Pub Date : 2022-10-28DOI: 10.1109/RCAE56054.2022.9996081
Suichun Qu, J. Wu, Weijie Guo, Bin Chen
The paper investigates the design of event-triggered fault detection and control in the framework of Generalized Internal Model Control (GIMC). Inspired by the GIMC structure, an observer-based feedback control structure with a fault detection unit is firstly proposed, where the event-triggered technology is also employed to reduce the communication consumption between the monitored plant and the observer. Then, since the separation principle is destroyed by the use of the event-triggered technology, the augmented system approach is used to design the observer-based controller. Further, a robust post-filter is designed, under the H-/H∞performance index, to guarantee that the residual (fault indicating) signal satisfies the optimized robustness against disturbances under the desired sensitivity to faults. Finally, a three-tank system is adopted to verify the effectiveness and superiority of the proposed scheme.
{"title":"Event-Triggered Fault Detection and Control in Generalized Internal Model Control Framework","authors":"Suichun Qu, J. Wu, Weijie Guo, Bin Chen","doi":"10.1109/RCAE56054.2022.9996081","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9996081","url":null,"abstract":"The paper investigates the design of event-triggered fault detection and control in the framework of Generalized Internal Model Control (GIMC). Inspired by the GIMC structure, an observer-based feedback control structure with a fault detection unit is firstly proposed, where the event-triggered technology is also employed to reduce the communication consumption between the monitored plant and the observer. Then, since the separation principle is destroyed by the use of the event-triggered technology, the augmented system approach is used to design the observer-based controller. Further, a robust post-filter is designed, under the H-/H∞performance index, to guarantee that the residual (fault indicating) signal satisfies the optimized robustness against disturbances under the desired sensitivity to faults. Finally, a three-tank system is adopted to verify the effectiveness and superiority of the proposed scheme.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125243311","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995971
Peiguang Chen, Dongqi Li, Yihan Ding, Xuanduo Yu, Shunjie Han
The digital transition of power companies has led to an explosion of all types of information. However, due to different standards and distinctive calibers, the information has not been effectively and deeply applied in the power systems. Electric power companies have a real demand for timely, accurate, and intelligent access to various information in the power industry. In this paper, we use the data acquisition technology, including Pandas, Numpy, BeautifulSoup, and other tool libraries, to build a data acquisition system that consists of an information data capture module, a data filtering module, and a data processing module. The related technologies of data storage and processing are also studied.
{"title":"Research on the Acquisition and Processing of Multidimensional Power System Data Based on Web Crawlers","authors":"Peiguang Chen, Dongqi Li, Yihan Ding, Xuanduo Yu, Shunjie Han","doi":"10.1109/RCAE56054.2022.9995971","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995971","url":null,"abstract":"The digital transition of power companies has led to an explosion of all types of information. However, due to different standards and distinctive calibers, the information has not been effectively and deeply applied in the power systems. Electric power companies have a real demand for timely, accurate, and intelligent access to various information in the power industry. In this paper, we use the data acquisition technology, including Pandas, Numpy, BeautifulSoup, and other tool libraries, to build a data acquisition system that consists of an information data capture module, a data filtering module, and a data processing module. The related technologies of data storage and processing are also studied.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"16 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113979612","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}
This paper proposes a performance evaluation method for few-shot learning-based system identification. The basic idea behind the proposed approach is to use “probably approximately correct (PAC)” to assess the obtained boundary of identification errors. The study demonstrates effectiveness of the proposed solution when the noise is not white and there are only limited data samples for the identification in practical applications. The contributions of this study include: 1) modeling errors are quantified via the $L$∞norm; 2) the bounded noises are considered; 3) it is shown that both the modeling and prediction errors can be reduced by increasing the size of training data. Rigorous mathematical analysis and a case study demonstrate the effectiveness of the proposed performance evaluation strategy.
