Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5985694
A. Abe, Kazuma Komuro
This paper presents an energy-saving, open-loop control technique for a flexible manipulator with point-to-point motion. In the proposed method, the joint angle of the manipulator is expressed by an artificial neural network (ANN). For the ANN, we use a vector evaluated particle swarm optimization (VEPSO) algorithm as the learning algorithm. The maximum residual vibration amplitude and the operating energy are adopted as the multi-objective functions of the VEPSO algorithm. By operating the manipulator along the trajectory obtained by the proposed method, the residual vibrations can be suppressed; thus, saving energy. In other words, the proposed method is an open-loop control that does not require sensors to measure unwanted vibrations. The performance of the proposed control scheme is confirmed by numerical simulations. In addition, the effectiveness of the proposed approach is experimentally verified.
{"title":"An energy saving open-loop control technique for flexible manipulators","authors":"A. Abe, Kazuma Komuro","doi":"10.1109/ICMA.2011.5985694","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985694","url":null,"abstract":"This paper presents an energy-saving, open-loop control technique for a flexible manipulator with point-to-point motion. In the proposed method, the joint angle of the manipulator is expressed by an artificial neural network (ANN). For the ANN, we use a vector evaluated particle swarm optimization (VEPSO) algorithm as the learning algorithm. The maximum residual vibration amplitude and the operating energy are adopted as the multi-objective functions of the VEPSO algorithm. By operating the manipulator along the trajectory obtained by the proposed method, the residual vibrations can be suppressed; thus, saving energy. In other words, the proposed method is an open-loop control that does not require sensors to measure unwanted vibrations. The performance of the proposed control scheme is confirmed by numerical simulations. In addition, the effectiveness of the proposed approach is experimentally verified.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125454777","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986261
A. Umemura, T. Haneyoshi
In conventional robot arms, one motor is placed in one joint. The human upper extremities can be simplified into three antagonistic pairs of muscles, those which are a pair of shoulder mono-articular muscles, a pair of elbow mono-articular and a pair of elbow/shoulder bi-articular muscles. In the present study, it is assumed that the bi-articular muscles have a profound effect on not only the position control but power output and rigidity of the arm tip. This study reports that the system is able to imitate the function of bi-article muscles in human uppers by using rotary motors and planetary gears.
{"title":"Tip force depend on the motor distribution with bi-article arm using planetary gear","authors":"A. Umemura, T. Haneyoshi","doi":"10.1109/ICMA.2011.5986261","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986261","url":null,"abstract":"In conventional robot arms, one motor is placed in one joint. The human upper extremities can be simplified into three antagonistic pairs of muscles, those which are a pair of shoulder mono-articular muscles, a pair of elbow mono-articular and a pair of elbow/shoulder bi-articular muscles. In the present study, it is assumed that the bi-articular muscles have a profound effect on not only the position control but power output and rigidity of the arm tip. This study reports that the system is able to imitate the function of bi-article muscles in human uppers by using rotary motors and planetary gears.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134199568","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986241
Sheng Guo, Naiyue Wang, Yuefa Fang, Xiaoxiao Li
This paper takes the 3-UPU parallel manipulator which possesses 3 translational and 1 revolute (3T1R) motions as a studying case. The sensitivity of degree of freedom (DOF) characteristics and kinematic errors resulting from various kinds of torsion angle errors is observed. Kinematic model of the manipulator is established and typical torsion angle errors are enumerated. Based on the model and particular probability distribution, forward solutions are solved and discussed in two cases by numerical method. Firstly, the position and orientation error of end effector changing with time is presented when error fixed. Secondly, by using probability distribution theory, the influence of error amplitude on position and orientation error of manipulator in the particular time is assessed. With analyzing and comparing the numerical results and simulation illustrations, status of different torsion angle errors acting on moving platform are obtained. The error sources are estimated according to the sensitivity.
