Enhanced 3-LED 3D Dark Light Indoor Positioning System with Received Signal Strength Technique

Enhanced 3-LED 3D Dark Light Indoor Positioning System with Received Signal Strength Technique | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Enhanced 3-LED 3D Dark Light Indoor Positioning System with Received Signal Strength Technique Sally S. Saleh, Hassan Nadir Kheirallah, Nour Eldin Ismail, Moustafa H. Aly This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7534305/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Visible Light Communication (VLC) unidirectional system is one intriguing option for an Indoor Positioning System (IPS). The need on continually active LED lighting, which can lead to needless energy use, especially during times when ambient daylight is adequate, is a major drawback of many current VLC-based IPS implementations. Furthermore, 2D localization has been the focus of most indoor Visible Light Positioning (VLP) research, frequently presuming a fixed receiver height. The impact of height variations, which can create major positional mistakes in real-world applications, is overlooked by this simplification. Additionally, four LEDs are used in the majority of VLP studies, which raises the system's cost. To get around the drawbacks of conventional VLC configurations, a 3D IPS is suggested in this paper. For continuous location even when the LEDs look "OFF" to the human sight, the system uses a Dark Light VLC (DL-VLC) framework with numerous transmitters and a single receiver. By disregarding the requirement for continuous visible illumination, this method greatly improves energy efficiency. According to simulation results, the suggested system operates within typical room dimensions with a placement error of about 2 cm at 0.6 m receiver. The outcomes are in good agreement with earlier findings, indicating the system's accuracy and feasibility. Additionally, the system cost is reduced by using three LEDs rather than four. The main contributions of this work are: i) Three LEDs are being used instead of four LEDs with less localization error which is less expensive, saves more energy and is more efficient, and ii) The localization error is improved by 50% as the system demonstrates a remarkable accuracy, with an average positioning error consistently below 2 cm compared to an error of 3.2 cm when using four LEDs. Three Dimensional (3D) Indoor Positioning (IP) Visible Light Communication (VLC) Dark Light (DL) Received Signal Strength (RSS) Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 1. Introduction The service market of the indoor localization holds a substantial prospect, as investigated by (Klepeis et al. 2001 ) that indicates that people spend around 87% of their time indoors whether it is work or life. VLC is a subcategory of Optical Wireless Communication (OWC) that simultaneously provides illumination and data transmission using Light Emitting Diodes (LEDs). VLC has become an attractive field for research and commercial applications due to its key advantages, including secure communication, ease of deployment, low implementation cost, immunity to radio frequency interference, and the absence of licensing requirements (A. Jovicic et al., 2013 ). Accordingly, various indoor localization systems have been established to address these needs and are applied in various real-world scenarios. In hospitals and healthcare settings, they enable medical personnel to track equipment and locate patients efficiently (Howell et al., 2016). In supermarkets, they help customers locate specific products while also offering personalized recommendations and promotions. In airports, these systems help passengers by providing navigation services and position detection, ensuring smooth movement through terminals (Karwa et al., 2019). For indoor parking, they assist drivers in navigating parking facilities and finding available spaces (Liu et al., 2012 ). These examples demonstrate the diverse applications of indoor localization systems in enhancing navigation and operational efficiency across different environments. Global Positioning System (GPS) remains the most commonly used and popular technology, as its globally available signals enable applications such as navigation, positioning, monitoring, routing, and timing across various sectors, including telecommunications, commercial and military (Yesilirmak et al., 2023). GPS is extensively used in outdoor environment as it has provided satisfactory services, however, it has low accuracy in indoor positioning (Hui et al.,2007). When it comes to the positioning inside private or public places, it is not possible to visualize the same scenario due to its dependence on satellite signals, which struggle to penetrate buildings, walls, and other structures, leading to inaccurate data indoors positioning and sometimes an error of several meters (Dardari et al., 2015 ). The effectiveness of localization systems is further influenced by environmental factors such as lighting conditions, wall structures and ceiling shapes, which can affect the accuracy based on the approach utilized (Karakaya et al., 2020). To overcome the limitations of GPS in indoor environments, alternative positioning technologies such as network-based geolocation, Bluetooth beacons, and Wi-Fi positioning have been introduced. Although these systems generally consume less power than GPS, they come with notable trade-offs. Bluetooth and Wi-Fi-based solutions typically provide an accuracy of 2–3 meters but require relatively high power consumption. Ultra-WideBand (UWB) technology, while promising, still suffers from limited precision within the meter range (Vinicchayakul et al., 2016; Mzinetti et al., 2014). Furthermore, these technologies are often unsuitable for sensitive environments such as airplane cabins and hospitals, where high-frequency RF signals may cause electromagnetic interference, potentially disrupting critical electronic systems. VLC is a growing technology for indoor localization that offers very high bit rates and less cost. VLC-based positioning (VLC-IPS) is an emerging solution for indoor localization, offering several advantages such as high positioning accuracy, immunity to electromagnetic interference, minimal additional hardware requirements, strong communication security, and the ability to integrate lighting with data communication (Qi et al. 2018). VLC is becoming more and more used in smart transportation systems, broadcasting, and navigation due to its simple procedure at installation and the licensed bandwidth being free (Komine et al. 2004; Matheus et al. 2019 ). A VLC-IPS uses signals of visible light to identify the position of a selected target. The emitted light signals by the sources of light, like lamps - usually using LEDs – and seized by sensors of light, that contains image sensors or photodiodes. In fact, VLC has a lot of advantages for localization applications, and the transmitters are often LEDs in VLC systems because of its low power usage, little size, minimum generation of heat, less weight, long expected life, simultaneous data communication, high moisture toleration and lighting capabilities. These advantages have made LED-based VLC a focus of significant attention in the latest years, particularly for positioning applications. VLC-based LEDs has been lately noticed as a possible 5G technique for communication networks because of its high-speed communications rate, support illuminations and, also allow localization with high-accuracy in indoor environments. (Yang et al. 2023 ). VLC technology enables reliable and accurate positioning and is variable enough to determine the receiver not known position in both 2D and 3D coordinates. This makes VLC an encouraging technology for indoor positioning systems and other applications where energy efficiency and precision are highly important (Zhuang et al. 2018; Luo et al. 2017 ). Localization 3D-based techniques give notable advantages over 2D-based localization methods by providing additional comprehensive details about the position of devices or objects in 3D space. Consequently, technology developers and researchers have demonstrated significant interest in 3D localization for a range of applications. 2. Related Work The emergence of the modern communication technologies such as 6G and 5G has significantly increased the request for robust sensing solutions and indoor communication. On the other hand, applying efficient systems in environments highly accumulated by people introduces new challenges, especially in identification of obstacles and positioning. VLC has emerged as an encouraging solution for different indoor applications, along with obstacle sensing (Saeed et al., 2025 ). An innovative Visible Light (VL)-based localization system to enable precise indoor obstacle detection and 3D shape reconstruction in complex environments as warehouses, malls used for shopping, and industrial facilities was introduced by M. Ayyash et al. (M. Ayyash et al., 2023). Additionally, A. Chakraborty et al. proposed a localization model based on VL designed to calculate key parameters of three-dimensional (3D) objects, including height, radius, and spatial position in an indoor setting (A. Chakraborty et al., 2022 ). This model integrates Neural Networks (NNs) and is used in diverse indoor scenarios involving multiple objects. Notably, the model accounts for shadow effects, enhancing its applicability in environments with various obstructions. The proposed algorithm has broad applications, including localization-assisted communication, indoor surveillance, and monitoring of suspicious objects within enclosed spaces. Several methodologies can be employed to identify the position of a receiver, using various localization algorithms like Angle of Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA), and Received Signal Strength (RSS)-based techniques (M. Li et al., 2020 ). AOA localization technique is based on the angles calculations between the reference nodes and the target node. The target node position, in a 2-D space, could be determined by calculating the angles formed between the target node and the reference nodes (Jun, X et al., 2008, Ruofan Wang et al.2024). While accurate localization information is provided by AOA in various circumstances, its accuracy decreases as the distance separating the base station and the mobile device enlarges (Steendam et al., 2018). On the contrary, the distance separating a receiver (e.g., a mobile device) and a transmitter can be determined by TOA (e.g., a base station) by measuring the taken time for a signal to propagate between them. Despite its ability to achieve high precision in distance estimation, TOA requires strict time synchronization between the receiver and transmitter using highly accurate time measurement instruments (Ruofan Wang et al.2024). Achieving this synchronization can be complex and may lead to increased system enlargement cost (Sun et al., 2015 ). To overcome these limitations, Time Difference of Arrival (TDOA) has been introduced as an alternative technique that enhances positioning accuracy. TDOA operates by computing the differences in signal propagation times between multiple receivers (e.g., base stations). By analyzing these time differentials, the distance of an object can be determined. Compared to TOA, TDOA reduces the dependency on exact time synchronization between the receivers and transmitter, although it is still necessary for the synchronization among the receiving units (Du et al., 2018 ). A TDOA is determined by the difference in range between a target and two reference stations, defining a corresponding hyperbola. Therefore, multiple TDOA measurements produce multiple hyperbolas, and the point of intersection of these hyperbolas represents the position of the unknown target. (Yang et al., 2023 ). The RSS-based localization technique is simpler than other methods and has been widely used in research, often achieving centimeter-level accuracy (Yang et al., 2014 ). Combining RSS with AOA enables effective 3D localization either using an inclined multiple or optical receiver (Li et al., 2016 ; Yang et al., 2014 ). However, the performance of the system is often determined by a fixed number of trials or only a small improved accuracy. A maximum likelihood approach using RSS has also been proposed for 3D localization, though its accuracy depends on initial conditions. To address these challenges, the Received Signal Strength Assisted Perspective-Three-Point (R-P3P) algorithm was introduced (Lim et al., 2015). This method decreases complexity by including visual data from a camera to improve localization accuracy (Bai et al., 2020 ). A drawback of VLC-based IPS is keeping the illumination on, which limits their use and results in wasting energy. If lamps are turned off when lighting is not needed, VLC-IPS becomes inefficient (Jung et al., 2011 ; Kim et al., 2013 ; Jeong et al., 2013; Do et al., 2013). DL-VLC overcomes this challenge by encoding data into ultra-short light pulses that cannot be detectable by the human eye, enabling the data transmission without any illumination. This results into improving energy effectiveness, decreasing light pollution, and is extremely useful for applications such as robot localization and navigation in dark light environments (Tian et al., 2016 , Sharifi et al., 2016 ). Building on our prior research in DL-VLC systems (S.S. Saleh et al., 2024) and work of (Abdaoui et al., 2016 ; Ding et al., 2015 ), this paper investigates the feasibility of implementing VLC-based IPS in dark or low-light environments using only three LEDs. Furthermore, a 3D indoor localization algorithm based on received signal strength is proposed. This algorithm results in a better localization accuracy, maintaining an approximate error of only some little centimeters across all of the targeted area. Previous studies, such as (Tian et al., 2016 ), developed a 2D localization system that determined receiver coordinates using power data from individual LEDs. More recently, S.S. Saleh et al. extended this approach to 3D localization by incorporating four LEDs (S.S. Saleh et al., 2024). This paper expands the positioning algorithm to 3D space by splitting the room’s height into many planes within a 2D coordinate system. This makes it easier for the receiver to obtain the 3D positional information. The proposed 3D positioning algorithm firstly computes RSS at different 3D coordinates throughout the receiver's plane in a dark-light environment using three LEDs. The received power outcomes are taken as a reference data for the positioning algorithm. It keeps searching repeatedly for the 3D position of the receiver which is not known by recognizing the best power level which matches a tolerance known earlier. This perspective is highly efficient enabling fast and accurate location estimation. The 3D space is being divided into 2D planes with a high-resolution, resulting in high-precision 3D positioning accomplishment which terminates positioning errors within the centimeter range. In indoor VL localization systems, a 3D localization technique using a single receiver and multiple transmitters was introduced earlier (Afroza et al., 2021). On the other hand, most existing VLC-based IPS setups require LED lights to remain on, which leads to unnecessary wasting of energy, especially during daylight hours. Moreover, a lot of systems depend on four LEDs leading to an increase in the implementation costs. To overcome these challenges, this paper proposes a 3D IPS using a single receiver and multiple transmitters within a DL-VLC system, employing only three LEDs. This new approach guarantees continuous indoor localization even when the LEDs are switched "off," increasing energy efficiency while decreasing system costs. In an earlier study, a 3D localization system was suggested, using a receiver in a dark light VLC conditions based on the RSS technique with 4 LEDs, showing its feasibility in low-light environment (S.S. Saleh et al., 2024). In this work, the exact technique is displayed using 3 LEDs to cover 3D space. Overall, the presented 3D positioning system is initially calculated and estimated for being effective in accurately determining locations within the specified environment. Based on the results obtained in (S.S. Saleh et al., 2024), a localization error of approximately 3.3 cm was calculated in a 3D DL-VLC positioning system using the technique RSS with 4 LEDs. In this work, the results show an average localization error of about 2.4 cm, illustrating the algorithm's enhanced successfulness in reaching accurate 3D position in dark light conditions using 3 LEDs, compared to the 3D IPS with 4 LEDs. The rest of the paper is arranged as follows. After the introduction, Sec.2 provides detailed information about the DL-VLC IPS components and defines the VLC system. Section 3 explains the suggested 3D l using 3 LEDs and describes its development process. Section 4 provides the research outputs and gives an in-depth review of the outcomes. Finally, Sec.5 gives the main results and conclusions. 