Pub Date : 2020-06-01DOI: 10.1109/UR49135.2020.9144753
Min Li, Tianci Wang, Yueyan Zhuo, Bo He, T. Tao, Jun Xie, Guanghua Xu
Most stroke patients with hand dysfunction have normal function of one side of the body and their intact musculoskeletal systems are intact. Their hand function can be recovered through rehabilitation training. In this paper, a 3D-printed pneumatic-driven soft robotic glove is designed for hand rehabilitation training controlled by the movements of the healthy hand. Data glove is used to collect the motion data of the healthy hand that is then used to control the robotic glove. Characterization tests of the glove were carried out to prove the feasibility of the soft robotic glove. The experimental results show that the robotic glove can assist users to complete the rehabilitation training task.
{"title":"A soft robotic glove for hand rehabilitation training controlled by movements of the healthy hand","authors":"Min Li, Tianci Wang, Yueyan Zhuo, Bo He, T. Tao, Jun Xie, Guanghua Xu","doi":"10.1109/UR49135.2020.9144753","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144753","url":null,"abstract":"Most stroke patients with hand dysfunction have normal function of one side of the body and their intact musculoskeletal systems are intact. Their hand function can be recovered through rehabilitation training. In this paper, a 3D-printed pneumatic-driven soft robotic glove is designed for hand rehabilitation training controlled by the movements of the healthy hand. Data glove is used to collect the motion data of the healthy hand that is then used to control the robotic glove. Characterization tests of the glove were carried out to prove the feasibility of the soft robotic glove. The experimental results show that the robotic glove can assist users to complete the rehabilitation training task.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134184702","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144961
Kyungjae Lee, Yunho Choi, Songhwai Oh
This paper proposes an inverse optimal control (IOC) framework which incorporates demonstrations with mixed qualities. The proposed method utilizes the benefits of sub-optimal demonstrations which can provide information about what not to do and supplies training data near states unvisited by optimal demonstrations. The main idea of the proposed method is to find the value function which satisfies the optimality condition over optimal demonstrations and violates it over sub-optimal demonstrations. We conduct experiments on three environments and empirically show that the proposed method outperforms the original IOC algorithm, which uses only optimal demonstrations.
{"title":"Inverse Optimal Control from Demonstrations with Mixed Qualities","authors":"Kyungjae Lee, Yunho Choi, Songhwai Oh","doi":"10.1109/UR49135.2020.9144961","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144961","url":null,"abstract":"This paper proposes an inverse optimal control (IOC) framework which incorporates demonstrations with mixed qualities. The proposed method utilizes the benefits of sub-optimal demonstrations which can provide information about what not to do and supplies training data near states unvisited by optimal demonstrations. The main idea of the proposed method is to find the value function which satisfies the optimality condition over optimal demonstrations and violates it over sub-optimal demonstrations. We conduct experiments on three environments and empirically show that the proposed method outperforms the original IOC algorithm, which uses only optimal demonstrations.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131587076","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144791
K. Shibuya, Mihikiro Uenishi, V. A. Ho
This paper presents the fabrication and preliminary experiments conducted on two prototypes of sensitivity-changeable soft tactile sensors, which utilize the phase change of gallium between the solid and liquid states. Ordinal materials change their stiffness by the process of melting or coagulation, which leads to stiffness and sensitivity changes in the entire tactile sensor. We fabricated two types of prototypes, namely flat and dome-shaped sensors, created from silicone rubber, gallium, and strain gauges. The sensitivity of the former in the liquid phase is higher than in the solid phase. Conversely, the sensitivity of the latter is higher in the solid state than in the liquid phase. We performed preliminary experiments and confirmed that these tactile sensors are responsive to sensitivity changes.
