KR102162159B1 - Method for submerging and guiding structures - Google Patents

Abstract

According to the present invention, by using a wireless method without using a cable, the position of a structure or work tool, etc. in water from above a distant work ship can be easily and accurately measured in a short time, and the positional relationship between an existing structure and a new structure is determined. It is an object of the present invention to provide a method for inducing subsidence of a structure capable of being grasped in real time and submerged by guiding a new structure to a predetermined position. The distance and depth between transponders (T1, T2, T3, T4) by a pair of transponders (T1, T2) installed in an existing structure or a pair of transponders (T3, T4) installed in a new structure by a wireless method The distance information and depth information obtained by measuring the are acquired by a computer (PC), and from these information, the computer (PC) grasps the location of the new structure in the water in real time, and derives a new structure for the existing structure, Perform high-definition infiltration.

Description

Method for inducing subsidence of structures{METHOD FOR SUBMERGING AND GUIDING STRUCTURES}

The present invention relates to a method for inducing submersion of a structure, and in particular, by measuring the relative positional relationship between an existing structure submerged in water and a new structure to be submerged, the submersion of a structure for inducing a new structure closer to the existing structure It relates to the induction method.

This kind of technique is used, for example, at a construction site for constructing an underwater tunnel or a construction site for submerging a block or the like that forms a fish reef.

For example, in the construction of a submarine tunnel, a number of burrowers are built in advance in a ground plant and transported to the site. Each burrower is itself a huge structure, and at the construction site, each burrower is submerged into the seabed in order, and they are joined together to form a continuous tunnel.

As a method of invading the burrowing chamber, a control tower and a pontoon are formed on the existing burrowing chamber (hereinafter, referred to as “existing burrowing chamber”), and a new burrowing chamber (hereinafter referred to as “new burrowing”) ), while injecting water into the ballast tank, the new sinker is settled by operating the winch on the pontoon, and the diver measures the distance between the existing sinker and the new sinker. A method of joining an existing burrower by moving a new burrower horizontally by a winch operation is known (for example, see Patent Document 1).

In this method, as the depth of water increases, the control tower and the like become longer, and since it is difficult for a diver to measure the distance of a huge immersion vessel and a burden is increased, precise measurement is difficult.

Therefore, as another submergence method, while measuring the position of the work ship in real time using GPS (global positioning system), the new burrower is moved from the work ship to a predetermined position, and from the moved position, the winch from the work ship, etc. It is known to be hung in the water (under the sea) and submerged in the seafloor, and the CCD camera attached to the new immersion vessel moves horizontally while viewing the position of the existing immersion vessel, and bonds them together (for example, Patent Document 2). The CCD camera and the work line are connected with a cable.

Japanese Patent Publication No. 2002-13150 Japanese Unexamined Patent Publication No. 2004-44372

However, in the method of measuring the position of a work ship in real time using GPS and using a winch from the work ship to submerged the sea floor by hanging a new structure, a new structure or work tool suspended underwater from the work ship. The position of the back is affected by the current and shifts left and right, back and forth from the position of the work ship. In addition, as the depth of water increases, the width of the position shift due to the influence of tide increases, and it is difficult to accurately grasp the position of the work ship and the relative position of the new structure or work tool suspended. In addition, since the CCD camera and the work line are connected with a cable, as the depth of water increases, the cable becomes longer, making the work difficult, and the brightness in the water also decreases, making it difficult to capture the target with the camera. .

Therefore, by using a wireless method that does not use cables, the position of structures or work jigs that are underwater from above the distant work ship can be easily and accurately measured in a short time, and the positional relationship between the existing structure and the new structure can be measured in real time. In order to provide a method for inducing subsidence of a structure capable of inducing a new structure to be submerged by inducing a new structure to a predetermined position, a technical problem to be solved occurs, and the present invention aims to solve this problem.

