOqIfEQj0kFuohsVAPiYV6SCxAt67/fEEn+vDDDzl8+DBHjx5ly5YthIWFodFoyMrKIj4+HoPBwJw5c3jxxRfZvn07ERERHDt2jJtvvhmNRsM///lPW7EPT09PNBoNv/nNb+jp6UGv1/PWW2/x0EMPsXbtWm666Sbb465YsYLi4mIaGxupqKjgnXfe4fvf/z49PT28+uqrdlVZFEUZNOfV3d191PNHx1t2dja1tbW0tLQMqsQjxq6po4dn/5sLwANXzMBdP3jOcX+jiYO3u56DJ5ooru/A18PAOckhw+4vRkfOCfWQWKiHxEI9JBbqIbFQD1eMxWhzB9UU/7jllltsZVgB3nzzTd58803AOoIVHx9PWloan376Kffccw9r1qxBr9ezfPlynnnmmUFlW++//358fX154YUXeOaZZ4iIiODee+/l/vvvt9tvzpw5/Oc//+GZZ56hs7OTsLAwli9fzoMPPjio3KuYWnJ7KzJGB3ji6zH0zaJnYnVGDJ/m1LL5YDk/v3g6Wq1zE3whhBBCCOE8qknM+tYOOJ0FCxawdevWEe17++23c/vttw+7z+9+97sRtaVm4eHhp6yKI8buZEXGkd1fNto4XDwzHF8PPeVNnewuquecJBk1Gy9yTqiHxEI9JBbqIbFQD4mFekgsVJSYibFzleFetcmt6r2/bISFP0YbBw+DjivnRvLvvdY1zSQxGz9yTqiHxEI9JBbqIbFQD4mFekgsJlHxDyEmWv81zBxldUYMAB8eq6S9e/CCkkIIIYQQYmqQxEyIISiKcrIi4ziWyh9oQVwgccFedPSY+TizymGPI4QQQggh1E0SMyGGUNvaTVOHEa0GkkIdN2Km0WhYNd86arbxgKxpJoQQQggxVck9Zi4gMzMTo9GIwWBg1qxZzu6OS+ibxhgf4o2HYWQ3oY41Dqsyovnd1lx2FtRT0dRJVIDnmPosTpJzQj0kFuohsVAPiYV6SCzUQ2IhI2YuwWQy2f6I8ZHTW/gjdRTTGMcah2lBXixKCEJRYPPB8lEdK4Ym54R6SCzUQ2KhHhIL9ZBYqIfEQhIzl+Du7m77I8bHWO4vO5M4rF5wcjqjoiijPl7Yk3NCPSQW6iGxUA+JhXpILNRDYgEaRT4FjpjFYqG1tdXuZ76+vmi1kt+6mqtf2MHhE028eEMGl8+JdPjjtXYZOevxrXQZLWy+9RzmxwY6/DGFEEIIIYTjjDZ3kIxCiAEsFoW8CajI2J+vh4GVs6zrd0gRECGEEEKIqUcSMyEGKG/qpKPHjJtOS3yw14Q9bt90xncPV9JtMk/Y4wohhBBCCOeTxEyIAfoKfySF+aDXTdwpck5SCBF+HjR3Gvnf8ZoJe1whhBBCCOF8Ui7fBVRUVGA2m9HpdERFRTm7O5NeX6n81PDRrV92pnHQaTVcMz+aP31WwMYDZVw2Afe2uSo5J9RDYqEeEgv1kFioh8RCPSQWMmLmEmpra6murqa2ttbZXXEJtoqMEaO7v2w84rBmQTQAn+bUUtfWPeZ2pjo5J9RDYqEeEgv1kFioh8RCPSQWkpgJMchY1jAbL8lhvqTH+GOyKGw5VDHhjy+EEEIIIZxDpjK6gOTkZBRFQaPROLsrk57RbKGwth0YfUXG8YrD6gUxHC5rZtOBMr5/bsIZtTVVyTmhHhIL9ZBYqIfEQj0kFuohsZDEzCV4e3s7uwsuo6S+nR6zBW83HdEBnqM6drzicNXcKH71XhaZFS1kV7WQFuE3Lu1OJXJOqIfEQj0kFuohsVAPiYV6SCxkKqMQdnKq2gBICfdFq3XONzaB3m4sTwsDYON+WdNMCCGEEGIqkMRMiH5OVmSc+PvL+ludYV3TbPPBCkxmi1P7IoQQQky0LqOZr4ob+MvnBby2p5Smjh5nd0kIh5OpjC6go6PDNifXy2viFkR2RblVY6vICOMbhwtSwwjydqOurZutx6tZOVtK54+GnBPqIbFQD4mFekgsBmvq6GF/SSP7ihv5qriBI2XN9PT7YnLdO5lcNCOM1RkxnJ8aimGc1hmVWKiHxEISM5eQl5eH0WjEYDCQnp7u7O5MarlnMGI2nnFw02v55tnTeGF7AS/vKJbEbJTknFAPiYV6ODMWiqLQ3mPGx10+doCcF4qicKKhk69KGmyJWF5N26D9QnzcyIgN5ERjJ8crW/jwWBUfHqsixMeNq+dFszojhplRZ3Yf9lSPhZpILCQxE8Kmy2imuL63ImPE6BaXdoTvLI7nz58VsreogWPlzcyO9nd2l4QQTrTlUDm7CuqJCfQkNtib+GAv4oK88fcyOLtrNj0mCyX17RTUtlFQ205+TZv13zVttPeYOW96KE9cO5uYwKn5bfhUZTJbyK5qZV9xA18VN7KvuIGa1sFrdSaGenNWXBAL4wNZGB9EfLCXrUJfVkULGw+UseVQOXVtPfztyyL+9mURMyL9WJ0RzTXzownxcZ/opybEuJLEzAUEBwfbVkoXY5df04ZFgUAvA6FjuLiPdxwi/D24fE4k7xyu4OUdRfz2+nnj0u5UIOeEeqgtFi1dRnzd9ZOuHPPhE038/I3DmC3KoG3+ngbig72IDfYmLsiLuGAv4oK9iQv2IszX3fZcxzMWzR1G8mt7k67aNgpq2imsbaOkoWPIPvb5PLeWS3/3OfdePoMbzo51WpElZ1PbeTHe2rtNHDrRZEvEDpY20t5jttvHoNMwO9qfs+KDWBgXyIK4QIKH+d07M8qPmVEzufeyND7PrWXjgTK2ZtVwvLKFx95v4dcfZnPB9FDWLIhh+Yww3PUje21dPRaTicQCNIqinPoKKuxYLBZaW1vtfubr64tWKzVUXMGmA2X8/I3DLEoI4j8/WuLs7gBw6EQT17ywA4NOw457lxPm6+HsLgkxKWVWNPP7bXl8nFnN19KjWP+NeZMmOesymrny+S/Jr2nj7IQgpgV6UdrQTnF9B7VDjDr052nQERvkRWywl13yFh/sTVSAB/ph7tOxWBQqmjsHjXwV1LZT13bqx/Vx15MU6k1SqA9JYT4khfqQHOaN2QL3bz7KVyWNAJydEMTTq+cSHyIlsie7mpYuvipptCViWZUtgxJ0Xw89C+ICbYlY+rQAPAxn9gG8qaOHdw9X8NaBcg6faLL93N/TwNfSo1i9IIb0GP9Jc64L1zPa3EESs1GQxMy1/frD4/z5s0JuXBLHo1fPdnZ3bFa9uIMDpU3cflEKP794urO7I0ahtctIYW27bVSh79/F9R2smBHGc1+fj5terh+OdKzcmpD9N6va7udPrZ7D18+KdVKvRufXHxznz58XEurrzn/vPI9AbzfbtvZuE6UNHZTUd9iStdL6Dkoa2ilv7GSYwSv0Wg3RgZ7W0bXekbb2bjMFtW3k17RRWNdGl/HUVWEj/T2syVeod78EzMdulG4gi0Xhn7uKeeqjHDqNZjwMWn5xSSprlyagm6KjZ5NRfVs3uwsb2FlQx86Ceorq2gftEx3gaZuSeFZ8INPDHLsMTX5NKxsPlLP5QDlVLV22nyeFerN6QQyr5scQ4S9fboqJJYmZA0li5trW/n0v23Nqeeya2Xx7cZyzu2Pz3pEKfvLaQYK93dhx7/Iz/oZRjK/+owqF/aZ1FdS2DXkPRX+XzgrnD9/KGLfqYuKkY+XNPLc1j63HrQmZRgNXzo0izNedv31ZhJebjg9uX6b60Zr9JQ2s+dMuFAX+euNCLp4ZPuJje0wWyps6Kalvp6R+QPLW0EGP6fRLcRh0GuKDvW1JV1KY9d+JoT5nVMjjREMH92w8ws6CegDmTQvgN2vmkuLkpUrE0Fq6jOwtbGBnQT07C+rIrrL/LKTRQFqEH2f1JmIL4wKJCvB0Sl/NFoWdBXW8tb+MjzOrbF8uaDWwNDmENQtiuGRmBJ5u8rtUOJ4kZg4kiZlrW/rk/yhv6uTNHy/hrPggZ3fHxmS2cN7T26lo7uI3a+Zy3cJpzu7SlNTZY6awzjqNq6Dm5AjY6UYVQn3dbdO6EntHF9q7zfzsP4foMVu4Ym4k678+b9gpZWLkjpY1s35bLluP1wDWD4xfS4/ip8uTSQ7zxWxR+NZfd7OnqIF50wJ468dLVPvad/aYufz3X1BU186qjOhxvc/UYlGobu2iuM6arJXUd1DS0IGnQUdymA/JvdMQpwV6Ouz1URSF1/ed4In3j9PabcJNp+X2i5L50flJ8mWFk3X2mPmqpC8Rq+doWdOg0de0CF+WJAVzTlIIZycE4e+pniI0fVq7jHxwtJKN+8vZW9xg+7mPu54r5kSyekEMZ8UHylRH4TCSmDmQWhOznJwcW3nR1NRUp/ZlsmrtMjJn3X8BOPzQJWOqcubIOPzpswKe/DCbGZF+fHD7ufJL5DTOJBYWi8KR8maOljVZk7DeBKy8qfOUx/SNKiT23VfT+6E2MdQbP4+h30vbs2v44StfYTQrXDMvimevn+eSU7km6vp0+EQT67fl8b9sa0Km7U3IfrI8heQw+yqr5U2drHzuc1q7TNy5IoU7V6hzivCj72bx8o4iwv3c+e/Pzj/jD75q/V1R2dzJ/ZuP2WI3M9KPp9fMdelKtGqLRY/JwuGyJnbm17OjoI5DpU12a4gBJIR49yZiwSxODJ50FRBL6zvYeKCMTQfLONFw8noe6avn4iQfLksNYMn8WU7soTpYLArlTZ1kV7WSX9NGaoQPF6aGTcjnDrWdF+NhtLmDVGV0AV1dXRiNRsxm8+l3FkPKrbaunxLh5zHm0tOOjMM3zprG+q15HK9sYXdhA0uSgsf9MVzJaGPRZTSzq6Ce/2ZVs+149SmnIAZ5u5EY0lfU4OQo2FhGFS5MC+OFb2Vw66sHePtQBXqdlqdXz3W5KnWOvj4dOtHE+q25bM+pBawJ2TXzorlteTJJoUMvexEd4Mlj18zmjtcP8fz/8jlveigZsYEO6d9Y7Sms5+87iwB4avXccRmNUOvvikh/T/723YVsOVTBunczyaps4eoXdnDL+Un89KLkEVfXm0yVgOaOAAAgAElEQVScHQuzRSGzotk2IravqIFOo31fIv09OCcphHOSglmSFOy0qYnjJTbYi59dPJ07LkphX3EDb+0v44OjlVS2mvjnoSZePdzEyqxublgUy5Kk4CnxBWhTRw/ZVa3kVLWSXdVKdlULuVWtgypoLksJ4dGrZ5Pg4Knfzj4v1EASMxeg0+mmfHnRM9W3sPT0iLHf3+DIOAR4ubF6QTT/2l3KyzuKJDE7jZHEorG9h/9l1/BJVjWf59XS0e8XkbebjkWJwaT0jnr1JWBB/YoujIdLZkXw/Dfn85N/H+St/WUYdBoev2aOSyVnjjovDpQ2sn5rHp/l9kvI5kfzkwuTSTxFQtbf1fOi+V92DVsOVfCz/xzi/duXqWbx4/ZuE3e9dQRFsX4pc0Fq2Li0q+bfFRqNhmvmR7M0OYSH3znGB0er+MP2fD7KrOLpNXNVlzifqYmOhaIo5Fa32Yp17C6sp7XLZLdPsLcbi5OCWdqbjMX1W0PMlWi1GhYlBrMoMZhHrp7FXz/6ig9yWsipN/L+0UreP1pJYog33zw7ljULYuyK7UxW3SYz+TVt5PQmYcerWsmpaqG6ZegvId10WpLCfIgN8mR7di1f5NVx6e8+50fnJ3LrBckOuz9PzdeoiSJTGUdBrVMZxZlb904mG3YW84NzE3jgypnO7s6Q8mvaWPHbz9Bo4NNfXEBcsLqLFqhRSX07n2RV80lWNV+VNNqVc47w82DFzDBWzAhnSVLwhH5Lv+VQOT/7zyEsCty4JI5HvjbLJT8QjYf9JY2s35bH570JmU6r4drehGy0hTyaO41c9tznVDR38fWF03hqzVxHdHnUHnz7GK/sLiE6wJOP7lyG7ymmw7qyD49W8uCWTOrautFo4PtLE/i/S1JdsmCDoijsLbIuuGw0WzCaLfSYFYwmi/3/zRbbz2z/79tuGvD/Acc3dRpp6jDaPa6vu55FidapieckBzu8aqLaHa9s4bU9pWw+WE5btzVpddNruWJOJDcsimVBnPrvRes/DTGnqqU3AWulqK79lOsLxgR6khbhS1qEH6kRvqRF+BIf4m27z7O4rp2H38m0fQkWE+jJw1fNGlUhoqlM7jFzIEnMXNe3/rqbnQX1PL1mLteruLjGd1/ey2e5taxdGs/DV8lc+NPpu1/sk6wqPsmqtk1Z7ZMW4cslM8NZMTOcOdHOXetm4/4yfvHWYRQFblqawINXzlD9h4CJ9FVxA+u35fFFXh1gTchWzY/mJ8uTz+hLit2F9Xzzr7tRFPjTtxewcnbEeHV5THbk13HDS3sA+Nf3F3FuSohT++NMje09/Oq9LDYdLAcgLtiLp1bPZXGia8wYUBSFrcdreG5rLpkVLQ5/PA+DlrPig2zTE2dF+am28I0ztXebeOdwBf/aXWIXl9RwX25YHMs186NPee/wROoymsmsaOZYecuw0xD7+HsaSI3wZUaEL6m9Sdj0cJ8RffGjKAofZ1bx6LtZVDRblyK4KC2MdV+bxbQgr3F9Xq5GEjMHksTMdS187BPq2nrYcttS0qcFOLs7p/RZbi3ffXkvPu56dt23fEp+k346w90vptNqWJQQxIoZ4Vw8M1x1v1D+s6+UezYeBeBH5yVy72VpUz4521fcwPqteXyZb03I9FoNqzNiuO3CZGKDxyd+T36YzZ8+KyDQy8BHd55HuJ9z1jpq7TKy8rkvKG/q5NuLY3nsmjlO6YfabM+u4Zebj1LZ+4Hw24tjufeyGaqZejpaQyVk3m465sT446bX4abTYNBpbX/c9AP+37ddP+D/vT8b6nh3vY6UcB+XvF/PURRF4UhZM6/uKeGdwxW26rueBh1Xz4vihkVxzImZmAI1imIdCTtY2sSB0kYOlDaRVdGM0Tz4I3zfNMS03tGv1N7RsHC/U68vOFIdPSZ+vy2fl74oxGRRcNdrue3CZH54XqIs5XMKkpg5kCRmrqmurZuFj20FIOvRS/FyU+8ve0VRuPh3n5Nf08aDV87k++cmOLtLqjDc/WI+7nrOTw3l4hnhXJgaNubiLhPlX7tLeODtYwD8dHky/3eJa1SmGq09hfWs35ZnW+dKr9WwZoE1IRvvhLrHZOGaF3aQVdnCspQQ/rH2bKdM6bpv0xH+vfcE04I8+eiO8/CepImHI7R0Gfn1B9n8e28pYC3g8sSqOZw/PdTJPRs5RVHYdryG57blcqz8ZEL23XPi+cGyxHG/h1WMn+ZOI5sPlPHqnlLyak7OvJgb488Ni2K5Kj1qXD87dBnNHC1v5kBJoy0ZG6ooVYiPG+kxAaRFWkfBZgyYhugo+TWtPLQl03Z9jg/2Yt3XZo3b/bCuRBIzB1JrYlZTU2O7WTIsTE6K0dpZUMe3/rqH2CAvPr/7wjG3M1FxeHVPCfdvPkZskBfbf3GBS5ZYH4nh7hcL8zFwboI/56cEsTIjcdJ9S7xhRxHr3s0C4OcXT+f2i1Kc3COrbpOZv+8oZkd+HRqNBr1Wg0578m+DTmv3f71WQ3d3FzqNgkGnw8/HG51Wi153crteq0Gn09qOQYHNB8vZVWj9hW/QaVizYBq3XpDk0BHOvOpWrnz+S7pNFtZdNZPvLZ3YLz0+zanhe3/fB8DrP1zskOl6rvC7Ymd+HfdsOmIrd75mQQwPXjFT1V+4DJWQeRq0XJceyrfPimR6XLSTezi1jea8UBSFfcWNvLqnhA+PVtmWFPB117MqI5pvLYojdZRFxBRFoayxkwOlJ5OwrIoWTAPuCdNrNcyI9CMjNoCMuEDmTwtkWpCn02ZVKIrCu0cqeey9LFvSuHJWBA9dNXPMFTxd4Ro1kCRmDqTWxOzw4cO2dR/S09Od2pfJqO9D8IoZ4bz03YVjbmei4tDZY2bxr7fR3GnkL99ZwCWznHtPzERp7TKyq6CeL/Pr+DKvjsK6drvtffeLXTwzAnNdESaTaVKfEy99Uchj7x8H4O6Vqdx6QbJT+7PteDWPvpdFSX3HhDyeQafh+oXTuOWCJGICJ2bK6T92FvPwO5m467W8+9NzmR4+9iqto9HcaeTS331OVUuXQ+8fdZXfFR09Jn7zcQ4bdhajKNZF3B+7ZjaXquxaqCgK/8uu4bmteRwtbwbAq3eE7JygDjy1lkkfC1cw1vOivq2bt/aX8dreUrvr4lnxgdywKI6VsyOGnN7X2WPmSFkTB0qbONg7LbGubfBoWKivOxmxAcyPDSQjNpA50f6qLH7T2mXkua15bNhZjNmi4GnQcftFKXz/3ATc9KP7fOwq16j+ZB0zIUYpp7cgRGrE6Utsq4Gnm45vLYrlj58W8PKOIpdNzIxmC4dPNPFFXh1f5tdx6EST3ahY3/1iF88MZ8UM+/vFDtdP/lHEHyxLpMds4emPcnj6oxzcdFp+sCxxwvtRVNfOo+9m2tYJC/N155YLkvD3NGCyKJgtCiaLgslssf3bbLFWiDNbFCoqqzGazSgaLYFBwdbt5t5jLJZB/zdbFJLDfPjBskSiJ3jdpBuXxPG/7Bo+y63lztcPsfm2cyZktPXRd7OoaukiIcSbuy9Nc/jjTXZebnoevmoWV86N5K63jlBY286PXtnP5XMiWJ0Rw9kJQU69/3a4hOzm3imL1g+gltO0JNQs2MedH52fxM3LEtlRUMeru0v55Hg1+4ob2VfcSOC7Bq5bOI3LZkdQUt/Re29YI8crWwdVSNRrNcyK8rMmYXGBzJ8WQEyg80bDRsPXw8CDV87kuoUxPPj2MfYVN/LUR9m8tf8Ev7p6NuckT90CRmMhI2ajoNYRs+bmZhRFQaPR4O8/MTeiupLVf9xpLcH9jXlcPW/sU0omMg6VzZ2c+9R2zBaF928/l1lRkz/uiqJQWNfOl3l1fJFXx+7CelvJ4j4JId6cmxzCuSkhLEkKPmVlLFc6J9ZvzeN3W3MBJnSKXXu3iRe25/PSF0X0mC0YdBpuOjeBny5PGVXRhckWi5rWLlY+9wUN7T386LxE7rt8hkMfb2tWNT/451doNPDWj5ewIC7IYY812WIxEl1GM+u35fGXzwttH3Z1Wg1zov2tZeCTQlgQFzghIw2KorA9x5qQHSk7mZDduCSem5clEOzjbtvXFWMxWY1nLKpbuvjPvhP8e2+prVjNUMJ83cmIDSQjLoCM2EBmR/u7RPEMRVHYdKCcX394nLq2HgCuSo/igStmjKiokiueFzKV0YHUmpiJsVMUhbnr/ktrt4mP7lxGWoSfs7s0Yj/990HePVzBmgUxPHPd5Bzyb2jv6Z2aWMuXeXW2Mrx9Ar0MnJMcwrLeZGyiprSpiaIoPPvfXP6wPR+Ax66ZzbcXxzn08d49UskT7x+nqsUaj/Onh/LQVTNJGsHCza7g48wqfvTKfjQaePUHizgnyTHf+Da293DJc59T29rND89L5JcOTgJd2bHyZl7dU8qugjqKB0y3ddNpyYgLsJWJnxsTMOopVsMZTUImpgaT2cKnObW8uqeEr4obSQrzISM2kPm994dF+XtMitGwsWruNPLsf3P41+4SLIq1CNedK1L47jnxDi9MojaSmDmQJGaup6Kpk3Oe/B96rYasR1eO6y9rRztY2si1L+7ETadlx73LCfVV/y//LqOZ/SWNvdMTa203wvdx02lZGB/IuSkhLEsOZVaU35Re8LSPoig8+WE2f/68EICnV8/l+rPGf72945UtrHsnkz1FDQBMC/LkoStnsWJGmEt/iBjKvRuP8Pq+E0T6e/DRHec5pLjEHa8fZMuhCpJCvXn/9mUu8Y25GpQ3dbKroJ6dBXXszK+3fcHQx8tN17uel3VEbWaU35iKKCmKwqc5tTy3NZfDvQmZp0HHjefE8cNliZKQiSnvWHkzD7x9jEMnmgDrveCPXj2bsxMcNzNAbSQxcyBJzFzP9pwa1v59HylhPnzy8/Od3Z1Ru/bFHRwsbeLOFSncuWK6s7sziMWikF3Vypf5tXyRV8feoga6Tfb3VaRF+HJucgjLpodydnyQKm9uVgNFUXj0vSz+vqMYjQaevS6dVRkx49J2c4eR336Swyu93256GLTcdkEyN0/htWnau01c8fsvKK7v4GvpUfz+m/PHtf2PjlXy438dQKuBTbcuZZ6K10+czBRFobi+gx35dewqqGdXYT0N7T12+/h7GliceHLh5eQwn2G/iDhlQrYkjh+eJwmZEP1ZLApvfHWCJz/KpqnDCMCqjGjuu2zGpPhC+UxJYuZAak3M/vSnP/HSSy8BOORb7f5vkYFvl1NtG+1+/f8+1b9Pt324fU/1nNq7TbR0mfAw6Aj0Mpx2/9Pp//o74t8DdfSYqWvrRqvREB3oieY0+4/G6Z7zcNvNikJzh5FOoxnLgJucdVoN7gYdngYd7gYtOge/Z8/k9XDkKNFo2+7bv769h9Yu6y+3UB/3M17rqrXLRFNHD+be18zbTU+gtxv6cRqpHEssHD06N9L2u00WKpo6UdAQ7uc+bgsamy0KJxo7MFsgwFM/7utXner59d27Mdw+Y31fjtf+jt4O1ri2d5to7zHR0TP4GqXXavFy1+HtpsfbXWc39aqt20RdWzedvWslajUaAr3dCPZ2G9Wo23hdo0bD2bE9k/0d+b4YyXkx2sc70/0dbTxf+5EyWRTKGzttFSh1Wg1RAZ74uOtRsMbBbFFQFFBQAA0Wpff/ioIFTv679+++46z/77+f9bhHf/Urbvnm18al/2MlVRmnoCNHjrB//35nd2NSawfaG5zdizNT1OjsHoyMCegGWk63ozitSgfEvLn3j7BX7qDrQ13vH6EeRqATqB/h/lW9f4QQo5N/wrHtn6iscewDOIAkZi5g5cqVTJ8+HZ1OR2KiY8ppDzeCM9KRntPt1//vU/37dNuH23eovtz5+kHya9v55WVpLE0JPWV/h/tZn5ycHEwmE3q9npSUkwsCj2RUcaQjjwMpisLGA2W8uruEhBBvnrku3dbHkRw72m/NR/Lzf+wsYvPBCrwMOu5amcrsKH8ME3zvXl5e3pCxGI3RTCYY7cSDM93fYlF48dN8tufUotNq+MXF0zm734LEw8W2saObf+0q5dNca/l7L4OO68+ylnTWO+Cm7Ly8PNuCoSOJhbMncQx8fLPZwkPvZJJb3cqMSD8eunLmsCMjw732ADvy61i/LQ+dRsPj184mMXT4aXNnqv/zyc/Pt50XycmD18Wb6PfxRG8fiR6zmfyadrLKm8msbKGgpg1zv2bddBounhnO5XMiCfAa+0hnQUGBLRZJSUmjPt7RsRotR/bH0e+LwsJCWywSEk5f9Xayv/aObHuk+1ssCp/n1bLteDUms4JOC3qdFovJiFZjHU3z8fJEr9Wg02rQ67TotZreP1p0Wg06nQZD7890vdt1Oi0GLbZ9Vq+8YAzP2rkkMXMBc+fOZdasWeh0OuLj453dnUnDbFGo2VyDe4SFKy86l4QQ7zNqLyAgwPYBdCLjkDa3h/eqtlFhtKCLSGVRvw/oE21rVjUfVNfhHpXKH27I4LI5kU7pR3h4uFNiMZHOWbqUn79xiC2HKngxW8O8s1K4MC3slPsbzRb+sbOY9V/m0dodikdMKGsWxHDPyjSHzvOPjo6e9LF4Zc5CLl//BUU9ZrKJ4ZbzRv9BGqyl+G//9HM8ps3mjotS+N7FE3tfaGxs7KSPxURr7zaxr7iBXYX1eBp03LAoblzOl+TkZImFShQXF0ssnGD1ED+TWMg9ZqOi1nvMxNgU1bVz4TOf4q7XkvXoyjFV5VKLX24+ymt7Srl0Vjh//s5Cp/ThREMHVz7/Jc2dRtYujefhq2Y5pR9Ticls4Y7XD/H+0Urc9FpeunEh500PHbTfl3l1rHs3k/wa62Lqc2P8Wfe1WWTEBk50lyetN746wd1vHcGg07D51qXMjh7dGjuKovDDV/bzSVY1MyP92PKTpVOubLQQQkw1o80d5LeCmLJyqqwnSkq4z6ROygDWnhMPwH+zqikdsIbPROg2mfnJawdo7jSSPi2A+y6T9Zgmgl6n5blvzOOSmeH0mCzc/M+v2Jl/8o6lssYObvnXfr79tz3k17QR5O3Gk6vm8PatSyUpG6XrFsSwclYERrPCHa8ftBV/GKm3D5XzSVY1Bp2G3349XZIyIYQQg8hvBjFl5VZbE7Pp4b5O7smZSwn35bzpoSgK/GNX8YQ//q8/yOZwWTP+ngZe+Nb8SbUe3GRn0Gn5w7cyWJ4WRrfJwvf/8RWf59ayfmseK377GR8eq0Krge+dE8/2/7uAb5wdK2vDjYFGo+GJVXMI83WnoLadX394fMTHVjV38fCWTADuXDF9Ui1kL4QQYuLIpycxZeX0JmapLpCYAdy0NB6AN/adoK3bNGGP+/6RSjbsLAbgt9enExPoNWGPLazc9FpevCGD86aH0mk0c+PLe/nd1ly6jBbOTgji/duXse5rsxyySPJUEuTtxjPXpQPwz10lbM8+fcUvRVG4b9MRWrpMzI3x50fnOaZAkxBCiMlPEjMXUFBQQHZ2NgUFBc7uyqSS2zuVcXrE+CRmzo7DeSmhJIV609pt4q2vHFyDtldRXTv3bDwCwI/PT+KiGeET8rin4+xYOIOHQcdfvrOApcnW4i8Rfh78/pvz+c8PFzMj0nkjNK4Wi/Omh7K290uQu946Qn3vmjyn8uZXZWzPqcVNr+XZ69IdUvlypFwtFpOZxEI9JBbqIbGQqowuoa2tDaPRiMEg34aPVLfJTFFdOzB+I2bOjoNWq+F7SxN48O1j/H1nMTcuiXfolLUuo5lbXz1AW7eJs+OD+MUlE1thbjjOjoWzeBh0vPy9s9hb1EBGbOAZLz49HlwxFvesTGNHfh251W3cs/Eof71xwZAl78ubOvnVe1kA/N/F00lx8ui8K8ZispJYqIfEQj0kFjJiJqaoorp2TBYFX3c9kf4ezu7OuFmdEY2fh56S+g7+N4JpVmfikXczOV7ZQrC3G7//5nynjgSIk9z1OpalhKoiKXNVHgYdz319Pm46LVuPV/P6vsEj1IqicO/GI7R2m8iIDeAHy2QKoxBCiOHJb24XMGfOHGd3YdLJ6TeNcbwWd1VDHLzc9HxzUSx//qyQl3cUsWKmY6YWbjpQxr/3nkCjgee+MY8IlSW3aoiFsHLVWMyM8uMXl07niQ+yefTdLBYnBtuthfja3lK+yKvDXa/lmevSVVH51VVjMRlJLNRDYqEeEgsZMXMJWq3W9keMjCMqMqolDjcuiUen1bCzoJ7jlS3j3n5edSv3bz4GwO3LU1iWMnjdLGdTSyyEa8fiB+cmsiQxmE6jmTv/cwij2QJY1/R7/H1r1ca7V6aRGOrjzG7auHIsJhuJhXpILNRDYiGJmZiicqqsC+2mhqvjA9N4ig7wZOXsCAD+vqNoXNvu6DFxy6sH6DSaOTc5hNsvShnX9oWYTLRaDc9en46fh57DJ5p4flseFovCXW8dpqPHzNnxQbY1BoUQQojTkcRMTEm2EbNxqsioNjctTQDg7UMV1J2matxIKYrC/ZuPkV/TRpivO899Y54qpmcJ4UxRAZ48fq11+s0ftudz76Yj7C5swNOg4zfXzZU144QQQoyYJGYuoL6+ntraWurr653dlUmho8dEaUMHML5rmKkpDhmxAaRPC6DHZOG1PaXj0ubr+06w+WA5Oq2G5785nxAf93Fp1xHUFIupbirE4qr0KK6dH41FgTe+KgPgl5enERfsfZojJ9ZUiMVkIbFQD4mFekgspPiHSygrK7OVFw0ODnZ2d1Qvr9o6jTHEx43gcUwu1BQHjUbDTUvjueP1Q7yyu4Qfn5+Em37s38NkVjTz8DuZAPziklQWJar7faamWEx1UyUWj1w9i71FDZQ3dXJOUjA3LIpzdpcGmSqxmAwkFuohsVAPicU4jJhZLBY6OjrGfHxrayt33303l1xyCaGhoWg0GtatWzfkvgcOHGDFihX4+PgQEBDAqlWrKCwsHHLf559/nrS0NNzd3UlISOCRRx7BaDQO2q+mpobvfe97hISE4OXlxZIlS9i2bduYn49QvxwHFP5Qo8vnRBLu505tazfvH60YczstXUZue/UAPSYLy9PC+NF5UvZbiIH8PAy8/L2z+N458Tz3jXkyhVEIIcSojTox6+rqYsOGDVx33XVERUXh5uaGr68vXl5eLFy4kLvvvpvDhw+PuL36+nr+8pe/0N3dzTXXXHPK/bKzs7ngggvo6enhjTfe4OWXXyY3N5dly5ZRW1trt+/jjz/OHXfcwapVq/j444+59dZbeeKJJ7jtttvs9uvu7uaiiy5i27ZtrF+/ni1bthAeHs7KlSv57LPPRvfCOFFMTAxxcXHExMQ4uyuTQm6VYxIztcXBoNNy45J4AP72ZRGKooy6jb61mIrrO4gO8OTZ69InxQdOtcViKptKsUiN8GXd12YR5quu5SP6TKVYqJ3EQj0kFuohsQCNMsJPa52dnTz99NOsX7+e5uZm0tLSyMjIICwsDA8PDxoaGigsLGTv3r20tLRwzjnn8PTTT7NkyZJh2+17eI1GQ11dHaGhoTz88MODRs2uv/56tm/fTkFBAX5+fgCUlJSQkpLCz372M5566inAmujFxMRw44038uc//9l2/BNPPMEDDzzAsWPHmDlzJgAvvvgit912Gzt37rT102QykZ6ejo+PD3v27LHrg8ViobW11e5nvr6+U7qs52T0nb/t4Yu8On69ag7fPDvW2d1xqIb2Hpb8ehvdJgtv/ngJZ8UHjer4DTuKWPduFgadhjd+tIT5sYEO6qkQQgghhGsZbe4w4owiJSWF1157jQceeICKigoyMzN55ZVXePbZZ3n88cf54x//yMcff0xDQwOffPIJ8fHxXHjhhbz00kvDtqvRaE67wK/JZOK9995j9erVtqQMIC4ujgsvvJDNmzfbfvbRRx/R1dXF2rVr7dpYu3YtiqLw9ttv2362efNmUlNT7ZJHvV7Pt7/9bfbu3Ut5efmIXhsxuThiDTO1CvJ2Y1VGNAAvfzm60vmHTjTx+AfWtZjuu2yGJGVCCCGEEA404sTs0UcfJSsri5///OeEh4efcj+NRsPy5ct55ZVXyMrKIjk5+Yw7WVBQQGdnJ3Pnzh20be7cueTn59PV1QXAsWPWhW8Hrh4eGRlJSEiIbXvfvqdqEyAzM/OM+y7Upamjh+oWa/n46S64htlQ1vaWzv84s4oTDSO7H7Spo4fbXj2A0aywclYEa5fGO7CHQgghhBBixFUZb7rpplE3npiYSGLimRcK6CubGRQ0eBpWUFAQiqLQ2NhIZGQk9fX1uLu74+09uExxUFCQXQnO+vr6U7bZ/3GHk5mZSVxcnN1IXnd3N9nZ2QAEBgYSG2s/XS4vL89WMCU9Pd1uW11dnW2kLjY2lsDAk6MUZrPZllj6+vraXluLxQJAcXGxbbh01qxZ6PUnw9vU1ERJSQkAUVFRhIaG2j3ukSNHUBQFT09Ppk+fbrftxIkTNDQ0AJCamoqHx8n7J9ra2igoKAAgLCyMyMhIu2OzsrJsFXb6ppD2qayspKamBoCkpCR8fE4mSl1dXeTk5ADWeEybNs3u2NzcXDo7O9FoNIOS69raWioqrMUu4uLiCAgIsG07XtEMQKiXjrrKMnwTEuyOLSwstL2Gs2fPRqfT2bY1NjZSWmotPR8dHU1ISIjdsX33Vnp5eZGSYr/wcmlpKY2NjQC2ojR9WlpaKCqyjmaFh4cTERFhd2xmZiYmkwl3d3fS0tLstlVUVNjusUxOTrZ733d0dJCXlwfAWdN82HeijX/uKub+K6xxyMnJoaurC51Ox+zZs23HWSwKP/nXXsqbOonw0fHAJfF2o9o9PT0cP24dSfP39yc+Pt6uTwUFBbS1WStfzpkzx264vr6+nrIyaznxmJgYu6pLFouFo0ePAuDj40NSUpJdu8XFxTQ3W+M3Y8YM3NzcbNuam5spLi4GTn4J00er1XLs2DHMZjMeHh6kpqbatVtWVke050YAACAASURBVGY711NSUvDy8rJta29vJz8/H4DQ0FCioqLsjs3Ozqa7uxu9Xs+sWbPstlVVVVFdXQ1AQkKCU68RfYqKimhpaQEm7hrR//09Ga4RJpPJ9qWcn58fCS50jUhKSrK9v7Vard01Ijg4eNB9Hae6RoC1cFZlZSUA8fHx+Pv727ZNhmtEWFiY3bETfY2wWCxUV1fb3t9T+Rqhhs8Rfe/vvvfiVL1GDPc5YiKuEX2fZwsLC2lvbwcm/zVitAUSJ1W5/OGmPPbfNtL9RrvvUEwm06CiCoqi2CpAmkymIY8ZqkIkWN9Ufdv63qD9DdXu0aNHMRqNaDQaW18G9ql/u2azech2FUXBYDAM2mY2m23HjqXdUz3X/u0OfK79X8Oh2u17DYeK0XDt9lVknOanc1hs+n6pnard4d4vp3oNTSbTkPORh4tN/3bXzAlm34k2Xt93gjtXTMfbXW+LzcDH/MsXhXxZ2IxBCz9f5I+Pu46Bxhrzkb6GQx3f/7kONPA17DsnDAYD6enp9PT0YLFY7H5BDtXuWGLTd+6Mtd2JuEYM1e5EXSMKCgps7U2Ga4QaYzNe14i8vDzMZrPtvBjp+3uobcPFvP9zVes1YqCJvkb0XaP6t3OqdtXyPnTVzxFgrfrdd16Mpl21xGYiPkdMxDViqM+zA03Ga8RojDkxq6qqYuPGjZSUlNimEfbRaDSsX79+rE0P0pcNDzWC1dDQgEajsX2bERwcTFdXFx0dHXYZa9++CxYssGv3VG3C0CN0A+n1+iGTvb4LU/9vm/ofM9SFC6zf1vRtG+oEGq7d/tsH9ql/u0O9qQwGA4qiDNmuTqc7o3b7/32qdgc+1/6v4VDt9r2GQ33oGq7dvBrrt7TxgW7jHpvh9G93uPfLqV7D/vv0N1xs+h+zJMGfxBBvCuva2XigjBuXxGMwGDCbzXaPubeogd98bP2G8eYFAaSGeQ35Gp+uv2f6/j7dcx3odK+hm5ub7QPpcO2OJTYWi2XU542zrhHDvQ8ddY0YuN+p+quWa4QaYzNe14iBHxBG0u7Aa8RQ7co1YmzXiP77TOVrhLM/Rwz1QX2qXiPG0q4jrhH9tw80Ga8RozHiqoz9ffzxx1x77bWDErL+nRgq2zydU1VlNJlM+Pn58d3vfpc//vGPdsesXLmSwsJCcnNzAXjttde44YYb2L17N4sWLbLtV1VVRWRkJI8//ji//OUvAbjkkks4ceKEbTi1z5NPPsl9991HeXm53bQEtVZlLCgosI0ODBy2Ffau//Mu9hY18Nvr01mVMb7lWNUeh1d2FfPglkwSQrzZ9vPzB5W9r2vr5orff0F1SzfXzIvid1+fN+oLilqoPRZTicRCPSQW6iGxUA+JhXq4YixGmzuMacTsrrvuYt68efzpT39ixowZp8w+x4ter+eqq65i06ZNPP300/j6WqvplZaWsn37dn72s5/Z9l25