Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438902
Jian Shen, J. Guzman, T. Ng, B. S. Chew
Tele-operated systems allow humans to extend their physical capabilities and enable them to intervene in hazardous operations or where their presence is not possible. However, the operation of such systems over long periods has proved to be difficult and stressful. Consequently, means to facilitate their use are the subject of much study and experimental work. In this paper, we propose a collaborative-shared control strategy that combines the operator abilities with robotic-based tasks to render these systems more flexible and robust. In our method, the collaborative control component is responsible for allowing operator intervention when the robot is facing complex situations, whilst the shared control component provides an automatic control mechanism to assist and to monitor-correct irrational operator actions. The paper demonstrates how collaborative and shared control strategies work together to facilitate the teleoperated control of a mobile platform in a cluttered environment. The experimental results include applications to surveillance and to search & rescue operations. In addition, a key component in the form of a hybrid obstacle avoidance module is introduced that allows the robot to be guided on a task basis by the operator at a distance.
{"title":"A collaborative-shared control system with safe obstacle avoidance capability","authors":"Jian Shen, J. Guzman, T. Ng, B. S. Chew","doi":"10.1109/RAMECH.2004.1438902","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438902","url":null,"abstract":"Tele-operated systems allow humans to extend their physical capabilities and enable them to intervene in hazardous operations or where their presence is not possible. However, the operation of such systems over long periods has proved to be difficult and stressful. Consequently, means to facilitate their use are the subject of much study and experimental work. In this paper, we propose a collaborative-shared control strategy that combines the operator abilities with robotic-based tasks to render these systems more flexible and robust. In our method, the collaborative control component is responsible for allowing operator intervention when the robot is facing complex situations, whilst the shared control component provides an automatic control mechanism to assist and to monitor-correct irrational operator actions. The paper demonstrates how collaborative and shared control strategies work together to facilitate the teleoperated control of a mobile platform in a cluttered environment. The experimental results include applications to surveillance and to search & rescue operations. In addition, a key component in the form of a hybrid obstacle avoidance module is introduced that allows the robot to be guided on a task basis by the operator at a distance.","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":"122343245","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.2004.1438002
Edward Wong, R. Jarvis
This paper describes a stereo vision guided humanoid that can perform real time obstacle detection, path analysis and navigation planning on a carpet floor. The real time obstacle detection algorithm uses the two dimensional disparity gradients approach to detect the obstacle on the floor without constructing the floor plane and affine adjustment even though the baseline of the camera system is not parallel with the floor. The size of the obstacle that can be detected is as small as 30 mm in diameter. The navigation planning is performed by using a distance transform method in which a shortest path is found and then the number of footsteps required to reach the destination is calculated.
{"title":"Real time obstacle detection and navigation planning for a humanoid robot in an indoor environment","authors":"Edward Wong, R. Jarvis","doi":"10.1109/RAMECH.2004.1438002","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438002","url":null,"abstract":"This paper describes a stereo vision guided humanoid that can perform real time obstacle detection, path analysis and navigation planning on a carpet floor. The real time obstacle detection algorithm uses the two dimensional disparity gradients approach to detect the obstacle on the floor without constructing the floor plane and affine adjustment even though the baseline of the camera system is not parallel with the floor. The size of the obstacle that can be detected is as small as 30 mm in diameter. The navigation planning is performed by using a distance transform method in which a shortest path is found and then the number of footsteps required to reach the destination is calculated.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"7 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":"114172164","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.2004.1438051
Jae Byung Park, Youngrock Yoon
This paper presents a robust histogram based tracking algorithm that is capable of detecting specular highlights on objects or faces to be tracked. The materials with shiny and smooth surfaces such as car exterior, ceramics or glasses often exhibit specularities which are highly saturated regions in the image that are produced by mirrorlike reflections. Whenever confronted with such specular highlights on the target objects, the results of segmentation and tracking become inaccurate and unreliable. Speaking of real-time color object tracking, there are two major issues that are associated with such specular highlights. First issue is how to detect specular highlights suddenly appearing in the image sequence. Second one is how the detected specular highlights can be correspondingly considered to improve the tracking performance. In this paper, we describe our specularity detection method that can he applied to every pair of consecutive frames in the tracking sequence. Experimental results of two tracking systems: (1) with specularity detection and (2) without handling specularities are compared to show the improvement. This method has been successfully tested on multiple tracking tasks with monochromatic objects.
