notebooks/fsm_simulation_modelling.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "54c992a5",
   "metadata": {},
   "source": [
    "<h1 align=\"center\">Tutorial: Bird by Bird using Finite Automata</h1>\n",
    "<h2 align=\"center\">Finite automata simulation for leveraging AI-assisted systems on object detection</h2>\n",
    "<img src=\"../images/logo_part2.jpg\">"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b044e1c1",
   "metadata": {},
   "source": [
    "## Background and motivation\n",
    "\n",
    "\n",
    "This work is a part of the [Bird by Bird Tech](https://towardsdatascience.com/tagged/bird-by-bird-tech) series and is devoted to modelling and simulation of real-life systems for computer vision applications using finite automata. Here, we are going to create an FSM simulation replicating behavior of an AI-assisted security system for lawn monitoring and cleaning. In particular, we will tackle the task of simulating processes to intelligently manage the coming and going of birds through object detection and water sprinkling subsystems. In the [previous article](https://towardsdatascience.com/bird-by-bird-using-finite-automata-9d50b36bcbd3), you had been introduced to the theory and design principles on finite state machines (FSM) for dealing with the infamous Chicken-and-Turkey (CaT) problem, resulting in the creation of a model that describes complex lawn scenarios at a high level of abstraction. \n",
    "\n",
    "Through this tutorial, we will further investigate the topic of practical aspects of an FSM-based simulation for leveraging the real-life system operation and implement the FSM simulation in Python so that we can later improve it via optimization and XAI techniques. By the end of the tutorial, you'll have a fully functional FSM solution along with a better understanding of simulation modelling for solving engineering problems, such computer vision projects."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "b63f5cfd",
   "metadata": {},
   "outputs": [],
   "source": [
    "!pip install --q ipywidgets tqdm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "f343bd63",
   "metadata": {},
   "outputs": [],
   "source": [
    "# import packages\n",
    "import os\n",
    "import sys\n",
    "import tqdm\n",
    "import numpy as np\n",
    "import pandas as pd\n",
    "import ipywidgets as widgets\n",
    "\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "sys.path.append(os.path.abspath(f'{os.getcwd()}/..'))\n",
    "\n",
    "from src.yard_simulation.target import Target\n",
    "from src.yard_simulation.simulation import YardSimulation\n",
    "\n",
    "from typing import Generator, Optional, Tuple"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "976dc140",
   "metadata": {},
   "source": [
    "## Defining experimental setup"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "ee234d64",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "52265e5e4a60423a81fce72afe317f32",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "IntSlider(value=6, description='start time [hr]', max=12)"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "1bfbdcc91eda48afb12596b0013877c1",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "IntSlider(value=12, description='duration [hr]', max=18, min=1)"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "b6451774880744f49a1ac9b60fd7b837",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "IntText(value=42, description='random seed')"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/vnd.jupyter.widget-view+json": {
       "model_id": "fd9a943642d0434eb3b92559f926f2a9",
       "version_major": 2,
       "version_minor": 0
      },
      "text/plain": [
       "IntText(value=100, description='num trials')"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# define input parameters for simulation\n",
    "sim_start = widgets.IntSlider(value=6, min=0, max=12, description='start time [hr]')  # start of the day (6:00 AM by default)\n",
    "sim_steps = widgets.IntSlider(value=12, min=1, max=24 - sim_start.value, description='duration [hr]')  # simulation steps (12 hours or daytime)\n",
    "num_trials = widgets.IntText(value=100, description='num trials')  # simulation trials\n",
    "random_seed = widgets.IntText(value=42, description='random seed')  # random seed\n",
    "\n",
    "display(sim_start, sim_steps, random_seed, num_trials)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "52d01a01",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Detection matrix baseline (non-trained):\n"
     ]
    },
    {
     "data": {
      "text/html": [
       "<style type=\"text/css\">\n",
       "#T_0595e_row0_col0, #T_0595e_row0_col1, #T_0595e_row0_col2, #T_0595e_row1_col0, #T_0595e_row1_col1, #T_0595e_row1_col2, #T_0595e_row2_col0, #T_0595e_row2_col1, #T_0595e_row2_col2 {\n",
       "  background-color: #abd0e6;\n",
       "  color: #000000;\n",
       "}\n",
       "</style>\n",
       "<table id=\"T_0595e\">\n",
       "  <thead>\n",
       "    <tr>\n",
       "      <th class=\"blank level0\" >&nbsp;</th>\n",
       "      <th id=\"T_0595e_level0_col0\" class=\"col_heading level0 col0\" >chicken_true</th>\n",
       "      <th id=\"T_0595e_level0_col1\" class=\"col_heading level0 col1\" >turkey_true</th>\n",
       "      <th id=\"T_0595e_level0_col2\" class=\"col_heading level0 col2\" >empty_true</th>\n",
       "    </tr>\n",
       "  </thead>\n",
       "  <tbody>\n",
       "    <tr>\n",
       "      <th id=\"T_0595e_level0_row0\" class=\"row_heading level0 row0\" >chicken_pred</th>\n",
       "      <td id=\"T_0595e_row0_col0\" class=\"data row0 col0\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row0_col1\" class=\"data row0 col1\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row0_col2\" class=\"data row0 col2\" >0.333333</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th id=\"T_0595e_level0_row1\" class=\"row_heading level0 row1\" >turkey_pred</th>\n",
       "      <td id=\"T_0595e_row1_col0\" class=\"data row1 col0\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row1_col1\" class=\"data row1 col1\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row1_col2\" class=\"data row1 col2\" >0.333333</td>\n",
       "    </tr>\n",
       "    <tr>\n",
       "      <th id=\"T_0595e_level0_row2\" class=\"row_heading level0 row2\" >empty_pred</th>\n",
       "      <td id=\"T_0595e_row2_col0\" class=\"data row2 col0\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row2_col1\" class=\"data row2 col1\" >0.333333</td>\n",
       "      <td id=\"T_0595e_row2_col2\" class=\"data row2 col2\" >0.333333</td>\n",
       "    </tr>\n",
       "  </tbody>\n",
       "</table>\n"
      ],
      "text/plain": [
       "<pandas.io.formats.style.Styler at 0x7fec683c6670>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# define detection matrix for a baseline CV-based bird detector\n",
    "detector_matrix = np.full((len(Target),) * 2, len(Target) ** -1)\n",
    "\n",
    "print('Detection matrix baseline (non-trained):')\n",
    "display(\n",
    "    pd.DataFrame(\n",
    "        detector_matrix,\n",
    "        columns=[f'{n.lower()}_true' for n in Target._member_names_],\n",
    "        index=[f'{n.lower()}_pred' for n in Target._member_names_]\n",
    "    ).style.background_gradient(\n",
    "        vmin=0,\n",
    "        vmax=1,\n",
    "        cmap='Blues'\n",
    "    )\n",
    ")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b33d2cd1",
   "metadata": {},
   "source": [
    "## Simulation runs and assessment of state transitions"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "51ba8553",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\t06:01: Spawn\n",
      "\t06:02: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:03: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:04: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:05: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:06: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:08: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:09: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:10: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:11: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:12: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:13: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t06:14: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:15: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:16: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:17: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:18: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t06:19: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:21: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:22: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:24: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:25: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:26: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:27: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t06:28: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:29: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