Pub Date : 2013-07-04DOI: 10.1109/ICSSE.2013.6614658
Yi-Feng Kao, Yi-Hsing Chien, I. Li, Wei-Yen Wang, Tsu-Tian Lee
This paper presents a hybrid intelligent algorithm for path planning and trajectory-tracking control of a wheeled mobile robot (WMR). By using the proposed controller, the WMR can successfully finish the object of trajectory-tracking. First of all, we use D* Lite algorithm to determine the shortest path between the initial position and the destination position for the WMR. Then by using the proposed controller, the WMR can move along the path and arrive at the destination successfully. The controller is divided in two parts, which are kinematic controller and dynamic controller. The asymptotic stability of both kinematic and dynamic controllers is proven by Lyapunov theory. Finally, experiments show that this method can achieve good results.
{"title":"Design and implementation of adaptive dynamic controllers for wheeled mobile robots","authors":"Yi-Feng Kao, Yi-Hsing Chien, I. Li, Wei-Yen Wang, Tsu-Tian Lee","doi":"10.1109/ICSSE.2013.6614658","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614658","url":null,"abstract":"This paper presents a hybrid intelligent algorithm for path planning and trajectory-tracking control of a wheeled mobile robot (WMR). By using the proposed controller, the WMR can successfully finish the object of trajectory-tracking. First of all, we use D* Lite algorithm to determine the shortest path between the initial position and the destination position for the WMR. Then by using the proposed controller, the WMR can move along the path and arrive at the destination successfully. The controller is divided in two parts, which are kinematic controller and dynamic controller. The asymptotic stability of both kinematic and dynamic controllers is proven by Lyapunov theory. Finally, experiments show that this method can achieve good results.","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":"115057102","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.2013.6614648
Ying-Hao Wang, Hao-En Cheng, Chih-Jui Lin, Ri-Wei Deng, Hsuan Lee, Tzuu-Hseng S. Li
This paper mainly discusses the realization of affine Scale-Invariant Feature Transform (SIFT) real-time image processing method for “May” who is a home service robot designed and implemented by aiRobots laboratory. Firstly, a six-step method is proposed to create image database. Then the SIFT algorithm is adopted to detect features with this database, the error rate of features is reduced. Integration of the six-step method and SIFT can significantly decrease time for setting up the database. Thirdly, the object-recognition vision system is built up by parallel Affine-SIFT (ASIFT) algorithm, where the OpenGL is used to reduce the calculation time of affine projection and SiftGPU (Graphics Processing Unit) is adopted to accomplish the real-time operation speed of SIFT. Finally, the real-time grasping experiments demonstrate the feasibility and validity of the proposed scheme.
{"title":"Realization of affine SIFT real-time image processing for home service robot","authors":"Ying-Hao Wang, Hao-En Cheng, Chih-Jui Lin, Ri-Wei Deng, Hsuan Lee, Tzuu-Hseng S. Li","doi":"10.1109/ICSSE.2013.6614648","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614648","url":null,"abstract":"This paper mainly discusses the realization of affine Scale-Invariant Feature Transform (SIFT) real-time image processing method for “May” who is a home service robot designed and implemented by aiRobots laboratory. Firstly, a six-step method is proposed to create image database. Then the SIFT algorithm is adopted to detect features with this database, the error rate of features is reduced. Integration of the six-step method and SIFT can significantly decrease time for setting up the database. Thirdly, the object-recognition vision system is built up by parallel Affine-SIFT (ASIFT) algorithm, where the OpenGL is used to reduce the calculation time of affine projection and SiftGPU (Graphics Processing Unit) is adopted to accomplish the real-time operation speed of SIFT. Finally, the real-time grasping experiments demonstrate the feasibility and validity of the proposed scheme.","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":"126201497","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.2013.6614670
M. Rojček, I. Mokris
The article presents a model for text document clustering based on Fuzzy ART neural network with two separate network segments. The first segment (Internet) enables clustering for the classification of documents into new categories, and the second segment (intranet) enables the modified Fuzzy ART algorithm to assign documents into existing categories. The article observe behavior of the model based on Fuzzy ART network, into which entering the different strategies in the different segments of synthetic text documents.
