All that Robotics brings to Security & Rescue

  • Robotnik is currently involved in 5 projects focused on the security and rescue sectors.

Robotnik focuses a significant part of its work and resources on R&D projects related to the automation and digitalization of industry through robotic applications

Since 2002, Robotnik has been involved in more than 60 projects, most of them at European level and others at local level,

30 projects are currently on progress, each of them of different nature: some of them with objectives oriented to logistics, health sector, or agri-food, among others.

This post compiles 5 of the open robotics projects related to public safety and rescue. 

R&D in Europe

One of Europe's main challenges is to promote research and development within companies, as it is the key to the competitiveness and productivity of each economic sector in the long term. For this reason, there are official funding programmes such as Horizon 2020 that provide support in this regard.

In particular, R&D in robotics technologies has become more important than ever in recent years. There is hardly any country that does not invest - both at company, government and institutional level - in robotics.

This increase in investment is due to several factors, for example, the huge development of some of the catalysts of robotics such as 5G or Artificial Intelligence, which provide an ideal framework, with connections and capabilities that did not exist before.

What are security R&D projects?

Perhaps there is a greater lack of knowledge about research and innovation in this area, but there is much that mobile robotics is contributing to this field. Ministries of Defense, institutions focused on rescue or emergency operations, civil protection, law enforcement and the sectors that work for public safety in general, have their sights set on the advances that this technology represents.

There are different forms of insecurity that can affect citizens, 'be it crime, violence, terrorism, natural or man-made disasters, cyber-attacks or abuses of privacy, and other forms of social and economic disorder'. European Commission.

The projects in which Robotnik is involved aim to understand, detect, prevent, deter, prepare and protect against security threats.

The following points, taken from the European Commission's own website, perfectly summarize the activities that this research framework focuses on:

- Fighting crime, illegal trafficking and terrorism, including understanding and combating terrorist ideas and beliefs;

- Protecting and enhancing the resilience of critical infrastructures, supply chains and transport modes;

- Strengthening security through border management;

- Improve cyber security;

- Increase Europe's resilience to crises and disasters;

- Ensuring privacy and freedom, including on the Internet, and improving society's legal and ethical understanding of all areas of security, risk and management;

- Improve standardization and interoperability of systems, including for emergency purposes;

- Supporting the Union's external security policies, including conflict prevention and peace-building.

Following this contextual framework, the following are the security and rescue projects in which Robotnik is currently involved:

CREST

Fight crime with an autonomous platform with an advanced prediction, prevention, operation and investigation platform leveraging the IoT ecosystem.

Robotnik, as a hardware supplier, is developing a new UGV (unmanned ground vehicle) concept capable of autonomously deploying a small UAV (unmanned aerial vehicle) in the field.

  • Threat detection and assessment.
  • Dynamic mission planning and adaptive navigation for improved surveillance based on autonomous systems.
  • Distributed command and control of law enforcement missions.
  • Sharing of information and exchange of digital evidence based on blockchain.
  • Delivery of pertinent information to different stakeholders in an interactive manner tailored to their needs.

RESPOND-A

It aims to develop holistic and user-friendly solutions for first responders. Robotnik is responsible for the development of robots for hazardous environments and support missions and participates in the development of interfaces between emergency robots and the command-and-control application.

  • Equipment tools and mission-critical strategies for First Responders
  • Augmented and Virtual Reality
  • Passive and active localization and tracking
  • Interactive multi-view 360º video streaming.
  • Autonomous robot and unmanned aerial vehicle coordination.

ROBORDER

Border authorities and law enforcement agencies (LEAs) across Europe face significant challenges in the way they patrol and protect borders. ROBORDER aims to develop and demonstrate a fully functional autonomous border surveillance system with unmanned mobile robots including aerial, water surface, underwater and land vehicles.

Robotnik, as a hardware supplier, is developing a new UGV (unmanned ground vehicle) concept capable of autonomously deploying a small UAV (unmanned aerial vehicle) in the field.

  • Autonomous swarm of heterogeneous Robots for BORDER surveillance.
  • Fully-functional autonomous border surveillance system with unmanned mobile robots including aerial, water surface, underwater and ground vehicles, capable of functioning both as standalone and in swarms.
  • Detection capabilities for early identification of criminal activities and hazardous incidents.

