Pub Date : 2005-06-06DOI: 10.1109/SSRR.2005.1501246
D. Ryu, C. Hwang, Sungchul Kang, Munsang Kim, Jae-Bok Song
This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.
{"title":"Wearable haptic-based multi-modal teleoperation of field mobile manipulator for explosive ordnance disposal","authors":"D. Ryu, C. Hwang, Sungchul Kang, Munsang Kim, Jae-Bok Song","doi":"10.1109/SSRR.2005.1501246","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501246","url":null,"abstract":"This paper describes a wearable multi-modal user interface design and its implementation for a teleoperated field robot system. Recently some teleoperated field robots are employed for hazard environment applications (e.g. rescue, explosive ordnance disposal, security). To complete these missions in outdoor environment, the robot system must have appropriate functions, accuracy and reliability. However, the more functions it has, the more difficulties occur in operation of the functions. To cope up with this problem, an effective user interface should be developed. Furthermore, the user interface is needed to be wearable for portability and prompt action. This research starts at the question: how to teleoperate the complicated slave robot easily. The main challenge is to make a simple and intuitive user interface with a wearable shape and size. This research provides multi-modalities such as visual, auditory and haptic sense. It enables an operator to control every functions of a field robot more intuitively. As a result, an EOD (explosive ordnance disposal) demonstration is conducted to verify the validity of the proposed wearable multi-modal user interface.","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":"129960276","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.2005.1501242
K. Inoue, M. Yamamoto, Y. Mae, T. Takubo, T. Arai
"Search balls" are small sensor units for searching inside of rubble. A search ball is not equipped with locomotion mechanisms but contains some sensors for searching disaster victims and a radio transceiver. Many balls are thrown into rubble and fall down while repeating collision; they are scattered inside the rubble. The sensor information from the balls is transmitted on radio out of the rubble and monitored at safe area by rescuers. Thus search balls allow rapid and wide-area search inside rubble. Two types of search balls with wide field of view are developed: one type has three fixed wireless cameras, and the other has two wireless cameras rotated by a motor. Both types have infrared LEDs for illumination, a radio receiver for communication with monitoring computers, batteries and electronic circuit; these components are packed into sphere impact-resistant outer shells. Impact-resistance of the balls is tested by drop experiment on wooden floors. It is experimentally checked using a model of rubble that the monitoring computer can send commands to the ball inside this rubble and the ball can transmit the video signal of its cameras out. We also check if humans can be found in the camera images sent from the ball in darkness.
{"title":"Design of search balls with wide field of view for searching inside of rubble","authors":"K. Inoue, M. Yamamoto, Y. Mae, T. Takubo, T. Arai","doi":"10.1109/SSRR.2005.1501242","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501242","url":null,"abstract":"\"Search balls\" are small sensor units for searching inside of rubble. A search ball is not equipped with locomotion mechanisms but contains some sensors for searching disaster victims and a radio transceiver. Many balls are thrown into rubble and fall down while repeating collision; they are scattered inside the rubble. The sensor information from the balls is transmitted on radio out of the rubble and monitored at safe area by rescuers. Thus search balls allow rapid and wide-area search inside rubble. Two types of search balls with wide field of view are developed: one type has three fixed wireless cameras, and the other has two wireless cameras rotated by a motor. Both types have infrared LEDs for illumination, a radio receiver for communication with monitoring computers, batteries and electronic circuit; these components are packed into sphere impact-resistant outer shells. Impact-resistance of the balls is tested by drop experiment on wooden floors. It is experimentally checked using a model of rubble that the monitoring computer can send commands to the ball inside this rubble and the ball can transmit the video signal of its cameras out. We also check if humans can be found in the camera images sent from the ball in darkness.","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":"128946699","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.2005.1501247
J. Saarinen, S. Heikkila, M. Elomaa, J. Suomela, A. Halme
Despite of rapid development in search and rescue robotics, the role of the human being is still very important both in the mission control and in the rescue field. However, robots can support humans in various ways. Combining humans and robots into a telematic system opens new possibilities in the rescue area. This paper explains a possible solution to add humans into a telematic system including robots and telematic mission management. The main requirement for the human cooperation with a rescue telematic system is the accurate localization of the human being. The localization system is based on traditional robotic dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are neither ready nor fully functional solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. The functionality of the integrated system is verified with tests in the European union IST-project called PeLoTe.
