Pub Date : 2015-04-09DOI: 10.1109/ICARA.2015.7081161
B. Milne, H. Beelen, R. Merks, S. Weiland, Xiaoqi Chen, C. Hann, R. Parker
Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that uses pseudo-random binary sequences (PRBS) for identification. The overall form of the frequency and phase response is well-defined for the dynamics model but for the data driven model a spectral estimate from PRBS response data is used to determine the model order. The results in this paper show that a dynamic equation based minimal model produces accuracy as good as the data driven model. While the data driven model has more fitting accuracy the increase in accuracy is not useful for modelling the physical response as the differences occur at high frequencies where the Phantom arm is not sensitive anyway. The dynamic model is particularly useful as it gives a physical basis for the observed output and the sinusoidal steady state behaviour is useful for exposing non-linearities. Future work includes development and verification an arm inertia model that allows system parameters to be identified from response data at arbitrary arm angles.
{"title":"Verification of sinusoidal steady state system identification of a Phantom Omni haptic device using data driven modeling","authors":"B. Milne, H. Beelen, R. Merks, S. Weiland, Xiaoqi Chen, C. Hann, R. Parker","doi":"10.1109/ICARA.2015.7081161","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081161","url":null,"abstract":"Haptic feedback has two important sources of dynamics: the machine being controlled and the haptic device itself. This paper concentrates on the means of identifying the dynamics of a Phantom Omni haptic feedback device. Two models are compared: a dynamic model with parameters using results from sinusoidal steady state analysis and a data driven model that uses pseudo-random binary sequences (PRBS) for identification. The overall form of the frequency and phase response is well-defined for the dynamics model but for the data driven model a spectral estimate from PRBS response data is used to determine the model order. The results in this paper show that a dynamic equation based minimal model produces accuracy as good as the data driven model. While the data driven model has more fitting accuracy the increase in accuracy is not useful for modelling the physical response as the differences occur at high frequencies where the Phantom arm is not sensitive anyway. The dynamic model is particularly useful as it gives a physical basis for the observed output and the sinusoidal steady state behaviour is useful for exposing non-linearities. Future work includes development and verification an arm inertia model that allows system parameters to be identified from response data at arbitrary arm angles.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122571971","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081118
Z. Qi, Kuang Ma, Nicholas Sargeant, W. Phipps
This paper presents an engineering design of a real-time fault monitoring method for power-on-wheel electric vehicles, which have four independent wheel units. Each independent unit has an in-wheel motor with its own steering control system. A central control unit is used to coordinate the four wheels and translate the driver's idea onto the wheels, as such there is no mechanical link between these wheel units. In this repect, the electric car differs from traditional vehicles. The experiment from workshop tests and drive tests proved that this real-time fault monitoring method based on motor drive operational current is a feasible design to identify the performance of the in-wheel motors.
{"title":"An engineering design of real-time fault monitoring method for power-on-wheel electric vehicles","authors":"Z. Qi, Kuang Ma, Nicholas Sargeant, W. Phipps","doi":"10.1109/ICARA.2015.7081118","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081118","url":null,"abstract":"This paper presents an engineering design of a real-time fault monitoring method for power-on-wheel electric vehicles, which have four independent wheel units. Each independent unit has an in-wheel motor with its own steering control system. A central control unit is used to coordinate the four wheels and translate the driver's idea onto the wheels, as such there is no mechanical link between these wheel units. In this repect, the electric car differs from traditional vehicles. The experiment from workshop tests and drive tests proved that this real-time fault monitoring method based on motor drive operational current is a feasible design to identify the performance of the in-wheel motors.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128566886","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081182
Bakytgul Khaday, E. Matson, John A. Springer, Y. Kwon, Hansu Kim, Sunbin Kim, Daulet Kenzhebalin, Cho Sukyeong, Jinwoong Yoon, Hong Seung Woo
Growing population and shortage of land in urban areas led to development of tall buildings. Tall buildings have advantages and at the same time disadvantages. One of the disadvantages is that they are not fully safe in fire situations, because fire trucks cannot reach them. Fire danger can be prevented and eliminated if it is detected early. Implementing WSN (Wireless Sensor Network) and Big Data and collecting-sending data to other members of Cooperative Fire Security System using Human Agent Robot Machine Sensor (CFS2H) messaging protocol establishes faster communication and collaboration among all the members of the whole system. The stationary WSN generates and analyzes the data and wirelessly communicates with other members of the system. Big Data is the central data manipulating center which communicates with all the system members and controls the whole system work. This paper presents detailed implementation and application of WSN and Big Data in cooperative firefighting system.
