{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"[Table of Contents](./table_of_contents.ipynb)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# The Unscented Kalman Filter"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"from __future__ import division, print_function\n",
"%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": [
"In the last chapter we discussed the difficulties that nonlinear systems pose. This nonlinearity can appear in two places. It can be in our measurements, such as a radar that is measuring the slant range to an object. Slant range requires you to take a square root to compute the x,y coordinates:\n",
"\n",
"$$x=\\sqrt{\\text{slant}^2 - \\text{altitude}^2}$$\n",
"\n",
"The nonlinearity can also occur in the process model - we may be tracking a ball traveling through the air, where the effects of air drag lead to nonlinear behavior. The standard Kalman filter performs poorly or not at all with these sorts of problems.\n",
"\n",
"In the last chapter I showed you a plot like this. I have altered the equation somewhat to emphasize the effects of nonlinearity."
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from kf_book.book_plots import set_figsize, figsize\n",
"import matplotlib.pyplot as plt\n",
"from kf_book.nonlinear_plots import plot_nonlinear_func\n",
"from numpy.random import normal\n",
"import numpy as np\n",
"\n",
"# create 500,000 samples with mean 0, std 1\n",
"gaussian = (0., 1.)\n",
"data = normal(loc=gaussian[0], scale=gaussian[1], size=500000)\n",
"\n",
"def f(x):\n",
" return (np.cos(4*(x/2 + 0.7))) - 1.3*x\n",
"\n",
"plot_nonlinear_func(data, f)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"I generated this by taking 500,000 samples from the input, passing it through the nonlinear transform, and building a histogram of the result. We call these points *sigma points*. From the output histogram we can compute a mean and standard deviation which would give us an updated, albeit approximated Gaussian.\n",
"\n",
"Let me show you a scatter plot of the data before and after being passed through `f(x)`."
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"N = 30000\n",
"plt.subplot(121)\n",
"plt.scatter(data[:N], range(N), alpha=.2, s=1)\n",
"plt.title('Input')\n",
"plt.subplot(122)\n",
"plt.title('Output')\n",
"plt.scatter(f(data[:N]), range(N), alpha=.2, s=1);"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The data itself appears to be Gaussian, which it is. By that I mean it looks like white noise scattered around the mean zero. In contrast `g(data)` has a defined structure. There are two bands, with a significant number of points in between. On the outside of the bands there are scattered points, but with many more on the negative side.\n",
"\n",
"It has perhaps occurred to you that this sampling process constitutes a solution to our problem. Suppose for every update we generated 500,000 points, passed them through the function, and then computed the mean and variance of the result. This is called a *Monte Carlo* approach, and it used by some Kalman filter designs, such as the Ensemble filter and particle filter. Sampling requires no specialized knowledge, and does not require a closed form solution. No matter how nonlinear or poorly behaved the function is, as long as we sample with enough sigma points we will build an accurate output distribution.\n",
"\n",
"\"Enough points\" is the rub. The graph above was created with 500,000 sigma points, and the output is still not smooth. What's worse, this is only for 1 dimension. The number of points required increases by the power of the number of dimensions. If you only needed 500 points for 1 dimension, you'd need 500 squared, or 250,000 points for two dimensions, 500 cubed, or 125,000,000 points for three dimensions, and so on. So while this approach does work, it is very computationally expensive. Ensemble filters and particle filters use clever techniques to significantly reduce this dimensionality, but the computational burdens are still very large. The unscented Kalman filter uses sigma points but drastically reduces the amount of computation by using a deterministic method to choose the points."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Sigma Points - Sampling from a Distribution"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Let's look at the problem in terms of a 2D covariance ellipse. I choose 2D merely because it is easy to plot; this extends to any number of dimensions. Assuming some arbitrary nonlinear function, we will take random points from the first covariance ellipse, pass them through the nonlinear function, and plot their new position. Then we can compute the mean and covariance of the transformed points, and use that as our estimate of the mean and probability distribution."
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import kf_book.ukf_internal as ukf_internal\n",
"ukf_internal.show_2d_transform()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"On the left we show an ellipse depicting the $1\\sigma$ distribution of two state variables. The arrows show how several randomly sampled points might be transformed by some arbitrary nonlinear function to a new distribution. The ellipse on the right is drawn semi-transparently to indicate that it is an *estimate* of the mean and variance of this collection of points. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Let's write a function which passes 10,000 points randomly drawn from the Gaussian\n",
"\n",
"$$\\mu = \\begin{bmatrix}0\\\\0\\end{bmatrix}, \n",
"\\Sigma=\\begin{bmatrix}32&15\\\\15&40\\end{bmatrix}$$\n",
"\n",
"through the nonlinear system:\n",
"\n",
"$$\\begin{cases}\\begin{aligned}\\bar x&=x+y\\\\\n",
"\\bar y&= 0.1x^2 + y^2\\end{aligned} \\end{cases}$$ "
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Difference in mean x=-0.037, y=43.103\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import numpy as np\n",
"from numpy.random import multivariate_normal\n",
"from kf_book.nonlinear_plots import plot_monte_carlo_mean\n",
"\n",
"def f_nonlinear_xy(x, y):\n",
" return np.array([x + y, .1*x**2 + y*y])\n",
"\n",
"mean = (0., 0.)\n",
"p = np.array([[32., 15.], [15., 40.]])\n",
"# Compute linearized mean\n",
"mean_fx = f_nonlinear_xy(*mean)\n",
"\n",
"#generate random points\n",
"xs, ys = multivariate_normal(mean=mean, cov=p, size=10000).T\n",
"plot_monte_carlo_mean(xs, ys, f_nonlinear_xy, mean_fx, 'Linearized Mean');"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This plot shows the strong nonlinearity that occurs with this function, and the large error that would result if we linearized in the way of the Extended Kalman filter (we will be learning this in the next chapter)."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## A Quick Example\n",
"\n",
"I'm soon going to proceed into the math the Unscented Kalman Filter (UKF) uses to choose sigma points and then perform the computation. But let's just start with an example so you can see the destination, so to speak. \n",
"\n",
"We will learn that the UKF can use many different algorithms to generate the sigma points. Several algorithms are provided by FilterPy. Here's one possibility:"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {},
"outputs": [],
"source": [
"from filterpy.kalman import JulierSigmaPoints\n",
"\n",
"sigmas = JulierSigmaPoints(n=2, kappa=1)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This will become clearer later, but the object will generate weighted sigma points for any given mean and covariance. Let's just look at an example, where the point's size indicate how much it is weighted:"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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56zUXL17U5z//eT344IP65Cc/KUm65ZZbVF5ervvuu09f+tKX9O53v3v5vV9FHR0dCoVCys7OVlNTU7q7g+vIxSZysYlcbCIXe8jEJnKxya+5LPpMj+M4chxnzte88MILikQiuv322z0/v+OOOyRJ3/jGNxb7awEAAABgSVZl9bbp6WlJs1d3yM7OluM4Onbs2LxtNDc3q7q6WkVFRe7Ppqam1NLSIkkqKSmZ9RTYtrY2jY+PS9KsmWd/f78uXrwoSaqqqlJJSYlbFolEdOLECUnXlrvbtWuXtm7dqkgkokAgoI6ODvcU3r59+xQMvrTbrl69qnPnzkmStm/frrKyMs/vPXbsmGKxmPLz87Vnzx5P2fnz53XlyhVJUkNDg/Ly8tyy0dFRtbe3S5LKy8tVUVHhqXvy5El3lr13715PWU9Pj3p7eyVJdXV1KiwsdMsmJyfV2toqSdq8ebN27tzpqXv69GlNTEzIcRwdPHjQU9bX16fu7m5J1874bdq0yS0Lh8Nqbm6WJBUVFam2ttZT9+zZs+7Sgvv371cgEHDLBgcH1dXVJUnasWOHtmzZ4ql79OhRSVJBQYEnF+naU4Fn7hObuX9sxvDwsDo6OiRJW7du1bZt2zztNjc3KxwOKzc3V42NjZ6y7u5u9fX1SZJ2796tDRs2uGXj4+Nqa2uTJJWWlqqystJTt7W1VZOTkwoEAtq/f7+nrLe3Vz09PZKkmpoaFRcXu2XT09M6deqUJKm4uFg1NTWeuu3t7RodHZUkHThwwLMs48DAgC5cuCBJqqysVGlpqVsWjUZ1/PhxSVJhYaHq6uo87XZ2dmpoaEiSdMMNNygnJ8ctGxoaUmdnpySpoqJC5eXlnronTpxQJBJRVlaWKioqPLleuHBBAwMDkqT6+noVFBS4ZWNjYzpz5owkqaysTNu3b/e029LSoqmpKQWDQe3bt89TdunSJV2+fFmSVFtbm7YxIp7VMSIajSo7O1tbt271lGXyGFFfX+8pszhGZGVlKSsrS8meGJGpY0ReXp4aGho8ZZbGiJnvlsHBQff9tB7GCOvHEfHf+etpjLB+HJF4LJaOMWLmu3wxVmXSM/Ph+dGPfqQ3vvGN7s9//OMfKxaLuRswl3A4POsLIRaLufcDhcPhpHVS3S8UjUbdsmg0Oqs8sd34N3ZbW5tbntin+HYjkUjSdmOxmLKzs2eVRSKRZbWbalvj203c1vh9mKzdmX2Y7GzeQttdzWwSB5z4dud6v6Tah+FwOOma7nNls5B2Q6FQ0rK52o3f1sVmvtB9mKx+fJ8Szbet09PTikajysvL044dO1K2u9R9mGwfLbTd1R4jUrVraYyYmZAmfm4yeYyYq10rY4TjOEm3Y752Z/o0V3+tjhHxB6jJ2k33GDHzGRkeHtbk5GTSbc3EMcL6cUT82HX69Ol1M0ZYP46Y6zsl0WqOEYu1KpOepqYmvf71r9enPvUpNTQ06JZbbtHJkyf13ve+V4FAYEEPHQ0Gg7M+MI7juB/6+L+SxNdJNihI1/6yNlOW7PcvtN3EPsW3myyw7OxsxWKxpO0GAoFltRv/b6p2E7c1fh8ma3dmW5MNVgtt10o2823rzHbOtw+X0m78X0AW2u5M3bnaXe4+nG9bE823rTk5OYpEIquyD6PR6KI/Nxbfh4wRs9u1kg1jxOx2GSMYIxLbZYxgjIhv19IYsVhObClTpev6+/tVVlamRx55ZNay1b29vXrHO96hI0eOSLq2UR/60If0/e9/X1evXnVPW0tLe6oqAAAAgPVnKXOHVTnTI127fvS73/2uent7denSJVVXVys/P19f/OIXde+9967WrwUAAAAAj1Wb9MwoLy93b1r6y7/8S42Njen973//av/aZWtubnZv8Eu8SRLpQy42kYtN5GITudhDJjaRi01+zWVJk54jR45obGzMPa108uRJPf3005Kk22+/XQUFBXriiSckXVv14+rVqzpy5Iieeuop/fmf/7le8YpXrFD3V084HFY4HF7SNYNYPeRiE7nYRC42kYs9ZGITudjk11yWNOl54IEH3OUVJenw4cM6fPiwpGvLMtbU1CgWi+lzn/uczp07p6ysLL385S/XN7/5Td15550r0/NVlpub67mpCzaQi03kYhO52EQu9pCJTeRik19zWdZCBiuFhQwAAAAALMRS5g7MKgAAAABkNCY9AAAAADIakx4AAAAAGW3Vl6z2q+7ubvdpuNu3b093d3AdudhELjaRi03kYg+Z2EQuNvk1FyY9KfT19blrkPsp0ExHLjaRi03kYhO52EMmNpGLTX7NhcvbAAAAAGQ0lqxOYWxsTLFYTI7jaMOGDWnrB7zIxSZysYlcbCIXe8jEJnKxyUIuS5k7MOkBAAAA4Bs8pwcAAAAAEjDpAQAAAJDRWL0thfHxcfd6xYKCgnR3B9eRi03kYhO52EQu9pCJTeRik19zYdKTQltbm7scX1NTU7q7g+vIxSZysYlcbCIXe8jEJnKxya+5cHkbAAAAgIzGmZ4USktL3afNwg5ysYlcbCIXm8jFHjKxiVxs8msuLFkNAAAAwDdYshoAAAAAEjDpAQAAAJDRmPQAAAAAyGgsZJBCa2uruxxfQ0NDuruD68jFJnKxiVxsIhd7yMQmcrHJr7kw6UlhcnJSoVBIkUgk3V1BHHKxiVxsIhebyMUeMrGJXGzyay5c3pZCIBBQVlaW75bjy3TkYhO52EQuNpGLPWRiE7nY5NdcWLIaAAAAgG+wZDUAAAAAJGDSAwAAACCjMekBAAAAkNFYvS2F3t5eRSIRBQIBlZeXp7s7uI5cbCIXm8jFJnKxh0xsIheb/JoLk54Uenp63DXI/RRopiMXm8jFJnKxiVzsIRObyMUmv+bC5W0AAAAAMhpnelKoqalRLBaT4zjp7grikItN5GITudhELvaQiU3kYpNfc+E5PQAAAAB8g+f0AAAAAEACJj0AAAAAMhr39KQwPT3t/u+cnJw09gTxyMUmcrGJXGwiF3vIxCZyscmvuTDpSeHUqVPucnxNTU3p7g6uIxebyMUmcrGJXOwhE5vIxSa/5sLlbQAAAAAyGmd6UiguLnafNgs7yMUmcrGJXGwiF3vIxCZyscmvubBkNQAAAADfYMlqAAAAAEiw6EnPyMiIHn74Yd16660qKyuT4zg6dOjQrNfFYjE98cQTuvHGG1VUVKTS0lLdfPPN+s53vrMS/QYAAACABVn0pGdgYECPP/64pqamdNddd6V83SOPPKL3vOc9evWrX61vfOMb+tKXvqTc3FzdcccdeuaZZ5bVaQAAAABYqEXf0zPzcsdx1N/fr7KyMj3yyCOzzvZUVlaqtrZWzz//vPuzyclJbdu2TTfffLP+4R/+wf25xXt62tvb3eX46urq0tYPeJGLTeRiE7nYZCmXyVBE7X2jGp4IKzvgaEthrqpLC+Q4Tlr7tdYsZYKXkItNFnJZytxh0au3LXQgzM7OVnFxsedneXl57n/WjY6OuoHCDnKxiVxsIhebLOTS0T+mL/ygTT9pH9BkKKLpSFQBx1FOMEtFedn6j6+p1q+/qkr5Of5anWmpLGSC2cjFJr/msmpLVn/gAx/QQw89pKeeekr33HOPJicn9alPfUpDQ0P6vd/7vXnrNzc3q7q6WkVFRe7Ppqam1NLSIkkqKSlRVVWVp05bW5vGx8cladbDkvr7+3Xx4kVJUlVVlUpKStyySCSiEydOSLo2S9y1a5enbkdHh4aHhyVJ+/btUzD40m67evWqzp07J0navn27ysrKPHWPHTumWCym/Px87dmzx1N2/vx5XblyRZLU0NDgmQyOjo6qvb1dklReXq6KigpP3ZMnT7pvuL1793rKenp61NvbK0mqq6tTYWGhWzY5OanW1lZJ0ubNm7Vz505P3dOnT2tiYkKO4+jgwYOesr6+PnV3d0uSqqurtWnTJrcsHA6rublZklRUVKTa2lpP3bNnz7oz8v3793uWORwcHFRXV5ckaceOHdqyZYun7tGjRyVJBQUFStTV1aXBwUFJUmNjo3Jzc92y4eFhdXR0SJK2bt2qbdu2eeo2NzcrHA4rNzdXjY2NnrLu7m719fVJknbv3q0NGza4ZePj42pra5MklZaWqrKy0lO3tbVVk5OTCgQC2r9/v6est7dXPT09kqSamhrPHwamp6d16tQpSdeWg6ypqfHUbW9v1+joqCTpwIEDnr9mDAwM6MKFC5KunWUtLS11y6LRqI4fPy5JKiwsnPVXmc7OTg0NDUmSbrjhBs/TlYeGhtTZ2SlJqqioUHl5uafuiRMnFIlEFA6HlejChQsaGBiQJNXX13vyGxsb05kzZyRJZWVl2r59u6duS0uLpqamFAwGtW/fPk/ZpUuXdPnyZUlSbW0tY4TmHiOSyeQxor6+3lNmcYyY+bwky2e1x4jpSEyf/9mYWnrH1T86rWT6R6f1ie+e0l89166Hfq1RrywNL3uMyMvLU0NDg6fM4hgRDofd99N6GSPW23GEH8YI68cRiVbiOGKxY8TMd/lirNqk54Mf/KDy8/P14IMP6v7775d07cPx7W9/W6973evmrR8Oh5V45V0sFnO/JJIdZIXD4ZRf8tFo1C2LRqOzyhPbPXDggFs2cxpvpg+p2o1EIknbjcViSWfDkUhkWe2m2tb4dhO3NX4fJmt3Zh8mO6O30HZXM5v4XBLbnev9kmofhsPhpKdC58pmIe2GQqGkZXO1G7+ti818ofswWf34PiWab1unp6cVjUaVl5c360tzJfZhsn200HZXe4xI1a6lMUK6dtY98XOTyWPEXO1aGSNyc3M1OTm56HZn+jRXf+fah6MT0/qzH15R13BY4dm70WM6EtOl4Sn9f985qXv3bdJt1ckvGVnoGJHseR6WxoiZz0hra6vGxsaSbmsmjhHWjyPix64zZ86smzHC+nHEXN8piVZzjFisVZv0/PVf/7U+8IEP6P3vf7/+/b//95qentbf/u3f6s4779QzzzyjX/u1X5u7Y8HgrA+M4zjuhz7+ryTxdVKdasvKynLLkr05E9uNf018u4l9im83WWDZ2dmKxWJJ+xsIBJbVbvy/qdpN3Nb4fZis3ZltTTZYLbTd1cwmsXyubObb1pntnG8fLqXdVA/tmqvd+G1N1e5y9+F825povm3NyclRJBJRdnb2rN+73H0YjUYX/blZyzEiVbsWx4i5ssm0MWKudtfzGCHH0Sd+fFWdQ2FFF3GscHU8pK8fu6Li7CK9vnrDrPLFjBGJLI0RM++r9TpGzNVuOseIVMdiiRgjvHXnancljiPm+k5JtJpjxGIt6+GkqRYyGBwc1I4dO/TOd75Tjz76qKfOG97wBp07d849XSjZXMgAAIBM8Vxrr97/P1/UyOTsv3QvRGVJvp77wzcqkLW+FjgAYJOZh5O2trZqYmJCr3rVq2aVvfKVr1RnZ6d7TSEAAFhdX/jBmSVPeCRpcHxa3z91eQV7BABra1UmPTM3HL7wwguen8diMb3wwgsqKSnx3NBl0cDAgPr6+twbqGADudhELjaRi01rnUv31Qmdu7L4m37jjU1F9MV/PrNCPbKHz4pN5GKTX3NZ0j09R44c0djYmHta6eTJk3r66aclSbfffruqqqp0zz336PHHH1dubq5uv/12TU1N6W/+5m/0ox/9SB//+MfNPwPgwoUL7qom8StYIL3IxSZysYlcbFrrXP6x+ZL6RqaW3c6l4UmFIlFlBzLv0nM+KzaRi01+zWVJk54HHnjAXV5Rkg4fPqzDhw9LurYsY01Njb761a/q0Ucf1Ze//GX9j//xP5Sdna09e/boK1/5iu67776V6T0AAJjTpaHJFWknFpOGJkLaUpg7/4sBwJglTXpm1tueS15enh566CE99NBDS/kVaVdZWaloNMpiCsaQi03kYhO52LTWuUSXvl7RqrZlCZ8Vm8jFJr/msmpLVvudn07XrSfkYhO52EQuNq11LluL8uZ/0QI4jrQpP2f+F/oQnxWbyMUmv+birykaAABYlDffsFVbCpc/WSndkKucIIcNAPyJ0QsAgAxWs2WDtm/KX1Yb+dlZes/Nu1aoRwCw9pj0pBCNRt3/YAe52EQuNpGLTenI5X1vqNOG3NlPQ1+ozRty9djdSMwAACAASURBVJYDFSvYI1v4rNhELjb5NRfu6Unh+PHj7nJ8TU1N6e4OriMXm8jFJnKxKR253LJ3m+q2tOv4xSEtdimC4vyg3nvzroxcqnoGnxWbyMUmv+aSuSMYAACQJAWyHH35/l9RXXmhshbxmLyi/KDuvXGn/uNralatbwCwFjjTk0JhYaE7i4Ud5GITudhELjalK5fi/Gx9832v1e/+9b/pTN+oro6HUr42y5G2FObqXb9aq/90c90a9jI9+KzYRC42+TUXJxZL/6L70WhUIyMjnp9t3LjRd+t/AwBgXSwW0y/PX9Xnvt+mlkvDGpkMayoUUSDLUX5OQBvzsnXny7brna+rVSkPIgVg0FLmDkx6AABYpwbHptXcPayhiZCyA45KC3P1sp2bFFjMNXAAsMaWMnfg8jYAANapkg05+tX6LenuBgCsOk6lAAAAAMhonOlJobOzU5FIRIFAQDU1NenuDq4jF5vIxSZysYlc7CETm8jFJr/mwqQnhaGhIV+uTJHpyMUmcrGJXGwiF3vIxCZyscmvuXB5GwAAAICMxuptKUxPT7v/OycnJ239gBe52EQuNpGLTeRiD5nYRC42WciF1dtWEB8um8jFJnKxiVxsIhd7yMQmcrHJr7lweRsAAACAjMakBwAAAEBG4/K2FIaGhhSLxeQ4joqLi9PdHVxHLjaRi03kYhO52EMmNpGLTX7NhUlPCp2dne5yfE1NTenuDq4jF5vIxSZysYlc7CETm8jFJr/mwuVtAAAAADIaZ3pSqKiocJ82CzvIxSZysYlcbCIXe8jEJnKxya+58JweAAAAAL6xlLkDswoAAAAAGY1JDwAAAICMxqQHAAAAQEZjIYMUTpw4oenpaeXk5Gj//v3p7g6uIxebyMUmcrGJXOwhE5vIxSa/5sKZnhQikYii0agikUi6u4I45GITudhELjaRiz1kYhO52OTXXDjTk0JeXp4CgYCys7PT3RXEIRebyMUmcrGJXOwhE5vIxSa/5sKS1QAAAAB8YylzB870AABMicVi+uX5q/rOsR797NyghiZCisZiciQV5AS0f8cm3bp3q97QUKZggD+OAQDmx5keAIAJsVhM//Nfu/Tk8x26Mj6tq+OhlK8tyAloc0GO7miq0AffvEd52f56MjgAYOmWMndg0gMASLuLVyf0vq/8XGf6RjU2tfCbY4NZjnaU5Osv3t6kG2s2r2IPAQBWMOlZQRcuXFAkElEgEFBlZWXa+gEvcrGJXGzySy4/Pzeo9331F7o8PLnkNjZvyNbv/bt6veO1tSvYs9Xhl1zWEzKxiVxsspAL9/SsoIGBAYVCIWVnZ/NBM4RcbCIXm/yQy7HzV/Xer/xcfSNTy2rnylhIn/t+m4JZWfqtm6pXqHerww+5rDdkYhO52OTXXLh+DACQFuPTYT34tV8se8Iz4+p4SJ//fpvO9I6uSHsAgMzB5W0pjI+PKxaLyXEcFRQUpK0f8CIXm8jFJuu5fODvXtSzx7oVia5suw3bNuq7v/f/KJDlrGzDK8R6LusRmdhELjZZyIXL21YQHy6byMUmcrHJci7nr4zrx2cGVnzCM9P2t355UXe/wuZlF5ZzWa/IxCZyscmvuSz6VMrIyIgefvhh3XrrrSorK5PjODp06NCs1zmOk/K/xsbGleg7AMCnvvjDM+obXZnL2hKNT0f0xPMdq9I2AMCfFn2mZ2BgQI8//riampp011136cknn0z6up/85CezfvbTn/5UH/zgB3X33XcvvqcAgIwQi8X0fFv/qv6OvpFJXbw6oR2b8lf19wAA/GHRk57q6moNDg7KcRz19/ennPTcdNNNs372V3/1V3IcR+9617sW39M1NjY25l6vuGHDhnR3B9eRi03kYpPVXC4PT2kqtArXtcW5OhHSL7sGTU56rOaynpGJTeRik19zWfSkx3GWdmPoyMiIDh8+rJtvvlm7d+9eUhtr6cyZM+5yfE1NTenuDq4jF5vIxSaruRy7cFXDk6FV/R2hSEz/0tavtxzcvqq/Zyms5rKekYlN5GKTX3NZs4UM/u7v/k5jY2O6//77F/T65uZmVVdXq6ioyP3Z1NSUWlpaJEklJSWqqqry1Glra9P4+LgkzQqhv79fFy9elCRVVVWppKTELYtEIjpx4oSkays/7Nq1y1O3o6NDw8PDkqR9+/YpGHxpt129elXnzp2TJG3fvl1lZWWeuseOHVMsFlN+fr727NnjKTt//ryuXLkiSWpoaFBeXp5bNjo6qvb2dklSeXm5KioqPHVPnjzpvuH27t3rKevp6VFvb68kqa6uToWFhW7Z5OSkWltbJUmbN2/Wzp07PXVPnz6tiYkJOY6jgwcPesr6+vrU3d0t6doZv02bNrll4XBYzc3NkqSioiLV1nofEHj27Fl3lY39+/crEAi4ZYODg+rq6pIk7dixQ1u2bPHUPXr0qKTkN851dXVpcHBQktTY2Kjc3Fy3bHh4WB0d167r37p1q7Zt2+ap29zcrHA4rNzc3Fn3mXV3d6uvr0+StHv3bs9fMsbHx9XW1iZJKi0tnbVGfWtrqyYnJxUIBLR//35PWW9vr3p6eiRJNTU1Ki4udsump6d16tQpSVJxcbFqamo8ddvb2zU6em0p3gMHDnhWKBkYGNCFCxckSZWVlSotLXXLotGojh8/LkkqLCxUXV2dp93Ozk4NDQ1Jkm644Qbl5OS4ZUNDQ+rs7JQkVVRUqLy83FP3xIkTikQiCofDSnThwgUNDAxIkurr6z35jY2N6cyZM5KksrIybd/uPTBtaWnR1NSUgsGg9u3b5ym7dOmSLl++LEmqra1ljNDcY0Qy6R4jTnSFNRVe3TM9knRpaNLkGDHzeUmWT6aOEXl5eWpoaPCUWRwjwuGw+52zXsaI9XYcUV9f7ymzOEZYP45IlI4xYua7fDHWbNLz1FNPadOmTXrb2962oNeHw2ElrqYdi8XcL4lkB1nhcDjll3w0GnXLotHZX7aJ7ZaVlblPmx0bG3PLE/sU324kEknabiwWU3Z29qyySCSyrHZTbWt8u4nbGr8Pk7U7sw+TndFbaLurmU18LontzvV+SbUPw+Fw0uUN58pmIe2GQqGkZXO1G7+ti818ofswWf34PiWab1unp6cVjUYVDAZVWlrq+RJaiX2YbB8ttN3VHiNStWtpjJCkrKysWQdR6R4jQuHZ7a6GSDRmcowIBAIKh8Pz7sNMGiPix4Zk7aZ7jJj5brly5cq6GiOsH0fEf+ePjo6ueTYcR8xuNxQKzToWS9cYsVhrMulpbm7WT3/6Uz344IOev0LMJRgMzvrAOI7jfujj/0oSXyfZoCBd++KfKUv25kxsN/6vSh0dHW55Yp/i200WWHZ2tmKxWNL+BgKBZbUb/2+qdhO3NX4fJmt3Zh8mG6wW2u5qZpP41774dud6v6Tah/GviTdXNgtpN34wWGi78duaqt3l7sP5tjXRfNuak5Pj/oUm8a99y92HM5OpufqbzjEiVbsWx4jEz026x4iSgoACjhRZ5afEbSrINjlG5Ofnu3/FXUy7M32aq79Wx4jVGGdXcoyY+YxMTk6m/AtyJo8Rc7WbzuOI+LHr7Nmzaz5+cxwxu935vlMSreYYsVjLejhpf3+/ysrK9MgjjyRdtnrG7//+7+uzn/2sXnzxRb3sZS+bVW7x4aQAgNXRdnlEv/74CxoYm16135HlSB+7c79+66bqVfsdAID0WMrcYdVnFdPT0/ryl7+sG2+8MemEBwCwvuwqK1ROcHW/fjYVZOsVVSXzvxAAsC6s+qTnW9/6lvr7+32xTDUAYPUFshzVlc2+GXYlFeYG1bht46r+DgCAfyzpnp4jR45obGzMPa108uRJPf3005Kk22+/3bO6wlNPPaX8/Hzdd999K9DdtdPS0uKuapK4IgfSh1xsIhebLOfywTfX6/jFIQ1NrPzS1cEsR/e8olJZWUt7xMJqs5zLekUmNpGLTX7NZUmTngceeMBdXlGSDh8+rMOHD0u6dtP/zBJ558+f1//+3/9bv/Vbv+VZUs8PpqamFAqFkq5ggfQhF5vIxSbLudxYXaKdJfmrMukp35ir331d7fwvTBPLuaxXZGITudjk11yWNOmZWW97Pjt37ky6PJ0fBIPBlKulIH3IxSZysclyLo7j6LHffIXu/e8/Ud/I1Iq1uyk/W3/ylhtUnJ98JSELLOeyXpGJTeRik19zWdbqbSuF1dsAYH360o869Nnvn9bQxOznZyxWXjBLb7qhXF/8zRtXoGcAAKtMrt4GAEAq73hdrX73dbXatMwzM/nZAb2mrlRf+I1XrFDPAACZhEkPACCtPvjmPfroW/dqW9HCHl6daEthjn7zpio99TuvUsDo4gUAgPTi8jYAgAn9o1P6g68f1ameYfWNTGm+L6fSDTnaVpynz/yHJjVuK1qTPgIA0m8pcwcmPSlcunRJkUhEgUBA27ZtS1s/4EUuNpGLTX7N5fLwpB7/l7P6v239GpkMKRSJKRqLyXGkYFaWNuQGtHd7kd7/xno1+PBZPH7NJZORiU3kYpOFXJYyd/DXsgtr6PLly+4a5HzQ7CAXm8jFJr/msrUoT392x15JUiQaU8/QhCZDUeUEsrS1OFe5wUCae7g8fs0lk5GJTeRik19zYdIDADArkOWosqRg/hcCADAHJj0p1NbWKhaLyXG4KdYScrGJXGwiF5vIxR4ysYlcbPJrLtzTAwAAAMA3eE4PAAAAACRg0gMAAAAgo3FPTwpTU1Pu9Yq5ubnp7g6uIxebyMUmcrGJXOwhE5vIxSa/5sKkJ4WWlhZ3Ob6mpqZ0dwfXkYtN5GITudhELvaQiU3kYpNfc+HyNgAAAAAZjTM9KZSUlCgcDisYZBdZQi42kYtN5GITudhDJjaRi01+zYUlqwEAAAD4BktWAwAAAEACJj0AAAAAMhqTHgAAAAAZzV93IK2htrY29yat+vr6dHcH15GLTeRiE7nYRC72kIlN5GKTX3Nh0pPC+Pi4uwY57CAXm8jFJnKxiVzsIRObyMUmv+bC5W0AAAAAMhpLVgMAAADwDZasBgAAAIAETHoAAAAAZDQmPQAAAAAyGqu3pdDf369oNKqsrCxt2bIl3d3BdeRi03rPJRSJanw6osLcoAJZTrq741rvuVhFLvaQiU3kYpNfc2HSk8LFixfd5fj8FGimIxeb1mMu3Vcn9N9+2K4ftPQqHI1KMUmOlJcd0D2v2KF3vKZWxQXpXc5zPebiB+RiD5nYRC42+TUXJj0AsAgDo1N6/9d+oTN9Y+obmUr6mi/80xn9z5+e16tqS/Spe5uUlx1Y414CAIB4THpSqKqqck/dwQ5ysWm95HL+yrh+88mfquvK+JyvC0djujQ8qe8dv6SzfWP6u/fcpI15a3/WZ73k4jfkYg+Z2EQuNvk1F57TAwALMDg2rbu++COdG5h7wpMoy5GaKjfp6+99jbIDjGkAACwXz+kBgFXyp//rxKInPJIUjUnN3UP60o86V75TAABgQZj0AMA8RqfC+nnX4JLrT0di+tq/dsnAiXUAANYlJj0pRCIR9z/YQS42ZXouX/vpOQ2MJl+0YKGujE3r3zqvrFCPFibTc/ErcrGHTGwiF5v8mgsLGaRw4sQJdzm+pqamdHcH15GLTZmeyzd+flGhyPLO0gxNhPTU/+3Qq2tLV6hX88v0XPyKXOwhE5vIxSa/5sKZHgCYx1QkuiLtXBqeXJF2AADA4nCmJ4WNGzcqHA4rGGQXWUIuNmV6Lit1L054mWeLFivTc/ErcrGHTGwiF5v8mou/eruGdu3ale4uIAlysSnTcwlkOSvSzsa8tR1yMz0XvyIXe8jEJnKxya+5LPrytpGRET388MO69dZbVVZWJsdxdOjQoaSvDYVC+ou/+AsdOHBA+fn52rRpk1772tfqxz/+8XL7DQBrZteWDctuI5jl6HW7t6xAbwAAwGItetIzMDCgxx9/XFNTU7rrrrtSvi4Siejuu+/Wxz72Mf3Gb/yGjhw5oq9+9au67bbbNDY2tqxOA8Ba+uCb92jzhpxltbGlMFe//ZqalekQAABYlEVfa1FdXa3BwUE5jqP+/n49+eSTSV/3hS98QUeOHNGPfvQj3XTTTe7P3/KWtyy9twCQBvt3FKu0MEdXxqaX3MaByiIV52evYK8AAMBCLXrS4zgLu7b985//vF7/+td7Jjx+0tHR4d6kVVtbm+7u4DpysWk95PL7b96jP/7mcV0dDy26bllhjv7otsZV6NXc1kMufkQu9pCJTeRik19zWZW7as+fP6/Ozk699a1v1Uc+8hE99dRTGhgYUENDgx5++GH9zu/8zrxtNDc3q7q6WkVFRe7Ppqam1NLSIkkqKSlRVVWVp05bW5vGx8clada64f39/bp48aIkqaqqSiUlJW5ZJBLRiRMnJF1bkWLXrl0aHh521yDv6OjQ8PCwJGnfvn2e1SquXr2qc+fOSZK2b9+usrIyz+89duyYYrGY8vPztWfPnln76cqVaw8rbGhoUF5enls2Ojqq9vZ2SVJ5ebkqKio8dU+ePOn2b+/evZ6ynp4e9fb2SpLq6upUWFjolk1OTqq1tVWStHnzZu3cudNT9/Tp05qYmJDjODp48KCnrK+vT93d3ZKunfHbtGmTWxYOh9Xc3CxJKioqmvUhOHv2rEZGRiRJ+/fvVyAQcMsGBwfV1dUlSdqxY4e2bPHe93D06FFJUkFBgcbHx93tlqSuri4NDg5KkhobG5Wbm+vWGx4eVkdHhyRp69at2rZtm6fd5uZmhcNh5ebmqrHRe0Da3d2tvr4+SdLu3bu1YcNL93SMj4+rra1NklRaWqrKykpP3dbWVk1OTioQCGj//v2est7eXvX09EiSampqVFxc7JZNT0/r1KlTkqTi4mLV1NR46ra3t2t0dFSSdODAAWVlvXR16sDAgC5cuCBJqqysVGnpS8+CiUajOn78uCSpsLBQdXV1nnY7Ozs1NDQkSbrhhhuUk/PSZVxDQ0Pq7OyUJFVUVKi8vNxT98SJE4pEIgqHw4rFYm4uknThwgUNDAxIkurr61VQUOCWjY2N6cyZM5KksrIybd++3dNuS0uLpqamFAwGtW/fPk/ZpUuXdPnyZUlSbW3tmo0R26O9urU2T99pi2hseuFLWJfkB/XOpkKN9ZxVn7O2Y8TMtsbnImX2GFFfX+8pszhGXLlyxV0RMHE/ZOoYkZeXp4aGBk+ZpTFi5jvfcRz3+365xxHxOI64ZrFjRPyx2HoaI6wfR4yOjnqOxdIxRsx8vy3Gqkx6ZgaFv/mbv1FlZaUeffRRFRcX64knntA73vEOTU9P693vfvecbcwcRMWLxWIKhUJuebI6M+WJotGoWxaNzj5gWWi7iX2KbzfZk2lDodCsg8EZkUhkWe2m2tb4dhO3NX4fJmt3ZluTndFbaLtWsplvW0OhkMLhsOdDP2OubBbSbigUSlo2V7szdedrN5mF7sNk9eP7lGi+bZ2enk76+xLbXeo+TLaPFtruarwP/8MNBSrMz9E/nBrRwDyXujmSyjbm6o9vqdHOrKsp3xOrOUakwhgxu09rOUbMtQR6po4R8Qeoydq1MkbMtJ0MxxFyfw9jxEvtchyRvjFisVZl0jOzsyYnJ/Xd735X1dXVkqRbbrlFr3zlK/Wxj31s3klPMBic9YFxHMf90CdbGzwYDCYdFCQpKyvLLUv25kxsd9++fYrFYnIcR+fPn3fLE/sU326ywLKzsxWLxZL2NxAILKvd+H9TtZu4rfH7MFm7M/sw2WC10HZXM5v6+no3l8R253q/pNqH8a9Jta1LaTcSiSQtm6vd+G1N1e5y9+F825povm3NyclRJBJRbm6u6urqPNu03H0YjUYX/blZi/fhb71is+57/T59/vtt+tm5QfWPTikU9/yd/Owsbd6Qq1v2btV7b65TXmxS586NzbmtqzlGBIPBWX89y+QxYq52rYwRhYWFmpqaSrotmTpGrMY4u5JjxMx3fkdHhyYmJpJu62q9DzmOmN1usmOxrq6udTNGWD+O2L17t+dYLF1jxGI5sWU8da+/v19lZWV65JFHPMtWt7a2qrGxUQcPHnRPKc74yEc+ok984hO6fPmye4orGo26pyxnbNy4MelOBwArxqbC+tbRi2q7PKrhybBKCrLVtHOTfm3fNmUHGL8AAFgNS5k7rMqZnrq6Os91d/Fm5lhMaAD43YbcoH7j1dXp7gYAAJjHqsw8gsGg7rzzTp06dcq9eUm6NuH53ve+p7q6ulk3mQEAAADAaljSmZ4jR45obGzMPa108uRJPf3005Kk22+/XQUFBfr4xz+uI0eO6LbbbtOhQ4dUVFSkJ598UkePHtXXv/71lduCVXL16lVFo1FlZWV5VhdBepGLTeRiE7nYRC72kIlN5GKTX3NZ0qTngQcecJdXlKTDhw/r8OHDkq4ty1hTU6O6ujo9//zz+vCHP6z3vOc9CoVCetnLXqZvfetbuuOOO1am96vo3Llz7nJ8fgo005GLTeRiE7nYRC72kIlN5GKTX3NZ0qQn/pK1uezfv1/PPvvsUn4FAAAAAKyIVVnIIBNs37495XKBSB9ysYlcbCIXm8jFHjKxiVxs8msuy1qyeqWwZDUAAACAhVjK3IFZBQAAAICMxqQHAAAAQEZj0gMAAAAgo7GQQQrHjh1zl+M7ePBguruD68jFJnKxiVxsIhd7yMQmcrHJr7lwpieFWCzm/gc7yMUmcrGJXGwiF3vIxCZyscmvuXCmJ4X8/HxlZ2crGGQXWUIuNpGLTeRiE7nYQyY2kYtNfs2FJasBAAAA+AZLVgMAAABAAiY9AAAAADIakx4AAAAAGc1fdyCtofPnzysSiSgQCGjnzp3p7g6uIxebyMUmcrGJXOwhE5vIxSa/5sKZnhSuXLmi/v5+XblyJd1dQRxysYlcbCIXm8jFHjKxiVxs8msuTHoAAAAAZDSWrE5hcnJSsVhMjuMoLy8vbf2AF7nYRC42kYtN5GIPmdhELjZZyGUpcwcmPQAAAAB8g+f0AAAAAEACJj0AAAAAMhpLVqcwOjqqaDSqrKwsFRYWprs7uI5cbCIXm8jFJnKxh0xsIheb/JoLk54U2tvbFQqFlJ2draampnR3B9eRi03kYhO52EQu9pCJTeRik19z4fI2AAAAABmNMz0plJeXu0+bhR3kYhO52EQuNpGLPWRiE7nY5NdcWLIaAAAAgG+wZDUAAAAAJGDSAwAAACCjMekBAAAAkNFYyCCFkydPusvx7d27N93dwXXkYhO52EQuNpGLPWRiE7nY5NdcmPSkEAqFFAqF0t0NJCAXm8jFJnKxiVzsIRObyMUmv+bCpCeF7Oxsz7+wgVxsIhebyMUmcrGHTGwiF5v8mgtLVgMAAADwDZasBgAAAIAETHoAAAAAZDQmPQAAAAAyGgsZpNDT06NIJKJAIKCKiop0dwfXkYtN5GITudhELvaQiU3kYpNfc2HSk0Jvb6+7BrmfAs105GITudhELjaRiz1kYhO52OTXXLi8DQAAAEBGY8nqFEZHRxWNRpWVlaXCwsK09QNe5GITudhELjaRiz1kYhO52GQhlzVZsnpkZEQPP/ywbr31VpWVlclxHB06dGjW697xjnfIcZxZ/zU2Ni72V6ZFYWGhioqK+JAZQy42kYtN5GITudhDJjaRi01+zWXR9/QMDAzo8ccfV1NTk+666y49+eSTKV+bn5+vH/zgB7N+BgAAAABrZdGTnurqag0ODspxHPX398856cnKytJNN920rA4CAAAAwHIsetLjOM5q9MOcyclJxWIxOY6jvLy8dHcH15GLTeRiE7nYRC72kIlN5GKTX3NZ1SWrJyYmtG3bNvX19amiokJ33XWXPvaxj2nz5s3z1m1ublZ1dbWKiorcn01NTamlpUWSVFJSoqqqKk+dtrY2jY+PS5Kampo8Zf39/bp48aIkqaqqSiUlJW5ZJBLRiRMnJF27CWrXrl1qbW11l+MrKirS8PCwJGnfvn0KBl/abVevXtW5c+ckSdu3b1dZWZnn9x47dkyxWEz5+fnas2ePp+z8+fO6cuWKJKmhocHzxhkdHVV7e7skqby8fNaSgCdPnnT7t3fvXk9ZT0+Pent7JUl1dXWeay4nJyfV2toqSdq8ebN27tzpqXv69GlNTEzIcRwdPHjQU9bX16fu7m5J1874bdq0yS0Lh8Nqbm6WJBUVFam2ttZT9+zZs+4NZ/v371cgEHDLBgcH1dXVJUnasWOHtmzZ4ql79OhRSVJBQYHGx8fd7W5qalJXV5cGBwclSY2NjcrNzXXrDQ8Pq6OjQ5K0detWbdu2zdNuc3OzwuGwcnNzZ91r1t3drb6+PknS7t27tWHDBrdsfHxcbW1tkqTS0lJVVlZ66ra2tmpyclKBQED79+/3lPX29qqnp0eSVFNTo+LiYrdsenpap06dkiQVFxerpqbGU7e9vV2jo6OSpAMHDnhu1hsYGNCFCxckSZWVlSotLXXLotGojh8/Lunadbh1dXWedjs7OzU0NCRJuuGGG5STk+OWDQ0NqbOzU5JUUVGh8vJyT90TJ04oEokoHA4rFou5uUjShQsXNDAwIEmqr69XQUGBW29sbExnzpyRJJWVlWn79u2edltaWjQ1NaVgMKh9+/Z5yi5duqTLly9Lkmpra9M2RsTr6OgwOUbMbGt8LlJmjxH19fWeMotjRHNzs2bWEHrlK1/pKcvUMSIvL08NDQ2eMktjxMx3vuM47ud3PYwR1o8j4o/FNm7cuG7GCOvHEaOjo55jsXSMETPfb4uxapOepqYmNTU1uWE999xz+uxnP6t/+qd/0r/927/Ne/PTzEFUvFgsplAo5JYnqzNTnigajbpl0Wh0VvlC203sU3y7kUgkabszB4OJIpHIstpNta3x7SZua/w+TNbuzLYmO6O30HatZDPftoZCIYXD4aQrfcyVzULaDYVCScvmN2Rz8QAAFyBJREFUanem7nztJrPQfZisfnyfEs23rdPT00l/X2K7S92HyfbRQtu18j5M5xiRCmPE7D6t5Rgx16KpmTpGxB+gJmvXyhgx03YymThGcBxhc4xYj8cRSxkjFmvVJj0f+tCHPP//lltu0ctf/nLde++9euKJJ2aVz+pYMDjrA+M4jvuhj/8rSXydZIOCdO3+opmyZG/OxHY3b97sPm02HA675Yl9im83WWDZ2dmKxWJJ+xsIBJbVbvy/qdpN3Nb4fZis3Zl9mGywWmi7q5lNYWGhm0tiu3O9X1Ltw/jXpNrWpbQb38eFthu/ranaXe4+nG9bE823rTk5Oe4gVlxc7HnNcvdhNBpd9OdmLceIVO1aGiMikYiysrJmnV3P5DFirnatjRHz7cNMGiNWYx+u5Bgx850/PDyc8mAqE8eI+H9TtZvOMSL+WGzmzEIymTpGWD2O2LBhg6d/6RojFmtZz+np7+9XWVmZHnnkkaTLVieKRqMqKirSW97yFv393/+95+fWntMDAAAAwJ41eU7PcsViMSYzAAAAANbMms4+nn76aY2Pj7OMNQAAAIA1s6R7eo4cOaKxsTH3tNLJkyf19NNPS5Juv/129fX16b777tOv//qva/fu3XIcR88995w+97nPad++fbr//vtXbgsAAAAAYA5LuqenpqbGXV4xUUdHh4qLi/Wud71LL774oi5fvqxIJKLq6mrdfffd+shHPuJZXk+yeU/P6dOnFQ6HFQwGZy0RifQhF5vIxSZysYlc7CETm8jFJgu5LGXusKQzPTPrbc/lmWeeWUrTZkxMTMy5UgjSg1xsIhebyMUmcrGHTGwiF5v8mgsrCqTgOI77H+wgF5vIxSZysYlc7CETm8jFJr/msqwlq1eKxcvbAAAAANjjiyWrAQAAAGAtMekBAAAAkNGY9AAAAADIaEtavW096OvrUyQSUSAQUFlZWbq7g+vIxSZysYlcbCIXe8jEJnKxya+5MOlJobu7212Oz0+BZjpysYlcbCIXm8jFHjKxiVxs8msuXN4GAAAAIKNxpieF6upqRaNRls02hlxsIhebyMUmcrGHTGwiF5v8mgvP6QEAAADgGzynBwAAAAASMOkBAAAAkNG4pyeFcDisWCwmx3EUDLKbrCAXm8jFJnKxiVzsIRObyMUmv+bin56usebmZnc5vqampnR3B9eRi03kYhO52EQu9pCJTeRik19z4fI2AAAAABmNMz0pFBUVKRwO++q03XpALjaRi03kYhO52EMmNpGLTX7NhSWrAQAAAPgGS1YDAAAAQAImPQAAAAAyGpMeAAAAABnNX3cgraGzZ8+6N2nt2rUr3d3BdeRiE7nYRC42kYs9ZGITudjk11yY9KQwMjLirkEOO8jFJnKxiVxsIhd7yMQmcrHJr7lweRsAAACAjMaS1SlEIhH3fwcCgbT1A17kYhO52EQuNpGLPWRiE7nYZCGXpcwduLwtBT5cNpGLTeRiE7nYRC72kIlN5GKTX3Ph8jYAAAAAGY1JDwAAAICMxuVtKQwODioajSorK0slJSXp7g6uIxebyMUmP+cSjcb0L219euyfz6h/dFqRaFSBLEf52UH99muqddfLdygv25+XWPg5l0xFJjaRi01+zYVJTwpdXV3ucnx+CjTTkYtN5GKTH3OJxWJ64vkOfeWFTl0dD2l4MjzrNY98q1mf/6c2vaGhTI+8dZ/vJj9+zCXTkYlN5GKTX3Nh0gMAMCESjenBr/5C//dMn0anIilfNxWOqmdoUod/dkFHzw/pa+/+FW0qyFnDngIA/IZJTwo7duxwT93BDnKxiVxs8lMusVhMH/z7X+qHp3s1GYouqE44GtPJnmHd98RP9cz7XuubMz5+ymW9IBObyMUmv+bCc3oAAGn3nWPd+vA3jmtkavblbPMJZjl6242V+uTbDq5CzwAA1ixl7sCsAgCQdl/8YfuSJjzStTM+/3K6T5Oh1JfEAQDWNyY9AIC0OtM7qsvDk8tq48rYtL754oUV6hEAINMw6QEApNWTz59V/+j0stqYCkf15Z90rVCPAACZhoUMUjh69Ki7HF9TU1O6u4PryMUmcrHJL7l09I+tSDvj00u7PG6t+SWX9YRMbCIXm/yaC2d6AABpNbFC9+JEomlflwcAYBRnelIoKChQOBxWMMgusoRcbCIXm/ySS2HuyvQvGPDH3/H8kst6QiY2kYtNfs1l0UtWj4yM6OMf/7h++ctf6sUXX1R/f78eeeQRHTp0KGWdWCymm2++Wc8//7wefPBBPfroo55ylqwGgPXrv36vRf/9uXYt90TNjdUl+sYDr12ZTgEAzFqTJasHBgb0+OOPa2pqSnfdddeC6jz22GM6c+bMYn8VAGAd+N3X1apsY+6y2ijMDerBN+5eoR4BADLNoic91dXVGhwc1HPPPadPfOIT876+s7NTf/zHf6zHHntsSR0EAGS2so25qisrXFYbJQXZesOeshXqEQAg0yx60uM4jhzHWfDr3/Oe9+iWW27R3XffvdhfBQBYJ/7w1xq0uSBnSXU35AT0G6+uUlbWwr+bAADry6regfTkk0/qX//1X3Xy5MlF121ublZ1dbWKiorcn01NTamlpUWSVFJSoqqqKk+dtrY2jY+PS9KsJfT6+/t18eJFSVJVVZVKSkrcskgkohMnTki6dj3grl271NXV5d6kFYlENDw8LEnat2+f58atq1ev6ty5c5Kk7du3q6zM+5fGY8eOKRaLKT8/X3v27PGUnT9/XleuXJEkNTQ0KC8vzy0bHR1Ve3u7JKm8vFwVFRWeuidPnnSXC9y7d6+nrKenR729vZKkuro6FRa+9BfUyclJtba2SpI2b96snTt3euqePn1aExMTchxHBw8e9JT19fWpu7tb0rUzfps2bXLLwuGwmpubJUlFRUWqra311D179qx77eX+/fsVCATcssHBQXV1XXu+xo4dO7RlyxZP3aNHj0q6duNcbm6um0tVVZW6uro0ODgoSWpsbFRu7kuXyAwPD6ujo0OStHXrVm3bts3TbnNzs8LhsHJzc9XY2Ogp+//bu/uYtso9DuDfQssFynspbh0yvIDshSHTLCNLFIgLKl4cbmGTmIxJ3HWIOhZRUFFgL3FbQuJionFMky0TjGNiHIHEO8GZJdsSHCg4UWCrc0zHeBmjxQKFc//wtrelLW9bOYf2+0kWkvO0z37n/HjeOD1Pr1+/jps3bwIAoqOjoVQqzWXDw8Po6OgAAKhUKoSHh1u995dffoHBYICnpyfi4uKsynp6evDHH38AACIjIxEYGGguGx0dxc8//wwACAwMRGRkpNV7u7q6oNPpAACrVq2y+txqX18frl37+4sZw8PDoVKpzGUTExNobW0FAPj5+SEqKsqqXq1Wi8HBQQDA8uXL4eX1/4nn4OAgtFotAGDx4sUICwuzem9bWxvGx//eecvf39+cFwC4du0a+vr6AAAxMTHw9fU1v0+v15s/8qpWq6HRaKzqbW9vx8jICORyOVauXGlV9ueff+LGjRsAgPvuu0+0PsLSlStXJNlHGAwGyGQyqFQqq2shxT4i0DiADbE++LxtDPqxmT/c8w+5B+LUCqwL1qGjowMxMTFW5VLsI3744QcYjUZ4eHhg9erVVmWu2kd4e3sjNjbWqkxKfYRpzNfpdDA96uwOfYTU5xGWczGj0XhX5hELoY+Q+jxCoVBYzcXE6CNMY/lsOG3R093djYKCAhw8eNCms5oJo9GIyXssCIKAsbExc7m995jKJ5uYmDCXTUxM2JRPrndgYMDcGfj6+prLJ8dkWa9p8je5XkEQoFAobMrGx8fvqF5H52pZ7+RztbyG9uo1XUN7d/NmWq8zczM8PGzOS0REhFW9U/2+OLqGponHVOc6l3rHxsbslk1Vr+W5zjbnM72G9t5vGdNk053r6Oio+f/r7+8352VyvXO9hvau0UzrdXYf4aheKfURpvMYGBiwWvRItY94Msob4+PjqO0aQb/efp4s+f3DE0n3h2FrzDiMRuOscyNmH+GozFX7CMsJqr16xe4jTGO+TCazWyfgmn2E1OcRlnMxHx+fee+/OY+wrXdsbAw6nc5qLiZWHzFbTlv07NixAw888AC2b98+p/fL5XKbBiOTycyN3t42eXK53G6nAAAeHh7mMnu/nDOtd3JMlvXaS5hCoYAgCHbr9fT0vKN6LX86qnfyuVpeQ3v1ms7VXmc103qdmZvRUetvbZ8qN9Odq+k8p7uGc6l3fHzcbtlU9Vqeq6N67/QaTneuk013rl5eXhgfH7f7R4o7vYYTExOzbjfsI6zrdTQISbmP2LQyCBvWLUH5fzrRdVOHm0MjNru6qZReuCfAG7nJ/8S/4jX48ccfp63XFMNsztVZfcRUE2tX7SOc0c86o48w1W2PK/YRlj8d1Su1PsIeZ+WG8wjbehUKBUZGRhzGNJkz+4jZmvWW1ZZ6e3uhVqtttqyurq5GVlYWzp49a3WrKjg4GNu3b8fBgwehVCrNJyLFLatHRkYgCAJkMpnVrU4SF/MiTcyLNC30vPQMGfDJ2Sv44dogdAYjfBSeiAz1xb8f+Seiw/zFDm/OFnpeXBFzIk3MizRJIS9zWTs45U5PW1sbjEYjEhMTbcoqKipQUVGBmpqaGW95LQY2LmliXqSJeZGmhZ6XMH9vFD2xXOww7rqFnhdXxJxIE/MiTQs1L05Z9Gzbtg3Jyck2x1NSUpCRkYGdO3faPJhFRERERETkDHNa9NTX10Ov15tvK126dAnV1dUAgLS0NERGRtrsGGGyZMkSuwsiIiIiIiIiZ5jToic3N9e8vSIAnDhxAidOnADw97aMjhY8jth7rMjezhHzyfJzgv7+C/ez466GeZEm5kWamBdpYl6khzmRJuZFmqSQF3vrhOm2KbijjQzuFqPRCL1eL3YYRERERES0ACmVSoe7MgKAeNujERERERERzQMueoiIiIiIyKVx0UNERERERC5NEs/0TExM2DyQJJPJ5vRtq0RERERE5LoEQbDZuMDDw2PKLyeVxKKHiIiIiIjIWfjxNiIiIiIicmlc9BARERERkUvjomeOjhw5AplMBj8/P7FDcVsNDQ3IycnBsmXLoFQqsWTJEmzYsAHff/+92KG5DZ1Oh/z8fGg0Gnh7eyMhIQGfffaZ2GG5NbaLhYFjiHScPXsWaWlpCA4Oho+PD2JiYrBnzx6xw3Jrzc3NyMjIgEajga+vL5YtW4bdu3djeHhY7NDcwtDQEF5//XWkpqZCrVZDJpOhtLTU7msvXryI9evXw8/PD0FBQdi4cSMuX748vwHPEBc9c9Dd3Y2CggJoNBqxQ3FrH374IbRaLXbu3Im6ujocOnQIPT09SExMRENDg9jhuYWNGzfi6NGjKCkpQX19PdasWYOsrCxUVlaKHZrbYruQPo4h0lFZWYmkpCQEBgbi2LFjqKurQ2Fh4bTf7E7Oc+nSJaxbtw5arRbvvfceamtr8cwzz2D37t3IysoSOzy30NfXh8OHD2NkZAQZGRkOX9fe3o7k5GSMjo7i888/xyeffIJff/0VDz/8MG7evDmPEc8MNzKYg/T0dMhkMoSEhKC6uho6nU7skNxST08PwsLCrI7pdDpER0cjLi4Op0+fFiky91BXV4cnn3wSlZWVVgNRamoqfvrpJ1y9ehWenp4iRuie2C6kj2OINHR3dyM2NhZbt27FBx98IHY49D/FxcXYt28fOjs7ERUVZT7+wgsv4PDhw+jv70dwcLCIEbo+09JAJpOht7cXarUaJSUlNnd7Nm/ejMbGRnR1dSEgIAAA8NtvvyEmJga7du3CgQMH5jv0KfFOzywdP34cZ86cYQcpAZMndgDg5+eHFStW4PfffxchIvdSU1MDPz8/ZGZmWh1/7rnncP36dVy4cEGkyNwb24W0cQyRjiNHjkCv16OwsFDsUMiCQqEAAAQGBlodDwoKgoeHB7y8vMQIy63M5GtjjEYjamtrsWnTJvOCBwCWLl2KlJQU1NTUODvMWeOiZxZ6enqQn5+P/fv3Izw8XOxwyI7BwUFcvHgRK1euFDsUl9fW1obly5dDLpdbHY+PjzeXkzSwXUgDxxBp+e677xASEoL29nYkJCRALpcjLCwMO3bswO3bt8UOz21lZ2cjKCgIubm5uHz5MoaGhlBbW4uPPvoIeXl5UCqVYodIALq6uvDXX3+Zx3xL8fHx6OzshMFgECEyx7jomYUXX3wRsbGxyM3NFTsUciAvLw96vR5vvfWW2KG4vL6+PoSEhNgcNx3r6+ub75DIAbYLaeAYIi3d3d0YHh5GZmYmtmzZgtOnT+O1117DsWPHkJaWxud6RBIZGYlz586hra0NUVFRCAgIQHp6OrKzs3Ho0CGxw6P/MY3xjuYBgiBgYGBgvsOaknz6l7ieb7/9FikpKTN6bXNzMxISEnDy5EmcOnUKzc3N097yo9mbS04me/vtt/Hpp5/i/fffx0MPPXS3QyQ7pmoLbCfSwHYhDRxDpGdiYgIGgwElJSUoKioCACQnJ8PLywv5+fn45ptvsH79epGjdD9arRbp6em45557UF1dDbVajQsXLmDv3r3Q6XT4+OOPxQ6RLCykeYBbLnpiY2NRUVExo9dGRERAp9MhLy8PL7/8MjQaDW7dugUAGB0dBQDcunULCoWCt1zvwGxzMllZWRn27t2Lffv24aWXXrrb4ZEdKpXK7t2c/v5+APb/+kPzi+1CGjiGSJNKpUJHRwcee+wxq+NPPPEE8vPzzVvx0vwqKirC7du30dLSYm4TjzzyCEJDQ5GTk4OtW7ciKSlJ5ChJpVIBsP+pjv7+fshkMgQFBc13WFNyy0XP4sWL8fzzz8/49VqtFjdu3EB5eTnKy8ttyoODg7FhwwZ8+eWXdzNMtzLbnFgqKytDaWkpSktL8eabb97lyMiRVatWoaqqCkaj0eq5ntbWVgBAXFycWKER2C6kpLe3l2OIBMXHx+P8+fM2x00fa/Pw4BMAYmhpacGKFSts/giwZs0aAH8/L8pFj/iioqLg4+NjHvMttba2Ijo6Gt7e3iJE5phbLnpma9GiRWhsbLQ5vn//fpw5cwb19fUIDQ0VITLas2cPSktLUVxcjJKSErHDcStPP/00KioqcPLkSWzZssV8/OjRo9BoNFi7dq2I0bk3tgtp4RgiTZs2bcLhw4dRX1+P1atXm4/X1dUBABITE8UKza1pNBq0tbVBp9NZfXnvuXPnAICbgEiEXC5Heno6vvjiCxw8eBD+/v4AgKtXr6KxsRG7du0SOUJb/J6eO7Bt2zZ+x4KIysvLUVBQgMcff9zuxI4DlvOlpqaiqakJBw4cQHR0NKqqqlBRUYHjx4/j2WefFTs8t8R2sXBwDBHfU089ha+//hrFxcVITExEU1MTysrKsH79epw6dUrs8NzSV199hYyMDKxduxa7du1CaGgozp8/j3fffRcRERFobm7mttXzoL6+Hnq9HkNDQ8jJyUFmZiY2b94MAEhLS4Ovry/a29uxZs0aPPjggygqKoLBYMA777yD/v5+tLS0QK1Wi3wWkwg0Z9nZ2YJSqRQ7DLeVlJQkAHD4j5xvaGhIeOWVV4RFixYJXl5eQnx8vFBVVSV2WG6N7WLh4BgivuHhYaGwsFC49957BblcLkRERAhvvPGGYDAYxA7NrTU0NAipqanCokWLBB8fH+H+++8XXn31VaG3t1fs0NzG0qVLHY4jV65cMb+uqalJePTRRwVfX18hICBAyMjIEDo7O8ULfAq800NERERERC6NT+kREREREZFL46KHiIiIiIhcGhc9RERERETk0rjoISIiIiIil8ZFDxERERERuTQueoiIiIiIyKVx0UNERERERC6Nix4iIiIiInJpXPQQEREREZFL46KHiIiIiIhcGhc9RERERETk0v4LtsTg4XUy2F8AAAAASUVORK5CYII=\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from kf_book.ukf_internal import plot_sigmas\n",
"plot_sigmas(sigmas, x=[3, 17], cov=[[1, .5], [.5, 3]])"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"You can see we have 5 points centered around the mean (3, 17) in an odd pattern. It may seem absurd that this will do as well or better than 500,000 randomly generated points, but it will!\n",
"\n",
"Okay, now let's implement the filter. We will implement a standard linear filter in 1D; we aren't quite ready to tackle a nonlinear filter yet. The design of the filter is not much different than what we have learned so far, with one difference. The KalmanFilter class uses the matrix $\\mathbf F$ to compute the state transition function. Matrices mean **linear** algrebra, which work for linear problems, but not nonlinear ones. So, instead of a matrix we provide a function, just like we did above. The KalmanFilter class uses another matrix $\\mathbf H$ to implement the measurement function, which converts a state into the equivalent measurement. Again, a matrix implies linearity, so instead of a matrix we provide a function. Perhaps it is clear why $\\mathbf H$ is called the 'measurement function'; for the linear Kalman filter it is a matrix, but that is just a fast way to compute a function that happens to be linear. \n",
"\n",
"Without further ado, here are the state transistion function and measurement function for a 1D tracking problem, where the state is $\\mathbf x = [x \\, \\, \\dot x]^ \\mathsf T$:"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [],
"source": [
"def fx(x, dt):\n",
" xout = np.empty_like(x)\n",
" xout[0] = x[1] * dt + x[0]\n",
" xout[1] = x[1]\n",
" return xout\n",
"\n",
"def hx(x):\n",
" return x[:1] # return position [x] "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Let's be clear, this is a linear example. There is no need to use a UKF for a linear problem, but I'm starting with the simplest possible example. But notice how I wrote `fx()` to compute $\\mathbf{\\bar x}$ as a set of equations instead of a matrix multiplication. This is to illustrate that I could implement any arbitrary nonlinear function here; we are not constrained to linear equations.\n",
"\n",
"The rest of the design is the same. Design $\\mathbf P$, $\\mathbf R$, and $\\mathbf Q$. You know how to do that, so let's just finish up the filter and run it."
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from numpy.random import randn\n",
"from filterpy.kalman import UnscentedKalmanFilter\n",
"from filterpy.common import Q_discrete_white_noise\n",
"\n",
"ukf = UnscentedKalmanFilter(dim_x=2, dim_z=1, dt=1., hx=hx, fx=fx, points=sigmas)\n",
"ukf.P *= 10\n",
"ukf.R *= .5\n",
"ukf.Q = Q_discrete_white_noise(2, dt=1., var=0.03)\n",
"\n",
"zs, xs = [], []\n",
"for i in range(50):\n",
" z = i + randn()*.5\n",
" ukf.predict()\n",
" ukf.update(z)\n",
" xs.append(ukf.x[0])\n",
" zs.append(z)\n",
" \n",
"plt.plot(xs);\n",
"plt.plot(zs, marker='x', ls='');"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"There really isn't a lot new here. You have to create an object that creates sigma points for you, and provide functions instead of matrices for $\\mathbf F$ and $\\mathbf H$, but the rest is the same as before. This should give you enough confidence to plow through a bit of math and algorithms so you can understand what the UKF is doing."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Choosing Sigma Points\n",
"\n",
"At the start of the chapter I used 500,000 randomly generated sigma points to compute the the probability distribution of a Gaussian passed through a nonlinear function. While the computed mean is quite accurate, computing 500,000 points for every update would cause our filter to be extremely slow. So, what would be fewest number of sampled points that we can use, and what kinds of constraints does this problem formulation put on the points? We will assume that we have no special knowledge about the nonlinear function as we want to find a generalized algorithm that works for any function.\n",
"\n",
"Let's consider the simplest possible case and see if it offers any insight. The simplest possible system is the **identity function**: $f(x) = x$. If our algorithm does not work for the identity function then the filter cannot converge. In other words, if the input is 1 (for a one dimensional system), the output must also be 1. If the output was different, such as 1.1, then when we fed 1.1 into the transform at the next time step, we'd get out yet another number, maybe 1.23. This filter diverges. \n",
"\n",
"The fewest number of points that we can use is one per dimension. This is the number that the linear Kalman filter uses. The input to a Kalman filter for the distribution $\\mathcal{N}(\\mu,\\sigma^2)$ is $\\mu$ itself. So while this works for the linear case, it is not a good answer for the nonlinear case.\n",
"\n",
"Perhaps we can use one point per dimension, but altered somehow. However, if we were to pass some value $\\mu+\\Delta$ into the identity function $f(x)=x$ it would not converge, so this will not work. If we didn't alter $\\mu$ then this would be the standard Kalman filter. We must conclude that one sample will not work.\n",
"\n",
"What is the next lowest number we can choose? Two. Consider the fact that Gaussians are symmetric, and that we probably want to always have one of our sample points be the mean of the input for the identity function to work. Two points would require us to select the mean, and then one other point. That one other point would introduce an asymmetry in our input that we probably don't want. It would be very difficult to make this work for the identity function $f(x)=x$.\n",
"\n",
"The next lowest number is 3 points. 3 points allows us to select the mean, and then one point on each side of the mean, as depicted on the chart below."
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.show_3_sigma_points()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can pass these points through a nonlinear function f(x) and compute the resulting mean and variance. The mean can be computed as the average of the 3 points, but that is not very general. For example, for a very nonlinear problem we might want to weight the center point much higher than the outside points, or we might want to weight the outside points higher. \n",
"\n",
"A more general approach is to compute the weighted mean $\\mu = \\sum_i w_i\\, f(\\mathcal{X}_i)$, where the calligraphic $\\mathcal{X}$ are the sigma points. We need the sums of the weights to equal one. Given that requirement, our task is to select $\\mathcal{X}$ and their corresponding weights so that they compute to the mean and variance of the transformed sigma points. \n",
"\n",
"If we weight the means it also makes sense to weight the covariances. It is possible to use different weights for the mean ($w^m$) and for the covariance ($w^c$). I use superscripts to allow space for indexes in the following equations. We can write\n",
"\n",
"$$\\begin{aligned}\n",
"\\mathbf{Constraints:}\\\\\n",
"1 &= \\sum_i{w_i^m} \\\\\n",
"1 &= \\sum_i{w_i^c} \\\\\n",
"\\mu &= \\sum_i w_i^mf(\\mathcal{X}_i) \\\\\n",
"\\Sigma &= \\sum_i w_i^c{(f(\\mathcal{X})_i-\\mu)(f(\\mathcal{X})_i-\\mu)^\\mathsf{T}}\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"The first two equations are the constraint that the weights must sum to one. The third equation is how you compute a weight mean. The forth equation may be less familiar, but recall that the equation for the covariance of two random variables is:\n",
"\n",
"$$COV(x,y) = \\frac{\\sum(x-\\bar x)(y-\\bar{y})}{n}$$\n",
"\n",
"These constraints do not form a unique solution. For example, if you make $w^m_0$ smaller you can compensate by making $w^m_1$ and $w^m_2$ larger. You can use different weights for the mean and covariances, or the same weights. Indeed, these equations do not require that any of the points be the mean of the input at all, though it seems 'nice' to do so, so to speak.\n",
"\n",
"We want an algorithm that satisfies the constraints, preferably with only 3 points per dimension. Before we go on I want to make sure the idea is clear. Below are three different examples for the same covariance ellipse with different sigma points. The size of the sigma points is proportional to the weight given to each."
