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    Tytuł:
    Zastosowanie algorytmów planowania trajektorii dla mobilnych robotów kołowych
    The Use of path planning algorithms for wheeled mobile robots
    Autorzy:
    Buratowski, T.
    Uhl, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/157852.pdf
    Data publikacji:
    2005
    Wydawca:
    Stowarzyszenie Inżynierów i Techników Mechaników Polskich
    Tematy:
    algorytmy planowania trajektorii
    zastosowanie algorytmu
    mobilne roboty kołowe
    path planning algorithm
    using
    wheeled mobile robots
    Opis:
    W artykule przedstawiono kilka algorytmów planowania trajektorii dla mobilnych robotów kołowych, które między innymi zostały wybrane dla grupy robotów. W trakcie konstruowania prototypu urządzeń wykorzystano układy sensoryczne oparte o czujniki ultradźwiękowe oraz czujniki podczerwieni.
    This paper presents several path planning algorithms for mobile robots. In the process of mechatronic design, two sensors: ultrasonic and infrared have been applied.
    Źródło:
    Pomiary Automatyka Kontrola; 2005, R. 51, nr 11, 11; 17-20
    0032-4140
    Pojawia się w:
    Pomiary Automatyka Kontrola
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A collision avoidance algorithm in Simultaneous Localization and Mapping problem for mobile platforms
    Autorzy:
    Małecki, Tomasz
    Narkiewicz, Janusz
    Powiązania:
    https://bibliotekanauki.pl/articles/2086976.pdf
    Data publikacji:
    2022
    Wydawca:
    Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Tematy:
    algorithm
    modeling
    path planning
    SLAM
    Opis:
    A collision avoidance algorithm applicable in simultaneous localization and mapping (SLAM) has been developed with a prospect of an on-line application for mobile platforms to search and map the operation area and avoid contact with obstacles. The algorithm, which was implemented in MATLAB software, is based on a linear discrete-time state transition model for determination of the platform position and orientation, and a ‘force’ points method for collision avoidance and definition of the next-step of platform motion. The proposed approach may be incorporated into real-time applications with limited on-board computational resources.
    Źródło:
    Journal of Theoretical and Applied Mechanics; 2022, 60, 2; 317--328
    1429-2955
    Pojawia się w:
    Journal of Theoretical and Applied Mechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Distributed Evolutionary Algorithm for Path Planning in Navigation Situation
    Autorzy:
    Śmierzchalski, R.
    Kuczkowski, Ł.
    Kolendo, P.
    Jaworski, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/116175.pdf
    Data publikacji:
    2013
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    evolutionary algorithm
    path planning
    simulation environment
    Opis:
    This article presents the use of a multi‐population distributed evolutionary algorithm for path planning in navigation situation. The algorithm used is with partially exchanged population and migration between independently evolving populations. In this paper a comparison between a multi‐population and a classic single‐population algorithm takes place. The impact on the ultimate solution has been researched. It was shown that using several independent populations leads to an improvement of the ultimate solution compared to a single population approach. The concept was checked against a problem of maritime collision avoidance.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2013, 7, 2; 293-300
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A quick algorithm for planning a path for a biomimetic autonomous underwater vehicle
    Autorzy:
    Praczyk, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/135094.pdf
    Data publikacji:
    2016
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    path planning
    underwater vehicle
    autonomy
    collision avoidance
    automatic control
    effective planning algorithm
    Opis:
    Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with specialized software. The task of the software is to move the vehicle along a trajectory while avoiding collisions. In its role of avoiding obstacles, the vehicle may sometimes encounter situations in which it is very difficult to determine what the next movement should be from an ad hoc perspective. When such a situation occurs, a planning component of the vehicle software should be run with the task of charting a safe trajectory between nearby obstacles. This paper presents a new path planning algorithm for a Biomimetic Autonomous Underwater Vehicle. The main distinguishing feature of the algorithm is its high speed compared with such classic planning algorithms as A*. In addition to presenting the algorithm, this paper also summarizes preliminary experiments intended to assess the effectiveness of the proposed algorithm.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2016, 45 (117); 23-28
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An exact geometry-based algorithm for path planning
    Autorzy:
    Jafarzadeh, H.
    Fleming, C. H.