{"title":"Study on error sensibility of UPU parallel manipulator based on probability distribution","authors":"Sheng Guo, Naiyue Wang, Yuefa Fang, Xiaoxiao Li","doi":"10.1109/ICMA.2011.5986241","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986241","url":null,"abstract":"This paper takes the 3-UPU parallel manipulator which possesses 3 translational and 1 revolute (3T1R) motions as a studying case. The sensitivity of degree of freedom (DOF) characteristics and kinematic errors resulting from various kinds of torsion angle errors is observed. Kinematic model of the manipulator is established and typical torsion angle errors are enumerated. Based on the model and particular probability distribution, forward solutions are solved and discussed in two cases by numerical method. Firstly, the position and orientation error of end effector changing with time is presented when error fixed. Secondly, by using probability distribution theory, the influence of error amplitude on position and orientation error of manipulator in the particular time is assessed. With analyzing and comparing the numerical results and simulation illustrations, status of different torsion angle errors acting on moving platform are obtained. The error sources are estimated according to the sensitivity.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134379797","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985793
Chuxiong Hu, B. Yao, Qingfeng Wang, Y. Zhu
This paper proposes a global task coordinate frame (TCF) based adaptive robust controller with cogging force compensation for an industrial linear-motor-driven biaxial precision gantry as a case study to test the practically achievable highspeed/high-accuracy contouring performance. Specifically, the approach employs the global task coordinate formulation to meet the stringent control performance requirements for highspeed coordinated contouring tasks. Moreover, the approach explicitly takes into account the specific characteristics of cogging forces existed in linear motors for the controller design as model compensation to further improve practical contouring performance. Adaptive robust contouring control scheme is then constructed to effectively attenuate the effect of model compensation errors due to various uncertainties for a theoretically guaranteed transient performance and steady-state tracking accuracy. Comparative experiments results obtained on a linear-motor-driven biaxial high-speed industrial gantry verify the effectiveness of the proposed cogging force compensations. The results also validate the excellent contouring performance of the proposed controller for high-speed/high-accuracy contouring tasks in actual implementation in spite of various parametric uncertainties and uncertain disturbances.
{"title":"High-performance coordinated motion control of high-speed biaxial systems for contouring tasks with comparative experimental investigations","authors":"Chuxiong Hu, B. Yao, Qingfeng Wang, Y. Zhu","doi":"10.1109/ICMA.2011.5985793","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985793","url":null,"abstract":"This paper proposes a global task coordinate frame (TCF) based adaptive robust controller with cogging force compensation for an industrial linear-motor-driven biaxial precision gantry as a case study to test the practically achievable highspeed/high-accuracy contouring performance. Specifically, the approach employs the global task coordinate formulation to meet the stringent control performance requirements for highspeed coordinated contouring tasks. Moreover, the approach explicitly takes into account the specific characteristics of cogging forces existed in linear motors for the controller design as model compensation to further improve practical contouring performance. Adaptive robust contouring control scheme is then constructed to effectively attenuate the effect of model compensation errors due to various uncertainties for a theoretically guaranteed transient performance and steady-state tracking accuracy. Comparative experiments results obtained on a linear-motor-driven biaxial high-speed industrial gantry verify the effectiveness of the proposed cogging force compensations. The results also validate the excellent contouring performance of the proposed controller for high-speed/high-accuracy contouring tasks in actual implementation in spite of various parametric uncertainties and uncertain disturbances.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134556464","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985856
Lin Zhao, Xin Yan, Yong Hao, Zhonghua Su
A novel adaptive sliding mode observer is designed for momentum biased satellites attitude tracking control with unmeasurable yaw attitude information. The estimated yaw attitude information, derived by sliding mode observer (SMO) which designed based on measured value of roll and pitch axis, is applied to the design of three-axis attitude adaptive sliding mode controller through adaptive updating law. Through this method, the satellite three axis attitude is tracked effectively based on yaw attitude feedback information with no yaw sensors. Analysis and numerical simulation results indicate that the approach could estimate the yaw attitude information accurately and improve the tracking precision and robustness of biased momentum satellites compared with Luenberger observer.
