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The literature review in modeling and fuzzy control of flexible manipulator link with moving end effector 综述了具有运动末端执行器的柔性机械臂连杆的建模与模糊控制的相关文献
Pub Date : 2022-12-30 DOI: 10.53346/wjetr.2022.2.2.0040
Yusra Abdullah Jasim
This investigation provides a review of the literature on the control of robot arms using the fuzzy logic control and the traditional control with a focus on the first one. With the flexible link classification of single link and multi-link manipulators. In addition to showing common methods for deriving the mathematical modeling of the flexible link manipulator and its comparison based on criteria in the flexible link used. Therefore the main distinguishing feature of the review literature here is that it takes a holistic view of the control process in the various systems, rather than focusing on one side in it, which leads to an insufficient understanding of the control systems used.
本文综述了模糊逻辑控制和传统控制在机械臂控制方面的研究进展,重点介绍了模糊逻辑控制。用柔性连杆将机械手分为单连杆和多连杆。此外给出了常用的推导柔性连杆机械臂数学模型的方法及其基于准则在柔性连杆中所使用的比较。因此,这里的评论文献的主要区别在于,它对各种系统中的控制过程进行了整体观察,而不是集中在其中的一方,这导致对所使用的控制系统的理解不足。
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引用次数: 0
The effect of glass fiber reinforcement on properties high strength concrete mix using local materials 玻璃纤维增强对本地材料高强混凝土掺合料性能的影响
Pub Date : 2022-12-30 DOI: 10.53346/wjetr.2022.2.2.0043
Habiballa Sara, Abu-Elgasim Ebtihaj
The usage of high strength glass fiber reinforced concrete (HSGFRC) in the construction applications has been increasing worldwide. Especially in plain concrete due to it is less ductility and high brittle behavior. Use of fiber in plain concrete treating shrinkage cracking as well improve tensile behavior. On the other hand, glass fiber material has some advantage like alkali resistance and light weight compared to steel. Due to these advantages researchers prepared glass fiber reinforced concrete (GFRC) to improve concrete properties. GFRC is composed of fine sand, cement, water, admixtures and alkali-resistant glass fibers (AR-GF). The main objective of this research is to study the effect of addition of alkali resistant glass fiber reinforced polymer (AR-GFRP) in concrete properties. Six different mixes were prepared using different percentage of glass fiber 0.0, 0.75, 1.0, 1.25 and 1.5 by weight of cement the target compressive strength was calculated to be 55.2 MPa. Available materials in the local market were used. Results showed that it is possible to produce HSGFRC in Sudan using locally available materials if they are carefully selected. Based on the experimental results, the compressive strength, splitting tensile strength and density of HSC was found to be increase as fiber percentage increases for both ages of 7 and 28 days. The maximum 28 days compressive strength of HSC was found to be 63.81 MPa recorded in M50 F4 with 1.5 glass fiber reinforcement. The density of HSC is found to increase slightly as fiber percentage increases, density value ranged from 2.415 to 2.442 kg/m3. The maximum 28 day’s splitting tensile strength of HSC was found to be 6.45 MPa recorded in M50 F4 with 1.5 glass fiber reinforcement. It can be concluded that the use of chopped glass fiber in concrete improve the mechanical properties and ductility.
