Pub Date : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571038
Vicko Prkačin, Ivana Palunko, I. Petrović
In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.
{"title":"Extended Kalman filter for payload state estimation utilizing aircraft inertial sensing","authors":"Vicko Prkačin, Ivana Palunko, I. Petrović","doi":"10.1109/AIRPHARO52252.2021.9571038","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571038","url":null,"abstract":"In this paper we consider an aerial vehicle transporting a suspended payload and propose an Extended Kalman filter for payload state estimation. The filter is based on derived system dynamics and relies solely on onboard IMU measurements. Effectiveness of the method is verified in numerical simulations and experimentally.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131843077","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571064
Hughes La Vigne, Guillaume Charron, Julien Rachiele Tremblay, B. Nyberg, Alexis Lussier Desbiens
Hawaiian cliffs present a unique flora that has been little studied until now mainly because of the difficulties to physically access this ecosystem. Recently, researchers have started using UAV imagery to analyze cliff flora, and to locate plant species of interest. The current techniques used to then reach these plants on cliffs (e.g., abseiling, helicopters) are dangerous and many sites remain completely inaccessible. This project aims at developing an aerial sampling system to support initiatives aimed at preserving this unique ecosystem. This article therefore presents the various challenges related to the environment where sampling must take place, considering the use of an aerial sampling system. Finally, the preliminary design of a platform suspended by cable under a UAV to collect plant samples on a cliff is presented.
{"title":"Preliminary design of an aerial cliff sampling system","authors":"Hughes La Vigne, Guillaume Charron, Julien Rachiele Tremblay, B. Nyberg, Alexis Lussier Desbiens","doi":"10.1109/AIRPHARO52252.2021.9571064","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571064","url":null,"abstract":"Hawaiian cliffs present a unique flora that has been little studied until now mainly because of the difficulties to physically access this ecosystem. Recently, researchers have started using UAV imagery to analyze cliff flora, and to locate plant species of interest. The current techniques used to then reach these plants on cliffs (e.g., abseiling, helicopters) are dangerous and many sites remain completely inaccessible. This project aims at developing an aerial sampling system to support initiatives aimed at preserving this unique ecosystem. This article therefore presents the various challenges related to the environment where sampling must take place, considering the use of an aerial sampling system. Finally, the preliminary design of a platform suspended by cable under a UAV to collect plant samples on a cliff is presented.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126011657","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571041
Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, R. Martinez, Borwonpob Sumetheeprasit, K. Shimonomura
We propose a multirotor aerial robot for high-pressure washing task. The robot consists of a multi rotor platform, an add-on planar translational driving system(ATD) and a high-pressure washing system. The ATD is equipped on the multirotor and consists of three ducted fans that can generate the force on horizontal plane. The ATD also allows multirotor to suppress the reaction force generated by nozzle of high-pressure washing system and spray water accurately. In this study, we focus on the development of the proposed aerial robot system. Through experiment, we show the successful water spraying by suppressing the reaction force while flying.
