Displaying publications 1 - 20 of 85 in total

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  1. Pirouzi G, Abu Osman NA, Oshkour AA, Ali S, Gholizadeh H, Abas WA
    Sensors (Basel), 2014;14(9):16754-65.
    PMID: 25207872 DOI: 10.3390/s140916754
    The suspension system and socket fitting of artificial limbs have major roles and vital effects on the comfort, mobility, and satisfaction of amputees. This paper introduces a new pneumatic suspension system that overcomes the drawbacks of current suspension systems in donning and doffing, change in volume during daily activities, and pressure distribution in the socket-stump interface. An air pneumatic suspension system (APSS) for total-contact sockets was designed and developed. Pistoning and pressure distribution in the socket-stump interface were tested for the new APSS. More than 95% of the area between each prosthetic socket and liner was measured using a Tekscan F-Scan pressure measurement which has developed matrix-based pressure sensing systems. The variance in pressure around the stump was 8.76 kPa. APSS exhibits less pressure concentration around the stump, improved pressure distribution, easy donning and doffing, adjustability to remain fitted to the socket during daily activities, and more adaptability to the changes in stump volume. The volume changes were adjusted by utility of air pressure sensor. The vertical displacement point and reliability of suspension were assessed using a photographic method. The optimum pressure in every level of loading weight was 55 kPa, and the maximum displacement was 6 mm when 90 N of weight was loaded.
    Matched MeSH terms: Robotics/instrumentation*
  2. Teo J, Abbass HA
    Evol Comput, 2004;12(3):355-94.
    PMID: 15355605
    In this paper, we investigate the use of a self-adaptive Pareto evolutionary multi-objective optimization (EMO) approach for evolving the controllers of virtual embodied organisms. The objective of this paper is to demonstrate the trade-off between quality of solutions and computational cost. We show empirically that evolving controllers using the proposed algorithm incurs significantly less computational cost when compared to a self-adaptive weighted sum EMO algorithm, a self-adaptive single-objective evolutionary algorithm (EA) and a hand-tuned Pareto EMO algorithm. The main contribution of the self-adaptive Pareto EMO approach is its ability to produce sufficiently good controllers with different locomotion capabilities in a single run, thereby reducing the evolutionary computational cost and allowing the designer to explore the space of good solutions simultaneously. Our results also show that self-adaptation was found to be highly beneficial in reducing redundancy when compared against the other algorithms. Moreover, it was also shown that genetic diversity was being maintained naturally by virtue of the system's inherent multi-objectivity.
    Matched MeSH terms: Robotics
  3. Abdullah MZ, Awang MS, Tan YC, Abdullah JM
    J Neurol Surg A Cent Eur Neurosurg, 2014 Mar;75(2):155-7.
    PMID: 23636911 DOI: 10.1055/s-0032-1330954
    The study assesses the capability and accuracy of a robotic arm to perform burr holes.
    Matched MeSH terms: Robotics/methods*
  4. Awang MS, Abdullah MZ
    Malays J Med Sci, 2011 Apr;18(2):53-7.
