Prof Kaspar Althoefer
PhD

 

All Publications

    2022

    2021

    2020

    • Palermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I (2020). "Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing." Frontiers Media  Frontiers in Robotics and Ai
      02-12-2020
    • Li M, Guo W, Xu J, Xue S, Wu D, Liang Z, Yuan H, Xie J, Xu G and Althoefer K (2020). "Attention Enhancement and Motion Assistance for Virtual Reality-Mediated Upper-Limb Rehabilitation." Ieee Transactions On Medical Robotics and Bionics vol. 2 (4), 565-568.
      01-11-2020
    • Frazier PA, Jamone L, Althoefer K and Calvo P (2020). "Plant Bioinspired Ecological Robotics." Frontiers Media  Frontiers in Robotics and Ai vol. 7
      14-07-2020
    • Ataka A, Abrar T, Putzu F, Godaba H and Althoefer K (2020). "Model-based Pose Control of Inflatable Eversion Robot with Variable Stiffness." Institute of Electrical and Electronics Engineers (Ieee)  Ieee Robotics and Automation Letters, 1-1.
      26-02-2020
    • Sadati SMH, Shiva A, Herzig N, Rucker CD, Hauser H, Walker ID, Bergeles C, Althoefer K and Nanayakkara T (2020). "Stiffness Imaging with a Continuum Appendage: Real-Time Shape and Tip Force Estimation from Base Load Readings." Ieee Robotics and Automation Letters vol. 5 (2), 2824-2831.
      10-02-2020
    • Althoefer K (2020). "TMTDyn: A Matlab Package for Modeling and Control of Hybrid Rigid-Continuum Robots Based on Discretized Lumped System and Reduced-Order Models." Sage Publications  International Journal of Robotics Research
      06-01-2020
    • Abrar T, Hassan A, Putzu F, Godaba H, Ataka A and Althoefer K (2020). "An Inhomogeneous Structured Eversion Actuator."37-48.
      01-01-2020
    • Sadati SMH, Noh Y, Elnaz Naghibi S, Althoefer K and Nanayakkara T (2020). "Correction to: Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming." In Intelligent Robotics and Applications c1-c1.
      01-01-2020
    • Li W, Alomainy A, Vitanov I, Noh Y, Qi P and Althoefer K (2020). "F-TOUCH Sensor: Concurrent Geometry Perception and Multi-axis Force Measurement." Institute of Electrical and Electronics Engineers (Ieee)  Ieee Sensors Journal, 1-1.
      01-01-2020
    • Vitanov I, Rizqi A and Althoefer K (2020). "Shape Reconstruction of Soft-Body Manipulator: A Learning-Based Approach."58-61.
      01-01-2020
    • Dawood AB, Godaba H and Althoefer K (2020). "Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots."62-65.
      01-01-2020

    2019

    • Li M, He B, Liang Z, Zhao C-G, Chen J, Zhuo Y, Xu G, Xie J and Althoefer K (2019). "An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism." Front Neurorobot vol. 13, 34-34.
      29-05-2019
    • Wang S, Housden RJ, Noh Y, Singh A, Lindenroth L, Liu H, Althoefer K, Hajnal J, Singh D and Rhode K (2019). "Analysis of a customized clutch joint designed for the safety management of an ultrasound robot." Applied Sciences (Switzerland) vol. 9 (9)
      09-05-2019
    • Shiva A, Sadati SMH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T and Althoefer K (2019). "Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation." Soft Robotics vol. 6 (2), 228-249.
      01-04-2019
    • Matsuno T, Wang Z, Althoefer K and Hirai S (2019). "Adaptive update of reference capacitances in conductive fabric based robotic skin." Ieee Robotics and Automation Letters vol. 4 (2), 2212-2219.
      27-02-2019
    • Wang S, Housden J, Noh Y, Singh A, Back J, Lindenroth L, Liu H, Hajnal J, Althoefer K, Singh D and Rhode K (2019). "Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound." J Vis Exp (143)
      07-01-2019
    • Althoefer K, Konstantinova J and Zhang K (2019). "Preface."

