Engineering Geology Jobs in Birmingham, MI

99 positions found

Embedded Software Engineer
Salary not disclosed
Auburn Hills, MI 2 days ago

Embedded Software Engineer – Engine Controls GTM/AUTOSAR CDD development

Auburn Hills, MI

Full time Role


Customer wants Engineer having experience on Engine CDD Development using GTM timer module such as knock detection windows, spark control, fuel injector control, misfire detection, and manifold air pressure sensing.



Must to Have

• Experience with Infineon Generic Timer Module (GTM) for engine timing control.

• Understanding of digital signal processing concepts used in knock detection algorithms.

• Experience with AUTOSAR MCAL configuration using EB Tresos.


Key Responsibilities

• Develop Complex Device Drivers (CDD) for gasoline Engine Control Module (ECM/PCM) functions on ECU platform.

• Implement software for engine sensing and actuation including crank/cam position, engine speed, and direction detection.

• Support development of engine control features such as knock detection windows, spark control, fuel injector control, misfire detection, and manifold air pressure sensing.

• Implement above timing features using GTM-based timing and signal processing logic using modules such as TIM, TOM, ATOM.

• Integrate CDD logic with AUTOSAR BSW modules including NvM, RTE, OS, Digital IO, and Diagnostics.

• Support AUTOSAR BSW integration and ECU software architecture implementation.

• Work with MCAL drivers and support integration activities using EB Tresos Studio (modules such as ADC, DSADC, MCU, FEE, DMA, IRQ).

• Develop and debug software on Infineon AURIX TC38x microcontrollers.

• Support ECU software integration, testing, and debugging using Lauterbach Trace32 and ETAS INCA tools.

• Work closely with calibration, system, and hardware teams to support engine control feature development.

• Support issue analysis and root cause debugging during integration and validation phases.


Required Skills

• Strong Embedded C programming experience.

• Experience with ECM/PCM gasoline engine control software development.

• Hands-on experience in AUTOSAR BSW integration and CDD development.

• Experience with Infineon AURIX TC3xx (TC38x) microcontroller platform.

• Knowledge of engine sensing interfaces such as cam/crank sensors and injector/spark control mechanisms.

Not Specified
Exterior Design and Release Engineer
✦ New
Salary not disclosed

Key Responsibilities

  • Develop and support the design of exterior components and assemblies from concept through production using CAD. Ensure designs meet functional, aesthetic, and manufacturability requirements.
  • Manage the release of production-ready parts, drawings, and Bills of Material (BOM) through PLM systems such as Teamcenter while supporting program milestones and engineering documentation.
  • Work closely with suppliers on feasibility, design for manufacturing (DFM), tooling development, and technical reviews to ensure parts meet cost, quality, and timing targets.
  • Support validation activities including DVP&R development, testing coordination, and design verification to ensure components meet durability, fit, finish, and performance standards.
  • Partner with Styling, Studio, Manufacturing Engineering, CAE, and Program Management teams to ensure exterior components align with vehicle styling intent and production requirements.
  • Support DFMEA development and manage engineering changes (ECR/ECO) to resolve design issues and improve product quality throughout the development cycle.
  • Provide engineering support during prototype builds, pilot builds, and production launch to address fit, finish, and assembly concerns.

Required Qualifications

  • Bachelor's degree in Mechanical Engineering, Automotive Engineering, or a related engineering discipline.
  • 3–8+ years of experience in automotive exterior trim design, development, or release engineering.
  • Experience using CATIA V5/V6, or similar CAD software for 3D modeling and design development.
  • Understanding of plastic injection molding, composite materials, tooling development, and painted exterior components.
  • Experience with GD&T, DFMEA, DVP&R, and PPAP processes.
  • Familiarity with automotive regulatory requirements such as NHTSA and FMVSS related to exterior vehicle components.
Not Specified
Battery Management Systems Engineer
🏢 Pentangle Tech Services | P5 Group
Salary not disclosed
Auburn Hills, MI 2 days ago

Role Overview

The BMS (Battery Management System) Architect – AUTOSAR BSW Development is responsible for defining, designing, and guiding the implementation of the BSW software architecture for Battery Management Systems based on the AUTOSAR Classic Platform.

