Pub Date : 2008-10-21DOI: 10.1109/SICE.2008.4654922
C. Nakayama, T. Katsumata, H. Aizawa, S. Komuro, H. Arima
Temperature response of soil specimens, which is one of major contains of volcanic ash soil, are measured by pulse heating technique. Water contents of various specimens are evaluated from temperature response of specimens using two-dimensional radiation thermometer and thermocouples. Infrared radiation thermometry is a non-contact and non-destructive technique to detect the properties or internal conditions of a material from the temperature variation of surface. Decay lifetime of surface temperature is calculated with exponential curve composed from two decay components. Two-dimensional distribution of faster component dasiatau1psila is evaluated with using thermal images. Two-dimensional distribution of water contents can be evaluated using lifetime of faster decay components calculated from thermal imaging. Dynamic characteristics of soil are suggested to be useful for evaluation of soil for agriculture.
{"title":"Two-dimensional evaluation of soil property based on thermal imaging","authors":"C. Nakayama, T. Katsumata, H. Aizawa, S. Komuro, H. Arima","doi":"10.1109/SICE.2008.4654922","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654922","url":null,"abstract":"Temperature response of soil specimens, which is one of major contains of volcanic ash soil, are measured by pulse heating technique. Water contents of various specimens are evaluated from temperature response of specimens using two-dimensional radiation thermometer and thermocouples. Infrared radiation thermometry is a non-contact and non-destructive technique to detect the properties or internal conditions of a material from the temperature variation of surface. Decay lifetime of surface temperature is calculated with exponential curve composed from two decay components. Two-dimensional distribution of faster component dasiatau1psila is evaluated with using thermal images. Two-dimensional distribution of water contents can be evaluated using lifetime of faster decay components calculated from thermal imaging. Dynamic characteristics of soil are suggested to be useful for evaluation of soil for agriculture.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131785429","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654881
I. Mizumoto, S. Ohdaira, N. Watanabe, T. Tomonaga, Z. Iwai
This paper deals with a controller design problem for multirate sampled systems with a slow output sampling rate and a fast input updating rate. An adaptive output estimator based on a reduced first order system will be proposed in order to design an output feedback controller with a fast-rate input updating period.
{"title":"Output feedback control of multirate sampled systems with an adaptive output estimator","authors":"I. Mizumoto, S. Ohdaira, N. Watanabe, T. Tomonaga, Z. Iwai","doi":"10.1109/SICE.2008.4654881","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654881","url":null,"abstract":"This paper deals with a controller design problem for multirate sampled systems with a slow output sampling rate and a fast input updating rate. An adaptive output estimator based on a reduced first order system will be proposed in order to design an output feedback controller with a fast-rate input updating period.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127067757","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655125
M. Onishi, K. Kobayashi, K. Watanabe
Because of rapidly growing aging society in Japan, the rule of electric wheelchair becomes important to enhance the mobility for elderly person. The aim of our study is to develop the electric wheelchair which is driven as the human intention. We try to extract the human intention from the weight shift on wheelchair sheet instead of conventional joystick device. To design the system, we develop the experimental electric wheelchair that can measure weight shift from wheelchair sheet. According to value of weight shift measurement, we infer the driverpsilas intension based on fuzzy logic. To control the vehicle based on the driverpsilas intension, cognitive aspect implementation and safety aspect implementation are applied. These two different aspects of implementations are tested by checked KANSEI approach.
