EP3207440A1 - Interface and method for controlling a control interface with haptic feedback for a motor vehicle - Google Patents
Interface and method for controlling a control interface with haptic feedback for a motor vehicleInfo
- Publication number
- EP3207440A1 EP3207440A1 EP15763386.8A EP15763386A EP3207440A1 EP 3207440 A1 EP3207440 A1 EP 3207440A1 EP 15763386 A EP15763386 A EP 15763386A EP 3207440 A1 EP3207440 A1 EP 3207440A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- braking force
- maximum
- magnetic field
- force
- zero
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000012530 fluid Substances 0.000 claims abstract description 42
- 238000000418 atomic force spectrum Methods 0.000 claims abstract description 30
- 230000003247 decreasing effect Effects 0.000 claims description 12
- 230000006870 function Effects 0.000 description 16
- 230000000694 effects Effects 0.000 description 7
- 230000008447 perception Effects 0.000 description 6
- 238000007667 floating Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/25—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using haptic output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0362—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/126—Rotatable input devices for instruments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
Definitions
- the present invention relates to a control interface for a motor vehicle for transmitting a haptic feedback to a user to inform him of the taking into account of a command.
- the invention also relates to a method for controlling a haptic feedback control interface.
- the haptic feedback generated for example by the user manipulating a wheel, is generally composed of resistance forces of variable values, creating hard points and bearings, corresponding to different commands for the devices controlled via the interface.
- the haptic feedback is advantageous by car because it requires little attention from the driver, in particular, it does not require the driver to look away from the road.
- the braking force generated by the magneto-rheological fluid interface can increase and then gradually decrease according to a substantially bell-shaped stress profile. It is when he perceives the maximum value that the user stops his rotation. However, it can be noted that this indexing may be inaccurate, since the feedback perceived by the user on the selected position may not be sufficiently clearly defined.
- the subject of the present invention is a haptic feedback control interface for a motor vehicle comprising a magneto-rheological fluid module comprising a rotary element, a magnetorheological fluid in contact with the element.
- rotary and a magnetic field application unit configured to apply a magnetic field to the magnetorheological fluid and to modify the intensity of the applied magnetic field to generate a haptic feedback to the user moving the rotating member by modification of the magnetic field applied to the magnetorheological fluid, characterized in that it comprises an angular sensor configured to measure the angular position of the rotary element and a control unit connected to the magnetic field application unit and to the angular sensor, the control unit being configured to control the magnetic field application unit in order to index at least one indexing position by generating a braking force to the rotating element according to a profile of effort presenting:
- the maximum braking force being interposed between the non-zero braking force portion and the portion devoid of braking force.
- the non-zero braking force portion comprises, in the direction of rotation, a braking force portion increasing up to the maximum braking force and / or decreasing from the force of effort. maximum braking.
- control unit is configured to control the application unit of a magnetic field so that the maximum braking force in the direction of clockwise rotation is angularly offset from the braking force. maximum in the anticlockwise rotation direction, the non-zero braking force portions overlapping over an overlapping angular range.
- the same angular position can correspond to separate force values or to a force value identical but on an angular value too narrow to be well perceived. This can hinder the perception of the user who no longer identifies the indexing position as clearly as when he rotates the rotary element in the same direction. This floating situation can lead to the perception of a poor indexing quality.
- the angular overlap of the maximum braking forces according to the direction of rotation of the rotating element, superimposing the haptic profiles in a clockwise and counterclockwise direction prevents the user from finding himself in this floating situation.
- the non-zero braking force portion comprises a portion of force comprised in a range of 10% of the maximum braking force, preceding or following the maximum braking force in the direction of rotation, , the maximum braking force is no longer located on a single angular value but extends over an angular range, so it is more easily identifiable by the user.
- the force profiles in the clockwise and counterclockwise rotation direction are symmetrical.