{"title":"Tracking objects and faces using color histograms enhanced with specularity detection","authors":"Jae Byung Park, Youngrock Yoon","doi":"10.1109/RAMECH.2004.1438051","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438051","url":null,"abstract":"This paper presents a robust histogram based tracking algorithm that is capable of detecting specular highlights on objects or faces to be tracked. The materials with shiny and smooth surfaces such as car exterior, ceramics or glasses often exhibit specularities which are highly saturated regions in the image that are produced by mirrorlike reflections. Whenever confronted with such specular highlights on the target objects, the results of segmentation and tracking become inaccurate and unreliable. Speaking of real-time color object tracking, there are two major issues that are associated with such specular highlights. First issue is how to detect specular highlights suddenly appearing in the image sequence. Second one is how the detected specular highlights can be correspondingly considered to improve the tracking performance. In this paper, we describe our specularity detection method that can he applied to every pair of consecutive frames in the tracking sequence. Experimental results of two tracking systems: (1) with specularity detection and (2) without handling specularities are compared to show the improvement. This method has been successfully tested on multiple tracking tasks with monochromatic objects.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"104 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":"121251498","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.2004.1438915
Jianfa Wang, Wensheng Yin, Y. Zhu, G. Duan
Identification and control of an air bearing linear stage driven by a voice coil motor are considered. The load of the stage is more than 5 kg, and the model has to include the mode of mechanism for high bandwidth and high precision motion control. Identification based on normalized coprime factors is introduced for this purpose. A precise model with high order can be derived from the identification, but the order of the model is too high to control design, therefore, model reduction is performed. Finally, a polynomial pole-placement combined with sensitivity function shaping is carried out. The experimental result shows the stage can achieve 10 nm position step easily.
{"title":"Identification and super-precision control of a linear stage driven by a voice coil motor","authors":"Jianfa Wang, Wensheng Yin, Y. Zhu, G. Duan","doi":"10.1109/RAMECH.2004.1438915","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438915","url":null,"abstract":"Identification and control of an air bearing linear stage driven by a voice coil motor are considered. The load of the stage is more than 5 kg, and the model has to include the mode of mechanism for high bandwidth and high precision motion control. Identification based on normalized coprime factors is introduced for this purpose. A precise model with high order can be derived from the identification, but the order of the model is too high to control design, therefore, model reduction is performed. Finally, a polynomial pole-placement combined with sensitivity function shaping is carried out. The experimental result shows the stage can achieve 10 nm position step easily.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"46 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":"123790808","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.2004.1438942
Changjiu Zhou, Pik Kong Yue, Jun Ni, Shan-Ben Chan
In this paper, we formulate gait synthesis of humanoid biped locomotion as an optimization problem with consideration of some constraints, e.g. zero-moment point (ZMP) constraints for dynamically stable locomotion, internal forces constraints for smooth transition, geometric constraints for walking on an uneven floor, e.g. sloping surface and etc. In the frame of gait synthesis tied with constraint functions, computational learning methods can be incorporated to further improve the gait. The effectiveness of the proposed dynamically stable gait planning and learning approach for humanoid walking on both even floor and sloping surface has been successfully tested on our humanoid soccer robots named Robo-Erectus, which won first place in the RoboCup 2003 Humanoid League Free Performance competition and got 4 silver awards in the RoboCup Humanoid League 2004.
