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A Research on the Developing and Increasing Roles of Collaborative Robots in the Covid-19 Pandemic Process

Yıl 2022, Cilt: 13 Sayı: Ek (Suppl.) 1, 408 - 416, 31.12.2022
https://doi.org/10.29048/makufebed.1161083

Öz

Collaborative robots, in other words cobots, are good examples of the extent to which the developments in the robotics sector have come from the beginning of the 21st century. Cobots, which came into our lives with the understanding of the importance of automation technologies in the production sector, aimed to minimize the errors encountered due to production while increasing the production capacity and speed in industrial productions. Cobots, which have been used in different fields since the first day of its emergence, have been used in the fight against the pandemic, when the coronavirus (COVID-19) disease caused by the SARS-CoV-2 virus, which started to be seen in the world at the end of 2019, caused a pandemic. The development process of collaborative robots, namely cobots, to protect human life and reduce the effects of the pandemic with the onset of the pandemic, has been examined by making use of past research. In this study, the success and widespread impact values of Cobots during the COVID-19 epidemic and pandemic were investigated and revealed.

Kaynakça

  • Akella, P., Peshkin, M., Colgate, E.D., Wannasuphoprasit, W., Nagesh, N., Wells, J., Peacock, B. (1999). Cobots for the automobile assembly line. IEEE International Conference on Robotics and Automation, May 10-15, 1999, Book of Proceedings, 728-733.
  • Akella, P., Peshkin, M., Colgate, E.D., Wannasuphoprasit, W., Nagesh, N., Wells, J., Peacock, B. (1999). Cobots for the automobile assembly line. IEEE International Conference on Robotics and Automation, May 10-15, 1999, Book of Proceedings, 728-733.
  • Bogue, R. (2022). The changing face of the automotive robotics industry. Industrial Robot: The İnternational Journal Of Robotics Research And Application, 49(3): 386-390.
  • Bogue, R. (2022). The changing face of the automotive robotics industry. Industrial Robot: The İnternational Journal Of Robotics Research And Application, 49(3): 386-390.
  • Brito, T., Queiroz, J., Piardi, L., Fernandes, L. A., Lima, J., Leitão, P. (2020). A machine learning approach for collaborative robot smart manufacturing inspection for quality control systems. Procedia Manufacturing, 51: 11-18.
  • Brito, T., Queiroz, J., Piardi, L., Fernandes, L. A., Lima, J., Leitão, P. (2020). A machine learning approach for collaborative robot smart manufacturing inspection for quality control systems. Procedia Manufacturing, 51: 11-18.
  • Chamola, V., Hassija, V., Gupta, V., Guizani, M. (2020). A comprehensive review of the COVID-19 pandemic and the role of IoT, drones, AI, blockchain, and 5G in managing its impact. IEEE Access, 8: 90225-90265.
  • Chamola, V., Hassija, V., Gupta, V., Guizani, M. (2020). A comprehensive review of the COVID-19 pandemic and the role of IoT, drones, AI, blockchain, and 5G in managing its impact. IEEE Access, 8: 90225-90265.
  • Cresswell, K., Ramalingam, S., Sheikh, A. (2020). Can robots improve testing capacity for SARS-CoV-2?. Journal of Medical Internet Research, 22(8): e20169; DOI: 10.2196/20169
  • Cresswell, K., Ramalingam, S., Sheikh, A. (2020). Can robots improve testing capacity for SARS-CoV-2?. Journal of Medical Internet Research, 22(8): e20169; DOI: 10.2196/20169
  • Deniz, C., Gökmen, G. (2022). A New Robotic Application for COVID-19 Specimen Collection Process. Journal of Robotics and Control, 3(1): 73-77.
  • Deniz, C., Gökmen, G. (2022). A New Robotic Application for COVID-19 Specimen Collection Process. Journal of Robotics and Control, 3(1): 73-77.
  • El Makrini, I., Elprama, S.A., Van den Bergh, J., Vanderborght, B., Knevels, A.J., Jewell, C.I., Jacobs, A. (2018). Working with walt: How a cobot was developed and inserted on an auto assembly line. IEEE Robotics & Automation Magazine, 25 (2): 51-58.
  • El Makrini, I., Elprama, S.A., Van den Bergh, J., Vanderborght, B., Knevels, A.J., Jewell, C.I., Jacobs, A. (2018). Working with walt: How a cobot was developed and inserted on an auto assembly line. IEEE Robotics & Automation Magazine, 25 (2): 51-58.
