CPN Centre
Department of Computer Science,
WWW: www.daimi.au.dk/CPnets
Report for 2002
CIT-Partnership No. 202
April 2003
Contents
2 Tool Support for
Coloured Petri Nets
2.4 Analysis of Simulation Results
2.5 Tool Support for State Space Analysis
2.6 Consolidation and Completion
3.1 A Generalised Sweep-Line Method
3.2 Automatic Computation of Progress
Measures
3.4 Combining the Sweep-Line Method
and Other Reduction Methods
4 COAST/CPN: State Space
Analysis in Operational Planning
5 CPN in Pervasive Health
Care
6.1 The Symmetry Method for Coloured Petri Nets -
Theory, Tools, and Practical Use
6.2 Facilitating the Practical Use of Coloured
Petri Nets
6.3 Performance Analysis using Coloured Petri Nets
7 Master's Thesis Projects
in 2002
8 Continuation of the CPN
Centre
8.2 Development of Communication
Protocols
8.3 CPN Models in UML-based Software
Development – Software for Mobile Phones
8.4 State Space Analysis in
Operational Planning
8.5 Modelling and Analysis of Danfoss
Flowmeters
9 Staff of CPN Centre, March
2003
10 Publications
from CPN Centre in 2002
This report summarises the work in the
CPN Centre in year 2002. The CPN Centre (CIT partnership No. 202) was
established as a continuation of the HP-CPN Centre and has a staff of 15-20
persons. The work within the CPN Centre focuses on three main areas:
·
Design and analysis of
communication protocols and other kinds of distributed systems.
·
Performance analysis and
capacity planning.
·
Tools, algorithms, and
techniques to support the two areas above.
The partners in the project are:
·
·
·
·
Hewlett-Packard.
The aim
of this project has been to develop a state-of-the-art computer tool to support
the practical use of Coloured Petri Nets. The new tool is called CPN Tools, and
within the next year it is expected to fully replace our old tool, Design/CPN,
which is being licensed to nearly 1000 organisations in 60 countries, including
200 commercial companies.
The CPN
Tools project started in 1999, and it is now at a stage where CPN Tools has
been released for use outside the CPN group. In March 2003, CPN Tools are being
used by more than 250 organisations in 47 countries, and this figure is rapidly
increasing. The present version is so stable that it can be used for work in
smaller projects.
The
development of the CPN Tools has been supported via a number of projects in
which the CPN group has worked as subcontractors for
The
user interface of the CPN Tools has been designed in close cooperation with
leading researchers within the field of Human-Computer Interaction (HCI). The user interface has attracted a lot of
interest and excitement, both among HCI researchers and Petri Net researchers.
It has been presented at a number of international conferences.
Unlike
standard graphical applications, our user interface does not use menu bars,
scrollbars or dialog boxes, and there is no need to select objects before
editing them. Yet the system is much faster to operate than a traditional
desktop interface. Windows are replaced by “sheets” that can be collected
together into “binders”, making it easy to flip between sheets and to organise
the workspace. A track-ball, operated by the left hand (if you are
right-handed) supplements the mouse in the right hand. Using these two input
devices, it is possible to resize and zoom objects by stretching them as one
would do with a physical object. It is also possible to move an object with the
right hand while flipping sheets with the left hand to find its destination.
Another two-handed input technique consists of moving a semi-transparent
palette called a toolglass with the left hand while clicking through the tools
in it with the right hand. Finally, circular menus that pop-up where the mouse
is clicked allow a very fast selection of commands. When the selection is made
quickly, a command can be invoked without displaying the menu. This substitutes
the use of keyboard shortcuts.
The
CPN Tools use a new simulation engine that is much faster than our old
simulation engine. This is particularly important for simulation-based
performance analysis and capacity planning. Simulations of complex CPN models
are often as much as 1000 times faster. This means that many simulations can
now be run in a few seconds instead of hours. The efficiency of the new simulation
engine is based on the following modifications:
·
The data structures for
multi-sets are a special kind of self-balancing trees.
·
Priority queues are used for
timed tokens.
·
The algorithm for enabling
calculation is significantly improved.
·
The scheduler is modified to
make a more efficient search for enabled transitions.
The
simulation engine is a very complicated piece of software and hence it is a
non-trivial and lengthy task to debug it as it is being used for more and more
complicated CPN models.