This includes ownership of the AUTOSAR BSW stack integration, ECU architecture, safety concept alignment, and software interfaces for highvoltage battery functions such as SOC/SOH/SOE estimation, cell monitoring, diagnostics, thermal management, and communication.

The architect collaborates closely with system engineering, functional safety, hardware engineering, and platform software teams to ensure a compliant, scalable, and production-ready BMS software solution.


Key Responsibilities

  • Define and maintain the AUTOSAR-based BMS ECU Software Architecture including BSW and CDD module distribution in multicore environment.
  • Own BSW configuration & integration (MCAL, ECU Abstraction, Services, Communication stack).
  • Ensure design is compliant with ISO 26262 (ASILD)
  • Participate in safety work products: FMEDA, safety concepts
  • Collaborate on cybersecurity requirements aligned with ISO 21434.
  • Provide technical direction to AUTOSAR BSW developers and integrators.
  • Act as technical liaison with OEM, Tier-1 suppliers, AUTOSAR vendors, and toolchain providers.


Required Skills & Qualifications

  • Strong experience in AUTOSAR Classic Platform (BSW CAN Stack, MCAL, RTE, Multicore OS, MPU, SMU, NVM, Diagnostics like UDS, ZEV, OBD).
  • Hands-on experience with tools: ETAS ISOLAR tool, EB Tresos, Vector CANdela, CANoe, INCA, PREEvision.
  • Deep understanding of - Functional safety (ISO 26262), BMS high-voltage system behavior, MCU architectures (Infineon AURIX TC3xx)
  • Strong embedded C expertise
  • Strong communication and cross-functional leadership
  • Ability to handle OEM discussions on architecture topics.
Not Specified
BMS Architect
🏢 Pentangle Tech Services | P5 Group
Salary not disclosed
Auburn Hills, MI 2 days ago

Job Title : BMS Architect – AUTOSAR & BSW Development

Location: Auburn Hills, MI

Duration: Full time


Role Overview

The BMS (Battery Management System) Architect – AUTOSAR BSW Development is responsible for defining, designing, and guiding the implementation of the BSW software architecture for Battery Management Systems based on the AUTOSAR Classic Platform.

This includes ownership of the AUTOSAR BSW stack integration, ECU architecture, safety concept alignment, and software interfaces for highvoltage battery functions such as SOC/SOH/SOE estimation, cell monitoring, diagnostics, thermal management, and communication.

The architect collaborates closely with system engineering, functional safety, hardware engineering, and platform software teams to ensure a compliant, scalable, and production-ready BMS software solution.


Key Responsibilities

1. Define and maintain the AUTOSAR-based BMS ECU Software Architecture including BSW and CDD module distribution in multicore environment.

2. Own BSW configuration & integration (MCAL, ECU Abstraction, Services, Communication stack).

3. Ensure design is compliant with ISO 26262 (ASILD)

4. Participate in safety work products: FMEDA, safety concepts

5. Collaborate on cybersecurity requirements aligned with ISO 21434.

6. Provide technical direction to AUTOSAR BSW developers and integrators.

7. Act as technical liaison with OEM, Tier-1 suppliers, AUTOSAR vendors, and toolchain providers.


Required Skills & Qualifications

1. Strong experience in AUTOSAR Classic Platform (BSW CAN Stack, MCAL, RTE, Multicore OS, MPU, SMU, NVM, Diagnostics like UDS, ZEV, OBD).

2. Hands-on experience with tools: ETAS ISOLAR tool, EB Tresos, Vector CANdela, CANoe, INCA, PREEvision.

3. Deep understanding of - Functional safety (ISO 26262), BMS high-voltage system behavior, MCU architectures (Infineon AURIX TC3xx)

4. Strong embedded C expertise

5. Strong communication and cross-functional leadership

6. Ability to handle OEM discussions on architecture topics.

Not Specified
Innovation Engineer
✦ New
Salary not disclosed
Sterling Heights, MI 14 hours ago

Position: Innovation Engineer

Duration: 1 year contract on-going contract, renewed annually

Pay Rate: $35-40/hr depending on years of experience



Must Haves:

  • Bachelor of Science in Engineering
  • 3+ years of engineering and manufacturing experience
  • Experience in innovation, needs to have at least one of the below:
  • 3D Printing
  • AI vision
  • Advanced robotics
  • AGV’s/AMR’s
  • Digitalization


Day to Day:

Act as the lead innovation engineer. This team is responsible for delivering the annual corporate innovation objectives. The innovation pillars that this that this engineer will support are digitalization, data analytics, advanced robotics, AI vision, 3D printing and AGV’s/AMR’s.

