Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438015
Han Liu, Qianying Tang, Yongji Wang
This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits.
{"title":"A robot path planning approach based on generalized semi-infinite optimization","authors":"Han Liu, Qianying Tang, Yongji Wang","doi":"10.1109/RAMECH.2004.1438015","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438015","url":null,"abstract":"This paper inherits the fundamental ideas of inequality and optimization techniques from the previous work and converts the real-time obstacle avoidance problem into a semi-infinite constrained optimization problem with the help of a delicate mathematical transformation, which leads to an efficient real-time robotics' path planning approach. Motivated by the practical requirements of obstacle representation, a generalized semi-infinite optimization problem (GSOP) with not only intersection but also union operations was proposed and a mathematical solution to it was developed. Simulation results in 3D space have been presented to show its merits.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133738396","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438077
Haifeng Wang, Wenjuan Lu, Feng Chuan
In this paper, a locating ceramics system based on computer vision is introduced. The system is used to indirectly measure the ceramics' poses on the automatic product line of the robot spraying unburned ceramics. The structure, locating principle and method of the system are described and some application results are given. The locating principle of the system adopts the camera calibration, image segmentation through finding the valley at an image saturation histogram, and the image morphological operation. The locating ceramics system based on computer vision has been applied in practice.
{"title":"Locating ceramics system based on computer vision","authors":"Haifeng Wang, Wenjuan Lu, Feng Chuan","doi":"10.1109/RAMECH.2004.1438077","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438077","url":null,"abstract":"In this paper, a locating ceramics system based on computer vision is introduced. The system is used to indirectly measure the ceramics' poses on the automatic product line of the robot spraying unburned ceramics. The structure, locating principle and method of the system are described and some application results are given. The locating principle of the system adopts the camera calibration, image segmentation through finding the valley at an image saturation histogram, and the image morphological operation. The locating ceramics system based on computer vision has been applied in practice.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114664754","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438913
M. Zadeh, K. Khorasani
This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.
{"title":"Control strategies for a haptic device interfacing with virtual environment","authors":"M. Zadeh, K. Khorasani","doi":"10.1109/RAMECH.2004.1438913","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438913","url":null,"abstract":"This paper presents several strategies for maintaining and improving the stability margins and achievable performances for a haptic rendering subject to interaction with virtual objects. Two classes of control strategies are investigated here. The first is a lead-lag compensator designed based on classical control and the second scheme is a linear-quadratic Gaussian (LQG) controller designed from modern control theory. A detailed comparative performance and evaluation of the proposed controllers are developed to illustrate the advantages and disadvantages of these methods.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"476 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123556308","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438953
Tsuyoshi Shimizu, M. Obi, N. Furuya, S. Toyama
This paper presents the process of recognition of the three-dimensional object and calculation of similarity. The object is recovered from stereo image and superquadrics function is used as the model. The superquadrics is a parametric and volumetric model. It is represented by an expanded ellipse function. And genetic algorithm is used for recovering of an object shape. A fitness function of genetic algorithm is defined using texture features of object on the stereo image. The features are shared area and difference of intensity among the left image and the right image. Parameters of superquadrics which are replaced by parameters of genetic algorithm are optimized and the superquadrics form fits to a solid body object. In the case of multiple body objects, the object is divided on the image, and each solid body is recovered. The objects used in the experiment are a cube, a cylinder and an elliptic column. The algorithm is useful for the recovery of the object under stereopsis. After recovery, the similarity between the recovered object and the model in the computer is calculated.