INTREPID

The aim here is to provide first responders with a new approach to accelerate the exploration and assessment of hazardous sites, enabling a rapid and effective response. To revolutionize first responder operations in the early stages of a disaster when the chances of saving lives are greatest and operations are slowed down by many types of uncertainties.

Robotnik's role in the project is to design and develop an intelligent unmanned ground vehicle (UGV) capable of performing exploration missions through rugged terrain or complex indoor locations.

  • Reconnaissance and Assessment in Perilous Incidents
  • A quick response is key in order to save lives and minimize environmental damage.
  • Develop a platform that will allow first responders to safely explore the scene, analyze and assess the existing threats and decide, based on reliable information about the situation, on the next steps to take.
  • Use cybernetic assistants (smart autonomous vehicles) to enhance the speed, range and effectiveness of complex site exploration.

FASTER

FASTER will provide innovative, accepted and efficient tools that enhance the capabilities of first responders in terms of situational awareness and communication.

Robotnik is the leader of the project's Work Package 5: "Autonomous Platforms". It involves the development of a new RB-CAR vehicle and also a SUMMIT-XL robot. They will be used by first responders to explore and check the environment and also to transport some heavy materials.

  • Tactical situational awareness providing innovative visualization services for a portable Common Operational Picture for both indoor and outdoor scenarios representation.
  • Data collection providing a secure IoT platform for distributed.
  • Resilient communication at the field level providing haptic communication capabilities, communication with K9s; and at the infrastructure level through 5G technologies and UAVs.

inspection robot


Robotnik at DECENTER: Mobile robotics + artificial intelligence

Interview PhD- Decenter Project Coordinator.

Artificial Intelligence is a technology in constant evolution and its possibilities and influence in different areas is really wide. There are numerous AI applications related to mobile robotics that have a direct relationship with different industrial sectors. 

All these applications, as well as the habits of today's society, make it necessary to focus our attention on one key point: What do we do with the huge amount of data we generate? 

Robotnik is part of DECENTER, a European project within the H2020 program whose aim is precisely to manage, protect and process this data efficiently and securely. 

Ángel Soriano, responsible for Robotnik in this project, tells us a little more about DECENTER, telling us how it has evolved since its inception, at what stage are the objectives, the conclusions they draw and more.

 

1. Starting the conversation, could you give us a summary of what exactly DECENTER consists of?

DECENTER is a project that aims to provide an infrastructure that facilitates the integration and deployment of their services or applications to Artificial Intelligence and Cloud&Edge computing oriented software developers.

The project contemplates 3 different profiles:

  1. Programmers and architects oriented to distributed computing or edge/cloud computing management.
  2. Developers focused on AI algorithms, which normally require large computational capacity and memory.
  3. Operators or technical staff responsible for the proper functioning and integration of the software deployed on the available hardware.

 

 

DECENTER is intended to make it easier for the technician to integrate AI processes and/or algorithms into the system already deployed in their factory, and also to process them on the edge or in the cloud.

An example: we have a professional who is dedicated to developing an algorithm that is able to identify robots in a photograph. On the other hand, we have a worker-operator who knows his system, who is able to take that photograph, but is not a specialist in Artificial Intelligence. How can he integrate the advantages offered by AI without needing to specialize in it?

DECENTER aims to create these connections and distribute the computation (these algorithms require a lot of computing power) at different levels. 

A local level would be to run it inside the same computer that takes the picture. 

A level above that would be to run it on a computer that is not the same as the one taking the picture, but is within the same region or relatively close (Edge).

And a level above that would be to run it in the cloud.

By playing with these 3 levels, the project offers a platform that facilitates this integration and communication.

 

What role does Robotnik play in the project?

Everything explained above applies to 4 use cases that are defined in the project. Robotnik is a supplier of one of the use cases of the project: robotics logistics.

When a robot is performing its autonomous tasks navigating through the warehouse, it has to make certain decisions based on unforeseen events, such as encountering obstacles blocking its path. On certain occasions, if the robot is not able to identify what the obstacle is, the safest option is first for the robot to stop immediately and then to stop: 

  • Either that the robot remains static waiting until the obstacle disappears to ensure that there is no risk of collision. 
  • Or for the robot to re-plan its trajectory to reach its target from another location and try to avoid the obstacle. 

