Dissertations / Theses on the topic 'Terrain following'
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Pyekh, Yury B. "Dynamic terrain following: nvCPD scanning technique improvement." Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/34826.
Full textKim, Eulgon. "Optimal helicopter trajectory planning for terrain following flight." Diss., Georgia Institute of Technology, 1989. http://hdl.handle.net/1853/12932.
Full textJonsson, Robert. "Planning Terrain Following Flight Paths : An Elastic Band Algorithm." Thesis, Karlstads universitet, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-55000.
Full textGriffiths, Stephen R. "Remote Terrain Navigation for Unmanned Air Vehicles." BYU ScholarsArchive, 2006. https://scholarsarchive.byu.edu/etd/1059.
Full textFlood, Cecilia. "Real-time Trajectory Optimization for Terrain Following Based on Non-linear Model Predictive Control." Thesis, Linköping University, Department of Electrical Engineering, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1136.
Full textThere are occasions when it is preferable that an aircraft flies asclose to the ground as possible. It is difficult for a pilot to predict the topography when he cannot see beyond the next hill, and this makes it hard for him to find the optimal flight trajectory. With the help of a terrain database in the aircraft, the forthcoming topography can be found in advance and a flight trajectory can be calculated in real-time. The main goal is to find an optimal control sequence to be used by the autopilot. The optimization algorithm, which is created for finding the optimal control sequence, has to be run often and therefore, it has to be fast.
This thesis presents a terrain following algorithm based on Model Predictive Control which is a promising and robust way of solving the optimization problem. By using trajectory optimization, a trajectory which follows the terrain very good is found for the non-linear model of the aircraft.
Lapp, Tiffany Rae 1979. "Guidance and control using model predictive control for low altitude real-time terrain following flight." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/30278.
Full textIncludes bibliographical references (p. 123-125).
This thesis presents the design and implementation of a model predictive control based trajectory optimization method for Nap-of-the-Earth (NOE) flight. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise longitudinal tracking than lateral tracking through the introduction of the TF/TA ratio. The TF/TA ratio, control effort penalties and MPC prediction horizon are tuned for this application via simulation and eigenvalue analysis for stability and performance. Steps are taken to reduce complexity in the optimization problem including perturbational linearization in the prediction model generation and the use of control basis functions which are analyzed for their trade-off between approximation of the optimal cost/solution and reduction of the optimization complexity. Obstacle avoidance including preclusion of ground collision is accomplished through the establishment of hard state constraints. These state constraints create a 'safe envelope' within which the optimal trajectory can be found. Results over a variety of sample terrains are provided to investigate the sensitivity of tracking performance to nominal velocities. The mission objective of low altitude and high speed was met satisfactorily without terrain or obstacle collision, however, methods to preclude or deal with infeasibility must be investigated as terrain severity (measured by commanded flight path angle) is increased past 30 degrees or speed is increased to and past 30 knots.
by Tiffany Rae Lapp.
S.M.
Carneiro, Gustavo Lima. "Model based predictive control applied to the aircraft longitudinal mode for a terrain following task." Instituto Tecnológico de Aeronáutica, 2009. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1228.
Full textMartinho, Antonio S. "Sensitivity studies using multi-region and open boundary conditions for terrain bottom following ocean models." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Mar%5FMartinho.PhD.pdf.
Full textGarratt, Matthew Adam, and m. garratt@adfa edu au. "Biologically Inspired Vision and Control for an Autonomous Flying Vehicle." The Australian National University. Research School of Biological Sciences, 2008. http://thesis.anu.edu.au./public/adt-ANU20090116.154822.
Full textEaton, Caitrin Elizabeth. "Reducing the Control Burden of Legged Robotic Locomotion through Biomimetic Consonance in Mechanical Design and Control." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5680.
Full textEngelbrecht, Francois Alwyn. "Theory and application of quasi-elastic equations in terrain-following coordinates based on the full pressure field." Pretoria : [s.n.], 2006. http://upetd.up.ac.za/thesis/available/etd-12082006-121631.
