Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958666
Amal Marrekchi, Soulaymen Kammoun, S. Sallem, M. B. A. Kammon
In Grid-Connected PV system should not be limited injecting the active power into the grid. However, it must be able to absorb or to generate sufficient reactive power for a certain amount of time according to the grid demand and maintain the grid voltage. This paper proposes sliding mode control that controls powers respectively the active and the reactive power for a Three-Phase Grid-Connected PV System. The sliding mode control based on dq transformation, after determining the desired voltage of the inverter Vd and Vd in the rotating frame, which means a reactive power quantity that defines the angle phase between the grid current and voltage. This controller is simulated on a 10 MW PV generator system using Matlab/SIMULINK. According to the simulation results prove the efficiency and robustness of the sliding mode control to regulate the injected reactive power.
{"title":"Sliding mode control of reactive power for Three-Phase Grid-Connected photovoltaic System","authors":"Amal Marrekchi, Soulaymen Kammoun, S. Sallem, M. B. A. Kammon","doi":"10.1109/ICOSC.2017.7958666","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958666","url":null,"abstract":"In Grid-Connected PV system should not be limited injecting the active power into the grid. However, it must be able to absorb or to generate sufficient reactive power for a certain amount of time according to the grid demand and maintain the grid voltage. This paper proposes sliding mode control that controls powers respectively the active and the reactive power for a Three-Phase Grid-Connected PV System. The sliding mode control based on dq transformation, after determining the desired voltage of the inverter Vd and Vd in the rotating frame, which means a reactive power quantity that defines the angle phase between the grid current and voltage. This controller is simulated on a 10 MW PV generator system using Matlab/SIMULINK. According to the simulation results prove the efficiency and robustness of the sliding mode control to regulate the injected reactive power.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":" 67","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113952472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958722
Salwa Yahia, S. Bedoui, K. Abderrahim
In the present work, we proposed a novel approach which allows the estimation of actuator fault and its compensation correctly for switched hybrid system. So, to thwart the impact of the fault we extended and developed a fault tolerant control (FTC) for switched system. The synthesis of it needs to follow three important steps. The first step, is based on the use of the Data-based Projection Method (MPD) to identify the fault perfectly. The second step, insures the estimation of the unavailable state utilizing the switched observer design. The third step is to calculate the nominal control, then combine it to an additive control already determined. This proposed method allows to the switched system to keep its performances in spite of occurrence of the actuator fault. An example is provided to confirm the significance of the proposed strategy.
{"title":"An extended FTC based on the MPD for the switched system","authors":"Salwa Yahia, S. Bedoui, K. Abderrahim","doi":"10.1109/ICOSC.2017.7958722","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958722","url":null,"abstract":"In the present work, we proposed a novel approach which allows the estimation of actuator fault and its compensation correctly for switched hybrid system. So, to thwart the impact of the fault we extended and developed a fault tolerant control (FTC) for switched system. The synthesis of it needs to follow three important steps. The first step, is based on the use of the Data-based Projection Method (MPD) to identify the fault perfectly. The second step, insures the estimation of the unavailable state utilizing the switched observer design. The third step is to calculate the nominal control, then combine it to an additive control already determined. This proposed method allows to the switched system to keep its performances in spite of occurrence of the actuator fault. An example is provided to confirm the significance of the proposed strategy.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125598564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958700
Ahmed Allam, M. Tadjine, A. Nemra, Elhaouari Kobzili
The autonomous navigation task of a mobile robot depends on its ability of localization and owning a description about its environment. To deal with these requirements, robots need to be equipped with Simultaneous Localization and Mapping (SLAM) module. This earlier could be solved by many approaches, mostly based on the stochastic approach, using extended Kalman filter (EKF) or the Rao-Blackwellized particle filter. The SLAM has been already approached using a new alternative filter which is the Smooth Variable Structure Filter (SVSF). This estimator is a predictor corrector formulated on the theory of sliding mode control and variable structure systems. The first version of SVSF uses a predefined Boundary Layer Width vector and don't require covariance derivation. In this work, we propose using a new form of SVSF to deal with the SLAM problem based on an adaptive (optimal) boundary layer matrix. The (ASVSF) is very robust estimator against modeling errors and noises and keeps a compromise between robustness and accuracy. Visual SVSF-SLAM and ASVSF-SLAM are implemented, validated with experimentation and compared with EKF-SLAM algorithm. The comparison of simulation results proofs the efficiency, robustness and the accuracy of ASVSF-SLAM comparing to the other algorithms, while the experimental results show that ASVSF-SLAM is the less accurate.