:30: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t06:31: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:32: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t06:33: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:34: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t06:35: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:36: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:37: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:38: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:39: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:41: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:43: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:45: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:46: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:47: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t06:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:49: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:50: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t06:51: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t06:52: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t06:53: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t06:54: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:55: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t06:56: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:57: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t06:58: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t06:59: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:01: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:02: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:03: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:04: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:05: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:06: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:07: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:08: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:09: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:10: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:11: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t07:12: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:13: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:14: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:15: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:16: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:17: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:18: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:19: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t07:20: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:21: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:22: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:24: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t07:25: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t07:26: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:27: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:28: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:29: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:30: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:31: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:33: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t07:34: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:35: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:36: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:37: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:38: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:39: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t07:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:41: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:42: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:43: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:44: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:45: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:46: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:47: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:48: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:49: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t07:50: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t07:51: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t07:52: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t07:53: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:54: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:55: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t07:56: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t07:57: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t07:58: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t07:59: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:00: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:01: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t08:02: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:04: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:05: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:06: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:08: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:09: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:10: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:11: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:12: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:13: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:14: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:15: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:16: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:17: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:18: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:19: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:20: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:22: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t08:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:24: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:25: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:26: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:27: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:28: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:29: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:30: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:31: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:33: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:34: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:35: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:36: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:37: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t08:38: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:39: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:40: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:41: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t08:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:43: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:45: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:46: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:47: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:48: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:49: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t08:50: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t08:51: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:52: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t08:53: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t08:54: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:55: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t08:56: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t08:57: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:58: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t08:59: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:00: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t09:01: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t09:02: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t09:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:04: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:05: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t09:06: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:07: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:08: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:09: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:10: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:11: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:12: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:13: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:14: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:15: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:16: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:17: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:18: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:19: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t09:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t09:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:22: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:23: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:24: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:25: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:26: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:27: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:28: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:29: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:30: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:31: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:32: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:33: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:34: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:35: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:36: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t09:37: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:38: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:40: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t09:41: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:42: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:43: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:45: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:46: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t09:47: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:49: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:50: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:51: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:52: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:53: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:54: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t09:55: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:56: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t09:57: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t09:58: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t09:59: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:00: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t10:01: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:02: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:04: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t10:05: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:06: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:08: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t10:09: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:10: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:11: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:12: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t10:13: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:14: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:15: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:16: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:17: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:18: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:19: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t10:21: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:22: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:23: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:24: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:25: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:26: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:27: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:28: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:29: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:30: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:31: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:33: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:34: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:35: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:36: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t10:37: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:38: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t10:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:41: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:42: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:43: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:45: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:46: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:47: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t10:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:49: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:50: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:51: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:52: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:53: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t10:54: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t10:55: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t10:56: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t10:57: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:58: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t10:59: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t11:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:01: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:02: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:03: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:04: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:05: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:06: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:08: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:09: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:10: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:11: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:12: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:13: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:14: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:15: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:16: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:17: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:18: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:19: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:21: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:22: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:23: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:24: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:25: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t11:26: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:27: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:28: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:29: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:30: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:31: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:32: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:33: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:34: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:35: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:36: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:37: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:38: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:40: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:41: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:42: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:43: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:44: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:45: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t11:46: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:47: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:49: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:50: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:51: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t11:52: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t11:53: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:54: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:55: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t11:56: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t11:57: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:58: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t11:59: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:01: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:02: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:04: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:05: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:06: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:07: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:08: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:09: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:10: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:11: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:12: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:13: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