Pub Date : 2007-10-01DOI: 10.1109/WISP.2007.4447506
S. Timarchi, K. Navi
The residue number system is suitable for implementing high-speed digital processing devices because it supports parallel, modular, fault-tolerant and carry-bounded arithmetic. The carry propagation is restricted to inside the modulus. The remaining intra moduli carry propagation limits the speed of arithmetic operation. Therefore the carry-free property of redundant arithmetic can be used. In this paper, we discuss a novel class of redundant high-radix RNS based on the stored-unibit transfer representation for modulo 2n+1 that improves the performance of conventional redundant RNS and provides a desired tradeoff between area and delay complexity.
{"title":"Efficient Class of Redundant Residue Number System","authors":"S. Timarchi, K. Navi","doi":"10.1109/WISP.2007.4447506","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447506","url":null,"abstract":"The residue number system is suitable for implementing high-speed digital processing devices because it supports parallel, modular, fault-tolerant and carry-bounded arithmetic. The carry propagation is restricted to inside the modulus. The remaining intra moduli carry propagation limits the speed of arithmetic operation. Therefore the carry-free property of redundant arithmetic can be used. In this paper, we discuss a novel class of redundant high-radix RNS based on the stored-unibit transfer representation for modulo 2n+1 that improves the performance of conventional redundant RNS and provides a desired tradeoff between area and delay complexity.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114437738","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447536
T. Ramirez-Gonzalez, P. Quiñones-Reyes, H. Benítez-Pérez, A. Laureano-Cruces, F. Garcı́a-Nocetti
Nowadays dynamic behaviour performed by a computer network system shows the posibility to be addressed from the perspective of a control system. This paper discusses the use of Fuzzy Takagi Sugeno real time control and local fault diagnosis with hardware-in-the-loop (HIL) magnetic levitator (maglev) using xPC Target. Here xPC Target is used as operating environment for real time processing and to connect a computer network system. In that respect, this paper proposes a control reconfiguration approach based upon a cooperative agent strategy and local fault diagnosis using Takagi-Sugeno technique. Several stages are studied, how local fault diagnosis produce a warning value, how computer network is reconfigured, as well as how control techniques are modified using Fuzzy Takagi-Sugeno Control.
{"title":"Reconfigurable Fuzzy Takagi Sugeno Networked Control using Cooperative Agents and Local Fault Diagnosis","authors":"T. Ramirez-Gonzalez, P. Quiñones-Reyes, H. Benítez-Pérez, A. Laureano-Cruces, F. Garcı́a-Nocetti","doi":"10.1109/WISP.2007.4447536","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447536","url":null,"abstract":"Nowadays dynamic behaviour performed by a computer network system shows the posibility to be addressed from the perspective of a control system. This paper discusses the use of Fuzzy Takagi Sugeno real time control and local fault diagnosis with hardware-in-the-loop (HIL) magnetic levitator (maglev) using xPC Target. Here xPC Target is used as operating environment for real time processing and to connect a computer network system. In that respect, this paper proposes a control reconfiguration approach based upon a cooperative agent strategy and local fault diagnosis using Takagi-Sugeno technique. Several stages are studied, how local fault diagnosis produce a warning value, how computer network is reconfigured, as well as how control techniques are modified using Fuzzy Takagi-Sugeno Control.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115080493","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447622
E. Alexandre, L. Cuadra, L. Álvarez, M. Rosa-Zurera
This paper centers on exploring proper training algorithms for multilayer perceptrons (MLPs) to be used within digital hearing aids. One argument usually considered against the feasibility of neural networks on hearing aids consists in both their computational complexity and the hardware constraints the hearing aids suffer from. Within this framework, this work focuses on studying the influence of a number of training methods for an MLP able to automatic classify the sounds entering the hearing aid into three classes: speech, noise and music. The training methods explored are Gradient Descent, Levenberg-Marquardt, and Levenberg-Marquardt with Bayesian Regularization. Our results show how the proper selection of the training algorithm leads to a good mean probability of correct classification of 91.7% along with a low number of neurons, the computational complexity being thus reduced. These results have been successfully compared to those obtained from a k-Nearest Neighbors algorithm, which exhibits poorer performance.
