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2020 – today
- 2024
[j29]Koki Yamane
, Yuki Saigusa, Sho Sakaino, Toshiaki Tsuji:
Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning. IEEE Robotics Autom. Lett. 9(2): 1198-1205 (2024)- [c64]Koki Inami, Koki Yamane, Sho Sakaino:
Loss Function Considering Dead Zone for Neural Networks. AMC 2024: 1-6 - [c63]Koki Yamane, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning Inputting Image Feature to Each Layer of Neural Network. AMC 2024: 1-6 - [i18]Koki Yamane, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning Inputting Image Feature to Each Layer of Neural Network. CoRR abs/2401.09691 (2024) - [i17]Koki Inami, Koki Yamane, Sho Sakaino:
Loss Function Considering Dead Zone for Neural Networks. CoRR abs/2402.00393 (2024) - 2023
- [j28]Keito Sugawara, Sho Sakaino, Toshiaki Tsuji:
Unsupervised Human Motion Segmentation Based on Characteristic Force Signals of Contact Events. IEEE Robotics Autom. Lett. 8(10): 6203-6210 (2023) - [i16]Koki Yamane, Sho Sakaino, Toshiaki Tsuji:
Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning. CoRR abs/2311.09555 (2023) - 2022
- [j27]Kazuki Hayashi, Sho Sakaino, Toshiaki Tsuji:
An Independently Learnable Hierarchical Model for Bilateral Control-Based Imitation Learning Applications. IEEE Access 10: 32766-32781 (2022) - [j26]Yuki Saigusa, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning for Nonprehensile Manipulation Through Self-Supervised Learning Considering Motion Speed. IEEE Access 10: 68291-68306 (2022) - [j25]Tatsuhiro Hamana, Minami Kawashima, Sho Sakaino, Toshiaki Tsuji:
Selective Drive and Control of Index Finger Joint Using Multipoint Functional Electrical Stimulation. IEEE Access 10: 112444-112459 (2022) - [j24]Yuya Nogi, Sho Sakaino, Toshiaki Tsuji:
Contact Force Detection of Grinding Process Using Frequency Information and Differential Feature on Force Signal. IEEE Access 10: 127140-127148 (2022) - [j23]Tomoki Horikoshi, Sho Sakaino, Toshiaki Tsuji:
High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist. IEEE Robotics Autom. Lett. 7(2): 3210-3217 (2022) - [j22]Yuya Nogi, Sho Sakaino, Toshiaki Tsuji:
Force Control of Grinding Process Based on Frequency Analysis. IEEE Robotics Autom. Lett. 7(2): 3250-3256 (2022) - [i15]Kazuki Hayashi, Sho Sakaino, Toshiaki Tsuji:
An Independently Learnable Hierarchical Model for Bilateral Control-Based Imitation Learning Applications. CoRR abs/2203.08619 (2022) - [i14]Yuki Saigusa, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning for Nonprehensile Manipulation through Self-Supervised Learning Considering Motion Speed. CoRR abs/2206.10289 (2022) - [i13]Tsukasa Kusakabe, Sho Sakaino, Toshiaki Tsuji:
Design of non-diagonal stiffness matrix for assembly task. CoRR abs/2210.16594 (2022) - 2021
- [j21]Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
Motion Generation Using Bilateral Control-Based Imitation Learning With Autoregressive Learning. IEEE Access 9: 20508-20520 (2021) - [j20]Masahide Oikawa, Tsukasa Kusakabe, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix. IEEE Robotics Autom. Lett. 6(2): 2737-2744 (2021) - [j19]Toshiaki Tsuji, Koyo Sato, Sho Sakaino:
Contact Feature Recognition Based on MFCC of Force Signals. IEEE Robotics Autom. Lett. 6(3): 5153-5158 (2021) - [j18]Ryuya Tamura, Tomoki Horikoshi, Sho Sakaino, Toshiaki Tsuji:
High Dynamic Range 6-Axis Force Sensor Employing a Semiconductor-Metallic Foil Strain Gauge Combination. IEEE Robotics Autom. Lett. 6(4): 6243-6249 (2021) - [c62]Yasuhiro X. Kato, Sho Sakaino, Toshiaki Tsuji:
Contact State Recognition for Selective Cutting Task of Flexible Objects. ICDL 2021: 1-6 - [c61]Kazuki Hayashi, Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control. ICM 2021: 1-7 - [c60]Toshihiro Ueki, Sho Sakaino, Toshiaki Tsuji:
Force restrained control to extend flexibility of trajectory planning. ICM 2021: 1-6 - [c59]Yuki Saigusa, Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
Imitation learning for variable speed motion generation over multiple actions. IECON 2021: 1-6 - [c58]Koyo Sato, Sho Sakaino, Toshiaki Tsuji:
A Force Recognition System for Distinguishing Click Responses of Various Objects. IROS 2021: 2860-2865 - [c57]Sho Sakaino:
Bilateral Control-Based Imitation Learning for Velocity-Controlled Robot. ISIE 2021: 1-6 - [i12]Sho Sakaino, Kazuki Fujimoto, Yuki Saigusa, Toshiaki Tsuji:
Imitation Learning for Variable Speed Object Manipulation. CoRR abs/2102.10283 (2021) - [i11]Sho Sakaino:
Bilateral Control-Based Imitation Learning for Velocity-Controlled Robot. CoRR abs/2103.04004 (2021) - [i10]Yuki Saigusa, Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
Imitation learning for variable speed motion generation over multiple actions. CoRR abs/2103.06466 (2021) - [i9]Kazuki Hayashi, Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control. CoRR abs/2103.08879 (2021) - [i8]Masahiro Aita, Keito Sugawara, Sho Sakaino, Toshiaki Tsuji:
Generation Drawing/Grinding Trajectoy Based on Hierarchical CVAE. CoRR abs/2111.10954 (2021) - 2020
- [j17]Yuu Hasegawa, Tomoya Kitamura, Sho Sakaino, Toshiaki Tsuji:
Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Humans and Robots. IEEE Access 8: 15792-15799 (2020) - [j16]Daichi Furuta, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Motion Planning With Success Judgement Model Based on Learning From Demonstration. IEEE Access 8: 73142-73150 (2020) - [j15]Ayumu Sasagawa, Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning Based on Bilateral Control for Human-Robot Cooperation. IEEE Robotics Autom. Lett. 5(4): 6169-6176 (2020) - [c56]Masahiro Kawazawa, Sho Sakaino, Toshiaki Tsuji:
Development of a Low-friction Motor using Bearings as Gear Teeth. AIM 2020: 1573-1578 - [c55]Masahide Oikawa, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Admittance Control Based on a Stiffness Ellipse for Rapid Trajectory Deformation. AMC 2020: 23-28 - [i7]Masahide Oikawa, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Assembly robots with optimized control stiffness through reinforcement learning. CoRR abs/2002.12207 (2020) - [i6]Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji:
Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning. CoRR abs/2011.06192 (2020)
2010 – 2019
- 2019
- [j14]Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Trajectory adjustment for nonprehensile manipulation using latent space of trained sequence-to-sequence model. Adv. Robotics 33(21): 1144-1154 (2019) - [j13]Ryuichiro Koike, Sho Sakaino, Toshiaki Tsuji:
Hysteresis Compensation in Force/Torque Sensors Using Time Series Information. Sensors 19(19): 4259 (2019) - [c54]Kenta Araake, Sho Sakaino, Toshiaki Tsuji:
Design of Resonance Ratio Control with Relative Position Information for Two-inertia System. AIM 2019: 648-653 - [c53]Junya Tsunoda, Sho Sakaino, Toshiaki Tsuji:
Angle Measurement Using Monocular Camera and Moiré Pattern Enlarging the Rotation in the Linear Motion. ICM 2019: 155-160 - [c52]Daisuke Okumura, Sho Sakaino, Toshiaki Tsuji:
Miniaturization of multistage high dynamic range six-axis force sensor composed of resin material. ICRA 2019: 4297-4302 - [c51]Ryuya Tamura, Sho Sakaino, Toshiaki Tsuji:
Development of compact high dynamic range six-axis force sensor with cross-arch structure. IECON 2019: 3609-3614 - [c50]Koyo Sato, Masahide Oikawa, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Success/Failure Identification of Skill Movement by Neural Network Using Force Information. IECON 2019: 3641-3646 - [c49]Tomoya Kitamura, Yuu Hasegawa, Toshiaki Tsuji, Sho Sakaino:
Control Using High-carrier Frequency PWM in Functional Electrical Stimulation. IECON 2019: 5358-5363 - [c48]Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Time Series Motion Generation Considering Long Short-Term Motion. IROS 2019: 6842-6848 - [i5]Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Time Series Motion Generation Considering Long Short-Term Motion. CoRR abs/1909.03755 (2019) - [i4]Kenta Araake, Sho Sakaino, Toshiaki Tsuji:
Design of Resonance Ratio Control with Relative Position Information for Two-inertia System. CoRR abs/1909.08813 (2019) - [i3]Ayumu Sasagawa, Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning for Human-robot Cooperation Using Bilateral Control. CoRR abs/1909.13018 (2019) - 2018
- [j12]Tomoki Sakuma, Kenta Tsuda, Koudai Umeda, Sho Sakaino, Toshiaki Tsuji:
Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system. Adv. Robotics 32(1): 1-11 (2018) - [j11]Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model. IEEE Robotics Autom. Lett. 3(4): 3606-3613 (2018) - [c47]Tetsugaku Okamoto, Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Trajectory planning by variable length chunk of sequence-to-sequence using hierarchical decoder. AMC 2018: 209-214 - [c46]Kota I, Koudai Umeda, Kenta Tsuda, Sho Sakaino, Toshiaki Tsuji:
Force control of electro-hydrostatic actuator using pressure control considering torque efficiency. AMC 2018: 385-390 - [c45]Kazuya Morito, Junya Tsunoda, Sho Sakaino, Toshiaki Tsuji:
Reaction force observer using load dependent friction model. AMC 2018: 423-428 - [c44]Tomoya Kitamura, Naoto Mizukami, Hiroto Mizoguchi, Sho Sakaino, Toshiaki Tsuji:
Control with Adjusted Pulse Frequency and Amplitude in Functional Electrical Stimulation. EMBC 2018: 2064-2067 - [c43]Daisuke Okumura, Sho Sakaino, Toshiaki Tsuji:
High Dynamic Range Sensing by a Multistage Six-Axis Force Sensor with Stopper Mechanism. ICRA 2018: 1-6 - [c42]Ryuichiro Koike, Sho Sakaino, Toshiaki Tsuji:
Hysteresis Compensation in Force/Torque Sensor based on Machine Learning. IECON 2018: 2769-2774 - [c41]Tomoya Kitamura, Sho Sakaino, Yuu Hasegawa, Toshiaki Tsuji:
Estimation of Relationship Between Stimulation Current and Force Exerted During Isometric Contraction. IECON 2018: 5080-5085 - [c40]Yuu Hasegawa, Tomoya Kitamura, Sho Sakaino, Toshiaki Tsuji:
Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation. IECON 2018: 5433-5438 - [c39]Masahiro Kawazawa, Sho Sakaino, Toshiaki Tsuji:
High Backdrivability Control Based on Estimation of Shaft Torsion Using Load Side Angle Sensor. IECON 2018: 5457-5462 - [c38]Tsuyoshi Adachi, Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Control. IROS 2018: 3648-3653 - [i2]Tomoya Kitamura, Yuu Hasegawa, Sho Sakaino, Toshiaki Tsuji:
Estimation of Relationship between Stimulation Current and Force Exerted during Isometric Contraction. CoRR abs/1811.02795 (2018) - [i1]Tsuyoshi Adachi, Kazuki Fujimoto, Sho Sakaino, Toshiaki Tsuji:
Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Control. CoRR abs/1811.03759 (2018) - 2017
- [j10]Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
A Control System for a Tool Use Robot: Drawing a Circle by Educing Functions of a Compass. J. Robotics Mechatronics 29(2): 395-405 (2017) - [j9]Sho Sakaino, Takayuki Furuya, Toshiaki Tsuji:
Bilateral Control Between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuators. IEEE Trans. Ind. Electron. 64(6): 4631-4641 (2017) - [j8]Toshiaki Tsuji, Tatsuki Seki, Sho Sakaino:
Intrinsic Contact Sensing for Touch Interface With Movable Structure. IEEE Trans. Ind. Electron. 64(9): 7342-7349 (2017) - [c37]Kenta Tsuda, Koudai Umeda, I. Kota, Sho Sakaino, Toshiaki Tsuji:
Analysis on rigidity of hydraulic hoses for electro-hydrostatic actuators. IECON 2017: 2828-2833 - [c36]Daichi Furuta, Kyo Kutsuzawa, Tetsugaku Okamoto, Sho Sakaino, Toshiaki Tsuji:
Model predictive control based deep neural network for dynamic manipulation. IECON 2017: 5215-5220 - [c35]Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Sequence-to-sequence models for trajectory deformation of dynamic manipulation. IECON 2017: 5227-5232 - [c34]Kohei Sekino, Sho Sakaino, Toshiaki Tsuji:
Frontal posture control of jumping biped robot using stiffness bias control. IECON 2017: 6727-6732 - [c33]Tomoya Kitamura, Hiroto Mizoguchi, Naoto Mizukami, Sho Sakaino, Toshiaki Tsuji:
Chattering reduction of functional electrical stimulation with the smith compensator. IECON 2017: 7577-7582 - [c32]Ryuichiro Koike, Sho Sakaino, Toshiaki Tsuji:
Contact point estimation in tactile interface using particle filter. IECON 2017: 8267-8272 - [c31]Daisuke Okumura, Sho Sakaino, Toshiaki Tsuji:
Development of a multistage six-axis force sensor with a high dynamic range. ISIE 2017: 1386-1391 - 2016
- [j7]Toshiaki Tsuji, Takeshi Kaneko, Sho Sakaino:
Motion Matching in Rehabilitation Databases With Force and Position Information. IEEE Trans. Ind. Electron. 63(3): 1935-1942 (2016) - [j6]Toshiaki Tsuji, Jun Ohkuma, Sho Sakaino:
Dynamic Object Manipulation Considering Contact Condition of Robot With Tool. IEEE Trans. Ind. Electron. 63(3): 1972-1980 (2016) - [c30]Tomoya Kitamura, Naoto Mizukami, Sho Sakaino, Toshiaki Tsuji:
Bilateral control using functional electrical stimulation with reaction torque observer. AMC 2016: 160-166 - [c29]Nobuhiro Totsu, Sho Sakaino, Toshiaki Tsuji:
A Cooking Support System with Force Visualization Using Force Sensors and an RGB-D Camera. AsiaHaptics 2016: 297-299 - [c28]Kenta Tsuda, Sho Sakaino, Toshiaki Tsuji:
Bilateral control between electric and electro-hydrostatic actuators using feedback modulator. IECON 2016: 506-511 - [c27]Sho Sakaino, Toshiaki Tsuji:
Oil leakage and friction compensation for electro-hydrostatic actuator using drive-side and load-side encoders. IECON 2016: 5088-5093 - [c26]Nobuhiro Totsu, Sho Sakaino, Toshiaki Tsuji:
Development of a desk-type tactile interface using force sensors and an acceleration sensor. IECON 2016: 6397-6402 - [c25]Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji:
Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor. IECON 2016: 6409-6414 - [c24]Takeshi Kaneko, Masashi Sekiya, Kunihiro Ogata, Sho Sakaino, Toshiaki Tsuji:
Force control of a jumping musculoskeletal robot with pneumatic artificial muscles. IROS 2016: 5813-5818 - [c23]Jun Ohkuma, Ryohei Matsuzaki, Sho Sakaino, Toshiaki Tsuji:
Recognition of contact conditions by robots using tools. ISIE 2016: 1144-1149 - 2015
- [c22]Hiroyuki Kawajiri, Sho Sakaino, Hiroto Mizoguchi, Toshiaki Tsuji:
Sensorless pedaling torque estimation by front and rear wheels independently driven power assist bicycle. ICM 2015: 364-369 - [c21]Toshiaki Tsuji, Shota Itoh, Sho Sakaino, Yuri Hasegawa:
Development of an upper limb rehabilitation robot with guidance control by pneumatic artificial muscles. ICM 2015: 426-431 - [c20]Shuhei Iwata, Kunihiro Ogata, Sho Sakaino, Toshiaki Tsuji:
Specular reflection removal with high-speed camera for video imaging. IECON 2015: 1735-1740 - [c19]Tatsuki Seki, Sho Sakaino, Toshiaki Tsuji:
A method for converting end effectors of various forms into tactile interfaces. IECON 2015: 1759-1764 - [c18]Tomoya Kitamura, Sho Sakaino, Toshiaki Tsuji:
Bilateral control using functional electrical stimulation. IECON 2015: 2336-2341 - [c17]Takeshi Kaneko, Kunihiro Ogata, Sho Sakaino, Toshiaki Tsuji:
Impact force control based on stiffness ellipse method using biped robot equipped with biarticular muscles. IROS 2015: 2246-2251 - 2014
- [c16]Takeshi Kaneko, Shota Ito, Sho Sakaino, Toshiaki Tsuji:
Haptic data compression for rehabilitation databases. AMC 2014: 657-662 - [c15]Sho Sakaino, Toshiaki Tsuji:
Position/force decoupled bilateral communication without force controller in slave side by using multirate control. AMC 2014: 717-722 - [c14]Toshiaki Tsuji, Tatsuki Seki, Sho Sakaino:
A Mounting Foot-Type Force-Sensing Device for a Desk with Haptic Sensing Capability. AsiaHaptics 2014: 191-195 - [c13]Sho Sakaino, Toshiaki Tsuji:
Integration of disturbance observer and feedback modulator for dead zone compensation of hydraulic actuator. IECON 2014: 2786-2791 - [c12]Toshiaki Tsuji, Naoyuki Kurita, Sho Sakaino:
Development of a desk-type tactile interface using force sensors. IECON 2014: 5248-5253 - [c11]Toshiaki Tsuji, Chinami Momiki, Sho Sakaino:
Development and evaluation of an operation interface for physical therapy devices based on rehabilitation database. IROS 2014: 3543-3548 - 2013
- [j5]Sho Sakaino, Tomoya Sato, Kouhei Ohnishi:
A Novel Motion Equation for General Task Description and Analysis of Mobile-Hapto. IEEE Trans. Ind. Electron. 60(7): 2673-2680 (2013) - [c10]Ryohei Matsuzaki, Makoto Kamibayashi, Sho Sakaino, Toshiaki Tsuji:
Classification of a hybrid control system for robotic tool use. ICM 2013: 712-717 - [c9]Daiki Takahashi, Takayuki Furuya, Sho Sakaino, Toshiaki Tsuji, Yasuyoshi Kaneko:
Experimental evaluation of bilateral control of velocity control system using electric and hydraulic actuators. IECON 2013: 4120-4125 - [c8]Naoyuki Kurita, Hiroki Hasunuma, Sho Sakaino, Toshiaki Tsuji:
Simplified whole-body tactile sensing system using soft material at contact areas. IECON 2013: 4264-4269 - [c7]Toshiaki Tsuji, Chinami Momiki, Sho Sakaino:
Stiffness control of a pneumatic rehabilitation robot for exercise therapy with multiple stages. IROS 2013: 1480-1485 - 2012
- [c6]Tomonori Yokoo, Mitsuyuki Yamada, Sho Sakaino, Shigeru Abe, Toshiaki Tsuji:
Development of a physical therapy robot for rehabilitation databases. AMC 2012: 1-6 - [c5]Sho Sakaino, Toshiaki Tsuji:
An extended Jacobian matrix and multirate control for bilateral control between different time resolution systems. IECON 2012: 2656-2661 - [c4]Toshiaki Tsuji, Tomonori Yokoo, Sho Sakaino:
High bandwidth attitude control based on musculoskeletal system with biarticular muscles. IECON 2012: 5428-5433 - [c3]Naoyuki Kurita, Sho Sakaino, Toshiaki Tsuji:
Whole-body force sensation by force sensor with end-effector of arbitrary shape. IROS 2012: 5428-5433 - 2011
- [j4]Tomoya Sato, Sho Sakaino, Kouhei Ohnishi:
Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots. IEEE Trans. Ind. Electron. 58(2): 376-383 (2011) - [j3]Tomoya Sato, Sho Sakaino, Eijirou Ohashi, Kouhei Ohnishi:
Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots. IEEE Trans. Ind. Electron. 58(4): 1385-1396 (2011) - [j2]Sho Sakaino, Tomoya Sato, Kouhei Ohnishi:
Precise Position/Force Hybrid Control With Modal Mass Decoupling and Bilateral Communication Between Different Structures. IEEE Trans. Ind. Informatics 7(2): 266-276 (2011) - [j1]Sho Sakaino, Tomoya Sato, Kouhei Ohnishi:
Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control. IEEE Trans. Ind. Informatics 7(3): 446-454 (2011) - 2010
- [c2]Tomoya Sato, Sho Sakaino, Kouhei Ohnishi:
Trajectory planning and control for biped robot with toe and heel joints. AMC 2010: 129-136 - [c1]Sho Sakaino, Tomoya Sato, Kouhei Ohnishi:
A novel motion equation for general task description. AMC 2010: 566-571
Coauthor Index
[j29] [c63] [i18] [j28] [i16] [j27] [j26] [j25] [j24] [j23] [j22] [i15] [i14] [i13] [j21] [j20] [j19] [j18] [c62] [c61] [c60] [c59] [c58] [i12] [i10] [i9] [i8] [j17] [j16] [j15] [c56] [c55] [i7] [i6] [j14] [j13] [c54] [c53] [c52] [c51] [c50] [c49] [c48] [i5] [i4] [i3] [j12] [j11] [c47] [c46] [c45] [c44] [c43] [c42] [c41] [c40] [c39] [c38] [i2] [i1] [j10] [j9] [j8] [c37] [c36] [c35] [c34] [c33] [c32] [c31] [j7] [j6] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [c18] [c17] [c16] [c15] [c14] [c13] [c12] [c11] [c10] [c9] [c8] [c7] [c6] [c5] [c4] [c3]
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