Pub Date : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995855
Haibo Zhao, P. Gao
In order to weaken the adverse effect of backlash nonlinearity on dual-motor driving servo system, an adaptive control strategy was proposed. The state-space model of the system was first given. By introducing the virtual control quantity, using backstepping approach and recursively selecting the Lyapunov function, and adopting a radial-basis-function (RBF) neural network to design adaptive law, a state feedback-based RBF neural network backstepping adaptive controller was designed, and its stability was analyzed. Compared with the conventional PID control in simulation results, the proposed control strategy shows better position tracking performance and higher robustness.
{"title":"Adaptive Backstepping Control of Dual-Motor Driving Servo System Based on RBF Neural Network","authors":"Haibo Zhao, P. Gao","doi":"10.1109/RCAE56054.2022.9995855","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995855","url":null,"abstract":"In order to weaken the adverse effect of backlash nonlinearity on dual-motor driving servo system, an adaptive control strategy was proposed. The state-space model of the system was first given. By introducing the virtual control quantity, using backstepping approach and recursively selecting the Lyapunov function, and adopting a radial-basis-function (RBF) neural network to design adaptive law, a state feedback-based RBF neural network backstepping adaptive controller was designed, and its stability was analyzed. Compared with the conventional PID control in simulation results, the proposed control strategy shows better position tracking performance and higher robustness.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131740875","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995884
Guangzhi Li, Yongqiang Li, Haohong Han
Taking the IRB460 robot as the research object, This paper builds an industrial robot virtual workstation for automatic sorting and palletizing in one-in-two-out mode simulated by the RobotStudio software. The conveyor chain transports the packaged materials to its end, and a Cognex camera is installed at the end to detect the color and position information of the packaged materials. Then the robot grabs the material according to the feedback information from the camera. It stacks the red materials to the left side on the pallet, the green materials to the right side on the pallet. This paper creates a workstation model in SolidWorks, and builds a Smart component with dynamic properties in RobotStudio. Then adds I/O signals, debugs and optimizes the workstation system, and analyzes the energy consumption during robot operations. The simulation results show that the robot can accurately grasp materials and sort and stack materials of different colors, which can shorten the design cycle and reduce the costs. It provides a theoretical reference for the construction of actual sorting and stacking workstations.
{"title":"The Simulation Design of Robot Automatic Sorting and Palletizing Workstation Based on RobotStudio","authors":"Guangzhi Li, Yongqiang Li, Haohong Han","doi":"10.1109/RCAE56054.2022.9995884","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995884","url":null,"abstract":"Taking the IRB460 robot as the research object, This paper builds an industrial robot virtual workstation for automatic sorting and palletizing in one-in-two-out mode simulated by the RobotStudio software. The conveyor chain transports the packaged materials to its end, and a Cognex camera is installed at the end to detect the color and position information of the packaged materials. Then the robot grabs the material according to the feedback information from the camera. It stacks the red materials to the left side on the pallet, the green materials to the right side on the pallet. This paper creates a workstation model in SolidWorks, and builds a Smart component with dynamic properties in RobotStudio. Then adds I/O signals, debugs and optimizes the workstation system, and analyzes the energy consumption during robot operations. The simulation results show that the robot can accurately grasp materials and sort and stack materials of different colors, which can shorten the design cycle and reduce the costs. It provides a theoretical reference for the construction of actual sorting and stacking workstations.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120944758","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995809
Piao Fan, Yikun Dong, Shengjie Yu, Zhenguo Zhang, Zengpeng Lu, Yan Li
Piezoelectric stick-slip actuators have influences such as model uncertainty, nonlinear factors and external disturbances that reduce control accuracy. In this paper, an integral terminal sliding mode controller is proposed for the precise positioning control of piezoelectric stick-slip actuators. The method can achieve convergence in finite time and serve to reduce the jitter steady-state error. The convergence law using a combination of power convergence law and exponential convergence law can reach the sliding mode surface at a faster rate. The stability of the control method is verified by the Lyapunov method. Finally, the effectiveness of the modified control method is verified by simulation. The results show that the control method improves the dynamic performance and stability accuracy of the system more than the traditional sliding mode controller.
