Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158909
Z. Tuza, G. Szederkényi
Kinetic systems form a wide nonlinear system class with good descriptive power that can efficiently be used for the dynamical modeling of non-negative models emerging not only in (bio)chemistry but in other important scientific and engineering fields as well. The directed graph structure assigned to kinetic models give us important information about the qualitative dynamical properties of the system. In this paper we extend the previous results for computing structurally invariant directed edges (called core reactions) for uncertain kinetic polynomial models, where the uncertainty is represented as a multi-dimensional interval in the space of monomial coefficients. We show that the computation can be put into the framework of linear programming. Using illustrative examples we demonstrate the properties of the computed structures and the potential application of the method in the support of structural identification of biochemical networks.
{"title":"Computing core reactions of uncertain polynomial kinetic systems","authors":"Z. Tuza, G. Szederkényi","doi":"10.1109/MED.2015.7158909","DOIUrl":"https://doi.org/10.1109/MED.2015.7158909","url":null,"abstract":"Kinetic systems form a wide nonlinear system class with good descriptive power that can efficiently be used for the dynamical modeling of non-negative models emerging not only in (bio)chemistry but in other important scientific and engineering fields as well. The directed graph structure assigned to kinetic models give us important information about the qualitative dynamical properties of the system. In this paper we extend the previous results for computing structurally invariant directed edges (called core reactions) for uncertain kinetic polynomial models, where the uncertainty is represented as a multi-dimensional interval in the space of monomial coefficients. We show that the computation can be put into the framework of linear programming. Using illustrative examples we demonstrate the properties of the computed structures and the potential application of the method in the support of structural identification of biochemical networks.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123722033","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 : 2015-06-16DOI: 10.1109/MED.2015.7158730
Enrico Franco, M. Ristic
This paper presents the control of a master-slave system for teleoperated needle insertion under guidance by Magnetic Resonance Imaging (MRI). The primary aim of our research is the robot-assisted laser ablation of liver tumors. The master-slave system consists of a master unit that sits next to the operator, outside the scanner room, and of a slave unit located inside the cylindrical MRI scanner. The needle insertion force is measured with a specially designed fiber optic force sensor mounted on the slave unit. Pneumatic actuation is employed in both master and slave in order to minimize the interference with the MRI environment. Accurate position control of the slave unit is achieved with a Time Delay Control scheme (TDC). Differently from previous designs, the force feedback on the master unit is provided by an adaptive controller that compensates the friction of the pneumatic actuator. The advantages over a baseline force controller are demonstrated with experiments on silicone rubber phantoms.
{"title":"Adaptive control of a master-slave system for teleoperated needle insertion under MRI-guidance","authors":"Enrico Franco, M. Ristic","doi":"10.1109/MED.2015.7158730","DOIUrl":"https://doi.org/10.1109/MED.2015.7158730","url":null,"abstract":"This paper presents the control of a master-slave system for teleoperated needle insertion under guidance by Magnetic Resonance Imaging (MRI). The primary aim of our research is the robot-assisted laser ablation of liver tumors. The master-slave system consists of a master unit that sits next to the operator, outside the scanner room, and of a slave unit located inside the cylindrical MRI scanner. The needle insertion force is measured with a specially designed fiber optic force sensor mounted on the slave unit. Pneumatic actuation is employed in both master and slave in order to minimize the interference with the MRI environment. Accurate position control of the slave unit is achieved with a Time Delay Control scheme (TDC). Differently from previous designs, the force feedback on the master unit is provided by an adaptive controller that compensates the friction of the pneumatic actuator. The advantages over a baseline force controller are demonstrated with experiments on silicone rubber phantoms.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121473731","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 : 2015-06-16DOI: 10.1109/MED.2015.7158745
M. Witczak, V. Puig, D. Rotondo, Michal de Rozprza-Faygel, M. Mrugalski
The paper is devoted to the problem of designing robust unknown input observer (UIO) for fault estimation purpose. The proposed approach is based on the Takagi-Sugeno models which can be effectively applied for modelling of the wide class of non-linear systems. It also revisits the recent results proposed in the literature and provides a less restrictive design procedure of a robust UIO. In particular, the general UIO strategy and the ℋ∞ framework are provided to design a robust fault estimation methodology. The resulting design procedure guarantees that a prescribed disturbance attenuation level is achieved with respect to the state estimation error. The main advantage of the proposed approach boils down to its simplicity because it reduces to solving a set of Linear Matrix Inequalities (LMIs). The final part of the paper presents an illustrative example devoted to the fault estimation of a three blade 1 MW variable-speed, variable-pitch wind turbine.