    PMID: 22135587 MyJurnal
    Surgical robots have been appearing in operating rooms over the past decade, and neurosurgery has been one of the pioneers in this area. In neurosurgery, the clinical use of robots has been limited to stereotactic procedures and endoscopic manoeuvres, although the brain is a unique organ and well-suited for robotic application. The aim of this study was to assess the ability of our vision-guided robotic system to perform basic neurosurgical procedures.
    Matched MeSH terms: Robotics
  5. Firdaus Sukarman, Mohd Ghazali Mohd Hamami, Mazleenda Mazni, Muhammad Amir Mat Shah, Ahmad Faidzal Khodori
    MyJurnal
    The utilization of parallelogram structure in a small-sized humanoid robot consists of two parallel platforms that are linked serially in each leg. The thigh and shank of each leg consists of two servomotors as actuator and linked in parallel platform. By using parallel mechanism in leg structure, foot sole surface is always parallel to the walking surface at any point. Even it looks unnatural to human-like walking motion, the expected result is the robot can maintain it posture while walking and at the point foot sole touch the walking surface, unnecessary vibrates can be modulated at the certain level to remain its balance. The effectiveness and the performance of the proposed parallel platforms are experimented by using zero moment point (ZMP) method by taking various scenario data from pressure sensors attached at the footsole. Planned walking gait is introduced to be identical in terms of foot steps length and width of each leg swing. As the results, in terms of load in each actuator, required torque at servomotors can be reduced because two servomotors are used simultaneously in one parallel system. Stable walking gait can be predicted as the quantity of error falls within the error ranges from the published walking gait patterns.
    Matched MeSH terms: Robotics
  6. Ahmad NS
    Sensors (Basel), 2020 Jun 30;20(13).
    PMID: 32630046 DOI: 10.3390/s20133673
    Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust H ∞ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the H ∞ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the H ∞ controller alone, and the H ∞ with the FL compensator, but without the presence of the robust control law.
    Matched MeSH terms: Robotics
  7. Ahmed M. M. ALmassri, Chikamune Wada, Wan Hasan, W.Z., Ahmad, S.A.
    MyJurnal
    This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach.
    Matched MeSH terms: Robotics
  8. Tao H, Rahman MA, Al-Saffar A, Zhang R, Salih SQ, Zain JM, et al.
    Work, 2021;68(3):853-861.
    PMID: 33612528 DOI: 10.3233/WOR-203419
    BACKGROUND: Nowadays, workplace violence is found to be a mental health hazard and considered a crucial topic. The collaboration between robots and humans is increasing with the growth of Industry 4.0. Therefore, the first problem that must be solved is human-machine security. Ensuring the safety of human beings is one of the main aspects of human-robotic interaction. This is not just about preventing collisions within a shared space among human beings and robots; it includes all possible means of harm for an individual, from physical contact to unpleasant or dangerous psychological effects.