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {},
"outputs": [
{
"data": {
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kgwKBAL/+67++DdHaK+wPcOue/axUKywXCpQrBjfc0KXdWWbfaIxbDozIKskuIBvYxbZotDqcXiiQLtZpt60kpFi0+pbvSQyRDEuHi6vRDYOlUoGVaploFG44CKGAk185Mi6zOWJLVRttTi0UyFUUmk3rwaZSsR64J5PDJELy83Y1XV1nvpCj2KiRSMKBAxDyu7jj6KScTyK2VLHa5NRqmXO9bo3Vet164N6THEZrtnjf+95HuVza8NdOpVJ89rN/jWuXtd7eSp1ul9l8lmpTYWQE9u2DcNDDK49OyvkkW0g2sAvbtVSN04tFlvI12qpJetmqM3e73NwwMsxQJCqzq+vgcjrZPzxKIhRmJpflhWMaBw8a/NxIc+uBEW4YT9gdouhx9abK6cUimWKdVhuWl6wudj6Pl0OjMmGwXm6Xi0OpcRKhMHOFFY49r3P4iM4Txxe5/ci4NKIQ162yOmGQrygoipWEVKvWhMGRsQsmDAJB9u3bR7lcBtZfnuX1+rjrrv+9rxMRAK/bzU3je8jXqiwUc1SrBjfeqPEfLyzwn26akEYUNpKVEbEldN3gzFKRmXQZtWOSTlvdsVwOFxPxIUZjcUlCNkk3DGbzWcpKnb17rfaiB8cT3HJgRB4WxYZpXZ2T8wUWclXabfPcqqXH5WEyMcRwJCo/V5ukdbtM57LUVYUbDsDwMNy8f4TDk0m7QxM9SO10OT6XZ7lQo9WCpWWrlbbf42UyOUwyFH7RWK3X63zgAx8gk0mv63u4XG6OHj3Kxz72sb5PRi6kahpTK2na3TaHDkMi7uClB1PsS/XPvhm7yAnswhb5isKxmRz1Zod0BrIZcOBiPJ4gFUvInpAtYJomy+Ui6XKR0VHYvx/Gh8L8ypFxXHImiVinTLHOC7M5lFaXpSVrwsDtcDOeSDIalQmDrWCYJvOFFfK1KpOTMDkJ+0Zj3HYwJWeSiHUxTZPFXI0T83mabZ3FBWvCwOv2MJEYYjh89QmDUqnEn/3Zn5HJZOh2r7x/xO8PcPToUe6//3683sHr2qgbBjO5DJVmg337ITUKR/YMcXTfsN2h9TRJRsSO6mg6x+dyLOVr1GowOwcd1cF4PMlYLIF7gGZZdkq+VmWusEIsZnLoMAxF/bzy6KRslhVX1VI1js3kWCk3KJdhbh50zclEYohULC4TBtsgXS6yVCowPGztI0klQ/ynmybkQFNxVY1Wh+emspTqLfIFWFgADBd7ksOMRGPrnjBQVZXHHnuMb33rW9RqNer12rnPxeNxRkZG+O3fvpdXv/rVA/1MZ5omi8U82WqZsXHYtxcmh6O8/PCYTB5skiQjYscs5qqcmMujrM7aFAoQCQQ5MJwiMIAzLDup2lSYWknjCxjceATiEQ+vumUPYTmPRFzCNE1mMxVOLRRotQ3m561udvFgmP3DowPbTnunFOs1ZvJZIhGTw4chGfXxqlv2yHkk4kUMw+TsUpGp5RLNlsncnNXNbigSZd/QKJ5NTu6ZpsnU1BQLC/M0GgrRaJSjR48yPj6+tX+AHpetllko5Egk4dBBGI4FeOXNk9JpaxMkGRHbTml1eH5mhUK1SWF11sY0XOwbGpFa8x3UVFVOZ5dwOLvcdBMk4x5ee9s+ecgR59QUleems5TrbXI5a9OrEzf7h0dJhmVT9U6pt1qcyS7j8ercdBSG4z7ufMleecgR5xSrTZ6fWaGmdMhmYTkNXpeHA8MpYkHZVL1TykqD6ZUMwZDBkRthLBnk1bfskRWSDZJkRGwbwzCZTpc4s1ik1TaZnbMOQhsKR9k3NDKwh6DZqdPtciazhIbKLbfASNzHnbftkzKQAafrBqcXi8xkyiiKNcPaaMBINM7e5LCUT9qgrXU4nVnC4dK45RYYGwryqpvlIWfQaV2dE3N5FnJV6nWYm4N228FYLMFEYkjKJ23QaLc5k13CH9A5ehT2jka5/ciYTLRugCQjYls02xq/OJ2m0miTyUJ6GdxODwdGUsRl1sZWWrfLifQCTrfGzTfD+HCIVx6dlIecAVVTVH5xOk292WF5GbJZ8Ht8HBhOEQnImRd2amsdTiwv4A/qHL0J9qWi3H5ESmUGVanW4ukzaRrNLotLkM9Z54UcGE4R9MmZF3ZqtNucSi8SSxgcPgRH9iS5ef+I3WH1DDlnRGy5TLHOs1NZGorB1DS0mg5SsQSTMmuzK3jcbm4c28OJ5QWmpnScToVjMyu87PCY3aGJHTafrfDCbI6GYnJ2ymomMZkYYiyelC5Zu4Df4+XGsUlOpheZmTFxOmsEfR5uks49A8U0TaaWS5xeLFKtmUxPg9F1sm94mFQ0LjPwu0DY7+dQapyplTSLiyYOR4mAz8OBsbjdofUtSUbEZRmGyfG5HHPZCsUSzM2C2+nl5olxwn6/3eGJCwS81kPOqcwis3MmTmeVoN/DkT1DdocmdkBXN3h+eoXlQo2VnLWPK+Dx85I949JMYpcJ+wMcTk1wNrvMwiJAkYDPI2cbDAi10+WZqSy5skI6Dek0hP1BDo2P45VS510lEQqzb2iU+ewKXi84HDkCXjepZNju0PqS/PSLF1FaHZ4+k6FcbzO/YC0fD4WjHBhJyWrILhUJBDg4Os70ShqfF6BAwOdhz0jU7tDENlory6opHWZnrRPUU7EEe4dGZDVkl0qEwuwbHmUhk8Png+cdK/i9bkYTUvLaz4rVJr88m6GudJmesfZcTiSGmEwMyWrILpWKxel0NRYXS3i9Jk+fyfCal+wlHpYJ2a0myYi4SLpQ57np1bKsKWi1HBwYGWU0KsuTu91QOEKnO8JiOo/PB886skQCXmJy4exLc9kKx2dz1BsmU9PQ7Tg5nBqTTlk9YCyWoKNpLMyX8XlNnj6T5tdedoCgX1ot95vLlWWhuzk6MU40ELQ7PHENe5LDdLpdpmdqeL0GT51c5q6XH8DrkUYgW0mmuQVglWUdm1nh6TNpVnIGx4+Drnm5dXK/JCI9ZDxunaRtdVAyeWYqi2FcsUeF6EFd3eDp02mOzayQWTE5cRJcpp9b9+yXRKSH7B0aIR6MMD0NStPg2aksV+knI3qQ2uny5MllTs4XWFoyOX0KAq4gL9mzXxKRHuFwOLhhdIywL8jZs6C0urwwm7M7rL4jKyOCZlvj56eWqTRUKcvqA/uGR2m0W8zOqgQCKmeWihyVTbJ94cKyrJlZKEtZVs9yOBwcHB3j2GKb2VkNn6/J/EpVNsn2iYvKsqatAwwnk8NMxJNSltVjnA4Hh0bHObY4x/y8jttdY2I4wpjsH9kykowMuHK9xVMnl6k19HNlWTeMpBiJyobKXuV0ODg4Os7x5XnSGROXq8R4MizlWj0uV1asRKRurJZluTicSslqSA9zOZ0cHB3jVHqRXA5OOPOMxkNSrtXjlvI1npvKUqmZTE8BhpRl9Tqv2zowdiaXIZmE56dXSEYCUq61RWTae4BlSw1++sIixbLO8RPny7IkEel9QZ+PicQQmbSUa/WD+WyFp04tUyganFwty3qJlGX1hWggyEg0zuIiNFsGz01LuVYvO7tU5JmzGVbyq2VZbinL6hfDkSjxYJi5OSnX2mqSjAyomXSZn59aJl80OXUaQp4gt07uk8OW+sh4PEnA42N2FqoNq1xL9BbTNDm1UOD5mRWyKyZTUxALRLh5Yi8+j8ye94t9QyO4HB5mZ6FQtcq1RG8xDJPnprKcWiiwtAyzMzAciXPT+B480ra3bxwYSWHoLubnYblQI1tq2B1SX5BkZMCYpsnx2RzH53KkMzA9BclQlBvH9+B2yXJjP1kr12q1HKQzMLVcotpo2x2WWCfDMHnmbJazS0UWFmF+DlLRBIdT47KXq8+slWvValjlWnN5mm3N7rDEOnV1g6dOLTOXrTI9A+ll2JMc4YaRlOwP6TNr5VrFIpTLVrlWR9PtDqvnyR1tgOi6wS9Op5lOl5mbg6VFq8/5odFx2fzapy4t15KOPb1B6+r87MQSi7kaZ6cgm7EaE+wbHpWHmz51abnW8zMrdock1qHd6fIfxxbIFBTOnIFS0drsPJFI2h2a2CaXlmudmM/bHVLPk2RkQKidLk+cWGK50ODsWcjnHdwwMsaepHRZ6ndr5Vrz81BrqmSKsqy8mzXbGo8fWyBbanLqNFTLTo6MTTIWS9gdmthma+VaCwuQrygUq027QxJXUVNUfvL8PPmKysmToDRcHB3fy1BEDpvtd2vlWktLVsOCRqtjd0g9TZKRAaC0Ojx+bIFcqcXJk1CvOblxbFI2qg8Ip8PB3qERGg2oVOHMUlFWR3apSqPN48cWKJQ7nDgBatPN0Ym9JELSQnIQuJxO9iSHKZdBUZB9XrtYvqLwHy8sUCx3OXECjK6HWyb3EQkE7A5N7ACv2814PEm+AKpqclbG6nWRZKTP1RSVx48tUKxoHD8Omurm5ol9xIIhu0MTOygWDBH2B0gvQ11WR3alYrW52t3Oerhx6F5umdxH2C8tmQfJUDiCz+MlnbY2s8vqyO6TKdZ58uQyhZLBqVPgdfi5ZWIfAa/X7tDEDkrF4rgcLtJpWC7UZXXkOkgy0sdqisoTxxcpVXVOnAQ3Pm6ZkI5Zg2oyMSSrI7tUsdrkyZPLlMrWw43fHeCWyX3SMWsAORwOJhNDlMvQbMrqyG6TLTV4+kyGQsHk7BmI+sMcndgrHbMGkMvpZCwmqyNbQZKRPlVvWolIuapz+jQE3AGOSjvQgSarI7tTqdY6l4icPXv+4Ua62w2utdWR5WVrdaRUa9kdksBKRH5xOk2hYDIzA0PhGIdTE9LdboBdujqiyOrIpsgI6kP1pspPX7ASkVOriciNY5PycCNkdWSXsRKRJcoVKxGJ+EMcHpuQ7nYD7tLVkdOLBbtDGnjZUoOnT6cpFK1EJBmOSute8aLVEVnJ3BxJRvqMtSKyRKVmJSJ+l18SEXGOrI7sHmuJSKlicOaMlYgcGZuUREQAsjqym6xcmIhMW4nIwZExSUQEYK2OOJHVkeshyUgfabQ6PHF8iXK1a9Wdu/zcJIcZiktcuDoiNa72KNcvSEROQ9gniYi4mMPhYCKRlL0jNsuVFas0q2gyPW0dEiyJiLiQy+lkPJ44v3dkuWR3SD1HkpE+0Wh1VkuzrETEK4mIuIJYMETI52cla507Iqey76xyvcXPTlilWecTESnNEi82HI7i83hYWbFaybY7XbtDGii5ssLPTy1TLJlMz6wmIqOSiIgXS8USOHGRy0G6UEfXDbtD6imSjPQBpdXhieOLVGrnE5GjkoiIqxiJxqjVQNOsA5vEzqg02ucTkTMQ9gU5MiYbYMXlORwOhsJRSmUwDFiWsbpj8pXzicjUNCSCEUlExBW5nE6S4TDFIuiGQbYkJdAbIXfAHtdSNX56/IIVEadPEhFxTclQBHBQLFo1rrKRffvVFPWiRCTkDXJkbFISEXFVw5EoehfKFZk42CnFapOnTi5TKp9PRA6NjksiIq5qKBxFVaFel7G6UXIX7GFaV+fJk8tU61Yi4nH4uElagop1cLtcxIMhCkVQtS4FOVhtW7U7XZ48uUSlqnPmDAQlERHr5Pd4CfsDFAtWWWVNUe0Oqa81Wh1+fjpNpWpydgrigQgHJRER6xDxB/C6PRSKkK82UaWsct3kTtijDMPk6TMZyjWV06fBiZebJvbikURErNNQOEpTgVZbZnG2U1c3eOrkMrVGlzNnwe+2OtxJIiLWKxmOUK2B1oXlgozV7dLRdJ48sUStrnN2CqL+EIdS47KfS6yLw+FgOBKlVAJdN1ku1O0OqWfI3bBHHZtZYaWkMDUFXc3FTeOTkoiIDYmHwricLooFyBQbsuFuG5imyS/PZCjV2pw5Aw7DI4mI2LChcBRMB6WSNXEgZZVbT9cNnjq1TLWhcfo0+Jw+DqeksYTYmGQ4gt6FalUmDjZC7og9aGq5xEKuytwc1OsOjqQm8Xu8docleozT4ZANd9vsxFyebKnB1BSobRc3jk/icbvtDkv0GI/LRSwQoliwSv6KcubIljJNk2enshSqLc6cAdNwc+P4Hpk0EBsW9PoI+vwUilbDkoacObIuMtJ6TLpQ5+R83joIqwAHR8aIBAJ2hyV6lGy42z6zmTIzmTJz81CrOTicGifo9dkdlgAV42wAACAASURBVOhRQ5EojQa029JVa6udWiiwXKgzMw2tppMbxybxyqSB2KThcJRKBbpdua+ulyQjPaRcb/HM2YzVAWkZ9iSHGYpE7Q5L9LC1DXfF1Q13XSnV2hIrpQbH5/JkMpDPwYHhFLFgyO6wRA+LB0O4nE5KJciUGlKqtUUWVqpMLZdYXIRKxcGh1Dghn9/usEQPS4YjYDoolyFTlH0j6yHJSI9otjWeOrlMtWYyMwvDkRgTiSG7wxI9zuFwEA+GqNasUoVyXco/rle10ebpMxmKRZPFRZhIDDESjdkdluhxLqeTaCBItWp1Uqw3pfzjeuUrCs/PrLCSg2wW9g2NkgiF7Q5L9Div203I56dWs7qzSVeta5NkpAdYLXyXqDV0zp6FiC/IgZGU3WGJPhHxB1Db1gGIUot+fVqqZm2CrRvMzFgzZJMyaSC2SMQfRFGsAxBLMnFwXepNlV+cTlOumCzMw1gsQSoWtzss0SfC/gC11UURGavXJsnILmeapnXBrHc4fQbcDq90+BBbKhIIAta+kaKcN7Jp+moL32q9y9kzEPQG5HwCsaUigQCGAYoiY/V6rJ3RVasbTE9BPBhm79CI3WGJPhLxB9A6oKpQkkm+a5JkZJc7u1QiX2kyPQWG5uYmOV1dbDGv243P46Fet7p/GIbUom/G8bk85YbK2bPWuT9HxiZl0kBsqaDXh8vppN6Q2dbr8exUlrqiceYM+Nx+mTQQWy7itxoL1etScbAekozsYoVqk9OLBZbTVgvfQ6lxfB6P3WGJPhTxB6nXwTBNKo223eH0nHShzvxKhYV5aLecHBmbkHN/xJZzOByEfAHqNavFryJtQzdsJl0mW2owMwOG7pJzf8S2cLtcBL0+6nWoNVVpDnMNMgJ3KbXT5ZdnMtRqkEnDZGKI6Go5jRBbLeIP0GpZrQiLNSn/2Ail1eG56azVkSwP+4dHpYWv2DbRQICGAqYpqyMbVWm0OTlvdbmrVODg6Li08BXbZm3fiGmaUqp1DZKM7EKmafLMVJZGs8v0NET8IcbjSbvDEn0sEghgmtBQZEl5IwzD5OkzGRqKwdycdRaEdM4S2yniD6J3odmUsboRWlfn6dNpanWTpWUYjyeJS7ttsY0igeC55jAycXB1kozsQlPLJXJlhekZwHBzaHRM6lnFtvJ7vHjcbuo16zwbOcNgfY7P5SjX20xNgcfp5cCwdLkT2yvk9+NwOGg0ZGPsRjw7laWmaExNQcgbYDI5bHdIos9dtG9EGk5clSQju0yx2uT0YpFMBmpVOJQaxyPLyGIHRPwB6g3o6gY1RbU7nF0vU6wzl62wsACtloPDqQmpPRfbzulwWGcY1EFpyxkG6zGbsfaJzM6C3nVxaHRcmkuIbWc1h/FKc5h1kDvnLtLRdH55NkO1ZrK8bB2WJvtExE4Jev20VidalbZmbzC7XLOt8exUlmIJcrnVfSI+2ScidkbI56e1OtEqY/Xqqo02J+byZLNQLsPB0TFpBCN2TNDro9WymsO0VBmrVyLJyC5hmibPnM1QP7dPJCiHpYkd5fN40LvWJvamXDSvyNonkrb2iczCUDjKaFQOSxM7x+f20FltpKW0paPWlWhdnV+cTlNrmCwuWQcbygnrYif5PR7U1UIDua9emSQju8R0ukyuojA9Dehu6Xsudpx/dbawrSItQ6/i5HyeUq3N1DS4nV4OjMg+EbGzfB4PhgGdjrVKJy7v+ekVaorG9BQEPX72yMGGYof5PNbEgWnKWL0aSUZ2gZqicnqhQHp1n8jB0TFpNyh2nM9tJSOqKjM4V1KoNpnJlFlchFbTweHUuOwTETturcxIVaVM60qW8zXSxTqzc9DVXBxOTcg+EbHjfG4Ppilj9VrkLmozwzB5diqL0rT2iYzHk8Sk3aCwgdvlwuV0WcmIXDRfpKsbPDeVpVaDlRXYOzRCyOe3OywxgNYmDtoycXBZaqfLsdkcxSKUS3DDSEr2iQhb+D1eQCb5rkWSEZtNp0tUGm1mZsDv9km7QWErn8eD2oZWpyudPy5xaqFAvaUxO2v1j0/JPhFhE5fTicftlomDKzg2m6PZ0pmfh2Q4QjIcsTskMaC8bjcOh8NaGZHy5yuSZMRG9abKmcUimSw0mw5uGBmTZWRhq7XNdqZ0/rhIsdpkNlNmaRG0jpMbRlKyp0vYyue2Jg5UrYuuG3aHs2ukC3Wr7fY8YLrYL2f/CBs5HA68bresYl6DJCM2Mc3V8qyWVZ41FksQ9kvJh7CXz+2h3bZ+LxdOi64bPDe9Qr1ulWftSQ6fW3oXwi6+C7r0SC26paPpHJtZoVSyyrP2D6fwuFx2hyUGnM/tRVWtUt+Optsdzq4kyYhNZjMVyvU2szPgc3mlPEvsCn6PF00Dw5AHnDVnlorUmx1mZiHsD5CKSXmWsJ/f45WWoZc4PpdDaVvlWYlQhCEpzxK7wFr5M8hYvRJJRmzQUjVOLRTI5aDRQMqzxK7hdbsxTdA0pEwLq9PddLpMOg0d1SqllPIssRv43B40DXRDxipAvqKwlK+xuACG7uLA8KjdIQkBrJZUrm4XkT1elyfJiA2OzeRotQ2WlmAkGicSCNgdkhCA1VELrIMPte5g16Gbpslz01maTZNMFiYSQwS8Up4ldoe1ltK6jFV03eDYTI5aHQoF2Dc0gkfa44tdwuNyoXet33dlf9dlyWjdYZlinZVyg/kFcOJmr5RniV3k3AOOLhfNuWyFSqPN7JxVSjkeT9odkhDnuJ3WxIFuyFg9u1yi3uwwu1pKORyJ2h2SGHBLS0t8/etfZ35+no7DRA/6OHs2xOR7/k/2pWJ2h7frSDKyg7q6wQuzOSoVa3PdodTouZloIXYDl0OSEYB2p3u+lLIORydSUkopdhWZOLDUmypTyyXSGauU8sY9Ukop7PPCCy/w4IMPUiwWqVYr1v/0uCEa4uGHn+dH33mYO269gQcffJCxsTF7g91FJBnZQWeXiijtLnNzEAuGZHOd2HWc8oADwMn5PK22weISjERjRANBu0MS4iJryYgx4GP1hdkczZZJJmMdGiyllMIu//qv/8rf/u3fnk9C1pjm6gcHuVyeb8+d4NWvfjU/+MEPuPHGG22IdPeRZGSHtFSNmXSZbAY0zcHNY9L7XOw+LqcTh8OBbpgD+4BTbbRZytdYWgYMF3uTI3aHtKuYpsnp06f5yle+QjqdxjAMnE4nExMTvP3tb+emm26SmekdIBMHkCsrFKpNFhfA6/IwkRiyOyQxoJ5++mk+//nPU6tVX/xJc+0AYResVh/Mz8/zpje9iZ/97GeMjkqzBUlGdsiphQJqxySbhVQsgc/jsTskIS7LgQPTMDHMwTyB/cR8nlYbCnnYmxySUsoLVCplPvzh/5d8Pk+9XrvocysrWaamphgZGeHDH/5z4vGETVEOhrWyQcNkIMeqaZqcmM9Tq0OlAodSI1JKKWxhmiaf+9znLp+IXMQBF/yMzs7O8sd//Mc89NBD2xtgD5BuWjvgoplW08WEbIQVu5jD4cA0wTAG7wHnoplWt4dROVPknGq1ygc/+CfMzEy/KBFZU6/XmJmZ5k/+5P+hWr3WjVlcj7XVJ9MYzLG6mKtRb6osLkDI55eyZ2Gb5557jlrt8tdEAM4NT8fqr/N+8pOfoCjKdoXWMyQZ2QEXzrROJmSmVexuztVkxByw2dZLZ1r3JGWm9UIf//jHyWYz63ptJpPmL/7iL7Y5osG29pNpMnhjVdcNTi8WKBZBUWDfkJS5CPt87WtfQ1EaV3nF2vi8eGUEIJfL8fnPf37bYusVkoxsM5lpFT3HMZilHzLTemXZbJZ0Or2h9ywvL7Oykt2miITD4bBWMY3BG6szmTLNdpelJUiEwnJWl7BVsVi8+gsuWhm5mKqqPPbYY1seU6+RZGQbyUyr6EVOhwMGrEzr0pnWvUOyaf1CX//616lUyht6T6VS5uGHv75NEYk1g1ZSqXa6TC2XyOWg03GwRxpMCJsZxnobSDi5XEJSqVRe/NIBI8nINpKZVtGLDNPE4QCnc3AS50tnWqWV78XOnj27qfdNTU1tcSRijWmamKaJ0zlYY/XMUpG2arCchuFITFr5Ctutdba7onPD0+CCZZJzIhF5NpRkZJtITavoVYZh4HKBxz0Ye5tkpvXa1j/zdzFd17c4ErFmrTTL6RycsdpodZhfqZLOAIaTPdLKV+wC0Wj06i84VxFjWB0nLuB2u7nzzju3J7AeIsnINpGaVtGLTNNEX01G3K7BuDzITOu1eTbZinyz7xPXpq8miC43uAZkZeTkfJ5222RlBcbiSTxuOZ1A2O/ee+8lcLVnvHPJSPdFycjY2Bjvfve7ty+4HiEjeRt0NP2imdYbR2Wmdb1KpRJPP/001WqVcDjMrbfeyt69e+0Oa2Ccm20dkGREkZnWdbnrrruYn5+n29XW/R6328Ndd921fUENuHPJyICsjJTrLbKlBktL4Ha6GYvJOTZid7jjjjuIRKK0Wq3Lv+AqKyOveMUriMelsZEkI9tgLltB1QzSMtO6bqdPn+YLX/gC6XSacrnMWl1lLBYnkUjw1re+VZYyd8C5B5wBSUZmMmU6HWumdUJmWq/o7rvv5hvf+AbFYmHd74nFYtx9993bGNVgG7SxOrVcotWGYhFuGBnGda06fSF2iMvl4p3vfCd/8zd/c/kzmM4tXOoXJSN79uzhU5/61I7EuNvJaN5ium4wmylTKICuO+SAw3X4wQ9+wEc/+lGOH3+BcrnEhRu8qtUKc3OzfOYzn+GBBx4YuH76O+3C2dZ+f8BRO10WVqqsrIATJ6mozE5dSSAQ4M4778Tn86/r9X6/9fqrli6I62KYg5OMNFodsqUGmTR43G6GIteo0Rdih911113cc889RC73s3luZeR8MjI5OckjjzzCgQMHdizG3ay/r2A2WMzXUDWdbAaSoQg+qZm+qp///Od86Utfola7+mnNitLg3//933nooYd2KLLBpBvWhuNBeMCZzVbQuiYrORiJxOQw0mt417vexctf/nL8/qsnGH5/gJe97GW8613v2qHIBtPaxMEglFROL5fodKBYgrFYQlrki13p3nvv5d3vfjfj4xOEQuHzn3A4WD2elJHhIV75ylfyox/9iFe+8pV2hbrrSE3CFjJNk+nlEqUSqCocGZFVkasxTZPPf/7z10xE1rRaTR577DHuueceQqHQNkc3mAal9KOrG8xlK+TzYOgOxmQF85qcTif33XcfX/va13jssceo1Wq02+drpP3+ANFolDe84Q289a1vxSEPjNtqUFYx250uS/ka2RVw4mJUVjDFLvba176WO++8k+PHj/PVr36VcrlMx+VA9zt52cvewMc++G5e/SsvsTvMXUeSkS2UKTZoqhqZLEQDIYI+n90h7WqnTp2iWl1fIrKmWq3y3e9+l3vvvXebohpsg5KMLKxUUTs6mSwMhaN4Za/IujgcDt72trfxO7/zOzz55JM8/vhPUJQmoVCQ1772f+NVr3oVLllh2hG6YeBwWq19+3mszqTLdDSTfA5SsbjsFRG7nsPh4CUveQkf+9jHAFgqFSg2i7zsZXDo4B6bo9ud5A68haaWS1Sr0FTg6ITMtF7LN7/5TRqN+obeo+tdfvzjH0kysk301XrWfn7AMQyTmUyZYgm0DoylpCvPRrlcLl7zmtfwmte8xu5QBpZu6KwN0X4dq1pXZ36lQi4PhuGQfV2iJ621y4fB6Hy3Gf15BbNBvqJQVdpkMhD0+eUE53UoFoubep+mdbc4ErGmq+u4XKsHqfXpA066WKelamQzEA+GCXplBVP0nq5h4FqdTuzXsTq/UqWjGaxkrc6U0u1O9KK1+yr078TB9ZK/lS0ynS6jKFCrwbjUn6/LZss5pBZ9+6iaxlp1YdDfn80XppZLVCrQaslYFb1L1Tr4+3isGobJTLpMsQiaBuNxWcEUvamtdc7fV339N1a3giQjW6DaaJOvKGQy4PN4SF7YRUFc0cGDBzf1vkgkssWRiDXtC5ORPrxo5soK9aZKOgNhf4CItJ4VPWptrDodDvze/lsxWMrXaHe6pDOQCEXwe+S8LtGb2pqG3w9+rxunUyZTL0eSkS0wtVxCVaFchrFYUmbu1+mee+4hkdjYzHQgEOC3f/u3tykioXY1fH5rKdnXhw84U8slGg1o1GVVRPQ2dfUBJ+Dz9N09xzRNppZLlMugtmWsit7V1XV0Q8fng5BfEuorkWTkOrU7XTKlBpkMuJwuhuUwpnUbGRlhfHx8Q++JRqPccccd2xTRYDNMk05Xw+/rz1WRmqJSrDXJZMHv8RIPSnto0Zs63S6Gaaw+4PTfWM1XmijtDtksRAJBwv71HbYpxG6jdjUAfP7+HKtbRZKR67SUr9HVTYolGI1K28GNev/738/w8Mi6XhuLxXnve/9IWoduk05XwzRN6wEn0H8zOIu5KpoGlTKkYom+m00eFKqqMjc3x5kzZ0in05imaXdIO07VrAccv79/x2qrBY2GdcihEL2qvTZWff25t2ur9F8dxg5bzFWplEHvIqsimzAyMsLHPvYxPvzhD1MsFtG0zote43S6iMfjvPe97+W2226zIcrBcNEDTp9dNA3DZClfo1AAcDAUln1HvWZpaYmvfvWrnDhxAlVVMQwDj8dNIBDkjW98I7/xG79BMDgYXQzbXes66evDVUytq5MtNcjnwe1yEZMVTNHDVK2Dyw1ut5RpXY0kI9ehXG/RaHXIF6ylZNlgtzkTExN85jOf4cc//jH//M/fpF5vYJomDocDr9fL6173On7zN39TNq5vs7am4XCC19t/F82VcoNOV6dQgGQogltW13rKo48+ysMPP0y1WnnR5yqVCg899BDf//73+PM//zB79vT/oWKqpuHxWi24+23i4Fy1QRGGw1GcsoIpepi6WvoM/TdWt5IkI9fBOsUZ6jU4MCKrItfD6/Vy9913c/fdd9NoNFCUBj6fn2g0inOLSt80TcPlcm3Z1+s3alfD6wWHo/+WkxdzNRqK1c5337iM1V7y/e9/n6985StXPSBV17usrKzwoQ99iP/xP/4HIyPrK/3sVap2wQNOn5VpLeZqVKtWO9/haMzucIS4Lm1Nw7fatLHf7qtbSZKRTdJ1g3SxTiEPToeTZEhm7bdKOBwmHN6a9shnzpzhy1/+MgsLCxiGdbq43+/nTW96E7/+63cTkMMpz1Ev6IXeTzM47U6XXEUhnwev2yMHkvaQVqt5zUTkQoVCnk9/+tN89KMf3ebI7NXWOgRWbzn9VKZVU1SqSptCAUI+vxxIKnpeW+sQSYDX7ZLT169CkpFNypQadHXDKvsIR2Tj+nXQdZ1nn32Wp556ijNnztBsNi8q07rhhht4xStewatf/Wp8vvXdnNrtNh/5yEeYn5+nXq+96PNf/OIX+cY3vsF73vOH3HHHK7f6j9STVE0jHOq/cwvWyj5KJUhForJx/Tpls1mOHz/OM888w/LyMoZh4HQ6mZyc5Pbbb+fWW29lbGxsS77X9773farV6obes7i4SKVSJt7Hh+SpXY1EH55bcK7JRAX2DcmqiOhthmmidbv4/LIqci3988SxwxZzVWp1UFUYlovmprRaLR5++GF+8pOfUK/XaLVal33d/Pwcjz/+OF/84he57bbb+L3f+z2Gh4ev+HU1TeO+++5jZmYGw9Av+xpd71IqFfmf//PT/NEfvXfgExLdMGhpHUaCVtlHPz2wS5OJ66frOo8//jj/+I//SLlcolarv2hsTU9P8fjjjxONRkgmh7jnnnt47Wtfe13d7x577DF0vbuh95TLZb797e/wjne8Y9PfdzdTNY2urhMIQCTYPysH0mRC9Jum2gYgEIBwn5VTbjVJRjah2dYoVJvk8+DzeOUU50145plneOCBBygUCldMGC7U7WoUCnl+9KN/5bnnnuPee+/lzW9+82Ufmr/whS8wNze3rq9bq1V54IH/j//1v24jMMD/jk1VxTRNwiFIhPunp780mbh+S0tLfOITnyCTyaCu3lyvxDB0KpUKlUqFz3zmMzzyyCN88IMf3PSmclVVN/we0zSYn5/f1PfrBY3Vf4NwGOJ9NFalyYToN412G4cTggFIRAb3+WI9pLZoExZzVXQdyiUYkZnWDTFNk8997nN88pOfJJdbWVfCcKlSqcjf/d3f8aEPfQhttR3tGk3T+NnPfka3q13h3S9Wq9X4wQ9+sOE4+klDbeF0QjDYXxfNC5tMyKrIxn3nO9/mvvvuY25u9pqJyKVUtc3c3Cz33Xcf3/nOdzb1/Td7hsja/rB+pLRb+Hzg8fTXxMFirkajYTWZkLEq+oGitgmFrK53/TRWt4MkIxtkmiaL+RqlEpimg+GIlGhtxAMPPMAPf/jDy+7j2IhWq8kLL7zA/ffff1FC8tOf/nTDNebdrsb3vve964qn1zXa1kXT4YBEpD8umtJk4vr80z/9I3//9w9RqZSv6+tUKmX+/u//nn/6p3/c8Hs9ns3VWU9MTGzqfb2gobZZ6+/RLxMH6lqTiQJ43G5pMiH6QkNtEQ6By+kkGuqfksrtIMnIBlUVlZaqUShAxB/E65ZKt/V69NFHefzxx2m1mlvy9XS9y9mzZ/nUpz517v+dPHmCTmfjpR2tVmsgT3Je01BbhMPgdjn7prY1X21aTSaKkAhJk4mNeOqpp/iHf3hk3V2srqXRqPMP//AIP//5Uxt635133onDsbF/t3g8wZvf/OYNvadXGKaJspqMhPxevJ7+KGXKlBroq00mRiKxvtqzJgaT1u2iahqh1XJK+Zm+Ork7b9BKqUG3C40GssFuA/L5PI888gjNprKlX7fb1Xj22Wd59tlngc3VmK/p59KOq+l0u2jd7rka9H65aK6UGrTaoLYhEdqaVtGDoNFo8NnPfva6Vy8vVa/X+Oxn/xpFWf814Ld+67eIx+Mb+j6pVIpUKrXR8HrC2t6uULh/VjDBGquNhtVkQsbq1lMUhRMnTvDLX/6SU6dOvai8WWy9C/d29dNY3S4yrb9B2VKDahVME2LBkN3h9Iy//Mu/pFQqbsvXrtdrPPDAA3z2s59leHhzh505nc7r6vrTyxptq4uZddHsj7IP0zRZKStUylaJlpR9rN8DDzxAsbg9Y7VQKPDAA5/hgx/8k3W9PhqN8oY3vIFvfetb61pRTSSSvOc977neMHethtrquw2xum5QqDapVKwSrZBPHty2ytzcHA899BBnz56l3W7T7XbxeDwEAgHuuOMO3vKWtzA0NGR3mH2p0W7h8YLP2z9jdTvJysgGtFSNWlOlXLYOZJISrfVZWcmyvLy8rd+jWq3yxBNP8LrXvW5T5wscPHhwG6LqDQ21jdfbXxtiq4qKqnUpVyAWDEqJ1jrVajVOnjyJaW7PKqFpGpw4cZJ6ff3lX+985zt5/etfT+gaM+bJ5BAf+MAHOHDgwHVGuXsp7TahYH9tiM1XmximSbkC8aCsimyVRx99lPvvv58nn/wZpVKRZlOh01FRlAaFQp7vfvc7vP/97+fYsWN2h9qXLtzb1U9d77aL3KE3IFdWME2o1iAuS8nr9vDDX7/uTbDX0m63eOSRRxgfH2dk5MpnkFxOJBLl7W9/+zZFtvs12q2+2xC7Vk6pNOQBZyO+9a1vUalUtvV7VCoVHn300XW/3uFw8Ad/8Ad88IMf5OjRm0kkkrjdHsCB3x9geHiE17/+9XziE5/gtttu277Ad4G1vV1Oh6Nvzhi5sJwyLtUGW+Kxxx7jq1/9KrXa1Zu5lEpFPvnJTzIzM7NDkQ0G0zRR2m3CIQj4PH11iPB2kb+hDciWGtTrVl2rXDTX7/jx4zvyfcrlMqqq8t/+2+/z8Y9/nGr12g9VTqeLgwcPcujQoR2IcPdZ2xCbHO2vDbFSTrk5TzzxxKbabW+EYeg88cQT/O7v/u6G3nf77bdz++23k8/nmZ2dRVVVwuEwt9xyCz5ffzyYX82lG2L74eR1Kafcep1Ohy9/+cvr3vNVLpf49Kc/fVEjGHF9Wp0OhmlYpc+yKrIukoysk9S1bk673abd3tj5BJulqiozMzPccsst/P7v/z4PPvjgVRMSt9vDwYMHuf/++3ckvt2oqbatww776AC1dqdLralSqUBQyinXzTCMDW0uvx6KomAYBs5NlM+NjIwwMrK5vWG97OINsf2xgrlWTlmpQDQg5ZRb4cc//jG12saaTxSLRRYWFti3b982RTVY6u0WDgcEQ/0zVrebjPx1krrWzZmfn7+uDlcboSgNTp06CcCv/dqvcd9993HjjTe9aA+J3x9gZGSU//JffpOPf/zjAzGreiWVpoLLDaEQDEX746K5UmpgmlCpSmeejchmsxs6LPR6dLsa2Wx2R75Xv6g0G/j81obYfhqra90pZaxujW9/+9sbbm9frVY2dQ6QuLxqUyEcBpezf8bqdpMpw3W6qK41LmUf69VoNHa0jWC5fH4l5Oabb+aTn/wkKytZfvSjH1MoFPD5fNx888386q/+6sB2z7pQpakQj1mHHaaS/fEwIOWUm2ON1e6OfC9N69JoNHbke/UD0zSpNBWGRqz9IsOx/ihnWikrUk65xTZbiZBOZ7Y4ksGkGwbVlsKePeD3uon1ScXBdpNkZB1M0yRXsepaHQ6H1LVi/Z0cP36cp556CkVRiEQi3HnnnRw5csTu0F4klRrjbW97m91h7Dqdbpem2mZ8D8RC/r7YZCfllKIfNTsqWrdLPA4j8RAuV+8XNbQ7XapKW8opRV+ptZqYpkkiAaMycb1uMvrXoaaotDtWXWssEBroulbTNPnud7/LN7/5TWq1GopyfnbzX/7lX4jFYrzlLW/hrrvuAiAcDuPxeDZ1KvpmJBIbb+s7qCrNBg4HxGKQSvTHRbMg5ZSbZo3VnbkleDxuwmH591mvstLA5YZIuH/G6oXllKlIf/yZdgO/f3MTMBMT41scyWBa+bj/UAAAIABJREFUK6f0+2GsT6oNdsLgPlVvQLHWQjesutZBXko2TZO/+qu/4otf/CKZTPqiRASswweXlhb567/+ax588EEADhw4sGN7MkKhMEePHt2R79UPKopV1+p2989Fs1hroXakTehmjI2NrbbM3X5ut4exsbEd+V79oB/LKYu1FoqyVk7ZH3+m3eDNb34zXu/G7rmxWJx77vk/timiwbFWTpmI91c55U6QZGQdynXrommaEPEP7makL33pSzz55M+ueRKyojT44Q9/yD//8z/j8/k2PVOzUT6fb6APL9yItbrWeNyqa42G+mMTf7n+/7d35zGSnWfh77+n9n2vrqWr9+llZjzeJo4dyEYSQDhY+SXObgukCO6F6xBDFLIoCWQTkEAwAUKuQIl0dbmAkKwAuQHFUSCB5IYsZLfjGc8+03t37XvVOef+cbp6xnb3TPdMV5/uU89HavW43VXzut1v1fu87/M8b4NeKUJgQOZqq9Xi+9//Pv/1X//Ft771LVZXV2/qeWw2G37//gRwfr//pjppDaJeOmUkYp10Srg6VxVFwTfATUT22stf/nJCodCuHhOPx6WT1h7YTKeMWiedcr9Y41WtzwrVJtWq0Qfd63KZPRxTNBp1vvrVr9JoNHb0/bValX/+53/m/vvv5/jx4yws9PcGdjBStAa5M9Zu9PJaIxt5rYpy+O8s0DSdYrVJrQpupwunxRsUrKys8Hd/93f86Ec/olqt0mw2cTgcBINBhoaGeOtb38pdd921q+d80YtexOXLl/t614jNZudFL3pR357faqyYTtlqd6m3OlSr4Hd7sFng9eegcLlcPPTQW/nsZz9HtVq54fdHozHe8Y537MPIrM+K6ZT7RcK2G2i2uzRaHWpVCHg8lli03YwvfemJXd/MXC6X+eY3v8kb3/iG57XX3Wsej5cHH3ywr3+HlRTrNdwe8Hqsk/ZRrrfQdJ1qFQIWL1z/8Y9/zLvf/W7+/d+/wtraKs1mA9DpdjsUCnlOnXqaT3ziE/z1X/81uq7v+Hl/+Zd/mUgk0r+BA5FIhAceeKCvf4eVXJtOaZW5WqwaHZ+q1cE5wdxPr3zlq3jLW95CKBS+7vfFYnHe9a53SUbBHrFiOuV+kWDkBgoV4ySgWhvsF83/+I//QFV31/az1Wryr//6r6RSaYaHh/s0MkM4HJbd1l0o1qubea1Ji+S1FioNNA1qdfDvU2qgGS5cuMAf//Efk8+vX/f7eumSf/u3f7vj5w6FQhw9ehRF6c9bg6LYOHbsKMFgsC/PbzWqplFu1IlEwO10ELZKOmW1SbsN7bb1Nw7M8sADD/Cxj32Me++9j3g8gc/nx+Vy4/cHSCSS3H///Xzyk5/kxIkTZg/VEqyaTrlf5Kd1A4VKk1YbOm3wxwb3RbPdbt/U43o3Or/zne/kd3/3d2+4gLoZwWCIRx55RO4N2aFaq2m5NqFgzNV6HXQNAm7rbhz85V/+JcViYUff22jU+cpXvsJrXvOaHeeRP/LII5w6dYq1tZurPbmeRCLBI4+8fc+f16rKjTqarhGJGmkfVjmZ79VhwmBv8vXb+Pg473//+6nVapsXEPt8PiYnJ3E696dZxaCwYjrlfrLGKqSPnlUQO8A7ODdbbNp7XDKZ5MEHH8S3xx2OHA4nd955J3feeeeePq+Vbea1Bq31olncqO2yckHs8vISKysru3pMoVDgX/7lX3b8/YFAgN/8zd8gGNxdEeyNBIMhfuM3/vd9K5K3gkKtarl0Sl3XN+eq0+GQ+0X2gd/v59ixY9x1113Mzs5KINIH+WrVcumU+0mCkevQNJ1SrbVREOvEOcAvmul06qYed+TIkc0/P/DAA7z4xS/Gu0eXRjocTqanp/nt3/7tPXm+QaDrOquVErEY2GyKZVr6tjsqtWabWs3aBbFf/OK/7vhUpEfXNb7+9a/v6jH33PNCXv/6BwkE9iadKhAI8vrXv5577nnhnjzfIFA1jXy1QiIODrvNMumUlXqbrqpRrQ52d0phHa1Oh3KjRiIBPrfTMumU+0mCkeuo1FuomrZREDvYL5pvfvNbdr1TGolEecMbXv+srz3yyCO86lWvuuVdV6/Xx/Hjx/nYxz4muzy7UG7U6XS7JJNGFy23RfJaN2u7LF4Qu7CwcFOP63Z3V+8F8NrXvo6HH37olptPRCJRHn74YV772tfe0vMMmnytgo5GIgnDiZBl0imL1Sa6DrWavK8Ka1ivlrHZIBaDkaGwZdIp95M1ViJ9Uqg2NwtiYwNcLwIwPT1NLBajUinv+DGZTIZU6tkXmymKwq//+q/zghe8gE9/+tOsra3tuo1oLBbnDW94A/fff79M+l1arZTweiHgh9HU9TutHCaFapNOB1otCESsO1f3+/f9/vtfze2338EnPvEJFhcXabWaO36s2+0hk8nw7ne/m1wu18dRWtNquUQwBG4XjAztbcqcmQqVBvU6aJpxiinEYbdaKROLgd0OuaR15up+ssZWS58UKg3qDesXxO7U+973PuLxxI6+d2goxXve855t//1dd93FX/zFX/Da176WoaEUXu/1f74Oh5NEIskrXvFK/uRP/oRXv/rVEojsUldVKdSqJBLgctgZilgnd39QLjscHx+/qU5Xt3L/Ti6X47HHHuPtb387k5NTRCJRbLatm0XYbHYikSiTk1O8/e1v57HHHpNA5CY0O22qzQbJBAS8LqJB6/xOF6pNqjVr13aJwVFpNGh12iSSkAj78HkkU+NmyMnIdVQbbXqXjcuLJmSzWT760Y/ykY98hEKhsOUuqdfrIx6P8+EPf5hYLHbd5/N6vfzqr/4qDz/8MD/4wQ/4zne+zenTz1Cr1dB1HUVRcLvdjI+Pc/LkSe677z651PAWrFcrgE4iYeze2GzWCeaqjTaNBjjsdksXxN5///18+ctf3lVXOofDyc///M/f0t9rt9t52ctexste9jKWlpZ46qmn+N73vsf8/DyapmGz2cjlctx1110cO3aMdDp94ycV21qrlLE7IBqF0SHrnGDquk5t433V63Rhv8nGKEIcFKuVEm43hILWmqv7zbrv2nug1uzQaoHL4bRsQexu5XI5/uqv/opvfvObPP7445RKpc3AIR6P88Y3vpEXvOAFu+q+ZbfbOXnyJCdPnuzjyMVqpUQkAk6nkddqFaqq0Wx3aTbB43SZPZy+ikaj5HK5XQUjoVCIX/zFX9izMaTTadLpNK94xSv27DnFVb0mE/EY2O2KpdI+Gq0umq7TbBlNYYQ4zHpNJjJZo8mEVRrCmEGCkW10uiqdrkqzKS+az+VwOHjJS17CS17yEnRdp9vt4nA49ixtqlKpUK/XcLs9hEKhm24rLK6qt1rUW02GR40LmUIW6vZRb3UAjAWOw/pz9dFHH+U973nPju4BCQSCvOUtb9mzDnai/3pNJhIWazIBV+dqqwVRj7U3DoT1WbXJhBms8yq3x+rNqwscvwQj21IUZU+6WbXbbf793/+dL3zhC9RqNTRNQ1EUXC4nP/dzr+CBBx6QW5tvwVqlhNMJkYi1Ctfh6lxttSDkt/5cTSaTfOQjH+HDH/4Qa2vrqOrWnbLC4QhvfOMb+cVf/MV9HqG4FVZtMgFQa7TRdWi3wBO0/lwV1mbVJhNmkGBkG7VrFjixkOzg9NPCwgIf+tCHWF9fp9N5/k3v//iP/8gTTzzBO97xDu6++24TRni4abrOWrVMYgjsNoXhhLWCulqzg6pBpw2eyGDM1Vwux6c+9ef827/9G0888QSNRp1Op4vNZsPtdnP8+HHe9KY3SfH4IdNrMjEyYr0mE2DM1XYbdH0wTjGFdfWaTEwNW6/JhBkkGNlGrdmm2wW1K2la/bS6usoHPvCB66acaJpKPr/OY489xrvf/W5OnDixjyM8/Er1Gl1VJZmAdCyA07F1J6TDqt7q0G4Zfx6kBY7P5+PBBx/kda97HYuLi1SrVdxuN+l0Who9HFK9JhPxuPWaTIAxV5sbfU+sXt8lrM2qTSbMIglu26g3OzQ3FjgeCUb65pOf/OSOct8BSqUif/7nn0JVd3cvyaBbKhUIBMDrtV7aBxipH1cXOIM3VxVFIZvNMjMzw9jYmAQih5Su6yyXCkSi1msy0VNrtGm2jN9ZK3e9E9amahor5SKJuPWaTJhFgpFt1Jodep1rB2m3dT+trq6yuLi4q8eUy2W+853v9GlE1lNtNqg06mQyxlFyImy9QuZe1zubYsMpCxxxSBXrNZqdNpk0xEM+SzWZ6Km3rnaolHuixGG1VimjairpNGTjQUs1mTCLBCPbqDXbtFrGvQUOu7XSWg6Kz3/+8xQK+V09ptFo8Pjjj/dpRNazWCzg8RiF61PZmOUWALqu09hI/RjEUxFhHYvFPMEgBAJwZPj6dzQdRq12l66q0WrKBp84vHRdZ6mUJxoFtxumslGzh2QJEoxsYZDuLTDTuXPnbupxlUplj0diTc1Om0KtQiYDXrfDkkfJcm+BsIJKo0G12SCThZDPzVDUWoXr8OymMLJxIA6rfK1Kq9Mhk4FkxE844DF7SJYgwcgWGm2jVWZrQO4tMMvN1n7our7HI7GmxWIepwvicZjIRC1XDAvQuObeArdsHIhDarGYx+eDSBimLHgqAlfnqtzdJQ6zxWKeUBj8fmueYJpFgpEtdLrGIrnbRVK0+igej9/U45xOyc+8kU63y1qlTCoFLqeNMQsWrgN0VA0wut45bDJXxeFTb7co1quk0+B1O8nGrdV6u6ejamgaaJq8r4rDqdyoU281yaSNy4OtWINpFlnVbaHbW+CoYJfbv/vmNa95DT/60Y+oVneedmW3O3j5y3+uj6OyhqVSAZtNZygJ4+mI5dr59mzOVU3m6n5SVZX//u//5hvf+Dq1Wh2/38eLX/wS7r33Xuyy0NyVxWIelwtiMZi06AkmGHN1Y7rKxoE4lBYKeXx+CIflVGSvSTCyhWsXODZFFjj9Mjc3Rzgc3lUwEg6H+aVf+qU+jurwM9oOlkimwOVUmMhYt8Cuu7Hbqkswsi90Xecf/uEf+MpXvkK5XKbZbGz+u+9+938IhUK88pWv5M1vfrPlmiX0Q6vTIV+tMDICbpfdkq23wfi9+Z/vfZ+P//n/zeXLURz1Fk4UxsZGefOb38Lo6KjZQxTiumqtJuVGjakj4HM7ycQDZg/JUiQY2UIvGNHkZKSvFEXhbW97G5/61Kcol0s3/H6v18erXvUq/H7rFXfupZVyEQ2VdMq4OM1j4baDna66udsqc7W/NE3jD//wD/nhD3/4rCCkp9ls0Gw2+PznP8+5c+d43/veh03+n1zXcqmAza6TTMJEOoLDbr2f1xNPPMGjjz7KYlml1PIBt0GpCl2Vy5cv8eMf/4RYLMajjz7K5OSk2cMVYktLxQJuN8SiRl2XbLbsLeu98u2B3nGyrssCp9/uuecefuVXfoVQ6Po7gj6fn5e+9KU89NBD+zSyw0nTdZZKBRJxcLmsWwzbo2o62kYfBJmr/fW5z32OH/zgB1sGItdqNhv88Ic/5HOf+9w+jexw6qoqK+USqSFwOhTG0xGzh7TnPve5z/Hwww/z9NNPUypXgI30rGuakJRKRc6fP8eHPvQhvv/975szUCGuo9XpkK9VSGfA7bQzYsHOlGaTd+8tdFVNFjj76Bd+4Rf4vd/7PW677QTRaAy4uuMQDkeYmJjkt37rt3jkkUdkN+IG1itlOt0u6QykYwECXmt3mOp0VXpN2SSlsn8ajQbf+MY3aPVugr2BZtP4/kbj+oHLIFsuF9EVjVQKRlNhy12c9qUvfYn3vve9rK6uGl9QbGwVjPQUiwX+7M/+jAsXLuzbGIXYiYViHrtdJ5GAyWwUuwVPMM1mrVe/PdJVtc0FjgQj+2NmZoY/+IM/IJ/P873vfY9isUggEOD48eOMjIyYPbxDQdU0rhTWiMfB6xmMAruuqtGVudp3TzzxBMVicVePKZVKPPHEE7zmNa/p06gOr063y2IhTyoNLpfCpMXqunRd59FHH70aiMANgxGAQiHPZz7zGT7+8Y/3f5BC7ECj3WatUjLqupw2S55gHgQSjGxBghHzxGIxXvWqV5k9jENpqVSgq3XJjRinItGg1+wh9Z2cYu6Pr371q6hqd1eP6XY7fPWrX5VgZAtXCusodo1sBsZSYfwWO8H81re+9exABDaCkY05ep2ropaWllhbWyORSPRtfELs1JX8Ki6XztCQscFn1c6UZpN37y1c24JQFjjiMNjcaU2Bx61wdCxp9pD2hWwc7I9Op7Ovj7Oy3k7rcBY8bhszuZu7b+kg+/CHP0w+n3/2F3snIze4tLZQyPP444/3b3BC7FC5UadQq5IbAZ/HYbkTzINE3r238KzdVslDF4fAc3darV4r0iPByP642a5YcufI811ef/ZOq9VqRQAuXbr0/C9uBiM3fvzp06f3fExC7Iau61xeX8Xvh3gMZkcSUivSR/KT3YKq6WgbJyNSMC0OukHYad2OpunouszTfpuenr6pxx05cmSPR3K4lRt1inXr77R2u1ul9CnGxw1ORrZ/vBD7J1+tUGs1GR2FkM/NyJB00OonCUa2YFMUemsbfQcvnEKY6bk5rVbcad2OzXZ1ror+ecMb3kAksruFcyQS5Y1vfEOfRnT4PHendW7UujutW5+IbbyX7mC+Op3OPR2PELuh6TpXCmtEoxAMwtGxpGx49Zk1Xwlvkc2moNy4zk4I0w16TquysXGg67psHPRROp0mm83u6jHDw8OkUuk+jejw6e20jmzstOYsfFfB3NzcNv9G40bRiKLYOHHixJ6PSYidWikVaXc75EYgGfEzFJWLlvtNgpEt2BQFm5yMiANukHZat/OsU0xzh2J573vf+0inMzv63kwmy3vf+94+j+jwuHanNTQAO62///u/TzL5nCYa+s5ORqLRqHRgE6bpqirzhXUSSaNF/rEBaQZjtsFaueyQonDNAkeWOOJgGqSd1u086xRTNg76KhwO84lPfJzJySmCwa1/14LBEJOTU3z8439EOBze5xEeXIO203rHHXeQTj/3VEzHOBm5vpGRESIRuctBmGOhmAdFJTcMuWSIkN9t9pAGwuAkl++CTbm6wNE0WeCIg2fQdlq3c+0ppqbrSO+m/opEojz22GOcPn2av//7v2dhYQFVVbHb7WQyGd761rcyMzMzkL+L2+k8Z6f16Ohg3J/x2c9+lgceeIDl5WXjC7oO6FyvyCseT/D2tz+yPwMU4jlanQ7LpQLZLLhdCnMDMlcPAglGtuCw2+jV36najXdyhNhvC4V12mqHmQHZad3OtXNV0zSQVrJ9pygKs7OzfOhDHzJ7KIfClfwq2K7utIYDHrOHtC/uuecePvvZz/Jrv/ZrLC0tga4B6rbfH48neP/73y91RsI0F9aWcTp10hmYzEbxuqWRwn6RNK0tOOw2eqn3qi7BiDhY6u0Wi8U8mQz4vQrHxwc3p9Vht2GTjQNxQJUbdVbLJUZy4PXYBuYy0p5Xv/rVfPGLX+S+++4jFouyGYxsnI4oio1YLM7tt9/BH/3RH0oraGGa9WqFUr3G+Dj4PQ6mB6hF/kEgJyNbkJMRcVDpus6F1WXcbp1sBqaGYwR9g5vTKnNVHFTaxlwNBGFoyEil9AxQ2+2eu+++m29+85v8v1/9H/700//I00/rOEMx3A4HJ07czv/6X6/ZddtoIfZSV1W5tLZCNAaRCJyYTOEYsGYwZhu8V8YdcDrs2DZrRmSBIw6OtUqZarPB3FEI+lxMD8fMHpKp5BRTHFSLxTwttc30OESDXsZSg13QPzqS49f/t7fx1JNwPDeG3z0Y6Wri4LucX0Ojy9gopGMB0rGA2UMaOBL6bcFht6EoYHcYxYdCHASdbpdL66skEkbR+u1TqYFr5ftcDrsN+8aWSlfmqjggGu02C4V1Mmnw+RRun0wNfFG/02HDsXGKKXNVHBSVRoPVctG4q8tr47aJIbOHNJAGeyWzDa/bWN24XdDqdkwejRCGC2vL2Owqo6NGIWwi7DN7SKbzeZzYbeB0ylwVB4Ou65xfXcLl1slmYSoblfaggNftxOUyykXa3a7ZwxECVdM4t7pEIABDSZgdSUjRukkkGNmC3+MCwO02Wr0JYbb1aoVCrcrYGPg8do6Py+4NgG/jjUPmqjgolktFaq0GkxNGKuWMFMICxly1bWwcNDtts4cjBPOFddpqm4lJiIW8TGTkfhuzSDCyBZfTjsNuw+2R3VZhvo6qcnFtmVgMYjGjuM7llBa2YJyMgBGMyAJHmK3ZaXMlv0YqBcEg3HkkPfCplD3+jbnqkfdVcQBUmw2WSwWGh42ulHdMSSqlmeRVchs+txO3G9rdjtzsLEx1cW0ZFJWxccjEg2QTQbOHdGA47DbcTodsHAjTGelZyzjdGsM5mMhEiYW8Zg/rwPC6nSiKIqeYwnTaxlz1+XQyaZgZiQ90V8qDQIKRbfi9Ljxu4w1G8luFWdarFfLVCmNj4PfYOSHFdc/j8xgbB51uV9r7CtMsl4tUGnUmJiDodQ7MTes7ZbMpeFyOjVNMCUaEeebzazS7LSYnIRLwcGTAu1IeBBKMbKN3MgKy4yrM0ep0uLC6TDQG8TjcNjGEewDvKbiRa+eqbBwIM9RaTS6vr5JKGZ3u7pD0rC35PU7cHlA1VTpqCVOU6jUWi3kjPcuncNd0WtKzDgB5tdyGz3O184ccKYv9puk6Z5YXcDhVJsYhGw8ynAyZPawDye9x4tkIRqRuROw3VdM4s7yI16czMgKTmah0utuGbPIJM7W7Xc6uLBIOQzYDs6MJSc86ICQY2YbfY3T+cLlkgSP235X1VeqdJkeOQDjg4vaplNlDOrA2Nw5sssAR++/86hJdrc2RKYiFPBwdS5o9pAPL96yNA5mrYv/ous7ZlUUUu8rkFAxF/Exlo2YPS2yQYGQb17YMlRdNsZ8KtSpLpQKjIxAMKJycyeB0SPes7WzOVZecYor9tVIukq9WGJ+AYMDOyZksNpukfGzH73HhcBgXCstcFftpvrBOtVlnagqCPgd3TWckPesAkWBkG163E5ui4PVCvd0yezhiQLQ6Hc6tLBGNQioFx8aThAMes4d1oAW8xr1AXp/MVbF/6q0WF9dWGBqCeAzumEpttpoWW+u19zXeV5smj0YMinKjzkJhneFhCIcUTs5kpT3+ASPByDZsNoVIwEMgCK1OWwpjRd9pG8fIDqfKxITRxnciI8fIN+J2OfC5nQQDRu94TVpxiz5TNY1nlhfw+nRGR402vpm4tNy+kZDfjcNuIxiASrNh9nDEAOh0u5xdXiQUhkwGZkfi0nL7AJJg5DriYR+hjfcXeeEU/XYlv0at3WDqCIT8Tu6QOpEdi4d9BINGXnCtKTuuor8urC5v1olEgx6OSZ3IjiiKQjToJRg0FolSjyn6yagTWQJ7l6lJGIr6pY3vASXByHXEgl6cTnB7oNKomz0cYWGFWpWlYp6RHIQCCidns1InsguxoBefD+x2qDRlror+WS2XWK+WGR+HgN/GyZmM1InsQjzkJRAwOlXKJp/op8VinkqzxtQkBP0O7joibXwPKglGriMa9KAoCqGgkf4hRD+0u13Orxp1Iuk0HB1LEpE6kV2Jh7woCgQk/UP0Ub1t1Ikkh4y7f+6YSuPfqFkSOxMLenE4jLqRSkPmquiPcqPOfGGdbBbCYYW7pzNyT9cBJsHIdTgddkI+N4Gg8SYklzSJvaZqGqeX5rHZjTqRdCzApLQb3DW/14Xb6SC4sXGgS92I2GMdVeWZpXk8Xo2xURhLRcgmpE5kt6JBLzZFIRiUjQPRH61OhzPLCwSDOtkszOTixOXunwNNgpEbiIe8Ujci+kLXdc4uL9LqNpmZMepE7jySNntYh1Y8ZOSiq5omXbXEnlI1jWeW5tHoMD0DkYCb2yaGzB7WoSTNYUQ/dVWVU4tXsDtVpo4YdSLTOakTOegkGLmBWMiL2w1OlwQjYm9dXl+l1KgydQTCITsvPDosdSK3IBby4vcblx9K+ofYK7quc351iXq7wfQMhAMO7j2WkzqRWyDNYUQ/aLrOmeUFunqb2RmIBl2cnJH7RA4DCUZuIBY0WsBJ3YjYS0ulAkulAmNjEI0YFxsGfW6zh3WoxUM+bDYI+GWBI/bOfGGdQq3C1BSEgzZeODeMR3LPb4k0hxH9cGF1mUqrzvQ0hAJ27j2akw2+Q0KCkRtwuxwEvC5CIai1mnTkSFncokKtyuX1VdIZGBqC2ydTJCN+s4d16AV9LqPOKwTlRg1V08wekjjkVsslFgrr5HIQixmbBnIJ6a2LhbxGc5gQFOs1qfESt2yhsM5apcTkhHGx4QuPDsslpIeIBCM7kIkHiUYBRWe9WjF7OOIQq7WanF1eJBLVGR2B6Vyc0VTY7GFZgqIopGMB4nEjx79Yr5k9JHGIleo1LqwtMzRkXJZ2fDxJKhYwe1iW4LDbSIR9xOPQ7naoyt1A4hasV8pcya+Ryxld7u6azhANysWGh4kEIzuQS4ZwOCAShrVq2ezhiEOq1elwemker09jchKy8SCzI3Gzh2UpuWQIj8do8btekbkqbk693eLM8gKhkM7YGExmokxkpMvdXsolQ4SC4HLJ+6q4eZVGg3OrSyQSkM0arfGly93hI8HIDgS8LsJ+D/E41FtNGm25NVbsTq8bj83eZWYGkmEvd01LYd1ei4e8eFwO4gkoNWp0pB232KVOt8vpxXncHo0jRyATD3BsXG5Y32uZWAC7zUYiAflqBU1StcQuNTttTi/NEwzqjI/D6FBYblg/pCQY2aFcMkQkAnYHrMsujtiFXoePltZiZhbCASf3zA1LN54+UBSFXDJELAYoOnlJqxS70Lv3R7d1mJmBWMjD3bJp0Bd2u41MPEA8AaqmUqxVzR6SOEQ6qsqpxXmcLpUjRyAV83NiMmX2sMRNkmBkh4YTQex2hVg8R7eZAAAdP0lEQVQM1iplKbgTO6Jt3CVSbtaYPrLR4eNYDpdTOnz0y3AihNMB4ZBsHIid6wUizW6TmWkIB5288Ogwdru8TfZLLhnC6wGfX+aq2LmOqnJq4TIabWZnIRpyc3ImIxt8h5i8yu6Q2+UgEfaRkII7sUO9QKTYqDB9BCJhhXtmswS8LrOHZmkhv5uQz008YbTjbnYkrVJcXy8QqbfrzM5CJGyXFr77IBH24XY6SMSNrlpdSasUN9ALRDp6i7mjEA46uFfu6Dr0JBjZhZFkiGAQ3G4puBPXp+s651auBiKxqNFqMB72mT20gZBLhohGwG5HOuCJ6+rVc9XbdWZmIBqxc9+xHCG/3PvTb4qiMJwIEo8D6ORrMlfF9rrXBiJzEA05+JnjI3jd0sL3sJNgZBfSGwV38bhRcCf3GIit6LrO2ZVFCvUKR6auBiJyl8j+GU6GsNnYSKssSVql2FIvEKltBiI27juWIyJ3ieybXDKE0wmhkHGvixBb6aoqTy9eoa1tBCJhBy86PoJfMg0sQYKRXbDbbWQTQYaGQENluVQ0e0jigDFORJYo1IxAJB5TuGdOApH95nE5SEb8pFJGS2U5HRHPZQQiC1RbdaYlEDFNOOAh5HOTShv3MJXkfiDxHJuBiNpkbg4iISMQkZRn65BgZJeODMdwuxWSCVgq5eV0RGzqBSL5WpmpjUDkBbNZhqISiJhhejiGzwfRKMwX1uV0RGzSdH0jEKkxMwuxjUBELkozx3QuTiRs3A80X1g3ezjiAOmqKqeuCUSiYQc/c5sEIlYjwcguBbwuhhNBsllQdTkdEQZd1zm3ejUQScSNQERubDZPPOwjEfaRzUKr05bTEQH0ApF5IxCZMQKRe49KIGKmTDxA0OcmO2w0nZDTEQFXA5Hm5omInRcdz0kgYkESjNyE6VxcTkfEJl3XOb+6TL5aZnIjEDkpgciBMJOL4/fL6Ygw9AKRSrO2WSNy79EcsZAEImZSFIWZjdMRv19OR4QRiJxemjcCkVkjEPmZ20YI+qSxhBVJMHITAl4X2XiQjJyODLxe3vl6tcTk5NVAJC2ByIEgpyOip6OqPL1wmUqzxvT01RoRCUQOht7pyHBOTkcGXavT4acLl2l0G8zNQjRs50XHJRCxMglGbtLMSByPWyEhpyMDq9PtGoubVpXpGUgkjNQsCUQOFjkdEc1Om6fmL9HsNpibg1jUxr1HhyUQOUAURWF6OCanIwOu3mrx1MIlNKXFsWNXAxFptW1tEozcpN7piNSODKZGu81TC5do60YuayJm7LJKIHLwyOnIYKs2Gzw1fwnsbY4dg3jUKICVO38OnmwiaNRlbpyOlBt1s4ck9lGxXuOnC5dwubscOwaJiIsXnxiVQGQASDByC3qnI8kELBbztLtds4ck9kG5Ueep+UvYHB3jBTPm5GdvGyUhi5sD69rTkSv5NTnJHBCFWpWnF67g8anGXI0aixtp33swXVs7EgjApbUVNDnJHAir5RLPLM0TDGnMHYWhmJcXnxiVe0QGhAQjtyDgdZFLhsjlwGZXubi2bPaQRJ+tV8qcWryCP6By9CgkI27ZuTkE4mEfyYif0VFQ9Q6X1lfNHpLos6VSgWeW5olENeZmIR3z8eITo/g8clvzQZZNBAn53IyNQaPTYrGYN3tIos+u5Nc4v7pEMqkzPQ25ZJAXHcvhctrNHprYJxKM3KJjY0n8Xgfj48Yu3FqlbPaQRJ8sFPKcXVkkHteZmYFsws/PnhjF43KYPTSxA7dPpvB5beRGYLVclBQQi9J1nUtrK1xaWyGdgSNHYGQoxH3Hcjgdsrg56BRF4c4jaQIBhUwWFgrr1Fsts4cl+kDTdc4uL7JQWGdkBMbHYSob5eRMBrtdlqeDRP5v3yKX087tUymiUYjH4eLaiqRrWUyvde+V/CrZYZichPF0mHvmhnHIC+ah4fM4OTaeJDUEoRCcW1mSdC2LUTWNM8uLLJcLjI3D6IjRiv3umQw2m2L28MQOhQMejgzHyGbA6zXucJJ0LWvp3SGSr5eZOgKZDNw2McTxiSEURebqoJGV1B5IxwIMJ0KMjUm6ltV0ul1OLV5hrVpkYhJywzA3muCOI2lZ3BxCY6kw8ZCPiQlJ17KaXjvQUqPC9DSkUwp3TKWZG02YPTRxE2ZyccIBNxMT0Gg3JV3LQuqtFk/OX6LRqTM3C0MJG/fMDTORiZo9NGESCUb2yG0TQ5KuZTHlRp2fXLlIQ60zOwuppMLd0xmmc3GzhyZuUi8FRNK1rCVfrfCTKxdQlSZHj0IibuOFc8OMpsJmD03cJJtN4S5J17KclXKRJ+cvYnf2utsZt6pLJ8rBJsnue6SXrtXqzG+ma4W8PlwO+REfNrquM19YZ6GwTigMU5MQ9Ds4OZOVewksoJeupWrLFPJGutaJkXHsNtmbOWw0Xefy+irLpQKxGExMQMjv4gWzWWkqYQG9dC1VXadYMNK1jg2PYpM0nkNH1TQurC6zXi2THIKxUYgGPbxgNitNJYScjOyl56ZrnV1ZlDzXQ6a9kZa1WFwnl4PZGcgm/bz09jEJRCzkuela51aW5DLEQ6Z3keFKxagPMQrVg7z0jjEJRCzkuelal9ZWzB6S2KV6q8VPrlyk2DDqQybGYTIbke52YpMEI3usl6515AhUW3XOyyLn0CjVazzZS8uag+FhhaNjCe49OoxbOmZZSi9dy++zMTkJxXqFy1I/cmisVys8eeUiqtLk2FHIpBRun0xxcjYrTSUs5tp0rfFxI81H6kcOj820LFeb48chlbTxgtksJyZTUncpNskKa4+5nHZeeHSY/+8nl5ma1Dh7towr72AknjR7aGIb26Vl3T2dkVuaLczncXJyJsu3tXlGx3QuXijgcjpJh6WI8qDSNtr2rpSLxONGK1BJy7K+cMDDnUfSfF9fpNWCywuruBxO4oGg2UMT21A1jfOrS+SrFYaGYHQjLevkTEYuMhTPI8FIH0QCHu6eyfBdfYF2W+fSpTxup5OhUMTsoYnnaHU6nFtdotqsk8tBNgtDET93TWfkwqUBMBT1c/tkCl1fotWCS4sruB1Oon4ppjxoGu02Z1cWaXSajI/D0BAMJ0LcPpWS05ABkEuGqDc7wBqtNpxbWcRldxD0SvrsQVNtNjm7skhXazN1BOIxmMhEOTaWlNMQsSUJRvokHQtw28QQur5Muw0Xl1dw2h2yyDkgdF1nuVxkPr+GzaExOwfhkMLcaIKpbFT6nA+Q0VSYeqsDrNNuwZnlBY5mRwh4ZJFzEGi6zmIxz0JhHZdb5/gxCPgVTkympFvWgJkZidNoddC0Ep22zumleY4Nj+J1yU77QaBqGvP5NZbLRbw+ndkpCAbs3DGVIhOXUyyxPQlG+mg8HaHR6qDreVpt46bRuewIAY/H7KENtHqrxfnVJWqtJkNDMDICfq90yxpkc6OJjUVOmadPXV3keJyyyDFTpdHg/OoSLbVNJmOcXIb8Lk7OSFrWoDoxmaLR7qIdqfHTn6qcXrrCsewoTulcaapCrcrFtRW6WofhHGTSvbQs6ZYlbkzRr1NdrWkalUrlWV8LBoPYpAXmjum6zvdOL3J5tcKpp6HZsDOTzklAYgJV01gorLNUKuDx6ExMQCAAY6kIR8cSOB2SljXINE3nWz+9wtJ6naeeAl11MpvJSUBigq6qcjm/xmq5SCBgtOz1+RSmslFmcnHskpY10Lqqxjd+fInVYounngInbmYyOWmlb4JOt8vF9RXy1QqhsNEpy+tRmBmJM5WNSVrWALqZ2EGCkX2gaTr//dQVlvJ1njkN9ZqNqVRGUrb2Uale48LaMm21w3AW0mljh/WOqbSchohNna7KN35ymbVii9OnoN2yM5Melrz0fbRerXBpbQWNLrkRGEoaO6x3TKXlNERsara7fP3Hl8gXO5w6BbrmYDadw+eW35H9oOs6a5Uyl9ZXsdlVRkchHodE2MftkykpUh9gEowcYJ2uyrd/Os9aqcHZc1DIw2hiSDr39FlHVbm0vsJ6pUwoZHTf8XkVpnNxjgzLro14vma7y7eeukK+3OLMGahUFCaTaeLBkNlDs7RWp8PFtRWK9SrRKIyNgc9rY240wXg6InVc4nmqjTbfeuoKxUqH089Aq2HjSCpL2Oc3e2gHhq7rnDlzhgsXLlCr1QiHw8zNzZHJZG76ORvtNudXl6g2GySTRqqzz2Pn+MQQuaS8Tg46CUYOOE3T+cGZJebXyly6DEuLkA5HGYkn5Y12j2m6zmq5xJX8GopNZWQUkgmIh3zcPpUiILs24jq6qsZ3Ty2wnK9x/gKsr0EuliAbjZs9NMtRNY3lUoGFQh67U2N8DKLRq01AvG7JNxfba7W7fPvpedZLTc6ehVJJYTyRIhka7OYGrVaLL3/5y3zxi1+kXC5TqZQ3/10kEiGZTPLgg6/nvvvu2/GarquqLBbzLJUKuNxGqnMoaHQ6Oz4+JB0oBSDByKGg6zqnLq/zzJV1llfg0kWI+AJMDmWwy8/1lum6zlq1zHx+nY7aIR6HkVFj1+bYWJKRoZAEfmJHNE3nx+eWubRSYn4e5uchGQozlkhhk9+hW6bpunGBXSFPV++SGoLhYaOZxG0TQ9J9R+yYqmp875lFFterXLwIKyuQjcYZjsYH8vU+n8/zwQ9+kMXFRbrdzrbf5/F4mZub4wMf+ACu63Qk620YLBYL6KikM5DNQNDn4vapFAm5j0tcQ4KRQ+TScokfnVumUNQ5ewY8Dg9HUlncTtkFvBm6rpOvVZnPr9HstInGIJcDr8e4i+D4eFJuURc35cx8np9eXGVtDc5fgKDbz9RQWrr33CRN11mvlJkvXN0wGM6Bx60wlgozNyrNJMTu6brOUxdWObdYYGkJLl+GqD/IRDI9UBt9lUqFd73rXSwuLuzo++12B3Nzc3zsYx/Dbn/2vNN0nZVSkYXiOqquMpQ0Otq5XQpTwzGmh2PSTEI8jwQjh8xqscZ3Ty1QrmicPg1q18ZofGjgj5d3q7ARhNTbLcJhIwjx+yEZ8TM3miASkM5l4tYsrFX4/jOLFMs6Z54BdDvjiRQxuQF6x3RdJ1+tcKWwTqvTJhYzghCvB7LxILOjCUmfFLfs/GKBJy+ssr6uc/482BUnk0NpQt7B2L3/4Ac/yA9/+INdPcbpdPG6172Ohx56CDCCkLVKifnCOl21SyIB2WFjw2AkGWJmJC7pk2JbEowcQuVai28/PU+13uHSJVhdhbDPz0QyLW0Kb6DcqHMlv0a12SAYNIKQYBBiQS9Hx5LSJUvsqXy5wXeenqfWVLlwwWhCEQ+EGEsM4bDLTv71FGpVruTXaLRbRCLGXPX5IBUNMDsSJywbBmIPLeerfO+ZRWoNjfPnoFyGoVCEkXjS0qck6+vrvPOd76RQyO/6salUis985v+k2KgzX1ij3e0YGwbD4NnIMJgdiUuXLHFDEowcUp2uylMXVrm0UqJYgvPnQevaGI4mSIWli8y1dF2nWK+xVCpQadTx+42FTTgMYb+Ho2MJkhHppCL6o9Xu8qNzyyzlq6yvw4WLoOh2RuJJkkE50byWtnESslQqUG81CYWMuRoIGI0k5kYTsmEg+qbe7PCDM0usl+ssLxtpWw6bk7HEkGXb6v/N3/wNX/jCF4Btl3XbcodDvP7hh5g4MkU0upHm7DUaScyOJKStttgxCUYOueV8lR+eXabW6HLlinFK4nW6GU+mCHgG+027q6qsVkosl4q0ux0CwY0bXqMQ9LmZG02QjlnzDUYcPFdWy/zk/Ar1hsqlS7C+DgGPl/FkCp9rsN+0290uK+Uiq+USHbVLKGwUu4ZCEA16mRtNSMGr2Be6rnNhqchPL65Rb2hcvAjFotE0ZiwxZLkazd/8zd9kfv7Kzh9gs4HHZXwocPRolg/+3q8R2Ehznh2JEw0O9tpD7N7NxA6SB3SApGIBfi7k5acX13A4iiSScOFCi6fmLxH2+clEYgOT99pTbTZYKZfIVyvoikY8BqmUURMS8LqYycXJJoJyeiT2VS4ZIhH28eT5FZzOCskkXLjQ4CeXLxD1B8lEYgQ8g5N6pOs6lWaDlXKRQq2KzaYTj0MqbdSEhP0eZkfipGTDQOwjRVGYyEQZivj58fkV3O4ahQJcvFjlR5drxAMh0pGoZTYQNE3b2Tc6HeBxg8sBqMAysExXLTOaNjYM4rJhIPaRBCMHjNNh5/apFCNDIX50dhm/r0U+D4uLNZ5eqOFze8hEYsT8AcsuwDuqynqlzGqlRKPdwu02iueSQ8Zr6FDEz2Q2SiLss+zPQBx8HpeDk7NZRos1fnxuhUCgzdoaLC5VeGq+QtDrIxOJEbHwBWztbpe1SonVSolWp4PHY1yAlkiA06mQiQWYyEQlHUuYyu91cd+xHAtrFZ68sEIo3GVlWWdpucTa5RIRX4B0JGrtzb7eKYjbBTYFqAOXgTzoKrQrRJUYP3ti1OSBikEkwcgBFQ16eekdY1xcLnHGkyce71AqweJik7PLC1xxOkmHYySCIUsU5LU6HQr1KsVajUqzDopONAKjSaMexGG3MTIUZiIdkQI6caAkI35efuc45xYLnHMXSCa7FAqwtFTn9GIdr8tNOhIlHghZ4n6SZqdNoValWK9RbTZQFJ1YDCaTRgMJl8POWDrCWCosHXfEgZJNBBmK+jkzn8fjKpJKqeTzsLRU5emFKv6Nzb7oId3se95dIXYbuJzGh8OOcQqyuvFRB60LzSI0S6CrHBl/xf4PWgikZuRQ0HWdhbUKZxcKlGpNajVYWoJ8Huw2O4lAiIg/QMDjPTSLHV3XqbVaFOtVirUq9XYLxWYsZqIRiMWNU5BY0MtoKkw2HpR+5uLA0zSdK6tlzsznqTXbVCqwuGjkqTsdDpLBMBGfH7/bc2gWO70UrGK9RrFWpdlpY7Nt1IBEIRYDu90IykaHwqRjAWy2w/HfJgZXV9W4tFzi3GKBRqtDsQSLC1CpgNvpIhEMbc7Vw+Kf/umf+L/+7v9BtWMEIDYbRgBSBgobHxq0q0YA0qltPjaRSPClL32Ju+++25SxC+uQAvYBsFqscXahwGqxRqsFy8uwnodO2whMIj4/EZ+fsM9/4NqNqppGuVHfCEBqdNQudgdEIhsfYWNR43U7ycaDjKbCcu+AOJR0XWe5UOPsfJ58pUGjCUuLUChAtwtOu4Owz0/UHyDk9R24082uqlK6Zq6qmorTeXWuhsLGpqvf4yKbCDI6FMbnkVMQcfhoms7ieoUz83nK9RbVGiwvQbEEatfYRIj6AkQ25upB2/DrdLuUGnUKtSqrxQKf/qtPU6msYQQeRaAC6KC2oVXePAV5rmPHjvHkk0/u8+iFFUkwMkDKtRZn5vMsrFeMU4YaFIrGDmy9ZhTuBT1eIj7jxMTrcu3rgqejqtRbTWqtFvW28bnVaQNGz/JI1DgBCQRAUSAS8JCOBUhFA9JCUFhKvtzg7EKepXwVXYdq1ZinxSI0GsZcDXl9G3PVg8e5v3O13e1SazWpt1vUNz63Oh3AuAskEjHma8BvjDXam6uxgGwWCEtZLdY4M59nrVRH067O1UIBWi2wKTbCPmOu+t0ePC7XvgYnrU6HertlzNdWi1q7SafbBYymLtEoPP74Z/na1/6NdqsF3YZxCtKugdbZ9nljsRif/vSnefOb37xf/ynCwiQYGUCdrspKocZyocZKsUanq9JuX30BLVdA32iw4XQ48Drd+FwuPC4XXqcbj8uF8yZOUDRdp6uqxoem0ul2aXTaz3uBtNuNBY3fb3wOBIxgxG6zkQj7SMcCDEX9eFxSviSsrdXuslyosVyoslqso2oarZYxT4tFqFSvzlW304nH6cLrcuN1uvC6XHicrps67bx2rnbULl1VpdFpby5oOurGXHWA3wc+v/E5EDRqXR12G0MRP6lYgKGIH5fzYJ24CrHXGq2OMVfzVSMw0XUajasbfrUq6LoRnLscTuM9dWO+ejbm681sKGi6Tqfbpav15qu6uUlQa7VQNeNEw+l89vtqMGh8zemwkwh5+e3/49f47je/RqvZuOHfGQ6Hedvb3saf/umf7nq8QmxFgpEBp2k6+UqD5XyV5UKNWrONqkGzYezANpvG53oD2i3jxRSMwMCm2LDZFBQUbDYbNkXBptiw2xQURUHXdTobL45dVd18UbyW0wlen7GD6vUZC5ped1ObohDyu4kEPAxF/CTCPqkBEQNL03TWSnWW8lWWC1Wa7S6qaszPxsY87c3bdnvruWpTjHmqXDNXbYoNVdOMDYKNwEPdot2n0/XswMPnNwKP3t8R7s3VqJ94yCc1IGJgdVXt6lzNV2l3Vbrd57+nNjfmao/dZt+Yp1fnqs1mQ0HZnKu9oMPY0FPR9OfPVbfbCDiuDT56depOh52Qz0006CEVDRANGrVonU6Hhx56iK997WusrKxs+d9ls9lIpVI88sgjvP/97+/Hj04MKAlGxLNUG21WCjUq9RbVRptKo02nawQRmmYcO18bmGia8aFqV/+sb3y22cDhAIfT+Gzswlz9s8NhnIKAsZMa9nsI+92EA8bngNd1aAp2hdhvpWqTtVKdSqO9OV+7qrEwUTVoNa8GJpp2db5eO1c11fi6zXZ1TvbmbO+fnRv/3NsHcDnshAMeQj735nz1e5wyV4XYgq7rFDfmarXRplJvU220NwN+VTU2E5oN6HSumZu9D/3Zc9VuvzpPN+es8+o8dTiuzlW30/Gs99Sw33PDOq1Tp07x0Y9+lP/8z/+k0+mgqip2ux2Px8Ob3vQmfud3fodUKtXvH5sYMBKMiBtqtbtUGu2NF1Jj0dNsd1E1HVXV0HQdVdPZ7tfC6bDjcthxOY3PbufVP/s8TkI+Nz5ZzAhxy5rtLpV6a3PBU6m3aHfVzbmqajqafuO5eu0cdbscm3M17HdL610hbpGu6zRa3We9p1Yabdod1Xg/3ZirW51Q9lz7nupy2nE7HZv/HPC6CPndt5TK3Gq1WFxcpFarEQqFyGaz2A9YgxthHRKMiD2jbbx4Gp91bDYFl8Mu6RpCHDC9udoLUhx2G06Zq0IcOFvNVZfTLpt3wlJuJnaQqmGxJZtNwWaTnRMhDrreXJUzDiEONpmrQmxNjjiEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQppBgRAghhBBCCGEKCUaEEEIIIYQQpnBc71/quv68r2ma1rfBCCGEEEIIIQ6nreKEreKJa+06GKnVarsclhBCCCGEEGIQ3SgYkTQtIYQQQgghhCkkGBFCCCGEEEKYQoIRIYQQQgghhCkU/TqJXJqmPa8QRVEUFEXp+8CEEEIIIYQQh4eu68+rEbHZbNhs259/XDcYEUIIIYQQQoh+kTQtIYQQQgghhCkkGBFCCCGEEEKYQoIRIYQQQgghhCkkGBFCCCGEEEKYQoIRIYQQQgghhCkkGBFCCCGEEEKY4v8HfFvMbLwWHKAAAAAASUVORK5CYII=\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.show_sigma_selections()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The points do not lie along the major and minor axis of the ellipse; nothing in the constraints require me to do that. I show the points evenly spaced, but the constraints do not require that. \n",
"\n",
"The arrangement and weighting of the sigma points affect how we sample the distribution. Points that are close together will sample local effects, and thus probably work better for very nonlinear problems. Points that are far apart, or far off the axis of the ellipse will sample non-local effects and non Gaussian behavior. However, by varying the weights used for each point we can mitigate this. If the points are far from the mean but weighted very slightly we will incorporate some of the knowledge about the distribution without allowing the nonlinearity of the problem to create a bad estimate. \n",
"\n",
"Please understand there are infinite ways to select sigma points. The constraints I choose are just one way to do it. For example, not all algorithms for creating the sigma points require the weights to sum to one. In fact, the algorithm I favor in this book does not have that property."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## The Unscented Transform\n",
"\n",
"For the moment, assume an algorithm for selecting the sigma points and weights exists. How are the sigma points used to implement a filter?\n",
"\n",
"The *unscented transform* is the core of the algorithm yet it is remarkably simple. It passes the sigma points $\\boldsymbol{\\chi}$ through a nonlinear function yielding a transformed set of points. \n",
"\n",
"$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\n",
"\n",
"It then computes the mean and covariance of the transformed points. That mean and covariance becomes the new estimate. The figure below depicts the operation of the unscented transform. The green ellipse on the right represents the computed mean and covariance to the transformed sigma points. "
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.show_sigma_transform(with_text=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The mean and covariance of the sigma points are computed as:\n",
"\n",
"$$\\begin{aligned}\n",
"\\mu &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal{Y}}_i \\\\\n",
"\\Sigma &= \\sum_{i=0}^{2n} w^c_i{(\\boldsymbol{\\mathcal{Y}}_i-\\mu)(\\boldsymbol{\\mathcal{Y}}_i-\\mu)^\\mathsf{T}}\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"These equations should be familar - they are the constraint equations we developed above. \n",
"\n",
"In short, the unscented transform takes points sampled from some arbitary probability distribution, passes them through an arbitrary, nonlinear function and produces a Gaussian for each transformed points. I hope you can envision how we can use this to implement a nonlinear Kalman filter. Once we have Gaussians all of the mathematical apparatus we have already developed comes into play!\n",
"\n",
"The name \"unscented\" might be confusing. It doesn't really mean much. It was a joke fostered by the inventor that his algorithm didn't \"stink\", and soon the name stuck. There is no mathematical meaning to the term."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Accuracy of the Unscented Transform\n",
"\n",
"Earlier we wrote a function that found the mean of a distribution by passing 50,000 points through a nonlinear function. Let's now pass 5 sigma points through the same function, and compute their mean with the unscented transform. We will use the FilterPy function *MerweScaledSigmaPoints()* to create the sigma points and `unscented_transform` to perform the transform; we will learn about these functions later. In the first example in this chapter I used `JulierSigmaPoints`; they both choose sigma points, but in different ways which I will explain later."
