Christoph Hinze

Herr M. Sc.

Leiter Nachwuchsgruppe "Grey-Box-Modellierung für die Fertigungstechnik"
Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen

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+49 711 685 84506
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Seidenstr. 36
70174 Stuttgart
Deutschland
Raum: 5.027

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Fachgebiet

Identifikation mechatronischer Systeme mit klassischen und Machine-Learning-Methoden
Integration von Dynamiksimulation in den Digitalen Zwilling und Maschinensteuerung: Kompensation, Vorsteuerung und Regelung
Neue Methoden der Antriebsregelung in der Steuerungstechnik
Maschinelles Lernen im Fräsprozess
Kommunikation und Architekturen für verteilte Prozesse
Multibody-Physics-Simulationen

Publikationen

Publikationen:

2022
1. Mesmer, Patrick ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Gain-Scheduled Drive-based Damping Control for Industrial Robots. In: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2022, S. 1706–1713
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  @inproceedings{9863417, abstract = {The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.}, author = {Mesmer, Patrick and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)}, doi = {10.1109/AIM52237.2022.9863417}, issn = {2159-6255}, month = {07}, pages = {1706-1713}, title = {Gain-Scheduled Drive-based Damping Control for Industrial Robots}, year = 2022 }
2021
1. Neubauer, Michael ; Brenner, Felix ; Hinze, Christoph ; Verl, Alexander: Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives. In: International Journal of Machine Tools and Manufacture, International Journal of Machine Tools and Manufacture. (2021)
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  @article{NEUBAUER2021103796, abstract = {The precision of machine tools is essentially determined by the feed drive control. To improve the dynamic behavior of elastic feed drives, this paper presents a novel position control concept, substituting the conventional P position controller of the industrial cascade control with a continuous sliding mode controller (SMC) together with a Kalman Filter for state estimation. The novelty of this approach lies in the focus on practical applicability: The underlying PI-cascade structure leads to low commissioning effort and the SMC controller’s parameterization is simplified to a single tuning parameter. A general compliant feed drive model is used as plant, whose parameters usually are already known from commissioning of the velocity controller. The SMC position controller is derived analytically and its stability and damping properties are investigated for the dominating mechanical mode for uncertainties of the model parameters and a wide range of controller gains. The effectiveness of the SMC-PI controller is validated for an industrial ball screw feed drive. Extensive experimental results show a considerable decrease of tracking errors in command tracking, disturbance rejection and for a high speed cutting (HSC) milling experiment compared to P-PI cascade control, while stability margins remain almost independent of the controller gains. The parameterization is discussed on the basis of a theoretical analysis and measuring results. Furthermore, excellent robustness properties regarding model errors are demonstrated.}, author = {Neubauer, Michael and Brenner, Felix and Hinze, Christoph and Verl, Alexander}, doi = {https://doi.org/10.1016/j.ijmachtools.2021.103796}, issn = {0890-6955}, journal = {International Journal of Machine Tools and Manufacture}, title = {Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives}, url = {https://www.sciencedirect.com/science/article/pii/S089069552100105X}, year = 2021 }
  Link
  https://www.sciencedirect.com/science/article/pii/S089069552100105X
2. Wnuk, Markus ; Zürn, Manuel ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile. In: antriebstechnik, antriebstechnik. (2021), Nr. 7, S. 38–42
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  @article{wnuk2021simulationsbasierter, author = {Wnuk, Markus and Zürn, Manuel and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {07}, number = 7, pages = {38-42}, title = {Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile}, url = {https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38}, year = 2021 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38
3. Wulle, Frederik ; Richter, Max ; Hinze, Christoph ; Verl, Alexander: Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation. In: Procedia CIRP, Procedia CIRP. Bd. 96, Elsevier BV (2021), S. 324--329
