Pub Date : 2013-09-30DOI: 10.1109/ICSSE.2013.6614669
R. Krakovsky, I. Mokris
The paper deals with clustering of the text collections by neural network and similarity measures. The clustering phase is progressively passing all input samples of TF matrix and are further processed using the PART neural network. As a result of processing, projective clusters are obtained. In the last phase of processing our propose algorithm based on similarity measure is used in order to redirect projective clusters into the required clusters.
{"title":"Clustering of text collections based on PART neural network and similarity measure","authors":"R. Krakovsky, I. Mokris","doi":"10.1109/ICSSE.2013.6614669","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614669","url":null,"abstract":"The paper deals with clustering of the text collections by neural network and similarity measures. The clustering phase is progressively passing all input samples of TF matrix and are further processed using the PART neural network. As a result of processing, projective clusters are obtained. In the last phase of processing our propose algorithm based on similarity measure is used in order to redirect projective clusters into the required clusters.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"29 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116713106","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614666
Chih-Jui Lin, S. Hsiao, Ying-Hao Wang, Cheng-Hao Yeh, Chien-Feng Huang, Tzuu-Hseng S. Li
This paper mainly develops of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot and examines its control applications. The 4WS4WD possesses the benefits of the 4WD structure and the advantages of a 4WS system, and has the better performance of lateral dynamics in comparison with traditional mobile robots. By handling the 4WS4WD mobile robot, the motion control, obstacle avoidance and control strategy are addressed in this paper. The robotic maneuver control for 4WS4WD mobile robot is firstly investigated. For obstacle avoidance, the dynamic window approach (DWA) is used to safely control the mobile robot. The A* algorithm is adopted to implement the path planning and mobile robot navigation system. The experimental results demonstrate that the realized mobile robot can successfully conquer many kinds of terrains and carry out all the tasks in the SKS Intelligent Security Robot Competition held in Taipei International Robot Show (TIROS).
{"title":"Design and implementation of a 4WS4WD mobile robot and its control applications","authors":"Chih-Jui Lin, S. Hsiao, Ying-Hao Wang, Cheng-Hao Yeh, Chien-Feng Huang, Tzuu-Hseng S. Li","doi":"10.1109/ICSSE.2013.6614666","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614666","url":null,"abstract":"This paper mainly develops of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot and examines its control applications. The 4WS4WD possesses the benefits of the 4WD structure and the advantages of a 4WS system, and has the better performance of lateral dynamics in comparison with traditional mobile robots. By handling the 4WS4WD mobile robot, the motion control, obstacle avoidance and control strategy are addressed in this paper. The robotic maneuver control for 4WS4WD mobile robot is firstly investigated. For obstacle avoidance, the dynamic window approach (DWA) is used to safely control the mobile robot. The A* algorithm is adopted to implement the path planning and mobile robot navigation system. The experimental results demonstrate that the realized mobile robot can successfully conquer many kinds of terrains and carry out all the tasks in the SKS Intelligent Security Robot Competition held in Taipei International Robot Show (TIROS).","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121829453","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614660
Yi-Han Chen, Ming-Chang Chen, I. Li, Wei-Yen Wang, S. Su
This paper proposes an image detection method which is applied to obstacle-detecting and path-planning system of a wheeled mobile robot. The positions of obstacles can be recognized by using medium filter, morphologic processing, canny edge detection, and connected component labeling. And this paper utilizes Parallel Lines Distance Measurement (PLDM) to detect the real world coordinates of obstacles. Because it only needs a single webcam and several laser points for the setting of PLDM, it is easier to set up the experimental environment and the cost for setting is relatively cheaper. At last, we combine image detection method with PLDM to complete the path-planning system of a wheeled mobile robot. Then the path-planning can be shown on the two-dimensional map immediately. Our simulation results, presented at the end of this paper, show that the proposed image detection method is effective in the path-planning system of a wheeled mobile robot.
