Pub Date : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287206
C. Duriez, C. Andriot, A. Kheddar
This paper presents a physically based method to deal with haptic feedback of manipulated deformable virtual objects in contact with rigid or deformable environment. The haptic rendering algorithm is based on the Signorini's formulation of the contact as proposed in theoretical mechanics. Since haptic interaction requires high refresh rates, a multi-threaded methodology, sharing configuration values of the contact, ensures good stability and transparency performances. Thus, the interactive simulation gathers three synchronized process: the visualization process, the deformation/contact computation process, and the haptic rendering process.
{"title":"A multi-threaded approach for deformable/rigid contacts with haptic feedback","authors":"C. Duriez, C. Andriot, A. Kheddar","doi":"10.1109/HAPTIC.2004.1287206","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287206","url":null,"abstract":"This paper presents a physically based method to deal with haptic feedback of manipulated deformable virtual objects in contact with rigid or deformable environment. The haptic rendering algorithm is based on the Signorini's formulation of the contact as proposed in theoretical mechanics. Since haptic interaction requires high refresh rates, a multi-threaded methodology, sharing configuration values of the contact, ensures good stability and transparency performances. Thus, the interactive simulation gathers three synchronized process: the visualization process, the deformation/contact computation process, and the haptic rendering process.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"181 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133074039","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287175
Camilla K. L. Lau, C. Wagner, R. Howe
Relaying spatially distributed forces promises to enhance the performance of telemanipulation systems. However, the proper way to render tactile information from the sensor to the display is not clear for current displays, where the user maintains constant contact. We present a simple approach to rendering tactile information to improve performance in a lump localization task in a compliant object. The algorithms presented subtract uninformative background information from the tactile signal. Subtracting a fixed background pressure frame reduced lump localization error by up to 20% while decreasing the time required to find the lump by up to 44%. Subtracting a background frame that depends on applied force further reduced lump localization error by another 17%.
{"title":"Compliant background subtraction algorithms for tactile rendering","authors":"Camilla K. L. Lau, C. Wagner, R. Howe","doi":"10.1109/HAPTIC.2004.1287175","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287175","url":null,"abstract":"Relaying spatially distributed forces promises to enhance the performance of telemanipulation systems. However, the proper way to render tactile information from the sensor to the display is not clear for current displays, where the user maintains constant contact. We present a simple approach to rendering tactile information to improve performance in a lump localization task in a compliant object. The algorithms presented subtract uninformative background information from the tactile signal. Subtracting a fixed background pressure frame reduced lump localization error by up to 20% while decreasing the time required to find the lump by up to 44%. Subtracting a background frame that depends on applied force further reduced lump localization error by another 17%.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130141815","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287228
Mario J. Enriquez, Karon E Maclean
The bulk of current haptics human-factors research focuses on mapping basic human perceptual limits. However, many realistic applications demand a better understanding of how to construct more life-like but often less controllable experiment scenarios. In this paper, we study this problem in the context of advanced automobile interfaces. We employ a throttle pedal with programmable force feedback to indicate potentially undesirable situations in the external environment and to gently but steadily guide the driver away from them. We have found evidence that within this scenario, errors in such a warning signal can have a negative effect on the behavior of the driver within the conditions studied. These experiments required a complex protocol and necessarily permitted a variety of participant tactics. Post-experiment analysis revealed that very subtle variations in participant instruction produced large differences in tactics and consequent experiment outcome.