{"title":"A study of intuitive electric wheelchair control interface based on weight shift","authors":"M. Onishi, K. Kobayashi, K. Watanabe","doi":"10.1109/SICE.2008.4655125","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655125","url":null,"abstract":"Because of rapidly growing aging society in Japan, the rule of electric wheelchair becomes important to enhance the mobility for elderly person. The aim of our study is to develop the electric wheelchair which is driven as the human intention. We try to extract the human intention from the weight shift on wheelchair sheet instead of conventional joystick device. To design the system, we develop the experimental electric wheelchair that can measure weight shift from wheelchair sheet. According to value of weight shift measurement, we infer the driverpsilas intension based on fuzzy logic. To control the vehicle based on the driverpsilas intension, cognitive aspect implementation and safety aspect implementation are applied. These two different aspects of implementations are tested by checked KANSEI approach.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115570814","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655259
Benjamas Panomruttanarug, R. Longman
Repetitive control (RC) and iterative learning control (ILC) can eliminate deterministic tracking errors of a control system in executing a periodic command or a repeating tracking command. In addition they can cancel errors resulting from a periodic disturbance (RC) or a repeated disturbance (ILC). When there is substantial plant and measurement noise it is natural to consider employing a Kalman filter to improve the error signals used by the RC/ILC law, and the performance is analyzed here. Introducing a Kalman filter to RC or ILC can substantially decrease the steady state error due to noise. However, there are several competing issues. First, when the model used in the filter design is inaccurate, deterministic error is introduced in the response that can be more important than the decrease in error variance from random noise. Second, deterministic steady state errors are also introduced when there are unmodeled repeating external disturbances. Use of a Kalman filter actually requires you to know the time history of the disturbance, not just the period. Hence, one should carefully analyze the situation before deciding to use a Kalman filter. And one should examine model free alternatives to the use of a Kalman filter, such as reducing the learning gain. All of these comments also apply when using a Kalman filter running in time steps in the ILC problem. In third, under appropriate conditions, both ILC and RC are capable of reducing the error level in hardware below the error level in ones model of the system. This very desirable property is lost when one introduces Kalman filtering in the time domain for RC and ILC.
{"title":"Using Kalman filter to attenuate noise in learning and repetitive control can easily degrade performance","authors":"Benjamas Panomruttanarug, R. Longman","doi":"10.1109/SICE.2008.4655259","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655259","url":null,"abstract":"Repetitive control (RC) and iterative learning control (ILC) can eliminate deterministic tracking errors of a control system in executing a periodic command or a repeating tracking command. In addition they can cancel errors resulting from a periodic disturbance (RC) or a repeated disturbance (ILC). When there is substantial plant and measurement noise it is natural to consider employing a Kalman filter to improve the error signals used by the RC/ILC law, and the performance is analyzed here. Introducing a Kalman filter to RC or ILC can substantially decrease the steady state error due to noise. However, there are several competing issues. First, when the model used in the filter design is inaccurate, deterministic error is introduced in the response that can be more important than the decrease in error variance from random noise. Second, deterministic steady state errors are also introduced when there are unmodeled repeating external disturbances. Use of a Kalman filter actually requires you to know the time history of the disturbance, not just the period. Hence, one should carefully analyze the situation before deciding to use a Kalman filter. And one should examine model free alternatives to the use of a Kalman filter, such as reducing the learning gain. All of these comments also apply when using a Kalman filter running in time steps in the ILC problem. In third, under appropriate conditions, both ILC and RC are capable of reducing the error level in hardware below the error level in ones model of the system. This very desirable property is lost when one introduces Kalman filtering in the time domain for RC and ILC.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115742187","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654748
S. Arai, K. Miyake, T. Miyoshi, K. Terashima
This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operatorpsilas finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of round trip time (RTT) as 0 sec, 0.56 sec, using a multi-fingered humanoid robot hand by master/slave control feeling fingertip force. However, with increases in the RTT, the operation became more difficult. We also analyzed the stability of the master site and the slave site by frequency characteristics. The results showed that this system was unstable. However, grasping by tele-control with a communication delay was demonstrated.
{"title":"Bilateral tele-control using mullti-fingered humanoid root an with communication delay","authors":"S. Arai, K. Miyake, T. Miyoshi, K. Terashima","doi":"10.1109/SICE.2008.4654748","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654748","url":null,"abstract":"This paper presents a tele-control system constructed from a multi-fingered robot hand and operator. The angle of the robot hand is controlled by the angle of the operatorpsilas finger, and the operator feels the environmental force, as detected by the robot hand, constituting so-called bilateral master/slave control. In the experiments, the operator grasped the object in spite of round trip time (RTT) as 0 sec, 0.56 sec, using a multi-fingered humanoid robot hand by master/slave control feeling fingertip force. However, with increases in the RTT, the operation became more difficult. We also analyzed the stability of the master site and the slave site by frequency characteristics. The results showed that this system was unstable. However, grasping by tele-control with a communication delay was demonstrated.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"352 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115893918","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654732
Shanqing Yu, Fengming Ye, Hongqiang Wang, S. Mabu, K. Shimada, Songnian Yu, K. Hirasawa
A simple traffic system is proposed in this paper, in which the global optimal route considering the traffic volume is selected as the guidance for the vehicles. In the proposed system, Q value-based dynamic programming is adopted to calculate the optimal traveling time to each destination from every intersection of the road network. And Boltzmann optimal route method is used to generate several route candidates, the usefulness of which is evaluated in terms of the total traveling time considering traffic volume. Furthermore, dynamically changing traffic volumes of all the given origin-destination pairs of road networks are constantly provided in the road simulation we used and the traveling time of each section is continuously updated according to its dynamic traffic volume. In this paper, the analysis and comparison between greedy strategy and Bolztmann strategy with various ldquotemperaturesrdquo are carried out. The simulation result showed the effectiveness of the proposed Boltzmann optimal route method.
