| Terms
of Reference
Steering Committee
Sub-Commission 4.1 Members
WG 4.1.1
WG 4.1.2
WG
4.1.3
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Welcome to Sub-commission
4.1: Multi-sensor Systems
2003-2007
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Terms of Reference
To coordinate research and other activities that address the broader
areas of multi-sensor system theory and applications, with a special
emphasis on integrated guidance, navigation, positioning and orientation
of airborne and land-based platform. The primary sensors of interest
will be Global Navigation Satellite Systems (GNSS) and inertial
navigation systems; however the important role of other techniques
used for indoor and pedestrian navigation is also recognized. The
SC will carry out its work in close cooperation with other IAG
Entities, as well as via linkages with relevant scientific and
professional organizations such as ISPRS, FIG, IEEE, ION.
Objectives:
- To follow the technical
advances in navigation sensors and algorithms,
including autonomous vehicle navigation, based
on:
- positioning sensors and techniques such
as GPS (and pseudolites), INS, including MEMS
IMU, wheel sensors, ultrasonic and magnetic
sensors, and
- positioning methods based on
celluar network and their combination with GPS.
- To
follow the technical advances in mapping sensors, such as CCD
cameras, laser range finders, laser scanners and radar devices.
- To
standardize definitions and measurements of sensor-related
parameters.
- To
study and report on the performance of standalone and integrated
navigation systems.
- To
stimulate new ideas and innovation in:
- navigation algorithms, sensor calibration, synchronization
and inter-calibration,
- real-time sensor information processing and georeferencing
o sensor and data fusion, and
- automation techniques for information extraction from multi-sensor
systems using expert systems.
- To
study and monitor the progress in new applications (not limited
to conventional mapping) of multi-sensor systems (transportation,
engineering, car navigation, personal navigation, indoor navigation,
etc.).
- To
promote research and collaboration with countries with no or
limited access to modern multi-sensor technology.
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Steering Committee:
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Sub-commission
4.1 Members:
- Kai Borre
University of Aalborg
Institut 8
Niels Jernes Vej 14, rum 4-333
9220 Aalborg 0, Denmark
-
Shyam Chakraborty
Communication Laboratory
Dept. of ECE
Helsinki University of Technology,
Otakaari 5A, P.O. Box 3000
FIN
02015 HUT, Finland
-
Bertrand Merminod
Swiss Federal Institute of
Technology (EPFL)
Faculté ENAC - Institut du Développement Territorial - Géomatique
Laboratoire de Topométrie
Bâtiment GR
CH-1015 Lausanne, Switzerland
URL: http://topo.epfl.ch/
-
Dieter Pfoser
Data and Knowledge Engineering Group
Research Unit 3
Research Academic Computer Technology
Institute
Akteou 11 &
Poulopoulou Str.
11851 Thisseio
Athens, Greece
URL:
http://dke.cti.gr/
-
Martin Wagner
Institut fuer Informatik
(I1)
TU Muenchen
Boltzmannstr. 3, D-85748 Garching b.
Muenchen, Germany
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Sub-commission
4.1 News and Updates:
- SC4.1 Steering Committee was held in Kunming, China, during the 4th
International Symposium on MMT, Kunming China, March 28-31, 2004. Several issues
related to the definition of membership, WG current activities and the plans for
the future, linkages to other professional organizations, and joint
sessions/meetings with other Sub-Commissions were discussed.
- ION Annual Meeting, Dayton, OH, June 7-9, 2004: SC 4.1, in collaboration with
Commission 2, organized three sessions on Geodetic and Geoinformation Science,
where a number of SC4.1 members presented their research work (see:
http://www.ion.org/meetings/am2004program.cfm) Sessions were organized and
chaired by Dorota Brzezinska and Chris Jekeli of The Ohio State University.
- The SC4.1 will be well represented at the 2004 International Symposium on
GPS/GNSS (GNSS2004), Sydney, 6-8 December 2004. Jinling Wang (University of New
South Wales), a member of the SC4.1. Steering Committee, is the convener of this
meeting, Chris Rizos (University of New South Wales), president of Commission 4,
is a chair of the Scientific Committee, and Dorota Brzezinska (The Ohio State
University) plans to attend.
