Pub Date : 2015-05-20DOI: 10.1109/ICCAR.2015.7166017
Zuofeng Zhou, Jianzhong Cao, Weigao Xu, B. Zhao
This paper presents a simple method to solve the P4P problem based on co-planar feature points. By enhancing the geometric constraints of the feature points which attached to the target previously, we obtain the three-dimensional camera coordinates of the feature points in two different formulas. Then the translation vector and three rotation angles describing the relationship between target coordinate system and camera coordinate system are computed using a closed-form solution directly. In order to improve the precision about the extraction of the image center coordinate of the feature point, we use the morphology expansion operation to achieve it. The experimental results and theoretical analysis which were compared with the previous method demonstrate that our method is more fast and effective.
{"title":"A simple pose estimation method based on co-planar feature points","authors":"Zuofeng Zhou, Jianzhong Cao, Weigao Xu, B. Zhao","doi":"10.1109/ICCAR.2015.7166017","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166017","url":null,"abstract":"This paper presents a simple method to solve the P4P problem based on co-planar feature points. By enhancing the geometric constraints of the feature points which attached to the target previously, we obtain the three-dimensional camera coordinates of the feature points in two different formulas. Then the translation vector and three rotation angles describing the relationship between target coordinate system and camera coordinate system are computed using a closed-form solution directly. In order to improve the precision about the extraction of the image center coordinate of the feature point, we use the morphology expansion operation to achieve it. The experimental results and theoretical analysis which were compared with the previous method demonstrate that our method is more fast and effective.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117051319","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166028
V. Viswanathan, S. Jana, S. Swarup
Target localization is an active area of research which has several applications in the fields of robotics, defense and geology. In this paper, our goal is to localize a target based on range measurements obtained using a network of sensors scattered in the 3D continuum. To this end, we make use of the biologically inspired particle swarm optimization (PSO) algorithm. In this context, we propose a novel modification of PSO algorithm that leads to faster convergence, and eliminates the flip ambiguity encountered by coplanar sensors. Our initial results over several simulation runs highlight the accuracy and speed of the proposed approach. This paper also proposes a statistical approach to optimally place a given set of sensors such that the localization error is minimized over certain trajectories of the target. The optimal locations of the sensors are estimated using the Cramer-Rao lower bound (CRLB) as the cost function.
{"title":"Fast range-based localization of targets using particle swarm optimization","authors":"V. Viswanathan, S. Jana, S. Swarup","doi":"10.1109/ICCAR.2015.7166028","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166028","url":null,"abstract":"Target localization is an active area of research which has several applications in the fields of robotics, defense and geology. In this paper, our goal is to localize a target based on range measurements obtained using a network of sensors scattered in the 3D continuum. To this end, we make use of the biologically inspired particle swarm optimization (PSO) algorithm. In this context, we propose a novel modification of PSO algorithm that leads to faster convergence, and eliminates the flip ambiguity encountered by coplanar sensors. Our initial results over several simulation runs highlight the accuracy and speed of the proposed approach. This paper also proposes a statistical approach to optimally place a given set of sensors such that the localization error is minimized over certain trajectories of the target. The optimal locations of the sensors are estimated using the Cramer-Rao lower bound (CRLB) as the cost function.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116621518","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166035
B. Suksawat, Preecha Komkum
This research aimed to create a tool for pineapples quality grading according to the standard weight and size of Thai Agricultural Commodity Food Standard. The standard weights of pineapple are divided into 10 levels (A-J) and the standard sizes of pineapple are categorized into two classes (class I and class II). The developed tool consists of hardware components and a grading software program. The control light source box was constructed for camera and load cell installation to capture pineapple image and measure pineapple weight, respectively. The obtained image was sent to software program to change colors of the image into gray scale and to reduce noises in the image. The clearly edges of the image were employed to compute size of a pineapple and the data were transferred to fuzzy system. The inputs of fuzzy system determined the size and weight of pineapple which used to establish twenty fuzzy rules. The experiments performed by random selection size and weight of three pineapple kinds including Nanglae, Sriracha, Phuket. The experimental results reveal that classification of pineapple by the created tool exhibited high accuracy of size and weight detection equaled 87.5%. The average relative error performed 2.30% and 5.24% of size and weight, respectively.
