Plus One Demonstrates Human-in-the-Loop Solutions

Plus One Robotics, a provider of advanced robot perception software and solutions for parcel handling systems, will be demonstrating its human-in-the-loop remote supervisor software, Yonder, in booth 6C11 in Hall 6 at LogiMAT 2023 at the Messe Stuttgart convention centre.

By participating in the Yonder demonstration, attendees will be provided an opportunity to act as a ‘Crew Chief’ and remotely control and command a robot in the Plus One Utrecht Customer Experience Centre to pick and place using their de-palletising system for random mixed pallets. With Yonder, remotely located humans can supervise multiple robots from any location, speeding the robot’s ability to handle exceptions. The AI system learns from this intervention to further improve its capabilities if similar situations occur in the future, helping to minimise downtime and enabling 24/7 fulfilment.

PickOne with Yonder enables companies to be more efficient and cost effective with very precise, high-speed robotic picking and automated sortation. Using award-winning AI vision software in conjunction with the company’s unique end-of-arm robot grippers, PickOne optimises the picking and depalletising of mixed parcels, bags, pallets, and products for high-volume ecommerce fulfilment and distribution centres.

 

SICK Launches 3D Camera with Certified Safety

SICK has launched the safeVisionary2, the world’s first compact 3D time-of-flight camera with safety certification performance level c, in accordance with ISO 13849. The safeVisionary2 promises to use the benefits of three-dimensional environmental perception to improve safety and productivity in many manufacturing and logistics environments.

“The safeVisionary2 represents a new milestone in safety technology,” said Dr Martin Kidman, SICK’s Market Product Manager for Safety Solutions. “Until now, using LiDAR sensors has been the standard for monitoring protective fields in a two-dimensional plane. In contrast, the safeVisonary2 uses 3D time-of-flight technology to monitor a three-dimensional space.

“This offers some exciting new possibilities for certain applications, particularly for increasing the availability of Automated Guided Vehicles (AGVs) and other mobile robots, as well as to improve the productivity and versatility of human-robot collaboration.”

Automated Mobile Robots

In Automated Mobile Robots (AMRs), by scanning in three dimensions the SICK safeVisionary2 offers enhanced protection where there is a risk of collision with objects or people that are higher than the field of a standard 2D safety laser scanner. In addition, perception to the sides of the AMR provides more protection to people when the vehicle is turning or rotating, for example after loading and unloading operations. The safeVisionary2 may also enable automatic restart, so more available and productive working is possible.

The safeVisionary2 also ensures greater levels of safety when using mobile service robots. As well as monitoring protective and warning fields in the robot’s travel path, the camera has a contour detection field that can reliably identify cliff hazards, such as stairs or ramps.

Collaborative Human Robot Safety

Using the safeVisionary2’s safe 3D environmental perception enables more true collaboration between robots and workers with fewer stops and reduced safety distances in stationary applications. The Safe Visionary2 can detect people’s upper bodies and therefore dangers such as reaching or leaning into hazardous areas. With the safeVisionary2, protection of the robot work area at human head height is extended, so robots can continue to operate safely with reduced force and speed.

In addition to its safety functions, the SICK safeVisionary2 can also output precise 3D measurement data for automation tasks, which can be used for navigation, for example. At 30 images per second and a resolution of 512 x 424 pixels, the camera delivers reliable intensity and distance values to support both dynamic vehicle navigation and object detection for collision avoidance.

In static robot applications, the safeVisionary2 can also be used, for example, for empty pallet recognition in robot palletising and depalletising applications, alongside the safety function.

The SICK safeVisionary2’s compact 70 x 80 x 77 mm dimensions allows for easy integration into AGVs, AMRs or tight machine spaces. The camera is also highly reliable thanks to solid-state technology that makes it extremely resistant to shocks and vibration. It can also be used reliably in environments with ambient light or darkness.

 

SICK Launches 3D Camera with Certified Safety

SICK has launched the safeVisionary2, the world’s first compact 3D time-of-flight camera with safety certification performance level c, in accordance with ISO 13849. The safeVisionary2 promises to use the benefits of three-dimensional environmental perception to improve safety and productivity in many manufacturing and logistics environments.

