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ORCIDChi Zhang 0014
张驰
Person information
- unicode name: 张驰
- affiliation: Chinese Academy of Sciences, Ningbo Institute of Materials Technology and Engineering, Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology and Engineering, China
- affiliation (PhD 2005): Nanyang Technological University, Singapore
Other persons with the same name
- Chi Zhang — disambiguation page
- Chi Zhang 0001
![[0000-0002-6528-1427]](https://dblp1.uni-trier.de/img/orcid-mark.12x12.png "0000-0002-6528-1427")
— University of Science and Technology of China, School of Information Science and Technology, Hefei, China (and 1 more) - Chi Zhang 0002 — Dalian University of Technology, Dalian, China (and 1 more)
- Chi Zhang 0003 — Hokkaido University, Laboratory of Vehicle Robotics, Graduate School of Agriculture, Sapporo, Japan
- Chi Zhang 0004 — China University of Geosciences, Beijing, China
- Chi Zhang 0005 — Beijing University of Technology, School of Economics and Management, China (and 2 more)
- Chi Zhang 0006 — Prismo Systems, Santa Clara, CA, USA (and 2 more)
- Chi Zhang 0007 — Nanyang Technological University, Interdisciplinary Graduate School, Singapore
- Chi Zhang 0008 — China National Digital Switching System Engineering and Technological Research Center, Zhengzhou, China
- Chi Zhang 0009 — Experian DataLabs, San Diego, CA, USA (and 1 more)
- Chi Zhang 0010 — Peking University, College of Chemistry and Molecular Engineering, Beijing, China
- Chi Zhang 0011 — Chinese Academy of Sciences, Xinjiang Institute of Ecology and Geography, Urumqi, China (and 1 more)
- Chi Zhang 0012 — JD.com Silicon Valley Research Center, Mountain View, CA, USA
- Chi Zhang 0013 — University of Nebraska-Lincoln, School of Biological Sciences, Lincoln, NE, USA
- Chi Zhang 0015 — Jiangxi University of Finance and Economics, Software School, Nanchang, China
- Chi Zhang 0016 — University of California, Los Angeles, CA, USA
- Chi Zhang 0017 — University of California, Los Angeles, CA, USA (and 1 more)
- Chi Zhang 0018 — University of California at San Diego, San Diego, USA (and 1 more)
- Chi Zhang 0019 — Beijing University of Posts and Telecommunications, School of Computer Science, China
- Chi Zhang 0020 — Xi'an Jiaotong University, Institute of Artificial Intelligence and Robotics, China
- Chi Zhang 0021 — Indiana University School of Medicine, Indianapolis, IN, USA (and 1 more)
- Chi Zhang 0022 — University of Southern California, Computer Science Department, Los Angeles, CA, USA
- Chi Zhang 0023 — Rochester Institute of Technology, NY, USA
- Chi Zhang 0024 — Technical University of Munich, Chair of Aerodynamics and Fluid Mechanics, Germany
- Chi Zhang 0025 — Beijing University of Posts and Telecommunications, Wireless Theories and Technologies Lab, China
- Chi Zhang 0026 — Megvii Technology, Beijing Research Institute, China
- Chi Zhang 0027 — Jiangxi University of Finance and Economics, School of Information Technology, Nanchang, China
- Chi Zhang 0028 — Kennesaw State University, Marietta, GA, USA
- Chi Zhang 0029 — University of Electronic Science and Technology of China, State Key Laboratory of Electronic Thin Films and Integrated Devices, Chengdu, China
- Chi Zhang 0030 — Hitachi America Ltd., Industrial AI Lab, Santa Clara, CA, USA
