{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Adaptive Filtering" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "%matplotlib inline" ] }, { "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": [ "## Introduction" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So far we have considered the problem of tracking objects that are well behaved in relation to our process model. For example, we can use a constant velocity filter to track an object moving in a straight line. So long as the object moves in a straight line at a reasonably constant speed, or varies its track and/or velocity very slowly this filter will perform very well. Suppose instead that we are trying to track a maneuvering target, such as a car along a road, an aircraft in flight, and so on. In these situations the filters perform quite poorly. Alternatively, consider a situation such as tracking a sailboat in the ocean. Even if we model the control inputs we have no way to model the wind or the ocean currents. \n", "\n", "A first order approach to this problem is to make the process noise $\\mathbf{Q}$ larger to account for the unpredictability of the system dynamics. While this can work in the sense of providing a non-diverging filter, the result is typically far from optimal. The larger $\\mathbf{Q}$ results in the filter giving more emphasis to the noise in the measurements. We will see an example of this shortly.\n", "\n", "In this chapter we will discuss the concept of an *adaptive filter*. The filter will *adapt* itself when it detects dynamics that the process model cannot account for. I will start with an example of the problem, and then discuss and implement various adaptive filters." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Maneuvering Targets" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We need a simulation of a maneuvering target. I will implement a simple 2D model with steering inputs. You provide a new speed and/or direction, and it will modify its state to match." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "from math import sin, cos, radians\n", "\n", "def angle_between(x, y):\n", " return min(y-x, y-x+360, y-x-360, key=abs)\n", "\n", "class ManeuveringTarget(object): \n", " def __init__(self, x0, y0, v0, heading):\n", " self.x = x0\n", " self.y = y0\n", " self.vel = v0\n", " self.hdg = heading\n", " \n", " self.cmd_vel = v0\n", " self.cmd_hdg = heading\n", " self.vel_step = 0\n", " self.hdg_step = 0\n", " self.vel_delta = 0\n", " self.hdg_delta = 0\n", " \n", " def update(self):\n", " vx = self.vel * cos(radians(90-self.hdg))\n", " vy = self.vel * sin(radians(90-self.hdg))\n", " self.x += vx\n", " self.y += vy\n", " \n", " if self.hdg_step > 0:\n", " self.hdg_step -= 1\n", " self.hdg += self.hdg_delta\n", "\n", " if self.vel_step > 0:\n", " self.vel_step -= 1\n", " self.vel += self.vel_delta\n", " return (self.x, self.y)\n", "\n", " def set_commanded_heading(self, hdg_degrees, steps):\n", " self.cmd_hdg = hdg_degrees\n", " self.hdg_delta = angle_between(self.cmd_hdg, \n", " self.hdg) / steps\n", " if abs(self.hdg_delta) > 0:\n", " self.hdg_step = steps\n", " else:\n", " self.hdg_step = 0\n", " \n", " def set_commanded_speed(self, speed, steps):\n", " self.cmd_vel = speed\n", " self.vel_delta = (self.cmd_vel - self.vel) / steps\n", " if abs(self.vel_delta) > 0:\n", " self.vel_step = steps\n", " else:\n", " self.vel_step = 0 " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's implement a simulated sensor with noise." ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [], "source": [ "from numpy.random import randn\n", "\n", "class NoisySensor(object):\n", " def __init__(self, std_noise=1.):\n", " self.std = std_noise\n", "\n", " def sense(self, pos):\n", " \"\"\"Pass in actual position as tuple (x, y). \n", " Returns position with noise added (x,y)\"\"\"\n", " \n", " return (pos[0] + (randn() * self.std), \n", " pos[1] + (randn() * self.std))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now let's generate a track and plot it to test that everything is working. I'll put the data generation in a function so we can create paths of different lengths (why will be clear soon)." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import kf_book.book_plots as bp\n", "import numpy as np\n", "import matplotlib.pyplot as plt\n", "\n", "def generate_data(steady_count, std):\n", " t = ManeuveringTarget(x0=0, y0=0, v0=0.3, heading=0)\n", " xs, ys = [], []\n", "\n", " for i in range(30):\n", " x, y = t.update()\n", " xs.append(x)\n", " ys.append(y)\n", "\n", " t.set_commanded_heading(310, 25)\n", " t.set_commanded_speed(1, 15)\n", "\n", " for i in range(steady_count):\n", " x, y = t.update()\n", " xs.append(x)\n", " ys.append(y)\n", "\n", " ns = NoisySensor(std)\n", " pos = np.array(list(zip(xs, ys)))\n", " zs = np.array([ns.sense(p) for p in pos])\n", " return pos, zs\n", "\n", "sensor_std = 2.\n", "track, zs = generate_data(50, sensor_std)\n", "plt.figure()\n", "bp.plot_measurements(*zip(*zs), alpha=0.5)\n", "plt.plot(*zip(*track), color='b', label='track')\n", "plt.axis('equal')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Track vs Measurements', x='X', y='Y')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This large amount of noise allows us to see the effect of various design choices more easily.\n", "\n", "Now we can implement a Kalman filter to track this object. But let's make a simplification. The *x* and *y* coordinates are independent, so we can track each independently. In the remainder of this chapter we will only track the *x* coordinate to keep the code and matrices as small as possible. \n", "\n", "We start with a constant velocity filter." ] }, { "cell_type": "code", "execution_count": 6, "metadata": {}, "outputs": [], "source": [ "from filterpy.kalman import KalmanFilter\n", "from filterpy.common import Q_discrete_white_noise\n", "\n", "def make_cv_filter(dt, std):\n", " cvfilter = KalmanFilter(dim_x = 2, dim_z=1)\n", " cvfilter.x = np.array([0., 0.])\n", " cvfilter.P *= 3\n", " cvfilter.R *= std**2\n", " cvfilter.F = np.array([[1, dt],\n", " [0, 1]], dtype=float)\n", " cvfilter.H = np.array([[1, 0]], dtype=float)\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", " return cvfilter\n", "\n", "def initialize_filter(kf, std_R=None):\n", " \"\"\" helper function - we will be reinitialing the filter\n", " many times.\n", " \"\"\"\n", " kf.x.fill(0.)\n", " kf.P = np.eye(kf.dim_x) * .1\n", " if std_R is not None:\n", " kf.R = np.eye(kf.dim_z) * std_R" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we run it:" ] }, { "cell_type": "code", "execution_count": 7, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "sensor_std = 2.\n", "dt = 0.1\n", "\n", "# initialize filter\n", "cvfilter = make_cv_filter(dt, sensor_std)\n", "initialize_filter(cvfilter)\n", "\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# run it\n", "z_xs = zs[:, 0]\n", "kxs, _, _, _ = cvfilter.batch_filter(z_xs)\n", "\n", "# plot results\n", "bp.plot_track(track[:, 0], dt=dt)\n", "bp.plot_filter(kxs[:, 0], dt=dt, label='KF')\n", "bp.set_labels(title='Track vs KF', x='time (sec)', y='X');\n", "plt.legend(loc=4);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see from the plot that the Kalman filter was unable to track the change in heading. Recall from the **g-h Filter** chapter that this is because the filter is not modeling acceleration, hence it will always lag the input. The filter will eventually catch up with the signal if the signal enters a steady state. Let's look at that." ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "\n", "track2, zs2 = generate_data(150, sensor_std)\n", "xs2 = track2[:, 0]\n", "z_xs2 = zs2[:, 0]\n", "\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Effects of Acceleration', \n", " x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The underlying problem is that our process model is correct for the steady state sections, but incorrect for when the object is maneuvering. We can try to account for this by increasing the size of Q, like so." ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=2.0)\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# recompute track\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Large Q (var=2.0)', x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the filter reacquired the track more quickly, but at the cost of a lot of noise in the output. Furthermore, many tracking situations could not tolerate the amount of lag shown between seconds 4 and 8. We could reduce it further at the cost of very noisy output, like so:" ] }, { "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": [ "# reinitialize filter\n", "dt = 0.1\n", "initialize_filter(cvfilter)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=50.0)\n", "track, zs = generate_data(50, sensor_std)\n", "\n", "# recompute track\n", "cvfilter.x.fill(0.)\n", "kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Huge Q (var=50.0)', x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Maneuvers imply acceleration, so let's implement a constant acceleration Kalman filter and see how it fairs with the same data." ] }, { "cell_type": "code", "execution_count": 11, "metadata": {}, "outputs": [], "source": [ "def make_ca_filter(dt, std):\n", " cafilter = KalmanFilter(dim_x=3, dim_z=1)\n", " cafilter.x = np.array([0., 0., 0.])\n", " cafilter.P *= 3\n", " cafilter.R *= std\n", " cafilter.Q = Q_discrete_white_noise(dim=3, dt=dt, var=0.02)\n", " cafilter.F = np.array([[1, dt, 0.5*dt*dt],\n", " [0, 1, dt], \n", " [0, 0, 1]])\n", " cafilter.H = np.array([[1., 0, 0]])\n", " return cafilter\n", "\n", "def initialize_const_accel(f):\n", " f.x = np.array([0., 0., 0.])\n", " f.P = np.eye(3) * 3" ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "dt = 0.1\n", "cafilter = make_ca_filter(dt, sensor_std)\n", "initialize_const_accel(cafilter)\n", "\n", "kxs2, _, _, _ = cafilter.batch_filter(z_xs2)\n", "\n", "bp.plot_track(xs2, dt=dt)\n", "bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='Constant Acceleration Kalman Filter',\n", " x='time (sec)', y='X')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The constant acceleration model is able to track the maneuver with no lag, but at the cost of very noisy output during the steady state behavior. The noisy output is due to the filter being unable to distinguish between the beginning of an maneuver and noise in the signal. Noise in the signal implies an acceleration, and so the acceleration term of the filter tracks it. \n", "\n", "It seems we cannot win. A constant velocity filter cannot react quickly when the target is accelerating, but a constant acceleration filter misinterprets noise during zero acceleration regimes as acceleration instead of nosie.\n", "\n", "Yet there is an important insight here that will lead us to a solution. When the target is not maneuvering (the acceleration is zero) the constant velocity filter performs optimally. When the target is maneuvering the constant acceleration filter performs well, as does the constant velocity filter with an artificially large process noise $\\mathbf{Q}$. If we make a filter that adapts itself to the behavior of the tracked object we could have the best of both worlds." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Detecting a Maneuver" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Before we discuss how to create an adaptive filter we have to ask \"how do we detect a maneuver?\" We cannot reasonably adapt a filter to respond to maneuvers if we do not know when a maneuver is happening.\n", "\n", "We have been defining *maneuver* as the time when the tracked object is accelerating, but in general we can say that the object is maneuvering with respect to the Kalman filter if its behavior is different than the process model being used by the filter. \n", "\n", "What is the mathematical consequence of a maneuvering object for the filter? The object will be behaving differently than predicted by the filter, so the residual will be large. Recall that the residual is the difference between the current prediction of the filter and the measurement. \n", "" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To confirm this, let's plot the residual for the filter during the maneuver. I will reduce the amount of noise in the data to make it easier to see the residual." ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.adaptive_internal import plot_track_and_residuals\n", "\n", "def show_residual_chart():\n", " dt = 0.1\n", " sensor_std = 0.2\n", " \n", " # initialize filter\n", " cvfilter = make_cv_filter(dt, sensor_std)\n", " initialize_filter(cvfilter)\n", " pos2, zs2 = generate_data(150, sensor_std)\n", " xs2 = pos2[:, 0]\n", " z_xs2 = zs2[:, 0]\n", "\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", " xs, res = [], []\n", " for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", " \n", " xs = np.asarray(xs)\n", " plot_track_and_residuals(dt, xs, z_xs2, res)\n", "\n", "show_residual_chart();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "On the left I have plotted the noisy measurements against the Kalman filter output. On the right I display the residuals computed by the filter - the difference between the measurement and the predictions made by the Kalman filter. Let me emphasize this to make this clear. The plot on the right is not merely the difference between the two lines in the left plot. The left plot shows the difference between the measurements and the final Kalman filter output, whereas the right plot shows us the difference between the measurements and the *predictions of the process model*. \n", "\n", "That may seem like a subtle distinction, but from the plots you see it is not. The amount of deviation in the left plot when the maneuver starts is small, but the deviation in the right plot tells a different story. If the tracked object was moving according to the process model the residual plot should bounce around 0.0. This is because the measurements will be obeying the equation \n", "\n", "$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{noise}(t)$$\n", "\n", "Once the target starts maneuvering the predictions of the target behavior will not match the behavior as the equation will be \n", "\n", "$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{maneuver\\_delta}(t) + \\mathtt{noise}(t)$$\n", "\n", "Therefore if the residuals diverge from a mean of 0.0 we know that a maneuver has commenced.\n", "\n", "We can see from the residual plot that we have our work cut out for us. We can clearly see the result of the maneuver in the residual plot, but the amount of noise in the signal obscures the start of the maneuver. This is our age old problem of extracting the signal from the noise. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Adjustable Process Noise\n", "\n", "The first approach we will consider will use a lower order model and adjust the process noise based on whether a maneuver is occurring or not. When the residual gets \"large\" (for some reasonable definition of large) we will increase the process noise. This will cause the filter to favor the measurement over the process prediction and the filter will track the signal closely. When the residual is small we will then scale back the process noise.\n", "\n", "There are many ways of doing this in the literature, I will consider a couple of choices." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Continuous Adjustment\n", "\n", "The first method (from Bar-Shalom [1]) normalizes the square of the residual using the following equation:\n", "\n", "$$ \\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$$\n", "\n", "where $\\mathbf{y}$ is the residual and $\\mathbf{S}$ is the system uncertainty (covariance), which has the equation\n", "\n", "$$\\mathbf{S} = \\mathbf{HPH^\\mathsf{T}} + \\mathbf{R}$$\n", "\n", "If the linear algebra used to compute this confuses you, recall that we can think of matrix inverses in terms of division, so $\\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$ can be thought of as computing\n", "\n", "$$\\epsilon\\approx\\frac{\\mathbf{y}^2}{\\mathbf{S}}$$\n", "\n", "Both $\\mathbf{y}$ and $\\mathbf{S}$ are attributes of `filterpy.KalmanFilter` so implementation will be straightforward.\n", "\n", "Let's look at a plot of $\\epsilon$ against time." ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from numpy.linalg import inv\n", "dt = 0.1\n", "sensor_std = 0.2\n", "cvfilter= make_cv_filter(dt, sensor_std)\n", "_, zs2 = generate_data(150, sensor_std)\n", "\n", "epss = []\n", "for z in zs2[:, 0]:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y, S = cvfilter.y, cvfilter.S\n", " eps = y.T @ inv(S) @ y\n", " epss.append(eps)\n", "\n", "t = np.arange(0, len(epss) * dt, dt)\n", "plt.plot(t, epss)\n", "bp.set_labels(title='Epsilon vs time', \n", " x='time (sec)', y='$\\epsilon$')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This plot should make clear the effect of normalizing the residual. Squaring the residual ensures that the signal is always greater than zero, and normalizing by the measurement covariance scales the signal so that we can distinguish when the residual is markedly changed relative to the measurement noise. The maneuver starts at t=3 seconds, and we can see that $\\epsilon$ starts to increase rapidly not long after that. \n", "\n", "We will want to start scaling $\\mathbf{Q}$ up once $\\epsilon$ exceeds some limit, and back down once it again falls below that limit. We multiply $\\mathbf{Q}$ by a scaling factor. Perhaps there is literature on choosing this factor analytically; I derive it experimentally. We can be somewhat more analytical about choosing the limit for $\\epsilon$ (named $\\epsilon_{max}$) - generally speaking once the residual is greater than 3 standard deviations or so we can assume the difference is due to a real change and not to noise. However, sensors are rarely truly Gaussian and so a larger number, such as 5-6 standard deviations is used in practice.\n", "\n", "I have implemented this algorithm using reasonable values for $\\epsilon_{max}$ and the $\\mathbf{Q}$ scaling factor. To make inspection of the result easier I have limited the plot to the first 10 seconds of simulation. " ] }, { "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": [ "# reinitialize filter\n", "dt = 0.1\n", "sensor_std = 0.2\n", "cvfilter = make_cv_filter(dt, sensor_std)\n", "_, zs2 = generate_data(180, sensor_std)\n", "\n", "Q_scale_factor = 1000.\n", "eps_max = 4.\n", "\n", "xs, epss = [], []\n", "\n", "count = 0\n", "for i, z in zip(t, zs2[:, 0]):\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y, S = cvfilter.y, cvfilter.S\n", " eps = y.T @ inv(S) @ y\n", " epss.append(eps)\n", " xs.append(cvfilter.x[0])\n", "\n", " if eps > eps_max:\n", " cvfilter.Q *= Q_scale_factor\n", " count += 1\n", " elif count > 0:\n", " cvfilter.Q /= Q_scale_factor\n", " count -= 1\n", "\n", "bp.plot_measurements(zs2[:,0], dt=dt, label='z', alpha=0.5)\n", "bp.plot_filter(t, xs, label='filter')\n", "plt.legend(loc=4)\n", "bp.set_labels(title='epsilon=4', x='time (sec)', y='$\\epsilon$')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The performance of this filter is markedly better than the constant velocity filter. The constant velocity filter took roughly 10 seconds to reacquire the signal after the start of the maneuver. The adaptive filter takes under a second to do the same. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Continuous Adjustment - Standard Deviation Version" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Another, very similar method from Zarchan [2] sets the limit based on the standard deviation of the measurement error covariance. Here the equations are:\n", "\n", "$$ \\begin{aligned}\n", "std &= \\sqrt{\\mathbf{HPH}^\\mathsf{T} + \\mathbf{R}} \\\\\n", "&= \\sqrt{\\mathbf{S}}\n", "\\end{aligned}\n", "$$\n", "\n", "If the absolute value of the residual is more than some multiple of the standard deviation computed above we increase the process noise by a fixed amount, recompute Q, and continue." ] }, { "cell_type": "code", "execution_count": 16, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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222jatCkGDx5sGVf/2WefQaFQoFevXrh06RLefvtthIaG4pVXXgEArF+/Hl988QX69++PmjVrQgiBX3/9FSkpKVZLv92uVq1acHV1xQ8//IAGDRrA3d0dISEhCAkJsTq2Xr16hYqlKKpUqYKaNWti7969ePnlly3lCxcuxJ9//onevXujatWqyMnJwbfffgsA6N69O4C8i3a1atXw22+/oVu3bvD19YW/vz+qV6+O999/Hz179kR4eDheffVVmEwmzJ49G25ubla/Ut25FGphnD592hLHjBkzcPbsWZw9e9ZSX6tWLdl4XbPZjH///RdPP/10kR+LiByHt7c3BgwYgCVLliAlJQWvvfaabGjil19+iV69eqFHjx4YOXIkKleujKSkJJw8eRL//fcffvrppwLvV6FQYM6cORg6dCj69OmDMWPGQK/X48MPP0RKSgo++OADy7Fz585Fp06d0LZtW7zxxhuoXbs2bty4gbVr1+LLL7+0+kKcr3HjxgCA2bNno1evXlAqlWjSpAk0Gg0AoG7duujZsyc2btyITp06oWnTprLzNRoN2rdvj71798rKC/v51bhxY2zfvh3r1q1DpUqV4OHhgXr16uGtt97C2rVr0bVrV7zzzjvQ6XT4/PPPC9xFvnr16qhevfo9/oesxcXFoUuXLoiJicE333yDuLg4xMXFWeoL2tNn79696Ny5812HIVE5Y9dpzkTi1uo+Bw4cEH379hXu7u7Cw8NDPPnkk+LGjRuW40wmk5g9e7aoW7euUKvVwt/fXzz11FOWpUOFEOLUqVPiySefFLVq1RKurq7Cy8tLtGnTRixZskT2mHeuPiSEECtWrBD169cXarVatppPQUuSFiYWIfJW9GnYsKHVcx4xYoSoVq2arOztt98WPj4+Iicnx1K2Z88eMWDAAFGtWjWh1WqFn5+f6Ny5s1i7dq3s3K1bt4rmzZsLrVZrtULQ2rVrRZMmTYRGoxFVq1YVH3zwQYHPqTjyl3K92587V3P6448/LP/XROTctmzZYrlWnDlzxqr+8OHDYvDgwSIwMFCo1WoRHBwsunbtKhYuXGg5pqDVgYQQYs2aNaJt27bCxcVFuLm5iW7duom///7b6jFOnDghHnvsMeHn52e5Ro4cOdJyHS7o/vV6vXjmmWdEQECAkCTJamUfIYRYsmRJgSvK5fvmm2+EUqkU0dHRlrLCfn4dOnRIdOzYUeh0OqsVgv7++2/Rrl07odVqRXBwsHj99dfFokWLCoyxqPLb4m5/7lwB79y5cwKA+OWXX0r0uGQ7khCFmFlIVIYiIyMxbdo0xMfHO/W4w+joaNSoUQPfffddgatFOIJhw4bhwoUL+Pvvv+0dChFRmclf6ejSpUsFThDOyclB1apV8eqrr2Ly5Ml2iLDsvf322/juu+9w/vx5qFQcmFIRcKIxUTkREhKCCRMmYMaMGVa7HTuC8+fPY9WqVZg9e7a9QyEiKnV6vR579uzBJ598gtWrV+P111+/64pBLi4umDZtGubOnVvg8J6KLiUlBZ9//jlmzpzJhKAC4f8UUTny1ltvQafT4fr16wgNDbV3OKXqypUrmD9/Pjp16mTvUIiISl1MTAw6dOgAT09PjBkzBi+99NI9j3/uueeQkpKCCxcuWOYpOIqLFy9iypQpGDJkiL1DoSLg8CEiIiIiIifH4UNERERERE6OSQERERERkZNjUkBERERE5OQ40Rh5GypFR0fDw8ODG2wQkcMTQiA9PR0hISGyDaOcAa/3RORMinK9Z1KAvPXhHW2lFyKi+7l69arVDqSOjtd7InJGhbneMykALFuZX716FZ6enoU+z2AwYMuWLYiIiLjrWsR0b2zDkmH7lZwztmFaWhpCQ0Mt1z5nUtzrPeCcr5XSxPYrObZhyThj+xXles+kALB0IXt6ehY5KdDpdPD09HSaF1dpYxuWDNuv5Jy5DZ1x+Exxr/eAc79WSgPbr+TYhiXjzO1XmOu9cw0mJSIiIiIiK0wKiIiIiIicHJMCIiIiIiInx6SAiIiIiMjJcaJxIaWlpSE1NVVWZjabERoaiujoaKdb67u4VCoVgoKC2F5ERERE5QiTgkKIi4uDJEmoUqWKbPa22WyGl5cXPD09+SW3kDIyMnDjxg1UqlTJ3qEQVUiZmZlYsWIFVq5ciRs3bsDf3x+DBg3C8OHDi7yaDhERUT4mBYWg1+u52U0pcXd3R3Jysr3DIKqQjh07ht69e+PKlSuy8u3bt+P999/H2rVr0bZtWztFR0REFRl/3iYiqgDOnz+PDh06yBKC23su4+Li0KtXL1y+fNke4RERUQXHpICIqJyLjo5G27ZtkZ6eLisXQgCAZdhQcnIyPvroI5vHR0REFR+TAiKickwIgccffxyJiYmWstatW6NV69bQVn4AQN5CCEqlEgDw3XffwWQy2SVWch45BhP+u5IMs1nYOxQiKiVMCpxQWFgYJkyYYLldvXp1zJs3z27xENHd/fPPP9i1a5fltp+fH5566imMnvEtgp+ag8Ce4wDkLXwAAKmpqZy3Q2XulVWHMPCL3fh61wV7h0JEpYRJgQMbOXIkJEmy+jNnzhy8//77dz1PkiSsWbPGdoES0V199dVXstuJiYl4/YPP8cGWcwCAto3rArg1lAgAdDqd7QIkp7TxWCwAYP6f5+wcCRGVFq4+5OB69uyJxYsXy8oCAgIsQw3KksFggFqtLvPHIXJEQgi8//77+Pbbb2XlCp0XAvpPgaRUI/P030hL2SOrf/DBB5kUkM2k5RjtHQIRlRL2FBSREAJZuUbLn+xck+x2Wf65/ZfAwtJqtQgODpb96datm2z40O2qV68OABgwYAAkSbLcBoB169ahZcuWcHFxQc2aNTFt2jQYjbc+ECRJwsKFC9GvXz+4ublh+vTpRY6XiPK88847ePfdd+WFkgIBj0yGyjMAhsRrSNwwDzu2b5cdMn78eNsFSUREDoM9BUWUbTDhgXc22+WxT7zXAzpN2f6X7du3D4GBgVi8eDF69uxp6VHYvHkznnrqKXz66ad48MEHcf78eTz33HMAIPvi8u6772LWrFn4+OOPbdIbQeSIjh49WmBS7dv1abhUawKzPgtxq6dD5GbL6kePHo2BAwfaKkwiInIgTAoc3Pr16+Hu7m653atXr3seHxAQAADw9vZGcHCwpXzGjBl44403MGLECABAzZo18f7772PSpEmypGDIkCEYPXp0aT4FIqcihMCwYcOsynUNOsOjVT8AQMLvH8OYeE1WHxYWhq+//lq2dwFRWXHXqpCh59AhIkfCpKCIXNVKnHivB4C81T7S09Lh4ekBhaLsR2K5qov+y3uXLl2wYMECy203Nzc8+eSTRb6fAwcOYN++fZgxY4alzGQyIScnB1lZWZYxzK1atSryfRNRHoPBgJ49e+Lw4cOycnVADfj1egkAkLp7FbLPyucRuLm5YfPmzUwIyGa8dWomBUQOhklBEUmSZBnCYzabYdQoodOobJIUFIebmxtq165d4vsxm82YNm1agUMTXFxcZI9HREVnMpkwaNAg/Pnnn7JyhYs7AgZOhULtguwLB5Cy6werc/v16weNRmOrUIngo9PgWnLe8DWzWUChYEJKVNExKSArarXaavOjFi1a4PTp06WSYBCRtWXLlmHdunXyQkkB/76vQe0dDENKLBLWfQgIs9W5L7zwgo2iJMrjrbu1slxKtgG+bkxKiSo6JgVkpXr16vjjjz/QsWNHaLVa+Pj44J133kGfPn0QGhqKxx57DAqFAkeOHLnrhEgiKrzc3Fy8+eabVuVeHZ+Ea81WMBv0iF89A+acDKtjRo8ejU6dOtkiTCILxW1D1ZIy9UwKiByAXce87Ny5E3379kVISEiBG2YJIRAZGYmQkBC4uroiLCwMx48flx2j1+vx0ksvwd/fH25ubnjkkUdw7Zp8Ah4VzUcffYSoqCiEhoaiefPmAIAePXpg/fr1iIqKQuvWrdGuXTvMnTsX1apVs3O0RBXbtm3b4Ovri+joaFm5a6028O6YN/8nadNnMMRdtDr3mWeewaJFi2wSJ9HtzLctkZ2YkWvHSIiotNi1pyAzMxNNmzbFqFGjMGjQIKv6OXPmYO7cuViyZAnq1q2L6dOnIzw8HKdPn4aHhwcAYMKECVi3bh1WrlwJPz8/vPrqq+jTpw8OHDjg9EtiLlmypMDy7Xesa37p0iXZ7b59+6Jv375W5/Xo0QM9evS46+MVZx8FImclhMDEiRMxb948qzqVTwj8+74KAEjbvxaZJ7ZbHTNt2jS88847ZRwlUcFuTwqSMpkUEDkCuyYFvXr1uusSmUIIzJs3D1OnTrVMbl26dCmCgoKwfPlyjBkzBqmpqfjmm2/w/fffo3v37gDyxuWGhoZi69at9/wCS0RkT6+++mqBCYGkdkHAgKlQaN2Qc/U4krd9a3VMzZo1MXXqVBtESVQw821TWxKZFBA5hHI7p+DixYuIjY1FRESEpUyr1aJz587YvXs3xowZgwMHDsBgMMiOCQkJQaNGjbB79+67JgV6vR56vd5yOy0tDUDecoAGg8HqeLPZDLPZenJf/i/jQogC66lgZrPZ0s53/k1Fw/YrOXu04T///IOPP/64wDq/Xi9DE1ANxowkJPz2AWCWL/vo6uqKFStW3PW6VBh8vVBJsaeAyPGU26QgNjYWABAUFCQrDwoKwuXLly3HaDQa+Pj4WB2Tf35BZs2ahWnTplmVb9myxbLe/u1CQ0Ph5eV11/tLT0+/+xMhK4mJiTh06JCsLCoqyj7BOAi2X8nZsg3vNuzHs3V/uDV4CMJkRMKaWTBlJsvq1Wo1pk+fjpiYGMTExBT78bOysop9LhEA3D5alEkBkWMot0lBvjs34xFC3HeDnvsdM2XKFEycONFyOy0tDaGhoYiIiICnp6fV8dHR0QWWCyGQnp4ODw8PbhpUBH5+fmjcuDGAvF8so6KiEB4eDrVafZ8z6U5sv5KzdRtu3boVR44csSrXhjaGd9goAEDSH19Bf/2k1TGLFy/G4MGDSxxDfu8oUXHJJhozKSByCOU2KQgODgaQ1xtQqVIlS3lcXJyl9yA4OBi5ublITk6W9RbExcWhQ4cOd71vrVYLrVZrVa5Wqwv8UqBQKArcnCy/616SpHK7eVl5pFAorNr5bm1PhcP2KzlbtGFCQgIeffRRq3Klhx8C+k2GpFAi49ifyD6yyeqYGjVq4MknnyyVaw1fK1RS8uFD+nscSUQVRbn9JlujRg0EBwfLuvRzc3OxY8cOyxf+li1bQq1Wy46JiYnBsWPH7pkUEBHZWmZmJtq3b289dEepQkD/N6F080bujfNI2vy51eaBAPC///2PPz5QuWG+bfgQlyQlcgx27SnIyMjAuXPnLLcvXryIQ4cOwdfXF1WrVsWECRMwc+ZM1KlTB3Xq1MHMmTOh0+kwZMgQAICXlxeefvppvPrqq/Dz84Ovry9ee+01NG7c2LIaERFRefDpp5/Krnf5fLuPgTakHkzZ6YhfPRPCKP/VVaVS4auvvrKswkZUHghONCZyOHZNCvbv348uXbpYbueP8x8xYgSWLFmCSZMmITs7G2PHjkVycjLatm2LLVu2WPYoAICPP/4YKpUKgwcPRnZ2Nrp164YlS5Y4/R4FRFR+ZGVlFbjzt3uTcHg06wUhzEhY9yGMqTdk9Q8//DCWLl0Kf39/W4VKVCi39xQkZ+UWar4fEZVvdk0KwsLC7rnhlSRJiIyMRGRk5F2PcXFxwWeffYbPPvusDCIkIioZIQQ6d+5sNWxIE1wHvuEvAABS/lqGnIv/yeq5ORmVZ7fPKTCYBDJzTXDXlttpikRUCBygakNCCK4PTuREzGYz+vXrh/3798vKFa6eCBgwBZJKg6wze5C25ydZvbe3N1577TVbhkpUJOY7fs8zmrhXD1FFx6TABv744w888sgjcHFxgUajQeXKlfHmm2/ecy8FIqr45syZg3Xr1skLJQX8H5kMlWcgDInXkPD7xwDk37Dmz59f4J4pROXFnb38uUwKiCo8JgVl7K233kL37t2xbt065ObmTcaKjo7GrFmz0KRJE6tNvIjIMZw/fx5vv/22Vbn3Q8PhWr0pzLnZiF8zEyJXPqzo+eefx9ChQ20VJlGxmO9ICoymuw8FJqKKgUlBGVq2bBlmzJhhuR0cHIy2bdtCpcobdxkfH4/evXuXyY7Ily5dgiRJVn/CwsJK/bGISC4tLQ1t27aF0WiUlevqdYRXu7x9ChI3zIMh4YqsvkGDBpwfRRXCncOHDOwpIKrwmBSUESEEPvjgA8vtOXPm4OrVq9i7dy8uXbqENm3aAMjrNVi2bFmpP35oaChiYmIsfw4ePAg/Pz889NBDpf5YRHRLdnY2WrRogcTERFm52i8Ufg9PAACk/vMLsk7/LauXJAnr16+3/GhAVJ7d2VNgYE8BUYXHpKCMnDhxAsePHwcAtG/fHq+//rrlw75y5cr48ssvLceuWrWq1B9fqVQiODgYwcHB8Pb2xvPPP4/27dvfcyUnIiqZmJgY1K5dG+fPn5eVSxodAgZMhULjipzLh5G68zurc4cMGYKaNWvaKlSiErlz4UD2FBBVfPxJqozExcVZ/t2xY0er+mbNmsHV1RXZ2dmIj48v01iefvpppKenIyoqijuiEpWRpKQkdOzYEdHR0XfUSPDv/QrUflVgTItD/G+zIczyHYsrVaqEjz/+2HbBEpWQdU8BkwKiio5JQRm5fbOhf//916r+2LFjyM7OBgD4+fmVWRzTp0/Hpk2b8O+//8o2fSOi0jV79mxcvHhRVqZSqaBrNQC6uu0hjAbEr54Fc3aa7Bh3d3fs378fAQEBtgyXqEQ4fIjI8fBn4zLSqFEj1KtXDwCwc+dOfPHFFzCb835JiY+PxwsvvGA59rHHHiuTGH755Re89957+PHHH1GrVq0yeQwiAgwGAxYsWGBVrgptAu+HhgEAkqIWIDf2rKxeqVRi//79CAkJsUmcRKXFfEfHAHsKiCo+JgVlRJIkvP7665bb48aNQ61atdC1a1dUrVoVu3btAgAEBgZi+PDhpf74x44dw/DhwzF58mQ0bNgQsbGxiI2NRVJSUqk/FpEzE0Jg5MiRVquIqbyC4N/3NUiSAplHtiDr2Farc2fOnGn58YCoIrlznwIuSUpU8TEpKEOjR4/GhAkTLLcvXbqEbdu2IScnBwDg4+ODdevWwcvLq9Qfe//+/cjKysL06dNRqVIly5+BAweW+mMROSuj0YiwsDAsX75cVi6ptAgY8CaUrp7QR59BwpZbPYX5unfvjldffdWW4RKVmvwlSSUp72/2FBBVfEwKypAkSZg7dy7Wrl2Lbt26Qbp59fTx8cGECRNw6NAhy9KkpW3kyJEQQlj92b59e5k8HpGziYmJQY0aNbBz506rOt+IsdAE1YIpMwXxa2YCJvl+BXXr1sXGjRuhVCptFS5RqcqfU6BV5X2NYFJAVPFxonEZkyQJffv2Rd++faHX65GdnQ1PT0+uAkRUgWVmZqJbt264du2aVZ1784fh3rgbhNmE+LWzYUpPkNVXqVIFu3bt4n4EVKHl9xRoVUrkGMycaEzkAPipZENarRZardbeYRBRCX311Vc4efKkVbl//TbQdXsOAJC8fQn0V47K6itXroyjR4/C29vbFmESlZn8OQWamz0FxjtnHhNRhcOfq4mIiiAzMxNvv/22VbnCzRvaruMgKVXIPLkT6ftWWx2zYcMGJgQlZDQa8dZbb6FGjRpwdXVFzZo18d5771nN2aCydefwoVwj25+oomNPARFRETzzzDPIyMiQFyqUCOg3BSoPP+QmXIZi/wqr8zp27IgmTZrYKErHNXv2bCxcuBBLly5Fw4YNsX//fowaNQpeXl4YP368vcNzGvnDh271FHD4EFFFx6SAiKiQDh8+jJUrV1qV+3QZDZfQhjDrMxH/6wwYk+W7GqtUKsyaNctWYTq0PXv2oF+/fujduzcAoHr16lixYgX2799v58ici9mc31OQN1meE42JKj4mBYVkMpm4UkgpuHNta6KK4vz583jwwQetynUNHoJnq34AgIT1c60SAoVCgZ9//rnAc6noOnXqhIULF+LMmTOoW7cuDh8+jF27dmHevHkFHq/X66HX6y2309LydpQ2GAwwGAxFeuz844t6niPKHz6kUeatqpeTa7xvu7D9So5tWDLO2H5Fea5MCgohICAA169fR+XKlZkYlFBCQkKZ7MtAVJYOHjyIDh06WPYYyaf2C4Vfz5cAAKl7fkT2uX9k9TqdDn///TeaNWtmq1Ad3uTJk5Gamor69etDqVTCZDJhxowZePLJJws8ftasWZg2bZpV+ZYtW6DT6YoVQ1RUVLHOcyQGoxKAhMy0FAASjh0/gQ0pxwt1Ltuv5NiGJeNM7ZeVlVXoY5kUFIKLiwsCAwMRExMj+6XbbDYjMTERfn5+XGK0kLRaLTw9Pe0dBlGh/fvvv+jYsSOMRvleA5LGFQED3oRC44rsS4eR8tcyWb2/vz+OHj2K4OBgW4br8FatWoVly5Zh+fLlaNiwIQ4dOoQJEyYgJCQEI0aMsDp+ypQpmDhxouV2WloaQkNDERERUeRrkcFgQFRUFMLDw6FWq0v8XCqySfu2AmYzggP9cS4tEbXq1MPDYTXveQ7br+TYhiXjjO2X3ztaGEwKCsnFxQVVqlSRlRkMBhw6dAiNGzd2mhcXkTM5duwYOnfubJUQAIDfwxOg9guFMT0BCevmAEI+pnrXrl1MCMrA66+/jjfeeANPPPEEAKBx48a4fPkyZs2aVWBScLeloNVqdbGv2yU511Hk/z7mos77GmGCVOg2YfuVHNuwZJyp/YryPJkUEBHdxYgRI6yHDKnVcGnWB271OkKYDIhfMwvmrFTZMY8++ijq1atny1CdRlZWllXPrFKp5JKkNnbnkqRGTjQmqvCYFBARFWDu3Ln477//rMoVQXXhEzYSAJD0x9fIjT4tq/fw8MCiRYtsEaJT6tu3L2bMmIGqVauiYcOGOHjwIObOnYvRo0fbOzSncmdSwNWHiCo+JgVERHc4fvw4Jk2aZFWudPdFQL83ICmUyDi+DRkHf7c6Zv78+fDx8bFFmE7ps88+w9tvv42xY8ciLi4OISEhGDNmDN555x17h+ZU7tynwGDiynJEFR2TAiKiO8ydOxcmk0leqFAioN8bULr7IDf+EpI2z7c6r3379hgyZIiNonROHh4emDdv3l2XIKWyd/uCG+wpIHIcXDKHiOg2Qgj8+OOPVuU+YaOgrfJA3gZlq2dCGPSy+rp162L9+vVQqfhbCzm22zcvtuxozJ4CogqPn15ERDcZDAZMmzYNGRkZsnJd/Qfh2bo/ACDh94+tNijr27cv1qxZw6WJySmYZT0F3NHYWSRl5uLglWSk5RjgplEh12SGWqlAs1BvBHm62Du8QtEbTIjLBmJScxDsrbQktUVhNgtcSsxEbGoO9EYzvHVqaFQKXE3Kht5oglIhQaWQoFQooFJIcNOqoFEpkJSpR2JGLq4mZ+OfC4m4kJCJjBwjQn1d0SjEC2qlAh4uKoR4u0KtUsBdq0SDSp7INZpxPTkbaTkGZOhNeLpTjTJomTxMCoiIkJcQDB48GL//Lp8noA6oAb9e4wEAqXt/QvbZvbL6IUOG4IcffrBZnET2dntSYJlTYGZPgb2ZzAI5BhOyck1IzTbgfHwGsnKN8HJVw8tVAw8XFVQKCUGeLnDT5n39E0IgLl2PDL0RV5KyEHXiBq4mZSFTb0Sm3oQMvRGZuUZk6o33nDfi765BVV8dNCoFlIq8Xa5jU3OQmJkLpSRBqbj1R6NUQKtWIsTLBdX93VDD3w3uWhXScgw4dj0Vcel6aFUKuKiVcFEpoVXn/VurUsBkFnBRK9G4ihdCfVzh4aKGh4sKrmolJEmyistsFjgbl4Ftp+Ow9cQNHL6WAoNJhRmHdkIhAZW8XOGtU8NNq4KHVoXGVbzQoZY/4tP1OB6dimPRaYhJyUZWrgkeLnmJUHyaHul662Wqi+vMjQycuZFx/wNveqpdVUsyXtqYFBARAZg4caJVQqBw8UDgoLeg0Lgg++J/SNn5vay+SZMmWLZMvmkZkaO7LSe4NafAyJ6CspKcmYuLiZk4HZuOQ1eScfqiAuuSD8Io8npo9AYzriRlIS5df/87AyBJQBUfVygkCQnpemTmmu5/0k21A90R5KlFVq4JGqUCqdkGnLmRjoSMXCRk5BbpeZ2MKfymWvejUkjwcFHBw0UNF7UCuUYz9EYzUrMNyLrj+WkUAibkJRjXU7JxPSXbUvfHqTjM23r2vo+nVSksSVByZi5yjGaE+urgrlXCaBIwCwGjWcBgMiNTb4LeYIKvuwZ+bloEeGjRvKo3mlT2hruLCmdupON8fAaEyPu/jknLgdkskJChx6mYdLhqlKjs4wofnQaeLioYTQLaMvr2zqSAiJzenj178OWXX8oLJQX8+02GyisIhuQYJKy13qDsm2++KfDXKSJHVlBPgZH7RJSqY9dT8d2eS/j7XKLsS2seBZAYf8/z3bUqVPfXwdtVg9RsA1Kyc5GRk/drf4beiKtJt+5TqZDgplHC01WNznUD0LyqD9y1KrhrVXDTKm/+rYKXq9rSw3C7DL0RF+MzcT0lC4abX4jNQiDQwwUBHloIkff6MJvz/jaYBLJyjbiWnI2LCZm4mJAJvdEEV7UK9YM9UNVPh1yjGTkGE/Q3/87/t1IhISXLgCPXUpCQkYv0HAPMAjCaBZKzDEjOMljF56pWolV1H0Q8EIT2NX1wbM92PPxwBFL0ZlxNykZ6jgGZehOSMvXYfjoeJ2LSUMnLBXUCPdAk1AvVfN2g0yqRkWOERqWAj06DmgFuUCtLZ7hoDX+3Urmf0sCkgIic2vXr1/G///3Pqrzyw+Ogqt4M5txsxP86HeYceffuk08+iVatWtkqTKJywyzrKcgbxpDLicbFlms0478ryTgRnYZLiZnYfT4R5+Lk15tgTxfUDHBD4xBPJF47h2ZNGkOrVkGtVECjUiDE2xWVvV3hrlXBRa24548VCRl6XIjPhFIBeLneGvZTXO43h900ruJV7PsoLiEEMnNNSM8xID3HiPQcA3IMZmhVCmhVSrhqlKjup4Pq5hd4g8GA4xIgSRICPVwQ6CGfCzGsfXWbP4fyhEkBETm10aNHWy0/6vZAGFSNegAAEjfMgyHhstV5ERERNomPqLwpsKeAE43vymAy41xcBi4nZiE+PQeZN8f8X0nMwqXETFyIz0S2QX4NUikk9G5SCY+1DEXTUC94uKjz7stgwIYNZ/FwqypQq9XFisffXQt/d22Jn1d5IEmSpVejku1zEofDpICInJLZbMYjjzyCbdu2yco1QbXg2/MlAEDq7lXwzbyMrDvOVavV6Nmzp40iJSpfbh9Fx30K5FKzDTgZk4YT0Wl5f8ek4eyNDOTep3383TVoVc0X1fx0aFLFG51q+8NLV7wv/UTFxaSAiJzOli1bMGTIECQmJsrKFa6eCBgwFQq1Flnn9yFl1w9IEdYf5kOHDkVwcLCtwiUqVwpcfciJhw/lGs04cDkZP/xzGRuPxcJUwEpMHloVaga6I9hTC3etGm5aJar66lDdzw3V/d1Q098NCgXnJ5F9MSkgIqeyYsWKgncdvrljscorEIak60hY9z+ricUA0Lp1a3z66ac2iJSofCo4KXC+noIMvRGfbD2DZXuvyIb/VPZ2xQMhnmhQyRMP3PwT6uvKRQmo3GNSQEROY8OGDRg6dGiBdT5dnoZLtSYw67MQ/+t0CH2mrF6SJLz66quYNm0adDqdLcIlKpfyfwiXJECjdK6k4HpKNv4+l4Dd5xKw82wCkjLzluH0c9OgS/1AjO5YAw+EeNo5SqLiYVJARE7hwIED6N+/P4Sw7tp3a9gVnq0eAQAk/D4XhsSrVsesWbMGjzzySJnHSVTe5b+HFJJkWZbR6KDDh3IMJmw7FYe/zyfg73OJuJgg/7Ggmp8O7/Z9AGF1Azn8hyo8JgVE5BRefPFFGAzWa1irA6rDt8dYAEDK38utdiwGgHHjxjEhILopv6dAIQEqZd4X4ftNpK1ozGaBbafjELnuuGxNf4UENA31Rsda/uhY2x8tq/mUaDlPovKESQERObwlS5Zg717rL/uSRoeA/lOgULsg+8J+pO5aYXVMSEgIPvnkE1uESVQh5M8pkCTJMnzIEXoKTGaBI9dS8PuRGPx+NAYxqTkAgCBPLXo1qoSOtf3RtqYvPF24KhA5JiYFROTQrl27hhdeeKHAOr+Hx0PtWxnGtDgkrPsIgPyLjVqtxi+//AKlUmmDSIkqBrNl+NCtnoKKOqcgx2DC5uOx+P1IDPZcSER6jtFS565V4ck2oRjfvS7cC9jJl8jR8FVORA7tk08+QU5OjlW5R6t+cKvXEcJkQPyaD2DOSZfVq9VqbNy4Ee3atbNVqEQVgrAMH7o1p6AiJgXHrqfi5ZUHcSH+1jwBd60KXeoHok+TSuhcNwAuav4gQM6DSQEROayEhAR89tlnVuXayg3gEzYKAJD0x9fIjTkjq/fw8MCff/6JVq1a2SROoorEfPtEY0XF26fgXFw6Fu64gDUHr8NoFvB31+KJ1qGIaBiEByp5QqXkHAFyTuX6lW80GvHWW2+hRo0acHV1Rc2aNfHee+/BbL71i4QQApGRkQgJCYGrqyvCwsJw/PhxO0ZNROXFww8/DL1eLytT6Lzg3+8NSEoVMk/sQMbB32X1AwYMwOXLl5kQEN1F/uZckgSoVXnDh4zm8t9TcCE+A2O+34/wj3fi5wPXYDQLPNw4GFGvPITXetRDkyreTAjIqZXrnoLZs2dj4cKFWLp0KRo2bIj9+/dj1KhR8PLywvjx4wEAc+bMwdy5c7FkyRLUrVsX06dPR3h4OE6fPg0PDw87PwMispdx48Zh37598kJJgYBHJkPl4YfchCtI3CTvRZgyZQpmzpxpwyiJKh7zbcOHVLf1FAghyuUGXWazwHd7LuGDTaeQY8hLXno0DMILYbXRLNTbvsERlSPlOinYs2cP+vXrh969ewMAqlevjhUrVmD//v0A8noJ5s2bh6lTp2LgwIEAgKVLlyIoKAjLly/HmDFj7BY7EdnPb7/9hi+++MKq3Lfr6FsblK2ZCWG4Ndegfv36TAiICiF/nwKl4tbqQwBgNAuoleUrKYhOycZrPx3G7vOJAIBOtf3xbt8HUCeIPxoS3alcJwWdOnXCwoULcebMGdStWxeHDx/Grl27MG/ePADAxYsXERsbi4iICMs5Wq0WnTt3xu7du++aFOj1etmQgrS0NACAwWAocB3zu8k/tijnkBzbsGTYftYMBkOB731d/U7waNUfAJC4YR6Middk9R988IHTtKOzPE8qG7fvU5A/fAjIm2ysLkfDb87cSMdTX/+DuHQ9XNQKvPlwAzzVtho3GSO6i3KdFEyePBmpqamoX78+lEolTCYTZsyYgSeffBIAEBsbCwAICgqSnRcUFITLly/f9X5nzZqFadOmWZVv2bIFOp2uyHFGRUUV+RySYxuWDNvvlvfeew83btyQlan9q8KvV96Qw9S9PyPrzG5ZfevWrQEAGzZssE2QdpaVlWXvEKgCu32fgvzhQ0D5mmx8+GoKRiz+FylZBtQL8sDCYS1Rw9/N3mERlWvlOilYtWoVli1bhuXLl6Nhw4Y4dOgQJkyYgJCQEIwYMcJy3J1jGO83rnHKlCmYOHGi5XZaWhpCQ0MREREBT0/PQsdnMBgQFRWF8PBwqNXczKQ42IYlw/aTe+WVV/Dff//JyiSNDgEDpkKhcUX2pUNI2fmdvF6S8OyzzzpVG+b3jhIVx+37FNw+XKi8LEv6z4VEPL10PzL0RjQN9cbSUa3hrdPYOyyicq9cJwWvv/463njjDTzxxBMAgMaNG+Py5cuYNWsWRowYgeDgYAB5PQaVKlWynBcXF2fVe3A7rVYLrVZrVa5Wq4v1paC459EtbMOSYfsB3333HT7//PM7SiX4937FskFZ4roPASH/4jJ06FAEBgY6VRs6y/OksnH7PgV5vQUSjGZRLnY1XrXvCt5ecxy5JjPa1/TDVyNaceMxokIqP4P/CpCVlQWFQh6iUqm0LElao0YNBAcHy4ZO5ObmYseOHejQoYNNYyUi+9Hr9Xj55Zetyj3bPQpd3fYQxlzEr54JU1aqrL5WrVqYP3++rcIkcgi371MAoFxsYBabmoMXl/+Hyb8cRa7JjJ4Ng7F4VGsmBERFUK7fLX379sWMGTNQtWpVNGzYEAcPHsTcuXMxevRoAHnd/hMmTMDMmTNRp04d1KlTBzNnzoROp8OQIUPsHD0R2YIQAhEREUhNlX/hd6nRAt4PDQMAJEUtQG7sOVm9VqvFzp07izWPiMiZ5U80zh+lq1JKgME+ScFvh67jm10XcTw6DSazgEICJobXxdiw2pxQTFRE5Top+Oyzz/D2229j7NixiIuLQ0hICMaMGYN33nnHcsykSZOQnZ2NsWPHIjk5GW3btsWWLVu4RwGRk3jmmWewc+dOWZnKOxj+fV+HJCmQfmgTMo5YT8T+5ZdfEBISwpV4iIrozp4CjdI+uxr/dug6xq88ZLndspoPpj3SEI0qe9k0DiJHUa6TAg8PD8ybN8+yBGlBJElCZGQkIiMjbRYXEZUPn332Gb799ltZmaR2QcDAt6B09YA++jSSti60Oq9///6W/U+IqGjEbRONgZs9BbBtT8H+S0l47afDAIAhbatiXJfaCPFyKZebpxFVFOU6KSAiupu0tDRMnjzZqty/z0RoAqrDmJGE+NUzAJNRVu/n51fgxmZEVDi372gM2H5OgcFkxtTVx2AwCfRuXAnT+zXiUCGiUlCuJxoTERUkOjoabdq0QXZ2tqzcq/3j0NXtAGE0IPG3WTBlJMnqNRoN9u7dK1utjIiKxmzO36cg73Z+UmA022b40Pd7LuP0jXT46NSYMYAJAVFpYU8BEVUohw4dQlhYmNXEYtdabWQTi3OunbQ6d/Pmzahdu7ZN4iRyVNY9BTeHDxnLvqfg2PVUzI06AwB4vUd97j9AVIrYU0BEFUZmZiZ69+5tlRCo/KrAv+9rAID0/9Yj48gWq3NHjx6NsLAwW4RJ5NDEHRON83c1NpRxT8GF+AyM+PZfZOiNaFfTF4+3Di3TxyNyNkwKiKjCmDRpEqKjo2VlktYNgQPfhkKrQ86Vo0j64yur84KDgzF79mxbhUnk0O5cklStupkUlGFPgRACr/10GImZuWhU2ROLhreCksOGiEoVkwIiqhA+/fRT6wnCkgL+fV+z7Fgc/9sHgNkkO8TFxQW7d++Gv7+/DaMlclxWm5fd/HJuNJddUrD1ZBz+u5ICV7USXw9vDU8X7spNVNqYFBBRubdkyRKMHz/eqty70xDoarWG2aBH/K8zYL5jx2IA2LZtG2rUqGGLMImcgiUpuPkNIn+icW4Z7VNgMgt8uPkUAGB0p+oI9nIpk8chcnZMCoioXDt48CCefvppq3LXOu3g1eEJAEDSps+Qe+O81THPPPMM2rVrV+YxEjkTccdE4/x9CoxltCTpN7su4MyNDHi5qvHcQ7XK5DGIiEkBEZVzr776Ksx3DEtQ+VaBf++JAIC0/b8h88R2q/N0Oh2mTZtmixCJnEp+T4FktaNx6ScFx6NT8eHm0wCAN3rVh5crhw0RlRUmBURUbv3www/Ytm2brEzSuCJw4FTLxOLkbd9anadWq/HLL78gJCTEVqESOY1bS5Lm/X1rR+PSHT6UnWvC+JWHYDAJhD8QhCe42hBRmWJSQETljhACX3zxBZ566imrOv+HX4HaLxTG9ATE/zbbamJxcHAwDhw4gJ49e9oqXCKnYjXRuIx6CmZtPIlzcRkI8NBi9qAmlp4JIiob3LyMiMqV1NRU9OnTB7t27bKq82z3GHT18nYsTvptNsxZKbJ6FxcXnDp1Cl5eXjaKlsj53NqnIO92WSQFK/+9gu/2XAYAfPRYU/i6cZMyorLGpICIyg2TyYT+/fsXmBC41Ghxa8firQuRfd16x+Jvv/2WCQFRGbu1T8EdOxqXwvAhIQSm/34S3+y6CAB4ulMNPFQ3oMT3S0T3x6SAiMqN9evXY/v27VblGt9K8O/7OiRJgfTDm5FxeLPVMfPmzcOTTz5pgyiJnJv5jp4CVSn2FPx3JcWSEEzoXgcvd61T4vskosJhUkBE5YIQAhMnTrQql1Ra+D0yBUpXD+ijTyMpaoHVMW+//XaB+xgQUekz37Ekaf7qQ8ZS6ClY/s8VAMCgFlUwoXvdEt8fERUeJxoTUbnw4Ycf4sKFC1blvj1fhCaoJkyZKcja8glgMsrqq1atisjISBtFSURms3yisUqRP3yoZD0FqVkGrD8SDQAY0rZqie6LiIqOPQVEZHeZmZl47733rMo9Wz0C94ZdIMwmxP/2AfQ3rsjqJUnCwoULoVDw9w0iW7m1T0HebbUqf/hQyXoKVh+8Br3RjPrBHmhR1btE90VERcdPUiKyu3HjxiEzM1NWpg1tBO8ueTsZp2z7Fvqrx6zO+/jjj9GrVy+bxEhEefKHDylv9hCoS6Gn4EJ8BuZGnQGQ10vA5UeJbI9JARHZ1datW7F06VJZmdLDDwH9JkNSKJF5fDvS9v9mdd6bb77JeQREdnC3fQqM5uIlBRl6I575bj/ScoxoUdUbj3OTMiK74PAhIrKbGzduoH///vJCpQoB/adA6eaD3LiLSNz0maxakiT873//wyuvvGK7QInI4s59CvJXH8o1Fm/40Hd7LuFCfCYqeblg4bCW0KqUpRInERUNkwIisotjx46hbdu2yMrKkpX7dh8DbUh9mLLTEf/rdAijXla/fPlyPPHEE7YMlYhuc/d9CoreU2AwmfHd7rxNyl6LqIdAD5fSCZKIiozDh4jI5s6dO4f27dtbJQTuTSLg0awXhDAjYd2HMKbekNXXq1cPgwcPtmWoVA5dv34dTz31FPz8/KDT6dCsWTMcOHDA3mE5jTv3KfBwyft9MS3HUOT72nA0BrFpOfB316JP00qlFiMRFR17CojIpnJzc9GjRw9kZGTIyjWV6sI3/AUAQMrO75Fz8T9ZvSRJ+Omnn7jSkJNLTk5Gx44d0aVLF2zcuBGBgYE4f/48vL297R2a07hzn4Igz7xf92NTcwp9HzvPxOO1nw4jMTMXADCsXTUOGyKyMyYFRGQzQggMGDDAaj8Chc4bAQPehKRSI+fcP0jb+7PVucOGDUPjxo1tFSqVU7Nnz0ZoaCgWL15sKatevbr9AnJC4o6JxsFeN5OCtMInBd/suoi49Lyhgf7uGjzVjvsSENkbkwIispl33nkHGzZskBcqlAjoNxkqD38YEq8ibt3/AMgnLGq1Wrz99tu2C5TKrbVr16JHjx547LHHsGPHDlSuXBljx47Fs88+W+Dxer0eev2teSlpaWkAAIPBAIOhaMNd8o8v6nmOxmA05f1DCBgMBvjr8r5KpGQZkJ6VAxd1wb/457dbSkY2dp9PAAD88HQrNK3sBa1a4fTtWhh8DZaMM7ZfUZ4rkwIisonVq1dj+vTpVuU+YaPgUrUxzPosxP06AyI32+qYH374AbVr17ZFmFTOXbhwAQsWLMDEiRPx5ptv4t9//8XLL78MrVaL4cOHWx0/a9YsTJs2zap8y5Yt0Ol0xYohKiqqWOc5imMxEgAlYmKisWHDNQgBqBVKGMwSfly3Gf73mSv8+ertMJiUCHQRiD++F3+csEnYDsXZX4Ml5Uztd+fcvXthUkBEZe706dMFThDWNegMz9b9AQAJv38MY9I1q2OGDx+OQYMGlXWIVEGYzWa0atUKM2fOBAA0b94cx48fx4IFCwpMCqZMmYKJEydabqelpSE0NBQRERHw9PQs0mMbDAZERUUhPDwcarW6ZE+kArux+zJWXzqNKpUr4+GH84b0fXxmFy4nZaF+i3ZoU923wPPy2y9eEwLgBh5pVQO9e9S1YeQVH1+DJeOM7ZffO1oYTAqIqEz9+++/eOihh2A0GmXl6oAa8Ov1EgAgdfcqZJ/dY3Vuu3bt8OWXX9okTqoYKlWqhAceeEBW1qBBA/zyyy8FHq/VaqHVaq3K1Wp1sb8UlORcRyBJeZP9VUqFpR2CvVxwOSkLCZnGe7aN0Qz8dS4RANCzUSWnbseScPbXYEk5U/sV5XlyGQ8iKjP79+/HQw89JBvTDQAKF3cEDJwKhdoF2RcOIGXXD1bnhoWFYceOHXBx4brldEvHjh1x+vRpWdmZM2dQrVo1O0XkfPKXJM3fpwAAKnkVbgWiP6IlpOUYEeChRfOqPmUXJBEVGZMCIioTOTk56Nevn1VCAEkB/76vQ+0dDENKLBLWfQgI+aZH7dq1w59//gmNRmPDiKkieOWVV7B3717MnDkT586dw/Lly7Fo0SKMGzfO3qE5jVtLkt4qCyrECkQnY9Kx+Vre1463ejeA8vY7ICK7Y1JARGVi0aJFiI6Otir3eWgYXGu2hNmQg/hfZ8CcI9+vICAgAOvWrZP9CkmUr3Xr1li9ejVWrFiBRo0a4f3338e8efMwdOhQe4fmNMx3LEkKAME39yq4cY+kYM6WMzAJCeENAvFI05CyDZKIioxzCoio1MXGxmLKlClW5a512sOz3WMAgMSNn8EQf1FWr1arsXfvXvj7+9skTqqY+vTpgz59+tg7DKdl2afgtp8V85OCmLsMH8rONeGfi0kAgFfD6zDpJyqH2FNARKXKYDAgLCzMahk0lW8V+Pd+BQCQtm8Nsk7usDp31apVqFmzpk3iJKLiyR8+dPsX+/wNzG7cJSnYfzkJBpOAl0agpn/xloIlorLFpICISo0QAgMHDrSaCCppXBE4cCoUWh1yrhxF8vbFVue+/fbbGDBggK1CJaJiujV86FZZflIQl66H2Syszvn75opD9bwEewmIyikmBURUan777TesX7/+jlIJ/n0mQu0XCmN6AuJ/mw2YTbIjhg4dWuAGU0RU/tyaaHzry32AuxYKCTCaBRIy9Vbn/H0ubwfjul7WCQMRlQ9MCoioVJjNZowfP96q3LPdo9DVaQ9hNCB+9UyYs1Jk9Q8//DCWLl3KXw+JKghRwERjlVIBf/e8/SBupN5KCrJzTTgRnYZj0akAmBQQlWecaExEpeKtt97ClStXZGUuNVrA+6FhAICkqAXIjTkjq2/WrBnWr1/PhICoArm1T4G8vJKXC+LS9YhOzYabVomZG07ir7MJ0Bvzlhyu6e8GL02qrcMlokJiTwERldi6devwwQcfyMpUXkHw7/s6JEmB9EObkHFki9V5ixcvZkJAVMEUNHwIAEK8XQEA0SnZWLTzAraejIPeaIa7VoVgTxc892B1G0dKREXBngIiKracnByMGDECP/74o6xcUmkRMPAtKF09oI8+haStC63OHTp0KJo1a2ajSImotBQ00RgAKt+WFFxKzAQATHukIYa3rwZJkmAwGLBhw2GbxkpEhcekgIiKRQiB4cOH46effrKq8+v5EjSBNWDKTEb8mlmAySirb9SoEb799ltbhUpEpUjct6cgB1eTsgEAjSp7sjeQqILg8CEiKpYNGzYUnBB0eAxuDcMgzCbEr/kApvREWb2npyd27NgBjUZjq1CJqBTlLzl655f9/KTgUmImYlLzkoJQH+5JQFRRMCkgoiIxmUyYPHky+vbta1WnDW0Et45PAQCS//wG+mvHrY754Ycf4OvrW+ZxElHZMN1n+NDJmDSYBaBVKRDgobV1eERUTOU+Kbh+/Tqeeuop+Pn5QafToVmzZjhw4IClXgiByMhIhISEwNXVFWFhYTh+3PqLCBGVXP6QoTlz5liWJcyn9PBDQL/JkBRKZBzfhpwjG63Ob9u2Lfr06WOrcImoDNx9+FDeBmb5E5Gr+Lhy6BBRBVKuk4Lk5GR07NgRarUaGzduxIkTJ/DRRx/B29vbcsycOXMwd+5czJ8/H/v27UNwcDDCw8ORnp5uv8CJHNSvv/6K5cuXW1coVQjo/yaUbj7IvXEBSZvmw2AwyA7RaDT4/vvvbRQpEZUVy0TjO7oKfN000Kpufa0I9eXQIaKKpFxPNJ49ezZCQ0OxePFiS1n16tUt/xZCYN68eZg6dSoGDhwIAFi6dCmCgoKwfPlyjBkzxtYhEzkss9mMiRMnFljn2/15aEPqwZSdjvjVMyCM1juafvLJJ6hTp05Zh0lEZexuqw9JkoTK3q64kJC38hDnExBVLOU6KVi7di169OiBxx57DDt27EDlypUxduxYPPvsswCAixcvIjY2FhEREZZztFotOnfujN27d981KdDr9dDrb31pSUtLAwAYDAarXzfvJf/YopxDcmzDkrFl+xW0ORkAuDftAY9mPSGEGQnrPoQx9YbVMeHh4Rg1alS5/H92xtegMz1XKn1326cAyJtsbEkKfF1tGRYRlVC5TgouXLiABQsWYOLEiXjzzTfx77//4uWXX4ZWq8Xw4cMRGxsLAAgKCpKdFxQUhMuXL9/1fmfNmoVp06ZZlW/ZsgU6XdF/2YiKiiryOSTHNiyZsm6/a9euYc6cOVblLpXrw7f78wCAlJ3fI+fif1bHtG3bFk8//TQ2bdpUpjGWlDO9BrOysuwdAlVg4i49BcCtycYAewqIKppynRSYzWa0atUKM2fOBAA0b94cx48fx4IFCzB8+HDLcXdOZBJC3HNy05QpU2TDINLS0hAaGoqIiAh4enoWOj6DwYCoqCiEh4dDrVYX+jy6hW1YMrZov7S0NDRu3NiqXKHzhl+/NyCp1Mg+uwdpe62XJ12wYAGefvrpMomrtDjjazC/d5SoOMzmvL8L+pwNuT0p4JwCogqlXCcFlSpVwgMPPCAra9CgAX755RcAQHBwMAAgNjYWlSpVshwTFxdn1XtwO61WC63Wepk0tVpdrC8FxT2PbmEblkxZtt+LL76ImJgYeaFCiYB+k6Hy8Ich8Sri18+1Oq9Xr14YM2ZMhVl9xJleg87yPKls3JpTUFBS4GL5N5MCooqlXK8+1LFjR5w+fVpWdubMGVSrVg0AUKNGDQQHB8u6/XNzc7Fjxw506NDBprESOaLvv/8eK1eutCr36TIaLlUbw6zPQtyv0yFys2X17du3x4oVKypMQkBEhXdrToF1Xf7wIU8XFbxcmXwSVSTlOil45ZVXsHfvXsycORPnzp3D8uXLsWjRIowbNw5AXtflhAkTMHPmTKxevRrHjh3DyJEjodPpMGTIEDtHT1Sx/fbbb7JhevncG3WFZ6t+AICE3+fCmHRdVj9lyhTs3LkTXl5eNomTiGxL3KOnoEU1H7Sr6YvRnWrYOiwiKqFyPXyodevWWL16NaZMmYL33nsPNWrUwLx58zB06FDLMZMmTUJ2djbGjh2L5ORktG3bFlu2bIGHh4cdIyequLKysjBixAj8/PPPVnXqwBrwiRgLAEjdvRLZZ/fK6jt27GiZA0REjil/+FBBHYEuaiVWPtfexhERUWko10kBAPTp0+eeO6BKkoTIyEhERkbaLigiB5Wbm4vevXtj+/btVnUKF3cEDJgKhdoF2Rf2I2WXfBMzjUaDb775xkaREpG93GtJUiKquMp9UkBEtvPNN99YJQSSJEFAgv8jk6D2DoYhOQYJaz8EhFl23GeffYZ69erZMFoisoe7bV5GRBVbuZ5TQES2NX/+fKsyIQT8Og+Ha40WMBtyEL96Bsz6TNkxnTp1wjPPPGOrMInIjkR+TwGzAiKHwqSAiAAAp0+fxokTJ6zKXeu0h3vbRwEAiRs/hSH+kqzez88PGzZsgELBywmRM7g1p4BJAZEj4ac4EeHIkSNo2rSpVbnKtwr8e78CAEjbtwZZJ3daHfPTTz9xYj+RE+HwISLHxKSAyMmdPXsWHTt2hF6vl5VLGlcEDHgTCq0OOVeOInn7YqtzP//8c3Tp0sVWoRJROcCJxkSOiUkBkZN79dVXkZGRYVXu9/AEaPyrwpieiPjfZgNmk6z+hRdewNixY20VJhGVE4I9BUQOiUkBkRP7888/sW7dOqtyzzYD4VavI4TJgPg1s2DOSpHVv/TSSwVOSiYix5ffU8A5BUSOhUkBkZNKTU3F4MGDrcrdaraAd+cRAICkrYuQG31KVj9jxgx8+umnnFhM5KTM99jRmIgqLn6qEzmpb7/9FomJibIypUcA/Pq8BkmhRMbRKGQc2iird3d3x0svvWTLMImonLk1p8C+cRBR6WJSQOSEMjIy8Pbbb8sLlWoE9J8CydUT+thzyNj+rdV548aN40pDRE5OsKeAyCExKSByMkeOHEFISAgyM+UbkPmGPw9tSF2YstMQv3om9Fnpsvru3bvj/ffft2WoRFQO3dqnwM6BEFGpUtk7ACKynatXr6JLly5IT5d/4Xdv2gMeTXtACDMS1n4IU1qcrL5r167YvHkz5xEQEczmvL/ZU0DkWIr8Cd+9e3ds3LjRqtxkMhVwNBGVF0IIPPHEE0hKSpKVayrVhW/35wEAKTu/R86lg7L6oKAgREVFMSEgIgCcaEzkqIr8Kb9//35Ur14dAHDx4kVL+TfffINhw4aVWmBEVLreeecd7N69W1am0HnlzSNQqZF1Zg/S9v5kdd7s2bOZEBCRheBEYyKHVORP+tzcXMtEw6ZNm+LChQsAgA4dOuCPP/4o3eiIqFRs3rwZ06dPlxdKCgT2ewMqzwAYEq8h4fe5Vue1bNkSw4cPt1GURFQRmCxzCpgVEDmSIicFtWvXxj///IPU1FRkZmYiJSUFAODh4WE1LIGI7MtoNGLcuHHo2bOnVZ135xHQVm0Mc242Un7/ECI32+qYzz//nB/8RCRj5o7GRA6pyEnB2LFj8cwzz6Bz585o2rQpFi1aBAD466+/EBQUVOoBElHxCCEwevRofPHFF1Z1unod4dV2EAAgccM8ZMWctzqmY8eOaNOmTZnHSUQVy619CpgVEDmSIq8+9PzzzyMgIABnz57Fs88+iyeeeAI1a9ZETEwMXnzxxbKIkYiKYePGjfj++++tytV+ofB7eAIAIPWfX5B1+m+rYypVqoQVK1awl4CIrOTvU6BkVwGRQynWkqSDBg2y/Hvjxo1YvXo1cnNz8cQTT5RaYERUfEajEWPGjLEqlzQ6BAyYCoXGFdmXDiNlx1KrYxo2bIjt27fD39/fFqESUQXDfQqIHFOJ9ylQqVR47LHHSiMWIiolL730Eq5du3ZHqQT/3q9A7VcFxrQ4JK6bAwiz7Ig6derg6NGj7CEgorviPgVEjonrDBI5mJUrV2LhwoVW5Z7tHoWubnsIowHxq2fBlJUqq1er1Vi9ejUTAiK6J+5TQOSYmBQQOZDly5djyJAhVuUu1ZvD+6G8fUSSohYgN/as1TE//PADGjZsWOYxElHFxn0KiBwTkwIiB7Fp0yYMGzbMMgkwn9IzEP6PvA5JUiD98GZkHNlide7TTz/NYYBEVChm7lNA5JBKPKeAiOwvOTkZjz/+OMxm+RwBN09veAx4E0pXT+ijzyApynpY0ejRowscbkREVBDuU0DkmJgUEDmAd955B2lpaVblLp1GQBtcG6asVMSvmQmYDLL6RYsW4dlnn7VVmETkACzDh5gVEDkUDh8iquBOnDhh2UTwdu7NesG9cTiE2YSMLZ/ClJ4gq+/UqRMTAiIqMvYUEDkm9hQQVWAxMTF47733rOYRaELqw7f7cwCAlB1LkXb6H1m9m5sbli1bZrM4ichx5O9ozDkFRI6FPQVEFVRmZia6dOmCnJwcWblC542A/lMgKdXIOrULaf/+anXuunXrUK1aNVuFSkQOhEuSEjkmJgVEFdSECRNw4cIFeaFCiYD+b0Dl4YfchCtI2PiJ1XmffvopunTpYqMoicrOrFmzIEkSJkyYYO9QnAqXJCVyTBw+RFTBZGdnY+jQoVi9erVVnU/YKLiENoJZn4X41TMgcrNl9VOmTMFLL71kq1CJysy+ffuwaNEiNGnSxN6hOB32FBA5JvYUEFUgOTk56NGjR4EJga7BQ/Bs3R8AkPD7XBiTrsvq+/fvj5kzZ9oiTKIylZGRgaFDh+Krr76Cj4+PvcNxOrf2KbBzIERUqthTQFSBzJo1C3/99ZesTJIkqPyqwq/nywCA1D0/IvvsXtkxGo2mwBWKiCqicePGoXfv3ujevTumT59+z2P1ej30er3ldv7SvQaDAQaD4W6nFSj/+KKe52jMN2cam02mIrUF26/k2IYl44ztV5TnyqSAqIK4ePFiwb/0q10RMOBNKDQuyL74H1L+sl5V6NNPP0VAQIANoiQqWytXrsSBAwewf//+Qh0/a9YsTJs2zap8y5Yt0Ol0xYohKiqqWOc5imy9EoCEXbv+woViNKGzt19pYBuWjDO1X1ZWVqGPZVJAVAGkpaWhdevWMBqNd9RI8O/9CtS+lWFMjUPCuv8BQr6r8ahRozBmzBjbBUtURq5evYrx48djy5YtcHFxKdQ5U6ZMwcSJEy2309LSEBoaioiICHh6ehbp8Q0GA6KiohAeHg61Wl2kcx1J5OFtgMGAzg89hDqB7oU+j+1XcmzDknHG9itoY9O7YVJAVM6dOXMG7du3R1JSklWdZ7tHoavbHsKYi/g1M2HOlr/5W7RowWFD5DAOHDiAuLg4tGzZ0lJmMpmwc+dOzJ8/H3q9HkqlUnaOVquFVqu1ui+1Wl3sLwUlOdcR5O+KoilmOzh7+5UGtmHJOFP7FeV5MikgKse2bt2KXr16FdBDALhUbwbvB58CACRFLUBu7DlZvbu7O3bu3AmVim9zcgzdunXD0aNHZWWjRo1C/fr1MXnyZKuEgMpG/pwCLklK5Fj4bYGonDp37hz69etXYEKg9AyAf9/XISmUSD+8GRlHrMdHLl68GG5ubrYIlcgmPDw80KhRI1mZm5sb/Pz8rMqp7Nzap4BZAZEj4ZKkROXUjBkzCpwgpNK6IqD/FCh1XtDHnEVS1EJZvUKhwJIlS/Doo4/aKlQiciLcp4DIMbGngKgcunDhApYuXVpgnWfYaGgr1YUpOw3xa2YCplvLjSkUCpw6dQp16tSxVahEdrV9+3Z7h+B0bo4e4j4FRA6GSQFROWM2m9G/f3+I/D76myRJgq5RN3g06wUhzEjZMBemtHjZMdOmTWNCQERlytJTwEkFRA6Fw4eIypk1a9ZYTaYEAFVADfiGvwAASP3rB2Sck6/T3rlzZ7zxxhs2iZGInNet4UN2DoSIShWTAqJy5OrVqxg2bJhVuULrlrdBmVqL7HP/InXPj7L6evXqYevWrVxpiIjKnJkTjYkcUoVKCmbNmgVJkjBhwgRLmRACkZGRCAkJgaurK8LCwnD8+HH7BUlUTOfOnUOjRo0KmFwswa/va1B7B8OQHIOE9R/h1krhQJUqVbBjxw4mBERkE/k9BcwJiBxLhUkK9u3bh0WLFqFJkyay8jlz5mDu3LmYP38+9u3bh+DgYISHhyM9Pd1OkRIVXWZmJiIiIqx2HpQkCV4dHoeuVmuYDfq8Dcr0mZb69u3b4+OPP4avr6+tQyYiJySEsCxJqmRWQORQKkRSkJGRgaFDh+Krr76Cj4+PpVwIgXnz5mHq1KkYOHAgGjVqhKVLlyIrKwvLly+3Y8RERbNgwQJcvHjRqty9Tht4dxoCAEja8jkMcbeOcXV1xe+//+40uzISkf3dvv4Bhw8ROZYKMd5g3Lhx6N27N7p3747p06dbyi9evIjY2FhERERYyrRaLTp37ozdu3djzJgxBd6fXq+HXq+33M7/ddZgMMBgMBR4TkHyjy3KOSTHNgSuXbuGt956y6pc6RkIr57jAUmBzMObkHnsT1n9hAkToNVqATh3+5WUM74Gnem5Uuky35YVMCkgcizlPilYuXIlDhw4gP3791vVxcbGAgCCgoJk5UFBQbh8+fJd73PWrFmYNm2aVfmWLVug0+mKHGNUlPVuslQ0ztqGQgi8/PLLsiQVAKBUI2DAFChdPaGPPoOEOzYoCwgIQKtWrSzt5qztV5qcqQ0L2hSPqDDMt/UUSBVirAERFVa5TgquXr2K8ePHY8uWLXBxcbnrcdIdv1YIIazKbjdlyhRMnDjRcjstLQ2hoaGIiIiAp6dnoeMzGAyIiopCeHg4h3AUkzO3oRACw4YNw9WrV63qfMOfhza4DszZaYhfMwswGWX13333Hbp16+bU7VdanLEN75y7QlRY7CkgclzlOik4cOAA4uLi0LJlS0uZyWTCzp07MX/+fJw+fRpAXo9BpUqVLMfExcVZ9R7cTqvVWoZd3E6tVhfrS0Fxz6NbnLENf/rpJ/z4449W5e5NwuHRtAeEMCN+7RyY0uUblPXu3Rs9evSQJb7O2H6lzZna0FmeJ5U++ZwC+8VBRKWvXHf+devWDUePHsWhQ4csf1q1aoWhQ4fi0KFDqFmzJoKDg2Xd/rm5udixYwc6dOhgx8iJ7i03Nxfjxo2zKtcE1bJsUJay83vkXDokq2/evDl+/PHHe/aEERGVFfYUEDmuct1T4OHhgUaNGsnK3Nzc4OfnZymfMGECZs6ciTp16qBOnTqYOXMmdDodhgwZYo+Qie5LCIGePXsiPl7eA6BwcUdA/ymQVBpknf0HaXt/ltXXrVsX+/fvh0JRrnN5InJgtycFzAmIHEu5TgoKY9KkScjOzsbYsWORnJyMtm3bYsuWLfDw8LB3aERWhBAYPnw4tm3bdkeNBP++r0HlHQxDcjQSfp+L2zcokyQJmzdvZkJARHZl5pKkRA6rwiUF27dvl92WJAmRkZGIjIy0SzxERTFmzBgsW7bMqtyr45NwrdkKZkMO4lfPgrhtgzIAeP7551G9enUbRUlEVDDB4UNEDos/OxLZyEcffYSvvvrKqtylZkt4dXwCAJC0+XMY4uWbmDVp0gSffPKJTWIkIroXMycaEzksJgVENrBz50689tprVuUq72D493kNkqRA+n+/I/O4fFiRu7s7tm7dytViiKhckM8pYFZA5EiYFBCVsZiYGPTt29eqXFJp4N/vDShdPaCPPoWkP617EdasWYOAgABbhElEdF/5SQF7CYgcD5MCojLWt2/fAjeLytugrDZMWalIWveh1QZl/fv3R7du3WwVJhHRfeV3FHA+AZHjYVJAVIYmTJiAAwcOWJW7N4mAe5MICLMJCWvnIDflhqw+ICAAX3zxha3CJCIqlFs9BUwKiBwNkwKiMvL1118XOEFYE1xbvkHZ5cOyeldXV+zdu1e2SzcRUXmQP9GYOQGR42FSQFQGli1bhueee86qXOHicXODMjWyzuxB2j/yDco0Gg327NmDmjVr2ipUIqJCM5vZU0DkqJgUEJWyd955B8OGDZOt5w0AkBR5G5R5BcGQFI2E3z+WVSsUCmzYsAFNmza1YbRERIV3a06BfeMgotLHpICoFH377bd4//33C6zL26Cs5c0NymZA5GbJ6lesWMGJxURUrnFOAZHjqnA7GhOVVyaTCW+99ZZVuVKphKZac3h3fBIAkLRpPgwJl2XHjBw5EoMHD7ZJnERExZWfFDAnIHI87CkgKgXp6eno0aMHYmJirOokd3/49c3buCztwHpkntguq69Xrx4WLlxoizCJiEokf6KxguOHiBwOewqISiguLg6dOnXC2bNnreoklQYBA96E0sUd+uunkPzn17J6rVaLP/74A1qt1lbhEhEVm+DwISKHxZ4CohIaOnRogQkBAPiGvwBNUC2YMlMQ/9sswHxrgzJJkrBx40ZUrlzZVqESEZWImRONiRwWewqISuDgwYPYunWrVbkkSdA16gb3JuGWDcpM6YmyYz744AN06dLFVqESEZWYyZw/p4BZAZGjYU8BUQl8/fXXBZar/Kvd2qDsr2XIuXJEVv/GG29g0qRJZR4fEVFpurX6kJ0DIaJSx54ComK6ePFigUmBpHFFQL83oFBrkX1hP9L2yjco++yzz/Diiy/aKkwiolJza58CZgVEjoY9BUTFEBsbizZt2iA3N9eqzq/nS1D7VYExLR4J6+cCuLWJWbdu3ZgQEFGFxX0KiBwXkwKiIjIajQgPD0dCQoJVnXvzh+HW4CEIkxEJa2fDnJ1mqVMoFHjvvfdsGSoRUamyJAX89kDkcPi2Jiqil19+GceOHbMq1wTXhm/XZwEAyTuWQH/9lKVOkiR8/fXX6NChg83iJCIqbWYOHyJyWJxTQFQEP/74IxYsWGBVrnDxQED/KZBUamSd2YP0fWssdUqlEn///Tfatm1rw0iJiEof9ykgclxMCogKKTo6GsOGDbOukBSo8thbkLyCYEiORsKGebLqQYMGMSEgIoeQ31PAnIDI8XD4EFEhrFq1ClWrVi1wYrFXpyGQQhpCGPSIXz0TQp8pqx83bpytwiQiKlOcaEzkuNhTQHQfP/74I5544okC61xrt4F3h7y6xE2fwRB/SVb/9NNP46GHHirrEImIbCI/KWBKQOR4mBQQ3UNGRgbGjBljVa5UKiF5BsG/z6sAgLT9a5F5YrvsmAcffBCLFi2yRZhERDZhNOUlBSolBxoQORq+q4nuYe7cuUhJSbEqNytUCBjwJhRaN+RcO4Hkbd/K6uvXr4+tW7dCwXX7iMiBGM1mAIBGyb4CIkfDbyxEd3Hp0iXMmjWrwDq/Hi9BE1AdpsxkJPz2AWA2WupcXV2xZ88eaDQaW4VKRGQTuUb2FBA5Kr6riQoghMCjjz6KnJwcqzqvVv3g1jAMwmxC/JoPYMpIktX/+uuv8Pb2tlGkRES2k99ToGZPAZHDYVJAVIBXXnkFBw4csCrXVn4AXmGjAADJ276B/tpxWf2rr76Knj172iRGIiJbM5jykwJ+fSByNHxXE91h165d+OSTT6zKlW4+8O//BiSlCpkndyJ9/1pZfdeuXe863IiIyBEYbg4fYlJA5Hj4ria6TVJSEh555BHrCoUS/v3egMrdF7nxl5G48VNZda9evbB+/Xqo1WobRUpEZHsGDh8iclhckpToJoPBgE6dOiE5OdmqzrfL03AJbQizPhPxq2dAGG7NNXjwwQexYcMGW4ZKRGQXBmNeUsCJxkSOh+9qIgDx8fFo0KABTp48aVWna/AQPFrl9R4krJ8LY3K0rP7jjz+2SYxERPZmuLlPgYZJAZHDYU8BOb2LFy+idevWSExMtKpT+1eDX8+XAQCpe35E9rl/ZPVjxoxBy5YtbRInEZG9cfgQkeNiqk9OzWw2o3///gUmBJLWLW+DMo0Lsi8dRMpfy2T1jRo1whdffGGrUImI7M7AfQqIHBZ7CsiprVq1CkeOHLEqVypV8O09EWrfyjCmxiFh7YeAMFvqtVotVq9ezR2Licip5C9JyuFDRI6H72pyWgkJCXj++ecLrHNvMwi6Om0hjLmIXzMT5uw0Wf3y5ctRu3ZtW4RJRLeZNWsWWrduDQ8PDwQGBqJ///44ffq0vcNyGhw+ROS4mBSQ03rssceQlpZmVe5SowW8HhwKAEjcsgC5sedk9Y8++igGDhxokxiJSG7Hjh0YN24c9u7di6ioKBiNRkRERCAzM9PeoTkFDh8iclwcPkROacqUKdi+fbtVucorCP59X4ckKZB+aCMyj0bJ6uvUqYMlS5bYJkgisrJp0ybZ7cWLFyMwMBAHDhzAQw89ZKeonAd3NCZyXEwKyOlMmzYNH3zwgVW5pNIiYMCbULp6QB99Gklbv5TVBwcH459//oGbm5utQiWi+0hNTQUA+Pr6Fliv1+uh1+stt/N7Bw0GAwwGQ5EeK//4op7nSHKNRgCAAoLtZwdsw5JxxvYrynNlUkBO5YcffkBkZGSBdb4RY6EJqgVTZgri18wCTEZLXXBwMP7991/4+PjYKFIiuh8hBCZOnIhOnTqhUaNGBR4za9YsTJs2zap8y5Yt0Ol0xXrcqKio+x/koC5eVgBQ4MLZ09iQdapY9+HM7Vda2IYl40ztl5WVVehjmRSQ00hOTsYzzzxTYJ1360fg3rgbhNmE+LWzYUpPsNQFBwfjypUrUKvVtgqViArhxRdfxJEjR7Br1667HjNlyhRMnDjRcjstLQ2hoaGIiIiAp6dnkR7PYDAgKioK4eHhTns9iPrxCBAfi0YNH8DDHaoV6Vy2X8mxDUvGGduvoLmTd8OkgJyCXq9Hy5YtkZOTY1WnCakPz86jAAApO5ZAf+WorP7nn392mosHUUXx0ksvYe3atdi5cyeqVKly1+O0Wi20Wq1VuVqtLvb7uiTnVnT5CzO7aFRsPztiG5aMM7VfUZ5nuZ4pVJil54QQiIyMREhICFxdXREWFobjx4/bKWIqj3JyctCuXTtcvHjRqk7h5o2A/lMgKdXIPPUX0v5dLavv378/OnToYKtQieg+hBB48cUX8euvv+LPP/9EjRo17B2SU8m9ufoQJxoTOZ5y/a4uzNJzc+bMwdy5czF//nzs27cPwcHBCA8PR3p6uh0jp/Jk5MiROHTokHWFQomAfm9A5eGH3ITLSNzwiay6WrVqWLFiBSSJ63ETlRfjxo3DsmXLsHz5cnh4eCA2NhaxsbHIzs62d2hOwWjm6kNEjqpcDx+639JzQgjMmzcPU6dOtawbv3TpUgQFBWH58uUYM2aMPcKmcuTnn3/GqlWrCqzzCRsFl9BGMOuzEL96JoTh1tAijUaDDRs2wMXFxVahElEhLFiwAAAQFhYmK1+8eDFGjhxp+4CczK0lSfljCZGjKddJwZ3uXHru4sWLiI2NRUREhOUYrVaLzp07Y/fu3XdNCkpriTpnXNqqtJVlG547dw7Dhg0rsE7X4CF4tu4PAEj4fS6MSdctdQqFAuvXr0edOnXK/f8tX4Ml54xtWJGfqxDC3iE4NQOHDxE5rAqTFBS09FxsbCwAICgoSHZsUFAQLl++fNf7Ku0l6pxpaauyUhZt+MYbbxQ8sTigGvx6vgwASN29Ctln98rqJ0+ejKysLGzYsKHUYyorfA2WnDO1YVGWqCO6nYHDh4gcVoVJCu619NydY76FEPccB15aS9Q549JWpa2s2vDjjz/GqVPWa2hLGh38+02BQuOC7Iv/IWXXD7L6V155pcCEsbzia7DknLENi7JEHdHt8ocPqTh8iMjhVIik4G5LzwUHBwPI6zGoVKmSpTwuLs6q9+B2pb1EnTMtbVVWSrMNT5w4gSlTpliVS5IE/96vQO1XBcbUOCSs+x8gzJb6Jk2aYNasWRXy/5KvwZJzpjZ0ludJpS9/+JCGPQVEDqdcv6vvt/RcjRo1EBwcLOv2z83NxY4dO7iMpJMymUwYPHgwzGazVZ1Hm4HQ1W0PYTQgfs0smLNv/VoaHByMP//8s8BkkYiI8uQPH1Ip2FNA5GjKdU/BuHHjsHz5cvz222+WpecAwMvLC66urpAkCRMmTMDMmTNRp04d1KlTBzNnzoROp8OQIUPsHD3Zw1tvvVXgPhUuVZvA+6HhAICkrQuRG3vWUufh4YHDhw/Dz8/PZnESEVVEltWHVOX6N0UiKoZynRQUZum5SZMmITs7G2PHjkVycjLatm2LLVu2wMPDw8bRkr1dvnwZc+bMsSpXevgjoN9kSAolMo5GIePwZll9VFQUAgMDbRUmEVGFxeFDRI6rXCcFhVl6TpIkREZGIjIysuwDonLr119/xZNPPmk9bEipQkD/N6DQeSH3xnkkbVkgqx4/fjzatm1rw0iJiCqu/M3LONGYyPEw1acK75NPPsGgQYOQm5trVefb9RloQ+rDlJ2et0GZ8dYx9evXx9y5c20ZKhFRhZZr5JKkRI6K72qq0D766CNMmDChwDr3pj3h0aIPhDAjYf1HMKbesNRJkoTvv/8eCgXfAkREhWUwcfgQkaPiu5oqrF9++QWvvfZagXUuVZvAN/x5AEDKX8uQc2G/rH7WrFlo1apVmcdIRORIOHyIyHGV6zkFRHdjNpvx6quvWpVrNBqY3fzh338KJKUKGce3IW3Pj7JjmjVrhsmTJ9sqVCIihyCEsPQUcPgQkePhu5oqpI8//hiXL1+2KjdIagQOegdKVw/or59C4sZPZfVqtRo//fSTrcIkInIY+QkBwKSAyBHxXU0VzhdffHGXYUMS/Pu8mrdjcVo84n6dDpgMsiNmz56N2rVr2yZQIiIHYrxtdTc1hw8RORwmBVShrFixAuPGjSuwzqv9YOhqt4Ew5iL+1+kwZ6XI6lu1anXXc4mI6N7y9ygA2FNA5Ig4p4AqjMzMTDz33HNW5QqFAppqzeD14FAAQOKWL5B747zsmMaNG2PDhg3QaDQ2iZWIyNEYbuspUCnYU0DkaJjqU4UxcuRIZGRkWJVL7v7w7/saJEmB9EMbkXl0q6z+rbfewuHDhxEQEGCrUImIHI7BlL9HgQRJYlJA5GjYU0AVws8//4yff/7ZqlxSaRAw4E0oXT2hjz6DpK1fyuqXLVuGoUOH2ipMIiKHlT98iEOHiBwT39lU7t24cQMjRowosM43/AVog2vDlJWK+DWzAJPRUte+fXsmBEREpSR/+BCHDhE5JiYFVK4ZDAZ0794dWVlZVnXuTXvAvUk4hNmEhLVzYEqPl9VPnz7dVmESETm8/OFDGhW/OhA5Ir6zqVx77733cOzYMatyTaW68O1+c8find8j5/JhWf3s2bPRtWtXm8RIROQMOHyIyLFxTgGVS7m5uRg5ciRWrFhhVad090PAgKmQVGpkndmDtH/kcw2mT5+OSZMm2SpUIiKnYBk+xD0KiBwSkwIqd0wmEwYNGoT169db1UlqLQIGvQ2Vhx9yEy4j4fePZfUjRozA1KlTbRUqEZHTMBjzVx9iTwGRI+I7m8qd7777rsCEIG/H4tfyJhZnpiD+5/cgcm/NNXBzc8P//vc/2wVKROREDKa84UMaJgVEDonvbCpXjEbjXYf+eHceDl3d9hBGA+JXT4cx9YalTpIk/Prrr/D397dVqEREToXDh4gcG5MCKjcMBgM6deqEhIQEqzq3xt3h1e4xAEDSpk+hv35KVv/iiy8iIiLCJnESETkjDh8icmx8Z1O5kJubi+7du+Off/6xqtOGNoJfj3EAgJS/VyDj+DZZfb169ThsiIiojOUPH1Ir+NWByBHxnU3lwuzZs7Fz506rcpVPCAIGvAlJqUbmyZ1I3bVcVq9UKrFt2zZoNBpbhUpE5JSMN4cPqVUcPkTkiJgUkN3FxsZi1qxZVuUKrRsCB70Dpasn9NGnkbhhHgAhO2bu3LmoVKmSbQIlInJiuRw+ROTQ+M4mu1qwYAGef/55GI1GeYVCCf/+b0LtVwXGtDjE/fo+hDHXUi1JEj788EO8/PLLNo6YiMg5Gc15P8qoOHyIyCFxnwKym2+//Rbjx48vsM43/Hm4Vm8Ksz4LcT+/B3Nmiqx+8+bNCA8Pt0GUREQEAAZTXk+BhsOHiBwS032yi6ysrLv+yu/Rqh88mvWCEGYkrPsQhvhLsvpevXoxISAisjEOHyJybHxnk83l5OSgWbNmyMzMtKrT1e8En65PAwCS//wG2ef3yep9fX2xYMECm8RJRES3cPgQkWPjO5tsKiEhAQ0aNMDZs2et6nT1OsK/7+uQJAXSD25A+v7fZPUeHh7Yv38/qlWrZqtwiYjopvx9Cjh8iMgxMSkgmxFCYNCgQbh06ZJVnUv15nkJgUKJjKNbkRS1UFYvSRIOHTqEGjVq2ChaIiK6Xf6cAg4fInJMfGeTzSxZsqTAvQg0QbUQ0H8KJKUKmSd2IHHjp4Awy4554YUXULNmTVuFSkREdzBw+BCRQ+M7m2xiy5YteOaZZ6zKVV5BCHwsEgqtDtmXDiNhw8dWCUGNGjUQGRlpo0iJiKgg+cOHuHkZkWNiUkBlymg04vXXX0ePHj1gNsu/7CtcPRE4+D0o3XyQe+MC4ldPB0zy/QqaNWuGnTt3IiAgwJZhExHRHSzDh9hTQOSQuE8BlZnMzEz06NEDf//9t1WdpNYi8NF3ofatDGPqDcT99C5EbrbsmCeeeAIrVqywVbhERHQP+cOHOKeAyDHxnU1l5vnnny84IVBpETBgKrQh9WDKTsONH9+BKTNZdkz16tWxcOFCq3OJiMg+OHyIyLGxp4DKxMmTJ7Fs2TKrcoWLOwIGvQ2XKg1hzs1B3M/vwZh0XXaMr68v/vjjD3h5edkqXCIiug8OHyJybHxnU6lbsWIFmjRpYlWu0Hkj6ImZcKnSEKacDMT9+BZyo0/JjvHz88PFixe50hARUTlza/gQewqIHBGTAio1JpMJL730EoYMGQKjUT5hWOHqieAhH0ATVBOmjGTcWP4G9NdPWd3H9u3b4enpaauQiYiokG4NH+JXByJHxOFDVGL//fcfJkyYgN27d8NkMlnVSyotAh99B2q/KjCmxuHGyqkwpsRYHTd58mQ0atTIFiETEVERcfgQkWNjUkDFZjKZ8OKLL95zQrDavxr8er8CbXDtm5OK3y4wIXjqqacwa9assgyXiIhKwJg/fIgTjYkcEpMCKpbs7Gw89NBD2L9//12PcW/aA77dn4ekUsOUnYb4X6wnFQN5CcG3334LSeIHDRFReZWbP3yIS5ISOSQmBVQkQgh89NFHmDp1KnJzcws8RunuC5+w0XBrGAYAyDr3L5I2fWa17KhSqcRvv/1mNf+AiIjKn/yeAhWHDxE5JCYFJZSYmIgtW7ZAq9WiRYsW8PX1tXdIMjk5OTh+/Dj0ej1q1aqFoKCgYt/X9evX0a1bN5w+ffqux7jUaIGA/lOg0LhCmE1I2fk90v75ucBj58+fj4iICGzYsKHYMRERkW3kzynQcPgQkUNiUlBMe/fuxYsvvogDBw5YytRqNVq1aoWHH34YAHD69GkcPnwYWVlZqFy5MsLCwjB69GicOXMGq1evxuHDh+Hi4oKaNWti6NCh6NixI06dOoX09HR4enoiISEBy5cvx549e2AymdCoUSN07doVtWvXxokTJ7Bt2zbExcXB19cX/fv3x+DBg3HmzBmkp6fDx8cHS5cuxbfffovU1FRLjP7+/ujTpw8aNWqEjRs34tq1axBCQKfTQa/XIykpCSqVCtWqVUNgYCDi4uJw7tw5JCcnw2Aw3LNNlB5+8O/zKhQaV+ivn0LSH4uQG3OmwGNbtGiBUaNGlcL/BBER2UL+8CH2FBA5JiYFRZSeno5Ro0bhl19+saozGAzYs2cP9uzZY1V3/vx57Ny5E++9955V3Z9//omvv/76vo998uRJ/PTTTwXWrV+/Hs8888x97yMhIQFLliy573HXr1uP/b83Cf59XoNS5wV97DnErngDMBU8LKhJkybYtGkTtFrtfRMNIiIqHywTjTmngMgh8Z1dBJmZmejWrVuBCYGzc28SDpeqjWHWZyFh7Zy7JgSRkZE4dOgQAgICbBwhETmSL774AjVq1ICLiwtatmyJv/76y94hObRLCZmIT9cD4OZlRI7KYZICW3xAzJgxA/v27bPc9vHxgYLdqFC4uMO78wgAQMquZTAmR1sdI0kSVqxYgXfffZerDBFRiaxatQoTJkzA1KlTcfDgQTz44IPo1asXrly5Yu/QHE5WrhFf/3UBfefvQmq2AcGeLngghBtMEjkihxg+lP8B8cUXX6Bjx4748ssv0atXL5w4cQJVq1YtlcfQ6/X46quvZGVGoxFms7lU7r9CUaigdPOCyisYmkp14d64O5Q6L+TGX0L6gfVWhzdo0ADz589H165d7RAsETmauXPn4umnn7YMmZw3bx42b96MBQsWlOl+J0IInEqRcGHbeYzqVBPeOo2sPsdgwop/r+Dvc4loXtUbvRtXQnV/NwghsOdCIr756yKq+blhUs96cFEryyzOwsg1mnE+PgNnbqTD312LtjV8YRZAdEo2Lidl4eyNdBy8koIdZ+KRoc/r+W1ZzQefD2kBncYhvjoQ0R0c4p1d1A8IvV4PvV5vuZ2WlgYgb07A3ca4Hz58GAkJCbIyRZM+CAptDLV/VQijHvrYc4DRACiVkCQloFRBUigAhQqSQgko8j8EBCAASaWGpNJAGHJg1mdB5OZAmG8OuxHmvMOE+dbtvAIIsxnCmAtJqYKkcYUE61/eBYTstgQpLy6FCpAkCIMeQpghKdV5f1T5f2sgKVUw52ZDmIw3yzV55So1FC4eULp6WD2eOTcbSZvn34wzr2dg0KBBGD9+PNq2bWtp3zvll3FuQfGw/UrOGduwIj/X3NxcHDhwAG+88YasPCIiArt377Y6vjjX+4Lsu5SMGRtO4XiMEjh5HlEn4/DJ401wPSUHbholjsekY8GOC7iRlvdYW0/ewIebT6NuoDvScgyITbsVw+7zCZgUUQftavoix2CCRqWEVpXX63wlKQu/HY5BeINA1A+WX2ujU7IRm6aHp4sKVX110Kise6pzDCasPhSNHWcScDEhEy5qJWr4u6F+kDv+u5qCa8nZMJgEriVnW+YIAICbRolsgwlmYXWXqOrriucfqoH+zUKgViqK/fpxxvdaaWMblowztl9RnqskhCjgElBx5ObmQqfT4aeffsKAAQMs5ePHj8ehQ4ewY8cOq3MiIyMxbdo0q/Lly5dDp9MV+DinTp2y+hAKfGwaXGu2LOEzqJiE2QRTegJy4y8j5+J/yDyxA+acdACATqfD+++/j1q1atk5SiIqSFZWFoYMGYLU1FR4elasoSDR0dGoXLky/v77b3To0MFSPnPmTCxdutRqyeTiXO8LciZVwucnlNAoBFQSkGUqeBikt0agXaDApfS8c8w3f7RRSgKt/AWOJ0vIMFqf66oUqOEhcC5NQq5ZggSB2p4C2SYJ3hoBhQQcTZIgbrs/TzWQYQQquQJtAs0wCWBHjAJJ+sIN0XRVCgTrgLhsIPNmTGqFgJ8WCHQVCNEJPOAtEOoOKDjqk6hCKsr1vsL3FCQkJMBkMlmtvx8UFITY2NgCz5kyZQomTpxouZ2WlobQ0FBERETctcFatWqFN998UzZcKP2/9cg8uROGhMtQaHRQB1YHIAFmE4TZBJiNEGYThMkEiJtluPmrff6v9SYDJLULFBpXSFodJEkBSArkXfclQFIgbwj+zTJJAUmhhKRUQ5hNMOdmA8J0M6Lbrtp3jtsXIi8ukxGAgKTWApISMBkgTAYI482/DXoIsxEKrQ6QlBDGXAhTLoQxFzAZYMrJgDkzFeacDODO3ghJwujRoxEZGVno/RAMBgOioqIQHh4OtVpdqHPoFrZfyTljG+b/Wl6R3Tk3SQhR4Hyl4lzvC9JLCPjuuQyX+BNo1Ko9Rn1/CEmZBlTz1SHXZIZGqcCI9lUxuFUVy6/+SZm5+OdiEvzdtWhQyQPuWhVupOXgy50XsfZIDFKzby3IkG2ScCIlL/6qvq64kpSNs2l5t69l3npelb1dkJJtQKbehOSb+0deyQSuXLw1HCnYU4shbULRLNQLOQYzjl5Pxdm4TDQK8USjyp5QKSSE+riikpcLJEmC0WTGufhM+LppEOCuKbN5X874XittbMOSccb2K8r1vsInBfkK+wEBAFqtFlqt1qpcrVbf9UVSuXJlPPLII1izZo2lLPv8PtkxOVeOFDFqx9GwYUP8/fff8PLyKtb592p7uj+2X8k5UxtW5Ofp7+8PpVJp9aNPXFxcgT9GFOd6fzfDO1THhg0n8EBlH/w1qSuMJgEv3d3vI8hbjUeau8nKqvip8f6AJnjnkUZIzTbAXauC3mjGxYRM7D6fgFAfHfo0qYRDV1NwIiYNAe5aXEnKQny6Hv2aVcYDIZ4QQuBKUhYSMnLh5arClhM38Pe5BLhpVGhc2QujO9WAm/bWx3tEo5B7Pi+1Gmgcat1GZcWZ3mtlhW1YMs7UfkV5nhU+KSjqB0RJTJs2DVu2bEFWVlap3m9F5unpif/9738YPXo0lEr7TpwjIsen0WjQsmVLREVFyYaMRkVFoV+/fjaL4/Yv3cWhVirg7573RdxFrUSzUG80C/W21Dev6oPmVX0KPFeSJFTzc0M1v7yEo3agB8aG1S5RPEREFX49zds/IG4XFRUlG29aGpo0aYKNGzc6/Rr7KpUKTZs2xfr165GSkoJnn32WCQER2czEiRPx9ddf49tvv8XJkyfxyiuv4MqVK3j++eftHRoRUYVV4XsKgLwPiGHDhqFVq1Zo3749Fi1aVGYfEA899BAuXryIFStW4MMPP8SZM2fueXxISAgkSUJsbCxMJpOlXKlUQqEo/ioORVWzZk1oNBqcPn0ad84tVyqV8PT0hFKptFphKV/btm0xbtw4NGrUCA0aNICLi4stwiYisvL4448jMTER7733HmJiYtCoUSNs2LAB1apVs3doREQVlkMkBbb+gHBzc8MzzzyDESNG4PXXX8fmzZtx6tQpS32tWrUwfvx4jB071vILusFgQEpKChQKBSRJgre3NxQKBQ4cOIB///0XiYmJCAoKQvv27fHAAw8AAI4cOYKkpCSYTCbs27cPV65cgbu7O1q0aAEPDw+o1Wq0bNkSPj4+OHr0KK5du4bY2Fjs27cPx44dg0KhQJs2bfDcc8+hfv36AACTyYRNmzZh//79EEKgZcuW6NWrF1SqvJfC+fPn8dVXX2Hv3r0wm81o2rQpnn32WTRp0qRM2pKIqDjGjh2LsWPH2jsMIiKH4RBJAWC/D4guXbpgzpw5OHXqFOLj4+Hr64umTZta7XSsVqsLHHbUsmVLtGxZ8LKmzZo1s/w7PDz8nnE0b94czZs3BwA8++yzdz1OqVSid+/e6N27d4H1tWrVwgcffHDPxyIiIiIix+IwSYE9SZLEX9KJiIiIqMKq8BONiYiIiIioZJgUEBERERE5OSYFREREREROjkkBEREREZGTY1JAREREROTkmBQQERERETk5LkkKWHb4TUtLK9J5BoMBWVlZSEtLg1qtLovQHB7bsGTYfiXnjG2Yf627c3dzZ1Dc6z3gnK+V0sT2Kzm2Yck4Y/sV5XrPpABAeno6ACA0NNTOkRAR2U56ejq8vLzsHYZN8XpPRM6oMNd7STjjT0V3MJvNiI6OhoeHByRJKvR5aWlpCA0NxdWrV+Hp6VmGEToutmHJsP1KzhnbUAiB9PR0hISEWO2+7uiKe70HnPO1UprYfiXHNiwZZ2y/olzv2VMAQKFQoEqVKsU+39PT02leXGWFbVgybL+Sc7Y2dLYegnwlvd4DzvdaKW1sv5JjG5aMs7VfYa/3zvUTERERERERWWFSQERERETk5JgUlIBWq8W7774LrVZr71AqLLZhybD9So5tSIXF10rJsP1Kjm1YMmy/e+NEYyIiIiIiJ8eeAiIiIiIiJ8ekgIiIiIjIyTEpICIiIiJyckwKiIiIiIicHJOCEvjiiy9Qo0YNuLi4oGXLlvjrr7/sHVKFEBkZCUmSZH+Cg4PtHVa5tnPnTvTt2xchISGQJAlr1qyR1QshEBkZiZCQELi6uiIsLAzHjx+3T7Dl1P3acOTIkVavy3bt2tknWCp3eL0vPl7zi4bX+5Lj9b54mBQU06pVqzBhwgRMnToVBw8exIMPPohevXrhypUr9g6tQmjYsCFiYmIsf44ePWrvkMq1zMxMNG3aFPPnzy+wfs6cOZg7dy7mz5+Pffv2ITg4GOHh4UhPT7dxpOXX/doQAHr27Cl7XW7YsMGGEVJ5xet9yfGaX3i83pccr/fFJKhY2rRpI55//nlZWf369cUbb7xhp4gqjnfffVc0bdrU3mFUWADE6tWrLbfNZrMIDg4WH3zwgaUsJydHeHl5iYULF9ohwvLvzjYUQogRI0aIfv362SUeKt94vS8ZXvOLj9f7kuP1vvDYU1AMubm5OHDgACIiImTlERER2L17t52iqljOnj2LkJAQ1KhRA0888QQuXLhg75AqrIsXLyI2Nlb2etRqtejcuTNfj0W0fft2BAYGom7dunj22WcRFxdn75DIzni9Lx285pcOXu9LD6/31pgUFENCQgJMJhOCgoJk5UFBQYiNjbVTVBVH27Zt8d1332Hz5s346quvEBsbiw4dOiAxMdHeoVVI+a85vh5LplevXvjhhx/w559/4qOPPsK+ffvQtWtX6PV6e4dGdsTrfcnxml96eL0vHbzeF0xl7wAqMkmSZLeFEFZlZK1Xr16Wfzdu3Bjt27dHrVq1sHTpUkycONGOkVVsfD2WzOOPP275d6NGjdCqVStUq1YNv//+OwYOHGjHyKg84Pur+HjNL318PZYMr/cFY09BMfj7+0OpVFpl5XFxcVbZO92fm5sbGjdujLNnz9o7lAopfxUPvh5LV6VKlVCtWjW+Lp0cr/elj9f84uP1vmzwep+HSUExaDQatGzZElFRUbLyqKgodOjQwU5RVVx6vR4nT55EpUqV7B1KhVSjRg0EBwfLXo+5ubnYsWMHX48lkJiYiKtXr/J16eR4vS99vOYXH6/3ZYPX+zwcPlRMEydOxLBhw9CqVSu0b98eixYtwpUrV/D888/bO7Ry77XXXkPfvn1RtWpVxMXFYfr06UhLS8OIESPsHVq5lZGRgXPnzlluX7x4EYcOHYKvry+qVq2KCRMmYObMmahTpw7q1KmDmTNnQqfTYciQIXaMuny5Vxv6+voiMjISgwYNQqVKlXDp0iW8+eab8Pf3x4ABA+wYNZUHvN6XDK/5RcPrfcnxel9M9l38qGL7/PPPRbVq1YRGoxEtWrQQO3bssHdIFcLjjz8uKlWqJNRqtQgJCREDBw4Ux48ft3dY5dq2bdsEAKs/I0aMEELkLVP37rvviuDgYKHVasVDDz0kjh49at+gy5l7tWFWVpaIiIgQAQEBQq1Wi6pVq4oRI0aIK1eu2DtsKid4vS8+XvOLhtf7kuP1vngkIYSwbRpCRERERETlCecUEBERERE5OSYFREREREROjkkBEREREZGTY1JAREREROTkmBQQERERETk5JgVERERERE6OSQERERERkZNjUkBERERE5OSYFBDdtH37dkiShJSUFLs8/p9//on69evDbDaX+WMdPXoUVapUQWZmZpk/FhFRecRrPpEckwJySmFhYZgwYYKsrEOHDoiJiYGXl5ddYpo0aRKmTp0KhaLs35aNGzdGmzZt8PHHH5f5YxER2Ruv+bzm0/0xKSC6SaPRIDg4GJIk2fyxd+/ejbNnz+Kxxx6z2WOOGjUKCxYsgMlkstljEhGVF7zmE8kxKSCnM3LkSOzYsQOffPIJJEmCJEm4dOmSVVfykiVL4O3tjfXr16NevXrQ6XR49NFHkZmZiaVLl6J69erw8fHBSy+9JLvI5ubmYtKkSahcuTLc3NzQtm1bbN++/Z4xrVy5EhEREXBxcbGUHT58GF26dIGHhwc8PT3RsmVL7N+/31K/e/duPPTQQ3B1dUVoaChefvllWdewXq/HpEmTEBoaCq1Wizp16uCbb76x1Pfo0QOJiYnYsWNHCVuUiKj84jU/D6/5dD9MCsjpfPLJJ2jfvj2effZZxMTEICYmBqGhoQUem5WVhU8//RQrV67Epk2bsH37dgwcOBAbNmzAhg0b8P3332PRokX4+eefLeeMGjUKf//9N1auXIkjR47gscceQ8+ePXH27Nm7xrRz5060atVKVjZ06FBUqVIF+/btw4EDB/DGG29ArVYDyBsf2qNHDwwcOBBHjhzBqlWrsGvXLrz44ouW84cPH46VK1fi008/xcmTJ7Fw4UK4u7tb6jUaDZo2bYq//vqrWO1IRFQR8Jqfh9d8ui9B5IQ6d+4sxo8fLyvbtm2bACCSk5OFEEIsXrxYABDnzp2zHDNmzBih0+lEenq6paxHjx5izJgxQgghzp07JyRJEtevX5fdd7du3cSUKVPuGo+Xl5f47rvvZGUeHh5iyZIlBR4/bNgw8dxzz8nK/vrrL6FQKER2drY4ffq0ACCioqLu+phCCDFgwAAxcuTIex5DRFTR8Zqfh9d8uheVPRMSovJOp9OhVq1alttBQUGoXr267NeXoKAgxMXFAQD+++8/CCFQt25d2f3o9Xr4+fnd9XGys7Nl3cgAMHHiRDzzzDP4/vvv0b17dzz22GOWWA4cOIBz587hhx9+sBwvhIDZbMbFixdx9OhRKJVKdO7c+Z7Pz9XVFVlZWfdpBSIi58BrPjkzJgVE95DfdZtPkqQCy/KXlDObzVAqlThw4ACUSqXsuNs/VO7k7++P5ORkWVlkZCSGDBmC33//HRs3bsS7776LlStXYsCAATCbzRgzZgxefvllq/uqWrUqzp07V6jnl5SUJPsAJCJyZrzmkzNjUkBOSaPRlMkKDM2bN4fJZEJcXBwefPDBIp134sQJq/K6deuibt26eOWVV/Dkk09i8eLFGDBgAFq0aIHjx4+jdu3aBd5f48aNYTabsWPHDnTv3v2uj3vs2DE8+uijhY6TiKgi4jU/D6/5/2/vXllUi8Iwjj8HP4PBtC1eg2AWqzLFJBZlC4LFS1IwiMHoJxCTUTCIGMwKiojFJIjBC9g0mMTkhAPChJkpzhk5+/9rO+y19irv4mGx14uv8KMxLMnpdGo+n2u32+l0Oj2teYzb7VYymZRpmur1etput1osFmo0GhoOh5++F41GNZlMHs/X61WFQkGj0Uj7/V7T6VSLxUI+n0+SVKlUNJvNlM/ntVwutdlsNBgMVCwWH+tLp9PKZDLq9/vabrcajUbqdruPOXa7nY7H45cbCAD8D6j51Hx8j1AASyqXy7LZbPL7/bLb7TocDk8bu91uyzRNlUoleTwexWIxzefzT2+7kKRUKqXVaqX1ei1JstlsOp/PMk1TbrdbiURCb29vqtfrkqRAIKDxeKzNZqNwOKxgMKharSaHw/EYs9lsKh6PK5fLyev1KpvNfri+rtPpKBKJyDCMp60dAF4RNZ+aj+/9ud/v99/+CAB/u1teLhe1Wq0fn+t2u8nlcqnT6SgUCv34fACAj6j5eDWcFAAvolqtyjCMf9Jtcr/fq1qtsjkAwC+h5uPVcFIAAAAAWBwnBQAAAIDFEQoAAAAAiyMUAAAAABZHKAAAAAAsjlAAAAAAWByhAAAAALA4QgEAAABgcYQCAAAAwOIIBQAAAIDFvQPp6z7PIn5b/wAAAABJRU5ErkJggg==\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from math import sqrt\n", "\n", "def zarchan_adaptive_filter(Q_scale_factor, std_scale, \n", " std_title=False,\n", " Q_title=False):\n", " cvfilter = make_cv_filter(dt, std=0.2)\n", " pos2, zs2 = generate_data(180-30, std=0.2)\n", " xs2 = pos2[:,0]\n", " z_xs2 = zs2[:,0]\n", "\n", " # reinitialize filter\n", " initialize_filter(cvfilter)\n", " cvfilter.R = np.eye(1)*0.2\n", "\n", " phi = 0.02\n", " cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n", " xs, ys = [], []\n", " count = 0\n", " for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " y = cvfilter.y\n", " S = cvfilter.S\n", " std = sqrt(S)\n", "\n", " xs.append(cvfilter.x)\n", " ys.append(y)\n", "\n", " if abs(y[0]) > std_scale*std:\n", " phi += Q_scale_factor\n", " cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n", " count += 1\n", " elif count > 0:\n", " phi -= Q_scale_factor\n", " cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n", " count -= 1\n", "\n", " xs = np.asarray(xs)\n", " plt.subplot(121)\n", " bp.plot_measurements(z_xs2, dt=dt, label='z')\n", " bp.plot_filter(xs[:, 0], dt=dt, lw=1.5)\n", " bp.set_labels(x='time (sec)', y='$\\epsilon$')\n", " plt.legend(loc=2)\n", " if std_title:\n", " plt.title(f'position(std={std_scale})')\n", " elif Q_title:\n", " plt.title(f'position(Q scale={Q_scale_factor})')\n", " else:\n", " plt.title('position')\n", " \n", " plt.subplot(122)\n", " plt.plot(np.arange(0, len(xs)*dt, dt), xs[:, 1], lw=1.5)\n", " plt.xlabel('time (sec)')\n", " if std_title:\n", " plt.title(f'velocity(std={std_scale})')\n", " elif Q_title:\n", " plt.title(f'velocity(Q scale={Q_scale_factor})')\n", " else:\n", " plt.title('velocity') \n", " plt.show()\n", " \n", "zarchan_adaptive_filter(1000, 2, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "So I chose to use 1000 as the scaling factor for the noise, and 2 as the standard deviation limit. Why these numbers? Well, first, let's look at the difference between 2 and 3 standard deviations. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Two Standard Deviations**" ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1000, 2, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "**Three Standard Deviations**" ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1000, 3, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see from the charts that the filter output for the position is very similar regardless of weather we use 2 standard deviations or three. But the computation of the velocity is a different matter. Let's explore this further. First, let's make the standard deviation very small." ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1000, .1, std_title=True)\n", "zarchan_adaptive_filter(1000, 1, std_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As the standard deviation limit gets smaller the computation of the velocity gets worse. Think about why this is so. If we start varying the filter so that it prefers the measurement over the prediction as soon as the residual deviates even slightly from the prediction we very quickly be giving almost all the weight towards the measurement. With no weight for the prediction we have no information from which to create the hidden variables. So, when the limit is 0.1 std you can see that the velocity is swamped by the noise in the measurement. On the other hand, because we are favoring the measurements so much the position follows the maneuver almost perfectly.\n", "\n", "Now let's look at the effect of various increments for the process noise. Here I have held the standard deviation limit to 2 std, and varied the increment from 1 to 10,000." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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\n", 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\n", 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\n", 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Nuwtva2uLIUOG4OTJk8jJyUFOTg5iY2MxfPhwuLm5VchrE4lEePfdd7Fr1y7cu3cPQMFd6n379mHKlCn6v+vyft4zxp67Il779u0RGRmJhQsX4uTJk4Je3OPHjyMjI4NXL0OysrIwe/Zs1K9fHxKJBBKJBLa2tsjOzi7x874sv0Nvb+9Sf963bdu2tM0kUNrPZlP5vNdqtUhISCj2/JZEUtUVIMZVdGiGRCKBi4uLvqtT96+Xl5fgWG9vb/0FtoODA2JjY7Fo0SL9cp1eXl6YMGECPvnkE0il0nLXtbR10XFxcRGUk8vlyM3N1T/W/V+hUPDK1apVCwAQFxdXbH10eT4+PsWW4TgOBw4cwGeffYYlS5bgww8/hLOzM15//XUsWrQIdnZ2SEpKAgDUrFmz2PNotVoEBgbi0aNHmDdvHlq0aAEbGxtotVp07NiR95qKevz4MQDou94NefLkCWxsbGBra4vWrVsXW64wiaTsHxe630nhrvTCdXB2duaVNbRUbXZ2NvLz8/VlnZycwHFcsecEoC9b+Pk9PDxKfH4dhUIBxhjy8vJga2tbmpdJiMlp1qwZ2rVrh7Vr12LixInQaDTYsGEDBgwYoH/f6z4rZs6ciZkzZxo8T3FDV573+azVavXLOGs0mhI/717EW2+9hU8//RSrV69GWFgYvv32W1hZWeGtt97SlynP5312djaSk5Ofe3G8efNmLFy4ED/++CPmzZsHW1tbDBo0CEuWLIGnp2epPu8BYNSoUThw4ADmzZuHdu3awd7eHhzHITg4uFSf96X5HcpkslJ/3ovF4lKVK+x5n/ccx8HR0VFfNi8vDzk5ObC2thaULdzuha9RipYDDH/eGypb3Oc9gBLb2JJQUGBhEhISUKNGDf1jtVqNlJQU/R+T7t/4+HjBh9ijR4/g6uqqf9yiRQts2rQJjDFcunQJkZGR+Oyzz2BlZYWPP/643HUtS11KS3eM7sNEp3v37pBIJNi2bRsmT55s8Nht27YBAHr06FHic/j6+mLNmjUAgJs3b+K3335DaGgo8vPzsXr1av3dsgcPHhQbYFy5cgUXL15EZGQkxo4dq0+/fft2qV/jihUr0LFjR4NldBfIsbGxgvkVxYmLi0Pt2rVLVVanefPmAIDLly8jODiYl3f58mV9PvDs/ZSQkMALXi9fvsw7l5WVFerXr69PL3pOKysr1K1bV39OXXrTpk315dRqNa5fv46RI0cKzvHkyRPI5XIKCIjZe/PNNzFlyhRcu3YN//33H+Lj4/Hmm2/q83WfFSEhIRg8eLDBczRq1MhgeuHP56IePXoEkUikD+DFYjFv/HxFcHBwwNixY/Hjjz9i5syZWLt2LUaNGqW/6ASK/7xv27YtnJ2dsWPHDoSHhxu8g7xjxw5otdrnft67uroiIiICERERuHfvHnbs2IGPP/4YiYmJ2LdvH+/zvjjp6enYtWsX5s+fz/vuVCqVgroben6gdL/DO3fuoE6dOiWeT+fQoUPw9/cvVVmdevXqwcrKqtjP5vr16+svwgt/Nnfo0EFfLiEhAcnJyYLvhuLOCTz7bijL942Orn1f5HqiWqri4UvESJ43p2D9+vWMMcauX7/OALD33nuPV+706dMMAJs7d26Jz+Po6MiGDRumf1x0TsGlS5cMLg1WuI46ZamLbvWhosaOHct8fX31j+/fv1/sihKTJk167pKkderUYfn5+YZffAlat26tX/EoLi6OicViNnr06GLL69qp6NjMmTNnCsZzFp1TkJmZyRwdHdk777zz3HplZGSwM2fOlOpHqVQaPMfzliRt3749a968OVOr1fq0EydOMABs1apV+jTdkqRFx/9OmjRJsCTprFmzmEwm4y0ll5GRwdzc3NiIESP0abolSfv06cM756+//soAsL179wrqGxAQwNq0aWPwtRBiTlJTU5lCoWCzZs1iQ4cOZTVq1BCsxtagQQPeaj3FMTSnoEaNGqx169a8sfJZWVnM3d2dde7cWZ/Wo0cP5uTkJFg5raTzM1YwLwIAy8nJMXjMjRs3GMdxrHv37gwAu3DhAi9fqVQyKysrwfceY4yFh4czAGzx4sWCvMePHzNfX1/m6OhYYp2LM3DgQObm5sYYK/g81q3xX9ycgvT0dIPzpFauXMkA8L5DDbVTaX+HSqWy1J/3xS3F+rwlSYcPH87c3d15x9+9e5fJZDI2e/ZsfVpKSgpTKBRs8uTJvOPDw8MFS5LqVsw6efKkPk2lUrFmzZqxDh068I4v7feNzoQJE5iLi0uZ5ntUZxQUWAjdBbevry/76KOPWFRUFFu+fDmztbVlrVq14l3wTZw4kXEcx6ZPn87++usv9v333zN3d3fm4+PDkpOTGWOM7dy5kwUFBbHvv/+eRUdHs6ioKDZ58mQGgP3www/6cxUNCrKzs5mVlRXr3LkzO3ToEDtz5gx7+PAhr46FlaYujJU+KGCMsbp167KRI0cKyuo2L5NIJGzKlCls79697ODBgywsLIw5OzszBwcH3jJ+hly8eJG98sor7JtvvmF79+5lBw4c0E9kKjwxet68eQwAGzp0KNuyZQvbv38/++abb/QbZ+Xn57N69eoxX19ftnHjRrZv3z42depU1rBhw+cGBYwxtn79eiYSidiIESPY77//zmJjY9kff/zB5s2bJ/gQflG///47+/3339nixYsZADZ16lR9WmGHDh1iEomEDRo0iEVHR7NffvmF+fj4lLh52dKlS1lMTAybM2dOsZuXeXl5sRYtWrCtW7eyPXv2sK5duzI7Ozt27do1Xtn169czAGzixIns0KFD7IcffmCOjo6C5ekYK7jQcXBwYDNmzKiQNiKkqo0cOVK/DGjhzyCdgwcPMrlczgIDA9nGjRtZbGws27p1KwsLC2NDhw7VlzN0Maq7qRQcHMy2b9/OfvvtN9auXTsmk8nYkSNH9OUuXLjAbG1tWd26ddkPP/zADh48yH799Vc2cuRI/cWjofPrPtvmz5/PTp48afDmRFBQEAPAunTpYvD19+jRg3Xq1EmQXnjzslGjRrHt27ezmJgY9s033zAfHx8mk8lYVFRUiW2blpbG2rRpw5YuXcp27tzJYmJi2NKlS5lCoWCjRo3Sl/vxxx8ZANajRw/266+/soMHD7IffviBt4Fm165dmbOzM/vf//7HoqOj2SeffMK8vLyYo6Pjc4OC0v4Oy2PPnj3s999/Zz/99BMDwIYNG6b/vC+8r8u1a9eYra0t69q1K9uzZw/7888/WfPmzUvcvGzOnDn6tpPL5QY3L2vWrBnz8fFhv/zyC4uOjmaDBg0yuHlZWb5vGGOsRYsWbPDgwRXSRtUBBQUWQnfBfe7cOdavXz9ma2vL7Ozs2MiRI9njx495ZXV7AzRs2JBJpVLm6urK3njjDd7eANevX2cjR45k9erVY1ZWVszBwYG1b9+eRUZG8s5VNChgrOAubePGjZlUKuVd4Ja0T0FJdWGsbEHBvHnzmJOTk8EPiPz8fLZixQrWoUMHZmtrq1+Jwc/PT78WckkeP37Mxo0bxxo3bsxsbGyYra0ta9myJVu+fDnvzgVjjP3888+sXbt2TKFQMFtbW9amTRve3fZ//vmHBQQEMDs7O+bk5MSGDRvG7t27V6qggDHGYmNjWd++fZmzszOTSqWsRo0arG/fvoKL9helaxtDP0VFRUWxjh07MoVCwZydndmYMWME7zvGCtp//vz5rFatWkwmk7GGDRuyb775xuDz3759mw0cOJDZ29sza2tr1rNnT3bu3DmDZTdu3MhatmzJZDIZ8/T0ZO+99x7LzMwUlDtw4ID+74SQ6iAqKkr/d3nz5k2DZS5evKi/wyuVSpmnpyfr0aMHb3We4tbH37ZtG+vQoQNTKBTMxsaG9ezZkx07dkzwHP/88w8bNmwYc3FxYTKZjNWqVYuNGzeu2H0KGCu4sz1+/Hjm5ubGOI4z+DkXGRlZbA8vY4ytWbOGicVi/ao3hWm1WrZ+/XrWrVs35uDgoG+nRo0aCW4uGJKXl8cmT57MWrZsqd9/oFGjRmz+/PmCDRD37NnDunXrxmxsbJi1tTVr2rQpr5fiwYMHbMiQIczJyYnZ2dmxPn36sCtXrgi+Q4v7PZTmd1gevr6+pV6Z7uzZs6xnz57M2tqa2dvbs4EDB7Lbt28bPO/XX3/NGjZsqH9PzJ8/32BvfEJCAhszZgxzdnZmCoWCdezYUbAXhE5pv29u377NALAtW7aUvUGqKY6xF1iMlpid0NBQLFiwAElJSRY/du7Ro0eoU6cOfv75Z4wYMaLEsiqVCv369cPx48cRHR3NG/tIqp/Ro0fjv//+w7Fjx6q6KoSQUtCtdHTnzh2DC1zk5eWhVq1a+PDDDzF79uznnm/8+PFYt24dtmzZgv79+1dGlYmJmDdvHn7++Wf8+++/L7SQRnVES5ISi+Pt7Y3p06dj0aJFguVCi5JKpfjjjz/QqFEjBAUF4eLFi0aqJTG2f//9F5s3b8bixYuruiqEkBIolUqcOHECX3/9NbZu3YqPPvqo2BXvFAoFFixYgGXLlumXYi7J999/jz59+mD48OGIjo6u6KoTE5GWloZvv/0WYWFhFBAUQi1BLNInn3wCa2trPHz4sMQlRoGCdbfPnDljpJqRqnLv3j2sXLkSXbp0qeqqEEJKEB8fDz8/P9jb22PSpEmYNm1aieUnTpyItLQ0/Pfff4IddIsSi8XYuXNnRVaXmKC4uDiEhITo9+wgBWj4ECGEEEIIIRaOhg8RQgghhBBi4SgoIIQQQgghxMJRUEAIIYQQQoiFo4nGALRaLR49egQ7OzuD250TQkh1whhDZmYmvL29IRJZ1r0h+rwnhFiSsnzeU1CAgnXrn7cCDSGEVDf3799HzZo1q7oaRkWf94QQS1Saz3sKCgDY2dkBKGgwe3v7Uh+nUqkQFRWFwMDAYtdIJiWjNiwfar/ys8Q2zMjIgI+Pj/6zz5K86Oc9YJnvlYpE7Vd+1IblY4ntV5bPewoKAH0Xsr29fZmDAmtra9jb21vMm6uiURuWD7Vf+VlyG1ri8JkX/bwHLPu9UhGo/cqP2rB8LLn9SvN5b1mDSQkhhBBCCCECFBQQQgghhBBi4SgoIIQQQgghxMJRUEAIIYQQQoiFo4nGpZSRkYH09HRemlarhY+PDx49emRxa32/KIlEAg8PD2ovQgghhBATQkFBKSQmJoLjONSsWZM3e1ur1cLBwQH29vZ0kVtKWVlZePz4Mby8vKq6KoSYpezsbPz666/YtGkTHj9+DFdXVwwZMgRjxowp82o6hBBCiA5dyZaCUqmEm5ubRS7fV9FsbW2hVquruhqEmKUrV66gadOmmDBhAg4cOIArV64gJiYG06ZNQ4MGDXDq1KmqrqJeeHg42rVrBzs7O7i7u2PgwIG4ceMGrwxjDKGhofD29oaVlRX8/f1x9erV5557y5YtaNq0KeRyOZo2bYqtW7dW1ssghBCLQUEBIYSYgaSkJAQEBODevXv6NInkWWdvYmIigoKCcPfu3aqonkBsbCymTp2KkydPIjo6Gmq1GoGBgcjOztaXWbJkCZYtW4aVK1fizJkz8PT0REBAADIzM4s974kTJzBixAiMHj0aFy9exOjRozF8+HCTCogIIcQcUVBACCFmYMKECUhISOClqdVqeHh4oHnz5gCA1NRUfPXVV1VRPYF9+/Zh3LhxaNasGVq1aoW1a9fi3r17OHfuHICCXoKIiAjMnTsXgwcPRvPmzbFu3Trk5ORg48aNxZ43IiICAQEBCAkJQePGjRESEoKePXsiIiLCSK+MEEKqJ5pTQAghJm716tXYvn07P1Esgf3LA/D47HYkJydDLpdDqVTi559/xvLlyyEWi6umssXQLdTg7OwMAIiLi0NCQgICAwP1ZeRyObp164bjx49j0qRJBs9z4sQJfPDBB7y03r17FxsUKJVKKJVK/eOMjAwABTubqlSqMr0GXfmyHledPUjNBQODj5P1c8tS+5UftWH5WGL7leW1UlBggfz9/dG6dWv9l2jt2rUxffp0TJ8+vUrrRQgROnDgAN555x1BunPPibBrEwxFrRZI/D0UcrkcQMHFd2pqKlxdXY1d1WIxxjBjxgx06dJF36uh6/Xw8PDglfXw8ChxCFRCQoLBY4r2ouiEh4djwYIFgvSoqChYWz//QtaQ6OjoFzquutEwYN5ZMRiAhW01EJdy7AG1X/lRG5aPJbVfTk5OqctSUFCNjRs3DuvWrROknzp1Ck2aNCn2OI7jsHXrVgwcOLASa0cIeZ6zZ8+iT58+gnSb5j1h1yYYjGmhvnYQAP+D/0UvdivLu+++i0uXLuHo0aOCvKILODDGnruoQ1mOCQkJwYwZM/SPMzIy4OPjg8DAwDKv1qRSqRAdHY2AgABIpdIyHVsd5eSrMeNkwfvPv1cg7BQlX1JQ+5UftWH5WGL76XpHS4OCgmquT58+WLt2LS/Nzc3NKEMLVCqVxfzREVLR/vvvP/j7+wtW65K614Vz4BQAQPqxX5F+5TAv/5VXXjGpoGDatGnYsWMHDh8+jJo1a+rTPT09ARTc+S+8RHFiYqKgJ6AwT09PQa9AScfI5XJ9L0phUqn0hT+fynNsdSLRPgvERGJxqduE2q/8qA3Lx5LaryyvkyYalxFjDDn5av1Pbr6G97gyfxhjZa6vXC6Hp6cn76dnz57FDhWqXbs2AGDQoEHgOE7/GAB27tyJtm3bQqFQoG7duliwYAHvgoXjOKxevRoDBgyAjY0NFi5cWOb6EkKA5ORkvPzyy7yVegBApLCD+6A5EEnlyLl9GunHNgmOff/9941VzRIxxvDuu+/izz//xMGDB1GnTh1efp06deDp6cnrxs/Pz0dsbCz8/PyKPW+nTp0EXf9RUVElHkMqh7bQd5JGW/bvJ0KIaaGegjLKVWnQ9NO/quS5//msN6xllfsrO3PmDNzd3bF27Vr06dNH36Pw119/4Y033sA333yDV155Bf/++y8mTpwIAJg/f77++Pnz5yM8PNwkJzoSYg7S09PRrl07pKam8jM4EVz7zYTE0ROq1Hik7PoKAP9CbODAgRg8eLDxKluCqVOnYuPGjdi+fTvs7Oz0d/cdHBxgZWUFjuMwffp0hIWFoUGDBmjQoAHCwsJgbW2NUaNG6c8zZswY1KhRA+Hh4QAKgp6uXbti8eLFGDBgALZv3479+/cbHJpEKlfhdx8FBYSYPwoKqrldu3bB1tZW/zgoKKjE8m5ubgAAR0dHffc+ACxatAgff/wxxo4dCwCoW7cuPv/8c8yaNYsXFIwaNQpvvfVWRb4EQizKlClTcOfOHV4ax3Gw7zIKVnXbQqvKQ9LWRdAq+b0IHh4e2LJli8lssrhq1SoABQsbFLZ27VqMGzcOADBr1izk5uZiypQpSE1NRYcOHRAVFQU7Ozt9+Xv37vF2jPfz88OmTZvwySefYN68eahXrx42b96MDh06VPprInxM++z/mhfoySaEmBYKCsrISirGP5/1BgBotVpkZmTCzt6O96VVmc9dVt27d9d/OQOAjY0NRo4cWebznDt3DmfOnMGiRYv0aRqNBnl5ecjJydGPYX755ZfLfG5CSIHDhw8bXKNfUa8dHP1eAwA82bcSqqQ7vHyO47B582ajfA6VVmmGO3Ich9DQUISGhhZbJiYmRpA2dOhQDB06tBy1IxWBgYYPEVKdUFBQRhzH6YfwaLVaqGViWMskJvVlXJiNjQ3q169f7vNotVosWLDA4NAEhULBez5CSNklJiaif//+gnSJkzdcX/0QAJBxdgey/4kRlPnxxx/RrVu3yq4iITyF4wAKCggxfxQUEAGpVAqNRsNLe+mll3Djxo0KCTAIIXyMMQwfPly/wZcOJ5XDbdAciOQ2yHtwFamHfhIcO3/+fBqyR6oEo4nGhFQrFBQQgdq1a+PAgQPo3Lkz5HI5nJyc8Omnn+LVV1+Fj48Phg0bBpFIhEuXLuHy5cu0yhAh5fT5558jNjZWkO7SZxpkbrWhznqC5O2LAS1/edJhw4aVOPSGkMpEPQWEVC9VOubl8OHD6NevH7y9vcFxHLZt28bLZ4whNDQU3t7esLKygr+/P65evcoro1QqMW3aNLi6usLGxgb9+/fHgwcPjPgqqp+vvvoK0dHR8PHxQZs2bQAAvXv3xq5duxAdHY127dqhY8eOWLZsGXx9fau4toSYt0ePHuGzzz4TpNu17Q+bpv5gGjWSty+GJusJLz8wMBC//vqrsapJiABvTgFNNCbE7FVpT0F2djZatWqFN998E0OGDBHkL1myBMuWLUNkZCQaNmyIhQsXIiAgADdu3NCvTjF9+nTs3LkTmzZtgouLCz788EO8+uqrOHfunMUviRkZGWkwvejEvaIrnfTr1w/9+vUTHNe7d2/07t272Od7kX0UCLF048ePFwzXk/s0h1OPtwEAqYd+gvIB/2ZIy5YtsXfvXpOdy0QsA6OeAkKqlSoNCoKCgopdIpMxhoiICMydO1c/uXXdunXw8PDAxo0bMWnSJKSnp2PNmjVYv349evXqBQDYsGEDfHx8sH///mIvYJVKJZRKpf6xbgtolUoFlUolKK/VaqHVagXpuotgxpjBfGKYVqvVt3PRf0nZUPuVX1W24ebNm7F3715emtjOBW4DZoMTiZF19RAyz+3g5Ts4OODQoUPQaDSCYKK06P1CKgIFBYRULyY7pyAuLg4JCQkIDAzUp8nlcnTr1g3Hjx/HpEmTcO7cOahUKl4Zb29vNG/eHMePHy82KAgPD8eCBQsE6VFRUfqlNQvz8fGBg4NDsXXNzMwsy0uzeCkpKbhw4QIvregOpaRsqP3Kz5htmJWVhc2bN2Pnzp38DLEEbgNDILZxgioxDk/2rRQcO3nyZBw5cqRcz5+Tk1Ou4wkBaEdjQqobkw0KdLtfenh48NI9PDxw9+5dfRmZTAYnJydBGd3xhoSEhGDGjBn6xxkZGfDx8UFgYCDs7e0F5R89emQwnTGGzMxM2NnZmcyGQebAxcUFLVq0AFBwxzI6OhoBAQGQSqVVXDPzQ+1XfsZuw8TERPTs2RM3btwQ5Dn3nAS5d2NocjOR+OdCMLWSlz9o0CB89tln5f680fWOElIehcMALQ0fJcTsmWxQoFP0y48x9twvxOeVkcvlkMvlgnSpVGrwokAkEhkcu6sbMsRxHI3tLQORSCRo5+LanpQOtV/5GasNR48ebTAgsG0ZALs2QWBMi+SdS6FOf8zLr127Nv74448K+ayh9wqpCNpCvQNqDQUFhJg7k72S9fT0BADBHf/ExER974Gnpyfy8/ORmppabBlCCDEVy5cvx6FDhwTpMs8GcA6YAgBIO7IBeXHnefkikQg7d+6kmw/EZNHqQ4SYP5P9hqlTpw48PT1543zz8/MRGxsLPz8/AEDbtm0hlUp5ZeLj43HlyhV9GUIIMQVnz57FzJkzBekiawe4DZoDTiJFzs0TyDjxu6DMhx9+iObNmxujmoSUGs0pIKR6qdLhQ1lZWbh9+7b+cVxcHC5cuABnZ2fUqlUL06dPR1hYGBo0aIAGDRogLCwM1tbWGDVqFICCVTjefvttfPjhh3BxcYGzszNmzpyJFi1a6FcjIoQQU7BkyRLBKmUisQRu/WdDYu8GVcp9JO9eBv5IbcDOzg4hISFGrCkhpUOrDxFSvVRpUHD27Fl0795d/1g3+Xfs2LGIjIzErFmzkJubiylTpiA1NRUdOnRAVFSUfo8CoKA7XiKRYPjw4cjNzUXPnj0RGRlp8XsUEEJMR1paGv744w9Bun3XMVD4toRWmYPErYvA8nMFZX7//XfBYgqEmILCPQU00ZgQ81elQYG/v3+JG15xHIfQ0FCEhoYWW0ahUGDFihVYsWJFJdSQEELK76233hJ81lk36QqH9gV7sCTvWQ5t6iPBcWPHji1xw0BCqlLhdzRNNCbE/JnsnILqiDFGmwYRYmF++eUXbN26lZcmdasNlz7vAQDST/yO3JsnBEOLGjdujOXLlxutnoSUFaOeAkKqFQoKjODAgQPo378/FAoFZDIZatSogTlz5pS4lwIhxPxdvHgR48aN46WJFLZwGzQXIpkCuXHnkXZkveC4vn37IjY2loYNEZPGn1NQdfUghFQMCgoq2SeffIJevXph586dyM/PB1CwGVp4eDhatmwp2NmXEFI9PH78GF27doVarX6WyIng2m8mpE5eUKclIHnHUoA9u5riOA67d+/Grl274O7uXgW1JqT0Cs8tVmspKiDE3FFQUIk2bNiARYsW6R97enqiQ4cOkEgKpnIkJSWhb9++yMzMrPDnvnPnDjiOE/z4+/tX+HMRQvju3r2Lxo0bC3YOduwyClZ1X4ZWlYfErYugzeP/7U+bNg3BwcHGrCohL4yBhg8RUp1QUFBJGGP44osv9I+XLFmC+/fv4+TJk7hz5w7at28PoKDXYMOGDRX+/D4+PoiPj9f//P3333BxcUHXrl0r/LkIIc/cuXMHLVq0QFpaGi/dqkEnOPi9BgBI2bsCqsQ4Xr5YLKalR4lZKdw5QBONCTF/FBRUkn/++QdXr14FAHTq1AkfffSRvoegRo0a+P777/VlN2/eXOHPLxaL4enpCU9PTzg6OmLy5Mno1KlTiSs5EULK58aNG2jatKmg90/iUhOufT8AAGSc2Ybc64cFxw4fPly/kzsh5oB6CgipXqp0SdLqLDExUf//zp07C/Jbt24NKysr5ObmIikpqVLr8vbbbyMzMxPR0dEQiSgOJKQyPHz4EJ07d0ZuLn+vAU5mBfdBcyGSWyPv3mWkxqzlz9AE4OjoSCsNEbNDE40JqV4oKKgkrq6u+v+fPn1akH/lyhX9xYOLi0ul1WPhwoXYt28fTp8+zdv0jRBSsUJCQpCSklIklYNr3xmQuvhAnZGEpO1fAFqN4Ni//voLHh4exqkoIRWEHxRQVECIuaPbxpWkefPmaNSoEQDg8OHD+O677/TrkCclJeGdd97Rlx02bFil1GHLli347LPP8Ntvv6FevXqV8hyEEODEiRNYv164tKh9x6GwbtgJTK1C0rZwaHPSBWUWLlyon2NEiDkpPGRIo6XhQ4SYOwoKKgnHcfjoo4/0j6dOnYp69eqhR48eqFWrFo4ePQoAcHd3x5gxYyr8+a9cuYIxY8Zg9uzZaNasGRISEpCQkIAnT55U+HMRYslycnIwcOBAQbqizktw7DoaAPAkehXy428KygwaNAhz5syp7CoSUikKhwE0z5gQ80dBQSV66623MH36dP3jO3fu4NChQ8jLywMAODk5YefOnXBwcKjw5z579ixycnKwcOFCeHl56X8GDx5c4c9FiKXSarWYO3cubw4RAEgcPODa7yNwnAiZF/Yh61KU4NguXbpg06ZN4DjOWNU1qsOHD6Nfv37w9vYGx3HYtm0bL9/Qkskcx2Hp0qXFnjMyMtLgMbrPVGJc/J4CGj5EiLmjoKAScRyHZcuWYceOHejZs6f+y9/JyQnTp0/HhQsXKm3YwLhx48AYE/zExMRUyvMRYmkePHiAl19+GREREbx0TiKH26A5EFvZQfnoBp7sXy04tm3btti/fz9kMpmRamt82dnZaNWqFVauXGkwv/CSyfHx8fjpp5/AcRyGDBlS4nnt7e0FxyoUisp4CeQ5aKIxIdULTTSuZBzHoV+/fujXrx+USiVyc3Nhb29PqwARYsaysrIQEBCA69evC/Jc+kyDzKMeNNlpSNoWDmjUvHx/f39ER0frlyiuroKCghAUFFRsftHlV7dv347u3bujbt26JZ6X4zhautVEMOopIKRaqd7fSiZGLpdDLpdXdTUIIeW0evVqgwGBp/8bkDfzB9NqkLR9MTSZybz8zp074+DBg9V2yNCLevz4MXbv3o1169Y9t2xWVhZ8fX2h0WjQunVrfP7552jTpk2x5ZVKJZRKpf6xbpdplUoFlUpVpnrqypf1uOpKpX4W8OarNc9tF2q/8qM2LB9LbL+yvFYKCgghpAyysrIMbgKoqN0GsnYFK4mlHvgflPcv8/KdnJxw6NAhCggMWLduHezs7J4756lx48aIjIxEixYtkJGRga+//hqdO3fGxYsX0aBBA4PHhIeHY8GCBYL0qKgoWFtbv1B9o6OjX+i46uZ2BqC7jLhx8xb25N4o1XHUfuVHbVg+ltR+OTk5pS5LQQEhhJTBkCFDkJ2dzUuTOHrCtf8scCIxsi5FIffSPsFx4eHhkEqlxqqmWfnpp5/w+uuvP3duQMeOHdGxY0f9486dO+Oll17CihUr8M033xg8JiQkBDNmzNA/zsjIgI+PDwIDA2Fvb1+meqpUKkRHRyMgIIB+lwBOxT3BiqtnAQB169ZDcIDhwEyH2q/8qA3LxxLbT9c7WhoUFBBCSCl9+umniIriryRUMLF47tOJxdeREvWdYB5B06ZNMXHiRGNW1WwcOXIEN27cwObNm8t8rEgkQrt27XDr1q1iyxQ3bFMqlb7wRUF5jq1ORGKx/v+ME5W6Taj9yo/asHwsqf3K8jpptmspaTTCXUhJ2RWemEaIOfnf//6Hzz//XJDu3OddyNzrQJOdirRdXwoCAqCgl4CGDRm2Zs0atG3bFq1atSrzsYwxXLhwAV5eXpVQM/JctKMxIdUK9RSUgpubGx4+fIgaNWpAXOjOCCm75OTkStmXgZDKFBsbi8mTJwvS7V56FbbNuusnFitTEwRlmjRpgr59+xqjmiYlKysLt2/f1j+Oi4vDhQsX4OzsjFq1agEo6Nb+/fff8dVXXxk8x5gxY1CjRg2Eh4cDABYsWICOHTuiQYMGyMjIwDfffIMLFy7g22+/rfwXRAS0tCQpIdUKBQWloFAo4O7ujvj4eN6dbq1Wi5SUFLi4uNASo6Ukl8vLPI6XkKqUmpqKfv36QVvkTqhd3dZw6jG+oMyhn6C8f0VwrI+PD7Zv326RNxPOnj2L7t276x/rxvWPHTsWkZGRAIBNmzaBMYaRI0caPMe9e/d4n61paWmYOHEiEhIS4ODggDZt2uDw4cOVtt8LKRkr1FWgpV5gQsweBQWlpFAoULNmTV6aSqXChQsX0KJFC4sZm0aIJWGM4bXXXkNmZiYvXWzjBPugGeDEEmRfO4zMs9sFx06aNAmff/453NzcjFVdk+Lv7//c4YITJ04sca5F0c0Wly9fjuXLl1dE9UgFKNxToKbhQ4SYPQoKCCGkGDNmzBBMLIZIDNcBH0Ni64z8pLvIPCDcsXjo0KFYvVqYTkh1wt+8rAorQgipEBQUEEKIAStXrkRERIQg3an721D4NINWmY2krYugzuYv9+bl5YUffvjBSLUkpOoU7gjSamn4ECHmjgbCE0JIEadPn8a0adME6dZNusH+5f4AgORdX0Gd+oiXL5VKcfjwYTg5ORmlnoRUpcJzCtQUFBBi9igoIISQIubPny9Ik7rVhmvQewCA9OObkHv7tKDM9u3bUb9+/UqvHyGmoPA0AppoTIj5o6CAEEIKOXr0KPbt4+9IzMlt4DZoDjipHLn/nUPa0Y2C45YuXYqgoCBjVZOQKlc4DKCeAkLMHwUFhBDyVGpqKvr06VMklYPrqx9C6uQNdVoCknd+CTD+rMrXX38dM2fONF5FCTEBWt4S3RQUEGLuKCgghBAAKSkpaNKkCbKzs3npDn4jYF2/PbQqJZK3fwFtHn95Uk9PT6xdu9aYVSXEJDDe5mUUFBBi7mj1IUKIxXv8+DGaNm2K1NRUXrqibls4dBkFAHgS9R2UCbd5+TKZDDt37qR9SohFKrwkKQ0fIsT8UU8BIcSi5eTkICQkRBAQSBw84PrqTHCcCJl/70H2lQO8fI7jsHXrVrz88svGrC4hJqNwGEATjQkxfxQUEEIslkajQd++ffHkyRNeOieRw23QHIit7KB8dB1PDgj3HZg7dy6Cg4ONVVVCTI6Wt3kZBQWEmDsKCgghFis0NBTHjh0TpDsHToHMox402Wl4snMpoFHz8l1dXfHpp58aq5qEmCSaU0BI9UJBASHEIsXHx+OLL74QpNu2CYZti55gWg2SdixGftpjQZnw8HCaR0AsHvUUEFK9UFBACLE4SqUSnTp1glrN7wGQeTeGc88JAIC02Ego710WHDt27FiMHz/eKPUkxFxQUECI+aOggBBiUfLy8tCxY0fcvXuXly6ycYTbwBBwYimyrx9BxumtgmPbtWuHNWvWGKuqhJg0Xk8BTTQmxOxRUEAIsSivvvoqLly4wE8UieHWfzYkdi7IT76HlL3fCI6rV68e/vrrL4jFYuNUlBATR3MKCKleKCgghFgExhgmTJiAAwcOCPKc/N+EolYLaJU5SNq6CCw/l5ffqlUrXLt2DU5OTsaqLiEmT0tBASHVCm1eRgixCO+//z5+/PFHQbp1k66wbzcQAJC8eznUTx7y8mvUqIGzZ89CIqGPS0IKYzTRmJBqhXoKCCHV3ooVK7BixQpButTVFy593gMApJ/4Hbm3TvDyJRIJYmJiKCAgxIDCw4do8zJCzB8FBYSQau3KlSt4//33BemczBpug+ZAJFMg987fSDuyXlDm888/R/369Y1RTULMDiu0p7GaegoIMXsUFBBCqrX333+fN8yhAAfXV2dA6lwD6vREJO9YCjAtr0SLFi0wffp0o9WTEHNTOA7QUlBAiNmjoIAQUm1t2rQJBw8eFKTbdxoG6wYdwdT5SNoWBm1uBi/f09MThw4dgkKhMFZVCTE7hWNt6ikgxPyZdFCgVqvxySefoE6dOrCyskLdunXx2WefQat9dkePMYbQ0FB4e3vDysoK/v7+uHr1ahXWmhBiCpKTk/Hmm28K0hV1XoLjK28AAJ5Er0J+wm1evrOzMy5dugQXFxej1JMQc0U7GhNSvZh0ULB48WKsXr0aK1euxLVr17BkyRIsXbqUN2FwyZIlWLZsGVauXIkzZ87A09MTAQEByMzMrMKaE0KqUm5uLvz8/JCXl8dLF9u7w7XfTHCcCFkX9yHrUjQv38rKCufOnYObm5sxq0uIWSocBtBEY0LMn0kHBSdOnMCAAQPQt29f1K5dG0OHDkVgYCDOnj0LoKCXICIiAnPnzsXgwYPRvHlzrFu3Djk5Odi4cWMV154QUlUWLFiAW7du8dI4iQzug+dCbGUP5aObSIlezcuXSCSIjY1F7dq1jVhTQsxX4bk6NHyIEPNn0uvsdenSBatXr8bNmzfRsGFDXLx4EUePHkVERAQAIC4uDgkJCQgMDNQfI5fL0a1bNxw/fhyTJk0yeF6lUgmlUql/nJFRMJ5YpVJBpVKVun66smU5hvBRG5YPtR+fVqtFWFgYFi9eLMhzDnwHMo960OSkI2lbGKBR8/I3b96M1q1bW0RbGuM1Hj58GEuXLsW5c+cQHx+PrVu3YuDAgfr8cePGYd26dbxjOnTogJMnT5Z43i1btmDevHn4999/Ua9ePSxatAiDBg2qjJdAnoPRRGNCqhWTDgpmz56N9PR0NG7cGGKxGBqNBosWLcLIkSMBAAkJCQAADw8P3nEeHh64e/dusecNDw/HggULBOlRUVGwtrYucz2jo6OfX4iUiNqwfKj9AI1Gg6VLlxq8qLRtHQTbFgFgWg2Sty+GJjOZlz98+HCIxWLs2bPHWNWtUjk5OZX+HNnZ2WjVqhXefPNNDBkyxGCZPn36YO3atfrHMpmsxHOeOHECI0aMwOeff45BgwZh69atGD58OI4ePYoOHTpUaP3J8/HmFNDwIULMnkkHBZs3b8aGDRuwceNGNGvWDBcuXMD06dPh7e2NsWPH6stxHMc7jjEmSCssJCQEM2bM0D/OyMiAj48PAgMDYW9vX+r6qVQqREdHIyAgAFKptAyvjOhQG5YPtd8zM2bMMBgQyLwawrnXRABAWuzPyLt3iZfv4eGBESNGWFQb6npHK1NQUBCCgoJKLCOXy+Hp6Vnqc0ZERCAgIAAhISEACj7LY2NjERERgV9//bVc9SVlVzgO0GgoKCDE3Jl0UPDRRx/h448/xmuvvQagYN3wu3fvIjw8HGPHjtV/mSQkJMDLy0t/XGJioqD3oDC5XA65XC5Il0qlL3RR8KLHkWeoDcvH0ttv3759WLlypSBdZO0At4Eh4MRSZN84hozTW3j5HMfhxx9/hEajsag2NJXXGRMTA3d3dzg6OqJbt25YtGgR3N3diy1/4sQJfPDBB7y03r1764eUGlJRw0V1xxT+19KpNRr9/zWMPbddqP3Kj9qwfCyx/cryWk06KMjJyYFIxJ8LLRaL9UuS1qlTB56enoiOjkabNm0AAPn5+YiNjTU4ppgQUv3cv38fgwcPFmZwIrj1nwWJvRtUKfeRsidCUOSjjz5C7969LWbYkCkJCgrCsGHD4Ovri7i4OMybNw89evTAuXPnDN60AQpuABkaLqobSmpIRQ8XBWi4ns4/jzgAYgBAvkpd6r8jar/yozYsH0tqv7IMFzXpoKBfv35YtGgRatWqhWbNmuHvv//GsmXL8NZbbwEouMs3ffp0hIWFoUGDBmjQoAHCwsJgbW2NUaNGVXHtCSHGsHLlSuTm5grSPQMnQu7bCtr8XCRtDQPL55dp1qwZFi5caKxqkiJGjBih/3/z5s3x8ssvw9fXF7t37zYc5D1VVcNFARquV9Sjo3eAuzcLHnAiBAf3LrE8tV/5URuWjyW2X1mGi5p0ULBixQrMmzcPU6ZMQWJiIry9vTFp0iR8+umn+jKzZs1Cbm4upkyZgtTUVHTo0AFRUVGws7OrwpoTQoyBMYbvv/9ekG7d0A/y1q8CAFL2fg1Vyn1evkKhQGxsLKRSqUV1I5syLy8v+Pr6CpaSLczT01PQK2Ds4aLlPbY6KdyTr2Gs1G1C7Vd+1IblY0ntV5bXadL7FNjZ2SEiIgJ3795Fbm4u/v33XyxcuJC3QgXHcQgNDUV8fDzy8vIQGxuL5s2bV2GtCSHGMnHiRKSnp/PSJM414RI8HQCQcXor8m8LJx8vXbqUdiw2MSkpKbh//z5vflhRnTp1EnT7R0VFwc/Pr7KrRwwovAopY7QsKSHmzqR7CgghpDjz5s3Djz/+yEvjZFZwHzwXIrk18u5dRmpsJKDV8Mq89957mDp1qhFrapmysrJw+/Zt/eO4uDhcuHABzs7OcHZ2RmhoKIYMGQIvLy/cuXMHc+bMgaurK2/PgTFjxqBGjRoIDw8HALz//vvo2rUrFi9ejAEDBmD79u3Yv38/jh49avTXRwAGfhCgYQwiFD+UixBi2igoIISYne3btxucD+ASPB1SFx+oM1OQtH0xLyAQi8WIjIzEG2+8YcyqWqyzZ8+ie/fu+se6cf1jx47FqlWrcPnyZfz8889IS0uDl5cXunfvjs2bN/OGft67d483RMXPzw+bNm3CJ598gnnz5qFevXrYvHkz7VFQRYpuTaDRMkjFVVMXQkj5UVBACDErSUlJGDNmjCDdvsNQ2DTqDKZRIWlbGLQ5abz833//nXa+NSJ/f3+wEja0+uuvv557jpiYGEHa0KFDMXTo0PJUjVSQor9fDQ0fIsSsmfScAkIIKWzjxo3w8vISrKagqN0Gjl1HAwCeRH+P/Ec3ePl9+vShgICQClY0BqBdjQkxb9RTQAgxCzt27MDrr78uSBfbu8O1/0fgRGJkXYpC1sV9gjKFVywjhFQMwfAh2tWYELNGPQWEEJOn1WrxzjvvCNJFUjncBs2B2MoeyvibSIlaJSjz0ksvoWPHjsaoJiEWRVt0+BD1FBBi1igoIISYvGnTpuHRo0eCdKeAKZB71ocmJx1JW8MBDX/PAYVCgbVr15a4uRUh5MUUDQFoSVJCzBsFBYQQkxYbG4vvvvtOkG7bJhi2LXqCaTVI3r4YmswkXr5YLEZ0dDRatmxprKoSYlGKTjRWU1BAiFmjoIAQYrKePHlicIKwvEZjOPecCABIjYlE3r1LgjJ//vknunTpUul1JMRSGVqSlBBivigoIISYJLVajY4dOyI1NZWXLrJxhOuAEHBiCbKvH0H2ue2CYwcMGID+/fsbq6qEWCTBnAIKCggxa7T6ECHE5KjVavTs2RO3bt3iZ4jEcOs/GxI7F+Qn30PK3m/AtFpeEW9vb6xcudKItSXEMhUNAWiiMSHmjXoKCCEmZ+nSpTh8+LAg3cl/HBS1WkCrzEHS1jCw/FxefvPmzXHs2DHUrFnTWFUlxGIV7SmgicaEmDfqKSCEmJTExESEhoYK0q0bd4F9u4L5Bcl7lkP95AEv/5VXXjEYSBBCKkmRGIAmGhNi3qingBBiMtRqNXr16oX8/HxeutTFBy5B7wMA0k/+gdybJ/j5Uil+/PFHo9WTEEJzCgipbigoIISYjOnTp+Py5cu8NE5mBbdBcyCSWSH3zkWkHf5ZcNwvv/yChg0bGquahBAIVx8qGiQQQswLDR8ihFQ5lUqFkSNHYsuWLYI8l+DpkLr4QJ2RhJRdSwHGn1j82muvYdiwYcaqKiHkqaIdAzR8iBDzRkEBIaRKaTQaDB8+HNu2bRPk2bcfAptGncHUKiRtC4cmO42X36hRIxo2REgVYaCJxoRUJzR8iBBSpUJCQgwGBIpaLeHYbQwA4Mn+75Eff5OX7+rqijNnzsDGxsYY1SSEFFF0tBD1FBBi3igoIIRUmZ07d2Lp0qWCdLGdK1wHzAYnEiPrcjSyLu7j5YtEIpw6dQp2dnbGqiohpAhGS5ISUq1QUEAIqRJZWVkYPXq0MEMsgdvAEIitHaBMuI3U6NWCIrNmzULdunWNUEtCSHGKxgC0eRkh5o2CAkJIlfjll1+Qnp4uSHfvPQVy70bQ5GYieVs4tColL79BgwaYN2+esapJCClG0TkFNHyIEPNGQQEhxOiUSiXmz58vSLdp3hNWLQLBmBYZf30DdfpjXr5CocDJkydhbW1trKoSQopRNAag4UOEmDcKCgghRvXw4UPUrVsXjx/zL/hlHvXg0nsqACD96EZk3OBvUMZxHH777Tc4Ozsbra6EkOIVHS1Em5cRYt4oKCCEGE1ubi66du2KR48e8dJFClu4DQwBJ5Eh5/ZppB/fzMuXSCTYsmUL+vXrZ8zqEkJKUHSiMQUFhJg32qeAEGIUWq0W/fr1w3///Vckh4Nrv5mQOHpClRqPlF1fAYXGKkulUty8eRO1a9c2ZnUJIc8h6CmgicaEmDXqKSCEGMXMmTNx4MABQbpDl5GwqvsytKo8JG0Ng1aZzcvftGkTBQSEmCAt9RQQUq1QUEAIqXSbNm3C8uXLBelW9drBsfMoAMCTfSuhSorj5bdq1QqDBw82Sh0JIWVTNASgoIAQ80ZBASGkUl28eNHgfgQSR0+4vPohACD7wl5k/xMjKDNz5szKrh6pJIcPH0a/fv3g7e0NjuN4u1arVCrMnj0bLVq0gI2NDby9vTFmzBjBXJOiIiMjwXGc4CcvL6+SXw0xhHoKCKleKCgghFSqhQsXQq1W89I4iRxuA+dArLBF3sNrSI7+XnBc3bp1MXToUGNVk1Sw7OxstGrVCitXrhTk5eTk4Pz585g3bx7Onz+PP//8Ezdv3kT//v2fe157e3vEx8fzfhQKRWW8BPI8tPoQIdUKTTQmhFSaW7du4Y8//hCkO/eeCplHXWiyU5G87QtAyw8aHB0dsXv3brrYM2NBQUEICgoymOfg4IDo6Ghe2ooVK9C+fXvcu3cPtWrVKva8HMfB09OzQutKXoygp4AmGhNi1igoIIRUiszMTPj5+QnSbdsEw7Z5DzCtBknbl0CTlcLL9/HxwZkzZ+Dh4WGsqhITkJ6eDo7j4OjoWGK5rKws+Pr6QqPRoHXr1vj888/Rpk2bYssrlUoolc92xc7IyABQMIRJpVKVqY668mU9rrrSaLW8xyqVusS2ofYrP2rD8rHE9ivLa6WggBBS4bKzs9G+fXskJyfz0mXejeHccwIAIDUmEsr7l3n5Hh4euH37NmQymdHqSqpeXl4ePv74Y4waNQr29vbFlmvcuDEiIyPRokULZGRk4Ouvv0bnzp1x8eJFNGjQwOAx4eHhWLBggSA9KirqhXfGLtrLYakePhSh8CjkS1euwinlynOPo/YrP2rD8rGk9svJySl1WQoKCCEV7p133sH169d5aSJrx4INysRSZF8/gswzW3n5crkchw4dooDAwqhUKrz22mvQarX47rvvSizbsWNHdOzYUf+4c+fOeOmll7BixQp88803Bo8JCQnBjBkz9I8zMjLg4+ODwMDAEgOQ4uoaHR2NgIAASKXSMh1bHUVlXgJSEvSPGzdpimA/32LLU/uVH7Vh+Vhi++l6R0uDggJCSIX65ZdfsH79en6iSAK3gSGQ2LlAlXIfKXuFF3B//vknmjRpYqRaElOgUqkwfPhwxMXF4eDBg2W+SBeJRGjXrh1u3bpVbBm5XA65XC5Il0qlL3xRUJ5jqxWO4z1k4ErVLtR+5UdtWD6W1H5leZ20+hAhpMIsXboUb7zxhiDdqcd4KHyaQavMRuKfC8Hyc3n506ZNQ3BwsLGqSUyALiC4desW9u/fDxcXlzKfgzGGCxcuwMvLqxJqSJ6HgSYaE1KdUE8BIaRCrF27FrNmzRKk27ToBfu2rwIAknd+BfWTh7x8W1tbfPHFF0apIzGerKws3L59W/84Li4OFy5cgLOzM7y9vTF06FCcP38eu3btgkajQUJCwTAUZ2dn/RCyMWPGoEaNGggPDwcALFiwAB07dkSDBg2QkZGBb775BhcuXMC3335r/BdIUGSeMbS0JCkhZo2CAkJIueXk5OCDDz4QpCtqNIJL4BQAQNqRDcj997SgzPvvv//CEz6J6Tp79iy6d++uf6wb1z927FiEhoZix44dAIDWrVvzjjt06BD8/f0BAPfu3YNI9KxDOy0tDRMnTkRCQgIcHBzQpk0bHD58GO3bt6/cF0MM0vUUcBzAGKCmoIAQs0ZBASGk3BYsWID09HRemsjaES79PwYnkSHn1kmkH98sOM7Pzw/z5883VjWJEfn7+4OVMJykpDydmJgY3uPly5dj+fLl5a0aqSC6GEAqEiFfo6WeAkLMHM0pIISUy5kzZ/Dll1/yE0ViuA2YDYm9G1Qp95G86ysU3f60fv36iImJsZjJXoRUN7q4TiwqmHBMPQWEmDcKCgghL+zBgwfo3r07tEUGFzt1fxuKWi2gVeYg8c9FgonFDg4OOH36NAUEhJgxXW+PRFwQFNBEY0LMGwUFhJAXcurUKdSvXx/Z2dm8dJtmPWD/cn8AQPKur6B+8kBw7ObNm+Hk5GSUehJCKocuBJCKCy4laPgQIeaNggJCSJldunQJ/v7+UCqVvHSZRz04954KAEg7thG5t08Jjl2+fDl69+5tlHoSQiqPVtdTQMOHCKkWTD4oePjwId544w24uLjA2toarVu3xrlz5/T5jDGEhobC29sbVlZW8Pf3x9WrV6uwxoRUf++++y7y8vJ4aW4+deE2+BOIpHLk3D6N9KO/Co77+uuvMX36dCPVkhBSmXSjhaingJDqwaSDgtTUVHTu3BlSqRR79+7FP//8g6+++gqOjo76MkuWLMGyZcuwcuVKnDlzBp6enggICEBmZmbVVZyQamz37t04cuQIP5ETQdR5PCT2btCkPkLyzi9RdGJxv3798N577xmvooSQSqWlOQWEVCsmvSTp4sWL4ePjg7Vr1+rTateurf8/YwwRERGYO3cuBg8eDABYt24dPDw8sHHjRkyaNMnYVSakWvv2228xbdo0QbqT/5tQ+LaEVpmDJzu+AMvPEZRZtGiRMapICDEy3fAhDfUUEGLWTDoo2LFjB3r37o1hw4YhNjYWNWrUwJQpUzBhwgQABTtkJiQkIDAwUH+MXC5Ht27dcPz48WKDAqVSyRsLnZGRAQBQqVRQqVSlrp+ubFmOIXzUhuVjzPb76quvEBISIki3btIV9u0HAQBS9kQgJ+E/QZnw8HA0btzYJH/PlvgetKTXSiqPrqdAN3yIggJCzJtJBwX//fcfVq1ahRkzZmDOnDk4ffo03nvvPcjlcowZMwYJCQkAAA8PD95xHh4euHv3brHnDQ8Px4IFCwTpUVFRL7SzanR0dJmPIXzUhuVT2e0XExODiIgIQbrUrTZcggqGBKWf+B05N48LynTu3BlNmjTBnj17KrWO5WVJ78GcHGFPDiFlRfsUEFK9mHRQoNVq8fLLLyMsLAwA0KZNG1y9ehWrVq3CmDFj9OU4juMdxxgTpBUWEhKCGTNm6B9nZGTAx8cHgYGBsLe3L3X9VCoVoqOjERAQQOutvyBqw/IxRvudOHEC33zzjSBdpLCF26C5EEkVyI07j7Qj6wVlevTogZ07d5r079YS34O63lFCyuPZnAKaaExIdWDSQYGXlxeaNm3KS2vSpAm2bNkCAPD09AQAJCQkwMvLS18mMTFR0HtQmFwuh1wuF6RLpdIXuih40ePIM9SG5VOZ7bdo0SLh5mTOzpD1mg6pkxfUaQlI3rEUYPwyvXv3xq5duyCRmPTHjJ4lvQct5XWSyqVffUg3p4BiAkLMmkmvPtS5c2fcuHGDl3bz5k34+voCAOrUqQNPT09et39+fj5iY2Ph5+dn1LoSUh3dvXsXUVFRgnTWLBiKOi+BqZVI3LoI2jz+al9eXl7Yu3ev2QQEhJCy0wUF+tWHitw8IISYF5P+xv7ggw/g5+eHsLAwDB8+HKdPn8YPP/yAH374AUDBsKHp06cjLCwMDRo0QIMGDRAWFgZra2uMGjWqimtPiHljjGH48OGCdKsGHeHg9xoAIC3qO7An9wVlFi5cWOIQPkKI+WOgicaEVCcmHRS0a9cOW7duRUhICD777DPUqVMHEREReP311/VlZs2ahdzcXEyZMgWpqano0KEDoqKiYGdnV4U1J8S8aTQaDBgwAKdPn+alS5xrwrVvwXycjDPbkHH5gODY/v37Y+zYsUapJyGk6uhigGdLklZhZQgh5WbSQQEAvPrqq3j11VeLzec4DqGhoQgNDTVepQip5t555x3s3r2bl8bJrOA2aA5Ecmvk3buM1Ji1guNGjRqFtWvXQiwWG6uqhJAqwopMNKbhQ4SYN5MPCgghxhUSEoL//e9/gnSX4OmQudaCOjMFSdsXA1oNLz8yMpJ6CAixILqeAqmYJhoTUh1QUEAIAVAwSX/AgAHYt2+fIM++/WDYNOoMplEhaVs4tDlpvPw5c+ZQQECIhdHFAGIR9RQQUh2Y9OpDhBDjmTx5ssGAQFGrJRy7FVzwP9n/A/IfXeflS6VSfPTRR0apIyHEdOiGD+mXJKWJxoSYNQoKCCHYu3cv1q4VzhEQ27nBdcBscCIxsi5HI+vCXkGZN954A46OjkaoJSHElBRdkpQ6CggxbxQUEGLh4uLiMGTIEGGGWAq3gSEQWztAmXAbT6JWCYq4ublh4cKFRqglIcTUFN3RWE1RASFmjeYUEGLhZsyYgdzcXF4ax3FwCpgMuXdDaHIzkLQ1DEydzytjY2ODU6dOwdvb25jVJYSYCNrRmJDqhXoKCLFghw4dwrZt2wTpNi0DYdeqNxjTInnHUmgyEnn5CoUCFy9eRJ06dYxUU0KIqSnaU6ClOQWEmDUKCgixUGlpaQaHDcm8GsK51+SCMofXI+/O37x8kUiEvXv3ol69ekapJyHEtOnmFKgpKCDErFFQQIiFmjZtGlJTU3lpIit7uA38GJxEipybJ5Bx8g/Bcb/++iv8/f2NVEtCiKnS6lcfop4CQqoDCgoIsUDLly/Hhg0b+ImcCK79Z0Ni7w5VygMk716GZyuRAxKJBPv378fw4cONW1lilg4fPox+/frB29sbHMcJhqkxxhAaGgpvb29YWVnB398fV69efe55t2zZgqZNm0Iul6Np06bYunVrJb0C8jy6OQVika6ngCYaE2LOKCggxMJERkZixowZgnTHbmNhVbsVtPm5SNq6CCyfP/l437596Nmzp7GqScxcdnY2WrVqhZUrVxrMX7JkCZYtW4aVK1fizJkz8PT0REBAADIzM4s954kTJzBixAiMHj0aFy9exOjRozF8+HCcOnWqsl4GKYG+p0C3JCl1FBBi1mj1IUIsyKlTp/D2228L0q0bdYZDh4L5BSl7IqBKuc/LHzt2LAUEpEyCgoIQFBRkMI8xhoiICMydOxeDBw8GAKxbtw4eHh7YuHEjJk2aZPC4iIgIBAQEICQkBAAQEhKC2NhYRERE4Ndff62cF0KKpYsBdBONafMyQsxbmYOCXr164cMPPxR82Gs0GojF4gqrGCGkYqlUKrz22mvQFunil7r4wCV4OgAg/dQW5Nw4xst3d3fHmjVrjFVNYgHi4uKQkJCAwMBAfZpcLke3bt1w/PjxYoOCEydO4IMPPuCl9e7dGxEREcU+l1KphFKp1D/OyMgAUPD3oFKpylRvXfmyHldd6eYQiJ6GB2qNtsS2ofYrP2rD8rHE9ivLay1zUHD27FnUrl0bQMEHu25JwjVr1uDIkSNYv359WU9JCDGCCRMm4M6dO7w0TmYNt0FzIZJZIe/uRaTFrhMct3TpUgr4SYVKSEgAAHh4ePDSPTw8cPfu3RKPM3SM7nyGhIeHY8GCBYL0qKgoWFtbl6XaetHR0S90XHWTlS0GwOHGtX8AiJGdm4s9e/Y89zhqv/KjNiwfS2q/nJycUpctc1CQn58POzs7AECrVq1w4cIF1K1bF35+fggNDS3r6QghRnDlyhWsW1f0gp+D9+DZkLjUhDojCUk7lgCM34vQp08fjB492ngVJRaF4zjeY8aYIK28x4SEhPDm0GRkZMDHxweBgYGwt7cvU31VKhWio6MREBAAqVRapmOroy+vHwHyctGqZXNsuXMNUpkcwcH+xZan9is/asPyscT20/WOlkaZg4L69evj1KlTsLOzQ3Z2NtLS0gAAdnZ2ePLkSVlPRwipZPfv30f//v0F6fYdh0Li2xZMo0LG3mXQ5qTz8h0cHLBt27bnXqQRUlaenp4ACu78e3l56dMTExMFPQFFjyvaK/C8Y+RyOeRyuSBdKpW+8EVBeY6tVp5+NCietoWWoVTtQu1XftSG5WNJ7VeW11nm1YemTJmC8ePHo1u3bmjVqhV++OEHAMCRI0dK/GAmhBjf0aNH0bhxY8TFxfHSFbXbwPGVNwAAT6JXI/POZV4+x3H45ZdfDF5MEVJederUgaenJ68LPz8/H7GxsfDz8yv2uE6dOgm6/aOioko8hlQe3fQk3eZlNNGYEPNW5p6CyZMnw83NDbdu3cKECRPw2muvoW7duoiPj8e7775bGXUkhLyA69evo1evXrxJlgAgtneHa/+PwInEyLz4F7Iu/iU49n//+x/69u1rrKqSaigrKwu3b9/WP46Li8OFCxfg7OyMWrVqYfr06QgLC0ODBg3QoEEDhIWFwdraGqNGjdIfM2bMGNSoUQPh4eEAgPfffx9du3bF4sWLMWDAAGzfvh379+/H0aNHjf76yDO6fQooKCDEvL3QkqRDhgzR/3/v3r3YunUr8vPz8dprr1VYxQghLy4hIQFdunQRBAScRAa3QXMgtrKHMv4mnkSvFhz77bffGly2lJCyOHv2LLp3765/rBvXP3bsWERGRmLWrFnIzc3FlClTkJqaig4dOiAqKko/Zw0A7t27B5HoWYe2n58fNm3ahE8++QTz5s1DvXr1sHnzZnTo0MF4L4zoPdungJYkJaQ6KPc+BRKJBMOGDauIuhBCKsiYMWOQkpLCS+M4Ds6BUyD3rA9NTjqSt30BaPhLlfXs2RNTpkwxZlVJNeXv7w/Gir9I5DgOoaGhJS5QERMTI0gbOnQohg4dWgE1JOWl+/VKdD0FJfy+CSGmj3Y0JqSa2bdvn8Hl1mxa9YFti15gWg2Sty+GOiORl69QKAysUEQIIYZRTwEh1QsFBYRUI/fu3dPvEFuYvEZjOPeaCADIPLoBefcuCcrMnDkTNWrUqPQ6EkKqh2c7Gj+bU1BS7xAhxLRRUEBINREfH4+XXnoJubm5vHSxjRNcB4SAE0uRff0IUk/8LjjWxsYG06dPN1JNCSHVgS4AkBSa90GdBYSYLwoKCKkGNBoN+vbtK5hHAJEErgM/hsTOBfnJd5Gy52vBsSKRCOvWrYOLi4uRaksIqQ50nQJS8bO9TGgIESHmi4ICQqqB7du34++//xakO/d4G4qazaBVZiPpz0Vgqjxevre3N/bv389bUYwQQkpDN6dAIhYJ0ggh5oeCAkLM3KVLlzBmzBhBuk2z7rBr2w8AkLJ7GdSpj3j5Xbt2xcOHD3nLRhJCSGnp5xSInvUUqKmngBCzVe4lSQkhVefnn3/Gp59+KkiXuteFc++CzQTTjv2KnFunePkeHh6IiooySh0JIdWTVqvrKaDhQ4RUB9RTQIiZunz5MiZOnChIFyls4T5oDkRSOXL+PYP0oxsFZX766SfI5XJjVJMQUk096ykoNHyIggJCzBYFBYSYIbVajaFDh0Kr1fIzOBFc+30EiaMnVKnxSNn5JZ59dRcYMWIEgoKCjFdZQki1VHTzMoCGDxFizigoIMTMqFQqdOvWDTdv3hTkOXZ5HVZ120KrykPS1kXQKrN5+R07dsSGDRvAcZzgWEIIKQvdkqQijoP4aWBAE40JMV8UFBBiRlQqFYKCgnD8+HFBnlWDTnDwGwEASNm7AqqkO7x8b29vxMbGQiKhqUSEkPLTdQpwHCB+eqOBegoIMV8UFBBiRiIiInDgwAFBusS5Jlz7fgAAyDizDTnXYgVlNmzYAJlMVul1JIRYBvZ0aCLH4VlPAQUFhJgtCgoIMRMajQbLli0TpHMyK7gPnguR3Bp59y4jNWatoEy3bt3g7+9vhFoSQizFs56CZ8OHaPUhQswXBQWEmInvv/8eCQkJgnSX4OmQuvhAnZmCpO2LAa2Gl9+8eXNs2bKF5hEQQirW0+t/EVfwA9DwIULMGQUFhJiBuLg4vP/++4J0x07DYNOoM5hGhaRtYdDmpPHyR44ciXPnzsHFxcVINSWEWArdpGIOnH5XY5poTIj5ohmHhJi4jIwMdOnSBWq1mpeu8G0F+y5vAACeRH+P/Ec3ePkdOnTAxo3CPQoIIaQi6C7/C3oKaPgQIeaOegoIMVHZ2dn46quv4O7ujkePHvHyxHaucO0/C5xIjKxL0ci6uI+X7+TkhE2bNhmzuoQQC6PvFeCApx0FFBQQYsaop4AQE/T48WP06tULV65cEWaKJXAbGAKxtQOUCbfxJHoVL9vGxganT59G7dq1jVNZQohFYvo5BZx+V2MKCggxX9RTQIiJYYxh2LBhhgMCAM49J0Hu3Qia3EwkbwsHU+fz8vfu3Yv69esbo6qEEAvFCs0d4AA8jQloojEhZoyCAkJMzPHjx3HkyBGDeTYtesGuTRAY0yJ515dQpz/m5bdr1w6vvPKKMapJCLFghecTF+4poInGhJgvGj5EiIn57bffDKbb+jSBc+AUAED60Y3I+++coExoaGhlVo0QQgDwL/65QkuS0vAhQswX9RQQYkIYY4iOjhakixS2cAj+EJxEhpzbp5F+fLOgzLx58xAcHGyMahJCLFzhS3/avIyQ6sGsgoLw8HBwHIfp06fr0xhjCA0Nhbe3N6ysrODv74+rV69WXSUJKYd58+bh2rVrRVI5uPabCYmjJ1Sp8UjZ9RX4X8mAv78/PvvsM6PVkxBi2Yr2FIhpojEhZs9shg+dOXMGP/zwA1q2bMlLX7JkCZYtW4bIyEg0bNgQCxcuREBAAG7cuAE7O7sqqi0hZbd582YsWrRIkO7QeSSs6r4MrUqJpK1h0Cqzeflubm74/fffjVVNQggRzCnQL0lKcwpIFchXa5GWmw/GCt6PIg7I12iRrdQgJ1+NPJUW+WotcvPzcfkJB/n1RMikEnAcB6lIBJlEBKmYg41cAiupGIwVvJe1jEGrZWDQvc85iDkOIhEK/b/Qv4XyZWIRuKf7d+gwxpCn0kIhFeY9D2MMWlYwVK+sx5aWWQQFWVlZeP311/G///0PCxcu1KczxhAREYG5c+di8ODBAIB169bBw8MDGzduxKRJk6qqyoSUyb179zB69Gj9Y47jwBiDVd2X4dhlFADgyV/fQpUUxzvO1dUVS5cuhYODg1HrS0hFqF27Nu7evStInzJlCr799ltBekxMDLp37y5Iv3btGho3blwpdSSGFb725wCIdZuXaSgoKC/GGNJzVfoLWaVaA6Vai3yNFjl5+biWxkHyz2Nkqxg0WgaFVAS1hhWUUWsL/auBVCyCm50cUjEHxgAtAxgKLi7BGPI1DFl5amTnq5GlVCNbqYb66e+QPe2RZqzgolulZbCRiSGXiAo2q+MAqUgEa7kYMnGRgSdFrlkL6qeBUqUFAFjLxMjJ1yA1R4W0nHwo1VpoWcHrKagng+bpY7WGISdfjYw8NSQiDnKJCHLps3qk5uQjM4+/uWfJxPjxxoUX++WUgYgD7BRS2FtJIBOLkJ6rQlqOCmotg1jEwcFKCgcrKURcQQ+bWsv4/2q0gnQAuLkwCDKJBQcFU6dORd++fdGrVy9eUBAXF4eEhAQEBgbq0+RyObp164bjx48XGxQolUoolUr944yMDACASqWCSqUqdb10ZctyDOGjNiywfPlyXhswxiB18oJLv5kAgMzzu5B99SDvmCZNmuD333/H7du3Lb79ysMS34Om8lrPnDkDjUajf3zlyhUEBARg2LBhJR5348YN2Nvb6x+7ublVWh2JYazQEEZR4TkFFtZTkK/W4m5KNm4nZiExU4kspRqZeWpkKVXIylNDw57t+KzRMuTka5CnKrh7nfv0jrGLjRzc0wvDfLUW1xMykJyVX8KzioFrF432Gk2JRlsQ/MBAEMAVamcAkIgK7vzbyMRQSMWQSUSQiDhkZqTDwdEBHDhoWEHQka8pCKRy8gt+NyLu2d1/3Z15jbag10AXrGie/r+4t7yWAem5KqTnCj9vNVqGJ9n5eJJd0u+5+DaoLCYfFGzatAnnzp3D2bNnBXkJCQkAAA8PD166h4eHwbtPOuHh4ViwYIEgPSoqCtbW1mWuo6GJoaRsLLkNT548ia+//pqXxknkcB0QArHCFsqH1/HkwI+8/Fq1amHhwoW4ffs2AMtuv4piSW2Yk5NT1VUAILyY/+KLL1CvXj1069atxOPc3d3h6OhYqueoqJtAumMK/2vJlPnPLsrUapV+9SFlfvHtak7t9ygtF2fvpiFTqUZGrgpXH2UgU6mGVCxCcpYSaTkqaBmQlKmstL0ZJCIOMokIcokIMrEIUokIMjEHZU423Jwd4GAlg1jEQanWQiLmIBM/LSt59q9SrUXy0zqKOE5/4QwUXERLxSLYysWwkUlgIxfDRi7R3/XXjVDhAMgkIohFHHLyNchXa8FQcDdfrWHIVmqg1moF9dddLLOnr0UhFUEuEUPLGHLzNbCWieFgLYWjlRTWMvHT+ukuwguG50hEBc9rJRXB3koKrbZg+I3yaU+IRsvgYCWFs40MjlZSiJ6+ERljBofYqFQqREdHIyCgLaRSaYX8npguSGDQBw1aLUOuSoPMvIIgMV+j1fcM2MolyMlXF/QcPA0YdK9TohuC9HQYklj8LE2fBw1UKmF7F6csf28mHRTcv38f77//PqKioqBQKIotZ2jMVknjrUJCQjBjxgz944yMDPj4+CAwMJB39+l5nr25AirszWVpLL0Nly9fji+++EKQ7hw4BTKPutBkpyFpezgc7W2Rlpamz585cyb69etn8e1XESyxDXUXxqYkPz8fGzZswIwZM547XrZNmzbIy8tD06ZN8cknnxgcUqRT0TeBAMsKIItTcKO24BIi6q+/kJYqAiDCufN/g90r+SLZ1NovRw3cSueQmAck53G4nc4hWVn64RlyEYOHFeAsZ1BIAIW44EcuZhBzBRfFjBVc6MpET3/EgFQE5GuALPXTDeCeLu3qpmCoYV1QpnhPSlc5CQCnUpRjAPKe/pSg+Cux59A8/SlMBSC74KmzhUeU2uPnFxGoivdgitGfsUBZbgKZdFBw7tw5JCYmom3btvo0jUaDw4cPY+XKlbhx4waAgh4DLy8vfZnExERB70FhcrkccrlckC6VSl/oouBFjyPPWGIbfvrpp/j8888F6batg2DboieYVoOkHYuhyUxBWqF8Nzc3jB07ltdelth+Fc2S2tAUX+e2bduQlpaGcePGFVvGy8sLP/zwA9q2bQulUon169ejZ8+eiImJQdeuXQ0eU1E3gQDLDCCLk5GrAs4cAgD06dMHW5LO43bGE7Rs1RrBrbwMHlPV7ZeUqcTpO6m4npCJawmZuJ2YhYy8grH0RYeAiDigeQ17eNorYCUVo7GnHdxsZcjXaOFiK4ezdUH9PewV8LSXV9rEz6Kqug3NnSW2X1luApl0UNCzZ09cvnyZl/bmm2+icePGmD17NurWrQtPT09ER0ejTZs2AAruNsXGxmLx4sVVUWVCSuWnn34yGBDIazSBc6+JAIC02HVQ3uO//yUSCfbs2VPmixlCTN2aNWsQFBQEb2/vYss0atQIjRo10j/u1KkT7t+/jy+//LLYoKCibwKV99jqQlJoRIJcJoVYN9GUEz23bYzVfnkqDb6L+RfR/zxGRq4KD9Nyiy1bz80GrWo6wtvRCi/5OqJdbWfYKUz3d0zvwfKxpPYry+s06aDAzs4OzZs356XZ2NjAxcVFnz59+nSEhYWhQYMGaNCgAcLCwmBtbY1Ro0ZVRZUJea67d+9i4sSJgnSpvRtcB4aAE0uRff0oMk7/KSizceNGvPzyy8aoJiFGc/fuXezfvx9//il8zz9Px44dsWHDhkqoFSkJf5+CgvHOQNVONH6QmoOYG0l4kp2PB6k5OP5vCh6k8gOB5jXs0bKmI5p42aOxpx1cbGRwsJLCxVYYOBJiaUw6KCiNWbNmITc3F1OmTEFqaio6dOiAqKgo2qOAmKSsrCx07dqVt+IKAEAsgUv/2ZDYOiM/6Q5S9kQIjh08ePBzV2UhxBytXbsW7u7u6Nu3b5mP/fvvv3nDR4lxFL70Fz2dFApUzeZlqdn5CPnzMv76J0EwDMjDXo6PejdGHVdr1HaxoYt/QkpgdkFBTEwM7zHHcQgNDUVoaGiV1IeQspg2bRru3bsnSHfuNQnyGo2hyctCyvZwMJVwtpehCcmEmDutVou1a9di7NixkEj4X0khISF4+PAhfv75ZwBAREQEateujWbNmuknJm/ZsgVbtmypiqpbtKI9BboVbYwdFNx/koOxa0/jv6SCqaod6jijrpsN3OwUaORhh64NXU16GBAhpsTsggJCzNWePXsQGRkpSLdt1Rt2rYPAmBbJO5YgP+WhoMyoUaPQoEEDI9SSEOPav38/7t27h7feekuQFx8fzwui8/PzMXPmTDx8+BBWVlZo1qwZdu/ejeDgYGNWmeDZcpO6+bUSccF/tEYaPpSZp8LeywlYuPsfZOSp4e2gwP/Gvoxm3rSRIyEvioICQowgPj7e4NAfmXdjOAdMBgCkHV6PvLjzgjJdu3bF//73v0qvIyFVITAwEKyYC8miQfSsWbMwa9YsI9SKPI/ud6Zbc0fXU6Cu5B2Nz9x5gkW7r+HC/TR9WquaDlg9ui28HKwq9bkJqe4oKCDECD744APBWsFiGye4DZrzbGLxyd8Fx3366aeYP38+RCKRII8QQqqK7tJfFwzoJhpXZE9Beq4K5++lIvZGEg5eT0RSphK5qmfzsbwdFBjjVxvju9SBREyfkYSUFwUFhFQixhjeffddbN68mZ8hksB1YMjTicV3DU4s3rx5M4YPH26cihJCSBnoLv51w4dEFTzR+OD1x3hnw3ko1fydW0UcMKJdLUzv1QAe9i+8lRYhxAAKCgipJIwxjB8/Hj/99JMgz7nnBChqNoUmLwtJfy4UTCwOCwujgIAQYrKezSkoCAbEuuFDFRAUqDRahO74B0q1FjWdrOBXzwWBTT3R0MMOjjZS2NPEYUIqBQUFhFSSxYsXGwwIbFoEwO6lvgUTi3d+CXVaPC/fz88PH3/8sbGqSQghZaYtMqdAP9G4AoKC388+wL0nOXC1lSPqg66wltGlCiHGQH9phFSCo0ePYu7cuYJ0mVdDuAROAQCkH/kFef+d5eU7ODhg9+7d+rtvhBBiinQ9Bbo5BaIK6ClgjOHAtUQsi74JAJjavR4FBIQYEf21EVLBMjIyEBQUBK2WPxZWP7FYIkXOzRNIP/Gb4Niff/4Zjo6ORqopIYS8GMGSpMVMNI7YfxPJWUp8PqD5c87HEPLnZWw6cx8AUNfNBqM61KrYShNCSkRBASEVKDc3F23atEFWVhY/gxPBtd9HkNi5QpVyH8m7l4G/JygwcuRI9O/f33iVJYSQF8Sefn7pewoMTDRWqjX4+sAtMAa81bkOfByL3014/cm72HTmPkQcMKlbPUzuWg9yibgSXwEhpChaw4uQCnLnzh34+vriv//+E+Q5dh0DhW9LaJU5SNn+BVh+Lj/f0RFr1641VlUJIaRcdNf+uoGOYgM7GidlKvU9CndT+EsyF3b2zhN8tvMfAEBIUBPM7tMYDtY0mZgQY6OggJAKkJmZiZ49eyIpKUmQZ9WgExw6DgUApOz9Gsqku7x8juPwv//9D3J58XfRCCHElLAiS5KKxcKgIDFTqf9/XHK2wfMkZuThnV/OQ61leLWlF8a/UqeSakwIeR4KCgipANOnTzfYQyBx8oZr3+kAgIwz25Bz4xgvXyQSITIyEkOHDjVGNQkhpEJoi1mSVFNoTkFixrOllu+mCIOChPQ8vL3uLJIylWjkYYclQ1vSIguEVCGaU0BIOW3bts3g0qOcRA63gSEQyW2Qd/8qUmP4w4NEIhHOnj2LNm3aGKuqhBBSQXRzCgoeiQ3MKXicUainoNDwoYxcFface4Sv999CcpYSjtZSrB7dllYaIqSK0V8gIeWQl5eHiRMnCtJtbGyg8J8EmXsdaLJSkbxjMaDV8MqsWrWKAgJCiFkS9BQYDAqEPQXZKqDftyfwKL0gr7GnHb4f3Ra+LjbGqDYhpAQUFBBSDuvXrzc4j4Br0BW2zXuAaTVI2rEYmqwnvPw33njDYDBBCCHm4Nk+BQX/GppoXHhOwYPUXKg0Wlx6wuFReh5cbeWY3K0uXu/gCysZrTJEiCmgoICQF3Tx4kW89957gnSZV0M49yy44M84sh7K+1d4+fXr10dkZKQxqkgIIZXi2X4ET3sKDEw0LtxToNEyPEzLxaUnBeXG+fli/Ct1jVNZQkip0ERjQl7AiRMn0KFDB+Tl5fHSRVb2cBv4MTiJFNk3jiHt5B+8fDc3N0RHR0MspjtjhBDzVWxPAW+isZJ3zJWHGbiRXlCudzPPyq8kIaRMKCggpIwyMjLQv39/KJX8LzyZXAHXfjMhsXeH6slDpOz5mpfv6+uLa9euoXbt2kasLSGEVDxt0SVJDc0pyCy4aVLXtWC+wLqT96BhHOq6WqO+u60Ra0sIKQ0KCggpoxUrViA5OVmQbtVuCKzqvAStKg9JW8PA8p+ttmFvb48bN27AxcXFmFUlhJBKJSpmorFSrUFajgoA0L6OMwDgwv10AEBgUw9aepQQE0RBASGlpFQqMWXKFHzyySeCPKsGHeHYeSQA4Mm+lVAl8zco+/nnn2lzMkJItaHvKXj6WBcU6NJ1Q4dkYpE+KAAAhZhhYGtv41WUEFJqNNGYkFLQaDQYOnQodu3aJciTuNSEa98ZAICMszuQ/U8ML79NmzYYMGCAMapJCCFGwYosSarrMVBrngYFT4cOudvL0a+VN1JzVHC1lkB55zzqudHyo4SYIgoKCCmFjRs3GgwIOJk13AfNhUhujbx7l5F6aI2gzLx584xRRUIIMZqicwokxfQUeNgrIBWL8HaXOlCpVNhz3/h1JYSUDg0fIqQUvvjiCwOpHFz7fQipiw/UGUlI2v6FYIOynj17on///sapJCGEGIluOrGuh0D0NChQP51ToFuO1N2Ohk0SYi4oKCCkBOnp6ejbty/++ecfQZ5D59dgXb8DmDofSVvDoM1J5+W//PLL2Lp1Ky0/SgipdlgxPQW6icaPM5/1FBBCzAMNHyKkGJmZmejWrRsuXrwoyLOq1w6OXV4HAKT89S3yE27x8ps3b44zZ84YpZ6EEGJsz/Yp4K8+pBs+lJqdDwBwsZEZv3KEkBdCPQWEFGPo0KEGAwKJgwdcX/0QAJBxbheyrxwQlFmzRji3gBDCFxoaCo7jeD+eniVvahUbG4u2bdtCoVCgbt26WL16tZFqSwrTbUegW32o6ETjXFXBUEorGfWUEmIuqKeAEAPmz5+PqKgoQTonkcFt0ByIFLbIe3gNqQd/FJQJCAhAu3btjFFNQsxes2bNsH//fv3jkobbxcXFITg4GBMmTMCGDRtw7NgxTJkyBW5ubhgyZIgxqkueKm74kK6nIDe/IChQSCkoIMRcUFBASBGXL1/GZ599Jkh3cnIC1+ENyDzqQZOTjuTtXwBaNa9Mu3btsGnTJtqYh5BSkkgkz+0d0Fm9ejVq1aqFiIgIAECTJk1w9uxZfPnllxQUGJm26JKkReYU5Km1ACgoIMScUFBASBGGAgIAkDR8BdateoNpNUjesQSazBRe/ttvv43vvvsOMhmNoSWktG7dugVvb2/I5XJ06NABYWFhqFu3rsGyJ06cQGBgIC+td+/eWLNmDVQqFaRSqeAYpVIJpVKpf5yRkQEAUKlUUKlUZaqrrnxZj6uO1OqCGyIcGFQqFdjTldfUGi1UKhVy8wvyZSImaDdqvxdHbVg+lth+ZXmtFBQQUsimTZvwxx9/CNKl7nVh1WUcAEB2Iwp5d/lzDTw9PbFq1SqDFyWEEMM6dOiAn3/+GQ0bNsTjx4+xcOFC+Pn54erVq3BxcRGUT0hIgIeHBy/Nw8MDarUaycnJ8PLyEhwTHh6OBQsWCNKjoqJgbW39QvWOjo5+oeOqkxvpHAAxsjKzsGfPHvyTWvD4SVo69uzZg4QkMQAOly/+DXaP8Y6l9is/asPysaT2y8nJKXVZCgoIeWr9+vUYM2aMIF0kt4HboDngJDLk3D6NpB3fCcqEh4dTQEBIGQUFBen/36JFC3Tq1An16tXDunXrMGPGDIPHFB2a92xsu+EheyEhIbxzZWRkwMfHB4GBgbC3ty9TfVUqFaKjoxEQEGDxf+8O/6bgu3/OwcHeDsHBfrC7nYzvr5+HrW3B45X/HgOys9GlY3v41SsI8Kj9yo/asHwssf10vaOlQUEBIQDOnj2LcePGGcjh4PLqh5A6ekKdloCUXV/h2bY9BRciX331VTHHEkLKwsbGBi1atMCtW7cM5nt6eiIhIYGXlpiYCIlEYrBnAQDkcjnkcuEGWlKp9IUvCspzbHUhEhXMFeBEIkilUiietocWBe2jm1NgayUXtBW1X/lRG5aPJbVfWV4nBQWEAFiyZAm0Wq0g3eWVUbCu375gg7Jt4dAqs/V5NjY2OH36NJo2bWrMqhJSbSmVSly7dg2vvPKKwfxOnTph586dvLSoqCi8/PLLFvMFbyqe7Wj89N+iE41VuonGtPI5IeaC/lqJxYuPjzc4j0BRuw1sOo0AAKRErUL+43/1eWKxGKdOnaKAgJBymDlzJmJjYxEXF4dTp05h6NChyMjIwNixYwEUDP0pPKRv8uTJuHv3LmbMmIFr167hp59+wpo1azBz5syqegkWS1tkSVKxICh4uk8BrT5EiNmgngJi0W7duoW2bdvqxyXriO3d4Nr/I3CcCJkX9iH7Mn9S0rvvvotmzZoZs6qEVDsPHjzAyJEjkZycDDc3N3Ts2BEnT56Er68vgIKA/d69e/ryderUwZ49e/DBBx/g22+/hbe3N7755htajrQqFLOjsYbxgwJakpQQ80FBAbFYd+/eRYcOHZCZmcnPEEvhNjAEYit7KONv4cn+73nZcrkc8+bNM2JNCameNm3aVGJ+ZGSkIK1bt244f/58JdWIlJa+p+DpY/HT4ECjYQXLkj7d2Zh6CggxHzR8iFisoUOHIjU1VZDu3Gsi5F4NocnNQNK2MEDDX+N34cKFxU5qJIQQS8CKbF5WuKdAN8kYoJ4CQswJBQXEIn3wwQc4e/asIN2mRS/YtQ4CY1ok71gKTUYSL//DDz/Ehx9+aKxqEkKISSp+TsGzoUMAIJfQZQYh5oKGDxGLs2TJEkRERAjS5Z714RzwDgAg/ehG5N35m5c/YcIEfPnll8aoIiGEmLRnqw8V6SnQapGbXxAUyCUi/apEhBDTRyE8sSjbt2/H7NmzBekihS1cBnwMkVSOnNunkX58My9fLpdj8eLFxqomIYSYNFZ0TkGh1YeUappkTIg5oqCAWIz8/HxMmDBBkM5xIv0GZarUeKTsXobCG5QBwPjx4+Hk5GSkmhJCiGljRVcfevqvlj3bo4AmGRNiXigoIBYhOjoaderUQVJSkiDPvtNwWNdrB61KiaRtYdDmZfHy27ZtiyVLlhirqoQQYvK0uvsmReYUqLVa5OqXI6VLDELMiUn/xYaHh6Ndu3aws7ODu7s7Bg4ciBs3bvDKMMYQGhoKb29vWFlZwd/fH1evXq2iGhNT9Pvvv6N379549OiRIE9R5yU4dBkFAHgS9S1UiXG8/A4dOuDYsWOwtrY2Sl0JIcQcsKe9qaIiQYFWS3sUEGKuTDooiI2NxdSpU3Hy5ElER0dDrVYjMDAQ2dnZ+jJLlizBsmXLsHLlSpw5cwaenp4ICAgQrj1PLNKTJ0/w5ptvCjYnAwCJgwdc+80s2KDs7z3IvnKQl9+0aVMcO3YMcrncWNUlhBCzoOsp4MCfaKwuNNGYggJCzItJrz60b98+3uO1a9fC3d0d586dQ9euXcEYQ0REBObOnYvBgwcDANatWwcPDw9s3LgRkyZNqopqExMSGRnJCyJ1FLb2cBo0t2CDskc38OTAD7x8KysrbN26FWIxfakRQkhRuhstoqe3FkWF5xQ83aeAhg8RYl5MOigoKj09HQDg7OwMAIiLi0NCQgICAwP1ZeRyObp164bjx48XGxQolUoolUr944yMDACASqWCSqUyeIwhurJlOYbwVXYb/vjjjwbTbf0nQuZRF5rs1KcblKn1eSKRCHv27EGdOnVM/ndL78Hys8Q2tKTXSioHK9JTICm09GiOsuDzlCYaE2JezCYoYIxhxowZ6NKlC5o3bw4ASEhIAAB4eHjwynp4eODu3bvFnis8PBwLFiwQpEdFRb3Q2PHo6OgyH0P4KqMNjxw5gmvXrgnS7V7uD5tm/mBaDZK2L4YmM4WXP2PGDKSnp2PPnj0VXqfKQu/B8rOkNszJyanqKhAzp5tToNu8rPB+BFlPgwIaPkSIeTGboODdd9/FpUuXcPToUUGebpt1HcaYIK2wkJAQzJgxQ/84IyMDPj4+CAwMhL29fanrpFKpEB0djYCAAEil0lIfR56prDZMT0/HqFGjBOnyms3g1P1tAEDqwR+hvH+Fl+/n54ewsLAKq0dlo/dg+VliG+p6Rwl5UdqCEUL679rCPQXZyoI5BdRTQIh5MYugYNq0adixYwcOHz6MmjVr6tM9PT0BFPQYeHl56dMTExMFvQeFyeVyg5NHpVLpC10UvOhx5JmKbMO///4bXbt2FdwNFdk4wnXAbHAiMXKuxSLz3E7BsYsXLzbL3yW9B8vPktrQUl4nqTzPdjQu+FdcOCjIL+gpkFNQQIhZMelZQIwxvPvuu/jzzz9x8OBB1KlTh5dfp04deHp68rr98/PzERsbCz8/P2NXl5iAb7/9Fm3btkVWFn+vAXAiuPWbBYmtM/KT7iJ57zeCYz/++GN06dLFSDUlhBDzpS2yo7GIEw4fop4CQsyLSfcUTJ06FRs3bsT27dthZ2enn0Pg4OAAKysrcByH6dOnIywsDA0aNECDBg0QFhYGa2trg0NHSPW2YMEChIaGGsxzfOUNKHxbQqvMQdK2MDDVs4nmMpkMK1euxPjx441UU0IIMXNFdjTmDx/SzSkw6fuOhJAiTDooWLVqFQDA39+fl7527VqMGzcOADBr1izk5uZiypQpSE1NRYcOHRAVFQU7Ozsj15ZUpW3bthUbEFjVaw+HTsMBACn7VkD95CEvPyIiAhMmTKjsKhJCSLWh7ykwMNFYN6eAJhoTYl5MOigwtOFUURzHITQ0tNgLQmIZPvnkE4PpEgcPuLxaMKk84+wO5Fw/wst3cnLC6NGjK71+hBBSnei+nQsv6iEWcdBomb6ngIYPEWJeqG+PmL01a9bg6tWrwgyxFK4DQyBW2EL56DpSD/3Ey+Y4Dr/99htsbW2NVFNCCKkeis4pAJ5NNtZNNKbhQ4SYF/qLJWYtKSkJ06ZNM5jn3HMC5J71oclJR9K2xYBWzcufMmUKevXqZYxqEkJItcKKzCkAAPHT/9M+BYSYJwoKiFlbvnw5cnNzBek2Tf1h1yYYjGmRvOsraDKTePlt2rTB4sWLjVVNQgipVliROQXAs8nGOTSngBCzREEBMVsXLlzA0qVLBelSV184934XAJB+fBPy4s7z8lu3bo2DBw/CxsbGKPUkhJDq5tk+Bc+iAt1kY5pTQIh5oqCAmKWjR4+iffv2UKv5Q4I4mRXcBn4MkUyB3LjzSD+2iZc/efJknD9/Ho6OjkasLSGEVC9a7dOwoFBPgW5OQVY+DR8ixBxRUEDMzv379xEcHAyVSiXIc+kzDVIXH6gzk5G880uAafV5X331FVatWsVbLYMQQkjZGeop0AUFuvkGNNGYEPNCf7HE7ISFhSEzM1OQ7txhEGyadAXTqJG07QtoczP0eS1btsSMGTOMWU1CCKm2DHQU6Cca61BPASHmhYICYlZu3bqF77//XpCu8G0F267jAACph35C/qPrvHyaVEyI6QkPD0e7du1gZ2cHd3d3DBw4EDdu3CjxmJiYGHAcJ/i5fv16iceRiqWbaCwyMHxIh4ICQswLBQXEbFy7dg0tWrQQbGonca4B14Eh4ERiZF09hMxzO3j5wcHB6NOnjzGrSggphdjYWEydOhUnT55EdHQ01Go1AgMDkZ2d/dxjb9y4gfj4eP1PgwYNjFBjoqP7GC66eVlhVjIKCggxJya9ozEhOnfv3kXHjh2hVCp56SKFLdyHfFqwQdnDa0jZ+43g2GXLlhmrmoSQMti3bx/v8dq1a+Hu7o5z586ha9euJR7r7u5OCwZUIQbhkqSCngIJ3XckxJxQUEBMXmxsLPr374+MjAx+hkgMt4EhkDrXgDr9MRL/XAho+JOP3377bTRq1MiItSWEvKj09HQAgLOz83PLtmnTBnl5eWjatCk++eQTdO/e3WA5pVLJu5mg+xxRqVQGFysoia58WY+rjlTqgr0IGGP69igSE0DCaXltRe1XftSG5WOJ7VeW10pBATFZWq0W77//PlauXGkw3zlgMhS+raBV5iDxj8+gzUnn5QcEBOC7774zRlUJIeXEGMOMGTPQpUsXNG/evNhyXl5e+OGHH9C2bVsolUqsX78ePXv2RExMjMHehfDwcCxYsECQHhUVBWtr6xeqa3R09AsdV51cf8gBEOPRgwfYs+ceACAnW4zCU48PRkcJAgWA2q8iUBuWjyW1X05OTqnLUlBATNYXX3xRbEBg17Y/7FoHFexYvHMpVMl3efk9e/ZEVFSUMapJCKkA7777Li5duoSjR4+WWK5Ro0a83r9OnTrh/v37+PLLLw0GBSEhIbyVxzIyMuDj44PAwEDY29uXqY4qlQrR0dEICAiAVCot07HVzb3Y/4B7t+Hj44Pg4GYAgOOqq9h89iEAQCYR4dW+wbxjqP3Kj9qwfCyx/QSjLEpAQQExSdnZ2ViyZInBPEXdtnDq8TaAgpWGcv89w89XKPDnn39Weh0JIRVj2rRp2LFjBw4fPoyaNWuW+fiOHTtiw4YNBvPkcjnkcrkgXSqVvvBFQXmOrS5E4oJJxBKxSN8W7/ZoqA8K8tXaYtuI2q/8qA3Lx5Laryyvk2YBEZP022+/6ccXFyZ19YVb/9ngRGJkXvwLmWe2CcrMnDmzzHcACSHGxxjDu+++iz///BMHDx5EnTp1Xug8f//9N7y8vCq4dqQkuh2NC0809nG2Rvs6z58PQggxTdRTQExOamoqPvzwQ0G6yMoe7kPmQSS3Rt69y3gStUpQpl+/fggNDTVCLQkh5TV16lRs3LgR27dvh52dHRISEgAADg4OsLKyAlAw/Ofhw4f4+eefAQARERGoXbs2mjVrhvz8fGzYsAFbtmzBli1bqux1WCLdwtBFd4hfObINXv/xFDrXdzV+pQgh5UJBATEpiYmJaNOmDVJTU/kZnAhuA0MgcfSE6skjJG0NA7RqXpHg4GBs375d8CVFCDFNq1YVBPb+/v689LVr12LcuHEAgPj4eNy7d0+fl5+fj5kzZ+Lhw4ewsrJCs2bNsHv3bgQH88evk8qlfbpRQdFPW3d7BaJndDN+hQgh5UZBATEZjDG8+uqrePTokSDPodNwKGq1gFaZjcQtn0Gbl8nLb926NXbu3EkBASFmpOhGhIZERkbyHs+aNQuzZs2qpBqR0nq2eVnV1oMQUnFoTgExGbNmzcKZM2cE6TLvxnDoPBIA8CRqFdRPHvDyvby8sGvXLohE9HYmhBBj0AV0IooKCKk26CqKmIRdu3bhyy+/5KVxHAexnQvcBs0BJxIj+58YZP8TwyvTunVrHDt2DDVq1DBibQkhxLLp5xRUaS0IIRWJhg+RKpeVlYUpU6YIMyQyeA1bALGtM/IT45Dy17e87Nq1a+Pvv/82Ui0JIYTo6OcUUE8BIdUG9RSQKqXRaDB37lwDm2twcO37IcRutaHJSUfils/B8nN5JWbPnm28ihJCCNGjOQWEVD8UFJAqwxjDkCFDcPfuXUGe4ytvwLqRH5hahaQ/F0KTkcjL79ChA958801jVZUQQkghT7cpoDkFhFQjNHyIVInk5GT4+/vj6tWrgjybpv5w8BsBAEjZtwLKh9d4+fXr10dUVJTBXUoJIYRUPgbDS5ISQswXBQXE6DIzM4sNCOQ1m8El6H0AQPqJ35F99SAv39fXF5cvX4ZCoTBKXQkhhAjphg+JRBQWEFJd0PAhYnRffPGFwYBA6l4X7kM/BSeRIufmCaQd/pmXL5PJcPz4cQoICCGkirFiNi8jhJgvCgqIUcXFxWHx4sWCdImTNzyGL4BIboO8e5eRvHMpni16V+CPP/6At7e3kWpKCCGkOFr9RGMKCwipLigoIEaRnp6Or776Ck2aNIFGo+Hlie1c4DHic4htnKBMuI2kPxeCqfN5ZcaPH49+/foZs8qEEEKKQasPEVL90JwCUukuX76MPn364NGjR4I8TiKH2+B5kDh4QJXyAIm/z4dWmc0r07BhQ0RERBiptoQQQp5Hq9/RuIorQgipMBQUkEr15MkT9OzZE0lJSQbzXYLeg9yzPjTZaQUBQU46L9/Ozg6nTp2CjY2NMapLCCGkDDiaVUBItUFBAak0Wq0WAwYMKCYg4ODceypsmnYD06iRtC0c6vTHvBIymQzR0dFwdHQ0Sn0JIYSUDvUUEFL9UFBAKs1nn32Go0ePCtLFNk5wDpwC64adwLQapOz9GsoH/NWIbG1tERMTg7Zt2xqruoQQQkpJN6eAJhUQUn1QUEAqxZMnTwyuMiTzbgyPYaEQKWzBNGok716GnGuHeWWkUinu3r0LZ2dnY1WXEEJIGVBPASHVD60+RCoUYwxRUVFo27Yt8vLyeHmczBpu/T+CSGELZfwtJKz/UBAQAEBISAgFBIQQYsL0HQU0p4CQaoN6CkiFYIzh559/xgcffIDU1FSDZZwDJhesMpQaj8eb5oDl5wrKtG7dGvPmzavs6hJCCCkHRj0FhFQ7FBSQcktKSkJwcDDOnj1bbBnrxl1g27xHwRyC3V8ZDAisrKxw4MABSCT0tiSEEFNG+xQQUv3Q1Rcpl9zcXAQGBuLChQvFlpE4esE5cCoAIP3k71A+vC4oI5PJ8Mcff9CwIUIIMQO6OQW0ozEh1QcFBeSFMMZw6tQphIWFGQwIRFb2sG3RE1YN/aCo0QQAoIy/ifRjvwrKtmrVCitXrkSXLl0qu9qEEEIqAPUUEFL9UFBAnosxBsYY8vPzcfDgQezduxdbt27Fw4cPDR/AieAxKhwyV199Ut79q0jZvQzQanhF9+7dC6VSiQ4dOlTmSyCEEFKBtE+DAhFFBYRUGxQUkGIdOnQI33zzDfbt24e8vDyIRCJotdrnHmfTrDtkrr7Q5KQj+9TvyPjnCDRZKYJyw4YNQ8+ePbFnz57KqD4hhJBKwp6uP0QhASHVBwUF5XDv3j38+uuv+P7775GSkgIPDw+0bdsWAQEBaNmyJWxtbct0vqysLFy6dAmZmZmwsbFB/fr14eHhUeKYzb///hvHjx+HSqUCAMTHxyM7Oxs1a9bEqFGj4O7ujg0bNuCnn37CzZs3YWVlha5du2LQoEFo1qwZ3N3dcf/+fRw/fhyJiYlISEiAp6cn/vrrL5w8eZL3XKUJCMCJ4OA3AgCQceoPZJzeVmzROXPmPP98hBBCTA6jngJCqh0KCl4AYwzz5s1DWFiYflk2nZ07dyI0NBQcx8HNzQ2NGjVC8+bN8corryAmJgY7duxASkqK/iJeJBKB4zhotVrBuQrnF/6/VCoFAOTk5Bg8RickJAQcxwnKbNy4ERs3bixXGxTHpnlPSJ28oclOQ+bfxfcAfPnll2jdurW+HQghhJgPjVY30biKK0IIqTC0eVkZMcYwcuRILFq0qMQLcsYYEhMTceTIEaxatQqjRo3CDz/8gISEBN6FsFarhUajKfZcunyNRgOVSoX8/HxkZ2cjOzu7xOcvXA9j4aRyOL7yBgAg/dQWMJVSUMbe3h6//vorPvzwQ6PVixBiur777jvUqVMHCoUCbdu2xZEjR0osHxsbi7Zt20KhUKBu3bpYvXq1kWpKbidm4ttDt9F/5VHsuPgIACChjQoIqTaqTU/Bd999h6VLlyI+Ph7NmjVDREQEXnnllQp9DsYYJk6ciM2bN1foeasL+/aDIbFzgTotAZnnd/LyHBwcMHXqVCxYsID2ISCEAAA2b96M6dOn47vvvkPnzp3x/fffIygoCP/88w9q1aolKB8XF4fg4GBMmDABGzZswLFjxzBlyhS4ublhyJAhVfAKqqc8lQZJmUrce5KDk/+l4ObjTNx8nIW45Gx9GY4DOtRxRmAzzyqsKSGkIlWLq7OyfrG8qMjISPz4448Vdj5zJLKyh8TRU/8jdfSExMETEpeakNgW7DGQGrsO0KgBAGKxGMeOHUP79u1pPWtCCM+yZcvw9ttvY/z48QCAiIgI/PXXX1i1ahXCw8MF5VevXo1atWohIiICANCkSRP8v727D4rivv8A/t7be4DjSRF5Up5+CjGJxCQwMWANtjWg0zEZqMbGVDBtqY5NUqWO1TAdtdMmTdskI5M0qY1Rk3FCOp0001TahP4MRCXJEBKLRcoPGhBjoCfnAwcHx93t9/fHyekF5OEOvDv3/ZphvPve7u1nP+599j63d7uffPIJfvvb397QpmDQ7kSLyQqTZRA2u4KFc6KQFG306TkVRUAzgU/dhRC40D+EMIMWihBoM/UhNiIE8VEhHtNdttrRYe6H3anA7hRwKAocToEhp+vf/iEH+gYd6LM54HAqUARg7h/Cv7t70fjFZffXg66lkyUsmR+DgtvjsfzWOMyOMPi0zkQUWG6KpmCyOxZvCCHwm9/8xmNM0hmgi54LXUwyNMYZ0OgMkPShAABlsA/KgAXKoAXKYB+cAxYI25VPWWQtJI0W0MiQhm/LMiRZB0kjAxoZgOR6Ey1JgKQBJAmSpHHd1miu3HY9Jmnka25rIISAYr0MxT7ojlWjNUBjjISkNVxZhgaSJLtjcD+PRr76r1YHjT4UckQM5LCZ0OiNkLS66+dIcaK/6Sis/756+L+iooKnGyWiEYaGhtDQ0IAdO3Z4jOfn56Ourm7UeT788EPk5+d7jBUUFGD//v2w2+3u31tdy2azwWa7+lXG3t5eAIDdbp/Ub5pOnr2EV46347PPZWz96H/x1ffMc2eEIHmWEYtTo/FQ9hzEhI98w9w7YEf/kBM2hxP/Od+Pk2cvo77jIj7v6celATuijXqE6jSwKwIOp3BfIGxWmB6xEQb02Rw4c8GKywOOEc+dOsuIEJ0MIQQG7QrOXLBOeN1Go9dqEBuuR1bKTGTOiUTKLCOykmcgIuRqjif7m7Dh6flbMu8xh75RY/4ms65B3xR4s2PxZifR3NyM5uZmj7G4dc/AED/fl/CDksPSA8elbo8/+6Uu2E0dEI6red2zZw9KS0vH3CDV+AKdSsyf79SYw0BY156eHjidTsTFxXmMx8XFobu7e9R5uru7R53e4XCgp6cHCQkJI+Z5+umnsWfPnhHj7733HozGiX+633JJwrvNrg9sACBMKxB95X3/uX7gi0uD+OLSIOr+cwEVR1tx5yyB1HAB06CEbivw3wEJvfaxjwSY+4dGHb9otaPtfP+oj4VrBfodQId5ZBMQpRPQaQBZA8iS559BFgiRAYMMaK+EFaYDZoUIzI8UmKkHJGkIQB9wEbBeBI61TShV46qurp6aJ1Ix5tA3asqf1TrxDwiCvinwZsfizU7iqw0BANjNZ6GNiIG9pxOOPjPE0CAU+wAAQA4JhyYkAprQCNe/IeHQhIS7zuOmOCCcDgjFCTjtEIoTQnEATgeE0wkhnIBQ4DoNtAAUBUIoV8aunKVIGb59ZVxRACEghAJJo4HGGAVJq3cFKgDhdEAZuAxhH3QtV3FCKIprudfcd/3rBITTNc/QAJx9F+C0mKHYrHBaLwHOsd9QREVFoby8HBkZGRO+BoGaXqDTgfnznZpyOJmdxHT76tcKhRBjftVwtOlHGx+2c+dOlJWVue/39vYiKSkJ+fn5iIyMnHCcuVY7jHM60Xfu//DwiqVImBnmXqZl0I7TXRZ83tOPtz77EifPXkZDj4SGnpHPo5MlyBoJqdFG3JoQgcVp0bgtIRLRYTqY+4dgdwpoNa5pZEmCgMB/LTaY+4YQEaJFQlQI5s0Oh83uhEMRiA7T46J1CE1fWiAgoJFc882PDRv1aIU/2e12VFdX4/777x/1qA6Njzn0jRrzN/zB90QEfVMwbDI7Fm92EhkZGdi5cycAQKvVwuFwwFy1F1BGHsZVq6ysLGzbtg0PPPDAhF9sanyBTiXmz3dqzOFkdhLTJSYmBrIsj/jwxmQyjfiQZ1h8fPyo02u1WsyaNWvUeQwGAwyGkW+OdTrdpP6/Z0fpsDFvHqqqWpAYHe4xb7ROh69FGPG1DKA493/Q+MUlHP6oE+Z+G+bFhiM9NgLpseGYFxuOcMP1d7tzR18F3D7KWHjo1duxUTrERoVNeF38bbK5p5GYQ9+oKX+TWc+gbwq82bF4s5NYsGABsrKy0NDQAIfD4Tr/PxsCAMDixYvx7LPPYsmSJV4/h5peoNOB+fOdmnIYCOup1+uRlZWF6upqFBYWuserq6vx4IMPjjpPTk4O3nnH88xm7733HrKzswNinYbdMXcG7lg9w99hEBFNStBfp+DaHcu1qqurkZubO2XLkSTJ4wq8QghoNEGfPq+kpqaipKQEhw4dQmNjIz766COfGgIiUqeysjK88sorePXVV9Hc3IytW7eis7MTmzZtAuA6qltcXOyeftOmTThz5gzKysrQ3NyMV199Ffv378e2bdv8tQpERDeNoD9SALh2LOvXr0d2djZycnKwb98+jx3LVCkqKsLTTz/t/hqRoihT+vz+JMsyDAYDdDodnE4nrFYrJElCWloaVq1ahSeffBJ2ux1arRYxMTE8vSgR+Wzt2rUwm834+c9/jq6uLixcuBBVVVVISUkBAHR1daGzs9M9fVpaGqqqqrB161a8+OKLSExMREVFBa9RQEQ0BW6KpmC8HctU2rFjB/Ly8rB3715UVVWhr68PycnJ2LBhAzZv3ozz58/j4MGDaGxsREtLC86fPz/iR33Z2dkoLS1Fbm4uWlpa0NnZCaPRiPT0dCxZsgQGgwEmkwnvvPMOenp6oNFoMH/+fBgMBrS3t6OxsREmkwkRERG48847UVhYiH/84x9oaGjAiRMn0NzcDKfTCcD1Zj8nJwe//OUvce+998LpdMJisWDGjBmQZRl9fX0wGo0BdeidiNRj8+bN2Lx586iPHTx4cMRYXl4ePv3002mOiohIfW6KpgAYe8cy1XJycpCTkwO73Y4jR47gW9/6lvtNdWxsrMf1DIQQsFgssNlscDgciIyMRFjY1R+ELVy4cNRlxMbG4vvf//6EYyotLUVpaSkA4Pz582hqaoJGo0FmZiZmzpzpMW1o6NVfqEVFRU14GURERER0c7ppmgJ/Ge9rNJIkTeq0d1Nh9uzZWLZs2Q1dJhEREREFL3X+UpaIiIiIiNzYFBARERERqRybAiIiIiIilWNTQERERESkcmwKiIiIiIhUjk0BEREREZHK8ZSkcF1LAAB6e3snNZ/dbofVakVvby8v/uUl5tA3zJ/v1JjD4Vo3XPvUxNt6D6hzW5lKzJ/vmEPfqDF/k6n3bAoAWCwWAEBSUpKfIyEiunEsFovqLmDIek9EajSRei8JNX5U9BWKouDLL79ERETEuBcju1Zvby+SkpJw9uzZG36BspsFc+gb5s93aszh8JXWExMTodGo61uk3tZ7QJ3bylRi/nzHHPpGjfmbTL3nkQIAGo0Gc+fO9Xr+yMhI1Wxc04U59A3z5zu15VBtRwiG+VrvAfVtK1ON+fMdc+gbteVvovVeXR8RERERERHRCGwKiIiIiIhUjk2BDwwGA3bt2gWDweDvUIIWc+gb5s93zCFNFLcV3zB/vmMOfcP8jY0/NCYiIiIiUjkeKSAiIiIiUjk2BUREREREKsemgIiIiIhI5dgUEBERERGpHJsCH/zud79DWloaQkJCkJWVhWPHjvk7pKCwe/duSJLk8RcfH+/vsALaBx98gFWrViExMRGSJOHtt9/2eFwIgd27dyMxMRGhoaFYtmwZmpqa/BNsgBovhxs2bBixXd57773+CZYCDuu991jzJ4f13nes995hU+ClN998E1u2bEF5eTk+++wzLF26FCtXrkRnZ6e/QwsKt99+O7q6utx/p06d8ndIAa2/vx+LFi3CCy+8MOrjv/71r/Hcc8/hhRdeQH19PeLj43H//ffDYrHc4EgD13g5BIAVK1Z4bJdVVVU3MEIKVKz3vmPNnzjWe9+x3ntJkFfuuecesWnTJo+xBQsWiB07dvgpouCxa9cusWjRIn+HEbQAiD//+c/u+4qiiPj4ePGrX/3KPTY4OCiioqLEyy+/7IcIA99XcyiEECUlJeLBBx/0SzwU2FjvfcOa7z3We9+x3k8cjxR4YWhoCA0NDcjPz/cYz8/PR11dnZ+iCi6tra1ITExEWloavvOd7+Dzzz/3d0hBq729Hd3d3R7bo8FgQF5eHrfHSaqpqUFsbCwyMjJQWloKk8nk75DIz1jvpwZr/tRgvZ86rPcjsSnwQk9PD5xOJ+Li4jzG4+Li0N3d7aeogsfixYvx2muv4d1338Uf/vAHdHd3Izc3F2az2d+hBaXhbY7bo29WrlyJw4cP4+jRo3j22WdRX1+Pb3zjG7DZbP4OjfyI9d53rPlTh/V+arDej07r7wCCmSRJHveFECPGaKSVK1e6b2dmZiInJwfz5s3DoUOHUFZW5sfIghu3R9+sXbvWfXvhwoXIzs5GSkoKjhw5gqKiIj9GRoGAry/vseZPPW6PvmG9Hx2PFHghJiYGsiyP6MpNJtOI7p3GFxYWhszMTLS2tvo7lKA0fBYPbo9TKyEhASkpKdwuVY71fuqx5nuP9X56sN67sCnwgl6vR1ZWFqqrqz3Gq6urkZub66eogpfNZkNzczMSEhL8HUpQSktLQ3x8vMf2ODQ0hNraWm6PPjCbzTh79iy3S5VjvZ96rPneY72fHqz3Lvz6kJfKysqwfv16ZGdnIycnB/v27UNnZyc2bdrk79AC3rZt27Bq1SokJyfDZDLhF7/4BXp7e1FSUuLv0AJWX18f2tra3Pfb29tx8uRJREdHIzk5GVu2bMFTTz2F9PR0pKen46mnnoLRaMS6dev8GHVgGSuH0dHR2L17N7797W8jISEBHR0dePLJJxETE4PCwkI/Rk2BgPXeN6z5k8N67zvWey/59+RHwe3FF18UKSkpQq/Xi7vvvlvU1tb6O6SgsHbtWpGQkCB0Op1ITEwURUVFoqmpyd9hBbT3339fABjxV1JSIoRwnaZu165dIj4+XhgMBnHfffeJU6dO+TfoADNWDq1Wq8jPzxezZ88WOp1OJCcni5KSEtHZ2envsClAsN57jzV/cljvfcd67x1JCCFubBtCRERERESBhL8pICIiIiJSOTYFREREREQqx6aAiIiIiEjl2BQQEREREakcmwIiIiIiIpVjU0BEREREpHJsCoiIiIiIVI5NARERERGRyrEpILqipqYGkiTh0qVLfln+0aNHsWDBAiiKMu3LOnXqFObOnYv+/v5pXxYRUSBizSfyxKaAVGnZsmXYsmWLx1hubi66uroQFRXll5i2b9+O8vJyaDTT/7LMzMzEPffcg+eff37al0VE5G+s+az5ND42BURX6PV6xMfHQ5KkG77suro6tLa2Ys2aNTdsmY8++iheeuklOJ3OG7ZMIqJAwZpP5IlNAanOhg0bUFtbi71790KSJEiShI6OjhGHkg8ePIgZM2bgr3/9K2655RYYjUasXr0a/f39OHToEFJTUzFz5kw8/vjjHkV2aGgI27dvx5w5cxAWFobFixejpqZmzJgqKyuRn5+PkJAQ99g///lPfP3rX0dERAQiIyORlZWFTz75xP14XV0d7rvvPoSGhiIpKQlPPPGEx6Fhm82G7du3IykpCQaDAenp6di/f7/78YKCApjNZtTW1vqYUSKiwMWa78KaT+NhU0Cqs3fvXuTk5KC0tBRdXV3o6upCUlLSqNNarVZUVFSgsrISf//731FTU4OioiJUVVWhqqoKr7/+Ovbt24c//elP7nkeffRRnDhxApWVlWhsbMSaNWuwYsUKtLa2XjemDz74ANnZ2R5jjzzyCObOnYv6+no0NDRgx44d0Ol0AFzfDy0oKEBRUREaGxvx5ptv4vjx43jsscfc8xcXF6OyshIVFRVobm7Gyy+/jPDwcPfjer0eixYtwrFjx7zKIxFRMGDNd2HNp3EJIhXKy8sTP/7xjz3G3n//fQFAXLx4UQghxIEDBwQA0dbW5p5m48aNwmg0CovF4h4rKCgQGzduFEII0dbWJiRJEufOnfN47m9+85ti586d140nKipKvPbaax5jERER4uDBg6NOv379evHDH/7QY+zYsWNCo9GIgYEB0dLSIgCI6urq6y5TCCEKCwvFhg0bxpyGiCjYsea7sObTWLT+bEiIAp3RaMS8efPc9+Pi4pCamurx6UtcXBxMJhMA4NNPP4UQAhkZGR7PY7PZMGvWrOsuZ2BgwOMwMgCUlZXhBz/4AV5//XUsX74ca9asccfS0NCAtrY2HD582D29EAKKoqC9vR2nTp2CLMvIy8sbc/1CQ0NhtVrHyQIRkTqw5pOasSkgGsPwodthkiSNOjZ8SjlFUSDLMhoaGiDLssd01+5UviomJgYXL170GNu9ezfWrVuHI0eO4G9/+xt27dqFyspKFBYWQlEUbNy4EU888cSI50pOTkZbW9uE1u/ChQseO0AiIjVjzSc1Y1NAqqTX66flDAx33XUXnE4nTCYTli5dOqn5Tp8+PWI8IyMDGRkZ2Lp1Kx5++GEcOHAAhYWFuPvuu9HU1IT58+eP+nyZmZlQFAW1tbVYvnz5dZf7r3/9C6tXr55wnEREwYg134U1n8bCHxqTKqWmpuLjjz9GR0cHenp6puziMRkZGXjkkUdQXFyMt956C+3t7aivr8czzzyDqqqq685XUFCA48ePu+8PDAzgscceQ01NDc6cOYMTJ06gvr4et956KwDgpz/9KT788EP86Ec/wsmTJ9Ha2oq//OUvePzxx93rV1JSgu9973t4++230d7ejpqaGvzxj390L6OjowPnzp0bcwdCRHQzYM1nzafxsSkgVdq2bRtkWcZtt92G2bNno7Ozc8qe+8CBAyguLsZPfvIT3HLLLXjggQfw8ccfX/dsFwDw3e9+F6dPn0ZLSwsAQJZlmM1mFBcXIyMjAw899BBWrlyJPXv2AADuuOMO1NbWorW1FUuXLsVdd92Fn/3sZ0hISHA/50svvYTVq1dj8+bNWLBgAUpLSz1OX/fGG28gPz8fKSkpU7buRESBiDWfNZ/GJwkhhL+DICLX1S0vX76M3//+99O+LJvNhvT0dLzxxhtYsmTJtC+PiIg8seZToOGRAqIAUV5ejpSUlBtytckzZ86gvLycOwciIj9hzadAwyMFREREREQqxyMFREREREQqx6aAiIiIiEjl2BQQEREREakcmwIiIiIiIpVjU0BEREREpHJsCoiIiIiIVI5NARERERGRyrEpICIiIiJSOTYFREREREQq9/+E4YchDcIdkQAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "zarchan_adaptive_filter(1, 2, Q_title=True)\n", "zarchan_adaptive_filter(10, 2, Q_title=True)\n", "zarchan_adaptive_filter(100, 2, Q_title=True)\n", "zarchan_adaptive_filter(1000, 2, Q_title=True)\n", "zarchan_adaptive_filter(10000, 2, Q_title=True)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here we can see that the position estimate gets marginally better as the increment factor increases, but that the velocity estimate starts to create a large overshoot. \n", "\n", "It isn't possible for me to tell you which of these is 'correct'. You will need to test your filter's performance against real and simulated data, and choose the design that best matches the performance you need for each of the state variables." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Fading Memory Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Fading memory filters are not normally classified as an adaptive filter since they do not adapt to the input, but they do provide good performance with maneuvering targets. They also have the benefit of having a very simple computational form for first, second, and third order kinematic filters (e.g. the filters we are using in this chapter). This simple form does not require the Ricatti equations to compute the gain of the Kalman filter, which drastically reduces the amount of computation. However, there is also a form that works with the standard Kalman filter. I will focus on the latter in this chapter since our focus is more on adaptive filters. Both forms of the fading memory filter are implemented in `FilterPy`.\n", "\n", "The Kalman filter is recursive, but it incorporates all of the previous measurements into the current computation of the filter gain. If the target behavior is consistent with the process model than this allows the Kalman filter to find the optimal estimate for every measurement. Consider a ball in flight - we can clearly estimate the position of the ball at time t better if we take into account all the previous measurement. If we only used some of the measurements we would be less certain about the current position, and thus more influenced by the noise in the measurement. If this is still not clear, consider the worst case. Suppose we forget all but the last measurement and estimates. We would then have no confidence in the position and trajectory of the ball, and would have little choice but to weight the current measurement heavily. If the measurement is noisy, the estimate is noisy. We see this effect every time a Kalman filter is initialized. The early estimates are noisy, but then they settle down as more measurements are acquired.\n", "\n", "However, if the target is maneuvering it is not always behaving like the process model predicts. In this case remembering all of the past measurements and estimates is a liability. We can see this in all of the charts above. The target initiates a turn, and the Kalman filter continues to project movement in a straight line. This is because the filter has built a history of the target's movement, and incorrectly 'feels' confident that the target is moving in a straight line at a given heading and velocity. \n", "\n", "The fading memory filter accounts for this problem by giving less weight to older measurements, and greater weight to the more recent measurements. \n", "\n", "There are many formulations for the fading memory filter; I use the one provided by Dan Simon in *Optimal State Estimation* [3]. I will not go through his derivation, but only provide the results.\n", "\n", "The Kalman filter equation for the covariances of the estimation error is\n", "\n", "$$ \\bar{\\mathbf P} = \\mathbf{FPF}^\\mathsf T + \\mathbf Q $$\n", "\n", "We can force the filter to forget past measurements by multiplying a term $\\alpha$\n", "\n", "$$ \\tilde{\\mathbf P} = \\alpha^2\\mathbf{FPF}^\\mathsf T + \\mathbf Q$$\n", "\n", "where $\\alpha > 1.0$. If $\\alpha == 1$ then we get the normal Kalman filter performance. $\\alpha$ is an attribute of the `KalmanFilter` class; its value defaults to 1 so the filter acts like a Kalman filter unless $\\alpha$ is assigned a value other than 1. There is no hard and fast rule for choosing $\\alpha$, but it is typically very close to 1, such as 1.01. You will need to make many runs with either simulated or real data to determine a value that responds to maneuvers without causing the estimate to become too noisy due to overly weighting the noisy measurement.\n", "\n", "Why does this work? If we increase the estimate error covariance the filter becomes more uncertain about it's estimate, hence it gives more weight to the measurement. \n", "\n", "One caveat - if we use $\\alpha$ than we are computing $\\tilde{\\mathbf P}$, not $\\bar{\\mathbf P}$. In other words, `KalmanFilter.P` *is not* equal to the covariance of the prior, so do not treat it as if it is.\n", "\n", "Let's filter our data using the fading memory filter and see the result. I will inject a lot of error into the system so that we can compare various approaches." ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "pos2, zs2 = generate_data(70, std=1.2)\n", "xs2 = pos2[:, 0]\n", "z_xs2 = zs2[:, 0]\n", "\n", "cvfilter = make_cv_filter(dt, std=1.2)\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.00\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(221)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Standard Kalman Filter')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=20.)\n", "cvfilter.alpha = 1.00\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", " \n", "xs = np.asarray(xs)\n", "\n", "plt.subplot(222)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('$\\mathbf{Q}=20$')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.02\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(223)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Fading Memory ($\\\\alpha$ = 1.02)')\n", "\n", "cvfilter.x.fill(0.)\n", "cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n", "cvfilter.alpha = 1.05\n", "\n", "xs, res = [], []\n", "for z in z_xs2:\n", " cvfilter.predict()\n", " cvfilter.update([z])\n", " xs.append(cvfilter.x[0])\n", " res.append(cvfilter.y[0])\n", "xs = np.asarray(xs)\n", "plt.subplot(224)\n", "bp.plot_measurements(z_xs2, dt=dt, label='z')\n", "plt.plot(t[0:100], xs, label='filter')\n", "plt.legend(loc=2)\n", "plt.title('Fading Memory ($\\\\alpha$ = 1.05)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The first plot shows the performance of the Kalman filter. The filter diverges when the maneuver starts and does not reacquire the signal until about 10 seconds. I then made the filter track the maneuver very quickly by making the process noise large, but this has the cost of making the filter estimate very noisy due to unduly weighting the noisy measurements. I then implemented a fading memory filter with $\\alpha=1.02$. The filtered estimate is very smooth, but it does take a few seconds to converge when the target regains steady state behavior. However, the time to do so is considerably smaller than for the Kalman filter, and the amount of lag is much smaller - the estimate for the fading memory is much closer to the actual track than the Kalman filter's track is. Finally, I bumped up $\\alpha$ to 1.05. Here we can see that the filter responds almost instantly to the maneuver, but that the estimate is not as straight during the steady state operation because the filter is forgetting the past measurements. \n", "\n", "This is quite good performance for such a small change in code! Note that there is no 'correct' choice here. You will need to design your filter based on your needs and the characteristics of the measurement noise, process noise, and maneuvering behavior of the target." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Multiple Model Estimation" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The example I have been using in this chapter entails a target moving in a steady state, performing a maneuver, and then returning to a steady state. We have been thinking of this as two models - a constant velocity model, and a constant acceleration model. Whenever you can describe the system as obeying one of a finite set of models you can use *Multiple Model (MM) Estimation*. We use a bank of multiple filters, each using a different process to describe the system, and either switch between them or blend them based on the dynamics of the tracked object. \n", "\n", "As you might imagine this is a broad topic, and there are many ways of designing and implementing MM estimators. But consider a simple approach for the target we have been tracking in this chapter. One idea would be to simultaneously run a constant velocity and a constant acceleration filter, and to switch between their outputs when we detect a maneuver by inspecting the residuals. Even this choice gives us many options. Consider the dynamics of a turning object. For example, an automobile turns on a wheelbase - the front wheels turn, and the car pivots around the rear wheels. This is a nonlinear process, so for best results we would want to use some type of nonlinear filter (EKF, UKF, etc) to model the turns. On the other hand, a linear constant velocity filter would perform fine for the steady state portions of the travel. So our bank of filters might consist of a linear KF and an EKF filter for the turns. However, neither is particularly well suited for modeling behaviors such as accelerating and braking. So a highly performing MM estimator might contain a bank of many filters, each designed to perform best for a certain performance envelope of the tracked object.\n", "\n", "Of course, you do not need to base your filters on the order of the model. You can use different noise models, different adapters in each. For example, in the section above I showed many plots depicting the effects of changing parameters on the estimate of the velocity and position. Perhaps one setting works better for position, and a different setting for velocity. Put both in your bank of filters. You could then take the best estimates for the position from one filter, and the best estimate for the velocity from a different filter.\n", "\n", "### A Two Filter Adaptive Filter\n", "\n", "I trust the idea of switching between filters to get the best performance is clear, but what mathematical foundations should we use to implement it? The problem that we face is trying to detect via noisy measurements when a change in regime should result in a change in model. What aspect of the Kalman filter measures how far the measurement deviates from the prediction? Yes, the *residual*.\n", "\n", "Let's say we have a first order (constant velocity) Kalman filter. As long as the target is not maneuvering the filter will track it's behavior closely, and roughly 68% of the measurements should fall within 1$\\sigma$. Furthermore the residual should fluctuate around 0 because as many if the sensor is Gaussian an equal number of measurement should have positive error as have negative errors. If the residual grows and stays beyond predicted bounds then the target must not be performing as predicted by the state model. We saw this earlier in this chart where the residual switched from bouncing around 0 to suddenly jumping and staying above zero once the tracked object began maneuvering." ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "show_residual_chart()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For this problem we saw that the constant velocity filter performed better the constant acceleration filter while the object was in steady state, and the opposite was true when the object is maneuvering. In the chart above that transition occurs at 4 seconds. \n", "\n", "So the algorithm is easy. Initialize both a constant velocity and constant acceleration filter and run them together in a predict/update loop. After every update examine the residual of the constant velocity filter. If it falls within theoretical bounds use the estimate from the constant velocity filter as the estimate, otherwise use the estimate from the constant acceleration filter." ] }, { "cell_type": "code", "execution_count": 23, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def run_filter_bank(threshold, show_zs=True):\n", " dt = 0.1\n", " cvfilter= make_cv_filter(dt, std=0.8)\n", " cafilter = make_ca_filter(dt, std=0.8)\n", " pos, zs = generate_data(120, std=0.8)\n", " z_xs = zs[:, 0]\n", " xs, res = [], []\n", "\n", " for z in z_xs:\n", " cvfilter.predict()\n", " cafilter.predict()\n", " cvfilter.update([z])\n", " cafilter.update([z])\n", " \n", " std = np.sqrt(cvfilter.R[0,0])\n", " if abs(cvfilter.y[0]) < 2 * std:\n", " xs.append(cvfilter.x[0])\n", " else:\n", " xs.append(cafilter.x[0])\n", " res.append(cvfilter.y[0])\n", " xs = np.asarray(xs)\n", " if show_zs:\n", " plot_track_and_residuals(dt, xs, z_xs, res)\n", " else:\n", " plot_track_and_residuals(dt, xs, None, res)\n", "\n", "run_filter_bank(threshold=1.4)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here the filter tracks the maneuver closely. While the target is not maneuvering our estimate is nearly noise free, and then once it does maneuver we quickly detect that and switch to the constant acceleration filter. However, it is not ideal. Here is the filter output plotted alone:" ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "run_filter_bank(threshold=1.4, show_zs=False)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "You can see that the estimate jumps when the filter bank switches from one filter to the other. I would not use this algorithm in a production system. The next section gives a state of the art implementation of a filter bank that eliminates this problem." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## MMAE\n", "\n", "The core idea of using several filters to detect a maneuver is sound, but the estimate is jagged when we abruptly transition between the filters. Choosing one filter over the other flies in the face of this entire book, which uses probability to determine the *likelihood* of measurements and models. We don't choose *either* the measurement or prediction, depending on which is more likely, we choose a *blend* of the two in proportion to their likelihoods. We should do the same here. This approach is called the *Multiple Model Adaptive Estimator*, or MMAE.\n", "\n", "In the **Designing Kalman Filters** chapter we learned the *likelihood function* \n", "\n", "$$\\mathcal{L} = \\frac{1}{\\sqrt{2\\pi S}}\\exp [-\\frac{1}{2}\\mathbf{y}^\\mathsf{T}\\mathbf{S}^{-1}\\mathbf{y}]$$\n", "\n", "which tells us how likely a filter is to be performing optimally given the inputs. $\\mathbf y$ is the residual and $\\mathbf S$ is the system uncertainty (covariance in measurement space). This is just a Gaussian of the residual and the system uncertainty. A large residual will give a large uncertainty, and thus low likelihood that the measurement matches the filter's current state. We can use this to compute the probability that each filter is the best fit to the data. If we have N filters, we can compute the probability that filter i is correct in relation to the rest of the filters with\n", "\n", "$$p_k^i = \\frac{\\mathcal{L}_k^ip_{k-1}^i}{\\sum\\limits_{j=1}^N \\mathcal{L}_k^jp_{k-1}^j}$$\n", "\n", "That looks messy, but it is straightforward. The numerator is just the likelihood from this time step multiplied by the probability that this filter was correct at the last time frame. We need all of the probabilities for the filter to sum to one, so we normalize by the probabilities for all of the other filters with the term in the denominator. \n", "\n", "That is a recursive definition, so we need to assign some initial probability for each filter. In the absence of better information, use $\\frac{1}{N}$ for each. Then we can compute the estimated state as the sum of the state from each filter multiplied by the probability of that filter being correct.