ADXL105* [ADI]
High Accuracy +1 g to +5 g Single Axis iMEMS Accelerometer with Analog Input ; 高精度1克到5克单轴加速度计的iMEMS模拟输入\n型号: | ADXL105* |
厂家: | ADI |
描述: | High Accuracy +1 g to +5 g Single Axis iMEMS Accelerometer with Analog Input
|
文件: | 总8页 (文件大小:261K) |
中文: | 中文翻译 | 下载: | 下载PDF数据表文档文件 |
High Accuracy ؎1 g to ؎5 g Single Axis
a
i
MEMS® Accelerometer with Analog Input
ADXL105*
FUNCTIONAL BLOCK DIAGRAM
FEATURES
Monolithic IC Chip
2 mg Resolution
V
DD
10 kHz Bandwidth
Flat Amplitude Response (؎1%) to 5 kHz
Low Bias and Sensitivity Drift
Low Power 2 mA
ADXL105
TEMP
SENSOR
T
OUT
UNCOMMITTED
AMPLIFIER
Output Ratiometric to Supply
User Scalable g Range
On-Board Temperature Sensor
Uncommitted Amplifier
Surface Mount Package
+2.7 V to +5.25 V Single Supply Operation
1000 g Shock Survival
ST
X SENSOR
COM
COM
A
V
V
V
UCA
OUT
OUT
MID
NIN
IN
APPLICATIONS
Automotive
Accurate Tilt Sensing with Fast Response
Machine Health and Vibration Measurement
Affordable Inertial Sensing of Velocity and Position
Seismic Sensing
Rotational Acceleration
The ADXL105 can measure both dynamic accelerations, (typi-
cal of vibration) or static accelerations (such as inertial force,
gravity or tilt).
GENERAL DESCRIPTION
The ADXL105 is a high performance, high accuracy and com-
plete single-axis acceleration measurement system on a single
monolithic IC. The ADXL105 offers significantly increased
bandwidth and reduced noise versus previously available micro-
machined devices. The ADXL105 measures acceleration with a
full-scale range up to ±5 g and produces an analog voltage out-
put. Typical noise floor is 225 µg√Hz allowing signals below
2 mg to be resolved. A 10 kHz wide frequency response enables
vibration measurement applications. The product exhibits signifi-
cant reduction in offset and sensitivity drift over temperature
compared to the ADXL05.
Output scale factors from 250 mV/g to 1.5 V/g are set using the
on-board uncommitted amplifier and external resistors. The
device features an on-board temperature sensor with an output
of 8 mV/°C for optional temperature compensation of offset vs.
temperature for high accuracy application.
The ADXL105 is available in a hermetic 14-lead surface mount
Cerpak with versions specified for the 0°C to +70°C, and
–40°C to +85°C temperature ranges.
*Patent Pending.
i
MEMS is a registered trademark of Analog Devices, Inc.
REV. A
Information furnished by Analog Devices is believed to be accurate and
reliable. However, no responsibility is assumed by Analog Devices for its
use, nor for any infringements of patents or other rights of third parties
which may result from its use. No license is granted by implication or
otherwise under any patent or patent rights of Analog Devices.
One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A.