{"title":"Tacking Control of Piezoelectric Stick-Slip Actuator Based on Integral Terminal Sliding Mode Strategy","authors":"Piao Fan, Yikun Dong, Shengjie Yu, Zhenguo Zhang, Zengpeng Lu, Yan Li","doi":"10.1109/RCAE56054.2022.9995809","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995809","url":null,"abstract":"Piezoelectric stick-slip actuators have influences such as model uncertainty, nonlinear factors and external disturbances that reduce control accuracy. In this paper, an integral terminal sliding mode controller is proposed for the precise positioning control of piezoelectric stick-slip actuators. The method can achieve convergence in finite time and serve to reduce the jitter steady-state error. The convergence law using a combination of power convergence law and exponential convergence law can reach the sliding mode surface at a faster rate. The stability of the control method is verified by the Lyapunov method. Finally, the effectiveness of the modified control method is verified by simulation. The results show that the control method improves the dynamic performance and stability accuracy of the system more than the traditional sliding mode controller.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"9 34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121592604","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9996034
Yangyang Liu, Shunjie Han, Xueyan Hu
Aiming at the target tracking problem of optoelectronic tracking system for border and coastal defense facing various challenges on the sea surface, by comprehensively evaluating the tracking effect of several typical correlation filtering algorithms, this paper provides the basis for improving the target tracking algorithm. Firstly, the research status and basic theory of target tracking algorithm based on correlation filtering are introduced. Then, four representative correlation filtering tracking algorithms are described in detail, including KCF algorithm, SAMF algorithm, SRDCF algorithm and ECO algorithm. Finally, multiple video sequences of the ship moving at sea level are used as the test set of the tracking algorithm, the accuracy and real-time performance of the algorithms are analyzed qualitatively and quantitatively, which lays the foundation for further improving the target tracking performance.
{"title":"Comparative Study on Correlation Filtering Algorithms for Sea Surface Target Tracking","authors":"Yangyang Liu, Shunjie Han, Xueyan Hu","doi":"10.1109/RCAE56054.2022.9996034","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9996034","url":null,"abstract":"Aiming at the target tracking problem of optoelectronic tracking system for border and coastal defense facing various challenges on the sea surface, by comprehensively evaluating the tracking effect of several typical correlation filtering algorithms, this paper provides the basis for improving the target tracking algorithm. Firstly, the research status and basic theory of target tracking algorithm based on correlation filtering are introduced. Then, four representative correlation filtering tracking algorithms are described in detail, including KCF algorithm, SAMF algorithm, SRDCF algorithm and ECO algorithm. Finally, multiple video sequences of the ship moving at sea level are used as the test set of the tracking algorithm, the accuracy and real-time performance of the algorithms are analyzed qualitatively and quantitatively, which lays the foundation for further improving the target tracking performance.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121713852","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9996049
Luoyu Zhang, Zhiwei Wen, Xinsong Zhang, Yunxiang Guo, Cheng Lu
In this paper, a neural network sliding mode control based on neural network disturbance observer is proposed for the control of MEMS gyroscopes under external disturbances. In the design process, two sets of RBF neural networks are incorporated in the sliding mode controller design as well as the disturbance design separately to release the dependence of each module on gyroscope system parameters. Meanwhile, the integration of the neural disturbance observer can help to alleviate chattering phenomenon in conventional sliding mode control forces. Simulation studies are implemented to verify the effectiveness of the proposed control scheme.
{"title":"Neural Sliding Mode Control using Neural Disturbance Observer for Gyroscopes","authors":"Luoyu Zhang, Zhiwei Wen, Xinsong Zhang, Yunxiang Guo, Cheng Lu","doi":"10.1109/RCAE56054.2022.9996049","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9996049","url":null,"abstract":"In this paper, a neural network sliding mode control based on neural network disturbance observer is proposed for the control of MEMS gyroscopes under external disturbances. In the design process, two sets of RBF neural networks are incorporated in the sliding mode controller design as well as the disturbance design separately to release the dependence of each module on gyroscope system parameters. Meanwhile, the integration of the neural disturbance observer can help to alleviate chattering phenomenon in conventional sliding mode control forces. Simulation studies are implemented to verify the effectiveness of the proposed control scheme.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"491 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116194639","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995906
Peiguang Chen, Yiwen Jiang, Yuchun Liu, Xuanduo Yu, Shunjie Han
With the continuous promotion of digitalization and the intelligent transformation of the electric power industry, various data information has exploded. There is a practical requirement for power system operators to have accurate and timely access to relevant data. Data visualization technology provides a solution for the decision-makers in the electric power industry to quickly discover the intrinsic correlation of data, intuitively grasp the trend of data changes, and deeply explore the value hidden behind the data. This paper develops power system data visualization methods through web language technologies: the html, css, JavaScript, Echarts, Flask framework and Ajax technology. The ultimate goal is to dynamically monitor data changes in the power system and to visually reveal the nature of power operations.