Full textLandenfeld, Tilo. "Implementation of topography in ocean models : an analysis of terrain-following coordinate systems and a shaved cell approach." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/42568.
Full textColombo, Pedro. "Modelling dense water flows through sills in large scale realistic ocean models : demonstrating the potential of a hybrid geopotential/terrain-following vertical coordinate." Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAU017/document.
Full textOverflows play an important role distributing the heat and salt fluxes in the ocean, feeding deep boundary currents and most of the world ocean deep waters. Therefore, an unrealistic representation of overflows in global models may have impacts over many aspects of the simulated state of the ocean.To achieve a realistic representation of overflows is still a challenge for ocean modelling. This work addresses this problem using the community ocean general circulation model NEMO with a regional configuration of the Denmark Strait Overflow (DSO) at eddying resolutions. This work first proposes a definition of the DSO in order to characterize its associated water masses and to find the main caveats in a control simulation that uses the most standard parameters of the commonly used global configurations of NEMO (e.g. Drakkar configurations).Thanks to this definition we then study the impacts on the DSO of a large number of model parameters through a range of eddy-permitting to eddy-resolving resolutions (e.g. 1/12° and 1/60°) in the classic z-coordinate system used in NEMO. Main findings were found increasing the horizontal and vertical resolution, but most model parameters have no significant impacts. In particular it was found that increasing vertical resolution without using a coherent horizontal resolution degrades the solution. The main reason is the EVD parameterisation that propagates the dense vein of fluid along a grid-slope, instead the topographic slope. Coherent and very high resolution both in the horizontal and in the vertical is needed in order to resolve Ekman bottom boundary layer dynamics and keep the EVD localized to the very bottom.We also study the representation of the DSO with a hybrid terrain-following (s) and geopotential (z) coordinate system and obtained considerable improvements for a relatively small increase in computational cost. Finally, we propose a mixed s-z vertical coordinate that relies on a local implementation of s-coordinates within the z-coordinate model, limited to the area where DSO waters are produced. This local implementation is such that it minimizes the effects of pressure gradient errors linked to this type of coordinate, smoothly connects to the global z-coordinate, and does not add any significant computational cost. The improvement of the DSO is found to be drastic.This work emphasizes the utility of adapting the vertical coordinate system to the main physical problem. A modeling challenge would be to have a vertical coordinate system that is locally adapted to the most critical ocean process
Boujibar, Fairuz. "Evaluation et réhabilitation préopératoire en chirurgie thoracique Preoperative assessment for minimally invasive lung surgery: need an update? The 6-Minute Stepper Test and the Sit To Stand Test to predict postoperative complications following major pulmonary resection by minimally invasive surgery Impact of thoracic disease on morbidity and mortality after pulmonary lobectomy by minimally invasive surgery : a cohort study 96 Sit to stand test and six-minute stepper test to set prehabilitation in lung resection candidates operated by minimally invasive surgery Stair-climbing test : beyond the height." Thesis, Normandie, 2020. http://www.theses.fr/2020NORMR096.
Full textThoracic surgery is a major surgery, leading to postoperative complications. Assessment and preparation is central to optimize operability and to limit the impact of lung resection. The objective of this work was to study the functional factors influencing the surgical management of patients with non-small cell lung cancer. We saw in the first part the value of field tests in stress assessment. We performed a meta-analysis on the stair climbing test and concluded that it was predictive of complications, with a risk threshold assessed at 10 meters. In this same part, we also developed a study on two other tests: the sit to stand test and the 6-minute stepper test. We concluded that these two tests were predictive of complications, with an optimal threshold estimated at 141 steps and 20 chair lifts. Secondly, we focused our work on the benefit of preoperative rehabilitation in patients operated on by a minimally invasive approach. We observe in this study that patients undergoing preoperative rehabilitation have fewer and less severe complications than those who do not, according to the Clavien-Dindo classification. In the last part we tried to determine the value of field tests in access to rehabilitation. We observe that the heart rate at the end of the chair-lift test, as well as the number of lifts and steps in the stepper test, are moderately related to heart rate and power at the ventilatory threshold. Field tests could be an interesting alternative in prescribing the parameters of exercise training
Machado, dos Santos Wandreia Natalina. "Analysis of the Forest Dwelling Household System in the Terra Firme and Várzea communities, Pará State, Brazil, following the Farming Systems Approach." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2004. http://nbn-resolving.de/urn:nbn:de:swb:14-1104996137546-53261.