Tel: 781/329-4700
Fax: 781/326-8703
World Wide Web Site: http://www.analog.com
© Analog Devices, Inc., 1999
(TA = TMIN to TMAX, TA = +25؇C for J Grade Only, VS = +5 V, @ Acceleration = 0 g,
unless otherwise noted)
ADXL105–SPECIFICATIONS
ADXL105J/A
Parameter
Conditions
Min
Typ
Max
Units
SENSOR INPUT
Measurement Range1
Nonlinearity
±5
±7
0.2
±1
±1
g
Best Fit Straight Line
% of FS
Degrees
%
Alignment Error2
Cross Axis Sensitivity3
Z Axis, @ +25°C
±5
SENSITIVITY4 (Ratiometric)
Initial
At AOUT
225
80
250
105
±0.5
275
120
mV/g
mV/g
%
VS = 2.7 V
vs. Temperature5, 6
ZERO g BIAS LEVEL5 (Ratiometric)
Zero g Offset Error
At AOUT
From +2.5 V Nominal
–625
–20
+625
+20
mV
mV/VDD/V
mV
vs. Supply
vs. Temperature5, 7
50
NOISE PERFORMANCE
Voltage Density7
Noise in 100 Hz Bandwidth
@ +25°C
225
2.25
325
µg/√Hz
mg rms
FREQUENCY RESPONSE
3 dB Bandwidth
Sensor Resonant Frequency
10
13
12
18
kHz
kHz
TEMP SENSOR4 (Ratiometric)
Output Error at +25°C
Nominal Scale Factor
From +2.5 V Nominal
–100
+100
mV
mV/°C
kΩ
8
10
Output Impedance
4
VMID (Ratiometric)
Output Error
Output Impedance
From +2.5 V Nominal
Self-Test “0” to “1”
I = ± 50 µA
–15
+15
mV
kΩ
10
50
SELF-TEST (Proportional to VDD
Voltage Delta at AOUT
)
100
30
500
mV
kΩ
Input Impedance8
AOUT
Output Drive
Capacitive Load Drive
0.50
1000
VS – 0.5
V
pF
UNCOMMITTED AMPLIFIER
Initial Offset
Initial Offset vs. Temperature
Common-Mode Range
Input Bias Current9
Open Loop Gain
–25
1.0
+25
4.0
mV
µV/°C
V
nA
V/mV
V
5
25
100
Output Drive
I = ±100 µA
0.25
VS – 0.25
Capacitive Load Drive
1000
pF
POWER SUPPLY
Operating Voltage Range
Quiescent Supply Current
2.70
5.25
2.6
2.0
V
At 5.0 V
At 2.7 V
1.9
1.3
700
mA
mA
µs
Turn-On Time
TEMPERATURE RANGE
Operating Range J
Specified Performance A
0
–40
+70
+85
°C
°C
NOTES
1Guaranteed by tests of zero g bias, sensitivity and output swing.
2Alignment of the X axis is with respect to the long edge of the bottom half of the Cerpak package.
3Cross axis sensitivity is measured with an applied acceleration in the Z axis of the device.
4This parameter is ratiometric to the supply voltage VDD. Specification is shown with a 5.0 V VDD. To calculate approximate values at another VDD, multiply the specification by
VDD/5 V.
5Specification refers to the maximum change in parameter from its initial value at +25°C to its worst case value at TMIN to TMAX
.
6See Figure 3.
7See Figure 2.
8CMOS and TTL Compatible.
9UCA input bias current is tested at final test.
All min and max specifications are guaranteed. Typical specifications are not tested or guaranteed.
Specifications subject to change without notice.
REV. A
–2–
ADXL105
ABSOLUTE MAXIMUM RATINGS*
Package Characteristics
Acceleration (Any Axis, Unpowered for 0.5 ms) . . . . . .1000 g
Acceleration (Any Axis, Powered for 0.5 ms) . . . . . . . . .500 g
+VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . –0.3 V to +7.0 V
Output Short Circuit Duration
Package
Device Weight
JA
JC
14-Lead Cerpak
110°C/W
30°C/W
<2 Grams
(Any Pin to Common) . . . . . . . . . . . . . . . . . . . . Indefinite
Operating Temperature . . . . . . . . . . . . . . . . –55°C to +125°C
Storage Temperature . . . . . . . . . . . . . . . . . . –65°C to +150°C
ORDERING GUIDE
Temperature Range Package Option
Model
*Stresses above those listed under Absolute Maximum Ratings may cause perma-
nent damage to the device. This is a stress rating only; the functional operation of
the device at these or any other conditions above those indicated in the operational
sections of this specification is not implied. Exposure to absolute maximum rating
conditions for extended periods may affect device reliability.
ADXL105JQC
ADXL105AQC
0°C to +70°C
–40°C to +85°C
QC-14
QC-14
CAUTION
ESD (electrostatic discharge) sensitive device. Electrostatic charges as high as 4000 V readily
accumulate on the human body and test equipment and can discharge without detection.
Although the ADXL105 features proprietary ESD protection circuitry, permanent damage may
occur on devices subjected to high energy electrostatic discharges. Therefore, proper ESD
precautions are recommended to avoid performance degradation or loss of functionality.
WARNING!
ESD SENSITIVE DEVICE
Drops onto hard surfaces can cause shocks of greater than 1000 g
and exceed the absolute maximum rating of the device. Care should
be exercised in handling to avoid damage.
