MINE 432 – Fall 2010
(archived course page – originally posted Sept 2010)
Industrial Automation and Robotics in Mining
This page will contain supporting material for MINE 432 for the Fall 2010 term. The majority of notes can also be found on the original course website, but will be moved and updated to this page as the material is presented in class.
Jump to:
Guides, Documents and Assignments
| Document Type |
Documents |
Last Updated |
| Syllabus (proposed) |
MINE 432 Syllabus » |
2010 Sept 18 |
| Mid-Term Report |
MINE 432 Term Paper » (details updated Oct 5th)Term papers now due on Tues 2010 Nov 2 Wed 2010 Nov 3rd
Groups must sign up online for Term Paper Topics: Doodle Link »
Please submit mid-term reports via email (jnakane@physics.ubc.ca
|
2010 Oct 31st (changed deadline date) |
Assignments (15% of final grade, 7.5% each):
SOLUTIONS: (added Nov 29th, 6pm):
- MINE432-assignment1_SOLUTIONS
- MINE432-assignment2_SOLUTIONS (corrected Nov 30th, question 1b).
- MINE432-assignment3_SOLUTION (corrected Nov 30th, sign error on 1b)
Assignments to be handed in by Monday Nov 29th, noon (I will set up a drop-off area in Forward building).
Assignment solutions to be posted online on Nov 29th.
3 assignments will be given during the term.
For all assignments, please follow with the academic guidelines described here (used widely across Physics and Astronomy, applies here as well)
Schedule and Lecture Notes
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Week#
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Date
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Lecture
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Lab
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Hand-Ins
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Supporting Info
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2
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Sept 14 / 15
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Lab 1 – Build BOE-Bot, program Basic STAMP.
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3
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Sept 21/ 22
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MINE432-2010Sept21 (page numbers added)
- Preliminary Course Info
- Qualitative Intro to Control Theory
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Lab 2 – IR line-following sensors, contact sensors
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Lec 3 notes » (Elements of a Control System)
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4
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Sept 28 /29
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MINE432-2010Sept28 (page# added)
- Basic types of controls
- Intro to PID controls
- How to tune a PID control
- Writing control algorithms in software
MINE432-2010Sept29 (page# added)
- PID Control usage
- Limitations of PID
- Differential Equations
- Laplace Transforms
- Frequency Response
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Lab 3 – Sensors (colour, PING sonar, infrared, colour?)
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5
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Oct 5 / 6
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MINE432-2010Oct5
- Frequency response of a system
- Example of frequency-dependent systems
- Bode Plots
MINE432-2010Oct6 (page# added)
- Short comments on the lab
- Simplifying Control Diagrams
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Lab 4 – Bluetooth modules
Parallex forum for bluetooth control with code »
Youtube video explaining code » |
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Frequency Response Online Demo (mass-spring system) »
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6
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Oct. 12 / 13
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MINE432-2010Oct12-corrected
- Interpreting the Control Block Diagram (input/output functions,examining basic elements)
- Bode Plots for Basic Elements (poles/zeros)
MINE432-2010Oct13
- sketching complete Bode plots
- Stability
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Lab 5 – open-lab
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Bode Plot Sketching exercises (from Univ Utah ECE) » |
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7
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Oct. 19 / 20
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MINE432-2010Oct19
- bode plots and bandwidth
- controllers/comensators for performance and stability
- PID controller
- Lead and lag controllers
No lecture on Oct 20th |
Midterm Competition (15% of grade)
Guideline for the Midterm Comptition »
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8
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Oct. 26 / 27
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MINE432-2010Oct26
- Midterm post-mortem
- discussion of Final Competition
MINE432-2010Oct27
- Higher-level control systems
- Examples of real controllers
- Sensors (Intro)
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Lab – using the Gripper Arm
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Groups for Final Competition (4 robot teams per group) » |
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9
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Nov 2 / 3
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MINE432-2010Nov2
- general comments about sensors
- proximity sensors (in-class exercise)
- mechanical sensors (force/strain)
MINE432-2010Nov3 (page# added)
- enviromental sensors
- processing sensors
- sample – composition
- sample – rock testing
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Finalizing the Competition Details |
Midterm Reports Due (20% of grade) |
In-Class Exercise:Group A document »GroupB document »
Vendors:
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10
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Nov 9 / 10
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MINE432-2010Nov9
- optimization
- “travelling salesman”, simulated annealing
- Economic Analysis (see additional Lecture 02 PDF)
MINE432-2010Nov10
- Guest Lecture, Juliana Parreira, UBC Mining
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– Final Competition Rules »– Competition Surface » |
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Lecture 02 – Process Control and Operating Economics »Simulated Annealing Demo » |
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11
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Nov. 16 / 17
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MINE432-2010Nov16
- comments on Final Exam
- underground communication
- autonomous drill/blast and LHDs
MINE432-2010Nov17
- Aside: Creigighton Mines and Sudbury Neutrino Observatory
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Open-Lab session |
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12
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Nov. 23 / 24
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MINE432-2010Nov23
No Lecture on Nov 24th |
FINAL COMPETITION – Nov 24th |
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13
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Nov30/Dec1
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Nov 30 – in-class Q&A for final examDec 1 – Guest Lecture:Shahram Tafazoli, Motion Metrics » |
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Assignments to be submitted by 12Noon, Frank Forward building. |
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Week#
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Date
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Lecture
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Lab
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Hand-Ins
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Other notes
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2
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Sept 14 / 15
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|
Lab 1 – Build BOE-Bot, program Basic STAMP.
