Verfügbarkeit: Introduction to process control

Introduction to process control:

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Bibliographische Detailangaben
Hauptverfasser:	Romagnoli, José A. (VerfasserIn), Palazoglu, Ahmet (VerfasserIn)
Format:	Buch
Sprache:	English
Veröffentlicht:	Boca Raton [u.a.] CRC Press 2012
Ausgabe:	2. ed.
Schriftenreihe:	Chemical industries
Schlagworte:	Chemie Chemical process control SCIENCE / Chemistry / Industrial & Technical TECHNOLOGY & ENGINEERING / Manufacturing Chemische Industrie Prozessüberwachung Fertigung Ablaufplanung Fertigungssteuerung
Online-Zugang:	Inhaltsverzeichnis Klappentext
Beschreibung:	Includes bibliographical references and index
Beschreibung:	XXV, 617 S. Ill., graph. Darst.
ISBN:	9781439854860

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Datensatz im Suchindex

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adam_text	Contents Preface .....................................................................................................................xix Authors .................................................................................................................xxiii Introduction ............................................................................................................xxv PART I Introduction Chapter 1 Why Process Control? ..........................................................................3 1.1 Historical Background ...............................................................4 1.2 Role of Control in Process Industries ........................................5 1.2.1 Traditional Role of Process Control .............................5 1.2.2 Expanded Role of Process Control ...............................7 1.3 Objectives of Control .................................................................8 1.3.1 What about Performance? ..........................................10 1.3.2 Economic Benefits of Control ....................................10 1.4 Summary .................................................................................11 Continuing Problem ...........................................................................11 Solution ....................................................................................12 References ..........................................................................................12 Chapter 2 Definitions and Terminology ..............................................................13 2.1 Concepts and Definitions .........................................................13 2.2 Control Design Problem ..........................................................19 2.3 Control System Design ............................................................23 2.4 Control Design Project ............................................................24 2.4.1 Preliminary Engineering ............................................25 2.4.2 Detailed Engineering .................................................26 2.4.3 Implementation ...........................................................26 2.4.4 Installation ..................................................................26 2.4.5 Commissioning ..........................................................26 2.4.6 First Production Start-Up and Turnover .....................26 2.4.7 Training ......................................................................27 2.5 Summary .................................................................................27 Continuing Problem ...........................................................................27 Solution ....................................................................................27 Reference ............................................................................................28 IX χ Contents Part I Summary .....................................................................................................29 Additional Reading .......................................................................................29 Exercises .......................................................................................................30 References .....................................................................................................39 PART II Modeling for Control Chapters Basic Concepts in Modeling ...............................................................43 3.1 Why Is Process Modeling Necessary? ....................................44 3.1.1 Application Areas and Benefits ..................................44 3.1.2 Goal of Modeling .......................................................45 3.2 Classification of Models ..........................................................46 3.2.1 Linear versus Nonlinear .............................................46 3.2.2 Distributed Parameter versus Lumped Parameter .....48 3.2.3 Deterministic versus Stochastic .................................49 3.3 Types of Models ......................................................................49 3.3.1 Models Based on Source ofinformation ....................50 3.3.2 Models Based on Mathematical Representation ........50 3.3.2.1 State-Space Models ....................................50 3.3.2.2 Input-Output Models ..................................51 3.4 Degrees of Freedom ................................................................54 3.5 Models and Control .................................................................56 3.6 Summary .................................................................................57 References ..........................................................................................57 Chapter 4 Development of Models from Fundamental Laws .............................59 4.1 Principles of Modeling ............................................................59 4.2 Models Based on Fundamental Laws ......................................60 4.2.1 Constitutive Relations .................................................63 4.2.2 Steady-State Condition ...............................................64 4.3 Modeling of Processes Involving Chemical Reactions ...........68 4.4 Modeling of Complex Systems ................................................71 4.5 Distributed Parameter Systems ...............................................74 4.6 Numerical Solution of Model Equations .................................78 4.7 Summary .................................................................................81 Continuing Problem ...........................................................................81 Solution ....................................................................................81 References ..........................................................................................84 Chapter 5 Input-Output Models .........................................................................85 5.1 Linear (Linearized) Model ......................................................85 5.1.1 Deviation Variables ....................................................86 Contents 5.1.2 Higher Dimensional Equations ..................................89 5.1.3 Linear State-Space Model..........................................91 5.2 Concept of Transfer Function.................................................. 