{"title":"Pineapple quality grading using image processing and fuzzy logic based on Thai Agriculture Standards","authors":"B. Suksawat, Preecha Komkum","doi":"10.1109/ICCAR.2015.7166035","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166035","url":null,"abstract":"This research aimed to create a tool for pineapples quality grading according to the standard weight and size of Thai Agricultural Commodity Food Standard. The standard weights of pineapple are divided into 10 levels (A-J) and the standard sizes of pineapple are categorized into two classes (class I and class II). The developed tool consists of hardware components and a grading software program. The control light source box was constructed for camera and load cell installation to capture pineapple image and measure pineapple weight, respectively. The obtained image was sent to software program to change colors of the image into gray scale and to reduce noises in the image. The clearly edges of the image were employed to compute size of a pineapple and the data were transferred to fuzzy system. The inputs of fuzzy system determined the size and weight of pineapple which used to establish twenty fuzzy rules. The experiments performed by random selection size and weight of three pineapple kinds including Nanglae, Sriracha, Phuket. The experimental results reveal that classification of pineapple by the created tool exhibited high accuracy of size and weight detection equaled 87.5%. The average relative error performed 2.30% and 5.24% of size and weight, respectively.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129570653","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166004
S. Hayat, Z. Kausar
Many heuristic methods are used for path planning by researchers in the past and contemporary work but due to easy implementation, convergence properties, capability of escaping local optima and the use of hill-climbing moves have made simulated annealing (SA) a good choice for path planning. In this research the simulated annealing algorithm is used to obtain a collision-free optimal path among fixed circular shaped obstacles for a mobile robot. A feasible path is computed by series of points in cells generated between start to goal point. The effectiveness of the proposed algorithm in different environments is shown through simulation results.
{"title":"Mobile robot path planning for circular shaped obstacles using simulated annealing","authors":"S. Hayat, Z. Kausar","doi":"10.1109/ICCAR.2015.7166004","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166004","url":null,"abstract":"Many heuristic methods are used for path planning by researchers in the past and contemporary work but due to easy implementation, convergence properties, capability of escaping local optima and the use of hill-climbing moves have made simulated annealing (SA) a good choice for path planning. In this research the simulated annealing algorithm is used to obtain a collision-free optimal path among fixed circular shaped obstacles for a mobile robot. A feasible path is computed by series of points in cells generated between start to goal point. The effectiveness of the proposed algorithm in different environments is shown through simulation results.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123865208","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166038
L. Fang, Neera
Personal identification and verification are playing more and more important role in the society. Traditional authentication method such as password and smart card, often cannot meet today's security as they can be easily forgotten, lost or stolen. Biometric technology has appeared as a new solution to these problem. Among all the variable biometric technologies, automatic palmprint verification is an important complement to biometric authentication. This paper describes the adopted mobile based palmprint recognition system.
{"title":"Mobile based palmprint recognition system","authors":"L. Fang, Neera","doi":"10.1109/ICCAR.2015.7166038","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166038","url":null,"abstract":"Personal identification and verification are playing more and more important role in the society. Traditional authentication method such as password and smart card, often cannot meet today's security as they can be easily forgotten, lost or stolen. Biometric technology has appeared as a new solution to these problem. Among all the variable biometric technologies, automatic palmprint verification is an important complement to biometric authentication. This paper describes the adopted mobile based palmprint recognition system.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"428 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113988783","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166018
Xie Lu, L. Jiping, He Peidong, Zou Xudong, Zeng Rong
The paper researches an automatic testing system, in which single phase electricity meter, triphase electricity meter and electric energy data acquire terminal are compatible. The system complies that multiple automatic testing systems are integrated, and the utilization of automatic testing pipeline sharply improved, footprint and investment costs saved. The compatible testing system is completed through designing tray and epitope that are compatible with various electric energy meters and acquire terminal, and reading the RFID radio frequency tag information in each functional module to identify different meter, acquire terminal, controlling the transmission path meter.
