Pub Date : 2010-12-17DOI: 10.1109/ICCAS.2010.5670155
Ho-Woong Choi, In-Kyu Min, Eui-Seok Oh, Dongho Park
Forest fire, if not detected early enough, can cause great damage. In order to reduce it, it is important to detect fire as soon as possible and take actions to it. In this paper we propose a new image detection method for identifying fire in videos. The method analyzes the frame-to-frame change in given features of potential fire regions. These features are color, boundary roughness and skewness of the estimated fire regions. Because of flickering and random characteristics of fire, these are powerful discriminants. Using these statistical features, the results are combined according to the Bayes classifier to achieve a decision (i.e. fire happens, fire does not happen). Experiments illustrated the applicability of the method.
{"title":"A study on the algorithm for fire recognition for automatic forest fire detection: The International Conference on Control, Automation and Systems 2010 (ICCAS 2010)","authors":"Ho-Woong Choi, In-Kyu Min, Eui-Seok Oh, Dongho Park","doi":"10.1109/ICCAS.2010.5670155","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670155","url":null,"abstract":"Forest fire, if not detected early enough, can cause great damage. In order to reduce it, it is important to detect fire as soon as possible and take actions to it. In this paper we propose a new image detection method for identifying fire in videos. The method analyzes the frame-to-frame change in given features of potential fire regions. These features are color, boundary roughness and skewness of the estimated fire regions. Because of flickering and random characteristics of fire, these are powerful discriminants. Using these statistical features, the results are combined according to the Bayes classifier to achieve a decision (i.e. fire happens, fire does not happen). Experiments illustrated the applicability of the method.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128378523","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670176
B. Shim, K. Kang, Woo-Song Lee, J. Won, Sung-Hyun Han
In general, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot(VRCS) system which can robustly recognize voice by adults and children in noisy environments. We evaluate the VRCS system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using MMSE criteria. Voice activity periods are detected using GMM-based end-point detection.
{"title":"An intelligent control of mobile robot based on voice command","authors":"B. Shim, K. Kang, Woo-Song Lee, J. Won, Sung-Hyun Han","doi":"10.1109/ICCAS.2010.5670176","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670176","url":null,"abstract":"In general, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion and gesture produces almost the same pattern of noise every time. In this paper, we describe an voice recognition control system for robot(VRCS) system which can robustly recognize voice by adults and children in noisy environments. We evaluate the VRCS system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using MMSE criteria. Voice activity periods are detected using GMM-based end-point detection.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"160 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128976037","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670221
Sun-jong Lim, Jae-Hoon Kang
The various methods of designing the geometry of the columns were announced in lots of papers, because of the extreme importance of understanding accurate field of potential distributions. But such methods can be dealt with only by computer-aided methods. If we are interesting in figuring out the behavior of the entire beam in columns rather than individual trajectories of beam, simply numerical solutions for electron lenses are convenient. These methods don't take aberrations into account. It is easy method to understanding the properties of lens. Our lenses in column consist of two condenser lenses and one objective lens. Tungsten filament is used as beam source. To generate the fringe field, electromagnetic coils are used. Pole piece including sleeve is inserted in electromagnetic coil. Beam goes through the sleeve. We show the configuration of our system, the properties of first condenser lens, lens controller and elements related on beam control. Electron lenses are generally thick lenses, but in here, Lens is dealt as thin lens because of simply modeling and easy understanding.
{"title":"Pole piece's properties evaluation of SEM","authors":"Sun-jong Lim, Jae-Hoon Kang","doi":"10.1109/ICCAS.2010.5670221","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670221","url":null,"abstract":"The various methods of designing the geometry of the columns were announced in lots of papers, because of the extreme importance of understanding accurate field of potential distributions. But such methods can be dealt with only by computer-aided methods. If we are interesting in figuring out the behavior of the entire beam in columns rather than individual trajectories of beam, simply numerical solutions for electron lenses are convenient. These methods don't take aberrations into account. It is easy method to understanding the properties of lens. Our lenses in column consist of two condenser lenses and one objective lens. Tungsten filament is used as beam source. To generate the fringe field, electromagnetic coils are used. Pole piece including sleeve is inserted in electromagnetic coil. Beam goes through the sleeve. We show the configuration of our system, the properties of first condenser lens, lens controller and elements related on beam control. Electron lenses are generally thick lenses, but in here, Lens is dealt as thin lens because of simply modeling and easy understanding.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129011063","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669812
Hun-ok Lim, T. Yoshida
This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.
{"title":"Online walking pattern generation for biped walking","authors":"Hun-ok Lim, T. Yoshida","doi":"10.1109/ICCAS.2010.5669812","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669812","url":null,"abstract":"This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129169193","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669883
Dong-Hwan Shin, Youngshik Kim, J. An
In this study we discuss two-segment leg's parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg's effectiveness compared to a robot with stiff legs.