The
monitoring facilities provide means to observe ongoing simulations of a CPN
model and to take appropriate actions based on the observations. During the
simulation of a CPN model it is possible to examine the states and events of the
system, periodically extract information from the states and events, and then
use the information for very diverse purposes, such as:
·
stopping the simulation when a certain condition is fulfilled,
·
visualisation of behaviour using domain-specific graphics,
·
data collection for performance analysis,
·
communication with other processes,
·
formal analysis methods.
General
patterns in how ad-hoc monitoring has been done in the past have been
identified, and these patterns have been generalised to create a uniform and
flexible framework for monitoring simulations of CPN models. One of the
advantages of the monitoring framework is that it is now possible to use
monitors to inspect or control a simulation without having to alter the CPN
model itself. The monitoring facilities support both standard monitors and
user-defined monitors. Current work focuses on integrating an existing
prototype of the monitoring facilities into CPN Tools, and the facilities are
expected to be available by the end of 2003.
Performance
is often a central issue in the design, development, and configuration of
systems. Prototype support for collecting and analysis of data from
simulations of CPN models has been developed for the new simulation engine.
These facilities can, e.g., be used for:
·
analysing the performance of existing systems,
·
estimating the performance of newly designed systems,
·
comparing the performance of different systems,
·
capacity planning.
Data collection is implemented using the monitoring framework that
was previously mentioned. As a result, data can be collected during a
simulation without having to modify the CPN model, and performance measures,
such as throughput or average response time, can be calculated on-the-fly.
Facilities for executing batches of simulations for a given CPN model have also
been created and applied in several case studies. Confidence intervals, which
indicate the reliability and precision of estimated performance measures, are
automatically calculated during batch simulations. The large amount of data
output that is generated during simulations is saved in a systematic manner,
and scripts are automatically generated for plotting simulation output with an
external application. Additional facilities for running batches of simulations
for several different configurations of a given CPN model have been developed
and tested. Support is also provided for a variance reduction technique that
can be used in an attempt to reduce the number of simulations that need to be
run in order to obtain sufficiently precise results. Current work focuses on
integrating prototype performance facilities into CPN Tools, and the facilities
are also expected to be available by the end of 2003.
The
state space tool from Design/CPN has been modified so that it now works on top
of the new simulation engine mentioned above. The user interface for CPN Tools
has been extended such that state spaces can now be constructed and analysed directly
in CPN Tools, whereas in the past, users had to construct the model in CPN
Tools and then load it into Design/CPN to perform the state space analysis. Future
work includes the design and implementation of facilities for drawing full and
partial state spaces.
During
2002 a lot of effort has been invested in making CPN Tools much more stable and
extending it with additional features, such as:
·
support for generating and analysing state spaces,
·
general undo and redo facilities,
·
support for fusion sets,
·
support for arbitrarily many pointing devices,
·
improved error feedback,
·
improved visual appearance.
Many
internal parts of the tool have been thoroughly refactored in order to support
the new features as well as to make the software more stable. A year and a half
has passed since CPN Tools was initially released to the public as version
0.1.1. The work that was completed in 2002 has led to an improved, mature, and
well-tested version of CPN Tools which is expected to be released as version
1.0 in May 2003.
State spaces are one of the main analysis methods
for CP-nets and formal methods in general. They allow the system developer to
investigate and reason about the logical correctness of systems. The basic idea
is to compute all possible behaviours of the system and represent these as a
directed graph called the state space. The nodes correspond to the set of
reachable states while the arcs correspond to transitions between reachable
states.
The main advantage of state space methods is that they can be supported by computer tools – hiding the underlying mathematics and making them highly automatic to use. This makes state space methods attractive for industrial use. The main disadvantage of state space methods is that for complex systems the demands on the speed and memory of the computer where the state space analysis is being conducted are strong. The improvement of state space methods is therefore closely related to the development of state space reduction methods capable of reducing the time and space requirements for the analysis. The development of a number of new reduction methods allow still more complex systems to be analysed. The CPN Centre has a number of ongoing research activities concerned with the development of state space reduction methods and efficient implementation techniques. The research in 2002 has primarily focussed on the further development of the sweep-line state space method.
