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  ______    _____     _  _      ___      _  __  
 /_   _//  |  ___||  | \| ||   / _ \\   | |/ // 
 `-| |,-   | ||__    |  ' ||  | / \ ||  | ' //  
   | ||    | ||__    | .  ||  | \_/ ||  | . \\  
   |_||    |_____||  |_|\_||   \___//   |_|\_\\ 
   `-`'    `-----`   `-` -`    `---`    `-` --`

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Text this: Virtual prototype-based kinematic modeling and simulation of a multi-mode amphibious robot