      01-01-2019

    2018

    • COTUGNO G, KONSTANTINOVA J, ALTHOEFER KA and Nanayakkara T (2018). "Modelling the Structure of Object-Independent Human Affordances of Approaching to Grasp for Robotic Hands." Public Library of Science (Plos)  Plos One
      26-12-2018
    • ALTHOEFER KA (2018). "Localised Online Learning-Based Control of a Soft Redundant Manipulator Under Variable Loading." Taylor & Francis  Advanced Robotics
      05-10-2018
    • OBADINA OO, THAHA MA, ALTHOEFER K and SHAHEED MH (2018). "A Modified Computed Torque Control Approach for a Master-Slave Robot Manipulator System.", Editors: Giuliani M, Assaf T and Giannaccini ME. Springer Verlag  Lecture Notes in Computer Science, 28-39.
      21-07-2018
    • ALTHOEFER KA (2018). "Reactive Magnetic-Field-Inspired Navigation Method for Robots in Unknown Convex 3-D Environments." Institute of Electrical and Electronics Engineers  Ieee Robotics and Automation Letters
      09-07-2018
    • ALTHOEFER KA (2018). "iCLAP: Shape Recognition by Combining Proprioception and Touch Sensing." Springer Verlag  Autonomous Robots
      23-06-2018
    • ALTHOEFER KA (2018). "Real-Time Vision-Based Stiffness Mapping." Mdpi Ag  Sensors
      26-04-2018
    • ALTHOEFER KA (2018). "Antagonistic actuation and stiffness control in soft inflatable robots." Nature Reviews Materials
      20-04-2018
    • Sadati SMH, Sullivan L, Walker ID, Althoefer K and Nanayakkara T (2018). "Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators." Ieee Robotics and Automation Letters vol. 3 (3), 2283-2290.
      12-02-2018
    • Abidi H, Gerboni G, Brancadoro M, Fras J, Diodato A, Cianchetti M, Wurdemann H, Althoefer K and Menciassi A (2018). "Highly dexterous 2-module soft robot for intra-organ navigation in minimally invasive surgery." International Journal of Medical Robotics and Computer Assisted Surgery vol. 14 (1)
      01-02-2018
    • Konstantinova J, Wurdemann H, Shafti A, Shiva A and Althoefer K (2018). "Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:."1-420.
      01-01-2018
    • Stilli A, Althoefer K and Wurdemann HA (2018). "Soft robotics. Bio-inspired antagonistic stiffening." In Biosystems and Biorobotics 207-214.
      01-01-2018

