F. LIN et al.: OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO 491–497 OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO OPTIMIZACIJA KVALITETE INJEKCIJSKEGA BRIZGANJA NA OSNOVI NEVRONSKIH MRE@ IN ALGORITMA OPTIMIZACIJE Z ROJEM DELCEV Feng Lin 1 , Jingying Duan 2 , Qiuxia Lu 2 , Xibing Li 3,4, * 1 Fuzhou Polytechnic, College of Mechanical and Electronic Engineering, Fuzhou, China 2 Shandong Labor Vocational and Technology College, Jinan, China 3 Fujian Agriculture and Forestry University, College of Mechanical and Electronic Engineering, Fuzhou, China 4 Fujian Key Laboratory of Agricultural Information Sensing Technology, Fuzhou, China Prejem rokopisa – received: 2022-06-08; sprejem za objavo – accepted for publication: 2022-07-25 doi:10.17222/mit.2022.516 An electronic product shell is prone to uneven shrinkage, warpage and sink marks, resulting in a large number of unqualified products and increased costs. Therefore, volumetric shrinkage, warpage deformation and sink mark index are selected as optimi- zation goals. Based on the orthogonal test and entropy weight method, a multi-objective optimization was transformed into a comprehensive evaluation optimization. A BP neural network combined with a particle swarm optimization algorithm was used to obtain the optimal combination of process parameters, simulated by Moldflow to reduce volumetric shrinkage to 3.46 %, warpage deformation to 2.538 mm, and the sink mark index to 1.87 % so as to improve the injection molding quality of the plas- tic parts and meet the requirements of qualified parts. The combination of the BP neural network and particle swarm optimiza- tion algorithm can prevent the defects such as large shrinkage, warpage and sink marks. Keywords: orthogonal test, entropy weight, neural network, particle swarm optimization Plasti~na ohi{ja elektronskih izdelkov so med postopkom injekcijskega brizganja nagnjena k neenakomernemu kr~enju, ukrivljanju in izgubljanja napisov ali oznak oz. potencialnemu kr~enju zaradi vro~e sredice (SMI; angl.: sink mark index), kar privede do nastanka nekakovostnih izdelkov in pove~anja stro{kov. Zaradi tega so se avtorji ~lanka posvetili optimizaciji volumskih skr~kov, deformacij zaradi krivljenja in kr~enju zaradi vro~e sredice. Na osnovi ortogonalnih testov in metode analize entropije (angl.: entropy weight method) so ve~ objektno optimizacijo transformirali v obse`no optimizacijsko ovrednotenje. Z uporabo kombinacije metod povratno napredovanih (BP; angl.: back propagation) nevronskih mre` in algoritma optimizacije z rojem delcev (PSO; angl.: particle swarm optimization) so dobili optimalno kombinacijo procesnih parametrov, ki so jih simulirali s programskim orodjem Moldflow in tako zmanj{ali volumski skr~ek na 3,46 %, deformacijo zaradi ukrivljanja na 2,538 mm in kr~enje zaradi vro~e sredice na 1,87 %. S tem so izbolj{ali kakovost procesa injekcijskega brizganja plasti~nih izdelkov in dosegli zahtevano kakovost le-teh. Pokazali so, da uporaba kombinacije metod povratno napredovanih nevronskih mre` in algoritma optimizacije z rojem delcev lahko pomaga pri re{evanju napak kot so razne deformacije in krivljenja, ki nastajajo med postopkom injekcijskega brizganja plasti~nih ohi{ij za elektronske sestavne dele. Klju~ne besede: ortogonalni test, analiza entropije, nevronske mre`e, optimizacija z rojem delcev 1 INTRODUCTION 1.1 General With the advent of the intelligent era, electronic prod- ucts began to be applied extensively. The speed of the re- newal of plastic housings for electronic products is ac- celerating, placing higher demand on the quality of plastic parts. The quality of injection plastic parts is jointly determined by the injection process parameters and mold structure. By optimizing the injection process parameters, quality defects of plastic parts such as warpage deformation can be avoided. 1 By replacing re- peated test molds with reasonable orthogonal experimen- tal design and Moldflow numerical simulation technol- ogy, Y. Nie et al. obtained optimized injection process parameters based on a range analysis and variance analy- sis instead. 