Pub Date : 2000-09-27DOI: 10.1109/ROMAN.2000.892486
F.M.A. Ghali, M. Said Abd El Motelb
The stability problem of the hybrid system under expected operating conditions is investigated using the decomposition aggregation technique. The hybrid power system considered consists of conventional synchronous generating plants, a wind park composed of certain number of wind turbines coupled with synchronous generators, and interconnected transmission lines. The new technique based on Bellman's concept of vector Lyapunov function is adopted. An advanced approach is proposed: the triple-wise decomposition-aggregation for a multi-machines hybrid power system, considering the transfer conductance and uniform damping. For this algorithm the system is decomposed into (n-1)/2 three-machine subsystems for odd number of machines, or (n-2)/2 three-machine plus one two-machine subsystems for even number of machines. Six nonlinearities are considered for each free subsystem. The domain of attraction is estimated to study the effect of introducing non-conventional energy source.
{"title":"Stability region estimation of hybrid multi-machine power system","authors":"F.M.A. Ghali, M. Said Abd El Motelb","doi":"10.1109/ROMAN.2000.892486","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892486","url":null,"abstract":"The stability problem of the hybrid system under expected operating conditions is investigated using the decomposition aggregation technique. The hybrid power system considered consists of conventional synchronous generating plants, a wind park composed of certain number of wind turbines coupled with synchronous generators, and interconnected transmission lines. The new technique based on Bellman's concept of vector Lyapunov function is adopted. An advanced approach is proposed: the triple-wise decomposition-aggregation for a multi-machines hybrid power system, considering the transfer conductance and uniform damping. For this algorithm the system is decomposed into (n-1)/2 three-machine subsystems for odd number of machines, or (n-2)/2 three-machine plus one two-machine subsystems for even number of machines. Six nonlinearities are considered for each free subsystem. The domain of attraction is estimated to study the effect of introducing non-conventional energy source.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128051280","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892470
M. Tada, M. Imai, Tsukasa Ogasawara
This paper presents a simultaneous measurement system of incipient slip, which is considered to have explicit relation with force control, and grip/load force while grasping objects. The system composed of a translucent acrylic plate sustained by a 6-axis force-torque sensor, and a monocular camera inside the acrylic plate to observe the contact region. We realize the measurement of incipient slip by tracking dot patterns drawn on finger tip of the subjects. Measured data while subjects are lifting the device with their thumb and index finger, against proportionally increasing force are also presented. The experimental results suggest that the mean slip has analogous profile even though the frictional condition differs. The results of this research are useful not only when clarifying mechanism of force control, but designing control criteria for dexterous manipulation using robot hand covered with elastic tactile sensors.
{"title":"Development of simultaneous measurement system of incipient slip and grip/load force","authors":"M. Tada, M. Imai, Tsukasa Ogasawara","doi":"10.1109/ROMAN.2000.892470","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892470","url":null,"abstract":"This paper presents a simultaneous measurement system of incipient slip, which is considered to have explicit relation with force control, and grip/load force while grasping objects. The system composed of a translucent acrylic plate sustained by a 6-axis force-torque sensor, and a monocular camera inside the acrylic plate to observe the contact region. We realize the measurement of incipient slip by tracking dot patterns drawn on finger tip of the subjects. Measured data while subjects are lifting the device with their thumb and index finger, against proportionally increasing force are also presented. The experimental results suggest that the mean slip has analogous profile even though the frictional condition differs. The results of this research are useful not only when clarifying mechanism of force control, but designing control criteria for dexterous manipulation using robot hand covered with elastic tactile sensors.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127173565","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892493
K. Kojima, T. Otobe, M. Hironaga, S. Nagae
We aims to reproduce the Japanese traditional dance motion recorded in image database. We propose an estimate method of dance motion using the autoregressive model. In statistical motion estimation with the autoregressive model, the decision of degree is a very important. To decide the suitably degree, we define the "rhythm points" or the time of starting and ending of the motion. We refer to it as the "cycle of every motion" or a number of the frame between three rhythm points. To compare our method with others, we applied two methods: the first method decides the degree from AIC (Akaike's information criterion); and the second method, which we proposed, decides the degree from the cycle of the motion. We introduce the term "decision of suitably degree for a estimate method of dance motion". A good result for an estimate of dance motion was achieved.