3. Feature of DL-VLC 3.1. Dark Light VLC IPS Overview The Visible Light Positioning (VLP) system showed to be a curtail application of VLC, especially for indoor environments (C. Neha et al., 2019 , Morteza. A et al., 2024). As LEDs could switch on and off at speeds beyond human visual perception, they enable high bit rate data transmission while simultaneously providing lighting within the VL spectrum. Even when illumination is unnecessary and the lights are turned off, data transmission remains possible without emitting VL (Z. Tian et al., 2016 ). This principle forms the basis of DL-VLC, which intensify energy efficiency by employing low-power light. The fundamental concept requires encoding data into ultra-short light pulses that remain undetectable to the human eye (K. Wrighty et al., 2016; M.M. El-Gamal et al., 2020). Figure 1 presents the block diagram the main functions of the DL-VLC IPS system. It consists of three primary components: the VLC receiver, the VLC transmitter, and the positioning system. 3.2. Dark Light Environment Configuration Modulation of the signal is employed using Pulse-Position Modulation (PPM) technique (F Jasman et al., 2019), where M message bits are encoded by the transition of a single pulse in one of 2M possible slots of time. This modulation process is being repeated again every T seconds, yielding a transmitted bit rate of M/Tbps. PPM is mostly favorable in optical communication systems, mainly in environments with no multipath or minimum intrusion. In every LED lamp, modulation of light take place using PPM, producing flickering with short pulse durations separated by predefined intervals. Figure 2 , illustrating the DL-VLC signal, highlights the contrast between dark light and a standard configuration of VLC light when utilizing the PPM technique. In this configuration, dark light stays invisible to the eyes of humans but is still detectable by a photodiode (PD), allowing for data transmission in the absence of visible illumination. 3.3. System Description The power of LED organization exactly follows the Lambertian radiation pattern, which is characterized by a cosine dependence on the angle between the direction of radiation and the normal to the surface. In the case of Line-of-Sight (LoS) communication, based on the average optical power transmitted, P t, the received optical power, P r , ​ could be measured as using the following formula (Cai et al. 2017 ): $$\:{P}_{r}={P}_{t}\times\:{H\left(0\right)}_{LoS}$$ 1 In indoor visible light positioning system, H(0) LoS is the LoS channel gain, which can be illustrated by (Cai et al. 2017 ) $$\:{H\left(0\right)}_{Los}=\frac{({m}_{l}+1)\times\:{A}_{r}}{2\pi\:{d}^{2}}\:{cos}^{{m}_{l\:}}\left(\theta\:\right)cos\left(\psi\:\right)T\left(\psi\:\right)G\left(\psi\:\right),\:when\:0\le\:\psi\:\le\:FOV$$ 2 Equation ( 1 ) could be expressed as $$\:{P}_{r}={P}_{t}\times\:\frac{({m}_{l}+1)\times\:{A}_{r}}{2\pi\:{d}^{2}}\:{cos}^{{m}_{l\:}}\left(\theta\:\right)cos\left(\psi\:\right)T\left(\psi\:\right)G\left(\psi\:\right)$$ 3 The distance between the receiver and the LED is d, A r represents the PD effective area, \(\:\psi\:\) is the angle of incidence, θ represents the irradiance angle, G( \(\:\psi\:\) ) is the optical concentrator gain, T( \(\:\psi\:\) ) is gain of the optical filter, and the field of view is FOV, which is the biggest angle at which the receiver will efficiently detect light signals The Lambertian emission order ( \(\:{m}_{l}\) ) can be calculated by the LED semi-angles ( \(\:{\theta\:}_{1/2}\) ) using (Cai et al. 2017 ): $$\:{m}_{l}=\frac{ln\left(2\right)}{ln\left[cos\right({\theta\:}_{1/2}\left)\right]}$$ 4 If the (X R , Y R , Z R ) is the coordinate of the receiver, then the coordinates of LEDs are (X, Y, Z) and the angle of irradiance can be presented as $$\:cos\theta\:=\frac{Z-{Z}_{R}}{[{{(X-{X}_{R})}^{2}+{(Y-{Y}_{R})}^{2}+\:{(Z-{Z}_{R})}^{2}]}^{\frac{1}{2}}}\:=\:\frac{h}{d}$$ 5 Here, h presents the perpendicular distance between the LED and the receiver’s surface, as shown in Fig. 3 . The LEDs and the receiver both are adjusted aligned to the floor, which indicates that the incidence angle ψ, the angle of irradiance, θ, are equal, i.e. cosθ = cosψ. Under these circumstances, the power received at (X R , Y R , Z R ), based on Eq. ( 3 ), could be presented as $$\:{P}_{r({X}_{R},{Y}_{R\:,}{Z}_{R})=\:}{P}_{t}\frac{({m}_{l\:}+1)\times\:{A}_{r}}{2{\Pi\:}{d}^{2}}{cos}^{{m}_{l\:}+1}\left(\theta\:\right)T\left(\psi\:\right)G\left(\psi\:\right)$$ 6 4. Simulation Model and proposed Algorithm 4.1. 3D Indoor Positioning Scheme Initially, in proportion to the suggested system, the room is divided into a series of grid points allocated all over the 3D space. The grid points are strategically placed to gather and seize the optical power released by every LED within the environment. The model proposed in Sec. 2 demonstrates the relation between the optical power and each of every 3D grid points. The position coordinates, along with the corresponding values of optical power at each grid point, are systematically taken and stored as reference data. The reference dataset supplies a fundamental standard for following computations, making it easier to get an accurate estimation of the position of the receiver by matching up measured optical power levels with known spatial coordinates. Next, we study the receiver’s not known location, represented as (X R , Y R , Z R ), which must be measured. At this location, the receiver discovers a certain level of optical power released by each LED within the array of the transmitter. Multiple LEDs are organized in the plane of the receiver. Each LED emits light in a circular pattern. The received optical power at the position of the receiver can be evaluated by recognizing the intersection point of these circular patterns of the distribution of power, as shown in Fig. 4 . This point of intersection estimation is vital in precisely determining the received optical power at the position of the receiver, providing important data for additional processing in the localization system. The procedure keeps on comparing the reference power values with the received optical power calculations accomplished from the grid points near the position of the receiver. These reference values, premeasured for every 3D grid point, act as a basis for finding out the best match condition. The best match corresponds to the unknown position of the receiver within the 3D space, guaranteeing exact localization. As a result, the methodology suggested contains two key components: first, calculating the optical power at predefined 3D grid points distributed across all of the room, and second, deciding the receiver’s position which is unknown by identifying the optimal match between the measured signal received and the stored reference values. The specific steps are described below. Additionally, the dimensions of the room are presented as L×W×H, where (X i , Y i , Z i ) denotes the coordinates of each LED (i = LED numbers). First Step : The room is divided into a constructed grid using previously determined resolutions: ‘a’ meters in the x-direction, ‘b’ meters in the y-direction, and ‘c’ meters in the z-direction, as described in Fig. 4 . The total number of grid points essential to cover the whole room (spanning from 0 to height (H), 0 to width (W) and 0 to length (L)), is determined by these specified resolutions. A finer grid resolution is preferable, as it decreases errors calculations and improves the localization accuracy. Additionally, a well-defined grid structure allows for better tracking and more efficient for receiver location determination, guaranteeing more accuracy enhancement in real-time indoor localizatiion systems. Second Step At each grid point, the power received from each LED is calculated. The grid points are specified as ( \(\:{x}_{g}^{p}\) , \(\:{y}_{g}^{q}\) , \(\:{z}_{g}^{s}\) ), where 'p' ranges from 1 to A along the x-axis, 'q' ranges from 1 to B along the y-axis, and 's' ranges from 1 to C along the z-axis. Consequently, the power received from every LED at the grid point in total ( \(\:{x}_{g}^{p}\) , \(\:{y}_{g}^{q}\) , \(\:{z}_{g}^{s}\) ) can be presented as $$\:{P}_{r({x}_{g}^{p}\:,\:{y}_{g}^{q}\:,\:{z}_{g}^{s}\:)}^{i}={P}_{t}^{i}\frac{({m}_{l\:}+1)\times\:{A}_{r}}{2{\Pi\:}{d}^{i}}{cos}^{{m}_{l\:}+1}\left(\theta\:\right)T\left(\psi\:\right)G\left(\psi\:\right)$$ 7 In these situations, the transmitted average power, \(\:{P}_{t}^{i}\) , from LED i is used to make circular regions around position of each LED. The true received power at a given point could be calculated by recognizing the intersection points of these circles, representing the overlap of the light distribution from multiple LEDs. The receiver’s effective area, \(\:{A}_{r}\) ​ , the Lambertian emission order, \(\:{m}_{l\:}\) ​, the optical gain concentrator, G( \(\:\psi\:\) ), and the gain of optical filter, T( \(\:\psi\:\) ), are previously known values established according to criteria standard design. These parameters affect the power received at any given point within the room. The related distance can be easily measured using $$\:{d}^{i}={\left[\right({{X}^{i}\:-\:{x}_{g}^{p})\:}^{2}+\:{{(Y}^{i}\:-\:{y}_{g}^{p})\:}^{2}+\:{{(Z}^{i}\:-\:{z}_{g}^{p})\:}^{2}]\:}^{\frac{1}{2}}$$ 8 This distance is crucial in measuring the distributed power from each LED to different points within the space, improving the total power received at the receiver position. The angle of irradiance at ( \(\:{x}_{g}^{p}\:,\:{y}_{g}^{q}\:,\:{z}_{g}^{s}\) ) is resolved using relationship cos( \(\:{\theta\:}^{i}\) ) = \(\:\frac{h}{{d}^{i}}\) , where the vertical distance separating the LEDs and the surface of the receiver is presented by h and \(\:{d}^{i}\) presents the distance from LED i to the grid point ( \(\:{x}_{g}^{p}\:,\:{y}_{g}^{q}\:,\:{z}_{g}^{s}\) ). This angle aids in calculating the received power based on the Lambertian emission model. Since all LEDs are presumed to be placed within the same plane, the power received at each grid point for all 3D coordinates can be represented as \(\:{P}_{r({x}_{g}^{1.A}\:,\:{y}_{g}^{1.b}\:,\:{z}_{g}^{1.c}\:)}^{i}\) .This notation indicates the power received from LED i at the grid points spanning from 1 to A in the x-direction, 1 to B in the y-direction, and 1 to C in the z-direction. It is important to note that Step 2, which demands calculating and recording the power received at each grid point, is only performed once, given that the dimensions of the room and the locations of the transmitters (LEDs) stay the same. This presumption is logical for VLC indoor network, as it has a stable physical layout. Third Step To discover the position of the receiver, the process requires comparing the received signal strengths RSS i from each LED i , where there are three LEDs ( i = 1,2,3) placed at ( \(\:{X}^{1}\) , \(\:{Y}^{1}\:,\:{Z}^{1}\) ), ( \(\:{X}^{2}\) , \(\:{Y}^{2}\:,\:{Z}^{2}\) ) and ( \(\:{X}^{3}\) , \(\:{Y}^{3}\:,\:{Z}^{3}\) ) coordinates on the ceiling, with the reference values of power acquired from the grid points in Step 2. The target is to find the grid point ( \(\:{x}_{g}^{p}\) , \(\:{y}_{g}^{q}\) , \(\:{z}_{g}^{s}\) ) that gives the closest match between the measured RSS i and the reference values of power \(\:{P}_{r({x}_{g}^{1...A}\:,\:{y}_{g}^{1...b}\:,\:{z}_{g}^{1\dots\:c}\:)}^{i}\) . The location of the receiver (X R , Y R , Z R ) is obtained using a best match criterion as depicted in Fig. 4 ., which can be presented as $$\:{RSS}^{i}\:-\:{P}_{r({x}_{g}^{1\dots\:A}\:,\:{y}_{g}^{1\dots\:B}\:,\:{z}_{g}^{1...C}\:)}^{i}\le\:\:tolerance\left(j\right)$$ 9 This approach guarantees that the grid point with the minimum accumulated difference between the calculated RSS and the reference power values is picked as the most likely position of the receiver. By using this method, the system accurately determines the receiver’s not known position in the 3D space. In this instance, the exact condition specified by Eq. ( 9 ) is encountered where "tolerance" refers to an earlier known array of small values. Within this array, the tolerance index value is presented by variable j. The system repeatedly cycles through various tolerance values to get the best power level by inspecting the points of intersection of the circular power distributions, where the optical power received agrees with the reference values stored. The process requires to continuously compare the power received at the position of the receiver with the reference power at previously known grid points, the tolerance is dynamically adjusted till the best match is reached. The system improves positioning accuracy, by repeatedly filtering the search eventually identifying the precise 3D coordinates of the receiver, which is demonstrated as (X R , Y R , Z R ). The proposed system is plainly shown in Fig. 5 in the flow diagram, which outlines the sequential steps needed for accomplishing high-precision 3D positioning within a DL-VLC environment. 4.2. Simulation Model The analysis of the proposed 3D VLC localization system is run through an implemented numerical simulation model on the MATLAB® platform. The simulation is achieved within a controlled environment, representing a room with dimensions of 5 m in width, 5 m in length, and a height of 3 m. This setup grants an exact performance analysis of the system in a designed indoor environment under real conditions, which makes the assessment of the positioning accuracy easier and more efficient. This simulation setup provides a controlled environment to assess the accuracy and performance of the proposed system. By simulating different receiver locations and measuring the corresponding RSS values from the LEDs, the usefulness of the system in deciding the exact 3D locations can be comprehensively reviewed. The room dimensions are chosen to reflect a typical indoor environment, ensuring that the results are applicable to real-world scenarios where indoor positioning is vital. Three LEDs are located on the ceiling at ten different patterns. These strategic deployments are designed to create overlapping circular regions of light, which are critical for accurate 3D location using RSS metric. The ceiling-mounted LEDs transmit light that interacts with the receiver PD, allowing the system to triangulate the receiver position based on the power of the received signals from each LED. Three LEDs were strategically positioned on the ceiling in 10 non-identical patterns with coordinates shown in Table 1 . Table 1 LEDs coordinates at different patterns. Pattern LED 1 LED 2 LED 3 1 (1.25,1.25) (1.25,3.75) (3.75,1.25) 2 (1.25,1.25) (1.25,3.75) (3.75,3.75) 3 (1.25,1.25) (3.75,1.25) (3.75,3.75) 4 (3.75,1.25) (3.75,3.75) (1.25,3.75) 5 (1.25,3.75) (2.5,2.5) (3.75,3.75) 6 (1.25,3.75) (2.5,2.5) (3.75,1.25) 7 (1.25,1.25) (2.5,2.5) (3.75,3.75) 8 (1.25,1.25) (2.5,2.5) (3.75,1.25) 9 (1.25,3.75) (2.5,2.5) (1.25,1.25) 10 (3.75,1.25) (2.5,2.5) (3.75,3.75) where in patterns 1 to 4, the LEDs are placed in three corners while in patterns 5 to 10 the LEDs are placed diagonally through the room. The simulation model uses a PD as the receiver, whose position within the room is originally not known. The suggested system is applied to ascertain the 3D coordinates of the receiver using RSS from the LEDs in a dark environment. The parameters employed in the VLC model of simulation are detailed in Table 2 . Table 2 Parameters used in VLC based 3D localization model (Aly et al. 2021 ). Parameter Value Room size (LxWx \(\:\text{H})\) 5×5×3 m 3 Wall reflection coefficient 0.8 LEDs number 3 LED transmitted power (drak light) 1.4 mW semi-angle of LED at half-power, θ 70 ο Center luminous intensity 0.73 cd Receiver height w.r.t. floor 0.85 m PD effective area, A 1 cm 2 Field of view FOV 70 ο Refractive lens index 1.5 PD responsivity 0.54 A/W Gain of optical filter \(\:T\left(\psi\:\right)\) 1 Gain of optical concentrator \(\:\:G\left(\psi\:\right)\) 1 Lambertian emission order, \(\:{m}_{l}\) 1 5. Results and Discussion 5.1. Performance Accuracy of Suggested System The successfulness of the proposed indoor 3D IPS is thoroughly reviewed by detecting the location of the receiver precision covering different heights within the room. A 2500 random positions in total are chosen in the X-Y plane, with various heights (Z) of 2.4 m, 1.8 m, 1.2 m, and 0.6 m. The optical parameters employed in the assessment include FOV of 70° and (θ) as a semi-angle of 70°. a These evaluations are taken under dark light conditions to