{"title":"Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs","authors":"Dong-Hwan Shin, Youngshik Kim, J. An","doi":"10.1109/ICCAS.2010.5669883","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669883","url":null,"abstract":"In this study we discuss two-segment leg's parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg's effectiveness compared to a robot with stiff legs.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124969200","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669751
Jung-suk Oh, K. Sim
The mobile robot which accomplishes a work in explored region does not know location information of surroundings. Traditionally, simultaneous localization and mapping(SLAM) algorithms solve the localization and mapping problem in explored regions. Among the several SLAM algorithms, the EKF (Extended Kalman Filter) based SLAM is the scheme most widely used. The EKF is the optimal sensor fusion method which has been used for a long time. The odometric error caused by an encoder can be compensated by an EKF, which fuses different types of sensor data with weights proportional to the uncertainty of each sensor. In many cases the EKF based SLAM requires artificially installed features, which causes difficulty in actual implementation. Moreover, the computational complexity involved in an EKF increases as the number of features increases. And SLAM is a weak point of long operation time. Therefore, this paper presents a symmetrical model based SLAM algorithm (called M-SLAM).
在被探测区域内完成工作的移动机器人不知道周围环境的位置信息。传统的SLAM (simultaneous localization and mapping)算法解决的是被探测区域的定位和映射问题。在各种SLAM算法中，基于扩展卡尔曼滤波(EKF)的SLAM是应用最广泛的算法。EKF是一种长期使用的最优传感器融合方法。由编码器引起的里程误差可以通过EKF来补偿，EKF融合了不同类型的传感器数据，其权重与每个传感器的不确定度成正比。在许多情况下，基于EKF的SLAM需要人为安装特性，这在实际实现中造成了困难。此外，EKF中涉及的计算复杂度随着特征数量的增加而增加。而SLAM是手术时间长的弱点。为此，本文提出了一种基于对称模型的SLAM算法(M-SLAM)。
{"title":"Symmetrical model based SLAM [M-SLAM] for a quick map-search","authors":"Jung-suk Oh, K. Sim","doi":"10.1109/ICCAS.2010.5669751","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669751","url":null,"abstract":"The mobile robot which accomplishes a work in explored region does not know location information of surroundings. Traditionally, simultaneous localization and mapping(SLAM) algorithms solve the localization and mapping problem in explored regions. Among the several SLAM algorithms, the EKF (Extended Kalman Filter) based SLAM is the scheme most widely used. The EKF is the optimal sensor fusion method which has been used for a long time. The odometric error caused by an encoder can be compensated by an EKF, which fuses different types of sensor data with weights proportional to the uncertainty of each sensor. In many cases the EKF based SLAM requires artificially installed features, which causes difficulty in actual implementation. Moreover, the computational complexity involved in an EKF increases as the number of features increases. And SLAM is a weak point of long operation time. Therefore, this paper presents a symmetrical model based SLAM algorithm (called M-SLAM).","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129423296","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670153
K. Ko, K. Sim
If we want to recognize the emotion via the face-to face interaction, first of all, we need to extract the emotional features from the facial image by using a feature extraction method. The active appearance model (AAM) is a well-known method that can represent a non-rigid object, such as face, facial expression regions as emotional features. And then we need to classify the emotional status reliably, robustly. Bayesian Network is a probability based classifier that can represent the probabilistic relationships between sets of facial features. So, in this paper, our approach to facial feature extraction lies in the proposed feature extraction method based on combining AAM with Facial Action Coding System (FACS) for automatically modeling and extracting the facial emotional features. To recognize the facial expression, we use the Dynamic Bayesian Networks (DBNs) for modeling and understanding the temporal phases of facial expressions in image sequences.
{"title":"Facial emotion recognition using a combining AAM with DBN","authors":"K. Ko, K. Sim","doi":"10.1109/ICCAS.2010.5670153","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670153","url":null,"abstract":"If we want to recognize the emotion via the face-to face interaction, first of all, we need to extract the emotional features from the facial image by using a feature extraction method. The active appearance model (AAM) is a well-known method that can represent a non-rigid object, such as face, facial expression regions as emotional features. And then we need to classify the emotional status reliably, robustly. Bayesian Network is a probability based classifier that can represent the probabilistic relationships between sets of facial features. So, in this paper, our approach to facial feature extraction lies in the proposed feature extraction method based on combining AAM with Facial Action Coding System (FACS) for automatically modeling and extracting the facial emotional features. To recognize the facial expression, we use the Dynamic Bayesian Networks (DBNs) for modeling and understanding the temporal phases of facial expressions in image sequences.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129897722","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5670148
Yunjin Gu, Hyuk Wang, J. Cho, D. Lee
Dynamic parameters of a robot affect the performance of advanced control schemes significantly. In this study experiments to identify the dynamic parameters of AT2 robot are carried out. The excitation trajectory for identification is parameterized with Fourier series. The trajectory is optimized to minimize effects of uncertainty using condition number as the index. Recursive optimization is proposed so that the trajectory is robust from selection of the initial values and better optimization result can be obtained. The dynamic parameters of AT2 robot is estimated using the optimized excitation trajectory and weighted least-square method.
