{"id":"https://openalex.org/W4310191675","doi":"https://doi.org/10.3390/s22239277","title":"State of Charge Estimation of Lithium-Ion Batteries Based on an Adaptive Iterative Extended Kalman Filter for AUVs","display_name":"State of Charge Estimation of Lithium-Ion Batteries Based on an Adaptive Iterative Extended Kalman Filter for AUVs","publication_year":2022,"publication_date":"2022-11-29","ids":{"openalex":"https://openalex.org/W4310191675","doi":"https://doi.org/10.3390/s22239277","pmid":"https://pubmed.ncbi.nlm.nih.gov/36501979"},"language":"en","primary_location":{"id":"doi:10.3390/s22239277","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239277","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9277/pdf?version=1669701554","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/1424-8220/22/23/9277/pdf?version=1669701554","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101694168","display_name":"You Fu","orcid":"https://orcid.org/0009-0006-1195-9841"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"You Fu","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016430545","display_name":"Binhao Zhai","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binhao Zhai","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021424299","display_name":"Zhuoqun Shi","orcid":"https://orcid.org/0000-0002-7543-8133"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoqun Shi","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China"],"raw_orcid":"https://orcid.org/0000-0002-7543-8133","affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004183536","display_name":"Jun Liang","orcid":"https://orcid.org/0000-0001-7511-449X"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Liang","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026501858","display_name":"Zhouhua Peng","orcid":"https://orcid.org/0000-0003-4468-7281"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouhua Peng","raw_affiliation_strings":["School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116024, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101694168"],"corresponding_institution_ids":["https://openalex.org/I43313876"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.1759,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.77049916,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"22","issue":"23","first_page":"9277","last_page":"9277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10663","display_name":"Advanced Battery Technologies Research","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10663","display_name":"Advanced Battery Technologies Research","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10018","display_name":"Advancements in Battery Materials","score":0.9789999723434448,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10768","display_name":"Electric Vehicles and Infrastructure","score":0.9616000056266785,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.802391529083252},{"id":"https://openalex.org/keywords/state-of-charge","display_name":"State of charge","score":0.7556639313697815},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5317280292510986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5285828709602356},{"id":"https://openalex.org/keywords/recursive-least-squares-filter","display_name":"Recursive least squares filter","score":0.49394112825393677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48257842659950256},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.4416137635707855},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.4146895706653595},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.3692702054977417},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34547826647758484},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33193933963775635},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.32908928394317627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0840638279914856}],"concepts":[{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.802391529083252},{"id":"https://openalex.org/C2776582896","wikidata":"https://www.wikidata.org/wiki/Q5368536","display_name":"State of charge","level":4,"score":0.7556639313697815},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5317280292510986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5285828709602356},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.49394112825393677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48257842659950256},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.4416137635707855},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.4146895706653595},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3692702054977417},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34547826647758484},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33193933963775635},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.32908928394317627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0840638279914856},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s22239277","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239277","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9277/pdf?version=1669701554","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:36501979","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36501979","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:95ef13f10d86407d989936dd93465147","is_oa":true,"landing_page_url":"https://doaj.org/article/95ef13f10d86407d989936dd93465147","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 23, p 9277 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/22/23/9277/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s22239277","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 23; Pages: 