test the system's performance by error detection in a low-illumination environment. Figure 6 shows the RMS error for pattern 1 where 2500 chosen random positions (X-Y) are held at different heights (Z) of a, b, c and d which are equal to 0.6, 1.2, 1.8, and 2.4 m, respectively, with a FOV = 70 ο and a semi angle θ = 70 ο in dark light. The procedure is being repeated again at θ = 70 ο and FOV = 10 ο and at θ = 10 ο and FOV = 10 ο . Table 3 shows the outcomes. Table 3 Comparison of error obtained at heights 2.4, 1.8, 1.2 and 0.6 m at various values of θ and FOV. Dimensions Patterns 1 2 3 4 5 6 7 8 9 10 H(m) θ FOV RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) RMS(m) 2.4 70 10 5.02E-02 5.12E-02 5.69E-02 6.31E-02 6.28E-02 3.18E-02 2.76E-02 6.34E-02 5.83E-02 6.42E-02 1.8 70 10 3.58E-02 3.79E-02 4.21E-02 3.79E-02 6.06E-02 3.35E-02 3.43E-02 5.62E-02 4.53E-02 4.75E-02 1.2 70 10 3.77E-02 4.09E-02 3.97E-02 3.20E-02 6.72E-02 2.82E-02 2.84E-02 7.16E-02 4.44E-02 4.44E-02 0.6 70 10 3.20E-02 3.47E-02 3.66E-02 2.99E-02 4.00E-02 1.99E-02 2.42E-02 4.44E-02 3.55E-02 3.55E-02 2.4 10 10 4.09E-02 4.63E-02 5.96E-02 4.73E-02 6.01E-02 2.78E-02 2.84E-02 5.96E-02 5.77E-02 5.18E-02 1.8 10 10 3.02E-02 3.53E-02 3.97E-02 3.53E-02 5.95E-02 2.85E-02 2.81E-02 4.53E-02 4.55E-02 4.64E-02 1.2 10 10 4.44E-02 4.32E-02 4.79E-02 4.13E-02 6.36E-02 2.41E-02 2.84E-02 5.40E-02 5.47E-02 5.41E-02 0.6 10 10 2.81E-02 3.69E-02 3.77E-02 2.98E-02 5.83E-02 2.47E-02 2.47E-02 7.16E-02 5.39E-02 4.35E-02 2.4 70 70 7.54E-02 7.08E-02 6.44E-02 6.59E-02 7.79E-02 3.63E-02 3.63E-02 7.90E-02 7.27E-02 7.52E-02 1.8 70 70 3.77E-02 3.61E-02 4.44E-02 3.79E-02 5.66E-02 2.82E-02 2.82E-02 5.40E-02 4.44E-02 4.17E-02 1.2 70 70 3.20E-02 3.95E-02 4.09E-02 3.95E-02 6.72E-02 2.95E-02 2.95E-02 7.16E-02 4.44E-02 4.44E-02 0.6 70 70 2.51E-02 2.98E-02 4.44E-02 2.98E-02 4.78E-02 1.99E-02 2.42E-02 4.78E-02 4.09E-02 3.78E-02 The error stays low and evenly covers almost all areas of the room when the receiver is located at a height of 0.6 m, ensuring exact 3D location. However, as the receiver's height increases to 2.4 m, the error rises to 7.5 cm. This indicates that the system's accuracy declines a bit with increased receiver height, likely due to the reduced signal strength and increased angular deviation from the LEDs. Nevertheless, the position error tends to increase as the receiver gets closer to the transmitter location. This behavior could be accredited to the steeper angles of incidence and reduced differentiation in the RSS near the transmitter. Figure 7 shows the efficiency of the average error of the suggested position scheme across the receiver’s different heights, offering an overall understanding of the system effectiveness at various locations within the room. This analysis emphasizes the durability of the system suggested, despite small differences in accuracy close to the position of the transmitter. It is noticed that the best case is with the three LEDs distributed diagonally at coordinates (1.25,3.75), (2.5,2.5) and (3.75,1.25) with values of θ and FOV of 70 ο and 10 ο at a receiver at 0.6 m height presenting an average positioning error of 1.99 cm. While the worst case is found to be when the three LEDs are also placed diagonally with the coordinates (1.25,1.25), (2.5,2.5) and (3.75, 1.25) at higher values of θ and FOV of 70 ο and 70 ο at a receiver at 2.4 m height showing an average localization error of 7.9 cm, indicating that it is being close to the transmitter. The average error is increased when the receiver’s height is increased due to the variation in the LED intensity based on the angle and distance. When the receiver moves to a higher location, the distance separating the receiver and the LEDs declines, while both the incidence angle (ψ) and angle of irradiance (θ) increase. The angular variation results into a decrease in the effective intensity of light the receiver gets, consequently lowering the received optical power and declining positioning accuracy. The power of the received continues to decrease as these angles become sharper, eventually approaching zero, which results into lowering location accuracy. This highlights the sensitivity of the system to variations of angels, especially at raised receiver locations. Above all, this likelihood of decreasing the localization accuracy with greater heights of the receiver has been frequently investigated in earlier studies (Peng et al., 2018 ; Cai et al., 2017 ; Afroza et al., 2021; S.S. Saleh et al., 2024), presenting a strong correlation and a fair agreement with established findings in the literature. 6. Conclusion This paper extensively asses and establishes a new 3D positioning approach adapted for a VLC network operating in a dark light environment. The system leverages a single receiver and multiple transmitters, utilizing a high-resolution subdivision of 3D space into 2D planes. This methodology allows the exact receiver position with errors calculated in the range of centimeters. To ascertain the proposed approach, numerical simulations were carried out in a room with dimensions of 5×5×3 m 3 supplied with three LEDs acting as transmitters. The system illustrates an extraordinary accuracy, with an average localization error consistently below 2 cm compared to an error of 3.2 cm when using four LEDs as stated in (S.S. Saleh et al., 2024). These outcomes highlight the effectiveness of this approach in delivering precise 3D localization in a VLC network operating in a dark light environment with three LEDs instead of four LEDs providing lower positioning error which is less expensive, saves more energy and is more efficient. Declarations Ethical approval Not Applicable Competing interests The authors declare that they have no competing interests. Funding The authors did not receive any funds to support this research. Author Contribution S.S.S., H.N.K., N.E.I., and M.H.A. have directly participated in the planning, execution, and analysis of this study. All authors have read and approved the final version of the manuscript. Data Availability The data used and/or analyzed during the current study are available from the corresponding author on reasonable request. References Abdaoui, R., Zhang, X., Xu, F.: Potentiality of a bi-directional system based on 60GHz and VLC technologies for e-health applications, In Proc. IEEE International Conference on Ubiquitous Wireless Broadband (ICUWB), Nanjing, China, pp. 1–3, 16–19 Oct. (2016) Chakraborty, A., Singh, A., Bohara, V.A., Srivastava, A.: On Estimating the Location and the 3-D Shape of an Object in an Indoor Environment Using Visible Light. IEEE Photonics J. 14 (4), 1–11 (2022) Afroza, A., Choudhury, P.: An efficient three-dimensional indoor visible light positioning algorithm using multiple transmitters and single receiver. Results Opt., 5 , 4, Article 100169, (2021) Jovicic, J., Li, Richardson, T.: Visible light communication: opportunities, challenges and the path to market. IEEE Commun. Mag. 51 (12), 26–32 (2013) Aly, M., El Gamal, M., Ismail, N.: Dark light visible light communication positioning system with received signal strength technique. Opt. Quant. Electron., 53 , Article 542, (2021) Aly, M., El Gamal, M., Ismail, N.: Interactive internet of things based on dark light system for smart room. Opt. Quant. Electron. 52 , 439 (2020) Aly, M., Saleh, S., Nadir, H.: Efficient three-dimensional indoor dark light visible light positioning with received signal strength technique. Opt. Quant. Electron., 56 (952), (2024) Bai, L., Yang, Y., Feng, C., Guo, C.: Received signal strength assisted perspective-three-point algorithm for indoor visible light positioning. Opt. Express. 28 (19), 28045–28059 (2020) Cai, Y., Guan, W., Wu, Y., Xie, C., Chen, Y., Fang, L.: Indoor high precision three-dimensional positioning system based on visible light communication using particle swarm optimization. IEEE Photonics J. 9 (6), 1–20 (2017) Neha, C., Nero, A.L., Ghassemlooy, Z.: Feasibility study of reverse trilateration strategy with a single Tx for VLP, The 2nd West Asian Colloquium on Optical Wireless Communications (WACOWC 2019), pp.121–126, Apr. (2019) Dardari, D., Closas, P., Djuri, C.: Indoor tracking: Theory, methods, and technologies. IEEE Trans. Veh. Technol. 64 (4), 1263–1278 (2015) Ding, W., Yang, F., Yang, H., Wang, J.: A hybrid power line and visible light communication system for indoor hospital applications. Comput. Ind. 68 , 170–178 (2015) Do, T., Hwang, J., Yoo, M.: TDOA based indoor visible light positioning systems, In Proc. Fifth International Conference on Ubiquitous and Future Networks (ICUFN), Da Nang, Vietnam, pp. 456–458, 2–5 July 2013 Du, P., Zhang, S., Chen, C., Alphones, A., Zhong, W.: Demonstration of a low- complexity indoor visible light positioning system using an enhanced TDOA scheme, In Proc. IEEE Photonics Journal, vol. 10, no. 4, Article 7905110, (2018) Jasman, F., Zaiton, A.M.: Pulse position modulation characterization for indoor visible light communication system, In Proc. Journal of Physics: Conference Series, ICTEC (2019) Howell, C., Katz, A.: Applications of bluetooth radio technology and indoor positioning in the hospital, Poster Presented at LVHN Research Scholar Program Poster Session. Lehigh Valley Health Network, Allentown, PA (2016) Hui, L.: Survey of wireless indoor positioning techniques and systems. IEEE Trans. Syst. Man. Cybern., C 37 (6), 1067–1080 (2007) Jeong, E., Kim, D.: Estimated position error compensation in localization using visible light communication, In Proc. Fifth International Conference on Ubiquitous and Future Networks (ICUFN), Da Nang, Vietnam, pp. 470–471, 2–5 July 2013 Jung, S., Hann, S., Park, C.: TDOA-based optical wireless indoor localization using LED ceiling lamps. IEEE Trans. Consum. Electron. Cybern., 57 (4), 1592–1597 (2011) Jun, X., Maode, M.: AOA cooperative position localization, IEEE GLOBECOM IEEE Global Telecommunications Conference, pp. 1–5, New Orleans, LA, USA, 2008. (2008) Karwa, R., Saluja, I.: Realtime indoor location-based passenger tracking system using Bluetooth beacon for airport authority. Int. J. Res. Appl. Sci. Eng. Technol. Cybern., 7 (4), 3617–3626 (2019) Kim, Y., Shin, Y., Yoo, M.: VLC-TDOA using sinusoidal pilot signal, In Proc. International Conference on IT Convergence and Security (ICITCS), Macao, China, pp. 1–3, 16–18 Dec. (2013) Klepeis, N., William, C., Nelson, W.: The national human activity pattern survey (NHAPS): A resource for assessing exposure to environmental pollutants, vol. 11, pp. 231–252. National Exposure Research Laboratory U.S. Environmental Protection Agency (2001) Komine, T., Nakagawa, M.: Fundamental analysis for visible-light communication system using LED lights. IEEE Trans. Consum. Electron. Cybern., 50 (1), 100–107 (2004) Li, Q., Wang, J., Huang, T., Wang, Y.: Three-dimensional indoor visible light positioning system with a single transmitter and a single tilted receiver. Opt. Eng., 55 , 10, Article 106103, (2016) Lim, J.: Ubiquitous 3D positioning systems by led-based visible light communications. IEEE Wirel. Commun. Cybern., 22 (2), 80–85 (2015) Liu, J., Chen, R., Chen, Y., Pei, L., Chen, L.: An intelligent indoor location-based smartphone parking service. Sensors. Cybern., 12 (11), 14612–14629 (2012) Luo, J., Fan, L., Li, H.: Indoor positioning systems based on visible light communication: State of the art, IEEE Communications Surveys and Tutorials, vol. 19, pp. 2871–2893, (2017) Mainetti, L., Patrono, Sergi, I.: A survey on indoor positioning systems, In Pro. 22nd International Conference on Software, Telecommunications and Computer Networks (SoftCOM), Split, Croatia, pp. 111–120, 17–19 Sep. (2014) Matheus, L., Vieira, A., Vieira, L., Vieira, M., Gnawali, O.: Visible light communication: concepts, applications and challenges. IEEE Communication Surv. Tutorials. Cybern., 21 (4), 3204–3237 (2019) Li, M., Jiang, F., Pei., C.: Review on positioning technology of wireless sensor networks. Wireless Pers. Commun. Cybern., 115 , 2023–2046 (2020) Morteza., A., David, P.: Visible light positioning as a next-generation indoor positioning technology: A tutorial. IEEE Communication Surv. Tutorials. Cybern., 26 (4), 2867–2913 (2024) Peng, Q., Guan, W., Wu, Y., Cai, Y., Xie, C., Wang, P.: Three-dimensional high-precision indoor positioning strategy using Tabu search based on visible light communication. Opt. Eng., 57 , 1, Article 16101, (2018) Qi, P., Pengfei: Three-dimensional high-precision indoor positioning strategy using Tabu search based on visible light communication. Opt. Eng., 57 , 1, Article 016101, (2018) Ruofan wang, Qi, cao: A survey of visible-light-communication-based indoor positioning systems. Opt. Wirel. Commun. Position., 11 , (2024) Saeed, M.M., Saeed, R.A., Hasan, M.K., et al.: A comprehensive survey on 6G-security: Physical Connection and service layers. Discov Internet Things. Cybern., 5 , 28 (2025) Karakaya, S., Ocak, H.: Low cost easy-to-install indoor positioning system. J. Intell. Robotic Syst., pp.131–144, (2020) Sharifi, H., Kumar, A., Alam, F., Arif, K.M.: Indoor localization of mobile robot with visible light communication, In Proceedings of the 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1–6, Auckland, New Zealand, 29–31 August (2016) Singh, H.B., Salameh, M., Ayyash, Elagla, H.: A novel VL-based positioning model for obstacle location sensing and 3-D shape detection in crowded indoor networks. IEEE Sens. Lett. Cybern., 7 (8), 1–4 (Aug. 2023) Steendam, H.: A 3-D positioning algorithm for AOA-Based VLP with an aperture-based receiver. IEEE J. Sel. Areas Commun. Cybern., 36 (1), 23–33 (2018) Sun, X., Duan, J., Zou, Y., Shi, A.: Impact of multipath effects on theoretical accuracy of TOA-based indoor VLC positioning system. Photonics Res. Cybern., 3 (6), 296–299 (2015) Tian, Z., Wrighty, K., Zhou, X.: Lighting up the internet of things with Dark VLC, In Proc. 17th International Workshop on Mobile Computing Systems and Applications, Augustine, FL, USA, pp. 33–38, 26–27 Feb. (2016) Tian, Z., Wrighty, K., Zhou, X.: The dark light rises: Visible light communication in the dark, In Proc. 22 th Annual International Conference on Mobile Computing and Networking, New York, USA, pp. 2–15, 3–7 Oct. (2016) Vinicchayakul, W., Uppahad, R., Supanakoon, P., Promwong, S.: Study on performance of ultra-wideband and narrow band propagation for indoor positioning, In Proc. IEEE 12th International Colloquium on Signal Processing & Its Applications (CSPA), Melaka, Malaysia, pp. 194–198, 4–6 March, 2016 Yang, B., Xin, Z., Weibo, D.: TDOA positioning accuracy analysis based on time difference direction-finding in distributed high‐frequency surface wave radar. IET Radar, Sonar& Navigation (July 2023) Yang, H., Zhang, S., Chen, C.: An advanced integrated visible light communication and localization system. IEEE Trans. Commun. Cybern., 71 (12), 7149–7162 (2023) Yang, S., Kim, H., Son, Y., Han, S.: Three-dimensional visible light indoor localization using AOA and RSS with multiple optical receivers. J. Lightwave Technol. Cybern., 32 (14), 2480–2485 (2014) Yesilirmak, Y., Arsan, T.: 3D indoor positioning with spatial modulation for visible light communications. Opt. Commun., 529 , Article 129091, (2023) Zhuang, Y., Luchi, H.: A Survey of positioning systems using visible LED lights. IEEE Commun. Surv. Tutorials. Cybern., 20 (3), 1963–1988 (2018) Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7534305","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":513527907,"identity":"771c79aa-29b5-4296-8b73-91860ed986e1","order_by":0,"name":"Sally S. Saleh","email":"","orcid":"","institution":"Arab Academy for Science, Technology and Maritime Transport","correspondingAuthor":false,"prefix":"","firstName":"Sally","middleName":"S.","lastName":"Saleh","suffix":""},{"id":513527910,"identity":"c06e5ff7-3297-4467-9767-02456a8fb708","order_by":1,"name":"Hassan Nadir Kheirallah","email":"","orcid":"","institution":"Alexandria University","correspondingAuthor":false,"prefix":"","firstName":"Hassan","middleName":"Nadir","lastName":"Kheirallah","suffix":""},{"id":513527912,"identity":"024e1879-3ff8-4494-9dae-4e40065adf44","order_by":2,"name":"Nour Eldin Ismail","email":"","orcid":"","institution":"Alexandria University","correspondingAuthor":false,"prefix":"","firstName":"Nour","middleName":"Eldin","lastName":"Ismail","suffix":""},{"id":513527915,"identity":"bbbb9d0d-c290-464b-abe5-22681b9be5ab","order_by":3,"name":"Moustafa H. Aly","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAtklEQVRIiWNgGAWjYLCCBww2UBYbsVoSGNKAJDNpWg6ToEW3vf3hh8S28/L8/ecPMHwoO0xYi9mZM8YSiW23DWfcSGZgnHGOGC03chhAWhgbbjAzMPO2EaUl/fGPxLZz9vPPH2Zg/kuclgQzoC0HEjccSGZgZiRKy5kzZhYJ55KTN95INjjYcy6dCC3H2x/f+FBmZzvv/MGHD36UWRPWAgaM0Og4QKR6EPhDgtpRMApGwSgYeQAA7rZAUu4fV8oAAAAASUVORK5CYII=","orcid":"","institution":"Arab Academy for Science, Technology and Maritime Transport","correspondingAuthor":true,"prefix":"","firstName":"Moustafa","middleName":"H.","lastName":"Aly","suffix":""}],"badges":[],"createdAt":"2025-09-04 09:08:33","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-7534305/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7534305/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":91615327,"identity":"f9cb1783-cc95-44bf-bd7b-ff706db375d8","added_by":"auto","created_at":"2025-09-18 10:27:39","extension":"png","order_by":1,"title":"Figure 1","display":"","copyAsset":false,"role":"figure","size":12970,"visible":true,"origin":"","legend":"\u003cp\u003eDL-VLC IPS function block diagram.