{"title":"Rescue personnel localization system","authors":"J. Saarinen, S. Heikkila, M. Elomaa, J. Suomela, A. Halme","doi":"10.1109/SSRR.2005.1501247","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501247","url":null,"abstract":"Despite of rapid development in search and rescue robotics, the role of the human being is still very important both in the mission control and in the rescue field. However, robots can support humans in various ways. Combining humans and robots into a telematic system opens new possibilities in the rescue area. This paper explains a possible solution to add humans into a telematic system including robots and telematic mission management. The main requirement for the human cooperation with a rescue telematic system is the accurate localization of the human being. The localization system is based on traditional robotic dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are neither ready nor fully functional solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. The functionality of the integrated system is verified with tests in the European union IST-project called PeLoTe.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"137 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":"122660883","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.2005.1501230
M. Wang, A. Zell
Echolocating bats can make nocturnal flights in acoustically cluttered environments with the use of echolocation. Their ability to evaluate targets in complete darkness provides mobile robots an opportunity to learn target detection, classification and identification with similar biomimetic platforms. In this work, natural landmark classification with a binaural system, a sequential sensing strategy and a frequency after reconstruction algorithm were developed and tested. The aim of the work is to overcome some inherent shortcomings of airborne sonar and take advantage of bats' perceived properties for mobile robots' navigation in natural environments. Experimental results suggest considerable improvements in classification accuracy can be achieved by the use of this sequential classification method.
{"title":"Sequential sensing with biosonar for natural landmark classification","authors":"M. Wang, A. Zell","doi":"10.1109/SSRR.2005.1501230","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501230","url":null,"abstract":"Echolocating bats can make nocturnal flights in acoustically cluttered environments with the use of echolocation. Their ability to evaluate targets in complete darkness provides mobile robots an opportunity to learn target detection, classification and identification with similar biomimetic platforms. In this work, natural landmark classification with a binaural system, a sequential sensing strategy and a frequency after reconstruction algorithm were developed and tested. The aim of the work is to overcome some inherent shortcomings of airborne sonar and take advantage of bats' perceived properties for mobile robots' navigation in natural environments. Experimental results suggest considerable improvements in classification accuracy can be achieved by the use of this sequential classification method.","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":"115031006","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.2005.1501248
Sungchul Kang, Woosub Lee, Munsang Kim, K. Shin
This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. It is designed to carry out military and civilian missions in various hazardous environments. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in travelling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground.
{"title":"ROBHAZ-rescue: rough-terrain negotiable teleoperated mobile robot for rescue mission","authors":"Sungchul Kang, Woosub Lee, Munsang Kim, K. Shin","doi":"10.1109/SSRR.2005.1501248","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501248","url":null,"abstract":"This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. It is designed to carry out military and civilian missions in various hazardous environments. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in travelling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"204 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":"131461997","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.2005.1501233
Bin Li, Shugen Ma, Jinguo Liu, Yuechao Wang
A novel link-type modular robot, which can change its shape, has been developed for potential application in urban search and rescue (USAR) operation. The advantages of the robot with link-type structure have been specified, and its shape shifting principle has been discussed. A three-module shape shifting robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment Experiments have demonstrated its mobility and flexibility.
{"title":"Development of a shape shifting robot for search and rescue","authors":"Bin Li, Shugen Ma, Jinguo Liu, Yuechao Wang","doi":"10.1109/SSRR.2005.1501233","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501233","url":null,"abstract":"A novel link-type modular robot, which can change its shape, has been developed for potential application in urban search and rescue (USAR) operation. The advantages of the robot with link-type structure have been specified, and its shape shifting principle has been discussed. A three-module shape shifting robot has three kinds of symmetry configurations, that is, line type, triangle type and row type. Each configuration possesses its unique mobility. A tracked prototype has been built and tested under various unstructured environment Experiments have demonstrated its mobility and flexibility.","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":"128723786","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.2005.1501238
Jinguo Liu, Yuechao Wang, Shugen Ma, Bin Li
Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.
