Pub Date : 2013-08-01DOI: 10.1109/ICINFA.2013.6720292
Shengdong Pan, X. An, Hangen He
Intrinsic image decomposition has become a hot topic since the ground truth dataset was proposed by Grosse and his colleagues in 2009. In this paper, we present a simple but effective approach to intrinsic image decomposition based on nonlinear anisotropic diffusion. The procedure originates from the iterative Retinex algorithm for illumination estimation, which can be interpreted as a nonlinear isotropic diffusion. By introducing a novel edge-stopping function incorporating intensity derivatives and color differences, the nonlinear anisotropic diffusion is quite effective in preserving intensity edges with little color change while calculating the shading image. With this respect, the shading is estimated from its neighbors with similar color, and is efficiently propagated across the image by the diffusion process. Experiments show that the proposed method produces good results on the benchmark, and has better performance according to the established principles compared with the state of the art single-image based methods.
自2009年Grosse及其同事提出ground truth dataset以来，图像的内在分解成为一个热门话题。本文提出了一种简单有效的基于非线性各向异性扩散的图像内禀分解方法。该程序源于迭代Retinex算法的照明估计，这可以解释为一个非线性各向同性扩散。通过引入一种结合强度导数和色差的边缘停止函数，非线性各向异性扩散在计算阴影图像时能够有效地保留颜色变化较小的强度边缘。在这方面，阴影是由颜色相近的邻居估计出来的，并通过扩散过程有效地传播到整个图像。实验表明，该方法在基准测试上取得了良好的效果，并且与目前基于单图像的方法相比，根据所建立的原理具有更好的性能。
{"title":"Intrinsic image decomposition from a single image via nonlinear anisotropic diffusion","authors":"Shengdong Pan, X. An, Hangen He","doi":"10.1109/ICINFA.2013.6720292","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720292","url":null,"abstract":"Intrinsic image decomposition has become a hot topic since the ground truth dataset was proposed by Grosse and his colleagues in 2009. In this paper, we present a simple but effective approach to intrinsic image decomposition based on nonlinear anisotropic diffusion. The procedure originates from the iterative Retinex algorithm for illumination estimation, which can be interpreted as a nonlinear isotropic diffusion. By introducing a novel edge-stopping function incorporating intensity derivatives and color differences, the nonlinear anisotropic diffusion is quite effective in preserving intensity edges with little color change while calculating the shading image. With this respect, the shading is estimated from its neighbors with similar color, and is efficiently propagated across the image by the diffusion process. Experiments show that the proposed method produces good results on the benchmark, and has better performance according to the established principles compared with the state of the art single-image based methods.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132960463","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720290
Ming Liu, R. Siegwart
Segmentation of point-cloud is still a challenging problem, regarding observation noise and various constraints defined by applications. These difficulties do not concede to its necessity for almost all kinds of modeling approaches using point-cloud. However, the criteria to justify the quality of a clustering result are not much studied. In this paper, we first propose a point-cloud segmentation algorithm using adapted k-means to cluster normal vectors obtained from tensor voting. Then we concentrate on how to use a non-parametrical criterion to validate the clustering results, which is an approximation of the information introduced by the clustering process. Compared with other approaches, we use noisy point-cloud obtained from moving laser range finders directly, instead of reconstruction of 3d grid-cells or meshing. Moreover, the criterion does not rely on the assumption of distributions of points. We show the distinguishable characteristics using the proposed criteria, as well as the better performance of the novel clustering algorithm against other approaches.