{"title":"Wireless Sensor Network and Big Data in Cooperative Fire Security system using HARMS","authors":"Bakytgul Khaday, E. Matson, John A. Springer, Y. Kwon, Hansu Kim, Sunbin Kim, Daulet Kenzhebalin, Cho Sukyeong, Jinwoong Yoon, Hong Seung Woo","doi":"10.1109/ICARA.2015.7081182","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081182","url":null,"abstract":"Growing population and shortage of land in urban areas led to development of tall buildings. Tall buildings have advantages and at the same time disadvantages. One of the disadvantages is that they are not fully safe in fire situations, because fire trucks cannot reach them. Fire danger can be prevented and eliminated if it is detected early. Implementing WSN (Wireless Sensor Network) and Big Data and collecting-sending data to other members of Cooperative Fire Security System using Human Agent Robot Machine Sensor (CFS2H) messaging protocol establishes faster communication and collaboration among all the members of the whole system. The stationary WSN generates and analyzes the data and wirelessly communicates with other members of the system. Big Data is the central data manipulating center which communicates with all the system members and controls the whole system work. This paper presents detailed implementation and application of WSN and Big Data in cooperative firefighting system.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127020414","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081172
Jimin Liang, Gong Zhang, Xianshuai Chen, Dazhi Wang
This paper investigates the development of an exact constraint parallel robotic arm unit. In addition to the advantages of simple structure and compact size, the six points exactly constrained parallel robotic arm unit is both statically and kinematicaly deterministic, thus is more suitable for precision position application. Theoretical analysis based on the principle of exact constraint is given to explore the degree of freedom and constrain pattern of the parallel robotic arm unit. Furthermore, the orientation adjusting principles at various input statuses are presented to promote the orientation process. The performances of the fabricated parallel robotic arm unit are confirmed by experimental studies. As the parallel robotic arm unit has relatively small workspace, numerous parallel robotic arm units, with various sizes, should be cooperated to achieved the desired workspace.
{"title":"Development of two degrees of freedom deterministic parallel robotic arm unit","authors":"Jimin Liang, Gong Zhang, Xianshuai Chen, Dazhi Wang","doi":"10.1109/ICARA.2015.7081172","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081172","url":null,"abstract":"This paper investigates the development of an exact constraint parallel robotic arm unit. In addition to the advantages of simple structure and compact size, the six points exactly constrained parallel robotic arm unit is both statically and kinematicaly deterministic, thus is more suitable for precision position application. Theoretical analysis based on the principle of exact constraint is given to explore the degree of freedom and constrain pattern of the parallel robotic arm unit. Furthermore, the orientation adjusting principles at various input statuses are presented to promote the orientation process. The performances of the fabricated parallel robotic arm unit are confirmed by experimental studies. As the parallel robotic arm unit has relatively small workspace, numerous parallel robotic arm units, with various sizes, should be cooperated to achieved the desired workspace.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126706173","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081128
V. Nguyen, M. Chew, S. Demidenko
This paper describes a computer based system that utilizes a 3D sensor to bridge the communication barrier between hearing (and/or speech) impaired people and hearing ones. The proposed Vietnamese sign language reader successfully recognizes 28 static and 7 dynamic gestures taken from the Vietnam sign language dictionary. To recognize the gestures of a static type, various techniques have been deployed, such as Gabor Filtering, Fisher's Discriminant Analysis and Cosine Metric Distance method. The proposed technique achieves a good result with 93.89% accuracy and speed of 14 frames per second. Recognition of the dynamic gestures is based on the $1 Recognizer algorithm providing quite a good accuracy with 97.14% of accurate recognition with real-time running at 15 frames per second.