{"title":"Impact of haptic warning signal reliability in a time-and-safety-critical task","authors":"Mario J. Enriquez, Karon E Maclean","doi":"10.1109/HAPTIC.2004.1287228","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287228","url":null,"abstract":"The bulk of current haptics human-factors research focuses on mapping basic human perceptual limits. However, many realistic applications demand a better understanding of how to construct more life-like but often less controllable experiment scenarios. In this paper, we study this problem in the context of advanced automobile interfaces. We employ a throttle pedal with programmable force feedback to indicate potentially undesirable situations in the external environment and to gently but steadily guide the driver away from them. We have found evidence that within this scenario, errors in such a warning signal can have a negative effect on the behavior of the driver within the conditions studied. These experiments required a complex protocol and necessarily permitted a variety of participant tactics. Post-experiment analysis revealed that very subtle variations in participant instruction produced large differences in tactics and consequent experiment outcome.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116129422","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287220
Jong-Phil Kim, J. Ryu
After a basic theory on the passivity condition for the sampled-data system has been reviewed, passivity conditions on each subsystem of haptic simulation have been investigated. In addition, the virtual wall simulation is analytically analyzed with the passivity conditions and derived the previously well known stability condition (b > KT/2 + B). Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control. The proposed energy bounding algorithm restricts the energy that is generated by the zero-order hold within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive. This algorithm, therefore, guarantees the passivity condition of the haptic simulation. While the virtual coupling algorithm restricts the actuator force with respect to the penetration depth, the proposed energy bounding algorithm restricts the change of actuator force and eventually restricts generated energy by the zero-order hold. Therefore, much stiffer contact simulation can be implemented.
{"title":"Energy bounding algorithm based on passivity theorem for stable haptic interaction control","authors":"Jong-Phil Kim, J. Ryu","doi":"10.1109/HAPTIC.2004.1287220","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287220","url":null,"abstract":"After a basic theory on the passivity condition for the sampled-data system has been reviewed, passivity conditions on each subsystem of haptic simulation have been investigated. In addition, the virtual wall simulation is analytically analyzed with the passivity conditions and derived the previously well known stability condition (b > KT/2 + B). Based on this, we propose a novel energy bounding algorithm for stable haptic interaction control. The proposed energy bounding algorithm restricts the energy that is generated by the zero-order hold within the energy consumable by the physical damping in a haptic device and makes the virtual environment and controller passive. This algorithm, therefore, guarantees the passivity condition of the haptic simulation. While the virtual coupling algorithm restricts the actuator force with respect to the penetration depth, the proposed energy bounding algorithm restricts the change of actuator force and eventually restricts generated energy by the zero-order hold. Therefore, much stiffer contact simulation can be implemented.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130512595","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287200
R. Komerska, C. Ware
New pop-up menu styles such as pie menus and marking menus have proven to be measurably faster and more accurate in mouse and pen-based interfaces. These characteristics suggest that they may also be useful for 3D haptically enhanced environments. This paper reports on our development and evaluation of a pie menu style and two types of linear menu styles. All utilize force to aid the user in option selection and activation. Our evaluation results show that selection using the pie menu is considerably faster and more accurate than both types of linear menu. Selection using push-through or exceed border methods was found to be superior to conventional button selection. We conclude that pop-up pie menus, with the right combination of selection method and assistive forces, can provide an excellent solution to providing menu choices in 3D haptic environments and that considering speed accuracy tradeoffs is important in making design decisions.
{"title":"A study of haptic linear and pie menus in a 3D fish tank VR environment","authors":"R. Komerska, C. Ware","doi":"10.1109/HAPTIC.2004.1287200","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287200","url":null,"abstract":"New pop-up menu styles such as pie menus and marking menus have proven to be measurably faster and more accurate in mouse and pen-based interfaces. These characteristics suggest that they may also be useful for 3D haptically enhanced environments. This paper reports on our development and evaluation of a pie menu style and two types of linear menu styles. All utilize force to aid the user in option selection and activation. Our evaluation results show that selection using the pie menu is considerably faster and more accurate than both types of linear menu. Selection using push-through or exceed border methods was found to be superior to conventional button selection. We conclude that pop-up pie menus, with the right combination of selection method and assistive forces, can provide an excellent solution to providing menu choices in 3D haptic environments and that considering speed accuracy tradeoffs is important in making design decisions.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128902206","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287198
A. Lécuyer, M. Vidal, O. Joly, C. Mégard, A. Berthoz
This paper describes an experiment which was conducted to evaluate the influence of haptic feedback on the perception of self-motion in virtual reality. Participants were asked to estimate the angles of turns made during a passive visual navigation. Sometimes, during a turn, a haptic feedback was sent to the dominant hand of the participants. This haptic feedback consisted in rotating the participants' fist by the same angular value as the visual turn. The presence of haptic feedback globally influenced the performances of the participants. On average, with haptic feedback, the participants less under-estimated the angles the turns made in the visual navigation. These results suggest that the perception of self-motion could be improved in virtual reality by using an appropriate haptic feedback. Haptic stimulation during navigation could partially substitute for the missing information provided by proprioception and vestibular system.
