VADDIO RoboTRAK Page 1 Integrator'S Complete Manual Download

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Integrator's Complete Guide to the

RoboTRAK Presenter Tracking System

Document 342-1229 Rev. E

November 2016

Summary of Contents for RoboTRAK

Page 1: ...Integrator s Complete Guide to the RoboTRAK Presenter Tracking System Document 342 1229 Rev E November 2016 ...

Page 2: ...lacement Medium Room 10 Camera Placement Large Room 11 Installation 12 Don t Void Your Warranty 12 Cabling Notes 12 The IR Camera s Default Hostname 13 Before You Install the Camera 13 Placing the PoE Splitter 14 Installing the Camera Mount 15 Wall Installation 15 Ceiling Installation 15 Basic Connection Diagram 16 Connections for Configuring the System 16 Installing the Cameras 17 Preparing the T...

Page 3: ...itivity 38 Adjusting the Video Camera Window Width 39 Dealing with Stray IR 40 Configuring the Video Camera 42 Exporting the Configuration 43 Web Interface Cheat Sheet 44 System Administration 45 Security Settings 45 Setting the Room Label Information 46 Specifying Time Zone and NTP Server 46 Pan Tilt Reset Reboot and Factory Reset 47 Reset the Pan and Tilt Motors 47 Reboot the Camera 47 Restore F...

Page 4: ...ettings 56 system reboot 56 system factory reset 57 sleep 57 help 58 history 58 version 59 exit 59 Troubleshooting and Care 60 Status Indications 60 Fault Isolation 60 Operation Storage and Care 61 Specifications 62 Compliance Statements and Declarations of Conformity 63 FCC Part 15 Compliance 63 ICES 003 Compliance 63 European Compliance 64 Warranty Information 65 Index 66 iv Integrator s Complet...

Page 5: ...Europe and UK 999 7270 001 n RoboTRAK Australia and New Zealand 999 7270 009 This system requires a video camera which is sold and documented separately The RoboTRAK system works with RoboSHOT series cameras Refer to the video camera s documentation for information on how to connect and configure it Features n IR based presenter tracking for medium to large rooms n Designed for educators in consul...

Page 6: ...eaming These include RoboSHOT 10 USB RoboSHOT HD SDI and RoboSHOT 20 UHD cameras Caution Always support the camera s base when picking it up Lifting the camera by its head or mounting arm will damage it Note Copy the default hostname from the label on the bottom of the camera and keep this information in a place where it will be available to anyone who needs to work with the camera s web interface...

Page 7: ...ately n Lanyard n USB charger n USB charger cable n Ferrite bead Europe and UK Part number 999 7270 001 RoboTRAK n Vaddio RoboTRAK IR camera n PoE power injector n AC cord sets for Europe and UK n PoE splitter n Power cable 1 ft 30 cm n Cat 5e cable 1 ft 30 cm n Cat 5e cable 10 ft 3 m n Wall mount with mounting hardware n IR lanyard n USB charger n USB charger cable n Ferrite bead n Quick Start Gu...

Page 8: ... cable 1 ft 30 cm n Cat 5e cable 1 ft 30 cm n Cat 5e cable 10 ft 3 m n Wall mount with mounting hardware n IR lanyard n USB charger n USB charger cable n Ferrite bead n Quick Start Guide Part number 999 7271 009 additional lanyard kit optional purchased separately n Lanyard n USB charger n USB charger cable n Ferrite bead 4 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 9: ...re as our latest generation of video cameras n Reflective lens reduces interference from spurious IR sources The reflective lens also provides a simple visual cue that it s not a standard video camera n Indicator light shows the IR camera s current status Status Indications In normal use the RoboTRAK IR camera s status light will provide more useful information than the video camera s indicator li...

Page 10: ...g Visual status indicator directs light toward the wearer not the audience n Battery Rechargeable Li ion battery up to 25 hour battery life roughly 4 hour charging time n USB micro B charging port Connect the supplied battery charger n Recessed power switch Allows you to turn off the lanyard completely to extend battery life Ribbon Holds the medallion and contains the IR sources n Strand of IR LED...

Page 11: ...AK system will need to see the IP stream from the IR camera and the live video feed from the video camera at the same time The display for the IR camera is not needed after the system is configured and fine tuned Tablet or other device with wifi access If you do not have an assistant for the tuning process you will need to be able to work with the RoboTRAK IR camera s web interface while moving ar...

Page 12: ...IR image shows that the whole room is flooded with IR and the lanyard does not emit enough IR to be detected This room requires IR remediation Certain types of room systems also emit IR and can keep the tracking system from working properly n Assisted listening systems n IR based audio systems n Room occupancy sensors Turning any of these off may not be an option In such cases cover or remove refl...

Page 13: ...eptable camera distance 12 to 50 ft 3 7 to 15 2 m from area of interest best performance at 20 to 35 ft 6 1 to 10 7 m from area of interest n Height 7 to 15 ft 2 1 to 4 6 m depending on distance n Viewing angle as close as possible to the centerline of the tracking area Camera Placement Small Room 9 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 14: ...Camera Placement Medium Room 10 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 15: ...Camera Placement Large Room 11 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 16: ...ped damaged or exposed to liquids If any of these things happen return it to Vaddio for safety and functional testing Cabling Notes Use Cat 5e or better cable and standard RJ 45 connectors 568B termination We recommend using high quality connectors and a high quality crimping tool Note Do not use pass through RJ 45 connectors These can cause intermittent connections and degraded signal quality res...

Page 17: ...presenter tracking system includes a dual wall mount which can be used with Vaddio s Offset Drop down Ceiling Mount for RoboTRAK part number 535 2000 045 Contact us if you don t have the camera mount you need Note Install the cameras with the IR camera directly above the video camera Other physical orientations are not supported as they pose tuning configuration challenges n Choose a camera mounti...

Page 18: ...to the PoE splitter Caution The connectors on the short power cable are NOT identical One has a center pin Attempting to connect the wrong end of the cable to the PoE splitter will damage the connector We did this in the lab and we re admitting it so you can avoid our mistake 5 Holding the PoE splitter under the top shelf of the camera mount route the two short cables through the cable opening for...

Page 19: ... tighten the mounting screws 4 Check the level again Ceiling Installation For a ceiling installation you will need Vaddio s Offset Drop down Ceiling Mount for RoboTRAK part number 535 2000 045 Vaddio does not recommend using a non offset ceiling mount pole as the system s center of mass is significantly forward of the 1 NPT threaded nut Contact Vaddio if you don t have a suitable ceiling mount kit...

Page 20: ...stem for the room and set up the desired tracking behavior you will need to view the IP stream from the IR camera Side by side displays of the IR camera stream and the video camera output are strongly recommended 16 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 21: ...plied with the camera Preparing the Tracking Lanyard for Use You will need all the items from the box that the lanyard was shipped in n Lanyard n USB charger n USB charging cable n Ferrite bead 1 Snap the ferrite bead onto the charger cable about 2 inches 5 cm from the connector that plugs into the lanyard Note To ensure compliance with FCC regulations you must install the ferrite bead as directed...

Page 22: ...mera s web interface n Accessing the video camera s web interface n Assigning camera hostnames optional n Pairing the cameras Accessing the IR Camera s Web Interface This product is compatible with the current versions of these web browsers n Chrome n Firefox n Microsoft Internet Explorer n Safari n Microsoft Edge Older versions of these browsers are likely to work and other browsers may also work...

Page 23: ... initial setup and configuration use the default hostname Enter http followed by the RoboTRAK camera s default hostname for example http vaddio robotrak 00 1E C0 90 E5 6F to open the web interface The guest view of the Room UI page opens 2 Select Admin and log in The default password is password 19 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 24: ... go to the main RoboTRAK product page 2 On the Drawings and Manuals tab locate the room configuration files Select the link to download the file that best matches the room you are setting up 3 Go to the System page Under System Utilities select Import Data and browse to the configuration file you downloaded The filename ends in dat 4 Confirm that you want to import the data 5 Log in again after th...

