University of Nebraska - Lincoln DigitalCommons@University of Nebraska - Lincoln Industrial and Management Systems Engineering -Dissertations and Student Research Industrial and Management Systems Engineering 12-2012 Three-Dimensional Indoor RFID Localization System Jiaqing Wu University of Nebraska-Lincoln, wujiaqing@huskers.unl.edu Follow this and additional works at: http://digitalcommons.unl.edu/imsediss Part of the Industrial Engineering Commons, and the Other Electrical and Computer Engineering Commons Wu, Jiaqing, "Three-Dimensional Indoor RFID Localization System" (2012) Industrial and Management Systems Engineering -Dissertations and Student Research Paper 36 http://digitalcommons.unl.edu/imsediss/36 This Article is brought to you for free and open access by the Industrial and Management Systems Engineering at DigitalCommons@University of Nebraska - Lincoln It has been accepted for inclusion in Industrial and Management Systems Engineering Dissertations and Student Research by an authorized administrator of DigitalCommons@University of Nebraska - Lincoln THREE-DIMENSIONAL INDOOR RFID LOCALIZATION SYSTEM by Jiaqing Wu A DISSERTATION Presented to the Faculty of The Graduate College at the University of Nebraska In Partial Fulfillment of Requirements For the Degree of Doctor of Philosophy Major: Engineering (Industrial, Management Systems, and Manufacturing Engineering) Under the Supervision of Professor Robert E Williams Lincoln, Nebraska December, 2012 THREE-DIMENSIONAL INDOOR RFID LOCALIZATION SYSTEM Jiaqing Wu, Ph.D University of Nebraska, 2012 Adviser: Robert E Williams Radio Frequency Identification (RFID) is an information exchange technology based on radio waves communication It is also a possible solution to indoor localization Due to multipath propagation and anisotropic interference in the indoor environment, theoretical propagation models are generally not sufficient for RFID-based localization In fact, the radio frequency (RF) signal distribution may not even be monotonic and this makes range-based localization algorithms less accurate On the other hand, range free localization algorithms, such as k Nearest-Neighbor (kNN), require reference tags to be spread throughout the whole three-dimensional (3D) space which is simply not practical In this work, a hybrid real-time localization algorithm that combines reference tags with Received Signal Strength Indicator (RSSI) ranging is introduced to improve RFID-based 3D localization in high-complexity indoor environments The experiments demonstrate that the proposed system is more accurate than traditional algorithms under real world constraints The active