Hibrid és lágy számítási módszerekre épülő intelligens na-vigációs modellek és algoritmusok  Page description

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Details of project

  
Identifier
35190
Type K
Principal investigator Várkonyiné Kóczy, Annamária
Title in Hungarian Hibrid és lágy számítási módszerekre épülő intelligens na-vigációs modellek és algoritmusok
Panel Informatics and Electrical Engineering
Department or equivalent Department of Measurement and Information Systems (Budapest University of Technology and Economics)
Participants Baranyi, Péter Zoltán
Ismeretlen, témavezeto
Péceli, Gábor
Rudas, Imre
Takács, Orsolya Erzsébet
Starting date 2001-01-01
Closing date 2005-12-31
Funding (in million HUF) 12.347
FTE (full time equivalent) 0.00
state closed project





 

Final report

  
Results in Hungarian
A kutatás eredményeként javaslatot tettünk - Egy olyan univerzális leírási módra és navigációs modellre, amely mind ismert, mind ismeretlen illetve dinamikusan változó környezetben képes az akadályok elkerülésére és adott cél megközelítésére. A leírási mód különböző stratégiájú, 2D és 3D-ben történő mozgás esetén is alkalmazható. A modell képes megtanulni és követni más robotok mozgásstílusát. Beágyazott alkalmazás esetén pedig képes anytime módon adaptívan alkalmazkodni a pillanatnyi idő és erőforrás elérési lehetőségekhez. - Olyan univerzális komplexitás csökkentő és közelítő eljárásokra amelyek alkalmasak az adott körülmények között optimális modell felépítésére és a körülmények (információ, erőforrás mennyiség, minőségi követelmények) megváltozása esetén képesek flexibilisen alkalmazkodni, azaz a modell (közelítés) pontosságának az elvárásokhoz és a környezethez való illesztésére (a leírás pontosságának csökkentésére illetve javítására). - Olyan struktúrákra és stratégiákra, amelyek kedvezőek a dinamikus rendszerek átkapcsolási jelenségeinek szempontjából, azaz alkalmasak a tranziensek minimalizálására. - Anytime működést lehetővé tevő programozási nyelvre, alacsony időigényű operációs rendszerre és futtatási környezetre. - Két és három dimenziós navigációhoz kötődő szimulációs, teszt- és fejlesztő eszközökre. A kifejlesztett eszközök és algoritmusok alkalmazhatóságát széles területről vett gyakorlati példákon mutattuk be (navigáció, kontroll, robotlátás, hibadiagnosztika, stb.)
Results in English
As a result of the research we have proposed - A universal description and navigation model which is able to avoid obstacles and approach the target in known, unknown, and dynamically changing environment. It can be applied in case of different navigation styles both in 2D and 3D. The method is able to learn and follow the motion styles of other robots. In case of embedded applications the adaptivity of the anytime operation of the model tolerates the temporary time and research availability. - Universal approximation and complexity reduction methods which are suitable to build an optimum model in the temporal conditions (information, resource need, requirements) and in case of changes in the environment it is able to flexibly fit (precisiate or un-precisiate) the model. - Structures and strategies which are advantageous from reconfiguration transient point of view (occurring in dynamic systems). - Anytime programming language, low complexity operating system, and running environment. - 2D and 3D simulation, test, and development tools The usability of the introduced tools and algorithms are simulated by examples taken from a wide range of application field (navigation, control, robot vision, fault diagnostics, etc.).
