Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449208
Yonghong Tan, Ruili Dong
This paper presents a nonlinear model based control scheme for angular deflection of electromagnetically actuated MEMS micro-mirror. As the electromagnetic micro-mirror is involved with both underdamped characteristic and hysteresis phenomenon, the control of angular deflection to derive fast and accurate positioning is a challenge. In this paper, a nonlinear dynamic model is proposed to depict the characteristic of the electromagnetic micro-mirror. Then, based on the nonlinear dynamic model, a nonlinear model based control strategy is developed for the angle control of the micro-mirror.
{"title":"Nonlinear Model Based Control of MEMS Micro-Mirror","authors":"Yonghong Tan, Ruili Dong","doi":"10.1109/MESA.2018.8449208","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449208","url":null,"abstract":"This paper presents a nonlinear model based control scheme for angular deflection of electromagnetically actuated MEMS micro-mirror. As the electromagnetic micro-mirror is involved with both underdamped characteristic and hysteresis phenomenon, the control of angular deflection to derive fast and accurate positioning is a challenge. In this paper, a nonlinear dynamic model is proposed to depict the characteristic of the electromagnetic micro-mirror. Then, based on the nonlinear dynamic model, a nonlinear model based control strategy is developed for the angle control of the micro-mirror.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129659826","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449153
Teemu Mononen, M. M. Aref, J. Mattila
In the cloud-based Internet of Things, the amount of available network bandwidth can become a bottleneck, especially in real-time sensor network applications. This study presents an architecture and an algorithm for context-aware fog data filtering that can map data features and their appearance frequency. This reduces the amount of data sent using long-range communications. In this study, a Fast Fourier Transform (FFT)-based algorithm is presented, and a feature mapping technique is used. The filtering algorithm considers both historic data and adjacent sensor data to determine whether unexpected sensor outputs are caused by events in the system or faulty sensor readings. The type of data transmitted to supervisors is determined by the needs of the receivers. In this way, both events and raw data can be accessed from the proposed filters.
{"title":"Filtering Scheme for Context-Aware Fog Computing in Cyber-Physical Systems","authors":"Teemu Mononen, M. M. Aref, J. Mattila","doi":"10.1109/MESA.2018.8449153","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449153","url":null,"abstract":"In the cloud-based Internet of Things, the amount of available network bandwidth can become a bottleneck, especially in real-time sensor network applications. This study presents an architecture and an algorithm for context-aware fog data filtering that can map data features and their appearance frequency. This reduces the amount of data sent using long-range communications. In this study, a Fast Fourier Transform (FFT)-based algorithm is presented, and a feature mapping technique is used. The filtering algorithm considers both historic data and adjacent sensor data to determine whether unexpected sensor outputs are caused by events in the system or faulty sensor readings. The type of data transmitted to supervisors is determined by the needs of the receivers. In this way, both events and raw data can be accessed from the proposed filters.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133081155","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449159
A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù, A. Fasano
An active fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work when only position and heading measurements are available. The diagnosis technique is based on a second order sliding mode observer, allowing to estimate both the unmeasured system state, namely linear and angular speeds, and the fault extent. The fault estimation is fed to a thrust allocation algorithm which achieves fault tolerant capabilities independently of the controller, attaining robustness with respect to actuator faults with any suitable control law. The overall fault diagnosis and fault tolerant scheme has been tested in simulation scenario using four different controllers and using the real world parameters of the SNAMprogetti remotely operated vehicle, thus validating the effectiveness of the proposed solution.
