Human Based Cost from Persistent Homology for Bipedal Walking. Vasudevan, R., Ames, A. D, & Bajcsy, R. IFAC Proceedings Volumes, 44(1):3292–3297, Elsevier, 2011.
![Human Based Cost from Persistent Homology for Bipedal Walking [pdf]](https://bibbase.org/img/filetypes/pdf.svg "pdf")
Paper bibtex
Paper bibtex @article{vasudevan2011human,
title={Human Based Cost from Persistent Homology for Bipedal Walking},
author={Vasudevan, Ram and Ames, Aaron D and Bajcsy, Ruzena},
journal={IFAC Proceedings Volumes},
volume={44},
number={1},
pages={3292--3297},
year={2011},
publisher={Elsevier},
url = {http://ames.caltech.edu/IFAC2011_VAB.pdf}
}Downloads: 0
{"_id":"z7dTBCqMH4G5EyWwn","bibbaseid":"vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011","downloads":0,"creationDate":"2018-03-22T20:22:50.072Z","title":"Human Based Cost from Persistent Homology for Bipedal Walking","author_short":["Vasudevan, R.","Ames, A. D","Bajcsy, R."],"year":2011,"bibtype":"article","biburl":"http://ames.caltech.edu/ames_ref_temp.bib","bibdata":{"bibtype":"article","type":"article","title":"Human Based Cost from Persistent Homology for Bipedal Walking","author":[{"propositions":[],"lastnames":["Vasudevan"],"firstnames":["Ram"],"suffixes":[]},{"propositions":[],"lastnames":["Ames"],"firstnames":["Aaron","D"],"suffixes":[]},{"propositions":[],"lastnames":["Bajcsy"],"firstnames":["Ruzena"],"suffixes":[]}],"journal":"IFAC Proceedings Volumes","volume":"44","number":"1","pages":"3292–3297","year":"2011","publisher":"Elsevier","url":"http://ames.caltech.edu/IFAC2011_VAB.pdf","bibtex":"@article{vasudevan2011human,\n title={Human Based Cost from Persistent Homology for Bipedal Walking},\n author={Vasudevan, Ram and Ames, Aaron D and Bajcsy, Ruzena},\n journal={IFAC Proceedings Volumes},\n volume={44},\n number={1},\n pages={3292--3297},\n year={2011},\n publisher={Elsevier},\n url = {http://ames.caltech.edu/IFAC2011_VAB.pdf}\n}\n\n\n","author_short":["Vasudevan, R.","Ames, A. D","Bajcsy, R."],"key":"vasudevan2011human","id":"vasudevan2011human","bibbaseid":"vasudevan-ames-bajcsy-humanbasedcostfrompersistenthomologyforbipedalwalking-2011","role":"author","urls":{"Paper":"http://ames.caltech.edu/IFAC2011_VAB.pdf"},"metadata":{"authorlinks":{"ames, a":"http://www.bipedalrobotics.com/publications.html"}},"downloads":0,"html":""},"search_terms":["human","based","cost","persistent","homology","bipedal","walking","vasudevan","ames","bajcsy"],"keywords":[],"authorIDs":["27Jqzfeq2vzvt2u89","2hk7ucCYKb7b5Bpw8","2katRoWBZADXnKTyv","2mcm8YcLHdmaJ9fWu","3Abnrud56rp4aXjPG","3JMGKtAWheeQ3gAJt","3ZYHmNjHx7