    2017

    • Lee KH, Fu DKC, Leong MCW, Chow M, Fu HC, Althoefer K, Sze KY, Yeung CK and Kwok KW (2017). "Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation." Soft Robotics vol. 4 (4), 324-337.
      01-12-2017
    • ALTHOEFER KA, Sareh S, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). "Anchoring like octopus: biologically inspired soft artificial sucker." Royal Society, The  Journal of The Royal Society Interface vol. 14 (135)
      25-10-2017
    • KONSTANTINOVA J, Stilli and Althoefer (2017). "Fingertip Fiber Optical Tactile Array with Two-Level Spring Structure." Mdpi  Sensors vol. 17 (10)
      13-10-2017
    • Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B and Kovac M (2017). "Anchoring like octopus: Biologically inspired soft artificial sucker." Journal of The Royal Society Interface vol. 14 (135)
      01-10-2017
    • Sadati SMH, Naghibi SE, Walker ID, Althoefer K and Nanayakkara T (2017). "Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods." Ieee Robotics and Automation Letters vol. 3 (1), 328-335.
      22-08-2017
    • Sadati SMH, Naghibi SE, Shiva A, Noh Y, Gupta A, Walker ID, Althoefer K and Nanayakkara T (2017). "A geometry deformation model for braided continuum manipulators." Frontiers Robotics Ai vol. 4 (JUN)
      30-06-2017
    • Wang S, Singh D, Lau D, Reddy K, Althoefer K, Rhode K and Housden RJ (2017). "Probe tracking and its application in automatic acquisition using a trans-esophageal ultrasound robot." Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 10170 LNCS, 14-23.
      13-04-2017
    • Ranasinghe A, Althoefer K, Dasgupta P, Nagar A and Nanayakkara T (2017). "Wearable haptic based pattern feedback sleeve system." Advances in Intelligent Systems and Computing vol. 547, 302-312.
      13-04-2017
    • Shao W, Barras J, Althoefer K and Kosmas P (2017). "Detecting NQR signals severely polluted by interference." Signal Processing vol. 138, 256-264.
      31-03-2017
    • Luo S, Zhu L, Althoefer K and Liu H (2017). "Knock-Knock: Acoustic object recognition by using stacked denoising autoencoders." Neurocomputing
      11-03-2017
    • Stilli A, Wurdemann HA and Althoefer K (2017). "A Novel Concept for Safe, Stiffness-Controllable Robot Links." Soft Robotics vol. 4 (1), 16-22.
      01-03-2017
    • Li M, KONSTANTINOVA J, Xu G, He B, Aminazdeh V, Xie J, Wurdemann H and Althoefer K (2017). "Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model." Public Library of Science (Plos)  Plos One
      01-03-2017
    • Li J, Liu H, Brown M, Kumar P, Challacombe BJ, Chandra A, Rottenberg G, Seneviratne LD, Althoefer K and Dasgupta P (2017). "Ex vivo study of prostate cancer localization using rolling mechanical imaging towards minimally invasive surgery." Med Eng Phys
      21-02-2017
    • KONSTANTINOVA J, Cotugno G, Dasgupta P, Althoefer K and Nanayakkara T (2017). "Palpation Force Modulation Strategies to Identify Hard Regions in Soft Tissue Organs." Public Library of Science (Plos)  Plos One
      15-02-2017
    • Sadati SM, Naghibi SE, Shiva A, Walker ID, Althoefer K and Nanayakkara T (2017). "Mechanics of continuum manipulators, a comparative study of five methods with experiments." Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 10454 LNAI, 686-702.
      01-01-2017

