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Study on a highly safe and comfortable motion control for a smart wheelchair operated by biopotential signal

Research Project

Project/Area Number 17560237
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionDoshisha University

Principal Investigator

HASHIMOTO Masafumi  Doshisha University, 理工学部, 教授 (10145815)

Co-Investigator(Kenkyū-buntansha) TAKAHASHI Kazuhiko  同志社大学, 理工学部, 教授 (90332808)
KOMATSU Nobuo  大阪工業大学, 情報科学部, 准教授 (80215392)
Project Period (FY) 2005 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,920,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥420,000)
Fiscal Year 2008: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2007: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2006: ¥600,000 (Direct Cost: ¥600,000)
Fiscal Year 2005: ¥1,500,000 (Direct Cost: ¥1,500,000)
Keywords車椅子 / 移動ロボット / 走行制御 / ヒューマンインタフェース / 生体信号 / 眼電位 / 筋電位 / 故障診断 / 追従制御 / スキャンマッチング / センサ / アクチュエータ故障 / センサ故障
Research Abstract

高齢者や障害者の移動を支援する操作性や安全性の高い知的移動車椅子を実現するための基礎研究として, (1)生体信号により搭乗者の意図を理解して車椅子を操作できるハンズフリー操作インタフェースの構築, (2)センサやアクチュエータ系の故障に対して安全な走行を可能とする故障診断システムの構築, (3)車椅子の安全な走行をサポートする先導者に車椅子を自動追従させる走行制御系の構築, (4)電動車椅子への実装と特性評価を行った.

Report

(5 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • Research Products

    (69 results)

All 2009 2008 2007 2006 2005 Other

All Journal Article (37 results) (of which Peer Reviewed: 21 results) Presentation (29 results) Book (1 results) Remarks (2 results)

  • [Journal Article] Guide Following Control Using Laser Range Sensor for a Smart Wheelchair2009

    • Author(s)
      Koji Miyazaki, Masafumi Hashimoto, Masanari Shimada, and Kazuhiko Takahashi
    • Journal Title

      Proc. of Int. Conf. on Instrumentation, Control and Information Technology

    • Related Report
      2008 Final Research Report
  • [Journal Article] Wheelchair Control Using an EOG- and EMG-Based Gesture Interface2009

    • Author(s)
      Masafumi Hashimoto, Kazuhiko Takahashi, Masanari Shimada
    • Journal Title

      Proc. of 2009 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Fault Diagnosis and Fault-Tolerant Control of a Joystick Controlled Wheelchair2008

    • Author(s)
      Masafumi Hashimoto, Yuuki Nakamura, and Kazuhiko Takahashi
    • Journal Title

      J. of Robotics and Mechatronics 20巻

      Pages: 904-912

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on EOG and EMG Gesture Recognition in Hands-Free Manipulation System2008

    • Author(s)
      Kazuhiro Takahashi, Takako Ohta, and Masafumi Hashimoto
    • Journal Title

      Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics

      Pages: 798-803

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Fault Diagnosis of Internal and External Sensors with Scan Matching for Mobile Robot2008

    • Author(s)
      Masafumi Hashimoto, Fumihiro Itaba, and Kazuhiko Takahashi
    • Journal Title

      Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics

      Pages: 3096-3101

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Voting Based Fault Isolation of In-Vehicle Multi-Sensors2008

    • Author(s)
      Masafumi Hashimoto, Ryohei Kitade,Fumihiro Itaba, and Kazuhiko Takahashi
    • Journal Title

      Proc. of Int. Conf. on Instrumentation, Control and Information Technology

      Pages: 1942-1946

    • Related Report
      2008 Final Research Report
  • [Journal Article] Fault Diagnosis and Fault-Tolerant Control of a Joystick-Controlled Wheelchair2008

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Journal of Robotics and Mechatronics 20

      Pages: 904-912

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Fault Diagnosis of Internal and External Sensors with Scan Matching for Mobile Robot2008

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Proceeding of IEEE International Conference on Systems, Man and Cybernetics

      Pages: 3096-3101

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on EOG and EMG Gesture Recognition in Hands-Free Manipulation System2008

    • Author(s)
      Kazuhiro Takahashi
    • Journal Title

      Proceeding of IEEE International Conference on Systems, Man and Cybernetics

      Pages: 798-803

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Voting Based Fault Isolation of In-Vehicle Multi-Sensors2008

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Proceeding of International Conference on Instru-mentation, Control and Information Technology

      Pages: 1942-1946

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Model-Based Fault Diagnosis of Powered Wheelchair2007

    • Author(s)
      Fumihiro Itaba, Masafumi Hashimoto, and Kazuhiko Takahashi
    • Journal Title

      Proc. of IEEE Int. Conf. on Robotics and Biomimetics

      Pages: 1255-1259

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Hands-Free Manipulation Using Simple Bio-Potential Interface System2007

