Pub Date : 2005-06-06DOI: 10.1109/SSRR.2005.1501271
K. Ito, H. Fujii, F. Matsuno
Recently, various robots have been developed and they are applied to various tasks. A remote controlled robot for collecting information in disasters, which are earthquakes and so on, is one of most effective application. For this reason, various rescue robots have been developed. However, previous rescue systems that use robots have significant problem. That is shortage of operators. In our previous works, to solve the problem we focused on volunteer staffs, and proposed a concept of rescue system in which professional rescue staffs and volunteer staffs work together for handling of catastrophic disaster, and developed a prototype of rescue robot for non-professional operator. However, the prototype system was too simple to apply it to real disaster, and to develop an actual use model, enhancement of each function of the prototype system was necessary. An autonomous detection system of survivors using thermography is one of the functions of the prototype system. In this paper, we obtain various thermal image of human body by experiments, and enhance the detection system of survivors using thermography by the analysis of the obtained thermal images.
{"title":"An information collecting robot for non-professional operator - development of the vision support system using thermography","authors":"K. Ito, H. Fujii, F. Matsuno","doi":"10.1109/SSRR.2005.1501271","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501271","url":null,"abstract":"Recently, various robots have been developed and they are applied to various tasks. A remote controlled robot for collecting information in disasters, which are earthquakes and so on, is one of most effective application. For this reason, various rescue robots have been developed. However, previous rescue systems that use robots have significant problem. That is shortage of operators. In our previous works, to solve the problem we focused on volunteer staffs, and proposed a concept of rescue system in which professional rescue staffs and volunteer staffs work together for handling of catastrophic disaster, and developed a prototype of rescue robot for non-professional operator. However, the prototype system was too simple to apply it to real disaster, and to develop an actual use model, enhancement of each function of the prototype system was necessary. An autonomous detection system of survivors using thermography is one of the functions of the prototype system. In this paper, we obtain various thermal image of human body by experiments, and enhance the detection system of survivors using thermography by the analysis of the obtained thermal images.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127178849","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501240
R. Mázl, J. Pavlicek, L. Preucil
The contribution deals with design of a standard for search and rescue maps (SRM), which could be considered for a knowledge carrier comprising shape, structure (e.g. floor plans) and major properties (e.g. environment status) of the operating environment relevant to a rescue task. The novelty of the presented approach stands in consideration of a hybrid telematic systems integrating human and robot entities in a common task. The proposal of the SRM data structure bids to unify the content and format of elementary data objects and aims to substitute or enhance rescue maps in current form. The SRM enables to share and exchange relevant knowledge and improves substantially the level of common presence of the participating entities. This increases efficiency of problem-solving in rescue tasks in general. To approve proper design the SRM has been implemented and experimentally verified in a rescue-type of task within the framework of PeLoTe project.
{"title":"Structures for data sharing in hybrid rescue teams","authors":"R. Mázl, J. Pavlicek, L. Preucil","doi":"10.1109/SSRR.2005.1501240","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501240","url":null,"abstract":"The contribution deals with design of a standard for search and rescue maps (SRM), which could be considered for a knowledge carrier comprising shape, structure (e.g. floor plans) and major properties (e.g. environment status) of the operating environment relevant to a rescue task. The novelty of the presented approach stands in consideration of a hybrid telematic systems integrating human and robot entities in a common task. The proposal of the SRM data structure bids to unify the content and format of elementary data objects and aims to substitute or enhance rescue maps in current form. The SRM enables to share and exchange relevant knowledge and improves substantially the level of common presence of the participating entities. This increases efficiency of problem-solving in rescue tasks in general. To approve proper design the SRM has been implemented and experimentally verified in a rescue-type of task within the framework of PeLoTe project.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125413254","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501264
K. Ishikawa, J. Meguro, Y. Amano, T. Hashizume, J. Takiguchi, R. Kurosaki, M. Hatayama
The unique omni-directional motion stereo method featuring robust epipolar estimation and hybrid use of the feature/area based matching, and the change-region recognition technique which uses dense color-textured depth map and 3D-GIS data for segmentation, are presented. The dense stereo imaging data, which is acquired by the coupled use of an ODV (omni-directional vision) and a GPS/INS (Inertial Navigation Systems) by the motion stereo method, is classified in "change region" or "registered region" by the D-GIS's geometric model of the building. Hence, the changeable region like a parking-vehicle on the road is modeled as a hexahedron through surface recognition process, the position of vertexes and the image texture of three surfaces are measured, and are additionally registered in the spatial temporal GIS (Geographic Information System) as new object data. The proposed method can be applicable to a mobile robot surveillance system which is used in a site immediately after a disaster.