    Powiązania:
    https://bibliotekanauki.pl/articles/331494.pdf
    Data publikacji:
    2018
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    shortest possible path algorithm
    path planning
    collision free path
    algorytm najkrótszej ścieżki
    planowanie ścieżki
    ścieżka bezkolizyjna
    Opis:
    A novel, exact algorithm is presented to solve the path planning problem that involves finding the shortest collision-free path from a start to a goal point in a two-dimensional environment containing convex and non-convex obstacles. The proposed algorithm, which is called the shortest possible path (SPP) algorithm, constructs a network of lines connecting the vertices of the obstacles and the locations of the start and goal points which is smaller than the network generated by the visibility graph. Then it finds the shortest path from start to goal point within this network. The SPP algorithm generates a safe, smooth and obstacle-free path that has a desired distance from each obstacle. This algorithm is designed for environments that are populated sparsely with convex and nonconvex polygonal obstacles. It has the capability of eliminating some of the polygons that do not play any role in constructing the optimal path. It is proven that the SPP algorithm can find the optimal path in O(nn’2) time, where n is the number of vertices of all polygons and n’ is the number of vertices that are considered in constructing the path network (n’ ≤ n). The performance of the algorithm is evaluated relative to three major classes of algorithms: heuristic, probabilistic, and classic. Different benchmark scenarios are used to evaluate the performance of the algorithm relative to the first two classes of algorithms: GAMOPP (genetic algorithm for multi-objective path planning), a representative heuristic algorithm, as well as RRT (rapidly-exploring random tree) and PRM (probabilistic road map), two well-known probabilistic algorithms. Time complexity is known for classic algorithms, so the presented algorithm is compared analytically.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2018, 28, 3; 493-504
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Surface-to-air missile path planning using genetic and PSO algorithms
    Autorzy:
    Zandavi, S. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/280277.pdf
    Data publikacji:
    2017
    Wydawca:
    Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Tematy:
    path planning
    genetic algorithm
    PSO algorithm
    surface-to-air missile
    3DOF simulation
    Opis:
    Optimization algorithms use various mathematical and logical methods to find optimal points. Given the complexity of models and design levels, this paper proposes a heuristic optimization model for surface-to-air missile path planning in order to achieve the maximum range and optimal height based on 3DOF simulation. The proposed optimization model involves design variables based on the pitch programming and initial pitch angle (boost angle). In this optimization model, we used genetic and particle swarm optimization (PSO) algorithms. Simulation results indicated that the genetic algorithm was closer to reality but took longer computation time. PSO algorithm offered acceptable results and shorter computation time, so it was found to be more efficient in the surface-to-air missile path planning.
    Źródło:
    Journal of Theoretical and Applied Mechanics; 2017, 55, 3; 801-812
    1429-2955
    Pojawia się w:
    Journal of Theoretical and Applied Mechanics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Artifical potential fields algorithm for Mars rover path planning in an unknown enviroment
    Autorzy:
    Wyrąbkiewicz, K.
    Tarczewski, T.
    Grzesiak, L. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/377644.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
    Tematy:
    autonomous mobile robot
    Mars rover
    path planning
    artificial potential fields
    bug algorithm
    Opis:
    In this paper artificial potential fields method applied to autonomous mobile robot - Mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. Inserted by graphic data input interface in top view mode obstacles are deployed in environment area. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented.
    Źródło:
    Poznan University of Technology Academic Journals. Electrical Engineering; 2014, 80; 183-189
    1897-0737
    Pojawia się w:
    Poznan University of Technology Academic Journals. Electrical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Artifical potential fields with extended Bug algorithm for Mars rover path planning in an unknown environment
    Autorzy:
    Wyrąbkiewicz, K.
    Tarczewski, T.
    Grzesiak, L.M.
    Powiązania:
    https://bibliotekanauki.pl/articles/1395762.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Poznańska. Wydawnictwo Politechniki Poznańskiej
    Tematy:
    autonomous mobile robot
    mars rover
    path planning
    artificial potential fields
    Bug algorithm
    Opis:
    In this paper artificial potential fields method applied to autonomous mobile robot -mars rover is presented. It is assumed that Mars rover operates in an unknown environment. In order to visualize the robot's path in environment Matlab software is used. The object can be inserted by graphic data input interface in top view mode. The method of artificial potential fields is extended by an additional algorithm to avoid a local minimum. The proposed algorithm is implemented as a state machine. In this paper simulations results of the developed algorithm are presented. Extended algorithm is used because in the environment may be located complex obstacles.
    Źródło:
    Computer Applications in Electrical Engineering; 2014, 12; 422-433
    1508-4248
    Pojawia się w:
    Computer Applications in Electrical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Method of Path Selection in the Graph - Case Study
    Autorzy:
    Neumann, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/116904.pdf
    Data publikacji:
    2014
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Path Selection
    Method of Path Selection
    graph theory
    Dijkstra algorithm
    route planning
    Cutting-Edge Thinking Mechanisms
    New Paths Searching
    shortest path
    Opis:
    This paper presents a different perspective on the Dijkstra algorithm. In this paper algorithm will be used in the further analysis to find additional paths between nodes in the maritime sector. In many cases, the best solution for a single criterion is not sufficient. I would be the search for more effective solutions of the starting point to use for subsequent analysis or decision making by the captain of the ship. Using cutting-edge thinking mechanisms, it is possible to create a decision support system based on known Dijkstra's algorithm.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2014, 8 no. 4; 557-562
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Zastosowanie wielopopulacyjnego algorytmu ewolucyjnego do problemu wyznaczania ścieżki przejścia
    Application of multi-population evolutionary algorithm for path planning problem
    Autorzy:
    Kuczkowski, Ł.