  • Leading and supporting weekly meetings
  • Tracking and reporting out program objectives
  • Supporting engineers in the plant with innovation and supporting project planning efforts
  • Supporting engineers in the plant helping them correctly add and update projects in web based innovation project tracking system
  • Attend industry benchmarking events, training sessions and workshops that come up through the year.
  • Creating and updating plans and documents to help our plant achieve some of the new objectives, action plans, training plans, versatility sheets etc.
  • Help advertise the exciting innovation efforts across internal and external stakeholders, newsletters, social media posts, plant floor innovation kiosk
  • Running point on idea sessions monthly. Facilitate and capture ideas in the meeting with plant personal
  • Surveying existing workstations in the plant for adoption readiness. 50% surveyed by end of Q1, 90% by Q2 etc. help support this effort
  • Deployment of corporate innovation solutions at the plant, general support
  • Tracking how much of the overall investment in the plant was related to innovation
  • Contribute to capacity uplift project. Working on bringing in some new equipment. The engineers in a couple of departments could use support in with planning and later on with some run-off and implementation work.
Not Specified
Senior Robotics Simulation Engineer
✦ New
🏢 Pentangle Tech Services | P5 Group
Salary not disclosed
Warren, MI 1 day ago

We are seeking a Senior Robotic Simulation Engineer with deep, hands-on expertise in building high-fidelity simulation environments and synthetic data pipelines using NVIDIA Isaac Sim or similar.

In this role, you will directly contribute to the development of scalable, realistic virtual worlds that power the training and validation of robotic foundation models for perception, planning, and manipulation.

At GM’s manufacturing technology development team, you’ll work closely with robotics and AI teams within the Manufacturing Technology Development (MTD) team to create simulation scenes that replicate complex manufacturing environments, generate diverse synthetic datasets, and build robust data workflows that accelerate model development and deployment.

Key Responsibilities • Build and customize simulation scenes in Isaac Sim that accurately reflect real-world robotic tasks and factory layouts • Develop synthetic data generation pipelines, including randomized object placement, sensor simulation, and multi-modal annotations (RGB, depth, segmentation, point clouds) • Implement and maintain data processing workflows, ensuring data quality, traceability, and compatibility with ML training pipelines • Optimize simulation performance and realism, tuning physics parameters, asset fidelity, and rendering configurations for scalable experimentation • Collaborate with robotics engineers and ML scientists to align simulation outputs with model requirements and support sim2real transfer • Conduct hands-on testing and debugging, iterating on simulation setups and synthetic data strategies to improve model robustness • Document workflows and contribute to best practices, enabling reproducibility and knowledge sharing across teams Required Qualifications • MSc or PhD in Robotics, Computer Graphics, Computer Vision, or related field • 3+ years of hands-on experience in robotics simulation, synthetic data generation, or virtual environment development • Proficiency with Isaac Sim, Omniverse, or similar simulation platforms • Strong programming skills in Python and C++, with experience in simulation APIs and data annotation tools • Familiarity with 3D vision, sensor modeling, and domain randomization techniques • Experience integrating simulation outputs into ML pipelines for training and evaluation Preferred Qualifications • Experience with robotics frameworks (e.g., ROS/ROS2, MoveIt, Nav2) • Experience with robotics simulation platforms (e.g., IsaacSim, MoJoCo, Gazebo) or Game engine (e.g., Unreal, Unity) • Background in industrial automation, autonomous vehicles, or robotic manipulation • Publications or contributions in simulation, synthetic data, or robotics venues (e.g.

ICRA, RSS, CVPR) • Familiarity with CI/CD pipelines and modern software development practices such as Bash, Github, Bazel, Docker

Not Specified
Electrical Systems Engineer – High Voltage Vehicle Systems
✦ New
Salary not disclosed
Troy, MI 8 hours ago

Electrical Systems Engineer – High Voltage Vehicle Systems


Location: Troy, MI

Job Type: Full-Time

Hiring Partner: Raizan Solutions LLC (Authorized hiring partner – We do NOT charge candidates)


About the Client

Our client is an engineering and manufacturing company specializing in advanced battery systems, high-voltage power distribution, ruggedized energy systems, and custom electrification solutions. They support OEM, commercial vehicle, specialty, and defense customers with rapid prototyping and production-intent system development.