- The SC4.1 will be well represented at the XXth ISPRS congress, Istanbul July
15-22, where a special session on Mobile Multi-Sensor Systems will take place
(collaboration between IAG, FIG and ISPRS). The session is co-chaired by Naser
El-Shemy (University of Calgary), Dorota Brzezinska (The Ohio State University)
and Antonio Vettore (University of Padua)
- SC 4.1 is involved in organizing the 5th International Symposium on Mobile
Mapping Technology, Padua Italy, 2006. Naser El-Sheimy (University of Calgary)
was selected a co-convener and a chair of the Scientific Committee and Dorota
Brzezinska (The Ohio State University) was selected co-chair of the Scientific
Committee. It is organized in collaboration with FIG.
- A joint symposium of SC4.1, SC4.2 and SC4.4. will be held in 2006 (most
probably early September) as a follow-on to the 2nd Symposium on
Geodesy for Geotechnical and Structural Engineering held in Berlin in 2002. All
three SC have communicated on that subject and will work together on the
symposium preparation
- Currently, Dorota Brzezinska (The Ohio State University) is involved in
investigating the possibility of establish the collaboration with the American
Institute of Navigation (ION). As the ION Council member, she prepared and
presented a proposal to the ION Council in June 2004. As a result, a
Sub-Committe of the ION Outreach Committee on Cooperation w/ Other Professional
Societies was formed (chaired by Dorota Brzezinska), and charged with a task of
investigating terms and conditions for establishing professional collaboration
with sister organizations, including IAG.
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Sub-commission
4.1 Working Groups
WG4.1.1 Advances in Inertial Navigation and Error Modeling Algorithms
Chair: Sameh
Nassar (Canada)
Co-Chair: Jay Kwon (USA)
Terms
of Reference: To study and report the performance of the
currently used inertial error modeling algorithms, and to promote
the development of new methods and techniques for modeling inertial
sensor errors. To implement innovative ideas for processing inertial
data and integrating inertial systems with other sensors. To report
the advances in the development of new inertial sensor technologies.
WG4.1.1 members:
Walid Abdelhamid
(Canada)
Kai-Wei Chiang (Canada)
Mahmoud
El-Gizawy (Canada)
Thilanka Galappaththi (Canada)
Haiying Hou (Canada)
Christopher Jekeli (USA)
Hong-Kyu Lee (Australia)
Xiaoji Niu (Canada)
Abouelmagd Noureldin (Canada)
Charles Toth (USA)
Yudan Yi (USA)
The current activities of WG 4.1.1 include multi-sensor system
integration (INS, GPS, MEMS), direct georeferencing, airborne
gravimetry, inertial systems error modeling (autoregressive models,
neural networks, fuzzy logic, federated Kalman filters), performance
evaluation of currently used inertial error models for all sensor
types (high quality, medium quality and low-cost, wavelet multi-resolution
analysis, stochastic modeling of inertial sensor errors and optimal
estimation techniques. Innovative ideas are investigated and
implemented in integrating INS with GPS and other sensors (wavelet
multi-resolution analysis) and effective methods for handling
inertial sensor data are studied and applied (wavelet de-noising,
thresholding techniques, FIR filters).
In particular, Dr. Sameh Nassar, a team member of the The Mobile
Multi-Sensor Systems (MMSS) research group at the University of
Calgary, conducts research in the integration and optimal combination
of multi-sensors for position, location, navigation, attitude determination
and GIS applications. These sensors include: GPS, INS, imaging
and thermal cameras, MEMS sensors, digital compass, laser scanner
and odometers. The integration of these sensors is performed for
personal, road vehicle, shipborne and airborne mobile navigation.
At the Ohio State University, Dr. Jay Kwon and Prof. Christopher
Jekeli are conducting research on the development of an optimal
gravity compensation algorithm for the next-generation inertial
navigation system based on atom interferometry. Development of
stochastic and deterministic gravity modeling, and combining the
gravity from external source to achieve the precision navigation
solution are being investigated. In addition, the mobile mapping
research group at OSU conducts research on stochastic error modeling
for the MEMS IMU sensors, improved gravity compensation for inertial
navigation, integration of IMU sensors with other aiding sensors,
such as pseudolites, and their performance analysis, and tight
integration of navigation and imaging components for high-accuracy
navigation and mapping.
