{
"cells": [
{
"cell_type": "markdown",
"metadata": {},
"source": [
"[Table of Contents](./table_of_contents.ipynb)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"# Adaptive Filtering"
]
},
{
"cell_type": "code",
"execution_count": 1,
"metadata": {},
"outputs": [],
"source": [
"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": [
"## Introduction"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"So far we have considered the problem of tracking objects that are well behaved in relation to our process model. For example, we can use a constant velocity filter to track an object moving in a straight line. So long as the object moves in a straight line at a reasonably constant speed, or varies its track and/or velocity very slowly this filter will perform very well. Suppose instead that we are trying to track a maneuvering target, such as a car along a road, an aircraft in flight, and so on. In these situations the filters perform quite poorly. Alternatively, consider a situation such as tracking a sailboat in the ocean. Even if we model the control inputs we have no way to model the wind or the ocean currents. \n",
"\n",
"A first order approach to this problem is to make the process noise $\\mathbf{Q}$ larger to account for the unpredictability of the system dynamics. While this can work in the sense of providing a non-diverging filter, the result is typically far from optimal. The larger $\\mathbf{Q}$ results in the filter giving more emphasis to the noise in the measurements. We will see an example of this shortly.\n",
"\n",
"In this chapter we will discuss the concept of an *adaptive filter*. The filter will *adapt* itself when it detects dynamics that the process model cannot account for. I will start with an example of the problem, and then discuss and implement various adaptive filters."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Maneuvering Targets"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We need a simulation of a maneuvering target. I will implement a simple 2D model with steering inputs. You provide a new speed and/or direction, and it will modify its state to match."
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [],
"source": [
"from math import sin, cos, radians\n",
"\n",
"def angle_between(x, y):\n",
" return min(y-x, y-x+360, y-x-360, key=abs)\n",
"\n",
"class ManeuveringTarget(object): \n",
" def __init__(self, x0, y0, v0, heading):\n",
" self.x = x0\n",
" self.y = y0\n",
" self.vel = v0\n",
" self.hdg = heading\n",
" \n",
" self.cmd_vel = v0\n",
" self.cmd_hdg = heading\n",
" self.vel_step = 0\n",
" self.hdg_step = 0\n",
" self.vel_delta = 0\n",
" self.hdg_delta = 0\n",
" \n",
" \n",
" def update(self):\n",
" vx = self.vel * cos(radians(90-self.hdg))\n",
" vy = self.vel * sin(radians(90-self.hdg))\n",
" self.x += vx\n",
" self.y += vy\n",
" \n",
" if self.hdg_step > 0:\n",
" self.hdg_step -= 1\n",
" self.hdg += self.hdg_delta\n",
"\n",
" if self.vel_step > 0:\n",
" self.vel_step -= 1\n",
" self.vel += self.vel_delta\n",
" return (self.x, self.y)\n",
" \n",
"\n",
" def set_commanded_heading(self, hdg_degrees, steps):\n",
" self.cmd_hdg = hdg_degrees\n",
" self.hdg_delta = angle_between(self.cmd_hdg, \n",
" self.hdg) / steps\n",
" if abs(self.hdg_delta) > 0:\n",
" self.hdg_step = steps\n",
" else:\n",
" self.hdg_step = 0\n",
" \n",
" \n",
" def set_commanded_speed(self, speed, steps):\n",
" self.cmd_vel = speed\n",
" self.vel_delta = (self.cmd_vel - self.vel) / steps\n",
" if abs(self.vel_delta) > 0:\n",
" self.vel_step = steps\n",
" else:\n",
" self.vel_step = 0 "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now let's implement a simulated sensor with noise."
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [],
"source": [
"from numpy.random import randn\n",
"\n",
"class NoisySensor(object):\n",
" def __init__(self, std_noise=1.):\n",
" self.std = std_noise\n",
"\n",
" def sense(self, pos):\n",
" \"\"\"Pass in actual position as tuple (x, y). \n",
" Returns position with noise added (x,y)\"\"\"\n",
" \n",
" return (pos[0] + (randn() * self.std), \n",
" pos[1] + (randn() * self.std))"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now let's generate a track and plot it to test that everything is working. I'll put the data generation in a function so we can create paths of different lengths (why will be clear soon)."
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"import kf_book.book_plots as bp\n",
"import numpy as np\n",
"import matplotlib.pyplot as plt\n",
"\n",
"def generate_data(steady_count, std):\n",
" t = ManeuveringTarget(x0=0, y0=0, v0=0.3, heading=0)\n",
" xs, ys = [], []\n",
"\n",
" for i in range(30):\n",
" x, y = t.update()\n",
" xs.append(x)\n",
" ys.append(y)\n",
"\n",
" t.set_commanded_heading(310, 25)\n",
" t.set_commanded_speed(1, 15)\n",
"\n",
" for i in range(steady_count):\n",
" x, y = t.update()\n",
" xs.append(x)\n",
" ys.append(y)\n",
"\n",
" ns = NoisySensor(std)\n",
" pos = np.array(list(zip(xs, ys)))\n",
" zs = np.array([ns.sense(p) for p in pos])\n",
" return pos, zs\n",
"\n",
"sensor_std = 2.\n",
"track, zs = generate_data(50, sensor_std)\n",
"plt.figure()\n",
"bp.plot_measurements(*zip(*zs), alpha=0.5)\n",
"plt.plot(*zip(*track), color='b', label='track')\n",
"plt.axis('equal')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='Track vs Measurements', x='X', y='Y')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This large amount of noise allows us to see the effect of various design choices more easily.\n",
"\n",
"Now we can implement a Kalman filter to track this object. But let's make a simplification. The *x* and *y* coordinates are independent, so we can track each independently. In the remainder of this chapter we will only track the *x* coordinate to keep the code and matrices as small as possible. \n",
"\n",
"We start with a constant velocity filter."
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {},
"outputs": [],
"source": [
"from filterpy.kalman import KalmanFilter\n",
"from filterpy.common import Q_discrete_white_noise\n",
"\n",
"def make_cv_filter(dt, std):\n",
" cvfilter = KalmanFilter(dim_x = 2, dim_z=1)\n",
" cvfilter.x = np.array([0., 0.])\n",
" cvfilter.P *= 3\n",
" cvfilter.R *= std**2\n",
" cvfilter.F = np.array([[1, dt],\n",
" [0, 1]], dtype=float)\n",
" cvfilter.H = np.array([[1, 0]], dtype=float)\n",
" cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
" return cvfilter\n",
"\n",
"def initialize_filter(kf, std_R=None):\n",
" \"\"\" helper function - we will be reinitialing the filter\n",
" many times.\n",
" \"\"\"\n",
" kf.x.fill(0.)\n",
" kf.P = np.eye(kf.dim_x) * .1\n",
" if std_R is not None:\n",
" kf.R = np.eye(kf.dim_z) * std_R"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Now we run it:"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {
"scrolled": true
},
"outputs": [
{
"data": {
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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"sensor_std = 2.\n",
"dt = 0.1\n",
"\n",
"# initialize filter\n",
"cvfilter = make_cv_filter(dt, sensor_std)\n",
"initialize_filter(cvfilter)\n",
"\n",
"track, zs = generate_data(50, sensor_std)\n",
"\n",
"# run it\n",
"z_xs = zs[:, 0]\n",
"kxs, _, _, _ = cvfilter.batch_filter(z_xs)\n",
"\n",
"# plot results\n",
"bp.plot_track(track[:, 0], dt=dt)\n",
"bp.plot_filter(kxs[:, 0], dt=dt, label='KF')\n",
"bp.set_labels(title='Track vs KF', x='time (sec)', y='X');\n",
"plt.legend(loc=4);"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see from the plot that the Kalman filter was unable to track the change in heading. Recall from the **g-h Filter** chapter that this is because the filter is not modeling acceleration, hence it will always lag the input. The filter will eventually catch up with the signal if the signal enters a steady state. Let's look at that."
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# reinitialize filter\n",
"dt = 0.1\n",
"initialize_filter(cvfilter)\n",
"\n",
"track2, zs2 = generate_data(150, sensor_std)\n",
"xs2 = track2[:, 0]\n",
"z_xs2 = zs2[:, 0]\n",
"\n",
"kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
"\n",
"bp.plot_track(xs2, dt=dt)\n",
"bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='Effects of Acceleration', \n",
" x='time (sec)', y='X')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The underlying problem is that our process model is correct for the steady state sections, but incorrect for when the object is maneuvering. We can try to account for this by increasing the size of Q, like so."
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# reinitialize filter\n",
"dt = 0.1\n",
"initialize_filter(cvfilter)\n",
"cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=2.0)\n",
"track, zs = generate_data(50, sensor_std)\n",
"\n",
