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Lord MicroStrain 3DM-CX5-45 User Manual

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LORD USER MANUAL
3DM-CX5-45
GNSS-Aided Inertial Navigation System (GNSS/INS)

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Summary of Contents for Lord MicroStrain 3DM-CX5-45

  • Page 1 LORD USER MANUAL 3DM-CX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS)
  • Page 2 ® MicroStrain Sensing Systems 459 Hurricane Lane Suite 102 Williston, VT 05495 United States of America Phone: 802-862-6629 www.microstrain.com sensing_support@LORD.com sensing_sales@LORD.com Copyright © 2019 LORD Corporation Document 8500-0084 Revision - Subject to change without notice.

  • Page 3: Table Of Contents

    3DM-CX5-45 User Manual Table of Contents System Family Overview Sensor Overview Components Interface and Indicators Basic Setup and Operations Software Installation System Connections Software Interface 3.3.1 Interactive Help Menu Sensor Communication GNSS Satellite Link Sensor Settings 3.7.1 Saving Configurations Data Monitoring and Recording...
  • Page 4 3DM-CX5-45 User Manual Tare Mounting Pitch-Roll Magnetometer Auto Calibration 5.3.1 Enable 5.3.2 Capture Magnetometer Manual Calibration Estimation Filter Aiding Heading Aiding Settings 5.6.1 Bias Convergence Adaptive Anomaly Rejection 5.7.1 Gravity Adaptive 5.7.2 Mag Adaptive Angular Rate and Acceleration Limits Communications Bandwidth 5.10...
  • Page 5 3DM-CX5-45 User Manual 7.1.2 Sensor Direct Mode Sensor Wiring Sampling on Start-up Connecting to a Datalogger Using Wireless Adapters Troubleshooting Troubleshooting Guide Repair and Calibration Maintenance Technical Support Parts and Configurations Standard Configurations Accessories Sales Support Specifications Reference Diagrams 11.1 Sensor Dimensions and Origin 11.2...

  • Page 6: System Family Overview

    3DM-CX5-45 User Manual System Family Overview The LORD Sensing 3DM-CX5 family of industrial-grade inertial sensors provides a wide range of triaxial inertial measurements and computed attitude and navigation solutions. In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and angular rate, and some also offer atmospheric pressure readings.

  • Page 7: Sensor Overview

    Auto- Adaptive Extended Kalman Filter (EKF) allows the 3DM-CX5-45 to perform well in a wide variety of applications that require low noise, drift, gain, and offset errors. Uncertainty monitoring, scale factor estimation, and bias estimation outputs are available.

  • Page 8: Components

    User Manual Components The 3DM-CX5-45 Inertial Sensor can be purchased by itself or as part of a Connectivity Kit . All software, drivers, and links to detailed documentation are included with the sensor purchase. For a complete list of available configurations, accessories, additional system products, and ordering...
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  • Page 10: Interface And Indicators

    The sensor is installed using the mounting and alignment holes as needed ( Mounting on page 1 The indicators on the 3DM-CX5-45 include a device status indicator and the device information label. The table below describes the basic status indicator behavior. The device information label includes the...

  • Page 11: Basic Setup And Operations

    If magnetization is suspected, use a degaussing tool to demagnetize. To acquire sensor measurements and computed outputs, the 3DM-CX5-45 uses a host computer, and TTL SERIAL or USB communications port, and applicable software. The LORD Sensing MIP Monitor software is provided with the system and includes all functions needed for sensor configuration and data acquisition.

  • Page 12: Software Installation

    User Manual Software Installation NOTE The MIP Monitor Software Suite includes hardware drivers required for 3DM-CX5-45 sensor operation. Sensors will not be recognized without these drivers installed. To Install the MIP Monitor software on the host computer, complete the following steps: 1.

  • Page 13: System Connections

    Specifications on page 61 and active ( To acquire sensor data the following components are needed: 3DM-CX5-45 sensor, communication cable, power cable, GNSS antenna, GNSS non-magnetic antenna adapter cable, and a host computer with LORD Sensing MIP Monitor installed.

