{"id":"https://openalex.org/W4412894259","doi":"https://doi.org/10.3390/robotics14080103","title":"Model-Based Design of the 5-DoF Light Industrial Robot","display_name":"Model-Based Design of the 5-DoF Light Industrial Robot","publication_year":2025,"publication_date":"2025-07-29","ids":{"openalex":"https://openalex.org/W4412894259","doi":"https://doi.org/10.3390/robotics14080103"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14080103","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14080103","pdf_url":"https://www.mdpi.com/2218-6581/14/8/103/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/8/103/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032486901","display_name":"Yongping Shi","orcid":"https://orcid.org/0000-0001-5859-4057"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]},{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["CN","FI"],"is_corresponding":false,"raw_author_name":"Yongping Shi","raw_affiliation_strings":["Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland","School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China","State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042297620","display_name":"Tianbing Ma","orcid":"https://orcid.org/0000-0002-5221-9739"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianbing Ma","raw_affiliation_strings":["School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]},{"raw_affiliation_string":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112080886","display_name":"Hao Wang","orcid":"https://orcid.org/0009-0003-4710-9249"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]},{"raw_affiliation_string":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100626204","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0003-0750-0123"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China","State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hefei University of Technology, Hefei 230031, China","institution_ids":["https://openalex.org/I16365422"]},{"raw_affiliation_string":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327524","display_name":"Xin Zhang","orcid":"https://orcid.org/0000-0002-8454-8414"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhang","raw_affiliation_strings":["School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]},{"raw_affiliation_string":"State Key Laboratory of Digital and Intelligent Technology for Unmanned Coal Mining, Anhui University of Science and Technology, Huainan 232001, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059655735","display_name":"Huapeng Wu","orcid":"https://orcid.org/0000-0001-6759-6038"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Huapeng Wu","raw_affiliation_strings":["Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100688594","display_name":"Ming Li","orcid":"https://orcid.org/0000-0002-7921-1307"},"institutions":[{"id":"https://openalex.org/I63548447","display_name":"Lappeenranta-Lahti University of Technology","ror":"https://ror.org/0208vgz68","country_code":"FI","type":"education","lineage":["https://openalex.org/I63548447"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ming Li","raw_affiliation_strings":["Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland"],"raw_orcid":"https://orcid.org/0000-0002-7921-1307","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Doctoral School-Doctoral Programme in Energy Systems, Lappeenranta-Lahti University of Technology (LUT), 53850 Lappeenranta, Finland","institution_ids":["https://openalex.org/I63548447"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5042297620"],"corresponding_institution_ids":["https://openalex.org/I184681353"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16800114,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"8","first_page":"103","last_page":"103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9951000213623047,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9894000291824341,"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/robot","display_name":"Robot","score":0.7105928063392639},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.6788469552993774},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.579448938369751},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5338878035545349},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4909837543964386},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.47816166281700134},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.46890345215797424},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46436163783073425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4411989450454712},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43016254901885986},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40013620257377625},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.271872341632843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20276537537574768},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0873684287071228}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7105928063392639},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6788469552993774},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.579448938369751},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5338878035545349},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4909837543964386},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.47816166281700134},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.46890345215797424},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46436163783073425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4411989450454712},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43016254901885986},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40013620257377625},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.271872341632843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20276537537574768},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0873684287071228},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14080103","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14080103","pdf_url":"https://www.mdpi.com/2218-6581/14/8/103/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:65c739e042a140d088e3d99699051487","is_oa":true,"landing_page_url":"https://doaj.org/article/65c739e042a140d088e3d99699051487","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 8, p 103 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14080103","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14080103","pdf_url":"https://www.mdpi.com/2218-6581/14/8/103/pdf","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"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":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412894259.pdf","grobid_xml":"https://content.openalex.org/works/W4412894259.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W122170906","https://openalex.org/W1976666805","https://openalex.org/W1978618352","https://openalex.org/W2030096380","https://openalex.org/W2053994973","https://openalex.org/W2096029785","https://openalex.org/W2135688562","https://openalex.org/W2149841830","https://openalex.org/W2229105208","https://openalex.org/W2290108649","https://openalex.org/W2313635395","https://openalex.org/W2754840981","https://openalex.org/W2782590410","https://openalex.org/W2897317266","https://openalex.org/W2924237678","https://openalex.org/W2951173619","https://openalex.org/W3011794266","https://openalex.org/W3044681009","https://openalex.org/W3049452622","https://openalex.org/W3106071214","https://openalex.org/W3129356561","https://openalex.org/W3136676164","https://openalex.org/W3153347349","https://openalex.org/W3185681217","https://openalex.org/W3216730781","https://openalex.org/W4206378108","https://openalex.org/W4210567808","https://openalex.org/W4289133610","https://openalex.org/W4388430258","https://openalex.org/W4403929908","https://openalex.org/W6689484398","https://openalex.org/W6840482336"],"related_works":["https://openalex.org/W2086863125","https://openalex.org/W3197961851","https://openalex.org/W2407180395","https://openalex.org/W2291700020","https://openalex.org/W2574447201","https://openalex.org/W3096187747","https://openalex.org/W2997199187","https://openalex.org/W3158611513","https://openalex.org/W2184665632","https://openalex.org/W2171368057"],"abstract_inverted_index":{"With":[0],"the":[1,15,20,24,34,43,46,49,83,88,92,99,115,120,129,133,143,148,154,157,161,164,169,173,179,190,202,206,213,218,226,231,236,239],"application":[2],"and":[3,40,62,75,124,172,193,198,212],"rapid":[4,30,116],"development":[5,64,237],"of":[6,22,156,163,230,238],"light":[7],"industrial":[8],"robots,":[9],"it":[10],"is":[11,78,96,166],"vital":[12],"to":[13,18,29,80,102,126,181,200],"accelerate":[14],"prototype":[16,84,171,204],"design":[17,36,47,51,60,74,85,94,100,110,182,210],"fulfill":[19],"demands":[21],"shortening":[23],"robot\u2019s":[25],"production":[26],"cycle,":[27],"owing":[28],"update":[31],"iterations.":[32],"Since":[33],"traditional":[35],"method":[37],"cannot":[38],"intuitively":[39],"efficiently":[41],"check":[42],"deficiencies":[44],"in":[45,55,225],"preparation,":[48],"secondary":[50,209],"iterations":[52],"will":[53],"result":[54],"higher":[56],"equipment":[57],"costs,":[58],"longer":[59],"cycles,":[61],"lower":[63],"efficiency.":[65],"The":[66],"MBD":[67,165,180],"(model-based":[68],"design),":[69],"a":[70,104,139,183],"full":[71],"3D":[72,106,130,144],"(three-dimensional)":[73],"manufacturing":[76],"method,":[77],"proposed":[79],"swiftly":[81],"finish":[82],"for":[86,142,208],"solving":[87],"above":[89],"problems.":[90],"Firstly,":[91],"robot":[93,105,134,149,170,186,203,232,240],"preparation":[95],"completed":[97],"with":[98],"requirements":[101],"generate":[103],"model.":[107],"Secondly,":[108],"several":[109],"methods":[111],"are":[112,195],"used:":[113],"(i)":[114],"prototyping,":[117],"which":[118,137,152,234],"includes":[119],"joint":[121,191],"component":[122],"verification":[123,192],"selection":[125,194],"further":[127],"optimize":[128],"model;":[131],"(ii)":[132],"kinematics":[135,150,158],"algorithm,":[136],"provides":[138],"theoretical":[140],"foundation":[141],"model":[145],"design;":[146],"(iii)":[147],"simulation,":[151],"verifies":[153],"correctness":[155],"algorithm.":[159],"Finally,":[160],"feasibility":[162],"verified":[167,216],"by":[168,217],"motion":[174,228,241],"control":[175,229,242],"system":[176],"test.":[177],"Taking":[178],"5-DoF":[184],"(five-degrees-of-freedom)":[185],"as":[187],"an":[188],"example,":[189],"finished":[196],"quickly":[197],"accurately":[199],"build":[201],"without":[205],"need":[207],"processing,":[211],"kinematic":[214],"algorithm":[215],"co-simulation":[219],"platform":[220],"can":[221],"be":[222],"used":[223],"directly":[224],"actual":[227],"prototype,":[233],"accelerates":[235],"system.":[243]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}