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A neural-metaheuristic kalman filter for moving microburst wind shear identification 用于移动微爆风切变识别的神经-元启发式卡尔曼滤波器
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-10 DOI: 10.1016/j.jfranklin.2024.107390
E. Mohajeri , Seid H. Pourtakdoust , F. Pazooki
Microburst wind shears (MB) are powerful localized three dimensional (3D) columns of wind that occur when cooled air drops from the base of thunderstorms at high speeds. They eventually hit the ground and spread out in all directions. As such MBs are considered a major atmospheric hazard for aircrafts (ACs), especially in terminal flight phases. Though pilots train regularly to survive it, yet the most recommended practice within the aviation community is to avoid its encounter upon detection. Some modern aircrafts have predictive wind shear warning systems, but they have limited short range capability and do not provide quantitative data for engineering application. In this sense, accurate onboard detection and identification of MBs and its characteristics is of importance for flight safety, whose success can lead to design of automatic flight control systems (FCSs) that reduce the risk of aircraft crash landings and accidents. Even though there are some studies on FCS designs for MB encounter, research on MB identification is rare but ongoing. To this aim, the present study is among the firsts that focuses on online identification of multiple and moving MB parameters using onboard aircraft air data and inertial sensors. The identification task is initially performed using the aircraft six degrees of freedom (6DoF) equations of motion (EOM) integrated with a 3D MB model via the utility of nonlinear Kalman filtering (KF) algorithms. Subsequently, an enhanced neural metaheuristic Kalman filter (NMKF) is proposed that improves the estimation accuracy of the MB model parameters. The results demonstrate the efficacy of the proposed NMKF in comparison with previous studies.
微爆风切变(MB)是一种强大的局部三维(3D)风柱,当冷却空气从雷暴底部高速下降时就会产生这种风柱。它们最终撞击地面并向四面八方扩散。因此,雷暴气流被认为是飞机(AC)的主要大气危害,尤其是在终端飞行阶段。尽管飞行员定期接受培训以应对这种飞行物,但航空界最推荐的做法是在发现飞行物时避免与其相遇。一些现代飞机拥有预测性风切变预警系统,但其短程能力有限,无法提供工程应用所需的定量数据。从这个意义上说,准确的机载检测和识别 MBs 及其特征对飞行安全非常重要,其成功可促进自动飞行控制系统(FCS)的设计,从而降低飞机迫降和事故的风险。尽管有一些关于遇到 MB 的飞行控制系统设计的研究,但关于 MB 识别的研究还很少,而且仍在进行中。为此,本研究是首批利用机载航空数据和惯性传感器对多个移动 MB 参数进行在线识别的研究之一。识别任务最初使用飞机六自由度(6DoF)运动方程(EOM),并通过非线性卡尔曼滤波(KF)算法与三维 MB 模型集成。随后,提出了一种增强型神经元启发式卡尔曼滤波器(NMKF),可提高 MB 模型参数的估计精度。结果表明,与之前的研究相比,所提出的 NMKF 非常有效。
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引用次数: 0
Dynamic path planning for spacecraft rendezvous and approach based on hybrid honey badger algorithm 基于混合蜜獾算法的航天器交会和接近动态路径规划
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-09 DOI: 10.1016/j.jfranklin.2024.107398
Cheng Huang, Tao Wang, Shuaikang Wang, Jiazhong Xu
In order to solve the 3D path planning of the close-range guidance phase of spacecraft in space rendezvous and approaching, and improve its optimization performance in dynamic environments, a 3D dynamic path planning method based on hybrid honey badger algorithm and cubic spline interpolation is proposed. Firstly, a hybrid honey badger algorithm is presented for dynamic path planning: the chaotic reverse learning is used to initialize the population, so as to improve the global search ability; the transfer operators are introduced in the mode transition stage to balance exploration and exploitation capabilities; the sine and cosine operators are integrated during the stage of location update to improve the quality of the optimal solution; an adaptive disturbance coefficient is introduced into the mining mode to accelerate the convergence. Secondly, the cubic spline interpolation algorithm is combined to optimize the path curve and reduce the turning angle of the curve. Finally, the comparative simulation experiments verify that the proposed method can plan a smooth path without collision. The planned path length is relatively shortest, the path turning angle and the algorithm running time are relatively smallest.
