Pub Date : 2011-11-01DOI: 10.1109/URAI.2011.6145888
Q. Nguyen, H. Park, D. Byun
Jumping mechanism can be a very efficient mode of locomotion for small robots to overcome large obstacles on the ground and rough terrain. In this paper we present an underdevelopment of a locust-like jumping mechanism. The mechanism made of glass epoxy panel and spring mimics the locust's rear leg in terms of flexor and extensor. We use a spring for the extensor, and a string for the flexor. Experiments are conducted to measure the force of both flexor and extensor by using a load cell. Then we compare the relative ratio between these forces with the analysis result for motor selection in the final jumping mechanism later on.
{"title":"Development of a locust-like jumping mechanism","authors":"Q. Nguyen, H. Park, D. Byun","doi":"10.1109/URAI.2011.6145888","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145888","url":null,"abstract":"Jumping mechanism can be a very efficient mode of locomotion for small robots to overcome large obstacles on the ground and rough terrain. In this paper we present an underdevelopment of a locust-like jumping mechanism. The mechanism made of glass epoxy panel and spring mimics the locust's rear leg in terms of flexor and extensor. We use a spring for the extensor, and a string for the flexor. Experiments are conducted to measure the force of both flexor and extensor by using a load cell. Then we compare the relative ratio between these forces with the analysis result for motor selection in the final jumping mechanism later on.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131412536","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 : 2011-11-01DOI: 10.1109/URAI.2011.6146032
Taeyong Choi, Hyunmin Do, Dongil Park, Kwangcho Chung
Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. In conventional works, teaching trajectory is identified by physical indicator like button. In this work, F/T sensor attached to the end-effector to detect the contact force is utilized. F/T sensor at the end-effector is attached to measure contact force for impedance control to make operator feel no resistance while direct teaching, not for teaching trajectory extraction. Here, exact teaching trajectory is extracted without additional physical device to manipulator.
{"title":"Teaching data extraction for the direct teaching in industrial robot","authors":"Taeyong Choi, Hyunmin Do, Dongil Park, Kwangcho Chung","doi":"10.1109/URAI.2011.6146032","DOIUrl":"https://doi.org/10.1109/URAI.2011.6146032","url":null,"abstract":"Direct teaching in the industrial robot are the novel technique to teach manipulator with easy usage. In conventional works, teaching trajectory is identified by physical indicator like button. In this work, F/T sensor attached to the end-effector to detect the contact force is utilized. F/T sensor at the end-effector is attached to measure contact force for impedance control to make operator feel no resistance while direct teaching, not for teaching trajectory extraction. Here, exact teaching trajectory is extracted without additional physical device to manipulator.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131721145","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145933
G. B. Raharja, Kim Gyou Beom, Y. Kwangjoon
This paper discuss about a design and implementation of coaxial quadrotor for autonomous outdoor flight. On every axis of the quadrotor installed two motors and propellers coaxially, thus it has eight in total. This configuration designed to fulfill the requirement for carrying some payload system for ground's still and clip capturing during the flight. The modeling and control design approach developed based on the quadrotor helicopter. And onboard control system powered by a classical control, then a modern control will be implemented in advance. Global positioning system module used as navigation expected to be optimized in the future by a simultaneous localization and mapping. The experimental setup and flight test has been done successfully.