  • Page 14: Software Interface

    3DM-CX5-45 User Manual Software Interface The MIP Monitor software includes a main window with system information and menus, a device settings window, and several data monitoring windows. The main window provides an overview of connected devices. Devices are selected by clicking on them.

  • Page 15: Interactive Help Menu

    3DM-CX5-45 User Manual 3.3.1 Interactive Help Menu MIP Monitor also includes a mouse-over feature that provides explanations of the information and settings. This feature is enabled by selecting the question mark icon or Help button in any window. Figure 7 - Context Sensitive Help Menu Sensor Communication Once power has been applied to the sensor, it is functional.
  • Page 16 3DM-CX5-45 User Manual Figure 8 -Sensor Communication NOTE If data is not actively being exchanged between the sensor and host computer, the status message may display Not Connected. This indicates the port status, not the sensor availability. When commands are sent to the sensor, the software will automatically connect...

  • Page 17: Gnss Satellite Link

    The GNSS antenna requires unobstructed line of sight with the sky in order to achieve communication with the GNSS satellites. Communication between the GNSS receiver and GNSS satellites is initiated when the 3DM-CX5-45 is first powered on. The receiver will continuously search for satellites until a link is established. When the link is established, the GNSS Monitor window in the MIP Monitor software will display the satellite and link statistics.

  • Page 18: Saving Configurations

    3DM-CX5-45 User Manual Figure 9 -Device Settings Menu 3.7.1 Saving Configurations Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after configuration, but they are lost when the device is powered off. To save current settings, so they are automatically restored the next time the device is powered on, select Settings >...

  • Page 19: Data Monitoring And Recording

    Each view corresponds to one of the main categories in the Device Settings window. For example, the 3DM-CX5-45 includes Sensor Data Monitoring for the IMU/AHRS measurements, GNSS Monitoring for the GNSS metrics, and EF Monitoring for the Estimation Filter outputs.

  • Page 20: View Recorded Data

    3DM-CX5-45 User Manual Figure 12 - Data Streaming is an example of Sensor Data Monitoring, which displays the selected IMU/AHRS measurements. In data monitoring windows, no data will be displayed until data streaming is started, and no data will be recorded (even if it is being viewed) until data recording is initiated (armed).
  • Page 21 3DM-CX5-45 User Manual 1. To record data, select the Arm Recording icon at any time. 2. Select the type of data file to generate: Binary or CSV. The CSV file is the most common and can be viewed and processed by data editors such as Microsoft Excel.

  • Page 22: Sensor Measurements

    3DM-CX5-45. Computed estimations for position, velocity, and attitude (PVA) are available outputs on the 3DM-CX5-45.

  • Page 23: Direct Sensor Measurements (Imu Outputs)

    3DM-CX5-45 User Manual Direct Sensor Measurements (IMU Outputs) The sensors in an Inertial Navigation System (INS), from which measurements for navigation and orientation are obtained, are collectively known as the Inertial Measurement Unit (IMU). These sensors are arranged on the three primary axes (x, y, and z) to sense angular rate, acceleration, and the local magnetic field.
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  • Page 25: Ambient Pressure

    User Manual Table 2 - IMU Measurements lists the IMU measurements available for the 3DM-CX5-45. Additional measurement units may be available in MIP Monitor for some outputs, however they are converted values and do not represent the actual sensor outputs. Only actual output units are listed.

  • Page 26: Computed Outputs

    Computed Outputs (Estimation Filter) The computed outputs are measurements from the 3DM-CX5-45 IMU sensors and GNSS receiver that are blended through an Auto- Adaptive Extended Kalman Filter (EKF) algorithm. The Kalman Filter produces a better estimation of position, velocity, and attitude (PVA) outputs than can be achieved by the inertial sensors or the GNSS individually.
  • Page 27 3DM-CX5-45 User Manual Measurement Units Description indicates the current state of the EF, such Filter Status as running or initializing GNSS time corresponding to the calculated GPS Time weeks & seconds filter solution estimated position based on combined sensors degrees (position)
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  • Page 30: Sensor Reference Frames

    The World Geodetic System is the standard for cartography and navigation. The latest revision, WGS84, is the reference coordinate system for GPS, and the 3DM-CX5-45 reports position using this coordinate frame. It also calculates the magnitude of the local gravity vector using the WGS84 reference formulas.