{"title":"Research on automatic testing system compatible the electricity meters with electric energy data acquire terminal","authors":"Xie Lu, L. Jiping, He Peidong, Zou Xudong, Zeng Rong","doi":"10.1109/ICCAR.2015.7166018","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166018","url":null,"abstract":"The paper researches an automatic testing system, in which single phase electricity meter, triphase electricity meter and electric energy data acquire terminal are compatible. The system complies that multiple automatic testing systems are integrated, and the utilization of automatic testing pipeline sharply improved, footprint and investment costs saved. The compatible testing system is completed through designing tray and epitope that are compatible with various electric energy meters and acquire terminal, and reading the RFID radio frequency tag information in each functional module to identify different meter, acquire terminal, controlling the transmission path meter.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133807973","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166010
Aisha Qamar, Kunwar Faraz Ahmed Khan, A. Awan, Muwahida Liaquat
The article presents the application of a probabilistic robust control scheme for DC-DC Buck Converter, on the basis of the idea of randomly selected scenarios from an uncertain set. This technique involves the analysis of a wide range of control system analysis and design problems for uncertain systems which are amenable to solve the numerical problems in efficient way if the requirements regarding robustness are imposed in probabilistic sense within the paradigm. The output voltage of the converter can be affected by changes in load current. This variation in load appears as a linear uncertain parameter, with a known range, in the dynamic model of the converter. Maintaining the output voltage to the desired value in the presence of load variations is formulated as an LPV H-infinity optimization problem. However, instead of covering the entire uncertainty set using the conventional polytopic approach, we use the scenario based approach to extract the scenarios by explicitly and providing the bound on the number of scenarios, resulting in a design to guarantee an a-priori particular probabilistic robustness in design of control problem for DC-DC Buck Converter. This results in a marginal improvement in transient performance, with regard to overshoot and settling time, of the closed loop system. Numerical simulations are performed to demonstrate the above, and a comparison with the LPV polytopic approach and linear PID control is presented.
{"title":"Scenario based approach for control design for DC-DC Buck Converter","authors":"Aisha Qamar, Kunwar Faraz Ahmed Khan, A. Awan, Muwahida Liaquat","doi":"10.1109/ICCAR.2015.7166010","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166010","url":null,"abstract":"The article presents the application of a probabilistic robust control scheme for DC-DC Buck Converter, on the basis of the idea of randomly selected scenarios from an uncertain set. This technique involves the analysis of a wide range of control system analysis and design problems for uncertain systems which are amenable to solve the numerical problems in efficient way if the requirements regarding robustness are imposed in probabilistic sense within the paradigm. The output voltage of the converter can be affected by changes in load current. This variation in load appears as a linear uncertain parameter, with a known range, in the dynamic model of the converter. Maintaining the output voltage to the desired value in the presence of load variations is formulated as an LPV H-infinity optimization problem. However, instead of covering the entire uncertainty set using the conventional polytopic approach, we use the scenario based approach to extract the scenarios by explicitly and providing the bound on the number of scenarios, resulting in a design to guarantee an a-priori particular probabilistic robustness in design of control problem for DC-DC Buck Converter. This results in a marginal improvement in transient performance, with regard to overshoot and settling time, of the closed loop system. Numerical simulations are performed to demonstrate the above, and a comparison with the LPV polytopic approach and linear PID control is presented.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114540070","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7165997
Muhammad Shahab Alam, M. U. Rafique
Generally workspaces of mobile robots are cluttered with obstacles of different sizes and shapes. Majority of the path planning algorithms get stuck in non-convex obstacles pertaining to local minima. Particle Swarm Optimization (PSO) is by comparison simple and readily intelligible yet a very powerful optimization technique which makes it an apt choice for path finding problems in complex environments. This paper presents a particle swarm optimization based path planning algorithm developed for finding a shortest collision-free path for a mobile robot in an environment strewed with non-convex obstacles. The proposed method uses random sampling and finds the optimal path while avoiding non-convex obstacles without exhaustive search. Detailed simulation results show the functionality and effectiveness of the proposed algorithm in different scenarios.