The sweep-line method was developed by members
of the CPN Centre in 2001. The basic idea of the sweep-line method is to
exploit a certain kind of progress present in many distributed and concurrent
systems. Exploiting progress makes it possible to sweep through the full state
space of the system while storing only small fragments of the state space in computer
memory at a time. This can lead to significant reduction in peak memory usage
for the state space analysis of the system. Practical experiments have shown
that the method also leads to savings in the time used to construct state
spaces.
A limitation of the
basic sweep-line method is that it is based on a monotonic measure of progress. This means that the method could not
be used on reactive systems with a cyclic behaviour. To remedy this situation,
the basic sweep-line method has been generalised to allow the use of non-monotonic
progress measures. The key idea is to recognise, on-the-fly during the state
space exploration, situations where the monotonic progress notion is violated –
taking necessary actions to handle the violation. The generalised sweep-line
method is guaranteed to find all reachable states, but it may explore the same
state several times. The generalisation significantly broadens the class of
systems for which sweep-line methods can be applied.
A shortcoming of the basic sweep-line method
is that it requires the user to provide a progress measure based on his/her
understanding of the system behaviour. A technique has been developed which
allows the automatic computation of the progress measure from a system
description. The technique is based on a compositional framework where systems
are specified as parallel composition of subsystems, and where the state space
of the subsystems can be computed prior to computing the state space of the
full system. A positive side-effect of considering a compositional framework
was that it led to a variant of the sweep-line method capable of exploiting the
compositional structure of systems.
A main advantage of state space methods is
that they can provide the analyst with diagnostic information as to why the
system does not possess required properties. This diagnostic information is
useful for debugging of systems and is often in the form of directed paths in the
state space. Obtaining such directed paths is difficult with the sweep-line
method because states and arcs of the state space are deleted from main memory
during the state space exploration. The sweep-line method has been combined
with the use of external storage on disk to support the generation of diagnostic
information. The basic idea of the method is to write states and arcs of the
state space to disk as they are deleted from main memory. A desired directed
path can subsequently be reconstructed based on the information stored on disk.
An advantage of the developed method, compared to related methods using
external storage, is that it avoids any costly searches in external storage
during the state space exploration.
An abundance of state
space reduction methods have been developed. These reduction methods typically
exploit certain characteristics of systems such as symmetry, independence
between events, and progress. These characteristics are typically orthogonal
which means that it is of interest to use several state space reduction methods
simultaneously. The combined use of reduction methods typically leads to better
reduction results than when either method is use alone. This idea has been
pursued by studying the combination of the equivalence class method and the
sweep-line method, and developing the required theoretical foundation. The
equivalence class method is a generalisation of the state space reduction
method exploiting symmetries in systems. The basic idea of the equivalence
class method is to group states and events into equivalence classes, and then
store a representative from each equivalence class in memory instead of storing
all members of the equivalence class. This can significantly reduce memory
consumption. Some initial practical experiments have shown that the combination
of the sweep-line method and the equivalence class method indeed gives better
reduction results than when either method is used in isolation.
This project is concerned with the
development of CPN-based tool support for operational planning environments.
The project is a co-operation with the Australian Defence Science and
Technology Organisation (DSTO) and focuses on the use of CP-nets to formally
model business processes for operational planning and on the use of CP-nets for
developing operational plans.
The analysis of business processes and synthesis of operational plans are based on the state space method. The state space of a business process represents all the possible ways in which the process can be executed. State spaces are being used as a basis for formally reasoning about properties of the planning process and for re-engineering purposes. The state space of an operational plan represents the possible ways in which the operational plan can be executed, subject to resource, timing, and synchronisation constraints. The project contributes to the server part of the Course of Action Scheduling Tool (COAST) currently being developed by DSTO. The work in 2002 has spanned the following areas:
Lines of Operation Generation
The key functionality of the COAST server
is the capability to compute lines of operation (LOPs) from a constructed state
space. Algorithms have been developed and implemented to support the generation
of LOPs leading to desired and undesired end-states of an operational plan.
Resource Availability
Intervals
Resources are
a central concept in the COAST framework. Resources represent the planes,
ships, and tanks required to execute tasks. The CPN model providing the
semantic foundation of the COAST server has been extended to support resource
availability intervals. These resource availability intervals make it possible
to describe that a resource is only available in certain intervals of time due
to, e.g., service intervals.