{"title":"Preliminary Experiments Conducted on Prototypes of Sensitivity-changeable Soft Tactile Sensors Utilizing Phase Change*","authors":"K. Shibuya, Mihikiro Uenishi, V. A. Ho","doi":"10.1109/UR49135.2020.9144791","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144791","url":null,"abstract":"This paper presents the fabrication and preliminary experiments conducted on two prototypes of sensitivity-changeable soft tactile sensors, which utilize the phase change of gallium between the solid and liquid states. Ordinal materials change their stiffness by the process of melting or coagulation, which leads to stiffness and sensitivity changes in the entire tactile sensor. We fabricated two types of prototypes, namely flat and dome-shaped sensors, created from silicone rubber, gallium, and strain gauges. The sensitivity of the former in the liquid phase is higher than in the solid phase. Conversely, the sensitivity of the latter is higher in the solid state than in the liquid phase. We performed preliminary experiments and confirmed that these tactile sensors are responsive to sensitivity changes.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127849841","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}
A CNN-LSTM hybrid model for ankle joint motion recognition based on surface electromyography (sEMG) signals is proposed in this paper. The traditional recognition method is to manually extract the features from sEMG signals and then use machine learning method to train the model, which relies on prior knowledge and requires a lot of time to test and select good features to obtain high classification accuracy. In this paper, the CNN-LSTM hybrid model is used to identify four ankle joint movements (dorsiflexion, plantar flexion, foot varus and foot eversion). The hybrid model consists of two CNN layers and three LSTM layers. CNN can learn to automatically extract features and LSTM is able to capture long-term correlations of sEMG data. The experiment results show that the proposed model is effective and accurate, thus providing a basis for the subsequent research.
{"title":"A CNN-LSTM Hybrid Model for Ankle Joint Motion Recognition Method Based on sEMG","authors":"Hao-Ran Cheng, Guangzhong Cao, Cai-Hong Li, Aibin Zhu, Xiaodong Zhang","doi":"10.1109/UR49135.2020.9144698","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144698","url":null,"abstract":"A CNN-LSTM hybrid model for ankle joint motion recognition based on surface electromyography (sEMG) signals is proposed in this paper. The traditional recognition method is to manually extract the features from sEMG signals and then use machine learning method to train the model, which relies on prior knowledge and requires a lot of time to test and select good features to obtain high classification accuracy. In this paper, the CNN-LSTM hybrid model is used to identify four ankle joint movements (dorsiflexion, plantar flexion, foot varus and foot eversion). The hybrid model consists of two CNN layers and three LSTM layers. CNN can learn to automatically extract features and LSTM is able to capture long-term correlations of sEMG data. The experiment results show that the proposed model is effective and accurate, thus providing a basis for the subsequent research.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115860790","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144840
Joonhee Jo, Yonghwan Oh
Since the ball-balancing robot has been researched, many kinds of platforms and control methods have been developed for the ballbot. Even though the behavior of the robot has been achieved by previous studies, there are few studies considering the contact forces between the robot and ball. In this paper, we propose balancing and tracking control of the ballbot, with unilateral constraints. Using an adequate task transformation matrix, the task space dynamics can be divided into the dynamics of the robot and the ball respectively. This decomposition has advantages to obtain the input torque through the ball task dynamics with constraint forces. Through the proposed formalism, the contact force can be computed from the ball task space dynamics with the quadratic programming(QP) with inequality constraints such as unilateral constraints and friction constraints. The obtained contact force is used in the robot task space dynamics to get control input. In addition, the balancing force is computed using CoM reflex as a reference. Hence, using the synthesized controller, the contact force based balancing and tracking control simulation is performed.
{"title":"Contact Force based Balancing and Tracking Control of a Ballbot using Projected Task Space Dynamics with Inequality Constraints","authors":"Joonhee Jo, Yonghwan Oh","doi":"10.1109/UR49135.2020.9144840","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144840","url":null,"abstract":"Since the ball-balancing robot has been researched, many kinds of platforms and control methods have been developed for the ballbot. Even though the behavior of the robot has been achieved by previous studies, there are few studies considering the contact forces between the robot and ball. In this paper, we propose balancing and tracking control of the ballbot, with unilateral constraints. Using an adequate task transformation matrix, the task space dynamics can be divided into the dynamics of the robot and the ball respectively. This decomposition has advantages to obtain the input torque through the ball task dynamics with constraint forces. Through the proposed formalism, the contact force can be computed from the ball task space dynamics with the quadratic programming(QP) with inequality constraints such as unilateral constraints and friction constraints. The obtained contact force is used in the robot task space dynamics to get control input. In addition, the balancing force is computed using CoM reflex as a reference. Hence, using the synthesized controller, the contact force based balancing and tracking control simulation is performed.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123528620","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144920
Miyoung Cho, Minsu Jang, Young-Jo Cho
In order for social robots to be usably accepted by users, they need to exhibit social interaction skills in a certain degree when they encounter human even in unexpected environments, like human can do. Evaluation of Social Interaction (ESI) is one of well-defined methods to evaluate human social intelligence with 7 classes and 27 items of social interaction skills. Among them, the physically supporting social interaction(PSSI) class with 5 items are dominant to evaluate social robot intelligence, according to the occupation therapist evaluation. In this paper, focusing on the 3 items in the PSSI class, we propose an evaluation method of social robot intelligence in terms of social interactive motion, apply it to a social robot called Wendy and compare it with human social intelligence.