{"title":"Research and Implementation of Power System Data Visualization","authors":"Peiguang Chen, Yiwen Jiang, Yuchun Liu, Xuanduo Yu, Shunjie Han","doi":"10.1109/RCAE56054.2022.9995906","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995906","url":null,"abstract":"With the continuous promotion of digitalization and the intelligent transformation of the electric power industry, various data information has exploded. There is a practical requirement for power system operators to have accurate and timely access to relevant data. Data visualization technology provides a solution for the decision-makers in the electric power industry to quickly discover the intrinsic correlation of data, intuitively grasp the trend of data changes, and deeply explore the value hidden behind the data. This paper develops power system data visualization methods through web language technologies: the html, css, JavaScript, Echarts, Flask framework and Ajax technology. The ultimate goal is to dynamically monitor data changes in the power system and to visually reveal the nature of power operations.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126206687","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}
In order to improve the accuracy of intelligent substation perimeter alarm and reduce the false alarm rate, this paper proposes CEEMDAN combined with wavelet denoising method to preprocess the intrusion signal, using the support vector machine (SVM) as the core algorithm of the classifier, and optimizing the support vector machine (SVM) by the particle swarm (PSO) algorithm, because the particle swarm (PSO) algorithm is easy to achieve the disadvantage of local optimization. We used the gray wolf (GWO) algorithm and particle swarm algorithm (PSO) to optimize the support vector machine (SVM), experimental results show that the method has achieved a certain effect, in the perimeter intrusion signal to provide a scheme.
{"title":"An Intrusion Signal Recognition Method for Substation Perimeter Security","authors":"Weijin Xu, Yining Huang, Zeyi Wang, Yongxiang Jiang, Shunjie Han, Hong Jiang","doi":"10.1109/RCAE56054.2022.9995937","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995937","url":null,"abstract":"In order to improve the accuracy of intelligent substation perimeter alarm and reduce the false alarm rate, this paper proposes CEEMDAN combined with wavelet denoising method to preprocess the intrusion signal, using the support vector machine (SVM) as the core algorithm of the classifier, and optimizing the support vector machine (SVM) by the particle swarm (PSO) algorithm, because the particle swarm (PSO) algorithm is easy to achieve the disadvantage of local optimization. We used the gray wolf (GWO) algorithm and particle swarm algorithm (PSO) to optimize the support vector machine (SVM), experimental results show that the method has achieved a certain effect, in the perimeter intrusion signal to provide a scheme.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132320134","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995905
Suichun Qu, Xue Li, Zhikang Fan, Bin Chen
This paper investigates an integrated design framework for feedback control and fault detection based on a reduced-order observer. Firstly, all stabilizing controllers can be described as a reduced-order observer, which is the joint form of state, output and residual feedback, based on well-known Youla parameterization of all stabilizing controllers. Furthermore, an integrated design framework for feedback control and fault detection is proposed, the advantages of which are low online computation, convenient fault detection, etc. Finally, the simulation of the Heating, Ventilation, and Air conditioning (HVAC) system is adopted to demonstrate the effectiveness and superiority of the proposed design framework.
