CN102631786B - Robot octopus - Google Patents
Robot octopus Download PDFInfo
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- CN102631786B CN102631786B CN 201210116780 CN201210116780A CN102631786B CN 102631786 B CN102631786 B CN 102631786B CN 201210116780 CN201210116780 CN 201210116780 CN 201210116780 A CN201210116780 A CN 201210116780A CN 102631786 B CN102631786 B CN 102631786B
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- bar
- claw
- rod member
- octopus
- sink
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- 241000238413 Octopus Species 0.000 title claims abstract description 50
- 210000000078 claw Anatomy 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 32
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 23
- 229910052782 aluminium Inorganic materials 0.000 claims description 23
- 239000004411 aluminium Substances 0.000 claims description 18
- 238000007599 discharging Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 3
- 238000007667 floating Methods 0.000 abstract description 3
- 241000251468 Actinopterygii Species 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 230000008602 contraction Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 210000004712 air sac Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009428 plumbing Methods 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The invention discloses a robot octopus comprising a cylindrical plastic barrel serving as a robot octopus body, wherein claw parts are arranged below the plastic barrel, a claw part action driving mechanism used for driving the claw parts to perform grabbing actions is arranged in the plastic barrel, a sinking and floating mechanism used for driving the robot octopus body to sink and float is arranged in the plastic barrel, four water pumps uniformly distributed along the circumference are fixedly installed on the outer wall of the plastic barrel, the drainage directions of the four water pumps are respectively front, back, left and right, and the four water pumps control the movement direction of the robot octopus; and a control system controls the claw part action driving mechanism, the sinking and floating mechanism and the water pumps to work. The robot octopus disclosed by the invention has reasonable structure and excellent working performance, provides more extensive entertainment items for the youngsters and children, and brings more rich life for families.
Description
Technical field
The present invention relates to a kind of toy, is a kind of machine octopus.
Background technology
Bionical fish robot development present situation:
BJ University of Aeronautics ﹠ Astronautics's robot research and Institute of Automation, Chinese Academy of sociences's joint study bionical
Underwater fish: on December 5th, 2008, by BJ University of Aeronautics ﹠ Astronautics's robot research and the bionical underwater fish project of Institute of Automation, Chinese Academy of sociences's joint study by checking and accepting and identifying, declared that the bionic machine fish that China's article one can be used for practical application formally succeeds in developing.This bionical underwater fish with China's independent intellectual property right, stability is strong, action flexibly, self-navigation is controlled, and engages in archaeological studies under water, photographs, surveys and draws, cultivates, fishes for, and the aspect such as underwater small delivery, is with a wide range of applications.
2. MIT machine tuna.This prototype has supple body, and 1 engine and 6 moving-members only are housed in body, can be in the movement of Reality simulation fish to a greater extent.Because health is made by the polymer material of a monoblock softness fully, avoided the possibility of the fragile inner body of water destruct.Although emulation is strong, people will never think this robot by mistake real tuna.Real tuna per second moves about apart from 10 times that can reach farthest body length, and the achievement of machine tuna only has 1 height.
The Market and Technology situation of underwater toys:
Above-mentioned project exists cost high mainly for the scientific research of underwater robot, and design is complicated, is unfavorable for the problem of promoting to family.On the other hand, the bionic machine fish that is used for amusement is also very rare, the toy that uses in visible water on market, such as artificial fish, can only swim in simply on the water surface, uncontrollable its horizontal motion and sink-float, entertainment effect is not remarkable, function singleness can not satisfy the modern to the demand of life ﹠ amusement.
Toy in the market is main mainly with electron type and amusement type toy, the interactive toy that wherein has the toy of high-tech appearance such as sounding, luminous electronic toy, remote-control toy and can speak or do a series of actions all is in great demand very much, deeply is subjected to the favor of youngsters and children.And this type toy relates under water seldom, therefore, design a underwater toys and must bring feeling of freshness to vast youngsters and children, and be the necessary complement of current toy.Design on the other hand the aquatic bionic toy, can promote youngsters and children to understand the sea, the understanding marine creature increases experience in amusement.
Summary of the invention
The object of the present invention is to provide a kind of rational in infrastructure, the machine octopus of service behaviour excellence.