{"title":"Analysis of stairs-climbing ability for a tracked reconfigurable modular robot","authors":"Jinguo Liu, Yuechao Wang, Shugen Ma, Bin Li","doi":"10.1109/SSRR.2005.1501238","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501238","url":null,"abstract":"Stairs-climbing ability is the crucial performance of mobile robot for urban environment mission such as urban search and rescue or urban reconnaissance. The track type mobile mechanism has been widely applied for its advantages such as high stability, easy to control, low terrain pressure, and continuous drive. Stairs-climbing is a complicated process for a tracked mobile robot under kinematics and dynamics constraints. In this paper, the stairs-climbing process has been divided into riser climbing, riser crossing, and nose line climbing. During each climbing process, robot's mobility has been analyzed for its kinematics and dynamics factor. The track velocity and acceleration's influences on riser climbing have been analyzed. And the semiempirical design method of the track grouser and the module length has been provided in riser crossing and nose line climbing correspondingly. Finally, stairs-climbing experiments have been made on the two-module robot in line type, and three-module robot in line type and in triangle type respectively.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"40 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":"121669072","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.2005.1501245
Luo Jun, Xie Shaorong, Gong Zhen-bang, Rao Jin-jun
Subminiature unmanned aircrafts can perform observation activity at dangerous areas and information gathering activity at a disaster area, especially subminiature helicopters because of its vertical taking-off, vertical landing and hovering. This paper presents development of subminiature fixed-wing unmanned air vehicle and subminiature unmanned helicopter and its ground control system which include human-robot interface, processing and display of information from aircraft in the air, the tracking system of antenna. All developed in this paper provide an effective means for safety, security, and rescuing in the challenging conditions.
{"title":"Subminiature unmanned surveillance aircraft and its ground control station for security","authors":"Luo Jun, Xie Shaorong, Gong Zhen-bang, Rao Jin-jun","doi":"10.1109/SSRR.2005.1501245","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501245","url":null,"abstract":"Subminiature unmanned aircrafts can perform observation activity at dangerous areas and information gathering activity at a disaster area, especially subminiature helicopters because of its vertical taking-off, vertical landing and hovering. This paper presents development of subminiature fixed-wing unmanned air vehicle and subminiature unmanned helicopter and its ground control system which include human-robot interface, processing and display of information from aircraft in the air, the tracking system of antenna. All developed in this paper provide an effective means for safety, security, and rescuing in the challenging conditions.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"32 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":"132614719","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.2005.1501251
Guangping Lan, Shugen Ma, K. Inoue
We propose a novel (racked mechanism, called as "rotatory crawler", which can be applied to mobile robots in irregular environment. The foremost innovation in this crawler is that it adopts a planetary gear reducer and a triangular gear reducer as power transmission. The characters of the planetary gear reducer enable the crawler to provide two outputs in different form only by one actuator. The rotatory crawler can move on flat ground like a normal tracked vehicle, it also can overcome high obstacles such as steps or stairs by rotating its both sides of crawler units wholly.
{"title":"Development of a novel crawler for irregular terrain access","authors":"Guangping Lan, Shugen Ma, K. Inoue","doi":"10.1109/SSRR.2005.1501251","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501251","url":null,"abstract":"We propose a novel (racked mechanism, called as \"rotatory crawler\", which can be applied to mobile robots in irregular environment. The foremost innovation in this crawler is that it adopts a planetary gear reducer and a triangular gear reducer as power transmission. The characters of the planetary gear reducer enable the crawler to provide two outputs in different form only by one actuator. The rotatory crawler can move on flat ground like a normal tracked vehicle, it also can overcome high obstacles such as steps or stairs by rotating its both sides of crawler units wholly.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"8 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":"123915539","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.2005.1501232
Miroslav Kulich, J. Faigl, L. Preucil
The first-place issue in cooperative activities of multiple entities in a common working environment is coordination and planning of systems activities ensuring completion of a common goal. As manual management of the problem is hard, finding a proper solution of the both tasks definitely leads to an efficient target behavior of these entities. In particular, the efficiency measured in terms of e.g. mission time, precise fulfilling of the common goal stands for the core issues in applications of a rescue type of scenarios and alike. The there under presented approach introduces a novel approach suitable for computer-aided or fully automatic mission planning and control within heterogenous teams of multiple robots and humans. The achieved performance of the approach has been experimentally verified and some interesting results are shown.
{"title":"Cooperative planning for heterogeneous teams in rescue operations","authors":"Miroslav Kulich, J. Faigl, L. Preucil","doi":"10.1109/SSRR.2005.1501232","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501232","url":null,"abstract":"The first-place issue in cooperative activities of multiple entities in a common working environment is coordination and planning of systems activities ensuring completion of a common goal. As manual management of the problem is hard, finding a proper solution of the both tasks definitely leads to an efficient target behavior of these entities. In particular, the efficiency measured in terms of e.g. mission time, precise fulfilling of the common goal stands for the core issues in applications of a rescue type of scenarios and alike. The there under presented approach introduces a novel approach suitable for computer-aided or fully automatic mission planning and control within heterogenous teams of multiple robots and humans. The achieved performance of the approach has been experimentally verified and some interesting results are shown.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"16 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":"126735930","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：