{"title":"A human motion analysis using the rhythm - a estimate method of dance motion with autoregressive model","authors":"K. Kojima, T. Otobe, M. Hironaga, S. Nagae","doi":"10.1109/ROMAN.2000.892493","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892493","url":null,"abstract":"We aims to reproduce the Japanese traditional dance motion recorded in image database. We propose an estimate method of dance motion using the autoregressive model. In statistical motion estimation with the autoregressive model, the decision of degree is a very important. To decide the suitably degree, we define the \"rhythm points\" or the time of starting and ending of the motion. We refer to it as the \"cycle of every motion\" or a number of the frame between three rhythm points. To compare our method with others, we applied two methods: the first method decides the degree from AIC (Akaike's information criterion); and the second method, which we proposed, decides the degree from the cycle of the motion. We introduce the term \"decision of suitably degree for a estimate method of dance motion\". A good result for an estimate of dance motion was achieved.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125417109","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892503
T. Inamura, M. Inaba, H. Inoue
We propose a method for personal robots to acquire autonomous behaviors gradually based on interaction between human and robots. In this method, behavior decision models and dialogue control models are integrated using Bayesian networks. This model can treat interaction experiences using statistical processes, and sureness of decision making is represented by certainty factors using stochastic reasoning. The robots not only decide behavior, but also make suggestions to and ask questions of the user using the certainty factors. Consequently, the certainty factors enable the behavior acquisition to be more effective. We investigate the feasibility of this method with obstacle avoidance tasks for mobile robots. Through experiments on a real mobile robot, we have confirmed that the mobile robot acquires robust behavior decision models against changes of environment and uncertainties of sensors, with only a few teaching and learning sessions.
{"title":"Integration model of learning mechanism and dialogue strategy based on stochastic experience representation using Bayesian network","authors":"T. Inamura, M. Inaba, H. Inoue","doi":"10.1109/ROMAN.2000.892503","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892503","url":null,"abstract":"We propose a method for personal robots to acquire autonomous behaviors gradually based on interaction between human and robots. In this method, behavior decision models and dialogue control models are integrated using Bayesian networks. This model can treat interaction experiences using statistical processes, and sureness of decision making is represented by certainty factors using stochastic reasoning. The robots not only decide behavior, but also make suggestions to and ask questions of the user using the certainty factors. Consequently, the certainty factors enable the behavior acquisition to be more effective. We investigate the feasibility of this method with obstacle avoidance tasks for mobile robots. Through experiments on a real mobile robot, we have confirmed that the mobile robot acquires robust behavior decision models against changes of environment and uncertainties of sensors, with only a few teaching and learning sessions.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117341105","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892476
K. Kinugawa, H. Noborio
In this paper, we compare off-line and online path-planning algorithms and seek for a possibility to design an efficient path-planning algorithm for multiple mobile robots. In general, an off-line path-planning algorithm always selects the shortest path for a robot, but it is time consuming because of combination search. On the other hand, an online path-planning algorithm quickly picks up a reasonable path but does not always find any path for a complex swarm of encountered robots. In this research, we compare two different path-planning algorithms with each other, and describe a possibility to develop their fusion path-planning algorithm for multiple mobile robots.