“The safeVisionary2 represents a new milestone in safety technology,” said Dr Martin Kidman, SICK’s Market Product Manager for Safety Solutions. “Until now, using LiDAR sensors has been the standard for monitoring protective fields in a two-dimensional plane. In contrast, the safeVisonary2 uses 3D time-of-flight technology to monitor a three-dimensional space.

“This offers some exciting new possibilities for certain applications, particularly for increasing the availability of Automated Guided Vehicles (AGVs) and other mobile robots, as well as to improve the productivity and versatility of human-robot collaboration.”

Automated Mobile Robots

In Automated Mobile Robots (AMRs), by scanning in three dimensions the SICK safeVisionary2 offers enhanced protection where there is a risk of collision with objects or people that are higher than the field of a standard 2D safety laser scanner. In addition, perception to the sides of the AMR provides more protection to people when the vehicle is turning or rotating, for example after loading and unloading operations. The safeVisionary2 may also enable automatic restart, so more available and productive working is possible.

The safeVisionary2 also ensures greater levels of safety when using mobile service robots. As well as monitoring protective and warning fields in the robot’s travel path, the camera has a contour detection field that can reliably identify cliff hazards, such as stairs or ramps.

Collaborative Human Robot Safety

Using the safeVisionary2’s safe 3D environmental perception enables more true collaboration between robots and workers with fewer stops and reduced safety distances in stationary applications. The Safe Visionary2 can detect people’s upper bodies and therefore dangers such as reaching or leaning into hazardous areas. With the safeVisionary2, protection of the robot work area at human head height is extended, so robots can continue to operate safely with reduced force and speed.

In addition to its safety functions, the SICK safeVisionary2 can also output precise 3D measurement data for automation tasks, which can be used for navigation, for example. At 30 images per second and a resolution of 512 x 424 pixels, the camera delivers reliable intensity and distance values to support both dynamic vehicle navigation and object detection for collision avoidance.

In static robot applications, the safeVisionary2 can also be used, for example, for empty pallet recognition in robot palletising and depalletising applications, alongside the safety function.

The SICK safeVisionary2’s compact 70 x 80 x 77 mm dimensions allows for easy integration into AGVs, AMRs or tight machine spaces. The camera is also highly reliable thanks to solid-state technology that makes it extremely resistant to shocks and vibration. It can also be used reliably in environments with ambient light or darkness.

 

New Intermodal Connection Between Duisburg and Padua

TX Logistik AG is expanding its intermodal network with a new connection between Duisburg and Padua. The rail logistics company, which belongs to Mercitalia Logistics (Gruppo FS Italiane), has planned to start the connection on May 2nd. Four round trips per week with 32 loading units per train will be put on the tracks.

The connection, on which truck trailers with all kinds of goods are transported, will be operated as an open train system. The main customer is the Italian transport and logistics service provider Trans Italia with headquarter in Salerno. All services associated with the new relation will be taken over and controlled by TX Logistik. The route runs from Germany through Switzerland to Italy, to Padua in the Veneto region. There, Interporto Padova operates a modern rail terminal where around 275,000 TEU are handled between road and rail every year. In Germany, the combined transport terminal on the logport III site in Duisburg-Hohenbudberg is served, which is operated by TX Logistik together with two partners as Ziel Terminal GmbH.

For TX Logistik, which is responsible for international rail freight transport within the Mercitalia Group, Padua is an important expansion of the European network. The city is only about 25km away from Venice, where short-sea connections to the Balkan states can be used. At the same time, Veneto is Italy’s third most important export region – with Germany as its main trading partner. This offers good opportunities to shift more goods from road to rail.

 

New Intermodal Connection Between Duisburg and Padua

TX Logistik AG is expanding its intermodal network with a new connection between Duisburg and Padua. The rail logistics company, which belongs to Mercitalia Logistics (Gruppo FS Italiane), has planned to start the connection on May 2nd. Four round trips per week with 32 loading units per train will be put on the tracks.

The connection, on which truck trailers with all kinds of goods are transported, will be operated as an open train system. The main customer is the Italian transport and logistics service provider Trans Italia with headquarter in Salerno. All services associated with the new relation will be taken over and controlled by TX Logistik. The route runs from Germany through Switzerland to Italy, to Padua in the Veneto region. There, Interporto Padova operates a modern rail terminal where around 275,000 TEU are handled between road and rail every year. In Germany, the combined transport terminal on the logport III site in Duisburg-Hohenbudberg is served, which is operated by TX Logistik together with two partners as Ziel Terminal GmbH.