The research conducted at the University of New South Wales by
Hung-Kyu Lee and others is focused on the development and testing
of multi-sensor integration algorithms and methodologies for
precise positioning and navigation applications. The significant
contributions
are in the areas of Kalman filter design and performance analysis
for high precision GPS/INS integration, development and testing
of locally-augmented GPS/INS integration system (e.g., integration
of GPS/INS with ground-based pseudolites) and GPS multi-antenna
system to determine vehicle’s attitude, GPS carrier phase
ambiguity resolution and cycle slip detection/identification,
and analysis of GPS/Galileo receiver autonomous integrity monitoring.
In particular, the approach for integrating GPS/Pseudolite/INS
has the potential to provide precise navigation solutions (i.e.,
position, velocity, and attitude information) even under harsh
GPS operational environments where insufficient satellites are
tracked.
For more information on the current activities of WG4.1.1 click
here:
http://www.geomatics.ucalgary.ca/research/MMSensor/team/associates/sameh/index.php and http://www.cfm.ohio-state.edu/research/research.html
WG 4.1.1 News
July 2004:
The WG 4.1.1
is currently working on analyzing and enhancing the
navigation accuracy of INS, MEMS, INS/GPS and MEMS/GPS
using different techniques, such as: wavelet denoising,
wavelet multi-resolution analysis, neural networks,
autoregressive models, inertial parametric error models,
cascade denoising algorithms, adaptive pre-filtering,
neuro-fuzzy systems and Allan Variance analysis. Moreover,
the WG members at University of Calgary made a field
test for their own MEMS IMU (a sensor triad composed
of MEMS gyros and accelerometers). The preliminary results
seem to be satisfying since the average position error
after 30 sec GPS outages is 20-30m. There will be a
strong representation of the WG members in the next
ION GPS conference (Long Beach, September 2004) and
also in the ION NTM (San Diego, January 2005).
Sensor Integration and Mobile Mapping research group at OSU (Prof. Dorota
Brzezinska, Dr. Charles Toth, Yudan Yi , Eva Paska, Nora Csanyi and Shahram
Moafipoor) conducts research on high-performance integrated sensor systems,
including GPS/IMU integration, stochastic error modeling for the MEMS IMU
sensors, improved gravity compensation for inertial navigation, integration of
IMU sensors with other aiding sensors, such as pseudolites, and their
performance analysis, and tight integration of navigation and imaging components
for high-accuracy navigation and mapping. In particular, in the past three
months we have been working on assembling a multi-sensor mobile platform that
includes multiple IMU systems of various grades, such as navigation grade
0.003°/h LN100, Litton Systems and H764G, Honeywell, tactical grade H1700-AG11
rated at 1°/hr and H1700-AG17 rated at between 3 and 5 °/hr, and a consumer
grade Crossbow MEMS IMU400CC-100 rated at 1°/s. The primary objective of this
experiment is to test the accuracy, noise level and error modeling of the lower
grade IMUs, based on the reference high-end sensors. The better understanding of
the characteristics of the lower-grade IMUs is essential to determine their
applicability in a wide range of mapping applications. Number of static and some
kinemtaic tests were performed so far, and we are currently focusing on detailed
data analysis.
Another to topic of interest is the extended gravity
compensation in the strapdown algorithm. Based on our AIMS system software, we
have expanded the gravity compensation module by adding 2 min by 2 min NGA
Deflection of the Vertical (DOV) model. As a result, the accuracy of the
attitude determination improved at the level comparable to the compensated DOVs;
some improvement was also achieved in horizontal coordinates. This work is
sponsored by National Geospatial-Intelligence Agency (NGA). The next step is to
study the effect of gravity compensation in terms of its contribution to the
feature extraction and target positioning accuracy. It is assumed that remote
targets are identified in directly oriented (GPS/INS) imagery, and thus, the
effects of sensor accuracy and sensor calibration quality on the overall target
coordinate accuracy must be considered. Digital camera models and LiDAR systems
will be taken into account as means of target image acquisition and
visualization. A significant aspect of this study will be the assessment of the
gravity compensation effects in airborne and land-based positioning/targeting.