{"title":"Fault Detection, Diagnosis and Fault Tolerant Output Control for a Remotely Operated Vehicle","authors":"A. Baldini, R. Felicetti, A. Freddi, S. Longhi, A. Monteriù, A. Fasano","doi":"10.1109/MESA.2018.8449159","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449159","url":null,"abstract":"An active fault tolerant control scheme for an underwater remotely operated vehicle is proposed in this work when only position and heading measurements are available. The diagnosis technique is based on a second order sliding mode observer, allowing to estimate both the unmeasured system state, namely linear and angular speeds, and the fault extent. The fault estimation is fed to a thrust allocation algorithm which achieves fault tolerant capabilities independently of the controller, attaining robustness with respect to actuator faults with any suitable control law. The overall fault diagnosis and fault tolerant scheme has been tested in simulation scenario using four different controllers and using the real world parameters of the SNAMprogetti remotely operated vehicle, thus validating the effectiveness of the proposed solution.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125521588","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449198
Xiaodong Yang, Y. Guan, Zhen Zhang
This paper presents a robust tracking control strategy for a newly-designed large range compliant XY nanomanipulator. The main objective of the proposed control strategy is to track periodic trajectories for the proposed XY parallel compliant nanomanipulating system with certain variable loads. The proposed control structure integrates a disturbance observer (DOB) based ${H}_{infty }$ repetitive controller. Specifically, the outer loop is a plug-in repetitive controller combined with an ${H}_{infty }$ controller, where the repetitive control is adopted for periodic trajectory tracking, and the ${H}_{infty }$ control is utilized to deal with variable loads and to achieve robust stabilization. The inner loop is chosen as a disturbance observer for rejection purposes of periodic and non-periodic disturbances. The design prototype is fabricated and the proposed control algorithm is experimentally validated, where enhanced tracking performance with variable loads is demonstrated, achieving tracking errors from around 80 to 210 nm with a motion stroke over 1 mm.
{"title":"Robust tracking control of an XY compliant nanomanipulator with variable loads","authors":"Xiaodong Yang, Y. Guan, Zhen Zhang","doi":"10.1109/MESA.2018.8449198","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449198","url":null,"abstract":"This paper presents a robust tracking control strategy for a newly-designed large range compliant XY nanomanipulator. The main objective of the proposed control strategy is to track periodic trajectories for the proposed XY parallel compliant nanomanipulating system with certain variable loads. The proposed control structure integrates a disturbance observer (DOB) based ${H}_{infty }$ repetitive controller. Specifically, the outer loop is a plug-in repetitive controller combined with an ${H}_{infty }$ controller, where the repetitive control is adopted for periodic trajectory tracking, and the ${H}_{infty }$ control is utilized to deal with variable loads and to achieve robust stabilization. The inner loop is chosen as a disturbance observer for rejection purposes of periodic and non-periodic disturbances. The design prototype is fabricated and the proposed control algorithm is experimentally validated, where enhanced tracking performance with variable loads is demonstrated, achieving tracking errors from around 80 to 210 nm with a motion stroke over 1 mm.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124707741","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449167
Atte Rankinen, E. Ikonen, T. Liedes
This paper studies the possibility to use a simplified MacPherson suspension system model for tuning active suspension system controllers. With a nonlinear suspension model, more accurate responses can be obtained compared to a traditional linear quarter-car suspension system model. The presented nonlinear two-dimensional mathematical model for the MacPherson suspension system is simulated in MATLAB/Simulink and validated by comparing it to an Adams/View multibody model with three simulation cases, one for kinematic analysis and two for dynamic analysis. The results are expressed as normalized RMS deviation values between the outputs of the two models. Most outputs of the two models go hand in hand, and the greatest difference is in the camber angle values derived from simplified linearization in the mathematical model.