{"title":"Image-based obstacle avoidance and path-planning system","authors":"Yi-Han Chen, Ming-Chang Chen, I. Li, Wei-Yen Wang, S. Su","doi":"10.1109/ICSSE.2013.6614660","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614660","url":null,"abstract":"This paper proposes an image detection method which is applied to obstacle-detecting and path-planning system of a wheeled mobile robot. The positions of obstacles can be recognized by using medium filter, morphologic processing, canny edge detection, and connected component labeling. And this paper utilizes Parallel Lines Distance Measurement (PLDM) to detect the real world coordinates of obstacles. Because it only needs a single webcam and several laser points for the setting of PLDM, it is easier to set up the experimental environment and the cost for setting is relatively cheaper. At last, we combine image detection method with PLDM to complete the path-planning system of a wheeled mobile robot. Then the path-planning can be shown on the two-dimensional map immediately. Our simulation results, presented at the end of this paper, show that the proposed image detection method is effective in the path-planning system of a wheeled mobile robot.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129288128","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614642
N. Belfiore, M. Verotti, R. Crescenzi, M. Balucani
The need of micromanipulation devices has been growing rapidly during the last decades, specially in the fields of Biology and Micro-Assembly, and many solutions have been proposed to cope with the increasing demand. The present paper suggests a possible way to micromanipulating objects in various conditions, adopting MEMS technologies to develop a microgripper based on a new flexural hinge, recently patented by the Authors. The micromechanism has been modified considering results obtained through FEA. Finally, a brief description of the construction process is provided, together with some experimental activities.
{"title":"Design, optimization and construction of MEMS-based micro grippers for cell manipulation","authors":"N. Belfiore, M. Verotti, R. Crescenzi, M. Balucani","doi":"10.1109/ICSSE.2013.6614642","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614642","url":null,"abstract":"The need of micromanipulation devices has been growing rapidly during the last decades, specially in the fields of Biology and Micro-Assembly, and many solutions have been proposed to cope with the increasing demand. The present paper suggests a possible way to micromanipulating objects in various conditions, adopting MEMS technologies to develop a microgripper based on a new flexural hinge, recently patented by the Authors. The micromechanism has been modified considering results obtained through FEA. Finally, a brief description of the construction process is provided, together with some experimental activities.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121636366","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614675
C. Hsu, Hua-En Chang, Yin-Yu Lu
Iterative Closest Point (ICP) algorithm is widely used in 2D and 3D spatial and geometric alignment. There are many variants of the ICP algorithm, proposing methods to minimize the sum of Euclidean distances between two clouds of scanning points for map building of an unknown environment by a mobile robot. Considering simplicity and computational efficiency, this paper proposes an enhanced-ICP incorporating a Particle Swarm Optimization (PSO) to effectively filter out outliers and avoid the false matching points during the map building process. Experimental results showed that, the proposed PSO-tuned enhanced-ICP can effectively reduce the accumulated errors to improve the map building accuracy by circumventing the problems of local optimal solutions resulted from the outliers and false matching points during the map building process.
{"title":"Map building of unknown environment using PSO-tuned enhanced Iterative Closest Point algorithm","authors":"C. Hsu, Hua-En Chang, Yin-Yu Lu","doi":"10.1109/ICSSE.2013.6614675","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614675","url":null,"abstract":"Iterative Closest Point (ICP) algorithm is widely used in 2D and 3D spatial and geometric alignment. There are many variants of the ICP algorithm, proposing methods to minimize the sum of Euclidean distances between two clouds of scanning points for map building of an unknown environment by a mobile robot. Considering simplicity and computational efficiency, this paper proposes an enhanced-ICP incorporating a Particle Swarm Optimization (PSO) to effectively filter out outliers and avoid the false matching points during the map building process. Experimental results showed that, the proposed PSO-tuned enhanced-ICP can effectively reduce the accumulated errors to improve the map building accuracy by circumventing the problems of local optimal solutions resulted from the outliers and false matching points during the map building process.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125747439","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614686
K. Pándi, H. Charaf
In information technology two recent trends can be observed. Mobile computer technology has greatly evolved providing various rich functionalities. Capabilities of mobile terminal is given, more performance can be obtained with adding additional resources. Cloud computing is recognized to be a new area for solving performance issues. These technologies used together can enhance the user experience of the mobile terminal. Sophisticated mobile resource management layer needs to be used, that can utilize extra performance of the cloud. The basis of effective resource management is a precise knowledge of the hardware and software capabilities, furthermore, the usage of mobile terminal. Performance metrics serve as an input for resource management. This study will present architecture of mobile performance measurement and profile creation layer. Key performance metrics are collected and investigated. Attributes of profile creation are also gathered. Architecture is examined, whether it can be later used as an input for mobile resource management.