{"title":"Stereo vision as a sensor for SLAM based Smooth Variable Structure Filter with an adaptive Boundary Layer Width","authors":"Ahmed Allam, M. Tadjine, A. Nemra, Elhaouari Kobzili","doi":"10.1109/ICOSC.2017.7958700","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958700","url":null,"abstract":"The autonomous navigation task of a mobile robot depends on its ability of localization and owning a description about its environment. To deal with these requirements, robots need to be equipped with Simultaneous Localization and Mapping (SLAM) module. This earlier could be solved by many approaches, mostly based on the stochastic approach, using extended Kalman filter (EKF) or the Rao-Blackwellized particle filter. The SLAM has been already approached using a new alternative filter which is the Smooth Variable Structure Filter (SVSF). This estimator is a predictor corrector formulated on the theory of sliding mode control and variable structure systems. The first version of SVSF uses a predefined Boundary Layer Width vector and don't require covariance derivation. In this work, we propose using a new form of SVSF to deal with the SLAM problem based on an adaptive (optimal) boundary layer matrix. The (ASVSF) is very robust estimator against modeling errors and noises and keeps a compromise between robustness and accuracy. Visual SVSF-SLAM and ASVSF-SLAM are implemented, validated with experimentation and compared with EKF-SLAM algorithm. The comparison of simulation results proofs the efficiency, robustness and the accuracy of ASVSF-SLAM comparing to the other algorithms, while the experimental results show that ASVSF-SLAM is the less accurate.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117117986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958678
M. Boudjellal, R. Illoul
The aim of this paper is to design a high-gain with a higher order sliding mode (super-twisting) observer-based outputs and faults estimations for a continuous stirred tank reactor (CSTR). The high-gain observer is used in nominal plant for observing the system states. Whereas the adaptive-gain super-twisting is proposed to tackle system faults and therefore can be reconstructed from the equivalent output error injection signal. The designed observer thanks to the higher order sliding mode allows reconstructing faults without chattering effect caused by traditional sliding mode. The global observer convergence is proved using the Lyapunov theory. Simulations results show the effeteness of the observer adopted in this paper
{"title":"High-order sliding mode and high-gain observers for state estimation and fault reconstruction for a nonlinear CSTR","authors":"M. Boudjellal, R. Illoul","doi":"10.1109/ICOSC.2017.7958678","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958678","url":null,"abstract":"The aim of this paper is to design a high-gain with a higher order sliding mode (super-twisting) observer-based outputs and faults estimations for a continuous stirred tank reactor (CSTR). The high-gain observer is used in nominal plant for observing the system states. Whereas the adaptive-gain super-twisting is proposed to tackle system faults and therefore can be reconstructed from the equivalent output error injection signal. The designed observer thanks to the higher order sliding mode allows reconstructing faults without chattering effect caused by traditional sliding mode. The global observer convergence is proved using the Lyapunov theory. Simulations results show the effeteness of the observer adopted in this paper","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124766482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958659
Djari Abdelhamid, Bouarroudj Noureddine, V. F. Batlle, Boukhetala Djamel, Fares Bodjema
in this paper a combination between fractional order sliding mode control (FOSMC) and pole-placement is introduced for non-linear systems with uncertain disturbances. A sliding surface with a fractional order PID form is given, in which the eigenvalues of the reduced state equation of the errors are forced to be negative via the pole-placement method. The control law is designed based on the Lyapunov stability condition and the fractional order calculus properties. In the simulation results, a comparison between our FOSMC controller and an integer order sliding mode control (IOSMC) for an inverted pendulum system demonstrates the better performance of our proposal.