9277","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:9741131","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9741131","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/s22239277","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s22239277","pdf_url":"https://www.mdpi.com/1424-8220/22/23/9277/pdf?version=1669701554","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":[{"score":0.699999988079071,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G4262698499","display_name":null,"funder_award_id":"XLYC2007188","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G485647623","display_name":null,"funder_award_id":"LJKQZ2021007","funder_id":"https://openalex.org/F4320324560","funder_display_name":"Department of Education of Liaoning Province"},{"id":"https://openalex.org/G5175838810","display_name":null,"funder_award_id":"2018RJ08","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6145040941","display_name":null,"funder_award_id":"XLYC2007188","funder_id":"https://openalex.org/F4320329895","funder_display_name":"Liaoning Revitalization Talents Program"},{"id":"https://openalex.org/G6270911851","display_name":null,"funder_award_id":"51979020","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8072567965","display_name":null,"funder_award_id":"36261402","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G809225227","display_name":null,"funder_award_id":"LJKQZ2021007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324560","display_name":"Department of Education of Liaoning Province","ror":"https://ror.org/0022v2454"},{"id":"https://openalex.org/F4320329895","display_name":"Liaoning Revitalization Talents Program","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4310191675.pdf","grobid_xml":"https://content.openalex.org/works/W4310191675.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W1968827150","https://openalex.org/W1996801827","https://openalex.org/W2027752411","https://openalex.org/W2047883339","https://openalex.org/W2095494587","https://openalex.org/W2099874319","https://openalex.org/W2101307084","https://openalex.org/W2125884948","https://openalex.org/W2129746134","https://openalex.org/W2136843013","https://openalex.org/W2156562079","https://openalex.org/W2166364692","https://openalex.org/W2294297198","https://openalex.org/W2415876465","https://openalex.org/W2514892265","https://openalex.org/W2593788042","https://openalex.org/W2735663899","https://openalex.org/W2755729630","https://openalex.org/W2765891582","https://openalex.org/W2773450122","https://openalex.org/W2791067576","https://openalex.org/W2791668362","https://openalex.org/W2803593692","https://openalex.org/W2808742411","https://openalex.org/W2900825030","https://openalex.org/W2907636747","https://openalex.org/W2964962801","https://openalex.org/W2966463151","https://openalex.org/W2967154727","https://openalex.org/W2999803522","https://openalex.org/W3010702491","https://openalex.org/W3016522597","https://openalex.org/W3036684079","https://openalex.org/W3082884573","https://openalex.org/W4297094429","https://openalex.org/W6843766323"],"related_works":["https://openalex.org/W2547988666","https://openalex.org/W1993122764","https://openalex.org/W1035502194","https://openalex.org/W2140212917","https://openalex.org/W3187858031","https://openalex.org/W2006965721","https://openalex.org/W1995049232","https://openalex.org/W2134639127","https://openalex.org/W4206024512","https://openalex.org/W2134843002"],"abstract_inverted_index":{"As":[0],"a":[1,149,177],"power":[2,19],"source":[3],"for":[4,37,76,159],"autonomous":[5],"underwater":[6],"vehicles":[7],"(AUVs),":[8],"lithium-ion":[9,38,55,113,175],"batteries":[10,56],"play":[11],"an":[12,58,68,80],"important":[13],"role":[14],"in":[15,57,79,209,234],"ensuring":[16],"AUVs'":[17],"electric":[18],"propulsion":[20],"performance.":[21],"An":[22],"accurate":[23],"state":[24],"of":[25,54,173],"charge":[26],"(SOC)":[27],"estimation":[28,151,225],"method":[29,75,184,219],"is":[30,82,103,117,157,185],"the":[31,42,52,62,77,86,100,108,112,121,127,132,145,160,168,174,190,194,204,217],"key":[32],"to":[33,41,84,105,119,125,187],"achieving":[34],"energy":[35],"optimization":[36],"batteries.":[39],"Due":[40],"complicated":[43],"ocean":[44],"environments,":[45],"traditional":[46,87],"filtering":[47],"methods":[48],"cannot":[49],"effectively":[50],"estimate":[51],"SOC":[53,78,162],"AUV.":[59],"Based":[60],"on":[61,167],"standard":[63],"extended":[64,71,135,141],"Kalman":[65,72,136,142],"filter":[66,73,137,143],"(EKF),":[67],"adaptive":[69,101,140],"iterative":[70,134],"(AIEKF)":[74],"AUV":[81],"proposed":[83,146,186,205,218],"address":[85],"filter's":[88],"problems,":[89],"such":[90],"as":[91],"low":[92],"accuracy":[93,152,222],"and":[94,124,139,153,203,223],"large":[95],"errors.":[96],"In":[97,164,193],"this":[98],"method,":[99],"update":[102],"introduced":[104],"deal":[106,188],"with":[107,131,189],"uncertain":[109],"noise":[110],"from":[111],"battery.":[114],"The":[115,212],"iteration":[116],"used":[118],"improve":[120],"convergence":[122],"speed":[123],"reduce":[126],"computational":[128,210],"burden.":[129],"Compared":[130],"EKF,":[133,200],"(IEKF)":[138],"(AEKF),":[144],"AIEKF":[147],"has":[148,220,230],"higher":[150],"anti-interference":[154],"capability,":[155],"which":[156],"suitable":[158],"AUV's":[161],"estimation.":[163],"addition,":[165],"based":[166],"second-order":[169],"equivalent":[170],"circuit":[171],"model":[172],"battery,":[176],"forgetting":[178],"factor":[179],"recursive":[180],"least":[181],"squares":[182],"(FFRLS)":[183],"multi-variability":[191],"problem.":[192],"end,":[195],"four":[196],"different":[197],"methods,":[198],"including":[199],"IEKF,":[201],"AEKF,":[202],"AIEKF,":[206],"are":[207],"compared":[208],"time.":[211],"experiment":[213],"results":[214],"show":[215],"that":[216,228],"high":[221],"fast":[224],"speed,":[226],"meaning":[227],"it":[229],"good":[231],"application":[232],"potential":[233],"AUVs.":[235]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}