2–4 G. Xu et al. studied the impact of injection process parameters on the multi-objective quality of plastic parts using orthogonal experimental design, sig- nal-to-noise ratio calculation and gray correlation analy- sis, and then obtained the optimal combination of pro- cess parameters. 5–7 H. G. Zhang et al. transformed a multi-objective optimization problem into a single-objec- tive optimization problem based on the entropy weight method and obtained the optimal process parameter combination through a comprehensive evaluation. 8,9 In the present work, an electronic product backshell was selected as the object of study. Based on the numeri- cal simulation technology (Moldflow) and orthogonal test, the entropy weight method was introduced to get the test data. Then, a back propagation (BP) neural network model was established using Python to find a better com- bination of the process parameters through global opti- mization of the particle swarm optimization algorithm. Materiali in tehnologije / Materials and technology 56 (2022) 5, 491–497 491 UDK 620.172.23 ISSN 1580-2949 Original scientific article/Izvirni znanstveni ~lanek MTAEC9, 56(5)491(2022) *Corresponding author's e-mail: lxbwjj@163.com (Xibing Li) 1.2 3D model and mesh division of the back cover of an electronic product The 3D model of the backshell of this electronic product is shown in Figure 1. The maximum size of the backshell is (376 × 308 × 45) mm, with the average wall thickness of 2.25 mm. The material is an acrylonitrile- butadiene-styrene copolymer, named ABS. It has a good overall performance with the recommended range of pa- rameters: mold temperature (40–70 °C), melt tempera- ture (190–220 °C), holding pressure (65–95 MPa), pres- sure holding time (6–12 s), injection pressure (70–130 MPa) and injection time (0.9–1.3 s). The backshell of the electronic product has four con- vex platform holes and many reinforcement plates, and there are square holes on the sides. The product structure is complex and prone to quality defects such as deforma- tion and uneven shrinkage after molding. Meanwhile, the structure of the plastic part has many features such as chamfers and edges, which are favorable to injection molding, but unfavorable to the mesh division of a nu- merical simulation. The CADdoctor2018 software was used to simplify the structure of the 3D model of the product, and then the file was imported into Moldflow2019 for a mesh division. The plastic part is thin-walled, with a uniform wall thickness. Using a dou- ble-layer grid, the average aspect ratio of the grid is 2.12, the match percentage is 91.2 % and the reciprocal per- centage is 91.3 %, meeting the requirements of the dou- ble-layer-grid numerical-simulation analysis. The sequence analysis of the fill pressure warp was selected. At the recommended mold temperature of 50 °C, melt temperature of 205 °C and other default pa- rameters, the volumetric shrinkage obtained by the Moldflow simulation was 5.57 %, the warpage deforma- tion was 2.563 mm and the sink mark index was 3.57 %. However, a qualified injection product needs to have a volumetric shrinkage of less than 4.5 %, a maximum warpage deformation of less than 3 mm and as small as possible, and no sink marks if possible. When an injec- tion mold structure has been determined, the injection process parameters should be optimized to reduce the volumetric shrinkage, warpage deformation and sink mark index in order to improve the yield. 2 EXPERIMENTAL PART 2.1 Orthogonal experimental design According to the orthogonal experimental design, the volumetric shrinkage, warpage deformation and sink mark index were selected as experimental targets. Ac- cording to the molding characteristics of the ABS mate- rial, the mold temperature, melt temperature, holding pressure, pressure-holding time, injection pressure and injection time were selected as the experimental factors. Four levels were selected for each factor, as shown in Ta- ble 1. 