Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach
This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear cont...
- Autores:
-
Montoya, Oscar Danilo
Garrido, Victor Manuel
Gil-Gonzalez, Walter
Orozco-Henao, C.
- Tipo de recurso:
- Fecha de publicación:
- 2019
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/12406
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/12406
- Palabra clave:
- Energy functions
Lyapunov's stability analysis
Passivity-based control
Reaction wheel pendulum
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
| id |
UTB2_8bf351e2e824b223888cae66f8194701 |
|---|---|
| oai_identifier_str |
oai:repositorio.utb.edu.co:20.500.12585/12406 |
| network_acronym_str |
UTB2 |
| network_name_str |
Repositorio Institucional UTB |
| repository_id_str |
|
| dc.title.spa.fl_str_mv |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| title |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| spellingShingle |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach Energy functions Lyapunov's stability analysis Passivity-based control Reaction wheel pendulum |
| title_short |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| title_full |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| title_fullStr |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| title_full_unstemmed |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| title_sort |
Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach |
| dc.creator.fl_str_mv |
Montoya, Oscar Danilo Garrido, Victor Manuel Gil-Gonzalez, Walter Orozco-Henao, C. |
| dc.contributor.author.none.fl_str_mv |
Montoya, Oscar Danilo Garrido, Victor Manuel Gil-Gonzalez, Walter Orozco-Henao, C. |
| dc.subject.keywords.spa.fl_str_mv |
Energy functions Lyapunov's stability analysis Passivity-based control Reaction wheel pendulum |
| topic |
Energy functions Lyapunov's stability analysis Passivity-based control Reaction wheel pendulum |
| description |
This paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also provided |
| publishDate |
2019 |
| dc.date.issued.none.fl_str_mv |
2019-11 |
| dc.date.accessioned.none.fl_str_mv |
2023-07-24T18:49:16Z |
| dc.date.available.none.fl_str_mv |
2023-07-24T18:49:16Z |
| dc.date.submitted.none.fl_str_mv |
2023-07 |
| dc.type.coarversion.fl_str_mv |
http://purl.org/coar/version/c_b1a7d7d4d402bcce |
| dc.type.coar.fl_str_mv |
http://purl.org/coar/resource_type/c_2df8fbb1 |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/article |
| dc.type.hasversion.spa.fl_str_mv |
info:eu-repo/semantics/draft |
| dc.type.spa.spa.fl_str_mv |
http://purl.org/coar/resource_type/c_6501 |
| status_str |
draft |
| dc.identifier.citation.spa.fl_str_mv |
Montoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105 |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12585/12406 |
| dc.identifier.doi.none.fl_str_mv |
10.1109/ROPEC48299.2019.9057105 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Tecnológica de Bolívar |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Universidad Tecnológica de Bolívar |
| identifier_str_mv |
Montoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105 10.1109/ROPEC48299.2019.9057105 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
| url |
https://hdl.handle.net/20.500.12585/12406 |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
| dc.rights.coar.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| dc.rights.uri.*.fl_str_mv |
http://creativecommons.org/licenses/by-nc-nd/4.0/ |
| dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.cc.*.fl_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
| rights_invalid_str_mv |
http://creativecommons.org/licenses/by-nc-nd/4.0/ Attribution-NonCommercial-NoDerivatives 4.0 Internacional http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.mimetype.spa.fl_str_mv |
application/pdf |
| dc.publisher.place.spa.fl_str_mv |
Cartagena de Indias |
| dc.source.spa.fl_str_mv |
2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019 |
| institution |
Universidad Tecnológica de Bolívar |
| bitstream.url.fl_str_mv |
https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/1/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/2/license_rdf https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/3/license.txt https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/4/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf.txt https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/5/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf.jpg |
| bitstream.checksum.fl_str_mv |
5eded8c669ac50447290b15a70008b0a 4460e5956bc1d1639be9ae6146a50347 e20ad307a1c5f3f25af9304a7a7c86b6 15298271acc2fa23708a710a4cacc4b1 633c3a8a5c349b36d779ce6fc94dcfdd |
| bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 MD5 MD5 |
| repository.name.fl_str_mv |
Repositorio Institucional UTB |
| repository.mail.fl_str_mv |
repositorioutb@utb.edu.co |
| _version_ |
1814021562883375104 |
| spelling |
Montoya, Oscar Danilo9fa8a75a-58fa-436d-a6e2-d80f718a4ea8Garrido, Victor Manuelabebcf60-1cbf-427b-810d-3722d458662fGil-Gonzalez, Walterfae25221-fcde-4c7d-bf52-14a677a53c76Orozco-Henao, C.f3b2ff13-484c-4dac-bcb1-758cc0fd7af02023-07-24T18:49:16Z2023-07-24T18:49:16Z2019-112023-07Montoya, O.D., Garrido, V.M. , Gil-Gonzalez, W., Orozco-Henao, C. Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approach (2019) 2019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019, art. no. 9057105, DOI: 10.1109/ROPEC48299.2019.9057105https://hdl.handle.net/20.500.12585/1240610.1109/ROPEC48299.2019.9057105Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarThis paper presents the development of a nonlinear controller for the reaction wheel pendulum (RWP) via an interconnection and damping assignment passivity-based control (IDA-PBC) approach. The IDA-PBC approach works with the port-Hamiltonian open-loop dynamics of the RWP to propose a nonlinear controller that preserves the Hamiltonian structure in closed-loop by guaranteeing stability properties in the sense of Lyapunov. Numerical results confirm the theoretical development presented throughout simulations in Simulink package from MATLAB. Comparison with a Lyapunov-based approach is also providedapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf22019 IEEE International