K. Sawicki, G. Bieszczad, T. Sosnowski, Mariusz Mścichowski
The paper presents a method for determining the characteristics of the information capacity of a thermographic covert communication channel made of a heat radiator (technical black body) and a thermal camera. The determined characteristics are an additional parameter describing these devices in the context of their non-obvious use for data transmission.
{"title":"Characterization of Thermographic Covert Channel","authors":"K. Sawicki, G. Bieszczad, T. Sosnowski, Mariusz Mścichowski","doi":"10.14313/par_250/27","DOIUrl":"https://doi.org/10.14313/par_250/27","url":null,"abstract":"The paper presents a method for determining the characteristics of the information capacity of a thermographic covert communication channel made of a heat radiator (technical black body) and a thermal camera. The determined characteristics are an additional parameter describing these devices in the context of their non-obvious use for data transmission.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"115 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169183","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}
Optical fiber sensing techniques are recognized as very promising in diagnostic and condition monitoring of power transformers. According to the IEC standard 60076-2, the winding hot-spot temperature can be designated with the optical fiber sensor. In this paper, the investigation of the influence of macrobending of the optical fiber temperature sensor on the sensing performance is presented. The obtained results prove that the optical fiber sensor wrapped six times around the 14 mm cylinder still provides temperature sensing abilities.
{"title":"Evaluation of Optical Fiber Macrobendings in Temperature Sensor Dedicated for Power Transformer Monitoring","authors":"B. Guzowski, M. Łakomski, Iyad Shatarah","doi":"10.14313/par_250/39","DOIUrl":"https://doi.org/10.14313/par_250/39","url":null,"abstract":"Optical fiber sensing techniques are recognized as very promising in diagnostic and condition monitoring of power transformers. According to the IEC standard 60076-2, the winding hot-spot temperature can be designated with the optical fiber sensor. In this paper, the investigation of the influence of macrobending of the optical fiber temperature sensor on the sensing performance is presented. The obtained results prove that the optical fiber sensor wrapped six times around the 14 mm cylinder still provides temperature sensing abilities.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"16 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139168250","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}
Serhii W. Zabolotnii, Z. Warsza, Oleksandr M. Tkachenko
In this paper consider is the application of the Polynomial Maximization Method PMM to find estimates of the parameters of non-Gaussian Moving Average model. This approach is adaptive and is based on the analysis of higher-order statistics. The case of asymmetry of distributions of Moving Average of the stochastic processes is also considered. It is shown that the asymptotic variance of estimates of the Polynomial Maximization Method (2nd order) have such analytical expressions, whose allow to finding estimates and analyzing their uncertainties. Above approach can be significantly less than the variance of the classic estimates based on minimizing the Conditional Sum of Squares or Maximum Likelihood (in the Gaussian case). The increase of accuracy depends on the values of the coefficient’s asymmetry and the kurtosis of residuals. The results of statistical modeling by the Monte Carlo Method confirm the effectiveness of the proposed approach.
{"title":"Estimation of Parameters of Non-Gaussian Asymmetric Processes with a Moving Average Using the Polynomial Maximization Method PMM","authors":"Serhii W. Zabolotnii, Z. Warsza, Oleksandr M. Tkachenko","doi":"10.14313/par_250/71","DOIUrl":"https://doi.org/10.14313/par_250/71","url":null,"abstract":"In this paper consider is the application of the Polynomial Maximization Method PMM to find estimates of the parameters of non-Gaussian Moving Average model. This approach is adaptive and is based on the analysis of higher-order statistics. The case of asymmetry of distributions of Moving Average of the stochastic processes is also considered. It is shown that the asymptotic variance of estimates of the Polynomial Maximization Method (2nd order) have such analytical expressions, whose allow to finding estimates and analyzing their uncertainties. Above approach can be significantly less than the variance of the classic estimates based on minimizing the Conditional Sum of Squares or Maximum Likelihood (in the Gaussian case). The increase of accuracy depends on the values of the coefficient’s asymmetry and the kurtosis of residuals. The results of statistical modeling by the Monte Carlo Method confirm the effectiveness of the proposed approach.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"11 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169090","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}
W pracy za pomocą zmian przewodności zbadano zmiany konformacyjne proteiny BSA oraz jej kompleksów (BSA-Au oraz BSA-NAA) pod wpływem promieniowania UV oraz MF aplikowanego frakcyjnie w dawkach (3 × 10 min oraz 6 × 10 min) oraz w sposób ciągły (30 min, 60 min). Wykonano analizę porównawczą wpływu promieniowania UV i mikrofalowego w dawkach ciągłych i frakcyjnych na BSA, BSA-Au, BSA-NAA oraz przeanalizowano czułość na pole elektromagnetyczne z zakresu UV i MF dla badanych substancji. Udowodniono efekt przyspieszonych zmian konformacyjnych pod wpływem pola elektromagnetycznego z zakresu UV i MF. Wykazano wpływ czynników na stabilność BSA i jej kompleksów zależny od: rodzaju czynnika, sposobu jego aplikacji oraz czasu ekspozycji. Najbardziej czuły na pole elektromagnetyczne okazał się kompleks BSA-Au.