    Śmierzchalski, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/266972.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
    Tematy:
    algorytmy ewolucyjne
    algorytmy wielopopulacyjne
    planowanie ścieżki przejścia
    evolutionary algorithms
    multi-population algorithm
    path planning
    Opis:
    Artykuł przedstawia zastosowanie wielopopulacyjnego algorytmu ewolucyjnego do wyznaczania ścieżki przejścia. Zastosowany algorytm oparty jest na modelu z częściowo wymienianą populacją oraz migracją między niezależnie ewoluującymi populacjami. W pracy porównano działanie algorytmu wielopopulacyjnego z jednopopulacyjnym oraz zbadano wpływ poszczególnych parametrów na jakość uzyskanego rozwiązania. Wykazano, że zastosowanie kilku niezależnie ewoluujących populacji prowadzi do uzyskania rozwiązania lepszego w stosunku do wariantu jednopopulacyjnego. Jako problem testowy zostało wybrane zagadnienie unikania kolizji na morzu.
    In this paper an application of multi-population evolutionary algorithm for path planning problem is presented. A steadystate genetic algorithm is used for evolution of single population. An applied migration mechanism is based on island topology. In the article the comparison of single and multi-population algorithm has been made and the influence of changing algorithm parameters has been studied. It has been shown that using several independently evolving population leads to a better solution than when the single population is used. For a testing problem a sea collision avoiding problem has been chosen.
    Źródło:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2013, 36; 117-122
    1425-5766
    2353-1290
    Pojawia się w:
    Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Model–based energy efficient global path planning for a four–wheeled mobile robot
    Autorzy:
    Jaroszek, P.
    Trojnacki, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/206564.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    four-wheeled mobile robot
    global path planning
    robot dynamics model
    heuristic algorithm
    energy efficiency
    Opis:
    This paper concerns an energy efficient global path planning algorithm for a four-wheeled mobile robot (4WMR). First, the appropriate graph search methods for robot path planning are described. The A* heuristic algorithm is chosen to find an optimal path on a 2D tile-decomposed map. Various criteria of optimization in path planning, like mobility, distance, or energy are reviewed. The adequate terrain representation is introduced. Each cell in the map includes information about ground height and type. Tire-ground interface for every terrain type is characterized by coefficients of friction and rolling resistance. The goal of the elaborated algorithm is to find an energy minimizing route for the given environment, based on the robot dynamics, its motor characteristics, and power supply constraints. The cost is introduced as a function of electrical energy consumption of each motor and other robot devices. A simulation study was performed in order to investigate the power consumption level for diverse terrain. Two 1600 m2 test maps, representing field and urban environments, were decomposed into 20x20 equal-sized square-shaped elements. Several simulation experiments have been carried out to highlight the differences between energy consumption of the classic shortest path approach, where cost function is represented as the path length, and the energy efficient planning method, where cost is related to electrical energy consumed during robot motion.
    Źródło:
    Control and Cybernetics; 2014, 43, 2; 337-363
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A parallel decomposition algorithm for shortest path problem in large-size mesh networks
    Równoległy algorytm dekompozycyjny dla problemu dróg najkrótszych w sieciach dużych rozmiarów typu krata
    Autorzy:
    Tarapata, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/210048.pdf
    Data publikacji:
    2010
    Wydawca:
    Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
    Tematy:
    dekompozycyjny algorytm dróg najkrótszych
    równoległy algorytm dróg najkrótszych
    planowanie tras wielorozdzielczych
    decomposition shortest paths algorithm
    parallel shortest paths algorithm
    multiresolution path planning
    Opis:
    The paper presents parallel approach for shortest path problem and it extends some decomposition shortest path algorithm (DSP). It is based on rectangular mesh graph of large size which may represent, e.g., network of streets in the city, network of squares of terrain (as a model of a battlefield). A method of parallelization DSP algorithm is proposed. The main advantage of the method is negligible communication between processors. Acceleration and effectiveness of the PDSP algorithm in a case of parallelization and without parallelization of some internal steps of the algorithm are defined and simulation results of these functions for two types of structure of parallel computation systems (hypercube and mesh) are shown. Moreover, some suggestions for further improvements in the PDSP algorithm are proposed.
