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

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發送短信 : Contact transition control of a flexible structure mounted manipulator