Raizan Solutions LLC is recruiting on behalf of this client. We act solely as the hiring partner and do not charge candidates any fees.

Position Summary

The Electrical Systems Engineer will lead and support the development of high-voltage battery systems, power distribution architectures, and vehicle-level electrical integration. This role spans system design, requirements, embedded controls coordination, safety analysis, and hands-on prototype validation.

You will collaborate closely with mechanical, controls, software, and manufacturing teams to deliver robust systems through the full development cycle—from concept to system launch.

Key Responsibilities

Electrical & System Design

  • Design and document electrical architectures, schematics, wiring diagrams, and component selections for Li-ion battery systems, HV distribution, and vehicle integration.
  • Develop and maintain system requirements, interface definitions, DFMEAs, PFMEAs, DVP&R, and system test plans.
  • Apply strong engineering knowledge of HV components: contactors, switches, HVIL, insulation, isolation monitoring, safety interlocks, bus bars, sensors, and protective devices.
  • Support PCB/hardware development efforts (Altium preferred; OrCAD or equivalent considered).

Controls & Software Integration

  • Coordinate with controls and software teams on system behaviors, state machines, protection logic, and calibration.
  • Support embedded controls development using MATLAB/Simulink/Stateflow, model-based design, and C-based integration review.
  • Use CAN tools (Vector CANalyzer, CANape) to evaluate control systems, validate functionality, and troubleshoot issues.

Testing, Validation & Debug

  • Develop validation test procedures for system-level and component-level verification.
  • Perform hands-on prototype testing, fault evaluation, root-cause analysis, and troubleshooting of high- and low-voltage systems.
  • Follow lab and vehicle test procedures to evaluate system performance, safety interactions, and functional behavior.

Program & Cross-Functional Coordination

  • Work with internal team members and external suppliers to ensure successful design, build, and validation.
  • Participate in recurring technical review meetings to identify risks, integration issues, and quality concerns.
  • Assist in project planning—tracking timing, risks, status, and technical deliverables.

Documentation & Build Support

  • Generate and coordinate build documentation, assembly instructions, inspection sheets, and test records.
  • Support prototype build reviews, manufacturing handoff, and initial production readiness.

Qualifications

Education

  • Bachelor’s degree in Electrical Engineering, Controls, Computer Engineering, or Mechatronics from an accredited institution.
  • Equivalent experience will be considered.

Experience

  • 5–15 years of experience in electrical or systems engineering for EV, hybrid, automotive, heavy vehicle, or defense systems.
  • Proficiency in electrical system architecture, safety concepts, and requirements flow-down.
  • Experience with:
  • MATLAB/Simulink/Stateflow
  • LabVIEW
  • Vector CANalyzer / CANape / CAN tools
  • SPICE / PSpice
  • Controls platforms (MotoHawk, dSPACE, ETAS preferred)
  • Hands-on experience with high-voltage battery systems, inverters, DC-DC converters, BMS, and vehicle electrical integration.
  • Familiarity with EV industry standards, ISO 26262 concepts, and relevant military or commercial vehicle standards (preferred).
  • Experience with PCB design tools (Altium) is a plus.

What You Bring

  • Strong analytical and problem-solving skills.
  • Ability to manage multiple technical tasks in a fast-paced, hands-on environment.
  • Excellent communication, collaboration, and documentation capabilities.
  • A proactive mindset with strong attention to detail.

Why Join This Opportunity

  • Work on cutting-edge battery systems, high-voltage electrification, and ruggedized energy products.
  • Be part of a small, agile engineering environment with meaningful technical ownership.
  • Exposure to diverse projects and close collaboration with customers and leadership.
  • Competitive compensation and opportunities for long-term growth.

Apply Today

If you’re ready to help drive the future of advanced electrified systems and thrive in a collaborative, hands-on engineering environment, Raizan Solutions LLC would be happy to connect.

Not Specified
Embedded Software Project Lead
Salary not disclosed
Sterling Heights 2 days ago
This is an opportunity to join a fast paced program with DCS Corp’s U.S.

Army's Ground Vehicle Systems Center (GVSC) engineering group located in Warren, MI.