wQsd6N3","3tkkYY9BXkXHk3AEc","4Hx66bLnnsfjbhWtv","4LX82RmqCtkqPMEZ4","4TA7inryzJHnwyRmy","4cTHjHuCmdo8kox8S","4h7Zg5feuHy7H9kzm","4rirTMgrzBJquJsqt","4tYevkx3EiY7MM9Qm","4tjBkTT9deoZ5GNnh","58e27d0c3bbc92d672000051","59isxfu9gcFxtQzfv","5de72a1497054edf010000e0","5de7314797054edf01000135","5de741466a9377de01000073","5de7c3825e1638de01000001","5de83ebc8cf0fbde010000bd","5de95a04d574c6de010000ef","5de99ae059feb7f201000119","5de9d2cf5e5ac8de0100010a","5dea0e72fac96fde01000168","5deaad1b03c11ade01000122","5deae517ecff01ef010000cc","5deaea5cecff01ef010000fb","5debb8e4ca1cdddf0100000d","5dec6db1dea90ade01000083","5dec7971dea90ade01000107","5ded04eb3d02efdf01000112","5ded7931722536de010001ad","5dee0f01584fb4df010000a2","5deea33a0ceb4cdf01000157","5deec7200ddb85de010001d7","5deed30366e59ade01000050","5deedd5e66e59ade010000d2","5defe6c114db5cdf0100002f","5df07ebae49680f2010000bc","5df08e9af651f5df01000015","5df13b51630a9ee00100007e","5df1d9e71070c8ef0100012b","5df2a80b0f18f1df01000056","5df2c8ba79c00ade0100007c","5df2f7edb91ab0de010001b8","5df2ffeabc9e6cde01000055","5df34b4d683178f3010001a7","5df395c72b1f8ade01000113","5df4334296bfa7de0100004a","5df44befb126eade0100001c","5df46e7b95416ade01000062","5df5008cdaf598df0100008f","5df50e48daf598df01000164","5df51479ea1457de01000032","5df54039fd245cde0100013c","5df56d6ab3c244de0100006c","5df581c14734a4de01000032","5df58ede428212df01000042","5df59fe3a0eab8de01000068","5df5a4a8a0eab8de010000a7","5df5aed3a0eab8de01000103","5df5c4b264d1d0df01000069","5df5d49df65dd9de01000008","5df5e09df65dd9de01000081","5df5e8adf65dd9de010000d8","5df5fb56a37a40df01000087","5df65680df30fcdf0100012b","5df66114797ba9de0100000a","5df6672b797ba9de0100005c","5df69f3531a37ade01000073","5df6f677df3bb9f201000075","5df6fc2edf3bb9f2010000da","5df723afd581f5df01000131","5df72b0d8efe8dde0100004e","5df7ae8ef3cb28df010001f0","5df80c4cd74ee7df0100005d","5df81162d74ee7df010000ac","5df82817dc1981de0100004d","5df8f108277e45de010000f8","5df940c7ccc001de0100004f","5df960dd12b4b5de01000063","5dfa5f537d1403df010000b9","5dfa7f8e2a0346de010000af","5dfaff27a8dc13ee01000013","5dfb249cf85d64df01000075","5dfbb3e2f6f0aede010000c3","5dfbcd374705b7de0100009a","5dfc3126ff6df7de010000d3","5dfce0252eb8b2de0100002e","5dfe782a4e3a44de01000072","5dfeb1222331dfdf01000087","5dfef2d9e25b1bde01000002","5e00fd2b08c773de010000d2","5e012c1c2e225bde0100005b","5e01b15ebbe1d5de01000004","5e05049fe11806de0100004e","5e0521a8709177de01000094","5e058385981708de010000e2","5e06744578d770df010001c8","5e06796178d770df010002d1","5e0860f81e4bbbdf010000b3","5e090b5779e131f3010000de","5e0952c672022