  • Evans, J. (2016). The Robots Are Coming: Actually, robots have been here for some time, as far as injection molding companies are concerned, but they're certainly increasing in number and capabilities. Plastics Engineering, 72(1): 20-23.
  • Evans, J. (2016). The Robots Are Coming: Actually, robots have been here for some time, as far as injection molding companies are concerned, but they're certainly increasing in number and capabilities. Plastics Engineering, 72(1): 20-23.
  • Gheorghe, G. (2019). Concepts and mechatronics and cyber-mixmechatronics constructions, integrated in COBOT type technology platform for intelligent industry (4.0). International Conference of Mechatronics and Cyber-Mixmechatronics, September 5-6, 2019, Bucharest, Romania, Book of Proceedings, 281-300.
  • Gheorghe, G. (2019). Concepts and mechatronics and cyber-mixmechatronics constructions, integrated in COBOT type technology platform for intelligent industry (4.0). International Conference of Mechatronics and Cyber-Mixmechatronics, September 5-6, 2019, Bucharest, Romania, Book of Proceedings, 281-300.
  • Gong, Z., Jiang, S., Meng, Q., Ye, Y., Li, P., Xie, F., Liu, X. (2020). SHUYU robot: An automatic rapid temperature screening system. Chinese Journal of Mechanical Engineering, 33(1): 1-4.
  • Gong, Z., Jiang, S., Meng, Q., Ye, Y., Li, P., Xie, F., Liu, X. (2020). SHUYU robot: An automatic rapid temperature screening system. Chinese Journal of Mechanical Engineering, 33(1): 1-4.
  • Hadi, M. A., Brillinger, M., Bloder, M., Bader, M., Ratasich, M., Haas, F., Armengaud, E. (2021). Implementing cognitive technologies in an assembly line based on two case studies. Procedia CIRP, 97: 520-525.
  • Hadi, M. A., Brillinger, M., Bloder, M., Bader, M., Ratasich, M., Haas, F., Armengaud, E. (2021). Implementing cognitive technologies in an assembly line based on two case studies. Procedia CIRP, 97: 520-525.
  • Iamsawan, N., Warinsiriruk, E., Greebmalai, J., Prasai, A.B., Wang, Y.T. (2020). Automatic-dısınfectıon servıce by agv-cobot system for Covid-19 pandemıc. 10th International Conference on Operations and Supply Chain Management, December 14-16, 2020, Online Conference, Book of Proceedings, 1-7.
  • Iamsawan, N., Warinsiriruk, E., Greebmalai, J., Prasai, A.B., Wang, Y.T. (2020). Automatic-dısınfectıon servıce by agv-cobot system for Covid-19 pandemıc. 10th International Conference on Operations and Supply Chain Management, December 14-16, 2020, Online Conference, Book of Proceedings, 1-7.
  • Jones, J.E., Rhoades, V.L., Beard, J., Arner, R.M., Dydo, J.R., Fast, K., Gaffney, J.H. (2015). Development of a collaborative robot (COBOT) for increased welding productivity and quality in the shipyard. SNAME Maritime Convention and 5th World Maritime Technology Conference, November 4-6, 2015, Rhode Island, USA, Book of Proceedings.
  • Jones, J.E., Rhoades, V.L., Beard, J., Arner, R.M., Dydo, J.R., Fast, K., Gaffney, J.H. (2015). Development of a collaborative robot (COBOT) for increased welding productivity and quality in the shipyard. SNAME Maritime Convention and 5th World Maritime Technology Conference, November 4-6, 2015, Rhode Island, USA, Book of Proceedings.
  • Kana, S., Lakshminarayanan, S., Mohan, D.M., Campolo, D. (2021). Impedance controlled human–robot collaborative tooling for edge chamfering and polishing applications. Robotics and Computer-Integrated Manufacturing, 72: 102199; DOI: 10.1016/j.rcim.2021.102199
  • Kana, S., Lakshminarayanan, S., Mohan, D.M., Campolo, D. (2021). Impedance controlled human–robot collaborative tooling for edge chamfering and polishing applications. Robotics and Computer-Integrated Manufacturing, 72: 102199; DOI: 10.1016/j.rcim.2021.102199
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  • Malik, A.A., Andersen, M.V., Bilberg, A. (2019). Advances in machine vision for flexible feeding of assembly parts. Procedia Manufacturing, 38: 1228-1235.
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  • Malik, A.A., Masood, T., Kousar, R. (2020). Repurposing factories with robotics in the face of COVID-19. Science robotics, 5 (43): eabc2782; DOI: 10.1126/scirobotics.abc2782
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Kolaboratif Robotların Covid-19 Pandemi Sürecinde Gelişen ve Artan Rolleri Üzerine Bir Araştırma

