{"id":"https://openalex.org/W4311975006","doi":"https://doi.org/10.3390/a15120469","title":"Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space","display_name":"Algorithm for Determining the Types of Inverse Kinematics Solutions for Sequential Planar Robots and Their Representation in the Configuration Space","publication_year":2022,"publication_date":"2022-12-09","ids":{"openalex":"https://openalex.org/W4311975006","doi":"https://doi.org/10.3390/a15120469"},"language":"en","primary_location":{"id":"doi:10.3390/a15120469","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a15120469","pdf_url":"https://www.mdpi.com/1999-4893/15/12/469/pdf?version=1670578377","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/15/12/469/pdf?version=1670578377","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032358449","display_name":"Ivan Chavdarov","orcid":"https://orcid.org/0000-0002-3978-4821"},"institutions":[{"id":"https://openalex.org/I24768866","display_name":"Bulgarian Academy of Sciences","ror":"https://ror.org/01x8hew03","country_code":"BG","type":"government","lineage":["https://openalex.org/I24768866"]},{"id":"https://openalex.org/I58918642","display_name":"Sofia University \"St. Kliment Ohridski\"","ror":"https://ror.org/02jv3k292","country_code":"BG","type":"education","lineage":["https://openalex.org/I58918642"]}],"countries":["BG"],"is_corresponding":true,"raw_author_name":"Ivan Chavdarov","raw_affiliation_strings":["Faculty of Mathematics and Informatics, Department of Mechatronics, Robotics and Mechanics, University of Sofia \u201cSt. Kliment Ohridski\u201d, 1504 Sofia, Bulgaria","Institute of Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev St, Bl. 1, 1113 Sofia, Bulgaria","Faculty of Mathematics and Informatics, Department of Mechatronics, Robotics and Mechanics, University of Sofia \"St. Kliment Ohridski\", 1504 Sofia, Bulgaria"],"affiliations":[{"raw_affiliation_string":"Faculty of Mathematics and Informatics, Department of Mechatronics, Robotics and Mechanics, University of Sofia \u201cSt. Kliment Ohridski\u201d, 1504 Sofia, Bulgaria","institution_ids":["https://openalex.org/I58918642"]},{"raw_affiliation_string":"Institute of Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev St, Bl. 1, 1113 Sofia, Bulgaria","institution_ids":["https://openalex.org/I24768866"]},{"raw_affiliation_string":"Faculty of Mathematics and Informatics, Department of Mechatronics, Robotics and Mechanics, University of Sofia \"St. Kliment Ohridski\", 1504 Sofia, Bulgaria","institution_ids":["https://openalex.org/I58918642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022636317","display_name":"Bozhidar Naydenov","orcid":null},"institutions":[{"id":"https://openalex.org/I24768866","display_name":"Bulgarian Academy of Sciences","ror":"https://ror.org/01x8hew03","country_code":"BG","type":"government","lineage":["https://openalex.org/I24768866"]}],"countries":["BG"],"is_corresponding":false,"raw_author_name":"Bozhidar Naydenov","raw_affiliation_strings":["DASSAULT SYSTEMES, Blvd. General I. Totleben 53-55, 1606 Sofia, Bulgaria","Institute of Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev St, Bl. 1, 1113 Sofia, Bulgaria"],"affiliations":[{"raw_affiliation_string":"DASSAULT SYSTEMES, Blvd. General I. Totleben 53-55, 1606 Sofia, Bulgaria","institution_ids":[]},{"raw_affiliation_string":"Institute of Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev St, Bl. 1, 1113 Sofia, Bulgaria","institution_ids":["https://openalex.org/I24768866"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5032358449"],"corresponding_institution_ids":["https://openalex.org/I24768866","https://openalex.org/I58918642"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.6077,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.66910989,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":"15","issue":"12","first_page":"469","last_page":"469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9950000047683716,"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/T13267","display_name":"Advanced Theoretical and Applied Studies in Material Sciences and Geometry","score":0.992900013923645,"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/workspace","display_name":"Workspace","score":0.8637242317199707},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.829276442527771},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.786153256893158},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6673577427864075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6333156824111938},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5335837602615356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5319440960884094},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5250049829483032},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4881058633327484},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4599096179008484},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.45680731534957886},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45232945680618286},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4415222704410553},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4409598410129547},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42860284447669983},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42508262395858765},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4226212203502655},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.4203370213508606},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41016873717308044},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38034576177597046},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35673418641090393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33786439895629883},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17722481489181519},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1541845202445984},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07030212879180908}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8637242317199707},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.829276442527771},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.786153256893158},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6673577427864075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6333156824111938},