93 5.3 Transfer Functions of Single-Input Single-Output Processes ....................................................94 5.3.1 Asymptotic Theorems ................................................96 5.3.1.1 Initial Value Theorem .................................96 5.3.1.2 Final Value Theorem ..................................96 5.4 Properties of Transfer Functions .............................................97 5.5 Nonrational Transfer Functions .............................................100 5.6 Summary ...............................................................................102 Continuing Problem .........................................................................103 Solution ..................................................................................103 Chapter 6 Models from Process Data ...............................................................107 6.1 Development of Empirical Models ........................................107 6.1.1 Steps in Developing Empirical Models ....................107 6.1.1.1 Performing the Experiments .....................108 6.1.1.2 Building the Model ...................................109 6.1.1.3 Evaluating the Model ................................109 6.2 Model Structures ................................................................... 110 6.3 Process Reaction Curve Method ........................................... Ill 6.4 Regression in Modeling .........................................................118 6.4.1 Linear Regression .....................................................118 6.4.2 Nonlinear Regression ...............................................120 6.5 Summary ...............................................................................124 Continuing Problem .........................................................................124 References ........................................................................................126 Part II Summary ..................................................................................................127 Additional Reading ...................................................................................127 Exercises ...................................................................................................128 References .................................................................................................140 PART III Process Analysis Chapter 7 Stability ............................................................................................143 7.1 Stability of Linear Systems ...................................................143 7.2 Input-Output Stability ...........................................................147 7.3 Routh s Criterion ....................................................................150 7.4 Root-Locus Method ...............................................................152 XII Contents 7.5 Direct Substitution Method ...................................................153 7.6 Summary ...............................................................................155 References ........................................................................................155 Chapter 8 Dynamic Performance .....................................................................157 8.1 Input Types ............................................................................157 8.2 First-Order Processes ............................................................158 8.2.1 Special Case: Integrating Processes .........................161 8.3 Second-Order Processes ........................................................162 8.3.1 Special Case: Step Response of Underdamped Processes ..................................................................164 8.4 Multicapacity Processes ........................................................167 8.4.1 Special Case: Interacting Processes .........................171 8.5 Effect of Zeros .......................................................................173 8.5.1 Special Case: Right Half-Plane Zeros ......................175 8.6 Effect of Time Delays ............................................................176 8.7 Summary ...............................................................................179 Continuing Problem .........................................................................179 Chapter 9 Frequency Response .........................................................................181 9.1 What Is Frequency Response? ...............................................181 9.2 Complex Numbers in Polar Coordinates ...............................182 9.3 Construction of Frequency Response ....................................183 9.4 Evaluation of Frequency Response ........................................185 9.5 Frequency Response of Common Systems ............................188 9.6 Bode Diagrams ......................................................................189 9.7 Nyquist Diagrams ..................................................................193 9.8 Systems in Series ...................................................................196 9.9 Summary ...............................................................................198 Continuing Problem .........................................................................199 Part III Summary ................................................................................................201 Additional Reading .................................................................................201 Exercises ..................................................................................................202 Reference .................................................................................................207 PART IV Feedback Contro! Chapter 10 Basic Elements of Feedback Control ................................................211 10.1 Feedback Control Problem ....................................................211 10.2 Control Law ...........................................................................215 10.2.1 Proportional Mode ...................................................215 Contents 10.2.2 Integral Mode...........................................................216 10.2.3 Derivative Mode.......................................................216 10.2.4 Three-Mode Controller (PID)..................................216 10.2.4.1 Special Case: Discrete PID.......................217 10.2.5 Physical Readability ...............................................217 10.3 Closed-Loop Transfer Functions ...........................................218 10.4 Analysis of Individual Terms in PID Controllers ..................221 10.4.1 Proportional Mode ...................................................221 