10,11 An L32 (4 6 ) orthogonal array test table was adopted, and the orthogonal test design and simulation results are shown in Table 2. Table 1: Table of the orthogonal-test factor levels Level Factor A/°C B/°C C/MPa D/s E/MPa F/s 1 40 190 95 6 70 0.9 2 50 200 85 8 90 1.1 3 60 210 75 10 110 1.3 4 70 220 65 12 130 1.5 A – mold temperature (°C), B – melt temperature (°C), C – holding pressure (MPa), D – pressure-holding time (s), E – injection pressure (MPa), F – injection time (s), numbers 1–4 indicate the level of each test factor Table 2: Orthogonal experimental design and simulation results Test No. A/°C B/°C C/ MPa D/s E/ MPa F/s Y 1 /% Y2 / mm Y 3 /% 1 40 190 95 6 70 0.9 4.742 2.606 2.716 2 40 200 85 8 90 1.1 6.985 2.473 2.748 3 40 210 75 10 110 1.3 8.3 2.821 3.333 4 40 220 65 12 130 1.5 8.751 2.878 3.794 5 50 190 95 8 90 1.3 6.807 2.457 2.468 6 50 200 85 6 70 1.5 6.93 2.54 3.484 7 50 210 75 12 130 0.9 5.311 2.703 3.017 8 50 220 65 10 110 1.1 8.646 2.789 3.628 9 60 190 85 10 130 0.9 4.965 2.669 2.549 10 60 200 95 12 110 1.1 4.45 2.371 2.607 11 60 210 65 6 90 1.3 6.038 2.922 4.166 12 60 220 75 8 70 1.5 7.545 2.425 4.309 13 70 190 85 12 110 1.3 5.625 2.575 2.514 14 70 200 95 10 130 1.5 7.649 2.292 3.222 15 70 210 65 8 70 0.9 7.621 5.520 4.427 16 70 220 75 6 90 1.1 8.744 2.469 4.72 17 40 190 65 6 130 1.1 6.423 3.119 3.666 18 40 200 75 8 110 0.9 7.818 2.852 3.019 19 40 210 85 10 90 1.5 7.867 2.536 2.774 20 40 220 95 12 70 1.3 5.643 2.537 2.866 21 50 190 65 8 110 1.5 6.062 3.201 3.872 22 50 200 75 6 130 1.3 7.702 2.851 3.427 23 50 210 85 12 70 1.1 5.148 2.532 2.781 24 50 220 95 10 90 0.9 5.364 2.301 3.577 F. LIN et al.: OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO 492 Materiali in tehnologije / Materials and technology 56 (2022) 5, 491–497 Figure 1: 3D model of the back cover of the electronic product 25 60 190 75 10 70 1.1 5.717 3.985 3.936 26 60 200 65 12 90 0.9 7.129 5.46 5.172 27 60 210 95 6 110 1.5 8.326 2.353 4.013 28 60 220 85 8 130 1.3 9.055 2.407 4.249 29 70 190 75 12 90 1.5 6.311 6.583 4.079 30 70 200 65 10 70 1.3 6.643 4.694 4.605 31 70 210 95 8 130 1.1 8.365 2.216 3.977 32 70 220 85 6 110 0.9 8.486 2.270 4.667 In Table 2,Y 1 ,Y 2 and Y 3 represent the volumetric shrinkage (%), warpage deformation (mm) and sink mark index (%). 2.2 Analysis of the single-objective optimization result Through the orthogonal test, the experiment result that minimizes the single target in 32 sets could be found, but the combination of injection process parame- ters could not be optimized. The range analysis allows us to find the optimal combination of process parameters and the ranking of the degree of influence of the process parameters on the target. 12,13 A statistical analysis was conducted on the test results from Table 2 to obtain the mean value of each level of volumetric shrinkage and the range analysis was used for the factors, as shown in Ta- ble 3. As shown in Table 3, for the volumetric shrinkage, the optimal process parameter combination is A2-B1-C1-D4-E1-F1, i.e., the mold temperature is 50 °C, the melt temperature is 190 °C, the holding pres- sure is 95 MPa, the pressure-holding time is 12 s, the in- jection pressure is 70 MPa and the injection time is 0.9 s. Moldflow was used for the numerical simulation; the op- timized volumetric shrinkage was 4.02 % and the sink mark index was 2.14 %, but the warpage deformation was 2.573 mm, which was not optimized. Consequently, the following conclusions could be drawn. For the warpage deformation, the optimal combi- nation of process parameters is A2-B4-C1-D1-E4-F2. The optimized warpage deformation was 2.154 mm, but the volumetric shrinkage was 8.49 %, and the sink mark index was 4.36 %. The volumetric shrinkage and sink mark index were not optimized. For the sink mark index, the best combination of process parameters is A1-B1-C1-D4-E3-F3. The optimized sink mark index was 2.43 %, but the volumetric shrinkage was 7.07 % and the warpage deformation was 2.597 mm. The volu- metric shrinkage and warpage deformation were not optimized. The injection molding process parameters of the backshell of this electronic product have different de- grees of influence on the volumetric shrinkage, warpage deformation and sink mark index, so the optimization of multiple objectives could not be achieved simulta- neously. 