Ishigami, Genya

写真a

Affiliation

Faculty of Science and Technology, Department of Mechanical Engineering (Yagami)

Position

Associate Professor

Related Websites

External Links

Career 【 Display / hide

  • 2008.04
    -
    2010.03

    Massachusetts Institute of Technology, Dept. of Mechanical Engineering, Postdoctoral Associate

  • 2010.04
    -
    2013.03

    Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, Aerospace Project Research Associate

  • 2013.04
    -
    2017.03

    Keio University, Dept. of Mechanical Engineering, Assistant Professor

  • 2013.06
    -
    Present

    国立研究開発法人宇宙航空研究開発機構, 宇宙科学研究所, 大学共同利用システム研究員

  • 2017.04
    -
    Present

    国立研究開発法人宇宙航空研究開発機構, 宇宙科学研究所 宇宙機応用工学研究系, 客員准教授

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Academic Background 【 Display / hide

  • 2003.03

    Tohoku University, Faculty of Engineering, Dept. of Mechanical and Aerospace Engineering

    University, Graduated

  • 2005.03

    Tohoku University, Graduate School, Division of Engineering, Department of Aerospace Engineering

    Graduate School, Completed, Master's course

  • 2008.03

    Tohoku University, Graduate School, Division of Engineering, Department of Aerospace Engineering

    Graduate School, Completed, Doctoral course

Academic Degrees 【 Display / hide

  • Ph.D (Engineering), Tohoku University, Coursework, 2008.03

  • 修士(工学), Tohoku University, Coursework, 2005.03

 

Research Areas 【 Display / hide

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system (Intelligent Mechanics/Mechanical System)

Research Keywords 【 Display / hide

  • Terramechanics

  • Field Robotics

  • Robotics

  • Lunar/Planetary Exploration

  • Autonomous Mobility System

 

Books 【 Display / hide

  • 不整地移動ロボティクス

    永谷 圭司, 石上 玄也, 遠藤 大輔 (工学), 永岡 健司, 遠藤 玄, 程島 竜一, 亀川 哲志, 田中 基康, コロナ社, 2023

  • Ridge-Tracking for Strawberry Harvesting Support Robot According to Farmer’s Behavior

    Yorozu A., Ishigami G., Takahashi M., Springer Proceedings in Advanced Robotics, 2021

     View Summary

    In Japan, the amount of agricultural production decreases year-by-year. Moreover, reduction in agricultural work population and increase of abandonment of cultivated land are major social issues. To overcome these issues, we have proposed a small agricultural robot “MY DONKEY®” which supports transportation of harvested crops and records the farm work of the user and crop yield in field map while moving closer to the user. In order to move in the furrowed field, it is necessary to detect ridges and furrows where the robot can move using robot-mounted sensors and follow the ridge while avoiding the ridges and crop rows. Furthermore, to realize smooth harvesting support, we propose a ridge-tracking control according to user’s behavior based on the recognition of the work contents of the user such as harvesting, loading of harvested crops to the robot, transportation, and movement. We propose the ridge-tracking control framework based on fuzzy set theory which can evaluate and integrate multiple situations and carry out experiments in strawberry farm.

  • Simulator for disaster response robotics

    Kanehiro F, Nakaoka S, Sugihara T, Wakisaka N, Ishigami G, Ozaki S, Tadokoro S, Springer Tracts in Advanced Robotics, 2019

     View Summary

    © Springer Nature Switzerland AG 2019. This chapter presents a simulator for disaster response robots based on the Choreonoid framework. Two physics engines and a graphics engine were developed and integrated into the framework. One physics engine enables robust contact-force computation among rigid bodies based on volumetric intersection and a relaxed constraint, whereas the other enables accurate and computationally efficient computation of machine–terrain interaction mechanics based on macro and microscopic approaches. The graphics engine allows simulating natural phenomena, such as rain, fire, and smoke, based on a particle system to resemble tough scenarios at disaster sites. In addition, wide-angle vision sensors, such as omnidirectional cameras and LIDAR sensors, can be simulated using multiple rendering screens. Overall, the simulator provides a tool for the efficient and safe development of disaster response robots.

