Pub Date : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216163
Lipeng Wang, Ruotong Cao, Donghui Yuan, Qiuyu Zhang, Yue Liu
A longitudinal landing risk situation modeling and rejecting method is proposed, which provides a novel way to analyze the landing safety for the carrier-based aircraft. First of all, a linear longitudinal landing model is established based on landing equilibrium states. Second, the approach risk, subjective risk, and waveoff risk models are constructed depending on statistical data from the landing simulation platform, which extract the risk characteristics at different landing stages. Third, the landing risk situation is established based on the cloud model theory, in which the approach risk, subjective risk, and waveoff risk are integrated so that the risk level can be quantified to be a scalar. Finally, the landing risk restrained algorithm is proposed on the basis of model predictive control (MPC), in which the landing situation and states deviations can be rejected simultaneously. The method in this paper is verified on a semi-physical landing platform.
{"title":"Longitudinal Landing Risk Situation Model and Suppression Based on Cloud Model and MPC","authors":"Lipeng Wang, Ruotong Cao, Donghui Yuan, Qiuyu Zhang, Yue Liu","doi":"10.1109/ICMA57826.2023.10216163","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216163","url":null,"abstract":"A longitudinal landing risk situation modeling and rejecting method is proposed, which provides a novel way to analyze the landing safety for the carrier-based aircraft. First of all, a linear longitudinal landing model is established based on landing equilibrium states. Second, the approach risk, subjective risk, and waveoff risk models are constructed depending on statistical data from the landing simulation platform, which extract the risk characteristics at different landing stages. Third, the landing risk situation is established based on the cloud model theory, in which the approach risk, subjective risk, and waveoff risk are integrated so that the risk level can be quantified to be a scalar. Finally, the landing risk restrained algorithm is proposed on the basis of model predictive control (MPC), in which the landing situation and states deviations can be rejected simultaneously. The method in this paper is verified on a semi-physical landing platform.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129640529","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215900
Fengxu Guan, Rui Hu, Zipeng Yang, Ruixuan Di
This paper explores the finite-time formation control of an autonomous surface vessel (ASV) under the conditions of external and internal disturbances, as well as input saturation-constrained conditions. An extended state observer (ESO) is improved to uniformly view the internal and external disturbances to which the system is subjected as composite disturbances, which is estimated and fed back into the control system. A new saturation function in the form of a single saturation function is designed to consider the saturation constrained problem. A formation control algorithm is designed based on an improved ESO and saturation functions. The Lyapunov method combined with LaSalle invariant set theory is used to provide a global finite-time consistency proof of the system. Finally, the effectiveness, anti-saturation, and fast convergence of the controller are demonstrated by simulation comparisons.
{"title":"ASV Finite-time-formation Control Based on an Improved Extended State Observer and Saturation Functions","authors":"Fengxu Guan, Rui Hu, Zipeng Yang, Ruixuan Di","doi":"10.1109/ICMA57826.2023.10215900","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215900","url":null,"abstract":"This paper explores the finite-time formation control of an autonomous surface vessel (ASV) under the conditions of external and internal disturbances, as well as input saturation-constrained conditions. An extended state observer (ESO) is improved to uniformly view the internal and external disturbances to which the system is subjected as composite disturbances, which is estimated and fed back into the control system. A new saturation function in the form of a single saturation function is designed to consider the saturation constrained problem. A formation control algorithm is designed based on an improved ESO and saturation functions. The Lyapunov method combined with LaSalle invariant set theory is used to provide a global finite-time consistency proof of the system. Finally, the effectiveness, anti-saturation, and fast convergence of the controller are demonstrated by simulation comparisons.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124002215","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216135
Xun Zhang, Huijun Chen, Sibo Yao, W. Xing, Huiying Yang
This paper proposes a depth control strategy for an unmanned underwater vehicle (UUV) using an adaptive event-triggered integral sliding mode control method under unknown marine environment disturbance. Firstly, the UUV longitudinal plane motion model is established by using the T-S fuzzy modeling method to reduce modeling errors. Secondly, an adaptive event-triggered integral sliding mode control method is designed to improve the control performance under an unknown disturbance upper bound. The method reduces mechanical losses and saves network resources by dynamically adjusting the event triggering threshold. The sufficient conditions for the existence and stability of sliding motion are established by linear matrix inequality. Finally, a simulation example is given to verify the effectiveness of the developed strategy.
