Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373477
B. Gabbasov, Igor Danilov, Ilya M. Afanasyev, E. Magid
This paper presents biomechanical analysis of human locomotion recorded by Motion Capture (MoCap) system based on four Kinect 2 sensors and iPi Soft markerless tracking and visualization technology. To analyze multi-depth sensor video recordings we utilize iPi Mocap Studio software and iPi Biomech Add-on plug-in, which provide us visual and biomechanical human gait data: linear and angular joint coordinates, velocity, acceleration, center of mass (CoM) position, skeleton and 3D point cloud. The final analysis was performed in MATLAB environment, calculating zero moment point (ZMP) and ground projection of the CoM (GCoM) trajectories from human body dynamics by considering human body as a single weight point. These were followed by GCoM and ZMP error estimation. The further objective of our research is to reproduce the obtained with our MoCap system human-like gait with Russian biped robot AR-601M.
{"title":"Toward a human-like biped robot gait: Biomechanical analysis of human locomotion recorded by Kinect-based Motion Capture system","authors":"B. Gabbasov, Igor Danilov, Ilya M. Afanasyev, E. Magid","doi":"10.1109/ISMA.2015.7373477","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373477","url":null,"abstract":"This paper presents biomechanical analysis of human locomotion recorded by Motion Capture (MoCap) system based on four Kinect 2 sensors and iPi Soft markerless tracking and visualization technology. To analyze multi-depth sensor video recordings we utilize iPi Mocap Studio software and iPi Biomech Add-on plug-in, which provide us visual and biomechanical human gait data: linear and angular joint coordinates, velocity, acceleration, center of mass (CoM) position, skeleton and 3D point cloud. The final analysis was performed in MATLAB environment, calculating zero moment point (ZMP) and ground projection of the CoM (GCoM) trajectories from human body dynamics by considering human body as a single weight point. These were followed by GCoM and ZMP error estimation. The further objective of our research is to reproduce the obtained with our MoCap system human-like gait with Russian biped robot AR-601M.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128097632","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373470
Mazoon S. Al Maamari, Salma S. Al Badi, A. Saleem, M. Mesbah, E. Hassan
Patients suffering with motor neuron diseases (MND) are characterized by their inability to control essential voluntary muscle activity. This situation may lead to what is known as Locked-in syndrome (LIS). As the name suggests, LIS describes the state of being locked inside a paralyzed body with a functioning mind. With recent advances in robotics and signal processing technologies, patients with motor neuron disease may be able to partially overcome their disability and regain some control over their external environments. In this paper, we propose a design for brain's controlled hand exoskeleton. The proposed system uses a dual loop control, namely the brain-hand control and a local (hand) force control. The hand exoskeleton design consists of three main parts: four fingers with a three-layered sliding spring mechanism, an extension to fix the thumb of the patient and the main body which connects all the fingers with the linear actuator. The proposed system is implemented and tested successfully. Two actions are performed, namely grasping and releasing a light foam ball. After a training period, the brain-controlled exoskeleton was able to perform the two actions accurately and smoothly.
{"title":"Design of a brain controlled hand exoskeleton for patients with motor neuron diseases","authors":"Mazoon S. Al Maamari, Salma S. Al Badi, A. Saleem, M. Mesbah, E. Hassan","doi":"10.1109/ISMA.2015.7373470","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373470","url":null,"abstract":"Patients suffering with motor neuron diseases (MND) are characterized by their inability to control essential voluntary muscle activity. This situation may lead to what is known as Locked-in syndrome (LIS). As the name suggests, LIS describes the state of being locked inside a paralyzed body with a functioning mind. With recent advances in robotics and signal processing technologies, patients with motor neuron disease may be able to partially overcome their disability and regain some control over their external environments. In this paper, we propose a design for brain's controlled hand exoskeleton. The proposed system uses a dual loop control, namely the brain-hand control and a local (hand) force control. The hand exoskeleton design consists of three main parts: four fingers with a three-layered sliding spring mechanism, an extension to fix the thumb of the patient and the main body which connects all the fingers with the linear actuator. The proposed system is implemented and tested successfully. Two actions are performed, namely grasping and releasing a light foam ball. After a training period, the brain-controlled exoskeleton was able to perform the two actions accurately and smoothly.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114519913","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373495
A. Cukla, Ricardo Silva Peres, J. Barata, R. C. Izquierdo, E. Perondi, F. Lorini
A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.