RFID system includes readers and 24 reference tags deployed in a fully furnished room The localization algorithm is implemented in MATLAB and is synchronized with RF signal data collection in real-time The results show that the novel hybrid algorithm achieves an average 3D localization error of 1.08m which represents a significant improvement over kNN and RSSI algorithms under the same circumstance A battery-assisted passive RFID system was deployed side-by-side to the active system for comparison Furthermore, the reader and tag performance was evaluated in both highcomplexity laboratory environment and International Space Station (ISS) mock-up with high-reflection interior surface In addition, theoretical models on minimum number of required reference tags and localization error prediction were introduced iv Acknowledgements I wish to thank my advisor Dr Robert E Williams for his constant guidance, help, and support His dedication to research has been a real inspiration I am sincerely thankful to Dr Kamlakar P Rajurkar, Dr Michael W Riley, and Dr Lance C Pérez for serving on my Ph.D committee and providing valuable suggestions and comments to the original manuscript The dissertation experimentation would not have been possible without the gracious use of the facilities of Dr Lance C Pérez, the MC2 laboratory in the department of Electrical Engineering I want to thank Lianlin Zhao, Marques L King and all associates who were so friendly and helpful to my research there I would like to thank all faculty and staff members in the IMSE department and then the MME department since August 2011 Their kindness made my study at UNL much more comfortable I also would like to thank my beautiful wife, Bijia, for her love, caring, courage, and support during this research Finally, I dedicate this dissertation to my parents, Shuliang Wu and Zhenyun Cao, and to my sister, Jiawei Wu They had a great influence on my career path and academic motivation and pursuits v Table of Contents Abstract ii Acknowledgements iv Table of Contents v List of Figures ix List of Tables xii Nomenclature and Abbreviations xiv Chapter Introduction 1.1 Radio Frequency Identification (RFID) 1.2 Real-Time Localization System (RTLS) 1.3 Purpose of Research 1.4 Dissertation Organization Chapter Literature Review 2.1 Radio Frequency Identification (RFID) 2.1.1 Tags 2.1.2 Readers 11 2.2 Real-Time Localization System (RTLS) 12 2.2.1 Global Positioning System (GPS) and A-GPS (Assisted GPS) 14 2.2.2 Wireless Local Area Network (WLAN) and Wireless Sensor Network (WSN) 14 vi 2.2.3 Radio Frequency Identification (RFID) 15 2.2.4 Ultra Wide Band (UWB) 16 2.2.5 Non RF-based 