]
},
{
"cell_type": "code",
"execution_count": 14,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Difference in mean x=-0.097, y=0.549\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from filterpy.kalman import unscented_transform, MerweScaledSigmaPoints\n",
"import scipy.stats as stats\n",
"\n",
"\n",
"#initial mean and covariance\n",
"mean = (0., 0.)\n",
"p = np.array([[32., 15], [15., 40.]])\n",
"\n",
"# create sigma points and weights\n",
"points = MerweScaledSigmaPoints(n=2, alpha=.3, beta=2., kappa=.1)\n",
"sigmas = points.sigma_points(mean, p)\n",
"\n",
"### pass through nonlinear function\n",
"sigmas_f = np.empty((5, 2))\n",
"for i in range(5):\n",
" sigmas_f[i] = f_nonlinear_xy(sigmas[i, 0], sigmas[i ,1])\n",
"\n",
"### use unscented transform to get new mean and covariance\n",
"ukf_mean, ukf_cov = unscented_transform(sigmas_f, points.Wm, points.Wc)\n",
"\n",
"#generate random points\n",
"np.random.seed(100)\n",
"xs, ys = multivariate_normal(mean=mean, cov=p, size=5000).T\n",
"\n",
"plot_monte_carlo_mean(xs, ys, f_nonlinear_xy, ukf_mean, 'Unscented Mean')\n",
"ax = plt.gcf().axes[0]\n",
"ax.scatter(sigmas[:,0], sigmas[:,1], c='r', s=30);"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"I find this result remarkable. Using only 5 points we were able to compute the mean with amazing accuracy. The error in x is only -0.097, and the error in y is 0.549. In contrast, a linearized approach (used by the EKF, which we will learn in the next chapter) gave an error of over 43 in y. If you look at the code that generates the sigma points you'll see that it has no knowledge of the nonlinear function, only of the mean and covariance of our initial distribution. The same 5 sigma points would be generated if we had a completely different nonlinear function. \n",
"\n",
"I will admit to choosing a nonlinear function that makes the performance of the unscented tranform striking compared to the EKF. But the physical world is filled with very nonlinear behavior, and the UKF takes it in stride. I did not 'work' to find a function where the unscented transform happened to work well. You will see in the next chapter how more traditional techniques struggle with strong nonlinearities. This graph is the foundation of why I advise you to use the UKF or similar modern technique whenever possible."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## The Unscented Kalman Filter\n",
"\n",
"We can now present the UKF algorithm. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Predict Step\n",
"\n",
"The UKF's predict step computes the prior using the process model $f()$. $f()$ is assumed to be nonlinear, so we generate sigma points $\\mathcal{X}$ and their corresponding weights $W^m, W^c$\n",
"according to some function:\n",
"\n",
"$$\\begin{aligned}\n",
"\\boldsymbol\\chi &= \\text{sigma-function}(\\mathbf x, \\mathbf P) \\\\\n",
"W^m, W^c &= \\text{weight-function}(\\mathtt{n, parameters})\\end{aligned}$$\n",
"\n",
"We pass each sigma point through $f(\\mathbf x, \\Delta t)$. This projects the sigma points forward in time according to the process model, forming the new prior, which is a set of sigma points we name $\\boldsymbol{\\mathcal Y}$:\n",
"\n",
"$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi}, \\Delta t)$$\n",
"\n",
"We compute the mean and covariance of the prior using the *unscented transform* on the transformed sigma points. \n",
"\n",
"$$\\mathbf{\\bar x}, \\mathbf{\\bar P} = \n",
"UT(\\mathcal{Y}, w_m, w_c, \\mathbf Q)$$\n",
"\n",
"These are the equations for the unscented transform:\n",
"\n",
"$$\\begin{aligned}\n",
"\\mathbf{\\bar x} &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal Y}_i \\\\\n",
"\\mathbf{\\bar P} &= \\sum_{i=0}^{2n} w^c_i({\\boldsymbol{\\mathcal Y}_i - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y}_i-\\mathbf{\\bar x})^\\mathsf{T}} + \\mathbf Q\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"This table compares the linear Kalman filter with the Unscented Kalman Filter equations. I've dropped the subscript $i$ for readability.\n",
"\n",
"$$\\begin{array}{l|l}\n",
"\\text{Kalman} & \\text{Unscented} \\\\\n",
"\\hline \n",
"& \\boldsymbol{\\mathcal Y} = f(\\boldsymbol\\chi) \\\\\n",
"\\mathbf{\\bar x} = \\mathbf{Fx} & \n",
"\\mathbf{\\bar x} = \\sum w^m\\boldsymbol{\\mathcal Y} \\\\\n",
"\\mathbf{\\bar P} = \\mathbf{FPF}^\\mathsf T + \\mathbf Q & \n",
"\\mathbf{\\bar P} = \\sum w^c({\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})^\\mathsf T}+\\mathbf Q\n",
"\\end{array}$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Update Step\n",
"\n",
"Kalman filters perform the update in measurement space. Thus we must convert the sigma points of the prior into measurements using a measurement function $h(x)$ that you define.\n",
"\n",
"$$\\boldsymbol{\\mathcal{Z}} = h(\\boldsymbol{\\mathcal{Y}})$$\n",
"\n",
"We compute the mean and covariance of these points using the unscented transform. The $z$ subscript denotes that these are the mean and covariance of the measurement sigma points.\n",
"\n",
"$$\\begin{aligned}\n",
"\\boldsymbol\\mu_z, \\mathbf P_z &= \n",
"UT(\\boldsymbol{\\mathcal Z}, w_m, w_c, \\mathbf R) \\\\\n",
"\\boldsymbol\\mu_z &= \\sum_{i=0}^{2n} w^m_i\\boldsymbol{\\mathcal Z}_i \\\\\n",
"\\mathbf P_z &= \\sum_{i=0}^{2n} w^c_i{(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol{\\mu}_z)(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol{\\mu}_z)^\\mathsf T} + \\mathbf R\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"Next we compute the residual and Kalman gain. The residual of the measurement $\\mathbf z$ is trivial to compute:\n",
"\n",
"$$\\mathbf y = \\mathbf z - \\boldsymbol\\mu_z$$\n",
"\n",
"To compute the Kalman gain we first compute the [cross covariance](https://en.wikipedia.org/wiki/Cross-covariance) of the state and the measurements, which is defined as: \n",
"\n",
"$$\\mathbf P_{xz} =\\sum_{i=0}^{2n} w^c_i(\\boldsymbol{\\mathcal Y}_i-\\mathbf{\\bar x})(\\boldsymbol{\\mathcal Z}_i-\\boldsymbol\\mu_z)^\\mathsf T$$\n",
"\n",
"And then the Kalman gain is defined as\n",
"\n",
"$$\\mathbf{K} = \\mathbf P_{xz} \\mathbf P_z^{-1}$$\n",
"\n",
"If you think of the inverse as a *kind of* matrix reciprocal, you can see that the Kalman gain is a simple ratio which computes:\n",
"\n",
"$$\\mathbf{K} \\approx \\frac{\\mathbf P_{xz}}{\\mathbf P_z} \n",
"\\approx \\frac{\\text{belief in state}}{\\text{belief in measurement}}$$\n",
"\n",
"Finally, we compute the new state estimate using the residual and Kalman gain:\n",
"\n",
"$$\\mathbf x = \\bar{\\mathbf x} + \\mathbf{Ky}$$\n",
"\n",
"and the new covariance is computed as:\n",
"\n",
"$$ \\mathbf P = \\mathbf{\\bar P} - \\mathbf{KP_z}\\mathbf{K}^\\mathsf{T}$$\n",
"\n",
"This step contains a few equations you have to take on faith, but you should be able to see how they relate to the linear Kalman filter equations. The linear algebra is slightly different from the linear Kalman filter, but the algorithm is the same Bayesian algorithm we have been implementing throughout the book. \n",
"\n",
"This table compares the equations of the linear KF and UKF equations.\n",
"\n",
"$$\\begin{array}{l|l}\n",
"\\textrm{Kalman Filter} & \\textrm{Unscented Kalman Filter} \\\\\n",
"\\hline \n",
"& \\boldsymbol{\\mathcal Y} = f(\\boldsymbol\\chi) \\\\\n",
"\\mathbf{\\bar x} = \\mathbf{Fx} & \n",
"\\mathbf{\\bar x} = \\sum w^m\\boldsymbol{\\mathcal Y} \\\\\n",
"\\mathbf{\\bar P} = \\mathbf{FPF}^\\mathsf T+\\mathbf Q & \n",
"\\mathbf{\\bar P} = \\sum w^c({\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})(\\boldsymbol{\\mathcal Y} - \\mathbf{\\bar x})^\\mathsf T}+\\mathbf Q \\\\\n",
"\\hline \n",
"& \\boldsymbol{\\mathcal Z} = h(\\boldsymbol{\\mathcal{Y}}) \\\\\n",
"& \\boldsymbol\\mu_z = \\sum w^m\\boldsymbol{\\mathcal{Z}} \\\\\n",
"\\mathbf y = \\mathbf z - \\mathbf{Hx} &\n",
"\\mathbf y = \\mathbf z - \\boldsymbol\\mu_z \\\\\n",
"\\mathbf S = \\mathbf{H\\bar PH}^\\mathsf{T} + \\mathbf R & \n",
"\\mathbf P_z = \\sum w^c{(\\boldsymbol{\\mathcal Z}-\\boldsymbol\\mu_z)(\\boldsymbol{\\mathcal{Z}}-\\boldsymbol\\mu_z)^\\mathsf{T}} + \\mathbf R \\\\ \n",
"\\mathbf K = \\mathbf{\\bar PH}^\\mathsf T \\mathbf S^{-1} &\n",
"\\mathbf K = \\left[\\sum w^c(\\boldsymbol{\\mathcal Y}-\\bar{\\mathbf x})(\\boldsymbol{\\mathcal{Z}}-\\boldsymbol\\mu_z)^\\mathsf{T}\\right] \\mathbf P_z^{-1} \\\\\n",
"\\mathbf x = \\mathbf{\\bar x} + \\mathbf{Ky} & \\mathbf x = \\mathbf{\\bar x} + \\mathbf{Ky}\\\\\n",
"\\mathbf P = (\\mathbf{I}-\\mathbf{KH})\\mathbf{\\bar P} & \\mathbf P = \\bar{\\mathbf P} - \\mathbf{KP_z}\\mathbf{K}^\\mathsf{T}\n",
"\\end{array}$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Van der Merwe's Scaled Sigma Point Algorithm\n",
"\n",
"There are many algorithms for selecting sigma points. Since 2005 or so research and industry have mostly settled on the version published by Rudolph Van der Merwe in his 2004 PhD dissertation [1]. It performs well with a variety of problems and it has a good tradeoff between performance and accuracy. It is a slight reformulation of the *Scaled Unscented Transform* published by Simon J. Julier [2].\n",
"\n",
"This formulation uses 3 parameters to control how the sigma points are distributed and weighted: $\\alpha$, $\\beta$, and $\\kappa$. Before we work through the equations, let's look at an example. I will plot the sigma points on top of a covariance ellipse showing the first and second standard deviations, and scale the points based on the mean weights."
]
},
{
"cell_type": "code",
"execution_count": 15,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.plot_sigma_points()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see that the sigma points lie between the first and second standard deviation, and that the larger $\\alpha$ spreads the points out. Furthermore, the larger $\\alpha$ weights the mean (center point) higher than the smaller $\\alpha$, and weights the rest less. This should fit our intuition - the further a point is from the mean the less we should weight it. We don't know how these weights and sigma points are selected yet, but the choices look reasonable."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Sigma Point Computation\n",
"\n",
"The first sigma point is the mean of the input. This is the sigma point displayed in the center of the ellipses in the diagram above. We will call this $\\boldsymbol{\\chi}_0$.\n",
"\n",
"$$ \\mathcal{X}_0 = \\mu$$\n",
"\n",
"For notational convenience we define $\\lambda = \\alpha^2(n+\\kappa)-n$, where $n$ is the dimension of $\\mathbf x$. The remaining sigma points are computed as\n",
"\n",
"$$ \n",
"\\boldsymbol{\\chi}_i = \\begin{cases}\n",
"\\mu + \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right ]_{i}& \\text{for i=1 .. n} \\\\\n",
"\\mu - \\left[ \\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} &\\text{for i=(n+1) .. 2n}\\end{cases}\n",
"$$\n",
"The $i$ subscript chooses the i$^{th}$ column vector of the matrix.\n",
"\n",
"In other words, we scale the covariance matrix by a constant, take the square root of it, and ensure symmetry by both adding and subtracting it from the mean. We will discuss how you take the square root of a matrix later.\n",
"\n",
"### Weight Computation\n",
"\n",
"This formulation uses one set of weights for the means, and another set for the covariance. The weights for the mean of $\\mathcal{X}_0$ is computed as\n",
"\n",
"$$W^m_0 = \\frac{\\lambda}{n+\\lambda}$$\n",
"\n",
"The weight for the covariance of $\\mathcal{X}_0$ is\n",
"\n",
"$$W^c_0 = \\frac{\\lambda}{n+\\lambda} + 1 -\\alpha^2 + \\beta$$\n",
"\n",
"The weights for the rest of the sigma points $\\boldsymbol{\\chi}_1 ... \\boldsymbol{\\chi}_{2n}$ are the same for the mean and covariance. They are\n",
"\n",
"$$W^m_i = W^c_i = \\frac{1}{2(n+\\lambda)}\\;\\;\\;i=1..2n$$\n",
"\n",
"It may not be obvious why this is 'correct', and indeed, it cannot be proven that this is ideal for all nonlinear problems. But you can see that we are choosing the sigma points proportional to the square root of the covariance matrix, and the square root of variance is standard deviation. So, the sigma points are spread roughly according to $\\pm 1\\sigma$ times some scaling factor. There is an $n$ term in the denominator, so with more dimensions the points will be spread out and weighed less.\n",
"\n",
"**Important note:** Ordinarily these weights do not sum to one. I get many questions about this. Getting weights that sum to greater than one, or even negative values is expected. I cover this in more detail below.\n",
"\n",
"\n",
"### Reasonable Choices for the Parameters\n",
"\n",
"$\\beta=2$ is a good choice for Gaussian problems, $\\kappa=3-n$ where $n$ is the dimension of $\\mathbf x$ is a good choice for $\\kappa$, and $0 \\le \\alpha \\le 1$ is an appropriate choice for $\\alpha$, where a larger value for $\\alpha$ spreads the sigma points further from the mean."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Using the UKF\n",
"\n",
"Let's solve some problems so you can gain confidence in how easy the UKF is to use. We will start with a linear problem you already know how to solve with the linear Kalman filter. Although the UKF was designed for nonlinear problems, it finds the same optimal result as the linear Kalman filter for linear problems. We will write a filter to track an object in 2D using a constant velocity model. This will allow us to focus on what is the same (and most is the same!) and what is different with the UKF. \n",
"\n",
"Designing a Kalman filter requires you to specify the $\\bf{x}$, $\\bf{F}$, $\\bf{H}$, $\\bf{R}$, and $\\bf{Q}$ matrices. We have done this many times so I will give you the matrices without a lot of discussion. We want a constant velocity model, so we define $\\bf{x}$ to be\n",
"\n",
"$$ \\mathbf x = \\begin{bmatrix}x & \\dot x & y & \\dot y \\end{bmatrix}^\\mathsf{T}$$\n",
"\n",
"With this ordering of state variables the state transition matrix is\n",
"\n",
"$$\\mathbf F = \\begin{bmatrix}1 & \\Delta t & 0 & 0 \\\\\n",
"0&1&0&0 \\\\\n",
"0&0&1&\\Delta t\\\\\n",
"0&0&0&1\n",
"\\end{bmatrix}$$\n",
"\n",
"which implement the Newtonian equations\n",
"\n",
"$$\\begin{aligned}\n",
"x_k &= x_{k-1} + \\dot x_{k-1}\\Delta t \\\\\n",
"y_k &= y_{k-1} + \\dot y_{k-1}\\Delta t\n",
"\\end{aligned}$$\n",
"\n",
"Our sensors provide position but not velocity, so the measurement function is\n",
"\n",
"$$\\mathbf H = \\begin{bmatrix}1&0&0&0 \\\\ 0&0&1&0\n",
"\\end{bmatrix}$$\n",
"\n",
"The sensor readings are in meters with an error of $\\sigma=0.3$ meters in both *x* and *y*. This gives us a measurement noise matrix of \n",
"\n",
"$$\\mathbf R = \\begin{bmatrix}0.3^2 &0\\\\0 & 0.3^2\\end{bmatrix}$$\n",
"\n",
"Finally, let's assume that the process noise can be represented by the discrete white noise model - that is, that over each time period the acceleration is constant. We can use `FilterPy`'s `Q_discrete_white_noise()` to create this matrix for us, but for review the matrix is\n",
"\n",
"$$\\mathbf Q = \\begin{bmatrix}\n",
"\\frac{1}{4}\\Delta t^4 & \\frac{1}{2}\\Delta t^3 \\\\\n",
"\\frac{1}{2}\\Delta t^3 & \\Delta t^2\\end{bmatrix} \\sigma^2$$\n",
"\n",
"My implementation of this filter is:"
]
},
{
"cell_type": "code",
"execution_count": 16,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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Rdhx5SZEEzdMzQ3OZiiMREREREQsaOgf49fu1bD/cSGVLn/l6qGukILq+KJXNhcmEh+irt93pCImIiIiInIPi+i6efKuS7Yca8fhG7lQJcQWxqSCJ64vS+EhhMhGh+ro9l+hoWXTw4EFzKcJVq1YFejgyxyg/YoXyI1YoP2LFhZ6fAyc6+eHLpebDWQEuWZTAbesz+cjSZKLC5v6ziGaSnfOj4khERERE5Cy9duQkdz+9j0GPD2eQg+tXpvLXVyxiZUZMoIcm54GKI4vCw8PxeDy4XPooZfqUH7FC+RErlB+x4kLNzzP76vjatkN4fQYfKUzmoRuXkxE3fx7OOlvsnB8t5S0iIiIicgY/f7uKb28/AsAtazN4+JaVuJz6/ml3WspbREREROQ8MAyDYyd7efq9Gv5zVw0AX7gsl/uvX6pluOcpFUciIiIiIn9hGAbF9d28WNzIS8VNVLaeWpr7/1y9hLs3LcbhUGE0X6k4EhEREZELms9nsK+2gxeLm3ipuIn6zgGzLcQZxBX5idy2PpOrl6cEcJQyG1QcWVRbW2veUJaVlRXo4cgco/yIFcqPWKH8iBXzIT8+n8F7Ve28cLiRl0uaaO4ZNNsWBDvZVJjEtStS2VSQpKW5zzM750fFkUUdHR3mOu12O7hif8qPWKH8iBXKj1gxl/PT0TfEtr11PP1+LVVjLpmLCnXxkaXJXLsilQ8vSWJBiDOAo5zf7JwfFUciIiIiMq8Zxshlc7/cXcv2w40MeXwARIa62LIyhetWpHLp4gRCXSqILnRaytuiwcFBDMPA4XAQGhoakDHI3KX8iBXKj1ih/IgVcyU/vYMe/rC/nl/srqG06dT3x2Wp0dy+MZsbV6cREapzBbNtNvOjpbxnmZ0nBLE/5UesUH7ECuVHrLB7forru/jle7U8d6CeviEvAKGuILauSuP2jdmsyojRinMBZOf8qDgSERERkTmvf8jD9oON/PK9Gg7WdZmvL0qK4DMXZ3Pr2gxiwrWwgkxNxZGIiIiIzEmj9xJt21vP9oMN9Ax6AAh2Orh2RSqfuTiLi3PjdZZIzpqKI4u6u7vNayajo6MDPRyZY5QfsUL5ESuUH7Ei0Plp6Bzg2f31bNtb57fiXFZ8OJ++OItb12WQGGnfS7cudIHOz1RUHFlUVVVlLkW4atWqQA9H5hjlR6xQfsQK5UesCER+hjw+Xi5p4jd7TvBORSujS4otCHayZWUqt6xLZ2NuAkFBOktkd3aef1QciYiIiIhtNXW5efq9Gn615wQtYx7UunFRPLeszeC6lalEasU5OU+UJIsWLlyI1+vF6dS6+DJ9yo9YofyIFcqPWDHT+TEMg12Vbfz3rhpeOXISr2/kNFFyVCif2pDFJ9ZlkBkfPiN/t8w8O88/es6RiIiIiNhCj3uYZ/bV89+7azje3Gu+viE3njsuyeaa5SkEO/WdT86ennMkIiIiInOGz2fwfnU72/bW8cLhRvr/8lyi8BAnN69N5/aN2RSm2OumfZm/VByJiIiIyKw70d7P7/fV8ft9dZxoHzBfz0uK4I5Lcrh5bTpRYXoukcwuFUciIiIiMiv6Bj28WNzEtr0n2F3Zbr4eGerihqJUbl2XwbrsOD2XSAJGxZFFJSUl5lKEy5cvD/RwZI5RfsQK5UesUH7Eiunmp7FrgB/9+Th/2F9vXjbncMDlixO5dV0GVy9LYUGI/W7Ol5lh5/lHxZFFHo8Hj8ej33DIOVF+xArlR6xQfsSKs81PV/8wP9l5nKfeqWbQ4wMgNzGCW9dl8PE16aTFLpiN4YrN2Hn+mdHlPvbv389NN91EWloa4eHhFBYW8u1vf5v+/n6/9+3bt4+rrrqKyMhIYmNjufnmm6msrJzJoZ03oaGh5n8i06X8iBXKj1ih/IgVZ8qPe9jLv+2s4IpH/szPdlYy6PGxISeeX//NRv781Q9z96bFKowuYHaef2ZsKe8jR46wbt06CgoK+OY3v0liYiJvvvkm3/nOd7j++uv54x//CEBpaSkbNmxg9erV3Hfffbjdbh544AE6Ojo4cOAASUlJfv1qKW8RERERexr0eHl2Xz2Pv1ZOU7cbgIKFUdx7XQGbCpJteaZA5jfbLOX99NNP43a7+f3vf09eXh4AmzdvprGxkSeeeIKOjg7i4uJ44IEHCA0NZfv27URHjyzTuG7dOvLz83n00Ud5+OGHZ2qIIiIiImKRYRjsP9HJM/vqeP5gI10DwwCkxy7gf390CTetSccZpKJI5oYZK46Cg0eWXoyJifF7PTY2lqCgIEJCQvB4PGzfvp077rjDLIwAsrOz2bRpE88++6yKIxEREREbquvo5w/763lmXz2VrX3m6ynRYXzxilxu35hNWLAWWZC5ZcaKo8997nM8/vjjfOlLX+Lhhx8mKSmJnTt38rOf/Yy7776biIgIysrKGBgYoKioaML2RUVFvPrqq7jdbsLCwqb8u0pKSsjOzvYrsAYHByktLQUgLi6OrKwsv23Ky8vNe59WrVrl19ba2kp9fT0AWVlZxMXFmW1er5fi4mJg5JTcokWL/Latqqqiu7sbgOXLl+NynfqIOzs7qampASAtLW3CJYOHDh3CMAwWLFjAkiVL/NpOnDhBe/vIkpcFBQV+n0lvby8VFRUAJCcnk5qa6rftkSNHzBVBli1b5tfW2NhIc3MzAHl5eURGRpptbrebsrIyAOLj48nMzPTb9tixYwwMDOBwOCYcw5aWFhoaGoCRYjc2NtZs83g8lJSUABAdHU1ubq7ftpWVlebpzxUrVuB0nppYOzo6qK2tBSA9PZ3ExES/bQ8ePAhAeHg4+fn5fm21tbV0dHQAUFhY6Heda3d3N1VVVQAsXLiQlJQUv21LSkrweDyEhoZSWFjo19bQ0EBLSwsAixcvJiIiwmzr7++nvLwcgISEBDIyMvy2LSsrw+1243Q6WbFihV9bc3MzjY2NAOTk5Pj9omFoaIijR48CI7+AyMnJ8du2oqKC3t6RJ4uvXLnS79RxW1sbdXV1AGRkZJCQkGC2+Xw+Dh8+DEBkZKR51ndUdXU1XV1dACxdupSQkBCzrauri+rqagBSU1NJTk7227a4uBiv10tYWBgFBQV+bXV1dbS1tQGQn59PeHi42dbX18fx48cBSEpKIi0tzW/b0tJSBgcHcblcE1a8aWpq4uTJkwDk5uZqjkBzhOaIEZojRmiOGDGdOSI6NYcdZS386VCD31LcoU4HVy9L5rYNOVySl4AzyIHb7ebgkZF91RyhOQICM0eMX+vgTGasOMrJyWHXrl18/OMf9/tgvvzlL/P4448DmDsRHx8/Yfv4+HgMw6Cjo2PCD+l4Ho+H8bdOGYbB8PCw2T7ZNqPt4/l8PrPN5/NNaB/bb0NDA16vF6fTSVpaml+/48c0tl+v1ztpv4ZhmGfdxvJ6vZb6Pd2+ju13/L6O/Qwn63d0Xye7fvhs+53JYzNVv1Pl5XSfocfjmfT61KmOzZn6HRgYMFdsmU6/o2OaarxWP8PJth87pvHOtK9DQ0P4fD6/f6Qm6/dcjs3oz8659muXHE53jhg7/2iOwOxrPs0Ro8dmsrbzNUc0NjaSnp5utmmOmNivXXIYiO8RQx4fe+t62FPXz/6mIU50V5ltDmBV6gIuTw/m4oxQVi1b4ldgao7w73euzhHjna85oqGhgZCQEPMXGjM5R0zHjBVH1dXVbN26lYULF7Jt2zaSkpJ47733+M53vkNvby///u//br53qpvzzubGPZfLNeF9DofDnBzG/tZl7DaTTR4AQUFBZttkIR7bb0tLi/nblLS0NL9+x49pbL+THdjg4GAMw5h0vE6n01K/Y/88Xb/j93XsZzhZv6P7OtkxOtt+Z/LYTNXvVHk53Wc49j1jTXVsztTv6A//ZD+4U/U7Oqapxmv1MzzTvo53pn0NCQnB6/We988wODgYn8837Z8bO+ZwunPE2PknPj5ecwTzb44IDg42C+Dp9Du67VT9jmppafErjjRHTOzXLjmcre8RJ7vdvFHWzI7SFt4+3krv4KlCwRnkYF1WHIUxHi5JD2FhZLA5Fs0R82uOmMnvEcPDw7S2tprfn89mX63MEdMxY6vVfepTn2LHjh1UVlb6nR78j//4D77whS/wxhtvkJKSQmFhIT/+8Y+56667/Lb/2te+xmOPPUZ/f7/fqV+7rVZ38OBB88vJ+NPqImei/IgVyo9YofzIWIZh8M7xNv51R7nf5XIAiZEhfHhJMpsKk7hicRIx4cHKj1gym/mxzWp1Bw4cYNmyZX6FEcD69euBkesGL7vsMhYsWGBemzjW4cOHWbx48RnvNwq0xYsXYxiGlqaUc6L8iBXKj1ih/AiMFEVvHGvhR6+Xs6+2EwCHA4oyYtlUkMSmgmRWpscQNG61OeVHrLBzfmasOEpLS6O4uJje3l6/G3h37doFjNzA5XK52Lp1K8888wyPPPIIUVFRwMgNbzt27OCee+6ZqeGdN+OLP5HpUH7ECuVHrFB+LmyGYfDa0WZ+9OdyDtWN3CAf6grirzZk8TcfWnTGB7QqP2KFnfMzY5fVPffcc9x0001cfPHF3HPPPSQmJrJ7926+//3vk5WVxf79+wkJCaG0tJT169ezdu1av4fAtre36yGwIiIiIufZ7so2Hnr+CEcbR1bFWxDs5PaNWfz1hxaRHGXvK3ZEpmu6tcOMFUcAO3bs4Ac/+AGHDh2iq6uLzMxMtm7dyje+8Q2/Zf/27t3Lvffey65du3C5XGzevJlHH310wvJ/oOJIRERE5Fz4fAY/eeM4//TqMXwGRIQ4uePSHL54eS4JkaFn7kBkDrJVcTQT7FYc9ff3m9dMjl1TXeRsKD9ihfIjVig/F5b2viHu+c0Bdh4beZ7OresyuP/6pcSGh5xhy8kpP2LFbObHNgsyXCjKy8u1WoucM+VHrFB+xArlZ34zDIO6jgH2VLezp7qD146epKVnkLDgIL594wo+eVHmmTuZgvIjVtg5PyqOREREROY4r8+grKmHD2raeb+qnQ+qO2jqdvu9Z1FSBD/5zFoKU6JP04uIqDiyKCEh4bQP3xI5E+VHrFB+xArlZ+4b9Hh59chJ/rC/nveq2ulxe/zaXUEOVqTHsCE3nouy4/jQkiTCgs/P8VZ+xAo750f3HImIiIjMISUNXfzugzr+cKCezv5h8/WIECdrs+NYnxPP+px4VmfGsiDEfl8+RWaT7jkSERERmWe6+of5w4F6fvvBCUoaus3XU2PCuGVtBtcsT2FpahQup35ZLGKFiiMRERERG/L5DHZXtfHbPSd4obiJIY8PgBBnEB9dvpBPXpTJ5YsTcQY5AjxSkflDxZGIiIiIjZzsdrNtbx2//eAENW395uuFKVHctj6Tm1anExdxbktwi8jUVBxZVFZWZi5FWFBQEOjhyByj/IgVyo9YofzYT3VrH9994Sh/Lm3G6xu5JTwy1MXHVqfxqfWZrEyPweGwx1ki5UessHN+VBxZ5Ha7GR4exuv1BnooMgcpP2KF8iNWKD/2YRgGz+yr54E/FtM3NHI81ufEcdv6LLasTCE8xH5f15QfscLO+bHfT9sc43Q6bbsUodif8iNWKD9ihfJjDz3uYe7/QzF/PNAAwIbceL570wryF0YFeGRTU37ECjvnR0t5i4iIiATAvtoO/v7X+znRPoAzyMFXPpLPXZsWa4EFkfNIS3mLiIiI2Nigx8sTOyt5/PVyvD6DjLgF/POn1rAuOy7QQxO54Kk4EhEREZkFHq+PZ/fX8/hr5dR3DgBw4+o0/vGmFUSHBQd4dCICKo5EREREZpTPZ/BicRP/9GoZFS19ACRHhfKNLYXctDrdNivQiYiKI8uam5vNG8qSk5MDPRyZY5QfsUL5ESuUn5lnGAZvHGvh0ZfLKGnoBiAuPJgvXZnHHZfkEBZsv5vRz5byI1bYOT8qjixqbGw012m328EV+1N+xArlR6xQfmZOZ/8Qrx1t5jd7atlT3QGMPK/oi1fk8j8uzyVqHlxCp/yIFXbOj4ojEREREYuauty8cqSJl0ua2F3Zbj7ENdQVxOcuzeHvPpxHfERIgEcpImei4siinJwcDMPQ9cJyTpQfsUL5ESuUH+uqWvt4uaSJl4qbOHCi06+tMCWKa2K/6EUAACAASURBVJan8FcbskiJCQvQCGeO8iNW2Dk/es6RiIiIyFlo6Rnkvao23qtsZ1dlG8ebe802hwPWZsVxzfKFXLM8heyEiACOVERG6TlHIiIiIudBc7eb3VXtvFfZxu7KNnOluVGuIAeX5CVwzfIUrl62kOTo+XeGSORCo+JIRERELnhen0F5cw8Hajs5cKKT96vbqRxXDDkcUJgSzcZF8Vycm8AlixKICZ/7iyuIyCkqjiwaGhoy/z8kRDdayvQoP2KF8iNWXOj5ae5xm4XQ/tpODtV10jfk9XuPwwHLUqO5ODeBjYvi2ZAbT2z4hfdZTeZCz49YY+f8qDiy6OjRo+ZShKtWrQr0cGSOUX7ECuVHrLjQ8mMYBn863MiLxU0cqO2kvnNgwnvCQ5wUZcSwOjOOddlxbMiJ15mh07jQ8iPnl53zo+JIRERE5rX9tR384/Yj7Ks9taKcwwFLkqNYnRnL6qxY1mTFkp8chTPIfqtnicjsUXFkUUxMjPmEX5HpUn7ECuVHrLgQ8tPYNcAjL5Xx7P56YOTM0OcvzeHyxYmszIiZFw9jDZQLIT8yc+ycHy3lLSIiIvPKsNfHT3ZU8G87KxgYHrmP6NZ1GXztmgIWakU5kQuKlvIWERGRC5bPZ/D1bYfMs0UXZcfxwNZlFGXEBnhkIjIXqDgSERGReeMHL5Xy7P56nEEOHrmliJvXpuNw6D4iETk7Ko5ERERkXnjizQqeeLMSgEduKeKWdRkBHpGIzDUqjiyqqKgwlyLMy8sL9HBkjlF+xArlR6yYL/kxDIPy5l5ePNzE//faMQC+cV2hCqMZNl/yI4Fh5/yoOLKot7fXPLgi06X8iBXKj1gxV/NjGAZVrX3sqmxjV0UbuyvbaO099UDJL16ey998aFEAR3hhmKv5EXuwc35UHImIiIjtHWno5ql3q3jzWCtN3W6/trDgIC7Kjufq5Qu5/eJs3WMkIudMS3mfh/GM0nLiMl3Kj1ih/IgVcyE/hmHwflU7P91ZwRtlLebrIc4g1mTFckleApcsSmB1ViyhLvs9L2U+mwv5EfuazfxoKe9ZpglBrFB+xArlR6ywc358PoPXS5v56RvH2VfbCUCQA64vSuO2izJZlx3HghAVQ4Fk5/yI/dk5PyqORERExBaGvT6eP9jAv+2s4NjJXgBCXEF8Yl0Gf/OhRWQnRAR4hCIy36k4EhERkYCqaevjmX31bNtbR33nAACRoS5u35jNFy7LITk6LMAjFJELhYoji9ra2vD5fAQFBZGQkBDo4cgco/yIFcqPWBHo/HT2D7H9UCPP7q9nb02H+XpiZAhfuDyXz1ycTcwC+61kJSMCnR+Z2+ycHxVHFtXV1ZlLEdrt4Ir9KT9ihfIjVgQiP0MeHzvKmnl2Xz1/Lm1myDtyU3aQAy7PT+LmNelcuyKFsGDdT2R3mn/ECjvnR8WRiIiIzBifz2BPdTt/PNjAC4cb6ewfNtuWpkZz85p0blydpkvnRMQWVBxZlJGRYZ4WFJku5UesUH7EipnMj2EYHGns5rkDDTx3sIHGrlPPJUqOCuWmNel8fE06S1Ojz/vfLbND849YYef86DlHIiIicl7UtPXx3IEG/niwgePNvebrUaEurluZwo2r09m4KAFnkB7SKiKzQ885EhERkVnT2DXAC4ebeP5gAwdOdJqvh7iCuGppMh9blc6VBUm6j0hE5gQVRyIiIjItzd1uXixuYvuhBvZUn1ppLsgBly1O5GOr0rhmRQrRYVptTkTmFhVHFvl8PvP/dWmfTJfyI1YoP2LFdPPT2jvIS38piN6ramfsRfkXZcdxfVEq1xelkhylhRUuBJp/xAo750fFkUWHDx82lyJctWpVoIcjc4zyI1YoP2LF2eano2+IR18p49d7TuD1naqIVmfGckNRKltWppIWu2A2hiw2ovlHrLBzflQciYiIyARen8Gv99Tyw5fLzOW3izJiuH7lSEGUGR8e4BGKiJx/M34e6+2332bLli3ExcWxYMEC8vPz+cd//Ee/97z22mtccsklhIeHk5iYyOc//3mam5tnemjnRWRkpPmfyHQpP2KF8iNWTJWf/bUd3PTjd/jWs8V09g9TmBLFb/5mI8/9z8v52w/nqTASzT9iiZ3zM6NLeT/99NN89rOf5ZOf/CSf/vSniYyMpKKigoaGBh544AEAdu7cyVVXXcX111/P3XffTXNzM/feey9xcXF88MEHhIaG+vWppbxFRERmRlOXm8deKeN3e+uAkSW4//fVS/jsxmxcTv07KyJzz3Rrhxkrjurr6ykoKOCOO+7gJz/5yWnft2HDBvr6+jh48CAu18hVfu+++y6XXXYZP/nJT/jSl77k934VRyIiIudXj3uYf9tZwb+/XYV7eORG6VvWZnDfdYUkRYWeYWsREfuyzXOOnnzySfr6+rj33ntP+576+nr27NnD97//fbMwArj00ktZsmQJzz777ITiSERERM6PIY+PX71fyz+/Xk573xAwsvLcN69fytqsuACPTkRk9s1YcfTmm28SHx9PaWkpN954I8XFxcTHx3PzzTfzyCOPEB0dTXFxMQBFRUUTti8qKuKdd945q7+rpKSE7OxsoqOjzdcGBwcpLS0FIC4ujqysLL9tysvL6e/vB5iwSkZrayv19fUAZGVlERd36h8Ir9drjjsqKopFixb5bVtVVUV3dzcAy5cv9yv6Ojs7qampASAtLY2kpCS/bQ8dOoRhGCxYsIAlS5b4tZ04cYL29nYACgoKCAs7tVRqb28vFRUVACQnJ5Oamuq37ZEjR8wVQZYtW+bX1tjYaN7flZeX53ftp9vtpqysDID4+HgyMzP9tj127BgDAwM4HI4Jx7ClpYWGhgYAsrOziY2NNds8Hg8lJSUAREdHk5ub67dtZWWlWeGvWLECp/PUgwM7Ojqora0FID09ncTERL9tDx48CEB4eDj5+fl+bbW1tXR0jDyPo7Cw0O+Sze7ubqqqqgBYuHAhKSkpftuWlJTg8XgIDQ2lsLDQr62hoYGWlhYAFi9eTEREhNnW399PeXk5AAkJCWRkZPhtW1ZWhtvtxul0smLFCr+25uZmGhsbAcjJySEmJsZsGxoa4ujRowDExMSQk5Pjt21FRQW9vSNPp1+5cqXfb0fa2tqoqxu5ZCYjI4OEhASzzefzcfjwYWDkeuC8vDy/fqurq+nq6gJg6dKlhISEmG1dXV1UV1cDkJqaSnJyst+2xcXFeL1ewsLCKCgo8Gurq6ujra0NgPz8fMLDT93P0NfXx/HjxwFISkoiLS3Nb9vS0lIGBwdxuVwsX77cr62pqYmTJ08CkJubqzkCzRGaI0YcKz/Oa6Ut/PfBbhp7PQAsSozg3usKWbfQRX19LQc7ajVHaI4ANEeMupDmiPn0PWL05/RszVhxVF9fT39/P5/4xCf4xje+weOPP86ePXt48MEHKS4u5q233jJ3Ij4+fsL28fHxZvuZeDwexl8daBgGw8PDZvtk24y2j+fz+cy2seuwjxrbb3V1NV6vF6fTSU5Ojl+/48c0tl+v1ztpv4ZhEBw88aF5Xq/XUr+n29ex/Y7f17Gf4WT9ju6rw+E4535n8thM1e9UeTndZ+jxeCY9BTvVsTlTv/39/Xi93knHO1W/o2OaarxWP8PJth87pvHOtK9DQ0P4fD6/f6Qm6/dcjs3oz8659muXHE53jhg7/4z9ezVHzJ85YvTYTNZ2LnNEt3uY331Qx5M7K2jsGfkM4hY4+eo1S7ltfSbBziBaWlo0R2DPHNrpe8To/ON2uzVHMH/miPH9TuZ8fY+oqakhODjYLMxmco6Yjhkrjnw+H263mwcffJD77rsPgCuvvJKQkBC+8pWv8Prrr5vvneyHYqrXx3O5XBPe63A4zMlh7G9dxm4z2eQBIw+jGm2bLMRj++3q6jJ/mzK+3/FjGtvvZAc2ODgYwzAmHa/T6bTU79g/T9fv+H0d+xlO1u/ovk52nM6235k8NlP1O1VeTvcZjn3PWFMdmzP1OzqpTPaDO1W/o2OaarxWP8Mz7et4Z9rXkJAQvF7vef8Mg4OD8fl80/65sWMOpztHjJ1/4uPjNUcw/+aI4OBgvwL4bPsd3Xb0fZUtvfznu9Vs21tH39DIl47IYAfXLQ7n5mXRXLI+29xOc8TEfu2SQzt9jxidf6baV80R/v3aeY6YrG0mv0cMDw/T1dXl956ZnCOmY8YWZLjkkkvYvXs3+/btY82aNebrx44do6CggIcffphVq1Zx7bXX8qc//YktW7b4bf+JT3yCd955xzylOspuCzIcPHjQtg+xEvtTfsQK5UfO5N2KVp54s5I3ylrM1/KTI7nzslzyXG04Da/yI+dE849YMZv5sc2CDEVFRezevXvC66O1WFBQkHlt5OHDhycUR4cPH55w7aQdLV26NNBDkDlM+RErlB85nUN1nfzw5TLeKm8FwOGAjxQm8/lLc7lscQIOh4OhoZQz9CJyepp/xAo752fGTrfccsstALz44ot+r7/wwgsAbNy4kfT0dDZs2MAvfvELv2sLd+/eTVlZGTfffPNMDe+8CQkJMf8TmS7lR6xQfmS8ipZe7vrlXj72r+/wVnkrwU4Hn92YzY6vXsmTn1vP5fmJ5iUmyo9YofyIFXbOz4w+BPZjH/sYr7zyCvfffz8bN27kgw8+4KGHHuKqq67i+eefB+CNN97gox/9KFu3buWuu+6iubmZ++67j5iYGD0EVkRE5Cw0dg3wz6+V87u9dXh9Bg4HfHxNOvdctYTM+PAzdyAiMk/Z5iGwAAMDAzz00EM8/fTTNDY2kpaWxmc+8xkefPBBv6Ln1Vdf5YEHHuDAgQOEh4dzww038MMf/nDCEn6g4khERATgZLebd4638nZ5K9sPNzLkGVng5aqlC/naNQUUpEQFeIQiIoFnq+JoJtitOOrq6sIwDBwOh9/68SJnQ/kRK5SfC0u3e5j3Ktt553gr7xxvpby51699Q048915XwLrsiY/HmIzyI1YoP2LFbObHNgsyXCiqq6u1WoucM+VHrFB+5r/eQQ+/eq+WF4sbOVjXhdd36veZDgesTI/h0rxENhUksSE3flpL1io/YoXyI1bYOT8qjkRERGyms3+Ip96t5j/eqaZr4NSDFHMTI7g0L4HLFydySV4CseH2u5lZRGQuU3FkUWpq6mkfviVyJsqPWKH8zD8tPYM8+XYlv9hVYz6sdVFiBHdensumgiQy4s7f4grKj1ih/IgVds6P7jkSEREJsI6+If759XJ+9X4tg39ZWKEwJYr/uXkx161IxRk0vSe8i4jICN1zJCIiMoe8Xd7KV393gJPdgwCszozlf21ezObC5GndQyQiItapOBIREQmAQY+XH75UxpNvVwGwKCmCb39sBZctTlBRJCISICqOREREZtmxkz18+Vf7KW0audTj9o1ZfGvLMhaE2O/6exGRC4mKI4uKi4sZGhoiJCSEFStWBHo4MscoP2KF8jP31HcO8NyBBh5/7RiDHh8JESE8fEsRVy1bOOtjUX7ECuVHrLBzflQcWeT1evH5fHi93kAPReYg5UesUH7sb9jrY19NBzvKWthR2kzZyVM3BX94SRI//EQRyVFhARmb8iNWKD9ihZ3zo+LIorCwMJxOJ8HBwYEeisxByo9YofzY08luN2+Vt7KjrJk3j7XQ4/aYbUEOWJMVx63rMvjU+syA3luk/IgVyo9YYef8aClvERGRc+TzGZQ397Knup29NR3sqW6nrmPA7z1x4cFcWZDMlQVJfCg/ibgIPbhVRGS2aClvERGRGTLk8bG/toMPajr44C8FUfeYM0MwcnZoeVoMmwqSuLIwmVUZsXpOkYjIHKHiSERE5AyqWvv41fu1bNtbR3vfkF9beIiTNVmxrMuOZ31OHGuy4ogM1T+vIiJzkWZvERGRSQx5fLxypImn36vl3Yo28/XEyBA25MZzUXY863PiWZoahcupS7tFROYDFUcW1dXV4fV6cTqdZGRkBHo4MscoP2KF8jMzOvqG+K9dNfz37mpae0fOEjkccOWSJD59cTabCpLmRTGk/IgVyo9YYef8qDiyqK2tjeHhYYKDg213cMX+lB+xQvk5v+o6+nnyrSp+s+cEA8Mjy8smR4Vy2/pMblufSUZceIBHeH4pP2KF8iNW2Dk/Ko5EROSCVtrUzc92VvLcwQa8vpEFXJelRvN3V+Zx3YoUgufBWSIRETk7Wsrbov7+fgzDwOFwEB4+v36rKDNP+RErlJ9zZxgG71W187OdFewoazFfvzQvgb/7cB5X5CcG9BlEs0H5ESuUH7FiNvOjpbxnmSYEsUL5ESuUn+k70d7Ps/vreWZfHdVt/cDI/URbVqTytx9eRFFGbIBHOHuUH7FC+REr7JwfFUciIjKv9Q56eOFwI8/sq2N3Zbv5eniIkxtXp/M3H1pEbmJEAEcoIiJ2oeJIRETmHZ/PYFdlG9v21vFScZO5wILDMXLp3M1rMrh2RQoReh6RiIiMoX8VLOrr6zOvmYyI0G8eZXqUH7FC+ZmopWeQ3+09wa/fP0Fte7/5+qLECG5Zl8FNa9JJj10QwBHah/IjVig/YoWd86PiyKLjx4+bSxGuWrUq0MOROUb5ESuUnxGGYbCroo1fvl/LKyVNDHtH1hmKCnPxsVVp3LIugzWZsfN+gYXpUn7ECuVHrLBzflQciYjInNTeN8S2vSf41fsnqGrtM19fkxXLpzdkcUNRGgtCnAEcoYiIzDUqjixKSkoyn/ArMl3Kj1hxoeanuL6Ln79dxfZDjQx5fQBEhrq4aU0an96QzbK06ACPcG64UPMj54fyI1bYOT96zpGIiNie12fw+tGT/PvbVbxXdWrFuaKMGD69IYutq9K0uIKIiEyg5xyJiMi80T/k4Xcf1PHzd6qo+ctziVxBDq4vSuULl+WyKvPCeS6RiIjMPBVHIiJiO32DHv5rVw3/761K2vuGAIgOc/Hpi7P53KXZpMZoxTkRETn/VByJiIht9LiH+a9dNTz5ViUd/cMAZMWH88UrcrllbYYunRMRkRmlf2UsKi0tNZciLCwsDPRwZI5RfsSK+ZSfbvcwT71Tzb+/XUXXwEhRlJsYwf/ctJgbV6fhcuq+0vNtPuVHZp/yI1bYOT8qjiwaHBxkeHgYn88X6KHIHKT8iBVzPT/DXh/vHG/lhcONvFjcRI/bA8CipAj+1+bFbC1SUTST5np+JLCUH7HCzvlRcWSRy+XCMAxcLn2UMn3Kj1gxF/MztiB65chJOv9y6RxAXlIEX/5IPjcUpeEM0gNbZ9pczI/Yh/IjVtg5P1rKW0REZtRUBVFiZAjXrkhhy8pULs5NUFEkIiLnlZbyFhERW2jucfOL3bX8cncNbX9ZcQ5UEImIiH2pOBIRkfOqpKGLn79dzfMHGxjyjlxPPloQXb8yjQ258SqIRETEllQciYiIZb2DHl490sRv9pxgd2W7+frarFj+x+WLuGb5Qi2uICIitqfiyKKmpia8Xi9Op5OUlJRAD0fmGOVHrAh0foY8PnYea+GPB+p57ehJ3MMjZ4mcQQ62rEzlC5flsCYrbtbHJWcn0PmRuU35ESvsnB8VRxadPHnSXKfdbgdX7E/5ESsClZ+9Ne1s21vPC4cbzWcSwchzibauSuNT6zNJi10wa+ORc6P5R6xQfsQKO+dHxZGIiJyVypZevvfCUV472my+lhwVytZVady4Oo2V6TE4HLqXSERE5i4VRxbl5uZiGIa+EMg5UX7EitnKT1f/MP/8ejn/tasaj8/AGeTg42vSuXlNOhcv0mpzc5XmH7FC+REr7JwfPedIREQmNez18cvdNTz+ern5bKLNhcl8c8tSFidHBnh0IiIiZ6bnHImIiCWGYfDn0ma+98JRKlr6AChYGMX9NyzlivykAI9ORERk5qg4EhER0/7aDr7/YinvV40sx50QEcL/vnoJt12UqaW4RURk3lNxZNHg4KB5zWRoaGighyNzjPIjVpzP/FS19vHDl0t54XATAKGuIO68LJe7NuURHRZ8PoYrNqP5R6xQfsQKO+dHxZFFpaWl5lKEq1atCvRwZI5RfsSK85Gf1t5B/uX1cp5+rxaPz8DhgFvXZnDPR5doOe55TvOPWKH8iBV2zo+KIxGRC1DfoIcn36riiTcr6BvyArCpIIl7ryukMCU6wKMTEREJDBVHFsXFxeHxeHC59FHK9Ck/YsW55GfI4+NX79fyoz+X09o7BMCqjBjuu24pl+QlzNRQxYY0/4gVyo9YYef8zOpS3k8++SR//dd/TUREBL29vX5t+/bt4+tf/zq7d+/G5XKxefNmHn30URYtWuT3Pi3lLSIyfT6fwfOHGnjslWPUtvcDkJMQzlevLuCGolRbPmtCRETEqunWDrNWHNXX17N8+XIiIiLo6uryK45KS0vZsGEDq1ev5r777sPtdvPAAw/Q0dHBgQMHSEo6tXSsiiMRkbNnGAY7j7XwyEtlHGnsBiApKpQvfySfT63PJFgr0ImIyDxm2+Jo69atOBwO4uPj2bZtm19x9MlPfpIdO3ZQUVFBdPTIte41NTXk5+dzzz338PDDD5vvVXEkInJmHq+Pl0qaeOLNSg7VdQEQFeribz+8iC9cnkt4iP0uZRARETnfbPkQ2F/84hfs3LmTI0eOcP/99/u1eTwetm/fzh133GEWRgDZ2dls2rSJZ5991q84EhGR0xsY8rJt7wn+31tV5uVzYcFB3H5xNndvWkxcREiARygiImJfM14cNTc385WvfIUf/OAHZGRkTGivqKhgYGCAoqKiCW1FRUW8+uqruN1uwsLCTvt3lJSUkJ2d7VdcDQ4OUlpaCozc9JWVleW3TXl5Of39I18cxi8h2NraSn19PQBZWVnExcWZbV6vl+LiYmCk6vR6veYNZfn5+VRVVdHdPXLpyvLly/1uNOvs7KSmpgaAtLQ0v8sFAQ4dOoRhGCxYsIAlS5b4tZ04cYL29pGHMhYUFPh9Hr29vVRUVACQnJxMamqq37ZHjhwxl0tctmyZX1tjYyPNzc0A5OXlERkZaba53W7KysoAiI+PJzMz02/bY8eOMTAwgMPhmHD8WlpaaGhoAEYK3djYWLPN4/FQUlICQHR0NLm5uX7bVlZWmhX+ihUrcDqdZltHRwe1tbUApKenk5iY6LftwYMHAQgPDyc/P9+vrba2lo6ODgAKCwv91tXv7u6mqqoKgIULF5KSkuK3bUlJCR6Ph9DQUAoLC/3aGhoaaGlpAWDx4sVERESYbf39/ZSXlwOQkJAw4Wdg//79+Hw+HA4Ha9eu9Wtrbm6msbERgJycHGJiYsy2oaEhjh49CkBMTAw5OTl+21ZUVJhnZ1euXOn325G2tjbq6uoAyMjIICHh1E34Pp+Pw4cPAxAZGUleXp5fv9XV1XR1jZyFWLp0KSEhp75od3V1UV1dDUBqairJycl+2xYXF+P1egkLC6OgoMCvra6ujra2NgDy8/MJDw832/r6+jh+/DgASUlJpKWl+W1bWlrK4OAgLpeL5cuX+7U1NTVx8uRJAHJzcwMyR4y/b/J8zhHl5eXm/DOIi1++X8efjvXSPegb2a/wYO64JIdbihLpaDpB7fGjuDVHAHNnjigrK8PtduN0OlmxYoVfm9U5orOzExjJ6dh/czRHjJgPc8RY5/t7xOj84/F48PlG5hzNEfNrjpjJ7xEej4ewsDBCQkLMz3mm5ojRn9OzNePF0V133UVBQQFf+tKXJm0f3ZH4+PgJbfHx8RiGQUdHx4Qf1LE8Hg/jrw40DIPh4WGzfbJtRtvH8/l8ZtvoD/xYY/sdGBgwJ4zx/Y4f09h+vV7vpP0ahmH2NZbX67XU7+n2dWy/4/d17Gc4Wb+j+zrZjdxn2+9MHpup+p0qL6f7DD0ez6SnYKc6Nmfqd/S1ya5unarf0TFNNV6rn+Fk248d03hn2tehoSF8Pp/fP1KT9Xsux2b0Z+dc+7VLDqczR/h8Bidae2jocrOrYZjXK/twe0b6y4gN468/lMcnLsogPMRFd3c3zZojgLk3R4wem9PNH1bmiNFtxn9x0BwxsV+75NBO3yP6+/sZHh4mKCjI3EfNEfNrjpjp7xEDAwN+n/NMzhHTMaPF0e9//