PIN CONFIGURATION
PIN FUNCTION DESCRIPTIONS
Pin No. Name
Description
T
1
2
3
4
5
6
7
14
13
12
11
10
9
V
V
OUT
DD
NC
1
TOUT
NC
Temperature Sensor Output
No Connect
Common
DD
NC
UCA
OUT
2, 3, 5
ADXL105
TOP VIEW
(Not to Scale)
COM
NC
V
IN
4
6
COM
ST
V
NIN
Self-Test
ST
V
MID
7
8
9
COM
AOUT
VMID
VNIN
VIN
Common (Substrate)
Accelerometer Output
VDD/2 Reference Voltage
Uncommitted Amp Noninverting Input
Uncommitted Amp Inverting Input
Uncommitted Amp Output
Power Supply Voltage
8
COM
A
OUT
NC = NO CONNECT
10
11
12
13, 14
UCAOUT
VDD
8
9
7
6
5
4
3
2
1
1
2
3
4
5
6
7
14
13
12
11
10
9
1 0
1 1
1 2
1 3
1 4
8
A
= 2.75V
A
= 2.50V
A
= 2.25V
OUT
OUT
OUT
Figure 1. ADXL105 Response Due to Gravity
REV. A
–3–
ADXL105–Typical Performance Characteristics
120
25
20
15
10
90
60
30
0
–30
g
–60
5
0
–90
–120
–50
0
50
100
0.242 0.244 0.246 0.248 0.250 0.252 0.254 0.256 0.258 0.260
TEMPERATURE – ؇C
SENSITIVITY – V/g
Figure 2. Typical 0 g Shift vs. Temperature*
Figure 5. Sensitivity Distribution*
5
4
3
2
2.5
2
1.5
1
1
0
0.5
–1
–2
0
–50
0
50
100
2.7
3.3
4
5
5.5
TEMPERATURE – ؇C
SUPPLY VOLTAGE
Figure 3. Typical Sensitivity Shift vs. Temperature*
Figure 6. Typical Supply Current vs. Supply Voltage
20
18
16
14
12
10
8
18
12
–6
–0
–6
6
4
–12
–18
2
0
2.2 2.25 2.3 2.35 2.4 2.45 2.5 2.55 2.6 2.65 2.7 2.75 2.8
100
1000
10000
100000
OUTPUT – V
FREQUENCY – Hz
Figure 4. 0 g Output Distribution*
Figure 7. Noise Graph
*Data from several characterization lots.
REV. A
–4–
ADXL105
500
450
400
350
g
300
250
200
150
2
3
4
5
6
SUPPLY VOLTAGE
Figure 8. Typical Noise Density vs. Supply Voltage
Figure 11. Typical Self-Test Response at VDD = 5 V
15
40
35
30
10
ADXL105 SOLDERED TO PCB
5
0
25
20
15
10
5
–5
ADXL105 SOLDERED AND GLUED TO PCB
–10
–15
0
205
210
215
220
225 230
235 240
245
250
1
10
100
1000
10000
100000
FREQUENCY – Hz
NOISE DENSITY – g/ Hz
Figure 12. Frequency Response
Figure 9. Noise Distribution*
20
400
300
18
ADXL105 SOLDERED TO PCB
16
14
12
200
100
10
8
0
6
–100
–200
–300
4
2
ADXL105 SOLDERED AND GLUED TO PCB
0
1
10
100
1000
10000
100000
FREQUENCY – Hz
DEGREES OF MISALIGNMENT
Figure 13. Phase Response
Figure 10. Rotational Die Alignment*
*Data from several characterization lots.
REV. A
–5–
ADXL105
THEORY OF OPERATION
VMID
The ADXL105 is a complete acceleration measurement system
on a single monolithic IC. It contains a polysilicon surface-
micromachined sensor and BiMOS signal conditioning circuitry
to implement an open loop acceleration measurement architec-
ture. The ADXL105 is capable of measuring both positive and
negative accelerations to a maximum level of ±5 g. The acceler-
ometer also measures static acceleration such as gravity, allow-
ing it to be used as a tilt sensor.
VMID is nominally VDD/2. It is primarily intended for use as a
reference output for the on board uncommitted amplifier (UCA)
as shown in Figures 14a and 14b. Its output impedance is ap-
proximately 10 kΩ.