Diagnostic Capabilities
An important part of
COAST is to support the planner in debugging an operational plan, i.e., to determine
the reason as to why a desired end-state cannot be reached with the set of
tasks provided and the assigned resources.
The COAST server has been extended with a number of diagnostic
capabilities such that errors and problems in an operational plan can be
identified fully automatically.
In a joint research
project with participation of
The
envisioning of the new system brings up new challenges that software developers
are confronted with in relation to pervasive computing. In collaboration with
colleagues from the Department of Computer Science at the
During 2002 three PhD students in the CPN Centre delivered and
successfully defended their PhD theses. A fourth thesis was delivered in the
beginning of 2003 and will be defended in April 2003. Abstracts for the four
PhD theses are contained in the following four sections.
A way to increase reliability of systems is to use formal methods, which
are mathematically based methods for specifying and reasoning about systems. An
example of a formal method for reasoning about systems is the state space
method. The full state space of a system is a directed graph with a node for
each reachable state of the system and an arc for each state change. From the
full state space it is possible to verify whether the system satisfies a set of
desired properties.
Several reduction techniques have been suggested for reducing the state
space. With these reduction techniques only a subset of the full state space is
represented or the full state space is represented in a compact form. An example
of such a reduction technique is the symmetry method. The basic observation is
that many distributed and concurrent systems posses a certain degree of
symmetry, e.g., a system composed of identical components whose identities are
interchangeable from a verification point of view. This kind of structural
symmetry in the system is also reflected in the full state space of the system.
The idea behind the symmetry method is to factor out this symmetry and obtain a
condensed state space which is typically much smaller than the full state
space, but from which the same kind of properties of the system can be derived
without unfolding the condensed state space to the full state space.
State spaces and the symmetry method are not
restricted to a specific modelling language. However, in the work presented in
this thesis the symmetry method is considered in the context of Coloured Petri
Nets.
Louise Elgaard’s (née Lorentsen) dissertation consists
of two parts. Part I is the mandatory overview paper witch summarises the work
which have been done. Part II is composed of four individual papers. Three of
the papers have been published as conference papers in international
conferences. One paper has been published as a workshop paper. The full
dissertation is available online (http://www.daimi.au.dk/CPnets/phd/louisel/).
Design and
development of systems is a complex task which is even more complex if the systems
are distributed and concurrent. Therefore models are often created of such
systems to investigate the systems in various ways. Due to the complexity of
such models it is essential that modelling tools exist with support for
examining the models.
Coloured Petri Nets is a formally founded
graphical language for modelling and analysis of concurrent and distributed
systems. The industrial use of CP-nets has increased during the latest years.
This is in particular due to the extensive development of tools supporting
various uses of CP-nets.
The primary purpose of this dissertation is to
investigate and advance tools for practical use of CP-nets. This includes
development of facilities for creating domain-specific graphical user
interfaces, a proposal for facilities for including auxiliary information in a
CP-net without modifying the CP-net itself, and development of general
facilities for extracting information from a CP-net during simulations. The
tool facilities have been developed based on concrete needs arising during
practical projects, and have when possible been tested in these projects.
Bo Lindstrøm’s dissertation consists of two
parts. Part I is the mandatory overview paper which summarises the research.
Part II is composed of five individual papers and constitutes the core of this
dissertation. All five papers have been published as workshop or journal
papers. The full dissertation is
available online (http://www.daimi.au.dk/CPnets/phd/blind/).
Performance is often a central issue in the design, development, and
configuration of systems. It is not always enough to know that systems work
properly, they must also work efficiently. There are numerous studies, e.g. in
the areas of computer and telecommunication systems, manufacturing, military,
health care, and transportation, that have shown that time, money, and even
lives can be saved if the performance of a system is improved. Performance analysis
studies are conducted to evaluate existing or planned systems, to compare
alternative configurations, or to find an optimal configuration of a system.
There are three alternative techniques for analysing the performance of a
system: measurement, analytical models, and simulation models.
This dissertation focuses on the use of Coloured Petri Nets for
simulation-based performance analysis of industrial-sized systems. Coloured
Petri Nets are particularly well suited for modelling and analysing large and
complex systems for several reasons: they have an intuitive graphical
representation; they are executable; hierarchical models can be constructed; it
is possible to model the time used by different activities in a system; and
mature and well-tested tools exist for creating, simulating, and analysing Coloured
Petri Net models.
