Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197092
Dominik Luczak
This paper presents analysis of mechanical resonance in direct drive servo-mechanical systems. For this purpose frequency analysis was used. Motor speed signal was analysed by Fourier transform to find mechanical resonance frequencies. Presented methods were verified by simulation.
{"title":"Frequency analysis of mechanical resonance in direct drive","authors":"Dominik Luczak","doi":"10.1109/AMC.2012.6197092","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197092","url":null,"abstract":"This paper presents analysis of mechanical resonance in direct drive servo-mechanical systems. For this purpose frequency analysis was used. Motor speed signal was analysed by Fourier transform to find mechanical resonance frequencies. Presented methods were verified by simulation.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"44 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85349238","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197036
Y. Maeda, M. Iwasaki
This paper presents a novel feedback (FB) controller design methodology for the fast and precise positioning of mechatronic systems. Improvement of the disturbance suppression performance is a general and important index in the FB controller design to realize the precision performance. However, since the stability of the FB system generally limits the disturbance suppression capability, improvement of both the disturbance suppression and the stability should be difficult to achieve. In this study, therefore, a FB controller which considers the stability margins (i.e. gain and phase margins) is designed on the basis of a circle condition on the nyquist diagram, to achieve the required disturbance suppression with the desired stability margins. Effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of linear motor-driven table systems.
{"title":"A feedback controller design based on circle condition for improvement of disturbance suppression","authors":"Y. Maeda, M. Iwasaki","doi":"10.1109/AMC.2012.6197036","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197036","url":null,"abstract":"This paper presents a novel feedback (FB) controller design methodology for the fast and precise positioning of mechatronic systems. Improvement of the disturbance suppression performance is a general and important index in the FB controller design to realize the precision performance. However, since the stability of the FB system generally limits the disturbance suppression capability, improvement of both the disturbance suppression and the stability should be difficult to achieve. In this study, therefore, a FB controller which considers the stability margins (i.e. gain and phase margins) is designed on the basis of a circle condition on the nyquist diagram, to achieve the required disturbance suppression with the desired stability margins. Effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of linear motor-driven table systems.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"59 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91004214","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197012
R. Horvat, K. Jezernik, M. Ćurković
A mechatronic system consists of a mechanical system and electric actuators. The event-driven control of a mechatronic system was implemented on a field-programmable gate-array (FPGA) platform. The supervisor provides robust, safe, and transparent control, where the FSM defines all the possible directions for implementation. In order make supervisor more transparent, the FSM was divided into three main parts, with three main colours (green, yellow and red - semaphore). These colours indicate the condition of the system. The supervisor was upgraded with a Graphic user interface (GUI) with indicators that directly show the state of the FSM. The GUI includes additional logical I/O signals, in order to make system more useful. The supervisor is executed parallel with the basic motor control on the FPGA. This paper presents the robust current controller of the brushless ac (BLAC) motor, upgraded with a classical PI velocity controller. The application of the proposed ECA-based method is illustrated using the example of the FSM motion control of a BLAC motor with integrated I/O signals.