17 2.2.6 Summary 18 2.3 RFID-RTLS 19 2.3.1 Schemes 19 2.3.2 Algorithms 20 2.3.3 Range-based Localization 21 2.3.4 Range-free Localization 27 2.3.5 Summary 29 Chapter Theoretical Modeling 31 3.1 Introduction 31 3.2 Assumptions 32 3.3 Ranging 35 3.4 Localization 38 3.5 Experiments 42 3.6 Summary 45 Chapter System and Experimental Designs 47 4.1 Fundamental Tests for Active System 47 4.1.1 Reader Test 47 4.1.2 Tag Test 50 4.1.3 Ranging Test 53 vii 4.2 Localization Test for Active System 55 4.2.1 System Setup 55 4.2.2 Software Development 58 4.2.3 Localization Algorithm 63 4.2.4 Experimental Design 67 4.3 Additional Tests for Battery-assisted Passive System 69 4.3.1 System Setup 69 4.3.2 Software Development 72 4.3.3 Experimental Design 74 4.4 Localization Tests for Battery-assisted Passive System 75 4.5 Summary 76 Chapter Results and Analysis 77 5.1 Fundamental Tests for Active System 77 5.1.1 Reader Test 77 5.1.2 Tag Test 81 5.1.3 Ranging Test 84 5.2 Localization Test for Active System 86 5.3 Additional Tests for Battery-assisted Passive System 93 5.3.1 Battery-assisted Passive System 93 5.3.2 Active versus Battery-assisted Passive System 99 5.3.3 Lab versus Mock-up 101 5.4 Localization Test for Battery-assisted Passive System 104 viii Chapter Conclusions and Recommendations 106 6.1 Conclusions 106 6.1.1 Theoretical Prediction 106 6.1.2 Localization Performance 107 6.1.3 Environmental Impacts 107 6.2 Recommendations 108 References 109 Appendix A Programming Interface 114 A.1 JSON 114 A.2 XML 120 Appendix B Matlab Implementation 127 B.1 Welcome Window 127 B.2 RSSI Reading 128 B.3 Localization 138 Appendix C Data Sheets 169 C.1 Reader Test Data Sheet 169 C.2 Tag Test Data Sheet 171 C.3 Ranging Test Data Sheet 173 C.4 Localization Test Data Sheet 175 C.5 Battery-assisted Passive System Test Data Sheet 177 ix List of Figures Figure 2-1: Typical frequency bands used for RFID Figure 2-2: Communication models between RFID tags and readers Figure 2-3: Active RFID tag structure Figure 2-4: Two common RTLS schemes 20 Figure 2-5: RSSI with fingerprinting 22 Figure 2-6: Triangulation for AOA 23 Figure 2-7: Cycle intersection for TOA 24 Figure 2-8: First step of multilateration for TDOA 25 Figure 2-9: Multilateration for APM 26 Figure 2-10: kNN 27 Figure 2-11: Proximity 28 Figure 3-1: Reader layout scheme 34 Figure 3-2: Tag layout scheme 34 Figure 3-3: Tag layout scheme (more) 42 Figure 4-1: Layout scheme of reader test 49 Figure 4-2: Layout scheme of tag test 52 Figure 4-3: Layout scheme of ranging test 54 Figure 4-4: RF Code readers and tags 55 Figure 4-5: Reader layout in room environment 56 169 Appendix C Data Sheets C.1 Reader