Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473350
W. Fischer, D. Loosli, C. Udell
In this paper we present the redesign of a scanner for eddy-current (EC) and ultrasonic (UT) measurements in the central bores of large rotors in power plants. It focuses on an innovative leg-unit which allows for passing steps and thus is able to scan in almost all types of straight bores above 70mm. It is actuated purely electromechanically, using a serial-elastic power transmission with a spindle and foil-potentiometers for measuring force and position. In contrast to previous designs it does not need any additional pneumatic or hydraulic supplies. For this reason, the deployment is significantly simplified both in terms of installation time and logistics. After explaining the application and showing the limitations of previous designs, the main concepts and principles are described, concluding with a brief report on the successful test-runs and an outlook to future extensions.
{"title":"Redesign of a scanner for EC- and UT-measurements in the central bores of large rotors in power plants — With focus on an electromechanically actuated leg-unit for passing steps in bottle-bores without using pneumatic actuation","authors":"W. Fischer, D. Loosli, C. Udell","doi":"10.1109/CARPI.2012.6473350","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473350","url":null,"abstract":"In this paper we present the redesign of a scanner for eddy-current (EC) and ultrasonic (UT) measurements in the central bores of large rotors in power plants. It focuses on an innovative leg-unit which allows for passing steps and thus is able to scan in almost all types of straight bores above 70mm. It is actuated purely electromechanically, using a serial-elastic power transmission with a spindle and foil-potentiometers for measuring force and position. In contrast to previous designs it does not need any additional pneumatic or hydraulic supplies. For this reason, the deployment is significantly simplified both in terms of installation time and logistics. After explaining the application and showing the limitations of previous designs, the main concepts and principles are described, concluding with a brief report on the successful test-runs and an outlook to future extensions.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116811616","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473363
V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis
In this paper the development of a robotic scanner for non destructive inspection of the nozzle to vessel weld of Boiling Water Reactors (BWR) nuclear power plant reactors is presented. The scanner carries and deploys a specially designed ultrasonic (UT) 2D matrix phased array probe. The 3 degrees of freedom (d.o.f.) robotic scanner is mounted on the nozzle and drives the UT probe over selected areas above the weld on the vessel at predefined paths, via a 2-link manipulator mounted on a carriage, sliding on a precision 360 degrees circular ring. The system is controlled using hybrid position-force control for 3D trajectory tracking. The scanner's novelty lies in the very low setup time needed by operators, but mainly in its self-calibration capability by utilizing a variety of sensors, drastically minimizing the operators' exposure to nuclear radiation. Moreover, it is able to fit on nozzles of various diameters, as well as to operate on non-vertically nozzles welded on the vessel. The UT probe was designed to electronically steer its beam between 35 to 80 degrees and achieve electronic skewing between ±10 degrees for improved detection capabilities of the inspection technique. The developed 2D matrix phased array probe is positioned in a local immersion bath and combined with a flexible membrane front, complying on any curvature variations along the nozzle circumference. The performance of the prototype was successfully validated on a replica of a nuclear power plant nozzle.