10.4.2 Integral Mode ...........................................................224 10.4.3 Derivative Mode .......................................................226 10.4.4 Integral Windup .......................................................227 10.5 Practical Issues in PID Design ..............................................228 10.5.1 Direct and Reverse Action .......................................228 10.5.2 Bumpless Transfer ....................................................229 10.5.3 PID Equation Forms .................................................229 10.5.3.1 Interacting/Noninteracting .......................229 10.5.3.2 Derivative on Error/Derivative on Measurement ........................................229 10.5.3.3 Positional/Velocity ....................................230 10.6 Summary ...............................................................................230 Continuing Problem .........................................................................230 Solution ..................................................................................231 Reference ..........................................................................................233 Chapter 11 Stability Analysis of Closed-Loop Processes ..................................235 11.1 Closed-Loop Stability ............................................................235 11.2 Routh s Criterion ....................................................................237 11.2.1 Dealing with Delays .................................................239 11.3 Root-Locus Method ...............................................................240 11.3.1 Zeros at Infinity ........................................................243 11.4 Modeling Errors ....................................................................244 11.5 Frequency Response Methods ...............................................246 11.6 Summary ...............................................................................249 Continuing Problem .........................................................................249 Solution ..................................................................................250 Chapter 12 Feedback Control Design .................................................................255 12.1 Design Objectives ..................................................................255 12.1.1 Response-Based Criteria ..........................................255 12.1.2 Error-Based Criteria .................................................256 12.2 Controller Tuning Techniques ...............................................259 12.2.1 Open-Loop Tuning (Cohen-Coon) Method .............259 xiv Contents 12.2.2 Closed-Loop Tuning (Ziegler-Nichols) Method...... 261 12.2.3 Direct Synthesis Method ..........................................265 12.2.3.1 Processes without Time Delay ..................267 12.2.3.2 Processes with Time Delay .......................267 12.3 Comparing the Methods ........................................................270 12.4 Summary ...............................................................................272 Continuing Problem .........................................................................273 Solution ..................................................................................273 References ........................................................................................277 Part IV Summary ................................................................................................279 Additional Reading ..................................................................................279 Exercises ..................................................................................................280 PARTV Model-Based Control Chapter 13 Model-Based Control .......................................................................289 13.1 Feedforward Control .............................................................289 13.1.1 Feedforward-Feedback Control Strategy ................291 13.1.2 Implementation Aspects ...........................................293 13.2 Delay Compensation (Smith Predictor) .................................295 13.3 Internal Model Control ..........................................................300 13.3.1 Concept of Perfect Control .......................................302 13.3.2 IMC Design Procedure .............................................303 13.3.3 PID Tuning Using IMC Rules ..................................304 13.4 Summary ...............................................................................306 Continuing Problem .........................................................................306 Solution ..................................................................................306 References ........................................................................................313 Chapter 14 Model Uncertainty and Robustness .................................................315 14.1 IMC Structure with Model Uncertainty ................................315 14.2 Description of Model Uncertainty .........................................316 14.2.1 Additive Uncertainty ................................................316 14.2.2 Multiplicative Uncertainty .......................................317 14.2.3 Estimation of Uncertainty Bounds ...........................317 14.3 IMC Design under Model Uncertainty ..................................319 14.3.1 Robust Stability ........................................................320 14.3.2 Robust Performance .................................................321 14.4 Summary ...............................................................................326 References ........................................................................................326 Contents xv Chapter 15 Model Predictive Control .................................................................327 15.1 General Principles .................................................................327 15.1.1 Model Forms ............................................................329 15.1.1.1 Impulse-Response Models ........................329 15.1.1.2 Step-Response (Convolution) Models .......329 15.1.1.3 State-Space Models ..................................330 15.2 Dynamic Matrix Control .......................................................330 15.2.1 Single-Input-Single-Output Unconstrained DMC Problem ..........................................................333 15.2.2 Controller Tuning .....................................................334 15.3 Process Constraints ...............................................................336 15.4 State-Space Formulation of MPC .........................................337 15.4.1 Infinite Horizon Problem .........................................338 15.5 Summary ...............................................................................339 Continuing Problem .........................................................................340 Solution ..................................................................................340 References ........................................................................................342 Part V Summary ..................................................................................................343 Additional Reading ...................................................................................343 Exercises ...................................................................................................344 PART VI Multivariable Control Chapter 16 Multivariable Systems ......................................................................351 16.1 Cascade Control .....................................................................351 16.2 Ratio Control .........................................................................354 16.2.1 Ratio Computation ...................................................355 16.2.2 Set-Point Computation .............................................356 16.3 Split-Range Control ...............................................................359 16.4 Override Control ....................................................................360 16.5 Summary ...............................................................................362 Continuing Problem .........................................................................362 Solution ..................................................................................363 References ........................................................................................368 Chapter 17 Multivariable Systems ......................................................................369 17.1 Characteristics of Multivariable Processes ...........................369 17.2 Modeling of Multivariable Processes ....................................370 xvi Contents 17.3 Transfer Functions of Multivariable Processes .....................377 17.3.1 Poles and Zeros of MIMO Systems .........................380 17.4 Multivariable Feedback Control Structure ............................384 17.4.1 Closed-Loop Poles and Zeros ..................................385 17.4.2 Stability of MIMO Closed-Loop Systems ...............386 17.5 Summary ...............................................................................390 Continuing Problem .........................................................................390 References ........................................................................................395 Chapter 18 Design of Multivariable Controllers .................................................397 18.1 Multiple-Input-Multiple-Output Feedback Analysis ............397 18.1.1 Loop FR- xD .............................................................398 18.1.2 Loop Qr -Хв .............................................................. 399 18.2 RGA Interaction Measure ......................................................402 18.2.1 Selection of Loops ....................................................405 18.3 Multiloop Controller Design .................................................408 18.4 Design of Noninteracting Control Loops: Decouplers ..........409 18.5 Summary ...............................................................................414 Continuing Problem .........................................................................414 Solution ..................................................................................415 References ........................................................................................419 Part VI Summary ................................................................................................421 Additional Reading ..................................................................................421 Exercises ..................................................................................................422 References ................................................................................................428 PART VII Control in Modern Manufacturing Chapter 19 Practical Control of Nonlinear Processes ........................................431 19.1 Operating Regime Modeling Approach ................................431 19.1.1 Global Model Structure ............................................433 19.2 Gain-Scheduling Controller ..................................................437 19.2.1 Determination of Process Gains ..............................439 19.2.2 Gain-Scheduling Implementation ............................439 19.3 Multimodel Controller Design ..............................................444 19.3.1 Multimodel Predictive Control (MMPC) .................444 19.4 Summary ...............................................................................447 References ........................................................................................448 Contents xvii Chapter 20 Process Optimization and Control ...................................................449 20.1 Process Optimization ............................................................449 20.1.1 Objective Function ...................................................450 20.1.2 Constraints ................................................................451 20.1.2.1 Equality Constraints .................................451 20.1.2.2 Inequality Constraints ..............................451 20.2 Optimizing Control of Disturbances .....................................456 20.2.1 Open-Loop Back-Off ...............................................457 20.2.2 Closed-Loop Back-Off .............................................461 20.3 Dynamic Optimization and Transition Planning ..................466 20.4 Summary ...............................................................................470 References ........................................................................................471 Chapter 21 Industrial Control Technology .........................................................473 21.1 Evolution of Industrial Control Technology ..........................473 21.2 Generic Industrial Control Systems Architecture .................474 21.2.1 Supervisory Environment ........................................475 21.2.2 Control Environment ................................................476 21.2.3 Communication Environment ..................................476 21.2.4 Data Exchange ..........................................................476 21.3 Summary ...............................................................................490 Continuing Problem .........................................................................490 References ........................................................................................493 Chapter 22 Role of Process Control in Modem Manufacturing .........................495 22.1 Expanded Role of Control in Modern Manufacturing ..........495 22.1.1 LayerJ Control ........................................................496 