Pub Date : 2017-12-01DOI: 10.1109/ANZCC.2017.8298504
I. Birs, C. Muresan, S. Folea, O. Prodan
Targeted drug delivery is a focus point in recent advances in the nanomedical field due to its many advantages such as decreased side effects, faster action and better drug absorption with less substance used. The paper presents an experimental platform that simulates the circulatory system: the passing of blood from arteries to smaller blood vessels, while also capturing the non-Newtonian characteristic of the blood. The targeted drug delivery is ensured by a scalable submersible equipped with various sensors and actuators such that the real-time position of the submersible can be determined and controlled in the circulatory system. The purpose of the presented work is to provide a solid foundation for experimental modeling of the interaction between the submersible and non-Newtonian fluids and for validating different control strategies suitable for velocity control. The experimental setup takes into account the real life difficulties of targeted drug delivery.
{"title":"An experimental nanomedical platform for controller validation on targeted drug delivery","authors":"I. Birs, C. Muresan, S. Folea, O. Prodan","doi":"10.1109/ANZCC.2017.8298504","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298504","url":null,"abstract":"Targeted drug delivery is a focus point in recent advances in the nanomedical field due to its many advantages such as decreased side effects, faster action and better drug absorption with less substance used. The paper presents an experimental platform that simulates the circulatory system: the passing of blood from arteries to smaller blood vessels, while also capturing the non-Newtonian characteristic of the blood. The targeted drug delivery is ensured by a scalable submersible equipped with various sensors and actuators such that the real-time position of the submersible can be determined and controlled in the circulatory system. The purpose of the presented work is to provide a solid foundation for experimental modeling of the interaction between the submersible and non-Newtonian fluids and for validating different control strategies suitable for velocity control. The experimental setup takes into account the real life difficulties of targeted drug delivery.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121110860","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298499
Henrik Anfinsen, O. Aamo
We design a filter-based adaptive controller for stabilization of a system of n + 1 coupled linear hyperbolic partial differential equations (PDEs) with uncertain parameters from sensing limited to the boundary anti-collocated with the actuation. The only required knowledge about the system is the transport delay from the actuation to the sensing, and an upper bound on the transport delay in the reverse direction, as well as the parameter in the boundary condition collocated with the actuation. An interesting feature of the proposed design, is that the controller order does not increase with the number of states n. The theory is demonstrated in a simulation.
{"title":"Adaptive stabilization of a system of n + 1 coupled linear hyperbolic PDEs from boundary sensing","authors":"Henrik Anfinsen, O. Aamo","doi":"10.1109/ANZCC.2017.8298499","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298499","url":null,"abstract":"We design a filter-based adaptive controller for stabilization of a system of n + 1 coupled linear hyperbolic partial differential equations (PDEs) with uncertain parameters from sensing limited to the boundary anti-collocated with the actuation. The only required knowledge about the system is the transport delay from the actuation to the sensing, and an upper bound on the transport delay in the reverse direction, as well as the parameter in the boundary condition collocated with the actuation. An interesting feature of the proposed design, is that the controller order does not increase with the number of states n. The theory is demonstrated in a simulation.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117106572","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298503
J. Diepolder, P. Piprek, N. Botkin, V. Turova, F. Holzapfel
This paper presents a control concept for the application of viability kernels for aircraft control in the presence of wind disturbances. The viability (leadership) kernel of an appropriate conflict control problem with state constraints is computed using a grid approximation. In this differential game formulation, the first player is represented by the aircraft controls and the second player by the wind disturbances. The viability kernel represents a subset in the state space, in which the aircraft can be held arbitrarily long even if the opposing player uses any admissible control. Due to the curse of dimensionality in the grid solution, the computation of the viability kernel is restricted to low dimensional state spaces, which poses a challenge for the application in aircraft control. In our approach, the viability kernel is computed in the state space of the translational dynamics and the attitude kinematics. This reduces the dimensionality of the viability kernel to a six dimensional state space that can be handled by grid computers. The trajectory from the viability kernel solution is then tracked by the inner-loop controller based on a nonlinear dynamic inversion (NDI) control structure. The approach is illustrated using a simplified A300 aircraft model for cruise flight in the presence of wind.