高强度玻璃纤维增强混凝土(HSGFRC)在世界范围内的建筑应用日益广泛。特别是素混凝土,由于其延性差,脆性高。在素混凝土中加入纤维,处理收缩开裂,改善拉伸性能。另一方面,与钢相比,玻璃纤维材料具有耐碱、重量轻等优点。由于这些优点,研究人员制备了玻璃纤维增强混凝土(GFRC)来改善混凝土的性能。GFRC由细砂、水泥、水、外加剂和耐碱玻璃纤维(AR-GF)组成。本研究的主要目的是研究耐碱玻璃纤维增强聚合物(AR-GFRP)的加入对混凝土性能的影响。以水泥质量比为0.0、0.75、1.0、1.25、1.5的不同玻璃纤维掺量配制6种不同的混合料,计算出目标抗压强度为55.2 MPa。使用了当地市场上可用的材料。结果表明,如果精心挑选,在苏丹使用当地可用的材料生产HSGFRC是可能的。试验结果表明,7天龄和28天龄HSC的抗压强度、劈裂抗拉强度和密度均随纤维含量的增加而增加。在M50 F4中,1.5玻璃纤维增强的HSC最大28天抗压强度为63.81 MPa。随着纤维含量的增加,HSC的密度略有增加,密度值为2.415 ~ 2.442 kg/m3。HSC的最大28天劈裂抗拉强度为6.45 MPa,记录在M50 F4中,1.5玻璃纤维增强。结果表明,在混凝土中掺入短切玻璃纤维可提高混凝土的力学性能和延性。
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引用次数: 0
Organized self-help housing in Pachacútec, Peru: Training women's groups in earthquake resistant housing construction 在秘鲁Pachacútec组织自助住房:对妇女团体进行抗震住房建设培训
Pub Date : 2022-09-30 DOI: 10.53346/wjetr.2022.2.1.0037
Jan Bredenoord, Luz María Sánchez Hurtado
Ciudad Pachacútec is a suburban development scheme north of Lima, where deficiencies were great from the start. The main problem was the population’s safety in the sandy and arid urban landscapes, which are prone to earthquakes. The main objective of the NGO Estrategia - together with the municipality of Ventanilla - was to provide the self-builders with technical and organizational knowledge to improve housing quality. The NGO has developed effective programs to support women's groups in building earthquake-resistant houses. The result was that building materials were produced locally by households that were also trained in construction technology. Some families working together in groups, were able to start businesses. The developed model for earthquake resistant housing in New Pachacútec is effective and can be used in other areas alongside Peru’s Pacific coast, that are prone to earthquakes.
Ciudad Pachacútec是利马北部的一个郊区发展计划,从一开始就存在很大的缺陷。主要问题是人们在多沙和干旱的城市景观中的安全问题,这些城市容易发生地震。非政府组织Estrategia与文塔尼拉市政府合作的主要目标是为自建者提供技术和组织知识,以提高住房质量。该非政府组织制定了有效的方案,支持妇女团体建造抗震房屋。其结果是,建筑材料是由接受过建筑技术培训的家庭在当地生产的。一些家庭在团队中合作,能够创业。在New Pachacútec开发的抗震住房模型是有效的,可以在秘鲁太平洋沿岸的其他地区使用,这些地区容易发生地震。
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引用次数: 0
Visual art exhibition: An agent for political stability in Nigeria 视觉艺术展:尼日利亚政治稳定的代理人
Pub Date : 2022-08-30 DOI: 10.53346/wjetr.2022.2.1.0035
Idibeke Amos John, Ndem Emmanuel Joseph, Edem Etim Peters
Visual Arts exhibition, by its nature, holds a mirror up to society, reflecting its interests and concerns while at the same time challenging its ideologies and preconceptions. With the state of political instability in Nigeria today, artists through the medium of visual art exhibition have distinct role to play that may ensure that those factors that accelerate instability be curtailed. The problem this paper addresses is that, these roles played by visual art through exhibitions are being overlooked and not recognized by some artists in Nigeria and the non-artist alike, of which, this paper is aimed at portraying. Information was gathered using primary and secondary sources and the findings made shows that visual art exhibition can serve as an agent for fostering political stability in Nigeria.