{"title":"Mobile performance metrics for resource management","authors":"K. Pándi, H. Charaf","doi":"10.1109/ICSSE.2013.6614686","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614686","url":null,"abstract":"In information technology two recent trends can be observed. Mobile computer technology has greatly evolved providing various rich functionalities. Capabilities of mobile terminal is given, more performance can be obtained with adding additional resources. Cloud computing is recognized to be a new area for solving performance issues. These technologies used together can enhance the user experience of the mobile terminal. Sophisticated mobile resource management layer needs to be used, that can utilize extra performance of the cloud. The basis of effective resource management is a precise knowledge of the hardware and software capabilities, furthermore, the usage of mobile terminal. Performance metrics serve as an input for resource management. This study will present architecture of mobile performance measurement and profile creation layer. Key performance metrics are collected and investigated. Attributes of profile creation are also gathered. Architecture is examined, whether it can be later used as an input for mobile resource management.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134444092","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614689
J. T. Maumela, F. Nelwamondo, T. Marwala
This paper introduces the adaption of Rough Neural Networks (RNN) in bushings dissolved gas analysis (DGA) condition monitoring. The paper extended by investigating the RNN, Backpropagation Neural Networks (BPNN) and Support Vector Machine (SVM) classifiers' performance when Principal Component Analysis (PCA), Rough Sets (RS) and Incremental Granular Ranking (GR++) are used as preprocessors to reduce the attributes of the DGA training data. The performance of RNN classifier was benchmarked against the performance of BPNN since RNN was built using Backpropagation. The RNN classifier had higher classification accuracy than BPNN and SVM when trained using PCA and RS reduct dataset. RNN had a lower training time than BPNN and SVM when trained using RS and GR++ reduct dataset. PCA reducts dataset increased the classification accuracy of the BPNN, RNN and SVM classifiers, while RS reducts dataset only increased the classification accuracy of RNN classifiers. GR++ reduced the classification accuracy of BPNN, RNN and SVM but increased their training time.
{"title":"Condition monitoring of transformer bushings using Rough Sets, Principal Component Analysis and Granular Computation as preprocessors","authors":"J. T. Maumela, F. Nelwamondo, T. Marwala","doi":"10.1109/ICSSE.2013.6614689","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614689","url":null,"abstract":"This paper introduces the adaption of Rough Neural Networks (RNN) in bushings dissolved gas analysis (DGA) condition monitoring. The paper extended by investigating the RNN, Backpropagation Neural Networks (BPNN) and Support Vector Machine (SVM) classifiers' performance when Principal Component Analysis (PCA), Rough Sets (RS) and Incremental Granular Ranking (GR++) are used as preprocessors to reduce the attributes of the DGA training data. The performance of RNN classifier was benchmarked against the performance of BPNN since RNN was built using Backpropagation. The RNN classifier had higher classification accuracy than BPNN and SVM when trained using PCA and RS reduct dataset. RNN had a lower training time than BPNN and SVM when trained using RS and GR++ reduct dataset. PCA reducts dataset increased the classification accuracy of the BPNN, RNN and SVM classifiers, while RS reducts dataset only increased the classification accuracy of RNN classifiers. GR++ reduced the classification accuracy of BPNN, RNN and SVM but increased their training time.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132779293","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614697
M. Henshaw, C. Siemieniuch, M. Sinclair, S. Henson, V. Barot, M. Jamshidi, D. DeLaurentis, Cornelius Ncube, Soo Ling Lim, H. Dogan
Systems of Systems Engineering constitutes a major challenge for the 21st Century and research into this topic has become an imperative. The Support Action, T-AREA-SoS has been initiated by the European Commission to develop a research agenda in Systems of Systems (SoS) that will inform future investment in this area. Through an extensive consultation and review, a number of SoS capability gaps have been identified. Through structuring and subsequent consultation, these have been developed into twelve research themes the detailed areas of which are mapped to the three SoS characteristics of control, evolution, and emergent behaviour. A framework is presented through which researchers can develop a research campaign in SoS.
