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A Chain-Driven Live Roller Mechanism for Loading and Unloading Packages on Autonomous Mobile Robots in Warehouses 一种用于仓库自主移动机器人的链传动活滚轮机构
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001600
Muhammad Ammar, Muhammad Moeed Ahmed, Muhammad Abdullah Younas, Khezar Qayyum, Fahad Iqbal Khawaja, Umer Asgher, Sara Ali, Y. Ayaz
Robots that can navigate through their environment are termed mobile robots. Mobile robots are being utilized in various fields, such as agriculture, transport, package delivery, disaster recovery, military, surveillance, and warehouse management. In warehouses, Autonomous Mobile Robots (AMR) for intralogistics are becoming increasingly common in warehouses. AMRs for intralogistics allow a safer work environment, less need for manual labor, and minimal downtime which translates to optimized productivity. AMRs do not need any specialized infrastructure for guidance as they can be set up with the existing warehouse layout. Presently, AMRs in warehouses need assistance while loading and unloading packages in their storage compartments. Manual loading and unloading is a simple but time-consuming solution. Robotic manipulators are also commonly used for this purpose either mounted on the AMR or present at the conveyor station. Another possible solution is to make use of a tilting platform, or a plate installed on top of the AMR using a hydraulic system that drops off the load by banking the top to one side. This paper proposes an alternate solution for loading and unloading packages on AMRs in warehouses. A chain-driven live roller (CDLR) system is proposed which is installed on top of the AMR. The rollers are driven by a chain that is connected to the rollers via sprockets. The chain is driven by a motor powered by the robot’s battery, so no external power source is needed. The loading can be done by a conveyor belt dropping package to be transported on top of the robot. The robot prevents slippage of the package during transportation by using actuated braces that pop up as soon as the package starts moving over the live rollers. At the drop-off location, the braces drop down and the CDLR is driven automatically by the robot for the drop-off of the package. Chutes or containers can be used as the drop-off location. In addition to simplifying the loading and unloading process, the proposed mechanism optimizes the overall process as it can transport heavy loads without any torque reduction. The proposed system needs minimal human assistance and is more reliable and time-efficient as compared to existing systems.
能够在环境中导航的机器人被称为移动机器人。移动机器人被应用于农业、运输、包裹递送、灾难恢复、军事、监视和仓库管理等各个领域。在仓库中,用于内部物流的自主移动机器人(AMR)在仓库中越来越普遍。用于内部物流的amr允许更安全的工作环境,更少的体力劳动需求,以及最小的停机时间,从而转化为优化的生产力。amr不需要任何专门的基础设施进行指导,因为它们可以使用现有的仓库布局进行设置。目前,在仓库的amr需要帮助,以装卸包裹在他们的存储隔间。手动加载和卸载是一个简单但耗时的解决方案。机器人操纵器也通常用于此目的,要么安装在AMR上,要么出现在传送带站。另一种可能的解决方案是使用一个倾斜平台,或者安装在AMR顶部的一个板,使用液压系统,通过将顶部倾斜到一侧来降低负载。本文提出了在仓库的amr上装卸包裹的替代解决方案。提出了一种安装在AMR顶部的链驱动活辊系统。滚轮由链条驱动,链条通过链轮与滚轮相连。链条由机器人电池驱动的电机驱动,因此不需要外部电源。装载可以通过传送带将要运输的包裹放在机器人顶部来完成。机器人通过使用驱动支架来防止包装在运输过程中打滑,一旦包装开始在滚轮上移动,支架就会弹出。在放置位置,支架放下,机器人自动驱动cdrr进行包裹的放置。溜槽或容器可以用作下落点。除了简化装卸过程外,该机构还优化了整个过程,因为它可以在不降低扭矩的情况下运输重物。拟议的系统需要最少的人力协助,与现有系统相比,更可靠,更省时。
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引用次数: 0
Novel Approach for Sensing the Humanoid Hand Finger Position Using Non-contact TMR Sensor 基于非接触式TMR传感器的类人手指位置传感新方法
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001599
Saeed Iqbal, Shahid Nawaz Khan, Muhammad Sajid, Sara Ali, Fahad Iqbal Khawaja, Umer Asgher, Y. Ayaz
The robotic hand robustness is necessary for different applications. In the past two decades, the magnetoresistance (MR) sensor technology has developed into a new field of magnetic sensing based of tunnel magnetoresistance technology (TMR) that is expanding rapidly. The hand gesture and position of finger can be found out with the help of different kind of sensors each kind of sensor have its challenges as well as the limitations. Smart sensors like TMR can provide multiple information with very small footprint, low power, and cost. This paper presents a novel technique to sense the robotic or human hand finger position with the help of non-contact magnetic field sensor called TMR sensor. The human hand finger position has been measured at four different positions. The results validate that the four finger positions has been detected with the help of single sensor with precision.