  • Dual-arm construction robot with remote-control function

    Yoshinada H., Kurashiki K., Kondo D., Nagatani K., Kiribayashi S., Fuchida M., Tanaka M., Yamashita A., Asama H., Shibata T., Okutomi M., Sasaki Y., Yokokohji Y., Konyo M., Nagano H., Kanehiro F., Sugihara T., Ishigami G., Ozaki S., Suzumori K., Ide T., Yamamoto A., Hioki K., Oomichi T., Ashizawa S., Tadakuma K., Takamori T., Kimura T., Murphy R.R., Tadokoro S., Springer Tracts in Advanced Robotics, 2019

     View Summary

    In disaster areas, operating heavy construction equipment remotely and autonomously is necessary, but conventional remote-controlled heavy equipment has problems such as insufficient operability, limited mobility on slopes and stairs, and low work efficiency because of difficult remote control. As part of the ImPACT-TRC Program, a group of Japanese researchers attempts to solve these problems by developing a construction robot for disaster relief tasks with a new mechanism and new control methods. This chapter presents the overview of construction robot and the details of main elemental technologies making up the robot. Section 5.1 describes the basic configuration of the robot and the teleoperation system. Section 5.2 is a tether powered drone which provides extra visual information. Sections 5.4 and 5.3 are force and tactile feedback for skillful teleoperation. Section 5.5 is visual information feedback which consists of an arbitrary viewpoint visualization system and a visible and LWIR camera system to observe surrounding of the robot in a dark night scene and/or a very foggy scene. These functions can dramatically increase construction equipment’s capacity to deal with large-scale disasters and accidents.

  • Springer Handbook of Robotics, 2nd edition

    Keiji Nagatani, Genya Ishigami, Yoshito Okada, Springer, 2015

    Scope: Chapter 50: Modelling and Control of Robots on Rough Terrain

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Papers 【 Display / hide

  • Modeling of slip rate-dependent traversability for path planning of wheeled mobile robot in sandy terrain

    Sakayori G., Ishigami G.

    Frontiers in Robotics and AI (Frontiers in Robotics and AI)  11 2024

    ISSN  2296-9144

     View Summary

    A planetary exploration rover has been employed for scientific endeavors or as a precursor for upcoming manned missions. Predicting rover traversability from its wheel slip ensures safe and efficient autonomous operations of rovers on deformable planetary surfaces; path planning algorithms that reduce slips by considering wheel-soil interaction or terrain data can minimize the risk of the rover becoming immobilized. Understanding wheel-soil interaction in transient states is vital for developing a more precise slip ratio prediction model, while path planning in the past assumes that slips generated at the path is a series of slip ratio in steady state. In this paper, we focus on the transient slip, or slip rate the time derivative of slip ratio, to explicitly address it into the cost function of path planning algorithm. We elaborated a regression model that takes slip rate and traction force as inputs and outputs slip ratio, which is employed in the cost function to minimize the rover slip in path planning phase. Experiments using a single wheel testbed revealed that even with the same wheel traction force, the slip ratio varies with different slip rates; we confirmed that the smaller the absolute value of the slip rate, the larger the slip ratio for the same traction force. The statistical analysis of the regression model confirms that the model can estimate the slip ratio within an accuracy of 85% in average. The path planning simulation with the regression model confirmed a reduction of 58% slip experienced by the rover when driving through rough terrain environments. The dynamics simulation results insisted that the proposed method can reduce the slip rate in rough terrain environments.