{"title":"Can haptic feedback improve the perception of self-motion in virtual reality?","authors":"A. Lécuyer, M. Vidal, O. Joly, C. Mégard, A. Berthoz","doi":"10.1109/HAPTIC.2004.1287198","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287198","url":null,"abstract":"This paper describes an experiment which was conducted to evaluate the influence of haptic feedback on the perception of self-motion in virtual reality. Participants were asked to estimate the angles of turns made during a passive visual navigation. Sometimes, during a turn, a haptic feedback was sent to the dominant hand of the participants. This haptic feedback consisted in rotating the participants' fist by the same angular value as the visual turn. The presence of haptic feedback globally influenced the performances of the participants. On average, with haptic feedback, the participants less under-estimated the angles the turns made in the visual navigation. These results suggest that the perception of self-motion could be improved in virtual reality by using an appropriate haptic feedback. Haptic stimulation during navigation could partially substitute for the missing information provided by proprioception and vestibular system.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"11 16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124412958","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287184
Y. Ishibashi, T. Hasegawa, S. Tasaka
This paper proposes a group (or inter-destination) synchronization control scheme for haptic media in networked virtual environments where multiple users manipulate CG objects collaboratively in a 3-D virtual space by using force feedback devices. For group synchronization of haptic media, we enhance the synchronization maestro scheme, which the authors previously proposed for voice and video, so as to adjust the output timing of haptic media among the users. The paper demonstrates the effectiveness of the proposed scheme by experiment.
{"title":"Group synchronization control for haptic media in networked virtual environments","authors":"Y. Ishibashi, T. Hasegawa, S. Tasaka","doi":"10.1109/HAPTIC.2004.1287184","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287184","url":null,"abstract":"This paper proposes a group (or inter-destination) synchronization control scheme for haptic media in networked virtual environments where multiple users manipulate CG objects collaboratively in a 3-D virtual space by using force feedback devices. For group synchronization of haptic media, we enhance the synchronization maestro scheme, which the authors previously proposed for voice and video, so as to adjust the output timing of haptic media among the users. The paper demonstrates the effectiveness of the proposed scheme by experiment.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124219972","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287172
F. Barbagli, A. Frisoli, J. Salisbury, M. Bergamasco
This paper presents models and algorithms that can be used to simulate contact between one or more fingertips and a virtual object. First, the paper presents various models for rotational friction obtained from in-vivo fingertip models previously proposed in the robotics and biomechanics community. Then the paper describes two sets of experiments that were performed on in-vivo fingertips in order to understand which of the models presented fits best with the real rotational friction properties of the human fingertips. Finally an extension of the god object/proxy algorithm which allows the simulation of soft finger contact, i.e. a point-contact with friction capable of supporting moments (up to a torsional friction limit) about the contact normal, is proposed. The resulting algorithm is computationally efficient, being point-based, while retaining a good level of realism.