{"title":"System for document clustering from mixed sources based on Fuzzy ART neural network","authors":"M. Rojček, I. Mokris","doi":"10.1109/ICSSE.2013.6614670","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614670","url":null,"abstract":"The article presents a model for text document clustering based on Fuzzy ART neural network with two separate network segments. The first segment (Internet) enables clustering for the classification of documents into new categories, and the second segment (intranet) enables the modified Fuzzy ART algorithm to assign documents into existing categories. The article observe behavior of the model based on Fuzzy ART network, into which entering the different strategies in the different segments of synthetic text documents.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"43 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":"122415639","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.2013.6614678
Kao-Shing Hwang, Wei-Cheng Jiang, Yu-Jen Chen, Wei-Han Wang
In this paper, a sharing method of model construction between multi-agents is presented to shorten the time of modeling. The sharing method allows the agents to share their knowledge in modeling. In the proposed method, the individual model held by each agent can be implemented with the heterogeneous structure such as decision tree. To decreasing the complexity of the sharing process, the proposed method executes model sharing between cooperative agents by means of the leaf nodes of trees instead of merging whole trees violently. The result of simulation in multi-agent cooperative domain illustrates that the proposed algorithm perform better than the one without sharing.
{"title":"Reinforcement learning with model sharing for multi-agent systems","authors":"Kao-Shing Hwang, Wei-Cheng Jiang, Yu-Jen Chen, Wei-Han Wang","doi":"10.1109/ICSSE.2013.6614678","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614678","url":null,"abstract":"In this paper, a sharing method of model construction between multi-agents is presented to shorten the time of modeling. The sharing method allows the agents to share their knowledge in modeling. In the proposed method, the individual model held by each agent can be implemented with the heterogeneous structure such as decision tree. To decreasing the complexity of the sharing process, the proposed method executes model sharing between cooperative agents by means of the leaf nodes of trees instead of merging whole trees violently. The result of simulation in multi-agent cooperative domain illustrates that the proposed algorithm perform better than the one without sharing.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"21 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":"120935752","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.2013.6614701
Jie-Shou Lu, Chih-Li Huo, Yu-Hsiang Yu, Tsung-Ying Sun
Distortion model vary from lens to lens even are same type camera because some unavoidable imperfections during manufacturing. Therefore we propose a novel calibration method based on heuristic B-spline model to identify the distortion model. Unlike common distortion models, proposed heuristic B-spline model can get better calibrated result. In order to evaluate the result of calibration, a test image is considered to compare proposed method with other distortion models. The experiment is shown that the proposed method has less mean square error (MSE) than others.
{"title":"A novel calibration method based on heuristic B-spline model for fish-eye lenses","authors":"Jie-Shou Lu, Chih-Li Huo, Yu-Hsiang Yu, Tsung-Ying Sun","doi":"10.1109/ICSSE.2013.6614701","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614701","url":null,"abstract":"Distortion model vary from lens to lens even are same type camera because some unavoidable imperfections during manufacturing. Therefore we propose a novel calibration method based on heuristic B-spline model to identify the distortion model. Unlike common distortion models, proposed heuristic B-spline model can get better calibrated result. In order to evaluate the result of calibration, a test image is considered to compare proposed method with other distortion models. The experiment is shown that the proposed method has less mean square error (MSE) than others.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"21 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":"127105245","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.2013.6614671
Kuo-Ho Su, Minh To, Chan-Yun Yang
A robust tracking controller is developed to improve the tracking performance for nonlinear dynamic system in this study. The proposed controller comprises a fuzzy PID sliding-mode controller (FPIDSMC) and an adaptive tuner. The FPIDSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a PID sliding-mode controller (PIDSMC). The adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilized to adjust the parameter on-line for further assuring robust and optimal performance. In the FPIDSMC, the fuzzy rule base is compact and only one parameter needs to be adjusted. To verify its effectiveness and extend its application, the proposed adaptive fuzzy PID sliding-mode controller (AFPIDSMC) is applied to the path tracking of a wheeled robot, whose salient performance is verified by numerical simulation and whose advantages are presented in comparison with conventional AFSMC scheme under the same environment.
