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A Review of Mobile Robot Navigation System for Volcano Monitoring Application 移动机器人导航系统在火山监测中的应用综述
Pub Date : 2021-11-05 DOI: 10.5614/ijp.v32i1.300
M. Evita
Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.
火山是包括岩浆、喷发、火山大厦及其地下室在内的地质环境。对于火山爆发后的持续监测,可以提出一种移动机器人作为替代方案,以防止对进行近距离监测的火山学家产生危险影响。本文根据机器人结构的不同,将机器人分为足式、履带式和轮式三种类型。同时,根据火山条件,分环境测绘、轨迹设计、运动控制和避障4个步骤实现了导航系统。这些导航系统还在不同的地点进行了测试:室内、室外和真实的火山,对这些机器人进行了不同的测试方法。从轨迹、速度、倾斜角、侧翻角、侧滑角等运动学参数对试验结果进行了讨论。
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引用次数: 0
Comparation of Pressed Powder Pellet and Fused Glass Bead Preparation Techniques for Mayor Elements Analysis of Rock Samples using X-Ray Fluorescence (XRF) 用x射线荧光(XRF)分析岩石样品中主要元素的压制粉末球团和熔融玻璃球制备技术的比较
Pub Date : 2020-09-23 DOI: 10.5614/itb.ijp.2020.31.2.4
A. Rohiman, Agus Saiful Arifin
The composition of chemical elements in rock samples can be used as a tool for classifying rock types, predicting the depositional environment, rock age, and the tectonic environment in which the rock is formed. X-Ray Fluorescence (XRF) is one of the instruments used to analyze rock samples. The advantage of using XRF analysis is that the analysis process can be done more quickly, easily, accurately, and does not damage the sample. However, before measurements are made using the XRF instrument it needs to be supported by an appropriate sample preparation process. In this study, optimal conditions in the standard (CRM) rock sample preparation of GBW 07105 and JR-1 have been studied. The parameters studied were variations in the composition ratio of Cellulose Mycro Crystalin (CMC) with standard (CRM) samples, namely 1: 4 and 1: 3. The technique of mixing the sample is done by using a mortar grinder and a shaker. Optimization of sample preparation was carried out using pressed powder pellet and fused glass bead techniques. Based on the data obtained from the analysis results the best ratio of binders to standard samples is 1: 3. The pressed powder pellet preparation technique is the best technique in analyzing samples using the X-Ray Fluorescence method. Further studies also need to be carried out to analyze minor elements and traces (REEs).
岩石样品中的化学元素组成可以作为划分岩石类型、预测岩石沉积环境、岩石年龄和岩石形成的构造环境的工具。x射线荧光(XRF)是用于分析岩石样品的仪器之一。使用XRF分析的优点是分析过程可以更快、更容易、更准确地完成,并且不会损坏样品。然而,在使用XRF仪器进行测量之前,需要通过适当的样品制备过程来支持。本文对GBW 07105和JR-1标准岩样的最佳制备条件进行了研究。研究了纤维素微晶素(CMC)与标准样品(CRM)组成比例的变化,即1:4和1:3。混合样品的技术是用砂浆研磨机和振动筛来完成的。采用压粉球法和熔融玻璃球法对样品制备工艺进行了优化。根据分析结果得到的数据,粘结剂与标准样品的最佳配比为1:3。压制粉末颗粒制备技术是x射线荧光法分析样品的最佳技术。还需要进行进一步的研究来分析微量元素和痕量元素(ree)。
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引用次数: 2
Performance Evaluation of Ceramic Filters for Raw Water Treatment 原水处理陶瓷过滤器的性能评价
Pub Date : 2020-09-02 DOI: 10.5614/itb.ijp.2020.31.2.2
Fahriza Fawwas Asrory, A. Prasetya, W. Wilopo
The drought that engulfs Gunungkidul every year forces some residents to use surface water resources in the lake or water sources in the cave even though the quality has not been tested. The application of ceramic filter technology as a household-scale water purification tool is a form of preventing further water contamination and reduces the level of the disease occurs due to the influence of biological and chemical contamination contained in water. This study aims to make ceramic filters and evaluate the performance of these filters by testing four parameters namely