+V
0.22F
V
V
DD
DD
The sensor is a surface micromachined polysilicon structure
built on top of the silicon wafer. Polysilicon springs suspend the
structure over the surface of the wafer and provide a resistance
against acceleration-induced forces. Deflection of the structure
is measured with a differential capacitor structure that consists
of two independent fixed plates and a central plate attached to
the moving mass. A 180° out-of-phase square wave drives the
fixed plates. An acceleration causing the beam to deflect, will
unbalance the differential capacitor resulting in an output square
wave whose amplitude is proportional to acceleration. Phase sensi-
tive demodulation techniques are then used to rectify the signal
and determine the direction of the acceleration.
ADXL105
TEMP
SENSOR
T
OUT
UNCOMMITTED
AMPLIFIER
ST
X SENSOR
V
UCA
OUT
COM
COM
A
V
V
IN
OUT
MID
NIN
R1
R2
OUTPUT
GAIN SCALE – mV/g
R1
50k⍀
50k⍀ 100k⍀
50k⍀ 150k⍀
50k⍀ 200k⍀
R2
50k⍀
An uncommitted amplifier is supplied for setting the output
scale factor, filtering and other analog signal processing.
1
2
3
4
250
500
750
1000
A ratiometric voltage output temperature sensor measures the
exact die temperature and can be used for optional calibration
of the accelerometer over temperature.
a. Using the UCA to Change the Scale Factor
VDD
+V
The ADXL105 has two power supply (VDD) pins, 13 and 14.
The two pins should be connected directly together. The output
of the ADXL105 is ratiometric to the power supply. Therefore a
0.22 µF decoupling capacitor between VDD and COM is re-
quired to reduce power supply noise. To further reduce noise,
insert a resistor (and/or a ferrite bead) in series with the VDD
pin. See the EMC and Electrical Noise section for more details.
0.22F
V
V
DD
DD
ADXL105
TEMP
SENSOR
T
OUT
UNCOMMITTED
AMPLIFIER
ST
X SENSOR
COM
The ADXL105 has two common (COM) pins, 4 and 7. These
two pins should be connected directly together and Pin 7
grounded.
V
UCA
OUT
COM
COM
A
V
V
IN
OUT
MID
NIN
R1
R2
OUTPUT
ST
The ST pin (Pin 6) controls the self-test feature. When this pin
is set to VDD, an electrostatic force is exerted on the beam of the
accelerometer causing the beam to move. The change in output
resulting from movement of the beam allows the user to test for
mechanical and electrical functionality. This pin may be left
open-circuit or connected to common in normal use. The self-
test input is CMOS and TTL compatible.
+V
10k⍀
R3
R3 = 5R1
R1 > 20k⍀
(250) R2
R1
mV/g
SCALE =
b. Using the UCA to Change the Scale Factor
and Zero g Bias
Figure 14. Application Circuit for Increasing Scale Factor
AOUT
The accelerometer output (Pin 8) is set to a nominal scale fac-
tor of 250 mV/g (for VDD = 5 V). Note that AOUT is guaranteed
to source/sink a minimum of 50 µA (approximately 50 kΩ out-
put impedance). So a buffer may be required between AOUT and
some A-to-D converter inputs.
TOUT
The temperature sensor output is nominally 2.5 V at +25°C and
typically changes 8 mV/°C, and is optimized for repeatability
rather than accuracy. The output is ratiometric with supply
voltage.
Uncommitted Amplifier (UCA)
The uncommitted amplifier has a low noise, low drift bipolar
front end design. The UCA can be used to change the scale
factor of the ADXL105 as shown in Figure 14. The UCA may
also be used to add a 1- or 2-pole active filter as shown in Fig-
ures 15a through 15d.
REV. A
–6–
ADXL105
Output Scaling
So given a bandwidth of 1000 Hz, the typical rms noise floor of
an ADLX105 will be:
The acceleration output (AOUT) of the ADXL105 is nominally
250 mV/g. This scale factor may not be appropriate for all appli-
cations. The UCA may be used to increase the scale factor. The
simplest implementation would be as shown in Figure 14a.