{"title":"Robust tracking controller design and its application to wheeled robot","authors":"Kuo-Ho Su, Minh To, Chan-Yun Yang","doi":"10.1109/ICSSE.2013.6614671","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614671","url":null,"abstract":"A robust tracking controller is developed to improve the tracking performance for nonlinear dynamic system in this study. The proposed controller comprises a fuzzy PID sliding-mode controller (FPIDSMC) and an adaptive tuner. The FPIDSMC acts as the main tracking controller, which is designed via a fuzzy system to mimic the merits of a PID sliding-mode controller (PIDSMC). The adaptive tuner, which is derived in the sense of Lyapunov stability theorem, is utilized to adjust the parameter on-line for further assuring robust and optimal performance. In the FPIDSMC, the fuzzy rule base is compact and only one parameter needs to be adjusted. To verify its effectiveness and extend its application, the proposed adaptive fuzzy PID sliding-mode controller (AFPIDSMC) is applied to the path tracking of a wheeled robot, whose salient performance is verified by numerical simulation and whose advantages are presented in comparison with conventional AFSMC scheme under the same environment.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"10 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":"127262276","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.2013.6614708
Li-Ren Yu, Y. Hsieh, Wei-Chen Liu, C. Moo
A group of boost-type battery power modules (BPMs) are connected in series to cope with a higher output voltage. The operations of BPMs in series are mutually interactive. However, all batteries in the BPMs can substantially be discharged individually so that they can realize the balanced discharging control strategy, by which the battery currents are scheduled in accordance with their state-of-charges (SOCs). A battery power source formed by 10 boost-type BPMs is built and tested. Each BPM employs an associated micro controller for detecting the load voltage, estimating the SOCs, and controlling the duty ratios of the power converters. Experimental results demonstrate the balanced discharging capability of the serial BPMs.
{"title":"Balanced discharging for serial battery power modules with boost converters","authors":"Li-Ren Yu, Y. Hsieh, Wei-Chen Liu, C. Moo","doi":"10.1109/ICSSE.2013.6614708","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614708","url":null,"abstract":"A group of boost-type battery power modules (BPMs) are connected in series to cope with a higher output voltage. The operations of BPMs in series are mutually interactive. However, all batteries in the BPMs can substantially be discharged individually so that they can realize the balanced discharging control strategy, by which the battery currents are scheduled in accordance with their state-of-charges (SOCs). A battery power source formed by 10 boost-type BPMs is built and tested. Each BPM employs an associated micro controller for detecting the load voltage, estimating the SOCs, and controlling the duty ratios of the power converters. Experimental results demonstrate the balanced discharging capability of the serial BPMs.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"24 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":"131564942","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.2013.6614700
P. Lin, P. Huang, P. W. Huang
Dental radiographs play an important role for dental diagnosis, as most anomalies are hidden under the surface and cannot be seen during a visual examination. For effective computer-aided dental diagnosis, accurate teeth segmentation is one of the most critical tasks, because cysts and inflammatory lesions usually occur around tooth periapical (tooth-roots) areas and these areas in radiographs are often subject to noise, low contrast, and uneven illumination. In this paper, we propose an effective scheme to segment each tooth in dental periapical radiographs based on local singularity analysis. At first, a proposed adaptive power law transformation is applied to reduce variations of contrasts between teeth and alveolar bones (gums). Then local singularities measured by Hölder exponent are computed to obtain a structure image in which the structures of teeth are much smoother than the structures of gums. Otsu's thresholding is applied to segment teeth from gums and finally, connected component analysis and morphological operations are applied to isolate each tooth. Experimental results demonstrate that out of 18 teeth in six tested periapical images, all teeth are successfully segmented with 17 extracted tooth-contours almost completely conforming to human visual perception.
