CN1877080A - Method for autocontrolling excavation direction of underground excavator using virtual track - Google Patents
Method for autocontrolling excavation direction of underground excavator using virtual track Download PDFInfo
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- CN1877080A CN1877080A CN 200610028255 CN200610028255A CN1877080A CN 1877080 A CN1877080 A CN 1877080A CN 200610028255 CN200610028255 CN 200610028255 CN 200610028255 A CN200610028255 A CN 200610028255A CN 1877080 A CN1877080 A CN 1877080A
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Abstract
The invention relates to a method for automatically controlling the moving direction of underground tunneller via virtual track. Wherein, the correct controller gives the virtual track, based on error between present position and state of tunneller, and the designed axis, and the working condition; said correct controller calculates out the direction error via the virtual track and the axis error, and the variable of direction error, as the input, to obtain the output correct signal via fuzzy control. The invention can gradually correct the underground tunnel, to confirm the construction quality and reduce the axis error. The invention can be used in the underground tunneller with cut pressure balance function.
Description
Technical field:
The present invention relates to the control of constructing tunnel development machine, particularly relate to a kind of method that underground development machine tunneling direction is controlled automatically.
Background technology:
Underground development machine (comprising shield structure and push-bench) is that technology such as mechanical, electric, the building of collection, measurement, control are the non-excavation underground construction equipment of one, be mainly used in the city underground railway, get down the highway, the construction in tunnels such as water-supply line, sewer, power cable.
In the process of development machine underground job, the movement locus of development machine will basically form the construction axis of subterranean tunnel, and actual constructing tunnel axis is the curve of a random fluctuation often.The construction axis that in actual engineering, needs to adopt various control methods to make the tunnel as far as possible near or reach the design axis, because crossing senior general, the construction axis based error influences the construction of tunnel quality, if underground traffic tunnel, constructing, axis based error is excessive also will to cause revising the tunnel line style, otherwise will influence the traffic safety after road tunnel builds up.
The target of tunneling direction control is that minimizing development machine construction axis is extremely minimum to the deviation of design axis, its control procedure is the correction amount that provides this control cycle according to the current development machine construction axis based error that measurements and calculations go out, the control of in each control cycle of work progress, rectifying a deviation in real time continuously, thus make the construction axis approach the design axis.In engineering construction, the correction rate is not only relevant with the construction axis based error, in fact it also is subjected to the restriction of various working conditions: because the tunnel lining is cut (section of jurisdiction or tube coupling) is prefabricated component, the correction rate is crossed senior general and is formed the tunnel lining angle between cutting, thereby influence tunnel lining cut between the stagnant water effect of weather strip, when serious can between the tunnel lining is cut leakage accident take place; Because general development machine is cylindrical and certain length is arranged, the correction rate is crossed the sudden change that conference causes tunneling direction, thereby increases the space, underground building, can cause soil stabilization and ground settlement when serious in addition; In addition, the factors such as sensitivity of soil property environmental aspect, development machine equipment itself also have certain influence to the correction rate.Therefore, tunneling direction control should be followed the principle of " slowly asymptotic ", the line style of promptly rectifying a deviation should have gradation, the correction process should have slow property, in other words, the tunneling direction control of development machine should make the development machine axis progressively realize approaching the design axis in some control cycles, in other words, the correction rate can not be excessive in single control cycle.
At present, the main construction axis that adopts manual method control development machine direction to control the tunnel in actual engineering.Although in practical operation, can improve the real-time and the accuracy of development machine attitude measurement by improving measuring technique, improve the promptness that the development machine direction is controlled by the working measure of taking " the diligent duty of surveying is entangled ", but because factors of affecting such as operator's practical experience, physiological status, mental status, the Artificial Control method tends to produce the discreteness problem of correction quality control, thereby reduces the construction axis design axis approached effect and engineering construction quality.
From last century the eighties begin, based on the development of Theory of Automatic Control, people begin to instruct underground development machine direction Research on Automatic Control with fuzzy control theory.Japan is starting to walk early aspect research and the application development machine direction automatic control technology.The shield structure with automatic control function of Japan Fujita development has applied for that in 1994 publication number is " Suporting structure " Chinese invention patent of CN1108349, and its direction is controlled automatically based on fuzzy control principle.Japan Isaki company 1991 at U. S. application the patent No. be " a kind of method and system " patent of invention of 719941 by set TRAJECTORY CONTROL walking mechanism motion, its basic principle is with the construction axis direction of fuzzy control strategy control pipe jacking tunnelling machine, makes it to advance by set planned course.Domesticly control automatically aspect the research in the development machine direction, the Li Huiping of Tongji University has delivered doctor's paper of " the fuzzy automatic control system research of attitude in the shield structure progradation " in March, 2000, but does not have the case history of its control effect of checking.
Using at present fuzzy control strategy controls the conventional method of underground development machine tunneling direction and is: at first by comprising that attitude detection system that inclinometer, transit, laser position detector, correction jack displacement transducer are formed measures the position and the state parameter of current development machine and correction executing mechanism thereof; Deviation correcting device is that the control target of setting compares with the location status parameter imported with the design axis then, calculates the error e of current development machine construction axis runout design axis
iAnd with a last control cycle error e
I-1The error of comparing changes de
iAgain with error current e
iChange de with error
iAs the input of fuzzy control, the deviation correcting device computing is also exported deviation correcting signal; Carry out this deviation correcting signal and realize development machine tunneling direction approaching by the executing agency that comprises process logic controller (PLC) and correction jack at last to the design axis.
As from the foregoing, prior art will design axis and directly be set at current control target.Yet when development machine construction axis is big to the deviation of design axis, the working control result's who causes owing to the influence that is subjected to various working conditions (as soil property, equipment etc.) uncertainty, development machine is easy to generate the sudden change of direction of advance, and this sudden change will reduce tunnel lining between cutting quality of connection in addition cause leakage accident, influence space, underground building and grouting amount thereof simultaneously, even cause soil stabilization and ground settlement, can not satisfy the requirement of " slowly asymptotic " in a word, thereby reduce workmanship.
In addition, in the prior art with error current e
iChange de with error
iAs the input of fuzzy control, wherein error changes de
iThe direction of advance that can reflect development machine, but these input quantities all can not reflect the variation of development machine direction of advance.In fact the variation of development machine direction of advance has reflected the mechanical characteristics of development machine correction, experimental study shows: the control of development machine direction correcting not only changes relevant with vector error and vector error, and relevant with vectorial acceleration, and development machine correction effect is to realize by the variation of adjusting the development machine direction of advance.And what is more important, the control of development machine direction not only changes relevant with axis based error and axis based error, and it is relevant with various operating mode factors such as development machine equipment performance, soil property ambient condition, lining-up assembling process conditions, but the fuzzy strategy of being made up of the fuzzy control bivariate table can't these engineering process conditions of concentrated expression, also are difficult to manually operated experience is integrated into.
Therefore, the fuzzy correction control of existing development machine tunneling direction can not adapt to various working condition, can't reach the requirement of correction line style gradation and the slow property of correction process, the axis that is difficult to guarantee to construct approaches effect and engineering construction quality to the design axis.
Summary of the invention:
The objective of the invention is to overcome the deficiencies in the prior art, a kind of method of utilizing virtual track that underground development machine tunneling direction is controlled automatically is provided, it serves as the control target with the virtual track that is made of current development machine axis based error and working condition, change value with deflection error and deflection error and import, treatedly obtain and export deviation correcting signal as fuzzy control.This method can make the control effect of development machine direction reach subterranean tunnel correction line style to have the requirement that gradation, correction process have slow property, thereby guarantees the tunnel construction quality, reduces the misalignment of axe of constructing.
In order to achieve the above object, the present invention has taked following technical scheme:
A kind of method of utilizing virtual track that underground development machine tunneling direction is controlled automatically, at first measure the position and the state parameter of current development machine and correction executing mechanism thereof by the attitude detection system, deviation correcting device is according to the control target computing of the above-mentioned position of being imported and state parameter and setting and export deviation correcting signal then, last executing agency receives and carries out this deviation correcting signal and realize development machine tunneling direction approaching to the design axis, it is characterized in that: described control target is the virtual track that is provided according to the error between current development machine position and state and design axis and working condition by deviation correcting device, described deviation correcting device derives deflection error by virtual track and development machine axis based error and deflection error changes value, and with this as input, handle to obtain and to export deviation correcting signal through fuzzy control.
Of the present inventionly utilize the virtual track in the method that virtual track controls automatically to underground development machine tunneling direction to obtain via the following step by deviation correcting device:
(1) receives the position and the state parameter of the current development machine of importing behind the attitude detection systematic survey, and go out the error e of development machine axis with respect to the design axis according to this calculation of parameter;
(2) determine correction sensitivity coefficient k according to the development machine status of equipment
1,
Determine assembly unit variable gradient coefficient k according to section of jurisdiction or tube coupling situation
2,
Determine the soil property coefficient k according to the soil property environment
3,
Set the axis franchise value a of workmanship standard,
And draw the working condition constant k by following calculating formula:
k＝k
1k
2k
3；
(3) draw virtual track value S by following calculating formula:
S＝a
(1+k)|e|
-k (|e|＜a)。
The value that deflection error of the present invention and deflection error change generates via the following step in deviation correcting device:
(1) according to the position of the development machine of attitude detection systematic survey and the error e that state parameter is calculated current control cycle
i, last control cycle error e
I-1, the first two control cycle error e
I-2With on the virtual track as the setting value t of the control target of current control cycle
I+1
(2) draw deflection error E and deflection error variation EC by following calculating formula:
E＝(t
i+1-e
i)-(e
i-e
i-1)，
EC＝(e
i-e
i-1)-(e
i-1-e
i-2)。
Attitude detection of the present invention system includes the laser transit be located in the tunnel, be located at laser position detector, the inclinometer on the development machine and be located at displacement transducer on the correction jack; Described executing agency includes the process logic controller and is provided with the correction jack of electromagnetic valve, and this process logic controller is used for the signal that displacement transducer detected of inclinometer, correction jack is sent to deviation correcting device and sends the deviation correcting signal that deviation correcting device provides to control the correction jack cylinder electromagnetic valve after digital-to-analogue conversion is handled; Store the data of design axis in the described deviation correcting device.
Compared with prior art, the virtual track that the present invention set up has not only been considered current development machine axis based error, but also working conditions such as status of equipment, construction operation, soil property environment, quality specifications have been taken all factors into consideration, therefore solved the difficult problem that general fuzzy control can't overcome in the prior art, make the method for the invention can adapt to various execution conditions, its correction control can more meet engineering reality; And the present invention with virtual track alternate design axis as current control target, thereby for arbitrary error, no matter error has much, the desired value of next control cycle that determines on virtual track and the distance of this error are very near, in other words, the controlled quentity controlled variable that system will change in a control cycle is less, has therefore avoided the tunneling direction sudden change problem that the correction amount is excessive and cause, and has also just avoided a series of qualitative problems of construction that caused by it; Fuzzy control of the present invention in addition changes value alternative site error as input quantity with deflection error and deflection error, it has more properly reflected the variation of development machine direction of advance and has characterized the mechanical characteristics of tunneling direction correction, make the output of fuzzy control follow the tracks of desired value on the virtual tracks, realize that the construction axis is in time in mode slowly, progressively reach the design axis with asymptotic form on track by some control cycles.Therefore, the method of utilizing virtual track that underground development machine tunneling direction is controlled automatically of the present invention comes down to general fuzzy control strategy is difficult to that the adjustment to working condition of concentrated expression is preposition to be solved in control goal-setting step, set up virtual track as current control target, thereby satisfy the requirement of subterranean tunnel correction line style gradation, the slow property of control procedure, guarantee the tunnel construction quality, reduced the construction axis based error.
Description of drawings:
Fig. 1 is a control device system schematic of the present invention.
Fig. 2 is control principle figure of the present invention.
Fig. 3 is a virtual track schematic diagram of the present invention.
The specific embodiment:
Below in conjunction with specific embodiments and the drawings the present invention is described in further detail.
