CN114692342A - Design method of large-deformation driver structure of subminiature pipeline soft robot - Google Patents
Design method of large-deformation driver structure of subminiature pipeline soft robot Download PDFInfo
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Abstract
The invention relates to the technical field of pipeline soft robots, discloses a structural design method of a large-deformation driver of a subminiature pipeline soft robot, and aims to provide a large-deformation structural solution for the subminiature pipeline soft robot. The method comprises the steps of firstly, establishing a driver structure initial configuration of a multi-air-cavity driver module according to the design requirements of the subminiature pipeline soft robot; secondly, establishing a finite element model for the initial configuration to realize structural deformation performance analysis under the action of driving air pressure; and establishing the structural topological optimization model again, and setting design response, optimization targets, design constraints and freezing areas to obtain the optimal theoretical configuration of the large deformation structure of the driver, so as to obtain the optimal engineering configuration. The method of the invention provides a solution of a large deformation structure for a subminiature pipeline soft robot. Compared with the prior art, the method does not need to depend on engineering experience, has concise steps, is easy to master, and has better engineering practicability compared with the conventional method.
Description
Technical Field
The invention relates to the technical field of pipeline soft robots, in particular to a design method of a large-deformation driver structure of a subminiature pipeline soft robot.
Background
The pipeline robot has been widely applied to pipeline damage detection and fault diagnosis in important fields of nuclear industry, petrochemical industry and the like. In order to complete various overhaul and maintenance work in pipelines, pipeline rigid robots with various configurations such as a wheel type, a crawler type, a snake type, a multi-foot type and the like have been developed at present. Such rigid body robots generally have large physical dimensions and their hard contact with the pipe wall may exacerbate damage and even cause spark-induced combustion and explosion accidents. Therefore, the ultra-small pipeline is greatly restricted in ultra-small pipeline operation, and the ultra-small pipeline is an important component in nuclear industry and chemical industry test pipeline systems. Compared with a rigid robot, the soft robot has better compatibility, adaptability and safety, and shows great application potential in the field of subminiature pipeline operation. The existing pipeline soft robot is difficult to be applied due to overlarge structure size or insufficient deformation and movement capability. The soft robot has more driving modes, wherein the pneumatic driving efficiency is high, the response is fast, and the method is the preferred driving mode of the subminiature pipeline soft robot. In order to meet complex working conditions of multi-branch turning, valve obstacle and the like in pipeline operation, the soft robot needs to have an active steering function. The multi-degree-of-freedom soft driver assembled by bonding a plurality of air cavities is expected to solve the problem.
Limited by subminiature pipeline operation space and complex working conditions, the multi-air-cavity soft driver needs to realize large deformation performance while strictly controlling the appearance size and driving air pressure. The stringent design requirements present a significant challenge to the design of the software driver architecture. No matter the traditional trial calculation-trial production-test method, or the numerical simulation method of replacing the real trial production test with finite element analysis, or even the academic world structure optimization method based on numerical simulation, a basic premise is needed: the initial configuration of the structure. Based on the existing initial configuration, the structure performance response is obtained through the parameterization of the structure size or the material attribute through trial-and-experiment or numerical simulation, and the optimization design of the structure is realized by combining algorithms such as trial calculation, sensitivity analysis, optimization algorithm and the like. Therefore, the initial configuration has a decisive influence on the performance of the soft-body driver design result. However, the proposed architecture with the prospect of performance optimization often depends on the personal experience of the designer, which greatly hinders the application of soft robotics in the field of pipeline operations. In conclusion, the development of the multi-air-cavity software structure optimization design method which is independent of engineering experience, simple in steps and easy to implement has important engineering significance for providing the software driver with large deformation performance for the subminiature pipeline software robot.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a design method of a large-deformation driver structure of a subminiature pipeline soft robot. The method comprises the steps of firstly, establishing a driver structure initial configuration of a multi-air-cavity driver module according to the design requirements of the subminiature pipeline soft robot; secondly, establishing a finite element model for the initial configuration to realize structural deformation performance analysis under the action of driving air pressure; and establishing the structural topological optimization model again, and setting design response, optimization targets, design constraints and freezing areas to obtain the optimal theoretical configuration of the large deformation structure of the driver, so as to obtain the optimal engineering configuration. The method of the invention provides a solution of a large deformation structure for a subminiature pipeline soft robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
(1) setting a driver structure to be designed based on the existing soft robot;
(2) establishing an initial configuration of the 1 st drive;
(3) establishing the initial configuration finite element model;
(4) establishing a structure optimization model;
(5) and establishing the 1 st driver optimal engineering configuration.
