Pub Date : 2005-09-12DOI: 10.1109/COASE.2005.1506801
P. Last, C. Budde, J. Hesselbach
In order to enhance absolute accuracy of the HEXA-parallel-robot this paper presents a technique to calibrate the structure by means of redundant angular sensors added to its passive joints. Compared to traditional calibration strategies which are based on pose-measurement by external measurement devices the so-called self calibration approach possesses several advantages. Besides a derivation of the kinematic transformation equations of the system under consideration it is shown how to formulate an appropriate residual function that has to be minimized in order to identify the geometric parameters of the robot manipulator. An important difference to previous work on the topic of calibration is the fact, that only angular measurements are available from both the actuator encoders as well as passive joint sensors, making HEXA-self-calibration more elaborate. Simulation studies finally indicate efficiency of the proposed strategy. In order to consider the effect of measurement inaccuracies, noise has been taken into account.
{"title":"Self-calibration of the HEXA-parallel-structure","authors":"P. Last, C. Budde, J. Hesselbach","doi":"10.1109/COASE.2005.1506801","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506801","url":null,"abstract":"In order to enhance absolute accuracy of the HEXA-parallel-robot this paper presents a technique to calibrate the structure by means of redundant angular sensors added to its passive joints. Compared to traditional calibration strategies which are based on pose-measurement by external measurement devices the so-called self calibration approach possesses several advantages. Besides a derivation of the kinematic transformation equations of the system under consideration it is shown how to formulate an appropriate residual function that has to be minimized in order to identify the geometric parameters of the robot manipulator. An important difference to previous work on the topic of calibration is the fact, that only angular measurements are available from both the actuator encoders as well as passive joint sensors, making HEXA-self-calibration more elaborate. Simulation studies finally indicate efficiency of the proposed strategy. In order to consider the effect of measurement inaccuracies, noise has been taken into account.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124601156","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506756
Z. Gong, E. Ho, Guilin Yang, Wei Lin
This paper presents a precision motion stage developed for nanometer level positioning. To achieve the required motion resolution, a piezoelectric actuator and flexure-based displacement mechanism are used. Results of extensive experiments on hysteresis and creep phenomena of the piezoelectric actuator are reported. Position measurement for feedback control is performed by fiber optical laser interferometer encoders. A simple and effective experiment-model-based recursive control method is proposed for nanometric position control of the piezoelectric actuated stage. Experiment results show that by using the proposed simple control method, the motion stage is able to achieve a position tracking accuracy up to a limit, i.e. 10 nm, due to the resolution of the position measurement device.
{"title":"Experimental-model-based precision control of a piezoelectric actuated flexure stage","authors":"Z. Gong, E. Ho, Guilin Yang, Wei Lin","doi":"10.1109/COASE.2005.1506756","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506756","url":null,"abstract":"This paper presents a precision motion stage developed for nanometer level positioning. To achieve the required motion resolution, a piezoelectric actuator and flexure-based displacement mechanism are used. Results of extensive experiments on hysteresis and creep phenomena of the piezoelectric actuator are reported. Position measurement for feedback control is performed by fiber optical laser interferometer encoders. A simple and effective experiment-model-based recursive control method is proposed for nanometric position control of the piezoelectric actuated stage. Experiment results show that by using the proposed simple control method, the motion stage is able to achieve a position tracking accuracy up to a limit, i.e. 10 nm, due to the resolution of the position measurement device.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131158821","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506786
Chuan-Yu Chang, Si-Yan Lin, M. Jeng
The occurrence of defect on a wafer may result in losing the yield ratio. The defective regions were usually identified through visual judgment with the aid of a scanning electron microscope. Dozens of people visually check wafers and hand-mark their defective regions leading to a significant amount of personnel cost. In addition, potential misjudgment may introduce due to human fatigue. In this paper, a two-layer Hopfield neural network called the competitive Hopfield wafer-defect detection neural network (CHWDNN) is proposed to detect the defective regions of wafer image. The CHWDNN extends the one-layer 2-D Hopfield neural network at the original image plane to a two-layer 3-D Hopfield neural network with defect detection to be implemented on its third dimension. With the extended 3-D architecture, the network is capable of incorporating a pixel's spatial information into a pixel-classifying procedure. The experimental results show the CHWDNN successfully identifies the defective regions on wafers images with good performances.