"# recompute track\n",
"kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
"bp.plot_track(xs2, dt=dt)\n",
"bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='Large Q (var=2.0)', x='time (sec)', y='X')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see that the filter reacquired the track more quickly, but at the cost of a lot of noise in the output. Furthermore, many tracking situations could not tolerate the amount of lag shown between seconds 4 and 8. We could reduce it further at the cost of very noisy output, like so:"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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v/GqJsrIyhIeHY8iQIfj666/bqJd0JXQ6Hbp3745evXqZBkIhIuoIlNbuABERySs3N7fBZ0VFRZg3bx4Ay4NFtIfFixfjwQcfxJYtW/Doo482+V4yS9zd3bF06VJ88803OHLkSBv1kq7Eu+++i/Pnz+P111+3dleIiK4pjlJIRESNmjNnDo4fP44hQ4bAz88P2dnZ2LFjB4qLi/HEE09gwIABVuvbunXrEB0dDa1Wi4SEBPTp0+eKln/88cdx8eJFi0PcU/tzdHTEhx9+iLi4OGt3hYjomuIthURE1KgvvvgC7733HhITE1FcXAxHR0f07t0bjz76KB599FFrd4+IiEh6LLiIiIiIiIjaiN3fUmg0GmE0Gs0+UygUUCgUVuoRERERERHJSNSO8m72mVKphFLZ+NAYLLiMRlRUVFi7G0REREREZINcXV2bLLg4SiEREREREVEbYcFFRERERETURlhwERERERERtRG7f4bL0uAYzd2HSURERERE9sfS+A/NDbbHgsvCBmpupBEiIiIiIiKg+YKLVQUREREREVEbsfsrXLJKSUmBXq+HWq1Gz549rd0du8Ys5MI85MEs5MI85MEs5MEs5GKvebDgklRVVRVqamrg4OBg7a7YPWYhF+YhD2YhF+YhD2YhD2YhF3vNg7cUSkqhUJj+R9bFLOTCPOTBLOTCPOTBLOTBLORir3kohBDC2p2wJqPRiEuXLpl91qlTJw6aQUREREREZlpTO7CqICIiIiIiaiMsuIiIiIiIiNoICy4iIiIiIqI2wlEKJVVQUACDwQCVSgU/Pz9rd8euMQu5MA95MAu5MA95MAt5MAu52GseLLgklZubaxo20552SBkxC7kwD3kwC7kwD3kwC3kwC7m0Ng+j0Yj/bPocA6/rh4GxUW3Yw7bBWwqJiIiIiEhaM55dgJcPaTF9w2GUVtZYuztXjFe4JBUaGgqj0cjh6SXALOTCPOTBLOTCPOTBLOTBLOTSmjwSckrxh+dNUOuMKC06h4SkFAy9LqYNe3nt8T1cfA8XEREREZEUEhMTodFoEBERgUMZxXh0w2Fc0unho6zAwhu9cOetY6zav9bUDrzCRUREREREVlVcXIw5c+Zg06ZNGHX3Q+g/ZTa2HctBtd6IQd288eH0sejk5GDtbrYKCy4iIiIiIrIqJycn7MqoRMC0N3Gmcw+cOXIOADC6VwDentoPTg4qK/ew9VhwSUqv10MIAYVCAbWaMVkTs5AL85AHs5AL85AHs5AHs5BL/TxUKhUUCgUAQAiBVb9kQnnDdDgCUMKICX0CMW1odwwI9TLNZ6u450kqMTHRNGxmXFyctbtj15iFXJiHPJiFXJiHPJiFPJiFXBITE1FRUYFvvvkG33//Pfbt2wc3Nzf8+5dUrN+bAQD4+41dMXNkFLxdNVbu7bXDgouIiIiIiNrF6tWr8cUXXwAA3nzzTQSN/BtW/5wKAFgyKRoPDe1mze61CasPxXfp0iU8//zzGDt2LPz8/KBQKLBkyRKL8/75558YPXo03Nzc4OnpicmTJyM9Pd3ivG+99RaioqLg6OiIbt26YenSpaipsZ1x+93d3eHh4QF3d3drd8XuMQu5MA95MAu5MA95MAt5MAu5uLu7Y8aMGVCpap/HOnBBgZe2nwIAzB3Ts0MWW4AEw8JnZmaib9++iIuLQ8+ePbFu3TosXry4QdGVlJSEQYMGoW/fvpg3bx60Wi1efPFFlJSU4NixY2Zvq16xYgUWLVqEefPmYezYsTh8+DAWLlyI6dOn4/333zdrl8PCExERERFdW4m5pXj/+8PwcnPCI2OuQ4iPi2na/Nc/QKq6G47k6QAAM4d3x/zxUTbxrFZragerF1x1X69QKFBYWAg/Pz+LBdeUKVMQHx+PtLQ0018pzp49i4iICDz77LN47bXXAABFRUUIDg7GtGnT8N5775mWf/nll7Fw4UIkJCQgOjra9DkLLiIiIiKiK6OtMeCb47m4pNWjs7sTOns4wcdVg9/OFGLz/nScvlBpNn90oDtu7uWPfWlF+ONsCQBAoQAeHtINiyb2soliC7DR93C1ZOPq9Xps374d06ZNM7skHBoaipEjR2Lbtm2mguuHH36AVqvFww8/bNbGww8/jH/+85/43//+Z1ZwERERERFRy+j0Bmw5fA5vx5/BhTJd4zMa9ahIPQiloxtcwuJwKq8Mp/LKAAAalRJ39e+CGcO6I9zPrZ16bj1WL7haIi0tDVVVVYiNjW0wLTY2Fjt37oRWq4WTkxMSEhIAAH369DGbLzAwEL6+vqbpRERERETUMkIIfPVnDt7YmYKci1UAgCAPJ/QL8UJeaRUulOlQcEmHbr6umDKwKxRnD+HFzZuwdOlSTLp7JOJTCrEntRBhPi6YfkMY/N2drLxG7ccmCq6ioiIAgLe3d4Np3t7eEEKgpKQEgYGBKCoqgqOjI1xdXS3OW9dWUxITExEaGmp2NU2n0yEpKQkA4OXlhZCQELNlUlNTUVlZe+n08mFHCwsLkZOTAwAICQmBl5eXaZrBYDAVgZ06dUL37t0BAOnp6dDr9dBqtabbLmNiYszeIXHx4kWcPXsWABAUFGT2HBsAnDhxAkIIODs7o2fPnmbTzp07h+LiYgBAZGQknJz+2unLy8uRlpYGAPD390dgYKDZsqdOnTINsXr51cK8vDzk5+cDAMLDw+Hm9tdfLbRaLZKTkwHUZtG1a1ezZVNSUlBVVQWFQtGguC4oKEBubi6A2iubnp6epml6vR6JiYkAah/G7NbN/IHL9PR006Xf3r17mx7UBICSkhJkZWUBALp06QJfX1+zZY8fPw69Xg+VSgV3d3dTPgCQlZWFkpLaS+J1A7TUKSsrQ0ZG7fCmAQEB6Ny5s1m7iYmJ0Ov1cHR0RFRUlNm03NxcFBQUAAB69Ohhti9XVlYiNbV2JB8fHx8EBwebLZucnAytVguVSoXevXubTcvPz0deXh4AICwsDB4eHqZp1dXVOH36NADAw8MDYWFhZsumpaWhvLwcQO0fM+pfNi8qKkJ2djYAIDg4GD4+PqZpRqMRJ0+eBAC4ubkhPDzcrN3MzEyUlpYCAHr16gWN5q8hYEtLS5GZmQmg9g8m/v7+AP46NsrLy6FSqeDk5ITIyEizdrOzs03HekREBFxc/rpvvKKiAmfOnAEA+Pn5ISgoyGzZpKQk6HQ6qNVqxMTEmE07f/48Lly4AADo1q2bVc8RdTIyMlBWVvsXw/Y+R+j1emg0Gri6upr1y97OEQDg4uKCiIgIs2ntfY5IT0+HTqdDZWUl1Gq13Z4j6iQkJMBgMFjlHKHX6+Hs7AwnJyfTsWGP5wjA+r8j6v7N0Ov1psHT7PUcAbT+d4TeYMTznx/BVydq2/Vz02DWzRG4NdITb69ZjW/Xr8enn36KTp284enpibCwMBiHhOL+ybfB2dkZaWlpiNKUo0ekgJubAuWFufB3r91Xbe0cUXecXgmbKLjqNHX7Yf1pLZ2vMXUvZatPCGE6UPV6vcVlGhsF0Wg0mqYZjcYG0y21e+nSJdTU1EChUJj6cnmf6rdrMBgstiuEgIODQ4NpBoPBtGxr2m1sXeu3e/m61t+Gltqt24aWMmppu22ZzeX369Zvt6n9pbFtqNfrLd7v21Q2LWm3pqbG4rSm2q2/rleaeUu3oaXl6/fpco2ta92xUfd99f/hs9Rua7ehpW3U0nbb4xxhqV1rnCN0Ol2DPtvrOaKpdtvjHFH/2GjsPGAP54g61dXVVj1HVFZWmvVdxv3QHn5H1B0XSqXS1J69niNa2u7l54hynR5Pbf4Tu5MLoAAwJdoVz47vg85+Ppg1axbefvttAMC6deswa9Ys07JKpRLOzs5m7QK1mdTfp2zxHHGlbKLgqqt0LV2dKi4uhkKhMP2lwsfHB1qtFpWVlWbVaN28/fv3b/b71Gp1g3/QFQqFaeew9KZytVpt8YQE1O5wddMsHRhNtVt/+uV9qt+upZ3FwcEBQgiL7apUqqtqt/5/G2v38nWtvw0ttVu3DS39mGppu22RTWMHcv12m9pfGtuG9eepr6lsWtKuwWCwOK2pduuWbardq92/m1vXyzW3rk3162q3odFovOLjxlrniKb2w7Y+RzR2bNjbOaIl7bbXOaL+8vZ+jtBoNDAYDFY5R1g6NmTcD+3pd0T9Ze35HHGlvyPOl2rx8IbDOJ1XBke1Es8O9sINXZ3hrKldn+effx4ffPCBqaBp6tzT2LFhi+eIK2X1UQrra2yUQr1eD3d3d0yfPh3vvvuu2TLjxo1Deno6UlJSAACbN2/GAw88gAMHDuD66683zXf+/HkEBgZixYoVWLBggelzWUcprF+JN/Zjk9oHs5AL85AHs5AL85AHs5AHs2idtIJybDl8DluOnENJZQ183DR4qFsV+nfzxZAhQ8zm3bx5MwYNGoQePXo0225HyMMmRylsCbVajUmTJuGrr77CypUr0alTJwC1977Gx8fj2WefNc07btw4ODk5YcOGDWYF14YNG6BQKHDHHXe0e/9bw1Z3wo6IWciFeciDWciFeciDWciDWVyZ70/mYcPeTBzKLDZ91t3HGZU/vI6nF32PgQMH4uDBg2ZXeaZOndri9u01DykKrh07dqCiosJULZ46dQpbt24FANx6661wcXHB0qVLMXDgQEycONHsxce+vr6YO3euqS1vb28sXLgQixYtgre3t+nFx0uWLMGMGTM4JDwRERERUT0Go8CK705j/d7agTqUCmBUlD/uHRiC4RE+GPRJ7cWNw4cPY+fOnRg7dqw1u2tzpLilMCwszDRKzuUyMjJMoyH98ccfeOGFF7B//36o1WqMGjUKq1atajBiCQCsWbMG77zzDjIzM9G5c2fTe7guv09T1lsKiYiIiIjaWmW1Hs/89xh2nqodhffhG4Lx+IhIdPb4a+TJ7777Ds899xxefvll3H777TbzkuK20JraQYqCy5pkLbhKSkpgNBqhVCrNhn+l9scs5MI85MEs5MI85MEs5MEsmpZ/SYsZG4/gRHYpNCoFelccRfzGVTh16pTZcP5CiEZH9LsSHSGPDvsMlz3KysoyvaPCVnfIjoJZyIV5yINZyIV5yINZyINZNC6jsAJ/W3cQORer4OXigNjS/dj07yUAgOXLl+Odd94xzatQKK7J81f2mgcLLiIiIiIiO3IqtwzT1h9CYbkOYT4u2PDwILgY++Kr91fBaDQiICDA2l3sUFhwSapLly6mS65kXcxCLsxDHsxCLsxDHsxCHsyioUPphZi2bj+0RiWiA92x6dFB8HVzBOCKzz//HP3792+zgste8+AzXJI+w0VEREREdC3972AKZn+RCKg1UBZn4I83ZsDLzan5BcmkNbUDqwoiIiIiog5KCIGD6UWYtv4QZm9LBdQaVKUfQeZH/4dDe3+1dvfsAm8pJCIiIiLqYC5WVmP7kTPYlngRf5wtAVD7fq2bgh2Q9NtOfPHLTxg+fLiVe2kfWHAREREREXUACTml+P5kHn5JyEFyQRXw/9+XpVErcU//YDw+PBwhPi4QT4yx63dptTcWXJI6fvy4adjMuLg4a3fHrjELuTAPeTALuTAPeTALedhLFhcrq/HaD0n47NC5vz5UKFBdeBbhjhX48pVZ8Hd3qjfJOsWWveRxORZcREREREQ2SAiB/x3LwfLtp1FUUQ0AGN+7M4aEdsLs+8dBqbuEexYtMiu2qP2x4JKUi4sL9Ho91GpGZG3MQi7MQx7MQi7MQx7MQh4dOYuSimo8/dmf+O1MEQCgh78bVtzRG9d39wEAdP/8Y/Tp0wfu7u7W7KaZjpxHUzgsPIeFJyIiIiIbkphbihkbDiGvrBrGGh1UST/h5Ber4ebCK1ltjcPCExERERF1YF8fy8Fd7+5DXlk1HLQXcX7THJzd8T72/b7H2l2jRtjX9TwiIiIiIhuUlJSEbzKBtbvTAAA39fTDI738sSqtD1as+AaxsbHW7SA1ircU8pZCIiIiIpLU0aNHMX/+fOwvdIDX6L8DAJ4cGY45YyKhUnJo9/bWmtqBV7gklZWVZXqoMCQkxNrdsWvMQi7MQx7MQi7MQx7MQh4dIYsff/wRv57Og/+9LwEA5o2Pwt9vCrdyr1qnI+TRGryMI6lR+7MAACAASURBVKmSkhIUFxejpKTE2l2xe8xCLsxDHsxCLsxDHsxCHh0hizv+9hj8Jy+AQqlCnIcOjw/vbu0utVpHyKM1WHAREREREVnZxYsXsWDBAmzYsMH02SVtDWZtSYDC0Q2xXdzx+f/dbrWXFlPr8RkuSZ/h0ul0EEJAoVDA0dHRqn2xd8xCLsxDHsxCLsxDHsxCHraSRUFBAaKiolBcXIzAkO748JvdOJFXgV9OX0DKhXIEuDvim6duRICNv8DYVvJoSmtqBxZckhZcRERERGQ/br13Oo4Yu8G5e38oFH/9DnV2UOG/MwcjrqunFXtHdThoBhERERGRxIQQOHDgAG644QYAgE5vwHu/piM1/F64GGuvg4T5uGBgmDcGdvPGTT39bP7Klr1jwUVERERE1A5+++03zJ07F4cPH8bhw4dxyS0EL313CukFFQCAYRG+WHJbDML93KzcU7qWWHBJqqyszHSPq7u7u7W7Y9eYhVyYhzyYhVyYhzyYhTxky+L48eM4cuwE3PqOx9RPTqPa6QIAwNfNEYsm9sJtcUEdelAM2fJoLyy4JJWRkYGamho4ODggLi7O2t2xa8xCLsxDHsxCLsxDHsxCHtbOwmgUyCiqQOqFcqQVlCPF+waEPPUxoHFBNQA3RzXuHdgVT98cAQ9nh3bvX3uzdh7WwoKLiIiIiOgays3NxQsv/QspPjfigv6y5680Lgj1dsH0IWG4Z0AwOjl1/ELL3rHgklRAQAAMBgNUKpW1u2L3mIVcmIc8mIVcmIc8mIU8rJFFUVEReo+9D66jn4RK7wRHtRI9Azqhh78bevi7oU8XDwzt4QuVsuPeOtgYez02OCw8h4UnIiIiolbS6Q2o+zUtBLBmVyre3Z0GANCfT8HqKbG4+9abrdhDupY4LDwRERERUTuo1hvx7OdH8d3J8xanhxvO4ZPXHkBggH8794xkw4KLiIiIiOgK1BiMuOfNHThe1HCah7MDXrqjN26Lm9D+HSMpseAiIiIiImohg1FgzpbjOF4ECH0N8retQFyQK3bu3AmFQgFHtRIOKj6aQn9hwSWpxMRE07CZMTEx1u6OXWMWcmEe8mAWcmEe8mAW8riWWQghIATw/NYT+PZ4LtRKBVR/fILru7ri1Vdf5WiDLWCvxwYLLknp9Xro9foO/fI7W8Es5MI85MEs5MI85MEs5HEtskhOTsbChQsRE9MbutjJ+PLPbKiUCrx1fz8MnPMf+Pj4MOsWstdjgwWXpBwdHaFUKuHgwL+WWBuzkAvzkAezkAvzkAezkMfVZlFUVIS+fftCq9ViT3kAnLVZUCiAN6bEYXyfwGvc247PXo8NDgvPYeGJiIiIqBH/eOIJ/Pe0Fh7X3wUA+NfdsbhnQFcr94qspTW1A6sKIiIiIrJ7lZWV2LhxIy6/FhE0Zoap2Hr5zj4stuiK8ZZCIiIiIrJrX3zxBZ5++mmcP38efn5+GDF6LPakFODbE3n47kQeAGDxpGhMvT7Eyj0lW8SCi4iIiIjsmkKhQH5pJVz7jMYzW09BuU8Bnd5omj5vfBQeHtrNij0kW8aCS1K5ubkwGAxQqVQICgqydnfsGrOQC/OQB7OQC/OQB7OQh6UshBDQ6/VwcHBASUU1vjqagx+LuqDrrE8AhRI1AKA3oqu3M8ZGd8aE2EBcF+Jl1fXoKOz12GDBJamCggLTewrsaYeUEbOQC/OQB7OQC/OQB7OQx+VZHDx4EPPnz0e/667DjQ/MxrJvT6GksqZ2ZoUSMUHuGBvdGWNjAhDVuZPdDV/e1uz12GDBRUREREQdXklJCUaOHIlqh0447T8KX35+HADQM8AN9w0MwdiYAAR7uVi5l9QRcVh4SYeFr6iogBACCoUCrq6uVu2LvWMWcmEe8mAWcmEe8mAW8qjLwiiApMJq/PM/W5Fc4wOlxgkOSmD2mEjMHN4dDioO3N0eOsKx0ZragQWXpAUXEREREbVOUVERPvroI0x84DF8evAcfkg8j4JLOtP0gWFeePWuWIT7uVmxl2SLWlM78JZCIiIiIuowNm7ciGfmvQhV39vxTuFvEKh9DquTkxpjogMwoU8gRkb6Q6nk81nUPlhwEREREVGHUKHT42ClH9ynvgGlgxMEgFtiAnDfoBAMDfeFRs07mKj92dRed/ToUdxxxx0ICgqCi4sLoqKisGzZMlRWVprN9+eff2L06NFwc3ODp6cnJk+ejPT0dCv1unUqKytRUVHRYN2o/TELuTAPeTALuTAPeTCL9mM0GlFRUQEAOJN/Cbe9/Tu+PyugdHCCR00RVk/sijcm98L1Xd1YbEnAXo8Nm7nCderUKQwZMgSRkZFYvXo1fH19sWfPHixbtgx//PEHvv76awBAUlISRowYgb59+2LLli3QarV48cUXMWzYMBw7dgx+fn5WXpOWSU1NNQ2bGRcXZ+3u2DVmIRfmIQ9mIRfmIQ9m0faEEPjxxx8xf/58DBo0CJOeXIznt55AZbUBAe6OWDyxF8b3CcKJEydw+vRpZiEJez02bKbg2rx5M7RaLb788kuEh4cDAEaNGoW8vDy8//77KCkpgZeXF1588UU4Ojpi+/btcHd3BwD0798fERERWLVqFV577TVrrgYRERERXaXS0lJMmTIF5VXVyPIZhB83HwUA3NDdB29N7QdfN0cr95DoLzZTcDk4OAAAPDw8zD739PSEUqmERqOBXq/H9u3bMW3aNFOxBQChoaEYOXIktm3bZjMFl4+Pj+lN3GRdzEIuzEMezEIuzEMezKLtCCGQkFOGPamFiHnqfeRWO0Ghrv2N+I8R4Zg7pifU9YZ4ZxZysdc8bKbgmj59OlavXo1//OMfeO211+Dn54dff/0V7733Hp588km4uroiOTkZVVVViI2NbbB8bGwsdu7cCa1WCycnpya/KzExEaGhoWZFm06nQ1JSEgDAy8sLISEhZsukpqaa7ke9/BJpYWEhcnJyAAAhISHw8vIyTTMYDEhISABQO6Rk9+7dAQDBwcEAgIyMDBw/XvtivpiYGKjVf0V28eJFnD17FgAQFBTU4HbJEydOQAgBZ2dn9OzZ02zauXPnUFxcDACIjIw02ybl5eVIS0sDAPj7+yMwMNBs2VOnTpkuB0dHR5tNy8vLQ35+PgAgPDwcbm5/Dbeq1WqRnJwMAPD29kbXrl3Nlk1JSUFVVRUUCkWDDAsKCpCbmwugtoD29PQ0TdPr9UhMTAQAuLu7o1u3bmbLpqenm4bv7N27t9lBXlJSgqysLABAly5d4Ovra7Zs3bZ3cXFBRESE2bSsrCyUlJQAAKKiouDo+Ndf08rKypCRkQEACAgIQOfOnc2WTUxMhF6vh6OjI6Kiosym5ebmoqCgAADQo0cPs/dUVFZWIjU1FUDtSatuP6mTnJwMrVYLlUqF3r17m03Lz89HXl4eACAsLMzsjxfV1dU4ffo0gNo/aoSFhZktm5aWhvLycgBAnz59zIY+LSoqQnZ2NoDa/dbHx8c0zWg04uTJkwAANzc309XpOpmZmSgtLQUA9OrVCxqNxjSttLQUmZmZAIDAwED4+/ubvgMAEhISUFRUBCcnJ0RGRpq1m52djaKiIgBAREQEXFz+epFlRUUFzpw5AwDw8/Nr8Kb7pKQk6HQ6qNVqxMTEmE07f/48Lly4AADo1q2bVc8RdTIyMlBWVgaA5wh7P0cEBwebzhFFRUV2e46ok5CQAIPBwHNEBzhHZGVl4e21/0HMhIex/vd0nC3V//+5O0GhBoK9nPHixGiEOZQhMeGk2Tmi7hgoKCgwHa/2eo4A+DuivtaeI1rz/JnNFFxhYWHYv38/7rzzTrON/fTTT2P16tUAYNow3t7eDZb39vaGEAIlJSUNDvzL6fV6XP56MiEEampqTNMtLVM3/XJGo9E0zWg0Npje0nYv71P9dg0Gg8V2hRCmq4P1GQyGq2q3sXWt3+7l61p/G1pqt25dFYqGw7S2tF1ZsmluXWtqaqDX6y2+s6GpbFrSbk1NjcVpTbVbt2xz7VrS0m1oafn6fbpcc+taXV0No9Fo8a9k12IbWtpGLW1Xlv2Q54iG7cqSDc8RDdvlOYLniMvbNRqNeHPtB1j++R64xI6D6rsUAICTSoH+Xd1wS1wIbuzhi26+rlAoFDh1qpjnCPAcUactzxFXymYKrszMTEyaNAkBAQHYunUr/Pz8cPDgQSxfvhzl5eX48MMPTfNaOtBaMq2OWq1uMJ9CoTCdcOr/daj+MpZOSACgVCpN0ywdGC1t9/I+1W/X0s7i4OAAIYTFdlUq1VW1W/+/jbV7+brW34aW2q1bV0sZtbRdWbJpbl3r1rO5bdiadhu7VN9Uu3XLNtXu1W7D5tb1cs2tq0ajgcFgaJNtaDQar/i4kXE/5DmiYbuyZMNzRMN2eY7gOaJ+u5d0Rrz161l8nBOETjfcV/s9lSWYPiQUY8Pd0LWzb4Or4DxHwDQ/zxFte464UgrRmjLNCu677z7Ex8cjPT3d7NLoRx99hEceeQS7d+9G586dERUVhXfeeQdPPPGE2fLPPfccXn/9dVRWVppd9m7N26KJiIiI6NoQQqCksgbZRZdwNv8ikov02LAvE+W62qtCLrpi9HPMx+rnHoafT8O7mIjaU2tqB5u5wnXs2DFER0ebFVsAMHDgQAC192EOHToUzs7Opns96zt58iR69OjR7PNbskhOTjbd33z5faXUvpiFXJiHPJiFXJiHPJhFy2hrDHh71xms35uByuqGt3z1CnTH7NERGNPLv9V/CGcWcrHXPGym4AoKCkJCQgLKy8vNHrLev38/gNqH7NRqNSZNmoSvvvoKK1euRKdOnQDUPpQYHx+PZ5991ip9bw2tVtvoPbTUvpiFXJiHPJiFXJiHPJhF845kFuOFL08graDC9Jmh4iIM5cUY2i8aj4yMxi0xnaFUXvntW/UxC7nYax42c9/c7NmzUVhYiDFjxmDLli3YtWsXXn75ZcyZMwfR0dEYP348AGDp0qWorKzExIkTsWPHDmzbtg0TJkyAr68v5s6da+W1aDmVSgWlUml3w2bKiFnIhXnIg1nIhXnIg1k0Lr9Mi8VfJ+Ce9/YjraACfp0csfaB6zArIBXZb/8NvXO+xdLRgRjfJ/Cqiy2AWcjGXvOwmWe4ACA+Ph6vvvoqTpw4gdLSUnTt2hWTJk3C/PnzzYaQ/OOPP/DCCy9g//79UKvVGDVqFFatWtVgKEmAz3ARERERtaVqvRG/nL6AL/7Ixu7kfBj//y/PKQOC8c9bo+Hh4gCtVov9+/dj5MiR1u0sUTNaUzvYVMHVFlhwEREREV17NQYjNu0/i3fiz6C4otr0uTb7FKbGeuCN52dasXdErdOhB80gIiIiItuwOzkfL20/ZXpGy7+TI4YFO2DNnAegL85BfGJfiOcea9UQ20S2hgUXEREREbVaaVUNMgsrkF1SheySSuxPL8Lu5AIAgI+rBs/dEom7+wdDrVJCe+h2hIWF4amnnmKxRXaDtxRKekthfn6+6cVz/v7+Vu2LvWMWcmEe8mAWcmEe8rCXLIQQ+OC3dKz8IRl6o/nPSWHUw78kEb+89RzcnSy/mLY92EsWtqIj5MFbCjuQvLw803sKbHWH7CiYhVyYhzyYhVyYhzzsIQuDUWDZt4nYuP8sgNpbBrt6uyDIXYOvP/0QeQe/RVZxDk4+dBOGDh1qtX7aQxa2xF7zYMFFRERERC1WVW3A0/89ip2nLgAAFk7ohRnDupumx1Udw2M7/oP77rsPgYGB1uomkTR4S6GktxSWlpZCCAGFQgEPDw+r9sXeMQu5MA95MAu5MA95dNQsqvVG7E8vwps7U3Ds3EU4KIEu537B9neXwc3NzTSfXq9HQkIC+vbta8Xe1uqoWdiqjpAHh4VvBVkLLiIiIiJrMxoFdiXl4/uTefj59AWUafUAAEeFHmc/XgBdziksX74c//znP63cU6L2wYKrFVhwERERETVUcEmH//viOH5NKTB95uumwZjozhjTFRh7Qz8YDAYMHjwY+/bt46iDZBc4aAYRERERXbU9KQWYs+U4Cst1cFQpMCHKE/cPi8J1IV5QKWsLqwULFiAsLAzTpk1jsUXUBF7hkvQKV3X1X29k12g0VuwJMQu5MA95MAu5MA952HIWBZd0eO/XNKz7PQMA4KmoRManL6J/j0D88ssvNldY2XIWHVFHyINXuDqQ06dPm4bNjIuLs3Z37BqzkAvzkAezkAvzkIetZXFJW4MfEy/g62M52HumEHWv1Jo6KBifz7sPZeeSEH8uCT///DPGjBlj3c5eIVvLoqOz1zxYcBERERHZGSEE/jhbgs2HsvD9yTxoa4ymaX27euLJkT0wJjoAsdWL8eCDD2LmzJno06ePFXtMZLtYcEnKw8PD9CZusi5mIRfmIQ9mIRfmIQ+ZszAYBT49eBYf7z+L1Pxy0+f+TgLa5N/w8YpnENc9yPT5lClTMHjwYISFhVmht1dP5izskb3mwWe4JH2Gi4iIiOhaEkJgwbYEfHYoCwDg7KDCxNhA6E79greWzAUAvPDCC3j11Vet2U0iqfEZLiIiIiKy6M2fU/HZoSwoFMD88VG4b1AI3J0ckJXlhfdfWQCdTodDhw6ZXkxLRNcGCy4iIiKiDu7j/ZlY80sqAODx/p6YOTzcNC0kJASvvvoqwsLCcPvtt7PYIrrGeEshbykkIiKiDuy7E3l4avOfEADK9n2GHtoUHDx4kIUVUSvwlsIOJC0tzTRsZnh4ePMLUJthFnJhHvJgFnJhHvKQJQud3oAP9qTj37+kQgBwOHsAJb99isMAtm3bhsmTJ1utb+1Fliyolr3mwYJLUuXl5aYdkqyLWciFeciDWciFechDhiz2pxVi4f8SkFZQAQCYFBeEsTcOxv3fumLOnDkYPXq01frWnmTIgv5ir3mw4CIiIiLqIErKq/Dwmu9wrMwZAODrpsGiidG4LS4IQF9kZmbC19fXup0ksjN8hkvSZ7iMxr9eQGjtvtg7ZiEX5iEPZiEX5iEPa2Vx/NxF/G3tLlwSjhDCiDD9OXzz0mPwcLGvqwn18biQS0fIg89wdSC2uhN2RMxCLsxDHsxCLsxDHu2dhRAC6/dm4tUdp1EjHGEoy0f+1ytx3aAodHL6e7v2RTY8LuRir3mw4CIiIiKyQceOHcPpvDLsvOCMXUn5AIBxMZ3Rt6YIMfe/j2HDhlm5h0QEsOAiIiIisillly5hyjNLcbTSG85hcQAuQaNSYuHEXnhwcCgUiv7W7iIR1cOCS1JFRUUwGo1QKpXw8fGxdnfsGrOQC/OQB7OQC/OQR1tmkZBTijlbjiHFfyScAQijAbFeBvzr4ZsR1dn9mn5XR8DjQi72mgcLLkllZ2ebhs20px1SRsxCLsxDHsxCLsxDHtc6i5qaGqjVanx84CyWbz+NaoMRzmqg7OgO/P3mXnj+yRlwdHS8Bj3veHhcyMVe82DBRURERCShqqoqvPPOO3jjrXcx5p8b8Gt6GQBgTHQA/nV3LDQYCRcXFyv3koiaw4JLUsHBwaZLrmRdzEIuzEMezEIuzEMe1yqLN954A8s//Ao+4xfg1/QyOKgUmD++Fx4eGgaFQgFAc2063IHxuJCLvebB93BJ+h4uIiIisl/nS7VYtO0YdiYVAQCcDBX4bNZo9AvxtnLPiOwb38NFREREZIPi4+NRU1OD3oOG4etjuXh7Vyoqqg1QQmBSlDtW3H8L3Bz5s43IFvHIJSIiIrKSnMKLuP+xZ3CioAaeMcOBXTWmaf1CPLHijj6IDuLog0S2jAWXpIxGo+n/8/ZG62IWcmEe8mAWcmEe8mgqi3KdHm/uTMGRzGJkFlWitKoGiJwCz8ja6QoI9A/1xpQBXXF3/2AolYr27HqHw+NCLvaaBwsuSZ08edI0bGZcXJy1u2PXmIVcmIc8mIVcmIc8GssiIacUT3xyBFklWrP5vZ2VKD5zDHcOCse8aRMR4MGRB68VHhdysdc8WHARERERtSEhBN7blYSVO8/ACCX8XNVYOKk3ojq7I8TbBc4aFQyGsVCpVNbuKhG1ARZcknJzczP9BYCsi1nIhXnIg1nIhXnIo34WFTo9ntt6HN+fPA9AicrUAwhSnsHtiz4zW4bFVtvgcSEXe82Dw8JzWHgiIiJqA7kXq/DoxiM4nVcGtVIB7YHNKNj7BZ544gm8/vrr/K1BZIM4LDwRERGRFQkh8OWXXyKrXIHPcjxQcEkHXzcN3ntwAEpHOyE8fAVCQ0Ot3U0iakcsuIiIiIiugcrKSowYMQKJ5c7wvXU2FGodojp3wrrpAxDs5QKEjrJ2F4nIClhwEREREV0DQqWBof998POoHeO9p1s1tv5jCF9YTGTneAaQVGZmJgwGA1QqFcLCwqzdHbvGLOTCPOTBLOTCPNrf+fPn0blzZwDAsXMXMfu/R1HkEQkII4Z6V2Lp3QNZbFkZjwu52GsePAtIqrS01C5HcZERs5AL85AHs5AL82g/OTk5WLZsGdavX48tP/6GJJ0H1v2WAYNRINDDCU9c54ZePipUlF9qvjFqUzwu5GKvebDgIiIiIroC//n8O2xJrob/w+/g2Z+KABQBACbGBmLFHX2QmXoKNTU11u0kEUnD5oaF//333/Hyyy9j//790Gq1CA4OxrRp07Bo0SLTPD///DMWLVqE48ePw8XFBRMnTsTKlSvh7+/foD1Zh4Wvrq42/X+NRmPFnhCzkAvzkAezkAvzaFt6gxE/Jl7AR3szcORsielzJYwYERmAKQO74paYzlAoFMxCIsxCLh0hjw4/LPzmzZvx4IMPYsqUKdi0aRPc3NyQlpaG3Nxc0zy//vorxo8fjwkTJuDrr79Gfn4+XnjhBdx88804cuQIHB0drbgGLWerO2FHxCzkwjzkwSzkwjyuvZqaGrz/4XocK3dHYo0/cku1AAAHlQIDAjW4rW9XTBoY3uA5LWYhD2YhF3vNw2aucOXk5CAyMhLTpk3D2rVrG51v0KBBqKiowPHjx6FW154A9+3bh6FDh2Lt2rX4xz/+YTa/rFe4iIiIyHoqKirQd+JDqOx5Cxy8AgEAPq4aPHB9CP42OBT+7k5W7iERWUNragebqSrWrVuHiooKvPDCC43Ok5OTg8OHD+PBBx80FVsAMGTIEPTs2RPbtm1rj64SERGRDUvMLcUjn5xAzfUPwcErEPpLRbijSyX2zhuFOWMjWWwR0RWxmVsK9+zZA29vbyQlJeH2229HQkICvL29MXnyZKxcuRLu7u5ISEgAAMTGxjZYPjY2Fnv37m3RdyUmJiI0NBTu7u6mz3Q6HZKSkgAAXl5eCAkJMVsmNTUVlZWVAIC4uDizaYWFhcjJyQEAhISEwMvLyzTNYDCY+t2pUyd0794dQO0oLkIIXLhwAVpt7S0MMTExZoXkxYsXcfbsWQBAUFAQ/Pz8zL73xIkTEELA2dkZPXv2NJt27tw5FBcXAwAiIyPh5PTXPx7l5eVIS0sDAPj7+yMwMNBs2VOnTplGmImOjjablpeXh/z8fABAeHg43NzcTNO0Wi2Sk5MBAN7e3ujatavZsikpKaiqqoJCoWiQYUFBgenW0dDQUHh6epqm6fV6JCYmAgDc3d3RrVs3s2XT09NNf4no3bs3VCqVaVpJSQmysrIAAF26dIGvr6/ZssePH4cQAhqNBl26dIGHh4dpWlZWFkpKau/jj4qKMrtdtaysDBkZGQCAgIAA07DBdRITE6HX6+Ho6IioqCizabm5uSgoKAAA9OjRA66urqZplZWVSE1NBQD4+PggODjYbNnk5GRotVqoVCr07t3bbFp+fj7y8vIAAGFhYWbrUl1djdOnTwMAPDw8GgzVmpaWhvLycgBAnz59zP6KU1RUhOzsbABAcHAwfHx8TNOMRiNOnjwJAHBzc0N4eLhZu5mZmSgtLQUA9OrVy+xWg9LSUmRmZgIAAgMDTc9g1h0bdfu+k5MTIiMjzdrNzs5GUVHtQ+wRERFwcXExTauoqMCZM2cAAH5+fggKCjJbNikpCTqdDmq1GjExMWbTzp8/jwsXLgAAunXrZtVzRJ2MjAyUlZUBaP9zhBAC7u7u8PHxMduf7O0cAQAuLi6IiIgwm9be54jS0lJotVrk5eVBoVDY7TmiTkJCAgwGQ4vPEcnJyYiI6Im1u5Lw5i/pMAjAQQl0yjmINx4bjxE33gCgZecIIQT8/f3h6upq2o72eI4ArP87ou7fjLKyMtPxaK/nCMD6vyOEEAgNDYVSqTQtbyvniPrb8ErZTMGVk5ODyspK3HPPPZg/fz5Wr16Nw4cPY/HixUhISMBvv/1m2jDe3t4Nlvf29jZNb45er8fld1oKIUwjDun1eovLNDYikdFoNE0zGo0NpltqNzMzEzU1NVAoFKa+XN6n+u0aDAaL7QohLA69aTAYTMu2pt3G1rV+u5eva/1taKndum2oUCha3W5bZpOZmWn2j2D9dpvaXxrbhnq93uLl56ayaUm7NTU1Fqc11W79db3SzFu6DS0tX79Pl2tsXeuOjTr1/+Gz1G5rt6GlbdTSdtvjHGGpXWucI4qLi3Hp0iWzY8NezxFNtdse54jLjw17PUfUqa6uhtFobPYckZycjBUrVmDb9zsx4aXPcaKgtq1BQY54fnQ3DIieYHFdmztH5ObmwsHBwXRsyLgf2sPviLrjQqlUmtqz13NES9tt63NEWlqa2bEh+znC0ja8UjZTcBmNRmi1WixevBjz5s0DAIwYMQIajQazZ8/GL7/8YprX0j/GTX1+ObVa3WBehUJhOuHU/+tQ/WUae6eAUqk0TbN0YDTVbv3pl/epfruWdhYHBwcIISy2q1Kprqrd+v9trN3L17X+NrTUbt02tJRTS9tti2waO5Drt9