{"title":"Design and implementation of coaxial quadrotor for an autonomous outdoor flight","authors":"G. B. Raharja, Kim Gyou Beom, Y. Kwangjoon","doi":"10.1109/URAI.2011.6145933","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145933","url":null,"abstract":"This paper discuss about a design and implementation of coaxial quadrotor for autonomous outdoor flight. On every axis of the quadrotor installed two motors and propellers coaxially, thus it has eight in total. This configuration designed to fulfill the requirement for carrying some payload system for ground's still and clip capturing during the flight. The modeling and control design approach developed based on the quadrotor helicopter. And onboard control system powered by a classical control, then a modern control will be implemented in advance. Global positioning system module used as navigation expected to be optimized in the future by a simultaneous localization and mapping. The experimental setup and flight test has been done successfully.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"132 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130422247","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145927
P. Qi, Lu Wang
In human-robot interaction areas, the robot is often expected to recognize the identity of the speaker in some specific scenarios. It is a kind of biometric modality, and in general using statistical model is a classical and powerful method dealing with speaker identification problem. In this paper, we apply the Gaussian mixture model (GMM) on the speech feature distribution modeling and build the speaker identification system under MATLAB platform. Experiments are conducted on practical speech database and we also further give some insights into feature extraction, different length input utterances analysis and the impostor situation.
{"title":"Experiments of GMM based speaker identification","authors":"P. Qi, Lu Wang","doi":"10.1109/URAI.2011.6145927","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145927","url":null,"abstract":"In human-robot interaction areas, the robot is often expected to recognize the identity of the speaker in some specific scenarios. It is a kind of biometric modality, and in general using statistical model is a classical and powerful method dealing with speaker identification problem. In this paper, we apply the Gaussian mixture model (GMM) on the speech feature distribution modeling and build the speaker identification system under MATLAB platform. Experiments are conducted on practical speech database and we also further give some insights into feature extraction, different length input utterances analysis and the impostor situation.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"484 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122191956","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145947
Young-Ho Choi, K. Jung
This paper describes the world's first commercialized window cleaning robot named windoro, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency and safety. An inner unit and an outer unit are in charge of navigation and cleaning, respectively. To do this, an inner unit has two driving wheels equipped with silicon tire with the big friction coefficient and an outer unit has four motorized rolling disks with a superfine fiber pad. For the convenience of user, the windoro can recognize the initial starting position and return to that position after finishing cleaning. In addition to this, an inner unit has mechanism for adjusting magnetic force according to the thickness of window glass. Due to this, the windoro is applicable to various kinds of windows. From the several severe experiments, the windoro demonstrated system stability, good mobility, cleaning performance and safety.
{"title":"Windoro: The world's first commercialized window cleaning robot for domestic use","authors":"Young-Ho Choi, K. Jung","doi":"10.1109/URAI.2011.6145947","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145947","url":null,"abstract":"This paper describes the world's first commercialized window cleaning robot named windoro, which is a fully autonomous intelligent window cleaning robot. The windoro adheres to the surface of window glass by means of four permanent magnet pairs between an inner unit and an outer unit rather than using vacuum suckers for the energy efficiency and safety. An inner unit and an outer unit are in charge of navigation and cleaning, respectively. To do this, an inner unit has two driving wheels equipped with silicon tire with the big friction coefficient and an outer unit has four motorized rolling disks with a superfine fiber pad. For the convenience of user, the windoro can recognize the initial starting position and return to that position after finishing cleaning. In addition to this, an inner unit has mechanism for adjusting magnetic force according to the thickness of window glass. Due to this, the windoro is applicable to various kinds of windows. From the several severe experiments, the windoro demonstrated system stability, good mobility, cleaning performance and safety.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"375 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123335957","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145854
Akio Kumata, Yuya Tsuda, Hideshi Suzuki, E. Ra, T. Morishita
Over the last few decades, the number of senior citizens living alone in Japan has increased rapidly, to the point of dampening economic activity, increasing the load on the social security system, and decreasing the vitality of the local society. In particular, the lack of communication between a large number of elderly people and the local community has become a social problem, and such individuals are a burden on welfare workers and volunteers. With support from Kanagawa Prefectural Government, our joint research team has constructed a support system that would assist welfare workers and volunteers in serving elderly people living alone and building an active local community network. In this paper, we discuss an advanced community model based on the aforementioned information transmission welfare support system for the aging society. We also propose a system that estimates an individual's living conditions by measuring the vibrations caused by sounds such as opening/closing of doors, flushing of the toilet, etc. Experiments revealed that this system efficiently identifies unusual/abnormal activities in households where senior citizens live alone and sends alert signals. This network model provides the necessary support to rescue workers and helps in establishing interactions between elderly citizens and their neighbors; further, it can be used to organize patrol activities.