{"title":"A robust ℋ∞ observer design for unknown input nonlinear systems: Application to fault diagnosis of a wind turbine","authors":"M. Witczak, V. Puig, D. Rotondo, Michal de Rozprza-Faygel, M. Mrugalski","doi":"10.1109/MED.2015.7158745","DOIUrl":"https://doi.org/10.1109/MED.2015.7158745","url":null,"abstract":"The paper is devoted to the problem of designing robust unknown input observer (UIO) for fault estimation purpose. The proposed approach is based on the Takagi-Sugeno models which can be effectively applied for modelling of the wide class of non-linear systems. It also revisits the recent results proposed in the literature and provides a less restrictive design procedure of a robust UIO. In particular, the general UIO strategy and the ℋ∞ framework are provided to design a robust fault estimation methodology. The resulting design procedure guarantees that a prescribed disturbance attenuation level is achieved with respect to the state estimation error. The main advantage of the proposed approach boils down to its simplicity because it reduces to solving a set of Linear Matrix Inequalities (LMIs). The final part of the paper presents an illustrative example devoted to the fault estimation of a three blade 1 MW variable-speed, variable-pitch wind turbine.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121777042","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 : 2015-06-16DOI: 10.1109/MED.2015.7158767
C. Yfoulis, D. Giaouris, F. Stergiopoulos, C. Ziogou, S. Voutetakis, S. Papadopoulou
A new methodology for designing robust and efficient state-feedback control laws for a switched-mode boost DC-DC power converter has been recently proposed. This approach has adopted the so-called stabilizing or Lyapunov-based control paradigm which is well-known in the area of energy-based control of DC-DC converters, whereby the control law takes a state-feedback form parameterized by a positive scalar γ. Extension to state-dependent switching state-feedback control laws has been proposed, where the switching surfaces are parameterized by a number of positive scalars γ.i. In this paper this methodology is revisited by considering the problem of designing optimal switching state-feedback control laws, i.e. finding the optimal control parameters γ.i corresponding to the optimal position of the switching surfaces. This permits minimization of the number of switchings required for achieving an optimal performance and hence reduced complexity of the control law. Systematic derivation of gradient information to apply gradient-descent algorithms is provided. The proposed technique is numerically evaluated using the exact switched model of the converter.
{"title":"Optimal switching Lyapunov-based control of a boost DC-DC converter","authors":"C. Yfoulis, D. Giaouris, F. Stergiopoulos, C. Ziogou, S. Voutetakis, S. Papadopoulou","doi":"10.1109/MED.2015.7158767","DOIUrl":"https://doi.org/10.1109/MED.2015.7158767","url":null,"abstract":"A new methodology for designing robust and efficient state-feedback control laws for a switched-mode boost DC-DC power converter has been recently proposed. This approach has adopted the so-called stabilizing or Lyapunov-based control paradigm which is well-known in the area of energy-based control of DC-DC converters, whereby the control law takes a state-feedback form parameterized by a positive scalar γ. Extension to state-dependent switching state-feedback control laws has been proposed, where the switching surfaces are parameterized by a number of positive scalars γ.i. In this paper this methodology is revisited by considering the problem of designing optimal switching state-feedback control laws, i.e. finding the optimal control parameters γ.i corresponding to the optimal position of the switching surfaces. This permits minimization of the number of switchings required for achieving an optimal performance and hence reduced complexity of the control law. Systematic derivation of gradient information to apply gradient-descent algorithms is provided. The proposed technique is numerically evaluated using the exact switched model of the converter.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115821347","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 : 2015-06-16DOI: 10.1109/MED.2015.7158916
D. Krokavec, A. Filasová
The paper is concerned with the problem of feedback control law design in the form of PS output controller for linear discrete-time systems. Since these tasks generally make towards bilinear optimization problems, using the standard quadratic form of Lyapunov function and a symmetric positive definite slack matrix, an enhanced form of algorithm is introduced. The solution, obtained through linear matrix inequalities and equalities formulation, also unifies the control law design procedure. The obtained results, offering the conditions of PS output controller existence, are illustrated with numerical examples to note effectiveness and applicability of the considered approach.