Test Data Sheet Table C-1: Reader test data sheet StdOrder 42 37 29 31 36 40 41 30 35 33 38 39 34 32 45 48 50 53 54 46 52 51 55 44 49 47 56 43 RunOrder 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 Reader 3 3 3 3 3 3 3 4 4 4 4 4 4 4 Height 1 3 3 3 1 3 3 Depth 1 1 3 3 3 3 1 1 3 Antenna 3 3 1 3 3 1 1 3 Tag 1 3 3 1 1 1 3 3 uMax -51 -50 -55 -56 -53 -52 -48 -53 -56 -53 -62 -55 -55 -57 -57 -58 -56 -61 -54 -57 -60 -52 -51 -54 -59 -53 -53 -53 170 22 25 16 17 23 19 24 28 21 15 18 26 27 20 12 10 14 11 13 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 3 3 3 1 1 3 3 3 3 1 3 1 3 3 3 1 1 3 3 3 3 1 3 3 3 3 3 3 1 -54 -60 -49 -53 -49 -52 -63 -50 -59 -56 -57 -53 -50 -52 -54 -52 -52 -51 -55 -55 -53 -57 -46 -56 -53 -53 -54 -47 171 C.2 Tag Test Data Sheet Table C-2: Tag test data sheet StdOrder 18 16 13 12 10 15 17 11 14 37 42 40 50 53 54 49 45 38 48 43 52 39 41 44 46 51 47 RunOrder 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Tag 1 1 1 1 1 1 1 1 1 3 3 3 3 3 3 3 3 3 Distance 3 2 1 3 1 2 1 3 3 2 1 2 Orientation 6 5 6 6 5 uMax -52 -53 -60 -48 -51 -63 -58 -57 -47 -53 -56 -47 -50 -55 -54 -47 -50 -51 -46 -56 -57 -51 -61 -52 -50 -51 -49 -65 -47 -60 -51 -53 -48 -58 -53 -55 172 24 34 26 28 35 25 31 29 19 32 21 27 30 20 23 33 36 22 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 2 2 2 2 2 2 2 2 2 2 3 2 1 3 5 1 3 6 -54 -58 -48 -57 -58 -45 -51 -54 -45 -51 -52 -51 -65 -48 -51 -54 -53 -57 173 C.3 Ranging Test Data Sheet Table C-3: Ranging test data sheet StdOrder 11 13 18 31 14 37 35 33 32 28 24 44 21 22 42 38 36 45 26 20 46 47 41 34 29 25 30 39 17 48 RunOrder 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Tag 2 4 4 3 3 4 5 1 5 3 Distance 0.5 1.5 0.5 3.5 2.5 1.5 2.5 4.5 2 0.5 1 2.5 1.5 3.5 0.5 4.5 2.5 4.5 3.5 uMax -49 -62 -61 -51 -54 -59 -54 -54 -60 -55 -54 -61 -66.5 -54 -54 -51 -55 -58 -63 -60 -55 -61 -62.1 -61 -60 -61 -60 -55 -52 -52 -64 -56 -59.9 -66 -59 -61 174 10 27 15 49 23 16 50 43 40 12 19 37 38 39 40 41 42 43 44 45 46 47 48 49 50 1 5 2 0.5 3.5 2.5 4.5 1.5 3.5 1.5 4.5 -50 -61.7 -59 -61 -55 -66.1 -60 -60 -61 -62.9 -60 -61.6 -55 -64 175 C.4 Localization Test Data Sheet Table C-4: Localization test data sheet StdOrder 51 47 68 71 30 45 23 67 20 64 29 34 48 70 43 16 13 58 18 59 63 36 50 31 66 46 40 28 41 57 49 22 RunOrder 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Position 8 7 8 6 6 Orientation Z Y Y Y Z Z Y X Y X Y X Z Y X Y X X X X X Z Z Y Z Z Y X Z X X X Y Z X X Tag 3 2 3 2 1 1 3 3 2 2 3 Hybrid 1.44 2.12 2.43 2.16 0.99 2.31 1.58 1.06 2.2 0.65 2.36 0.85 0.99 0.91 0.69 1.17 0.35 1.09 1.24 1.28 0.3 1.14 0.99 3.15 1.3 1.11 1.75 0.45 0.95 0.52 1.2 0.94 1.28 1.44 1.1 kNN 2.9 2.56 3.46 2.23 2.16 1.62 2.84 