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    New machine learning-based automatic high-throughput video tracking system for assessing water toxicity using Daphnia Magna locomotory responses

    Test organisms and exposuresIn this study, we used test organisms and reagents according to the Acute Toxicity Test Method of Daphnia magna Straus(Cladocera, Crustacea); ES 04704.1b29. Daphnia magna were fostered at the National Institute of Environmental Research and were adopted. During the test, adult female Daphnia magna over two weeks of age, cultured over several generations, were transferred to a freshly prepared container the day before the test. Daphnia magna are neonates for less than 24 h after birth29. To maintain the sensitivity of the organism, young individuals less than 24 h old that reproduced the following day were used. Individuals of a similar size were selected for the test. Daphnia magna was fed YCT, which is a mixture of green algae in Chlorella sp., yeast, Cerophy II(R), and trout chow. Sufficient amounts of prey were supplied 2 h before the test to minimize the effects of prey during the test. The test medium was prepared by dissolving KCl (8 mg/L), (text {MgSO}_4) (120 mg/L), (text {CaSO}_4 cdot 2 text {H}_2 text {O} ) (120 mg/L), and (text {NaHCO}_3) (192 mg/L) in deionized water.Automatic high-throughput Daphnia magna tracking systemTo build an automatic high-throughput Daphnia magna tracking system, we equipped the system with a video analysis algorithm as well as flow cells (Fig. 1). In the tracking system, six flow cells filled with culture medium were installed in the device. Each flow cell contained 10 Daphnia magna. Subsequently, to automatically measure the state of Daphnia magna, the six flow cells were photographed at 15 frames per second using a camera (Industrial Development Systems imaging) equipped with a CMOSIS sensor capable of infrared imaging. A red light close to the infrared spectrum was placed at the back of the flow cells for uniform illumination and to minimize stress on Daphnia magna. To capture the size and movement of the Daphnia magna as accurately as possible, the camera was set to a frame rate of 15 fps and a resolution of 2048 (times ) 1088 (2.23 MB), using a 12 mm lens. The distance between the flow cell and the camera was set to 16 cm. To measure the number of mobile Daphnia magna, their lethality, and swimming inhibition automatically and simultaneously, one camera for every two cells was used to collect the status data of Daphnia magna. For assessing ecotoxicity, the video analysis system used images obtained from the six flow cells to track each Daphnia magna and estimate key statistics such as the number of mobile individuals, average distance, and radius of activity.Figure 1New automatic high-throughput video tracking system for behavioral analysis using Daphnia magna as a model organismFull size imageThe automatic high-throughput video tracking system in the ecotoxicity measuring device was designed to continuously measure the ecotoxicity of Daphnia magna (Fig. 2). Daphnia magna moves faster at high temperatures and is less active at low temperatures. Thus, a constant temperature module that can be set to an appropriate Daphnia magna habitat temperature (20 ± 2 (^{circ })C) was added to create a suitable culture environment for Daphnia magna29. Natural pseudo-light ((lambda >590) nm, 3000 k) was installed on the upper part of the detector for proper habitat light intensity (500 Lux–1000 Lux). The size of the flow cell was set as small as possible while observing the movement of the Daphnia magna. An automatic feeding system was installed so that food could be injected during the replacement cycle. The six independent multi-flow cells were designed with an automatic dilution injection module; therefore, these flow cells were diluted to six different concentrations (100%, 50%, 25%, 12.5%, 6.25%, and 0%).Figure 2Schematic representation of the automatic high-throughput video tracking systemFull size imageAutomatic tracking algorithmThe CPU used for Daphnia magna tracking was Intel i5-9300H @ 2.40 GHz, with 8 GB of memory and Windows 10 Pro 64-bit operating system. In this experiment, the algorithms were trained using 12 Daphnia magna videos and tested using an additional four Daphnia magna videos. Subsequently, the detection and tracking methods were compared. The videos, each of which had a duration of 30 s, were captured at a rate of 15 frames per second. Generally, for long-time or real-time videos, the following factors must be considered in tracking Daphnia magna: automatic binarization between the object and background, effective classification of Daphnia magna or