  • Page 31: North East Down (Ned) Frame

    For most applications, this assumption is valid and provides a more intuitive reference frame for expressing velocity and attitude information than a global frame. The 3DM-CX5-45 reports velocity in this frame and attitude with respect to this frame. Figure 18 - North East Down Frame...

  • Page 32: Sensor Frame

    Device Settings > EF settings > Geographic. Refer to the 3DM-CX5-45 dimensional diagram for the location of the measurement origin ( Sensor Dimensions and Origin on page 69...

  • Page 33: Platform Frame

    4.3.4 Platform Frame The 3DM-CX5-45 includes the option to define an orientation transformation and offset distance from the sensor frame to a user-definable platform frame. This is useful when the sensor cannot be mounted in the same location or orientation as the desired reference point on the platform frame.
  • Page 34 3DM-CX5-45 User Manual In the MIP Monitor software the transformation and offset settings are entered at: Settings > Device > Estimation Filter > Mounting in the Mounting Offset and Mounting Transformation fields ( Figure 21 - Platform Frame Settings see Tare Mounting Pitch-Roll on page 35 ).

  • Page 35: Performance Optimization

    3DM-CX5-45 User Manual Performance Optimization Gyroscope Bias Gyroscope biases (offsets) can be zeroed out to set a baseline value for the static home position and conditions in the application. This should be done after sensor installation. To set the gyroscope baseline, place the sensor or sensor platform in the desired home position. Allow 2-3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture.

  • Page 36: Tare Mounting Pitch-Roll

    3DM-CX5-45 User Manual Tare Mounting Pitch-Roll This function captures the current pitch-roll orientation of the device and sets it as the level reference, providing a convenient way to set the sensor to vehicle frame transformation. For more information on the corresponding LORD Sensing MIP Data Communications Protocol (DCP) command, see the DCP Manual .

  • Page 37: Magnetometer Auto Calibration

    3DM-CX5-45 User Manual Magnetometer Auto Calibration 5.3.1 Enable Enabling the EF Mag Hard Iron Auto Calibration allows estimation of the magnetometer bias (bias tracking) for purposes of auto- calibration. Enabling the EF Mag Soft Auto Calibration allows estimation of the magnetometer scale factor (scale factor tracking) for purposes of auto-calibration.

  • Page 38: Capture

    3DM-CX5-45 User Manual 5.3.2 Capture This command captures the current value of the auto-calibration, applies it to the current fixed hard and soft iron calibration coefficients, and replaces the current fixed hard and soft iron calibration coefficients with the new values. This may be used in place of (or in addition to) a manual hard and...

  • Page 39: Magnetometer Manual Calibration

    However, often these sources are hard to avoid or are hidden. To mitigate this effect when using the 3DM-CX5-45 magnetometer to aid in heading estimations, a field calibration of the magnetometer after final installation is highly recommended. This can be accomplished using LORD Sensing MIP Hard and Soft Iron Calibration software.
  • Page 40 3DM-CX5-45 User Manual 3. The sensor should automatically appear in the sensor list. If not, use the Refresh button to query it and then select the sensor ( Figure 26 - Sensor Menu 4. Select the Arm Recording button next to Collect Data. The software will begin taking readings, as indicated by the points counter in the graphing window.
  • Page 41 3DM-CX5-45 User Manual quadrants. If the range of motion is restricted in one dimension, the Spherical Fit may be the best choice. If there are enough points in all dimensions, the Ellipsoid Fit may be better. Generally, if the Spherical and Ellipsoid Fits are close in the mean diameter, then the Ellipsoid Fit will be the best choice.

  • Page 42: Estimation Filter Aiding

    3DM-CX5-45 User Manual Estimation Filter Aiding There are four primary categories with sub-menus in each to customize GNSS,heading , pitch-roll, and altitude . To enter the Estimation Filter Aiding menu, select the sensor name in the MIP Monitor software main window, then select Settings > Device > Estimation Filter > EF Aiding.