Since the 0 g offset of the ADXL105 is 2.5 V ± 625 mV, using a
gain of greater than 4 could result in having the UCA output at
0 V or 5 V at 0 g. The solution is to add R3 and VR1, as shown
in Figure 14b, turning the UCA into a summing amplifier. VR1
is adjusted such that the UCA output is VDD/2 at 0 g.
Noise = (225 µg/√Hz) × (√1000 × 1.6)
= 9 mg rms for a single-pole filter
and
Noise = (225 µg/√Hz) × (√1000 × 1.4)
= 8.4 mg rms for 2-pole filter
Often the peak value of the noise is desired. Peak-to-peak noise
can only be estimated by statistical means. Table I may be used
for estimating the probabilities of exceeding various peak values
given the rms value. The peak-to-peak noise value will give the
best estimate of the uncertainty in a single measurement.
C
R1
1
f–3dB
=
2CR1
R2
V
IN
R1
R2
GAIN = –
OUT
MID
Table I. Estimation of Peak-to-Peak Noise
a. 1-Pole Low-Pass Filter
Nominal Peak-to-
Peak Value
% of Time that Noise Will
Exceed Peak-to-Peak Value
0.22F
2 × rms
3 × rms
4 × rms
5 × rms
6 × rms
7 × rms
8 × rms
32%
13%
4.6%
1.2%
0.27%
0.047%
0.0063%
20k⍀
20k⍀
IN
OUT
f–3dB = 30Hz
0.18F
V
MID
b. 2-Pole Bessel Low-Pass Filter
The UCA may be configured to act as an active filter with gain
and 0 g offset control as shown in Figure 16.
R1
1
f–3dB
=
2CR2
C
R2
R3
IN
R1
R2
GAIN = –
OUT
0.1F
V
MID
~
R3 2.5 R1
~
V
DD
V
MID
47k⍀
100k⍀
10k⍀
c. 1-Pole High-Pass Filter
44.2k⍀
OUT
IN
47k⍀ 47k⍀
0.39F 0.39F
0.1F
GAIN = 2
f–3dB = 30Hz
IN
OUT
59k⍀
Figure 16. UCA Configured as an Active Low-Pass Filter
with Gain and Offset
f–3dB = 10Hz
V
MID
d. 2-Pole Bessel High-Pass Filter
Figure 15. UCA Used as Active Filters*
Device Bandwidth vs. Resolution
In general the bandwidth selected will determine the noise floor
and hence, the measurement resolution (smallest detectable
acceleration) of the ADXL105. Since the noise of the ADXL105
has the characteristic of white Gaussian noise that contributes
equally at all frequencies, the noise amplitude may be reduced
by simply reducing the bandwidth. So the typical noise of the
ADXL105 is:
EMC and Electrical Noise
The design of the ADXL105 is such that EMI or magnetic
fields do not normally affect it. Since the ADXL105 is ratiomet-
ric, conducted electrical noise on VDD does affect the output.
This is particularly true for noise at the ADXL105’s internal
clock frequency (200 kHz) and its odd harmonics. So maintain-
ing a clean supply voltage is key in preserving the low noise and
high resolution properties of the ADXL105.
One way to ensure that VDD contains no high frequency noise is
to add an R-C low-pass filter near the VDD pin as shown in
Figure 17. Using the component values shown in Figure 17,
noise at 200 kHz is attenuated by approximately –23 dB. As-
suming the ADXL105 consumes 2 mA, there will be a 100 mV
drop across R1. This can be neglected simply by using the
ADXL105’s VDD as the A-to-D converter’s reference voltage as
shown in Figure 17.
Noise (rms) = (225 µg/√Hz) × (√Bandwidth × K)
Where
K ≈ 1.6 for a single-pole filter
K ≈ 1.4 for a 2-pole filter
*For other corner frequencies, consult an active filter handbook.
REV. A
–7–
ADXL105
50⍀
5 kHz where it gently rolls off (see Figure 7). The beam reso-
nance at 16 kHz can be seen in Figure 7 where there is a small
noise peak (+5 dB) at the beam’s resonant frequency. There are
no other significant noise peaks at any frequency.