3uef/559u/ff8aVkKZqP9O2LpdrwnscDoc5OUy2TKDL5Zp08gAICgoy2yYL8dn2O35MY/ud7MAGBwdjGMak/TqdTkv9jv3zdP2O39exn+Fk/Y7u62TH52z7tcuxOdO+ju7nmT7D6fbrcDhO+0M7Vb+jY5pqvFY/wzPt63hn2teQkBC8Xu95/wxHCgXftH9u7JjDyX6WW3oGeed4K7Xt/Ryu7OFkr4fWgXZa+2oY8vr/o5QXF8zHl0bx+Y+sIjIifMp+Jxuv5gj7zRHBwcF4vd5J26zOEaejOWJiv3bJoR2/R4x9XXPE/JojZvJ7xGSF00zOEdMxYwsy9Pb2snjxYm6//Xa/+4zuuusunnvuOerq6ggODqauro7CwkJ+/OMfc9ddd/n18bWvfY3HHnuM/v5+8/SvFmQQkfmurXeQl0tOsv1QA7sr2/CdZpZ2BjlIiQ5jaWo0d16Ww6V5CVqSW0REZAzbLMjQ2trKyZMneeyxx3jssccmtMfFxXHjjTeybds2FixYYF6fONbhw4dZvHjxlPcbiYjMBx19Q7xc0sSfDjfybkUb3jEV0cr0GJamRpEeG05G3ALS4xaQEbeAlOgwXFqKW0RE5LyZseIoJSWFHTt2THj9Bz/4ATt37uTFF18kMTERl8vF1q1beeaZZ3jkkUeIiooCRm5627FjB/fcc89MDVFEJGDcw15KGro4cKKLncdaeOd464SC6PqiVK5fmUpmfPgUPYmIiMj5MmvPORr1+c9/fsJzjkpLS1m/fj1r1671ewhse3u7HgIrInOez2dQ2drL/tpODtZ1cuBEJ6WNPXjGXS+3PC3aLIiyEyJO05uI+PdfQgAAIABJREFUiIicLdtcVjcdhYWFvPHGG9x7773ceuutuFwuNm/ezKOPPjphmUq7aW1txefzERQUNGE5SJEzUX7mtyGPj3/9czn/8W41Pe6JKx8lRoayOjOWddlxXLN8IYuSIifp5fSUH7FC+RErlB+xws75mfXi6KmnnuKpp56a8Pq6det47bXXZns4ltXX15tLedvt4Ir9KT/z1/HmHr7ymwMU1488r2RBsJOV6TGszoplVUYsq7NiSYsJs7SAgvIjVig/YoXyI1bYOT+2OHMkIjJf+HwG/7mrmh+8WMqgx0dseDDfuWkF1y5P0eIJIiIiNqfiyKKsrCzztKDIdCk/80tj1wBf+90h3j7eCsCHlyTxw1uLSI6emRU3lR+xQvkRK5QfscLO+Zn1BRms0oIMImI3FS29/PeuGrbtraN30ENYcBDf2rKU2zdm67lDIiIiATQnF2QQEZlrPF4frx1t5he7a8wzRQCrMmL4p9tWkzfNxRVEREQk8FQciYhMQ0vPIL/ZU8vT79XS0OUGIMgBmwsX8tlLsrlicSJBQTpbJCIiMhepOLLI6/Wa/+90OgM4EpmLlJ+5o2tgmO/+6QjP7q9n2DtyNXJ8RAi3rc/k0xuyAvKgVuVHrFB+xArlR6ywc35UHFlUXFxsLkW4atWqQA9H5hjlZ27YW9PBl3+1n/rOAQBWZ8ZyxyXZbFmZSlhw4CZ15UesUH7ECuVHrLBzflQciYichs9n8NOdFfzTq8fw+gwy4xfwT59czfqc+EAPTURERGaAiiOLoqKi8Hg8uFz6KGX6lB/7au52c89vD/DO8TYAPrYqje98fAXRYcEBHtkpyo9YofyIFcqPWGHn/GgpbxGRcV4qbuIbzxyio3+YBcFOHrpxOZ9Yl6FluUVEROYYLeUtInKOetzDfPv5I/xubx0Ay1Kj+Ze/WsPiZC3LLSIiciFQcSQiAuypbuee3xygrmMAhwP+7sN53HPVEkJcOistIiJyoVBxJCIXtEGPl8dfK+ffdlZgGJARN7LowoZcLbogIiJyoVFxZFFVVZV5Q1lubm6ghyNzjPITGN3uYd4oa+HVIyd5o6yZHrcHgFvXZfDg1mVE2WjRhakoP2KF8iNWKD9ihZ3zo+LIou7ubnOddpHpUn5mT0PnAK8dPcmrR06yu7LNfJArwMLoUB762HKuXZEawBFOn/IjVig/YoXyI1bYOT8qjkRkXuob9FB2soe3jrXy6tEmiuu7/drzkiL46LIUProsmdWZcTiDtBKdiIjIhU5LeVvk8XgwDAOHw2HLtdrF3pQf6zxeH9Vt/ZQ19VDW1M3Rph7Kmnqobe/3e5/DAeuy4vjosoV8dNlCFiXN/RXolB+xQvkRK5QfsWI286OlvGeZJgSxQvmZPp/PYP+JTl4uaeLdilaOnexlyOOb9L1JUaGszozlo0sXsnlpMomRobM82pml/IgVyo9YofyIFXbOj31HJiLyF16fwftV7bxU3MjLJSdp6nb7tS8IdrIkJYrChVEUpERRmDLyZ8I8K4ZERERkZqk4EhFb8nh9vFPRxkvFjbxScpK2viGzLTLUxebCZD66bCFFGf9/e3ceH1V56A38N5NJMlnIvk5WyEoSAsoiYJVNWazcK9hUtLcqvdWKtJXeVkGxgguttxfe9/J6a6tXveoFXCigrcUNA1iRfU9IAknISsJkTybJJJk5z/tHzEkmmYSEQzJnkt/388lHP+c55+E55/zmyTw55zzHF1H+ntDymSEiIiJSiIMjherr6yFJErRaLfz8/BzdHHIyzE9fpjYL3j9Wgv85VITy+lZ5uZ+nK+6cGIolk8Jwa3wQ3HUuDmylOjA/pATzQ0owP6SEmvPDwZFCxcXF8lSEaju5pH7MT7eKhla8fagIO46VyO8dCvByw5K0MCxJC8ctEwLg6uKYiVfUivkhJZgfUoL5ISXUnB8OjojIofIqm/DawQL89ewVWKTOyTPjgr3w09smYNlNEdC78goRERERjQwOjhQyGAywWq1wceEXOBq6sZyfk8V1+NOBfOzLMcrLbhkfgEdvn4B5SSF8hmgQxnJ+SDnmh5RgfkgJNeeH7zkiohEjhMA/LlXj1QP5OFJYC6Dz/UNL0sLws9vjMDlKXZfWiYiIyLnxPUdEpDpWSeDz7Er86UABzpc3AAB0Wg2W3xyBn82JQ9woeCErEREROT8Ojoho2NQ2t+OvZ8rx7pFiFFY1A+h8J9GKGVF45LYJMPh5OLiFRERERN04OCKiG6rDKuFgXhX+crIMX+VeRYe1885dH70OD8+OxcO3jkeAl5uDW0lERETUFwdHCp07d06eijA9Pd3RzSEnM5ryk1vZiL+cKMNHZ8pRbep+YWtahA9+cHMkfjAtCt7u7HJupNGUHxp5zA8pwfyQEmrOD7+pKCSEkH+IhsrZ82PusGLXqTK8d6wEWeWN8vIgbzfcMyUC906NxMRwHwe2cHRz9vyQYzE/pATzQ0qoOT8cHCnk4eEBV1dX6HQ8lDR0zpqfhtYObDtSjP85dFm+SuTqosGC5FD8YGok5iQF84WtI8BZ80PqwPyQEswPKaHm/HAqbyIaNGOjGW8euoztR0pgarMAACL8PLDy1lgsvzmSzxIRERGRqnAqbyK64crrW/FfmfnYdbIM7VYJAJAY6o1Vc+Nwd7qBV4mIiIhoVODgiIgG9Mm5K3h693k0mTuvFE2P9cdjc+IwLykEWq3Gwa0jIiIiunE4OCIiu1raLXjhbxfw/vFSAMCUKD+s//5ETI8NcHDLiIiIiIYHB0cKlZaWwmq1wsXFBVFRUY5uDjkZtebnwpVG/OK9UyioaoZGA6yeG48n7kjg7XMqo9b8kHNgfkgJ5oeUUHN+ODhSqLa2Vp6nXW0nl9RPLfkRQiC3sgmZuUZ8lXMVp0vrIQQQ6uOO/3vfFMyOC3JY26h/askPOSfmh5RgfkgJNeeHgyOiMaq13YpvC6qRmWtEZq4RFQ1mm/KFKaF4+d50zkBHREREYwan8lbIbDZDCAGNRgO9Xu+QNpDzGun8SJLAP/Krse1IMb6+WIU2iySX6V21uDUuCPMnhmBeUggMfh7D3h5Shv0PKcH8kBLMDykxkvnhVN4jjB0CKTFS+Wkyd+AvJ8vwv4eLUVjdLC+P8PPA/OQQzE8Oway4QOhdXUakPXRjsP8hJZgfUoL5ISXUnB8OjohGsXyjCe8eLsKuk2VobrcCAMa56/CDaZG4b3oUkkLHQaPhdNxEREREAAdHRKOOJAnszzPi7W+L8I9L1fLy+BBvPDQ7FstvioCXOz/6RERERL3xG5JCJpMJkiRBq9XC29vb0c0hJ3Mj8yOEwMGLVdj8RR6yyhsBABoNcMfEUDw8Oxaz4wJ5lWiUYf9DSjA/pATzQ0qoOT8cHClUUFAgT0U4efJkRzeHnMyNys+xy7XY/HkejhXVAgC83Fzwo5kx+PHMGEQFeN6o5pLKsP8hJZgfUoL5ISXUnB8OjoicWFZ5AzZ/kYcDeVUAADedFg/NisFjc+IQ6O3u4NYRERERORcOjhQKCQmR3/BLNFTXkx9JEjhU0Dkd9+fZVwEAOq0GP5wehV/Mj0e4L6fgHivY/5ASzA8pwfyQEmrOz7C95ygzMxPbtm3Dt99+i9LSUvj5+WHatGl47rnnMHXqVJt1T506haeeegpHjhyBTqfD/PnzsXnzZkyYMKFPvWp7zxHRSKlsMGPniVJ8cKIUZXWtADqfKbpnSgTW3JGAmEAvB7eQiIiISF2GOnYYtsFRRkYGampqkJGRgZSUFFRVVWHLli04ceIEPv/8c8yfPx8AkJubixkzZmDKlClYt24dzGYznnvuOdTV1eHMmTMIDg5WtINEzsxilbA/rwrvHyvB/jwjpO8+reP0Oiy7KQL/MjMGiaHjHNtIIiIiIpVSzeDIaDQiJCTEZpnJZEJ8fDzS0tKwb98+AMAPf/hD7N+/HwUFBfDx8QEAFBcXIyEhAb/61a/w7//+7zZ1cHBEo5lVEsipaMTJ4jocL6rFkcJaVJva5PIZsQFYMSMKd00K5wtbiYiIiK5BNYOj/syfPx/l5eXIy8uDxWKBj48PHnzwQfz5z3+2WW/RokW4fPkyLl68aLOcgyMaTaySwMniOhwuqMGJ4lqcLqmHqc1is06AlxvuvTkC902PRnyIuqa7JCIiIlKzoY4dRnRChoaGBpw6dUq+pa6goACtra1IT0/vs256ejq+/PJLmM1m6PX6AevNzs5GTEyMfOUJANra2pCbmwsA8Pf3R3R0tM02ly5dQktLCwD0mUKwuroa5eXlAIDo6Gj4+/vLZVarFVlZWQA6D6zZbJanIkxJScHly5fR2Nj5jpnU1FTodN2HuL6+HsXFxQAAg8HQ55bBc+fOQQgBDw8PJCYm2pSVlpaitrZzmuakpCSbY2IymVBQUACg8wG38PBwm20vXLhg08aeKioqYDQaAQBxcXE2c82bzWbk5eUBAAICAhAVFWWz7cWLF9Ha2gqNRtPnHFZVVeHKlSsAgJiYGPj5+cllFosF2dnZAAAfHx+MHz/eZtvCwkI5xGlpaTYP69XV1aGkpAQAEBERgaCgIJttz549CwDw9PREQkKCTVlJSQnq6uoAAMnJyXB3757NrbGxEZcvXwYAhIaGIiwszGbb7OxsWCwWuLu7Izk52absypUrqKrqnC0uPj4eXl7dz/60tLTg0qVLAIDAwEBERkai3SLhcGENPsuqwN/PlqOxTbKpb5y7DjfF+GNikBsi9W2YGOSOhLgI+Pp2n5v29nbk5OQAAHx9fREbG2tTR0FBAUwmEwBg0qRJNh1ATU0NysrKAACRkZEIDAyUyyRJwvnz5wEA3t7eiIuLs6m3qKgIDQ0NAICJEyfCzc1NLmtoaEBRUREAIDw8vM+V46ysLFitVuj1eiQlJdmUlZWVoaamBgCQkJAAT8/u6cebm5uRn58PAAgODobBYLDZNjc3F21tbdDpdEhNTbUpq6ysxNWrnZNWjB8/3iF9RO9nJ29kH9Hzsz1u3Dj2ERgdfURPeXl5MJvNcHFxQVpamk2Z0WhERUUFACA2Nha+vr5y2WD6iPr6ejlPPT877CM6jYY+oqcb/T2ia1lP7CNGVx8xnN8jLBYLXFxc4ObmJmdquPqIrs/pYI3o4Gj16tVobm7G+vXrAUDeiYCAgD7rBgQEQAiBurq6Ph/S3iwWC3pfABNCyB9ai8Vid5veH+oukiTJZZIk9SnvWW9HR4dNPT3r7d2mnvVarVa79Qoh4Orq2qfMarUqqre/fe1Zb+997XkM7dXbta/2Xiw62HqH89wMVO9AeenvGFosFrt/ZRjo3HTVa5UEDuTX4eShauzLuYomc3f7vF01mBLmjkU3x2FabAASQ8fBRatBRUVF5y9XqW++e+7rUM/5YI+hve177mtv1zqG7e3tkCTJ7sw0gzmG/dXbta/2jtFg61VLDofaR/Q8z+wjINfljH3EQPV2dHTYLRuo3q5tB6q3a5vex5J9RN961ZJDNX2P6Fqm1WrlfWQfMbr6iOH+HmGxWGzO/XD2EUMxYoOj3/72t9i+fTteeeWVPrPV2ftQDKasi06n67OeRqORO4eef3XpuY29zgMAtFqtXGYvxD3r7fp/e8t6t6lnvfZOrKurK4QQdtvr4uKiqN6e/+2v3t772vMY2qu3a1/tnaPB1juc52agegfKS3/HsOc6PQ10bgDg1FUL3jnTgPKm7o42yNsdi1JDEa83YWKgDq4uWkydGjukeq/VXqXH8Fr72tu1jqGbmxusVuuQj+Fgzo0kSUP+3Kgxh0PtI3qeK/YRkOtypj5iMPX2N92t0j5Co9HY/SLNPqJvvWrJoZq+R/T8/65t2EeMrj5iOL9HdF056rnOcPYRQzEizxw9//zz2LhxIzZt2oRnnnlGXp6Xl4fk5GT88Y9/xOOPP26zzZNPPoktW7agpaXF5tIvnzkiZ3G6pA6/35uLY0WdtzEEeLlh2U0RWJwWhpuj/eGiHdqHlYiIiIiGRnXPHHUNjDZu3GgzMAI670318PCQ703s6fz584iPj7/m80ZEalNc04w/fJ6Hv5/rvM/XXafFT28bj5/NiYOP3v5fYYiIiIjI8YZ1cPTiiy9i48aNePbZZ7Fhw4a+/7hOh6VLl2L37t34wx/+gHHjOt/XUlJSgv379+NXv/rVcDaP6Iaqa27H/8u8hG1HitFhFdBogB/cHIl/W5iIcF8PRzePiIiIiK5h2G6r27JlC37zm99g8eLFdgdGM2fOBNA5i8z06dNx880327wEtra2li+BJdUTQuBsWQM+OF6Cv565gub2zgcI5yQGY92SZEwM97lGDUREREQ0XFTznqO5c+fi4MGD/Zb3/GdPnjyJtWvX4vDhw9DpdJg/fz42b97cZ/o/QH2Do4qKCvlBuGvNqkejR11zO/acLscHx0uRd7U7jynhPnjmron4XkLQAFt3Y35ICeaHlGB+SAnmh5QYyfyo5pmjAwcODHrdqVOnYt++fcPVlGFlNBrluf/ZOYxubRYrDuVXY/epcnyRfRXt1s7pK911Wnx/Ujjumx6FGeMDhjQrCvNDSjA/pATzQ0owP6SEmvMzou85InI2Le0WHMyrwqdZlcjMNcLU1j0dd6rBByumR+GfpkTA14MTLRARERE5uxGZyvtGUtttdSaTCZIkQavV2rwVmpxXo7kDmTlGfJZViQMXjTB3dL/gLNTHHYtTw5AxLQppEb4D1DI4zA8pwfyQEswPKcH8kBIjmR/VPHM0XNQ2OKLRQZIEvi2owXvHSvDlhe5b5gAg0t8DS9LCsDgtHDdF+UHL9xMREREROQXVPHNE5AyqTW3YeaIM7x8vQXFNi7w8LtgLS9LCsTgtDKkGnyG/XZmIiIiInA8HRzTmSJLA4cIa7DhWgi+yK9Fh7bx4Os5dh3tuisCKGVFINSi/ZY6IiIiInAsHRwqZzWYIIaDRaKDX6x3dHBpAc5sF248WY8fREhT1uEo0JcoPD8yIxt2Tw+HpNrIfCeaHlGB+SAnmh5RgfkgJNeeHgyOF8vLy5KkIJ0+e7OjmkB1tFit2HC3BH/fno9rUDqD7KtH9M6KRYnDci1qZH1KC+SElmB9SgvkhJdScHw6OaNSyWCXsPl2Orfsuoby+FQAQG+iJx+bE4Z+mGEb8KhERERERqRu/HSoUEBAgv+GX1EEIgc+yKrH5izwUVDUD6JyC+4kFiciYFglXF/XMbMj8kBLMDynB/JASzA8poeb8cCpvGlUqG8xYt/scDuRVAQD8PF3x+Nw4PDgrFnpX9X0AiYiIiGj4cCpvGpOEEPj4zBU893EWGs0WuOm0eOz2Cfjp7RPgo3d1dPOIiIiIyAlwcEROr8bUhvV7svBZdiUAID3SF1syJiMhdJyDW0ZEREREzoSDI3JakiTweXYlnv0oCzXN7dBpNfjlggSsmhunqueKiIiIiMg5cHCk0MWLF2GxWKDT6ZCYmOjo5ox6jeYOfHOpGpm5RhzIq0K1qQ0AkBw2DpszJiMtwrle3sr8kBLMDynB/JASzA8poeb8cHCkUGtrqzxPO914QgjkG03Yn2dEZq4RJ4rqYJG65xDxcnPBQ7Nj8cQdCXDXOd+EC8wPKcH8kBLMDynB/JASas4PB0cKaTQa+YduDCEELlQ04tPzldibVYHC76bj7jIh2AvzkkIwPzkE02L9nXJQ1IX5ISWYH1KC+SElmB9SQs354VTepApCCJwvb8De85X4NKsCxTUtcpmbixYz4wIxLykY85JCEBvk5cCWEhEREZGz4FTe5FTOlzXgr2fLsfd8JcrrW+Xl7jot5iWFYMmkMMxPDsE4TsdNRERERMOMgyNyiNzKRmz+PA/7cozyMg9XF8yfGIK70sIxNykYXu6MJxERERGNHH77pBFVWtuC//PlRXx0phxCAC5aDZakheHudAPmJAbDw815nx8iIiIiIufGwZFCVVVVsFqtcHFxQXBwsKObo1pVTW34r8xL2HGsBB3Wzsfcvj8pHP+2MBFxwd4Obp3jMD+kBPNDSjA/pATzQ0qoOT8cHCl05coVeSpCtZ1cNWho6cB//6MQbx26jJZ2KwDgtoQgPLkoCemRfg5uneMxP6QE80NKMD+kBPNDSqg5Pxwc0bBoaOnAm98U4n8OFaGpzQIAmBzlh7WLkjA7PsjBrSMiIiIi6ouDI4ViYmIgSRKnEv9OQ2sH3vrmMt46dBlN5s5BUXLYOKy5IxGLUkNVOZ+9IzE/pATzQ0owP6QE80NKqDk/fM8RKWbusOJkcR2+vliFHcdK5EFRUug4rLkjAYtSw6DVclBERERERCOL7zmiYWexSjhX3oBv86txKL8GJ0vq0G6R5PLEUG88sSARS9I4KCIiIiIi58HBEQ1KbXM7Pj5TjkP51ThaWCs/R9Ql1Mcdt8YF4c6UUF4pIiIiIiKnxMGRQhaLBUIIaDQa6HSj73BebTTj9a8LseNoCVo7rPJyH70Os+ICcWt8EGbHBSEu2IvPE12H0Z4fGl7MDynB/JASzA8poeb8qKs1Tig7O1ueinDy5MmObs4NU1rbgj8fLMDOE2Vot3beMpdq8MHd6QbcGh+IVIMvXHh1SLHRmh8aGcwPKcH8kBLMDymh5vxwcEQ2CqpMeHV/AT46Uw6r1DlXx/RYf6yeF485icG8OkREREREoxYHRwr5+PjAYrGo7pLgUFWb2vC7vTnYc7ocXfMX3pYQhJ/Pi8ctEwId27hRbLTkhxyD+SElmB9SgvkhJdScH07lPcZJksD7x0vx8qc5aPxuCu47U0Lx83nxmBzl5+DWERERERFdP07lTYOWU9GI9XvO41RJPYDOZ4o2LZuEKRwUEREREdEYxMHRGCOEQHFNC7YfLcZbh4pglQS83Fzw64VJeHBWDHQuvAJHRERERGMTB0djQFVTG74tqMah717aWl7fKpfdNSkMz92dijBfvQNbSERERETkeBwcKVRYWCg/UDZhwgRHNwdA53NEhwqqcSCvCofyq5FbaXufpauLBjdH++OxOXGYlxzioFYSoM78kPNgfkgJ5oeUYH5ICTXnh4MjhZqamuR52h3NKgl8mlWB/8rM7zMgSgn3wfcSgjA7LhAzxgfA042nXg3UlB9yPswPKcH8kBLMDymh5vzwG/Io0GGV8NczV/DHA/korGoGAHi763B3eji+lxCEWRMCEejt7uBWEhERERGpG6fyVshqtcr/7+LiMqL/dpvFil0ny/Gng/kore18jsjXwxUrb43Fytnj4eupvtE42XJkfsj5MT+kBPNDSjA/pMRI5odTeY8wR3QIzW0W7DxRite+LkRFgxkAEOTthn/93gT8y8xojNNzUOQs+AuFlGB+SAnmh5RgfkgJNeeHgyMn0Gax4nRJPb7Nr8a3BTU4U1oPi9R5wS/Uxx0/uz0O98+IhoebeoNGRERERKR2HBypkBAC2Vca8fWlKhwuqMHxolqYOySbdcYHeeGnt43HD6ZGwl3HQRERERERkVIcHClUV1cHSZKg1Wrh7+9/3fU0tHbgm0vVOJBnxIGLVahqarMpDx7njtlxgd/9BCEqwFNp00kFblR+aGxifkgJ5oeUYH5ICTXnh4MjhUpKSuSpCIdycoUQyKlowoGLRhzIrcLJkjpYpe65MTzdXDA7Lgi3fTf9dnyINzQazXDsAjnQ9eaHCGB+SBnmh5RgfkgJNeeHgyMHKKlpwb++cxyXjCab5XHBXpiXFIJ5ySGYFuvP2+WIiIiIiEYQB0cKRUREyJcFB6OgyoQH/vsIrja2Qe+qxa1xQZibFIy5SSG8VW4MGmp+iHpifkgJ5oeUYH5ICTXnRxXvOTKZTHj22Wfx4Ycfora2FsnJyVi3bh1WrFjRZ121vedoKPIqm/CjN46i2tSGhBBvbP/pLQjx0Tu6WUREREREo5JTvudo+fLlOH78OF5++WUkJiZix44duP/++yFJEh544AFHN++GyCpvwI/fPIq6lg6khPvgf/91BgK93R3dLCIiIiIi+o7Drxzt3bsX3//+9+UBUZeFCxciOzsbJSUlNi+KcrYrR+X1rdh5ohRvfnMZTWYLJkf54d2VM+DryRe1EhERERENJ6e7crRnzx54e3sjIyPDZvnKlSvxwAMP4OjRo5g9e7aDWnd92ixW7LtgxAcnSvGPS1XoGn5Oj/XHWw9Pxzg9B0ZERERERGrj8MFRVlYWJk6cCJ3Otinp6ely+bUGR9nZ2YiJiYGPj4+8rK2tDbm5uQAAf39/REdH22xz6dIltLS0AAAmT55sU1ZdXY3y8nIAQHR0tM0Ug1arFVlZWQA6R51NTU3yVIQeYRPw+r4sfHGxHo1t3S9tnTUhEPdNj8Kt0R4ozLsAADAYDAgODrb5d8+dOwchBDw8PJCYmGhTVlpaitraWgBAUlIS9PruZ5VMJhMKCgoAACEhIQgPD7fZ9sKFC3IbU1JSbMoqKipgNBoBAHFxcfD29pbLzGYz8vLyAAABAQGIioqy2fbixYtobW2FRqORz1eXqqoqXLlyBQAQExMDPz8/ucxisSA7OxsA4OPjg/Hjx9tsW1hYKI/w09LSbK4c1tXVoaSkBEDnw3xBQUE22549exYA4OnpiYSEBJuykpIS1NXVAQCSk5Ph7t59W2NjYyMuX74MAAgNDUVYWJjNttnZ2bBYLHB3d0dycrJN2ZUrV1BVVQUAiI+Ph5eXl1zW0tKCS5cuAQACAwMRGRlps+3JkyfRdfF22rRpNmVGoxEVFRUAgNjYWPj6+spl7e3tyMnJAQD4+voiNjbWZtuCggKYTJ2zIU6aNMnmryM1NTUoKysDAERGRiIwMFAukyQJ58+fBwB4e3sjLi7Opt6ioiI0NDQAACZOnAg3Nze5rKGhAUVFRQCA8PBwhISE2GyblZUFq9UKvV6PpKQkm7KysjLU1NQAABISEuDp2T05SXNzM/Lz8wEAwcHBMBgMNtvm5uZg8B43AAAObklEQVSira0NOp0OqampNmWVlZW4evUqAGD8+PEO6SMmTJhgs+3ly5fR2NgIAEhNTbXp++rr61FcXAxgcH3E2bNn5c92QEAA+wiMvj4iLy8PZrMZLi4uSEtLsylT2kd07atOp8OUKVPkMvYRnUZDH9HTjf4e0dX/aLVa+TPIPmJ09RHD+T2io6MDAODq6ip/foarj+j6nA6WwwdHNTU1fToGoPND1FV+LRaLBb3vDhRCyAfeYrHY3aarvDdJkuQySZL6lPeuVwiBZ7+qwnljWXf79VrcNyMGK26JQUxgZ8hra2vlba1Wq916hRBwde17Zclqtcrb9t7Xnu3tr97+9rVnvb33tecxtFdv1zG09/6lwdY73Oemv3oHykt/x9Bisdi9BDvQublWvQPd1TpQvV1tGqi9So+hve17tqm3a+1re3s7JEmy+SVlr97rOTddn53rrVctORzMZ5l9xNjqI7rOjb0ypX1Ef9hH9K1XLTlUYx/Rc3/YR4yuPmI0fY8YCocPjgAM+HLTwbz4VKfT9VlPo9HInUPvq1Jdy+x1HgCg1WrlMnsh7lmvp6cn3NzcEDyuFbrqdsyM9sbcaDfcHK5H+qREm3+7Z732TqyrqyuEEHbb6+LiIm/be18HU2/P//ZXb+997XkM7dXbdQztnaPB1juc52agegfKS3/HsOc6PQ10bq5Vr4uLCyRJuuYxtFd+rfYqPYbX2tferrWvbm5usFqtN/wYurq6QpKkIX9u1JjDofYRnp6esFgs0Ol07CO+M9r6CFdXV1it1n77DyV9RNc2Pf/CCrCPsFevWnKopu8RXf2PxWKRvyCzjxhdfcRwfo+wWCzQ6/U2V5eHs48YCodPyDBr1ixYrVYcO3bMZnl2djbS0tLw2muv4dFHH5WXq3VChtLaFri7ahEyjlNzExERERGpwVDHDg6f4m3SpEnIycnpc/my637F3vdPqlVUgCcHRkRERERETszhg6Nly5bBZDJh165dNsvfeecdGAwG3HLLLQ5qGRERERERjSUOf+ZoyZIluPPOO7Fq1So0NjYiPj4e7733Hj777DNs27bN7j2HREREREREN5rDnzkCOqeQXL9+PT788EPU1tYiOTkZTz/9NFasWNFnXbU9c1RSUiI/EN17mk+ia2F+SAnmh5RgfkgJ5oeUGMn8ON1LYIHOedC3bt2KrVu3OropQ1ZXVyfP/c/OgYaK+SElmB9SgvkhJZgfUkLN+XH4M0dERERERERqoIrb6oZCbbfVtbW1QQgBjUZj86ZkosFgfkgJ5oeUYH5ICeaHlBjJ/DjlbXXOjB0CKcH8kBLMDynB/JASzA8poeb88LY6IiIiIiIicHBEREREREQEwAlvq7P3iJQkSQ5oSaee9zCOGzfOYe0g58T8kBLMDynB/JASzA8pMZL5sTdOGGjKBaebkMFisaC5udnRzSAiIiIiIifk5eUFnc7+NSLeVkdERERERAQOjoiIiIiIiABwcERERERERATACZ85kiSpz4NVGo0GGo3GQS0iIiIiIiI1EkL0mYBBq9X2+xJYpxscERERERERDQfeVkdERERERAQOjoiIiIiIiABwcHTdTCYT1qxZA4PBAL1ejylTpuD99993dLNIZTIzM/GTn/wEycnJ8PLyQkREBP75n/8ZJ0+e7LPuqVOncMcdd8Db2xt+fn5Yvnw5CgsLHdBqUqs33ngDGo0G3t7efcqYH+rPN998g7vuugv+/v7w8PBAQkICXnzxRZt19u3bh1mzZsHT0xNBQUF4+OGHYTQaHdRiUoPTp0/jnnvugcFggKenJ5KTk/HCCy+gpaXFZj32PdTU1ISnnnoKCxcuRHBwMDQaDTZu3Gh33aHk5ZVXXkFycjLc3d0xfvx4PP/88+jo6BjGPenEwdF1Wr58Od555x1s2LABn376KaZPn477778fO3bscHTTSEX+9Kc/oaioCE888QT27t2LrVu3wmg0YubMmcjMzJTXy83Nxdy5c9He3o4PP/wQb731Fi5evIjbbrsNVVVVDtwDUovy8nL85je/gcFg6FPG/FB/duzYgTlz5sDX1xfvvvsu9u7di7Vr19o8nHzw4EEsWbIEoaGh+Pjjj7F161bs27cPCxYsQFtbmwNbT45y4cIFzJ49G0VFRfjP//xPfPLJJ1ixYgVeeOEF3H///fJ67HsIAGpqavD666+jra0N99xzT7/rDSUvmzZtwhNPPIHly5fj888/x+OPP47f/e53WL169XDvDiBoyP7+978LAGLHjh02y++8805hMBiExWJxUMtIba5evdpnWVNTkwgNDRULFiyQl2VkZIigoCDR0NAgLysqKhKurq7iqaeeGpG2krrdfffdYunSpeKhhx4SXl5eNmXMD9lTVlYmvLy8xKpVqwZcb/r06SIlJUV0dHTIyw4dOiQAiFdffXW4m0kqtH79egFA5Ofn2yx/9NFHBQBRW1srhGDfQ50kSRKSJAkhhKiqqhIAxIYNG/qsN9i8VFdXC71eLx599FGb7Tdt2iQ0Go3Izs4enh35Dq8cXYc9e/bA29sbGRkZNstXrlyJK1eu4OjRow5qGalNSEhIn2Xe3t5ISUlBaWkpAMBiseCTTz7BvffeCx8fH3m9mJgYzJs3D3v27Bmx9pI6bdu2DQcPHsSrr77ap4z5of688cYbaG5uxtq1a/tdp7y8HMePH8ePf/xj6HQ6efns2bORmJjI/IxRrq6uAABfX1+b5X5+ftBqtXBzc2PfQ7LBvFJnKHn57LPPYDabsXLlSps6Vq5cCSEEPvrooxu7A71wcHQdsrKyMHHiRJtfJACQnp4ulxP1p6GhAadOnUJqaioAoKCgAK2trXJ+ekpPT0d+fj7MZvNIN5NUwmg0Ys2aNXj55ZcRGRnZp5z5of58/fXXCAgIQG5uLqZMmQKdToeQkBA89thjaGxsBND9+6q//PD32dj00EMPwc/PD6tWrUJhYSGamprwySef4LXXXsPq1avh5eXFvoeGZCh56ep3Jk2aZLNeeHg4goKChr1f4uDoOtTU1CAgIKDP8q5lNTU1I90kciKrV69Gc3Mz1q9fD6A7L/1lSgiBurq6EW0jqcfjjz+OpKQkrFq1ym4580P9KS8vR0tLCzIyMnDfffdh3759ePLJJ/Huu+/irrvughDimvnh77OxKTY2FocPH0ZWVhbi4uLg4+ODpUuX4qGHHsLWrVsBsO+hoRlKXmpqauDu7g4vLy+76w53v6S79ipkz0CXD691aZHGrt/+9rfYvn07XnnlFUydOtWmjJmi3nbt2oW//e1vOH369DUzwPxQb5IkwWw2Y8OGDVi3bh0AYO7cuXBzc8OaNWvw1Vdfyev2lxFmZ2wqKirC0qVLERoair/85S8IDg7G0aNH8dJLL8FkMuHNN9+U12XfQ0Mx2Lw4MlccHF2HwMBAu6PW2tpaAPZHxUTPP/88XnrpJWzatAk///nP5eWBgYEA7F9xrK2thUajgZ+f34i1k9TBZDJh9erV+MUvfgGDwYD6+noAQHt7OwCgvr4erq6uzA/1KzAwEJcuXcKiRYtsli9ZsgRr1qzBqVOnMHnyZAD954e/z8amdevWobGxEWfOnJH/en/77bcjKCgIP/nJT/Dggw8iLCwMAPseGpyh/K4KDAyE2WxGS0sLPD09+6zb+4/LNxpvq7sOkyZNQk5ODiwWi83y8+fPAwDS0tIc0SxSseeffx4bN27Exo0b8cwzz9iUxcXFwcPDQ85PT+fPn0d8fDz0ev1INZVUorq6GlevXsWWLVvg7+8v/7z33ntobm6Gv78/fvSjHzE/1C979/YDkKfx1mq18u+r/vLD32dj05kzZ5CSktLntqbp06cDgHy7HfseGqyh5KXrWaPe61ZWVqK6unrY+yUOjq7DsmXLYDKZsGvXLpvl77zzDgwGA2655RYHtYzU6MUXX8TGjRvx7LPPYsOGDX3KdTodli5dit27d6OpqUleXlJSgv3792P58uUj2VxSibCwMOzfv7/Pz6JFi6DX67F//3689NJLzA/169577wUAfPrppzbL9+7dCwCYOXMmIiIiMGPGDGzbtg1Wq1Ve58iRI8jLy2N+xiiDwYDs7GyYTCab5YcPHwYAREZGsu+hIRlKXhYvXgy9Xo+3337bpo63334bGo1mwHcp3RDDOlH4KHbnnXcKf39/8frrr4vMzEzxyCOPCABi27Ztjm4aqcjmzZsFALF48WJx+PDhPj9dcnJyhLe3t7j99tvF3r17xe7du0VaWpowGAzCaDQ6cA9Ibey954j5of4sXbpUuLu7ixdffFF8+eWX4ve//73Q6/Xi7rvvltfZv3+/0Ol0YtmyZeLLL78U27dvF1FRUSItLU2YzWYHtp4c5eOPPxYajUbMnDlTfPDBB+Krr74SmzZtEt7e3iIlJUW0tbUJIdj3ULe9e/eKnTt3irfeeksAEBkZGWLnzp1i586dorm5WQgxtLy89NJLQqPRiGeeeUYcOHBA/Md//Idwd3cXjzzyyLDvCwdH16mpqUn88pe/FGFhYcLNzU2kp6eL9957z9HNIpWZM2eOANDvT08nTpwQCxYsEJ6ensLHx0fcc889fV7AR2RvcCQE80P2tbS0iLVr14qoqCih0+lEdHS0ePrpp/sMer744gsxc+ZModfrRUBAgHjwwQftvsSaxo7MzEyxcOFCERYWJjw8PERiYqL49a9/Laqrq23WY99DQggRExPT73edy5cvy+sNJS9bt24ViYmJws3NTURHR4sNGzaI9vb2Yd8XjRDf3XxMREREREQ0hvGZIyIiIiIiInBwREREREREBICDIyIiIiIiIgAcHBEREREREQHg4IiIiIiIiAgAB0dEREREREQAODgiIiIiIiICwMERERERERERAA6OiIiIiIiIAHBwREREREREBICDIyIiIiIiIgDA/wdZcBiptDO1ZAAAAABJRU5ErkJggg==\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from filterpy.kalman import KalmanFilter\n",
"from filterpy.common import Q_discrete_white_noise\n",
"from numpy.random import randn\n",
"\n",
"std_x, std_y = .3, .3\n",
"dt = 1.0\n",
"\n",
"np.random.seed(1234)\n",
"kf = KalmanFilter(4, 2)\n",
"kf.x = np.array([0., 0., 0., 0.])\n",
"kf.R = np.diag([std_x**2, std_y**2])\n",
"kf.F = np.array([[1, dt, 0, 0], \n",
" [0, 1, 0, 0],\n",
" [0, 0, 1, dt],\n",
" [0, 0, 0, 1]])\n",
"kf.H = np.array([[1, 0, 0, 0],\n",
" [0, 0, 1, 0]])\n",
" \n",
"kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=1, var=0.02)\n",
"kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=1, var=0.02)\n",
"\n",
"zs = [np.array([i + randn()*std_x, \n",
" i + randn()*std_y]) for i in range(100)] \n",
"xs, _, _, _ = kf.batch_filter(zs)\n",
"plt.plot(xs[:, 0], xs[:, 2]);"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This should hold no surprises for you. Now let's implement a UKF. Again, this is purely for educational purposes; using a UKF for a linear problem confers no benefit. `FilterPy` implements the UKF with the class `UnscentedKalmanFilter`. \n",
"\n",
"The first thing to do is implement the functions `f(x, dt)` and `h(x)`. `f(x, dt)` implements the state transition function, and `h(x)` implements the measurement function. These correspond to the matrices $\\mathbf F$ and $\\mathbf H$ in the linear filter.\n",
"\n",
"Below is a reasonable implementation of these two functions. Each is expected to return a 1D NumPy array or list containing the result. You may give them more readable names than `f` and `h`."
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [],
"source": [
"def f_cv(x, dt):\n",
" \"\"\" state transition function for a \n",
" constant velocity aircraft\"\"\"\n",
" \n",
" F = np.array([[1, dt, 0, 0],\n",
" [0, 1, 0, 0],\n",
" [0, 0, 1, dt],\n",
" [0, 0, 0, 1]])\n",
" return np.dot(F, x)\n",
"\n",
"def h_cv(x):\n",
" return x[[0, 2]]"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Next you specify how to compute the sigma points and weights. We gave Van der Merwe's version above, but there are many different choices. FilterPy uses a class named `SigmaPoints` which must implement a method:\n",
"\n",
"```python\n",
"def sigma_points(self, x, P)\n",
"```\n",
"\n",
"and contain attributes `Wm` and `Wc`, which hold the weights for computing the mean and covariance, respectively.\n",
"\n",
"FilterPy derives the class `MerweScaledSigmaPoints` from `SigmaPoints` and implements the aforementioned methods.\n",
"\n",
"When you create the UKF you will pass in the $f()$ and $h()$ functions and the sigma point object, as in this example:\n",
"\n",
"```python\n",
"from filterpy.kalman import MerweScaledSigmaPoints\n",
"from filterpy.kalman import UnscentedKalmanFilter as UKF\n",
"\n",
"points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1)\n",
"ukf = UKF(dim_x=4, dim_z=2, fx=f_cv, hx=h_cv, dt=dt, points=points)\n",
"```\n",
"\n",
"The rest of the code is the same as for the linear kalman filter. I'll use the same measurements and compute the standard deviation of the difference between the two solutions."
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"UKF standard deviation 0.000 meters\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from filterpy.kalman import UnscentedKalmanFilter as UKF\n",
"\n",
"import numpy as np\n",
"\n",
"sigmas = MerweScaledSigmaPoints(4, alpha=.1, beta=2., kappa=1.)\n",
"ukf = UKF(dim_x=4, dim_z=2, fx=f_cv,\n",
" hx=h_cv, dt=dt, points=sigmas)\n",
"ukf.x = np.array([0., 0., 0., 0.])\n",
"ukf.R = np.diag([0.09, 0.09]) \n",
"ukf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=1, var=0.02)\n",
"ukf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=1, var=0.02)\n",
"\n",
"uxs = []\n",
"for z in zs:\n",
" ukf.predict()\n",
" ukf.update(z)\n",
" uxs.append(ukf.x.copy())\n",
"uxs = np.array(uxs)\n",
"\n",
"plt.plot(uxs[:, 0], uxs[:, 2])\n",
"print('UKF standard deviation {:.3f} meters'.format(np.std(uxs - xs)))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This gave me a standard deviation of 0.013 meters, which is quite small. \n",
"\n",
"The implementation of the UKF is not that different from the linear Kalman filter. Instead of implementing the state transition and measurement functions as the matrices $\\mathbf F$ and $\\mathbf H$ you supply nonlinear functions `f()` and `h()`. The rest of the theory and implementation remains the same. The code implementing `predict()` and `update()` differs, but from a designer's point of view the problem formulation and filter design is very similar."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Tracking an Airplane\n",
"\n",
"Let's tackle our first nonlinear problem. We will write a filter to track an airplane using radar as the sensor. To keep the problem as similar to the previous one as possible we will track in two dimensions. We will track one dimension on the ground and the altitude of the aircraft. Each dimension is independent so we can do this with no loss of generality.\n",
"\n",
"Radars work by emitting radio waves or microwaves. Anything in the beam's path will reflect some of the signal back to the radar. By timing how long it takes for the reflected signal to return it can compute the *slant distance* to the target. Slant distance is the straight line distance from the radar to the object. Bearing is computed using the *directive gain* of the antenna.\n",
"\n",
"We compute the (x,y) position of the aircraft from the slant distance and elevation angle as illustrated by this diagram:"
]
},
{
"cell_type": "code",
"execution_count": 19,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import kf_book.ekf_internal as ekf_internal\n",
"ekf_internal.show_radar_chart()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The *elevation angle* $\\epsilon$ is the angle above the line of sight formed by the ground.\n",
"\n",
"We will assume that the aircraft is flying at a constant altitude. Thus we have a three variable state vector:\n",
"\n",
"$$\\mathbf x = \\begin{bmatrix}\\mathtt{distance} \\\\\\mathtt{velocity}\\\\ \\mathtt{altitude}\\end{bmatrix}= \\begin{bmatrix}x \\\\ \\dot x\\\\ y\\end{bmatrix}$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The state transition function is linear \n",
"\n",
"$$\\mathbf{\\bar x} = \\begin{bmatrix} 1 & \\Delta t & 0 \\\\ 0& 1& 0 \\\\ 0&0&1\\end{bmatrix}\n",
"\\begin{bmatrix}x \\\\ \\dot x\\\\ y\\end{bmatrix}\n",
"$$\n",
"\n",
"and can be computed with:"
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {},
"outputs": [],
"source": [
"def f_radar(x, dt):\n",
" \"\"\" state transition function for a constant velocity \n",
" aircraft with state vector [x, velocity, altitude]'\"\"\"\n",
" \n",
" F = np.array([[1, dt, 0],\n",
" [0, 1, 0],\n",
" [0, 0, 1]], dtype=float)\n",
" return np.dot(F, x)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Next we design the measurement function. As in the linear Kalman filter the measurement function converts the filter's prior into a measurement. We need to convert the position and velocity of the aircraft into the elevation angle and range from the radar station.\n",
"\n",
"Range is computed with the Pythagorean theorem:\n",
"\n",
"$$\\text{range} = \\sqrt{(x_\\text{ac} - x_\\text{radar})^2 + (y_\\text{ac} - y_\\mathtt{radar})^2}$$\n",
"\n",
"The elevation angle $\\epsilon$ is the arctangent of $y/x$:\n",
"\n",
"$$\\epsilon = \\tan^{-1}{\\frac{y_\\mathtt{ac} - y_\\text{radar}}{x_\\text{ac} - x_\\text{radar}}}$$\n",
"\n",
"We need to define a Python function to compute this. I'll take advantage of the fact that a function can own a variable to store the radar's position. While this isn't necessary for this problem (we could hard code the value, or use a global), this gives the function more flexibility."
]
},
{
"cell_type": "code",
"execution_count": 21,
"metadata": {},
"outputs": [],
"source": [
"def h_radar(x):\n",
" dx = x[0] - h_radar.radar_pos[0]\n",
" dy = x[2] - h_radar.radar_pos[1]\n",
" slant_range = math.sqrt(dx**2 + dy**2)\n",
" elevation_angle = math.atan2(dy, dx)\n",
" return [slant_range, elevation_angle]\n",
"\n",
"h_radar.radar_pos = (0, 0)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"There is a nonlinearity that we are not considering, the fact that angles are modular. The residual is the difference between the measurement and the prior projected into measurement space. The angular difference between 359° and 1° is 2°, but 359° - 1° = 358°. This is exacerbated by the UKF which computes sums of weighted values in the unscented transform. For now we will place our sensors and targets in positions that avoid these nonlinear regions. Later I will show you how to handle this problem.\n",
"\n",
"We need to simulate the radar and the aircraft. By now this should be second nature for you, so I offer the code without discussion."
]
},
{
"cell_type": "code",
"execution_count": 22,
"metadata": {},
"outputs": [],
"source": [
"from numpy.linalg import norm\n",
"from math import atan2\n",
"\n",
"class RadarStation:\n",
" \n",
" def __init__(self, pos, range_std, elev_angle_std):\n",
" self.pos = np.asarray(pos) \n",
" self.range_std = range_std\n",
" self.elev_angle_std = elev_angle_std\n",
"\n",
" \n",
" def reading_of(self, ac_pos):\n",
" \"\"\" Returns (range, elevation angle) to aircraft. \n",
" Elevation angle is in radians.\n",
" \"\"\"\n",
" \n",
" diff = np.subtract(ac_pos, self.pos)\n",
" rng = norm(diff)\n",
" brg = atan2(diff[1], diff[0])\n",
" return rng, brg\n",
"\n",
"\n",
" def noisy_reading(self, ac_pos):\n",
" \"\"\" Compute range and elevation angle to aircraft with \n",
" simulated noise\"\"\"\n",
" \n",
" rng, brg = self.reading_of(ac_pos) \n",
" rng += randn() * self.range_std\n",
" brg += randn() * self.elev_angle_std \n",
" return rng, brg \n",
"\n",
"class ACSim: \n",
" def __init__(self, pos, vel, vel_std):\n",
" self.pos = np.asarray(pos, dtype=float)\n",
" self.vel = np.asarray(vel, dtype=float)\n",
" self.vel_std = vel_std \n",
" \n",
" def update(self, dt):\n",
" \"\"\" Compute and returns next position. Incorporates \n",
" random variation in velocity. \"\"\"\n",
" \n",
" dx = self.vel*dt + (randn() * self.vel_std) * dt \n",
" self.pos += dx \n",
" return self.pos"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"A military grade radar achieves 1 meter RMS range accuracy, and 1 mrad RMS for elevation angle [1]. We will assume a more modest 5 meter range accuracy, and 0.5° angular accuracy as this provides a more challenging data set for the filter.\n",
"\n",
"The design of $\\mathbf Q$ requires some discussion. The state is $\\begin{bmatrix}x & \\dot x & y\\end{bmatrix}^\\mathtt{T}$. The first two elements are down range distance and velocity, so we can use `Q_discrete_white_noise` noise to compute the values for the upper left hand side of Q. The third element is altitude, which we assume is independent of $x$. That results in a block design for $\\mathbf Q$:\n",
"\n",
"$$\\mathbf Q = \\begin{bmatrix}\\mathbf Q_\\mathtt{x} & \\boldsymbol 0 \\\\ \\boldsymbol 0 & Q_\\mathtt{y}\\end{bmatrix}$$\n",
"\n",
"I'll start with the aircraft positioned directly over the radar station, flying at 100 m/s. A typical height finder radar might update only once every 3 seconds so we will use that for our epoch period. "
]
},
{
"cell_type": "code",
"execution_count": 23,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import math\n",
"from kf_book.ukf_internal import plot_radar\n",
"\n",
"dt = 3. # 12 seconds between readings\n",
"range_std = 5 # meters\n",
"elevation_angle_std = math.radians(0.5)\n",
"ac_pos = (0., 1000.)\n",
"ac_vel = (100., 0.)\n",
"radar_pos = (0., 0.)\n",
"h_radar.radar_pos = radar_pos\n",
"\n",
"points = MerweScaledSigmaPoints(n=3, alpha=.1, beta=2., kappa=0.)\n",
"kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, points=points)\n",
"\n",
"kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n",
"kf.Q[2,2] = 0.1\n",
"\n",
"kf.R = np.diag([range_std**2, elevation_angle_std**2])\n",
"kf.x = np.array([0., 90., 1100.])\n",
"kf.P = np.diag([300**2, 30**2, 150**2])\n",
"\n",
"np.random.seed(200)\n",
"pos = (0, 0)\n",
"radar = RadarStation(pos, range_std, elevation_angle_std)\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"\n",
"time = np.arange(0, 360 + dt, dt)\n",
"xs = []\n",
"for _ in time:\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" kf.predict()\n",
" kf.update([r[0], r[1]]) \n",
" xs.append(kf.x) \n",
"plot_radar(xs, time)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This may or may not impress you, but it impresses me! In the Extended Kalman filter chapter we will solve the same problem, but it will take a significant amount of mathematics. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Tracking Maneuevering Aircraft"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The previous example produced good results, but it assumed the aircraft did not change altitude. Here are the filter results if the aircraft starts climbing after one minute."
]
},
{
"cell_type": "code",
"execution_count": 24,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Actual altitude: 2515.6\n",
"UKF altitude : 1042.0\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from kf_book.ukf_internal import plot_altitude\n",
"\n",
"# reset aircraft position\n",
"kf.x = np.array([0., 90., 1100.])\n",
"kf.P = np.diag([300**2, 30**2, 150**2])\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"\n",
"np.random.seed(200)\n",
"time = np.arange(0, 360 + dt, dt)\n",
"xs, ys = [], []\n",
"for t in time:\n",
" if t >= 60:\n",
" ac.vel[1] = 300/60 # 300 meters/minute climb\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" ys.append(ac.pos[1])\n",
" kf.predict()\n",
" kf.update([r[0], r[1]]) \n",
" xs.append(kf.x)\n",
"\n",
"plot_altitude(xs, time, ys)\n",
"print('Actual altitude: {:.1f}'.format(ac.pos[1]))\n",
"print('UKF altitude : {:.1f}'.format(xs[-1][2]))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The filter is unable to track the changing altitude. What do we have to change in our design?\n",
"\n",
"I hope you answered \"add climb rate to the state\", like so:\n",
"\n",
"\n",
"$$\\mathbf x = \\begin{bmatrix}\\mathtt{distance} \\\\\\mathtt{velocity}\\\\ \\mathtt{altitude} \\\\ \\mathtt{climb\\, rate}\\end{bmatrix}= \\begin{bmatrix}x \\\\\\dot x\\\\ y \\\\ \\dot y\\end{bmatrix}$$\n",
"\n",
"This requires the following change to the state transition function, which is still linear.\n",
"\n",
"$$\\mathbf{F} = \\begin{bmatrix} 1 & \\Delta t & 0 &0 \\\\ 0& 1& 0 &0\\\\ 0&0&1&\\Delta t \\\\ 0&0&0&1\\end{bmatrix}\n",
"\\begin{bmatrix}x \\\\\\dot x\\\\ y\\\\ \\dot y\\end{bmatrix} \n",
"$$\n",
"\n",
"The measurement function stays the same, but we must alter $\\mathbf Q$ to account for the dimensionality change of $\\mathbf x$."
