Pub Date : 2005-06-12DOI: 10.1109/ARSO.2005.1511608
T. Tarn
Summary form only given. In the last few decades, a silent revolution is taking place. The exponential growth in microelectronic processing power has been achieved by ever decreasing the size of integrated circuits. These circuits which integrate electrical, mechanical and sometimes optical devices, have evolved from silicon revolution. It replaced big complex, costly systems with small, affordable, high performance microsystems. Microsystems are expected to further enable silicon chips to sense, "think", act, and communicate, in essence, to become intelligent machines. Structures of current microsystems are approaching fundamental limits and the next generation of devices might show unexpected properties due to quantum effects and fluctuations. A new research field is developing in which we pursue understanding of basic physics associated with such quantum structures, explore their controllability, and propose new devices. In this talk, we begin with a summary of engineering problem solving and proceed to discuss the impact of technology on the development of newly emerging discipline of soft computing and computational intelligence. The relationship between technology and intelligent mechatronics are pointed out.
{"title":"Chinese initiative in robotic development program","authors":"T. Tarn","doi":"10.1109/ARSO.2005.1511608","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511608","url":null,"abstract":"Summary form only given. In the last few decades, a silent revolution is taking place. The exponential growth in microelectronic processing power has been achieved by ever decreasing the size of integrated circuits. These circuits which integrate electrical, mechanical and sometimes optical devices, have evolved from silicon revolution. It replaced big complex, costly systems with small, affordable, high performance microsystems. Microsystems are expected to further enable silicon chips to sense, \"think\", act, and communicate, in essence, to become intelligent machines. Structures of current microsystems are approaching fundamental limits and the next generation of devices might show unexpected properties due to quantum effects and fluctuations. A new research field is developing in which we pursue understanding of basic physics associated with such quantum structures, explore their controllability, and propose new devices. In this talk, we begin with a summary of engineering problem solving and proceed to discuss the impact of technology on the development of newly emerging discipline of soft computing and computational intelligence. The relationship between technology and intelligent mechatronics are pointed out.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"242 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114999566","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511646
Naoyulu Kubota, Kenichiro Nishida
This paper discusses the situated perception of a partner robot interacting with a human. The situated perception is based on the mutual cognitive environment discussed in relevance theory. It is very important to share actual environment in order to realize natural communication, because the meaning of natural language and gesture can be translated according to the surrounding environment. Next, we discuss the role of imitation based on gesture, and explain the method for imitative behavior generation. Finally, we show experimental results of situated perception, imitative behavior generation, and behavior coordination through interaction with a human.
{"title":"Situated perception of a partner robot based on neuro-fuzzy computing","authors":"Naoyulu Kubota, Kenichiro Nishida","doi":"10.1109/ARSO.2005.1511646","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511646","url":null,"abstract":"This paper discusses the situated perception of a partner robot interacting with a human. The situated perception is based on the mutual cognitive environment discussed in relevance theory. It is very important to share actual environment in order to realize natural communication, because the meaning of natural language and gesture can be translated according to the surrounding environment. Next, we discuss the role of imitation based on gesture, and explain the method for imitative behavior generation. Finally, we show experimental results of situated perception, imitative behavior generation, and behavior coordination through interaction with a human.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115116023","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511616
K. Franke, Lambert Schomaker, M. Koppen
The paper describes our studies on the influence of physical and biomechanical processes on the ink trace and aims at providing a solid foundation for enhanced signature analysis procedures. By means of a writing robot, simulated human handwriting movements are considered to study the relation between writing process characteristics and ink deposit on paper. Since the robot is able to take up different writing instruments like pencil, ballpoint or fine line pen, the type of inking pen was also varied in the experiments. The results of analyzing these artificial ink traces contribute to a better understanding of the underlying interaction processes and find its applications in the teaching, training, and forensic investigation. It comes out that position, velocity and pen force suffice to produce high quality ink traces, hardly distinguishable from original probes.