Further, in step (1), the existing soft robot comprises a driver module, a front anchor, a rear anchor and an endoscope; the front-end anchor and the rear-end anchor establish fixed support with the pipe wall through self expansion to provide an anchoring function for the movement of the soft robot; the endoscope is an actuator of the soft robot and is used for acquiring images inside the pipeline; the driver module comprises n drivers with the same structure, wherein n takes the value of 3 or 4 and is a 1 st driver, a 2 nd driver, … … and an nth driver in sequence; the n drivers are ring bodies which are uniformly arranged around the central axis of the soft robot in 360 degrees; the structural size of the torus comprises R, R and L which respectively represent the excircle radius, the inner circle radius and the length of the torus, and the numerical values of R, R and L are given according to the design requirement of the soft robot; respectively inputting driving air pressure to the n drivers, and realizing structural deformation required by the movement of the soft robot by controlling the size of the driving air pressure;
further, in the step (1), the given driver structure to be designed refers to that the 1 st driver is taken as a design object to promote the bending deformation of the given driver structure under the driving air pressure.
Further, in the step (2), establishing the initial configuration of the driver means that the initial configuration is designed as a sector cavity obtained by stretching the section of the sector cavity, and includes a middle cavity wall, a rear cavity wall and a front cavity wall; the structural dimensions of the initial configuration include: l, t, theta, R, R, d; l is the length of the initial configuration, t is the wall thickness, given t =0.64 r; θ, R represent the angle, inner circle radius, outer circle radius, respectively, of the sector cavity cross-section, given θ =360 °/n; r, R and L are given according to the structural size of the torus; d is the distance between the outer to middle contour of the sector cavity cross-section, given that d =0.75 t; the outer contour lines are equidistantly retracted to obtain the middle contour line; the cutting surface formed by stretching the middle contour line divides the middle cavity wall into a design domain and a limiting domain; m connecting walls with the same wall thickness b and distributed axially at equal intervals are arranged inside the initial configuration, and vent holes are formed in the connecting walls; b represents the thickness of the m connecting walls, given b =0.5 t; given m = round (L/R-1) =4, round () represents a rounding operation; the m connecting walls are used for enhancing the overall rigidity of the initial configuration, and the vent holes are used for communicating the whole fan-shaped cavity; the driving air pressure is input into the cavity with the initial configuration, so that the cavity can be deformed.
Further, in step (3), the step of establishing the initial configuration finite element structure is as follows:
(3.1) establishing an initial configuration finite element structure, which comprises a structure body, a structure size and a structure unit; the structure body comprises a middle cavity wall body, a rear cavity body and m connecting wall bodies; the middle cavity wall body and the rear cavity body respectively correspond to the middle cavity wall and the rear cavity wall; the m connecting wall bodies correspond to the m connecting walls; the middle cavity wall body is divided into a design domain body and a limit domain body which correspond to the design domain and the limit domain; the structural dimensions are given in accordance with structural dimensions (L, t, θ, R, R, d) of the initial configuration; the structural units are arranged into eight-node linear body units.
(3.2) defining material attributes including a material model and material parameters of the structure; the material model is defined as an elastomer model; the material attributes are E and mu which respectively represent the elastic modulus and the Poisson ratio, and the values of the E and the mu are obtained by testing the mechanical property of the soft material.
(3.3) defining boundary conditions, namely setting a clamped boundary on the front end surface of the middle cavity wall body.
(3.4) defining the load means setting a pressure load P to the inner wall surface of the medial wall body, given that P = 0.03E.
(3.5) defining deformation characteristic points and deformation characteristic values; the deformation characteristic point refers to the middle point of a lower arc line of the outer surface of the rear cavity body; the deformation characteristic value refers to the displacement of the midpoint of the lower arc line to the direction of the central point of the arc line after the structural body deforms under the action of the pressure load P;
(3.6) defining finite element grid characteristics, including a grid strategy and grid sizes; the gridding strategy is set as a global approximation strategy, and the gridding size is set to 0.12 r.