turbidity, hardness, E.coli, and Total Coliform. This study uses three filters, namely Pelita Indonesia (F1) production filter as a comparison filter, Kasongan Yogyakarta production filter with a composition of 80% (clay and sand) with a ratio of 1:1 and 20% wood sawdust with the addition of Silver Nitrate (AgNO3) ( F2), and Kasongan production filter with a composition of 100% clay mixed with sand without the addition of sawdust and Silver Nitrate (AgNO3) (F3). Sampling was carried out 15 times for 15 days by testing the water before and after going through the filtration process. The percentage reduction in the average for the turbidity parameter, (F1) was 38.24%, (F2) was 34.16%, and (F3) was 37.18%. The hardness parameter, (F1) is 22.22%, (F2) is 11.24%, and (F3) is 10.93%. The parameters of E.coli, (F1) are 100%, (F2) are 98.66%, and the filter with the composition of clay, sand (F3) is 46.71%. The Total Coliform (F1) parameter was 87.62%, (F2) was 69.38%, and (F3) was 51.32%. The application of ceramic filters can be done by looking at the ability of the filter to reduce the contamination contained in water. The addition of silver nitrate (AgNO3) must be done to reduce microbiological contamination.
由于每年都发生的干旱,一些居民不得不在没有进行水质检测的情况下,使用湖中的地表水或洞穴内的水源。陶瓷过滤器技术作为一种家用净水工具的应用,是一种防止水源进一步污染的形式,降低了由于水中所含的生物和化学污染物的影响而发生疾病的程度。本研究旨在制作陶瓷过滤器,并通过检测浊度、硬度、大肠杆菌和总大肠菌群四个参数来评价这些过滤器的性能。本研究使用三种过滤器,即Pelita Indonesia (F1)生产过滤器作为比较过滤器,Kasongan Yogyakarta生产过滤器组成为80%(粘土和沙子),比例为1:1,20%木屑添加硝酸银(AgNO3) (F2), Kasongan生产过滤器组成为100%粘土混合沙子,不添加木屑和硝酸银(AgNO3) (F3)。在15天内进行了15次采样,对过滤前后的水进行了测试。浊度参数的平均值降低百分比,(F1)为38.24%,(F2)为34.16%,(F3)为37.18%。硬度参数(F1)为22.22%,(F2)为11.24%,(F3)为10.93%。大肠杆菌(F1)参数为100%,(F2)参数为98.66%,粘土、砂土组成的过滤器(F3)参数为46.71%。总大肠菌群(F1)为87.62%,(F2)为69.38%,(F3)为51.32%。陶瓷过滤器的应用可以通过观察过滤器减少水中所含污染物的能力来判断。为了减少微生物污染,必须添加硝酸银(AgNO3)。
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引用次数: 0
Surface Deformation Monitoring Using Time-lapse Microgravity Method in Central and East Lombok Regencies 龙目岛中部和东部地区地表变形时移微重力法监测
Pub Date : 2020-08-19 DOI: 10.5614/itb.ijp.2020.31.2.3
S. Minardi, T. Ardianto, A. T. Alaydrus
Surface deformation is a natural occurrence on the surface of the earth. The deformation can be in the form of subsidence or uplifting of the land surface. In this research, an time-lapse microgravity method will be applied to monitor surface deformation that occurs in Central Lombok and East Lombok Districts. The method of time-lapse microgravity is repetitive gravity measurement at the same point with a certain time interval, the measured magnitude is a change in the value of the acceleration of gravity and the microGal scale. Measurements were made in August 2016, April 2018, and June 2019. The measured value of the change in gravitational acceleration is the superposition of the changes caused by subsurface and surface sources. Separation of the two values is carried out using striping filter, which takes into account the ratio of density, thickness, and depth of the surface and subsurface layers. Land subsidence occurred during the period August 2016 to April 2018 and land uplifting occurred during the April 2018 to June 2019 period. This land subsidence occurred due to natural compacting and minor tectonic activity (small earthquakes that were not felt) while land uplifting was occurred due to major tectonic activities, in the form of the Lombok Earthquake in July to September 2018.