{"title":"Information theory based validation for point-cloud segmentation aided by tensor voting","authors":"Ming Liu, R. Siegwart","doi":"10.1109/ICINFA.2013.6720290","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720290","url":null,"abstract":"Segmentation of point-cloud is still a challenging problem, regarding observation noise and various constraints defined by applications. These difficulties do not concede to its necessity for almost all kinds of modeling approaches using point-cloud. However, the criteria to justify the quality of a clustering result are not much studied. In this paper, we first propose a point-cloud segmentation algorithm using adapted k-means to cluster normal vectors obtained from tensor voting. Then we concentrate on how to use a non-parametrical criterion to validate the clustering results, which is an approximation of the information introduced by the clustering process. Compared with other approaches, we use noisy point-cloud obtained from moving laser range finders directly, instead of reconstruction of 3d grid-cells or meshing. Moreover, the criterion does not rely on the assumption of distributions of points. We show the distinguishable characteristics using the proposed criteria, as well as the better performance of the novel clustering algorithm against other approaches.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132050756","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720429
Fatang Chen, Gang Zhou
We take advantage of TTCN(testing and test control notation) in protocol test, transplanted the funcion of layer 3 in LTE protocol stack to TTCN, and designed interface primitives between TTCN and test instruments. We then proposed an implementation scheme of terminal RRM(Radio Resource Management) conformance test system with TTCN-3 (testing and test control notation version 3), and verified the feasibility of this scheme by running the designed test case.
{"title":"RRM conformance testing in TD-LTE system based on TTCN-3","authors":"Fatang Chen, Gang Zhou","doi":"10.1109/ICINFA.2013.6720429","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720429","url":null,"abstract":"We take advantage of TTCN(testing and test control notation) in protocol test, transplanted the funcion of layer 3 in LTE protocol stack to TTCN, and designed interface primitives between TTCN and test instruments. We then proposed an implementation scheme of terminal RRM(Radio Resource Management) conformance test system with TTCN-3 (testing and test control notation version 3), and verified the feasibility of this scheme by running the designed test case.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"13 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130042781","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720392
Jinzhe Jiang, Yanan Gao, Lucheng Zhang
This paper uses inertial momentum management control method for long-term on-orbit working stability of large spacecraft which only has small difference in three-axis main inertia. To avoid the accumulation of gravity gradient torque, it should be guaranteed that one inertia axis of spacecraft is strictly perpendicular to its orbital plane. Then, an inertial reference coordinate system for momentum management is established. It is observed that the drift of ascending node right ascension and along-track angle of orbit caused by orbit perturbation has an approximate linear relation to time. This leads to a linear increase of the momentum and causes divergences of attitude and angular momentum. We render analysis to the problem and augment the long-period orbit factors in state equation on the basis of internal model principle in order to compensate the perturbation. Finally, semi-physical simulations are setup to validate the approach. It shows that the compensation method is feasible and long-term stability of attitude and momentum is achieved.
{"title":"Effect analysis and compensation for orbit perturbation of spacecraft using momentum management control","authors":"Jinzhe Jiang, Yanan Gao, Lucheng Zhang","doi":"10.1109/ICINFA.2013.6720392","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720392","url":null,"abstract":"This paper uses inertial momentum management control method for long-term on-orbit working stability of large spacecraft which only has small difference in three-axis main inertia. To avoid the accumulation of gravity gradient torque, it should be guaranteed that one inertia axis of spacecraft is strictly perpendicular to its orbital plane. Then, an inertial reference coordinate system for momentum management is established. It is observed that the drift of ascending node right ascension and along-track angle of orbit caused by orbit perturbation has an approximate linear relation to time. This leads to a linear increase of the momentum and causes divergences of attitude and angular momentum. We render analysis to the problem and augment the long-period orbit factors in state equation on the basis of internal model principle in order to compensate the perturbation. Finally, semi-physical simulations are setup to validate the approach. It shows that the compensation method is feasible and long-term stability of attitude and momentum is achieved.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130063800","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720480
Xizhe Zang, Yixiang Liu, Yanhe Zhu
A novel type of mobile jack robot is proposed in view of the fact that the traditional method of debris jacking up is usually inefficient and unsafe. The jack robot has two motion modes: fast motion mode in which the robot can drive in straight line, veer and climb with the use of crawler and crawling mode in which the robot can open narrow gaps and cultivate spaces under debris by itself to enable it to pass through. The step-shaped structure on the robot's head is able to insert into a 40 mm gap and expand it to 410 mm gradually, to make enough spaces for rescue teams and other rescue tools to save out survivors under debris. The robot can jack up 1000 kg load driven by a single-acting hydraulic cylinder which generates 101 kN force at rated pressure 70 MPa. Experiments are carried out to verify the validity of the proposed design.