{"title":"Development of High-Pressure Washing Aerial Robot Employing Multirotor Platform with Add-on Planar Translational Driving System","authors":"Ryo Miyazaki, Hannibal Paul, Takamasa Kominami, R. Martinez, Borwonpob Sumetheeprasit, K. Shimonomura","doi":"10.1109/AIRPHARO52252.2021.9571041","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571041","url":null,"abstract":"We propose a multirotor aerial robot for high-pressure washing task. The robot consists of a multi rotor platform, an add-on planar translational driving system(ATD) and a high-pressure washing system. The ATD is equipped on the multirotor and consists of three ducted fans that can generate the force on horizontal plane. The ATD also allows multirotor to suppress the reaction force generated by nozzle of high-pressure washing system and spray water accurately. In this study, we focus on the development of the proposed aerial robot system. Through experiment, we show the successful water spraying by suppressing the reaction force while flying.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126597499","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571054
S. R. Nekoo, P. J. Sánchez Cuevas, J. Acosta, G. Heredia, A. Ollero
This paper presents an experimental study of the soft-landing problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing complexity drastically increases when the drone needs to land on sensitive sites, such as platforms or rack of pipes in refineries (for inspection purposes), in which explosive material is running through or there exist flammable/explosive material in the environment. Multirotor unmanned aerial vehicles (UAV s) are usually lightweight platforms and they are significantly disturbed by the aerodynamic ground effect while landing; so, near the ground, those drones are subjected to an external disturbance in proximity to the ground. In this situation, the airflow can be reflected after reaching the ground, disturbing the performance of the rotors significantly. This paper aims to model the induced wind velocity, caused by the propellers to see and consider the ground effect during the landing. The reduction of the total thrust near the ground provides a smooth landing and avoids bumping. The complex wind modeling formulation and limitation of the commercialized autopilots make the implementation a challenging task. Herein we propose how to incorporate the proposed soft-landing algorithm within an existing UA V autopilot. Experimental results show that the proposed approach successfully replicates the wind modeling which leads to a soft-landing.
{"title":"Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach","authors":"S. R. Nekoo, P. J. Sánchez Cuevas, J. Acosta, G. Heredia, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571054","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571054","url":null,"abstract":"This paper presents an experimental study of the soft-landing problem in quadrotors using the induced wind modeling approach. The landing phase has been typically one of the critical phases in drone flight. Landing complexity drastically increases when the drone needs to land on sensitive sites, such as platforms or rack of pipes in refineries (for inspection purposes), in which explosive material is running through or there exist flammable/explosive material in the environment. Multirotor unmanned aerial vehicles (UAV s) are usually lightweight platforms and they are significantly disturbed by the aerodynamic ground effect while landing; so, near the ground, those drones are subjected to an external disturbance in proximity to the ground. In this situation, the airflow can be reflected after reaching the ground, disturbing the performance of the rotors significantly. This paper aims to model the induced wind velocity, caused by the propellers to see and consider the ground effect during the landing. The reduction of the total thrust near the ground provides a smooth landing and avoids bumping. The complex wind modeling formulation and limitation of the commercialized autopilots make the implementation a challenging task. Herein we propose how to incorporate the proposed soft-landing algorithm within an existing UA V autopilot. Experimental results show that the proposed approach successfully replicates the wind modeling which leads to a soft-landing.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121266082","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 : 2021-10-01DOI: 10.1109/airpharo52252.2021.9571056
Hiroki Takada
{"title":"Technical Program","authors":"Hiroki Takada","doi":"10.1109/airpharo52252.2021.9571056","DOIUrl":"https://doi.org/10.1109/airpharo52252.2021.9571056","url":null,"abstract":"","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114975378","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571060
Fabio Augusto de Alcantara Andrade, A. Sivertsen, Carlos Alberto Moraes Correia, N. Belbachir, Lucas Costa Amaral De Sousa, Victor Müller Pereira Rufino, Eduardo Pimenta Petrópolis, Erick Rodrigues e Silva, Victor Hugo Rinaldi Fortes Henriques
This paper presents the development of a virtual reality simulation environment for Unmanned Aerial Systems (UAS) solar plant inspection. The objective of this work is to provide a tool to test autonomous inspection and computer vision algorithms and generate realistic synthetic data for deep learning. These techniques demand realistic synthetic data, which can be made available by high-quality graphics engines, such as the ones used for game development. In this work, Unreal Engine 4 is used to host the virtual solar plant. The solar panels were modeled using Blender and Photoshop. Microsoft's AirSim plugin is used to simulate the UAS motion, together with the ArduPilot Software-In- The-Loop flight controller. The environment was evaluated through a virtual autonomous inspection of a plant with 9200 panels, where a georeferencing algorithm was used to locate the defective solar panel in a raster plant layout, based on the pixel position of the defects in the aerial images. The virtual inspection resulted on more than 1000 images and the localization of the defective panels in the layout plant using the georeferencing algorithm had an error of 0.34 meters on the North axis and 0.26 meters on the East axis, which is acceptable for large solar plants with sparse modules' arrangement.