地表变形是地球表面的自然现象。这种变形可以表现为地表的下沉或隆起。在本研究中,将采用延时微重力方法监测龙目岛中部和龙目岛东部地区的地表变形。延时微重力法是以一定的时间间隔在同一点进行重复的重力测量,测量的量级是重力加速度值与微加仑标度的变化。测量分别于2016年8月、2018年4月和2019年6月进行。重力加速度变化的测量值是地下源和地表源引起的变化的叠加。这两个值的分离是使用条形滤波器进行的,该滤波器考虑了表层和亚表层的密度、厚度和深度的比例。2016年8月至2018年4月期间发生了地面沉降,2018年4月至2019年6月期间发生了地面隆起。这种地面沉降是由于自然压实和轻微的构造活动(没有感觉到的小地震)造成的,而陆地隆起是由于大型构造活动造成的,以2018年7月至9月的龙目岛地震的形式出现。
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引用次数: 0
Face Detection Based On Eye-Mouth Triangular Approach 基于眼-口三角方法的人脸检测
Pub Date : 2020-08-11 DOI: 10.5614/itb.ijp.2020.31.2.1
Deni Kartika, S. Suprijadi
Human face is a complex and dynamic structure. It is a challenge to be able to make a face recognition system like humans. At the beginning of its development, many facial recognition studies only focused on facial features. In 1991, Turk and Pentland developed a face recognition system based on Principal Component Analysis named eigenface. This system is very efficient because it only focuses on components that most affect facial image. However, this system has weaknesses, which cannot be used to determine the position of the face. In this final project, image processing methods will be carried out to detect faces in digital images. The method used is eye mouth triangular approach with the steps being taken are skin detection, eye detection, mouth detection, and facial confirmation. From the results of a hundred digital color images tested, there were 82 images that were successfully detected. The main system failure is caused by failure in skin detection. Further development is needed so that the system can work optimally.
人脸是一个复杂的动态结构。能够做出像人类一样的人脸识别系统是一个挑战。在其发展之初,许多面部识别研究只关注面部特征。1991年,Turk和Pentland开发了一种基于主成分分析的人脸识别系统,称为特征脸。这个系统非常高效,因为它只关注对面部图像影响最大的部分。然而,该系统也有缺点,不能用于确定人脸的位置。在这个最终的项目中,将使用图像处理方法来检测数字图像中的人脸。所采用的方法为眼口三角入路,其步骤为皮肤检测、眼口检测、口口检测和面部确认。在测试的100张数字彩色图像中,有82张图像被成功检测出来。主要的系统故障是由皮肤检测失败引起的。需要进一步的开发,使系统能够最佳地工作。
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引用次数: 0
Three-dimensional (X-Y-Z) Core Design of Long-Life Pressurized Water Reactor Using (Th-U)O2 Fuels with The Addition of Gd2O3 and Pa-231 as Burnable Poisons 添加Gd2O3和Pa-231作为可燃毒物的(Th-U)O2燃料长寿命压水堆三维(X-Y-Z)堆芯设计
Pub Date : 2020-06-05 DOI: 10.5614/itb.ijp.2021.31.1.3
D. Hariyanto, S. Permana
Pressurized water reactors (PWRs) are one of the most dominant types of nuclear power plants that have been operated commercially to produce electricity in the world. The purpose of this study was to perceive a three-dimensional (X-Y-Z) core design of long-life PWR using Thorium-Uranium dioxide ((Th-U)O2) fuels with the addition of Gadolinium (Gd2O3) and Protactinium-231 (Pa-231) as the burnable poisons. A combination of Thorium and enriched Uranium fuels have a higher conversion ratio than other fuels, therefore can guarantee the reactor to operate longer. The burnable poison isotopes could be used to reduce excess reactivity due to the very high thermal neutron absorption cross-section. For core geometry analysis, a three-dimensional (X-Y-Z) geometry and a fuel volume fraction of 40% were applied. The computer code of SRAC 2006 from the Japan Atomic Energy Agency (JAEA) and the JENDL 4.0 as a nuclear data library were used for calculation. In this study, different fractions of Uranium dioxide, Uranium-235, Gadolinium, and Protactinium-231 in fuel were carried out. The result of this study was a three-dimensional core design of 800 MWt PWR using 60% Uranium dioxide fuel with enriched Uranium-235 of 12%-11% and the addition of 0,025% Gd2O3 and 1,0% Pa-231 which could operate for ten years without refueling. This research is expected to be a reference for long-life PWR design using the Thorium and Uranium fuel cycles.