    2016

    • ALTHOEFER KA, Shafti A, Ribas Manero RB, Borg AM and Howard MJ (2016). "Embroidered Electromyography: A Systematic Design Guide." Ieee Transactions On Neural Systems and Rehabilitation Engineering
      01-12-2016
    • ALTHOEFER KA, Noh Y, Bimbo J, Sareh S, Wurdemann H, Fras J, Sures Chathuranga D, Liu H, Housden J and Rhode K (2016). "Multi-axis force/torque sensor based on simply supported beam and optoelectronics." Journal of Sensors Mdpi
      17-11-2016
    • ALTHOEFER KA (2016). "Robotic Ultrasound: View Planning, Tracking, and Automatic Acquisition of Trans-esophageal Echocardiography." Ieeerobotics&Automationmagazine
      07-11-2016
    • Ataollahi A, Karim R, Fallah AS, Rhode K, Razavi R, Seneviratne LD, Schaeffter T and Althoefer K (2016). "Three-Degree-of-Freedom MR-Compatible Multisegment Cardiac Catheter Steering Mechanism." Ieee Trans Biomed Eng vol. 63 (11), 2425-2435.
      01-11-2016
    • Noh Y, Liu H, Sareh S, Chathuranga DS, Wurdemann H, Rhode K and Althoefer K (2016). "Image-Based Optical Miniaturized Three-Axis Force Sensor for Cardiac Catheterization." Ieee Sensors Journal vol. 16 (22), 7924-7932.
      16-08-2016
    • Shiva A, Stilli A, Noh Y, Faragasso A, Falco ID, Gerboni G, Cianchetti M, Menciassi A, Althoefer K and Wurdemann HA (2016). "Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator." Ieee Robotics and Automation Letters vol. 1 (2), 632-637.
      01-07-2016
    • Li M, Sareh S, Xu G, Ridzuan MB, Luo S, Xie J, Wurdemann H and Althoefer K (2016). "Evaluation of Pseudo-Haptic Interactions with Soft Objects in Virtual Environments.", Editors: Zhang D. Public Library of Science  Plos One vol. 11 (6), e0157681-e0157681.
      28-06-2016
    • Arezzo A, Mintz Y, Allaix ME, Arolfo S, Bonino M, Gerboni G, Brancadoro M, Cianchetti M, Menciassi A, Wurdemann H, Noh Y, Althoefer K, Fras J, Glowka J, Nawrat Z, Cassidy G, Walker R and Morino M (2016). "Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models." Springer Verlag (Germany)  Surgical Endoscopy: Surgical and Interventional Techniques
      23-06-2016
    • Qi P, Qiu C, Liu H, Dai JS, Seneviratne LD and Althoefer K (2016). "A Novel Continuum Manipulator Design Using Serially Connected Double-Layer Planar Springs." Ieee/Asme Transactions On Mechatronics vol. 21 (3), 1281-1292.
      01-06-2016
    • Nanayakkara T, Jiang A, Del Rocío Armas Fernández M, Liu H, Althoefer K and Bimbo J (2016). "Stable Grip Control on Soft Objects With Time-Varying Stiffness." Ieee Transactions On Robotics vol. 32 (3), 626-637.
      01-06-2016
    • Chen C, Zhang F, Barras J, Althoefer K, Bhunia S and Mandal S (2016). "Authentication of Medicines Using Nuclear Quadrupole Resonance Spectroscopy." Ieee/Acm Trans Comput Biol Bioinform vol. 13 (3), 417-430.
      01-05-2016
    • Qi P, Liu C, Ataka A, Lam HK and Althoefer K (2016). "Kinematic Control of Continuum Manipulators Using a Fuzzy-Model-Based Approach." Ieee Transactions On Industrial Electronics vol. 63 (8), 5022-5035.
      14-04-2016
    • Cotugno G, Althoefer K and Nanayakkara T (2016). "The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands." Ieee Transactions On Systems, Man, and Cybernetics: Systems vol. 47 (7), 1061-1070.
      05-04-2016
    • Qiu C, Qi P, Liu H, Althoefer K and Dai JS (2016). "Six-Dimensional Compliance Analysis and Validation of Orthoplanar Springs." Journal of Mechanical Design, Transactions of The Asme vol. 138 (4)
      01-04-2016
    • Noh Y, Sareh S, Wurdemann H, Liu H, Back J, Housden J, Rhode K and Althoefer K (2016). "Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators." Ieee Sensors Journal vol. 16 (6), 1641-1651.
      15-03-2016
    • Dias J, Althoefer K and Lima PU (2016). "Robot Competitions: What Did We Learn? [Competitions]." Ieee Robotics and Automation Magazine vol. 23 (1), 16-18.
      01-03-2016
    • Ranasinghe A, Sornkarn N, Dasgupta P, Althoefer K, Penders J and Nanayakkara T (2016). "Salient Feature of Haptic-Based Guidance of People in Low Visibility Environments Using Hard Reins." Ieee Transactions On Cybernetics vol. 46 (2), 568-579.
      01-02-2016
    • Bimbo J, Luo S, Althoefer K and Liu H (2016). "In-Hand Object Pose Estimation Using Covariance-Based Tactile To Geometry Matching." Ieee Robotics and Automation Letters vol. 1 (1), 570-577.
      01-01-2016