{"title":"Adaptive sliding mode observer and control design for biased momentum satellites","authors":"Lin Zhao, Xin Yan, Yong Hao, Zhonghua Su","doi":"10.1109/ICMA.2011.5985856","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985856","url":null,"abstract":"A novel adaptive sliding mode observer is designed for momentum biased satellites attitude tracking control with unmeasurable yaw attitude information. The estimated yaw attitude information, derived by sliding mode observer (SMO) which designed based on measured value of roll and pitch axis, is applied to the design of three-axis attitude adaptive sliding mode controller through adaptive updating law. Through this method, the satellite three axis attitude is tracked effectively based on yaw attitude feedback information with no yaw sensors. Analysis and numerical simulation results indicate that the approach could estimate the yaw attitude information accurately and improve the tracking precision and robustness of biased momentum satellites compared with Luenberger observer.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131856636","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986325
C. Ran, Z. Deng
For multisensor multi-channel autoregressive moving average(ARMA) signal with white measurement noises and a common disturbance measurement noise, when the model parameters and the noise variances are all unknown, an information fusion multi-stage identification method is presented. It consists of three stages: In the first stage, the local and fused estimates of the autoregressive(AR) parameters are obtained by the multiple recursive instrumental variable (RIV) algorithm. In the second stage, based on the sampled cross-correlation functions, the local and fused measurement noises variances estimates are obtained. In the third stage, applying the Gevers-Wouters algorithm with a dead band, the local and fused estimates of the moving average(MA) parameters and process noise variances are obtained. The fused estimates are obtained by taking the average of the corresponding local estimates. The consistency of the fused estimates is proved. One simulation example is given to verify the consistency of the estimates.
{"title":"Information fusion multi-stage identification method for multisensor multi-channel ARMA models","authors":"C. Ran, Z. Deng","doi":"10.1109/ICMA.2011.5986325","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986325","url":null,"abstract":"For multisensor multi-channel autoregressive moving average(ARMA) signal with white measurement noises and a common disturbance measurement noise, when the model parameters and the noise variances are all unknown, an information fusion multi-stage identification method is presented. It consists of three stages: In the first stage, the local and fused estimates of the autoregressive(AR) parameters are obtained by the multiple recursive instrumental variable (RIV) algorithm. In the second stage, based on the sampled cross-correlation functions, the local and fused measurement noises variances estimates are obtained. In the third stage, applying the Gevers-Wouters algorithm with a dead band, the local and fused estimates of the moving average(MA) parameters and process noise variances are obtained. The fused estimates are obtained by taking the average of the corresponding local estimates. The consistency of the fused estimates is proved. One simulation example is given to verify the consistency of the estimates.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132144281","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986351
Jing Guo, Bo Li
With the continuous increase of embedded system hacking, the security of system booting and I/O port is facing new challenge. Aiming at solving these problems, two secure designs that can enhance the security performance of start-up process and I/O port access control of embedded Linux is presented in this paper. Integrating Linux kernel security mechanism and security storage function of TPM (Trusted Platform Module) efficiently, two mechanisms are provided to expand security services which are not only credible booting, but also I/O access control mechanism with the support of safe file system to strengthen the security protection of system sensitive data. Two designs are robust through hardware-based protection and underlying security support relying on TPM chip so as to resist the illegal invasion through the test of booting and I/O control.
{"title":"Research on credible start-up and I/O access control of embedded Linux based on trusted computing","authors":"Jing Guo, Bo Li","doi":"10.1109/ICMA.2011.5986351","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986351","url":null,"abstract":"With the continuous increase of embedded system hacking, the security of system booting and I/O port is facing new challenge. Aiming at solving these problems, two secure designs that can enhance the security performance of start-up process and I/O port access control of embedded Linux is presented in this paper. Integrating Linux kernel security mechanism and security storage function of TPM (Trusted Platform Module) efficiently, two mechanisms are provided to expand security services which are not only credible booting, but also I/O access control mechanism with the support of safe file system to strengthen the security protection of system sensitive data. Two designs are robust through hardware-based protection and underlying security support relying on TPM chip so as to resist the illegal invasion through the test of booting and I/O control.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"478 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133679129","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986357
Feng-Jie Lin, Zhang Xinfu, Zhai Xingquan, H. Haibo
In the paper, to solve the problem of real-time heave compensation control of intelligence crane, the control technique is researched. The structure of intelligence crane and heave compensation control system are introduced. Because the heave compensation actuator has the problem of time-delay and the wave movement has the factors of non-linearity and time-variability. The control strategy based on motion prediction and Fuzzy-PID is established. Then, the realization methods of motion prediction and Fuzzy-PID algorithm are discussed. The test of semi-physical simulation on land is indicated that the intelligence crane which has such technique has a fine development potential.