Full text http://real.mtak.hu/85/
Decision
Yes





 

List of publications

  
Várkonyi-Kóczy, A.R., A. Rövid,: Observer Based Iterative Neural Network Model Inversion,, In Proc. of the 14th IEEE Int. Conference on Fuzzy Systems, FUZZ-IEEE'2005, Reno, USA, May 22-25, 2005, pp. 402-407., 2005
Rövid, A., A.R. Várkonyi-Kóczy, M.G. Ruano,: Corner Detection in Digital Images Using Fuzzy Reasoning, In Proc. of the 2nd IEEE International Conference on Computational Cybernetics, ICCC'2004, Vienna, Austria, Aug. 30-Sep.1, pp. 95-99, 2004
Várkonyi-Kóczy, A.R., A. Rövid,: Soft Computing Based Point Corresponding Matching for Automatic 3D Reconstruction, Acta Polytechnica Hungarica (Special Issue on Computational Intelligence), Jan. 2005, pp. 33-44., 2005
Várkonyi-Kóczy, A.R., A. Rövid, M.G. Ruano,: Fuzzy Logic Supported Point Correspondence Matching for 3D Reconstruction,, In Proc. of the 5th Int. Symposium of Hungarian Researchers on Computational Intelligence, Budapest, Hungary, Nov. 11-12, 2004, pp. 47-58., 2004
Várkonyi-Kóczy, A.R., A. Rövid, M.G. Ruano,: Automatic Point Correspondence Matching, In Proc. of the 3rd IEEE International Conference on Computational Cybernetics, ICCC'2005, Mauritius, Apr. 13-16, 2005, pp. 313-318., 2005
Rövid, A., A.R. Várkonyi-Kóczy, P. Várlaki,: 3D Model Estimation from Multiple Images, In Proc. of the 13th IEEE Int. Conference on Fuzzy Systems, FUZZ-IEEE'2004, Budapest, Hungary, July 25-29, 2004, Vol. 3, pp. 1661-1666., 2004
Rövid, A., A.R. Várkonyi-Kóczy, M.G. Ruano,: Automatic 3D Modeling Based on Soft Computing Techniques,, In Proc. of the 8th IEEE Int. Conference on Intelligent Engineering Systems, INES'2004, Cluj-Napoca, Romania, Sep. 19-21, 2004, pp. 199-204., 2004
Rövid, A., A.R. Várkonyi-Kóczy, P. Várlaki,: An Application of Intelligent 3D Reconstruction in Vehicle System Dynamics, In Proc. of the IEEE Int. Conference on Artificial Intelligence in Science and Technology, AISAT 2004, Tasmania, Hobart, Australia, Nov. 21-25, 2004, pp. 257-262, 2004
Várkonyi-Kóczy, A.R.,: 3D Model Reconstruction of Complex Objects, Seminar at the University of Tokyo, Jan. 2005, 2005
Várkonyi-Kóczy, A.R, A. Rövid,: Iterative Neural Network Model Inversion, In Proc. of the 3rd Slovakian-Hungarian Joint Symposium on Applied Machine Intelligence, SAMI 2005, Herlany, Slovakia, Jan. 24-25, 2005, pp. 163-174., 2005
Takács Orsolya,: Eljárások és hibakorlátok lágy számítási módszerek anytime rendszerekben való alkalmazásához, PhD dolgozat, BME, 2005, p. 117., 2005
Várkonyi-Kóczy, A.R., G. Samu: Anytime Fourier Analysis, In Proc. of the 3rd Int. Conf. On Global Research and Education in Intelligent Systems, Inter-Akademia�2004, Budapest, Hungary, Sep. 6-9, 2004, pp. 476-485., 2004
Rövid András,: Közúti járművek ütközésének a deformációról készült képekre épülő új vizsgálati módszerei,, PhD dolgozat, BME, 2005, p. 139., 2005
Várkonyi-Kóczy, A.R.,: Model Based Anytime Signal Processing for Resource Insufficient Environment, Seminar at the University of Algarve, Faro, Portugal, Oct., 2003., 2003
Várkonyi-Kóczy, A.R.,: Intelligent Model Based Signal Processing Techniques, Seminar at the University of Algarve, Faro, Portugal, Dec. 2004., 2004
Rövid, A., A.R. Várkonyi-Kóczy, P. Várlaki: Intelligent Methods for Car Deformation Modeling and Crash Speed Estimation,, In Proc. of the 1st Romanian-Hungarian Joint Symposium on Applied Computational Intelligence, SACI'2004, Timisoara, Romania, May 25-26, 2004, pp. 75-84., 2004
