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ORCIDArjan van der Schaft
Arjan J. van der Schaft – A. J. van der Schaft
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- affiliation: University of Groningen
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2020 – today
- 2025
[j109]Anne-Men Huijzer, Arjan van der Schaft, Bart Besselink:
Modelling of memristor networks and the effective memristor. Autom. 171: 111922 (2025)- 2024
- [j108]Lalitesh Kumar, Jian Chen, Chengshuai Wu, Yuzhu Chen, Arjan van der Schaft
:
A segmented model based fuel delivery control of PEM fuel cells: A port-Hamiltonian approach. Autom. 168: 111814 (2024) - [j107]Arjan van der Schaft, Bart Besselink, Anne-Men Huijzer:
Kron Reduction of Nonlinear Networks. IEEE Control. Syst. Lett. 8: 556-561 (2024) - [j106]Arjan van der Schaft:
Reciprocity of Nonlinear Systems. SIAM J. Control. Optim. 62(6): 3019-3041 (2024) - [j105]Armin Pirastehzad, Arjan van der Schaft, Bart Besselink:
Comparison of Nondeterministic Stable Linear Systems by ($\gamma,\delta$)-Similarity. IEEE Trans. Autom. Control. 69(12): 8617-8632 (2024) - [i35]Lalitesh Kumar, Jian Chen, Chengshuai Wu, Yuzhu Chen, Arjan van der Schaft:
Segmented Model-Based Hydrogen Delivery Control for PEM Fuel Cells: a Port-Hamiltonian Approach. CoRR abs/2404.11959 (2024) - 2023
- [j104]Anne-Men Huijzer, Arjan van der Schaft, Bart Besselink:
Synchronization in Electrical Circuits With Memristors and Grounded Capacitors. IEEE Control. Syst. Lett. 7: 1849-1854 (2023) - [j103]Pablo Borja, Joel Ferguson, Arjan van der Schaft:
Interconnection Schemes in Modeling and Control. IEEE Control. Syst. Lett. 7: 2287-2292 (2023) - [j102]Arjan van der Schaft:
Geometric Modeling for Control of Thermodynamic Systems. Entropy 25(4): 577 (2023) - [j101]Volker Mehrmann, Arjan van der Schaft:
Differential-algebraic systems with dissipative Hamiltonian structure. Math. Control. Signals Syst. 35(3): 541-584 (2023) - [j100]Arjan van der Schaft, Volker Mehrmann:
Linear port-Hamiltonian DAE systems revisited. Syst. Control. Lett. 177: 105564 (2023) - [j99]M. Kanat Camlibel, A. J. van der Schaft:
Port-Hamiltonian Systems Theory and Monotonicity. SIAM J. Control. Optim. 61(4): 2193-2221 (2023) - [j98]Mark Jeeninga, Claudio De Persis, Arjan van der Schaft:
DC Power Grids With Constant-Power Loads - Part I: A Full Characterization of Power Flow Feasibility, Long-Term Voltage Stability, and Their Correspondence. IEEE Trans. Autom. Control. 68(1): 2-17 (2023) - [j97]Mark Jeeninga, Claudio De Persis, Arjan van der Schaft:
DC Power Grids With Constant-Power Loads - Part II: Nonnegative Power Demands, Conditions for Feasibility, and High-Voltage Solutions. IEEE Trans. Autom. Control. 68(1): 18-30 (2023) - [j96]Brayan M. Shali, Arjan van der Schaft, Bart Besselink:
Composition of Behavioural Assume-Guarantee Contracts. IEEE Trans. Autom. Control. 68(10): 5991-6006 (2023) - [j95]Ningbo Li, Pablo Borja, Jacquelien M. A. Scherpen, Arjan van der Schaft, Robert E. Mahony:
Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements. IEEE Trans. Autom. Control. 68(12): 7951-7957 (2023) - [c92]Armin Pirastehzad, Arjan van der Schaft, Bart Besselink:
Specification Verification and Controller Synthesis Using (γ, δ)-Similarity. CDC 2023: 1692-1697 - [i34]Ningbo Li, Zhiyong Sun, Arjan van der Schaft, Jacquelien M. A. Scherpen:
A port-Hamiltonian framework for displacement-based and rigid formation tracking. CoRR abs/2305.09964 (2023) - [i33]Ningbo Li, Pablo Borja, Arjan van der Schaft, Jacquelien M. A. Scherpen:
Angle-based formation stabilization and maneuvers in port-Hamiltonian form with bearing and velocity measurements. CoRR abs/2305.09991 (2023) - 2022
- [j94]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana:
Virtual contractivity-based control of fully-actuated mechanical systems in the port-Hamiltonian framework. Autom. 141: 110275 (2022) - [j93]Arjan van der Schaft, Dimitri Jeltsema:
Limits to Energy Conversion. IEEE Trans. Autom. Control. 67(1): 532-538 (2022) - [c91]Brayan M. Shali, H. M. Heidema, A. J. van der Schaft, Bart Besselink:
Series composition of simulation-based assume-guarantee contracts for linear dynamical systems. CDC 2022: 2204-2209 - [c90]Arjan van der Schaft, Volker Mehrmann:
A Lagrange subspace approach to dissipation inequalities. CDC 2022: 5486-5491 - [c89]Ningbo Li, Jacquelien M. A. Scherpen, Arjan van der Schaft, Zhiyong Sun:
A passivity approach in port-Hamiltonian form for formation control and velocity tracking. ECC 2022: 1844-1849 - [i32]Romeo Ortega, Rafael Cisneros, Lei Wang, Arjan van der Schaft:
Indirect Adaptive Control of Nonlinearly Parameterized Nonlinear Dissipative Systems. CoRR abs/2201.05749 (2022) - [i31]Arjan van der Schaft, Volker Mehrmann:
Linear port-Hamiltonian DAE systems revisited. CoRR abs/2211.06676 (2022) - 2021
- [j92]Ashish Cherukuri, Tjerk Stegink, Claudio De Persis, Arjan van der Schaft, Jorge Cortés:
Frequency-driven market mechanisms for optimal dispatch in power networks. Autom. 133: 109861 (2021) - [j91]Filip Koerts, Arjan van der Schaft, Claudio De Persis:
Secondary Frequency Control In Power Systems With Arbitrary Communication Delays. SIAM J. Control. Optim. 59(5): 3787-3804 (2021) - [j90]Chengshuai Wu, Arjan van der Schaft, Jian Chen:
Stabilization of Port-Hamiltonian Systems Based on Shifted Passivity via Feedback. IEEE Trans. Autom. Control. 66(5): 2219-2226 (2021) - [j89]Arjan van der Schaft:
Cyclo-Dissipativity Revisited. IEEE Trans. Autom. Control. 66(6): 2920-2924 (2021) - [c88]Brayan M. Shali, A. J. van der Schaft, Bart Besselink:
Behavioural assume-guarantee contracts for linear dynamical systems. CDC 2021: 2002-2007 - [c87]Arjan van der Schaft, Dimitri Jeltsema:
On Energy Conversion in Port-Hamiltonian Systems. CDC 2021: 2421-2427 - [c86]Anne-Men Huijzer, Arjan van der Schaft, Bart Besselink:
Robustness of the terminal behaviour of resistive electrical networks. CDC 2021: 6264-6269 - [c85]Brayan M. Shali, A. J. van der Schaft, Bart Besselink:
Behavioural contracts for linear dynamical systems: input assumptions and output guarantees. ECC 2021: 567-572 - 2020
- [j88]Arjan van der Schaft:
Port-Hamiltonian Modeling for Control. Annu. Rev. Control. Robotics Auton. Syst. 3: 393-416 (2020) - [j87]Ramy Rashad, Federico Califano, Arjan van der Schaft, Stefano Stramigioli:
Twenty years of distributed port-Hamiltonian systems: a literature review. IMA J. Math. Control. Inf. 37(4): 1400-1422 (2020) - [j86]Zhou Fang, Arjan van der Schaft, Chuanhou Gao:
A Graphic Formulation of Nonisothermal Chemical Reaction Systems and the Analysis of Detailed Balanced Networks. SIAM J. Appl. Dyn. Syst. 19(4): 2594-2627 (2020) - [j85]Zhou Fang, Bayu Jayawardhana, Arjan van der Schaft, Chuanhou Gao:
Adaptation Mechanisms in Phosphorylation Cycles By Allosteric Binding and Gene Autoregulation. IEEE Trans. Autom. Control. 65(8): 3457-3470 (2020) - [i30]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana, Le Pan:
A family of virtual contraction based controllers for tracking of flexible-joints port-Hamiltonian robots: theory and experiments. CoRR abs/2002.01542 (2020) - [i29]Dimitri Jeltsema, Arjan van der Schaft:
Memcapacitors and Meminductors are Overunity Systems! CoRR abs/2008.04086 (2020) - [i28]Mark Jeeninga, Claudio De Persis, Arjan van der Schaft:
DC power grids with constant-power loads - Part I: A full characterization of power flow feasibility, long-term voltage stability and their correspondence. CoRR abs/2010.01076 (2020) - [i27]Mark Jeeninga, Claudio De Persis, Arjan van der Schaft:
DC power grids with constant-power loads - Part II: nonnegative power demands, conditions for feasibility, and high-voltage solutions. CoRR abs/2011.09333 (2020)
2010 – 2019
- 2019
- [j84]Chengshuai Wu, Arjan van der Schaft, Jian Chen:
Robust trajectory tracking for incrementally passive nonlinear systems. Autom. 107: 595-599 (2019) - [j83]Pooya Monshizadeh, Juan E. Machado, Romeo Ortega, Arjan van der Schaft:
Power-controlled Hamiltonian systems: Application to electrical systems with constant power loads. Autom. 109 (2019) - [j82]Nima Monshizadeh, Pooya Monshizadeh, Romeo Ortega, Arjan van der Schaft:
Conditions on shifted passivity of port-Hamiltonian systems. Syst. Control. Lett. 123: 55-61 (2019) - [j81]Tjerk Stegink, Ashish Cherukuri, Claudio De Persis, Arjan van der Schaft, Jorge Cortés:
Hybrid Interconnection of Iterative Bidding and Power Network Dynamics for Frequency Regulation and Optimal Dispatch. IEEE Trans. Control. Netw. Syst. 6(2): 572-585 (2019) - [j80]Michele Cucuzzella, Sebastian Trip, Claudio De Persis, Xiaodong Cheng, Antonella Ferrara, Arjan van der Schaft:
A Robust Consensus Algorithm for Current Sharing and Voltage Regulation in DC Microgrids. IEEE Trans. Control. Syst. Technol. 27(4): 1583-1595 (2019) - [j79]Sebastian Trip, Michele Cucuzzella, Claudio De Persis, Arjan van der Schaft, Antonella Ferrara:
Passivity-Based Design of Sliding Modes for Optimal Load Frequency Control. IEEE Trans. Control. Syst. Technol. 27(5): 1893-1906 (2019) - [c84]Bernhard Maschke, Arjan van der Schaft:
Port-thermodynamic systems and the assignment of their structure by feedback. CDC 2019: 8067-8072 - [c83]Bart Besselink, Karl Henrik Johansson, Arjan van der Schaft:
Contracts as specifications for dynamical systems in driving variable form. ECC 2019: 263-268 - [c82]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana, Alejandro Donaire, Tristán Pérez:
Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach. ECC 2019: 1636-1641 - [c81]Arjan van der Schaft, Bernhard Maschke:
About Some System-Theoretic Properties of Port-Thermodynamic Systems. GSI 2019: 228-238 - 2018
- [j78]Sei Zhen Khong, Arjan van der Schaft:
On the converse of the passivity and small-gain theorems for input-output maps. Autom. 97: 58-63 (2018) - [j77]Arjan van der Schaft, Bernhard Maschke:
Geometry of Thermodynamic Processes. Entropy 20(12): 925 (2018) - [j76]Noorma Yulia Megawati, Arjan van der Schaft:
Bisimulation equivalence of differential-algebraic systems. Int. J. Control 91(1): 45-56 (2018) - [j75]Arjan van der Schaft, Bernhard Maschke:
Generalized port-Hamiltonian DAE systems. Syst. Control. Lett. 121: 31-37 (2018) - [j74]Nima Monshizadeh, Claudio De Persis, Arjan van der Schaft, Jacquelien M. A. Scherpen:
A Novel Reduced Model for Electrical Networks With Constant Power Loads. IEEE Trans. Autom. Control. 63(5): 1288-1299 (2018) - [j73]Giordano Pola, Costanzo Manes, Arjan van der Schaft, Maria Domenica Di Benedetto:
Bisimulation Equivalence of Discrete-Time Stochastic Linear Control Systems. IEEE Trans. Autom. Control. 63(7): 1897-1912 (2018) - [c80]Tjerk Stegink, Ashish Cherukuri, Claudio De Persis, Arjan van der Schaft, Jorge Cortés:
Integrating Iterative Bidding in Electricity Markets and Frequency Regulation. ACC 2018: 6182-6187 - [i26]Pooya Monshizadeh, Juan E. Machado, Romeo Ortega, Arjan van der Schaft:
Power-Controlled Hamiltonian Systems: Application to Electrical Systems with Constant Power Loads. CoRR abs/1802.02483 (2018) - [i25]Rodolfo Reyes-Báez, Alejandro Donaire, Arjan van der Schaft, Bayu Jayawardhana, Tristan Perez:
Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach. CoRR abs/1803.07938 (2018) - [i24]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana:
Passivity based distributed tracking control of networked Euler-Lagrange systems. CoRR abs/1805.05873 (2018) - [i23]Tjerk Stegink, Claudio De Persis, A. J. van der Schaft:
An energy-based analysis of reduced-order models of (networked) synchronous machines. CoRR abs/1809.05019 (2018) - [i22]Bart Besselink, Karl Henrik Johansson, Arjan van der Schaft:
Contracts as specifications for dynamical systems in driving variable form. CoRR abs/1810.05542 (2018) - 2017
- [j72]Jieqiang Wei, Anneroos R. F. Everts, M. Kanat Camlibel, A. J. van der Schaft:
Consensus dynamics with arbitrary sign-preserving nonlinearities. Autom. 83: 226-233 (2017) - [j71]Arjan van der Schaft:
Modeling of physical network systems. Syst. Control. Lett. 101: 21-27 (2017) - [j70]Noorma Yulia Megawati, Arjan van der Schaft:
Abstraction and control by interconnection of linear systems: A geometric approach. Syst. Control. Lett. 105: 27-33 (2017) - [j69]Filip Koerts, Mathias Bürger, Arjan van der Schaft, Claudio De Persis:
Topological and Graph-Coloring Conditions on the Parameter-Independent Stability of Second-Order Networked Systems. SIAM J. Control. Optim. 55(6): 3750-3778 (2017) - [j68]Tjerk Stegink, Claudio De Persis, Arjan van der Schaft:
A Unifying Energy-Based Approach to Stability of Power Grids With Market Dynamics. IEEE Trans. Autom. Control. 62(6): 2612-2622 (2017) - [c79]Arjan van der Schaft:
Analysis and Design of Interconnected Systems: A Systems and Control Perspective. ModelEd, TestEd, TrustEd 2017: 316-332 - [c78]Zhou Fang, Bayu Jayawardhana, Arjan van der Schaft, Chuanhou Gao:
Integral regulation mechanism in phosphorylation cycles. CDC 2017: 5322-5327 - [c77]Pooya Monshizadeh, Claudio De Persis, Tjerk Stegink, Nima Monshizadeh, Arjan van der Schaft:
Stability and frequency regulation of inverters with capacitive inertia. CDC 2017: 5696-5701 - [c76]Bernhard Maschke, Arjan van der Schaft:
About the Definition of Port Variables for Contact Hamiltonian Systems. GSI 2017: 418-424 - [i21]Pooya Monshizadeh, Nima Monshizadeh, Claudio De Persis, Arjan van der Schaft:
Output Impedance Diffusion into Lossy Power Lines. CoRR abs/1702.01488 (2017) - [i20]Pooya Monshizadeh, Claudio De Persis, Tjerk Stegink, Nima Monshizadeh, Arjan van der Schaft:
Stability and Frequency Regulation of Inverters with Capacitive Inertia. CoRR abs/1704.01545 (2017) - [i19]Michele Cucuzzella, Sebastian Trip, Claudio De Persis, Antonella Ferrara, Arjan van der Schaft:
A Robust Consensus Algorithm for Current Sharing and Voltage Regulation in DC Microgrids. CoRR abs/1708.04608 (2017) - [i18]Sebastian Trip, Michele Cucuzzella, Claudio De Persis, Arjan van der Schaft, Antonella Ferrara:
Passivity based design of sliding modes for optimal Load Frequency Control. CoRR abs/1709.01273 (2017) - [i17]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana:
Virtual Differential Passivity based Control for Tracking of Flexible-joints Robots. CoRR abs/1710.11078 (2017) - [i16]Nima Monshizadeh, Pooya Monshizadeh, Romeo Ortega, Arjan van der Schaft:
Conditions on Shifted Passivity of Port-Hamiltonian Systems. CoRR abs/1711.09065 (2017) - 2016
- [j67]Arjan van der Schaft, Tjerk Stegink:
Perspectives in modeling for control of power networks. Annu. Rev. Control. 41: 119-132 (2016) - [j66]A. J. van der Schaft, Shodhan Rao, Bayu Jayawardhana:
A network dynamics approach to chemical reaction networks. Int. J. Control 89(4): 731-745 (2016) - [j65]Ewoud Vos, Arjan van der Schaft, Jacquelien M. A. Scherpen:
Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots. IEEE Trans. Autom. Control. 61(9): 2702-2707 (2016) - [c75]Pooya Monshizadeh, Claudio De Persis, Nima Monshizadeh, Arjan van der Schaft:
A communication-free master-slave microgrid with power sharing. ACC 2016: 3564-3569 - [c74]Nima Monshizadeh, Claudio De Persis, Arjan van der Schaft, Jacquelien M. A. Scherpen:
A networked reduced model for electrical networks with constant power loads. ACC 2016: 3644-3649 - [c73]Filip Koerts, Mathias Bürger, Arjan van der Schaft, Claudio De Persis:
Stability analysis of networked systems containing damped and undamped nodes. ACC 2016: 7007-7012 - [c72]Tjerk Stegink, Claudio De Persis, Arjan van der Schaft:
Optimal power dispatch in networks of high-dimensional models of synchronous machines. CDC 2016: 4110-4115 - [c71]Pooya Monshizadeh, Claudio De Persis, Nima Monshizadeh, Arjan van der Schaft:
Nonlinear analysis of an improved swing equation. CDC 2016: 4116-4121 - [c70]Arjan van der Schaft:
Interconnections of input-output Hamiltonian systems with dissipation. CDC 2016: 4686-4691 - [c69]Giordano Pola, Costanzo Manes, Arjan van der Schaft, Maria Domenica Di Benedetto:
Model reduction of continuous-time stochastic linear control systems via bisimulation equivalence. CDC 2016: 6577-6582 - [c68]Noorma Yulia Megawati, Arjan van der Schaft:
Equivalence of regular matrix pencil DAE systems by bisimulation. ECC 2016: 1093-1098 - [i15]Tjerk Stegink, Claudio De Persis, Arjan van der Schaft:
Optimal power dispatch in networks of high-dimensional models of synchronous machines. CoRR abs/1603.06688 (2016) - [i14]Pooya Monshizadeh, Claudio De Persis, Nima Monshizadeh, Arjan van der Schaft:
Nonlinear Analysis of an Improved Swing Equation. CoRR abs/1603.07440 (2016) - [i13]Tjerk Stegink, Claudio De Persis, Arjan van der Schaft:
A unifying energy-based approach to stability of power grids with market dynamics. CoRR abs/1604.05200 (2016) - [i12]Rodolfo Reyes-Báez, Arjan van der Schaft, Bayu Jayawardhana:
Tracking Control of Fully-actuated port-Hamiltonian Mechanical Systems using Sliding Manifold and Contraction. CoRR abs/1611.07302 (2016) - 2015
- [j64]Matin Jafarian, Ewoud Vos, Claudio De Persis, Arjan van der Schaft, Jacquelien M. A. Scherpen:
Formation control of a multi-agent system subject to Coulomb friction. Autom. 61: 253-262 (2015) - [j63]Daniel Alonzo Dirksz, Jacquelien M. A. Scherpen, A. J. van der Schaft, Maarten Steinbuch:
Notch Filters for Port-Hamiltonian Systems. IEEE Trans. Autom. Control. 60(9): 2440-2445 (2015) - [c67]Giordano Pola, Costanzo Manes, Arjan van der Schaft, Maria Domenica Di Benedetto:
On equivalence notions for discrete-time stochastic control systems. CDC 2015: 1180-1185 - [c66]Tjerk Stegink, Claudio De Persis, Arjan van der Schaft:
A port-Hamiltonian approach to optimal frequency regulation in power grids. CDC 2015: 3224-3229 - [c65]Arjan van der Schaft:
A geometric approach to differential Hamiltonian systems and differential Riccati equations. CDC 2015: 7151-7156 - [i11]Pooya Monshizadeh, Claudio De Persis, Nima Monshizadeh, Arjan van der Schaft:
A Communication-Free Master-Slave Microgrid with Power Sharing. CoRR abs/1509.08847 (2015) - [i10]Nima Monshizadeh, Claudio De Persis, Arjan van der Schaft, Jacquelien M. A. Scherpen:
A Networked Reduced Model for Electrical Networks with Constant Power Loads. CoRR abs/1512.08250 (2015) - 2014
- [j62]Marko Seslija, Jacquelien M. A. Scherpen, Arjan van der Schaft:
Explicit simplicial discretization of distributed-parameter port-Hamiltonian systems. Autom. 50(2): 369-377 (2014) - [j61]Marko Seslija, Arjan van der Schaft, Jacquelien M. A. Scherpen:
Hamiltonian perspective on compartmental reaction-diffusion networks. Autom. 50(3): 737-746 (2014) - [j60]Ewoud Vos, Jacquelien M. A. Scherpen, Arjan van der Schaft:
Equal distribution of satellite constellations on circular target orbits. Autom. 50(10): 2641-2647 (2014) - [j59]Shodhan Rao, Arjan van der Schaft, Karen van Eunen, Barbara M. Bakker, Bayu Jayawardhana:
A model reduction method for biochemical reaction networks. BMC Syst. Biol. 8: 52 (2014) - [j58]Arjan van der Schaft, Dimitri Jeltsema:
Port-Hamiltonian Systems Theory: An Introductory Overview. Found. Trends Syst. Control. 1(2-3): 173-378 (2014) - [c64]Nima Monshizadeh, Arjan van der Schaft:
Structure-preserving model reduction of physical network systems by clustering. CDC 2014: 4434-4440 - [c63]Jieqiang Wei, Arjan van der Schaft:
Constrained proportional integral control of dynamical distribution networks with state constraints. CDC 2014: 6056-6061 - [c62]Gerrit A. Folkertsma, Arjan van der Schaft, Stefano Stramigioli:
Power-continuous synchronisation of oscillators: A novel, energy-free way to synchronise dynamical systems. ICRA 2014: 1493-1498 - [i9]Nima Monshizadeh, Arjan van der Schaft:
Structure-preserving model reduction of physical network systems by clustering. CoRR abs/1403.4789 (2014) - 2013
- [j57]Alessandro Macchelli, Cristian Secchi, A. J. van der Schaft:
Guest Editorial. Eur. J. Control 19(6): 437 (2013) - [j56]Shaik Fiaz, Daniele Zonetti, Romeo Ortega, Jacquelien M. A. Scherpen, A. J. van der Schaft:
A port-Hamiltonian approach to power network modeling and analysis. Eur. J. Control 19(6): 477-485 (2013) - [j55]Jieqiang Wei, A. J. van der Schaft:
Load balancing of dynamical distribution networks with flow constraints and unknown in/outflows. Syst. Control. Lett. 62(11): 1001-1008 (2013) - [j54]Arjan van der Schaft, Shodhan Rao, Bayu Jayawardhana:
On the Mathematical Structure of Balanced Chemical Reaction Networks Governed by Mass Action Kinetics. SIAM J. Appl. Math. 73(2): 953-973 (2013) - [j53]