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DOI 10.1007/s40031-015-0208-2

ORIGINAL CONTRIBUTION

Multi-objective Decision Based Available Transfer Capability


in Deregulated Power System Using Heuristic Approaches
Gopi Krishna Pasam1 • T. Gowri Manohar2

Received: 31 July 2014 / Accepted: 28 May 2015


 The Institution of Engineers (India) 2015

Abstract Determination of available transfer capability approach to assess multiple objective ATC using integrated
(ATC) requires the use of experience, intuition and exact methods.
judgment in order to meet several significant aspects in the
deregulated environment. Based on these points, this paper Keywords Available transfer capability 
proposes two heuristic approaches to compute ATC. The Optimal power flow  Continuation power flow 
first proposed heuristic algorithm integrates the five RBFN network  BPNN  ANFIS
methods known as continuation repeated power flow,
repeated optimal power flow, radial basis function neural
network, back propagation neural network and adaptive Introduction
neuro fuzzy inference system to obtain ATC. The second
proposed heuristic model is used to obtain multiple ATC Heuristic (Greek) means discovery. Heuristic methods are
values. Out of these, a specific ATC value will be selected based on experience, rational ideas and more on common
based on a number of social, economic, deregulated envi- sense than on mathematics. Heuristics are the only way to
ronmental constraints and related to specific applications solve many problems which do not have an algorithm or
like optimization, on-line monitoring, and ATC forecasting formula. Humans use a lot of heuristics in their everyday
known as multi-objective decision based optimal ATC. The life to solve various problems, from simple ones like rec-
validity of results obtained through these proposed methods ognizing various objects, to more complex problems like
are scrupulously verified on various buses of the IEEE driving a car in a highly crowded environment. The
24-bus reliable test system. The results presented and knowledge heuristics is obtained throughout our life and
derived conclusions in this paper are very useful for that is where computers fail. They cannot learn ‘com-
planning, operation, maintaining of reliable power in any monsense knowledge’, at least not as much and as fast as
power system and its monitoring in an on-line environment humans can. To incorporate heuristics in computers is a
of deregulated power system. In this way, the proposed major problem of artificial intelligence (AI). Even simple
heuristic methods would contribute the best possible heuristics, which every child can learn quickly, may not be
easy to represent in a computer program [1]. Therefore, the
aforementioned discussion will motivate to invent new
heuristics like proposed methods presented in this paper
will be helpful to incorporate the problem solving ideas
& Gopi Krishna Pasam into the computer.
rishipragnatha@gmail.com Advancements in the technology involve multiple
1 approaches; these create an ambiguous state for the power
Engineering Department, IBRA College of Technology,
Al-Yehamadi, Ibra, Al-Sharqiyya North Governarate 400, engineers while taking the decisions pertinent to multiple
Oman objectives which are based on several individual or com-
2
Department of Electrical and Electronic Engineering, bined factors like social, economic, flexibility and relia-
Sri Venkateswara University , Tirupathi 517502, India bility. In these circumstances the continuous assessment of