2.3 Comprehensive assessment Considering that volumetric shrinkage, sink mark in- dex and warpage deformation have different effects on a comprehensive evaluation of products, the entropy weight method was introduced to determine the weight of each index and convert the multi-objective optimiza- tion problem into a single-objective comprehensive eval- uation problem. 14–16 In order to eliminate the effect of different dimensions, it is necessary to normalize all the indicators. As smaller values of all the indicators are better, negative indicators are adopted for the normaliza- tion, and the formula is shown below: Y YY YY ij ji j jj * max( ) max( ) min( ) = − − (1) In Equation (1), j = 1–3, I = 1–32, Y ij * represents the i-th sample of the j-th indicator, MAX(Y j ) is the maxi- mum value of the j-th indicator and MIN(Y j ) is the mini- mum value of the j-th indicator. After the normalization, a data normalization table was obtained as shown in Ta- ble 4. Then the entropy value was calculated based on the normalized evaluation index, and the entropy value e j of the j-th evaluation index is shown in Equation (2). e n Z Z Z Z j ij ij i n i n ij ij i n =− = = = ∑ ∑ ∑ 1 1 1 1 ln (2) In Equation (2), n = 32, and when Z ij =0, ln Z Z ij ij i n = ∑ = 1 0 Finally, the corresponding weight coefficient was cal- culated in accordance with the entropy value. The weight coefficient of the j-th evaluation index is shown in Equa- F. LIN et al.: OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO Materiali in tehnologije / Materials and technology 56 (2022) 5, 491–497 493 Table 3: Range analysis table for the volumetric shrinkage from the orthogonal test Level A – mold temper- ature (°C) B – melt tempera- ture (°C) C – holding pres- sure (MPa) D – pressure holding time (s) E – injection pressure (MPa) F – injection time (s) 1 7.0661 5.8315 6.4183 7.1739 6.2486 6.4295 2 6.4963 6.9133 6.8826 7.5323 6.9057 6.8098 3 6.6531 7.1220 7.1810 6.8939 7.2141 6.9766 4 7.4305 7.7793 7.1641 6.0460 7.2776 7.4301 Range 0.9342 1.9478 0.7627 1.4863 1.0290 1.0006 Influence degree 516234 Best combination 50 190 95 12 70 0.9 tion (3), and the weight coefficients of volumetric shrinkage, warping deformation and sink mark index were 0.533, 0.159 and 0.308, respectively. In accordance with Equation (4), weighted comprehensive evaluation scores were calculated as shown in Table 4. W e e j j j j = − − = ∑ 1 1 1 3 (3) ZY WY WY W iii i =++× () 11 22 33 100 (4) Table 4: Normalized data standardization table and comprehensive evaluation scores Test No. Y 1 * Y 2 * Y 3 * Comprehensive evaluation scores Z i Sorting 1 0.9366 0.9107 0.9083 92.3672 2 2 0.4495 0.9411 0.8964 66.6724 10 3 0.1640 0.8615 0.6801 43.5561 21 4 0.0660 0.8484 0.5096 32.8714 27 5 0.4882 0.9448 1.0000 71.9898 9 6 0.4615 0.9258 0.6243 58.6221 15 7 0.8130 0.8885 0.7970 82.0123 6 8 0.0888 0.8688 0.5710 36.3091 26 9 0.8882 0.8963 0.9700 91.4844 3 10 1.0000 0.9645 0.9486 97.8385 1 11 0.6552 0.8383 0.3720 59.6700 14 12 0.3279 0.9521 0.3192 42.5071 22 13 0.7448 0.9178 0.9830 84.6340 5 14 0.3053 0.9826 0.7212 54.2593 17 15 0.3114 0.2434 0.2755 28.9399 28 16 0.0675 0.9421 0.1672 23.8344 32 17 0.5716 0.7932 0.5570 60.2494 13 18 0.2686 0.8544 0.7962 52.5898 18 19 0.2580 0.9267 0.8868 55.9924 16 20 0.7409 0.9265 0.8528 80.5305 7 21 0.6499 0.7744 0.4808 61.7421 12 22 0.2938 0.8546 0.6453 49.2510 19 23 0.8484 0.9276 0.8842 87.2204 4 24 0.8015 0.9805 0.5899 76.4550 8 25 0.7249 0.5949 0.4571 62.1066 11 26 0.4182 0.2572 0.0000 26.2813 30 27 0.1583 0.9686 0.4286 37.1756 25 28 0.0000 0.9563 0.3413 25.8819 31 29 0.5959 0.0000 0.4042 44.1120 20 30 0.5238 0.4326 0.2097 41.1816 23 31 0.1498 1.0000 0.4419 37.6414 24 32 0.1236 0.9876 0.1868 28.1405 29 3 PROCESS PARAMETER OPTIMIZATION AND VALIDATION 3.1 Comprehensive evaluation and analysis According to the ranking of comprehensive