机械手的鲁棒性对于不同的应用是必要的。近二十年来,磁阻(MR)传感器技术已发展成为以隧道磁阻技术为基础的新型磁传感领域,并迅速发展壮大。通过不同类型的传感器可以发现手指的手势和位置,每种传感器都有其挑战和局限性。像TMR这样的智能传感器可以以非常小的占地面积、低功耗和低成本提供多种信息。本文提出了一种利用非接触式磁场传感器TMR传感器来感知机器人或人的手指位置的新技术。在四个不同的位置测量了人类手指的位置。实验结果表明,单传感器可以准确地检测到四个手指的位置。
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引用次数: 1
Personality Prediction in Human-Robot-Interaction (HRI) 人机交互(HRI)中的人格预测
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001601
Anum Jaffer, Sara Ali, Fahad Iqbal Khawaja, Y. Ayaz, Muhammad Sajid, Umer Asgher
For an efficient and smooth human-robot interaction, communication protocols such as verbal and non-verbal communication, emotions, and personality plays an important role. Human-Robot-Interaction is an emerging field and robots are now a part of daily life where it can grasp both verbal and non-verbal cues. Personality prediction is an important research area in Human-Robot Interaction (HRI). Several important question in personality prediction includes: which personality traits will be important and which specific phycology model and robot do researchers use? Secondly, how emotions, facial expression, paralanguage, and bodily movements are related to personality traits? And finally, how will we acquire data to train a robot and what kind of questionnaires can be used? With the support of prior research studies and experiments, this paper will contribute towards developing the ground basis for personality prediction using a robot.
为了实现高效、流畅的人机交互,语言和非语言、情感和人格等通信协议起着重要的作用。人机交互是一个新兴的领域,机器人现在是日常生活的一部分,它可以掌握语言和非语言的线索。人格预测是人机交互中的一个重要研究领域。人格预测中的几个重要问题包括:哪些人格特征是重要的,研究人员使用哪种特定的心理学模型和机器人?其次,情绪、面部表情、副语言和身体动作与人格特征有什么关系?最后,我们如何获取数据来训练机器人,可以使用什么样的问卷?在之前的研究和实验的支持下,本文将有助于开发使用机器人进行人格预测的基础。
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引用次数: 0
Image Classification for Project-based Learning to Differentiate Diagram and Figures. 基于项目学习区分图与图的图像分类。
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001597
Asmara Safdar, Sara Ali, Muhammad Sajid, Umer Asgher, Y. Ayaz
This paper describes creation of a dataset and addresses an image processing problem in the field of education. A Convolutional Neural Network (CNN) based model is trained to classify the images extracted from academic documents. With the advent of distant learning mode and assessment criteria based on online submissions, there is a need to improve assessment approaches other than finding plagiarism. To enhance the understanding of the concepts, project-based learning (PjBL) in distant learning mode (DL) can be adopted. PjBL has proven successful even for complex engineering problems. It has been found out that PjBL of basic teaching assessment decreases the pressure on institutional resources while also making it easier and more practical for students. So, we are considering project reports or assignment as core source of evaluation. Extracting diagrams and software generated images (graphs and software generated object models) is focus for the current work as they reflect knowledge and main effort of a student especially in engineering academics. Here figures are referred as images of schematic representation to show the working or architecture of a work or a phenomenon. Software based images (sbi) include graphs, simulation images and software generated pictures or models. We aim to distinguish the diagrams and sbi from rest of the figures so it can be filtered out for further assessment. The data extracted is in the form of images. A CNN based classification model MobileNet is used to classify the images. The results show viability of the dataset and promising trend keeping in view the difficulty level of problem and size of dataset. Accuracy can be improved by adopting other approaches to train and clean data and by increasing the data set by extracting more images from same domain of problem.