Várkonyi-Kóczy, A.R., M.G. Ruano,: Anytime Fourier Transformation, In CD ROM Proc. of the IEEE Int. Symposium on Intelligent Signal Processing, WISP’2005, Faro, Portugal, Sep. 1-3, 2005., 2005
Korondi, P., A.R. Várkonyi-Kóczy, Sz. Kovács, P. Baranyi, M. Sugiyama: Virtual Training of Potential Function Based Guiding Styles, Joint 9th IFSA World Congress and 20th NAFIPS International Conference, IFSA / NAFIPS 2001, July 25-28, 2001, pp. 2529-2534, 2001
Takács, O. A.R. Várkonyi-Kóczy: SVD Based Complexity Reduction of Rule Bases with Non-Linear Antecedent Fuzzy Sets, In Proc. of the IEEE Int. Workshop on Intelligent Signal Processing, WISP'2001, Budapest, Hungary, May 24-25, 2001, pp. 183-187, 2001
Takács, O. A.R. Várkonyi-Kóczy: Error-Bound for the Non-Exact SVD-Based Reduction of the Generalized Type Hybrid Neural Networks with Non-Singleton Consequents, In Proc. of the 2001 IEEE Instrumentation and Measurement Technology Conference, IMTC/2001, Budapest, Hungary, May 21-23, 2001, pp. 1607-1613, 2001
Baranyi, P., A.R. Várkonyi-Kóczy, Y. Yam, P. Várlaki, P.Michelberger: An Adaptation Technique to SVD Reduced Rule Bases, Joint 9th IFSA World Congress and 20th NAFIPS International Conference, IFSA / NAFIPS 2001, July 25-28, 2001, pp. 2488-2493, 2001
Baranyi, P., A.R. Várkonyi-Kóczy, Y.Yam, P.Michelberger: HOSVD based Computational Complexity Reduction of TS Fuzzy Models, Joint 9th IFSA World Congress and 20th NAFIPS International Conference, IFSA / NAFIPS 2001, July 25-28, 2001, pp. 2482-2485, 2001
Baranyi, P. and A.R. Várkonyi-Kóczy: Adaptation of SVD Based Fuzzy Reduction via Minimal Expansion, IEEE Trans. on Instrumentation and Measurement, Vol. 51, No. 2, Apr. 2002, pp.222-226, 2002
Baranyi, P., A.R. Várkonyi-Kóczy, P. Várlaki, P. Michelberger, and R.J. Patton: Singular Value Based Model Approximation, In N. Mastorakis (ed.) Problems in Applied Mathematics and Computational Intelligence (Mathematics and Computers in Science and Engineering), World Scientific and Enginee, 2001
Baranyi, P., Y. Yam, A.R. Várkonyi-Kóczy, and R.J. Patton: SVD Based Reduction to MISO TS Fuzzy Models, IEEE Trans. on Industrial Electronics, Vol. 50. No. 1, pp. 232-242, Feb. 2003, 2003
Várkonyi-Kóczy, A.R., A. Ruano, P. Baranyi, O.Takács: Anytime Information Processsing Based on Fuzzy and Neural Network Models, In Proc. of the 2001 IEEE Instrumentation and Measurement Technology Conference, IMTC/2001, Budapest, Hungary, May 21-23, 2001, pp. 1247-1252, 2001
Kiss, L., A.R. Várkonyi-Kóczy, and P. Baranyi: Autonomous Navigation in a Known Dynamic Environment, In Proc. of the 12th IEEE Int. Conference on Fuzzy Systems, FUZZ-IEEE’2003, St. Louis, USA, May 25-28, 2003, pp. 266-271, 2003
Kiss, L., A.R. Várkonyi-Kóczy: A Universal Vision-based Navigation System for Autonomous Indoor Robots, In Proc. of the 1st Slovakian-Hungarian Joint Symposium on Applied Machine Intelligence, SAMI 2003, Herlany, Slovakia, Feb. 12-14, 2003, pp.183-196, 2003
Várkonyi-Kóczy, A.R., P. Baranyi: Soft Computing Based Modeling of Nonlinear Systems, 1st Hungarian-Korean Symposium On Soft Computing and Computational Intelligence, Budapest, Hungary, Oct 2-4, 2002, pp. 139-148, 2002