bde01000050","5e09fde652efb3de01000081","5e0a2ad901dcffde01000049","5e0a4af3ce3ebce40100004c","5e0a68a93eccf6e001000062","5e0adae3ee633cde01000062","5e0b5f61e73cd6de0100002b","5e0b7ed5ca6111df01000045","5e0b9305ca6111df010000e6","5e0c1e7324223cde01000097","5e0cab076a5164de010000c6","5e0cdee06762d1de010000f8","5e0ce8bb5631a6de0100002d","5e0d1b899ecb35de010000e6","5e0d21258cd11ff301000023","5e0e81c0a0f484df010000cf","5e0e9b400a1d80f201000086","5e0f738c99975cde01000044","5e0fdadb2cfae9df010000e5","5e10101186fd12e8010000aa","5e1018592ef76bdf01000022","5e10db3245c12cde01000003","5e11e5953e1c29de01000083","5e12a83f3f181ade0100005a","5e137368f16095df01000161","5e137af2f16095df010001ed","5e138729a212e1de01000072","5e139f1b0d0b99de01000067","5e13d69ddd177ade01000043","5e14341612768ef30100006e","5e148bc308c265de01000120","5e14cf0c429a53df01000004","5e152f5e18da2edf010000c3","5e1552ecedfb1ede01000158","5e157a9ef1f31adf0100002a","5e15914df1f31adf0100013c","5e15e3567c179bdf010001c4","5e175576883585df01000254","5e178970cf35a4de010001b2","5e17d6a94ba003df010000d3","5e17ff869a3d0bde01000009","5e18a9e3bd0cf5de01000029","5e18b715bd0cf5de0100012a","5e1919f5412c5ade0100001a","5e1a1e349fbdddde01000085","5e1a922369523cde01000065","5e1a929069523cde0100006f","5e1acd07ff975cf2010000ae","5e1af96bea60e1de01000028","5e1c0693badffbde010000b9","5e1c51f2e556c6de010000b8","5e1cea65abed9bde010001aa","5e1e3fdd407a20de0100025b","5e1e78d0ce9ed9de01000138","5e1f1c5b3cc57cde0100011e","5e1f342407379ade0100012c","5e1f4f429ddd0fde0100018c","5e1f860508195af3010000de","5e1fe240c88eb5df010000f7","5e2022d002c04cde01000032","5e20c3a55c2065de01000188","5e217322c7842fde01000019","5e220b0a024c69df01000103","5e225e951f0592de01000064","5e24d244981ceddf010000a7","5e254048561b8fde010000a2","5e25faae2368a7de01000087","5e267b9b581147f201000116","5e28035c4d75d8de010000fc","5e286c576ae365de01000116","5e28b7026acacbdf01000059","5e28c9436acacbdf010001b7","5e29161ea8eed2df010000a3","5e29f6918fb0e6de01000130","5e2a427d2d8494f201000058","5e2b5b986366e2df01000087","5e2ce05a39674ede0100000f","5e2cfc706b217bdf0100000a","5e2dc5528ceb9adf0100002e","5e2de3ed133023de0100005f","5e2e9bb78d5204de010000cc","5e2f15be4557f3de0100005c","5e2f527526e5cadf010000fb","5e2fefcb4e91a9df0100013b","5e303c1746a666df010001c8","5e30612f57a222df01000255","5e30de9a5f9c1cf201000065","5e3148428cf138de01000057","5e316ca304dccade01000119","5e3192e900e4e5de010001db","5e31b9b9b5384fde01000088","5e329872e17accde01000042","5e33482ee0067bde010000c0","5e336a0ef3004edf010000e1","5e34898dfae8b9de0100019c","5e355f8150cde4de0100004a","5e3859caccda85de01