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基于自适应差分进化算法的腿履四足机器人稳定性优化
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作者 袁泽浩 张铂轩 +1 位作者 刘洪昆 王扬威 《农业装备与车辆工程》 2024年第6期120-123,共4页
针对腿履复合式四足机器人处于Trot步态时,由于大腿复合结构部分摆动不稳定所引起的重心偏移问题,采用基于自适应差分进化算法优化。利用Hopf模型中的振荡器构建中央模式发生器网络拓扑结构;借助自适应差分进化算法,通过多次迭代可迅速... 针对腿履复合式四足机器人处于Trot步态时,由于大腿复合结构部分摆动不稳定所引起的重心偏移问题,采用基于自适应差分进化算法优化。利用Hopf模型中的振荡器构建中央模式发生器网络拓扑结构;借助自适应差分进化算法,通过多次迭代可迅速找到输出模型的最佳参数组合,以减少重心偏移量和机体姿态角,解决了重心偏移导致的稳定性问题。通过ADAMS和MATLAB进行仿真实验验证提出的优化方法,结果表明:该方法能够高效地寻找到全局最佳参数,使腿履复合四足机器人能够展现出优秀的运动性能。 展开更多
关键词 腿履复合四足机器人 hopf模型 节律运动 差分进化算法
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具有时滞的Goodwin增长周期模型 被引量:4
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作者 朱洪亮 《经济数学》 2002年第4期63-68,共6页
本文将离散时滞引入 Goodwin增长周期模型中 ,借助于 Hopf分支定理 ,得到了周期解的存在性 ,发展了 Lorenz,Chiarella等学者关于
关键词 Goodwin增长模型 时滞 hopf分支 周期解
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两部门的时滞经济增长模型
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作者 朱洪亮 《经济数学》 2004年第4期328-332,共5页
本文考虑了存在生产滞后的 Furuno两部门经济增长模型 .给出了此模型资本 -劳动比 k的稳定性和振荡性 ,分析了生产周期时滞对 k稳定性区域的影响 .进一步利用 Hopf分支的方法讨论了 Furuno模型存在周期轨道的条件 .
关键词 两部门经济增长模型 时滞 hopf分支
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基于Hopf振荡器的四足机器人步态CPG调节 被引量:6
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作者 徐海东 干苏 +2 位作者 任杰 王斌锐 金英连 《系统仿真学报》 CAS CSCD 北大核心 2017年第12期3092-3099,共8页
中枢模式发生器(CPG)对于哺乳动物的节律运动有着重要作用。依据猎狗的步态特征和肢体运动关系,针对四足机器人的结构特点,以Hopf振荡器模型为核心,使用旋转矩阵连接四个振荡器,建立全对称的CPG网络模型。CPG网络输出信号通过映射函数... 中枢模式发生器(CPG)对于哺乳动物的节律运动有着重要作用。依据猎狗的步态特征和肢体运动关系,针对四足机器人的结构特点,以Hopf振荡器模型为核心,使用旋转矩阵连接四个振荡器,建立全对称的CPG网络模型。CPG网络输出信号通过映射函数变换作为机器人虚拟样机关节转角的控制信号。通过调节CPG网络中占空比等参数,改变旋转矩阵的值,可以实现在walk与trot两种典型步态间的快速平滑转换。通过MATLAB与ADAMS联合仿真实验,验证了调节CPG模型参数实现四足机器人的步态转换的有效性。 展开更多
关键词 四足机器人 hopf振荡器模型 节律信号 旋转矩阵 步态转换
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具有柔性脊椎的四足机器人奔跑运动分析 被引量:2
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作者 马宗利 马庆营 +1 位作者 吕荣基 王建明 《东北大学学报(自然科学版)》 EI CAS CSCD 北大核心 2020年第1期113-118,共6页
为了提高四足机器人的奔跑性能,设计了一种具有柔性脊椎的四足机器人.该柔性脊椎由两个平行橡胶棒和一个驱动液压缸组成,通过控制驱动液压缸的伸缩可使两个平行橡胶棒实现上下弯曲.分析了该四足机器人的柔性脊椎对奔跑步长的影响.基于H... 为了提高四足机器人的奔跑性能,设计了一种具有柔性脊椎的四足机器人.该柔性脊椎由两个平行橡胶棒和一个驱动液压缸组成,通过控制驱动液压缸的伸缩可使两个平行橡胶棒实现上下弯曲.分析了该四足机器人的柔性脊椎对奔跑步长的影响.基于Hopf模型的CPG控制方法,推导了髋关节和膝关节的关节驱动曲线幅值的表达式,并通过网络拓扑结构的重建将脊椎驱动信号与各腿部关节驱动信号进行耦合.最后利用Adams和MATLAB/Simulink对四足机器人进行了bound步态仿真,仿真表明具有柔性脊椎的四足机器人奔跑性能显著提高. 展开更多
关键词 四足机器人 柔性脊椎 hopf模型 CPG bound步态
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四足机器人抗重心偏移步态优化 被引量:4
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作者 黎晴亮 张志安 +1 位作者 马豪男 周何苗 《计算机工程与应用》 CSCD 北大核心 2022年第7期303-310,共8页
为解决四足机器人在其质心偏离躯干几何中心时的稳定性问题,提出了一种基于改进粒子群算法的优化方法。使用基于Hopf模型的振荡器搭建中枢模式发生器(central pattern generator,CPG)网络拓扑结构,通过对足端进行轨迹规划进而确定CPG模... 为解决四足机器人在其质心偏离躯干几何中心时的稳定性问题,提出了一种基于改进粒子群算法的优化方法。使用基于Hopf模型的振荡器搭建中枢模式发生器(central pattern generator,CPG)网络拓扑结构,通过对足端进行轨迹规划进而确定CPG模型相关参数,并对CPG单元间的耦合系数矩阵进行优化,使其能够输出正确的步态信号;之后采用自适应调整权重粒子群算法,通过不断迭代快速寻找输出模型的最优参数组合,解决由于重心偏移带来的稳定性问题。利用Webots和MATLAB对所提出的优化方法进行仿真实验,仿真结果证明该方法能够快速、有效地提高四足机器人在重心偏移情况下的运动稳定性。 展开更多
关键词 四足机器人 hopf模型 中枢模式发生器(CPG) 粒子群算法(PSO) 自适应权重
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Dynamical analysis for a malware propagation model in wireless sensor network 被引量:4
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作者 宋礼鹏 张蓉萍 《Journal of Measurement Science and Instrumentation》 CAS CSCD 2016年第2期136-144,共9页