{"title":"An adaptable and self-calibrating service robotic scanner for ultrasonic inspection of nuclear nozzle-vessel welds","authors":"V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis","doi":"10.1109/CARPI.2012.6473363","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473363","url":null,"abstract":"In this paper the development of a robotic scanner for non destructive inspection of the nozzle to vessel weld of Boiling Water Reactors (BWR) nuclear power plant reactors is presented. The scanner carries and deploys a specially designed ultrasonic (UT) 2D matrix phased array probe. The 3 degrees of freedom (d.o.f.) robotic scanner is mounted on the nozzle and drives the UT probe over selected areas above the weld on the vessel at predefined paths, via a 2-link manipulator mounted on a carriage, sliding on a precision 360 degrees circular ring. The system is controlled using hybrid position-force control for 3D trajectory tracking. The scanner's novelty lies in the very low setup time needed by operators, but mainly in its self-calibration capability by utilizing a variety of sensors, drastically minimizing the operators' exposure to nuclear radiation. Moreover, it is able to fit on nozzles of various diameters, as well as to operate on non-vertically nozzles welded on the vessel. The UT probe was designed to electronically steer its beam between 35 to 80 degrees and achieve electronic skewing between ±10 degrees for improved detection capabilities of the inspection technique. The developed 2D matrix phased array probe is positioned in a local immersion bath and combined with a flexible membrane front, complying on any curvature variations along the nozzle circumference. The performance of the prototype was successfully validated on a replica of a nuclear power plant nozzle.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129838268","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473368
W. Zesch, S. Honold, P. Roth, V. de Vries
Power plant boilers need to be cleaned and inspected on a regular basis. Boiler chambers can be up to 50m high requiring scaffolding for all works on the water walls. The scaffolding itself can take several weeks. To overcome the disadvantage of the time consuming scaffolding work an automated boiler wall crawler for wall cleaning and inspection is being developed by Alstom in collaboration with Alstom Inspection Robotics and Waterjet Technologies. The automated system will be able to drive up the water wall with the cleaning or inspection application integrated and no scaffolding will be required anymore. The cleaning application consists of a patented suspension cleaning technology where abrasive and water are mixed and pumped up to a defined pressure. The inspection will be done using latest ultrasonic technology to measure remaining wall thicknesses of the tubes. The deployment system consists of two magnetic track drives connected by a frame and two passive magnetic wheels. Laboratory tests have shown promising results. The system is able to drive up and down the water wall during the cleaning with the system running at around 100 bar.
{"title":"Automated boiler wall cleaning and inspection","authors":"W. Zesch, S. Honold, P. Roth, V. de Vries","doi":"10.1109/CARPI.2012.6473368","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473368","url":null,"abstract":"Power plant boilers need to be cleaned and inspected on a regular basis. Boiler chambers can be up to 50m high requiring scaffolding for all works on the water walls. The scaffolding itself can take several weeks. To overcome the disadvantage of the time consuming scaffolding work an automated boiler wall crawler for wall cleaning and inspection is being developed by Alstom in collaboration with Alstom Inspection Robotics and Waterjet Technologies. The automated system will be able to drive up the water wall with the cleaning or inspection application integrated and no scaffolding will be required anymore. The cleaning application consists of a patented suspension cleaning technology where abrasive and water are mixed and pumped up to a defined pressure. The inspection will be done using latest ultrasonic technology to measure remaining wall thicknesses of the tubes. The deployment system consists of two magnetic track drives connected by a frame and two passive magnetic wheels. Laboratory tests have shown promising results. The system is able to drive up and down the water wall during the cleaning with the system running at around 100 bar.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134407432","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473375
W. F. Lages, V. D. de Oliveira
Currently, the power industry in Brazil is a system with many public and private companies competing by market rules and regulated by an specific agency (ANEEL). The legal mark for the power industry defines the Research and Development (R&D) Program of the Power Sector. By a Federal Law companies operating under concession, permission or authorization of the government in distribution, transmission or power generation should apply a minimum percentage of their net operational revenues in research and development. The power companies have the decision on which project to fund, but they do not conduct the R&D themselves. Instead, they should apply the resources by contracting a national research and development institution. The results are evaluated by ANEEL, an if not considered appropriate, the resources are considered as not applied and should be applied again in another project in the next year. A significant amount of resources from the R&D programs, have been used to fund the development of robotic devices. This paper presents a survey of those developments.