{"title":"An effective teeth segmentation method for dental periapical radiographs based on local singularity","authors":"P. Lin, P. Huang, P. W. Huang","doi":"10.1109/ICSSE.2013.6614700","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614700","url":null,"abstract":"Dental radiographs play an important role for dental diagnosis, as most anomalies are hidden under the surface and cannot be seen during a visual examination. For effective computer-aided dental diagnosis, accurate teeth segmentation is one of the most critical tasks, because cysts and inflammatory lesions usually occur around tooth periapical (tooth-roots) areas and these areas in radiographs are often subject to noise, low contrast, and uneven illumination. In this paper, we propose an effective scheme to segment each tooth in dental periapical radiographs based on local singularity analysis. At first, a proposed adaptive power law transformation is applied to reduce variations of contrasts between teeth and alveolar bones (gums). Then local singularities measured by Hölder exponent are computed to obtain a structure image in which the structures of teeth are much smoother than the structures of gums. Otsu's thresholding is applied to segment teeth from gums and finally, connected component analysis and morphological operations are applied to isolate each tooth. Experimental results demonstrate that out of 18 teeth in six tested periapical images, all teeth are successfully segmented with 17 extracted tooth-contours almost completely conforming to human visual perception.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"87 2 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":"127994896","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.2013.6614698
Marian Maruniak, P. Pistek
In VLSI circuit synthesis, multiplexers are widely used as a basic building element because of their ability to perform any Boolean function. Since multiplexers form a significant part of total circuit area, designers often focus on application of various optimizations. Multiplexer optimization techniques result in significant improvement in performance, area and power consumption of synthetized VLSI circuits. One of such approaches is the use of BDD as a structural representation of a multiplexer tree along with BDD optimization methods. We proposed a novel BDD optimization algorithm combining residual variable with basic BDD reduction methods. Experimental results show that implemented algorithm reduces total amount of multiplexers in optimized multiplexer tree by a minimum of 74.19% compared to a non-optimized multiplexer tree. The residual variable method provides approximately 50% reduction, what is further improved by up to additional 17.65% using basic BDD optimization methods.
{"title":"Binary decision diagram optimization method based on multiplexer reduction methods","authors":"Marian Maruniak, P. Pistek","doi":"10.1109/ICSSE.2013.6614698","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614698","url":null,"abstract":"In VLSI circuit synthesis, multiplexers are widely used as a basic building element because of their ability to perform any Boolean function. Since multiplexers form a significant part of total circuit area, designers often focus on application of various optimizations. Multiplexer optimization techniques result in significant improvement in performance, area and power consumption of synthetized VLSI circuits. One of such approaches is the use of BDD as a structural representation of a multiplexer tree along with BDD optimization methods. We proposed a novel BDD optimization algorithm combining residual variable with basic BDD reduction methods. Experimental results show that implemented algorithm reduces total amount of multiplexers in optimized multiplexer tree by a minimum of 74.19% compared to a non-optimized multiplexer tree. The residual variable method provides approximately 50% reduction, what is further improved by up to additional 17.65% using basic BDD optimization methods.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"7 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":"129036914","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.2013.6614643
P. Kurdel, J. Sebestyénová
The consideration of environmental costs is essentially changing the transportation policy in developed countries. The reduction in total distance travelled will in itself provide environmental benefits due to the reduction in fuel consumed and in the resulting pollutants. The cash deployment strategy for a network of ATMs should take into account the analysis of inventory policies, logistics costs as well as of the routing of replenishment vehicles. The optimal strategy has to focus on the reduction of cash-related expenses while safeguarding that ATMs do not run out of cash. The problem, which can be tackled as a kind of rich vehicle routing problem is in the paper solved using parallel genetic algorithm. The proposed model is able to solve cases with simultaneous requirements of several replenishments for some of the customers (ATMs) daily and a single replenishment in several days for other groups of customers.
{"title":"Parallel genetic algorithm for periodic vehicle routing and scheduling problem","authors":"P. Kurdel, J. Sebestyénová","doi":"10.1109/ICSSE.2013.6614643","DOIUrl":"https://doi.org/10.1109/ICSSE.2013.6614643","url":null,"abstract":"The consideration of environmental costs is essentially changing the transportation policy in developed countries. The reduction in total distance travelled will in itself provide environmental benefits due to the reduction in fuel consumed and in the resulting pollutants. The cash deployment strategy for a network of ATMs should take into account the analysis of inventory policies, logistics costs as well as of the routing of replenishment vehicles. The optimal strategy has to focus on the reduction of cash-related expenses while safeguarding that ATMs do not run out of cash. The problem, which can be tackled as a kind of rich vehicle routing problem is in the paper solved using parallel genetic algorithm. The proposed model is able to solve cases with simultaneous requirements of several replenishments for some of the customers (ATMs) daily and a single replenishment in several days for other groups of customers.","PeriodicalId":124317,"journal":{"name":"2013 International Conference on System Science and Engineering (ICSSE)","volume":"11 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":"127515519","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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