Full textMachado, dos Santos Wandreia Natalina. "Analysis of the Forest Dwelling Household System in the Terra Firme and Várzea communities, Pará State, Brazil, following the Farming Systems Approach." Doctoral thesis, Technische Universität Dresden, 2003. https://tud.qucosa.de/id/qucosa%3A24441.
Full textSantos, Wandreia Natalina Machado dos. "Analysis of the forest dwelling household system in the Terra Firme and Várzea communities, Pará State, Brazil, following the farming systems approach." [S.l. : s.n.], 2005. http://www.bsz-bw.de/cgi-bin/xvms.cgi?SWB11611839.
Full textBarreto, Davi Ferreira. "Estudo da radia??o eletromagn?tica ? luz da astronomia, no contexto das aulas de f?sica, na 3? s?rie do ensino m?dio." Universidade Estadual de Feira de Santana, 2016. http://localhost:8080/tede/handle/tede/551.
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This study was to investigate how the introduction of modern physics in high school, mediated by the study of astronomy, may favor the practice of teaching and learning of physics, from the perspective of the Theory of Meaningful Learning (TML), through the use of Sequence Didactic . In order to answer this question, we define the general objective: to analyze how the study of Astronomy, as a mediating element for the introduction of Modern Physics in High School, can favor the teaching and learning of Physics, from the perspective of SAT, in the 3? Series. In order to achieve this purpose, we have drawn up the following specific objectives: to elaborate and evaluate the contribution of a didactic sequence on Electromagnetic Radiation, developed from the perspective of SAT, in the teaching and learning of Physics, in the 3? High School Series; To introduce the study of Modern Physics mediated by Astronomy, with support of didactic sequence on Electromagnetic Radiation, from the perspective of SAT; To evaluate students' performance from the introduction of Modern Physics, mediated by the study of Astronomy, with the support of the Didactic Sequence from the perspective of SAT. From this perspective, it was developed in a senior high school class, in a public school from Santo Antonio de Jesus town, State of Bahia, and entitled "Knowing the Universe Through the Colors". The same had as its central theme Electromagnetic Radiations and constituted both an instrument and product of this research. The activities were designed in a way that would attract students' attention from the curiosity that usually astronomical phenomena cause in those who observe them. At the time they were arranged in ascending order in terms of complexity, and the correlation between them. This research has been prepared under qualitative and quantitative approach, from which have developed a descriptive understanding work of the investigated object. Finally, this study shows a very positive result of the methodology chosen and can say that the Didactic Sequence elaborate contributed to a meaningful learning of concepts covered in Modern Physics, mediated by Astronomy, enabling students to build knowledge that can serve as anchors for future concepts.