:14: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:15: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:16: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:17: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t12:18: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:19: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:20: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:21: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:22: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:23: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:24: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:25: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:26: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t12:27: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:28: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:29: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:30: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:31: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:33: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t12:34: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:35: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:36: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:37: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:38: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:41: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:43: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t12:44: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:45: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:46: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t12:47: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:48: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t12:49: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:50: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:51: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:52: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:53: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:54: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t12:55: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t12:56: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t12:57: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t12:58: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t12:59: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:01: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:02: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:04: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:05: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:06: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:08: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:09: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:10: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:11: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:12: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:13: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:14: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:15: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:16: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t13:17: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t13:18: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:19: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:20: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:22: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:23: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:24: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:25: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:26: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:27: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:28: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:29: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:30: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t13:31: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:32: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t13:33: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:34: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:35: Empty -> NotDetected -> NotAttacked -> Leaving -> Spawn\n",
      "\t13:36: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:37: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:38: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:40: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:41: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:43: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:45: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t13:46: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t13:47: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:49: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:50: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:51: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t13:52: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:53: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:54: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:55: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:56: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t13:57: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t13:58: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t13:59: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t14:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:01: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:02: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:03: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:04: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t14:05: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:06: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:08: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:09: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t14:10: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:11: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:12: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:13: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:14: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:15: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:16: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t14:17: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:18: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:19: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t14:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t14:21: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:22: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t14:24: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:25: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:26: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:27: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:28: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:29: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:30: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t14:31: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t14:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:33: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:34: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t14:35: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:36: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t14:37: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:38: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:41: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t14:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:43: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t14:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:45: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:46: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:47: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:48: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:49: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t14:50: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:51: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:52: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t14:53: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t14:54: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:55: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t14:56: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t14:57: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t14:58: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t14:59: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:00: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t15:01: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:02: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:03: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:04: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t15:05: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:06: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:07: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:08: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:09: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:10: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:11: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:12: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t15:13: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:14: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:15: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:16: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t15:17: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:18: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t15:19: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t15:20: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:22: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t15:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:24: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:25: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:26: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:27: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t15:28: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:29: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t15:30: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:31: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:32: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:33: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t15:34: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:35: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:36: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:37: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:38: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:39: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:41: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:43: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t15:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:45: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t15:46: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t15:47: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:49: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:50: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:51: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:52: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:53: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:54: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:55: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:56: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:57: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t15:58: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t15:59: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:00: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:01: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:02: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t16:03: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:04: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:05: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:06: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t16:07: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:08: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:09: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t16:10: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:11: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:12: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:13: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t16:14: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:15: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:16: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:17: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t16:18: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t16:19: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t16:20: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:22: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t16:23: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:24: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:25: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:26: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:27: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:28: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:29: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:30: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:31: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t16:32: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t16:33: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:34: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:35: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:36: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t16:37: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t16:38: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:39: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:40: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:41: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:42: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:43: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t16:44: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:45: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:46: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:47: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t16:48: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:49: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:50: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:51: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:52: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:53: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:54: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:55: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t16:56: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:57: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t16:58: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t16:59: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:00: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t17:01: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:02: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:03: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:04: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:05: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t17:06: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t17:07: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t17:08: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:09: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:10: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:11: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:12: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:13: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:14: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:15: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:16: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:17: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:18: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:19: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:20: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:21: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:22: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:23: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:24: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:25: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:26: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:27: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:28: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:29: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t17:30: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:31: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:32: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:33: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:34: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:35: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:36: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:37: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:38: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> Attacked -> Spawn\n",
      "\t17:39: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:40: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:41: Intrusion -> NotDetected -> Attacking -> Attacked -> Leaving -> Spawn\n",
      "\t17:42: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:43: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:44: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:45: Empty -> NotDetected -> NotAttacked -> Spawn\n",
      "\t17:46: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:47: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:48: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:49: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:50: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:51: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:52: Intrusion -> Detected -> Sprinkling -> Miss -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:53: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:54: Intrusion -> Detected -> Sprinkling -> Hit -> Leaving -> Spawn\n",