Yıl 2022, Cilt: 13 Sayı: Ek (Suppl.) 1, 408 - 416, 31.12.2022
https://doi.org/10.29048/makufebed.1161083

Öz

Kolaboratif robotlar diğer bir değişle cobotlar, 21. yüzyılın başlangıcından itibaren, robotik sektöründeki gelişmelerin geldiği boyutlara iyi birer örnek teşkil etmektedir. Özellikle otomasyon teknolojilerinin üretim sektöründeki öneminin anlaşılması ile hayatımıza giren cobotlar, endüstriyel üretimlerde üretim kapasitesi ve hızını artırırken, üretimden dolayı karşılaşılan hataları en aza indirgemeyi hedeflemiştir. Ortaya çıktığı ilk günden günümüze kadar farklı alanlarda kullanılmakta olan cobotların SARS-CoV-2 virüsünün sebep olduğu, 2019 yılının sonlarında dünyada görülmeye başlanan koronavirüs (COVID-19) hastalığının pandemiye yol açmasıyla, pandemi ile mücadelede kullanımına başlanmıştır. Kolaboratif robotların yani cobotların, pandeminin başlaması ile insan hayatını korumak ve pandeminin etkilerinin azaltılması yolunda girdiği gelişme süreci, geçmiş araştırmalardan faydalanılarak incelenmiştir. Bu çalışmada, COVID-19 salgını ve pandemi sürecinde, Cobotların gösterdiği başarı ve yaygın etki değerleri araştırılarak ortaya koyulmuştur.