As an Embedded Software Project Lead, you will be hands-on in managing the execution of a technically advanced engineering team in the development of embedded military systems related to the Army Robotic and Autonomous Systems (RAS) including the Common Robotic System -Heavy (CRS-H), the Common Robotic System -Individual (CRS-I), and the Man-Transportable Robotic system (MTRS).

Essential Job Functions: Plan, track and manage progress of the Robotic and Autonomous Systems (RAS) projects.

Develop and manage project schedules and milestones, track and communicate progress in presentation form, manage scope and ensure all quality aspects are being satisfactorily met.

Act as an interface between Program Managers and the Technical Engineering team.

Provide leadership and guidance in the development and execution of requirements, design, implementation and test activities.

An understanding of programming languages and of systems/software lifecycle models is expected.

Required Skills: Due to the sensitivity of customer related requirements, U.S.

citizenship is required.

Bachelor’s Degree plus 12 years of experience in Computer Science, Computer Engineering, Software Engineering, Electrical Engineering, or an applicable science degree such as Physics.

Must be able to obtain and maintain a DoD Secret clearance.

Experience developing project schedules, managing progress according to project plans and timelines.

Interface and communicate status to both technical and managerial audiences.

Basic understanding of Software Programming Languages such as C++, C#, C, etc.

and system/software release processes for embedded real-time software work products.

Familiar with systems and/or software architectures, requirements, designs as well as concepts of modularity, commonality and reuse.

Familiar with Real-Time Operating Systems.

Familiar with Configuration Management and Data Management activities and processes.

Familiar with milestone reviews such as Preliminary Design Reviews (PDRs), Critical Design Reviews (CDRs) and Test Readiness Reviews (TRRs).

Ability to communicate clearly in both written and oral form and develop and present presentation style statuses.
Not Specified
Account Program Management Coordinator
✦ New
🏢 TRG
Salary not disclosed
Troy, MI 4 hours ago
No Visa sponsorship is available now or in the future.

Please no H1 or F1 or TN Visa's can be accepted at this time.

Position is Hybrid Remote working from the Troy, MI office 3 days per week.

Program Management and Sales Account Coordinator will have responsibility to monitor Program changes by maintaining PMO and Sales standards for the business unit, ensure that PMO deliverables are met, liaise between Sales and Customer Engineering and Production Launches, manage and lead monthly report-out meetings, and drive fulfillment of the 5 phase gate deliverables.

RESPONSIBILITIES

  • Overall support of regional PMO
  • Facilitate the continuation of Business Excellence in Program (BEP) functions and deliverables
  • Monitor, report and drive improvement for the program management key indicators (KPI’s)
  • Manage and lead monthly report-out (MPR) meetings
  • Coordinate Gate reviews and assist in customer PM launch at the manufacturing level
  • Drives development and improvement of PM methods and tools
  • Assist with Account Management activities
  • Assist with RFQs, pricing strategies, and commercial negotiations
  • Serve as primary commercial contact for all plant customers.
  • Monitor and review EDI releases in coordination with the Supply Chain team.

REQUIREMENTS

  • Bachelors Degree in Engineering, Supply Chain or Business
  • 2-5+ years experience in the Program Management or Sales / Account Management and Customer Liaison role.
  • 2+ years experience working for an automotive / commercial vehicle or defense supplier
  • Must have knowledge of Powertrain, Engine, Driveline related products (Propulsion systems) is required
  • Knowledge of basic commodity BOM related to Metal Stamping, Forging, Casting, etc. is required
  • Prior experience assisting with customer program launch for the manufacturing cycle (Quoting, SOP, Kickoff, Gate Reviews, etc.)
  • Understanding of basic quality principals including APQP and PPAP customer standards
  • Hybrid role work in office 3 days week and 2 days work from home per week
  • Ability to travel internationally or domestically by car or plane - 25%
  • Ability to work in a small team of 5 Sales and Account / Program Management professionals
  • To perform this job successfully, an individual must have good oral and written skills, must be able to vertically present information
  • Ability to analyze data and prepare reports, statements and cost projections.
  • Ability to read and comprehend basic engineering drawings (GD&T), correspondence, and memos, and write correspondence.
  • Analytical- Synthesize complex or diverse information; Collects and researches data; Uses intuition and experience to complement data; Designs work flows and procedures.
  • Business Acumen- Understands business implications of decisions.
  • Knowledge of continuous improvement and quality standards of products for manufacturability.
  • Knowledge of engineering fundamentals, mechanical systems, automotive systems, and engine / powertrain systems.
  • Project Management- Develops project plans; Coordinates projects; Communicates changes and progress; Completes projects on time and budget; Manages project team activities.
  • Strives to continuously improve expertise, knowledge and skills.
  • Strong Customer Service – Ability to manage difficult customers Responds promptly to their needs; Responds to requests for service and assistance; Meets commitments.