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available transfer capability (ATC) in deregulated power A hybrid multi-objective optimization algorithm based
system is known as the multi-objective decision based on particle swarm optimization (PSO) and differential
(MODB) ATC and this type of determination of ATC is a evolution (DE) is used to solve the highly constrained
challenging issue [2], as requires the use of intuition, environmental or economic dispatch problem involving
experience and integrated approaches. multiple objectives [8]. This algorithm is strengthened by
ATC is a measure of the transfer capability existing in integrating several techniques like time variant acceleration
the physical transmission network apart from the commit- coefficients, external repository of elite particles, the
ted usage of power (base load). Mathematically [3], ATC is crowding distance-based approach and the local version of
defined as the total transfer capability (TTC) less the DE. Similar to this algorithm, a proposed algorithm is used
transmission reliability margin (TRM), less the capacity in this paper to integrate different methods in order to
benefit margin (CBM). In this paper, the TRM and CBM obtain MODB ATC.
are considered as an equivalent to base load at each bus. In general, the multi-objective optimization comprises
Therefore the ATC computations will be obtained from more computational effort than the single-objective opti-
ATC = TTC - Base Load. mization. Unless the preferences are unrelated or com-
The determination of ATC is one of the critical issues in pletely understood, solution of several single objective
the power management, which clearly fits into the broad problems may be essential to obtain a reasonable final
field of multi-objective optimization problems of interest solution. In fact, the efficiency of many of the methods
today and currently, such problems have not been proven to depends on the number of objective functions being eval-
be solvable in strongly polynomial-time. Therefore, evo- uated and the optimization being used, which has been
lutionary algorithms and heuristic techniques such as ant proved in [9–15].
colony optimization may yield excellent near-optimum The multi-objective optimization methods presented in
results in short periods of time, which is important and [9–15] are fuzzy in terms of their mathematical uncer-
essential for good power management and dispatch [4]. tainty, comprehensive coverage, algorithm presentation,
This supports the proposed heuristic algorithms and general applicability to engineering design and these are
methods discussed in this paper. targeting to specific application [16]. So these are giving a
The contingency constrained optimal power flow scope to implement simple an easy way to achieve
(CCOPF), fuzzy multi objective CCOPF and conven- MODBATC computations in the deregulated power sys-
tional OPF methods are used to determine ATC in [5]. tem. This is accomplished by using integrated methods as a
The multiple objectives such as base operating cost, first time in this paper when compared with the available
maximum permissible operating cost, ramp rate limits on literature in MODB approaches towards ATC
the unit’s real power outputs and operating cost based on computations.
different contingencies were considered in [6] to model
Fuzzy multi objective CCOPF to evaluate ATC between
two areas of IEEE 30-bus and 118-bus system. But the ATC by Continuation Repeated Power Flow
neural networks and ANFIS are the best to develop the (CRPF) and Repeated Optimal Power Flow
models based on learning as compared with Fuzzy (ROPF)
models alone. Hence in this paper, ATC is determined
by integrating CRPF, CROPF, RBFNN, BPNN and The CRPF method uses the combined features of repeated
ANFIS methods through proposed multi-objective deci- power flow (RPF) [17] and continuation power flow (CPF)
sion based ATC model in order to meet multiple [18]. The CRPF and ROPF solve the power flow equations
objectives such as optimal voltage constraints, most in a single program run from a known base load to maxi-
common requirement, appropriate, differences in lower mum loading point on the selected load bus and the cor-
and upper limits, future prediction, more power demand responding ATC is determined at each step variation using
and less power demand. ATC = TTC-Base Load. In this paper, the CRPF method
For typical multi-objective problems, the goal is to seek is taken as reference to compare the ROPF and other
a utopian solution to meet several competing objectives. In methods discussed in the following sections.
such problems, the satisfaction of the objective functions The RPF and ROPF solve the power flow equations
becomes a combination of vector maximizations or mini- repeatedly at a succession of points, along specified load
mizations. However, in most cases, a global maximum of increments with a constant power factor and for optimal
any particular individual objective function may not be a power flow the voltage is considered as an optimization
satisfactory solution for the remaining objectives [7]. parameter represented in Eq. (5). These methods use the
Because of this, a simple approach to meet multiple Newton–Raphson’s method [19] in polar co-ordinates and
objectives is introduced in this paper. its summary is described as follows with Eqs. (1)–(9).

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The complex power at bus ‘p’ is Pn


wpq Þ2
!
p¼1 ðxp
/p ¼ exp ð10Þ
Pp jQp ¼ Vp Ip ð1Þ 2r2
n
where /p is the hidden neuron’s activation function; xp is
X
jQp ¼ Vp \

