Pub Date : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151922
Gener Quintal, E. Sánchez, A. Alanis, N. Arana-Daniel
This paper presents a field programmable gate array (FPGA) implementation for a decentralized inverse optimal neural controller for unknown nonlinear systems, in presence of external disturbances and parameter uncertainties. This controller is based on two techniques: first, an identifier using a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm; second, on the basis of the neural identifier a controller which uses inverse optimal control, is designed to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The proposed scheme is implemented in real-time to control a Shrimp robot.
{"title":"Real-time FPGA decentralized inverse optimal neural control for a Shrimp robot","authors":"Gener Quintal, E. Sánchez, A. Alanis, N. Arana-Daniel","doi":"10.1109/SYSOSE.2015.7151922","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151922","url":null,"abstract":"This paper presents a field programmable gate array (FPGA) implementation for a decentralized inverse optimal neural controller for unknown nonlinear systems, in presence of external disturbances and parameter uncertainties. This controller is based on two techniques: first, an identifier using a discrete-time recurrent high order neural network (RHONN) trained with an extended Kalman filter (EKF) algorithm; second, on the basis of the neural identifier a controller which uses inverse optimal control, is designed to avoid solving the Hamilton Jacobi Bellman (HJB) equation. The proposed scheme is implemented in real-time to control a Shrimp robot.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131665392","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151970
A. El-Osery, K. Wedeward
This paper presents a follow up look at a one semester, junior-level design course in electrical engineering at New Mexico Institute of Mining and Technology. A summary of the class's objectives, content, system of systems-based projects and use in assessment are presented for the past three years. The course has evolved from that reported previously where it was centered on mobile robots, sensing and coordinated behavior to its current incarnation that focuses on the design of beacon-finding mobile robots. Beacon-finding robots are the result of the evolution of the course and desire to have students address projects with design and integration of multiple, independent systems. Students are tasked to build an autonomous mobile robot that can detect a Radio Frequency (RF) beacon, and ultimately use the robot's location and measurements from the beacon to determine the beacon's location without necessarily driving to it. The project blends several technical areas of electrical electrical engineering that include electromagnetics, RF, control theory, analog and digital electronics, signal processing, programming, and microcontrollers along with broader skills related to communication and design.
{"title":"An update on the framework for a junior level design course","authors":"A. El-Osery, K. Wedeward","doi":"10.1109/SYSOSE.2015.7151970","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151970","url":null,"abstract":"This paper presents a follow up look at a one semester, junior-level design course in electrical engineering at New Mexico Institute of Mining and Technology. A summary of the class's objectives, content, system of systems-based projects and use in assessment are presented for the past three years. The course has evolved from that reported previously where it was centered on mobile robots, sensing and coordinated behavior to its current incarnation that focuses on the design of beacon-finding mobile robots. Beacon-finding robots are the result of the evolution of the course and desire to have students address projects with design and integration of multiple, independent systems. Students are tasked to build an autonomous mobile robot that can detect a Radio Frequency (RF) beacon, and ultimately use the robot's location and measurements from the beacon to determine the beacon's location without necessarily driving to it. The project blends several technical areas of electrical electrical engineering that include electromagnetics, RF, control theory, analog and digital electronics, signal processing, programming, and microcontrollers along with broader skills related to communication and design.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117286077","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151955
C. Keating
This paper explores challenges in moving Complex System Governance (CSG) from the theoretical/conceptual formulation to practice. CSG is an emerging field with potential to complement and extend System of Systems Engineering (SoSE). We begin with a brief introduction to CSG and the nature of the problem domain of interest for this field. Next, the nature of the CSG field is developed in light of SoSE. Focus is then turned to the spectrum of challenges faced for deployment of CSG. Finally, a path forward to addressing these challenges is explored. The paper concludes with several contributions that CSG can offer to SoSE in the struggle to deal with increasingly complex systems and their associated problems.
