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Use the past participle (and not the past tense) with the auxiliary verb have and its parts.
Use the present infinitive without to, not the past tense after the auxiliary did.
the answer to a question beginning with did is always in the past tense: Did you see the picture? -Yes, I saw the picture; or Yes, I did.
If you begin with a verb referring to past time, keep the verb forms in the past. The same rule applies to tenses throughout a composition.
The verb after a since clause of time is generally in the present perfect tense.
Use the simple past tense (and not the present perfect) for an action complete in the past at a stated time.
When a sentence has a word or a phrase denoting past time, like yesterday, last night, last week, last year, then, ago, etc., always use a simple past tense.