000160","5e39ed083687dddf010001ae","5e3a5f9e1469e8de01000133","5e3a703ab291e7df01000096","5e3b044655f0f2df01000173","5e3b3a32255dcade01000185","5e3b4c9f930f80df01000093","5e3b8fe6184d6ede01000109","5e3b9d0e69c38bde01000043","5e3bbaea657d0bdf0100005f","5e3c500bc798e0de010000eb","5e3c779b67788ede010001c0","5e3cdf785cd237de010000b4","5e3cf12aad8243de01000061","5e3d2e03c405ecde010000ac","5e3d5fa95f3240de0100006b","5e3dadd407ca74de0100000c","5e3df75da4cc0ede010000e9","5e3e0165a4cc0ede01000152","5e405165aeea22df01000008","5e40b5d2019547df010000c7","5e410271f47523de01000034","5e4120fbb54187de010000c6","5e41219fb54187de010000d3","5e41b0d90b4861de01000116","5e42d8eea6f4a6f201000022","5e42f5c1aefe1adf01000044","5e439822639a35de01000107","5e44479cdf3c2af30100003e","5e448017ec14b3de01000023","5e44d297ab9cedde0100000b","5e45752f49667cde010001ad","5e45a59423a133e8010000f3","5e45c2dd0920e8de01000144","5e469f642e79a6df010000ab","5e46d26a42fb31df01000078","5e4715baa2783dde0100013b","5e4725adf6106ade01000038","5e4875e286dc17de0100001d","5e48c000f1ed39de01000088","5e49a0bf552c77df010000e0","5e4a96dab70966df01000163","5e4bf3758f0677df0100018a","5e4d6aa008a8e5de010000be","5e4e0b8ccc196bde010001dd","5e4e28f81f1de5de0100000f","5e4eaf4764b624de0100018f","5e4f0528338acfde01000176","5e4f7291a01931de010000a3","5e500091f5b214df01000182","5e506bdfcb6c3ede010000df","5e50d7cc012fc0df01000061","5e52122bbba759e801000081","5e5233d0fe135dde0100007c","5e52e144a3b344de01000100","5e53052f6d68b8df0100006a","5e54370c7a758fde01000077","5e54e41db8e445df01000074","5e5529850096f9de0100014b","5e5563afe89e5fde01000161","5e562ac605e404e4010001a3","5e5712b2429006de01000032","5e576d1616d3d2f301000067","5e57b7845d5d52de01000006","5e57e3a0e391bbde01000163","5e5838621f3fc8de010000fa","5e586340dd78b7de0100002c","5e5880ce1d5966df0100002b","5e58f9ec23e125de01000081","5e596b6b56d60ade01000147","5e5a8784b6725cde010000ab","5e5aedf5038583de01000056","5e5b5d32502fdadf0100002c","5e5b6f57502fdadf0100009c","5e5bcba7b57681df0100002b","5e5c528768f281de01000112","5e5d4f4c73eb2edf01000242","5e5dc39cc64f0ede0100000a","5e5dd7f0c64f0ede01000186","5e5e0b0c5c89fadf010000ac","5e5ea6332fd1fade01000084","5e5eda4a8c261adf01000192","5e5efc166ee7bddf01000055","5e6016c8c064fcde010000c0","5e610f381cc34ede01000021","5e61383a97c182e901000111","5e616b7d417d19de010000d2","5e617963417d19de01000210","5e61e6fb0c95fdde010000d0","5e622ebea84f4adf01000087","5e62a6d208ebcade0100010d","5e63e95e24d8f2df0100000c","5e64075377f885df0100001c","5e6430135dc868f201000087","5e647b03e89ef4df01000021","5e64f39a5fc0b7de01000065","5e6555fb0c7028de01000155