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Archive-name: robotics-faq/part5
Last Modified: Mon Sep 16 01:00:38 EDT 1996
_________________________________________________________________
This FAQ was compiled and written by Kevin Dowling with numerous
contributions by readers of comp.robotics. Acknowledgements are listed
at the end of the FAQ.
This post, as a collection of information, is Copyright 1995 Kevin
Dowling. Distribution through any means other than regular Usenet
channels must be by permission. The removal of this notice is
forbidden.
This FAQ may be posted to any USENET newsgroup, on-line service, or
BBS as long as it or the section is posted in its entirety and
includes this copyright statement. This FAQ may not be distributed for
financial gain. This FAQ may not be included in commercial collections
or compilations without express permission from the author.
Please send changes, additions, suggestions and questions to:
Kevin Dowling tel: 412.268.8830
Robotics Institute fax: 412.268.5895
Carnegie Mellon University net: [2]nivek@cmu.edu
Pittsburgh, PA 15213 url: [3]http://www.frc.ri.cmu.edu/~nivek
This FAQ may be referenced as:
Dowling, Kevin (1995) "Robotics: comp.robotics Frequently Asked
Questions" Available as a hypertext document at
http://www.frc.ri.cmu.edu/robotics-faq. 90+ pages.
_________________________________________________________________
Last-Modified: Thu Dec 7 16:40:11 1995
[4]Kevin Dowling
References
_________________________________________________________________
[11] Whatever happened to Heathkit Hero Robots?
_________________________________________________________________
Heath/Heathkit/Zenith
Benton Harbor, MI
tel: 800.253.0570 (Heathkit Educational Systems)
Heros are no longer being made but Heath (Zenith) still offers some
replacement parts. They had about 8 years of sales: 4,000 Hero Jr's,
3,000 Hero 2000's, 14,000 assembled Hero 1's. Ones with less
capability didn't do as well but higher priced ones did ok in the
market. Service and maintainability are a problem due to the sheer
number of bolts, pulleys, boards, sensors, cables etc. Used ones can
be picked up cheap - but caveat emptor. Heath still sells electronics
training kits but nothing in robotics
There is a mailing group for hero owners managed by Dave Goodwin:
[3]Hero-owners-request@smcvax.smcvt.edu
Send the following command in the message body:
Subscribe Hero-owners
You may also want to include a HELP command line to get the commands
and their syntax. Note that the subject on the message is irrelevant.
Of course, to post a message to the group, just send it to hero-owners
at the same host.
The Mailserv software can handle files as well, but none are currently
available. Hopefully, list subscribers will start to provide any nifty
code they write for the archive.
Finally, the list of subscribers is available from the Mailserv. See
the help file for how to get it. Questions or problems should be
addressed to [4]Goodwin@smcvax.smcvt.edu, not at the waldo address.
San Francisco Robotics Society of America (bsmall@sfrsa.com) used to
have a Hero robot group meeting every month.
_________________________________________________________________
Last-Modified: Sun Aug 11 08:51:12 1996
[5]Kevin Dowling
References
_________________________________________________________________
[12] What's available for Puma Manipulators?
Pumas are probably the most common robot in university laboratories
and one of the most common assembly robots. Designed by Vic Schienman
and financed by GM at MIT in the mid-70's, the Puma (Programmable
Universal Machine for Assembly) was produced for many years by
Unimation (later purchased by Westinghouse and sold at a loss later to
Staubli, a Swiss company) These robots and their progeny are found in
many university labs.
Staubli Unimation, Inc.
201 Parkway West
Hillside Park
Duncan, SC 29334
tel: 803.433.1980
fax: 803.486.9906
Staubli Unimation Ltd
Unit G, Stafford Park 18
Telford, Shropshire, TF3 3Ax
UK
_________________________________________________________________
_PUMA singularities_
The PUMA has three singularities: the ``alignment'' singularity (wrist
is as close to the axis of joint 1 as it can get), the ``elbow''
singularity (elbow is fully extended or folded up; the latter is not
possible because of joint limits), and the wrist singularity (the axes
of joints 4 and 6 are aligned).