For TX Logistik, which is responsible for international rail freight transport within the Mercitalia Group, Padua is an important expansion of the European network. The city is only about 25km away from Venice, where short-sea connections to the Balkan states can be used. At the same time, Veneto is Italy’s third most important export region – with Germany as its main trading partner. This offers good opportunities to shift more goods from road to rail.

 

Second Phase of Derby Development Announced

St. Modwen Logistics, one of the UK’s leading logistics developers and managers and a Blackstone portfolio company, has invested almost £60m to develop an additional c. 350,000 sq ft of new warehouse space at St. Modwen Park Derby.

Due for completion in 2024, this next phase will see St Modwen Logistics and Winvic Construction Ltd deliver a new 147,000 sq ft warehouse which has already been pre-let. Four additional new buildings totalling c. 200,000 sq ft will also be developed to help meet increased occupier demand for mid-sized industrial and logistics units in the East Midlands.

As part of the first phase of development, to date, St. Modwen Logistics has invested more than £45m in delivering over 300,000 sq ft of sustainable warehousing across four units at St. Modwen Park Derby. Completed in December 2022, it has already attracted two international occupiers, with German heat pump manufacturer Vaillant signing for 131,000 sq ft and Swedish medical technology company Getinge establishing a new Global Centre of Excellence for Chemistry at the scheme alongside its new UK headquarters.

The quintet of new warehouses will be built to St. Modwen Logistics’ ‘Swan Standard’ for sustainable construction, meaning they will be highly energy efficient and come with an EPC A+ rating, thereby helping customers to reduce their operational costs. All five units will benefit from the installation of rooftop solar panels as standard.

Additionally, all five buildings will aim to place in the top 10% of UK new non-domestic buildings for sustainability by targeting an ‘Excellent’ accreditation from BREEAM, the leading real estate sustainability body. In line with the company’s commitment to sustainable development, the Midlands-based company is also strengthening biodiversity at the Park through the creation of a new riverside nature corridor, having already planted 17,000 trees and shrubs as part of the first phase of construction.

Located on Wyvern Way – adjacent to the A52 with direct access to the A38, A50 and nearby M1 motorway, and just 13 miles from East Midlands airport – St. Modwen Park Derby is one of the largest regeneration sites in the region and provides strong transport links and access to one of the highest skilled workforces in the country.

Robert Richardson, Development Director at St. Modwen Logistics, commented: “Our committed investments in St. Modwen Park Derby now exceeds £100m and our decision to embark on the next phase of development, underlines our confidence in Derby as hub for logistics as well as high-skilled tech and manufacturing. We expect a diversity of demand for the new units and a wide variety of employment opportunities to be generated.”

“The first phase of construction on the Park was a huge success and we are looking forward to working with Winvic again to deliver this next phase of development.”

Amanda Solloway, MP for Derby North said: “It has been fascinating to see St. Modwen Park taking shape on what was waste ground next to the Wyvern Centre. Last year, I attended the launch event and saw first-hand the huge benefits that it will bring to Derby in terms of job creation and the provision of high-quality warehouse space and the kind of modern, dedicated office space that the city and the wider Midlands needs if it is to grow and prosper.

“To see a further £59m invested into the park is therefore amazing news and an example of levelling up at its best!”

Paul Simpson, Chief Executive, Derby City Council, said: “This is more great news for the city in what has been a bumper month of major investment announcements, following the decision to make Derby the home of Great British Railways.

“In February we also welcomed two industry leaders, Getinge and Vaillant, to St. Modwen Park. Now we can look forward to seeing more in phase two, which will create more jobs and boost our economy further. It’s clear Derby is seen as a fantastic City in which to invest.

“It was great to be on site to mark this occasion, and I look forward to seeing more investment in Derby and in the next phase of St. Modwen Park.”

Danny Nelson, Winvic’s Head of Industrial, Distribution and Logistics, added: “We have built an outstanding relationship with the St Modwen team in delivering the civils and infrastructure package and the four industrial units at Derby – as well assets across other sites – and we’re delighted to have secured the contract for Phase 2. Sustainability is a fundamental part of both Winvic’s and St Modwen’s DNA and our one-team approach ensures we’re able to help occupiers achieve their own sustainability goals. The team is looking forward to progressing the scheme at pace and we are scheduled to complete all five facilities early in 2024.”