{"title":"Superquadrics model recognition from stereo image","authors":"Tsuyoshi Shimizu, M. Obi, N. Furuya, S. Toyama","doi":"10.1109/RAMECH.2004.1438953","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438953","url":null,"abstract":"This paper presents the process of recognition of the three-dimensional object and calculation of similarity. The object is recovered from stereo image and superquadrics function is used as the model. The superquadrics is a parametric and volumetric model. It is represented by an expanded ellipse function. And genetic algorithm is used for recovering of an object shape. A fitness function of genetic algorithm is defined using texture features of object on the stereo image. The features are shared area and difference of intensity among the left image and the right image. Parameters of superquadrics which are replaced by parameters of genetic algorithm are optimized and the superquadrics form fits to a solid body object. In the case of multiple body objects, the object is divided on the image, and each solid body is recovered. The objects used in the experiment are a cube, a cylinder and an elliptic column. The algorithm is useful for the recovery of the object under stereopsis. After recovery, the similarity between the recovered object and the model in the computer is calculated.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124744927","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438885
Heng Wang, H. Low, Feng Gong, M. Wang
Three methods have been commonly used for telemanipulation: joint angle mapping, pose mapping and fingertip position mapping. However, none of the methods result in satisfactory performance if the robot hand is non-anthropomorphic. This paper introduces a, new concept for mapping based on the relative positions between fingertips. A brief implementation of this method for three-fingered robot hand is presented, followed by two case studies. By transferring the information of relative positions from human hand to robot hand, the proposed method is able to produce better results if compared with those of fingertip position mapping.
{"title":"Relative position-based mapping for telemanipulation of dexterous robot hands","authors":"Heng Wang, H. Low, Feng Gong, M. Wang","doi":"10.1109/RAMECH.2004.1438885","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438885","url":null,"abstract":"Three methods have been commonly used for telemanipulation: joint angle mapping, pose mapping and fingertip position mapping. However, none of the methods result in satisfactory performance if the robot hand is non-anthropomorphic. This paper introduces a, new concept for mapping based on the relative positions between fingertips. A brief implementation of this method for three-fingered robot hand is presented, followed by two case studies. By transferring the information of relative positions from human hand to robot hand, the proposed method is able to produce better results if compared with those of fingertip position mapping.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128496236","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438089
M. Habib, J. I. Inayat-Hussain
Active magnetic bearings are increasingly being utilized in rotating machinery applications as an alternative to the conventional rolling-clement and fluid-film bearing types. Magnetic bearing is an open-loop unstable system, and in most practical applications, a PID controller is utilized to ensure stable operation of the rotating machinery. The PID controller, however, becomes ineffective when the machine operates in highly nonlinear regimes. This paper develops a fuzzy logic control scheme to improve the performance of a dual-acting magnetic bearing actuator system operating in nonlinear regimes. The nonlinearity in this system is due to the relationship between the forces generated in the electromagnetic actuator and the coil current and the air gap between the rotor and the stator. The dynamic response of the magnetic bearing actuator system based on the fuzzy logic scheme proposed in this work was found to be much better as compared to the response of the system based on the conventional PD controller. The fuzzy logic control scheme presented in this work may be used for the nonlinear control of systems that operates in nonlinear regimes.
{"title":"Fuzzy control scheme for dual-acting magnetic bearing actuator system","authors":"M. Habib, J. I. Inayat-Hussain","doi":"10.1109/RAMECH.2004.1438089","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438089","url":null,"abstract":"Active magnetic bearings are increasingly being utilized in rotating machinery applications as an alternative to the conventional rolling-clement and fluid-film bearing types. Magnetic bearing is an open-loop unstable system, and in most practical applications, a PID controller is utilized to ensure stable operation of the rotating machinery. The PID controller, however, becomes ineffective when the machine operates in highly nonlinear regimes. This paper develops a fuzzy logic control scheme to improve the performance of a dual-acting magnetic bearing actuator system operating in nonlinear regimes. The nonlinearity in this system is due to the relationship between the forces generated in the electromagnetic actuator and the coil current and the air gap between the rotor and the stator. The dynamic response of the magnetic bearing actuator system based on the fuzzy logic scheme proposed in this work was found to be much better as compared to the response of the system based on the conventional PD controller. The fuzzy logic control scheme presented in this work may be used for the nonlinear control of systems that operates in nonlinear regimes.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130070639","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438046
Chang-Sei Kim, K. Hong, H. Han, Soo-Ho Kim, Soon-Chang Kwon
In this paper, a PC-based offline programming (PC-OLP) method for welding robots in shipbuilding is proposed. Also, this paper explains the methodology of 3D simulations for new type robotic systems. The proposed OLP system consists of a robot's 3D simulation, a block arrangement simulation, an optimal path planning by genetic algorithm (GA), an automatic robot program generation, and a Tribon CAD interface. The strength of the developed OLP system lies in its flexibility in handling the changes in the robot's target objects. Also, by use or the developed OLP, the operator can generate robot programs very easily and quickly. We employ Visual C++, Open Inventor, Virtual Reality Modeling Language (VRML), and Windows 2000 system. The VRML makes the developed OLP possible to extend to an Internet-base OLP. The developed OLP can also be used for other robot applications such as painting or grinding robots in shipbuilding industry.