为了解决空间交会与接近中航天器近程制导阶段的三维路径规划问题,提高其在动态环境下的优化性能,提出了一种基于混合蜜獾算法和三次样条插值的三维动态路径规划方法。首先,提出了一种用于动态路径规划的混合蜜獾算法:利用混沌反向学习初始化种群,以提高全局搜索能力;在模式转换阶段引入转移算子,以平衡探索和开发能力;在位置更新阶段集成正弦和余弦算子,以提高最优解的质量;在采矿模式中引入自适应干扰系数,以加速收敛。其次,结合三次样条插值算法优化路径曲线,减小曲线转弯角度。最后,对比仿真实验验证了所提出的方法可以规划出一条无碰撞的平滑路径。规划的路径长度相对最短,路径转弯角度和算法运行时间相对最小。
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引用次数: 0
Modified Mikhailov stability criterion for non-commensurate fractional-order neutral differential systems with delays 带延迟的非一致性分数阶中性微分系统的修正米哈伊洛夫稳定性准则
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-09 DOI: 10.1016/j.jfranklin.2024.107384
Ha Duc Thai, Hoang The Tuan
This paper studies the asymptotic stability of non-commensurate fractional-order neutral differential systems with constant delays. To do this, we propose a modified Mikhailov stability criterion. Our work not only generalizes the existing results in the literature but also provides a rigorous mathematical basis for the frequency domain analysis method concerning fractional-order systems with delays. Specific examples and numerical illustrations are also provided to demonstrate the validity of the obtained result.
本文研究了具有恒定延迟的非一致性分数阶中性微分系统的渐近稳定性。为此,我们提出了改进的 Mikhailov 稳定性准则。我们的工作不仅推广了文献中的现有结果,还为有延迟的分数阶系统的频域分析方法提供了严格的数学基础。我们还提供了具体实例和数值说明,以证明所获结果的正确性。
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引用次数: 0
Modified Smith predictor-based robust tracking control design for fractional-order singular semi-Markovian jump systems 基于修正史密斯预测器的分数阶奇异半马尔可夫跃迁系统鲁棒跟踪控制设计
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-08 DOI: 10.1016/j.jfranklin.2024.107382
R. Vanitha , T. Satheesh , S. Mohanapriya , C. Antony Crispin Sweety , R. Sakthivel
This paper focuses on addressing the robust tracking control problem as well as the compensation of delay and external disturbances for fractional-order singular semi-Markovian jump systems. Moreover, a multi-periodic modified repetitive control scheme is developed to guarantee the exact tracking performance of the considered system. Subsequently, by implementing the Majhi-Atherton modified Smith predictor approach, input delays and disturbances occurring in the addressed system are compensated. Precisely, the incorporation of disturbance estimator with the conventional Smith predictor frame can accurately estimate and attenuate the external disturbances. Further, the linear matrix inequality-based conditions for ascertaining the required results are procured with the aid of Lyapunov stability theory. Following this, by solving the acquired criteria, the precise framework of the gain matrices can be reckoned. Finally, the effectiveness and supremacy of the suggested control approach are assessed by using the outcomes of simulations obtained from two numerical examples.