0.78 3.03 0.56 1.66 0.77 0.7 0.64 1.63 1.04 0.62 1.03 1.33 0.94 1.55 2.45 1.05 2.77 0.82 1.07 2.8 2.02 0.64 1.15 1.7 1.89 0.53 RSSI 1.32 2.19 2.56 2.24 1.34 2.03 2.29 1.47 2.38 1.02 2.01 2.26 2.1 2.24 1.88 0.79 1.6 2.26 1.53 2.44 2.07 1.97 1.58 1.98 1.65 2.15 1.23 1.23 1.61 1.83 1.27 1.75 1.76 1.27 0.74 2.08 176 42 62 32 56 65 33 25 60 61 37 19 21 53 72 54 11 17 69 24 27 10 52 12 15 14 35 38 39 26 44 55 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 3 1 5 7 8 1 4 5 5 Z Y Y Y Y Z X Z Z X X X Z Y Z Z Y Y Z Z Z Y Z X X Z Z Y Y Y X Z X Y Y X 3 2 3 1 3 1 1 1 2 2 0.75 1.04 0.62 0.72 0.72 1.17 1.07 2.12 1.37 1.18 1.28 1.72 2.03 2.17 2.47 1.81 1.21 1.23 1.08 2.21 1.63 0.73 2.35 0.96 0.44 1.15 2.84 1.29 0.96 1.04 2.87 1.6 0.82 2.25 1.13 1.87 3.09 1.55 1.66 1.89 1.83 1.1 2.75 0.84 1.28 0.84 0.52 1.54 2.17 0.66 2.6 1.06 2.15 1.82 1.29 0.77 1.62 3.14 1.07 2.62 0.96 1.97 3.31 3.33 0.93 2.32 1.56 0.92 3.46 1.63 1.33 1.65 1.18 0.57 1.72 1.28 0.76 1.4 1.52 1.39 1.55 1.49 2.08 2.06 2.07 1.59 2.46 1.84 1.29 1.95 2.14 1.69 1.16 2.16 1.78 1.9 1.86 1.52 2.06 1.55 0.85 1.77 1.14 1.45 2.32 0.97 177 C.5 Battery-assisted Passive System Test Data Sheet Table C-5: Battery-assisted passive system test data sheet StdOrder RunOrder Tag Location Group Orientation Distance dBm StDev 270 256 245 283 261 311 298 260 352 315 304 343 292 287 295 277 302 262 279 288 314 268 286 276 303 243 284 335 334 267 291 353 316 313 325 242 333 Lab Lab Lab Lab Lab Mockup Lab Lab Mockup Mockup Mockup Mockup Lab Lab Lab Lab Mockup Lab Lab Lab Mockup Lab Lab Lab Mockup Lab Lab Mockup Mockup Lab Lab Mockup Mockup Mockup Mockup Lab Mockup Z Y X Y Z Y Z Y Z Y X Y Z Y Z X X Z X Y Y Z Y X X X Y X X Z Z Z Y Y Z X X 1.94 2.6 5.64 1.86 2.28 7.68 7.43 3.62 7.07 8.1 5.59 8.31 2.06 4.16 3.35 4.52 6.39 4.13 5.86 4.04 11.64 3.8 4.8 3.52 6.26 2.82 3.25 5.95 5.94 2.44 2.07 6.07 6.9 7.86 4.78 0.8 7.37 10 11 12 13 14 15 16 17 19 20 21 22 23 24 25 26 27 28 32 33 34 36 37 39 40 41 42 43 44 45 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 STT STT STT SMT STT STT SMT STT SMT STT STT SMT SMT SMT SMT SMT STT STT SMT SMT STT STT SMT SMT STT STT SMT SMT SMT STT SMT SMT STT STT STT STT SMT 2.5 1.5 0.5 0.5 2.5 1.5 3.5 2.5 3.5 1 4.5 4 3 1.5 1.5 2.5 3.5 0.5 1.5 1.5 2.5 1.5 -60.7 -57.9 -55.2 -57 -41.5 -51.1 -72.9 -67 -66.7 -55 -64.8 -65.1 -60.6 -66.7 -72.7 -69.3 -52.2 -51.4 -74.4 -72.1 -61 -55.4 -63 -62.3 -62.2 -51.3 -63.3 -73.4 -75.4 -58.5 -63.4 -73.4 -62.5 -63.5 -54.5 -55 -64.1 178 253 332 272 322 293 294 257 278 351 356 289 280 355 251 271 281 244 247 323 336 263 275 312 301 248 246 249 342 344 331 306 252 254 346 273 266 341 290 305 241 258 326 47 48 49 51 52 53 54 55 56 57 58 59 