- the subject of the invention is also a method of controlling a haptic feedback control interface as described above, in which at least one indexing position is indexed by generating a braking force on the rotating element according to a profile. of effort presenting:
- control method taken alone or in combination:
- the maximum braking force in the direction of clockwise rotation is shifted angularly from the maximum braking force in the anticlockwise rotation direction, the non-zero braking force portions overlapping over an overlapping angular range,
- the angular range of recovery of the force profiles is less than 15 °
- the non-zero braking force portion comprises a portion of effort included in a range of 10% of the maximum braking force, preceding or following the maximum braking force in the direction of rotation,
- FIG. 1 represents a schematic view of an exemplary embodiment of a haptic feedback control interface
- FIG. 2 illustrates an example of a braking force profile in Nm as a function of the angular position of the rotary element for a clockwise rotation
- FIG. 3 illustrates an exemplary braking force profile in Nm as a function of the angular position of the rotary element for counterclockwise rotation
- FIG. 5 illustrates another example of a N.m braking force profile as a function of the angular position of the rotary element for a counterclockwise rotation
- FIG. 6 illustrates another example of a N.m braking force profile as a function of the angular position of the rotary element for a clockwise rotation
- FIG. 7 illustrates another example of a N.m braking force profile as a function of the angular position of the rotary element for a counterclockwise rotation
- FIG. 8 illustrates another example of a braking force profile in Nm as a function of the angular position of the rotary element for a clockwise rotation
- FIG. 9 illustrates another example of a Nm braking force profile as a function of the angular position of the rotary element for counterclockwise rotation
- FIG. 10 illustrates another example of a N.m braking force profile as a function of the angular position of the rotary element for a clockwise rotation
- FIG. 11 illustrates another example of a N.m braking force profile as a function of the angular position of the rotary element for a clockwise rotation
- FIG. 12 illustrates another example of a braking force profile in Nm as a function of the angular position of the rotary element for a clockwise rotation.
- FIG. 1 represents a haptic feedback control interface 1 for a motor vehicle, for example mounted in the dashboard or in a central console of the vehicle, for controlling on-board vehicle systems such as the air-conditioning system, radio system, telephone, ventilation or navigation.
- a haptic feedback control interface 1 for a motor vehicle, for example mounted in the dashboard or in a central console of the vehicle, for controlling on-board vehicle systems such as the air-conditioning system, radio system, telephone, ventilation or navigation.
- the control interface 1 comprises a magneto-rheological fluid module 3, a control unit 18 and an angular sensor 21 connected to the control unit 18.
- the magnetorheological fluid module 3 comprises a rotary element 6, a magnetorheological fluid 7 in contact with the rotary element 6 and a magnetic field application unit 8 configured to apply a magnetic field to the magnetomagnetic fluid. rheological 7 and to modify the intensity of the applied magnetic field.
- the unit for applying a magnetic field 8 is connected to the control unit 18.
- the magneto-rheological fluid module 3 may comprise a gripping element 5 integral with the rotary element 6, that is to say rigidly connected to the rotary element 6.
- the gripping element 5 is for example made of material with the rotary member 6 or clipped on the rotary member 6 or fixed by pin or by any other known fastening means.
- the gripping element 5 can be coupled to the element rotary 6 via a system of gears, chains, belts or any other mechanical means for ensuring a coupling between the gripping element 5 and the rotary element 6.
- the magneto-rheological fluid module 3 comprises a base 9 having a generally cylindrical shape extending along an axis of rotation Z of the module 3, closed at one of its ends by a fixed central axis 10 oriented according to the Z axis of rotation, defining an annular cavity 11.
- the rotary member 6 is rotatably mounted on the base 9 fixed around the axis of rotation Z.
- the magnetic field created by a coil being proportional to the current flowing through it, it is possible to vary the intensity of the magnetic field created in the center of the coil by varying the supply of the coil.
- the variation of the intensity of the magnetic field applied to the magnetorheological fluid 7 makes it possible to vary the viscosity of the fluid and thus the friction force exerted by the fluid. It is thus possible to vary the force with which the rotary element 6 can be rotated to generate a haptic feedback specific to the user handling the rotary element 6.
- the friction force applied by the magnetorheological fluid 7 to the rotary element 6 varies as a function of the fluid surface in contact with the rotary element 6.
- the end of the rotary element 6 contact with the magnetorheological fluid 7 may comprise a plurality of cylindrical and concentric end walls 13 extending along the axis of rotation Z, and facing complementary walls extending from the bottom of the cavity 11.
- the base 9 comprises a complementary wall 14, which is interposed between the end walls 13 of the rotary element 6 to increase the facing surfaces between the rotary element 6 and the base 9 and thus increase the torque of force that can be exerted on the rotary member 6 with a given power supply.
- the angular sensor 21 is configured to measure the angular position of the rotary element 6.
- the position encoder can comprise for example a set of contacts and a brush in contact successively. with some of the contacts during the rotation of the element 6.
