{"id":"https://openalex.org/W2147448165","doi":"https://doi.org/10.1109/tro.2008.2006249","title":"Fast Dynamics of an Eel-Like Robot\u2014Comparisons With Navier\u2013Stokes Simulations","display_name":"Fast Dynamics of an Eel-Like Robot\u2014Comparisons With Navier\u2013Stokes Simulations","publication_year":2008,"publication_date":"2008-10-22","ids":{"openalex":"https://openalex.org/W2147448165","doi":"https://doi.org/10.1109/tro.2008.2006249","mag":"2147448165"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2008.2006249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2006249","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-00630753","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070115867","display_name":"Fr\u00e9d\u00e9ric Boyer","orcid":"https://orcid.org/0000-0003-0021-9590"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F. Boyer","raw_affiliation_strings":["Institut de Recherche en Communication et Cybern\u00e9tique de Nantes, Unite Mixte de Recherche (UMR), Ecole des Mines de Nantes, Nantes, France","Inst. de Rech. en Commun. et Cybernetique de Nantes, Ecole des Mines de Nantes, Nantes#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communication et Cybern\u00e9tique de Nantes, Unite Mixte de Recherche (UMR), Ecole des Mines de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"Inst. de Rech. en Commun. et Cybernetique de Nantes, Ecole des Mines de Nantes, Nantes#TAB#","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089874621","display_name":"Mathieu Porez","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Porez","raw_affiliation_strings":["Institut de Recherche en Communication et Cybern\u00e9tique de Nantes, Unite Mixte de Recherche (UMR), Ecole des Mines de Nantes, Nantes, France","Inst. de Rech. en Commun. et Cybernetique de Nantes, Ecole des Mines de Nantes, Nantes#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communication et Cybern\u00e9tique de Nantes, Unite Mixte de Recherche (UMR), Ecole des Mines de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"Inst. de Rech. en Commun. et Cybernetique de Nantes, Ecole des Mines de Nantes, Nantes#TAB#","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014942746","display_name":"Alban Leroyer","orcid":"https://orcid.org/0000-0001-5427-1082"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"A. Leroyer","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Fluides, Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes, Unite Mixte de Recherche, Nantes, France","Lab. de Mec. des Fluides, Unite Mixte de Rech., Ecole Centrale de Nantes, Nantes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Fluides, Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes, Unite Mixte de Recherche, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. de Mec. des Fluides, Unite Mixte de Rech., Ecole Centrale de Nantes, Nantes","institution_ids":["https://openalex.org/I100445878"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005601025","display_name":"Michel Visonneau","orcid":"https://orcid.org/0000-0003-1676-5326"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Visonneau","raw_affiliation_strings":["Laboratoire de M\u00e9canique des Fluides, Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes, Unite Mixte de Recherche, Nantes, France","Lab. de Mec. des Fluides, Unite Mixte de Rech., Ecole Centrale de Nantes, Nantes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de M\u00e9canique des Fluides, Centre National de la Recherche Scientifique (CNRS), Ecole Centrale de Nantes, Unite Mixte de Recherche, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Lab. de Mec. des Fluides, Unite Mixte de Rech., Ecole Centrale de Nantes, Nantes","institution_ids":["https://openalex.org/I100445878"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":85.8581,"has_fulltext":false,"cited_by_count":73,"citation_normalized_percentile":{"value":0.99731045,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"24","issue":"6","first_page":"1274","last_page":"1288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/robot","display_name":"Robot","score":0.6090898513793945},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5753023624420166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5051253437995911},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5043526887893677},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.4999058246612549},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4788001477718353},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.46421077847480774},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41839727759361267},{"id":"https://openalex.org/keywords/resistive-touchscreen","display_name":"Resistive touchscreen","score":0.4138595163822174},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3821655511856079},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3630450963973999},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.331961989402771},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2550423741340637},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2270529866218567},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20639687776565552},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20188480615615845},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19164732098579407},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1720588207244873},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13273245096206665},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10499775409698486}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6090898513793945},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5753023624420166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5051253437995911},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5043526887893677},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.4999058246612549},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4788001477718353},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.46421077847480774},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41839727759361267},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.4138595163822174},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3821655511856079},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3630450963973999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.331961989402771},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2550423741340637},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2270529866218567},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20639687776565552},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20188480615615845},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19164732098579407},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1720588207244873},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13273245096206665},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10499775409698486},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2008.2006249","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2008.2006249","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-00630753v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00630753","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 