+V
V
V
DD
DD
0.22F
ADXL105
TEMP
SENSOR
T
OUT
UNCOMMITTED
AMPLIFIER
VREF
The resonant frequency of the beam in the ADXL105 deter-
mines its high frequency limit. However the resonant frequency
of the Cerpak package is typically around 7 kHz. As a result, it
is not unusual to see 6 dB peaks occurring at the package reso-
nant frequency (as shown in Figures 12 and 13). Indeed, the
PCB will often have one or more resonant peaks well below
7 kHz. Therefore, if the application calls for accurate operation
at or above 6 kHz the ADXL105 should be glued to the PCB in
order to eliminate the amplitude response peak due to the pack-
age, and careful consideration should be given to the PCB
mechanical design.
DOUT
ST
AIN
X SENSOR
COM
COM COM
A
V
V
V
IN
UCA
OUT
OUT
MID NIN
A-TO-D
CONVERTER
Figure 17. Reducing Noise on VDD
Dynamic Operation
In applications where only dynamic accelerations (vibration) are
of interest, it is often best to ac-couple the accelerometer output
as shown in Figures 15c and 15d. The advantage of ac coupling
is that 0g offset variability (part to part) and drifts are eliminated.
CALIBRATING THE ADXL105
The initial value of the offset and scale factor for the ADXL105
will require dc calibration for applications such as tilt
measurement.
Low Power Operation
The most straightforward method of lowering the ADXL105’s
power consumption is to minimize its supply voltage. By lower-
ing VDD from 5 V to 2.7 V the power consumption goes from
9.5 mW to 3.5 mW. There may be reasons why lowering the
supply voltage is impractical in many applications, in which case
the best way to minimize power consumption is by power cycling.
For low g applications, the force of gravity is the most stable,
accurate and convenient acceleration reference available. An
approximate reading of the 0 g point can be determined by
orienting the device parallel to the Earth’s surface and then
reading the output. For high accuracy, a calibrated fixture must
be used to ensure exact 90 degree orientation to the 1 g gravity
signal.
The ADXL105 is capable of turning on and giving an accurate
reading within 700 µs (see Figure 18). Most microcontrollers
can perform an A-to-D conversion in under 25 µs. So it is prac-
tical to turn on the ADXL105 and take a reading in under 750
µs. Given a 100 Hz sample rate the average current required at
2.7 V would be:
An accurate sensitivity calibration method is to make a measure-
ment at +1 g and –1 g. The sensitivity can be determined by the
two measurements. This method has the advantage of being less
sensitive to the alignment of the accelerometer because the on
axis signal is proportional to the Cosine of the angle. For ex-
ample, a 5° error in the orientation results in only a 0.4% error
in the measurement.
100 samples/s × 750 µs × 1.3 mA = 97.5 µA
To calibrate, the accelerometer measurement axis is pointed
directly at the Earth. The 1 g reading is saved and the sensor is
turned 180° to measure –1 g. Using the two readings and sensi-
tivity is calculated:
Sensitivity = [1 g Reading – (–1 g Reading)]/2 V/g
OUTLINE DIMENSIONS
Dimensions shown in inches and (mm).
14-Lead Cerpak
(QC-14)
Figure 18. Typical Turn-On Response at VDD = 5 V
0.415 (10.541)
MAX
Note that if a filter is used in the UCA, sufficient time must be
allowed for the settling of the filter as well.
14
8
7
0.310 (7.874)
0.275 (6.985)
0.419 (10.643)
0.394 (10.008)
Broadband Operation
1
The ADXL105 has a number of characteristics that permits
operation over a wide frequency range. Its frequency and phase
response is essentially flat from dc to 10 kHz (see Figures 12
and 13). Its sensitivity is also constant over temperature (see
Figure 3). In contrast, most accelerometers do not have linear
response at low frequencies (in many cases, no response at very
low frequencies or dc), and often have a large sensitivity tem-
perature coefficient that must be compensated for. In addi-
tion, the ADXL105’s noise floor is essentially flat from dc to
0.345 (8.763)
0.290 (7.366)
PIN 1
0.300 (7.62)
0.170 (4.318)
0.135 (3.429)
0.190 (4.826)
0.140 (3.556)
8؇
0؇
0.020 (0.508)
0.004 (0.102)
SEATING
PLANE
0.050 0.020 (0.508)
0.0125 (0.318)
0.009 (0.229)
0.050 (1.270)
0.016 (0.406)
(1.27)
BSC
0.013 (0.330)
–8–
REV. A
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