|
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3
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Sept 21/ 22
|
Elements of a Control System (Lec 3 notes »)
Intro to PID control systems
|
Lab 2 – IR line-following sensors, contact sensors
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Bring your own four AA-batteries to the labs, a set of rechargeable batt
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Week#
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Date
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Lecture
|
Lab
|
Hand-Ins
|
Other notes
|
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2
|
Sept 14 / 15
|
|
Lab 1 – Build BOE-Bot, program Basic STAMP.
|
|
|
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3
|
Sept 21/ 22
|
Elements of a Control System (Lec 3 notes »)
Intro to PID control systems
|
Lab 2 – IR line-following sensors, contact sensors
|
|
Bring your own four AA-batteries to the labs, a set of rechargeable batteries are suggested. A limited number of batteries will be available to borrow in the labs in case you forget.
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4
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Sept 28 /29
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Lab 3 – Object recognition sensors (colour)
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5
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Oct 5 / 6
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Lab 4 – Ultrasonic sensors
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Topic for Mid-Term Report (1 paragraph summary, list of useful references)
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6
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Oct. 12 / 13
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Lab 5 – Wheel Encoders
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7
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Oct. 19 / 20
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Robotic competition (navigation and object recognition)
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8
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Oct. 26 / 27
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9
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Nov 2 / 3
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10
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Nov 9 / 10
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11
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Nov. 16 / 17
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12
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Nov. 23 / 24
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13
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Dec 2 / 3
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eries are suggested. A limited number of batteries will be available to borrow in the labs in case you forget.
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4
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Sept 28 /29
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Lab 3 – Object recognition sensors (colour)
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5
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Oct 5 / 6
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Lab 4 – Ultrasonic sensors
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Topic for Mid-Term Report (1 paragraph summary, list of useful references)
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6
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Oct. 12 / 13
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Lab 5 – Wheel Encoders
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7
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Oct. 19 / 20
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Robotic competition (navigation and object recognition)
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8
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Oct. 26 / 27
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9
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Nov 2 / 3
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10
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Nov 9 / 10
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11
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Nov. 16 / 17
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12
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Nov. 23 / 24
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13
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Dec 2 / 3
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Week#
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Date
|
Lecture
|
Lab
|
Hand-Ins
|
Other notes
|
|
2
|
Sept 14 / 15
|
|
Lab 1 – Build BOE-Bot, program Basic STAMP.
|
|
|
|
3
|
Sept 21/ 22
|
Elements of a Control System (Lec 3 notes »)
Intro to PID control systems
|
Lab 2 – IR line-following sensors, contact sensors
|
|
Bring your own four AA-batteries to the labs, a set of rechargeable batt
|
Week#
|
Date
|
Lecture
|
Lab
|
Hand-Ins
|
Other notes
|
|
2
|
Sept 14 / 15
|
|
Lab 1 – Build BOE-Bot, program Basic STAMP.
|
|
|
|
3
|
Sept 21/ 22
|
Elements of a Control System (Lec 3 notes »)
Intro to PID control systems
|
Lab 2 – IR line-following sensors, contact sensors
|
|
Bring your own four AA-batteries to the labs, a set of rechargeable batteries are suggested. A limited number of batteries will be available to borrow in the labs in case you forget.
|
|
4
|
Sept 28 /29
|
|
Lab 3 – Object recognition sensors (colour)
|
|
|
|
5
|
Oct 5 / 6
|
|
Lab 4 – Ultrasonic sensors
|
Topic for Mid-Term Report (1 paragraph summary, list of useful references)
|
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6
|
Oct. 12 / 13
|
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Lab 5 – Wheel Encoders
|
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7
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Oct. 19 / 20
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Robotic competition (navigation and object recognition)
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8
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Oct. 26 / 27
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9
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Nov 2 / 3
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10
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Nov 9 / 10
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11
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Nov. 16 / 17
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12
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Nov. 23 / 24
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13
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Dec 2 / 3
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| |
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eries are suggested. A limited number of batteries will be available to borrow in the labs in case you forget.
|
|
4
|
Sept 28 /29
|
|
Lab 3 – Object recognition sensors (colour)
|
|
|
|
5
|
Oct 5 / 6
|
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Lab 4 – Ultrasonic sensors
|
Topic for Mid-Term Report (1 paragraph summary, list of useful references)
|
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6
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Oct. 12 / 13
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Lab 5 – Wheel Encoders
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7
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Oct. 19 / 20
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Robotic competition (navigation and object recognition)
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8
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Oct. 26 / 27
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9
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Nov 2 / 3
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10
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Nov 9 / 10
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11
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Nov. 16 / 17
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12
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Nov. 23 / 24
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13
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Dec 2 / 3
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