Lisa Wells’ dissertation consists of two parts. Part II is composed of
four individual papers and constitutes the core of the dissertation. All four
papers have been published as workshop papers. Part I is the obligatory
overview paper with summarises the work that has been done. The overview paper
introduces the research field of performance analysis using Coloured Petri Nets,
and it summarises the contents and contributions of the four individual papers.
The full dissertation is available online (http://www.daimi.au.dk/CPnets/phd/wells/).
The thesis describes the sweep-line method, a newly developed reduction
method for alleviating the state explosion problem inherent in explicit-state
state space exploration. The basic idea
underlying the sweep-line method is, when calculating the state space, to
recognise and delete states that are not reachable from the currently
unprocessed states. Intuitively we drag
a sweep-line through the state space with the invariant that all states behind
the sweep-line have been processed and are unreachable from the states in front
of the sweep-line. When calculating the state
space of a system, we iteratively calculate successors of new states, and we
need to distinguish between previously seen states and truly new states to
avoid reprocessing the same states indefinitely. When calculating the successors of the known
unprocessed states, all successors are in front of the sweep-line. Consequently, the states
behind the sweep-line are not needed for distinguishing between new and old
states and can therefore be deleted.
Thomas Mailund’s thesis
consists of two parts: Part I gives an overview of the sweep-line method while
Part II consists of eight individual papers on different aspects of the
sweep-line method. Four of these papers
have been published as conference papers, one has been published as a workshop
paper, while the remaining are submitted as either journal or conference
papers. The full dissertation will eventually become available online (http://www.daimi.au.dk/CPnets/phd/).
During 2002 the CPN Centre has been involved in the following thesis
projects:
Disk-Based Generation of State Spaces
The thesis of Stefan Sørensen describes the design and
implementation of a state space tool
that makes efficient use of disk storage. Traditional state space tools keep
all data structures in the main memory of the computer. The aim of the thesis is
to be able to construct much larger state spaces. The thesis was successfully
defended in June 2002.
Distributed State Space Exploration
Farret Guillaume and Carre Guillaume were exchange students from
Hand-Over Between Mobile@Home and GSM Networks
The thesis of René M. Jensen and Jonas M. Thomsen investigates the design of a new set of protocols for combining wireless networks. The thesis project is done in cooperation with Ericsson Diax A/S. The thesis was successfully defended in January 2003.
Modelling and Analysis of Multicast Protocols
The thesis of Lone H. Olesen
is part of the GCAP project (Global Communication Architecture & Protocols
for new QoS services over IPv6 networks) which is an EU project with 4
commercial companies and 5 educational institutions from 6 countries. The thesis
is done in close cooperation with Ericsson Telebit A/S, which is the Danish
partner in GCAP. As part of the project three multicast protocols are specified
and implemented – with different capabilities in terms of Quality of Service.
The aim of the thesis is to model and analyse interesting parts of these
protocols. This thesis has not yet been completed.
Evaluation of TCP and Routing Protocols in
The thesis of Eva Kjær Troels and Henrik Refslund Sørensen describes a use of the network simulation tool ns-2 to investigate various routing protocols for mobile ad-hoc networks. A particular focus is to evaluate how the routing protocols support TCP connections. This thesis has not yet been completed.
Thibaut Ribes and Benjamin Bayart are exchange students from
The support from the Danish National
Centre for IT Research finished with the end of year 2002. However, the
activities in the CPN Centre continue supported by grants and subcontracting
from the following organisations:
·
·
·
Ericsson Telebit A/S,
·
Australian Defence Science and
Technology Organisation,
·
Danish National Centre for IT
Research (PhD grant).
Some of the
main activities in 2003 are described in the following subsections.
We plan to continue the development of the sweep-line method. We will continue the development techniques for automatic identification of progress and for the generation of diagnostic information. These areas of work were described in Sections. 3.2 and 3.3, respectively.
We also plan to
initiate the design and implementation of the next generation of state space
tools. This is a rather complex and time-consuming task that is similar to the
development of the new simulation engine some years ago. The new state space
tool is expected to increase the size of systems that can be analysed by
several orders of magnitude. The sweep-line method (with the paradigm of
deleting states and state information on-the-fly) will put special requirements
on the design.