The angles corresponding to these depend on the Denavit-Hartenburg
(DH) parameter assignment. For the PUMA, the definitions given in [1]
are perhaps the most commonly used Using these, and letting A2, A3,
D3, and D4 denote the translational DH offsets, the singularities
occur when the following are true:
Alignment: D4*sin(ang2+ang3) + A2*cos(ang2) - A3*cos(ang2+ang3) == 0
Elbow: sin(ang3 - atan2(A3,D4)) == 0
Wrist: sin(ang5) == 0
Typical offset values for the PUMA 560 are
A2 = 431.80
D3 = 149.09
A3 = 20.32
D4 = 433.070
Information provided by John Lloyd [3]lloyd@curly.mcrcim.mcgill.edu
Puma Gear Ratios
Joint # Gear Ratio
-------- -----------
1 0.01597
2 0.00931
3 0.01884
4 0.01428
5 0.01391
6 0.01303
_________________________________________________________________
Puma Quirk
[Gary McMurray] There is an undocumented bug in the tool mode of the
PUMA robot under real-time path control. It's found by trying to
control the robot in tool mode using the alter command. Unimation
(Westinghouse at that time), has confirmed the bug.
Basically, the bug consists of this: during real-time control, such as
alter mode, the controller does not update the rotation matrix for the
tool coordinate system as the robot moves. Thus, motion commands
issued to move along the new y axis, result in a motion along the
original y axis. The same goes for rotations as well.
Tech Report and Matlab Toolbox
[Peter Corke] A technical report is available which provides details
of the Unimation Puma servo system, including details of interfacing
via the arm-interface board, digital board firmware, and analog
board/motor dynamics. (54 pages) It can be found at
[4]ftp://janus.cat.csiro.au/pub/pic/pumaservo.Z
A Robotics Toolbox for MATLAB which provides functions for homogeneous
transformations, quaternions, forward and inverse kinematics,
trajectories, forward and inverse dynamics, and graphical animation.
The Toolbox uses a very general method of describing the kinematics
and dynamics of any serial-link manipulators. Descriptors for the
Unimate Puma 560 and the Stanford arm are included. Location at
[5]ftp://ftp.mathworks.com/pub/contrib/misc/robot
That directory contains an extensive manual, doc.ps (72 pages), as
well as all the M-files.
_________________________________________________________________
_Trident Robotics and Research, Inc._
2516 Matterhorn Drive
Wexford, PA 15090-7962
tel: 412.934.8348
net: [6]robodude@cmu.edu
Hardware for older LSI/11 based Puma's.
A board for replacing the PUMA LSI/11 controller with the CPU of your
choice: The board is basically an I/O board with D/A's, A/D's, encoder
counters and some digital I/O lines and is available to connect to
several bus architectures including VMEbus, IBM-PC bus, Multibus and
IndustryPack bus. (with others under consideration) It comes as a
two-board set: A PUMA board and a bus interface board. This allows
several buses to be supported and keeps the analog electronics away
from the noise of the bus. (It also makes switching buses cheap, if
the need ever arises.) Since it is primarily an I/O board set, it can
be used in applications other than controlling a PUMA.
The user's manuals are available by anonymous ftp at
[7]ftp://ftp.cs.cmu.edu/usr/anon/user/deadslug/trc4um.ps and
[8]ftp://ftp.cs.cmu.edu/usr/anon/user/deadslug/trd0002.ps
This is a PostScript file that can be printed or viewed (to conserve
paper) and describes the remote board that mounts inside the Unimate
controller, replacing the VAL computer. The file trd0001.ps shows the
board arrangement diagrammatically.
_________________________________________________________________
_Useful Puma references_
Richard Paul, Brian Shimano, and Gordon Mayer, _Kinematic Control
Equations for Simple Manipulators_. IEEE Transactions on Systems, Man,
and Cybernetics, Vol SMC-11, No. 6, June 1981.
B Armstrong, O Khatib, and J. Burdick The Explicit Dynamic Model and
Inertial Parameters of the PUMA 560 Arm Proceedings IEEE Int.
Conference on Robotics and Automation, April 1986 San Francisco, CA
pp510-518
P.I. Corke and B. Armstrong-Helouvry. _A search for consensus among
model parameters reported for the Puma 560 Robot._ Proc. IEEE Conf.