60 61 62 63 64 66 67 68 69 71 72 73 74 75 76 78 79 81 82 84 85 88 89 90 91 92 93 94 96 98 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 Lab Mockup Lab Mockup Lab Lab Lab Lab Mockup Mockup Lab Lab Mockup Lab Lab Lab Lab Lab Mockup Mockup Lab Lab Mockup Mockup Lab Lab Lab Mockup Mockup Mockup Mockup Lab Lab Mockup Lab Lab Mockup Lab Mockup Lab Lab Mockup STT SMT SMT STT SMT SMT STT SMT SMT SMT SMT SMT SMT STT SMT SMT STT STT STT SMT STT SMT STT STT STT STT STT SMT SMT SMT STT STT STT SMT SMT STT SMT SMT STT STT STT STT Y X X Z Z Z Y X Z Z Y X Z Y X Y X X Z X Z X Y X X X X Y Y X X Y Y Y X Z Y Y X X Y Z 1.5 1 1.5 3.5 0.5 4.5 2.5 0.5 0.5 0.5 3.5 1.5 1.5 2.5 0.5 4.5 0.5 3 1.5 0.5 2.5 0.5 -55.1 -63.9 -56.1 -60.1 -72 -70.6 -62.4 -74.5 -75.4 -72.6 -74.6 -74.3 -66.7 -45.6 -52.2 -51.9 -52.7 -61.2 -55 -70.6 -47.8 -63 -62.6 -51.6 -70.8 -55.6 -64.5 -65.8 -75.3 -58.4 -61.2 -47.7 -52.4 -73.1 -60.5 -59.7 -59 -73 -68 -49.4 -62.6 -68.5 6.66 6.89 2.21 6.94 1.6 1.75 2.99 4.14 7.07 6.11 6.42 3.43 6.57 5.09 1.3 2.38 3.26 2.63 4.32 8.78 2.35 4.14 9.32 8.16 13.1 2.9 2.96 8.52 7.25 7.3 5.47 2.49 5.82 9.03 2.3 7.09 6.29 4.45 8.24 3.3 6.84 6.12 179 264 324 321 300 250 274 297 296 285 354 255 265 299 269 345 259 282 216 146 205 206 174 132 130 212 163 154 150 152 129 138 183 191 158 215 233 170 162 155 180 175 148 99 100 101 102 103 104 105 106 108 110 111 112 115 116 118 119 120 121 122 124 125 127 128 129 130 131 132 133 134 136 137 138 139 140 142 144 146 147 148 149 151 152 3 3 3 3 3 3 3 3 2 2 2 2 2 2 2 2 2 2 2 2 Lab Mockup Mockup Lab Lab Lab Lab Lab Lab Mockup Lab Lab Lab Lab Mockup Lab Lab Mockup Lab Mockup Mockup Lab Lab Lab Mockup Lab Lab Lab Lab Lab Lab Mockup Mockup Lab Mockup Mockup Lab Lab Lab Lab Lab Lab STT STT STT SMT STT SMT SMT SMT SMT SMT STT STT SMT STT SMT STT SMT SMT STT STT STT SMT STT STT SMT SMT SMT STT SMT STT STT STT STT SMT SMT SMT SMT SMT SMT SMT SMT STT Z Z Z Z X X Z Z Y Z Y Z Z Z Y Y Y X Z Z Z Z Y X X Y X Z X X Y X Y X X Z Y Y X Z Z Z 2 0.5 5 3.5 2.5 2.5 2.5 4.5 4.5 2.5 4.5 3 2.5 1.5 4.5 1.5 0.5 2.5 1.5 2.5 2.5 -53.7 -57.6 -51 -81.1 -68.1 -62.1 -75 -75.7 -61.3 -67.7 -57.5 -52.6 -76.4 -62.6 -72.7 -60.3 -54.2 -68.5 -59.6 -56.6 -63.1 -68 -48.6 -67.6 -64.3 -57.2 -60.4 -61.5 -54.1 -64.9 -64.1 -61.3 -52.4 -73.9 -72.1 -69.8 -69.7 -53.7 -62.5 -77.6 -71 -55.3 1.99 6.22 5.61 7.43 7.24 4.12 5.04 3.41 4.69 5.53 6.92 1.66 4.27 4.57 1.72 2.39 8.16 7.8 5.6 8.39 1.76 2.92 4.51 6.26 2.73 3.39 1.37 2.34 2.62 6.25 7.46 8.31 3.54 5.14 6.8 2.99 5.13 5.41 7.43 4.72 3.54 180 142 124 145 121 186 127 234 164 147 226 160 223 131 236 196 181 172 211 221 151 179 224 125 165 231 144 167 193 178 126 137 122 173 168 235 201 139 136 161 204 