CAPTION: (L-R): Rob Richardson, Development Director, St. Modwen Logistics; Ben Shearman, Construction Director, Winvic; Ian Martin, Senior Construction Manager, St. Modwen Logistics; Paul Simpson, Chief Executive, Derby City Council; Ben Silcock, Leasing and Development Manager, St. Modwen Logistics; Adam Broadhurst, Project Manager, Winvic.

 

 

Manhattan Associates Named Forrester Leader

Manhattan Associates Inc. has been named the Leader in The Forrester Wave: Order Management Systems (OMS), Q2 2023 report. Manhattan was the only OMS solution provider to receive this recognition, receiving the highest possible score (5.00) in 16 of the 24 criteria evaluated under Current Offering. Specifically architected for omnichannel environments, Manhattan Active Omni received the highest scores in two of the three high-level categories of the Forrester evaluation – Current Offering and Market Presence.

The Forrester report describes Manhattan’s OMS as “the most comprehensive solution in the market”. In the report, Forrester analysts recognised Manhattan as strategically strong in its community engagement, planned enhancements, and partner ecosystem, and noted the company’s strength in inventory management, order orchestration rules, and “buy online, pick up” configuration.

“We’re honoured to be named the only Leader in the 2023 Forrester OMS Wave and view it as further affirmation of the significant ongoing investment in innovation we make in partnership with our customers,” said Amy Tennent, senior director, Product Management, Manhattan Associates.

The functional richness of Manhattan Active Omni has been deliberately crafted to help retailers of all sizes meet their unified commerce goals and continuously evolve. Manhattan’s recent Unified Commerce Benchmark revealed that having a single view into business can increase revenue growth by up to 6X, and we believe a strong OMS can play a critical role in achieving this. Manhattan’s cloud-native OMS capabilities include inventory management, store fulfilment, store associate tools, endless aisle, self-service, order orchestration tools, ML-enhanced promising, dynamic exchange and return management, and customer service amongst others.

 

NTN Streamlines Warehouse Operations

Infor Japan K.K., the Japanese subsidiary of Infor, the industry cloud company, has announced that NTN Corp., a manufacturer and seller of bearings, driveshafts and precision equipment, has rolled out its Infor WMS warehouse management system.

NTN will use Infor WMS as its supply chain execution solution to combine warehouse management, labour management, transportation management and third-party logistics (3PL) billing management into a single integrated and rational business process for the entire supply chain. In addition to helping achieve on-time shipping and delivery to customers, Infor WMS is also enabling NTN to streamline operations through standardisation and visualisation of finished product shipping processes at all of its warehouses and plants across Japan.

Background

Since it was founded, the NTN Group has embraced its “Founders’ Spirit” (comprising a “Frontier Spirit,” which encourages it to keep challenging, and a “Coexistence and Co-prosperity Spirit,” which encourages it to develop together with society). With this in mind, it has expanded globally in line with its corporate philosophy of “We shall contribute to international society through creating new technologies and developing new products.”

NTN is working to enhance the business foundations that underpin its operations so that it can continue delivering sustainable growth. It will do this by not only enhancing its fundamental technologies and core products, while expanding into new fields that take advantage of the core technologies it has developed over the years, but by also driving digital transformation (DX) to achieve more sophisticated business management and create new business models.

NTN adopted its previous core business system in the 1980s, but the system had aged to a point where operation and maintenance had reached their limits. In addition, the system was seriously impacting business continuity due to a shortage of engineers, software updates not being implemented and security risks. NTN also had to address limited traceability of business transactions (including product movement records), inefficient inbound/outbound operations at its domestic warehouses, and enhance the standardisation of finished product logistics management. On top of that, it needed to develop a system platform for its DX initiatives.

NTN therefore launched a project to rebuild its core business system. This entailed adopting Infor WMS for a range of systems, including inbound and outbound operations at its warehouses and production history management at its plants. NTN chose Infor WMS for a number of reasons, including its extensive functionality; it enables efficient implementation of business reforms with the purpose-built package; it has been adopted widely in Japan and overseas with extensive integration with ERP; and it enables the creation of a new, innovative logistics platform with future potential. The strong support provided by Infor was yet another reason for NTN’s adoption of Infor WMS.