      "\t17:55: Empty -> Detected -> Sprinkling -> Miss -> Spawn\n",
      "\t17:56: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:57: Intrusion -> NotDetected -> Attacking -> Attacked -> Spawn\n",
      "\t17:58: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Spawn\n",
      "\t17:59: Intrusion -> NotDetected -> Attacking -> NotAttacked -> Leaving -> Spawn\n",
      "\t18:00: End\n"
     ]
    }
   ],
   "source": [
    "def run_simulation(\n",
    "    detector_matrix: np.ndarray,\n",
    "    num_steps: int,\n",
    "    start_time: int,\n",
    "    seed: Optional[int] = None,\n",
    ") -> YardSimulation:\n",
    "    \"\"\"\n",
    "    Run the FSM simulation and print state transitions that the FSM undergoes at every timestep.\n",
    "    \"\"\"\n",
    "\n",
    "    # convert to mins for nice prints\n",
    "    num_steps *= 60\n",
    "    start_time *= 60\n",
    "\n",
    "    \n",
    "    # instantiate a simulation object\n",
    "    sim = YardSimulation(\n",
    "        detector_matrix=detector_matrix,\n",
    "        num_steps=num_steps, seed=seed\n",
    "    )\n",
    "    \n",
    "    # run simulation and print state transitions \n",
    "    for step_idx, states in sim.run():\n",
    "        sod_adjusted = start_time + step_idx\n",
    "        h = sod_adjusted // 60\n",
    "        m = sod_adjusted - (h * 60)\n",
    "        print(\n",
    "            f'\\t{h:0>2}:{m:0>2}: {\" -> \".join(map(str, states))}'\n",
    "        )\n",
    "\n",
    "    return sim\n",
    "\n",
    "\n",
    "# run simulation given input parameters\n",
    "sim = run_simulation(\n",
    "    detector_matrix=detector_matrix,\n",
    "    num_steps=sim_steps.value,\n",
    "    start_time=sim_start.value,\n",
    "    seed=random_seed.value\n",
    ")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "6536fea8",
   "metadata": {},
   "source": [
    "## Simulation output statistics tracking"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "65ed7ed8",
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "def gather_statistics(\n",
    "    detector_matrix: np.ndarray,\n",
    "    num_steps: int,\n",
    "    num_trials: int,\n",
    "    hit_proba: float = 0.8\n",
    ") -> Generator:\n",
    "    \"\"\" \n",
    "    Return Counter generator for output water usage for target sprinkling and lawn cleaning across targets.\n",
    "    Output example: \n",
    "       (Counter({<Target.CHICKEN: 0>: 600, <Target.TURKEY: 1>: 1106}),\n",
    "        Counter({<Target.CHICKEN: 0>: 636, <Target.TURKEY: 1>: 1071})).\n",
    "    \"\"\"\n",
    "    yield from zip(\n",
    "        *map(\n",
    "            lambda _, stats: stats,\n",
    "            *zip(\n",
    "                *map(\n",
    "                    lambda sim: (\n",
    "                        list(sim.run()),\n",
    "                        (\n",
    "                            sim.water_consumption,\n",
    "                            sim.lawn_damage,\n",
    "                        )\n",
    "                    ),\n",
    "                    (\n",
    "                        YardSimulation(\n",
    "                            detector_matrix=detector_matrix,\n",
    "                            num_steps=num_steps,\n",
    "                            hit_proba=hit_proba\n",
    "                        )\n",
    "                        for _ in tqdm.trange(\n",
    "                            num_trials\n",
    "                        )\n",
    "                    )\n",
    "                )\n",
    "            )\n",
    "        )\n",
    "    )\n",
    "\n",
    "\n",
    "def aggregate_statistics(\n",
    "    detector_matrix: np.ndarray,\n",
    "    num_steps: int,\n",
    "    num_trials: int,\n",
    "    hit_proba: float = 0.8\n",
    ") -> np.ndarray:\n",
    "    \"\"\"\n",
    "    Return aggregated-by-targets water usage for target sprinkling and lawn cleaning.\n",
    "    Output example: [[1701 1646] [1798 1414]].\n",
    "    \"\"\"\n",
    "    return np.array(\n",
    "        list(\n",
    "            zip(\n",
    "                *map(\n",
    "                    lambda *stats: map(lambda rs: sum(rs.values()), stats),\n",
    "                    *gather_statistics(\n",
    "                        detector_matrix=detector_matrix,\n",
    "                        num_steps=num_steps,\n",
    "                        num_trials=num_trials,\n",
    "                        hit_proba=hit_proba\n",
    "                    )\n",
    "                )\n",
    "            )\n",
    "        )\n",
    "    ).T"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "a86c8f64",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 100/100 [00:00<00:00, 2095.19it/s]\n"
     ]
    }
   ],
   "source": [
    "# compute simulation output statistics for the baseline detector \n",
    "water_usage_baseline = aggregate_statistics(\n",
    "    detector_matrix,\n",
    "    num_steps=sim_steps.value,\n",
    "    num_trials=num_trials.value\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "306a3bc0",
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 100/100 [00:00<00:00, 1874.50it/s]\n"
     ]
    }
   ],
   "source": [
    "# define detection matrix for a perfect CV-based detector\n",
    "detector_matrix_perfect = np.eye(len(Target))\n",
    "\n",
    "# compute simulation statistics for the perfect detector \n",
    "water_usage_perfect = aggregate_statistics(\n",
    "    detector_matrix_perfect,\n",
    "    num_steps=sim_steps.value,\n",
    "    num_trials=num_trials.value\n",
    ")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "3fc233a5",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 700x300 with 2 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# compare simulation output statistics related to the water usage\n",
    "total_usage_baseline = np.sum(water_usage_baseline, axis=1)\n",
    "total_usage_perfect = np.sum(water_usage_perfect, axis=1)\n",
    "\n",
    "water_base_mean, water_base_std = np.mean(total_usage_baseline), np.std(total_usage_baseline)\n",
    "water_perfect_mean, water_perfect_std = np.mean(total_usage_perfect), np.std(total_usage_perfect)\n",
    "\n",
    "# display distribution of the simulation statistics across experiments\n",
    "fig, (a, b) = plt.subplots(1, 2, figsize=(7, 3), sharex=True, sharey=True)\n",
    "fig.suptitle(f'Simulation output statistics (N={num_trials.value}; Mean±SD)')\n",
    "\n",
    "label=['water sprinkling', 'lawn cleaning']\n",
    "\n",
    "bins = np.arange(0, 81, 6)\n",
    "a.hist(water_usage_baseline, bins=bins, histtype='bar',label=label)\n",
    "b.hist(water_usage_perfect, bins=bins, histtype='bar',label=label)\n",
    "a.set_title('Detector baseline ({:.1f}±{:.1f})'.format(water_base_mean, water_base_std))\n",
    "b.set_title('Detector perfect ({:.1f}±{:.1f})'.format(water_perfect_mean, water_perfect_std))\n",
    "a.set_ylabel('frequency')\n",
    "\n",
    "for ax in fig.axes:\n",
    "    ax.set_xlabel('water usage')\n",
    "\n",
    "a.legend(loc=2)\n",
    "plt.tight_layout()\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "42ce8949",
   "metadata": {},
   "source": [
    "## Conclusions\n",
    "To sum up, simulation modelling is a useful tool that can be used to estimate efficiency of processes, enable rapid testing of anticipated changes, and understand how to improve processes through operation and maintenance. Through this article, you have gained a better understanding on practical applications of simulation modelling for solving engineering problems. In particular, we've covered the following:\n",
    "\n",
    "* How to design a model to approximate a complex system to improve its operation on bird detection and water sprinkling.\n",
    "* How to create a simulation of real-world processes to understand the CaT-system behavior under various conditions.\n",
    "* How to implement an FSM-based solution in Python for the system to track relevant statistics of the simulation.\n",
    "\n",
    "## Outlook\n",
    "\n",
    "Focusing on improving resource efficiency, in the follow-up articles, you will discover how to address a non-analytic optimization problem of the water cost reduction by applying Monte-Carlo and eXplainable AI (XAI) methods for leveraging the AI-assisted lawn security system on bird detection. What are other important concepts in simulation modelling and optimization for vision projects? Find out more on [Bird by Bird Tech](https://towardsdatascience.com/tagged/bird-by-bird-tech).\n",
    "___\n",
    "\n",
    "Except as otherwise noted, the content of the above materials is licensed under the Creative Commons Attribution Non Commercial 4.0 International, and code samples are licensed under the Apache 2.0 License."
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}