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1

[IEEE 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Macau, Macao (2017.12.5-2017.12.8)] 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Design and control of robot legs with bi-articular muscle-tendon complex

Sato, Ryuki, Kazama, Eiki, Ming, Aiguo, Shimojo, Makoto, Meng, Fei, Liu, Huaxin, Fan, Xuxiao, Chen, Xuechao, Yu, Zhangguo, Huang, Qiang

Année:

2017

Langue:

english

Fichier:

PDF, 523 KB

english, 2017

2

[IEEE 2018 IEEE International Conference on Mechatronics and Automation (ICMA) - Changchun, Jilin, China (2018.8.5-2018.8.8)] 2018 IEEE International Conference on Mechatronics and Automation (ICMA) - Introduction of Toe Mechanism with Bi-articular Tendon into Legged Robot

Kurokawa, Kanako, Sato, Ryuki, Hiasa, Shuma, Ming, Aiguo, Meng, Fei, Liu, Huaxin, Fan, Xuxiao, Chen, Xuechao, Yu, Zhangguo, Huang, Qiang

Année:

2018

Langue:

english

Fichier:

PDF, 556 KB

english, 2018

3

A model to predict ground reaction force for elastically-suspended backpacks

Leng, Yuquan, Lin, Xin, Lu, Zeyu, Song, Aiguo, Yu, Zhangguo, Fu, Chenglong

Journal:

Année:

2020

Fichier:

PDF, 4.46 MB

2020

4

[IEEE 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Shenzhen, China (2013.12.12-2013.12.14)] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Design of a humanoid ping-pong player robot with redundant joints

Yu, Zhangguo, Liu, Yan, Huang, Qiang, Chen, Xuechao, Zhang, Wen, Li, Jing, Ma, Gan, Meng, Libo, Li, Tongtong, Zhang, Weimin

Année:

2013

Langue:

english

Fichier:

PDF, 1.18 MB

english, 2013

5

[IEEE 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009) - Paris, France (2009.12.7-2009.12.10)] 2009 9th IEEE-RAS International Conference on Humanoid Robots - Mechanical design of a light weight and high stiffness arm for humanoids

Jia, Dongyong, Huang, Qiang, Zhang, Weimn, Xin, Hongbing, Yu, Zhangguo, Li, Kejie

Année:

2009

Langue:

english

Fichier:

PDF, 12.29 MB

english, 2009

6

Development of a Socially Interactive System with Whole-Body Movements for BHR-4

Ma, Gan, Gao, Junyao, Yu, Zhangguo, Chen, Xuechao, Huang, Qiang, Liu, Yunhui

Journal:

International Journal of Social Robotics

Année:

2016

Langue:

english

Fichier:

PDF, 1.41 MB

english, 2016

7

[IEEE 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Qingdao, China (2016.12.3-2016.12.7)] 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Falling protective method for humanoid robots using arm compliance to reduce damage

Zhou, Yuhang, Chen, Xuechao, Liu, Huaxin, Yu, Zhangguo, Zhang, Weimin, Huang, Qiang

Année:

2016

Langue:

english

Fichier:

PDF, 1.47 MB

english, 2016

8

[IEEE 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO) - Beijing, China (2019.10.31-2019.11.2)] 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO) - Design of A High Torque Density Motor Based on Halbach Array Integral Ring Rotor

Zhang, Wu, Yu, Zhangguo, Wang, Yanjie, Chen, Xuechao, Huang, Qiang, Zhang, Weimin, Meng, Libo

Année:

2019

Fichier:

PDF, 990 KB

2019

9

Ball Tracking and Trajectory Prediction for Table-Tennis Robots

Lin, Hsien-I, Yu, Zhangguo, Huang, Yi-Chen

Journal:

Année:

2020

Fichier:

PDF, 2.89 MB

2020

10

[IEEE 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Macau, China (2019.11.3-2019.11.8)] 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism

Tomishiro, Kohei, Huang, Qiang, Sato, Ryuki, Harada, Yasuji, Ming, Aiguo, Meng, Fei, Liu, Huaxin, Fan, Xuxiao, Chen, Xuechao, Yu, Zhangguo

Année:

2019

Fichier:

PDF, 1.83 MB

2019

11

[IEEE 2020 IEEE International Conference on Mechatronics and Automation (ICMA) - Beijing, China (2020.10.13-2020.10.16)] 2020 IEEE International Conference on Mechatronics and Automation (ICMA) - A Novel Foot Contact Probability Estimator for Biped Robot State Estimation

Qin, Mingyue, Yu, Zhangguo, Chen, Xuechao, Huang, Qiang, Fu, Chenglong, Ming, Aiguo, Tao, Chunjing

Année:

2020

Fichier:

PDF, 712 KB

2020

12

ChemInform Abstract: Efficient and Mild Protocol for the Synthesis of 4(3)-Substituted 3(4)-Nitro-1H-pyrroles (III) and 3-Substituted 4-Methyl-2-tosyl-1H-pyrroles (IV) from Nitroolefins and Tosylmethyl Isocyanide in Ionic Liquids.

Jie Qin, Ji Zhang, Bo Wu, Zhangguo Zheng, Meng Yang, Xiaoqi Yu

Journal:

Année:

2010

Fichier:

PDF, 34 KB

2010

13

Efficient and Mild Protocol for the Synthesis of 4(3)-Substituted 3(4)-Nitro-1H-pyrroles and 3-Substituted 4-Methyl-2-tosyl-1H-pyrroles from Nitroolefins and Tosylmethyl Isocyanide in Ionic Liquids

Jie Qin, Ji Zhang, Bo Wu, Zhangguo Zheng, Meng Yang, Xiaoqi Yu

Journal:

Chinese Journal of Chemistry

Année:

2009

Langue:

english

Fichier:

PDF, 81 KB

english, 2009

14

[IEEE 2012 International Conference on Information and Automation (ICIA) - Shenyang, China (2012.06.6-2012.06.8)] 2012 IEEE International Conference on Information and Automation - Humanoid walking pattern generation based on the ground reaction force features of human walking

Yu, Zhangguo, Chen, Xuechao, Huang, Qiang, Wang, Huaping, Zhang, Si, Xu, Wei, Li, Jing, Ma, Gan, Zhang, Weimin, Fan, Ningjun

Année:

2012

Langue:

english

Fichier:

PDF, 1.95 MB

english, 2012

15

[IEEE 2011 23rd Chinese Control and Decision Conference (CCDC) - Mianyang, China (2011.05.23-2011.05.25)] 2011 Chinese Control and Decision Conference (CCDC) - System design of an Anthropomorphic arm robot for dynamic interaction task

Yu, Zhangguo, Huang, Qiang, Chen, Xuechao, Xu, Wei, Li, Jing, Ma, Gan, Chen, Xiaopeng, Zhang, Weimin, Wang, Huaping, Zhang, Si, Fan, Ningjun

Année:

2011

Langue:

english

Fichier:

PDF, 475 KB

english, 2011

16

The Short Isoform of the CEACAM1 Receptor in Intestinal T Cells Regulates Mucosal Immunity and Homeostasis via Tfh Cell Induction

Chen, Lanfen, Chen, Zhangguo, Baker, Kristi, Halvorsen, Elizabeth M., Pires da Cunha, Andre, Flak, Magdalena B., Gerber, Georg, Huang, Yu-Hwa, Hosomi, Shuhei, Arthur, Janelle C., Dery, Ken J., Nagaish

Journal:

Année:

2012

Langue:

english

Fichier:

PDF, 2.32 MB

english, 2012

17

[IEEE 2008 IEEE International Conference on Automation and Logistics (ICAL) - Qingdao, China (2008.09.1-2008.09.3)] 2008 IEEE International Conference on Automation and Logistics - Flexible foot design for a humanoid robot