{"title":"Advanced community model using daily life information transmitter for supporting welfare workers and senior citizens living alone in a welfare society","authors":"Akio Kumata, Yuya Tsuda, Hideshi Suzuki, E. Ra, T. Morishita","doi":"10.1109/URAI.2011.6145854","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145854","url":null,"abstract":"Over the last few decades, the number of senior citizens living alone in Japan has increased rapidly, to the point of dampening economic activity, increasing the load on the social security system, and decreasing the vitality of the local society. In particular, the lack of communication between a large number of elderly people and the local community has become a social problem, and such individuals are a burden on welfare workers and volunteers. With support from Kanagawa Prefectural Government, our joint research team has constructed a support system that would assist welfare workers and volunteers in serving elderly people living alone and building an active local community network. In this paper, we discuss an advanced community model based on the aforementioned information transmission welfare support system for the aging society. We also propose a system that estimates an individual's living conditions by measuring the vibrations caused by sounds such as opening/closing of doors, flushing of the toilet, etc. Experiments revealed that this system efficiently identifies unusual/abnormal activities in households where senior citizens live alone and sends alert signals. This network model provides the necessary support to rescue workers and helps in establishing interactions between elderly citizens and their neighbors; further, it can be used to organize patrol activities.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116496363","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145977
Christiand, Yu-Cheol Lee, Wonpil Yu
This paper proposes the EKF localization with lateral distance information for the mobile robots in urban environments. The mobile robot is assumed to be operated at common roads where the lane marker exists. The lateral distance information given by the lane marker detector is used to compensate the measurement of global positioning system (GPS) before the EKF update step. In addition, the proposed method also uses Mahalanobis distance approach to validate the sensors measurements. The GPS compensation and Mahalanobis distance validation effectively reduce the sensors error, in particular drift error and jumping position of GPS. As a result, the accuracy of the estimated position is better than normal EKF localization.
{"title":"EKF localization with lateral distance information for mobile robots in urban environments","authors":"Christiand, Yu-Cheol Lee, Wonpil Yu","doi":"10.1109/URAI.2011.6145977","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145977","url":null,"abstract":"This paper proposes the EKF localization with lateral distance information for the mobile robots in urban environments. The mobile robot is assumed to be operated at common roads where the lane marker exists. The lateral distance information given by the lane marker detector is used to compensate the measurement of global positioning system (GPS) before the EKF update step. In addition, the proposed method also uses Mahalanobis distance approach to validate the sensors measurements. The GPS compensation and Mahalanobis distance validation effectively reduce the sensors error, in particular drift error and jumping position of GPS. As a result, the accuracy of the estimated position is better than normal EKF localization.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129596058","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145906
Kave Aryanpoo, H. Moradi
Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.
{"title":"Temperature-Aided Fingerprinting for localization in wireless local area networks","authors":"Kave Aryanpoo, H. Moradi","doi":"10.1109/URAI.2011.6145906","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145906","url":null,"abstract":"Wireless signal fingerprints have been used to localize mobile devices in recent years. Especially, WLAN signals are of great importance, because of the ubiquity of WLAN infrastructure. In this paper, the possibility of correlation between temperature and signal strength is investigated to improve the traditional fingerprinting method by incorporating the temperature into the process. The new approach is called the Temperature-Aided Fingerprinting (TAF) and even with current WLAN-enabled devices, which usually do not have a thermometer, TAF achieves a better performance than the traditional method. At the end, we open up a hypothesis that the observed difference is not caused by the temperature, rather by the crowdedness and the dynamics of the environment. This is left to be investigated in the future.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129633662","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145864
A. K. Pamosoaji, K. Hong, S. Ge
Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented.