ciUeHh5s2LDBLjHbsGEDGo3Gbq20a6+9lltvvZU9e/bY9jWZTPzrX/9i0aJFg+aKq5WrvHkdTVEUh1ZkVHscVmXE8JuPcyiqa+fT3BqWp50s4mO2KNz5+iGqW7pJCvXm8WvnTNqkDNQfi6lEYqEeEgv1kFioh8RCPSQWY0zMCgoK2LRp05AVDcfiww8/pL293ZZRZmVl8dZbbwFw+eWX4+XlxSOPPMJZZ53FlVdeyb333ktXVxcPPfQQISEh/N///Z+traCgIB544AEefPBBgoKCuOSSS9i3bx/r1q3jBz/4gd2NozfddBMvvPAC1113HU8++SRhYWG8+OKL5OTksHXr1nF5bkI9alu7aeowotVActjUqMjYn7e7nm+cHctfPi/k5S+L7RKzP/wvny/z6/AwaPnjtxfg7T6pbj8VQgghhJj0xvTpKy0tbcgCB2N1yy232Cr9ALz55pu8+eabgLVCUHx8PGlpaXz66afcc889rFmzBr1ez/Lly3nmmWcGVQa6//778fX15YUXXuCZZ54hIiKCe++9l/vvv99uP3d3d7Zt28bdd9/NT3/6Uzo6Opg3bx4ffvgh559//rg9P6EOfYU/4oO98TAMPafZ1d24JI6Xvijky/w6cqpaSY3wZUd+Hc9ts04FfuyaOVNifTchhBBCCLUZ0z1m77//Pvfffz8ff/zxsGuauRq13mMmRualLwp57P3jrJwVwZ++s+D0B7ioW1/dzwdHq/jGWdP42cXTueL3X1DX1sPXF07jqTXjMwouhBBCCDHVTcg9ZldccQUHDhwgKSmJefPmDapeqNFo2LJly1iaFmNQXFxsq4ozcL0YcZLt/rIIx4wITZY43LQ0gQ+OVrHpYDk51a3UtfWQFuHLI1fPOv3Bk8RkicVUILFQD4mFekgs1ENioR4SizEmZhs2bODhhx9Gp9NRVFRkW8iwz2QuGjAZNTc326rYiFPLqbaWyk910FS9yRKHBXGBzI3x50hZMwdLm/B20/HiDRkuNb1zssRiKpBYqIfEQj0kFuohsVAPicUYE7NHHnmEq666ig0bNtitKC+EWlksCnm9I2apEVOv8Ed/Go2Gm5YmcOd/DgHw5Oq5JIZO7ddECCGEEMLZxnSPmZeXF++88w4rVqxwRJ9US633mPX09Nj+7ebm5sSeqNeJhg6WPb0dN52WzEcvxaAb/5hNpjgYzRYef/84sUFe3HRugrO7M+4mUyxcncRCPSQW6iGxUA+JhXq4Yiwm5B6z+fPnU1ZWNpZDhQO4ypvXkXKqrCdFYqi3Q5IymFxxMOi0rPua69xTNtBkioWrk1ioh8RCPSQW6iGxUA+JBYzpE+qzzz7L008/zaFDh8a7P0I4RI5tGqOUghdCCCGEEOozphGzm2++mdraWhYsWEBkZOSQVRkPHz48Lh0UYjzYKjLKGl1CCCGEEEKFxpSYBQcHExISMt59EWPU3NyMoihoNBr8/f2d3R1V6pvK6KiKjCBxUBOJhXpILNRDYqEeEgv1kFioh8RijInZp59+Os7dEGeiuLjYVl40PT3d2d1RHaPZQmHt/7N35/FNVXn/wD83SdN0pXRvgZa2FMpaHAFhlMWFTVHEGceB52FGUNHH0dFxUBHZQWRknBl1FPdBcUVcYNzlxyqIIArSIlDaQjco3eneLPf3R8mladOStEnuSfp5v168xNybk5N8ci89Ped+by0A9y5lZA7iYBbiYBbiYBbiYBbiYBbiYBadvMaMyJucLqtFk9mCQL0WvcIC1O4OEREREVEbDs+Yff/997jiiiucary+vh45OTkYPNh3q7+JIC4uTrlTOrV1/GzzjaVTY0Kg0bjv5ufMQRzMQhzMQhzMQhzMQhzMQhzMwomB2fjx4zF58mTcf//9l7x/WXFxMd5880384x//wIMPPsiBmZtFR0er3QWhKRUZY9x7E2XmIA5mIQ5mIQ5mIQ5mIQ5mIQ5m4cTALDMzE/Pnz8ekSZMQFxeHcePG4Ve/+hWio6NhMBhQXl6O7Oxs7Nu3D/v370fPnj2xfPlyzJs3z539J7qkE2dZkZGIiIiIxObwwCwlJQUff/wxfvnlF6xbtw6ff/453n//fZt9AgICMGbMGLz00kuYNWsW/P39Xd5hImed4D3MiIiIiEhwkizLcmefXFJSgqKiItTX1yMyMhKJiYnw8/NzZf+EYrFYUF1dbfNYSEgINBrWUBFVg9GMQUu+hEUG9i+8FtGhBrW7RERERETdgLNjh06Vy7eKiopCVFRUV5ogF8jIyEBTUxP0ej2GDBmidneEcvJcDSwyEBboh6gQ987gMgdxMAtxMAtxMAtxMAtxMAtxMIsuDsyOHTuGnTt3orS0FHfccQdiY2NRVFSEnj17IiCAZck9xWw2w2KxwGw2q90V4ViXMfaPCYEkua8iI8AcRMIsxMEsxMEsxMEsxMEsxMEsOjkwM5vNmDdvHtavX6/coXvq1KmIjY3F3XffjcsuuwwrVqxwdV+pHQaDAVqt1qeXkXbWxYqM7r++jDmIg1mIg1mIg1mIg1mIg1mIg1l0cmD2xBNP4J133sHatWsxZcoUm+nGqVOnYv369RyYedCAAQPU7oKwlIqMHij8wRzEwSzEwSzEwSzEwSzEwSzEwSw6OTBbv349Fi9ejIceeqjNdGNSUhJyc3Nd0jmirjpR3HxzaU/MmBERERERdVanygkWFhZizJgxdrcZDIY21UeI1FDdYERhZT0AoL+bby5NRERERNQVnRqYRUdHIycnx+6248ePo3fv3l3qFJErWGfLYkL9ERaoV7k3RERERETt69RSxuuvvx5PPPEEpkyZgtjYWACAJEmoqqrCs88+ixtvvNGlnaSOFRQUwGw2Q6vVclDcQlaLioyewBzEwSzEwSzEwSzEwSzEwSzEwSw6OWO2YsUKmEwmDBo0CL/5zW8gSRIWLlyIIUOGoKGhAYsXL3Z1P6kDZWVlKCkpQVlZmdpdEUpuaS0AICXKM8sYmYM4mIU4mIU4mIU4mIU4mIU4mEUnB2YxMTE4cOAAZs6ciYMHD0Kr1eLw4cOYOnUq9u7di/DwcFf3k9pRUt2Ib7JrsfN0vdpdEU52SfPALDkqSOWeEBERERF1rNM3mI6JicGLL77oyr5QJ+zPLce/91egX1Qg/m9qqtrdEUpOafM1ZkmRnhmYpaamKvf1I3UxC3EwC3EwC3EwC3EwC3Ewiy4MzEgMV/aLgCQBJ0vqcN6oQaDaHRKE0WxBXlkdACDZQ0sZAwP56YuCWYiDWYiDWYiDWYiDWYiDWTgxMJs7d67DjUqShNdee61THSLnhAXqMax3GA7nV2J3VgluHdFH7S4JIb+8DiaLDIOfBnGhBrW7Q0RERETUIYcHZtu2bbOZWqysrERVVRV0Oh0iIiJQVlYGk8mEHj16oGfPnm7pLNk3PjXywsCslAOzC6yFP5Iig6HRdN8pcSIiIiLyDg4X/zh16hRyc3ORm5uLjRs3Ijg4GG+//Tbq6+tx5swZ1NfX46233kJQUBDee+89d/aZWhnRp3mp3u6sElgsssq9EUOOCoU/amtrUVNTg9raWo+9JtnHLMTBLMTBLMTBLMTBLMTBLDp5jdlf//pXzJ8/HzNnzlQe02q1mDVrFoqLi/GXv/wFe/bscVknqWNBDSUI0EmoqDMis+g8hvbuoXaXVGct/JHsocIfAHDy5EkYjUb4+fkhPT3dY69LbTELcTALcTALcTALcTALcTCLTpbLP3jwIIYMGWJ329ChQ3Ho0KEudYqco9NIGBKtBwDsyipRuTdiYKl8IiIiIvImnZoxCw0NxdatW3Httde22bZ161aEhoZ2uWPkuKioKIztZ8GBoiLszirBn67up3aXVKcsZYz0TEVGoDkH6x3rSV3MQhzMQhzMQhzMQhzMQhzMopMDs9mzZ2Pt2rUwmUyYNWsWYmNjcfbsWbz99tv417/+hYceesjV/aQOxMfH4yZ9D/xjVxEOnq5AbaMJQf7d904I5xuMKK1pBODZGbP4+HiPvRZ1jFmIg1mIg1mIg1mIg1mIg1l0cmC2evVqnDt3Dk8//TT+8Y9/KI/Lsoz//d//xerVq13WQXJMYkQg+oQHIL+8Ht/nluGatBi1u6Sa3AuzZVEh/ggx+KncGyIiIiKiS+vUwEyn02H9+vV47LHHsH37dpSVlSEiIgITJkxAWlqaq/tIDpAkCeNSo/D293nYdaK0Ww/MrIU/kjxY+IOIiIiIqCu6tN5twIABGDBggKv6Ql001jow6+YFQKzXl6Ww8AcREREReYlODczy8vIuuU9CQkJnmqZOOHbsGIxGIyItGmg1EnJKalFQUYfePQPV7poq1Cj8AVzMwc/PjzPHKmMW4mAW4mAW4mAW4mAW4mAWnRyY9e3bF5IkdbiP2WzuVIfIeY2NjcoXeXifMBw8XYFvs0rx+1Hdc3CcXXLhHmYenjGz5mCxWDz6utQWsxAHsxAHsxAHsxAHsxAHs+jkwOz1119vMzArLS3Fli1bUFBQgEWLFrmkc+QYnU4HWZah0+kwNjUSB09XYHc3HZhZLDJOlVnvYebZGbOWOZC6mIU4mIU4mIU4mIU4mIU4mAUgybIsu7LBW2+9FUOHDsWSJUtc2awQLBYLqqurbR4LCQmBRtOp+3S7xcHTFfjNur3oEeCHHxdPhFbT8cymrymsrMeVa7ZBp5FwbOUU6LTiZENERERE3YezYweX/9R6++2349VXX3V1s+Sg9N49EGLQoareiCOFVWp3x+NyLixjTIgI5KCMiIiIiLyGy39yNZlMqKysdHWz5CCdVoOr+kUCAHad6H7VGdUq/EFERERE1BUuG5gZjUYcPHgQS5cuRXp6uquapU4YmxoFANjdDcvmW2fMWCqfiIiIiLxJp66u02g07VZl7NmzJ7766qsudYqcc/bsWZjNZmi1WsTGxmJsavOM2Y95lahuMCLE4KdyDz0np9Ra+MPzA7PWOZB6mIU4mIU4mIU4mIU4mIU4mEUnB2ZLlixpMzAzGAzo27cvrr/+eoSEhLikc+SY4uJipVx+bGws+oQHIikyCLmltfguuwyTBnefL7eylNHDFRmBtjmQepiFOJiFOJiFOJiFOJiFOJhFJwdmy5Ytc3E3yNXGpkYit7QWu7NKu83ArMFoRlFVPQAgKZJLGYmIiIjIe3RqYHbNNdfghRdesHtX7hMnTuCee+7Btm3butw5ckxSUhJkWbaZxRybGoU3vzvdra4zyy2thSwDoQYdIoL0Hn99ezmQOpiFOJiFOJiFOJiFOJiFOJhFJwdmO3bswPnz5+1uq66uxs6dO7vUKXJOaGhom8dGJ4dDp5FwqqwOeWV1SIgIVKFnntVyGaMaB7W9HEgdzEIczEIczEIczEIczEIczMIN5fLPnDmDwEDfHwSILsTgh18l9gQA7Ooms2bWioxqFP4gIiIiIuoKh2fMNm/ejM2bNyv/v3LlSkRFRdnsU19fjx07duCyyy5zXQ+p08alRmJ/bjl2Z5Xgf0cnqt0dt8u9UJExRYXCH0REREREXeHwwOzo0aP44IMPAACSJGHbtm3QaGwn3Pz9/TF06FA888wzru0ldaixsVFZk+vv7688PjY1Cn//+gT2niyDyWyBTuvyCVKhZFtL5atU+KO9HMjzmIU4mIU4mIU4mIU4mIU4mIUTA7PHHnsMjz32GIDm+5ht374do0aNclvHyHHHjh1Tyou2vLn3kF49EBboh8o6Iw4XVOLyxHAVe+lesiwrSxmTVFrK2F4O5HnMQhzMQhzMQhzMQhzMQhzMopPXmFksFg7KvIBWI+HKfs03m951olTl3rhXaU0TqhtMkCSgbwSvMSMiIiIi79Kpqowklp49e8JkMkGnaxvnuNRIfPbzGezOKsFfJvZXoXeeYZ0t6xUWAIOfVpU+dJQDeRazEAezEAezEAezEAezEAezcGJglpycjI8//hjp6elISkrqsBy5JEnIzs52SQfp0hISEtrdNja1uUDLofxKVNUZ0SPQz1Pd8ihr4Y9kFQt/dJQDeRazEAezEAezEAezEAezEAezcGJgNn78eOX+AuPHj+/WN3/zJvFhAegXHYyT52qwN7sUU4fGqd0lt8hRufAHEREREVFXODww+89//qP8ff369e7oi0P279+PxYsXY+/evZBlGSNHjsSqVatw5ZVX2uzX1NSEVatWYcOGDSgsLERcXBxmzZqFJUuWICAgQNlvx44duPrqq+2+1nfffYfRo0e79f14wtjUSJw8V4NdWT48MOM9zIiIiIjIi3Wq+Mebb76JsrIyu9vKy8vx5ptvdqlT7Tlw4ADGjRuH+vp6bNiwARs2bEBDQwOuvfZafPfddzb7zpw5E2vXrsW8efPw+eef484778Q//vEP3HbbbXbbXr16Nb777jubP0OGDHHL+/C0cReWM+46UQJZllXujXvklFhnzHgPMyIiIiLyPp26um7OnDn47rvvEBER0WZbbm4u5syZgz/84Q9d7lxrixcvRlhYGL788ksEBgYCAK677jokJydj/vz52LNnDwBg3759+Oijj/D000/joYceUvbT6XRYuHAhvvnmG0ycONGm7dTUVK+dHcvKylIulkxNTW2z/YrkcPhpJRRW1uNUWR2SfGy5n9FsQV55HQB1Z8wulQN5DrMQB7MQB7MQB7MQB7MQB7Po5IxZR7MuDQ0N0GrdUxVvz549mDBhgjIoA4CQkBCMGzcOe/fuxZkzZ5T9AOD666+3ef60adMAAB9++KFb+qeWuro61NbWoq6uzu72QL0OIy7cw2x3Voknu+YReeV1MFlkBPhpERtqUK0fl8qBPIdZiINZiINZiINZiINZiINZODFjlpeXh1OnTin//9NPP6GhocFmn/r6erz88stuq6rS1NRk907g1seOHDmCuLg4NDU12Tzeer+ff/65TRt/+tOf8Pvf/x6BgYEYM2YMFi9ejKuuusrVb0E1Y/tH4rucMuw6UYI/jOmrdndcKvfCMsakyCBoNCxKQ0RERETex6niH8uXL4ckSZAkCffee2+bfawzac8884zretjCoEGDsG/fPlgsFmg0zZN9JpMJ33//PQAo170NGjQIQPPMWVJSkvL8b7/91mY/AOjRowceeOABTJgwARERETh58iTWrl2LCRMm4LPPPsPkyZM77FNmZiYSExOVipUA0NjYiGPHjgFovidD64FqVlaW8tuA1nc2Ly0tRWFhIYDmsqE9e/ZUtpnNZmRkZABonilMTk62aSM3NxeHDx8GAAwePNjmPhC/im2eSfo2qwRFZ4sRHxtj87o///wzZFlGQEAA+ve3vd9Zfn4+ysvLAQADBgyAwXBxVqqmpka5NUJ0dDTi4myLixw9elS5i7s1F6szZ87g3LlzAICUlBQEB1+8PqyhoQHHjx8HAISHh6NPnz42zz1x4gTq6+shSRJyKpuXL1qXMZaUlKCoqAgAkJiYiLCwMOV5JpMJmZmZAIDQ0FCb7wcA5OTkoLq6GgAwZMgQm9nfiooK5OXlAQB69eqFyMhItObn52czo2uVl5eHiooKAEBaWprNLw3Onz+P3NxcAEBMTAxiY2NtnpuZmQmTyQR/f3+kpaXZbCsqKkJJSfMsaL9+/RAUdHEpZ11dHbKysgAAERER6N27t81zjx8/rsxwt76e8ty5c8oMdN++fdGjRw9lW1NTE3755RcAzcdP3759bZ6bnZ2NmprmYixDhw5VjlWg+dgrKCgAAPTu3dtmObTFYsGRI0cAAMHBwUhJSbFp99SpU6iqqgIADBw4EHq9XtlWVVWl/OIoLi6uzXGVkZEBs9kMg8GAAQMG2GwrKChQzgmpqak2+dXW1uLkyZMAgKioKMTHx9s899ixY2hsbIROp8PgwYNttp09exbFxcUAgKSkJFXPEVa5ubk4f/48gLbniMrKSpw+fRoAEB8fj6ioKJvndvYckZKSopwjzpw5o8o5YtiwYTbb1DpHWM/PgYGBbZbp8BzRzFPniOjoaJvnevockZ6erpwjDh8+3K3PESL8HDFixAibbTxHNPP0OcL6Xc7OzlY+C28/Rzg7++fwwOx3v/sdhgwZAlmW8bvf/Q6rV69u86Xx9/fHkCFD2pyEXeX+++/HHXfcgfvuuw+PP/44LBYLli9frpworMFNnToV/fr1w6OPPoqYmBiMHDkS+/btw8KFC6HVam0Cvuyyy3DZZZcp/z927FjMmDEDQ4cOxSOPPHLJgZnJZGqztFOWZRiNRmW7vedYt7dmsViUbRaLpc12R9tt3ad+UQEI9ZdwvlHG4YLzbQZmRqMRsizDz6/tfc7MZnO77bbsr9lsttvf9t5ry3Zbv9eWn6G9dq3vVZKkFoU/gpxqV5RsLvVejUYjTCaTzffWqqNsHGnXaDTa3dZRu9bnXqpdexz9DO09v2WfWrvUe21qaoLFYrG7zNoVn6G9z8jRdkX5HjpyLHvrOaKz7YqSDc8RbdvlOYLniNbt8hzBc0TLdkU6RzjD4YHZwIEDMXDgQADNs2fTpk2zW/zDnebOnYuSkhKsWrUK69atAwCMGTMG8+fPx9/+9jf06tULAKDX6/HFF19g9uzZmDRpEgAgKCgIq1evxsqVK5X92hMWFoZp06bhxRdfRH19vU15/dZ0Ol2bg1qSJOXEZO/u5Tqdzu6JC2geXFq32TuAHG23dZ90Wi2Gxxqw63Q9DuTXYKrtL4fg5+cHWZbttqvVatttt