The focus will be on the high-end GPS/INS systems, supporting high-performance
airborne targeting/intelligence gathering with conventional electro-optical
sensors. Simulating several different system combinations under different
mission conditions and in various physical environments will be used to quantify
and validate the results and to generate Quality Control/Quality Assurance
(QC/QA) metrics that will reflect the optimal target coordinate accuracy for
each situation and sensor combination used.
Recently, NGA awarded another
project to our group. The focus of our research work under this new grant will
be on land-based outdoor/indoor navigation. The primary objective of the
proposed research is to develop a prototype of a seamless and dependable
personal navigator to support navigation and tracking of ground military and
rescue personnel. Recent developments in sensor technology are reaching the
point when such systems may soon become feasible for implementation and
consequently for operational deployment. This research aims at forming the
theoretical foundations for such systems by developing the algorithmic concept
of a basic GPS-based, Micro-elector-mechanical inertial measurement unit (MEMS
IMU)-augmented personal navigator system with an open-ended architecture, which
would be able to incorporate additional navigation and imaging sensor data,
extending the system’s operations to indoor environments. The performance of the
current MEMS IMUs is not yet at the desired level to support a personal
navigator at the required performance specifications (3-5 m CEP (circular error
probable)). However, assuming that the current trend in performance improvement
continues, it is realistic to expect that within the time frame of the project,
the prototype can be tested with one of the upcoming high-accuracy MEMS IMUs (an
ongoing research in this area is sponsored by DARPA). Clearly, before such MEMS
IMUs become available, use of simulations in the early stage of our research is
indispensable, while the timely start of this effort can assure the shortest
time before introducing personal navigators into mainstream military and rescue
operations.
The study on the gravity compensation for precision INS navigation is being
continued by Dr. Jay Kwon and Prof. Christopher Jekeli at the OSU.
They finished the initial analysis on the traditional gravity compensation
methods by investigating the effect of the direct and stochastic
gravity modeling on the navigation solution with various noise levels and
intervals on gravity data. Real gravity data from two different regions are used
for the analysis, and direct representation and 2/3-D stochastic modeling of
the gravity field were compared in terms of the accuracy in the
navigation solution. Now, they are investigating the accuracy of the upward
continuation problems. In addition, the effort on the development of a filter
combining the gravity from external source is being continued.
April
2004:
The following papers were presented at the ION NTM 2004 in San
Diego, California:
Nassar, S., K. P. Schwarz and N. El-Sheimy. 2004. INS and INS/GPS
Accuracy Improvement Using Autoregressive (AR) Modeling of INS
Sensor Errors. Proceedings of The Institute of Navigation (ION)
National Technical Meeting (NTM 2004), San Diego, California, USA,
January 26-28, 2004.
Abdelhamid, W., A. Osman, A. Noureldin and N. El-Sheimy. 2004.
Improving the Performance of MEMS-based Inertial Sensors by Removing
Short-Term Errors Utilizing Wavelet Multi-Resolution Analysis.
Proceedings of The Institute of Navigation (ION) National Technical
Meeting (NTM 2004), San Diego, California, USA, January 26-28,
2004.
The following paper will be presented at the upcoming MMT 2004,
March 29-31, 2004 in Kunming, China:
Chiang, K. W. and N. El-Sheimy. 2004. The Performance Analysis
of Neural Network Based INS/GPS Integration Method for Land Vehicle
Navigation. Proceedings of The 4th International Symposium on Mobile
Mapping Technology (MMT' 2004), Kunming, China, March 29-31, 2001.
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WG4.1.2
Indoor and Pedestrian Navigation
Chair: Guenther
Retscher (Austria)
Co-Chair: Bertrand Merminod (Switzerland)
Terms of Reference: To promote research and
development in the area of indoor and pedestrian navigation using
multi-sensor integrated
systems, based on medium to low-accuracy small-sized inertial
systems, including micro-electro-mechanical systems (MEMS), and
other positioning
sensors, such as wheel sensors, ultrasonic and magnetic sensors,
integrated with imaging sensors. To report progress on positioning
methods based on cellular networks and their combination with
GPS.