{"title":"A systematic approach to trajectory planning applied to modular robots","authors":"A. Cukla, Ricardo Silva Peres, J. Barata, R. C. Izquierdo, E. Perondi, F. Lorini","doi":"10.1109/ISMA.2015.7373495","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373495","url":null,"abstract":"A flexible manufacturing system is defined as a system that has the ability to respond to expected or unexpected changes in a manufacturing process. Currently, one of the options to implement a flexible manufacturing system, is the use of advanced technologies to provide more flexibility, lower cost and reusability. In this context, the modular robots (based in mechatronic modules) can be an alternative to classic manipulators, because they have a variable kinematic structure and are adaptable to changing production lines, being economic for industrial implementations. In this study, taking into account the flexibility characteristics of modular robots, a systematic approach to path planning applied in different modular robotic configurations is presented. The proposed methodology is described as follows: 1) definition of the concepts of a mechatronic module, 2) application of mechatronic modules in assembling of modular robots; and finally, 3) presentation of a system for the path planning of different modular configurations. The studies show that the concepts related to the trajectory planning are important aspects to be considered in self-configurable and flexible platforms.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125283134","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373475
Constantinos Frangoudis, Tomas Osterlind, A. Rashid
Machine tool joints have significant influence on the dynamic characteristics of the machine tool and therefore on the response of the machining system to excitations from the cutting process. In cases of unstable response, generally described as chatter, surface quality of a machined work-piece and tool life deteriorate significantly. This paper presents a novel way of exploiting joints in order to control the dynamic response of the system, by integrating a mechatronic tool holder (Joint Interface Module - JIM) in the machine tool. This system has a purposely designed joint interface with controllable natural characteristics (stiffness and damping). These characteristics are controlled by altering the applied preload on the internal joint interface of the tool holder. The preload on the joint interface is controlled by pneumatic means. In doing so, a milling process during which the stability limit was exceeded became stable during the machining process, without alteration of the process parameters.
{"title":"Control of milling process dynamics through a mechatronic tool holder with purposely designed Joint Interface","authors":"Constantinos Frangoudis, Tomas Osterlind, A. Rashid","doi":"10.1109/ISMA.2015.7373475","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373475","url":null,"abstract":"Machine tool joints have significant influence on the dynamic characteristics of the machine tool and therefore on the response of the machining system to excitations from the cutting process. In cases of unstable response, generally described as chatter, surface quality of a machined work-piece and tool life deteriorate significantly. This paper presents a novel way of exploiting joints in order to control the dynamic response of the system, by integrating a mechatronic tool holder (Joint Interface Module - JIM) in the machine tool. This system has a purposely designed joint interface with controllable natural characteristics (stiffness and damping). These characteristics are controlled by altering the applied preload on the internal joint interface of the tool holder. The preload on the joint interface is controlled by pneumatic means. In doing so, a milling process during which the stability limit was exceeded became stable during the machining process, without alteration of the process parameters.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125984552","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373492
M. Murali, V. Pande, N. Gopalakrishnan
A hardware setup of multiple Flexible AC Transmission systems (FACTS) devices in a Power Systems Laboratory will help to understand the dynamic performance of these devices and can provide a platform to test, implement and compare new control algorithms. This paper describes the development of FACTS Laboratory setup in COEP which can demonstrate the working of different FACTS devices like Static Compensator (STATCOM), Static Series Compensator (SSSC) and the Unified Power Flow Controller (UPFC) under different dynamic conditions. The development of various components of the FACTS laboratory model is also discussed. In this study, the authors have investigated and analyzed the effect of the system for a step change of DC voltage for STATCOM. In order to illustrate the effectiveness of the control algorithm, simulation and experimental studies have been conducted using the MATLAB/SIMULINK and dSPACE DS1104 data acquisition board. The results of the study show a close agreement between simulation and experimentation.
