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  _____     ______               ___      ______  
 / ____||  /_   _//   ____      / _ \\   /_   _// 
/ //---`'   -| ||-   |    \\   | / \ ||  `-| |,-  
\ \\___     _| ||_   | [] ||   | \_/ ||    | ||   
 \_____||  /_____//  |  __//    \___//     |_||   
  `----`   `-----`   |_|`-`     `---`      `-`'   
                     `-`

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Text this: PSO-optimized fuzzy logic controller for a single wheel robot