At first see also Fig. 1 control device system schematic of the present invention.In using the process of utilizing the method that virtual track controls automatically to underground development machine tunneling direction of the present invention, related control device system (being hardware configuration) as shown in Figure 1, it is made up of attitude detection system, deviation correcting device 3 and executing agency's three parts.This attitude detection system is used to measure the position and the state parameter of current development machine and correction executing mechanism thereof, and it includes laser transit 1 (perhaps total powerstation), laser position detector 2, inclinometer 4 and displacement transducer 5.Described laser transit 1 is arranged in the tunnel, and the lasing light emitter in it can send the laser detection light beam; Described laser position detector 2 and inclinometer 4 are arranged on the development machine, this laser position detector 2 can receive detection light beam that laser transit 1 sends and measure the location parameter of current development machine according to it, and this inclinometer 4 can detect attitude parameters such as the angle of slope of current development machine and the anglec of rotation; Described displacement transducer 5 has several and is separately positioned on the jack of respectively rectifying a deviation of development machine, and it can measure the position and the state parameter of the jack of respectively rectifying a deviation.
Described executing agency is used for reception and carries out deviation correcting signal, and drives and change the action of development machine, and to realize tunneling direction to designing approaching of axis, it includes process logic controller 6 and correction jack 7.This correction jack 7 is used to change the tunneling direction of development machine, and it is set up and starts to control the electromagnetic valve of making usefulness; This process logic controller 6 is used to receive the signal that inclinometer 4 and displacement transducer 5 detected and sends deviation correcting device 3 to, and the electromagnetic valve that the deviation correcting signal that deviation correcting device 3 provides is sent to the oil cylinder of control correction jack 7 after digital-to-analogue conversion is handled.
Store the data of Tunnel Design axis in the described deviation correcting device 3, it is used to receive the signal about alliance and state parameter from laser transit 1, laser position detector 2 and process logic controller 6, and carry out computing according to the control target of this signal and setting and obtain deviation correcting signal, then to process logic controller 6 these deviation correcting signal of output and and then drive correction jack 7 to realize the correction of development machine direction.
The method of utilizing virtual track that underground development machine tunneling direction is controlled automatically of the present invention is used for when development machine carries out the subterranean tunnel driving its tunneling direction being controlled in real time.This method realizes by implementing the following step successively in the excavation operation process, and its principle can be with reference to figure 2:
1, detects the parameter of development machine current location and import deviation correcting device 3 by laser transit 1 and laser position detector 2, detect the parameter of the current attitude of development machine (angle of slope, the anglec of rotation) and, measure the state of the jack 7 of respectively rectifying a deviation respectively also by process logic controller 6 input deviation correcting devices 3 by inclinometer 4 by displacement transducer 5 by process logic controller 6 input deviation correcting devices 3.
2, the data that will design axis are stored into deviation correcting device 3, make up virtual track S through the following step in deviation correcting device 3, and this virtual track S is set at current control target:
(1) determines its correction sensitivity coefficient k with manual type according to the development machine status of equipment
1, determine the assembly unit variable gradient coefficient k of its permission according to tunnel duct piece or tube coupling situation
2, the soil property coefficient k is determined in the influence of correction according to the soil property environment
3, set the axis allowable variation value a of workmanship standard again according to quality acceptance standard, and above-mentioned definite constant imported deviation correcting device 3;
(2) deviation correcting device 3 receives the position and the state parameter of the current development machine of importing behind the attitude detection systematic survey, and the driving distance of having realized since beginning according to excavation operation is obtained the locus on the current design axis, physical location parameter with above-mentioned current development machine compares with design axis parameter again, thereby calculates the error amount e of the current physical location off-design of development machine axis axis;
(3) in deviation correcting device 3, by following calculating formula draw the working condition constant k and and then draw virtual track value S:
k＝k
1k
2k
3，
S＝a
(1+k)|e|
-k (|e|＜a)。
The schematic diagram of this virtual track is seen Fig. 3.