194 166 153 154 155 156 157 158 160 161 162 163 164 165 166 167 168 169 172 173 174 176 177 179 180 181 182 183 185 186 187 188 189 190 191 192 193 195 196 197 198 199 200 201 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 Lab Lab Lab Lab Mockup Lab Mockup Lab Lab Mockup Lab Mockup Lab Mockup Mockup Mockup Lab Mockup Mockup Lab Lab Mockup Lab Lab Mockup Lab Lab Mockup Lab Lab Lab Lab Lab Lab Mockup Mockup Lab Lab Lab Mockup Mockup Lab STT STT STT STT STT STT SMT SMT STT SMT SMT SMT STT SMT STT STT SMT SMT SMT SMT SMT SMT STT SMT SMT STT SMT STT SMT STT STT STT SMT SMT SMT STT STT STT SMT STT STT SMT Z X Z X X X Z Y Z Y X Y Y Z Y X Z X Y X Z Y X Y Z Z Y Y Z X Y X Z Y Z Z Y Y Y Z Y Y 2.5 0.5 3.5 2 3.5 1.5 0.5 3 0.5 0.5 0.5 0.5 4.5 2.5 2.5 0.5 3.5 1.5 3.5 1.5 2.5 0.5 4.5 0.5 2 -48.8 -50.4 -51.5 -49.1 -70.5 -61.8 -66.6 -59.7 -57.8 -69.5 -71.5 -67.4 -44.5 -73.9 -67.6 -51.3 -58.9 -57.5 -59.7 -49.3 -72.2 -74.1 -54.5 -61.1 -70.6 -53.3 -67.7 -62.6 -73.3 -56.2 -64.9 -54.8 -67.5 -70.2 -64.6 -51.3 -71.9 -56.3 -48.7 -59.6 -58 -60.1 4.65 3.87 1.54 2.63 8.09 2.28 5.91 2.79 2.22 7.29 4.57 8.28 3.89 6.91 9.29 6.26 3.18 7.19 6.25 1.95 4.21 7.37 4.46 4.7 6.98 1.71 5.24 5.76 8.43 3.43 4.17 0.96 1.95 4.95 6.56 6.25 5.4 3.02 1.25 8.76 10.04 3.91 181 203 149 182 192 177 153 195 140 156 225 185 169 157 134 171 232 133 128 214 222 159 184 202 135 176 143 141 213 123 96 60 12 76 42 103 51 115 21 50 40 33 91 203 204 205 209 211 212 213 215 216 217 218 219 221 222 223 224 225 226 227 228 229 231 232 233 235 236 237 238 239 241 242 244 245 247 248 250 252 253 254 255 259 261 2 2 2 2 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 Mockup Lab Mockup Mockup Lab Lab Mockup Lab Lab Mockup Mockup Lab Lab Lab Lab Mockup Lab Lab Mockup Mockup Lab Mockup Mockup Lab Lab Lab Lab Mockup Lab Mockup Lab Lab Mockup Lab Mockup Lab Mockup Lab Lab Lab Lab Mockup STT STT STT STT SMT SMT STT STT SMT SMT STT SMT SMT STT SMT SMT STT STT SMT SMT SMT STT STT STT SMT STT STT SMT STT SMT SMT STT STT SMT SMT SMT SMT STT SMT SMT SMT SMT Z Z X Y Z X Y Y X Y X Y X Y Z Z Y X X Y X X Z Y Z Z Z X X X Z Y Y Y Y Z Z Z Y X X X 1.5 4.5 1 3.5 1.5 2.5 2.5 2.5 4.5 3.5 0.5 1.5 4.5 2.5 1.5 0.5 1.5 1.5 1.5 0.5 2.5 0.5 5 1.5 0.5 -57.7 -61.3 -54.8 -56.5 -74.5 -58.7 -61.3 -67.6 -60 -70.1 -68 -71.1 -66.6 -51.2 -60.8 -69.2 -52.9 -65.8 -72.9 -65.5 -73.4 -65.7 -57 -57.9 -74 -47.5 -40.8 -66.5 -50.7 -65.6 -76.5 -48.9 -63.6 -54.4 -65.1 -59.9 -65.3 -44.7 -66.4 -71.6 -57.8 -58.6 6.36 6.8 7.16 7.71 6.15 1.98 5.43 4.28 3.2 10.62 9.24 5.8 5.78 4.88 2.24 8.94 6.64 9.05 4.81 7.71 6.82 6.79 8.58 9.86 4.07 1.8 2.56 7.75 4.02 7.1 7.3 2.09 6.7 5.56 14.97 2.47 6.64 3.82 2.48 2.75 2.41 7.35 182 106 