]
},
{
"cell_type": "code",
"execution_count": 25,
"metadata": {},
"outputs": [],
"source": [
"def f_cv_radar(x, dt):\n",
" \"\"\" state transition function for a constant velocity \n",
" aircraft\"\"\"\n",
" F = np.array([[1, dt, 0, 0],\n",
" [0, 1, 0, 0],\n",
" [0, 0, 1, dt],\n",
" [0, 0, 0, 1]], dtype=float)\n",
" return np.dot(F, x)\n",
" \n",
"def cv_UKF(fx, hx, R_std):\n",
" points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=-1.)\n",
" kf = UKF(4, len(R_std), dt, fx=fx, hx=hx, points=points)\n",
"\n",
" kf.Q[0:2, 0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n",
" kf.Q[2:4, 2:4] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n",
" kf.R = np.diag(R_std)\n",
" kf.R = np.dot(kf.R, kf.R) # square to get variance\n",
" kf.x = np.array([0., 90., 1100., 0.])\n",
" kf.P = np.diag([300**2, 3**2, 150**2, 3**2])\n",
" return kf"
]
},
{
"cell_type": "code",
"execution_count": 26,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Actual altitude: 2515.6\n",
"UKF altitude : 2499.7\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"np.random.seed(200)\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"\n",
"kf_cv = cv_UKF(f_cv_radar, h_radar, R_std=[range_std, elevation_angle_std])\n",
"time = np.arange(0, 360 + dt, dt)\n",
"xs, ys = [], []\n",
"for t in time:\n",
" if t >= 60:\n",
" ac.vel[1] = 300/60 # 300 meters/minute climb\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" ys.append(ac.pos[1])\n",
" kf_cv.predict()\n",
" kf_cv.update([r[0], r[1]]) \n",
" xs.append(kf_cv.x)\n",
"\n",
"plot_altitude(xs, time, ys)\n",
"print('Actual altitude: {:.1f}'.format(ac.pos[1]))\n",
"print('UKF altitude : {:.1f}'.format(xs[-1][2]))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"A significant amount of noise has been introduced into the altitude estimate, but we are now accurately tracking altitude."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Sensor Fusion"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now let's consider an example of sensor fusion. We have some type of Doppler system that produces a velocity estimate with 2 m/s RMS accuracy. I say \"some type\" because as with the radar I am not trying to teach you how to create an accurate filter for a Doppler system. A full implementation must account for the signal to noise ratio, atmospheric effects, the geometry of the system, and so on. \n",
"\n",
"The radar's accuracy in the last examples allowed us to estimate velocities to within one m/s or so, I will degrade that accuracy to illustrate the effect of sensor fusion. Let's change the range error to $\\sigma=500$ meters and then compute the standard deviation of the estimated velocity. I'll skip the first several measurements because the filter is converging during that time, causing artificially large deviations.\n",
"\n",
"The standard deviation without using Doppler is:"
]
},
{
"cell_type": "code",
"execution_count": 27,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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NP70ynU8fWM9dG9KIDPJz7bdgVgg/v9bxK+7/vZPHoWLJoKlm+/PqXP99uq7di2cihBC+RRp0QgghxqTVZHHNT5sX7T48MiMhjLs3OBYJ/+rqOUMOt+wrNsSff3/nbM6eH0l7t5Wbnz3Ef070zql7N7uGa//4MXk17cSEGHnx22fz7QtS8Dd4/pV2y6pEvnxmAja7wg9e+ILGDvNYLlWMgaIovHK0nCMlI2tIf9i3QVcrDTohhBipmTVA3cc0NTVht9vRarVERER4+3RED4mLOklcpp4zw2VMiJEQf8OA7d9fn8ZF84OJDTbQ1NQ04riE+hvYfstZ/PDFY7x5qpo7XjjKI9cuoaHdzOPv5gOwKimCP92wgthQ/yHL0mg0/GJjBpllzRTWd/DjnZk8841VM3o+3VTdK7/fl8/j7+YT6q/n0M82YNQPPjTKZLHxWWGD6/9nYoNO6jB1kriok8TFnTToVKy0tBSLxYLBYJAPq4pIXNRJ4jL1iup7lywYjLWllpL60cfF36DjiRtW8N+7T/LCwVIe2n3Kte2mtUk8eNVi/PQjG2QSbNTzx+tXsPFPn/BeTi1//biI2y6YuesWTcW9suNwmavx3Wqy8lFePRsWzxp0/4NFjXRb7Wg0oCi9Q3lnEqnD1Eniok4SF3cy5FIIIcSYFPbMc0qJGTob5VjptBp+tTGDOy92DN006rU8tmU5j3wpY8SNOafF8aE8fM1iALa9mePWGyQm1v68On76ygkA4sIcPahvnBh6KYoPcx3DLS/tafRVNHfRMcb1CIUQYqaRHjoVS0hIcHUnC/WQuKiTxGXqFY6gh268cdFoNPzokgVcuCCa6GDjsEsZDOX6s+ZysLCR1zIr+e4/j7D7jnPHVZ6vmsx7Jauyle89fxSrXeHLZyZww5q5XPfnA7yTVYPJYht0ruOHebUAbDwjgUPFTTR2mCms62BpYtiEn6NaSR2mThIXdZK4uJMGnYpFR0d7+xSEBxIXdZK4TD1XhsvowRcMn6i4rEyKHHcZGo2G31y3jJKGDjLLW7h1+yFe+d65hAUMnP83nU3WvVLZ3MUt2z+nvdvK2vlRbNu8DL1WQ1yYP1UtJvbn1XHpktkDjitv6qSgrgOdVsM5qdGkxgTzeUcjBXXtM6pBJ3WYOklc1Eni4k6atUIIIUZNUZTeOXSTNORyMvgbdPzlG6uIC/OnoK6D779wFKvN7u3T8nmtJgu3/O0QNa3dpMUG8+cbV+Kn16LVarhyaRww+LDL/XmOpSlWzA0nLMBASqzjB4KZmBhFCCHGQhp0QgghRq261USXxYZOq2FuZKC3T2dUYkP9+cs3VhFg0PFRfj2/2JPl7VPyaVabndv/eYTcmjZiQ4xsv/Ust17Pq5Y5GnT7eoZd9uccbnlBWgwAqdKgE0KIUZEGnRBCiFFzLlkwNzIQg873vkoyEsL43VfPAODvB0p47kCxV8/Hl31a0MAnpxsI9NPx7M2rSQgPcNt+5pxwEsID6DDb+CC31m2bxWbnk9OOBDUXLnQ06JxJdmRxcSGEGBmZQ6dimZmZrpSsy5cv9/bpiB4SF3WSuEytgnrn/Lmhh1uqOS6XZ8zmvssX8ps3c9n6ehbJ0UGc39NLNJ10mW1Ut5pcyWsmOibFDY7Pwnmp0WQkDJzzptFouGpZHE/vL2TP8Souz4hzbTta0kR7t5XIID8y4h3HOnvoSho6sNjsQ/5g8HpmJS8eKuUnVyzy+Nq+RM33ykwmcVEniYs73/tZVQghhNc5lywYKsOlL7j9whQ2rUjAZlf43vNHKa6ffuufPbT7JBc99gGfnK6flPLLm7oAmDPE0NureubRvZtdS5e5d9jlh3mO5QouSIt2LfYeHxZAgEGHxaZQ2tg55Gs/8f5pPjndwFeeOsC72TXjug4hhPBV0qBTscDAQIKCgggM9K35KdOdxEWdJC5Ty5kQZX7M4BkuQf1x0Wg0PLppKauSImgzWbn/5ePY7cqEv05dWzf37szkzZPVE172UBRFYV9PQ2f3sQpg4mNS3uRodCVGBAy6z7LEMBIjAuiy2Hi/z7BLZ4POOdwSQKvVkBLbM+xyiHl0LZ0WcmvaAOg027jtH4fZ/knR2C/Ey9R+r8xUEhd1kri4kyGXKpaWlubtUxAeSFzUSeIytZxLFgzXQ+cLcTHqdfzuq2dw6e/2c7CokRcPlXH9mrkTVn5Fcxf/9cxBiuo7+Ph0PZctmYVGo5mw8odSVN9BU6cFgPdz61AUZcJjUtbo6KFLjBj8wco57PKpDwvZc7ySK5fGUdtm4lRlK8CAoa4pMcGcrGjldG07ly3xXObR0iYUBZKiAjknJYp/fV7G1tezKGns5GdXLUannZr3eKL4wr0yE0lc1Eni4k566IQQQoxKt9Xm6pVJ8aElC4YyJzKQey5dAMCj/8mmusU0IeUW1Xew5clPXT2aVS0m14LsU+FISZPrv+vaul0NqIk0kh46gGuWxQPwXk4tHd1WPupZrmBpQhjRwUa3fVN7en4LhkiMcqi4EYCzkiP59ZeXcv/l6QD87ZNivvPcETrN1jFcjRBC+B5p0AkhhBiV0oZO7AoEG/XEhBiHP8BH3HLuPJbPCaet28p/7z6Jooxv6GV2VStb/nyAyhYT86ODyEgIBeDj/MmZy+bJ0dJmt/9/L6d2kD3Hpr3b6uoBTBimQbckPpSkqEBMFjvv5dSyP79nuOWCgYlonIlRCoYYcnm42NFYXZ0ciUaj4fZ1KTxx/Qr89Fr2Zdfw1ac+40BBw6QMoRVCCDWRBp0QQohRcfYwzYsOmrKhg1NBp9Xwm83LMOg0vJNVw39OjH2+2xelTXzt6c+ob+9mUVwoO7671rXA9seTlJzEk6M9PXTr02OBiW/QVfQkRAkLMBDqbxhyX41G40qO8lpmJfs9zJ9zcjXo6jo8Nqy7rTaOlTsaq6uSI1x/v2pZHP+67Wwig/w4UdHC1//yGedte49H92aTXTXxvZNCCKEG0qBTsdLSUgoLCyktLfX2qYg+JC7qJHGZOs75c/NHMNzS1+KycHYIt69LBeDh107S3GkedRmfFtRzwzMHaemysGJuOC/edjbRwUbOS40G4LOCBqw2+4SetyctXRbyah1JQ350iWM4aWZ5M8dzCycsJs7hlnMih+6dc3IuMv5OVg1NnRZC/PWcOSd8wH5JUUHotBrau61Utw4c/nqyogWz1U5UkN+AeZwrkyLYfce5fHXVHEL89VS2mHjqw0KuePwjLvvdfv78YQFm6+S//6Pla/fKTCFxUSeJiztp0KlYU1MTjY2NNDU1Db+zmDISF3WSuEydovqRL1ngi3G546IUUmODqW8388s3skd1bFZlKzf/7RCdZhvnpkbx3DfXEBbo6LlaEh9GWICBtm4rxytaJuPU3Rwra0ZRHIu/ZySEsSQ+FEWBd7OrJywmziULEsNHlmlucVyo2+fmvNRo9B7WmfPTa0nqWQahoHbgnMNDPcMtVyVHeOwlnhMZyLbrlnHowQ08ecMKLlsyCz+dltyaNv5nbw6/fTt3ROc7lXzxXpkJJC7qJHFx5/UGXVtbG/fddx+XXnopMTExaDQatm7d6nHfo0ePsmHDBoKDgwkPD2fTpk0UFha67ZOXl8ePf/xjVq5cSXh4OJGRkZx77rm89NJLU3A1Qggx/fX20A29ZIGvMup1bNu8DI0GXjpS7hoaOBI7DpdhttpZOz+Kv960miBjbzJpnVbDOSlRwNTMo3MmRFmZ5BiSeNFCx7DLI5UTk/AFoKxxZAlRnPoOuwTP8+ecUnqGXZ7u6WXs63BPQpTVyZFDvp6/QccVS+N46sZVHHpwA3dd7MiM93pm5bjnSAohhFp4vUHX0NDA008/TXd3Nxs3bhx0v5ycHNatW4fZbGbHjh08++yz5OXlcf7551NX1/tl+/bbb/PGG2+wefNmdu7cyfPPP09aWhpbtmzh5z//+VRc0oRJT08nIyOD9PR0b5+K6EPiok4Sl6njWoNuBD10vhqXlUkR3LQ2GYCf7jpBR/fwGRMVReHdHMeabzefm4y/QTdgn/PSHMMup2Ie3ReljgbdCmeDrmce3fFaC+mLFk9ITFw9dCNs0AFcvby3QXfBEA065zy60/0yXdrtCodLnD10Qzfo+goLNHD7uhQCDDoqW0xkqWxOna/eK9OdxEWdJC7uvL4OXVJSEk1NTWg0Gurr63nmmWc87vfQQw9hNBrZs2cPoaGOTGErV64kLS2Nxx57jG3btgHwta99jTvuuMNtCMYVV1xBfX0927Zt4/7778do9I2sbL5ynjONxEWdJC5To6XTQkOHY17ZSIZc+nJc7r1sIe9k1VDe1MU/DpRw+7qUIfcvqGunrLELP53WNV+uP+ffvyhtoqPb6taDN5FsdoUvejJcrpzraNCdMSecyCA/GjvMnKrpYs38qHG/Tnmzs4du5Iv7LpwVwk+uSMeo1xIfPnhDMCXG2UPn3qArqGunudOCv0HLkvjQUZ2vv0HH+WnRvJ1VwztZNSyJDxvV8ZPJl++V6Uziok4SF3de76HTaDTDZkmzWq3s2bOHzZs3uxpz4GgMXnTRRezatcv1t+joaI/lnXXWWXR2dtLY2DhxJy+EEDNMYc/8uVmhxklrjKhFkFHP99c7EqS8llk57P7vZjsySK5NiRr0vZkbGUhiRAAWm8LnxZP3fZRX00Z7t5UgPx0LZ4cAjiGfziGO7+VOTLZLVw/dCJOigON7/zsXpnDzufOG3K9vpsu+nPPnzpwTgcHD/LvhbFg8C4B92TWjPlYIIdTI6w26kSgoKKCrq4tly5YN2LZs2TJOnz6NyTT0nID333+fmJgYYmNjJ+s0hRBi2nPNn4uenvPn+rt8yWz0Wg3ZVa1DLnIN8G7PkgAXLxr8e0aj0XC+c9jlJM6jc86fO2NuODpt74+czmGX70/A8gVtJgvNPWvQjaaHbqSci9bXtXXT0mVx/b13/lyEx+OGsz49Fo0GTla0UtXSNf4TFUIIL/OJn1cbGhoAiIwcOFY+MjISRVFoamoiLi5uwHaAZ555hg8++IDHH38cnW7gnIb+Tp06RVJSkltvYHd3Nzk5OQBEREQwd+5ct2Py8/Pp7HQMPVm+fLnbtvr6eioqKgCYO3cuERG9X0I2m42TJ08CEBISwvz5813bWltbqaqqoqurC41Gw5IlS9Dre0PW3NxMSUkJAPHx8cTEuM9FOH78OIqiEBAQwIIFC9y2lZWVuXorFy5ciL+/v2tbe3s7BQUFAMTGxg54X7OysrBYLBgMBhYvXuy2raqqitpax4NCSkoKwcG9D30mk4ncXEdmscjISObMmeN2bF5enuta+zfe6+rqqKx0/EKelJREeHhvmmur1cqpU6cACA0NZd489199CwsLaWtzTKrPyMhw+ww0NTW5Ut4mJCQQHe0+TCozMxOAwMBA0tIck+lbW1tRFIW6ujo6OhwPt+np6W7d/62trRQVFQEwa9YsZs+e7VbuqVOnsFqtGI3GAeO/KysrXfNCU1NTCQrqHdbW2dlJfn4+AFFRUSQmJrodm5ubi8lkQqfTkZGR4battraWqqoqAJKTkwkL6x1qZDabyc52ZPMLCwsjOTnZ7diCggLa2x0Ps0uXLkWr7f0tqKGhgfLycgASExOJiuodxmW32zlx4gQAwcHBpKS4D1krLi6mpcWR7W/RokX4+fm5trW0tFBcXAxAXFzcgB9jTp48ic1mw9/fn4ULF7riotFoaG1tddUbaWlpBAb2Pmx2dHRw+vRpAGJiYoiPj3crNycnh+7ubvR6PUuWLHHbVl1dTU2N41f9efPmeb2OACgqKqK11TEXaCrqCGcPXajWRGZm5rB1RGJioisuoaGhPldHYO5g2Sw/jlZ1s+PAaX5y7RluxzrrCKvO6GpEOZOPlJaWujKw9a0jzk2N5l+fl7HvRDnXzrFMSh3x7jFH7JzDLZ3iNM1oNZBX005OWS3pc3rvq9HWERXNjsZQRKCBmvISCia4jgjxNxAdpKe+w8qbn37Bl88/Az8/P9f8uUUxRtf7P5I6wik62EjGrEBOVHfy93eOcueVZ6qijsjOzqa7uxuAM85w/5z5Uh0B0+s5ov+z2EQ8RzgNVkc4X1eeIwavI5zf+bwjmGIAACAASURBVLW1ta7v1vE+R/RVXl7utecIrVY7oH4Yjk806JyGGpo52La9e/dyxx13cN111/GDH/xgRK9jtVoHZL9SFAWLxeLa7ukY5/b+7Ha7a5vdPnDtm8HKLSoqciuz/zn1Lddms3ksV1EUDIaBi73abDbXsWMpd7Br7Vtu/2vt+x56Ktf5HnqK5UjLnYrYOOOi0Whc791Qn5fB3kOr1epWoXm61rGUa7FYPG4bqty+1zramI/0PfR0fN9z6m+4azWbzdjtdtcXqzMuBoOB8PDwcb+Hnt6jkcZmquqI/uVORR3hTIgyO1Az6Get7+elb1yWL1/uk3XE2gQjR6u6eTu3gZ94uFaAz8vN2OwKC2eFMKcn3f5gsTknxfHAV9JiobbNRHT0xNcR2fWOhoEzIYpTgNbOgkgDOQ0WXj2YzwN9GnSjrSPKGp0JUQInrY6YG+ZHfYeV4kbH9dS0miht7ESrgaXxwVSX1budU1/964i+zkkO4UR1J5+VdfIDldQRnZ2dg2be9KU6YqTl+spzRP9nsf4mKzbyHDGw3L7He3oW62+0zxF9TcR7ONY6YiSdT/35RIPO2VJ3tpT7amxsRKPRuP3S4vTWW2+xadMmLrnkEp5//vlh5+o56fX6AftqNBpXhdb3162+x3iq8AC0Wq1rm6cbb6hy++7T/5z6lusp+AaDAUVRPJar0+lcx46l3L7/Hqzc/tfa9z30VK7zPfQUp5GWO5Wx0Wg0rr8P9XkZ7D3su09fQ8VmJOXabDaP24Yq13nsUOWO9z0c7lr7G+5a/fz8sNlsk/Ie2u32Ud833voc9i13KuoI55DLueFGDAbDsHVE/y9wX6wjzkkK5qmjrRQ1mMitbnPNSet7rYd61pVb32e45WCxiQzyI31WEDk1HWQ32FmaOrF1RIdNS3W74yHjzDnuDTqDwcDKOCM5DRYO91u+YLR1hHNR8cSIgEmrI5Ii/Tla2Ul1h+Mh73DP/LlFcaGE+BtoGGMdcUFKOE99VsPJOjOdZht9OjC8VkcMxZfqiJGW2/ffg5Wrljqi/3n3NVmxkeeIgeV6Or7vs5inbb74HOHpPRiORlHRQiz19fXExMTw8MMPu61FZ7VaCQ0N5aabbuLJJ590O+byyy+nsLCQvLw8t7+/9dZbbNy4kQsvvJDdu3cPmg3Hbre7hto4hYSEjOnNnGjV1dWum6p/V7vwHomLOklcJp/drrDooTfpttr54MfrSB5BlsvpEpdv/f0Q+7Jr+cH6VO651H1ojtVmZ8Uv3qHVZOXl29eyMmn4VPqP7s3mqQ8LuW5lIo9tWT7s/qPx9qlqvv3cEdJig3nnRxcO2P7xySL+659ZGPUaMh++zOPyCiPxiz1Z/PXjIm47fx4PXrV4+APG4LkDxfz37lNcnB7LX29ezdbXTrH902JuPieZrdcuGfb4wSiKwvrffkhRfQd/umEFVy71PGVjKk2Xe2W6kbio03SOy1jaJt5vtYyAXq/nmmuu4ZVXXnG7wNLSUt5//302bdrktv/bb7/Nxo0bOe+883j11Vd9NrXp7NmzSUhImHYfVF8ncVEnicvkq2zpottqx6DTjHjdsekSl6uXOeZI7DleNWCYzJGSJlpNViICDZwxZ2SJOpzLF3xyun7CF7g+6lyuIMnzuZy7JJm4MH+6rQoHCgaOfBmp3h66iU+I4pTSby26wyWOOVurxpgQxUmj0bChpzd1X5Y6sl1Ol3tlupG4qJPExZ0qGnR79+7lpZde4vXXXwcck2VfeuklXnrpJddEx0ceeYTOzk6uvvpq9u7dy65du7jqqquIjo7mnnvucZX18ccfs3HjRmbPns1Pf/pTjh07xmeffeb6xzkxWAghxOg458/NjQxEP4Z08b5sw+JZGPVaiuo7OFXp/j3yXk/GyIsWxrpllBzK6uRI/PRaqlpMFNZ3DH/AKBwtcV9QvD+NRuPKdvneOLJdjmVR8dFK7VmLrqyxk4b2brJ63vtVI+gFHc6GRY7lC97LrcVqGzhvRwghfIUqvpFvv/12tmzZwq233grAzp072bJlC1u2bHFlOkpPT+eDDz7AYDBw3XXXcfPNN5Oamsr+/fvdsjLt27ePrq4uiouLWb9+PWvXrnX75+jRo165RiGE8HXO+XPzZsiSBX0FG/Wu7JV7jle5bXMuV7B+iOUK+vM36Fxp9z85PXHLF5itdjLLh+6hA1i/sLdBN9YeQmeDzpkEZjLEhBgJ8ddjV2DXFxXYFZgTGcDsMP/hDx7GyqQIIgINNHdaXBlKhRDCF6miQVdcXIyiKB7/6Zv2dOXKlezbt4+Ojg5aWlrYtWvXgDToW7duHbQsRVFYt27d1F6cEEJME/m1jiHvzvXBZpqrlzvmWe05XulqBJU0dHC6th29VsP5aTFDHT7AuT3DLj+awPXosqpa6bbaCQ80MH+IOY7npEbhp9dS0dxFfu3Q6+t50mqyuNaGSwifvB46jUbjWmD8X587UsOvnoDeOQC9TuvqqXxHJcMuhRBiLHwiy+VMderUKVe67/7rWAjvkbiok8RlclS1dLEns4rXMis50ZPJcf4oGnTTKS7r02MJMOgob+ois7yFM+aE8262o3dudXIkYQGeM7gN5rzUaH5DLp8VNGC12SdkGKuzp2nF3IhBMzs7Y7I01siRyi7259WxYFaIx30HU96zZEFkkB9Bxsl9lEiNCeaL0mYKenqIVyVPTIMO4JJFs3jlaAXvZNfw4FWLRpwNezJMp3tlOpG4qJPExZ006FTMarVitVq9+gUjBpK4qJPEZeK0d1vZfayC3ccqOVTciHNEnk6r4aKFMVy2ZOST0KdTXAL99Fy8KJY9x6vYk1nJGXPCXXPQLh7FcEunJfFhhAUYaOmycLyihRVzx5foA+BoqaNBN9RwS2dMFkYZOFLZ5ZqXNhp9lyyYbM7EKE6rx5kQpa/zF8Tgp9NS0tBJQV07qbGja9hOpOl0r0wnEhd1kri4kwadihmNRre1OYQ6SFzUSeIyMTrNVjb/6VNya3ozCq9OjuDaMxK4MmM2UcGjyxo83eJy9bJ49hyv4o0TVdy5IY2DRY4skRf3JNgYDZ1Ww7mpUfznRDWf5NdPTIOuTw/dYJwxSYvRAK1kVY2lQTf5CVGcnIlRAMIDDaTETNwczmCjnrUpUXyYV8c7WbVebdBNt3tlupC4qJPExZ006FQsPT3d26cgPJC4qJPEZfwUReFnu06SW9NGdLAft50/n6uXx49rjtR0i8u6hTEEG/VUtZh4fF8+FpvC/Ogg5o1gTT5Pzk2N5j8nqtmfX8cPLk4b17lVNndR1WJCp9WwfE7YoPs5YxI5p4tH3qvmdG073VYbRv3I16PrbdBNXkIUp9Q+PXSrkiLQjjCT6EhdsngWH+bVsS+7htvXpQx/wCSZbvfKdCFxUSeJiztVJEURQgjhfTsOl/HKFxVoNfDE9Sv4zoUpk5rwwhf5G3RcstjRG/e3T4oAx9y6sbpwQQxaDRwqbuK9nPEl5nDOn1sUF0Kg3/C/18aH+RPqr8dqVzg9ysQoziGXc6aghy4xIgC/nvmFEzl/zsk5XPZoaRN1bd0TXr4QQkw2adAJIYQgp7qVh3afAuCeSxeyZn6Ul89Iva5e5sh2ae+ZWzia5Qr6S4wI5FvnzwfgwV0naTNZxlyWa/7cCIduajQaFsWFApBd1TbM3u6msodOr9OyIikcrQYuGGUm0ZGICwtgaUIYigLvj2NdPiGE8BZp0AkhxDSXU93KyZ4MlZ60d1v53vNH6bbauXBBDLdf6L1hZ77g/LQYQv0dPWAh/npWj7PX6O4NC0iKCqSqxcRv3swdcznDLSjuSW+DbnTz6MqmMCkKwB+vX8HrPziPxfGhk1K+c5HxfdmyfIEQwvfIHDoVq6ysxGazodPpiI+P9/bpiB4SF3WSuHhW1dLFl/74Cd1WO+sWxnDfZeluD8WKovDgrhMU1nUwO9Sf3331jAmdozQd4+Kn13LZktnsPFLOhQtiMIxzuYEAPx2PblrK9X85yHOflXDN8njOmje6RqLZanf1sp0xJ3zIffvGZPEYGnQtXRbaTFYAEqaoQRcdbCR6lAl5RmN9eiy/25fHpwUNWGz2ccd0LKbjvTIdSFzUSeLiTnroVKyuro6amhrq6uq8fSqiD4mLOklcPHvhYCndVjsAH+TWcdUfPuKHL35BaYOjh+Vfn5ex+1glOq2GP15/JpFBfhP6+tM1LvdetpBvrE3i/ssnZmL+OSnRfP2sOQDc//JxTBbbqI7Pq2nDbLMT6q9nbuTQwyD7xqRvD51zsfThOOfPRQX5jWiuni9YEh9KVJAf7d1WV0/nVJuu94qvk7iok8TFnTTohBBimjJb7fzr8zIAHrginWuWx6Mo8OqxSi7+vw+4d2cmW193zJu797KFk5JwYrqKDfXn51/KYM4wjafReOCKRcSGGCmq7+Dxd/NHdaxz0feliWGjWpcpbVYwOq2Gpk4LNa0jSwgylUsWTBWtVsN5adEA7M+XB0QhhG+ZHj+tTVOpqakoiiKLJqqMxEWdJC4D7T1ZRX17N7EhRr553jwMOi3fuWA+297M4aP8enYeKQccw82+3ZOYY6JJXEYuLMDALzdm8O3njvD0/kKuWhpHRsLgyw/05WzQjWT/vjHxN+iYHx1Efm07WVUtzA7zH/Z4V4NuAhuzanBBWgy7j1WyP6+eey+b+teXe0WdJC7qJHFxJw06FQsKGtu6RmJySVzUSeIy0D8/KwHg62fNdc0JykgI47lvruHT0/X8fl8+Frud325ZPuFrezlJXEbn0iWzuWpZHG8cr+K+l46z+/vnjmg+lzPpzdIRNOj6x2RxfCj5te1kV7WxPn34BdLLpzghylQ5f4Gjh+5ERQv17d2TOmfPE7lX1Eniok4SF3cy5FIIIaah7KpWDhU3oddquH7N3AHbz0mNZsd317Lre+cSMcHz5sT4bL1mCWEBBrKqWvnLR4XD7m+22snpSYgykgZdf855dFkjTIxS1jh1SxZMpdgQf1eSmI/z6718NkIIMXLSoBNCiGnoHwccvXOXLZnNrNDhh9EJ9YgJMfLQ1YsB+H/v5tNptg65/2gSongy2qULpmsPHcAFCxzr3O3Pm9nz6IrqO2hol0XWhfAV0qBTsc7OTjo6Oujs7PT2qYg+JC7qJHHp1dJl4dUvKgC4cW2SV89F4jI2m1YkEB/mj8li58gwWRdP9pk/N5L5JP1jsiguBIDi+g66zENn11QUhYqeOXRzpmWDzpkYpR67fWRZPyeKWu6V4voOLvvdfjb834dkVY5ufcLpSC1xEe4kLu6kQadi+fn5ZGdnk58/umxnYnJJXNRJ4tLr5SPldFlsLJgVzJpRrmc20SQuY6PRaDg7JQqATwsahtz3xCjmz8HAmMSG+BMd7IddgdyatiGPbe2y0tbdswZd+PQacgmwKimSQD8d9e3dIx6COlHUcq/sOFyG2WanqdPC9c985vrBYKZSS1yEO4mLO2nQCSHENKIoiisZyo1rkyUDmA87J8XRW3RgmAbdyVFkuBzMSIddlvUMt4wO9iPATzfm11MrP72Wc3oa0jNx+QKbXeHlo47stzEhRpo7LdzwzEFOlM/sRp0QaicNOhWLiooiJiaGqKgob5+K6EPiok4SF4dPTjdQWN9BsFHPl89M8PbpSFzGYW1Pw+J4eTOtJovHfSw2O9nVo0uI4ikmI23Q9a5BN/1655y8NY9ODffK/vw6alq7iQg08OZd57NibjgtXY6eusyyZq+dlzepIS5iIImLO1m2QMUSExO9fQrCA4mLOklcHP5xoBhwzMEKNnq/ipe4jF1CeADJUYEUN3RyqKiRixcNXFIgr6YNs9VOiL+epKiRNbI8xcQ5j264OVPTOSGK0wVpjgbdkZImOrqtBE3RfaSGe2Xn4TIANp6ZQFSwkX98cw03P/s5h0ua+K9nDvL3b57FirkRXj7LqaWGuIiBJC7upIdOCCF8iKIovPh5KbuPVdDUYXbbVtHcxb7sGgBuPNu7yVDExHD20g027NI13DJ+ZAlRBuPsocupbhsyGchM6KFLjg5ibmQgFpsy7HDX6aSxw8w7WY76Y8vKOQAEG/X8/dazOGteJG3dVr7x1885UtLozdMUQnggDTohhPAhrx+v4oFXTnDXi8dY+ct32Pzkp/zxvXxOVbbw/Gcl2BVYOz+KtFkh3j5VMQHW9syjGywxiishSuLY588BpMQE46fT0t5tdTXaPJkJPXQAF/YMu/xwBi1fsPtYBRabQkZCKIvjQ11/DzLq2X7LatbOj6K928p3njuC1Wb34pkKIfqTBp0QQgCFde2UNHR4+zSG5VyOICLQgF1xDAt77O08rvp/H/OnDwoA+IaXlyoQE2ftfEcPXVZV64AeWYATFY4hkuNJiAJg0GlJmxXseq3B9PbQTe8GnWse3QxKjLLjsCMZirN3rq9APz3P3rwaP52W+nYz1a2mqT49IcQQvD/BQgwqNzcXi8WCwWBg4cKF3j4d0UPiok7jiUtLl4Uv/fETtFoNH91/EaH+hkk6y/Fp7DC7EjXs/O45BPjp+CC3lvdz6vjkdD1dFhtzIgO4ZPHAuVbeIvfL+MSEGEmLDSa/tp3PChu4Ymmca5vFZnclMRlpQhQYPCaL4kI5VdlKdlUrl2fMHnCcoigzYsglOIa66rUaSho6KWnoICkqaNJf05v3ysmKFrKrWvHTafnSGfEe9wnw0xEX7k9JQycVTV3T/jPgJHWYOklc3EmDTsVMJhMWiwWbbeiFXsXUkrio03jicqSk0bW21p7MKq5fM3fM5/FhXh1vnarmrovTmBXqP+ZyPHnjRBVWu2NIVGqsozflhjVJ3LAmCZPFRmZZM0lRQeh16hl8IffL+J2TEkV+bTsH+jXo8mvaHQlRjHqSIkf+cD1YTIbLdNnSZaG95z6Z7j10wUY9K5MiOFjUyP68Om5cO/kNOm/eK85kKJcumUV4oN+g+8WHBTgadM2DD8udbqQOUyeJizv1fOuLAXQ6HVqtFp1u+q3148skLuo0nrgcKm5y/fe/ex5sxuKL0iZu+8dhXjhYyo1/PehxiNx47O4Zbvml5QOXI/A36FgzP4rZYRPbiBwvuV/Gb7B5dCcqHGnkMxLC0GpHnhBlsJg4M11mV3tu0JU1Oh7iY0KM+BumfzwvmOJ5dN66V0wWG68eqwRgy6qBwy37SuhpyFfOoAad1GHqJHFxJz10KpaRkeHtUxAeSFzUaTxxOVTUm7Uts6yZ3Oo2Fs4eXVKR2lYT3/3nEcxWR7KAvJp2bt5+iOe/tWZClg8oa+zkcEkTGg1cs9zzkCg1kvtl/M6eH4lGA6dr26ltNRHb0/M71oQog8VkcU8PXVljF60my4Chx4X17cD0751zunBBDP/7Vi4HChowW+346Sf3N3Bv3Sv7smto6bIQF+bPeanRQ+4bH+6I/UzqoZM6TJ0kLu683kPX1tbGfffdx6WXXkpMTAwajYatW7d63Pfo0aNs2LCB4OBgwsPD2bRpE4WFhR73/cMf/kB6ejpGo5F58+bxyCOPYLF4XphVCDFzmSw2jpc7HoydD7Q7RtlL12218Z1/HqGmtZvU2GBe+d45hAcayCxr5tv/OIzJMv4hIa9lOn5BX6vCXjgxucID/VyfzQOFvb10E5UQpe/rxPV8tnKq2ty21bd38z97cwBYnhg+Ia+ndovjQokO9qPDbONISdPwB/goZzKUzSsS0Q3T05voatBJUhRfZ7HZufvfx7j+L5/RbZVhi77O6w26hoYGnn76abq7u9m4ceOg++Xk5LBu3TrMZjM7duzg2WefJS8vj/PPP5+6OvfhEL/61a+466672LRpE2+99Rbf+973+PWvf80dd9wx2ZcjhPAxx8tbMNvsRAcb+dElCwDY9UWFq6dtOIqi8NCrp/iitJlQfz1/+cYqVsyN4O+3nEWQn45PCxq4819fjCvNt6Io7D7WM9xykIQFYno7p996dGNNiDIcT/PorDY733/hKFUtJubHBHHPpQsm7PXUTKvVcH7a9M52WdncxUc913bdyuEXanYOuazoWb5C+CZFUXhw1wl2fVHBpwUNnOj5UVP4Lq836JKSkmhqauLDDz/k0UcfHXS/hx56CKPRyJ49e7jyyivZtGkTb7zxBnV1dTz22GOu/RoaGvjlL3/Jbbfdxq9//WvWrVvHvffey8MPP8wzzzxDVlbWVFyWEMJHHCp2DLdcnRzBuoUxxIYYaeww827PAt3Dee6zEv59uAytBv5w/QrmRTuSJyyfE85fblqFn17L21k13P/yiSEXbB5KTnUbeTXt+Om0XJ4RN/wBYtpxLjDunEc31oQow1nsoUG37c0cPitsJMhPx9M3riREpVlgJ8MFCxxDEN/LrvXymUyOV46WoyiwZl4kydHDJ35xDrmsbDahKGOrz4T3/emDAlfPLAyeCEn4Dq836DQaDRrN0F38VquVPXv2sHnzZkJDexe7TEpK4qKLLmLXrl2uv7355puYTCZuueUWtzJuueUWFEXh1VdfndgLmES1tbVUVVVRWzs9v0h8lcRFncYal94GXSR6nZbNPb9Sj2TY5YGCBh553fEj0f2Xp7sWI3Y6JyWaJ65fgU6r4eWj5fzijawxPQS92tM7d1F6DGEBvvUwLffLxFidHIlOq6G0sZPypk5O9syfW5IQOqqEKDB0TPr30L2eWclfPioC4LdfWU5q7MxasH79wlkYdBpya9rIq2kb/oBxmOp7RVEUdh7pWXtumGQoTs4huV0WG02dM2Mai9rqsMrmLtY/9gE/3TW2Hwl3H6vgf9/KBSAlxtGIz66e3M/2ZFBbXLzN6w26kSgoKKCrq4tly5YN2LZs2TJOnz6NyeQYz33y5EkAli5d6rZfXFwc0dHRru2+oKqqioqKCqqqqrx9KqIPiYs6jSUuNrvimhuzOjkSgC09DboP8+qobhl8nkh5Uyd3vHAUm13h2uXxfPuC+R73u2TxLB7b4qi7/vZJMQ+8fGJUc+rsdoXXezLQbTxjYHZLtZP7ZWKE+BtY1pP85EBBQ29ClDEMtxwqJs5Ml7k1bWRVtnLfS8cBuH1dyozsHQ4LNLh+qHm9Zx7rZJnqe+W1zEpKGjoJ8tNx5dKB6w564m/QER1sBGZOpku11WFP7y+ksL6DFw6Wsu3NnFEde6i4kXt3Ou7pb543j7s2OIZP5/hgD53a4uJtPpHlsqHBMcQkMjJywLbIyEgURaGpqYm4uDgaGhowGo0EBQ0cOhAZGekqayinTp0iKSnJrTewu7ubnBzHjRMREcHcue7rVOXn59PZ6RhTvnz5crdt9fX1VFQ4fmGfO3cuERERrm02m83VyAwJCWH+/IEPhRaLhczMTJYsWYJe3xuy5uZmSkpKAIiPjycmxr134Pjx4yiKQkBAAAsWuM95KCsro7HR0TOxcOFC/P17kyy0t7dTUFAAQGxsLHFx7l/iWVlZrsUcFy9e7Lat768lKSkpBAcHu7aZTCZycx2/CkVGRjJnjvsvgnl5eXR1daHRaAY03uvq6qisdHyZJiUlER7eOynfarVy6tQpAEJDQ5k3b57bsYWFhbS1OX59ysjIcEtx29TURGlpKQAJCQlER7tn+MrMzAQgMDCQtLQ0t202m8213ZmAx6m1tZWiIsev2rNmzWL2bPcvy1OnTmG1WjEajaSnp7ttq6ysdM0LTU1Ndfssd3Z2kp+fD0BUVBSJie5zHnJzczGZTOh0ugEZoJy/ZgEkJycTFtb7IGg2m8nOzgYgLCyM5ORkt2MLCgpob3dkuFu6dClabe9vQQ0NDZSXO37lTUxMJCoqyrXNbrdz4sQJAIKDg0lJSXErt7i4mJYWx4PpokWL8PPrXf+opaWF4uJiwPGDTGxsrNuxJ0+exGaz4e/vP2BR0fLycte9npaWRmBg75C0jo4OTp8+DUAzQbSZrAT56VwPsuaGchbH+JFVZ+blo+XccVGq69jq6mpqampoN9vZur+Zxg4zGQmhbNu8DLPZPGgd8eUzEykqq+KPB2r59+Eysqpa+dMNK5jTM1RuqDriYGE9lS0mAg0a5hk76K+oqIjWVseXsRrriP5mUh1RWlpKU5PjB4OJqCPWzo/ii9Jm3j1ZRmGd47OQFu2eIGckdcRgCcJqa2tprqjEqNNgsti58a8H6bLYOC81mjvXzXNd60yqI2JiYrhmeTz7smt5LbOSH12ygNzcXLq7u9Hr9SxZssStXGcdATBv3rxRPUdYrY41/jzFZzzPEZ7qiLyaNn7yiuN9vyotkPzsUyOuIxIiAqhv7ybzdBm2+mJg+j9HQO+zmDfriJZOi9vokaf2F6LtbuX+L69xK9fTc0RRfQe3/eMwZpudsxP9uSrBTKfG8dyaU92G3a6g1Wp87jmi77OYt+qI+Hj3ue05OTnjqiO0Wu2A+mE4PtGgcxpqaGbfbSPdbzBWq3XAsChFUVyVrLPS7X/MYF+Sdrvdtc1uH5gYYbByk5OTqaiooLOzE4vFMuCc+pbraWFF5zGeHqpsNpvr2LGUO9i19i23/7X2fQ89let8Dz3FaKTlTkVskpOTURSFmpoa10PgUJ+Xwd5Dq9XqVqF5utaxlDvYQptDldv3Wkcb85G+h56O73tO/Q13rWazGbvd7vpidcZFo9HQ3Nw8ovfwWK0jfiuSIlyLcVssFi5K8ierzsyOw2XcfmGKa0ibzWaj3WTmlx81kV9vITrYyFM3riLAT4fJZBnyc3hFWjDhOjO/P9jCiYoWrvnjx/z+q2ewbmHskO/h7p5egTUJRrQMfH/7fr7VWEf0jUv/cqdrHeGp3ImoI85JieZPHxRwuKyN1i7H6y2eHex23EjKBcd3Yf8HLpvNht1mZW6YnvxGCw0dZhLCA/h/Xz8Tndb364jByh0uNpcsjiPAoKOkoZPj5S1oe67VUz060nI9fV6MRqNrtFF/E/k5bDNZy25DuAAAIABJREFU+O5zR+g021g9N5TNC/0H/d7wVEckhPuTWQaVLd0sDFI8Xut0eo5ITk6mvLycrq4uj+c8lXXE85+X0Gm2kT47hJUxGp4/0cqfD9azPK3KrQe9/+ewscPMLX/7nOZOC0vjQ/jBqgDsNitx4Xr89Fo6zTbKmjpJigrymecI53dLdXW1q6HY31TVEZ7Odzx1xFjW1vOJBp2zpe6pd62xsRGNRuP6pSUqKgqTyURnZ6dba9q578qVK4d9Pb1eP6Ay0Gg0rgqt7y/gfY/x9FAEoNVqXds8PcAPVm5YWBiNjY1uX8CDlesp+AaDAUVRPJ6vTqdzHTuWcvv+e7By+19r3/fQU7nO99BTRTzScqciNs5fpFpbW11fvkN9XgZ7D/vu09dQsRlJuTabzeO2ocrte62DlTve93C4a+1vuGv18/PDZrO59un7S2FbW9uI3sMT1Y4vAedwS+d5XjAvmGePtVHS0MnnxY2cPd9RBykaLY9/3kp2vYVgo45/3HoWCT1JAkbyOVyZGMz/Rfjzh6NdZJa3cMv2Q9y9YQFfWxbu8T00W+3sPen4Je+iecHDfr7VWEf0jUv/cqdrHeGp3ImoI1YmReCn01Lf4XgwDNBrSIpy/54bTR0xWGzmR/iR32jBT6/lz/+1ksggP8xms8/XEYOVO1xsAv30bFg8i9czK3kts5ItqQbsdvuo75vhPodGo9HjwyFM3OcQ4Mc7Myms7yAuzJ9tG9Npq6t0nbuncvvXEc46r67DisHg7/Fap9NzRFhYGA0NDR4bZM6ypqKOMFvt/P3TYgC+df580o3NNHTZePN0B3e9eIznv2VkVc93mfNaFUXh44JGHv+ghOKGThIjAnjia8toqnKM3DAa9CyYFczJilayq9pIigrymecIZ/3V3NxMd3e3x3Knqo7wdL7jqSM8vQfD0SgqSlNUX19PTEwMDz/8sNtadFarldDQUG666SaefPJJt2Muv/xyCgsLycvLA+CFF17ghhtu4LPPPmPNmt4u6OrqauLi4vjVr37FT3/6U9ff7Xa7q5fFKSQkZExvphDCdyiKwtpH36O61cQLt63hnBT3YTIPvHycFw+VsWlFAv/3lTNQFIX7Xz7OjsPl+Om1PHfrWayZHzVI6UPrttp45PUsXjjoGKazPj2WrdcsYW6/h/N3smq47R+HiQ0xcuAnFw+7RpSY/r7y1AE+L3IMhV0zL5J/f2fthL/G0dImHnj5OHdenMbVy2SZDOi9F2eFGjnwwMWjTkSjFk9+UMC2N3Pw02nZ8d21nDFn9GsKbv+kiK2vZ3H5ktn8+cbhfyQXE+PlI+XcszOT2BAjH9+/Hj+9FqvNznf/eYR92bWEBxp46bvnkBobjNlq5/XMSp7eX0huTzKfUH89L99+Dmmz3BMb3bszk51Hyrnr4jTuvmRmLEmidmNpm/hEq0Wv13PNNdfwyiuvuF1gaWkp77//Pps2bXL97fLLL8ff35/t27e7lbF9+3Y0Gs2Qa90JIWaO8qYuqltN6LUazpwTMWD7V1Y75mb850QVrSYLv3krlx2Hy9Fq4I9fP3PMjTkAo17Hr7+8lP+9bhlGvZb3cmq54H/f58t/+oS/f1pMfbvj10bn2nPXLI+XxpwAetejg4ldf66vFXMjePvuC6Ux18cFC6IJ9ddT09rN5z2ZcT3pNFu55g8fs/nJT7GMY+3JyfDJ6Xr+9y3HHL6t1y4ZU2MO+ixd0DIzkqKogaIo/OWjQgBuOicZP73j8V2v0/KHr6/gjDnhNHdauPlvn/OnD05zwW/e556dmeTWtBHkp+Ob583jrbsvGNCYA0jvyWybU+17iVFEL1UMudy7dy8dHR2uxlpWVhYvvfQSAFdeeSWBgYE88sgjrF69mquvvpoHHngAk8nEQw89RHR0NPfcc4+rrMjISH72s5/x3//930RGRnLppZdy6NAhtm7dyre+9a0Bk2/VzGw2u/677yRP4V0SF3UabVycyxVkJIQR4DdwyMSZc8JJjQ3mdG07t/39MAd7ekUe3bSUS5eMLCPccLasmsPi+FD+Z28On5yu54vSZr4obebne7I4LzWag0WOYea+mN3SSe6XiXVOSjS/3+dIerI0cWwNOonJ6Bn1Oi7PmM2Ow+W8llnpGobd3x/fO+3KQPrqFxUjXg4AJjculc1d/OBfX2BXHJl8v37WyM+rv97FxWdGg04N98snpxvIqW4j0E/HDWvck2UE+On4602r2PzkpxQ3dPKbNx1JY2JCjNxybjI3nJVEWODgy90smu1o5OX42NIFaoiLmqiiQXf77be7MrEB7Ny5k507dwKO7EzJycmkp6fzwQcfcP/993Pdddeh1+tZv349jz322ICsTA8++CAhISE88cQTPPbYY8yePZsHHniABx98cEqva7yys7NdWaD6Z84U3iNxUafRxuVQsXO5goG9c+AYy/7VVXP41X+yXY25ey9byFdXjy7z1HCWxIfx3DfXUNtqYs/xKnZnVpJZ1syHeY4MZfOjg8hICB2mFPWS+2VinTEnnBCjnnazdcw9LBKTsbl2eQI7Dpez90QVj1y7BIPOfZBTYV27qxcFHIs3b1qROOLe9cmKS7fVxu3PH3Vl5f3FxowRJYgbjHMOXUOHGZPFhr9h9AkcfIka7hfn5+orq+YQHjiw8RIVbGT7LWfxjWc/x9+g5ZvnzWPjmQkY9cPHxtlDV9LQSXu3lWCjKpoGw1JDXNREFVFzphQdzsqVK9m3b9+I9r3zzju58847x3FWQojprO+C4oP58ooEtr2Zg9WucOu58/jeupRB9x2v2FB/bj1vHreeN4+i+g5eO1bJgcJ6vnXe/HE9fInpxU+vZfutq2nqsJAUNXB5HjF51qZEER1spL69m4/z67kovTcFuqIobH09C4tN4ZyUKLKqWimq72DP8Uq+5OUe9sf35ZNZ1kx4oIEnb1g57gZYWICBID8dHWYbFc1dpMQED3+QGLO8mjY+zKtDq4Fbzx24nIJTcnQQ+++7aNTlRwb5MSvUSE1rN7nVbaxM8vwjp1A3VTTohGdhYWGDZhoS3iNxUafRxKWxw8zpWkeGy1VDNOiig4384etnUtli4pZzkqesYTUvOoi7NqRxF2nD76xycr9MvJVJg39mR0JiMjY6rYarl8Wx/dNiXsusdGvQvXWqhv15dfjptPzqy0vZk1nJb9/J44n3T3PNsvgRJVGZjLhkVbby1H5H7862zctca1+Oh0ajIT48gPzadipnQIPO2/fLMz29c5ctmT0gcdZESZ8dSk1rHTnVrT7ToPN2XNRGGnQq1n+NIKEOEhd1Gk1cDvf0zqXGBhMZNPTY+yuWxg25XQxN7hf1kZiM3TXLHQ26t09Vu4Ybdplt/GJPFgC3XTCPedFB3HRuMk9/VEheTTtvZ1W7rRE2mImOi82u8MArx7HZFa7ImM1lEzT3Fxzz6PJr22fEPDpv3i+1bSZe/f/s3Xd8W9X9//GXJFveK463Y8eOHTvODiFk0AwChL0pZbSlgZQQoDMtlAJlpC1Q4NtSRvsro+wCJSRlhZUEQkJIINOO7diOHe+9l2xJ9/eHLMWy5SXL9pX9eT4ePABf3eMjvXWPdXTPOGjZVuLm7yUO8GjnzYgK5IvjVWSWuc/CKNKO2XOLVS6FEMKVvj3Z//w5IYRwZEFcCDHBPrR0mNieVQnAsztzKalvIzrIm9tWJQEQ6O3JjUunAvD37bkONxgeyM7sSu7ZcpSmdsebMQ/kxd35HCluIMDbgwcumelUGX2xrnRZUj/+O3Rj6ZWvT9JhMrMgLnhE75zNiOpaGKXMvRZGEadIh04IMeEMZv6cEEL0pNFouHiuZTuH/x0q5WRNC//oGtJ4z0Vp+OpPDXz6ybIEfPU6Mkob2ZFdOaTf8+rek6z9935e3VvIv3cXDLmeRbWtPP6JZX/e318wg/BA7yGX0Z8Y6dCNuLYOE6/utSwYuG4E786BZcglWFa6VNH21GIIpEMnhJhQ2jpMHC22LCsuHTohxFBd0tWh255dye82H6XDaObMpMmcP8t+SOMkPz0/XBwPwJOfD+4unaIoPPHpce7Zko656+H/PVA8pA/ZiqJw97tHaes0cUbCJK453fktCvoSO8G2LhhtBwvruPyZ3dS1dhI3yddlW+X0JTHMD71OS7PBSLFk6pZkDp2K5eXl2ZZknTZt5FbXE0MjuajTYHM5VFSP0awQEehl+1AiRo5cL+ojmQzPjKgA2x6Ve/Jq8NRpuP+SmQ4XTbrpewn8e08Bh4rq2Z1bw5nJk/ss93hOLk98Wcq2HMuwt1tXTuPlPQWcrGnl25N1g/4C6t2DJezKqUbvoeXPV8wekcWcJtLm4qN5vTS1d/LYx9m8vPckigIhvp78+YrZg976wlmeOi1J4f4cK2sks6zRJYvnjDRpx+zJHToVa25utv0j1ENyUafuuSiKQlWTAYPR1Otx3YdbynYAI0+uF/WRTIZHo9HY7tIBrD0zgaRwxys9hgd4c+0iy96Vf9+e02eZbR0mfv/RSbblNKHVwB8vn8Wd56VyQdeiTP/9tnhQdatpNtgWaPn56mQSR2gFSuuQy7L6dkzm8T1Eb7Sul08yyjnniS956WtLZ+6KBTF8/uuVLEvq+0sAV0rtmkeX6Sbz6KQdsyd36IQQbq/FYORoRTuZle3k1hs58f7nVDUZ8PHUsThxEsunh/G95DCmhfnJ/DkhxLBdNi+Gp3fkMtnfi5+d1f/2IresSOS1b07yTX4t+/JrWZRwqu0xmRWK61r55ZuHOFDajl4Lv14WyvVnWIZqXnVaLG9/V8wHR8v4wyX2c/Qceej9Y9S1dpIaGcBPl4/cvKvwAC90Wg1Gs+XLs8gg187Rm0iaDUZ+8/ZhPkovByBuki9/unx2v3dzR0JaVCCbKSGr3H1WuhSnSIdOxWbPnj3WVRAOSC7qUVDdwq/eOsShonocfUnc1mliR3YVO7KrAMu3ylXNBkA6dKNFrhf1kUyGLy7Ul09+uZwAb0/8vPr/KBUV5MNVp03hjX2F3Lc1nZnRQRTXtVJS30Z5QzvGrsYr0NuDf/3oNLu26fSpk4ib5EthbSsfZ5Rz+fzYPn/PzuxKthwqRaux7DnnqRu5QVgeOi2Rgd6U1LdRUt86rjt0I329/OvLE3yUXo5Oq+GnyxP52VnJ+OhHf2+17gujuANpx+xJh07FtFoZEatGkos6mM0Kv3rrEAcK6wGIDvJmflwI86YEMz8umJnRQeRXt7Arp4ovc6rYn19nW5Et0NuDlMiAsaz+hCHXi/pIJq4RH+o36MduWDmNt74tIqu8qdcHZg+thhlRgTz+/blMj7Bvl7RaDVcuiOX/PjvOf78r7rND12E08+B7lqGWNy5NYO6U4CE+m6GLCfbp6tC1c1r8iP+6MTPS18tXudUAPHjpTNud2bFgHXJZUNNCa4dxwLvBY03aMXvqTksIIfrw6jcnOVBYj7+XB1tuW+ZwDktadCBp0YHcsmIabR0m9ubXsD+/ljMSQ0d8krkQQlhNmeTLE9+fy778WqKDfYgJ9iEmxPLviEDvftujKxbE8H+fHWdPXg3Fda3EhvResOLfe/I5Ud3CZH89vzin/yGgrhIT4gMFstLlcLQYjBwusnwpuTw5bEzrMtnfi7AAL6qaDGSXNzE/TvZpdSfSoRNCuJ3S+jYe3ZYNwG/PS+lzQYLufPQ6VqWEsyolfKSrJ4QQvVw6L4ZL58UM+bwpk3xZkhjK1ydqePdACXestu+wVTa18+TnuQD8dk0qgd6eLqnvQKKDLcMsS+pbR+X3jUffnazDaFaICfZRxcqSqZEBVDUZyJIOnduR+5UqVlNTQ1VVFTU1NWNdFdGN5DK2FEXhvq3pNBuMLIgL5oauISqSizpJLuojmahTf7lcvdAy1NLRnnR/2ZZNs8HInNggrjqt7zl2rhYTbOmAlNa3j9rvHAsjeb3sPWEpc3FiqMvLdsaMKMs8uswy9S+MIu2YPblDp2LFxcW2PTZCQ9VxsQvJZax9eLSczzIr8dRpePjKOWi7hipJLuokuaiPZKJO/eVy3qxI7t2S3mtPusNF9bz9nWVLgz9cPNPWHo6GmAmyufhIXi9fd3XolkxTx3U4o2seXZYbbF0g7Zg9uUMnhHAbDa2d/OF/GQDcujKp1wICQggxHvnqPbhwjv2edIqicP97lvbw8vkxnBY/ukPkYrqGXJbWj+8O3UhpMRg5UtwAwBkJ6lh12brSZWZ5Y687wULd5A6disXGxmI2m2UlH5WRXMbOnz7MpLrZwLQwP25bNc3umOSiTpKL+kgm6jRQLledNoW3vj21J93HGeUcLKzHV6/jrvNTR7m2EN21uXiTwUhDWydBPqMzd2+0jdT1sr+gFpNZITZEHfPnAKaF+eOp09DUbqSkvs3hAjxqIe2YPenQqZjcQlYnyWVs7Mmr5s1viwB4+Mo5eHnY79MjuaiT5KI+kok6DZTL6VNDbHvSbT5Qwt+35wBw26okIgJHfx84X70HIb6e1LV2UlrfNm47dCN1vew9UQvAEpXMnwPQe2iZFuZv2V6jrEnVHTppx+xJt1YIoXrtnSbu3nwUgOvPiJNNwYUQE45Go7EtevLAexlUNBqIm+TLTWcmjFmdJso8upGgtgVRrKwLo2SVq39hFHGKdOiEEKr3xKfHKahpJSLQizvHYGiREEKowRULLNsedJos85vuuXAG3p66/k4ZUdFBlg5daYN06Iai2WDkaIll/txilSyIYpUaaZmbnukGC6OIU6RDp2Jms9n2j1APyWV07cuv5V+7TgCw6bLZfe6xJLmok+SiPpKJOg0ml9gQX5Z2dQC+lzyZc9IiRqt6Dk2EO3Qjcb1Y58/FTfIlpmsuolrYti5Q+R06acfsyRw6FTt69KhtSda5c+eOdXVEF8ll9DQbjPz67UMoClx9Wmy/H14kF3WSXNRHMlGnweZy38VpvLTnJHeclYRGM3rbFDhi7YwUj+OVLkfiejk13FJ90wdSu7YuKKhuoa3DhI9+7O4A90faMXtyh04IoVp//OAYRbVtxAT7cN/FaWNdHSGEGHOpkYH8+YrZtlUmx5K1Q9fX1gVvf1vExrcP09phHM1qqd7ePHXtP9ddmL8XoX56zAq2YaFC/eQOnYr5+/vbvn0Q6iG5jI4dWZW8sc+yquVjV88loI+hllaSizpJLuojmaiTO+bS35DLE1XN/G7zUYxmhTmxQfxoydRRrp1ruDqXpvZOW0fpjAT1deg0Gg0rUsLYfKCE53adYJFK9sjryR2vl5EkHToVmzZt2sAPEqNOchl5dS0d/PadIwDcdGbCoL7FlFzUSXJRH8lEndwxF+tdwsomAwajyW47mT99mIXRbFm85Y19RfxwcfyYDxF1hqtz+bagDrMC8aG+qrjL6siGlUm8e7CET45VkFnWaJtXpybueL2MJBlyKYRQFUVRuGdLOlVNBpLC/fnNmpSxrpIQQggHQv30eHlYPkqWN7Tbfr47t5rPMivQaTXodVoyyxpl+F6Xr7vmz6lp/7meksL9uWB2FABP7cgd8PEtBiPb0stkaO0YcqsO3b59+1izZg0BAQH4+/uzatUqdu/e3etxBoOBv/zlL8yaNQs/Pz8iIiI4//zz2bNnzxjUWggxFP87XMoHR8vQaTU88f25Y7oktxBCiL5pNBrbPLqSrnl0JrPCQ+8fA+CHi+O5YHYkgG0I/USn1v3nerrjrCQAPjxaRm5l31sYmM0KN7/0LetfPcDlT++hoLpltKroMmazwuvfFGIwmsa6Kk5zmw7d/v37Wb58OW1tbbzyyiu88sortLe3s3r1ar7++mu7x65bt4677rqLyy67jPfee4+nn36aqqoqVqxYwb59+8boGQghBlLe0M69W9IByx+TObHBY1wjIYQQ/ek5j+7N/UVklTcR5OPJz1cnc83pcQD871AJLYbRu4NT29JBh1FdS9o3tneSbt1/TuUdutTIQM5Ni0BR4OkdeX0+7vmv8m13HbMrmrj4qa/YnlUxWtUctvZOE3f85yB3v3uU371zFEVRxrpKTnGbOXT33nsvwcHBbNu2DV9fXwDOPvtsEhMT2bhxo+1OncFg4PXXX+e6665j06ZNtvOXLVtGdHQ0r732GosWLRqT5zBUBQUFmEwmdDodU6dOHevqiC6Sy8jYnVvNxrcP09huZE5sELetShrS+ZKLOkku6iOZqJO75mLbXLy+ncb2Th7/JBuAX5ydTIifnsWJk0iY7Ed+dQsfHCnj+6dPGfE6pZc0cOWzewjx1XPPRTO4cHaU0/P3XJnL/vxazAokTPYjMsh7WGWNhjvOSuaTYxVsPVTCz1YnkzDZz+54Vnkjf/nYkvfGc6ezI7uK707WcdNL3/KL1dO546wktNqRmTfpilyqmgyse/lbDhXV46nTsDRpslvO8wQn79BdfPHFfPzxx66uS792797NypUrbZ05gICAAJYvX86ePXsoKysDQKvVotVqCQoKsjs/MDAQrVaLt7f6LyCrhoYG6urqaGiQcedqIrm4VnuniQfey+D6576hrKGdqaG+/O0H8/HUDa15klzUSXJRH8lEndw1F9sduvpWnt6RS01LB4lhftywOB6wDMu8pqsT98b+wlGp0//78gQGo5nyxnZuf/0g1z/3Tb/DBvvjylzUvP+cI7Njg1iVEoZZgWd6zKUzGE384j+H6DCZWZ0azm2rknhj3WJ+uDgeRYH/++w4P33lWxrbO0ekbsPN5XhFE5c/s5tDRfUE+Xjyyk1ncNVpsS6u5ehxqkOXmZnJBRdcwPTp0/nb3/5GY+PI7ybf0dGBl5dXr59bf3b06FEAPD092bBhAy+99BJbtmyhsbGRgoIC1q1bR1BQEOvWrRvxugohBie9pIGL/v4VL+4uAOD6M+L48Off6/UtoBBCCHWyrtT47ck6XvyqAIB7L0yz+1LuygWxeGg1HCysJ7vcuY7VYFU0tvPhUcuX/NedEYeXh5Y9eTWc99dd/PnDTJpHcdhnT1+7yfy57u5YnQzAuwdLKKpttf388U+Ok1XeRKifnoevnINGo0HvoeWhy2bxl6vmoPfQ8llmJZc+tdvuPDX48ngVVz6zh+K6NqaG+vLuhqVulYkjGsXJwaIffvghTz31FB9//DG+vr5cf/313HbbbcyePdvVdQRg/vz5tLa2kpmZiVZraSSMRiMpKSmcOHGC119/nWuvvRawrJJ3//33s2nTJsxmy/jpuLg4tm7dyrx58+zKNZvNNDXZNy6FhYXEx8cTGHhqmVaDwUBWVhYAISEhxMXF2Z2Tk5NDa6vlDdtzx/rq6mpKSkps9QgJCbEdM5lMpKdb5gwFBASQmJhoO9bR0UFRURHNzc0AzJw5Ew+PU6Nk6+vrOXnyJADR0dGEhYXZ/d4jR46gKAo+Pj5Mnz7d7lhRURG1tbUApKSk2N25bG5uJi/PMl46PDycqKgou3OPHTtm2/sjLc1+s+eysjIqKysBy5Ky/v7+tmPt7e1kZ1tuzU+aNIkpU+yHXRw/fpy2tjY0Gg1z5syxO1ZVVUVpaSkA8fHxBAefmltlNBrJyMgALHdiExIS7M49ceKELeNZs2ah051aZKOuro7CQss3hjExMUyePNnu3MOHDwPg6+tLcrKlUevo6ACgpKTE9mVGamqq3RcOjY2N5OfnAxAREUFkZKRduRkZGRiNRry8vEhNTbU7VlpaSlVVFQBJSUn4+Z3q3LS2tpKTkwNAaGgosbH23yZlZ2fT3t6OTqdj1qxZdscqKyttd7KnTp1qdxe7o6ODzMxMAIKCgnoNX8jLy7O9D2fPnm27BgFqamooLi4GIDY2ltDQU42i2Wy2fdni7+9vW2bYaDLzjy/y+L/PjmMyQ4i3lkeumsO5s2Js5zY0NFBQUABAVFQU4eHhdnVKT0/HZDLh7e1NSkqKLRfrc62psfzhTE5Otruz39LSQm6u5ZvGsLAwoqOj7crNysrCYDDg4eHBzJkz7Y6Vl5dTUWGZG5CQkDDmbQRAfn6+7X2oxjYiKenU0Fm9Xj8h2girwsJC6urqAPW1EVqtlpSUFPR6ve2YmtoIq4KCAts38DNmzLCr71DbiO6Ki4tV10ZYswH3aiOOVrRzz/Zq28+XTw/j6atncOLECeBUG7H+le/YllHOT5ZN5eppGoefI1o7jHx8II84rzY8tBqn2ojn95XzZnoTC+ND+O+tSymqbeWB947xWaYll0k+Wh68KJWLTjvVDvTXRnR0dFBYWEhLi2WxD2fbCLPOiytey0NR4Ju7VxMR6K3qNqL754gfPv8Nu3KquXxOGDfO9OJoRTv3bq9GAf71o4WckxbRq41o9Ahm/SvfUdrQzlWnxXLrAn+XthHWv/nFxcW29nswbcR/vyvmzneOYDIrzAz34q4zJxEe5KeqNkKr1fZqHwICAuxes56cXhTlggsu4MMPP+T48eOsW7eOt956i3nz5rFy5Ur++9//YjK5dqWYO+64g+PHj3P77bdTUlJCUVER69evtzVE3Z/kH//4Rx577DHuv/9+duzYwdatW0lJSeGcc87h4MGDA/4uo9HYa1Kkoih0dnbS2dmJ0dj72x2j0Wg73pPZbLYds3Ywu+urXL1eb3duzzp1P+bo9e6vviaTadjlOnqu3cvt+Vy7v4aOyu3vNRxsuaORjV6vR6/X2/3e/t4vw3kNnS23e+dmMOV2P3eo9R3sa9j93D9+mMljn1g6c4tjvHj8nFBWTrf/IDHQc+3o6LAr15qLXq93yWs4nGxGq43oWa4a24juufQsd7y2EY7KVVsbYc1msOV2P3c02ghHdeppqG3EYJ/rWLUR3V+n/o6prY0I6TZ4SqfVcM+FMxy+htcssnS+3j1YQkt772zqWzv4/j+/5pdbctl2vNGpNqLN0MnHOZaO14+XTgVgyiRfnvvxQh6/NIkIPx21bWY2bsmiptngsNyBPov1NNjunlZwAAAgAElEQVRsDpU2oyiQONmPiEDLF2RqbiO6f4644yzLl1XvZ1RzorqNv+6tRQF+cPoUzkmL6HWuyWRiTmwwf7zccpPnwMk6l7cRjj6L9dTzuR4tbuB3my2duSvmx3Df90Lw0ZpV10Y4ut4GMuxFUaZNm8YTTzzBvffey1VXXcWOHTvYtWsX0dHR/Pa3v+X22293yQTDtWvXUlVVxaZNm3j22WcBWLJkCRs3buSRRx4hJsbyzX5mZib33Xcfjz76KBs3brSdf/7555OWlsavfvUrduzY0e/v8vDw6FVnjUZj242++7db3c/pa7d6rVZrO+aodz3YcnvWqXu53b8t6l6uoigOy9XpdMMqt/u/+yq353Pt/ho6Ktf6XB29XwZbrlqyGei5Wp/nQK+hM+VaJwkPpVzruf2VO9zX0PpvRVF477DlLsDPlkVy1hSdw/oM9FytHbeReA3NZvOQrxs1vg+ljehdrlqykTaid7kDPdeepI2wr9Ngyh2JNiIiwAMNoADXLYpjekQAzc3NvcpdnhxGdJA3pQ3t7C/rYFmsl+0xDa2d3PD8N6SXWO4kZtcauSjVc8htxJ7iNuoNZib56Dhvlv0dreVJk4jzauOuTyvJq+vkhd35/GZNaq9yRyqb9ArL3anF007dfXKXNmJRwiTOSJjEN/m13LOzlpZOhdhgb+65KK3Xud3LnTfFMlLiRHULrSbtsF/D4bQR7Sa4440DdJoUzpsZyePfn0tGRoYq24j+7sT1xekhl1bFxcX84x//4LnnnqOqqorzzjuPa665hq1bt7JlyxZuvfVWnnrqqeH8CjsGg4GcnBwCAgKIj4/nlltu4bXXXqOqqgofHx/+85//cO2117Jz505WrFhhd+5VV13FF198YbsNDY6HXA50W1MI4bz86hZWPbYTvU7LkfvPlX3mhBDCzd322gGyK5p465YlTPLT9/m4//v0OH/7PIcliaG88dPFADS0dXLDc99wtKQBD60Go1lheoQ/n/xyRZ/l9OWypy2LXPz6nOm2uV89fZxRzi2vfIe/lwe77zyLIF/HnQFXO++vX5JV3sTfr53PxXOjBz5BZXbnVnP9c98AoNXA2+uXclp8yABnwVmP7eREdQsv3LiQs1IjBnz8SPnVm4fYfLCE6CBvPvr58lHL3RnO9E2c7rVs376dK664gsTERJ588kmuvvpqsrKy+OCDD/jRj37EO++8wxNPPMFrr73m7K9wyMvLi1mzZhEfH09hYSFvvvkm69atw8fHMinXOo517969ducZDAYOHDjQa6ywmjU0NFBfX+92K16Nd5LL8OwvsMzLmhMb5NLOnOSiTpKL+kgm6uTOuTx9/QI+/eXyfjtzAN8/fQoajWVxkILqFhraOvnh85bO3CQ/Pc/9eCEAeVUttHcOberOoaJ6DhXVo9dpufaMuD4fd86MCFIiAmg2GPn3noIBy3VFLlVNBrK6FoNZljR5gEer09JpoSzs6sDdtippUJ05gPlxlscdLKx3aX2GksvmA8VsPliCVgN/u3a+qjtzznJqyOWMGTM4fvw4CQkJPProo6xdu9ZuUp/VGWec4bKGKT09nXfeeYeFCxfi5eXF4cOHefjhh0lOTuahhx6yPe7MM8/k9NNP5/7776e1tZXly5fT0NDA3//+d/Lz83nllVdcUp/RUFBQQGenZdJwzwnSYuxILsOzP9/SoTs9wbXLNksu6iS5qI9kok7unstgptfEBPuwYnoYO7OreO6rExwtbuBIcQMhvp68vu4MUiICCPb1pL61k9zKZmbFBA1YptVLXZ2zi+ZEMdm/96roVlqthtvPSuKONw7ywu58bvpeAv5efX8cdpSLoig8+P4xvs6r4dWbz+j39wHsybMsGjMzOnDATq9aaTQanr3hNA4U1nHOjMHfaVsQH8w7B4o5UFjn0voM9nrJr27h3i2WRYN+cfZ0Tp/qHltGDJVTd+hiYmLYsmULOTk5/OIXv3DYmQNYsGCBbYWe4dLr9Wzfvp0f/ehHXHjhhfzjH/9g/fr17Ny5024FJK1Wy6effsqvf/1r3n77bS655BJuvfVWwLIy5w033OCS+gghnPPtSUujfvrUwX27J4QQYvz4QdeedK/uLeRwV2futZsXkxoZiEajYUak5TPlsbLBb4lV1WTg/SOWVW6ti6H054LZUSRO9qOhrZNX954c8nN4+7tiXtxdQFZ5E/87VDrg43fnWjp0Z7rp3TmrsAAv1syMHNJm4fOnWP7WHyqsx2Qe1iyvIeswmvnZGwdp6TBxRsIkbluVNPBJbsqpO3QvvPACUVFRDr+NMRqNlJaWEhcXh16vJz4+ftiVBJg+fTpffPHFoB4bFBTEpk2b2LRpk0t+91iJiorqc/K6GDuSi/Mqm9rJr25Bo4HT4l37LZnkok6Si/pIJuo0UXJZPSOCyf56qps7CPb15NWbzyAt+tSNgRlRgXx9oobMIXTo3thXSKdJYd6UYOZOCR7w8Tqthg2rktj49mGe23WCHy+Zio/e8eveM5e8qmbu/1+G7finxypYe2aCw3PBcjfvqxxLh85dh1sOR0pkAH56HS0dJnIqm0iNdHwTaKgGc7385eMsjpY0EOzryV9/MA/dEDqi7sapDl1CQgJff/01ixYt6nXs8OHDLFq0yOXbFkxEPffUEeoguTjv2wLL3bmUiACCfFw7hl1yUSfJRX0kE3WaKLl46rTcfcEM/rOviPsuTmNmtP2wyhlRAQCD7tB1msy89o3lLtuNg7g7Z3XpvGj++tlxiuvaeGNfYZ+dsu65GIwmfvbGQVo7TMyMDiSjtJF9BbXUt3YQ7Ot4KGVBTSulDe3oddpxO9yvPzqthrlTgtmTV8OBk/VOdeg6jGYe3ZbFtHB/rl1kmR850PWyI7uSf+2yjBL8y1VziQryGXrl3YhTQy77WxjTZDK5ZJsCIcT4Y10QZSL+URNCCGFxxYJY3lq/xOEcuRlRlg/8mWVN/X7etNqWXk5Fo4GwAC8umB016Dp46rRsWGkZgvfPL/MwGAe+EfHotmwyShsJ8fXk+R+fTmpkACazwvasyj7P+apruOVp8SF93gUc7+bHWe6aHnRyHt1jn2Tz3Ff53Lslncb23nu79WQ2K/x+s2Uz8h8vibfbK2+8cnqVS0edNoPBwEcffcTkyRPvlrIQYmC2Dp2LF0QRQggxPiRH+OOh1dDQ1klZQ/uAj7euVHndojj0HkP7WHvlaTFEBnpT0Wjgv98V9/vYHVmVPP/VqTs+kUHeto7Cp8cq+jzvqxzLVllnJk/cz8YLula6dGZhlJ3Zlfy/L08AYDQr7MyuGuAMOFhUR2lDOwFeHvzughlD/p3uaNDv/AceeACdTodOZ9kEePHixbb/t/7j6+vLgw8+yKWXXjqSdRZCuKFmg5FjpZYhNLIgihBCCEe8PHRMC7MsdjfQsMv0kga+O1mHh1bD9f1sVdDf77plRSIAz+7Mo9Nkdvi4ysZ2Nr59GLAM6zy7qyNn7dB9cbzK4TYLJrPCnrwaYGLOn7Oybl2QV9VCfWvHoM+rbGzn129ZXnfr6qD9dZ6tPs6wPOasGeETZq/bQc+hW7RoERs2bEBRFJ555hmuuuoqIiLsb2F6eXkxe/ZsrrvuOpdXdCJKT0+no6MDvV7PrFmzxro6oovk4pwDJ+swKxAb4jMiY9klF3WSXNRHMlEnyeWUGVEBZFc0kVnWyOp+lsj/OKMcgHNnRhAe6O3U77p2URxP78iluK6NLQdLuHrhFLvjR44e5Z7Pyqlp6SA1MoC7zk+1HZsdE0RkoDflje18nVfDqlT7eV1HSxpoajcS4O3B7CFswTDeTPLTMzXUl4KaVg4V1bMyZeD5omazwq/eOmx73e+7OI3r/vUNO7Mq6TCaOZ51zOH1oiiK7X2xZmbkiD0ntRl0h+7888/n/PPPB6ClpYX77ruPhIS+V/URw2cymTCbzbLAjMpILs6xDrdcNELz5yQXdZJc1EcyUSfJ5ZQZUYFsOVRKZllTv4/b1bV65GA6CH3x9tSx7nuJ/PmjLO7Zks7TO3IJ8vEk0MeTIB9PKqrrOFLRgV6n4anr5tvd8dFoNJydFs6rewv55FhFrw6ddbuCpdNCx/UKi4OxIC6EgppWDhQOrkP3jy/z+Cq3Gh9PHU9dN5/Eyf5M9veiutnAN/k1BPZxvWRXNHGyphW9h5YV08NG6umojlNz6F588UXpzI0Cb29v2z9CPSQX51g7dAtHqEMnuaiT5KI+kok6SS6nnFoYpe8hlw2tnRwprgfge8Ocn3b94niig7wxGM0U1LRyuLiBXTnVvH+kjP2llnl8GxZPJik8oNe556ZZ7gJ9llmBucc+a9btCtx9/zlXmB9vGXY5mIVRvjtZx+OfHAfggUtmkhQegFar4Zw0S0fwk4yKPq+XT7qGW34vaTJ+/WwYP94M+pl++eWXLFiwAH9/f7788ssBH798+fJhVUxASkrKWFdBOCC5DF2H0czBQssf3kUJIzN/TnJRJ8lFfSQTdZJcTrF26PJrWmjtMOKr7/1x9esTNZgVmBbmN+xh/P5eHnz+65UU1rbS0NbZ65+YYG++32MoptXixFACvDyoajJwqLjetgBIW4eJ705aOi8Tef6c1fyu/QEPFdZjNit9bk7e0NbJz944iMmscPHcaK5eGGs7dk5aBG/sK+KzzAoevPQshws0TsThljCEDt3KlSvZu3cvixYtYuXKlX1uTaAoChqNRoYMCCFs0ksbMBjNhPh62ia7CyGEEI6EBXjZhtdllzfZFtXo7qvcrtUjXdRZ8tHrSInsfQduIHoPLStSwnj/SBmfHquwdej2F9TSYTITHeRNwmQ/l9TRnaVGBuCr19FkMJJb1cz0iN6vtaIo3L35KCX1bcRN8uWPl8+y628snTYZX72OsoZ20ksamR1rPy+xqLaVjNJGtBpYPWNi7OtoNegO3Y4dO0hLS7P9txBCDNb+/FPDLWWfSiGEEAOZERXArhwDmWV9dOiswxmTx36e1DlpEbYO3Z3nWRZNsc6fW5Y0Wf7uAR46LXNig9h7opYDJ+scdujeP1LGB0fL8NBqePLa+QR6e9od9/bUsTw5jG0Z5Xx6rLxXh+6TrhUwT586iVB/r5F7Mio06A7dihUrHP63EEIMZKQXRBFCCDG+pEUFsiun2uE8uqLaVgpqWtFpNSxOHPu/K6tSw/HUacitbOZEVTOJYf62DcUn8v5zPc2PC2HviVoOFtbzg0X220y0dhj504eZANy2Kol5XUM0ezonLYJtGeV8cqyCX51rP0x5og63hCF06Lrr7Oyko6MDP7/et5BbWlrQ6/V4eno6OFMMRXFxMSaTCZ1OR2xs7MAniFExkXOpaTag02oI9tUP+hyzWeHbrnkEC0dw/7mJnIuaSS7qI5mok+Rir7+FUax3v+ZNCSbAe2Q/bw4ml0BvTxYnhrIrp5pPj1Vw9UI9GV37ri6dJh06q/42GH9mRx5lDe3Ehvhw68ppfZZxVmo4Oq2GrPIm9h7NITbEh9jYWGqaDXzb9eXxuTP73upivHJqlcubb76Zm2++2eGxn/70p9x6663DqpSwqKmpoaqqipqamrGuiuhmouayM7uSZY9sZ8VfdpJV3v9mr93lVjVT39qJt6eWWSO4D89EzUXtJBf1kUzUSXKxZ+3QZZU39Vo9clfu6K0eOdhcrJuMf3qsgj15lvqlRgYQFjCxhv71Z36c5a5bTmUzDW2dtp+frGnh/315AoB7LkzrdzPwED89p3d9Ofxxepktl88yKzArMCsmkNgQ35F6CqrlVIdu586dXHLJJQ6PXXzxxXz++efDqpQQQl0+OFLGupe/pb3TTENbJz9+YR/Fda2DOtc63HL+lBA8dU41OUIIISaYxDA/9DotzQYjxXVttp+bzQp7ujp0w92uwJXO7toA/bvCOrYeKgVkdcueJvt7ETfJ0tk6XFRv+/mmDzLpMJk5M2kyawZxd+2crq0i9nVtKQHwcdd2BWvSJt5wS3ByyGVFRQVRUVEOj0VGRlJeXj6sSgmL5ORk26qhQj0mWi5v7i/kd5uPYlbgwjlR5FQ0cbyimR+9sI//rl/KJL/+h19aF0Q5PWFk5zlMtFzcheSiPpKJOkku9jx1WpIj/MkobeRYWSNxoZaOwLGyRupaO/H38mBuH/OsXGmwuUQH+zArJpD0kkY+7VqcQ/af621BXDCFta0cKKxj+fQwvjhexafHKvDQarj/krRBvf/PTYvgofePkVXdSVjsVJoNRtsiOWtmTcwOnVNflwcHB5Obm+vwWG5uLgEBQ1/2VfTm6+uLn58fvr4T79axmk2kXJ7bdYI737F05q4/I44nfzCfl9YuIjrImxNVLaz9935aO4z9lrG/wDJWfqQXRJlIubgTyUV9JBN1klx6czSPblfXB/fFiZNGZdTHUHI5t9vdIQ+thkUj/EWmO1pg22C8ng6jmQfeywDgx0unOty43ZEpk3xJjQzApMDek03szK6kw2RmaqgvyeETc2skp66EVatW8ec//5na2lq7n9fW1vLwww9z