Pub Date : 2017-06-19DOI: 10.1109/ISIE.2017.8001491
A. Morozov, O. Sushkova, A. F. Polupanov
An approach to the 3D intelligent video surveillance based on the means of the object-oriented logic programming is proposed. In contrast to the conventional 2D video surveillance, the methods of 3D vision provide reliable recognition of parts of the human body that makes possible a new statement of the problem and efficient practical application of methods of people behaviour analysis in the video surveillance systems. The logic-based approach to the intelligent video surveillance allows easily definition of people complex behaviour in terms of simpler activities and postures. The goal of this work is to implement the advantages of the logic programming approach in the area of 3D intelligent video surveillance.
{"title":"Object-oriented logic programming of 3D intelligent video surveillance: The problem statement","authors":"A. Morozov, O. Sushkova, A. F. Polupanov","doi":"10.1109/ISIE.2017.8001491","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001491","url":null,"abstract":"An approach to the 3D intelligent video surveillance based on the means of the object-oriented logic programming is proposed. In contrast to the conventional 2D video surveillance, the methods of 3D vision provide reliable recognition of parts of the human body that makes possible a new statement of the problem and efficient practical application of methods of people behaviour analysis in the video surveillance systems. The logic-based approach to the intelligent video surveillance allows easily definition of people complex behaviour in terms of simpler activities and postures. The goal of this work is to implement the advantages of the logic programming approach in the area of 3D intelligent video surveillance.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"103 1","pages":"1631-1636"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83166654","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001512
Y. Kunii, Gábor Kovács, Naoaki Hoshi
In this paper the authors introduce a method focusing on the robustness improvement of the landmark tracking system for mobile robot operation in natural environments. We extract feature points from the data obtained by a stereo vision system with CenSurE (Center Surround Extremas for Realtime Feature Detection and Matching) used as a detector, and FREAK (Fast Retina Keypoint) as a descriptor. RANSAC (RANdom SAmple Consensus) is used to remove outlier data from the feature points in order to increase precision. For self-localization, landmarks are selected from the surroundings. These landmarks are tracked by a template matching method using ZNCC (Zero-Mean Normalized Cross-Correlation) complemented with visual odometry based motion estimation. For performance purposes, this is combined with UKF (Unscented Kalman Filter) for narrowing the landmark search areas. A template update strategy suitable for long range tracking is also introduced. Finally, for increasing robustness in long range operation, we solve the issue of obscured/temporarily out of frame landmark tracking by estimating their position based on nearby visible landmarks.
{"title":"Mobile robot navigation in natural environments using robust object tracking","authors":"Y. Kunii, Gábor Kovács, Naoaki Hoshi","doi":"10.1109/ISIE.2017.8001512","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001512","url":null,"abstract":"In this paper the authors introduce a method focusing on the robustness improvement of the landmark tracking system for mobile robot operation in natural environments. We extract feature points from the data obtained by a stereo vision system with CenSurE (Center Surround Extremas for Realtime Feature Detection and Matching) used as a detector, and FREAK (Fast Retina Keypoint) as a descriptor. RANSAC (RANdom SAmple Consensus) is used to remove outlier data from the feature points in order to increase precision. For self-localization, landmarks are selected from the surroundings. These landmarks are tracked by a template matching method using ZNCC (Zero-Mean Normalized Cross-Correlation) complemented with visual odometry based motion estimation. For performance purposes, this is combined with UKF (Unscented Kalman Filter) for narrowing the landmark search areas. A template update strategy suitable for long range tracking is also introduced. Finally, for increasing robustness in long range operation, we solve the issue of obscured/temporarily out of frame landmark tracking by estimating their position based on nearby visible landmarks.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"2 1","pages":"1747-1752"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83567629","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001493
Paolo Mercorelli, T. Voss, Daniel Strassberger, O. Sergiyenko, L. Lindner
Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.