{"title":"Fractional order sliding mode control with pole-placement for non-linear systems with uncertain disturbances","authors":"Djari Abdelhamid, Bouarroudj Noureddine, V. F. Batlle, Boukhetala Djamel, Fares Bodjema","doi":"10.1109/ICOSC.2017.7958659","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958659","url":null,"abstract":"in this paper a combination between fractional order sliding mode control (FOSMC) and pole-placement is introduced for non-linear systems with uncertain disturbances. A sliding surface with a fractional order PID form is given, in which the eigenvalues of the reduced state equation of the errors are forced to be negative via the pole-placement method. The control law is designed based on the Lyapunov stability condition and the fractional order calculus properties. In the simulation results, a comparison between our FOSMC controller and an integer order sliding mode control (IOSMC) for an inverted pendulum system demonstrates the better performance of our proposal.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123337143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958637
M. Mellal, S. Adjerid, E. Williams
Nowadays, rapid technological change influences the dependability of industrial components by the phenomenon of “obsolescence.” The technological obsolescence of a unit is characterized by the existence of a new-generation unit possessing identical functionalities, but with improved performances. The industrial firms seek to optimally replace the old-generation units by maximizing the number of replaced items, in order to deal with obsolescence of the plant. This paper presents the applicability of a flexible model for thirty components, using a modern bio-inspired and evolutionary computational algorithm called “Cuckoo Optimization Algorithm (COA).”
{"title":"Replacement optimization of industrial components subject to technological obsolescence using artificial intelligence","authors":"M. Mellal, S. Adjerid, E. Williams","doi":"10.1109/ICOSC.2017.7958637","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958637","url":null,"abstract":"Nowadays, rapid technological change influences the dependability of industrial components by the phenomenon of “obsolescence.” The technological obsolescence of a unit is characterized by the existence of a new-generation unit possessing identical functionalities, but with improved performances. The industrial firms seek to optimally replace the old-generation units by maximizing the number of replaced items, in order to deal with obsolescence of the plant. This paper presents the applicability of a flexible model for thirty components, using a modern bio-inspired and evolutionary computational algorithm called “Cuckoo Optimization Algorithm (COA).”","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133933316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958658
S. Seghour, M. Tadjine
This paper aims to investigate the formation control of multiple no-holonomic mobile robots based on consensus approach while guarantee inter-collision avoidance among robots. The proposed approach design a controller benefit of the product of Lyapunov and graph theory permit a group of agents to converge to a desired virtual geometric shape defined as an n-ellipsoid with its center track the desired reference trajectory. Furthermore, we inject into the proposed consensus algorithm a Fuzzy logic system to calculate the robot translation and angular velocity to keep the formation and get the desired direction of the virtual leader robot. Moreover, we have constructed a simulator for a small group of robots in a 3D environment founded on the Robot Operating System and Gazebo. The simulation results verify the effectiveness of the proposed method.
{"title":"Consensus-based approach and reactive fuzzy navigation for multiple no-holonomic mobile robots","authors":"S. Seghour, M. Tadjine","doi":"10.1109/ICOSC.2017.7958658","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958658","url":null,"abstract":"This paper aims to investigate the formation control of multiple no-holonomic mobile robots based on consensus approach while guarantee inter-collision avoidance among robots. The proposed approach design a controller benefit of the product of Lyapunov and graph theory permit a group of agents to converge to a desired virtual geometric shape defined as an n-ellipsoid with its center track the desired reference trajectory. Furthermore, we inject into the proposed consensus algorithm a Fuzzy logic system to calculate the robot translation and angular velocity to keep the formation and get the desired direction of the virtual leader robot. Moreover, we have constructed a simulator for a small group of robots in a 3D environment founded on the Robot Operating System and Gazebo. The simulation results verify the effectiveness of the proposed method.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134269362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958671
Larbi Djilali, E. Sánchez, M. Belkheiri
Wind energy has many advantages, because it does not pollute and is an inexhaustible source of energy. The Double Fed Induction Generator (DFIG) is one of the most important electric generator used for Horizontal Axis Wind Turbine (HAWT). In this paper, a Discrete-time Neural Input-Output Feedback Linearization Control (N-IOFLC) for DFIG is proposed to force the rotor currents to track specified reference defined form the desired stator active and reactive powers, using the fourth order d − q model of the DFIG with rotor and stator currents as state variables. The DFIG rotor is coupled to the grid via a power converters, while the stator is linked directly to the electric network. The proposed controller is designed using a Recurrent High Order Neural Network (RHONN), trained with an Extended Kalman Filter (EKF). The RHONN works as an identifier to obtain an adequate model of DFIG which is robust to disturbances and parameter variations. The effectiveness of the proposed control scheme of DFIG is confirmed by simulation results obtained using Matlab/Similink.