  • Page 43: Heading Aiding Settings

    Heading Aiding Settings Device settings are stored in the sensor memory. Only the configuration options that are available for the type of sensor being used are displayed in the configurations menus. The 3DM-CX5-45 has eight heading options. If the setting is an external reference, the user has to provide a heading reference (for example, GPS External Receiver on page 1 ).

  • Page 44: Bias Convergence

    3DM-CX5-45 User Manual 5.6.1 Bias Convergence Accurate estimation of the biases can take several minutes to converge, therefore after the filter is initialized, the free-inertial performance will continue to improve until the bias estimations settles. The MEMS sensor manufacturers quote bias drift stability numbers which correspond to the expected drift in bias while the sensor is operating.

  • Page 45: Mag Adaptive

    3DM-CX5-45 User Manual 5.7.2 Mag Adaptive Enabling this feature will allow the filter to reject magnetometer readings when the magnitude error exceeds the high limit (in m/s ^ 2). The bandwidth (in Hz) sets the cutoff frequency of the low pass...

  • Page 46: Angular Rate And Acceleration Limits

    5.11 Estimation Filter Operation The 3DM-CX5-45 combines the information from a GNSS receiver and the IMU sensors to calculate a navigation solution that incorporates the strengths of the individual systems while minimizing their weaknesses.
  • Page 47 Kalman filter. The 3DM-CX5-45 runs a loosely- coupled Extended Kalman Filter . In a loosely- coupled filter, the inertial sensors in the IMU are used to propagate the state estimation at a high rate (500 Hz); whereas the GNSS position and velocity measurements are used to periodically correct the state (4 Hz.) This...

  • Page 48: Estimation Filter Convergence

    (such as when mounting the 3DM-CX5-45 on a gimbal close to the frame of a ground vehicle). The Kalman filter estimates the full states of position, velocity, attitude, and sensor parameters for a total of 34 states: 3 position, 3 velocity, 4 attitude (quaternion), 3 accel bias, 3 gyro bias, 3 accel scale factor, 3 gyro scale factor, 9 magnetometer, and 3 GNSS antenna offset error states.

  • Page 49: Output Uncertainty

    5.12.2 Output Uncertainty The 3DM-CX5-45 estimation data set includes a filter status field that contains a set of status flags. These flags pertain to high covariance values for position, velocity, attitude, and inertial sensor parameters. These flags should be monitored and cross- checked against the corresponding uncertainty fields when they appear.
  • Page 50 3DM-CX5-45 User Manual To export the sensor settings, select the sensor name in the MIP Monitor software main window, then select Settings > Export Settings, then follow the prompt to choose where the file will be saved, and select OK. The file will be named by default using the sensor name, serial number, date and time.

  • Page 51: Sensor Installation

    The connector and cable must be non- magnetic. The MMCX to SMA adapter cable supplied with all 3DM-CX5-45 is non-magnetic. The sensor has two mounting tabs with holes for fastening. Mounting screws should be brass or 300 Series stainless steel.

  • Page 52: Oem System Integration

    The LORD Sensing MIP Data Communications Protocol (DCP) includes all commands available for controlling and acquiring data from the 3DM-CX5-45, including many that are not available in the MIP Monitor software. Programming is performed through a standard serial interface program. The programming interface is comprised of setup and control commands and a very flexible user- configurable data output format.

  • Page 53: Packet Builder

    Packet Builder To expedite program development, a packet builder tool is included in the MIP Monitor software. The packet builder allows users to send multiple packets to the 3DM-CX5-45 and view the resulting reply data. Applicable protocol structure and design is described in the 3DM-CX5-45 LORD Sensing MIP Data Communications Protocol (DCP) Manual DCP Manual .
  • Page 54 3DM-CX5-45 User Manual To enter this mode select Advanced > Communications> Sensor Direct from the MIP Monitor main window. Once in this mode the device status message will indicate Sensor Direct Mode ( Figure 36 - Sensor Direct Mode To exit Sensor Direct Mode select the Refresh button in the MIP Monitor at any time, or use Advanced >...