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  @article{Wulle_2021, author = {Wulle, Frederik and Richter, Max and Hinze, Christoph and Verl, Alexander}, doi = {10.1016/j.procir.2021.01.095}, journal = {Procedia {CIRP}}, pages = {324--329}, publisher = {Elsevier {BV}}, title = {Time-optimal Path Planning of Multi-axis {CNC} Processes Using Variability of Orientation}, url = {https://doi.org/10.1016%2Fj.procir.2021.01.095}, volume = 96, year = 2021 }
  Link
  https://doi.org/10.1016%2Fj.procir.2021.01.095
4. Zürn, Manuel ; Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander ; Xu, Weiliang: Kinematic Trajectory Following Control For Constrained Deformable Linear Objects. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, S. 1701–1707
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  @inproceedings{9551613, abstract = {deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.}, author = {Zürn, Manuel and Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander and Xu, Weiliang}, booktitle = {2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE49439.2021.9551613}, issn = {2161-8089}, month = {08}, pages = {1701-1707}, title = {Kinematic Trajectory Following Control For Constrained Deformable Linear Objects}, year = 2021 }
5. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Pan, Qizhen ; Lechler, Armin ; Verl, Alexander: Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification. In: 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021
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  @inproceedings{wnuk2021tracking, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Pan, Qizhen and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice}, month = {11}, title = {Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification}, year = 2021 }
2020
1. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Roboterdemonstrator kombiniert Simulation und Bildverarbeitung. In: Robotik und Produktion, Robotik und Produktion. (2020), Nr. 3
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  @article{wnuk2020roboterdemonstrator, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, number = 3, title = {Roboterdemonstrator kombiniert Simulation und Bildverarbeitung}, url = {https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/}, year = 2020 }
  Link
  https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/
2. Zürn, Manuel ; Hinze, Christoph ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Modellbasierte Regelung. In: Robotik und Produktion, Robotik und Produktion. (2020)
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  @article{zurn2020modellbasierte, author = {Zürn, Manuel and Hinze, Christoph and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, month = {11}, title = {Modellbasierte Regelung}, url = {https://www.industrial-production.de/industrieroboter/bilder/modellbasierte-regelung-1.htm}, year = 2020 }
  Link
  https://www.industrial-production.de/industrieroboter/bilder/modellbasierte-regelung-1.htm
3. Hinze, Christoph ; Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation. In: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020, S. 310–316
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  @inproceedings{9254923, abstract = {The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.}, author = {Hinze, Christoph and Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON43393.2020.9254923}, issn = {2577-1647}, month = {10}, pages = {310-316}, title = {Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation}, url = {https://ieeexplore.ieee.org/document/9254923/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9254923/
4. Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds. In: 2020 International Conference on Intelligent Robots and Systems (IROS), 2020 International Conference on Intelligent Robots and Systems (IROS), 2020, S. 9545–9552
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  @inproceedings{wnuk2020kinematic, author = {Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2020 International Conference on Intelligent Robots and Systems (IROS)}, doi = {10.1109/IROS45743.2020.9340887}, month = {10}, pages = {9545-9552}, title = {Kinematic Multibody Model Generation of Deformable Linear Objects from Point Clouds}, year = 2020 }
5. Hinze, Christoph ; Wnuk, Markus ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Daten-integrierte Simulation. In: inVision, inVision. (2020)
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  @article{hinze2020datenintegrierte, author = {Hinze, Christoph and Wnuk, Markus and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {inVision}, title = {Daten-integrierte Simulation}, url = {https://invision-news.de/allgemein/daten-integrierte-simulation-2/}, year = 2020 }
  Link
  https://invision-news.de/allgemein/daten-integrierte-simulation-2/
6. Walter, Johannes R. ; Saini, Harnoor ; Maier, Benjamin ; Mostashiri, Naser ; Aguayo, Jaime L. ; Zarshenas, Homayoon ; Hinze, Christoph ; Shuva, Shahnewaz ; u. a.: Comparative Study of a Biomechanical Model-based and Black-box Approach for Subject-Specific Movement Prediction. In: , 2020