(3.7) defining a solver, namely setting the solver as a static general solver of the ABAQUS.
Further, in step (4), the step of establishing the structure optimization model is as follows:
(4.1) setting a structural optimization tool, which comprises a finite element model, a tool type and tool characteristics; the finite element model is designated as the initial configuration finite element model, the tool type is set as a topology optimization tool of commercial finite element software ABAQUS, and the tool characteristics are set as a frozen load application area and a boundary condition application area;
(4.2) setting a design response comprising a displacement response and a volume response; setting the displacement response as the deformation characteristic value, and setting the volume response as the volume value of the design domain body;
(4.3) setting an optimization goal to maximize the displacement response;
(4.4) setting a design constraint that the optimized volume response is less than or equal to 50% of the initial value of the volume response;
(4.5) setting a freezing region as a portion of the structure excluding the designed domain;
(4.6) setting the maximum cycle number of the optimization solution to be 20;
(4.7) solving and outputting the optimal theoretical configuration of the 1 st driver through the structural optimization tool.
Further, in the step (5), the establishing of the optimal engineering configuration of the driver means that the optimal theoretical configuration is subjected to regularization processing to obtain the optimal engineering configuration of the 1 st driver; and the regularization treatment is to replace strong nonlinear geometric characteristics in the optimal theoretical configuration with linear geometric characteristics to obtain the structural body meeting the engineering manufacturing requirements.
Compared with the prior art, the invention has the advantages that:
the method of the invention is oriented to the design requirement of the microminiature pipeline soft robot, establishes the initial configuration of the driver of the multi-cavity driver module and provides a method for setting the structure size of the initial configuration; establishing a finite element model for the initial configuration to realize structural deformation performance analysis under the action of driving air pressure, and defining a deformation characteristic value to characterize the bending deformation performance of the driver; and establishing a structural topological optimization model, solving to obtain the optimal theoretical configuration of the large deformation structure of the driver, and further obtaining the optimal engineering configuration meeting the manufacturing requirement. Therefore, the method can obtain the driver structure with excellent large-deformation bending performance, and provides a large-deformation structure solution for the subminiature pipeline soft robot. In addition, the method does not need to depend on engineering experience, avoids complex and complicated finite element analysis and optimization algorithm programming processes in the implementation process, has concise steps, is easy to master, and has better engineering practicability compared with the conventional method.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
FIG. 2 is a schematic diagram of a software robot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of the initial configuration of the 1 st actuator in the embodiment of the present invention.
FIG. 4 is a schematic diagram of a finite element model of an initial configuration in an embodiment of the present invention.
Fig. 5 is a schematic diagram of the optimal theoretical configuration of the 1 st actuator in the specific application example of the invention.
Fig. 6 is a schematic diagram of the optimal engineering configuration of the 1 st drive in the specific application example of the invention.
Fig. 7 is a schematic diagram of the deformation of the optimal engineering configuration under positive pressure driving in the specific application example of the invention.
FIG. 8 is a schematic diagram of the deformation of the optimal engineering configuration under the driving of negative pressure in the specific application example of the invention.
Reference numerals: 20. a soft robot; 21. a driver module; 22. a front end anchor; 23. a rear anchor; 24. an endoscope; 25. a central axis; 211. a 1 st driver; 212. a 2 nd driver; 213. a 3 rd driver; 30. an initial configuration; 31. a sector cavity cross section; 32. a middle chamber wall; 33. a rear chamber wall; 34. a front cavity wall; 35. the 1 st connecting wall; 36. 1 st air vent; 320. a design domain; 321. a restricted domain; a structure 40; a middle cavity wall body 41; a rear cavity 42; 43. 1, connecting the wall body; 410. designing a domain body; 411. a restriction domain body; 412. a front end face; 420. the midpoint of the lower arc.
Detailed Description
The invention will now be further described with reference to the following examples, which are not intended to limit the invention in any way, and any limited number of modifications may be made within the scope of the claims of the invention.