  • Page 55: 7.2 Sensor Wiring

    3DM-CX5-45 User Manual 7.2 Sensor Wiring Only use power supplies within the operating range of the sensor, or permanent sensor damage or personal injury could result. There are two input power pins available, each with different voltage ranges. Connect only one at a time. Observe connection polarity.

  • Page 56: 7.3 Sampling On Start-Up

    3DM-CX5-45 User Manual 7.3 Sampling on Start-up The Save Current Settings command can be used to instruct the sensor to start streaming data as soon as it powered on. This can be useful in sensor integration applications in which immediate data acquisition is desired, and connection to MIP Monitor for data logging is not required.

  • Page 57: 7.4 Connecting To A Datalogger

    3DM-CX5-45 User Manual 7.4 Connecting to a Datalogger Many inertial applications incorporate dataloggers of all different types to collect and distribute sensor outputs. For more information and examples refer to the "Using Dataloggers with Inertial Sensors" Technical Note on the LORD Sensing website, or contact LORD Sensing Technical Support ( Technical Support on page 62 7.5 Using Wireless Adapters...

  • Page 58: Troubleshooting

    3DM-CX5-45 User Manual Troubleshooting Troubleshooting Guide...
  • Page 59 3DM-CX5-45 User Manual Problem Possible cause and recommended solution 1.1 no power is applied The status indicator on the device will be off. Make sure the 1. POWER sensor is connected to a power source and the status indicator illuminates.
  • Page 60 3DM-CX5-45 User Manual Problem Possible cause and recommended solution Sensing for reconfiguration. 2.5 GNSS receiver is not communicating The GNSS antenna requires unobstructed line of sight to the sky in order to link with the GNSS satellites. Also verify the GNSS antenna is plugged into the sensor and the cable is intact.
  • Page 61 3DM-CX5-45 User Manual Problem Possible cause and recommended solution the LORD Sensing MIP Data Communications Protocol (DCP) to make it readable. 3.6 sensor has been magnetized Contact or close proximity with magnets may disrupt the sensor operation and cause magnetization of internal components, which can affect magnetometer performance.

  • Page 62: Repair And Calibration

    LORD Sensing will contact the customer for approval to proceed beyond the minimum with the repair/replacement. Maintenance There are no user- serviceable parts on the 3DM-CX5-45. Removing the device cover or disassembling in any way voids the product warranty.

  • Page 63: Technical Support

    3DM-CX5-45 User Manual Technical Support There are many resources for product support found on the LORD Sensing website including technical notes, FAQs, and product manuals. http://www.microstrain.com/support_overview.aspx For further assistance our technical support engineers are available to help with technical and applications questions.

  • Page 64: Parts And Configurations

    3DM-CX5-45 User Manual Parts and Configurations Standard Configurations For the most current product information, custom, and OEM options not listed below, refer to the LORD Sensing website or contact the LORD Sensing Sales Department. Table 4 - Model Numbers describes the standard models available at the time this manual was published.
  • Page 65 3DM-CX5-45 User Manual The same options are available in each model, and are indicated in the last four digits of the product see Components on page 1 part number. For a list of the starter kit contents,( Figure 39 -Standard Part Numbers...

  • Page 66: Accessories

    3DM-CX5-45 User Manual Accessories The following parts are available for use with the 3DM-CX5-45. For the most current product see Sales Support information refer to the LORD Sensing website or contact the Sales Department. ( on page 65 Description LORD Sensing Part Number...

  • Page 67: Specifications

    3DM-CX5-45 User Manual Specifications General Triaxial accelerometer, triaxial gyroscope, triaxial Integrated magnetometer, pressure altimeter, temperature sensors, sensors and GNSS receiver Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, magnetic field , ambient pressure, Delta-theta, Delta-velocity Computed outputs: Extended Kalman Filter (EKF): filter status, GNSS...
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  • Page 69 3DM-CX5-45 User Manual Computed Outputs Position accuracy ±2 m RMS horizontal, ± 5 m RMS vertical (typ) Velocity accuracy ±0.1 m/s RMS (typ) EKF outputs: ±0.25° RMS roll and pitch, ±0.8° RMS heading (typ) Attitude accuracy CF outputs: ±0.5° roll, pitch, and heading (static, typ), ±2.0°...