{"title":"Optimal trajectory generation using MPC in robotino and its implementation with ROS system","authors":"Paolo Mercorelli, T. Voss, Daniel Strassberger, O. Sergiyenko, L. Lindner","doi":"10.1109/ISIE.2017.8001493","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001493","url":null,"abstract":"Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented at the end of the contribution.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"7 1","pages":"1642-1647"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74804656","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001580
P. Branchini, Andrea Fabbh, Domenico Riondino, L. Mariucci, M. Rapisarda, A. Valletta, A. Aloisio, F. Capua
Multi-flngered OTFTs, with staggered top-gate configuration have been fabricated on flexible polyethylene-naphtalate (PEN) substrates (100 μm thick). Inkjet printing technique has been used to setup the silver contacts, while the organic layers and the dielectric fluoropolymer have been deposited by spin-coating. The p-type polymeric semiconductor is a solution processed 6,13-bis(triisopropyl-silyletynyl) pentacene. The semiconductor layer thickness is about 30 nm, while the dielectric fluoropolymer is 400 nm thick. These transistors have been characterized and a DC, and a transient accurate models have been developed and imported in CADENCE. Finally, SPECTRE has been used to simulate model circuits based on such a device. In this work we describe the design of high frequency logic gates and preliminary flip-flops design, exploiting PMOS organic transistor and its expected performances.
{"title":"Logic gates and memory elements design and simulation using PMOS organic transistor","authors":"P. Branchini, Andrea Fabbh, Domenico Riondino, L. Mariucci, M. Rapisarda, A. Valletta, A. Aloisio, F. Capua","doi":"10.1109/ISIE.2017.8001580","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001580","url":null,"abstract":"Multi-flngered OTFTs, with staggered top-gate configuration have been fabricated on flexible polyethylene-naphtalate (PEN) substrates (100 μm thick). Inkjet printing technique has been used to setup the silver contacts, while the organic layers and the dielectric fluoropolymer have been deposited by spin-coating. The p-type polymeric semiconductor is a solution processed 6,13-bis(triisopropyl-silyletynyl) pentacene. The semiconductor layer thickness is about 30 nm, while the dielectric fluoropolymer is 400 nm thick. These transistors have been characterized and a DC, and a transient accurate models have been developed and imported in CADENCE. Finally, SPECTRE has been used to simulate model circuits based on such a device. In this work we describe the design of high frequency logic gates and preliminary flip-flops design, exploiting PMOS organic transistor and its expected performances.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"89 1","pages":"2097-2101"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80276865","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001217
Wenzhou Lu, Manman Xue, Jiqiang Xu, Haiying Chen
This paper proposed the repetitive controller (RC) controlled single-phase micro-grid power converter system with nonlinear load. Conventional RC (CRC) and 4k±1-order harmonic RC (4ı1 RC) added into a propositional controller are chosen as the controllers to achieve micro-grid power balance between dc-side and load, unit power factor, and zero-error grid current tracking its reference. Moreover, 4k±1 RC has faster grid current error convergence rate than CRC. Finally, a simulation example of 4k±1 RC controlled single-phase micro-grid power converter system with nonlinear load is provided to verify its effectiveness and advantageous.
{"title":"Ak±1-order harmonic repetitive controller for single-phase micro-grid power converter system with nonlinear loads","authors":"Wenzhou Lu, Manman Xue, Jiqiang Xu, Haiying Chen","doi":"10.1109/ISIE.2017.8001217","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001217","url":null,"abstract":"This paper proposed the repetitive controller (RC) controlled single-phase micro-grid power converter system with nonlinear load. Conventional RC (CRC) and 4k±1-order harmonic RC (4ı1 RC) added into a propositional controller are chosen as the controllers to achieve micro-grid power balance between dc-side and load, unit power factor, and zero-error grid current tracking its reference. Moreover, 4k±1 RC has faster grid current error convergence rate than CRC. Finally, a simulation example of 4k±1 RC controlled single-phase micro-grid power converter system with nonlinear load is provided to verify its effectiveness and advantageous.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"42 1","pages":"21-25"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85806663","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001397
R. L'Orsa, C. Macnab
Using compliant joints and haptic feedback are two methods that could improve next-generation teleoperated systems, but both methods present challenges to traditional control systems. This paper describes the first experimental investigation of a new approach to real-time haptic control for teleoperated robots with compliant joints. One original aspect of the approach is using an auxiliary error, in which a velocity penalty is added to the force error. Also, the method utilizes a Cerebellar Model Articulation Controller (CMAC), a type of neural network known for its rapid adaptation. The adaptive neural network compensates for unknown nonlinear system dynamics, interaction with unstructured environments, and non-passive operator behaviour in real-time. The auxiliary error damps vibrations and allows for control of the robot in free space without the need for control switching. In real-time experiments with both computer-generated trajectories and full bilateral teleoperation, the proposed controller tracks torque as well as a custom PID controller and outperforms the PID during free-space velocity tracking. In addition, the proposed approach causes significantly less control signal chatter than the PID during full bilateral teleoperation. A Lyapunov analysis guarantees that the proposed controller has uniformly ultimately bounded signals.