\u003c/p\u003e","description":"","filename":"1.png","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/ed3e77ec032420220be65fa8.png"},{"id":91615328,"identity":"817b4043-a9f4-414d-87d7-724cbf939907","added_by":"auto","created_at":"2025-09-18 10:27:39","extension":"png","order_by":2,"title":"Figure 2","display":"","copyAsset":false,"role":"figure","size":19989,"visible":true,"origin":"","legend":"\u003cp\u003eThe DL-VLC PPM signal and the signal of VLC.\u003c/p\u003e","description":"","filename":"2.png","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/2a109e8210fc7761ea4caaf6.png"},{"id":91615330,"identity":"3876ac4e-8009-426e-a3eb-ec33bc5e23fe","added_by":"auto","created_at":"2025-09-18 10:27:39","extension":"png","order_by":3,"title":"Figure 3","display":"","copyAsset":false,"role":"figure","size":68846,"visible":true,"origin":"","legend":"\u003cp\u003eIndoor VLP system\u003c/p\u003e","description":"","filename":"3.png","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/f1cf1c227c6d1dc2f59db182.png"},{"id":91615825,"identity":"d7a8283d-0fb5-4eae-a16e-9bf29d94e467","added_by":"auto","created_at":"2025-09-18 10:35:39","extension":"jpg","order_by":4,"title":"Figure 4","display":"","copyAsset":false,"role":"figure","size":109218,"visible":true,"origin":"","legend":"\u003cp\u003ePartitioning the 3D space into 2D planes.\u003c/p\u003e","description":"","filename":"4.jpg","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/d06c7bd11e8338e1c0a788d2.jpg"},{"id":91615335,"identity":"d5eb64f8-eb31-4c4f-8dd6-d6950dbea8f8","added_by":"auto","created_at":"2025-09-18 10:27:39","extension":"png","order_by":5,"title":"Figure 5","display":"","copyAsset":false,"role":"figure","size":195542,"visible":true,"origin":"","legend":"\u003cp\u003eProposed 3D localization system flow diagram of suggested three-dimensional localization system.\u003c/p\u003e","description":"","filename":"5.png","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/b2b908a40a167040dfc72bf6.png"},{"id":91615829,"identity":"d25d65f1-9333-4ebd-afaf-b38f49a4b4b6","added_by":"auto","created_at":"2025-09-18 10:35:39","extension":"png","order_by":6,"title":"Figure 6","display":"","copyAsset":false,"role":"figure","size":2999451,"visible":true,"origin":"","legend":"\u003cp\u003ePresentation of a 3D error for receiver locations randomly located at a specified receiver height of 0.6, 1.2, 1.8 and 2.4 m is presented in (a), (b), (c) and (d), respectively,\u003c/p\u003e\n\u003cp\u003e\u0026nbsp;at θ = 70\u003csup\u003eο\u003c/sup\u003e and FOV=70\u003csup\u003eο\u003c/sup\u003e in dark light.\u003c/p\u003e","description":"","filename":"6.png","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/99206f5c5c0c23d5cea8b934.png"},{"id":99797711,"identity":"c3a7c4ee-933a-407c-ab37-1d24e2e2c829","added_by":"auto","created_at":"2026-01-08 13:46:22","extension":"pdf","order_by":0,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":5043541,"visible":true,"origin":"","legend":"","description":"","filename":"manuscript.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7534305/v1/8bfa0e9d-acd4-4c90-8d7c-dcafeac11faa.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Enhanced 3-LED 3D Dark Light Indoor Positioning System with Received Signal Strength Technique","fulltext":[{"header":"1. Introduction","content":"\u003cp\u003eThe service market of the indoor localization holds a substantial prospect, as investigated by (Klepeis et al. \u003cspan citationid=\"CR23\" class=\"CitationRef\"\u003e2001\u003c/span\u003e) that indicates that people spend around 87% of their time indoors whether it is work or life. VLC is a subcategory of Optical Wireless Communication (OWC) that simultaneously provides illumination and data transmission using Light Emitting Diodes (LEDs). VLC has become an attractive field for research and commercial applications due to its key advantages, including secure communication, ease of deployment, low implementation cost, immunity to radio frequency interference, and the absence of licensing requirements (A. Jovicic et al., \u003cspan citationid=\"CR4\" class=\"CitationRef\"\u003e2013\u003c/span\u003e). Accordingly, various indoor localization systems have been established to address these needs and are applied in various real-world scenarios. In hospitals and healthcare settings, they enable medical personnel to track equipment and locate patients efficiently (Howell et al., 2016). In supermarkets, they help customers locate specific products while also offering personalized recommendations and promotions. In airports, these systems help passengers by providing navigation services and position detection, ensuring smooth movement through terminals (Karwa et al., 2019). For indoor parking, they assist drivers in navigating parking facilities and finding available spaces (Liu et al., \u003cspan citationid=\"CR27\" class=\"CitationRef\"\u003e2012\u003c/span\u003e). These examples demonstrate the diverse applications of indoor localization systems in enhancing navigation and operational efficiency across different environments.\u003c/p\u003e\u003cp\u003eGlobal Positioning System (GPS) remains the most commonly used and popular technology, as its globally available signals enable applications such as navigation, positioning, monitoring, routing, and timing across various sectors, including telecommunications, commercial and military (Yesilirmak et al., 2023). GPS is extensively used in outdoor environment as it has provided satisfactory services, however, it has low accuracy in indoor positioning (Hui et al.,2007). When it comes to the positioning inside private or public places, it is not possible to visualize the same scenario due to its dependence on satellite signals, which struggle to penetrate buildings, walls, and other structures, leading to inaccurate data indoors positioning and sometimes an error of several meters (Dardari et al., \u003cspan citationid=\"CR11\" class=\"CitationRef\"\u003e2015\u003c/span\u003e). The effectiveness of localization systems is further influenced by environmental factors such as lighting conditions, wall structures and ceiling shapes, which can affect the accuracy based on the approach utilized (Karakaya et al., 2020). To overcome the limitations of GPS in indoor environments, alternative positioning technologies such as network-based geolocation, Bluetooth beacons, and Wi-Fi positioning have been introduced. Although these systems generally consume less power than GPS, they come with notable trade-offs. Bluetooth and Wi-Fi-based solutions typically provide an accuracy of 2\u0026ndash;3 meters but require relatively high power consumption. Ultra-WideBand (UWB) technology, while promising, still suffers from limited precision within the meter range (Vinicchayakul et al., 2016; Mzinetti et al., 2014). Furthermore, these technologies are often unsuitable for sensitive environments such as airplane cabins and hospitals, where high-frequency RF signals may cause electromagnetic interference, potentially disrupting critical electronic systems.\u003c/p\u003e\u003cp\u003eVLC is a growing technology for indoor localization that offers very high bit rates and less cost. VLC-based positioning (VLC-IPS) is an emerging solution for indoor localization, offering several advantages such as high positioning accuracy, immunity to electromagnetic interference, minimal additional hardware requirements, strong communication security, and the ability to integrate lighting with data communication (Qi et al. 2018). VLC is becoming more and more used in smart transportation systems, broadcasting, and navigation due to its simple procedure at installation and the licensed bandwidth being free (Komine et al. 2004; Matheus et al. \u003cspan citationid=\"CR30\" class=\"CitationRef\"\u003e2019\u003c/span\u003e). A VLC-IPS uses signals of visible light to identify the position of a selected target. The emitted light signals by the sources of light, like lamps - usually using LEDs \u0026ndash; and seized by sensors of light, that contains image sensors or photodiodes. In fact, VLC has a lot of advantages for localization applications, and the transmitters are often LEDs in VLC systems because of its low power usage, little size, minimum generation of heat, less weight, long expected life, simultaneous data communication, high moisture toleration and lighting capabilities. These advantages have made LED-based VLC a focus of significant attention in the latest years, particularly for positioning applications. VLC-based LEDs has been lately noticed as a possible 5G technique for communication networks because of its high-speed communications rate, support illuminations and, also allow localization with high-accuracy in indoor environments. (Yang et al. \u003cspan citationid=\"CR46\" class=\"CitationRef\"\u003e2023\u003c/span\u003e). VLC technology enables reliable and accurate positioning and is variable enough to determine the receiver not known position in both 2D and 3D coordinates. This makes VLC an encouraging technology for indoor positioning systems and other applications where energy efficiency and precision are highly important (Zhuang et al. 2018; Luo et al. \u003cspan citationid=\"CR28\" class=\"CitationRef\"\u003e2017\u003c/span\u003e). Localization 3D-based techniques give notable advantages over 2D-based localization methods by providing additional comprehensive details about the position of devices or objects in 3D space. Consequently, technology developers and researchers have demonstrated significant interest in 3D localization for a range of applications.\u003c/p\u003e"},{"header":"2. Related Work","content":"\u003cp\u003eThe emergence of the modern communication technologies such as 6G and 5G has significantly increased the request for robust sensing solutions and indoor communication. On the other hand, applying efficient systems in environments highly accumulated by people introduces new challenges, especially in identification of obstacles and positioning. VLC has emerged as an encouraging solution for different indoor applications, along with obstacle sensing (Saeed et al., \u003cspan citationid=\"CR36\" class=\"CitationRef\"\u003e2025\u003c/span\u003e). An innovative Visible Light (VL)-based localization system to enable precise indoor obstacle detection and 3D shape reconstruction in complex environments as warehouses, malls used for shopping, and industrial facilities was introduced by M. Ayyash et al. (M. Ayyash et al., 2023). Additionally, A. Chakraborty et al. proposed a localization model based on VL designed to calculate key parameters of three-dimensional (3D) objects, including height, radius, and spatial position in an indoor setting (A. Chakraborty et al., \u003cspan citationid=\"CR2\" class=\"CitationRef\"\u003e2022\u003c/span\u003e). This model integrates Neural Networks (NNs) and is used in diverse indoor scenarios involving multiple objects. Notably, the model accounts for shadow effects, enhancing its applicability in environments with various obstructions. The proposed algorithm has broad applications, including localization-assisted communication, indoor surveillance, and monitoring of suspicious objects within enclosed spaces.\u003c/p\u003e\u003cp\u003eSeveral methodologies can be employed to identify the position of a receiver, using various localization algorithms like Angle of Arrival (AOA), Time of Arrival (TOA), Time Difference of Arrival (TDOA), and Received Signal Strength (RSS)-based techniques (M. Li et al., \u003cspan citationid=\"CR31\" class=\"CitationRef\"\u003e2020\u003c/span\u003e). AOA localization technique is based on the angles calculations between the reference nodes and the target node. The target node position, in a 2-D space, could be determined by calculating the angles formed between the target node and the reference nodes (Jun, X et al., 2008, Ruofan Wang et al.2024). While accurate localization information is provided by AOA in various circumstances, its accuracy decreases as the distance separating the base station and the mobile device enlarges (Steendam et al., 2018). On the contrary, the distance separating a receiver (e.g., a mobile device) and a transmitter can be determined by TOA (e.g., a base station) by measuring the taken time for a signal to propagate between them. Despite its ability to achieve high precision in distance estimation, TOA requires strict time synchronization between the receiver and transmitter using highly accurate time measurement instruments (Ruofan Wang et al.2024). Achieving this synchronization can be complex and may lead to increased system enlargement cost (Sun et al., \u003cspan citationid=\"CR41\" class=\"CitationRef\"\u003e2015\u003c/span\u003e). To overcome these limitations, Time Difference of Arrival (TDOA) has been introduced as an alternative technique that enhances positioning accuracy. TDOA operates by computing the differences in signal propagation times between multiple receivers (e.g., base stations). By analyzing these time differentials, the distance of an object can be determined. Compared to TOA, TDOA reduces the dependency on exact time synchronization between the receivers and transmitter, although it is still necessary for the synchronization among the receiving units (Du et al., \u003cspan citationid=\"CR14\" class=\"CitationRef\"\u003e2018\u003c/span\u003e). A TDOA is determined by the difference in range between a target and two reference stations, defining a corresponding hyperbola. Therefore, multiple TDOA measurements produce multiple hyperbolas, and the point of intersection of these hyperbolas represents the position of the unknown target. (Yang et al., \u003cspan citationid=\"CR46\" class=\"CitationRef\"\u003e2023\u003c/span\u003e).\u003c/p\u003e\u003cp\u003eThe RSS-based localization technique is simpler than other methods and has been widely used in research, often achieving centimeter-level accuracy (Yang et al., \u003cspan citationid=\"CR47\" class=\"CitationRef\"\u003e2014\u003c/span\u003e). Combining RSS with AOA enables effective 3D localization either using an inclined multiple or optical receiver (Li et al., \u003cspan citationid=\"CR25\" class=\"CitationRef\"\u003e2016\u003c/span\u003e; Yang et al., \u003cspan citationid=\"CR47\" class=\"CitationRef\"\u003e2014\u003c/span\u003e). However, the performance of the system is often determined by a fixed number of trials or only a small improved accuracy. A maximum likelihood approach using RSS has also been proposed for 3D localization, though its accuracy depends on initial conditions. To address these challenges, the Received Signal Strength Assisted Perspective-Three-Point (R-P3P) algorithm was introduced (Lim et al., 2015). This method decreases complexity by including visual data from a camera to improve localization accuracy (Bai et al., \u003cspan citationid=\"CR8\" class=\"CitationRef\"\u003e2020\u003c/span\u003e).\u003c/p\u003e\u003cp\u003eA drawback of VLC-based IPS is keeping the illumination on, which limits their use and results in wasting energy. If lamps are turned off when lighting is not needed, VLC-IPS becomes inefficient (Jung et al., \u003cspan citationid=\"CR19\" class=\"CitationRef\"\u003e2011\u003c/span\u003e; Kim et al., \u003cspan citationid=\"CR22\" class=\"CitationRef\"\u003e2013\u003c/span\u003e; Jeong et al., 2013; Do et al., 2013). DL-VLC overcomes this challenge by encoding data into ultra-short light pulses that cannot be detectable by the human eye, enabling the data transmission without any illumination. This results into improving energy effectiveness, decreasing light pollution, and is extremely useful for applications such as robot localization and navigation in dark light environments (Tian et al., \u003cspan citationid=\"CR42\" class=\"CitationRef\"\u003e2016\u003c/span\u003e, Sharifi et al., \u003cspan citationid=\"CR38\" class=\"CitationRef\"\u003e2016\u003c/span\u003e).