This is a very common situation in fleets of collaborative mobile robots as they often share workspace with each other and with workers in the same warehouse. 

DECENTER opens up the possibility of applying obstacle identification through AI. 

 

 

Robotnik provides the robots and all the infrastructure, as well as developing the integration of the DECENTER platform within the robot and the structure that we already had and thanks to this service offered by the partner and the project, we have been able to branch out the options for managing fleets of robots in warehouses.

 

2. At this point, which of the objectives set have been met and in which aspects will it be necessary to continue working on?

An example of an objective achieved in the specific use case of Robotnik is: we set out to be able to identify another robot with a confidence level of more than 80% and to reduce the CPU usage of robots by 10% by deriving computation to the edge/cloud. Both objectives have been successfully achieved.

 

3. What does this project mean for Industry 4.0?

There are several things that DECENTER brings to Industry 4.0 directly. One of them is the management of computing: being able to route and manage computing between devices. Distributed computing is something that is now the order of the day and it's purely cutting edge. We even talk about doing it in an intelligent way based on objectives or priorities. 

In Robotnik we design and manufacture mobile robots. If we want a robot to run a very heavy algorithm and with a lot of computational capacity (this happens in many occasions: high resolution cameras, LiDAR that captures 320.000 different points every second...), we must enable it to do so.

The straightforward solution is for the robot's CPU to be very powerful, which usually means it is more expensive. However, with the ability to delegate computation, you have the possibility to send all that data using communication with other devices or the cloud, compute the data there and apply the returned result to the robot.

This reduces costs from the point of view of robot production, makes the system more intelligent as it reduces the electrical consumption of the robot, optimises energy and in general optimises resources.

 

4. Taking into account both large companies and SMEs, what is the biggest challenge for the real application of Artificial Intelligence in industry?

The biggest challenge is undoubtedly that AI is constantly evolving and expanding and its integration in industry requires specialized personnel. Currently there is a gap between the specialized AI community and the personnel involved in the industry who have to deal with the problems of their own industry.

DECENTER tries to bring the two profiles together so that industry can benefit from the application of AI without the need to be an AI specialist.

 

 

 

There is another technological challenge involved in applying the DECENTER methodology in a real industry application, communications. When computing is delegated between devices, and these devices require a certain real-time processing speed, communication between devices needs to be fast and secure. 

At DECENTER we have worked at several levels: 

EDGE. Here you do not need internet to communicate with another device and it is considered a much faster level in terms of communications than the cloud.

The cloud. Here you do need an internet connection to access the servers and it is normally assumed to be slower than EDGE. 

Therefore, in general, communications is the great technological challenge of this methodology. Here we could also talk about 5G, which is another field in which Robotnik is actively participating in other projects.

 

5. Which use cases have had more impact or which sectors have shown interest in DECENTER's advances?

DECENTER is mainly related to data processing, its speed in data transmission and computational capacity. Computational resources. 

All projects have a development process in which use cases are always defined to demonstrate that the development is applicable to real applications. In the end, it is necessary to demonstrate in which areas of interest what is developed during the project will work.

In our DECENTER use case, the stakeholders are anyone who uses logistics robotics.

It can be interesting for any warehouse management, both for the savings it will bring to the company and for the technological and productive leap. 

During the DECENTER pilot, the RB-1 BASE was tested with very attractive results. Now I don't have individual robots, but I have a fleet of computers that 'help' each other to optimize processes, not only from a physical point of view, but above all from the data processing and execution of each one of them: if one of your robots is stopped loading, you can use the computer or PC of that robot to process data from the robot that is moving.


industry 4.0

Mobile robots and safety: the experience of Robotnik in HR-RECYCLER project

Collaborative robots have come front and center on the international stage as they’ve become widespread in Industry 4.0. Today we have more powerful, more advanced and more productive robots, so safety has become a key element.

Safety is the key

For Robotnik, as an experimented robot manufacturer and within the collaborative environment of the HR-Recycler project, this aspect is especially important since humans and robots will be working side by side. The solution proposed to routing materials inside a factory has to be done in a safe manner, in this case, the robots designed are the RB-KAIROS+ (mobile robotic manipulator) and the RB-ARES (pallet truck). It’s really important how the mobile robots  will show the intention of motion, elevate or manipulation.  

industry 4.0

 

To ensure the correct operation within the complex framework of this project, Robotnik has equipped its robots with sensors and signalers that allow the robot to proceed safely and show its intentions in advance. 