{"title":"Event-driven approach to control mechatronic system with FPGA","authors":"R. Horvat, K. Jezernik, M. Ćurković","doi":"10.1109/AMC.2012.6197012","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197012","url":null,"abstract":"A mechatronic system consists of a mechanical system and electric actuators. The event-driven control of a mechatronic system was implemented on a field-programmable gate-array (FPGA) platform. The supervisor provides robust, safe, and transparent control, where the FSM defines all the possible directions for implementation. In order make supervisor more transparent, the FSM was divided into three main parts, with three main colours (green, yellow and red - semaphore). These colours indicate the condition of the system. The supervisor was upgraded with a Graphic user interface (GUI) with indicators that directly show the state of the FSM. The GUI includes additional logical I/O signals, in order to make system more useful. The supervisor is executed parallel with the basic motor control on the FPGA. This paper presents the robust current controller of the brushless ac (BLAC) motor, upgraded with a classical PI velocity controller. The application of the proposed ECA-based method is illustrated using the example of the FSM motion control of a BLAC motor with integrated I/O signals.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75175184","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197095
Nozomi Suzuki, S. Katsura
Recently, the teleoperation robot which transmits tactile sensation has actively been researched following visual and audio information. For the realization of haptic transmission, a master and slave system is utilized and these systems have to be connected via network in actual applications. In communication via network, it is known that a communication delay, packet loss and jitter are undesirable effects on control system occur. Moreover, large burst loss may also occur in wireless mobile communication by changing access points for the expansion of the range of communication. In order to realize vivid haptic transmission through network, hard real-time property and transfer reliability are demanded. There are many conventional studies which focus on communication delay, on the other hand, studies about the reliability of data transfer on haptic communication are not conducted so much. Therefore, this study pays attention to the burst loss by hand over in wireless haptic communication. To tackle this problem, this paper proposes new haptic transmission method which uses multiple-routes. By using the method, the effect of the burst loss is decreased in communication with the single route. The viability of the proposal is shown by two kinds of experimental results of bilateral control. The one is stationary system, and the other one is mobile system. As for the experiment of the mobile system, this study uses the newly-developed mobile-hapto.
{"title":"Data transmission with multiple-routes for wireless haptic communication system","authors":"Nozomi Suzuki, S. Katsura","doi":"10.1109/AMC.2012.6197095","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197095","url":null,"abstract":"Recently, the teleoperation robot which transmits tactile sensation has actively been researched following visual and audio information. For the realization of haptic transmission, a master and slave system is utilized and these systems have to be connected via network in actual applications. In communication via network, it is known that a communication delay, packet loss and jitter are undesirable effects on control system occur. Moreover, large burst loss may also occur in wireless mobile communication by changing access points for the expansion of the range of communication. In order to realize vivid haptic transmission through network, hard real-time property and transfer reliability are demanded. There are many conventional studies which focus on communication delay, on the other hand, studies about the reliability of data transfer on haptic communication are not conducted so much. Therefore, this study pays attention to the burst loss by hand over in wireless haptic communication. To tackle this problem, this paper proposes new haptic transmission method which uses multiple-routes. By using the method, the effect of the burst loss is decreased in communication with the single route. The viability of the proposal is shown by two kinds of experimental results of bilateral control. The one is stationary system, and the other one is mobile system. As for the experiment of the mobile system, this study uses the newly-developed mobile-hapto.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"142 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74766068","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197098
M. Shibata, Naoya Ushigome, Masahide Ito
The paper proposes a novel method for estimating the optical flows from the sequentially captured images with using their own color information. The gradient method is well known as one of the conventional methods to estimate the flows, and then the spatial and temporal derivative of the images are used in the method. Since the color images have richer information than the monochrome ones, they should contribute for estimating the more precise optical flows. In our approach, the color derivative vector (CDV) is introduced to bring out the information in the color images for the optical flow estimation. The CDV is derived from the derivatives of color images, and the optimal CDV provides the concrete weighting values of the RGB data. The optimal CDV is obtained with using the eigenvalues and the eigenvectors of the matrix consisting of the spatial and temporal color derivatives.