{"title":"Simulating human fingers: a soft finger proxy model and algorithm","authors":"F. Barbagli, A. Frisoli, J. Salisbury, M. Bergamasco","doi":"10.1109/HAPTIC.2004.1287172","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287172","url":null,"abstract":"This paper presents models and algorithms that can be used to simulate contact between one or more fingertips and a virtual object. First, the paper presents various models for rotational friction obtained from in-vivo fingertip models previously proposed in the robotics and biomechanics community. Then the paper describes two sets of experiments that were performed on in-vivo fingertips in order to understand which of the models presented fits best with the real rotational friction properties of the human fingertips. Finally an extension of the god object/proxy algorithm which allows the simulation of soft finger contact, i.e. a point-contact with friction capable of supporting moments (up to a torsional friction limit) about the contact normal, is proposed. The resulting algorithm is computationally efficient, being point-based, while retaining a good level of realism.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128490185","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287187
Marco Agus, G. Brelstaff, Andrea Giachetti, E. Gobbetti, G. Zanetti, Antonio Zorcolo, B. Picasso, S. S. Franceschini
In this paper we provide a preliminary report on our work on the tuning of a temporal bone surgical simulator using parameter values derived from experimental measurements, and on the comparison between these results and the previously used "domain expert" assigned values. Our preliminary results indicate that the parameter values defined by the domain-experts are consistent with the experimentally derived values. Psychophysical testing indicates that the simulator is capable of rendering the basic material differences required for bone burring work and that some trained users preferentially associate a simulated temporal bone resin model with its real counterpart.
{"title":"Physics-based burr haptic simulation: tuning and evaluation","authors":"Marco Agus, G. Brelstaff, Andrea Giachetti, E. Gobbetti, G. Zanetti, Antonio Zorcolo, B. Picasso, S. S. Franceschini","doi":"10.1109/HAPTIC.2004.1287187","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287187","url":null,"abstract":"In this paper we provide a preliminary report on our work on the tuning of a temporal bone surgical simulator using parameter values derived from experimental measurements, and on the comparison between these results and the previously used \"domain expert\" assigned values. Our preliminary results indicate that the parameter values defined by the domain-experts are consistent with the experimentally derived values. Psychophysical testing indicates that the simulator is capable of rendering the basic material differences required for bone burring work and that some trained users preferentially associate a simulated temporal bone resin model with its real counterpart.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"26 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113941537","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287215
Izukanne Emeagwali, P. Marayong, J. Abbott, A. Okamura
This paper compares two "steady-hand" type systems. The first is an admittance-controlled, non-backdriveable cooperative manipulation system, in which the robot and the operator simultaneously grasp and manipulate a tool. The second is a pair of haptic interfaces configured for unilateral teleoperation. A recently developed pseudo-admittance control law is applied to the master device, which attenuates the operator's high frequency input and sends a "steadied" reference position to the slave. Using a set of planar targeting tasks with varying indexes of difficulty, we found that operator movement time is similar for these two systems. However, the teleoperated system results in more targeting errors due to the limited stiffness display of the haptic interface. These results indicate that operators interact with the pseudo-admittance system as intended, but inherent physical limitations will limit applicability of this approach.
{"title":"Performance analysis of steady-hand teleoperation versus cooperative manipulation","authors":"Izukanne Emeagwali, P. Marayong, J. Abbott, A. Okamura","doi":"10.1109/HAPTIC.2004.1287215","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287215","url":null,"abstract":"This paper compares two \"steady-hand\" type systems. The first is an admittance-controlled, non-backdriveable cooperative manipulation system, in which the robot and the operator simultaneously grasp and manipulate a tool. The second is a pair of haptic interfaces configured for unilateral teleoperation. A recently developed pseudo-admittance control law is applied to the master device, which attenuates the operator's high frequency input and sends a \"steadied\" reference position to the slave. Using a set of planar targeting tasks with varying indexes of difficulty, we found that operator movement time is similar for these two systems. However, the teleoperated system results in more targeting errors due to the limited stiffness display of the haptic interface. These results indicate that operators interact with the pseudo-admittance system as intended, but inherent physical limitations will limit applicability of this approach.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115572568","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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