Várkonyi-Kóczy, A.R., P. Baranyi, and O. Takács: SVD Based Anytime Modeling and Control of Nonlinear Systems, In Proc. of the Int. Symposium of Hungarian Researchers on Computational Intelligence, Budapest, Hungary, Nov. 14-15, 2002, pp. 135-146, 2002
Várkonyi-Kóczy, A.R., P. Baranyi, P. Várlaki, and L. Kiss: Model Based Anytime Control of Complex Systems, In Proc. of the 7th IEEE Int. Conference on Intelligent Engineering Systems, INES'2003, Assiut-Luxor, Egypt, March 4-6, 2003, pp. 394-399, 2003
Várkonyi-Kóczy, A.R., P. Baranyi, and R.J. Patton: Anytime Fuzzy Modeling Approach for Fault Detection Systems, In Proc. of the 2003 IEEE Instrumentation and Measurement Technology Conference, IMTC/2003, Vail, USA, May 20-22, 2003, pp.1611-1616., 2003
Baranyi, P., A.R. Várkonyi-Kóczy, Y. Yam, D. Tikk, I. Rudas: Minimizing TS Controller via HOSVD, In Proc. of the 11th IEEE Int. Conference on Fuzzy Systems, FUZZ-IEEE’2002, Honolulu, USA, May , 2002, pp 128-133, 2002
Baranyi, P., A.R. Várkonyi-Kóczy: Adaption without Rule Base Size Expansion: HOSVD Based Approach, In Proc. of the 2002 IEEE Instrumentation and Measurement Technology Conference, IMTC/2002, Anchorage, USA, May 21-23, 2002, pp. 221-226., 2002
Várkonyi-Kóczy, A.R., A. Ruano, P. Baranyi, and O.Takács,: Anytime Information Processsing Based on Fuzzy and Neural Network Models, IEEE Trans. on Instrumentation and Measurement, közlésre elfogadva, 2007
Takács, O., A.R. Várkonyi-Kóczy: Iterative Evaluation of PSGS Fuzzy Systems in Anytime Applications, MFT Periodica 2002-01, www.mft.hu, 2002
Takács, O., A.R. Várkonyi-Kóczy: Anytime Use of PSGS Fuzzy Systems, ,” In Proc. of the 2nd Euro-International Symposium on Computational Intelligence, E-ISCI’2002, Kosice, Slovak Republic, June 17-19, 2002
Takács, O., A.R. Várkonyi-Kóczy: Iterative Evaluation of Anytime PSGS Fuzzy Systems, In P. Sincak, K. Hirota (eds.) Quo Vadis Machine Intelligence? (Studies in Fuzzyness and Soft Computing), Physica-Verlag, Heidelberg, 2002, 2002
Takács, O., A.R. Várkonyi-Kóczy: Iterative-type Evaluation of PSGS Fuzzy Systems for Anytime Use, IEEE Trans. on Instrumentation and Measurement, Vol. 54, No. 1, pp. 391-397, Feb. 2005., 2005
Takács, O., A.R. Várkonyi-Kóczy: Iterative-type Evaluation of PSGS Fuzzy Systems for Anytime Use, In Proc. of the 2002 IEEE Instrumentation and Measurement Technology Conference, IMTC/2002, Anchorage, USA, May 21-23, 2002, pp. 233-238, 2002
Takács, O., A.R. Várkonyi-Kóczy: Improved Error-bound for the SVD based complexity reduction, In Proc. of the 2002 IEEE Int. Conference on Intelligent Engineering Systems, INES'2002, Opatija, Croatia, May 26-28, 2002, pp. 215-218, 2002
Takács, O., A.R. Várkonyi-Kóczy: SVD-based Complexity Reduction of “Near PSGS” Fuzzy Systems, In Proc. of the IEEE Int. Symposium on Intelligent Signal Processing, WISP'2003, Budapest, Hungary, Sep. 4-6, 2003, pp. 31-36, 2003
Takács, O., A.R. Várkonyi-Kóczy: Improved Error-bound for the SVD based complexity reduction, IEEE Trans. on Instrumentation and Measurement, közlésre elfogadva, 2007
Samu G: Intelligens felügyelő anytime rendszerekhez, MSc Thesis, BME, 2003, 2003
Samu, G., A.R. Várkonyi-Kóczy: Intelligent Monitor for Anytime Systems, In Proc. of the IEEE Int. Symposium on Intelligent Signal Processing, WISP'2003, Budapest, Hungary, Sep. 4-6, 2003, pp. 277-282, 2003
Visontai, M., L. Kiss, P. Baranyi, A.R. Várkonyi-Kóczy: 3-dimensional potential based guiding, In Proc. of the 2000 IEEE Int. Conference on Intelligent Engineering Systems, INES'2000, Portoroz, Slovenia, Sep. 17-19, 2000, pp. 305-308, 2000