The present invention has been proposed to achieve the above object, and the invention described in claim 1 is a method for inducing submersion of a structure for determining and inducing the relative position of a new structure to be submerged in water with respect to the existing structure. , A pair of rods (R1, R2) and a signal processing computer (PC) are installed on the work line, and a transmitter/receiver (S1, S2) capable of transmitting and receiving signals wirelessly at the lower end of each of the pair of rods (R1, R2) , GPS antennas (G1, G2) are attached to the upper side, respectively, and a pair of transponders (T1, T2) are installed at one end of the existing structure at a real distance (L1) apart from each other and face the existing structure. Transponders (T3, T4) are installed at one end of the new structure with a real distance (L2) apart from each other, and the computer (PC) receives and acquires signals from GPS through the GPS antennas (G1, G2). Location information of the transmitter and receiver (S1, S2), distance information between the transponder (T1, T2, T3, T4) and the transmitter and receiver (S1) acquired by a signal from the transmitter and receiver (S1), each transponder Distance information between (T1, T2, T3, T4) and distance information between the transponders (T1, T2, T3, T4) and the transceiver (S2) acquired by a signal from the transmitter and receiver (S2), It provides a method for inducing the submersion of a structure in which the position of the new structure in water is identified from the distance information between each transponder T1, T2, T3, T4, and the new structure is guided to the existing structure.

According to this method, position information of the transmitter/receiver (S1, S2) acquired from the GPS by a wireless method, distance information between the transponders (T1, T2, T3, T4) and the transmitter/receiver (S1), and the transponder (T1, T2, T3, T4) distance information, the distance information between the transponder (T1, T2, T3, T4) and the transceiver (S2) and the distance information between the transponder (T1, T2, T3, T4) It is acquired by (PC), and from this information, the computer (PC) can grasp the position of a new structure in the water in real time, and a new structure can be derived and placed adjacent to the existing structure.

In addition, after approaching the new structure to the existing structure, the computer (PC) is a pair of transponders (T1, T2) installed in the existing structure or a pair of transponders (T3, T4) installed in the new structure By measuring the distance and depth between the transponders (T1, T2, T3, T4), the position of the new structure in the water is determined from distance information and depth information transmitted to at least one of the transmitters and receivers (S1, S2). If we grasp and arrange the new structure adjacent to the existing structure, the precision can be further improved (claim 2).

In addition, the computer (PC) compares the actual distance (L1) between the pair of transponders (T1, T2) and the measured distance between the transponders (T1, T2) and is transmitted to the transmitter and receiver (S1, S2). By correcting various types of information, for example, errors due to the influence of the temperature and specific gravity of seawater can be removed, and the accuracy can be further improved (claim 3).

In addition, the computer (PC) determines the actual distance (L2) between the pair of transponders (T3, T4) and the measured distance between the transponders (T3, T4) obtained through the transponders (T3, T4). In comparison, if various types of information transmitted to the transmitters and receivers S1 and S2 are corrected, for example, errors due to the influence of the temperature and specific gravity of seawater can be removed, thereby further improving precision (claim 4).

In addition, by providing a pressure gauge to each of the transponders (T1, T2, T3, T4) so that distance information and depth information of each transponder (T1, T2, T3, T4) can be acquired, the accuracy of the range is improved. It can be further improved (claim 5).

In addition, a transponder T5 is provided on the same plane as the pair of transponders T3 and T4 at one end of the new structure, and sound waves are transmitted from the transmitter and receiver S1 and S2 toward the transponder T5. By launching, acquiring distance information and depth information between the transmitter and receiver (S1, S2) and the transponder (T5), and grasping the inclined state of the new structure, even if the installation surface is inclined, it is adjusted to the inclination It can be installed precisely (claim 6).

In addition, in the method of inducing the submersion of a structure for determining and inducing the relative position of a new structure with respect to an existing structure submerged in water, a pair of rods and a signal processing computer (PC) are installed on the work ship, and the pair A transmitter and receiver (S1, S2) capable of transmitting and receiving signals wirelessly are attached to the lower ends of the rods (R1, R2) of the, and a pair of transponders (T1, T2) are placed at one end of the existing structure at a distance (L1) from each other. At the same time, a pair of transponders (T3, T4) are installed at one end of the new structure facing the existing structure at a distance L2 apart from each other, and the computer (PC) is installed on the existing structure. With a pair of transponders (T1, T2) or a pair of transponders (T3, T4) installed in the new structure, the distance and depth between the transponders (T1, T2, T3, T4) are measured, and the transmitter/receiver ( It provides a method for inducing the submersion of a structure in which the new structure is adjacent to the existing structure by determining the position of the new structure in water from distance information and depth information transmitted to at least one of S1 and S2).