3, in deviation correcting device 3, generate the numerical value of deflection error E and deflection error variation EC via the following step:
(1) according to the position of the development machine of attitude detection systematic survey and the error e that state parameter is calculated current control cycle
i, last control cycle error e
I-1, the first two control cycle error e
I-2
(2) derive on the virtual track setting value t according to following method as the control target of current control cycle
I+1:
Error amount e with current physical location off-design axis
iSubstitution virtual track expression formula (S=a
(1+k)| e
i|
-k), obtain the relative distance S that development machine advances
iTo control step-length dl substitution virtual track expression formula, make S
i+ dl=a
(1+k)| dx|
-k, obtain dx; Work as e
i, make dx＞0 at＞0 o'clock; Work as e
i, make dx＜0 at＜0 o'clock; Then the setting value of the control target of current control cycle is t
I+1=dx;
(3) draw deflection error E and deflection error variation EC by following calculating formula:
E＝(t
i+1-e
i)-(e
i-e
i-1)，
EC＝(e
i-e
i-1)-(e
i-1-e
i-2)。
In above-mentioned formula, the implication of each variable on engineering is as follows:
(t
I+1-e
i): the direction of advance of current control cycle development machine expectation,
(e
i-e
I-1): the already present direction of advance of current control cycle development machine,
(e
I-1-e
I-2): the already present direction of advance of a last control cycle,
E: represent the development machine direction that current control cycle need change, promptly deflection error as if E＜0, is then represented and need be rectified a deviation towards negative direction, otherwise anti-right.
EC: represent the variation of the already present development machine deflection error of current control cycle, reflection direction variation tendency.
4, the numerical value that changes EC with deflection error E and deflection error is as input, handles obtaining deviation correcting signal u in deviation correcting device 3 through fuzzy control, the vectorial increment u that promptly rectifies a deviation, and with this deviation correcting signal u input process logic controller 6.
5, process logic controller 6 sends the deviation correcting signal u that deviation correcting device 3 provides to control correction jack 7 oil cylinders electromagnetic valve after the digital-to-analogue conversion processing obtains the vectorial X of current correction.
6, correction jack 7 is carried out correction control, adjusts the oil pressure of correction jack 7 or uses number, realizes tunneling direction approaching to the design axis thereby drive development machine.
Below specify application of the present invention with an embodiment.
Embodiment:
1, calculates the error e of current control cycle by the parameter of detection system detected development machine position and attitude and design axis
i=23, the error e of previous control cycle
I-1=25, the error of the first two control cycle: e
I-2=28.5.
2, set working condition constant k=1, the axis franchise value a=50 of workmanship standard controls step-length dl=20, can try to achieve the setting value t of the control target of current control cycle
I+1=19.4.
3, calculate: deflection error E=-1.6, deflection error changes: EC=1.5; And E and EC are carried out fuzzy quantization handle, decimal rounds up, and draws e=-2 and ec=2.
4, e and ec are carried out the fuzzy control processing as input, by inquiring about the fuzzy membership table:
Export deviation correcting signal at last, vectorial increment u=-2 promptly rectifies a deviation.
5, process logic controller 6 carries out quantification treatment with deviation correcting signal and gets U=-10, as the vectorial Xi output valve of former correction is-300, the vectorial X=Xi+U=-300-10=-310 of then current correction, this value sends the electromagnetic valve of control correction jack 7 oil cylinders to after digital-to-analogue conversion is handled.
6, correction jack 7 is carried out correction control, adjusts the oil pressure of correction jack 7 and uses number, realizes construction axis approaching the design axis thereby drive development machine.
In sum, the control target that the present invention sets up is the virtual track that is provided according to the error between current development machine position and state and design axis and working condition by deviation correcting device, this deviation correcting device derives deflection error by virtual track and development machine axis based error and deflection error changes value, and with this as input, obtain and export deviation correcting signal through the fuzzy control processing, last executing agency receives and carries out this deviation correcting signal, thereby realizes development machine tunneling direction approaching to the design axis.The described method of utilizing virtual track that underground development machine tunneling direction is controlled automatically can make the control effect of development machine direction reach subterranean tunnel correction line style to have the requirement that gradation, correction process have slow property, thereby guarantee the tunnel construction quality, reduce the misalignment of axe of constructing.The present invention is applicable to the tunneling direction of underground development machine under various operating modes with otch pressure balance function controlled automatically.