WG4.1.2 members:
Kai Borre (Denmark)
Shyam Chakraborty (Finland)
Wu Chen (Hong Kong)
Jussi Collin (Finland)
Dirk Dörschlag (Germany)
Georg Gartner
(Austria)
Allison Kealy
(Australia)
Changdon Kee (Korea)
Thomas H. Kolbe (Germany)
Oleg A. Mezentsev (Canada)
Esmond Chi-min Mok (Hong
Kong)
Joseph Newmann (Austria)
Silvia Nittel (USA)
Chan Gook Park (Korea)
Dieter Pfoser (Greece)
Ilir F. Progri (USA)
Tumasch Reichenbacher
(Germany)
Gerhard Reitmayr
(Austria)
Kai-Florian
Richter (Germany)
Kåre Synnes
(Sweden)
Agnès Voisard
(Germany)
Martin Wagner (Germany)
Gregory Francis Welch (USA)
Stephan Winter
(Australia)
The primary
focus of WG4.1.2 is currently on the development of pedestrian
navigation and guidance systems and location based services.
This topic is addressed in the new research project,
NAVIO: Pedestrian Navigation Systems in Combined Indoor/Outdoor
Environments (http://info.tuwien.ac.at/ingeo/research/resproj5.htm),
conducted by the Research Group II: Multi-Sensor Systems, Navigation
and Machine Guidance of the Department of Applied and Engineering
Geodesy, Vienna University of Technology.
In this project, a specific pedestrian navigation service we will
selected, as an application case: visitors arriving at the close-by
stops of the public transportation will be automatically guided
to the departments and personnel at the Vienna University of Technology.
This application case allows deriving the requirements on positioning,
route planning, and communication for pedestrians. This project
results will contribute to the methodical foundations and the basic
knowledge in terms of:
- integration of location sensors and seamless transition
of positioning between indoor and outdoor areas,
- ontology of pedestrian navigation: route selection
criteria, appropriate route optimization strategies, and route
structures, and
- models for context-dependent communication modes of
route information;
and thus, in general, it will enable future service developers
to facilitate more enhanced services using the state-of-the-art
technologies, and will enable an easy access to spatial information
for the citizens.
For more information on the current activities of WG4.1.2 click
here:
http://info.tuwien.ac.at/ingeo/research/resindex.htm
WG
4.1.2 News
July 2006:
US
Patent 7,079,025, July 18, 2006, W.R. Michalson and
I.F. Progri
Reconfigurable
geolocation system
A
portable reconfigurable geolocation system is provided.
The system includes a portable user node and one or
more portable pseudolite nodes in communication one
another and with the user node. Each of the user nodes
and pseudolite nodes includes a transmitter that generates
a signal on one or more carrier frequencies. Each signal
is modulated with digital signals necessary to establish
distances between the nodes and to convey data between
the nodes. Each node also includes a receiver for receiving
and demodulating the signals transmitted between the
nodes, and a processor for receiving the demodulated
signals, extracting data values and derived values from
the demodulated signals and determining a three-dimensional
position of each node in the system.
Inventors:
Michalson;
William R. (Charlton, MA); Progri; Ilir F.
(Worcester, MA)
Assignee:
Worcester Polytechnic Institute (Worcester, MA)
Appl.
No.: 10/459,724
Filed:
June 11, 2003
Hemish
K. Parikh, R. James Duckworth and William R. Michalson,
MC-UWB
Precise Positioning System - Field Tests and Effects of
Multipath,
GNSS 2005.
R.
James Duckworth, Hemish K. Parikh and William R. Michalson,
Radio
Design and Performance Analysis of Multi Carrier-Ultrawideband
(MC-UWB) Positioning System,
NTM 2005.
Hemish K.
Parikh, William R. Michalson and R. James Duckworth,
Performance Evaluation of the RF Receiver for Precise
Positioning System, GNSS 2004.
Y.
Y. Chung, M. Dedeaux, J. Miyamoto, S. Galicia, J. Lim,
I. F. Progri, and R. Cockrum, The
simulation and implementation of the acquisition of
a 1-D C-CDMA indoor geolocation system,
Proc. ION-NTM 2006, Monterey, CA
.