{"title":"Complex system governance: Theory to practice challenges for system of systems engineering","authors":"C. Keating","doi":"10.1109/SYSOSE.2015.7151955","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151955","url":null,"abstract":"This paper explores challenges in moving Complex System Governance (CSG) from the theoretical/conceptual formulation to practice. CSG is an emerging field with potential to complement and extend System of Systems Engineering (SoSE). We begin with a brief introduction to CSG and the nature of the problem domain of interest for this field. Next, the nature of the CSG field is developed in light of SoSE. Focus is then turned to the spectrum of challenges faced for deployment of CSG. Finally, a path forward to addressing these challenges is explored. The paper concludes with several contributions that CSG can offer to SoSE in the struggle to deal with increasingly complex systems and their associated problems.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124472952","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151985
V. Ireland
Research directions in system of systems are examined and areas which have been relatively neglected are identified. These include the definition of complexity, the application of power laws and Paretian statistics to most complex systems issues; the greatest innovation occurring at the edge of chaos; chaordic behavior, scale laws, fractals, self-organized criticality, tiny initiating events, adaptive cycles, systemic and cascading risk, attractor cages and fitness landscapes. The use of systems thinking methodology and its application to complex system problems is examined. Finally, the concept of system context is examined and the issue of whether soft system methodology can be applied to the examination of context is discussed. Appropriate economic models is also briefly discussed.
{"title":"Research directions in SoSE","authors":"V. Ireland","doi":"10.1109/SYSOSE.2015.7151985","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151985","url":null,"abstract":"Research directions in system of systems are examined and areas which have been relatively neglected are identified. These include the definition of complexity, the application of power laws and Paretian statistics to most complex systems issues; the greatest innovation occurring at the edge of chaos; chaordic behavior, scale laws, fractals, self-organized criticality, tiny initiating events, adaptive cycles, systemic and cascading risk, attractor cages and fitness landscapes. The use of systems thinking methodology and its application to complex system problems is examined. Finally, the concept of system context is examined and the issue of whether soft system methodology can be applied to the examination of context is discussed. Appropriate economic models is also briefly discussed.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125716345","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151969
Parth Shah, Navindran Davendralingam, D. DeLaurentis
The development of a system-of-systems (SoS) is challenging due to the complex dynamics attributed to the interdependencies between systems and the inherent technical and programmatic uncertainties. The sheer number of decision variables that need to be considered in SoS development prompts the need for effective analytical support frameworks. Current frameworks and guidelines in addressing SoS challenges lack analytical means of objective SoS level decision-making. Research in this paper adopts computational decision methods rooted in financial risk management that allow SoS practitioners the means to identify optimal `portfolios' of systems based on dimensions of capability, cost and operational risk. Many risk management processes are in place for individual systems, but these tools and techniques are not always compatible for SoS. Our research leverages a Conditional Value-at-Risk (CVaR) perspective to managing risks that can incorporate simulation/observed data in the decision-making process. We demonstrate the method using a simple SoSE problem.
{"title":"A conditional value-at-risk approach to risk management in system-of-systems architectures","authors":"Parth Shah, Navindran Davendralingam, D. DeLaurentis","doi":"10.1109/SYSOSE.2015.7151969","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151969","url":null,"abstract":"The development of a system-of-systems (SoS) is challenging due to the complex dynamics attributed to the interdependencies between systems and the inherent technical and programmatic uncertainties. The sheer number of decision variables that need to be considered in SoS development prompts the need for effective analytical support frameworks. Current frameworks and guidelines in addressing SoS challenges lack analytical means of objective SoS level decision-making. Research in this paper adopts computational decision methods rooted in financial risk management that allow SoS practitioners the means to identify optimal `portfolios' of systems based on dimensions of capability, cost and operational risk. Many risk management processes are in place for individual systems, but these tools and techniques are not always compatible for SoS. Our research leverages a Conditional Value-at-Risk (CVaR) perspective to managing risks that can incorporate simulation/observed data in the decision-making process. We demonstrate the method using a simple SoSE problem.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124743779","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151980
S. Rangra, M. Sallak, W. Schön, F. Vanderhaegen
Humans are and will remain one of the critical constituents of a technological system. The study of Human Factors is a broad domain with equally varying applications. Quantification thereof, with a Human Reliability Analysis (HRA) poses considerable challenges and advantages. In increasingly complex modern systems where large resources are allocated towards ensuring system's operational safety, it becomes necessary to analyze the actions of human operator who directly or indirectly influences system reliability. This paper envisages establishing a base towards a HRA model, to address existing issues. Railway systems and Advanced Driver Assistance Systems for automobiles are our application domains; we aim to identify the need of and usability in both. Human considered as a component of the System of Systems for risk assessment allows us to study its impact on system reliability and give feedback to improve system safety.