{"title":"LMI based output PS control design for discrete-time linear MIMO systems","authors":"D. Krokavec, A. Filasová","doi":"10.1109/MED.2015.7158916","DOIUrl":"https://doi.org/10.1109/MED.2015.7158916","url":null,"abstract":"The paper is concerned with the problem of feedback control law design in the form of PS output controller for linear discrete-time systems. Since these tasks generally make towards bilinear optimization problems, using the standard quadratic form of Lyapunov function and a symmetric positive definite slack matrix, an enhanced form of algorithm is introduced. The solution, obtained through linear matrix inequalities and equalities formulation, also unifies the control law design procedure. The obtained results, offering the conditions of PS output controller existence, are illustrated with numerical examples to note effectiveness and applicability of the considered approach.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131141551","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 : 2015-06-16DOI: 10.1109/MED.2015.7158903
A. San-Millán, V. F. Batlle, Alfonso Garcia
A new control scheme composed of two independent stages utilised to achieve precise positioning of single-link flexible manipulators is presented herein. Traditional techniques for the control of single-link flexible manipulators utilise only one actuator and two types of sensor measurement (e.g the angular position of the motor and acceleration or strain measurements) to move the manipulator and in order to damp the residual vibrations produced in the displacement of the manipulator. However, in the proposed control scheme another additionally pair actuator-sensor is utilised to improve the speed and precision of the controlled system. On the one hand a motor and the readings of a rotary encoder are utilised in a first stage to displace the manipulator, using the strain measurements in order to damp the high amplitude and low frequency residual vibrations. On the other hand piezoelectric actuators are utilised in conjunction with displacement measures of the tip of the manipulator in order to damp the low amplitude and high frequency residual vibrations which deteriorate the accuracy of the positioning achieved by the traditional control techniques. Simulation and experimental results are carried out to illustrate these improvements.
{"title":"A two-stage control scheme of single-link flexible manipulators","authors":"A. San-Millán, V. F. Batlle, Alfonso Garcia","doi":"10.1109/MED.2015.7158903","DOIUrl":"https://doi.org/10.1109/MED.2015.7158903","url":null,"abstract":"A new control scheme composed of two independent stages utilised to achieve precise positioning of single-link flexible manipulators is presented herein. Traditional techniques for the control of single-link flexible manipulators utilise only one actuator and two types of sensor measurement (e.g the angular position of the motor and acceleration or strain measurements) to move the manipulator and in order to damp the residual vibrations produced in the displacement of the manipulator. However, in the proposed control scheme another additionally pair actuator-sensor is utilised to improve the speed and precision of the controlled system. On the one hand a motor and the readings of a rotary encoder are utilised in a first stage to displace the manipulator, using the strain measurements in order to damp the high amplitude and low frequency residual vibrations. On the other hand piezoelectric actuators are utilised in conjunction with displacement measures of the tip of the manipulator in order to damp the low amplitude and high frequency residual vibrations which deteriorate the accuracy of the positioning achieved by the traditional control techniques. Simulation and experimental results are carried out to illustrate these improvements.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132839129","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 : 2015-06-16DOI: 10.1109/MED.2015.7158762
A. Margun, D. Bazylev, K. Zimenko, A. Kremlev
A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary sensors and thereby reduce the cost of the quadrotor. Moreover, the method is robust with respect to external disturbances and discretization that is useful for quadrotor control due to operating in open areas and digitality of sensors and controller. The performance and effectiveness of the method is demonstrated by simulation results of the system with external perturbations and signal discretization.
{"title":"Trajectory-tracking control design and modeling for quadrotor aerial vehicles","authors":"A. Margun, D. Bazylev, K. Zimenko, A. Kremlev","doi":"10.1109/MED.2015.7158762","DOIUrl":"https://doi.org/10.1109/MED.2015.7158762","url":null,"abstract":"A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary sensors and thereby reduce the cost of the quadrotor. Moreover, the method is robust with respect to external disturbances and discretization that is useful for quadrotor control due to operating in open areas and digitality of sensors and controller. The performance and effectiveness of the method is demonstrated by simulation results of the system with external perturbations and signal discretization.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133490496","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 : 2015-06-16DOI: 10.1109/MED.2015.7158911
Hansheng Wu
A design method of decentralized local robust state feedback controllers is presented for a class of uncertain large scale interconnected time-delay dynamical systems. In this paper, the upper bounds of delayed state perturbations, uncertainties, interconnection terms, and external disturbances are assumed to be completely unknown, and the delays are assumed to be any nonnegative constants. A class of adaptation-free decentralized local robust state feedback controllers is proposed, which can guarantee that the solutions of uncertain large scale interconnected time-delay systems are uniformly ultimately bounded.
