تاریخ انتشار : شنبه 13 آذر 1400 - 17:01
96 بازدید
کد خبر : 142728

ساخت اولین بازوی رباتیک برای انجام کارهای خانه

ساخت اولین بازوی رباتیک برای انجام کارهای خانه

مهندسان جوان دانشگاه برکلی آمریکا موفق به ساخت بازوی رباتیک هوشمندی شدند که می‌تواند بیشتر وظایف مربوط به خانه‌داری را انجام دهد. به گزارش ایسنا- منطقه خراسان و به نقل از اسپکتروم، هدف از ساخت ربات Blue کمک به انجام تحقیقات تکمیلی برای پیشبرد کاربرد ربات‌های هوش مصنوعی در محیط انسانی است. مهمترین شاخصه ربات‌ها،

ساخت اولین بازوی رباتیک برای انجام کارهای خانه
مهندسان جوان دانشگاه برکلی آمریکا موفق به ساخت بازوی رباتیک هوشمندی شدند که می‌تواند بیشتر وظایف مربوط به خانه‌داری را انجام دهد.
به گزارش ایسنا- منطقه خراسان و به نقل از اسپکتروم، هدف از ساخت ربات Blue کمک به انجام تحقیقات تکمیلی برای پیشبرد کاربرد ربات‌های هوش مصنوعی در محیط انسانی است.
مهمترین شاخصه ربات‌ها، دقت، قابلیت تکرار بدون خستگی و سرعت بالا است. اما برای رسیدن به وظیفه تقلید از وظایف انسان‌، لازم است که هر واحد کنترلی ربات به طور همزمان و با کنترل بسیار پیشرفته این ویژگی‌ها را یکجا داشته باشد.
اگرچه از زمان حضور ربات‌ها در صنعت بیش از چند دهه می‌گذرد، اما صرفا پیشرفت هوش مصنوعی و نرم‌افزارهای کنترل رباتیک است که ربات‌ها را با ظاهری جدید برای حضور در محیط زندگی انسان آماده می‌کند.
مهمترین مشکل ربات‌ها برای انجام وظایف خانه، قابلیت تطبیق‌پذیری و حل مسئله بدون ایجاد مشکلات اضافی است.
از آنجایی‌که انجام وظایف روزمره صرفا با نرم‌افزاهای کنترل رباتیک، مشابه ربات‌های موجود در کارخانه‌ها غیر ممکن است، بنابراین باید از فناوری نوظهور هوش مصنوعی برای پردازش بیشتر احساس درک در ربات‌ها بهره گرفت.
مهندسان رباتیک دانشگاه برکلی با شناخت این خلاء، اقدام به ساخت اولین بازوی رباتیک هوشمند کردند که در هر بازو دارای هفت درجه آزادی است و قیمت تمام شده آن نیز کمتر از  ۵۰۰۰ دلار است.

برچسب ها :

ناموجود
ارسال نظر شما
مجموع نظرات : 0 در انتظار بررسی : 0 انتشار یافته : ۰
  • نظرات ارسال شده توسط شما، پس از تایید توسط مدیران سایت منتشر خواهد شد.
  • نظراتی که حاوی تهمت یا افترا باشد منتشر نخواهد شد.
  • نظراتی که به غیر از زبان فارسی یا غیر مرتبط با خبر باشد منتشر نخواهد شد.

htthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtthtt