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  _____    _    _    __   _    __   __   _    _   
 / ____|| | || | || | || | ||  \ \\/ // | || | || 
/ //---`' | || | || | '--' ||   \ ` //  | || | || 
\ \\___   | \\_/ || | .--. ||    | ||   | \\_/ || 
 \_____||  \____//  |_|| |_||    |_||    \____//  
  `----`    `---`   `-`  `-`     `-`'     `---`

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