1llnuaRyQoixoSgKT3ySzaYPLCtO3bIikU2XzUKn1RAV5MPLNy0i2NeTQ0X1bHjtAJ0ms8NySurbKKlvQ6fV2MbOCyGEEIPhqENn3X9OjcMZrfPowLIAiJ+XUwPhxrX5U6wdujpe3J3PiaoWJvvr+fnZyUMqp/ucRdtwy5mRE/YOt1Mduvvvv5+qqiqSk5PZsGEDf/zjH7n11luZPn06VVVVPPDAA66upxBilCiKwgPvHePJ7Za78L89L4XfnT/DrpFMCg/g+R+fjrenlp3ZVdz5zhEURelVlnXFqZnRgfKHTQghxJDMiLLcscnsWoirvdNkG/WhpvlzVqmRAcSG+ADq7HCqQWpUAN6eWhrbjTz2STYAvz0vtdeecwOxdui+OF7FjqxKAM6dgNsVWDn1CSslJYVdu3bxq1/9in/961+25VxXrFjBE088QUpKysCFiAG1tLTYxm072iJCjI3xnIuiKDz4/jH+vacAgIcunckPl0x1+NjT4kN45voFrHv5OzYfKMFkVpgZHYiXhw4vDy1enlreP1wGwML4kR92Mp5zcWeSi/pIJuokufSW1nWHrqi2jab2Tg4VWYbpRQZ6My1sdIbWDSUXjUbDb9ak8Po3hVxz+pRRqZ+78dRpmRMbzL78WjpNCnNjg7hqwdC36UgM9iAiQE9FUwcA4QFezB+FOZVq5fRX5nPnzuXzzz+nra2Nuro6Jk2ahLe3tyvrNuHl5ubS2dmJp6cnc+fOHevqiC7jOZfHPznOi7sLAPjLVXO4emH/f5DOSo3g4Stm85v/HmHroVLbyl49LUoYuf3nrMZzLu5MclEfyUSdJJfegn31RAV5U9bQTlZ5k23hi2VJk0dtaN1Qc7l0XgyXzosZhZq5r/lxlg4dwP2XzESrHXqWeXl5zAvX8XGT5f/PSYtwqpzxYthjoDQazYQdryrEePL0jlye2mEZZvnQpTMH7MxZXb1wCoE+nuzIqqTDaMZgNGMwmiz/7jQTGeTNypTwkay6EEKIcWpGVCBlDe1kljXylQq3KxBDd+HsKJ7flc+PlkxlfpzzX/ieHuXFx3mWLS3WTODhljCMDt2ePXu488472bt3L2azGa1Wy9KlS3n44YdZsmSJK+s4YYWFhdmGswr1GI+5vLg7n798bBnLfvcFqX0Os+zLmpmRY96YjsdcxgPJRX0kE3WSXBybERXA9qxKdudWk1FqmUs3mvPTJBfXmxMbTMaDa9APY5XSsLAwzgoK5tWMdjw9PVicGOrCGrofjeJoJYMB7N27l5UrVxIcHMyVV15JdHQ0JSUlbN68mYaGBnbu3MkZZ5wxEvV1ObPZTFNTk93PAgIC0GplA2QxMby5v5A73zkKwM9XJ/PLc6aPcY2EEEIIi/ePlHL76wfRaEBRLAuPbPvF8rGullAJY9cq2x6jsIXFaHGmb+JUh+7cc8+lvr6eHTt22E0QbWlpYdWqVYSEhPDxxx8PtdgxIR06MZFtPVTCL948hKLAT5cn8rvzU2UItRBCCNXIq2pm9eNf2P7/5jMTuOeitDGskRAjy5m+iVNDLvfu3csLL7zQa7UfPz8/fvOb33DTTTc5U6wQYpScrGnhqe25vHOgGEWBGxbHSWdOCCGE6kwN9cPbU0t7p+VOzJkyf06IXpzq0JlMJry8vBwe8/b2xmQyDatSQoiRYe3IbT5o2WYA4NpFcTx4ySzpzAkhhFAdnVZDSmQgh4vq0eu0LEoY+W1whHA3To0rnDt3Ls8++6zDY//85z9HbLndffv2sWbNGgICAvD392fVqlXs3r3b4WNbWlq47777mD59Ol5eXoSGhrJq1SpycnJGpG4jISsri6NHj5KVlTXWVRHduGMuJ2ta+M3bhznr8S94+7tiTGaFlSlhvLthKX++Yva4WOrXHXOZCCQX9ZFM1Ely6Vta1wbjC+KD8dUPe4H2IZFc1ElysefUVXHXXXdx2WWXMX/+fG644QaioqIoKyvj9ddf59ChQ2zZssXV9WT//v0sX76cRYsW8corr6AoCo8++iirV69mx44dditrNjc3s2rVKkpLS7nrrruYM2cODQ0N7Nmzh9bWVpfXbaQYDAY6Ozsxm81jXRXRjbvlkl7SwBXP7KGja+LwypQwfr46eVhLBauRu+UyUUgu6iOZqJPk0rcrF8SyPauSnyxLGPXfLbmok+Riz6kO3SWXXMKrr77Kb3/7W37zm9/Yfh4TE8Orr77KxRdf7LIKWt17770EBwezbds2fH19ATj77LNJTExk48aNdnfq7rnnHjIzMzly5AiJiYl29XYnHh4eKIqCh8fofhsl+uduubx/pIwOk5mZ0YFsumzWuOvIWblbLhOF5KI+kok6SS59Wzh1Et/cffaY/G7JRZ0kF3tOrXJppSgK2dnZ1NTUEBoaSkpKyojNwwkICODCCy/kP//5j93Pr7zySjZv3kxpaSlRUVG0trYSHh7O1VdfzYsvvjhgubLKpRjvfvj8N+zKqWbTZbO4YXH8WFdHCCGEEEL0wZm+ybB6LRqNhtTUVJYtW0Zq6siukNfR0eFwIRbrz44eteyj9d1339HS0kJycjK33norISEh6PV6Fi5cyAcffDBi9RNCjRRF4VjXRqwzowPHuDZCCCGEEMLVBn2f8ssvvxxSwcuXu3bTx7S0NPbu3YvZbLb1UI1GI9988w0ANTU1AJSUlADwyCOPMHv2bF5++WW0Wi2PP/44F198MR999BFr1qzp93dlZGQQHx9PYOCpD8AGg8E28TIkJIS4uDi7c3Jycmzz83ouClNdXW2rV1xcHCEhp4a8mUwm0tPTAUvvu/sQUYD8/HwaG7s+kM+caXdrub6+npMnTwIQHR1NWFiY3blHjhxBURR8fHyYPt1+s+iioiJqa2sBSElJwdvb23asubmZvLw8AMLDw4mKirI799ixY3R2duLp6Ulamv1eMGVlZVRWVgIwbdo0/P39bcfa29vJzs4GYNKkSUyZMsXu3OPHj9PW1oZGo2HOnDl2x6qqqigtLQUgPj6e4OBg2zGj0UhGRgYAgYGBJCTYj7E/ceKE7ZuOWbNmodPpbMfq6uooLCwELEOGJ0+2Xw758OHDAPj6+pKcnGx3rLCwkLq6OgBSU1PtvnBobGwkPz8fgIiICCIjI+3OzcjIwGg04uXlRWpqqt2x0tJSqqqqAEhKSrLbHqS1tdW2sE9oaCixsbF252ZnZ9Pe3o5Op2PWrFlUNhmoaelAq4FQXbvt+UydOpWgoCDbeR0dHWRmZgIQFBTE1KlT7crNy8ujubkZgNmzZ9t9S1RTU0NxcTEAsbGxhIaG2o6ZzWbbly3+/v5MmzbNrtyCggIaGhoAmDFjBnq93nasoaGBgoICAKKioggPD7c7Nz09HZPJhLe3NykpKXbHiouLbW1CcnKybZg2WBZMys3NBSAsLIzo6Gi7c7OysjAYDHh4eDBz5ky7Y+Xl5VRUVACQkJAgbQTSRrh7G9FdZWUlZWVlgLQR0kZYSBthIW2EhbQRFiPdRmi12l7tw0AG3aFbuXLloO7AKYqCRqNx+dYFd9xxBzfddBO33347v//97zGbzTzwwAO2hsj6xrBOjtTr9Xz00UcEBFhWRlq1ahXJyck89NBDA3bojEYjPUeiKopCZ2en7bijc6zHezKbzbZjjiZvDrbcnnXqXq6j17uzsxNFUfD09Ox1zGQyDavcvp5r93J7Ptfur6Gjcq3P1dH7bLDlqiWbgZ5rZ2cnRqPR4e3z/rIZTLmdnZ22YxmllkZuWpg/nlr6LLf7cx1q5oN9DR2d3/259jTQc+3o6MBsNtv9YXVUrrOvoaPXaLDlquV9KG1E73LVko1a2ojBlms9d6ByHZE2one5ankfShvRu1y1ZCNtRO9yJ0ob4ag+Axl0h27Hjh1DLtyV1q5dS1VVFZs2bbJtmbBkyRI2btzII488QkxMDICtV7906VJbZw4s34ysWLFiUCtwenh49GoMNBqNrUFzNAHTw8PDYYMHls6m9ZijC6+vcsvLy+no6ECn06HVanvVqXu5jsL39PTsc8KoTqeznetMud3/3Ve5PZ9r99fQUbnW19BRQzzYckcjm/LyckwmEwaDoc/XcKDnan2eA72GzpRrMplsxzJKLN/KpkUH9ltu9+faV7nDfQ0Heq49DfRc9Xo9JpPJ9hhrLjqdbtivodlsHvJ1MxZtRM9y1dhGdM8lMjJyQrQRjspVUxth/TBRXl5u963/eG8j+ipXLW2EyWRy+Lcexncb0V+5amgjen4W62k8thHdP0cMtlzruf2V68o2wvq3paOjY9y1Ec6s4zGsRVHGgsFgICcnh4CAAOLj47nlllt47bXXqKqqwsfHh7KyMqKjo7nkkkvYunWr3bnXXnst7733nu2WL6h7UZTDhw/bhiSM1N5+YujcKX5MjFUAACAASURBVJf1r3zHtoxy7r4glZ8unzbwCW7MnXKZSCQX9ZFM1ElyUSfJRZ3Gcy7O9E2GvdZndnY21dXVzJs3z26M7kjx8vKyjektLCzkzTffZN26dfj4+ACWMbJLlixh9+7dNDY22samtra28sUXX7B48eIRr6MQapFRZhlyOTM6aIBHCiGEEEIId+R0h+7ll1/m7rvvtk2O3L9/PwsWLOD73/8+55xzDuvWrXNZJcEycfGdd95h4cKFeHl5cfjwYR5++GHbvLjuHnvsMVatWsWaNWu488470Wg0PP7441RXV/d6rJolJCTY5iQK9XCXXBraOimqbQMmxgqX7pLLRCO5qI9kok6SizpJLuokudhzqkP39ttvc+ONN3LRRRdx/vnnc9ttt9mOLViwgLfeesvlHTq9Xs/27dt58sknaW5uJi4ujvXr13PXXXf1ujO4dOlSPv/8c+655x6uv/56ABYvXszOnTtZsmSJS+s1krqvfCPUw11yySyzzJ+LCfYh2Fc/wKPdn7vkMtFILuojmaiT5KJOkos6SS72nJpDt2DBAubPn8/zzz9vm0z47bffsmDBArZu3cqGDRtsy+uqnZrn0AkxHM9/lc9D7x/jnLQI/vWjhWNdHSGEEEIIMYBR21g8MzOTH/zgBw6PTZo0ybZvgxBi7Fi3LJgIwy2FEEIIISYqp4Zc+vr62jbx66mkpMRuw0vhPIPBYBsf3H2zSTG23CWXY6VdG8lOkAVR3CWXiUZyUR/JRJ0kF3WSXNRJcrHnVIdu2bJlPPXUU1x55ZW9jv373/9m5cqVw62XwLLT/HhdktWduUMu7Z0mciot23OkTZA7dO6Qy0QkuaiPZKJOkos6SS7qJLnYc6pDd99993HmmWeyaNEirrvuOjQaDZs3b+YPf/gDX375Jfv27XN1PYUQQ3C8ogmTWSHY15PoIO+xro4QQgghhBghTnXoFi5cyEcffcSGDRv49a9/DcCf/vQnkpOT+fDDD237xInhCQkJwWg0OtxpXowdd8glwzbcMnDCLOnrDrlMRJKL+kgm6iS5qJPkok6Siz2nVrlMT0+3ddry8vKoqKhg8uTJTJ8+3eUVHGmyyqUYj+7dks4re0/y0+WJ3H3BjLGujhBCCCGEGARn+iZOdWvnzJnDwoUL+clPfsK1117LtGnTnClGCDFCZIVLIYQQQoiJwanbUE8//TRarZbbbruN6OhorrvuOj799FNX100I4QSTWSGzzPLNjnTohBBCCCHGN6c6dLfeeit79+4lIyOD22+/nS+++II1a9YQFxfHfffdR15enqvrKYQYpPzqFto6Tfh46kiY7D/W1RFCCCGEECPIqTl0PZnNZj766CNeeukl/ve//2E0GjEaja6o34hT8xy6nJwc24TP5OTksa6O6KL2XLYeKuHn/znE/Lhg3t2wbKyrM2rUnstEJbmoj2SiTpKLOkku6jSecxm1OXQ9abVakpKSSExMJDg4mKqqKlcUO+G1trba9tgQ6qH2XKwbiqdFTazhlmrPZaKSXNRHMlEnyUWdJBd1klzsDatD19TUxJtvvsmLL77I3r178fLy4vLLL+cnP/mJq+onhBiiU1sWBI1xTYQQQgghxEhzasjljh07ePHFF9m8eTOtra2cfvrpthUvg4Lc60OkmodcCjFUiqJw2qbPqG3pYOtty5g7JXisqySEEEIIIQZp1IZcrl69mvDwcNavX8/atWtJS0tzphghhIuVN7ZT29KBTqshJTJgrKsjhBBCCCFGmFMdunfffZeLLroInU7n6voIIYYho8Qy3DIpzB9vT7k+hRBCCCHGO6c6dJdeeqmr6yGEcIFT8+cm1oIoQgghhBATlUtWuRQjo7q6GrPZjFarZfLkyWNdHdFFzblklDYAkDYBO3RqzmUik1zURzJRJ8lFnSQXdZJc7EmHTsVKSkpsS7LKm1U91JyL9Q7dROzQqTmXiUxyUR/JRJ0kF3WSXNRJcrEnSzkKMU7Ut3ZQUt8GwMwo91ptVgghhBBCOEfu0KlYXFyc7XayUA+15mLdUDw2xIcg34m30aZac5noJBf1kUzUSXJRJ8lFnSQXe9KhU7GQkJCxroJwYDRyaTEY+fRYBSdrWrlx6dQBO2hms8LWQ6XAxF0QRa4XdZJc1EcyUSfJRZ0kF3WSXOxJh04Ileg0mdmVU8WWg6V8eqyCtk4TAG99W8TffjCPhVMnOTyvsb2TX/7nEJ9nVQJwweyoUauzEEIIIYQYWxpFUZSxrsRYcmY3diFc6URVMy/szueDI2XUtXbafh4f6otZUSiqbUOn1fCrc6azfsU0dFqN3bk3v/wtJ6pa0HtoeeTK2Vw+P3YsnoYQQgghhBgmZ/om0qFTcYfOZDLZ/ls2cVcPV+dy3l+/JKvc8h6c7K/nojnRXDY/hrmxQTQbjNyzJd02nHJZUij/9/15hAd6syO7kp+9cZCmdiNRQd7884enMSc2eNj1cVdyvaiT5KI+kok6SS7qJLmo03jORTp0TlBzh+7w4cO2JVnnzp071tURXVyZi8FoYsa92zAr8M8fnsbq1HA8dPbvPUVR+O93xdy3NYO2ThOhfnoumhPFy3tPoiiwMD6EZ25YQHiA97Dq4u7kelEnyUV9JBN1klzUSXJRp/GcizN9k7HvtQgxgRVUt2JWIMDbg3PTInp15gA0Gg1XL5zCe3ecyYyoQGpaOnjpa0tn7tpFcby+bvGE78wJIYQQQkxUbtWh27dvH2vWrCEgIAB/f39WrVrF7t27+z2nra2N6dOno9FoeOyxx0appq4REBBAYGAgAQEBY10V0Y0rc8mptHwDkxzuj0aj6fexSeH+vLthKTcuncpkfy8eumwWf75iNnoPt7qMR4xcL+okuaiPZKJOkos6SS7qJLnYc5tVLvfv38/y5ctZtGgRr7zyCoqi8Oijj7J69Wp27NjBkiVLHJ5377330tLSMsq1dY3ExMSxroJwwJW55FQ0A5bO2mB4e+q4/5KZ3H/JTJfVYbyQ60WdJBf1kUzUSXJRJ8lFnSQXe27Tobv33nsJDg5m27Zt+Pr6AnD22WeTmJjIxo0bHd6p27dvH3//+9957bXXuPrqq0e7ykIMKLfS0qFLDpdvmIQQQgghxNC5zVit3bt3s3LlSltnDiy3W5cvX86ePXsoKyuze3xHRwdr167ltttuY+HChaNdXSEGxdqhS4oY3B06IYQQQgghunObDl1HRwdeXl69fm792dGjR+1+/uCDD9LS0sJDDz00KvUTYqiMJjMnqq136KRDJ4QQQgghhs5thlympaWxd+9ezGazbdlOo9HIN998A0BNTY3tsYcOHeLRRx/lvffew8/Pj6qqqiH9royMDOLj4wkMDLT9zGAwkJWVBUBISAhxcXF25+Tk5NDa2grQa/nU6upqSkpKAIiLiyMkJMR2zGQykZ6eDljuOHYfE5yfn09jYyMmkwmdTsfMmTPx8DgVWX19PSdPngQgOjqasLAwu9975MgRFEXBx8eH6dOn2x0rKiqitrYWgJSUFLy9T62S2NzcTF5eHgDh4eFERUXZnXvs2DHbUrFpaWl2x8rKyqisrARg2rRp+Puf6qi0t7eTnZ0NwKRJk5gyZYrducePH6etrQ2NRsOcOXPsjlVVVVFaatmLLT4+nuDgU/utGY1GMjIyAAgMDCQhIcHu3BMnTtiWf501a5bdfiV1dXUUFhYCEBMTw+TJk+3OPXz4MAC+vr4kJycDllyMRiMGg8G2D0pqaqrdFw6NjY3k5+cDEBERQWRkpF25GRkZFNS20WlS8PHUER3kYztWWlpqe88mJSXh5+dnO9ba2kpOTg4AoaGhxMbabyKenZ1Ne3s7Op2OWbNm2R2rrKy03cmeOnUqQUFBtmMdHR1kZmYCEBQUxNSpU+3OzcvLo7nZ0vmcPXu23dK5NTU1FBcXAxAbG0toaKjtmNlstn3Z4u/vz7Rp0+zKLSgooKGhAYAZM2ag1+ttxxoaGigoKAAgKiqK8PBwu3PT09MxmUx4e3uTkpJiy8XDwwNPT09bm5CcnGx3Z7+lpYXc3FwAwsLCiI6Otis3KysLg8GAh4cHM2faz1UsLy+noqICgISEhDFvI+BUOwGoso3w8fGx5ZKQkDAh2girwsJC6urqAOfaCKPRiJeXF6mpqXbHhttGWOeVh4SE2L0W472N6K64uFh1bcThw4cxGo1oNBoWLFhgd2w8txFq/xzR87PYRGgj3OFzhPVvfnt7O2azGRg/bYRWq+3VPgzEbTp0d9xxBzfddBO33347v//97zGbzTzwwAO2hqh7J2/t2rVcc801rFmzxqnfZTQa6bk9n6IodHZ22o47Osd6vCez2Ww7Zn3TdddXuY2NjXbn9axT93K7b7DYvVxFUfD09Ox1zGQy2c51pty+nmv3cns+1+6voaNyra+ho9UeB1vuaGRjzUWj0dheu/7eL329hgW17YBlQRSt9tRz7i+bwZTb2dnp8Fh/5XZ/rkPNfLCvoaPzu9epp4Gea0dHB2az2faH1ZqLp6cnwcHBw34NHb1Gg81mtNqInuWqsY2w/rf1d0yENsJRuc68D41Go8N9h4bbRlifh/VD/mDKtZ7bX7lqbyP6KldNbYSiKA7LHc9tRH/lqqGN6PlZrKfx2Ea4w+cIR5/FenLXNsKZjdLdpkO3du1aqqqq2LRpE88++ywAS5YsYePGjTzyyCPExMQA8Ne//pUTJ07w1ltvUV9fD5z6o9Xe3k59fT0BAQH9vlgeHh69GgONRmNr0Lp/u9X9HEcNHlg6m9Zjji68/srt/piedeperqPn4+npiaIoDsvV6XS2c50pt/u/+yq353Pt/ho6Ktf6GjpqiAdb7mhmo9FobD/v7/3S12tY1mK5kHsOt+wvm8GUa/0Wsaf+yrWe21+5w30NB3q/9DTQc9Xr9ZhMpgHLdeY1NJvNQ75uxup92L1cNbYRPf+AT6Q2or9sBvM+7P6Y7ob7/m5vb+/184HKtZ7bX7nSRgyvjejPeG4j+itXLW1Ez3p3Nx7bCHf6HNH9s5ijY+7YRvS3gXhfNEpf3VqVMhgM5OTkEBAQQHx8PLfccguvvfYaVVVV+Pj4cOONN/LSSy/1W8bBgweZN28e4Nxu7KPF+m1df29WMfpclcsv/nOQLYdK+e15KWxYmeTCGk5Mcr2ok+SiPpKJOkku6iS5qNN4zsWZvonbvQJeXl62Mb2FhYW8+eabrFu3Dh8fyxyku+66ixtvvNHunPLycq699lrWr1/PNddcQ1KSe3x4Hm9v0PHCVbnkWFe4DJMFUVxBrhd1klzURzJRJ8lFnSQXdZJc7LnNq5Gens4777zDwoUL8fLy4vDhwzz88MMkJyfbrWSZmpraa3KodULktGnTWLly5SjWWgjHzGaFvKquFS4jZA86IYQQQgjhHLfp0On1erZv386TTz5Jc3MzcXFxrF+/nrvuustu9R4h3EFJfRvtnWb0HlqmhPgMfIIQQgghhBAOuE2Hbvr06XzxxRdOnTt16tQ+V8BRs/r6ets2Dd2X1xVjyxW55FRaxkYnTvbDQzf28zXHA7le1ElyUR/JRJ0kF3WSXNRJcrHnNh26iejkyZN2y7ALdXBFLjkVXfPnZENxl5HrRZ0kF/WRTNRJclEnyUWdJBd7cmtAiDFgXRAlOVzmzwkhhBBCCOfJHToVi46O7nMvEDF2XJFLrrVDFyF36FxFrhd1klzURzJRJ8lFnSQXdZJc7EmHTsXCwsLGugrCgeHmoijKqQ6dDLl0Gble1ElyUR/JRJ0kF3WSXNRJcrEnQy6FGGXlje00G4zotBriQ2WFViGEEEII4Tzp0AkxyqwLokwN9UXvIZegEEIIIYRwnnyaFGKU5cqCKEIIIYQQwkVkDp2KHTlyxLYk65w5c8a6OqLLcHPJkQVRRoRcL+okuaiPZKJOkos6SS7qJLnYkzt0KqYoiu0foR7DzSW3a1Nx2YPOteR6USfJRX0kE3WSXNRJclEnycWe3KFTMR8fHzw9PfHwkJjUZDi5KIpiu0MnHTrXkutFnSQX9ZFM1ElyUSfJRZ0kF3saZYJ3bc1mM01NTXY/CwgIQKuVm5fC9aqbDSzc9BkaDWQ+eB7enrJ/ihBCCCGEsHCmbyK9FiFGkXWFyykhvtKZE0IIIYQQwyYdOiFGkXX+nGwoLoQQQgghXEE6dEKMItv8OVnhUgghhBBCuIDMJFSxoqIiTCYTOp2OKVOmjHV1RJfh5CJ70I0cuV7USXJRH8lEnSQXdZJc1ElysSd36FSstraW6upqamtrx7oqopvh5CIrXI4cuV7USXJRH8lEnSQXdZJc1ElysScdOiFGSX1rB1VNBkA6dEIIIYQQwjVkyKWKpaSkoCgKGo1mrKsiunE2F+twy+ggb/y95NJzNble1ElyUR/JRJ0kF3WSXNRJcrEnnypVzNvbe6yrIBxwNpdc24IoMn9uJMj1ok6Si/pIJuokuaiT5KJOkos9GXIpxCixzZ8Lk+GWQgghhBDCNaRDJ8QosXbokmXLAiGEEEII4SIy5FLFmpubMZvNaLVa/P2lE6AWQ81FURR2ZFdyuKgekE3FR4pcL+okuaiPZKJOkos6SS7qJLnYkw6diuXl5dHZ2Ymnpydz584d6+qILoPNxWRW2JZeztM7cjlW1ghAsK8nqVGBo1XVCUWuF3WSXNRHMlEnyUWdJBd1klzsSYdOCBfrNJn536FSntmZS15VCwC+eh03LI7n5jMTZIVLIYQQQgjhMvLJUsXCw8MxmUzodLqxroropr9cjCYzP/h/e/nuZB0Agd4e3LgsgZ8snUqIn360qzqhyPWiTpKL+kgm6iS5qJPkok6Siz2NoijKWFdiLJnNZpqamux+FhAQgFYr68WIoTtYWMflz+zB21PLz1f///buPS6qauEb+G9gYGa43wVBwAuIKHgJKcsLZF5Se0ur876n51hp2U27nB5LLUvILK3jOZlP2cnqqaPV6ZSZXY+Vt1MaSpoImIogoIByvzMww+z3j5EtmxkuojBr4Pf9fPiU+7Jm7fnNWrBm7712JP50XSjctU62rhYRERER2YHujE3satRy6NAhzJgxA+7u7nBzc0NiYiL279+v2Ka6uhpr1qxBQkICAgMD4ebmhpiYGKxbtw56vd5GNaf+4tdc85m5icP88HDCUA7miIiIiKhH2c2ALjU1FZMnT0ZDQwO2bNmCLVu2QK/XY+rUqfjll1/k7fLz8/Haa69h3LhxePvtt/Hll1/ijjvuQFJSEubMmYN+fkKSetih3HIAwPhwHxvXhIiIiIj6A7u55HLmzJk4evQocnJy4OLiAgCoqanBkCFDEBkZKZ+pq6szT0Lh6uqq2P8vf/kLnnrqKfz000+YOHGivJyXXNLVIkkSxq3+ARX1Bmx7+HpcE+Zt6yoRERERkR3pztjEbiZF2b9/P2bPni0P5gDzwU2ePBmff/45ioqKEBQUZDGQaxEfHw8AOHv2bK/U92o4fvy4PCVrdHS0ratDF7WXS3ZJHSrqDdCoHRAT7GnDGvZPbC9iYi7iYSZiYi5iYi5iYi5KdjOga2pqgkajsVjesiw9PR1BQUHt7r97924AwMiRI3umgj3AYDDAYDDYuhrURnu5pF683HLMIC84q3mGt7exvYiJuYiHmYiJuYiJuYiJuSjZzYAuOjoaKSkp8lPhAcBoNOLgwYMAgLKysnb3PXbsGF555RXMnTsXsbGxnb5WZmYmwsLC4OFx6QHQjY2NOHHiBADA29sboaGhin2ysrJQX18PABYPOCwtLUVBQQEAIDQ0FN7ely7Fa25uRkZGBgDzGcchQ4bI65ycnGA0GmE0GpGWloaRI0dCrb4UWWVlJfLy8gAAAwcOhL+/v8VxS5IEnU6HyMhIxbqzZ8+ivNw8ABk+fDi0Wq28rra2FtnZ2QDM08K2HSh39K1IUVERiouLAQBDhw6Fm5ubvE6v1+PkyZMAAB8fHwwaNEix76lTp9DQ0ACVSmWRU0lJCQoLCwEAYWFh8PLyktcZjUZkZmYCADw8PDB48GDFvjk5OfKp61GjRimmuK2oqEB+fj4AIDg4GH5+fop909LSAAAuLi6IiIgAYM4FMF9i2bI+KipKHtDFD/ZBdXU1zpw5AwAYMGAAAgMDFeVmZmbCaDRCo9EgKipKsa6wsBAlJSUAgGHDhinOOtfX1yMrKwsA4Ovri5CQEMW+J0+ehF6vh6OjI0aNGqVYV1xcjKKiIgBAeHg4PD0vnUVsamrC77//DgDw9PREeHi4Yt/s7GzU1tYCAGJiYhSn/cvKynDu3DkAQEhICHx9feV1JpMJ6enpAAA3NzcMHTpUUW5ubi6qqqoAACNGjICz86VHO1RVVSE3NxcAEBQUhICAAMW+GRkZaG5uhlarxfDhw+VcnJyccO7cOblPiIiIUJzZr6urw+nTpwEA/v7+GDhwoKLcEydOoLGxEWq12uILoPPnz+PChQsAgMGDB9u8jwCAM2fOoLra/OB6EfuI1rkA/aOPaJGfn4+KCvNESVFRUYovJW3ZRxiNRgCXMmnR1/uI1kTsI0wmEwDI+bTWl/sI0f+OaPu3WH/oI+zh7whrf4v1lT7CwcHBon/ojN0M6B599FHcd999WLJkCZ599lmYTCYkJyfLHVF715Xm5uZizpw5GDRoEN55550uvZbRaLSYPEWSJPmbAGudrdFobPebApPJJK9r6bBba6/c6OhoZGVloaqqCgaDwaJOrcttbm62Wq4kSRa/tFu2b9m3O+W2d6yty217rK3fQ2vltryHKpWq2+X2RjYtv3xycnLkX2aSJMkDurhwn06P1WAwwGg0Wv3cdpRNV8o1GAxW13VUbutjvdzMu/oeWtu/dZ3a6uxYm5qaYDKZ5F+srf8oyMvLu+L30Np71NVsequPaFuuiH1E28Frf+gjrJXbnc9hT/URkiTBwcHB4g/pvt5HtFeuKH2EVqtFXV2d1XL7ch/RUbki9BHR0dE4deoUqqurrda5L/YR9vB3REv/lZ2dLQ+K27LXPqI7z9azmwHdwoULUVJSghdffBGbNm0CAEyYMAFLly7FunXrEBwcbLFPXl4eEhMToVarsWvXLvj4dG3mQbVabdEZqFQquUNr/e1W632sdXiAebDZss5aw+tquW3r1Lpca+E7OTlBkiSr5To6Ol5Rua3/2165bY+19XtordyWY7XWEXe1XFtlU1zTiLPlDXBQAeNCvSA1NXT6Hraud3vH2tHnsL1y23vQZkfltj7W9sq90vews2Ntq7NjdXZ2RnNzc4+8hyaT6bLbjQifQ/YR4vYR3fkcso9gH9GCfQTk12Efcalc9hF9s4/ozsSMdjPLZYvGxkZkZWXB3d0dYWFhePDBB/Hhhx+ipKQEOp1O3i4vLw8JCQmQJAn79u1DWFiY1fI4yyVdDV+lFeLRj3/DyIEe+OaxSbauDhERERHZoT49y2ULjUYjX9Obn5+PTz75BIsWLVIM5vLz85GQkIDm5mbs3bu33cEc0dXyK58/R0REREQ2YDcDuoyMDGzbtg1xcXHQaDRIS0vD2rVrERERgdWrV8vbFRcXIzExEUVFRXj33XdRXFws31wLmG+2bHsDqKiKiork094dzeBJvctaLodyzddvc0BnO2wvYmIu4mEmYmIuYmIuYmIuSnYzoHN2dsbu3bvx+uuvo7a2FqGhoXjooYewfPlyxew9x48fR05ODgDgT3/6k0U5q1atQlJSUm9V+4oUFxfLs0DxwyqOtrlU6w04cd48g9j4cD5M3FbYXsTEXMTDTMTEXMTEXMTEXJTsZkAXGRmJffv2dbpdy31zRL3lcF4FJAkI83VBgIe28x2IiIiIiK4SuxnQ9UdDhw5VPHePxNA2F94/Jwa2FzExF/EwEzExFzExFzExFyUO6ATW+mGaJI62uaSeabl/jpdb2hLbi5iYi3iYiZiYi5iYi5iYixKHtURXoNHYjKPnKgHwDB0RERER9T4O6IiuQPq5KjQZTfBzc8ZgP9fOdyAiIiIiuop4yaXA9Ho9JEmCSqWCVsvJNkTROpfUi48riAvzgUqlsnHN+je2FzExF/EwEzExFzExFzExFyUO6AR28uRJeUrW0aNH27o6dFHrXFJzmwAAcbx/zubYXsTEXMTDTMTEXMTEXMTEXJR4ySVRN5kkSZ7hMn4w758jIiIiot7HM3QC8/HxQXNzMxwdHW1dFWqlJZfcyiZU641wcXZEdJCHravV77G9iIm5iIeZiIm5iIm5iIm5KHFAJ7BBgwbZugpkRUsuP6XkAQDGhXpD7ciT3bbG9iIm5iIeZiIm5iIm5iIm5qLEv0KJuin1jPlyS94/R0RERES2wgEdUTfJ98/x+XNEREREZCMc0BF1w9nyehRW6aF2UGFMqJetq0NERERE/RTvoRPYqVOnYDQaoVarERkZaevq0EWnTp3C1iOlAMyXW7o4sxmJgO1FTMxFPMxETMxFTMxFTMxFiX+JCqyhoUF+xgaJo76+Ht+frgYA3HENb8oVBduLmJiLeJiJmJiLmJiLmJiLEi+5FJhKpZJ/SBy/lxpwvrYZOrUKs2ICbV0duojtRUzMRTzMREzMRUzMRUzMRUklSZJk60rYkslkQk1NjWKZu7s7HBw41iXrnvo0DZ8ePoc/xIXglTtG27o6RERERNRHdGdswlEL0WWoazTim/QiALzckoiIiIhsjwM6osvwXcZ51Dc1I9zXBeP5/DkiIiIisjEO6Iguw6e/ngUA3HFNCK/bJiIiIiKb4yyXAispKUFzczMcHR3h7+/fa6/7c1YpVn99HE5qFTx1TvKPh84JPi7OuHVMMAI9tb1WH1Hkl9Xj4JlyqABMGqRBSUlJr+ZCHbNVe6GOMRfxMBMxMRcxMRcxMRclDugEVlhYKE/J2lsf1uySWjz84WHU6I3tbvP1sSJsf+R6qB371wnezw6bz86NDtTAUFWMwvrey4U6sJVukgAAIABJREFUZ4v2Qp1jLuJhJmJiLmJiLmJiLkoc0JGsWm/Aon/8ihq9EXFh3licOAxVDQbFz6e/nkV6QRXeP5CL+ycNsXWVe43JJGHbkQIAwNQhrjauDRERERGRGQd0AgsLC4PJZOqVRyg0myQ88c+jyCmpQ5CnFpv+dA383TUW20UOcMOybelY//0pzBgZiEE+Lj1et6ul2STh6NkKZF2oxazYIHhou/4wyl9yylBQ2QB3rRp/uH44nBzAR1sIpjfbC3UdcxEPMxETcxETcxETc1HigE5gXl5evfZaf/3hJHafKIZG7YC/z7c+mAOAP8QNwvbfCpCSU45ntqfjHwvjhZ4cpLS2EftOlmDvqRL8lFWCynoDACCntA7PzBrR5XJaJkP5P6MHYoCfT4/Ula5Mb7YX6jrmIh5mIibmIibmIibmosQBHeHrY4V4Y082AGDt7TGIDWm/kahUKrw8LxYzXvsPfsoqxRdHCzB3bEhvVbXLUnLK8PK3vyPtXJViubOjA5qaTUjJKetyWdV6A77LOA8AuDOOz54jIiIiInHY1XnKQ4cOYcaMGXB3d4ebmxsSExOxf/9+q9v++OOPmDBhAlxcXODn54d7770XxcXFvVxj8WUWVuGpT48BAB6YPKRLg7PBfq54fGoEAOCFr46jrLaxR+t4uQ7nlWPB/6bKg7mRAz2wOHEoPntoAnb99xQAwPHCajQ0NXepvK/TitBoNCEiwA2jQzx7rN5ERERERJfLbgZ0qampmDx5MhoaGrBlyxZs2bIFer0eU6dOxS+//KLYdt++fbj55psxYMAA7NixAxs2bMCPP/6IqVOnorFRrMFHR4xGIwwGA4zG9mecvBKltY144B+H0WBoxqQIPyybGdXlfR+YPARRge6oqDfgxW9+75H6dcfxwmrc+7+paDA0Y0qkPw49MxXfPDYJT82IQly4D0K8dRjgoYHRJOHYucouldkyu+WdceZnz/V0LtQ9zEVMzEU8zERMzEVMzEVMzEVJJUmSZOtKdMXMmTNx9OhR5OTkwMXFPBFHTU0NhgwZgsjISMWZuvj4eNTV1SEtLQ1qtfmq0gMHDuCGG27Am2++iYcfflje1mQyoaamRvFa7u7uQtxkmZaWJk/JOnr06KtWbl2jEe8fyMXf92WjWm9EuK8LdiyeCE+Xrk8SAgC/5Vdg3qYDkCTgg4XxmBJp22ljz5TW4c63fkFpbSPiwryx5b5roXN2tNju4a2H8V3GeSybGYWHE4Z2WGZ2SS2mrt8HRwcVfllxIwLctT2WC10Z5iIm5iIeZiIm5iIm5iKmvpxLd8Ymth+1dNH+/fuRkJAgD+YA88FNnjwZBw4cQFFREQCgoKAAqampmD9/vjyYA4Drr78ekZGR2L59e6/XXRR6QzPe+SkHk1/Zg1d3nkS13oiIADe8c8/4yx7MAcDYUG/ce304AODZ7emob7LdtyRFVQ340zsHUVrbiOggD7x773irgzkAuCbMGwBwJL+i03J3/26+TPeGYX4IcO9/D1MnIiIiIrHZzaQoTU1N0GgsZ15sWZaeno6goCBkZGQAAGJjYy22jY2NbfeeOxG5ubsju6QeDnDE70XVAICW86mNxmZU642objCgWm9AdYMR1XoDjM0meGid4KFzgqfOCR46NTx1TjheWI3/2XMaF6rNl5yG+brgzzdF4pbRA+Ho0P1ZKpdOH47vMy/gXEUD1n9/Cs/Nib7i475c5XVNmP/uIRRUNmCwnys+WBgPT137A9SxoRcHdHkVkCSpw1k6fzpdCgCKs48eHh4wGo2KLwzI9piLmJiLeJiJmJiLmJiLmJiLkt28C9HR0UhJSVE8c8JoNOLgwYMAgLKyMsV/fXwsp5b38fGR13ckMzMTYWFh8PDwkJc1NjbixIkTAABvb2+EhoYq9snKykJ9fT0AWJz6LS0tRUGB+aHUoaGh8Pb2ltc1NzfLg1B3d3cMGXLpYd1BIaGY+vbOi//K6bTeXRHspcNjU4ch3h+oripFRnophg8fDq320tmn2tpaZGebZ70MCAhAUFCQoozjx4/Lp7mjo6Px4m2jsOD9VLy3/wyuCVQj2KkBADB06FC4ubnJ++n1epw8eRKAOYtBg5QzRp46dQoNDQ1QqVQWA/KSkhIUFhYCMD97pGW62hq9Afe8dxCni2vh6+KIl6YHWTxyIScnRz51PWrUKIwK9oCzowPK6pqQfuY8pBrzWbjg4GD4+fnJ+zUam5GSbR7QDXKqk5cPHjwYAJCfn4+0tDQAQFRUlOILh+rqapw5cwYAMGDAAAQGBirqlJmZCaPRCI1Gg6go5b2LhYWFKCkpAQAMGzYMrq6XHmReX1+PrKwsAICvry9CQpST2Jw8eRJ6vR6Ojo4YNWqUYl1xcbF8Jjs8PByenpcmeGlqasLvv5vvhfT09ER4eLhi3+zsbNTW1gIAYmJiFKf9y8rKcO7cOQBASEgIfH195XUmkwnp6ekAADc3NwwdqrzENTc3F1VV5slrRowYAWdnZ3ldVVUVcnNzAQBBQUEICAhQ7JuRkYHm5mZotVoMHz5czgUAzp07J7f1iIgIxZn9uro6nD59GgDg7++PgQMHKso9ceIEGhsboVarMXLkSMW68+fP48KFCwDMnwNb9xEAcObMGVRXm7/wGTlypOKXW2VlJfLy8gAAAwcOhL+/8rLoY8eOQZIk6HQ6REZGKtadPXsW5eXlAHDFfURrRUVF8gRVvdFHAObfFZmZmQDMfwS0/qwAln2Eo+Ols/sVFRXIz88HYNlHAJD7ABcXF0RERCjW5efno6LCfCWAiH1E2/r29T6iNRH7CKPRKPcRbbGPMLNFHzF48GDk5OSguroaaWlp/aqPEPnviJaMcnNz5fe4r/QRDg4OFv1DZ+xmQPfoo4/ivvvuw5IlS/Dss8/CZDIhOTlZ7ojaXlfa3lmXrjwzzWg0ou2thZIkwWAwyOut7dOyvi2TySSvM5lMFuvbK1cFFby0jnJdnJzU5qUq8/T7rs4qqE0GuDo7wN/TDQN83OHk6CCftTt7oRx1BhPqDYCrToO7J4Tj/8UPgkbtiNzcXPl12x5r6/o2N1vOBGkwGBTHmhgVgD/EheBfv57D6p15eOVGT+icHCyOtfV7aK3clvfQWkbNzc1W38Pln6cjvaAaHs4qPD/RC346y6uI22ajUTtiVLAHjuRXIu1cFUa4WM/mcF4FmpoleGkdEOLecbkdfV7aew+NRqPV66FbH2t3yjUYDFbXdVRuy76dlWtNVz/f1vZvXae2OjvWpqYmmEwmxS9Wa+V29z209h51tdze6iPaltudtixJEpycLM9od3Ssl9tHtFdub/QRbcsVJRv2EZblso9gH9G2XPYR7CNal9tf+ghr9emM3QzoFi5ciJKSErz44ovYtGkTAGDChAlYunQp1q1bh+DgYACQR/XWzsSVl5dbPXPXllqttugMVCqV3KFZO72rVqutdniAebDZss5aw2uvXJ2zI7bfM7xHvllzdHSUX7ftsbaur7UPVcu61sf73Jxo7D9dhoLKBvwjox5L4r2tDrI7KrflPbTWEbeub0u5xwur8c2xIqhUwHMJ/gj3de5yNuNCvXEkvxLHimoRG2U9m5+zzGfnxgRqrWbbutyOPi/tvYett2nvWLtTbnNzs9V1HZXbsm9H5V7p57uzY22rs2N1dnZGc3Nzj7yHJpPJ6mepq+X2Vh/RttzutGVJki77WLvTR1grt6f7CGvlipIN+wjLctlHsI9oWy77CPYRrcvtL31EdyZmtJtZLls0NjYiKysL7u7uCAsLw4MPPogPP/wQJSUl0Ol0KCgoQEhICNauXYtly5Yp9o2KikJoaCi+//57eZnIs1zam5ScMvxxcwokCXj3njhMHTGgR1/voS2H8e/M85gTG4T/uWvcZe37bXoRHvnwCKKDPPDt45OsbnPr//yMtHNVWH/naNx+jXgPTyciIiKivqVPz3LZQqPRYNSoUQgLC0N+fj4++eQTLFq0CDqdDoD5+uX4+Hhs3bpVcRo0JSUFJ0+exLx582xV9cuWk5ODU6dOISfn6tw/19OuG+KL+24wX9O8bFs6yuuaeuy1fi+qxr8zz0OlAh6bGtH5Dm2Muzgxyonz1ahrtLwMorK+CccKzPdtTIxQXg9vb7n0F8xFTMxFPMxETMxFTMxFTMxFyW4uuczIyMC2bdsQFxcHjUaDtLQ0rF27FhEREVi9erVi23Xr1mHatGm488478cgjj6C4uBjLly/HqFGjsGDBAhsdweWrqamRbxq2F0tnDMe+UyXIKq7Fs9vT8eZ/jevSfYuXa+Nu8w29s0YFIXKA+2XvH+ipRbCXDgWVDUg7W4nrhykHbQeyyyBJQESAGwZ4KB9XYI+59AfMRUzMRTzMREzMRUzMRUzMRcluztA5Oztj9+7duPvuuzF79my89dZbeOihh7B3717FDEgAkJCQgG+//RZFRUW45ZZb8OijjyIxMRG7du2y+ugDunq0To746x/GQO2gwncZ57HjaOFVf42T52vwbfp5AMCjU4d1u5yxoeYZrqw9j+7ni48raHt2joiIiIhIJHZ3D93VJvI9dK0vGe3OjDe29PquLPz1h1Nw16rx/Z8nI8hTJ6+TJAmSBDh08/l3iz86gm+OFWFWTCDe/K9rul3H934+gxe+Po4bowLw3r3jFesmv7IH+eX1eO/eONwYpbwX0J5z6cuYi5iYi3iYiZiYi5iYi5j6ci7dGZvYzSWX/ZE9f0AfSRiKXSeKzZczrt0N4NJD0VsM8XPFA5OHYN64EDiruzaAzrpQg2/Tzc9A6c69c62NC7v4gPF85QPG88vqkV9eD7WDCvGDfS32s+dc+jLmIibmIh5mIibmIibmIibmomT701DUJ6kdHfDXP4yGh1YNSbIczAFATmkdln+ejimv7sH/7j+DhibLZ3m09fru05AkYObIQEQFenS6fUeigzygUTugst6AnNJLDw5vudxyXKg33DT8zoOIiIiIxMW/VqnHDPV3w8FnbkKN3gCozA9KV6kAB5UKRpMJXx4txOafclBUpUfyV8excfdp3DdxMOZPCIOH1vIm19PFNfj6mPmevCs9OwcAzmoHxIZ4IjW3AkfyKjDU33wv5s+nSwDw/jkiIiIiEh8HdAKrqKiAyWSCg4MDvL29bV2dbtE5O0LnbP20+P2ThmD+hDBsO1yAt/ZlI7+8Hq/uPIk39pzGzJGBmDcuBBOG+sLx4r12Gy+enZsePQDRA6/s7FyLcaHe5gFdfgXujBuEZpOE/afND6W/YZj1AV1fyKUvYi5iYi7iYSZiYi5iYi5iYi5KHNAJLD8/X56Sta9+WDVqR9x1bSj+EBeCr48V4c29p3HqQi0+/60An/9WgAEeGtw2Nhjjw3zwVdrVOzvXQr6PLq8SAJBZWIWqBgPcNWqMDvG0uk9/yMUeMRcxMRfxMBMxMRcxMRcxMRclDuhICGpHB9w2Nhi3jhmI385W4vMj5/BVWhEuVDfi7/ty8HeYHxx504gBGBVsfaDVHS0PGD9VXINqvQE/ZZnvn7tuqC/UjrzFlIiIiIjExgGdwIKDg+XTyf2FSqXCuFBvjAv1xnNzorHnRDE+P1KAPSeLoYIKT9x09c7OAYC/uwaDfHQ4W96Ao/mV+PnigG5SB/fP9cdc7AFzERNzEQ8zERNzERNzERNzUeKATmB+fv17Ug6N2hEzRwVh5qggVNY3ocHQrHie3dUyLtQbZ8sbsD+7FIfzzA8Zn9jO/XMAcxEVcxETcxEPMxETcxETcxETc1HisJbsgpeLc48M5gDgmov30X10MB9NzSYM9NRisJ9rj7wWEREREdHVxAEd9Xst99HV6I0AzI8raHnIOBERERGRyDigo34vKtAdOqdLj1aYGOFvw9oQEREREXUd76ETWFpamjwl6+jRo21dnT5L7Wh+wPjBM+UAgOuH+na4PXMRE3MRE3MRDzMRE3MRE3MRE3NR4hk6Ily6jy46yAN+bhob14aIiIiIqGt4hk5gLi4uMBqNUKsZU0/7v+MH4aesUjw0ZWin2zIXMTEXMTEX8TATMTEXMTEXMTEXJZUkSZKtK2FLJpMJNTU1imXu7u58rgUREREREfWq7oxNOGohIiIiIiKyUxzQERERERER2SkO6IiIiIiIiOwU7yQUWH5+vnzDZ2hoqK2rQxcxFzExFzExF/EwEzExFzExFzExFyWeoRNYRUUFysvLUVFRYeuqUCvMRUzMRUzMRTzMREzMRUzMRUzMRYkDOiIiIiIiIjvFxxYI/NiCxsZGSJIElUoFjYYPuxYFcxETcxETcxEPMxETcxETcxFTX86lO2MT3kMnsL72Ae0rmIuYmIuYmIt4mImYmIuYmIuYmIuS7U9DERERERERUbdwQEdERERERGSn+v0ll9ZuITSZTDaoiaXW18+6u7vbsCbUGnMRE3MRE3MRDzMRE3MRE3MRU1/Oxdo4pLMpT/r9pChGoxF1dXW2rgYREREREZEFV1dXqNXtn4fjJZdERERERER2igM6IiIiIiIiO8UBHRERERERkZ3q9/fQmUwmi5sPVSoVVCqVjWpERERERET9kSRJFpOgODg4dPhg8X4/oCMiIiIiIrJXvORSQLW1tXjiiScwcOBAaLVajBkzBv/85z9tXa1+Y+/evfJZ2rY/KSkpim1//PFHTJgwAS4uLvDz88O9996L4uJiG9W876ipqcHTTz+N6dOnw9/fHyqVCklJSVa3PXLkCG666Sa4ubnBy8sL8+bNQ05OjtVtN27ciKioKGg0GgwePBjJyckwGAw9eCR9S1dzuffee622n6ioKIttDQYDkpOTER4eDo1Gg6ioKGzcuLEXjqZv2L17NxYuXIioqCi4uroiODgYt956Kw4fPmyxLdtK7+lqLmwrvefo0aOYPXs2QkNDodPp4OPjgwkTJmDr1q0W27Kt9J6u5sK20rF+/xw6Ec2bNw+pqalYu3YtIiMj8dFHH+GPf/wjTCYT7rrrLltXr9946aWXkJiYqFg2atQo+f/37duHm2++GbNnz8aOHTtQXFyMZcuWYerUqfj111+h0Wh6u8p9RllZGd5++22MHj0at912G9555x2r2504cQIJCQkYM2YM/vWvf0Gv1+P555/HpEmTcPToUfj7+8vbrlmzBs899xyWL1+O6dOnIzU1FStXrkRBQQHefvvt3jo0u9bVXABAp9Nh9+7dFsvaeuSRR7BlyxasXr0a48ePx86dO/H444+jpqYGzzzzzFU/hr5m06ZNKCsrw+OPP47o6GiUlJRg/fr1uO6667Bz507ceOONANhWeltXcwHYVnpLZWUlBg0ahD/+8Y8IDg5GXV0dPvzwQ8yfPx+5ublYuXIlALaV3tbVXAC2lQ5JJJRvvvlGAiB99NFHiuXTpk2TBg4cKBmNRhvVrP/Ys2ePBED69NNPO9xu/PjxUnR0tGQwGORl+/fvlwBIb775Zk9Xs08zmUySyWSSJEmSSkpKJADSqlWrLLa78847JT8/P6mqqkpelpubKzk5OUlPP/20vKy0tFTSarXSAw88oNh/zZo1kkqlkjIzM3vmQPqYruZyzz33SK6urp2Wl5GRIalUKumll15SLF+0aJGk0+mksrKyq1LvvuzChQsWy2pqaqQBAwZIU6dOlZexrfSurubCtmJ71157rTRo0CD532wrYmibC9tKx3jJpWC2b98ONzc33HnnnYrlCxYsQGFhIQ4ePGijmlFrBQUFSE1Nxfz58xUPerz++usRGRmJ7du327B29q8rExMZjUZ8/fXXuP322+Hh4SEvDwsLQ2JioiKDf//739Dr9ViwYIGijAULFkCSJHzxxRdX9wD6qKs9YdQXX3wBSZKs5tLQ0IB///vfV+21+qqAgACLZW5uboiOjsbZs2cBsK3YQldyuRxsKz3Hz89P/j3OtiKO1rlcjv7aVjigE0xGRgZGjBhh8SGOjY2V11PvWLx4MdRqNTw8PDBjxgz8/PPP8rqWHFpyaS02NpY59YLs7Gw0NDS0m8Hp06eh1+sBXMorJiZGsV1QUBD8/PyYVw9oaGhAYGAgHB0dERISgiVLlqC8vFyxTUZGBvz9/REYGKhYzv7uylRVVeHIkSMYOXIkALYVUbTNpQXbSu8ymUwwGo0oKSnBm2++iZ07d2LZsmUA2FZsqaNcWrCttI/30AmmrKwMQ4YMsVju4+Mjr6ee5enpiccffxwJCQnw9fXF6dOn8eqrryIhIQHffPMNZsyYIefQkktrPj4+zKkXdJaBJEmoqKhAUFAQysrKoNFo4OrqanVb5nV1jR49GqNHj5bvOd23bx/+9re/YdeuXUhNTYWbmxsAc4bW8nN1dYWzszNz6abFixejrq4Ozz77LAC2FVG0zQVgW7GFRx55BH//+98BAM7Oznj99dfx4IMPAmBbsaWOcgHYVjrDAZ2AOrqkic/H63ljx47F2LFj5X9PmjQJc+fORUxMDJ5++mnMmDFDXtdeHsyp93S1vbBd9Z4///nPin9PmzYNY8eOxR133IHNmzcr1jOXq+u5557Dhx9+iI0bN+Kaa65RrGNbsZ32cmFb6X3PPPMM7r//fhQXF+Orr77CkiVLUFdXh6VLl8rbsK30vs5yYVvpGAd0gvH19bX67UHLKWVr3zpQz/Py8sKcOXPw1ltvoaGhAb6+vgCsnzEtLy9nTr2gswxUKhW8vLzkbfV6Perr6+Hi4mKxbds/fOnqmzt3LlxdXRWP/vD19cXRo0cttq2rq0NTUxPb0WVKTk7Giy++iDVr1mDJkiXycrYV22ovl/awrfSs0NBQhIaGAgBmzZoFAFixYgXuuecethUb6iiX1jOLtsa2cgnvoRNMTEwMfv/9dxiNRsXy9PR0AMpp86l3SZIEwPztTksOLbm0lp6ezpx6wdChQ6HT6drNYNiwYdBqtQAu3ePQdtvz58+jtLSUefUSSZLg4HDp105MTAxKSkpw/vx5xXbs7y5fcnIykpKSkJSUZDEtN9uK7XSUS0fYVnpPfHw8jEYjcnJy2FYE0jqXjrCtmHFAJ5i5c+eitrYW27ZtUyz/4IMPMHDgQFx77bU2qln/VlFRga+//hpjxoyBVqtFcHAw4uPjsXXrVjQ3N8vbpaSk4OTJk5g3b54Na9s/qNVq3HLLLfj8889RU1MjL8/Pz8eePXsUGcycORNarRbvv/++ooz3338fKpUKt912W29Vu9/67LPPUF9fj+uuu05eduutt0KlUuGDDz5QbPv+++9Dp9Nh5syZvV1Nu7R69WokJSVh5cqVWLVqlcV6thXb6CyX9rCt9K49e/bAwcEBQ4YMYVsRSOtc2sO2coljUlJSkq0rQZdERETgwIED2Lx5M3x8fFBdXY2XX34Z//rXv7Bp0yaMHj3a1lXs8+666y6kpqaisrISxcXF+OGHH3Dffffh7Nmz+OCDD+TOJSIiAn/729+QlpYGX19fpKSk4MEHH0RoaCg2bdrUrel26ZLvvvsOaWlpSE9Px44dOxAQEACVSoXjx48jPDwcTk5OiImJwZtvvok9e/YgMDAQGRkZWLRoEVQqFf7xj3/IN6vrdDqoVCq8+uqraGpqglqtxmeffYbnn38eCxYswMKFC218tPajs1wKCwsxe/Zs1NfXo7y8HNnZ2Xj33XexfPlyDB8+HJs2bYKzszMA89Tu586dw4YNG6DVamEwGLB582Zs2LABSUlJmD59uo2PVnzr16/HihUrMHPmTCxatAjnzp1T/ISEhAAA20ov60oueXl5bCu96IEHHsC+fftQWVmJ0tJSHD58GC+88AI++ugjLF26VB6Asa30rq7kwrbSBTZ5+h11qKamRnrsscekwMBAydnZWYqNjZU+/vhjW1er33j55ZelMWPGSJ6enpKjo6Pk7+8vzZ07Vzp06JDFtt9//7103XXXSVqtVvLx8ZHuvvtuqw+UpcsXFhYmAbD6c+bMGXm7X3/9VZo6dark4uIieXh4SLfddpt0+vRpq2Vu2LBBioyMlJydnaXQ0FBp1apVUlNTUy8dUd/QWS7l5eXS3LlzpfDwcEmn00nOzs5SRESE9PTTT0uVlZUW5TU1NUmrVq2SQkNDJWdnZykyMlJ6/fXXbXBk9mnKlCnt5tH2VzzbSu/pSi5sK73rvffekyZNmiT5+flJarVa8vLykqZMmSJt2bLFYlu2ld7TlVzYVjqnkqSLNwYRERERERGRXeE9dERERERERHaKAzoiIiIiIiI7xQEdERERERGRneKAjoiIiIiIyE5xQEdERERERGSnOKAjIiIiIiKyUxzQERERERER2SkO6IiIiIiIiOwUB3RERERERER2igM6IiKyWwcOHEBSUhIqKysVyxMSEpCQkGCbSl20cOFCzJw502avX1FRAS8vL3zxxRc2qwMREfU8lSRJkq0rQURE1B1/+ctf8NRTT+HMmTMIDw+Xlx8/fhwAEB0dbZN6/fbbb4iLi8PBgwcRFxdnkzoAQHJyMrZu3YrMzEw4OzvbrB5ERNRzeIaOiIj6nOjoaJsN5gBg7dq1iI+Pt+lgDgAeeugh5Obm4rPPPrNpPYiIqOdwQEdERHYpKSkJTz31FABg8ODBUKlUUKlU2Lt3r8Ull7m5uVCpVHj11Vexbt06hIeHQ6fTISEhAadOnYLBYMDy5csxcOBAeHp6Yu7cuSguLrZ4zU8++QQTJkyAq6sr3NzcMGPGDPz222+KbS5cuIDt27dj/vz5iuUmkwkvvvgihg8fDp1OBy8vL8TGxmLDhg2K7bKysnDXXXchICAAGo0GI0aMwBtvvGFRl8rKSvz3f/83hgwZAo1Gg4CAAMyaNQsnTpyQtxkwYACmTZuGt95667LfXyIisg9qW1eAiIioO+6//36Ul5dj48aN+PzzzxEUFASg48ss33jjDcTGxuKNN96QB0S33HILrr32Wjg5OeG9995DXl4eli5divvvvx/fqYDXAAAFhElEQVRffvmlvO9LL72ElStXYsGCBVi5ciWamprw6quvYtKkSTh06JD8ut9//z0MBgMSExMVr/3KK68gKSkJK1euxOTJk2EwGHDixAnF/X/Hjx/H9ddfj9DQUKxfvx6BgYHYuXMnHnvsMZSWlmLVqlUAgJqaGkycOBG5ublYtmwZrr32WtTW1uI///kPioqKEBUVJZeZkJCAFStWoLKyEl5eXlf+xhMRkVA4oCMiIrsUEhKC0NBQAMDYsWMV99C1p2WSEAcH8wUqpaWleOKJJxAVFYUdO3bI2504cQKvvfYaqqur4eHhgbNnz2LVqlVYsmQJXn/9dXm7adOmISIiAsnJyfjkk08AAL/88gt0Op1iUAUA+/fvR0xMDJKSkuRlM2bMUGzz5JNPwt3dHT///DM8PDzk12hsbMTatWvx2GOPwdvbG6+99hoyMzPxww8/4KabbpL3nzdvnsUxjxs3DiaTCSkpKTadpIWIiHoGL7kkIqJ+Y9asWfJgDgBGjBgBAJg9e7Ziu5bl+fn5AICdO3fCaDTi7rvvhtFolH+0Wi2mTJmCvXv3yvsWFhbC398fKpVKUWZ8fDzS0tLwyCOPYOfOnaiurlas1+v12LVrF+bOnQsXFxfF68yaNQt6vR4pKSkAgO+++w6RkZGKwVx7AgICAAAFBQVdeYuIiMjO8AwdERH1Gz4+Pop/t8z82N5yvV4PwHxfHACMHz/earmtB4kNDQ3QarUW26xYsQKurq7YunUr3nrrLTg6OmLy5MlYt24d4uLiUFZWBqPRiI0bN2Ljxo1WX6e0tBQAUFJSIp+d7ExLXRoaGrq0PRER2RcO6IiIiDrh5+cHAPjss88QFhbW6bZHjhyxWK5Wq/Hkk0/iySefRGVlJX788Uc888wzmDFjBs6ePQtvb284Ojpi/vz5WLx4sdWyBw8eDADw9/fHuXPnulT38vJyxTEQEVHfwgEdERHZLY1GA6Dnzz7NmDEDarUa2dnZuP322zvcNioqCh9//DGqqqrg6elpdRsvLy/ccccdKCgowBNPPIHc3FxER0cjMTERv/32G2JjYzt8btzNN9+M559/Hrt378aNN97YYX1ycnIA2O6ZfERE1LM4oCMiIrsVExMDANiwYQPuueceODk5Yfjw4Vf9dcLDw/HCCy/g2WefRU5ODmbOnAlvb29cuHABhw4dgqurK5KTkwGYZ5WUJAkHDx7E9OnT5TJuueUWjBo1CnFxcfD390deXh5ee+01hIWFISIiQj6OiRMnYtKkSXj44YcRHh6OmpoanD59Gl999RV2794NAHjiiSfwySef4NZbb8Xy5csRHx+PhoYG7Nu3D3PmzFHMsJmSkgJfX1/5vSIior6FAzoiIrJbLVPyf/DBB9i8eTNMJhP27NnTI6+1YsUKREdHY8OGDfj444/R2NiIwMBAjB8/Hg899JC83Q033IDw8HDs2LFDMaBLTEzEtm3b8M4776C6uhqBgYGYNm0annvuOTg5OQEwn0U7cuQIVq9ejZUrV6K4uBheXl6IiIjArFmz5LJaZsJMSkrC22+/jeTkZHh7e2P8+PF44IEH5O0kScKXX36Ju+66y2KSFiIi6htUkiRJtq4EERFRX7J+/XqsWbMGBQUF0Ol0NqvHrl27MH36dGRmZlo8RoGIiPoGDuiIiIiuMr1ejxEjRmDx4sVYunSpzeqRmJiIYcOGYfPmzTarAxER9Sw+h46IiOgq02q12LJlizxpiy1UVFRgypQpWLNmjc3qQEREPY9n6IiIiIiIiOwUz9ARERERERHZKQ7oiIiIiIiI7BQHdERERERERHaKAzoiIiIiIiI7xQEdERERERGRneKAjoiIiIiIyE5xQEdERERERGSnOKAjIiIiIiKyU/8fRSYZ9kcJij4AAAAASUVORK5CYII=\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Velocity std 3.4 m/s\n"
]
}
],
"source": [
"range_std = 500.\n",
"elevation_angle_std = math.degrees(0.5)\n",
"np.random.seed(200)\n",
"pos = (0, 0)\n",
"radar = RadarStation(pos, range_std, elevation_angle_std)\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"\n",
"kf_sf = cv_UKF(f_cv_radar, h_radar, R_std=[range_std, elevation_angle_std])\n",
"time = np.arange(0, 360 + dt, dt)\n",
"xs = []\n",
"for _ in time:\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" kf_sf.predict()\n",
" kf_sf.update([r[0], r[1]]) \n",
" xs.append(kf_sf.x)\n",
"\n",
"xs = np.asarray(xs)\n",
"plot_radar(xs, time, plot_x=False, plot_vel=True, plot_alt=False)\n",
"print('Velocity std {:.1f} m/s'.format(np.std(xs[10:, 1])))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"For Doppler we need to include the velocity in $x$ and $y$ into the measurement. The `ACSim` class stores velocity in the data member `vel`. To perform the Kalman filter update we just need to call `update` with a list containing the slant distance, elevation angle, and velocity in $x$ and $y$:\n",
"\n",
"$$z = [\\mathtt{slant\\_range},\\, \\text{elevation angle},\\, \\dot x,\\, \\dot y]$$\n",
"\n",
"The measurement contains four values so the measurement function also needs to return four values. The slant range and elevation angle will be computed as before, and we do not need to compute the velocity in $x$ and $y$ as they are provided by the state estimate."
]
},
{
"cell_type": "code",
"execution_count": 28,
"metadata": {},
"outputs": [],
"source": [
"def h_vel(x):\n",
" dx = x[0] - h_vel.radar_pos[0]\n",
" dz = x[2] - h_vel.radar_pos[1]\n",
" slant_range = math.sqrt(dx**2 + dz**2)\n",
" elevation_angle = math.atan2(dz, dx)\n",
" return slant_range, elevation_angle, x[1], x[3]"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now we can implement our filter."
]
},
{
"cell_type": "code",
"execution_count": 29,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Velocity std 0.9 m/s\n"
]
}
],
"source": [
"h_radar.radar_pos = (0, 0)\n",
"h_vel.radar_pos = (0, 0)\n",
"\n",
"range_std = 500.\n",
"elevation_angle_std = math.degrees(0.5)\n",
"vel_std = 2.\n",
"\n",
"np.random.seed(200)\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"radar = RadarStation((0, 0), range_std, elevation_angle_std)\n",
"\n",
"kf_sf2 = cv_UKF(f_cv_radar, h_vel, \n",
" R_std=[range_std, elevation_angle_std, vel_std, vel_std])\n",
"\n",
"time = np.arange(0, 360 + dt, dt)\n",
"xs = []\n",
"for t in time:\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" # simulate the doppler velocity reading\n",
" vx = ac.vel[0] + randn()*vel_std\n",
" vz = ac.vel[1] + randn()*vel_std\n",
" kf_sf2.predict()\n",
" kf_sf2.update([r[0], r[1], vx, vz]) \n",
" xs.append(kf_sf2.x)\n",
"xs = np.asarray(xs)\n",
"plot_radar(xs, time, plot_x=False, plot_vel=True, plot_alt=False)\n",
"print('Velocity std {:.1f} m/s'.format(np.std(xs[10:,1])))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"By incorporating the velocity sensor we were able to reduce the standard deviation from 3.5 m/s to 1.3 m/s. \n",
"\n",
"Sensor fusion is a large topic, and this is a rather simplistic implementation. In a typical navigation problem we have sensors that provide *complementary* information. For example, a GPS might provide somewhat accurate position updates once a second with poor velocity estimation while an inertial system might provide very accurate velocity updates at 50Hz but terrible position estimates. The strengths and weaknesses of each sensor are orthogonal to each other. This leads to the *Complementary filter*, which blends the high update rate inertial velocity measurements with the accurate but slowly updated position estimates of the GPS to produce high rate and accurate position and velocity estimates. The high rate velocity estimates are integrated between the GPS updates to produce accurate and high rate position estimates."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Multiple Position Sensors\n",
"\n",
"The last sensor fusion problem was a toy example. Let's tackle a problem that is not so toy-like. Before GPS ships and aircraft navigated via various range and bearing systems such as VOR, LORAN, TACAN, DME, and so on. These systems emit beacons in the form of radio waves. The sensor extracts the range and/or bearing to the beacon from the signal. For example, an aircraft might have two VOR receivers. The pilot tunes each receiver to a different VOR station. Each VOR receiver displays the *radial* - the direction from the VOR station on the ground to the aircraft. The pilot uses a chart to find the intersection point of the radials, which identifies the location of the aircraft.\n",
"\n",
"That is a manual approach with low accuracy. A Kalman filter will produce far more accurate position estimates. Assume we have two sensors, each of which provides a bearing only measurement to the target, as in the chart below. The width of the perimeters are proportional to the $3\\sigma$ of the sensor noise. The aircraft must be positioned somewhere within the intersection of the two perimeters with a high degree of probability."
]
},
{
"cell_type": "code",
"execution_count": 30,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.show_two_sensor_bearing()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We compute the bearing between a sensor and the target as:"
]
},
{
"cell_type": "code",
"execution_count": 31,
"metadata": {},
"outputs": [],
"source": [
"def bearing(sensor, target_pos):\n",
" return math.atan2(target_pos[1] - sensor[1], \n",
" target_pos[0] - sensor[0])"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The filter receives the measurement from the two sensors in a vector. The code will accept any iterable container, so I use a Python list for efficiency. We can implement that as:"
]
},
{
"cell_type": "code",
"execution_count": 32,
"metadata": {},
"outputs": [],
"source": [
"def measurement(A_pos, B_pos, pos):\n",
" angle_a = bearing(A_pos, pos)\n",
" angle_b = bearing(B_pos, pos)\n",
" return [angle_a, angle_b]"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Assume a constant velocity model for the aircraft. For a change of pace I compute the new positions explicitly rather than using matrix-vector multiplication:"
]
},
{
"cell_type": "code",
"execution_count": 33,
"metadata": {},
"outputs": [],
"source": [
"def fx_VOR(x, dt):\n",
" x[0] += x[1] * dt\n",
" x[2] += x[3] * dt\n",
" return x"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Next we implement the measurement function. It converts the prior to an array containing the measurement to both stations. I'm not a fan of global variables, but I put the position of the stations in the global variables `sa_pos` and `sb_pos` to demonstrate this method of sharing data with $h()$:"
]
},
{
"cell_type": "code",
"execution_count": 34,
"metadata": {},
"outputs": [],
"source": [
"sa_pos = [-400, 0]\n",
"sb_pos = [400, 0]\n",
"\n",
"def hx_VOR(x):\n",
" # measurement to A\n",
" pos = (x[0], x[2])\n",
" return measurement(sa_pos, sb_pos, pos)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now we write boilerplate which constructs the filter, runs it, and plots the results:"
]
},
{
"cell_type": "code",
"execution_count": 35,
"metadata": {
"scrolled": true
},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"def moving_target_filter(pos, std_noise, Q, dt=0.1, kappa=0.0):\n",
" points = MerweScaledSigmaPoints(n=4, alpha=.1, beta=2., kappa=kappa)\n",
" f = UKF(dim_x=4, dim_z=2, dt=dt, \n",
" hx=hx_VOR, fx=fx_VOR, points=points)\n",
" f.x = np.array([pos[0], 1., pos[1], 1.])\n",
"\n",
" q = Q_discrete_white_noise(2, dt, Q)\n",
" f.Q[0:2, 0:2] = q\n",
" f.Q[2:4, 2:4] = q\n",
" f.R *= std_noise**2\n",
" f.P *= 1000 \n",
" return f\n",
"\n",
"def plot_straight_line_target(f, std_noise):\n",
" xs, txs = [], []\n",
" for i in range(300):\n",
" target_pos[0] += 1 + randn()*0.0001\n",
" target_pos[1] += 1 + randn()*0.0001\n",
" txs.append((target_pos[0], target_pos[1]))\n",
"\n",
" z = measurement(sa_pos, sb_pos, target_pos)\n",
" z[0] += randn() * std_noise\n",
" z[1] += randn() * std_noise\n",
"\n",
" f.predict()\n",
" f.update(z)\n",
" xs.append(f.x)\n",
"\n",
" xs = np.asarray(xs)\n",
" txs = np.asarray(txs)\n",
"\n",
" plt.plot(xs[:, 0], xs[:, 2])\n",
" plt.plot(txs[:, 0], txs[:, 1], ls='--', lw=2, c='k')\n",
" plt.show()\n",
"\n",
"np.random.seed(123)\n",
"target_pos = [100, 200]\n",
"\n",
"std_noise = math.radians(0.5)\n",
"f = moving_target_filter(target_pos, std_noise, Q=1.0)\n",
"plot_straight_line_target(f, std_noise)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This looks quite good to me. The beginning of the track exhibits large errors, but the filter settles down and produces good estimates.\n",
"\n",
"Let's revisit the nonlinearity of the angles. I will position the target between the two sensors at (0,0). This will cause a nonlinearity in the computation of the residuals because the mean angle will be near zero. As the angle goes below 0 the measurement function will compute a large positive angle of nearly $2\\pi$. The residual between the prediction and measurement will thus be very large, nearly $2\\pi$ instead of nearly 0. This makes it impossible for the filter to perform accurately, as seen in the example below."
