{"id":"https://openalex.org/W2970872060","doi":"https://doi.org/10.1109/access.2019.2937380","title":"Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators","display_name":"Deep Neural Network Approach in Human-Like Redundancy Optimization for Anthropomorphic Manipulators","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2970872060","doi":"https://doi.org/10.1109/access.2019.2937380","mag":"2970872060"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2937380","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937380","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08812723.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08812723.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100341891","display_name":"Hang Su","orcid":"https://orcid.org/0000-0002-6877-6783"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Hang Su","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035835836","display_name":"Wen Qi","orcid":"https://orcid.org/0000-0002-2091-3718"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Wen Qi","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2091-3718","affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, Bristol, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, Bristol, U.K","institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085074218","display_name":"Andr\u00e9a Aliverti","orcid":"https://orcid.org/0000-0002-2950-0231"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Aliverti","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045080493","display_name":"Giancarlo Ferrigno","orcid":"https://orcid.org/0000-0001-5913-9451"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giancarlo Ferrigno","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083795699","display_name":"Elena De Momi","orcid":"https://orcid.org/0000-0002-8819-2734"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elena De Momi","raw_affiliation_strings":["Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronics, Information, and Bioengineering, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.837,"has_fulltext":true,"cited_by_count":78,"citation_normalized_percentile":{"value":0.97542418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"124207","last_page":"124216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7422171831130981},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.7048551440238953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6952317357063293},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6042171716690063},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5796850919723511},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5746040940284729},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5745495557785034},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5705234408378601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5599114894866943},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4405778646469116},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43624651432037354},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42853814363479614},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4215850830078125},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42100614309310913},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1419335901737213}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7422171831130981},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7048551440238953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6952317357063293},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6042171716690063},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5796850919723511},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5746040940284729},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5745495557785034},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5705234408378601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5599114894866943},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4405778646469116},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43624651432037354},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42853814363479614},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4215850830078125},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42100614309310913},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1419335901737213},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2937380","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937380","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08812723.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1101012","is_oa":true,"landing_page_url":"http://hdl.handle.net/11311/1101012","pdf_url":"http://hdl.handle.net/11311/1101012","source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:f8ffdb8d039840acbcf817f331c5df1e","is_oa":true,"landing_page_url":"https://doaj.org/article/f8ffdb8d039840acbcf817f331c5df1e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 124207-124216 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2937380","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2937380","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08812723.