\u003c/p\u003e\u003cp\u003eBuilding on our prior research in DL-VLC systems (S.S. Saleh et al., 2024) and work of (Abdaoui et al., \u003cspan citationid=\"CR1\" class=\"CitationRef\"\u003e2016\u003c/span\u003e; Ding et al., \u003cspan citationid=\"CR12\" class=\"CitationRef\"\u003e2015\u003c/span\u003e), this paper investigates the feasibility of implementing VLC-based IPS in dark or low-light environments using only three LEDs. Furthermore, a 3D indoor localization algorithm based on received signal strength is proposed. This algorithm results in a better localization accuracy, maintaining an approximate error of only some little centimeters across all of the targeted area. Previous studies, such as (Tian et al., \u003cspan citationid=\"CR42\" class=\"CitationRef\"\u003e2016\u003c/span\u003e), developed a 2D localization system that determined receiver coordinates using power data from individual LEDs. More recently, S.S. Saleh et al. extended this approach to 3D localization by incorporating four LEDs (S.S. Saleh et al., 2024).\u003c/p\u003e\u003cp\u003eThis paper expands the positioning algorithm to 3D space by splitting the room\u0026rsquo;s height into many planes within a 2D coordinate system. This makes it easier for the receiver to obtain the 3D positional information. The proposed 3D positioning algorithm firstly computes RSS at different 3D coordinates throughout the receiver's plane in a dark-light environment using three LEDs. The received power outcomes are taken as a reference data for the positioning algorithm. It keeps searching repeatedly for the 3D position of the receiver which is not known by recognizing the best power level which matches a tolerance known earlier. This perspective is highly efficient enabling fast and accurate location estimation. The 3D space is being divided into 2D planes with a high-resolution, resulting in high-precision 3D positioning accomplishment which terminates positioning errors within the centimeter range.\u003c/p\u003e\u003cp\u003eIn indoor VL localization systems, a 3D localization technique using a single receiver and multiple transmitters was introduced earlier (Afroza et al., 2021). On the other hand, most existing VLC-based IPS setups require LED lights to remain on, which leads to unnecessary wasting of energy, especially during daylight hours. Moreover, a lot of systems depend on four LEDs leading to an increase in the implementation costs. To overcome these challenges, this paper proposes a 3D IPS using a single receiver and multiple transmitters within a DL-VLC system, employing only three LEDs. This new approach guarantees continuous indoor localization even when the LEDs are switched \"off,\" increasing energy efficiency while decreasing system costs.\u003c/p\u003e\u003cp\u003eIn an earlier study, a 3D localization system was suggested, using a receiver in a dark light VLC conditions based on the RSS technique with 4 LEDs, showing its feasibility in low-light environment (S.S. Saleh et al., 2024). In this work, the exact technique is displayed using 3 LEDs to cover 3D space. Overall, the presented 3D positioning system is initially calculated and estimated for being effective in accurately determining locations within the specified environment.\u003c/p\u003e\u003cp\u003eBased on the results obtained in (S.S. Saleh et al., 2024), a localization error of approximately 3.3 cm was calculated in a 3D DL-VLC positioning system using the technique RSS with 4 LEDs. In this work, the results show an average localization error of about 2.4 cm, illustrating the algorithm's enhanced successfulness in reaching accurate 3D position in dark light conditions using 3 LEDs, compared to the 3D IPS with 4 LEDs.\u003c/p\u003e\u003cp\u003eThe rest of the paper is arranged as follows. After the introduction, Sec.2 provides detailed information about the DL-VLC IPS components and defines the VLC system. Section \u003cspan refid=\"Sec8\" class=\"InternalRef\"\u003e3\u003c/span\u003e explains the suggested 3D l using 3 LEDs and describes its development process. Section 4 provides the research outputs and gives an in-depth review of the outcomes. Finally, Sec.5 gives the main results and conclusions.\u003c/p\u003e"},{"header":"3. Feature of DL-VLC","content":"\u003cdiv id=\"Sec4\" class=\"Section2\"\u003e\u003ch2\u003e3.1. Dark Light VLC IPS Overview\u003c/h2\u003e\u003cp\u003eThe Visible Light Positioning (VLP) system showed to be a curtail application of VLC, especially for indoor environments (C. Neha et al., \u003cspan citationid=\"CR10\" class=\"CitationRef\"\u003e2019\u003c/span\u003e, Morteza. A et al., 2024). As LEDs could switch on and off at speeds beyond human visual perception, they enable high bit rate data transmission while simultaneously providing lighting within the VL spectrum. Even when illumination is unnecessary and the lights are turned off, data transmission remains possible without emitting VL (Z. Tian et al., \u003cspan citationid=\"CR42\" class=\"CitationRef\"\u003e2016\u003c/span\u003e). This principle forms the basis of DL-VLC, which intensify energy efficiency by employing low-power light. The fundamental concept requires encoding data into ultra-short light pulses that remain undetectable to the human eye (K. Wrighty et al., 2016; M.M. El-Gamal et al., 2020).\u003c/p\u003e\u003cp\u003eFigure \u003cspan refid=\"Fig1\" class=\"InternalRef\"\u003e1\u003c/span\u003e presents the block diagram the main functions of the DL-VLC IPS system. It consists of three primary components: the VLC receiver, the VLC transmitter, and the positioning system.\u003c/p\u003e\u003cp\u003e\u003c/p\u003e\u003c/div\u003e\u003cdiv id=\"Sec5\" class=\"Section2\"\u003e\u003ch2\u003e3.2. Dark Light Environment Configuration\u003c/h2\u003e\u003cp\u003eModulation of the signal is employed using Pulse-Position Modulation (PPM) technique (F Jasman et al., 2019), where M message bits are encoded by the transition of a single pulse in one of 2M possible slots of time. This modulation process is being repeated again every T seconds, yielding a transmitted bit rate of M/Tbps. PPM is mostly favorable in optical communication systems, mainly in environments with no multipath or minimum intrusion. In every LED lamp, modulation of light take place using PPM, producing flickering with short pulse durations separated by predefined intervals.\u003c/p\u003e\u003cp\u003eFigure \u003cspan refid=\"Fig2\" class=\"InternalRef\"\u003e2\u003c/span\u003e, illustrating the DL-VLC signal, highlights the contrast between dark light and a standard configuration of VLC light when utilizing the PPM technique. In this configuration, dark light stays invisible to the eyes of humans but is still detectable by a photodiode (PD), allowing for data transmission in the absence of visible illumination.\u003c/p\u003e\u003cp\u003e\u003c/p\u003e\u003c/div\u003e\u003cdiv id=\"Sec6\" class=\"Section2\"\u003e\u003ch2\u003e3.3. System Description\u003c/h2\u003e\u003cp\u003eThe power of LED organization exactly follows the Lambertian radiation pattern, which is characterized by a cosine dependence on the angle between the direction of radiation and the normal to the surface. In the case of Line-of-Sight (LoS) communication, based on the average optical power transmitted, P\u003csub\u003et,\u003c/sub\u003e the received optical power, P\u003csub\u003er\u003c/sub\u003e, ​ could be measured as using the following formula (Cai et al. \u003cspan citationid=\"CR9\" class=\"CitationRef\"\u003e2017\u003c/span\u003e):\u003cdiv id=\"Equ1\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ1\" name=\"EquationSource\"\u003e\n$$\\:{P}_{r}={P}_{t}\\times\\:{H\\left(0\\right)}_{LoS}$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e1\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eIn indoor visible light positioning system, H(0)\u003csub\u003e\u003cem\u003eLoS\u003c/em\u003e\u003c/sub\u003e is the LoS channel gain, which can be illustrated by (Cai et al. \u003cspan citationid=\"CR9\" class=\"CitationRef\"\u003e2017\u003c/span\u003e)\u003cdiv id=\"Equ2\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ2\" name=\"EquationSource\"\u003e\n$$\\:{H\\left(0\\right)}_{Los}=\\frac{({m}_{l}+1)\\times\\:{A}_{r}}{2\\pi\\:{d}^{2}}\\:{cos}^{{m}_{l\\:}}\\left(\\theta\\:\\right)cos\\left(\\psi\\:\\right)T\\left(\\psi\\:\\right)G\\left(\\psi\\:\\right),\\:when\\:0\\le\\:\\psi\\:\\le\\:FOV$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e2\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eEquation (\u003cspan refid=\"Equ1\" class=\"InternalRef\"\u003e1\u003c/span\u003e) could be expressed as\u003cdiv id=\"Equ3\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ3\" name=\"EquationSource\"\u003e\n$$\\:{P}_{r}={P}_{t}\\times\\:\\frac{({m}_{l}+1)\\times\\:{A}_{r}}{2\\pi\\:{d}^{2}}\\:{cos}^{{m}_{l\\:}}\\left(\\theta\\:\\right)cos\\left(\\psi\\:\\right)T\\left(\\psi\\:\\right)G\\left(\\psi\\:\\right)$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e3\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eThe distance between the receiver and the LED is d, A\u003csub\u003er\u003c/sub\u003e represents the PD effective area, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\psi\\:\\)\u003c/span\u003e\u003c/span\u003e is the angle of incidence, θ represents the irradiance angle, G(\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\psi\\:\\)\u003c/span\u003e\u003c/span\u003e) is the optical concentrator gain, T(\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\psi\\:\\)\u003c/span\u003e\u003c/span\u003e) is gain of the optical filter, and the field of view is FOV, which is the biggest angle at which the receiver will efficiently detect light signals\u003c/p\u003e\u003cp\u003eThe Lambertian emission order (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{m}_{l}\\)\u003c/span\u003e\u003c/span\u003e) can be calculated by the LED semi-angles (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{\\theta\\:}_{1/2}\\)\u003c/span\u003e\u003c/span\u003e) using (Cai et al. \u003cspan citationid=\"CR9\" class=\"CitationRef\"\u003e2017\u003c/span\u003e):\u003cdiv id=\"Equ4\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ4\" name=\"EquationSource\"\u003e\n$$\\:{m}_{l}=\\frac{ln\\left(2\\right)}{ln\\left[cos\\right({\\theta\\:}_{1/2}\\left)\\right]}$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e4\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eIf the (X\u003csub\u003eR\u003c/sub\u003e, Y\u003csub\u003eR\u003c/sub\u003e, Z\u003csub\u003eR\u003c/sub\u003e) is the coordinate of the receiver, then the coordinates of LEDs are (X, Y, Z) and the angle of irradiance can be presented as\u003cdiv id=\"Equ5\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ5\" name=\"EquationSource\"\u003e\n$$\\:cos\\theta\\:=\\frac{Z-{Z}_{R}}{[{{(X-{X}_{R})}^{2}+{(Y-{Y}_{R})}^{2}+\\:{(Z-{Z}_{R})}^{2}]}^{\\frac{1}{2}}}\\:=\\:\\frac{h}{d}$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e5\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eHere, h presents the perpendicular distance between the LED and the receiver\u0026rsquo;s surface, as shown in Fig.\u0026nbsp;\u003cspan refid=\"Fig3\" class=\"InternalRef\"\u003e3\u003c/span\u003e.\u003c/p\u003e\u003cp\u003e\u003c/p\u003e\u003cp\u003eThe LEDs and the receiver both are adjusted aligned to the floor, which indicates that the incidence angle ψ, the angle of irradiance, θ, are equal, i.e. cosθ\u0026thinsp;=\u0026thinsp;cosψ. Under these circumstances, the power received at (X\u003csub\u003eR\u003c/sub\u003e, Y\u003csub\u003eR\u003c/sub\u003e, Z\u003csub\u003eR\u003c/sub\u003e), based on Eq.\u0026nbsp;(\u003cspan refid=\"Equ3\" class=\"InternalRef\"\u003e3\u003c/span\u003e), could be presented as\u003cdiv id=\"Equ6\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ6\" name=\"EquationSource\"\u003e\n$$\\:{P}_{r({X}_{R},{Y}_{R\\:,}{Z}_{R})=\\:}{P}_{t}\\frac{({m}_{l\\:}+1)\\times\\:{A}_{r}}{2{\\Pi\\:}{d}^{2}}{cos}^{{m}_{l\\:}+1}\\left(\\theta\\:\\right)T\\left(\\psi\\:\\right)G\\left(\\psi\\:\\right)$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e6\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003c/div\u003e"},{"header":"4. Simulation Model and proposed Algorithm","content":"\u003cdiv id=\"Sec8\" class=\"Section2\"\u003e\u003ch2\u003e4.1. 3D Indoor Positioning Scheme\u003c/h2\u003e\u003cp\u003eInitially, in proportion to the suggested system, the room is divided into a series of grid points allocated all over the 3D space. The grid points are strategically placed to gather and seize the optical power released by every LED within the environment. The model proposed in Sec. 2 demonstrates the relation between the optical power and each of every 3D grid points. The position coordinates, along with the corresponding values of optical power at each grid point, are systematically taken and stored as reference data. The reference dataset supplies a fundamental standard for following computations, making it easier to get an accurate estimation of the position of the receiver by matching up measured optical power levels with known spatial coordinates.\u003c/p\u003e\u003cp\u003eNext, we study the receiver\u0026rsquo;s not known location, represented as (X\u003csub\u003eR\u003c/sub\u003e, Y\u003csub\u003eR\u003c/sub\u003e, Z\u003csub\u003eR\u003c/sub\u003e), which must be measured. At this location, the receiver discovers a certain level of optical power released by each LED within the array of the transmitter. Multiple LEDs are organized in the plane of the receiver. Each LED emits light in a circular pattern. The received optical power at the position of the receiver can be evaluated by recognizing the intersection point of these circular patterns of the distribution of power, as shown in Fig.\u0026nbsp;\u003cspan refid=\"Fig4\" class=\"InternalRef\"\u003e4\u003c/span\u003e. This point of intersection estimation is vital in precisely determining the received optical power at the position of the receiver, providing important data for additional processing in the localization system.\u003c/p\u003e\u003cp\u003eThe procedure keeps on comparing the reference power values with the received optical power calculations accomplished from the grid points near the position of the receiver. These reference values, premeasured for every 3D grid point, act as a basis for finding out the best match condition. The best match corresponds to the unknown position of the receiver within the 3D space, guaranteeing exact localization. As a result, the methodology suggested contains two key components: first, calculating the optical power at predefined 3D grid points distributed across all of the room, and second, deciding the receiver\u0026rsquo;s position which is unknown by identifying the optimal match between the measured signal received and the stored reference values.\u003c/p\u003e\u003cp\u003e\u003c/p\u003e\u003cp\u003eThe specific steps are described below. Additionally, the dimensions of the room are presented as L\u0026times;W\u0026times;H, where (X\u003csup\u003ei\u003c/sup\u003e, Y\u003csup\u003ei\u003c/sup\u003e, Z\u003csup\u003ei\u003c/sup\u003e) denotes the coordinates of each LED (i\u0026thinsp;=\u0026thinsp;LED numbers).\u003c/p\u003e\u003cp\u003e\u003cb\u003eFirst Step\u003c/b\u003e: The room is divided into a constructed grid using previously determined resolutions: \u0026lsquo;a\u0026rsquo; meters in the x-direction, \u0026lsquo;b\u0026rsquo; meters in the y-direction, and \u0026lsquo;c\u0026rsquo; meters in the z-direction, as described in Fig.\u0026nbsp;\u003cspan refid=\"Fig4\" class=\"InternalRef\"\u003e4\u003c/span\u003e. The total number of grid points essential to cover the whole room (spanning from 0 to height (H), 0 to width (W) and 0 to length (L)), is determined by these specified resolutions. A finer grid resolution is preferable, as it decreases errors calculations and improves the localization accuracy. Additionally, a well-defined grid structure allows for better tracking and more efficient for receiver location determination, guaranteeing more accuracy enhancement in real-time indoor localizatiion systems.