  • Granular flow experiment using artificial gravity generator at International Space Station

    S. Ozaki, G. Ishigami, M. Otsuki, H. Miyamoto, K. Wada, Y. Watanabe, T. Nishino, H. Kojima, K. Soda, Y. Nakao, M. Sutoh, T. Maeda, T. Kobayashi

    npj Microgravity (npj Microgravity)  9 ( 1 )  2023.12

     View Summary

    Studying the gravity-dependent characteristics of regolith, fine-grained granular media covering extra-terrestrial bodies is essential for the reliable design and analysis of landers and rovers for space exploration. In this study, we propose an experimental approach to examine a granular flow under stable artificial gravity conditions for a long duration generated by a centrifuge at the International Space Station. We also perform a discrete element simulation of the granular flow in both artificial and natural gravity environments. The simulation results verify that the granular flows in artificial and natural gravity are consistent. Further, regression analysis of the experimental results reveals that the mass flow rate of granular flow quantitatively follows a well-known physics-based law with some deviations under low-gravity conditions, implying that the bulk density of the granular media decreases with gravity. This insight also indicates that the bulk density considered in simulation studies of space probes under low-gravity conditions needs to be tuned for their reliable design and analysis.

  • Energy-and-perception-aware planning and navigation framework for unmanned aerial vehicles

    Takemura R., Aoki N., Ishigami G.

    Advances in Mechanical Engineering (Advances in Mechanical Engineering)  15 ( 4 )  2023.04

    ISSN  16878132

     View Summary

    This paper presents an energy and perception aware framework for path planning and navigation of unmanned aerial vehicles (UAVs) in GNSS-denied and spatiotemporal wind environments. The proposed framework mainly consists of the global and local path planning methods that respectively consider the energy consumption of an UAV and perception quality of a light detection and ranging (LiDAR) sensor mounted on the UAV. The energy consumption is estimated based on the aerodynamic model that calculates drag and lift forces on the UAV. The global planner then uses the total energy consumption in the spatiotemporal wind as the cost function to find an energy-efficient path as a set of waypoints. The local path planning navigates the UAV between the waypoints with maintaining the perception quality. The perception quality is quantified based on how well the LiDAR sensor scans feature points around the UAV that highly correlates with the navigation accuracy. Numerical simulation study for each of the global and local path planners validates their usefulness. Further, the overall framework is entirely verified in a long-range flight scenario of the photorealistic environments developed in the Gazebo simulation.

  • Hardware-in-the-loop Simulation for Real-time Autonomous Tracking and Landing of an Unmanned Aerial Vehicle

    Aoki N., Ishigami G.

    2023 IEEE/SICE International Symposium on System Integration, SII 2023 (2023 IEEE/SICE International Symposium on System Integration, SII 2023)   2023

    ISSN  2474-2317

     View Summary

    Collaborative exploration using unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has become increasingly popular in the past decade. This study addresses real-time autonomous tracking and landing of a UAV on a moving ground vehicle, which is fundamental for the UAV-UGV collaborative exploration. The method proposed in this study estimates the relative pose and velocity between a UAV and UGV, and uses model predictive control for UAV trajectory planning while considering the field of view of the camera onboard the UAV. We elaborate the hardware-in-the-loop simulator (HITL) with a physical companion computer, and confirm that the proposed method enables a UAV to land on a UGV traversing on rough terrain based on online computations in the HITL. Additionally, we present statistical analysis of the simulation results of typical and computationally demanding scenarios to elucidate the computational cost on the real machine.

  • Autonomous tracking and landing of an unmanned aerial vehicle on a ground vehicle in rough terrain

    Aoki N., Ishigami G.

    Advanced Robotics (Advanced Robotics)  37 ( 5 ) 344 - 355 2023

    ISSN  01691864

     View Summary

    Collaborative exploration using unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has become increasingly popular in academia over the past decade. This study addresses the task of autonomously landing a UAV on a ground vehicle in rough terrain, which is fundamental, yet challenging, for UAV-UGV collaborative exploration. The method proposed in this paper estimates the relative pose and velocity between UAV and UGV and uses model predictive control for UAV trajectory planning while considering the field of view of camera onboard the UAV. Through a simulation study, we confirmed that the proposed method enables a UAV to accurately track the UGV traversing in rough terrain, and to land on it with 100% success rate at the UGV velocity of 1.0 m/s and still 50% at 3.0 m/s.

