Move everything to matlab folder
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@ -3,7 +3,7 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-11-12 jeu. 08:53 -->
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<!-- 2020-11-12 jeu. 09:21 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Gravity with Simscape Models</title>
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<meta name="generator" content="Org mode" />
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@ -34,12 +34,12 @@
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgda17389">1. Simulink</a></li>
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<li><a href="#org926dcda">2. Initial Simulation</a></li>
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<li><a href="#org37a8a81">3. Change the equilibrium position</a></li>
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<li><a href="#org542e71a">4. Add external force</a></li>
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<li><a href="#org28c0d05">5. Change initial position</a></li>
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<li><a href="#orgc1f6457">6. Conclusion</a></li>
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<li><a href="#org951825b">1. Simulink</a></li>
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<li><a href="#org498d7ed">2. Initial Simulation</a></li>
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<li><a href="#orgb1186cb">3. Change the equilibrium position</a></li>
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<li><a href="#org93e0199">4. Add external force</a></li>
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<li><a href="#org61f107b">5. Change initial position</a></li>
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<li><a href="#org84200cd">6. Conclusion</a></li>
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</ul>
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</div>
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</div>
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@ -68,15 +68,8 @@ Then, the simulation will start at equilibrium, but all the elements will be &ld
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The three solutions are tested below.
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</p>
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<div class="note" id="orgaf7b6a0">
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<p>
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All the files (data and Matlab scripts) are accessible <a href="data/simscape_gravity.zip">here</a>.
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</p>
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</div>
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<div id="outline-container-orgda17389" class="outline-2">
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<h2 id="orgda17389"><span class="section-number-2">1</span> Simulink</h2>
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<div id="outline-container-org951825b" class="outline-2">
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<h2 id="org951825b"><span class="section-number-2">1</span> Simulink</h2>
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<div class="outline-text-2" id="text-1">
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<div class="org-src-container">
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<pre class="src src-matlab">open <span class="org-string">'gravity_test.slx'</span>
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@ -84,7 +77,7 @@ All the files (data and Matlab scripts) are accessible <a href="data/simscape_gr
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</div>
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<div id="orgda6de48" class="figure">
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<div id="orgd333d11" class="figure">
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<p><img src="figs/simscape_model.png" alt="simscape_model.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Simscape model used for the simulations</p>
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@ -92,8 +85,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/simscape_gr
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</div>
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</div>
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<div id="outline-container-org926dcda" class="outline-2">
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<h2 id="org926dcda"><span class="section-number-2">2</span> Initial Simulation</h2>
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<div id="outline-container-org498d7ed" class="outline-2">
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<h2 id="org498d7ed"><span class="section-number-2">2</span> Initial Simulation</h2>
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<div class="outline-text-2" id="text-2">
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<div class="org-src-container">
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<pre class="src src-matlab">g = <span class="org-type">-</span>10; <span class="org-comment">% [m/s^2]</span>
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@ -134,7 +127,7 @@ title(<span class="org-string">''</span>);
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</div>
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<div id="orgcdd507b" class="figure">
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<div id="org521ff41" class="figure">
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<p><img src="figs/sim_init.png" alt="sim_init.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Initial Simulation (<a href="./figs/sim_init.png">png</a>, <a href="./figs/sim_init.pdf">pdf</a>)</p>
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@ -142,8 +135,8 @@ title(<span class="org-string">''</span>);
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</div>
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</div>
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<div id="outline-container-org37a8a81" class="outline-2">
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<h2 id="org37a8a81"><span class="section-number-2">3</span> Change the equilibrium position</h2>
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<div id="outline-container-orgb1186cb" class="outline-2">
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<h2 id="orgb1186cb"><span class="section-number-2">3</span> Change the equilibrium position</h2>
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<div class="outline-text-2" id="text-3">
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<div class="org-src-container">
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<pre class="src src-matlab">l0 = 0; <span class="org-comment">% Initial wanted position [m]</span>
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@ -179,7 +172,7 @@ title(<span class="org-string">''</span>);
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</div>
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<div id="orgc5782c2" class="figure">
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<div id="org585d417" class="figure">