{"title":"Optical flow generation in color images with using color derivative vector","authors":"M. Shibata, Naoya Ushigome, Masahide Ito","doi":"10.1109/AMC.2012.6197098","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197098","url":null,"abstract":"The paper proposes a novel method for estimating the optical flows from the sequentially captured images with using their own color information. The gradient method is well known as one of the conventional methods to estimate the flows, and then the spatial and temporal derivative of the images are used in the method. Since the color images have richer information than the monochrome ones, they should contribute for estimating the more precise optical flows. In our approach, the color derivative vector (CDV) is introduced to bring out the information in the color images for the optical flow estimation. The CDV is derived from the derivatives of color images, and the optimal CDV provides the concrete weighting values of the RGB data. The optimal CDV is obtained with using the eigenvalues and the eigenvectors of the matrix consisting of the spatial and temporal color derivatives.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"55 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73830740","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197145
S. Gallo, L. Santos-Carreras, G. Rognini, M. Hara, A. Yamamoto, T. Higuchi
Surgical robotics is among the most challenging applications of motion control. Present and future systems are essentially master-slave systems. Our work focuses on force-feedback and haptic interfaces. In this context, we study multimodal haptic interfaces, i.e. the fusion of force-feedback, with other tactile information such as temperature or pressure. First results support the proposition that such multimodal haptic devices can help improve surgeon's dexterity and motion control. In order to strengthen this point, we investigate the psychophysics of thermal perception. This paper presents a device for temperature feedback that can be integrated in a multimodal haptic console. A finger sized tactile temperature display able to generate temperature gradients under the fingertip is presented along with first measurement results.
{"title":"Towards multimodal haptics for teleoperation: Design of a tactile thermal display","authors":"S. Gallo, L. Santos-Carreras, G. Rognini, M. Hara, A. Yamamoto, T. Higuchi","doi":"10.1109/AMC.2012.6197145","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197145","url":null,"abstract":"Surgical robotics is among the most challenging applications of motion control. Present and future systems are essentially master-slave systems. Our work focuses on force-feedback and haptic interfaces. In this context, we study multimodal haptic interfaces, i.e. the fusion of force-feedback, with other tactile information such as temperature or pressure. First results support the proposition that such multimodal haptic devices can help improve surgeon's dexterity and motion control. In order to strengthen this point, we investigate the psychophysics of thermal perception. This paper presents a device for temperature feedback that can be integrated in a multimodal haptic console. A finger sized tactile temperature display able to generate temperature gradients under the fingertip is presented along with first measurement results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"36 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74088811","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197096
N. Oda, Junichi Yoneda, T. Abe
This paper presents an image-based visual feedback control for stabilizing the motion of biped walking robot. The appropriate flexibility around ankle joints are given mechanically, and then the zero moment point (ZMP) can be detected by using only vision sensor mounted on the robot in the proposed approach. In the paper, the image-based visual feedback control is designed for getting compliant and stable contact between foot sole and ground, and ZMP stabilizer by using rotational motion around center of gravity is simultaneously implemented for dynamically balanced motion in the image-based visual feedback manner. The control performance of the proposed method is evaluated by several experimental results.
{"title":"Image-based visual feedback control for biped walking robot","authors":"N. Oda, Junichi Yoneda, T. Abe","doi":"10.1109/AMC.2012.6197096","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197096","url":null,"abstract":"This paper presents an image-based visual feedback control for stabilizing the motion of biped walking robot. The appropriate flexibility around ankle joints are given mechanically, and then the zero moment point (ZMP) can be detected by using only vision sensor mounted on the robot in the proposed approach. In the paper, the image-based visual feedback control is designed for getting compliant and stable contact between foot sole and ground, and ZMP stabilizer by using rotational motion around center of gravity is simultaneously implemented for dynamically balanced motion in the image-based visual feedback manner. The control performance of the proposed method is evaluated by several experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84268707","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197123
Tomonori Yokoo, Mitsuyuki Yamada, S. Sakaino, S. Abe, T. Tsuji
With increasing demands for rehabilitation, the need for physical therapy robots is also increasing. This paper proposes the construction of a rehabilitation database inspired with medical cloud technologies. We discuss the possibility of establishing a new validation methodology by generating a database based on the data collected using rehabilitation equipment. In this research, data was obtained by rehabilitation equipment and statistical processing was applied to the data to investigate an example of a validation method. The experimental results suggest that improvement of tracking property of subjects is much larger than improvement of maneuverability.