提出了一种基于pc机的船舶焊接机器人离线编程(PC-OLP)方法。此外，本文还阐述了新型机器人系统的三维仿真方法。该系统由机器人的三维仿真、块排仿真、遗传算法的最优路径规划、机器人自动程序生成和Tribon CAD接口组成。所开发的OLP系统的优点在于能够灵活地处理机器人目标物体的变化。此外，通过使用开发的OLP，操作员可以非常容易和快速地生成机器人程序。我们采用Visual c++， Open Inventor，虚拟现实建模语言(VRML)和Windows 2000系统。VRML使开发的OLP可以扩展为基于internet的OLP。开发的OLP也可用于其他机器人应用，如造船工业的油漆或研磨机器人。
{"title":"PC-based off-line programming using VRML for welding robots in shipbuilding","authors":"Chang-Sei Kim, K. Hong, H. Han, Soo-Ho Kim, Soon-Chang Kwon","doi":"10.1109/RAMECH.2004.1438046","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438046","url":null,"abstract":"In this paper, a PC-based offline programming (PC-OLP) method for welding robots in shipbuilding is proposed. Also, this paper explains the methodology of 3D simulations for new type robotic systems. The proposed OLP system consists of a robot's 3D simulation, a block arrangement simulation, an optimal path planning by genetic algorithm (GA), an automatic robot program generation, and a Tribon CAD interface. The strength of the developed OLP system lies in its flexibility in handling the changes in the robot's target objects. Also, by use or the developed OLP, the operator can generate robot programs very easily and quickly. We employ Visual C++, Open Inventor, Virtual Reality Modeling Language (VRML), and Windows 2000 system. The VRML makes the developed OLP possible to extend to an Internet-base OLP. The developed OLP can also be used for other robot applications such as painting or grinding robots in shipbuilding industry.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130593269","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438898
Xueyan Tang, H. Pham, Qing Li, I. Chen
This paper presents an analytical approach for dynamic modeling of a three-degree-of-freedom flexure parallel micromanipulator based on the pseudo rigid-body model approach. The motion equation is established using Lagrangian method. The dynamic characteristics such as natural frequencies and transient responses are also investigated. The modeling using analytical approach is proved to be accurate through a validation based on a finite element analysis. The dynamic analysis has also proved that the micromanipulator in this study possesses high natural frequencies and decoupled dynamics.