\n", "\n", "Here is a complete implementation:" ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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//v0MGjQIgKysLADi4+OPWC8+Pp7Nmzcf93lGjRrFiBEjyh7n5uaSnJxMamoqcXG+3WHQ7XaTkZFBSkoKTqfTp20DQbDnh+Afg/Lbr7xjMMbwtw9XkFW4k3qxLt68uzt1qrn8mPTYypP/8DuKIiJyahZ9/QFXrb6fSMtNdkIv6vWbaHckvyl3s/7aa6/Rp08fkpKSjlj+x4u4jDEnvLDL5XLhch39C9XpdJa72TidbQNBsOeH4B+D8tvP1zF8sHArny7bSZjDYtKAziTWrObHdCfnS/5g31ciIpVp7+L/0u67u4iwSllT/Txa3v4BhFf+wZnKUq6pGzdv3sxXX33F7bffXrYsISEB+N8R9sOys7OPOtouIlKRNuw+yMOfHJp5akRKC85uUsvmRCIi4g+erYuo/skgIihlXkRPmgz5MKQbdShnsz558mTq1atH3759y5Y1adKEhISEI87TLCkpYc6cOfTs2fP0k4qIHIPb4+XeaYspdHvo2aw2d/VqZnckERHxk20fjSacUr41nUm67V0iXKE/25fPp8F4vV4mT57MwIEDCQ//3+aWZTF8+HDGjh1L8+bNad68OWPHjiU6OpoBAwZUaGgRkcOe/2YDK7bnUj3KydPXdiTMofnURURC0aYlc2iS8yOlxkHBn8bROL6G3ZEqhc/N+ldffcWWLVu49dZbj/rcyJEjKSwsZMiQIeTk5NCtWzfS09OJjQ29aXRExH4rth/gP7MPzfby6BVtiI8L/SMsIiJVUUmpl92fPUoTYH5sKn3O7WZ3pErjc7OempqKMeaYn7Msi7S0NNLS0k43l4jICR0sLuXeaYsp9Rr6tE3g8g5JJ99IRESC0jvvTeWW0oWU4uDMa9Kq1F2py3XOuoiInYwxPDh9GRt25xMf5+KxK9tWqcItIlKVzPx5JalrHwYgq+nV1G54ps2JKpeadREJOpN/+JXPlu0k3GHx/A2dqW3DfOoiIuJn7kK2LJtL5OfDqG/tJSeyAQ2unWB3qkpX7nnWRUTssPDXfYyduQqA0X3PpEsjTdMoIhJyDu7G+3x3GhbsoaEFpYQRd+Nb4Kp610HqyLqIBI3decUMnfoLpV7Dpe0TGdSzsd2RRETED8zit3EU7CHPRPGz1Z6CKycT1qCz3bFsoWZdRILGQzOWsyu3mDPqVePJv7TXeeoiIqHIGPLnvw7AWM9NhN/yKXEdr7A5lH3UrItIUEjPzCJj5S7CHRaTBnQixqWz+EREQtHBNd9SLX8LB00kjXvdSOeGNe2OZCs16yIS8PKLS0n7NBOAO85vSquEOJsTiYiIv6yf9RwA30b04pYL2tmcxn5q1kUk4D3xxWp2HCiiQc0o/nphc7vjiIiIn8xf8BNn5nwLQKOUu4gIV6uqV0BEAtqnS3fw1vzNADx+VTuiIsJsTiQiIv6wbfdean5+By7LzcZqnWl31gV2RwoIatZFJGBt2H2QB6cvA2DYBWfQq0VdmxOJiIg/lLhLWfPqnbRkM/utGtS/7S3QJAKAmnURCVDFpV7umbqYghIPPZrW5r6UFnZHEhERfyg5yK/P9+Oi4q/wYlFy5cu4ajawO1XAULMuIgHp6a/WsXJnLrViInjmuo6EOXSERUQk1FjeUgpfv5wWOXMoNk6WnzWeeh0utjtWQFGzLiIBZ81+i9d+OHSe+pN/aU+9uEibE4mIiD802fEJcXuXsd/E8FqzZ+nQ9067IwUcNesiElByCkp4Z/2h0nRDt4aktI63OZGIiPjFjsW03v1fAJ6JGsqg666xOVBgUrMuIgHDGMPoj1dywG3RtE4M/+jb2u5IIiLiD8aQ9+FQwvDymbcH/W4cRnSEbnZ3LGrWRSRgTFuwlYxV2YRZhgn9NU2jiEio2vHL59TKW8tBE0n2uY/SrkF1uyMFLDXrIhIQNuw+yKP/XQnApQ29tEnSXUpFREJRSamXrFn/AiA9vDc39Opob6AAp2ZdRGxXUurl3mmLKXR76Nm0Fr0Tjd2RRETETyZ/9Bmd3YvxYGGapODQbF8npGZdRGxljOGhGctZsT2XGtFOnvxLW1S3RURC04wfM2mx/NBR9ez6qYTH6mZ3J6NmXURs9eKcjXy4aBsOCyZe25EETdMoIhKSVs99n3Nn9eGCsKV4cVA39X67IwUFNesiYpvv1u3myVmrAUi7vA29W9azOZGIiPhD7oovaTb7bupaB8hyJsONMzBJne2OFRTUrIuILfbll3D/+0sBuP7shtzco7G9gURExC/M9l+ImH4zTkr51nkuNe5fgOOM3nbHChpq1kWk0hljGPXRMrLzimlWN4aHL9V86iIiIcnr5cC7txNpivje2474gVOIjIyyO1VQ8blZ3759OzfeeCO1a9cmOjqajh07smjRorLPG2NIS0sjKSmJqKgoevfuTWZmZoWGFpHg9v7CrXyZuQtnmMUz13XSfOoBSvVeRE5X1o/vUuPgBnJNNJsueI4zG9SxO1LQ8alZz8nJ4ZxzzsHpdPLFF1+wcuVK/v3vf1OjRo2ydcaPH8+ECROYNGkSCxYsICEhgZSUFPLy8io6u4gEoU178hnz23zq96e2pG193QgjEKnei8jpKi4poeTrsQCkV7+aG3q1tzlRcPLpvq5PPvkkycnJTJ48uWxZ48aNy/5vjGHixImMHj2afv36ATBlyhTi4+OZOnUqgwcPrpjUIhKUSkq9DH9vCQUlHno0rc2d5zW1O5Ich7/qfXFxMcXFxWWPc3NzAXC73bjd7lPOd3hdX7YJNME+BuW3X0CPwRhmT/k/+ni3cYAYel7/EB5PKR7P/1YJ6PynoDz5yzNWn5r1Tz/9lIsvvpj+/fszZ84c6tevz5AhQ7jjjjsA2LRpE1lZWaSmppZt43K56NWrF/PmzTtm8a6own14m9//G2yCPT8E/xiU37/+77NVLN26n7jIcJ7s1+aowg2BP4aTqazi7W/+qPcA48aNY8yYMUctT09PJzo62uecGRkZPm8TaIJ9DMpvv0Abg7P0II3Xv06fwoUALKrRl7yffz7u+oGW31e+5C8oKPD5+S1jzCnfKjAy8tD8xyNGjKB///78/PPPDB8+nJdeeombb76ZefPmcc4557B9+3aSkpLKtrvzzjvZvHkzX3755VHPmZaWdszCPXXq1HIVbhEJTAt2W7y9/tC56Xe08tC2pu5SelhBQQEDBgzgwIEDxMXF2R0H8E+9h2MfoElOTmbPnj0+jd3tdpORkUFKSgpOp7Oco7RXsI9B+e0XqGMomDqQ6ps+x23CmF9/IN0HjgPH0dcmBWr+U1We/Lm5udSpU8eneu/TkXWv10vXrl0ZO/bQ+UedOnUiMzOTF154gZtvvrlsPcs68vaDxpijlh02atQoRowYccQgkpOTSU1N9fmXVlXc6YEm2Meg/P7x6958HnzuR8DL0N5NGX7RGcddN1DHcKrKW7wDjT/qPRw6+u5yuY5a7nQ6y7W/y7tdIAn2MSi//QJpDO5tS6i+6XO8xmJsvacYfdsthIed+BLJQMpfHr7kL884fWrWExMTad36yCnWzjzzTKZPnw5AQkICAFlZWSQmJpatk52dTXx8/DGfs6IL9+luGwiCPT8E/xiUv+J4vIYHZ6yk0O2lR9PajEhtRZjj+M3cYYE0hvLwd/H2N3/UexEJfVs+HEUzYJbjHIbcfONJG3U5OZ9ewXPOOYc1a9YcsWzt2rU0atQIgCZNmpCQkHDEuTslJSXMmTOHnj17VkBcEQk2r363kUWbc6jmCuep/u1PqVEX+6nei4ivVv+cTrP98yg1DmJS/0nd2KMPxorvfDqyft9999GzZ0/Gjh3LNddcw88//8zLL7/Myy+/DBx6O3T48OGMHTuW5s2b07x5c8aOHUt0dDQDBgzwywBEJHAt2bqff6UfavgevrQ1DWrqOpRgoXovIr7I2X+AqC+GA/BzjT/Tq0d3ewOFEJ+a9bPOOosZM2YwatQoHn30UZo0acLEiRO54YYbytYZOXIkhYWFDBkyhJycHLp160Z6ejqxsbEVHl5EAtf+ghKGvvMLbo/hkjYJ9O/awO5I4gPVexE5VV6vYeFrfyXFbGePVZO2g562O1JI8alZB7j00ku59NJLj/t5y7JIS0sjLS3tdHKJSBDzeg33v7+U7fsLaVgrmvH925/wokMJTKr3InIqPp0xlSvzPgYg/5JnqFOznr2BQozO+heRCvfs7HV8vTqbiHAHz9/QmbjIwLuAUkRETt93y9Zz9rJ/ALC+4TU06naFzYlCj5p1EalQX6/axcSv1gHw+JVtaVu/us2JRETEH37dk0/OR/eRZO1jb0R9zrhxot2RQpKadRGpMBt3H2T4tCUA3NyjEf27JtsbSERE/CI/P58FLw/hcubiwUHcgNchIsbuWCHJ53PWRUSO5WBxKYPfWkRecSldG9XkH31bn3wjEREJOqZgH3ufTaF/yXoACs95gGqNNfuLv6hZF5HTZozhgenLWJd9kHqxLp6/sTMR4XrjTkQkFC2f9jDti9ezz8Sy76J/c8b519odKaTpt6mInLapP2/h82U7CXdYvHBjF+rFRtodSURE/GDF2vU03/weAIu7jFOjXgnUrIvIaVm1M5cx/10JwAOXtKJLo5o2JxIREX84UOhm6fuPEWWVsNnVkgsvveHkG8lpU7MuIuVWUFLKsKm/UFLq5YKWdbnt3CZ2RxIRET8wXi/vvvkCV7pnAlD3soexHGojK4POWReRcnv4k0w27M4nPs7Fv6/piMOhGx+JiISc4oNkv3g5d+UsAgvy63Uhpk1fu1NVGfqTSETKZcbibXy4aBsOC565rhO1YiLsjiQiIn6wZ+bjxOcsosC4WNL4NmJunQG6K3WlUbMuIj7buPsgo2esAOCvFzWne9PaNicSERF/KNixiupLXwbglfh/0mHgvyFSN7urTGrWRcQnRW4Pw6YupqDEQ/emtbjnwuZ2RxIRET8wXg9b3xmGk1J+cHTh5oGDsXREvdKpWRcRn4yduYqVO3OpFRPBM9d1IkznqYuIhB6vh18n30rL/IUUm3Bir/wXNXW6oy3UrIvIKZu1Yidv/rgZgH9f04H4OM2nLiIScowhd9qdNNn6MR5jMffMR2jfvrPdqaosNesickq25RQw8sNlAAw+vykXtKxncyIREfGHktVfErf2Q9wmjOfrjOaia+6xO1KVpmZdRE7K6zXc//5ScotK6Zhcg79d3NLuSCIi4g9eLzn//QcA7zr6ct2gv2paXpupWReRk5o871d+2rSP6IgwnrmuI84wlQ4RkVC0fvYbxBesI9dE0eiK0dSNddkdqcrTb1wROaH12XmMn7UagNF9z6RR7RibE4mIiD8c2L+P6B/GATAv/gZ6dWxlcyIBNesicgIFJaUMeecXiku9nN+iLgPObmh3JBER8QNjDJmvDibJZLPLqsM5N/7T7kjyGzXrInJMxhj+8fEK1u46SN1YF//q317z64qIhKjZHzxPz4PpeIzFwT+/QGxcDbsjyW/UrIvIMb2/cCsf/bIdhwXPXteJerGaplFEJBQtzlzFWZmPAZDZ/E6anZVqcyL5PTXrInKUlTtyefiTTADuT21Jj2a1bU4kIiL+sDu3iNwP7yHOKmBzZCvaXf+43ZHkD9Ssi8gR8orcDHlnEcWlXi5oWZe7ezWzO5KIiPiBx2t4941n6GUW4Cacuje+ihXmtDuW/IFPzXpaWhqWZR3xkZCQUPZ5YwxpaWkkJSURFRVF7969yczMrPDQIuIfxhgemL6MX/cWUL9GFBOu6aj5dUVEQtSn77/O7Xv/DUBe13uIbtDO5kRyLD4fWW/Tpg07d+4s+1i+fHnZ58aPH8+ECROYNGkSCxYsICEhgZSUFPLy8io0tIj4xxvzfmXm8iycYRaTBnSiZkyE3ZFERMQPMr98lctW/Y1oq5hd9c6l1iWj7I4kx+Fzsx4eHk5CQkLZR926dYFDR+QmTpzI6NGj6devH23btmXKlCkUFBQwderUCg8uIhVr8ZYcxs5cBcBDfz6TTg1r2pxIRET8IevXlTT9cRThlpdfav2Z+MEfQ7hufhSown3dYN26dSQlJeFyuejWrRtjx46ladOmbNq0iaysLFJT/3cFscvlolevXsybN4/Bgwcf8/mKi4spLi4ue5ybmwuA2+3G7Xb7lO3w+r5uFyiCPT8E/xiqav6cghKGvPMLbo+hT5t4bjirvm2vQVXcB8E6VhEJPiXuUna/M5gESljq7ECbu9+CMJ/bQalEPu2dbt268eabb9KiRQt27drFY489Rs+ePcnMzCQrKwuA+Pj4I7aJj49n8+bNx33OcePGMWbMmKOWp6enEx0d7Uu8MhkZGeXaLlAEe34I/jFUpfxeAy+vdrDzgIO6kYbe0dv54ovtfkx3aqrSPigoKPBjEhGR/8l4cyx93csoxEXdAS/hcqpRD3Q+7aE+ffqU/b9du3b06NGDZs2aMWXKFLp37w5w1E1TjDEnvJHKqFGjGDFiRNnj3NxckpOTSU1NJS4uzpd4uN1uMjIySElJwekMvquZgz0/BP8YqmL+F+ZsZNX+9bjCHbx+WzdaJcT6OeWJVcV9cPgdRRERf1o46y0u3vI0WLC14/20aHKm3ZHkFJzWn1MxMTG0a9eOdevWceWVVwKQlZVFYmJi2TrZ2dlHHW3/PZfLhct19HlSTqez3L+oT2fbQBDs+SH4x1BV8s/bsIeJX68H4P+uaEu75Fr+jnbKqso+OLyuiIg/bV+STvsfhxNueVlepy/tLv+73ZHkFJ3WPOvFxcWsWrWKxMREmjRpQkJCwhFv/ZaUlDBnzhx69ux52kFFpGJl5xbx13eX4DVwdZcGXHNWst2RRETEDwqLivF+OpwIq5SfIs/hzMFvgEO32gkWPu2pv/3tb8yZM4dNmzbx008/cfXVV5Obm8vAgQOxLIvhw4czduxYZsyYwYoVKxg0aBDR0dEMGDDAX/lFpBxKPV7ueXcxew4W0yohlv+7oq3dkURExA+MMXzy5gSSvdvZTyxNb3+TcKem5Q0mPp0Gs23bNq6//nr27NlD3bp16d69O/Pnz6dRo0YAjBw5ksLCQoYMGUJOTg7dunUjPT2d2Fh7z4EVkSNNyFjLT5v2ERMRxnM3dCYqIszuSCIi4gcf/ryRc7e/Chbs7zyMxnXq2B1JfORTsz5t2rQTft6yLNLS0khLSzudTCLiR7NX7+L5bzcA8OTV7WlWt5rNiURExB8yt+ew//NHaODYQ35EbRpf8le7I0k5aL4ekSpkW04B9723FICBPRpxafskmxOJiIg/5OZkU/Da1dzhOFTzo1IfhojyTYkt9tLVBSJVREmpl6FTF3Og0E2HBtV5qK+m7BIRCUXG62XjKwM5y7uUIiIo6PMsjq6D7I4l5aRmXaSKGDtzFUu37qd6lJNJAzrjCtd56iIioWj2R6/QsWAeJSaMLVd8RHS3gXZHktOgZl2kCvh82U7emPcrABOu6UByLb0VKiISihav2Uj75Y8DsOqM22nR6TybE8npUrMuEuI27j7IA9OXAXBXr2ZcdObxb1ImIiLBa29eEQemDaaudYCdEY1of92jdkeSCqBmXSSEFZZ4GPLOLxwsLuXsJrX4W2oLuyOJiIgfeLyG9Ff/QW/zMyWEU/36V7GckXbHkgqgZl0khD38yQpWZ+VRp1oEk67vRHiYfuRFRELRZ++/Sv/9rwGQc/7/Ed3kbJsTSUXRb26REPX+wq18sGgbDgueva4T9eJ0hEVEJBSty3iVvqtGEm552dzgcuIvuNvuSFKBNM+6SAhanZXHPz9eAcB9f2pBzzN0xzoRkVAUt3sBrbf9ByxYVLMPXW6ZDJZldyypQDqyLhJiSjww/P1lFJd66dWiLkMvOMPuSCIi4gdm73rO3vYKAJ+7/kybu9+CMB2HDTVq1kVCzOdbHWzYnU/dWBdPX9sRh0NHWEREQo67iINv30QMRSwwrWh16wtERjjtTiV+oGZdJIT8tGkfc3Yeas6f/Es7asVE2JxIRET8Yd/sidQ6uI7dJo715z1Ds/gadkcSP1GzLhIiDhaX8uBHKzBYXNOlPhe20nzqIiKhqDRvD675zwLwunMA/c7rbHMi8Sc16yIh4rHPVrJtfxG1XIZRfVraHUdERPxkxXsPE2PyWU0j4pt31+mOIU5XIYiEgNmrdzFtwVYsC244w0M1l360RURC0erMJbTe+h5YkH32g9R067hrqNMeFglyu3KL+NsHywC4pUcjzoizOZCIiPhFbmExxdPvJsIqZWV0V7pf9Be7I0klULMuEsRKPV7++u5i9uWX0CYpjhF/0jSNIiKhyBjDl68/SgfvSgqIpMHNL2M51MZVBdrLIkFs0jfr+WnTPmIiwpg0oDMuZ5jdkUREpKKVFLDynQe4PPtFAPb2GE1cQjObQ0ll0YmtIkFq0eYcnv16HQCPX9WOJnVicLvdNqcSEZEKVXyQkhd70SZnPViwse5FNE0ZZncqqUQ6si4ShA4Wl3Lfe0vwGriiYxJXdqpvdyQREfEDz9x/EZGznt2mOk/X+geN7/oQdPpLlaK9LRKE0j7NZMu+AurXiOLRK9raHUdERPxh7wbMvEkAPGYN5rqBw3CEqXWrarTHRYLMzOU7+XDRNiwLJlzTgepRur20iEjIMYacGX8j3LiZ62lH6lW3kFg9yu5UYgM16yJBJOtAEaM+Wg7A3b2a0a1pbZsTiYiIPxQseIua22bjNmH82HIkfTsk2R1JbHJazfq4ceOwLIvhw4eXLTPGkJaWRlJSElFRUfTu3ZvMzMzTzSlS5Xm9hvs/WMKBQjft6ldn+J9a2B1JqhDVe5FKtHcDYV/8HYDXI65naP8/2xxI7FTuZn3BggW8/PLLtG/f/ojl48ePZ8KECUyaNIkFCxaQkJBASkoKeXl5px1WpCp7/YdN/LB+L1HOMCZe15GIcL0xJpVD9V6kEhXnkfPmTbhMEfO9Z3LWDWN0V+oqrly/7Q8ePMgNN9zAK6+8Qs2aNcuWG2OYOHEio0ePpl+/frRt25YpU6ZQUFDA1KlTKyy0SFWzamcu42etAeAfl55Js7rVbE4kVYXqvUglchdR/PZ11DyQyT5Tjcyzx9O5cR27U4nNyvWn2tChQ+nbty9/+tOfeOyxx8qWb9q0iaysLFJTU8uWuVwuevXqxbx58xg8ePBRz1VcXExxcXHZ49zcXADcbrfPc0YfXj9Y55oO9vwQ/GMIxPwlpV7ue28JJR4vF7SsQ/9OicfNF4j5fRXsYyhP/kAea0XWe6i4mh/s3ycQ/GNQ/orn+Hgorq3fc9BE8niN/+OxP3U7Yb5AHIMvqmL+8ozV52Z92rRpLFq0iIULFx71uaysLADi4+OPWB4fH8/mzZuP+Xzjxo1jzJgxRy1PT08nOjra13gAZGRklGu7QBHs+SH4xxBI+T/f4mB1loOYcMOF1bL44osvTrpNIOUvr2Afgy/5CwoK/Jik/Cq63kPF1/xg/z6B4B+D8leMWgfXct66D/EYi7tLR3B+Ym3Sv5x1StsGyhjKqyrlL0+996lZ37p1K/feey/p6elERkYedz3Lso54bIw5atlho0aNYsSIEWWPc3NzSU5OJjU1lbi4OF/i4Xa7ycjIICUlBacz+KazC/b8EPxjCLT8S7cd4OuffgYM4/7SgT5tE064fqDlL49gH0N58h8+uhxI/FHvoeJqfrB/n0Dwj0H5K5AxlL72DADveXrT+5Krubl7w5NuFlBjKIeqmL889d6nZn3RokVkZ2fTpUuXsmUej4e5c+cyadIk1qw5dE5tVlYWiYmJZetkZ2cfdfTlMJfLhcvlOmq50+ks9447nW0DQbDnh+AfQyDkL3J7eOCjFXi8hss7JHF5p+RT3jYQ8p+uYB+DL/kDcZz+qPdQ8TU/2L9PIPjHoPynz7PqM6J2LaLQRPB9gzuYdE5THI7j/9H7R4EwhtNRlfKXZ5w+XWB60UUXsXz5cpYsWVL20bVrV2644QaWLFlC06ZNSUhIOOLtgJKSEubMmUPPnj19DidSlT315Ro27M6nXqyLR69oY3ccqWJU70UqSWkxuZ8+BMBb9GX0dRf61KhL6PPpyHpsbCxt2x55a/OYmBhq165dtnz48OGMHTuW5s2b07x5c8aOHUt0dDQDBgyouNQiIe6H9Xt4/YdNADz5l/bUiI6wOZFUNar3IpVj+xdPUb9wM7tNdepeMpL6NXSXUjlShU/cOXLkSAoLCxkyZAg5OTl069aN9PR0YmNjK/pLiYSk7Lwi7p22BGPg+rMbckGrenZHEjkm1XuR07N/50ZqLzp0rvrMxKHc3P1MmxNJIDrtZv3bb7894rFlWaSlpZGWlna6Ty1S5Xi8huHTlrDnYDGtEmJ55LLWdkcSKaN6L1JxvO4Stk+5jTaUsNTRhn4D7zvhxdlSdekWiCIBZNLs9czbsJfoiDAmDehMpDPM7kgiIlLRjGHN63fSpugXCoyLmH4TiY3S6Y5ybGrWRQLEvA17mPj1WgAev6otZ9TTXUpFRELRllkTOHPnDDzG4ucuT3FG27PtjiQBTM26SADYnVdcdp76NV0bcFWnBnZHEhERP8jJ2Uf1nyYA8HG9IfS67GabE0mgU7MuYjOP13Dfe0vYnVdMi/hqjLm87ck3EhGRoOP1Gma9+STVOcg2K5HUWx7WeepyUmrWRWz2/Dfr+X79HqKcYTw3oDNRETpPXUQkFL04eyUX7HsPAOu84cRGH//uwCKHVfjUjSJy6mYu38mErw6dp/5/V7alebymvBMRCTmFOaz88HG6rPuOBEcOBa561D//FrtTSZBQsy5ikx837GX4b+ep39i9IVd30XnqIiIhxxj2vnkzrXfOLTufIfrCv0G4y95cEjTUrIvYYFtOAYPfWkiJx8slbRJ0nrqISIjK+WUGtXfOpdiE83niUK7685+xkrvZHUuCiJp1kUpW6vFy77Ql5BaV0jG5BhOv60iYQxcYiYiEGk9xPqUzHwDg46h+XHn7I1jhui5JfKMLTEUq2TNfr2PR5hxiXeH85/pOuvGRiEiIWvzWQ9T1ZLPD1OHsmx/HpUZdykHNukglmrdhD5O+WQ/A2H7tSK4VbXMiERHxh8xFc+m49U0Afj37EZok1bM5kQQrNesilWRffgn3vXfogtJruyZzWYckuyOJiIgf7M/Lx/nZXwm3vCyOvYCefXXjIyk/NesilcDrNfztg6Xsyi2mWd0YHrm8td2RRETEDzxew7ev/J0WZhMHiKXFLc/bHUmCnJp1kUrw7Ox1zF6dTUS4g/9c35noCF3bLSISij788B0uPzAVgNyLxhFTS++iyulRsy7iZ1+t3MXEr9YBMPaqdrROirM5kYiI+MPsn5dyQeZoHJbh10ZXk3zeTXZHkhCgZl3EjzbuPsh97y0BYGCPRrrxkYhIiFr/62aSPx9APWs/2ZFNaXzDf+yOJCFCzbqInxwsLuXOtxaRV1zKWY1r8o9LdZ66iEgoyt2/F8+bV9Lc2sY+R21q3T4dIjTbl1QMNesifmCM4YEPl7E++yDxcS6eu6EzzjD9uImIhBpTfJDdL15GS+9GcojDGvgp4XWa2h1LQoi6BxE/mLZgK58v30m4w+L5G7pQLzbS7kgiIlLRPG52vfwXmhVlcsDEsOuKd6nZqK3dqSTEqFkXqWDrduUx5r+ZAPz94pZ0aVTT5kQiIuIPu+a8SsLe+Rw0kXzd+TladTrX7kgSgtSsi1SgIreHe95dTJHby3nN63DHeXorVEQkFBUVFmB99y8AZtS8hSsvu9LeQBKy1KyLVKDHP1/F6qw86lSL4N/XdMDhsOyOJCIifpD+zr+oZ/awm5pcfPMDqvfiN2rWRSrIrBU7eWv+ZgD+fU1HnacuIhKiPvl5DV23TgbgQJd7qFdLpzuK/6hZF6kA63blcf/7SwG48/ym9GpR1+ZEIiLiD8u25uD6bBhJ1j5yI+I545KhdkeSEOdTs/7CCy/Qvn174uLiiIuLo0ePHnzxxRdlnzfGkJaWRlJSElFRUfTu3ZvMzMwKDy0SSA4UuLnjzYXkl3jo3rQWf7+4pd2RRETED7LzivjhjYe4xPEzpYRT7YY3wal3UcW/fGrWGzRowBNPPMHChQtZuHAhF154IVdccUVZQz5+/HgmTJjApEmTWLBgAQkJCaSkpJCXl+eX8CJ283gNf522mF/3FlC/RhTPDdB86iIioai41MNzr09mcOm7ALgvGY+jUXebU0lVEO7LypdddtkRjx9//HFeeOEF5s+fT+vWrZk4cSKjR4+mX79+AEyZMoX4+HimTp3K4MGDj/mcxcXFFBcXlz3Ozc0FwO1243a7fRrM4fV93S5QBHt+CP4x+Jp//JdrmbN2N5FOB88P6ECcy2Hr2IP99YfgH0N58gfrWEWqCmMM4z+ax137xuOwDLlnXkdc99vsjiVVhE/N+u95PB4++OAD8vPz6dGjB5s2bSIrK4vU1NSydVwuF7169WLevHnHbdbHjRvHmDFjjlqenp5OdHT5btWbkZFRru0CRbDnh+Afw6nkX7TH4s11YQBc29jNr4u/59fF/k52aoL99YfgH4Mv+QsKCvyYRERO19Qf19Nz+T9JDNtHfmxT4q6aYHckqUJ8btaXL19Ojx49KCoqolq1asyYMYPWrVszb948AOLj449YPz4+ns2bNx/3+UaNGsWIESPKHufm5pKcnExqaipxcXE+ZXO73WRkZJCSkoLT6fRp20AQ7Pkh+Mdwqvkzd+TywKs/A17uPK8xf09tUXkhTyDYX38I/jGUJ//hdxRFJPAsylxDq1k30iVsLR7LScyANyAixu5YUoX43Ky3bNmSJUuWsH//fqZPn87AgQOZM2dO2ect68h5Ro0xRy37PZfLhcvlOmq50+ks9y/q09k2EAR7fgj+MZwo/96DxQx9dylFbi+9W9blgT6tCQuw+XWD/fWH4B+DL/mDeZwioWxPdhZ1PriCRo6dFDhiiBrwNiR2sDuWVDE+XwkXERHBGWecQdeuXRk3bhwdOnTgmWeeISEhAYCsrKwj1s/Ozj7qaLtIsDLG8PcPl7F9fyFN6sTwzHWdAq5RFxGR0+d1l7DrtWtpxE52WXVx3DEb64wL7Y4lVdBpT1thjKG4uJgmTZqQkJBwxHmaJSUlzJkzh549e57ulxEJCG/+uJnZq7OJCHfw/A2dqR6lI6IiIqEo883htCleQr5xUdT/HSITW9kdSaoon06Deeihh+jTpw/Jycnk5eUxbdo0vv32W2bNmoVlWQwfPpyxY8fSvHlzmjdvztixY4mOjmbAgAH+yi9SadZk5fH4zFUAPNSnFWcm+nZNhYiIBIe1K5fQestUsGBB5yfp3bqb3ZGkCvOpWd+1axc33XQTO3fupHr16rRv355Zs2aRkpICwMiRIyksLGTIkCHk5OTQrVs30tPTiY2N9Ut4kcpS5Pbw13cXU1Lq5YKWdRnYs7HdkURExA8KSkrZ+NEYWliGZdHd6HX5ILsjSRXnU7P+2muvnfDzlmWRlpZGWlra6WQSCTjjZq5iza486lRz8VT/Die8aFpERIKTMYZn3/+Sv7m/BQsa9/s/1XuxnW61KHISM5fvZMqPh6Yf/Vf/9tSpdvTsRSIiEvze/HEzLdY8T7jlJSepF3Fn6PQXsZ+adZETWLkjl/vfXwrAnec3pXfLejYnEhERf5i3fg+/zHyVfmHfY7Co+edH7I4kApzGHUxFQt2+/BLueHMhhW4P5zWvw8iLW9odSURE/GDL3gKeeOczpoa9cmjBefdDgy72hhL5jY6sixyD2+NlyDuL2L6/kMa1o5l0fWfCw/TjIiISag4WlzJ0yg884ZlANasIb8NzsHqPsjuWSBl1HyLHMPaLNczfuI+YiDBeubkr1aM1n7qISKjxGhg5fQXX73ue1o7NeKJq47j6NQjTiQcSOPTdKPIH83ZZvLdxK5YFE6/rRPN4TT0qIhKKZm1zUGPn+wxwzsZgEXb1qxCXaHcskSOoWRf5nUWbc/hw06E3nO5PaUFK63ibE4mIiD98uSKLZjs/ZaTzfQCs8/8OzS60OZXI0XQajMhvsvOKGDZtKR5j0adNPEMvOMPuSCIi4gdb9xWw4ZPHyhp1egwDnacuAUpH1kUAr9cw4r2l7DlYQmK04Yl+bXQjDBGREOT2eBnzdjqTzHSwoOTCR4k4/167Y4kcl46siwAvzt3A9+v3EOV0MKi5h+gI/R0rIhKKxs9aTZ/drxBpucmKbonV/W67I4mckJp1qfJ+3LCXf6evBeCffc8kIdrmQCIi4hefLt3B/O+/5i9h3wOwJvl60LuoEuDUrEuVtmN/IcOm/oLHa7iqU32u7pxkdyQREfGDzB0HGPnhEv7hfBsAb9v+7I9uanMqkZNTsy5VVkFJKXe9vYi9+SW0Toxj7FXtdJ66iEgI2pZTwC2TF9DL8zPdHKsx4ZF4LviH3bFETomadamSSj1ehk1dzLJtB6gR7eSlm7oQFRFmdywREalg+wtKGPj6z+Tk5fNw5DQArB7DIK6+zclETo2uopMqxxjDw59mMnt1Nq5wB68NPIvkWjpRXUQk1JR6vNzz7mJ+3Z3L09FTqO/dCTH14NzhdkcTOWVq1qXKeeenLUz9aQuWBc9e34kujWraHUlERPzgqS/XsHDdNia7nuV87xLAgj5PgCsW3G6744mcEp0GI1XKwl/3Mea/mQCMvLgVF7dJsDmRiIj4w4eLtvHS3I0MD5/O+dYSCI+C696Btn+xO5qIT3RkXaqMjbsPcudbi3B7DH3bJXJXL80CICISimav3sUD05dRn93c5swAA/SfDC372B1NxGc6si5VQnZuETe//jP78ktoV786469ur5lfRERC0KqduQx559CUvBPjPyfclEDj86DFJXZHEykXHVmXkFfq8XL3O7+wLaeQRrWjmXzLWcS49K0vIhJqitweHpj2EyPNG5wTt40WBw6d9kjKo7r5kQQtdSwS8l6au5FFm3OIdYXz5q1nU6eay+5IIiLiBxMy1nL+nve41TkLSn5b2OUWqN/Z1lwip0PNuoS0FdsP8HTGWgDSLm9Do9oxNicSERF/mLt2N+99t4zvIj4/tKD3qEPnqCe0tzeYyGnSOesSsnKL3Nzz7mJKvYZL2iTQr7NugCFyqsaNG8dZZ51FbGws9erV48orr2TNmjVHrGOMIS0tjaSkJKKioujduzeZmZk2JZaqbOu+Av46bTF3hn1GnFUA9drA+SMhsYNOf5Gg51OzruItwcLrNdz//lI27cmnfo0oxvZrpwtKRXwwZ84chg4dyvz588nIyKC0tJTU1FTy8/PL1hk/fjwTJkxg0qRJLFiwgISEBFJSUsjLy7MxuVQ1RW4Pd7+zCGdBNreFf3lo4YWjwaHjkRIafPpOVvGWYPHi3A1krNxFRJiDF27sTK2YCLsjiQSVWbNmMWjQINq0aUOHDh2YPHkyW7ZsYdGiRcChAzMTJ05k9OjR9OvXj7Zt2zJlyhQKCgqYOnWqzemlqjDG8M+PV7Biey7/FzWVSIqhfldo+We7o4lUGJ/OWZ81a9YRjydPnky9evVYtGgR559//lHFG2DKlCnEx8czdepUBg8eXHHJRY7j+3V7+NeXh97xefSKNrRvUMPeQCIh4MCBAwDUqlULgE2bNpGVlUVqamrZOi6Xi169ejFv3rzj1vvi4mKKi4vLHufm5gLgdrtx+3BHycPr+rJNoAn2MQRC/ncXbOWDRds437GMS8wPGMtB6cVPQmnpSbcNhPynK9jHUBXzl2esp3WBaUUU74oq3Ie3+f2/wSbY84P9Y9ixv5B73v0Fr4H+Xerzl06JVaoBCPb8EPxjqKziXZmMMYwYMYJzzz2Xtm3bApCVlQVAfHz8EevGx8ezefPm4z7XuHHjGDNmzFHL09PTiY6O9jlbRkaGz9sEmmAfg135swrg5WUFDAhbwN9cH4MXNtb5EysWb4fF20/5eYL99YfgH0NVyl9QUODz85e7Wa+o4l3RhRuq1k4PVHaMwRh4bqWDnAIHyTGGbuGbmTnz+E3DiQT7Pgj2/BD8Y/B38a5Mw4YNY9myZXz//fdHfe6P14IYY054fcioUaMYMWJE2ePc3FySk5NJTU0lLi7ulDO53W4yMjJISUnB6XSe8naBJNjHYGd+j9dwx8tf89+I4SRZ+8ALJq4+DQe+RENX7Ck9R7C//hD8Y6iK+Q8flPZFuZv1iireFVW4oWru9EBj5xg+/GU76+Zn4gp3MPmOnjSq7fsfe8G+D4I9PwT/GCqreFeWe+65h08//ZS5c+fSoEGDsuUJCQnAoYM0iYmJZcuzs7OPOmDzey6XC5fr6HsdOJ3Ocu3v8m4XSIJ9DHbkf+eHTTTP+pwk5z48MQmE9bgLq+MNOKvV8vm5gv31h+AfQ1XKX55xlqtZr8jiXdGF+3S3DQTBnh8qfwzZeUWM++LQeeojUlpwRkL103q+YN8HwZ4fgn8M/i7e/maM4Z577mHGjBl8++23NGnS5IjPN2nShISEBDIyMujUqRMAJSUlzJkzhyeffNKOyFJFrMnK48lZq/ks7CsAwnqPhLNuszmViP/4NBuMMYZhw4bx0UcfMXv27BMW78MOF++ePXtWTGKRPyj1eBk+bQm5RaW0rR/Hbec2OflGInJCQ4cO5e2332bq1KnExsaSlZVFVlYWhYWFwKF3UIcPH87YsWOZMWMGK1asYNCgQURHRzNgwACb00uoOlDoZvBbC2lfmkkzx06MMwba9bc7lohf+XRkfejQoUydOpVPPvmkrHgDVK9enaioqCOKd/PmzWnevDljx45V8Ra/eip9DfM27CU6IowJ13QkPExz64qcrhdeeAGA3r17H7F88uTJDBo0CICRI0dSWFjIkCFDyMnJoVu3bqSnpxMbe2rnDIv4whjD/e8v4de9BYyO/ga8YLXvD5G+nTIrEmx8atZVvCXQpGdm8dKcjQA8dXUHWsTr+0ykIhhjTrqOZVmkpaWRlpbm/0BS5b09fzOzV2Xx94jppHh/u16u6632hhKpBD416yreEkiyc4t4YPoyAG47twl92yeeZAsREQlG67PzePzzTF5yPk2K49CNueg+FBI72BtMpBKc1jzrInYxxvD3D5eRU+CmdWIcIy9paXckERHxg5JSL/dOW8IV5htSwhdhwiOxLv8PtL/G7mgilULNugSlt+ZvZs7a3bjCHTxzXUdc4WF2RxIRET+YkLGWXTu28m7kVACsC/+pRl2qFDXrEnQOvR26CoBRfVrRXOepi4iEpB837OWluRt41jmFOPIPnfbS7S67Y4lUKk2bIUHl8NuhxaVezm9Rl5t7NLY7koiI+MGBQjf3v7+EftZcLgubD5YDLnsGwnScUaoWNesSVJ7+ai2ZO3KpGe3kqavb43Ac/7bmIiISvP758QqicjfwWMTkQwsueAiSOtkbSsQG+vNUgsZPG/fy4pwNAIzr1474uEibE4mIiD98smQ785au4j3X00RRDE3Oh3NH2B1LxBY6si5BIbfIzYj3l2IMXNO1AZe01TSNIiKhKDu3iH9/PI+3I8bSzNoBcfWh3yvg0EQCUjWpWZegMG7marbvL6RhrWgevqyN3XFERMQPjDE8Pv1HXvD+H60cWzHVEmDgfyE2we5oIrZRsy4Bb96GPbz78xYAxl/dnmounb0lIhKKZi1axy2bRtDGsZnSqDpYA/8LtZvZHUvEVmrWJaAVlnh4cPpyAG7s3pDuTWvbnEhERPzhQKEb5+d/paNjI4Xh1Qkf9F+o28LuWCK2U7MuAW3SN+vYsq+ApOqRPHBJK7vjiIiIn7w/Yzp/Mj/iwUHYzdMhvrXdkUQCgpp1CVgbdh/k5bkbAXjk8jbERjptTiQiIv6wYtt+Oqx+GoA9za4mouFZNicSCRxq1iUgGWN4+JMVuD2GC1rWJbV1vN2RRETED9weLx+++xpnO1ZTYkUQf3ma3ZFEAoqadQlIHyzcxg/r9xIR7iDt8jZYlm5+JCISil74ejU35b0CgLvrnVC9vs2JRAKLmnUJODv2F/J/n60E4P6UFjSqHWNzIhER8YcV2w+QO/d5mjl2UhxRi5iLRtodSSTgaA48CSjGGB6Yvoy84lI6NazB7ec1tTuSiIj4QXGph/97by6vhE0HIOLiNIisbm8okQCkI+sSUKYt2Mp36/bgCnfwr/4dCHPo9BcRkZBjDDM/eJXx+0cQZxVQWq8dVqcb7U4lEpB0ZF0CxracAh777fSXv1/ckmZ1q9mcSERE/GFbxiSuWvMPcEBRZD0ir3oOHGF2xxIJSDqyLgHBGMOD05eTX+Kha6Oa3HJOE7sjiYiIH3iKDlLtx6cAmFPjKiLvWwyJHWxOJRK41KxLQPh06Q6+X3/o9JendPqLiEjIWjz9KWqYA2whnja3TAKX3kUVORE162K7vCI3j3++CoBhF5xBkzqa/UVEJBTt2buXZuteA2Bru3uoU12NusjJqFkX2z2dsY7svGIa147mzl6a/UVEJCR5Stky+RZqksd2RxLdr7jL7kQiQUHNuthq8ZYc3pi3CYAxV7TFFa4LjEREQo7Xw47JN9H54BxKTBgllzxFWLjT7lQiQcHnZn3u3LlcdtllJCUlYVkWH3/88RGfN8aQlpZGUlISUVFR9O7dm8zMzIrKKyGkuNTDyA+X4TVwZcckerWoa3ckERHxg4LZ40naNpMSE8bMM5+kydmX2h1JJGj43Kzn5+fToUMHJk2adMzPjx8/ngkTJjBp0iQWLFhAQkICKSkp5OXlnXZYCS2TZq9nXfZB6lSL4JHL2tgdR0RE/GFXJhHf/wuAZ6KH0efqW20OJBJcfJ5nvU+fPvTp0+eYnzPGMHHiREaPHk2/fv0AmDJlCvHx8UydOpXBgwefXloJGSu2H+D5bzcA8H9XtKVmTITNiUREpMJ53OROu4M4Skn3dCH1+vt0uqOIjyr0pkibNm0iKyuL1NTUsmUul4tevXoxb968YzbrxcXFFBcXlz3Ozc0FwO1243a7ffr6h9f3dbtAEez54dTG4PZ4+fsHS/F4DZe0iedPreoEzJiDfR8Ee34I/jGUJ3+wjlXkZIpnPUxcTib7TQyru44htWFNuyOJBJ0KbdazsrIAiI+PP2J5fHw8mzdvPuY248aNY8yYMUctT09PJzo6ulw5MjIyyrVdoAj2/HDiMXy5zWJVVhgx4YZzIrczc+b2Skx2aoJ9HwR7fgj+MfiSv6CgwI9JRGyyYjquBc8D8HTUMEb9uafNgUSCU4U264dZ1pE3tDHGHLXssFGjRjFixIiyx7m5uSQnJ5OamkpcXJxPX9ftdpORkUFKSgpOZ/BdZR7s+eHkY1i36yB/+/lHwPDole25vENi5Yc8gWDfB8GeH4J/DOXJf/gdRZGQsXsNnhlDCQNeKL2My6+/i0inTn8RKY8KbdYTEhKAQ0fYExP/14RlZ2cfdbT9MJfLhcvlOmq50+ks9y/q09k2EAR7fjj2GEo9XkZ9nInbY/jTmfXo1yX5uH/E2S3Y90Gw54fgH4Mv+YN5nCJHcRfh+eBWwjyFfO9pw95uI+nSqJbdqUSCVoXOs96kSRMSEhKOePu3pKSEOXPm0LOn3v6q6l79fhNLtx0gNjKcx65sF7CNuoiInIav0gjLXsFeE8uEavdz/8Wa7UvkdPh8ZP3gwYOsX7++7PGmTZtYsmQJtWrVomHDhgwfPpyxY8fSvHlzmjdvztixY4mOjmbAgAEVGlyCy5qsPCakrwXgn31bk1A90uZEIiJS4bbMh59eAGBk6V08dO0FREXo9BeR0+Fzs75w4UIuuOCCsseHzzcfOHAgb7zxBiNHjqSwsJAhQ4aQk5NDt27dSE9PJzY2tuJSS1ApKfUy4v0llHi8XNiqHv27NrA7koiIVDSvF/fnI3EC00p70/zcq+naWKe/iJwun5v13r17Y4w57uctyyItLY20tLTTySUhZNLsdWTuyKVGtJMn+un0FxGRkGK8UHwQkzkD566l5JkoPq51K1NSmtudTCQk+GU2GJHDlm7dz3O/3fzosSvbUi9Op7+IiIQKh7eE8JfOgb3rOHwY5nnvVTx83QW6+ZFIBanQC0xFfq/I7WHE+0vweA2XdUji0vZJdkcSEZEK1HDvd1h715U9XuVNJq73PbRO8m3qZRE5Ph1ZF7959LOVbNidT71YF/93hWYDEBEJKd5SzsieCcALrlt5/UBXmjZqyDu9W9kcTCS06Mi6+MV7C7cx9actWBY81b8DNaIj7I4kIiIVyFr1CTElu8lzVOeZA+fhiIvnPzeeRXiYWguRiqQj61LhNufBf35eBcDfUlvSq0VdmxOJiEiFKikg7PsJALxcnII3LIqXbupKvVhdlyRS0fTnr1So4lIv72wIw+0xXNImgSG9m9kdSUREKpLHDR8MxNqzhv2mGm96Uhme0pyOyTXsTiYSktSsS4V6cc5GdhVa1KkWwRN/0TSNIiIhxRj473BYl06J5eK2kvtJSkjkjvOa2p1MJGTpNBipMKt25vLSd5sAeLhvK52nLiISan55E5a8jdcKY3DxX1lsWvDRVW1w6jx1Eb/RT5dUiJz8Eu58ayFuj6FtTS+XtIm3O5KIiFSkXZnwxUgAnnL35xtvJ65o7KWNpmkU8Ss163La3B4vQ6f+wtZ9hTSoGcWAZl6d/iIiEkry98B7N0JpEd/RiRdLL+XqzvXplXD8O5qLSMVQsy6n7fHPVzFvw16iI8J4cUBHYpx2JxIRkQpTUgBTr4V9G8my6nFv0WA6N6pN2mVnouMyIv6nZl1Oy3sLtvDGvF8BePrajrRMiLU3kIiIVJycX+HtfrB9IQcdsdxQ9Hdc1evx4o1dcIWrhRCpDLrAVMrth/V7+MfHKwAYkdKCi9sk4Ha7bU4lIiIVYsV0+PSvUHKQIiuSQYX3sSO8IR/c3JW6sS7Ve5FKomZdymXR5n3cPuXQBaV92ydyz4Vn2B1JREQqyoqPYPrtYLysj2rPrftvISsskckDu9K2fnW704lUKWrWxWeLNucwaPICCt0ezm9RlwnXdNAFpSIioWJtOnx0Bxgvc6pdwqA9NxIeFsZLN3bmnDPq2J1OpMpRsy4+mbt2N4PfWkSh28PZTWrx0o1dcIWH2R1LREQqwv4t8NHt4C1lbuQF3LLnRiKdTl68qQu9WtS1O51IlaRmXU7ZzOU7uXfaYtweQ68WdXnxxi5ERahRFxEJCR43fHgbFB1gdVhLbt1/C9UiI5h8y1l0aVTL7nQiVZaadTkl7y/YyoMfLcNroG+7RJ6+tiMRmglARCQ05O6Az+6DbT+TRzS3F9xNjWoxvHXb2ZyZqJseidhJzbqckMdrGD9rNS/N3QjA9Wcn89iV7Qhz6Bx1EZGgl78Hfn4FM/85rOI8SkwY97sHE1G7CW8POovGdWLsTihS5alZl+Nan53Hw59kMm/DXgCGXXAG96e20MWkIiLBbMcSmPcs7FqJ2bsey+vGAhZ7z2Ck+06SW3bm4+s6EhepO9yJBAI163KUrfsKeHHOBqYt2IrHa4h0Onjq6g5c1iHJ7mgiIlJe7iKY9QAsmgIYACxgqbcpr5T2ZUH0edx36Zlc0zUZh949FQkYatalzJqsPF6cs4FPl+7A4z1UyP90ZjwP/bkVTetWszmdiIj4xBjYvQaq1YPoWvDtWFj0BgBfWOcyrfgcNphEiqLrc+uFTXmiR2OqudQWiAQa/VQKxhjSPs1kyo+by5ad17wOQy84g+5Na9uYTESCwfPPP89TTz3Fzp07adOmDRMnTuS8886zO1bVYg4dYMGyDv1/8dvw00uwaznE1IOUR2HeJAAetEYwrbArDWpGMbhXM/p3aUCkUzN7iQQqv03n8fzzz9OkSRMiIyPp0qUL3333nb++lJymSbPXM+XHzVgW9GmbwKfDzuGt27qpUReRk3rvvfcYPnw4o0ePZvHixZx33nn06dOHLVu22B2t6tixBF48D57tBCumw4zB8OmwQ406QH42fHwXGA9zwnsyrbArbZLi+HL4+dzUvZEadZEA55cj64eL9/PPP88555zDSy+9RJ8+fVi5ciUNGzb0x5cUH5WUelm7K4/0zCyenb0egMeubMsN3RrZnExEgsmECRO47bbbuP322wGYOHEiX375JS+88ALjxo3z29fdtOJHinevo7CoBG/RAfb+N43IbT+Qb1yUlHqJKd1HjlWD7+rfjnVGCg1rR1N382c0XfEs+ZEJ/Nr9MaoltaRaZDixrnCirBJKv3uG6BVvUxidxO6ki8hvnEJYnea4ts8jes8yorvfQq26if8LsXcDbP8FwsKhejLU73LoqPaaz6EwB1r+GWJ+u+On1wMbv4H8vRAeAWERWMYi/sBirNVeiKyGJywST2kJXgNhjboT7or+3wX92xfBmlnQsBt43Jg542H3akprNiN8zyosb+mh9T68FQAPYXwYdzMfl/bgvvynOdtaRa6J5m8HbyA+zsVrA88iRqe8iAQFv/yk2lG8jTHMWbub/cWH/p+dW8QPG/awcXc+W/cVsDWnkKwDRTSqHU3H5Bo0q1uNurEudh4oJDu3mPo1o2hYK5rqUc5DxTvSidcYtu0rZF9+CaVeL+EOB3FR4YQ7HBS6PVSPCqdx7RjCw/w337gxhlKvwYKTfh1jDPklHvYXlHCg0M2BAjcHCt3szS9hx/5Ctu8vZHtOIdtyCtmVV1T2rinA7ec2UaMuIj4pKSlh0aJFPPjgg0csT01NZd68ecfcpri4mOLi4rLHubm5ALjdbtxu9yl/7QNf/Ztr8r9l37+exoNFkpUHwO9v3ZNgdnPm1gfYtuUpwvCSaO0DoEbhFmrP7MtGk0SilUUpDrxY1LQKAHAVZFFjzy+w7CnyjYsY61De9Qve4saw0bSI3M/VpTPp6Z6Hg/8V0pWOFjiAVt61AJRyL5lWC351JNPVu4z6ZtcRYwgHugMcmhmXsN8+AHabON70XMznVi9ah23jX0wgkpKybQ9f/unMPnT0/AvPWaw1DRgc9hnFOLnbPZx52W0B+IUHuCH8a/bW6MgVZ3XihrOTqR0d5tPrfSyHtz/d57FLsOeH4B9DVcxfnrFWeLPua/GuqMK9Y38ht7+1GAjnqczZHCz2HHO97fsLy6YirAgR4Q4S4lxUjzo0xVWR20Oh20tJqZdIp4PYyHBKSr3k/5bHYYHDYeGwLA5fbO/2HGrI3R4vhUVhjP7la0q9htLflh8W5rCICLNwhYfhCnfgDHfg+O30xPySUnILS49Y/2RiIsI4u0lN/tSqHn/pXL9Cfliq4g9eIAn2/BD8Y6is4h0I9uzZg8fjIT4+/ojl8fHxZGVlHXObcePGMWbMmKOWp6enEx0dfcpfO6bEItdEU8s6CMB604CPIvsRExFOnNNLeGQsTQ8uonNuOg2sPQAU4uKziD/TvHQdHb0raG1tPuI5d5pavGRdQ6xVxDnmFzqzkhirmFwTTQlOznDs4L/eYYQV/q/O/uI9AzfhdLA20Pq3Jv2gieRXk0Bbx690MKvp4FkNQI6pxgpvY5yWByelOCnFi4NSwoikhCiKcRNOTSuPeGs/94d/wP18gMdYhFmG5d7G1LZyiaWQdzx/4mPPOTS1dlIYFkNmWGuiwy2+D7uYGKdFXGQ0A1wearmgpstBjYgUwh2AZz3LflzPslN+pU8uIyOjAp+t8gV7fgj+MVSl/AUFBT4/v2WMOfXu7hTs2LGD+vXr88MPP9CzZ8+y5WPHjmXKlCmsWbPmiPXT0tKOWbinTp3qU+HeehDeXh9GdiF4fzvmkBxjaFjNUNtlqBUJcU7DrkKLrQct9hRDbolFjQhDXATkFMO+YotCDxSV/u85YsINcU4Ic4DHQGHpoX8jHJDnhhJv4E1vFWYZYsIhuuzDUDMCav72OtSKOPRvtfBD1yKJiL0KCgoYMGAABw4cIC4ueO4Webjez5s3jx49epQtf/zxx3nrrbdYvXr1Udsc6wBNcnIye/bs8Wnsbrebr9K/oFujGNyFedTr1Acr3HX0igezsfb/CliYWs0OzYpiDNavc8FdiKl9BsYYSvL3E5HYBivid793ivOw9qzDxLeGgr04pvYnbO9aSp3V2FU/lZ1nDsJbtzWR4WGEFWQTt+x1HO589nQcCrHxOA/8SnT2Elz711EcU5/djS+HiGicYQ6cYRZ4vcz/8Qd6n38eUa4IwsMswh0Owowbx6pPiVj6FhE7fsLCkNPsSjb2fAKscMLDLGpERxAX5SQmIsy2e1+43W4yMjJISUnB6Qy+OdmDPT8E/xiqYv7c3Fzq1KnjU7332wlrfywexphjFpRRo0YxYsSIsseHC3dqaqrPv7RudbuZ+WUGZ3TsQUKNaGpXO0bhPgXGGIpLvXiNITri+C+R12vYtr+Q3XnFHCg6dL5glNNBZHgYEeEOitwe8opLcYU7iHKG4bAsvMZgDHiNwWvAYHA6HIT/VrgX/PQj5517TlnhdjoswsMcGAMlHi/FpR5KSg3FpR6KS70Yc+jt0OiIMKpHO6ke6STS6VDxLiflt1+wj6G8xTsY1alTh7CwsKOOomdnZx91tP0wl8uFy3V0bXY6nT7vb2OFU6vtRSfermb9Qx9/1OJPRzyMONa2zlpQrduh/0fFwp3fwM4lhNfvSn1nJEc+ay1oNR7gd8trA13KHjX+w9O73W7WR0LDOrF/GEMUdLvx0EdeFuzdQM2GPeji8N8pl6ejPPsukAR7fgj+MVSl/OUZZ4U3674W74os3ABOB7RpUPO0d3rEMSv30ZrFR9Ds2L+TfOZ2u9m6HJonVA/qb1qoWj94gSjY80Pwj8HfxTsQRERE0KVLFzIyMrjqqqvKlmdkZHDFFVfYmMxPXNWg8bmV+zVjEw59iEiVVeF/pv++eP9eRkbGEafFiIhI8BsxYgSvvvoqr7/+OqtWreK+++5jy5Yt3HXXXXZHExEJCX45DWbEiBHcdNNNdO3alR49evDyyy+reIuIhKBrr72WvXv38uijj7Jz507atm3LzJkzadRIs0uJiFQEvzTrKt4iIlXHkCFDGDJkiN0xRERCkt8uMFXxFhERERE5PYF5abmIiIiIiKhZFxEREREJVGrWRUREREQClJp1EREREZEApWZdRERERCRAqVkXEREREQlQfpu6sbyMMQDk5ub6vK3b7aagoIDc3NygvH13sOeH4B+D8tsv2MdQnvyH693h+leVlLfmB/v3CQT/GJTffsE+hqqYvzz1PuCa9by8PACSk5NtTiIiUrny8vKoXr263TEqlWq+iFRFvtR7ywTYoRyv18uOHTuIjY3Fsiyfts3NzSU5OZmtW7cSFxfnp4T+E+z5IfjHoPz2C/YxlCe/MYa8vDySkpJwOKrW2YnlrfnB/n0CwT8G5bdfsI+hKuYvT70PuCPrDoeDBg0anNZzxMXFBeVOPyzY80Pwj0H57RfsY/A1f1U7on7Y6db8YP8+geAfg/LbL9jHUNXy+1rvq9YhHBERERGRIKJmXUREREQkQIVUs+5yuXjkkUdwuVx2RymXYM8PwT8G5bdfsI8h2PMHi1B4nYN9DMpvv2Afg/KfmoC7wFRERERERA4JqSPrIiIiIiKhRM26iIiIiEiAUrMuIiIiIhKg1KyLiIiIiAQoNesiIiIiIgEq6Jr1559/niZNmhAZGUmXLl347rvvTrj+nDlz6NKlC5GRkTRt2pQXX3yxkpIeady4cZx11lnExsZSr149rrzyStasWXPCbb799lssyzrqY/Xq1ZWU+khpaWlHZUlISDjhNoHy+gM0btz4mK/n0KFDj7m+3a//3Llzueyyy0hKSsKyLD7++OMjPm+MIS0tjaSkJKKioujduzeZmZknfd7p06fTunVrXC4XrVu3ZsaMGX4awYnH4Ha7eeCBB2jXrh0xMTEkJSVx8803s2PHjhM+5xtvvHHM/VJUVFSp+QEGDRp0VI7u3buf9Hkrcx8Es2Ct9xD8NV/1vvJf+2Cv+cFe7082BrCv5gdVs/7ee+8xfPhwRo8ezeLFiznvvPPo06cPW7ZsOeb6mzZt4s9//jPnnXceixcv5qGHHuKvf/0r06dPr+Tkh4rY0KFDmT9/PhkZGZSWlpKamkp+fv5Jt12zZg07d+4s+2jevHklJD62Nm3aHJFl+fLlx103kF5/gAULFhyRPSMjA4D+/fufcDu7Xv/8/Hw6dOjApEmTjvn58ePHM2HCBCZNmsSCBQtISEggJSWFvLy84z7njz/+yLXXXstNN93E0qVLuemmm7jmmmv46aefKn0MBQUF/PLLL/zzn//kl19+4aOPPmLt2rVcfvnlJ33euLi4I/bJzp07iYyMrNT8h11yySVH5Jg5c+YJn7Oy90GwCuZ6D6FR81XvK/e1D/aaH+z1HgK45psgcvbZZ5u77rrriGWtWrUyDz744DHXHzlypGnVqtURywYPHmy6d+/ut4ynKjs72wBmzpw5x13nm2++MYDJycmpvGAn8Mgjj5gOHTqc8vqB/PobY8y9995rmjVrZrxe7zE/H0ivP2BmzJhR9tjr9ZqEhATzxBNPlC0rKioy1atXNy+++OJxn+eaa64xl1xyyRHLLr74YnPddddVeOY/+uMYjuXnn382gNm8efNx15k8ebKpXr16xYY7BcfKP3DgQHPFFVf49Dx27oNgEkr13pjgq/mq9/YK9pof7PXemMCq+UFzZL2kpIRFixaRmpp6xPLU1FTmzZt3zG1+/PHHo9a/+OKLWbhwIW63229ZT8WBAwcAqFWr1knX7dSpE4mJiVx00UV88803/o52QuvWrSMpKYkmTZpw3XXXsXHjxuOuG8ivf0lJCW+//Ta33norlmWdcN1Aev0P27RpE1lZWUe8vi6Xi169eh335wGOv09OtE1lOnDgAJZlUaNGjROud/DgQRo1akSDBg249NJLWbx4ceUEPIZvv/2WevXq0aJFC+644w6ys7NPuH6g74NAEGr1HoKz5qveB0a9h9Cs+cFY78Gemh80zfqePXvweDzEx8cfsTw+Pp6srKxjbpOVlXXM9UtLS9mzZ4/fsp6MMYYRI0Zw7rnn0rZt2+Oul5iYyMsvv8z06dP56KOPaNmyJRdddBFz586txLT/061bN958802+/PJLXnnlFbKysujZsyd79+495vqB+voDfPzxx+zfv59BgwYdd51Ae/1/7/D3vC8/D4e383WbylJUVMSDDz7IgAEDiIuLO+56rVq14o033uDTTz/l3XffJTIyknPOOYd169ZVYtpD+vTpwzvvvMPs2bP597//zYIFC7jwwgspLi4+7jaBvA8CRSjVewjOmq96Hzj1HkKv5gdjvQf7an54uRPb5I9/FRtjTviX8rHWP9byyjRs2DCWLVvG999/f8L1WrZsScuWLcse9+jRg61bt/Kvf/2L888/398xj9KnT5+y/7dr144ePXrQrFkzpkyZwogRI465TSC+/gCvvfYaffr0ISkp6bjrBNrrfyy+/jyUdxt/c7vdXHfddXi9Xp5//vkTrtu9e/cjLug555xz6Ny5M//5z3949tln/R31CNdee23Z/9u2bUvXrl1p1KgRn3/+Of369TvudoG4DwJRKNR7CM6ar3ofePUeQqPmB2u9B/tqftAcWa9Tpw5hYWFH/SWSnZ191F8shyUkJBxz/fDwcGrXru23rCdyzz338Omnn/LNN9/QoEEDn7fv3r27bX9R/lFMTAzt2rU7bp5AfP0BNm/ezFdffcXtt9/u87aB8vofnpXBl5+Hw9v5uo2/ud1urrnmGjZt2kRGRsYJj7Ici8Ph4KyzzgqI/ZKYmEijRo1OmCUQ90GgCZV6D6FT81Xv7RUqNT+U6j1UXs0PmmY9IiKCLl26lF3RfVhGRgY9e/Y85jY9evQ4av309HS6du2K0+n0W9ZjMcYwbNgwPvroI2bPnk2TJk3K9TyLFy8mMTGxgtOVT3FxMatWrTpunkB6/X9v8uTJ1KtXj759+/q8baC8/k2aNCEhIeGI17ekpIQ5c+Yc9+cBjr9PTrSNPx0u3OvWreOrr74q1y91YwxLliwJiP2yd+9etm7desIsgbYPAlGw13sIvZqvem+vUKj5oVbvoRJrvk+XtNps2rRpxul0mtdee82sXLnSDB8+3MTExJhff/3VGGPMgw8+aG666aay9Tdu3Giio6PNfffdZ1auXGlee+0143Q6zYcffljp2e+++25TvXp18+2335qdO3eWfRQUFJSt88f8Tz/9tJkxY4ZZu3atWbFihXnwwQcNYKZPn17p+Y0x5v777zfffvut2bhxo5k/f7659NJLTWxsbFC8/od5PB7TsGFD88ADDxz1uUB7/fPy8szixYvN4sWLDWAmTJhgFi9eXHbl/BNPPGGqV69uPvroI7N8+XJz/fXXm8TERJObm1v2HDfddNMRs2f88MMPJiwszDzxxBNm1apV5oknnjDh4eFm/vz5lT4Gt9ttLr/8ctOgQQOzZMmSI34uiouLjzuGtLQ0M2vWLLNhwwazePFic8stt5jw8HDz008/VWr+vLw8c//995t58+aZTZs2mW+++cb06NHD1K9fP6D2QbAK5npvTPDXfNX7yn/tg73mB3u9P9kY7Kz5QdWsG2PMc889Zxo1amQiIiJM586dj5gGa+DAgaZXr15HrP/tt9+aTp06mYiICNO4cWPzwgsvVHLiQ4BjfkyePLlsnT/mf/LJJ02zZs1MZGSkqVmzpjn33HPN559/Xvnhf3PttdeaxMRE43Q6TVJSkunXr5/JzMws+3wgv/6HffnllwYwa9asOepzgfb6H55K7I8fAwcONMYcmsrrkUceMQkJCcblcpnzzz/fLF++/Ijn6NWrV9n6h33wwQemZcuWxul0mlatWvn1l9GJxrBp06bj/lx88803xx3D8OHDTcOGDU1ERISpW7euSU1NNfPmzav0/AUFBSY1NdXUrVvXOJ1O07BhQzNw4ECzZcuWI57D7n0QzIK13hsT/DVf9b7yX/tgr/nBXu9PNgY7a75lzG9XgIiIiIiISEAJmnPWRURERESqGjXrIiIiIiIBSs26iIiIiEiAUrMuIiIiIhKg1KyLiIiIiAQoNesiIiIiIgFKzbqIiIiISIBSsy4iIiIiEqDUrIuIiIiIBCg16yIiIiIiAUrNuoiIiIhIgPp/eqYSGjNkzvsAAAAASUVORK5CYII=\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "def run_filter_bank():\n", " dt = 0.1\n", " cvfilter = make_cv_filter(dt, std=0.2)\n", " cafilter = make_ca_filter(dt, std=0.2)\n", "\n", " _, zs = generate_data(120, std=0.2)\n", " z_xs = zs[:, 0]\n", " xs, probs = [], []\n", "\n", " pv, pa = 0.8, 0.2\n", " pvsum, pasum = 0., 0.