- the position encoder may be an optical encoder comprising one or more optical forks or a piezoelectric device or any other position sensor known to the human being. job.
- the position encoder may be located at different locations near the rotary member 6 and in particular on the side of the gripping element 5.
- the position encoder may also be configured to determine the position of the position encoder. absolute angular position of the gripping element 5 with respect to a reference position.
- the angular sensor 21 is furthermore connected to the unit for applying a magnetic field 8 in order to adapt the control of the unit for applying a magnetic field. 8 to the magnetorheological fluid 7 at the desired haptic return depending on the angular position of the rotary element 6.
- the intensity of the magnetic field can have a slot shape in which the intensity is zero or low except at the indexing positions where this intensity is strong so as to create a significant friction force at the passage of the indexing points.
- Other patterns or resistance strength profiles depending on the position are also possible, for example triangular or sawtooth profiles distributed around the indexing positions, so that these are perceived as a progressive hard point. to overcome, once to reach it, and once to get away from it or only to reach it.
- the force portion of non-zero braking P1, P1 ' has, in the direction of rotation, a braking force portion increasing until the maximum braking force M followed by a portion devoid of braking force P2, P2', l maximum braking force M being reached at said indexing position ⁇ 0 , ⁇ , ⁇ 2 .
- the braking force F increases with the rotation of the rotary element 6 in a same direction of rotation, over an angular range ⁇ , ⁇ 2 , for example of the order of 25 °, preceding the indexing position ⁇ 0 .
- the braking force F reaches a maximum M beyond which the braking force F becomes negligible or zero.
- the user thus perceives an almost total absence of braking after having passed a maximum braking force M, causing a breaking effect.
- the user's hand is then driven by momentum for example towards the simulation of a next indexing position or a stop. This rupture in the effort thus clearly indicates to the user the overtaking of an indexing position.
- the force profile has in the direction of rotation of the movable member 6, a portion devoid of braking force P2, P2 ' followed by a maximum braking force M at the indexing position ⁇ 0 ⁇ , ⁇ 2 , followed by a non-zero braking force portion P3, P3 '.
- the non-zero braking force portion P3, P3 ' comprises, for example, in the direction of rotation, a portion of decreasing braking force from the maximum braking force M over an angular range ⁇ ,, ⁇ 2 , for example of the order of 25 °.
- the portions devoid of braking force P2, P2 ' make it possible to better differentiate the haptic feedback associated with respective indexing positions, in particular avoiding that the user stops the rotation of the movable element 6 in an intermediate position.
- the portions of increasing or decreasing braking force P1, P1 ', P3, P3' allow to simulate the feel of a mechanical button, such as the progressive haptic feedback generated by the indexing cam ramp of the mechanical button, which improves the perception of quality of the product.
- the increasing braking force portion P1, P1 'or decreasing P3, P3' with the rotation of the rotary member 6 in the same direction of rotation is for example at least partially in a sinusoidal curve, as for example on the angular range ⁇ 1; ⁇ 2 preceding the indexing position ⁇ 0 in FIGS. 2, 3, 4 and 5.
- the non-zero braking force portion comprises, in the direction of rotation, a decreasing braking force portion P3 from the maximum braking force M, followed by a increasing braking force portion P5, followed by a decreasing braking force portion P6.
- the braking force profile P1, P2 generated in the clockwise direction of the rotary element 6 is for example symmetrical to the braking force profile ⁇ 1 ', P2' generated in the anticlockwise rotation direction ( see for example Figures 2 and
- the maximum braking force M in the clockwise direction of rotation is angularly offset from the maximum braking force M in the anticlockwise rotation direction, the portions of non-zero braking force P1, P1 ', P3, P3' overlapping over an overlapping angular range ⁇ ⁇ . There is thus a slight overlap of the braking force profiles at the maximum braking force M.
- a braking force F is generated at the rotating element 6 increasing on a portion preceding a first indexing position, for example 182 °, in the direction of clockwise rotation for which the braking force is maximum M and at beyond which the braking force F becomes negligible or zero (FIG. 6).
- a braking force F is generated at the rotary element 6 which is substantially increasing over a portion up to a second indexing position ⁇ 2 , for example 180 °, for which the braking force F is at most and beyond which the braking force F becomes negligible or zero (FIG. 7).
- the first indexing position ⁇ ! is thus distinct from the second indexing position Q 2 , the first position and the second indexing position ⁇ , ⁇ 2 indexing the control of the same function.