Baranyi, P. and A.R. Várkonyi-Kóczy: Adaption of SVD Based Fuzzy Reduction via Minimal Expansion, In Proc. of the IEEE Int. Workshop on Intelligent Signal Processing, WISP’2001, Budapest, Hungary, May 24-25, 2001, pp. 171-176, 2001
Baranyi, P., Y. Yam, A.R. Várkonyi-Kóczy, R.J. Patton, P. Michelberger, and M. Sugiyama: SVD Based Complexity Reduction to TS Fuzzy Models, IEEE Trans. on Industrial Electronics, Vol. 49, No.2, pp. 433- 443, Apr. 2002, 2002
Kiss, L., M. Visontai, A.R. Várkonyi-Kóczy, P. Baranyi: Complexity problem of potential based guiding, In Proc. of the IFAC Symp. on Artificial Intelligence in Real-Time Control, AIRTC’2000, Budapest, Hungary, Oct 2-4, 2000, pp. 145-149, 2000
Kiss, L., A.R. Várkonyi-Kóczy, and M.G. Ruano: A Hybrid Autonomous Robot Navigation Method Based on Artificial Intelligence and Soft Computing Techniques, In Proc. of the IFAC International Conference on Intelligent Control Systems and Signal Processing, ICONS 2003, Faro, Portugal, April 8-11, 2003, pp. 251-256, 2003
Várkonyi-Kóczy, A.R. and P. Baranyi: SVD Based Modeling and Control of Nonlinear Systems, In Proc. of the 1st Int. Conf. On Global Research and Education, Inter Akademia’2002, Sep. 23-26, 2002, Bratislava, Slovakia, pp. 160-163, 2002
Baranyi, P., A.R. Várkonyi-Kóczy, Y. Yam, and R.J.Patton: Adaption of TS Fuzzy Models without Complexity Expansion: HOSVD Based Approach, IEEE Trans. on Instrumentation and Measurement, Vol. 54, No. 1, pp. 52-60, Feb. 2005, 2005
Takács, O. and A.R. Várkonyi-Kóczy: Error-Bound for the Non-Exact SVD-Based Reduction of the Generalized Type Hybrid Neural Networks with Non-Singleton Consequents, IEEE Trans. on Instrumentation and Measurement, közlésre elfogadva, 2007
Baranyi,P., P. Michelberger, and A.R. Várkonyi-Kóczy,: Numerical Control Design for Aeroelastic Systems,, In Proc. of the 2nd Slovakian-Hungarian Joint Symposium on Applied Machine Intelligence, SAMI 2004, Herlany, Slovakia, Jan. 16-17, 2004, pp. 43-50, 2004
Baranyi,P., and A.R. Várkonyi-Kóczy,: Asymptotic Stabilization of Aeroelastic Systems via TP Transformation, In Proc. of the IEEE Int. Symposium on Intelligent Signal Processing, WISP'2003, Budapest, Hungary, Sep. 4-6, 2003, pp. 143-148., 2003
Takács, O. and A.R. Várkonyi-Kóczy,: Iterative Evaluation of Anytime PSGS Fuzzy Systems, In P. Sincak, J. Vascak, K. Hirota (eds.) Quo Vadis Machine Intelligence:? - The Progressive Trends in Intelligent Technologies,WS Press, Heidelberg, 2004, pp. 93-106,, 2004
Móricz, P.: Távérzékeléssel támogatott teszt- és fejlesztőeszköz intelligens 2D robot navigációs algoritmusokhoz, MSc Thesis, BME, 2003, p.110., 2003
Várkonyi-Kóczy, A.R. and G. Samu: Anytime System Scheduler for Insufficient Resource Availability,, In Proc. of the IEEE International Conference on Computational Cybernetics, ICCC’2003, Siófok, Hungary, Aug. 29-31, 2003, pp. 205-210, 2003
Samu, G. and A.R. Várkonyi-Kóczy: Intelligent Monitoring System for the Optimization of the Operation of Systems in Resource Insufficient Environment, In Proc. of the 4th Int. Symposium of Hungarian Researchers on Computational Intelligence, Budapest, Hungary, Nov. 13-14, 2003, pp. 71-87, 2003
Várkonyi-Kóczy, A.R., G. Samu,: Anytime System Scheduler for Insufficient Resource Availability, International Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Vol. 8, No. 5, pp. 488-494, Sep. 2004, 2004