{"title":"Pen force emulating robotic writing device and its application","authors":"K. Franke, Lambert Schomaker, M. Koppen","doi":"10.1109/ARSO.2005.1511616","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511616","url":null,"abstract":"The paper describes our studies on the influence of physical and biomechanical processes on the ink trace and aims at providing a solid foundation for enhanced signature analysis procedures. By means of a writing robot, simulated human handwriting movements are considered to study the relation between writing process characteristics and ink deposit on paper. Since the robot is able to take up different writing instruments like pencil, ballpoint or fine line pen, the type of inking pen was also varied in the experiments. The results of analyzing these artificial ink traces contribute to a better understanding of the underlying interaction processes and find its applications in the teaching, training, and forensic investigation. It comes out that position, velocity and pen force suffice to produce high quality ink traces, hardly distinguishable from original probes.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"447 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123043512","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511624
F. Harashima
Summary form only given. Mechatronics is known as the discipline integrated by mechanical, electrical and information technology and has been used to produce advanced artifacts used in modern society, which has been developed through the interdisciplinary studies of diverse engineering fields. Our modern life is surrounded and enhanced by gadgets and gimmicks of mechatronics products, and those who use the products can get used to improve their operation skill. It is expected to develop mechatronics systems which are capable of adapting themselves to the level of the skill or dexterity of humans who use the systems. We need to find a new mechatronics discipline considering human in the closed loop. This may be named "human adaptive mechatronics" and is a new discipline of the integration of mechanical, electrical, information technology and human sciences. Its application fields are found in diverse fields from smart human-machine interface for tele-surgery operation to rehabilitation assisting machines. In this presentation, recent activities on human adaptive mechatronics are reviewed, and the future direction is discussed.
{"title":"Human adaptive mechatronics","authors":"F. Harashima","doi":"10.1109/ARSO.2005.1511624","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511624","url":null,"abstract":"Summary form only given. Mechatronics is known as the discipline integrated by mechanical, electrical and information technology and has been used to produce advanced artifacts used in modern society, which has been developed through the interdisciplinary studies of diverse engineering fields. Our modern life is surrounded and enhanced by gadgets and gimmicks of mechatronics products, and those who use the products can get used to improve their operation skill. It is expected to develop mechatronics systems which are capable of adapting themselves to the level of the skill or dexterity of humans who use the systems. We need to find a new mechatronics discipline considering human in the closed loop. This may be named \"human adaptive mechatronics\" and is a new discipline of the integration of mechanical, electrical, information technology and human sciences. Its application fields are found in diverse fields from smart human-machine interface for tele-surgery operation to rehabilitation assisting machines. In this presentation, recent activities on human adaptive mechatronics are reviewed, and the future direction is discussed.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128602694","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511660
M. Mizukawa
In the near future, the RT is embedded and distributed in the daily life environment and various equipments to provide not only information services but physical services such as physical assistance in our daily life. For this service integration, the development of the RT components and the middleware service are inevitable. In this paper, the RT (robot technology) application extension and the RT middleware are overviewed and discussed.
{"title":"Robot technology (RT) trend and standardization","authors":"M. Mizukawa","doi":"10.1109/ARSO.2005.1511660","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511660","url":null,"abstract":"In the near future, the RT is embedded and distributed in the daily life environment and various equipments to provide not only information services but physical services such as physical assistance in our daily life. For this service integration, the development of the RT components and the middleware service are inevitable. In this paper, the RT (robot technology) application extension and the RT middleware are overviewed and discussed.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121153606","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511661
N. Matsuhira, F. Ozaki, H. Ogawa, T. Yoshimi, H. Hashimoto
In this paper, the information services of "ApriAlpha/spl trade/" such as news reading, controlling home appliances, and question-answer system for recipes using network technologies are explained. ApriAlpha is a mobile home robot which can offer security and information services. The robot acts as a voice controlled human interface, thus you can use ApriAlpha/spl trade/ anytime and anywhere even you are busy doing something. ApriAlpha's controller is built based on Toshiba's open robot controller architecture (ORCA) to make easy integration of the technologies such as an agent, UPnP/spl trade/, and question-answer technologies. The practicability of the ApriAlpha/spl trade/ has been expanded by cooperating with networked home appliances. Finally, the infrastructure improvement for the physical environment is described to realize more home robots in practical use.