There are a number of ways manufacturers can introduce safety measures in their automated operations. The type and complexity of these safety measures will vary by the robotic application, with the aim to make the mobile robot safer, there are certain safety rules and standards that these collaborative robots must comply with, in Europe are found in EN ISO 3691-4:2020 and ISO 12100:2010 6.4.3

Clarifying the ISO standard

This post aims to give to the reader a brief description about what, why and how all the premises of the ISO will be reached.

First of all, what does the normative include? The standards on warning systems say:

  1. When any movement begins after a stop condition of more than 10 seconds, a visible or acoustic warning signal will be activated for at least 2 seconds before the start of the movement.
  2. A visible or acoustic warning signal will be activated during any movement.
  3. If the human detection means are active, the signal will be different.
  4. When robots change their direction from a straight path, a visible indication will be given of the direction to take before the direction changes in case that the robot is driving autonomously.
  5. When the lift is active, there must be special signage.

The solution proposed is a two-steps software that will manage the signals of the robot, explained after the diagram and on red cells:

The robot_local_control is a manager node, it has information about the status of the whole robot, that is, status of the elevator, goal active, mission ended, etc. On the right side, a group of nodes that manages the movement of the robot with a level of priority:

  • Robotnik_pad_node:  The worker uses a PS4 pad to control the robot and this node will transmit the orders, non autonomous mode. 
  • Path planning nodes: like Move_base, it controls the robot and we speak of it as autonomous mode.

Robotnik has installed on its mobile robots  two ways to alert facility users, acoustic devices or light indicators through the acoustic_safety_driver and leds_driver.

industry 4.0

As you can see, there are two steps to link the top and bottom parts, a node to transform the movement into signals to show the intention of the robot and another one to orchestrate the both signal types and manage the requirements of the normative. 

The turn_signaling_controller aims to solve the first and the fourth requirements of the normative depending on the robot mode (autonomous or not autonomous). 

In non autonomous mode, and as the norm says, the motion depends on an appropriately authorised and trained personnel so it is enough to show that the robot is moving by reading the movement command and checking the velocity applied. 

In autonomous mode the robot navigates to a goal point through a path calculated by the planner, furthermore it manages the AGV to avoid obstacles dynamically and for this reason it is important to alert workers every moment.

What is the process?

This is a very brief description of the function, it bears the plan in mind and recalculates at the same time that the planner does just to be able to show the most up-to-date prediction of motion.

Last but not least, the robot_signal_manager aims to solve the rest of the problems since it has access to the robot status, it shows a light signaling or an acoustic signal 2 seconds before the motion, it gives priority to the emergency signals (consistent with the behaviour of the robot, red signals means that the robot will be stopped) and the signals that are not exclusive are showed using beacons or acoustic signals.

The occupied zone is one of the non exclusive signals, robots have some extra beacons that blinks on red when there is something on the protective zone (close to the intention of motion of the robot, inside the critic zone) and on yellow when there is something on the warning zone (near the protective zone).

 

Summarizing

Safety is not only stopping the robot or avoiding a crash when human-robot collaboration takes place. With the development of these nodes Robotnik aims not only to decrease the probability of accident or comply with the safety ISO premises, but also to help workers feel more comfortable with the mobile robot’s decisions and bring human-robot collaboration closer, showing clear signals about how the robot will perform.


industry 4.0

Robotnik in the recycling of electronic waste (E-Waste): HR-RECYCLER

The recycling of electronic waste (E-Waste) is currently the biggest threat to the planet, according to the Global Recycling Foundation.  

In fact, the United Nations recently warned that e-waste is considered to be the "fastest growing waste stream in the world"; we are actually talking about around 53 million tonnes per year (according to the UNU Global E-waste Monitor 2020 report, in 2019), which will increase considerably in the coming years, including toxic components and hazardous waste if not properly recycled.

The recycling of WEEE is a time and effort consuming process, due to the variety of devices to be recycled and the different components and materials they are made of. In the face of this reality, we, the industries, cannot remain on the sidelines. 

Robotnik wants to be part of the solution and therefore, we participate in HR-RECYCLER, a multidisciplinary project which aims to improve the recycling capacity of European countries.