{"title":"Virtual Reality Simulation of Autonomous Solar Plants Inspections with Unmanned Aerial Systems","authors":"Fabio Augusto de Alcantara Andrade, A. Sivertsen, Carlos Alberto Moraes Correia, N. Belbachir, Lucas Costa Amaral De Sousa, Victor Müller Pereira Rufino, Eduardo Pimenta Petrópolis, Erick Rodrigues e Silva, Victor Hugo Rinaldi Fortes Henriques","doi":"10.1109/AIRPHARO52252.2021.9571060","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571060","url":null,"abstract":"This paper presents the development of a virtual reality simulation environment for Unmanned Aerial Systems (UAS) solar plant inspection. The objective of this work is to provide a tool to test autonomous inspection and computer vision algorithms and generate realistic synthetic data for deep learning. These techniques demand realistic synthetic data, which can be made available by high-quality graphics engines, such as the ones used for game development. In this work, Unreal Engine 4 is used to host the virtual solar plant. The solar panels were modeled using Blender and Photoshop. Microsoft's AirSim plugin is used to simulate the UAS motion, together with the ArduPilot Software-In- The-Loop flight controller. The environment was evaluated through a virtual autonomous inspection of a plant with 9200 panels, where a georeferencing algorithm was used to locate the defective solar panel in a raster plant layout, based on the pixel position of the defects in the aerial images. The virtual inspection resulted on more than 1000 images and the localization of the defective panels in the layout plant using the georeferencing algorithm had an error of 0.34 meters on the North axis and 0.26 meters on the East axis, which is acceptable for large solar plants with sparse modules' arrangement.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128245014","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571049
J. P. Rodríguez-Gómez, R. Tapia, A. G. Eguíluz, J. R. Martínez-De Dios, A. Ollero
Teleoperation is a crucial aspect for human-robot interaction with unmanned aerial vehicles (UAV s) applications. Fast perception processing is required to ensure robustness, precision, and safety. Event cameras are neuromorphic sensors that provide low latency response, high dynamic range and low power consumption. Although classical image-based methods have been extensively used for human-robot interaction tasks, responsiveness is limited by their processing rates. This paper presents a human-robot teleoperation scheme for UAVs that exploits the advantages of both traditional and event cameras. The proposed scheme was tested in teleoperation missions where the pose of a multi rotor robot is controlled in real time using human gestures detected from events.
{"title":"UAV human teleoperation using event-based and frame-based cameras","authors":"J. P. Rodríguez-Gómez, R. Tapia, A. G. Eguíluz, J. R. Martínez-De Dios, A. Ollero","doi":"10.1109/AIRPHARO52252.2021.9571049","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571049","url":null,"abstract":"Teleoperation is a crucial aspect for human-robot interaction with unmanned aerial vehicles (UAV s) applications. Fast perception processing is required to ensure robustness, precision, and safety. Event cameras are neuromorphic sensors that provide low latency response, high dynamic range and low power consumption. Although classical image-based methods have been extensively used for human-robot interaction tasks, responsiveness is limited by their processing rates. This paper presents a human-robot teleoperation scheme for UAVs that exploits the advantages of both traditional and event cameras. The proposed scheme was tested in teleoperation missions where the pose of a multi rotor robot is controlled in real time using human gestures detected from events.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128907702","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 : 2021-10-01DOI: 10.1109/airpharo52252.2021.9571063
{"title":"Keynote Lectures [2 abstracts]","authors":"","doi":"10.1109/airpharo52252.2021.9571063","DOIUrl":"https://doi.org/10.1109/airpharo52252.2021.9571063","url":null,"abstract":"","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123492235","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571027
Fotini Patrona, Ioannis Mademlis, I. Pitas
Camera-equipped Unmanned Aerial Vehicles (UAVs, or drones) have revolutionized several application domains, with a steadily increasing degree of cognitive autonomy in commercial drones paving the way for unprecedented robotization of daily life. Dynamic cooperation of UAV s with human collaborators is typically necessary during a mission; a fact that has led to various solutions for high-level UAV-operator interaction. Hand gestures are an effective way of facilitating this remote drone handling, giving rise to new gesture languages for visual communication between operators and autonomous UAV s. This paper reviews all the available languages which could be used or have been created for this purpose, as well as relevant gesture recognition datasets for training machine learning models. Moreover, a novel, generic, base gesture language for handling camera-equipped UAV s is proposed, along with a corresponding, large-scale, publicly available video dataset. The presented language can easily and consistently be extended in the future to more specific scenarios/profiles, tailored for particular application domains and/or additional UAV equipment (e.g., aerial manipulators/arms). Finally, we evaluate: a) the performance of state-of-the-art gesture recognition algorithms on the proposed dataset, in a quantitative and objective manner, and b) the intuitiveness, effectiveness and completeness of the proposed gesture language, in a qualitative and subjective manner.