Not Specified
Manager of Programs
Salary not disclosed
Sterling Heights, MI 4 days ago
Job Title: Head of Programs

Department: Office of Programs

Reports To: President

FLSA: Salary - Exempt

Prepared By: Human Resources

Prepared: December 2025

Position Overview

The Head of Programs for leading the office of programs consisting of the team responsible to implement projects from inception through the entire lifecycle. The Head of programs establishes the methodology and standardize processes to manage project and program data utilize in planning, execution, and delivery of defense-related projects from concept development through the entire product life cycle. This role oversees the individuals leading the implementation of projects. This person ensures cross-functional accountability to schedule, cost, technical, and quality performance while maintaining strong relationships with customers, suppliers, and internal cross-functional teams. The Head of Programs will provide process direction, monitor and develop project managers and work closely with engineering, manufacturing, finance, quality, and supply chain groups ensuring program success in a dynamic, small-company environment.

Key Responsibilities

Establish Standardized Program Management System

* Develop methods, procedures, tools, and data sharing necessary to meet program lifecycle objectives

* Assure project management continuity across all programs. Facilitate clear communication to stakeholders and oversee the planning coordination between departments.

Program Leadership & Execution

* Lead all phases of program management including planning, scheduling, budgeting, risk management, and execution.

* Develop and maintain detailed program plans, Integrated Master Schedules (IMS), and performance metrics.

* Ensure all program requirements are met in accordance with contract, technical specifications, and regulatory standards.

Customer & Stakeholder Management

* Serve as primary point-of-contact for government customers and prime contractors.

* Assure continuity between company financial forecasts and program deliverables.

* Assure project managers compliance to FAR, DFAR, security and customer contract and security rules, regulations, and directives.

* Manage client expectations, provide regular program status updates, and support contract reviews, audits, and meetings (IPTs, PMRs, PDRs, CDRs, etc.).

* Build strong relationships to support long-term business growth.

Financial & Contract Management

* Assure project managers manage budgets, forecasts, cost tracking, and Earned Value Management (if applicable). Provide oversite and mentoring to develop the project managers and assure customer satisfaction.

* Identify scope changes, lead change proposal efforts, and ensure documentation aligns with FAR/DFARS standards.

* Ensure program profitability and alignment with business objectives.

Technical & Manufacturing Coordination

* Collaborate closely with engineering teams to translate customer requirements into actionable technical plans.

* Support manufacturing by coordinating technical data, production schedules, configuration management, and quality assurance needs.

* Monitor engineering and manufacturing progress, resolving issues that impact cost, schedule, or performance.

Risk Management & Compliance

* Manage the risk management process on programs.

* Assure issues are addressed in a timely manner.

* Ensure compliance with ITAR, export controls, security requirements, and company policies on all programs.

* Support internal and external audits as needed.

Qualifications

Required

* Bachelor's degree in engineering, Business, or related field.

* 4+ years of program or project management experience in aerospace/defense, engineering, or manufacturing environments.

* Understanding of DoD program requirements, contracting (FAR/DFARS), and government customer expectations.

* Strong organizational, communication, and leadership skills.

* Experience managing cross-functional technical teams.

* Ability to obtain and maintain a U.S. security clearance.

Preferred

* PMP or DAU/Defense Acquisition credentials.

* Experience with Earned Value Management (EVM).

* Familiarity with manufacturing operations, configuration management, and quality systems (AS9100, ISO, etc.).

* Experience delivering hardware-based systems or components to defense customers.

Horstman Inc. US is an Equal Opportunity Employer and a government contractor. We consider all qualified applicants for employment without regard to race, color, religion, sex, national origin, age, disability, or protected veteran status, or other category protected by law.
Not Specified
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