{"title":"Studies of the Effect of Electromagnetic Radiation on Biosensor Matrix Components","authors":"A. Kłos-Witkowska, V. Martsenyuk","doi":"10.14313/par_250/57","DOIUrl":"https://doi.org/10.14313/par_250/57","url":null,"abstract":"W pracy za pomocą zmian przewodności zbadano zmiany konformacyjne proteiny BSA oraz jej kompleksów (BSA-Au oraz BSA-NAA) pod wpływem promieniowania UV oraz MF aplikowanego frakcyjnie w dawkach (3 × 10 min oraz 6 × 10 min) oraz w sposób ciągły (30 min, 60 min). Wykonano analizę porównawczą wpływu promieniowania UV i mikrofalowego w dawkach ciągłych i frakcyjnych na BSA, BSA-Au, BSA-NAA oraz przeanalizowano czułość na pole elektromagnetyczne z zakresu UV i MF dla badanych substancji. Udowodniono efekt przyspieszonych zmian konformacyjnych pod wpływem pola elektromagnetycznego z zakresu UV i MF. Wykazano wpływ czynników na stabilność BSA i jej kompleksów zależny od: rodzaju czynnika, sposobu jego aplikacji oraz czasu ekspozycji. Najbardziej czuły na pole elektromagnetyczne okazał się kompleks BSA-Au.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"46 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139168062","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}
Adam Brzozowski, Roman Szewczyk, P. Gazda, M. Nowicki
The accurate determination of the piston fall rate is one of critical parameters in dead weight testers and piston gauges, as it confirms a quality of machining, instrument accuracy class, and long-term stability. This study introduces a method for determining piston fall rate using two triangulating laser distance sensors. This approach offers versatile applicability, in high-precision standards as well as in regular-class instruments, and is robust in accommodating variations in measurement ranges, pressure transmitting mediums, materials of weights, and weight diameters. The method utilizes two laser sensors symmetrically positioned under the primary weight of the piston pressure gauge, allowing for seamless measurements without the need for sensor adjustments. The data collected from these sensors are processed to calculate the average displacement of the primary weight. The method’s effectiveness is demonstrated with high linearity and precision in determining the piston weight fall rate. This approach can lead to improvements in fluid dynamics analysis and metrology of precise pressure balances. The method’s advantages include error mitigation and reduced operator intervention, making it highly suitable for applications requiring accurate piston descent velocity measurements, particularly in older measuring instruments. The establishment of a reference dataset can enhance the accuracy of periodic examinations of piston-cylinder assemblies, thereby reducing costs and improving measurement quality.
{"title":"The Measurement Method of a Piston Fall Rate","authors":"Adam Brzozowski, Roman Szewczyk, P. Gazda, M. Nowicki","doi":"10.14313/par_250/65","DOIUrl":"https://doi.org/10.14313/par_250/65","url":null,"abstract":"The accurate determination of the piston fall rate is one of critical parameters in dead weight testers and piston gauges, as it confirms a quality of machining, instrument accuracy class, and long-term stability. This study introduces a method for determining piston fall rate using two triangulating laser distance sensors. This approach offers versatile applicability, in high-precision standards as well as in regular-class instruments, and is robust in accommodating variations in measurement ranges, pressure transmitting mediums, materials of weights, and weight diameters. The method utilizes two laser sensors symmetrically positioned under the primary weight of the piston pressure gauge, allowing for seamless measurements without the need for sensor adjustments. The data collected from these sensors are processed to calculate the average displacement of the primary weight. The method’s effectiveness is demonstrated with high linearity and precision in determining the piston weight fall rate. This approach can lead to improvements in fluid dynamics analysis and metrology of precise pressure balances. The method’s advantages include error mitigation and reduced operator intervention, making it highly suitable for applications requiring accurate piston descent velocity measurements, particularly in older measuring instruments. The establishment of a reference dataset can enhance the accuracy of periodic examinations of piston-cylinder assemblies, thereby reducing costs and improving measurement quality.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"12 39","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139168901","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}
Reinforcement learning is of increasing importance in the field of robot control and simulation plays a key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published scientific papers involving this approach. In this work, an autonomous drone control system was prepared to fly forward (according to its coordinates system) and pass the trees encountered in the forest based on the data from a rotating LiDAR sensor. The Proximal Policy Optimization (PPO) algorithm, an example of reinforcement learning (RL), was used to prepare it. A custom simulator in the Python language was developed for this purpose. The Gazebo environment, integrated with the Robot Operating System (ROS), was also used to test the resulting control algorithm. Finally, the prepared solution was implemented in the Nvidia Jetson Nano eGPU and verified in the real tests scenarios. During them, the drone successfully completed the set task and was able to repeatable avoid trees and fly through the forest.