2V/7X1Zrdvsvd+W7bZ+ry0/Q3vtWt+rzcDsws2lHW1XlGwu9V6t7/NSn2Fn2jWbzXa3ddSu9bkdtdvVz/BS77W1S71XvV4Ps9nsls/QYrE4fdyI+D105Fj21nNEZ9sVJRueI9q2y3MEzxGt2+U5gueIlu2KdI5whiR7Yf30xsZGZGVlISQkBImJibj77rvx9ttvo6SkpM0gqrCwEOXl5UhJSUFVVRXi4+OxfPlyLFmypMPXuOeee/DSSy+hvr5emXK3WCzK9LRVSEiI3S+GiDYdLMD8Dw4jvXcPbL7Pd66fG7HqG5TWNGHLfVdiWO+wSz+BiIiIiMjNnB07ODxjtmLFCoc7IUkSFi9e7PD+zrIumQSa19y+//77uOuuu+zObPXq1UuZIVu0aBGCgoJwxx13dNh+RUUFPv30UwwfPtxmHbSoSktLlevu7F33ZDU2tXnbz4VVqKhtQs8gfbv7eouqeiNKa5qLvah9GwBHcyD3YxbiYBbiYBbiYBbiYBbiYBZODMyWLVvmcKPuGphlZGTgww8/xIgRI+Dv74/Dhw9jzZo1SE1NxcqVK232feqppxAbG4uEhAQUFxdj48aN+OSTT7BhwwabpYyzZs1CQkICRowYgcjISGRlZeHpp59GcXEx1q9f7/L34A6FhYXKhbEdfZFjQg0YEBOC48XV2JNdimnD4tvd11vkljYvY4wO8UeIwf70tKc4mgO5H7MQB7MQB7MQB7MQB7MQB7NwYmBm7wK79lgr5LiaXq/Htm3b8Oyzz6Km5KT91gAAIABJREFUpgYJCQm45557sGDBApsqMkBzNZ4VK1agoKAAAQEBGD16NHbs2IGxY8fa7Dds2DC8//77ePHFF1FTU4Pw8HBcddVV2LBhA0aOHOmW96GmsamROF5cjV0nSnxiYJZT0lzZS+3ZMiIiIiKirnDZNWayLOOLL77Aa6+9hs8++6zNPc58gajXmFVUVChTvy3L4tqz60QJ/vD6fsT1MGDvgmucvihRNH//6jj+vf0kZo5KwJO3DFW1L87kQO7FLMTBLMTBLMTBLMTBLMThi1m47Rqz9mRnZ+P111/HG2+8gTNnzkCv1+OWW27parPkBGe+vKOSwqHXaXCmqgHZJTXoFx3ixp65X05p84xZSpT6M2a+chLxBcxCHMxCHMxCHMxCHMxCHMyikwOzhoYGfPDBB3jttdewe/duyLIMSZLw0EMPYcGCBR4vo0+OM/hpcUVSOHZnlWLXiVLvH5gppfLVH5gREREREXWWU2vwDhw4gHvuuQexsbG4/fbb8eOPP+L222/Hp59+ClmWceONN3JQ5gWs1Rl3Z5Wo3JOusVhkpfhHcmSwyr0hIiIiIuo8h2fMhg0bhszMTADNN3WeO3cubrvtNgQFBaGqqsptHaRLa3mHcns3xWttbGoUgGPYl1OORpMZ/rpLP0dERVX1aDRZ4KeV0Ltn+zcB9xRncyD3YRbiYBbiYBbiYBbiYBbiYBZODMwyMjIgSRJuuOEGrFmzBoMGDXJnv8gJGRkZSnnR9PT0S+6fFhuCyGB/lNY04uCpCvy6n3eWJLUuY0wID4ROq/5Nvp3NgdyHWYiDWYiDWYiDWYiDWYiDWTixlPFf//oXhg0bhk8//RRDhw7FmDFj8Oqrr7apNELikyQJ4y4sZ9yVVapybzrPWio/OYrLGImIiIjIuzk8MPvzn/+Mn376Cfv378e8efNw7NgxzJs3D3FxcZg3bx4kSfL60uveKiQkBKGhoQgJcbyQx7j+UQC8+zqznFKxCn90JgdyD2YhDmYhDmYhDmYhDmYhDmbRhfuY2avM2K9fP9x99924/fbbfbIIiKj3MeuMkupGjHxiKwDgh0XXITLYX+UeOW/2a99jd1YpnvrNMPxuZB+1u0NEREREpHB27NDpEYXBYMDs2bOxY8cOnDhxAgsWLEBdXR0efvhh9OnDH5JFFxXij0FxoQCAPSe9czkjS+UTERERka9wyVRPSkoKVq9ejby8PGzZsgVTpkxxRbPkZmP7X7jO7IT3Dczqm8worKwHACRFcmBGRERERN7NpWvwNBoNpk2bho8++siVzZKbjEu9eJ1ZJ1e0qsZ6/7IeAX4ID9Kr3BsiIiIioq5xuFw+iSs3Nxcmkwk6nQ5JSUkOP+/yxJ4w+GlwrroRx4urkRYb6sZeulZOqbUiY5AwRWc6mwO5HrMQB7MQB7MQB7MQB7MQB7PgwMwnnD9/XrnvgzMMflpckRSBnSdKsPtEqVcNzHKt15dFilMqv7M5kOsxC3EwC3EwC3EwC3EwC3EwCxcvZSTvYy2bv8vLyuaLViqfiIiIiKgrOGPmAwYPHgxZlju1pM96o+n9ueVoMJph8NO6untuodxcWqDCH13JgVyLWYiDWYiDWYiDWYiDWYiDWXBg5hN0us7H2C86GLGhBpw934ADp8ox9kJBEJHJstyiVL44Sxm7kgO5FrMQB7MQB7MQB7MQB7MQB7PgUsZuT5IkjL0wa7Y7yzvK5pfUNKK60QRJAhIjAtXuDhERERFRl3FgRhhrvc7shHdcZ2adLevdM8Brll4SEREREXWEc4Y+oLKyEhaLBRqNBmFhYU4//6p+kZAk4NjZapw734DoUIMbeuk61nuYiVSREeh6DuQ6zEIczEIczEIczEIczEIczIIDM59w+vRppbxoZ77I4UF6DInvgSOFVdidVYrfXN7bDb10HaXwh2AVGbuaA7kOsxAHsxAHsxAHsxAHsxAHs+BSRrpgXH/rdWbiL2dUCn8IVJGRiIiIiKgrOGPmA+Lj42E2m6HVdv56q7GpUXh+eza+PVkKi0WGRiNuqdKL9zATaymjK3Ig12AW4mAW4mAW4mAW4mAW4mAWHJj5hKiorpe4/1VCTwTqtSitacIvZ89jcHwPF/TM9ZpMFuSV1wEQbymjK3Ig12AW4mAW4mAW4mAW4mAW4mAWXMpIF+h1GoxJjgAA7Dohbtn8/Io6mC0yAvVaxApepISIiIiIyFEcmJHi4v3MxL3OzHp9WVJkULe+MzwRERER+RYOzEhhvZ/ZD6cqUNdkUrk39lkrMiax8AcRERER+RBeY+YDfv75Z6W86LBhwzrdTnJkEHqFBaCwsh7f55bj6gHRLuylaygVGQUr/AG4LgfqOmYhDmYhDmYhDmYhDmYhDmbBGTOfIMuy8qcrJEm6WDZf0OvMckqbZ8xSBCv8AbguB+o6ZiEOZiEOZiEOZiEOZiEOZsEZM58QEBAAPz8/6HRdj3NsahTe3Z8v7HVmF+9hJt6MmStzoK5hFuJgFuJgFuJgFuJgFuJgFoAkd+dhqZMsFguqq6ttHgsJCYFG4zsTj5V1TfjVym9gkYHvHrsGcT0C1O6SoqrOiPQVXwMAMpZPRrB/9z1wiYiIiEhszo4dfGdEQS4RFqjHsN5hAMRbzmhdxhgT6s9BGRERERH5FA7MqI1xF8rm7xJsOWPLUvlERERERL6EAzNqw1o2/9uTpTBbxFnpap0xE7EiIxERERFRV3A9mA/Iz8+H2WyGVqtFnz59utze8D5hCPbXobLOiMyiKmVpo9ouFv4Qc8bM1TlQ5zELcTALcTALcTALcTALcTALzpj5hPLycpSWlqK8vNwl7flpNfh1SgQAYHeWONeZ5ZY2D8xSBJ0xc3UO1HnMQhzMQhzMQhzMQhzMQhzMggMzaod1OeOuE2JcZ2axyMrALFnAe5gREREREXUFlzL6gAEDBkCWZUiS5LI2rQVADp6uQE2jSfUqiIWV9Wg0WeCnldArTJwS/i25IwfqHGYhDmYhDmYhDmYhDmYhDmbBgZlPMBgMLm8zMSIICeGByCuvw77sMlw3KMblr+GMnAuzZYkRQdBpxZzodUcO1DnMQhzMQhzMQhzMQhzMQhzMgksZqQNjL8ya7RagbH5OyYWKjIIW/iAiIiIi6goOzKhdY1ObrzMToQDIxevLxCz8QURERETUFVzK6ANqampgsVig0WgQHOy6gcuv+0VAq5GQU1qL/PI69AkPdFnbzlJK5Qtc+MNdOZDzmIU4mIU4mIU4mIU4mIU4mAUHZj4hOzsbRqMRfn5+SE9Pd1m7oQY/XJ7QE/tPleOrzLO4c2yyy9p2lnUpY4rAAzN35UDOYxbiYBbiYBbiYBbiYBbiYBZcykiXMC09DgCw5XCRan2oazKhqKoBAJAU2T1/g0JEREREvo0zZj4gOjpauVO6q10/NA7L/3sUPxdUIaekRpVrvKzXl4UF+iE8SO/x13eUO3Mg5zALcTALcTALcTALcTALcTALDsx8QlxcnNvajgz2x1X9IrHzRAm2HC7Cg9f1d9trtUe5vkzwiozuzIGcwyzEwSzEwSzEwSzEwSzEwSy4lJEcMH14PIDm5YyyLHv89VmRkYiIiIh8HQdmdEmTBsfCX6dBTkktMovOe/z1lXuYCVz4g4iIiIioKzgwo0sK9tfhuoExAIDNhwo9/vo5pd6xlJGIiIiIqLN4jZkPOHr0qFJedNCgQW55jZuGx+OzI2ew5XARFkwdCK1GcsvrtCbLcot7mIm9lNETOZBjmIU4mIU4mIU4mIU4mIU4mAUHZj7BaDTCaDS69TUmDIhCiEGH4vON2J9bjjEpEW59PauS6kbUNJqgkYDECPVucO0IT+RAjmEW4mAW4mAW4mAW4mAW4mAWXMroE/z8/JQ/7uKv0+L6IZ6/p5l1GWPvnoHw14ldPtUTOZBjmIU4mIU4mIU4mIU4mIU4mAUgyWqU2fNSFosF1dXVNo+FhIRAo+ke49s9J0vxP69+jx4Bfjjw+HXQ69z/vt/5Pg8LPz6CCQOisH7OKLe/HhERERGRKzg7dugeIwpyidHJEYgK8UdVvRG7TpR45DWVioyRYl9fRkRERETUFRyYkcO0Ggk3Dmu+p9lmDy1ntC5lTGKpfCIiIiLyYRyYkVOsN5veerQYtY0mt7+edcYshaXyiYiIiMiHsSqjDzhz5gzMZjO0Wi3i4uLc+lrDevdAYkQgTpfVYesvxZg+vJfbXqvJZEF+RT0A8UvlA57NgTrGLMTBLMTBLMTBLMTBLMTBLDhj5hPOnTuHs2fP4ty5c25/LUmSMD39wnLGQ+5dzphXXgezRUaQXouYUH+3vpYreDIH6hizEAezEAezEAezEAezEAez8LKB2f79+zF58mSEhIQgODgYV199Nfbs2dNmv6amJixZsgRJSUnQ6/VITEzEY489hvr6+jb71tTU4MEHH0R8fDwMBgOGDx+O9957zxNvx2vddGE5464TJaiobXLb61iXMSZFBUGSPHNDayIiIiIiNXjNUsYDBw5g3LhxGDVqFDZs2ABZlvHUU0/h2muvxfbt2zFmzBhl35kzZ+Lzzz/HkiVLMHLkSHz33XdYtWoVMjMzsWXLFpt2b7nlFhw4cABr1qxB//798c4772DmzJmwWCyYNWuWp99mp6SkpMBisXisbH+/6BAMjg9FZtF5fJ5xBv9zRaJbXkcp/OElFRk9nQO1j1mIg1mIg1mIg1mIg1mIg1l40X3MpkyZgkOHDiEnJweBgYEAgOrqaiQnJ6N///7KzNm+ffswZswYPP3003jooYeU5z/55JNYuHAhvv76a0ycOBEA8Pnnn+OGG25QBmNWkyZNQmZmJvLy8qDVXrypcXe/j1lLL+/KxurPj2FUUjg23j3m0k/ohEc2HcbGHwrwwLWp+MvE/m55DSIiIiIid/DZ+5jt2bMHEyZMUAZlQPMbGzduHPbu3YszZ84o+wHA9ddfb/P8adOmAQA+/PBD5bGPP/4YwcHBuPXWW232nTNnDoqKivD999+75b34gmkXyubvzy1HUWXbJaKukFPSPGOWzFL5REREROTjvGZg1tTUBH//tgUgrI8dOXJE2a/l4633+/nnn5XHMjIyMHDgQOh0tis6hw0bpmwn++LDAjAqKRwA8F833dMs98JSxhQvqMhIRERERNQVXnON2aBBg7Bv3z6btacmk0mZ1SorK1P2A5pnzpKSkpTnf/vttzb7Wf+enJzc5rXCw8Pb7NuezMxMJCYmIjQ0VHmssbERx44dAwD07NkTCQkJNs/JyspCXV0dACA9Pd1mW2lpKQoLCwEACQkJ6Nmzp7LNbDYrg8WQkBCl7w0NDZBlGYWFhaitbR7MDB482GbAWVlZidOnTwMA4uPjERUVZfO6P//8M2RZRkBAAPr3t102mJ+fj/LycgDAgAEDYDAYADTf02x/bjne+y4bo8NqEB0d3aa86dGjR2E0GuHn56dkY3XmzBml8k5KSgqCgy8OwIorqlF2obCIX0MFgB42zz1x4gTq6+shSZIykLYqKSlBUVHzYDExMRFhYWHKNpPJhMzMTABAaGiozXcEAHJycpQp5yFDhtgsZa2oqEBeXh4AoFevXoiMjLR57qFDhwAAAQEBGDBggM22vLw8VFRUAADS0tJsfnFw/vx55ObmAgBiYmIQGxtr89zMzEyYTCb4+/sjLS3NZltRURFKSkoAAP369UNQ0MXZxbq6OmRlZQEAIiIi0Lt3b5vnHj9+HA0NDdBqtRgyZIjNtnPnzimz0H379kWPHhc//6amJvzyyy8AgB49eqBv3742z83OzkZNTXPhlqFDh9pM15eVlaGgoAAA0Lt3b0RERCjbLBaL8guW4OBgpKSk2LR76tQpVFVVAQAGDhwIvV6vbKuqqsKpU6cAAHFxcQgNDYUsy5AkCQaDARkZGTCbzTAYDG2yKSgoUI711NRUm1n52tpanDx5EgAQFRWF+Ph4m+ceO3YMjY2N0Ol0GDx4sM22s2fPori4GACQlJSk6jnCKjc3F+fPnwfgmXMEAJSXlyvHTUxMjMvOEQ0NDTh+/DiA5nN2nz59bJ4r4jni8OHDAIDAwECkpqbabPPEOSIhIQEGg0E5LrrzOSI6OtrmuZ4+RzQ0NKCkpARlZWWQJKlbnyNqamqQnZ0NAC79OcLRcwQA9O/fXzkugO57jlD75wjrz7P5+flKNt5+jrAep47ymoHZ/fffjzvuuAP33XcfHn/8cVgsFixfvlw5SVhDmzp1Kvr164dHH30UMTExGDlyJPbt24eFCxdCq9W2WdPZUbU/RyoBmkwmtL5MT5ZlGI1GZbu951i3t2axWJRtFoulzXZ77R4/fhxGoxGSJCl9ad2nlu2azWa77cqyDD8/vzbbzGaz8tyW7V4/JA5LN2cit9KI3LJ6RETYb7e999qy3dbv1Vr4I9yggb+2zVOVz9BeRh21685srO1Zf+Bor92Ovi/tZWMymeyuR24vG0fbNRqNdrd11K71uZdq1x5Hv9/2nt+yT621fq/WY8LPzw/p6eloamqCxWKx+QfSkffq6Gdo7zNytF1PnCPsteuJcwQAnD59WmnP2e+Lo8eyvXZFPEd0NhtXnSNOnToFs9msHBfd+RzRmqfPEdZzVMt22mtXlO+hu84RjrTrznME0DxwsR4XzrQrSja+8nOEvZ9nW/PGc4QzvGZgNnfuXJSUlGDVqlVYt24dAGDMmDGYP38+/va3v6FXr+YbHev1enzxxReYPXs2Jk2aBAAICgrC6tWrsXLlSmU/oHn0b29WzPpbHevMWUd0Ol2bf/glSVJOTK2XSVofs3fiApoHmNZt9g6gjtptub11n1q2a+9L5efnB1mW7bar1WrtttszSI8rU3piZ1Y59hY24YqB9ttt+d/22m39Xk+VNf+mpFeon93+Wj9Dez90ddSuO7PpSMt2O/q+tJdNy31aai8bR9u13sjRmXatz+2o3a5+vy/1Xlu71HvV6/XKD6QdtduZz9BisTh13LRu15PniI6+h+44R9jbr73+OnuOuFQ2Ip4jOpuNq84RrX9A4DniIjXOES336c7nCEfabfnf9trt7DnC3g/qvnKOsM7M+vv7Q6/XQ6PRID8/3+a5jY2NygxPaWmpMisHNA84rNuMRmOb5+p0OgQGBkKSpDbbmpqalOdWVFTYFMCwWCzKNrPZrDzXz89Pee/W91hQUGDzfo1Go00RwIaGBmWbLMvKNnt9avl+zpw5Y5OByWRSttXV1bV5bkBAAGRZtvsZNjU1KeMBe9k4w2uqMlo1NjYiKysLISEhSExMxN133423334bJSUlCAgIsNm3sLAQ5eXlSElJQVVVFeLj47F8+XIsWbIEADBv3jy8++67qKiosDkI3nvvPcycORN79uzBr3/9a+VxUasy5ufnK/94tp6qd7fNhwrxwHuHkBgRiB3zJ7jsfmNPfXkML+zIxv9ckYAnZgx1SZvupmYOZItZiINZiINZiINZiMNXs2hoaMC5c+fQq1cvuwNTETU1NSmXIbRcZigyWZZRX1+P0tJSREVFtRmLODt28JoZMyt/f39lHWteXh7ef/993HXXXW0+CKB5/a51hmzRokUICgrCHXfcoWyfMWMGXnnlFXz44Ye47bbblMffeOMNxMfH44orrnDzu3ENNU8k1w2MQYCfFqfL6nC4oArD+4Rd+kkOuFiR0XsKf/jSCd3bMQtxMAtxMAtxMAtx+GoWJSUlXjUoA+A1g7GWJElCYGAg4uLilIFwV3jNwCwjIwMffvghRowYAX9/fxw+fBhr1qxBamoqVq5cabPvU089hdjYWCQkJKC4uBgbN27EJ598gg0bNth8YFOnTsXEiRPxf//3fzh//jz69euHd999F19++SXeeustr/oyqyXIX4eJg2Kw5XARthwqctnAzFqRkaXyiYiIiJzHn2M9x7psuau