\u003c/p\u003e\u003cp\u003e\u003cstrong\u003eSecond Step\u003c/strong\u003e\u003cp\u003eAt each grid point, the power received from each LED is calculated. The grid points are specified as (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{x}_{g}^{p}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{y}_{g}^{q}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{z}_{g}^{s}\\)\u003c/span\u003e\u003c/span\u003e ), where 'p' ranges from 1 to A along the x-axis, 'q' ranges from 1 to B along the y-axis, and 's' ranges from 1 to C along the z-axis. Consequently, the power received from every LED at the grid point in total (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{x}_{g}^{p}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{y}_{g}^{q}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{z}_{g}^{s}\\)\u003c/span\u003e\u003c/span\u003e ) can be presented as\u003c/p\u003e\u003c/p\u003e\u003cp\u003e\u003cdiv id=\"Equ7\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ7\" name=\"EquationSource\"\u003e\n$$\\:{P}_{r({x}_{g}^{p}\\:,\\:{y}_{g}^{q}\\:,\\:{z}_{g}^{s}\\:)}^{i}={P}_{t}^{i}\\frac{({m}_{l\\:}+1)\\times\\:{A}_{r}}{2{\\Pi\\:}{d}^{i}}{cos}^{{m}_{l\\:}+1}\\left(\\theta\\:\\right)T\\left(\\psi\\:\\right)G\\left(\\psi\\:\\right)$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e7\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eIn these situations, the transmitted average power, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{P}_{t}^{i}\\)\u003c/span\u003e\u003c/span\u003e, from LED\u003csup\u003ei\u003c/sup\u003e is used to make circular regions around position of each LED. The true received power at a given point could be calculated by recognizing the intersection points of these circles, representing the overlap of the light distribution from multiple LEDs. The receiver\u0026rsquo;s effective area, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{A}_{r}\\)\u003c/span\u003e\u003c/span\u003e\u003cspan type=\"Underline\" class=\"Underline\" name=\"Emphasis\"\u003e​\u003c/span\u003e, the Lambertian emission order, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{m}_{l\\:}\\)\u003c/span\u003e\u003c/span\u003e​, the optical gain concentrator, G(\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\psi\\:\\)\u003c/span\u003e\u003c/span\u003e), and the gain of optical filter, T(\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\psi\\:\\)\u003c/span\u003e\u003c/span\u003e), are previously known values established according to criteria standard design. These parameters affect the power received at any given point within the room. The related distance can be easily measured using\u003cdiv id=\"Equ8\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ8\" name=\"EquationSource\"\u003e\n$$\\:{d}^{i}={\\left[\\right({{X}^{i}\\:-\\:{x}_{g}^{p})\\:}^{2}+\\:{{(Y}^{i}\\:-\\:{y}_{g}^{p})\\:}^{2}+\\:{{(Z}^{i}\\:-\\:{z}_{g}^{p})\\:}^{2}]\\:}^{\\frac{1}{2}}$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e8\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eThis distance is crucial in measuring the distributed power from each LED to different points within the space, improving the total power received at the receiver position.\u003c/p\u003e\u003cp\u003eThe angle of irradiance at (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{x}_{g}^{p}\\:,\\:{y}_{g}^{q}\\:,\\:{z}_{g}^{s}\\)\u003c/span\u003e\u003c/span\u003e) is resolved using relationship cos(\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{\\theta\\:}^{i}\\)\u003c/span\u003e\u003c/span\u003e) = \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\frac{h}{{d}^{i}}\\)\u003c/span\u003e\u003c/span\u003e, where the vertical distance separating the LEDs and the surface of the receiver is presented by h and \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{d}^{i}\\)\u003c/span\u003e\u003c/span\u003e presents the distance from LED\u003csup\u003ei\u003c/sup\u003e to the grid point (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{x}_{g}^{p}\\:,\\:{y}_{g}^{q}\\:,\\:{z}_{g}^{s}\\)\u003c/span\u003e\u003c/span\u003e). This angle aids in calculating the received power based on the Lambertian emission model. Since all LEDs are presumed to be placed within the same plane, the power received at each grid point for all 3D coordinates can be represented as \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{P}_{r({x}_{g}^{1.A}\\:,\\:{y}_{g}^{1.b}\\:,\\:{z}_{g}^{1.c}\\:)}^{i}\\)\u003c/span\u003e\u003c/span\u003e .This notation indicates the power received from LED\u003csup\u003ei\u003c/sup\u003e at the grid points spanning from 1 to A in the x-direction, 1 to B in the y-direction, and 1 to C in the z-direction. It is important to note that Step 2, which demands calculating and recording the power received at each grid point, is only performed once, given that the dimensions of the room and the locations of the transmitters (LEDs) stay the same. This presumption is logical for VLC indoor network, as it has a stable physical layout.\u003c/p\u003e\u003cp\u003e\u003cstrong\u003eThird Step\u003c/strong\u003e\u003cp\u003eTo discover the position of the receiver, the process requires comparing the received signal strengths RSS\u003csup\u003ei\u003c/sup\u003e from each LED\u003csup\u003ei\u003c/sup\u003e, where there are three LEDs ( i\u0026thinsp;=\u0026thinsp;1,2,3) placed at (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{X}^{1}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{Y}^{1}\\:,\\:{Z}^{1}\\)\u003c/span\u003e\u003c/span\u003e), (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{X}^{2}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{Y}^{2}\\:,\\:{Z}^{2}\\)\u003c/span\u003e\u003c/span\u003e) and (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{X}^{3}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{Y}^{3}\\:,\\:{Z}^{3}\\)\u003c/span\u003e\u003c/span\u003e) coordinates on the ceiling, with the reference values of power acquired from the grid points in Step 2. The target is to find the grid point (\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{x}_{g}^{p}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{y}_{g}^{q}\\)\u003c/span\u003e\u003c/span\u003e, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{z}_{g}^{s}\\)\u003c/span\u003e\u003c/span\u003e ) that gives the closest match between the measured RSS\u003csup\u003ei\u003c/sup\u003e and the reference values of power \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{P}_{r({x}_{g}^{1...A}\\:,\\:{y}_{g}^{1...b}\\:,\\:{z}_{g}^{1\\dots\\:c}\\:)}^{i}\\)\u003c/span\u003e\u003c/span\u003e. The location of the receiver (X\u003csub\u003eR\u003c/sub\u003e, Y\u003csub\u003eR\u003c/sub\u003e, Z\u003csub\u003eR\u003c/sub\u003e) is obtained using a best match criterion as depicted in Fig.\u0026nbsp;\u003cspan refid=\"Fig4\" class=\"InternalRef\"\u003e4\u003c/span\u003e., which can be presented as\u003c/p\u003e\u003c/p\u003e\u003cp\u003e\u003cdiv id=\"Equ9\" class=\"Equation\"\u003e\u003cdiv format=\"TEX\" class=\"mathdisplay\" id=\"FileID_Equ9\" name=\"EquationSource\"\u003e\n$$\\:{RSS}^{i}\\:-\\:{P}_{r({x}_{g}^{1\\dots\\:A}\\:,\\:{y}_{g}^{1\\dots\\:B}\\:,\\:{z}_{g}^{1...C}\\:)}^{i}\\le\\:\\:tolerance\\left(j\\right)$$\u003c/div\u003e\u003cdiv class=\"EquationNumber\"\u003e9\u003c/div\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003eThis approach guarantees that the grid point with the minimum accumulated difference between the calculated RSS and the reference power values is picked as the most likely position of the receiver. By using this method, the system accurately determines the receiver\u0026rsquo;s not known position in the 3D space.\u003c/p\u003e\u003cp\u003eIn this instance, the exact condition specified by Eq.\u0026nbsp;(\u003cspan refid=\"Equ9\" class=\"InternalRef\"\u003e9\u003c/span\u003e) is encountered where \"tolerance\" refers to an earlier known array of small values. Within this array, the tolerance index value is presented by variable j. The system repeatedly cycles through various tolerance values to get the best power level by inspecting the points of intersection of the circular power distributions, where the optical power received agrees with the reference values stored. The process requires to continuously compare the power received at the position of the receiver with the reference power at previously known grid points, the tolerance is dynamically adjusted till the best match is reached. The system improves positioning accuracy, by repeatedly filtering the search eventually identifying the precise 3D coordinates of the receiver, which is demonstrated as (X\u003csub\u003eR\u003c/sub\u003e, Y\u003csub\u003eR\u003c/sub\u003e, Z\u003csub\u003eR\u003c/sub\u003e). The proposed system is plainly shown in Fig.\u0026nbsp;\u003cspan refid=\"Fig5\" class=\"InternalRef\"\u003e5\u003c/span\u003e in the flow diagram, which outlines the sequential steps needed for accomplishing high-precision 3D positioning within a DL-VLC environment.\u003c/p\u003e\u003cp\u003e\u003c/p\u003e\u003c/div\u003e\u003cdiv id=\"Sec9\" class=\"Section2\"\u003e\u003ch2\u003e4.2. Simulation Model\u003c/h2\u003e\u003cp\u003eThe analysis of the proposed 3D VLC localization system is run through an implemented numerical simulation model on the MATLAB\u0026reg; platform. The simulation is achieved within a controlled environment, representing a room with dimensions of 5 m in width, 5 m in length, and a height of 3 m. This setup grants an exact performance analysis of the system in a designed indoor environment under real conditions, which makes the assessment of the positioning accuracy easier and more efficient. This simulation setup provides a controlled environment to assess the accuracy and performance of the proposed system. By simulating different receiver locations and measuring the corresponding RSS values from the LEDs, the usefulness of the system in deciding the exact 3D locations can be comprehensively reviewed. The room dimensions are chosen to reflect a typical indoor environment, ensuring that the results are applicable to real-world scenarios where indoor positioning is vital. Three LEDs are located on the ceiling at ten different patterns. These strategic deployments are designed to create overlapping circular regions of light, which are critical for accurate 3D location using RSS metric. The ceiling-mounted LEDs transmit light that interacts with the receiver PD, allowing the system to triangulate the receiver position based on the power of the received signals from each LED. Three LEDs were strategically positioned on the ceiling in 10 non-identical patterns with coordinates shown in Table\u0026nbsp;\u003cspan refid=\"Tab1\" class=\"InternalRef\"\u003e1\u003c/span\u003e.\u003c/p\u003e\u003cp\u003e\u003cdiv class=\"gridtable\"\u003e\u003ctable float=\"Yes\" id=\"Tab1\" border=\"1\"\u003e\u003ccaption language=\"En\"\u003e\u003cdiv class=\"CaptionNumber\"\u003eTable 1\u003c/div\u003e\u003cdiv class=\"CaptionContent\"\u003e\u003cp\u003eLEDs coordinates at different patterns.\u003c/p\u003e\u003c/div\u003e\u003c/caption\u003e\u003ccolgroup cols=\"4\"\u003e\u003cdiv align=\"left\" class=\"colspec\" colname=\"c1\" colnum=\"1\"\u003e\u003c/div\u003e\u003cdiv align=\"char\" char=\".\" class=\"colspec\" colname=\"c2\" colnum=\"2\"\u003e\u003c/div\u003e\u003cdiv align=\"char\" char=\".\" class=\"colspec\" colname=\"c3\" colnum=\"3\"\u003e\u003c/div\u003e\u003cdiv align=\"char\" char=\".\" class=\"colspec\" colname=\"c4\" colnum=\"4\"\u003e\u003c/div\u003e\u003cthead\u003e\u003ctr\u003e\u003cth align=\"left\" colname=\"c1\"\u003e\u003cp\u003ePattern\u003c/p\u003e\u003c/th\u003e\u003cth align=\"left\" colname=\"c2\"\u003e\u003cp\u003eLED 1\u003c/p\u003e\u003c/th\u003e\u003cth align=\"left\" colname=\"c3\"\u003e\u003cp\u003eLED 2\u003c/p\u003e\u003c/th\u003e\u003cth align=\"left\" colname=\"c4\"\u003e\u003cp\u003eLED 3\u003c/p\u003e\u003c/th\u003e\u003c/tr\u003e\u003c/thead\u003e\u003ctbody\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e1\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e2\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e3\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e4\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e5\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e6\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e7\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e8\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e9\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(1.25,3.75)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(1.25,1.25)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003e10\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c2\"\u003e\u003cp\u003e(3.75,1.25)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c3\"\u003e\u003cp\u003e(2.5,2.5)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"char\" char=\".\" colname=\"c4\"\u003e\u003cp\u003e(3.75,3.75)\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003c/tbody\u003e\u003c/colgroup\u003e\u003c/table\u003e\u003c/div\u003e\u003c/p\u003e\u003cp\u003ewhere in patterns 1 to 4, the LEDs are placed in three corners while in patterns 5 to 10 the LEDs are placed diagonally through the room. The simulation model uses a PD as the receiver, whose position within the room is originally not known. The suggested system is applied to ascertain the 3D coordinates of the receiver using RSS from the LEDs in a dark environment. The parameters employed in the VLC model of simulation are detailed in Table\u0026nbsp;\u003cspan refid=\"Tab2\" class=\"InternalRef\"\u003e2\u003c/span\u003e.\u003c/p\u003e\u003cp\u003e\u003cdiv class=\"gridtable\"\u003e\u003ctable float=\"Yes\" id=\"Tab2\" border=\"1\"\u003e\u003ccaption language=\"En\"\u003e\u003cdiv class=\"CaptionNumber\"\u003eTable 2\u003c/div\u003e\u003cdiv class=\"CaptionContent\"\u003e\u003cp\u003eParameters used in VLC based 3D localization model (Aly et al. \u003cspan citationid=\"CR5\" class=\"CitationRef\"\u003e2021\u003c/span\u003e).\u003c/p\u003e\u003c/div\u003e\u003c/caption\u003e\u003ccolgroup cols=\"2\"\u003e\u003cdiv align=\"left\" class=\"colspec\" colname=\"c1\" colnum=\"1\"\u003e\u003c/div\u003e\u003cdiv align=\"left\" class=\"colspec\" colname=\"c2\" colnum=\"2\"\u003e\u003c/div\u003e\u003cthead\u003e\u003ctr\u003e\u003cth align=\"left\" colname=\"c1\"\u003e\u003cp\u003eParameter\u003c/p\u003e\u003c/th\u003e\u003cth align=\"left\" colname=\"c2\"\u003e\u003cp\u003eValue\u003c/p\u003e\u003c/th\u003e\u003c/tr\u003e\u003c/thead\u003e\u003ctbody\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eRoom size (LxWx\u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\text{H})\\)\u003c/span\u003e\u003c/span\u003e\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e5\u0026times;5\u0026times;3 m\u003csup\u003e3\u003c/sup\u003e\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eWall reflection coefficient\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e0.8\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eLEDs number\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e3\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eLED transmitted power (drak light)\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1.4 mW\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003esemi-angle of LED at half-power, θ\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e70\u003csup\u003eο\u003c/sup\u003e\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eCenter luminous intensity\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e0.73 cd\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eReceiver height w.r.t. floor\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e0.85 m\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003ePD effective area, A\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1 cm\u003csup\u003e2\u003c/sup\u003e\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eField of view FOV\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e70\u003csup\u003eο\u003c/sup\u003e\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eRefractive lens index\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1.5\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003ePD responsivity\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e0.54 A/W\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eGain of optical filter \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:T\\left(\\psi\\:\\right)\\)\u003c/span\u003e\u003c/span\u003e\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eGain of optical concentrator \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:\\:G\\left(\\psi\\:\\right)\\)\u003c/span\u003e\u003c/span\u003e\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003ctr\u003e\u003ctd align=\"left\" colname=\"c1\"\u003e\u003cp\u003eLambertian emission order, \u003cspan class=\"InlineEquation\"\u003e\u003cspan class=\"mathinline\"\u003e\\(\\:{m}_{l}\\)\u003c/span\u003e\u003c/span\u003e\u003c/p\u003e\u003c/td\u003e\u003ctd align=\"left\" colname=\"c2\"\u003e\u003cp\u003e1\u003c/p\u003e\u003c/td\u003e\u003c/tr\u003e\u003c/tbody\u003e\u003c/colgroup\u003e\u003c/table\u003e\u003c/div\u003e\u003c/p\u003e\u003c/div\u003e"},{"header":"5. Results and Discussion","content":"\u003cdiv id=\"Sec11\" class=\"Section2\"\u003e\n\u003ch2\u003e5.1. Performance Accuracy of Suggested System\u003c/h2\u003e\n\u003cp\u003eThe successfulness of the proposed indoor 3D IPS is thoroughly reviewed by detecting the location of the receiver precision covering different heights within the room. A 2500 random positions in total are chosen in the X-Y plane, with various heights (Z) of 2.4 m, 1.8 m, 1.2 m, and 0.6 m. The optical parameters employed in the assessment include FOV of 70\u0026deg; and (\u0026theta;) as a semi-angle of 70\u0026deg;. a These evaluations are taken under dark light conditions to test the system's performance by error detection in a low-illumination environment.