{"title":"On the study of human reliability in transportation systems of systems","authors":"S. Rangra, M. Sallak, W. Schön, F. Vanderhaegen","doi":"10.1109/SYSOSE.2015.7151980","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151980","url":null,"abstract":"Humans are and will remain one of the critical constituents of a technological system. The study of Human Factors is a broad domain with equally varying applications. Quantification thereof, with a Human Reliability Analysis (HRA) poses considerable challenges and advantages. In increasingly complex modern systems where large resources are allocated towards ensuring system's operational safety, it becomes necessary to analyze the actions of human operator who directly or indirectly influences system reliability. This paper envisages establishing a base towards a HRA model, to address existing issues. Railway systems and Advanced Driver Assistance Systems for automobiles are our application domains; we aim to identify the need of and usability in both. Human considered as a component of the System of Systems for risk assessment allows us to study its impact on system reliability and give feedback to improve system safety.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128744378","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151927
James W. Scrofani, M. Tummala, Donna Miller, Deborah Shifflett, J. McEachen
The maritime domain is important to the security, prosperity and vital interests of the global community. In order to protect these interests, governments require capabilities that provide situational awareness of the maritime domain. In [11] a spatiotemporal analysis approach is proposed that autonomously analyzes and classifies ship movement and possible intent at sea. The analysis focuses on detection of vessels of interest that exhibit one behavior, paralleling or following behavior. In this paper, we extend this approach by proposing a generalized semantic method that enables consideration of other behaviors of interest. Additionally we conduct a series of simulations using simulated and real AIS data to assess the performance of the algorithm to variation in behavior thresholds.
{"title":"Behavioral detection in the maritime domain","authors":"James W. Scrofani, M. Tummala, Donna Miller, Deborah Shifflett, J. McEachen","doi":"10.1109/SYSOSE.2015.7151927","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151927","url":null,"abstract":"The maritime domain is important to the security, prosperity and vital interests of the global community. In order to protect these interests, governments require capabilities that provide situational awareness of the maritime domain. In [11] a spatiotemporal analysis approach is proposed that autonomously analyzes and classifies ship movement and possible intent at sea. The analysis focuses on detection of vessels of interest that exhibit one behavior, paralleling or following behavior. In this paper, we extend this approach by proposing a generalized semantic method that enables consideration of other behaviors of interest. Additionally we conduct a series of simulations using simulated and real AIS data to assess the performance of the algorithm to variation in behavior thresholds.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"295 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128635164","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151954
Dominik Wachholder, C. Stary
Today, software systems tend to be split into multiple components that can operate, both, autonomously and in a networked way, in order to pursue a common objective. Such a polymorph approach to system architectures requires novel specification techniques. A system-of-systems conceptualization enables addressing emergent behavior, while letting the involved components and systems operate independently of each other. This property requires system interoperability and can be achieved by bigraph-based modeling. A flexible abstraction mechanism as well as a strong typing of system interaction enable system interoperability in evolutionary environments. Consequently, the composition and decomposition of bigraph-based models support the emergence of novel behavior. We evaluate the potential of this approach based on its capability to represent system-of-systems according to the distinguishing characteristics proposed by Boardman and Sauser as well as by orchestrating two independent systems.