    W artykule opisano metodę zrównoleglenia pewnego algorytmu dekompozycyjnego wyznaczania dróg najkrótszych (DSP). Bazuje on na sieciach dużych rozmiarów o strukturze typu krata, które mogą reprezentować sieć dróg w mieście, sieć kwadratów podziału terenu w grach komputerowych. Zaproponowano metodę (PDSP) zrównoleglenia algorytmu DSP. Podstawową cechą proponowanej metody jest minimalizacja konieczności komunikacji między procesorami wykonującymi obliczenia równoległe. Oszacowano przyspieszenie i efektywność algorytmu równoległego w przypadku zrównoleglenia i niezrównoleglenia niektórych wewnętrznych kroków algorytmu, jako funkcję liczby procesorów równoległych oraz podano wyniki symulacji przebiegu wartości tych funkcji dla różnych wielkości sieci i dwóch typów struktur systemu obliczeń równoległych (hipersześcian i krata). Ponadto podano pewne sugestie, co do zwiększenia efektywności proponowanego algorytmu.
    Źródło:
    Biuletyn Wojskowej Akademii Technicznej; 2010, 59, 3; 295-306
    1234-5865
    Pojawia się w:
    Biuletyn Wojskowej Akademii Technicznej
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Global path planning for multiple AUVs using GWO
    Autorzy:
    Panda, Madhusmita
    Das, Bikramaditya
    Pati, Bibhuti
    Powiązania:
    https://bibliotekanauki.pl/articles/229749.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    Autonomous Underwater Vehicle
    AUV
    Genetic Algorithm
    GA
    Global Path Planning
    GPP
    Grey Wolf Optimization
    GWO
    Sliding Mode Control
    SMC
    waypoints
    Opis:
    In global path planning (GPP), an autonomous underwater vehicle (AUV) tracks a predefined path. The main objective of GPP is to generate a collision free sub-optimal path with minimum path cost. The path is defined as a set of segments, passing through selected nodes known as waypoints. For smooth planar motion, the path cost is a function of the path length, the threat cost and the cost of diving. Path length is the total distance travelled from start to end point, threat cost is the penalty of collision with the obstacle and cost of diving is the energy expanse for diving deeper in ocean. This paper addresses the GPP problem for multiple AUVs in formation. Here, Grey Wolf Optimization (GWO) algorithm is used to find the suboptimal path for multiple AUVs in formation. The results obtained are compared to the results of applying Genetic Algorithm (GA) to the same problem. GA concept is simple to understand, easy to implement and supports multi-objective optimization. It is robust to local minima and have wide applications in various fields of science, engineering and commerce. Hence, GA is used for this comparative study. The performance analysis is based on computational time, length of the path generated and the total path cost. The resultant path obtained using GWO is found to be better than GA in terms of path cost and processing time. Thus, GWO is used as the GPP algorithm for three AUVs in formation. The formation follows leader-follower topography. A sliding mode controller (SMC) is developed to minimize the tracking error based on local information while maintaining formation, as mild communication exists. The stability of the sliding surface is verified by Lyapunov stability analysis. With proper path planning, the path cost can be minimized as AUVs can reach their target in less time with less energy expanses. Thus, lower path cost leads to less expensive underwater missions.
    Źródło:
    Archives of Control Sciences; 2020, 30, 1; 77-100
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A nature inspired collision avoidance algorithm for ships
    Autorzy:
    Lazarowska, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201448.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    collision avoidance algorithm
    safe own Ship's Trajectory
    safe navigation
    ant colony optimization
    firefly agorithm
    path planning
    swarm intelligence
    nature inspired computing
    Opis:
    Nature inspired algorithms are regarded as a powerful tool for solving real life problems. They do not guarantee to find the globally optimal solution, but can find a suboptimal, robust solution with an acceptable computational cost. The paper introduces an approach to the development of collision avoidance algorithms for ships based on the firefly algorithm, classified to the swarm intelligence methods. Such algorithms are inspired by the swarming behaviour of animals, such as e.g. birds, fish, ants, bees, fireflies. The description of the developed algorithm is followed by the presentation of simulation results, which show, that it might be regarded as an efficient method of solving the collision avoidance problem. Such algorithm is intended for use in the Decision Support System or in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 341--346
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Towards use of dijkstra algorithm for optimal navigation of an unmanned surface vehicle in a real-time marine environment with results from artificial potential field
    Autorzy:
    Singh, Y.
    Sharma, S.
    Sutton, R.
    Hatton, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/116058.pdf
    Data publikacji:
    2018
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    autonomous vehicles
    dijkstra’s algorithm
    Unmanned Surface Vehicle (USV)
    port of portsmouth
    Artificial Path Planning (APF)
    Artificial Potential Field
    real-time marine environment
    optimal navigation
    Opis:
    The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 1; 125-131
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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