{"title":"Validation of a Nonlinear Two-dimensional MacPherson Suspension System Model with Multibody Simulations","authors":"Atte Rankinen, E. Ikonen, T. Liedes","doi":"10.1109/MESA.2018.8449167","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449167","url":null,"abstract":"This paper studies the possibility to use a simplified MacPherson suspension system model for tuning active suspension system controllers. With a nonlinear suspension model, more accurate responses can be obtained compared to a traditional linear quarter-car suspension system model. The presented nonlinear two-dimensional mathematical model for the MacPherson suspension system is simulated in MATLAB/Simulink and validated by comparing it to an Adams/View multibody model with three simulation cases, one for kinematic analysis and two for dynamic analysis. The results are expressed as normalized RMS deviation values between the outputs of the two models. Most outputs of the two models go hand in hand, and the greatest difference is in the camber angle values derived from simplified linearization in the mathematical model.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134370917","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449192
A. Mämmelä, J. Riekki
We present a multidisciplinary historical review of manual remote control, automation, autonomy, and self-organization roughly covering the last century. Some conceptual analysis is given using hierarchical classifications. We show the relationships between control theory, computer science, and communication theory. We observe that the three disciplines have progressed at least partially independently, but we can see also some convergence towards similar system models, often using different terminology. We expect that multidisciplinary studies will turn out to be useful for avoiding overlapping work and for making faster progress. Furthermore, a unified terminology would facilitate communication between disciplines. This review provides a starting point for building such terminology.
{"title":"Century of manual remote control, automation, autonomy, and self-organization","authors":"A. Mämmelä, J. Riekki","doi":"10.1109/MESA.2018.8449192","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449192","url":null,"abstract":"We present a multidisciplinary historical review of manual remote control, automation, autonomy, and self-organization roughly covering the last century. Some conceptual analysis is given using hierarchical classifications. We show the relationships between control theory, computer science, and communication theory. We observe that the three disciplines have progressed at least partially independently, but we can see also some convergence towards similar system models, often using different terminology. We expect that multidisciplinary studies will turn out to be useful for avoiding overlapping work and for making faster progress. Furthermore, a unified terminology would facilitate communication between disciplines. This review provides a starting point for building such terminology.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122818965","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449165
D. Costa, M. Callegari, G. Palmieri, D. Scaradozzi, M. Brocchini, Gianluca Zitti
In the last two decades, bio-inspired solutions have been thoroughly investigated as a source of efficiency and manoeuvrability improvement for underwater robots. The possibility to design a machine capable of propelling itself like a marine animal strongly depends on the understanding of the mechanics principles underlying biological swimming. The adoption of advanced simulation and measurement techniques is then fundamental to investigate the fluid-structure interaction phenomena characterizing the locomotion of aquatic animals. To address this very ambitious objective, the Authors designed an experimental setup devised to investigate the propulsive performances of an ostraciiform swimming robot. The numerical simulations performed on an oscillating foil led to the design of a dedicated force sensor, able to allow a complete characterization of the bio-inspired thruster and its actuation mechanism. The experimental test campaign is still under development but the results of the preliminary tests are hereby provided.
{"title":"Experimental Setup for the Validation of the Bio-Inspired Thruster of an Ostraciiform Swimming Robot","authors":"D. Costa, M. Callegari, G. Palmieri, D. Scaradozzi, M. Brocchini, Gianluca Zitti","doi":"10.1109/MESA.2018.8449165","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449165","url":null,"abstract":"In the last two decades, bio-inspired solutions have been thoroughly investigated as a source of efficiency and manoeuvrability improvement for underwater robots. The possibility to design a machine capable of propelling itself like a marine animal strongly depends on the understanding of the mechanics principles underlying biological swimming. The adoption of advanced simulation and measurement techniques is then fundamental to investigate the fluid-structure interaction phenomena characterizing the locomotion of aquatic animals. To address this very ambitious objective, the Authors designed an experimental setup devised to investigate the propulsive performances of an ostraciiform swimming robot. The numerical simulations performed on an oscillating foil led to the design of a dedicated force sensor, able to allow a complete characterization of the bio-inspired thruster and its actuation mechanism. The experimental test campaign is still under development but the results of the preliminary tests are hereby provided.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125490651","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449158
M. H. Qureshi, Zeeshan Masood, Linta Rehman, Muhammad Owais, M. U. Khan
In this paper, we present design and development phase of lower limb robotic exoskeleton that can assist paralyzed individuals. Motion of the human wearing exoskeleton is introduced by actuators. Both exoskeleton legs are attached to the supporting frame by passive universal joints. The exoskeleton provides 3 DOFs per limb of which two joints are active and one passive. The control actions i.e., sit-to-stand and stand-to-sit movements are triggered using Double Pole Double Throw (DPDT) toggle switch. The control scheme is implement using Switch control method and the feedback is provided by means of current measurement. This assistive device can be utilized for the disabled persons. The simulation results are provided that evaluates the performance of the control actions on exoskeleton.