Technical solution of the present invention is:
A kind of machine octopus, it is characterized in that: comprise the cylinder Plastic Drum as machine octopus health, the Plastic Drum below arranges claw, arrange in Plastic Drum and drive the claw motion driving mechanism that claw carries out grasping movement, the sink-float mechanism that makes machine octopus health sink-float is set in Plastic Drum, be fixedly mounted with four water pumps that distribute along even circumferential on the Plastic Drum outer wall, the drainage direction of four water pumps is respectively front, rear, left and right; A control system is controlled the work of claw motion driving mechanism, sink-float mechanism and water pump.
Described claw motion driving mechanism comprises the claw drive motors, the output shaft gear of claw drive motors and the engagement of the first tooth bar, the lower end of the first tooth bar is connected with an end rod member of through rod type cylinder, the other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft.
Described claw comprises the first rod member connector that is sleeved on central shaft, the first rod member connector is fixedly connected with Plastic Drum, the central shaft lower end is fixedly mounted with second, third rod member connector successively, the second rod member connector is connected turnably with the 4th bar, the 3rd rod member connector is connected turnably with the second bar, the end of the second bar is connected turnably with the 3rd bar, the 4th bar rear portion is connected with the 3rd bar middle part turnably, the first rod member connector is connected turnably with the first bar upper end, and the first bar lower end is connected with the 4th bar is anterior turnably; On the first rod member connector along even circumferential many first bars that distribute, on the second rod member connector along even circumferential many 4th bars that distribute, on the 3rd rod member connector along even circumferential many second bars that distribute.
Described sink-float mechanism comprises that head stretches out the syringe that discharging water is carried out in the Plastic Drum bottom, injector cartridge is fixed, syringe piston rod is connected with the lifting aluminium sheet, the lifting aluminium sheet is fixedly connected with the sink-float drive motors, the output shaft gear of sink-float drive motors and the engagement of the second tooth bar, the second tooth bar is the form of maintaining static.
Bottom in Plastic Drum arranges Weight plate, and the positioner with syringe horizontal direction location is set on Weight plate; Injector cartridge is provided with the pressing plate that syringe is located in the vertical direction.
The lead of dress lifting aluminium sheet motion on Weight plate, the slide block of lead is fixed on the lifting aluminium sheet by the aluminum corner brace connector.
Described control system is the distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
Novel and reasonable structure of the present invention, unique properties for vast youngsters and children provides entertainment selection more widely, is brought more colourful life to family.The present invention uses the cylinder Plastic Drum as the health of machine octopus, has designed telescopic machine octopus claw; All around motion and the mechanism that rises and falls of four direction have been designed; Remote controller is combined with single-chip microcomputer, realized the control to the machine octopus.
Main innovate point of the present invention:
Function innovation: for the few present situation of underwater toys on the market, simulated the ocean octopus, designed a machine octopus, to enrich people's family life.This machine octopus can all around move up and down, can realize grasping a certain size object, such as the ball of 8cm left and right.There is no at present relevant report, is a basic innovation of the present invention.
Structure innovation:
1) about the claw motion, absorb the operation principle of umbrella section, make up based on four-bar mechanism, as Fig. 2,3, specifically combine a combined type six-bar mechanism by deciding block mechanism and double rocker mechanism.This combined type six-bar mechanism through gear-rack drive, has formed the grasping movement of claw by the motor in machine octopus body dexterously, is the most outstanding structure innovation of the present invention.
2) about sink-float, avoided needing to adopt the way of similar air bladder make-up air in the exploitation of other machine fish, and adopted some syringes to realize entry and the draining of octopus, designed relevant sink-float mechanism.When draining, syringe piston will be discharged downwards, and piston rod one end does not need special compensated with air and directly communicates with whole octopus intracoelomic cavity, have enough compensated with air water to discharge the rear vacuum that forms, the vacuum that forms is very little, can plumbing not cause too large resistance.The reason of entry is opposite the like.Special air compensating device is not wanted by this sink-float mechanism, and structure is simpler, and the buoyancy that produces can have larger excursion, is convenient to the sink-float of octopus.
3) adopt external water pump draining conduct driving force all around, save on the one hand the space in machine octopus body, this water pump current jet power is strong on the other hand, and stronger motive force is arranged, and is beneficial to the motion of guiding machine octopus in water.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the claw structural representation.
Fig. 3 is the claw mechanism map.
Fig. 4 is through rod type cylinder schematic diagram.
Fig. 5 is the Weight plate structural representation.