视觉艺术展览本质上是社会的一面镜子,反映了社会的利益和关注,同时也挑战了社会的意识形态和先入之见。随着尼日利亚今天的政治不稳定状态,艺术家通过视觉艺术展览的媒介可以发挥独特的作用,可以确保那些加速不稳定的因素被削弱。本文解决的问题是,通过展览视觉艺术所扮演的这些角色正在被尼日利亚的一些艺术家和非艺术家所忽视和不认可,其中,本文旨在描绘。利用第一手和二手资料收集信息,结果表明,视觉艺术展览可以作为促进尼日利亚政治稳定的一种手段。
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引用次数: 0
Towards sustainable transportation: The development of hyperloop technology in Saudi Arabia 迈向可持续交通:沙特阿拉伯超级高铁技术的发展
Pub Date : 2022-07-30 DOI: 10.53346/wjetr.2022.2.1.0032
Ashraf Alwy Balabel, Hamad Raja Almujibah
Saudi Arabia aims to achieve the principles of sustainable development goals (SDG) in all aspects of life in accordance with its ambitious vision 2030, especially in the field of sustainable passengers and freight transportation. Hyperloop technology can be considered as an excellent sustainable solution for the future of transportation in Saudi Arabia as a result of the availability of auxiliary ingredients, such renewable energy resources and the necessary infrastructure required enhancing the future mobility technology. Hyperloop can reduce the travel time between Saudi cities at a cost equivalent to ticket prices compatible with forms of mass passenger transportation. Accordingly, the Hyperloop technology can be more efficient in terms of energy consumption through the application of renewable energy resources, which makes this technology very attractive to the Saudi Arabia. The present paper discusses the feasibility of Hyperloop technology in Saudi Arabia in technical and economic perspectives including basic performance and cost analysis. Moreover, the integration of different renewable energy recourses, such as solar and hydrogen energy is also discussed. Three major energy systems were reviewed in depth: electrical energy derived from typical fossil fuels and two renewable energy systems based on solar energy, which can be utilized as a primary source of energy or to produce green hydrogen. The overall estimated cost of the three distinct power supply systems was compared using 2022 prices as a benchmark. In comparison to the electrical system and the solar-hydrogen system, the overall cost of the Hyperloop-hydrogen system is the most expensive power supply system. It is expected that the use of Hyperloop technology in Saudi Arabia will be a motivating factor in achieving the Kingdom’s Vision 2030 in the transportation sector and as a catalyst for high technology through its requirements for artificial intelligence programs and computer-based operational systems. It can also achieve a significant increase in Gross Domestic Product (GDP) by providing jobs and opportunities for young Saudi men and women in the high-technology sector.
沙特阿拉伯的目标是根据其雄心勃勃的2030年愿景,在生活的各个方面实现可持续发展目标(SDG)的原则,特别是在可持续客运和货运领域。超级高铁技术可以被认为是沙特阿拉伯未来交通的一个优秀的可持续解决方案,因为辅助成分的可用性,如可再生能源资源和增强未来移动技术所需的必要基础设施。超级高铁可以缩短沙特城市之间的旅行时间,其成本相当于与大众客运方式兼容的票价。因此,Hyperloop技术可以通过应用可再生能源来提高能源消耗效率,这使得这项技术对沙特阿拉伯非常有吸引力。本文从技术和经济角度,包括基本性能和成本分析,讨论了超级高铁技术在沙特阿拉伯的可行性。此外,还讨论了不同可再生能源的整合,如太阳能和氢能。对三种主要的能源系统进行了深入的综述:典型化石燃料的电能和两种以太阳能为基础的可再生能源系统,太阳能可以作为主要能源或生产绿色氢。以2022年的价格为基准,比较了三种不同供电系统的总体估计成本。与电力系统和太阳能氢系统相比,超级高铁氢系统的总成本是最昂贵的电力供应系统。预计在沙特阿拉伯使用超级高铁技术将成为实现沙特王国交通领域2030年愿景的一个激励因素,并通过其对人工智能程序和基于计算机的操作系统的要求,成为高科技的催化剂。它还可以通过为沙特青年男女在高科技领域提供就业和机会,实现国内生产总值(GDP)的显著增长。
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引用次数: 2
Development of engineering programs learning outcomes in light of the Kingdom of Saudi Arabia’s Vision 2030 根据沙特阿拉伯王国2030年愿景开发工程项目学习成果
Pub Date : 2022-05-30 DOI: 10.53346/wjetr.2022.1.2.0023
Hamed M. Almalki, Ashraf E. Balabel, Mostafa A. Kamel
Quality in higher education academic programs in general and in particular engineering education programs is one of the essential issues in the process of developing and modernizing the education system within the vision of the Kingdom of Saudi Arabia 2030. The development of engineering programs outcomes is also one of the challenges facing engineering colleges in Saudi universities. To achieve a comprehensive educational quality practice that leads to bridge the gap between engineering education outcomes and labor market requirements, engineering programs outcomes should be developed in line with the changes of the modern era and the requirements of the accelerated technological labor market. This target is one of the basic and strategic pillars for achieving this ambitious vision through the effective role of Saudi universities in this context. In the present study, the development of learning outcomes in the previous period for engineering education programs is reviewed through the National Center for Academic Assessment and Accreditation (NCAAA) as well as through the Accreditation Council for Engineering and Technology (ABET). A model for developing study plans and redesigning various engineering programs to achieve a distinct level of the quality of engineering education is presented through the National Transformation Program 2020. Through this philosophy of change to formulate learning outcomes for engineering programs and their diversity, the updated assessment methods have been reviewed and proposed to measure those outcomes in a distinct way. This study will offer a guide that helps the teaching staff to choose the most appropriate assessment methods with setting the priorities of the measurement methods for each educational outcome of the curriculum. The presented scientific paper provides a model for continuous evaluation plans of the educational process in engineering programs to achieve the goals of engineering programs that seek to distinguish their graduates and raise their productivity and increase their competitiveness in a way that suits the nature of the current labor market.