{"title":"Development of a physical therapy robot for rehabilitation databases","authors":"Tomonori Yokoo, Mitsuyuki Yamada, S. Sakaino, S. Abe, T. Tsuji","doi":"10.1109/AMC.2012.6197123","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197123","url":null,"abstract":"With increasing demands for rehabilitation, the need for physical therapy robots is also increasing. This paper proposes the construction of a rehabilitation database inspired with medical cloud technologies. We discuss the possibility of establishing a new validation methodology by generating a database based on the data collected using rehabilitation equipment. In this research, data was obtained by rehabilitation equipment and statistical processing was applied to the data to investigate an example of a validation method. The experimental results suggest that improvement of tracking property of subjects is much larger than improvement of maneuverability.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"168 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84998902","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197041
Keisuke Sugawara, K. Ohnishi
An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore, in this paper, Actively-controllable endoscopic forceps is developed. This endoscopic forceps has 2-DOF which are for grasping motion and bending motion. By bending motion, the endoscopic forceps can keep or change posture by itself. In addition, friction associated with changing posture of the endoscopic forceps is modeled by least-square method. Finally, the friction models are applied to bilateral control system. Friction of the endoscopic forceps is compensated, and improvement of operational performance is achieved.
{"title":"Development of Actively-controllable endoscopic forceps","authors":"Keisuke Sugawara, K. Ohnishi","doi":"10.1109/AMC.2012.6197041","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197041","url":null,"abstract":"An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore, in this paper, Actively-controllable endoscopic forceps is developed. This endoscopic forceps has 2-DOF which are for grasping motion and bending motion. By bending motion, the endoscopic forceps can keep or change posture by itself. In addition, friction associated with changing posture of the endoscopic forceps is modeled by least-square method. Finally, the friction models are applied to bilateral control system. Friction of the endoscopic forceps is compensated, and improvement of operational performance is achieved.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"30 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82026601","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 : 2012-03-25DOI: 10.1109/AMC.2012.6197047
Midori Miyagaki, K. Ohnishi
Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain. In this paper, the bilateral control is proposed which can scale only force with arbitrary frequency domain. In a conventional method, force information with the arbitrary frequency domain is scaled with online Fourier transformation. Thus, there is a delay in the conventional method. In the proposed method, only slave force information is scaled by using the complex number as a scaling rate. The complex number scaling rate contains a function of a filter. As a result, the proposed method had no delay and could scale force with the arbitrary frequency domain. Stability analyses with root locus showed that the proposed method were stable. Frequency characteristics were also analyzed. Validity of the analyzed frequency characteristics was confirmed through experiments. In addition, the validity of the proposed method was shown through penetrating experiments by enhancing force at the instant of penetrating through a film.
{"title":"Micro macro bilateral control in the frequency domain","authors":"Midori Miyagaki, K. Ohnishi","doi":"10.1109/AMC.2012.6197047","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197047","url":null,"abstract":"Recently, a transmission of haptic senses is taken attention. • Bilateral control • is a technique of transmitting haptic senses of a remote environment with master-slave system. However, the original haptic senses of soft environments are so small that it is difficult to recognize. In that case, the recognition of the haptic senses becomes easier by scaling force information in the frequency domain. In this paper, the bilateral control is proposed which can scale only force with arbitrary frequency domain. In a conventional method, force information with the arbitrary frequency domain is scaled with online Fourier transformation. Thus, there is a delay in the conventional method. In the proposed method, only slave force information is scaled by using the complex number as a scaling rate. The complex number scaling rate contains a function of a filter. As a result, the proposed method had no delay and could scale force with the arbitrary frequency domain. Stability analyses with root locus showed that the proposed method were stable. Frequency characteristics were also analyzed. Validity of the analyzed frequency characteristics was confirmed through experiments. In addition, the validity of the proposed method was shown through penetrating experiments by enhancing force at the instant of penetrating through a film.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"9 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79687012","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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