{"title":"Identification of dynamic parameters of an industrial robot using a recursively-optimized trajectory","authors":"Yunjin Gu, Hyuk Wang, J. Cho, D. Lee","doi":"10.1109/ICCAS.2010.5670148","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5670148","url":null,"abstract":"Dynamic parameters of a robot affect the performance of advanced control schemes significantly. In this study experiments to identify the dynamic parameters of AT2 robot are carried out. The excitation trajectory for identification is parameterized with Fourier series. The trajectory is optimized to minimize effects of uncertainty using condition number as the index. Recursive optimization is proposed so that the trajectory is robust from selection of the initial values and better optimization result can be obtained. The dynamic parameters of AT2 robot is estimated using the optimized excitation trajectory and weighted least-square method.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129906905","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669894
M. Khodabakhsh, M. Boroushaki, G. Vossoughi
In this paper, Artificial Neural Networks (ANN) has been used to identify the dynamics of robots used in haptic and master slave devices in order to improve transparency. In haptic and master slave devices, transparency depends on some factors such as robot's mass and inertia, gravitational forces and friction [1]. In such systems, mass and inertia of the robot has an undesirable effect on the system outputs, which should be neutralized for improved transparency. The main purpose of this paper introducting a method to neutralize the undesirable effects of mass and inertia of the robot. A recurrent multilayer perceptron (RMLP) is used in a way that the inputs and outputs of the neural network are, respectively, the outputs and inputs of the robot mechanism. Hence, the desired outputs of the mechanism can be given to the neural network as inputs and corresponding required inputs of the robot mechanism can be obtained from the network's output. With this method it is possible to eliminate the undesired influence of mass and inertia on the robot dynamics. The results are compared with the simulations. This comparison shows the effectiveness of using recurrent neural network to achieve this goal.
{"title":"Removing undesired effects of mass/inertia on transparency using Artificial Neural Networks in a haptic mechanism","authors":"M. Khodabakhsh, M. Boroushaki, G. Vossoughi","doi":"10.1109/ICCAS.2010.5669894","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669894","url":null,"abstract":"In this paper, Artificial Neural Networks (ANN) has been used to identify the dynamics of robots used in haptic and master slave devices in order to improve transparency. In haptic and master slave devices, transparency depends on some factors such as robot's mass and inertia, gravitational forces and friction [1]. In such systems, mass and inertia of the robot has an undesirable effect on the system outputs, which should be neutralized for improved transparency. The main purpose of this paper introducting a method to neutralize the undesirable effects of mass and inertia of the robot. A recurrent multilayer perceptron (RMLP) is used in a way that the inputs and outputs of the neural network are, respectively, the outputs and inputs of the robot mechanism. Hence, the desired outputs of the mechanism can be given to the neural network as inputs and corresponding required inputs of the robot mechanism can be obtained from the network's output. With this method it is possible to eliminate the undesired influence of mass and inertia on the robot dynamics. The results are compared with the simulations. This comparison shows the effectiveness of using recurrent neural network to achieve this goal.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129203700","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 : 2010-12-17DOI: 10.1109/ICCAS.2010.5669739
S. Yun, D. Yun, Hyo-Bong Kim, Soon-Chan Hwang
This paper presents a proportional pressure reducing valve for clutch control system and for tilting pad angle control of the hydraulic pump system. The proportional pressure reducing valve of this study has a spool with a reducing pressure control pin and a proportional solenoid actuator instead of an on-off solenoid actuator. The solenoid actuator consists of a bobbin with coils, a plunger and a core with a control cone. The control cone is a very important equipment for the attraction force adjustment and controls the flux saturation and the flux leakage. So the attraction force is constant in the range of the control cone. In this study, a new proportional reducing valve with a pressure control pin was proposed and the validity of the new mechanism with a pressure control pin was discussed. The dynamic characteristics of the object proportional pressure reducing valve were studied by numerical analysis using the mathematical model. Also, the static and the dynamic characteristics of the new pressure reducing valve were tested by testing system which is based on test standard.
{"title":"Proportional pressure reducing valve for clutch control system","authors":"S. Yun, D. Yun, Hyo-Bong Kim, Soon-Chan Hwang","doi":"10.1109/ICCAS.2010.5669739","DOIUrl":"https://doi.org/10.1109/ICCAS.2010.5669739","url":null,"abstract":"This paper presents a proportional pressure reducing valve for clutch control system and for tilting pad angle control of the hydraulic pump system. The proportional pressure reducing valve of this study has a spool with a reducing pressure control pin and a proportional solenoid actuator instead of an on-off solenoid actuator. The solenoid actuator consists of a bobbin with coils, a plunger and a core with a control cone. The control cone is a very important equipment for the attraction force adjustment and controls the flux saturation and the flux leakage. So the attraction force is constant in the range of the control cone. In this study, a new proportional reducing valve with a pressure control pin was proposed and the validity of the new mechanism with a pressure control pin was discussed. The dynamic characteristics of the object proportional pressure reducing valve were studied by numerical analysis using the mathematical model. Also, the static and the dynamic characteristics of the new pressure reducing valve were tested by testing system which is based on test standard.","PeriodicalId":158687,"journal":{"name":"ICCAS 2010","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129235088","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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