高等教育学术课程的质量,特别是工程教育课程的质量,是沙特阿拉伯王国2030年愿景中发展和现代化教育体系过程中的基本问题之一。工程项目成果的发展也是沙特大学工程学院面临的挑战之一。为了实现全面的教育质量实践,弥合工程教育成果与劳动力市场需求之间的差距,工程项目的成果应该与现代时代的变化和加速的技术劳动力市场的要求相一致。这一目标是通过沙特大学在这方面的有效作用实现这一雄心勃勃的愿景的基本和战略支柱之一。在本研究中,通过国家学术评估和认证中心(NCAAA)和工程技术认证委员会(ABET)对前一阶段工程教育项目学习成果的发展进行了审查。通过2020年国家转型计划,提出了制定学习计划和重新设计各种工程项目以实现工程教育质量不同水平的模型。通过这种改变的理念来制定工程项目及其多样性的学习成果,更新的评估方法已经被审查并提出以一种独特的方式来衡量这些成果。本研究将提供一个指南,帮助教学人员选择最合适的评估方法,并为课程的每个教育成果设置测量方法的优先级。这篇科学论文为工程项目教育过程的持续评估计划提供了一个模型,以实现工程项目的目标,以适应当前劳动力市场的性质,寻求区分毕业生,提高他们的生产力和提高他们的竞争力。
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引用次数: 0
Effect of triaxial and CBR Scrutiny on mechanical strength and microstructure of kaolin clay powder mixed SSA geopolymer and its performance at various percentages 三轴和CBR细观对高岭土粉混合SSA地聚合物力学强度和微观结构的影响及其在不同百分比下的性能
Pub Date : 2022-01-30 DOI: 10.53346/wjetr.2022.1.1.0024
Olugbenga Oludolapo Amu, Christopher Ehizemhen Igibah, Bamitale Dorcas Oluyemi-Ayibiowu, Lucia Omolayo Agashua
The stabilization capability of kaolin clay powder (KCP), Ordinary Portland cement (OPC) and rice husk ash (RHA) was scrutinized using laboratory scrutiny. This was meant at assessing the effect of KCP, OPC and RHA on the stabilization of three lateritic soils for use as sub-base pavement layer materials. Three soils (Soil A, B and C) were improved with various percentages (via weight of dry soil) at 0, 2, 4, 6, 8 and 10% for all stabilizing agents and compacted via BSL (British Standard light) energy. Their impacts were assessed on the strength physiognomies such as UCS (unconfined compressive strength), OMC (optimum moisture content), and California bearing ratio (CBR), and MDD (maximum dry density tests based on ASTM (American Standard Testing Materials) codes. The result reveals that MDD improved with increase in the quantities of all the additive (SSA, KCP and geopolymer) content, while OMC for KCP reduces from 18.65% at 0% to 14.02%. Both SSA and geopolymer increase from 18.65% at 0% to 18.86% and 22.20% at 10%. Similarly it displays highest CBR of the soil from 10.88% at 0% to 12.84%, 112.95% and 144.45% for (SSA, KCP and geopolymer, this specify that lateritic soil treated with 2% stabilizer yielded CBR values of more than 405%.