{"title":"Mobile robot path planning in environments cluttered with non-convex obstacles using particle swarm optimization","authors":"Muhammad Shahab Alam, M. U. Rafique","doi":"10.1109/ICCAR.2015.7165997","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7165997","url":null,"abstract":"Generally workspaces of mobile robots are cluttered with obstacles of different sizes and shapes. Majority of the path planning algorithms get stuck in non-convex obstacles pertaining to local minima. Particle Swarm Optimization (PSO) is by comparison simple and readily intelligible yet a very powerful optimization technique which makes it an apt choice for path finding problems in complex environments. This paper presents a particle swarm optimization based path planning algorithm developed for finding a shortest collision-free path for a mobile robot in an environment strewed with non-convex obstacles. The proposed method uses random sampling and finds the optimal path while avoiding non-convex obstacles without exhaustive search. Detailed simulation results show the functionality and effectiveness of the proposed algorithm in different scenarios.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127483610","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166039
Laith A. H. Al-Shimaysawee, A. Aldabbagh, N. Asgari
In this paper, we explore a new algorithm to detect people with thermal cameras based on the standard Implicit Shape Model (ISM) technique. Our approach starts with the ISM to define the proposed centers of people locations. Then we utilize a novel method to detect people based on the density of the concentrated proposed centers by using an auto generated threshold mechanism. Our method is easy to implement and does not require complicated computations; thus resulting in a considerable increase in the speed performance and decrease in the cost of the required hardware on mobile platforms. We evaluated our system by testing it on three image sets for indoor and three for outdoor scenarios taken from four databases. Our system showed promising results in detecting people on images taken by different types of thermal cameras under difficult scenarios. This technique will be used as the vision system for a rescue assist mobile robot currently being built at Flinders University.
{"title":"A novel algorithm for people detection in grey scale thermal images","authors":"Laith A. H. Al-Shimaysawee, A. Aldabbagh, N. Asgari","doi":"10.1109/ICCAR.2015.7166039","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166039","url":null,"abstract":"In this paper, we explore a new algorithm to detect people with thermal cameras based on the standard Implicit Shape Model (ISM) technique. Our approach starts with the ISM to define the proposed centers of people locations. Then we utilize a novel method to detect people based on the density of the concentrated proposed centers by using an auto generated threshold mechanism. Our method is easy to implement and does not require complicated computations; thus resulting in a considerable increase in the speed performance and decrease in the cost of the required hardware on mobile platforms. We evaluated our system by testing it on three image sets for indoor and three for outdoor scenarios taken from four databases. Our system showed promising results in detecting people on images taken by different types of thermal cameras under difficult scenarios. This technique will be used as the vision system for a rescue assist mobile robot currently being built at Flinders University.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132463533","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 : 2015-05-20DOI: 10.1109/ICCAR.2015.7166016
Chu Chunchao
Toll expressway financial risk problem is being paid more and more attention nowadays, because which may induce local government debt risks. This paper focuses on the issues about toll expressway financial risk, and presents a set of monitoring, analyzing and management solution. At first, toll expressway financial risk indexes were designed, which considered not only the current but also the potential solvency about the payment ability of each toll expressway project. Secondly, four risk levels and alerting values were defined by means of those indexes estimation. Meanwhile, corresponding actions were suggested according to risk levels. Thirdly, the decision support system (DSS) was developed on toll expressway financial risk monitoring, and a case study was conducted as well. In the case study, the financial risk level of each project was easily identified by different colors, such as red standing for serious situation. The research achievements provide technical supports and decision-making references for monitoring financial risks of toll expressway projects.
{"title":"DSS development on toll expressway financial risk monitoring","authors":"Chu Chunchao","doi":"10.1109/ICCAR.2015.7166016","DOIUrl":"https://doi.org/10.1109/ICCAR.2015.7166016","url":null,"abstract":"Toll expressway financial risk problem is being paid more and more attention nowadays, because which may induce local government debt risks. This paper focuses on the issues about toll expressway financial risk, and presents a set of monitoring, analyzing and management solution. At first, toll expressway financial risk indexes were designed, which considered not only the current but also the potential solvency about the payment ability of each toll expressway project. Secondly, four risk levels and alerting values were defined by means of those indexes estimation. Meanwhile, corresponding actions were suggested according to risk levels. Thirdly, the decision support system (DSS) was developed on toll expressway financial risk monitoring, and a case study was conducted as well. In the case study, the financial risk level of each project was easily identified by different colors, such as red standing for serious situation. The research achievements provide technical supports and decision-making references for monitoring financial risks of toll expressway projects.","PeriodicalId":422587,"journal":{"name":"2015 International Conference on Control, Automation and Robotics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126526156","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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