Robotics and Automation, 1994 pp. 1608-1613
It is also available via anonyous ftp from
[9]ftp://janus.cat.csiro.au/pub/pic/icra94.ps.gz
_________________________________________________________________
Last-Modified: Sun Aug 11 08:51:29 1996
[10]Kevin Dowling
References
1. file://localhost/usr/nivek/faq/HTML/copyright.html
2. file://localhost/usr/nivek/faq/HTML/TOC.html
3. mailto:lloyd@curly.mcrcim.mcgill.edu
4. ftp://janus.cat.csiro.au/pub/pic/pumaservo.ps.Z
5. ftp://ftp.mathworks.com/pub/contrib/misc/robot
_________________________________________________________________
[13] What kinds of Robotics Simulators are there?
Simulation allows researchers, designers and users to construct robots
and task environments for a fraction of the cost and time of real
systems. They differ significantly from traditional CAD tools in that
they allow study of geometries, kinematics, dynamics and motion
planning. This list is NOT a comparative analysis of the different
systems but rather a list of systems that are available.
[3][13.1] Commercial Simulators
[4][13.2] Shareware and Freeware Simulators
_________________________________________________________________
[13.1] Commercial Simulators
_Auto Simulations, Inc._
655 Medical Drive
Bountiful, UT 84010
tel: 801.298.1398
contact: Teresa Francis, ext 330
Products: AutoMod II Platforms: ? Cost: ?
_________________________________________________________________
_CADSI_
2651 Crosspark Rd
Coralville, IA 52241
tel: 319.626.6700
tel: 319.626.3488
net: [5]marketing@cadsi.com
url: [6]http://www.cadsi.com
DADS - kinematics and dynamics package. Have ProEngineer to CADSI
interface. Supports rigid and flexible body analysis. Animation and
interfaces to FEA/FEM and CAD programs.
_________________________________________________________________
_Deneb Robotics, Inc._
3285 Lapeer Road West
PO Box 214687
Auburn Hills, MI
tel: 810.377.6900
fax: 810.377.8125
net: marketing@deneb.com
url: [7]http://www.deneb.com/
See the URL or send email for offices all over the world.
Deneb Robotics, was founded in 1985 develops 3D graphics-based factory
simulation, telerobotic, and virtual reality software.
Products include IGRIP, ENVISION, Deneb/ERGO, UltraArc, UltraFinish,
UltraPaint, UltraSpot, QUEST, Virtual NC, and TELEGRIP suite of
simulation software packages utilize geometrically exact data to
develop the models used in simulation, analysis, programming, and
control applications.
Platforms include UNIX workstations from HP, SGI and Sun and Window NT
(486/Pentium) machines.
_________________________________________________________________
_Mechanical Dynamics Inc._
2301 Commonwealth Blvd
Ann Arbor, MI 48105
tel: 313.944.3800
fax: 313.994.6418
net: hotline@adams.com
ADAMS is a general purpose dynamics simulator: it can be used to
simulate any mechanism. You input the model you want to simulate, and
ADAMS builds the system of equations, and solves it through time. You
can do kinematic, static, quasi-static and dynamic simulations. And
then, you can study the results (forces, accelerations and so on).
It has a good graphical interface, although it's non-standard (it
doesn't use OpenLook or Motif, but it's own windowing system). But if
you want to study something not very common, you will have to deal
with the text interface, and perhaps Fortran programming. It's not
very easy to learn.
_________________________________________________________________
_Silma/Cimstation_
1601 Saratoga-Sunnyvale Road
Cupertino, California 95014
tel: 408.725.8908
Product:
CimStation
Platforms:
SGI-4D, SUN SparcStation, Apollo, Intergraph, Computervision, HP, IBM
Risc6000 and DEC.
Cost:
Base system around $55K (commercial license) They also have a
University Partnership Program to enable universities to purchase
CimStation for around $20K US and $25K International.
Features:
Silma offers application solutions for Spot Welding, Arc Welding,
Painting, Stamping and Assembly, as well as Robot Calibration Tools.
Also, SILMA has direct CAD interfaces to Computervision CADDS,
Parametric Technology Corporation Pro/ENGINEER, IBM CATIA ans MCS
ANVIL5000. We also support VDAFS and SET in addition to IGES. Finally,
in addition to CimStation Robotics, we also offer SILMA(R) CimStation
Inspection - used to create, simulate and edit DMIS programs for
coordinate measuring machines- (CMMs) and SILMA(R) CimStation NC
Verification- used to simulate and verify NC part programs.