{"title":"An Overview of Hand Gesture Languages for Autonomous UAV Handling","authors":"Fotini Patrona, Ioannis Mademlis, I. Pitas","doi":"10.1109/AIRPHARO52252.2021.9571027","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571027","url":null,"abstract":"Camera-equipped Unmanned Aerial Vehicles (UAVs, or drones) have revolutionized several application domains, with a steadily increasing degree of cognitive autonomy in commercial drones paving the way for unprecedented robotization of daily life. Dynamic cooperation of UAV s with human collaborators is typically necessary during a mission; a fact that has led to various solutions for high-level UAV-operator interaction. Hand gestures are an effective way of facilitating this remote drone handling, giving rise to new gesture languages for visual communication between operators and autonomous UAV s. This paper reviews all the available languages which could be used or have been created for this purpose, as well as relevant gesture recognition datasets for training machine learning models. Moreover, a novel, generic, base gesture language for handling camera-equipped UAV s is proposed, along with a corresponding, large-scale, publicly available video dataset. The presented language can easily and consistently be extended in the future to more specific scenarios/profiles, tailored for particular application domains and/or additional UAV equipment (e.g., aerial manipulators/arms). Finally, we evaluate: a) the performance of state-of-the-art gesture recognition algorithms on the proposed dataset, in a quantitative and objective manner, and b) the intuitiveness, effectiveness and completeness of the proposed gesture language, in a qualitative and subjective manner.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127080414","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 : 2021-10-01DOI: 10.1109/AIRPHARO52252.2021.9571040
Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, K. Shimonomura
Robot interaction with the environment is preferable to help and respond quickly during disasters. Unmanned aerial vehicles (UAV s) are among the quickest robotic platforms that can be deployed on the field. However, if a UAV lands on an unknown site, it will be unable to take-off if the UAV frame is not level, which might be due to shifting of the ground or unstable platforms. We examine the challenge of UAV takeoff from a sloped platform in this work, and we suggest the design and use of a three-arm aerial manipulator system to autonomously keep the UAV frame leveled at all times for safe take-off.
{"title":"Adaptively Leveling a UAV with Three-arm Aerial Manipulator System on Shifting Ground","authors":"Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, K. Shimonomura","doi":"10.1109/AIRPHARO52252.2021.9571040","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571040","url":null,"abstract":"Robot interaction with the environment is preferable to help and respond quickly during disasters. Unmanned aerial vehicles (UAV s) are among the quickest robotic platforms that can be deployed on the field. However, if a UAV lands on an unknown site, it will be unable to take-off if the UAV frame is not level, which might be due to shifting of the ground or unstable platforms. We examine the challenge of UAV takeoff from a sloped platform in this work, and we suggest the design and use of a three-arm aerial manipulator system to autonomously keep the UAV frame leveled at all times for safe take-off.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126572550","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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