{"title":"A comparative study between on-line and off-line navigations on intelligent transportation system","authors":"K. Kinugawa, H. Noborio","doi":"10.1109/ROMAN.2000.892476","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892476","url":null,"abstract":"In this paper, we compare off-line and online path-planning algorithms and seek for a possibility to design an efficient path-planning algorithm for multiple mobile robots. In general, an off-line path-planning algorithm always selects the shortest path for a robot, but it is time consuming because of combination search. On the other hand, an online path-planning algorithm quickly picks up a reasonable path but does not always find any path for a complex swarm of encountered robots. In this research, we compare two different path-planning algorithms with each other, and describe a possibility to develop their fusion path-planning algorithm for multiple mobile robots.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128809275","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892499
A. Dutta, G. Obinata
We investigate the variation of the initial grasping force of humans with the size of an object. The initial force is defined as the force applied by the fingers just before an object is lifted from the surface. Experiments were carried out in which subjects were asked to lift different objects, using a two-fingered precision grip, while the rest of the arm was stationary. The length or the weight of the objects were changed in each lifting trial. In the absence of visual cues the applied initial finger forces can be attributed to the motor control strategy decided by the brain, based on the afferent sensory information obtained from the finger tip sensors. It is reasonable to expect that there is some functional relation between the initial force and the size of an object. Our goal was to understand more about this relation or reasoning system, which is utilized by the computational process presumed to underlie sensory-motor behaviour. From the experimental results it appears that when humans grasp different objects the initial grasping force increases with object size, although this increase is nonlinear.
{"title":"Variation of initial grasping force with, length of an object","authors":"A. Dutta, G. Obinata","doi":"10.1109/ROMAN.2000.892499","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892499","url":null,"abstract":"We investigate the variation of the initial grasping force of humans with the size of an object. The initial force is defined as the force applied by the fingers just before an object is lifted from the surface. Experiments were carried out in which subjects were asked to lift different objects, using a two-fingered precision grip, while the rest of the arm was stationary. The length or the weight of the objects were changed in each lifting trial. In the absence of visual cues the applied initial finger forces can be attributed to the motor control strategy decided by the brain, based on the afferent sensory information obtained from the finger tip sensors. It is reasonable to expect that there is some functional relation between the initial force and the size of an object. Our goal was to understand more about this relation or reasoning system, which is utilized by the computational process presumed to underlie sensory-motor behaviour. From the experimental results it appears that when humans grasp different objects the initial grasping force increases with object size, although this increase is nonlinear.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"276 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128952521","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892471
Shiry Saeed, Ghidary, Y. Nakata, Toshi Takamori, M. Hattori
This paper introduces a robotic system that uses a PTZ camera to find the human in the room and locate its position. Then the robot is guided to go near to the human. This includes human detection and localization, robot localization and robot navigation. Human's head and face is detected by using a combination of motion detection, shape analysis and color information. The 3D position of human's head and face is estimated by using the depth from focus method. For robot localization we use a very fast measuring system that utilizes ultrasonic and infrared signals simultaneously. For robot navigation we use a map of environment consisting of doors, walls and static objects. After locating human and robot a visibility graph is searched for the shortest path and obstacle avoidance is done in a reflexive method using ultrasonic sensors.
{"title":"Localization and approaching to the human by mobile home robot","authors":"Shiry Saeed, Ghidary, Y. Nakata, Toshi Takamori, M. Hattori","doi":"10.1109/ROMAN.2000.892471","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892471","url":null,"abstract":"This paper introduces a robotic system that uses a PTZ camera to find the human in the room and locate its position. Then the robot is guided to go near to the human. This includes human detection and localization, robot localization and robot navigation. Human's head and face is detected by using a combination of motion detection, shape analysis and color information. The 3D position of human's head and face is estimated by using the depth from focus method. For robot localization we use a very fast measuring system that utilizes ultrasonic and infrared signals simultaneously. For robot navigation we use a map of environment consisting of doors, walls and static objects. After locating human and robot a visibility graph is searched for the shortest path and obstacle avoidance is done in a reflexive method using ultrasonic sensors.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"8 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130341833","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892462
M. Watanabe, T. Yoshida, N. Saiwaki, S. Nishida
This paper proposes an approach for Web page design support by focusing on the impression of Web page with respect to the selection of color and font. Previous approaches for Web page design support often focus on the automation of HTML coding and the pasting of graphics and icons. However, the selection of color and font also greatly affect the impression of Web page even with the same (information) content. The implemented system with the proposed support method tries to acquire the taste or preference of the user from the Web pages which are selected by him/her during net surfing and utilize it for Web page design with the preferred impression.