{"title":"Parking-vehicles recognition using spatial temporal data (a study of mobile robot surveillance system using spatial temporal GIS part 2)","authors":"K. Ishikawa, J. Meguro, Y. Amano, T. Hashizume, J. Takiguchi, R. Kurosaki, M. Hatayama","doi":"10.1109/SSRR.2005.1501264","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501264","url":null,"abstract":"The unique omni-directional motion stereo method featuring robust epipolar estimation and hybrid use of the feature/area based matching, and the change-region recognition technique which uses dense color-textured depth map and 3D-GIS data for segmentation, are presented. The dense stereo imaging data, which is acquired by the coupled use of an ODV (omni-directional vision) and a GPS/INS (Inertial Navigation Systems) by the motion stereo method, is classified in \"change region\" or \"registered region\" by the D-GIS's geometric model of the building. Hence, the changeable region like a parking-vehicle on the road is modeled as a hexahedron through surface recognition process, the position of vertexes and the image texture of three surfaces are measured, and are additionally registered in the spatial temporal GIS (Geographic Information System) as new object data. The proposed method can be applicable to a mobile robot surveillance system which is used in a site immediately after a disaster.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116155535","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501244
M. Tanigawa, T. Takahashi, T. Koto, I. Takeuchi, I. Noda
Various reasons cause floods in cities, RoboCup Rescue simulation system has been designed so that various disasters can be plugged into the existing system. However, it is hard to handle water in RoboCup Rescue simulators. In this paper, we show flood simulation based on diffusion equation model is easily implemented using IDSS and IDSS's scalability is useful for flood simulations.
{"title":"Urban flood simulation as a component of integrated earthquake disaster simulation","authors":"M. Tanigawa, T. Takahashi, T. Koto, I. Takeuchi, I. Noda","doi":"10.1109/SSRR.2005.1501244","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501244","url":null,"abstract":"Various reasons cause floods in cities, RoboCup Rescue simulation system has been designed so that various disasters can be plugged into the existing system. However, it is hard to handle water in RoboCup Rescue simulators. In this paper, we show flood simulation based on diffusion equation model is easily implemented using IDSS and IDSS's scalability is useful for flood simulations.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114413849","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501256
Carlos Castillo, Carolina Chang
We present an approach to vision-based person detection in robotic applications that uses template matching. We detect people using templates of the human silhouette. In our approach, we detect borders on each image, then apply a distance transform, and then match templates at different scales. Our system integrates silhouette, corners (point of interest) and skin presence in order to obtain more robust results in the detection of victims in search and rescue operations. Further, we describe the automatic generation of templates from a set of photographs of the object of interest.
{"title":"A method to detect victims in search and rescue operations using template matching","authors":"Carlos Castillo, Carolina Chang","doi":"10.1109/SSRR.2005.1501256","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501256","url":null,"abstract":"We present an approach to vision-based person detection in robotic applications that uses template matching. We detect people using templates of the human silhouette. In our approach, we detect borders on each image, then apply a distance transform, and then match templates at different scales. Our system integrates silhouette, corners (point of interest) and skin presence in order to obtain more robust results in the detection of victims in search and rescue operations. Further, we describe the automatic generation of templates from a set of photographs of the object of interest.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128546044","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501239
J. Tanaka, K. Suzumori, M. Takata, T. Kanda, M. Mori
This paper reports a research and development of a rescue robot using a high-pressure hydraulic actuator. We developed a practical and simple rescue robot, which used a high-pressure hydraulic actuator which generates 100 kN force at 70 MPa to drive a mechanism of jack. The objective of the robot is to jack up debris to keep or to make space of moving courses for other rescue robots and rescue tools, and to rescue victims under debris. The robot jacks up to 33 kN load. We demonstrated that the robot can jack up over 20 kN to jack up a fallen tree of 20 kN.
