{"id":"https://openalex.org/W1975579381","doi":"https://doi.org/10.1109/tepra.2014.6869140","title":"A multi-ball drive for omni-directional mobility","display_name":"A multi-ball drive for omni-directional mobility","publication_year":2014,"publication_date":"2014-04-01","ids":{"openalex":"https://openalex.org/W1975579381","doi":"https://doi.org/10.1109/tepra.2014.6869140","mag":"1975579381"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2014.6869140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2014.6869140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040638920","display_name":"Biruk A. Gebre","orcid":"https://orcid.org/0000-0001-5956-8280"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Biruk A. Gebre","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005609622","display_name":"Zachary Ryter","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Ryter","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020818327","display_name":"Sean R. Humphreys","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean R. Humphreys","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001626626","display_name":"Scott M. Ginsberg","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott M. Ginsberg","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017459940","display_name":"Sean P. Farrell","orcid":"https://orcid.org/0000-0002-7882-5729"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean P. Farrell","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081633885","display_name":"Anthony Kauffman","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Kauffman","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022202359","display_name":"William Capon","orcid":"https://orcid.org/0000-0001-6500-9629"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Capon","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053991968","display_name":"William G. Robbins","orcid":null},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Robbins","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083913136","display_name":"Kishore Pochiraju","orcid":"https://orcid.org/0000-0002-0248-8658"},"institutions":[{"id":"https://openalex.org/I108468826","display_name":"Stevens Institute of Technology","ror":"https://ror.org/02z43xh36","country_code":"US","type":"education","lineage":["https://openalex.org/I108468826"]},{"id":"https://openalex.org/I4210104624","display_name":"Manufacturing Institute","ror":"https://ror.org/027wewa02","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210104624"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kishore Pochiraju","raw_affiliation_strings":["Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Design and Manufacturing Institute Mechanical Engineering Dept, Stevens Institute of Technology, Hoboken, New Jersey, United States","institution_ids":["https://openalex.org/I108468826","https://openalex.org/I4210104624"]},{"raw_affiliation_string":"Mech. Eng. Dept., Stevens Inst. of Technol., Hoboken, NJ, USA","institution_ids":["https://openalex.org/I108468826"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7467147707939148},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6247738599777222},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6195054650306702},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.5849254131317139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.572180986404419},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46061253547668457},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.43236085772514343},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.431166410446167},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38914725184440613},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34436917304992676},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3292621970176697},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.32839441299438477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.300457239151001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27526402473449707},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.1407504677772522},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10029968619346619}],"concepts":[{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7467147707939148},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6247738599777222},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6195054650306702},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.5849254131317139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572180986404419},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46061253547668457},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.43236085772514343},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.431166410446167},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38914725184440613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34436917304992676},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3292621970176697},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.32839441299438477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.300457239151001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27526402473449707},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.1407504677772522},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10029968619346619},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tepra.2014.6869140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2014.6869140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1989672456","https://openalex.org/W2052860259","https://openalex.org/W2111338039","https://openalex.org/W2117728510","https://openalex.org/W2120135120","https://openalex.org/W2123234393","https://openalex.org/W2145401835","https://openalex.org/W2156466456"],"related_works":["https://openalex.org/W2656997359","https://openalex.org/W2022021367","https://openalex.org/W1973385172","https://openalex.org/W4240110559","https://openalex.org/W4211095314","https://openalex.org/W1991249326","https://openalex.org/W1508899372","https://openalex.org/W2083510688","https://openalex.org/W2294820933","https://openalex.org/W4319430762"],"abstract_inverted_index":{"In":[0],"this":[1,129],"paper,":[2],"the":[3,7,55,66,101,104,110,115,119,123,136,141,177,202],"concept":[4],"of":[5,54,59,63,103,109,114,118,128,135,170,205],"replacing":[6],"standard":[8],"wheel,":[9],"which":[10,38],"is":[11,24,28],"used":[12],"by":[13,18,167],"most":[14],"ground":[15,48,207],"vehicles":[16],"today,":[17],"a":[19,31,73,78,80,145,163,181],"spherical":[20],"ball":[21,74],"drive":[22,75],"system":[23],"explored.":[25],"The":[26,50,151],"aim":[27],"to":[29,46,71,106,139],"develop":[30],"practical":[32],"and":[33,57,65,92,126,200],"agile":[34,186],"omnidirectional":[35],"mobility":[36,88,203],"platform":[37,165,183],"can":[39,179],"especially":[40,193],"be":[41,180,194],"useful":[42,195],"for":[43,87,196],"applications":[44],"related":[45],"mobile":[47,164,182,206],"robotics.":[49],"paper":[51,152],"discusses":[52],"some":[53,108,134],"advantages":[56],"drawbacks":[58],"using":[60],"balls":[61,86,168],"instead":[62,169],"wheels":[64],"challenges":[67,142,160,174],"involved":[68],"in":[69,100,143,161],"trying":[70],"implement":[72],"system.":[76],"As":[77],"proof-of-concept":[79],"functional":[81],"prototype":[82,105,130,147],"vehicle":[83],"that":[84,154],"utilizes":[85],"has":[89],"been":[90],"developed":[91],"successfully":[93],"tested.":[94],"3D":[95],"printing":[96],"technology":[97],"was":[98],"utilized":[99],"development":[102],"fabricate":[107],"more":[111],"intricate":[112],"components":[113],"design.":[116],"Some":[117],"lessons":[120],"learned":[121],"during":[122],"design,":[124],"development,":[125],"testing":[127],"as":[131,133],"well":[132],"solutions":[137],"implemented":[138],"tackle":[140],"developing":[144,162],"working":[146],"are":[148,157,175],"also":[149],"discussed.":[150],"shows":[153],"while":[155],"there":[156],"numerous":[158],"design":[159],"driven":[166],"wheels,":[171],"once":[172],"these":[173],"overcome,":[176],"result":[178],"with":[184],"highly":[185],"maneuvering":[187,190],"capabilities.":[188],"These":[189],"capabilities":[191,204],"may":[192],"simplifying":[197],"navigation":[198],"tasks":[199],"enhancing":[201],"robots.":[208]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
