A Problem of Hsiang-Palais-Terng on isoparametric submanifolds

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We solve the problem raised by Hsiang, Palais and Terng in [The topology of isoparametric submanifolds, JDG, 27(1988), 423-460]: Is it possible to have an isoparametric foliation on R^{52} whose marked Dynkin giagram is of type D_4 and with all multiplicities uniformly equal to 4?
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