41 101 73 71 16 24 112 52 34 22 13 10 30 20 82 105 43 111 72 45 39 32 18 53 61 74 113 23 17 49 58 102 36 94 63 84 31 44 262 264 265 266 267 268 269 270 273 274 275 276 277 278 279 280 281 282 283 284 285 286 288 289 290 291 293 294 295 296 297 298 299 300 301 302 303 304 306 307 308 309 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Mockup Lab Mockup Mockup Mockup Lab Lab Lab Mockup Lab Lab Lab Lab Lab Lab Lab Mockup Lab Mockup Lab Mockup Lab Mockup Lab Lab Lab Lab Lab Mockup Mockup Mockup Lab Lab Lab Lab Mockup Lab Mockup Mockup Mockup Lab Lab SMT SMT SMT STT STT STT STT STT SMT SMT SMT STT STT STT STT STT STT STT SMT SMT SMT STT STT SMT SMT SMT STT SMT STT STT SMT STT STT SMT SMT SMT SMT SMT STT STT SMT SMT Y Y Y Y Y Y Z X Z Z X Z Y X Z Y Z X Y Y Z X Y Y X X Y Z X Y Z Z Y Y Z Y X X X Z X Y 0.5 0.5 1.5 0.5 2.5 1 1.5 5 0.5 2.5 1.5 0.5 3.5 2.5 4.5 1.5 0.5 1.5 1.5 3.5 4.5 1.5 0.5 -66.3 -46.3 -58.3 -62.5 -52.3 -55.2 -53.2 -53.8 -69.2 -61.4 -60.3 -52.7 -50.7 -69.5 -61.3 -68.1 -55.1 -49 -69.7 -56.3 -73.1 -60.4 -53.8 -60.9 -70.3 -52.6 -61 -67.1 -53.3 -59.1 -70 -47.3 -59.1 -70 -72.4 -63.7 -61.9 -75.5 -62.3 -57.5 -49.4 -59.8 14.96 1.46 6.69 6.44 8.6 3.17 2.46 5.09 11.25 5.15 2.61 3.2 5.22 7.12 1.94 5.04 8.44 2.76 10.35 2.08 8.92 1.62 6.9 3.67 6.73 1.62 5.69 2.45 9.08 9.85 6.81 1.34 3.14 6.25 8.75 11.27 4.2 6.78 6.76 6.66 2.14 3.72 183 92 35 56 55 64 75 19 66 81 25 28 86 85 114 27 46 95 116 59 29 14 54 57 65 62 48 11 47 37 15 26 38 83 93 104 310 311 312 313 314 316 317 318 319 320 321 322 323 324 326 327 328 329 330 332 333 334 337 339 340 341 343 344 345 346 347 348 350 351 352 353 354 355 356 357 360 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Mockup Lab Lab Lab Mockup Mockup Lab Mockup Mockup Lab Lab Lab Mockup Lab Mockup Mockup Lab Lab Mockup Mockup Lab Lab Lab Lab Lab Lab Mockup Mockup Lab Lab Lab Lab Lab Lab Lab Lab Lab Mockup Mockup Lab Mockup SMT SMT SMT SMT STT STT STT STT STT STT STT STT STT STT STT SMT STT SMT SMT SMT SMT STT STT SMT SMT STT STT STT SMT STT STT STT SMT SMT STT STT SMT STT SMT STT SMT X X Z Z X Y Y X Z Z X Z Z X Z Z Z Y X Z Z Z Y Z Z X X X Y X Y X Y X Y Z X Z X X Y 2.5 2.5 2.5 4.5 0.5 2.5 2.5 3.5 2.5 4.5 4.5 2 3.5 4.5 2.5 4 0.5 1.5 3.5 3.5 2.5 1.5 1.5 2 -56.8 -61.5 -73.3 -69.4 -61.6 -58.6 -69.6 -63.9 -52.1 -52.4 -53.9 -56.8 -65.6 -54.7 -56 -66.6 -58.3 -59.4 -68.6 -68.9 -71.8 -63.2 -52.5 -68.6 -72.3 -64.2 -67.1 -57.3 -72 -70.6 -41.8 -50.8 -66.6 -66.4 -60.1 -61 -72.8 -56.9 -65.7 -51.9 -76.9 17.71 4.94 4.2 3.17 6.28 8.3 3.56 8.44 5.69 3.89 2.56 5.41 8.07 1.78 5.51 6.71 3.26 12.33 8.87 5.78 3.48 8.76 4.83 1.62 6.6 2.57 8.38 9.21 3.77 7.71 2.11 2.48 5.17 5.1 6.15 7.19 4.65 5.33 5.45 3.22 6.53