{"title":"Adaptive Event-Triggered Integral Sliding Mode Depth Control of Unmanned Underwater Vehicles under Unknown Environmental Disturbance","authors":"Xun Zhang, Huijun Chen, Sibo Yao, W. Xing, Huiying Yang","doi":"10.1109/ICMA57826.2023.10216135","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216135","url":null,"abstract":"This paper proposes a depth control strategy for an unmanned underwater vehicle (UUV) using an adaptive event-triggered integral sliding mode control method under unknown marine environment disturbance. Firstly, the UUV longitudinal plane motion model is established by using the T-S fuzzy modeling method to reduce modeling errors. Secondly, an adaptive event-triggered integral sliding mode control method is designed to improve the control performance under an unknown disturbance upper bound. The method reduces mechanical losses and saves network resources by dynamically adjusting the event triggering threshold. The sufficient conditions for the existence and stability of sliding motion are established by linear matrix inequality. Finally, a simulation example is given to verify the effectiveness of the developed strategy.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121191906","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216231
Shuo Wang, Yinlong Yuan, Hongyu Shi, Y. Zhong
In order to reduce the dependence of the dynamic motion primitive model’s trajectory planning on data sets and improve its generalization ability on small data sets, we propose an improved Mixture of Motors Primitives (MoMP) algorithm. MoMP uses a new motion primitive model to achieve the same direction as the taught trajectory and the learned trajectory by using less teaching information as components to build the original motion primitive information base. Additionally, MoMP uses the gating unit to develop an optimal weighting strategy to learn new motion primitives and form the motion trajectory. Using MATLAB software combined with the Robotics Toolbox to build a simulation platform, the iiwa robotic arm was utilized to plan the grasping path of a given object. As a result, the endpoint error in the planned motion was reduced by 48%.
{"title":"Trajectory planning for robot arm based on the Improved Mixture of Motors Primitives","authors":"Shuo Wang, Yinlong Yuan, Hongyu Shi, Y. Zhong","doi":"10.1109/ICMA57826.2023.10216231","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216231","url":null,"abstract":"In order to reduce the dependence of the dynamic motion primitive model’s trajectory planning on data sets and improve its generalization ability on small data sets, we propose an improved Mixture of Motors Primitives (MoMP) algorithm. MoMP uses a new motion primitive model to achieve the same direction as the taught trajectory and the learned trajectory by using less teaching information as components to build the original motion primitive information base. Additionally, MoMP uses the gating unit to develop an optimal weighting strategy to learn new motion primitives and form the motion trajectory. Using MATLAB software combined with the Robotics Toolbox to build a simulation platform, the iiwa robotic arm was utilized to plan the grasping path of a given object. As a result, the endpoint error in the planned motion was reduced by 48%.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114375285","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216095
Y. Cong, Zhuang Li, Jun Liang, Peng Liu
Video based motion object tracking is an important research topic in the field of computer vision. This paper studies the development of video tracking technology, compares and analyzes object tracking algorithms based on contrast analysis, motion detection, and matching, and summarizes the characteristics of each algorithm. In addition, through comprehensive research and analysis, this paper has designed and implemented vehicle video tracking based on SIFT (Scale-invariant Feature Transform) in dynamic backgrounds. This practical application environment is relatively complex, with dual motion of background and target, and there are also many noise points, lighting changes, and occlusions in the environment, effectively solving the problem of moving target tracking in dynamic and complex backgrounds.
{"title":"Research on video-based moving object tracking","authors":"Y. Cong, Zhuang Li, Jun Liang, Peng Liu","doi":"10.1109/ICMA57826.2023.10216095","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216095","url":null,"abstract":"Video based motion object tracking is an important research topic in the field of computer vision. This paper studies the development of video tracking technology, compares and analyzes object tracking algorithms based on contrast analysis, motion detection, and matching, and summarizes the characteristics of each algorithm. In addition, through comprehensive research and analysis, this paper has designed and implemented vehicle video tracking based on SIFT (Scale-invariant Feature Transform) in dynamic backgrounds. This practical application environment is relatively complex, with dual motion of background and target, and there are also many noise points, lighting changes, and occlusions in the environment, effectively solving the problem of moving target tracking in dynamic and complex backgrounds.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116253581","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215982
Xinhua Zhao, Kang Wang, Yujie Xu
supercavitation technology is effective in reducing the resistance of the navigating body to the flow of seawater, thereby increasing the speed of movement. However, when the navigating body is encapsulated by the hollow bubble, it reduces most of the buoyancy force it is subjected to and the planning force generated when the wake collides with the hollow bubble wall, making it difficult to stabilise the supercavitated vehicles during its movement. In this paper, a neural network adaptive control method based on linear matrix inequalities (LMI) is designed to address this problem. The neural network adaptive control law is derived using the linear matrix inequality, the output of the neural network is approximated to the uncertainty value in the model, and then the controller is derived. The simulation results show that the designed controller has good stability and the ability to track step signals.