采用室内试验考察了高岭土粉(KCP)、普通硅酸盐水泥(OPC)和稻壳灰(RHA)的稳定性能。这是为了评估KCP、OPC和RHA对三种红土用作亚基层路面材料的稳定性的影响。分别在0、2、4、6、8和10%的稳定剂条件下对3种土壤(土壤A、B和C)进行不同百分比(按干土质量)的改良,并通过BSL(英国标准光)能量进行压实。它们的影响在强度面相上进行了评估,如UCS(无侧限抗压强度)、OMC(最佳含水率)、加州承载比(CBR)和MDD(基于ASTM(美国标准测试材料)规范的最大干密度测试。结果表明,随着SSA、KCP和地聚合物的添加量的增加,MDD得到改善,而KCP的OMC从0%时的18.65%降低到14.02%。在0%时,SSA和地聚合物分别从18.65%增加到18.86%和22.20%。同样,在0% ~ 12.84%时,土壤的CBR最高,SSA、KCP和地聚合物分别为10.88%、112.95%和144.45%,说明2%稳定剂处理的红土土壤的CBR值大于405%。
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引用次数: 0
The viability of service supply and travellers satisfaction in mass transit system in north-central Nigeria: The quality puzzle 尼日利亚中北部公共交通系统的服务供应可行性和旅客满意度:质量难题
Pub Date : 2022-01-30 DOI: 10.53346/wjetr.2022.1.1.0025
Olumuyiwa Samson Aderinola, Ehizemhen Christopher Igibah, Bamitale Dorcas Oluyemi-Ayibiowu, Oluwaseun Adedapo Adetayo, Lucia Omolayo Agashua
This paper investigates transport system and sustainable improvement in North-central, Nigeria with specific reference to Abuja, Nasarawa and Niger State. Survey research device was utilized with questionnaire as main instruments applied for data collections which were dispensed to four hundred travellers carefully picked randomly making total of 1200 travellers that were studied. From demographic figures for each of the three zones, female travellers more than men, Self-employed travellers has the highest, between 25 and 40 years travelled most, Christian travellers are more than other religions, while travellers with at least degree certificate travelled most and the highest income is below minimum wage. Nevertheless, from the opinion about public transportation system, majority testify that fare is too costly, deficient bus service and inaccessibility or costly parking space, whereas safety and cleanliness is zero percent.
本文以尼日利亚的阿布贾、纳萨拉瓦和尼日尔州为例,研究了尼日利亚中北部的交通系统和可持续发展。采用调查研究装置,以问卷调查为主要工具,用于数据收集,分发给400名精心挑选的随机旅行者,使1200名旅行者被研究。从三个区域的人口统计数据来看,女性旅行者多于男性,自雇旅行者最多,25至40岁之间的旅行者最多,基督教旅行者比其他宗教旅行者更多,而至少有学位证书的旅行者旅行最多,最高收入低于最低工资。然而,从对公共交通系统的看法来看,大多数人认为票价太贵,公共汽车服务不足,难以接近或昂贵的停车位,而安全和清洁度为零。
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引用次数: 0
Who are the right users to be involved in the design process of health products 谁是参与健康产品设计过程的合适用户
Pub Date : 2022-01-30 DOI: 10.53346/wjetr.2022.1.1.0056
Gustavo Michelini, Carina Campese, Janaina Mascarenhas
The misuse of medical products can cause harm to the health of patients and other users. Many international standards are practiced in the medical product development industry to ensure quality and safety, including guides and models with various ways to engage the user in the development process. There are methods that can be performed at any stage of development, which hampers the project-planning phase. Nevertheless, there is a lack of information that helps companies select the most appropriate users, according to a particular profile or attribute. In order to demystify how users can be involved in the development of the product for health and using case studies in the literature as a basis, this research aims to present the recurrent activities that users perform when involved in development of medical devices. The main contribution of this word is the model of user tasks crossed with users characteristics developed.