\u003c/p\u003e\n\u003cp\u003eFigure 6 shows the RMS error for pattern 1 where 2500 chosen random positions (X-Y) are held at different heights (Z) of a, b, c and d which are equal to 0.6, 1.2, 1.8, and 2.4 m, respectively, with a FOV\u0026thinsp;=\u0026thinsp;70\u003csup\u003e\u0026omicron;\u003c/sup\u003e and a semi angle \u0026theta;\u0026thinsp;=\u0026thinsp;70\u003csup\u003e\u0026omicron;\u003c/sup\u003e in dark light.\u003c/p\u003e\n\u003cdiv class=\"gridtable\"\u003e\u0026nbsp;\u003c/div\u003e\n\u003cp\u003eThe procedure is being repeated again at \u0026theta;\u0026thinsp;=\u0026thinsp;70\u003csup\u003e\u0026omicron;\u003c/sup\u003e and FOV\u0026thinsp;=\u0026thinsp;10\u003csup\u003e\u0026omicron;\u003c/sup\u003e and at \u0026theta;\u0026thinsp;=\u0026thinsp;10\u003csup\u003e\u0026omicron;\u003c/sup\u003e and FOV\u0026thinsp;=\u0026thinsp;10\u003csup\u003e\u0026omicron;\u003c/sup\u003e. Table\u0026nbsp;\u003cspan class=\"InternalRef\"\u003e3\u003c/span\u003e shows the outcomes.\u003c/p\u003e\n\u003cdiv class=\"gridtable\"\u003e\n\u003cdiv class=\"colspec\" align=\"left\"\u003e\u0026nbsp;\u003c/div\u003e\n\u003cdiv class=\"colspec\" align=\"left\"\u003e\u0026nbsp;\u0026nbsp;\u003c/div\u003e\n\u003cp\u003eTable 3 Comparison of error obtained at heights 2.4, 1.8, 1.2 and 0.6 m at various values of \u0026theta; and FOV.\u003c/span\u003e\u003c/p\u003e\n\u003ctable style=\"border: none;width:481.25pt;border-collapse:collapse;\"\u003e\n \u003ctbody\u003e\n \u003ctr\u003e\n \u003ctd colspan=\"3\" rowspan=\"2\" style=\"width:73.8pt;border:solid windowtext 1.0pt;background:#FFF2CC;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003eDimensions\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd colspan=\"10\" style=\"width:407.45pt;border:solid windowtext 1.0pt;border-left:none;background: #FFF2CC;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003ePatterns\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width: 42.95pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e1\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;2\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e3\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e4\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e5\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e6\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e7\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e8\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e9\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width: 40.5pt;border-top: none;border-left: none;border-bottom: 1pt solid windowtext;border-right: 1pt solid windowtext;background: rgb(255, 242, 204);padding: 0in 5.4pt;height: 14.8pt;vertical-align: top;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cstrong\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/strong\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;background: #BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eH(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026theta;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eFOV\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#BDD7EE;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003eRMS(m)\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.4\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.02E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.12E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.69E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.31E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:white;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.28E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.18E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.76E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.34E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.83E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.42E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.8\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.58E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.79E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.21E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.79E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.06E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.35E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.43E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.62E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.53E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.75E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.2\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.77E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.09E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.97E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.20E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.72E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.82E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.84E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.16E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e0.6\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.20E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.47E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.66E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.99E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.00E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.99E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.42E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.55E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.55E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;background: #F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.4\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.09E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.63E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.96E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.73E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:white;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.01E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.78E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.84E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.96E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.77E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.18E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.8\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.02E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.53E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.97E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.53E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.95E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.85E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.81E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.53E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.55E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.64E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.2\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.32E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.79E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.13E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.36E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.41E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.84E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.40E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.47E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.41E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e0.6\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e10\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:white;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.81E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.69E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.77E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.98E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:white;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.83E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.47E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.47E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.16E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.39E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.35E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;background: #F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\u003cbr\u003e\u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.4\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.54E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.08E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.59E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.79E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.63E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.63E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.90E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.27E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:red;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.52E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.8\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.77E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.61E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.79E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.66E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.82E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.82E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e5.40E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.17E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.2\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.20E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.95E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.09E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.95E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e6.72E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.95E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.95E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e7.16E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;padding: 0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e0.6\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e70\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.51E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.98E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.44E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.98E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:white;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.78E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e1.99E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#00B050;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e2.42E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.78E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e4.09E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:11px;font-family:\"Times New Roman\",serif;color:black;'\u003e3.78E-02\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003ctr\u003e\n \u003ctd style=\"width:28.15pt;border:solid windowtext 1.0pt;border-top:none;background: #F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:18.8pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:26.85pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:42.95pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003ctd style=\"width:40.5pt;border-top:none;border-left:none;border-bottom:solid windowtext 1.0pt;border-right:solid windowtext 1.0pt;background:#F4B084;padding:0in 5.4pt 0in 5.4pt;height:15.0pt;\"\u003e\n \u003cp style='margin-top:0in;margin-right:0in;margin-bottom:0in;margin-left:0in;font-size:11.0pt;font-family:\"Calibri\",sans-serif;text-align:center;line-height:normal;'\u003e\u003cspan style='font-size:12px;font-family:\"Times New Roman\",serif;color:black;'\u003e\u0026nbsp;\u003c/span\u003e\u003c/p\u003e\n \u003c/td\u003e\n \u003c/tr\u003e\n \u003c/tbody\u003e\n\u003c/table\u003e\u003cp\u003eThe error stays low and evenly covers almost all areas of the room when the receiver is located at a height of 0.6 m, ensuring exact 3D location. However, as the receiver's height increases to 2.4 m, the error rises to 7.5 cm. This indicates that the system's accuracy declines a bit with increased receiver height, likely due to the reduced signal strength and increased angular deviation from the LEDs. Nevertheless, the position error tends to increase as the receiver gets closer to the transmitter location. This behavior could be accredited to the steeper angles of incidence and reduced differentiation in the RSS near the transmitter.\u003c/p\u003e\n\u003cp\u003eFigure 7 shows the efficiency of the average error of the suggested position scheme across the receiver\u0026rsquo;s different heights, offering an overall understanding of the system effectiveness at various locations within the room. This analysis emphasizes the durability of the system suggested, despite small differences in accuracy close to the position of the transmitter.\u003c/p\u003e\n\u003cp\u003eIt is noticed that the best case is with the three LEDs distributed diagonally at coordinates (1.25,3.75), (2.5,2.5) and (3.75,1.25) with values of \u0026theta; and FOV of 70\u003csup\u003e\u0026omicron;\u003c/sup\u003e and 10\u003csup\u003e\u0026omicron;\u003c/sup\u003e at a receiver at 0.6 m height presenting an average positioning error of 1.99 cm. While the worst case is found to be when the three LEDs are also placed diagonally with the coordinates (1.25,1.25), (2.5,2.5) and (3.75, 1.25) at higher values of \u0026theta; and FOV of 70\u003csup\u003e\u0026omicron;\u003c/sup\u003e and 70\u003csup\u003e\u0026omicron;\u003c/sup\u003e at a receiver at 2.4 m height showing an average localization error of 7.9 cm, indicating that it is being close to the transmitter. The average error is increased when the receiver\u0026rsquo;s height is increased due to the variation in the LED intensity based on the angle and distance.\u003c/p\u003e\n\u003cp\u003eWhen the receiver moves to a higher location, the distance separating the receiver and the LEDs declines, while both the incidence angle (\u0026psi;) and angle of irradiance (\u0026theta;) increase. The angular variation results into a decrease in the effective intensity of light the receiver gets, consequently lowering the received optical power and declining positioning accuracy. The power of the received continues to decrease as these angles become sharper, eventually approaching zero, which results into lowering location accuracy. This highlights the sensitivity of the system to variations of angels, especially at raised receiver locations. Above all, this likelihood of decreasing the localization accuracy with greater heights of the receiver has been frequently investigated in earlier studies (Peng et al., \u003cspan class=\"CitationRef\"\u003e2018\u003c/span\u003e; Cai et al., \u003cspan class=\"CitationRef\"\u003e2017\u003c/span\u003e; Afroza et al., 2021; S.S. Saleh et al., 2024), presenting a strong correlation and a fair agreement with established findings in the literature.\u003c/p\u003e\n\u003c/div\u003e"},{"header":"6. Conclusion","content":"\u003cp\u003eThis paper extensively asses and establishes a new 3D positioning approach adapted for a VLC network operating in a dark light environment. The system leverages a single receiver and multiple transmitters, utilizing a high-resolution subdivision of 3D space into 2D planes. This methodology allows the exact receiver position with errors calculated in the range of centimeters. To ascertain the proposed approach, numerical simulations were carried out in a room with dimensions of 5\u0026times;5\u0026times;3 m\u003csup\u003e3\u003c/sup\u003e supplied with three LEDs acting as transmitters. The system illustrates an extraordinary accuracy, with an average localization error consistently below 2 cm compared to an error of 3.2 cm when using four LEDs as stated in (S.S. Saleh et al., 2024). These outcomes highlight the effectiveness of this approach in delivering precise 3D localization in a VLC network operating in a dark light environment with three LEDs instead of four LEDs providing lower positioning error which is less expensive, saves more energy and is more efficient.\u003c/p\u003e"},{"header":"Declarations","content":"\u003cp\u003e\u003cstrong\u003eEthical approval\u003c/strong\u003e\u003cp\u003eNot Applicable\u003c/p\u003e\u003c/p\u003e\u003cp\u003e\u003cstrong\u003eCompeting interests\u003c/strong\u003e\u003cp\u003eThe authors declare that they have no competing interests.