vU/tLYNqw/T31NZdOSduteKHgl7dYt21S7V7t/N7eul2tuXZvq19VuQ6PReMXHjbXOEU3th219jmjs2LC3c0RL2m2vc0T95e39rU7/TwAAIABJREFUHKHRaGAwGJptd//+/dh+KBmBD7+FEwUGOKqVeKSfO24Jd4W/p7PF/jZ3jrB0bMi4H9rT74j6y9rzOcLavyMsHRuynyMsbcMrZTODZtxwww04cOAA/vzzT/Tr18/0eUpKCiIjI/Haa68hLi4O48aNw3fffYdbb73VbPl77rkHe/fuNRvREJB30Iz8/HzTDm9pOHtqP8xCLsxDHsxCLsyjdXadPo9H1h8EVGr4ONTg47+PQHQXz+YXbAKzkAezkEtHyKNDDwsfGxuLAwcONPi8rl5UKpWme01PnjzZoOA6efJkg3tRZWarO2FHxCzkwjzkwSzkwjyaVlFRgTVr1kCj0WDu3LkAgN9TC/H3T48CKjVGR/pizQP94aK5+p9GzEIezEIu9pqHzYxSeNdddwEAduzYYfb5999/DwAYPHgwunTpgkGDBuGTTz4xu1fzwIEDSE5OxuTJk9uvw0RERCSFqqoq9OrVCwsWLMCSJUtQUFCA/WlFmLHpMKr1RoyJDsC70wZek2KLiOhyqiVLliyxdidaIjw8HH/++SfWr18PoPZBty1btuDFF1/EuHHjTM91RURE4M0338Tx48fh4+ODAwcO4PHHH0dISAjefffdBvfQCiHM3noNAI6Ojq26P5OIiIjk4+DggNTUVBw5cgR6vR6degzAij2FqKoxYmSkH9b+7Tpo1JafFSUiqq81tYPNPMMF1P6FaunSpdi8eTPy8vIQFBSEBx54AIsXLzYbSnPnzp148cUXcezYMbi4uGDixIn417/+ZfEypqzPcBEREdGVE0Jg//79uOGGG8x+AGWcy8GMpWvh0Gskkgp0AIBhEb74YNoAODmw2CKilmlN7WBTBVdbkLXgSkhIQHV1NTQajU09e9YRMQu5MA95MAu5MA/gzz//xNy5c7F79258//33GD9+PHR6A96JT8OGvRko09YOza1WKnB73y5YcWfvNim2mIU8mIVcOkIeHXrQDHtjMBhgNBotvjeA2hezkAvzkAezkIs952E0CuiNAunp6di9ezcAYP78+QjqPRjPbT2BlAu1L2UO9nLG/YNCcM+AYPh3cmqixatjz1nIhlnIxV7zYMElKScnpybfLUDth1nIhXnIg1nIxd7y0OkN2JdWhJ8Sz+OnxAu4WFWDuOBA9JryPHTnTqL/lMcw+d39MBgFfFw1WHJbDG7tEwiVsu2f0ba3LGTGLORir3nwlkJJbykkIiIioKragE8PnsX+tCJo9Qboaoyo0FYj9Xwp9Irm/248oU8glt0eAx83x2bnJSJqDm8pJCIiog5Bpzfgv4fO4e34Myi4pGs4g0INQ0UJ7rq+B+66Phwh3i44mF6MfWmF2JdWBAeVEvNvjcLE2KD27zwRUT0suIiIiMjqiiuqkVZQjvSCcqQXVGD7iTzkXKwCUPvs1UNDwuDXyRGOaiU+3bQRWz7+EMqLORg24mMMixgMAAj1ccWUgV2tuRpERA2w4CIiIiKryb+kxbwvT2JXUn6DaZ3dHTHctwrLHhoOp3ovJR40byY8q3Iwb948dOnSpT27S0R0xfgMl6TPcGVnZ8NgMEClUiE4ONiqfbF3zEIuzEMezEIutphHfHI+nvviOArLa18i2sXTGd39XBHu5waH8vPYsuoFnDj6Bz7//HNMmTLFyr1tOVvMoqNiFnLpCHnwGa4OpKioCDU1NXBwcLDZHbKjYBZyYR7yYBZysaU8dHoDXt2RhI/2ZgIAojp3wpr7+6FnQCfTPD/8cA4Lj/7x/9i77/ioqvz/468p6b0BSQg9EAhFQFRsKKJiZRfEwq6C6Lri6ipiwYYgxbJY1v77rmBjcXFVrIiChUWKK9JDCwnpCek9k2n390c210wygVCSOcl8no+HD3XOvWfOnffckzm3nAvA448/zuTJkzGbO8fPls6URVcnWajFW/PoHD2XEEIIIbqE7w8cZdGX+0kvrgFgxrl9mHtFEn5m16PDl19+OePGjaO6uppnnnmm0wy2hBCiObmkUNFLCmtra9E0DYPBQGBgoEfb4u0kC7VIHuqQLNSieh6HC6tZ+OU+NhwqAiA62I9npwxjQKCFJ598kqCgIF577TWXdUpKSoiMjMRgaP9nZ51OqmfhTSQLtXSFPE5m7CADLkUHXEIIIURXYLE5eGl9Km9tTMfu1PAxGZh5Xl/uHj8AX4OThIQEioqKMJlM7N+/n8TERE83WQghWnUyYwcZVQghhBCiXfyaWcqVL2/kzQ1p2J0aEwZ349vZ43jkysGE+Pvg5+fH3XffDTT8YDlw4ICHWyyEEKdfmy6I/uqrr7jqqquOu1x9fT2PPfYYS5cuPeWGCSGEEKJzsDucVNTZqLU6qLM5qLM6+GxnHm9vPoKmQbcQP+ZfnUTBr9+SED7SZd37778fp9PJvffeS0REhIe2QAgh2k+bLik0Go3MnDmTF198kZCQELfLbNmyhZkzZ3L48GFsNttpb2h7UfWSwpqaGv0a16CgII+2xdtJFmqRPNQhWailo/IorLLwyfZcNqYWUVRVT3G1lbJaK639mrhudE/OCyzg/rvvJCMjg2XLljFz5sx2a58KZN9Qh2Shlq6QR7tNC79kyRLmz5/Pd999x7Jlyxg/frxe1nhW6+9//zsDBgzgp59+Osnmi6YaB64+Pj6MGDHC083xapKFWiQPdUgWamnPPOqsDjYdLmbVtmy+P1CIw+l+dOXvYyTQ10yAj4mYED/unZDIxYO68dNPVWRkZAAwf/58brnlli4966DsG+qQLNTirXm0qbebO3cuV111FTfffDOXXnops2bN4rnnnmPXrl3MnDmT1NRU7r//fhYuXIifn197t1kIIYQQ7ajWaufL3fnsyCpnV3Y5B49WuQyyRvYKZ/LIePpGBxMd4ktUkB+RQb6YjA2zCTb+oGp0/vnnc/XVV2O1WlmyZEmXHmwJIURzbe7xhg0bxrZt23jyySd57rnnWL16NYWFhQwYMIBNmzZx9tlnt2c7vU5MTIz+JG7hWZKFWiQPdUgWajldeVTU2rh5+c/szqlweb17qB/XDI/jhjEJJHZ3f3vBnj17eOyxxwgNDWXFihUuZatWreq000CfKNk31CFZqMVb8zjhaeG3b9/OddddR0ZGBiaTiZUrVzJ16tT2al+7U/UeLiGEEKKjVdTa+OOyn9mTW0FEoA/Xj0lgZEI4IxLC6RHqf8znYdXX19OrVy8KCwsxGAzs2LHDqy4ZEkJ4h3adFt7hcLBgwQLGjh2rD7TGjBnDjTfeyMyZM6msrDz5lgshhBDCo5oOtiKDfPngjnN45IrBTBwaS2xYwHEfPuzn58fcuXMBiIuLo6CgoCOaLYQQymvTgCslJYWzzz6bp556ittvv51du3Zx4403smnTJp5++mk++OADhg0bxrp169q7vUIIIYQ4zQorLfxh2VZ9sLXyT2eT1CO01eWrqqpYunQp9fX1Lq/PmjWLV155hdTUVC6//PL2brYQQnQKbbqk0N/fnx49erBs2TIuueSSFuX79u1j+vTpbN++nTvuuIM33nijXRrbHuSSQiGEEN5qX14ly346whe78rA6nEQF+bLyT+cwqIf7e7QAPv/8c2677TaKi4t56aWXuPfeezuwxUII4VknM3Zo04Drtttu46WXXmr1GVzQcMnhkiVLWLx4MRaL5QSa7VmqDrgOHDigz/KUlJTk0bZ4O8lCLZKHOiQLtZxIHulF1Ty2ei9b0kv010b1CufZKcNbnRCj0Y4dOxg1ahQAsbGxZGZmusxIKGTfUIlkoZaukEe7PYdr2bJlx13GZDLxxBNPMGnSpLZUKY6jvr4em82G0+n0dFO8nmShFslDHZKFWtqaR6XFxsx3fiGjpBaT0cCVw2KZeV4fRvaKaLGspmlUV1e7HHAdOXIkN910E5qmsXDhQhlsuSH7hjokC7V4ax6n/UEYw4cPP91VeiWz2YymafKsEgVIFmqRPNQhWailLXlomsbDH+0mo6SWuDB/Vv15LAmR7qdq37hxI4888gjR0dF8+umnLmXvv/++103rfCJk31CHZKEWb83jhKeF72pUvaRQCCGEON2W/3SEp77ch4/JwId/Huv2rBaA1WqlX79+5ObmArB582bGjh3bkU0VQgglteu08EIIIYTovH7NLGPJmv0APHbl4FYHWwC+vr48+eSTAAwePBibzdYhbRRCiK5IBlxCCCFEF1daY+XulduxOzWuGhbL9HP76GVHjx5l7ty51NTUuKxz6623snLlSnbv3s2FF17YwS0WQoiuw7suoBRCCCG8jMXm4I73tpFfYaFfdBDPTBmmP8T43//+N7feeis1NTWEhITw2GOP6euZzWZuuukmTzVbCCG6DLmHS9F7uAoKCnA4HJhMJnr06OHRtng7yUItkoc6JAu1uMvD4dSYteJXvt13lBB/Mx/POpeBTaZ9P3jwIMnJyTgcDuLi4sjIyJBZB08D2TfUIVmopSvk0W7TwouOd/ToUf05BZ31C9lVSBZqkTzUIVmopXkemqbxxGd7+XbfUXzNRv7vj6MIN9QBvw24Bg0axJ///GcMBgNPPPGEDLZOE9k31CFZqMVb85ABlxBCCNEFvfL9YVb+nIXBAH/oZ+P2SRcRGxvL+vXrXZZ79dVX9UsMhRBCnH5ySaGilxRWVlaiaRoGg4HQ0FCPtsXbSRZqkTzUIVmopWke3xyq4MGPdgPw5NVJLJ5xOWlpaQB8++23XHrppZ5sapcn+4Y6JAu1dIU85JLCLqSzfgm7IslCLZKHOiQLtTTmsSWthEc+2QPAXRf159bz++O/cCHTpk1j7NixhIeHe7KZXkH2DXVIFmrx1jxkwCWEEEJ0ERu27+f2fx3AbvTlquGxPHDZIABuuOEGoqOjmTBhglw+KIQQHUwuKVT0kkIhhBDiRPzfO//kqc01mCPjiaKSTQuvx9/H5OlmCSFEl3IyYwcZVSiqvr4ei8VCfX29p5vi9SQLtUge6pAs1FFTb+eriljMkfHYKwop+mQRRs3h6WZ5Ldk31CFZqMVb85BLChV14MABfdrMESNGeLo5Xk2yUIvkoQ7JwnMsFgvp2bkcrg1gze58fjxUiMXmxOS0cS4pvLltC76+vp5upteSfUMdkoVavDUPGXAJIYQQnYTdbmfR//uA5RsOYux9Jph+e25Wj2ATfx4Vwaj4m732xnQhhFCRDLgUFRERgd1ux2yWiDxNslCL5KEOyaLj1NsdfPBzFv/8OYvUwkiM/cYCEO2nMXXsAK4aFkuIvRyHwyF5KED2DXVIFmrx1jxk0gyZNEMIIYTCcsvruGvFr+zKqQDAx6hRtnM9w4OreXnefQwdOtTDLRRCCO8hz+ESQgghuogdO3bwwN/eonjgNVRYHIQH+jB7wkB+NzKOtP1xjBo1ytNNFEII0QYy4BJCCCEUs/ztd5j9f2sIv/BmDBYHQ+NDeeMPo0mIDASQwZYQQnQinfq6ubfeeguDwUBwcHCLsu3btzNhwgSCg4MJDw9n8uTJpKene6CVQgghRNvYHU4+/jWHdwp7EjFuOgaDEWPGVlbe+ttgSwghROfSae/hys3NJTk5maCgICoqKqiurtbLDhw4wFlnncUZZ5zB3LlzsVgszJs3j7KyMnbu3ElMTIy+rKr3cKWmpuo3FSYmJnq0Ld5OslCL5KEOyeL0KC8vJyc3l321obz6w2GySmsB8Dc4uDCshFdmT8PPz++49Uge6pAs1CFZqKUr5OFV93DdeeedXHjhhURGRvLRRx+5lM2bNw8/Pz++/PJLfWrc0aNHk5iYyNKlS3n22Wc90eQTUltbqz+nQHiWZKEWyUMdksWpsdvtvPTSSyx55lkir5yNPa7hmTRRQb7cfkE/bh7bm2C/tv+ZljzUIVmoQ7JQi7fm0SkvKVyxYgUbNmzg9ddfb1Fmt9v58ssvmTJlistzSHr37s3FF1/M6tWrO7KpQgghhFsmk4kPV3+GzyV/xR43AhMac69IYuPDFzProv4nNNgSQgihrk7XmxcWFnLffffxzDPP0LNnzxblaWlp1NXVMXz48BZlw4cPZ926dVgsFvz9/TuiuSfNm56+rTrJQi2Shzoki1NTVmsj+OpHCahwYnTaeeaa/ky9oP9J1yd5qEOyUIdkoRZvzaPTDbjuuusuBg0axKxZs9yWl5SUABAZGdmiLDIyEk3TKCsrIzY2ttX3SElJoXfv3i5nyOrr6zlw4ADQ8NC2Xr16uayTmppKbW3DdffNv0zFxcXk5uYC0KtXLyIiIvQyh8PB3r17gYbrP/v16+ey7pEjR6isrAQgOTnZ5UFx5eXlZGZmAhAXF+dybxrA7t270TSNgIAABg4c6FKWnZ1NaWkpAIMGDXIZgFZXV5OWlgZAt27dWnxW+/bt008HDxkyxKUsPz+fwsJCAPr37+8yoYnFYuHgwYNAQxYJCQku6x46dIi6ujoMBkOLAXNRURF5eXlAw9nK8PBwvcxut5OSkgJAaGgoffv2dVk3PT1dv9Z26NChmEwmvaysrIysrCwA4uPjiY6Odll3165dAAQGBra41jgrK4uysjIAkpKSXO6xqKys5MiRIwB0796dHj16uKybkpKC3W7Hz8+PpKQkl7K8vDyKiooAGDBgAEFBQXpZbW0tqampAERFRbU46HDw4EEsFgsmk6nFs3kKCwvJz88HoE+fPoSFhellVquV/fv3AxAWFkafPn1c1k1LS9Pvkxw2bJjLdcolJSXk5OQA0LNnT6KiovQyp9PJnj17AAgODqZ/f9cfkxkZGVRUNDxbaPDgwfj6+uplFRUVZGRkABAbG0u3bt1c1t27dy8OhwN/f38GDRrkUpaTk6P3BYmJiQQG/jbZQE1NDYcPHwYgJiaGuLg4l3UPHDhAfX09ZrOZ5ORkl7KCggKOHj0KQN++faWPQPqItvYR+fn5LFmyhPfff5/evXuTnlfMLe/8Sk6lk2BfA+/ffiEje/2Wu/QRDaSPaCB9RIOu3EfI74jO00c07qcnolMNuD7++GO++OILduzYgcFgOOayxyo/3rp2u53mc4lomobNZtPL3a3TWN6c0+nUy5xOZ4vyttbbvE1N63U4HG7r1TTN7XWyDofjlOptbVub1tt8W5t+hu7qbdxWd/m0tV5VsjnettpsNux2u9sbLI+VTVvqtdlsbsuOVW/juser1522fobu1m/apuaOt61WqxWn0+nyh89dvSf7Gbr7jNparyrfQ+kjWtbriWw+/fRTFi9eDMCTTz7Jm/9Yxl//nUJOpZ2oACMvTx7oMthqrFf6COkjGkkfgf4+XbGPaGxDa22S3xHq9REnqtMMuKqrq/nLX/7CPffcQ1xcHOXl5UDDhwUNR2l8fHz0UXHjqLSp0tJSDAaDy1ENd8xmc4ud1WAw6B1O06NDTddp7QZAo9Gol7nbMdpab/M2Na3X3ZfFx8cHTdPc1msymU6p3qb/bq3e5tva9DN0V2/jtrrrKNtaryrZHG9bG7fzeJ/hydTrcDjclh2r3sZ1j1XvqX6Gx9vW5o63rb6+vjgcjnb5DJ1O5wnvNyp+D6WPaFmvJ7K5/PLLef311xtmyt21izmrdrA3v5oQXyOLL+lG/5igFutKH9GyTc1JH+HaprbUK32Emn1EYxtaa5P8jlCvjzhRnWZa+IyMjBaneJubNGkSH330EaGhoUyfPp033njDpXzixImkp6dz6NAh/TVVp4UvLi7G6XRiNBpbnJ4WHUuyUIvkoQ7JoqW8vDyys7M5++yzXV5fvnw5vr6+lPQ4ixfXp2I2Gnj/trMZ2z+qlZpOnOShDslCHZKFWrpCHl16WvgePXrwww8/tHj9mWeeYcOGDXz99ddER0djNpu55ppr+OSTT3juuecICQkBGq6T/eGHH5g9e3ZHN/2k5Obm6tc3d9YvZFchWahF8lCHZPEbu93O448/zssvv0xsbCz79+93uZdg5syZrNmTz+P/3A7Aot8NPa2DLZA8VCJZqEOyUIu35tFpBlz+/v5cdNFFLV5/5513MJlMLmULFixgzJgxXH311S4PPo6OjmbOnDkd12ghhBBewWw2s23bNurq6khPT+ett97irrvuAqDe7mDlz1k8u7ZhwoTbzu/LjWf1OlZ1QgghupBOM+A6EUlJSfz44488/PDDXHfddZjNZsaPH8/SpUtbzMCjql69eumnXIVnSRZqkTzU4c1ZaJrW4jr+p59+mgsuuIC77rqL66+/HodT47Odubyw7hA5ZXUAjE/qxqNXDm6XNnlzHqqRLNQhWajFW/PoNPdwtRdV7+ESQgihHqfTyccff8z8+fP5+OOPW0zHXFxcTHR0NJvTinnqi30cKGj4+9I91I/7Jgxk6uiemE3y90UIITqrLn0PlxBCCOFpy5Yt44477gDg8ccf56OPPnIpt/kEcffK7Xy5u+FZNaH+ZmZdNIAZ5/YhwLflLFlCCCG6PjnMJoQQQrTRtGnT9AeQFhUVYbFYALDanby5IY1Lnt/Al7vzMRrglrG9+c9DFzProv4y2BJCCC8mZ7gU1fQBbe6eHSA6jmShFslDHV09i4MHD5Kdnc2ECRP014KCgnj11VcJDAxk4sSJGAwGfkot5snP95JWVAPA6N4RLLg2maHxYR3a3q6eR2ciWahDslCLt+YhAy5F7d27V582c8SIEZ5ujleTLNQieaijq2Zht9u56667WL58Od27d+fw4cMEBATo5VOmTAEgt7yORV/u4+u9BQBEB/sy94rBTB4Zj9F44g/GPFVdNY/OSLJQh2ShFm/NQy4pFEIIIZowm80UFhbicDjIy8vjzTffdCnXNI0Pt2Uz4fkNfL23AKMBZpzbh+/mXMR1o3t6ZLAlhBBCXXKGS1EhISHY7XbMZonI0yQLtUge6ugqWTQebW1q8eLF/Oc//2HOnDn86U9/0l+vsth4bPVePt+VB8CYPhE8NWkog2NDO7TN7nSVPLoCyUIdkoVavDUPmRZepoUXQgivZLPZWLZsGQsXLuSLL75g1KhRLuXVNTWYfPyptzuw2p0cKa7hoY93k1lSi8lo4P5LBzJrXH85oyWEEF5EpoUXQggh2ujdd99l1qxZADz66KMsfHMl2zLKOHS0ioMFVRwuqsZqd7ZYLz48gJdvOoPRvSM7uslCCCE6ITnDJWe4hBDCK9XX15OUlERWfhHDZy6mLHRAq8saDOBvNnFZcneemjSUsACfVpcVQgjRdckZLiGEEMKN//73v2RnZ+szDAL4+flx79Nv8t4BJ6UWJyajgYnJPRgSF8rA7iEM7B5MdLAfvmYjZqMBg0EuHRRCCHHiZMClqCNHjug3Ffbt29fTzfFqkoVaJA91dIYsHA4HN954Ix999BFRUVFccsklVDh82JVTwYaDRXy80w5A3+ggXrh+BCN7RXi4xSevM+ThLSQLdUgWavHWPGTApajKykq3M2eJjidZqEXyUEdnyMJkMuHjF0DgoPMwJl/M2c9uoF5z/dM3fWxv5l4xmADfzv0Qzs6Qh7eQLNQhWajFW/OQAZcQQohOT9M0fsko43B+KSFBgfiYjBgN8NPhYvb0v4mYng2TX9Rr4GsyMjg2hOE9w7lqeCzn9IvycOuFEEJ0ZTJphqKTZtjtdjRNw2AweN2zClQjWahF8lCHKllszypjyZcpbMuqaHWZHmH+TBkVz2VDepAUG4KfuXOfzXJHlTyEZKESyUItXSEPmTSjC+msX8KuSLJQi+ShDk9lYXM4KaqqJ6esjrc2pvPtvqMAaHYrlpx9hIdHMHTEGdgcTvpFBzFldE/O7R+NqYs/L0v2DXVIFuqQLNTirXl451YLIYToVMprrTzyyR5+PlJKaY3VpcxogMkj4/nymVnk7Pov186cycszbiUgIMBDrRVCCCF+IwMuIYQQSssurWX62/8lvahGf82IRrfQAEb3jmD2pYkM6BbCdb1eJDw8nKSkJA+2VgghhHAl93Apeg9XeXk5TqcTo9FIeHi4R9vi7SQLtUge6uiILPbkVHDrO79QXF1PbJg/pl9WsGXtJwSaNNLT04iJiWmX9+2MZN9Qh2ShDslCLV0hD7mHqwvJzMzUp83srF/IrkKyUIvkoY72zMLh1PgmpYAH/r2LWquDpB4hvHPrWSyY+xGb6iqpBt5++20eeuih0/q+nZnsG+qQLNQhWajFW/OQAZcQQggl2BxOtqaXsGZPAev2FVBc3XCv1vkDonnjj6MI8ffhiSeeYMuWLTz66KNcd911Hm6xEEIIcXwy4FJUXFwcDocDk6nrTV3c2UgWapE81HE6s9idU87dK3eQVVqrv+a0VHHpgBDemDEGX7NRf88dO3ZgMHTtGQdPhuwb6pAs1CFZqMVb85B7uBS9h0sIIbyBpmm8vzWTRV/ux+pwEhHow8DAWj5/7SksWbsZMWwo27dvlz5ZCCGEEuQeLiGEEJ1GlcXG3E/28NXufAAuG9Kdv00dQYifibP+tYiUAh8mTpyI1WrF39/fw60VQgghTo4MuIQQQrS7nLJa1u4tICWvktzyOvLK6yiosGB3ahjRePSqIdx2fl/9UsG3336byMhI4uPjPdxyIYQQ4tTIgEsIIUS7KKiw8OXuPL7cnc/O7HK3y9jKC6j65mUm3v2Vy31Zw4YN66hmCiGEEO1KBlyK2r17tz5t5vDhwz3dHK8mWahF8lBHa1nszC5n2U9HWLMnH4ez4TZhgwHO7hvJBYkxJEQGEhfmz9uvvcDr//c0aE4+/PBD7r//fk9tSpcg+4Y6JAt1SBZq8dY8ZMClKE3T9H+EZ0kWapE81NE8i59Si3lx/SF+zSzTlxndO4JJZ8SR6F/DOWcMcTmL1XfubA7u2MojjzzCJZdc0uHt72pk31CHZKEOyUIt3pqHDLgUFRAQgI+PD2azRORpkoVaJA91NM3is525zF61E6cGPiYD14yIY+Z5fQl1VDBv3jxmvPceq1atYurUqfr6UVFRrF+/3oPQrnrZAAAgAElEQVRb0LXIvqEOyUIdkoVavDUPmRZepoUXQohT8umOXO7/sGGw9bsz4nj0ysF0C22YVfDrr7/myiuvBCAxMZGUlBR8fHw82VwhhBDipJ3M2EFGFUIIIU7aJ9tz9MHWjWMSeOH6M/TBFsDEiRMZN24cERER/OlPf8LpdHqwtUIIIUTHkzNccoZLCCFOyr+3ZfPQx7vRNLh+dDzxef+hqKiQRYsWuSyXnp5OZGQk4eHhHmqpEEIIcXqczNhBBlwy4BJCiBOiaRpvbEjjubUHAbjprAS+WnALe3bvwmQysX//fhITEz3cSiGEEOL0O5mxg3fdsdaJZGdn43A4MJlMJCQkeLo5Xk2yUIvk4VkOp8b8z1N4f2smAFOHR3HnmeH4T/49e3bvwuFwsHbtWhlweYDsG+qQLNQhWajFW/OQAZeiSktL9ecUeNMXUkWShVokD8+pszr46792sG7fUQwGmHlGGFf0N1NeVsb999/P/v37eeihhxg1apSnm+qVZN9Qh2ShDslCLd6ahwy4hBBCHFdpjZVpb/6HA0X1aHYrU3vVcW1ST2w2G9BwOcW//vUvD7dSCCGEUI/cw6XoPVwWiwVN0zAYDPj7+x9/BdFuJAu1SB4dL7Okhhlv/8KR4hocdVUUfbKIboZKdu/ejZ+fn2ShCNk31CFZqEOyUEtXyEPu4epCOuuXsCuSLNQieXSsXdnlzHznF0pqrMSHBxCQ+gFQwZNPzic4ONjrHl6pMtk31CFZqEOyUIu35iF/KYUQQrjILChhyWtvk1GpkRU6jDqbg+S4UN6eMQZHzWDCw8MJCAjwdDOFEEKITkEGXEIIIaios/HCtwf5ak8+xdVWYDAEADYHFw6M4fU/jCLYzwyhsZ5uqhBCCNGpyIBLUdXV1TidToxGI8HBwZ5ujleTLNQieZxemqbx2c48Fn21738DrQa2snzsJVlcdVYS/2/6FfiYWl6bLlmoRfJQh2ShDslCLd6ahwy4FJWWlqZPmzlixAhPN8erSRZqkTxOnwP5ldz77kYOljf8f/+YIB6/agjDYwN58rG5zH52Nv379291fclCLZKHOiQLdUgWavHWPGTAJYQQXsTp1NhwqIiXvt7NrqP1AJhxct9lSdxxYX98zQ1nsl599VVPNlMIIYToMmTApahu3brpT+IWniVZqEXyOHnfpBTw7NcHSC+uAUDTnNQe2oJx92fMePxnfbDVVpKFWiQPdUgW6pAs1OKteXSa53B9//33rFixgs2bN5OdnU14eDhnnnkm8+bNY/To0S7Lbt++nYceeoitW7diNpsZP348S5cupV+/fi3qVfU5XEIIcTot/ymdp77cD0CIn5kbxiSw7V8vcGj7ZpYsWcKkSZMwGAwebqUQQgihtpMZO3SaAdfUqVMpKSlh6tSpDBkyhKKiIp5//nm2bdvGN998w/jx4wE4cOAAZ511FmeccQZz587FYrEwb948ysrK2LlzJzExMS71yoBLCNGV5RcU8Mfn/k2ab8MBp1vG9uahiUkE+5kpKysjJCREnqUlhBBCtFGXHnAVFhbSrVs3l9eqq6sZMGAAQ4cOZf369QBcf/31/PDDD6SlpREaGgpAZmYmiYmJzJ49m2effdalDhlwCSG6qnqbncHTF+HsNQaAGwcH8PQtF8uZLCGEEOIknczYodOMKpoPtgCCg4MZMmQI2dnZANjtdr788kumTJmiD7YAevfuzcUXX8zq1as7rL1CCOEpdoeTz3bmMum1zTh7jUFzOqha/zqDyZbBlhBCCNHBOvV1JBUVFWzfvl2/nDAtLY26ujqGDx/eYtnhw4ezbt06LBYL/v7+x6w3JSWF3r17uwza6uvrOXDgAAARERH06tXLZZ3U1FRqa2sBWkxzWVxcTG5uLgC9evUiIiJCL3M4HOzduxdoGB033me2b98+bDab/qwCgOTkZJdLf8rLy8nMzAQgLi6uxeWSu3fvRtM0AgICGDhwoEtZdnY2paWlAAwaNMjlM6muriYtLQ1oGOjGxro+6LSxbT4+PgwZMsSlLD8/n8LCQgD69+/v8owFi8XCwYMHAYiMjCQhIcFl3UOHDlFXV4fBYGiRYVFREXl5eUDDADo8PFwvs9vtpKSkABAaGkrfvn1d1k1PT9ePRAwdOtTlRs2ysjKysrIAiI+PJzo62mXdXbt2YbfbAQgICHDZ3qysLMrKygBISkrCz89PL6usrOTIkSMAdO/enR49erjUm5KSgt1ux8/Pj6SkJJeyvLw8ioqKABgwYABBQUF6WW1tLampqQBERUXRs2dPl3UPHjyIxWLBZDIxdOhQl7LCwkLy8/MB6NOnD2FhYXqZ1Wpl//6G+3vCwsLo06ePy7ppaWlUV1cDMGzYMJejOCUlJeTk5ADQs2dPoqKi9DKn08mePXuAhgMkzacYz8jIoKKiAoDBgwfj6+url1VUVJCRkQFAbGysftCl8ftnt9sxm834+/szaNAgl3pzcnIoKSkBIDExkcDAQL2spqaGw4cPAxATE0NcXJzLugcOHKC+vh6z2UxycrJLWUFBAUePHgWgb9++Hu0jGh05coTKykrsdju/7tyNccB5vLM1h5yyOgACzAYGl/3Cwnefa7E9p9pH2O12DAYD/v7+LvuGt/URAIGBgSQmJrqUdXQfsW/fPqxWKw6HA7PZ7LV9RKO9e/ficDg80kfY7XaMRiN+fn76PuDpPgK883dE43sZDAYaL+ry1j4CPP87wm63YzKZ8PX11bPvbH1E4356Ijr1gOsvf/kLNTU1PPbYYwD6BxMZGdli2cjISDRNo6ysrMWO35zdbqf5lZaapmGz2fRyd+s0ljfndDr1MqfT2aLcXb02m03vIBwOh96G1uptXKZ5vZqm4ePj06LM4XDo655Mva1ta9N6m29r08/QXb2Nn6G7I/Btrbe9smn+383rPdb3pbXPsPEPcnPHyqYt9dpsNrdlx6q36fadaOZt/Qzdrd+0Tc21tq1N22Kz2dzOdHQ6PkN3n1Fb6+2IPqJpvb/+up2Fb3+Obeg1mBv/kAb5csPI7oyJtBDiO8nlD1jTek+1j2i63U3r9bY+4nj1dkQf0bhO4397ax/RyGq14nQ6PdZHNG+7it9Db/gd0fheRqNRr89b+4i21tvefUTjwbpGnbGPOFGddsD1xBNP8M9//pNXXnmlxSyFx7pkpi2X05jN5hbLGQwGvcNxd4O52Wx22yEBGI1GvczdjuGu3sbXmp7hat6mpvW6+7L4+PigaZrb9ppMJn3dk6m36b9bq7f5tjb9DN3V2/gZusuorfW2RzaNnWTzOprWe6zvS2ufYdNlmjpWNm2pt7XpVo9Vb9Pta63eU/1+H29bm2ttWxtfazzD1R6fodPpPOH9pqP7iEbZlXY+KIhGO+92zICzuoTHp5zNzecNoL62Sj963R59ROMfzebb5W19RFvq7Yg+ojHPxjNc3tpHNPL19cXhcHikj2j8Idz0vVX8HnrD74imbWz8oeytfURb623PPqLxDFfTdnfGPuJEdZpJM5pasGAB8+fPZ/HixTz66KP66wcPHiQpKYnXXnuNu+66y2WdBx98kOeff57a2lqX094yaYYQorNpvBTnjR/TWPrtQRxODaPmIDBrMy/9+UomXHShp5sohBBCdEknM3bodGe4Ggdb8+fPdxlsQcO1vgEBAfq1nk3t2bOHAQMGHPf+LSGEUNXhw4eZN28eRUVFXP/E/+PZtQ33g0xM7sGcS/oyIPYamRRDCCGEUEynOo2zcOFC5s+fz+OPP86TTz7ZotxsNnPNNdfwySefuIw8s7Ky+OGHH5g8eXJHNlcIIU4bTdO45ppr+OCDD9ha7MPiNQ03Jz9w2UDevHk0iXGRMtgSQgghFNRpLil8/vnneeCBB5g4caLbwdY555wDNMweNGbMGEaNGuXy4OPS0lJ58LEQolP74IMP+NPifxB11WwMBiOzLurPQ5cPkoGWEEII0UG69IOPL7roIjZs2NBqedPN+PXXX3n44YfZsmULZrOZ8ePHs3Tp0hZTSYK6A678/Hz9psXjzaoo2pdkoRZvyKOuro4333yTGTNm6NM/2x1OVmzNZMEXKWgYmD62N/OvTfboYMsbsuhMJA91SBbqkCzU0hXy6NL3cP34449tXnb06NGsX7++/RrTAQoLC/Ub4zvrF7KrkCzU0tXz2LBhA3/84x/JycmhqKiIxYsX803KUZ775gDpRTWAgamje/LkNZ4dbEHXz6KzkTzUIVmoQ7JQi7fm0WkGXEII4Q369Onzv4d+Gnjzs/+QEruRXbkNR9IiAn24Z3wi08/tg9EolxEKIYQQnUGnuaSwvah6SWF1dbX+DK6mT1kXHU+yUEtXymN3Tjmrfj5Cr+hQhsaHMTQuDIMR/vD4Kxx0dMfqFw5AgI+J2y/oy58u7Eeov/vnjXhCV8qiK5A81CFZqEOyUEtXyKNL38PVXlQdcAkhurY3vtjMcxuL0IyuFxr4mAzYHA3dcoifmalnJnDnuH50C5VHWgghhBCe1qXv4RJCiK5ixdYMnv2pBIxmLJm7OHvkMMoIJqu0FptDI7FbMNPP7cPvR8YT5CfdtBBCCNGZyV9yIYToIJqm8fy3h3j1h8NgMFK1cy0hh9Zw+7SXuOaai6motVFcU0+/6CCPT4ghhBBCiNNDBlyKslgsaJqGwWDA318uJfIkyUItnS2P8vJyli5dyp/uvIsXfjrKZzvzALjvkkS6Da9kypSl+Pn5ARAW6ENYoDr3aB1PZ8uiq5M81CFZqEOyUIu35iEDLkUdPHhQnzZzxIgRnm6OV5Ms1NKZ8vjuu++YOnUqVU5fPrcOpdIYgsloYNHvhnLTWb2AgZ5u4inpTFl4A8lDHZKFOiQLtXhrHjLgEkKIdjJ06FC0HoPpcek9VBpDiAz04fU/juacflGebpoQQggPs1gsFBUVeboZHcrHxwez2YzBYCA7O9vTzTmmmJiY03YWTgZcioqMjNSfxC08S7JQi6p5aJpGYWEh3bt3B6Ckup43fi4m7NpHAAODuwWw/LaxxIYFeLahp5GqWXgryUMdkoU6VM3CYrFQWFhIfHy8cm1rT1arVb+k0NfX19PNaZXD4SA3N5du3bqdlkGXTAsv08ILIU7Rd999x9y5c6mvr2fTz7/w7pYs3tyQTnW9HYAbxySwYFIyfmbv+aMqhBCiddnZ2cTFxXnVYKuzcTgc5OXlkZCQ4PK6TAsvhBAdTNM0Hn30Ubb9up3gYRM4d/G3VNkbOt3kuFAeuWIw5ydGe7iVQgghVCODLbWdznxkwCWEEKfoxvsXkb0uFd/o3lTZoWdEAA9ePohrhsdhNMr07kIIIYQ3kwGXEEK0UW5uLosWLeKRRx7BL7wb/zlUxL9/zeG/R6z4RvcmPMCHu8cP4OaxveXyQSGEEEIAMuBS1qFDh7Db7ZjNZgYO7NxTR3d2koVaPJXH2rVrmfKHGfgOu4L//H0jNT7hepmf2cit5/Vl1kX9CQvoPM/ROlWyb6hF8lCHZKEOyUIt8hwuoZS6ujr9OQXCsyQLtXgqD/+eQ4ia9jeMQZHUAAZgWM8wxg2M4aazehEX3nVmH2wr2TfUInmoQ7JQh2TRcQyGtl1Cv2bNGsaNG9fOrWlgsVgICAhgzpw5LF26tEPe0x0ZcCnKYDDo/wjPkizU0hF52Gw2srKy6N+/P5qmseLnLJ76IgVjUCQhzmrmXnsGV4zsS2SQulPadgTZN9QieahDslCHZNFxtmzZ4vL/Cxcu5IcffuD777/XX7NYLAwaNKijm+ZxMuBS1PDhwz3dBPE/koVa2jOPXdll/O3fG9i8aRNY65g75172FVTz6c48AK4c1oPnrhtBsJ90nSD7hmokD3VIFuqQLDrOOeec4/L/MTExGI3GFq+3xmq1YjKZuuTsjfKwKSGE19uWUcr05f9l0mub+anQB2fiRTiTr2DJ2kN8ujMPowEevTKJ16aNksGWEEIIcYrWrl2LwWBg1apV/PWvfyU2NhZ/f3+ys7PJz8/nzjvvZPDgwQQFBdG9e3cmTJjQ4gwaNFwyOm/ePAYNGoSfnx/R0dFccskl/PLLL62+t9PpZM6cOfj6+vLee++152bqZMAlhPA6TqfGvrxKlv90hBv+3xaue3MLGw4VYTIaOD/Bj4qtHxFydCfn9fTjquGx/PP2c7jjwv5ySYoQQoh29cILL9CzZ0969uzJjz/+6FJ25MgRveyee+5pse61116rlzf3zjvv6GWffPKJS1lVVZVe9oc//OG0bs/xzJkzh+LiYt566y0+++wzIiIiKC4uxsfHhwULFrBmzRqWLVtGfHw8F1xwgcugy2q1cumll/Lss88yefJkPvvsM5YvX86YMWPIyspy+351dXVMnTqVZcuWsXbtWm655ZYO2U45VCuE8BrpRdX87ZuDbE4roaLOpr/uYzIwZVRPZl3Un95RQWwfG8nIkSNlgCWEEKJDVVZWkpubC0B9fb1LmcPh0MvKysparFtUVKSXN1dTU6OX1dbWupRpmqaXFRcXn9oGnKDk5GRWrlzp8tqwYcN45ZVX9P93OBxMnDiRtLQ0XnnlFcaOHQvAu+++y6ZNm3j//ff54x//qC9/7bXXun2voqIirrnmGvLz89m0aRPJycntsEXuyYBLUUVFRTgcDkwmEzExMZ5ujleTLNRysnms3VvAA//eRXW9HQCntZb6nH0khhlY9bcHiW8yy+CoUaNOe7u7Itk31CJ5qEOyUEdnyyI0NJT4+HgA/Pz8XMpMJpNeFhER0WLdmJgYvby5oKAgvSwwMNClzGAw6GXR0dGntgHHYbM1HOy02xv+Fk+ZMqXFMpqm8eqrr7J8+XL279/vMvCsqanR//vrr78mLCysTWflUlNTOeeccwgPD2fr1q3Exsae6qacEBlwKSovL0+fxrQzdBBdmWShlhPNw+5wsvTbQ7y5IQ2As/pEMnt8H34/bjSFBfmYYmMJfO4ewPumdT9Vsm+oRfJQh2Shjs6Wxf3338/999/vtqxv377k5OS0uu7nn3/eatmMGTOYMWOG27KQkJBj1ns62Ww2NE3TB1zuBj5PP/00jz32GPfccw+LFy8mOjoao9HIww8/7HIGr6ioiPj4+DZdjbJ582aKi4t5/vnnO3ywBTLgEkJ0Ybnlddy3chu/ZFUCcPv5fXn4iiR8TEaeeXoJubm53HfffQQFBXm4pUIIIYT3cTdYWrFiBRMnTuTll192eb2iosLl/2NiYtizZ0+b3mf69On4+/szZ84cnE4nDzzwwMk3+iTIgEtRvXv3xul0YjTKvCaeJlmopS15WGwO/rExnZe+3Y8DE5rNwos3jWbymX30ZVo70ifaTvYNtUge6pAs1CFZqMXXt+H5lcd6ELXBYGhxOeW2bdvYvn07AwcO1F+74oorWL16NStXrmTatGnHfe9FixYREhLCgw8+SHV1NfPnzz+5jTgJMuBSVHh4uKebIP5HslDLsfKotdrZmFrMkjX7ySypBUxYsvZQ8u1rZMTPhjPdX6YhTo7sG2qRPNQhWahDslCL2dww9DjWs7auvvpqli5dyqJFizj33HPZt28fCxcupE+fPi7LTZ8+nXfffZeZM2eyd+9exo0bh91uZ8uWLYwaNYrJkye3qPvhhx8mJCSEu+++m5qaGv72t7+d1u1rjQy4hBCdktXuZEdWGZvTStiXX8n+vApyKyxoWkN591A/bh4WzAMvzeeO227j+uuv92yDhRBCCHFc8+fPx2q18vrrr7N48WKGDh3K22+/zXvvvcfOnTv15Xx9fVm3bh2LFi1i1apVLF26lNDQUEaOHMnvfve7Vuu/6667CA4OZubMmVRXV/P666+3+6zEBk1r/HninZxOJ1VVVS6vhYSEyKlnIRRksTn49685/HigkC3pJdRaHS2WiQ72Y8roeO4Zn0iwn5mSkhKioqI80FohhBDCvezsbBISEjzdDHEc7nI6mbGDnOFSlN1uR9M0DAaDfvpVeIZk4XmapvH13gIWf7Wf3PI6/fWoIF9ijRX8Z/V7WIsyGD8qiTWrP3RZVwZb7Uf2DbVIHuqQLNQhWahF0zQ9D2961qV88xSVkpKiT2M6YsQITzfHq0kWnmN3OEnJq2TJmv38fKQUgKgAExP7B3Bmz0AmXXgmdruN/m/Opri4mAEJF8nN0R1I9g21SB7qkCzUIVmopa6uTh9wNX8eWFcmAy4hhDIyS2r4x8Z0DhVUk1teR35FHc7/XfTsY4SQnK2cGVzG76+agY+PD0ajAV9fX1atWkX//v3p3r27ZzdACCGEEKIZGXApKjQ0FLvdLqe/FSBZtL/SGisvf5fKP3/OxOZwva3U12xkXL8wVjw4FUtpHkfCw5l1x+2Ehobqy5x77rkd3WSB7BuqkTzUIVmoQ7JQi8lk0s9weRP59imqb9++nm6C+B/Jov1U19t5d3MGb/6YRlV9w1Pnxw2MYdKIHvSJCaFneADRwX4YjQYsP4xnxYoV+j1ZkovnSQZqkTzUIVmoQ7JQS/Pna3kLmaVQZikUosNV1Nl4b3MGyzYdobzWBkByXChXxNWzYdX/Iysri61bt7ocAUtJSSEtLY2rrrrqmM/vEEIIIVQnsxR2DjJLoRCiUymrsbIzp5wtaSV88HOWfkarb3QQf71kAJNGxHPBBeezefNmADZt2sT555+vr5+cnExycrJH2i6EEEIIcbJkwCWEOO1sDicH8qvYmV3GjqxydmSXc6S4xmWZXmFm5lwxlKuHx2EyNpzJuuOOO9i8eTPdu3enoKDAE00XQgghhDitZMClqPT0dP0mz379+nm6OV5Nsmi7shorD360m42pRdTbnS3K+0UHEWItYc/af7Jp0+esvDlDH2wBXH/99QQEBDBp0qRWr/OWPNQhWahF8lCHZKEOyUIt9fX1+qQZ3nQ/lwy4FFVVVaU/N0J4lmTRNlUWGzPe/i+7cioACAvw4YyEcM5ICGdkr4Z/hwf6smTJEj7fuBqA5cuXM2/ePL2OgIAArr/++mO/j+ShDMlCLZKHOiQLdUgWanE4HF45S6HMDCGEOGV1Vge3vbuNXTkVRAT68OGfxjB/RB3WdS9y29k9uGhQN8IDfQGYNm0aBoOBCRMmMGbMGA+3XAghhBCn0zvvvIPBYGDbtm0urxcXF3P++efTvXt3vvvuO+bPn4/BYHD7z6uvvuqh1rcPOcOlqKFDh3q6CeJ/JItjs9qd3LniV/57pJQQPzPv33Y2y59fwIsvvgjAxIkTmT59ur58nz59yM7OJj4+/qTeT/JQh2ShFslDHZKFOiQLNeTk5HDppZdy9OhR1q1bxznnnMOvv/4KwNq1awkLC3NZvqtN5y8DLkXJtNfqkCwaOJ0an+7M5cX1hyiustI91I+IABOFJeXk1pkI8DHx9q1jGBofxtSpU/UB1xdffOEy4AJOerAFkodKJAu1SB7qkCzUIVl4XmpqKhMmTMBms7FhwwaGDRvmUj569Giio6M91LqOIQMuIcRx7cgqY8EX+9iZXa6/llFSSwYAJswG+L9bRnNmn0gAzjnnHP76178yceJEJkyY4IkmCyGEEMLDdu7cyeWXX05wcDA//PCD105cIgMuIYTO6dT4fFce+/Irqa63U1ZVS0Z+CfvLGp6PHuRr4i/jBzAxuQefrv2OJ5YsxRQYztVnDeKCxKv0egwGA3//+989tRlCCCFEp1RrtXu6CQAE+p76EOGnn35i/vz5JCQk8O233xIbG+t2OYfDgd3+23YbDIYud2ayyw64qqurefzxx/nwww8pLS0lKSmJuXPncuONN3q6aW1SVlaG0+nEaDQSERHh6eZ4NW/IQtM0UjLyWbQuk63ppW6XGZfgy99uvoBuof4A3D7pYla8uIBLxp/D73//+w5rqzfk0VlIFmqRPNQhWaijs2UxZN43nm4CABnPXHX8hY5j9uzZhIWF8f333xMTEwPgMrBq1KNHD5f/j4+PJycn55TfXyVddsA1efJkfvnlF5555hkGDhzIypUruemmm3A6nUybNs3TzTuurKwsfRrTztBBnIrqejs/p5fQNzqIfjHBJ7RuRZ2NjOIaSmrqGRIbRo8w/9Pevq6exbQ//IHvMyz4nX0TBt8AAnxM3DAmgYhAX/Zs/y+r/vke9fmHGDLnTrqFXqqvFxoayvbt2zu8vV09j85EslCL5KEOyUIdkoXnXHvttXz++efcd999vPfee5hMJqxWa4tp4devX+8yaYavr68nmtuuuuSAa82aNaxbt04fZAFcfPHFZGZm8uCDD3LDDTd0uVOVndV3+4/yxKd7yauwAA0Pxr1kcDfGDexGeOBvz8ywOpxkl9aSUVxLRklNwz/FNZTV2lzq6x0VyFl9IhkaH0ZZrZX8cgt5FXXUWR1cMyKOqWf2PC2nyVVUX19PSUkJgYGBhIeH669XVVUxadIksrKyOOOMM/jnv1ZxqKCa/fmV7MuvZEf0BPwTugEwrEcgr958Fr2jggA41EsjMOdnzj77FsaPH++R7RJCCCG8xb6nLvd0E06bJ554gjPOOIOnnnoKp9PJihUr3C43YsQImTSjM1q9ejXBwcFMnTrV5fVbb72VadOm8fPPP3Puued6qHVtExMTQ0pKCkajkfT09BY3GR44cIDq6moARo0ahdH42yPVCgsLycjIAKB3nz7UGALZn1+FxebAaIDMI+mYjBAfFcK4UUOIDPLVjzQcPHiQ0tJSvd6mTwEvKSnhwIEDDfX27k3Pnj1d2rR582acTieBgYGMGjXKpWxXykGKCwvwMRkYNWoUdZoP879I4avd+QCE+kKNDdKLa0jfeIR/bDzS5s8qzBeCfAwU1GpkltSSWVLLv39teSp6W2YZL64/xM3n9OaWsX1I37eTioqGh/RedtllLstmZmayf/9+AHr27ElsbKz+GdtsNtavXw9AdHR0i2dJ/fLLLxQWFgJw6aWXuhypycvL06dBTaldGlMAACAASURBVE5ObpHrF198gaZpREREcMEFF7iUrVy5kl9++YXa2lqef/55goN/Oxu4atUq/XLZF154gdmzZ+tlQUFBbNqyFWPsYAz+Ixi9cD3V9U1O6Qd0Q3PYiMnbzNM3z9AHWwADBw7k5ZdfbvFZelJ8fLx+eYjwLMlCLZKHOiQLdXS2LLraQeEFCxZgMBhYsGABTqeTd955xysfQt21Uv2fvXv3MnjwYMxm180bPny4Xn6sAVdKSgq9e/cmNDRUf62+vl4fbERERNCrVy+XdVJTU6mtrQUaRupNFRcXk5ubC0CvXr1cTmk7HA727t0LQEhIiP4DvKTawh/e3IjmtNOjWwyjzjgD/+AQaq0Oqix29h48TE1FKY7qUn5/eSV9YyMJCQ6m3ubg5193sv7H/+ATlUBIryHYaO1sXhWsySPI10TvqCDO6BXO1tVv8+OH/4dWX8M333zDsGHD9JscN27cqN+rc++993LHHXcwZMgQvbbLLruMmpoa+g8cxP1L36ZEC+JwsYX9+ZUUVtUDoNltBH/7Iw6MWOwaJqOBiX19eeOuq8FoZOKM2XQfNYHUcg27o2GihoKCfOw2G9SWMvG8UQxOiGFwzyj6RAXx/hsv8MzCBQC8+Nqb9EgeS2adL6lHq/F1Wlj51mvYKwsZNuostMRxFFTbeOX7w7z+YxpUHqUycx/WoiO84AhlYEIsfeNjiAzyZfVnn/PgvMWYwrpxw62zGDn6TP54ccP3p6amhiuvvBKA8847j9dee42kpCR9cLpgwQK++uorAH788UcGDRqkX5+8ceNGfWD0wAMPcNttt5GUlKR/hpMnT8ZutzN8+HDee+89BgwYQFBQwwDo66+/1o8OXXvttYwYMUIf9Db9Tu3bt4+9e/cydOhQCios/GNjOrF3vg1+wdgAW72d8AAzQ+LCGBwbysDuQZzdO5yK/L447DYyMjLo06ePyzclLS1NH+APGzbM5Q9XSUmJfq11z549iYqK0sucTid79uwBIDg4mP79+7vUm5GRoQ96Bw8e7DI4raio0A8cxMbG0q1bw1m4xqNge/fuJTc3F39/fwYNGuRSb05ODiUlJQAkJiYSGBiol9XU1HD48GGg4cBGXFycy7oHDhygvr4es9lMcnKyS1lBQQFHjx4FGp4R4sk+otGRI0eorKwEGgbxTfu98vJyMjMzAYiLi9OvoW+0e/duNE0jICCAgQMHupRlZ2frB18GDRqEv/9vl+tWV1eTlpYGQLdu3fRsGu3bt0+/hKdpHwGQn5+vH5Do37+/y4EDi8XCwYMHAYiMjCQhIcFl3UOHDlFXV4fBYND780ZFRUXk5eUBDQeEmp7ltdvtpKSkAA2XwjZ/vkt6ejpVVVVAwzN7ml4BUVZWRlZWFtDww635Udhdu3YBEBgYSGJioktZVlYWZWVlAC59BEBlZSVHjjQcWOrevXuLexhSUlKw2+34+fm59BHQcOCmqKgIwKWPiI6Opra2ltTUVHJzc4mKimpxYOzgwYNYLBZMJlOL5xMVFhaSn99wEKxPnz4ul/hYrVb9IFRYWJjSfUSjvXv34nA4pI9QoI9oPllCR/YRjftsUVGRvr+q0kfU19fjcDgA8Pf3d9lvHA4H9fUNv518fHxaDFLq6ur0S/MCAgJcyqxWq36vlJ+fn0t7m9ZrNptbXL5nsVhwOp1u67XZbNhsDVcW+fr6unyXnE4nFotFX66p+fPn43Q6WbhwIXa7nX/9618u22O32/XvfvN6NU2jrq4OAKPR6PI9O95naLfbsVqtx/0M3dXb+BlWVVVRW1vr0kc0tvVEdMkBV0lJidtpJyMjI/XyY7Hb7Wia5vKapmn6F8jdDX92u73FF6yR0+nUy5xOZ4tyd/XWWp0EJp4NQBWwIbMWaBJwYDR+gQ079TfpdZCe26TGYEJGNgwIbICvycDguDDCAnyw2uz8uOE/YDITGBWH5h9GjdXBvv9dXkbcJST89SLq8w/xTYaNuL71uJtTxuFwtNxeg5GgYZdiH3czz20qBVpOvmAw+1BjB9BIjgvl2SnDqcjYy+v2hp0/siaTu88MZfTo0fo6/fr1I/fIESIjI7nznm/o1y9Oz9LH8Nvn6aPZGR0XwI3/69BSU1N5Y+a/Gurt5c+8uydT7BvHP37KaJjePLgbQcndCOIiFm4oAZp+L/oRf+cyADZYYMOmQl7b+h0Th8YyKTlSX6ox28o6G3uPVPDzkVLS+/6O2BmXUbVzLbX1Vr0jaM7ucJBdVkdmSgEOp8b5ib910nV1ddhsNpfvYdOdvbi4WK+3tMaKIbQ75154MX4mSEhIIKeslpWr9/DRthysDif4BRMRYObsOB/OT/DnyrMHE9nkD7bVaqU4qyFPd+1t2sk219bvt7v13X6P/qfpPueuTVarFafT6fby4Kb1HmtfPta2Nl/vROrtiD7CXb3N29S03ta2VdM0t0cbj7Wtbam3tW1tWm/zbT1eNo3b2vTa/xOtV5Vs2vI9tNvtbo/Kn47vt7uyY9XbuO7x6nVH+oiW9aryPZQ+omW9HZlN43u39npjmbtlmpafSL1Ny45V7+l+z0ceeQSAhQsXMm3aND744AO39bb2vsdr7/Ha5G6ZxryO9zm425dPVJcccAFud7a2lEHDiL/5MgaDQe9wmp85a3yttVOkRqNRL3P3x9NdvbFRoQyz7KbWYiU6OobkYcNJiI8jLNCXEH8f1n7xKWlZuVRYYfT547GaAvDz88ffx0RpUQGpB/bhrCzk8rOGcPUFoxmc1HB0z2az8eD+D6mqqqJbQAmTp95AYEwCOZU2tqSV8MW2w5RYzfjHD+bjdPg8cx+XJ5dy45he9Ovfnzlz5lBSUsLw4cP1djudGmv25tP3L8upouFoSGSAkQmDuzO8VxSDY0M5+N8f2Lp1K0Xl1Uy8+nf06tOHC4YPwGwykmGL5+GHH6a0tJRhw4a1+BxnzZpFbm4uDocDHx8fl8/wwgsv5JFHHqGoqIhevXq5fIaRkZE8/vjjlJWV0bdvX/x9fZk4tAdXjYgnv6KOF9/+kH15VRTbfQno1ocaO5TXORoGKIAJJ/6OWuIjAjD4BnKwuJ4vduXxxa48Bs/9BJxOyowmpn9WSK39KPr+FxSLbxBEXf4XHttiZ6ZWws0R3ThSUkOuX2+uePxtCixm1viEs/qzPKDhqLyPycDYh9+nh72AaB8rG3OsrMlNJ7Osnnq7k8hzb+axc6cQZK+iJiyG1zcXsGt1JgcKGo66MXYOwb5G1pmNvLumiP+dIOSsvpHMGtefQeEaRUcLGrbtGN9Ddz9O3B0ZatTW77e79U0mU6v1Nt3n3LXJ19dX/04cq95j7cutbavT6XS7n7e13o7oI9zV27xNTettbVs1TTvhbW1LvU3/3Vq9zbf1eNk0bqu7Pryt9aqSTVu+h02XaepUv98Oh8Nt2bHqbVz3WPVKHyF9xInU2/TfrdXb1fuIxvdu7fXGMnfLHKvsWK8fb93G9z1W2fHqba1s7ty5/7+9+4+Kssr/AP4eZoAZfon8CtASlQQRFCsE+iqgSOBvwdRjX39l5qmjKZ1V0SjD1tRNXXM7rruaBqsIiD/SFPMn2maikO5qppUKXxJTUAEHBHTgfv9omW0ChhEZ5mF4v87hHLhz7/PcZz5zZ/jMc5/7QC6Xa8941Z+9f5JjNbRPjdWxsLBosIDH77fb2PabyyMa7YdoSZomcaGhoaitrcXZs2d1yi9dugR/f3/8/e9/x6xZswD8mt3WnyauZ29v327m+hrDjdIHOH6lGDvyfsZ3Rfe15b2essPswd4Y2dcTcgsZhBA48UMJVh364dezYwA621hi9mBvTA7pBqVl+1uYRAiBBw9rUf2oFp1trGBh8d9B9V1ROVLPFGLvv4rw4GHDb9a8nG0woLsTgrycUFGjwd9PXset+9V692clt4C3mx0e1tbhanFFi/utspSj6pFunwZ6u+CtId4I7uHcRCsiIiIyhZ9//rnBlEiSnsbi1JLcwSwTrlmzZiEtLQ2lpaU63yikp6dj0qRJOHXqlPYaLqkmXP/+97+185t/P5e7LX1XVI6M3J+x53yRdqGF7i62+N/gZ/Dld7eQ93+/Xp9gb63AzEE9MGOgF+yV5nUx5O9joa5+hB9vV8BSLoOVwgJWcgt0UlnC2c5ap12NphY78m5gQ/ZV3CyvhoudFXp7OPznxx69PRzQ09UOlvJfX2tXi9X48rtb+PLSLdy+X4OerrZ41s0ezz5lB6VCjmslFbhaXIGrJRWwkMkQ0sMJL/Z0QWhPZzjbWkFdo8Gt8mrcKq+Gq701ens4NHY47Z5UxgYxFlLDeEgHYyEdUo1FR024Hjx4oD2r9NtLJaSqtRIus5xSGBsbi02bNmHXrl2YOHGitjwlJQWenp4IDg42Ye/aF/8uneDfpRPmR/vgH98UYPOpfOTfqcSyA79ePG2tsMD0//HCG2E90dnW/O6b0Bh7pSWe79b8vTysFXJMCemGVwY8A3X1Izja6H9+vN3sMWeIPeYMeVZvvaY4KC3hoLREr6fsW9SeiIiIiFqfWSZcw4YNQ1RUFN58803cv38f3t7eSEtLw5dffolt27a1i3tw2djYQKPRNDnnt611UlnirchnMWNgd6Se+T9k5t1ASA9nzBnijaccWv9mw1LypLGQW8iaTbbIcFIbGx0ZYyEtjId0MBbSwVhIi77rpsyZWU4pBH5dkjQxMRE7duzAvXv34Ovri8WLF2uX5K4n1SmFRERERGSeOuqUwvaG13C1EiZcRERERNSWmHC1D62VcDGrICIiIiIiMhImXEREREREbayxmzeTdLRmfHgFoUQVFhZqL/J85plnTN2dDo2xkBbGQzoYC2lhPKSDsZAOqcbC1dUVRUVF6NKlS7tYzK211NTUaH+3trbWU9O0amtrUVRUBDc3t1bZHhMuiSotLdXeN0JKbxAdEWMhLYyHdDAW0sJ4SAdjIR1SjYVSqYSbmxt++eUXdKTlFNRqtXaVQnt7ad/Gxs3NDUpl66zEzYSLiIiIiKiNKZVKdO3a1dTdaFO/vRF1R1o0hKsUSnSVwpqaGu03AFI+5doRMBbSwnhIB2MhLYyHdDAW0sFYSIs5xKMluQPPcElUe30RmiPGQloYD+lgLKSF8ZAOxkI6GAtp6ajx4CqFRERERERERsKEi4iIiIiIyEg6/JTCxi5hq6urM0FPdP12bqjUV3Exd4yFtDAe0sFYSAvjIR2MhXQwFtJiDvFoLE9obkmMDr9ohkajQWVlpam7QURERERE7ZCtrS0UiqbPY3FKIRERERERkZEw4SIiIiIiIjISJlxERERERERG0uGv4aqrq2tw8ZtMJoNMJjNRj4iIiIiISIqEEA0WybCwsNB74+MOn3AREREREREZC6cUEhERERERGQkTrjZWUVGB+Ph4eHp6QqlUIjAwEOnp6Qa1LS4uxvTp0+Hi4gIbGxuEhobi2LFjRu6xeTp+/DhmzJgBX19f2NraokuXLhgzZgy+/fbbZtsmJydrp53+/ufWrVtt0Hvzc+LEiSaf05ycnGbbX79+HXFxcXB0dISdnR2ioqJw7ty5Nui5+Zk+fXqTsWguHhwbT0atVmPhwoV46aWX4OrqCplMhqSkpEbrnjt3DkOHDoWdnR0cHR0RFxeH69evG7yvo0ePIjQ0FDY2NnBxccH06dNRXFzcSkfS/hkSi9raWvz5z39GTEwMunbtChsbG/Tu3RuLFi1CWVmZQfuJiIhodLzExMQY4ajaL0PHRlPvX76+vgbvKz09HYGBgVAqlfD09ER8fDwqKipa8WjaN0Njoe9zxJB4mNvY6PA3Pm5rcXFxyM3NxcqVK9GrVy9s374dkyZNQl1dHV555ZUm29XU1CAyMhJlZWVYt24d3NzcsH79esTExODo0aMIDw9vw6No/zZs2IC7d+9i3rx58PPzQ0lJCdasWYOQkBAcOnQIQ4YMaXYbn332WYM3DWdnZ2N1uUNYvnw5Bg8erFPm7++vt01JSQkGDRqEzp07Y8uWLVAqlVixYgUiIiKQm5sLHx8fY3bZ7Lz33nt44403GpSPGjUK1tbWCAoKanYbHBstc/fuXWzcuBH9+vXD2LFj8emnnzZa78qVK4iIiEBgYCB27NiB6upqLFmyBIMGDcK//vUvuLq66t3PyZMnMWzYMIwYMQJ79+5FcXExEhISEBkZiby8PFhbWxvj8NoVQ2JRVVWFpKQkTJo0CTNnzoSLiwvOnTuHZcuW4YsvvkBeXh5UKlWz++rRowdSU1N1yhwdHVvtWMyBoWMDAFQqFY4fP96gzBCpqamYPHkyZs6cibVr1+LHH39EQkICvv/+exw+fPiJjsFcGBqL06dPNyg7c+YM4uPjERsba9C+zGpsCGozBw4cEADE9u3bdcqjoqKEp6en0Gg0TbZdv369ACC++eYbbdmjR4+En5+fGDBggNH6bK5u377doEytVounnnpKREZG6m372WefCQAiNzfXWN3rcLKzswUAkZmZ+dhtFyxYICwtLUVBQYG2rLy8XLi4uIgJEya0Zjc7rBMnTggA4t1339Vbj2PjydTV1Ym6ujohhBAlJSUCgHj//fcb1Bs/frxwcXER5eXl2rKCggJhaWkpFi5c2Ox+goKChJ+fn3j06JG27NSpUwKA+Otf//rkB2IGDImFRqMRd+7cadA2MzNTABBbt25tdj/h4eGiT58+rdJnc2bo2Jg2bZqwtbVt0T40Go3w8PAQL730kk55amqqACCysrJatF1zY2gsGjN9+nQhk8nETz/91GxdcxsbnFLYhvbs2QM7OzuMHz9ep/zVV1/FzZs3cebMGb1tfXx8EBoaqi1TKBSYPHkyzp49i6KiIqP12xy5ubk1KLOzs4Ofnx9+/vlnE/SIWmrPnj0YMmQIunXrpi1zcHBAXFwcvvjiC2g0GhP2zjxs3rwZMpkMM2bMMHVXzJohK+RqNBrs378f48aNg4ODg7a8W7duGDx4MPbs2aO3fVFREXJzczFlyhQoFP+d5PLiiy+iV69ezbbvKAyJhVwub/TM7YABAwCAnyWtqC1Wj87JycEvv/yCV199Vad8/PjxsLOz49j4j5bGQq1WIzMzE+Hh4fD29jZCz6SNCVcb+u6779C7d2+dDzkA6Nu3r/ZxfW3r6zXW9tKlS63Y046pvLwc586dQ58+fQyqP3LkSMjlcjg5OSEuLk5v/Mgws2fPhkKhgIODA6Kjo/H111/rrV9VVYVr1641OTaqqqoe67oWaqi8vBw7d+5EZGQkunfvblAbjg3juXbtGqqqqpp8zV+9ehXV1dVNtq+PRVPtGasnVz+dzdDPkmvXrsHJyQkKhQI9e/ZEYmIiqqqqjNlFs1ZVVQV3d3fI5XJ07doVc+bMwb1795pt19TYsLS0hK+vL8fGE0pPT0dlZSVmzpxpcBtzGhu8hqsN3b17Fz169GhQ7uTkpH1cX9v6eo/blgwze/ZsVFZWIjExUW89d3d3JCYmIiQkBA4ODrh48SJWrlyJkJAQnDp1Cv369WujHpuPTp06Yd68eYiIiICzszOuXr2KVatWISIiAgcOHEB0dHSj7UpLSyGE4NgworS0NFRVVeG1115rti7HhvHVv56bes0LIVBaWgoPD48Wted4eTJFRUVYtGgRXnjhBYwcObLZ+gMHDsTEiRPh6+uLqqoqHDx4EB999BG+/vprZGdn672vDzXUr18/9OvXT3vt78mTJ7F27VocO3YMubm5sLOza7Jtc2OjoKDAKH3uKDZv3gxHR0eMGzfOoPrmNjaYcLUxfadhmztF+yRtSb/33nsPqamp+OSTT/D888/rrRsTE6OzSk5YWBhGjBiBgIAALFmyBHv37jV2d81O//790b9/f+3fgwYNQmxsLAICArBw4cImE656HBvGs3nzZjg7Oxt0kTPHRtt50td8U3U4Xlru3r17GD58OIQQyMjIMOgfwmXLlun8PXz4cHh5eWH+/PnYu3evwYsL0K/efvttnb+joqLQv39/vPzyy9i0aVODxxvDsdH6Ll26hDNnzmD27NlQKpUGtTG3sdG+0sN2ztnZudFvD+tPdTf2rUprtCX9li5dimXLluHDDz/EnDlzWrQNLy8vDBw40KAlzMkwjo6OGDlyJC5cuNDkFILOnTtDJpNxbBjJhQsXkJeXh8mTJ7d45TqOjdZVf81QU695mUymdxWv5tpzvLRMaWkpoqKiUFRUhCNHjjQ6m8VQkydPBgCOmVYSGxsLW1vbZp9Pjg3j2bx5MwA81nTCxrTnscGEqw0FBATg8uXLDS7iv3jxIgD9y18HBARo6z1uW2ra0qVLkZSUhKSkJLzzzjtPtC0hRLs7xS11QggATX+zqFKp4O3t3eTYUKlUT/SPT0fXWh+SHButp2fPnlCpVE2+5r29vfV+g1z/WdFUe36WPL7S0lIMHToU+fn5OHLkSKPXx7UEx0zrMeQ9KCAgAEDDsaHRaHDlyhWOjRZ6+PAhtm7diueffx6BgYGtss32ODbaX4/bsdjYWFRUVGDXrl065SkpKfD09ERwcLDetleuXNFZyVCj0WDbtm0IDg6Gp6en0fptrv74xz8iKSkJ7777Lt5///0n2lZ+fj5OnTqFkJCQVuodlZaWYv/+/dobUDYlNjYWx48f11kRTK1WY/fu3Rg9enSDRWrIMDU1Ndi2bRsGDBjwRP9ocGy0LoVCgVGjRmH37t1Qq9Xa8sLCQmRnZyMuLk5v+y5dumDAgAHYtm0bamtrteU5OTn44Ycfmm1PuuqTrevXr+Pw4cM6U6NbKiUlBQA4ZlrJzp078eDBg2afz+DgYHh4eCA5OblB+4qKCo6NFtq3bx/u3Llj0HXAzWnXY8OES9J3SFFRUaJz585i48aN4vjx4+L1118XAMS2bdu0dWbMmCHkcrnOfYWqq6tFnz59xNNPPy1SU1PFkSNHRGxsrFAoFOLEiROmOJR2bfXq1QKAiImJEadPn27wU6+xWERGRoqlS5eKPXv2iGPHjomPP/5YeHp6Cnt7e3Hx4kVTHE67N2nSJJGQkCAyMzNFdna22Lhxo/Dx8REKhUIcOXJEW2/IkCFCLpfrtC0uLhYeHh4iICBA7NmzR2RlZYmwsDBhb28vLl++3NaHYjbS09MFALFx48ZGH+fYMI6srCyRmZkptmzZIgCI8ePHi8zMTJGZmSkqKyuFEEJcvnxZ2NnZibCwMJGVlSV2794t/P39haenpyguLtbZnlwuF0OGDNEpy87OFgqFQsTGxoojR46I1NRU8fTTTwt/f39RXV3dZscqdc3F4sGDByIoKEjIZDKxbt26Bp8jV69e1dne72Px1VdfiejoaPG3v/1NHD58WOzbt0+8+eab2nq1tbVtfciS1lw8CgoKxIsvvij+8pe/iKysLHHw4EGxaNEioVQqRZ8+fURFRYV2WwUFBUIul4sZM2bo7GPr1q0CgJg1a5b2s8jR0VFERUW19eFKmiHvU/ViYmKESqUSZWVlTW6vI4wNJlxtTK1Wi7lz5wp3d3dhZWUl+vbtK9LS0nTqTJs2TQAQ+fn5OuW3bt0SU6dOFU5OTkKpVIqQkBCdf0bJcOHh4QJAkz/1GotFfHy88PPzE/b29kKhUAhPT08xefJk8cMPP5jgSMzDihUrRGBgoOjUqZOQy+XC1dVVxMbGirNnz+rUq4/b7129elWMHTtWODg4CBsbGxEZGSm+/fbbtuq+WYqKihK2trbi/v37jT7OsWEc3bp1a/J96bfPdV5enoiMjBQ2NjbCwcFBjB07tsE/+EIIAUCEh4c3KD98+LAICQkRSqVSODk5ialTpzZ6Q/iOrLlY5Ofn6/0cmTZtms72fh+Ln376SQwfPlx06dJFWFtbC6VSKQICAsSHH37IxLcRzcXj3r17IjY2Vnh5eQmVSiWsrKzEs88+KxYuXNjgn/362P0+RkIIsX37dtG3b19hZWUl3N3dxdy5c4VarW6jo2wfDH2fKiwsFBYWFmLq1Kl6t9cRxoZMiP9cJEFEREREREStitdwERERERERGQkTLiIiIiIiIiNhwkVERERERGQkTLiIiIiIiIiMhAkXERERERGRkTDhIiIiIiIiMhImXEREREREREbChIuIiIiIiMhImHAREZFJffPNN0hKSkJZWVmDxyIiIhAREdH2nWrGP/7xD7i6ukKtVpusD2FhYYiPjzfZ/omIyDAyIYQwdSeIiKjjWr16NRYsWID8/Hx4eXnpPPb9998DAPz8/EzQs8Y9ePAAvXr1Qnx8PObPn2+yfpw8eRJRUVG4ePEifHx8TNYPIiLSj2e4iIhIsvz8/CSVbAFASkoK7t69i5kzZ5q0H+Hh4fDx8cGaNWtM2g8iItKPCRcREZlMUlISFixYAADo3r07ZDIZZDIZTpw4AaDhlMKCggLIZDKsWrUKf/rTn+Dl5QWVSoWIiAj8+OOPePToERYtWgRPT0906tQJsbGxKC4ubrDfjIwMhIaGwtbWFnZ2doiOjsb58+cN6vOGDRswatQoODo66pRnZmYiODgYnTp1go2NDXr06IEZM2bo1Ll//z7mz5+P7t27w8rKCl26dEF8fDwqKyt16tXV1eGTTz5BYGAgVCoVHB0dERISgn379unUmzJlCrZv327SqY1ERKQfEy4iIjKZmTNn4q233gIA7N69G6dPn8bp06fx3HPP6W23fv16nDp1CuvXr8enn36KK1euYNSoUXjttddQUlKCLVu24KOPPsLRo0cbnIlavnw5Jk2aBD8/P+zYsQNbt26FWq3GoEGDtFMYm3Ljxg1cvHgRgwcP1ik/ffo0Jk6ciB49eiA9PR0HDhzAkiVLoNFotHUePHiA8PBwpKSkYO7cuTh48CASEhKQnJyM0aNH47cz/KdPn4558+YhKCgIGRkZSE9Px+jRo1FQUKCz34iICFRWVmoTVCIikiBBRERkQqtWrRIARH5+foPHP8dDLAAABKdJREFUwsPDRXh4uPbv/Px8AUD069dP1NbWass//vhjAUCMHj1ap318fLwAIMrLy4UQQhQWFgqFQiHeeustnXpqtVq4u7uLCRMm6O1rRkaGACBycnJ0ylevXi0AiLKysibbrlixQlhYWIjc3Fyd8p07dwoAIisrSwghxFdffSUAiMTERL19EUKIhw8fCplMJhISEpqtS0REpsEzXERE1O4MHz4cFhb//Qjr3bs3AGDEiBE69erLCwsLAQCHDh2CRqPB1KlTodFotD9KpRLh4eHNnim6efMmAMDNzU2nPCgoCAAwYcIE7NixA0VFRQ3a7t+/H/7+/ggMDNTZd3R0tM40yoMHDwIAZs+e3ezzYGlpCUdHx0b3R0RE0sCEi4iI2h0nJyedv62srPSWV1dXAwBu374N4NcEydLSUucnIyMDd+7c0bvfqqoqAIBSqdQpDwsLw+eff65N5rp27Qp/f3+kpaVp69y+fRsXLlxosF97e3sIIbT7LikpgVwuh7u7u0HPhVKp1PaLiIikR2HqDhAREbUVFxcXAMDOnTvRrVu3Fre/d+8ePDw8dB4bM2YMxowZg5qaGuTk5GDFihV45ZVX4OXlhdDQULi4uEClUmHLli16t+3q6ora2lrcunWrwT4aU1paqm1LRETSw4SLiIhMytraGgDa5CxNdHQ0FAoFrl27hnHjxj12e19fXwDAtWvX0KdPn0brWFtbIzw8HI6Ojjh06BDOnz+P0NBQjBw5EsuXL4ezszO6d+/e5D6GDRuGFStWYMOGDfjggw/09ufmzZuorq6W3NL5RET0X0y4iIjIpAICAgAA69atw7Rp02BpaQkfHx/Y29u3+r68vLzwwQcfIDExEdevX0dMTAw6d+6M27dv4+zZs7C1tcXSpUubbB8cHAyVSoWcnByMHj1aW75kyRLcuHEDkZGR6Nq1K8rKyrBu3TpYWloiPDwcABAfH49du3YhLCwMb7/9Nvr27Yu6ujoUFhbi8OHD+MMf/oDg4GAMGjQIU6ZMwbJly3D79m2MHDkS1tbWOH/+PGxsbLSrOgJATk4OADRYNZGIiKSDCRcREZlUREQEFi9ejJSUFGzatAl1dXXIzs7Wuf9Wa1q8eDH8/Pywbt06pKWloaamBu7u7ggKCsIbb7yht62VlRVefvll7N27F8uXL9eWBwcHIy8vDwkJCSgpKYGjoyNeeOEFHD9+XHsmzNbWFv/85z+xcuVKbNy4Efn5+VCpVHjmmWcwdOhQeHl5abeXnJyM5557Dps3b0ZycjJUKhX8/Pzwzjvv6PTn888/R0BAgDZpJSIi6ZEJ8ZsbfxAREZFeeXl5CAoKQk5ODoKDg03Wj/v378PT0xNr167F66+/brJ+EBGRfky4iIiIHtPEiRNRWVmJ/fv3m6wPS5cuRUZGBi5cuACFghNWiIikisvCExERPaY1a9YgKCgIarXaZH1wcHBAcnIyky0iIonjGS4iIiIiIiIj4RkuIiIiIiIiI2HCRUREREREZCRMuIiIiIiIiIyECRcREREREZGRMOEiIiIiIiIyEiZcRERERERERsKEi4iIiIiIyEiYcBERERERERnJ/wOHS0Wy+5w3SgAAAABJRU5ErkJggg==\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# reinitialize filter\n",
"dt = 0.1\n",
"initialize_filter(cvfilter)\n",
"cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=50.0)\n",
"track, zs = generate_data(50, sensor_std)\n",
"\n",
"# recompute track\n",
"cvfilter.x.fill(0.)\n",
"kxs2, _, _, _ = cvfilter.batch_filter(z_xs2)\n",
"\n",
"bp.plot_track(xs2, dt=dt)\n",
"bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='Huge Q (var=50.0)', x='time (sec)', y='X')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Maneuvers imply acceleration, so let's implement a constant acceleration Kalman filter and see how it fairs with the same data."