\n", " \n", " for z in z_xs:\n", " cvfilter.predict()\n", " cafilter.predict()\n", " cvfilter.update([z])\n", " cafilter.update([z])\n", " \n", " cv_likelihood = cvfilter.likelihood * pv\n", " ca_likelihood = cafilter.likelihood * pa\n", " \n", " pv = (cv_likelihood) / (cv_likelihood + ca_likelihood)\n", " pa = (ca_likelihood) / (cv_likelihood + ca_likelihood)\n", " \n", " x = (pv * cvfilter.x[0]) + (pa*cafilter.x[0])\n", " xs.append(x)\n", " probs.append(pv / pa)\n", "\n", " xs = np.asarray(xs)\n", " t = np.arange(0, len(xs) * dt, dt)\n", " plt.subplot(121)\n", " plt.plot(t, xs)\n", " plt.subplot(122)\n", " plt.plot(t, xs)\n", " plt.plot(t, z_xs)\n", " return xs, probs\n", "\n", "xs, probs = run_filter_bank()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I plot the filter's estimates alone on the left so you can see how smooth the result is. On the right I plot both the estimate and the measurements to prove that the filter is tracking the maneuver. \n", "\n", "Again I want to emphasize that this is nothing more than the Bayesian algorithm we have been using throughout the book. We have two (or more) measurements or estimate, each with an associated probability. We choose an estimate as a weighted combination of each of those values, where the weights are proportional to the probability of correctness. The computation of the probability at each step is \n", "\n", "$$\\frac{\\texttt{Prob(meas | state)} \\times\\texttt{prior}}{\\texttt{normalization}}$$\n", "\n", "which is Bayes theorem.\n", "\n", "For real world problems you are likely to need more than two filters in your bank. In my job I track objects using computer vision. I track hockey pucks. Pucks slide, they bounce and skitter, they roll, they ricochet, they are picked up and carried, and they are 'dribbled' quickly by the players. I track humans who are athletes, and their capacity for nonlinear behavior is nearly limitless. A two filter bank doesn't get very far in those circumstances. I need to model multiple process models, different assumptions for noise due to the computer vision detection, and so on. But you have the main idea. \n", "\n", "### Limitations of the MMAE Filter\n", "\n", "The MMAE as I have presented it has a significant problem. Look at this chart of the ratio of the probability for the constant velocity vs constant acceleration filter." ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(t[0:len(probs)], probs)\n", "plt.title('probability ratio p(cv)/p(ca)')\n", "plt.xlabel('time (sec)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For the first three seconds, while the tracked object travels in a straight direction, the constant velocity filter become much more probable than the constant acceleration filter. Once the maneuver starts the probability quickly changes to to favor the constant acceleration model. However, the maneuver is completed by second six. You might expect that the probability for the constant velocity filter would once again become large, but instead it remains at zero.\n", "\n", "This happens because of the recursive computation of the probability:\n", "\n", "$$p_k = \\frac{\\mathcal{L}p_{k-1}}{\\sum \\text{probabilities}}$$\n", "\n", "Once the probability becomes very small it can never recover. The result is that the filter bank quickly converges on only the most probable filters. A robust scheme needs to monitor the probability of each filter and kill off the filters with very low probability and replace them with filters with greater likelihood of performing well. You can subdivide the existing filters into new filters that try to span the characteristics that make them perform well. In the worst case, if a filter has diverged you can reinitialize a filter's state so that it is closer to the current measurements. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Interacting Multiple Models (IMM)\n", "\n", "Let's think about multiple models in another way. The scenario is as before - we wish to track a maneuvering target. We can design a set of Kalman filters which make different modeling assumptions. They can differ in terms of the filter order, or in the amount of noise in the process model. As each new measurement comes in each filter has a probability of being the correct model.\n", "\n", "This naive approach leads to combinatorial explosion. At step 1 we generate $N$ hypotheses, or 1 per filter. At step 2 we generate another $N$ hypotheses which then need to be combined with the prior $N$ hypotheses, which yields $N^2$ hypothesis. Many different schemes have been tried which either cull unlikely hypotheses or merge similar ones, but the algorithms still suffered from computational expense and/or poor performance. I will not cover these in this book, but prominent examples in the literature are the generalized pseudo Bayes (GPB) algorithms.\n", "\n", "The *Interacting Multiple Models* (IMM) algorithm was invented by Blom[5] to solve the combinatorial explosion problem of multiple models. A subsequent paper by Blom and Bar-Shalom is the most cited paper [6]. The idea is to have 1 filter for each possible mode of behavior of the system. At each epoch we let the filters *interact* with each other. The more likely filters modify the estimates of the less likely filters so they more nearly represent the current state of the sytem. This blending is done probabilistically, so the unlikely filters also modify the likely filters, but by a much smaller amount. \n", "\n", "For example, suppose we have two modes: going straight, or turning. Each mode is represented by a Kalman filter, maybe a first order and second order filter. Now say the target it turning. The second order filter will produce a good estimate, and the first order filter will lag the signal. The likelihood function of each tells us which of the filters is most probable. The first order filter will have low likelihood, so we adjust its estimate greatly with the second order filter. The second order filter is very likely, so its estimate will only be changed slightly by the first order Kalman filter. \n", "\n", "Now suppose the target stops turning. Because we have been revising the first order filter's estimate with the second order estimate it will not have been lagging the signal by very much. Within just a few epochs it will be producing very good (high likelihood) estimates and be the most probable filter. It will then start contributing heavily to the estimate of the second order filter. Recall that a second order filter mistakes measurement noise for acceleration. This adjustment insures reduces this effect greatly." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Mode Probabilities\n", "\n", "We define a set of modes for our system, $m$, and assume that the target is always in one of these modes. In the discussion above we have the modes straight and turn, so $m=\\{\\text{straight},\\ \\text{turn}\\}$.\n", "\n", "\n", "We assign a probability that the target is in any given mode. This gives us a vector of *mode probabilities* with one probability for each possible mode. $m$ has two modes, so we will have a vector of two probabilities. If we think that there is a 70% chance that the target is going straight we can say\n", "\n", "$$\\mu = \\begin{bmatrix} 0.7 & 0.3\\end{bmatrix}$$\n", "\n", "We get 0.3 for the turn because the probabilities must sum to one. $\\mu$ is typically but not universally used as the symbol for the mode probabilities, so I will use it. Do not confuse it with the mean.\n", "\n", "In Python we can implement this as" ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.7, 0.3])" ] }, "execution_count": 27, "metadata": {}, "output_type": "execute_result" } ], "source": [ "mu = np.array([0.7, 0.3])\n", "mu" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can formalize it by saying that the prior probability that $m_i$ is correct (the maneuvering object is in mode $i$), given the prior measurements $Z$, is\n", "\n", "$$\\mu_i = P(m_i|Z)$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Mode Transitions\n", "\n", "Next we have to consider that this is a maneuvering target. It will go straight, then turn, then go straight again. We can model the transition between these modes as a [*Markov chain*](https://en.wikipedia.org/wiki/Markov_chain), as in this illustration:" ] }, { "cell_type": "code", "execution_count": 28, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import kf_book.adaptive_internal as adaptive_internal\n", "adaptive_internal.plot_markov_chain()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This shows an example of two modes for a target, going straight and performing a turn. If the current mode of the target is straight, then we predict that there is a 97% chance of the target continuing straight, and a 3% chance of starting a turn. Once the target is turning, we then predict that there is a 95% chance of staying in the turn, and a 5% of returning to a straight path.\n", "\n", "The algorithm is not sensitive to the exact numbers, and you will typically use simulation or trials to choose appropriate values. However, these values are quite representative.\n", "\n", "We represent Markov chains with a [*transition probability matrix*](https://en.wikipedia.org/wiki/Stochastic_matrix), which we will call $\\mathbf M$. For the Markov chain in the illustration we would write\n", "\n", "$$\\mathbf M = \\begin{bmatrix}.97 & .03\\\\.05 & .95\\end{bmatrix}$$\n", "\n", "In other words $\\mathbf M[i, j]$ is the probability of mode being $j$ given that the last mode was $i$. In this example the probability of the mode currently being straight $(j=0)$ given that the last mode was a turn $(i=1)$ is $\\mathbf M[1,\\ 0] = 0.05$. In Python we'd write:" ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0.97 0.03]\n", " [0.05 0.95]]\n", "From turn to straight probablility is 0.05 percent\n" ] } ], "source": [ "M = np.array([[.97, .03], [.05, .95]])\n", "print(M)\n", "print('From turn to straight probablility is', M[1, 0], 'percent')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This allows us to compute the new mode probabilities based on the probability of a transition. Let's compute the probability of the mode being straight after a transition. There are two ways for us to be moving straight. We could have been moving straight, and then continued straight, or we could have been turning, but then went straight. The former probability is calculated with $(0.7\\times 0.97)$ and the latter with $(0.3\\times 0.05)$. We are multiplying the mode probability with the relevant probability from the Markov Chain. The *total probability* is the sum of the two, or $(0.7)(0.97) + (0.3)(0.05) = 0.694$. \n", "\n", "Recall the [*total probability theorem*](https://en.wikipedia.org/wiki/Law_of_total_probability) from the second chapter. It states that the probability of several distinct events is\n", "\n", "$$P(A) = \\sum P(A\\mid B)\\, P(B)$$\n", "\n", "Here $P(A\\mid B)$ is the transition matrix $\\mathbf M$ and $P(B)$ is $\\mu$. We are using arrays and matrices, and so we take advantage of the fact that a vector times a matrix computes the sum of products: \n", "\n", "$$\\begin{bmatrix}\\mu_1 & \\mu_2 \\end{bmatrix}\\begin{bmatrix}m_{11} & m_{12}\\\\m_{21} & m_{22}\\end{bmatrix} = \\begin{bmatrix}\\mu_1 m_{11} + \\mu_2 m_{21} & \\mu_1 m_{12} + \\mu_2 m_{22}\\end{bmatrix}$$\n", "\n", "The IMM literature expresses this as\n", "\n", "$$\\bar c_j = \\sum\\limits_{i=1}^{N} \\mu_i M_{ij}$$\n", "\n", "We use NumPy's `dot` function to compute this for us. We could also use the matix multiply operator `@`, but I find using dot for the summation symbol, which is the dot product, more intuitive:" ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.694, 0.306])" ] }, "execution_count": 30, "metadata": {}, "output_type": "execute_result" } ], "source": [ "cbar = np.dot(mu, M)\n", "cbar" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Computing the Mode Probabilities\n", "\n", "\n", "We will compute the new mode probabilities using Bayes theorem. Recall that Bayes theorem states\n", "\n", "$$\\text{posterior} = \\frac{\\text{prior} \\cdot \\text{likelihood}}{\\text{normalization factor}}$$\n", "\n", "Here the prior is the total probability computation we performed in the last section. The Kalman filter computes the *likelihood*, which is the likelihood of the measurements given the current state of the filter. For review the equation is:\n", "\n", "$$\n", "\\mathcal{L} = \\frac{1}{\\sqrt{2\\pi \\mathbf S}}\\exp [-\\frac{1}{2}\\mathbf y^\\mathsf T\\mathbf S^{-1}\\mathbf y]$$\n", "\n", "In mathematical notation the updated mode probability is:\n", "\n", "$$\\mu_i = \\| \\mathcal{L}_i {\\bar c}_{i}\\|$$\n", "\n", "In words, for each Kalman filter (mode) we compute the mode probability as the probability of the current mode taking the possible transition into account times the likelihood that this is the correct mode. Then we normalize all of the probabilities so they sum to one.\n", "\n", "This is trivial to compute in Python. I'll introduce the variable `L` to store the likelihoods. Likelihoods are computed by the `KalmanFilter.update()` step, and in the code snippet below I just hard coded values for `L` since we haven't created the Kalman filters yet:" ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([0.802, 0.198])" ] }, "execution_count": 31, "metadata": {}, "output_type": "execute_result" } ], "source": [ "# L = [kf0.L, kf1.L] # get likelihoods from Kalman filters\n", "L = [0.000134, 0.0000748] \n", "mu = cbar * L\n", "mu /= sum(mu) # normalize\n", "mu" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here you can see that the relatively strong likelihood for the straight filter pushed the probability for the straight mode from 70% to 80.2%." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Mixing Probabilities\n", "\n", "At this point we could use the mode transitions to compute the probabilities for all possible choices. If $\\mu = \\begin{bmatrix} 0.63 & 0.27\\end{bmatrix}$, then we can use the transition probability matrix to compute all possible outcomes. In other words, if the current mode is straight $(\\mu=0.63)$, we can compute two new probabilities based on whether the target keeps moving straight, or turns. We do the same for the turning mode $(\\mu=0.27)$. We will have gone from 2 mode probabilities to 4. At the next step 4 will turn into 8, and so on. It's computationally exact, but infeasible in practice. After only 30 epochs you'd require 8GB of memory to store the mode probabilities in double precision.\n", "\n", "We need a better, albeit approximate way. IMMs resolve this by computing *mixing probabilities*. The idea is simple. Let's say the first mode (straight) is currently very likely, and the second mode (turn) is unlikely. Instead of having the Kalman filter for the straight mode compute its state as the weighted average of all of the filters in the filter bank. Filters with high probability of matching the target's mode get weighted more than filters with lower probability. The result is that the information from the probable filters improve the accuracy of the filters that are improbable. This is the crux of the algorithm.\n", "\n", "What we need to do is very simple. Each Kalman filter performs the update step, computing a new mean and covariance. But then we compute a new mean and covariance for each filter as a weighted sum of these means and covariances according to *mixing probabilities* which we call $\\omega$. Likely filters will be slightly adjusted by the unlikely filters, and the unlikely filters will be strongly adjusted by the likely ones. The literature calls these adjusted means and covariances either the *mixed conditions* or *mixed initial conditions*. I use the notation $\\mathbf x^m_j$ for the mixed state, and $\\mathbf P^m_j$ for the mixed covariance. The equations are:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf x^m_j &= \\sum_{i=1}^N \\omega_{ij} \\mathbf x_i \\\\\n", "\\mathbf P^m_j &= \\sum_{i=1}^N \\omega_{ij}\\left[(\\mathbf x^i - \\mathbf x^m_i) (\\mathbf x^i - \\mathbf x^m_i)^\\mathsf T + \\mathbf P_i\\right]\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Just think of the subscripts as indexes into arrays. Putting it in pseudo-Python we can write this as:\n", "\n", "```python\n", "for j in N:\n", " x0[j] = sum_over_i(w[i,j] * x[i])\n", " P0[j] = sum_over_i(w[i, j] * (P[i] + np.outer(x[i] - x0[j]))) \n", "```\n", "\n", "Don't let the notation confuse what is a simple idea: incorporate estimates from the probable filters into the estimates of the improbable filters, ensuring all have a good estimate." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "How do we compute the mixing probabilities? Think about it, and try to give a reasonable answer before reading on. We have mode probabilities which describe the current probability of each mode, and then transition probabilities describing how likely we are to change modes. How do we compute the new probability?\n", "\n", "Bayes theorem, of course! Prior times the likelihood, normalized. The prior is the mode probability, and the likelihood comes from the Markov chain, which we store in the matrix $\\mathbf M$. \n", "\n", "$$\\boldsymbol\\omega_{ij} = \\| \\mu_i \\cdot \\mathbf M_{ij}\\|$$\n", "\n", "We can compute this as follows. I computed the update of $\\mu$ and $\\bar c$ out of order above (you must compute $\\bar c$ incorporating the transition probability matrix into $\\mu$), so I'll need to correct that here:" ] }, { "cell_type": "code", "execution_count": 32, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[0.987, 0.114],\n", " [0.013, 0.886]])" ] }, "execution_count": 32, "metadata": {}, "output_type": "execute_result" } ], "source": [ "cbar = np.dot(mu, M) #compute total probability that target is in mode j\n", "\n", "omega = np.zeros((2, 2))\n", "for i in range(2):\n", " for j in range(2):\n", " omega[i, j] = (M[i, j] * mu[i]) / cbar[j]\n", "omega" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The Kalman filters need to perform the prediction step to compute the new prior. They use the mixed estimates:\n", "\n", "$$\n", "\\begin{aligned}\n", "\\bar{\\mathbf x}_j &= \\mathbf F_j\\mathbf x^m_j\\\\\n", "\\bar{\\mathbf P}_j &= \\mathbf F_j\\mathbf P^m_j\\mathbf F_j^\\mathsf T + \\mathbf Q_j\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### IMM Estimate\n", "\n", "Now we need a final state estimate from the bank of filters. How do we do that? Just weight the mixed estimate from each Kalman filter:\n", "\n", "$$\\begin{aligned}\n", "\\mathbf x &= \\sum_{j=1}^N \\mu_j{\\bar{\\mathbf x}}_j\\\\\n", "\\mathbf P &= \\sum_{j=1}^N \\mu_j\\left[(\\bar{{\\mathbf x}}_j - \\bar{\\mathbf x})({\\bar{\\mathbf x}}_j - \\bar{\\mathbf x})^\\mathsf T + \\bar{\\mathbf P_j}\\right]\n", "\\end{aligned}$$" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Tracking Maneuvering Target with the IMM\n", "\n", "Let's work an example. Crassidis[4] is one of the few texts with a worked example, so I have chosen his example. He tracks a moving target for 600 seconds. The target starts off moving straight, and then a control input is injected starting at 400 seconds, causing the target to make a 90 degree turn. He uses two constant acceleration Kalman filters. One filter assumes no process noise, and the other assumes process noise with spectral density $10^{-3}\\mathbf I$. He assumes very good initialization of the filters, setting $\\mathbf P =10^{-12}$ for both filters. My implementation follows:" ] }, { "cell_type": "code", "execution_count": 33, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import copy\n", "from scipy.linalg import block_diag\n", "from filterpy.kalman import IMMEstimator\n", "from filterpy.common import Saver\n", "\n", "N = 600\n", "dt = 1.\n", "imm_track = adaptive_internal.turning_target(N)\n", "\n", "# create noisy measurements\n", "zs = np.zeros((N, 2))\n", "r = 1\n", "for i in range(N):\n", " zs[i, 0] = imm_track[i, 0] + randn()*r\n", " zs[i, 1] = imm_track[i, 2] + randn()*r\n", "\n", "ca = KalmanFilter(6, 2)\n", "dt2 = (dt**2)/2\n", "F = np.array([[1, dt, dt2],\n", " [0, 1, dt],\n", " [0, 0, 1]])\n", " \n", "ca.F = block_diag(F, F)\n", "ca.x = np.array([[2000., 0, 0, 10000, -15, 0]]).T\n", "ca.P *= 1.e-12\n", "ca.R *= r**2\n", "q = np.array([[.05, .125, 1/6],\n", " [.125, 1/3, .5],\n", " [1/6, .5, 1]])*1.e-3\n", "ca.Q = block_diag(q, q)\n", "ca.H = np.array([[1, 0, 0, 0, 0, 0],\n", " [0, 0, 0, 1, 0, 0]])\n", "\n", "# create identical filter, but with no process error\n", "cano = copy.deepcopy(ca)\n", "cano.Q *= 0\n", "\n", "filters = [ca, cano]\n", "\n", "M = np.array([[0.97, 0.03],\n", " [0.03, 0.97]])\n", "mu = np.array([0.5, 0.5])\n", "bank = IMMEstimator(filters, mu, M)\n", "\n", "xs, probs = [], []\n", "for i, z in enumerate(zs):\n", " z = np.array([z]).T\n", " bank.predict()\n", " bank.update(z)\n", "\n", " xs.append(bank.x.copy())\n", " probs.append(bank.mu.copy())\n", "\n", "xs = np.array(xs)\n", "probs = np.array(probs)\n", "plt.subplot(121)\n", "plt.plot(xs[:, 0], xs[:, 3], 'k')\n", "plt.scatter(zs[:, 0], zs[:, 1], marker='+')\n", "\n", "plt.subplot(122)\n", "plt.plot(probs[:, 0])\n", "plt.plot(probs[:, 1])\n", "plt.ylim(-1.5, 1.5)\n", "plt.title('probability ratio p(cv)/p(ca)');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It is rather hard to see the performance of the filter, so let's look at the performance just as the turn starts. I've swapped the $x$ and $y$ axis to let us zoom in closely. In the chart below the turn starts at $Y=4000$. If you look very closely you can see that the estimate wavers slightly after the turn is initiated, but the filter tracks the measurement without lag and soon tracks smoothly." ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [ { "data": { "image/png": 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elJSk4uLiUBu3291gWbfbHWpzvPnz52vevHkNpq9YsUKxsbHN7l9HlZub29Zd6PCoYWSoX2SoX+SoYWSoX2SoX+Q6Qg09Aalud/ztt1coynbq+1BdXd3stu0mOEyfPl1btmzR6tWrT8r6DMOQxWIJva7/vKk29c2ZM0ezZs0Kva6srFRaWpoyMzOVkJBwUvrYHvl8PuXm5mrs2LFyOBxt3Z0OiRpGhvpFhvpFjhpGhvpFhvpFriPVsNrr193r35MkZWVltsmpSnVn1TRHuwgOM2bM0PLly7Vq1Sr17NmzRcsmJyfL6/WqrKws7KhDaWmpRo0aFWpTUlLSYNmDBw8qKSmp0fVGRUUpKiqqwXSHw9HuP4QnQ2fZztZEDSND/SJD/SJHDSND/SJD/SLXHmpodg2Dw/j6C+za/p76XfOW1KhNR1UyDEPTp0/XsmXL9N5776lv374tXsfQoUPlcDjCDkcVFRVp27ZtoeCQkZGhiooKrV+/PtRm3bp1qqioCLUBAAAAWku119/II1BvfqDRNu1Jmx5xmDZtml588UW9/vrrio+PD11v4HK5FBMTI0n66quvtHfvXh04cECSQvd5SE5OVnJyslwul2699VbNnj1bXbt2VWJiou666y4NGjQoNMrSgAEDNG7cOE2ZMkULFy6UJE2dOlUTJkxgRCUAAAC0WEtHRBr24LuNTvce/FxV29/XwM8/UkzvwQ3mf/bwlZF39iRp0+DwzDPPSJJGjx4dNn3x4sWaPHmyJGn58uX6P//n/4Tm3XTTTZKkuXPn6v7775ckPf7447Lb7brhhhtUU1Ojyy+/XM8995xstq+vMFm6dKlmzpwZGn1p4sSJeuqpp1ppywAAAIDGBarKVbVzlaq2vydv8S5Jkr+ipNHg0J60aXAwDPMhpyZPnhwKEU2Jjo7WggULtGDBgibbJCYmasmSJS3tIgAAABCx1XddrJXvvK0XlyzRirdz5PcfOw3JalPM2cO18P47dN21WW3bSRPt4uJoAAAAoD34pjdla+x6hCNHfTq6f4eqtr+n9IU/VEV5eWje0GHD9L2bJumPnyfJFuvSdddyAzgAAADgtFcXNoxgQJ4vdqq64L+qLvivAke+CrWxxXdT3MDROmPg5fqyW5r+dFCydaDbgxEcAAAAgBNo7GhC/RGRDtd4dXTvFlV9/F/VfJKnQFVZaJ7FGaPYfiMVl365onsNksXaBnd5O0kIDgAAAMAJ1B1NqM8IBnR071ZVF6xW6oIfKlhdHppniYpTbL8R+vN90zVnnUUWu0Mb7hmjWGd4aKj2+pscbak9IjgAAACgU/im1y/U5y39VFXb3lfVzpVhpyFZo+MV02+k4vpfrOg+g2WxOXTN1Vn61cba94t12tr9NQxmOnbvAQAAgG/I7BSkuudv/Pg8vfKPv+ufL7+kz7dvC823Rscrtv8o/XXedGWOubzFd6qOddrb1X0azBAcAAAA0Ck1dgpSnaC3RufdNEdV297X0c8/knTsNgI2u66/5mrdcNMk/XydVRabQ1eOb/zoRXu783OkCA4AAACApKDvqGo+3ajqj1erZvd6GT5PaF5Uj/MVl/4dxZ73bf3riRtV7fXr7g1NB4/TEcEBAAAAHV796xce/VbzltnxQJaqqqr0ds5/9OorryjnP2+puro6NL/v2Wfr5pt/qJt+MEl9zzqrNbrdoRAcAAAAcNqp9vrlMCzHTau9ZiHordHSF1/SW8tf09s5/1FNTU2oTe/efVSWNESx/S/W1kUzFBfVsusW6uto1zCYITgAAACgXfsmoyEN/s17Ya/9h79Uze4Nqtn9Px39bLOm+r2hefYzkxXb/xLF9r9Y2/88TQPnrpAkWSzhwaOzIzgAAADglDsZQ6OeiBEMyFv0iaqPhQVf6adh8+1dUhTb/xLFnXeJHO6zQiGhuWHhdDua0BwEBwAAAJwWAkeP6OieTXpq7XpVbdumQ4e+DM2zWCwaOuxb2hV9rmLOGa6PnpyiuCh2hVuCagEAAOCkau2jCdVev6qqqrTlo3xt3LBBmzZt1Ib/bdD+XYWSpA+PtXO5XBqbmaWs8eM1NjNL3bt3D/UrLsreKYZQPZkIDgAAAGjXvF6vPEWfyFu8Sz+Z+k+9/NZK+b7cKxnBBm0dXdMUc/ZwxZw9XFE9Buh/Nrv+VyA9WLBJOx7IMn2vzngKUnMRHAAAANBuVHl8+mzPHv3vf+v1v/XrteF/6/VRfr48ntp7KrxQr63tjEQ5k/vJmXyOolLOlTP5HNliXW3T8U6A4AAAAIAWaempSI2d/hMaGtVTrbdy3taWTRv0v/XrtWLlfxWsrmjQ3hodL2dKP0Ul95MzpZ+cyf1kj+8amr/hnjEa9uA7kqQHh/l11fhMORzffChVNERwAAAAQKuqCxl1fF99oZpd61W9+3/y7N+u7z8RCF/Aapczqa+iUs+TM+VcRaX2l/3MlBOOeBTrtIWeO621pxw5HOG7uly/EBmCAwAAAL7xBc0nOppQ99wI+HR033bV7P6fanavl7+sKKy93ZUkZ+p5iko9V1Ep/eVMOksWuzN0TUK1NxA6mrDhnjFhIaEluH4hMgQHAAAAfGPDHny30emBI2Wq2bNRvYc+pJrPNsvwfn13ZlntGj36Mn1kOVsxZw/XR7/PbjQMNBZeYp02RkNqIwQHAAAARMwIBuQ5UKCaTzfo6Kcb5S3ZHTbfGnemYs4artizhyu6z4V685FrQ0c4mgoDaF/4HwIAAOgEWuNUpEBVmX52XrVWvbdCH7z3rirKy8PaOZP7aebk72viVRN00ZChslqtkW0E2hTBAQAAAE2qf2FzoKZSnv07dHTfNnn2bpW3ZLdm12trjT5D0X2HKOasoYrpO0S2uC6aN6/xkHKyTy2qu37B5/PprbfeOqnrRi2CAwAAQCfTnAuaJenAF1+oasdKHd2/XZ5922pvunYcZ/I5iuk7VNFnDVNU6rmyWL/Zhcto/wgOAAAAHdA3PfVIavqCZn9lqY5+9pH6ZDwhz/5t8pcXN2hz3nkDNGLUxfp3qUsxvS/U5oe/3+DC5mqvv8n3+CYYDal9IDgAAAB0UsGjR3R071bVfJavo59tlr/sQHgDi1VOd19FpaUrOm2gti+8U927d1e1168PIrywmTDQ8RAcAAAA2qFIjig0dSqSEfDJc6BAN6aUKW/V+9q0cYOCweDXjSxWOVP66f/+YKJGX3aZRmZkKCEhITSbkY86N/73AQAATpFIwkBL1L2H4ffJU/yJPPu2H7tOYbsM31H9oV5be2JPxfQZrOg+Fym61yBZo+L0UIR942jC6YngAAAAcJqorKzUmjVrVLbqBXn2b5fnQIEU8IW1sca6FN37QsX0uVDRfQbLnuBuo96io2nTwXTnz5+v4cOHKz4+Xm63W9dcc40KCgrC2hiGofvvv1+pqamKiYnR6NGjtX379rA2o0ePlsViCXvcdNNNYW3KysqUnZ0tl8sll8ul7OxslR831jAAAEB7VO31N/IIyH/4S1UV/Fc/+9nPdNGQIerSpYvGjRunyjV/l2ffNingU7fu3XXNtdfpwUd+p5TJf1DP6S/o8/Vva+9rv9MnT2RrxwNZ2vFAljbcc3lbbybauTY94rBy5UpNmzZNw4cPl9/v169//WtlZmZqx44diouLkyQ9+uijeuyxx/Tcc8/p3HPP1YMPPqixY8eqoKBA8fHxoXVNmTJFDzzwQOh1TExM2HtNmjRJ+/fvV05OjiRp6tSpys7O1htvvHEKthQAAHREzT21qLVPQRr24LsKHj0iT/EueYs+kafoE3mLPlHgyFeSpD/Xa2t3JSkqbaCieg5U3hPTdO6558pisaja69eik3SnZk5F6pzaNDjU7cTXWbx4sdxutzZu3KhLL71UhmHoiSee0K9//Wtdd911kqTnn39eSUlJevHFF3X77beHlo2NjVVycnKj77Nz507l5ORo7dq1GjFihCRp0aJFysjIUEFBgfr3799KWwgAAGCu7mJmn88vT0A6WFahLdt2qHLjG8eCQqH8X+1vuKDFKke3Xorqeb6ie9aGBXtCt9Bs9nFwMrWraxwqKiokSYmJiZKkPXv2qLi4WJmZmaE2UVFRuuyyy5SXlxcWHJYuXaolS5YoKSlJ48eP19y5c0NHJNasWSOXyxUKDZI0cuRIuVwu5eXl8UMFAABOuubeZK24uFgZd/1V3tJP5S35VN7SPfJ/9YUko8HydleSnCnnKirlXDlTz5XTfbaszmhtuGdMg3sptBRHEWCm3QQHwzA0a9YsXXLJJUpPT5dU+4MkSUlJSWFtk5KS9Pnnn4de33zzzerbt6+Sk5O1bds2zZkzRx999JFyc3ND63G7G17443a7Q+9xPI/HI4/HE3pdWVkpSfL5fPL5fI0uczqo27bTeRtbGzWMDPWLDPWLHDWMzOlWP