本文描述了一个数据集的创建,并解决了教育领域的一个图像处理问题。训练基于卷积神经网络(CNN)的模型对从学术文献中提取的图像进行分类。随着远程学习模式和基于在线提交的评估标准的出现,有必要改进评估方法,而不是发现抄袭。为了加强对概念的理解,可以采用远程学习模式(DL)中的基于项目的学习(PjBL)。PjBL已被证明即使在复杂的工程问题上也是成功的。研究发现,基础教学评估的PjBL减轻了学校资源的压力,同时也使学生更容易、更实用。因此,我们考虑将项目报告或作业作为评估的核心来源。提取图表和软件生成的图像(图形和软件生成的对象模型)是当前工作的重点,因为它们反映了学生特别是工程学者的知识和主要努力。在这里,图形指的是示意图表示的图像,以显示作品或现象的工作或结构。基于软件的图像(sbi)包括图形、仿真图像和软件生成的图像或模型。我们的目标是将图表和sbi与其他数据区分开来,以便将其过滤出来进行进一步评估。提取的数据以图像的形式呈现。使用基于CNN的分类模型MobileNet对图像进行分类。考虑到问题的难度和数据集的规模,结果表明了该数据集的可行性和发展趋势。通过采用其他方法来训练和清理数据,以及通过从同一问题域提取更多图像来增加数据集,可以提高准确性。
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引用次数: 0
Building Trust and safety Correlates for Autonomous Systems using Physiological, Behavioral, and Subjective Measures 使用生理、行为和主观措施建立自主系统的信任和安全关联
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001595
Z. Zakeri, Azfar Khalid, Ahmet Omurtag, Greg Hilliard, P. Breedon
The use of collaborative robots (cobots) in the industrial setting has grown and continues to expand globally, especially in the context of the smart factory. Mistrust and stress results, as cobots don’t provide facial, auditory, and visual cues that workers normally use to predict behavior. For quantification of mental stress, physiological, behavioral and subjective measures are integrated, processed and analyzed in a smart factory lab setting. The impact on the human workers as mental stress and fatigue conditions are correlated with the task complexity, speed of work, length of collaborative task and cobot payload etc. Multimodal functional neuroimaging was used to record participants’ neural and cardiac activity, in addition to the standard subjective and behavioral measures as they collaborated with robots in multitasking contexts. Preliminary results show that task complexity is positively correlated with beta and gamma band power, left prefrontal cortex activation, and heart rate, while it is negatively correlated with alpha band power during task performance.