Kaynakça

  • Akella, P., Peshkin, M., Colgate, E.D., Wannasuphoprasit, W., Nagesh, N., Wells, J., Peacock, B. (1999). Cobots for the automobile assembly line. IEEE International Conference on Robotics and Automation, May 10-15, 1999, Book of Proceedings, 728-733.
  • Akella, P., Peshkin, M., Colgate, E.D., Wannasuphoprasit, W., Nagesh, N., Wells, J., Peacock, B. (1999). Cobots for the automobile assembly line. IEEE International Conference on Robotics and Automation, May 10-15, 1999, Book of Proceedings, 728-733.
  • Bogue, R. (2022). The changing face of the automotive robotics industry. Industrial Robot: The İnternational Journal Of Robotics Research And Application, 49(3): 386-390.
  • Bogue, R. (2022). The changing face of the automotive robotics industry. Industrial Robot: The İnternational Journal Of Robotics Research And Application, 49(3): 386-390.
  • Brito, T., Queiroz, J., Piardi, L., Fernandes, L. A., Lima, J., Leitão, P. (2020). A machine learning approach for collaborative robot smart manufacturing inspection for quality control systems. Procedia Manufacturing, 51: 11-18.
  • Brito, T., Queiroz, J., Piardi, L., Fernandes, L. A., Lima, J., Leitão, P. (2020). A machine learning approach for collaborative robot smart manufacturing inspection for quality control systems. Procedia Manufacturing, 51: 11-18.
  • Chamola, V., Hassija, V., Gupta, V., Guizani, M. (2020). A comprehensive review of the COVID-19 pandemic and the role of IoT, drones, AI, blockchain, and 5G in managing its impact. IEEE Access, 8: 90225-90265.
  • Chamola, V., Hassija, V., Gupta, V., Guizani, M. (2020). A comprehensive review of the COVID-19 pandemic and the role of IoT, drones, AI, blockchain, and 5G in managing its impact. IEEE Access, 8: 90225-90265.
  • Cresswell, K., Ramalingam, S., Sheikh, A. (2020). Can robots improve testing capacity for SARS-CoV-2?. Journal of Medical Internet Research, 22(8): e20169; DOI: 10.2196/20169
  • Cresswell, K., Ramalingam, S., Sheikh, A. (2020). Can robots improve testing capacity for SARS-CoV-2?. Journal of Medical Internet Research, 22(8): e20169; DOI: 10.2196/20169
  • Deniz, C., Gökmen, G. (2022). A New Robotic Application for COVID-19 Specimen Collection Process. Journal of Robotics and Control, 3(1): 73-77.
  • Deniz, C., Gökmen, G. (2022). A New Robotic Application for COVID-19 Specimen Collection Process. Journal of Robotics and Control, 3(1): 73-77.
  • El Makrini, I., Elprama, S.A., Van den Bergh, J., Vanderborght, B., Knevels, A.J., Jewell, C.I., Jacobs, A. (2018). Working with walt: How a cobot was developed and inserted on an auto assembly line. IEEE Robotics & Automation Magazine, 25 (2): 51-58.
  • El Makrini, I., Elprama, S.A., Van den Bergh, J., Vanderborght, B., Knevels, A.J., Jewell, C.I., Jacobs, A. (2018). Working with walt: How a cobot was developed and inserted on an auto assembly line. IEEE Robotics & Automation Magazine, 25 (2): 51-58.
  • Evans, J. (2016). The Robots Are Coming: Actually, robots have been here for some time, as far as injection molding companies are concerned, but they're certainly increasing in number and capabilities. Plastics Engineering, 72(1): 20-23.
  • Evans, J. (2016). The Robots Are Coming: Actually, robots have been here for some time, as far as injection molding companies are concerned, but they're certainly increasing in number and capabilities. Plastics Engineering, 72(1): 20-23.
  • Gheorghe, G. (2019). Concepts and mechatronics and cyber-mixmechatronics constructions, integrated in COBOT type technology platform for intelligent industry (4.0). International Conference of Mechatronics and Cyber-Mixmechatronics, September 5-6, 2019, Bucharest, Romania, Book of Proceedings, 281-300.
  • Gheorghe, G. (2019). Concepts and mechatronics and cyber-mixmechatronics constructions, integrated in COBOT type technology platform for intelligent industry (4.0). International Conference of Mechatronics and Cyber-Mixmechatronics, September 5-6, 2019, Bucharest, Romania, Book of Proceedings, 281-300.
  • Gong, Z., Jiang, S., Meng, Q., Ye, Y., Li, P., Xie, F., Liu, X. (2020). SHUYU robot: An automatic rapid temperature screening system. Chinese Journal of Mechanical Engineering, 33(1): 1-4.