Pp dp Ypq Vq \ðhpq þ dq Þ ð2Þ
q¼1 the input vector; wpq is the connection weight between pth
neuron and qth neuron and r is the spread of RBF.
Separating the real and imaginary parts The RBFNN has become more popular because it is the
n
X best function approximation technique. In order to obtain
Pp ¼ Vp Ypq Vq cosðhpq dp þ dq Þ ð3Þ ATC, the prerequisite to train RBFNN is training data and
q¼1
checking data (data patterns), these are obtained from the
n
X simulation results of conventional load flow using Newton–
Qp ¼ Vp Ypq Vq sinðhpq dp þ dq Þ ð4Þ
Raphson’s method, the data patterns are the inputs of real
q¼1
power, total transfer capability, voltage magnitudes, volt-
The Eqs. (3) and (4) constitute a set of non-linear algebraic age angles at various buses and the output is ATC, with
equations in terms of the independent variables, voltage these the RBFNN is under go for training, once the desired
magnitudes per unit, and phase angle in radians. Expanding goal is reached, the trained RBFNN would undergo for the
these two equations in Taylor series about the initial esti- checking of its performance with the checking data. Once
mator and neglecting all the higher order terms results in the results obtained from the trained RBFNN are accurate
the set of linear equations in the form of Jacobian matrix. then it is said to be ATC obtained using RBFNN.
The optimal power flow problem [20] can be repre-
sented mathematically as follows
ATC by Back Propagation Neural Network (BPNN
8 9
< Minimise f ðxÞ =
Such that gp ðxÞ ¼ 0 for p ¼ 1; 2; . . .; m\n ð5Þ ATC)
hq ðxÞ  0 for q ¼ 1; 2; . . .; i
: ;
Back-Propagation Training Algorithm [22]:
where f ðxÞ is the objective function (voltage profiles); x 2 Given are P training pairs {z1, d1, z2, d2, …, zp, dp},
Rn and x ¼ ½V d tŠT vector of voltage magnitudes, angles where zi is input vector of size (I 9 1), diis output vector
and taps. ofsize (K 9 1)and i = 1,2, …, P.
gp ðxÞ is load flow equations represented in Eqs. (3) and
(4). hq ðxÞ is limits on x as well as function constraints. Step 1: g [ 0, Emax chosen and output layer weights W
This is a general nonlinear-optimization model repre- and hidden layer weights V are initialized at small
sents a simplified version of the optimal power flow random values, W is (K 9 J), V is (J 9 I). Set q = 1,
ðKÞ ðKÞ p = 1 and E = 0.
problem. The terms DPp and DQp are the difference
between the scheduled and calculated values, known as the Step 2: Training step starts here, Input is presented and
power residuals, given by the layers outputs computed [f(net)] as z ¼ zp ; d ¼ dp
yj ¼ f ðVji zÞ, for j = 1, 2,…, J where vj, a column vector,
DPpðKÞ ¼ PðschÞ PðKÞ ð6Þ
p p is the jth row of V, and ok ¼ f ðwkj yÞ, for k = 1, 2, …, K
DQpðKÞ ¼ QðschÞ QðKÞ ð7Þ where wk, a column vector, is the kth row of W.
p p
Step 3: Error value is computed E ¼ 12 ðdk ok Þ2 þ E for
The new estimates of bus voltage magnitudes and phase k = 1, 2, …, K.
angles can be obtained from Eqs. (8) and (9) respectively. Step 4: Error signal vectors do and dy of both layers are
ðKþ1Þ ðKÞ ðKÞ computed. Vector do is (K 9 1), dy is (J 9 1). The error
Vp ¼ Vp þ D Vp ð8Þ
signal terms of the output layer in this step are
dpðKþ1Þ ¼ dpðKÞ þ DdpðKÞ ð9Þ dok ¼ 12 ðdk ok Þð1 o2k Þ, for k = 1, 2, …, K. The error
signal terms of the hidden layer in this step are
dyj ¼ 12 ð1 y2j Þ Kk¼1 dok wkj , for j = 1, 2, …, J
P
ATC by Radial Basis Function Neural Network Step 5: Output layer weights are adjusted
(RBFNN ATC) w0kj ¼ wkj þ gdok yj , for k = 1, 2, …, K and j = 1, 2,
…, J
The architecture of RBFNN [21] consists of input layer, Step 6: Hidden layer weights are adjusted
hidden layer and output layer. The radial basis function vji ¼ vji þ gdyj zi , for j = 1, 2, …, J and i = 1, 2, …, I
(RBF) represented in Eq. (10), is used as an activation Step 7: If p \ P then p = p ? 1, q = q ? 1, and go to
function for the hidden neurons in the RBFNN. step2; otherwise, go to step 8.