{"title":"A mobile jack robot for rescue operation","authors":"J. Tanaka, K. Suzumori, M. Takata, T. Kanda, M. Mori","doi":"10.1109/SSRR.2005.1501239","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501239","url":null,"abstract":"This paper reports a research and development of a rescue robot using a high-pressure hydraulic actuator. We developed a practical and simple rescue robot, which used a high-pressure hydraulic actuator which generates 100 kN force at 70 MPa to drive a mechanism of jack. The objective of the robot is to jack up debris to keep or to make space of moving courses for other rescue robots and rescue tools, and to rescue victims under debris. The robot jacks up to 33 kN load. We demonstrated that the robot can jack up over 20 kN to jack up a fallen tree of 20 kN.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126845025","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501253
F. Driewer, K. Schilling, H. Baier
Interaction between human rescue workers and rescue systems provide a great challenge. The proposed system involves mobile robots that explore the emergency area, in order to reduce the risk for human life and a localization system for the human rescuers. Human and robotic team members are supported, guided and coordinated by a supervisor. Remote sensor data acquired by the team members as well as a priori information about environment and efficient, intuitive user interfaces provide the basis for decisions. This paper describes the designed graphical user interfaces and the experiments that where performed together with test participants, fire fighters as well as non fire fighters. In particular, results of a demonstration in a fire training house are summarized.
{"title":"Human-computer interaction in the PeLoTe rescue system","authors":"F. Driewer, K. Schilling, H. Baier","doi":"10.1109/SSRR.2005.1501253","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501253","url":null,"abstract":"Interaction between human rescue workers and rescue systems provide a great challenge. The proposed system involves mobile robots that explore the emergency area, in order to reduce the risk for human life and a localization system for the human rescuers. Human and robotic team members are supported, guided and coordinated by a supervisor. Remote sensor data acquired by the team members as well as a priori information about environment and efficient, intuitive user interfaces provide the basis for decisions. This paper describes the designed graphical user interfaces and the experiments that where performed together with test participants, fire fighters as well as non fire fighters. In particular, results of a demonstration in a fire training house are summarized.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130281983","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501249
H. Aoyama, A. Himoto, O. Fuchiwaki, D. Misaki, T. Sumrall
Collapsed buildings due to earthquake or terrorist attack typically result in a rubble pile with access holes less than 1 foot in diameter. The necessity of producing smaller robots which can locate survivors quickly is evident in light of recent disasters and attacks. In the reported research, instead of developing one or two expensive robots, the proposed concept is to manufacture thousands of less expensive micro robots (< $10/micro robot) which can access small openings in the rubble pile. Therefore, the probability of locating survivors increases exponentially due to the exponential increase in the number of robots and because these smaller micro robots can move through small openings which larger robots are not be able to access. Key to the approach is to place the micro robots at the top of the rubble heap so that little energy is consumed as the micro robots search downward (carried by gravity) when not utilizing their own power source. In this report, small hopping robots which have a simple locomotion mechanism and IR sensory elements have been developed to detect survivors under collapsed buildings. This small robot includes micro eccentric motors for generating lift and thrust forces, and IR sensors for detecting the thermal signal of survivors. Therefore, the micro robot can crawl without any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self-righting to allow it to keep moving to the target even if it falls and lands in any position. Weight balance as well as resonance parameters are very important to achieve good mobility. Automatic navigation to the target is achieved with simple on-off motor switching. The simple design layout results in not only lightweight robots but also low cost allowing employment of a large number of robots in the dangerous rubble field. Initially, a small robot utilizing off-the-shelf components (i.e. micro motors, button batteries, sensors and electronics) was designed and assembled to verify feasibility for rescue operations. In the initial experiments, many small robots with optical and IR sensors have been developed and movement toward a human body under zero light conditions has been successfully demonstrated.