5/PX++5Tz5Lw535ptqdf9+KBu38lV/K88VOeUt3K+0f98lb+qmCVeWNrtN2RqKc7rO+Dgop/WSLdTXa1mEJymFpeOlq/f+H5m5LR3e6fQZbW0vq1OzgcN999+m+++6T3d74Inv37tWtt94a2llvqenTp2vLli1avXp1g3kWiyXstWEYYdOmTJkSep6enq5+/fpp2LBh2rRpk4YMGdLoOhpbT33z58/XvHnzGkxfsWKFYmNjm7dRHdg3/X/E16hhZKhfZKhf5KhhZE6X+nkCUt3u0ttvr1BUE1/qN9bOMGzylxfJs2+bju7bLs++bfJXlDRc2GKVI7GHHO6z5Ezqq59+u7d69+mr2IQzdc+G2nU+OMwvp1WSvt759wakezaa962l23K6OF0+g62turq62W2bHRyee+45vfHGG/rb3/6mQYMGhc3785//rLvuuksXX3xx83tZz4wZM7R8+XKtWrVKPXv2DE2vu2ahuLhYKSkpoemlpaUNjkLUN2TIEDkcDhUWFmrIkCFKTk5WSUnDH9SDBw82uZ45c+Zo1qxZodeVlZVKS0tTZmZm2I1QTjc+n0+5ubkaO3asHA5HW3enQ6KGkaF+kaF+kaOGkenI9Wvs1KIab0Bav1KSdOl3LleM0xZ2upFUe6FxjTcgY9378n25V7t3e/S/tXk6+t/VKj1u/8NqtcruPkvO5H6690fjNGzIhRpw/sDQl5I+n1//Xfmexo4dK59h0T0b3pMkXTU+s8HFzNVev+7ZWDs/K6vh/MZce1Uzi9GBdeTPYFuoO6umOZodHLZt26bp06dr+PDhmjt3rn7xi19o//79+vGPf6wNGzboscce02233daijhqGoRkzZujVV1/VBx98oL59+4bNrzv9KDc3VxdddJEkyev1auXKlXrkkUeaXO/27dvl8/lCYSMjI0MVFRVav369vvWtb0mS1q1bp4qKCo0aNarRdURFRSkqKqrBdIfD0Sk+hJ1lO1sTNYwM9YsM9YscNYxMW9fPbJSjxuYPvrfhqUX1jXxkZei5YRgKHD4oT1GhvMWF8hYVylO8S4anSr+qv5DNrqiU/opKS9c/7/+xBg8drhG/zZMkTZ/WsF91p404HA7J+PqsiNp6hrd1mMzv7Nr6M9hRtKRGzf6EJSQk6G9/+5uuv/563X777fr73/+uPXv2KCMjQ1u3blVaWlqLOzpt2jS9+OKLev311xUfHx+63sDlcikmJkYWi0V33nmnHnroIfXr10/9+vXTQw89pNjYWE2aNEmStHv3bi1dulRXXHGFunXrph07dmj27Nm66KKLQkdABgwYoHHjxmnKlClauHChpNrhWCdMmMCF0QAAwFSgqlye4kJ5iz4JhYRgdXmDdhZHtKJ6DFBU2kBFp6UrKuVcWexOSVJmZmajRzWAjqLF0XTEiBEaNGiQ3n33XcXFxenuu+/+RqFBkp555hlJtTdwq2/x4sWaPHmyJOnuu+9WTU2NfvrTn6qsrEwjRozQihUrQiMmOZ1Ovfvuu3ryySd15MgRpaWl6corr9TcuXNls3198t7SpUs1c+bM0AhNEydO1FNPPfWN+g0AAE6t1r5PQt166/j9fq1bu1ZvvPFv/WnJP+X7cm+D9jabTQMGpmv4sGEadOEQ/XaTX45uvbVx7riIRzhqDkZBwqnWop+6l156SdOnT9eFF16onTt36tlnn9X48eP1k5/8RA8//HCDm66ZMQzzq/ktFovuv/9+3X///Y3OT0tL08qVKxudV19iYqKWLFnSov4BAIDWdSoCQXPVHK5QTk6O3nzzTeXk5KisrKzeXIvOO+88DR8+TMOHD9fw4cM1ePDg0L5PtdevJ0/SzdWA9qrZn+rvfe97evvtt/XQQw9pxowZkmrv6nzttddq8uTJ+s9//qPnn39eGRkZrdZZAADQcbSnUFCfYRiqqqqSv/KgAlVl+t1vP9KK/7ylNWvWKBgMhtolJiZqbFaW3j3SU9F9h2jjb793SreBIwpob5r96S8qKtLmzZt1zjnnhE3PyMjQRx99pF/84he67LLL5PV6T3onAQAAmlJ33UAwGNQX+/dr165d2lnwico+WKlgTaWu3/ZnVZR/pfKyMn311SGVl5WF3atpbr11DUxP17jxV2j8FVdo9LcvkSdghMLPyUAYQEfW7ODw4YcfympteGMRSYqOjtaTTz6p66+//qR1DAAA4HiGYai4uFj7P/tUhYWFKiws1B9eXSX/VwfkLy+S4W/4BWbOliZWZrXLGnOGopLOUcw531LMWcN0xOXWvyT9K+eIPhttkwJczAzUaXZwaCo01HfppZdG1BkAAHBqtfR0olNx+lG116/y8nLt3lUbDHYVFurjggIVfbhJvrIDOvvRmqYXttpkPzNZji6psp+ZLGusS7aYBFmjz5D12L91ry3OmCZvBAugofZxsiEAADjtHT8UaVVVlbZ//ImqCv4rf9kBTbntn/rs011au3l7o0Odhlissid0l71LqhyJqbJ36SFHl1S9M+9G9e7TR3a7XdXegIY9+I4k6cO7v6MYZ/gXoDXegL796AeSpA33jGlyFKTmnlrEKUjoDAgOAACchk71hcl1ocDn88sTqH3tM6wKeo/KX35Af//nvzRrUY78ZUXylR2Qv+yAAke+ClvHi8et0xbXRfbE2lBgT+whR2KP2rBwZoos9oY3rRp0/nmN9q3rGc5GbwBXh1GQgObhpwQAAETs/PveVqCqTN6ST+Ut2S3vr34nb+lu+cuKJEk/Xtz4ctbo+Now0CUlPCR0SZU1KlZSbfCpfwThREcIALQeggMAAGgRwzDkryjRa68u046tW7R582btX7W2wRGEOtaYBNnPTKk9rajev/Yuqdr8/641DQTHHw3gCAHQNvipAwCgHWjuqUWRnIJ0/DUGtdMCjT43DEP7DhRrz6e7tf/zPfp0927t3r1bu3bt0r5tO2V4qnTzwvB1WSwWnXXOOUpyJytrXJbOv+BC/eydCtliXc06SkAgANo3fjoBAOgkGrsfgREMyP/VAXmKC3V25t/kLyuSv+yAfGVFMrzVTa/MZpezW285k86WM+ksOdxny+nuI78zRndn+HXFFVfIZ1h0V96J76bcWJgB0D4RHAAAaEWnavjShtMaHkkwjKD8ZUXyFhfKU1Qob/EueUt2y/AdbWLNFtkSutVef3BmquxdUmqfd0mVI7GHLLaGFyi3F2ajHDEKEtByBAcAADq4Ro8k1IWEkt06+/K/ylO8S97iXY0eRbA4ouRMOls/yLpY/c/tp7PPPkdnnXO2knr0UnR0dFjYMbtI2efz6YN3VpzkLQTQHhAcAADo4IyAX75De78e0ahkt7yle2R4G94ozWJ3yuk+S87kc7Rg5vc0cPCFuv7Fz2Wx2vTHFh4Raez0I5/FiHh7Gn8vjhAAbY3gAABAM52s046ae2rR8e38R6tV+Olnqtm9Qf6KYt0+9RVt3/qRirdtk9frbbBOi90pR/c+uvnK0Ro+fJiGDB2qAQPOl91e2+9Yp13VXr8s1v3faDtOBgIB0HEQHAAAUHgoePRbrftejZ9aZChw+Ev5y4t13k3v1T6vLJW/8qAClV/KX3mwwWlGS+o9tzhj5Uw6S86ks/XHmddrwKALQkcSnjoFN4BrDKEAOL0QHAAAp51Tfdfk+u/bcFojFykH/PJ9tf/rU4tK98hX+qmCR4+Yvoc1+gzZErrLntBdju59ak87Sjpb9jOTZLFYJUnZ2Ve2+ZEEAKcfggMAoENpq1DQHI0dSQgcPSLfwc/kLd2jPqOelK/0U3m//FwKNDIMqdUmu8utjAv6q3fvXkpK6aEePdPUo2dP9eyZpnPO6iOrM4Y7KANoE+3nty0A4LTSnnfwTzbDMFRSUqKjn2+R79Be+Q7tk/fLffIf2qdAVVmjy4ROLXL31ZPTrlX/gen6wT++kMXuUI7JDeDqnIwbprX0dCJOPwI6r9P3tzgAABGo9vrlMCxh00q+LJP34GfyVx7U73+/XbsLP1bBx7WPsrLGA4Ik2eK7y5nUVz+9/nINHXKRBg++UL379JHFUrv+0EXKy0pbdZsAIBIEBwDo5JpzZKC1jx6c6qMTjV2LUHa4Wv6KEvkrD+r9mhLd/uSyYxcmH5S/8qD8h7+U4akKtb/vX8evwSL7mcka/+1hOv/88zVgwACdf/756nXWORrx2zxJ0gOn8MgLRwYAnGwEBwBAh3aiC5INv087P9mlw2VfqrSkVKWlJSotLdUTb/xPgary2kd1uYJV5QrWCwV/OsH7WaPPkC2+mxyJPeTomlb76JYme5cesjqitPy4nfXG+gcAHRHBAQBOQ9VevwbfW3v33o58fYHZKEVHjvo05Jf/kL+iWP7yktp/K0rkL699HThySMN+34I3tNllj+8eGrXIHt/t6+cJbv33we9r9BNrJXFhMoDOp2P+JQGATqQjXGTc3GFIj3eibQkGg+o/62X5jxxS4MghBQ7XPvxHvgrd4yDpdyWNj05Un80hW9yZtY/YM2WL6yJr3Jm693sj5U5KktudJLfbrfgu3TTmjxtlsVj04DC/rhqfKYfD0eRqT8aFyeHra96pRZyCBKCttL+/PgDQjrTmTntHCATNVbcdQU/1sesCam9cFqw5LMMI6pxxSyXDkGEYkhGUjv172yV9FAwG5fH5dSjvUwWryvWdD36jogMHVFRUJL+/Gaf5WKy1RwTOTJbdlST7mcl69P+M0X3vHZTdlaRND12vuKiGtT2+3tVef+hiZae1dr7D0bANAHRWHfevFAC0U+05EDTnyEDjO8cWGX6fAtXlWvnhf3Ww+Avt27tP+/Z+rn379unA/7YrUFEadp1Aczy2vuG0+pMsFovcSUlKTklVzx49lJqaqq5JyVq0oVw2l1v/ued6ndO3t+z2hjX+fx/X/h/ERdnb9P+AIwQAThft568ZoPa3w9Xe+tPaOtP2dqZtra/RG5RVV8hfdkCBI2Xqf/1bYRcMB6rrLiCuCI0odMUzJ36PLl26KK1XL6X2SNPq/V7JatX3h/VSlMMui9WqJev2SRZL7V2OLVbJYpEsVlksVlljE2SP7yrbGXWPLrJYbSqXlH9s57va69dLx7bjvH5nNzkKFADg5OocfymB00RLd3bb0xCaLWnrCUj9WnBhb2cNAXXq7yT7fH55AlLNcUcRfD6fPt29W9WFa+X7ar98h/bL/9UX8h3ar+DRw81/M6tdtjO6yJ7glj2hu2wu97GLiLvr/XnfV1pamuLj40P9qvt/eare/8tbv3zzJGw1AOBU61x/XTuJ1tqJam87rafqPVrenxWS7Bo9xi/XCS6s/Lp9++k/2l5LLzL2+/0a+MtlClZXKnC0svbfmsMKLnhNgapy+csOKGXR7fKXF0vBxi9QlmpvUGaP76rvXtRP3d1udXe71a1799rn3ZPUvbtbN7ywU9aoOG28d2yjowk19/O744GsRrdx2IPvSGrfoxVx2hGAzoy9lA6gvQSBjq6zbS9arjVGBmrpus+/720ZRrA2ABypG0Ho61GFev1rngI1lQrWVCpYc1jBo0dM37uOxRElR2JP2RN7ypHYQwtnTFT//v3Vo3dfDX9ktSTpXye4AZwtet+x7Y1sNCGzZU/2aEXNVRcKfD6f3nrrrVP+/gDQ3rXpntP8+fO1bNkyffzxx4qJidGoUaP0yCOPqH///qE2hmFo3rx5+vOf/6yysjKNGDFCf/zjHzVw4MBQG4/Ho7vuuksvvfSSampqdPnll+vpp59Wz549Q23Kyso0c+ZMLV++XJI0ceJELViwQGeeeeYp214A7Vtj5//XV/eN+PGO/wY9dPOxgF/7i0rlP1qlMY/kKOipVtBTLcNbHXoe9FbL8FSp96sP1Q47evgrBaq+OuHRgcaceeaZSkzsqsSuiQoEgjq737l6e3e1HF1S9OcZV2nQ+QOU2qOHrFZraJm6nfPT8XoAjgwAwMnXpsFh5cqVmjZtmoYPHy6/369f//rXyszM1I4dOxQXFydJevTRR/XYY4/pueee07nnnqsHH3xQY8eOVUFBQeg82jvvvFNvvPGGXn75ZXXt2lWzZ8/WhAkTtHHjRtlstYe7J02apP379ysnJ0eSNHXqVGVnZ+uNN95om41Hq367ezr0p7V1pu1t7rYahiHDU3XsG/3DCtYcO+2n7rXvqAy/R4bPI8PvleH3KujzqMsLs8Om1T6vfd3/d9+01xZZ41y64Ny+cielKK84KNsZXTX3hlFKTU5SYteu6tq1qxK7dlViYqISYqMlKfRt+egxmRr8m/ckSeOzMjvk/1tTCAUA0Dba9C9J3U58ncWLF8vtdmvjxo269NJLZRiGnnjiCf3617/WddddJ0l6/vnnlZSUpBdffFG33367Kioq9Oyzz+qFF17QmDFjJElLlixRWlqa3nnnHWVlZWnnzp3KycnR2rVrNWLECEnSokWLlJGRoYKCgrAjHDh1vum3u621w9BUfwzDkMViOeX9aemOfV37+juIJ2p//n1vywgGvt7ZrXsEfFIwoEHTCkPj7deOvR+QDEOLJw9TMBhUIBBQjdevmt0bJUmvv+FXtKM2qHsDwdB4+NHHxsH3BoKq+SxfMgy98WZQDoshv9+vKo9HgUBAAb9fNkvtEcTNH23V4U9rx/n/w4JCOW0WWSy1j7p1R9lr38tiscgXMHQ4/2NJ0oKndkkBn7w+n3xer7xer555r0BGwC8j4JcCPhnB2ueGz6Pg0cNKWVSp4NHDCtYcrt3mk8xij5I1KlaWqFhZnbGyRsUo88KzFBN3ht4qqJDFGas5149U77Ta4UZTUlKVlJwsh8OhWKc97DS722/vOKfZsYMPAKeXdvXXp6KiQpKUmJgoSdqzZ4+Ki4uVmZkZahMVFaXLLrtMeXl5uv3227Vx40b5fL6wNqmpqUpPT1deXp6ysrK0Zs0auVyuUGiQpJEjR8rlcikvL69DB4fW+ta42uuXw7A0e70t3Wk1DENB71EFj9Z+k1v7re7h0M6bEboTrFF/IUnSL3+VV7sjK8kXCKps9WeyWKx66KFNio+LUXR0tKKioxV97JEQF6vo6GjJZpeneJcsNrvW5P1X1Ycr9dVXX4Ueh1ZsDr1/8OiRr597qmqHirQ7ZLHaJbtDFqtDFrtdFqtDF76dKKfTqaioKNnsDpV+XinZ7Prhzr8oJiZaDodddrtdFqtddoddMVFRstvttXektdpUnve5JOmBB9bJbrUoGAzKMAw9/f6u2u03grVlOLZDaxhBKRhQ37f/KAUDx3aCA1LQLyMYkAK1/xpBvxQ4Nt/vVcoinwyfV0bg65DQ0tNhJOmKlxqfPulfzV/HTf9ofts5uc1vK0m/PHEebRaLI1rWmHhdcHZPndklUeuKfLJGx2vq5ecr4Yw4xcbGKiYmRrGxsbI6nIqNiVV0TIxiY2MUExMj2aN047ObZHHGav39E+SKi27wHscHgpkzOk4gAAB0Tu3mr5RhGJo1a5YuueQSpaenS5KKi4slSUlJSWFtk5KS9Pnnn4faOJ1OdenSpUGbuuWLi4vldrsbvKfb7Q61OZ7H45HH4wm9rqyslFR7GoDP5/smm9gsjQWBB+Y9oP1PL5QsFvV7IUZWm1U2m01Wq1X7yo6Gxj+vHQv92Hjo1trXPV6wymKxSVbr1+2sVl16bnfJYlXp7jJZLFb9oOCvslqkQDCo0pISTbr7URkyQjvroX+PTev1r3mh95LFIou+fm9Jx6ar9v0k9X71IQXqdsSPnf6hwDer4yNrGp/+//Kav44xf23hmxrB2tNP5JE84bM+OrS30UX+Xdiyt3jkwxb26SRzOp2Kjo7REb9FFqtNSa4Y2WxWWa21n7e9ZUclWcI+axbrsZFvLJZ6n5FaRv3PTO2E0DyLtd5n0moL+1fWetPqxvlvZB1GI9NkGLLY7JKtNtRZbPZQ4LvtsrPlcDjldNY+ZLXr8Q8+lzU6Xn/68beVnNRNiYmJSkzsWhs09fXOfd0pP/fd+91mXwhtd31xbB02OSxGgza1v0v84a8baVc7r3nt6ua3dBmHRSr8Td2XL0ajv+Oa0yYSrb3+lvi6hm3Xh46M+kWG+kWOGrZMS+rUboLD9OnTtWXLFq1evbrBvLpTHurUnTpyIse3aaz9idYzf/58zZs3r8H0FStWKDY29oTvHYk71jT8L/nqvR0KVJVJkg40fwCVE1qxJ/z18k9Oznpbym63Kz4+PvSIPSNeO2sSZLE7NMptyPb1dZz6sLjei+M/E8GADL9PRsAr+X3HTrnx1k7ze0PzDH/taSpWZ6ysMWfIGh0va3S8bMeeX39erOLj43XGGWcoPj5ezpgz9PtPEiQjqF+me2QJ+uT3++X3+/XbzcHab/cDvmOnwfhqT/MJ+GQEg7VHAAKB2qMA9Y8GGIGvjwQEA19/62+xqDZtWY89rd3eS5INWY8FMUNWrS6xSja7Lu9pkdNul81uk91ml6w22Wx2RTntsttsstntMqw2vbTHKYvNqanpNsVGOeVwOmp3no/tRJ8R45TD4ZDVapUnIN29vvYz+Oi3/IqqNyKmp5GDE96gdM+G2vYPDvPLeey/qP4BprpRNU9G2/rt64/WeaL2daKOG93TE5Diy8+XJAX8Pn1ZXKQvi4saLFe73bXrfvvtFQ3W05jmLnOy29X33nvvtXgZhMvNbeHhLoShfpGhfpGjhs1TXV3d7LbtIjjMmDFDy5cv16pVq8JGQkpOTpZUe8QgJSUlNL20tDR0FCI5OVler1dlZWVhRx1KS0s1atSoUJuSkpIG73vw4MEGRzPqzJkzR7NmzQq9rqysVFpamjIzM5WQkBDB1p7YHWtWNJiWMOJ6nXHB2GPnmgdD553LCB479zyov/zwwmOnuARVfdSnO/+eL8Mw9Oi1A2SzGJr1jy21p7XULX+sbdhz1QUsS2jH/J4r+ofOLfcFDM1/u1CSRb8a108Om6X2lKNgUEd9ARmGIbtFtf2QIY/Xrz+8t0uGEdTPx6crqXs3JXZNVGJiorok1l7Q6U48Myy81f929+/Hfbvb2NGYGm9AIx9ZKUla+4vLFHNsb7JuHS31p99khr2u9vr15LF1Zf8ovD+3mfTnw9kXKyE2qt66avd4649P31T/6zu+BnXbtrgZ335Xe/16/Vj7u2Y1r/3d62vbZzXjgtpqr1/3bKhtf9X4E7dvblufz6d/53z9y95svS3tR/1lmrOtLa1Ja6y7JX3w+XzKzc3VhHFjde1VJ76PCBpXV8OxY8fWnlKIFqF+kaF+kaOGLVN3Vk1ztGlwMAxDM2bM0KuvvqoPPvhAffv2DZvft29fJScnKzc3VxdddJEkyev1auXKlXrkkUckSUOHDpXD4VBubq5uuOEGSVJRUZG2bdumRx99VJKUkZGhiooKrV+/Xt/61rckSevWrVNFRUUoXBwvKipKUVFRDaY7HI5W/RB+0xsjHb9zOWdDbR9v+H7tedPXf+/7zVqvz+fT22+vUFZWZujCzPrrfaq49nzs//t/m3cDuOeO1La/887mnb9d/7qK2lp/vUxjN1NzOL7eeU+Iiw69xzetY/33i7g/sVFyxcV83T6uQfMm+9+UE/Wnvbdv6bpbqx8tXaY9rNvlcLT4IuPW/l3VGVDDyFC/yFC/yFHD5mlJjdo0OEybNk0vvviiXn/9dcXHx4euN3C5XIqJiZHFYtGdd96phx56SP369VO/fv300EMPKTY2VpMmTQq1vfXWWzV79uzaoQkTE3XXXXdp0KBBoVGWBgwYoHHjxmnKlClauHChpNrhWCdMmNDuLoxurRsjNXe9PouhKFtt++bu2LVH7fUGU+h4WnNkIEYdAgB0JG265/TMM89IkkaPHh02ffHixZo8ebIk6e6771ZNTY1++tOfhm4At2LFitA9HCTp8ccfl91u1w033BC6Adxzzz0XuoeDJC1dulQzZ84Mjb40ceJEPfXUU627gQA6JQIBAOB01OanKpmxWCy6//77df/99zfZJjo6WgsWLNCCBQuabJOYmKglS5Z8k27iFGpvO1ztrT+trTNtb2faVgAATgbO1QA6kJbu7Lb2znFL1t+StlG22qE5m3veJSEAAIDWR3A4DbXWTlR722k9Ve/RErFOuwp/k6m33nqrWddQtLf+AwAANIXg0AG0lyDQ0XW27QUAADiZGrlNEgAAAACEIzgAAAAAMEVwAAAAAGCK4AAAAADAFMEBAAAAgCmCAwAAAABTBAcAAAAApggOAAAAAEwRHAAAAACYIjgAAAAAMEVwAAAAAGCK4AAAAADAFMEBAAAAgCmCAwAAAABTBAcAAAAApggOAAAAAEwRHAAAAACYIjgAAAAAMEVwAAAAAGCK4AAAAADAFMEBAAAAgCmCAwAAAABTBAcAAAAApggOAAAAAEwRHAAAAACYIjgAAAAAMEVwAAAAAGCqTYPDqlWrdNVVVyk1NVUWi0WvvfZa2PySkhJNnjxZqampio2N1bhx41RYWBjWZvTo0bJYLGGPm266KaxNWVmZsrOz5XK55HK5lJ2drfLy8lbeOgAAAOD00abBoaqqSoMHD9ZTTz3VYJ5hGLrmmmv06aef6vXXX9fmzZvVu3dvjRkzRlVVVWFtp0yZoqKiotBj4cKFYfMnTZqk/Px85eTkKCcnR/n5+crOzm7VbQMAAABOJ/a2fPPx48dr/Pjxjc4rLCzU2rVrtW3bNg0cOFCS9PTTT8vtduull17SbbfdFmobGxur5OTkRtezc+dO5eTkaO3atRoxYoQkadGiRcrIyFBBQYH69+9/krcKAAAAOP20aXA4EY/HI0mKjo4OTbPZbHI6nVq9enVYcFi6dKmWLFmipKQkjR8/XnPnzlV8fLwkac2aNXK5XKHQIEkjR46Uy+VSXl5ek8HB4/GE+iBJlZWVkiSfzyefz3fyNrSdqdu203kbWxs1jAz1iwz1ixw1jAz1iwz1ixw1bJmW1KndBofzzjtPvXv31pw5c7Rw4ULFxcXpscceU3FxsYqKikLtbr75ZvXt21fJycnatm2b5syZo48++ki5ubmSpOLiYrnd7gbrd7vdKi4ubvL958+fr3nz5jWYvmLFCsXGxp6ELWzf6uqHb44aRob6RYb6RY4aRob6RYb6RY4aNk91dXWz27bb4OBwOPTKK6/o1ltvVWJiomw2m8aMGdPg1KYpU6aEnqenp6tfv34aNmyYNm3apCFDhkiSLBZLg/UbhtHo9Dpz5szRrFmzQq8rKyuVlpamzMxMJSQkRLp57ZbP51Nubq7Gjh0rh8PR1t3pkKhhZKhfZKhf5KhhZKhfZKhf5Khhy9SdVdMc7TY4SNLQoUOVn5+viooKeb1ede/eXSNGjNCwYcOaXGbIkCFyOBwqLCzUkCFDlJycrJKSkgbtDh48qKSkpCbXExUVpaioqAbTHQ5Hp/gQdpbtbE3UMDLULzLUL3LUMDLULzLUL3LUsHlaUqMOcR8Hl8ul7t27q7CwUBs2bNDVV1/dZNvt27fL5/MpJSVFkpSRkaGKigqtX78+1GbdunWqqKjQqFGjWr3vAAAAwOmgTY84HDlyRLt27Qq93rNnj/Lz85WYmKhevXrpn//8p7p3765evXpp69atuuOOO3TNNdcoMzNTkrR7924tXbpUV1xxhbp166YdO3Zo9uzZuuiii3TxxRdLkgYMGKBx48ZpypQpoWFap06dqgkTJjCiEgAAANBMbRocNmzYoO985zuh13XXFNxyyy167rnnVFRUpFmzZqmkpEQpKSn60Y9+pHvvvTfU3ul06t1339WTTz6pI0eOKC0tTVdeeaXmzp0rm80Ward06VLNnDkzFDgmTpzY6L0jAAAAADSuTYPD6NGjZRhGk/NnzpypmTNnNjk/LS1NK1euNH2fxMRELVmy5Bv1EQAAAEAHucYBAAAAQNsiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAqTYNDqtWrdJVV12l1NRUWSwWvfbaa2HzS0pKNHnyZKWmpio2Nlbjxo1TYWFhWBuPx6MZM2aoW7duiouL08SJE7V///6wNmVlZcrOzpbL5ZLL5VJ2drbKy8tbeesAAACA00ebBoeqqioNHjxYTz31VIN5hmHommuu0aeffqrXX39dmzdvVu/evTVmzBhVVVWF2t1555169dVX9fLLL2v16tU6cuSIJkyYoEAgEGozadIk5efnKycnRzk5OcrPz1d2dvYp2UYAAADgdGBvyzcfP368xo8f3+i8wsJCrV27Vtu2bdPAgQMlSU8//bTcbrdeeukl3XbbbaqoqNCzzz6rF154QWPGjJEkLVmyRGlpaXrnnXeUlZWlnTt3KicnR2vXrtWIESMkSYsWLVJGRoYKCgrUv3//U7OxAAAAQAfWpsHhRDwejyQpOjo6NM1ms8npdGr16tW67bbbtHHjRvl8PmVmZobapKamKj09XXl5ecrKytKaNWvkcrlCoUGSRo4cKZfLpby8vCaDg8fjCfVBkiorKyVJPp9PPp/vpG5re1K3bafzNrY2ahgZ6hcZ6hc5ahgZ6hcZ6hc5atgyLalTuw0O5513nnr37q05c+Zo4cKFiouL02OPPabi4mIVFRVJkoqLi+V0OtWlS5ewZZOSklRcXBxq43a7G6zf7XaH2jRm/vz5mjdvXoPpK1asUGxsbCSb1iHk5ua2dRc6PGoYGeoXGeoXOWoYGeoXGeoXOWrYPNXV1c1u226Dg8Ph0CuvvKJbb71ViYmJstlsGjNmTJOnNtVnGIYsFkvodf3nTbU53pw5czRr1qzQ68rKSqWlpSkzM1MJCQkt3JqOw+fzKTc3V2PHjpXD4Wjr7nRI1DAy1C8y1C9y1DAy1C8y1C9y1LBl6s6qaY52GxwkaejQocrPz1dFRYW8Xq+6d++uESNGaNiwYZKk5ORkeb1elZWVhR11KC0t1ahRo0JtSkpKGqz74MGDSkpKavK9o6KiFBUV1WC6w+HoFB/CzrKdrYkaRob6RYb6RY4aRob6RYb6RY4aNk9LatQh7uPgcrnUvXt3FRYWasOGDbr66qsl1QYLh8MRdiiqqKhI27ZtCwWHjIwMVVRUaP369aE269atU0VFRagNAAAAgBNr0yMOR44c0a5du0Kv9+zZo/z8fCUmJqpXr1765z//qe7du6tXr17aunWr7rjjDl1zzTWhi6FdLpduvfVWzZ49W127dlViYqLuuusuDRo0KDTK0oABAzRu3DhNmTJFCxculCRNnTpVEyZMYEQlAAAAoJnaNDhs2LBB3/nOd0Kv664puOWWW/Tcc8+pqKhIs2bNUklJiVJSUvSjH/1I9957b9g6Hn/8cdntdt1www2qqanR5Zdfrueee042my3UZunSpZo5c2YocEycOLHRe0cAAAAAaFybBofRo0fLMIwm58+cOVMzZ8484Tqio6O1YMECLViwoMk2iYmJWrJkyTfuJwAAANDZdYhrHAAAAAC0LYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AAAAATBEcAAAAAJiyt3UHOgrDMCRJlZWVbdyT1uXz+VRdXa3Kyko5HI627k6HRA0jQ/0iQ/0iRw0jQ/0iQ/0iRw1bpm7ftm5f90QIDs10+PBhSVJaWlob9wQAAAA4uQ4fPiyXy3XCNhajOfECCgaDOnDggOLj42WxWNq6O62msrJSaWlp2rdvnxISEtq6Ox0SNYwM9YsM9YscNYwM9YsM9YscNWwZwzB0+PBhpaamymo98VUMHHFoJqvVqp49e7Z1N06ZhIQEftgiRA0jQ/0iQ/0iRw0jQ/0iQ/0iRw2bz+xIQx0ujgYAAABgiuAAAAAAwBTBAWGioqI0d+5cRUVFtXVXOixqGBnqFxnqFzlqGBnqFxnqFzlq2Hq4OBoAAACAKY44AAAAADBFcAAAAABgiuAAAAAAwBTBAQAAAIApgsNpbv78+bJYLLrzzjtD05YtW6asrCx169ZNFotF+fn5DZbzeDyaMWOGunXrpri4OE2cOFH79+8Pa1NWVqbs7Gy5XC65XC5lZ2ervLy8dTeoDTRWQ8MwdP/99ys1NVUxMTEaPXq0tm/fHrZcZ63hM888owsuuCB0452MjAz95z//Cc0vKSnR5MmTlZqaqtjYWI0bN06FhYVh6+istatjVsMjR45o+vTp6tmzp2JiYjRgwAA988wzYevozDU0q5/FYmn08dvf/jbUhvo1XT9J2rlzpyZOnCiXy6X4+HiNHDlSe/fuDc3vzPWTzGs4efLkBp+/kSNHhq2jM9ewOZ/BOrfffrssFoueeOKJsOmduX6tysBpa/369UafPn2MCy64wLjjjjtC0//2t78Z8+bNMxYtWmRIMjZv3txg2Z/85CdGjx49jNzcXGPTpk3Gd77zHWPw4MGG3+8PtRk3bpyRnp5u5OXlGXl5eUZ6eroxYcKEU7Blp05TNXz44YeN+Ph445VXXjG2bt1q3HjjjUZKSopRWVkZatNZa7h8+XLjzTffNAoKCoyCggLjV7/6leFwOIxt27YZwWDQGDlypPHtb3/bWL9+vfHxxx8bU6dONXr16mUcOXIktI7OWrs6J6qhYRjGbbfdZpx99tnG+++/b+zZs8dYuHChYbPZjNdeey20js5cQ7P6FRUVhT3++te/GhaLxdi9e3doHdSv6frt2rXLSExMNH7+858bmzZtMnbv3m38+9//NkpKSkLr6Mz1MwzzGt5yyy3GuHHjwj6Hhw4dCltHZ66hWf3qvPrqq8bgwYON1NRU4/HHHw+b15nr15oIDqepw4cPG/369TNyc3ONyy67LGynt86ePXsaDQ7l5eWGw+EwXn755dC0L774wrBarUZOTo5hGIaxY8cOQ5Kxdu3aUJs1a9YYkoyPP/64VbbpVGuqhsFg0EhOTjYefvjhUNujR48aLpfL+NOf/mQYBjU8XpcuXYy//OUvRkFBgSEp7Je/3+83EhMTjUWLFhmGQe2aUldDwzCMgQMHGg888EDY/CFDhhj33HOPYRjUsDH163e8q6++2vjud78bek39GqpfvxtvvNH44Q9/2GRb6te4+jW85ZZbjKuvvrrJttSwoeN/hvfv32/06NHD2LZtm9G7d++w4ED9Wg+nKp2mpk2bpiuvvFJjxoxp8bIbN26Uz+dTZmZmaFpqaqrS09OVl5cnSVqzZo1cLpdGjBgRajNy5Ei5XK5Qm46uqRru2bNHxcXFYfWJiorSZZddFtp2algrEAjo5ZdfVlVVlTIyMuTxeCRJ0dHRoTY2m01Op1OrV6+WRO2Od3wNJemSSy7R8uXL9cUXX8gwDL3//vv65JNPlJWVJYka1tdY/eorKSnRm2++qVtvvTU0jfp97fj6BYNBvfnmmzr33HOVlZUlt9utESNG6LXXXgstQ/3CNfUZ/OCDD+R2u3XuuedqypQpKi0tDc2jhl9rrH7BYFDZ2dn6+c9/roEDBzZYhvq1HntbdwAn38svv6yNGzdqw4YN32j54uJiOZ1OdenSJWx6UlKSiouLQ23cbneDZd1ud6hNR3aiGtZtX1JSUtj0pKQkff7556E2nbmGW7duVUZGho4ePaozzjhDr776qs4//3z5fD717t1bc+bM0cKFCxUXF6fHHntMxcXFKioqkkTt6jRVQ0n6wx/+oClTpqhnz56y2+2yWq36y1/+oksuuUQSNZROXL/6nn/+ecXHx+u6664LTaN+TdevuLhYR44c0cMPP6wHH3xQjzzyiHJycnTdddfp/fff12WXXUb9jjnRZ3D8+PH6/ve/r969e2vPnj2699579d3vflcbN25UVFQUNdSJ6/fII4/Ibrdr5syZjS5L/VoPweE0s2/fPt1xxx1asWJF2Le6J4NhGLJYLKHX9Z831aYjam4Nj9/O5mx7Z6lh//79lZ+fr/Lycr3yyiu65ZZbtHLlSp1//vl65ZVXdOuttyoxMVE2m01jxozR+PHjTdfZWWpX50Q1/MMf/qC1a9dq+fLl6t27t1atWqWf/vSnSklJOeFRxs5UwxPVr76//vWvuvnmm5v1+5L6rdSZZ54pSbr66qv1s5/9TJJ04YUXKi8vT3/605902WWXNbnOzlQ/6cSfwRtvvDHULj09XcOGDVPv3r315ptvhoXY43WmGjZVv5qaGj355JPatGlTi7ezM9WvtXCq0mlm48aNKi0t1dChQ2W322W327Vy5Ur94Q9/kN1uVyAQMF1HcnKyvF6vysrKwqaXlpaGvmVPTk5WSUlJg2UPHjzY4Jv4jsashnXbd/w3EsfXpzPX0Ol06pxzztGwYcM0f/58DR48WE8++aQkaejQoaE/BkVFRcrJydGhQ4fUt29fSdSuTlM1rKmp0a9+9Ss99thjuuqqq3TBBRdo+vTpuvHGG/W73/1OEjWUTvwZrPPhhx+qoKBAt912W9h06td0/bp16ya73d4ggA0YMCA0qhL1q9Wcz2CdlJQU9e7dOzTCHDVsun4ffvihSktL1atXr9Df6M8//1yzZ89Wnz59JFG/1kRwOM1cfvnl2rp1q/Lz80OPYcOG6eabb1Z+fr5sNpvpOoYOHSqHw6Hc3NzQtKKiIm3btk2jRo2SJGVkZKiiokLr168PtVm3bp0qKipCbToqsxqeddZZSk5ODquP1+vVypUrQ9ve2Wt4PMMwQtc31HG5XOrevbsKCwu1YcMGXX311ZKoXVPqaujz+eTz+WS1hv/6ttlsCgaDkqhhYxr7DD777LMaOnSoBg8eHDad+jVUVz+n06nhw4eroKAgbP4nn3yi3r17S6J+TWnsM1jn0KFD2rdvn1JSUiRRw8bU1S87O1tbtmwJ+xudmpqqn//853r77bclUb9Wdequw0ZbOX5UpUOHDhmbN2823nzzTUOS8fLLLxubN282ioqKQm1+8pOfGD179jTeeecdY9OmTcZ3v/vdRocxu+CCC4w1a9YYa9asMQYNGnTaDmN2fA0ffvhhw+VyGcuWLTO2bt1q/OAHP2h0ONbOWMM5c+YYq1atMvbs2WNs2bLF+NWvfmVYrVZjxYoVhmEYxj/+8Q/j/fffN3bv3m289tprRu/evY3rrrsubB2dtXZ1zGp42WWXGQMHDjTef/9949NPPzUWL15sREdHG08//XRoHZ25hmb1MwzDqKioMGJjY41nnnmm0XVQv6brt2zZMsPhcBh//vOfjcLCQmPBggWGzWYzPvzww9A6OnP9DOPENTx8+LAxe/ZsIy8vz9izZ4/x/vvvGxkZGUaPHj34G3JMc36G6zt+VCXD6Nz1a00Eh07g+J3exYsXG5IaPObOnRtqU1NTY0yfPt1ITEw0YmJijAkTJhh79+4NW++hQ4eMm2++2YiPjzfi4+ONm2++2SgrKzs1G3WKHV/DYDBozJ0710hOTjaioqKMSy+91Ni6dWvYMp21hj/+8Y+N3r17G06n0+jevbtx+eWXh/2yf/LJJ42ePXsaDofD6NWrl3HPPfcYHo8nbB2dtXZ1zGpYVFRkTJ482UhNTTWio6ON/v37G7///e+NYDAYatOZa2hWP8MwjIULFxoxMTFGeXl5o+ugfieu37PPPmucc845RnR0tDF48OCwe4gYRueun2GcuIbV1dVGZmam0b1799DvwVtuuaVBfTpzDZvzGayvseDQmevXmiyGYRhtecQDAAAAQPvHNQ4AAAAATBEcAAAAAJgiOAAAAAAwRXAAAAAAYIrgAAAAAMAUwQEAAACAKYIDAAAAAFMEBwAAAACmCA4AgDZnGIbGjBmjrKysBvOefvppuVwu7d27tw16BgCoQ3AAALQ5i8WixYsXa926dVq4cGFo+p49e/SLX/xCTz75pHr16tWGPQQAWAzDMNq6EwAASNLzzz+v6dOna8uWLerTp48uv/xyJSQk6LXXXmvrrgFAp0dwAAC0K9dcc43Ky8t1/fXX6ze/+Y22bdsmt9vd1t0CgE6P4AAAaFdKS0uVnp6uQ4cO6V//+peuvfbatu4SAEBc4wAAaGfcbremTp2qAQMGEBoAoB0hOAAA2h273S673d7W3QAA1ENwAAAAAGCK4AAAAADAFMEBAAAAgClGVQIAAABgiiMOAAAAAEwRHAAAAACYIjgAAAAAMEVwAAAAAGCK4AAAAADAFMEBAAAAgCmCAwAAAABTBAcAAAAApggOAAAAAEwRHAAAAACYIjgAAAAAMEVwAAAAAGDq/wMeWDAp+jX/SQAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.plot(xs[390:450, 3], xs[390:450, 0], 'k')\n", "plt.scatter(zs[390:450, 1], zs[390:450, 0], marker='+', s=100);\n", "plt.xlabel('Y'); plt.ylabel('X')\n", "plt.gca().invert_xaxis()\n", "plt.axis('equal');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Limitations of the IMM\n", "\n", "I haven't extensively worked with the IMM, so I am unable to address this as well as I would like. However, the IMM was invented to track maneuvering aircraft for air traffic control, and by all reports it performs superbly in that role. \n", "\n", "That use case assumes a few things. Foremost among them is the requirement that all of the filters in the bank have the same dimensional design. A review of the math should show why. To create the mixed estimate the IMM performs this computation:\n", "\n", "$$\\mathbf x = \\sum_{j=1}^N \\mu_j{\\bar{\\mathbf x}}_j$$\n", "\n", "This is computable if and only if the state $x$ in each filter is of the same dimension. Furthermore, the interpretation of $x[i]$ must be the same for each filter. \n", "\n", "For example, suppose we tried to filter that uses a constant velocity model and another with a constant acceleration model. This doesn't work because the dimension of $x$ are different. `FilterPy` will raise a `ValueError` if you try to use filters with different dimensions." ] }, { "cell_type": "code", "execution_count": 35, "metadata": { "scrolled": true, "tags": [ "raises-exception" ] }, "outputs": [ { "ename": "ValueError", "evalue": "All filters must have the same state dimension", "output_type": "error", "traceback": [ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[1;31mValueError\u001b[0m Traceback (most recent call last)", "\u001b[1;32m~\\AppData\\Local\\Temp/ipykernel_6520/3711807489.py\u001b[0m in \u001b[0;36m\u001b[1;34m\u001b[0m\n\u001b[0;32m 5\u001b[0m [0.03, 0.97]])\n\u001b[0;32m 6\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m----> 7\u001b[1;33m \u001b[0mimm\u001b[0m \u001b[1;33m=\u001b[0m \u001b[0mIMMEstimator\u001b[0m\u001b[1;33m(\u001b[0m\u001b[1;33m[\u001b[0m\u001b[0mca\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mcv\u001b[0m\u001b[1;33m]\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;33m(\u001b[0m\u001b[1;36m0.5\u001b[0m\u001b[1;33m,\u001b[0m \u001b[1;36m0.5\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m,\u001b[0m \u001b[0mtrans\u001b[0m\u001b[1;33m)\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0m", "\u001b[1;32mC:\\Anaconda3\\lib\\site-packages\\filterpy\\kalman\\IMM.py\u001b[0m in \u001b[0;36m__init__\u001b[1;34m(self, filters, mu, M)\u001b[0m\n\u001b[0;32m 140\u001b[0m \u001b[1;32mfor\u001b[0m \u001b[0mf\u001b[0m \u001b[1;32min\u001b[0m \u001b[0mfilters\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[0;32m 141\u001b[0m \u001b[1;32mif\u001b[0m \u001b[0mx_shape\u001b[0m \u001b[1;33m!=\u001b[0m \u001b[0mf\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mx\u001b[0m\u001b[1;33m.\u001b[0m\u001b[0mshape\u001b[0m\u001b[1;33m:\u001b[0m\u001b[1;33m\u001b[0m\u001b[1;33m\u001b[0m\u001b[0m\n\u001b[1;32m--> 142\u001b[1;33m raise ValueError(\n\u001b[0m\u001b[0;32m 143\u001b[0m 'All filters must have the same state dimension')\n\u001b[0;32m 144\u001b[0m \u001b[1;33m\u001b[0m\u001b[0m\n", "\u001b[1;31mValueError\u001b[0m: All filters must have the same state dimension" ] } ], "source": [ "ca = KalmanFilter(3, 1)\n", "cv = KalmanFilter(2, 1)\n", "\n", "trans = np.array([[0.97, 0.03],\n", " [0.03, 0.97]])\n", "\n", "imm = IMMEstimator([ca, cv], (0.5, 0.5), trans)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I occasionally get emails or bug reports about this. In the past I have recommended designing the filter with constant velocity to be of dimension 3, and then implement `F` to ignore acceleration\n", "\n", "```python\n", "F = np.array([[1, dt, 0],\n", " [0, 1, 0],\n", " [0, 0, 0]])\n", "```\n", "\n", "In retrospect I am not sure if this is a sound recommendation. It allows the IMM to work, but clearly the estimate for acceleration will be incorrect, since one filter will have an accurate estimate of acceleration, and the other filter will have an estimate of 0. This inaccurate acceleration will then be used to perform the next predict cycle. \n", "\n", "Consider a more extreme case. Suppose one of your filters interprets `x[2]` to be acceleration, and another filter interprets it as angular rotation rate. Clearly `x[2]` of the mixed estimate will be meaningless since you cannot sum (linear) acceleration with a rotation rate.\n", "\n", "As I said I am not particularly well versed in the IMM. Perhaps the literature explains how to handle these situations. All I can say is that the IMM implemented by FilterPy will not work for these use cases.\n", "\n", "The IMM as designed for air traffic control uses filters with different process assumptions. An aircraft can be flying level, it can be descending/ascending, it can be performing a coordinated turn, or an uncoordinated turn. You can design a filter for each case with a different `F` and `Q` matrix, but the state estimate `x` will be the same for all. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Summary\n", "\n", "This chapter contains some of the more challenging material in this book. However, it is the gateway to implementing realistic Kalman filters. If we are controlling a robot we know its process model, and it is easy to construct a Kalman filter for it. Far more commonly we are given a set of time series data and asked to make sense of it. The process model is largely unknown to us. We use the techniques in this chapter to *learn* (in a machine learning sense) how to parameterize our models. The models change over time as the target maneuver, so our filters must be adaptive. \n", "\n", "Finding an optimal answer involves combinatorial explosion, and is impractical in practice. The IMM algorithm has become the standard algorithm because of its good performance and computational tractability.\n", "\n", "A real filter bank usually involves more than two filters. It is common to have many filters. As the target's regime changes some filters become infinitesimally likely. Most adaptive filters implement an algorithm that kills off extremely unlikely filters and replaces them with filters that more closely match the current regime. This is highly specific to your problem space, and is usually very ad-hoc. You will need to devise schemes for killing and creating filters and test them against simulated or real data. \n", "\n", "Despite the complexity of the algorithms, I hope you recognize the underlying ideas are very simple. We use the same two tools that we learned in the second chapter: Bayes theorem and the total probability theorem. We incorporate new information using Bayes theorem, and compute the effect of the process models using the total probability theorem.\n", "\n", "For me, this chapter underscores the beauty of the Bayesian formulation of Kalman filters. I don't much care if you learn the details of the IMM algorithm. I do hope that you see that very simple probabilistic reasoning led to these results. The linear algebra equations of the Kalman filter that Dr. Kalman derived came from a different form of reasoning called *orthogonal projection*. It is beautiful in its own way, and I urge you to read his paper. But I'm not sure I find them intuitive to use, and it is not at all clear how to devise new, non-optimal filters such as the IMM using those techniques. In contrast, Bayes theorem lets us handle these problems with ease. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## References\n", "\n", " * [1] Bar-Shalom, Y., Xiao-Rong L., and Thiagalingam Kirubarajan. *Estimation with Applications to Tracking and Navigation*. New York: Wiley, p. 424, 2001. \n", "\n", "\n", "* [2] Zarchan, P., and Musoff, H., *Fundamentals of Kalman Filtering: A Practical Approach* Fourth Edition. Reston, VA: American Institute of Aeronautics and Astronautics, p.584-595, 2015. \n", "\n", "\n", "* [3] Simon, D., *Optimal State Estimation: Kalman, H and Nonlinear Approaches*. Hoboken, NJ: Wiley-Interscience, p. 208-212, 2006\n", "\n", "\n", "* [4] Crassidis, John L., and John L. Junkins. *Optimal estimation of dynamic systems*. CRC press, 2011.\n", "\n", "\n", "* [5] Blom, H.A.P., \"An Efficient Filter for Abruptly Changing Systems\", *Proceedings of 23rd Conference on Decision and Control*, Las Vegas, NV, Dec 1984.\n", "\n", "\n", "* [6] Blom, H.A.P and Bar-Shalom, Y., \"The Interacting Multiple Model Algorithm for Systems with Markovian Switching Coefficients\", *IEEE Transactions on Automatic Control*, Vol. AC-8, No. 8, Aug. 1998, pp. 780-783." ] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { "display_name": "Python 3 (ipykernel)", "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": "3.9.12" } }, "nbformat": 4, "nbformat_minor": 4 }