{"title":"Expanding practicability of ApriAlpha in cooperation with networked home appliances","authors":"N. Matsuhira, F. Ozaki, H. Ogawa, T. Yoshimi, H. Hashimoto","doi":"10.1109/ARSO.2005.1511661","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511661","url":null,"abstract":"In this paper, the information services of \"ApriAlpha/spl trade/\" such as news reading, controlling home appliances, and question-answer system for recipes using network technologies are explained. ApriAlpha is a mobile home robot which can offer security and information services. The robot acts as a voice controlled human interface, thus you can use ApriAlpha/spl trade/ anytime and anywhere even you are busy doing something. ApriAlpha's controller is built based on Toshiba's open robot controller architecture (ORCA) to make easy integration of the technologies such as an agent, UPnP/spl trade/, and question-answer technologies. The practicability of the ApriAlpha/spl trade/ has been expanded by cooperating with networked home appliances. Finally, the infrastructure improvement for the physical environment is described to realize more home robots in practical use.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116289290","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511651
H. Kobayashi, S. Yokota, P. Blazevic
This paper shows a method to generate an autonomous motor coordination for mobile robots. The method is to let robots learn their own walking strategy by trials and errors, namely by training in virtual environments. By using a dynamics engine, the robot training is done in various virtual environments under genetic algorithm with a proper natural selection.
{"title":"Gene creation for a mobile robot by virtual training","authors":"H. Kobayashi, S. Yokota, P. Blazevic","doi":"10.1109/ARSO.2005.1511651","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511651","url":null,"abstract":"This paper shows a method to generate an autonomous motor coordination for mobile robots. The method is to let robots learn their own walking strategy by trials and errors, namely by training in virtual environments. By using a dynamics engine, the robot training is done in various virtual environments under genetic algorithm with a proper natural selection.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131517190","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511623
T. Ikoma
Summary form only given. In the course of last two decades, IT created a vast virtual space called cyberworld. IT researchers have been trying to unify the real world that we actually live in and the ever growing cyberworld. There seems to be an essential limit to their efforts to combine the two, as their efforts focus on developing interfaces between the two worlds based on exchange of information poorly abstracted from the reality. On the other hand, the rapidly evolving robotics technology is now enabling support, enhancement, and replacement of human motion, daily activities, and even, in part, thinking. We believe creation of a new technology dealing with both real world and cyberworld as an entity should go beyond the IT's limitation, and is one of the most important lines of future Japanese R&D. Two of Japan's strong technology bases, robotics technology and information technology can join forces in creating the new area. We name this new area as IRT, abbreviating information and robotics technology. IRT can contribute to some vital visions of our society, including health and amenity, safety and security, and, sustainable development. We have illustrated the IRT's contributions as twelve "IRT platforms". The level of unit technologies for realizing each IRT platform are so highly set as to drive breakthroughs in the current key technologies, and further to promote basic scientific researches. As IRT research is transdisciplinary by nature, we should design IRT's R&D scheme so as to be effectively promoted by a variety of research players. What we should take into account is effective operation of multi-ministrial funding systems, effective research scheme of industry-academia-government collaboration, and aggressively innovative funding schemes.
{"title":"IRT strategic initiative R&D funding strategy for a new technology area unifying RT and IT","authors":"T. Ikoma","doi":"10.1109/ARSO.2005.1511623","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511623","url":null,"abstract":"Summary form only given. In the course of last two decades, IT created a vast virtual space called cyberworld. IT researchers have been trying to unify the real world that we actually live in and the ever growing cyberworld. There seems to be an essential limit to their efforts to combine the two, as their efforts focus on developing interfaces between the two worlds based on exchange of information poorly abstracted from the reality. On the other hand, the rapidly evolving robotics technology is now enabling support, enhancement, and replacement of human motion, daily activities, and even, in part, thinking. We believe creation of a new technology dealing with both real world and cyberworld as an entity should go beyond the IT's limitation, and is one of the most important lines of future Japanese R&D. Two of Japan's strong technology bases, robotics technology and information technology can join forces in creating the new area. We name this new area as IRT, abbreviating information and robotics technology. IRT can contribute to some vital visions of our society, including health and amenity, safety and security, and, sustainable development. We have illustrated the IRT's contributions as twelve \"IRT platforms\". The level of unit technologies for realizing each IRT platform are so highly set as to drive breakthroughs in the current key technologies, and further to promote basic scientific researches. As IRT research is transdisciplinary by nature, we should design IRT's R&D scheme so as to be effectively promoted by a variety of research players. What we should take into account is effective operation of multi-ministrial funding systems, effective research scheme of industry-academia-government collaboration, and aggressively innovative funding schemes.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127620467","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511663
M. Narita, M. Shimamura
As the robot technology extends its coverage to social activities such as entertainment and home-use, the "robot service"-services on a network provided by robot (e.g., home security, information inquiry, and others), is becoming one of key area to expand robot market. RSi (robot services initiative) was established in 2004 to promote robot service. RSi has conducted several experiments of actual use of the services in order to promote the robot services. RSi is also developing robot service specification based on these experiments. In this paper, we report the RSi activities on robot services, which spread to the home and the office in the future.