According to this method, a pair of transponders (T1, T2) installed in an existing structure or a pair of transponders (T3, T4) installed in a new structure by a wireless method that does not use a cable is used to provide the transponders (T1, T2). , T3, T4) distance and depth information obtained by measuring the distance and depth between the computer (PC) is acquired, from this information, the computer (PC) grasps the location of the new structure in the water in real time, By inducing a new structure to an existing structure, precise submersion can be performed.

According to the present invention, a computer (PC) can easily and accurately grasp the position of a new structure with respect to the existing structure by wireless method without using a cable, and induce a new structure to the existing structure, and to the adjacent location. And, since it can arrange|position precisely, the bonding precision can be improved, the cost required for immersion can be reduced, and economical efficiency can be improved.

1 is a perspective view schematically showing a working ship, an existing structure, a new structure, and the like for explaining a first embodiment of a method for inducing submersion of a structure according to the present invention.
Fig. 2 is a perspective view schematically showing a working ship, an existing structure, a new structure, and the like for explaining a second embodiment of the method for inducing the submersion of a structure according to the present invention.

According to the present invention, the position of structures or work tools, etc. in water from above a distant work ship can be easily and accurately measured in a short time by a wireless method that does not use a cable, and the positional relationship between the existing structure and the new structure In order to achieve the purpose of providing a method for inducing the submersion of a structure that enables it to be submerged by grasping in real time and guiding a new structure to a predetermined position, the relative of a new structure that is newly submerged with respect to an existing structure submerged in water. In the method of inducing the subsidence of a structure for positioning and guiding, a pair of rods (R1, R2) and a signal processing computer (PC) are installed on a work line, and each of the pair of rods (R1, R2) is Transmitters (S1, S2) capable of wirelessly transmitting and receiving signals are attached to the lower side, GPS antennas (G1, G2) are attached to the upper side, respectively, and a pair of transponders (T1, T2) are attached to one end of the existing structure. At the same time, transponders (T3, T4) are installed at one end of the new structure facing the existing structure at a distance L2 from each other, and the computer (PC) is installed at a distance L1 from the GPS. Position information of the transmitter and receiver (S1, S2) obtained by receiving signals through the GPS antennas (G1, G2), and the transponders (T1, T2, T3, T4) obtained by signals from the transmitter and receiver (S1) ) And the distance information between the transponder S1, distance information between each transponder T1, T2, T3, T4, and the transponders T1, T2, which are acquired by a signal from the transmitter and receiver S2. From the distance information between T3, T4) and the transmitter and receiver (S2), and distance information between each transponder (T1, T2, T3, T4), the position of the new structure in the water is identified, and with respect to the existing structure This was achieved by inducing the above new structure.

Hereinafter, a method for inducing submersion of a structure according to an embodiment of the present invention will be described in detail by taking the case of constructing a submarine tunnel as an example.

(Example)

1 is a perspective view schematically showing a working ship, an existing structure, a new structure, and the like for explaining the example of FIG. 1 according to the embodiment of the present invention.

In FIG. 1, a pair of work ships 12A and 12B floating on the sea surface 11 are newly immersed as a new structure to be joined to the existing immersion box 14 as an existing structure already submerged in the sea floor 13 (15) is suspended with wires 17 derived from the settling winches (16, 16), respectively, and transported to the construction site. In addition, when the new immersion box 15 is moved to a predetermined position, the wire 17 is extended and submerged in the seabed 13 while measuring the distance between the existing immersion box 14 and the new burying box 15. At the same time, a new burrower 15 is guided to the existing burrower 14 and immersed in an adjacent position, and thereafter, the existing burrower 14 and the new burrower 15 are fixed and joined. This operation is carried out in order for each burrowing vessel to form a continuous tunnel. In addition, the work ships 12A and 12B on which the new burrower 15 is suspended is not limited to a pair, and may be one or three or more.

The present invention relates to a method for inducing aggression for inducing a new burrower 15 with respect to the existing burrower 14, and FIG. 1 discloses a system configuration for performing the method for inducing the burrowing. In addition, in this example, as shown in FIG. 1, although each burrowing chamber 14, 15 is demonstrated as a case which is comprised in the shape of a plate-shaped block extending elongately in the front-rear direction, this shape is not limited.