{"title":"Development of facts laboratory","authors":"M. Murali, V. Pande, N. Gopalakrishnan","doi":"10.1109/ISMA.2015.7373492","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373492","url":null,"abstract":"A hardware setup of multiple Flexible AC Transmission systems (FACTS) devices in a Power Systems Laboratory will help to understand the dynamic performance of these devices and can provide a platform to test, implement and compare new control algorithms. This paper describes the development of FACTS Laboratory setup in COEP which can demonstrate the working of different FACTS devices like Static Compensator (STATCOM), Static Series Compensator (SSSC) and the Unified Power Flow Controller (UPFC) under different dynamic conditions. The development of various components of the FACTS laboratory model is also discussed. In this study, the authors have investigated and analyzed the effect of the system for a step change of DC voltage for STATCOM. In order to illustrate the effectiveness of the control algorithm, simulation and experimental studies have been conducted using the MATLAB/SIMULINK and dSPACE DS1104 data acquisition board. The results of the study show a close agreement between simulation and experimentation.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131471487","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373471
Ali Alghamri, S. Mukhopadhyay, A. Osman
This paper presents a strategy for controlling the terminal voltage of a three phase switched rectifier. The novelty of the proposed method is that we use model reference adaptive control (MRAC) along with a custom designed switching mechanism. The switching mechanism is inspired by quantized control techniques. In this paper we do not focus on controlling the individual line currents but only on controlling the terminal voltage. The mathematical formulation of this problem is presented following the MRAC framework. Further we also validate the mathematical model by comparing its output with a Simulink based model which uses pre-existing blocks from the appropriate Simulink toolbox. Finally we also present simulation results of the proposed control scheme to show that using MRAC with the proposed quantization technique achieves desired results. This work can be extended in future for extracting maximum power from wind generators in a microgrid system.
{"title":"A quantized adaptive approach to three phase switched rectifier voltage control","authors":"Ali Alghamri, S. Mukhopadhyay, A. Osman","doi":"10.1109/ISMA.2015.7373471","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373471","url":null,"abstract":"This paper presents a strategy for controlling the terminal voltage of a three phase switched rectifier. The novelty of the proposed method is that we use model reference adaptive control (MRAC) along with a custom designed switching mechanism. The switching mechanism is inspired by quantized control techniques. In this paper we do not focus on controlling the individual line currents but only on controlling the terminal voltage. The mathematical formulation of this problem is presented following the MRAC framework. Further we also validate the mathematical model by comparing its output with a Simulink based model which uses pre-existing blocks from the appropriate Simulink toolbox. Finally we also present simulation results of the proposed control scheme to show that using MRAC with the proposed quantization technique achieves desired results. This work can be extended in future for extracting maximum power from wind generators in a microgrid system.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134557339","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373498
M. Kilani, Hussam J. Khasawneh, A. Abbadi
This paper presents the design and testing of a gentle pump prototype that is operated by a rotating magnetic field. The pump targets applications in which the pumped fluid contains stress sensitive microparticles which may be damaged when subjected to the high stress levels prevalent in conventional pumps. The prototype was tested in-vitro using blood from human volunteers, and according to published international protocols for the assessment of the hemolytic properties of continuous flow blood pumps used in extracorporeal or implantable circulatory assist devices. The normalized index of hemolysis (NIH) was found to be about 0.007, which is comparable with that obtained from top ranking blood pumps available in the market today.
