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ergoCub 1.3 S/N:002 – Generic motor error on right arm #1994

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S-Dafarra opened this issue Dec 10, 2024 · 1 comment
Open

ergoCub 1.3 S/N:002 – Generic motor error on right arm #1994

S-Dafarra opened this issue Dec 10, 2024 · 1 comment
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@AntonioConsilvio
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ergoCub 1.3 S/N:002 ergoCub1.3 platform

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@S-Dafarra
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Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

During Humanoids, and more recently during some tests in the lab, we experienced a Generic Motor Error

[INFO] from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=2145s 341m 85u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 1314 ]) 
[INFO] from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=2145s 388m 435u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 13 ]) 
[INFO] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2145s 440m 746u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 13 ]) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2146s 333m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2147s 335m 895u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2148s 337m 900u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2149s 339m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2150s 341m 891u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2151s 343m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ).
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2152s 345m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2153s 347m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 581m 79u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXIsPasv CAN_IsWarnTX CAN_IsWarnRX CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 581m 256u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXIsPasv CAN_IsWarnTX CAN_IsWarnRX CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 583m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_IsWarnTX CAN_IsWarnRX CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 583m 254u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_IsWarnTX CAN_IsWarnRX CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 592m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2153s 594m 118u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2154s 38m 132u : MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=r_shoulder_pitch (NIB=0), Raw_quad_encoder_value=0) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2154s 349m 896u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2155s 351m 895u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2156s 353m 891u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2157s 355m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2158s 357m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2158s 581m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2158s 581m 262u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2159s 359m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2160s 361m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2161s 363m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[DEBUG] yarprobotinterface running happily 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2162s 365m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2163s 367m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2163s 582m 78u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2163s 582m 265u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2164s 39m 137u : MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=r_shoulder_pitch (NIB=0), Raw_quad_encoder_value=0) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2164s 369m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[INFO] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2165s 219m 181u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 13 ]) 
[INFO] from BOARD 10.0.1.9 (left_leg-eb9-j4_5) time=2165s 276m 565u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 1314 ]) 
[INFO] from BOARD 10.0.1.7 (right_leg-eb7-j4_5) time=2165s 342m 83u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 1314 ]) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2165s 371m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[INFO] from BOARD 10.0.1.8 (left_leg-eb8-j0_3) time=2165s 389m 436u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 13 ]) 
[INFO] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2165s 440m 753u : SYS: a service has verified that the TX of its CAN boards is regular. Type of service category is eomn_serv_category_ft. CAN boards are on (can1map, can2map) = ([ ], [ 13 ])
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2166s 374m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2167s 376m 891u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2168s 378m 893u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2168s 583m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2168s 583m 254u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2169s 380m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2170s 382m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2171s 384m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2172s 386m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2173s 388m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2173s 584m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2173s 584m 254u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2174s 40m 162u : MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=r_shoulder_pitch (NIB=0), Raw_quad_encoder_value=0) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2174s 390m 891u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2175s 393m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2176s 395m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2177s 397m 888u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2178s 399m 893u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2178s 585m 76u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2178s 585m 255u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2179s 92m 596u : src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2179s 92m 711u : src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2179s 93m 82u : MC: generic motor error. (Joint=r_shoulder_pitch (NIB=0) (Errors:CAN_RXWasPasv CAN_WasWarn )
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2179s 401m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2180s 196m 597u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2180s 196m 716u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2180s 197m 138u : MC: generic motor error. (Joint=r_shoulder_roll (NIB=1) (Errors:CAN_RXWasPasv CAN_WasWarn ) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2180s 403m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] Provided non-increasing time vector 
[WARNING] Provided non-increasing time vector 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2181s 360m 629u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2181s 360m 745u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2181s 405m 892u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2181s 649m 633u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2181s 969m 598u : src LOCAL, adr 1,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2182s 408m 887u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2183s 410m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ). 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2183s 721m 599u : src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[DEBUG] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2183s 721m 714u : src LOCAL, adr 0,(code 0x04000001, par16 0x0000 par64 0x0000000000000000) -> DEBUG: tag01 SET CONTROLMODE 
[ERROR] from BOARD 10.0.1.1 (right_arm-eb1-j0_1) time=2184s 41m 142u : MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=r_shoulder_pitch (NIB=0), Raw_quad_encoder_value=0) 
[WARNING] from BOARD 10.0.1.6 (right_leg-eb6-j0_3) time=2184s 412m 885u : SYS: a service has detected that some CAN boards are not broacasting anymore. Type of service category is eomn_serv_category_inertials3. Lost can boards on (can1map, can2map) = ([ ], [ 13 ] ).

Detailed context

Usually, it seems enough to idle and run again the motor from motorgui

Additional context

No response

How does it affect you?

No response
@github-actions github-actions bot changed the title Generic motor error on right arm ergoCub 1.3 S/N:002 – Generic motor error on right arm Dec 10, 2024
@github-actions github-actions bot added the ergoCub 1.3 S/N:002 ergoCub1.3 platform label Dec 10, 2024
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Hi @S-Dafarra 👋🏻

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