Provides: Basic CAD Tools: 2D and 3D solid and wireframe, IGES
interface, Robot Modelling: generate the required governing equations
(iterative or closed form) automatically for "many" classes of robots
Path Generation Kinematic Simulation with Collision Detection Dynamic
Simulation (CimStation only at this point) I/O Operations.
John Craig, who wrote the book, Introduction to Robotics is head of
Silma's R and D. Silma has a programming environment called SIL
complete with its own PASCAL-like iterative language with graphics and
robotics extensions. CimStation is built out of this language. This
allows you to add your own functionality. E.g. your own path planner.
You can also write C-code, compile it, and add it to the system.
_________________________________________________________________
Robot Simulations Ltd.
Lynnwood Busines Centre
Lynnwood Terrace
Newcastle-upon-Tyne, NE4 6UL
England
tel: +44 (0)91 272 3673
fax: +44 (0)91 272 0121
net: [8]Sales@rosl.demon.co.uk
or [9]Support@rosl.demon.co.uk
url: [10]http://www.rosl.com
US contact:
John Lapham
Applications Engineer
International Business Link
17105 San Carlos Blvd. Suite A6151
Ft. Myers Beach, FL 33931
tel: 813.466.0488
fax: 813.466.7270
net: [11]lapham@gate.net
[12]Robot Simulations (RSL) develops and markets the world's first
microcomputer based industrial robot simulation software named
Workspace. The package has been selling since 1989. The package uses
3d graphics to simulate robots and their associated machinery in a
workcell, and is capable of offline programming industrial and
educational robots in many different robot languages. It runs on a PC
and is $5K to educational institutions. $26K for industrial version.
Workspace 3 robot simulation: Kinematic modeller
Discrete event simulation Interactive creation of new mechanimsm
Library of standard robots
Advanced robot languages Dynamics simulator
Variables Forces and torques calculated
Subroutines Graphical representation of results
Loop structures
Sophisticated motion commands Text editor
Accurate representation of mechanisms Integral editor for track and
Calculation of cycle times teachpoint files
Collision detection
Solid 3-d rendering
Integrated CAD system Fast shaded animations in 256 colours
Constructive solid geometry
Library of standard 3d primitives Computer Aided Learning
Extruded polylines Simple authoring of training exercises
Spheres
Cones Calibration
Cylinders In-built robot and fixture
Boxes calibration system
Surfaces
Solids of rotation User Manuals
DXF and IGES import facilities Tutorial exercises
Example robots and workcells
The system is in use throughout Europe and the Far East in both
Industry and Education with several hundred seats. Sales in the USA
are relatively recent.
_________________________________________________________________
_Tecnomatix Technologies/Robcad_
39750 Grand River Avenue Suite A-3 Novi, MI 48375 tel: 313.471.6140
fax: 313.471.6147
Platforms: HP, Silicon Graphics, IBM and Sun.
Tecnomatix makes several packages for simulation including ones for
Spot welding, Arc welding, Painting, Teleoperation (Martel), CMM and
Drilling. They also have an open systems environment, ROSE, that
allows user customization and interface design. ROBCAD itself allows
robot modeling (library of 100 robots is supplied), collision free
path generation, importation of IGES, VDAFS and SET files and direct
interface with Catia and ComputerVision.
[GMF - the entry that used to be here, no longer supports OLPW-200,
instead they are a Robcad reseller]
_________________________________________________________________
[13.2] Sharware and Freeware Simulators
Many university groups and individuals have developed simulators for
their own work and made them available via the net.