noise, and the speed of the algorithm. Therefore, to develop an efficient tracking algorithm, we propose the following tracking process (Fig. 3A). In this process, each frame is initially converted into an image and the background is identified from the obtained video (Fig. 3B). The background is the average of the frames over the previous 20 s, and the tracking system takes 20 s to capture the first background image. The background is subtracted from the image for object detection (Fig. 3C). The objects include Daphnia magna and noise such as droplets and sediment. The difference between the background and frame images is binarized, and each area of the binarized values is regarded as an object. Conventionally, the binarized values are manually generated using specific thresholds. In this study, the images are automatically binarized using k-means clustering to select the threshold value. After binarization, several machine learning methods are used to classify the objects as Daphnia magna or noise (Fig. 3D). For a faster tracking algorithm, we use simple machine learning methods such as random forest (RF) and support vector machine (SVM). The predicted Daphnia magna are tracked using SORT24, which is a fast and highly accurate tracking algorithm (Fig. 3E). Finally, based on the tracked results, statistics for assessing ecotoxicity, such as the number of mobile individuals, average distance, and radius of activity, are estimated to evaluate the toxicity of the aquatic environment.Figure 3Automatic Daphnia magna tracking algorithm process. (A) Overview of automatic tracking algorithm process. (B) Image extraction step. (C) Background subtraction step. (D) Daphnia magna detection step. (E) Daphnia magna tracking step.Full size imagek-means clustering for automatic background subtractionMany tracking algorithms assume that the background is fixed. With fixed backgrounds, the difference between the frame and background can be used to identify objects. However, automatically selecting the precise threshold value for image pixel binarization becomes one of the key problems in identifying objects. The proposed method applies k-means clustering to the pixel values of the subtracted image30, and the center value of each calculated cluster mean is selected as the threshold value (Fig. 4). In the k-means clustering method, grouping is repeatedly performed using the distance between data points31. For binarization, two groups are formed. Let (mu _1 (t)) be the mean of pixels less than the threshold and (mu _2(t)) be the mean of pixels greater than the threshold. At first, (mu _1(t), mu _2(t)) are randomly initialized. Subsequently, each pixel is grouped into a closer mean of each group. The above steps are repeated several times until the group experiences a few changes. Finally, the threshold is calculated as an average of the two means.Figure 4Example of automatic threshold value setting for binarization between objects and background using k-means clusteringFull size imageClassification methodsObject detection based solely on the subtraction between the background and frame images may have low accuracy. As the background in the proposed process is the average value of the frame images, noise may occur. Although this noise is removed by threshold selection in binarization, using only the threshold selection is not efficient for long or real-time videos. Therefore, additional noise must be classified and removed using machine learning models, requiring the construction of a database. In the database, the obtained objects are manually labeled as noise or Daphnia magna and are called ground truth. For classification, the resized 8 (times ) 8 image of each object is stored in the database. The resized image is transformed into a feature using the Sobel edge detection algorithm32 and entered as inputs to the classification models. In this study, classification models such as RF33 SVM34 were used.RF is a model that integrates several decision tree models35. All training data are sampled with a replacement for training each decision tree model. The decision tree model is trained to split intervals of each independent variable by minimizing the gini index (Eq. 1) or entropy index (Eq. 2). The gini index and entropy index denote the impurity within the intervals.$$begin{aligned} G= & {} 1- sum _{i=1}^{c} p_i ^2 end{aligned}$$
    (1)
    $$begin{aligned} E= & {} – sum _{i=1}^{c} p_i log_2 p_i end{aligned}$$
    (2)