- Chi Zhang 0031 — University of Tennessee, Department of Electrical Engineering and Computer Science, Knoxville, TN, USA (and 1 more)
- Chi Zhang 0032 — Chinese Academy of Sciences, Institute of Automation, Research Center of Precision Sensing and Control, Beijing, China (and 1 more)
- Chi Zhang 0033 — Chinese Academy of Sciences, Institute of Vertebrate Paleontology and Paleoanthropology, Beijing, China
- Chi Zhang 0034 — University of Edinburgh, UK (and 1 more)
- Chi Zhang 0035 — Beijing Institute of Technology, School of Automation, State Key Laboratory of Intelligent Control and Decision of Complex Systems, China
- Chi Zhang 0036 — Shenzhen University, College of Economics, China
- Chi Zhang 0037 — Nantong University, College of Geographic Science, China (and 1 more)
- Chi Zhang 0038 — Ohio State University, Department of Civil Environmental and Geodetic Engineering, Columbus, OH, USA
- Chi Zhang 0039 — Chongqing University, State Key Laboratory of Power Transmission Equipment & System Security and New Technology, China
- Chi Zhang 0040 — University of Gothenburg, Sweden (and 1 more)
- Chi Zhang 0041 — Google, Mountain View, CA, USA (and 1 more)
- Chi Zhang 0042 — University of Bath, Department of Electronic and Electrical Engineering, UK
- Chi Zhang 0043 — University of Science and Technology of China, LINKE Lab / CAS Key Laboratory of Wireless-Optical Communications, Hefei, China
- Chi Zhang 0044 — University of Science and Technology of China, National Engineering Laboratory for Brain-inspired Intelligence Technology and Application, Hefei, China
- Chi Zhang 0045 — National University of Defense and Technology, College of Electronic Science, Changsha, China
- Chi Zhang 0046 — Jiangsu University, School of Computer Science and Communication Engineering, Zhenjiang, China
- Chi Zhang 0047 — Harbin Engineering University, College of Information and Communication Engineering, China
- Chi Zhang 0048 — Zhengzhou University, School of Management Engineering, China
- Chi Zhang 0049 — Peking University, Academy for Advanced Interdisciplinary Studies, Beijing, China
- Chi Zhang 0050 — Southeast University, School of Electrical Engineering, Nanjing, China
- Chi Zhang 0051 — University of Oslo, Department of Biostatistics, Domus Medica, Norway
- Chi Zhang 0052 — Nanjing University of Posts and Telecommunications, School of Economics, China
- Chi Zhang 0053 — Shanghai Customs College, Graduate School, China
- Chi Zhang 0054 — Dalian University of Technology, School of Software Technology, China
- Chi Zhang 0055 — COMAC Beijing Aircraft Technology Research Institute, China
- Chi Zhang 0056 — Xidian University, National Key Laboratory of Antennas and Microwave Technology, Xi'an, China
- Chi Zhang 0057 — University of Minnesota, Center for Magnetic Resonance Research, Minneapolis, MN, USA
- Chi Zhang 0058 — Bournemouth University, UK
- Chi Zhang 0059 — Columbia University, USA
- Chi Zhang 0060 — Harbin Engineering University, Harbin, China
- Chi Zhang 0061 — Shanghai Jiao Tong University, School of Electronic Information and Electrical Engineering, China
- Chi Zhang 0062 — Guangxi University, School of Mechanical Engineering, Center on Nanoenergy Research, School of Physical Science and Technology, China (and 1 more)
- Chi Zhang 0063 — Beijing Institute of Technology, Beijing Laboratory of Intelligent Information Technology, School of Computer Science, China (and 2 more)
- Chi Zhang 0064 — Nanyang Technological University, School of Computer Engineering, Singapore
- Chi Zhang 0065 — Boston University, USA
- Chi Zhang 0066 — University of Science and Technology Beijing, School of Automation and Electrical Engineering, China
- Chi Zhang 0067 — Tencent PCG, China
- Chi Zhang 0068 — Keebo, Inc., Ann Arbor, MI, USA (and 1 more)
- Chi Zhang 0069 — Xiaomi Technology, Beijing, China (and 1 more)
- Chi Zhang 0070 — Princeton University, Department of Computer Science, NJ, USA
- Chi Zhang 0071 — Purdue University, Lafayette, IN, USA (and 2 more)
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Journal Articles
- 2024
[j31]Jianze Ren, Chi Zhang, Miao Yang, Liming Yuan, Na Sang, Jianhua Yao:
Modeling and control for a long-stroke 4-PPR compliant parallel mechanism. Int. J. Intell. Robotics Appl. 8(1): 96-110 (2024)- [j30]Yufan Zhu, Si-Lu Chen, Chi Zhang, Zhongyu Piao, Guilin Yang:
Development of adaptive safety constraint by predicting trajectories of closest points between human and co-robot. J. Intell. Manuf. 35(3): 1197-1206 (2024) - [j29]Yaohua Zhou, Chin-Yin Chen, Guilin Yang, Chi Zhang:
Direct trajectory optimization of macro-micro robotic system using a Gauss pseudospectral framework. Robotics Auton. Syst. 175: 104676 (2024) - [j28]Jingbo Luo, Si-Lu Chen, Dexin Jiang, Tianjiang Zheng, Huamin Li, Zaojun Fang, Chi Zhang, Guilin Yang:
Efficient Kinematic Calibration for Parallel Manipulators Based on Unit Dual Quaternion. IEEE Trans. Ind. Informatics 20(4): 6791-6801 (2024) - [j27]Yaohua Zhou, Chin-Yin Chen, Ye Tang, Hongyu Wan, Jingbo Luo, Guilin Yang, Chi Zhang:
A Comprehensive On-Load Calibration Method for Industrial Robots Based on a Unified Kinetostatic Error Model and Gaussian Process Regression. IEEE Trans. Instrum. Meas. 73: 1-11 (2024) - 2023
- [j26]Liming Yuan, Silu Chen, Chi Zhang, Guilin Yang:
Structured controller synthesis through block-diagonal factorization and parameter space optimization. Autom. 147: 110709 (2023) - [j25]Wujie Ge, Si-Lu Chen, Hua Hu, Tianjiang Zheng, Zaojun Fang, Chi Zhang, Guilin Yang:
Detection and localization strategy based on YOLO for robot sorting under complex lighting conditions. Int. J. Intell. Robotics Appl. 7(3): 589-601 (2023) - [j24]Jie Zhao, Guilin Yang, Haoyu Shi, Silu Chen, Chin-Yin Chen, Chi Zhang:
Virtual Passive-Joint Space Based Time-Optimal Trajectory Planning for a 4-DOF Parallel Manipulator. IEEE Robotics Autom. Lett. 8(8): 5039-5046 (2023) - [j23]Liming Yuan, Si-Lu Chen, Chi Zhang, Guilin Yang:
Parameter Space Optimization for Robust Controller Synthesis With Structured Feedback Gain. IEEE Trans. Cybern. 53(11): 6815-6828 (2023) - [j22]Chi Zhang, Feixue Chen, Shuheng Qiu, Tianyou Pei, Weiwei Gao, Jinhua Chen, Jie Zhang, Guilin Yang:
A Low Detent Force DS-PMSLM Based on the Modulation of Cogging and End Forces. IEEE Trans. Ind. Electron. 70(1): 721-730 (2023) - [j21]Jingbo Luo, Si-Lu Chen, Chi Zhang, Chin-Yin Chen, Guilin Yang:
Efficient Kinematic Calibration for Articulated Robot Based on Unit Dual Quaternion. IEEE Trans. Ind. Informatics 19(12): 11898-11909 (2023) - [j20]Zhihui Zhang, Silu Chen, Jingbo Luo, Chi Zhang, Zhongyu Piao, Guilin Yang:
Motorized Measurement of Deformation on Surface of Revolution With 2-D Laser Profiler. IEEE Trans. Instrum. Meas. 72: 1-10 (2023) - 2022
- [j19]Yi Wang, Guilin Yang, Tianjiang Zheng, Wenjun Shen, Zaojun Fang, Chi Zhang:
Tension reduction method for a modular cable-driven robotic arm with co-shared cables. Intell. Serv. Robotics 15(1): 27-38 (2022) - [j18]Hao Zhang, Guilin Yang, Tianjiang Zheng, Wenjun Shen, Yi Wang, Guolong Zhang, Zaojun Fang, Chi Zhang:
Design and Modeling of a Compound Twisted and Coiled Actuator Based on Spandex Fibers and an SMA Skeleton. IEEE Robotics Autom. Lett. 7(2): 1439-1446 (2022) - [j17]Silu Chen, Yufan Zhu, Yisha Liu, Chi Zhang, Zhongyu Piao, Guilin Yang:
A "Look-Backward-and-Forward" Adaptation Strategy for Assessing Parameter Estimation Error of Human Motion Prediction Model. IEEE Robotics Autom. Lett. 7(2): 2629-2636 (2022) - [j16]Shihao Zhao, Jinhua Chen, Yunpeng Gao, Chi Zhang:
Harmonic and Vibration Analysis of Dual Three-Phase PMSM with One-Phase Open Circuit Fault. Symmetry 14(2): 290 (2022) - [j15]Tuopu Zhang, Qinghao Du, Guilin Yang, Chongchong Wang, Chin-Yin Chen, Chi Zhang, Silu Chen, Zaojun Fang:
Assembly Configuration Representation and Kinematic Modeling for Modular Reconfigurable Robots Based on Graph Theory. Symmetry 14(3): 433 (2022) - [j14]Chi Zhang, Xiaolu Huang, Miao Yang, Silu Chen, Guilin Yang:
Design of a Long Stroke Nanopositioning Stage With Self-Damping Actuator and Flexure Guide. IEEE Trans. Ind. Electron. 69(10): 10417-10427 (2022) - [j13]Jingbo Luo, Si-Lu Chen, Xiaonan Fan, Ciyuan Xiong, Tianjiang Zheng, Chi Zhang, Guilin Yang:
Kinematic Calibration of a 4PPa-2PaR Parallel Mechanism With Subchains on Limbs. IEEE Trans. Instrum. Meas. 71: 1-11 (2022) - 2021
- [j12]Can Wang, Weinan Wu, Guochong Li, Guilin Yang, Chi Zhang, Jian Fei Pan:
Design of Full-Order State Observer for Motor Drive Systems Based on the Fixed Gain Filter. IEEE Access 9: 13488-13498 (2021) - [j11]Hongyu Wan, Silu Chen, Yisha Liu, Chi Zhang, Chaochao Jin, Jin Wang, Guilin Yang:
Non-Geometric Error Compensation for Long-Stroke Cartesian Robot With Semi-Analytical Beam Deformation and Gaussian Process Regression Model. IEEE Access 9: 51910-51924 (2021) - [j10]Na Sang, Chi Zhang, Jinhua Chen, Sheng Lin, Shuheng Qiu, Rong Li, Guilin Yang:
A Dual-Sided Hybrid Excitation Eddy Current Damper for Vibration Suppression in Low Damping Linear Motor System. IEEE Trans. Ind. Electron. 68(10): 9897-9907 (2021) - 2020
- [j9]Chunyan Shao, Chi Zhang, Zaojun Fang, Guilin Yang:
A Deep Learning-Based Semantic Filter for RANSAC-Based Fundamental Matrix Calculation and the ORB-SLAM System. IEEE Access 8: 3212-3223 (2020) - [j8]Guilin Yang, Renfeng Zhu, Zaojun Fang, Chin-Yin Chen, Chi Zhang:
Kinematic Design of a 2R1T Robotic End-Effector With Flexure Joints. IEEE Access 8: 57204-57213 (2020) - [j7]Baolei Wang, Chi Zhang, Qingwei Jia, Xiangjun Liu, Guilin Yang:
Robust Continuous Sliding Mode Control for Manipulator PMSM Trajectory Tracking System Under Time-Varying Uncertain Disturbances. IEEE Access 8: 196618-196632 (2020) - [j6]Fengxuan Zhang, Silu Chen, Yongyi He, Guoyun Ye, Chi Zhang, Guilin Yang:
A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator. Symmetry 12(3): 357 (2020) - 2019
- [j5]Miao Yang, Chi Zhang, Guilin Yang, Wei Dong:
Optimal Design and Tracking Control of a Superelastic Flexure Hinge Based 3-PRR Compliant Parallel Manipulator. IEEE Access 7: 174236-174247 (2019) - [j4]Kaisheng Yang, Guilin Yang, Si-Lu Chen, Yi Wang, Chi Zhang, Zaojun Fang, Tianjiang Zheng, Chongchong Wang:
Study on Stiffness-Oriented Cable Tension Distribution for a Symmetrical Cable-Driven Mechanism. Symmetry 11(9): 1158 (2019) - [j3]Zaojun Fang, Wenwu Weng, Weijun Wang, Chi Zhang, Guilin Yang:
A Vision-Based Robotic Laser Welding System for Insulated Mugs with Fuzzy Seam Tracking Control. Symmetry 11(11): 1385 (2019) - [j2]Guilin Yang, I-Ming Chen, Chin-Yin Chen, Huajin Tang, Chi Zhang:
Guest Editorial Special Section on Emerging Information Sharing and Design Technologies on Robotics and Mechatronics Systems for Intelligent Manufacturing. IEEE Trans. Ind. Informatics 15(3): 1643-1646 (2019) - [j1]Zaojun Fang, Huijuan Zhang, Chunyan Shao, Rui-Jun Yan, Chi Zhang, Guilin Yang:
Control Strategy for Smooth Wire Sending and Constant Tension in Multiwire Slicer. IEEE Trans. Ind. Informatics 15(3): 1668-1677 (2019)
Conference and Workshop Papers
- 2023
- [c27]Hao Zhang, Guilin Yang, Haohao Zhang, Tianjiang Zheng, Tao Chen, Chi Zhang:
Model-Based Performance Enhancement for Compound Twisted and Coiled Actuators. ICIRA (9) 2023: 16-25 - [c26]Hongyu Wan, Si-Lu Chen, Chi Zhang, Chin-Yin Chen, Guilin Yang:
Admittance Control of Flexible Joint with Dual-Disturbance Observer. ICIRA (5) 2023: 197-207 - [c25]Yaohua Zhou, Chin-Yin Chen, Guilin Yang, Chi Zhang:
Performance Optimization of Robotic Polishing System with a 3-DOF End-Effector Using Trajectory Planning Method. ICIRA (5) 2023: 327-339 - [c24]Qinghao Du, Tuopu Zhang, Guilin Yang, Chin-Yin Chen, Weijun Wang, Chi Zhang:
Analytical Backlash Model for 3K-type Planetary Gear Train with Flexure-Based Anti-backlash Carrier. ICIRA (3) 2023: 384-397 - [c23]Chin-Yin Chen, Junjie Dai, Longxiang Wang, Guilin Yang, Chi Zhang:
Compliant Control Based on Stability Observer for Physical Human-Robot-Environment Interaction. IECON 2023: 1-5 - 2022
- [c22]Hua Hu, Silu Chen, Jie Zhao, Chi Zhang, Guilin Yang:
Pre-Train-Based Neural-Learning Control of a Novel Parallel Robot by Local Model Approximation. AIM 2022: 1297-1302 - [c21]Zidong Zhang, Silu Chen, Jiajie Xu, Yunfei Wan, Qiang Liu, Dongtai Liang, Chi Zhang, Guilin Yang:
Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. AIM 2022: 1321-1326 - [c20]Yufan Zhu, Si-Lu Chen, Chi Zhang, Zhongyu Piao, Guilin Yang:
Revised Discrete Control Barrier Functions for Safe Control of a Redundant DoF Manipulator. ICIRA (4) 2022: 530-539 - 2021
- [c19]Jie Zhao, Guilin Yang, Dexin Jiang, Tianjiang Zheng, Yingzhong Tian, Si-Lu Chen, Chi Zhang:
Kinematic Analysis of a Novel 4-DOF 3T1R Parallel Manipulator. ICIRA (4) 2021: 316-326 - [c18]Yisha Liu, Si-Lu Chen, Yufan Zhu, Yu Du, Chi Zhang, Guilin Yang, Chenguang Yang:
A "Look-Backward-and-Forward" Adaptation Strategy of NN Model Parameters for Prediction of Motion Trajectory. ICIRA (4) 2021: 714-724 - 2020
- [c17]Hongyu Wan, Silu Chen, Yisha Liu, Chaochao Jin, Furu Chen, Jin Wang, Chi Zhang, Guilin Yang:
A Hybrid Analytical and Data-driven Modeling Approach for Calibration of Heavy-duty Cartesian Robot. AIM 2020: 1286-1291 - 2019
- [c16]Wenjun Shen, Guilin Yang, Tianjiang Zheng, Yi Wang, Kaisheng Yang, Zaojun Fang, Chi Zhang:
An Integrated Accuracy Enhancement Method for Cable-driven Flexible Continuum Robot*. AIM 2019: 1121-1126 - [c15]Renfeng Zhu, Guilin Yang, Zaojun Fang, Miao Yang, Chin-Yin Chen, Chi Zhang:
Kinematic Design of a 3-DOF Force-controlled End-effector with Flexure Joints for Robotic Finishing Applications *. AIM 2019: 1473-1478 - [c14]Miao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Zaojun Fang:
Kinetostatic Modeling of Redundantly Actuated Planar Compliant Parallel Mechanism. ICIRA (1) 2019: 358-369 - [c13]Bao Yang, Chi Zhang, Hongtao Yu, Miao Yang, Guilin Yang, Silu Chen:
Design and Analysis of a Planar 3-DOF Large Range Compliant Mechanism with Leaf-Type Flexure. ICIRA (1) 2019: 401-412 - [c12]Lefeng Gu, Guilin Yang, Zaojun Fang, Wenjun Shen, Tianjiang Zheng, Chin-Yin Chen, Chi Zhang:
A Two-Step Self-calibration Method with Portable Measurement Devices for Industrial Robots Based on POE Formula. ICIRA (1) 2019: 715-727 - [c11]Yusheng Liao, Chi Zhang, Chongchong Wang, Chin-Yin Chen, Qiang Xin, Si-Lu Chen:
Modeling of Torque Ripple for Integrated Robotic Joint. ICIRA (1) 2019: 740-750 - [c10]Zaojun Fang, Junjie Li, Qiping Zhang, Hongyuan Lian, Chi Zhang, Guilin Yang:
Modeling and Force Control of Robotic Polishing System for the Wheel Hubs. ROBIO 2019: 2660-2664 - 2018
- [c9]Hongtao Yu, Chi Zhang, Bao Yang, Silu Chen, Guilin Yang:
Design and Analysis of a Large-Range Flexure-based Parallel Mechanism Based on Matrix Method. AIM 2018: 762-767 - [c8]Bao Yang, Chi Zhang, Hongtao Yu, Xiaolu Huang, Guilin Yang, Silu Chen:
Design and Analysis of a 3-DOF Planar Flexure-based Parallel Mechanism with Large Motion Range. ROBIO 2018: 1888-1893 - [c7]Guilin Yang, Chi Zhang, Yi Wang, Wenjun Shen, Zaojun Fang, Guoyun Ye:
Self-Calibration of Cable Driven Continuum Robot. ROBIO 2018: 2498-2503 - 2017
- [c6]Kaisheng Yang, Guilin Yang, Yi Wang, Chi Zhang, Si-Lu Chen:
Stiffness-oriented cable tension distribution algorithm for a 3-DOF Cable-driven variable-stiffness module. AIM 2017: 454-459 - [c5]Zhikun Cao, Chi Zhang, Qiang Liu, Hongyuan Lian, Guilin Yang, Si-Lu Chen:
Positive velocity feedback control of flexure-based actuator for vibration suppression. CIS/RAM 2017: 365-369 - [c4]Zhenwei Huang, Chi Zhang, Chongchong Wang, Guiling Yang, Chin-Yin Chen:
Parameter identification of flexible robotic joint based on multi-sensor information. CIS/RAM 2017: 376-380 - 2016
- [c3]Yanlei Ye, Chin-Yin Chen, Peng Li, Guilin Yang, Chang'an Zhu, Chi Zhang:
Passivity-based elastic joint robot control with on-line gravity compensation. ICIA 2016: 56-61 - 2014
- [c2]Fei Zhao, Jinhua Chen, Chi Zhang, Guilin Yang:
Vibration analysis of highl-speed ball-screw drive in machine tool feed system. ICARCV 2014: 1604-1608 - [c1]Peng Sun, Lichuan Li, Chi Zhang, Jinhua Chen, Guilin Yang:
Effects of displacement sensor noise on power amplifiers of active magnetic bearings. ICARCV 2014: 1718-1723
Coauthor Index
[j30] [j29] [j28] [j27] [j26] [j25] [j24] [j23] [j22] [j21] [j20] [j19] [j18] [j17] [j15] [j14] [j13] [j12] [j11] [j10] [j9] [j8] [j7] [j6] [j5] [j4] [j3] [j2] [j1] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [c18] [c17] [c16] [c15] [c14] [c13] [c12] [c10] [c9] [c8] [c7] [c6] [c5] [c3] [c2] [c1]
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