{"title":"A survey of applied robotics for the power industry in Brazil","authors":"W. F. Lages, V. D. de Oliveira","doi":"10.1109/CARPI.2012.6473375","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473375","url":null,"abstract":"Currently, the power industry in Brazil is a system with many public and private companies competing by market rules and regulated by an specific agency (ANEEL). The legal mark for the power industry defines the Research and Development (R&D) Program of the Power Sector. By a Federal Law companies operating under concession, permission or authorization of the government in distribution, transmission or power generation should apply a minimum percentage of their net operational revenues in research and development. The power companies have the decision on which project to fund, but they do not conduct the R&D themselves. Instead, they should apply the resources by contracting a national research and development institution. The results are evaluated by ANEEL, an if not considered appropriate, the resources are considered as not applied and should be applied again in another project in the next year. A significant amount of resources from the R&D programs, have been used to fund the development of robotic devices. This paper presents a survey of those developments.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133256111","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473362
Florian Leutert, K. Schilling
In power plants, in many cases direct human access to crucial sites for inspection or maintenance is impossible. Here, remotely operated robots offer good potential to handle these tasks. This relates to technology challenges for remote operations. In this contribution we propose the use of an Augmented Reality interface as a means to directly and intuitively visualize complex information to overcome some of the challenges and support the teleoperator in his duties. Support functions that could be employed for several tasks in the context of inspection or maintenance are introduced.
{"title":"Support of power plant telemaintenance with robots by Augmented Reality methods","authors":"Florian Leutert, K. Schilling","doi":"10.1109/CARPI.2012.6473362","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473362","url":null,"abstract":"In power plants, in many cases direct human access to crucial sites for inspection or maintenance is impossible. Here, remotely operated robots offer good potential to handle these tasks. This relates to technology challenges for remote operations. In this contribution we propose the use of an Augmented Reality interface as a means to directly and intuitively visualize complex information to overcome some of the challenges and support the teleoperator in his duties. Support functions that could be employed for several tasks in the context of inspection or maintenance are introduced.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123320753","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473378
G. Piolain, A. Freudenreich, P. Monthel, M. Brudieu, F. Geffard, P. Garrec
In this article, we present for the first time the lessons learned during an extensive testing campaign of the new telerobotic system MT200-TAO carried out in an active hot-cell. The extremely positive results obtained during the 10 months continuous working period have permitted the validation of the system for its use. The system will be installed first at La Hague plant. A real gain in productivity and higher security are expected.
{"title":"Results of a testing campaign of the telerobotic system MT200-TAO in AREVA La Hague's hot-cells","authors":"G. Piolain, A. Freudenreich, P. Monthel, M. Brudieu, F. Geffard, P. Garrec","doi":"10.1109/CARPI.2012.6473378","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473378","url":null,"abstract":"In this article, we present for the first time the lessons learned during an extensive testing campaign of the new telerobotic system MT200-TAO carried out in an active hot-cell. The extremely positive results obtained during the 10 months continuous working period have permitted the validation of the system for its use. The system will be installed first at La Hague plant. A real gain in productivity and higher security are expected.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124850254","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473377
Tim Rowell, E. Boje
This paper presents an obstacle avoidance solution for an existing power line inspection robot (PLIR) prototype. The PLIR's workspace environment is represented by a discretised 3D map, which is used for obstacle avoidance manoeuvre planning for both known and unknown obstacles. Obstacles are represented in this workspace using a union of axis aligned bounding boxes. The Lazy Theta* algorithm is then used to find the shortest 3D graph path around the obstacle. The resulting path nodes are used to generate a B-spline trajectory. The trajectory is simulated to check for collisions and, if collision free, is used to command the actual robot. Experimental results show that this obstacle avoidance strategy is successful, with the prototype robot being able to manoeuvre around an obstacle in laboratory tests.