{"title":"Evaluation of Social Robot Intelligence in Terms of Social Interactive Motion","authors":"Miyoung Cho, Minsu Jang, Young-Jo Cho","doi":"10.1109/UR49135.2020.9144920","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144920","url":null,"abstract":"In order for social robots to be usably accepted by users, they need to exhibit social interaction skills in a certain degree when they encounter human even in unexpected environments, like human can do. Evaluation of Social Interaction (ESI) is one of well-defined methods to evaluate human social intelligence with 7 classes and 27 items of social interaction skills. Among them, the physically supporting social interaction(PSSI) class with 5 items are dominant to evaluate social robot intelligence, according to the occupation therapist evaluation. In this paper, focusing on the 3 items in the PSSI class, we propose an evaluation method of social robot intelligence in terms of social interactive motion, apply it to a social robot called Wendy and compare it with human social intelligence.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127414555","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144903
Han Mao, Aibin Zhu, Yao Tu, Zheng Zhang, Dangchao Li, Yulin Zhang, Zhifu Guo
Aiming at the problem of insufficient stability of the existing spherical robot, a spherical robot driven by eccentric pendulums and self-stabilizing by flywheel is proposed in this paper. The robot is driven by the gravity shift of the pendulum and its stability is improved by flywheels rotating at high speed. This paper designed the structure of the robot and established a three-dimensional model in SolidWorks. After finishing the spherical robot prototype, its motion performance is verified by experiment. According to the experimental results, the maximum climbing angle of the spherical robot driven only by the eccentricity of the gravity pendulum is 7°, and the stability can be significantly improved when the flywheel is enabled. With fast braking of the flywheel, the robot can climb over the obstacles to the instantaneous climbing angle of 28° and move steadily in rugged terrain.
{"title":"A Spherical Mobile Robot Driven by Eccentric Pendulum and Self-stabilizing by Flywheel*","authors":"Han Mao, Aibin Zhu, Yao Tu, Zheng Zhang, Dangchao Li, Yulin Zhang, Zhifu Guo","doi":"10.1109/UR49135.2020.9144903","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144903","url":null,"abstract":"Aiming at the problem of insufficient stability of the existing spherical robot, a spherical robot driven by eccentric pendulums and self-stabilizing by flywheel is proposed in this paper. The robot is driven by the gravity shift of the pendulum and its stability is improved by flywheels rotating at high speed. This paper designed the structure of the robot and established a three-dimensional model in SolidWorks. After finishing the spherical robot prototype, its motion performance is verified by experiment. According to the experimental results, the maximum climbing angle of the spherical robot driven only by the eccentricity of the gravity pendulum is 7°, and the stability can be significantly improved when the flywheel is enabled. With fast braking of the flywheel, the robot can climb over the obstacles to the instantaneous climbing angle of 28° and move steadily in rugged terrain.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129990801","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}
This paper presents a performance comparison of the robust integral of sign of error (RISE) controller with the cascade PID controller for the control of a 6-DOF heavy payload industrial robot. The 6-DOF heavy payload industrial robot is a highly nonlinear system. In this research, the dynamic simulation software ADAMS® is used to model the robot. The control systems are designed as joint space controllers and simulated using an ADAMS® and MATLAB/Simulink co-simulation platform. The simulation results are used to tune the controllers and to compare their performance under the best tuning conditions. The results show that when compared with the PID controller, the RISE controller with non-linear robust term provides robust control performance with asymptotic trajectory tracking and less overshoot in nonlinear systems. These results pave the way for implementation of the RISE controller in the real robotic system and verification of its performance.
