{"id":"https://openalex.org/W4380606960","doi":"https://doi.org/10.1109/tase.2023.3283497","title":"Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM With Wide-Angle Depth-Images","display_name":"Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM With Wide-Angle Depth-Images","publication_year":2023,"publication_date":"2023-06-14","ids":{"openalex":"https://openalex.org/W4380606960","doi":"https://doi.org/10.1109/tase.2023.3283497"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2023.3283497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3283497","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04125159","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043527634","display_name":"K\u00e9vin Chappellet","orcid":"https://orcid.org/0000-0001-8041-3160"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Kevin Chappellet","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","Structures, Systems, University of Montpellier, Doctoral School Information, Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0001-8041-3160","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Structures, Systems, University of Montpellier, Doctoral School Information, Montpellier, France","institution_ids":["https://openalex.org/I19894307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Murooka","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1258-0431","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002690651","display_name":"Guillaume Caron","orcid":"https://orcid.org/0000-0003-3703-2973"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Guillaume Caron","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3703-2973","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0277-3467","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["FR","JP"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","LIRMM, CNRS, University of Montpellier, Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0001-9033-9742","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"LIRMM, CNRS, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7002,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.83039569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"21","issue":"3","first_page":"3691","last_page":"3704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T12290","display_name":"Human Motion and Animation","score":0.9790999889373779,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bobbin","display_name":"Bobbin","score":0.7586339116096497},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6489776968955994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6341226100921631},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6077800393104553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.546267569065094},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5461645126342773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4883362948894501},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42139485478401184},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3360288441181183},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3204120993614197},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30217766761779785},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10746735334396362}],"concepts":[{"id":"https://openalex.org/C199540501","wikidata":"https://www.wikidata.org/wiki/Q1520790","display_name":"Bobbin","level":2,"score":0.7586339116096497},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6489776968955994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6341226100921631},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6077800393104553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.546267569065094},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5461645126342773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4883362948894501},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42139485478401184},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3360288441181183},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3204120993614197},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30217766761779785},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10746735334396362},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2023.3283497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2023.3283497","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04125159v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04125159","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, 2024, 21 (3), pp.3691-3704. &#x27E8;10.1109/TASE.2023.3283497&#x27E9;","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04125159v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04125159","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering, 2024, 21 (3), pp.3691-3704. &#x27E8;10.1109/TASE.2023.3283497&#x27E9;","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W1506318495","https://openalex.org/W1883517952","https://openalex.org/W1981705254","https://openalex.org/W1987648924","https://openalex.org/W2012804028","https://openalex.org/W2016237352","https://openalex.org/W2064451896","https://openalex.org/W2071992612","https://openalex.org/W2087485438","https://openalex.org/W2105518550","https://openalex.org/W2128342817","https://openalex.org/W2148661625","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2220543179","https://openalex.org/W2280057228","https://openalex.org/W2461937780","https://openalex.org/W2527142681","https://openalex.org/W2537007072","https://openalex.org/W2564632156","https://openalex.org/W2569791289","https://openalex.org/W2586536416","https://openalex.org/W2588016079","https://openalex.org/W2598706937","https://openalex.org/W2605089300","https://openalex.org/W2621274416","https://openalex.org/W2668559190","https://openalex.org/W2738358082","https://openalex.org/W2750632489","https://openalex.org/W2790853419","https://openalex.org/W2808004181","https://openalex.org/W2809451359","https://openalex.org/W2898231767","https://openalex.org/W2900391154","https://openalex.org/W2913971027","https://openalex.org/W2937713253","https://openalex.org/W2951730755","https://openalex.org/W2963109694","https://openalex.org/W2963188159","https://openalex.org/W2977977449","https://openalex.org/W2980996786","https://openalex.org/W2982030033","https://openalex.org/W2986578974","https://openalex.org/W2992529344","https://openalex.org/W3000159856","https://openalex.org/W3033343353","https://openalex.org/W3042846696","https://openalex.org/W3043971245","https://openalex.org/W3092514654","https://openalex.org/W3099913005","https://openalex.org/W3103957575","https://openalex.org/W3104255671","https://openalex.org/W3106440972","https://openalex.org/W3118897941","https://openalex.org/W3124420883","https://openalex.org/W3130046875","https://openalex.org/W3130138602","https://openalex.org/W3131698977","https://openalex.org/W3132538548","https://openalex.org/W3164088557","https://openalex.org/W3169802677","https://openalex.org/W3212737926","https://openalex.org/W3217588164","https://openalex.org/W3217798944","https://openalex.org/W6779811024","https://openalex.org/W6803984101"],"related_works":["https://openalex.org/W2366847884","https://openalex.org/W2319044678","https://openalex.org/W2066112174","https://openalex.org/W2316924528","https://openalex.org/W4307855948","https://openalex.org/W2122928664","https://openalex.org/W2375775945","https://openalex.org/W2036916433","https://openalex.org/W2021161036","https://openalex.org/W3107902596"],"abstract_inverted_index":{"To":[0,26],"efficiently":[1],"achieve":[2,27],"complex":[3],"humanoid":[4,62,131,147,231],"loco-manipulation":[5,220],"tasks":[6,157,282],"in":[7,50,82,86,108,149,189,277,283],"industrial":[8,66,203],"contexts,":[9],"we":[10,205,265],"propose":[11],"a":[12,21,35,53,89,101,180,197],"combined":[13],"vision-based":[14],"tracker-localization":[15],"interplay":[16,211],"integrated":[17],"as":[18,166,242],"part":[19],"of":[20,133,171,196,270,280],"task-space":[22,181],"whole-body":[23],"optimization":[24],"control.":[25],"good":[28],"perception":[29],"complementarity":[30],"between":[31,212],"manipulation":[32],"and":[33,48,56,70,84,91,97,214,227,254,286],"localization,":[34],"new":[36],"fast":[37],"dense":[38],"3D":[39],"model-based":[40],"tracking":[41,216],"using":[42,94,128],"wide-angle":[43],"depth":[44],"image":[45],"is":[46,77,106,245,260],"developed":[47,179],"used":[49],"conjunction":[51],"with":[52,79,116,200,238,250],"simultaneous":[54],"localization":[55],"mapping":[57],"software.":[58],"Our":[59,222],"approach":[60,223,259],"allows":[61],"robots,":[63],"targeted":[64],"for":[65],"manufacturing,":[67],"to":[68,140,159,175,210,217,229,272],"manipulate":[69],"assemble":[71],"large-scale":[72,110,150,284],"objects":[73,164],"while":[74],"walking.":[75],"It":[76],"assessed":[78],"experiments":[80,125,249],"consisting":[81],"rolling":[83],"assembling":[85],"an":[87],"unwinder":[88],"heavy":[90],"wide":[92],"bobbin":[93],"bimanual":[95],"grasping":[96],"bipedal":[98],"locomotion":[99],"at":[100,145,274],"time.":[102],"This":[103],"experimental":[104],"use-case":[105],"found":[107],"some":[109],"manufacturing":[111,151],"where":[112],"bobbins":[113,168],"are":[114,126],"enrolled":[115],"various":[117],"materials":[118],"(cables,":[119],"papers,":[120],"rubbers,":[121],"etc.).":[122],"The":[123],"same":[124,135],"made":[127,246],"two":[129,251],"different":[130,252],"robots":[132,148,237],"the":[134,190,194,243,268,278],"family.":[136],"<italic":[137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[139],"Practitioners</i>":[141],"\u2014This":[142],"paper":[143],"aims":[144],"deploying":[146],"industries.":[152],"We":[153,178],"consider":[154],"non-added":[155],"value":[156],"related":[158],"transporting":[160],"large":[161,167],"tools":[162],"or":[163,233],"such":[165],"by":[169],"means":[170],"locomanipulation":[172,281],"skills,":[173],"similarly":[174],"human":[176],"workers.":[177],"control":[182,208],"framework":[183,209],"that":[184,257],"has":[185],"been":[186],"successfully":[187],"applied":[188,226],"aircraft":[191],"industry.":[192],"In":[193,262],"frame":[195],"current":[198],"collaboration":[199],"other":[201],"major":[202],"sectors,":[204],"enhanced":[206],"our":[207,258],"SLAM":[213],"visual":[215],"realize":[218],"robust":[219],"tasks.":[221],"can":[224],"be":[225],"ported":[228],"any":[230],"robot":[232],"bi-manual":[234],"wheeled":[235],"mobile":[236],"minor":[239],"programming":[240],"effort":[241],"software":[244],"open.":[247],"Preliminary":[248],"humanoids":[253],"use-cases":[255],"suggest":[256],"feasible.":[261],"future":[263],"research,":[264],"will":[266],"address":[267],"problem":[269],"performance":[271],"reach":[273],"least":[275],"human-speed":[276],"execution":[279],"industry":[285],"automation":[287],"contexts.":[288]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}