{"title":"Dynamic analysis of a 3-DOF flexure parallel micromanipulator","authors":"Xueyan Tang, H. Pham, Qing Li, I. Chen","doi":"10.1109/RAMECH.2004.1438898","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438898","url":null,"abstract":"This paper presents an analytical approach for dynamic modeling of a three-degree-of-freedom flexure parallel micromanipulator based on the pseudo rigid-body model approach. The motion equation is established using Lagrangian method. The dynamic characteristics such as natural frequencies and transient responses are also investigated. The modeling using analytical approach is proved to be accurate through a validation based on a finite element analysis. The dynamic analysis has also proved that the micromanipulator in this study possesses high natural frequencies and decoupled dynamics.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127935825","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438918
Tao Liu, Y. Inoue, K. Shibata, Y. Yamasaki, Masafumi Nakahama
In this paper, parallel support principle of force sensor is discussed, and a six-dimension parallel force sensor is presented for human dynamics analysis. The force sensor with parallel support mechanism was designed to measure six-axis reaction forces during human walking. Finite element method was adopted to optimize mechanism dimension of the force sensor. Sensitivity of force sensor was improved by distributing strain gages on the maximum strain positions. A three-direction drag mechanism was designed for calibrating load cells in the parallel force sensor, and method of least-squares was used to calculate calibration coefficients.
{"title":"A six-dimension parallel force sensor for human dynamics analysis","authors":"Tao Liu, Y. Inoue, K. Shibata, Y. Yamasaki, Masafumi Nakahama","doi":"10.1109/RAMECH.2004.1438918","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438918","url":null,"abstract":"In this paper, parallel support principle of force sensor is discussed, and a six-dimension parallel force sensor is presented for human dynamics analysis. The force sensor with parallel support mechanism was designed to measure six-axis reaction forces during human walking. Finite element method was adopted to optimize mechanism dimension of the force sensor. Sensitivity of force sensor was improved by distributing strain gages on the maximum strain positions. A three-direction drag mechanism was designed for calibrating load cells in the parallel force sensor, and method of least-squares was used to calculate calibration coefficients.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131318372","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438073
A. Gupta, A. I. Sivakumar, V. Ganesan
Scheduling problems involving earliness/tardiness (E/T) measures have received significant attention in recent years. This type of problem became important with the advent of the just-in-time (JIT) manufacturing philosophy, where early or tardy deliveries are highly discouraged. In this paper we examine the single batch processing machine-scheduling problem in a dynamic environment for minimizing the E/T measures. We propose a look ahead batching (LAB) method where the scheduling decisions are made considering the arrival epochs and due dates of incoming lots, which are easily predictable in a computer integrated manufacturing environment, especially in the semiconductor industry. The results of the proposed method are compared with the dynamic batching heuristic (DBH) and next arrival control heuristic (NACH), which are look ahead strategies developed based on arrival information alone. The E/T performance is measured by minimization of the absolute sum of earliness and tardiness of the lots (|E|+|T|) and the minimization of their square sum (E/sup 2/+T/sup 2/). The steady state simulation results show that exploiting the knowledge of future arrivals and their due dates leads to a significant reduction in the E/T measures for tight and loose due date settings at two different utilization levels.
{"title":"Look ahead batching to minimize earliness/tardiness measures in batch processes","authors":"A. Gupta, A. I. Sivakumar, V. Ganesan","doi":"10.1109/RAMECH.2004.1438073","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438073","url":null,"abstract":"Scheduling problems involving earliness/tardiness (E/T) measures have received significant attention in recent years. This type of problem became important with the advent of the just-in-time (JIT) manufacturing philosophy, where early or tardy deliveries are highly discouraged. In this paper we examine the single batch processing machine-scheduling problem in a dynamic environment for minimizing the E/T measures. We propose a look ahead batching (LAB) method where the scheduling decisions are made considering the arrival epochs and due dates of incoming lots, which are easily predictable in a computer integrated manufacturing environment, especially in the semiconductor industry. The results of the proposed method are compared with the dynamic batching heuristic (DBH) and next arrival control heuristic (NACH), which are look ahead strategies developed based on arrival information alone. The E/T performance is measured by minimization of the absolute sum of earliness and tardiness of the lots (|E|+|T|) and the minimization of their square sum (E/sup 2/+T/sup 2/). The steady state simulation results show that exploiting the knowledge of future arrivals and their due dates leads to a significant reduction in the E/T measures for tight and loose due date settings at two different utilization levels.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129267967","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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