{"title":"Experimental evaluation of adaptive CMAC haptic control for teleoperation of compliant-joint manipulators","authors":"R. L'Orsa, C. Macnab","doi":"10.1109/ISIE.2017.8001397","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001397","url":null,"abstract":"Using compliant joints and haptic feedback are two methods that could improve next-generation teleoperated systems, but both methods present challenges to traditional control systems. This paper describes the first experimental investigation of a new approach to real-time haptic control for teleoperated robots with compliant joints. One original aspect of the approach is using an auxiliary error, in which a velocity penalty is added to the force error. Also, the method utilizes a Cerebellar Model Articulation Controller (CMAC), a type of neural network known for its rapid adaptation. The adaptive neural network compensates for unknown nonlinear system dynamics, interaction with unstructured environments, and non-passive operator behaviour in real-time. The auxiliary error damps vibrations and allows for control of the robot in free space without the need for control switching. In real-time experiments with both computer-generated trajectories and full bilateral teleoperation, the proposed controller tracks torque as well as a custom PID controller and outperforms the PID during free-space velocity tracking. In addition, the proposed approach causes significantly less control signal chatter than the PID during full bilateral teleoperation. A Lyapunov analysis guarantees that the proposed controller has uniformly ultimately bounded signals.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"34 1","pages":"1087-1092"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78073316","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001431
S. Azimi, Annarita Moramarco, L. Sterpone
Automotive systems embed an increasing number of heterogeneous devices and architectures that lead the effective reliability analysis a major challenge. With the advent of integrated Virtual Environment, complex system design and simulation have been made possible thanks to the integration of various simulator engines within a unique development platform. In this paper we develop a Fault Injection tool able to inject Single Event Upsets (SEUs) using a Virtual Prototype simulation environment. The developed method results powerful and effective to observe the overall system dependability and characterize the fault tolerance capability of any type of SW/HW module included in the system. Experimental results obtained with an analysis of a gear-shift automotive application demonstrated the feasibility of the developed method.
{"title":"Reliability evaluation of heterogeneous systems-on-chip for automotive ECUs","authors":"S. Azimi, Annarita Moramarco, L. Sterpone","doi":"10.1109/ISIE.2017.8001431","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001431","url":null,"abstract":"Automotive systems embed an increasing number of heterogeneous devices and architectures that lead the effective reliability analysis a major challenge. With the advent of integrated Virtual Environment, complex system design and simulation have been made possible thanks to the integration of various simulator engines within a unique development platform. In this paper we develop a Fault Injection tool able to inject Single Event Upsets (SEUs) using a Virtual Prototype simulation environment. The developed method results powerful and effective to observe the overall system dependability and characterize the fault tolerance capability of any type of SW/HW module included in the system. Experimental results obtained with an analysis of a gear-shift automotive application demonstrated the feasibility of the developed method.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"12 1","pages":"1291-1296"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87408741","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001225
Carlos Xavier Rosero, P. Martí, M. Velasco, M. Castilla, J. Miret, Antonio Camacho
The application of consensus theory in the control of islanded microgrids (MG) is gaining increased attention because it facilitates the development of distributed control solutions. In particular, its application to active power sharing and frequency regulation has lead to satisfactory results. This paper analyses the effect that local clock drifts have in the parallel operation of voltage source inverters (VSIs) in islanded microgrids (MG) when governed by a distributed consensus algorithm. Analytical expressions that relate the steady-state frequency and active power as a function of each VSI local drift are provided. These expressions allow extracting tuning rules for the consensus-based control algorithm. Simulation results permit corroborating the theoretical analysis.