{"title":"Adaptive neural control of Supercavitated vehicles base on LMI","authors":"Xinhua Zhao, Kang Wang, Yujie Xu","doi":"10.1109/ICMA57826.2023.10215982","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215982","url":null,"abstract":"supercavitation technology is effective in reducing the resistance of the navigating body to the flow of seawater, thereby increasing the speed of movement. However, when the navigating body is encapsulated by the hollow bubble, it reduces most of the buoyancy force it is subjected to and the planning force generated when the wake collides with the hollow bubble wall, making it difficult to stabilise the supercavitated vehicles during its movement. In this paper, a neural network adaptive control method based on linear matrix inequalities (LMI) is designed to address this problem. The neural network adaptive control law is derived using the linear matrix inequality, the output of the neural network is approximated to the uncertainty value in the model, and then the controller is derived. The simulation results show that the designed controller has good stability and the ability to track step signals.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114689363","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216183
Caiwei Wang, Yanjuan Wu, Peizhi Cong, Yuzhe He
In the context of high permeability of renewable energy, a large number of uncertain energy sources, such as scenery, have brought a huge impact on the security and stability of the comprehensive energy system. In order to reduce the impact of renewable energy on the new power system and improve the system stability, In this paper, a comprehensive energy system of the park is set up, which consists of three kinds of energy loads including source side electricity, heat, gas and scenery, and electric heat. On this basis, Monte Carlo method is adopted to simulate multiple sets of scenes respectively for the scenery output. On this basis, scene reduction method is adopted to reduce them to obtain the final equivalent force diagram, so as to reduce the influence of the uncertainty of scenery on the system stability. Finally, the effectiveness of the proposed method is verified by simulation analysis.
{"title":"Uncertainty Treatment of Integrated Energy System Based on Scenario Reduction Method","authors":"Caiwei Wang, Yanjuan Wu, Peizhi Cong, Yuzhe He","doi":"10.1109/ICMA57826.2023.10216183","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216183","url":null,"abstract":"In the context of high permeability of renewable energy, a large number of uncertain energy sources, such as scenery, have brought a huge impact on the security and stability of the comprehensive energy system. In order to reduce the impact of renewable energy on the new power system and improve the system stability, In this paper, a comprehensive energy system of the park is set up, which consists of three kinds of energy loads including source side electricity, heat, gas and scenery, and electric heat. On this basis, Monte Carlo method is adopted to simulate multiple sets of scenes respectively for the scenery output. On this basis, scene reduction method is adopted to reduce them to obtain the final equivalent force diagram, so as to reduce the influence of the uncertainty of scenery on the system stability. Finally, the effectiveness of the proposed method is verified by simulation analysis.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114774234","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10216249
Yuxuan Luo, Wenchuan Jia, Yi Sun
This paper shows a multimodal amphibious robot with wheel-leg composite propulsion mechanism (WLCPM), called AmphiTurtle-I, which achieves locomotion on land and in water with the same mechanism, with three locomotion modes: wheeled, legged and paddling swimming. The aquatic locomotion of the robot is inspired by the flattened flipper limbs of the turtle and the terrestrial locomotion is inspired by the wheel. By integrating these two types of locomotion, a WLCPM in the form of a disc with dynamically variable configuration is designed. The mechanical structure is designed and the kinematic analysis is carried out. The locomotion performance is discussed by fluid simulation and trafficability analysis. The prototype is used to carry out experiments on land and in water. Finally, AmphiTurtle-I successfully performs wheeled and legged locomotion on the ground and paddling swimming in an outdoor pond.