{"title":"Control of an Autonomous Unmanned Aerial Vehicle Using Reinforcement Learning","authors":"Paweł Miera, Hubert Szolc, Tomasz Kryjak","doi":"10.14313/par_250/85","DOIUrl":"https://doi.org/10.14313/par_250/85","url":null,"abstract":"Reinforcement learning is of increasing importance in the field of robot control and simulation plays a key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published scientific papers involving this approach. In this work, an autonomous drone control system was prepared to fly forward (according to its coordinates system) and pass the trees encountered in the forest based on the data from a rotating LiDAR sensor. The Proximal Policy Optimization (PPO) algorithm, an example of reinforcement learning (RL), was used to prepare it. A custom simulator in the Python language was developed for this purpose. The Gazebo environment, integrated with the Robot Operating System (ROS), was also used to test the resulting control algorithm. Finally, the prepared solution was implemented in the Nvidia Jetson Nano eGPU and verified in the real tests scenarios. During them, the drone successfully completed the set task and was able to repeatable avoid trees and fly through the forest.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"109 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139168006","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}
Active thermography was used for characterisation of multi-layered paintings panel structures and analysis of defects caused by aging and environmental effects. Pulsed Thermography setup was applied to provide and inspect a dynamic thermal response, which was recorded by mid- and long wavelength infrared TELOPS cameras. Control, synchronization and data analyses were provided by Professional software (DisplayImg 7). Active thermography was demonstrated as being appropriate for characterization of various defects on painting layers and detection of under-drawings, pentimenti and canvas. Such multispectral approach provided simultaneous complementary information on the specimen under inspection.
{"title":"Panel Paintings Inspection Analysis Using Active Thermography in the Mid-Wave and Long-Wave Infrared Region","authors":"Stephane Tombet, Eric Guyot","doi":"10.14313/par_250/13","DOIUrl":"https://doi.org/10.14313/par_250/13","url":null,"abstract":"Active thermography was used for characterisation of multi-layered paintings panel structures and analysis of defects caused by aging and environmental effects. Pulsed Thermography setup was applied to provide and inspect a dynamic thermal response, which was recorded by mid- and long wavelength infrared TELOPS cameras. Control, synchronization and data analyses were provided by Professional software (DisplayImg 7). Active thermography was demonstrated as being appropriate for characterization of various defects on painting layers and detection of under-drawings, pentimenti and canvas. Such multispectral approach provided simultaneous complementary information on the specimen under inspection.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"90 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139169217","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}
The subject of the article are predictive control algorithms (of MPC type – Model Predictive Control) for rigid manipulator arms. MPC with a state-space model and with the latest disturbance and modeling error suppression technique was applied, which avoids dynamic disturbance modeling or resorting to additional disturbance cancellation techniques, such as SMC. First of all, the most computationally efficient MPC-NPL (Nonlinear Prediction and Linearization) algorithms are considered, in two versions: the first with constrained QP (Quadratic Programming) optimization and the second with explicit (analytical) optimization without constraints and satisfying a posteriori inequality constraints. For all considered algorithms, a comprehensive simulation analysis was carried out for a direct drive manipulator, with two kinds of disturbances: external and parametric. The obtained results were compared with those for the well-known CTC-PID algorithm (CTC – Computer Torque Control), showing better control quality with MPC algorithms. In addition, the influence of the length of the sampling period and of the computational delay on control quality was investigated, which is important for model-based algorithms with fast sampling.