As shown in fig. 1-5, the present invention provides a design method for a large deformation driver of a subminiature pipeline soft robot, which comprises the following processing steps:
step 1: the driver structure to be designed is given based on the existing soft body robot. As shown in fig. 2, the conventional soft robot 20 includes a driver module 21, a front anchor 22, a rear anchor 23, and an endoscope 24; the front-end anchor 22 and the rear-end anchor 23 are expanded to establish fixed support with the pipe wall, so that an anchoring function is provided for the movement of the soft robot; the endoscope 24 is an actuator of the soft robot 20 and is used for collecting images of the interior of the pipeline. A driver module 21 including n =3 drivers having the same structure, which are a 1 st driver 211, a 2 nd driver 212, and a 3 rd driver 213 in this order; the 3 drivers are annular bodies which are uniformly arranged in 360 degrees around the central axis 25 of the soft robot 20; the structural size of the torus comprises R, R and L which respectively represent the outer circle radius, the inner circle radius and the length of the torus, and R =15mm, R =5mm and L =80mm are given according to the design requirement of the soft robot 20; respectively inputting driving air pressure to the n drivers, and realizing structural deformation required by the movement of the soft robot by controlling the driving air pressure; given the driver structure to be designed means that the 1 st driver 21 is the design object to promote its bending deformation under the driving air pressure.
And 2, step: an initial configuration of the driver is established. As shown in FIG. 3, the initial configuration 30 of the 1 st actuator is designed as a sector-shaped chamber stretched from a sector-shaped chamber section 31, comprising a middle chamber wall 32, a rear chamber wall 33, and a front chamber wall 34; the structural dimensions of the initial configuration 30 include: l, t, theta, R, R, d; l is the length of the initial configuration 30, t is the wall thickness, t =0.64r =3.2 mm; the sector cavity section 31 is characterized by an angle θ =360 °/n =120 °, an inner circle radius R, an outer circle radius R, L given according to the torus structure size; the outer contour of the sector cavity section 31 is equidistantly retracted by d =0.75t =2.4mm to obtain a middle contour line 310, and a cutting surface formed by stretching the middle contour line 310 divides the middle cavity wall 32 into a design area 320 and a limiting area 321; m connecting walls which have the same wall thickness b =0.5t =1.6mm and are distributed axially at equal intervals are arranged inside the initial configuration 30, vent holes are formed in the connecting walls, and only the 1 st connecting wall 35 and the 1 st vent hole 36 are marked; where m = round (L/R-1) =4, round () denotes a rounding operation; the connecting walls are used for enhancing the overall rigidity of the initial configuration 30, and the vent holes are used for communicating the whole fan-shaped cavity; the initial configuration 30 is deformed by the input of a driving air pressure into the cavity.
And step 3: and establishing an initial configuration finite element model. As shown in fig. 4, the procedure is as follows.
And (3.1) establishing an initial configuration finite element structure. As shown in fig. 4, including structure 40, structure size, structural unit; the structure 40 includes a middle cavity wall 41, a rear cavity 42, and m connection walls; the middle cavity wall 41 and the rear cavity 42 correspond to the middle cavity wall 32 and the rear cavity wall 33 in fig. 3, respectively; the m connecting wall bodies correspond to the m connecting walls in fig. 2, only the 1 st connecting wall body 43 is identified, corresponding to the 1 st connecting wall 35 in fig. 2; the middle cavity wall 41 is divided into a design domain 410 and a confinement domain 411, which correspond to the design domain 320 and the confinement domain 321 in fig. 2; the structural dimensions are given in terms of the structural dimensions (L, t, θ, R, R, d) of the initial configuration 30; the structural unit is set as an eight-node linear body unit.
And (3.2) defining material properties. A material model comprising a structure, a material parameter; defining the material model as an elastomer model; the material attributes are E and mu, which respectively represent the elastic modulus and the Poisson ratio; the material properties are obtained by testing the mechanical properties of the soft material, wherein E =1.67MPa and mu = 0.45.
And (3.3) defining a boundary condition. A fixing and supporting boundary is provided to the front end surface 412 of the middle cavity wall body 41.
(3.4) define the load. A pressure load P is applied to the inner wall surface of the middle cavity wall 41, and P =0.03E =0.05 MPa.