First, in the system configuration shown in FIG. 1, when the existing burrower 14 is at sea, a pair of transponders T1 and T2 are separated from each other in the left and right directions at the rear end of the upper surface 14a, and the rear end ( It is attached parallel to 14b), and the distance L1 between the transponder T1 and the transponder T2 is actually measured and stored in a computer PC described later. Also, the arrangement of the pair of transponders T1 and T2 may not necessarily be parallel to the rear end 14b.

On the other hand, in the new burrower 15, when at sea, transponders (T3, T4, T5) are attached to the front end of the upper surface (15a), and the pair of transponders (T1, T2) are attached to the rear end. Attach it. In Fig. 1, the transponders T1 and T2 on the side of the new burrow 15 are omitted. And, the transponders T3 and T4 are separated by a distance L2 from each other and are attached in parallel with the front end 15c of the new burrow 15, and the transponder T5 is rearward (rear) from the transponder T3. It is attached to the end face 15b side) apart by a distance L3. Further, the arrangement of the pair of transponders T3 and T4 may not necessarily be parallel to the front end 15c as in the case of the existing burrow 14. The distance (L2) between the transponder (T3) and the transponder (T4) and the distance (L3) between the transponder (T3) and the transponder (T5) are actually measured when at sea and stored in the computer (PC). do.

Of the pair of work ships 12A and 12B on which the new burying box 15 is suspended, the shear surface 12a of the work ship 12A hung on the front end side of the new burying box 15 extends in the vertical direction. A pair of rods (R1, R2) that are divided into left and right are attached to each other. The upper ends of each of the rods R1 and R2 protrude upward from the work vessel 12A, and the lower ends are submerged in water (underwater). Further, GPS antennas G1 and G2 are attached to the upper end (air part) side of each of the rods R1 and R2, and the transmitter and receiver S1 and S2 are attached to the lower end side in a submerged state.

Further, on the work vessel 12A, the computer PC is attached together with the onboard processing device. The computer (PC) includes location information of the transmitter and receiver (S1, S2) obtained by receiving signals from GPS through the GPS antennas (G1, G2), and a transponder (T1) obtained by signals from the transmitter and receiver (S1). , T2, T3, T4) distance information between the transmitter and receiver (S1), distance information between each transponder (T1, T2, T3, T4), and a transponder (T1) acquired by a signal from the transmitter and receiver (S2) , T2, T3, T4) and the distance information between the transmitter and receiver (S2) and the distance information between each transponder (T1, T2, T3, T4) are input, and each of these information is calculated and processed, and the result is underwater. It is possible to grasp the position of the new burrowing vessel 15 in the burying vessel 15, and to give an instruction for inducing the new burrowing vessel 15 to the existing burrowing vessel 14 to the onboard processing apparatus. In addition, in the shipboard processing device, the new immersion box 15 is flooded with respect to the existing immersion box 14 by operating the moving and sinking winch 16 of the working ships 12A and 12B according to the instruction. And, it is possible to join the existing burrowing chamber 14 and the new burrowing chamber 15.

In addition, each rod (R1, R2), GPS antenna (G1, G2), transmitter and receiver (S1, S2), and computer (PC) are a pair of work ships (12A) and other work ships hanging from the new burrow (15). It may be mounted on.

Next, the operation of the system configured as described above will be described.

The transponder (T1, T2, T3, T4, T5) has a built-in pressure gauge (depth by pressure) for the purpose of measuring depth, and transmits depth data to the transmitter and receiver (S1, S2) at the same time as the measurement distance. do. In addition, it is possible to measure the distance between each transponder (T1, T2, T3, T4, T5) and the distance between each transponder (T1, T2, T3, T4, T5) from the transmitter and receiver (S1, S2). Has a function. Depth is measured by a pressure gauge built into the transponders (T1, T2, T3, T4, T5). In this case, the pressure gauges of the five transponders (T1, T2, T3, T4, T5) are simultaneously suspended from the work line 12A and calibrated at each depth in advance.

Then, when surveying, first, using GPS, the position coordinates (X, Y, Z) of the transmitters and receivers S1 and S2 attached on the work ship 12A are obtained.