协作机器人(cobots)在工业环境中的使用已经增长并继续在全球范围内扩展,特别是在智能工厂的背景下。由于协作机器人不提供员工通常用来预测行为的面部、听觉和视觉线索,因此会导致不信任和压力。为了量化精神压力,在智能工厂实验室环境中整合、处理和分析生理、行为和主观测量。精神压力和疲劳状态对人类工人的影响与任务复杂性、工作速度、协作任务长度和协作机器人载荷等相关。多模态功能神经成像用于记录参与者在多任务环境下与机器人合作时的神经和心脏活动,以及标准的主观和行为测量。初步结果表明,任务复杂性与任务执行过程中β、γ波段功率、左前额叶皮层激活和心率呈正相关,与α波段功率呈负相关。
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引用次数: 1
Pupil Dilation Variability as an Indicator of Arousal Regulation: Towards Understanding Operator Functional State 瞳孔扩张变异性作为觉醒调节的一个指标:对操作者功能状态的理解
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001598
Brittany N. Neilson, S. Devlin, Sabrina Drollinger, Noelle Brown, Ciara M. Sibley, Cyrus K. Foroughi, Joseph T. Coyne
The pupil dilation of fifteen air traffic control students was recorded as they completed the mental counters working memory task. Standard deviation of pupil dilation for each of the 32 trials was computed for each individual and modeled as a growth curve. Pupil dilation variability fluctuated over time in a nonmonotonic manner. Interestingly, the magnitude and direction of pupil dilation variability differed across individuals, suggesting individual differences in arousal regulation. Performance measures of mental counters (i.e., accuracy and response time) were added as predictors to the growth curve model. Higher accuracy was associated with lower pupil dilation variability in general, suggesting better arousal regulation. Longer response times were associated with a greater fluctuation in pupil dilation variability, suggesting longer responses are associated with larger dysregulation of arousal. These findings are important to consider when developing real-time indicators of an operator’s functional state.
记录了15名空中交通管制学生在完成心理计数器工作记忆任务时的瞳孔扩张情况。计算每个个体的32次试验的瞳孔扩张的标准差,并将其建模为生长曲线。瞳孔扩张变异性随时间呈非单调波动。有趣的是,瞳孔扩张变异性的大小和方向在个体之间存在差异,这表明唤醒调节存在个体差异。心理计数器的性能测量(即,准确性和反应时间)被添加为增长曲线模型的预测因子。一般来说,较高的准确度与较低的瞳孔扩张变异性相关,表明更好的唤醒调节。较长的反应时间与瞳孔扩张变异性的较大波动有关,这表明较长的反应时间与较大的觉醒失调有关。在制定作业者功能状态的实时指标时,这些发现具有重要的参考价值。
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引用次数: 0
Optimization of the Emergency Evacuation Sign's Color Cognition for Users with Color Vision Deficiency 针对色觉缺陷用户的紧急疏散标识颜色认知优化
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001607
Du Wu, Peng Gao, Ying Zhang
Color has the characteristics of fast reading and fast recognition, with this reason, information in environments needs color to help fast communication, especially in the situation of emergency evacuation. The colour and graphic symbols on emergency evacuation signs(EES) help direct people to safety and provide emergency information quickly.(Barry Gray. 2012)But according to statistics, about 8% of the world population are suffered by color vision deficiency(CVD). While they are not resolved all colors, just easy to confuse some color. Today, different countries or organizations have different standard for EES, and many research shows, the color recognition of EES still has the phenomenon of uneven benefits of different groups of people, which means there are significant differences in the color recognition efficiency of EES between CVD and normal vision groups, especially deuteranomalous vision group (G, Landini, G. Perryer.2009).While the appropriate color selection can substantially improve CVD groups’ color recognition and at the same time not affecting the normal users’ color recognition rate. Therefore, to explore appropriate EES color design optimization for the CVD population has the social and scientific significance.With this background, this research intends to study the EES color recognition of CVD people and try to build optimize EES color model for this group of users. The research start with different selections of EES color standard among countries and organizations. Through the comparison of these standard colors, some color samples are sorted out with the help of the recognition models of CVD people. Then totally 57 CVD people participated the research as experimental volunteers to test the recognition of selected samples. The final ranking of samples were influenced by both the color hue and also the color lightness contrast between EES background and the icon or text. The objective of the research is to build a more inclusive practical color model for improving EES and other safety sign design. The result of this research could assist color design optimization and help the EES design to select appropriate color, without affecting the recognition rate of normal color vision people, while greatly improving the recognition of CVD group. The research conforms to the design thinking of universal design, inclusive design and human-centred design. The results could be used to optimize or review EES and other signage color design, could also apply to other visual information communication field.