    where (p_i) is a probability within i-th interval, and c is the number of intervals. For better performance, the RF selects independent variables of training data randomly. This step serves to reduce the correlation of each model. If predictions of each decision tree are uncorrelated, then the variance of an integrated prediction of models is smaller than the variance of each model. RF integrates several model predictions using the voting method. An advantage of the RF method is that it avoids overfitting because the model uses the average of many predictions.SVM is a model designed to search for a hyperplane to maximize the distance, or margin, between support vectors. The hyperplane refers to the plane that divides two different groups, and the support vector represents the closest vector to the hyperplane. Let (D=({textbf{x}}_i, y_i), i=1, ldots , n, {textbf{x}}_i in {mathbb {R}}^p, y_n in { -1,1 }) be training data. Suppose that the training data are completely separated linearly by a hyperplane; then, the hyperplane is expressed as Eq. 3.$$begin{aligned} {textbf{w}}^T {textbf{x}} + b = 0, end{aligned}$$
    (3)
    where ({textbf{w}}) is a weight vector of the hyperplane, and b is a bias. The weight vector is updated by minimizing Eq. 4.$$begin{aligned} L = {1 over 2} {textbf{w}}^T {textbf{w}} text { subject to } y_i ({textbf{w}}^T {textbf{x}} + b) ge 1 end{aligned}$$
    (4)
    We can transform Eqs. 4 to  5 by using the Lagrange multiplier method.$$begin{aligned} L^* = {1 over 2} {textbf{w}}^T {textbf{w}} – sum _{i=1}^n a_i { y_i ({textbf{w}}^T x_i + {-}) – 1 }, end{aligned}$$
    (5)
    where (a_i) is the Lagrange multiplier. We can efficiently solve Eq. 5 using a dual form. Furthermore, Eq. 5 can be solved in a case where it is not completely separated using a slack variable and a kernel trick can be used to estimate the nonlinear hyperplane.SORT trackerSORT, one of the frameworks for solving the multiple object tracking (MOT) problem, aims to achieve efficient real-time tracking24. The SORT method framework is created by combining the estimation step and the association step. The estimation step forecasts the next position of each predicted Daphnia magna. The association step matches the forecasting position and next true position of each predicted Daphnia magna. In the estimation step, the SORT framework uses the Kalman filter to forecast the position of the predicted Daphnia magna in the next frame. The position of each predicted Daphnia magna is expressed as Eq. 6.$$begin{aligned} {textbf{x}} = [u,v,s,r,{dot{u}}, {dot{v}}, {dot{s}}]^T end{aligned}$$
    (6)
    where u and v are the center positions of each predicted Daphnia magna, s is the scale size of the bounding box, and r is the aspect ratio of the bounding box. ({dot{u}}), ({dot{v}}), and ({dot{s}}) are the amounts of change in each variable. In the association step, to associate the forecasting position and true position, the framework adopts the intersection-over-union (IOU)36 as the association metric. The Hungarian algorithm is loaded into the SORT framework to perform fast and efficient Daphnia magna association prediction. In this study, a mixed metric of IOU36 and Euclidean distance37 was used instead of only the IOU that is used in SORT (Eq. 7) for more efficient association.$$begin{aligned} C_{ij} = (1-lambda ) {max_d – d_{ij} over max_d} + lambda cdot IOU_{ij} end{aligned}$$
    (7)
    where (d_{ij}) is the Euclidean distance between the i-th predicted Daphnia magna in the before frame and the j-th predicted Daphnia magna in the next frame, and (lambda ) is the weight of (IOU_{ij}). (IOU_{ij}) is the IOU between the i-th predicted Daphnia magna in the before-frame and the j-th predicted Daphnia magna in the next frame.MetricsThe binary confusion matrix consists of true positive (TP), true negative (TN), false positive (FP), and false negative (FN)38. TP is the number of cases where the predicted Daphnia magna matches the actual Daphnia magna, TN is the number of cases where the objects predicted as noise are actual noise, FP is the number of cases where the predicted Daphnia magna differs from the actual Daphnia magna, and FN is the number of cases where the objects predicted as noise are not actual noise. In this study, accuracy, recall, precision, and F1 scores (Eq. 8) were used as the metrics for comparing the machine learning methods.$$begin{aligned} begin{aligned} Accuracy&= {TP + FP over TP + TN + FP + FN} \ Recall&= {TP over TP + TN} \ Precision&= {TP over TP + FP} \ F1 score&= 2 times {Precision times Recall over Precision + Recall} end{aligned} end{aligned}$$
    (8)