压水堆(PWRs)是世界上最主要的商业运行的核电站之一。本研究的目的是利用钍-二氧化铀((Th-U)O2)燃料,添加钆(Gd2O3)和镤-231 (Pa-231)作为可燃毒物,对长寿命压水堆进行三维(X-Y-Z)核心设计。钍和浓缩铀燃料的组合比其他燃料具有更高的转换率,因此可以保证反应堆运行更长时间。可燃毒性同位素由于具有很高的热中子吸收截面,可用于降低过量反应性。对于堆芯几何分析,采用三维(X-Y-Z)几何形状,燃料体积分数为40%。计算采用日本原子能机构(JAEA)的SRAC 2006计算机代码和JENDL 4.0作为核数据库。在本研究中,对燃料中二氧化铀、铀-235、钆和镤-231的不同馏分进行了研究。研究结果为800 MWt压水堆三维堆芯设计,该堆芯采用60%二氧化铀燃料,铀235浓度为12% ~ 11%,Gd2O3添加量为0.025%,Pa-231添加量为1.0%,可运行10年,无需换料。本研究可为钍铀燃料循环的长寿命压水堆设计提供参考。
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引用次数: 0
Faddeev-Popov Ghost and BRST Symmetry in Yang-Mills Theory 杨-米尔斯理论中的Faddeev-Popov鬼影和BRST对称性
Pub Date : 2020-02-11 DOI: 10.5614/itb.ijp.2021.31.1.5
Edyharto Yanuwar, J. Kosasih
Ghost fields arise from the quantization of the gauge field with constraints (gauge fixing) through the path integral method. By substituting a form of identity, an effective propagator will be obtained from the gauge field with constraints and this is called the Faddeev-Popov method. The Grassmann odd properties of the ghost field cause the gauge transformation parameter to be Grassmann odd, so a BRST transformation is defined. Ghost field emergence with Grassmann odd properties can also be obtained through the least action principle with gauge transformation, and thus the relations between the BRST transformation parameters and the ghost field is obtained.