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Papers, etc., Registered in KOARA 【 Display / hide

Reviews, Commentaries, etc. 【 Display / hide

  • Publisher Correction: Granular flow experiment using artificial gravity generator at International Space Station (npj Microgravity, (2023), 9, 1, (61), 10.1038/s41526-023-00308-w)

    Ozaki S., Ishigami G., Otsuki M., Miyamoto H., Wada K., Watanabe Y., Nishino T., Kojima H., Soda K., Nakao Y., Sutoh M., Maeda T., Kobayashi T.

    npj Microgravity (npj Microgravity)  9 ( 1 )  2023.12

     View Summary

    The updated Table 1 with a comment indicating that micrographs #05 and #08 at the bottom of the images should be replaced. However, in the response to author query 4, Micrographs #4 and #8 were changed in Table 1. While processing the suggested changes based on the eProofing comments, the correction team updated the existing table figures and replaced image #05 with the micrograph of image #08 and image #08 with the micrograph of image #04 in the revised table. As a result, the changes got reverted and images were incorrect and duplicated.

  • Preface

    Ishigami G, Yoshida K

    Springer Proceedings in Advanced Robotics (Springer Proceedings in Advanced Robotics)  16   vii - viii 2021

    ISSN  25111256

  • Special issue on Advanced Construction Robot System

    Ohno K., Osumi H., Ishigami G., Nagatani K.

    Advanced Robotics (Advanced Robotics)  35 ( 23 ) 1375 - 1375 2021

    ISSN  01691864

  • Special issue on field and service robotics 2019

    Ishigami G, Yoshida K

    Journal of Field Robotics (Journal of Field Robotics)  37 ( 8 ) 1299 - 1299 2020.12

    Other, Joint Work,  ISSN  15564959

  • 粒子画像計測法を用いた機械と土壌の相互力学現象の解明

    ISHIGAMI GENYA

    日本機械学会誌 (日本機械学会誌)  Vol. 117 ( No. 1147 )  2014.06

    Article, review, commentary, editorial, etc. (scientific journal)

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Presentations 【 Display / hide

  • Routing Problem of Multiple Mobile Robots with Human Workers for Pickup and Dispatch Tasks in Warehouse

    Yoko Ono, Genya Ishigami

    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, 

    2019.01

    Oral presentation (keynote)

  • Experimental Analysis of Bucket-soil Interaction Mechanics using Sensor-embedded Bucket Test Apparatus

    Kenji Tsuchiya, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Development of In-track Sensor System for Three Dimensional Measurement of Pressure Distribution on Loose Soil

    Satoshi Ishibashi, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Experimental Analysis of Camber Angle Effect on Slope Traversability of Wheeled Mobile Robot

    Ryota Matsumura, Genya Ishigami

    Proceedings of the Joint 10th Asia-Pacific Conference of the International Society for Terrain-Vehicle Systems (New Miyako Hotel, Kyoto, Japan) , 

    2018.07

    Oral presentation (general)

  • Strategic Deployment and Rerouting Methods for Wide-range Surface Exploration using Multiple Rovers

    Reina Nakanishi, Genya Ishigami

    Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018) (Ayre Gran Hotel Colon, Madrid, Spain) , 

    2018.06

    Oral presentation (general)

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Research Projects of Competitive Funds, etc. 【 Display / hide

  • 三次元組織の高度成熟化を自律的に達成する知能化培養システム基盤の創出

    2023.04
    -
    2026.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A), No Setting