Results

NTN  adopted three Infor WMS modules for inbound, outbound, and logistics cost management at 52 sites across Japan including 17 regular warehouses, three automated warehouses and 32 plant shipping facilities. Simultaneous operation of all 52 sites was a prerequisite for the project because a range of departments would need to access all warehouses at the same time. Using iPads to efficiently conduct remote training and proficiency testing, the company succeeded in aligning operations at all sites.

The planned rollout was able to avoid initial concerns that adopting the new system would cause confusion in the workplace, leading to delays in receiving and shipping at the warehouses and issues with inventory accuracy. Anticipated results were achieved, including the standardisation of warehouse operations and finished product shipping processes, management of logistics costs, and connection between logistics costs and receiving/shipping transactions.

Receipt and shipping operations were streamlined as well because the new system enabled cross-docking, with products shipped immediately after receipt. This enabled same-day processing for work that previously took two or three days to complete. The benefits of an integrated ERP included being able to maintain safe inventories for each warehouse and each item registered in the ERP and, through integration with transportation lanes registered in the ERP, it also enabled the streamlining of finished product logistics by automating tasks that were previously done manually. Standardisation of outer labels and use of QR codes also enabled finished product traceability.

Koji Takahashi, NTN executive officer and IT manager, commented: “The adoption of Infor WMS has enabled us to instantly identify business-related issues, and then improve and enhance the efficiency of those processes, through the standardisation and visualisation of finished product shipping processes at all of our warehouses and plants across Japan.

“With improved connectivity with other systems, and other benefits it offers, we have no doubt that we made the right decision in adopting Infor WMS. We plan to add additional warehouses and plant shipping facilities in the future as we expand our businesses and distribution warehouses, so we look forward to taking advantage of Infor’s project management capabilities and global support systems.”

NTN Streamlines Warehouse Operations

Infor Japan K.K., the Japanese subsidiary of Infor, the industry cloud company, has announced that NTN Corp., a manufacturer and seller of bearings, driveshafts and precision equipment, has rolled out its Infor WMS warehouse management system.

NTN will use Infor WMS as its supply chain execution solution to combine warehouse management, labour management, transportation management and third-party logistics (3PL) billing management into a single integrated and rational business process for the entire supply chain. In addition to helping achieve on-time shipping and delivery to customers, Infor WMS is also enabling NTN to streamline operations through standardisation and visualisation of finished product shipping processes at all of its warehouses and plants across Japan.

Background

Since it was founded, the NTN Group has embraced its “Founders’ Spirit” (comprising a “Frontier Spirit,” which encourages it to keep challenging, and a “Coexistence and Co-prosperity Spirit,” which encourages it to develop together with society). With this in mind, it has expanded globally in line with its corporate philosophy of “We shall contribute to international society through creating new technologies and developing new products.”

NTN is working to enhance the business foundations that underpin its operations so that it can continue delivering sustainable growth. It will do this by not only enhancing its fundamental technologies and core products, while expanding into new fields that take advantage of the core technologies it has developed over the years, but by also driving digital transformation (DX) to achieve more sophisticated business management and create new business models.

NTN adopted its previous core business system in the 1980s, but the system had aged to a point where operation and maintenance had reached their limits. In addition, the system was seriously impacting business continuity due to a shortage of engineers, software updates not being implemented and security risks. NTN also had to address limited traceability of business transactions (including product movement records), inefficient inbound/outbound operations at its domestic warehouses, and enhance the standardisation of finished product logistics management. On top of that, it needed to develop a system platform for its DX initiatives.

NTN therefore launched a project to rebuild its core business system. This entailed adopting Infor WMS for a range of systems, including inbound and outbound operations at its warehouses and production history management at its plants. NTN chose Infor WMS for a number of reasons, including its extensive functionality; it enables efficient implementation of business reforms with the purpose-built package; it has been adopted widely in Japan and overseas with extensive integration with ERP; and it enables the creation of a new, innovative logistics platform with future potential. The strong support provided by Infor was yet another reason for NTN’s adoption of Infor WMS.

Results

NTN  adopted three Infor WMS modules for inbound, outbound, and logistics cost management at 52 sites across Japan including 17 regular warehouses, three automated warehouses and 32 plant shipping facilities. Simultaneous operation of all 52 sites was a prerequisite for the project because a range of departments would need to access all warehouses at the same time. Using iPads to efficiently conduct remote training and proficiency testing, the company succeeded in aligning operations at all sites.