\u003c/p\u003e\u003c/p\u003e\u003ch2\u003eFunding\u003c/h2\u003e\u003cp\u003eThe authors did not receive any funds to support this research.\u003c/p\u003e\u003ch2\u003eAuthor Contribution\u003c/h2\u003e\u003cp\u003eS.S.S., H.N.K., N.E.I., and M.H.A. have directly participated in the planning, execution, and analysis of this study. All authors have read and approved the final version of the manuscript.\u003c/p\u003e\u003ch2\u003eData Availability\u003c/h2\u003e\u003cp\u003eThe data used and/or analyzed during the current study are available from the corresponding author on reasonable request.\u003c/p\u003e"},{"header":"References","content":"\u003col\u003e\u003cli\u003e\u003cspan\u003eAbdaoui, R., Zhang, X., Xu, F.: Potentiality of a bi-directional system based on 60GHz and VLC technologies for e-health applications, In Proc. IEEE International Conference on Ubiquitous Wireless Broadband (ICUWB), Nanjing, China, pp. 1\u0026ndash;3, 16\u0026ndash;19 Oct. (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eChakraborty, A., Singh, A., Bohara, V.A., Srivastava, A.: On Estimating the Location and the 3-D Shape of an Object in an Indoor Environment Using Visible Light. IEEE Photonics J. \u003cb\u003e14\u003c/b\u003e(4), 1\u0026ndash;11 (2022)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eAfroza, A., Choudhury, P.: An efficient three-dimensional indoor visible light positioning algorithm using multiple transmitters and single receiver. Results Opt., \u003cb\u003e5\u003c/b\u003e, 4, Article 100169, (2021)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eJovicic, J., Li, Richardson, T.: Visible light communication: opportunities, challenges and the path to market. IEEE Commun. Mag. \u003cb\u003e51\u003c/b\u003e(12), 26\u0026ndash;32 (2013)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eAly, M., El Gamal, M., Ismail, N.: Dark light visible light communication positioning system with received signal strength technique. Opt. Quant. Electron., \u003cb\u003e53\u003c/b\u003e, Article 542, (2021)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eAly, M., El Gamal, M., Ismail, N.: Interactive internet of things based on dark light system for smart room. Opt. Quant. Electron. \u003cb\u003e52\u003c/b\u003e, 439 (2020)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eAly, M., Saleh, S., Nadir, H.: Efficient three-dimensional indoor dark light visible light positioning with received signal strength technique. Opt. Quant. Electron., \u003cb\u003e56\u003c/b\u003e(952), (2024)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eBai, L., Yang, Y., Feng, C., Guo, C.: Received signal strength assisted perspective-three-point algorithm for indoor visible light positioning. Opt. Express. \u003cb\u003e28\u003c/b\u003e(19), 28045\u0026ndash;28059 (2020)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eCai, Y., Guan, W., Wu, Y., Xie, C., Chen, Y., Fang, L.: Indoor high precision three-dimensional positioning system based on visible light communication using particle swarm optimization. IEEE Photonics J. \u003cb\u003e9\u003c/b\u003e(6), 1\u0026ndash;20 (2017)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eNeha, C., Nero, A.L., Ghassemlooy, Z.: Feasibility study of reverse trilateration strategy with a single Tx for VLP, The 2nd West Asian Colloquium on Optical Wireless Communications (WACOWC 2019), pp.121\u0026ndash;126, Apr. (2019)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eDardari, D., Closas, P., Djuri, C.: Indoor tracking: Theory, methods, and technologies. IEEE Trans. Veh. Technol. \u003cb\u003e64\u003c/b\u003e(4), 1263\u0026ndash;1278 (2015)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eDing, W., Yang, F., Yang, H., Wang, J.: A hybrid power line and visible light communication system for indoor hospital applications. Comput. Ind. \u003cb\u003e68\u003c/b\u003e, 170\u0026ndash;178 (2015)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eDo, T., Hwang, J., Yoo, M.: TDOA based indoor visible light positioning systems, In Proc. Fifth International Conference on Ubiquitous and Future Networks (ICUFN), Da Nang, Vietnam, pp. 456\u0026ndash;458, 2\u0026ndash;5 July 2013\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eDu, P., Zhang, S., Chen, C., Alphones, A., Zhong, W.: Demonstration of a low- complexity indoor visible light positioning system using an enhanced TDOA scheme, In Proc. IEEE Photonics Journal, vol. 10, no. 4, Article 7905110, (2018)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eJasman, F., Zaiton, A.M.: Pulse position modulation characterization for indoor visible light communication system, In Proc. Journal of Physics: Conference Series, ICTEC (2019)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eHowell, C., Katz, A.: Applications of bluetooth radio technology and indoor positioning in the hospital, Poster Presented at LVHN Research Scholar Program Poster Session. Lehigh Valley Health Network, Allentown, PA (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eHui, L.: Survey of wireless indoor positioning techniques and systems. IEEE Trans. Syst. Man. Cybern., \u003cb\u003eC 37\u003c/b\u003e(6), 1067\u0026ndash;1080 (2007)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eJeong, E., Kim, D.: Estimated position error compensation in localization using visible light communication, In Proc. Fifth International Conference on Ubiquitous and Future Networks (ICUFN), Da Nang, Vietnam, pp. 470\u0026ndash;471, 2\u0026ndash;5 July 2013\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eJung, S., Hann, S., Park, C.: TDOA-based optical wireless indoor localization using LED ceiling lamps. IEEE Trans. Consum. Electron. Cybern., \u003cb\u003e57\u003c/b\u003e(4), 1592\u0026ndash;1597 (2011)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eJun, X., Maode, M.: AOA cooperative position localization, IEEE GLOBECOM IEEE Global Telecommunications Conference, pp. 1\u0026ndash;5, New Orleans, LA, USA, 2008. (2008)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eKarwa, R., Saluja, I.: Realtime indoor location-based passenger tracking system using Bluetooth beacon for airport authority. Int. J. Res. Appl. Sci. Eng. Technol. Cybern., \u003cb\u003e7\u003c/b\u003e(4), 3617\u0026ndash;3626 (2019)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eKim, Y., Shin, Y., Yoo, M.: VLC-TDOA using sinusoidal pilot signal, In Proc. International Conference on IT Convergence and Security (ICITCS), Macao, China, pp. 1\u0026ndash;3, 16\u0026ndash;18 Dec. (2013)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eKlepeis, N., William, C., Nelson, W.: The national human activity pattern survey (NHAPS): A resource for assessing exposure to environmental pollutants, vol. 11, pp. 231\u0026ndash;252. National Exposure Research Laboratory U.S. Environmental Protection Agency (2001)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eKomine, T., Nakagawa, M.: Fundamental analysis for visible-light communication system using LED lights. IEEE Trans. Consum. Electron. Cybern., \u003cb\u003e50\u003c/b\u003e(1), 100\u0026ndash;107 (2004)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eLi, Q., Wang, J., Huang, T., Wang, Y.: Three-dimensional indoor visible light positioning system with a single transmitter and a single tilted receiver. Opt. Eng., \u003cb\u003e55\u003c/b\u003e, 10, Article 106103, (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eLim, J.: Ubiquitous 3D positioning systems by led-based visible light communications. IEEE Wirel. Commun. Cybern., \u003cb\u003e22\u003c/b\u003e(2), 80\u0026ndash;85 (2015)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eLiu, J., Chen, R., Chen, Y., Pei, L., Chen, L.: An intelligent indoor location-based smartphone parking service. Sensors. Cybern., \u003cb\u003e12\u003c/b\u003e(11), 14612\u0026ndash;14629 (2012)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eLuo, J., Fan, L., Li, H.: Indoor positioning systems based on visible light communication: State of the art, IEEE Communications Surveys and Tutorials, vol. 19, pp. 2871\u0026ndash;2893, (2017)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eMainetti, L., Patrono, Sergi, I.: A survey on indoor positioning systems, In Pro. 22nd International Conference on Software, Telecommunications and Computer Networks (SoftCOM), Split, Croatia, pp. 111\u0026ndash;120, 17\u0026ndash;19 Sep. (2014)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eMatheus, L., Vieira, A., Vieira, L., Vieira, M., Gnawali, O.: Visible light communication: concepts, applications and challenges. IEEE Communication Surv. Tutorials. Cybern., \u003cb\u003e21\u003c/b\u003e(4), 3204\u0026ndash;3237 (2019)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eLi, M., Jiang, F., Pei., C.: Review on positioning technology of wireless sensor networks. Wireless Pers. Commun. Cybern., \u003cb\u003e115\u003c/b\u003e, 2023\u0026ndash;2046 (2020)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eMorteza., A., David, P.: Visible light positioning as a next-generation indoor positioning technology: A tutorial. IEEE Communication Surv. Tutorials. Cybern., \u003cb\u003e26\u003c/b\u003e(4), 2867\u0026ndash;2913 (2024)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003ePeng, Q., Guan, W., Wu, Y., Cai, Y., Xie, C., Wang, P.: Three-dimensional high-precision indoor positioning strategy using Tabu search based on visible light communication. Opt. Eng., \u003cb\u003e57\u003c/b\u003e, 1, Article 16101, (2018)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eQi, P., Pengfei: Three-dimensional high-precision indoor positioning strategy using Tabu search based on visible light communication. Opt. Eng., \u003cb\u003e57\u003c/b\u003e, 1, Article 016101, (2018)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eRuofan wang, Qi, cao: A survey of visible-light-communication-based indoor positioning systems. Opt. Wirel. Commun. Position., \u003cb\u003e11\u003c/b\u003e, (2024)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eSaeed, M.M., Saeed, R.A., Hasan, M.K., et al.: A comprehensive survey on 6G-security: Physical Connection and service layers. Discov Internet Things. Cybern., \u003cb\u003e5\u003c/b\u003e, 28 (2025)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eKarakaya, S., Ocak, H.: Low cost easy-to-install indoor positioning system. J. Intell. Robotic Syst., pp.131\u0026ndash;144, (2020)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eSharifi, H., Kumar, A., Alam, F., Arif, K.M.: Indoor localization of mobile robot with visible light communication, In Proceedings of the 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1\u0026ndash;6, Auckland, New Zealand, 29\u0026ndash;31 August (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eSingh, H.B., Salameh, M., Ayyash, Elagla, H.: A novel VL-based positioning model for obstacle location sensing and 3-D shape detection in crowded indoor networks. IEEE Sens. Lett. Cybern., \u003cb\u003e7\u003c/b\u003e(8), 1\u0026ndash;4 (Aug. 2023)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eSteendam, H.: A 3-D positioning algorithm for AOA-Based VLP with an aperture-based receiver. IEEE J. Sel. Areas Commun. Cybern., \u003cb\u003e36\u003c/b\u003e(1), 23\u0026ndash;33 (2018)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eSun, X., Duan, J., Zou, Y., Shi, A.: Impact of multipath effects on theoretical accuracy of TOA-based indoor VLC positioning system. Photonics Res. Cybern., \u003cb\u003e3\u003c/b\u003e(6), 296\u0026ndash;299 (2015)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eTian, Z., Wrighty, K., Zhou, X.: Lighting up the internet of things with Dark VLC, In Proc. 17th International Workshop on Mobile Computing Systems and Applications, Augustine, FL, USA, pp. 33\u0026ndash;38, 26\u0026ndash;27 Feb. (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eTian, Z., Wrighty, K., Zhou, X.: The dark light rises: Visible light communication in the dark, In Proc. 22 th Annual International Conference on Mobile Computing and Networking, New York, USA, pp. 2\u0026ndash;15, 3\u0026ndash;7 Oct. (2016)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eVinicchayakul, W., Uppahad, R., Supanakoon, P., Promwong, S.: Study on performance of ultra-wideband and narrow band propagation for indoor positioning, In Proc. IEEE 12th International Colloquium on Signal Processing \u0026amp; Its Applications (CSPA), Melaka, Malaysia, pp. 194\u0026ndash;198, 4\u0026ndash;6 March, 2016\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eYang, B., Xin, Z., Weibo, D.: TDOA positioning accuracy analysis based on time difference direction-finding in distributed high‐frequency surface wave radar. IET Radar, Sonar\u0026amp; Navigation (July 2023)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eYang, H., Zhang, S., Chen, C.: An advanced integrated visible light communication and localization system. IEEE Trans. Commun. Cybern., \u003cb\u003e71\u003c/b\u003e(12), 7149\u0026ndash;7162 (2023)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eYang, S., Kim, H., Son, Y., Han, S.: Three-dimensional visible light indoor localization using AOA and RSS with multiple optical receivers. J. Lightwave Technol. Cybern., \u003cb\u003e32\u003c/b\u003e(14), 2480\u0026ndash;2485 (2014)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eYesilirmak, Y., Arsan, T.: 3D indoor positioning with spatial modulation for visible light communications. Opt. Commun., \u003cb\u003e529\u003c/b\u003e, Article 129091, (2023)\u003c/span\u003e\u003c/li\u003e\u003cli\u003e\u003cspan\u003eZhuang, Y., Luchi, H.: A Survey of positioning systems using visible LED lights. IEEE Commun. Surv. Tutorials. Cybern., \u003cb\u003e20\u003c/b\u003e(3), 1963\u0026ndash;1988 (2018)\u003c/span\u003e\u003c/li\u003e\u003c/ol\u003e"}],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":true,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":false,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":false,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Three Dimensional (3D), Indoor Positioning (IP), Visible Light Communication (VLC), Dark Light (DL), Received Signal Strength (RSS)","lastPublishedDoi":"10.21203/rs.3.rs-7534305/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7534305/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eVisible Light Communication (VLC) unidirectional system is one intriguing option for an Indoor Positioning System (IPS). The need on continually active LED lighting, which can lead to needless energy use, especially during times when ambient daylight is adequate, is a major drawback of many current VLC-based IPS implementations. Furthermore, 2D localization has been the focus of most indoor Visible Light Positioning (VLP) research, frequently presuming a fixed receiver height. The impact of height variations, which can create major positional mistakes in real-world applications, is overlooked by this simplification. Additionally, four LEDs are used in the majority of VLP studies, which raises the system's cost.\u003c/p\u003e\u003cp\u003eTo get around the drawbacks of conventional VLC configurations, a 3D IPS is suggested in this paper. For continuous location even when the LEDs look \"OFF\" to the human sight, the system uses a Dark Light VLC (DL-VLC) framework with numerous transmitters and a single receiver. By disregarding the requirement for continuous visible illumination, this method greatly improves energy efficiency. According to simulation results, the suggested system operates within typical room dimensions with a placement error of about 2 cm at 0.6 m receiver. The outcomes are in good agreement with earlier findings, indicating the system's accuracy and feasibility. Additionally, the system cost is reduced by using three LEDs rather than four.\u003c/p\u003e\u003cp\u003eThe main contributions of this work are: i) Three LEDs are being used instead of four LEDs with less localization error which is less expensive, saves more energy and is more efficient, and ii) The localization error is improved by 50% as the system demonstrates a remarkable accuracy, with an average positioning error consistently below 2 cm compared to an error of 3.2 cm when using four LEDs.\u003c/p\u003e","manuscriptTitle":"Enhanced 3-LED 3D Dark Light Indoor Positioning System with Received Signal Strength Technique","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-09-18 10:27:34","doi":"10.21203/rs.3.rs-7534305/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"d588a15b-2594-4039-8ac6-1c1b10ac3718","owner":[],"postedDate":"September 18th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2026-01-08T03:09:57+00:00","versionOfRecord":[],"versionCreatedAt":"2025-09-18 10:27:34","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-7534305","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-7534305","identity":"rs-7534305","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}