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Step 8: The training cycle is computed. For E \ Emax i xÞpi þ ðw


z ¼ ðw i yÞqi þ w
 i ri ; i ¼ 1; 2:
terminate the training session. For E [ Emax then E = 0,
p = 1, and initiate the new training cycle by going to step 2.
Similar to the RBFNN training the BPNN is also needs Similar to the RBFNN training the ANFIS is also needs
training data and checking data same as RBFNN to training data and checking data same as RBFNN to
determine ATC. determine ATC.

Proposed Heuristic Methods for Determining ATC


ATC by Adaptive Neuro Fuzzy Inference System
(ANFIS ATC) The five methods known as CRPF, ROPF, pre-trained
RBFNN, pre-trained BPNN and pre-trained ANFIS dis-
A typical architecture of an ANFI Shaving a circle indi- cussed in the earlier sections are integrated with the fol-
cates a fixed node, whereas a square indicates an adaptive lowing proposed heuristic algorithm to obtain the ATC
node [23]. For simplicity, consider two inputs x, y and one values of x1, x2, x3, x4 and x5 respectively.
output z. Among many FIS models, the Sugeno Fuzzy
model is the most widely applied one for its high inter- Proposed Heuristic Algorithm to Compute ATC
pretability and computational efficiency, and built-in opti- using Integrated and Intelligent Methods
mal and adaptive techniques. For a first order Sugeno
Fuzzy model, a common rule set with two Fuzzy If–Then Step 1: Choose any load bus from any test system.
rules can be expressed as: Step 2: Initiate CRPF method.
Rule 1: If xis A1 and y is B1 then z1 ¼ p1 x þ q1 y þ r1 ; Step 3: Enter the step change of real power applicable to
Rule 2: If x is A2 and y is B2 then z2 ¼ p2 x þ q2 y þ r2 all methods.
Step 4: Run the power flow till the method is converged.
where Ai and Bi are the fuzzy sets in the antecedent; and pi, Step 5: Compute the ATC at converged real power and
qi and ri are the design parameters that are determined store this ATC value to variable x1.
during the training process. Step 6: Initiate ROPF method.
Layer 1: Every node i in the first layer employ a node
function given by
O1i ¼ lAii ðxÞ; i ¼ 1; 2; O1i ¼ lBii ðxÞ; i ¼ 3; 4
where lAii , lBii can adopted Gaussian fuzzy membership
function (MF).
Layer 2: Every node in this layer calculates the firing
strength of a rule through multiplication
O2i ¼ wi ¼ lA i ðxÞ:lB i ðyÞ; i ¼ 1; 2
Layer 3: The i-th node in this layer calculates the ratio of
the i-th rule’s firing strength to the sum of all rules firing
strengths
wi
O3i ¼ wi ¼ ; i ¼ 1; 2
w 1 þ w2
where wi is referred to as the normalized firing strengths.
Layer 4: In this layer, every node i has the function of
O4i ¼ w i zi ¼ w
i ðpi x þ qi y þ ri Þ; i ¼ 1; 2 where, w i is
the output of layer 3 and {pi, qi, ri} is the set of
parameters. The parameters in this layer are referred to
as the consequent parameters.
Layer 5: The single node in this layer computes the
overall output as the summation of all incoming signals,
which is expressed as O5i ¼ 2i¼1 w þw2 z2
i zi ¼ w 1wz11þw
P
2
. The
final output z in Fig. 1, can be rewritten as Fig. 1 IEEE 24-bus reliable test system

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ATC 1
Step 13: Run the trained BPNN till its execution status
is 1.
CRPF Step 14: Compute the ATC at final real power and store
ATC(x1) ATC 2
BUS - 1 this ATC value to variable x4.
ROPF Step 15: Initiate the pre-trained ANFIS.
ATC (x2) ATC 3 Step 16: Run the trained ANFIS till its execution status
is 1.
BUS - 2 RBFNN Step 17: Compute the ATC at final real power and store
ATC (x3) ATC 4
this ATC value to variable x5.