{"title":"Biomechanical Design and Control of Lower Limb Exoskeleton for Sit-to-Stand and Stand-to-Sit Movements","authors":"M. H. Qureshi, Zeeshan Masood, Linta Rehman, Muhammad Owais, M. U. Khan","doi":"10.1109/MESA.2018.8449158","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449158","url":null,"abstract":"In this paper, we present design and development phase of lower limb robotic exoskeleton that can assist paralyzed individuals. Motion of the human wearing exoskeleton is introduced by actuators. Both exoskeleton legs are attached to the supporting frame by passive universal joints. The exoskeleton provides 3 DOFs per limb of which two joints are active and one passive. The control actions i.e., sit-to-stand and stand-to-sit movements are triggered using Double Pole Double Throw (DPDT) toggle switch. The control scheme is implement using Switch control method and the feedback is provided by means of current measurement. This assistive device can be utilized for the disabled persons. The simulation results are provided that evaluates the performance of the control actions on exoskeleton.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124451000","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449160
Atle Aalerud, J. Dybedal, G. Hovland
This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time 3D collision detection and avoidance applications in relatively large-scale industrial environments.
{"title":"Scalability of GPU-Processed 3D Distance Maps for Industrial Environments","authors":"Atle Aalerud, J. Dybedal, G. Hovland","doi":"10.1109/MESA.2018.8449160","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449160","url":null,"abstract":"This paper contains a benchmark analysis of the open source library GPU-Voxels together with the Robot Operating System (ROS) in large-scale industrial robotics environment. Six sensor nodes with embedded computing generate real-time point cloud data as ROS topics. The overall data from all sensor nodes is processed by a combination of CPU and GPU on a central ROS node. Experimental results demonstrate that the system is able to handle frame rates of 10 and 20 Hz with voxel sizes of 4, 6, 8 and 12 cm without saturation of the CPU or the GPU used by the GPU-Voxels library. The results in this paper show that ROS, in combination with GPU-Voxels, can be used as a viable solution for real-time 3D collision detection and avoidance applications in relatively large-scale industrial environments.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124679407","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}
Pub Date : 2018-07-01DOI: 10.1109/MESA.2018.8449196
H. Hsieh, Ju-Yi Lee, B. Sun, Gang-Yu Fan
A Wollaston prism (WP)-based interferometer for two-degree-of-freedom (2-DOF) in-plane displacement measurement is developed in this study. The measurement system consists of a heterodyne light source and a high quality WP, and can provide 2-DOF in-plane displacement measurement with high accuracy and stability. Experiments demonstrate that the system has a resolution of 5 nm, and is resistant to outside disturbances as well as internal errors.
{"title":"2-DOF in-Plane Displacement Measurement by Wollaston Prism-based Interferometer","authors":"H. Hsieh, Ju-Yi Lee, B. Sun, Gang-Yu Fan","doi":"10.1109/MESA.2018.8449196","DOIUrl":"https://doi.org/10.1109/MESA.2018.8449196","url":null,"abstract":"A Wollaston prism (WP)-based interferometer for two-degree-of-freedom (2-DOF) in-plane displacement measurement is developed in this study. The measurement system consists of a heterodyne light source and a high quality WP, and can provide 2-DOF in-plane displacement measurement with high accuracy and stability. Experiments demonstrate that the system has a resolution of 5 nm, and is resistant to outside disturbances as well as internal errors.","PeriodicalId":138936,"journal":{"name":"2018 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129186066","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}
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