{"title":"Integrated Design of Feedback Control and Fault Detection Based on Reduced-Order Observer","authors":"Suichun Qu, Xue Li, Zhikang Fan, Bin Chen","doi":"10.1109/RCAE56054.2022.9995905","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995905","url":null,"abstract":"This paper investigates an integrated design framework for feedback control and fault detection based on a reduced-order observer. Firstly, all stabilizing controllers can be described as a reduced-order observer, which is the joint form of state, output and residual feedback, based on well-known Youla parameterization of all stabilizing controllers. Furthermore, an integrated design framework for feedback control and fault detection is proposed, the advantages of which are low online computation, convenient fault detection, etc. Finally, the simulation of the Heating, Ventilation, and Air conditioning (HVAC) system is adopted to demonstrate the effectiveness and superiority of the proposed design framework.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130003085","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995799
Cong Xu, Chunlai Yan, Xiuliang Wu, Changchun Pan, Kai Sun
In this study, sensitivity analysis and nonnegative garrote (NNG) are combined to realize adaptive variable selection for gated recurrent unit (GRU). Firstly, the sensitivity analysis based on variance decomposition is used to quantify the correlation between each input variable and the output variable, and the total sensitivity index of each input variable is calculated. Secondly, the total sensitivity index is added to the NNG as an adaptive weight vector to achieve adaptive variable selection. Finally, an artificial dataset with the characteristic of time series is used to verify the effectiveness of the proposed algorithm. Simulation results show that the proposed algorithm can identify the relevant variables effectively and improve the predictive performance of the model.
{"title":"An Adaptive Variable Selection Algorithm for Gated Recurrent Unit Based on Sensitivity Analysis and Nonnegative Garrote","authors":"Cong Xu, Chunlai Yan, Xiuliang Wu, Changchun Pan, Kai Sun","doi":"10.1109/RCAE56054.2022.9995799","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995799","url":null,"abstract":"In this study, sensitivity analysis and nonnegative garrote (NNG) are combined to realize adaptive variable selection for gated recurrent unit (GRU). Firstly, the sensitivity analysis based on variance decomposition is used to quantify the correlation between each input variable and the output variable, and the total sensitivity index of each input variable is calculated. Secondly, the total sensitivity index is added to the NNG as an adaptive weight vector to achieve adaptive variable selection. Finally, an artificial dataset with the characteristic of time series is used to verify the effectiveness of the proposed algorithm. Simulation results show that the proposed algorithm can identify the relevant variables effectively and improve the predictive performance of the model.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128544490","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 : 2022-10-28DOI: 10.1109/RCAE56054.2022.9995950
Xuanyi Wang, Jianlei Zhang
In this work, we propose an integration algorithm of rapidly-exploring random trees method and artificial potential field method in path planning for a multi-quadrotor unmanned aerial vehicles formation with a load. Specifically, we establish potential field to guide the stretch direction of branches and extract the key points of the final planned path for optimization. For the lack of intelligence of the artificial potential field method, the sampling method gets improvements both on that and rapidity. In the same way, the artificial potential field method also makes up for the lack of planned path's smoothness with the sampling method. Aiming at the complicated structure of the transporting system, we set strict safety constraints to ensure the success of obstacle avoidance. In addition, an algorithm of searching along the wall is proposed to fit in the scene with unknown information obstacles. The methods' feasibility and effectiveness are verified by simulation results and relevant comparative analyses.
{"title":"Path Planning of Load Transportation by Multi-Quadrotor Formation Based on RRT-APF Method","authors":"Xuanyi Wang, Jianlei Zhang","doi":"10.1109/RCAE56054.2022.9995950","DOIUrl":"https://doi.org/10.1109/RCAE56054.2022.9995950","url":null,"abstract":"In this work, we propose an integration algorithm of rapidly-exploring random trees method and artificial potential field method in path planning for a multi-quadrotor unmanned aerial vehicles formation with a load. Specifically, we establish potential field to guide the stretch direction of branches and extract the key points of the final planned path for optimization. For the lack of intelligence of the artificial potential field method, the sampling method gets improvements both on that and rapidity. In the same way, the artificial potential field method also makes up for the lack of planned path's smoothness with the sampling method. Aiming at the complicated structure of the transporting system, we set strict safety constraints to ensure the success of obstacle avoidance. In addition, an algorithm of searching along the wall is proposed to fit in the scene with unknown information obstacles. The methods' feasibility and effectiveness are verified by simulation results and relevant comparative analyses.","PeriodicalId":165439,"journal":{"name":"2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128571149","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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