The threat of malware in wireless sensor network has stimulated some activities to model and analyze the malware prevalence.To understand the dynamics of malware propagation in wireless sensor network,we propose a nov... The threat of malware in wireless sensor network has stimulated some activities to model and analyze the malware prevalence.To understand the dynamics of malware propagation in wireless sensor network,we propose a novel epidemic model named as e-SEIR(susceptible-exposed-infectious-recovered)model,which is a set of delayed differential equations,in this paper.The model has taken into account the following two factors:1 Multi-state antivirus measures;2 Temporary immune period.Then,the stability and Hopf bifurcation at the equilibria of linearized model are carefully analyzed by considering the distribution of eigenvalues of characteristic equations.Both mathematical analysis and numerical simulations show that the dynamical features of the proposed model rely on the basic reproduction number R0 and time delayτ.This novel model can help us to better understand and predict the propagation behaviors of malware in wireless sensor networks. 展开更多
关键词 wireless sensor network STABILITY hopf bifurcation epidemic model time delay
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Zero-Hopf bifurcation for an infection-age structured epidemic model with a nonlinear incidence rate 被引量:1
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作者 LIU ZhiHua YUAN Rong 《Science China Mathematics》 SCIE CSCD 2017年第8期1371-1398,共28页
An infection-age structured epidemic model with a nonlinear incidence rate is investigated.We formulate the model as an abstract non-densely defined Cauchy problem and derive the condition which guarantees the existen... An infection-age structured epidemic model with a nonlinear incidence rate is investigated.We formulate the model as an abstract non-densely defined Cauchy problem and derive the condition which guarantees the existence and uniqueness for positive age-dependent equilibrium of the model.By analyzing the associated characteristic transcendental equation and applying the normal form theory presented recently for non-densely defined semilinear equations,we show that the SIR(susceptible-infected-recovered)epidemic model undergoes Zero-Hopf bifurcation at the positive equilibrium which is the main result of this paper. 展开更多
关键词 infection-age structured EPIDEMIC non-densely defined stability normal form zero-hopf bifurcation
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Stability and Hopf bifurcation for a logistic SIR model with a stage -- Structure 被引量:2
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作者 Hong Yang 《International Journal of Biomathematics》 2016年第1期243-264,共22页
A SIR model of epidemiological dynamics with stage-structure and a type of nonlinear incidence rate is considered under the assumption that the susceptible individual satisfy the logistic equation. The global attracti... A SIR model of epidemiological dynamics with stage-structure and a type of nonlinear incidence rate is considered under the assumption that the susceptible individual satisfy the logistic equation. The global attractivity of the model is studied using Lyapunov functions and LaSalle's invariance principle. By the uniform persistence theories, the permanence of the system and the existence of the positive equilibrium are obtained. Moreover, by the normal form theory and the center manifold presented by Hassard, a stability and Hopf bifurcation analysis of the system around positive equilibrium from a local perspective are performed. Numerical simulation is carried out to illustrate our results. 展开更多
关键词 EPIDEMIOLOGICAL STAGE-STRUCTURE nonlinear incidence rate logistic growth hopf bifurcation.