  • Gong, Z., Jiang, S., Meng, Q., Ye, Y., Li, P., Xie, F., Liu, X. (2020). SHUYU robot: An automatic rapid temperature screening system. Chinese Journal of Mechanical Engineering, 33(1): 1-4.
  • Hadi, M. A., Brillinger, M., Bloder, M., Bader, M., Ratasich, M., Haas, F., Armengaud, E. (2021). Implementing cognitive technologies in an assembly line based on two case studies. Procedia CIRP, 97: 520-525.
  • Hadi, M. A., Brillinger, M., Bloder, M., Bader, M., Ratasich, M., Haas, F., Armengaud, E. (2021). Implementing cognitive technologies in an assembly line based on two case studies. Procedia CIRP, 97: 520-525.
  • Iamsawan, N., Warinsiriruk, E., Greebmalai, J., Prasai, A.B., Wang, Y.T. (2020). Automatic-dısınfectıon servıce by agv-cobot system for Covid-19 pandemıc. 10th International Conference on Operations and Supply Chain Management, December 14-16, 2020, Online Conference, Book of Proceedings, 1-7.
  • Iamsawan, N., Warinsiriruk, E., Greebmalai, J., Prasai, A.B., Wang, Y.T. (2020). Automatic-dısınfectıon servıce by agv-cobot system for Covid-19 pandemıc. 10th International Conference on Operations and Supply Chain Management, December 14-16, 2020, Online Conference, Book of Proceedings, 1-7.
  • Jones, J.E., Rhoades, V.L., Beard, J., Arner, R.M., Dydo, J.R., Fast, K., Gaffney, J.H. (2015). Development of a collaborative robot (COBOT) for increased welding productivity and quality in the shipyard. SNAME Maritime Convention and 5th World Maritime Technology Conference, November 4-6, 2015, Rhode Island, USA, Book of Proceedings.
  • Jones, J.E., Rhoades, V.L., Beard, J., Arner, R.M., Dydo, J.R., Fast, K., Gaffney, J.H. (2015). Development of a collaborative robot (COBOT) for increased welding productivity and quality in the shipyard. SNAME Maritime Convention and 5th World Maritime Technology Conference, November 4-6, 2015, Rhode Island, USA, Book of Proceedings.
  • Kana, S., Lakshminarayanan, S., Mohan, D.M., Campolo, D. (2021). Impedance controlled human–robot collaborative tooling for edge chamfering and polishing applications. Robotics and Computer-Integrated Manufacturing, 72: 102199; DOI: 10.1016/j.rcim.2021.102199
  • Kana, S., Lakshminarayanan, S., Mohan, D.M., Campolo, D. (2021). Impedance controlled human–robot collaborative tooling for edge chamfering and polishing applications. Robotics and Computer-Integrated Manufacturing, 72: 102199; DOI: 10.1016/j.rcim.2021.102199
  • Koren, Y., Shpitalni, M. (2010). Design of reconfigurable manufacturing systems. Journal Of Manufacturing Systems, 29 (4): 130-141.
  • Koren, Y., Shpitalni, M. (2010). Design of reconfigurable manufacturing systems. Journal Of Manufacturing Systems, 29 (4): 130-141.
  • Malik, A.A., Andersen, M.V., Bilberg, A. (2019). Advances in machine vision for flexible feeding of assembly parts. Procedia Manufacturing, 38: 1228-1235.
  • Malik, A.A., Andersen, M.V., Bilberg, A. (2019). Advances in machine vision for flexible feeding of assembly parts. Procedia Manufacturing, 38: 1228-1235.
  • Malik, A.A., Masood, T., Kousar, R. (2020). Repurposing factories with robotics in the face of COVID-19. Science robotics, 5 (43): eabc2782; DOI: 10.1126/scirobotics.abc2782
  • Malik, A.A., Masood, T., Kousar, R. (2020). Repurposing factories with robotics in the face of COVID-19. Science robotics, 5 (43): eabc2782; DOI: 10.1126/scirobotics.abc2782
  • Malik, A.A., Masood, T., Kousar, R. (2021). Reconfiguring and ramping-up ventilator production in the face of COVID-19: Can robots help?. Journal of Manufacturing Systems, 60: 864-875.
  • Malik, A.A., Masood, T., Kousar, R. (2021). Reconfiguring and ramping-up ventilator production in the face of COVID-19: Can robots help?. Journal of Manufacturing Systems, 60: 864-875.
  • Menges, B., Sarrey, M., Henaff, P. (2018). Integration of a collaborative robot in a hard steel industrial environment. IEEE 14th International Conference on Automation Science and Engineering (CASE), August 20-24 2018, Munich, Germany, Book of Proceedings, 634-637.
  • Menges, B., Sarrey, M., Henaff, P. (2018). Integration of a collaborative robot in a hard steel industrial environment. IEEE 14th International Conference on Automation Science and Engineering (CASE), August 20-24 2018, Munich, Germany, Book of Proceedings, 634-637.