Jianxi Li,, Qiang Huang,, Weimin Zhang,, Zhangguo Yu,, Kejie Li,

Année:

2008

Langue:

english

Fichier:

PDF, 692 KB

english, 2008

18

[IEEE 2008 IEEE International Conference on Robotics and Biomimetics - Bangkok (2009.02.22-2009.02.25)] 2008 IEEE International Conference on Robotics and Biomimetics - Real-time foot attitude estimation for a humanoid robot based on inertial sensors and force sensor

Jianxi Li,, Qiang Huang,, Weimin Zhang,, Zhangguo Yu,, Kejie Li,

Année:

2009

Langue:

english

Fichier:

PDF, 873 KB

english, 2009

19

[IEEE 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) - Osaka, Japan (2012.11.29-2012.12.1)] 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) - Inverse dynamics control with acceleration optimization on a force-controlled bipedal robot

Chen, Xuechao, Huang, Qiang, Yu, Zhangguo, Li, Jing, Ma, Gan, Zhang, Si, Li, Yue

Année:

2012

Langue:

english

Fichier:

PDF, 1.94 MB

english, 2012

20

Robust push recovery by whole-body dynamics control with extremal accelerations

Chen, Xuechao, Huang, Qiang, Yu, Zhangguo, Lu, Yuepin

Journal:

Année:

2014

Langue:

english

Fichier:

PDF, 877 KB

english, 2014

21

[IEEE 2010 IEEE International Conference on Automation and Logistics (ICAL) - Shatin, Hong Kong (2010.08.16-2010.08.20)] 2010 IEEE International Conference on Automation and Logistics - Design and experiment of an open control system for a humanoid robot

Xuechao Chen,, Huang, Qiang, Yu, Zhangguo, Li, Jing, Wei Xu,, Fei Meng,, Jiayu Liu,

Année:

2010

Langue:

english

Fichier:

PDF, 1.26 MB

english, 2010

22

Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

Yu, Zhangguo, Meng, Fei, Huang, Qiang, Chen, Xuechao, Ma, Gan, Li, Jing

Journal:

Intelligent Automation & Soft Computing

Année:

2014

Langue:

english

Fichier:

PDF, 526 KB

english, 2014

23

[IEEE 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Shenzhen, China (2013.12.12-2013.12.14)] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Development of leg mechanism using a knee joint with variable reduction ratio adaptive to load

Ming, Aiguo, Nozawa, Syunpei, Sato, Ryuki, Yu, Zhangguo, Shimojo, Makoto

Année:

2013

Langue:

english

Fichier:

PDF, 1.53 MB

english, 2013

24

Modeling and design of a humanoid robotic face based on an active drive points model

Yu, Zhangguo, Ma, Gan, Huang, Qiang

Journal:

Advanced Robotics

Année:

2014

Langue:

english

Fichier:

PDF, 1.03 MB

english, 2014

25

[IEEE 2009 International Conference on Communication Software and Networks - Chengdu Sichuan, China (2009.02.27-2009.02.28)] 2009 International Conference on Communication Software and Networks - The Modified PPM Modulation for Underwater Wireless Optical Communication

Meihong, Sui, Xinsheng, Yu, Zhangguo, Zhou

Année:

2009

Langue:

english

Fichier:

PDF, 341 KB

english, 2009

26

[IEEE 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Tianjin, China (2010.12.14-2010.12.18)] 2010 IEEE International Conference on Robotics and Biomimetics - Dynamic model based ball trajectory prediction for a robot ping-pong player

Chen, Xiaopeng, Tian, Ye, Huang, Qiang, Zhang, Weimin, Yu, Zhangguo

Année:

2010

Langue:

english

Fichier:

PDF, 155 KB

english, 2010

27

[IEEE 2011 IEEE International Conference on Robotics and Automation (ICRA) - Shanghai, China (2011.05.9-2011.05.13)] 2011 IEEE International Conference on Robotics and Automation - An improved ZMP trajectory design for the biped robot BHR

Wei Xu,, Huang, Qiang, Jing Li,, Zhangguo Yu,, Xuechao Chen,, Qian Xu,

Année:

2011

Langue:

english

Fichier:

PDF, 1.08 MB

english, 2011

28

[IEEE 2013 IEEE International Conference on Mechatronics and Automation (ICMA) - Takamatsu, Kagawa, Japan (2013.08.4-2013.08.7)] 2013 IEEE International Conference on Mechatronics and Automation - Integrated translational and rotational COG motion to enhance the stability for humanoid robots

Li, Jing, Huang, Qiang, Yu, Zhangguo, Chen, Xuechao, Ma, Gan, Zhang, Si, Meng, Libo, Duo, Yingxian

Année:

2013

Langue:

english

Fichier:

PDF, 985 KB

english, 2013

29

[IEEE 2010 IEEE International Conference on Automation and Logistics (ICAL) - Shatin, Hong Kong (2010.08.16-2010.08.20)] 2010 IEEE International Conference on Automation and Logistics - Mechanical design and balance control of a Humanoid Waist Joint

Xu, Wei, Huang, Qiang, Jing Li,, Yu, Zhangguo, Xuechao Chen,, Jiayu Liu,, Weimin Zhang,

Année:

2010

Langue:

english

Fichier:

PDF, 1.56 MB

english, 2010

30

[IEEE 2011 IEEE International Conference on Mechatronics and Automation (ICMA) - Beijing, China (2011.08.7-2011.08.10)] 2011 IEEE International Conference on Mechatronics and Automation - Design and workspace analysis of a light weight and high stiffness arm

Li, Jing, Huang, Qiang, Yu, Zhangguo, Xu, Wei, Chen, Xuechao, Ma, Gan

Année:

2011

Langue:

english

Fichier:

PDF, 178 KB

english, 2011

31

[IEEE 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Shenzhen, China (2013.12.12-2013.12.14)] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Hand-eye servo and flexible control of an anthropomorphic arm

Ma, Gan, Huang, Qiang, Yu, Zhangguo, Chen, Xuechao, Meng, Libo, Sultan, Malik Saad, Zhang, Wen, Liu, Yan

Année:

2013

Langue:

english

Fichier:

PDF, 920 KB

english, 2013

32

[IEEE 2010 IEEE International Conference on Automation and Logistics (ICAL) - Shatin, Hong Kong (2010.08.16-2010.08.20)] 2010 IEEE International Conference on Automation and Logistics - Controller design and real-time fault diagnosis for a humanoid robot

Xingzhong Wang,, Yu, Zhangguo, Chen, Xuechao

Année:

2010

Langue:

english

Fichier:

PDF, 1.08 MB

english, 2010

33

[IEEE 2007 IEEE International Conference on Robotics and biomimetics (ROBIO) - Sanya, China (2007.12.15-2007.12.18)] 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Measurement of human walking and generation of humanoid walking pattern

Huang, Qiang, Yang, Jie, Yu, Zhangguo, Xu, Wei, Li, Jianxi, Li, KeJie

Année:

2007

Langue:

english

Fichier:

PDF, 440 KB

english, 2007

34

[IEEE 2009 International Conference on Information and Automation (ICIA) - Zhuhai/Macau, China (2009.06.22-2009.06.24)] 2009 International Conference on Information and Automation - On-line trajectory generation for a humanoid robot based on combination of off-line patterns

Yu, Zhangguo, Huang, Qiang, Chen, Xuechao, Xu, Wei, Li, Ging, Li, Kejie

Année:

2009

Langue:

english

Fichier:

PDF, 935 KB

english, 2009

35

[IEEE 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Guangzhou, China (2012.12.11-2012.12.14)] 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Stepping to recover: A 3D-LIPM based push recovery and fall management scheme for biped robots