{"title":"Design and testing of a gentle pump with rotating magnetic field for fluids with stress-sensitive microparticles","authors":"M. Kilani, Hussam J. Khasawneh, A. Abbadi","doi":"10.1109/ISMA.2015.7373498","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373498","url":null,"abstract":"This paper presents the design and testing of a gentle pump prototype that is operated by a rotating magnetic field. The pump targets applications in which the pumped fluid contains stress sensitive microparticles which may be damaged when subjected to the high stress levels prevalent in conventional pumps. The prototype was tested in-vitro using blood from human volunteers, and according to published international protocols for the assessment of the hemolytic properties of continuous flow blood pumps used in extracorporeal or implantable circulatory assist devices. The normalized index of hemolysis (NIH) was found to be about 0.007, which is comparable with that obtained from top ranking blood pumps available in the market today.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125628657","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373480
Ehab I. Al Khatib, M. Jaradat, M. Abdel-Hafez, Milad Roigari
Navigation is an important topic in mobile robots. In this paper, an Extended Kalman Filter (EKF) is used to localize a mobile robot equipped with an encoder, compass, IMU and GPS utilizing three different approaches. Subsequently, an input output state feedback linearization (I-O SFL) method is used to control the robot along the desired robot trajectory. The presented algorithms are verified when the robot was steered along two different track shapes. Additionally, the performance of the method is demonstrated when a fault was simulated on the sensors.
{"title":"Multiple sensor fusion for mobile robot localization and navigation using the Extended Kalman Filter","authors":"Ehab I. Al Khatib, M. Jaradat, M. Abdel-Hafez, Milad Roigari","doi":"10.1109/ISMA.2015.7373480","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373480","url":null,"abstract":"Navigation is an important topic in mobile robots. In this paper, an Extended Kalman Filter (EKF) is used to localize a mobile robot equipped with an encoder, compass, IMU and GPS utilizing three different approaches. Subsequently, an input output state feedback linearization (I-O SFL) method is used to control the robot along the desired robot trajectory. The presented algorithms are verified when the robot was steered along two different track shapes. Additionally, the performance of the method is demonstrated when a fault was simulated on the sensors.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122820002","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373464
S. Jatsun, L. Vorochaeva, A. Yatsun, A. Malchikov
In this article we discuss spatial motion of a five-link crawling robot equipped with special frictional elements for the fixation of the links onto the surface, which is realized in the form of a sequence of stages that correspond to a certain gait on a rough horizontal surface.
{"title":"Theoretical and experimental studies of transverse dimensional gait of five-link mobile robot on rough surface","authors":"S. Jatsun, L. Vorochaeva, A. Yatsun, A. Malchikov","doi":"10.1109/ISMA.2015.7373464","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373464","url":null,"abstract":"In this article we discuss spatial motion of a five-link crawling robot equipped with special frictional elements for the fixation of the links onto the surface, which is realized in the form of a sequence of stages that correspond to a certain gait on a rough horizontal surface.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131418379","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373468
Han Bo, Muhammad Azhar, Dhanya Menoth Mohan, D. Campolo
Good quality of surface finishing requires accurate control of tool positioning, as well as of contact forces. Various position and force control strategies have been applied to robotized finishing processes in industries. This paper reviews the control strategies applicable to robotic finishing operations, highlighting the benefits and limitations. Finally, adaptive force/impedance control architecture and its potential implementation on new generation compliant robots are briefed.
{"title":"Review of robotic control strategies for industrial finishing operations","authors":"Han Bo, Muhammad Azhar, Dhanya Menoth Mohan, D. Campolo","doi":"10.1109/ISMA.2015.7373468","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373468","url":null,"abstract":"Good quality of surface finishing requires accurate control of tool positioning, as well as of contact forces. Various position and force control strategies have been applied to robotized finishing processes in industries. This paper reviews the control strategies applicable to robotic finishing operations, highlighting the benefits and limitations. Finally, adaptive force/impedance control architecture and its potential implementation on new generation compliant robots are briefed.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114482083","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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