    OBJECTIVE: In this paper, Non-linear Adaptive Heuristic Mathematical Model (NAHMM) has been proposed for the prevention of workplace violence using security Human-Robot Collaboration (HRC). Human-Robot Collaboration (HRC) is an area of research with a wide range of up-demands, future scenarios, and potential economic influence. HRC is an interdisciplinary field of research that encompasses cognitive sciences, classical robotics, and psychology.

    RESULTS: The robot can thus make the optimal decision between actions that expose its capabilities to the human being and take the best steps given the knowledge that is currently available to the human being. Further, the ideal policy can be measured carefully under certain observability assumptions.

    CONCLUSION: The system is shown on a collaborative robot and is compared to a state of the art security system. The device is experimentally demonstrated. The new system is being evaluated qualitatively and quantitatively.

    Matched MeSH terms: Robotics
  9. Al-Quraishi MS, Ishak AJ, Ahmad SA, Hasan MK, Al-Qurishi M, Ghapanchizadeh H, et al.
    Med Biol Eng Comput, 2017 May;55(5):747-758.
    PMID: 27484411 DOI: 10.1007/s11517-016-1551-4
    Electromyography (EMG)-based control is the core of prostheses, orthoses, and other rehabilitation devices in recent research. Nonetheless, EMG is difficult to use as a control signal given the complex nature of the signal. To overcome this problem, the researchers employed a pattern recognition technique. EMG pattern recognition mainly involves four stages: signal detection, preprocessing feature extraction, dimensionality reduction, and classification. In particular, the success of any pattern recognition technique depends on the feature extraction stage. In this study, a modified time-domain features set and logarithmic transferred time-domain features (LTD) were evaluated and compared with other traditional time-domain features set (TTD). Three classifiers were employed to assess the two feature sets, namely linear discriminant analysis (LDA), k nearest neighborhood, and Naïve Bayes. Results indicated the superiority of the new time-domain feature set LTD, on conventional time-domain features TTD with the average classification accuracy of 97.23 %. In addition, the LDA classifier outperformed the other two classifiers considered in this study.
    Matched MeSH terms: Robotics/methods
  10. Alshammari RFN, Abd Rahman AH, Arshad H, Albahri OS
    Sensors (Basel), 2023 Dec 05;23(24).
    PMID: 38139465 DOI: 10.3390/s23249619
    Existing methods for scoring student presentations predominantly rely on computer-based implementations and do not incorporate a robotic multi-classification model. This limitation can result in potential misclassification issues as these approaches lack active feature learning capabilities due to fixed camera positions. Moreover, these scoring methods often solely focus on facial expressions and neglect other crucial factors, such as eye contact, hand gestures and body movements, thereby leading to potential biases or inaccuracies in scoring. To address these limitations, this study introduces Robotics-based Presentation Skill Scoring (RPSS), which employs a multi-model analysis. RPSS captures and analyses four key presentation parameters in real time, namely facial expressions, eye contact, hand gestures and body movements, and applies the fuzzy Delphi method for criteria selection and the analytic hierarchy process for weighting, thereby enabling decision makers or managers to assign varying weights to each criterion based on its relative importance. RPSS identifies five academic facial expressions and evaluates eye contact to achieve a comprehensive assessment and enhance its scoring accuracy. Specific sub-models are employed for each presentation parameter, namely EfficientNet for facial emotions, DeepEC for eye contact and an integrated Kalman and heuristic approach for hand and body movements. The scores are determined based on predefined rules. RPSS is implemented on a robot, and the results highlight its practical applicability. Each sub-model is rigorously evaluated offline and compared against benchmarks for selection. Real-world evaluations are also conducted by incorporating a novel active learning approach to improve performance by leveraging the robot's mobility. In a comparative evaluation with human tutors, RPSS achieves a remarkable average agreement of 99%, showcasing its effectiveness in assessing students' presentation skills.
    Matched MeSH terms: Robotics*
  11. Abd Razak NA, Abu Osman NA, Gholizadeh H, Ali S
    Biomed Eng Online, 2014 Apr 23;13:49.
    PMID: 24755242 DOI: 10.1186/1475-925X-13-49
    BACKGROUND: The design and performance of a new development prosthesis system known as biomechatronics wrist prosthesis is presented in this paper. The prosthesis system was implemented by replacing the Bowden tension cable of body powered prosthesis system using two ultrasonic sensors, two servo motors and microcontroller inside the prosthesis hand for transradial user.

    METHODS: The system components and hand prototypes involve the anthropometry, CAD design and prototyping, biomechatronics engineering together with the prosthetics. The modeler construction of the system develop allows the ultrasonic sensors that are placed on the shoulder to generate the wrist movement of the prosthesis. The kinematics of wrist movement, which are the pronation/supination and flexion/extension were tested using the motion analysis and general motion of human hand were compared. The study also evaluated the require degree of detection for the input of the ultrasonic sensor to generate the wrist movements.

    RESULTS: The values collected by the vicon motion analysis for biomechatronics prosthesis system were reliable to do the common tasks in daily life. The degree of the head needed to bend to give the full input wave was about 45°-55° of rotation or about 14 cm-16 cm. The biomechatronics wrist prosthesis gave higher degree of rotation to do the daily tasks but did not achieve the maximum degree of rotation.

    CONCLUSION: The new development of using sensor and actuator in generating the wrist movements will be interesting for used list in medicine, robotics technology, rehabilitations, prosthetics and orthotics.