{"title":"A robust aircraft control approach in the presence of wind using viability theory","authors":"J. Diepolder, P. Piprek, N. Botkin, V. Turova, F. Holzapfel","doi":"10.1109/ANZCC.2017.8298503","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298503","url":null,"abstract":"This paper presents a control concept for the application of viability kernels for aircraft control in the presence of wind disturbances. The viability (leadership) kernel of an appropriate conflict control problem with state constraints is computed using a grid approximation. In this differential game formulation, the first player is represented by the aircraft controls and the second player by the wind disturbances. The viability kernel represents a subset in the state space, in which the aircraft can be held arbitrarily long even if the opposing player uses any admissible control. Due to the curse of dimensionality in the grid solution, the computation of the viability kernel is restricted to low dimensional state spaces, which poses a challenge for the application in aircraft control. In our approach, the viability kernel is computed in the state space of the translational dynamics and the attitude kinematics. This reduces the dimensionality of the viability kernel to a six dimensional state space that can be handled by grid computers. The trajectory from the viability kernel solution is then tracked by the inner-loop controller based on a nonlinear dynamic inversion (NDI) control structure. The approach is illustrated using a simplified A300 aircraft model for cruise flight in the presence of wind.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129074498","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298496
J. Kennedy, A. Fisher, Liuping Wang, J. Palmer
Small multi-rotor unmanned aircraft systems have many potential applications within urban environments, but large-scale turbulence common in such environments can represent a significant difficulty for their operation. Actuator dynamics affect on an aircraft's ability to track attitude commands and may influence its ability to reject disturbances. This paper presents a study of the effects of actuator dynamics on a small quadrotor model generated through system identification. A performance-based optimisation that minimises attitude-tracking errors in the presence of disturbances is used. System identification of different combinations of actuator components is performed, and the data is used to investigate the effects of high-frequency actuator dynamics on control-system phase lag and to determine their impact on disturbance rejection performance.
{"title":"Effects of actuator dynamics on disturbance rejection for small multi-rotor UAS","authors":"J. Kennedy, A. Fisher, Liuping Wang, J. Palmer","doi":"10.1109/ANZCC.2017.8298496","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298496","url":null,"abstract":"Small multi-rotor unmanned aircraft systems have many potential applications within urban environments, but large-scale turbulence common in such environments can represent a significant difficulty for their operation. Actuator dynamics affect on an aircraft's ability to track attitude commands and may influence its ability to reject disturbances. This paper presents a study of the effects of actuator dynamics on a small quadrotor model generated through system identification. A performance-based optimisation that minimises attitude-tracking errors in the presence of disturbances is used. System identification of different combinations of actuator components is performed, and the data is used to investigate the effects of high-frequency actuator dynamics on control-system phase lag and to determine their impact on disturbance rejection performance.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114767949","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298505
Yanhua Yang, Y. Chen, Chaoquan Tang, Li Chai
A stochastic model predictive control (SMPC) method is proposed for trajectory tracking of quadrotor helicopters with stochastic disturbances. The stochastic disturbances are assumed to be Gaussian white noises. The existing robust control methods generally guarantee that the tracking performances under the worst-case disturbances satisfying given conditions. However, the worst-case disturbances may have a vanishingly small probability of occurrence in practice, so these methods show great conservative. In this paper, the tracking errors caused by the disturbances are limited in the acceptable range with the given probability. The hierarchical control structure is used. In the outer loop, the position loop, SMPC controllers are designed for position tracking. In the inner loop, the attitude loop, the nonlinear dynamics are linearized by the feedback linearization strategy, and an SMPC controller is designed for attitude tracking. Finally, simulation results verify the effectiveness of the proposed method.