- the same angular position can correspond to distinct effort values or correspond to a value of identical effort but on an angular value too narrow to be well perceived. This can hinder the perception of the user who no longer identifies as clearly indexing position ⁇ 0 , as when turning the rotary member 6 in the same direction. This floating situation can lead to the perception of a poor indexing quality.
- the offset can be generated automatically or depend for example on the angle at which the user rotates the movable member 6 in the opposite direction, the offset being then generated only if the user rotates the movable member 6 in the direction reverse while he has just crossed the maximum braking force M.
- the force profile has a portion devoid of braking force P2, then a maximum braking force M, then a decreasing braking force on a braking force portion. not zero P3.
- the maximum braking force M is reached for a first indexing position ⁇ ! eg 180 ° in the clockwise direction (Fig. 8).
- the force profile has a portion devoid of braking force P2 ', then a maximum braking force M, then a decreasing braking force on a portion P3'.
- the maximum braking force M is reached for a second indexing position ⁇ 2 , for example 182 °, in the direction of anti-friction rotation (FIG. 9).
- the first indexing position ⁇ ! is thus distinct from the second indexing position ⁇ 2 , the first position and the second indexing position ⁇ ! , ⁇ 2 indexing the command of the same function.
- the non-zero braking force portion P1, ⁇ 1 ', P3, P3' has a force portion P4 included in a range of 10% of the maximum braking force M, preceding or following the maximum braking force M in the direction of rotation.
- the braking force is substantially constant, that is to say constant or slightly increasing or decreasing, the user perceiving a maximum braking force M constant.
- for example extends over a range of between one and five degrees.
- the maximum braking force M is no longer located on a single angular value but extends over an angular range, so it is more easily identifiable by the user.
- the control remains maintained when the user slightly rotates the movable member 6 in both directions of rotation about this position.
- a rounding effect is simulated for the maximum braking force M similar to the haptic return of a mechanical index cam ramp, which improves the perception of product quality.
- portions of non-zero braking force P1, ⁇ 1 ', P3, P3' overlapping in the vicinity of the maximum braking forces M and on the other hand, portions of effort P4 included in a range of 10% of the maximum braking force M, allows the maximum braking force M to remain constant over an angular range large enough to generate a "rounded up” effect, without however adding up and giving the user a "sticking" effect of the finger when the user rotates the movable member 6 in one direction and then in the other at the maximum braking force M.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1401771A FR3024562B1 (en) | 2014-07-31 | 2014-07-31 | INTERFACE AND METHOD FOR CONTROLLING A HAPTIC RETURN CONTROL INTERFACE FOR A MOTOR VEHICLE |
PCT/FR2015/000170 WO2016016520A1 (en) | 2014-07-31 | 2015-07-31 | Interface and method for controlling a control interface with haptic feedback for a motor vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3207440A1 true EP3207440A1 (en) | 2017-08-23 |
Family
ID=52450151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15763386.8A Withdrawn EP3207440A1 (en) | 2014-07-31 | 2015-07-31 | Interface and method for controlling a control interface with haptic feedback for a motor vehicle |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3207440A1 (en) |
FR (1) | FR3024562B1 (en) |
WO (1) | WO2016016520A1 (en) |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6154201A (en) * | 1996-11-26 | 2000-11-28 | Immersion Corporation | Control knob with multiple degrees of freedom and force feedback |
JP4061105B2 (en) * | 2002-03-29 | 2008-03-12 | アルプス電気株式会社 | Haptic device |
US9495009B2 (en) * | 2004-08-20 | 2016-11-15 | Immersion Corporation | Systems and methods for providing haptic effects |
KR101515767B1 (en) * | 2006-12-27 | 2015-04-28 | 임머숀 코퍼레이션 | Virtual detents through vibrotactile feedback |
-
2014
- 2014-07-31 FR FR1401771A patent/FR3024562B1/en active Active
-
2015
- 2015-07-31 WO PCT/FR2015/000170 patent/WO2016016520A1/en active Application Filing
- 2015-07-31 EP EP15763386.8A patent/EP3207440A1/en not_active Withdrawn
Non-Patent Citations (2)
Title |
---|
None * |
See also references of WO2016016520A1 * |
Also Published As
Publication number | Publication date |
---|---|
FR3024562A1 (en) | 2016-02-05 |
FR3024562B1 (en) | 2017-12-22 |
WO2016016520A1 (en) | 2016-02-04 |
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