{"title":"The application study of heave compensation control based on motion prediction and Fuzzy-PID for intelligence crane","authors":"Feng-Jie Lin, Zhang Xinfu, Zhai Xingquan, H. Haibo","doi":"10.1109/ICMA.2011.5986357","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986357","url":null,"abstract":"In the paper, to solve the problem of real-time heave compensation control of intelligence crane, the control technique is researched. The structure of intelligence crane and heave compensation control system are introduced. Because the heave compensation actuator has the problem of time-delay and the wave movement has the factors of non-linearity and time-variability. The control strategy based on motion prediction and Fuzzy-PID is established. Then, the realization methods of motion prediction and Fuzzy-PID algorithm are discussed. The test of semi-physical simulation on land is indicated that the intelligence crane which has such technique has a fine development potential.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133936046","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985789
Yanhui Ai, Changhui Song, Xi Gong, Zongyong Tang, Zuoqiong Zhang
This paper deals with the problem of the asymptotical stability for a class of linear systems with multiple time-delays. Using Lyapunov-Razumikhin theorem and the concept of matrix norm, the sufficient conditions of delay-independent stability and delay-dependent stability are derived to ensure that the linear systems with multiple time-delays are asymptotically stable. By comparing with the present theorem, it is obvious that the stability theorem in this paper could deal with the linear systems with constant delay and time-varying delay. Last, an example is given to illustrate that the new method is more effective than the present method and the delay bound obtained in this paper is of less conservative.
{"title":"Delay-dependent stability analysis for time-delay systems with uncertain parameters","authors":"Yanhui Ai, Changhui Song, Xi Gong, Zongyong Tang, Zuoqiong Zhang","doi":"10.1109/ICMA.2011.5985789","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985789","url":null,"abstract":"This paper deals with the problem of the asymptotical stability for a class of linear systems with multiple time-delays. Using Lyapunov-Razumikhin theorem and the concept of matrix norm, the sufficient conditions of delay-independent stability and delay-dependent stability are derived to ensure that the linear systems with multiple time-delays are asymptotically stable. By comparing with the present theorem, it is obvious that the stability theorem in this paper could deal with the linear systems with constant delay and time-varying delay. Last, an example is given to illustrate that the new method is more effective than the present method and the delay bound obtained in this paper is of less conservative.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"213 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133120735","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985824
Jiangmiao Zhu, Dong-Yeop Han, J. Guo
Two way satellite time and frequency transfer (TWSTFT) is the most precise remote time transfer method. The comparison precision of TWSTFT could approximately reach 0.3ns. The basic principle and construction of TWSTFT in National Institute Metrology (NIM) were demonstrated. When the data was processing, software standardization guide made by Consultative Committee for Time and Frequency (CCTF) was adopted and the comparison precision of NIM is about 0.35ns. According to the TWSTFT schematic diagram of transfer path, equipment delay, ionosphere refraction and satellite motion relative to ground station are the main error sources to the comparison precision. The results show that the equipment delay error is the major source in the TWSTFT with the value of 0.12ns.
{"title":"Data processing and error analysis of two way satellite time and frequency transfer","authors":"Jiangmiao Zhu, Dong-Yeop Han, J. Guo","doi":"10.1109/ICMA.2011.5985824","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985824","url":null,"abstract":"Two way satellite time and frequency transfer (TWSTFT) is the most precise remote time transfer method. The comparison precision of TWSTFT could approximately reach 0.3ns. The basic principle and construction of TWSTFT in National Institute Metrology (NIM) were demonstrated. When the data was processing, software standardization guide made by Consultative Committee for Time and Frequency (CCTF) was adopted and the comparison precision of NIM is about 0.35ns. According to the TWSTFT schematic diagram of transfer path, equipment delay, ionosphere refraction and satellite motion relative to ground station are the main error sources to the comparison precision. The results show that the equipment delay error is the major source in the TWSTFT with the value of 0.12ns.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"165 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133523778","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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