     View Summary

    本研究は筋組織のin vitro 3次元組織形成において「人の介在と思い込み」を排除し,生命科学実験を自動的・自律的に実行可能とする「知能化培養システム」を構築する.この培養システムは,3次元組織培養・力学刺激・蛍光観察が可能な培養モジュールを複数並列して順次的に培養することで,「観察」「計画」「行動」「発見」という科学者の研究サイクルをアルゴリズムとシステムインテグレーション技術により自律的に行い,生命科学の重要な課題である組織成熟化と力学刺激の関連性の解明を目指す.さらに本技術をヒトiPS由来心筋組織に適用することで高度に成熟化したin vitro心筋組織を構築し,医療応用展開を探索する.

  • Autonomous Excavation of Hydraulic Excavator Based on Real-Time Estimation of Macroscopic Properties of Soil

    2020.04
    -
    2023.03

    The University of Tokyo, Grants-in-Aid for Scientific Research, Nagatani Keiji, Grant-in-Aid for Scientific Research (B), No Setting

     View Summary

    This study proposed a method for estimating soil properties and generating automatic excavation operations for hydraulic shovels based on the estimated properties. First, a machine learning framework was constructed to predict the time series changes in soil moisture inside the soil from surface images. The framework demonstrated that it could classify four soil types with 90% accuracy. Additionally, it was confirmed that the prediction accuracy could be improved by adding ambient temperature as an input parameter. Next, a proposal was made for automatic excavation operation planning/replanning using the macroscopic properties and shape of the soil. An efficient excavation path was proposed based on the soil density estimated from 3D point cloud measurement of the excavation target and optimization algorithm using a dynamic simulator. The usefulness of the above method was confirmed through simulations and practical experiments with an actual construction excavator.

  • 地下凍土融解地域の地質・微生物調査及び機械学習に基づく火星水環境の理解

    2020.04
    -
    2023.03

    Tokyo Institute of Technology, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A), No Setting

     View Summary

    火星には現在、液体の水が存在するのか。いつどこに出現し、そこに生命はいるのか―この問いに答えることは、惑星科学に留まらず、宇宙生物学や宇宙工学にまたがる課題である。本研究では、この問いに答えるため、地下凍土層の融解により形成されている可能性がある、火星の急斜面に出現消失を繰り返す暗い筋模様(Recurring Slope Lineae, RSL)に着目し、その地球上のアナログ地形の調査を行う。詳細な地質・微生物調査と、無人観測ステーションによる長期観測、機械学習による地形パターン認識により、RSL形成メカニズムの解明、RSL付近の生態系推定、水の活動を伴う火星RSLの探索を行う。

  • センシング対応型の自律多機能ロボットによる農作物の生長シミュレーションモデル手法の確立

    2018.07
    -
    2019.03

    農林水産省, 農業界と経済界の連携による生産性向上モデル農業確立実証事業, No Setting

  • Hardware-in-the-loop simulator for field robot dynamics with multiple machine-terrain interaction mechanics

    2018.04
    -
    2021.03

    Keio University, Grants-in-Aid for Scientific Research, ISHIGAMI Genya, Grant-in-Aid for Scientific Research (B), Research grant, Principal investigator

     View Summary

    This research has developed a hardware-in-the-loop simulator (HILS) for field robots involved in mechanical interaction with sandy terrain. The study mainly focuses on the two different interaction mechanics on sandy terrain: robotic wheel and bulldozing blade. The research found that the HILS for such rough terrain mechanics becomes stable and possesses high-fidelity by using appropriate damping coefficient in simulation models used in the HILS. The contributions of this research are as follows: 1) development of the HILS for the rough terrain robotics, 2) verification of the HILS for different types of mechanical interaction, and 3) clarification of the key parameter for the stable and high-fidelity HILS.