{"title":"Quadrotor helicopters trajectory tracking with stochastic model predictive control","authors":"Yanhua Yang, Y. Chen, Chaoquan Tang, Li Chai","doi":"10.1109/ANZCC.2017.8298505","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298505","url":null,"abstract":"A stochastic model predictive control (SMPC) method is proposed for trajectory tracking of quadrotor helicopters with stochastic disturbances. The stochastic disturbances are assumed to be Gaussian white noises. The existing robust control methods generally guarantee that the tracking performances under the worst-case disturbances satisfying given conditions. However, the worst-case disturbances may have a vanishingly small probability of occurrence in practice, so these methods show great conservative. In this paper, the tracking errors caused by the disturbances are limited in the acceptable range with the given probability. The hierarchical control structure is used. In the outer loop, the position loop, SMPC controllers are designed for position tracking. In the inner loop, the attitude loop, the nonlinear dynamics are linearized by the feedback linearization strategy, and an SMPC controller is designed for attitude tracking. Finally, simulation results verify the effectiveness of the proposed method.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"233 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116203183","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298485
Xi Chen, Lijun Zhu, Li Chai, Jingwen Yi
Input-to-output stabilization (IOS) problem with a specified gain arises from the synchronization of the networked systems in [1]. The approach for solving this problem is to establish a recursive procedure to calculate the gain from the external input to the state and the output. However, in sampled-data scenario, the aforementioned problem becomes more challenging particularly for systems with dynamic uncertainties, since the input-to-output property will be affected by the sampling phenomenon and especially sampling on dynamic uncertainties. In order to calculate the IOS gain for a sampled-data system, we have to develop a more complicated recursive procedure for which both the disturbance and the so-called sampling error term are viewed as the external input. Finally, the sampling period must be selected carefully to guarantee the IOS property for sampled-data control.
{"title":"Sampled-data input-to-output stabilization of nonlinear system with dynamic uncertainties","authors":"Xi Chen, Lijun Zhu, Li Chai, Jingwen Yi","doi":"10.1109/ANZCC.2017.8298485","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298485","url":null,"abstract":"Input-to-output stabilization (IOS) problem with a specified gain arises from the synchronization of the networked systems in [1]. The approach for solving this problem is to establish a recursive procedure to calculate the gain from the external input to the state and the output. However, in sampled-data scenario, the aforementioned problem becomes more challenging particularly for systems with dynamic uncertainties, since the input-to-output property will be affected by the sampling phenomenon and especially sampling on dynamic uncertainties. In order to calculate the IOS gain for a sampled-data system, we have to develop a more complicated recursive procedure for which both the disturbance and the so-called sampling error term are viewed as the external input. Finally, the sampling period must be selected carefully to guarantee the IOS property for sampled-data control.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133804623","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298492
D. Schulze, L. Rauchhaupt, U. Jumar
Several wireless communication systems operating in parallel are typical for industrial applications. These systems have to be coexistent to ensure, that every application communication requirement is fulfilled. Ensuring this coexistence is called coexistence management. We want to develop an automated coexistence management with control engineering considerations, which is not considered in current approaches yet. In this contribution we investigate the nominal (interference-free) plant model with several wireless communication systems. We use timed Petri-net approaches in max-plus algebra for modelling the time behaviour of message transmissions. We parametrize this model with real measurements in a 2.4 GHz frequency spectrum within a WiFi test environment according to a predefined test case scenario.
{"title":"Coexistence for industrial wireless communication systems in the context of industrie 4.0","authors":"D. Schulze, L. Rauchhaupt, U. Jumar","doi":"10.1109/ANZCC.2017.8298492","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298492","url":null,"abstract":"Several wireless communication systems operating in parallel are typical for industrial applications. These systems have to be coexistent to ensure, that every application communication requirement is fulfilled. Ensuring this coexistence is called coexistence management. We want to develop an automated coexistence management with control engineering considerations, which is not considered in current approaches yet. In this contribution we investigate the nominal (interference-free) plant model with several wireless communication systems. We use timed Petri-net approaches in max-plus algebra for modelling the time behaviour of message transmissions. We parametrize this model with real measurements in a 2.4 GHz frequency spectrum within a WiFi test environment according to a predefined test case scenario.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115236753","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298500
Shourui Song, Hao Zhang, Huaicheng Yan, Zhichen Li
In this paper, the cooperative output regulation problem without assuming that all the agents should know the system matrix of the exosystem has been investigated. First, a finite-time distributed observer is developed. With this observer, each agent can get the exact state of the exosystem rather than an estimate after a fixed time. Moreover, the corresponding distributed control law is proposed to solve the cooperative output regulation of heterogeneous linear multi-agent systems. With this control law, agents could track the external signal asymptotically and reject the disturbance. Finally, a simulation is given to indicate the effectiveness of the proposed control law.