Este trabalho consistiu em investigar como a introdu??o da F?sica Moderna no Ensino M?dio, mediado pelo estudo da Astronomia, pode favorecer as pr?ticas de ensino e aprendizagem da F?sica, na perspectiva da Teoria da Aprendizagem Significativa (TAS), a partir do uso de Sequ?ncia Did?tica. Buscando resposta para este questionamento definimos o objetivo geral: analisar como o estudo da Astronomia, enquanto elemento mediador para a introdu??o da F?sica Moderna no Ensino M?dio pode favorecer a pr?tica de ensino e aprendizagem da F?sica, na perspectiva da TAS, na 3? S?rie. Para alcan?ar esse prop?sito tra?amos os seguintes objetivos espec?ficos: elaborar e avaliar a contribui??o de uma sequ?ncia did?tica sobre as Radia??es Eletromagn?ticas, desenvolvida na perspectiva da TAS, no ensino e aprendizado da F?sica, na 3? S?rie do Ensino M?dio; introduzir o estudo da F?sica Moderna mediado pela Astronomia, com suporte de sequ?ncia did?tica sobre Radia??es Eletromagn?ticas, na perspectiva da TAS; avaliar o desempenho dos estudantes a partir da introdu??o da F?sica Moderna, mediado pelo estudo da Astronomia, com o suporte da Sequ?ncia Did?tica na perspectiva da TAS. Nessa perspectiva, foi desenvolvida em uma turma da 3? S?rie do Ensino M?dio, de um Col?gio Estadual do munic?pio de Santo Ant?nio de Jesus, no estado da Bahia, a Sequ?ncia Did?tica intitulada ?Conhecendo o Universo Atrav?s das Cores?, a qual teve como tem?tica central Radia??es Eletromagn?ticas. Esta constituiu-se, simultaneamente, em instrumento e produto da presente pesquisa. As atividades foram pensadas de maneira que atra?ssem aten??o dos alunos, a partir da curiosidade que geralmente os fen?menos astron?micos causam naqueles que os observam. Ao tempo em que foram organizadas de forma ascendente, em termos de complexidade, e primando pela correla??o entre elas. A presente pesquisa foi elaborada sob abordagem quali-quantitativa, a partir da qual desenvolvemos um trabalho descritivo-compreensivo do objeto investigado. As Considera??es Finais evidenciam um resultado muito positivo da metodologia escolhida, podendo dizer que a Sequ?ncia Did?tica elaborada contribuiu para uma aprendizagem significativa dos conceitos abordados da F?sica Moderna, mediados pela Astronomia, possibilitando aos alunos, a constru??o de conhecimentos que poder?o servir de ?ncoras para conceitos futuros.
Dos, Santos Gilcimar Pereira. "Trend following no mercado brasileiro: propostas de trading systems seguidores de tend?ncias em ativos negociados na bm&fbovespa." Universidade Estadual de Feira de Santana, 2018. http://tede2.uefs.br:8080/handle/tede/705.
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Trading systems based on trend following strategies are applied by many investors when negotiating in the variable income markets, in operations conducted in several asset classes worldwide. These systems play an important role in investor decision-making process, but still require further study. In this dissertation, four trend following trading systems are presented, whose performances have been demonstrated in order to evaluate their effectiveness in the Brazilian variable income market. Two of the four proposed systems were evaluated in the stock market and the other two were considered for the future contract market. For this purpose, a historical series of asset prices available for trade between January 1995 and December 2014 at the S?o Paulo Mercantile and Futures Exchange. Through simulations, the systems showed that if they were traded on the stock market and futures markets in Brazil, they would generate profitability, indicating the existence of several trends in the assets studied, obtaining a performance superior to strategy of buying and hold in the market Ibovespa index. This study contributes to the discussion on the effectiveness of trading systems based on the trend following investment philosophy
Sistemas de negocia??o baseados em estrat?gias fundamentadas no trend following, s?o utilizados por in?meros investidores para negociarem nos mercados de renda vari?vel, em opera??es nas mais variadas classes de ativos no mundo. Esses sistemas desempenham papel importante na tomada de decis?o por parte de um investidor na realiza??o de uma negocia??o, no entanto, ainda precisam de maiores estudos. Nesta disserta??o, apresentamos quatro trading systems seguidores de tend?ncias, os quais tiveram suas performances demonstradas na perspectiva de avaliar a efic?cia desses trading systems no mercado de renda vari?vel brasileiro. Dois dos quatro sistemas propostos, foram avaliados no mercado de a??es e os outros dois foram considerados para opera??es no mercado de contratos futuros. Para tanto, foram consideradas s?ries hist?ricas de pre?os de ativos dispon?veis para negocia??o entre janeiro de 1995 ? dezembro de 2014, na Bolsa de Valores Mercadorias e Futuros de S?o Paulo. Atrav?s de simula??es, os sistemas demonstraram que caso fossem operados no mercado de a??es e/ou de futuros do Brasil, gerariam lucros, indicando-se a exist?ncia de diversas tend?ncias nos ativos estudados, obtendo-se performance superior ? estrat?gia de comprar e manter no ?ndice Ibovespa. O presente trabalho contribui na discuss?o a respeito da efic?cia de sistemas de negocia??o baseados na filosofia de investimento do trend following
Albuquerque, Erenilda Severina da Conceição. "Geometria e arte: uma proposta metodológica para o ensino de geometria no sexto ano." Universidade Federal de Alagoas, 2017. http://www.repositorio.ufal.br/handle/riufal/1745.