{"title":"Dynamically stable gait planning for a humanoid robot to climb sloping surface","authors":"Changjiu Zhou, Pik Kong Yue, Jun Ni, Shan-Ben Chan","doi":"10.1109/RAMECH.2004.1438942","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438942","url":null,"abstract":"In this paper, we formulate gait synthesis of humanoid biped locomotion as an optimization problem with consideration of some constraints, e.g. zero-moment point (ZMP) constraints for dynamically stable locomotion, internal forces constraints for smooth transition, geometric constraints for walking on an uneven floor, e.g. sloping surface and etc. In the frame of gait synthesis tied with constraint functions, computational learning methods can be incorporated to further improve the gait. The effectiveness of the proposed dynamically stable gait planning and learning approach for humanoid walking on both even floor and sloping surface has been successfully tested on our humanoid soccer robots named Robo-Erectus, which won first place in the RoboCup 2003 Humanoid League Free Performance competition and got 4 silver awards in the RoboCup Humanoid League 2004.","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":"125293222","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.2004.1438010
M. Monnin, Daniel Racoceanu, N. Zerhouni
This paper studies diagnosis-aid systems that use artificial intelligence tools. This kind of system is very interesting in an uncertain industrial environment, especially flexible production systems. An overview of the most important artificial intelligence diagnosis tools is given. For each tool, we focus on diagnosis principles and its advantages and disadvantages. That allows us to extract four important points that a diagnosis tool should fulfil. Using these results, we propose a tool based on fuzzy Petri nets which allows to make a diagnosis using a model that is easy to build and that takes into account the uncertainties of maintenance knowledge. This tool provides abductive approaches of a fault propagation system with efficient localization and characterization of the fault origin. We apply our tool to an illustrative example of flexible system diagnosis.
{"title":"Overview on diagnosis methods using artificial intelligence application of fuzzy Petri nets","authors":"M. Monnin, Daniel Racoceanu, N. Zerhouni","doi":"10.1109/RAMECH.2004.1438010","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438010","url":null,"abstract":"This paper studies diagnosis-aid systems that use artificial intelligence tools. This kind of system is very interesting in an uncertain industrial environment, especially flexible production systems. An overview of the most important artificial intelligence diagnosis tools is given. For each tool, we focus on diagnosis principles and its advantages and disadvantages. That allows us to extract four important points that a diagnosis tool should fulfil. Using these results, we propose a tool based on fuzzy Petri nets which allows to make a diagnosis using a model that is easy to build and that takes into account the uncertainties of maintenance knowledge. This tool provides abductive approaches of a fault propagation system with efficient localization and characterization of the fault origin. We apply our tool to an illustrative example of flexible system diagnosis.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"14 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":"127732439","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.2004.1437989
M. Younis, Georg Frey
The complexity of existing PLC programs precludes dealing with or modifying them. The interest in the formalization of PLC programs has increased in recent years to overcome this problem. Formal methods can provide for the development of PLC programs, since they serve as a medium to analyze and verify them due to increased awareness of safety and quality. This is done by performing what is known as verification and validation (V&V). Moreover formal methods support reuse of already implemented PLC programs to meet new production demands. This paper examines different possibilities to formalize PLC programs. It explains the pros and cons of these different alternatives. The paper outlines a formal description of timers and counters used in PLC programs according to the alternative that fulfills the criteria best.
{"title":"Formalization of PLC programs to sustain reliability","authors":"M. Younis, Georg Frey","doi":"10.1109/RAMECH.2004.1437989","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1437989","url":null,"abstract":"The complexity of existing PLC programs precludes dealing with or modifying them. The interest in the formalization of PLC programs has increased in recent years to overcome this problem. Formal methods can provide for the development of PLC programs, since they serve as a medium to analyze and verify them due to increased awareness of safety and quality. This is done by performing what is known as verification and validation (V&V). Moreover formal methods support reuse of already implemented PLC programs to meet new production demands. This paper examines different possibilities to formalize PLC programs. It explains the pros and cons of these different alternatives. The paper outlines a formal description of timers and counters used in PLC programs according to the alternative that fulfills the criteria best.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"103 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":"133270848","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.2004.1438079
Xinyuan He, Shugen Ma, Bin Li, Yuechao Wang, C. Ye
For improvement of planetary rover locomotion, a new type of tracked vehicle was designed for planetary exploration based on the concept of reconfigurability. By applying the planetary wheel principle, the system can give output in different forms under various constraint conditions. As a reconfigurable module, the vehicle can be integrated into a larger system using two basic configurations. As a stand-alone rover, it has two moving modes. The whole design was analyzed by conducting dynamics simulations and experiments.