颜色具有快速阅读和快速识别的特点,因此,环境中的信息需要颜色来帮助快速沟通,特别是在紧急疏散的情况下。紧急疏散标志(EES)上的颜色和图形符号有助于引导人们前往安全地带,并迅速提供紧急信息。(Barry Gray. 2012)但据统计,世界上约有8%的人口患有色觉缺陷(CVD)。虽然它们不能分辨所有的颜色,只是容易混淆一些颜色。如今,不同的国家或组织对EES有不同的标准,许多研究表明,EES的颜色识别仍然存在不同人群受益不均衡的现象,这意味着CVD与正常视力群体,特别是后异常视力群体之间EES的颜色识别效率存在显著差异(G, Landini, G. perrier .2009)。而适当的颜色选择可以在不影响正常用户颜色识别率的前提下,大幅提高CVD组的颜色识别率。因此,探索适合心血管疾病人群的EES色彩优化设计具有重要的社会和科学意义。在此背景下,本研究拟对CVD人群的EES颜色识别进行研究,并尝试针对CVD人群构建优化的EES颜色模型。研究从不同国家和组织对EES颜色标准的不同选择入手。通过对这些标准色的对比,借助CVD人的识别模型,整理出一些颜色样本。然后,共有57名心血管疾病患者作为实验志愿者参与了研究,以测试对选定样本的识别能力。样本的最终排名受到EES背景与图标或文本之间的颜色色调和颜色明暗对比的影响。本研究旨在建立更具包容性的实用色彩模型,以改善EES及其他安全标志的设计。本研究结果可以辅助色彩设计优化,帮助EES设计选择合适的色彩,不影响正常色觉人群的识别率,同时大大提高CVD组的识别率。本研究符合通用设计、包容设计、以人为本的设计思维。研究结果可用于EES等标识色彩设计的优化或评审,也可应用于其他视觉信息传播领域。
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引用次数: 0
Responding to the Loneliness in the New Era of the Internet: Exploring the Role of Hugging and Fitting in Alleviating Loneliness 应对互联网新时代的孤独感:探索拥抱与契合在缓解孤独感中的作用
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001604
Song Siying, Xin He
The development of the new era has given the new generation new psychological characteristics of loneliness. The purpose of this paper is to explore a new way to relieve loneliness, and to demonstrate that the interaction method and form of hugging with objects is useful for relieving loneliness.The new design and analysis method is used to verify that the ergonomic design of human fit and inductive hugging interaction function are useful for alleviating loneliness, proving that the emotional needs of users can be addressed by attaching hugging function and ergonomic redesign to specific products, providing a new direction for alleviating the psychological situation of contemporary lonely people and creating better products for alleviating loneliness.In this paper, a literature review is conducted in the early stage to outline the current research on the Internet and loneliness. Based on the starting point of hugging and fitting to relieve loneliness, a human-computer pillow with hugging function is designed. University students who meet the characteristics of the target user group are selected as the experimental research objects, and the questionnaire method is used to collect objective intelligence information by distributing online questionnaires to the research target group, and the interview method is used to conduct in-depth research on the target user group so as to deeply understand the users' psychology and identity. After collecting the relevant data, the data were statistically processed using mathematical tools, analyzed using SPSS and other analytical tools, and considered for its credibility, so as to verify the effect of hugs on alleviating loneliness. The experimental method and interview method were used to ask the test subjects about their feelings, so as to prove that the feeling of closeness has an effect on alleviating loneliness.This paper finds that the interaction action of hugging with objects and the ergonomically based sense of fit are useful for alleviating loneliness and can alleviate people's inner loneliness to a certain extent, which helps to focus on the new trend of loneliness psychology among young people based on the contemporary Internet society, design better loneliness relief products for lonely people and pay attention to the deep needs of users.Keywords: ergonomics, psychology, SPSS, loneliness, Internet, z era, interaction