evalua- tion scores from Table 4, test No. 10 had the highest comprehensive evaluation score. In order to further ana- lyze the significant impacts of process parameters on the comprehensive evaluation indexes and determine the op- timal process parameters, the range analysis was used to analyze the comprehensive evaluation scores from Ta- ble 4. The order of the influence of each process parame- ter on the comprehensive evaluation index was B > C > A>D>F>E.Theoptimal process parameter combina- tion was A2-B1-C1-D4-E1-F1, which was the same as the optimal process parameter combination of the mini- mum volumetric shrinkage. Compared with the test re- sult for No. 10, the volumetric shrinkage was reduced by about 9.6 %, the sink mark index was reduced by about 18 %, while the warpage deformation increased. How- ever, due to the small weight proportion, the warpage de- formation had little influence on the comprehensive eval- uation. Therefore, according to the comprehensive evaluation, the overall quality of the plastic part was im- proved. 3.2 BP-PSO process parameter optimization To find a better combination of injection process pa- rameters, a BP neural network was used to fit the in- put-output relationship model, and the optimal value of the model was obtained with the particle swarm optimi- zation algorithm. 3.2.1 Establishing an input-output relationship prediction model based on the BP neural network The BP neural network is a classical error feed- forward neural network, widely used in scientific re- search fields due to its multi-dimensional nonlinear map- ping capability. 17–19 In terms of the structure, this work adopted a four-layer BP neural network model. The input layer had 6 nodes, the second hidden layer had 11 nodes, the third hidden layer had 11 nodes, and there were 3 nodes in the output layer of the model. The 6 process pa- rameters and the comprehensive evaluation were taken as the input and output of the BP neural network. 90 % of the 32 sets of orthogonal test data was randomly selected as the training data, and the rest was used as the test data set. Before training the neural network, the input and output data were normalized with Equation (5). The Keras library of Python was used to build the BP neu- ral-network framework. The tb.keras.regularizers.l2 method was used for the hidden layer to avoid over-fit- ting, and then it was activated with the Relu function. The loss function was MSE. x XX XX ij j jj * min( ) max( ) min( ) = − − (5) After 2000 iterations, the evaluation indexes were as follows: mae = 0.0457, mse = 0.004, val_mae = 0.0587 and val_mse = 0.0055. After the training of the BP neu- ral network, the predicted values of the comprehensive evaluation scores were obtained, and the predicted values were compared with the real values as shown in Fig- ure 2. It can be seen from this figure that the real values and predicted values of the comprehensive evaluation re- F. LIN et al.: OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO 494 Materiali in tehnologije / Materials and technology 56 (2022) 5, 491–497 mained largely consistent, although there were errors. The BP neural network model obtained reflects the rela- tionship between the input and output very well. The remaining data set was used for the test. The real values of the comprehensive evaluation scores (36.3091, 92.3672, 82.0123) for the test set were basically consis- tent with the predicted values (37.8348, 88.2714, 74.5526). This proved that the established BP neural net- work model was feasible. 3.2.2 Optimization of process parameters based on PSO The PSO algorithm, i.e., the particle swarm optimiza- tion algorithm, is an intelligent optimization algorithm that simulates the foraging behavior of a flock of birds and optimizes the flock with the information exchange among the individuals of the flock. 