    Matched MeSH terms: Robotics/instrumentation*
  12. Ali MAH, Mailah M, Jabbar WA, Moiduddin K, Ameen W, Alkhalefah H
    Sensors (Basel), 2020 Jul 01;20(13).
    PMID: 32630340 DOI: 10.3390/s20133694
    A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator-fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road's roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot's path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.
    Matched MeSH terms: Robotics
  13. Yahya S, Moghavvemi M, Almurib HA
    Sensors (Basel), 2012;12(6):6869-92.
    PMID: 22969326 DOI: 10.3390/s120606869
    Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.
    Matched MeSH terms: Robotics
  14. Tang, S.H., Khaksar, W., Ismail, N.B., Ariffin, M.K.A.
    MyJurnal
    The ability of a robot to plan its own motion seems pivotal to its autonomy, and that is why the motion planning has become part and parcel of modern intelligent robotics. In this paper, about 100 research are reviewed and briefly described to identify and classify the amount of the existing work for each motion planning approach. Meanwhile, around 200 research were used to determine the percentage of the application of each approach. The paper includes comparative tables and charts showing the application frequency of each approach in the last 30 years. Finally, some open areas and challenging topics are presented based on the reviewed papers.
    Matched MeSH terms: Robotics
  15. Wan Ishak, W.I., Kit, W.H., Awwal, M. A.
    MyJurnal
    This paper describes the design and development of harvesting system for the gantry system to harvest eggplants. For this purpose, the harvesting robot was successfully designed and fabricated for the gantry system to harvest eggplants. The operation of the harvester was controlled by Programmable Logic Controller (PLC). Basically, the limit switches, DC motor, and relay are connected to the PLC. Meanwhile, a PLC ladder diagram was designed and developed to control the operation of the eggplant harvester. A visual basic programme was developed to interface the harvester with a greenhouse gantry control system. A videogrammetry method was employed to calculate the distance between the stems of eggplants and the cutter of robot end effector. The end effector used electric as its power source and it was controlled via Programmable Logic Controller (PLC). Visual Basic Programme was developed to interface the harvester with the gantry control system. The accuracy of the videogrammetry was tested to be 67.2% for X-axis, 88.2% for Y-axis and 84.7% for Z-axis. Meanwhile, the speed of the end effector for harvester is 2.4 km/h and it could lift up to 55 cm. In order to determine detachment force of eggplant, 16 samples of mature eggplants were tested in a greenhouse, and as a result, more than 22.76 N force was needed to detach a mature eggplant inside the gantry system.
    Matched MeSH terms: Robotics
  16. Aslan MF, Hasikin K, Yusefi A, Durdu A, Sabanci K, Azizan MM
    Front Public Health, 2022;10:855994.
    PMID: 35734764 DOI: 10.3389/fpubh.2022.855994
    Artificial intelligence researchers conducted different studies to reduce the spread of COVID-19. Unlike other studies, this paper isn't for early infection diagnosis, but for preventing the transmission of COVID-19 in social environments. Among the studies on this is regarding social distancing, as this method is proven to prevent COVID-19 to be transmitted from one to another. In the study, Robot Operating System (ROS) simulates a shopping mall using Gazebo, and customers are monitored by Turtlebot and Unmanned Aerial Vehicle (UAV, DJI Tello). Through frames analysis captured by Turtlebot, a particular person is identified and followed at the shopping mall. Turtlebot is a wheeled robot that follows people without contact and is used as a shopping cart. Therefore, a customer doesn't touch the shopping cart that someone else comes into contact with, and also makes his/her shopping easier. The UAV detects people from above and determines the distance between people. In this way, a warning system can be created by detecting places where social distance is neglected. Histogram of Oriented-Gradients (HOG)-Support Vector Machine (SVM) is applied by Turtlebot to detect humans, and Kalman-Filter is used for human tracking. SegNet is performed for semantically detecting people and measuring distance via UAV. This paper proposes a new robotic study to prevent the infection and proved that this system is feasible.
    Matched MeSH terms: Robotics*
  17. Goodman G, Poznanski RR, Cacha L, Bercovich D
    J Integr Neurosci, 2015 Sep;14(3):281-93.
    PMID: 26477360 DOI: 10.1142/S0219635215500235