{"title":"A global routing strategy in dynamic traffic environments with a combination of Q value-based dynamic programming and boltzmann distribution","authors":"Shanqing Yu, Fengming Ye, Hongqiang Wang, S. Mabu, K. Shimada, Songnian Yu, K. Hirasawa","doi":"10.1109/SICE.2008.4654732","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654732","url":null,"abstract":"A simple traffic system is proposed in this paper, in which the global optimal route considering the traffic volume is selected as the guidance for the vehicles. In the proposed system, Q value-based dynamic programming is adopted to calculate the optimal traveling time to each destination from every intersection of the road network. And Boltzmann optimal route method is used to generate several route candidates, the usefulness of which is evaluated in terms of the total traveling time considering traffic volume. Furthermore, dynamically changing traffic volumes of all the given origin-destination pairs of road networks are constantly provided in the road simulation we used and the traveling time of each section is continuously updated according to its dynamic traffic volume. In this paper, the analysis and comparison between greedy strategy and Bolztmann strategy with various ldquotemperaturesrdquo are carried out. The simulation result showed the effectiveness of the proposed Boltzmann optimal route method.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124176321","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655212
K. Kashihara
In cardiovascular diseases, the assessment of baroreflex function requires the quantitative evaluation of dynamic properties. The wavelet-based time-frequency analysis was applied to the model baroreflex response in anesthetized rabbits with isolated carotid sinuses. The dynamic baroreflex properties could be accurately extracted from short-term step responses, regardless of background noises, compared to the standard FFT method. The results indicate that be applicable to clinical assessment of dynamic baroreflex function.
{"title":"Non-parametric system identification of dynamic baroreflex from step response","authors":"K. Kashihara","doi":"10.1109/SICE.2008.4655212","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655212","url":null,"abstract":"In cardiovascular diseases, the assessment of baroreflex function requires the quantitative evaluation of dynamic properties. The wavelet-based time-frequency analysis was applied to the model baroreflex response in anesthetized rabbits with isolated carotid sinuses. The dynamic baroreflex properties could be accurately extracted from short-term step responses, regardless of background noises, compared to the standard FFT method. The results indicate that be applicable to clinical assessment of dynamic baroreflex function.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114910458","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655019
J. Martinez, U. Sawut, K. Nakano
The main object in this study concerns to vibration control of a one-link flexible arm system. The robot link manipulators are widely used in various industrial applications. A variable structure system (VSS) non-linear observer has been proposed in order to reduce the oscillation in controlling the angular. The non-linear observer parameters are optimized using a novel version of simultaneous perturbation stochastic approximation (SPSA) algorithm. The SPSA algorithm is especially useful when the number of parameters to be adjusted is large, and makes it possible to estimate them very efficiently. As for the vibration and position control, a model reference sliding mode control (MR-SMC) has been proposed. The simulations show that the vibration and position controls of a one-link flexible arm system can be achieved more easy and efficiently with a non-linear observer designed using our proposed modified SPSA algorithm.
