Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97最新文献
Pub Date : 1997-09-07DOI: 10.1109/IROS.1997.655112
S. Rougeaux, Y. Kuniyoshi
Achieving the first step of a framework for human-robot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses.
{"title":"Robust real-time tracking on an active vision head","authors":"S. Rougeaux, Y. Kuniyoshi","doi":"10.1109/IROS.1997.655112","DOIUrl":"https://doi.org/10.1109/IROS.1997.655112","url":null,"abstract":"Achieving the first step of a framework for human-robot interaction, we have designed a binocular tracking system which uses disparity and velocity information for the detection and pursuit of moving objects in cluttered environments without a-priori knowledge of the target shape or texture. The implemented system robustly tracks in real-time deformable objects such as human hands and faces, taking advantage of the mechanical and optical properties of ESCHeR, a high performances active vision head equipped with foveated wide-angle lenses.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122087478","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 : 1997-09-07DOI: 10.1109/IROS.1997.656612
Mark Ollis, A. Stentz
This paper describes a vision-based perception system which has been used to guide an automated harvester cutting fields of alfalfa hay. The system tracks the boundary between cut and uncut crop; indicates when the end of a crop row has been reached; and identifies obstacles in the harvester's path. The system adapts to local variations in lighting and crop conditions, and explicitly models and removes noise due to shadow. In field tests, the machine has successfully operated in four different locations, at sites in Pennsylvania, Kansas, and California. Using the vision system as the sole means of guidance, over 60 acres have been cut at speeds of up to 4.5 mph (typical human operating speeds range from 3-6 mph). Future work largely centers around combining vision and GPS based navigation techniques to produce a commercially viable product for use either as a navigation aid or for a completely autonomous system.
{"title":"Vision-based perception for an automated harvester","authors":"Mark Ollis, A. Stentz","doi":"10.1109/IROS.1997.656612","DOIUrl":"https://doi.org/10.1109/IROS.1997.656612","url":null,"abstract":"This paper describes a vision-based perception system which has been used to guide an automated harvester cutting fields of alfalfa hay. The system tracks the boundary between cut and uncut crop; indicates when the end of a crop row has been reached; and identifies obstacles in the harvester's path. The system adapts to local variations in lighting and crop conditions, and explicitly models and removes noise due to shadow. In field tests, the machine has successfully operated in four different locations, at sites in Pennsylvania, Kansas, and California. Using the vision system as the sole means of guidance, over 60 acres have been cut at speeds of up to 4.5 mph (typical human operating speeds range from 3-6 mph). Future work largely centers around combining vision and GPS based navigation techniques to produce a commercially viable product for use either as a navigation aid or for a completely autonomous system.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121404625","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 : 1997-09-07DOI: 10.1109/IROS.1997.656543
B. Ghosh, D. Xiao, N. Xi, T. Tarn
The main problem that we address in this paper is how a robot manipulator is able to track and grasp a part placed arbitrarily on a moving disc conveyor aided by a single CCD camera and fusing information from encoders placed on the conveyor and also from encoders on the robot manipulator. The important assumption that distinguishes our work from what has been previously reported in the literature is that the position and orientation of the camera and the base frame of the robot is a priori assumed to be unknown and is 'visually calibrated' during the operation of the manipulator. Moreover the part placed on the conveyor is assumed to be nonplanar, i.e. the feature points observed on the part is assumed to be located arbitrarily in R/sup 3/. The novelties of the proposed approach in this paper includes a (i) multisensor fusion scheme based on complementary data for the purpose of part localization, and (ii) self-calibration between the turntable and the robot manipulator using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are the following. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the relation between the turntable and the robot. This significantly shortens the setup time of the workcell. (ii) It greatly weakens the requirement on the image processing speed.
{"title":"Sensor-guided manipulation in a manufacturing workcell","authors":"B. Ghosh, D. Xiao, N. Xi, T. Tarn","doi":"10.1109/IROS.1997.656543","DOIUrl":"https://doi.org/10.1109/IROS.1997.656543","url":null,"abstract":"The main problem that we address in this paper is how a robot manipulator is able to track and grasp a part placed arbitrarily on a moving disc conveyor aided by a single CCD camera and fusing information from encoders placed on the conveyor and also from encoders on the robot manipulator. The important assumption that distinguishes our work from what has been previously reported in the literature is that the position and orientation of the camera and the base frame of the robot is a priori assumed to be unknown and is 'visually calibrated' during the operation of the manipulator. Moreover the part placed on the conveyor is assumed to be nonplanar, i.e. the feature points observed on the part is assumed to be located arbitrarily in R/sup 3/. The novelties of the proposed approach in this paper includes a (i) multisensor fusion scheme based on complementary data for the purpose of part localization, and (ii) self-calibration between the turntable and the robot manipulator using visual data and feature points on the end-effector. The principle advantages of the proposed scheme are the following. (i) It renders possible to reconfigure a manufacturing workcell without recalibrating the relation between the turntable and the robot. This significantly shortens the setup time of the workcell. (ii) It greatly weakens the requirement on the image processing speed.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121039911","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 : 1997-09-07DOI: 10.1109/IROS.1997.655103
A. Konno, K. Nagashima, Ryouta Furukawa, K. Nishiwaki, T. Noda, M. Inaba, H. Inoue
This article addresses the development of a light-weight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika as modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the head, the neck, the two upper arms and the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.