Human-robot collaboration in the WEEE recycling process.

A key issue in recycling processes is the routing of raw and disassembled materials and components through the recycling plant. This is a resource-consuming process, as materials and components are processed in various parts of the factory. In a typical recycling process, unsorted devices arrive at the recycling plant in large trucks. After sorting, each device has to be transported to its recycling station where it is separated into its components. The components can be further separated or ready to be moved to their final destination.

This is where Robotnik comes in. Transporting materials within a factory has to be done affordably, efficiently and safely. Furthermore, with the advent of the fourth industrial revolution, mobile robots have to be able to operate in collaboration with humans sharing the same space.

How to make it affordable?

Affordability is achieved by providing a mobile robot capable of transporting the same baskets that the factory already has, which reduces the number of changes that need to be made in the factory.

How to make it really efficient?

Efficiency is achieved through state-of-the-art navigation algorithms, as well as factory planning algorithms in general. Collaboration is achieved through the use of human-aware navigation, but also by increasing communication between the robot and the human about the robot's intentions. Safety is achieved through the application of stringent measures, sensors and actuators that comply with the latest safety standards.

All this effort is directed by Robotnik towards the creation of a new robot: RB-ARES. Robotnik has developed a reliable solution that integrates robots, localization systems, configuration and programming tools (HMI) and Fleet Management System (FMS). This knowledge will be integrated into the new RB-ARES, which is able to carry up 

to 1.500 Kg. and make a completely autonomous navigation.

Application of the RB-ARES robot in in recycling.

The purpose of RB-AREs will be to pick and place EURO pallets at ground level and direct them through the factory with the required features of affordability, efficiency, safety and collaboration with people. To fulfil this mission, RB-Ares is equipped with state-of-the-art actuators and sensors.

 

RB-ARES is powered by ROS, as well as Robotnik's own technology for navigation, localization and human-machine interface, which allows easy configuration, programming and integration of the robot into different applications and fleet management systems, as is required by Industry 4.0. This is the main feature of Collaborative Mobile Robots like RB-ARES, an intelligent mobile robot that assists humans in a shared workspace and supports the optimisation of processes within the industry.

[1] World Economic Forum. (2019). A New Circular Vision for Electronics: Time for a Global Reboot, (January), 24. Retrieved from


Bots2ReC, robotic extraction of asbestos fibres from buildings

Europe has paid a high price for asbestos, with over 100 000 related deaths. First in line in the fight to free buildings from asbestos contamination, workers in the construction sector could soon find a helping hand in the form of an AI-piloted robotic system.

The constant and multifaceted evolution of society has left very few industries unchanged. For most sectors, this has meant moving towards increased automation. Most, but not all. One unyielding sector has largely stayed true to its old ways: the construction sector. For the past 200 years, the same repetitive, standardised, and physically challenging construction tasks have been performed by workers with their own two hands. But this could change soon thanks to projects as Bots2ReC (Robots to Re-Construction). The reasoning behind Bots2ReC is simple: some tasks are simply too hazardous for humans to perform, and machines could easily replace them. “Besides the exposure, some processes or the materials handled in those processes generate health hazards in the form of dust, vibration, noise or toxic substances. It is precisely for these tasks that we could expect great benefits from – and also show the massive potential of – automation to achieve sustainable socio-ecological improvements,” says Tobias Haschke, coordinator of the project on behalf of RWTH Aachen University.

Tailored to construction sector needs

To enable such automation, the project consortium first had to overcome barriers related to the nature of the construction sector. Whereas most industries manufacture in a defined environment, the construction industry has historically had to cope with a continuously changing environment with varying rules and procedures. As Haschke explains: “The key to success lies in the technical control of this constant change.” Recent developments in computer science, storage systems and sensors were key enablers that set Bots2ReC in motion. They enabled the introduction of semi-autonomous solutions through mobile handling of environment complexity. Over a span of 3 years, the project team developed a robotic system capable of handling asbestos removal on construction sites. “The robot operates asbestos removal comprehensively and not just piece by piece. Thanks to its AI capabilities, it is also tailor-made to be used under real conditions,” Haschke explains. “The AI combines a tailored lightweight data format for environmental representation with a complex planning module. As a result, it can provide a scalable system in terms of fleet size and it automatically adapts to the floor plans at hand”. Most tests of the Bots2ReC were carried out with a grinding disk to reflect the actual process of asbestos removal. This helped the team understand and subsequently control the complex mechanisms of such interaction. Furthermore, the system was examined for its suitability for use in normal residential buildings, and tested in various room and floor plan constellations. The results are promising, with basic accessibility reaching almost 90 % of the wall surfaces of a general dwelling. A direct comparison to manual work is still pending and will be implemented in the follow-up of the project.