    2015

    • Russo S, Ranzani T, Liu H, Nefti-Meziani S, Althoefer K and Menciassi A (2015). "Soft and stretchable sensor using biocompatible electrodes and liquid for medical applications." Soft Robotics vol. 2 (4), 146-154.
      01-12-2015
    • Sareh S, Noh Y, Li M, Ranzani T, Liu H and Althoefer K (2015). "Macrobend optical sensing for pose measurement in soft robot arms." Smart Materials and Structures vol. 24 (12)
      06-11-2015
    • Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). "14N NQR, relaxation and molecular dynamics of the explosive TNT." Solid State Nuclear Magnetic Resonance vol. 71, 61-66.
      01-10-2015
    • Smith JAS, Rowe MD, Althoefer K, Peirson NF and Barras J (2015). "Off-resonance effects in 14N NQR signals from the pulsed spin-locking (PSL) and three-pulse echo sequence; A study for monoclinic TNT." Solid State Nuclear Magnetic Resonance vol. 71, 41-54.
      01-10-2015
    • Luo S, Mou W, Althoefer K and Liu H (2015). "Novel Tactile-SIFT Descriptor for Object Shape Recognition." Ieee Sensors Journal vol. 15 (9), 5001-5009.
      01-09-2015
    • Wang S, Housden J, Singh D, Althoefer K and Rhode K (2015). "Design, testing and modelling of a novel robotic system for trans-oesophageal ultrasound." Wiley: 12 Months  International Journal of Medical Robotics and Computer Assisted Surgery vol. 12 (3), 342-354.
      31-07-2015
    • Ranasinghe A, Dasgupta P, Althoefer K and Nanayakkara T (2015). "Identification of haptic based guiding using hard reins." Plos One vol. 10 (7)
      22-07-2015
    • Xie H, Liu H, Noh Y, Li J, Wang S and Althoefer K (2015). "A fiber-optics-based body contact sensor for a flexible manipulator." Ieee Sensors Journal vol. 15 (6), 3543-3550.
      01-06-2015
    • Liu H, Nguyen KC, Perdereau V, Bimbo J, Back J, Godden M, Seneviratne LD and Althoefer K (2015). "Finger contact sensing and the application in dexterous hand manipulation." Autonomous Robots vol. 39 (1), 25-41.
      01-06-2015
    • Li M, Konstantinova J, Secco EL, Jiang A, Liu H, Nanayakkara T, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann HA (2015). "Using visual cues to enhance haptic feedback for palpation on virtual model of soft tissue." Medical and Biological Engineering and Computing vol. 53 (11), 1177-1186.
      28-05-2015
    • Kyriakidou G, Jakobsson A, Althoefer K and Barras J (2015). "Batch-Specific Discrimination Using Nuclear Quadrupole Resonance Spectroscopy." Analytical Chemistry vol. 87 (7), 3806-3811.
      07-04-2015
    • Bimbo J, Kormushev P, Althoefer K and Liu H (2015). "Global estimation of an objects pose using tactile sensing." Advanced Robotics vol. 29 (5), 363-374.
      04-03-2015
    • Wanninayake IB, Dasgupta P, Seneviratne LD and Althoefer K (2015). "Modeling and optimizing output characteristics of intensity modulated optical fiber-based displacement sensors." Ieee Transactions On Instrumentation and Measurement vol. 64 (3), 758-767.
      01-03-2015
    • Deters C, Lam HK, Secco EL, Wurdemann HA, Seneviratne LD and Althoefer K (2015). "Accurate bolt tightening using model-free fuzzy control for wind turbine hub bearing assembly." Ieee Transactions On Control Systems Technology vol. 23 (1), 1-12.
      01-01-2015