Robotics, 2008, 24 (6), pp.1274-1288. &#x27E8;10.1109/tro.2008.2006249&#x27E9;","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-00630753v1","is_oa":true,"landing_page_url":"https://hal.science/hal-00630753","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 Robotics, 2008, 24 (6), pp.1274-1288. &#x27E8;10.1109/tro.2008.2006249&#x27E9;","raw_type":"Journal articles"},"sustainable_development_goals":[{"score":0.8899999856948853,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W152958663","https://openalex.org/W638903774","https://openalex.org/W1565063211","https://openalex.org/W1568236110","https://openalex.org/W1597359858","https://openalex.org/W1617267762","https://openalex.org/W1938917647","https://openalex.org/W1965150236","https://openalex.org/W1966552874","https://openalex.org/W1975688214","https://openalex.org/W1977950026","https://openalex.org/W1979116059","https://openalex.org/W1991725235","https://openalex.org/W1997562850","https://openalex.org/W2008949258","https://openalex.org/W2009359627","https://openalex.org/W2012026941","https://openalex.org/W2012634580","https://openalex.org/W2014546372","https://openalex.org/W2015063509","https://openalex.org/W2022868148","https://openalex.org/W2024817134","https://openalex.org/W2027639364","https://openalex.org/W2032519784","https://openalex.org/W2037356236","https://openalex.org/W2037772190","https://openalex.org/W2038785086","https://openalex.org/W2041102805","https://openalex.org/W2047542720","https://openalex.org/W2052095348","https://openalex.org/W2052186030","https://openalex.org/W2058302905","https://openalex.org/W2062207487","https://openalex.org/W2074883048","https://openalex.org/W2076409519","https://openalex.org/W2083493911","https://openalex.org/W2084891258","https://openalex.org/W2093748241","https://openalex.org/W2094460003","https://openalex.org/W2102984755","https://openalex.org/W2117280259","https://openalex.org/W2119605077","https://openalex.org/W2120372777","https://openalex.org/W2121273772","https://openalex.org/W2121285128","https://openalex.org/W2126621973","https://openalex.org/W2129974228","https://openalex.org/W2138570932","https://openalex.org/W2140739717","https://openalex.org/W2149455028","https://openalex.org/W2150636748","https://openalex.org/W2155024637","https://openalex.org/W2164758262","https://openalex.org/W2165573482","https://openalex.org/W2166063729","https://openalex.org/W2183172413","https://openalex.org/W2269960442","https://openalex.org/W2341668857","https://openalex.org/W2414726777","https://openalex.org/W2766607630","https://openalex.org/W2995254430","https://openalex.org/W3176589006","https://openalex.org/W3193680531","https://openalex.org/W4229786028","https://openalex.org/W4256526535","https://openalex.org/W6680373323","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W2378383478","https://openalex.org/W2724311592","https://openalex.org/W2736986302","https://openalex.org/W2914953897","https://openalex.org/W2743782314","https://openalex.org/W2040174473","https://openalex.org/W3136375451","https://openalex.org/W4233327396","https://openalex.org/W2186864281","https://openalex.org/W1974484633"],"abstract_inverted_index":{"This":[0],"paper":[1,66],"proposes":[2],"a":[3,45,157],"dynamic":[4],"model":[5,48,77,86],"of":[6,9,17,29,37,75,81,98,105,112,123],"the":[7,14,30,40,54,70,76,79,96,99,103,110,113,120,153,167,179,183],"swim":[8],"elongated":[10,34],"fish":[11,100],"suited":[12],"to":[13,39,43,89,94,166],"online":[15],"control":[16,107],"biomimetic":[18],"eel-like":[19],"robots.":[20],"The":[21,84,170],"approach":[22],"can":[23],"be":[24],"considered":[25],"as":[26,135],"an":[27,90],"extension":[28],"original":[31],"reactive":[32],"ldquolarge":[33],"body":[35],"theoryrdquo":[36],"Lighthill":[38],"3-D":[41,146],"self-propulsion":[42],"which":[44],"resistive":[46],"empirical":[47],"has":[49],"been":[50,58,164],"added.":[51],"While":[52],"all":[53,178],"mathematical":[55],"fundamentals":[56],"have":[57,163],"detailed":[59],"by":[60],"Boyer":[61],".":[62],"(http://www.irccyn.ec-nantes.fr/hebergement/Publications/2007/3721.pdf,":[63],"2007),":[64],"this":[65,126],"essentially":[67],"focuses":[68],"on":[69,119],"numerical":[71],"validation":[72],"and":[73,78,102,145,150,188],"calibration":[74],"study":[80],"swimming":[82],"gaits.":[83],"proposed":[85],"is":[87,137],"coupled":[88],"algorithm":[91,127],"allowing":[92],"us":[93],"compute":[95],"motion":[97],"head":[101],"field":[104],"internal":[106,115],"torque":[108],"from":[109],"knowledge":[111],"imposed":[114],"strain":[116],"fields.":[117],"Based":[118],"Newton-Euler":[121],"formalism":[122],"robot":[124],"dynamics,":[125],"works":[128],"faster":[129],"than":[130],"real":[131],"time.":[132],"As":[133],"far":[134],"precision":[136],"concerned,":[138],"many":[139],"tests":[140],"obtained":[141,172],"with":[142,156],"several":[143],"planar":[144,154,168],"gaits":[147],"are":[148,173],"reported":[149],"compared":[151],"(in":[152],"case)":[155],"Navier-Stokes":[158],"solver,":[159],"which,":[160],"until":[161],"today":[162],"devoted":[165],"swim.":[169],"comparisons":[171],"very":[174],"encouraging":[175],"since":[176],"in":[177],"cases":[180],"we":[181],"tested,":[182],"differences":[184],"between":[185],"our":[186],"simplified":[187],"reference":[189],"simulations":[190],"do":[191],"not":[192],"exceed":[193],"10%.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