{"title":"Structure design of a mobile jack robot","authors":"Xizhe Zang, Yixiang Liu, Yanhe Zhu","doi":"10.1109/ICINFA.2013.6720480","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720480","url":null,"abstract":"A novel type of mobile jack robot is proposed in view of the fact that the traditional method of debris jacking up is usually inefficient and unsafe. The jack robot has two motion modes: fast motion mode in which the robot can drive in straight line, veer and climb with the use of crawler and crawling mode in which the robot can open narrow gaps and cultivate spaces under debris by itself to enable it to pass through. The step-shaped structure on the robot's head is able to insert into a 40 mm gap and expand it to 410 mm gradually, to make enough spaces for rescue teams and other rescue tools to save out survivors under debris. The robot can jack up 1000 kg load driven by a single-acting hydraulic cylinder which generates 101 kN force at rated pressure 70 MPa. Experiments are carried out to verify the validity of the proposed design.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134441372","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720280
R. Guo, Feng Zhang, Liang Zhong
This paper presents an intelligent on-line monitoring system based on the elastic wave for damage inspection on overhead transmission lines, the damage location on overhead transmission lines was successfully achieved by Gabor wavelet transform and power spectral density (PSD) technology. An overview of the system is presented, including a signal generation and acquisition system that is the elastic wave generation and acquisition system, a signal processing system that is the damage location on overhead transmission lines. The experiment results show that damage location on overhead transmission lines is successfully achieved.
{"title":"Intelligent on-line monitoring system based on elastic wave for overhead transmission lines","authors":"R. Guo, Feng Zhang, Liang Zhong","doi":"10.1109/ICINFA.2013.6720280","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720280","url":null,"abstract":"This paper presents an intelligent on-line monitoring system based on the elastic wave for damage inspection on overhead transmission lines, the damage location on overhead transmission lines was successfully achieved by Gabor wavelet transform and power spectral density (PSD) technology. An overview of the system is presented, including a signal generation and acquisition system that is the elastic wave generation and acquisition system, a signal processing system that is the damage location on overhead transmission lines. The experiment results show that damage location on overhead transmission lines is successfully achieved.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133375067","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720447
Min Li, Qiqiang Li, Haiying Liu
The consensus problem of linear multi-agent systems with directed switching topologies is investigated. An observer-based consensus protocol is designed, under which the final consensus value may be nontrivial if the agent is stabilizable and observable. An algorithm is presented to construct the consensus protocol to achieve the joint design of the final consensus value and the prescribed convergence rate for arbitrarily switching topologies having a spanning tree. A numerical example indicates the effectiveness and advantages of the algorithm.
{"title":"Consensus of multi-agent systems with observer-based protocols under switching topologies","authors":"Min Li, Qiqiang Li, Haiying Liu","doi":"10.1109/ICINFA.2013.6720447","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720447","url":null,"abstract":"The consensus problem of linear multi-agent systems with directed switching topologies is investigated. An observer-based consensus protocol is designed, under which the final consensus value may be nontrivial if the agent is stabilizable and observable. An algorithm is presented to construct the consensus protocol to achieve the joint design of the final consensus value and the prescribed convergence rate for arbitrarily switching topologies having a spanning tree. A numerical example indicates the effectiveness and advantages of the algorithm.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133213860","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720343
Songpu Yang, Yangzhu Wang
Guide the UAV landing by using ground visual navigation system. Firstly, introduce the basic space intersection model: two videos capture sequence images of UAV and two theodolites record the azimuth and elevation of the optical axises of two cameras simultaneously. Then the position of UAV can be obtained by means of intersecting in space. Secondly, propose the adjustment model by introducing adjustment theory to improve the calculation precision. Finally, using kalman filter to improve the position accuracy further. The simulation model of visual navigation system is based on 3ds Max software. The simulation experiments show that, the basic space intersection model has high accuracy; the adjustment model can improve the accuracy in elevation direction; the position accuracy is further improved by introducing of kalman filter. Combining the above models and algorithms, the vision navigation system presented in this article meets the requirements of UAV landing.