    2014

    • Li M, Ridzuan MB, Sareh S, Seneviratne LD, Dasgupta P and Althoefer K (2014). "Pseudo-haptics for rigid tool/soft surface interaction feedback in virtual environments." Mechatronics vol. 24 (8), 1092-1100.
      01-12-2014
    • Müller R, Hörauf L, Vette M, Martin JLS, Alzaga A, Hohmann J, Althoefer K and Würdemann H (2014). "Robot guided bolt tensioning tool with adaptive process control for the automated assembly of wind turbine rotor blade bearings." Production Engineering vol. 8 (6), 755-764.
      23-10-2014
    • Li M, Luo S, Nanayakkara T, Seneviratne LD, Dasgupta P and Althoefer K (2014). "Multi-fingered haptic palpation using pneumatic feedback actuators." Sensors and Actuators, a: Physical vol. 218, 132-141.
      01-10-2014
    • Jiang A, Ranzani T, Gerboni G, Lekstutyte L, Althoefer K, Dasgupta P and Nanayakkara T (2014). "Robotic Granular Jamming: Does the Membrane Matter?" Soft Robotics vol. 1 (3), 192-201.
      01-09-2014
    • Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P and Menciassi A (2014). "Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach." Soft Robotics vol. 1 (2), 122-131.
      01-06-2014
    • Xie H, Jiang A, Wurdemann HA, Liu H, Seneviratne LD and Althoefer K (2014). "Magnetic resonance-compatible tactile force sensor using fiber optics and vision sensor." Ieee Sensors Journal vol. 14 (3), 829-838.
      01-03-2014
    • Ataollahi A, Fallah AS, Seneviratne LD, Dasgupta P and Althoefer K (2014). "Novel force sensing approach employing prismatic-tip optical fiber inside an orthoplanar spring structure." Ieee/Asme Transactions On Mechatronics vol. 19 (1), 121-130.
      01-02-2014
    • Xie H, Liu H, Seneviratne LD and Althoefer K (2014). "An optical tactile array probe head for tissue palpation during minimally invasive surgery." Ieee Sensors Journal vol. 14 (9), 3283-3291.
      01-01-2014
    • Konstantinova J, Li M, Mehra G, Dasgupta P, Althoefer K and Nanayakkara T (2014). "Behavioral characteristics of manual palpation to localize hard nodules in soft tissues." Ieee Transactions On Biomedical Engineering vol. 61 (6), 1651-1659.
      01-01-2014
    • Lam HK, Li H, Deters C, Secco EL, Wurdemann HA and Althoefer K (2014). "Control design for interval type-2 fuzzy systems under imperfect premise matching." Ieee Transactions On Industrial Electronics vol. 61 (2), 956-968.
      01-01-2014
    • Song X, Liu H, Althoefer K, Nanayakkara T and Seneviratne LD (2014). "Efficient break-away friction ratio and slip prediction based on haptic surface exploration." Ieee Transactions On Robotics vol. 30 (1), 203-219.
      01-01-2014
    • Konstantinova J, Jiang A, Althoefer K, Dasgupta P and Nanayakkara T (2014). "Implementation of tactile sensing for palpation in robot-assisted minimally invasive surgery: A review." Ieee Sensors Journal vol. 14 (8), 2490-2501.
      01-01-2014
    • Li M, Liu H, Jiang A, Seneviratne LD, Dasgupta P, Althoefer K and Wurdemann H (2014). "Intra-operative tumour localisation in robot-assisted minimally invasive surgery: A review." Proceedings of The Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine vol. 228 (5), 509-522.
      01-01-2014
    • Liu H, Sangpradit K, Li M, Dasgupta P, Althoefer K and Seneviratne LD (2014). "Inverse finite-element modeling for tissue parameter identification using a rolling indentation probe." Medical and Biological Engineering and Computing vol. 52 (1), 17-28.
      01-01-2014
    • Althoefer K (2014). "MRI-safe robots. Why are they not yet routinely used?" Bju International vol. 113 (6), 975-976.
      01-01-2014

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