{"id":"https://openalex.org/W4306770013","doi":"https://doi.org/10.3390/s22207940","title":"Fast Underwater Optical Beacon Finding and High Accuracy Visual Ranging Method Based on Deep Learning","display_name":"Fast Underwater Optical Beacon Finding and High Accuracy Visual Ranging Method Based on Deep Learning","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4306770013","doi":"https://doi.org/10.3390/s22207940","pmid":"https://pubmed.ncbi.nlm.nih.gov/36298288"},"language":"en","primary_location":{"id":"doi:10.3390/s22207940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22207940","pdf_url":"https://www.mdpi.com/1424-8220/22/20/7940/pdf?version=1666689773","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/22/20/7940/pdf?version=1666689773","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049073507","display_name":"Bo Zhang","orcid":"https://orcid.org/0000-0001-5886-2568"},"institutions":[{"id":"https://openalex.org/I181326427","display_name":"Donghua University","ror":"https://ror.org/035psfh38","country_code":"CN","type":"education","lineage":["https://openalex.org/I181326427"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhang","raw_affiliation_strings":["College of Science, Donghua University, Shanghai 201620, China"],"raw_orcid":"https://orcid.org/0000-0001-5886-2568","affiliations":[{"raw_affiliation_string":"College of Science, Donghua University, Shanghai 201620, China","institution_ids":["https://openalex.org/I181326427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034299045","display_name":"Ping Zhong","orcid":"https://orcid.org/0000-0001-8240-7581"},"institutions":[{"id":"https://openalex.org/I181326427","display_name":"Donghua University","ror":"https://ror.org/035psfh38","country_code":"CN","type":"education","lineage":["https://openalex.org/I181326427"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ping Zhong","raw_affiliation_strings":["College of Science, Donghua University, Shanghai 201620, China"],"raw_orcid":"https://orcid.org/0000-0001-8240-7581","affiliations":[{"raw_affiliation_string":"College of Science, Donghua University, Shanghai 201620, China","institution_ids":["https://openalex.org/I181326427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100829759","display_name":"Fu Yang","orcid":"https://orcid.org/0000-0003-4435-6167"},"institutions":[{"id":"https://openalex.org/I181326427","display_name":"Donghua University","ror":"https://ror.org/035psfh38","country_code":"CN","type":"education","lineage":["https://openalex.org/I181326427"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fu Yang","raw_affiliation_strings":["College of Science, Donghua University, Shanghai 201620, China"],"raw_orcid":"https://orcid.org/0000-0003-4435-6167","affiliations":[{"raw_affiliation_string":"College of Science, Donghua University, Shanghai 201620, China","institution_ids":["https://openalex.org/I181326427"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102016940","display_name":"Tianhua Zhou","orcid":"https://orcid.org/0000-0003-0017-7984"},"institutions":[{"id":"https://openalex.org/I4210135349","display_name":"Shanghai Institute of Optics and Fine Mechanics","ror":"https://ror.org/03g897070","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210135349"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianhua Zhou","raw_affiliation_strings":["Key Laboratory of Space Laser Communication and Detection Technology, Shanghai Institute of Optics and Fine Mechanics, Chinses Academy of Sciences, Shanghai 201800, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Space Laser Communication and Detection Technology, Shanghai Institute of Optics and Fine Mechanics, Chinses Academy of Sciences, Shanghai 201800, China","institution_ids":["https://openalex.org/I4210135349"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070343104","display_name":"Lingfei Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135349","display_name":"Shanghai Institute of Optics and Fine Mechanics","ror":"https://ror.org/03g897070","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210135349"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingfei Shen","raw_affiliation_strings":["Key Laboratory of Space Laser Communication and Detection Technology, Shanghai Institute of Optics and Fine Mechanics, Chinses Academy of Sciences, Shanghai 201800, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Space Laser Communication and Detection Technology, Shanghai Institute of Optics and Fine Mechanics, Chinses Academy of Sciences, Shanghai 201800, China","institution_ids":["https://openalex.org/I4210135349"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034299045"],"corresponding_institution_ids":["https://openalex.org/I181326427"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.9133,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.75413185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"22","issue":"20","first_page":"7940","last_page":"7940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11019","display_name":"Image Enhancement Techniques","score":0.9988999962806702,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.8678931593894958},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.778057336807251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7033793926239014},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6674385666847229},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6263933777809143},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6237760186195374},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4337294101715088},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4190109968185425},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.41463425755500793},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.35386115312576294},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.12817305326461792},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12807413935661316},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08905419707298279}],"concepts":[{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.8678931593894958},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.778057336807251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7033793926239014},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6674385666847229},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6263933777809143},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6237760186195374},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4337294101715088},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4190109968185425},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.41463425755500793},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.35386115312576294},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.12817305326461792},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12807413935661316},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08905419707298279},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007089","descriptor_name":"Image