  • Page 70: Reference Diagrams

    The diagrams in this section are to intended to aid in product installation and troubleshooting. For more see Technical Support on page 62 information contact LORD Sensing Technical Support ( 11.1 Sensor Dimensions and Origin This diagram describes the sensor physical specification including the measurement point of origin. Figure 40 - 3DM-CX5-45 Sensor Origin...

  • Page 71: Gnss Antenna Specifications

    3DM-CX5-45 User Manual 11.2 GNSS Antenna Specifications These specifications describe the GNSS antenna included in the 3DM-CX5-45 connectivity kit, as well as the short sensor to SMA coax jumper. Physical Specifications Construction ASA plastic Dimensions 38 mm x 38 mm x 14.3 mm...

  • Page 72: Power Supply Specifications (Rs232 Kits Only)

    11.3 Power Supply Specifications (RS232 kits only) The power supply is only required for the RS232 devices. These specifications describe the power supply included in the 3DM-CX5-45 connectivity kit. Operating Parameters AC input voltage rating 100 to 240 V ac...

  • Page 73: Communication And Power Cables

    User Manual 11.4 Communication and Power Cables These diagrams describe the cables included in the 3DM-CX5-45 connectivity kits. Only one is included in each kit, depending on the type of kit ordered. Figure 41 -RS232 Communications and power cable Figure 42 -USB Communications cable...
  • Page 74 3DM-CX5-45 User Manual This breakout cable enables users to wire from MicroStrain’s standard connector to their own equipment. Pin # Signal Color D- usb Black D+ usb Brown RX rs232 Orange TX rs232 Yellow Green Blue Violet Grey Figure 43 -Connecter breakout/interface cable (sold separately, PN: 6224-0100)

  • Page 75: Reference Documents

    3DM-CX5-45 User Manual Reference Documents Many references are available on the LORD Sensing website including product user manuals, technical notes, and quick start guides. These documents are continuously updated and may provide more accurate information than printed or file copies.

  • Page 76: Glossary

    3DM-CX5-45 User Manual Glossary A/D Value The digital representation of analog voltages in an analog-to-digital (A/D) conversion. The accuracy of the conversion is dependent on the resolution of the system electronics. Higher resolution produces a more accurate conversion. Acceleration In physics,acceleration is the change in the rate of speed (velocity) of an object over time.
  • Page 77 3DM-CX5-45 User Manual ASTM (Association of Standards and Testing) a nationally accepted organization for the testing and calibration of technological devices Attitude the orientaion of an object in space with reference to a defined frame, such as the North-East-Down (NED) frame...
  • Page 78 3DM-CX5-45 User Manual Delta-Theta the time integral of angular rate expressed with refernce to the device local coordinate system, in units of radians Delta-velocity the time integral of velocity expressed with refernce to the device local coordinate system, in units of...

  • Page 79: Host (Computer)

    3DM-CX5-45 User Manual Host (computer) The host computer is the computer that orchestrates command and control of attached devices or net- works. Inertial Measurement System Inclinometer device used to measure tilt, or tilt and roll Inertial pertaining to systems that have inertia or are used to measure changes in inertia as in angular or linear...
  • Page 80 3DM-CX5-45 User Manual NED (North-East-Down) A geographic reference system acronym for Original Equipment Manufacturer Offset A non-zero output signal of a sensor when no load is applied to it, typically due to sensor imperfections. Also called bias. Orientation The orientaion of an object in space with reference to a defined frame. Also called attitude.
  • Page 81 3DM-CX5-45 User Manual acronym for Root Mean Squared Roll In navigation roll is what occurs when a horizontal force is applied at a distance right or left from the cen- ter of gravity of the platform, causing it to move side to side with respect to the sensor or platform frame origin.
  • Page 82 3DM-CX5-45 User Manual UTC (Coordinated Universal Time) The primary time standard for world clocks and time. It is similar to Greenwich Mean Time (GMT). Vector a measurement with direction and magnitude with refernce from one point in space to another Velocity The rate of change of position with respect to time.

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