{"title":"Vietnamese sign language reader using Intel Creative Senz3D","authors":"V. Nguyen, M. Chew, S. Demidenko","doi":"10.1109/ICARA.2015.7081128","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081128","url":null,"abstract":"This paper describes a computer based system that utilizes a 3D sensor to bridge the communication barrier between hearing (and/or speech) impaired people and hearing ones. The proposed Vietnamese sign language reader successfully recognizes 28 static and 7 dynamic gestures taken from the Vietnam sign language dictionary. To recognize the gestures of a static type, various techniques have been deployed, such as Gabor Filtering, Fisher's Discriminant Analysis and Cosine Metric Distance method. The proposed technique achieves a good result with 93.89% accuracy and speed of 14 frames per second. Recognition of the dynamic gestures is based on the $1 Recognizer algorithm providing quite a good accuracy with 97.14% of accurate recognition with real-time running at 15 frames per second.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124499637","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081144
J. McVay, D. Carnegie, Jim W. Murphy
Traditional robotic guitar-like stringed instruments have lacked sufficient degrees of freedom and responsivity required to emulate even an average human guitar player. We seek to address this in the design and construction of a modular four-string robotic bass guitar, MechBass. This paper describes the various components of each module and the system-level operation of MechBass. The result is an instrument that can outperform (in terms of capability and consistency) even a highly skilled human guitar player.
{"title":"An overview of MechBass: A four string robotic bass guitar","authors":"J. McVay, D. Carnegie, Jim W. Murphy","doi":"10.1109/ICARA.2015.7081144","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081144","url":null,"abstract":"Traditional robotic guitar-like stringed instruments have lacked sufficient degrees of freedom and responsivity required to emulate even an average human guitar player. We seek to address this in the design and construction of a modular four-string robotic bass guitar, MechBass. This paper describes the various components of each module and the system-level operation of MechBass. The result is an instrument that can outperform (in terms of capability and consistency) even a highly skilled human guitar player.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123433966","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081170
Takuma Nemoto, R. E. Mohan, Shunsuke Nansai, M. Iwase
This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation due to collision. As a result, it was found that the wheel spider goes downhill at a constant speed with rolling whether it is provided with initial velocity or not. In conclusion, the wheel spider can go down the slope over a certain pitch without providing initial velocity.
{"title":"Wheel spider with rolling locomotion: Modeling and simulation","authors":"Takuma Nemoto, R. E. Mohan, Shunsuke Nansai, M. Iwase","doi":"10.1109/ICARA.2015.7081170","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081170","url":null,"abstract":"This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation due to collision. As a result, it was found that the wheel spider goes downhill at a constant speed with rolling whether it is provided with initial velocity or not. In conclusion, the wheel spider can go down the slope over a certain pitch without providing initial velocity.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123747927","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081171
M. Sreekanth, A. T. Mathew, R. Vijayakumar
Bio mimicking micro/miniature robots require design aesthetics, simplicity, low power, lower computational requirement, resilient operation and repeatability. The main choice of actuators in such systems are Shape Memory Alloys (SMA). The larger strain and reduced size of the SMA sub millimeter diameter helical springs make them a potential choice in such systems. Sensorless position/ displacement control of these type of SMA spring actuators have been studied extensively due to the difficulty in physically attaching feedback sensors, which are larger than SMA actuators. For position estimation, electrical parameters like Inductance and Resistance were considered in the past. This paper presents a new approach based on the pulse response i.e. Rise time variation along the actuation of SMA spring. Considering SMA spring as an RL element, a characterization technique is proposed for sensorless position estimation based on rise time variation. The proposed method is independent of ambient temperature variations. Investigations have shown that rise time based position control through PWM based current drives can be implemented for manipulating displacement without a sensor.