The survey of the location of the new burrower (15) is by emitting sound waves from the transmitter and receiver (S1) toward the transponders (T3, T4), and the reciprocation of the sound wave between the transmitter and receiver (S1) and the transponders (T3, T4).搬) The distance from the onboard processing device is calculated from time, and the depth is transmitted to the transponder (T3, T4) to the transmitter (S1). At the same time, sound waves are emitted from the transmitter/receiver S2 toward the transponders T3 and T4, and the distance in the shipboard processing apparatus is obtained from the total round trip time between the transmitter/receiver S2 and the transponders T3 and T4.

In addition, by processing this data in a computer (PC), it is possible to grasp the exact location of the new burrower 15 in the water. And, since the positions of the new burrower 15 and the existing burrower 14 can be grasped, the relative positions of the new burrower 15 and the existing burrower 14 can be known. In addition, by attaching transponders (T3, T4, T5) to the new burrower (15), the posture of the new burrower (15) can be accurately grasped, even when the installation surface on the seabed (13) is inclined. Can be installed according to.

Fig. 2 is a perspective view schematically showing a working ship, an existing structure, a new structure, and the like for explaining a second example according to the embodiment of the present invention. The second embodiment uses an improved survey method in order to further improve precision in the survey method used in the system in the first embodiment shown in FIG. 2. In other words, in the first embodiment shown in Fig. 1, the public coordinates of the new burrower 15 and the existing burrower 14 were obtained using GPS, but inclinations of the work ships 12A, 12B in the front and rear, left and right occurred. On the lower surface, plane X and Y coordinates of the transmitters and receivers S1 and S2 are changed due to the inclination, resulting in a defect in that the overall positional accuracy is poor.

Therefore, in the survey method used in the system in the second embodiment, it is configured to solve the shortcomings, except for the survey by GPS of the transmitter and receiver (S1, S2) used in the first embodiment. (14) The above transponders (T1, T2) were used as the starting point for the surveying method. Therefore, components that are the same as those of the system configuration shown in Fig. 1 are denoted by the same reference numerals and redundant descriptions are omitted, and differences from the first embodiment will be described below.

In FIG. 2, an existing burrower 14 is installed on the seabed 13. Transponders (T1, T2) are fixed points, distances (L1, L2) are known lengths, and transponders (T3, T4, T5) on the new burrow (15) are considered to be floating points.

Measure the distance (L4) and depth between the transponder (T4) and the transponder (T2), and the distance (L5) and depth between the transponder (T4) and the transponder (T1) by means of the transponder (T4). Then, the information is transmitted to the transmitter/receiver S1. Similarly, the distance and depth between the transponder T3 and the transponder T1, and the distance and depth between the transponder T3 and the transponder T2 are measured by the transponder T3, and the information Is transmitted to the transmitter/receiver S1. In addition, depth information is obtained by measuring the distance L5 between the transponder T4 and the transponder T1 from time to time from the transmitter/receiver S1.

Then, the survey information is computed and processed in a computer (PC) to grasp the relative positions of the existing burrowers 14 and new burrowers 15.

By the way, in order to measure the distance between the existing burrower 14 and the new burrower 15, the depth (water pressure) and the total round trip distance according to the sound waves of the transponders (T1, T2, T3, T4, T5) are required. , Its precision becomes a problem. Depth is measured by a pressure gauge built into the transponders (T1, T2, T3, T4, T5). This can be solved by hanging the pressure gauges of five transponders (T1, T2, T3, T4, T5) from the work line 12A at the same time in advance and calibrating at each depth.

However, since the distance measures the total reciprocation distance of the sound wave, an error occurs due to the influence of the temperature and specific gravity of the seawater, and thus the error is eliminated by performing calibration at each transponder (T1, T2, T3, T4, T5). That is, by comparing the actual distance (L1) of the transponders (T1, T2) with the distance between T1 and T2 underwater, the measured distance of the transponders (T1, T2, T3, T4, T5) can be corrected. have. In addition, T3 and T4 are similarly corrected. Since the new burrower 15 finally approaches a distance of several meters from the existing burrower 15, it is possible to increase the accuracy by performing the survey again when approaching the survey.

Therefore, according to each embodiment of the present invention, the computer (PC) simply and accurately grasps the positions of the existing structure 14 and the new structure 15 by wireless method without using a cable, and the existing structure (14) Since the new structure 15 can be guided and placed in an adjacent position simply and precisely, the bonding precision can be improved, the cost required for immersion can be reduced, and the economical efficiency can be improved. Can be expected.