{"title":"Using a two-layer competitive Hopfield neural network for semiconductor wafer defect detection","authors":"Chuan-Yu Chang, Si-Yan Lin, M. Jeng","doi":"10.1109/COASE.2005.1506786","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506786","url":null,"abstract":"The occurrence of defect on a wafer may result in losing the yield ratio. The defective regions were usually identified through visual judgment with the aid of a scanning electron microscope. Dozens of people visually check wafers and hand-mark their defective regions leading to a significant amount of personnel cost. In addition, potential misjudgment may introduce due to human fatigue. In this paper, a two-layer Hopfield neural network called the competitive Hopfield wafer-defect detection neural network (CHWDNN) is proposed to detect the defective regions of wafer image. The CHWDNN extends the one-layer 2-D Hopfield neural network at the original image plane to a two-layer 3-D Hopfield neural network with defect detection to be implemented on its third dimension. With the extended 3-D architecture, the network is capable of incorporating a pixel's spatial information into a pixel-classifying procedure. The experimental results show the CHWDNN successfully identifies the defective regions on wafers images with good performances.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129288027","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506771
Seokcheon Lee, S. Kumara
A multiagent system can be considered survivable if it adapts itself to varying stresses without considerable performance degradation. Such an adaptivity comprises of identifying the behavior of the agents in a society, relating them to stress situations, and then invoking control rules. This problem is a hard one, especially in distributed multiagent systems wherein the agent behaviors tend to be nonlinear and dynamic. In this paper, we study a supply chain planning system implemented in COUGAAR (cognitive agent architecture) and develop a methodology for identifying the behavior of agents through their behavioral parameters, and relating those parameters to stress situations. One important aspect of our approach is that we identify the stress situations of agents in the society by observing local behavior of one representative agent. This approach is motivated by the fact that a local time series can have the information of the dynamics of the entire system in deterministic dynamical systems. We validate our approach empirically through identifying the stress situations using k-nearest neighbor algorithm based on the behavioral parameters.
{"title":"Estimating global stress environment by observing local behavior in distributed multiagent systems","authors":"Seokcheon Lee, S. Kumara","doi":"10.1109/COASE.2005.1506771","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506771","url":null,"abstract":"A multiagent system can be considered survivable if it adapts itself to varying stresses without considerable performance degradation. Such an adaptivity comprises of identifying the behavior of the agents in a society, relating them to stress situations, and then invoking control rules. This problem is a hard one, especially in distributed multiagent systems wherein the agent behaviors tend to be nonlinear and dynamic. In this paper, we study a supply chain planning system implemented in COUGAAR (cognitive agent architecture) and develop a methodology for identifying the behavior of agents through their behavioral parameters, and relating those parameters to stress situations. One important aspect of our approach is that we identify the stress situations of agents in the society by observing local behavior of one representative agent. This approach is motivated by the fact that a local time series can have the information of the dynamics of the entire system in deterministic dynamical systems. We validate our approach empirically through identifying the stress situations using k-nearest neighbor algorithm based on the behavioral parameters.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133151083","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506765
P. Luh, L. Michel, Eugene Santos, Danqing Yu, Andrew See, B. Xiong, Greg Johnson, Shi-Chung Chang
Configuration and operation of building transportation systems, e.g., elevators and stairs for offices, hotels, and apartments, are important, and have profound societal impact such as in improving efficiency, reducing costs, and saving lives. Establishing methodologies that are effective and coherent across configuration and operation phases while covering both normal and emergency modes, however, is difficult. In this paper, coherent configuration and operation of building transportation systems for both normal and emergency modes are studied through a synergistic integration of optimization, formal semantics, and constraint satisfaction. Based on a formal semantics, a statistical configuration method using a coarse-grain model and an optimization-based operation method using a fine-grain model are developed. These methods are integrated by using constraint programming to efficiently select high quality configurations with performance coherent across to the operation phase for both normal and emergency modes.