{"title":"Consensus for active power sharing and frequency restoration in islanded microgrids subject to drifting clocks","authors":"Carlos Xavier Rosero, P. Martí, M. Velasco, M. Castilla, J. Miret, Antonio Camacho","doi":"10.1109/ISIE.2017.8001225","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001225","url":null,"abstract":"The application of consensus theory in the control of islanded microgrids (MG) is gaining increased attention because it facilitates the development of distributed control solutions. In particular, its application to active power sharing and frequency regulation has lead to satisfactory results. This paper analyses the effect that local clock drifts have in the parallel operation of voltage source inverters (VSIs) in islanded microgrids (MG) when governed by a distributed consensus algorithm. Analytical expressions that relate the steady-state frequency and active power as a function of each VSI local drift are provided. These expressions allow extracting tuning rules for the consensus-based control algorithm. Simulation results permit corroborating the theoretical analysis.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"17 1","pages":"70-75"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75187547","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001302
Hirotaka Nakayama, R. Tanaka, Y. Ishida, N. Matsumoto
In this paper, we propose a perfect model-following (PMF) system using active disturbance rejection control (ADRC). Simulation results show that the plant output follows the desired reference model output. By using the ADRC, we can ignore the parameter errors of the plant. Also the proposed method is designed a model following system, even if the order of the plant is different from that of the model.
{"title":"Perfect model-following system using active disturbance rejection control","authors":"Hirotaka Nakayama, R. Tanaka, Y. Ishida, N. Matsumoto","doi":"10.1109/ISIE.2017.8001302","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001302","url":null,"abstract":"In this paper, we propose a perfect model-following (PMF) system using active disturbance rejection control (ADRC). Simulation results show that the plant output follows the desired reference model output. By using the ADRC, we can ignore the parameter errors of the plant. Also the proposed method is designed a model following system, even if the order of the plant is different from that of the model.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"91 1","pages":"533-538"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82298112","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 : 2017-06-19DOI: 10.1109/ISIE.2017.8001482
D. Alonso, J. A. Pastor, B. Álvarez, Tanya Suárez, Igor Tasic
Entrepreneurship has been gaining momentum is Europe over the last years as a way to reduce unemployment levels, and in line with the take-off of the digital economy in the world. Entrepreneurship education is still an open research area, with many courses being launched in almost all universities. We describe our experience in running a summer school and mentoring the teams created in the context of the EU-XCeL project, and ICT focused project funded by European Union's Horizon 2020 Research and Innovation Programme. From this experience, we extract some conclusions and recommendations for preparing better courses and learning experiences, and we also advocate for courses mixing students from different Degrees studies, mainly Engineering and Business, for improving the experience and the course outcomes, especially for students of Engineering Degrees.
{"title":"Improving the learning experience and outcomes in entrepreneurial courses","authors":"D. Alonso, J. A. Pastor, B. Álvarez, Tanya Suárez, Igor Tasic","doi":"10.1109/ISIE.2017.8001482","DOIUrl":"https://doi.org/10.1109/ISIE.2017.8001482","url":null,"abstract":"Entrepreneurship has been gaining momentum is Europe over the last years as a way to reduce unemployment levels, and in line with the take-off of the digital economy in the world. Entrepreneurship education is still an open research area, with many courses being launched in almost all universities. We describe our experience in running a summer school and mentoring the teams created in the context of the EU-XCeL project, and ICT focused project funded by European Union's Horizon 2020 Research and Innovation Programme. From this experience, we extract some conclusions and recommendations for preparing better courses and learning experiences, and we also advocate for courses mixing students from different Degrees studies, mainly Engineering and Business, for improving the experience and the course outcomes, especially for students of Engineering Degrees.","PeriodicalId":6597,"journal":{"name":"2017 IEEE 26th International Symposium on Industrial Electronics (ISIE)","volume":"44 1","pages":"1581-1586"},"PeriodicalIF":0.0,"publicationDate":"2017-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87873192","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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