In addition, the present invention has been described by taking the case of constructing a submarine tunnel as an example, but is not limited thereto, and can be widely applied to constructions for submerging structures in water, such as a block that forms a fish reef in the sea.

In addition, the present invention can be subjected to various modifications without departing from the spirit of the present invention, and it is natural that the present invention extends to the above modifications.

The present invention enables precise measurement and can be widely used as a means for measuring distances underwater.

11: sponge
12A, 12B: working ship
12a： Front section
13: the seabed
14: Existing immersion box (existing structure)
14a：Top side
14b: Rear section
15: New burrowed ship (new structure)
15a：Top side
15b: Rear section
15c： Front section
16： Settling winch
17: wire
PC: Computer
T1~T5: Transponder
L1： Distance between T1 and T2
L2： Distance between T3 and T4
L3： Distance between T3 and T5
L4： Distance between T1 and T3
R1, R2: Rod
G1, G2: GPS antenna
S1, S2: transmitter and receiver

Claims (7)

A method for inducing the submersion of a structure to determine and induce the relative position of a new structure to be submerged with respect to an existing structure submerged in water, which is a wireless communication between a signal processing computer (PC) and the computer (PC) on a work ship Possible transmitter/receiver (S1, S2) is installed, and a pair of transponders (T1, T2) capable of wireless communication with each transmitter/receiver (S1, S2) are installed in the existing structure, and each transmitter/receiver (S1, S2) is installed in the new structure. ) And a pair of transponders (T3, T4) capable of wireless communication with each transponder (T1, T2), and each transponder (T1, T2, T3, T4) has a pressure gauge that measures the water pressure according to the water depth. When connected, the distance is measured by the time the sound wave travels between the transponders (T1, T2, T3, T4), and the computer (PC) transmits the transponder to at least one of the transmitters and receivers (S1, S2). Distance information between (T3) and each of the transponders (T1, T2) and distance information between the transponder (T4) and each of the transponders (T1, T2), and each transponder (T1, T2, T3, In the method for inducing the subsidence of a structure in which the relative position of the new structure is identified with respect to the existing structure based on the depth information of T4), and the new structure is adjacent to the existing structure,
The pair of transponders (T1, T2) are installed apart from each other by a real distance (L1),
The computer (PC) compares the actual distance (L1) between the pair of transponders (T1, T2) and the measured distance between the transponders (T1, T2), and transmits various types of data to the transmitter and receiver (S1, S2). A method of inducing subsidence of a structure, characterized in that correcting information. The method of claim 1,
The pair of transponders (T3, T4) are installed apart from each other by a real distance (L2),
The computer (PC) compares the actual distance (L2) between the pair of transponders (T3, T4) and the measured distance between the transponders (T3, T4) obtained through the transponders (T3, T4). , A method for inducing subsidence of a structure, characterized in that correcting various types of information transmitted to the transmitter and receiver (S1, S2). The method of claim 1,
The computer (PC) simultaneously with distance information between the transponder (T3) and each of the transponders (T1, T2) and distance information between the transponder (T4) and each of the transponders (T1, T2), Structure characterized in that it is possible to acquire depth information of each of the transponders (T1, T2, T3, T4) according to the water pressure measured by a pressure gauge provided to the transponders (T1, T2, T3, T4) respectively Method of inducing acupuncture. The method of claim 1,
A transponder (T5) is provided on the same plane as the pair of transponders (T3, T4) at one end of the new structure, and a sound wave is emitted from the transponder (S1, S2) toward the transponder (T5). , Acquiring distance information and depth information between the transmitters and receivers (S1, S2) and the transponder (T5), and grasping the inclination state of the new structure. The method of claim 1,
The transmitter/receiver (S1, S2) can acquire location information by GPS,
Before the new structure approaches the existing structure until the transponder (T1, T2) and the transponder (T3, T4) can communicate, the computer (PC) is launched from the transmitter and receiver (S1, S2) Position information of the transponders T3 and T4 for each of the transponders S1 and S2 obtained from sound waves reciprocating between the transponders S1 and S2 and the transponders T3 and T4, and the location information of the transponders T3 and T4 A method for inducing subsidence of a structure, characterized in that the position of the new structure is determined based on the position information of S2), and the new structure is guided toward the existing structure whose coordinates are known.
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