{"title":"Research on visual navigation technology of unmanned aerial vehicle landing","authors":"Songpu Yang, Yangzhu Wang","doi":"10.1109/ICINFA.2013.6720343","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720343","url":null,"abstract":"Guide the UAV landing by using ground visual navigation system. Firstly, introduce the basic space intersection model: two videos capture sequence images of UAV and two theodolites record the azimuth and elevation of the optical axises of two cameras simultaneously. Then the position of UAV can be obtained by means of intersecting in space. Secondly, propose the adjustment model by introducing adjustment theory to improve the calculation precision. Finally, using kalman filter to improve the position accuracy further. The simulation model of visual navigation system is based on 3ds Max software. The simulation experiments show that, the basic space intersection model has high accuracy; the adjustment model can improve the accuracy in elevation direction; the position accuracy is further improved by introducing of kalman filter. Combining the above models and algorithms, the vision navigation system presented in this article meets the requirements of UAV landing.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116597172","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720379
Jun Tang, Jun Zhang, Xiaojun Wang, Zeyang Xia, Ying Hu, Jianwei Zhang
Robots in dynamic and uncertain environments are vulnerable to mission failures due to external perturbation or internal malfunctions. Diagnosis is the process to detect, locate or even assess the fault. Since robots rely on their function modules to sense the external environment, it is difficult to locate the fault under uncertainties of robot components. The situation can be worse when there is also uncertainty about the environment. To resolve this issue, this paper proposes a new method to actively gain diagnostic information to locate the failure-cause more accurately under uncertainties. An integrated strategy of self-function-checking and diagnostic-plan is described. Validation using JSHOP2 planner showed that robots using this strategy was able to locate failure-cause with high autonomy.
{"title":"Gaining diagnostic information for fault isolation","authors":"Jun Tang, Jun Zhang, Xiaojun Wang, Zeyang Xia, Ying Hu, Jianwei Zhang","doi":"10.1109/ICINFA.2013.6720379","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720379","url":null,"abstract":"Robots in dynamic and uncertain environments are vulnerable to mission failures due to external perturbation or internal malfunctions. Diagnosis is the process to detect, locate or even assess the fault. Since robots rely on their function modules to sense the external environment, it is difficult to locate the fault under uncertainties of robot components. The situation can be worse when there is also uncertainty about the environment. To resolve this issue, this paper proposes a new method to actively gain diagnostic information to locate the failure-cause more accurately under uncertainties. An integrated strategy of self-function-checking and diagnostic-plan is described. Validation using JSHOP2 planner showed that robots using this strategy was able to locate failure-cause with high autonomy.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126054769","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720341
Xiao Tan, Xianxiang Chen, Ren Ren, Xinyu Hu, Bing Zhou, Z. Fang, S. Xia
Removing the baseline wander (BW) is vital in electrocardiogram (ECG) preprocessing steps, since it can severely influence the diagnostic results, especially in computer based diagnoses. This paper presents a method based on weighted local regression smoothing to correct BW in real time. Each signal data sample within a certain window is weighted. The weight of each sample is determined by the distance between the sample and the to-be-predicted sample. Then the regression is adopted by performing linear least-squares and a polynomial model to estimate BW. The ECG signal free from BW is obtained by subtracting the BW from the original ECG signal. The experiment results demonstrate that this method can effectively remove BW in ECG signal in real time and with minimum distortion of ECG waveform.
{"title":"Real-time baseline wander removal in ECG signal based on weighted local linear regression smoothing","authors":"Xiao Tan, Xianxiang Chen, Ren Ren, Xinyu Hu, Bing Zhou, Z. Fang, S. Xia","doi":"10.1109/ICINFA.2013.6720341","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720341","url":null,"abstract":"Removing the baseline wander (BW) is vital in electrocardiogram (ECG) preprocessing steps, since it can severely influence the diagnostic results, especially in computer based diagnoses. This paper presents a method based on weighted local regression smoothing to correct BW in real time. Each signal data sample within a certain window is weighted. The weight of each sample is determined by the distance between the sample and the to-be-predicted sample. Then the regression is adopted by performing linear least-squares and a polynomial model to estimate BW. The ECG signal free from BW is obtained by subtracting the BW from the original ECG signal. The experiment results demonstrate that this method can effectively remove BW in ECG signal in real time and with minimum distortion of ECG waveform.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122196973","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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