虚场是通过路径积分法对规范场进行有约束(规范固定)的量化而产生的。通过代入一种形式的单位元,从有约束的规范场中得到一个有效的传播子,这称为faddev - popov方法。由于鬼场的格拉斯曼奇特性,使得规范变换参数为格拉斯曼奇,因此定义了BRST变换。通过规范变换的最小作用原理也可以得到具有格拉斯曼奇性质的鬼场出现,从而得到BRST变换参数与鬼场之间的关系。
{"title":"Faddeev-Popov Ghost and BRST Symmetry in Yang-Mills Theory","authors":"Edyharto Yanuwar, J. Kosasih","doi":"10.5614/itb.ijp.2021.31.1.5","DOIUrl":"https://doi.org/10.5614/itb.ijp.2021.31.1.5","url":null,"abstract":"Ghost fields arise from the quantization of the gauge field with constraints (gauge fixing) through the path integral method. By substituting a form of identity, an effective propagator will be obtained from the gauge field with constraints and this is called the Faddeev-Popov method. The Grassmann odd properties of the ghost field cause the gauge transformation parameter to be Grassmann odd, so a BRST transformation is defined. Ghost field emergence with Grassmann odd properties can also be obtained through the least action principle with gauge transformation, and thus the relations between the BRST transformation parameters and the ghost field is obtained.","PeriodicalId":13535,"journal":{"name":"Indonesian Journal of Physics","volume":"82 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77251891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Neutronic Analysis of Small Long-Life Pressurized Water Reactor Using (Th-U)O2 Fuels with Gd2O3 and Pa-231 as Burnable Poisons 以Gd2O3和Pa-231为可燃毒物的(Th-U)O2燃料的小型长寿命压水堆中子分析
Pub Date : 2020-02-03 DOI: 10.5614/itb.ijp.2021.31.1.2
D. Hariyanto, N. Yuningsih, S. Permana
The requirement for electricity increases with the growth of the human population. The existing power plants have not been able to fulfill all electricity requirements, especially in remote areas. The small long-life pressurized water reactor (PWR) is one of the solutions and innovations in nuclear technology that can produce electrical energy for a long time without refueling. This study aimed to analyze the neutronic of small long-life PWR that using Thorium-Uranium dioxide ((Th-U)O2) fuels with enriched Uranium-235 (U-235) and the addition of Gadolinium (Gd2O3) and Protactinium-231 (Pa-231) as the burnable poisons. The SRAC Code with the JENDL-4.0 nuclear data library had been used for the calculation method. In this study, the geometry of the two-dimensional (R-Z) reactor core with different fuel volume fraction was analyzed. Moreover, variations of the Uranium-235, Gadolinium, and Protactinium-231 fractions in the fuels were carried out. The result in this study was a PWR 420 MWt design using 60% Uranium dioxide fuel with enriched Uranium-235 of 10%-11%-12% and the addition of 0,0125% Gadolinium and 1,0% Protactinium-231 as the burnable poisons that could operate for thirteen years without refueling. The small long-life PWR design could produce a power density of 85,1 watts/cc with the reactivity for less than 4,6% dk/k.
随着人口的增长,对电力的需求也在增加。现有的发电厂已经不能满足所有的电力需求,特别是在偏远地区。小型长寿命压水堆(PWR)是核能技术的解决方案和创新之一,可以在不加油的情况下长时间产生电能。本研究旨在分析以铀-235 (U-235)为浓缩铀,添加钆(Gd2O3)和镤-231 (Pa-231)为可燃毒物的钍-二氧化铀(Th-U)O2为燃料的小型长寿命压水堆的中子。计算方法采用了带有JENDL-4.0核数据库的SRAC代码。本文对二维(R-Z)堆芯在不同燃料体积分数下的几何形状进行了分析。此外,还进行了燃料中铀-235、钆和镤-231馏分的变化。这项研究的结果是一个420 MWt的压水堆设计,使用60%的二氧化铀燃料,浓缩铀-235为10%-11%-12%,添加0.0125%的钆和1.0%的Protactinium-231作为可燃毒物,可以运行13年而无需加油。小型长寿命压水堆设计可以产生85.1瓦/cc的功率密度,反应性低于4.6% dk/k。
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引用次数: 0
Measurement of Oxygen Concentration in Static and Flowing Liquid Pb-Bi by Using Zirconia Based Sensor 用氧化锆基传感器测量静态和流动液态铅铋中的氧浓度
Pub Date : 2020-01-21 DOI: 10.5614/itb.ijp.2021.31.1.1
P. Adhi, Dianta Mustofa Kamal, M. Muslimin, Andrei Vilcu, M. Kondo, Minoru Takahashi
Liquid Lead-Bismuth Eutectic (LBE) has been proposed as one of the coolant for the Generation IV nuclear reactor. However, the oxygen should be controlled adequately to suppress the corrosion rate of the LBE. A device called oxygen sensor made of zirconia as solid electrolyte has been used to monitor the oxygen concentration online in order to control the oxygen concentration. The principle of this sensor is based on electrochemistry method where the difference oxygen activitiy between reference electrode (RE) and working electrode (in liquid LBE) can make potential difference. The potential difference is measured by electrometer and can be converted into oxygen concentration based on Nernst equation. Iron (Fe)/Magnetite (Fe3O4) was used as material for RE in this study. Measurement of oxygen concentration was conducted at 450 - 600°C for the static condition of LBE and around 390°C for the dynamic condition of flowing LBE. The oxygen concentration for both two experiment conditions were set in oxygen saturated condition of Pb-Bi. The oxygen sensor based on zirconia solid electrolyte with Fe/Fe3O4 as RE can measured the oxygen concentration in liquid LBE. The results showed that the measurement was agreed with the Nernst equation theoretical calculation.