{"title":"Analysis of locomotion of a planetary rover on a slope","authors":"Xinyuan He, Shugen Ma, Bin Li, Yuechao Wang, C. Ye","doi":"10.1109/RAMECH.2004.1438079","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438079","url":null,"abstract":"For improvement of planetary rover locomotion, a new type of tracked vehicle was designed for planetary exploration based on the concept of reconfigurability. By applying the planetary wheel principle, the system can give output in different forms under various constraint conditions. As a reconfigurable module, the vehicle can be integrated into a larger system using two basic configurations. As a stand-alone rover, it has two moving modes. The whole design was analyzed by conducting dynamics simulations and experiments.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"13 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":"125589338","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.2004.1438027
J. Pérez-Lorenzo, Ricardo Vázquez Martín, Pedro Núñez Trujillo, E. Pérez, F. Hernández
This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor office-like environments, specially for those environments that can be suitable modelled by a set of segments. The method has been proved in several experiments in the same indoor environment with successful results.
{"title":"A Hough-based method for concurrent mapping and localization in indoor environments","authors":"J. Pérez-Lorenzo, Ricardo Vázquez Martín, Pedro Núñez Trujillo, E. Pérez, F. Hernández","doi":"10.1109/RAMECH.2004.1438027","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438027","url":null,"abstract":"This paper proposes a method to solve the simultaneous localization and map building problem based on segments extracted from local sonar based occupation maps. These segments are categorized as new obstacle boundaries of a simultaneously built global segment-based map or as prolongations of previously extracted boundaries. The method is adequate for indoor office-like environments, specially for those environments that can be suitable modelled by a set of segments. The method has been proved in several experiments in the same indoor environment with successful results.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"86 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":"131734557","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.2004.1438884
M. Wang, J. Liu
Internet telerobotics has emerged in recent decade with direct control and supervisory control as the main teleoperation paradigms in the field of wheeled robot navigation. It is however difficult to apply these paradigms in the unknown and dynamic real-world applications, while they do not provide adequate feeling of interaction or a human-friendly control interface to the human operator. This paper proposes a novel interactive control (active supervisory control) telecommanding, which is used for Internet-based mobile robot teleoperation. Telecommanding involves two parts: basic telecommanding, using joystick commands, and advanced telecommanding, using linguistic commands. Assisted by up-to-date data visualization and media streaming technologies, telecommanding can help a novice operator to simply, easily, and remotely control a robot through the Internet navigating in an unknown and dynamic real world. Telecommanding enables the robot to autonomously handle real-world uncertainty, improves the interactivity of humans and robot, and solve the problems of arbitrary network delays and restricted bandwidth. The experiments, including an Internet-based teleoperation test over 1500 kilometers from Beijing to Hong Kong, have demonstrated the promising performance and the advantages of this paradigm over direct control and passive supervisory control.
{"title":"A novel teleoperation paradigm for human-robot interaction","authors":"M. Wang, J. Liu","doi":"10.1109/RAMECH.2004.1438884","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438884","url":null,"abstract":"Internet telerobotics has emerged in recent decade with direct control and supervisory control as the main teleoperation paradigms in the field of wheeled robot navigation. It is however difficult to apply these paradigms in the unknown and dynamic real-world applications, while they do not provide adequate feeling of interaction or a human-friendly control interface to the human operator. This paper proposes a novel interactive control (active supervisory control) telecommanding, which is used for Internet-based mobile robot teleoperation. Telecommanding involves two parts: basic telecommanding, using joystick commands, and advanced telecommanding, using linguistic commands. Assisted by up-to-date data visualization and media streaming technologies, telecommanding can help a novice operator to simply, easily, and remotely control a robot through the Internet navigating in an unknown and dynamic real world. Telecommanding enables the robot to autonomously handle real-world uncertainty, improves the interactivity of humans and robot, and solve the problems of arbitrary network delays and restricted bandwidth. The experiments, including an Internet-based teleoperation test over 1500 kilometers from Beijing to Hong Kong, have demonstrated the promising performance and the advantages of this paradigm over direct control and passive supervisory control.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"57 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":"132314387","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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