    Standard MOT metrics to evaluate tracking performance include multi-object tracking accuracy (MOTA) and multi-object tracking precision (MOTP). An important task of MOT is to identify and track the same object across two frames. Identification (ID) precision (IDP), ID recall (IDR), ID F1 measure (IDF1), and ID switches (IDs) may be used as measures for evaluating the identification and tracking of the same objects39,40.Data analysisThe toxicity test using Daphnia magna was performed following the Korean official Acute Toxicity Test Method29. The test medium was prepared by dissolving KCl (8 mg/L), (text {MgSO}_4) (120 mg/L), (text {CaSO}_4 cdot 2 text {H}_2 text {O} ) (120 mg/L), and (text {NaHCO}_3) (192 mg/L) in deionized water. Considering that Daphnia magna are neonates for less than 24 h after birth29, five neonates were exposed to 50 mL of different concentrations of heavy metals such as Potassium dichromate, Copper(II) sulfate pentahydrate, and Lead(II) sulfate (6.25, 12.5, 25, 50, and 100%) and 50 mL of culture media. Potassium dichromate is a common inorganic reagent used as an oxidizing agent in chemical industries. Copper(II) sulfate pentahydrate is a trace material widely used in industrial processes and agriculture. A significant amount of copper is emitted in semiconductor manufacturing processes, which adversely impacts the aquatic ecosystem. When present as an ion in water, copper can be acutely toxic to aquatic organisms such as Daphnia magna. Lead(II) sulfate is another nonessential and nonbiodegradable heavy metal. It is highly toxic to numerous organisms even at low concentrations and can accumulate in aquatic ecosystems41. Twenty Daphnia magna (four replicates of five each) were exposed to each test solution for 24 h. The term “immobility” means that the Daphnia magna remains stationary after exposure to chemicals such as Potassium dichromate, Copper(II) sulfate pentahydrate, and Lead(II) sulfate. In this study, immobility was used as an endpoint identifier, and the number of mobile Daphnia magna were counted to evaluate the EC50 values for the samples using the ToxCalc 5.0 program (Tidepoll Software, USA).The locomotory responses of Daphnia magna were tested after 0, 12, 18, and 24 h of exposure at different concentrations. Potassium dichromate ((text {K}_2text {Cr}_2text {O}_7)) at 2 mg/L was connected to the Daphnia magna tracking system, and standard toxic substances were automatically diluted to 100%, 50%, 25%, 12.5%, and 6.25%. The automatic high-throughput Daphnia magna tracking system automatically measured the tracking results of a 1-minute-long video at hourly intervals. The average moving distance for 20 s of each Daphnia magna in each chamber was analyzed using a repeated measures ANOVA (RMANOVA). RMANOVA was used for the analysis of data obtained by repeatedly measuring the same Daphnia magna42. It analyzes the concentration effect excluding the time effect at each hour. The time effect means the change in average distance per 20 s. RMANOVA was implemented using the agricolae package of the R 4.0.4 program43. To remove the noise affecting RMANOVA, the Daphnia magna that remained stationary for 20 s or more were removed from the observations. In this study, we used the significance level at 5%. More

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    The role of dung beetle species in nitrous oxide emission, ammonia volatilization, and nutrient cycling

    All procedures involving animals were conducted in accordance with the guidelines and regulations from Institutional Animal Care and Use Committee (IACUC) of the University of Florida (protocol #201509019). Tis manuscript is reported in accordance with ARRIVE guidelines.Site descriptionThis study was carried out at the North Florida Research and Education Center, in Marianna, FL (30°46′35″N 85°14′17″W, 51 m.a.s.l). The trial was performed in two experimental years (2019 and 2020) in a greenhouse.The soil used was collected from a pasture of rhizoma peanut (Arachis glabrata Benth.) and Argentine bahiagrass (Paspalum notatum Flügge) as the main forages. Without plant and root material, only soil was placed into buckets, as described below in the bucket assemblage section. Soil was classified as Orangeburg loamy sand (fine-loamy-kaolinitic, thermic Typic Kandiudults), with a pHwater of 6.7, Mehlich-1-extratable P, K, Mg and Ca concentrations of 41, 59, 63, 368 mg kg−1, respectively. Average of minimum and maximum daily temperature and relative humidity in the greenhouse for September and November (September for beetle trial due seasonal appearance of beetles, and October and November to the Pear Millet trial) in 2019 and 2020 were 11 and 33 °C, 81%; 10 and 35 °C, 77%, respectively.Biological material determinationTo select the species of beetles, a previous dung beetle sampling was performed in the grazing experiment in the same area (grass and legume forage mixture) to determine the number of dung beetle species according to the functional groups