液态铅铋共晶(LBE)被提出作为第四代核反应堆的冷却剂之一。然而,应充分控制氧气以抑制LBE的腐蚀速率。以氧化锆为固体电解质制成氧传感器,用于在线监测氧浓度,实现对氧浓度的控制。该传感器的原理基于电化学方法,参比电极(RE)和工作电极(液态LBE)之间的氧活度差异可以产生电位差。电位差可用静电计测量,并可根据能斯特方程转化为氧浓度。本研究采用铁(Fe)/磁铁矿(Fe3O4)作为稀土材料。氧浓度的测量在450 - 600°C的静态条件下进行,在390°C左右的动态条件下进行。两种实验条件下的氧浓度均设定在铅铋的氧饱和条件下。以Fe/Fe3O4为稀土元素的氧化锆固体电解质氧传感器可以测量液态LBE中的氧浓度。结果表明,测量结果与能斯特方程理论计算结果吻合。
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引用次数: 1
Detection Of Sliding Plane as A Disaster Mitigation Efforts In The Pengembur Village, Pujut Sub District, Central Lombok Regency 在龙目岛中部Pujut街道Pengembur村检测滑动平面作为减灾工作
Pub Date : 2020-01-21 DOI: 10.5614/itb.ijp.2021.31.1.4
B. U. P. Elinda, Hotinul Al Fatari, M. Marzuki, Bakti Sukrisna, A. T. Alaydrus, S. Minardi
A landslide disaster is a threatening disaster every time coming of the rainy season. Landslide potency can be detected on the surface through the form of topography and vegetation and beneath the surface of the rock layers former. From the type of rock the former can be known existence of the sliding plane which is the place of the sliding material. Research has been conducted to detect the plane of slide based on the resistivity value and the shear wave speed by using geoelectric and seismic method in Pengembur village, sub district of Pujut, Central Lombok regency. The result of analysis shows that the rocks layer former in the area consist of low cohesion soil deposits, weathered clay soils, water-saturated sand, and unconsolidated sand which has a thickness (3.7 – 4.0) meters. The field of sliding plane is detected as a layer of clay with landslides potency towards the west with the translation slide type
每次雨季来临,山体滑坡灾害都是一个具有威胁性的灾害。滑坡的强度可以通过地表地形和植被的形式以及岩层表面以下的情况来探测。从岩石的类型可以知道滑动面的存在,这是滑动物质的位置。在龙目岛中部Pujut街道Pengembur村进行了基于电阻率值和横波速度的地电地震探测滑动面研究。分析结果表明,该地区地层主要由低黏结力土、风化粘土、水饱和砂和疏松砂组成,厚度为3.7 ~ 4.0 m。滑面场为一层粘土层,向西为平移滑型,具有滑坡潜力
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引用次数: 0
期刊
Indonesian Journal of Physics
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