Autumn Meeting on Power, Electronics and Computing, ROPEC 2019Passivity-based control applied of a reaction wheel pendulum: An IDA-PBC approachinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/drafthttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/version/c_b1a7d7d4d402bccehttp://purl.org/coar/resource_type/c_2df8fbb1Energy functionsLyapunov's stability analysisPassivity-based controlReaction wheel pendulumCartagena de IndiasRyalat, M., Laila, D.S. A simplified IDA-PBC design for underactuated mechanical systems with applications (2016) European Journal of Control, 27, pp. 1-16. Cited 42 times. http://www.journals.elsevier.com/european-journal-of-control doi: 10.1016/j.ejcon.2015.12.001Moon, U.-C., Lee, Y., Lee, K.Y. Practical dynamic matrix control for thermal power plant coordinated control (2018) Control Engineering Practice, 71, pp. 154-163. Cited 25 times. www.elsevier.com/inca/publications/store/1/2/3/ doi: 10.1016/j.conengprac.2017.10.014Murshitha Shajahan, M.S., Aparna, V., Najumnissa Jamal, D., Ahamed Khan, M.K.A. Control of electric power generation of thermal power plant in TamilNadu (2018) Case Studies in Thermal Engineering, 12, pp. 728-735. Cited 5 times. http://www.journals.elsevier.com/case-studies-in-thermal-engineering/ doi: 10.1016/j.csite.2018.08.008Wai, R.-J., Lee, J.-D. Adaptive fuzzy-neural-network control for maglev transportation system (2008) IEEE Transactions on Neural Networks, 19 (1), pp. 54-70. Cited 76 times. doi: 10.1109/TNN.2007.900814Liang, X., Fang, Y., Sun, N., Lin, H. Nonlinear Hierarchical Control for Unmanned Quadrotor Transportation Systems (2018) IEEE Transactions on Industrial Electronics, 65 (4), art. no. 8038248, pp. 3395-3405. Cited 116 times. http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=5410131 doi: 10.1109/TIE.2017.2752139Gil-González, W., Garces, A., Escobar, A. Passivity-based control and stability analysis for hydro-turbine governing systems (2019) Applied Mathematical Modelling, 68, pp. 471-486. Cited 25 times. www.elsevier.com/inca/publications/store/5/2/4/9/9/8/ doi: 10.1016/j.apm.2018.11.045Salim, R., Mansouri, A., Bendiabdellah, A., Chekroun, S., Touam, M. Sensorless passivity based control for induction motor via an adaptive observer (2019) ISA Transactions, 84, pp. 118-127. Cited 18 times. http://www.elsevier.com/wps/find/journaldescription.cws_home/524244/description#description doi: 10.1016/j.isatra.2018.10.002Murdock, D.D., Taylor, D.G. Balancing a reaction wheel pendulum with PM synchronous motor actuation (2014) IECON Proceedings (Industrial Electronics Conference), art. no. 7048483, pp. 96-102. ISBN: 978-147994032-5 doi: 10.1109/IECON.2014.7048483Gil-González, W., Montoya, O.D., Garces, A. Direct power control for VSC-HVDC systems: An application of the global tracking passivity-based PI approach (2019) International Journal of Electrical Power and Energy Systems, 110, pp. 588-597. Cited 37 times. doi: 10.1016/j.ijepes.2019.03.042Spong, M.W., Corke, P., Lozano, R. Nonlinear control of the Reaction Wheel Pendulum (2001) Automatica, 37 (11), pp. 1845-1851. Cited 263 times. doi: 10.1016/S0005-1098(01)00145-5Irfan, S., Mehmood, A., Razzaq, M.T., Iqbal, J. Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation (2018) Engineering Science and Technology, an International Journal, 21 (4), pp. 753-759. Cited 65 times. www.journals.elsevier.com/engineering-science-and-technology-an-international-journal/ doi: 10.1016/j.jestch.2018.06.010Hichri, B., Fauroux, J.-C., Adouane, L., Doroftei, I., Mezouar, Y. Design of cooperative mobile robots for co-manipulation and transportation tasks (2019) Robotics and Computer-Integrated Manufacturing, 57, pp. 412-421. Cited 41 times. doi: 10.1016/j.rcim.2019.01.002Montoya, O.D., Gil-Gonźalez, W. Nonlinear analysis and control of a reaction wheel pendulum: Lyapunov-based approach (2019) Engineering Science and Technology, An International Journal. Cited 2 times.Montoya, O.D., Raḿirez, C.A., Grisales, L.F. Global control of reaction wheel pendulum using artificial neural networks and extended linearization (2017) Scientia et Technica, 22 (20), pp. 130-140. Cited 3 times. junBlock, D.J., Ström K.J.A.., Spong, M.W. The reaction wheel pendulum (2007) Synthesis Lectures on Control and Mechatronics, 1 (1), pp. 1-105. Cited 110 times.Montoya, O.D., Grisales-Norena, L.F., Correa-Raḿirez, V.D., Giraldo-Buitrago, D. Global control of reaction wheel pendulum through energy regulation and extended linearization of the state variables (2014) Tecno Ĺogicas, 17 (32), pp. 33-46. Cited 3 times. JunSrinivas, K.N., Behera, L. Swing-up control strategies for a reaction wheel pendulum (Open Access) (2008) International Journal of Systems Science, 39 (12), pp. 1165-1177. Cited 36 times. doi: 10.1080/00207720802095137Correa-Raḿirez, V.D., Giraldo-Buitrago, D., Escobar-Mejía, A. Fuzzy control of an inverted pendulum Driven by a reaction wheel using a trajectory tracking scheme (2017) Tecno Ĺogicas, 20 (39), pp. 1-13. Cited 4 times. AugBapiraju, B., Srinivas, K.N., Prem Kumar, P., Behera, L. On balancing control strategies for a reaction wheel pendulum (Open Access) (2004) Proceedings of the IEEE INDICON 2004 - 1st India Annual Conference, pp. 199-204. Cited 19 times. ISBN: 0780389093; 978-078038909-0Fantoni, I., Lozano, R., Spong, M.W. Stabilization of the reaction wheel pendulum using an energy approach (2001) 2001 European Control Conference, ECC 2001, art. no. 7076312, pp. 2552-2557. Cited 13 times. ISBN: 978-395241736-2 doi: 10.23919/ecc.2001.7076312Valenzuela, J.G., Montoya, O.D., Giraldo-Buitrago, D. Local control of reaction wheel pendulum using fuzzy logic (2013) Scientia et Technica, 18 (4), pp. 623-632. Cited 4 times. DecGutierrez-Oribio, D., Mercado-Uribe, A., Moreno, J.A., Fridman, L. Stabilization of the Reaction Wheel Pendulum via a Third Order Discontinuous Integral Sliding Mode Algorithm (2018) Proceedings of IEEE International Workshop on Variable Structure Systems, 2018-July, art. no. 8460358, pp. 132-137. Cited 11 times. http://ieeexplore.ieee.org/xpl/conferences.jsp ISBN: 978-153866439-1 doi: 10.1109/VSS.2018.8460358Kundur, P. (2005) Power System Stability and Control. Cited 20205 times. MCGRAW-HILL, Ed. McGraw-Hill Education-EuropevLin, K.