Enhancement","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D007089","descriptor_name":"Image Enhancement","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D007089","descriptor_name":"Image Enhancement","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012107","descriptor_name":"Research Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014867","descriptor_name":"Water","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s22207940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22207940","pdf_url":"https://www.mdpi.com/1424-8220/22/20/7940/pdf?version=1666689773","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:36298288","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36298288","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:86ab669c827441f6948d64f877f74757","is_oa":true,"landing_page_url":"https://doaj.org/article/86ab669c827441f6948d64f877f74757","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":"Sensors, Vol 22, Iss 20, p 7940 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/20/7940/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22207940","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":"Sensors; Volume 22; Issue 20; Pages: 7940","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9611530","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9611530","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s22207940","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22207940","pdf_url":"https://www.mdpi.com/1424-8220/22/20/7940/pdf?version=1666689773","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8600000143051147}],"awards":[{"id":"https://openalex.org/G3343523513","display_name":null,"funder_award_id":"51975116","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5162751365","display_name":null,"funder_award_id":"21ZR1402900","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"},{"id":"https://openalex.org/G7569036587","display_name":null,"funder_award_id":"21ZR1402900","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8587550778","display_name":null,"funder_award_id":"51975116","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4306770013.pdf","grobid_xml":"https://content.openalex.org/works/W4306770013.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1823139046","https://openalex.org/W1970745880","https://openalex.org/W1983879820","https://openalex.org/W2000454033","https://openalex.org/W2021082829","https://openalex.org/W2034845999","https://openalex.org/W2075531834","https://openalex.org/W2085558553","https://openalex.org/W2118376687","https://openalex.org/W2133059825","https://openalex.org/W2142482451","https://openalex.org/W2162440713","https://openalex.org/W2307729741","https://openalex.org/W2791057468","https://openalex.org/W2884585870","https://openalex.org/W2905275557","https://openalex.org/W2937257010","https://openalex.org/W2946171974","https://openalex.org/W2962858109","https://openalex.org/W2963470893","https://openalex.org/W3137810920","https://openalex.org/W3177052299","https://openalex.org/W4205690375","https://openalex.org/W4246603294","https://openalex.org/W4280611132","https://openalex.org/W4292860143","https://openalex.org/W4293704620"],"related_works":["https://openalex.org/W2117412087","https://openalex.org/W2721448648","https://openalex.org/W3213997683","https://openalex.org/W2995270189","https://openalex.org/W2084124712","https://openalex.org/W2435467664","https://openalex.org/W2972957240","https://openalex.org/W2091635186","https://openalex.org/W4381188157","https://openalex.org/W4251947321"],"abstract_inverted_index":{"Visual":[0],"recognition":[1],"and":[2,44,48,91,100,109,129,154,169,188,203],"localization":[3,63,119],"of":[4,25,33,52,137,163,191],"underwater":[5,14,26,192],"optical":[6,54,139,194],"beacons":[7,68,140,195],"is":[8,69,84,132,141,166,174],"an":[9],"important":[10],"step":[11],"in":[12,35],"autonomous":[13],"vehicle":[15],"(AUV)":[16],"docking.":[17],"The":[18,134],"main":[19],"issues":[20],"that":[21],"restrict":[22],"the":[23,31,37,41,45,49,53,88,92,104,110,150,158,170,185],"use":[24],"monocular":[27,61],"vision":[28],"range":[29,136,206],"are":[30],"attenuation":[32],"light":[34,46,116],"water,":[36],"mirror":[38],"image":[39,127],"between":[40],"water":[42],"surface":[43],"source,":[47],"small":[50,66,138,193],"size":[51],"beacon.":[55],"In":[56,149],"this":[57],"study,":[58],"a":[59,182],"fast":[60,187,199],"camera":[62],"method":[64,120,165],"for":[65,184],"4-light":[67],"proposed.":[70,133],"A":[71,114],"YOLO":[72],"V5":[73],"(You":[74],"Only":[75],"Look":[76],"Once)":[77],"model":[78,90,93,102],"with":[79,87,94],"coordinated":[80],"attention":[81,97],"(CA)":[82],"mechanisms":[83,98],"constructed.":[85],"Compared":[86],"original":[89],"convolutional":[95],"block":[96],"(CBAM),":[99],"our":[101,164],"improves":[103],"prediction":[105],"accuracy":[106],"to":[107,112,146,197],"96.1%":[108],"recall":[111],"95.1%.":[113],"sub-pixel":[115],"source":[117],"centroid":[118],"combining":[121],"super-resolution":[122],"generative":[123],"adversarial":[124],"networks":[125],"(SRGAN)":[126],"enhancement":[128],"Zernike":[130],"moments":[131],"detection":[135,172,205],"increased":[142],"from":[143],"7":[144],"m":[145],"10":[147],"m.":[148],"laboratory":[151],"self-made":[152],"pool":[153,156],"anechoic":[155],"experiments,":[157],"average":[159,171],"relative":[160],"distance":[161],"error":[162],"1.04":[167],"percent,":[168],"speed":[173],"0.088":[175],"s":[176],"(11.36":[177],"FPS).":[178],"This":[179],"study":[180],"offers":[181],"solution":[183],"long-distance":[186],"accurate":[189,201],"positioning":[190],"due":[196],"their":[198],"recognition,":[200],"ranging,":[202],"wide":[204],"characteristics.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