{"title":"Cooperative output regulation of heterogeneous linear multi-agent systems by the finite-time distributed observer","authors":"Shourui Song, Hao Zhang, Huaicheng Yan, Zhichen Li","doi":"10.1109/ANZCC.2017.8298500","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298500","url":null,"abstract":"In this paper, the cooperative output regulation problem without assuming that all the agents should know the system matrix of the exosystem has been investigated. First, a finite-time distributed observer is developed. With this observer, each agent can get the exact state of the exosystem rather than an estimate after a fixed time. Moreover, the corresponding distributed control law is proposed to solve the cooperative output regulation of heterogeneous linear multi-agent systems. With this control law, agents could track the external signal asymptotically and reject the disturbance. Finally, a simulation is given to indicate the effectiveness of the proposed control law.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124842648","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298491
G. Duffy, Peter Mills, Qin Li, L. Vlacic
A methodology has been developed that identifies how pairing the process and manipulated variables will improve process performance. Within an industrial processing plant there are many challenges to determining the strategy of the controller. Some of the challenges include the identification of the existence of a control loop, the operating mode of the control loop (manual versus automatic) and the desired coupling of the process variables within the industrial plant to maximize production performance. A demonstration of this methodology illustrates the potential improvement to be realised within an industrial plant.
{"title":"A methodology to determine the dynamic relationship between process and manipulated variables","authors":"G. Duffy, Peter Mills, Qin Li, L. Vlacic","doi":"10.1109/ANZCC.2017.8298491","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298491","url":null,"abstract":"A methodology has been developed that identifies how pairing the process and manipulated variables will improve process performance. Within an industrial processing plant there are many challenges to determining the strategy of the controller. Some of the challenges include the identification of the existence of a control loop, the operating mode of the control loop (manual versus automatic) and the desired coupling of the process variables within the industrial plant to maximize production performance. A demonstration of this methodology illustrates the potential improvement to be realised within an industrial plant.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125558623","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 : 2017-12-01DOI: 10.1109/ANZCC.2017.8298498
A. Amani, N. Gaeini, M. Jalili, Xinghuo Yu
In this paper, variation in the Rate of Change of Frequency (RoCoF) in distributed frequency control caused by disconnection/re-connection of generation units is addressed. Distributed generation systems are always subject to irregular and unexpected income and outage of units because of their uncertainties in nature as well as their small capacities. It causes variation in the structure and consequently in the collective dynamics of distributed generators such as performance of voltage and frequency control systems. Using the eigenvalue perturbation analysis, all generation units are ranked based on the influence of their outage on the RoCoF in distributed generation system. It is also shown by simulations that the ranking is highly correlated with the degree centrality of each unit in scale-free communication networks as well as Watts-Strogatz networks with high rewiring probability, i.e. disconnection/reconnection of nodes with higher degrees in the data communication network of the distributed frequency control makes stronger effect on the RoCoF. Simulation results support all achievements.
{"title":"Effect of disconnection of generation units on the rate of change of frequency in distributed power systems","authors":"A. Amani, N. Gaeini, M. Jalili, Xinghuo Yu","doi":"10.1109/ANZCC.2017.8298498","DOIUrl":"https://doi.org/10.1109/ANZCC.2017.8298498","url":null,"abstract":"In this paper, variation in the Rate of Change of Frequency (RoCoF) in distributed frequency control caused by disconnection/re-connection of generation units is addressed. Distributed generation systems are always subject to irregular and unexpected income and outage of units because of their uncertainties in nature as well as their small capacities. It causes variation in the structure and consequently in the collective dynamics of distributed generators such as performance of voltage and frequency control systems. Using the eigenvalue perturbation analysis, all generation units are ranked based on the influence of their outage on the RoCoF in distributed generation system. It is also shown by simulations that the ranking is highly correlated with the degree centrality of each unit in scale-free communication networks as well as Watts-Strogatz networks with high rewiring probability, i.e. disconnection/reconnection of nodes with higher degrees in the data communication network of the distributed frequency control makes stronger effect on the RoCoF. Simulation results support all achievements.","PeriodicalId":429208,"journal":{"name":"2017 Australian and New Zealand Control Conference (ANZCC)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130885283","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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