8ZmCm1+uxbds2PPvss6ipqUFCQgLuueceLFiwwKaCDNA8fbtixQoUFBQgICAAo0ePxo4dOzB27Ng27X700Ud4/PHHsWTJEpSXlyMtLQ3vvvsufv/733vqrXm96cPjseVwEf77cxEev2EgtJquLWc0W2Tkll0olR/pPTNmRERERESd5XXXmKlJ1GvM1NZksmDU6q2orDPi7TuvwJX9Ii/9pA7kl9dh7FPboddq8MvKKV0e6BERERF1J/n5+T67TFNU9j5zn7/GjNo6ceIETCYTdDpdm3uHeIJep8HUIXF4d38eNh8q7PLALLukudx8YkSgVw3K1M6BLmIW4mAW4mAW4mAW4mAW4rDex6zlPeW6m+491eMj6uvrUVdXp9yMTw3ThzffVPOLjLNoNLW9/4MzLhb+8K7ry0TIgZoxC3EwC3EwC3EwC3EwC3FYLBblT0fWr18PSZLwww8/2DxeWlqKESNGIDg4GN988w2WLVumlLBv/eff//63O99Kp3HGzAe0/KKpZVTfcMSGGnD2fAN2HC/B5MGxl35SOy4W/vCu68tEyIGaMQtxMAtxMAtxMAtxMAvfUFBQgIkTJ6K4uBhbt27F6NGjsWfPHgDAl19+iR49etjsn5SUpEY3L4kDMx8wbNgwtbsAjUbCTcPj8fKuHGw5VNSlgVlOafNSxuRI75oxEyEHasYsxMEsxMEsxMEsxMEsxGG9wbOzsrKycN1118FoNGLnzp0YOtT2/reXX345IiO7dpmNp3BgRi5zU3rzwGzrL8WobjAixODXqXa8dSkjERERkejqmkxqdwGBetcMQQ4dOoTJkycjODgY27dvR3JyskvaVQsHZuQyg+NDkRwVhJySWnydWYzfXN7b6Tbqmkw4U9UAAEhmqXwiIiIilxq05Cu1u4BTa27ochvffvstli1bhj59+uDrr79GXFyc3f3MZjNMpouDUUmShL3HG4t/kMtIkoTp6c038N5yuKhTbVhny3oG+qFnkPfdAZ6IiIiI3O8vf/kLAGDbtm3tDsoAIDY2Fn5+fsqfxMRET3XRaZwx8wElJSUwm83QarWIiopStS83DY/HP7eewLcnS1Fa04jIYH+nnu+thT8AsXLo7piFOJiFOJiFOJiFOLpjFkdXTFa7C3YZjUbl735+l74c5qabbsKWLVvw4IMP4s0332x3Fmzr1q02xT/0enF/8c+BmQ8oKiqC0WiEn5+f6ieVpMggpPfugcMFVfj8yBn8YUxfp56vXF/mZYU/ALFy6O6YhTiYhTiYhTiYhTi6Yxauur7L1YxGo3IfM0cGZosXL8bw4cOxYsUKWCwWvPXWW3YHZ+np6V5T/INLGcnlbhrevJxx8yHnlzMqFRm9cMaMiIiIiDxn+fLlWLp0Kd577z3MmjXL5loybyTmkJmckpiYCIvFAo1GjHH2tGFxWPXZURw8XYH88jr0CXe8/Kl1xizJC2fMRMuhO2MW4mAW4mAW4mAW4mAW4ujsEsNly5ZBo9Fg6dKlkGUZ77zzDnQ67xzieGevyUZYWJjaXbARE2rAmOQI7M0uw39/LsK9E/o59DxZlpFT0jxjluKFpfJFy6E7YxbiYBbiYBbiYBbiYBbi6MpgasmSJdBoNFi8eDFkWca7777rwp55Dgdm5BbTh8djb3YZthxyfGB2rroRtU1maCQgIaJzNxkkIiIiou5n0aJF0Gg0ePzxx2GxWJCWlqZ2l5wmybIsq90Jb2GxWFBdXW3zWEhICKe/7aiqM2LkE1vRZLbgywfHIi029JLP+S67DDNf2YfEiEDsfPhqD/SSiIiIyPfk5+ejT58+anejW7H3mTs7duCIwgeYTCYYjUahLnjsEeiHCQOaqxttcbAIiFL4wwuvLwPEzKG7YhbiYBbiYBbiYBbiYBbikGUZFosF3XnOiEsZfUBmZqZS6jU9PV3t7ihuGh6Pr48WY8vhIjw8eQAkSepw/4uFP7yzIqOoOXRHzEIczEIczEIczEIczEIc9fX1Srn8wMDueUkLZ8zIba5Ni0GQXouCinr8mFd5yf2thT+SvbDwBxERERFRV3DGzAeEhobCZDIJVxo0QK/F5MGx+OinQmw5VIjLE3t2uH9O6YWbS3vpwEzUHLojZiEOZiEOZiEOZiEOZiEOrVarzJh1V/wW+oCkpCS1u9Cum4bH46OfCvHZkTNYPG0QdFr7k7RNJgvyy+sAACleenNpkXPobpiFOJiFOJiFOJiFOJiFOPz9/dXuguq4lJHc6sp+kYgI0qO0pgl7s8va3S+vvBYWGQjSaxEdwgOTiIiIiLoXDszIrfy0Glw/NA4AsLmD6ozZJdZljMHdegqbiIiIiLonDszI7aYPjwcAfJV5Fg1Gs919LlZk9M7ry4iIiIiIuoLXmPmAnJwc5cLV5ORktbvTxq8SeqJXWAAKK+ux7dg5ZQatJV+oyCh6Dt0JsxAHsxAHsxAHsxAHsxBHY2OjUvyju15vxoGZD6iurlbuwSEijUbCTcPjsW5HNjYfKrQ/MCu9uJTRW4meQ3fCLMTBLMTBLMTBLMTBLMRhNpu7fVVGLmUkj7gpvXk54/bjJaiqN7bZnmsdmHEpIxERERG1Y/369ZAkSfmj0+kQFxeH3//+98jKygIAvPrqqzb7tPenX79+SrtffPEFJk6ciLi4OPj7+yM+Ph5XX3011q5d67H3xhkzHzBkyBC1u3BJabEh6B8TjBPFNfgq8yx+N6KPsq2yrgnltU0AvPsaM2/IobtgFuJgFuJgFuJgFuJgFuIICAhwav///Oc/SEtLQ0NDA/bs2YMnnngC27dvx7FjxzB9+nSbbM1mM6666ircdtttePDBB5XHDQYDAODf//437r//ftx66614/vnnER4ejvz8fOzZswebNm3Cww8/7Jo3eQkcmPkArVardhcuSZIkTB/eC2u/Oo4th4psBmbWioyxoQYE+XvvV9IbcugumIU4mIU4mIU4mIU4mIU4nF3COGTIEIwYMQIAMGHCBJjNZixduhSffPIJ5syZg6ioKGVmSPtkAAAYm0lEQVRfk8kEAIiNjcXo0aPbtPXkk0/immuuwcaNG20enz17NiwWi7NvpdO4lJE8xrqccW92Kc5VNyiP+0LhDyIiIiJSj3WQVlxc7PRzy8rKEBfXtgYCAGg0nhsuee/0BHmdPuGB+FVCGH7Mq8RnP5/BnCuTALQs/MGBGREREZE71dbWqt0FBAW5/me+3NxcAED//v2dfu6YMWOwceNG9O/fHzfffDMGDx6symwqB2Y+oKKiAhaLBRqNBj179lS7Ox26KT0eP+ZVYvOhImVglmu9uXSk91ZkBLwrB1/HLMTBLMTBLMTBLMTRHbMIDlb/5y1Zlts8Zl1uCAA63aWHKGazGSaTSbnGbNWqVRg3bhxuuukmp/vz8ssv4+abb8bSpUuxdOlSBAQE4Morr8SMGTMwb948h/rjChyY+YC8vDyl1KvoJ5UbhsVjxadHcSi/EqfLapEYEYScUt9YyuhNOfg6ZiEOZiEOZiEOZiEOZiGOpqYmpVy+IwOh1teKDRw4EJs3b+7UICo1NRVHjhzB7t27sWPHDvzwww/YuXMntm7dijfeeAO7d++GXq93ul1ncWBGHhUV4o8r+0Vid1Ypthwqwr1X98OpsjoAQIoX38OMiIiIyBvU1NSo3QWXePPNNzFw4EBUV1fj/fffx0svvYSZM2fiiy++6FR7Go0G48ePx/jx4wE0f05z5szBpk2bsH79esybN8+V3beLAzMf0KtXL2Ua3htMH94Lu7NKsflwEaYP74UmkwV6nQbxYc6VSRWNt+Xgy5iFOJiFOJiFOJiFOLpjFu64vssVnL3J98CBA5WCH1dffTXMZjNeffVVbNq0Cb/97W+73J/g4GAsWLAAmzZtQkZGRpfbcwQHZj4gMjJS7S44ZfLgGCz8WIOT52rw6ZEiAEDfiEBoNd59p3dvy8GXMQtxMAtxMAtxMAtxMAtxODswa+2pp57Chx9+iCVLluCWW25xarB95swZu1UZf/nlFwBAfHx8l/rmqO7z6wESRojBD9emRQMAXtmVA8D7C38QERERkXp69uyJxx57DL/88gveeecdp56blpaG2267Df/5z3+wc+dOfPXVV1i+fDnuvfdexMXFYe7cuW7qtS0OzEgV04c3/+ahos4IwPsLfxARERGRuu6//34kJCRgxYoVMJvNDj9vzZo1MBqNWLlyJaZOnYqbbroJb731FmbPno0DBw4gOjrajb2+SJLt1askuywWC6qrq20eCwkJ6Vbrkl2lwWjGyFVbUd3YXBr177em47eX91a5V0RERETeLz8/H3369FG7G92Kvc/c2bEDrzHzAYcPH1ZKvaanp6vdHYcY/LSYMiQWHxwsAAAkRXr/jJk35uCrmIU4mIU4mIU4mIU4mIU46urqlHL5gYGBandHFZzqIdVMH95L+XsKlzISERERUTfGGTMfEBgYCJPJ5LG7krvKmJQITB8ej7AAP4QFuv+mfe7mrTn4ImYhDmYhDmYhDmYhDmYhDo1Go8yYdVe8xswJvMaMiIiIiETHa8w8zxXXmHFEQUREREREpDIOzIiIiIiIiFTGgRkRERERkY9x5j5e1DVGo9EllzbxSkcfkJeXp1y4mpCQoHZ3ui3mIA5mIQ5mIQ5mIQ5mIQ5fzSIqKgqFhYXo1asXtFqt2t1xSGNjo/J3f39/FXviOFmWUV9fj9LSUkRFRXW5PQ7MfEBFRYVyDw5fOql4G+YgDmYhDmYhDmYhDmYhDl/NwmAwIDo6GmfOnIG31Pmrrq5WqjKGhISo3R2H+fv7u2wAzIEZEREREZGPMRgM6N27t9rdcFjLm31314qSLJfvBFHL5Tc2Niq/YfCWqV9fxBzEwSzEwSzEwSzEwSzEwSzE4YtZODt24IyZD/CVL6+3Yw7iYBbiYBbiYBbiYBbiYBbiYBasykhERERERKQ6DsyIiIiIiIhUxqWMTrB3OZ7FYlGhJ7Zarl31pio2voY5iINZiINZiINZiINZiINZiMMXs7A3TuiovAeLfzjBZDKhtrZW7W4QEREREZEXCgoKgk5nf26MSxmJiIiIiIhUxoEZERERERGRyjgwIyIiIiIiUhmvMXOCxWJpcxGfJEmQJEmlHhERERERkYhkWW5T7EOj0bR7g2kOzIiIiIiIiFTGpYxEREREREQq48DMS9XU1ODBBx9EfHw8DAYDhg8fjvfee0/tbvm0HTt2KEtXW//Zt2+fzb5bt27FmDFjEBgYiMjISNx+++04d+6cSj33btXV1XjkkUcwadIkREVFQZIkLFu2zO6+P/74I6677joEBwcjLCwMt9xyC3Jycuzu+9xzzyEtLQ3+/v5ISkrC8uXLYTQa3fhOvJ+jWdx+++12j5O0tLQ2+xqNRixfvhx9+/aFv78/0tLS8Nxzz3ng3Xivbdu2Ye7cuUhLS0NQUBB69eqF6dOn4+DBg2325THhXo5mwWPC/Q4dOoQbbrgBCQkJCAgIQHh4OMaMGYO33nqrzb48LtzL0Sx4XLTFG0x7qVtuuQUHDhzAmjVr0L9/f7zzzjuYOXMmLBYLZs2apXb3fNrq1atx9dVX2zw2ZMgQ5e87d+7E1KlTccMNN2Dz5s04d+4cHn30UVx77bX44Ycf4O/v7+kue7WysjK8/PLLSE9Px80334xXX33V7n7Hjh3DhAkTMHz4cGzcuBENDQ1YsmQJxo4di0OHDiEqKkrZ94knnsDixYuxYMECTJo0CQcOHMCiRYtQWFiIl19+2VNvzes4mgUABAQEYNu2bW0ea+3ee+/Fhg0bsHLlSowcORJfffUVHnjgAVRXV2PhwoUufw++YN26dSgrK8MDDzyAQYMGoaSkBE8//TRGjx6Nr776Ctdccw0AHhOe4GgWAI8Jd6usrESfPn0wc+ZM9OrVC7W1tXj77bcxe/ZsnDp1CosWLQLA48ITHM0C4HHRhkxe57PPPpMByO+8847N4xMnTpTj4+Nlk8mkUs982/bt22UA8gcffNDhfiNHjpQHDRokG41G5bE9e/bIAOQXXnjB3d30ORaLRbZYLLIsy3JJSYkMQF66dGmb/W699VY5MjJSrqqqUh47deqU7OfnJz/yyCPKY6WlpbLBYJDnzZtn8/wnnnhCliRJzszMdM8b8QGOZvHHP/5RDgoKumR7GRkZsiRJ8urVq20ev+uuu+SAgAC5rKzMJf32NcXFxW0eq66ulmNiYuRrr71WeYzHhPs5mgWPCfVcccUVcp8+fZT/53GhntZZ8Lhoi0sZvdDHH3+M4OBg3HrrrTaPz5kzB0VFRfj+++9V6hkVFhbiwIEDmD17ts1d3X/961+jf//++Pjjj1XsnXdypPKpyWTCp59+it/85jcIDQ1VHk9MTMTVV19t87l/+eWXaGhowJw5c2zamDNnDmRZxieffOLaN+BDXF2F9pNPPoEsy3azqK+vx5dffumy1/Il0dHRbR4LDg7GoEGDkJ+fD4DHhKc4koUzeEy4XmRkpPLvMY8LdbXMwhnd6bjgwMwLZWRkYODAgW2+3MOGDVO2k/v86U9/gk6nQ2hoKCZPnoxvv/1W2Wb97K1ZtDRs2DBm4ybZ2dmor69v93M/efIkGhoaAFzMaOjQoTb7xcXFITIykhm5SH19PWJjY6HVatG7d2/cd999KC8vt9knIyMDUVFRiI2NtXmc5zLnVVVV4ccff8TgwYMB8JhQU+ssrHhMeIbFYoHJZEJJSQleeOEFfPXVV3j00UcB8LjwtI6ysOJxYYvXmHmhsrIyJCcnt3k8PDxc2U6u16NHDzzwwAOYMGECIiIicPLkSaxduxYTJkzAZ599hsmTJyufvTWLlsLDw5mNm1zqc5dlGRUVFYiLi0NZWRn8/f0RFBRkd19m1HXp6elIT09Xrr3cuXMn/vnPf+L//b//hwMHDiA4OBhAc272MgsKCoJer2cWTvjTn/6E2tpaPP744wB4TKipdRYAjwlPuvfee/HSSy8BAPR6PZ599lncfffdAHhceFpHWQA8LuzhwMxLdbSciDe8do/LLrsMl112mfL/Y8eOxYwZMzB06FA88sgjmDx5srKtvQyYjXs5elzw+HGvv/zlLzb/P3HiRFx22WX47W9/i1deecVmO7PousWLF+Ptt9/Gc889h8svv9xmG48Jz2ovCx4TnrNw4ULceeedOHfuHP773//ivvvuQ21tLebPn6/sw+PCMy6VBY+Ltjgw80IRERF2fztgnfq191sFco+wsDBMmzYNL774Iurr6xEREQHA/qxleXk5s3GTS33ukiQhLCxM2behoQF1dXUIDAxss2/rH2zJNWbMmIGgoCCbW0tERETg0KFDbfatra1FU1MTjxcHLF++HKtWrcITTzyB++67T3mcx4TntZdFe3hMuEdCQgISEhIAANdffz0A4LHHHsMf//hHHhce1lEWLatfttTdjwteY+aFhg4dil9++QUmk8nm8SNHjgCwLd1O7ifLMoDm39hYP3trFi0dOXKE2bhJSkoKAgIC2v3c+/XrB4PBAODi9QKt9z179ixKS0uZkRvJsgyN5uI/O0OHDkVJSQnOnj1rsx/PZY5Zvnw5li1bhmXLlrUpF81jwrM6yqIjPCbcb9SoUTCZTMjJyeFxobKWWXSkOx8XHJh5oRkzZqCmpgYffvihzeNvvPEG4uPjccUVV6jUs+6noqICn376KYYPHw6DwYBevXph1KhReOutt2A2m5X99u3bh+PHj+OWW25Rsbe+S6fT4cYbb8RHH32E6upq5fG8vDxs377d5nOfMmUKDAYD1q9fb9PG+vXrIUkSbr75Zk91u1vZtGkT6urqMHr0aOWx6dOnQ5IkvPHGGzb7rl+/HgEBAZgyZYqnu+k1Vq5ciWXLlmHRokVYunRpm+08JjznUlm0h8eEZ2zfvh0ajQbJyck8LlTWMov2dPfjQrts2bJlaneCnJOamoq9e/filVdeQXh4OM6fP48nn3wSGzduxLp165Cenq52F33SrFmzcODAAVRWVuLcuXP45ptvcMcddyA/Px9vvPGGcqJJTU3FP//5Txw+fBgRERHYt28f7r77biQkJGDdunWdKhXb3X3xxRc4fPgwjhw5gs2bNyM6OhqSJOHo0aPo27cv/Pz8MHToULzwwgvYvn07YmNjkZGRgbvuuguSJOHNN99ULuAOCAiAJElYu3YtmpqaoNPpsGnTJixZsgRz5szB3LlzVX63YrtUFkVFRbjhhhtQV1eH8vJyZGdn47XXXsOCBQswYMAArFu3Dnq9HkBzqfGCggI888wzMBgMMBqNeOWVV/DMM89g2bJlmDRpksrvVkxPP/00HnvsMUyZMgV33XUXCgoKbP707t0bAHhMeIAjWZw+fZrHhAfMmzcPO3fuRGVlJUpLS3Hw4EGsWLEC77zzDubPn68MpHhcuJ8jWfC4aIcqd0+jLquurpb//Oc/y7GxsbJer5eHDRsmv/vuu2p3y6c9+eST8vDhw+UePXrIWq1WjoqKkmfMmCHv37+/zb5ff/21PHr0aNlgMMjh4eHyH/7wB7s3IiXHJCYmygDs/snNzVX2++GHH+Rrr71WDgwMlENDQ+Wbb75ZPnnypN02n3nmGbl///6yXq+XExIS5KVLl8pNTU0eekfe61JZlJeXyzNmzJD79u0rBwQEyHq9Xk5NTZUfeeQRubKysk17TU1N8tKlS+WEhARZr9fL/fv3l5999lkV3pn3GD9+fLsZtP5nnceEezmSBY8Jz3j99dflsWPHypGRkbJOp5PDwsLk8ePHyxs2bGizL48L93IkCx4X9kmyfOECGSIiIiIiIlIFrzEjIiIiIiJSGQdmREREREREKuPAjIiIiIiISGUcmBEREREREamMAzMiIiIiIiKVcWBGRERERESkMg7MiIiIiIiIVMaBGRERERERkco4MCMiIq+zd+9eLFu2DJWVlTaPT5gwARMmTFCnUxfMnTsXU6ZMUe31KyoqEBYWhk8++US1PhARkfMkWZZltTtBRETkjL///e94+OGHkZubi759+yqPHz16FAAwaNAgVfr1008/YcSIEfj+++8xYsQIVfoAAMuXL8dbb72FzMxM6PV61fpBRESO44wZERH5jEGDBqk2KAOANWvWYNSoUaoOygDgnnvuwalTp7Bp0yZV+0FERI7jwIyIiLzKsmXL8PDDDwMAkpKSIEkSJEnCjh072ixlPHXqFCRJwtq1a/G3v/0Nffv2RUBAACZMmIATJ07AaDRiwYIFiI+PR48ePTBjxgycO3euzWu+//77GDNmDIKCghAcHIzJkyfjp59+stmnuLgYH3/8MWbPnm3zuMViwapVqzBgwAAEBAQgLCwMw4YNwzPPPGOzX1ZWFmbNmoXo6Gj4+/tj4MCBeP7559v0pbKyEn/961+RnJwMf39/REdH4/rrr8exY8eUfWJiYjBx4kS8+OKLTn++RESkDp3aHSAiInLGnXfeifLycjz33HP46KOPEBcXB6Dj5YvPP/88hg0bhueff14Z2Nx444244oor4Ofnh9dffx2nT5/G/Pnzceedd2LLli3Kc1evXo1Fi/5/e/cX0tT/x3H82VelmWRbtfAidEErlQwKZ1D+aZGurIj+XAUV3URlyJCgVitnIfQHQfMmspsoEKEurIuw0v5QtLwwujC8KLFsRbXKZrCZ4r4X4eE3rL7FrzgVrwfsYmfvfT6fc+5efM55Hz/btm3D7/fz6dMnTpw4QVFREZ2dnca8V69eZXh4GLfbnTD38ePHCQQC+P1+iouLGR4epqenJ+H5uEePHrF48WIyMzOpq6sjIyODtrY2KisrCYfDVFdXAzA4OEhhYSF9fX3s3buXRYsW8fHjR27fvs3Lly/Jzs42xly6dCk+n4+BgQGsVuv/f+FFROSXUjATEZE/ysyZM8nMzARgwYIFCc+Yfc1YM4x//vl8o0g4HMbr9ZKdnU1ra6tR19PTQ319PZFIhPT0dPr7+6murmb37t2cPHnSqCstLcXpdFJTU0NLSwsA9+7dIzU1NSEcAdy9e5e8vDwCgYBxzOPxJNRUVVUxefJk7ty5Q3p6ujHH0NAQR48epbKyEpvNRn19Pd3d3Vy7do3ly5cb/1+/fv24c164cCGjo6MEg0FTm5GIiMj30a2MIiLy1ysvLzdCGUBOTg4Aq1atSqgbO/7s2TMA2traGBkZYcuWLYyMjBgfi8VCSUkJN2/eNP774sUL7HY7EyZMSBizoKCAhw8fsmvXLtra2ohEIgm/x2Ix2tvbWbduHZMmTUqYp7y8nFgsRjAYBODKlSvMmTMnIZR9zYwZMwAIhULfc4lERMRk2jETEZG/3tSpUxO+j3Uq/NrxWCwGfH5uDMDlcn1x3P8Ne9FoFIvFMq7G5/ORlpbG+fPnOXXqFElJSRQXF3Ps2DHy8/N5+/YtIyMjNDY20tjY+MV5wuEwAG/evDF2C//L2Fqi0eh31YuIiLkUzERERL5i+vTpAFy4cIGsrKz/rO3q6hp3PDk5maqqKqqqqhgYGOD69evs378fj8dDf38/NpuNpKQkNm/eTEVFxRfHnjVrFgB2u53nz59/19rfvXuXcA4iIvJ7UzATEZE/zsSJE4Ffvxvk8XhITk7myZMnbNiw4Zu12dnZNDc38+HDB6ZMmfLFGqvVysaNGwmFQni9Xvr6+sjNzcXtdvPgwQPmz5//zfeOrVy5kkOHDtHR0cGyZcu+uZ7e3l7AvHe6iYjIj1EwExGRP05eXh4ADQ0NbN26lZSUFObOnfvT53E4HBw+fJgDBw7Q29vLihUrsNlsvHr1is7OTtLS0qipqQE+d0GMx+Pcv3+fsrIyY4w1a9Ywb9488vPzsdvtPH36lPr6erKysnA6ncZ5FBYWUlRUxM6dO3E4HAwODvL48WMuX75MR0cHAF6vl5aWFtauXcu+ffsoKCggGo1y69YtVq9endARMhgMMm3aNONaiYjI703BTERE/jhjreDPnj1LU1MTo6Oj3Lhx45fM5fP5yM3NpaGhgebmZoaGhsjIyMDlcrFjxw6jbsmSJTgcDlpbWxOCmdvt5uLFi5w5c4ZIJEJGRgalpaUcPHiQlJQU4POuVldXF0eOHMHv9/P69WusVitOp5Py8nJjrLHOjYFAgNOnT1NTU4PNZsPlcrF9+3ajLh6Pc+nSJTZt2jSuGYmIiPyeJsTj8bjZixAREfkb1NXVUVtbSygUIjU11bR1tLe3U1ZWRnd397j2/SIi8ntSMBMREflJYrEYOTk5VFRUsGfPHtPW4Xa7mT17Nk1NTaatQUREfozeYyYiIvKTWCwWzp07ZzQnMcP79+8pKSmhtrbWtDWIiMiP046ZiIiIiIiIybRjJiIiIiIiYjIFMxEREREREZMpmImIiIiIiJhMwUxERERERMRkCmYiIiIiIiImUzATERERERExmYKZiIiIiIiIyRTMRERERERETPYvKMXuCXfXJNgAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "Ms, P, K = kf.rts_smoother(xs, covs)\n", "ukf_internal.plot_rts_output(xs, Ms, t)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "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. I recommend always using the RTS smoother if you can post-process your data." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Choosing the Sigma Parameters\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 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 $n=1$ to 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": 45, "metadata": { "scrolled": false }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "sigmas: [ 0. 3. -3.]\n", "mean weights: [0.6667 0.1667 0.1667]\n", "cov weights: [2.6667 0.1667 0.1667]\n", "lambda: 2\n", "sum cov 2.9999999999999996\n" ] } ], "source": [ "from kf_book.ukf_internal import print_sigmas\n", "print_sigmas(mean=0, cov=3, alpha=1)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So what is going on here? We can see that for a mean of 0 the algorithm chooses sigma points of 0, 3, and -3, but why? Recall the equation for computing the sigma points:\n", "\n", "$$\\begin{aligned}\n", "\\mathcal{X}_0 &= \\mu\\\\\n", "\\mathcal{X}_i &= \\mu \\pm \\sqrt{(n+\\lambda)\\Sigma}\n", "\\end{aligned}$$\n", "\n", "My choice of $n=1$ reduces everything to scalars, allowing us to avoid computing the square root of matrices. So, for our values the equation is\n", "\n", "$$\\begin{aligned}\n", "\\mathcal{X}_0 &= 0 \\\\\n", "\\mathcal{X}_i &= 0 \\pm \\sqrt{(1+2)\\times 3} \\\\\n", "&= \\pm 3\n", "\\end{aligned}$$\n", "\n", "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": 46, "metadata": { "scrolled": true }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "sigmas: [ 0. 600. -600.]\n", "mean weights: [1. 0. 0.]\n", "cov weights: [-39996. 0. 0.]\n", "lambda: 119999\n", "sum cov -39996.00000000001\n" ] } ], "source": [ "print_sigmas(mean=0, cov=3, alpha=200)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the sigma points 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 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 $\\alpha=200$ 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", "$$\\begin{aligned}\n", "W_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n", "W_i &= \\frac{1}{2(n+\\lambda)}\n", "\\end{aligned}$$\n", "\n", "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. Let's try that." ] }, { "cell_type": "code", "execution_count": 47, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "sigmas: [ 0. 0.0036 -0.0036]\n", "mean weights: [-999999. 500000. 500000.]\n", "cov weights: [-999996. 500000. 500000.]\n", "lambda: -0.999999\n", "sum cov 3.9999989999923855\n" ] } ], "source": [ "print_sigmas(mean=0, cov=13, alpha=.001, kappa=0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Robot Localization - A Fully Worked Example" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It is time to undertake a significant problem. Most books choose simple, textbook problems with simple answers, and you are left wondering how to implement a real world problem. This example will not teach you how to tackle any problem, but illustrates the type of things you will have to consider as you design and implement a filter. \n", "\n", "We will consider the problem of robot localization. In this scenario we have a robot that is moving through a landscape using a sensor to detect landmarks. This could be a self driving car using computer vision to identify trees, buildings, and other landmarks. It might be one of those small robots that vacuum your house, or a robot in a warehouse.\n", "\n", "The robot has 4 wheels in the same configuration used by automobiles. It maneuvers by pivoting the front wheels. This causes the robot to pivot around the rear axle while moving forward. This is nonlinear behavior which we will have to model. \n", "\n", "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", "Both the process model and measurement models are nonlinear. The UKF accommodates both, so we provisionally conclude that the UKF is a viable choice for this problem." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Robot Motion Model" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "At a first approximation an automobile steers by pivoting 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 modeling steering requires a complicated set of differential equations. \n", "\n", "For Kalman filtering, especially for lower speed robotic applications a simpler *bicycle model* has been found to perform well. This is a depiction of the model:" ] }, { "cell_type": "code", "execution_count": 48, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "ekf_internal.plot_bicycle()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here we see the front tire is pointing in direction $\\alpha$ relative to the wheelbase. 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 $R$. 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", "With $\\theta$ being the robot's orientation we compute the position $C$ before the turn starts as\n", "\n", "$$\\begin{aligned}\n", "C_x &= x - R\\sin(\\theta) \\\\\n", "C_y &= y + R\\cos(\\theta)\n", "\\end{aligned}$$\n", "\n", "After the move forward for time $\\Delta t$ the new position and orientation of the robot is\n", "\n", "$$\\begin{aligned} \\bar x &= C_x + R\\sin(\\theta + \\beta) \\\\\n", "\\bar y &= C_y - R\\cos(\\theta + \\beta) \\\\\n", "\\bar \\theta &= \\theta + \\beta\n", "\\end{aligned}\n", "$$\n", "\n", "Once we substitute in for $C$ we get\n", "\n", "$$\\begin{aligned} \\bar x &= x - R\\sin(\\theta) + R\\sin(\\theta + \\beta) \\\\\n", "\\bar y &= y + R\\cos(\\theta) - R\\cos(\\theta + \\beta) \\\\\n", "\\bar \\theta &= \\theta + \\beta\n", "\\end{aligned}\n", "$$\n", "\n", "You do not need to understand this math in detail if you are not interested in steering models. 