22.1.2 Layer_2 Control ........................................................497 22.1.3 LayerJ Control ........................................................497 22.2 Model-Centric Technologies .................................................504 22.3 Integrated Control Systems ...................................................507 22.4 Summary ...............................................................................513 References ........................................................................................513 Chapter 23 Data Processing and Reconciliation .................................................515 23.1 Dealing with Missing Points .................................................515 23.2 Outliers ..................................................................................518 23.3 Characterizing Process Data .................................................520 23.4 Modeling Process Data ..........................................................522 23.4.1 Model Fitting Based on Least-Squares Estimation ......524 23.5 Data Reconciliation ...............................................................525 Contents 23.6 Issues in Data Reconciliation................................................ 528 23.6.1 Process Model..........................................................528 23.6.2 Classification of Process Variables ..........................530 23.6.3 Linear Data Reconciliation with Unmeasured Variables ...................................................................532 23.6.4 Gross Errors .............................................................533 23.7 Data Reconciliation and Model-Centric Technologies ..........534 23.8 Summary ...............................................................................539 References ........................................................................................539 Chapter 24 Process Monitoring ..........................................................................541 24.1 Process Monitoring ...............................................................541 24.2 Statistical Process Control .....................................................542 24.2.1 Univariate Control Charts ........................................543 24.2.2 Control Chart Interpretation .....................................544 24.2.3 Multivariate Charts ..................................................545 24.3 Principal Component Analysis ..............................................546 24.3.1 Calculation of Principal Components ......................546 24.4 Multivariate Performance Monitoring ..................................551 24.4.1 Elliptical Normal Operation Region ........................553 24.4.2 T2 and Squared Prediction Error Charts ..................555 24.4.3 Contribution Plots .....................................................556 24.5 Fault Diagnosis and Classification ........................................556 24.6 Controller Performance Monitoring ......................................563 24.6.1 State Classification ...................................................564 24.6.2 Model Validation ......................................................564 24.6.3 Stochastic Performance Monitoring .........................565 24.6.4 Controller Oscillation Assessment ...........................566 24.7 Summary ...............................................................................567 References ........................................................................................567 Part VII Summary ...............................................................................................569 Additional Reading ................................................................................569 Exercises .................................................................................................572 Appendix A: Linearization .................................................................................577 Appendix B: Laplace Transformation ...............................................................585 Appendix C: Matrix Operations ........................................................................593 Appendix D: Basic Statistics ...............................................................................601 Index ......................................................................................................................609 Chemical Engineering Introduction to Process Control This book contains the essential material for a first course on process control at an elementary level and I highly recommend it to instructors who [teach this] course at this level. —Mehmet С. Camurdan, Bogaziçi University, Turkey Introduction to Process Control, Second Edition provides a bridge between the traditional view of process control and the current, expanded role by blending conventional topics with a broader perspective of more integrated process operation, control, and information systems. Updating and expanding the content of its prede¬ cessor, this second edition addresses issues in today s teaching of process control. Features • Defines the traditional and expanded roles of process control in modern manufacturing • Introduces the link between process optimization and process control (optimizing control), including the effect of disturbances on the optimal plant operation, the concepts of steady-state and dynamic backoff as ways to quantify the economic benefits of control, and how to determine an optimal transition policy during a planned production change • Incorporates an introduction to the modem architectures of industrial computer control systems with real case studies and applications to pilot-scale operations • Discusses the expanded role of process control in modern manufacturing, including model-centric technologies and integrated control systems • Integrates data processing/reconciliation and intelligent monitoring in the overall control system architecture • Includes 50 percent more exercises Drawing on the authors combined 50 years of teaching experiences, this classroom- tested text helps readers understand key concepts of process control and how to implement them. It also shows how traditional process control has evolved into an integrated operational environment used to run modern manufacturing facilities. MATLAB® toolboxes can be accessed from the authors websites. CRC Press Taylor & Francis Group an informa business www.crcpress.com 6000 Broken Sound Parkway, NW Suite 300, Boca Raton, FL 33487 711 Third Avenue New York, NY 10017 2 Park Square, Milton Park Abingdon, Oxon 0X14 4RN, UK К1Е55Ч ISBN: Ч7й-1-ЧЗеіа-5ЧаЬ-0 90000
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illustrated	Illustrated
indexdate	2024-07-10T00:14:57Z
institution	BVB
isbn	9781439854860
language	English
lccn	2011051331
oai_aleph_id	oai:aleph.bib-bvb.de:BVB01-024814515
oclc_num	785850320
open_access_boolean
owner	DE-703
owner_facet	DE-703
physical	XXV, 617 S. Ill., graph. Darst.