{"title":"NN-based automatic sound classifier for digital hearing aids","authors":"E. Alexandre, L. Cuadra, L. Álvarez, M. Rosa-Zurera","doi":"10.1109/WISP.2007.4447622","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447622","url":null,"abstract":"This paper centers on exploring proper training algorithms for multilayer perceptrons (MLPs) to be used within digital hearing aids. One argument usually considered against the feasibility of neural networks on hearing aids consists in both their computational complexity and the hardware constraints the hearing aids suffer from. Within this framework, this work focuses on studying the influence of a number of training methods for an MLP able to automatic classify the sounds entering the hearing aid into three classes: speech, noise and music. The training methods explored are Gradient Descent, Levenberg-Marquardt, and Levenberg-Marquardt with Bayesian Regularization. Our results show how the proper selection of the training algorithm leads to a good mean probability of correct classification of 91.7% along with a low number of neurons, the computational complexity being thus reduced. These results have been successfully compared to those obtained from a k-Nearest Neighbors algorithm, which exhibits poorer performance.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115650316","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447642
D. Pizarro, E. Santiso, M. Mazo, M. Marrón
In this paper a system capable of obtaining the 3D pose of a mobile robot using an external calibrated camera is proposed. The system robustly tracks point fiducials in the image plane generated by the robot's rigid shape in motion. Each fiducial is identified with a point belonging to a sparse 3D geometrical model of robot's structure. Such model allows direct pose estimation from image measurements and it can be easily enriched at each iteration with new points as the robot motion evolves. The entire process is solved online by using recursive Bayesian inference of the present pose given the measurements. The approach allows to model properly uncertainty in measurements and estimations, at the same time it serves as a regularization step in pose estimation. Initialization is solved by using odometry information available in the robot, jointly with image measurements to generate a geometrical model. A bundle-adjustment technique is used to properly model odometry drift error. The proposed approach is verified using simulated and real data.
{"title":"Pose and Sparse Structure of a Mobile Robot using an External Camera","authors":"D. Pizarro, E. Santiso, M. Mazo, M. Marrón","doi":"10.1109/WISP.2007.4447642","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447642","url":null,"abstract":"In this paper a system capable of obtaining the 3D pose of a mobile robot using an external calibrated camera is proposed. The system robustly tracks point fiducials in the image plane generated by the robot's rigid shape in motion. Each fiducial is identified with a point belonging to a sparse 3D geometrical model of robot's structure. Such model allows direct pose estimation from image measurements and it can be easily enriched at each iteration with new points as the robot motion evolves. The entire process is solved online by using recursive Bayesian inference of the present pose given the measurements. The approach allows to model properly uncertainty in measurements and estimations, at the same time it serves as a regularization step in pose estimation. Initialization is solved by using odometry information available in the robot, jointly with image measurements to generate a geometrical model. A bundle-adjustment technique is used to properly model odometry drift error. The proposed approach is verified using simulated and real data.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123262608","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447540
L. Moreno, M. Murioz, S. Garrido, F. Martín
A new solution to the simultaneous localization and modelling problem is presented. It is based on the stochastic search of solutions in the state space to the global localization problem by means of a differential evolution algorithm. A non linear evolutive filter, called evolutive localization filter (ELF), searches stochastically along the state space for the best robot pose estimate. The proposed SLAM algorithm operates in two steps: in the first step the ELF filter is used at a local level to re-localize the robot based on the robot odometry, the laser scan at a given position and a local map where only a low number of the last scans have been integrated. In a second step the aligned laser measures together with the corrected robot poses are use to detect when the robot is revisiting a previously crossed area. Once a cycle is detected, the Evolutive Localization Filter is used again to re- estimate the robot poses in order to integrate the sensor measures in the global map of the environment. The algorithm has been tested in different environments to demonstrate the effectiveness, robustness and computational efficiency of the proposed approach.
