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

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