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  @inproceedings{walter2020comparative, author = {Walter, Johannes R. and Saini, Harnoor and Maier, Benjamin and Mostashiri, Naser and Aguayo, Jaime L. and Zarshenas, Homayoon and Hinze, Christoph and Shuva, Shahnewaz and Köhler, Johannes and Sahrmann, Annika S. and Chang, Che-ming and Csiszar, Akos and Galliani, Simona and Cheng, Leo K. and Röhrle, Oliver}, title = {Comparative Study of a Biomechanical Model-based and Black-box Approach for Subject-Specific Movement Prediction}, type = {Publication}, year = 2020 }
2019
1. Hinze, Christoph ; Tomzik, David ; Lechler, Armin ; Xu, Xun ; Verl, Alexander: Control Architecture for Industrial Robotics based on Container Virtualization. In: Schüppstuhl, T. ; Tracht, K. ; Roßmann, J. (Hrsg.) ; Schüppstuhl, T. ; Tracht, K. ; Roßmann, J. (Hrsg.): Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter, Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter. Berlin, Heidelberg : Springer Berlin Heidelberg, 2019 — ISBN 978-3-662-59317-2, S. 64--73
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  @inproceedings{10.1007/978-3-662-59317-2_7, abstract = {Current robot control is a rather static, monolithic application, where the application data has to be programmed, before the actual process starts. For the automation of more dynamical tasks, additional real-time control loops for process control and a more flexible robot control are needed. Therefore, this paper introduces a robot control architecture for real-time and separate asynchronous communication, which is able to build up local real-time control loops as well as including massively scalable cloud components. In a proof-of-concept, a multibody dynamic simulation of a robot and a controller are virtualized as separate components. The real-time suitability of the architecture is evaluated in comparison with non-virtualized and a monolithic variant of the same application.}, address = {Berlin, Heidelberg}, author = {Hinze, Christoph and Tomzik, David and Lechler, Armin and Xu, Xun and Verl, Alexander}, booktitle = {Tagungsband des 4. Kongresses Montage Handhabung Industrieroboter}, editor = {Sch{\"u}ppstuhl, T. and Tracht, K. and Ro{\ss}mann, J.}, isbn = {978-3-662-59317-2}, pages = {64--73}, publisher = {Springer Berlin Heidelberg}, title = {Control Architecture for Industrial Robotics based on Container Virtualization}, year = 2019 }
2. Hinze, Christoph ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Harte Echtzeit für weiche Materialien. In: atp magazin, atp magazin. Bd. 61, Vulkan-Verlag GmbH (2019), Nr. 11–12, S. 112
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  @article{Hinze_2019, author = {Hinze, Christoph and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, doi = {10.17560/atp.v61i11-12.2446}, journal = {atp magazin}, month = {11}, number = {11-12}, pages = 112, publisher = {Vulkan-Verlag {GmbH}}, title = {Harte Echtzeit für weiche Materialien}, url = {https://doi.org/10.17560%2Fatp.v61i11-12.2446}, volume = 61, year = 2019 }
  Link
  https://doi.org/10.17560%2Fatp.v61i11-12.2446
2018
1. Hinze, Christoph ; Tasci, Timur ; Lechler, Armin ; Verl, Alexander: Towards Real-Time Capable Simulations with a Containerized Simulation Environment. In: 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2018, S. 1–6
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  @inproceedings{8600827, abstract = {The handling of non-rigid objects, such as cables, with industrial robots is characterized by nonlinear, timedependent and location-dependent equations for the object's behavior. To manipulate them in a desired way, real-time capable simulations for control that are able to run in cycle-time are required as well as highly accurate and detailed simulations for path planning. We introduce a common simulation environment that is wrapped in a container with the advantages of including all dependencies and being easy to set up and orchestrate. Automated code generation is used to set up a standardized communication and virtualization in a Docker container such that only the simulation itself has to be provided by a user. The advantage of containerization, compared to the simulation running natively, is finally demonstrated with a sample robot simulation under heavy CPU load.}, author = {Hinze, Christoph and Tasci, Timur and Lechler, Armin and Verl, Alexander}, booktitle = {2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2018.8600827}, month = {11}, pages = {1-6}, title = {Towards Real-Time Capable Simulations with a Containerized Simulation Environment}, url = {https://ieeexplore.ieee.org/document/8600827/}, year = 2018 }
  Link
  https://ieeexplore.ieee.org/document/8600827/
2017