{"title":"Performance Evaluation of Few-shot Learning-based System Identification","authors":"Hongtian Chen, Chao Cheng, Oguzhan Dogru, Biao Huang","doi":"10.1109/RCAE56054.2022.9995948","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995948","url":null,"abstract":"This paper proposes a performance evaluation method for few-shot learning-based system identification. The basic idea behind the proposed approach is to use “probably approximately correct (PAC)” to assess the obtained boundary of identification errors. The study demonstrates effectiveness of the proposed solution when the noise is not white and there are only limited data samples for the identification in practical applications. The contributions of this study include: 1) modeling errors are quantified via the $L$∞norm; 2) the bounded noises are considered; 3) it is shown that both the modeling and prediction errors can be reduced by increasing the size of training data. Rigorous mathematical analysis and a case study demonstrate the effectiveness of the proposed performance evaluation strategy.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133046925","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995877
Wang Quanshan, Han Tao, Fan Chuanzhi, Yang Yi, Hu Zhiqiang
A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake.
{"title":"Design and Research for the Control System of a Micro Autonomous Underwater Vehicle","authors":"Wang Quanshan, Han Tao, Fan Chuanzhi, Yang Yi, Hu Zhiqiang","doi":"10.1109/RCAE56054.2022.9995877","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995877","url":null,"abstract":"A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125336090","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}
To promote the performance of AGV to optimize the path in the obstacle environment, the paper proposes an improved ant colony algorithm combined with gray wolf optimization. First, Pre-search the path by the grey wolf algorithm, then the obtained optimal solution based on the grey wolf algorithm is introduced into the pheromone model of the ant colony algorithm to solve the invalid search caused by the lack of pheromone during the primary period. Second, modify the heuristic information, add corner constraints to the heuristic function to reduce the redundancy of paths. Third, the heuristic factors are updated adaptively, both of the factors dynamically adjust the importance of each other. Moreover, the conversion rate is introduced into the pseudo-random strategy to adjust the balance between certainty and randomness, which accelerates the convergence of the algorithm. The simulation data shows that the hybrid algorithm possesses good merit-seeking ability and has significant advantages in improving the path quality.
{"title":"Research on AGV Path Planning Based on Gray wolf Improved Ant Colony Optimization","authors":"Hui Li, Feilong Chen, Wanbo Luo, Yue Liu, Jianan Li, Zhengyang Sun","doi":"10.1109/RCAE56054.2022.9995842","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995842","url":null,"abstract":"To promote the performance of AGV to optimize the path in the obstacle environment, the paper proposes an improved ant colony algorithm combined with gray wolf optimization. First, Pre-search the path by the grey wolf algorithm, then the obtained optimal solution based on the grey wolf algorithm is introduced into the pheromone model of the ant colony algorithm to solve the invalid search caused by the lack of pheromone during the primary period. Second, modify the heuristic information, add corner constraints to the heuristic function to reduce the redundancy of paths. Third, the heuristic factors are updated adaptively, both of the factors dynamically adjust the importance of each other. Moreover, the conversion rate is introduced into the pseudo-random strategy to adjust the balance between certainty and randomness, which accelerates the convergence of the algorithm. The simulation data shows that the hybrid algorithm possesses good merit-seeking ability and has significant advantages in improving the path quality.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116117484","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995966
Yuhai Zhong, Huashan Feng, Weiwei Yu, Hao Wang, J. Gao, Runxiao Wang
As an important and basic component of a quadruped robot interacting with the external environment, the mechanical leg determines the core application performance of a robot such as walking speed, load capacity, and operational adaptability. Therefore, research on mechanical leg has important practical value and theoretical significance. This paper develops a new quadruped mechanical single-leg prototype, which has a novel knee motor arrangement and transmission mechanism. The novel transmission mechanism consists of a bevel gear train, a ball screw mechanism and a four-bar linkage. To be better promoted and used, the transmission mechanism is modeled and analyzed, and the influence of several important parameters of the mechanism on the torque and speed of motor is studied. Finally, the mechanical properties of the bearing structures are analyzed, and the results show that the structural strength can meet the design requirements.