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {},
"outputs": [],
"source": [
"def make_ca_filter(dt, std):\n",
" cafilter = KalmanFilter(dim_x=3, dim_z=1)\n",
" cafilter.x = np.array([0., 0., 0.])\n",
" cafilter.P *= 3\n",
" cafilter.R *= std\n",
" cafilter.Q = Q_discrete_white_noise(dim=3, dt=dt, var=0.02)\n",
" cafilter.F = np.array([[1, dt, 0.5*dt*dt],\n",
" [0, 1, dt], \n",
" [0, 0, 1]])\n",
" cafilter.H = np.array([[1., 0, 0]])\n",
" return cafilter\n",
"\n",
"def initialize_const_accel(f):\n",
" f.x = np.array([0., 0., 0.])\n",
" f.P = np.eye(3) * 3"
]
},
{
"cell_type": "code",
"execution_count": 12,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"dt = 0.1\n",
"cafilter = make_ca_filter(dt, sensor_std)\n",
"initialize_const_accel(cafilter)\n",
"\n",
"kxs2, _, _, _ = cafilter.batch_filter(z_xs2)\n",
"\n",
"bp.plot_track(xs2, dt=dt)\n",
"bp.plot_filter(kxs2[:, 0], dt=dt, label='KF')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='Constant Acceleration Kalman Filter',\n",
" x='time (sec)', y='X')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The constant acceleration model is able to track the maneuver with no lag, but at the cost of very noisy output during the steady state behavior. The noisy output is due to the filter being unable to distinguish between the beginning of an maneuver and noise in the signal. Noise in the signal implies an acceleration, and so the acceleration term of the filter tracks it. \n",
"\n",
"It seems we cannot win. A constant velocity filter cannot react quickly when the target is accelerating, but a constant acceleration filter misinterprets noise during zero acceleration regimes as acceleration instead of nosie.\n",
"\n",
"Yet there is an important insight here that will lead us to a solution. When the target is not maneuvering (the acceleration is zero) the constant velocity filter performs optimally. When the target is maneuvering the constant acceleration filter performs well, as does the constant velocity filter with an artificially large process noise $\\mathbf{Q}$. If we make a filter that adapts itself to the behavior of the tracked object we could have the best of both worlds."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Detecting a Maneuver"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Before we discuss how to create an adaptive filter we have to ask \"how do we detect a maneuver?\" We cannot reasonably adapt a filter to respond to maneuvers if we do not know when a maneuver is happening.\n",
"\n",
"We have been defining *maneuver* as the time when the tracked object is accelerating, but in general we can say that the object is maneuvering with respect to the Kalman filter if its behavior is different than the process model being used by the filter. \n",
"\n",
"What is the mathematical consequence of a maneuvering object for the filter? The object will be behaving differently than predicted by the filter, so the residual will be large. Recall that the residual is the difference between the current prediction of the filter and the measurement. \n",
""
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"To confirm this, let's plot the residual for the filter during the maneuver. I will reduce the amount of noise in the data to make it easier to see the residual."
]
},
{
"cell_type": "code",
"execution_count": 13,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from kf_book.adaptive_internal import plot_track_and_residuals\n",
"\n",
"def show_residual_chart():\n",
" dt = 0.1\n",
" sensor_std = 0.2\n",
" \n",
" # initialize filter\n",
" cvfilter = make_cv_filter(dt, sensor_std)\n",
" initialize_filter(cvfilter)\n",
" pos2, zs2 = generate_data(150, sensor_std)\n",
" xs2 = pos2[:, 0]\n",
" z_xs2 = zs2[:, 0]\n",
"\n",
" cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=0.02)\n",
" xs, res = [], []\n",
" for z in z_xs2:\n",
" cvfilter.predict()\n",
" cvfilter.update([z])\n",
" xs.append(cvfilter.x[0])\n",
" res.append(cvfilter.y[0])\n",
" \n",
" xs = np.asarray(xs)\n",
" plot_track_and_residuals(dt, xs, z_xs2, res)\n",
"\n",
"show_residual_chart();"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"On the left I have plotted the noisy measurements against the Kalman filter output. On the right I display the residuals computed by the filter - the difference between the measurement and the predictions made by the Kalman filter. Let me emphasize this to make this clear. The plot on the right is not merely the difference between the two lines in the left plot. The left plot shows the difference between the measurements and the final Kalman filter output, whereas the right plot shows us the difference between the measurements and the *predictions of the process model*. \n",
"\n",
"That may seem like a subtle distinction, but from the plots you see it is not. The amount of deviation in the left plot when the maneuver starts is small, but the deviation in the right plot tells a different story. If the tracked object was moving according to the process model the residual plot should bounce around 0.0. This is because the measurements will be obeying the equation \n",
"\n",
"$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{noise}(t)$$\n",
"\n",
"Once the target starts maneuvering the predictions of the target behavior will not match the behavior as the equation will be \n",
"\n",
"$$\\mathtt{measurement} = \\mathtt{process\\_model}(t) + \\mathtt{maneuver\\_delta}(t) + \\mathtt{noise}(t)$$\n",
"\n",
"Therefore if the residuals diverge from a mean of 0.0 we know that a maneuver has commenced.\n",
"\n",
"We can see from the residual plot that we have our work cut out for us. We can clearly see the result of the maneuver in the residual plot, but the amount of noise in the signal obscures the start of the maneuver. This is our age old problem of extracting the signal from the noise. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"## Adjustable Process Noise\n",
"\n",
"The first approach we will consider will use a lower order model and adjust the process noise based on whether a maneuver is occurring or not. When the residual gets \"large\" (for some reasonable definition of large) we will increase the process noise. This will cause the filter to favor the measurement over the process prediction and the filter will track the signal closely. When the residual is small we will then scale back the process noise.\n",
"\n",
"There are many ways of doing this in the literature, I will consider a couple of choices."
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Continuous Adjustment\n",
"\n",
"The first method (from Bar-Shalom [1]) normalizes the square of the residual using the following equation:\n",
"\n",
"$$ \\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$$\n",
"\n",
"where $\\mathbf{y}$ is the residual and $\\mathbf{S}$ is the system uncertainty (covariance), which has the equation\n",
"\n",
"$$\\mathbf{S} = \\mathbf{HPH^\\mathsf{T}} + \\mathbf{R}$$\n",
"\n",
"If the linear algebra used to compute this confuses you, recall that we can think of matrix inverses in terms of division, so $\\epsilon = \\mathbf{y^\\mathsf{T}S}^{-1}\\mathbf{y}$ can be thought of as computing\n",
"\n",
"$$\\epsilon\\approx\\frac{\\mathbf{y}^2}{\\mathbf{S}}$$\n",
"\n",
"Both $\\mathbf{y}$ and $\\mathbf{S}$ are attributes of `filterpy.KalmanFilter` so implementation will be straightforward.\n",
"\n",
"Let's look at a plot of $\\epsilon$ against time."
]
},
{
"cell_type": "code",
"execution_count": 14,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from numpy.linalg import inv\n",
"dt = 0.1\n",
"sensor_std = 0.2\n",
"cvfilter= make_cv_filter(dt, sensor_std)\n",
"_, zs2 = generate_data(150, sensor_std)\n",
"\n",
"epss = []\n",
"for z in zs2[:, 0]:\n",
" cvfilter.predict()\n",
" cvfilter.update([z])\n",
" y, S = cvfilter.y, cvfilter.S\n",
" eps = np.dot(y.T, inv(S)).dot(y)\n",
" epss.append(eps)\n",
"\n",
"t = np.arange(0, len(epss) * dt, dt)\n",
"plt.plot(t, epss)\n",
"bp.set_labels(title='Epsilon vs time', \n",
" x='time (sec)', y='$\\epsilon$')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"This plot should make clear the effect of normalizing the residual. Squaring the residual ensures that the signal is always greater than zero, and normalizing by the measurement covariance scales the signal so that we can distinguish when the residual is markedly changed relative to the measurement noise. The maneuver starts at t=3 seconds, and we can see that $\\epsilon$ starts to increase rapidly not long after that. \n",
"\n",
"We will want to start scaling $\\mathbf{Q}$ up once $\\epsilon$ exceeds some limit, and back down once it again falls below that limit. We multiply $\\mathbf{Q}$ by a scaling factor. Perhaps there is literature on choosing this factor analytically; I derive it experimentally. We can be somewhat more analytical about choosing the limit for $\\epsilon$ (named $\\epsilon_{max}$) - generally speaking once the residual is greater than 3 standard deviations or so we can assume the difference is due to a real change and not to noise. However, sensors are rarely truly Gaussian and so a larger number, such as 5-6 standard deviations is used in practice.\n",
"\n",
"I have implemented this algorithm using reasonable values for $\\epsilon_{max}$ and the $\\mathbf{Q}$ scaling factor. To make inspection of the result easier I have limited the plot to the first 10 seconds of simulation. "
]
},
{
"cell_type": "code",
"execution_count": 15,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# reinitialize filter\n",
"dt = 0.1\n",
"sensor_std = 0.2\n",
"cvfilter = make_cv_filter(dt, sensor_std)\n",
"_, zs2 = generate_data(180, sensor_std)\n",
"\n",
"Q_scale_factor = 1000.\n",
"eps_max = 4.\n",
"\n",
"xs, epss = [], []\n",
"\n",
"count = 0\n",
"for i, z in zip(t, zs2[:, 0]):\n",
" cvfilter.predict()\n",
" cvfilter.update([z])\n",
" y, S = cvfilter.y, cvfilter.S\n",
" eps = np.dot(y.T, inv(S)).dot(y)\n",
" epss.append(eps)\n",
" xs.append(cvfilter.x[0])\n",
"\n",
" if eps > eps_max:\n",
" cvfilter.Q *= Q_scale_factor\n",
" count += 1\n",
" elif count > 0:\n",
" cvfilter.Q /= Q_scale_factor\n",
" count -= 1\n",
"\n",
"bp.plot_measurements(zs2[:,0], dt=dt, label='z', alpha=0.5)\n",
"bp.plot_filter(t, xs, label='filter')\n",
"plt.legend(loc=4)\n",
"bp.set_labels(title='epsilon=4', x='time (sec)', y='$\\epsilon$')"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"The performance of this filter is markedly better than the constant velocity filter. The constant velocity filter took roughly 10 seconds to reacquire the signal after the start of the maneuver. The adaptive filter takes under a second to do the same. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"### Continuous Adjustment - Standard Deviation Version"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"Another, very similar method from Zarchan [2] sets the limit based on the standard deviation of the measurement error covariance. Here the equations are:\n",
"\n",
"$$ \\begin{aligned}\n",
"std &= \\sqrt{\\mathbf{HPH}^\\mathsf{T} + \\mathbf{R}} \\\\\n",
"&= \\sqrt{\\mathbf{S}}\n",
"\\end{aligned}\n",
"$$\n",
"\n",
"If the absolute value of the residual is more than some multiple of the standard deviation computed above we increase the process noise by a fixed amount, recompute Q, and continue."
]
},
{
"cell_type": "code",
"execution_count": 16,
"metadata": {
"scrolled": true
},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"from math import sqrt\n",
"\n",
"def zarchan_adaptive_filter(Q_scale_factor, std_scale, \n",
" std_title=False,\n",
" Q_title=False):\n",
" cvfilter = make_cv_filter(dt, std=0.2)\n",
" pos2, zs2 = generate_data(180-30, std=0.2)\n",
" xs2 = pos2[:,0]\n",
" z_xs2 = zs2[:,0]\n",
"\n",
" # reinitialize filter\n",
" initialize_filter(cvfilter)\n",
" cvfilter.R = np.eye(1)*0.2\n",
"\n",
" phi = 0.02\n",
" cvfilter.Q = Q_discrete_white_noise(dim=2, dt=dt, var=phi)\n",
" xs, ys = [], []\n",
" count = 0\n",
" for z in z_xs2:\n",
" cvfilter.predict()\n",
" cvfilter.update([z])\n",
" y = cvfilter.y\n",
" S = cvfilter.S\n",
" std = sqrt(S)\n",
"\n",
" xs.append(cvfilter.x)\n",
" ys.append(y)\n",
"\n",
" if abs(y[0]) > std_scale*std:\n",
" phi += Q_scale_factor\n",
" cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n",
" count += 1\n",
" elif count > 0:\n",
" phi -= Q_scale_factor\n",
" cvfilter.Q = Q_discrete_white_noise(2, dt, phi)\n",
" count -= 1\n",
"\n",
" xs = np.asarray(xs)\n",
" plt.subplot(121)\n",
" bp.plot_measurements(z_xs2, dt=dt, label='z')\n",
" bp.plot_filter(xs[:, 0], dt=dt, lw=1.5)\n",
" bp.set_labels(x='time (sec)', y='$\\epsilon$')\n",
" plt.legend(loc=2)\n",
" if std_title:\n",
" plt.title('position(std={})'.format(std_scale))\n",
" elif Q_title:\n",
" plt.title('position(Q scale={})'.format(Q_scale_factor))\n",
" else:\n",
" plt.title('position')\n",
" \n",
" plt.subplot(122)\n",
" plt.plot(np.arange(0, len(xs)*dt, dt), xs[:, 1], lw=1.5)\n",
" plt.xlabel('time (sec)')\n",
" if std_title:\n",
" plt.title('velocity(std={})'.format(std_scale))\n",
" elif Q_title:\n",
" plt.title('velocity(Q scale={})'.format(Q_scale_factor))\n",
" else:\n",
" plt.title('velocity') \n",
" plt.show()\n",
" \n",
"zarchan_adaptive_filter(1000, 2, std_title=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"So I chose to use 1000 as the scaling factor for the noise, and 2 as the standard deviation limit. Why these numbers? Well, first, let's look at the difference between 2 and 3 standard deviations. "
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"**Two Standard Deviations**"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"zarchan_adaptive_filter(1000, 2, std_title=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"**Three Standard Deviations**"
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"zarchan_adaptive_filter(1000, 3, std_title=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"We can see from the charts that the filter output for the position is very similar regardless of weather we use 2 standard deviations or three. But the computation of the velocity is a different matter. Let's explore this further. First, let's make the standard deviation very small."
]
},
{
"cell_type": "code",
"execution_count": 19,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
},
{
"data": {
"image/png": 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\n",
"text/plain": [
""
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"zarchan_adaptive_filter(1000, .1, std_title=True)\n",
"zarchan_adaptive_filter(1000, 1, std_title=True)"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"As the standard deviation limit gets smaller the computation of the velocity gets worse. Think about why this is so. If we start varying the filter so that it prefers the measurement over the prediction as soon as the residual deviates even slightly from the prediction we very quickly be giving almost all the weight towards the measurement. With no weight for the prediction we have no information from which to create the hidden variables. So, when the limit is 0.1 std you can see that the velocity is swamped by the noise in the measurement. On the other hand, because we are favoring the measurements so much the position follows the maneuver almost perfectly.\n",
"\n",
"Now let's look at the effect of various increments for the process noise. Here I have held the standard deviation limit to 2 std, and varied the increment from 1 to 10,000."
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {},
"outputs": [
{
"data": {
"image/png": 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