Ars Magna:
The ARS MAGNA robot simulator provides an abstract world in which a
planner controls a mobile robot. The simulator also includes a simple
graphical user-interface which uses the CLX interface to the X window
system. Version 1.0 of the ARS MAGNA simulator is documented in Yale
Technical Report YALEU/DCS/RR #928, "ARS MAGNA: The Abstract Robot
Simulator". This report is available in the distribution as a
Postscript(tm) file, as well as from:
Paula Murano
Yale University
Department of Computer Science
P.O. Box 2158 Yale Station
New Haven, CT 06520-2158
net: murano@cs.yale.edu
Comments to Sean Engelson. net: engelson@cs.yale.edu
ARS MAGNA is available by anonymous ftp from
[13]ftp://ftp.cs.yale.edu/pub/nisp/
_________________________________________________________________
EROS [Erann's RObot Simulator]
EROS is a mobile robot simulator. Unlike other simulators, EROS does
not simulate any particular robot. Instead, EROS is a sort of robot
simulation construction kit. It is designed to allow users to assemble
their own robots from reusable software components, and to run those
robots in user-designed environments. EROS draws inspiration from
Hanks and Firby's truckworld simulator, but EROS operates at a lower
level of abstraction than truckworld, and so it is by some measure
more realistic. EROS has been used to simulate actual physical robots,
and the behavior produced by EROS has, in some cases, made plausible
predictions and accurate postdictions of the behaviors of the real
robots.
NOTE: This is a beta-test version of EROS. It runs only under
Macintosh Common Lisp version 2.0. Many of its features have not been
tested (although it has been used in a few applications, so parts of
it work quite well!) and the documentation is not very coherent.
EROS is available by anonymous ftp at:
[14]ftp://robotics.jpl.nasa.gov:pub/gat/eros.sit.hqx
This is an early version for beta testing only. It runs only under MCL
2.0. It will not run under any other version of Common Lisp, including
MCL 1.3. (EROS relies heavily on Macintosh graphics and CLOS.) It also
includes only a single example robot, so out of the box it doesn't do
very much. You have to be willing to do a little hacking to use it as
it currently stands. A future release will have more turnkey
functionality, but it's pretty much an OEM product at this point.
Contact: Erann Gat net: gat@robotics.jpl.nasa.gov
_________________________________________________________________
Flakey
A mobile robot simulator and controller. Contact: Kurt Konolige of SRI
A Preliminary version of a mobile robot simulator and controller. All
written in C, but you need Motif to run the graphics.
This is essentially the same software run on Flakey, (robot at SRI
used for research in AI), behaviors using fuzzy control (there's lots
more on Flakey in terms of sensor interpretation and higher-level
control, but I haven't ported that from LISP to C yet). There are
three example behaviors implemented, showing dumb obstacle avoidance
and goal achievement. There's not much documentation yet, but I will
get some out over the next few months.
The intent is to make the simulator/controller suitable for a course
in mobile robotics, and to have eventually a cheap physical platform
that will imitate the simulator (or vice versa).
Available by anonymous ftp from:
[15]ftp://ftp.ai.sri.com/pub/konolige/erratic-ver1.tar.Z Uncompress,
untar and check the README file for installation.
A collection of five tech reports on Flakey's fuzzy controller is also
available at:
[16]ftp://ocean.ai.sri.com/pub/saffiott/flakey_papers_93.tar.Z
_________________________________________________________________
_MATLAB Robotics Toolbox_ [Peter Corke] A Robotics Toolbox for MATLAB
which provides functions for homogeneous transformations, quaternions,
forward and inverse kinematics, trajectories, forward and inverse
dynamics, and graphical animation. The Toolbox uses a very general
method of describing the kinematics and dynamics of any serial-link
manipulators. Descriptors for the Unimate Puma 560 and the Stanford
arm are included. Location at
[17]ftp://ftp.mathworks.com/pub/contrib/misc/robot
That directory contains an extensive manual, doc.ps (72 pages), as
well as all the M-files.
_________________________________________________________________
_Simderella 2.0_ Simderella is a robot simulator consisting of three
programs:
* connel: the controller
* simmel: the simulator
* bemmel: the X-windows oriented graphics back-end
Simmel is the part which actually simulates the robot. It performs a
few matrix multiplications, based on the Denavit Hartenberg method,
calculates velocities with the Newton-Euler scheme, and communicates
with the other two programs.
Bemmel only displays the robot. It is a fast general-purpose display
method which places separate objects in space depending on the
homogeneous matrices it receives from simmel.
Connel is the controller, which must be designed by the user (in the
distributed version, connel is a simple inverse kinematics routine. I
didn't include my neural networks.)
The three programs use Unix sockets for communication. This means that
1. you need sockets
2. all the programs can run on different machines
Since data communication is high-level (meaning, in this case, that I
do not send doubles, integers, and so on, but encode them first),
running the programs on different architectures is no problem. In
fact, it was thus designed that connel can, at the same time, control
a real robot _and_ the simulated one.