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Stability and multi-parametric Hopf bifurcation analyses of viral infection model with time delay 被引量:2
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作者 M. Prakash P. Balasubramaniam 《International Journal of Biomathematics》 2015年第5期107-133,共27页
Ever since HIV was first diagnosed in human, a great number of scientific works have been undertaken to explore the biological mechanisms involved in the infection and progression of the disease. This paper deals with... Ever since HIV was first diagnosed in human, a great number of scientific works have been undertaken to explore the biological mechanisms involved in the infection and progression of the disease. This paper deals with stability and bifurcation analyses of mathematical model that represents the dynamics of HIV infection of thymus. The existence and stability of the equilibria are investigated. The model is described by a system of delay differential equations with logistic growth term, cure rate and discrete type of time delay. Choosing the time delay as a bifurcation parameter, the analysis is mainly focused on the Hopf bifurcation problem to predict the existence of a limit cycle bifurcating from the infected steady state.Further, using center manifold theory and normal form method we derive explicit formulae to determine the stability and direction of the limit cycles. Moreover the mitosis rate r also plays a vital role in the model, so we fix it as second bifurcation parameter in the incidence of viral infection. Our analysis shows that, while both the bifurcation parameters can destabilize the equilibrium E* and cause limit cycles. Numerical simulations are performed to investigate the qualitative behaviors of the inherent model. 展开更多
关键词 HIV-1 asymptotic stability hopf bifurcation discrete delay.
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Hopf bifurcation analysis in a turbidostat model with Beddington.DeAngelis functional response and discrete delay
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作者 Yong Yao Zuxiong Li +2 位作者 Huili Xiang Hailing Wang Zhijun Liu 《International Journal of Biomathematics》 2017年第5期1-25,共25页
In this paper, regarding the time delay as a bifurcation parameter, the stability and Hopf bifurcation of the model of competition between two species in a turbidostat with Beddington-DeAngelis functional response and... In this paper, regarding the time delay as a bifurcation parameter, the stability and Hopf bifurcation of the model of competition between two species in a turbidostat with Beddington-DeAngelis functional response and discrete delay are studied. The Hopf bifurcations can be shown when the delay crosses the critical value. Furthermore, based on the normal form and the center manifold theorem, the type, stability and other properties of the bifurcating periodic solutions are determined. Finally, some numerical simulations are given to illustrate the results. 展开更多
关键词 Discrete delay TURBIDOSTAT hopf bifurcation STABILITY Beddington-DeAngelis functional response.
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Hopf analysis of a differential-algebraic predator-prey model with Allee effect and time delay 被引量:1
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作者 Xue Zhang Qingling Zhang 《International Journal of Biomathematics》 2015年第3期237-254,共18页
A differential-algebraic prey--predator model with time delay and Allee effect on the growth of the prey population is investigated. Using differential-algebraic system theory, we transform the prey predator model int... A differential-algebraic prey--predator model with time delay and Allee effect on the growth of the prey population is investigated. Using differential-algebraic system theory, we transform the prey predator model into its normal form and study its dynamics in terms of local analysis and Hopf bifurcation. By analyzing the associated characteristic equation, it is observed that the model undergoes a Hopf bifurcation at some critical value of time delay. In particular, we study the direction of Hopf bifurcation and the stability of bifurcated periodic solutions, and an explicit algorithm is given by applying the normal form theory and the center manifold reduction for functional differential equations. Finally, numerical simulations supporting the theoretical analysis are also included. 展开更多
关键词 Differential-algebraic model Allee effect time delay stability hopf bifurcation.