{"title":"Development of a humanoid robot Saika","authors":"A. Konno, K. Nagashima, Ryouta Furukawa, K. Nishiwaki, T. Noda, M. Inaba, H. Inoue","doi":"10.1109/IROS.1997.655103","DOIUrl":"https://doi.org/10.1109/IROS.1997.655103","url":null,"abstract":"This article addresses the development of a light-weight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika as modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the head, the neck, the two upper arms and the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122713748","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 : 1997-09-07DOI: 10.1109/IROS.1997.656443
S. D'Attanasio, R. Lazzarini, C. Stefanini, M. Carrozza, P. Dario
This paper describes a teleoperated mobile microrobot incorporating a novel type of electromagnetic micromotor. The overall dimensions of the microrobot are 10 mm/spl times/10 mm/spl times/10 mm. Two micromotors are used to actuate the two wheels of the microrobot. The micromotor is based on variable reluctance working principle and moves step by step. The micromotor is driven by a sequence of current pulses and performs about 200 steps per revolution. The micromotor generates a torque of 350.10/sup -6/ Nm at each step and a maximum speed of about 180 rpm. The heart of the control circuitry is the PIC16C73 microcontroller, that implements the control algorithm which allows the microrobot to move forward, backward and turn left or right. The operator controls the microrobot by a remote joystick and flexible ultraminiature wires. The microrobot has a maximum speed of 10 cm/s and can climb a slope of 15 degrees. The paper describes the design, fabrication and performance of the microrobot and of its components.
{"title":"A one cubic centimeter mobile microrobot with a steering control","authors":"S. D'Attanasio, R. Lazzarini, C. Stefanini, M. Carrozza, P. Dario","doi":"10.1109/IROS.1997.656443","DOIUrl":"https://doi.org/10.1109/IROS.1997.656443","url":null,"abstract":"This paper describes a teleoperated mobile microrobot incorporating a novel type of electromagnetic micromotor. The overall dimensions of the microrobot are 10 mm/spl times/10 mm/spl times/10 mm. Two micromotors are used to actuate the two wheels of the microrobot. The micromotor is based on variable reluctance working principle and moves step by step. The micromotor is driven by a sequence of current pulses and performs about 200 steps per revolution. The micromotor generates a torque of 350.10/sup -6/ Nm at each step and a maximum speed of about 180 rpm. The heart of the control circuitry is the PIC16C73 microcontroller, that implements the control algorithm which allows the microrobot to move forward, backward and turn left or right. The operator controls the microrobot by a remote joystick and flexible ultraminiature wires. The microrobot has a maximum speed of 10 cm/s and can climb a slope of 15 degrees. The paper describes the design, fabrication and performance of the microrobot and of its components.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122758192","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 : 1997-09-07DOI: 10.1109/IROS.1997.649076
M. Hashima, F. Hasegawa, S. Kanda, T. Maruyama, T. Uchiyama
This paper discusses a practical system which, when incorporated in an autonomous mobile robot moving indoors, can determine the position of the robot and detect obstacles so that the robot can navigate appropriately. We have developed new real-time, reliable techniques using correlation operations to achieve vision-based localization and obstacle detection. These techniques include a landmark detection technique that assures stable detection even under variable brightness and an obstacle measurement technique that combines obstacle region segmentation with stereo vision. Our experiments have proven that these techniques can make the necessary measurements in 100 ms, assure stable measurement in environments of varying brightness, and are sufficient for mobile robots.
{"title":"Localization and obstacle detection for robots for carrying food trays","authors":"M. Hashima, F. Hasegawa, S. Kanda, T. Maruyama, T. Uchiyama","doi":"10.1109/IROS.1997.649076","DOIUrl":"https://doi.org/10.1109/IROS.1997.649076","url":null,"abstract":"This paper discusses a practical system which, when incorporated in an autonomous mobile robot moving indoors, can determine the position of the robot and detect obstacles so that the robot can navigate appropriately. We have developed new real-time, reliable techniques using correlation operations to achieve vision-based localization and obstacle detection. These techniques include a landmark detection technique that assures stable detection even under variable brightness and an obstacle measurement technique that combines obstacle region segmentation with stereo vision. Our experiments have proven that these techniques can make the necessary measurements in 100 ms, assure stable measurement in environments of varying brightness, and are sufficient for mobile robots.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122844335","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 : 1997-09-07DOI: 10.1109/IROS.1997.655149
P. Rowe, A. Stentz
Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.