]
},
{
"cell_type": "code",
"execution_count": 36,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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d2Kwpv3qdAa//cAqbfsuCocnNLoVfLUV16m+Kdb28vPDMM89g2rRpCAgIuM4tbRvRs+PgyIpkZ2fLUyuK+Ga1ZsxObMxPXMxOXMxObNaQnyRJ+C2jGMt3p+BwdikAwNfVHuG+Loj0c4XO51EsebFhcBQZGYlZs2ZhwoQJcHJyMmezL0v07Dg4IiIiIiK6Dmq1ehzOLsFv6cX4/sQ5nC6sQl1eCmoOf4OFL/8Dsx65R163vj4C6X/ux4QJExAXF8fJx64TDo6sSJcuXeTTnCQWZic25icuZicuZie2jpZfXmkNNh3Iwse/Z6OiVgfJoEd16gFU/bUDNbmnAAC/fOWDWY9cnFjBzs4On376qZla3H6iZ8epvImIiIiIrrLiyjr8cCIf3ybm4Y+sC5AkwFBXBSl5D8r+/BYVRecU6/v7+yMtLQ3Ozs5manHHxKm8iYiIiIjMJDGnFBt/y8J3x86hXm8AAGhL8+Gcthu5B79DTXWVYv2YmBjEx8dj/PjxcHBwMEeTqQkOjoiIiIiIrsDZ0hrsTMzDN4l5SMorl5fHdHHDTe5VeG3i0zAYDIpt7r//fjz//PO4++67oVKprneTqRUcHBERERERmSglvwLfJubhv2mFOJZbJi+3U9tgWG9/PH5LCGK7ekCSJHy76gYcPnwYjo6OmDBhAmbOnIkePXqYsfXUGt5zZEUSExPlqRVjY2PN3RwyAbMTG/MTF7MTF7MTmyXnV1ajxZo9afjw10z5uUQqFRDrq4F9+l5U5abg2x1fKc4G7dixA0lJSZgyZQq8vb3N1PLrw9Ky4z1HRERERERXUa1Wj11JDZMr/De1SL6X6J4endDbtQZHf/gYn63ejOrqagDAgQMHcMstt8jbjxw5EiNHjjRL28k0HBxZEScnJ+h0Omg0jF00zE5szE9czE5czE5slpJfzoVqfPJHNj49lIMLVfXy8sjOLrjPqwj/2f4qZu7cqdhGpVLh119/VQyOrImlZNdevKyOiIiIiOh/Civq8PWRs9h5/BwSc0rl5QHuDhjVqxMMGb/i0w3vIDExUbGds7MzJk6ciJkzZyI8PPx6N5tawcvqiIiIiIja4Yfj5/DSl8dRVqMFANiogFvCfPDogGDc06MTJj05ER999JFim65du2LGjBmYPHkyPD09zdFsuop45oiIiIiIrN6bPybjrf9kAACi/FzxSP8gxMX4w9fVXl5n//79GDRoEACgf//+iI+Px5gxY2Bra2uOJlMb8MwREREREVEbSZKELb9nywOjZ+7shhgpC2sXPQO7iRPx97//XV73jjvuwIsvvojRo0dj4MCB5moyXUM8c2RFsrOz5RvkgoKCzN0cMgGzExvzExezExezE9v1yE+SJPxwIh9r9qbj1LlyGLR1GGA4iaTdn+DkyZMAgJtvvhkHDx7kQ1pNYGnHHs8cUatKSkrkeect4c1KbcfsxMb8xMXsxMXsxHY98lv5UxpW7UmDvrIEtce+R82xH7GtrESxTmFhIYqKiuDr63tN2tARiX7scXBERERERFZl3b50/OuTXSg/tAO1yf+FXqdVlN9+++2Ij4/HiBEjoFarzdRKMgdeVmdF6urqIEkSVCoV7O3tL78BWQxmJzbmJy5mJy5mJ7Zrmd97/z2NRZ/9jLNvTQRw8WuwRqPBQw89hPj4eNx0001X9W9aE0s79nhZHbXKEt6g1D7MTmzMT1zMTlzMTmxXO7/GL+sbf83Eku9PQePqg163DMbx3/bA09MTU6ZMwbRp0xAYGHhV/641Ev3Y45kjIiIiIuqQcnNzsXbtWvzw448Y+9pmfPBrNgBg+l3huN2jFH/99Rcef/xxODs7m7mldK3wzBERERERWbU///wTCQkJ+Pzzz6HT6QAAee9vgXOPO/Dc4HDE39sdKpUK/fv3N3NLydJwcGRFysvL5dPKbm5u5m4OmYDZiY35iYvZiYvZia09+en1euzYsQMJCQn45ZdflIVqDTRVhXjrkT4Y0sv/GrSYGol+7HFwZEUyMzPlqRVjY2PN3RwyAbMTG/MTF7MTF7MTmyn5lZeX48MPP8Tq1auRmZmpKLNxdINn36F44qkpmDd2IDyc7K5lswniH3scHBERERGRsObPX4BVq1Yqltl6ByHw9rFYED8FY24OhauDrZlaR6IxaXC0d+9ebNmyBb/99htycnLg4eGBm266CfPnz0ffvn3l9Z544gls2rSpxfaRkZFITk5WLNNqtVi6dCk2bNiAc+fOITQ0FNOmTcOMGTPauUvUms6dO0Ov13O+fgExO7ExP3ExO3ExO7G1lp8kSThbUoVdJwtxIKMYmUWVSK+LBqACIMEhtA/cbhqJu+6+F6vH34hOrg5mab81E/3YM2lw9Pbbb6O4uBgzZ85Ez549UVhYiOXLl2PAgAHYtWsXBg8eLK/r6OiIvXv3KrZ3dHRsUefUqVOxefNmvPbaa+jXrx927dqFmTNnoqKiAnPmzGnnbpExfn5+5m4CtROzExvzExezExezE5ufnx90egOOnS3DX8fOIae4HHt/+BY/bdsAhA6A281j5HVV7v7oFPcMBt56B0bd1R+DIjshxIezz5mL6MeeSVN5FxQUoFOnTopllZWVCA8PR0xMDH766ScADWeOtm/fjsrKykvWl5SUhF69emHJkiV4+eWX5eVPP/00tmzZgtzcXHh5eSm24VTeRERERB3bhap6PP7hH0jMOIuKxF2o+Gsn9BWFAAC1my9GLt2OuF6B6OHvhlBfZ/i7OcDGRmXmVpMluqZTeTcfGAGAi4sLevbsiZycHFOqAgB8/fXXkCQJEydOVCyfOHEi3nvvPfz4448YP368yfUSERERkTgkScLh7FLsTT6PQ5kl+OPYSVz4/WtUHf8JBm2tYt2oIH+sGBaM4OBgM7WWOrIrnpChrKwMhw8fVlxSBwA1NTXw8/NDYWEh/P39MWrUKLz66quKM0EnTpyAr69vi9NvvXv3lsvbIikpCcHBwYrpAuvq6uT7mzw9PREUFKTYJi0tDdXV1QDQYiaNoqIinD17FgAQFBQET09PuUyv18vtcnV1Rbdu3RTbZmZmory8HAAQHR0NjebiS1xaWoozZ84AAAICAuDr66vY9tixY5AkCY6OjujevbuiLCcnBxcuXADQcO+Wg8PFa2grKyuRkZEBoGEA6++vnKLy5MmT8qwhPXv2VJSdO3cOBQUFAICwsDC4uLjIZbW1tUhJSQEAeHl5oWvXroptU1NTUVNTA5VKJWfWqLCwEHl5eQCA4OBgeHh4yGU6nQ5JSUkAADc3N4SGhiq2PX36tDzCj4mJUVyzWlJSguzshge4denSBT4+PoptExMTAQBOTk6IiIhQlGVnZ6OkpAQAEBUVpXiCc3l5uTzDTefOnVu8J5OSkqDT6WBvb4+oqChFWV5eHgoLG37NCg8PVzxIrrq6GmlpaQAAb2/vFk/eTklJQW1tLdRqNWJiYhRlBQUFOHfuHAAgJCQE7u7ucll9fT1OnToFAHB3d0dISIhi24yMDPnMba9evRS/jhQXFyM3NxcAEBgYCG9vb7nMYDDg+PHjABp++AgLC1PUm5WVhbKyMgBAjx49YGd3cdafsrIyZGVlAQD8/f1b/Jhy4sQJ6PV6ODg4IDIyUlGWm5uL4uJiAEBERAScnJzksqqqKqSnpwMAfH19ERAQoNg2OTkZdXV10Gg0iI6OVpTl5+fj/PnzAIDQ0FD2EWAfwT6iAfuIBuwjGpizj8guqsCB3Fr8claP5Pxy1OWcQPmfO1CT9jsA5cVNw4YNw/PPP4/bbrsNJ0+eRGlpKfsI9hEALt1HNB6nbXXFg6Np06ahqqoKc+fOlZfFxsYiNjZWDmn//v1ISEjAnj17cOjQIfnAKS4ubnHZHAA4OzvDzs5O3snL0el0aH51oCRJ0Gq1crmxbRrLmzMYDHKZwWBoUd7Wepu3qWm9er3eaL2SJMHWtuWMKnq9/orqbfzn6NGjsLW1lT8gmtbbfF+bvobG6m3cV5Wq5WnsttZrKdlcbl+1Wi10Op3RU7CXyqYt9Wq1WqNlTes9c+YMDAaDIru21GtMW19DY9s3bVNzl9vX+vp6GAwGozdoXo3X0NgVwm2t91q/D5OSkuQvFnZ2dhbbRxhj7X1EY3Y2NjYW3UcYe/9bex/RmJ1er4ckSRbdR7RWb0fuI5Lzy/HcN9lILaqTl9kZapH35SLo6i6eKXJwcMD48eMxe/ZsecDXtD2Wko2lf48wRx/ROAhqrU3NXcs+whRXNDh65ZVXsHXrVqxZs0YxW118fLxivXvvvRc33ngjxo4di/fee09RbuxDsy1lTWk0mhbrqlQquXNo+qtL022MdR4AYGNjI5cZexO3td7mbWpar7FgbW1tIUmS0XrVavUV1Qs0HNQ6nU6xfdN6m+9r09fQWL2N+2osp7bWaynZXG5fG/fTWLsulU1b6m1tRpem9er1euj1ekX9l6v3Sl/Dy+1rc5fbVzs7O+j1+mvyGhoMBpOPm+v5Pmx67Dk5OVlsH3G5bKyxj2jMrml7LbGPMPYaW3sf0fS4s7W1teg+orV6O2ofoTdImPXpUaTkV8JGY4sevnYYd0sERt7QBXNrJmHdunXo1KkTHnroIYwaNQp9+/ZVnF22xGws/XvE9ewjGhkblJirjzCFSRMyNLVo0SIsXLgQS5YsadOscgaDAW5ubhg6dCg+++wzAMDDDz+MPXv2yKdjG1VVVcHFxQUvv/wyli5d2qIeTsjQPsnJyfKv181P6ZJlY3ZiY37iYnbiYnaWp7CiDr+kF2LVF//BX99tRW3aQRxLOoUewRcvQTt9+jQOHjyIXr16AQDzE5ClHXvXdEKGRo0Do4ULF5o03bYkSYqG9OrVC59++iny8/MV12Y2XqvY/NpJujKW8Aal9mF2YmN+4mJ24mJ2luFQ1gV88HMmjuaUIDPxIMr//Bq1p/+Sy7/fvhU9XnhB/v9u3bq1uA+LxCL6sWfy6ZbXXnsNCxcuxLx587BgwYI2b7d9+3ZUV1djwIAB8rKRI0dCpVK1eGDsxo0b4ejoiLi4OFObR0RERERmlpxfjhc+T8TYtfux/ZOPcHjlUyj4/BXFwMjFxaXV+0+IzMWkM0fLly/H/PnzERcXh6FDh+LgwYOK8gEDBuDMmTMYP348xo0bh/DwcKhUKuzfvx8rV65EdHQ0Jk+eLK8fHR2NSZMmYcGCBVCr1ejXrx92796N9evXY/HixUYnayAiIiIiy1OvM+CbxDxs+DUTx9LOoOLI96g48gMM1aWK9YKDg/Hcc89h0qRJihnUiCyBSfccDRo0CPv372+1XJIklJSUYNKkSThy5AjOnz8PvV6P4OBgjB49GnPmzGlxEGi1WixZsgQbNmxAfn4+QkJCMH36dMyYMcPo3+A9R0RERESWQ5IkbPk9G2v2pKGgomH2uco/tqN430bFegMHDsTzzz+PUaNGGZ3wgOhaMHXs0O4JGcyFg6P2y8vLk2c0af4cCLJszE5szE9czE5czO7akyQJp85V4PXvT2L/ybOwsXNAZzd7PHFLKOLCXRAT2Q11dXUYO3Ys4uPj0b9//zbXzfzEZWnZXZcJGUhMhYWF8uwhlvBmpbZjdmJjfuJiduJidteGwSDhaG4pdp3Ix3dHsnDqvztR/uc3cAnri+UrEvDogGDYaRq+dG7duhV9+vRp8QDdtmB+4hI9Ow6OiIiIiOiSdHoDPv8zF2v3piE79ywqjnyHyiM/wFDb8Iu8tq4UD/TykgdGADBq1ChzNZeo3Tg4siLh4eGQJMnkh2GR+TE7sTE/cTE7cTG7q8NgkPDDiXwk/JSKpGNHUfHnDlSf+hmSQadY76ab+qKgoOCqTbDA/MQlena854iIiIiIWjh4uhhzvzyG4wf2ovzQ16jLOaEo12g0GDduHOLj49GnTx8ztZLo0njPERERERG1W0lVPb44nIt//pAMrVaLkn+/A11FkVzu5eWFZ555BtOmTRPynhKiS+HgiIiIiMjK1dTrselAFr47lIakYj0M/7uuaESfIPj8XzwWvjIXkZGRiI+Px2OPPQYnJyeztpfoWuHgyIpUV1fL14CyUxMLsxMb8xMXsxMXs2u7ozmlmPSvj5H8709RnXYAAZPfQa+oCPAb3X4AACAASURBVPy9X1c8cUsISktD0K/PDYiLi7tutzEwP3GJnh0HR1YkLS1NnloxNjbW3M0hEzA7sTE/cTE7cTG7yysur8GUxW9h58fvo+5ssrz8ftURvD9rkvz/np6eGDJkyHVtG/MTl+jZcXBEREREZEVOny3AzEUrsOvzDdCWFSjKfH19Edkt2EwtIzI/Do6siLe3t/zEYhILsxMb8xMXsxMXs2vpVGo6nnlpMX757nMY6msUZTExMYiPj8f48ePh4OBgphZexPzEJXp2nMqbiIiIqIOq1eqxP7UQu5POY/vnnyD7izcU5fffPwTPPx+Pu+++W9jn0hBdCqfyJiIiIrJyWq0W3/yRghU/F+Bs6f/OEoUOgJ2bD1BfiScmTEB8fDyioqLM21AiC8PBEREREVEHceHCBaxYvQ4rV6+F5BsO39Fz0NnNHkN7BeDenp2hG/k1evaIgre3t7mbSmSRODgiIiIiElxqaioWv7Ecn27dDG3d/84UlRbhwe52WPToIDjZ/e8rX9it5mskkQA4OLIiKSkp8tSKkZGR5m4OmYDZiY35iYvZicsaspMkCXv27sMrr/0TB/f/W1moUmHwfXGYfGvQxYGRQKwhv45K9OzEO1qo3Wpra6HVaqHX683dFDIRsxMb8xMXsxNXR87OYDBg3foP8cay5Tibkawo09g7YsgD4/HmgtmI7B5hphZeuY6cX0cnenYcHFkRtVot9NSK1ozZiY35iYvZiasjZ/dzWhFeXPQG6vLT5WXuvn54dup0zJ41DR4eHmZs3dXRkfPr6ETPjlN5ExEREVmw9PR0hIWFAQB+TS/GC9uOIuPAjyjeuRwRMTfilZdexLiHxsLW1tbMLSWyPKaOHTg4IiIiIrIwkiRh165dmL/kTRz6ZR/+9tJ6FDmHoKiyHgAQ4mGHhbc6YtDtt5m5pUSWjc85IiIiIhJUTU0NtmzZgpUrV+LkyZPy8p+/3Ajf0XPgbKfG2L6BeHZQOPzcHczYUqKOiYMjIiIiIjPLz8/HW2+9hbfffhtFRUWKMrdOXTBy2H2In3oLevi7wcFWzHs5iETAwZEVKSgokG+Q69Spk7mbQyZgdmJjfuJiduISJbvU1FQsXboUn3zyCerr6xVlDoHRmDJtBpa/OFnYm9vbS5T8qCXRs+PgyIqcO3dOnndexDerNWN2YmN+4mJ24hIlu4zsXGzatOniAhs13KPvwKOTpuKVicPQ2c06L50TJT9qSfTsODgiIiIiug6qqqqQl5eHiIiG5w99dCALb/y3Hnadw6ArOw+/m4di5owZeHbYzXB14MxzRObA2eqsSFlZGSRJgkqlgru7u7mbQyZgdmJjfuJiduKypOxyc3Oxdu1arF+/HuHh4fjgy93Y+NsZfHE4FwDQRVWCqUNvxoMDwmGn4fcZwLLyI9NYWnacypuIiIjIAvz5559ISEjA559/Dp1OJy/v/MibcAjsCQCYHReFZ+7sBpVKZa5mEnVonMqbiIiIyEz0ej127NiBhIQE/PLLL8pCGw2ce94JR1cPDOnlj0f6B+GWcB/zNJSIjOLgiIiIiOgqWLt2LVasWIHMzEzFcmd3T7jfOAQ20XGIuzkKKx6K5T1FRBaKgyMr0nSKUDs7OzO2hEzF7MTG/MTF7MRljux++uknxcDIIyAUNr2Gwjn6LtjY2iPA3QGLRkRzYNQGPPbEJXp2HBxZkVOnTslTK8bGxpq7OWQCZic25icuZieua53dwYMH0bdvX9jaXhzoTH5mOnbs2IHOPftDih4Ch9A+sLFR4bZwHzx0U1fc27MzH+DaRjz2xCV6dhwcEREREbWBTqfDF198gYSEBPz+++/49NNP8eCDD+G3jGJsOXgG/z5Zh4Cn3oWtVxeobVQYfWMXPDsoDGG+LuZuOhG1EQdHVsTd3V1+YjGJhdmJjfmJi9mJ62pmV1R8Af9a/RY2rH8bhfl58vLpL7+GNVk+yC2plZfFRvfA6Bu7YHhsAPzcrfMBrlcDjz1xiZ4dp/ImIiIiaqZWq8eGHw5ixcqVyPhlJyRtraLc1jcEbv1GwTlmMFwd7DD6xi54ZEAQovzczNRiIjKGU3kTERERtVNJVT3e/Gwv3vrXqyhPPghA+RtyaJ/bMWjME7jpljvg42oPXxd79Av1gos9v1IRdQQ8komIiMjqnS+vxfs/n8bW37NRdj5XMTBydHLCE48/jlmzZqF79+7mbSgRXVMcHBEREZHVOpl5Fv/8bB8OVnijXm8AAMT2jETQXfchJ/UEpk+fjqeffhpeXl5mbikRXQ8m3aizd+9ePPnkk4iKioKzszO6dOmCkSNH4q+//mqx7uHDh3HPPffAxcUFHh4eGDNmDE6fPm203jVr1iAqKgr29vYIDQ3FokWLoNVq27dH1KqMjAwkJycjIyPD3E0hEzE7sTE/cTE7cV0uu+TkZNz7wKOI6R6Gj5c+jzqtFv1CPLFhYj9899xt+PqTTcjMzMRLL73EgZEZ8NgTl+jZmXTm6O2330ZxcTFmzpyJnj17orCwEMuXL8eAAQOwa9cuDB48GEBDhzNo0CDccMMN+Pzzz1FbW4v58+fj9ttvx9GjR+Hr6yvXuWTJErzyyit46aWXcN999+HQoUOYN28ezp49i/Xr11/dvbVylZWV8rzzJBZmJzbmJy5mJy5j2UmShD179iAhIQHff/+9vFxfUYinuxZi7jMj5GWdO3e+ru0lJR574hI9O5MGR+vWrUOnTp0Uy+Li4hAeHo6lS5fKg6P58+fD3t4eO3fuhJtbw6wtffv2RUREBJYtW4Y33ngDAFBcXIzFixfjqaeewtKlSwEAgwYNglarxbx58zBr1iz07NnzineSiIiIrFdtbS0+/vhjrFy5EsePH1eU2Tk6YcpTk/HI8LvN1DoisiRXZSrvwYMH4+zZs0hJSYFOp4ObmxsmTJiAd955R7He3/72N2RmZiI1NRUAsHXrVjz66KM4cOAABgwYIK937tw5BAQEYMmSJZgzZ46iDk7l3X4Gg0H+b75eYmF2YmN+4mJ24mrMbvny5Vi2bBkKCgoU5Wq3Tug75GH88NZCeHl6mKOJdAk89sRladmZOna44haXlZXh8OHDiI6OBtBwnWFNTQ169+7dYt3evXsjPT0dtbUNzwo4ceIEAKBXr16K9fz9/eHj4yOX09VhY2Mj/0NiYXZiY37iYnbiasztREqGYmBkHxCFW6cswU8HE3Hw4wQOjCwUjz1xiZ7dFc9WN23aNFRVVWHu3LkAGi6VA2D05kUvLy9IkoSSkhL4+/ujuLgY9vb2cHZ2NrpuY12Xk5SUhODgYPkSPgCoq6tDcnIyAMDT0xNBQUGKbdLS0lBdXQ0AiI2NVZQVFRXh7NmzAICgoCB4enrKZXq9Xh60ubq6olu3boptMzMzUV5eDgCIjo6GRnPxJS4tLcWZM2cAAAEBAYp7rwDg2LFjkCQJjo6OLaYKzcnJwYULFwAAkZGRcHC4+NTtyspK+aa3Tp06wd/fX7HtyZMn5Ws/m1+meO7cOflDIywsDC4uLnJZbW0tUlJSADTk0bVrV8W2qampqKmpgUqlajEYLiwsRF5ew1PEg4OD4eFx8cNHp9MhKSkJAODm5obQ0FDFtqdPn5ZH+DExMYonLJeUlCA7OxsA0KVLF/j4+Ci2TUxMBAA4OTkhIiJCUZadnY2SkhIAkCcAaVReXo7MzEwADdeZ+/n5KbZNSkqCTqeDvb09oqKiFGV5eXkoLCwEAISHhyvez9XV1UhLSwMAeHt7IzAwULFtSkoKamtroVarERMToygrKCjAuXPnAAAhISFwd3eXy+rr63Hq1CkADU+iDgkJUWybkZGByspKAA0/PjTtoIqLi5GbmwsACAwMhLe3t1xmMBjkS05cXFwQFhamqDcrKwtlZWUAgB49esDOzk4uKysrQ1ZWFoCGHziaX4J74sQJ6PV6ODg4IDIyUlGWm5srH+8RERFwcnKSy6qqqpCeng4A8PX1RUBAgGLb5ORk1NXVQaPRyD/SNMrPz8f58+cBAKGhoewjwD6CfUSDjthHGAwGJCUlYdiwYfL76VDWBfxidxNg8wFcIgdi/KSp+L8JwxDm2/A+Zh/RgH3ERewjGnSkPqLxOG2rKxocvfLKK9i6dSvWrFmDvn37KspUKlWr2zUta+t6l6LT6dD86kBJkuQZ73Q6ndFtWpsRz2AwyGVNTw02amu9zdvUtF69Xm+0XkmSjN7Aptfrr6je1va1ab3N97Xpa2is3sZ9NZZTW+u1lGwut69arRY6nc7oryCXyqYt9Wq1WqNll6q3cdvL1WtMW19DY9s3bVNzl9vX+vp6GAwGxYeUsXrb+xoae43aWq+lvA/ZR7Ss11KyYR/Rsl5L6SOqqqrw2Wef4ZNPPkFWVhamvLgAwXf9HYk5pTicXQq9mz8Gz/8E/xgcgvtvv6nN9Vri+5B9RMt6LSUb9hEt67WUPsLUO4jaPThatGgRFi9ejCVLlmD69Ony8sbRo7GzPhcuXIBKpZJH/97e3qitrUV1dbVihNe4bvMBV6s7odG0OLBUKpXcOTT91aXpNq3NomFjYyOXGXsTt7Xe5m1qWq+xYG1tbSFJktF61Wr1FdXbuF1hYSFsbGzknJrW23xfm76Gxupt3FdjnVpb67WUbC63r437aaxdl8qmLfXq9XqjZU3rraiogFarVWR3uXqv9DW83L42d7l9tbOzg16vvyavocFgMPm4uZ7vw+LiYhgMBtjY2Fh0H3G5bKyxj2jMrq6uzqL7CGOvcUfvI/Ly8rBu3Tq888478hkRAHj/nbfQBX2gsmn4G30DHDD71i5wdmh/NuZ+Hxqrt6P3ETU1NfI2ltxHGGuTtfcRjfUZGziZ63uEKdo1IcOiRYuwcOFCLFy4EAsWLFCUNU7I8Pjjj+Ptt99WlMXFxeH06dPyhAwff/wxHnnkERw8eBD9+/eX18vPz4e/vz8nZLjKEhMT5dPizS8BIMvG7MTG/MTF7CzPkSNHkJCQgE8//bTFL9COQb3gctNIjHtgFIId6hDirkKYtyNuuOEGM7WW2ovHnrgsLbtrPiHDa6+9hoULF2LevHktBkZAw6h6+PDh+PLLLxUNyc7Oxr59+zBmzBh5WVxcHBwcHLBx40ZFHRs3boRKpcKoUaNMbR4RERF1QKmpqRg0aBD69OmDzZs3XxwY2ajhHH0X/B5fiU4Pv46/DRmGVQ/3wT1hzgh2N35WgoioNSZdVrd8+XLMnz8fcXFxGDp0KA4ePKgob5yOe9GiRejXrx+GDRuGl156SX4IrI+PD1544QV5fS8vL8ybNw+vvPIKvLy85IfALly4EJMnT+Yzjq6ywMBA+dIeEguzExvzExezsxy+vr44dOiQ/P82Dq5wufF+uN44FMFdAzEo0heDIjvhzu6+UKlUzE5wzE9comdn0mV1gwYNwv79+1stb1rVX3/9hdmzZ+PAgQPQaDQYPHgwli1b1mLWCgBYvXo11q1bh6ysLPj5+WHixImYO3eu0WsKeVkdERFRx5aTk4MjR45gxIgRkCQJ/00rwg/Hz2HDv17BhbTDcOs3Es7Rd2FQdFdMvDUEd0b4wsaGZ4iIqCVTxw5X5SGw1xMHR0RERB3T77//joSEBGzfvh2Ojo7480QathwpwuaDDdNXG+pr4eLsiAf6BuHxW0IQ3snlMjUSkbUzdexwxc85IiIiImovnU6Hr776CgkJCThw4IC8vLKyEgOemAv3/mOgUgEP3xyEuGg/9O/mBXtNy5msiIiuBg6OrEjTKRV5pk0szE5szE9czO7aKSsrw/vvv481a9bIDzZtZOPkDtcbh8Ct112IDnDDc3dH4G/Rfq3UZByzExvzE5fo2XFwZEWOHz9uUVMrUtsxO7ExP3Exu2vj9ddfx9KlS1FZWalYbusTDO8Bo/H3cQ9j7M3dcGOQB5zt2/dVhdmJjfmJS/TsODgiIiKi60qtVisGRg7d+sKt32g8OOJ+LBgeDV9XezO2joisGQdHVsTFxUUeyZNYmJ3YmJ+4mN2V0Wq12LZtG/r0uxl2Hn4orKhDYWUdVFF3Q+3kDsfuA+HRbyTGDO6PSbeFonegx1X728xObMxPXKJnx9nqiIiI6KoqKSnBmnVvY+XqNSgpzIdnv5FwG/yUYh1Jp0VsiA+WPRiL7p1dzdRSIuroOFsdERERmUVqaiqWr0jAxk2bUF9bIy8vTdwN37seQ4CvN3xd7OHrZo+bgj3x2IBgaNT8cZOILAcHR0RERNRukiRh3759WLFiBb777jtloUqF3rfcjefj4/HY6Dhe5UFEFo+DIyIiImqXn/44jkfHPYjzmSmK5TZ2DogbPQ4rXp2DyO4RZmodEZHpODiyIllZWdDr9VCr1QgJCTF3c8gEzE5szE9czM44rd6A/SmFmLHjDIqKiuXltm6+uGfs43hv6f+hS2dfM7aQ2YmO+YlL9Ow4OLIiZWVlQs8eYs2YndiYn7iY3UUnT57Epi+/R2nwIPyaXozKOh0AFXre8yBq0w5g+nOzMGXCw7C3tzN3UwEwO9ExP3GJnh0HR0RERNRCWbUWnx3Kxk8/7cavX3+EvBMHAagQMOU92Hr4wdPJFnEx/pi7IAHODnZQqVTmbjIR0RXjVN5WpL6+Xv5vOzvL+GWP2obZiY35icsas6uq0+Hdvaew4q0PUHDgK2iLsxXl/YZPwAdvrUZ0gBtsbCx3QGSN2XUkzE9clpYdp/KmVlnCG5Tah9mJjfmJy5qyq9Xqse67P7Fs5WoU/LEThppyRbl/YBCemTods6ZNgZubm5la2XbWlF1HxPzEJXp2HBwRERFZqfPltfglrQi/phfhs/dXI2/vZsCgU6xz2223IT4+HiNHjoRarTZTS4mIrg8OjoiIiKzMkewSrN6Thn0phfKyekdveWCk0Wjw4IMPIj4+Hv369TNXM4mIrjsOjqxIWVkZJEmCSqWCu7u7uZtDJmB2YmN+4upo2UmShGXfHcM/V78DO78IOHSJREyAO26L8MHAx/tgWuYuDB06BNOnT0dgYKC5m3tFOlp21ob5iUv07Dg4siJZWVny1IqxsbHmbg6ZgNmJjfmJq6NkV6vVY/NPh/Fmwiqc/nkHDLWVCO83GP9eMQUhPs7yeseOJXaYWec6SnbWivmJS/TsODgiIiLqwP69/1c8Mms+Co/tBwx6efnpv/4Du/oyABcHRx1lYERE1F4cHFkRf39/+YnFJBZmJzbmJy5Rs9Pr9dixYwcSEhLwyy+/KMpsbW0xfvx4zJo1CwEBAWZq4bUnanbUgPmJS/Ts+JwjIiKiDqSgoAADBgxAZmamYrm7pxdmTJuKqVOnwt/f30ytIyK6vvicIyIiIitm4+iGes3FS+VsvbtiwIjHsGvdPDg6OpqxZURElo+DIyIiIgFJkoQDBw7gm2++wdKlS5FWUIWvjpzFRweyUBd1Pxy0tug0cAyGDxuCBcOj4ehob+4mExFZPA6OiIiIBKLVavHFF18gISEBf/zxBwBgV3kAStzC5HUG3DsC019/HoMifWGvEfO6fyIic+DgyIqcOHEC9fX1sLOzQ0xMjLmbQyZgdmJjfuKypOxKS0vx3nvvYeWq1cg7m6soS/v5WwSMfB63h/vg7/264t6ena1+5jlLyo5Mx/zEJXp2HBxZEb1eD4PBAL1ef/mVyaIwO7ExP3FZQnbp6en41/IEbNq0EXU11YoyW98Q9LzvYcydMRn33xAEF3t+rDeyhOyo/ZifuETPjr2oFXFwcIBarYatra25m0ImYnZiY37iMkd2kiQho7ASSXnleHt1AnZtXAE0m1jWv9etGP7IZEwcOwz9u3lb/VkiY3jciY35iUv07DiVNxERkQXIuVCNbX/l4qsjuci5UAMAqM05gfMfvwQAsLFzwJ1Dx+KN+bPR7wbxLlUhIjIHTuVNREQkkLTzFVi24xC2bd0IjU8InCL6w8HWBj393dCz/xD8mLsHt996C+a9MAPe3t7mbi4RUYfGM0dERETXmVZvwJ5TBXjrq/9g3xebUJW0F5KuHl4hPfDBl7vxt2h/ONpxljkioivFM0dEREQWrE6rx6D41Tj6w1bUnv5LUVZyJhlRjpUcGBERmQkHR1YkNzcXer0earUagYGB5m4OmYDZiY35ietqZldbW4utW7fi1df/heyMFEWZi4sLJk2ahOeeew7dunW7or9DDXjciY35iUv07Dg4siLFxcXQarWwtbUV8s1qzZid2JifuK5WdpWVlYiIiEB+fr5ieVBQEGbOnIlJkybB3d39SptLTfC4ExvzE5fo2XFwREREdA3lldbg++MFMPiGA/8bHPlF9MayRXPw9wcfgEbDj2IiIkvBCRmsSHV1NSRJgkqlgpOTk7mbQyZgdmJjfuIyNTuDwYAff/wRW7ZswaZNm/Duz1lY/u9USFLDtNw1id9j2oyZWPzUaNjY8NlE1xKPO7ExP3FZWnamjh04OCIiIrpC1dXV+Oijj7By5UqkpDTcT3Tb068hx/NGAEC/EE8Mjw3A8N4B8HS2M2dTiYisCmerIyIiuk7y8vKwdu1avPvuu7hw4YKi7PD+H9F59I2YM6QHJt/OSRaIiERg8umWiooK/N///R/uu+8++Pr6QqVSYeHChS3We+KJJ6BSqVr8ExUV1WJdrVaLRYsWISQkBPb29oiKisKaNWvatUNERETX2uHDh/HYY48hJCQEr7/+umJgZN81BoEPzcc//vkW9r94FwdGREQCMfnMUXFxMdavX4/Y2FiMGjUK77//fqvrOjo6Yu/evS2WNTd16lRs3rwZr732Gvr164ddu3Zh5syZqKiowJw5c0xtIrWiqqpKvgbU2dnZ3M0hEzA7sTE/cRnLbuXKlYiPj1euaKOGc4870GfII5jywD0YHhsANwdbM7SYGvG4ExvzE5fo2Zk8OAoODkZJSQlUKhWKioouOTiysbHBgAEDLllfUlISPvjgAyxZsgQvvvgiAGDQoEEoLi7G4sWL8cwzz8DLy8vUZpIR6enp8tSKsbGx5m4OmYDZiY35ictYdsOHD8fzzz8PSZJg7+wG+95xcO8zFIsfuQOPDQiGSsWJFiwBjzuxMT9xiZ6dyZfVNV4ed7V8/fXXkCQJEydOVCyfOHEiampq8OOPP161v0VERNRW2dnZWLFiBbZt26ZY7uLbBQNGPAbfuGnoNOVD+A56HKsn3Y0JA0M4MCIiEtw1nZChpqYGfn5+KCwshL+/P0aNGoVXX31VcSboxIkT8PX1hZ+fn2Lb3r17y+WXk5SUhODgYLi5ucnL6urqkJycDADw9PREUFCQYpu0tDRUV1cDQItRbVFREc6ePQug4QF9np6ecpler5fb5Orq2uJJ5pmZmSgvLwcAREdHK55fUVpaijNnzgAAAgIC4Ovrq9j22LFjkCQJjo6O6N69u6IsJydHvqY9MjISDg4OclllZSUyMjIAAJ06dYK/v79i25MnT0Kr1QIAOnfuDLVaLZedO3cOBQUFAICwsDC4uLjIZbW1tfKsS15eXujataui3tTUVNTU1EClUsl5NSosLEReXh6AhrONHh4ecplOp0NSUhIAwM3NDaGhoYptT58+Lc8qEhMTo2hvSUkJsrOzAQBdunSBj4+PYtvExEQAgJOTEyIiIhRl2dnZKCkpAQBERUXB3t5eLisvL0dmZqb8GjV/PyYlJUGn08n3xDWVl5eHwsJCAEB4eLjiFHJ1dTXS0tIAAN7e3i0ehpaSkoLa2lqo1WrExMQoygoKCnDu3DkADe81W1tb+bWor6/HqVOnAADu7u4ICQlRbJuRkYHKykoAQK9evRQzshQXFyM3NxcAEBgYCG9vb7nMYDDg+PHjAAAXFxeEhYUp6s3KykJZWRkAoEePHrCzuzjrVllZGbKysgAA/v7+6NSpk2LbEydOQK/Xw8HBAZGRkYqy3NxcFBcXAwAiIiIUU39WVVUhPT0dAODr64uAgADFtsnJyairq4NGo0F0dLSiLD8/H+fPnwcAhIaGmq2P8PX1lZ8Wbsl9hK2tLXr27Kkos8Y+4vjx4/jmm2/w5ZdfQq/Xw9/fH5MmTcLRo0fxeVIFtp2sgDbqITgBuD3CBwuG90RdYTYSE4vM1keEhIQoHiLLPgLycVdSUoLExESL7iOaYh/RwMnJCRUVFdDr9SgtLbWoPgIQ73vE9ewj9Ho9bGxsFK97I3P0EY3HaVtds8FRbGwsYmNj5aD279+PhIQE7NmzB4cOHZIPnuLiYqOXzTk7O8POzk7e0UvR6XRoPiO5JEnygECn0xndprG8OYPBIJcZDIYW5W2tt3mbmtar1+uN1itJEmxtW16nrtfrr6jexk6tecfUtN7m+9r0NTRWb+O+GvultK31Wko2l9tXrVYLnU5ndNrHS2XTlnq1Wq3Rsqb1enl5KT4Ymu7rpeo1pq2vobHtm7apucvta319PQwGg9HO8mq8hsaeStDWeq/1+7DpgC4tLc1i+whjrKWP0Ol0+Oabb7B+/Xr5y3+j4uJiZOfk4JN0FfZk1gAAbgr2xLTB4RjUvWFioqN55u0jjL3/rb2PaDzuSktLUV9fb9F9RGv1WnMf4erqKn+JtoQ+onm9on2PuJ59ROMyYw+4NlcfYYprNjhqfrPqvffeixtvvBFjx47Fe++9pyi/1GUIbblEQaPRtFhPpVLJnYOxcDQajdHOA2i4V6qxzNibuK31Nm9T03qNBWtrawtJkozWq1arr6jepv9urd7m+9r0NTRWb+O+GsuorfVaSjaX29fG/bzca9ieehvPKJhSb+O2l6r3Sl/Dy+1rc5fbVzs7O+j1+mvyGhoMBpOPG0t8H7KPaFnvtc6mrKwM77//PtasWSP/It/I19cXU6dOxbPPPotPjhZhT2YWbFTAi3cF4dn7erWol30E+4hG7CMg/x3R+4jW6uX3CLH6CFNc0UNgi4qK4OvriwULFhidzrs5g8EANzc3DB06FJ999hkAqpEpyAAAIABJREFU4OGHH8aePXvkU7KNqqqq4OLigpdffhlLly5V1MGHwBIR0ZXSarUIDg6WLztpFB0djfj4eDzyyCNQaWyxbm861v0nA3qDhKWje2F8/6BWaiQiIktj6tjhuo8oJElSNKZXr14oLCxEfn6+Yr3GyxqaXz9JRER0Ndja2uKBBx6Q///+++/H7t27cfz4cTz55JP4T3ophqz6Gav3pkNvkDCuX1c8fHPXS9RIRESiu6YTMjS3fft2VFdXK6b3HjlyJObNm4dNmzZh9uzZ8vKNGzfC0dERcXFx17OJHVpycrJ875Gxh/GS5WJ2YmN+5qXVarFt2zasX78eX331leLm+JkzZ6K+vh6zZs1Cjx49GtbXGzB505/Yn9pwg7SHgw2mDfDFU3G9jdZPlonHndiYn7hEz65dg6MffvgBVVVV8imqkydPYvv27QCAIUOGoLCwEOPHj8e4ceMQHh4OlUqF/fv3Y+XKlYiOjsbkyZPluqKjozFp0iQsWLAAarUa/fr1w+7du7F+/XosXryYzzi6iurq6qDVao3ePEeWjdmJjfmZx4ULF7B+/XqsXbtWnjns/fffl5+pBzTMDPXuu+8qtlvy3SnsTy2Eg60NRnR3xtBwB3g48YGuouFxJzbmJy7Rs2vX4OjZZ59V3Li6bds2+TkQmZmZcHd3R+fOnbFixQqcP38eer0ewcHBeO655zBnzpwWT8t966230KVLF6xZswb5+fkICQnBqlWrMGPGjCvYNWpOo9G0eqMmWTZmJzbmd32lpqZi1apV2LhxY4spXH/55RfF4Kiposo6fHYoBxt/ywIArHm4DwKkImi1WmYnIB53YmN+4hI9uyuakMEcOCEDERE1J0kS9u3bh4SEBOzcuVNRplKpMGLECMTHx+OOO+5QzFyUUViJ3Unn8dOp8zicXYLGT8Tpd4XjH39TPkeDiIjEY+rYQcwhHRERURMffPABnnrqKcUyZ2dnTJw4ETNnzkR4eLiiTJIk/POHZLz739OK5b26uGPkDQGYeKvyoZJERGQdeOaIiIiEV1paisDAQFRVVSEwMBAzZszAU089pZh8oanlu1OwZm86AOD2CB/c17Mz7unZGf7ujtez2UREdI3xzBEREXVYSUlJWLlyJby8vPDGG2/Iyz08PLBkyRJ07twZDzzwQKsPGayu12HZrlR8+GsmAGDRiGg8fkvI9Wg6EREJgGeOrEh+fr78FGU/Pz9zN4dMwOzExvyujCRJ2L17NxISErBr1y4ADZfM5ebmwsPDo011ZBZVYVdSPrYcPIPckhoAwEv3R+GZO8MuuR2zExezExvzE5elZcczR9Sq8+fPy/POW8KbldqO2YmN+bVPTU0NtmzZgpUrV+LkyZOKMhsbGxw5cgR33XXXJev46eR5LNudguT8ix+MXTwc8erIaNzdo/Nl28DsxMXsxMb8xCV6dhwcERGRRcnPz8e6devwzjvvoKioSFEWGhqK5557Dk8++STc3NxarUOSJMz89Ci+ScwDAGhsVBgY5o37ov0w5sYucLbnxx8REbXETwcrEhoaCkmSFNPYkhiYndiYX9tJkoTbbrsNGRkZiuW33XYb4uPjMXLkSKjV6kvWoTdI+CPzgjwweubOMDx7Zxjc2/EgV2YnLmYnNuYnLtGz4z1HRERkNsY+QN98803Mnj0bGo0GDz30EOLj43HTTTddti6DQcKbu1LwyR/ZKKvRAgA6udrjj7n3XJO2ExGR5eM9R0REZPGqqqqwadMmrFmzBjt37kRY2MWJEZ566imUlpZi6tSpCAwMbFN9eoOEF7cn4svDZwEArvYa9O/mjQkDg69J+4mIqGPimSMiIrpucnNzsXbtWqxfvx4lJSUAgOeeew6rVq1qd50ZhZVY+t0p7EkugNpGhTce6I1RNwRAo+bnAhGRteOZI2pVXV2dfAmLvb29uZtDJmB2YmN+wKFDh5CQkIBt27ZBp9MpyrKystp1fXppdT0WfpOEbxLzYJAAW/X/s3fncVWW+f/HX4dzDhzgALKKqKBs7qhlqaWllbZoqU01Zcs3s1VzoWmdabHfTDUzTYPltM93vraMbaY2k5VTkzmj5VopoijiBiqyLwc4cJb79wdyyy0HARXOueHzfDx4APd13xfXfd7nvuDivu/rNrDklpFcNbTXOWu3ZKdfkp2+SX76pffsZHDUjWRnZ6tTKw4fPtzbzRHtINnpW3fNz+Vy8dlnn5GRkcH69es1ZWazmZkzZ7Jw4UJGjBhxRvUv+kcWq35umHThikExLLwilaG9w8663U111+y6AslO3yQ//dJ7djI4EkII0SFWrVrFDTfcoFkWFRXFAw88wJw5c9r9/It6p5uf88pZn1PE+n3F/JRXDsD7s0czLiXqnLVbCCFE9yWDo24kPDwcp9OJySSx641kp2/dJT+32625hvu6666jT58+5OfnM3jwYBYuXMhtt91GYGBgm+pTFIW9x238N6eIDfuK2XSglJp6l2admaPjO3Rg1F2y64okO32T/PRL79nJhAxCCCHOmKIo/PDDD2RkZADwySefaMo//fRTrFYrkydPbvM9RYqisG5vERnf5LD9xNmhRpHB/lycHMW45CguSo6kT3jQudkRIYQQXVJ7xw4yOBJCCNFuDoeDTz/9lIyMDDZv3gyAwWAgJydHMy13eyiKwvp9xfz56738dLhhUBRg8mNMYiTjkqO4ODmKgbEh+Pnp88GCQgghOp/MVieEEKLDlJeX8/bbb7NkyRLy8vI0ZTExMezbt++MBkcVNQ4WfPQT3+0pAhoGRbePSeC+S5OIDtHfbEdCCCH0SQZHQgghWrVv3z5efvll/u///o/q6mpNWVpaGunp6dxyyy3tnrbV5Vb4PreYZ/6Rxf6iavxNftw2OoH7JyQSE2I5l7sghBBCtEoGR91ITk6OeoNcSkqKt5sj2kGy07eukN9tt93Gpk2bNMumTp1Keno6EydObNczioptdWw9WMbG/SWszjxGUVUdAL3CLPzv/1zA4LjQc9r2s9EVsuuuJDt9k/z0S+/ZyeCoG6mpqVHnnRf6Itnpm97yq6+vx2w2awY8CxYsYObMmQQFBXHnnXeyYMECUlNTm21rq3OSW2hjX6GN3CIbh0trqLI7sdU5qa5zUlHr4FiFXbNNjyAzU9N6Mf/yFJ87W6S37MRJkp2+SX76pffsZHAkhBACgJKSEt58803+8pe/8NFHHzF+/Hi17IYbbuD48ePccccdREREaLarc7r49+5Clm/LZ93eIlzu1uf5GdAzhPP7hTNxQAyXpkbjb5JJdYQQQnifzFYnhBDdXHZ2NosXL+bdd9+ltrYWgBkzZrBixYoWtym21bE2u5AN+4r5bm8R5TUOtSw6JICk6GCSY6z0iwwmLNCMNcBE8ImP5GgrYUH6/I+iEEIIfZHZ6oQQQrRKURS++eYbMjIy+PLLLzVlfn5+mEwmXC4XRqNRs83G/aX8fdMh1mQV4HCd/N9arzALM0b25hfn9yEp2tpp+yGEEEKcSzI4EkKIbsRut7Ns2TIWL15MZmampsxqtTJ79mzmz59PYmIiAPVON7lFNn7ILWHZ5sPsK7Sp6w/tHcqE1BjGpURxQb8IjPL8ISGEEDongyMhhOhGtm7dyuzZszXLEhISmD9/PrNnzyYsLIz/5hTx52U/svd4FfuLqnE2uYcoyN/ItBG9uW1MPEPiwjq7+UIIIUSHknuOupHi4mLcbjd+fn5ERUV5uzmiHSQ7ffNmfjU1NQQFBanfK4rChRdeyNatWxk7diwPPfQQ06dPx2QyUVPvZPexSn7x+g+aOkIsJgbFhjJ1eC+mj+xNqKX73C8kx55+SXb6Jvnpl69lJ/cciRYdOXJEnVrRF96sou0kO33r7PzcbjdfffUVGRkZlJeXs3nzZnVaboPBQEZGBmazmdGjRwOw4sd83liXy75CG00nmnv2uiFMGtyTXmGWdj3HqCuRY0+/JDt9k/z0S+/ZyeBICCG6iJqaGt577z0WL15Mdna2unz9+vWaabnHjRsHNDyT6LnVu/hgc55aFh0SwLDeYUwcEM3tY/t1WtuFEEIIXyCDo24kPj5ePc0p9EWy07eOzu/o0aO8+uqrvPHGG5SWlmrKkpKSsNlsmmVOl5svdhbwwhe7OVZhx2CA+ZelcOvoeGJCfeshrN4mx55+SXb6Jvnpl96zk3uOhBBCp3788UcyMjL46KOPcDgcmrJLL72U9PR0pk6dqk7HrSgKH2/NY/E3ORyrsAMQHxHE768fxkXJ+rv0QQghhGiN3HMkhBDdxO9+9ztWrlypfm8ymbj55ptJT0/nvPPOA8DlVthXaGP3sUo++/kI3+wuBCDK6s/tY/px7yWJBPobPdYvhBBCdDdy5kgIIXTAZrMREBCA2dwwU1xpdT1//2wN82+9DmtoDy6Zdgujr5mJKTQSW50Tm93JodIa9hRUYne41Xr8jX78anIqd17cjwCTDIqEEEJ0be0dO8jgqBtxuVzq102fei98n2Snb2eTX15eHkuWLOGtt97i9y+9jDvpYv69u5CfDpfhcivUZP+XwOQL8TO3fK+QxezHgNhQhsSFctvoBAbHhZ7xvnQ3cuzpl2Snb5KffvladjI4Ei3avn27OrXi8OHDvd0c0Q6Snb6dSX6bNm0iIyOD5cuXq79oAnql0PP2P6vTaidFBxNlDcAaYCL4xIc1wHjis4nYMAuDeoXSLzIYo1/3nIr7bMmxp1+Snb5Jfvrla9nJPUdCCKFTTqeTVatW8aeXXmLTxo3aQqMZU1Q/hsUGcctFSUwcEENcj0DvNFQIIYToomRw1I2EhITgdDoxmSR2vZHs9K21/CorK/nrX//KK6+8wqFDhzRlfkE96HPRNKbN/B9uGjeMi5Mju+0DWb1Bjj39kuz0TfLTL71n1+7L6qqqqvjtb3/Lzz//zE8//URxcTHPPPMMixYtarbujz/+yKOPPsrGjRsxmUxcdtll/OlPfyIxMbHZukuWLOHVV1/lwIEDxMXFceedd/LrX/9avfm4kVxWJ4Toavbv309ycjJNu+PAnv24edb9PDHvHlLiIrzYOiGEEEK/2jt2aPeIoqSkhLfeeou6ujqmT5/e4nrZ2dlMmDCB+vp6Pv74Y/72t7+xd+9exo8fT1FRkWbd5557jgULFnD99dezZs0a5syZw/PPP8/cuXPb2zwhhPBpiqJQUFAAQFl1Pf/YfpRXt1YRMmAsAJbE8xk46w8cytnN3154TAZGQgghRCdq95mjxtUNBgPFxcVER0d7PHN00003sXbtWnJzcwkNbZgZ6dChQ6SkpJCens4f/vAHoGGw1adPH+644w7efPNNdfvnn3+eJ598kp07dzJ48GB1uZw5EkLokcPh4JNPPiEjI4Ojx44xadEnrMstpbEHdpTkERMSwO1XX8xto+OJCW159jkhhBBCtE2HnzkyGAytXu/udDr5/PPP+cUvfqEOjAASEhKYOHGi5qGFX331FXa7nVmzZmnqmDVrFoqisGrVqvY2UQghfEZZWRl/+MMf6N+/P7feeitbt27l6JEjrP7HShQFBsaGcO8liSx//Ea2/elOHpqUKgMjIYQQwks65E6p3NxcamtrSUtLa1aWlpbG119/jd1ux2KxsHPnTgCGDRumWa9Xr15ERUWp5aeTlZVFQkKCZiBWV1dHdnY2AOHh4cTHx2u2ycnJoaamBqDZNIPFxcUcOXIEgPj4eMLDw9Uyl8ultikkJKTZ/VMHDhygsrISgCFDhmhuRisvL1dvto6LiyM6Olqz7Y4dO1AUhcDAQFJTUzVleXl5lJaWAjBgwAAslpN/PNlsNnJzcwGIiYmhV69emm137dqFw+HA7XZjtVoxmUz0798fgGPHjlFYWAhAUlISVqtV3c5ut7Nnzx4AIiIi6Nu3r6bevXv3Ultbi8FgaJZ1UVERR48eBRoGxT169FDLnE4nWVlZAISGhqptabR//351hD906FDNHPllZWUcPnwYgN69exMVFaXZdvv27QAEBQWRkpKiKTt8+DBlZWUADBw4kICAALWssrKSAwcOANCzZ09iY2M122ZlZeF0OgkICGDgwIGasqNHj6qXiiYnJxMcHKyW1dTUkJOTA0BkZCR9+vTRbLtnzx7sdjtGo5GhQ4dqygoLCzl27BgAFosFPz8/Nbv6+np2794NQFhYGP369dNsm5ubi81mAxqOrab/HSkpKSE/Px+APn36EBkZqZa53W4yMzMBsFqtJCUlaeo9ePAgFRUVAAwaNAh/f3+1rKKigoMHDwINx29MTIxm2507d+JyubBYLAwYMEBTlp+fT0lJCQApKSkEBQWpZdXV1ezbtw+A6Oho4uLiNNtmZ2dTV1eHyWRiyJAhmrKCggKOHz8OQP/+/Tu1jzh48CBLl33El/9YRZ29VrO9f88kjIFW/veO87h88Mnj1dt9hNls1pypB+kjDhw4gNPpRFEUamsbcvTFPqJfv36EhYWpZdJHoGZXXV2NwWDwuT4C9Pd3RGf2Ebt376ampgaDwUBiYqLP9hGNfP3viM7sI37++WcURcFsNjfL1Rt9RONx2lYdMjhqbFxERPNr5SMiIlAUhbKyMnr16kVJSQkBAQGaN0LTdRvrOp3GX1xNKYqCw+FQyz1t01h+KrfbrZa53e5m5W2t99Q2Na236QOymtbb+GY6lcvlOqt6G8srKio09Tet99R9bfoaeqq3cV89nUlsa72+kk1r++pwOHA6nR5PwZ4um7bU63A4PJad+hq6XC5Ndm3N/FRtfQ09bd+0TadqbV/r6+txu90eHwh3Ll5DT1cIt7Xec/k+XLfuPyx47El2bvsBND/TQGDKaPqNv57JF5/PpQlBXJKi/aXsC33E6ertjn1EZWUlDocDo9Go7qMv9hGe3v/dvY9ozK7pemdar7ffh57q7ep9RG1tLYqioCiKT/cRntrU3fuIxmW+1Ee0R4fOsXe6y++alrV1vZaYTKZm6xkMBrVz8DSVoMlk8th5APj5+allnt7Eba331DY1rddTsGazGUVRPNZrNBrPql7wPIhsWu+p+9r0NfRUb+O+esqorfX6Sjat7Wvjfnpq1+myaUu9LpfLY1nTej11Pq3Ve7avYWv7eqrW9tXf37/ZAM9TvWfyGrrd7nYfN+f6fVheU8+KH4+waNGr5G39/mQb/AMZPP5qps64gUuGp5IaF67+R9PX+ojWsunOfUTTbX2xjziT9naXPqLxrJG3+4im9Pp3RGf2EU2X6aGP8PW/Izqzjzgdb/UR7dHuCRmaamlChj179jBw4EBeffVV5syZo9nmkUce4aWXXqKmpgaLxcITTzzB73//e6qrqzWnwKDh9PikSZNYtmyZukwmZDhzjYOjxl8UQj8kO99TWl3PPzdls6+4jr1lTn7KK6fe6cZRdoyjb91Lj+hYFi6Yx4K5D2C1WiU/nZJjT78kO32T/PTL17Jr79ihQ1qclJREYGCgel1yU5mZmSQnJ6vXujbea5SZmcno0aPV9QoKCiguLm52/aQ4c77wBhVnRrLzLWt/2MZN856iZPu/CRs3k7DRNwAwuFcot0wbQtSN/+aKS8e1+N8xoR9y7OmXZKdvkp9+6T27DjndYjKZuPbaa1mxYoVmpHb48GHWrl3L9ddfry676qqrsFgsLF26VFPH0qVLMRgMp32WkhBCdJbK2nqee+sD4tMu4rKLRlG87UsUZz3uzC95Yfogvk6/hNXzx3H72H5cfcVEGRgJIYQQOnRGQ7svv/yS6upqdeCza9culi9fDsA111xDUFAQzz77LBdccAFTp07l8ccfx2638/TTTxMVFcWvfvUrta6IiAiefPJJnnrqKSIiIpg8eTJbtmxh0aJF3H333c1mRRFCiM5QXlPPxv2lbMg+ymeffkj2Nx/hKD6sWSckJJS7/+dWpgyOIjQ0xEstFUIIIcS5ckb3HPXr10+dSvJUBw4cUKcD3LZtG4899hg//PADJpOJyy67jD/96U/Npv4EeOWVV3j11Vc5ePAgsbGxzJo1i9/85jfN/vsq9xydufLyctxuN35+fpopMYXvk+w6T3lNPX9bf4DXv95B0fcrqPrpC9y1lZp1+sQn8Kv0hdx1112aqX9brFPy0y3JTr8kO32T/PTL17LrlHuOGucgb83555/PN99806Z158+fz/z588+kOaKNDh06pD6nwBferKLtJLuOc6yilvU5xWw7VMa2Q2XkFDY818HtcGPbugp3vV1dd9y4caSnpzNt2jSPM+m0RPLTL8lOvyQ7fZP89Evv2en7jikhhGgnp8vNhtwS/ru3iP/kFLH3uA1FceMozsM/OgGAAT1DSJ90Hl+47+H111/npptuIj09nVGjRnm59UIIIYToSGc1lbc3yGV1Z66oqEidC//Up2oL3ybZnRvFtjrufXcrPx4uB8Bdb6c669/U/fw5jsoSPlz7E5cMTSDS2vDU84KCApxOZ7MnkreX5Kdfkp1+SXb6Jvnpl69l196xgwyOhBBd2tHyWlb+dIT/5hSx9WAZTreCpa6MsAPfsmvtSmyV5eq6f/zjH3nkkUe82FohhBBCnEs+8ZwjIYTwFTNe28DxyjoA6o7lYNi5miM7vsPpdGrWmzhxIuedd543miiEEEIIHyGDIyFEl7P1YCkrfjpCzvEqjlfWUXvgRyq+/5C6/F2a9cxmMzNnzmThwoWMGDHCS60VQgghhK+QwZEQokupc7q44Y0fNMvqCw9qBkZRUVE88MADzJkzh9jY2M5uohBCCCF8lAyOupEdO3aoUyumpaV5uzmiHSS7llXaHWTmV7A9v5xN+0tZ/9NunG4DppBI7hibwM0XxBNhHkNy/49ISEhg4cKF3HbbbQQGBnZaGyU//ZLs9Euy0zfJT7/0np0MjroRRVHUD6Evkl1zxbY6Zi/dwvb8CgDqjuymcssqavb+QMzo65j12G/59TWDsJgbnke0bds2UlNTMRgMnd5WyU+/JDv9kuz0TfLTL71nJ4OjbiQwMBCz2YzJJLHrjWTXwO1WOFBSzfa8cv789V7ySmzU7NmA/ad/Ysvbra5Xnfk1v5rwf+rACGDAgAHeaDIg+emZZKdfkp2+SX76pffsZCpvIYRPc7kV/m/DAdbtLWJ7XjmVdiduu42q7Wuo2vY5rqoizfo9e/Zk7ty5zJ8/n7CwMC+1WgghhBC+QKbyFkJ0GbX1LuZ/+BNf7zoOgLuuhqr171OV+TWuulrNumlpaTz00EPcfPPNBAQEeKO5QgghhNA5GRwJIXxOeU09/8kp5o9fZZNfVou/yY9HJg9gVHwo0z79FeVNBkZTp04lPT2diRMneuV+IiGEEEJ0HTI4EkJ4jaIoFFbVsaegip1HK9h5pIId+RXkl9WiuBzU5e8mYdgFLLnlPC7sHwHAvHnzWLRoEXfeeScLFiwgNTXVy3shhBBCiK5C7jnqRvLy8nC5XBiNRvr27evt5oh20Ht2doeLggo7eWU15By3kVNYxd7jNnKOV1Fpd2rWddVWYvv5K2p+Wo3DVsr2nbsZNvjkZAo2m436+noiIiI6ezfOmN7z684kO/2S7PRN8tMvX8tO7jkSLSotLVXnnfeFN6toOz1kV2V3sPe4jX2FVeQct5FfVsuxilqOlNspttW1uJ3Rz0BCZBC9lBLy/vMpm79eRZ395GVzb7/xKq+88or6vdVq7dD96Ah6yE94Jtnpl2Snb5Kffuk9OxkcCSHO2I78him1/5tTjMt9+pPQFrMfcT0CSY62ktozhJSeVlJirBzM3Mirr7zIsi++0Kzv5+fH9OnTufnmmztyF4QQQgghVHJZXTdit9tRFAWDwYDFYvF2c0Q7+Ep2iqJQbKtnX6GNfUU2nlq1U1PeMzSgYeATE9JwNijMQlyPQOJ6BBIeZNZMmLB69WqeeOIJMjMzNXVYrVZmz57N/PnzSUxM7JT96mi+kp9oP8lOvyQ7fZP89MvXspPL6kSLfOENKs5MZ2fncivkl9WQW2RrGAid+Mgtqqai1uFxmxVzLuK8+PA2/4yqqirNwCghIYH58+cze/bsLvd8Ijn29Euy0y/JTt8kP/3Se3Zy5kgIoZFfVsP1r31PYZXn+4QMBugbHkRyjJXkGCtJ0cGcnxBOckxIi3VmZmZiNBoZPHiwuszhcJCYmEjfvn156KGHmD59um6fpi2EEEII3yRnjoQQZ2TnkQr+m1PMa9/to+rEDHIDeoaQ3NNKcnTjQMhKYnQwFrOx1frcbjdfffUVGRkZfPPNN0yfPp2VK1eq5WazmR9//JHo6OgO2ychhBBCiPaQM0fdiM1mw+124+fnp8sZv7qzjs5u5U/5pH+0XbPs/IRwPn3gonbXVVNTw3vvvcfixYvJzs5WlxsMBnJyckhKSjrr9uqNHHv6Jdnpl2Snb5KffvladnLmSLQoNzdXnVpx+PDh3m6OaIeOzE5RFA4W12iW9QkPZPn9Y9tVz9GjR3n11Vd58803KSkp0ZQlJSWxYMECevbsedbt1SM59vRLstMvyU7fJD/90nt2MjgSopt76V97+cvafZplU9PiNDPLnU5tbS333XcfH374IQ6HdrKGSy+9lPT0dKZOnYrR2PqleEIIIYQQ3iSDo24kJiZGfWKx0JeOyE5RFHbkV/DhlsPqsohgf/790KWEB/u3uR6LxUJ2drY6MDKZTNx8882kp6dz3nnnnbP26pkce/ol2emXZKdvkp9+6T07uedIiG7A6XJTaXdSXlNPWY2D9TnFrPr5CAeKqzXrPTQplfmXp7RYj81m47PPPmPmzJmaM0sffPABDz74IPfffz9z584lLi6uw/ZFCCGEEKKt2jt2kMGREF1EndPFG9/t58udx4iyBlBR66C8tp7yGoc6+9ypAs1GJg6MZkJqDONTo+gVFuhxvby8PJYsWcJbb71FRUUF//nPfxg/frxa7nA4cDgcBAUFdci+CSGEEEKcCZmCbsBTAAAgAElEQVSQQYhuKvtYFRnf7D3xXZXHdawBJsICzSTHWJk2Io7JQ2KxBrTcDWzatImMjAyWL1+Oy+VSl//5z3/WDI7MZjNms/mc7IcQQgghhLfI4EiILiKtTxgXJ0eyYV/DTHH+Jj8+uGcMPYLM9Ag0Expoxmxs/Qyr0+lk1apVZGRk8P3332vK/P39ue2221i4cGGH7IMQQgghhDfJ4Kgb2bVrlzq14uDBg73dHNEObcnu57xydWAEMPPCeM5PCG/Xz/n888958MEHOXTokGZ5dHQ0c+bM4YEHHui203GfDTn29Euy0y/JTt8kP/3Se3YyOOpGGu8LEfrTUnZ1Thd5pbUcKqnmi8wCTdn6fcXt/jk9evTQDIyGDh1Keno6M2fOxGKxtL/hApBjT88kO/2S7PRN8tMvvWcng6NupPGeELk3RH8aM6tT/Ljvva2syTre6jbXDOvVYpmiKGzYsAG3280ll1yiLr/44ou58MILiYyM5KGHHuLyyy9v8/OORMvk2NMvyU6/JDt9k/z0S+/ZyWx1QujI6h3HmLvsxxbLH5yYzEXJkYxKiMDf1PyYcDgcfPLJJ2RkZLB161ZGjRrF5s2bNQOg2tpaAgM9z1onhBBCCKEnMludEF3Y5YNiGBnfg58Olzcru3JITx6+coDH7crKynjrrbdYsmQJR44cUZdv3bqVDRs2MG7cOHWZDIyEEEII0V3J4EgInXC63Bwpr2Vvwcn/fsSGWkiNDSGtdxj3T0hqts3evXt5+eWXWbp0KTU1NZqykSNHkp6ezoUXXtjhbRdCCCGE0AMZHAnhgxRF4YfcEnYcqWBPQRV7CqrYV2Sj3unWrPftw5cS5N/8MHa5XNxwww189tlnNL1y1mAwcN1115Gens4ll1wi9xMJIYQQQjQhg6Nu5NixY7hcLoxGI716tXyzvvC+v286zJOrdjZbbjH5MSA2hJSeIUwcEONxYARgNBrx8/NTB0bBwcHMmjWLBQsWkJyc3KFtF83Jsadfkp1+SXb6Jvnpl96z67DB0XfffcfEiRM9lv3www+MGTNG/f6bb77hqaeeYvv27QQFBTF16lT++Mc/EhMT01HN65YKCwvVeef1+Gbtysqq6/lPThE/55Wz7VAZO/Ir1LKHJ6fiX1tCXDD07mFh5IgRmm2LiopYunQpCxcu1MwMk56ezpYtW5g3bx5333034eHte+aROHfk2NMvyU6/JDt9k/z0S+/ZdfiZo+eff77ZIGno0KHq1+vWrePqq69mypQpfPbZZxQWFvLYY49x+eWXs3XrVgICAjq6iUJ4ld3h4oo/r6Okul6zPC7MwkOTB3DD+X3Yvr0Gh8OBX5PL4Hbt2sXixYt57733sNvt9O7dm5kzZ6rlF198Mfv378dkkhPEQgghhBBt0eF/NaWkpGjOEp3qkUceITU1leXLl6t/xPXv35+LL76Yv/3tbzzwwAMd3cRuIykpCbfbLdOe+5iymvpmA6NLUqN5966TEyU0ZmcwGFizZg0ZGRmsWbNGs80rr7yiGRwZDAYZGPkIOfb0S7LTL8lO3yQ//dJ7dl79y+nIkSNs2bKFF154QfNH3EUXXURqaiorV66UwdE5ZLVavd0EcYo6p4urX/5vs+VXDump+d5oNPLhhx+SkZHBrl27NGUhISHcc889zJs3r0PbKs6cHHv6Jdnpl2Snb5Kffuk9uw4fHM2dO5ebb76ZoKAgxo4dy1NPPaU+U2XnzoYbztPS0pptl5aWxoYNG9r0M7KyskhISCA0NFRdVldXR3Z2NgDh4eHEx8drtsnJyVGnNh4+fLimrLi4WH0WTHx8vOZeDZfLpbY7JCSExMREzbYHDhygsrISgCFDhmgGfeXl5Rw6dAiAuLg4oqOjNdvu2LEDRVEIDAwkNTVVU5aXl0dpaSkAAwYMwGKxqGU2m43c3FwAYmJiml3fuWvXLvXaz8GDB2vKjh07RmFhIdAw0m/6hrbb7ezZsweAiIgI+vbtq9l279691NbWYjAYmmVYVFTE0aNHAUhISKBHjx5qmdPpJCsrC4DQ0FD69++v2Xb//v3qw7qGDh2K0WhUy8rKyjh8+DAAvXv3JioqSrPt9u3bAQgKCiIlJUVTdvjwYcrKygAYOHCg5pLNyspKDhw4AEDPnj2JjY3VbJuVlYXT6SQgIICBAwdqyo4ePUpRUREAycnJBAcHq2U1NTXk5OQAEBkZSZ8+fTTb5ubk0DPQQPmJWbZfuH4Y15/XmwCTkcLCQo4dO8b69et55plnKCkp0Wzbu3dvbrnlFu644w6GDRumrTc3F5vNBsCwYcM0/70pKSkhPz8fgD59+hAZGamWud1uMjMzgYbOLSlJOz34wYMHqahouB9q0KBB+Pv7q2UVFRUcPHgQgF69ejW7Z3Dnzp24XC4sFgsDBmifx5Sfn6/uX0pKCkFBQWpZdXU1+/btAyA6Opq4uDjNttnZ2dTV1WEymRgyZIimrKCggOPHjwMNZ6Slj5A+Qm99xJ49e7Db7RiNRs0l6YDaRwD069ePsLAwtay+vp7du3cDEBYWRr9+/TTbSh/RQPqIBtJHnCR9RIOu1Eec+iiT1nTY4CgsLIwFCxYwYcIEIiMj2bdvHy+++CITJkxg9erVXHnllepORERENNs+IiKi2R+DLXE6nZrpiqFhKmSHw6GWe9qmsfxUbrdbLXO73c3K21rvqW1qWq/L5fJYr6IompvqG7lcrrOqt6V9bVrvqfva9DX0VG/jvnqaDrqt9fpKNq3tq8PhwOl0ejxFfLpsWqvX7XLy1Pge3Laq4RfLEysyeWJFpmadRGOI+gsNYNy4ccybN4+EhASMRqOmA2ja3rN9DT1t33RfT9XavtbX1+N2uzW/pDzVeybZNB47Z1qvr7wPpY9oXq+vZOOtPqIxG09lp6u3cdvW6vVE+ojm9frK+1D6iOb1+ko20kc0r9eX+oj26LDB0ciRIxk5cqT6/fjx45kxYwbDhg3j0Ucf5corr1TLWnrWSlufwWIymZqtazAY1M7B030XJpPJY+cB4Ofnp5Z5ehO3td5T29S0Xk/Bms1mFEXxWK/RaDyrehvLGv9D0/gfo6b1nrqvTV9DT/U27qunnNpar69k09q+Nu6np3adLpum29S7YX+RjYJKO8cr7RyrsJN9qJzjVXUAKIqb2tytKI46ggeNV+vY74pk6EWTGNS7B/PmzWPcuHGa//i01N6zfQ1b29dTtfYa+vv743K5zuo1bGlf3W53u4+bznwf2u12FEVR7wPz1T6itWy6Yx/RmF3jf81b2tdz0Ue0VG/jlLjtqbfpvnbXPqIxu8ZtfbmPaKne7txHNO3XfbmP8NSm7t5HtJTbqW06VUf2Ee1hUNo7nDpLDzzwAG+88QY1NTX85z//4aqrrmL16tVcc801mvVuvPFGNmzYoJ5SbeR2u9VTpY1CQkJ0e9NXZ9q+fbv6C/7USwDEmVMUhbIaBwUVJwc9BZV2CipqKais43iFnWMVtVTam/8XCsBdb6d657+p3PYPnKVHMFoj6X3//2IwNnQu58X3YO6IAML8kex0So49/ZLs9Euy0zfJT798Lbv2jh06fUKGxrGYwWBQr43MzMxsNjjKzMxsdu2kEL7m/Y2HPD6stSXB/kZ6hlnoFWYhyFHBvu+Ws+XLT6iuOvlcI5ethD+PcfKLX0xTlzV2NEIIIYQQouN06uCorKyMzz//nBEjRmCxWOjduzcXXngh77//Pg8//LB6Cm3jxo3s2bOHhQsXdmbzuryIiIgWT72KM3OwuNrj8mB/I/dfmqQOhGJDLcSGWQixmNmyZQsZGRks/eSTZtc0T5w4kfT0dKZMmaJZLtnpm+SnX5Kdfkl2+ib56Zfes+uwy+pmzpxJfHw8o0aNIioqipycHF566SVyc3P58ssvueKKKwD47rvvmDRpEtdeey1z5syhsLCQxx9/nLCwMI8PgZXL6oQv+ffu48x+Z2uz5U9PHcxd47Sz5yiKwpQpU/jyyy81y81mMzNnzmThwoWMGDGiQ9srhBBCCNGd+MxldWlpaXz00Ue88cYb2Gw2IiIiGDduHO+99x4XXHCBut6ECRP44osvePrpp7n22msJCgpi6tSpvPjii80GRkL4EkVR+GDz4WbLP7hnDGOTIpstNxgMpKSkqIOjqKgo7r//fubMmdNs2lQhhBBCCNH5On1ChrMlZ45ER6p3uqmodVBRW095jaPho9ZBeU09FbUnvz9WXsuegiqq6ppPsvDZ3IsJc5Xz2muv8cQTT2ieb5Gbm8v06dOZP38+t912G4GBgZ25e0IIIYQQ3YrPnDkSQg/cboW/bTjAuz8cosRWR3V983n1T8dsNJAUbWVgbAiR1gD61Ofxu4fuYcWKFbjdbqKionj00UfV9ZOSktixY0e7p5UUQgghhBAdT84cdSN79+7F6XRiMpmaPTm7u3C63JRU15NbaGNdThHf7i4kp9CmWcdggFCLmR5BZnoEmgkL8ie8ydc9As1EWv0ZGBtK/6hgDIqLTz/9lMWLF7Np0yZNXcnJyezdu/esB0OSnb5Jfvol2emXZKdvkp9++Vp2cuZItKi2tlbzIMOuxu5wcbCkmoIKO4WVdRyvtJ944GodhVV2CirsFNvqcJ/y74AAkx+/mTKIS1Ki6RFkJsRixujX+mCmvLyclzNeYsmSJeTl5WnKevbsydy5c7n//vvPyVmirp5dVyf56Zdkp1+Snb5Jfvql9+xkcNSNGAwG9UPPXG6Fw6U17CmoJLugij0nPg6WVDcb+Hhi9DMQG2phdGIEl6ZGc0lKNOHB/u1qw7fffst1111HdbV2Ku+0tDTS09O55ZZbzumEIl0lu+5K8tMvyU6/JDt9k/z0S+/ZyWV1QlfySmu49MW1LQ6CwgLNxPUIpGdoAD1DLPQMDSAmtOE5Qz1DG76PtAa06czQ6VRUVNCnTx9stoZL8qZOnUp6ejoTJ07UbWcghBBCCNHVyGV1okurc7paHBiNTYzkxlF9uDQ1mkjruTlrU19fz0cffURRUREPPfSQujwsLIx58+ZRUVHBggULfOKaWiGEEEIIcXbkzJHwWQ6Xm9U7jrG/uJooqz/1Tjd1TjdHymv5IbeEA8XVp93+P49MJD4y6Ix+dnFxMW+++Savvvoqx44dIygoiPz8fM203EIIIYQQwrfJmSPRZaz88QiPfrrjjLf/Ka+s3YOj3bt3s3jxYt59913sdru6vKamhhUrVjB79uwzbo8QQgghhPBtMjjqRoqKinC5XBiNRqKjo73dnFaNTYps1/ohFhMJkUEEmo2M7h/JBf0icLmVVu8vUhSFb775hoyMDL788ktNmcFgYPr06aSnpzNu3Lh278O5orfshJbkp1+SnX5Jdvom+emX3rOTwVE3cvToUXVqRT28WftGBHHw91MosdXxbXYha/cUcqC4huOVdkqr65utX2V3svNIJQBbDpbxl7X7MPoZSIwKZkxiJGOTIhmTGEnEKTPTXXvttaxevVqzzGq1Mnv2bObPn09iYmLH7WQb6S07oSX56Zdkp1+Snb5Jfvql9+xkcCR8XqQ1gBtH9eXGUX3VZXaHi8LKOo5V1FJQ2fAMo1M/F1bV4XIr5BTayCm08d7GQwBk/HI4M0b2UeuaMGGCOjiKj49nwYIFzJ49m7CwsM7dUSGEEEII4VUyIUM3Ul5ejtvtxs/Pjx49eni7OR3O5VYoqqpj66FSHlz2E/VFB6ncsoqwMTcyfMggrBYTIQEmzK5a1rzyKBdNuZnRl11FWJAFa4BJLbdaTE2+N2Mx+3X6dN3dLbuuRvLTL8lOvyQ7fZP89MvXsmvv2EEGR6JLc7vdfPHFl9zx0DOU5WwDIOS8qURMuv+M6zT5GU4OmAJMhJz4Oj4iiEeuGog1QE7ICiGEEEL4ApmtTggaZpd79913Wbx4MXv27NGUBR7dxl9vG4HdbaC0up5NB0rZW1DF4dIa6pzuVut2uhXKaxyU1zialU0eEsvFyVHnbD+EEEIIIUTnkcGR6FKOHj3KX/7yF958801KS0s1ZUlJSdz7wFwGXXod2/Kr2HqwlO35FdS3YUDUyN/kR2SwP+FB/kQEn/wID/Knf3TDxA9CCCGEEEKf5LK6bsTpdKIoCgaDAZOp642LN23axPjx43E4tGd0ktIuYOCkW6iNHU5ucW2z7SKC/UmOtjYMcoL9iQg2Ex7kT6T15CCo8ftAs7HT7zeCrp9dVyf56Zdkp1+Snb5Jfvrla9nJZXWiRVlZWerUisOHD/d2c1rldLmptDuprHVQUeug0n7ic63zlO8bPpfbavELDofyQvAzEjzoEkJGTcMZm8xOgBMDo8ToYEYlhDOqXwSjEsLpHxXslQFPe+gtO6El+emXZKdfkp2+SX76pffsZHAkOkV5TT1ZRyuprXepg5qWBjqVtQ4q7U5sdU6Pdbnra7FlfoOz7CgRV9ynKQsefSMBlUWEjJxCeFRPEmOsJEdbSY6xkhJj5byE8GbPORJCCCGEEAJkcNSthIaG4nQ6O/0Up93hYvwf11Jl9zzYaU2Qv5GwQDP+9lIKvl/FwQ3/oL7WBgYDDz44j+TkZEIDzYQFmgm7byyhgSYigv2Jtgb4/BmhtvJWduLckPz0S7LTL8lO3yQ//dJ7dvpstTgj/fv399rPHtQrlM0HtBMkjEoI5/x+4Q2DmkAzoZYTn9XvTYQGmvlx6xYyMjJYvnw5LpfrZAWKQmzlbu4aN6mT96bzeTM7cfYkP/2S7PRLstM3yU+/9J6dDI7EaSmKQp3TTZ3DTZ3Thb3JZ7vTRZ3Djd3hos7Z8FlddsrnxKhgjlXUklfacN+PnwGeuGYQ5yeEe/y5TqeTlStXkpGRwQ8//KAp8/f359Zbb2XhwoWkpaV1+GsghBBCCCG6BxkcCY1VPx1h4Uc/d1j9Jj8D1w2P495LExkYG9rier/85S9ZsWKFZll0dDRz5szhgQceoGfPnh3WRiGEEEII0T3J4KgLUhSFkup6quxOquuc1NS7qK53UlPnorrO2fB1vetk2Yll1XUu1u0tOuuff158D5KirQSY/bCYjFjMRgJMflgtJiYPiaV3j8BW67jpppvUwdGQIUNIT0/n1ltvxWKxnHX7hBBCCCGE8ESec9RFuNwK2w6V8a+sAv616ziHS2u80o45E5J45MoBbZoIQVEU1q9fT0ZGBgsXLuSSSy5RyxwOB7Nnz+b222/niiuu6DITK5yp/fv3qzc3JiYmers5op0kP/2S7PRLstM3yU+/fC07ec5RF6QoCtkFVZRV11Nkq6PYVk+xrY7iqrqGz7Z68spqKK85+fBTgwGs/iaCAowEn/is1NsJMDbM/tY7JkpTZg0wEeRvItjfSFDAic/+poblJ9azmP3OySDF4XDwySefkJGRwdatW9V9bDo4MpvNvPvuu2f9s7qKqqoq9ZkBQn8kP/2S7PRLstM3yU+/9J6dDI504E//2sOra3PbtG58RBBXD41l4sAYQi1mjH4GTEYDUcEBHNibhdPpPPFQrs6fyKC0tJS33nqLv/zlLxw5ckRTtmXLFmw2G1artdPbJYQQQgghBMhldbqwbNNhfr0y86zrCfI3EhtqoVeYhbgegfTqEUh4UMMA6sohsfQM7Zj7efbu3cvLL7/M0qVLqanRXu43cuRI0tPT+eUvf4m/vzyctSVNpzA3Go1ebIk4E5Kffkl2+iXZ6Zvkp1++ll17xw4yONIJW52TLQdK+T63mB35FThcblxuBadbwdX4oTT5uslHvcvdpgew/vTUJMKDz+0AZffu3QwePFizzGAwcN1115Gens4ll1zS7e8nEkIIIYQQHUMGR8Kj177bxx+/2nPade69JJHEqGD6hAfRJzyQXj0sBJjObsSvKApjxoxh8+bNBAcHM2vWLBYsWEBycvJZ1SuEEEIIIURrZHDk4xRFofTENNtOt4LT7cbpUnC43A3fuzwscys4XSeWnShTl7lPrNfCMoe74QxTQYWdTQdK293eYH8jG399OSGW099UV1RUxBtvvMHGjRv5/PPPNWeDVq9eza5du7j77rsJD/f80FchhBBCCCHONRkceVFNvZPjlXUUVNg5XtnwUVBpp7CyjoJKOwUVdoqq6qh3ub3d1Hb54YnL6BXm+dlEWVlZLF68mPfee4+6ujoA1q1bp5l5Tpy9srIy3G43fn5+MsDUIclPvyQ7/ZLs9E3y0y9fy06m8vaC5dvyefiT7e3aJtjfiMnoh9lowOTnh9HP0PC10Q+TnwGzsckyPz9MxoZlphOzz6nLTnxuWK5d1lhHY30Fx46A242/2UhivwS1PvOJ7Yx+Bs2yyloHqbEhRFkDNG1XFIU1a9aQkZHBv/71L02Zn58fmzdvlsHROXb48GF1Wkxf6GhE+0h++iXZ6Zdkp2+Sn37pPTsZHJ0De49Xtb7SCbGhFuIjggixmLD4G7GYjAT6+2ExGbGYjQT6Gwkw+WExN3zvdLk5Ul5LUVUdU9J6ERkcgMXsR+CJbS3mhvX9/Fqf1GD79gr1zTp8eO9272dtbS3vv/8+ixcvZteuXZqykJAQ7rnnHubNm0e/fv3aXbcQQgghhBDeJpfVnQOKovDfnGLyy2opttVxsKSaQyU1HCyupqS63ittWv/YRPqEB2mWFRcXq6c5o6Ki2l3nnXfeyTvvvKNZ1r9/f+bPn89dd91FaGjoWbVZtOxssxPeJfnpl2SnX5Kdvkl++uVr2ck9Rz6m0u7gcEkNtjondoeLH/aX8Oa6/Z3ys3uGBhBoPnlGKtB84sO/yWcPy/uEBzEmMQJAM7HChg0bGDduHADjxo0jPT2dadOm+cQc9kIIIYQQQpxKBkc+7qfDZcx47XtvN6NFiuKmNncLfY+s5aEH7+fWW29tUqbw1FNPMW3aNC644AIvtlIIIYQQQojW6XJwZLPZePLJJ/n4448pLS1l4MCBPP7449x8883N1tX74AjA6XLjZzC06T6htlKUhoe92uvd1Dpc1NQ7qXW4sDtc1Na7qal3crS8lkX/1N4rNCQulGG9w6iurmb7t6vY+M+/4yg9AsD555/Pli1b5CGtQgghhBBCl3Q5W93111/Pli1b+P3vf09qairLli3jlltuwe12M3PmTG8375wzGc/9QM5gMBBgMhJgMhJGy88kGtYnjN+s3El2QcObZHv2fjZ/9AVV27+irrpSs25lZSVFRUXExMSc8/YKIYQQQgjha7x+5uiLL75gypQp6oCo0eTJk8nKyuLw4cOae1q6wpkjb9m+fTsOhwM/o4n/7ingjb+8TPYPX4PbpVkvID6Nd/68iBtnTJPX1Uc0Ztcw0+BwbzdHtJPkp1+SnX5Jdvom+emXr2WnuzNHK1euxGq1cuONN2qWz5o1i5kzZ7Jp0yYuuugiL7WuayopLuKhW6fgdp98GK3RZKbnyMtRhlxD2vDh/PIX8pwiIYQQQgjRvXh9cLRz504GDRqEyaRtSlpamlre2uAoKyuLhIQEzVTSdXV1ZGdnAxAeHk58fLxmm5ycHGpqagCajWqLi4s5cqThvpv4+HjNA6xcLhc7d+4EGkadiYmJmm0PHDhAZWXD5WlDhgzR7Fd5eTmHDh0CIC4ujujoaM22O3bsQFEUAgMDSU1N1ZTl5eVRWloKwIABA7BYLGqZzWYjNzcXgJiYGHr16qXZdteuXTgcDtxuN8HBwYSFhTF9+nRWrFhBeHg4N9xwAzfddBNjxoyhVjETYmlos91uZ8+ePQBERETQt29fTb179+6ltrYWg8Gg5tWoqKiIo0ePApCQkECPHj3UMqfTSVZWFgChoaH0799fs+3+/fvVEf7QoUM1Zw7Lyso4fPgwAL179242ReT27Q0P4w0KCiIlJUVTdvjwYcrKygAYOHAgAQEnH25bWVnJgQMHAOjZsyexsbGabbOysnA6nQQEBDBw4EBN2dGjRykqKgIgOTmZ4OBgtaympoacnBwAIiMj6dOnj2bbPXv2YLfbMRqNDB06VFNWWFjIsWPHADCbzfj7+6vvp/r6enbv3g1AWFhYs2dL5ebmYrPZABg2bJjmvyMlJSXk5+cD0KdPHyIjI9Uyt9tNZmYmAFarlaSkJE29Bw8epKKiAoBBgwbh7++vllVUVHDw4EEAevXq1exyzJ07d+JyubBYLAwYMEBTlp+fT0lJCQApKSkEBZ2chr66upp9+/YBEB0dTVxcnGbb7Oxs6urqMJlMDBkyRFNWUFDA8ePHgYZp573VRwQFBeF0OjGZTD7dR5jNZgYPHqwpO3bsGIWFhQAkJSVhtVrVsu7QRzRm13RbX+wj+vXrR1hYmFomfQRqdna7ne3bt/t0H9GU9BENTCYTTqcTp9NJeXm5z/YRjXz974jO7COcTicGgwFPF6d5o49oPE7byuuDo5KSkmYdAzQcRI3lrXE6nc0CUBQFh8OhlnvaprH8VG63Wy1renalUVvrPbVNTet1uVzNtnU4HCiKgtnc/J4hl8t1VvU2dmqDBg0C4IknnuCqq65iwoQJ6pvU7XYTHXryQG/6Gnqqt3FfPU3Y0LS9p76GvphNa/vqcDhwOp0eT8GeLpu21OtwODyWNa331D8em+7r6er1pK2voaftm7bpVK3ta319PW632+PU7+fiNfTUCbe13o5+Hzb9BZuTk+OzfYQnbT2Wu2of0ZhdRUWF+geKL/YRnt7/3b2PaMwuMzOTuro6n+4jWqq3O/cRkZGR6h/gvtxHeGpTd+8jGn9W0wG4pzZ52q6j+oj28PrgCDjtbGhtmSnNZDI1W89gMKidw6lnpRqXeeo8APz8/NQyT2/ittZ7apua1uspWLPZjKIoHus1Go1nVW/TzwCjRo1i1KhRHDt2TB1Rn7qvTV9DT/U27qunjJq293T1+ko2re1r4356atfpsmlLvS6Xy2PZ6ept3PZ09Z7ta9javp6qtX319/fH5XJ1yGvodrvbfdz44vvQl/oIT/VKHyF9RAY4T6cAAAy0SURBVNN6pY+QPuLUeqWPkD6iab2+1Ee0h9cnZBg7diwul4vNmzdrlmdlZTF06FDefPNN7r33XnW5TMgghBBCCCGEaIv2jh28PqIYNmwYu3fvbnb6svGa5lOvnxRCCCGEEEKIjuD1y+pmzJjB22+/zaeffsovf/lLdfk777xDXFwco0eP9mLrupbDhw+rN4WfemOp8G2Snb5Jfvol2emXZKdvkp9+6T07rw+Orr76aiZNmsQDDzxAZWUlycnJfPDBB3z11Ve8//77Hq85FGemrKxMnZhBj2/W7kyy0zfJT78kO/2S7PRN8tMvvWfn9cERwIoVK/jNb37D008/TWlpKQMHDuSDDz7g5ptv9nbThBBCCCGEEN2E1ydkaC+ZkOHMNU5lajAYNHPzC98n2emb5Kdfkp1+SXb6Jvnpl69l196xg0+cORKdwxfeoOLMSHb6Jvnpl2SnX5Kdvkl++qX37OR0ixBCCCGEEEIggyMhhBBCCCGEAHR4WZ2nW6TcbrcXWqI/Ta+3DAkJ8WJLRHtJdvom+emXZKdfkp2+SX765WvZeRonnG7KBd1NyOB0OqmurvZ2M4QQQgghhBA6FBwcjMnk+RyRXFYnhBBCCCGEEMjgSAghhBBCCCEAGRwJIYQQQgghBKDDe47cbnezG6sMBgMGg8FLLRJCCCGEEEL4IkVRmk3A4Ofn1+JDYHU3OBJCCCGEEEKIjiCX1QkhhBBCCCEEMjgSQgghhBBCCEAGR92CzWZj4cKFxMXFYbFYGDFiBB9++KG3myWa+O6779R750792Lhxo2bdb775hrFjxxIUFERUVBR33nknhYWFXmp591NVVcWjjz7K5MmTiY6OxmAwsGjRIo/r/vjjj1xxxRVYrVZ69OjB9ddfz/79+z2uu2TJEgYOHEhAQAD9+/fn2WefxeFwdOCedD9tze7OO+/0eCwOHDiw2boOh4Nnn32Wfv36ERAQwMCBA1myZEkn7E338u2333LXXXcxcOBAgoOD6d27N9OmTWPbtm3N1pXjzre0NTs57nzPzz//zJQpU4iPjycwMJCIiAjGjh3L+++/32zdrnTceX76kehSrr/+erZs2cLvf/97UlNTWbZsGbfccgtut5uZM2d6u3miieeff56JEydqlg0dOlT9et26dVx99dVMmTKFzz77jMLCQh577DEuv/xytm7dSkBAQGc3udspKSnhrbfeYvjw4UyfPp2//vWvHtfLzs5mwoQJjBgxgo8//hi73c7TTz/N+PHj+fnnn4mOjlbXfe6553jqqad4/PHHmTx5Mlu2bOHJJ5/kyJEjvPXWW521a11eW7MDCAwM5Ntvv2227FRz5szhvffe47e//S0XXHABa9asYcGCBVRVVfHrX//6nO9Dd/X6669TUlLCggULGDx4MEVFRbz00kuMGTOGNWvWcNlllwFy3PmitmYHctz5mvLycvr27cstt9xC7969qa6u5u9//zu33347Bw8e5MknnwS64HGniC5t9erVCqAsW7ZMs3zSpElKXFyc4nQ6vdQy0dTatWsVQPnkk09Ou94FF1ygDB48WHE4HOqyDRs2KIDy2muvdXQzhaIobrdbcbvdiqIoSlFRkQIozzzzTLP1brzxRiUqKkqpqKhQlx08eFAxm83Ko48+qi4rLi5WLBaLcu+992q2f+655xSDwaBkZWV1zI50Q23N7n/+53+U4ODgVuvbuXOnYjAYlOeff16z/J577lECAwOVkpKSc9JuoSjHjx9vtqyqqkrp2bOncvnll6vL5LjzPW3NTo47/Rg9erTSt29f9fuudtzJZXVd3MqVK7Fardx4442a5bNmzeLo0aNs2rTJSy0T7XXkyBG2bNnC7bffjsl08qTvRRddRGpqKitXrvRi67qPtjw6wOl08vnnn/OLX/yC0NBQdXlCQgITJ07UZPXVV19ht9uZNWuWpo5Zs2ahKAqrVq06tzvQjZ3rxz6sWrUKRVE8ZldbW8tXX311zn5WdxcTE9NsmdVqZfDgweTl5QFy3PmqtmTXHnLceV9UVJT6d0hXPO5kcNTF7dy5k0GDBmn+mAZIS0tTy4XvmDt3LiaTidDQUK688krWr1+vljVm1ZhdU2lpaZKlD8nNzaW2trbFrPbt24fdbgdO5jps2DDNer169SIqKkpy9ZLa2lpiY2MxGo306dOHBx98kNLSUs06O3fuJDo6mtjYWM1y6V87R0VFBT/++CNDhgwB5LjTk1OzayTHnW9yu904nU6Kiop47bXXWLNmDY899hjQNY87ueeoiyspKSExMbHZ8oiICLVceF9YWBgLFixgwoQJREZGsm/fPl588UUmTJjA6tWrufLKK9WsGrNrKiIiQrL0Ia1lpSgKZWVl9OrVi5KSEgICAggODva4ruTa+YYPH87w4cPV+/3WrVtHRkYG//73v9myZQtWqxVoyNlTxsHBwfj7+0t2HWzu3LlUV1fzm9/8BpDjTk9OzQ7kuPNlc+bM4c033wTA39+fV155hfvuuw/omsedDI66gdNdRnIuLzERZ27kyJGMHDlS/X78+PHMmDGDYcOG8eijj3LllVeqZS1lJln6nrYee3KM+pb09HTN95MmTWLkyJHccMMNvP3225pyyc47nnrqKf7+97+zZMkSzj//fE2ZHHe+raXs5LjzXb/+9a+5++67KSws5J///CcPPvgg1dXVPPzww+o6Xem4k8vqurjIyEiPI/HG09SeRvrCN/To0YOpU6eyY8cOamtriYyMBDyf7SstLZUsfUhrWRkMBnr06KGua7fbqamp8biu5OobZsyYQXBwsGZq/Zb61+rqaurr6yW7DvLss8/yu9/9jueee44HH3xQXS7Hne9rKbuWyHHnG+Lj4xk1ahTXXHMNr7/+Ovfeey9PPPEERUVFXfK4k8FRFzds2DB2796N0+nULM/MzAS000QL36MoCtDw35TGrBqzayozM1Oy9CFJSUkEBga2mFVycjIWiwU4ee31qesWFBRQXFwsufoQRVHw8zv5a3PYsGEUFRVRUFCgWU/6147z7LPPsmjRIhYtWtRsymY57nzb6bI7HTnufM+FF16I0+lk//79XfK4k8FRFzdjxgxsNhuffvqpZvk777xDXFwco0eP9lLLRGvKysr4/PPPGTFiBBaLhd69e3PhhRfy/vvv43K51PU2btzInj17uP76673YWtGUyWTi2muvZcWKFVRVVanLDx8+zNq1azVZXXXVVVgsFpYuXaqpY+nSpRgMBqZPn95ZzRansXz5cmpqahgzZoy6bNq0aRgMBt555x3NukuXLiUwMJCrrrqqs5vZpf32t79l0aJFPPnkkzzzzDPNyuW4812tZdcSOe5809q1a/Hz8yMxMbFLHnfGRS092l10CSkpKXz//fe8/fbbREREUFlZyQsvvMDHH3/M66+/zvDhw73dRAHMnDmTLVu2UF5eTmFhIV9//TWzZ88mLy+Pd955R51UIyUlhYyMDLZv305kZCQbN27kvvvuIz4+ntdff73ZrISiY3z55Zds376dzMxMPvvsM2JiYjAYDOzatYt+/fphNpsZNmwYr732GmvXriU2NpadO3dyzz33YDAYePfdd9UbUgMDAzEYDLz44ovU19djMplYvnw5Tz/9NLNmzeKuu+7y8t52La1ld/ToUaZMmUJNTQ2lpaXk5ubyv//7vzz++OMMGDCA119/HX9/f6BhiuL8/HxefvllLBYLDoeDt99+m5dffplFixYxefJkL+9t1/HSSy/xxBNPcNVVV3HPPfeQn5+v+ejTpw+AHHc+qC3ZHTp0SI47H3Tvvfeybt06ysvLKS4uZtu2bfy///f/WLZsGQ8//LA6mOlyx52Xnq8kOlFVVZUyf/58JTY2VvH391fS0tKUDz74wNvNEk288MILyogRI5SwsDDFaDQq0dHRyowZM5TNmzc3W/df//qXMmbMGMVisSgRERHKHXfc4fEhe6LjJCQkKIDHjwMHDqjrbd26Vbn88suVoKAgJTQ0VPn/7dsxagJRFIbRPyAP7CysBxtnFzJb0M3Yzhp0ATZuyzWI9TQ3TaqYkFSJ6Dn18OBxuTBf8bbbbV0uly/PPBwO1fd9tdaq67oax7GmafqjG72On2Z3vV5rt9vVarWq+XxerbVar9e13+/rdrvdnTdNU43jWF3XVWut+r6v4/H4Dzd7bsMwfDu3z78y9u6x/GZ29u4xnU6n2mw2tVwuazab1WKxqGEY6nw+3337THv3VvXxqAEAAOCFeXMEAAAQcQQAAJBEHAEAACQRRwAAAEnEEQAAQBJxBAAAkEQcAQAAJBFHAAAAScQRAABAEnEEAACQRBwBAAAkSd4BCk2CVq81+4AAAAAASUVORK5CYII=\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"target_pos = [0, 0]\n",
"f = moving_target_filter(target_pos, std_noise, Q=1.0)\n",
"plot_straight_line_target(f, std_noise)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This performance is unacceptable. `FilterPy`'s UKF code allows you to specify a function which computes the residuals in cases of nonlinear behavior like this,. The final example in this chapter demonstrates its use."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Effects of Sensor Error and Geometry"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The geometry of the sensors relative to the tracked object imposes a physical limitation that can be extremely difficult to deal with when designing filters. If the radials of the VOR stations are nearly parallel to each other then a very small angular error translates into a very large distance error. What is worse, this behavior is nonlinear - the error in the *x-axis* vs the *y-axis* will vary depending on the actual bearing. These scatter plots show the error distribution for a 1°$\\sigma$ error for two different bearings."
]
},
{
"cell_type": "code",
"execution_count": 37,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.plot_scatter_of_bearing_error()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Exercise: Explain Filter Performance"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see that for small angular errors the positional errors are very large. Explain how we got such relatively good performance out of the UKF in the target tracking problems above. Answer for both the one sensor and multiple sensor problem. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Solution"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This is very important to understand. Try very hard to answer this before reading the answer below. If you cannot answer this you may need to revisit some of the earlier material in the **Multidimensional Kalman Filter** chapter.\n",
"\n",
"There are several factors contributing to our success. First, let's consider the case of having only one sensor. Any single measurement has an extreme range of possible positions. But, our target is moving, and the UKF is taking that into account. Let's plot the results of several measurements taken in a row for a moving target."
]
},
{
"cell_type": "code",
"execution_count": 38,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ukf_internal.plot_scatter_moving_target()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Each individual measurement has a very large position error. However, a plot of successive measurements shows a clear trend - the target is obviously moving towards the upper right. When a Kalman filter computes the Kalman gain it takes the distribution of errors into account by using the measurement function. In this example the error lies on an approximately 45° line, so the filter will discount errors in that direction. On the other hand, there is almost no error in measurement orthogonal to that, and again the Kalman gain will take that into account. \n",
"\n",