Fig. 6 is the pressure plate structure schematic diagram.
Fig. 7 is the structural representation of lifting aluminium sheet.
Fig. 8 is the water pump distribution schematic diagram.
Fig. 9 is the top view of Fig. 8.
Figure 10 is the control system structural representation.
Figure 11 is control flow chart.
Figure 12 is control system single-chip minimum system figure of the present invention.
Figure 13 is that the claw rod member consists of the detent mechanism schematic diagram.
Figure 14 is that the claw rod member consists of the double rocker mechanism schematic diagram.
Figure 15, Figure 16 are respectively claw contraction state and open configuration schematic diagram.
The specific embodiment
A kind of machine octopus, comprise the cylinder Plastic Drum 1 as machine octopus health, the Plastic Drum below arranges claw 8, arrange in Plastic Drum and drive the claw motion driving mechanism that claw carries out grasping movement, the sink-float mechanism that makes machine octopus health sink-float is set in Plastic Drum, be fixedly mounted with four drainage directions along 5, four water pumps of water pump of even circumferential distribution on the Plastic Drum outer wall and be respectively front, rear, left and right; A control system is controlled the work of claw motion driving mechanism, sink-float mechanism and water pump.
Described claw comprises the first rod member connector 13 that is sleeved on central shaft, the first rod member connector is fixedly connected with Plastic Drum, the central shaft lower end is fixedly mounted with second, third rod member connector 14,15 successively, the second rod member connector is connected turnably with the 4th bar 19, the 3rd rod member connector is connected turnably with the second bar, the end of the second bar is connected turnably with the 3rd bar 18, the 4th bar rear portion is connected with the 3rd bar middle part turnably, the first rod member connector is connected turnably with the first bar 16 upper ends, and the first bar lower end is connected with the 4th bar is anterior turnably; On the first rod member connector along even circumferential many first bars that distribute, on the second rod member connector along even circumferential many 4th bars that distribute, on the 3rd rod member connector along even circumferential many second bars 17 that distribute.
Described claw motion driving mechanism comprises claw drive motors 12, the output shaft gear of claw drive motors and the first tooth bar 2 engagements, the lower end of the first tooth bar is connected with an end rod member of through rod type cylinder 9, the other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft 20.
Described sink-float mechanism comprises that head stretches out the syringe 10 that discharging water is carried out in the Plastic Drum bottom, injector cartridge is fixed, syringe piston rod is connected with lifting aluminium sheet 3, the lifting aluminium sheet is fixedly connected with sink-float drive motors 6, the output shaft gear of sink-float drive motors and the engagement of the second tooth bar, the second tooth bar is the form of maintaining static.
Bottom in Plastic Drum arranges Weight plate 7, and the positioner with syringe horizontal direction location is set on Weight plate; Injector cartridge is provided with the pressing plate 11 that syringe is located in vertical direction.
The lead of dress lifting aluminium sheet motion on Weight plate, the slide block of lead is fixed on the lifting aluminium sheet by aluminum corner brace 4 connectors.
Described control system is the distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
The claw mechanical work principle:
With reference to the structure of umbrella folding and unfolding, based on four-bar mechanism, make the claw folding and unfolding action of this machine octopus Reality simulation octopus, and can simply grasp a certain size object.Concrete structure such as Fig. 2, claw are the combined type six-bar mechanisms that combines by deciding block mechanism and double rocker mechanism, as Fig. 3.Central shaft is that the first order is decided the driving element in block mechanism, drive rod member (the 4th bar 19) motion, rod member (the 4th bar 19) is as the driving element of second level double rocker mechanism, add the motion of the central shaft of second level double rocker mechanism, unite the motion that drives claw end piece (the 3rd bar 18), the movement combination of the 3rd bar 18 and the 4th bar 19 forms the folding and unfolding of claw.
The actuating mechanism of claw from the body of octopus to external, need with solving the water proof sealing problem, the present invention utilizes cylinder to deal with in the good seal performance at movable position.Concrete structure is: cylinder 9 is fixed in Plastic Drum bottom center as the fish body, as Fig. 1.Cylinder adopts a kind of through rod form, and as Fig. 4, namely two ends have bar to stretch out, and an end rod member stretches out in the below of machine octopus health, is connected with other parts of claw motion; Other end rod member is connected mutually with the first tooth bar 2.The two ends rod member consists of central shaft 20.The first tooth bar 2 is by being with cogged claw drive motors 12 to drive, the drive central shaft moves back and forth, thereby make claw realize that by the combined type six-bar mechanism of deciding block mechanism and double rocker mechanism and combining it opens and contraction, as shown in Figure 3, Figure 4, and then realize the crawl function.Pressing plate 11 Centers in Fig. 1 spacing aperture can lead to moving up and down of central shaft, prevent the skew of its occurred level, guarantee the wheel and rack positive engagement on motor.