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Works 【 Display / hide

  • 大学発「月・惑星探査ロボット」を実現する (Fole, みずほ総合研究所株式会社)

    2018.07
    -
    Present

    Other, Single

  • NHK BSプレミアム「コズミックフロント☆NEXT 」

    2017.12
    -
    Present

    Other

  • 農業ロボ開発で共同体 (日刊工業新聞 11/10 朝刊1面)

    2017.11
    -
    Present

    Other

  • 宇宙向けAIロボ活用 慶大と連携 品質管理も視野 (日刊工業新聞 8/8 朝刊6面)

    2017.08
    -
    Present

    Other

  • 未来の起源 TBS

    2017.02
    -
    Present

    Other

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Awards 【 Display / hide

  • Asia-Pacific ISTVS Conference 2018 Best Papers Award

    Ryota Matsumura, Genya Ishigami, 2018.07, International Society for Terrain-Vehicle Systems, Experimental Analysis of Camber Angle Effect on Slope Traversability of Wheeled Mobile Robot

  • Asia-Pacific ISTVS Conference 2018 Best Papers Award

    Kenji Tsuchiya, Genya Ishigami, 2018.07, International Society for Terrain-Vehicle Systems, Experimental Analysis of Bucket-soil Interaction Mechanics using Sensor-embedded Bucket Test Apparatus

  • 日本機械学会91期機械力学・計測制御部門一般表彰 (オーディエンス表彰)

    u, ISHIGAMI GENYA, 2014.08, 不確定性解析を応用した砂地走行に最適な車輪パラメータの導出手法

    Type of Award: Award from Japanese society, conference, symposium, etc.

  • 指導学生の受賞:日本機械学会関東支部第53回学生員卒業研究発表講演会 Best Presentation Award

    白井孝幸,石上玄也, 2014.03, 砂地移動型ロボットの走行特性を計測するIn-Wheel Sensor の開発

    Type of Award: Award from Japanese society, conference, symposium, etc.

  • 指導学生の受賞:日本機械学会関東支部第53回学生員卒業研究発表講演会 Best Presentation Award

    森大輝,石上玄也, 2014.03, 土壌サンプリングツールの接触力学モデルの構築

    Type of Award: Award from Japanese society, conference, symposium, etc.

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Courses Taught 【 Display / hide

  • ROBOTICS / MECHATRONICS

    2023

  • PROJECT LABORATORY IN MECHANICAL ENGINEERING

    2023

  • MECHANICAL ENGINEERING PROJECT

    2023

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2023

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2023

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Courses Previously Taught 【 Display / hide

  • Laboratories in mechanical engineering

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Laboratory work/practical work/exercise

  • Space Exploration Engineering

    Keio University

    2018.04
    -
    2019.03

    Autumn Semester, Lecture

  • Robotics-mechatronics

    Keio University

    2018.04
    -
    2019.03

    Autumn Semester, Lecture

  • デザイン科学特別講義

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Lecture

  • Production engineering

    Keio University

    2018.04
    -
    2019.03

    Spring Semester, Laboratory work/practical work/exercise

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Memberships in Academic Societies 【 Display / hide

  • 計測自動制御学会, 

    2017.04
    -
    Present
  • The Japan Society of Mechanical Engineers, 

    2011.04
    -
    Present
  • The Robotics Society of Japan, 

    2006.06
    -
    Present
  • IEEE, 

    2005.04
    -
    Present

Committee Experiences 【 Display / hide

  • 2018.01
    -
    Present

    General Co-chair, 12th Conference on Field and Service Robotics (FSR2019)

  • 2017.09
    -
    2017.12

    International Program Committee, 2017 IEEE/SICE International Symposium on System Integration

  • 2017.03
    -
    Present

    広報委員, 計測自動制御学会 SI部門

  • 2017.03
    -
    Present

    フィールドロボティクス部会 副主査, 計測自動制御学会 SI部門

  • 2017.03
    -
    Present

    International Program Committee, 11th Conference on Field and Service Robotics (FSR2017)

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