  • Rane, K.P. (2020). Design and development of low cost humanoid robot with thermal temperature scanner for COVID-19 virus preliminary identification. International Journal, 9(3): 3485-3493.
  • Rane, K.P. (2020). Design and development of low cost humanoid robot with thermal temperature scanner for COVID-19 virus preliminary identification. International Journal, 9(3): 3485-3493.
  • Ulhaq, A., Born, J., Khan, A., Gomes, D.P.S., Chakraborty, S., Paul, M. (2020). Covid-19 control by computer vision approaches: A survey. IEEE Access, 8: 179437-179456.
  • Ulhaq, A., Born, J., Khan, A., Gomes, D.P.S., Chakraborty, S., Paul, M. (2020). Covid-19 control by computer vision approaches: A survey. IEEE Access, 8: 179437-179456.
  • URL-1 (2022). https://www.controleng.com/articles/cobot-market-set-for-double-digit-annual-growth-rates/ (Erişim Tarihi: 13.04.2022)
  • URL-1 (2022). https://www.controleng.com/articles/cobot-market-set-for-double-digit-annual-growth-rates/ (Erişim Tarihi: 13.04.2022)
  • URL-2 (2022). https://www.universal-robots.com/tr/blog/kolaboratif-robot-nedir-hangi-sektorlerde-ve-hangi-uygulamalarda-kullanilir/ (Erişim Tarihi: 12.07.2022)
  • URL-2 (2022). https://www.universal-robots.com/tr/blog/kolaboratif-robot-nedir-hangi-sektorlerde-ve-hangi-uygulamalarda-kullanilir/ (Erişim Tarihi: 12.07.2022)
  • URL-3 (2022). https://www.tuliptechs.com/tr/cozumler/cobot-paletleme (Erişim Tarihi: 10.06.2022)
  • URL-3 (2022). https://www.tuliptechs.com/tr/cozumler/cobot-paletleme (Erişim Tarihi: 10.06.2022)
  • URL-4 (2022). https://www.anadolusaglik.org/robotik-cerrahi (Erişim Tarihi: 14.05.2022)
  • URL-4 (2022). https://www.anadolusaglik.org/robotik-cerrahi (Erişim Tarihi: 14.05.2022)
  • URL-5 (2022). https://www.controleng.com/articles/collaborative-robot-market-predicted-to-surge/ (Erişim Tarihi: 19.05.2022)
  • URL-5 (2022). https://www.controleng.com/articles/collaborative-robot-market-predicted-to-surge/ (Erişim Tarihi: 19.05.2022)
  • URL-6 (2022). https://www.bbc.com/worklife/article/20201023-coronavirus-how-will-the-pandemic-change-the-way-we-work, (Erişim Tarihi: 01.08.2022)
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  • URL-12 (2022). https://ifr.org/case-studies/australias-designed-mouldings-deploys-onrobots-vgc10-gripper (Erişim Tarihi: 08.09.2022)
  • Wei, W., Wang, J., Ma, J., Cheng, N., Xiao, J. (2020). A real-time robot-based auxiliary system for risk evaluation of COVID-19 infection. arXiv preprint arXiv,2008.07695.
  • Wei, W., Wang, J., Ma, J., Cheng, N., Xiao, J. (2020). A real-time robot-based auxiliary system for risk evaluation of COVID-19 infection. arXiv preprint arXiv,2008.07695.
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  • WHO (2021). Novel coronavirus (COVID-19) situation (public dashboard), https://bit. ly/2zL5dXT.
  • Yang, G.Z.,Nelson, B.J., Murphy, R.R., Choset, H., Christensen, H.,H. Collins, S., Dario, P., Goldberg, K., Ikuta, K., Jacobstein, N.,. Kragic, D., Taylor, R.H., McNutt, M. (2020). Combating COVID-19—The role of robotics in managing public health and infectious diseases. Science Robotics, 5(40): eabb5589; DOI: 10.1126/scirobotics.abb558
  • Yang, G.Z.,Nelson, B.J., Murphy, R.R., Choset, H., Christensen, H.,H. Collins, S., Dario, P., Goldberg, K., Ikuta, K., Jacobstein, N.,. Kragic, D., Taylor, R.H., McNutt, M. (2020). Combating COVID-19—The role of robotics in managing public health and infectious diseases. Science Robotics, 5(40): eabb5589; DOI: 10.1126/scirobotics.abb558
Toplam 74 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Mühendislik
Bölüm Derleme Makale
Yazarlar

Lokman Yünlü 0000-0003-1625-995X

Mehmet Cem Küçük 0000-0002-5083-1000

Okan Oral 0000-0002-6302-4574

Yayımlanma Tarihi 31 Aralık 2022
Kabul Tarihi 20 Ekim 2022
Yayımlandığı Sayı Yıl 2022 Cilt: 13 Sayı: Ek (Suppl.) 1

Kaynak Göster

APA Yünlü, L., Küçük, M. C., & Oral, O. (2022). Kolaboratif Robotların Covid-19 Pandemi Sürecinde Gelişen ve Artan Rolleri Üzerine Bir Araştırma. Mehmet Akif Ersoy Üniversitesi Fen Bilimleri Enstitüsü Dergisi, 13(Ek (Suppl.) 1), 408-416. https://doi.org/10.29048/makufebed.1161083