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<p><img src="figs/sim_change_eq_position.png" alt="sim_change_eq_position.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Simulation after changing the equilibrium position of the joint (<a href="./figs/sim_change_eq_position.png">png</a>, <a href="./figs/sim_change_eq_position.pdf">pdf</a>)</p>
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@ -187,8 +180,8 @@ title(<span class="org-string">''</span>);
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</div>
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</div>
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<div id="outline-container-org542e71a" class="outline-2">
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<h2 id="org542e71a"><span class="section-number-2">4</span> Add external force</h2>
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<div id="outline-container-org93e0199" class="outline-2">
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<h2 id="org93e0199"><span class="section-number-2">4</span> Add external force</h2>
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<div class="outline-text-2" id="text-4">
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<div class="org-src-container">
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<pre class="src src-matlab">l0 = 0; <span class="org-comment">% Initial wanted position [m]</span>
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@ -224,15 +217,15 @@ title(<span class="org-string">''</span>);
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</div>
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<div id="org2d311aa" class="figure">
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<div id="orge5eaa59" class="figure">
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<p><img src="figs/sim_add_external_force.png" alt="sim_add_external_force.png" />
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</p>
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<p><span class="figure-number">Figure 4: </span>Simulater after adding an external force applied to the solid (<a href="./figs/sim_add_external_force.png">png</a>, <a href="./figs/sim_add_external_force.pdf">pdf</a>)</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org28c0d05" class="outline-2">
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<h2 id="org28c0d05"><span class="section-number-2">5</span> Change initial position</h2>
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<div id="outline-container-org61f107b" class="outline-2">
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<h2 id="org61f107b"><span class="section-number-2">5</span> Change initial position</h2>
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<div class="outline-text-2" id="text-5">
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<div class="org-src-container">
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<pre class="src src-matlab">l0 = out_init.d.Data(end); <span class="org-comment">% Initial wanted position [m]</span>
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</div>
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<div id="org80b8e3e" class="figure">
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<div id="orgc7e04f4" class="figure">
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<p><img src="figs/sim_change_initial_position.png" alt="sim_change_initial_position.png" />
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</p>
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<p><span class="figure-number">Figure 5: </span>Simulation after changing the initial position of the joint (<a href="./figs/sim_change_initial_position.png">png</a>, <a href="./figs/sim_change_initial_position.pdf">pdf</a>)</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orgc1f6457" class="outline-2">
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<h2 id="orgc1f6457"><span class="section-number-2">6</span> Conclusion</h2>
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<div id="outline-container-org84200cd" class="outline-2">
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<h2 id="org84200cd"><span class="section-number-2">6</span> Conclusion</h2>
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<div class="outline-text-2" id="text-6">
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<p>
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Three techniques:
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@ -297,7 +290,7 @@ Three techniques:
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</ul></li>
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</ul>
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<div class="important" id="org55dcf26">
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<div class="important" id="orgdb2539b">
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<p>
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Changing the equilibrium position of each joint seem the most practical solution.
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</p>
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@ -308,7 +301,7 @@ Changing the equilibrium position of each joint seem the most practical solution
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-11-12 jeu. 08:53</p>
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<p class="date">Created: 2020-11-12 jeu. 09:21</p>
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</div>
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</body>
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</html>
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19
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The three solutions are tested below.
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* ZIP file containing the data and matlab files :ignore:
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#+begin_src bash :exports none :results none
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if [ matlab/simscape_gravity.m -nt data/simscape_gravity.zip ]; then
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cp matlab/simscape_gravity.m simscape_gravity.m;
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zip data/simscape_gravity \
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gravity_test.slx \
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simscape_gravity.m
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rm simscape_gravity.m;
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fi
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#+end_src
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#+begin_note
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All the files (data and Matlab scripts) are accessible [[file:data/simscape_gravity.zip][here]].
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#+end_note
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* Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab');
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#+end_src
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* Simulink
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#+begin_src matlab
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open 'gravity_test.slx'
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