We have started a project on the use of
formal methods for specification, validation, verification, and implementation
of communication protocols. The project is concerned with the theoretical
foundations, supporting computer tools, and applications of formal methods in
the areas of Internet protocols and protocols for pervasive computing. The
project covers the following areas:
·
Modelling languages for design
and specification of protocols.
·
Algorithms and data-structures
for efficient analysis, validation, and verification of protocols. This work
will focus on state space methods, model checking, and the recently developed
sweep-line method.
·
Development and implementation
of computer tools supporting protocol development.
·
Application of formal methods
and supporting computer tools to improve and further develop protocols. This
work will focus on Internet protocols and protocols for pervasive computing.
·
Implementation of Internet
protocols and protocols for pervasive computing. Development of methodology for
protocol development using formal methods.
Part of the project will be conducted in
cooperation with Ericsson Telebit A/S which is a branch of Ericsson
specialising in IP router technology, including routers for IPv6.
In a joint project with
In modern mobile phones, there is a need to balance required functionality with the available system resources. The amount of memory that is needed for executing applications is one of the major limiting factors for the number of features in a mobile device. Therefore, it is important to monitor the amount of memory consumed by the software components and subsystems through the whole software development process and throughout the whole life cycle of components.
Nokia’s existing software architecture descriptions include information about the memory required by each component. In addition to this, the architects are required to present a worst case usage scenario for their system. Doing these calculations by hand is tedious and error prone, since it involves detailed knowledge about the behaviour of the system. It is quite obvious that automated tools can help the system architect in these calculations and make them more precise, since it will be possible to automatically review all possible use patterns of the components. The CPN modelling language and the CPN Tools provide a simulation environment that can be used for analysing memory usage scenarios.
The project
described above should be seen as an investigation of the possibility to more
generally integrate CPN models in UML-based system development methods,
including supporting exchange of information between CPN Tools and Rational
Rose which is the UML tool used by Nokia.
We expect to
continue and possibly expand the cooperation with the Australian Defence Science
and Technology Organisation in 2003/2004. The continuation of the project will
be concerned with the further development of the COAST server, in particular
the addition of a number of advanced
analysis capabilities as well as extensions of the conceptual framework
underlying COAST.
We have started a joint project with the
Flow Division of Danfoss A/S. The purpose of the project is to use CP-nets to
model and analyse the behaviour of a new flowmeter that is being developed by
Danfoss. The new flowmeters measure water flow, especially in water supply
networks, and they also contain facilities for calculating statistics and for
logging information concerning water consumption and leakage. Flowmeters are components
in a distributed system, and as such they can communicate with external equipment,
such as PCs, via both wired and wireless connections.
When
designing the flowmeters, the developers had to consider both strict timing
requirements of the measurement software and communication patterns that support
a high degree of parallelism within the system. A workable flowmeter and
accompanying software has been developed by Danfoss, but they have lacked a
method for analysing the complex behaviour of the flowmeters. This project will
use CP-nets to examine the dynamic aspects and parallelism within flowmeter
systems. There are two main goals of the project. The first is to use
verification methods to show either that the flowmeters behave properly or that
there are shortcomings in the existing design. The second goal is to evaluate
the analysis methods that are used and to illuminate possible shortcomings of
the analysis methods.
The staff of the CPN Centre is now as
follows:
·
Two Research Managers:
professor, Dr. Scient, Kurt Jensen, and associate professor, PhD, Søren
Christensen.
·
Four PostDocs: Jens Bæk
Jørgensen, Lars M. Kristensen, Kjeld Høyer Mortensen, Lisa M. Wells.
·
One PhD student: Jonas Martin
Thomsen. Two additional PhD students will start within the next few months.
·
One research assistant: Anne
Vinter Ratzer
·
Six half-time student programmers:
Henry Michael Lassen, Kristian Bisgaard Lassen, Mads Laursen, Peter Julian
Marstrand Mechlenborg, Martin Stig Stissing, Michael Westergaard.
·
Five Master’s Thesis students: Benjamin
Bayart, Lone H. Olsen, Thibaut Ribes, Henrik Refslund Sørensen, and Eva Kjær Troels.
All PhD students and all Master’s thesis
students participate in the activities in the CPN Centre, and we consider this
to be a very valuable part of their education.
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