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:\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", "The control input $\\mathbf{u}$ is the commanded 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", "We model our system as a nonlinear motion model plus white noise.\n", "\n", "$$\\bar x = x + f(x, u) + \\mathcal{N}(0, Q)$$\n", "\n", "Using the motion model for a robot that we created above, we can write:" ] }, { "cell_type": "code", "execution_count": 49, "metadata": {}, "outputs": [], "source": [ "from math import tan, sin, cos, sqrt\n", "\n", "def move(x, dt, u, wheelbase):\n", " hdg = x[2]\n", " vel = u[0]\n", " steering_angle = u[1]\n", " dist = vel * dt\n", "\n", " if abs(steering_angle) > 0.001: # is robot turning?\n", " beta = (dist / wheelbase) * tan(steering_angle)\n", " r = wheelbase / tan(steering_angle) # radius\n", "\n", " sinh, sinhb = sin(hdg), sin(hdg + beta)\n", " cosh, coshb = cos(hdg), cos(hdg + beta)\n", " return x + np.array([-r*sinh + r*sinhb, \n", " r*cosh - r*coshb, beta])\n", " else: # moving in straight line\n", " return x + np.array([dist*cos(hdg), dist*sin(hdg), 0])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We will use this function to implement the state transition function `f(x)`." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I will design the UKF so that $\\Delta t$ is small. If the robot is moving slowly then this function should give a reasonably accurate prediction. If $\\Delta t$ is large or your system's dynamics are very nonlinear this method will fail. In those cases you will need to implement it using a more sophisticated numerical integration technique such as Runge Kutta. Numerical integration is covered briefly in the **Kalman Filter Math** chapter." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Model\n", "\n", "The sensor provides 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. If $p$ is 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", "$$\\phi = \\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta$$\n", "\n", "Thus our measurement function is\n", "\n", "$$\\begin{aligned}\n", "\\mathbf{z}& = h(\\mathbf x, \\mathbf P) &+ \\mathcal{N}(0, R)\\\\\n", "&= \\begin{bmatrix}\n", "\\sqrt{(p_x - x)^2 + (p_y - y)^2} \\\\\n", "\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta \n", "\\end{bmatrix} &+ \\mathcal{N}(0, R)\n", "\\end{aligned}$$\n", "\n", "I will not implement this yet as there is a difficulty that will be discussed in the *Implementation* section below." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design Measurement Noise\n", "\n", "It is reasonable to assume that the range and bearing measurement noise is independent, hence\n", "\n", "$$\\mathbf R=\\begin{bmatrix}\\sigma_{range}^2 & 0 \\\\ 0 & \\sigma_{bearing}^2\\end{bmatrix}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Implementation" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Before we begin coding we have another issue to handle. The residual is $y = z - h(x)$. Suppose z has a bearing of $1^\\circ$ and $h(x)$ is $359^\\circ$. Subtracting them gives $-358^\\circ$. This will throw off the computation of the Kalman gain because the correct angular difference is $2^\\circ$. So we will have to write code to correctly compute the bearing residual." ] }, { "cell_type": "code", "execution_count": 50, "metadata": {}, "outputs": [], "source": [ "def normalize_angle(x):\n", " x = x % (2 * np.pi) # force in range [0, 2 pi)\n", " if x > np.pi: # move to [-pi, pi)\n", " x -= 2 * np.pi\n", " return x" ] }, { "cell_type": "code", "execution_count": 51, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "1.9999999999999774\n" ] } ], "source": [ "print(np.degrees(normalize_angle(np.radians(1-359))))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The state vector has the bearing at index 2, but the measurement vector has it at index 1, so we need to write functions to handle each. Another issue we face is that as the robot maneuvers different landmarks will be visible, so we need to handle a variable number of measurements. The function for the residual in the measurement will be passed an array of several measurements, one per landmark." ] }, { "cell_type": "code", "execution_count": 52, "metadata": {}, "outputs": [], "source": [ "def residual_h(a, b):\n", " y = a - b\n", " # data in format [dist_1, bearing_1, dist_2, bearing_2,...]\n", " for i in range(0, len(y), 2):\n", " y[i + 1] = normalize_angle(y[i + 1])\n", " return y\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": [ "We can now implement the measurement model. The equation is\n", "$$h(\\mathbf x, \\mathbf P)\n", "= \\begin{bmatrix}\n", "\\sqrt{(p_x - x)^2 + (p_y - y)^2} \\\\\n", "\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta \n", "\\end{bmatrix}$$\n", "\n", "The expression $\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta$ can produce a result outside the range $[-\\pi, \\pi)$, so we should normalize the angle to that range.\n", "\n", "The function will be passed an array of landmarks and needs to produce an array of measurements in the form `[dist_to_1, bearing_to_1, dist_to_2, bearing_to_2, ...]`." ] }, { "cell_type": "code", "execution_count": 53, "metadata": {}, "outputs": [], "source": [ "def Hx(x, landmarks):\n", " \"\"\" takes a state variable and returns the measurement\n", " that would correspond to that state. \"\"\"\n", " hx = []\n", " for lmark in landmarks:\n", " px, py = lmark\n", " dist = sqrt((px - x[0])**2 + (py - x[1])**2)\n", " angle = atan2(py - x[1], px - x[0])\n", " hx.extend([dist, normalize_angle(angle - x[2])])\n", " return np.array(hx)" ] }, { "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 $\\frac{1}{n}\\sum x$ 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", "\n", "`UnscentedKalmanFilter.__init__()` has an argument `x_mean_fn` for a function which computes the mean of the state, and `z_mean_fn` for a function which computes the mean of the measurement. We will code these function as:" ] }, { "cell_type": "code", "execution_count": 54, "metadata": {}, "outputs": [], "source": [ "def state_mean(sigmas, Wm):\n", " x = np.zeros(3)\n", "\n", " sum_sin = np.sum(np.dot(np.sin(sigmas[:, 2]), Wm))\n", " sum_cos = np.sum(np.dot(np.cos(sigmas[:, 2]), Wm))\n", " x[0] = np.sum(np.dot(sigmas[:, 0], Wm))\n", " x[1] = np.sum(np.dot(sigmas[:, 1], Wm))\n", " x[2] = atan2(sum_sin, sum_cos)\n", " return x\n", "\n", "def z_mean(sigmas, Wm):\n", " z_count = sigmas.shape[1]\n", " x = np.zeros(z_count)\n", "\n", " for z in range(0, z_count, 2):\n", " sum_sin = np.sum(np.dot(np.sin(sigmas[:, z+1]), Wm))\n", " sum_cos = np.sum(np.dot(np.cos(sigmas[:, z+1]), Wm))\n", "\n", " x[z] = np.sum(np.dot(sigmas[:,z], Wm))\n", " x[z+1] = atan2(sum_sin, sum_cos)\n", " return x" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "These functions take advantage of the fact that NumPy's trigometric functions operate on arrays, and `dot` performs element-wise multiplication. NumPy is implemented in C and Fortran, so `sum(dot(sin(x), w))` is much faster than writing the equivalent loop in Python.\n", "\n", "With that done we are now ready to implement the UKF. I want to point out that when I designed this filter I did not just design all of functions above in one sitting, from scratch. I put together a basic UKF with predefined landmarks, verified it worked, then started filling in the pieces. \"What if I see different landmarks?\" That lead me to change the measurement function to accept an array of landmarks. \"How do I deal with computing the residual of angles?\" This led me to write the angle normalization code. \"What is the *mean* of a set of angles?\" I searched on the internet, found an article on Wikipedia, and implemented that algorithm. Do not be daunted. Design what you can, then ask questions and solve them, one by one.\n", "\n", "You've seen the UKF implemention already, so I will not describe it in detail. There are two new thing here. When we construct the sigma points and filter we have to provide it the functions that we have written to compute the residuals and means.\n", "\n", "```python\n", "points = SigmaPoints(n=3, alpha=.00001, beta=2, kappa=0, \n", " subtract=residual_x)\n", "\n", "ukf = UKF(dim_x=3, dim_z=2, fx=fx, hx=Hx, dt=dt, points=points,\n", " x_mean_fn=state_mean, z_mean_fn=z_mean,\n", " residual_x=residual_x, residual_z=residual_h)\n", "```\n", "\n", "Next, we need to pass extra data into our `f(x, dt)` and `h(x)` functions. We want to use `move(x, dt, u, wheelbase)` for `f(x, dt)`, and `Hx(x, landmarks)` for `h(x)`. We can do this, we just have to pass the extra parameters into `predict()` and `update()` as keyword argument,s like so:\n", "\n", "```python\n", " ukf.predict(u=u, wheelbase=wheelbase) \n", " ukf.update(z, landmarks=landmarks)\n", "```\n", "\n", "The rest of the code runs the simulation and plots the results. 