{"title":"A method for supporting Web page design based on impression of Web page","authors":"M. Watanabe, T. Yoshida, N. Saiwaki, S. Nishida","doi":"10.1109/ROMAN.2000.892462","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892462","url":null,"abstract":"This paper proposes an approach for Web page design support by focusing on the impression of Web page with respect to the selection of color and font. Previous approaches for Web page design support often focus on the automation of HTML coding and the pasting of graphics and icons. However, the selection of color and font also greatly affect the impression of Web page even with the same (information) content. The implemented system with the proposed support method tries to acquire the taste or preference of the user from the Web pages which are selected by him/her during net surfing and utilize it for Web page design with the preferred impression.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"79 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116564692","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892511
P. Coppin, R. Pell, M. Wagner, J. R. Hayes, Junlei Li, L. Hall, K. Fischer, D. Hirschfiefd, W. Whittaker
The EventScope program develops publicly accessible "reality browsers" that display both archived and updating representations of remote environments derived from on-site robotic sensors. The interface encourages collaborative work within a community of users. Public exploration of real remote sites presents a variety of interface issues addressed by EventScope, including time delay, public exploration via a single robot and communication between geographically separate users from diverse backgrounds. Merging public interface with educational and contextual information extends the notion of "interface" to "remote reality library." EventScope is a NASA and private foundation funded project based at Carnegie Mellon University.
{"title":"EventScope: amplifying human knowledge and experience via intelligent robotic systems and information interaction","authors":"P. Coppin, R. Pell, M. Wagner, J. R. Hayes, Junlei Li, L. Hall, K. Fischer, D. Hirschfiefd, W. Whittaker","doi":"10.1109/ROMAN.2000.892511","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892511","url":null,"abstract":"The EventScope program develops publicly accessible \"reality browsers\" that display both archived and updating representations of remote environments derived from on-site robotic sensors. The interface encourages collaborative work within a community of users. Public exploration of real remote sites presents a variety of interface issues addressed by EventScope, including time delay, public exploration via a single robot and communication between geographically separate users from diverse backgrounds. Merging public interface with educational and contextual information extends the notion of \"interface\" to \"remote reality library.\" EventScope is a NASA and private foundation funded project based at Carnegie Mellon University.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117007243","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 : 2000-09-27DOI: 10.1109/ROMAN.2000.892474
Xueen Li, Xiaojian Zhao, T. Tan
Autonomous robot architectures typically fall within two camps, top-down symbolic AI systems, and physically grounded bottom-up reactive systems. In this paper, we present a novel behavior fusion based architecture for the control of an intelligent powered wheelchair, which takes advantage of the modularity presented by the reactive bottom-up design, the inference mechanism of symbolic AI systems, and the flexibility of the layered architecture. Thus, this control architecture of wheelchair can realize the multi-level information fusion and facilitates task and information sharing and trading between man and machine. In addition, the basic behaviors and their fusion algorithm are also described.
{"title":"A behavior-based architecture for the control of an intelligent powered wheelchair","authors":"Xueen Li, Xiaojian Zhao, T. Tan","doi":"10.1109/ROMAN.2000.892474","DOIUrl":"https://doi.org/10.1109/ROMAN.2000.892474","url":null,"abstract":"Autonomous robot architectures typically fall within two camps, top-down symbolic AI systems, and physically grounded bottom-up reactive systems. In this paper, we present a novel behavior fusion based architecture for the control of an intelligent powered wheelchair, which takes advantage of the modularity presented by the reactive bottom-up design, the inference mechanism of symbolic AI systems, and the flexibility of the layered architecture. Thus, this control architecture of wheelchair can realize the multi-level information fusion and facilitates task and information sharing and trading between man and machine. In addition, the basic behaviors and their fusion algorithm are also described.","PeriodicalId":337709,"journal":{"name":"Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2000-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124035293","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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