Page 25: ...ta Screen button on the remote After 3 seconds the room display presents the information 3 Open a new browser tab or window and enter http followed by the video camera s IP address in the address bar for example http 10 30 200 74 to open its web interface The guest view of the Camera Controls page opens Note The camera s web interface may differ from the illustration here 4 Select Admin and log in...

Page 26: ...ave been paired you will need to update the camera information on the Pairing page See Pairing the Cameras To assign a new hostname This is an optional configuration task Vaddio recommends using the video camera s hostname rather than its IP address to identify it to the RoboTRAK IR camera so that the cameras remain paired even if IP addresses change Work with the IT staff to define camera hostnam...

Page 27: ...n the camera Refer to the video camera s manual for configuration tasks All manuals are available at support vaddio com They are also available on the product pages of the Vaddio website Key tasks n Define position presets n Enable IP streaming if available Video camera presets typically provide a tighter shot at a specific location for example the presenter at the lectern a close up of a demonstr...

Page 28: ... camera has recognized the video camera and can now control it In this illustration the default hostname is used Now the cameras are ready for you to set up tracking Setting the Video Camera s Standby Behavior PAIRING PAGE By default the video camera remains powered up when the IR camera goes to standby mode Through the IR camera s web interface the operator can switch between tracking and convent...

Page 29: ...ill normally be In this manual the presenter refers to anyone wearing a lanyard in range of the camera Viewing the Stream from the IR Camera You will need a stream viewer for this Several stream viewing applications are available some of us here at Vaddio like VLC Media Player which is available free of charge 1 On the Streaming page locate the address for the IR camera s RTSP stream 2 Open a stre...

Page 30: ...Storing the IR Camera s Lanyard Shot TRACKING PAGE IR CAMERA SHOT TAB This shot ensures that tracking is smooth and accurate 26 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 31: ... about halfway between the nearest and farthest presenter distances from the camera 3 Have the presenter face the camera directly 4 On the IR Camera Shot tab of the Tracking page use the arrow buttons to center the lanyard image side to side This keeps the presenter centered in the video shot 5 Use the zoom controls to adjust the shot so that the lanyard reaches the top and bottom edges of the fra...

Page 32: ... and the presenter remains well framed in the shot when approaching the camera The way you set up the shot depends on how presenters will use the room Example 1 The presenter typically stays behind a podium or lectern Example 2 The presenter typically moves across the room and often approaches the audience Example 3 The presenter typically gives demonstrations that require moving around 28 Integra...

Page 33: ...pace above the presenter s head the closer the presenter moves to the camera the more head space is needed in the lanyard shot 5 Select Store Lanyard Shot 6 Change Tracking Mode to Tracking 7 Test the shot by asking the presenter to move toward the cameras At the nearest part of the presenter s area the presenter s face and upper torso should still be in the frame 8 If the presenter is not well fr...

Page 34: ...era tracks the lanyard the software drives the video camera based on the IR camera s motion The tuning process tailors the system s response to the lanyard s motion To test the system On the Tracking page set the IR camera to Tracking Mode This control is available on all tabs of the Tracking page 30 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 35: ...nter consistently outruns the camera and moves out of the frame Video camera tracking speed is too slow Slightly increase the speed scalar for the video camera See Setting the Tracking Speed The video window is too large Make the video window slightly smaller See Adjusting the Video Window Width The presenter is too close to the cameras and outruns the IR camera Store a new IR lanyard shot with th...

Page 36: ...set the home position 1 Be sure the See Room option is checked 2 Use the arrow buttons to aim the IR camera If necessary you can reduce the pan speed when the video shot is close to what you want This does not affect camera operation during tracking It only changes how fast the camera moves in response to the arrow buttons 3 When the IR image shows the home position you want select Save Current Pa...

Page 37: ...eout slider Tracking page Advanced tab Lanyard Search area Pan 50 to right and to left when searching Increase or decrease the searching area Lanyard Search Pan Limit sliders and Store Left Store Right buttons Note The search pan limits must be inside the tracking pan limits See Setting the Presenter Area Pan Limits Tracking page Tracking Limits tab Lanyard Search Pan limits Search at an appropria...