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Derived representation type and Gorenstein projective modules of an algebra under crossed product 被引量:2
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作者 LI Fang SUN LongGang 《Science China Mathematics》 SCIE 2013年第3期531-540,共10页
Let H and its dual H* be finite dimensional semisimple Hopf algebras. In this paper, we firstly prove that the derived representation types of an algebra A and the crossed product algebra A#σH are coincident. This is... Let H and its dual H* be finite dimensional semisimple Hopf algebras. In this paper, we firstly prove that the derived representation types of an algebra A and the crossed product algebra A#σH are coincident. This is an improvement of the conclusion about representation type of an algebra in Li and Zhang [Sci China Ser A, 2006, 50: 1-13]. Secondly, we give the relationship between Gorenstein projective modules over A and that over A#σH. Then, using this result, it is proven that A is a finite dimensional CM-finite Gorenstein algebra if and only if so is A#σH. 展开更多
关键词 finite Cohen-Macaulay type crossed product derived representation type Gorenstein projective module
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ANALYSIS OF THE MECHANISM MODELS OF TECHNOLOGICAL INNOVATION DIFFUSION 被引量:4
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作者 XUJiuping HUMinan 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2004年第3期369-376,共8页
This paper analyzes the mechanism and principle of diffusion of technology diffusion on the basis of quantitative analysis. Then it sets up the diffusion model of innovation incorporating price, advertising and distri... This paper analyzes the mechanism and principle of diffusion of technology diffusion on the basis of quantitative analysis. Then it sets up the diffusion model of innovation incorporating price, advertising and distribution, the diffusion model of innovation including various kinds of consumers, and the substitute model between the new technology and the old one applied systems dynamics, optimization method, probabilistic method and simulation method on computer. Finally this paper concludes with some practical observations from a case study. 展开更多
关键词 DIFFUSION technological innovation dynamic system hopf bifurcation
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Dynamics of the impact of Twitter with time delay on the spread of infectious diseases
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作者 Maoxing Liu Yuting Chang +1 位作者 Haiyan Wang Benxing Li 《International Journal of Biomathematics》 SCIE 2018年第5期129-145,共17页
In this paper, a mathematical model to study the impact of Twitter in controlling infectious disease is proposed. The model includes the dynamics of "tweets" which may enhance awareness of the disease and cause beha... In this paper, a mathematical model to study the impact of Twitter in controlling infectious disease is proposed. The model includes the dynamics of "tweets" which may enhance awareness of the disease and cause behavioral changes among the public, thus reducing the transmission of the disease. Furthermore, the model is improved by introducing a time delay between the outbreak of disease and the release of Twitter messages. The basic reproduction number and the conditions for the stability of the equilibria are derived. It is shown that the system undergoes Hopf bifurcation when time delay is increased. Finally, numerical simulations are given to verify the analytical results. 展开更多
关键词 TWITTER EPIDEMIC hopf bifurcation time delay
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Firing properties and synchronization rate in fractional-order Hindmarsh-Rose model neurons 被引量:11
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作者 XIE Yong KANG YanMei +1 位作者 LIU Yong WU Ying 《Science China(Technological Sciences)》 SCIE EI CAS 2014年第5期914-922,共9页
We find that the fractional-order Hindmarsh-Rose model neuron demonstrates various types of firing behavior as a function of the fractional order in this study.There exists a clear difference in the bifurcation diagra... We find that the fractional-order Hindmarsh-Rose model neuron demonstrates various types of firing behavior as a function of the fractional order in this study.There exists a clear difference in the bifurcation diagram between the fractional-order Hindmarsh-Rose model and the corresponding integer-order model even though the neuron undergoes a Hopf bifurcation to oscillation and then starts a period-doubling cascade to chaos with the decrease of the externally applied current.Interestingly,the discharge frequency of the fractional-order Hindmarsh-Rose model neuron is greater than that of the integer-order counterpart irrespective of whether the neuron exhibits periodic or chaotic firing.Then we demonstrate that the firing behavior of the fractional-order Hindmarsh-Rose model neuron has a higher complexity than that of the integer-order counterpart.Also,the synchronization phenomenon is investigated in the network of two electrically coupled fractional-order model neurons.We show that the synchronization rate increases as the fractional order decreases. 展开更多
关键词 fractional calculus chaos BIFURCATION Hindmarsh-Rose model SYNCHRONIZATION
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Bifurcation and spatiotemporal patterns of a density-dependent predator-prey model with Crowley-Martin functional response 被引量:3
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作者 M. Sivakumar K. Balachandran K. Karuppiah 《International Journal of Biomathematics》 2017年第6期73-97,共25页
In this paper, we consider a diffusive density-dependent predator-prey model with Crowley-Martin functional responses subject to Neumann boundary condition. We ana- lyze the stability of the positive equilibrium and t... In this paper, we consider a diffusive density-dependent predator-prey model with Crowley-Martin functional responses subject to Neumann boundary condition. We ana- lyze the stability of the positive equilibrium and the existence of spatially homogeneous and inhomogeneous periodic solutions through the distribution of the eigenvalues. The direction and stability of Hopf bifurcation are determined by the normal form theory and the center manifold theory. Finally, numerical simulations are given to verify our theoretical analysis. 展开更多
关键词 Stability and bifurcation analysis diffusive predator-prey model Smithgrowth Crowley Martin functional response.