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5335837602615356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5319440960884094},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5250049829483032},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4881058633327484},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4599096179008484},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.45680731534957886},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45232945680618286},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4415222704410553},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4409598410129547},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42860284447669983},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42508262395858765},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4226212203502655},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.4203370213508606},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41016873717308044},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38034576177597046},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35673418641090393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33786439895629883},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17722481489181519},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1541845202445984},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07030212879180908},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/a15120469","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a15120469","pdf_url":"https://www.mdpi.com/1999-4893/15/12/469/pdf?version=1670578377","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a0f40e539a58473c9c603f2a871eaad3","is_oa":true,"landing_page_url":"https://doaj.org/article/a0f40e539a58473c9c603f2a871eaad3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 15, Iss 12, p 469 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1999-4893/15/12/469/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/a15120469","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Algorithms; Volume 15; Issue 12; Pages: 469","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/a15120469","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a15120469","pdf_url":"https://www.mdpi.com/1999-4893/15/12/469/pdf?version=1670578377","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G453067482","display_name":null,"funder_award_id":"014-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5634946813","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G6556621163","display_name":null,"funder_award_id":"BG05M2OP001-1.002-0023","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311975006.pdf","grobid_xml":"https://content.openalex.org/works/W4311975006.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W62919138","https://openalex.org/W125092486","https://openalex.org/W143430226","https://openalex.org/W1660808159","https://openalex.org/W1964892106","https://openalex.org/W1969029410","https://openalex.org/W1988073274","https://openalex.org/W2009391388","https://openalex.org/W2013070332","https://openalex.org/W2020217872","https://openalex.org/W2069950146","https://openalex.org/W2115617296","https://openalex.org/W2150270729","https://openalex.org/W2246023205","https://openalex.org/W2511509854","https://openalex.org/W2783691665","https://openalex.org/W2806852355","https://openalex.org/W2975727910","https://openalex.org/W2990170255","https://openalex.org/W3043416344","https://openalex.org/W3094478187","https://openalex.org/W3095661507","https://openalex.org/W3187758817","https://openalex.org/W3206202528","https://openalex.org/W3209239139","https://openalex.org/W4210374360","https://openalex.org/W4210567808","https://openalex.org/W4213339892","https://openalex.org/W4283166196","https://openalex.org/W6781464235","https://openalex.org/W6798669247"],"related_works":["https://openalex.org/W2119719871","https://openalex.org/W2811382984","https://openalex.org/W1971821535","https://openalex.org/W4283266117","https://openalex.org/W3134555460","https://openalex.org/W2357499095","https://openalex.org/W3129004068","https://openalex.org/W2172144564","https://openalex.org/W3016367173","https://openalex.org/W3179890939"],"abstract_inverted_index":{"The":[0,32,156,175],"work":[1],"defines":[2],"in":[3,53,72,111,150,182],"a":[4,22,41,48,54,170],"new":[5],"way":[6],"the":[7,13,36,64,77,80,84,90,103,112,132,148,151,183,192],"different":[8,123],"types":[9,124],"of":[10,12,38,44,63,79,89,105,125,143,158,163,197],"solutions":[11,39],"inverse":[14],"kinematics":[15],"(IK)":[16],"problem":[17],"for":[18,29,40,135,179,191],"planar":[19],"robots":[20,45,136],"with":[21,122,137],"serial":[23],"topology":[24],"and":[25,69,87,101,114,139,145,153,185,194],"presents":[26],"an":[27],"algorithm":[28,34,134],"solving":[30],"it.":[31],"developed":[33],"allows":[35],"finding":[37],"wide":[42],"range":[43],"by":[46,98,167],"using":[47],"geometric":[49],"approach,":[50],"representing":[51],"points":[52],"polar":[55],"coordinate":[56],"system.":[57],"Inverse":[58],"kinematics,":[59],"which":[60],"is":[61,96,102,173],"one":[62,161],"most":[65,67,106],"important,":[66],"studied":[68],"challenging":[70],"problems":[71],"robotics,":[73],"aims":[74],"to":[75,165],"calculate":[76],"values":[78],"joint":[81,99],"variables,":[82],"given":[83],"desired":[85],"position":[86],"orientation":[88],"robot\u2019s":[91],"end":[92],"effector.":[93],"Configuration":[94],"space":[95,116],"defined":[97],"angles":[100],"basis":[104],"motion":[107],"planning":[108,180],"algorithms.":[109],"Areas":[110],"working":[113],"configuration":[115,154,172,186],"are":[117,120,128,177],"generated":[118],"that":[119,130],"reachable":[121],"solutions.":[126],"Programs":[127],"created":[129],"use":[131],"proposed":[133],"two":[138],"three":[140],"rotational":[141],"degrees":[142],"freedom,":[144],"graphically":[146],"present":[147],"results":[149,176],"workspace":[152,184],"space.":[155],"possibility":[157],"transitioning":[159],"from":[160],"type":[162],"solution":[164],"another":[166],"passing":[168],"through":[169],"singular":[171],"discussed.":[174],"important":[178],"motions":[181],"space,":[187],"as":[188,190],"well":[189],"design":[193],"kinematic":[195],"analysis":[196],"robots.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