Page 38: ...era s 0 position This allows the camera to track the presenter anywhere in a large part of the room but limits the search to the front of the room Narrowing the pan limits can be helpful in excluding sources of unwanted IR Both sets of limits can be modified Right and left limits are independent of each other but search pan limits must always be narrower than tracking pan limits Example If you nar...

Page 39: ...moves along the pan limit indicators 2 For greater precision you can reduce the pan speed using the Pan Speed slider or you can use the Pan position increment decrement arrows below the directional controls to dial in the pan position to within 0 1 3 Use the appropriate Store button to save the new pan limit 35 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 40: ...a large room n It s not possible to zoom in enough to store an ideal IR camera lanyard shot the lanyard is too small in the shot n The IR camera has trouble seeing the lanyard tracking is erratic If the IR camera does not track reliably due to the target size increase the AGC gain using the the AGC gain slider 36 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 41: ...u may need to reduce this value to keep the presenter in the frame This adjustment differs from the Tracking Sensitivity adjustment which controls how quickly the IR camera begins following the lanyard when the presenter moves Adjustments n Increase the speed scaler value for wider shots n Decrease the speed scaler value for tight shots or if the presenter tends to outrun the camera Adjust in incr...

Page 42: ...of the frame This adjustment differs from the Speed Scaler adjustment which controls how quickly the video camera responds when the IR camera starts moving The default value for sensitivity is 0 24 second Moving the slider to the right increases sensitivity by reducing the camera s response time When changing the tracking sensitivity adjust in increments of 0 02 second Adjustments n Increase sensi...

Page 43: ...ivity and Speed Scaler adjustments which control camera response speed Adjustments n If the cameras move every time the presenter moves or there seems to be too much camera movement increase the width of the video camera window n If the system is sluggish in responding to motion and the presenter moves out of the frame decrease the width of the video camera window The default setting for the video...

Page 44: ...ective tabletops or other objects near the bottom of the frame Mask bottom area increase Tracking page Tracking Limits or Advanced tab Tracking stops when the presenter approaches the camera Bright area IR bloom Max bright pixels decrease Tracking page Advanced tab Tracking may become erratic If the problem is near the edge of the presentation area reduce IR tracking pan limits on the appropriate ...

Page 45: ...its tab Mask top and bottom areas change pan limits Tracking page Advanced tab Adjust brightness threshold and max bright pixels mask top and bottom areas 41 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 46: ...n Enable IP streaming if available Video camera presets typically provide a tighter shot at a specific location for example the presenter at the lectern a close up of a demonstration or a wider static shot of the presentation area for multiple presenters Other common configuration tasks n Save custom color settings CCU scenes n Define the room label information n Set the time zone You can access t...

Page 47: ...our computer Its filename is the camera s hostname with the file extension dat Note The RoboTRAK IR camera cannot import a dat file that was exported from a different version of software than what is currently installed Example You cannot export the configuration from a RoboTRAK camera and import it to another one that is using an older or newer firmware version 43 Integrator s Complete Guide to t...

Page 48: ...e video camera s presets Do this in the video camera s web interface access from the Device Web Page link on the Pairing page Recall the video camera s presets Room UI IR camera streaming settings Streaming IP settings n Hostname n DHCP or static addressing n Static IP address subnet mask gateway Networking Access management n Guest access n Account passwords Security Time zone and NTP server sour...

Page 49: ...is unique to the RoboTRAK IR camera Security Settings SECURITY PAGE Things you can do on this screen n Allow people to access the Camera Control screen without logging on Allow Guest Access n Set whether inactive sessions log off automatically or not n Change the password for the admin account default is password n Change the password for the user account default is password For security Vaddio re...

Page 50: ...this information on the Room Labels screen Specifying Time Zone and NTP Server NETWORKING PAGE 1 To make the time zone and NTP server editable enable Automatic NTP Updating 2 Select the desired time zone from the list 3 If desired specify the NTP server to use Otherwise use the default 46 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 51: ...boot the Camera This can help if the camera stops responding as you expect In the System Utilities section select Reboot Restore Factory Settings Occasionally it s easiest to just start over To restore the original factory settings select Restore Factory Settings Caution Factory reset will erase camera pairing information and the room configuration that you loaded and overwrite everything else you...