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Bifurcation behaviors analysis of a plankton model with multiple delays 被引量:2
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作者 Anuj Kumar Sharma Amit Sharma Kulbhushan Agnihotri 《International Journal of Biomathematics》 2016年第6期113-137,共25页
A mathematical model describing the dynamics of toxin producing phytoplankton- zooplankton interaction with instantaneous nutrient recycling is proposed. We have explored the dynamics of plankton ecosystem with multip... A mathematical model describing the dynamics of toxin producing phytoplankton- zooplankton interaction with instantaneous nutrient recycling is proposed. We have explored the dynamics of plankton ecosystem with multiple delays; one due to gestation period in the growth of phytoplankton population and second due to the delay in toxin liberated by TPP. It is established that a sequence of Hopf bifurcations occurs at the interior equilibrium as the delay increases through its critical value. The direction of the Hopf bifurcation and the stability of the bifurcating periodic solutions are determined using the theory of normal form and center manifold. Meanwhile, effect of toxin on the stability of delayed plankton system is also established numerically. Finally, numerical simulations are carried out to support and supplement the analytical findings. 展开更多
关键词 PLANKTON multiple delays TOXIN hopf bifurcation normal form theory centermanifold theorem.
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Analysis of an HIV model with distributed delay and behavior change
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作者 Hasim A. Obaid Rachid Ouifki Kailash C. Patidar 《International Journal of Biomathematics》 2015年第2期53-75,共23页
We develop and analyze a mathematical model for the transmission dynamics of HIV that accounts for behavioral change. The contact rate is modeled by a decreasing function (response function) of HIV prevalence to ref... We develop and analyze a mathematical model for the transmission dynamics of HIV that accounts for behavioral change. The contact rate is modeled by a decreasing function (response function) of HIV prevalence to reflect a reduction in risky behavior that results from the awareness of individuals to a higher HIV prevalence. The model also includes a distributed delay representing the time needed for individuals to reduce their risky behavior. We study mathematically and numerically the impact of the response function and the distributed delay on the model's dynamics. Threshold values for the delay at which the system destabilizes and periodic solutions can arise through Hopf bifurcation are determined. 展开更多
关键词 HIV distributed delay basic reproduction number EQUILIBRIUM STABILITY hopf bifurcation.
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STABILITY ANALYSIS OF A PREDATOR-PREY MODEL
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作者 ZHICHAO JIANG ZHAOZHUANG GUO YUEFANG SUNS 《International Journal of Biomathematics》 2012年第1期89-102,共14页
In this paper, a time-delayed predator-prey system is considered. The existence of Hopf bifurcations at the positive equilibrium is established by analyzing the distribution of the characteristic values. An explicit a... In this paper, a time-delayed predator-prey system is considered. The existence of Hopf bifurcations at the positive equilibrium is established by analyzing the distribution of the characteristic values. An explicit algorithm for determining the direction of the Hopf bifurcation and the stability of the bifurcating periodic solutions are derived by using the normal form and the center manifold theory. Numerical simulations to support the analytical conclusions are carried out. 展开更多
关键词 Predator-prey model time delay hopf bifurcation numerical simulations.
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