滥用医疗产品会对患者和其他使用者的健康造成危害。医疗产品开发行业采用了许多国际标准,以确保质量和安全,包括以各种方式让用户参与开发过程的指南和模型。有些方法可以在开发的任何阶段执行,这妨碍了项目规划阶段。然而,缺乏帮助公司根据特定的配置文件或属性选择最合适的用户的信息。为了揭开用户如何参与健康产品开发的神秘面纱,并以文献中的案例研究为基础,本研究旨在介绍用户在参与医疗设备开发时所进行的经常性活动。这个词的主要贡献是将用户任务与用户特征交叉的模型开发出来。
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引用次数: 0
Simulation modeling and optimization of bitumen –palm kernel oil blend for austempering of cast iron and steel 用于铸铁和钢等温回火的沥青-棕榈仁油混合料的仿真建模与优化
Pub Date : 2022-01-30 DOI: 10.53346/wjetr.2022.1.1.0026
OC Okwonna
The study combines both simulation modeling and optimization of bitumen-palm kernel oil blend for austempering of cast iron and steel. Two independent factors namely austenitizing temperature (A) and holding time (H) were evaluated while five responses which includes ultimate tensile strength (u.t.s), hardness (h), impact strength (i), percentage elongation (e), percentage reduction in area (r.i.a) were evaluated. 3-D response surface and 2-D contour plots through response surface methods were used to estimate multi-response mathematical models. Desirability function approach provided by MINITAB 18 was used to determine the optimal settings of the response and factors after adequacy of the models to approximate the measured data had been established at 0.10 confidence level. From the result, optimum conditions for austenitizing temperature was 916.50C and 5 min while the predicted values of quenching hardness, ultimate tensile strength, impact strength, %elongation, %reduction in area were 1327.29MPa, 29.36J, 72.77%, 86.79% and 175.59HRC for 0.56%C-Steel; 1407.97MPa, 20.04J, 50.80%, 49.17% and 196.13 for 0.76%C-Steel; 1235.01MPa, 32.42J, 60.39%, 55.99% and 234.99HRC for ductile cast iron. Great improvement was seen in the steel performance after austempering process which gave rise to the conclusion that as the austempering time and holding time increases, that the mechanical properties of the steel were affected. Quenching of 0.56%C, 0.76%C-steel and ductile cast iron at the optimal settings using B-PKO saved one thousand naira (₦1000.00) showing 28.57% profit. The developed empirical models are recommended in some of the automobile and engineering industries during heat treatment operations so as to save time and energy.
本研究将沥青-棕榈仁油共混等温回火铸铁和钢的模拟建模与优化相结合。评估了两个独立的因素,即奥氏体化温度(A)和保温时间(H),同时评估了五个响应,包括极限抗拉强度(u.t.s)、硬度(H)、冲击强度(i)、伸长率(e)、面积收缩率(r.i.a)。采用响应面法绘制三维响应面和二维等高线图,估计多响应数学模型。采用MINITAB 18提供的可取性函数法,在0.10置信水平上建立模型以近似测量数据的充分性后,确定响应和因素的最佳设置。结果表明,0.56% c钢的最佳奥氏体化温度为916.50℃和5min,淬火硬度、极限抗拉强度、冲击强度、伸长率和收缩率预测值分别为1327.29MPa、29.36J、72.77%、86.79%和175.59HRC;1407.97MPa、20.04J、50.80%、49.17%、196.13为0.76% c钢;球墨铸铁:1235.01MPa, 32.42J, 60.39%, 55.99%, 234.99HRC。经等温回火处理后,钢的性能有较大的改善,因此,随着等温回火时间和保温时间的延长,钢的力学性能受到影响。采用B-PKO淬火0.56%C、0.76% c钢和球墨铸铁,在最佳设置下可节省1000奈拉(奈拉1000.00),利润28.57%。为节省时间和能源,将所建立的经验模型推荐给一些汽车和工程行业的热处理操作。
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引用次数: 0
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World Journal of Engineering and Technology Research
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