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      JSME Journal of System Design and Dynamics 1巻

      Pages: 691-702

    • NAID

      130000098904

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on Hands-Free Manipulation Using Bio-Potential Signals2007

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      Proc. of IEEE Int. Conf. on Systems, Man and Cybernetics

      Pages: 2965-2970

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Sensor Fault Detection and Isolation for a PoweredWheelchair2007

    • Author(s)
      Masafumi Hashimoto, and Kazuhiko Takahashi
    • Journal Title

      Proc. on Advanced Intelligent Mechatronics, CD-ROM

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Hands-Free Manipulation System Using Bio-Potential Signals2007

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      Proc. of the 12th Int. Conf. on Human-Computer Interaction

      Pages: 499-503

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Model-Based Fault Diagnosis of Sensor and Actuator of Powered Wheelchair2007

    • Author(s)
      Fumihiro Itaba, Masafumi Hashimoto, and Kazuhiko Takahashi
    • Journal Title

      Proc. of Int. Con. on Instrumentation, Control and Information Technology

      Pages: 1856-1860

    • Related Report
      2008 Final Research Report
  • [Journal Article] Sensor Fault Detection and Isolation for a Powered Wheelchair2007

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Proceeding of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (CD-ROM)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on Hands-Free Manipulation Using Bio-Potential Signals2007

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      Proceeding of IEEE International Conference on Systems, Man and Cybernetics (CD-ROM)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Model-Based Fault Diagnosis of Sensor and Actuator of Powered Wheelchair2007

    • Author(s)
      Fumihiro Itaba
    • Journal Title

      Proceeding of IEEE International Conference on Robotics and Biomimetics (CD-ROM)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Model-Based Fault Diagnosis of Sensor and Actuator of Powered Wheelchair2007

    • Author(s)
      Fumihiro Itaba
    • Journal Title

      Proceeding of International Conference on Instrumentation, Control and Information Technology (CD-ROM)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on Simple Gesture Recognition of Bio-Potential Signals and Its Application to Hands-Free Manipulation System2006

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      Pro. of IEEE Int. Conf. on Electrical and Electronic Technology (CD-ROM)

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on Hands-Free Manipulation System Using Simple Brain-Computer Interface2006

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      Proc of IEEE Int. Conf. on Control Applications

      Pages: 295-300

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Remarks on Hands-Free Manipulation System Using Bio-Potential Signals From Simple Brain-Computer Interface2006

    • Author(s)
      Kazuhiko Takahashi, Takashi Nakauke, and Masafumi Hashimoto
    • Journal Title

      Proc. of 2006 IEEE Int. Conf. on Systems, Man, and Cybernetics

      Pages: 1642-1647

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Fault Diagnosis and Fault-Tolerant Control of a Joystick ControlledWheelchair2006

    • Author(s)
      Masafumi Hashimoto, Yuuki Nakamura, Fuminori Oba, and Kazuhiko Takahashi
    • Journal Title

      Proc. of the 4th IFAC Symp. on Mechatronics Systems2006

      Pages: 211-216

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Fault Diagnosis and Fault-Tolerant of a Joystick Controlled Wheelchair2006

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Proceeding of the 4th IFAC Symposium on Mechatronics Systems 2006(MECHATRONICS 2006) (CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Remarks on Hands-Free Manipulation System Using Bio-Potential Signals From Simple Brain-Computer Interface2006

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      Proceeding of 2006 IEEE International Conference on Systems,Man,and Cybernetics

      Pages: 1642-1647

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Remarks on Hands-Free Manipulation System Using Simple Brain-Computer Interface2006

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      proceeding of IEEE International Conference on Control Applications

      Pages: 295-300

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Remarks on Simple Gesture Recognition of Bio-Potential Signals and Its Application to Hands-Free Manipulation System2006

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      Proceeding of IEEE International Conference Electrical and Electronic Technology

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 生体信号インターフェースによる仮想空間での移動制御2006

    • Author(s)
      中請 隆
    • Journal Title

      第49回自動制御連合講演会講演論文集 (CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 移動ロボットの故障診断に関する研究-車載レーザレンジセンサによる速度推定と故障診断-2006

    • Author(s)
      板羽史博
    • Journal Title

      アドバンティ2006シンポジウム講演論文集 (CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] BCIによるハンズフリーオペレーションシステムに関する一考察2006

    • Author(s)
      中請 隆
    • Journal Title

      2006年電子情報通信学会総合大会講演論文集

      Pages: 255-255

    • Related Report
      2005 Annual Research Report
  • [Journal Article] モジュール型移動ロボットのフォルトトレラント・デッドレコニング2005

    • Author(s)
      橋本雅文
    • Journal Title

      同志社大学理工学研究所報告 46・3

      Pages: 142-150

    • NAID

      110004077135

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Fault-Tolerant Dead reckoning System for a Modular Vehicle2005