本文的重点是解决分数阶奇异半马尔可夫跃迁系统的鲁棒跟踪控制问题以及延迟和外部干扰补偿问题。此外,还开发了一种多周期修正重复控制方案,以保证所考虑系统的精确跟踪性能。随后,通过采用 Majhi-Atherton 改良史密斯预测器方法,对所处理系统中出现的输入延迟和干扰进行了补偿。准确地说,在传统的史密斯预测框架中加入扰动估计器,可以准确地估计和衰减外部扰动。此外,借助 Lyapunov 稳定性理论,还可获得基于线性矩阵不等式的条件,以确定所需的结果。随后,通过求解所获得的条件,可以计算出增益矩阵的精确框架。最后,通过两个数值实例的模拟结果,评估了建议控制方法的有效性和优越性。
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引用次数: 0
Structural state feedback gain-scheduled tracking control based on linear parameter varying system of morphing wing UAV 基于变形翼无人机线性参数变化系统的结构状态反馈增益调度跟踪控制
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-07 DOI: 10.1016/j.jfranklin.2024.107355
Pengyuan Shao , Xiao Ma , Bing Yan , Yanfei Dong , Chengfu Wu , Gaomin Qu , Jian Tan
Stabilization and control in the morphing process is critical for the safety of morphing wing unmanned aerial vehicles (MWUAVs). In this paper, a Linear Parameter Varying (LPV)-based structural state feedback gain-scheduled control design method is proposed and applied to longitudinal tracking control of a bio-inspired MWUAVs in the morphing process. Firstly, the LPV model for longitudinal dynamics of MWUAVs is developed, after that the flight envelopes and dynamical stability are analyzed based on the model, in which an unstable region is found. According to the analysis results, the mission profile is designed, and the tracking control problem is formulated as an optimization problem with input constraints. Then, a structural matrix is proposed which makes the states to feedback can be specified according to the signals to be tracked. Compared to the traditional all-state feedback control method, the proposed method has a simpler structure and is more applicable in real-world applications, especially when all states are not fully available. To avoid the numerical problems in the Bilinear Matrix Inequalities(BMIs) which are arisen from the solving process of the proposed control design method, we propose a solution approach that combines Linear Matrix Inequalities (LMIs) with the Non-dominated Sorting Genetic Algorithm II (NSGA-II) for control design based on the structural matrix. Finally, we apply the proposed method to the MWUAVs for its longitudinal tracking controller design and comparative simulation with existing methods are performed. The simulation results verify the effectiveness of the proposed method and its advantages over existing methods.
变形过程中的稳定与控制对于变形翼无人飞行器(MWUAVs)的安全至关重要。本文提出了一种基于线性参数变化(LPV)的结构状态反馈增益调度控制设计方法,并将其应用于生物启发式 MWUAVs 在变形过程中的纵向跟踪控制。首先建立了MWUAV纵向动力学的LPV模型,然后基于该模型分析了飞行包络线和动力学稳定性,发现了其中的不稳定区域。根据分析结果,设计了任务剖面,并将跟踪控制问题表述为带输入约束的优化问题。然后,提出了一种结构矩阵,使反馈状态可以根据需要跟踪的信号来指定。与传统的全状态反馈控制方法相比,所提出的方法结构更简单,更适用于实际应用,尤其是当所有状态都不完全可用时。为了避免双线性矩阵不等式(BMI)的数值问题,我们提出了一种结合线性矩阵不等式(LMI)和非优势排序遗传算法 II(NSGA-II)的求解方法,用于基于结构矩阵的控制设计。最后,我们将提出的方法应用于 MWUAVs 的纵向跟踪控制器设计,并与现有方法进行了比较仿真。仿真结果验证了所提方法的有效性及其与现有方法相比的优势。
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引用次数: 0
Practical hardware demonstration of a multi-sensor goal-oriented semantic signal processing and communications network 多传感器目标导向语义信号处理和通信网络的实际硬件演示
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-07 DOI: 10.1016/j.jfranklin.2024.107363
Semih Akkoç , Ayberk Çınar , Berkehan Ercan , Mert Kalfa, Orhan Arikan
Recent advancements in machine learning, particularly real-time extraction of rich semantic information, reshape signal processing techniques and related hardware architectures. To address the highly challenging requirements of next-generation signal processing applications in networked platforms, we investigate low-power hardware implementation alternatives for a multi-sensor, goal-oriented semantic communications network. Specifically, we focus on cost-effective Raspberry Pis in a multi-sensor semantic video communication application, showcasing adaptability from traditional CPU/GPU configurations. Additionally, we provide a preliminary investigation on implementing semantic extraction tasks through in-memory computation using memristor arrays to further emphasize the potential future of low-power low-cost semantic signal processing. Hardware demonstrations using Raspberry Pi 4Bs and simulations with in-memory computation architectures offer promising hardware architectures with cost-effective and low-power sensor alternatives to the next-generation semantic signal processing applications and semantic communication systems.