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6499999761581421}],"awards":[{"id":"https://openalex.org/G264784167","display_name":null,"funder_award_id":"732515","funder_id":"https://openalex.org/F4320337669","funder_display_name":"H2020 European Institute of Innovation and Technology"},{"id":"https://openalex.org/G6867318907","display_name":"SMart weArable Robotic Teleoperated Surgery","funder_award_id":"732515","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G915687489","display_name":null,"funder_award_id":"EP/S001913","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320337669","display_name":"H2020 European Institute of Innovation and Technology","ror":"https://ror.org/036dxts37"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2970872060.pdf","grobid_xml":"https://content.openalex.org/works/W2970872060.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1497432777","https://openalex.org/W1921164062","https://openalex.org/W1977204015","https://openalex.org/W1983451087","https://openalex.org/W2020573549","https://openalex.org/W2030182584","https://openalex.org/W2039493274","https://openalex.org/W2045410034","https://openalex.org/W2056727612","https://openalex.org/W2061983682","https://openalex.org/W2072013944","https://openalex.org/W2074864714","https://openalex.org/W2095705004","https://openalex.org/W2096123611","https://openalex.org/W2099755684","https://openalex.org/W2115671966","https://openalex.org/W2136175429","https://openalex.org/W2141943257","https://openalex.org/W2144785785","https://openalex.org/W2151049116","https://openalex.org/W2162931300","https://openalex.org/W2203022174","https://openalex.org/W2216535602","https://openalex.org/W2323447981","https://openalex.org/W2340902425","https://openalex.org/W2344053498","https://openalex.org/W2479676305","https://openalex.org/W2513866924","https://openalex.org/W2564455057","https://openalex.org/W2564845968","https://openalex.org/W2589561664","https://openalex.org/W2590896313","https://openalex.org/W2607322329","https://openalex.org/W2624380632","https://openalex.org/W2735766064","https://openalex.org/W2740337843","https://openalex.org/W2755236197","https://openalex.org/W2773213923","https://openalex.org/W2778083011","https://openalex.org/W2805890534","https://openalex.org/W2808860853","https://openalex.org/W2890286316","https://openalex.org/W2899173433","https://openalex.org/W2902351130","https://openalex.org/W2914029293","https://openalex.org/W2947074529","https://openalex.org/W2961593785","https://openalex.org/W4205362845","https://openalex.org/W4255863373","https://openalex.org/W6674330103","https://openalex.org/W6683965311"],"related_works":["https://openalex.org/W2607470227","https://openalex.org/W1253671258","https://openalex.org/W2494338568","https://openalex.org/W2351331567","https://openalex.org/W2363760910","https://openalex.org/W1495042958","https://openalex.org/W3120652830","https://openalex.org/W1976840544","https://openalex.org/W2291700020","https://openalex.org/W2888165911"],"abstract_inverted_index":{"Human-like":[0],"behavior":[1,19,158],"has":[2],"emerged":[3],"in":[4,176],"the":[5,10,17,21,34,58,71,80,88,102,131,156,160],"robotics":[6],"area":[7,178],"for":[8,85,120,135,148],"improving":[9],"quality":[11],"of":[12,33,79,87],"Human-Robot":[13],"Interaction":[14],"(HRI).":[15],"For":[16],"human-like":[18,51,72,157],"imitation,":[20],"kinematic":[22],"mapping":[23],"between":[24,61],"a":[25,41,112,139],"human":[26],"arm":[27,144],"and":[28,64,123],"robot":[29,62,143,174],"manipulator":[30],"is":[31,105,152],"one":[32],"popular":[35],"solutions.":[36],"To":[37],"fulfill":[38],"this":[39,108],"requirement,":[40],"reconstruction":[42,121],"method":[43],"called":[44],"swivel":[45,65,73],"motion":[46,66,74],"was":[47],"adopted":[48],"to":[49,154,170],"achieve":[50],"imitation.":[52],"This":[53,82],"approach":[54,165],"aims":[55],"at":[56],"modeling":[57],"regression":[59],"relationship":[60],"pose":[63],"angle.":[67],"Then":[68],"it":[69],"reaches":[70],"using":[75],"its":[76],"redundant":[77,89],"degrees":[78],"manipulator.":[81,162],"characteristic":[83],"holds":[84],"most":[86],"anthropomorphic":[90,142,161,173],"robots.":[91],"Although":[92],"artificial":[93],"neural":[94,116],"network":[95,117],"(ANN)":[96],"based":[97],"approaches":[98],"show":[99,155],"moderate":[100],"robustness,":[101],"predictive":[103],"performance":[104],"limited.":[106],"In":[107],"paper,":[109],"we":[110,129],"propose":[111],"novel":[113],"deep":[114],"convolutional":[115],"(DCNN)":[118],"structure":[119],"enhancement":[122],"reducing":[124],"online":[125],"prediction":[126],"time.":[127],"Finally,":[128],"utilized":[130],"trained":[132],"DCNN":[133],"model":[134],"managing":[136],"redundancy":[137],"control":[138,171],"7":[140],"DoFs":[141],"(LWR4+,":[145],"KUKA,":[146],"Germany)":[147],"validation.":[149],"A":[150],"demonstration":[151],"presented":[153],"on":[159],"The":[163],"proposed":[164],"can":[166],"also":[167],"be":[168],"applied":[169],"other":[172],"manipulators":[175],"industry":[177],"or":[179],"biomedical":[180],"engineering.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":30},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
