{ "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=-0.157, y=43.481\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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\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": { "image/png": "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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": { "image/png": "iVBORw0KGgoAAAANSUhEUgAAAyMAAAFYCAYAAABAqSPuAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAAPYQAAD2EBqD+naQAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4xLjMsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+AADFEAAAgAElEQVR4nOzdeZAkd3Xo+2/t+9pL9TKbZpFGEgJkrgAj3rUei0wY33DoWWYx+N0XXIcjMPfhMBD4hSxjHhCBL0HYXAK9i7ECA7ZYhGWDxW5hsJEREggto9l7X6qqa9+yqrKyMvP9kd2zaZbunu7OrqrziZjokbqq+8xM/zLz/H7nd34O0zRNhBBCCCGEEGKHOe0OQAghhBBCCDGYJBkRQgghhBBC2EKSESGEEEIIIYQtJBkRQgghhBBC2EKSESGEEEIIIYQtJBkRQgghhBBC2MJ9tU8ahoFhGBf9P4fDgcPh2NaghBBCCCGEEL3FNE0uPTXE6XTidF55/eOayYiiKFsTnRBCCCGEEGKghEKhqyYjUqYlhBBCCCGEsIUkI0IIIYQQQghbSDIihBBCCCGEsMVV94xcbqP6teq+hBBCCCGEEIPncvvNr9X4asPJyLV2xAshhBBCCCEEXDsZkaxCCCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQtJRoQQQgghhBC2kGRECCGEEEIIYQu33QEIYTfTNOloOl3dwOVy4nI6cDocuFySqwuxmxiGSaero18wVl1OJ06nw+7QhBAXkLEqNkKSEdHX2p0u1UYbpa3R6eqonS6drk5H063/1nS0rn7F97ucq8nJ6oXU63ERDniJBLxEgj7CAS8BnxuHQy6wQlyPlqpRVVSabQ1V6140Rtd+v56x6nI5cToc+Dyuc2M0EvSujlXPDv6JhNgd2u02mUwGRVGIxWJMTEzgcrk29bVM06TZtsZqS9VeNEbX7rFd3bjs+x2O1cm+1bHqcjrwedznxmgk6CMS8OLzyuPpIJF/bdE3lFaHWlOlqqhUG22qioqqdQHQDeh2QdOsj13tgt9f8MvpvPSXce73Did4PeAPtAj4Ye1a7nI6CQe85x56hmNB4mG/JChCXIZpmiht7dwYrSrWx7VEQ9dXx+raOL3kY7cLhgEOBzhdq+PUceFY1XE6wesFv7+FPwBri5xul/OiB57hWJBY2G/j34YQ2+f06dN85CMf4Sc/+QmapqHrOi6XC7/fz1ve8hbe9773kUqlrvh+0zSpN1fvqxeM17VEQ9cvvo9qa+N07V6rgWleMladJi6nad1THatj1dch4G/i91uvAfC4XUQC5xOUkXiQSNC3E39twgYO0zTNK33SMAzq9fpF/y8SieB0SvmKsJdpmpRqLXIVhXK9fdEFstOBZhMU5fzHTufFX8PldOJ2uXA7XXhcblxOJ4ZpYJim9cu44PemgWGY6Mb5mVmvF/wBCAYgEAC/3/rodoPX7SKVDJNKhBiJh3BLyZcYUIZhUqw1yZUVKqsPNLphjVVVvWSsNkG77Fh14Xa58KyO17WxqhsmJheOVePc2F37Hg6HNVYDAWu8BgIQWB2rLhf4vW5SiTBjyTDDsaCUkYiep2ka73jHO/i3f/s3crncZV/jdDpJpVK85z3v4U//9E8B0HWDQrVJrmKN1ZqiYqw+Irbb1vhsKuc/drsv/roXjlWPy4XTcX6sGqaBeck91frcBWPVZ91T1+6na+PW5YSgz8NYMkwqGSYZCchY3aU2kztIMiJ6htbVyVearJQbrJQVtK6OpkGtfv4C2WpaMzIAbpeLoNdP0Ocj6PVZDzIuK/Fwu1w4N7FyoRsGba1Dq9NZ/ajS7HTodDVM08ThgFAY4nFIxK0LqdPhYDgWPJecSKmI6HcdTSdXUciWGuQrCl3dQO1Ao37xA42++jDjcbkJ+nyEfH4CHu9F43SzY7Wr69YYXRuvnQ4tTUVdvUA4nBBZHavxuPXw43I6GYkHSSWssSqlIqLX6LrOG9/4Rp544gna7fY1Xx+NJ/mdd/xf/MF73ke+omCYJu021BvW/bShWB/11Xk4j9tN2Ocn4PUR8HjxuN2rE3ouXNcxVi+9p7Y1674K1liNRiCRsMaq12utnIzEgowlw4wmQnjcmys7E1tPkhHRd5pt7VzyUag2rXrVJpTLUKlYM6pgXSBDq4lHyOcn6PXh8+zcQ79hmrS1Dkq7TaXZoNpsYpgGPt/5C2g4bC1BD8eCHJ5MMhIP7Vh8Qmy3RqtDttRgpdSg3GhjmiaNhjVOKxVr5QPA5/EQ9PoJ+XwEV8eq171zD/1rEwqN1bFaa1nXFb//4rHqcMBYMsyhiSTJaGDH4hPievzhH/4hX/jCF2i1Wld+kcsH3jB4Q+D2EwpH+K//9T3ccstrKJdBXc1hfB6vNU4vGK+eTe412QzdMGh1OjTaLSrNBvV2C9M0CYbOT/iFQtY+lImhCIcnk0RDUsplN0lGRF9od7os5qosF+rUmyqGYa1+VFYTkE7HmsGMBUPEg2FigSCeHXyYWQ/DNKm1mlSUBuVmA63bxeWGeAxSYxAOQTTo49BkkomhiCw3i57UbGss5KqkC3WUdgfdgFr1fAKiadYKZSwYIhEMEw0Ece/gw8x66IZhjdVmg4qioOld3G4rMRkbs1Y3E5EAhyeTpBIh2Qsmdq1Go8HNN9/M0tLSiz/p8oIvBr4ION2AC4gBcSDO8PAY//d//+/EV++r0UAQ1y571uvqOtWmQmX1l27oeLwwlIRUCnw+GImHODSRkMk+G20md9hdT3BiYJmmSa6ssJCrslJW6Oom5RKUK9bDja5bM6qJYJj4UIhIILip5eCd4nQ4Vi/qIQ6QoqmqlJsNCrUaxWKHSATGJ1RqzQynFgocHE+wLxWTvSVi1zMMk2ypwUKuapVgda2VylLJmjQwDfB7vAyFwiSCYcL+3d3MweV0kgiFSYTCmMMmitqm0lTIl6vk813icRgfb1GuLxPyezk8mWTPSFQmEMSu8+CDD16yR8RhJR++GHgCWI98SSABRKzPd3XoaLRXCoQ7BjfsH7Mj9HVxu1wMRaIMRaIYpmmtmCgNCvkaKys6ySQoYwr5ikI06OPwZJKJ4ciuvv4Ii6yMCFupnS4LuSpz2QrtThdFgVzeerDRuxD2B6yH+lCYoLf3l19N06SsNMhUSihqm2DQmn1NJsHndXFgLM7hyaQkJWLXaakac9kKCytVOl2det0aq+USmKaDsD9gTRaEQvg9XrvDvW6GaVJq1MlUSrQ6KuGwNVYTCWvT+8GJBAfHE5KUiF3jpS99KceOHQOnBwIJ8EWtDRdEgVEgDqbD2nne0axfxvlHwP/8n3+ND3zgA3aFv2m6YVCo18hWS6iaRjQK4+MQi1mb3g9NJtmfiklSskNkZUT0jGqjzWy2wnK+hqabFAvWg01TsfZ/pCIxRiKxHd33sRMcDgfJcIRkOEKt1SRbKTMz02BxCcZSOu1OkcVclVsPjDIxHLE7XCEoVpvMZitkSw00zaRQgFzO6q7j83iYiMcYjsR2dN/HTnA6HAxHogxHolSaCplKiampJj4/jI91aal5Flaq3HZwVEpChO1M06TRMSEyae0FwQ2MrP7yWf3t221QV/vtXsaVOm/tdi6nk1Qszmg0Rml1su/0aWuyb3xcQ2mvMJ+t8NJDKRIR2f+1G/XX3UPseoVqk9MLBUr1FqoKKznI58HQrbKmybEY8eBg1GVHA0GigSDNjkq2UmZpqcbKisn+/V3anTQLuRC33TBKKND7s8yi92RLDc4sFqkqbVptWMlCoWCtgiRDEQ5MxIj4AwMxVtdKLhvtNplKifn5BtmsyYEDHZT2EhNDEW69YRS/dN8SO8w0TZYLdc4uFWl7hsDrBsaApLUKonZAbVjlWNeg69d+zW7mcDgYCkcYWp3sy1RKTE8rZLOw/4BKrbnA/lScm/cPS/etXUaunGJHlOstTi0UKFSbNBTIpK0Nrk6Hi5FojFQ03nerIOsV9Po4ODrGZGKI+UKOs2cbxOOg7lco1ea5ef8wB8biA/HQJ+yXryicWihY5wzUIJ2x9m15XG7G43FGI7Fd1zBip4T9fo6MTdDsqMzlVzh1qsXQEGhanXy1yUtuGGXPSNTuMMWAyBTrnF4sUm+qlMugdW8EmtapoC3VSkSuXIn/IrFYbPuC3WFrk32Ndou5/AonT6iMjEC3W2Gl3OClB1OkkmG7wxSrBvOOInZMTVE5tVBgpdyg2YTlZWuzq9/jZf9wgqFwdNd17LCLz+PhxvFJykqD+UKOY8c09u410I0cmWKDlx8eI+gfzIRNbL9SzZowKNaaNBqwtAS1GgR9fg6NJkiEI7u6acROCnp93DK5j3y9ymIxz/NVnQP7dbRuhkyxzksPpuSMErFtcmVrwqCqtKlWrbGqKHDTwZdRmPmhtRdkgwKBAL/+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": "iVBORw0KGgoAAAANSUhEUgAAAyMAAAFYCAYAAABAqSPuAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAAPYQAAD2EBqD+naQAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4xLjMsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+AADFEAAAgAElEQVR4nOzdeXCcd37n9/fzPH0fuG8CIEGC900dvCWNJBKURM1oxjNrO7Xx7qZc8Sbl2oq31pVUbf5JbSXlZNe7a8fZlMupVK3j+JiMPTO6KEqaGUlDiaLEm8RJgMR99X3fz5M/Gt0ERIoEpQYax/dVRQFqQsCvS43u/jzf7/f3UwzDMBBCCCGEEEKIZaaWewFCCCGEEEKI9UnCiBBCCCGEEKIsJIwIIYQQQgghykLCiBBCCCGEEKIsJIwIIYQQQgghykLCiBBCCCGEEKIsTI/6S13X0XV9wW2KoqAoypIuSgghhBBCCLG6GIbBV08NUVUVVf36+sdjw0gsFivN6oQQQgghhBDritPpfGQYkTYtIYQQQgghRFlIGBFCCCGEEEKUhYQRIYQQQgghRFk8cmbkYYPqj+v7EkIIIYQQQqw/D5s3f9zGV08cRh43ES+EEEIIIYQQ8PgwIqlCCCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlIWFECCGEEEIIURYSRoQQQgghhBBlYSr3AoQQQgghlpphGKQyOZLpLMl0lkQqM/cx/3kqk0NVFVRFQVOV+59r6oLbrGYTFU4rlU4rdqu53HdLiFVPwogQQggh1hRdNwhEEvjCCXzhOLFkPngYhnH/awyDdC5d/JPJZVAUUBQVlXwAUVUVBRVVmft3RcWiWTGpGgBmk0aFw0qF00qFIx9Q3A4rqqqU664LsepIGBFCCCHEqpbL6fgL4SMUJxhNohsGWT1HJB0mkUmQzmVI51Jz4SNDVs8s+B7aXIDQDRaElocxqxacFgcOswN7xIHT7MSqWVAUBUVRqHBYaapx0Vzrwu2wLtn9FmItkDAihBBCiFXFMAz84QSeUBxfKE4gmsQwDDJ6lkgqQiQdJpKKEM/EAdA0BatZxWJWcToUaswaZrMZq0XFYlYwm9ViGCl8f93IV1iMuY+Ff0+ldOLJHPFkDE8iTCaiA6AqGg6zHbvZQUXMjS9SRf+YF6fNQnOtiw11FVQ4JZgI8VWK8Yj4r+s6kUhkwW1utxtVlbl3IYQQQiyvRCrD2GyYsdkQ8VSGTC5DOB0pBpBEJgGA1aLidppwO01UuExYLUv3viWT1UkkdeKJHLFEjkQyRzyZQ0GlwlpBjb2aKns1ZtVEpdNGe2MlG+rcmE3akq1JiHL5JtlBwogQQgghVqxcTmfaH2XME8YTjJHTc/gTATxxD9F0/j2K1aJR4dKocJpwu0xYzOV9n5LO6PhDGQKhDNFYDlCoslVS56yjylqFpqq01LnZ3laHwyZD8GLtkDAihBBCiDUhGE0yOhNi0hchk80RTkXwxr34E350I0eFy0xdtZmKFRA+HiWT1fEFM3gDaeKJHGbVTK2jjiZXEzaThY1NVWxrrcVilkqJWP0kjAghhBBi1dJ1g9HZEMPTQSLxFKlsGl/CiyfuJZVNYrWo1FdbqK22LGnr1VKJJ3J4A2k8gTSGrtLkaqTJ1YzNbGZLSw2bW6oxaavvfglRIGFECCGEEKuOrhuMe8IMjPuIJ9P4kwE8MQ+RVBhFgZoqM3XVFtxODUVZ/dvmZnMG054U054UiqLR4mqh0dWI3WJmW1st7Q2Vsj2wWJUkjAghhBBi1TCMuRAy5iOWTONP+JmITJLMJnA5TNTXWKipNKNpa/ONeTqjMzGTxOvPYNYsbHBvoM5Ri8tuZUd7HS117nIvUYgnImFECCGEECueYRhMeiP0F0NIgInIOIlMgiq3mQ1NNpz29TNDkUzlGJ9O4Q+lsZvttFW0UWWrYkNdBfu2NErrllg1vkl2kHNGhBBCCLFspnz5EBKJpwgmg4yHJ4hnYlS4zHS0u3A5199bE5tVo3Ojg2jcwvh0kgHfALX2WnL6JoLRJE9vb5EzSsSaJZURIYQQQiw5byhOz7CHUCxJKBlmIjJONB3F7TSxodFGhWv9hZCv4wumGR5PYFKtbK3pxGVxsqejgY1NVeVemhCPJJURIYQQQqwomWyOnmEPo7MhIukoY6ExoukILoeJ7RucVLrlnI2vqq2y4LRrDI7G6Z7tYWPVRvS7Br5wQtq2xJojYUQIIYQQS2LaH+XW3RmiyRRjoVE8cQ8Ou8a2TU6qKiSEPIrNqrFri4vRqSTDvnuEU2Fp2xJrkrRpCSGEEKKkUukst+/NMumLEEgGGA6MoJOhrdlGfY1lTWzPu5we1ra1v7OJ1vqKci9NiAWkTUsIIYQQZTU2G6J72EM8nWIkOII/4aPKbWZTq3tFn5S+kn21bWtT1Uau3THQdYP2xspyL0+Ib0XCiBBCCCG+tXgyw827M3iCMbxxH6OhUVBybGlzUFttKffyVr1C29bIZIJ7/nvoGNwYyv+dBBKxmkkYEUIIIcQ3ZhgGw9NBeke8xNNJhoPDhFJBaqsstLe4MJukGlIqqqrQ0epAUxVGvMNgSCARq5+EESGEEEJ8I+lMjqt3pvAEY8zEZhkPjaFqBls3OamWAfUl095iB2DEOwIggUSsahJGhBBCCPHEApEEl/sniSSTDPmHCKdC1NdYaG+2o2kyoL7UJJCItULCiBBCCCGeyN3JAD0jHsKpCIO+QVCz7NjskoMLl5kEErEWyLOGEEIIIRYlm9O5PjjNlC/CVGSa8fAYTodG50aX7JRVJg8LJIoCbQ0SSMTqIGFECCGEEI8VS6T5sn+SYDTO3cBdAskAzfVWWptscm5Imc0PJKqicnNIocJhpdJlK/PKhHg8CSNCCCGEeCRPMMaVgSkiyTgDvgEyRpKtG51UV8qQ+krR3mJHN2DYN4Ld7OBy/yTP7d+I2aSVe2lCPJLUVIUQQgjxte5OBrjUO4En6qfb0w1amt2dLgkiK1B7sw2nQ2XQP0g4keTanWkMwyj3soR4JAkjQgghhHiArhtcH5yme3iWyfAUd3wDuJ0Kuztd2KxytX0lUlWFLe0OdDIM+YeYCUQZmgyUe1lCPJK0aQkhhBBigVxO58rAFFP+CPcC9/AlvLQ02NjQaJX5kBXOalHZ0m6n/16QycgkyqhCtctGbaWj3EsT4qGkMiKEEEKIomxO51LvBJO+MAO+AfxJH1vaHTKovopUus20NNiYCE8QSoa4MjBFMp0t97KEeCgJI0IIIYQA8ieqX+weYyYYod/XTywTZnuHk9oqS7mXJp7QhkYrbpeJQf8QkWSCK/2TMj8iViQJI0IIIYQgmc7yWfcYnlCEPm8viVyU7Zud6/4gQ8MwSCVS5V7GE1MUhS3tdhQ1x6B/EF84Tt+ot9zLEuIB6/sZRgghhBDEkxkudo8RiMXo9/WTI8XOLS4ctvU3qJ5JZxjqGaLvWh+9V3vpvdrL9gPb+df/x78u99KemNmksnWjg96hKBORCdRJldb6CtwOa7mXJkSRhBEhhBBiHYvEU3zeM04wHqPP24eiZdi12YXVsj6aJwLeAH3X+ui71kf35W6GeobIZXMAWKwWnn7haV747gvlXeS34HKaaGm0MjkzTa2jjlt3Zzm2p63cyxKiSMKIEEIIsU6Fosl8EElE6Pf2o5l1dmx2YTGvzSCSy+UYvTNK77Ve+q71cfuL23inF7YuWWwWjp0+xvEzx3nq5FNY7au/itBcb8UbSDMSHMFusjHpjdBS5y73soQAJIwIIYQQ65IvFOeLvgmCiTD9vgGsVoPtHU7MprUTRKLhKAM3BvJVjyvd9N/oJ51MP/B1VpuVIy8f4fgrxzl4/CBW2+oPIPOpqkJ7i507wyECyQDdwyYaq51o2tr5fy1WLwkjQgghxDrjDcW51DNOMBniju8OdrvCtg4XJm31bt1rGAZTI1P3qx5f3mZieAIMUDUVPacv+Hqbw8bRU0c5ceYEB44fwGxZ2yfKV1eYqXSbGQ2OUmmt4s6Enx3tdeVelhASRoQQQoj1JBRN8mXfBIFEiAHfABVujc6NDjR1dQWRVCLFndt3ioPmPVd6iEViAGgmrTj3AaCQv292p51jXcc43nWc/Uf3r/kA8lUbW2zcGogyFZ3CNKHSVl+B0y7bNovykjAihBBCrBOxRJpLvRMEExHu+O9QORdE1FUQRLzT3nzwuNZL95fdDPcPo+s6qqpiYGDo98/QyGVzaJpGLpfD4XZw4swJjp0+xr4j+zCZ1+9bH5tVo6nOwpR3ijp7Hd3DHp7duaHcyxLr3Pr9jRRCCCHWkVQ6OzesHmXAN4DDrrBlhQaRbCbLvb57C8JHwBsAHqx66Pr99qtCAHFVuDjxygmOdR1jzzN71nUA+aqWBhveQITR8ChWk4XZQIyGame5lyXWMfntFEIIIda4bE6f2743Tr+3H7NZZ1uHa8W0ZoUDYfqv99N7Ld9udefWHTLpDIqioKjKgnmP+UEE7gcQd5Wbk6+e5NjpY+x+ejeaaf2dkbIYmqbQ3mxjaMxPKBnm9r1ZXqjctCJDqVgfJIwIIYQQa5iuG3zZN4E/Gqff1wdqhu2byzesrus640Pj9wfNL99mZmwGuB8sCgzDwMgZD3yPwtdV1lTmA0jXMXYe2ommSQBZjNpqC7P+NKPhESptFUx4w7Q1VJZ7WWKdkjAi1g1dN0hlsqQyOdKZHIoCDqsZu9UsV4SEEGuSYRhcvTPFTCDfmpXRU+zc4lzWc0Ti0Th3bt2h91ovvVfyASQRTwAPtlzNDyJfVdgRq6quiudee45jXcfYcWAHqirb034TbU02eoaiBJIBhiatEkZE2UgYEaueYRj4wgkmvREmvGGmfFFmAlESqSzpbI5UJks6kyP7lW0d57NZTDhsZhxW8/2PVjMuu4WmGlfxj+w6IoRYTW7fm2XSG2YoMEg8E2XHZid229JVDwzDYGZipnii+e0vbzM2OIZhGKiaiqEbGMbCQfNHKQSQmoaaYgDZtm+bBJAScDlNuBwmpqMzVNuq8QRj1FfJ7IhYfhJGxKrjC8W5eXeG0ZkQk74IU74oqUwWgGwWYnFIxPOf53TQc5DLga7nPxY+BzCZCn+yc38S824DswVsVlDmCiduh5WmGhfN8wJKc62barcNRZHqihBi5RgY8zE8HWQ4OEwoGWLrJgcuZ2lf9jPpDEPdQ/mqx9Veui93EwlGgIcMmj/igtB8hQBS11THc2ef43jXcTr3dMpz7BJoqrcyOBImmo4xNBmQMCLKQsKIWBW8oThX+ie5emeK4ekgugGxKMTjEIvd/5iaO1hXQUFTNFTFhKZoD3xuUkyAQTaRIW5kyOoZsnMfdRa+YKoK2O3gcIDDkeKuI4Xd4cNhh8LFOZvFREdzNZ0batjSUk1HczU2i/x6CSHKY2Q6SP+Yl/HwOJ64hy1tDqoqvv2ZGgFPoDjr0XOlh6GeIXLZHIqqoKAs2NnqcVWP+QoBpGFDA8+9lg8gm3dtlgCyxKorTFgtGjPRaVwWJ+FYigrn2jp9Xqx88m5JrFieYIzLcwFkdCaEroPfDx5v/mMulw8dNs2Bw+Sm0ezGYXfj0Nw4TC5U5cnL+IZhYKCT0TPkjAypXJJELko8GyUejjLlj5DWUwAogNUGDjs4XVkmpj3cHPJgNoGiKLTWV7C9rZbtbXVsba3Bbl1fh2sJIcrDE4xx694s09FpJiOTtDfbqa1+8hbTXDbHyJ2R4va6t7+8jW/aBzxY9TB0A4MHB80fpRBAmtqaihWQTds3SQBZRoqi0FhnYWzST2u2jaFJPwe3Npd7WWKdUYz5zZtfoes6kUhkwW1ut1t6NcWS8oXivPlZP5d6J8hmDfx+8HrBH8gHEJepkjpbM9WWehyaC01d3kyd1TP5cJKLkshGieciRDIh0noShXwVpaICKiuhqgqs1vwT/sbGSra31bGno4HODTUyNC+EKLl4MsMnN0fwRP3c8Q3QWGehvcW+qP82Go7Sf6O/WPXov9FPOpl+6Pa635Sqqui6TsumlmIFpH1ruwSQMsrpBtd7w9TbG9lUtZGXntoslX3xjX2T7CBhRKwYkXiKc5cG+fjGMPGkzugITM/k5zvcpirqbM3UWZuxm1ZeT6thGKT0BOG0n3AmQDjjJ5aNYGBgs0F11Vw4qQaLOT97sn9LIwe3NrOjvQ6TJr9TQohvR9cNLtwaZTYU4ranG7dTYesmx6Le6MejcX73pd8lGoo+dND82ygEkNbNrcUh9PbO9pJ8b1Ea49NJZjwZ9jcdYEdbPTs31pd7SWKV+ibZQaKvKLtUOssHV+7yweUhooks42MwMQmKbqbdsYUG+wZsmqPcy3wkRcm3i9nsDhrsrQBk9DShtJ9g2kvI62VqOoICuNxQV5di1jfKhVuj2Cwm9m3OB5Pdm+qxyhUpIcQ3cOvuDP5InDv+O5hMBpvbnYuuOGiaRiKW3263FBUQRVUwdIP2re35AHL6GK2bW7/19xVLo6HWwpQnhSfmwT5jYWtrrVwkE8tG3vWIshoY8/EX71whGE0xOQFjY5DLarQ6N9Pq2IJJXb1zFmbVQp2tiTpbEwBpPUUw5cGbmmZ0eJZ793I4HVBXl8UXmOCLvgnMJo3dm+o5uLWZfZsbcdhW7/0XQiyf0ZkQo7MhRkIjJLMJdnUu/lBD/6yfa59ew1XhIhwIf7OKiJK/KGPoBh07OooHEbZsbHny7yWWncWsUltlZiY8Q5OrkbHZEB3N1eVellgnJIyIsvnkxgh/88tb+P0G/QOQTik02dtpr9qGVbOVe3klZ1GtNNhbabC3kjNyBFIefKkpJsZmGBnNYLNBXW0On3+aa4PTaKrC3o5GTuxtZ09Hg8yYCCEeKhhNcuvuDDOxWbxzO2c57F9/lkgmnaHnSg9XL1zl8keXGRsaA/ID5U8SRApVF8Mw2LJzCydfyweQptamb3eHRFk01VnxBiL4kwFGZmwSRsSykTAill0up/N3v+rm4xvDTEzC3btQZa5nb+0eHCZXuZe3LDRFK1ZNdEMnlPbhTU0xOzXN+EQKiwXqag3C4WluDE1T5bJxbHcbx/e2U1e5slvWhBDLJ53Jcbl/knAqwmhwlMZa6wM7ZxmGwcS9Ca5euMqVT65w+4vbZNIZNE1bcOL5Ytqz5geQzj2d+QrI6WM0bGgo7R0Ty85h13A5TPjjPmrtNUQTaVxy0K9YBjLALpZVNJHmz9+6TN+oj6FBmJqGVscWOlw7ZTcV8i/wkUwAb2oKT3KSlJ7E5YSmJmhoBJMGOzfWc2JvOwc6m6SnV4h1zDAMLvVOMOkPcXvmNlabzo7NTlRVIRqOcvPizXz14+PL+Gf9+edYJb8N7wIKqIq64IyQBX9dCCAYbN+/vRhA6prqlvouimU27UkxNpXiUPNBdm1sZFtbbbmXJFYZ2U1LrGjeUJx//+OLTPvi9PRAJKyytWIfjfa2ci9tRTIMg0B6lunEKL7UDKpqUFeXDyaVleC0WTiyq5UTe9tpqXOXe7lCiGXWN+plYMxLv6+fWDqMNT3N7c+vc/njy9y5fQdDNx44D6SgUBVRVIVt+7bx9PNPc+jEId7963f51c9/NXfmUv7twc6DOzn56kmOnjpKbaO8OV3LUmmdG31hNldvoaOuhRcObCr3ksQqI7tpiRUrnszwp39/ifGZOLdugZ6xsq/6GSos0pP6dRRFocbaSI21kXQuyUxynGnfKDOzMRx2aGpKE4zc5RdX77K5pZrn92/ime0taFItEWLNm/ZH+fxaDx9+9CbXPv81927dJhGL5w8S1HUK5w8Wgoiq5udBDMOgtrGWZ154hoMnDrLvyD6c7vvbpX/ne9/h4gcX2bxzMydePcHRl49SXS/P0+uF1aLicpgIJPzUxWulVUssC6mMiCWXzen86d9f4vY9L9evg5J2sbf6CFZtcQdxifsMwyCU8TOdGMGbnAJFp7Y2Xy2proZqt52Xn9rMib3tcmiVEGtMIpHg17/+NW+/8y7/8LM3mRi9B9w/yfyrCtUPs8XMviP7eOrkUxw8cZCWTS2PbIvVdV1e59cxadUS34ZURsSK9JOPe+gd9dLTA7mUlQM1hyWIfEOKolBlqaXKUkvGncaTnGAqOMotbxinA1pbE/jD3bzz+QDP79/Eiwc7qHBay71sIcQ3YBgGvb29nD9/nnPnzvHxxx+TTqfRNBO5XLb4dYUgMj+UtHe28/QLT3PwxEF2HdqF2bL4bcIliKxv1ZVmRqcSBJNBpnwOCSNiyUkYEUvq2p0pfnXtHneHIBJS2Vf9zIo/wHC1MKsWWhwdNNs3Ec74GY8P0T8ww/AIbGjJEInd4YPLQxzZ1crpp7fQWLM+dioTYjULBAJ8+OGHnD9/nnfeeYfp6eliOCgMmBeDyLzBc2eFk6eee4pDJw5x8PhBaa0S31ihVcuf8FMrrVpiGUgYEUvGH07wl+/fwOuFySnY6t4jMyJLQFEUKi21VFpqiWcjjMeGGL43weioTnOzTjwxyqe3x9i3uZGuZ7awZUNNuZcshJiTzWb58ssvOX/+PO+++y6XL1/GMAxMJhPZbD50zN/lqlAVUVSVrXu38ex38oPnm3dtloqGKJmaSjNjUyFyeo5Jb0SqI2JJSRgRS+bNz/oJhDMMDEC9tYUme3u5l7TmOUxutlUeYKNrB5Pxe0xNDDMxkaWhwSAWy59ZsqWlhjPPdrJ3c4NspyxEGYyNjXH+/Hnee+893n//fSKRyANnfhSCyPzB84amFvYfPk71tlaeeW4f27fKG0SxNKRVSywnCSNiScwGYlzqHWd8DNDNbK3YJ298l5FVs9Hh3kmbcyvTiREmPHeZmUlSUwOhkJ+hyS/oaK7mjRM72NEuZwUIsZTi8TiffPIJ58+f5+2332ZwcBBgQQCZH0QKVRG73c6LL77IK6+8wrZ9z5JQ3fR4esmpCbZukbZLsXSkVUssJwkjYkm8e+kOiaTB1BS0O7ZgUhc/PClKx6SaaHVuocXRgSc5wXh4iBs3I1RVQSQS4N7URXZurOeNEzvY1FRV7uUKsSYYhkF3d3dx8PyTTz4hk8ksaL2C+wFk/u179+7ltddeo6uri2PHjmGxWAjHUnxyc4Sp8ATxTIydnfmDDYVYSvNbtab9UTqlxVcsEQkjouTmV0VUzLQ4Osq9pHVPVVQa7W002Frxp2cYjvZx7XqE2lqIxT30jng40NnE947vkAMUhfgGfD4fH3zwQXH2Y3Z29oHB80LgUBQFRVHQdZ3a2lpeffVVurq6OHXqFA0NDQu+r64bXLszRSwdYyI8SXODFZdDXrrF0qt0mxidShBNx/CF4hJGxJKRZzRRcsWqyHShKiIPs5VCURRqrU3UWBrxJCcYDvZz9UqchgZIJqe5MTTD4Z0beP3YduoqZdczIb5ONpvl888/L+56df369UcOnhduN5lMHDt2rBhA9u3b98jB84FxH8FYkruBu9htCi0NslW3WB52m4bZpBJJh/FHqjAMQ9qtxZKQd4mipDzBeVURQ6oiK5WiKDTYW6mztTCTGGPEO4DHk6SxySCVGufLvklO7mvn1cNbqXTZyr1cIVaE4eHh4uD5Bx98QCwW+9rBc03T0HUdwzDYtGkTZ8+epaurixdeeAGXa3HzHsFoksEJP5ORCRKZBLs3uaQ9Sywrt9NEOBEmm9MJxVJUyeuBWAISRkRJfdk3SSYjVZHVQlVUmh0babC3MhUfZmx6kJmZNBtadJLpYT69PcaLBzt45XAndqvM/Yj1JRaL8dFHHxWrH3fv3kVRFFRVfeTgucPh4NSpU5w5c4auri46Op78okyhPSuSijIVmaKl0YrDrpXsvgmxGG6nxmgoTk7X8YXiEkbEkpB3iqKkekY8BIOg69Bg31Du5YhF0hSNVucWmuztjMfvMjFxl6mpLK2tOZKpQT7rHuMHJ3dydHerlOnFmmUYBjdv3izOfXz66afF1qpCxcMwjAcGzxVFYf/+/cXB8yNHjmA2f7vw3jfqJRxPcS94F7tdpble2rPE8nO7TBgkiKaj+MIVbJGXdbEEJIyIkkmmswxN+gkEwK455aT1Vcikmtnk2k6LYxPjsUFGR4aZmtLp6Ejxn+PX+eTmCL/14h7ZeUusGR6PZ8Hgudfr/drB8/m319XVFcPHqVOnqKsr3RbZoWiSoUk/4+FxktkkuzukPUuUh8OmYdIKcyPVMjciloSEEVEyA2M+dN0gEIBqS325lyO+BYtqZbN7Ny2ODu5Geujrn2JqGmKxAH80fYFju9v4/skduB1ytVasLplMhosXLxZbr27evLnowfMTJ04UB8/37t27ZG/Kbt+bJZ6JMxOdZkOTFYdN2rNE+bidGtFUjEw2RyyZkfNGRMlJGBEl0zPiIZmERBI2V0kYWQtsmoNdVU8TTHsZDN/m6rUIzU0G6cwoV+9M8d1j23nhwCa5aitWtLt37xYHzz/88EPi8fgDZ348bPB88+bNxcHz559/HqfTueRrnfCE8UcSjIRGsVpVmuok8Ivycto1pqIxIL+pgoQRUWoSRkTJdA/PEgiAgkKlWU71XkuqLHUcqn2Oyfgwo9P9eDxZNm3K8Lep2/z61gi//eJetrXVlnuZQgAQjUb51a9+VTzxfGRk5IHB8/lBpLAjlsvlWjB4vnHjxmVddzan0zPiwZfwE0mF2d4hhxuK8nM5TeRmkiQyCQKRBK31FeVeklhjJIyIkghEEswGYgQCUGGukV201iBVUWl1bqbBtoHhaC93BseYmobIlgh/7P2Mp7e38MPnd1Httpd7qWKd0XWdGzduFOc+Ll68uOjB84MHDxZnPw4fPozJVL7nrsEJP7FkmrHQGFVuM5Vu2cFOlJ9zbhe3aDpGIJIs82rEWiTvGEVJeIJxAOJxqDFXlnk1YilZNCvbKg/QZN/IUOQ2N24EaWiAdGaSm3dnOHtkG6ee3iJXdMWSmpmZ4f333+f8+fOcO3cOv1peWisAACAASURBVN+PqqoYhoFhGMDDB88bGhqK4ePll1+mtnZlVPRiiTRDE36mY9Nk9DTtLYs7i0SIpaZpCnarRjQTJRxPkcvpaNrXH9QpxJOSMCJKIhxPAZBOg8Uu+5CvBxWWag7UnGAmOcY9by8+X5qNG3P8fbqXKwNT/JOu/WyQcr4okXQ6zaefflocPL99+zbAYwfPzWYzzz33HK+88gpdXV3s3r17Re4G1DPiIZFJMRWZoqnOgs0qQ+ti5XA5NWKRGIZhEI6npAIuSkrCiCiJUDSJrkM2l9+JSawPiqLQZG+nztrMcLSfu3eHmfUYxBNB/ue/+jWvHtnKmWc7MclVNPGEDMNgcHCwWPn45S9/STKZfOTgeaENa+vWrcXB85MnT+JwrOxtxj3BGNP+KGPhMTTNoKVBLuiIlcVu1fAF8i1asWRGwogoKQkjoiRCsRTpdP5ziyYvpOuNSTXTWbGHBtsGBsI3uHY1Qnu7zpu5fq7dmeJ3Tu9no5xNIh4jHA7zy1/+sjh4Pj4+vqjBc7fbTVdXF2fOnOH06dO0tbWV6y48MV03uH1vlnAqgj/hY3ObA01beZUbsb5ZLSq6kSOdyxBLpMu9HLHGSBgRJRGO3w8jZqmMrFsVlmoO1Z5kNHaHkZFBvF6D2PYwf/Q3F+h6ppPXjmzFbJL2E5Gn6zpXr14tDp5funSJXC63qMHzp59+ujj78cwzz6Bpq/NxNTwdJBJPMRoaweUwUVslQ+ti5bFZ89XtZDZJLJkp82rEWiNhRJREeH5lRMLIuqYqGptcO6izNjMQvs61a2HaWg3eyd3h+uA0v3N6P5tbqsu9TFEmU1NTCwbPg8HggrM94OGD501NTcXWq5deeonq6tX/GEpncgyM+5iNe4hn4uza6FqR8yxCWC3538VUNkksKZURUVoSRkRJhGJJ0mlQUTEpcmVPgMtcyYGak4zHBhkdu4PPpxPbFuF/+9tPeelQB987vgOLeXVezRaLl0qluHDhQnHwvKenB1g4eF6ofMy/3Wq18vzzzxcHz3fs2LHm3qj3jnhIpNNMhCeoq7bgcshLsliZVFXBYlZJZlNSGRElJ898oiQyWR1dz18VX2tvGMQ3pyoq7a5t1NryVZLrN4JsaDHI5e5yY2iGf9K1n62tK2NrVVEahmEwMDBQrHx89NFHix483759+4LBc5tt7c6fhWMpRmdDTETGMcjS1uQu95KEeCSbVSWZS5LJ5khncnIxSZSMhBFREjaLCc0EOSOLYRgSSMQCTpObA9UnmIjfZXiiD59fZ9vWGH/844ucebaT149uk33rV7FQKMQvfvGLYvVjYmJiQYsVPHzwvKKigjNnzhQHzzds2FCW9ZfDwLiPZDbFbHSW1mYbZrM8/sXKZrWoxCKFHbXSWMyyo5YoDQkjoiTsVhMmDQwMdCOHpshDSyykKAqtzi3UWBsZCN/g5k0/rW0G7+p36Bv18ruvHaKucmVvwSrycrkcV65cKQ6ef/HFF+i6/tgzP1RV5dlnn+XVV1+lq6uLp556atUOnn8b4ViKKV+EycgkJpNCQ62l3EsS4rFsVg1/IH+mWFy29xUlJO8YRUnYLCYK7ylyRhZNHlriazhMLvZXH2M8PsTwWB+hoEEqFeDf/OXH/ONT+3hmx/q5Or6aTExM8P777/Pee+/x3nvvEQ6HFzV43tLSUmy9evHFF6mqki2eC1URX9xLW4sNTZVKslj5bBaVnJEjk8sQle19RQnJO0ZREvPDSNbIItf5xKMoikKbs5MqSx19oatcvRqjszPL//XOVXqGPfzWi3uwWuTpqZySySSffPJJsfWqv78fePzguc1m44UXXigOnm/btk3aNuf5alWkvkaeLcXqYC1s75uTIXZRWvJqL0rCZjFhmns05Yzso79YiDlucxUHa55jMHKLvv5xAgHI5cYYmgzwu68dor2xstxLXDcMw6C3t7c4eP7xxx+TTqe/dvB8/u27du0qnvlx4sQJrFbZ3vvrSFVErFa2ue19kxnZ3leUloQRURJ2q3lBm5YQi2VSTeyoPEi1pZ5Bzy3CkSyJHVH+6K8v8IPndvLSoQ65sr5EAoEAH374YbH6MT09/bWD5/NPQq+qqloweN7c3Fy2+7CaSFVErGaF7X1TOTn4UJSWhBFREoXdtACyujxJiSfXaG+lwlxNX+gq168H2bRJ58cfddM74uGfnjmA2yFX27+tXC7HF198URw8v3z5MoZhPHbwXNM0Dh8+XBw8P3ToUDG0iMWTqohY7SxmlVQ2TSabQ9cNVHkMixKQMCJKosplw2QCkwaJXKzcyxGrlN3kZH/NcYajfdy9N0QwCJnMLKOzH/PPzhxk16b6ci9x1RkbG+P8+fO89957vP/++0QikQVne8DCwXPDMDAMg7a2tuLg+Xe+8x0qKirKdRfWBKmKiLXApCnkMvnni0w2J7N9oiTkUSRKorW+AgVwOCGWDpd7OWIVUxWVze5dVFvq6Q9d4+qVFNu3p/jTf7jE2aPbeO3IVmnbeoREIsHHH39cbL26c+cOsPBwwa8bPH/ppZeKg+ednZ1lWf9aJVURsRZomkIqlX/+yOR0pF4tSkHCiCiJphoXmqricuoEYxJGxLdXba3nUO3zDISuc/v2LG1tBm8a/QxPB/mvXjmIw2Yu9xJXBMMw6O7uLg6ef/LJJ2QymQcGzwsBZP7te/fuLQ6eHzt2DItFrtYvBamKiLXCpCkkjLkwks095quFWBwJI6IkTJpKc62LcWeYqVwU3cihKuvvMDNRWhbVyu6qZ4tnkkSjBtnsDNP+X/PPv/s0rfXrs3XI5/MVB8/fffddZmZmHjl4rigKuq5TU1NTnPs4deoUjY2NZbsP68lqqIoYhiEVR/FYmqaQ1fMhJJvTH/PVQiyOhBFRMq31FfS4whgYxLNRXGbZllV8e4UzSVymSvqCV7l2LU1qV4w/+usL/Jen9nF4V2u5l7jkstksly5dKrZeXbt2bVGD5yaTiaNHjxYDyP79+2XwfJmt1KpI0Bek/0Y//df76b3ay8zEDH/x4V+gaXIRSXw9k6aQm9ukJpOVMCJKQ8KIKJnW+gqcDlCAaDYsYUSUVLW1noO1J+kNXuH69SBbt+b4v89dY2QmxA+f37XmdnUZGRkpDp5/8MEHRKPRrx08n38S+saNG4uD5y+88AJut7tcd0EAd1ZAVSSbyTLcP0zf9T76b/TT/WU33mlv8e+dbicv/eAl0sk0dqd92dcnVg9NU8gZOQzDkDYtUTISRkTJtNZXoGlgs0MsK3MjovRsmoP9NccYjNymv3+USBgM4y4T3jD/9dmncNpXxlXnbyIWi/Hxxx/z3nvv8c4773D37t0FZ3vAwwfPHQ7HgsHzzZs3l+suiK9IprNM+aPMxKaXtSoS8ASKwaPnSg9D3UNk0gu3XFcUhYMnDnL6h6d55jvPYLbIDJZ4PE3Lh+mcoZORNi1RIhJGRMkU+vddToiFQmVejVirVEVjW8V+3KYqhqZuE4/rZLNe/pf/99f8t997hg2rZI7EMAxu3bpVnPu4cOFCsbWqUPEwDOOhg+f79+8vDp4fPXoUs1neSK5EI9NBsrks3piXxnrLklRFMukM9/ru5cPH9X66L3fjn/UDoJk0cl+5et2woYGuf9TFi2+8SG1jbcnXI9Y2UyGM6FmpjIiSkTAiSsbtsFLlsuFyJxn1BWWIXSypZsdGnCY3PaHLXLuWIrU7zv/6N5/yT88c4NC2lXkiuMfj4YMPPigGEK/Xu6jB87q6ugWD5/X1ct7KSqfrBiMzIbwJH7qh01BbmqqId9pL//V++q730Xu1l6GeIXLZXP7xoiro865WFz43W8ycfO0kp37jFLue2iWD6uIbK1RGsnpOZkZEyUgYESW1a2M9E7Nj3LuXI5j2UWNtKPeSxBpWYanhYM1JeoKXuXE9yLZtWf78rcucPbqNs0e3lf1NVyaT4eLFi8XB85s3by568Pz48ePFALJv376y3xfxZKZ8EVKZLDPRGaorzVjMT75xQDqVZqh7iP4b/fRd66PnSg9BXxB4sOphGAZGzgBA1VT0nE7nnk66/lEXJ145gcPlKM0dE+tasTJiZGU3LVEyEkZESe3b0shn3WPYrOBPzUgYEUvOqtnZX3OMgfBNevvGicXgLQbwBOP8Ttd+TNry7h519+7d4uD5hx9+SDwef+DMj4cNnnd0dCwYPHc6ncu6blFa96aDhJJhktkEm2pdj/16wzDwTHruz3pc7uFe/z30nI6iKigoC4LrV9uvCgHEXeXm5d94mZd/8DJtW9pKfr/E+rawMiJtWqI0JIyIktq5sR5NVamp0fHPzsre9WJZqIrG9ooDuEwV3BvrJZE0MIxxgtEk//y7Ty/pAYnRaJRf/epXnD9/nrfffpuRkZEHBs/nB5HCjlhOp5NTp05x5swZurq62LRp05KtUSyvUDRJIJJgNjaDw6ZR4XrwpTaVSDHYPUj/jX56r/XSe6WXcCC/8ccDVQ/dwMB48AcpoOT/wVPPPcXpH53mqZNPYTLLS7tYGoVrOzk9KwPsomTkGUuUlM1iYltbLV6fh8mpOPFcFKdJthYVS09RFFqdW7BpDvo817iVypHLefm3f/cp/+IHh6l2l2bLUl3XuXHjRnHu4+LFi4saPFcUhYMHD/Laa69x+vRpDh8+LIPna9S96SCpbJpgMsjGDTYMw2BmfKY4ZN5zpYeRgRF0XX9gZggerHp8VSHQNrc1c+Y3z/DCd1+gur56Se+TEDBvlg2DnIQRUSISRkTJ7dvcSPewB03Lt2pJGBHLqc7WzD7VRnfoC25cT5PbG+GP/voCv//9Z2lr+GZn38zOzvL+++8XA4jf71/QYgUPHzxvaGgo7nr18ssvU1sruxetdelMjsGRKS5c/iW3bl3i3MQwfdd6iYaiwINVj/kh5FFUVUXXdaw2K8+//jwv/8bLbN+/XSrPYvkZ+YqcPPZEqUgYESW3d3MDf/crqKoCf3iGNmdnuZck1pkKSzUHqk9wO3iJ69di7N6T5N/+7Wf83utPsbvj8XNM6XSazz77rDh4fuvWLWDh9roPO/PDbDbz3HPPFc/82L17t7xgrzN/8p/+nP/+D34/36KqqoCBod9vsXpc1eOrCiFk+4HtnP7RaY53HcfmsJV41UIsnoGBAshTmygVCSOi5OqrnDTXupmuiXDHFyCjpzGrq/cwOrE62U1O9tccpyf4JTdvBti5I8uf/ewL/vHL+zi+t/2Brx8cHOT8+fOcO3eOX/7ylyQSiUcOnhfCSGdnZ3Hw/LnnnsPhkF2L1ivDMLh+s7tYLTMWWfX4qsIwemVtJad/eJqXvv8SLZtaSrlUIb6RwmMbkAstomQkjIglsbejgZGpCGDgT83SaG8t95LEOmRRreytPkp/6BrdPVN0bjH4y/dv4I8keG53Ex999FFx8HxsbGxRg+dut5vTp09z5swZTp8+TXv7g8FGrE99d8fQHzJnvihzw+iKqnD4pcOc/uFpDhw/gKbJWU1iJVKQKCJKRcKIWBL7tjTy/uUhKiphJjEmYUSUjaZo7Kx8iqHILW5d/gW9qav8/M+u4BntR9f1RQ2eP/XUU8XZj2eeeQaTSZ46RV5/fz9vvfUWP/vZz7h48WJxKH2xsyCFkNu6uTU/jP76C1RUVyzxqoX4ZgqFkcJsnBClIK+oYkl0bqihodpJc1OMvn4viWwMu0nOTRDLKx6fYnz8fcbGzjM2do50Ogjk+/hh4eD5/F2NmpqaiuHjpZdeoqampjx3QKw4mUyGCxcu8NZbb/HTn/6U4eFhVFXNHzo4907tcUGkEFZsDhsvvvEiL//gZbbs3iJv7sSKVyj8ycyIKCUJI2JJKIrCyb0bmfb1YB6C6cQoHe6d5V6WWONyuRTT0xcYGzvP6Og7BIM9ACiKCcMotFzdf6OoqBqGnsNisfD8888XB8937twpbwxFUSAQ4Ny5c7z55pu8++67RCKRBRW1+eHjUVWRwt/tfno3p390miOnjmC1WZflPghREsU0Is+PonQkjIglc3R3Kz+70EdDo87M1BgbXdtRleU9DVusbYZhEAoNMD5+ntHRc0xNfUQul/xK+KD4uaJoGEa+Dcvi2kB169PsP3aII8eO8of/xfO47LLRgsgrtF/9/Oc/57PPPnugpe9hFbXG1ja2PL2f068/y7/5vf+JXDZXHEavaajh9I/yw+iNrY1lu19CfBv3KyPSpiVKR8KIWDJuh5WDW5uIxCaZmEjhS01Tb5MdYcS3k06HmJj4RbH6EY9PACqKAoaRvyI9P4gUAojZXEFbWxetrWdobT0N1gpuBz/Hl0wx5knyxz/+jD/44VEqnHKlej3KZDJ8+umnvPXWW/zDP/zDQ9uvCgGkEEpMJhMnT57k5a5Xqd98AL8lgsmaYluHkxOvnODCuQscO32MUz88xb4j+4rBRYjVqvC7oCjIALsoGcWYv0/bV+i6TiQSWXCb2+2WJ1SxaP2jXv79/3eRGzdBSdSxr/pouZckVhldz+H1XpmrfryLx/MFhqE/UP0oKNyuKCp1dU/T3v4abW1d1NU9jaou3Jkono1wM/A5JmuSvfugvdHFH/zoSMlOaxcr2+Par+Yr3F5ZWcn3vvc9Xn/9dU6fPk1FRQXXB6e5MznLzZkbbGl3UFtlwTAM0sk0VruEW7F2ZLI613rCbK3dyo7mNp7duaHcSxIrzDfJDlIZEUtqW1utDLKLJxaLTTI+fp6xsfcYG3uPTCY8V+HQKTQK3G+9Uueu1hk4HC20t79Ga2sXGza8hNVa9cif4zC52V99jFuBi9y4kcDYF+Xf/d1n/MGPjlJXKeeFrEUDAwPF3a8W2361fft23njjDV5//XWOHDmyYLvdXE5nyhfBG/eiqQpVFWYgPzcnQUSsOYXdtFBkbESUjIQRsaSKg+z+/CD7VGKEze5d5V6WWGGy2STT07+eq368QzDYBywcPC/Mesy/XVWttLS8QFvbK7S1dVFZuf2J+5jtJif7ao5xK/A5N27EMPbG84Hkh0dorHGV7k6Ksshmswt2v7p3796i26/eeOMNzp49y+bNm7/2+0/7o2RzOr6Ej5oqM5oq79DE2jXvyEOZGRElI2FELLmju1v5+ad9NM4Nsm9y7ZBB9nXOMAyCwb656sc5Jic/RtdTjxg8v397VdWuuerHaZqaTmAy2b71emyag32FCsnNKMbeBP9uboakpc79rb+/WF6BQID33nuPN998k3feeeeRu1/Nb7/67ne/y+uvv05XVxcVFYs762PcEyaSjpLKJqmtkvAq1rZCY7+qyKGHonQkjIgllx9kbyYSnWBiIs1scpwmu5xavd6kUgEmJn5RrH7E41N8/eC5Mtd+lcNiqZyrfOQHzx2O5iVZn1Wzsa/mGLcDn3PzZhh9b2quZesIbQ2VS/IzRekU2q9+/vOf8+mnny6q/Wrbtm18//vff2j71WKkMzk8oTi+uA+LWcXtlNPSxdqWzeXTiKaYMJvk8S5KQ8KIWBYvHergy74J6upgLDBIo61NSrxrnK7n8Hi+LIYPj+cK8NXBc33eib73B88bGo7Q1vbq3OD5IZRlqqRZVCt7q49yO3CJmzeD7N2T5o9/fJF/8YPDbG6pXpY1iMXJZrPF3a9++tOfcvfu3QVBo/A18GD7VWEA/VHtV4sx7Y+i6zqBhJ/aGrM8p4k1L5PJ/26ZNTNWs4QRURoSRsSy6GiuZkd7HdGYl6veGJ7kBA321nIvS5RYNDpeHDwfH39/3uD5/XmPhw2eO52ttLefpa2ti5aWF7FYFtcisxTMqoW91Ue4HfyCW7f87N6d4U/+/nP+5Y+OsrHp0QPxYml92/ar06dPU1lZuirXpC9CJB0ho2eokRYtsQ4UKiMm1YRFwogoEQkjYtm8dmQbfaNeaqphNDxIvW2DXElc5bLZBFNTHzM2dp6xsXcJhQaY32IFDx881zQbLS0vFgfPKyo6V9RjwaSa2Vt1mO7Ql9zu9qLsyfInf3+Jf/Wbx2SGZJnduXOnuPvVk7ZfnT17lqNHjz5x+9VipDM5vKE4voQfq0XF5ZCXU7H2ZbMGmqKhKgoWadMSJSLPnmLZbG2tYUtLDeGwn+s3IvhS09TZlqb/XywNwzAIBLqLJ55PT3+Crme+0nplFAPI/Nurq/cUz/xobDyGpq3sbU811cSeqme5FbjE7W4fqpbmP/zkIn/4m8dpqJbtqZfK/Parn/3sZwwNDT22/UrTtAW7X23ZsmXJ1znli8y1aAWorzUv+c8TYiXI5gxMav6to1RGRKlIGBHLRlEUXj2ylaHJS1RVwUi0n1pr04q6Ii4elEz6mJj4sFj9SCRmgMIMx9cPnlut1bS1vUpraxetradwOJrKsfxvRVU0dlc9y63ARW7fCqLtT/Eff/I5f/hbx+RgxBIKBoPF9qu33357Ue1XFRUVC3a/KmX71WJM+iKEUxGyeoaaKqmWifUhk9UxqRYArGZ5CylKQx5JYlnt3lTPpqYqwpEg169H8KamqLe1lHtZYh5dzzI7e4mxsfcYHX0Hn+86YDwweF5wf/Bco6HhKO3t+cHz2toDyzZ4vpRMqok91Ye5GfiMm7ciKGqc//iTz/lXv3kMt2NlV3dWsm/SftXZ2ckPfvADXn/99SVrv1qMVDqLL5zAl/BhtWg47XKFWKwP2axURkTpSRgRy0pRFL53fAfD059TUw0j4X7qrM1SHSmzSGRk3onn58nl4uSrH/dDx/3B8/snobtc7bS3n6W1tYuWlu9gsazNK8Rm1cLeqiPcCHzGrZsxVCXKn/z9Jf7lj47isEmLzmJks1k+++yz4u5XT9J+Vdj9ajnarxbDE4qj6zrBZJCGOvn/L9aPTNbApuUf8zIzIkpFwohYdjs31tG5oYZI1M+1a1FmkxM0ys5ayyqTiTE19XFx291weGjub+YHEH3ef1G43UJr66li9aOiYmW8OVwOFs3G3uoj3PB/xq1bCRQ1xP/+00v8d79xBKtFnkofptB+9dZbb/H2228TDodXfPvVYswGYsQycbJ6hkq3VMfE+pHJGrgsJkyaiqrKRURRGvIKKpZdoToyOPEZdbUwEuyn3tYip7I/hmEYxbMSnrSSZBgGfv+tufDxLtPTF+ZaqxaeeH4/gMwPJRuAvcAuoJNsdgO7dr2+LqtZNs3B3uoj3Ax8xu3bKVQlwH/6+Zf8/veflQPA5gwODi5ov8rlcg9tv1IUBUVRFrRfFXa/MplW7kuTYRjMBmOEUiE0TcHlkP/vYv3I5vT8tr7yfCdKaOU+44s1bVtbLTs31hNPeLh6Jc54fIh259ZyL2vFMQyD8fExrl69SiQSLd7udrs4dOgQra1ff3hkMullfPyDYgBJJj1zw+XwsMHzuZ8IOIE9FMIH1C74vj6fj/Hxcdra2kp2P1cTh8nFnqrD3AxcpLs7g6J4+Yu3r/J7rz+Fpq2/QP1N269OnDjBG2+8saLarxYjGE2SyeYIJYNUuJ78woAQq5VhGORyBmbVJNVgUVLyaBJl88Pnd9E3+gktLQZjk3dotLVi1WSHooJsNsO5c+fwen1kMukFfxePx/jFL35BbW0tr7zyCiaTGV3PMDPzebH1yue7wVcHz/OzHnn3B89NmEzbyGS2kw8gG8hXRj4B/se5fz8E7AdaSKfTXL16Zd2GEQCXuZI9VYe5Ffycnp4sijLNfz5/g3/2yoF18eY0GAxy/vx53nrrLd56660nar86e/YsXV1dVFWtzgMkPcE4WT1HLB1jU4M8X4n1I5vNH3ho1sxSGRElJWFElE1rfQXP799INjvM7GyOe9FedlQeKveyVgTDMDh37hzT0zMLAsR86XSaqalufvKTc1RXTzIx8SHZbPyB1quHDZ673R20t79Ga2sXzc3P8+Mf/5xMJvaVn/AJ+UrJODABvAlUAwcJBg+Ty72Gpq3f4d0KSzW7Kp+mO/AFff06KOPUVtj53okd5V7aklhs+9X8qsiWLVsW7H61ktuvFqvQomVgUOle/fdHiMXKyOnrYonIM6koq+8e286XfZN0dKTpH5igyb6RKkvt4//DNW58fAyv1/eQIJIEBoAe4BbgIxyGcFgDCiee3w8ihWBiMjnZsOEUbW1naG09TUVFR/FrMpnMQ1aQJh9ACoy5jwHgI1KpX/KXf/lnbNz4PTZt+i6trWfW7E5aj1JtrWdH5VP0ei4zbDV4lzvUVzk5tmf1V40K7Vdvv/02P/3pTxkcHHyi9quzZ8/S2dlZtvUvhXQmRzCaJJQMYbdqWMzrry1PrF/pdP733qxasEoYESUkYUSUldNu4fsnd/D/JG8yNQVDkdscqnluXbS6PMrVq1cfaM2CO8B/ID/vsXDb3UIQuV8VUaitPVA88byh4TCq+vAqxsOvVluA3wZ+DYzN3aaQDyX5n5vJRBga+lsGB/8KRTHR0vIiHR3fZ+PG7+J0rp+zY+psTWzWdzE03o3NDn/1wU3qKh1sa1t9oToUChV3v3qS9qvXX3+9uPvVam2/WgxvKI5hGISSIWpr5OVTrC/JtI6CitVkwWmzlHs5Yg2RZ1NRdsf3tPPJzRFinSGuXQszlRimxdHx+P9wjTIMY8Gw+n0+Htx29/7guc1WX2y9am19GZutblE/T1EU3G4X8fhX27Sem/sTIF+FuQ70zf3sfCXm/ixKlsnJD5mY+IALF/4bamsP0NHxG2za9D2qq/es+XDZYu8gkY0xODiMzabzf775Jf/Db5+gscZV7qU91tDQULH96sKFC0/UfnX27FmOHTu2Jtqv/n/27js6rvM+8P733ukVwAwGGACDSoAF7CDFqkZSMkUV0pIsRUlsJ7aTjeU9m3fj7Ht24yQb75vY2ZwkG2uzXq+TbGI7VmzLVqFIF1mkqUKJEimBIAl2kETvgzq93Pv+McAQIApBEMDMAM/nHBDABWbmAVHm/u7zKzPRPeAnEA0QVSJkef7+rQAAIABJREFU29P/eysIcykcVjDqEq2srSYRjAhzZ2k8gwhpTZYlfn33Wv6q6zhuNzR2XSbXWIheXpr9+0dP/iZaNfJ6dIdCBqqA1RiNm3nuuT9Er5/dE0RNTQ1HjhydZDcGEnUio4FJCK32Cnl5HfT0HCUaHUruxoxNKfN6z9DXd46PPvpTLJZiysufoqzsAG73fcjy4vuzI0kSy2xrCMUDXLzQjUEf5e9fPcl/+Y170+5JOxaLceLEiWT3q4aGhnFtdkc/B8anX+3cuTPZ/WqxpV/NVHe/n4HQILIkWvoKS08wrGDUmAGwiGGvwhxafGcFQkaqKMxh++piotEWenqjNPkuU2Vfl+plpcTUV5mzgGdI7JBUA8tJpFOBLFvQ6Wb/5ODxFJOb65y2YB5Aksy4XHt57LEnUNUYnZ3HaWx8nRs3XsbvbxlXJK+qidQxv7+F8+e/SX39C+h0dkpL91NWdgCPZ++iqjORJImVWZs40/8e9fVD6HR+vnXwFH/wzHa0KW75Ozg4mOx+9frrr09Iv1JVFVUdKU69Jf3q8ccf55FHHlnU6VczMeQPE47GGAoPYrdqxcA3YckJR+I49CZ0Wo1o7SvMKfHTJKSNp+5bxemrHZSVxrh2rRm3qQSbbumdAE2dNgWwZ9Lb2GzWu0qFkiSJffv2TdlKGECv1ydbCSeupOsoLNxFYeEutm//H/T319PYeJAbN17B6z0NJK62q6qSTOeKRocWdZ2JVtayOnsLdX3vcv58GI2mj++lqOXvbNOvnnzySZ544okllX41E90DfuJKnOGwjxLn0ty1FWYmFo0RCUcIB8OEw2EiwQjhUDh5LBKOcM+D96DJoPa4iqISjigYzQaxKyLMOUkdvRw2CUVRGB4eHnfMZrMln7wEYa4d+fg6Lx07z+nTIIWzWe/YuSQns7e0NE+TNjWeXq9nz56H5mTuR2LIYiu1tR9PMmRxEx6PZ0Yn1X5/G01Nh7hx41Xa2381xbR3RoYwqoCK07kxmc6V6XUmw9EBzvS9j9MVZ+XKRNe4x7cvn9fHjMVifPDBB8n0q6tXr05Ivxo1GpTIsjyu+1VVlRg8OpX361to6G7jqvcq61bYMBoy50RyqVNVlWgkmgwEkkFC6GZwEAklAoZbg4Zxx0ffDoYJ+oPjjkXCEaLhKJFIBFWZ8rQq6bvvfpccV84CfPVzIxCKU39lmFWualYWFlKzvCDVSxLS1GxiB3HZS0gruzaUcfxcM76qYerODNDqb6DEOr8ncelo5mlTMk6nE4/HMyePK0kSxcXFFBcXo6oqsVgMrfbOp0xbLEVUV3+R6uovEokM09r6Bo2NB2lqen2aOpM6+vrOjqkzeZqysv0ZWWdi02WzMmsjF3s+psmocojLuLLMbK2em+/TqNmkX9lsNh5//HH2798v0q9mKBZX6BsOMhgawqDXiEBkDsTjcSKhyLgT/7En/cmT/FCEcDg8ITi4NUgYDQ7CwTGfG44QjUQT7ctvHx8kSbKUuAgmgYSEigoqKKoyo0BjlFarxVXooqi8iMKyQtzFbgpKCygoLsDusM/ify11wuHE32qjxpB2dXBC5hM7I0Laaewc4K9+cJzr11VaWiQ2Ou7DqstK9bIW3HQT2GF82pRWmxnb5ooSHVNn8hP8/tZxdSZjjQYsmVxn0uq/xnXfBVYsh6JCmT98dgcVhXd3NfTatWscPnyY1157jXfffXdC+tWoselXFRUVye5XO3fuFOlXd6h3MMCJ8y2c6z6H1Ran3GNO9ZIyxqXTl3jhKy9MCBDisfgd3Y8sy0i31Omoqoqq3Ay455uskZEkadzaDUYD+cX5eCo8FJQUJF/cJW6c+c5Fc77U3h2iozvGpoIaaqoKKHJlVjAlLJzZxA4iGBHS0sHjl/jpB1c5fRrUsJ2NjvuWZLrWXKVNpSNVVaetMxlrNDDJtDoTVVVpGD5HV6iJteugrMjEH3/6PmzmmdccxOPxcd2vrl69OmH44Kix6Vdju1+J9Ku709DWR/2NTmo7ainzmHA5xJXhmfru336XV/7plQULGO6WRqtBVVWU+M3fLYvdQkFJAZ4Kz7jdjYLSAuw59oz9G3wnbrQGCAzrWZ1Xzf3rSsmyGlO9JCFNiWBEWDRicYW/fPFdLjcOcfo0eMxVlFlXpnpZKXU3aVOZYLHWmSiqwrn+DwhJXmpqYF2li99/auu03ZhG068OHz7M66+/zuDg4KS7HzB5+tXevXvJycmcfPR0d+pSG1c62rnUe4m1y22YjCJNazKKouAb9DHgHWCgd4DBvkHe/dm7nPzVyQmBcypptBoUZXzKVbYzm8KyQorKi5I7G6O7HGar2Am70ODDoGaxzLGMfVurUt4hUEhfIhgRFpXWniG+/v13aWxSaGyUWJ+zE7tenGAtlFQGP9PVmYwnjQQn8bSuM4nEQ9T2vYPZHmbtWnhi+3Ke2LFi3Odcv3492f1quvSrsUXpFRUVye5XIv1q/rz50TWue5vp8LdRU700roSPioQjDHoHEwGGd4BB7yCDfYMM9A4w0JcIOrxdXgb7BvEN+SbUVEiShKyR7zgt626MPqYSV5I7MrIs43Q7KSpL1G+MTafK9+RjMIoOadM5fWGIPHMhy5wlPLx5WaqXI6QxUcAuLCoel50ndizn1fglvF6VK0N1bHTej0YSVyXnSyItrIXa2tpJ0sJq8HiKF+RETK+3UVHxKSoqPnXbOpPx80z+F/X130i7OhO9xsjKrE2c6z9BU6PKT6WrlObZGepM1H+8+uqrXLlyZUL61a3DB8emXz3++OMsX770mjsstGA4SigSwx/xYzFl/q6kqqr4Bn2JgGJsgDEacPQN0NfVR39vP0P9Q4SD4Qn3MVo7oSrqbXc8VFWdl0BktIZk7H3r9Dpcha6b9Rtj0qlcBa6MaqWbTmJxlWhMwagxYDGKFEVh7omdESGtKYrKX/3gOBdvDPBxLRQYK1hmW53qZS1KmVAwP77O5GW83joyqc7k+sBpLl7/IZrQSTqvnSIS9M8o/eqxxx5Ldr8S6VcLq8M7zEeX2zndcRpXrgaPO/1y5aORKIN9IwFF380UqdEAo7+3n77uPga9gwwPDo+rh4CbOwnAuN2E2UgWmquJeqfRY7NJ05I1MhJS8n4AjGYj7mJ3MuAYm06V48oR5yfzwBeIcaHBx2rXGlZ5Clhf6U71koQ0JtK0hEWps8/HX/zrOzQ2xbl2Hdbl7CBb70z1shYVVVU5fPjQjFoJu935PP74E2lxhTgT6kyGhq7T3HyYxsbX6Oh4N7E2SQPq+KvFk6VfjXa/0ukyo1vaYnShsYcLzZ2c6aqjqsxCjn3+vxeqqhLwBZJBxWQpUn09ffT39DPYN0goEJpwH8ndi1uKsWdDo9GAxIQ6CwAksFgtZDmzyMnNwZHnINuZTZYziyxHFjq9jm/8l29Mfd9azYQdFluWjYLSAorKi3AV5fHSqWawWvm//+03yXXlpMXfnqWk2xumqS1ETcEm1lW477ojoLC4iTQtYVFyO6w8ee9KfhQ7j9cLV4bqqHE8gDaNagIyXWtrC7293mkDEQBVVfB6vbS2ts7JkMW7NXGeyS9obHx9FvNMDuB23zsndSaKEqe7+wOamg7R2Pgqg4NXgNE/wiPrGAlEJFlGVRRkWWbHjh3J7lci/Sp99A8H8UUTKYtW0+zTfGLRGEP9Q8mg4tYdjNHdiwHvAL4B36S7ZaNpRjPZvZguABm7EzJZCpVWq8WWYyM7NzsZXIy+ZDmzbr52ZGPPsU+b/hSPxXnhj14Yv14JHC5HomC8rCixuzGSTpXvyR9XMB6KRHmp6ycA2LJtIhBJAX8wjklnRiPLZIsuWsI8EGdzQkbYXVNO3bVOwiEvtbUBGobPssK+UTwxzZHa2tpJUrNOAG8A9pEXG2AlErHy/vsXue++xzCZXBiNLgwGB7Kc2nzsRJ3JM1RUPDOmziSRzjXfdSaRyBCtrW/Q1HSYpqbXiUQGbtmhuXliOHpc1prILdvMmq1b+OPf/zy7t1TP4f+GMBdUVWXQH8Yf8WPQy+h08riPBf3BcelQt+5geLu8yYAj4AtMuH9ZlhMpTKoyo92L6WovZI2MLCXSoSZLiTJbzdhz7OS4ErsXWY4ssnOzyXbcEmA4szFZTHP2t1Wj1fDVf/oqrddakylV+Z58dPrpd5hCkejI6/iYY2PStW5ze2Hu+PxxrPpsJEkiyyIK/YW5J9K0hIzROxjgz7/3Ni1tMS5egkrbWgrNZaleVsZTVZUXX3yRQMB/y0f+O9A48rZE4uq+ytgT65tk9Ho7RqMTk8mN2ezGaHQlg5Wxbyde5yLLC3MyMds6k6KiPZSVfXLKOpOhoRs0Nx8al341VcevxIuCzVZGWdlTlJY+gWr3cM1/kVUrwVOo5Sufvg+3wzpf/w3CDMTjcXp7e+nu7qa7u5vG5lZO1F3mWttlAr4+lLAv0TnKO8jwwDDRkRPmsZK7F5OlNN2BcbsX8fiECeIarQZblo0sZxbOfOe4YCLbmZ0MNrIciXQprS6zrj3u/+MfTPvx17/26wu0kqUtHlf5+Pwg5dkVVOZ5uH99aaqXJKQ5kaYlLGq5WWZ+a+8Gvn3oI4aG4Hr7eWy6bGy67FQvLaNNlg6SMDTmbRWYriOOQiQyQCQywNDQNUBKpjwpSowJZ1KAVmsdCV7yMJsLbhO8uNBqTbP6+iRJwuFYi8OxlpqaP5m2zmQ0kFDVGG1tb9La+kuOH38ep3MjZWVPYrOV0t9/gcbG1xgcvMyt6Vejt78Z1Mjk5e2gvPyTlJQ8QXb2zfQrVVUZjg9z5WorFkuMbx/6iK/85n3oRMefORUIBOjq6koGGKNvj77u6Oigo6ODnp4eBgYGJqQ/SdLNyd9K/PZdoW63ezFdHYfRbEzuXjjznMm6i9EdjGRw4czCYrOInWFh3vmDiZ9nq8FKjk2kaAnzQ+yMCBnnpWPnefPj65w9A5GAmY2O+9DJot3gbE29M/IT4H0gyGTBhCRpk7sLqnq3rTslJEkzcn/xSWtXNBojBoMTk8mF2VyAyZQ3ErjkThq86HS3zy+frs7kjr+CkdtptVZKSx+jtHQ/Hs8jGI2OKW8TV2LU9R8H/TAba2Dflkqeun/VHT/2UqIoCn19fdMGGO3t7XR2dtLb20soNLG4e3R2Tjwev6thfLfrQiXLMrZsG1mOLHLycnC4HMlg4tY6jNFibyFhbJrWZ//yVQC+90dPYtQngnWRprUw2rtCdPTE2FRQw4ZKN8V5WalekpDmxM6IsCQ8df8qbnT2E430U1sb4PJgHauz7xFXCWdJkiRsNuskwcinRl4UIAAMAz5gGJtNYsWKIoLBHkKhXoLBLgKBTkKhHsLh/klP5qcPXtSRnYmp1xmPhwgE2ggE2vB6624bDMmyDr0+B5PJNZI6lj/provDsY7Cwj088MA/0dX1PleufI/GxleJRAZn/H9oNLqoqPg1Kiqexu3eOeMUNI2sZWXWJk5736GpUeGX8jXWL8tnWdHUAcxiFAqFxgUTtwYYnZ2ddHR00NXVxcDAwIQAQpZlNBpNclDn7Uz3ORqNBlmWp7wvg9GA3WEn25ko7s7JzZlQ1D26g2GxW8TFu1maLNgw6jUiCFlg/mAci84CQI5tdrvTgnA7IhgRMo5WI/PvHt/EX/zrO6xcGaG+vouWQAMllqpULy1j1dTUcOTI0UnniyRSkawjL4l5I/fe+9CU3bRUVSUaHRoJVHqSr8e+HQx2Ewh0jBzvQ1EmDlZL7JQkTgonC25uF7woSpRQqJtQqJv+/vO3vb/EY8q37Sg22TpDoR4uXvw/DA1dnbbOZDIWrY1S6woaWy/izFX5zht1/Mmn78egz9w/z4k6nf5pA4yxuxeBwMTi7tHdC0VRxs2ZmMxURdu33tdkOyGyLJOdnU1+fj4FBQUUFBSQl5dHbq6LLr9KUBdDZ5fYtLEIu8MuJnULS4ovEMdlsqDTarAYRSAozA+RpiVkrItNPbzw8ofcuKHS0iKxNmcb2frcVC8rI6V6zkg06icU6r1N8NJJMNhFONxHLHbrLg6AjCxrUNXR2o3ZFw/PnpR8XKu1lMLCBykufpS8vO2YzXloNJOfyKqqypn+94hq+6mpgYc2lfPc7jULuO7bC4fD9PT0TBlgjNZedHd309fXNyGAkCQJrTYRYMVisbserDfdTojRaCQ3Nxe3201hYSF5eXnk5+ePez36tsPhmPQ5bcAX4t2zTdR3n8dii1LuMU/4HEFYzMIRhTOXhqhyVrHc7WFbtSfVSxIygEjTEpaUVaUuHt++nNfVywwPq1warGWj434MGlFkd6ckSWLfvn0znsA+1ylxOp0Fnc6CzTazTi3xeHgkPWxi4DJ6PBjsIBDoIhz2EokMsTDByc3H8PmauHLlu1y58t3kMVk2YDS6MJvzRzqO5SVTxjR6Gx3RTs5GbQQGulheaKNm5fx1rlFVlcHBwSnrLrq7u2lra0vuXvh8vgn3MZrSNJPdi8SO2cTuU6Om272QJIns7GxcLldy9+LWoGL07by8PCwWy+z+U8bwBxO/A+FYCKdB1KQJS48vkAj0rTqrmC8izCsRjAgZ7bFtVVxv7ycW7aa2NsylwY9Zm7MdWRK7d3dKq9Xx+ONP0NraSm3txwwP3zz5tNms1NRswuPxpEVtjkZjwGIpwmIpmvJzEsMHP6S5+TA3brwy0v1qdO23BiY3dzQShejxST7n7ov2FSVMINBKINA6+pWM1CfcvL8W4BTwg6+DwWAgJycneRKel5eHy+Wa8sVsNo9rTXtrgNHV1UVbW1ty9+LW4OBOdy/i8fiUQcjtdi/0ej25ubnk5eVRVFREfn7+lAFGbm5uYgr4AvIFI0TjUeJqHKNe/D0Rlh5/II5eY0Cn0ZEjghFhHolgRMhokiTx+Uc38hf/+g6rVgU5c7aPRt8lKmxigNxsSJJEcXExxcXFyZPI0SvWmSDRHeuXNDUdGhk+2H9Ld6ybJ9dju1+VlDxKael+iov3YTQ6UFWFcHggudMyPmVs9PXYov0+FGXqq/5Ti6MoUwc14XCYzs5OOjs7OXfu3Lht7pl2gZIkKfn9u91tZrp7MdVOSFZWFrm5uRQWFiaDp6kCDKvVmtY/V/5QlGAs0YnLaBDBiLD0+AJxrPpE9yyxMyLMJxGMCBnPatLz7x7fxN/86H0qyhWuXb+GWWvDbZq8wFqYGUmS0OkWbjDhbAOf4eHGZPDR3v7WhOGDNwORm4MOrdZSyssTwwfd7nsndL+SJBmj0THSlnfFjNYfjfrGpYwNDl6ho+NdvN7T+HzNzEWa2Gza0CYK9mf32BqNBrvdjsvlwuPx4PF4cLvdkwYYubm5C/bzshB8wQjhWAgJCYPYGRGWGFVVCQTjOOwWzAZdRjfUENKf+OkSFoWKwhye3bWaHxw9RyAAVzvPYNSYREF7GlNVldbWFmpraydJCavB4ymeNDBRlDg9PSeTgwsHBy8xdsp54r7HDx8Eifz8HZSVHaC09AmyslbM6VX5WCwwUqvSTTCY6OAViwWx2UrQao1YLB6Gh68TCvXOcgdl4Wg0iXkvsViMeDxOf38//f39XLlyBQCr1YrT6SQvL4+CgoJp08ZcLhcm0/y3Ax0eHmZoaIjCwsI5+776QxGCsRB6vYQsp+8OjiDMh0BIQVFVLHpRLyLMPxGMCIvGgxvK6Ozzoao3CIVULgx8xAbHvZi11lQvTbhFLBadslg+EPBz9OjRZLG8VqtLpl81Nyd2QMLhydKvxtZ8TJ5+NVOKEicc7hsJLrqSAUYg0EUolDjm97cTDHYRCvUSj08crHezvmTyIY53avQke7LBegaDAZ1OhyzLxONxIpEIkUhk0h2R26Va3a4Q3efz4fP5aGpqQpKkZPAy1f0ZjUacTueEupfc3NxJgxeb7fbDKm+1bds2Lly4gMViYdWqVaxbt47q6mqqq6tZvXo1xcWTB7ZTCUdixOIK4VgIo2Fha1UEIR0M+WLIkgaLzoLDLuaLCPNLtPYVFhVFUfnmayepa+imrg7UsIUNjnvFhPZZmK+akZm2EYZ+7PYbWK3X6Oh4e0L61U1j069KKCtLpF8VFNw3Lv0qFgsmdy4mCzACgU78/nZCoW7C4QFGd1luGm0dPPWckpm6OfNk5oXwia9RRZZlNm3axGOPPcYzzzzDqlWrJv3+jO5q9PT0TPrS29ubHCjY09NDf3//pIXmdzLvYyZud386nS5ZtD+aEjbdzovdbkev148LvLRa7bjZIyaTiRUrVrB+/fpkkFJdXU1ZWdmkz2d9Q0Heq2/mbNc5srIUSovEyZiwtFy67kOOWVnuXM6ujeVYTeI5VJiZ2cQOIhgRFp1QJMZf//A9GlqHqDsNJhyiw9YMzTZ16k60tDRPMWBRARqBs0Ad0Mmt6VejJEmTPIl3OjeQl7eV7OwVSJKWUKiHQKBrZDZJO4FAB+Gwl1hs4mC9u+2ONeaeRgIMaaQg/db1yiPT4PMxmwswm92YTPmYTHkjL4m3VVWlu/sETU0/pb39V4mgR9LALWvTaDQoioKqqmzcuJGnn36aAwcOsHr16ll/f1RVZWhoaMrgZXTGSEdHBz09PfT19REOTxxWebsJ5nfqdvc32lp4JrRaLaqqJoMgg8FAVVXVhCBFa3FS39jDR+0fU1JoID9XDDoUlo54XKX2whAl9hLKnR72bKpI9ZKEDCKCEUEY0T8c5C9fPE5LZ4izZyFXX8QK+8a07t6TatOlTsH4OSNa7ewLlQ8efI2urq5bjp4FvgMEGNtmd7zR4xKyrENRYkzcvZCQ5UT2aeLjsy8alyR5JOiZfCdEozFhNOZiNrsxmwvHBRW3BhoGQw7SHQbDkcgQLS2/4PSVf2Sg4z2UWBCNRks8PtlaNMTjcUpKSnjqqac4cOAA9957b7JN73zx+/309vZOG7x0dnbS1dVFX18ffv/EYZWjLYDh7ochztbo448GKVqdjvxCD1lF+axaW0ZVdRnFlcUUlBSg1YnsZmFx6x+KcrXRz7r89az05LO2Ij/VSxIyiAhGBGGMps4B/ual92nriHPpIpRYVlBqXZ7qZaWl+ZrArqoqkchgMi0qGOzi7bcPE432AsMjLwNABzCx7uKWR+duO1JNX8chYzBkYTTmYTYXjuxeTBVg5KHVLsxE7sGIlzrvOzjNFwh2fUTX1VO0t7WN2x0ZS6vVEovFsNvtHDhwgP3797N3715sNtuCrHc64XB4yuBl9HhHRwddXV14vV6GhoYmfH1jZ6FMNiBxLklyIgVQiSceQ5Zl8ovzKV9ZTsmyEooriyleVkxReRE6/eLpJCYsbY1tQQYHJdbnr+OelUW4HaLuUpg5EYwIwi3qGjr5P69/RHOzyo1GWGnfSJ7Jk+plpZ2pU6cm0ulk7r13Azk52ilqMDpH0qO6CIf7pqivGC0KVpjP3YvExPNcTKY8LJaikYBiYnqUyZSHweBEltOzWPnSYC0D8TbuuQd215SyJg8OHjzIK6+8Ql1dXXKWyK0n5qOBiVarZc+ePTz55JM88cQTFBYWpugruTOxWIy+vr5pU8fq6+u5cOHCgq5LlmUkWSIeS+ykSLJEXmFeIkipLKF4WTHFlYkgxWAUKV5CZjlzaYgsnYuKnDL2bqlEqxHnfMLMiWBEECbx5kfX+MnbF7hyBbq7ZNbmbCNL70z1stLK5KlTl4FaErsXgyMvPibbwZhNQfbUJEBm8kBFQq/Pwmh0TZEeNf5tnW5xXNELx0N85D1GQWGMZcsk/uQz9+Nx2QFobW3l0KFDvPrqqxw7diwZfNxaXzEfdSbp4Fvf+hZf+tKXUr2MyUngcrsoW1FGSVUiSLnnwXuwZad+l0oQJhMKxzl7eZjlzuVU5heyfbWY1yXcGRGMCMIkVFXl346c4+0zTZw7B/4hPesdO0XL3xGqqvLiiy8SCNyaz/8VoH/0s+7iERJ1HFN3odIAFsAOZI+8tiVfsrNL2LPnKUymPIzG3GRNyFLT4m+g0X+RTTWwfrmTP3x2+4QgYmhoiDfeeIODBw/y+uuvMzw8PGlgAqmrM5lrhw4dYv/+/alexoz97Y//lqq1ValehiBMqrM3TEt7mJqCGtaU51NZNPOW6IIAIhgRhCnF4wp//+pJzl3r4cwZiIVMrHfswKhZmLz/dBaNRvnRj340STDy50DbFLcabXM7+U6ITmcb2b0owGIpxGi8uWvh90ucPdtIPG4iEXAYSeyGTKTX69mz5yGKi8XVOUVV+Nj7Fgabn3Vr4QuP1rBlVdGUnx+NRjl+/DgHDx7k5ZdfprW1dcZ1JgcOHOATn/hEWtSZzERLSwvR6J0Pk5zs6W/QF+Kjy+1c9l7GalMoyp848O1uiuxdBS5RXyKkrcs3/KgREytzV/LA+jLsFpFmKNwZEYwIwjSC4Sh/+9IJrrUNcqYOiFpYn7MDvWZpT5edemfke8D7I2/L3Ny9yEKjcbB69bZJazCMxlw0mql70s9XsfxS0Bfupn7gQ6pXQWWZkf/vc7sw6G+/k6GqKufOnVsSdSZ3q6vPx8lLbZzuOE2eSzNpMCIIi5GiqNSeH6LIVky508PDm5eleklCBhLBiCDcxnAgzF//8H2aOn2cOQPauI11OTuW/FDEyWtG4kAPiQDExNjdi/z8fA4c+OSsH2+h2ggvRucHTuKni82b4Ykdy9m/c8Ud38ds6kxqamqS6VyZXmcynZbuQeoaOjnVdorSIiN5TnFlWFgaBoejXL7hZ23eWpYXudlQ6U71koQMJIIRQZiB/uEgf/3D92ntCnDmDBjIZm32drRLtBYB7qyb1lylTiUGLLZSW/vxJAMWN+HxeBbtCe/dCMb8fOQ9Rnm5SmWFlq/9zp67mo482zqTp59+mv3792dkncl0Gtr6OHejk9qOj6ksteDIEsGwsDQ0twfx9qlsLNjApuWFFOZmRpqmkF5EMCIIM9Qz4OccquL8AAAgAElEQVSvf/g+bd2JoYgWycmanK1opPRs7TrfUp06NTpdW6vVigBkBq4OnaU31sSWe+DRbZU8df+qObnfpVRnMpULjT2cb+7gbNcZVlZYsVsXT6AlCNM5e3kYm8ZBhaOCvfcsQ6ddms+Hwt2ZTewgogphSXJlW/iPn9pGvlPPmtXgU7xcHPgIZZoT8cVMkiT27duH252PTjf5VXa9Xo/bnc++ffvmPGCQJAmdTicCkRkqsVQRj8q0tcGxuhsM+cNzcr86nY5du3bxjW98g+bmZs6cOcOf/dmfsX79eiDxfRp9QhndORkaGuIHP/gBn/rUp3A4HDzyyCN8+9vfpr29fU7WtNAisThRJVEMr9WKn0dhaQhHFELhOFnGbHKsRhGICAtK7IwIS1pj5wB/9+MTdHTHOF8PDn0Bq7I2LdmTYpE6lTmuDZ+nK3KdLffA3i0VPLtr9bw+3lKpMzl5sY1LHS1c9V5lY7UdnVY83wmLX0dPmNaOMDUFG1ldlk+VR8ziEmZHpGkJwixcbfXywssf0tkV58JFyDcUU2VfnxEnTvNJpE6lt0g8zMneo3iK41Quk/n67+why7ownZ8Wc53Ju2ebuNrVwo2BG9yzNkv87AtLwvmrPvTYqXJUsntjOZa7qEMTljaRpiUIs1DlcfLF/ZvJc8msWA5doRau+87f1SyBxUCkTqU3vcZAobmM9nYIRRSOfHx9wR7bbrfzzDPP8P3vfx+v18vRo0f50pe+RFFRYu6JRnMzxSMeT8yhaW5u5u///u/ZtWsXTqeTz372s7z88ssTnrRSLRKNE1ViaDWy+NkXloRwRMEfjOEwOciyGEUgIiw4EYwIArCmPI8vPLqR/HyJykpoC9zguu/Ckg9IhPTmMS9Dicu0t8HbZ5rwB2/fDW2u6XQ6du/ezQsvvEBLS0vG15lEYnFiSlTUiwhLhncggixpyDZkiw5aQkqIYEQQRmxaUchnP7GeggKoXAbtges0DJ8TAYmQtvQaA25TCW3tEAjFOFp7I6XrkSSJdevW8ad/+qfU1dXR0tLCN7/5Tfbs2ZNMyxp9PRqYxGIxjhw5wvPPP09RURGbNm3ia1/7GvX19Qv+u6coKrG4QjQeQ6sRwYiwNPQNRMk2ZqORZQqdIhgRFp4IRgRhjB1rivnsJ9ZTVCSxfDl0Bpu4MnRGBCRC2vJYKolFJTo7E521QpGJdRup4vF4eP755/nlL3+J1+vlpZde4tlnn022/x0NTOLxePJ3rLa2lj/7sz9j7dq1lJWV8eUvf5m333570nqUuRaJJVLKYkoMndgZEZaAUDhOIBTHYXKQbTViNoq5OsLCE8GIINxi59oSPr9vIwUFEitXQne4hUuDtUu27a+Q3owaE/lGDy2t4A9GOXG+JdVLmtRoncmLL754x3UmDz744Lg6E5/PN+lj3K3wSCAXU2IiTUtYErwDUTSShmxjttgVEVJGBCOCMIktq4r43cc24c6XWbUSvJF2Lg5+LAISIS0VWZYRiYDXC++cbUr7nby5qDPZt28f3/72t+no6JizdUXjid/vmBIVaVrCktDbHyXbmIMsSaJeREgZEYwIwhRqlhfw/IHNuPNlqldDf7STCwOniKvxVC9NEMaxaG3YdQ46OqC9d5jr7f2pXtKMzabOJBqN8uabb/L8889TWFjIpk2b+PrXv37XdSajt1VH1iUIi5kvECMciZNrzsVpN2MyiBQtITVEMCII01hbkc9/eGor7jwNa1bDYLyb8/0fElfSJy9fEAAKTKUMDEAwlNgdyVSzrTP5r//1v951ncloHKOqKiIWERY7b38UnazHbrDhcdlTvRxhCRPBiCDcxsqSXH7/qa2487SsXQM+xcu5gQ+IKdFUL00QklzGAjSSjs4O+PhKB4FQ5v98LnSdyc1dFRURiwiLmaKoeAeiOM3ORBctkaIlpJAIRgRhBqo8Tv7gme2483SsXQdBtZ9z/R8QVRZ+roMgTEaWNOSbPHR1JQb3fXChNdVLmlMLUWei3vJaEBarQV+MWFwh1+zE7bCi1YjTQSF1xE+fIMxQmTubLz+znQKXnnXrICwNcLb/fcLxYKqXJghAIlUrEoXeDClkn62p6kx27959V3UmN2tGVMTWiLCYefujmHVmzDqzSNESUk5Sp3m2UhSF4eHhccdsNlvy6pMgLEXtvcP83U9O0Nkbpv4cqFEjq7O3YtWJP+hC6p3pew/J0se6tfD/PreTyiJHqpe0oIaGhvjFL37Ba6+9xuHDhxkeHkar1U6oH5EkCUmSUBSFkpISnn76aXY+8DCanBLqus9Q6NZT4DKk6KsQhPkTjSnUXRzGYyumNKeIhzcvQ5ZF9C3MjdnEDiIYEYRZ6O7388LLH9DeG6C+HkJ+LauyNpNjcKV6acIS1xVs5crQaTbfA7tqPHxu38ZULyllotEo7777LgcPHuTll1+mra0NjUaTrC8ZazRgMVusVG7awPaHt7L70S2YLKYUrFwQ5k97d4i2zggbCjawosjF6vK8VC9JWEREMCIIC2g4EOZ/vXqSa20DXLwI/f0SVfb1uE3FqV6asIQpapwPet6koChKVaXM335pL0a9NtXLSjlVVTl37lwyMDlz5sy43ZGxZFlGURQ0Wg3rt69n255tbNm9BUfe0tplEhYfVVU5c2kYu85JRU45uzeWYzHpU70sYRERwYggLLBINM4//bSWuoZOGhqgoxNKLSsosVSJOQVCyjQMnaNPbWTLPfDF/ZvZWFWQ6iWlndbWVg4dOsQrr7zCW2+9RSwWQ6PREo+PT+eSZTkx7FSFZdXL2P6J7Wzbs43iymLxOy5knP7BKFeb/Kx2raE8z8XWak+qlyQsMiIYEYQUUBSVHx2r5626RlpaoLER8o3FVNrXIUvid0VYeH3hbuoHPmTzJnh4Swmf3bs+1UtKa6N1Jv/2wx/zyzd+TjDgR9ZoUG5N55JAlhK7Jq5CFzse3sHWPVtZVbMKjVYz+Z0LQhq5dN2PEjFQ7apm6yoPeTmWVC9JWGRmEztovvrVr351qg+qqkokMr51qcFgEFeDBGEMSZJYU56HUa+lrb8Hkwmau4cYig7gNLhFQCIsOIPGSFvgOnqDiqoJ8fCmCvF3exoGg4HVq1ez48G9bH/kWbQlWbhcNgZ7vQT9QWRZntBxKzAcoKG+gSOvHOHQ9w7Rcq0FVVHJLchFpxeTrIX0EwzFaekIUmwvxmXLZnW5S/xdEObcbGIHEYwIwhyQJIllhQ4KnDaudXZhtau0dQXwhrpxGNxoZZGzLywcSZIZjvbjj/rJccRZW5FPttWY6mWlvQFfiO6BAAFTlPv3buE3nn+K7Z/YTo4rB9+gj4HegUSdiSyBejMwiUaitDS08O7P3uXVf36VS6cvEQqGcOQ5RAG8kDbau8JEwjJlOeWsKM7FYRc/m8Lcm03sINK0BGGOXW318r8PnqKnL0p9PRA1sSZ7CxbR+jdtvP/+/0N9/f9ElnXo9dlkZ6/A49nLqlW/h8k0845oZ8/+HR988OUxRyT27fsZxcWPzP2i71BHoIkG31m2b4NP3recJ3asSPWS0l5j5wBnrnXyUfspyj1mXI7xhb29nb2c/NVJThw5wbkPz6HEFWSNjBKfvAAeRJ2JkB7icZW6i0PkWwopzS7m4c0V6ERqoTAPRM2IIKSJzj4f//PlD2nvDXC+HkIBLSuzNuEwiBaK6eDQoQfo6HhnwnGDwcneva/jdu+47X10d3/I66/fh6JEk8c2bPgKW7Z8bU7XOlvheIgPe99k5QrYvDaLP/70/aleUtpr6R6krqGTU22nKC0ykueces5IwBeg9t1aPjjyAafeOkXQH5y8bbCoMxHSQGdvmJb2EOvdG6gqdLFuWX6qlyQsUiIYEYQ0MuRPtP693j7ApUvQ1ydRZl2Jx7xMXB1Nse98J5tIZHDSj1ksHp57rgGNZuoT0VCoj1deqcHna0oeKyh4gMceO4osp88JZq33Hcw5g6xcCX/1ew+LVK3b6OzzcepSGx931FKQp6Uwb2b/X7FojPMfn+fk0ZO898Z79HX3jdsdGWs0YDFbzWzds5Wtu7ey8d6NIp1LmFdnLw9jlrOpdCzjgfVl2C1ioKcwP0QBuyCkEYNey5aVRXT1+4hrfagqNPX2Eor7yTHkicL2FInHw5jNbtzu+7FaixkcvDJudyMaHcLt3klWVuWkt1dVlaNHn6On52TymMmUz2OPvYlen16peGElRLfPi8cDBU4bJflZqV5SWgtHYrT0DNHj78ZohCzbzArRZY2M2+Nm0/2bOPDbB9j+sKgzEdLH4HCUrt4wpdllFDpyqPSIeTnC/BEF7IKQZrQamc0rCpGAbp8XswVae4bxhrrJMeShlUXXnYUmy1pyc2twu3dQVnaAqqpPc/36T4hGh5Kfk5VVRWHhg5Pe/uzZv+HChW8m35ckmU984jWcznXzvfQ7ppG0tPubyckBiynxsyhMLRZXaOoaoDfgRauLk2O/899PSZLIyc1hzT1r2PfcPh7+1MMUlBQQDUfp6ehBVVVkTaI7V7JDl6LS1drFyWMnee1fXuPkr04y1D+ELcuG3WEXz7nCXWnpCCErRoqzilld5sJmFrsiwvwRwYggpCFJklhRnIvHZed6ZzdZ2QpdvWE6/G3YdNkYNeZUL3FJ0+uz0GotNDcfHnessvK5CZ/b2fk+x459BriZfrNp01dZseJzC7HUO6aXDbT6r2GxqJgtKrtrylO9pLQWV1RudPTTF+xD0sRwZN/9xQKz1UzV2ip2f3I3+39rPxWrKpBlme72bmLRGBqNZlxgAtDf20/9yXp++m8/5eirR+lt70Vv0OPMd4o0aeGOhCMKjW1BPHYPTmsW65bli3M4YV7NJnYQ/UYFYYFsrCogP8fKN187iV4f4OLFMGf7T1Bhq6bQVC6eIFKotPRxjh+/+X5vb+2EzwmFvBw9+muo6s0J3UVFD1NT8ycLscRZkSQJi86Gzz9Az4CfcCSGQS/+7E9Fp02c6GtkLbH4lOWUs2a2mrl3373cu+/e6etMVBJT34Ge9h4Of/8wB797UNSZCHesqzeMRtbiMDkpc2eL5xkhLYlnJUFYQIW5Nr7ym/fxjz+tRavt4cYNlWtt5xmODlBlW4dGzCNJCYulCJMpn2CwCwC/v4VQyIvR6AQSV3qOHfsMfn9r8jZmcyG7d38fKc1rfyxaOz7fAABtvcNUFOakeEXpS6tJfC+1koaoMvfByLjH0mlZv20967et53e+8js0Xm7kw199yIlfnuDGpRuJk0YpkcI12qEr4AvwzuF3OHbwGBqthvXb17PtoW1s2bUFR56oAxDGi8YUur0R3NYCdBoNJXmiZkxITyJNSxAWmF6nYcvKIuKKgjfQh9mcqCPpDXWRo3ehk/W3vxNhzrW3H2VoqCH5flHRQ9jtywCoq/vvXLz47eTHJEnDI48cJienesHXeafC8SDd/m6Ki6HMnU2pOzvVS0pbkiRxo2OAgdAQgZif/NyFya0XdSbCfGjvChEIqCxzVLKs0Elhri3VSxKWAFEzIggZQpIkVpW68Ljs3OjuJjtboacvQttwK2atDbPWmuolLjkDA5fo7Hw3+X5Ozhrc7p10dLzLW2/9FnDzSvmWLV+nquo3U7DKO6eoCp3BFly5kOcwivkCt9HYOcBgcIjhyDAFrtQU+k5VZ9LV1jXzOpOOXvR6UWeyVEVjCteag7itbpymHDavKEzu/AnCfBI1I4KQYTZWFVDgtPGtg6cwGHxcvhzlvPckHnMFZdZVov3vAsrNrRn3fm9vLcFgD0ePPoeq3hxkV1LyGOvX/+eFXt6sWbSJdsN+fyJNS5ieTiOjkTTzUjMyGxPqTD46z8lfzaDO5F8Pc/A7BzHbzGzdvZWte7aycaeoM1kqOnvCSMjkW92UurMxiloxIY2JnRFBSDGrSc/21cX0DPiJaXxotdDS04833E2W3inSthaIVmuivv6F5PvxeJiOjmN4vXXJYxZLMY8++gY6XeZ0QJMlDV2hVnSGKHpTlEe2VIq/4dNo7x2mz++jP9hHgSu9nu9kjYy7+JZ5Jrk5DA8OM+Cdm3kmp46d4vrF67iL3Wi14gQ2E4ldESGVZhM7iAnsgpAmVFXl2OlGXn7nAgNDCpcuQjikYZltLflGT1qdFC1W3/2uk3C4b9KPybKOJ554h/z8bQu8qrt3fuAUirmTtWvgL76wG1e2JdVLSlunLrVxqb2VK94rbFxlR6fLjOe73s5eTv7qJCfePMG5k+dQ4gqyRkaJj58CP3Yy/LLqZWz/xHa27dlGcWUxPe09/M6e3wHAYDLwwOMPsOvALlbVrBLP+xmkpSNId2+Mde71LC9ysaY8L9VLEpaQ2cQOIhgRhDTT2jPEPx7+mLZeH9caoLML8oxFVNrWiiGJ8+ynP32YtrYjk35s27b/wbp1f7DAK5ob14cv0KdeY/Nm+E+/toMqjzPVS0pbdQ2dXGht42LPBdYut2EyalK9pDvmH/Zz+vhpPjjyASePnSQUCKHRaJJduZIkkKVEcOIqdOEudlN/sj65qzIazOS6c9nz1B527d9FYZkYnJnOojGFMxeHcVsLKMkqZs+mCpGiJSyo2cQOIk1LENKM3WJgx+piAuEo/tggZjO09QzTFWzHps3BoBE53/Olv/88XV3vTTheVvZJduz4RgpWNDeGo/0MRr14PCPzbhyiQcJU+oeD9A0F6PJ3kWPXYTRkXjCiN+gpqSphx94dPPn5J1mzZQ1mq5nezl6C/iCyLN/syjXyOjAcwNvpTbQTvvVjvgAXP77IoX89xEdvf4SiKLg9bgxGMck73YgOWkKqiW5agrBIaDUy65blU5Rrp6m3h2yHQv9glObBFiRJwq5ziN/DeRAO93Hjxk/GHbPZytm37+dotcYUreru+WKD9Id7KCmBdRX5FLnsqV5S2gqGY/QMBOkY7sRs1mA1Z/ZV5TutM5kqWWL0eH9vP6eOneLgdw5y4+INdAYd+Z58NJrMC9oWG1ErIqQD0U1LEBaZmuUFlOZn8X9/dhqDvo+mJpWmlksMRHpZYd+IQZO5J8jpyOs9O+59Wdbx0EM/xmDI7NkcGklHXAFVhVAkdvsbLGEWow5JkjBoDUQiyu1vkEEkSaJ8ZTnlK8t57t8/N6HORJIk4rH4tPehjgyDjMfiiSGNb57AYrPw4P4H2f3J3VSuEQ0SUkV00BIylQiZBSHNObPM/Kdf28ETO5ZTXi6xbh0E6aXW+zbecGeql7dotLS8QV3dX447pqoqDseaFK1o7milxElJPC6CkduxmBLd64xaA8Hw4gpGbpXrzuXR33iUP/+XP2fHJ3ZMuSsyldHieP+wn1/88Bf84TN/yBf3fpEff/vH9LT3zMeShSlEYwpdvRHyrfkYNDoqixypXpIgzJgIRgQhA8iyxBM7VvDlZ7ZT5jFRswnsjgjnB05xebCOqBK5/Z0IU/L72zh27DOMHWwIoKqxCbslmUgzEozE4hAMR1O8mvRm1GvRyDJGrZHQIg9Gxqo/WT+h89adGC2O72ju4PsvfJ8v7PkCf/TpP+LoK0cJ+AJztUxhCmJXRMhkomZEEDKIM8vM9moP3qEAcY0PoxHavEN0BloxaixicvssKEqMN954goGBS5N+PDd3Ey7X5gVe1dyKqhE6g82482FZUZZo9Xkb7b3DDIYC9PkHKMxbGs95+Z58fMM++nr6iMfid9c1cySm93Z6+eDIBxz8zkFar7ViNBnJ8+SJjpxzLBJVuC5qRYQ0IWpGBGEJsJj0/N4Tm3i/voUfv32BnJwoVxvCXPCewhUqZJl9DXpZdLmZqVOn/pjOzuNTfry3t3YBVzM/RJrWnbGY9Bg1RlRUwhElIztq3akde3ewY+8OYtEY1y5co/5kPWc+OMOFjy4QCUeSHbjuJJVrdJ5JNBLl+M+P8/bht7E77Oz55B52HdhF2YqyefpqlpaWjhAaSYvbWiB2RYSMJH5iBSEDSZLEzrUlrC7P48U3z6LXd9HTAw3X2vnY28sy2xpchsIlcUX3bjQ3/5QzZ/563LHq6i9x4cL/Tr7v9WZ+MBJXEyk0sgZ02sV/Yn23LEYdRm0ioF8qwcgorU7LivUrWLF+BU//7tPEojEazjdQf7Kesx+c5cLHswtORtO4hvqGOPjdg7z6z69SUlXCQ089xAOPP0COK2c+v6xFy+eP4R2IUJ5djkmvZ7mYISRkIDH0UBAynKqqnLzYxo+OnWdgOELDNejpAafBTZVtLXrRcWtSPl8LL7+8YdzE9WXLfp1du77Hv/yLlXg8DIBGY+BznxtGzuCBk95wF+cHTrJtKzz94Aoe37481UtKa81dg9Q1dPBR+8cUFxpw54qdxlGxaIyG+gbOnTyXDE6ikeisdk6QQEr8w4YdG9jz5B627tkq5pfMkKqqXGjwo8YMrHZVs26ZmzJ3Znf+EzLfbGIHsTMiCBlOkiS2VntYVeriB0fPodN14MqFhoZOPvJ6qbCtJt/oEbskYyhKlCNHnh0XiGRlreD++/8BWdbicKylp+cjAOLxMH1958nN3ZCq5d61qBJGAnQ6yLKIE73bWcztfe+WVqdl5caVrNy4kmd+7xmikei44ORi7cWZBycqqIl/OHPiDKePn8ZgMnD/Y/eza/8uqjdXi4uf0+jtj+IPxljlWk6WxUhpflaqlyQIsyKCEUFYJOwWA7+3fzO1Vzr4t6PnyMoOc/1alCvddfSG2qm0r8MoprcD8OGH/5nu7g+S72s0Jh5++MfodIkGAE7nxmQwAom6kUwORiLxEDodSBLYzSIYuZ3x7X39KV5NetPpdayqWcWqmlU8+8VniUaiXK2/mqg5OXGGS6cvJYITjYyqTB2cjHbyCgfD/OrVX/HmT97Eme9kz1N72LV/F0XlRQv5ZaW9WFyltTOE0+TEpreyujxPXHASMpYIRgRhkalZXsCKYic/OnYenbYVVx5cvdpNrfctSiwrKDSXIUtL92pjY+NBzp37u3HHdu78exyOtcn3c3Nrxn08UcT++YVY3ryIKGH0ifNrsqwibe92xrb37Q8P3/4GQpJOr6O6pprqmuqbwcm5q4mdkxNnuXj6IrFobNrgZLS+xNvl5Sff/gkvfeslKtdU8tBTD3Hvvnux59gX+stKO+1dIeJxieLcEgqcNnKzzKlekiDMmghGBGERspj0fP7RjWxeUciLR86SZQ9x40aMG53n6Qw2U2lfQ7Y+N9XLXHDDw4289dZvjztWVfUZVq78wrhjubkbx72f6UXsESWMfiQGEWlaM5MoYjcR8SnEFRWNLK46z4ZOr6N6UzXVm6r5ted/jWgkypWzV5LByaW6S8ngRFGUW0f9JDtyXTt/jYbzDfzD1/6Bex68hz1P7mHT/ZvQ6TO3lmu2gqE4Xb0RiuxFGLV6Vpe5Ur0kQbgrIhgRhEVs3bJ8Kose5JV3L6LVNlNQoNJwbZiz/SfINRRQYavGqFkaV9Ti8QhHjjxLJDKQPJadvYp77/3WhM91ONYhSRrUkS5U3d2nCAS6MJvzF2y9cymihBjJPMIm0rRmJMtqxDJgQUUlEIxjs4iny7mg0+tYvXk1qzev5rkvPUc0EuXymcs307rqLiXmnNwSnIzuoChxhVNvneLDox9itpp5cP+D7Dqwi+Xrli+ZNKXmjhB6jR63tYDKIgcmw9ILyITFRQw9FIRFTqfVsG5ZPmvK8+gaGMJoCWEyQVe/j9bhZkDFpstGWuSpWydO/EcaG19Lvq/Vmnn00TexWifmosuyjuvXXyIU6hk5ouDzNVFW9lTG/T8pqsJ133lcLpWSQiN776lM9ZIyQjgSo28wTKevC5NBxiqCkXmh0WjIK8pjzZY1PPTUQzz1hafYsGMDrkIXSlyhr6cPVVETaV0jkcloYBKNRLl+4TpvvPQGx14/RigQwlXgwmK3pPJLmlf9Q1Hau0NUOCpwWu1sWl6ALHbthDQym9hBtPYVhCVEVVVOnG/llXcvMjAcprkZ2tpAL5tZZluNQ5+/KC82XL/+E44ceWbcsQcf/A7Ll//WlLd5++0vcPnyP487ZrOVU1HxLFZrMTZbGSUlj83LeufSQKSXs/0n2FQDD20p5rcfydxC/IU05A/z9plGLvRcRG8KU1m6NHYQ000kHOFy3WXOnTzHmRNnuHL2ys2dk/j4TmeSLKEqKtWbqtnz1B527t2J2bp4vm+KonLuig+DZGVl7go2LS+kMNeW6mUJwjiziR1EMCIIS1AwHOXQ+1c4VncDv1/l2jXo6weHPo8K22rMWmuqlzhnhoau8fLLNUSjQ8ljy5d/jgcf/OdpbgXt7W9z+PCDU358+fLf5sEH/2WuljlvbgxfpCvawNZt8LuP1XDPStGVaCZUVeXnHzZwo7+JvnAXG1aJoul0EA6FuVx3OTkhfrrgRKvTsv0T29n9yd1s2L4BTYYP/GzvDtHWGWZN3ho8Tic71hSnekmCMMFsYgeRpiUIS5BOq2F1eR41VQV4h33IhgBWG3QP+GkdbiamxrDpcjK+61Y8HuZnP9uLz9eUPJaTs4a9e1+97RBDm60MSdLS3v7WpB9fseJz5OVtncPVzo8bvovYHWFyc+E3HlqLQSfSjWZCkiR6BgL4QmF6/F7yHHo0GvHcl2parZZ8Tz5rt67l4acf5snPP8m6betwFbiIx+KJtK7R+hJFoflqM28fepuf/+Dn9Pf2k5ObQ05u5k17D0cUrjcHyLPk47K4uGdlEQa9+F0W0s9sYgcRjAjCEmYzG9hW7aEo107nYD/ZzhiSpNLW109HsBkJGavOnnF1EqPee+8/0Nx8OPm+Vmvh8cePYDYXzOj2BQX3U1LyOJIkEY+HiccDKEoUgI0b/xirtWRe1j1XIkqY674LFHtgVUUWD21aluolZRRfMMKgL0qnrxObRYvJmNlX1hcjrVaL2+Nm3dZ1PPypMcFJoYtYLEZ/Tz+qqiZ3VM09jckAAB3WSURBVH7xw19w/OfHiYQj5BflY7Kk/+wlVVVpaA6gxHRUOiopc+dQIgYcCmlK1IwIgjBrkWicX5xs4I1TDfgDCs3N0NkFeslEqXU5+cZicSEiw3QH27g8VMvWbbB/ZyVP3rcq1UvKKF19Pk5eauNM5xlycqCkMP1PXIXxwsEwF09fTHbrulp/NZnOJUkS67evZ8+Te9j20DYMpvTsNNfVG6apPcgK50rcWU4eWF+KLsNTzoTFS9SMCIJw13oHAxw8folTl9sJBFSamqCnB4waC2XWleQaCkRQkiHq+z8kqu9m40b48jPbWVGy9GbL3I1oLBGgX++/QUDpY81yUSyc6UKBEJfqLnHuw0RBfMP5BpS4gsVm4TvvfCftApJQOE79FR+55jzKskvZVu3Blb14u4UJmW82sYNIOBQEYZzcLDNfeKyGvVsqOXj8EiZTF8XF0Njo52Lfx1i1WZRZV5Kjd4mgJI0NRwfoi3SzqgIcdhPLihypXlLG0Wk1ZFmM2Pw2egd6iMVVtKJuJKMZzUY27NjAhh0b+MwffIZQIMTF0xfpaOpIu0BEVVWutwTRyXqK7cWU5meLQERYlEQwIgjCpDwuO//+yS1ca+vjtfcuYbF4GRqCG42D1A98SJbOQZl1JVl6Z6qXKkyiyXcZsxlyXfDo1iq0GrGjPRtOu4nuwUQnrWFfjJwsMWBuMTGajWzcuZGNOzemeikTdPVG8AVirMytwmYyUC0mrQuLlAhGBEGY1rIiB19+ZjsXm3p57fgl7PYB+vvhRmMfZ/rfx6HPo9S6ApsuO9VLFUaM3RVx2k1sXy1agM6WM8uMoUOPXmNg2C+CEWFhBENxWjpDuK1u7AYbGyrd4oKCsGiJYEQQhNuSJInqMherSnM5fbWTg+9dIvv/b+/OYyS96zuPv+t56j67ru6qvqevmWl7xh6Psc3a2LGIE7AhiAVMMFbYZFmW7Aa0CbBsBBIoQiwRWgRSFpSNYGFjxCUlcQgCwirLYQ6D49szY/f0THdPn1PV1dVd9/U8+0fbY49nxvaMu7v6+LykUXX/+qnSt+ypmvr07/hGiyxnYWrqLI/kzhJ1J+n1D9PhTmj5VptpVmTjxMPrm9YjnjD5Qo7tfX6a7Aa2bXN6toLb9NAT6mUoHSUe2T3NG0VeTGFERF4xh8PBdWNprh1J8eDxWb77i2eIx8tkszA7m+GJfIagM0Kvf5iEN73j+5TsRGv1Fc2KbCCX0yQe9pOvxsgsZyhXWvh9OslINs9Cpkap3OJgcoyw38sBHTwhu5zCiIhcNsNw8Nqr+njNgR5+8eQZ/vmhSZLJEvk8zM6ucmLlYbxFHz2BIVLefkxDbzVboWU1eWbtUYJBzYpspHQ8SGY1jGk4ya02FEZk05SrLeaWaqSCaULPLs8y9RqWXU6fEETkijlNg1uvGeCWQ/08enKRH/7mJB0deUolmJ2tcDrzFNPFZ+j2D9Lt24fb3F6n1ew2JwtPUKPIdQdgoCuiWZENko6HePL0WaLeKLnVHL0pb7tLkl3IsmxOnSnjdXrpCfcwlI4SC6u3jex+CiMi8qoZxvryrSOjKSZmc/zwNycJBM4yOAhzcw3mFyeYLU3S5eujxz+E3xlsd8m7znx5iqXqLAf2QzTi5D/cdVSzIhvE63YSC/nIV2NktVRrQzz0k4c48cgJbNumf6Sfo7cdJRje2+8L82drVCoW48lhIgEtz5K9Q2FERDaMw+FgrC/OWF+c+WyBf35okl/75ujvt1hYsJibm2ZheZoOd4KUr5+EJ4Xh0Ie6VytXO8tk4Ul6eqCzE+694zCdUfUj2EjdiRDZtfKeXao1e2qWH37rhzz2q8fIzGeo1+pE4hFGrx7lljfewi1vvOUVHVzRbDT59J98mod+8tB54/6gnz/40B9w57vu3KynsK2tFhrMn63SE+4l6Alw7UgKw9BBILI3qAO7iGyqlUKFf3n4ND99fJpyrUkmA4uLsLoKLoebTl8vKV8/Aae6W1+JtXqOJ/IP0hFrMj4Ob3jNCP/21oPtLmvXqdab/OihSU6tnKbYynF4/974+9pqtvja//ga//h//hGrZeF0OWk2mhdcN3bNGB//4sfpiL/0Ed/f/+b3+dInv3TJn7/nw+/hbe9926uueyep1S2enCgQckUYi49xoD/BaK/6N8nOdCXZQalCRDZVNOTjbbeN85n3/TbvuG2cq8cCXHMYXnM9pHrqZBqn+NflH/No7gEWKzO0rAs/6MjFLVbO8PjKLwmGmxzYD0dH07z1dQfaXdau9NxSrZgvRrXWolxttbukLbEws8Cxh4/xp3/5p9z3y/v4uyf+jr/9xd/yh//1D/EFnt/P8Mxjz/Cx93yMcrH8ko83/cz0ed97/V5ufsPNRJNRAO77/H0szS5t/BPZpizLZmK6hBM3Q9FhuqJBRnpi7S5LZEuZn/zkJz95qR/atk29Xj9vzOPxqIeAiFw2l9NkuCfG7UcG2d+XwDBtanaRdLdNMADlepW51SXmKlPUWhXchge3ofebi7Ftm9PFY5wuHieVsjl4EMYHE7zvzddrn8gmalkW+UKTpdJZTAPCwd2/0jkcDfM77/gdBscG8fjWD6Dw+rwcPHKQQzcc4mff/9m5mZK13BrLS8u89o7XXvLx8tk8D/7LgwAYhsHHv/hx3v6+t3PH2+/gVz/6Fau5VQLBAIduPLT5T24bmJqrUCjaHEjsJxYMceN4j07Pkh3tSrKDwoiIbCmHw0E84ufIaJrfumaQWNhHrVXFF6yRSoHhtMgWVpktzrBcW6RpNXAZbpwOt957gKbV4Njqb8jU5hgZhsFBuP3IIH/0xiO4nHtrH8NW83lcnF5Yodqsslop0ZXY26fDJdIJvD4vD//s4XNjU09PMX79OKne1EXvM7B/AK/fiy/g411/8i5ufP2NALg9btweN7/+f7/G6XJy+1tu35Ln0E6ZXJ25pSr7okPE/FFuGu/F73W1uyyRV+VKssPu/7WOiGxbAZ+b24/s47euHWR6aZUHnpjh18fn6O9vkl+BpaU1ZnNrTJVO4DeDJLxp4p4UQWdkTwaTfH2ZibXHaDpKHLoaYjEH97z+EK87PNDu0vaE50/Viq6fqlVt4ffu7QB417138b2vf4/56flzY1//wte55qZrLnq9aZqX3BNy5OYjAKxkVja+0G2mWG4yNVchGegk4Y9zzXAX4cDeDreydymMiEjbORwOBlMdDKY6eMdt4zz09DwPPDnDqegKlg35FchmiyzkJpgpTeA1fMS9aRKeFGFXbNcHk2JjlaniCXL1s4RCcOgAJKJu3v9712uj6xZ77lQtp+Eis1xnoGdv94EwDIO73n0Xf/Ppvzk3duKRE0wem2R4fPiyHuu5fSPN5u7eN9ZoWpycLhNwBRiIDLAvHaUnGW53WSJtozAiItuKx+3k5kP93Hyon+XVMo+eXOSRk4ucnMthWTara7CcrZBdPsXcyinchoe4J0Xc00XEFd9V3d4rzRLTpac5W53D74Pxg5BIQH9XhPe/+XriEX+7S9xzehJhjk9n6Qx0spibpyflxWnu7jD8cm578218+TNfxrKsc2MP/t8HLzuM1GvrSztiyd27gdu2bSZnKtgtk5HOURJhP+MDyXaXJdJWu+dfbRHZdeIRP68/OsTrjw6xVqrx2OQij0wscmImy9CwRbEA2WyN7PI0C/lpHDgIuTrocCfocCcIu6I7ro+JbdsUm6ssVc6wUJnG7bYZHYVUFyQifn7v5v3ccKBHPQjaxO0y6esMU210slBY4Gy2RnfX3u7IHo6GGbtmjBOPnDg39vADD3PPB++5rMc5dewUACOHRja0vu1kbqlGodhkf2I/Ia+Po/u79VqWPU9hRER2hHDAw+sOD/C6wwNUag2eOHWWRyYWeHLqLPsaLSoVyOdt8qsrLOZXmClNYGAQdHUQdkWJuGOEXFHcxvZbl23bNoVmnmx1gWxtgWqrjNsFg/ugpxvCATd33jjKbdcO6rSsbWAoHWVqMU/CH2dpeZlU0rPnP1AeufnIeWHk1PFT1Ko1PN5X/nr75Y9+CcB1r7tuw+vbDlZW1xsb9ob7iHgjHB1L43XrY5iIXgUisuP4PC5uONjDDQd7qDdaHJvOcHw6w4mZLIu5IjZQLsHqqsXqWo7MWo7Z/CQAfjNIwBnG7wzicwbxm0H8zuCWz6A0rDql5hq52hKZ6gI1q4LbBfFOSCYgElnfMH3H9UPccf2wPrRsIwGfm1QsSKWZJrOUYTnfIBlzt7ustho7PHbe981Gk8mnJhk/Ov6K7l+r1Pjxd39MR6KDq19z9WaU2FalSotTZ8pEfTG6Q2nGB5JaZinyLP3rJiI7mttlcu1IimtH1o8SzRerPHNmmRMzWSbmljm7UgKgVoO1NVhbK1IqFVkoQ339Rzhw4DF954KJ79lbl+HB6XDhNFwYjiubkWhaTcrNAuVWgVKzQKm5RrlZoG7V1ut3Q6ILkkkIR8A0HBzoS3DdWJrrRtMEfHv7Q+52NdwdYzFXpMPbwVK2sOfDyOih0QvGTj518hWHkR986wcU8gXe+Z/eiWnurKWVL6daa/HM6RJeM8BQxxDd8RBD3dF2lyWybSiMiMiu0hH0nps1AVgr1Ti1sMLkXI6T8zlmllZpttY32jabUK5ApWxTLpcpl8ssV85SLYJtn/+4BiYuw4X5bDh57muwadlNWnYLy25d9GsAhwN8XvCHIB0Avx8CAfD5wWkYHBxIcN1ommtHUgogO0As7CMa8pGqpTiRzbNaaBAJ7d0eEeFomHA0zNrK2rmxF3dbv5TiWpFvf+nbuNwu3vDON2xWiW3RaFg8fbqEiYexxBjJSODcL05EZJ3CiIjsauGA57yZk1bLIrtaZjFXZCFXXL9dLrCYK1Ktrx8patlQrUCjAc3WemhpNlo0Wy2azer6902oNwEHmAa4TTAMMM31P8997XKBPwB+3/oYQNDnpjsRoicRZjDVweGhLjU724GG0lFWChX8rgALmfqeDiMA3QPd54WRM5NnXtH9vv2lb1NYLfCme99EvGv3HFXdatk8fbqE1XQyntxPLBjghoPqsC7yYgojIrKnmKZBVyxIVyzIC9uy2bbNaql2Lpxk8mVK1TrlaoNKvfn817Umtcal+yC4XSZup4nH5cTtMvF7XHQnQnTHQ88GkBAh//bbRC+XLx0P4ve4SAdTTK5M7vkmiOmBNCcefX4T+/zU/EtcvW76mWn+6b5/wuf38Y7/+I7NLG9LWZbNxHSJWt3BeGI/HYEAN4334nLu3b8fIpeiMCIiwnrjxY6gl46glwP9iZe8ttmyqNQalKsNTNPA82wAcbvMXd+AUZ7ncDgY6o5SqtaZWT3DYqbGUN/e3ZQc6zy/P8jayhrFtSLBcPCi17eaLb7w51+g2WhyzwfuOdf0cKezbZvJM2WKJZv9if1EfEFuGu/VIRQil6C5QhGRy+Q0DUJ+D12xIImIn5Dfg8ftVBDZg/o6I7hdTtKhFMsrDcrVVrtLapuOeMcFY5mFzCWv/85ff4eTT52kb7iPt/y7t2xmaVtqer5KfrXJcGyIDm+YGw72ENQ+MJFLUhgRERG5Qk7TYLg7SmegC4/Ty/Rcpd0ltU0kHrlgLHc2d9Frn3jwCb75xW9iGAYf+NQHcLl3x36buaUqZ5drDHYMEvPFuH5/N9GQr91liWxrCiMiIiKvwnB3jKDXzUBkgEKpyXK+3u6S2iISvTCMFPKFC8ZyZ3N89kOfxWpZvPXfv5UDRw5sRXmb7uxyjbmlKr3hXpKBJEdGUnRGA+0uS2TbUxgRERF5FQzDwdX7Ool4w0S9UWbmq7Qs++XvuMtcbGaktFY67/t6rc5nPvgZ8tk8Y4fHePcH371V5W2q5XydqbkKXcEuukPdXDXYSU8y3O6yRHYEhREREZFXqSsWpLMjQH+kn2YTFs7W2l3SlovELgwjterz/x1s2+bz/+3znHj0BJFYhI9+/qM4XTt/U3d2pc6pmQpxX5yByAAjPTE1NRS5DAojIiIiG+DqfZ34XF7SoTQLmRrV2t7azH6xU7Pq1eeXrH31s1/lge8/gNPl5KNf+CjJ7uRWlrcpFrM1Tp0pk/AnGIoO0d8Z4eDAzn9eIltJYURERGQDBHxuhrqjpINpXIabmflqu0vaUs6LHF3baq0Hsm/81Tf4+6/8PQDv/fP3cvVrrt7S2jbD/FKVmfkKqWCafdF9DHXHODzc1e6yRHYchREREZENMtobJ+B10x/pJ19osLLWaHdJW8Y0TQzj/I8VjXqDr/zlV/jGX30DgN+9+3e5854721HehpqZrzD77Gb1/kgfo71xrt7XqeO9Ra7Azl+sKSIisk04TYPxgSTViSZhT4SZ+SKRoBPD2BsfUp1u53lLs+7/6v20muuzIzf99k28/xPvb1dpG8K2babmKmRydQYiA3QFuxgfSDLcE3v5O4vIRWlmREREZAP1JMPEw34GOgao122m5/dO75EX9wt5LogcvukwH/ncRzBNsx1lbQjLsjl1pkI212BfxxBdwS4OD3UpiIi8SgojIiIiG+zQUCdBt5/BjgEyuTrZlb3Re+RizQvHDo/xsf/5sR3d2LBl2ZycLpPLNxmOjdAZTHLdaJqB1IVd50Xk8miZloiIyAYL+T0cGuqkddKiUC8yNZvF7zXx+3buzMDLqVVqWC3rvLGRq0b4xP/6BL7Azu1C3mrZPDNVolS2GYuPEfVFuH5/N12xC08PE5HLp5kRERGRTdDXGaG/M8JAZACv08fEdJlWa/s3Qzz2r8f48n//8mXdZ/bULB+++8OsraydGxs/Os6nvvYpQh2hjS5xy9QbFsdPFSlXYH9iP/FABzeN9yqIiGwghREREZFNcmioi1jIz0hslGbTwenZ7b9/ZOqZKe7/2v389Hs/fdlrG/UG//C//4EPvf1DTE9Mnxu/9a5b+Yuv/AX+oH8zS91UhVKTpyaKNOtODiYOEPNHeO1VfcQjO/c5iWxHWqYlIiKySQzDwfX7u/np4w2GovuYWJ5gMWOSSnraXdol9Q31AfC5j3yOhZkF3nTvmwiEAuddk1/O8/Mf/Jz7v3o/i2cWz42bTpN7/8u9vO29b9vSmjdaJldnaq5CwBVkND5KxOfjhoM9hPzb9/+byE7lsG37knPGlmVRKBTOGwuFQhecIy4iIiKXtpgr8psTc8ysnmGpuMjB4QDBwPb8fWC9Vuc9t7yHUqEEgNfvZXh8mEQqQbVSJbOQYerpqQv2h3QPdPNnn/0zxg6PtaPsDWFZNmcWqiwt10gGOhmIDNDZEeDoWDdu1+7d7yOyUa4kO2zPd0IREZFdJBULMtITw7ZtivUiE9MlrhoN4nZtv1/uuT1u7rznTr7z198BoFqu8tRDT13yepfbxVv/6K3c/cd34/a4t6rMDddoWJycKVMsWQx27KMzkGRfOsr4QHLP9IkRaQeFERERkS1woD/BSqHKiDXCscwxTpwqcWAosC0Dye//59/n6cee5vFfPX7Ja9weN7e/5Xbu/uO7SaaTW1jdxlsrNpmcKYPl5EByjIgnxKGhLvq7Iu0uTWTX0zItERGRLVKtN/n5EzPkSkVOZE9gOJvbNpA0G01+8K0f8JPv/oSZkzM06g064h0MXzXMkVuOcOudtxKM7OxTpWzbZiFTY26xRsgTYjg6TMjn4+hYN7Hwzj2OWKRdriQ7KIyIiIhsoUqtwS+ePHMukDjMJgeHt2cg2c0aTYvTZyrkCw26Q930hHrojAY5MpLC49bCEZErcSXZQe98IiIiW8jncfFvru4jFghyMHEAu+Xk+GSJesN6+TvLhljO13ni6SKFks1YfD+94V729yW48WCPgojIFlMYERER2WLPBZKoAsmWqjcsJqZKTM6UCbk7ONx5iM5gjBsP9rK/P4HDoY3qIltNy7RERETa5LklWyulIse1ZGtTZXJ1ZhYqGLaTgY5BYr4oqViQQ0NdeDUbIrIhtGdERERkh7lYIBkd9OP3qq/FRqjWWkzNVVgrNkn4k/RH+gl4PBwa6iQdD7W7PJFdRWFERERkB3phIJnITVBtVhjo8ZGM7dy+He1m2zZL2Tqzi1VchpvBjn1EvGH6OiOMDyTVxFBkE6jpoYiIyA703B6SXx+fw2mMM7M6zenZDGvFJoO9Pkw13bss5WqL02cqlCstuoJd9IR6Cfo8XDPcRbIj0O7yROQFFEZERES2AZ/HxS2H+nlqKoNpGIQ9YabyUzxVKTIyoGVbr0StbjF/tko218Dr8nIwOUbQHWRfOsqB/gROUys7RLYbhREREZFtwjQNDg93EQ/7ePyUgd8dYDJ3kmMTRS3begn1hsX82RqZXB3T4aQv0kdnoIuw38M1wyk1MBTZxhRGREREtpmeZJiOoJeHnp7H/eJlWz0+TFPLtgAaDYuFTI2l5TqGw6Qn1ENXIIXH5WS4O8ZITwxDS9xEtjWFERERkW0o4HNfdNnW48UC6U4PnTH3nv2g3WhaLGZqLGXrOBwm3aEeUoEu3E4XQ91RhrujuJxa1iayEyiMiIiIbFMvXrYVdIeYK8xxZj7LUrZGb5eXWIdrzzTra7bsZ0NIDds2SAXTpIJp3KaTfen1EKIO6iI7i16xIiIi21xPMkw05OP4dAaP0006mGJ2bZbJMyssZE36Ul4iIVe7y9w0hVKT7EqdXL6BbRt0BlKkQ2k8pouBVAcjPTE1LhTZodRnREREZAfJF6scn86QXS1TqBc5s3qGYr1AOOikN+Ul6N8dH8rrDYtsrk5mpUGt3sJjekgEkiT9STxON/2dEUZ7Y/g8uzeEiew0anooIiKyR2TyJY5NZVgr11iprjC7NkulUSEcdJGMuYiGXTtuT4ll2aysNcjkGhSKTRwOg6g3SjKQJOwJ4TQNehJhRnpi+L0KISLbjcKIiIjIHmLbNvPZAidmspSqdZYrOc6WlijWi5img0SHm3jUta1nSyzLplhukVttsJyv02rZBN0hkv4EMV8M0zBJRPz0dUZIx4KY6hUism0pjIiIiOxBlmUzvZRncn6FSq1BpVklW8qSLWdpWHXcLoNYxEU04iLoN9u64b1l2ZTKLdaKTQqlJsVyC9u2cRluEv4EiUACn9OL3+OirzNCbzKsWRCRHUJhREREZA+zbZvltQozS6ssLBdoWRaFeoFcZYWVygoNq47TNAj4TQI+E5/XwO818XqMTQsorZZNsdykUFoPIKXKevhwGi5C7iAhT4iwJ4zP6cNpmqTjQfo6I8TDvj1zSpjIbqEwIiIiIgA0mi0WlovMLxfIrpaxbZtivUi+mqfcKFOql2lYdQAMhwOf18TvM9ZvvSZO04HDAYbhwHCA49nbF+5DsW2bRtOmXreoP3fbsKg37GdvLRoNGxsbl+Ei5Amvhw93CJ9rvSu63+MiHvGTiPjpigbUH0RkB1MYERERkQs0mi2WVkosLBdYXqvQaLbWx60mlUaZcqNMuVGh3ChRaVSxsV7y8QyHA4cBVgts7BeMm7hMFx7Tjctw43G68Zgegp4QPqcXgIDXTTzsIx7xEw/7dBqWyC5yJdlh++5oExERkQ3hcpr0JsP0JsMAVGoNVks11ko11srrt6Xq+iyJZdvUWjVaVgsbG8uysLFo2Ra2bWPbFpZtYdk2pmHiNt24TRdu04PTOH9Ww+008XlcdAS95wKI+oGIyAvpHUFERGSP8Xlc+DwuUrHgubFmyzoXTkqVOi3LxrJtWq314NGybCzLpmVZz97aOE0Dn8eJ1+1cf0z3+tfPfb/TjhYWka2nMCIiIiI4TYNY2Ecs7Gt3KSKyh2jzh4iIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXCiIiIiIiItIXzpX5o2/YFY5ZlbVoxIiIiIiKyM10sJ1wsT7zQZYeRUql0mWWJiIiIiMhe9HJhRMu0RERERESkLRRGRERERESkLRRGRERERESkLRz2Syzksizrgo0oDocDh8Ox6YWJiIiIiMjOYdv2BXtEDMPAMC49//GSYURERERERGSzaJmWiIiIiIi0hcKIiIiIiIi0hcKIiIiIiIi0hcKIiIiIiIi0hcKIiIiIiIi0hcKIiIiIiIi0xf8H0FZxZgWav5kAAAAASUVORK5CYII=\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": { "image/png": "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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$^{th}$ roth 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": "iVBORw0KGgoAAAANSUhEUgAAA0cAAAFrCAYAAAAaS/LnAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAAPYQAAD2EBqD+naQAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4xLjMsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+AADFEAAAgAElEQVR4nOzdeXgc1Z3v/3erW4u179a+WJYlb/KGjdkS7BAWgwMBEjIJISE3swTuzYSbm0ASLgyZbBCYHzOZJBMuk2FmErI5kIDDTozZbDDeJVuyrNXarH1XS+ru+v2hqKyWZNlyWeqS/Hk9D495+nQdn+r66Li/qqpTDsMwDERERERERC5wQYEegIiIiIiIiB2oOBIREREREUHFkYiIiIiICKDiSEREREREBFBxJCIiIiIiAoAr0AOYLp/Ph8/n83vN4XDgcDgCNCIREREREbEjwzAYvzh3UFAQQUGTnyOak8VRX19foIchIiIiIiJzUERExGmLI11WJyIiIiIigoojERERERERQMWRiIiIiIgIMAfvOZps4YWprhsUEREREZEL02TrFUy1kNu8KI6mWnFCRERERERk1FTFkSoKERERERER5uCZI7s5duwYHo8Hl8vFkiVLAj0cmWOUH7FC+RErlB+xQvkRK+ycn2mfOerp6eHrX/86V199NUlJSTgcDv7hH/5h0vfu27ePq666isjISGJjY7n55puprKyc9L0/+tGPKCwsJDQ0lNzcXB566CGGh4enO7xZNzAwQH9/PwMDA4EeisxByo9YofyIFcqPWKH8iBV2zs+0i6O2tjaeeOIJBgcHuemmm077vtLSUq688kqGhob47W9/y89//nOOHTvGFVdcQUtLi997v/vd7/L3f//33Hzzzbz88svcddddfO973+Puu++e/h7NMofDYf4nMl3Kj1ih/IgVyo9YofyIFXbOj8MwDGM6G4y+3eFw0NraSlJSEg8++OCEs0ef/OQn2bFjBxUVFURHRwNQU1NDfn4+99xzDw8//DAwUmxlZGRwxx138LOf/czc/nvf+x73338/xcXFLFu2zHzd5/PR09Pj93dFRUVpQQYREREREfEz3dph2hXF2VR5Ho+H7du3c8stt5iFEUB2djabNm3i2WefNV976aWXcLvd3HnnnX593HnnnRiGwR/+8IfpDlFERERERGTaZuR0S0VFBQMDAxQVFU1oKyoq4vjx47jdbgCKi4sBWLlypd/7UlNTSUxMNNtFRERERERm0oysVtfW1gZAfHz8hLb4+HgMw6Cjo4PU1FTa2toIDQ0lIiJi0veO9jWVkpISsrOz/c5SDQ4OUlpaCkBcXBxZWVl+25SXl9Pf3w/AqlWr/NpaW1upr68HICsri7i4OLPN6/WaBVtUVBSLFi3y27aqqoru7m4Ali9fjst16iPu7OykpqYGgLS0NJKSkvy2PXToEIZhsGDBggkrd5w4cYL29nYACgoKCAsLM9t6e3upqKgAIDk5mdTUVL9tjxw5wvDwMMHBwX6XKAI0NjbS3NwMQF5eHpGRkWab2+2mrKwMGDkWmZmZftseO3aMgYEBHA7HhEK4paWFhoYGYOSMYWxsrNnm8XgoKSkBIDo6mtzcXL9tKysrzdOfK1aswOl0mm0dHR3U1tYCkJ6eTmJiot+2Bw8eBCA8PJz8/Hy/ttraWjo6OgDMxT9GdXd3U1VVBcDChQtJSUnx27akpASPx0NoaCiFhYV+bQ0NDeZ9dIsXL/bLcn9/P+Xl5QAkJCSQkZHht21ZWRlutxun08mKFSv82pqbm2lsbAQgJyeHmJgYs21oaIijR48CEBMTQ05Ojt+2FRUV9Pb2AiO/eBh76ritrY26ujoAMjIySEhIMNt8Ph+HDx8GIDIykry8PL9+q6ur6erqAmDp0qWEhISYbV1dXVRXVwMjv9xITk7227a4uBiv10tYWBgFBQV+bXV1debPen5+PuHh4WZbX18fx48fByApKYm0tDS/bUtLSxkcHMTlcrF8+XK/tqamJk6ePAlAbm6u5gg0R2iOGKE5YoTmiBGaI07RHDFiPs0Roz+nZ2tGl/Ke6vK7sW1n+77T8Xg8jL91yjAMc7U7j8cz6TanWw3P5/OZbT6fb0L72H5bWlrwer04nU6SkpL8+h0/prH9er3eSfs1DIPg4OAJbV6v11K/p9vXsf2O39exn+Fk/Y7u62TH6Gz7ncljM1W/U+XldJ+hx+OZ9PrUqY7Nmfp1u91m39Ppd3RMU43X6mc42fZjxzTemfZ1aGgIn8/n94/UZP2ey7EZ/dk5137tksPpzhFj5x/NEZh9zac5YvTYTNZ2vuaI1tZWvy8hmiMm9muXHNrpe8To/NPT06M5gvk9R4x3vuaI5uZmQkNDzSJ/JueI6ZiR4mi0gpzsrE97ezsOh8P8DUBCQgJut5v+/n6/Km/0vevWrTvj3+dyuSb8YDkcDnNyGPtbl7HbTDZ5AAQFBZltk4V4bL8NDQ3mb1OSkpL8+h0/prH9TnZgg4ODMQxj0vE6nU5L/Y7983T9jt/XsZ/hZP2O7utkk9rZ9juTx2aqfqfKy+k+w7HvGWuqY3Omfkcn38l+cKfqd3RMU43X6md4pn0d70z7GhISgtfrPe+fYXBwMD6fb9o/N3bM4XTniLHzT3x8vOYI5t8cERwcbBbA0+l3dNup+h3V0NDgVxxpjpjYr11yaKfvEaPzz1T7qjnCv9+5NkdY/QwNx+nHNDw8TFNTk/n9+Wz21cocMR3TXq1urNOtVufxeIiOjuZzn/scP/3pT/22ufbaa6msrOTYsWMAPP3003zmM59h9+7dXHzxxeb7mpqaSE1N5bvf/S7f/OY3zdfttlrdwYMHzS8n40+ri5yJ8iNWKD9ihfIjVig/MpnmHjevHWnm5ZImPqhuZ/c3P0JU2MRiZjbzM93aYUbOHLlcLrZu3cozzzzDI488QlRUFDByreaOHTu45557zPdee+21hIWF8dRTT/kVR0899RQOh2PKZynZQXZ2Nj6fT0uJyzlRfsQK5UesUH7ECuVHRlW39vHKkSZeLjnJvtoOxp522VXRxtXLUyZsY+f8nFNx9OKLL9LX12dWYUeOHGHbtm0AbNmyhfDwcB566CHWr1/PDTfcwH333Yfb7eaBBx4gMTGRr371q2Zf8fHx3H///fzf//t/iY+P5+qrr2bPnj38wz/8A1/84hcn3PhnN2NvEBSZLuVHrFB+xArlR6xQfi5sPp/B84ca+OkbFZQ2+Z+VWZUZy9XLFnLN8oUsTo6adHs75+ecLqvLyckxV0sZr6qqylzxYu/evdx7773s2rULl8vF5s2befTRRyesXAHwL//yL/z4xz+murqalJQU7rzzTr71rW9NuK7QbpfViYiIiIhcKHZVtPH9F49yqG5k1TlXkIONixK4ZvlCrlq2kNSYBQEeob/p1g6W7jkKBBVHIiIiIiKz63hzD99/oZTXS0eWbo8IcfKlK/P47MYcYsInX7zBDmxxz9GFZHQZcYfDMenKJiJTUX7ECuVHrFB+xArl58LR3OPm8dfK+c2eE3h9Bs4gB5/ekMXfX5VPYmTomTuYhJ3zY6/RzEElJSVarUXOmfIjVig/YoXyI1YoP/PboMfLW8da2X6ogZdLTjIwPPLcoauXLeTe6wrJS4o8Qw9Ts3N+VByJiIiIiFzghjw+3qloZfvBRl450kSP+9SDcFdlxvKtLUvZkBsfwBHODhVHFkVHR+PxeGx3SlDmBuVHrFB+xArlR6xQfuYHj9fHuxVt/OlQIy+VNNE1MGy2pUSHsWVlKtcXpbI2K3baD1Odip3zowUZREREREQuIO19Q/x4x3Ge3V9Pe9+Q+XpSVChbVqRww6o01mXFERR0/gqiQNGCDCIiIiIiMoF72MtT71bz4z8fp2dw5LK5hIgQrl2Rwg1FaWzIjcc5DwoiK1QciYiIiIjMY6MPbX3kpTLqOwcAWJYazf+5Zgkfyk/C5dQVWKNUHImIiIiIzENDHh+vHGniiTcrzYe2pkSH8bVrCvj4mvR5cdnc+abiyKLKykrzhrJFixYFejgyxyg/YoXyI1YoP2KF8mNv9Z0D/Oq9Wn695wStvYPAqYe2/o/LF7EgxBnQ8dk5PyqOLOrp6THXaReZLuVHrFB+xArlR6xQfuzH5zPYWd7CL3fX8OfSZnx/WXItKSqUT63P5I5LckiKOreHtp5vds6PiiMRERERkTmqucfN7/fW8/T7NZxoHzBfv2RRArdvzObq5QsJ1j1FZ01LeVvk9XrN/3c6A3uKUuYe5UesUH7ECuVHrFB+AmvQ4+X1o81s21vHzmMteP9ymig6zMWt6zL59MVZLE6ODPAoT28286OlvGeZJgSxQvkRK5QfsUL5ESuUn9lnGAbF9d1s23uCPx5soLP/1ANb12XHcdv6TLYWpQX8fqKzYef8qDgSEREREbEpwzB47Wgzj71SRmnTqTMgKdFh3Lw2nVvXZbAoyb5nieYaFUciIiIiIjZU2tTNP24/wjvH2wAIcQVxzfIUPrEug8sWJ17wD2ydCSqOLOro6MDn8xEUFERcXFyghyNzjPIjVig/YoXyI1YoPzOrtXeQf3r1GL9+vxafMVIUffHyXP72Q3nEhNtvhbfpsnN+VBxZVFtbay5FaLeDK/an/IgVyo9YofyIFcrP+WUYBrXt/XxQ3cEHNe1sP9hIz6AHgC0rU/jGdUvJjA8P8CjPHzvnR8WRiIiIiMgsGvb6KGno5oPq9r8URB3mw1pHLU+L5oEblnHxooQAjfLCpOLIovT0dPO0oMh0KT9ihfIjVig/YoXyMz2jK829cqSJPdXtHDjRiXvY5/eeYKeDlekxXJQTz8ZF8Xx4SfK8vafIzvnRc45ERERERM4zwzAoaejmT4cb+dOhRmrb+/3aY8ODWZcVx7qcOC7KjqcoI4awYPsucT1X6TlHIiIiIiIBYBgGpU09bD/UwJ8ONVLddqogCgsOYnNhMlfkJ3FRdhx5SZEEzdMzQ3OZiiMREREREQsaOgf49fu1bD/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": { "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": [ "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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\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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\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 i-th row 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. For this reason I access the result by row, so that the first sigma point, which is the center point, is affected by a full row of non-zero values. If you provide your own square root implementation you will need to take this into account. You will find UKF algorithms in the literature that take the values column first. This is fine if the cholesky is lower-triangular, or if you are using a different algorithm that computes a symmetric matrix so row vs column order doesn't matter. " ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "cholesky:\n", "[[1.414 0.071]\n", " [0. 1.731]]\n" ] }, { "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", "print(\"cholesky:\")\n", "print(s)\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.Pp)\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": { "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": [ "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": "iVBORw0KGgoAAAANSUhEUgAAArMAAAFYCAYAAABAjHTHAAAABHNCSVQICAgIfAhkiAAAAAlwSFlzAAAPYQAAD2EBqD+naQAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4xLjMsIGh0dHA6Ly9tYXRwbG90bGliLm9yZy+AADFEAAAgAElEQVR4nO3deXBUZb7G8edkX4BsJGxhk7DIVVnkAhJABQTBCIpiFAw4Q6LOdUEYZ4QaYVARt3HU0qJAwEFUQFSYq4IjIKACQUBAGBc22TeBkH3vPvcPpvsS0p096T7J91NFVXLOe97zS0MVDy/vYpimaQoAAACwIB9PFwAAAABUFWEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAIA6tGnTJt17771q2bKlgoOD1aVLF02fPl15eXmSpF9//VV+fn7q1KmTbDabh6sFvJ+fpwsAAKAhKCgo0GOPPab58+dLkoKCgmSapvbt26dZs2bp7NmzevvttzV79mzZbDbNmDFDvr6+Hq4a8H6MzAIAUE3bt2/X9u3by2wzduxYzZ8/X2FhYfroo4+UnZ2t7OxsTZ8+XZK0cOFC/fzzz1q8eLG6dOmisWPHSpIyMjL05ZdfKjMzs9Z/DsCKDNM0TU8XAQCAlcXHxys0NFRr1qxxeX/x4sWaMGGCJGnVqlUaMWKE815xcbGaN2+uCxcuaODAgfrmm2+0bNkyJSYmSpK+//579erVS99//7169uxZ+z8MYDGMzAIAUE0pKSlau3atDh8+XOqeaZqaNWuWJOmuu+4qEWQlyc/PTx06dJAkffPNN7rmmmt0zz33OO+HhoZKknJycmqrfMDSCLMAAFTTmDFj1LhxY/3jH/8odS81NVUHDhyQJD355JMunw8KCnJ+PXPmTBmG4fw+JCREEmEWcIcwCwBANYWGhmrs2LF65513Su1AsHbtWklSixYt1KdPH5fP2+12SVL37t01evToUn1LUm5ubk2XDdQLhFkAAGpASkqKTp48qX/9618lru/YsUPSpXm1l4+4Xs4x6jp9+vRSbZhmAJSNMAsAQA3o2bOnunfvrgULFpS4fuTIEUlS27ZtXT731VdfadeuXZKkTp06lbofGBgowzAIs4AbhFkAAGqAYRhKTk7WZ599pjNnzjivFxYWSvr/qQSXKy4u1uTJk53f+/v7u+w3NDSUaQaAG4RZAABqyNixY+Xv769FixY5r8XExEiStm7dWqr97NmztXfvXuf37k78Cg0NZWQWcIMwCwBADYmIiNCYMWO0YMECObZxHzRokKRLuxq8+OKLKioqUmFhoV588UXNnDlToaGhat++vSTpgw8+cNlvSEgIYRZwgzALAEANSk5O1qFDh/T1119Lkh599FHFxsZKkqZNm6YmTZqoSZMmmjZtmoKCgvThhx/qjjvukHRppDYmJqbUKC7TDAD3CLMAANSgAQMGqGPHjs6FYNHR0dq6dasmTpyo2NhY2Ww2+fr6qm/fvtq4caNuu+02zZw5U3feeaf8/f117tw5denSpUSfTDMA3OM4WwAAatjLL7+sGTNm6NSpU4qMjKx2f4MGDVJMTIyWLVtWA9UB9QsjswAA1LAJEybIZrO5nQNbWUwzANwjzAIAUMOaNWumkSNHav78+aqJ/wBlmgHgHmEWAIBakJycrL1792r79u3V7ovdDAD3CLMAANSCoUOHqnXr1qVOBKsKphkA7hFmAQCoBb6+vvr973+vpUuXKjs7u1p9Mc0AcI8wCwBALfnd736nnJwcLV++vFr9MM0AcI8wCwBALWnbtq2GDh2q+fPnV6sfphkA7hFmAQCoRcnJydq6dav+/e9/V7kPxzQDtoYHSiPMAgBQi0aOHKno6GgtXLiwyn2EhITIbreroKCgBisD6gfCLAAAtSggIEATJkzQ4sWLqxxGQ0NDJYmpBoALhFkAAGrZxIkTlZaWppUrV1bpeUeYZREYUBphFgCAWtalSxf179+/ynvOhoSESCLMAq4QZgEAqAMpKSn66quv9Ouvv1b6WaYZAO4RZgEAqAN33323mjRpUqWFYEwzANwjzAIAUAdCQkI0btw4/eMf/1BxcXGln5UIs4ArhFkAAOpISkqKTp8+rS+++KJSzzHNAHCPMAsAQB3p0aOHevbsWemFYEwzANwjzAIAUIeSk5O1atUqnTp1qsLPBAYGyjAMwizgAmEWAIA6NHbsWAUEBGjRokUVfsYwDIWGhjLNAHCBMAsAQB0KCwvTPffco4ULF8put1f4udDQUEZmARcIswAA1LHk5GT9+uuv2rhxY4WfCQkJIcwCLhBmAQCoY/Hx8ercubPmz59f4WeYZgC4RpgFAKCOGYah5ORkrVixQhcuXKjQM0wzAFwjzAIA4AHjx4+XaZp6//33K9SeaQaAa4RZAAA8ICYmRqNGjdL8+fNlmma57ZlmALhGmAUAwEOSk5P1448/6rvvviu3LdMMANcIswAAeMiQIUPUpk2bCp0IxjQDwDXCLAAAHuLr66uJEydq2bJlysrKKrMt0wwA1wizAAB40O9+9zvl5uZq2bJlZbZjmgHgGmEWAAAPat26tW699dZypxoEBATo4sWLKioqqqPKAGsgzAIA4GHJycnatm2b9uzZU+K6aZrasmWL/vCHP2j58uXKysrS559/7qEqAe9EmAUAwMNuv/12xcTEOEdnDx06pJkzZ2ro0KH64osv9MQTT+iJJ56Q3W7X0qVLPVwt4F38PF0AAAANnb+/vxITE7VgwQLt27dPbdu2VVJSkmbMmCEfn0vjTt99953sdruKioqUlpamyMhID1cNeAdGZgEA8JCCggKtXLlSiYmJ2r9/v/Ly8nTffffp7bff1oABA5xBVrq0AEy6NIr74YcfeqpkwOsQZgEAqEOmaSo1NVX/8z//ozvuuEMnTpzQW2+9pX/9618aOHCgFi9e7PI5R5gdMGCAPvvss7osGfBqTDMAAKCOrFmzRq+88or69Omjxx9/XF26dClxPyUlRUlJSTp48KDi4uJK3AsJCZEk2Ww2xcbGumwDNESMzAIAUEcyMzN15513atasWaWCrCTdddddCgsL08KFC0vdc4zM5ubm6v7779f7779f6/UCVkCYBQCgjiQkJJS5tVZwcLDuv/9+LVq0qNR+so4wm5OTo/79+2vTpk0yTbNW6wWsgDALAEAdCQoKUps2bbR//363bVJSUnTmzBmtXr26xHXHNIOcnBz5+Piob9++Sk1NrdV6ASsgzAIAUIfKmyLQrVs39erVS/Pnzy9x/fJpBpKUlJTkdrEY0JAQZgEAqEPx8fHasmVLmVMEkpOT9cUXX+jEiRPOa5dPM5Ckzp076+jRoyooKKjdggEvR5gFAKAOGYahfv36afPmzW7b3HfffQoKCtKiRYuc1wIDA2UYhjPMStJtt92mVatW1Wa5gNcjzAIAUMeSkpL03nvvub3fpEkTJSYmauHChbLb7ZIuheDQ0FDnNANJuvfeezlAAQ0eYRYAgDrWsWNHHTt2TPn5+W7bJCcn68iRI/rqq6+c10JDQ0uMzDZt2lR2u10XLlyo1XoBb0aYBQDAA26//fYyt+m64YYbdPXVV2vBggXOayEhISXCrCTdc889Wr58ea3VCXg7wiwAAB6QmJhY5hQBwzCUnJyslStX6vz585JUapqBdCkUc7wtGjLCLAAAHhAVFSXDMJxB1ZXx48dLknMLriunGUiX9q5t3bq1Dhw4UHvFAl6MMAsAgIeUNzrbtGlT3XnnnVqwYIFM03Q5zUAqf+9aoD4jzAIA4CHlHW8rXVoI9vPPPys1NdXlNAPp0t61mzdv5nhbNEiEWQAAPCQwMFBt27bVvn373LYZPHiw2rVrpwULFricZiBJPj4+uuGGG7Rly5baLBfwSoRZAAA8KCkpqcwpAj4+Ppo4caI+/PBD+fn5uQyzjn7K2rsWqK8IswAAeFC/fv2UmprqPBzBlQceeED5+fk6efKky2kGktSpUyeOt0WDRJgFAMCDDMNwznl1JzY2VsOHD9cvv/zidmRWqtgcXKC+IcwCAOBh999/f7lTBJKTk3XmzBmlp6e7bVPe7ghAfUSYBQDAwzp27Kjjx4+XebztbbfdpsaNGysrK8ttm6ZNm8o0TY63RYNCmAUAwAuMHDmyzJO8/P39deuttyoiIqLMfhidRUNDmAUAwAvcc889Wr58eZltYmNjlZubq+PHj7ttw7xZNDSEWQAAvEBUVJR8fHx07tw5l/fT09O1fPlyZWdna8qUKW77CQoKUps2bTjeFg0GYRYAAC9R1hSBZ599VqdPn5Ykbd68uczR2YosKAPqC8IsAABe4rbbbtOqVatKXXeMyjr2oj19+nSZo7Px8fHasmULx9uiQSDMAgDgJdwdb3v5qKxDWaOzhmGoX79+Ze5dC9QXhFkAALzI+PHjS0wRuHJU1uH06dOaPHmy237KOyYXqC8IswAAeJEbbrhBW7dudYZXV6OyDlu2bNGxY8dc3uvYsaOOHTtW5t61QH1AmAUAwIsYhqH+/ftr06ZNbkdlHcqbO5uQkOByDi5QnxBmAQDwMo7dCMoalXUoa3Q2MTFRy5Ytq40SAa9BmAUAwMvExcXpyJEj+vDDD92OyjqUNTobFRUlwzB0/vz52igT8AqEWQAAvJBpmuWOyjqsWbNGJ06ccHmP421R3/l5ugAAAFDaX/7yF6WlpekPf/iD81paWpqmTp2qt99+u1T7pk2buuwnISFBd9xxhx555JFaqxXwJMNkR2UAALxSYmKi3nrrLUVHR0uSzpw5oxYtWlT6MISHH35YU6ZMUadOnWqjTMCjmGYAAICXuvfee2tkARd7zqI+I8wCAOClRowYUSNba/Xr109btmwpdzEZYEWEWQAAvFRgYKDat2+vX375pVr9GIah+Ph4jrdFvUSYBQDAiyUlJZU43rayTNPUzp079euvv2r79u01WBngHVgABgCAFzNNU0OGDNHatWv122+/VXgB2IkTJ/TBBx9o3bp1uu6665SUlKRu3brJMIw6qBqoO2zNBQCAFzMMQwMHDtS3336rzp07l9k2KytLn3zyiVasWKHw8HCNGzdOf/zjH+Xnx1/3qL8YmQUAwMsdOnRIL7zwgmbNmlVqZLa4uFjr1q3TkiVLlJGRodGjR2v06NFq3LixBysG6g7/VAMAwMt16NBBp06dUl5enqRLUw92796t9957T3v37tUtt9yi2bNnKzY21sOVAnWPMAsAgAWMHDnSuVfssGHDdM011ygpKUndu3dnHiwaNKYZAABgARcvXtSUKVO0aNEiFRUVMQ8W+A/CLAAAFlHV42yB+ox9ZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAQLVduHBB4eHhio6OVk5OTq2/zzAMGYahjRs31vq7apq72o8cOeK8d+TIEY/UVpeWLVsmwzA0fvz4avVDmAUAANU2c+ZMZWRk6M9//rNCQ0M9XQ4s4J577lHXrl31/vvva+fOnVXuhzALAACqZf/+/Zo7d66io6P1yCOPeLocWISPj4+mT58u0zT15JNPVr2fGqwJAAA0QH//+99VXFysCRMmKCQkxNPlwELuvvtuRUdHa8OGDdqxY0eV+iDMAgCAKsvOztaSJUskSffff7+Hq4HV+Pn56Z577pEkzZs3r0p9EGYBAKgHrrnmGhmGobfeeqvUvdTUVOfCorvvvrvU/aKiIjVq1EiGYWj9+vWVeu/SpUuVlZWlq6++Wt26dSt1/9FHH63Qe6Ojo2WaZqk2w4YNk2EYmjFjhtsasrKy9PTTT6tLly4KDg5WVFSUEhIS9N1335Vb/8aNG3XfffepTZs2CgoKUlhYmHr37q2XX3653IVsGRkZev7559WnTx9FREQoMDBQrVu31n333aetW7eW++7yHDhwQA888IBiY2MVGBioNm3a6OGHH9bJkyfdPrNz5049++yzGjhwoNq2baugoCCFh4erb9++eumll5Sdne322by8PP3tb3/TDTfcoIiICPn7+ys6Olpdu3bVhAkT9Mknn7h99tChQ3rsscd09dVXq1GjRgoJCdHVV1+tJ554QseOHSvz5xw7dqykS3+WyqrPLRMAAFjC6dOnTXd/dT/22GOmJPPOO+8sdW/WrFmmJFOSGRUVZdrt9hL3N23aZEoyAwMDzdzc3ErVNHr0aFOS+dBDD7m8/8knn5T7XsevH374ocT9wsJCMzQ01JRkrl+/vsQ9xzNLliwx4+LiTElmUFCQGRIS4rzn7+9v/utf/3JZV1FRkZmcnFzi/Y0aNTJ9fX2d33fu3Nk8cuSIy+e3bt1qNmvWzNnW19fXbNy4sfN7wzDM2bNnu3zW0WbDhg0lrh8+fNh5b9myZc7+GjVqZAYHBzvvRUZGmt9//32ZfUsyfXx8zPDw8BLXunbtap49e7bUc5mZmWa3bt1K1B8eHm76+fk5r7Vt29blO99++23T39/f2S4wMLBEvU2aNDHXrFnj8lnTvPT7HBQUZEoyV69e7badO4RZAAAsoqwwu2LFClOSGRERYdpsthL3Bg8e7AwVksxdu3aVuP/cc8+Zkswbb7yx0jXFxMSYksyFCxe6vH/hwgXTMIwy3+uo67XXXitx/9tvv3WGo7y8vBL3HEEpIiLC7Nq1q7l+/XrTZrOZdrvd3LZtm9m5c2dnALvy8zBN05w0aZIpyWzWrJk5Z84c88KFC6ZpXgpWGzZsMHv06GFKMnv27Fnq+cOHDztD4t13321+//33ZlFRkWmapnn27Flz+vTpzhC4cuXKUu+uSJgNCwszr7vuOvO7774zTdM07Xa7+eWXX5pt2rQxJZlt2rQxMzMzS/U9ZMgQ85133jGPHj3qrCk3N9dcsWKF8zNx9Q8ex+9FZGSk+cknn5j5+fmmaZqmzWYzT548aS5evNhMSUkp9dzKlSud/3CYOnWqeeTIEdNut5t2u9385ZdfzDFjxjh/j48ePVrqeYd+/fqZksynnnrKbRt3CLMAAFhEWWE2LS3N9PHxMSWVGLXLz883g4ODzZCQEPPJJ580JZmvvvpqiWdvvvlmU5I5c+bMStVz6NAhZ/jasWOH23bdu3cv870zZswwJZm33357ifvPPPOMKcm86aabSvXpeG90dLTLkcY9e/Y422zatKnEvb1795qGYZghISHmnj17XNacmZlpxsbGugykd999tynJTEpKcvsz//3vfzclmd26dXNbe1lhNioqyuXP9dNPP5kBAQGmJPPll192+35XTpw4YQYGBpqGYZQKlsOHDzcluR1NdqWgoMBs1apVmf+YMU3THDlypCnJnDRpkts2jzzyiCnJHDhwYIXf78CcWQAA6oGIiAjnnNXL571u3bpVeXl5io+P16233lrqfkFBgVJTUyVJN998c6XeeerUKefX0dHRbts5+nX13tDQUE2ZMkUBAQH65ptvZLPZnG02bNhQbl0PPvigYmJiSl2/9tpr1b59e0nSnj17StxbuHChTNPUbbfdpmuvvdZlv40bN9Ydd9whSfryyy+d19PS0rRixQpJ0tSpU93W5TgI4IcfftDZs2fdtnPn4YcfdvlzXX311c75x8uWLatUn61atVK3bt1kmqa2bNlS4l54eLgk6fTp0xXu74svvtDJkyfVrFkz/e53v3PbzvFZXP45Xqlp06aSSv6Zqii/Sj8BAAC80qBBg7Rr1y6tX7/euW+nI0AOGjRI/fr1U2BgoL755hsVFxfLz89PW7ZsUX5+voKDg9WnT59Kve/cuXPOryMjI8us67XXXnP53mHDhiksLEx9+vTRt99+q++//169e/dWfn5+hUJ2WTW3bNlShw8fVlpaWonrmzZtknQpjDVv3tzt847FSEePHnVeS01Nld1ud/5cFXH06FE1a9asQm0dyup70KBBWrJkifbs2aOioiL5+/s779ntdi1btkzLli3T7t27de7cOeXn55fq48SJEyW+T0hI0NKlS/XWW2/p3LlzSkxMVP/+/Z0h0xXH53jx4kW1aNHCbbvCwkJJJT/HKzn+/Fz+Z6qiCLMAANQTN998s1599VV9++23ztDoGN0cNGiQgoOD1bdvX3399dfasWOH+vbt67zvCLqVcXlIKuvZgQMHytfXV1lZWaXe6whtgwYN0rfffqv169erd+/e2rJliwoKChQSElJmYG3cuLHbe35+l2JOUVFRieuO0b/s7OwKrZ7Pzc0t9aykCo+4Xv58RbVq1arce8XFxUpLS3MG5dzcXCUkJDg/W0kKCAhQZGSkM/CmpaWpqKio1E4NY8eO1bZt2/Tmm286w7AkxcXFaejQofr973+v66+/vsQzjs+isLCwQp9FXl6e23vBwcGS5DJ4l4dpBgAA1BMDBw6Un5+fsrOztW3bNuXm5uq7775TWFiYM4g4wqNjxPbykdvKioqKcn598eJFt+2aNGminj17lvled3XFx8crICCg0rWVxTGV4cUXX5R5af1Qmb82btxY6tng4OAKPWuapm666aZK12gYRqWfef7557VhwwYFBwfrtdde09GjR5Wfn68LFy7ozJkzOnPmjPMfBqaLbdBef/117du3T7Nnz9bw4cMVHh6ugwcPas6cOerVq5eeeOKJEu0dn8Wtt95a4c/CHcfo+eV/piqKMAsAQD3RuHFjZ2hdv369Nm3apMLCQufIqFRy/mpOTo62bdtW4nplXD5P9sr/yr/S5WHV8d7w8HBnyO3bt6+Cg4O1efNmFRYWOsNsVeoqj2Nqwd69e6v8bF5eng4ePFijdV3uymkAl3PsM+vn51dieodjNHXGjBl64okn1KZNm1Kh+MyZM2W+Ny4uTtOmTdPq1at14cIFpaamOucOv/HGG/r000+dbavzOV7J8eenrLnX7hBmAQCoRy4Pq1f+V750KTSGhIRoy5Yt+uqrr5wHF/z3f/93pd/VqVMn53/l//rrrxWq6/L33njjjfLxuRRFAgICFB8fr9zcXK1bt07bt28v8VxNio+PlyStWrWq0pv09+vXzxkQK7sAqzIunyrg7t51111XYr7s8ePHJUk9evRw+dyRI0cqFcB9fHzUt29fffzxx2rTpo0kae3atc77js/x5MmTzvmzVXX48GFJlxa4VRZhFgCAesQRXFNTU/XFF1+UuCZJ/v7+io+PV15enmbPni1J6t+/vzOUVkZoaKhzZNUxwuvOgAED5O/vX+K9V05tcATXZ599VsXFxWrUqJF69epV6brKk5KSIsMwlJ6erj/96U9lti0qKioReGNiYjRq1ChJ0iuvvKL9+/eX+Xx5I9buzJ07V+fPny91fd++ffr4448lSYmJiSXuhYWFSbq0g4IrZe2+UFBQ4Paer6+vc6qHY4Rfkm6//Xbnwq9JkyaVOze4rM/CcVrbjTfeWGYfrhBmAQCoRxxzTPPz8/XDDz+oadOmpbafcoRIR4CozuinYz5oeUfHhoSEqHfv3iXaXhlmr6xrwIABVQrZ5enevbtz/ufcuXM1ZswY7d692zmn02az6YcfftBzzz2nDh06aPfu3SWef/XVVxUVFaXMzEz1799f77zzjjIyMpz3z58/rxUrVmj06NG67777qlRjUVGRbrnlFucItWmaWrdunYYNG6aCggK1bt1aDz/8cIlnHFuvzZo1SytWrFBxcbGkS6OeY8eO1fLlyxUREeHyfX369NHjjz+ujRs3llgcdurUKT322GPOEd0RI0Y47wUFBWnOnDkyDEM7d+5UfHy8vvzyS+fuBY53z5s3T71799acOXNcvvvs2bPOI2+rEmY5NAEAAIso69CEyw0YMMC5+f6YMWNK3d+6dWuJI063bdtW5Zp27dplSjKDg4PNjIyMMttOnz7d+c6YmJhS94uKikocCVvWoQByc/DA5W688UZTkvnXv/611L3i4mLziSeeKPE5BAUFmVFRUSWOcJWLQxdM0zR37txptmvXrsTxrxEREWajRo1KPDtkyJAK117WcbaXH9MbHh5ubt++vVS/R44cKXHErp+fnxkWFub8fvbs2W4/k7Zt25Y6ytZxlLDj1+TJk11+zu+//36J+vz8/MyoqCgzMDCwxPOzZs1y+fy8efNMSWb37t1d3i8PI7MAANQzl4+0utqloFevXmrSpImkkjsNVEX37t3Vu3dv5eXlOQ8TqEhdrkaD/fz8NGDAgDLb1BRfX1+99tpr2rlzpx588EF17txZvr6+ysjIUEREhOLj4zVz5kzt3r3bOTf0cj169NBPP/2kt956S0OGDFHTpk2VlZUlu92ujh07auzYsVq2bFm5n4k7ffr00Y4dOzR+/HiFhYWpuLhYrVq1UkpKivbu3ety+kXbtm21Y8cOTZw4US1btpR0afQ0ISFBX375paZNm+b2fcuWLdMzzzyjwYMHq3379iosLFRRUZHatm2rxMREffXVV/r73//u8tlx48bp4MGDevrpp9WrVy81atRI6enpCgoKUvfu3fXoo49q3bp1euqpp1w+/8EHH0iSHnroocp+TJIkwzTL2CcBAAB4jTNnzqhFixZlbnHkCYsXL9aECRN08803lzjlCyjPkSNHdNVVV6lx48Y6ceJEmU08R/0AABcISURBVPsGu8PILAAAqJZx48apa9eu2rBhQ7kLwYDLvfTSSzJNU9OmTatSkJUYmQUAwDK8dWRWurTNVUJCgoYPH67Vq1d7uhxYwPHjxxUXF6fmzZtr3759CgoKqlI/HGcLAACq7bbbbtPrr7+u9PR0ZWdnq1GjRp4uCV7u6NGjmjZtmm6++eYqB1mJkVkAACzDm0dmAU9hziwAAAAsizALAAAAyyLMAgAAwLIIswAAALAswiwAAAAsizALAAAAyyLMAgAAwLIIswAAALAswiwAAAAsizALAAAAyyLMAgAAwLIIswAAALAswiwAAAAsizALAAAAyyLMAgAAwLIIswAAeDmbzabc3FxlZGRIkoqKbTpy/JROnUvXt6nbVVRU5OEKAc/x83QBAAA0VDabTb6+vjpz5owysnKUk5en3LwCNQoLl+HrryK7lJ6ZqXO/nZfh56+L6ZfC7MZ955SXm6egYEPnM4p0bU6OwsPDPfzTAJ5BmAUAwEOOnTylQ5nSxbSLMnx85R8QJP+AxsotDpCP/T//eRoarej20ZIkn6DfJEmGYSgktNGlawGBKiws9Ej9gDcgzAIA4CGtmjfXvotnFdG0WZX7MHz9lZeXX4NVAdbCnFkAADwkPf2iLl44W60+IqKiFd28RQ1VBFgPYRYAAA8JCAiQYSuuVh/FRYU6fPRYDVUEWA/TDAAA8JDAwEDJVr2dCAICgxTTIqyGKgKsh5FZAAA8JDAwUPbi6m+rtW3bthqoBrAmwiwAAB7i4+Ojjp06VrufIptZA9UA1kSYBQDAg7LS06rdR7HNXgOVANZEmAUAwIOuat++2n0U2UyZJqOzaJgIswAAeNDRQ/tlt1dvZDWmVWvCLBoswiwAAB7ka1zaXqs6iu1SUVH1F5IBVkSYBQDAg0JDglRUzeNofQKC5OfHbptomAizAAB4UKOQYBUWFlSrj+zsHKWnp9dQRYC1EGYBAPCg6KhIBQYGVKsPm82m82mEWTRMhFkAADwoNDRUgQH+1erDPyBQ2Xl5NVQRYC2EWQAAPMg0TfkZ1evDPyBAubn5NVMQYDGEWQAAatgvv/yiwgou6vLz85OtsHqjqv7+AfLxr95UBcCqCLMAANSwm266SXFxcRo6dKj++c9/Kj/f/aipj4+PLpw9U633GYahmBax1eoDsCrCLAAANSwmJkbHjx/X2rVrNW7cOHXq1EmDBw/WRx99pDwXc1v9fas5z0DS6TNnq90HYEVsSgcAQA1r3bq19u7dK0nKzc1Vbm6ujh8/rtTUVEVFRalDhw568MEHNWrUKIWGhsrfr/pjS34BwdXuA7AiRmYBAKhh3bt3d3k9Ly9PJ06c0Ndff62JEyeqS5cu6t+/v37Z+0O133n06BHZbLZq9wNYDSOzAADUsOuvv14BAQFlLgLLz8/XiRMnVFRUpKjIiGq/0/DzV0FBgUJCQqrdF2AlhFkAAKopMzNTa9as0eeff67Vq1fr3LlzCg4u+7/9Q0JC1KVLF61YsULZBcU6mpOvgMCgqhfh6+eRMPvjjz/qp59+0pgxY+r0vYAD0wwAAKiAgoICrVu3TpMmTVJcXJwMw3D+CgsL05gxY/Tzzz/rscceU2pqqiIjI9321axZM02ePFnbtm1T27Zt1Sa2lXx8fKtXoI9/hbcDq0kpKSmaPHmyy4VtQF1gZBYAgP+w2+3asWOHVq1apc8//1w7d+4s1aZz58664447lJCQoH79+ikgwPX+rq5GZv39/dWuXTt9+OGH6tGjh/P6xfPnlH4xTU1jmle59ojo5oqMalrl56ti+/btOnDggDIyMvTqq6/q6aefrtP3AxJhFgDQwJimqf379zsD64YNG0q1adGihUaMGKEZM2Zo8ODBatSoUaXfc+UzUVFRSkhI0Ny5cxUUVHI6QVBQoGQrqvQ7LleYn69jJ06pQ7vW1eqnMiZNmqTz589LkubPn68//vGP5U6vAGoaYRYAUC+dPn1aq1ev1ueff65Vq1apqKhkWAwJCdGIESO0aNEiDR8+XDExMTX6/g4dOmj37t0yDENt2rTRvHnzNGzYMJdtAwMDZdqLq/W+4NBQRUVXfyFZRTlGZR1Onz7N6Cw8gjmzAADLyszM1Mcff6wHHnhAMTExJeaxtmzZUsnJycrJydGrr76qgwcPym63yzRNmaapnJwcffTRR5owYUKNB1lJ6tmzp4KDgzV06FDt2rXLbZCVLoVZo5ojs7biYn3vYlpEbbl8VFaSioqKNH/+fObOos4xMgsA8GoFBQX69ttv9dlnn2nVqlU6dOhQqTa9e/fWY489poSEBHXr1k0+Pp4fqxk7dqzatWunsWPHlts2MDBQbdu1U4696u/z9fNTXh0tALtyVNaB0Vl4AmEWAOBxNbnwylu0a9dO7dq1q1BbwzCUlX5BPk1aVOudxTazWs9X1JWjsg6O0VnmzqIuEWYBAHWirhZeWVX7du11NC2/Wn0U2aoxtFtB7kZlHRidRV0jzAIAalRlFl7deuutatasmYcq9S5HDv4iI7JdtfqIbhFbM8WUwd2orAOjs6hrhFkAQKW5OvHqSrfccoteffVVjRgxQldddZUMw/BApRZit8lms8nXt+qHJxTbL4VJf3//Gizs/5U3KuvA6CzqkmGaZt1MsAEAWEpFF14lJCR41cIrq9q8bafS/SIVGOR+NDPt3G9KvOk6rf3xjMv7vvZC3di1Va39PvTr10/btm0rdd00zVL/WGnSpInOnj1ba8EacGBkFgAasPq48MqqGoUE6Vx2YZlhtjwZWVnKyspSWFhYDVb2/15//XWdOHGixLV33nlHq1at0ieffFLienBwMEEWdYIwCwD1HAuvrKF5TLSO5WVVq4+CgsJaDbO9e/dW7969S1w7dOiQtmzZotGjR9fKO4HyEGYBoJ5g4ZW1hYc1kY9v9cKsn3+AsnI5tAANC2EWACyEhVf1l2ma8jeqN9fVPyBQObk5NVQRYA2EWQDwMlY98QrV4+vrK1tRnnwCqz5n1t8/QPIpqMGqAO9HmAUAD2DhFa5kGIbSz/+m6EaRVe7DPyBATaNa1mBVgPcjzAJALWHhFSrDz89Phmmrdj+nz5xVu2bhNVARYA2EWQCoJhZeoab4+1Z/frNfYGANVAJYB2EWACqAhVeoC0E1MJXk0KFf9d9d2lW/GMAiCLMA8B8svIKnXX/99fr3yYwKtTVNU6Zpym6zyTRNFRbkKzc7XYX5edU+FhewEsIsgAaFhVfwZieO/qrcgkCZdrsKCwtkKy5U0+ho5aZfVGzrWB3Z+6skKefkLwrw81Fsy5aKahYhPx9DAb5NVFQUrqCgLgRZNCiEWQD1DguvYFUd27dR/k/71CgkSKFNQ9QoJEpNmzaV3R6jgIAAtQzsI0kadcuNHq4U8B6EWQCWxcIr1DdhjRupf5/rPV0GYCmEWQBejYVXAICyEGYBeBwLrwAAVUWYBVAnWHgFoLY98MADevfddzVhwgQtWrTI0+WgjhBmAdQYFl4BAOoaYRZApbHwCgDgLQizAFxi4RUAwAoIs0ADxsIrAIDVEWaBeo6FVwDqkw8++EBz5szRnj175OPjoy5dumjixIlKSUnxdGnwEMIsUA+w8ApAfWeapiZOnKh//OMfkiTDMBQeHq4dO3Zo27Zt2rBhgwIDAz1cJTyBMAtYyOnTp/XFF1/os88+0+rVq1VYWFjiPguvANRXb775pjPIPvroo/rrX/+qpk2bKiMjQ6+//rqeeeYZhYWFebhKeAJhFvAyFV149be//Y2FVwAahPz8fD3zzDOSpKSkJL355pvOe2FhYfrrX/+q/Px8vfjii54qER5EmAU8gIVXAFBxa9asUVpamiRpxowZLttMnTpVr7/+uvLz8+uyNHgBwixQSyq68GrUqFFKSEhQfHw8C68AwIUdO3ZIklq3bq24uDiXbcLCwnT99ddr8+bNdVkavABhFqgGFl4BQO377bffJEmtWrUqs11sbGxdlAMvQ5gFKoCFVwDgeawPgCuEWeA/WHgFAN4pJiZGknTixIky2508ebIuyoGXIcyiQWHhFQBYT69evSRJx48f16FDh9ShQ4dSbTIzM/X999/XdWnwAoRZ1DssvAKA+uWWW25RRESELl68qOeee06LFi0q1ebll19WXl5e3RcHjyPMwpJYeAUADUdwcLCmT5+uKVOm6N1331V4eLimT5+uqKgoZWZm6o033tDs2bMVHh6u9PR0T5eLOkaYhVdj4RUAQJImTZqkXbt26b333tMbb7yhN998U2FhYcrMzJTNZtO9996rwMBAvfvuu54uFXWMyYDwuMzMTH388cd64IEHFBMTI8MwnL9atmypiRMnKicnR3/729908OBB2e12maYp0zSVk5Ojjz76SBMmTKjRIPvTTz8pJSVFHTp0UFBQkEJCQtS5c2dNmjTJ5cIwAEDt8vHx0eLFi7V48WL17dtXwcHBKi4uVs+ePTV37lwtWbLE0yXCQwzTNE1PF4H6r6ILrxISEjy+8Ordd9/Vgw8+6BwFDg0NVUFBgYqLiyVJHTt21A8//KDg4GCP1AegfktKSlJGRobLe/n5+Vq7dq1uv/32MvsICwvTe++9VxvllfLKK6/ohRdecJ7QBdQ1phmgxtSHhVffffedJk6cKJvNprvuuksvvvii4uLiZLPZ9P777+uBBx7QgQMHtGbNGo0aNcrT5QKohzIyMvTpp5+6vHfmzBm1aNHC7X2HkSNH1kZpgFcizKJS6vvCq6eeeko2m01DhgzRRx995NxH1tfXVxMmTNALL7ygffv2OU+jAQAAnkWYhUsNceHVsWPH9PXXX0uSnn322VIHItjtdl28eFGS1KZNmzqvDwAAlEaYbcA48aokxyhzs2bN1Ldv31L316xZo99++00BAQHq379/XZcHAABcIMzWc5x4VXHbt2+XJPXp06dUaD9//rwmT54sSRo3bpxCQ0PrvD4AAFAaYbYeqA8Lr7yB4xhEx7GJkvTbb7/pf//3f/XSSy/p0KFDio2N1axZszxVIgAAuAJh1iLq+8IrT7PZbNqzZ48k6frrr9fhw4fVtWtX5efnO9v07t1bH3zwgVq2bOmpMgEAwBUIs16mIS688gY///yzcnNzJV0Ks+vXry8RZCVp//79WrFihf785z97okQAAOACYdYDWHjlfRxTM1q1aqVmzZrp3nvv1ahRo3Ty5Elt375db731llJTU/XUU0/Jz89PU6ZM8XDFAABAIszWGhZeWcuV82UNw1BISIg6duyojh07KjExUcOHD9fatWs1d+5cwiwAAF6CMFsNLLyqPxy/d9dff73L+76+vhozZozWrl3r9phJAABQ9wiz5WDhVf1nt9u1e/duSe7DrCSdPXtWktS6des6qQsAAJSPMPsfLLxquPbv36/s7GxJJbflutLKlSslSUOGDKmTugAAQPkaVJhl4RVcccyXlaTdu3dr6NChpdosXbpUO3fulK+vr5KTk+uyPAAAUIZ6F2ZZeIXKunyuc2JioubMmaO7775b/v7+On/+vBYsWKDnnntOkvSnP/1JcXFxnioVAABcwZJhloVXqEmOkVnDMJSenq6xY8cqKSlJoaGhyszMdLZ75JFH9Pzzz3uqTAAWtX37dl177bUKCgrydClAveS1YZaFV6gLpmk6F3/NmzdPW7Zs0bp163T27FkVFRUpLi5O8fHxevDBB9WvXz8PVwvAiu688075+vrqoYce0pQpUwi1QA3zeJhl4RU86eDBg86tthISEpSSkuLhigDUN8HBwTp48KCeeeYZzZs3j1AL1LA6CbMsvIK3ckxRad68uVq0aOHhagDUZ4WFhTp27BihFqhhNRZmWXgFK3LMl+3Ro4eHKwHQUFwZah9++GFNnjyZUAtUUaXCLAuvUN84/gwTZgHUNUeonTlzpubOnesMtQAqxzBN06xQQ/7bHwCAWuPv76/IyEj17t1bn376qcs26enpGjhwoPbs2VNmXyNHjnTbR01bvXq1Pv30U82dO7dO3gdcqcIjsxXMvAAA4DIdO3bUwYMHy2wTExOja6+9Vm+88YamTZvmtl14eHi5QbaujRgxQiNGjPB0GWjAPL6bAQAADdXlIfa//uu/PF0OYEmEWQAA6hghFqg5hFkAAOoIIRaoedXaG8tms2n58uUaP368OnXqpPDwcAUEBCgmJkb9+/fXtGnT9O9//7umagVQR2bOnCnDMEr9CgwMVMuWLTVs2DAtWLBARUVFni4V8HoFBQWKiYnR4MGDtX79eq1bt44gC9SgKo/Mbt26VRMmTND+/fud1/z9/dW4cWNduHBBmzdv1ubNm/Xiiy9q9OjRWrp0Kdt0ARZ0+al7WVlZOn36tE6fPq01a9Zo3rx5WrNmjSIiIjxYIeDdHn/8cQ0fPpwAC9SSKo3MfvbZZ7rpppu0f/9+RUVF6YUXXtD+/ftVWFioCxcuqLCwUNu3b9fUqVPVpEkTrVixQrm5uTVdO4A6cObMGeevnJwcHT161Hns744dO/T44497uELAuz355JMEWaAWVTrMHjhwQPfff78KCgrUtWtX7d69W1OnTlXHjh2dbXx9fdWrVy+98MILOnz4sEaNGlWjRQPwnDZt2ujtt9/W4MGDJUnLly9Xdna2h6sCADRUlQ6zTz/9tDIzMxUUFKSVK1cqNja2zPaRkZH65z//qbCwsCoXCcD7DBs2TNKlU4wOHDjg4WoAAA1VpcLs2bNn9fHHH0uSxo0bp06dOlX4WU4QA+qXyw9SsdlsHqwEANCQVSrMbtiwQXa7XZJ055131kpBAKzhyy+/lHTpH6rt27f3cDUAgIaqUmH2xx9/dH7do0ePGi8GgPc7duyYHnzwQa1fv16SdPvttysqKsrDVQEAGqpKbc114cIF59eRkZE1XgwA79O8eXPn11lZWSV2JunSpYvmzJnjibIAAJBUyTB7+Rw5AA3D2bNnXV4fP3685s2bp6CgoDquCACA/1epaQZNmzZ1fp2WllbjxQDwPqZpyjRN2e12nTp1SnPnzlV4eLgWL16sN99809PlAQAauEqF2cs3fd61a1eNFwPAexmGoRYtWuihhx7SypUrZRiGnnrqKefcWQAAPKFSYfbmm2+Wj8+lR1auXFkrBQHwfjfddJOSkpJkmqYeffRRtuYCAHhMpcJss2bNdNddd0mSlixZov3791f4WebbAvXLjBkz5Ovrq59//lnvvvuup8sBADRQlT4BbNasWWrUqJHy8vI0evRonTx5ssz2Fy9e1F133aWMjIwqFwnA+3To0EGJiYmSpOeee05FRUUerggA0BBVOsx26tRJ7733ngICAvTjjz+qe/fueumll3Tw4EFnG5vNpl27dmnGjBm66qqrtGLFihotGoB3mDZtmgzD0JEjR7Rw4UJPlwMAaIAqHWYl6Y477tD69esVFxen8+fPa+rUqerYsaMCAwMVFRWlgIAA9ezZU88995wyMjJ03333KTQ0tKZrB+Bh11xzjUaOHClJev7551VQUODhigAADU2VwqwkxcfH65dfftHSpUs1btw4xcXFKSgoSFlZWYqMjFT//v31l7/8RT///LOWLFkif3//mqwbgJf4y1/+Ikk6ceKE5s2b5+FqAAANjWGyMgsAAK+RlJRU7XUmYWFheu+992qoIsC7EWYBAABgWVWeZgAAAAB4GmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGURZgEAAGBZhFkAAABYFmEWAAAAlkWYBQAAgGX9H7YejzMP0tuwAAAAAElFTkSuQmCC\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": { "image/png": "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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" ] } ], "metadata": { "anaconda-cloud": {}, "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.7.4" } }, "nbformat": 4, "nbformat_minor": 4 }