{"title":"Design and Research of a New Quadruped Mechanical Single-leg Prototype","authors":"Yuhai Zhong, Huashan Feng, Weiwei Yu, Hao Wang, J. Gao, Runxiao Wang","doi":"10.1109/RCAE56054.2022.9995966","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995966","url":null,"abstract":"As an important and basic component of a quadruped robot interacting with the external environment, the mechanical leg determines the core application performance of a robot such as walking speed, load capacity, and operational adaptability. Therefore, research on mechanical leg has important practical value and theoretical significance. This paper develops a new quadruped mechanical single-leg prototype, which has a novel knee motor arrangement and transmission mechanism. The novel transmission mechanism consists of a bevel gear train, a ball screw mechanism and a four-bar linkage. To be better promoted and used, the transmission mechanism is modeled and analyzed, and the influence of several important parameters of the mechanism on the torque and speed of motor is studied. Finally, the mechanical properties of the bearing structures are analyzed, and the results show that the structural strength can meet the design requirements.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121482625","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995797
Fukai Liu, Haohong Han, Yan Li, Hongtao Yang
In the context of “made in China 2025” and “industry 4.0”, the application research of intelligent manufacturing and process design of intelligent workshop are in full swing[l]. In the connection workshop of the automotive industry, a large number of standardized connection process equipment, and the standardization of key equipment and management of robots are easy to implement. However, it has been difficult to achieve the flexibility of tooling and conveying equipment for each type of vehicle, due to the need to connect many parts to eventually become an assembly. In this paper, taking the passenger car door inner panel connection process as an example, the flexible and intelligent connection automatic line compatibles with various models are planned and designed, which covers basic links such as intelligent loading, process production, intelligent inspection and unloading. The more products implemented in this solution, the lower the operating cost, which provides an important reference for the key technical fields of intelligent manufacturing.
{"title":"Intelligent Production Solution Design Based on Passenger Car Door Inner","authors":"Fukai Liu, Haohong Han, Yan Li, Hongtao Yang","doi":"10.1109/RCAE56054.2022.9995797","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995797","url":null,"abstract":"In the context of “made in China 2025” and “industry 4.0”, the application research of intelligent manufacturing and process design of intelligent workshop are in full swing[l]. In the connection workshop of the automotive industry, a large number of standardized connection process equipment, and the standardization of key equipment and management of robots are easy to implement. However, it has been difficult to achieve the flexibility of tooling and conveying equipment for each type of vehicle, due to the need to connect many parts to eventually become an assembly. In this paper, taking the passenger car door inner panel connection process as an example, the flexible and intelligent connection automatic line compatibles with various models are planned and designed, which covers basic links such as intelligent loading, process production, intelligent inspection and unloading. The more products implemented in this solution, the lower the operating cost, which provides an important reference for the key technical fields of intelligent manufacturing.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"41 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129180462","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995803
Xiao Xiao, Zhiguo Xiong, Quanshan Chen
The unmanned aerial vehicle (UAV) remote sensing technology has been widely applied in the field of ecological protection. This paper considers the construction of multi-UAV monitoring and protection platform for Chinese white dolphins. The platform hardware integration and the system software design are especially discussed. Finally, the experimental verification of the function of the multi-UAV monitoring and protection platform is stated.