{"title":"A Multimodal Amphibious Turtle-Inspired Robot with Wheel-Leg Composite Propulsion Mechanism","authors":"Yuxuan Luo, Wenchuan Jia, Yi Sun","doi":"10.1109/ICMA57826.2023.10216249","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10216249","url":null,"abstract":"This paper shows a multimodal amphibious robot with wheel-leg composite propulsion mechanism (WLCPM), called AmphiTurtle-I, which achieves locomotion on land and in water with the same mechanism, with three locomotion modes: wheeled, legged and paddling swimming. The aquatic locomotion of the robot is inspired by the flattened flipper limbs of the turtle and the terrestrial locomotion is inspired by the wheel. By integrating these two types of locomotion, a WLCPM in the form of a disc with dynamically variable configuration is designed. The mechanical structure is designed and the kinematic analysis is carried out. The locomotion performance is discussed by fluid simulation and trafficability analysis. The prototype is used to carry out experiments on land and in water. Finally, AmphiTurtle-I successfully performs wheeled and legged locomotion on the ground and paddling swimming in an outdoor pond.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114830378","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}
Passive dynamic walking has the advantages of low energy consumption and natural gait, but it can only be realized on a downward slope with small inclination angle and is very sensitive to external disturbance. Therefore, we combined passive walking with adaptive control, and designed a virtual passive walking control algorithm for biped robots based on model reference adaptive control. In this control algorithm, the reference model is a virtual robot that walks fully passively in an ideal condition, and the gait of the actual biped robot tracks the fully passive walking gait output by the reference model. The adaptive control law is derived by Lyapunov methods. The simulation results show that the proposed virtual passive walking control algorithm can make the biped robot walk stably on the upward slope or irregular ground and has certain anti-interference ability.
{"title":"Virtual Passive Bipedal Walking Based on Model Reference Adaptive Control","authors":"Bofeng Qi, Aiqun Zheng, Lishen Pu, Yixuan Liu, Zhiming Zhang, Chunquan Xu","doi":"10.1109/ICMA57826.2023.10215880","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215880","url":null,"abstract":"Passive dynamic walking has the advantages of low energy consumption and natural gait, but it can only be realized on a downward slope with small inclination angle and is very sensitive to external disturbance. Therefore, we combined passive walking with adaptive control, and designed a virtual passive walking control algorithm for biped robots based on model reference adaptive control. In this control algorithm, the reference model is a virtual robot that walks fully passively in an ideal condition, and the gait of the actual biped robot tracks the fully passive walking gait output by the reference model. The adaptive control law is derived by Lyapunov methods. The simulation results show that the proposed virtual passive walking control algorithm can make the biped robot walk stably on the upward slope or irregular ground and has certain anti-interference ability.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124059001","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 : 2023-08-06DOI: 10.1109/ICMA57826.2023.10215981
Xinyao Wang, Xuezhi Xiang
Due to balanced tracking accuracy and speed, Joint-detection-and-embedding (JDE) tracking paradigm has drawn great attention, which employs a single work to predict detection and appearance features simultaneously. Building on a strong baseline CSTrack, we replace the spatial convolutions in the final block of backbone with a Bottleneck Transformer, which models global relationships across objects and reduces the parameters. Besides, we introduce an enhanced feature fusion block with structural re-parameterization technique to augment multi-feature fusion for alleviating the contradiction between detection and identification embedding subtasks and maintaining the inference-time. The results on MOT16 and MOT17 datasets indicate that our method achieves competitive tracking results.
{"title":"Pedestrian Multi-Object Tracking with Bottleneck Transformer and Enhanced Feature Fusion","authors":"Xinyao Wang, Xuezhi Xiang","doi":"10.1109/ICMA57826.2023.10215981","DOIUrl":"https://doi.org/10.1109/ICMA57826.2023.10215981","url":null,"abstract":"Due to balanced tracking accuracy and speed, Joint-detection-and-embedding (JDE) tracking paradigm has drawn great attention, which employs a single work to predict detection and appearance features simultaneously. Building on a strong baseline CSTrack, we replace the spatial convolutions in the final block of backbone with a Bottleneck Transformer, which models global relationships across objects and reduces the parameters. Besides, we introduce an enhanced feature fusion block with structural re-parameterization technique to augment multi-feature fusion for alleviating the contradiction between detection and identification embedding subtasks and maintaining the inference-time. The results on MOT16 and MOT17 datasets indicate that our method achieves competitive tracking results.","PeriodicalId":151364,"journal":{"name":"2023 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128118482","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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