{"title":"E-SLAM solution to the grid-based Localization and Mapping problem","authors":"L. Moreno, M. Murioz, S. Garrido, F. Martín","doi":"10.1109/WISP.2007.4447540","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447540","url":null,"abstract":"A new solution to the simultaneous localization and modelling problem is presented. It is based on the stochastic search of solutions in the state space to the global localization problem by means of a differential evolution algorithm. A non linear evolutive filter, called evolutive localization filter (ELF), searches stochastically along the state space for the best robot pose estimate. The proposed SLAM algorithm operates in two steps: in the first step the ELF filter is used at a local level to re-localize the robot based on the robot odometry, the laser scan at a given position and a local map where only a low number of the last scans have been integrated. In a second step the aligned laser measures together with the corrected robot poses are use to detect when the robot is revisiting a previously crossed area. Once a cycle is detected, the Evolutive Localization Filter is used again to re- estimate the robot poses in order to integrate the sensor measures in the global map of the environment. The algorithm has been tested in different environments to demonstrate the effectiveness, robustness and computational efficiency of the proposed approach.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128318182","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447626
J. Martin, H.M. Santos, G. Farías, N. Duro, J. Sánchez, R. Dormido, S. Dormido-Canto, J. Vega
Measurements in long pulse devices like ITER require the use of intelligent techniques to detect interesting events and anomalous behaviors within a continuous data flow. This detection will trigger the execution of some experimental procedures such as: increasing sampling rates, starting data sampling in additional channels or notifying the event to other diagnostics. In a first approach, an interesting event can be any non-average behavior in the expected temporal evolution of the waveforms. Therefore, a model of the signals is needed. In this work, a model that represents each type of plasma signal is obtained by means of fuzzy inference systems (FIS) which are generated by applying adaptive neuro-fuzzy techniques. The purpose of this neuro-fuzzy modeling is to identify patterns of these groups of data to produce a concise representation of a signal. Previously the signals have been preprocessed and a new dynamic clustering strategy based on a partitioning method has been applied to obtain the clusters. Off-line analyses have been applied to bolometric signals of the fusion device TJ-II Stellator with encouraging results.
{"title":"Dynamic Clustering and Neuro-Fuzzy Identification for the Analysis of Fusion Plasma Signals","authors":"J. Martin, H.M. Santos, G. Farías, N. Duro, J. Sánchez, R. Dormido, S. Dormido-Canto, J. Vega","doi":"10.1109/WISP.2007.4447626","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447626","url":null,"abstract":"Measurements in long pulse devices like ITER require the use of intelligent techniques to detect interesting events and anomalous behaviors within a continuous data flow. This detection will trigger the execution of some experimental procedures such as: increasing sampling rates, starting data sampling in additional channels or notifying the event to other diagnostics. In a first approach, an interesting event can be any non-average behavior in the expected temporal evolution of the waveforms. Therefore, a model of the signals is needed. In this work, a model that represents each type of plasma signal is obtained by means of fuzzy inference systems (FIS) which are generated by applying adaptive neuro-fuzzy techniques. The purpose of this neuro-fuzzy modeling is to identify patterns of these groups of data to produce a concise representation of a signal. Previously the signals have been preprocessed and a new dynamic clustering strategy based on a partitioning method has been applied to obtain the clusters. Off-line analyses have been applied to bolometric signals of the fusion device TJ-II Stellator with encouraging results.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124673705","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447504
P. Fernández, J. Lázaro, A. Gardel, Ó. Esteban, A. Cano
Image transmission by incoherent optical fibers bundles requires a previous calibration to obtain the fibers spatial in-out correspondence in order to reconstruct at the output side an image presented on the input of the system. This information is recorded in a look-up table for later reordering of the fibers positions and reconstructs the original image. This paper shows how to minimize calibration time and improve the quality of the recovered image, by using a fibers detection process reducing the number of points to take into account in the calibration process. There is, also, an improvement in the quality of the recovered image compared with others techniques. In this paper two detection methods of circular patterns have been applied to a fiber bundle image captured by a CMOS sensor. The former utilizes the algorithm of circular Hough transform based on the gradient field of the image. A second one is introduced as a new hybrid algorithm that mixes some morphological transformations and distance transform. The results demonstrate that this technique offers a remarkable reduction of processing time and good detection.