{"title":"Obstacle avoidance for a power line inspection robot","authors":"Tim Rowell, E. Boje","doi":"10.1109/CARPI.2012.6473377","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473377","url":null,"abstract":"This paper presents an obstacle avoidance solution for an existing power line inspection robot (PLIR) prototype. The PLIR's workspace environment is represented by a discretised 3D map, which is used for obstacle avoidance manoeuvre planning for both known and unknown obstacles. Obstacles are represented in this workspace using a union of axis aligned bounding boxes. The Lazy Theta* algorithm is then used to find the shortest 3D graph path around the obstacle. The resulting path nodes are used to generate a B-spline trajectory. The trajectory is simulated to check for collisions and, if collision free, is used to command the actual robot. Experimental results show that this obstacle avoidance strategy is successful, with the prototype robot being able to manoeuvre around an obstacle in laboratory tests.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117035583","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473369
B. Hazel, Jean-Luc Bedwani, Y. Laroche, E. Lavalle, P. Mongenot, T. Bedard-T, L. Lavoie, J. Gagne
This paper presents a robotic application for in situ repair of the seal surfaces of a large hydropower spherical valve. The repair involves laser scanning, machining, welding and polishing using the portable track-based Scompi robot. To perform the machining, the robot uses a tool guide mechanism that locates accurately the machining tool and holds it against the work surface despite large disturbance forces. The stiffness with which the tool is held is improved significantly. The method was successfully tested in the field at Rio Tinto Alcan's Chute-des-Passes generating station in May 2012.
{"title":"Robotic refurbishment of a spherical valve","authors":"B. Hazel, Jean-Luc Bedwani, Y. Laroche, E. Lavalle, P. Mongenot, T. Bedard-T, L. Lavoie, J. Gagne","doi":"10.1109/CARPI.2012.6473369","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473369","url":null,"abstract":"This paper presents a robotic application for in situ repair of the seal surfaces of a large hydropower spherical valve. The repair involves laser scanning, machining, welding and polishing using the portable track-based Scompi robot. To perform the machining, the robot uses a tool guide mechanism that locates accurately the machining tool and holds it against the work surface despite large disturbance forces. The stiffness with which the tool is held is improved significantly. The method was successfully tested in the field at Rio Tinto Alcan's Chute-des-Passes generating station in May 2012.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124461419","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473376
T. Lorimer, E. Boje
This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn has resulted in a far more robust, field-oriented machine.
{"title":"A simple robot manipulator able to negotiate power line hardware","authors":"T. Lorimer, E. Boje","doi":"10.1109/CARPI.2012.6473376","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473376","url":null,"abstract":"This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn has resulted in a far more robust, field-oriented machine.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131400219","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 : 2012-09-01DOI: 10.1109/CARPI.2012.6473360
V. Finotto, O. Horikawa, A. Hirakawa, A. C. Filho
The inspection of overhead distribution power lines involves high risk of accidents, leading to a time consuming and costly operation which demands strict standardized procedures. Current inspection techniques are either performed from ground level giving the operator a limited view of components, or by the use of ladders which is also a risk task. In recent years, the use of mobile robots for automated power line inspection has been proposed. However, the difficulties in controlling them and the lack of standardization of the distribution network, hinder the practical use of such approaches. In this sense, a lightweight, portable, and flexible robotic manipulator, made of insulated material is proposed. Design requirements that come from the service environment demand the capability of reaching over 9-meter heights for positioning the measurement system in high positions. Using the proposed robot, the operator is able to perform inspection from ground level, thereby increasing efficiency and safety. In addition, this paper presents a prototype of the developed robot and experimental results indicating the viability of the strategy.
{"title":"Pole type robot for distribution power line inspection","authors":"V. Finotto, O. Horikawa, A. Hirakawa, A. C. Filho","doi":"10.1109/CARPI.2012.6473360","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473360","url":null,"abstract":"The inspection of overhead distribution power lines involves high risk of accidents, leading to a time consuming and costly operation which demands strict standardized procedures. Current inspection techniques are either performed from ground level giving the operator a limited view of components, or by the use of ladders which is also a risk task. In recent years, the use of mobile robots for automated power line inspection has been proposed. However, the difficulties in controlling them and the lack of standardization of the distribution network, hinder the practical use of such approaches. In this sense, a lightweight, portable, and flexible robotic manipulator, made of insulated material is proposed. Design requirements that come from the service environment demand the capability of reaching over 9-meter heights for positioning the measurement system in high positions. Using the proposed robot, the operator is able to perform inspection from ground level, thereby increasing efficiency and safety. In addition, this paper presents a prototype of the developed robot and experimental results indicating the viability of the strategy.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128021746","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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