Full textCoordenação de Aperfeiçoamento de Pessoal de Nível Superior
Nesta dissertação, buscamos descrever toda trajetória da aplicação de uma sequência didática, desenvolvida na escola Padre Pinho da rede municipal do município de Maceió, estado de Alagoas, com alunos de duas turmas de 6º ano. Este projeto faz parte das aulas de Geometria, do cronograma normal de aula e foi desenvolvido no período de 29 de agosto de 2016 a 11 de janeiro de 2017. Trabalhamos a geometria plana e espacial mesclando metodologias, tendo sempre como foco principal a arte plástica. Iniciamos com o uso do livro texto e sequenciamos apresentando os trabalhos dos artistas plásticos que trabalham a geometria em suas obras: Beatriz Milhazes, Geraldo de Barros, Rubens Barsotti, Tarsila do Amaral e Dietmar Voorwold. Queríamos com isso, mostrar essa íntima relação da arte plástica com a matemática. Utilizamos também oficinas de origami, técnica de raspagem e construção de sólidos geométricos. Foi realizado um teste de sondagem no qual observamos que as aulas preparadas apenas com a utilização do livro texto não estavam produzindo a aprendizagem esperada para aquela série, mesmo discutindo e realizando vários exercícios e, ainda, utilizando elementos geométricos presentes em sala de aula como a ilustração. Neste sentido, o objetivo foi desenvolver uma sequência didática que viesse a favorecer e facilitar o aprendizado deste conteúdo, baseados nas informações prévias contidas no teste de sondagem. Para esta pesquisa, trabalhamos com um grupo de 60 alunos, com faixa etária entre 10 a 12 anos. Em todas as etapas, os estudantes eram convidados à reflexão e à discussão por meio de perguntas dirigidas aos grupos. Buscávamos em todo momento discutir e entender os conceitos matemáticos ali presentes. Queríamos mostrar a beleza e a relação da matemática com a arte, bem como incentivar o aluno a ter um comportamento reflexivo e questionador. Objetivamos também que este trabalho também possa ser utilizado por outros professores.
Da, Silva Cesar Alves. "Modelos at?micos como objeto do saber no ensino de qu?mica: uma proposta metodol?gica baseada em elementos da engenharia did?tica." Universidade Estadual de Feira de Santana, 2018. http://tede2.uefs.br:8080/handle/tede/651.