Page 52: ...om a RoboTRAK camera and import it to another one that is using an older or newer firmware version 4 Select Begin Firmware Update A confirmation dialog box opens 5 Please READ the information in the dialog box and be sure you understand it It s boring but it could save you a lot of time and aggravation 6 When you are ready to start the update select Continue A progress message box opens and the in...

Page 53: ...cal Support on the Help screen Your technical support representative may ask you to download the diagnostic log Presenting with the RoboTRAK System This section covers n How it works n Tips for great presentations n Starting your presentation n Switching between tracking and camera presets n Camera behaviors n Tips for handling and storing the lanyard 49 Integrator s Complete Guide to the RoboTRAK...

Page 54: ...ameras The video camera does not zoom as you move around the room n If you are co presenting with another person it is helpful for both of you to have lanyards Ensure smooth transitions by turning off your lanyard as your co presenter turns on their own n When you invite others to the front of the room be sure they do not block the line of sight between the IR camera and your lanyard Starting Your...

Page 55: ... follows its movements The IR camera found the lanyard when it searched and it is tracking again After the IR camera searches its light turns green Both cameras move to the home position and stop The IR camera did not find the lanyard when it searched The cameras are now parked at the home position and ready to track This happens when you turn off the lanyard The IR camera s light is blinking blue...

Page 56: ...nal program and appended with the VT100 string ESC J hex 1B 5B 4A which most terminal programs automatically strip n CTRL 5 Clears the current serial buffer on the device About Controlling the Video Camera via Telnet A Telnet session with the RoboTRAK IR camera does not provide communication to the video camera except in the case of commands that instruct the IR camera to send a command to the vid...

Page 57: ...the IR camera s standby state To control whether the video camera goes to standby mode when the IR camera does use the command camera master standby config peripheral Synopsis camera master standby get on off toggle Parameters and Values get Returns the current standby status for the IR camera on Places the IR camera in standby mode off Brings the IR camera out of standby placing it in full power ...

Page 58: ...andby mode when the IR camera does so camera master standby config peripheral get peripheral on OK Returns the standby configuration for the video camera In this example it is currently set to go to standby when the IR camera does so camera master ccu Returns or sets the value for the IR master camera s AGC gain This value can be increased if the system is in a large room where it is not possible ...

Page 59: ...lave1 preset recall 3 Moves the video camera to preset 3 if stored network ping Sends an ICMP ECHO_REQUEST to the specified IP address Synopsis network ping count count size size destination ip Options count The number of ECHO_REQUEST packets to send If this is not specified the default is five packets size The size of each ECHO_REQUEST packet If this is not specified the default is 56 bytes desti...

Page 60: ...treaming video resolution For the RoboTRAK IR camera 480p is the only valid streaming resolution ip_url URL Specifies the URL where the stream is available Examples streaming settings get IP Enabled true IP Port 554 IP Protocol RTSP IP Quality High Quality Best IP Resolution 480p IP URL vaddio robotrak stream OK system reboot Reboots the system either immediately or after the specified delay Note ...

Page 61: ... the most recent system factory reset on or off command if one has been received factory reset hardware off This reads the rear panel DIP switches and returns the status on if they are all in the down position system factory reset on Enables factory reset upon reboot Returns current status in this form factory reset software on factory reset hardware off sleep Pauses for the specified number of mi...

Page 62: ...mmand buffer history 5 Sets the history command buffer to remember the last 5 unique entries Additional information You can navigate the command history using the up and down arrow keys This command supports the expansion functionality from which previous commands can be recalled from within a single session History expansion is performed immediately after a complete line is read Examples of histo...

Page 63: ...version information in a form something like this Commit d033ddb2378357a871011eb820706dcaa64ec0e2 Sensor Version 01 00 System version RoboTRAK 1 0 0 exit Ends the command session and then closes the socket Synopsis exit Example exit 59 Integrator s Complete Guide to the RoboTRAK Presenter Tracking System ...