{"title":"Application of non-linear observer with simultaneous perturbation stochastic approximation method to single flexible link SMC","authors":"J. Martinez, U. Sawut, K. Nakano","doi":"10.1109/SICE.2008.4655019","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655019","url":null,"abstract":"The main object in this study concerns to vibration control of a one-link flexible arm system. The robot link manipulators are widely used in various industrial applications. A variable structure system (VSS) non-linear observer has been proposed in order to reduce the oscillation in controlling the angular. The non-linear observer parameters are optimized using a novel version of simultaneous perturbation stochastic approximation (SPSA) algorithm. The SPSA algorithm is especially useful when the number of parameters to be adjusted is large, and makes it possible to estimate them very efficiently. As for the vibration and position control, a model reference sliding mode control (MR-SMC) has been proposed. The simulations show that the vibration and position controls of a one-link flexible arm system can be achieved more easy and efficiently with a non-linear observer designed using our proposed modified SPSA algorithm.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123441519","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 : 2008-10-21DOI: 10.1109/SICE.2008.4654682
Jin-Tsong Jeng, Chen-Chia Chuang, Y.C. Lee
In this paper, the annealing robust neural fuzzy networks (ARNFNs) are proposed to improve the problems of neural fuzzy networks for the modeling of mitogen-activated protein kinases (MAPK) systems with outliers. Firstly, the support vector regression (SVR) approach is proposed to determine the initial structure of ARNFNs for the modeling of the MAPK systems with outliers.Because of a SVR approach is equivalent to solving a linear constrained quadratic programming problem under a fixed structure of SVR, the number of hidden nodes, the initial parameters and the initial weights of ARNFNs are easy obtained via the SVR approach. Secondly, the results of SVR are used as initial structure in ARNFNs for the modeling of the MAPK systems with outliers. At the same time, an annealing robust learning algorithm (ARLA) is used as the learning algorithm for ARNFNs, and applied to adjust the parameters in the membership function as well as weights of ARNFNs. Hence, when an initial structure of ARNFNs are determined by a SVR approach, the ARNFNs with ARLA have fast convergence speed for the modeling of the MAPK systems with outliers.
{"title":"Annealing robust neural fuzzy networks for modeling of mitogen-activated protein kinases systems with outliers","authors":"Jin-Tsong Jeng, Chen-Chia Chuang, Y.C. Lee","doi":"10.1109/SICE.2008.4654682","DOIUrl":"https://doi.org/10.1109/SICE.2008.4654682","url":null,"abstract":"In this paper, the annealing robust neural fuzzy networks (ARNFNs) are proposed to improve the problems of neural fuzzy networks for the modeling of mitogen-activated protein kinases (MAPK) systems with outliers. Firstly, the support vector regression (SVR) approach is proposed to determine the initial structure of ARNFNs for the modeling of the MAPK systems with outliers.Because of a SVR approach is equivalent to solving a linear constrained quadratic programming problem under a fixed structure of SVR, the number of hidden nodes, the initial parameters and the initial weights of ARNFNs are easy obtained via the SVR approach. Secondly, the results of SVR are used as initial structure in ARNFNs for the modeling of the MAPK systems with outliers. At the same time, an annealing robust learning algorithm (ARLA) is used as the learning algorithm for ARNFNs, and applied to adjust the parameters in the membership function as well as weights of ARNFNs. Hence, when an initial structure of ARNFNs are determined by a SVR approach, the ARNFNs with ARLA have fast convergence speed for the modeling of the MAPK systems with outliers.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"103 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120850683","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 : 2008-10-21DOI: 10.1109/SICE.2008.4655109
E. Takegami, K. Higuchi, K. Nakano, T. Kajikawa
If the lines which connect the output terminal of DC-DC converter and the load are long the voltage actually across load will be changed largely to produce the voltage drops by the impedances of the lines. Then, the terminal which senses the voltage across load is prepared apart from the output terminal of DC-DC converter, and it leads to the load, and the voltage across load is adjusted so that it is not changed largely. This method is called remote sensing. When the lines becomes long, the usual method of adjusting the voltage across load cannot suppress enough the change of it. In this paper, the robust digital controller for suppressing the change of the voltage across load is proposed. Experimental studies using DSP demonstrate that this type of digital controller is effective to suppress it.
{"title":"Digital robust controller for DC-DC converter at remote sensing","authors":"E. Takegami, K. Higuchi, K. Nakano, T. Kajikawa","doi":"10.1109/SICE.2008.4655109","DOIUrl":"https://doi.org/10.1109/SICE.2008.4655109","url":null,"abstract":"If the lines which connect the output terminal of DC-DC converter and the load are long the voltage actually across load will be changed largely to produce the voltage drops by the impedances of the lines. Then, the terminal which senses the voltage across load is prepared apart from the output terminal of DC-DC converter, and it leads to the load, and the voltage across load is adjusted so that it is not changed largely. This method is called remote sensing. When the lines becomes long, the usual method of adjusting the voltage across load cannot suppress enough the change of it. In this paper, the robust digital controller for suppressing the change of the voltage across load is proposed. Experimental studies using DSP demonstrate that this type of digital controller is effective to suppress it.","PeriodicalId":152347,"journal":{"name":"2008 SICE Annual Conference","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125879298","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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