    Great advances have been made in signaling information on brain activity in individuals, or passing between an individual and a computer or robot. These include recording of natural activity using implants under the scalp or by external means or the reverse feeding of such data into the brain. In one recent example, noninvasive transcranial magnetic stimulation (TMS) allowed feeding of digitalized information into the central nervous system (CNS). Thus, noninvasive electroencephalography (EEG) recordings of motor signals at the scalp, representing specific motor intention of hand moving in individual humans, were fed as repetitive transcranial magnetic stimulation (rTMS) at a maximum intensity of 2.0[Formula: see text]T through a circular magnetic coil placed flush on each of the heads of subjects present at a different location. The TMS was said to induce an electric current influencing axons of the motor cortex causing the intended hand movement: the first example of the transfer of motor intention and its expression, between the brains of two remote humans. However, to date the mechanisms involved, not least that relating to the participation of magnetic induction, remain unclear. In general, in animal biology, magnetic fields are usually the poor relation of neuronal current: generally "unseen" and if apparent, disregarded or just given a nod. Niels Bohr searched for a biological parallel to complementary phenomena of physics. Pertinently, the two-brains hypothesis (TBH) proposed recently that advanced animals, especially man, have two brains i.e., the animal CNS evolved as two fundamentally different though interdependent, complementary organs: one electro-ionic (tangible, known and accessible), and the other, electromagnetic (intangible and difficult to access) - a stable, structured and functional 3D compendium of variously induced interacting electro-magnetic (EM) fields. Research on the CNS in health and disease progresses including that on brain-brain, brain-computer and brain-robot engineering. As they grow even closer, these disciplines involve their own unique complexities, including direction by the laws of inductive physics. So the novel TBH hypothesis has wide fundamental implications, including those related to TMS. These require rethinking and renewed research engaging the fully complementary equivalence of mutual magnetic and electric field induction in the CNS and, within this context, a new mathematics of the brain to decipher higher cognitive operations not possible with current brain-brain and brain-machine interfaces. Bohr may now rest.
    Matched MeSH terms: Robotics
  18. Yap HJ, Taha Z, Dawal SZ, Chang SW
    PLoS One, 2014;9(10):e109692.
    PMID: 25360663 DOI: 10.1371/journal.pone.0109692
    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.
    Matched MeSH terms: Robotics/methods*
  19. Che Ab Aziz, Z.A.
    Ann Dent, 2008;15(2):67-70.
    MyJurnal
    Aim: To manufacture a clinical simulation apparatus for the undergraduates' endodontic radiography teaching Objectives: • To provide a model for teaching of parallax method using Kelly's forcep • To provide a model for undergraduates to practice radiographic localization employing parallax method. • To allow students to practice taking radiographs in a way that simulates the clinical situations with a good diagnostic quality Methods: Impressions of a dentate arch (maxillary and mandibullary) were used to form a stone cast. A section of the cast, in the area where the natural teeth were to be placed, is sectioned and removed. Three maxillary extracted teeth (canine, first and second premolar) were selected and mounted with acrylic resin at the sectioned area. The resin was cured in a light box. The arches were mounted in a phantom head with a placement of rubber cheek. The first premolar was isolated with rubber dam. The intraoral holder (Kelly's forcep) was attached to a robotic arm. The students were taught the correct angulations of the x-ray cone for the paralleling technique and parallax method using Kelly's forcep during root canal treatment. Results: All students managed to complete the exercise and were considered competent when they produced acceptable quality of radiographs. Conclusion: The model described was improvised from a model that has been used during the past 2 years for undergraduates' endodontic courses. It has been well accepted as it simulates the clinical situation more closely than was possible previously.
    Matched MeSH terms: Robotics
  20. Mustaza SM, Elsayed Y, Lekakou C, Saaj C, Fras J
    Soft Robot, 2019 06;6(3):305-317.
    PMID: 30917093 DOI: 10.1089/soro.2018.0032
    Robot-assisted surgery is gaining popularity worldwide and there is increasing scientific interest to explore the potential of soft continuum robots for minimally invasive surgery. However, the remote control of soft robots is much more challenging compared with their rigid counterparts. Accurate modeling of manipulator dynamics is vital to remotely control the diverse movement configurations and is particularly important for safe interaction with the operating environment. However, current dynamic models applied to soft manipulator systems are simplistic and empirical, which restricts the full potential of the new soft robots technology. Therefore, this article provides a new insight into the development of a nonlinear dynamic model for a soft continuum manipulator based on a material model. The continuum manipulator used in this study is treated as a composite material and a modified nonlinear Kelvin-Voigt material model is utilized to embody the visco-hyperelastic dynamics of soft silicone. The Lagrangian approach is applied to derive the equation of motion of the manipulator. Simulation and experimental results prove that this material modeling approach sufficiently captures the nonlinear time- and rate-dependent behavior of a soft manipulator. Material model-based closed-loop trajectory control was implemented to further validate the feasibility of the derived model and increase the performance of the overall system.
    Matched MeSH terms: Robotics
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