And (3.5) defining deformation characteristic points and deformation characteristic values. The deformation characteristic point is a central point 420 of a lower arc line of the outer surface of the rear cavity 42, and the deformation characteristic value is a displacement of the central point 420 of the lower arc line towards the central point of the arc line after the structural body 40 deforms under the action of the pressure load P;
and (3.6) defining finite element mesh characteristics. The method comprises a gridding strategy and a gridding size, wherein the gridding strategy is a global approximate strategy, and the gridding size is set to be 0.12r =0.6 mm.
(3.7) define solver. Set as the static general solver of the commercial finite element software ABAQUS.
And 4, step 4: and establishing a structure optimization model, and the steps are as follows.
And (4.1) setting a structure optimization tool. Including finite element model, tool type, tool characteristics; the finite element model is designated as said initial configuration finite element model, the tool type is a topology optimization tool of commercial finite element software ABAQUS, the tool is characterized by a frozen load application zone and a boundary condition application zone.
And (4.2) setting a design response. Including displacement response and volume response; the displacement response is the deformation characteristic value, and the volume response is the volume value of the design field 410.
(4.3) setting the optimization target to maximize the displacement response.
(4.4) setting the design constraint that the optimized volume response is less than or equal to 50% of the initial value of the volume response.
(4.5) the freezing region is set to a portion of structure 40 other than design domain 410.
And (4.6) setting the maximum cycle number of the optimization solution to be 20.
(4.7) solving the optimal theoretical configuration of the output 1 st drive 211 by the structural optimization tool, as shown in FIG. 5.
And 5: and establishing the optimal engineering configuration of the driver. Performing regularization processing on the optimal theoretical configuration to obtain an optimal engineering configuration of the 1 st driver 211, as shown in fig. 6; and the regularization treatment is to replace strong nonlinear geometric characteristics in the optimal theoretical configuration with linear geometric characteristics to obtain the structural body meeting the engineering manufacturing requirements.
In order to show the beneficial effect of the method, the bending deformation performance of the optimal engineering configuration is analyzed. And (3) establishing a finite element model for the optimal engineering configuration according to the step (3), and solving to obtain the deformation condition under the positive pressure driving (0.05 MPa) and the negative pressure driving (0.05 MPa), as shown in fig. 7 and 8. Fig. 7 shows that the deformation characteristic value of the optimal engineering configuration under positive pressure driving is-17.1 mm, and fig. 8 shows that the deformation characteristic value of the optimal engineering configuration under negative pressure driving is 17.1 mm. In both cases, the deformed actuator structure can maintain a stable structural configuration. Therefore, the optimal engineering configuration of the drivers has excellent large-deformation bending performance, and the soft robot driving module consisting of 3 drivers can also obtain excellent large-deformation bending performance, so that a large-deformation structural solution is provided for the subminiature pipeline soft robot. Moreover, by analyzing the implementation steps of the method, the method is shown to be free from depending on engineering experience, the implementation process avoids complex and complicated finite element analysis and optimization algorithm programming process, the steps are simple and easy to master, and the method has better engineering practicability compared with the conventional method.
Claims (4)
1. A design method for a large deformation driver of a subminiature pipeline soft robot is characterized by comprising the following processing steps:
step (1) a driver structure to be designed is given based on the existing software robot;
step (2) establishing an initial configuration of a 1 st driver;
step (3) establishing the initial configuration finite element model;
step (4), establishing a structure optimization model;
step (5) establishing the optimal engineering configuration of the 1 st driver;
in the step (1), the existing soft robot comprises a driver module, a front anchor, a rear anchor and an endoscope; the driver module comprises n drivers with the same structure, wherein n takes the value of 3 or 4 and is a 1 st driver, a 2 nd driver, … … and an nth driver in sequence; the n drivers are ring bodies which are uniformly arranged around the central axis of the soft robot in 360 degrees; the structural size of the torus comprises R, R and L which respectively represent the excircle radius, the inner circle radius and the length of the torus, and the numerical values of R, R and L are given according to the design requirement of the soft robot;
in the step (1), the given driver structure to be designed refers to the 1 st driver as a design object;
in the step (2), the establishing of the initial configuration of the driver means that the initial configuration is designed to be a sector cavity obtained by stretching the section of the sector cavity, and comprises a middle cavity wall, a rear cavity wall and a front cavity wall; the structural dimensions of the initial configuration include: l, t, theta, R, R, d; l is the length of the initial configuration, t is the wall thickness, given t =0.64 r; θ, R represent the angle, inner circle radius, outer circle radius, respectively, of the sector cavity cross-section, given θ =360 °/n; r, R and L are given according to the structural size of the torus; d is the distance between the outer to middle contour of the sector cavity cross-section, given that d =0.75 t; the outer contour lines are equidistantly retracted to obtain the middle contour line; the cutting surface formed by stretching the middle contour line divides the middle cavity wall into a design domain and a limiting domain; m connecting walls with the same wall thickness b and distributed axially at equal intervals are arranged inside the initial configuration, and vent holes are formed in the connecting walls; b represents the thickness of the m connecting walls, given b =0.5 t; given m = round (L/R-1) =4, round () means a round operation.