{"title":"Calibration of Incoherent Optical Fiber Bundles for Image Transmission. Fibers Detection Process","authors":"P. Fernández, J. Lázaro, A. Gardel, Ó. Esteban, A. Cano","doi":"10.1109/WISP.2007.4447504","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447504","url":null,"abstract":"Image transmission by incoherent optical fibers bundles requires a previous calibration to obtain the fibers spatial in-out correspondence in order to reconstruct at the output side an image presented on the input of the system. This information is recorded in a look-up table for later reordering of the fibers positions and reconstructs the original image. This paper shows how to minimize calibration time and improve the quality of the recovered image, by using a fibers detection process reducing the number of points to take into account in the calibration process. There is, also, an improvement in the quality of the recovered image compared with others techniques. In this paper two detection methods of circular patterns have been applied to a fiber bundle image captured by a CMOS sensor. The former utilizes the algorithm of circular Hough transform based on the gradient field of the image. A second one is introduced as a new hybrid algorithm that mixes some morphological transformations and distance transform. The results demonstrate that this technique offers a remarkable reduction of processing time and good detection.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121240194","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447532
E. Petriu
This paper reviews basics, similarities, and applications of two well-known biology inspired approximate data representation modalities: stochastic data representation and fuzzy linguistic variables.
{"title":"Biology Inspired Approximate Data Representation for Signal Processing, Soft Computing and Control Applications","authors":"E. Petriu","doi":"10.1109/WISP.2007.4447532","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447532","url":null,"abstract":"This paper reviews basics, similarities, and applications of two well-known biology inspired approximate data representation modalities: stochastic data representation and fuzzy linguistic variables.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116677080","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447524
P. Urquhart, O. Lopez, G. Boyen, A. Bruckmann
This paper reviews optical amplifier technologies for telecommunications networks. The operation and applications of erbium doped fibre amplifiers (EDFAs), fibre Raman amplifiers (FRAs), erbium doped waveguide amplifiers (EDWAs) and semiconductor optical amplifiers (SOAs) are described. The factors that influence their gain, operating bandwidths, spectral profiles and noise are also discussed.
{"title":"Optical Amplifiers for Telecommunications","authors":"P. Urquhart, O. Lopez, G. Boyen, A. Bruckmann","doi":"10.1109/WISP.2007.4447524","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447524","url":null,"abstract":"This paper reviews optical amplifier technologies for telecommunications networks. The operation and applications of erbium doped fibre amplifiers (EDFAs), fibre Raman amplifiers (FRAs), erbium doped waveguide amplifiers (EDWAs) and semiconductor optical amplifiers (SOAs) are described. The factors that influence their gain, operating bandwidths, spectral profiles and noise are also discussed.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121199352","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 : 2007-10-01DOI: 10.1109/WISP.2007.4447638
M. Padilla, A. Perera, I. Montoliu, A. Chaudry, K. Persaud, S. Marco
Chemical gas sensors are a cheaper and faster alternative for gas analysis than conventional analytic instruments. .However they are prone to degradation because of sensor poisoning and drift. Statistical methods like principal component analysis (PCA) and partial least squares (PLS) have been proved to be very useful in the task of fault diagnosis of malfunctioning sensors. In this work we test the effectiveness of several techniques based on PCA and PLS on faults caused by sensor poisoning These techniques will be evaluated on a dataset composed by the signals of 17 conductive polymers gas sensors measuring three analytes at several concentration levels. These techniques will be evaluated concerning their capabilities to detect the fault, identify the faulty sensor and correct their signal.
{"title":"Poisoning fault diagnosis in chemical gas sensor arrays using multivariate statistical signal processing and structured residuals generation","authors":"M. Padilla, A. Perera, I. Montoliu, A. Chaudry, K. Persaud, S. Marco","doi":"10.1109/WISP.2007.4447638","DOIUrl":"https://doi.org/10.1109/WISP.2007.4447638","url":null,"abstract":"Chemical gas sensors are a cheaper and faster alternative for gas analysis than conventional analytic instruments. .However they are prone to degradation because of sensor poisoning and drift. Statistical methods like principal component analysis (PCA) and partial least squares (PLS) have been proved to be very useful in the task of fault diagnosis of malfunctioning sensors. In this work we test the effectiveness of several techniques based on PCA and PLS on faults caused by sensor poisoning These techniques will be evaluated on a dataset composed by the signals of 17 conductive polymers gas sensors measuring three analytes at several concentration levels. These techniques will be evaluated concerning their capabilities to detect the fault, identify the faulty sensor and correct their signal.","PeriodicalId":164902,"journal":{"name":"2007 IEEE International Symposium on Intelligent Signal Processing","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122916259","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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