","5e65c9a714abd4de01000010","5e66a10444d2c4de010001d4","5e66bc764b4a62de01000143","5e671af30355fddf01000017","5e67aa5d84cf9ede01000103","5e67ce57697cebdf010002db","5e680dc9c1fce0de01000323","5e68f9028457bade0100008c","5e69563baf718af201000365","5e6a15b638f351de010000b2","5e6ad062d15181f301000151","5hwGJoo6kkgXLy7hh","63m2hWBRNr6cPdfiK","6brQxjqt5awWK2ipv","75CrTQYNPDdPfjf5Y","7HtdHEbSD29on7jTA","7JvFJf9kKP5w6E36Q","7cbKGzJ5ox5zGGAwv","7izSTdRzf3offLPsi","8BBn4BEG5ru6rGA8z","8BMQHfMkvmNDipSL7","8CC7WkS3zr5wnTgte","8RGYqKQPrt3HPqK5k","8ge4epjczfCEfaQdA","8hEqB7fSjs4SpH64n","8iq4r7kBXD6J3yeyX","8owg3bFQh6SXSA6TS","9hFWBauXCffD5wRtd","A3CNTERfkHCQ5fXMx","A9hW5LgECoYL2x8un","AByjZgfk6j6ai5RG2","AbG95Bqf6bWGnFJ2g","AwW5MLvK425uHuWLW","B3tFzAuW3gndn6Tme","BbTF5ShSm9uCxgBym","BeMLH6Tgvc9wRZHaM","BzyCpoWytHKvg5oNA","CBKjnGA4GAWeo6gjA","CgyHjn6QxEXCk88sg","Co8CnnXqx7AFmiZ42","CzjXrbuCBNA86RC8R","CzuLvabX6gRbwAqZH","DXSkw3kC56iqkhu59","DqjpFoaGg5XtKcTEA","DzbBRcAApYimWuj9F","ECLxvJyh7arDWizwR","Eah9Qmk3u6emRpzQq","EkaDgCiyGDujXQAvA","EtjZuWd6h6CETs3zv","F5wjeKYtqmt6dTuS9","FRpvxfnDfTtE7xMCu","FSqRgW7FSwHkDgde7","FTavkN6gYSypQwr2b","FeZ5aEKJ9vZnFkHCd","GLCBkG7BayPeBXabA","GMmeduhuaGwxDfYpd","Gh7v9M6SRgPK2nugL","GwaTLHcoMFm3pXtBg","K8ej2iuX5LwFAtK8M","KXXhZMLF2hFoz9i9S","KYWGzYy5cW89Ddifr","Kb2hrtAu3KN88WmLz","Koj5m996mBLS9SpZZ","KwgB9FZEabxY4TGMo","KxRrZ9LEyypD8L5xh","KztfmihM97YD8Gsq2","MAchaEdkZH9vDuauc","MRLTZzRRshpMeauaL","Mc4RnknHvqh8CwMEG","N3tEBE7xCP8iopeMF","NLADGqD5bXJ4Mcj4t","NNapYHZcXxZqweptB","NaaaSs7paS5dMM3SW","Nr4ANuLAe7jmmywjx","PKGCkC5BqWqFPw2bH","PWGadqjWJHMxjZSbL","PdQjZ9uiofvqRKmYQ","PiwrLzQj92Tn4B9Am","Q8cYuznT9tyaKA55P","QiubPWdFXmWbYv8RZ","QmzT86nLim8aCZ4A4","R4m9MzWB6xs877dXo","RAw4y2MAeebwHrXAn","Riq7S8e59HJkNWBom","S42rcKozzxPJvY4GH","S8f9C4KBF7ZkbdPyF","SD5gTPaZoXH43TyRA","SWdbZXoDrWqRFrotK","SqNSnko25o4u8iNkj","T2xPEp7gHujvn8fCh","THu2gWFp6CckJBDSb","TLJ5fJX9jxrLmGQGQ","TbF6bi97EH4wFkLpp","Tp7PkebzTFsLKkrhc","WBhWeMZW74nsY4YCs","WRkF95MdRR2fv3HKg","WSc4jA4kqPZ5uhqPm","WXdykyoDidPMu7Kn2","X9kDzDAnSHoTmoekT","XiFrvHie5yA4YrC4c","XmJzNB4vRfgSitNpm","XpfXrZHiH5Ed9wE7o","XqDGKRZhPF8v42twG","YFoZxEJxWD7MPTt75","YQ7zPwfoBGf6PrSaB","Ykx8aCPG8dzHgPAyi","ZGRr7hLx5wAmBkAGm","ZHvS73EgD4k9Jqacs","ZQyenvYbFxcFWHZcF","ZSefi5isENBc56iCz","Zbuqm5qFgccmX7Tvh","ZnYJbSZW8GgJCWvnf","a9of32GqzTZTn8b92","aB8LD5LqfT9cXFwZC","ag4f5y3TBj7aK3i5n","ajus3gSvd7QpgN8sN","ayz9WwdSYCtfLMvoL","bFNWFfJK6nZvg9uZZ","bGA8o6FZSyRoWR7pP","bmadGqcr64N5fodkj","cLoqT9SuQccty2Tow","cYhmxxQaz3KZm3Dt5","chptBvqqEX98wiySt","cjtHPTPEY5aw6mB7q","ctsqXo6ubkfEJg6P2","czkdeEWDryAYAKvBJ","