{"title":"Systems of Systems Engineering: A research imperative","authors":"M. Henshaw, C. Siemieniuch, M. Sinclair, S. Henson, V. Barot, M. Jamshidi, D. DeLaurentis, Cornelius Ncube, Soo Ling Lim, H. Dogan","doi":"10.1109/ICSSE.2013.6614697","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614697","url":null,"abstract":"Systems of Systems Engineering constitutes a major challenge for the 21st Century and research into this topic has become an imperative. The Support Action, T-AREA-SoS has been initiated by the European Commission to develop a research agenda in Systems of Systems (SoS) that will inform future investment in this area. Through an extensive consultation and review, a number of SoS capability gaps have been identified. Through structuring and subsequent consultation, these have been developed into twelve research themes the detailed areas of which are mapped to the three SoS characteristics of control, evolution, and emergent behaviour. A framework is presented through which researchers can develop a research campaign in SoS.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133052525","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614705
C. Moo, Jhen-Yu Jian, Tsung-Hsi Wu, Li-Ren Yu, C. Hua
A battery power system configured by arrayed battery power modules (BPMs) is presented. Each BPM consists of a battery pack equipped with an associated bi-directional power electronic converter for charging and discharging. The number of BPMs in the array is schemed to cope with the required output voltage, current, power as well as sustainable energy. All BPMs in the configuration are mutually interactive to each other and have to be operated collaboratively with the others, but allowed to be controlled individually, facilitating the maintenance, protection, and the management of the battery power system.
{"title":"Battery power system with arrayed battery power modules","authors":"C. Moo, Jhen-Yu Jian, Tsung-Hsi Wu, Li-Ren Yu, C. Hua","doi":"10.1109/ICSSE.2013.6614705","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614705","url":null,"abstract":"A battery power system configured by arrayed battery power modules (BPMs) is presented. Each BPM consists of a battery pack equipped with an associated bi-directional power electronic converter for charging and discharging. The number of BPMs in the array is schemed to cope with the required output voltage, current, power as well as sustainable energy. All BPMs in the configuration are mutually interactive to each other and have to be operated collaboratively with the others, but allowed to be controlled individually, facilitating the maintenance, protection, and the management of the battery power system.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131996127","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 : 2013-07-04DOI: 10.1109/ICSSE.2013.6614680
Dan Slipper, A. McEwan, Wilson Ifill
Safety analysis of high consequence arming systems is complex, many arguments about the behaviour of a design are required to validate that the system fulfils its safety requirements. Manual analysis of such systems can miss potential paths of energy flow and this process becomes increasingly difficult when the concept of defence in depth is incorporated into the design. Utilising the process algebra Communicating Sequential Processes allows component specifications and system level safety specifications to be formalised. Model checking techniques can then be applied to ensure the design of each component meets their individual specifications and that when composed together achieve the required system level behaviour, demonstrating both system level safety and meeting the requirements of defence in depth. We present validation of the technique through the use of a small example representative of the systems of interest we are analysing. The approach is then demonstrated to identify potential problems in this example through various scenarios.
{"title":"Modelling and analysing Defence-in-Depth in arming systems","authors":"Dan Slipper, A. McEwan, Wilson Ifill","doi":"10.1109/ICSSE.2013.6614680","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614680","url":null,"abstract":"Safety analysis of high consequence arming systems is complex, many arguments about the behaviour of a design are required to validate that the system fulfils its safety requirements. Manual analysis of such systems can miss potential paths of energy flow and this process becomes increasingly difficult when the concept of defence in depth is incorporated into the design. Utilising the process algebra Communicating Sequential Processes allows component specifications and system level safety specifications to be formalised. Model checking techniques can then be applied to ensure the design of each component meets their individual specifications and that when composed together achieve the required system level behaviour, demonstrating both system level safety and meeting the requirements of defence in depth. We present validation of the technique through the use of a small example representative of the systems of interest we are analysing. The approach is then demonstrated to identify potential problems in this example through various scenarios.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133117327","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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