    • Author(s)
      Masafumi Hashimoto
    • Journal Title

      Proceeding of the 2005 International Conference on Mechatronics and Information Technology (CD-ROM)

    • NAID

      110004077135

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 電動車椅子の内界センサ系の故障診断と安全走行制御2005

    • Author(s)
      橋本雅文
    • Journal Title

      第23回日本ロボット学会学術講演会講演論文集 (CD-ROM)

    • Related Report
      2005 Annual Research Report
  • [Journal Article] マルチモーダル生体信号情報による感情認識に関する一考察2005

    • Author(s)
      高橋和彦
    • Journal Title

      日本人間工学会誌 41・4

      Pages: 248-253

    • NAID

      10019042236

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Remarks on Multimodal Nonverbal Interface and Its Application to Controlling Mobile Robot2005

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      Proceedings of the 2005 IEEE International Conference on Mechatronics and Automation

      Pages: 999-1004

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Remarks on An Adaptive-Type Direct Transfer Function Identifier Using Support Vector Regression2005

    • Author(s)
      Kazuhiko Takahashi
    • Journal Title

      Proceedings of the 9th International Conference on Engineering Applications of Neural Networks

      Pages: 139-145

    • Related Report
      2005 Annual Research Report
  • [Presentation] レーザレンジセンサによる知的電動車椅子の先導者追従制御2009

    • Author(s)
      宮崎亘史
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      福岡
    • Related Report
      2008 Final Research Report
  • [Presentation] 多数決論理による移動ロボットの内外界センサ故障検出2009

    • Author(s)
      北出亮平
    • Organizer
      第53回システム制御情報学会研究発表講演会
    • Place of Presentation
      神戸
    • Related Report
      2008 Final Research Report
  • [Presentation] 多数決論理による移動ロボットの内外界センサ故障検出2008

    • Author(s)
      北出亮平
    • Organizer
      アドバンティ2008シンポジウム
    • Place of Presentation
      大阪工業大学大阪センター
    • Year and Date
      2008-12-20
    • Related Report
      2008 Annual Research Report
  • [Presentation] 知的電動車椅子の走行制御に関する研究-生体信号による手動制御と先導者自動追従制御-2008

    • Author(s)
      島田将成
    • Organizer
      アドバンティ2008シンポジウム
    • Place of Presentation
      大阪工業大学大阪センター
    • Year and Date
      2008-12-19
    • Related Report
      2008 Annual Research Report
  • [Presentation] 筋電位と眼電位による電動車椅子の走行制御2008

    • Author(s)
      橋本雅文
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸大学
    • Year and Date
      2008-09-09
    • Related Report
      2008 Annual Research Report
  • [Presentation] スキャンマッチングによる移動ロボットの内外界センサ故障診断2008

    • Author(s)
      板羽史博
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野)
    • Year and Date
      2008-06-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] 生体信号による電動車椅子の走行制御2008

    • Author(s)
      森川真依子
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      ビッグハット(長野)
    • Year and Date
      2008-06-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] スキャンマッチングによる車載レーザレンジセンサの故障検出2008

    • Author(s)
      橋本雅文
    • Organizer
      第52回システム制御情報学会研究発表講演会
    • Place of Presentation
      京都情報大学院大学
    • Year and Date
      2008-05-18
    • Related Report
      2008 Annual Research Report
  • [Presentation] 多数決論理による移動ロボットの内外界センサ故障検出2008

    • Author(s)
      北出亮平
    • Organizer
      アドバンティ2008シンポジウム
    • Place of Presentation
      大阪
    • Related Report
      2008 Final Research Report
  • [Presentation] 知的電動車椅子の走行制御に関する研究-生体信号による手動制御と先導者自動追従制御-2008

    • Author(s)
      島田将成
    • Organizer
      アドバンティ2008シンポジウム
    • Place of Presentation
      大阪
    • Related Report
      2008 Final Research Report
  • [Presentation] 筋電位と眼電位による電動車椅子の走行制御2008

    • Author(s)
      橋本雅文
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸
    • Related Report
      2008 Final Research Report
  • [Presentation] 生体信号ジェスチャ認識を用いたハンズフリーマニピュレーションに関する一考察2008

    • Author(s)
      大田貴子
    • Organizer
      日本機械学会2008年度年次大会
    • Place of Presentation
      横浜
    • Related Report
      2008 Final Research Report
  • [Presentation] 生体信号による電動車椅子の走行制御2008

    • Author(s)
      島田将成
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      長野
    • Related Report
      2008 Final Research Report
  • [Presentation] スキャンマッチングによる移動ロボットの内外界センサ故障診断2008

    • Author(s)
      板羽史博
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      長野
    • Related Report
      2008 Final Research Report
  • [Presentation] スキャンマッチングによる車載レーザレンジセンサの故障検出2008