as described by Conover et al.44. Beetles were pre-sampled from March 2017 to June 2018, where Tunnelers group were dominant and represented by Onthophagus taurus (Schreber), Digitonthophagus gazella (Fabricius), Phanaeus vindex (MacLeay), Onthophagus oklahomensis (Brown), and Euniticellus intermedius (Reiche). Other species were present but not abundant, including Aphodius psudolividus (Linnaeus), Aphodius carolinus (Linnaeus), and Canthon pilularius (Linnaeus) identified as Dweller and Roller groups, respectively. The pre-sampling indicated three species from the Tunneler group were more abundant, and thereby, were chosen to compose the experimental treatments (Fig. 4).Figure 4Most abundant dung beetle species in Marianna, FL used in the current study. Credits: Carlos C.V. García.Full size imageBeetles collection and experimental treatmentsThree species of common communal dung beetles were used: O. taurus (1), D. gazella (2), and P. vindex (3). Treatments included two treatments containing only soil and soil + dung without beetles were considered as Control 1 (T1) and Control 2 (T2), respectively. Isolated species T3 = 1, T4 = 2, T5 = 3 and their combinations T6 = 1 + 2 and T7 = 1 + 2 + 3. Dung beetles were trapped in the pasture with grazing animals using the standard cattle-dung-baited pitfall traps, as described by Bertone et al.41. To avoid losing samples due to cattle trampling, 18 traps were randomized in nine paddocks (two traps per paddock) and installed protected by metal cages, and after a 24-h period, beetles were collected, and the traps removed. Table 1 shows the number of dung beetles, their total mass (used to standardize treatments) per treatment, and the average mass per species. To keep uniformity across treatments we kept beetle biomass constant across species at roughly 1.7 to 1.8 g per assemblage (Table 1). Twenty-four hours after retrieving the beetles from the field traps, they were separated using an insect rearing cage, classified, and thereafter stored in small glass bottles provided with a stopper and linked to a mesh to keep the ventilation and maintaining the beetles alive.Table 1 Total number and biomass of dung beetles per treatment.Full size tableBuckets assemblageThe soil used in the buckets was collected from the grazing trial in two experimental years (August 2019 and August 2020) across nine paddocks (0.9 ha each). The 21 plastic buckets had a 23-cm diameter and 30-cm (0.034 m2) and each received 10 kg of soil (Fig. 5). At the bottom of the recipient, seven holes were made for water drainage using a metallic mesh with 1-mm diameter above the surface of the holes to prevent dung beetles from escaping. Water was added every four days to maintain the natural soil conditions at 60% of the soil (i.e., bucket) field capacity (measured with the soil weight and water holding capacity of the soil). Because soil from the three paddocks had a slightly different texture (sandy clay and sandy clay loam), we used them as the blocking factor.Figure 5Bucket plastic bucket details for dung beetle trial.Full size imageThe fresh dung amount used in the trial was determined based on the average area covered by dung and dung weight (0.05 to 0.09 m2 and 1.5 to 2.7 kg) from cattle in grazing systems, as suggested by Carpinelli et al.45. Fresh dung was collected from Angus steers grazing warm-season grass (bahiagrass) pastures and stored in fridge for 24 h, prior to start the experiment. A total of 16.2 kg of fresh dung was collected, in which 0.9 kg were used in each bucket. After the dung application, dung beetles were added to the bucket. To prevent dung beetles from escaping, a mobile plastic mesh with 0.5 mm diameter was placed covering the buckets before and after each evaluation. The experiment lasted for 24 days in each experimental year (2019 and 2020), with average temperature 28 °C and relative humidity of 79%, acquired information from the Florida Automated Weather Network (FAWN).Chamber measurementsThe gas fluxes from treatments were evaluated using the static chamber technique46. The chambers were circular, with a radius of 10.5 cm (0.034 m2). Chamber bases and lids were made of polyvinyl chloride (PVC), and the lid were lined with an acrylic sheet to avoid any reactions of gases of interest with chamber material (Fig. 6). The chamber lids were covered with reflective tape to provide insulation, and equipped with a rubber septum for sampling47. The lid was fitted with a 6-mm diameter, 10-cm length copper venting tube to ensure adequate air pressure inside the chamber during measurements, considering an average wind speed of 1.7 m s−148,49. During measurements, chamber lids and bases were kept sealed by