2. The design method of the structure of the ultra-small size pipeline soft robot large deformation actuator according to claim 1, in the step (3), the step of establishing the initial configuration finite element structure is as follows:
(3.1) establishing an initial configuration finite element structure, which comprises a structure body, a structure size and a structure unit; the structure body comprises a middle cavity wall body, a rear cavity body and m connecting wall bodies; the middle cavity wall body and the rear cavity body respectively correspond to the middle cavity wall and the rear cavity wall; the m connecting wall bodies correspond to the m connecting walls; the middle cavity wall body is divided into a design domain body and a limit domain body which correspond to the design domain and the limit domain; the structural dimensions are given in accordance with structural dimensions (L, t, θ, R, R, d) of the initial configuration; the structural unit is arranged into an eight-node linear body unit;
(3.2) defining material properties including a material model and material parameters of the structure; the material model is defined as an elastomer model; the material attributes are E and mu which respectively represent the elastic modulus and the Poisson ratio, and the numerical values of the E and the mu are obtained by testing the mechanical property of the soft material;
(3.3) defining boundary conditions, namely setting a clamped boundary on the front end surface of the middle cavity wall body;
(3.4) defining a load, which means that a pressure load P is set to the inner wall surface of the middle cavity wall body, and given that P = 0.03E;
(3.5) defining deformation characteristic points and deformation characteristic values; the deformation characteristic point refers to the middle point of a lower arc line of the outer surface of the rear cavity body; the deformation characteristic value refers to the displacement of the midpoint of the lower arc line to the direction of the central point of the arc line after the structural body deforms under the action of the pressure load P;
(3.6) defining finite element grid characteristics, including a grid strategy and grid sizes; the gridding strategy is set as a global approximate strategy, and the gridding size is set as 0.12 r;
(3.7) defining a solver, namely setting the solver as a static general solver of the ABAQUS.
3. The method for designing the structure of the large deformation driver of the subminiature pipeline soft robot as claimed in claim 1, wherein in the step (4), the step of establishing the structure optimization model comprises the following steps:
(4.1) setting a structural optimization tool, which comprises a finite element model, a tool type and tool characteristics; the finite element model is designated as the initial configuration finite element model, the tool type is set as a topology optimization tool of commercial finite element software ABAQUS, and the tool characteristics are set as a frozen load application area and a boundary condition application area;
(4.2) setting a design response comprising a displacement response and a volume response; setting the displacement response as the deformation characteristic value, and setting the volume response as the volume value of the design domain body;
(4.3) setting an optimization goal to maximize the displacement response;
(4.4) setting a design constraint that the optimized volume response is less than or equal to 50% of the initial value of the volume response;
(4.5) setting a freezing region as a portion of the structure excluding the designed domain;
(4.6) setting the maximum cycle number of the optimization solution to be 20 times;
(4.7) solving and outputting the optimal theoretical configuration of the 1 st driver through the structural optimization tool.
4. The design method of the structure of the large deformation driver of the subminiature pipeline soft robot according to claim 1, wherein in the step (5), the establishment of the optimal engineering configuration of the driver is to perform regularization processing on the optimal theoretical configuration to obtain the optimal engineering configuration of the 1 st driver; and the regularization treatment is to replace strong nonlinear geometric characteristics in the optimal theoretical configuration with linear geometric characteristics to obtain the structural body meeting the engineering manufacturing requirements.
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