{"title":"Simulation Based Performance Comparison of Cascade PID and RISE Controllers for the 6-DOF Heavy Payload Industrial Robot","authors":"Geonhyup Lee, Amre Eizad, Hosu Lee, Sanghun Pyo, Jungwon Yoon","doi":"10.1109/UR49135.2020.9144847","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144847","url":null,"abstract":"This paper presents a performance comparison of the robust integral of sign of error (RISE) controller with the cascade PID controller for the control of a 6-DOF heavy payload industrial robot. The 6-DOF heavy payload industrial robot is a highly nonlinear system. In this research, the dynamic simulation software ADAMS® is used to model the robot. The control systems are designed as joint space controllers and simulated using an ADAMS® and MATLAB/Simulink co-simulation platform. The simulation results are used to tune the controllers and to compare their performance under the best tuning conditions. The results show that when compared with the PID controller, the RISE controller with non-linear robust term provides robust control performance with asymptotic trajectory tracking and less overshoot in nonlinear systems. These results pave the way for implementation of the RISE controller in the real robotic system and verification of its performance.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128990152","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144825
Sucheol Lee, Dong-Eun Choi, Byungchul An, Woosub Lee
It is difficult for human beings to enter the dangerous terrain and to work there. In those places, robots work better than human beings do. To move into the place, the robots should have the appropriate gripper to unlock the door inside. In this paper, we have developed a robotic gripper that is able to hold a handwheel and a knob. This gripper is one degree of freedom system and compact design using lead screws but it has two motions such as the translational motion and the modified hyperbolic motion. Since the linkage of gripper has the translational motion in the axial direction, the gripper has much force than other grippers which are operated rotational direction. We have analyzed the geometric properties of the gripper to determine the optimal dimensions of the gripper link. Then, we present experimental results of sleeplessly opening doors with two handle types, such as a handwheel and a knob, using our novel gripper.
{"title":"Development of the Gripper for the handwheel and the knob","authors":"Sucheol Lee, Dong-Eun Choi, Byungchul An, Woosub Lee","doi":"10.1109/UR49135.2020.9144825","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144825","url":null,"abstract":"It is difficult for human beings to enter the dangerous terrain and to work there. In those places, robots work better than human beings do. To move into the place, the robots should have the appropriate gripper to unlock the door inside. In this paper, we have developed a robotic gripper that is able to hold a handwheel and a knob. This gripper is one degree of freedom system and compact design using lead screws but it has two motions such as the translational motion and the modified hyperbolic motion. Since the linkage of gripper has the translational motion in the axial direction, the gripper has much force than other grippers which are operated rotational direction. We have analyzed the geometric properties of the gripper to determine the optimal dimensions of the gripper link. Then, we present experimental results of sleeplessly opening doors with two handle types, such as a handwheel and a knob, using our novel gripper.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130804286","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144888
Jiwoong Lim, S. Rhim
Safety issues are increasing as collaborative robots and people share workspaces. In this paper, we propose a technique for estimating a single human position and velocity using two fixed RGB cameras. To detect human, an object detection algorithm composed of convolution neural network is used. The detection area in images obtained from the detection algorithm are used to calculate the human position in the experimental environment with some partial visual obstruction through coordinate transformation. Then we use Kalman filter to estimate the filtered position and velocity. Finally, we suggest how to predict the position and velocity when human is blocked from the cameras due to obstacles.
{"title":"Estimation of Human Position and Velocity in Collaborative Robot System Using Visual Object Detection Algorithm and Kalman Filter","authors":"Jiwoong Lim, S. Rhim","doi":"10.1109/UR49135.2020.9144888","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144888","url":null,"abstract":"Safety issues are increasing as collaborative robots and people share workspaces. In this paper, we propose a technique for estimating a single human position and velocity using two fixed RGB cameras. To detect human, an object detection algorithm composed of convolution neural network is used. The detection area in images obtained from the detection algorithm are used to calculate the human position in the experimental environment with some partial visual obstruction through coordinate transformation. Then we use Kalman filter to estimate the filtered position and velocity. Finally, we suggest how to predict the position and velocity when human is blocked from the cameras due to obstacles.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126893933","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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