{"title":"Trajectory planning and control for multiple-vehicles systems","authors":"A. K. Pamosoaji, K. Hong, S. Ge","doi":"10.1109/URAI.2011.6145864","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145864","url":null,"abstract":"Algorithms for trajectory planning and control for a multiple-vehicles system are investigated. An issue of designing collision-free trajectories on a group of crossing paths is tackled. The trajectories are modeled as a set of via-points coupled with their associated achieving time. Furthermore, a tracking controller design dealing with actuators constraints and all via points' achieve times is proposed. By applying the controller, each vehicle is guaranteed to get closer to the desired via-points without any obstacle-avoidance motions. Simulation results showing the generated trajectories and tracking performance is presented.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129905770","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 : 2011-11-01DOI: 10.1109/URAI.2011.6145940
Shanqiang Wu, Lijun Wu, Tao Liu
Although a variety of wall climbing robots were developed, few researcher concentrated effort on adsorption procedure and negative pressure generating device of a wall climbing robot. The aim of paper is to study and develop a sliding wall climbing robot using a novel negative adsorption device that can be well adopted in small irregular places, such as brick walls, cement walls, ship hulls and oil storage tank surfaces so that the robot could be used where direct access by a human operator is very expensive or very dangerous due to the presence of a hostile environment. Firstly, based on force analysis of safety attraction, the least negative pressure value is deduced while the robot is dynamic moving on the wall. Secondly, a mathematical model of the sucking process was made with bond graph theory by reasonable assumptions and the adsorption procedure of wall climbing robot with a large sucker was studied. The relationship between the generated pressure and the negative pressure generator's input voltage was simplified as a first-order expression. A negative pressure generator capable of providing stable negative pressure under variable flow was designed with the Computational Fluid Dynamics (CFD) tool to meet robot's critical demanded working pressure on rough walls. Thirdly, control system was designed and experiment setup was built to evaluate the performance of negative pressure generating system and general abilities of wall climbing robot. With the adsorption device, the wireless wall climbing robot weighed 30N can carry a 54N load at least while moving at a speed of 10m/min upwards for 50min. Test shows the validity of the study and design.
{"title":"Design of a sliding wall climbing robot with a novel negative adsorption device","authors":"Shanqiang Wu, Lijun Wu, Tao Liu","doi":"10.1109/URAI.2011.6145940","DOIUrl":"https://doi.org/10.1109/URAI.2011.6145940","url":null,"abstract":"Although a variety of wall climbing robots were developed, few researcher concentrated effort on adsorption procedure and negative pressure generating device of a wall climbing robot. The aim of paper is to study and develop a sliding wall climbing robot using a novel negative adsorption device that can be well adopted in small irregular places, such as brick walls, cement walls, ship hulls and oil storage tank surfaces so that the robot could be used where direct access by a human operator is very expensive or very dangerous due to the presence of a hostile environment. Firstly, based on force analysis of safety attraction, the least negative pressure value is deduced while the robot is dynamic moving on the wall. Secondly, a mathematical model of the sucking process was made with bond graph theory by reasonable assumptions and the adsorption procedure of wall climbing robot with a large sucker was studied. The relationship between the generated pressure and the negative pressure generator's input voltage was simplified as a first-order expression. A negative pressure generator capable of providing stable negative pressure under variable flow was designed with the Computational Fluid Dynamics (CFD) tool to meet robot's critical demanded working pressure on rough walls. Thirdly, control system was designed and experiment setup was built to evaluate the performance of negative pressure generating system and general abilities of wall climbing robot. With the adsorption device, the wireless wall climbing robot weighed 30N can carry a 54N load at least while moving at a speed of 10m/min upwards for 50min. Test shows the validity of the study and design.","PeriodicalId":385925,"journal":{"name":"2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134228980","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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