Yasin, Awais, Huang, Qiang, Yu, Zhangguo, Xu, Qian, Syed, Amjad Ali

Année:

2012

Langue:

english

Fichier:

PDF, 377 KB

english, 2012

36

[IEEE 2008 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008) - Daejeon (2008.12.1-2008.12.3)] Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots - Generation of humanoid walking pattern based on human walking measurement

Qiang Huang,, Zhangguo Yu,, Weimin Zhang,, Xingguang Duan,, Yuancan Huang,, Kejie Li,

Année:

2008

Langue:

english

Fichier:

PDF, 5.34 MB

english, 2008

37

[IEEE 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Shenzhen, China (2013.12.12-2013.12.14)] 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Control of one-legged robot hopping in place

Zhou, Yu, Fu, Chenglong, Yun, Changjin, Yu, Zhangguo, Chen, Ken

Année:

2013

Langue:

english

Fichier:

PDF, 673 KB

english, 2013

38

[IEEE 2013 ICME International Conference on Complex Medical Engineering (CME 2013) - Beijing (2013.5.25-2013.5.28)] 2013 ICME International Conference on Complex Medical Engineering - Trot pattern generation for quadruped robot based on the ZMP stability margin

Si Zhang,, Junyao Gao,, Xingguang Duan,, Hui Li,, Zhangguo Yu,, Xuechao Chen,, Jing Li,, Huaxin Liu,, Xin Li,, Yi Liu,, Zhe Xu,

Année:

2013

Langue:

english

Fichier:

PDF, 792 KB

english, 2013

39

[IEEE 2014 IEEE International Conference on Information and Automation (ICIA) - Hailar, Hulun Buir, China (2014.7.28-2014.7.30)] 2014 IEEE International Conference on Information and Automation (ICIA) - Slip prevention of a humanoid robot by coordinating acceleration vector

Yu, Zhangguo, Li, Jing, Huang, Qiang, Chen, Xuechao, Ma, Gan, Meng, Libo, Zhang, Si, Liu, Yan, Zhang, Wen, Zhang, Weimin, Chen, Xiaopeng, Gao, Junyao

Année:

2014

Langue:

english

Fichier:

PDF, 578 KB

english, 2014

40

CEACAM1 on activated NK cells inhibits NKG2D-mediated cytolytic function and signaling

Hosomi, Shuhei, Chen, Zhangguo, Baker, Kristi, Chen, Lanfen, Huang, Yu-Hwa, Olszak, Torsten, Zeissig, Sebastian, Wang, Jing H., Mandelboim, Ofer, Beauchemin, Nicole, Lanier, Lewis L., Blumberg, Richar

Journal:

European Journal of Immunology

Année:

2013

Langue:

english

Fichier:

PDF, 430 KB

english, 2013

41

[IEEE 2007 International Conference on Mechatronics and Automation - Harbin, China (2007.08.5-2007.08.8)] 2007 International Conference on Mechatronics and Automation - Distributed Control System for a Humanoid Robot

Yu, Zhangguo, Huang, Qiang, Li, Jianxi, Shi, Qing, Chen, Xuechao, Li, Kejie

Année:

2007

Langue:

english

Fichier:

PDF, 291 KB

english, 2007

42

[IEEE 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Guangzhou, China (2012.12.11-2012.12.14)] 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) - Teleoperation of humanoid motion using 3G communication network

Xu, Qian, Huang, Qiang, Chen, Xuechao, Yasin, Awais, Yu, Zhangguo

Année:

2012

Langue:

english

Fichier:

PDF, 548 KB

english, 2012

43

[IEEE 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Xian, China (2008.07.2-2008.07.5)] 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Computer control system and walking pattern control for a humanoid robot

Yu, Zhangguo, Huang, Qiang, Li, Jianxi, Chen, Xuechao, Li, Kejie

Année:

2008

Langue:

english

Fichier:

PDF, 212 KB

english, 2008

44

[IEEE 2010 IEEE International Conference on Mechatronics and Automation (ICMA) - Xi'an, China (2010.08.4-2010.08.7)] 2010 IEEE International Conference on Mechatronics and Automation - Control design of a biped humanoid robot capable of facial expression

Yu, Zhangguo, Huang, Qiang, Chen, Xuechao, Li, Jing, Xu, Wei, Gao, Junyao, Fan, Ningjun

Année:

2010

Langue:

english

Fichier:

PDF, 1.54 MB

english, 2010

45

[IEEE 2014 IEEE International Conference on Robotics and Automation (ICRA) - Hong Kong, China (2014.5.31-2014.6.7)] 2014 IEEE International Conference on Robotics and Automation (ICRA) - A new flexible controller for a humanoid robot that considers visual and force information interaction

Ma, Gan, Huang, Qiang, Yu, Zhangguo, Chen, Xuechao, Zhang, Weimin, Gao, Junyao, Meng, Libo, Liu, Yun-Hui

Année:

2014

Langue:

english

Fichier:

PDF, 688 KB

english, 2014

46

[IEEE 2011 9th World Congress on Intelligent Control and Automation (WCICA 2011) - Taipei (2011.06.21-2011.06.25)] 2011 9th World Congress on Intelligent Control and Automation - Ping-pong trajectory perception and prediction by a PC based High speed four-camera vision system

Xiaopeng Chen,, Qiang Huang,, Weimin Zhang,, Zhangguo Yu,, Rui Li,, Peng Lv,

Année:

2011

Langue:

english

Fichier:

PDF, 1.40 MB

english, 2011

47

[IEEE 2014 IEEE International Conference on Mechatronics and Automation (ICMA) - Tianjin, China (2014.8.3-2014.8.6)] 2014 IEEE International Conference on Mechatronics and Automation - System design of a 9-DOF robot capable of fast and flexible rally task

Zhang, Wen, Li, Jing, Huang, Qiang, Yu, Zhangguo, Chen, Xuechao, Ma, Gan, Meng, Libo, Liu, Yan, Zhang, Si, Meng, Fei, Zhang, Weimin, Gao, Junyao

Année:

2014

Langue:

english

Fichier:

PDF, 1016 KB

english, 2014

48

[IEEE 2013 25th Chinese Control and Decision Conference (CCDC) - Guiyang, China (2013.05.25-2013.05.27)] 2013 25th Chinese Control and Decision Conference (CCDC) - A dual-motor joint model for humanoid robots

Xue, Jingtao, Chen, Xiaopeng, Tian, Ye, Yu, Zhangguo, Meng, Fei, Huang, Qiang

Année:

2013

Langue:

english

Fichier:

PDF, 771 KB

english, 2013

49

[IEEE 2011 IEEE International Conference on Mechatronics and Automation (ICMA) - Beijing, China (2011.08.7-2011.08.10)] 2011 IEEE International Conference on Mechatronics and Automation - Biped walking planning using Extended Linear Inverted Pendulum Mode with a continuous moving ZMP

Chen, Xuechao, Huang, Qiang, Yu, Zhangguo, Xu, Wei, Li, Jing, Ma, Gan

Année:

2011

Langue:

english

Fichier:

PDF, 282 KB

english, 2011

50

[IEEE 2014 IEEE-RAS 14th International Conference on Humanoid Robots (Humanoids 2014) - Madrid, Spain (2014.11.18-2014.11.20)] 2014 IEEE-RAS International Conference on Humanoid Robots - Bipedal walking with toe-off, heel-strike and compliance with external disturbances

Chen, Xuechao, Zhou, Yuhang, Huang, Qiang, Yu, Zhangguo, Ma, Gan, Meng, Libo, Fu, Chenglong

Année:

2014

Langue:

english

Fichier:

PDF, 4.50 MB

english, 2014