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  _  __     ___     __   _      ___     __   __  
 | |/ //   / _ \\  | || | ||   / _ \\   \ \\/ // 
 | ' //   / //\ \\ | '--' ||  | / \ ||   \   //  
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 `-` --` `-`   `-` `-`  `-`    `---`    `-`  --`

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Text this: Design, modeling, and predictive control of aerial physical interaction towards proactive maintenance