Simderella likes to sleep; that is, when nothing happens, no processor
time will be used.
Version 2.0 of simderella is here. Major adaptations:
* now features Imakefiles
* compiles & runs on Solaris and DEC Alpha
* some C bugs squashed
* bemmel can grab robot with mouse
* major improvements to documentation (i.e., an introductory article
describing the package).
* includes a stand-alone version of bemmel for drawing geometrical
objects, with viewoint rotation. Figures can be dumped to xfig for
later inclusion in your papers.
The software is available as a compressed tar file from:
[18]ftp://galba.mbfys.kun.nl/pub/neuro-software/pd/simderella.1.0.tar.
Z [IP 131.174.82.73] Extract the simulator from the tar file by typing
at the Unix command line:
zcat simderella.2.0.tar.gz | tar xf -
or use your favourite extracting commands. In the simderella/
directory, type
xmkmf
make Makefiles
make depend
make
The sub-directories are recursively visited and executables are
compiled and linked.
Supported architectures: Sun (SunOS and Solaris), SGI, DEC Alpha,
HP700, 386 et al running Linux)
If you're impatient, execute the thing as follows:
cd bemmel; Zoscar & cd ..
cd simmel; source env; simmel1 ns & cd ..
cd connel; connel s
all on one machine. Then type commands like
fix-target 50 50 50
inverse 50 50 50
or move the mouse pointer in the bemmel window and press an `l' or `r'
or `u' or `d' or .... [CMU used Simderella recently to facilitate
software development and testing of the Shuttle servicing robot before
the hardware and mechanics are available to test the various parts of
the controller. it has also been linked to TCA calls and worked very
well - nivek]
_________________________________________________________________
_Public Domain SGI based simulator_
This is a Silicon Graphics based delux robot simulator with lots of
graphics Stuff. It was written by Andrew Conway and Craig Dillon as
undergraduates for an electrical engineering project at the University
of Melbourne. Not much in installation instructions. There is a latex
manual with usage instructions and the mathematics. Warning: It is
4.3Mbytes compressed, and the US-Australia link is quite slow.
Disclaimer: I [Andrew] haven't used this software for years. If it
malfunctions, don't sue me or Craig, we don't guarantee it.
[19]ftp://krang.vis.citri.edu.au/pub/robot
_________________________________________________________________
MODULSH
The complete programe is divided into three menus: Main, Drawing and
Robot Menus. features such as selecting elements or the complete
screen, rotating, translating, zooming, enlarging or reducing the
scale and passing to the two dimensional drawing window from the three
dimensional one are available.
The Drawing Menu also offers many other possibilities like drawing
three dimensional circles, ellipses, arcs, elliptical arcs, cylinders,
cones, prisms, ellipsoids, toroids, etc. In addition to these, it is
also possible to obtain hidden line drawing and to change the point
numbers of the circular drawing elements. Whereas in Robots Menu,
operations like selecting modules from the sub-menus, containing
graphics, which concern body, wrist, hand systems and work spaces of
robots, finding direct and inverse kinematics solution of these
systems, point by point simulation of the robot motions, changing
Denavit-Hartenberg parameters and joint freedom extremums from the
menus can be performed. WSMR-SIMTEL20.Army.Mil/pd1:/
OAK.Oakland.Edu/pd1:/MODULSH2.ZIP MODULSH1.ZIP is the design and
animation of robots, 1 of 2. MODULSH2.ZIP is the design and animation
of robots, 2 of 2 Author:
Dr. Hikmet Kocabas
Istanbul Technical University
MKKOCABS%TRITU.BITNET@FRMOP11.CNUSC.FR
MKKOCABS@TRITU.BITNET
_________________________________________________________________
Robotica
Contact: Mark W. Spong
Coordinated Science Lab
University of Illinois at Urbana-Champaign
1308 W. Main St.
Urbana, IL 61801
tel: 217.333.4281
fax: 217.244.1653
net: spong@lagrange.csl.uiuc.edu
[20]http://www.ge.uiuc.edu/directory/faculty/Spong.html
Robotica is a trademark of The Board of Trustees of the University of
Illinois.
Robotica is a collection of useful robotics problem solving functions
encapsulated in a Mathematica package. Utilizing Mathematica's
computational features allows results to be generated in purely
symbolic form.
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