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    ___    /_   _// | || | ||  |  ___||  \ \\/ // 
   /   ||   -| ||-  | '--' ||  | ||__     \   //  
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    -|_||  `-----`  `-`  `-`   `-----`   `-`  --` 
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Text this: Design and development of an omni-directional rover for exploration on undulating terrain