{"title":"Rise time based characterization of sub-millimeter SMA helical actuator for sensorless displacement estimation","authors":"M. Sreekanth, A. T. Mathew, R. Vijayakumar","doi":"10.1109/ICARA.2015.7081171","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081171","url":null,"abstract":"Bio mimicking micro/miniature robots require design aesthetics, simplicity, low power, lower computational requirement, resilient operation and repeatability. The main choice of actuators in such systems are Shape Memory Alloys (SMA). The larger strain and reduced size of the SMA sub millimeter diameter helical springs make them a potential choice in such systems. Sensorless position/ displacement control of these type of SMA spring actuators have been studied extensively due to the difficulty in physically attaching feedback sensors, which are larger than SMA actuators. For position estimation, electrical parameters like Inductance and Resistance were considered in the past. This paper presents a new approach based on the pulse response i.e. Rise time variation along the actuation of SMA spring. Considering SMA spring as an RL element, a characterization technique is proposed for sensorless position estimation based on rise time variation. The proposed method is independent of ambient temperature variations. Investigations have shown that rise time based position control through PWM based current drives can be implemented for manipulating displacement without a sensor.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122453929","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081147
C. Chun, Seung-jong Kim, Jisoo Hong, F. Park
We present an alternative approach to generate gait motion at arbitrary speed for gait rehabilitation robots. The methodology utilizes Gaussian process dynamical model (GPDM), which is a nonlinear dimensionality reduction technique. GPDM consists of a dynamics in low-dimensional latent space and a mapping from the space to configuration space, and GPDM learning results in the low-dimensional representation of training data and parameters for the dynamics and mapping. We use second-order Markov process dynamics model, and hence given a pair of initial points, the dynamics generates a latent trajectory at arbitrary speed. We use linear regression to obtain the initial points. Mapping from the latent to configuration spaces constructs trajectories of walking motion. We verify the algorithm with motion capture data from 50 healthy subjects, who walked on a treadmill at 1, 2, and 3 km/h. We show examples and compare the original and interpolated trajectories to prove the efficacy of the algorithm.
{"title":"Gaussian process learning and interpolation of gait motion for rehabilitation robots","authors":"C. Chun, Seung-jong Kim, Jisoo Hong, F. Park","doi":"10.1109/ICARA.2015.7081147","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081147","url":null,"abstract":"We present an alternative approach to generate gait motion at arbitrary speed for gait rehabilitation robots. The methodology utilizes Gaussian process dynamical model (GPDM), which is a nonlinear dimensionality reduction technique. GPDM consists of a dynamics in low-dimensional latent space and a mapping from the space to configuration space, and GPDM learning results in the low-dimensional representation of training data and parameters for the dynamics and mapping. We use second-order Markov process dynamics model, and hence given a pair of initial points, the dynamics generates a latent trajectory at arbitrary speed. We use linear regression to obtain the initial points. Mapping from the latent to configuration spaces constructs trajectories of walking motion. We verify the algorithm with motion capture data from 50 healthy subjects, who walked on a treadmill at 1, 2, and 3 km/h. We show examples and compare the original and interpolated trajectories to prove the efficacy of the algorithm.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128276142","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 : 2015-04-09DOI: 10.1109/ICARA.2015.7081202
V. Raskin, Julia Taylor Rayz
The paper asserts the urgent need to semanticalize robotic intelligence and communication. It also circumscribes the volume of work that needs to be accomplished for the robot to approach the level of human understanding. Now, robotic intelligence is a specific part of artificial intelligence, and the need to semanticalize pertains to the whole field but the world of the robot seems “smaller,” and the task may seem less daunting than for AI as a whole. An interesting issue of interaction between the robot's sensory information and the ontology is raised.
{"title":"Comprehensive semantics in robotic intelligence and communication: Necessity and feasibility","authors":"V. Raskin, Julia Taylor Rayz","doi":"10.1109/ICARA.2015.7081202","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081202","url":null,"abstract":"The paper asserts the urgent need to semanticalize robotic intelligence and communication. It also circumscribes the volume of work that needs to be accomplished for the robot to approach the level of human understanding. Now, robotic intelligence is a specific part of artificial intelligence, and the need to semanticalize pertains to the whole field but the world of the robot seems “smaller,” and the task may seem less daunting than for AI as a whole. An interesting issue of interaction between the robot's sensory information and the ontology is raised.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130331340","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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