机器学习的最新进展,尤其是丰富语义信息的实时提取,重塑了信号处理技术和相关硬件架构。为了满足网络平台中下一代信号处理应用的高难度要求,我们研究了多传感器、面向目标的语义通信网络的低功耗硬件实现替代方案。具体而言,我们将重点放在多传感器语义视频通信应用中的高性价比树莓派(Raspberry Pis)上,展示传统 CPU/GPU 配置的适应性。此外,我们还对利用忆阻器阵列通过内存计算实现语义提取任务进行了初步研究,以进一步强调低功耗、低成本语义信号处理的潜在前景。使用 Raspberry Pi 4B 进行的硬件演示和使用内存计算架构进行的模拟,为下一代语义信号处理应用和语义通信系统提供了具有成本效益和低功耗传感器替代方案的有前途的硬件架构。
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引用次数: 0
Transient analysis of a SIQS model with state capacities using a non-homogeneous Markov system 利用非均质马尔可夫系统对具有状态容量的 SIQS 模型进行瞬态分析
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-05 DOI: 10.1016/j.jfranklin.2024.107347
Vasileios E. Papageorgiou , Georgios Vasiliadis
In this paper, a novel stochastic model is proposed to model the spread of a virus in epidemic phenomena. The model is based on a discrete-time non-homogeneous Markov system with state capacities. In order to study the distributions of the state sizes, recursive formulae for their factorial and mixed factorial moments were derived in matrix form. As a consequence, the probability mass function of each state size can be evaluated in the transient period. To avoid the computational complexity of the proposed algorithm, an alternative method for the computation of the state size distributions was recommended. The proposed Markovian approach was then tailored to the characteristics of a SIQS (susceptible-infected-quarantined-susceptible) epidemic scheme, which took into account external infections and the potential for secondary infections. This epidemic model is well-suited for describing infections in computer networks, where the quarantine capacity can be likened to the number of working people (IT professionals) available to restore an infected computer. We presented numerical examples and sensitivity analysis to illustrate the behavior and performance of the system under different scenarios and parameter values. We show that the state capacities and the infection rates have significant effects on the evolution and extinction of the epidemic. We note that the optimal number of employed technicians can be identified, aiming to keep the computer network functional. Higher internal infection rates significantly affect the sustainability of the computer network, while controlling external infections is not always feasible. On the other hand, faster detection rates and higher malware elimination rates will considerably increase the number of computers that remain operational in the long term. Consequently, the quality of services provided by IT technicians plays a crucial role in the system’s viability.