{"title":"Discrete-Time Neural Input Output Feedback Linearization Control for a DFIG based Wind Turbine","authors":"Larbi Djilali, E. Sánchez, M. Belkheiri","doi":"10.1109/ICOSC.2017.7958671","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958671","url":null,"abstract":"Wind energy has many advantages, because it does not pollute and is an inexhaustible source of energy. The Double Fed Induction Generator (DFIG) is one of the most important electric generator used for Horizontal Axis Wind Turbine (HAWT). In this paper, a Discrete-time Neural Input-Output Feedback Linearization Control (N-IOFLC) for DFIG is proposed to force the rotor currents to track specified reference defined form the desired stator active and reactive powers, using the fourth order d − q model of the DFIG with rotor and stator currents as state variables. The DFIG rotor is coupled to the grid via a power converters, while the stator is linked directly to the electric network. The proposed controller is designed using a Recurrent High Order Neural Network (RHONN), trained with an Extended Kalman Filter (EKF). The RHONN works as an identifier to obtain an adequate model of DFIG which is robust to disturbances and parameter variations. The effectiveness of the proposed control scheme of DFIG is confirmed by simulation results obtained using Matlab/Similink.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"323 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115460619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958683
Abdenour Benkrid, N. Achour
This paper addresses the multi-robot exploration problem in unknown environments. The proposed method aims to minimize the exploration time considering the robot's limited energy. The target area is defined as a frontier which represents the limit between an unknown and explored part of the environment. Thus, each robot from the team is assigned to the frontier for which it has the lowest rank among the other robots in term of energy consumption. An implementation and tests in computerized simulation as well as a comparison with some existing approaches has been performed. The results obtained demonstrate the validity and the efficiency of our method.
{"title":"A novel approach for coordinated multi-robot exploration","authors":"Abdenour Benkrid, N. Achour","doi":"10.1109/ICOSC.2017.7958683","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958683","url":null,"abstract":"This paper addresses the multi-robot exploration problem in unknown environments. The proposed method aims to minimize the exploration time considering the robot's limited energy. The target area is defined as a frontier which represents the limit between an unknown and explored part of the environment. Thus, each robot from the team is assigned to the frontier for which it has the lowest rank among the other robots in term of energy consumption. An implementation and tests in computerized simulation as well as a comparison with some existing approaches has been performed. The results obtained demonstrate the validity and the efficiency of our method.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127533788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2017-05-01DOI: 10.1109/ICOSC.2017.7958726
B. Boukezata, A. Chaoui, J. Gaubert, M. Hachemi
Nonlinear loads deteriorate power quality by drawing harmonic and reactive currents at their point of coupling. This paper proposes a predictive current control strategy applied to Shunt Active Power Filter for improving power quality. Proposed approach uses the system discrete-time model to predict the future value of the filter current for different voltage vectors. Selection of the optimal voltage vector aims to minimize the error between reference and predicted current by means of a cost function. The proposed control algorithm is carried out through MatlabSimulink(TM) environment, simulation and experimental results confirm the effectiveness and the robustness of the proposed control algorithm and compared to hysteresis current control strategy in all operation modes.
{"title":"Implementation of predictive current control for Shunt Active Power Filter","authors":"B. Boukezata, A. Chaoui, J. Gaubert, M. Hachemi","doi":"10.1109/ICOSC.2017.7958726","DOIUrl":"https://doi.org/10.1109/ICOSC.2017.7958726","url":null,"abstract":"Nonlinear loads deteriorate power quality by drawing harmonic and reactive currents at their point of coupling. This paper proposes a predictive current control strategy applied to Shunt Active Power Filter for improving power quality. Proposed approach uses the system discrete-time model to predict the future value of the filter current for different voltage vectors. Selection of the optimal voltage vector aims to minimize the error between reference and predicted current by means of a cost function. The proposed control algorithm is carried out through MatlabSimulink(TM) environment, simulation and experimental results confirm the effectiveness and the robustness of the proposed control algorithm and compared to hysteresis current control strategy in all operation modes.","PeriodicalId":113395,"journal":{"name":"2017 6th International Conference on Systems and Control (ICSC)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131324794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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