Claims (6)
1, a kind of method of utilizing virtual track that underground development machine tunneling direction is controlled automatically, at first measure the position and the state parameter of current development machine and correction executing mechanism thereof by the attitude detection system, deviation correcting device is according to the control target computing of the above-mentioned position of being imported and state parameter and setting and export deviation correcting signal then, last executing agency receives and carries out this deviation correcting signal and realize development machine tunneling direction approaching to the design axis, it is characterized in that: described control target is the virtual track that is provided according to the error between current development machine position and state and design axis and working condition by deviation correcting device, described deviation correcting device derives deflection error by virtual track and development machine axis based error and deflection error changes value, and with this as input, handle to obtain and to export deviation correcting signal through fuzzy control.
2, the method for utilizing virtual track that underground development machine tunneling direction is controlled automatically according to claim 1, it is characterized in that: described virtual track is obtained via the following step by deviation correcting device:
(1) receives the position and the state parameter of the current development machine of importing behind the attitude detection systematic survey, and go out the error e of development machine axis with respect to the design axis according to this calculation of parameter;
(2) determine correction sensitivity coefficient k according to the development machine status of equipment
1,
Determine assembly unit variable gradient coefficient k according to section of jurisdiction or tube coupling situation
2,
Determine the soil property coefficient k according to the soil property environment
3,
Set the axis franchise value a of workmanship standard,
And draw the working condition constant k by following calculating formula:
k＝k
1k
2k
3；
(3) draw virtual track value S by following calculating formula:
S＝a
(1+k)|e|
-k (|e|＜a)。
3, the method for utilizing virtual track that underground development machine tunneling direction is controlled automatically according to claim 1 and 2 is characterized in that: the value that described deflection error and deflection error change generates via the following step in deviation correcting device:
(1) according to the position of the development machine of attitude detection systematic survey and the error e that state parameter is calculated current control cycle
i, last control cycle error e
I-1, the first two control cycle error e
I-2With on the virtual track as the setting value t of the control target of current control cycle
I+1
(2) draw deflection error E and deflection error variation EC by following calculating formula:
E＝(t
i+1-e
i)-(e
i-e
i-1)，
EC＝(e
i-e
i-1)-(e
i-1-e
i-2)。
4, the method for utilizing virtual track that underground development machine tunneling direction is controlled automatically according to claim 1 is characterized in that: described attitude detection system includes the laser transit be located in the tunnel, be located at laser position detector, the inclinometer on the development machine and be located at displacement transducer on the correction jack; Described executing agency includes the process logic controller and is provided with the correction jack of electromagnetic valve.
5, the method for utilizing virtual track that underground development machine tunneling direction is controlled automatically according to claim 4 is characterized in that: described process logic controller is used for the signal that displacement transducer detected of inclinometer, correction jack is sent to deviation correcting device and sends the deviation correcting signal that deviation correcting device provides to control the correction jack cylinder electromagnetic valve after digital-to-analogue conversion is handled.
6, the method for utilizing virtual track that underground development machine tunneling direction is controlled automatically according to claim 1 is characterized in that: the data that store the design axis in the described deviation correcting device.
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| CN106764055A (en) * | 2017-01-09 | 2017-05-31 | 中建四局第三建筑工程有限公司 | Push pipe sight alignment construction |
| CN106764055B (en) * | 2017-01-09 | 2019-02-01 | 中建四局第三建筑工程有限公司 | Push pipe sight alignment construction |
| CN107328415A (en) * | 2017-05-31 | 2017-11-07 | 合肥工业大学 | Push-bench gesture ambiguity control system and method based on MEMS gyroscope |
| CN108005672A (en) * | 2017-11-22 | 2018-05-08 | 天津大学 | A kind of horizontal correction method for planning track of TBM |
| CN108005672B (en) * | 2017-11-22 | 2019-07-23 | 天津大学 | A kind of TBM level correction method for planning track |
| CN108868807A (en) * | 2018-09-07 | 2018-11-23 | 上海隧道工程有限公司 | The intelligent control method of shield driving correction |
| CN109630154A (en) * | 2019-01-24 | 2019-04-16 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Tunneling robot for tunneling and remote mobile terminal command system |
| CN109630154B (en) * | 2019-01-24 | 2023-08-25 | 华能西藏雅鲁藏布江水电开发投资有限公司 | Tunneling robot for tunneling and remote mobile terminal command system |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
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| CN100491697C (en) | 2009-05-27 |
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