{"title":"Parameterized scripts for motion planning","authors":"P. Rowe, A. Stentz","doi":"10.1109/IROS.1997.655149","DOIUrl":"https://doi.org/10.1109/IROS.1997.655149","url":null,"abstract":"Presents an approach for real time planning and execution of the motions of complicated robotic systems. The approach is motivated by the observation that a robot's task can be described as a series of simple steps, or a script. The script is a general template which encodes knowledge for a class of tasks and is fitted to a specific instance of a task. The script receives information about its environment in the form of parameters, which it uses to bind variables in the template and allows it to deal with the current task conditions. Changes or variations in the robot's environment can be easily handled with this parameterized script approach. New tasks for the robot to perform can be added in the form of subscripts, which could handle exceptional cases. We apply this approach to the task of autonomous excavation, and demonstrate its validity on an actual hydraulic excavator. We obtain good results, with the autonomous system approaching the performance of an expert human operator.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125164142","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 : 1997-09-07DOI: 10.1109/IROS.1997.655153
A. Bauchspiess, S. A. Alfaro
This paper presents an online tracking optimization scheme for sensor guided robotic manipulators by associating the sensor information, manipulator dynamics and path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with the separation of disturbance rejection and path-tracking performance by the proposed feedforward following model predictive servo-controller design, permit very high path tracking dynamics (and consequently small errors). Experimental results on implementation of the CCD-camera guided hydraulic robot and welding robot demonstrates the practical relevance of the proposed approach.
{"title":"Predictive sensor guided robotic manipulators in automated welding cells","authors":"A. Bauchspiess, S. A. Alfaro","doi":"10.1109/IROS.1997.655153","DOIUrl":"https://doi.org/10.1109/IROS.1997.655153","url":null,"abstract":"This paper presents an online tracking optimization scheme for sensor guided robotic manipulators by associating the sensor information, manipulator dynamics and path generator model. Feedback linearization-decoupling permits the use of linear SISO prediction models for the dynamics of each robot joint. Scene interpretation of CCD-camera images generates spline fitted segments of future trajectory. In the sensor vision field the proposed optimization criteria minimizes the error between state variables of the prediction model and the state variables of the spline trajectory generator. These techniques, allied with the separation of disturbance rejection and path-tracking performance by the proposed feedforward following model predictive servo-controller design, permit very high path tracking dynamics (and consequently small errors). Experimental results on implementation of the CCD-camera guided hydraulic robot and welding robot demonstrates the practical relevance of the proposed approach.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125769607","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 : 1997-09-07DOI: 10.1109/IROS.1997.656577
Sylvie Durand-Leguay, C. Reboulet
An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains.
{"title":"Design of a 3-DOF parallel translating manipulator with U-P-U joints kinematic chains","authors":"Sylvie Durand-Leguay, C. Reboulet","doi":"10.1109/IROS.1997.656577","DOIUrl":"https://doi.org/10.1109/IROS.1997.656577","url":null,"abstract":"An analytical and algebraic procedure based on the screw-systems theory for the design of general parallel manipulators is presented. After recalling some theoretical features, serial kinematic chains are considered and then arranged in parallel, the resulting motion being specified as an elementary screw-system. Finally, constraints for the geometrical design as well as kinematic properties are deduced. The method described is applied to the design of a parallel structure with U-P-U joint kinematic chains.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130040283","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 : 1997-09-07DOI: 10.1109/IROS.1997.655158
Piotr Skrzypczyliski
In this paper a supervision and teleoperation system for an autonomous mobile robot is presented. The main hardware and software components of this system including the vehicle, sensors and navigation system are briefly described. The emphasis of this article is on methods for effective presentation of multisensor data to the human operator and on methods for cooperation between the operator and navigation system of the robot. A graphical user interface with 2D and 3D animation is presented. Experimental results are discussed.
{"title":"Supervision and teleoperation system for an autonomous mobile robot","authors":"Piotr Skrzypczyliski","doi":"10.1109/IROS.1997.655158","DOIUrl":"https://doi.org/10.1109/IROS.1997.655158","url":null,"abstract":"In this paper a supervision and teleoperation system for an autonomous mobile robot is presented. The main hardware and software components of this system including the vehicle, sensors and navigation system are briefly described. The emphasis of this article is on methods for effective presentation of multisensor data to the human operator and on methods for cooperation between the operator and navigation system of the robot. A graphical user interface with 2D and 3D animation is presented. Experimental results are discussed.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128482743","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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