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 UKF only once per second. We are not using Runge Kutta to integrate the differential equations of motion, so a small time step makes the simulation more accurate." ] }, { "cell_type": "code", "execution_count": 55, "metadata": {}, "outputs": [], "source": [ "from filterpy.stats import plot_covariance_ellipse\n", "\n", "dt = 1.0\n", "wheelbase = 0.5\n", "\n", "def run_localization(\n", " cmds, landmarks, sigma_vel, sigma_steer, sigma_range, \n", " sigma_bearing, ellipse_step=1, step=10):\n", "\n", " plt.figure()\n", " points = MerweScaledSigmaPoints(n=3, alpha=.00001, beta=2, kappa=0, \n", " subtract=residual_x)\n", " ukf = UKF(dim_x=3, dim_z=2*len(landmarks), fx=move, hx=Hx,\n", " dt=dt, points=points, x_mean_fn=state_mean, \n", " z_mean_fn=z_mean, residual_x=residual_x, \n", " residual_z=residual_h)\n", "\n", " ukf.x = np.array([2, 6, .3])\n", " ukf.P = np.diag([.1, .1, .05])\n", " ukf.R = np.diag([sigma_range**2, \n", " sigma_bearing**2]*len(landmarks))\n", " ukf.Q = np.eye(3)*0.0001\n", " \n", " sim_pos = ukf.x.copy()\n", " \n", " # plot landmarks\n", " if len(landmarks) > 0:\n", " plt.scatter(landmarks[:, 0], landmarks[:, 1], \n", " marker='s', s=60)\n", " \n", " track = []\n", " for i, u in enumerate(cmds): \n", " sim_pos = move(sim_pos, dt/step, u, wheelbase)\n", " track.append(sim_pos)\n", "\n", " if i % step == 0:\n", " ukf.predict(u=u, wheelbase=wheelbase)\n", "\n", " if i % ellipse_step == 0:\n", " plot_covariance_ellipse(\n", " (ukf.x[0], ukf.x[1]), ukf.P[0:2, 0:2], std=6,\n", " facecolor='k', alpha=0.3)\n", "\n", " x, y = sim_pos[0], sim_pos[1]\n", " z = []\n", " for lmark in landmarks:\n", " dx, dy = lmark[0] - x, lmark[1] - y\n", " d = sqrt(dx**2 + dy**2) + randn()*sigma_range\n", " bearing = atan2(lmark[1] - y, lmark[0] - x)\n", " a = (normalize_angle(bearing - sim_pos[2] + \n", " randn()*sigma_bearing))\n", " z.extend([d, a]) \n", " ukf.update(z, landmarks=landmarks)\n", "\n", " if i % ellipse_step == 0:\n", " plot_covariance_ellipse(\n", " (ukf.x[0], ukf.x[1]), ukf.P[0:2, 0:2], std=6,\n", " facecolor='g', alpha=0.8)\n", " track = np.array(track)\n", " plt.plot(track[:, 0], track[:,1], color='k', lw=2)\n", " plt.axis('equal')\n", " plt.title(\"UKF Robot localization\")\n", " plt.show()\n", " return ukf" ] }, { "cell_type": "code", "execution_count": 56, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "Final P: [0.0092 0.0187 0.0007]\n" ] } ], "source": [ "landmarks = np.array([[5, 10], [10, 5], [15, 15]])\n", "cmds = [np.array([1.1, .01])] * 200\n", "ukf = run_localization(\n", " cmds, landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n", " sigma_range=0.3, sigma_bearing=0.1)\n", "print('Final P:', ukf.P.diagonal())" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The rest of the code runs the simulation and plots the results. 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 UKF 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": "markdown", "metadata": {}, "source": [ "### Steering the Robot\n", "\n", "The steering simulation in the run above is not realistic. The velocity and steering angles never changed, which doesn't pose much of a problem for the Kalman filter. We could implement a complicated PID controlled robot simulation, but I will just generate varying steering commands using NumPy's `linspace` method. I'll also add more landmarks as the robot will be traveling much further than in the first example." ] }, { "cell_type": "code", "execution_count": 57, "metadata": {}, "outputs": [], "source": [ "landmarks = np.array([[5, 10], [10, 5], [15, 15], [20, 5],\n", " [0, 30], [50, 30], [40, 10]])\n", "dt = 0.1\n", "wheelbase = 0.5\n", "sigma_range=0.3\n", "sigma_bearing=0.1\n", "\n", "def turn(v, t0, t1, steps):\n", " return [[v, a] for a in np.linspace(\n", " np.radians(t0), np.radians(t1), steps)] \n", " \n", "# accelerate from a stop\n", "cmds = [[v, .0] for v in np.linspace(0.001, 1.1, 30)]\n", "cmds.extend([cmds[-1]]*50)\n", "\n", "# turn left\n", "v = cmds[-1][0]\n", "cmds.extend(turn(v, 0, 2, 15))\n", "cmds.extend([cmds[-1]]*100)\n", "\n", "#turn right\n", "cmds.extend(turn(v, 2, -2, 15))\n", "cmds.extend([cmds[-1]]*200)\n", "\n", "cmds.extend(turn(v, -2, 0, 15))\n", "cmds.extend([cmds[-1]]*150)\n", "\n", "cmds.extend(turn(v, 0, 1, 25))\n", "cmds.extend([cmds[-1]]*100)" ] }, { "cell_type": "code", "execution_count": 58, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "final covariance [0.0013 0.0043 0.0004]\n" ] } ], "source": [ "ukf = run_localization(\n", " cmds, landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n", " sigma_range=0.3, sigma_bearing=0.1, step=1,\n", " ellipse_step=20)\n", "print('final covariance', ukf.P.diagonal())" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The uncertainty becomes very small very quickly. The covariance ellipses are displaying the $6\\sigma$ covariance, yet the ellipses are so small they are hard to see. We can incorporate more error into the answer by only supplying two landmarks near the start point. When we run this filter the errors increase as the robot gets further away from these landmarks." ] }, { "cell_type": "code", "execution_count": 59, "metadata": { "scrolled": false }, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" }, { "name": "stdout", "output_type": "stream", "text": [ "final covariance [0.0026 0.0657 0.0008]\n" ] } ], "source": [ "ukf = run_localization(\n", " cmds, landmarks[0:2], sigma_vel=0.1, sigma_steer=np.radians(1),\n", " sigma_range=0.3, sigma_bearing=0.1, step=1,\n", " ellipse_step=20)\n", "print('final covariance', ukf.P.diagonal())" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Discussion\n", "\n", "Your impression of this chapter probably depends on how many nonlinear Kalman filters you have implemented in the past. If this is your first exposure perhaps the computation of $2n+1$ sigma points and the subsequent writing of the $f(x)$ and $h(x)$ function struck you as a bit finicky. Indeed, I spent more time than I'd care to admit getting everything working because of the need to handle the modular math of angles. On the other hand, if you have implemented an extended Kalman filter (EKF) perhaps you are bouncing gleefully in your seat. There is a small amount of tedium in writing the functions for the UKF, but the concepts are very basic. The EKF for the same problem requires some fairly difficult mathematics. For many problems we cannot find a closed form solution for the equations of the EKF, and we must retreat to some sort of iterated solution.\n", "\n", "The advantage of the UKF over the EKF is not only the relative ease of implementation. It is somewhat premature to discuss this because you haven't learned the EKF yet, but the EKF linearizes the problem at one point and passes that point through a linear Kalman filter. In contrast, the UKF takes $2n+1$ samples. Therefore the UKF is often more accurate than the EKF, especially when the problem is highly nonlinear. While it is not true that the UKF is guaranteed to always outperform the EKF, in practice it has been shown to perform at least as well, and usually much better than the EKF. \n", "\n", "Hence my recommendation is to always start by implementing the UKF. If your filter has real world consequences if it diverges (people die, lots of money lost, power plant blows up) of course you will have to engage in sophisticated analysis and experimentation to choose the best filter. That is beyond the scope of this book, and you should be going to graduate school to learn this theory. \n", "\n", "Finally, I have spoken of the UKF as *the* way to perform sigma point filters. This is not true. The specific version I chose is Julier's scaled unscented filter as parameterized by Van der Merwe in his 2004 dissertation. If you search for Julier, Van der Merwe, Uhlmann, and Wan you will find a family of similar sigma point filters that they developed. Each technique uses a different way of choosing and weighting the sigma points. But the choices don't stop there. For example, the SVD Kalman filter uses singular value decomposition (SVD) to find the approximate mean and covariance of the probability distribution. Think of this chapter as an introduction to the sigma point filters, rather than a definitive treatment of how they work." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## References" ] }, { "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" ] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.6.5" } }, "nbformat": 4, "nbformat_minor": 1 }