    • Author(s)
      北出亮平
    • Organizer
      第52回システム制御情報学会研究発表講演会
    • Place of Presentation
      京都
    • Related Report
      2008 Final Research Report
  • [Presentation] 車載レーザレンジセンサの故障検出2007

    • Author(s)
      橋本 雅文
    • Organizer
      第8回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      広島国際大学国際教育センター(広島市)
    • Year and Date
      2007-12-21
    • Related Report
      2007 Annual Research Report
  • [Presentation] 生体信号による知的電動車椅子の走行制御2007

    • Author(s)
      森川 真依子
    • Organizer
      アドバンティ2007シンポジウム
    • Place of Presentation
      同志社大学室町キャンパス(京都市)
    • Year and Date
      2007-12-14
    • Related Report
      2007 Annual Research Report
  • [Presentation] スキャンマッチングによる車載レーザレンジセンサの故障検出2007

    • Author(s)
      板羽 史博
    • Organizer
      第50回自動制御連合講演会
    • Place of Presentation
      慶鷹義塾大学日吉キャンパス(横浜市)
    • Year and Date
      2007-11-24
    • Related Report
      2007 Annual Research Report
  • [Presentation] 生体信号による電動車椅子の移動制御に関する一考察2007

    • Author(s)
      村田 真依子
    • Organizer
      日本機械学会2007年度年次大会
    • Place of Presentation
      関西大学千里山キャンパス(吹田市)
    • Year and Date
      2007-09-10
    • Related Report
      2007 Annual Research Report
  • [Presentation] 移動ロボットのモデルベースト故障診断法2007

    • Author(s)
      板羽 史博
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田拠点センターALVE(秋田市)
    • Year and Date
      2007-05-11
    • Related Report
      2007 Annual Research Report
  • [Presentation] 車載レーザレンジセンサの故障検出2007

    • Author(s)
      橋本雅文
    • Organizer
      第8回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      広島
    • Related Report
      2008 Final Research Report
  • [Presentation] 生体信号による知的電動車椅子の走行制御2007

    • Author(s)
      森川真依子
    • Organizer
      アドバンティ2007シンポジウム
    • Place of Presentation
      京都
    • Related Report
      2008 Final Research Report
  • [Presentation] スキャンマッチングによる車載レーザレンジセンサの故障検出2007

    • Author(s)
      板羽史博
    • Organizer
      第50回自動制御連合講演会
    • Place of Presentation
      横浜
    • Related Report
      2008 Final Research Report
  • [Presentation] 生体信号による電動車椅子の移動制御に関する一考察2007

    • Author(s)
      村田真依子
    • Organizer
      日本機械学会2007年度年次大会
    • Place of Presentation
      大阪
    • Related Report
      2008 Final Research Report
  • [Presentation] 移動ロボットのモデルベースト故障診断法2007

    • Author(s)
      板羽史博
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      秋田
    • Related Report
      2008 Final Research Report
  • [Presentation] 移動ロボットの故障診断に関する研究-車載レーザレンジセンサによる速度推定と故障診断-2006

    • Author(s)
      板羽史博
    • Organizer
      アドバンティ2006シンポジウム
    • Place of Presentation
      京都
    • Related Report
      2008 Final Research Report
  • [Presentation] 生体信号インターフェースによる仮想空間での移動制御2006

    • Author(s)
      中請隆
    • Organizer
      第49回自動制御連合講演会
    • Place of Presentation
      神戸
    • Related Report
      2008 Final Research Report
  • [Presentation] BCIによるハンズフリーオペレーションシステムに関する一考察2006

    • Author(s)
      中請隆
    • Organizer
      2006年電子情報通信学会総合大会
    • Place of Presentation
      東京
    • Related Report
      2008 Final Research Report
  • [Presentation] 電動車椅子の内界センサ系の故障診断と安全走行制御2005

    • Author(s)
      渡辺真志
    • Organizer
      第23回日本ロボット学会学術講演会
    • Place of Presentation
      横浜
    • Related Report
      2008 Final Research Report
  • [Book] IN-TECH, Model-Based Fault Detection and Isolation for a Powered Wheelchair2009

    • Author(s)
      Masafumi Hashimoto, Fumihiro Itaba, and Kazuhiko Takahashi (分担執筆), Mechatronic
    • Publisher
      Mechatronic Systems(発刊決定)
    • Related Report
      2008 Final Research Report
  • [Remarks] 動く喜びかみしめて, 朝日新聞夕刊2008年5月9日

    • Related Report
      2008 Final Research Report
  • [Remarks] 介護・日常生活快適に, 日刊工業新聞2008年6月16日

    • Related Report
      2008 Final Research Report

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Published: 2005-04-01   Modified: 2016-04-21  

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