{"title":"Micro hopping robot with IR sensor for disaster survivor detection","authors":"H. Aoyama, A. Himoto, O. Fuchiwaki, D. Misaki, T. Sumrall","doi":"10.1109/SSRR.2005.1501249","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501249","url":null,"abstract":"Collapsed buildings due to earthquake or terrorist attack typically result in a rubble pile with access holes less than 1 foot in diameter. The necessity of producing smaller robots which can locate survivors quickly is evident in light of recent disasters and attacks. In the reported research, instead of developing one or two expensive robots, the proposed concept is to manufacture thousands of less expensive micro robots (< $10/micro robot) which can access small openings in the rubble pile. Therefore, the probability of locating survivors increases exponentially due to the exponential increase in the number of robots and because these smaller micro robots can move through small openings which larger robots are not be able to access. Key to the approach is to place the micro robots at the top of the rubble heap so that little energy is consumed as the micro robots search downward (carried by gravity) when not utilizing their own power source. In this report, small hopping robots which have a simple locomotion mechanism and IR sensory elements have been developed to detect survivors under collapsed buildings. This small robot includes micro eccentric motors for generating lift and thrust forces, and IR sensors for detecting the thermal signal of survivors. Therefore, the micro robot can crawl without any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self-righting to allow it to keep moving to the target even if it falls and lands in any position. Weight balance as well as resonance parameters are very important to achieve good mobility. Automatic navigation to the target is achieved with simple on-off motor switching. The simple design layout results in not only lightweight robots but also low cost allowing employment of a large number of robots in the dangerous rubble field. Initially, a small robot utilizing off-the-shelf components (i.e. micro motors, button batteries, sensors and electronics) was designed and assembled to verify feasibility for rescue operations. In the initial experiments, many small robots with optical and IR sensors have been developed and movement toward a human body under zero light conditions has been successfully demonstrated.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130439497","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501236
K. Su, T. Chien, C. Liang
Autonomous mobile robot is very flexibility to move in anywhere. But it is limited on power supply. The power of the mobile robot may provide a few hours of peak usage before the recharging behavior is necessary. So auto recharging function is an important issue in the autonomous mobile robot. It is also an important task that how to detect an exact power value in the security robot. In the paper, we use four current sensors to measure the power variety and we use redundant management method to detect and diagnosis current sensor status. First we use computer simulation and implement in the personal computer using Advantech multifunction I/O card. Next, we use detection and diagnosis algorithm in the power system of the mobile robot, and get some adequate experimental results for some variety conditions. Finally, we make some experimental scenario on the auto-recharging function using the WFSR-I mobile robot.
{"title":"Develop a self-diagnosis function auto-recharging device for mobile robot","authors":"K. Su, T. Chien, C. Liang","doi":"10.1109/SSRR.2005.1501236","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501236","url":null,"abstract":"Autonomous mobile robot is very flexibility to move in anywhere. But it is limited on power supply. The power of the mobile robot may provide a few hours of peak usage before the recharging behavior is necessary. So auto recharging function is an important issue in the autonomous mobile robot. It is also an important task that how to detect an exact power value in the security robot. In the paper, we use four current sensors to measure the power variety and we use redundant management method to detect and diagnosis current sensor status. First we use computer simulation and implement in the personal computer using Advantech multifunction I/O card. Next, we use detection and diagnosis algorithm in the power system of the mobile robot, and get some adequate experimental results for some variety conditions. Finally, we make some experimental scenario on the auto-recharging function using the WFSR-I mobile robot.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131544101","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 : 2005-06-06DOI: 10.1109/SSRR.2005.1501257
T. Kimura, M. Ishizaki
Though safety is the most important issue in rescue operation, it is not actively investigated in rescue robot development. In this paper, the development of an operating board for a rescue robot is discussed in the view point of safety, where misuse of operator and uncertainty of the rescue environment is considered. The operating board with three position switches is developed in order to reduce the risk caused by disturbance in rescue site. The effectiveness is evaluated experimentally.
{"title":"Development of an operating board for rescue robots considering safety and misuse of operators","authors":"T. Kimura, M. Ishizaki","doi":"10.1109/SSRR.2005.1501257","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501257","url":null,"abstract":"Though safety is the most important issue in rescue operation, it is not actively investigated in rescue robot development. In this paper, the development of an operating board for a rescue robot is discussed in the view point of safety, where misuse of operator and uncertainty of the rescue environment is considered. The operating board with three position switches is developed in order to reduce the risk caused by disturbance in rescue site. The effectiveness is evaluated experimentally.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133752356","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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