新时代的发展赋予了新生代新的孤独感心理特征。本研究旨在探索一种新的缓解孤独感的方式,并证明与物体拥抱的互动方式和形式有助于缓解孤独感。采用新的设计分析方法,验证了人体契合度和感应拥抱交互功能的人机工程学设计对缓解孤独感的作用,证明了将拥抱功能和人机工程学设计附加到特定产品上,可以满足用户的情感需求,为缓解当代孤独感人群的心理状况,创造更好的缓解孤独感的产品提供了新的方向。本文在前期进行了文献综述,概述了网络与孤独感的研究现状。从拥抱和适应缓解孤独感的出发点出发,设计了一款具有拥抱功能的人机枕头。选取符合目标用户群体特征的大学生作为实验研究对象,采用问卷调查法,通过向研究目标群体发放在线问卷,收集客观情报信息,并采用访谈法对目标用户群体进行深入研究,深入了解用户心理和认同。在收集相关数据后,使用数学工具对数据进行统计处理,并使用SPSS等分析工具进行分析,并考虑其可信度,从而验证拥抱对缓解孤独感的效果。采用实验法和访谈法询问被试的感受,以证明亲近感对缓解孤独感有作用。本文发现,拥抱与物体的互动动作和基于人体工程学的契合感有助于缓解孤独感,可以在一定程度上缓解人们内心的孤独感,这有助于关注基于当代互联网社会的年轻人孤独感心理的新趋势,为孤独的人设计更好的孤独感救济产品,关注用户的深层需求。关键词:人机工程学,心理学,SPSS,孤独,互联网,z时代,互动
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引用次数: 0
How a Few Custom Keycaps Make Keyboards More Ergonomic and Reduce Eye Movement by 35% 几个自定义键帽如何使键盘更符合人体工程学并减少35%的眼球运动
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001603
Benny Platte, M. Ritter, Christian Roschke, Rico Thomanek, Claudia Hösel, M. Baumgart
Ergonomically designed devices for better workplace design get too little at-tention compared to the annual cost of long-term damage. To help workers better achieve their goals in their work environment, we explore small-step changes that any individual can make with many existing keyboards. We studied the keyboards that users have been using as their daily keyboards for at least a year. In an investigation with baseline and treatment phase we pro-vide the users with 800 keycaps of different shapes, colors and surfaces and let them experiment for 3 months during their daily work. The evaluation shows that users were able to reduce the time for daily operations by 12% and halve the number of looks at the keyboard.
与长期损坏的年度成本相比,为更好的工作场所设计的符合人体工程学的设备受到的关注太少。为了帮助员工在他们的工作环境中更好地实现他们的目标,我们探索了每个人都可以对许多现有键盘进行的小步改变。我们研究了那些用户已经使用了至少一年的键盘。在基线和处理阶段的调查中,我们为用户提供了800个不同形状、颜色和表面的键盘帽,让他们在日常工作中进行3个月的实验。评估显示,用户能够将日常操作时间减少12%,并将查看键盘的次数减少一半。
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引用次数: 1
Technological Innovations for the treatment of impulsiveness 治疗冲动的技术创新
Pub Date : 1900-01-01 DOI: 10.54941/ahfe1001606
M. López, Mónica Acosta-Rodas, Mónica Bolaños-Pasquel, C. Ramos-Galarza
Impulse control, or also called inhibitory control, refers to the capacity of controlling attentiveness, behavior, thoughts, and/or emotions, and, at the end, to control internal willingness that is in charge of our behavior. It is important to mention that impulsiveness can be associated to three main factors, first, to behave without a direct implication of frontal lobe functioning; second, increased rate of the response given; and, behavior directed towards immediate reward. This article arises from the need to include technological innovations for the treatment of impulsiveness, thus, literature revision of the available applications about this topic has been made.
冲动控制,也被称为抑制控制,指的是控制注意力、行为、思想和/或情绪的能力,并最终控制控制我们行为的内在意愿。值得一提的是,冲动可以与三个主要因素联系在一起,第一,在没有直接影响额叶功能的情况下做出行为;第二,提高了答复率;以及直接追求即时回报的行为。这篇文章源于对治疗冲动的技术创新的需要,因此,对这一主题的可用应用进行了文献修订。
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引用次数: 0
期刊
Industrial Cognitive Ergonomics and Engineering Psychology
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