BPNN ATC 5
ATC (x4) Proposed Heuristic Model for Multi-objective
BUS - N Decision Based ATC (MODB ATC)
ATC 6
ANFIS
ATC (x5) A proposed heuristic model as shown in Fig. 2 is used to
ATC 7 compute MODB ATC based on the ATC values obtained
through proposed algorithm as discussed in the later. Using
Fig. 2 Proposed heuristic model for MODB ATC method this model ATC1 to ATC7 are obtained based on the
multiple objectives as discussed in the later.
Step 7: Run the optimal power flow till the method is
converged. Proposed Heuristic Approach to Find Multi-
Step 8: Compute the ATC at the converged real power objective Decision Based ATC
and store this ATC value to variable x2.
Step 9: Initiate the pre-trained RBFNN. 1. ATC1 = Mean (x1, x2, x3, x4 and x5); This ATC1 is
Step 10: Run the trained RBFNN till its execution status useful for most common use.
is 1. 2. ATC2 = Harmonic Mean (x1, x2, x3, x4 and x5); This
Step 11: Compute the ATC at final real power and store ATC2 is useful for obtaining optimal ATC.
this ATC value to variable x3. 3. ATC3 = Geometric Mean (x1, x2, x3, x4 and x5);
Step 12: Initiate the pre-trained BPNN. This ATC3 is useful to know appropriate ATC.

Table 1 CRPF ATC against RBFNN, BPNN, and ANFIS ATC comparison data obtained through the proposed algorithm at bus-5 without
contingency
Test patterns Real power Method-1: CRPF (modified reference Method-3: RBFNN ATC error, %
(checking data) P5, MW conventional method) Method-4: BPNN
Method-5: ANFIS

TTC, MW ATC, MW C.S TTC, MW ATC, MW C.S

1 105 534 34 1 534.0013 34.00135 1 -0.003970


569.8317 26.03223 1 30.60000
534 34.00007 1 -0.000205
2 420 849 349 1 849 348.9998 1 0.000050
849.005 349.005 1 0.001430
849.0009 348.9999 1 0.000020
3 595 1024 524 1 1024 524 1 0.000000
1008.479 513.039 1 2.135020
1023.999 524.0001 1 0.000019
4 629.6 1058.6 558.6 1 1058.6 558.6 1 0.000000
1058.6 558.6 1 0.000000
1058.6 558.5999 1 0.000017
5 629.7 1058.7 558.7 0 1058.7 558.7 0 0.000000
1058.7 558.699 0 0.000178
1058.7 558.6999 0 0.000000

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Table 2 CRPF ATC against RBFNN, BPNN, and ANFIS ATC comparison data obtained through the proposed algorithm at bus-5 with
contingency
Test patterns Real power Method-1: CRPF (modified reference Method-3: RBFNN ATC error, %
(checking data) P5, MW conventional method) Method-4: BPNN
Method-5: ANFIS

TTC, MW ATC, MW C.S TTC, MW ATC, MW C.S

1 105 534 34 1 534.001 34.001 1 -0.002941


506.045 50.61967 1 -32.83243
533.9998 34.00005 1 -0.000147
2 420 849 349 1 849 349 1 0.000000
849 349 1 0.000000
849.0006 348.9999 1 0.000028
3 595 1024 524 1 1024 524 1 0.000000
1024.172 524.172 1 -0.003281
1024 524 1 0.000000
4 605.6 1034.6 534.6 1 1034.6 534.6 1 0.000000
1034.6 534.6 1 0.000000
1034.6 534.6 1 0.000000
5 605.7 1034.7 534.7 0 1034.7 534.7 0 0.000000
1034.7 534.699 0 0.000187
1034.7 534.7 0 0.000000

Table 3 Multi-objective decision based ATC


Test system and bus number Method ATC, MW Multi-objective decision based ATC, MW
ATC-1 ATC-2 ATC-3 ATC-4 ATC-5 ATC-6 ATC-7

IEEE 24-bus reliable test system CRPF 558.6 496.598 447.0945 474.0939 376.92 137.564 558.6 248.6
and bus-5 without contingency
ROPF 248.6
RBFNN 558.6
BPNN 558.6
ANFIS 558.59
IEEE 24-bus reliable test system CRPF 534.6 477.14 433.8056 457.2136 559.92 725.48 534.6 247.3
and bus-5 with contingency
ROPF 247.3
RBFNN 534.6
BPNN 534.6
ANFIS 534.6

4. ATC4 = Median (x1, x2, x3, x4 and x5); This ATC4 is 6. ATC6 = Maximum (x1, x2, x3, x4 and x5); This
useful when ATC is extreme difference in lower and ATC6 is useful when power demand is more.
upper limits 7. ATC7 = Minimum (x1, x2, x3, x4 and x5); This ATC7
5. ATC5 = Mode (x1, x2, x3, x4 and x5); This ATC5 is is useful when the power demand is less and voltages
useful for predicting future ATC. are at specified limits.