1. Hinze, Christoph ; Xu, Weilang ; Lechler, Armin ; Verl, Alexander: A cloud-based control architecture design for the interaction of industrial robots with soft objects. In: 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017, S. 1–6
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  @inproceedings{Hinze.2017, author = {Hinze, Christoph and Xu, Weilang and Lechler, Armin and Verl, Alexander}, booktitle = {2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)}, doi = {10.1109/M2VIP.2017.8211438}, month = {11}, pages = {1-6}, title = {A cloud-based control architecture design for the interaction of industrial robots with soft objects}, year = 2017 }
2016
1. Friedrich, Jens ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: On-line learning artificial neural networks for stability classification of milling processes. In: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) : Institute of Electrical and Electronics Engineers (IEEE), 2016
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  @inproceedings{Friedrich_2016, abstract = {For increasing the productivity in milling processes an estimation of the milling stability in dependency of critical parameters, such as spindle speed, cutting-depth and cutting-width is needed. In this paper an approach for online estimation of the milling stability classification via Artificial Neural Networks is provided. The network grows with the needs of the network and is trained with an Extended Kalman Filter. Some statistical training parameters are adapted during the training process and a first-order trust criterion is introduced to estimate the prediction quality of the network. The proposed network is capable for continuous online training with sorted input data. With the adaptive enhancements the training works well on analytical benchmark functions and with a 2-DOF milling stability simulation.}, author = {Friedrich, Jens and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, booktitle = {2016 {IEEE} International Conference on Advanced Intelligent Mechatronics ({AIM})}, doi = {10.1109/aim.2016.7576793}, month = {07}, publisher = {Institute of Electrical and Electronics Engineers ({IEEE})}, title = {On-line learning artificial neural networks for stability classification of milling processes}, url = {http://dx.doi.org/10.1109/AIM.2016.7576793}, year = 2016 }
  Link
  http://dx.doi.org/10.1109/AIM.2016.7576793
2015
1. Friedrich, Jens ; Hinze, Christoph ; Renner, Anton ; Verl, Alexander ; Lechler, Armin: Estimation of stability lobe diagrams in milling with continuous learning algorithms. In: Robotics and Computer-Integrated Manufacturing, Robotics and Computer-Integrated Manufacturing. (2015), S.
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  @article{Friedrich2015, abstract = {Abstract The productivity of milling processes is limited by the occurrence of chatter vibrations. The correlation of the maximum stable cutting depth and the spindle speed can be shown in a stability lobe diagram (SLD). The stability is different for different width of cut and can change with the axis positions. Today it is already a great effort to estimate the \{SLD\} only for one position. Many experiments are necessary to measure the \{SLD\} or derive a detailed mathematical model to calculate the SLD. Moreover not only the cutting depth, but also the cutting width should be represented in the SLD. This paper presents a new approach to assess the process stability based on measured acceleration signals. The multidimensional stability lobe diagram (MSLD) are derived during the production using two new continuously learning algorithms. In this paper the application of a continuous learning support vector machine and a continuous neural network is shown. The support vector machine and the neural network are extended to make them capable for continuous learning and time-variant systems. A new trust criterion is introduced, which gives information about the prediction quality of the output for the selected input region. The learned \{MSLDs\} are evaluated against analytically calculated \{MSLDs\} and the learning algorithms can reproduce the analytical results very well. }, author = {Friedrich, Jens and Hinze, Christoph and Renner, Anton and Verl, Alexander and Lechler, Armin}, doi = {http://dx.doi.org/10.1016/j.rcim.2015.10.003}, issn = {0736-5845}, journal = {Robotics and Computer-Integrated Manufacturing }, pages = { - }, title = {Estimation of stability lobe diagrams in milling with continuous learning algorithms }, url = {http://www.sciencedirect.com/science/article/pii/S0736584515001155}, year = 2015 }
  Link
  http://www.sciencedirect.com/science/article/pii/S0736584515001155

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Angewandte Regelungstechnik in Produktionsanlagen (Übung 1.2: Nichtparametrische Identifikation)

Christoph Hinze

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