D.
Abdel-Masih, P. Cam, M. Hernandez, A. Bawany, R. Madrid,
I. F. Progri, and R. Cockrum, A
C-CDMA transmitter design,
Proc. ION-NTM 2006, Monterey, CA.
July 2004:
The IAG WG
4.1.2 on Indoor and Pedestrian Navigation has currently 25 members
from 12 different countries. The chairs and a few members of the WG
met
at the 4th International Symposium on Mobile Mapping Technologies in
Kunming, China in the end of March 2004. At this conference, some
papers of the WG members were presented (see the Symposium program
at
http://www.geoict.net/mmt2003/index.htm). Several WG members
will meet again and present their research work at the next ION GNSS
conference, which will be held in Long Beach, CA, USA in September
2004. A meeting of all WG members should take place at a joint
symposium organized by IAG Sub-Commission SC 4.1, 4.2 and 4.4 in
2006 in Austria.
April
2004:
Dr. Guentehr Retscher was invited
by the European Commission to present the research conducted by
his research group and the WG
4.1.1 on pedestrian navigation at the workshop on Location-based
Technologies, Services and Applications on March 8, 2004 in Brussels.
The workshop papers can be found at
http://www.cordis.lu/ist/directorate_d/cnt/pubar/wshop/wshop_040308.htm
For future updates on the WG 4.1.2 activities see the upcoming
website:
(http://info.tuwien.ac.at/ingeo/sc4/wg412.htm).
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WG4.1.3 Advances in MEMS Technology and Applications
Chair: Mikel Miller (USA)
Co-Chair: Jan Skaloud (Switzerland)
Terms
of Reference: To promote research into the development and
integration of micro-electro-mechanical systems (MEMS) based inertial
measurement units (IMU) that have practical applications to engineering
and mapping. To promote research and development into precise,
low-cost, low-power, small-sized, and high reliability IMU's for
integration with other position, navigation, attitude, and time
systems.
WG4.1.3 members:
Etienne Favey (Switzerland),
URL: http://www.u-blox.com/
Silvio Gnepf (Switzerland),
URL: http://www.vectronix.ch/
Quentin Ladetto (Switzerland),
URL: http://www.geomatic.ch/
WG 4.1.3 currently targets the development of methods for providing
smaller and more accurate kinematic survey systems, the optimal
selection of sensors for specific applications, and the creation
of new applications. The fast technical evolution in sensors creates
an exciting and challenging environment for applied research in
this field. The dream applications of yesterday are coming true
today. The ultimate goal of WG4.1.3 is to set-up systems for detecting
motion of different platforms in real-time or post-mission with
an accuracy performance matching the application need. The trade-off
is in the system performance versus its complexity and size, power
consumption and the acquisition cost.
For more information on the current activities of WG4.1.2 click
here:
http://topo.epfl.ch/recherche/ and
http://topo.epfl.ch/personnes/jsk/research/research.htm
For additional details see publications for more news of WG4.1.2
activities, see http://topo.epfl.ch
WG
4.1.3 News
July 2004:
Laboratory of Geodetic Engineering (TOPO) at EPFL (Swiss
Federal Institute of Technology) and Leica-Vectronix initiated a
collaboration on exploring the new techniques for precise azimuth
determination.
International collaboration Between Laboratory of Geodetic
Engineering (TOPO) at EPFL and KMS (Danish National Survey Agency)
is focused on prototyping and pilot testing of a hand-held GPS/INS/CCD/LIDAR
system for precise and automated 3D mapping from a helicopter.
Laboratory of Geodetic Engineering (TOPO) participates at Speed
Skiing World-Cup circuit to optimize the placement of
photoelectrical timing cells. This optimization leads to breaking
the 200 km/h speed barrier for the first time on home-land
territory. The research behind this success involves precise
trajectory determination by RTK-GPS methods, trajectory filtering
and smoothing and GSM/GPRS communication.
Events: Laboratory of Geodetic Engineering (TOPO/EPFL), Swiss
Institute of Navigation and Swiss Association of Sensors Technology
jointly organized the "Navigation Research Day" held in Lausanne on March
23, 2004.
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