publishDate	2012
publishDateSearch	2012
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publisher	CRC Press
record_format	marc
series2	Chemical industries
spelling	Romagnoli, José A. Verfasser aut Introduction to process control Jose A. Romagnoli ; Ahmet Palazoğlu 2. ed. Boca Raton [u.a.] CRC Press 2012 XXV, 617 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Chemical industries Includes bibliographical references and index Chemie Chemical process control SCIENCE / Chemistry / Industrial & Technical bisacsh TECHNOLOGY & ENGINEERING / Manufacturing bisacsh Chemische Industrie (DE-588)4009848-5 gnd rswk-swf Prozessüberwachung (DE-588)4133922-8 gnd rswk-swf Fertigung (DE-588)4016899-2 gnd rswk-swf Ablaufplanung (DE-588)4122751-7 gnd rswk-swf Fertigungssteuerung (DE-588)4113547-7 gnd rswk-swf Chemische Industrie (DE-588)4009848-5 s Prozessüberwachung (DE-588)4133922-8 s DE-604 Fertigung (DE-588)4016899-2 s Ablaufplanung (DE-588)4122751-7 s Fertigungssteuerung (DE-588)4113547-7 s Palazoglu, Ahmet Verfasser aut Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024814515&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis Digitalisierung UB Bayreuth application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024814515&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA Klappentext
spellingShingle	Romagnoli, José A. Palazoglu, Ahmet Introduction to process control Chemie Chemical process control SCIENCE / Chemistry / Industrial & Technical bisacsh TECHNOLOGY & ENGINEERING / Manufacturing bisacsh Chemische Industrie (DE-588)4009848-5 gnd Prozessüberwachung (DE-588)4133922-8 gnd Fertigung (DE-588)4016899-2 gnd Ablaufplanung (DE-588)4122751-7 gnd Fertigungssteuerung (DE-588)4113547-7 gnd
subject_GND	(DE-588)4009848-5 (DE-588)4133922-8 (DE-588)4016899-2 (DE-588)4122751-7 (DE-588)4113547-7
title	Introduction to process control
title_auth	Introduction to process control
title_exact_search	Introduction to process control
title_full	Introduction to process control Jose A. Romagnoli ; Ahmet Palazoğlu
title_fullStr	Introduction to process control Jose A. Romagnoli ; Ahmet Palazoğlu
title_full_unstemmed	Introduction to process control Jose A. Romagnoli ; Ahmet Palazoğlu
title_short	Introduction to process control
title_sort	introduction to process control
topic	Chemie Chemical process control SCIENCE / Chemistry / Industrial & Technical bisacsh TECHNOLOGY & ENGINEERING / Manufacturing bisacsh Chemische Industrie (DE-588)4009848-5 gnd Prozessüberwachung (DE-588)4133922-8 gnd Fertigung (DE-588)4016899-2 gnd Ablaufplanung (DE-588)4122751-7 gnd Fertigungssteuerung (DE-588)4113547-7 gnd
topic_facet	Chemie Chemical process control SCIENCE / Chemistry / Industrial & Technical TECHNOLOGY & ENGINEERING / Manufacturing Chemische Industrie Prozessüberwachung Fertigung Ablaufplanung Fertigungssteuerung
url	http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024814515&sequence=000003&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024814515&sequence=000004&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA
work_keys_str_mv	AT romagnolijosea introductiontoprocesscontrol AT palazogluahmet introductiontoprocesscontrol

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