fitting bicycle tire inner tubes tightly over the area separating the lid and the base. Bases of chambers were installed on top of the buckets to an 8-cm depth, with 5 cm extending above ground level. Bases were removed in the last evaluation day (24th) of each experimental year.Figure 6Static chamber details and instruments for GHG collection in the dung beetle trial.Full size imageGas fluxes measurementsThe gas fluxes were measured at 1000 h following sampling recommendations by Parkin & Venterea50, on seven occasions from August 28th to September 22nd in both years (2019 and 2020), being days 0, 1, 2, 3, 6, 12, and 24 after dung application. For each chamber, gas samples were taken using a 60-mL syringe at 15-min intervals (t0, t15, and t30). The gas was immediately flushed into pre-evacuated 30-mL glass vials equipped with a butyl rubber stopper sealed with an aluminium septum (this procedure was made twice per vial and per collection time). Time zero (t0) represented the gas collected out of the buckets (before closing the chamber). Immediately thereafter, the bucket lid was tightly closed by fitting the lid to the base with the bicycle inner tube, followed by the next sample deployment times.Gas sample analyses were conducted using a gas chromatograph (Trace 1310 Gas Chromatograph, Thermo Scientific, Waltham, MA). For N2O, an electron capture detector (350 °C) and a capillary column (J&W GC packed column in stainless steel tubing, length 6.56 ft (2 M), 1/8 in. OD, 2 mm ID, Hayesep D packing, mesh size 80/100, pre-conditioned, Agilent Technologies) were used. Temperature of the injector and columns were 80 and 200 °C, respectively. Daily flux of N2O-N (g ha−1 day−1) was calculated as described in Eq. (1):$${text{F}}, = ,{text{A}}*{text{dC}}/{text{dt}}$$
    (1)
    where F is flux of N2O (g ha−1 day−1), A is the area of the chamber, and dC/dt is the change of concentration in time calculated using a linear method of integration by Venterea et al.49.Ammonia volatilization measurementAmmonia volatilization was measured using the open chamber technique, as described by Araújo et al.51. The ammonia chamber was made of a 2-L volume polyethylene terephthalate (PET) bottle. The bottom of the bottle was removed and used as a cap above the top opening to keep the environment controlled, free of insects and other sources of contamination. An iron wire was used to support the plastic jar. A strip of polyfoam (250 mm in length, 25 mm wide, and 3 mm thick) was soaked in 20 ml of acid solution (H2SO4 1 mol dm−3 + glycerine 2% v/v) and fastened to the top, with the bottom end of the foam remaining inside the plastic jar. Inside each chamber there was a 250-mm long wire designed with a hook to support it from the top of the bottle, and wire basket at the bottom end to support a plastic jar (25 mL) that contained the acid solution to keep the foam strip moist during sampling periods (Fig. 7). The ammonia chambers were placed installed in the bucket located in the middle of each experimental block after the last gas sampling of the day and removed before the start of the next gas sampling.Figure 7Mobile ammonia chamber details for ammonia measurement in dung beetle trial. Adapted from Araújo et al.51.Full size imageNutrient cyclingPhotographs of the soil and dung portion of each bucket were taken twenty-four hours after the last day of gas flux measurement sampling to determine the dung removal from single beetle species and their combination. In the section on statistical analysis, the programming and statistical procedures are described. After this procedure, seeds of pearl millet were planted in each bucket. After 5 days of seed germination plants were thinned, maintaining four plants per bucket. Additionally, plants were clipped twice in a five-week interval, with the first cut occurring on October 23rd and the second cut occurring on November 24th, in both experimental years. Before each harvest, plant height was measured twice in the last week. In the harvest day all plants were clipped 10 cm above the ground level. Samples were dried at 55 °C in a forced-air oven until constant weight and ball-milled using a Mixer Mill MM 400 (Retsch, Newton, PA, USA) for 9 min at 25 Hz, and analyzed for total N concentration using a C, H, N, and S analyzer by the Dumas dry combustion method (Vario Micro Cube; Elementar, Hanau, Germany).Statistical analysisTreatments were distributed in a randomized complete block design (RCBD), with three replications. Data were analyzed using the Mixed Procedure from SAS (ver. 9.4., SAS Inst., Cary, NC) and LSMEANS compared using PDIFF adjusted by the t-test (P  More

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