本文提出了一种新型随机模型,用于模拟流行病现象中的病毒传播。该模型基于一个具有状态容量的离散时间非均质马尔可夫系统。为了研究状态大小的分布,以矩阵形式推导出了其因子矩和混合因子矩的递推公式。因此,每个状态大小的概率质量函数都可以在瞬态期间进行评估。为避免拟议算法的计算复杂性,建议采用另一种方法计算状态大小分布。然后,根据 SIQS(易感-感染-隔离-易感)流行病方案的特点,对所提出的马尔可夫方法进行了调整,其中考虑到了外部感染和二次感染的可能性。这种流行病模型非常适合用于描述计算机网络中的感染情况,在这种情况下,隔离能力可以比作可用于恢复受感染计算机的工作人数(IT 专业人员)。我们提供了数值示例和敏感性分析,以说明系统在不同情况和参数值下的行为和性能。我们表明,状态容量和感染率对流行病的演变和消亡有重大影响。我们注意到,受雇技术人员的最佳数量是可以确定的,目的是保持计算机网络正常运行。较高的内部感染率会严重影响计算机网络的可持续性,而控制外部感染并不总是可行的。另一方面,更快的检测率和更高的恶意软件清除率将大大增加长期保持运行的计算机数量。因此,IT 技术人员的服务质量对系统的可行性起着至关重要的作用。
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引用次数: 0
Performance evaluation of magic square based spatial modulation in UAV communication 无人机通信中基于魔方的空间调制性能评估
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-04 DOI: 10.1016/j.jfranklin.2024.107337
Mustafa Cihan Taştan , Haci Ilhan
This study proposes a method to reduce the bit error rate (BER) in communications by unmanned aerial vehicles (UAVs). The method involves using specific active antennas that transmit at precise times with a particular mapping, ensuring orthogonality among transmitting antennas. This technique can accommodate numerous transmit antennas and amplitude-phase modulation orders. When applied to spatial modulation (SM) and generalized spatial modulation (GSM), it demonstrates clear superiority and significantly improved results compared to traditional SM and GSM methods, especially at high altitudes where conventional methods result in high BER. Introducing a new modulation method called magic square (MS) further enhances the results. The MS method provides a unique orthogonality pattern for the transmitting antenna sets. Additionally, the study introduces the utilization of magic squares in the modulation field. The MS-based SM model shows a BER rate almost 103 times lower than traditional SM at the 25 dB signal-to-noise ratio (SNR) level for various fly altitudes. Similarly, the MS-based GSM model demonstrates a BER rate almost 100 times lower than traditional GSM. The proposed method yields better results as the altitude increases, making it suitable for UAV communication at various altitudes.
本研究提出了一种降低无人飞行器(UAV)通信误码率(BER)的方法。该方法涉及使用特定的有源天线,在精确的时间以特定的映射进行发射,确保发射天线之间的正交性。这种技术可适应众多发射天线和幅相调制阶次。当应用于空间调制(SM)和广义空间调制(GSM)时,它显示出明显的优越性,与传统的 SM 和 GSM 方法相比,效果显著提高,特别是在高海拔地区,传统方法会导致高误码率。引入一种名为魔方(MS)的新调制方法可进一步提高效果。MS 方法为发射天线组提供了独特的正交模式。此外,研究还介绍了在调制领域对魔方的利用。在各种飞行高度下,基于 MS 的 SM 模型显示,在 25 dB 信噪比 (SNR) 水平下,误码率比传统 SM 低近 103 倍。同样,基于 MS 的 GSM 模型显示误码率比传统 GSM 低近 100 倍。随着飞行高度的增加,所提出的方法会产生更好的结果,因此适用于各种飞行高度下的无人机通信。
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引用次数: 0
Adaptive connectivity-preserving formation control with a dynamic event-triggering mechanism 采用动态事件触发机制的自适应连通性保护编队控制
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-04 DOI: 10.1016/j.jfranklin.2024.107331
Tiantian Guo , Yungang Liu , Hong-Xiang Hu
Connectivity preservation for real-life multi-agent systems is key to designing an effective and reliable control algorithm to achieve desired objectives. But the coexistence of system nonlinearities and uncertainties makes it difficult for the algorithm design, and especially in the event-triggered setting, such difficulty becomes severer due to the demand for integration of multiple ingredients. This paper focuses on proposing an adaptive connectivity-preserving formation control strategy that incorporates a dynamic event-triggering mechanism, in the scenario of the unknown control directions and intrinsic nonlinearities coupling with parameter uncertainties. First, a cluster of potential functions serving as control barrier functions are given to maintain the prescribed connectivity of communication graph. Second, two types of dynamic gains (one type is based on a Nussbaum function) are introduced for agents to cope with the system nonlinearities, uncertainties and the adverse effect of the execution error. As such, an adaptive event-triggered formation protocol is constructed such that the desired formation with connectivity preservation is achieved while a positive minimum inter-execution interval is ensured for each agent to avoid Zeno behavior. Particularly, the threshold in the developed event-triggering mechanism is dynamically adjusted online, rather than static, which better improves resource efficiency. A simulation example is given to demonstrate the effectiveness and advantage of the proposed strategy.