{"title":"Construction of Multi-UAV Monitoring and Protection Platform for Chinese White Dolphins","authors":"Xiao Xiao, Zhiguo Xiong, Quanshan Chen","doi":"10.1109/RCAE56054.2022.9995803","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995803","url":null,"abstract":"The unmanned aerial vehicle (UAV) remote sensing technology has been widely applied in the field of ecological protection. This paper considers the construction of multi-UAV monitoring and protection platform for Chinese white dolphins. The platform hardware integration and the system software design are especially discussed. Finally, the experimental verification of the function of the multi-UAV monitoring and protection platform is stated.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114856816","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995819
Wanmin Wu, Zeen Gou, Huawei Su
In the process of modern industrial automation, manipulator is widely used in industrial production line. Aiming at the problem of a large amount of repetitive work such as sorting, grasping and packaging, which is common in automatic production lines, the Mitsubishi RV-4FL-D manipulator is taken as the research object, and the kinematics model is established using the standard D-H method, and the six degree of freedom manipulator is analyzed and studied. The forward and inverse kinematics analysis and trajectory planning simulation of the manipulator were carried out using the Robotics Toolbox on the MATLAB simulation software platform, and the simulation data was tested on the actual Mitsubishi manipulator. The experimental results show that the established kinematics equation is correct and feasible and the data obtained by simulation can be applied to the motion control of the actual manipulator to achieve the accurate and reliable operation.
{"title":"Kinematics Analysis and Trajectory Planning of Package Sorting Manipulator Based on D-H Method","authors":"Wanmin Wu, Zeen Gou, Huawei Su","doi":"10.1109/RCAE56054.2022.9995819","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995819","url":null,"abstract":"In the process of modern industrial automation, manipulator is widely used in industrial production line. Aiming at the problem of a large amount of repetitive work such as sorting, grasping and packaging, which is common in automatic production lines, the Mitsubishi RV-4FL-D manipulator is taken as the research object, and the kinematics model is established using the standard D-H method, and the six degree of freedom manipulator is analyzed and studied. The forward and inverse kinematics analysis and trajectory planning simulation of the manipulator were carried out using the Robotics Toolbox on the MATLAB simulation software platform, and the simulation data was tested on the actual Mitsubishi manipulator. The experimental results show that the established kinematics equation is correct and feasible and the data obtained by simulation can be applied to the motion control of the actual manipulator to achieve the accurate and reliable operation.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121563670","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995962
Yu Mao, Jiafu Wang, Zechao Zhang
With the development of artificial intelligence technology, deep learning is widely used in industry, agriculture and other fields. In large-scale farms, the production level of pregnant sows directly affects the economic benefits of farms. In order to improve the feeding level of pregnant sows, this paper takes the backfat thickness, parity, pregnancy date and feeding information of pregnant sows as the data set, and builds a feed intake prediction model based on Gated Recurrent Unit (GRU) network to predict the feed consumption of pregnant sows. Through precise feeding, it can not only reduce the feeding cost of the farm, but also maintain the best posture of sows, and improve the litter size and healthy litter size of sows. At the same time, establish the Long Short Term Memory (LSTM) network, the recurrent neural network (RNN) and the deep neural network (DNN) to compare with GRU. The experimental results show that the GRU model has faster training speed and higher prediction accuracy than other models, which is in line with the feeding law of pregnant sows, and has higher application value, which is conducive to the accurate feeding of pregnant sows.
{"title":"Prediction of Feed Intake of Pregnant Sows Based on GRU","authors":"Yu Mao, Jiafu Wang, Zechao Zhang","doi":"10.1109/RCAE56054.2022.9995962","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995962","url":null,"abstract":"With the development of artificial intelligence technology, deep learning is widely used in industry, agriculture and other fields. In large-scale farms, the production level of pregnant sows directly affects the economic benefits of farms. In order to improve the feeding level of pregnant sows, this paper takes the backfat thickness, parity, pregnancy date and feeding information of pregnant sows as the data set, and builds a feed intake prediction model based on Gated Recurrent Unit (GRU) network to predict the feed consumption of pregnant sows. Through precise feeding, it can not only reduce the feeding cost of the farm, but also maintain the best posture of sows, and improve the litter size and healthy litter size of sows. At the same time, establish the Long Short Term Memory (LSTM) network, the recurrent neural network (RNN) and the deep neural network (DNN) to compare with GRU. The experimental results show that the GRU model has faster training speed and higher prediction accuracy than other models, which is in line with the feeding law of pregnant sows, and has higher application value, which is conducive to the accurate feeding of pregnant sows.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126326459","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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