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ATC at Bus-5 without Contingenc ATC at Bus-5 with Contingency


600

Varying Load on Bus-5, MW


600 x=534.6

Varying Load on Bus-5 (MW)


x=558.6
500 500

400 400

300 300

200 200

100 100

0 0
100 200 300 400 500 100 200 300 400 500
ATC at Bus-5, MW ATC at Bus-5 (MW)

Fig. 3 CRPF ATC plot at bus-5 without contingency Fig. 6 CRPF ATC plot at bus-5 with contingency

ATC at Bus-5 without Contingency ATC at Bus-5 with Contingency

300 X= 248.6 300 X= 247.3


Y= 319.6 Y= 318.3
Varying Load on Bus-5, MW

Varying Load on Bus-5, MW


250 250

200 200

150 150

100 100

50 50

0 0
0 50 100 150 200 250 0 50 100 150 200 250
ATC at Bus-5, MW ATC at Bus-5, MW

Fig. 4 ROPF ATC plot at bus-5 without contingency Fig. 7 ROPF ATC Plot at bus-5 with contingency

CRPF and RBFNN ATC Comparison Plot CRPF and ANFIS ATC Comparison Plot
at Bus-5 Without Contingency at Bus-5 With Contingency

600
600 X: 534.7
X: 558.6
Varying Load at Bus-5, MW

Y: 605.7
Varying Load at Bus-5, MW

Y: 629.6 500
500

400 400

300 300

200 200

100 CRPF CRPF


100
RBFNN ANFIS
0 0
0 100 200 300 400 500 600
0 100 200 300 400 500
ATC at Bus-5, MW
ATC at Bus-5, MW
Fig. 5 RBFNN ATC plot at bus-5 without contingency
Fig. 8 ANFIS ATC plot at bus-5 with contingency

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main intension of integrating conventional methods and


intelligent methods through proposed algorithm is to showa
path to the power engineers for taking appropriate deci-
sions in determining and monitoring the MODB ATC as a
continuous parameter at various load dispatch centres by
establishing ATC digital meters for their ready reference in
the deregulated environment. The effectiveness and relia-
bility of the proposed heuristic methods have been tested
on various test systems like IEEE 9-bus, IEEE 24-bus,
Indian southern region extra high voltage (SREHV)
24-bus and SREHV 72-bus. It is found that the accuracy
Fig. 9 BPNN ATC plot at bus-5 with contingency of heuristic methods on these test system is almost sim-
ilar. Hence, in this paper the results are demonstrated on
Test System and Results IEEE 24-bus reliability test system. In this paper, ATC-1
to ATC-7 obtained from the proposed heuristic model are
Test System
of different values, these indicate that there is skew in
these ATC values and this skew proves that possibility of
To test the proposed methods scrupulously, the IEEE
the existence of multiple objectives in ATC. Therefore the
24-BusReliable Test System [24] as shown in Fig. 1 is
multi-objective decision based ATC is required in the
considered as test system and the results presented in this
deregulated environment to meet different objectives such
paper are obtained using MATLAB software [25] and Mat
as most common usage of ATC, voltage constrained
power 4.1 package [26].
optimal ATC, appropriate ATC, extreme difference in
Case Scenarios for IEEE 24-Bus Reliable Test lower and upper ATC, to predict future expansion ATC,
System Using 5-Methods high demand ATC and low demand ATC. These objec-
tives may be further extended and modified based on the
For contingency cases, a line outage between bus-9 to bus- requirement.
11 is created and is considered as contingency.
Case 1: Varying Load on Bus-5 without Contingency
In this case, the load at bus-5 is varied with constant power References
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