The greatest achievement

“To me, our greatest achievement is the robot itself. Its design and mode of operation are tailored to the requirements of the construction industry, and its design method is unique. This is reflected in the processable ceiling height of 3 m, which is simultaneously paired with an arm payload of 20 kg and continuous power supply via the mobile, omni-directional tandem system,” Haschke explains. The project has already generated attention in the construction industry, both for its complete robotic system and for its components.

Although Bots2ReC was completed in November 2019, the team has been investigating further developments of grinding processes, planning logic and radar technology since then. These are already in demand and should be commercialised within the next 2 years. “We are especially proud of the products that have been decoupled during the project and are already available on the market in the form of two mobile robots at Robotnik Automation (RB-2 BASE and Summit XL Steel),  and various improved radar sensors from indurad GmbH,” Haschke notes. With its focus on asbestos, Bots2ReC is well placed to reduce the future health burden on workers. There is little doubt that the cost of the technology will easily be counterbalanced by its high social benefit and economic efficiency. The project could be adapted for the removal of other hazardous products, such as lead paint.


Robotnik and Itera collaborate in the development of the "Symphony"

Research and development of intelligent technology management system with multifunctional capabilities for operational improvement in the industry project. Supported by the Valencian Agency of Innovation, the objective of this project is the development of the technologies necessary to have robots and mobile manipulators easy to integrate and use. These technologies include advanced robot and operator location systems, cloud fleet management and planning systems, new quality control systems and parameter calibration. This project has been supported by the AVI (Valencian Agency of Innovation) and has the collaboration of the technological institutes Ai2 (Industrial Automation and Computing) and ITI (Technological Institute of Informatics).

 


Autonomous robotics to implement precision agriculture

Inside the iDRONE project, funded by IVACE, AINIA has developed a model of precision agriculture based on hyperspectral vision sensors, unmanned flight devices (drones and autonomous robots) and the application of Artificial Intelligence techniques and Big data analytics.

The application of these advanced technologies in the tasks of the field will allow the farmer to apply phytosanitary treatments to each plant or crop according to their needs, or decide the optimal time of collection selectively, among other advantages.

The contribution of Robotnik to the project is the SUMMIT-XL autonomous robot, customized with the corresponding sensorization and that has been used in various R&D projects focused on precision agriculture.

More information:


Article in Robohub about the AIDE project

Robohub notes to the results of the project AIDE, which develops an automated wheelchair with an exoskeleton robotic arm for use in the home. The idea is that the next-generation of wheelchairs could incorporate brain-controlled robotic arms and rentable add-on motors in order to help people with disabilities more easily carry out daily tasks or get around a city. The automated wheelchair uses artificial intelligence to extract relevant information from the user, such as their behaviour, intentions and emotional state, and also analyses its environmental surroundings.

Read the full article here .


What is SWARM Logistics Assistant?

SWARM Logistics Assistant comes up from H2020 CPSwarm project. In it, Robotnik contributes with its knowledge in Cyber Phisical Systems. Robotnik has large experience in ROS, software used by all their robots, furthermore in the simulation software. The project has several mobile platforms from Robotnik, which are working to supporting the workers in tedious tasks in a warehouse.

The robots also make a scanner of the warehouse work space and share this information to updating the data base in real time. Likewise, the robots also collect additional information related to matters such as the ambient temperature, the presence of human beings, the detection of obstacles along the way, etc.

In the following video you can see the feasibility and effectiveness of the project:

 

 


DLR: Swarm Navigation and Exploration for Gas Source Localization with SUMMIT-XL

DLR demonstrates at this video a navigation system and exploration strategy for a multi-robot system (several units of the SUMMIT-XL),with the goal to find unknown gas sources. The system was developed at the Institute of Communication and Navigation at the German Aerospace Center (DLR). This work was partially supported within VALLES MARINERIS EXPLORER - an Initiative of DLR Space Administration.

More info