{"title":"A class of decentralized robust controllers of uncertain large scale time-delay systems with unknown upper bounds of uncertainties","authors":"Hansheng Wu","doi":"10.1109/MED.2015.7158911","DOIUrl":"https://doi.org/10.1109/MED.2015.7158911","url":null,"abstract":"A design method of decentralized local robust state feedback controllers is presented for a class of uncertain large scale interconnected time-delay dynamical systems. In this paper, the upper bounds of delayed state perturbations, uncertainties, interconnection terms, and external disturbances are assumed to be completely unknown, and the delays are assumed to be any nonnegative constants. A class of adaptation-free decentralized local robust state feedback controllers is proposed, which can guarantee that the solutions of uncertain large scale interconnected time-delay systems are uniformly ultimately bounded.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131332378","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 : 2015-06-16DOI: 10.1109/MED.2015.7158816
Shian Lee, T. Tjahjowidodo, S. K. Moon
Flexible membrane wings have many advantages, but has very little roll control authority. In this paper, the flexible membrane wing is actuated using a tendon-sheath mechanism to achieve roll control and also allowing the wing to fold. The characteristics of the flexible wing, as well as the wing warping actuation approach is discussed in this paper. The experimental setup and results are shown. The characteristics of the tendon-sheath is shown to be suitable for flexible wing actuation. A simple nonlinear curve fitting model is also presented.
{"title":"Flexible membrane wing warping using tendon-sheath mechanism","authors":"Shian Lee, T. Tjahjowidodo, S. K. Moon","doi":"10.1109/MED.2015.7158816","DOIUrl":"https://doi.org/10.1109/MED.2015.7158816","url":null,"abstract":"Flexible membrane wings have many advantages, but has very little roll control authority. In this paper, the flexible membrane wing is actuated using a tendon-sheath mechanism to achieve roll control and also allowing the wing to fold. The characteristics of the flexible wing, as well as the wing warping actuation approach is discussed in this paper. The experimental setup and results are shown. The characteristics of the tendon-sheath is shown to be suitable for flexible wing actuation. A simple nonlinear curve fitting model is also presented.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"312 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131910240","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 : 2015-06-16DOI: 10.1109/MED.2015.7158906
Francesca Verrilli, C. D. Vecchio, L. Glielmo, M. Corless
The epidemiology of X-linked recessive diseases, a class of genetic disorders, has been modeled through a discrete time, structured, non linear mathematical system. The model version presented in this paper completely captures the disease epidemiology as it includes the spread of affected women within a population that has not been considered in other works. Moreover the model allows for de novo mutations (i.e. affected sibling born to unaffected parents) and distinct reproduction rates of individuals depending on their health conditions. Among our contributions, we consider the analytical study of the properties of model's equilibrium point, that is the distribution of the population among healthy, carrier and affected subjects, and the proof of the stability properties of the equilibrium point through the Lyapunov method. Model sensitivity analysis has been carried out to quantify the influence of model parameters on system response.
{"title":"A complete epidemiological model of a class of genetic diseases","authors":"Francesca Verrilli, C. D. Vecchio, L. Glielmo, M. Corless","doi":"10.1109/MED.2015.7158906","DOIUrl":"https://doi.org/10.1109/MED.2015.7158906","url":null,"abstract":"The epidemiology of X-linked recessive diseases, a class of genetic disorders, has been modeled through a discrete time, structured, non linear mathematical system. The model version presented in this paper completely captures the disease epidemiology as it includes the spread of affected women within a population that has not been considered in other works. Moreover the model allows for de novo mutations (i.e. affected sibling born to unaffected parents) and distinct reproduction rates of individuals depending on their health conditions. Among our contributions, we consider the analytical study of the properties of model's equilibrium point, that is the distribution of the population among healthy, carrier and affected subjects, and the proof of the stability properties of the equilibrium point through the Lyapunov method. Model sensitivity analysis has been carried out to quantify the influence of model parameters on system response.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115352724","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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