20,21 The negative value of comprehensive evaluation score Z of the neural network prediction was taken as the objective of the min- imum optimization, and the optimal process parameters were globally searched for by the PSO algorithm for the prediction model. The particle swarm optimization algorithm was con- structed based on the sko.PSO toolkit of Python. The di- mension of the search space dim was 6, population size POP was 20, the maximum number of iterations (max_iter) was 100, the inertia weight was 0.8, the learn- ing factors C1 = C2 were 0.5, and the constraints were: A (40–70 °C); B (190–220 °C); C (60–95 MPa); D (6–12 F. LIN et al.: OPTIMIZATION OF INJECTION MOLDING QUALITY BASED ON BP NEURAL NETWORK AND PSO Materiali in tehnologije / Materials and technology 56 (2022) 5, 491–497 495 Figure 2: Comparison between the real values and predicted values of the training set Figure 3: Optimal fitness value curve Figure 6: Optimized sink mark index Figure 5: Optimized warpage deformation Figure 4: Optimized volumetric shrinkage s); E (70–130 MPa); and F (0.9–1.3 s). The variation in the optimal fitness value was obtained as shown in Fig- ure 3. After 10 iterations, the optimal fitness value of the PSO algorithm reached the minimum, and the optimized combination of process parameters obtained with the op- eration included a mold temperature of 40 °C, melt tem- perature of 190 °C, holding pressure of 95 MPa, pres- sure-holding time of 12 s, injection pressure of 70 MPa and injection time of 0.9 s. The optimized volumetric shrinkage was 3.9 %, the warpage deformation was 2.606 mm and the sink mark index was 2.2 % according to the numerical simulation based on Moldflow. The vol- umetric shrinkage was slightly reduced, the warpage de- formation and the sink mark index were slightly in- creased, and the quality of the plastic part was not significantly improved. The constraints were further adjusted as A (30–80 °C); B (180–230 °C); C (55–105 MPa), D (4–14 s); E (60–140 MPa); and F (0.7–1.5 s). The optimized pro- cess parameter combination was obtained again with the particle swarm algorithm; the mold temperature was 30 °C, the melt temperature was 180 °C, the holding pressure was 105 MPa, the pressure-holding time was 14 s, the injection pressure was 108.4 MPa, and the in- jection time was 0.7 s. Using Moldflow, the optimized volumetric shrinkage was reduced to 3.46 %, as shown in Figure 4. The warpage deformation decreased to 2.538 mm, as shown in Figure 5. The sink mark index dropped to 1.87 %, as shown in Figure 6. The three indi- cators were further reduced and the quality of the plastic parts was fully optimized. 4 CONCLUSION 1) Based on an orthogonal test and single-objective range analysis, the combination of process parameters that allows a single-objective optimization is determined, but the multi-objective optimization cannot be achieved at the same time. 2) The entropy weight was used to transform a multi-objective problem into a single-objective problem, obtaining the following results: the optimal process pa- rameter combination was A2-B1-C1-D4-E1-F1, i.e., the volumetric shrinkage was 4.02 %, the warpage deforma- tion was 2.573 mm, and the sink mark index was 2.14 %. The overall quality of the plastic part was further im- proved. 3) After the BP neural network fitting and PSO, fur- ther optimal process parameters were found, i.e., a mold temperature of 30 °C, a melt temperature of 180 °C, a holding pressure of 105 MPa, a pressure-holding time of 14 s, an injection pressure of 108.4 MPa, and an injec- tion time of 0.7 s. The optimized volumetric shrinkage was reduced to 3.46 %, the warpage deformation was re- duced to 2.538 mm, the sink mark index was reduced to 1.87 %, and the injection quality of the plastic part was optimized comprehensively. Acknowledgment This work was sponsored by the Natural Science Foundation Program of the Fujian Province (2022J01609), Special Foundation for Science and Tech- nology Innovation of the Fujian Agriculture and Forestry University (No.CXZX2020132B) and 2021 Fujian Prov- ince Young and Middle-Aged Teachers’ Education and Research Project (No.JAT210819). 5 REFERENCES 1 R. Khavekar, H. Vasudevan, B. 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