-J. Stabilization of uncertain fuzzy control systems via a new descriptor system approach (Open Access) (2012) Computers and Mathematics with Applications, 64 (5), pp. 1170-1178. Cited 22 times. doi: 10.1016/j.camwa.2012.03.059El-Nagar, A.M., El-Bardini, M., El-Rabaie, N.M. Intelligent control for nonlinear inverted pendulum based on interval type-2 fuzzy PD controller (2014) Alexandria Engineering Journal, 53 (1), pp. 23-32. Cited 51 times. http://www.elsevier.com/wps/find/journaldescription.cws_home/724292/description#description doi: 10.1016/j.aej.2013.11.006http://purl.org/coar/resource_type/c_2df8fbb1ORIGINALPassivity-based control applied of a reaction wheel pendulum.pdfPassivity-based control applied of a reaction wheel pendulum.pdfapplication/pdf146277https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/1/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf5eded8c669ac50447290b15a70008b0aMD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8805https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/2/license_rdf4460e5956bc1d1639be9ae6146a50347MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-83182https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/3/license.txte20ad307a1c5f3f25af9304a7a7c86b6MD53TEXTPassivity-based control applied of a reaction wheel pendulum.pdf.txtPassivity-based control applied of a reaction wheel pendulum.pdf.txtExtracted texttext/plain6427https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/4/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf.txt15298271acc2fa23708a710a4cacc4b1MD54THUMBNAILPassivity-based control applied of a reaction wheel pendulum.pdf.jpgPassivity-based control applied of a reaction wheel pendulum.pdf.jpgGenerated Thumbnailimage/jpeg7846https://repositorio.utb.edu.co/bitstream/20.500.12585/12406/5/Passivity-based%20control%20applied%20of%20a%20reaction%20wheel%20pendulum.pdf.jpg633c3a8a5c349b36d779ce6fc94dcfddMD5520.500.12585/12406oai:repositorio.utb.edu.co:20.500.12585/124062023-07-25 00:17:41.002Repositorio Institucional UTBrepositorioutb@utb.edu.coQXV0b3Jpem8gKGF1dG9yaXphbW9zKSBhIGxhIEJpYmxpb3RlY2EgZGUgbGEgSW5zdGl0dWNpw7NuIHBhcmEgcXVlIGluY2x1eWEgdW5hIGNvcGlhLCBpbmRleGUgeSBkaXZ1bGd1ZSBlbiBlbCBSZXBvc2l0b3JpbyBJbnN0aXR1Y2lvbmFsLCBsYSBvYnJhIG1lbmNpb25hZGEgY29uIGVsIGZpbiBkZSBmYWNpbGl0YXIgbG9zIHByb2Nlc29zIGRlIHZpc2liaWxpZGFkIGUgaW1wYWN0byBkZSBsYSBtaXNtYSwgY29uZm9ybWUgYSBsb3MgZGVyZWNob3MgcGF0cmltb25pYWxlcyBxdWUgbWUobm9zKSBjb3JyZXNwb25kZShuKSB5IHF1ZSBpbmNsdXllbjogbGEgcmVwcm9kdWNjacOzbiwgY29tdW5pY2FjacOzbiBww7pibGljYSwgZGlzdHJpYnVjacOzbiBhbCBww7pibGljbywgdHJhbnNmb3JtYWNpw7NuLCBkZSBjb25mb3JtaWRhZCBjb24gbGEgbm9ybWF0aXZpZGFkIHZpZ2VudGUgc29icmUgZGVyZWNob3MgZGUgYXV0b3IgeSBkZXJlY2hvcyBjb25leG9zIHJlZmVyaWRvcyBlbiBhcnQuIDIsIDEyLCAzMCAobW9kaWZpY2FkbyBwb3IgZWwgYXJ0IDUgZGUgbGEgbGV5IDE1MjAvMjAxMiksIHkgNzIgZGUgbGEgbGV5IDIzIGRlIGRlIDE5ODIsIExleSA0NCBkZSAxOTkzLCBhcnQuIDQgeSAxMSBEZWNpc2nDs24gQW5kaW5hIDM1MSBkZSAxOTkzIGFydC4gMTEsIERlY3JldG8gNDYwIGRlIDE5OTUsIENpcmN1bGFyIE5vIDA2LzIwMDIgZGUgbGEgRGlyZWNjacOzbiBOYWNpb25hbCBkZSBEZXJlY2hvcyBkZSBhdXRvciwgYXJ0LiAxNSBMZXkgMTUyMCBkZSAyMDEyLCBsYSBMZXkgMTkxNSBkZSAyMDE4IHkgZGVtw6FzIG5vcm1hcyBzb2JyZSBsYSBtYXRlcmlhLgoKQWwgcmVzcGVjdG8gY29tbyBBdXRvcihlcykgbWFuaWZlc3RhbW9zIGNvbm9jZXIgcXVlOgoKLSBMYSBhdXRvcml6YWNpw7NuIGVzIGRlIGNhcsOhY3RlciBubyBleGNsdXNpdmEgeSBsaW1pdGFkYSwgZXN0byBpbXBsaWNhIHF1ZSBsYSBsaWNlbmNpYSB0aWVuZSB1bmEgdmlnZW5jaWEsIHF1ZSBubyBlcyBwZXJwZXR1YSB5IHF1ZSBlbCBhdXRvciBwdWVkZSBwdWJsaWNhciBvIGRpZnVuZGlyIHN1IG9icmEgZW4gY3VhbHF1aWVyIG90cm8gbWVkaW8sIGFzw60gY29tbyBsbGV2YXIgYSBjYWJvIGN1YWxxdWllciB0aXBvIGRlIGFjY2nDs24gc29icmUgZWwgZG9jdW1lbnRvLgoKLSBMYSBhdXRvcml6YWNpw7NuIHRlbmRyw6EgdW5hIHZpZ2VuY2lhIGRlIGNpbmNvIGHDsW9zIGEgcGFydGlyIGRlbCBtb21lbnRvIGRlIGxhIGluY2x1c2nDs24gZGUgbGEgb2JyYSBlbiBlbCByZXBvc2l0b3JpbywgcHJvcnJvZ2FibGUgaW5kZWZpbmlkYW1lbnRlIHBvciBlbCB0aWVtcG8gZGUgZHVyYWNpw7NuIGRlIGxvcyBkZXJlY2hvcyBwYXRyaW1vbmlhbGVzIGRlbCBhdXRvciB5IHBvZHLDoSBkYXJzZSBwb3IgdGVybWluYWRhIHVuYSB2ZXogZWwgYXV0b3IgbG8gbWFuaWZpZXN0ZSBwb3IgZXNjcml0byBhIGxhIGluc3RpdHVjacOzbiwgY29uIGxhIHNhbHZlZGFkIGRlIHF1ZSBsYSBvYnJhIGVzIGRpZnVuZGlkYSBnbG9iYWxtZW50ZSB5IGNvc2VjaGFkYSBwb3IgZGlmZXJlbnRlcyBidXNjYWRvcmVzIHkvbyByZXBvc2l0b3Jpb3MgZW4gSW50ZXJuZXQgbG8gcXVlIG5vIGdhcmFudGl6YSBxdWUgbGEgb2JyYSBwdWVkYSBzZXIgcmV0aXJhZGEgZGUgbWFuZXJhIGlubWVkaWF0YSBkZSBvdHJvcyBzaXN0ZW1hcyBkZSBpbmZvcm1hY2nDs24gZW4gbG9zIHF1ZSBzZSBoYXlhIGluZGV4YWRvLCBkaWZlcmVudGVzIGFsIHJlcG9zaXRvcmlvIGluc3RpdHVjaW9uYWwgZGUgbGEgSW5zdGl0dWNpw7NuLCBkZSBtYW5lcmEgcXVlIGVsIGF1dG9yKHJlcykgdGVuZHLDoW4gcXVlIHNvbGljaXRhciBsYSByZXRpcmFkYSBkZSBzdSBvYnJhIGRpcmVjdGFtZW50ZSBhIG90cm9zIHNpc3RlbWFzIGRlIGluZm9ybWFjacOzbiBkaXN0aW50b3MgYWwgZGUgbGEgSW5zdGl0dWNpw7NuIHNpIGRlc2VhIHF1ZSBzdSBvYnJhIHNlYSByZXRpcmFkYSBkZSBpbm1lZGlhdG8uCgotIExhIGF1dG9yaXphY2nDs24gZGUgcHVibGljYWNpw7NuIGNvbXByZW5kZSBlbCBmb3JtYXRvIG9yaWdpbmFsIGRlIGxhIG9icmEgeSB0b2RvcyBsb3MgZGVtw6FzIHF1ZSBzZSByZXF1aWVyYSBwYXJhIHN1IHB1YmxpY2FjacOzbiBlbiBlbCByZXBvc2l0b3Jpby4gSWd1YWxtZW50ZSwgbGEgYXV0b3JpemFjacOzbiBwZXJtaXRlIGEgbGEgaW5zdGl0dWNpw7NuIGVsIGNhbWJpbyBkZSBzb3BvcnRlIGRlIGxhIG9icmEgY29uIGZpbmVzIGRlIHByZXNlcnZhY2nDs24gKGltcHJlc28sIGVsZWN0csOzbmljbywgZGlnaXRhbCwgSW50ZXJuZXQsIGludHJhbmV0LCBvIGN1YWxxdWllciBvdHJvIGZvcm1hdG8gY29ub2NpZG8gbyBwb3IgY29ub2NlcikuCgotIExhIGF1dG9yaXphY2nDs24gZXMgZ3JhdHVpdGEgeSBzZSByZW51bmNpYSBhIHJlY2liaXIgY3VhbHF1aWVyIHJlbXVuZXJhY2nDs24gcG9yIGxvcyB1c29zIGRlIGxhIG9icmEsIGRlIGFjdWVyZG8gY29uIGxhIGxpY2VuY2lhIGVzdGFibGVjaWRhIGVuIGVzdGEgYXV0b3JpemFjacOzbi4KCi0gQWwgZmlybWFyIGVzdGEgYXV0b3JpemFjacOzbiwgc2UgbWFuaWZpZXN0YSBxdWUgbGEgb2JyYSBlcyBvcmlnaW5hbCB5IG5vIGV4aXN0ZSBlbiBlbGxhIG5pbmd1bmEgdmlvbGFjacOzbiBhIGxvcyBkZXJlY2hvcyBkZSBhdXRvciBkZSB0ZXJjZXJvcy4gRW4gY2FzbyBkZSBxdWUgZWwgdHJhYmFqbyBoYXlhIHNpZG8gZmluYW5jaWFkbyBwb3IgdGVyY2Vyb3MgZWwgbyBsb3MgYXV0b3JlcyBhc3VtZW4gbGEgcmVzcG9uc2FiaWxpZGFkIGRlbCBjdW1wbGltaWVudG8gZGUgbG9zIGFjdWVyZG9zIGVzdGFibGVjaWRvcyBzb2JyZSBsb3MgZGVyZWNob3MgcGF0cmltb25pYWxlcyBkZSBsYSBvYnJhIGNvbiBkaWNobyB0ZXJjZXJvLgoKLSBGcmVudGUgYSBjdWFscXVpZXIgcmVjbGFtYWNpw7NuIHBvciB0ZXJjZXJvcywgZWwgbyBsb3MgYXV0b3JlcyBzZXLDoW4gcmVzcG9uc2FibGVzLCBlbiBuaW5nw7puIGNhc28gbGEgcmVzcG9uc2FiaWxpZGFkIHNlcsOhIGFzdW1pZGEgcG9yIGxhIGluc3RpdHVjacOzbi4KCi0gQ29uIGxhIGF1dG9yaXphY2nDs24sIGxhIGluc3RpdHVjacOzbiBwdWVkZSBkaWZ1bmRpciBsYSBvYnJhIGVuIMOtbmRpY2VzLCBidXNjYWRvcmVzIHkgb3Ryb3Mgc2lzdGVtYXMgZGUgaW5mb3JtYWNpw7NuIHF1ZSBmYXZvcmV6Y2FuIHN1IHZpc2liaWxpZGFkCgo= |