d54zJdmcDz3nHjW6e","d5pNC5mvgauz7FLvL","d6XSvnszHJB7ZM2BL","dRJP5wPZ2cDze2eRz","dZWvpkTGtdX8CZbHb","dqiqjq6h9YzejcphR","dzqLBPnuuYBJkmwkZ","e63fvviu7ZATY497B","eCQnrfucLhyWkQnBT","eKYE4cFQxxTZkFxtz","ebSLgFYqFJ77ceYy3","ehnfEGMKFs65FoPDH","fcLYpQWvd25BwvYKR","fegFyzFe2C2ztZW8m","fgZ6vS22PthLakAFG","fmJWTEDWZWoW7fKxK","fsALqE5yk3d2jzk5h","fwQwJ4rSghdL4tGvS","g2bxZ5YhwWKxRhmNx","g4eAb4zXesr272CWP","g577A4bAHvggpxzW8","gATMrKbBeSFRzEtyE","gC2M76ZuLyN4DfgC5","gDQ8NFsXZvpHgd9YX","gFPQujBN5W2jhtZME","gNJJZeSTq8bYaxumL","gW2KDb9z3ZqPqSeHq","h5yDfvd7JDinb5aNh","heSW79JsfCoMAJ6Fn","hjb7uerRpRA62Zbnr","i9zseAjr77QdsPiXj","iZacDpFBmTTNkXcDF","isHT44jfpzmHJSEg9","jRKpfqEoZAWEaoMbz","jTkgdeqajGzse5DWZ","jYbx3yXxHgwrSLSFx","jcmLgByYPgRGmYWiK","jdZtPShTqTHc3Lxs4","kBLoNavTkivT46GiS","kKY2jtyyrwnDbG6Hh","m2aGnZnzdvKJEQgCd","mKmktws7wLAs9dNru","mRuQ6WjAXejCNNaFj","mgY8iQrByB4jA34YW","mkB9ojWL8hjbi7Tyb","n8cti6idbRKQJwZn6","nJM8EtZxCEX4Jb6zB","nvbDS8xqLqstLmRKi","o3AFGaN5uGqiJfdk4","oDjFNEKe2E5RbGjBG","oMtFimbMYaDaPPtaM","oX2dicev879SeKdRP","oZ5YPhMczpBCqz5CC","onMQBxwFbGXTxKWzB","p6Ls2W2zzXPjAYPwj","p8bTBAMdqTZyc2r6M","pALAGMhHStG86fq5Z","pEQPE2j5Fp3MYvqpF","pEncpwP8DBiSQcWK4","pYdqXxizFYj3L7E6G","pe7YkphpW5fzHxHrZ","pj95KJawmBBbthAcT","prvgTeQNJcBHjSkfe","pzPxR3k2gvbcdjGqc","q3iSi3cScjmRpve78","qAdNsBXXJrshJGJeY","qYnNcnd7q75vGhKQJ","qfmaAHELihrYi7GNB","qj5wzBR8byx9C77Ti","qmBW36hgbK4Zv2gWY","qvHHaB6rNzyvGgBcN","rChSsT5qGERRqBSkS","rM4bKgF98JLbzShgy","rSJugSmLQT3s2jauM","rfixzop9uSyWYoeK7","rgMjLpZ7MfJ79i8nP","rgYEbaymYhgeDCoRd","rxDBtjGLQSxCyY4db","s9AaBCqoJ69hr5ha9","sCMd6pADNHFZL4yHR","sJTiE8BR6vP6uKEQw","sKHH7jS7xMJwAGyRB","sR6Jsx6hR99NnkcTA","sXdCZvyDdGWCAgGJ3","szsuofan4uHMTcAYz","t36sKxAYcBS6wkJGu","tBc6CqXYidsE5J5vM","tJ4odqTet7W33uERe","tYpAdYGDBCXJp9HEc","tgsZRqwLXuZD8s4rH","toi39xeu6Z4F7hxL3","tveYTNAxZjZCySmms","uDyRJ5yvvMBZ3h4Rq","uHzzWSjdoxdzEfFbT","ucckRhaMyrjYKbvq6","ueeShhK6nANy5vFmR","ueqoNF4J6dbWGWh2t","un5fYwjmuniXSoqEb","uqN8zR6W2nZNshfLJ","vhthDZve8d34qEobw","vrr3mNmgabj3TnfSN","vsjnwmuyWgERrjbxK","w3rrXP6SDxpqNhEQP","wKCePMtq5QDRStKWc","wNouCowwsa5kJqdZe","wZnf75YeyhvxvN8T2","wcGepsd7wXStt5zm5","wj2WQ56WvkB2znfeZ","x7a2ogWPnd6krpeh7","xKJBjx3JNaF7nyDKr","xYQzfSpdRMChYfM4L","xbghhHgXi9qLBCFoG","xiwAJDDsCjrgxn2Lt","y9ic2Yx2MHAvaGKGJ","yhCsD4XxoYDCWQEPG","yrvaiTtd6Tg6RDgJN","zJgvFzdJgzBSdwCtr","zJrtCj6WDzHdD3hvH","zQXKvJ4oZt4vBzmH8","zQxJGbBrHhZcCSR8L","zSeAzpgFwFyYEh7uY","zazovzC5QEAaFL3Lq","zhreXviacYLJHPkSv","zn7AjPHACDWPK8vH3"],"dataSources":["c5Y5KxspQmgaqHb44","wfTjQp7BbyyzhMumG","JyoDgr7qvkjGYcFft","aeHt7AWKsAw9iiQqD","qAk5kJqscSPPSguqo"]}