现实生活中多代理系统的连接性保护是设计有效可靠的控制算法以实现预期目标的关键。但系统非线性和不确定性的共存给算法设计带来了困难,特别是在事件触发的环境中,由于需要整合多种成分,这种困难变得更加严峻。本文主要针对控制方向未知、内在非线性与参数不确定性耦合的情况,提出了一种结合了动态事件触发机制的自适应连通性保护编队控制策略。首先,给出一组作为控制障碍函数的势函数,以保持通信图的规定连通性。其次,为代理引入了两类动态增益(一类基于努斯鲍姆函数),以应对系统非线性、不确定性和执行错误的不利影响。因此,我们构建了一个自适应事件触发的编队协议,在保证每个代理的最小执行间隔为正值以避免芝诺行为的同时,实现了理想的编队并保持了连通性。特别是,所开发的事件触发机制中的阈值是在线动态调整的,而不是静态的,这更好地提高了资源效率。本文给出了一个仿真实例,以证明所提策略的有效性和优势。
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引用次数: 0
Redundancy resolution of a variable base frame of a 3-DoF cable-driven serial chain by using an adaptive neuro-fuzzy controller 利用自适应神经模糊控制器解决 3-DoF 电缆驱动串行链的可变基架冗余问题
IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-11-02 DOI: 10.1016/j.jfranklin.2024.107348
Vahid Bahrami, Ahmad Kalhor, Mehdi Tale Masouleh
This paper presents a novel approach using adaptive neuro-fuzzy techniques to design controllers for planar cable-driven serial chain robots with variable configurations. The approach consists of two key components: (1) deriving dynamic models for cable-driven serial chain robots which are independent of their structure, and (2) adaptively determining the optimal cable connection points. Traditional methods face challenges in obtaining accurate dynamic equations for cable-driven serial chain robots with high degrees-of-freedom, hence neural networks are employed to estimate the model. In order to handle the variability in cable connection points, adaptive fuzzy methods are utilized. The proposed adaptive neuro-fuzzy controller algorithm introduces two new indices, namely cost-of-redundancy and degree-of-redundancy, to effectively address redundancy concerns. Additionally, the algorithm efficiently reduces the search space for finding the optimal configuration. Simulation results for a planar 3 degrees-of-freedom cable-driven serial chain robot using this algorithm showcase a noteworthy 42% reduction in cost-of-redundancy and an impressive 53.125% reduction in search space.
本文介绍了一种利用自适应神经模糊技术为具有可变配置的平面缆索驱动串行链式机器人设计控制器的新方法。该方法由两个关键部分组成:(1) 为缆索驱动串行链式机器人推导出与其结构无关的动态模型,以及 (2) 自适应地确定最佳缆索连接点。传统方法难以获得具有高自由度的缆索驱动串行链式机器人的精确动态方程,因此采用神经网络来估计模型。为了处理电缆连接点的变化,采用了自适应模糊方法。所提出的自适应神经模糊控制器算法引入了两个新指标,即冗余成本和冗余度,以有效解决冗余问题。此外,该算法还有效地缩小了寻找最优配置的搜索空间。使用该算法对平面 3 自由度电缆驱动串行链式机器人进行的仿真结果表明,冗余度成本显著降低了 42%,搜索空间减少了 53.125%,令人印象深刻。
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引用次数: 0
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