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The main objective of this work was to describe the concepts of Atomic Models, within the scenario of the teaching of chemical reactions, relating them empirically to the processes of chemical luminescence and contextualized to the phenomenon of the planetary Auroras. For this purpose, a proposal was presented to help chemistry teachers to provide students with a better understanding of more meaningful learning. The Teaching of Chemistry in Basic Education presents several challenges regarding the introduction of concepts related to the structure of matter. The approach of this project is centered in the interaction between the Astronomy and the Teaching of Chemistry, in an interdisciplinary perspective with focus in the course of didactic engineering. It is premised that this approach may attract the interest of high school students. The methodology was developed in the classrooms of the Luiz Eduardo Magalh?es College in Feira de Santana-BA. The use of a learning sequence, centered on experimental and observational phenomena where the student's performance is intensified by the possibility of self-regulation and confrontation with the proposed situations, enabled an evolution of strategies, enhancing students' cognition. In an enveloping and structured way in its four phases, the course of didactic engineering contributed to progress in improving teaching and learning, since the agreed proposal was executed and indicates that it is possible to favor the learning of concepts of Teaching Chemistry with emphasis to topics, motivating Students to learn
O principal objetivo deste trabalho foi descrever os conceitos de Modelos At?micos, dentro do cen?rio do ensino de rea??es qu?micas, relacionando-os empiricamente com os processos de luminesc?ncia qu?mica e contextualizados com o fen?meno das Auroras planet?rias. Para o efeito, foi apresentada uma proposta para ajudar os professores de qu?mica a oferecer aos alunos uma melhor compreens?o da aprendizagem mais significativa. O Ensino de Qu?mica na Educa??o B?sica apresenta v?rios desafios em rela??o ? introdu??o de conceitos relacionados ? estrutura da mat?ria. A abordagem deste projeto est? centrada na intera??o entre a Astronomia e o Ensino de Qu?mica, em uma perspectiva interdisciplinar com foco no curso da engenharia did?tica. Pretende-se que esta abordagem possa atrair o interesse dos alunos do ensino m?dio. A metodologia foi desenvolvida nas salas de aula do Col?gio Luiz Eduardo Magalh?es em Feira de Santana-BA. O uso de uma seq??ncia de aprendizagem, centrada em fen?menos experimentais e observacionais, onde o desempenho do aluno ? intensificado pela possibilidade de auto-regula??o e confronto com as situa??es propostas, permitiu uma evolu??o das estrat?gias, aprimorando a cogni??o dos estudantes. De forma envolvente e estruturada em suas quatro fases, o curso de engenharia did?tica contribuiu para o progresso na melhoria do ensino e da aprendizagem, uma vez que a proposta acordada foi executada e indica que ? poss?vel favorecer a aprendizagem de conceitos de Qu?mica de Ensino com ?nfase em t?picos, motivando esudantes para aprender
Hong-Qiant, Lin, and 林宏乾. "The application of trajectory model to terrain following coordinate system." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/08080600257859840628.
Full text國立中興大學
環境工程學系
89
This research follows the vertical-diffusion model of the aerial pollutants , which was developed by our laboratory in year 2000. On the basis of the theory of the advection-diffusion equation , the reference frame is changed from rectangular coordinate system (x,y,z) into terrain following coordinate system (x,y,z''). In that case, we can derive a partial differential equation of the first and the twelfth layers above the ground and use the equation to simulate the primary and second aerosol pollutants.Utilizes finite-difference approximations to the derivatives in the equation to change the differential equation to difference equation, the governing equation can be performed as tridiagonal matrix. Then I introduce in L U decomposition method to the repeat repetitious calculation with C++ programming language on the Linux work station. Advection term,vertical and horizontal diffusion term,pollutants emitted from stacks of each layer,dry deposition,scavenging,chemical reaction,instantaneous meteorological condition,mixing height,etc. are all taken into consideration in this model. The model is proved empirically by comparing calculated values with the observed values experimented from October 30 to September 6 in year 1999. In those simulation cases, I select two days─Oct.30 and Sep.5, the day is the PM10 episode─of back of high pressure system to make a comparison and discussion. The comparison of the two graphs, the GrADS graph of the streak lines and the contour graph of pollutants, is introduced into model to apparently show the influence hit by the fetal pollutive sources of central Taiwan.
Chien, Ching-hong, and 簡慶宏. "Design of a Terrain Following Controller for a Unmanned Underwater Vehicle." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/79681286146122844981.
Full textDecker, Steven G. "Potential vorticity inversion in terrain-following coordinates with applications to morphological data assimilation." 2006. http://www.library.wisc.edu/databases/connect/dissertations.html.
Full textYu-ChenWu and 吳昱辰. "Two-Phase Debris Flow Model over Erodible Basal Surface in Terrain-Following Coordinate System --- Numerical Study." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/679dvs.
Full textGarratt, Matthew Adam. "Biologically Inspired Vision and Control for an Autonomous Flying Vehicle." Phd thesis, 2007. http://hdl.handle.net/1885/49285.
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