{"title":"Enabling emergent behavior in systems-of-systems through bigraph-based modeling","authors":"Dominik Wachholder, C. Stary","doi":"10.1109/SYSOSE.2015.7151954","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151954","url":null,"abstract":"Today, software systems tend to be split into multiple components that can operate, both, autonomously and in a networked way, in order to pursue a common objective. Such a polymorph approach to system architectures requires novel specification techniques. A system-of-systems conceptualization enables addressing emergent behavior, while letting the involved components and systems operate independently of each other. This property requires system interoperability and can be achieved by bigraph-based modeling. A flexible abstraction mechanism as well as a strong typing of system interaction enable system interoperability in evolutionary environments. Consequently, the composition and decomposition of bigraph-based models support the emergence of novel behavior. We evaluate the potential of this approach based on its capability to represent system-of-systems according to the distinguishing characteristics proposed by Boardman and Sauser as well as by orchestrating two independent systems.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114152015","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151988
R. Rivera, A. El-Osery, S. Bruder
The advent of low-cost MEMS inertial measurement units (IMU) has increased the proliferation of inertial navigation systems (INS). For applications wherein GNSS-only navigation may prove challenging the inclusion of an INS offers reliable position, velocity, and attitude (PVA) determination. Unfortunately, all INS suffer from drift due to inherent sensor errors. Consequently, aiding sensors must be employed to bound this drift. In this paper we present a proof-of-concept of leveraging a collection of communication systems to provide an INS aiding source. In particular, orthogonal frequency division multiplexing (OFDM) signals will be explored as they are a ubiquitous communication standard. Specifically, the paper investigates the use of Doppler shift measurements via software defined radios followed by a simulation, in order to examine the efficacy of the proposed system.
{"title":"Leveraging wireless communication systems for aiding inertial-based navigation systems","authors":"R. Rivera, A. El-Osery, S. Bruder","doi":"10.1109/SYSOSE.2015.7151988","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151988","url":null,"abstract":"The advent of low-cost MEMS inertial measurement units (IMU) has increased the proliferation of inertial navigation systems (INS). For applications wherein GNSS-only navigation may prove challenging the inclusion of an INS offers reliable position, velocity, and attitude (PVA) determination. Unfortunately, all INS suffer from drift due to inherent sensor errors. Consequently, aiding sensors must be employed to bound this drift. In this paper we present a proof-of-concept of leveraging a collection of communication systems to provide an INS aiding source. In particular, orthogonal frequency division multiplexing (OFDM) signals will be explored as they are a ubiquitous communication standard. Specifically, the paper investigates the use of Doppler shift measurements via software defined radios followed by a simulation, in order to examine the efficacy of the proposed system.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121806676","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 : 2015-05-17DOI: 10.1109/SYSOSE.2015.7151907
P. Benavidez, Mohan Kumar, S. Agaian, M. Jamshidi
Home-based assistive robotic care for the elderly and disabled has long been a goal of robotics researchers. Unfortunately, no single group has solved the problem of making robots that will perform a set of tasks sufficient enough to warrant the cost to the end consumer. Numerous advances and improvements in computing, communication and related robotic technologies have been paving the way towards cheaper, more capable robots. We propose a home robot system consisting of a set of heterogeneous robots with different task spaces, cloud computing to enhance the abilities of the system, integration with existing home infrastructure, and compatibility with mobile technology. A high level of integration with the open source software of the Robot Operating System (ROS) is proposed to accelerate the design process. For the exact types of robots, we propose to use an enhanced floor cleaning robot and a mobility and vision assistance robot in the form of an improved rollator walker.
{"title":"Design of a home multi-robot system for the elderly and disabled","authors":"P. Benavidez, Mohan Kumar, S. Agaian, M. Jamshidi","doi":"10.1109/SYSOSE.2015.7151907","DOIUrl":"https://doi.org/10.1109/SYSOSE.2015.7151907","url":null,"abstract":"Home-based assistive robotic care for the elderly and disabled has long been a goal of robotics researchers. Unfortunately, no single group has solved the problem of making robots that will perform a set of tasks sufficient enough to warrant the cost to the end consumer. Numerous advances and improvements in computing, communication and related robotic technologies have been paving the way towards cheaper, more capable robots. We propose a home robot system consisting of a set of heterogeneous robots with different task spaces, cloud computing to enhance the abilities of the system, integration with existing home infrastructure, and compatibility with mobile technology. A high level of integration with the open source software of the Robot Operating System (ROS) is proposed to accelerate the design process. For the exact types of robots, we propose to use an enhanced floor cleaning robot and a mobility and vision assistance robot in the form of an improved rollator walker.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134094655","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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