Page 64: ...video camera n Purple In standby mode or booting n Blinking yellow Executing a pan tilt reset n Yellow Updating firmware Fault Isolation What is it doing Possible causes Check and correct Nothing The light on the front is off No power to the camera Check the cables n Power cable from the PoE splitter n Cat 5 cable from the PoE power injector to the splitter Check the wall outlet to see if it power...

Page 65: ...zoom while tracking This is normal Operation Storage and Care For smears or smudges on any component of the system wipe with a clean soft cloth Use a lens cleaner on the lens Do not use any abrasive chemicals Keep this system away from food and liquids Do not operate or store the device under any of the following conditions n Temperatures above 40 C 104 F or below 0 C 32 F n High humidity condensi...

Page 66: ...Weight 3 2 oz 91 g Lanyard length 24 in 610 mm System Mounting Weight Mounted to Wall 15 3 to 16 4 lbs 6 95 to 7 45 kg Mounted to Ceiling 16 7 to 17 8 lbs 7 55 to 8 05 kg Weight varies depending on the video camera used Environmental and Room Requirements Operating temperatute 0 C to 24 C 32 F to 75 F Storage temperature 5 to 60 C 23 F to 140 F Operating humidity 15 to 80 RH non condensing Storage...

Page 67: ...se harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense Operation is subject to the following two conditions 1 This device may not cause interference and 2 This device must accept any interference including interference that ma...

Page 68: ... 4 2004 Corrigendum 2006 Electrical Fast Transients EN 61000 4 5 2006 Surge Immunity EN 61000 4 6 2009 Conducted Immunity EN 61000 4 8 2010 Power Frequency Magnetic Field EN 61000 4 11 2004 Voltage Dips Interrupts and Fluctuations KN22 2008 CISPR 22 2006 Conducted and Radiated Emissions KN24 2008 CISPR 24 1997 A1 2000 A2 2002 IT Immunity Characteristics EN 61000 4 2 Electrostatic Discharge EN 6100...

Page 69: ...sts and or replacement Vaddio Technical Support can be contacted by email at support vaddio com or by phone at one of the phone numbers listed on support vaddio com Return Material Authorization RMA number Before returning a product for repair or replacement request an RMA from Vaddio s technical support Provide the technician with a return phone number e mail address shipping address product seri...

Page 70: ...acement 9 11 13 camera sensitivity 36 ceiling mount 13 15 cheat sheet 31 40 44 51 camera behavior 51 IR mitigation 40 tuning 31 web interface 44 cleaning 61 command history 58 communicating with the IR camera 13 compatibility browsers 18 compensating for stray IR 40 41 configuration exporting 43 connecting cameras 17 connection diagram 16 connectors 6 contacting Vaddio Technical Support 49 custom ...

Page 71: ... 21 45 M medium room layout 10 mount 13 15 ceiling 13 15 wall 13 15 mounting cameras 13 15 17 N network cable 14 network configuration 55 network port 6 network requirements 7 Networking page 22 23 46 NTP server 46 O operating environment 12 61 P packing lists 2 17 camera 2 lanyard 17 pairing cameras 24 Pairing page 21 23 24 42 pan limits 33 35 41 search 34 35 tracking 34 35 pan tilt recalibration...

Page 72: ...vironment 61 stray IR 7 8 34 40 41 common sources 8 example 8 excluding 34 40 41 stream viewer 25 Streaming page 25 streaming settings 56 streaming URL 25 supported web browsers 18 System page 20 43 47 48 system requirements 7 T technical specifications 62 technical support 49 Telnet command help 58 Telnet session 52 58 59 ending 59 history 58 temperature operating and storage 61 theory of operati...

Page 73: ...page 49 guest access 45 Help page 49 Networking page 22 23 46 Pairing page 21 23 24 42 Room Labels page 46 Security page 45 Streaming page 25 System page 20 43 47 48 Tracking page 26 28 30 32 39 41 video camera accessing 21 weight 62 69 Integrator s Complete Guide to RoboTRAK Presenter Tracking System ...

Page 74: ...o are trademarks or registered trademarks of Vaddio All other trademarks in this document are the property of their respective owners Copyright 2016 Vaddio All rights reserved Vaddio 131 Cheshire Ln Suite 500 Minnetonka MN 55305 ...

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