Takács, O. and A.R. Várkonyi-Kóczy: Soft-computing Tools in Anytime Environment, In Proc. of the 2nd Int. Conf. On Global Research and Education, Inter-Akademia’2003, Warsaw, Poland, Sep. 8-12, 2003, pp. 185-194., 2003
Rövid, A., A.R. Várkonyi-Kóczy, M.G. Ruano, P. Várlaki, P. Michelberger: Soft Computing Based Car Body Deformation and EES Determination for Car Crash Analysis Systems, In Proc. of the 2004 IEEE Instrumentation and Measurement Technology Conference, IMTC/2004, Como, Italy, 18-20 May, 2004, pp. 1674-1679, 2004
Várkonyi-Kóczy, A.R., A. Rövid, G. Samu,: Soft Computing Techniques for the Improvement of Signal Processing Algorithms, In Proc. of the 2nd Serbian-Hungarian Joint Symposium on Intelligent Systems, SISY’2004, Subotica, Serbia and Montenegro, Oct. 1-2, 2004, pp. 201-214, 2004
Várkonyi-Kóczy, A.R.,: 3D Model Reconstruction, Seminar at the Norwegian University of Science and Technology, Trondheim, Norway, Oct. 2004, 2004
Rövid, A., A.R. Várkonyi-Kóczy,: Car Body Deformation Modeling Based on Soft Computing Techniques and Image Processing, In Proc. of the 3rd Int. Conf. On Global Research and Education in Intelligent Systems, Inter-Akademia’2004, Budapest, Hungary, Sep. 6-9, 2004, pp. 75-84, 2004
Várkonyi-Kóczy, A.R.,: Car Body Deformation Modeling Based on Soft Computing and Image Processing Techniques, Seminar at the Tokyo Institute of Technology, Jan. 2005, 2005
Várkonyi-Kóczy, A.R.,: Anytime Information Processing - A Possibility for Handling Data, Time and Resource Shortages, Invited Lecture at the Workshop organised by the University of Mauritius, Mauritius, Apr. 2005, 2005
Várkonyi-Kóczy, A.R.,: Possibilies of Real Life Applications of Machine Intelligence, Panel Discussion at the Workshop organised by the University of Mauritius, Mauritius, Apr. 2005, 2005
Várkonyi-Kóczy, A.R., A. Rövid, M.G. Ruano: Soft Computing Based Car Body Deformation and EES Determination for Car Crash Analysis Systems, IEEE Trans. on Instrumentation and Measurement, Vol. 55, No. 6, Dec. 2006, pp. 2304-2312, 2006
Várkonyi-Kóczy, A.R., P. Baranyi, L. Kiss, and P. Várlaki,: State Dependant Anytime Control Methodology for Prototypical Aeroelastic Wing Section with Structural Non-linearity, In CD-ROM Proc. of the 2003 IEEE Int. Symposium on Industrial Electronics, ISIE’2003, Rio de Janeiro, Brazil, June 9-12, 2003, pp. BF-003362.1-6, 2003
Várkonyi-Kóczy, A.R. and P. Baranyi: Model Based Numerical Anytime Control Design of a Prototypical Aeroeleastic Wing Section,, In Proc. of the 2nd Int. Conf. On Global Research and Education, Inter-Akademia’2003, Warsaw, Poland, Sep. 8-12, 2003, pp.377-386, 2003
Várkonyi-Kóczy, A.R., P. Várlaki: Uncertainty Representation in Nonlinear and Hybrid Systems, In Proc. of the 3rd IEEE International Conference on Computational Cybernetics, ICCC’2005, Mauritius, Apr. 13-16, 2005, pp. 313-318, 2005
Várkonyi-Kóczy, A.R., A. Rövid: Fuzzy Logic Supported Frequency Range Estimation for Adaptive Fourier Analysis, In Proc. of the Joint Conference SCIS and ISIS 2006, Tokyo, Japan, Sep. 20-24, 2006, 2006
Várkonyi-Kóczy, A.R: New Advances in Digital Signal and Image Processing, Seminar at the University of Alcala de Henares (Madrid), Spain, June 2006., 2006



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