Pub Date : 2005-06-06DOI: 10.1109/SSRR.2005.1501241
M. Marzouqi, R. Jarvis
In previous publications we have presented a promising new idea on covert path planning. The aim is to allow a robot to plan a path with minimum exposure to known or unknown hostile sentries within the same environment. An important element of our approach is to create what we have called a visibility risk map. In case of unknown sentries' locations, the visibility risk map is produced by measuring the exposure value of each free space cell. The early method for this process suffers from high computation time when dealing with high resolution maps. This drawback appears clearly in the case of unknown environments where the visibility risk map needs to be updated continuously as the environment's map is updated online. In this paper, a faster method is presented that based on triangulation geometry to find an approximated exposure value of each cell. The new method has been tested on a simulated environment which has shown its speed improvement over the previous method, as well as generating a smoother covert path.
{"title":"Fast visibility evaluation for covert robotics path planning","authors":"M. Marzouqi, R. Jarvis","doi":"10.1109/SSRR.2005.1501241","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501241","url":null,"abstract":"In previous publications we have presented a promising new idea on covert path planning. The aim is to allow a robot to plan a path with minimum exposure to known or unknown hostile sentries within the same environment. An important element of our approach is to create what we have called a visibility risk map. In case of unknown sentries' locations, the visibility risk map is produced by measuring the exposure value of each free space cell. The early method for this process suffers from high computation time when dealing with high resolution maps. This drawback appears clearly in the case of unknown environments where the visibility risk map needs to be updated continuously as the environment's map is updated online. In this paper, a faster method is presented that based on triangulation geometry to find an approximated exposure value of each cell. The new method has been tested on a simulated environment which has shown its speed improvement over the previous method, as well as generating a smoother covert path.","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":"124344187","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.2005.1501272
R. Chatterjee, I. Takao, F. Matsuno, S. Tadokoro
The current discussion intends to outline some aspects of a robot description ontology specifically focusing on the aspects related to describing the surface locomotion capabilities. Some necessary aspects to describe the relevant limitations are identified, which would form a basis of testing facility design as well as comparative evaluation of the on-surface locomotion features of ground robots.
{"title":"Robot description ontology and bases for surface locomotion evaluation","authors":"R. Chatterjee, I. Takao, F. Matsuno, S. Tadokoro","doi":"10.1109/SSRR.2005.1501272","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501272","url":null,"abstract":"The current discussion intends to outline some aspects of a robot description ontology specifically focusing on the aspects related to describing the surface locomotion capabilities. Some necessary aspects to describe the relevant limitations are identified, which would form a basis of testing facility design as well as comparative evaluation of the on-surface locomotion features of ground robots.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"18 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":"131776173","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.2005.1501237
T. Chien, K. Su, J.H. Guo
The security system of home and building is an important issue to human being. We develop the low cost security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us thought Internet and GSM module. The structure of the security robot contains seven parts. There are security system, avoid obstacle and driver system, software development system, auto recharging system, remote supervise system, multiple interface system and others. First, we develop a low cost based security robot using aluminum flame. Then we present the remote mobile security system (RMSS) for the security robot system, and design multiple interfaces in the Wu-Feng security robot (WFSR-II). There are wireless RS232, RF interface and IR interface. The mobile robot communicate with personal computer using wireless RS232, and communicate with sensor node system using IR interface, and communicate with other robot using RF interface. The mobile robot can transmits the message to user using GSM module. Finally, we make some experimental scenario to supervise the security robot through personal computer, and it can detect fire event to transmit message to user, and avoid obstacle in state and dynamic environment. We can get adequate result for the WFSR-U robot
{"title":"The multiple interface security robot - WFSR-II","authors":"T. Chien, K. Su, J.H. Guo","doi":"10.1109/SSRR.2005.1501237","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501237","url":null,"abstract":"The security system of home and building is an important issue to human being. We develop the low cost security robot system that is widely employed in our daily life. The security robot can detect abnormal and dangerous situation and notify us thought Internet and GSM module. The structure of the security robot contains seven parts. There are security system, avoid obstacle and driver system, software development system, auto recharging system, remote supervise system, multiple interface system and others. First, we develop a low cost based security robot using aluminum flame. Then we present the remote mobile security system (RMSS) for the security robot system, and design multiple interfaces in the Wu-Feng security robot (WFSR-II). There are wireless RS232, RF interface and IR interface. The mobile robot communicate with personal computer using wireless RS232, and communicate with sensor node system using IR interface, and communicate with other robot using RF interface. The mobile robot can transmits the message to user using GSM module. Finally, we make some experimental scenario to supervise the security robot through personal computer, and it can detect fire event to transmit message to user, and avoid obstacle in state and dynamic environment. We can get adequate result for the WFSR-U robot","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"132 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":"128527491","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.2005.1501229
A. Nuchter, K. Lingemann, J. Hertzberg
Deploying rescue workers in an urban setting is often a perilous, time-, power-, and force-consuming job, and systems to assist in this effort are needed. A fundamental task for rescue is to localize injured persons. To this end, robotic systems are used for mapping a site and for remote inspection of suspicious objects. The mobile robot Kurt3D is the first rescue robot that is capable of mapping its environment in 3D and self localize in all six degrees of freedom, i.e., considering its x, y and z positions and the roll, yaw and pitch angles.
{"title":"Mapping of rescue environments with Kurt3D","authors":"A. Nuchter, K. Lingemann, J. Hertzberg","doi":"10.1109/SSRR.2005.1501229","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501229","url":null,"abstract":"Deploying rescue workers in an urban setting is often a perilous, time-, power-, and force-consuming job, and systems to assist in this effort are needed. A fundamental task for rescue is to localize injured persons. To this end, robotic systems are used for mapping a site and for remote inspection of suspicious objects. The mobile robot Kurt3D is the first rescue robot that is capable of mapping its environment in 3D and self localize in all six degrees of freedom, i.e., considering its x, y and z positions and the roll, yaw and pitch angles.","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":"128088777","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.2005.1501263
J. Meguro, K. Ishikawa, Y. Amano, T. Hashizume, J. Takiguchi, R. Kurosaki, M. Hatayama
This study describes mobile robot surveillance system using spatial temporal GIS. This paper specially describes the method of collecting spatial temporal data by an autonomous mobile robot system used in a factory premises with some high-rise buildings. This system consists of a wireless LAN network, a base station and an autonomous vehicle. The vehicle is equipped with a GPS/INS navigation system using the network-based real-time kinematic GPS (RTK-GPS) with positioning augmentation services (PAS/spl trade/ Mitsubishi Electric Corporation 2003), an area laser radar (ALR), a slaved camera, and an omni-directional vision (ODV) sensor for surveillance and reconnaissance. The vehicle switches control modes according to the vehicle navigation error. It has three modes, "normal", "road tracking", and "crossing recognition". A field test result shows that the vehicle can track the planned-path within 0.10[m] accuracy at straight paths and within 0.25[m] for curved paths even if RTK fixed solutions are not available. Field experiments and analyses have proved that the proposed navigation method can provide sufficient navigation and guidance accuracy under poor satellite geometry and visibility. Omni-directional image and ALR'S scan data, which is synchronized with both position and GPS time, is memorized as spatial temporal. This spatial temporal data enables the operator to search everywhere in the factory premises efficiently by way of arbitrary position or measured time. The field test reveals that the spatial temporal database is confirmed to be useful for remote surveillance.
{"title":"Creating spatial temporal database by autonomous mobile surveillance system (a study of mobile robot surveillance system using spatial temporal GIS part 1)","authors":"J. Meguro, K. Ishikawa, Y. Amano, T. Hashizume, J. Takiguchi, R. Kurosaki, M. Hatayama","doi":"10.1109/SSRR.2005.1501263","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501263","url":null,"abstract":"This study describes mobile robot surveillance system using spatial temporal GIS. This paper specially describes the method of collecting spatial temporal data by an autonomous mobile robot system used in a factory premises with some high-rise buildings. This system consists of a wireless LAN network, a base station and an autonomous vehicle. The vehicle is equipped with a GPS/INS navigation system using the network-based real-time kinematic GPS (RTK-GPS) with positioning augmentation services (PAS/spl trade/ Mitsubishi Electric Corporation 2003), an area laser radar (ALR), a slaved camera, and an omni-directional vision (ODV) sensor for surveillance and reconnaissance. The vehicle switches control modes according to the vehicle navigation error. It has three modes, \"normal\", \"road tracking\", and \"crossing recognition\". A field test result shows that the vehicle can track the planned-path within 0.10[m] accuracy at straight paths and within 0.25[m] for curved paths even if RTK fixed solutions are not available. Field experiments and analyses have proved that the proposed navigation method can provide sufficient navigation and guidance accuracy under poor satellite geometry and visibility. Omni-directional image and ALR'S scan data, which is synchronized with both position and GPS time, is memorized as spatial temporal. This spatial temporal data enables the operator to search everywhere in the factory premises efficiently by way of arbitrary position or measured time. The field test reveals that the spatial temporal database is confirmed to be useful for remote surveillance.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"13 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":"128035242","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.2005.1501252
A. Ramirez-Serrano, G. Pettinaro
The work presented here describes a novel 3D navigation method for teams of unmanned vehicles using intelligent dynamic landmarks (IDLs). The technique allows robots to navigate in diverse structured and unstructured environments both indoor and outdoor avoiding typical disadvantages of traditional navigational techniques. Some robots comprising the team are considered as IDLs while others use such landmarks to accomplish their task. The proposed approach does not require any type of traditional external landmarks or any kind of environmental model. Instead, robots continuously perform direct measurements of their relative position with respect to neighboring robots with which they interchange relative position information to verify relative and global localization. Robots process the obtained information to generate ego-centric estimates of the relative position of other robots using an origami graph. The proposed technique allows the team's configurations to change according to the task to be performed and allows effective navigation even under robots' mechanical and/or sensor failures.
{"title":"Navigation of unmanned vehicles using a swarm of intelligent dynamic landmarks","authors":"A. Ramirez-Serrano, G. Pettinaro","doi":"10.1109/SSRR.2005.1501252","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501252","url":null,"abstract":"The work presented here describes a novel 3D navigation method for teams of unmanned vehicles using intelligent dynamic landmarks (IDLs). The technique allows robots to navigate in diverse structured and unstructured environments both indoor and outdoor avoiding typical disadvantages of traditional navigational techniques. Some robots comprising the team are considered as IDLs while others use such landmarks to accomplish their task. The proposed approach does not require any type of traditional external landmarks or any kind of environmental model. Instead, robots continuously perform direct measurements of their relative position with respect to neighboring robots with which they interchange relative position information to verify relative and global localization. Robots process the obtained information to generate ego-centric estimates of the relative position of other robots using an origami graph. The proposed technique allows the team's configurations to change according to the task to be performed and allows effective navigation even under robots' mechanical and/or sensor failures.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"4 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":"131175253","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.2005.1501268
D. Calisi, A. Farinelli, L. Iocchi, D. Nardi
We present an approach Io autonomous exploration of a rescue environment. Exploration is based on unexplored frontiers and navigation on a two-level approach to the robot motion problem. Our method makes use of a motion planner capable of negotiating with very fine representations of the environment, that is used to move in a cluttered scenario. A topological path-planner "guides" the lower level and reduces the search space. The two algorithms are derived from two widely-used probabilistic algorithms, currently successfully deployed in many robot applications, the probabilistic roadmap and the rapid-exploring random trees. However, their adaptation to the rescue scenario requires significant extensions.
{"title":"Autonomous navigation and exploration in a rescue environment","authors":"D. Calisi, A. Farinelli, L. Iocchi, D. Nardi","doi":"10.1109/SSRR.2005.1501268","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501268","url":null,"abstract":"We present an approach Io autonomous exploration of a rescue environment. Exploration is based on unexplored frontiers and navigation on a two-level approach to the robot motion problem. Our method makes use of a motion planner capable of negotiating with very fine representations of the environment, that is used to move in a cluttered scenario. A topological path-planner \"guides\" the lower level and reduces the search space. The two algorithms are derived from two widely-used probabilistic algorithms, currently successfully deployed in many robot applications, the probabilistic roadmap and the rapid-exploring random trees. However, their adaptation to the rescue scenario requires significant extensions.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"43 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":"128412119","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.2005.1501262
Y. Iwano, K. Osuka, H. Amano
We discuss a conceptual design of rescue robots against nuclear-power plant accidents. We claim that the rescue robots in nuclear-power plants should have the following properties. (1) The size is small. (2) The structure is simple. (3) The number of the robots is large. This paper studies the rescue robots to rescue people in an area polluted with radioactive leakage in nuclear power institutions. In particular, we propose a rescue system which consists of a group of small mobile robots. First, small traction robots set the posture of the fainted victims to carry easily, and carry them to the safety space with the mobile robots for the stretcher composition. In this paper, we describe the produced small traction robots. And, we confirm that the robots can manipulate a 40 kg dummy doll's posture. We also examine the optimal number of robots from a perspective of operating efficiency in the assumption spot.
{"title":"Posture manipulation for rescue activity via small traction robots","authors":"Y. Iwano, K. Osuka, H. Amano","doi":"10.1109/SSRR.2005.1501262","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501262","url":null,"abstract":"We discuss a conceptual design of rescue robots against nuclear-power plant accidents. We claim that the rescue robots in nuclear-power plants should have the following properties. (1) The size is small. (2) The structure is simple. (3) The number of the robots is large. This paper studies the rescue robots to rescue people in an area polluted with radioactive leakage in nuclear power institutions. In particular, we propose a rescue system which consists of a group of small mobile robots. First, small traction robots set the posture of the fainted victims to carry easily, and carry them to the safety space with the mobile robots for the stretcher composition. In this paper, we describe the produced small traction robots. And, we confirm that the robots can manipulate a 40 kg dummy doll's posture. We also examine the optimal number of robots from a perspective of operating efficiency in the assumption spot.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"14 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":"130854123","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.2005.1501269
T. Kamegawa, T. Yamasaki, F. Matsuno
We discuss the usability of remote control for a snake-like rescue robot named KOHGA. This robot is one of many snake-like robots developed for search and rescue operations. KOHGA is constructed by connecting multiple crawler vehicles serially, thus resulting a long and thin structure. This is a great advantage as the robot can have both the capability to climb over obstacles, and as well as the ability to enter narrow spaces. Moreover, KOHGA can transform into a scorpion configuration, where the two CCD cameras positioned at robot's both ends, would provide to the operator a clear view of both the robot and its surroundings. In this paper, the design concept of KOHGA and the evaluation experiments for usability of remote control method are discussed in detail.
{"title":"Evaluation of snake-like rescue robot \"KOHGA\" for usability of remote control","authors":"T. Kamegawa, T. Yamasaki, F. Matsuno","doi":"10.1109/SSRR.2005.1501269","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501269","url":null,"abstract":"We discuss the usability of remote control for a snake-like rescue robot named KOHGA. This robot is one of many snake-like robots developed for search and rescue operations. KOHGA is constructed by connecting multiple crawler vehicles serially, thus resulting a long and thin structure. This is a great advantage as the robot can have both the capability to climb over obstacles, and as well as the ability to enter narrow spaces. Moreover, KOHGA can transform into a scorpion configuration, where the two CCD cameras positioned at robot's both ends, would provide to the operator a clear view of both the robot and its surroundings. In this paper, the design concept of KOHGA and the evaluation experiments for usability of remote control method are discussed in detail.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"212 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":"134080851","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.2005.1501265
N. Ruangpayoongsak, H. Roth, J. Chudoba
Mobile robots are integrated into a search and rescue team as tools for searching victims in dangerous areas that is harmful for human, as to provide the perception data for map building, and as to follow the human entity during the mission. The teleoperated control and the autonomous path following is implemented on the robots for the semiautonomous navigation in the simulated firing scenario. This paper focuses on the robot entities in the PeLoTe project (building presence through localization for hybrid telematic teams). The architecture of the software integration for mobile robots into the PeLoTe system and the experimental results are presented.
{"title":"Mobile robots for search and rescue","authors":"N. Ruangpayoongsak, H. Roth, J. Chudoba","doi":"10.1109/SSRR.2005.1501265","DOIUrl":"https://doi.org/10.1109/SSRR.2005.1501265","url":null,"abstract":"Mobile robots are integrated into a search and rescue team as tools for searching victims in dangerous areas that is harmful for human, as to provide the perception data for map building, and as to follow the human entity during the mission. The teleoperated control and the autonomous path following is implemented on the robots for the semiautonomous navigation in the simulated firing scenario. This paper focuses on the robot entities in the PeLoTe project (building presence through localization for hybrid telematic teams). The architecture of the software integration for mobile robots into the PeLoTe system and the experimental results are presented.","PeriodicalId":173715,"journal":{"name":"IEEE International Safety, Security and Rescue Rototics, Workshop, 2005.","volume":"68 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":"130995455","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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