Sink-float mechanism and operation principle:
Main ballast tank with reference to submarine, as Fig. 1, function at 4 syringe 10(simulated diving ship ballast tanks of machine octopus body interior design) be fixed on the bottom, Weight plate 7 is fixed on the bottom, position relationship with syringe, as Fig. 5, it can play the restriction injector cartridge and slide on the bottom level direction.
As Fig. 7, the piston rod of syringe is fixed on lifting aluminium sheet 3 by aluminum corner brace connector symmetry, and the sink-float drive motors has been installed on lifting aluminium sheet 3, and the second tooth bar that coordinates with motor gear is fixed on the cylinder block wall.Crooked at the volley for preventing lifting aluminium sheet 3, designed guider, the lead of this device is fixed on Weight plate 7, and the slide block of lead is fixed on lifting aluminium sheet 3 by the aluminum corner brace connector, sees Fig. 7.
The sink-float action is controlled sink-float drive motors 6 by remote controller, drives the second tooth bar.Because the second tooth bar is to be fixed on the cylinder block wall, make tooth bar motionless, but gear move up and down, make the 3 integrated reciprocatings motions of lifting aluminium sheet, and then drive the reciprocating motion of syringe piston rod, make the syringe discharging water.When suction, the water in syringe increases, and has increased the overall weight of machine octopus., namely sink during greater than buoyancy of water when overall weight.When draining, the water in syringe reduces, and has alleviated the overall weight of machine octopus.When overall weight during less than buoyancy of water, i.e. floating.
The direction control mechanism operation principle:
As Fig. 8, Fig. 9, at affixed 4 the external water pumps of octopus external bonding, water pump is uniform, realizes respectively the motion of four direction all around.Consider that octopus body interior finite volume and water pump are immersible pump (good airproof performance can be immersed in water), therefore water pump is distributed on external, control with remote controller equally.When controlling one of them water pump draining, the opposition of its generation can promote the counter motion of whole machine octopus.Totally 4 water pumps are completed respectively the motion of four direction all around.
The control system of machine octopus
Based on the related request of machine octopus, designed the controller with distant control function.Control section adopts the remote control SCM program of holding concurrently to control the mode that combines, and can realize other position flicker of octopus eye and health; Control the rotating of claw drive motors by remote controller, with the contraction that realizes claw with open; Control syringe piston rod reciprocating action by remote controller, absorb water and draining, realize the sink-float of octopus.
Control section mainly comprises remote controller infrared receiving module, supply module, main control module, motor drive module etc.Its structured flowchart as shown in figure 10, relevant controlling flow process such as Figure 11.
Machine octopus main control module adopts MCS-51 series STC89C52 single-chip microcomputer.This single-chip microcomputer is a kind of low-power consumption, high performance 8 CMOS type single-chip microcomputers.Single-chip minimum system figure such as Figure 12.
Equivalence multi-bar linkage explanation: as Fig. 3, wherein rod member 20(is central shaft 20), the first rod member connector 13, the first bar 16, the 4th bar 20 be constructed as follows the block mechanism of deciding shown in Figure 13.The double rocker mechanism that central shaft 20, the 4th bar 20, the second bar 17, the 3rd bar 18 consist of as shown in figure 14.Both have formed the six-bar mechanism of combined type jointly.