{"title":"A report on RSi (robot services initiative) activities","authors":"M. Narita, M. Shimamura","doi":"10.1109/ARSO.2005.1511663","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511663","url":null,"abstract":"As the robot technology extends its coverage to social activities such as entertainment and home-use, the \"robot service\"-services on a network provided by robot (e.g., home security, information inquiry, and others), is becoming one of key area to expand robot market. RSi (robot services initiative) was established in 2004 to promote robot service. RSi has conducted several experiments of actual use of the services in order to promote the robot services. RSi is also developing robot service specification based on these experiments. In this paper, we report the RSi activities on robot services, which spread to the home and the office in the future.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123931512","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 : 2005-06-12DOI: 10.1109/ARSO.2005.1511613
M. Jung, H. Myung, Hyoung-Ki Lee, S. Bang
Since the unveil of its first prototype of robot vacuum cleaner in 2003, Samsung Electronics, Korea (SEK) has been developing a commercial version with an onboard global localization system. Global localization can be either problematic or trivial depending on the geometry of the operation field, and affordable sensors on or off the robot. It is generally accepted that home environments are one of the most harsh to artifacts due to the unstructured and unpredictable factors within them. Price limits and average users' reluctance to put off-robot localization sensors at or modify home interior to ease the localization make the situation still more difficult. In this paper, we introduce one of the on-board localization sensor systems developed at Samsung Advanced Institute of Technology for possible installation on SEK's commercial home robots. Application results to home SLAMs (simultaneous localization and mappings) are also reported. The system with an ordinary B/W camera and low power LD was relatively cheap compared to a TOF (time of flight) based laser range finder but showed its efficacy in that its laterally dense property made it possible to find a small corners such as arm rests or door-edges, often existing in home environments, within its reliable sensing range (four meters typically). Undesirable external effects caused by e.g. sunlights or other light sources are rejected using the Bayes' rule.
{"title":"Ambiguity resolving in structured light 2D range finder for SLAM operation for home robot applications","authors":"M. Jung, H. Myung, Hyoung-Ki Lee, S. Bang","doi":"10.1109/ARSO.2005.1511613","DOIUrl":"https://doi.org/10.1109/ARSO.2005.1511613","url":null,"abstract":"Since the unveil of its first prototype of robot vacuum cleaner in 2003, Samsung Electronics, Korea (SEK) has been developing a commercial version with an onboard global localization system. Global localization can be either problematic or trivial depending on the geometry of the operation field, and affordable sensors on or off the robot. It is generally accepted that home environments are one of the most harsh to artifacts due to the unstructured and unpredictable factors within them. Price limits and average users' reluctance to put off-robot localization sensors at or modify home interior to ease the localization make the situation still more difficult. In this paper, we introduce one of the on-board localization sensor systems developed at Samsung Advanced Institute of Technology for possible installation on SEK's commercial home robots. Application results to home SLAMs (simultaneous localization and mappings) are also reported. The system with an ordinary B/W camera and low power LD was relatively cheap compared to a TOF (time of flight) based laser range finder but showed its efficacy in that its laterally dense property made it possible to find a small corners such as arm rests or door-edges, often existing in home environments, within its reliable sensing range (four meters typically). Undesirable external effects caused by e.g. sunlights or other light sources are rejected using the Bayes' rule.","PeriodicalId":443174,"journal":{"name":"IEEE Workshop on Advanced Robotics and its Social Impacts, 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129396000","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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