"This graph makes it look easy because we have plotted 100 measurements for each position update. The movement of the aircraft is obvious. In contrast, the Kalman filter only gets one measurement per update. Therefore the filter will not be able to generate as good a fit as the dotted green line implies. \n",
"\n",
"Now consider that the bearing gives us no distance information. Suppose we set the initial estimate to 1,000 kilometers away from the sensor (vs the actual distance of 7.07 km) and make $\\mathbf P$ very small. At that distance a 1° error translates into a positional error of 17.5 km. The KF would never be able to converge onto the actual target position because the filter is incorrectly very certain about its position estimates and because there is no distance information provided in the measurements."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now let's consider the effect of adding a second sensor. Here are two plots showing the effects of different sensor placements. I used a square and a triangle as a symbol for the two sensors, and drew a distribution of the errors due to each sensor using the same symbol shape and color. I then computed the $(x, y)$ coordinate corresponding to the two noisy bearing measurements and plotted them with red dots to show the distribution of the noisy measurements in $x$ and $y$."
]
},
{
"cell_type": "code",
"execution_count": 39,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"with figsize(10,5):\n",
" ukf_internal.plot_iscts_two_sensors()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"In the first plot I placed the sensors nearly orthogonal to the target's initial position so we get these lovely 'x' shape intersections. We can see how the errors in $x$ and $y$ change as the target moves by the shape the scattered red dots make - as the target gets further away from the sensors, but nearer the $y$ coordinate of sensor B the shape becomes strongly elliptical.\n",
"\n",
"In the second plot the airplane starts very near one sensor, and then flies past the second sensor. The intersections of the errors are very non-orthogonal, and the resulting position errors become very spread out."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Implementation of the UKF\n",
"\n",
"FilterPy implements the UKF, but it is instructive to learn how to translate equations into code. Implementing the UKF is quite straightforward. First, let's write code to compute the mean and covariance of the sigma points. \n",
"\n",
"We will store the sigma points and weights in matrices, like so:\n",
"\n",
"$$ \n",
"\\begin{aligned}\n",
"\\text{weights} &= \n",
"\\begin{bmatrix}\n",
"w_0& w_1 & \\dots & w_{2n}\n",
"\\end{bmatrix} \n",
"\\\\\n",
"\\text{sigmas} &= \n",
"\\begin{bmatrix}\n",
"\\mathcal{X}_{0,0} & \\mathcal{X}_{0,1} & \\dots & \\mathcal{X}_{0,n-1} \\\\\n",
"\\mathcal{X}_{1,0} & \\mathcal{X}_{1,1} & \\dots & \\mathcal{X}_{1,n-1} \\\\\n",
"\\vdots & \\vdots & \\ddots & \\vdots \\\\\n",
"\\mathcal{X}_{2n,0} & \\mathcal{X}_{2n,1} & \\dots & \\mathcal{X}_{2n,n-1}\n",
"\\end{bmatrix}\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"\n",
"That's a lot of subscripts to describe something very simple, so here's an example for a two dimensional problem ($n$=2):"
]
},
{
"cell_type": "code",
"execution_count": 40,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"array([[ 0. , 0. ],\n",
" [ 0.173, 0.017],\n",
" [ 0. , 0.172],\n",
" [-0.173, -0.017],\n",
" [ 0. , -0.172]])"
]
},
"execution_count": 40,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"points = MerweScaledSigmaPoints(n=2, alpha=.1, beta=2., kappa=1.)\n",
"points.sigma_points(x=[0.,0], P=[[1.,.1],[.1, 1]])"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The sigma point for the mean is on the first row. Its position is (0, 0), which is equal to the mean (0,0). The second sigma point is at position (0.173, 0.017), and so on. There are are $2n+1 = 5$ rows, one row per sigma point. If $n=3$, then there would be 3 columns and 7 rows.\n",
"\n",
"The choice to store the sigmas in row-column vs column row format is somewhat arbitrary; my choice makes the rest of the code clearer as I can refer to the i$^{th}$ sigma point as `sigmas[i]` instead of `sigmas[:, i]`."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Weights\n",
"\n",
"Computing the weights with NumPy is easy. Recall that the Van der Merwe scaled sigma point implementation states:\n",
"\n",
"$$\n",
"\\begin{aligned}\n",
"\\lambda&=\\alpha^2(n+\\kappa)-n \\\\ \n",
"W^m_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n",
"W^c_0 &= \\frac{\\lambda}{n+\\lambda} + 1 -\\alpha^2 + \\beta \\\\\n",
"W^m_i = W^c_i &= \\frac{1}{2(n+\\lambda)}\\;\\;\\;i=1..2n\n",
"\\end{aligned}\n",
"$$\n",
" \n",
"Code for these is:\n",
"\n",
"```python\n",
"lambda_ = alpha**2 * (n + kappa) - n\n",
"Wc = np.full(2*n + 1, 1. / (2*(n + lambda_))\n",
"Wm = np.full(2*n + 1, 1. / (2*(n + lambda_))\n",
"Wc[0] = lambda_ / (n + lambda_) + (1. - alpha**2 + beta)\n",
"Wm[0] = lambda_ / (n + lambda_)\n",
"```\n",
"\n",
"I use the underscore in `lambda_` because `lambda` is a reserved word in Python. A trailing underscore is the Pythonic workaround."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Sigma Points\n",
"\n",
"The equations for the sigma points are:\n",
"\n",
"$$\n",
"\\begin{cases}\n",
"\\mathcal{X}_0 = \\mu \\\\\n",
"\\mathcal{X}_i = \\mu + \\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i, & \\texttt{for i=1..n} \\\\\n",
"\\mathcal{X}_i = \\mu - \\left[\\sqrt{(n+\\lambda)\\Sigma}\\right]_{i-n} & \\texttt{for i=(n+1)..2n}\n",
"\\end{cases}\n",
"$$\n",
"\n",
"The Python is not difficult once we understand the $\\left[\\sqrt{(n+\\lambda)\\Sigma} \\right]_i$ term.\n",
"\n",
"The term $\\sqrt{(n+\\lambda)\\Sigma}$ is a matrix because $\\Sigma$ is a matrix. The subscript $i$ in $[\\sqrt{(n+\\lambda)\\Sigma}]_i$ is choosing the column vector of the matrix. What is the square root of a matrix? There is no unique definition. One definition is that the square root of a matrix $\\Sigma$ is the matrix $S$ that, when multiplied by itself, yields $\\Sigma$: if $\\Sigma = SS$ then $S = \\sqrt{\\Sigma}$.\n",
"\n",
"We will choose an alternative definition that has numerical properties which make it easier to compute. We can define the square root as the matrix S, which when multiplied by its transpose, returns $\\Sigma$:\n",
"\n",
"$$\n",
"\\Sigma = \\mathbf{SS}^\\mathsf T\n",
"$$\n",
"\n",
"This definition is favored because $\\mathbf S$ is computed using the [*Cholesky decomposition*](https://en.wikipedia.org/wiki/Cholesky_decomposition) [3]. It decomposes a Hermitian, positive-definite matrix into a triangular matrix and its conjugate transpose. The matrix can be either upper \n",
"or lower triangular, like so:\n",
"\n",
"$$A=LL^{∗} \\\\ A=U^{∗}U$$\n",
"\n",
"The asterick denotes the conjugate transpose; we have only real numbers so for us we can write:\n",
"\n",
"$$A=LL^\\mathsf T \\\\ A=U^\\mathsf T U$$\n",
"\n",
"$\\mathbf P$ has these properties, so we can treat $\\mathbf S = \\text{cholesky}(\\mathbf P)$ as the square root of $\\mathbf P$.\n",
"\n",
"SciPy provides `cholesky()` method in `scipy.linalg`. If your language of choice is Fortran, C, or C++, libraries such as LAPACK provide this routine. Matlab provides `chol()`.\n",
"\n",
"By default `scipy.linalg.cholesky()` returns a upper triangular matrix, so I elected to write the code to expect an upper triangular matrix. If you provide your own square root implementation you will need to take this into account."
]
},
{
"cell_type": "code",
"execution_count": 41,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"array([[2.005, 0.122],\n",
" [0.122, 2.995]])"
]
},
"execution_count": 41,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"import scipy\n",
"a = np.array([[2., .1], [.1, 3]])\n",
"s = scipy.linalg.cholesky(a)\n",
"np.dot(s, s.T)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"So we can implement the sigma points with this code:\n",
"\n",
"```python\n",
"sigmas = np.zeros((2*n+1, n))\n",
"U = scipy.linalg.cholesky((n+lambda_)*P) # sqrt\n",
"\n",
"sigmas[0] = X\n",
"for k in range (n):\n",
" sigmas[k+1] = X + U[k]\n",
" sigmas[n+k+1] = X - U[k]\n",
"```\n",
"\n",
"Now let's implement the unscented transform. Recall the equations\n",
"\n",
"$$\\begin{aligned}\n",
"\\mu &= \\sum_i w_i^m\\mathcal{X}_i \\\\\n",
"\\Sigma &= \\sum_i w_i^c{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}}\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"We implement the sum of the means with\n",
"\n",
"```python\n",
"x = np.dot(Wm, sigmas)\n",
"```\n",
"\n",
"If you are not a heavy user of NumPy this may look foreign to you. NumPy is not just a library that make linear algebra possible; under the hood it is written in C and Fortran to achieve much faster speeds than Python can reach. A typical speedup is 20x to 100x. To get that speedup we must avoid using for loops, and instead use NumPy's built in functions to perform calculations. So, instead of writing a for loop to compute the sum of products, we call the built in `numpy.dot(x, y)` method. The dot product of two vectors is the sum of the element-wise multiplications of each element. If passed a 1D array and a 2D array it will compute the sum of inner products:"
]
},
{
"cell_type": "code",
"execution_count": 42,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"array([410, 520, 630])"
]
},
"execution_count": 42,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"a = np.array([10, 100])\n",
"b = np.array([[1, 2, 3],\n",
" [4, 5, 6]])\n",
"np.dot(a, b)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"All that is left is to compute $\\mathbf P = \\sum_i w_i{(\\mathcal{X}_i-\\mu)(\\mathcal{X}_i-\\mu)^\\mathsf{T}} + \\mathbf Q$:\n",
"\n",
"```python\n",
"kmax, n = sigmas.shape\n",
"P = zeros((n, n))\n",
"for k in range(kmax):\n",
" y = sigmas[k] - x\n",
" P += Wc[k] * np.outer(y, y) \n",
"P += Q\n",
"```\n",
"\n",
"This introduces another feature of NumPy. The state variable `x` is one dimensional, as is `sigmas[k]`, so the difference `sigmas[k]-X` is also one dimensional. NumPy will not compute the transpose of a 1-D array; it considers the transpose of `[1,2,3]` to be `[1,2,3]`. So we call the function `np.outer(y,y)` which computes the value of $\\mathbf{yy}^\\mathsf{T}$ for the 1D array $\\mathbf{y}$. An alternative implementation could be:\n",
"\n",
"```python\n",
"y = (sigmas[k] - x).reshape(kmax, 1) # convert into 2D array\n",
"P += Wc[K] * np.dot(y, y.T)\n",
"```\n",
"\n",
"This code is slower and not idiomatic, so we will not use it."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Predict Step\n",
"\n",
"For the predict step, we will generate the weights and sigma points as specified above. We pass each sigma point through the function f.\n",
"\n",
"$$\\boldsymbol{\\mathcal{Y}} = f(\\boldsymbol{\\chi})$$\n",
"\n",
"Then we compute the predicted mean and covariance using the unscented transform. In the code below you can see that I am assuming that this is a method in a class that stores the various matrices and vectors needed by the filter.\n",
"\n",
"```python\n",
"def predict(self, sigma_points_fn):\n",
" \"\"\" Performs the predict step of the UKF. On return, \n",
" self.xp and self.Pp contain the predicted state (xp) \n",
" and covariance (Pp). 'p' stands for prediction.\n",
" \"\"\"\n",
"\n",
" # calculate sigma points for given mean and covariance\n",
" sigmas = sigma_points_fn(self.x, self.P)\n",
"\n",
" for i in range(self._num_sigmas):\n",
" self.sigmas_f[i] = self.fx(sigmas[i], self._dt)\n",
"\n",
" self.xp, self.Pp = unscented_transform(\n",
" self.sigmas_f, self.Wm, self.Wc, self.Q)\n",
"```"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Update Step"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The update step converts the sigmas into measurement space via the function `h(x)`.\n",
"\n",
"$$\\mathcal{Z} = h(\\mathcal{Y})$$\n",
"\n",
"The mean and covariance of those points is computed with the unscented transform. The residual and Kalman gain is then computed. The cross variance is computed as:\n",
"\n",
"$$\\mathbf P_{xz} =\\sum_{i=0}^{2n} w^c_i(\\boldsymbol{\\mathcal Y}_i-\\mu)(\\boldsymbol{\\mathcal Z}_i-\\mu_z)^\\mathsf T$$\n",
"\n",
"Finally, we compute the new state estimate using the residual and Kalman gain:\n",
"\n",
"$$\\begin{aligned}\n",
"K &= \\mathbf P_{xz} \\mathbf P_z^{-1}\\\\\n",
"{\\mathbf x} &= \\mathbf{\\bar x} + \\mathbf{Ky}\n",
"\\end{aligned}$$\n",
"\n",
"and the new covariance is computed as:\n",
"\n",
"$$ \\mathbf P = \\mathbf{\\bar P} - \\mathbf{KP}_z\\mathbf{K}^\\mathsf{T}$$\n",
"\n",
"This function can be implemented as follows, assuming it is a method of a class that stores the necessary matrices and data.\n",
"\n",
"```python\n",
"def update(self, z):\n",
" # rename for readability\n",
" sigmas_f = self.sigmas_f\n",
" sigmas_h = self.sigmas_h\n",
"\n",
" # transform sigma points into measurement space\n",
" for i in range(self._num_sigmas):\n",
" sigmas_h[i] = self.hx(sigmas_f[i])\n",
"\n",
" # mean and covariance of prediction passed through UT\n",
" zp, Pz = unscented_transform(sigmas_h, self.Wm, self.Wc, self.R)\n",
"\n",
" # compute cross variance of the state and the measurements\n",
" Pxz = np.zeros((self._dim_x, self._dim_z))\n",
" for i in range(self._num_sigmas):\n",
" Pxz += self.Wc[i] * np.outer(sigmas_f[i] - self.xp,\n",
" sigmas_h[i] - zp)\n",
"\n",
" K = np.dot(Pxz, inv(Pz)) # Kalman gain\n",
"\n",
" self.x = self.xp + np.dot(K, z - zp)\n",
" self.P = self.Pp - np.dot(K, Pz).dot(K.T)\n",
"```"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### FilterPy's Implementation\n",
"\n",
"FilterPy has generalized the code somewhat. You can specify different sigma point algorithms, specify how to compute the residual of the state variables (you can not subtract angles because they are modular), provide a matrix square root function, and more. See the help for details.\n",
"\n",
"https://filterpy.readthedocs.org/#unscented-kalman-filter"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Batch Processing\n",
"\n",
"The Kalman filter is recursive - estimates are based on the currernt measurement and prior estimate. But it is very common to have a set of data that have been already collected which we want to filter. In this case the filter can be run in a *batch* mode, where all of the measurements are filtered at once.\n",
"\n",
"Collect your measurements into an array or list.\n",
"\n",
"```python\n",
"zs = read_altitude_from_csv()\n",
"```\n",
"\n",
"Then call the `batch_filter()` method.\n",
"\n",
"```python\n",
"Xs, Ps = ukf.batch_filter(zs)\n",
"```\n",
"\n",
"The function takes the list/array of measurements, filters it, and returns an array of state estimates (`Xs`) and covariance matrices (`Ps`) for the entire data set. \n",
"\n",
"Here is a complete example drawing from the radar tracking problem above."
]
},
{
"cell_type": "code",
"execution_count": 43,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"dt = 12. # 12 seconds between readings\n",
"range_std = 5 # meters\n",
"bearing_std = math.radians(0.5)\n",
"\n",
"ac_pos = (0., 1000.)\n",
"ac_vel = (100., 0.)\n",
"radar_pos = (0., 0.)\n",
"h_radar.radar_pos = radar_pos\n",
"\n",
"points = MerweScaledSigmaPoints(n=3, alpha=.1, beta=2., kappa=0.)\n",
"kf = UKF(3, 2, dt, fx=f_radar, hx=h_radar, points=points)\n",
"\n",
"kf.Q[0:2 ,0:2] = Q_discrete_white_noise(2, dt=dt, var=0.1)\n",
"kf.Q[2, 2] = 0.1\n",
"\n",
"kf.R = np.diag([range_std**2, bearing_std**2])\n",
"kf.x = np.array([0., 90., 1100.])\n",
"kf.P = np.diag([300**2, 30**2, 150**2])\n",
"\n",
"radar = RadarStation((0, 0), range_std, bearing_std)\n",
"ac = ACSim(ac_pos, (100, 0), 0.02)\n",
"\n",
"np.random.seed(200)\n",
"\n",
"t = np.arange(0, 360 + dt, dt)\n",
"n = len(t)\n",
"\n",
"zs = []\n",
"for i in range(len(t)):\n",
" ac.update(dt)\n",
" r = radar.noisy_reading(ac.pos)\n",
" zs.append([r[0], r[1]])\n",
"\n",
"xs, covs = kf.batch_filter(zs)\n",
"ukf_internal.plot_radar(xs, t)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Smoothing the Results\n",
"\n",
"Assume that we are tracking a car. Suppose we get a noisy measurement that implies that the car is starting to turn to the left, but the state function has predicted that the car is moving straight. The Kalman filter has no choice but to move the state estimate somewhat towards the noisy measurement, as it cannot judge whether this is just a particularly noisy measurement or the true start of a turn. \n",
"\n",
"If we are collecting data and post-processing it we have measurements after the questionable one that informs us if a turn was made or not. Suppose the subsequent measurements all continue turning left. We can then be sure that the measurement was not very noisy, but instead a turn was initiated.\n",
"\n",
"We will not develop the math or algorithm here, I will just show you how to call the algorithm in `FilterPy`. The algorithm that we have implemented is called an *RTS smoother*, after the three inventors of the algorithm: Rauch, Tung, and Striebel.\n",
"\n",
"The routine is `UnscentedKalmanFilter.rts_smoother()`. Using it is trivial; we pass in the means and covariances computed from the `batch_filter` step, and receive back the smoothed means, covariances, and Kalman gain."
]
},
{
"cell_type": "code",
"execution_count": 44,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Difference in position in meters:\n",
"\t [-1.0928 0.1593 0.3259 -0.2323 -0.1727]\n"
]
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"Ms, P, K = kf.rts_smoother(xs, covs)\n",
"ukf_internal.plot_rts_output(xs, Ms, t)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"From these charts we can see that the improvement in the position is small, but the improvement in the velocity is good, and spectacular for the altitude. The difference in the position are very small, so I printed the difference between the UKF and the smoothed results for the last 5 points. I recommend always using the RTS smoother if you can post-process your data."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Choosing the Sigma Parameters\n",
"\n",
"I have found the literature on choosing values for $\\alpha$, $\\beta$, and $\\kappa$ to be rather lacking. Van der Merwe's dissertation contains the most information, but it is not exhaustive. So let's explore what they do. \n",
"\n",
"Van der Merwe suggests using $\\beta=2$ for Gaussian problems, and $\\kappa=3-n$. So let's start there and vary $\\alpha$. I will let $n=1$ to minimize the size of the arrays we need to look at and to avoid having to compute the square root of matrices."
]
},
{
"cell_type": "code",
"execution_count": 45,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"sigmas: [ 0. 3. -3.]\n",
"mean weights: [0.6667 0.1667 0.1667]\n",
"cov weights: [2.6667 0.1667 0.1667]\n",
"lambda: 2\n",
"sum cov 2.9999999999999996\n"
]
}
],
"source": [
"from kf_book.ukf_internal import print_sigmas\n",
"print_sigmas(mean=0, cov=3, alpha=1)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"So what is going on here? We can see that for a mean of 0 the algorithm chooses sigma points of 0, 3, and -3, but why? Recall the equation for computing the sigma points:\n",
"\n",
"$$\\begin{aligned}\n",
"\\mathcal{X}_0 &= \\mu\\\\\n",
"\\mathcal{X}_i &= \\mu \\pm \\sqrt{(n+\\lambda)\\Sigma}\n",
"\\end{aligned}$$\n",
"\n",
"My choice of $n=1$ reduces everything to scalars, allowing us to avoid computing the square root of matrices. So, for our values the equation is\n",
"\n",
"$$\\begin{aligned}\n",
"\\mathcal{X}_0 &= 0 \\\\\n",
"\\mathcal{X}_i &= 0 \\pm \\sqrt{(1+2)\\times 3} \\\\\n",
"&= \\pm 3\n",
"\\end{aligned}$$\n",
"\n",
"So as $\\alpha$ gets larger the sigma points get more spread out. Let's set it to an absurd value."
]
},
{
"cell_type": "code",
"execution_count": 46,
"metadata": {
"scrolled": true
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"sigmas: [ 0. 600. -600.]\n",
"mean weights: [1. 0. 0.]\n",
"cov weights: [-39996. 0. 0.]\n",
"lambda: 119999\n",
"sum cov -39996.00000000001\n"
]
}
],
"source": [
"print_sigmas(mean=0, cov=3, alpha=200)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see that the sigma points spread over 100 standard deviations. If our data was Gaussian we'd be incorporating data many standard deviations away from the mean; for nonlinear problems this is unlikely to produce good results. But suppose our distribution was not Gaussian, but instead had very fat tails? We might need to sample from those tails to get a good estimate, and hence it would make sense to make $\\kappa$ larger (not 200, which was absurdly large to make the change in the sigma points stark). \n",
"\n",
"With a similar line of reasoning, suppose that our distribution has nearly no tails - the probability distribution looks more like an inverted parabola. In such a case we'd probably want to pull the sigma points in closer to the mean to avoid sampling in regions where there will never be real data.\n",
"\n",
"Now let's look at the change in the weights. When we have $k+n=3$ the weights were 0.6667 for the mean, and 0.1667 for the two outlying sigma points. On the other hand, when $\\alpha=200$ the mean weight shot up to 0.99999 and the outlier weights were set to 0.000004. Recall the equations for the weights:\n",
"\n",
"$$\\begin{aligned}\n",
"W_0 &= \\frac{\\lambda}{n+\\lambda} \\\\\n",
"W_i &= \\frac{1}{2(n+\\lambda)}\n",
"\\end{aligned}$$\n",
"\n",
"We can see that as $\\lambda$ gets larger the fraction for the weight of the mean ($\\lambda/(n+\\lambda)$) approaches 1, and the fraction for the weights of the rest of the sigma points approaches 0. This is invariant on the size of your covariance. So as we sample further and further away from the mean we end up giving less weight to those samples, and if we sampled very close to the mean we'd give very similar weights to all.\n",
"\n",
"However, the advice that Van der Merwe gives is to constrain $\\alpha$ in the range $0 \\gt \\alpha \\ge 1$. He suggests $10^{-3}$ as a good value. Let's try that."
]
},
{
"cell_type": "code",
"execution_count": 47,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"sigmas: [ 0. 0.0036 -0.0036]\n",
"mean weights: [-999999. 500000. 500000.]\n",
"cov weights: [-999996. 500000. 500000.]\n",
"lambda: -0.999999\n",
"sum cov 3.9999989999923855\n"
]
}
],
"source": [
"print_sigmas(mean=0, cov=13, alpha=.001, kappa=0)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Robot Localization - A Fully Worked Example"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"It is time to undertake a significant problem. Most books choose simple, textbook problems with simple answers, and you are left wondering how to implement a real world problem. This example will not teach you how to tackle any problem, but illustrates the type of things you will have to consider as you design and implement a filter. \n",
"\n",
"We will consider the problem of robot localization. In this scenario we have a robot that is moving through a landscape using a sensor to detect landmarks. This could be a self driving car using computer vision to identify trees, buildings, and other landmarks. It might be one of those small robots that vacuum your house, or a robot in a warehouse.\n",
"\n",
"The robot has 4 wheels in the same configuration used by automobiles. It maneuvers by pivoting the front wheels. This causes the robot to pivot around the rear axle while moving forward. This is nonlinear behavior which we will have to model. \n",
"\n",
"The robot has a sensor that gives it approximate range and bearing to known targets in the landscape. This is nonlinear because computing a position from a range and bearing requires square roots and trigonometry. \n",
"\n",
"Both the process model and measurement models are nonlinear. The UKF accommodates both, so we provisionally conclude that the UKF is a viable choice for this problem."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Robot Motion Model"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"At a first approximation an automobile steers by pivoting the front tires while moving forward. The front of the car moves in the direction that the wheels are pointing while pivoting around the rear tires. This simple description is complicated by issues such as slippage due to friction, the differing behavior of the rubber tires at different speeds, and the need for the outside tire to travel a different radius than the inner tire. Accurately modeling steering requires a complicated set of differential equations. \n",
"\n",
"For Kalman filtering, especially for lower speed robotic applications a simpler *bicycle model* has been found to perform well. This is a depiction of the model:"
]
},
{
"cell_type": "code",
"execution_count": 48,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"ekf_internal.plot_bicycle()"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Here we see the front tire is pointing in direction $\\alpha$ relative to the wheelbase. Over a short time period the car moves forward and the rear wheel ends up further ahead and slightly turned inward, as depicted with the blue shaded tire. Over such a short time frame we can approximate this as a turn around a radius $R$. We can compute the turn angle $\\beta$ with\n",
"\n",
"$$\\beta = \\frac{d}{w} \\tan{(\\alpha)}$$\n",
"\n",
"and the turning radius R is given by \n",
"\n",
"$$R = \\frac{d}{\\beta}$$\n",
"\n",
"where the distance the rear wheel travels given a forward velocity $v$ is $d=v\\Delta t$.\n",
"\n",
"With $\\theta$ being the robot's orientation we compute the position $C$ before the turn starts as\n",
"\n",
"$$\\begin{aligned}\n",
"C_x &= x - R\\sin(\\theta) \\\\\n",
"C_y &= y + R\\cos(\\theta)\n",
"\\end{aligned}$$\n",
"\n",
"After the move forward for time $\\Delta t$ the new position and orientation of the robot is\n",
"\n",
"$$\\begin{aligned} \\bar x &= C_x + R\\sin(\\theta + \\beta) \\\\\n",
"\\bar y &= C_y - R\\cos(\\theta + \\beta) \\\\\n",
"\\bar \\theta &= \\theta + \\beta\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"Once we substitute in for $C$ we get\n",
"\n",
"$$\\begin{aligned} \\bar x &= x - R\\sin(\\theta) + R\\sin(\\theta + \\beta) \\\\\n",
"\\bar y &= y + R\\cos(\\theta) - R\\cos(\\theta + \\beta) \\\\\n",
"\\bar \\theta &= \\theta + \\beta\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"You do not need to understand this math in detail if you are not interested in steering models. The important thing to recognize is that our motion model is nonlinear, and we will need to deal with that with our Kalman filter."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Design the State Variables\n",
"\n",
"For our robot we will maintain the position and orientation:\n",
"\n",
"$$\\mathbf x = \\begin{bmatrix}x & y & \\theta\\end{bmatrix}^\\mathsf{T}$$\n",
"\n",
"I could include velocities into this model, but as you will see the math will already be quite challenging.\n",
"\n",
"The control input $\\mathbf{u}$ is the commanded velocity and steering angle\n",
"\n",
"$$\\mathbf{u} = \\begin{bmatrix}v & \\alpha\\end{bmatrix}^\\mathsf{T}$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Design the System Model\n",
"\n",
"We model our system as a nonlinear motion model plus white noise.\n",
"\n",
"$$\\bar x = x + f(x, u) + \\mathcal{N}(0, Q)$$\n",
"\n",
"Using the motion model for a robot that we created above, we can write:"
]
},
{
"cell_type": "code",
"execution_count": 49,
"metadata": {},
"outputs": [],
"source": [
"from math import tan, sin, cos, sqrt\n",
"\n",
"def move(x, dt, u, wheelbase):\n",
" hdg = x[2]\n",
" vel = u[0]\n",
" steering_angle = u[1]\n",
" dist = vel * dt\n",
"\n",
" if abs(steering_angle) > 0.001: # is robot turning?\n",
" beta = (dist / wheelbase) * tan(steering_angle)\n",
" r = wheelbase / tan(steering_angle) # radius\n",
"\n",
" sinh, sinhb = sin(hdg), sin(hdg + beta)\n",
" cosh, coshb = cos(hdg), cos(hdg + beta)\n",
" return x + np.array([-r*sinh + r*sinhb, \n",
" r*cosh - r*coshb, beta])\n",
" else: # moving in straight line\n",
" return x + np.array([dist*cos(hdg), dist*sin(hdg), 0])"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We will use this function to implement the state transition function `f(x)`."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"I will design the UKF so that $\\Delta t$ is small. If the robot is moving slowly then this function should give a reasonably accurate prediction. If $\\Delta t$ is large or your system's dynamics are very nonlinear this method will fail. In those cases you will need to implement it using a more sophisticated numerical integration technique such as Runge Kutta. Numerical integration is covered briefly in the **Kalman Filter Math** chapter."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Design the Measurement Model\n",
"\n",
"The sensor provides a noisy bearing and range to multiple known locations in the landscape. The measurement model must convert the state $\\begin{bmatrix}x & y&\\theta\\end{bmatrix}^\\mathsf{T}$ into a range and bearing to the landmark. If $p$ is the position of a landmark, the range $r$ is\n",
"\n",
"$$r = \\sqrt{(p_x - x)^2 + (p_y - y)^2}$$\n",
"\n",
"We assume that the sensor provides bearing relative to the orientation of the robot, so we must subtract the robot's orientation from the bearing to get the sensor reading, like so:\n",
"\n",
"$$\\phi = \\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta$$\n",
"\n",
"Thus our measurement function is\n",
"\n",
"$$\\begin{aligned}\n",
"\\mathbf{z}& = h(\\mathbf x, \\mathbf P) &+ \\mathcal{N}(0, R)\\\\\n",
"&= \\begin{bmatrix}\n",
"\\sqrt{(p_x - x)^2 + (p_y - y)^2} \\\\\n",
"\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta \n",
"\\end{bmatrix} &+ \\mathcal{N}(0, R)\n",
"\\end{aligned}$$\n",
"\n",
"I will not implement this yet as there is a difficulty that will be discussed in the *Implementation* section below."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Design Measurement Noise\n",
"\n",
"It is reasonable to assume that the range and bearing measurement noise is independent, hence\n",
"\n",
"$$\\mathbf R=\\begin{bmatrix}\\sigma_{range}^2 & 0 \\\\ 0 & \\sigma_{bearing}^2\\end{bmatrix}$$"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Implementation"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Before we begin coding we have another issue to handle. The residual is $y = z - h(x)$. Suppose z has a bearing of $1^\\circ$ and $h(x)$ is $359^\\circ$. Subtracting them gives $-358^\\circ$. This will throw off the computation of the Kalman gain because the correct angular difference is $2^\\circ$. So we will have to write code to correctly compute the bearing residual."
]
},
{
"cell_type": "code",
"execution_count": 50,
"metadata": {},
"outputs": [],
"source": [
"def normalize_angle(x):\n",
" x = x % (2 * np.pi) # force in range [0, 2 pi)\n",
" if x > np.pi: # move to [-pi, pi)\n",
" x -= 2 * np.pi\n",
" return x"
]
},
{
"cell_type": "code",
"execution_count": 51,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"1.9999999999999774\n"
]
}
],
"source": [
"print(np.degrees(normalize_angle(np.radians(1-359))))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The state vector has the bearing at index 2, but the measurement vector has it at index 1, so we need to write functions to handle each. Another issue we face is that as the robot maneuvers different landmarks will be visible, so we need to handle a variable number of measurements. The function for the residual in the measurement will be passed an array of several measurements, one per landmark."
]
},
{
"cell_type": "code",
"execution_count": 52,
"metadata": {},
"outputs": [],
"source": [
"def residual_h(a, b):\n",
" y = a - b\n",
" # data in format [dist_1, bearing_1, dist_2, bearing_2,...]\n",
" for i in range(0, len(y), 2):\n",
" y[i + 1] = normalize_angle(y[i + 1])\n",
" return y\n",
"\n",
"def residual_x(a, b):\n",
" y = a - b\n",
" y[2] = normalize_angle(y[2])\n",
" return y"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can now implement the measurement model. The equation is\n",
"$$h(\\mathbf x, \\mathbf P)\n",
"= \\begin{bmatrix}\n",
"\\sqrt{(p_x - x)^2 + (p_y - y)^2} \\\\\n",
"\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta \n",
"\\end{bmatrix}$$\n",
"\n",
"The expression $\\tan^{-1}(\\frac{p_y - y}{p_x - x}) - \\theta$ can produce a result outside the range $[-\\pi, \\pi)$, so we should normalize the angle to that range.\n",
"\n",
"The function will be passed an array of landmarks and needs to produce an array of measurements in the form `[dist_to_1, bearing_to_1, dist_to_2, bearing_to_2, ...]`."
]
},
{
"cell_type": "code",
"execution_count": 53,
"metadata": {},
"outputs": [],
"source": [
"def Hx(x, landmarks):\n",
" \"\"\" takes a state variable and returns the measurement\n",
" that would correspond to that state. \"\"\"\n",
" hx = []\n",
" for lmark in landmarks:\n",
" px, py = lmark\n",
" dist = sqrt((px - x[0])**2 + (py - x[1])**2)\n",
" angle = atan2(py - x[1], px - x[0])\n",
" hx.extend([dist, normalize_angle(angle - x[2])])\n",
" return np.array(hx)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Our difficulties are not over. The unscented transform computes the average of the state and measurement vectors, but each contains a bearing. There is no unique way to compute the average of a set of angles. For example, what is the average of 359$^\\circ$ and 3$^\\circ$? Intuition suggests the answer should be 1$^\\circ$, but a naive $\\frac{1}{n}\\sum x$ approach yields 181$^\\circ$.\n",
"\n",
"One common approach is to take the arctan of the sum of the sins and cosines.\n",
"\n",
"$$\\bar{\\theta} = atan2\\left(\\frac{\\sum_{i=1}^n \\sin\\theta_i}{n}, \\frac{\\sum_{i=1}^n \\cos\\theta_i}{n}\\right)$$\n",
"\n",
"`UnscentedKalmanFilter.__init__()` has an argument `x_mean_fn` for a function which computes the mean of the state, and `z_mean_fn` for a function which computes the mean of the measurement. We will code these function as:"
]
},
{
"cell_type": "code",
"execution_count": 54,
"metadata": {},
"outputs": [],
"source": [
"def state_mean(sigmas, Wm):\n",
" x = np.zeros(3)\n",
"\n",
" sum_sin = np.sum(np.dot(np.sin(sigmas[:, 2]), Wm))\n",
" sum_cos = np.sum(np.dot(np.cos(sigmas[:, 2]), Wm))\n",
" x[0] = np.sum(np.dot(sigmas[:, 0], Wm))\n",
" x[1] = np.sum(np.dot(sigmas[:, 1], Wm))\n",
" x[2] = atan2(sum_sin, sum_cos)\n",
" return x\n",
"\n",
"def z_mean(sigmas, Wm):\n",
" z_count = sigmas.shape[1]\n",
" x = np.zeros(z_count)\n",
"\n",
" for z in range(0, z_count, 2):\n",
" sum_sin = np.sum(np.dot(np.sin(sigmas[:, z+1]), Wm))\n",
" sum_cos = np.sum(np.dot(np.cos(sigmas[:, z+1]), Wm))\n",
"\n",
" x[z] = np.sum(np.dot(sigmas[:,z], Wm))\n",
" x[z+1] = atan2(sum_sin, sum_cos)\n",
" return x"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"These functions take advantage of the fact that NumPy's trigometric functions operate on arrays, and `dot` performs element-wise multiplication. NumPy is implemented in C and Fortran, so `sum(dot(sin(x), w))` is much faster than writing the equivalent loop in Python.\n",
"\n",
"With that done we are now ready to implement the UKF. I want to point out that when I designed this filter I did not just design all of functions above in one sitting, from scratch. I put together a basic UKF with predefined landmarks, verified it worked, then started filling in the pieces. \"What if I see different landmarks?\" That lead me to change the measurement function to accept an array of landmarks. \"How do I deal with computing the residual of angles?\" This led me to write the angle normalization code. \"What is the *mean* of a set of angles?\" I searched on the internet, found an article on Wikipedia, and implemented that algorithm. Do not be daunted. Design what you can, then ask questions and solve them, one by one.\n",
"\n",
"You've seen the UKF implemention already, so I will not describe it in detail. There are two new thing here. When we construct the sigma points and filter we have to provide it the functions that we have written to compute the residuals and means.\n",
"\n",
"```python\n",
"points = SigmaPoints(n=3, alpha=.00001, beta=2, kappa=0, \n",
" subtract=residual_x)\n",
"\n",
"ukf = UKF(dim_x=3, dim_z=2, fx=fx, hx=Hx, dt=dt, points=points,\n",
" x_mean_fn=state_mean, z_mean_fn=z_mean,\n",
" residual_x=residual_x, residual_z=residual_h)\n",
"```\n",
"\n",
"Next, we need to pass extra data into our `f(x, dt)` and `h(x)` functions. We want to use `move(x, dt, u, wheelbase)` for `f(x, dt)`, and `Hx(x, landmarks)` for `h(x)`. We can do this, we just have to pass the extra parameters into `predict()` and `update()` as keyword argument,s like so:\n",
"\n",
"```python\n",
" ukf.predict(u=u, wheelbase=wheelbase) \n",
" ukf.update(z, landmarks=landmarks)\n",
"```\n",
"\n",
"The rest of the code runs the simulation and plots the results. I create a variable `landmarks` that contains the coordinates of the landmarks. I update the simulated robot position 10 times a second, but run the UKF only once per second. We are not using Runge Kutta to integrate the differential equations of motion, so a small time step makes the simulation more accurate."
]
},
{
"cell_type": "code",
"execution_count": 55,
"metadata": {},
"outputs": [],
"source": [
"from filterpy.stats import plot_covariance_ellipse\n",
"\n",
"dt = 1.0\n",
"wheelbase = 0.5\n",
"\n",
"def run_localization(\n",
" cmds, landmarks, sigma_vel, sigma_steer, sigma_range, \n",
" sigma_bearing, ellipse_step=1, step=10):\n",
"\n",
" plt.figure()\n",
" points = MerweScaledSigmaPoints(n=3, alpha=.00001, beta=2, kappa=0, \n",
" subtract=residual_x)\n",
" ukf = UKF(dim_x=3, dim_z=2*len(landmarks), fx=move, hx=Hx,\n",
" dt=dt, points=points, x_mean_fn=state_mean, \n",
" z_mean_fn=z_mean, residual_x=residual_x, \n",
" residual_z=residual_h)\n",
"\n",
" ukf.x = np.array([2, 6, .3])\n",
" ukf.P = np.diag([.1, .1, .05])\n",
" ukf.R = np.diag([sigma_range**2, \n",
" sigma_bearing**2]*len(landmarks))\n",
" ukf.Q = np.eye(3)*0.0001\n",
" \n",
" sim_pos = ukf.x.copy()\n",
" \n",
" # plot landmarks\n",
" if len(landmarks) > 0:\n",
" plt.scatter(landmarks[:, 0], landmarks[:, 1], \n",
" marker='s', s=60)\n",
" \n",
" track = []\n",
" for i, u in enumerate(cmds): \n",
" sim_pos = move(sim_pos, dt/step, u, wheelbase)\n",
" track.append(sim_pos)\n",
"\n",
" if i % step == 0:\n",
" ukf.predict(u=u, wheelbase=wheelbase)\n",
"\n",
" if i % ellipse_step == 0:\n",
" plot_covariance_ellipse(\n",
" (ukf.x[0], ukf.x[1]), ukf.P[0:2, 0:2], std=6,\n",
" facecolor='k', alpha=0.3)\n",
"\n",
" x, y = sim_pos[0], sim_pos[1]\n",
" z = []\n",
" for lmark in landmarks:\n",
" dx, dy = lmark[0] - x, lmark[1] - y\n",
" d = sqrt(dx**2 + dy**2) + randn()*sigma_range\n",
" bearing = atan2(lmark[1] - y, lmark[0] - x)\n",
" a = (normalize_angle(bearing - sim_pos[2] + \n",
" randn()*sigma_bearing))\n",
" z.extend([d, a]) \n",
" ukf.update(z, landmarks=landmarks)\n",
"\n",
" if i % ellipse_step == 0:\n",
" plot_covariance_ellipse(\n",
" (ukf.x[0], ukf.x[1]), ukf.P[0:2, 0:2], std=6,\n",
" facecolor='g', alpha=0.8)\n",
" track = np.array(track)\n",
" plt.plot(track[:, 0], track[:,1], color='k', lw=2)\n",
" plt.axis('equal')\n",
" plt.title(\"UKF Robot localization\")\n",
" plt.show()\n",
" return ukf"
]
},
{
"cell_type": "code",
"execution_count": 56,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Final P: [0.0085 0.0177 0.0006]\n"
]
}
],
"source": [
"landmarks = np.array([[5, 10], [10, 5], [15, 15]])\n",
"cmds = [np.array([1.1, .01])] * 200\n",
"ukf = run_localization(\n",
" cmds, landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n",
" sigma_range=0.3, sigma_bearing=0.1)\n",
"print('Final P:', ukf.P.diagonal())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The rest of the code runs the simulation and plots the results. I create a variable `landmarks` that contains the coordinates of the landmarks. I update the simulated robot position 10 times a second, but run the UKF only once. This is for two reasons. First, we are not using Runge Kutta to integrate the differental equations of motion, so a narrow time step allows our simulation to be more accurate. Second, it is fairly normal in embedded systems to have limited processing speed. This forces you to run your Kalman filter only as frequently as absolutely needed."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Steering the Robot\n",
"\n",
"The steering simulation in the run above is not realistic. The velocity and steering angles never changed, which doesn't pose much of a problem for the Kalman filter. We could implement a complicated PID controlled robot simulation, but I will just generate varying steering commands using NumPy's `linspace` method. I'll also add more landmarks as the robot will be traveling much further than in the first example."
]
},
{
"cell_type": "code",
"execution_count": 57,
"metadata": {},
"outputs": [],
"source": [
"landmarks = np.array([[5, 10], [10, 5], [15, 15], [20, 5],\n",
" [0, 30], [50, 30], [40, 10]])\n",
"dt = 0.1\n",
"wheelbase = 0.5\n",
"sigma_range=0.3\n",
"sigma_bearing=0.1\n",
"\n",
"def turn(v, t0, t1, steps):\n",
" return [[v, a] for a in np.linspace(\n",
" np.radians(t0), np.radians(t1), steps)] \n",
" \n",
"# accelerate from a stop\n",
"cmds = [[v, .0] for v in np.linspace(0.001, 1.1, 30)]\n",
"cmds.extend([cmds[-1]]*50)\n",
"\n",
"# turn left\n",
"v = cmds[-1][0]\n",
"cmds.extend(turn(v, 0, 2, 15))\n",
"cmds.extend([cmds[-1]]*100)\n",
"\n",
"#turn right\n",
"cmds.extend(turn(v, 2, -2, 15))\n",
"cmds.extend([cmds[-1]]*200)\n",
"\n",
"cmds.extend(turn(v, -2, 0, 15))\n",
"cmds.extend([cmds[-1]]*150)\n",
"\n",
"cmds.extend(turn(v, 0, 1, 25))\n",
"cmds.extend([cmds[-1]]*100)"
]
},
{
"cell_type": "code",
"execution_count": 58,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"final covariance [0.0012 0.0042 0.0003]\n"
]
}
],
"source": [
"ukf = run_localization(\n",
" cmds, landmarks, sigma_vel=0.1, sigma_steer=np.radians(1),\n",
" sigma_range=0.3, sigma_bearing=0.1, step=1,\n",
" ellipse_step=20)\n",
"print('final covariance', ukf.P.diagonal())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The uncertainty becomes very small very quickly. The covariance ellipses are displaying the $6\\sigma$ covariance, yet the ellipses are so small they are hard to see. We can incorporate more error into the answer by only supplying two landmarks near the start point. When we run this filter the errors increase as the robot gets further away from these landmarks."
]
},
{
"cell_type": "code",
"execution_count": 59,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"final covariance [0.0025 0.0654 0.0007]\n"
]
}
],
"source": [
"ukf = run_localization(\n",
" cmds, landmarks[0:2], sigma_vel=0.1, sigma_steer=np.radians(1),\n",
" sigma_range=0.3, sigma_bearing=0.1, step=1,\n",
" ellipse_step=20)\n",
"print('final covariance', ukf.P.diagonal())"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Discussion\n",
"\n",
"Your impression of this chapter probably depends on how many nonlinear Kalman filters you have implemented in the past. If this is your first exposure perhaps the computation of $2n+1$ sigma points and the subsequent writing of the $f(x)$ and $h(x)$ function struck you as a bit finicky. Indeed, I spent more time than I'd care to admit getting everything working because of the need to handle the modular math of angles. On the other hand, if you have implemented an extended Kalman filter (EKF) perhaps you are bouncing gleefully in your seat. There is a small amount of tedium in writing the functions for the UKF, but the concepts are very basic. The EKF for the same problem requires some fairly difficult mathematics. For many problems we cannot find a closed form solution for the equations of the EKF, and we must retreat to some sort of iterated solution.\n",
"\n",
"The advantage of the UKF over the EKF is not only the relative ease of implementation. It is somewhat premature to discuss this because you haven't learned the EKF yet, but the EKF linearizes the problem at one point and passes that point through a linear Kalman filter. In contrast, the UKF takes $2n+1$ samples. Therefore the UKF is often more accurate than the EKF, especially when the problem is highly nonlinear. While it is not true that the UKF is guaranteed to always outperform the EKF, in practice it has been shown to perform at least as well, and usually much better than the EKF. \n",
"\n",
"Hence my recommendation is to always start by implementing the UKF. If your filter has real world consequences if it diverges (people die, lots of money lost, power plant blows up) of course you will have to engage in sophisticated analysis and experimentation to choose the best filter. That is beyond the scope of this book, and you should be going to graduate school to learn this theory. \n",
"\n",
"Finally, I have spoken of the UKF as *the* way to perform sigma point filters. This is not true. The specific version I chose is Julier's scaled unscented filter as parameterized by Van der Merwe in his 2004 dissertation. If you search for Julier, Van der Merwe, Uhlmann, and Wan you will find a family of similar sigma point filters that they developed. Each technique uses a different way of choosing and weighting the sigma points. But the choices don't stop there. For example, the SVD Kalman filter uses singular value decomposition (SVD) to find the approximate mean and covariance of the probability distribution. Think of this chapter as an introduction to the sigma point filters, rather than a definitive treatment of how they work."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## References"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"- [1] Rudolph Van der Merwe. \"Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic State-Space Models\" dissertation (2004).\n",
"\n",
"- [2] Simon J. Julier. \"The Scaled Unscented Transformation\". Proceedings of the American Control Conference 6. IEEE. (2002)\n",
"\n",
"- [1] http://www.esdradar.com/brochures/Compact%20Tracking%2037250X.pdf\n",
"\n",
"- [2] Julier, Simon J.; Uhlmann, Jeffrey \"A New Extension of the Kalman Filter to Nonlinear Systems\". Proc. SPIE 3068, Signal Processing, Sensor Fusion, and Target Recognition VI, 182 (July 28, 1997)\n",
"\n",
"- [3] Cholesky decomposition. Wikipedia. http://en.wikipedia.org/wiki/Cholesky_decomposition"
]
}
],
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