Claims (5)
1. machine octopus, it is characterized in that: comprise the cylinder Plastic Drum as machine octopus health, the Plastic Drum below arranges claw, arrange in Plastic Drum and drive the claw motion driving mechanism that claw carries out grasping movement, the sink-float mechanism that makes machine octopus health sink-float is set in Plastic Drum, be fixedly mounted with four water pumps that distribute along even circumferential on the Plastic Drum outer wall, the drainage direction of four water pumps is respectively front, rear, left and right; A control system is controlled the work of claw motion driving mechanism, sink-float mechanism and water pump; Described claw motion driving mechanism comprises the claw drive motors, the output shaft gear of claw drive motors and the engagement of the first tooth bar, the lower end of the first tooth bar is connected with an end rod member of through rod type cylinder, the other end rod member of through rod type cylinder is connected with claw, and two end rod members of through rod type cylinder are as central shaft; Described sink-float mechanism comprises that head stretches out the syringe that discharging water is carried out in the Plastic Drum bottom, injector cartridge is fixed, syringe piston rod is connected with the lifting aluminium sheet, the lifting aluminium sheet is fixedly connected with the sink-float drive motors, the output shaft gear of sink-float drive motors and the engagement of the second tooth bar, the second tooth bar is the form of maintaining static.
2. machine octopus according to claim 1, it is characterized in that: described claw comprises the first rod member connector that is sleeved on central shaft, the first rod member connector is fixedly connected with Plastic Drum, the central shaft lower end is fixedly mounted with second successively, the 3rd rod member connector, the second rod member connector is connected turnably with the 4th bar, the 3rd rod member connector is connected turnably with the second bar, the end of the second bar is connected turnably with the 3rd bar, the 4th bar rear portion is connected with the 3rd bar middle part turnably, the first rod member connector is connected turnably with the first bar upper end, the first bar lower end is connected with the 4th bar is anterior turnably, on the first rod member connector along even circumferential many first bars that distribute, on the second rod member connector along even circumferential many 4th bars that distribute, on the 3rd rod member connector along even circumferential many second bars that distribute.
3. machine octopus according to claim 1 and 2, it is characterized in that: the bottom in Plastic Drum arranges Weight plate, and the positioner with syringe horizontal direction location is set on Weight plate; Injector cartridge is provided with the pressing plate that syringe is located in the vertical direction.
4. machine octopus according to claim 3 is characterized in that: the lead of dress lifting aluminium sheet motion on Weight plate, the slide block of lead is fixed on the lifting aluminium sheet by the aluminum corner brace connector.
5. machine octopus according to claim 4, it is characterized in that: described control system is the distance type control system, comprises main control module, and main control module is connected with infrared receiving module, and main control module is connected with motor drive module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116780 CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210116780 CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102631786A CN102631786A (en) | 2012-08-15 |
| CN102631786B true CN102631786B (en) | 2013-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201210116780 Expired - Fee Related CN102631786B (en) | 2012-04-20 | 2012-04-20 | Robot octopus |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192966B (en) * | 2013-04-03 | 2015-08-12 | 南通大学 | robot turtle |
| CN104338325B (en) * | 2013-08-01 | 2016-09-07 | 江苏金刚文化科技集团股份有限公司 | A kind of outdoor performance robot |
| CN103921277B (en) * | 2014-04-12 | 2016-05-25 | 吉林大学 | A kind of assimilating type underwater manipulator and suction method thereof |
| CN107792334A (en) * | 2016-08-31 | 2018-03-13 | 江苏金刚文化科技集团股份有限公司 | The bionic device that a kind of creeping motion type promotes |
| CN107596702A (en) * | 2017-10-27 | 2018-01-19 | 台山燊乐塑胶电子制造有限公司 | Remote-control toy fish |
| CN107667962B (en) * | 2017-10-27 | 2021-02-09 | 台山燊乐塑胶电子制造有限公司 | Toy fish capable of cleaning fish tank |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6875073B1 (en) * | 2002-06-25 | 2005-04-05 | Water sinker toy | |
| US6926577B2 (en) * | 2003-05-24 | 2005-08-09 | Thorne, Iii Edwin | Underwater device and method of play |
| JP2005080795A (en) * | 2003-09-05 | 2005-03-31 | Epoch Co Ltd | Floating and sinking toy |
| US7331839B2 (en) * | 2003-10-16 | 2008-02-19 | Diffley Brett J | Floating water toy |
| CN100347040C (en) * | 2005-10-14 | 2007-11-07 | 哈尔滨工业大学 | Deep-water submersible biorobot of cuttlefish imitation type mollush |
| CN201052416Y (en) * | 2007-05-22 | 2008-04-30 | 范瑞峰 | Intelligent bionic machinery fish |
| CN101322878A (en) * | 2007-06-13 | 2008-12-17 | 中国科学院自动化研究所 | Micro Snorkelling Toy Robot Fish |
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2012
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