{"title":"Nonlinear Predictive Control of Manipulator Arms","authors":"P. Tatjewski","doi":"10.14313/par_248/47","DOIUrl":"https://doi.org/10.14313/par_248/47","url":null,"abstract":"The subject of the article are predictive control algorithms (of MPC type – Model Predictive Control) for rigid manipulator arms. MPC with a state-space model and with the latest disturbance and modeling error suppression technique was applied, which avoids dynamic disturbance modeling or resorting to additional disturbance cancellation techniques, such as SMC. First of all, the most computationally efficient MPC-NPL (Nonlinear Prediction and Linearization) algorithms are considered, in two versions: the first with constrained QP (Quadratic Programming) optimization and the second with explicit (analytical) optimization without constraints and satisfying a posteriori inequality constraints. For all considered algorithms, a comprehensive simulation analysis was carried out for a direct drive manipulator, with two kinds of disturbances: external and parametric. The obtained results were compared with those for the well-known CTC-PID algorithm (CTC – Computer Torque Control), showing better control quality with MPC algorithms. In addition, the influence of the length of the sampling period and of the computational delay on control quality was investigated, which is important for model-based algorithms with fast sampling.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114951147","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}
In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the third of the above mentioned three issues.
{"title":"Robotics: Techniques, Functions, Social Role. Part 3. Robots and Social Problems","authors":"C. Zieliński","doi":"10.14313/par_248/5","DOIUrl":"https://doi.org/10.14313/par_248/5","url":null,"abstract":"In order to assess the impact of robots on society, it is necessary to carefully analyze the state-of-the-art, and in particular the fundamental issues that have yet to be resolved, however having significant impact on the potential societal changes resulting from the development of robotics. The aforementioned impact depends on the level of intelligence of robots, so this aspect dominates in the presented analysis. The presentation has been divided into three parts: 1) analysis of technical factors affecting the intelligence and security of robots, 2) analysis of current capabilities of robots, 3) analysis of diverse predictions of how robotics will evolve, and thus the attitudes towards the influence of the result of this development on society. This part of the paper is devoted to the third of the above mentioned three issues.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124491348","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}
The composting process is commonly used in waste management as a method of converting or stabilizing organic waste. Due to the complex, non-linear nature of biological and physicochemical phenomena involved, this process is relatively difficult to predict and control. The control is usually aimed at obtaining the final product, that is, the compost that meets legal standards. The article presents a simple mathematical model of the composting process with forced aeration, which will potentially facilitate the control task. A second order model was developed, with two inputs signals. Based on the mathematical model in the form of the state equations, the computer model of the bioreactor was built in the MATLAB/Simulink environment, which was then used to conduct different simulation tests. It was shown that it is possible to control the process using forced aeration, directly influencing the temperature changes in the bioreactor, and consequently also the time of obtaining the final product of the reaction. The analysis of the dynamic properties of the process performed using its model linearized about some nominal state trajectory shows the changes in its internal stability—starting from the unstable character in the initial phases of the reaction, through stabilization in its intermediate phase, up to the asymptotic stability, ending in the stable equilibrium state.
{"title":"Mathematical Modeling and Simulation Analysis of a Bioreactor with Forced Aeration","authors":"Michał Przysiężnik, K. Bartecki","doi":"10.14313/par_248/77","DOIUrl":"https://doi.org/10.14313/par_248/77","url":null,"abstract":"The composting process is commonly used in waste management as a method of converting or stabilizing organic waste. Due to the complex, non-linear nature of biological and physicochemical phenomena involved, this process is relatively difficult to predict and control. The control is usually aimed at obtaining the final product, that is, the compost that meets legal standards. The article presents a simple mathematical model of the composting process with forced aeration, which will potentially facilitate the control task. A second order model was developed, with two inputs signals. Based on the mathematical model in the form of the state equations, the computer model of the bioreactor was built in the MATLAB/Simulink environment, which was then used to conduct different simulation tests. It was shown that it is possible to control the process using forced aeration, directly influencing the temperature changes in the bioreactor, and consequently also the time of obtaining the final product of the reaction. The analysis of the dynamic properties of the process performed using its model linearized about some nominal state trajectory shows the changes in its internal stability—starting from the unstable character in the initial phases of the reaction, through stabilization in its intermediate phase, up to the asymptotic stability, ending in the stable equilibrium state.","PeriodicalId":383231,"journal":{"name":"Pomiary Automatyka Robotyka","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128606569","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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