The planned rollout was able to avoid initial concerns that adopting the new system would cause confusion in the workplace, leading to delays in receiving and shipping at the warehouses and issues with inventory accuracy. Anticipated results were achieved, including the standardisation of warehouse operations and finished product shipping processes, management of logistics costs, and connection between logistics costs and receiving/shipping transactions.

Receipt and shipping operations were streamlined as well because the new system enabled cross-docking, with products shipped immediately after receipt. This enabled same-day processing for work that previously took two or three days to complete. The benefits of an integrated ERP included being able to maintain safe inventories for each warehouse and each item registered in the ERP and, through integration with transportation lanes registered in the ERP, it also enabled the streamlining of finished product logistics by automating tasks that were previously done manually. Standardisation of outer labels and use of QR codes also enabled finished product traceability.

Koji Takahashi, NTN executive officer and IT manager, commented: “The adoption of Infor WMS has enabled us to instantly identify business-related issues, and then improve and enhance the efficiency of those processes, through the standardisation and visualisation of finished product shipping processes at all of our warehouses and plants across Japan.

“With improved connectivity with other systems, and other benefits it offers, we have no doubt that we made the right decision in adopting Infor WMS. We plan to add additional warehouses and plant shipping facilities in the future as we expand our businesses and distribution warehouses, so we look forward to taking advantage of Infor’s project management capabilities and global support systems.”

Next-Generation Automation at Logimat 2023

Honeywell will showcase its latest technology for the transportation, logistics and warehouse sectors at LogiMAT 2023 in Stuttgart. The company will introduce its first 5G devices catered for the warehouse and logistics sector – the Honeywell CT47 handheld computer (pictured) and the Honeywell ScanPal EDA 57 handheld computer – designed to provide enhanced data connectivity and communications in both indoor and outdoor environments.

Honeywell is one of the largest providers of industrial handheld devices and material handling equipment in the world. More than 2.5 million mobility devices are deployed in thousands of operations globally, and many of the top global retailers rely on automated material handling solutions from Honeywell.

Other Honeywell solutions that will be on display at LogiMAT include:

Wearable solutions: Honeywell’s latest wearable computer, the CW45, brings optimised ergonomics and performance to arm-worn applications.

Voice automation technology: Currently available in more than 40 different languages, Honeywell Voice guides warehouse operators through tasks or steps to complete processes such as picking, inventory replenishment, maintenance and repairs.

Asset optimisation software: Operational Intelligence empowers warehouses and distribution centres to optimise warehouse processes and manage devices with data and actionable insights in real time that lead to greater productivity.

Material handling equipment: Honeywell’s IntelliSort HS 2.0 high-speed sliding shoe sorter is engineered to deliver high throughput rates and effective product handling.

Digital Transformation

Honeywell’s comprehensive suite of solutions empower warehouse operations to advance their digital transformation journey. With many companies seeing digitalisation as a key factor for future success, discussions around digital solutions will be an integral part of LogiMAT 2023. A Gartner survey found that 50% of supply chain organisations worldwide will invest in artificial intelligence and advanced analytics technologies by 2024, with a view to better manage and draw insights from their data.

Within the UK specifically, a recent Make UK report found that 77% of UK manufacturers have increased spend on digital technologies since 2020, with 80% intending to do so by the end of 2024. Supply chain management was one of the most prominent investment areas, with 30% having already started to digitalise their supply chain operations and a further 40% considering doing so.

“Digital transformation is key to keeping ahead of rapidly increasing market demands and to remain resilient amidst unpredictable supply chains,” said Horst Mollik, vice president and general manager of Honeywell Productivity Solutions and Services Europe. “The pressure to increase levels of efficiency and productivity has never been greater in distribution and fulfilment operations, and digitalisation is a key factor to deal with today’s challenges and prepare for the future. In that space and beyond, Honeywell is committed to helping businesses optimise and manage their entire fulfilment processes, from receiving to shipping – and everything in between.”

Honeywell’s solutions will be spread across two booths at the Stuttgart Trade Fair Centre – in Hall 3, Booth 3A03, and in Hall 4, Booth F41.

 

 

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