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  ______     ___     _    _      ___      ______  
 /_   _//   / _ \\  | |  | ||   / _ \\   /_____// 
   | ||    / //\ \\ | |/\| ||  | / \ ||  `____ `  
  _| ||   |  ___  |||  /\  ||  | \_/ ||  /___//   
 /__//    |_||  |_|||_// \_||   \___//   `__ `    
 `--`     `-`   `-` `-`   `-`   `---`    /_//     
                                         `-`

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Text this: Development of intentions recognition system to control mobile robot with input disturbance