{"title":"Coherent configuration and operation of building transportation systems","authors":"P. Luh, L. Michel, Eugene Santos, Danqing Yu, Andrew See, B. Xiong, Greg Johnson, Shi-Chung Chang","doi":"10.1109/COASE.2005.1506765","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506765","url":null,"abstract":"Configuration and operation of building transportation systems, e.g., elevators and stairs for offices, hotels, and apartments, are important, and have profound societal impact such as in improving efficiency, reducing costs, and saving lives. Establishing methodologies that are effective and coherent across configuration and operation phases while covering both normal and emergency modes, however, is difficult. In this paper, coherent configuration and operation of building transportation systems for both normal and emergency modes are studied through a synergistic integration of optimization, formal semantics, and constraint satisfaction. Based on a formal semantics, a statistical configuration method using a coarse-grain model and an optimization-based operation method using a fine-grain model are developed. These methods are integrated by using constraint programming to efficiently select high quality configurations with performance coherent across to the operation phase for both normal and emergency modes.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123496779","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506803
Tae-Eog Lee, Seong-Ho Park
A negative even graph, introduced by Lee et al. (2002) is a timed event graph that allows negative places and negative tokens for modeling time window constraints between any two transitions. Such time constrained discrete event systems are found in cluster tool scheduling for semiconductor manufacturing or microcircuit design. We examine the steady state behavior of the feasible firing schedules of a negative event graph that satisfy the time window constraints. We develop a recurrent equation for the feasible firing epochs based on the minimax algebra. By extending the steady state results of a conventional timed event graph based on the minimax algebra, we show that there are four classes of steady states that correspond to the earliest and latest feasible steady firing schedules for each of the minimum and maximum cycle times. We characterize how the cycle times and the steady schedules are computed through some matrix algebra and the associated graph algorithms.
{"title":"Steady state analysis of a timed event graph with time window constraints","authors":"Tae-Eog Lee, Seong-Ho Park","doi":"10.1109/COASE.2005.1506803","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506803","url":null,"abstract":"A negative even graph, introduced by Lee et al. (2002) is a timed event graph that allows negative places and negative tokens for modeling time window constraints between any two transitions. Such time constrained discrete event systems are found in cluster tool scheduling for semiconductor manufacturing or microcircuit design. We examine the steady state behavior of the feasible firing schedules of a negative event graph that satisfy the time window constraints. We develop a recurrent equation for the feasible firing epochs based on the minimax algebra. By extending the steady state results of a conventional timed event graph based on the minimax algebra, we show that there are four classes of steady states that correspond to the earliest and latest feasible steady firing schedules for each of the minimum and maximum cycle times. We characterize how the cycle times and the steady schedules are computed through some matrix algebra and the associated graph algorithms.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115710042","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506755
Yangmin Li, Qingsong Xu
A new two-degrees-of-freedom (2-DOF) compliant parallel micromanipulator (CPM) utilizing flexure joints has been proposed for two-dimensional (2-D) nanomanipulation in this paper. The system is developed by a careful design and proper selection of electrical and mechanical components. Based upon the developed PRB model, both the position and velocity kinematic modelings have been performed in details, and the CPM's workspace area is determined analytically in view of the physical constraints imposed by pizeo-actuators and flexure hinges. Moreover, in order to achieve a maximum workspace subjected to the given dexterity indices, kinematic optimization of the design parameters has been carried out, which leads to a manipulator satisfying the requirement of this work. Simulation results reveal that the designed CPM can perform a high dexterous manipulation within its workspace.
{"title":"Optimal design of a novel 2-DOF compliant parallel micromanipulator for nanomanipulation","authors":"Yangmin Li, Qingsong Xu","doi":"10.1109/COASE.2005.1506755","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506755","url":null,"abstract":"A new two-degrees-of-freedom (2-DOF) compliant parallel micromanipulator (CPM) utilizing flexure joints has been proposed for two-dimensional (2-D) nanomanipulation in this paper. The system is developed by a careful design and proper selection of electrical and mechanical components. Based upon the developed PRB model, both the position and velocity kinematic modelings have been performed in details, and the CPM's workspace area is determined analytically in view of the physical constraints imposed by pizeo-actuators and flexure hinges. Moreover, in order to achieve a maximum workspace subjected to the given dexterity indices, kinematic optimization of the design parameters has been carried out, which leads to a manipulator satisfying the requirement of this work. Simulation results reveal that the designed CPM can perform a high dexterous manipulation within its workspace.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126125594","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506743
Yunpeng Pan, Leyuan Shi, Hoksung Yau
In this paper, we consider the single-machine earliness-tardiness (E-T) scheduling problem with distinct release dates, due dates, and E-T costs. The problem is formulated using dynamic programming. The solution procedure embodies a new hybrid optimization approach called generalized dynamic programming (GDP), which incorporates techniques from two methodologies: dynamic programming and branch-and-bound. An assignment-based lower bound is employed in branch-and-bound. We test 135 random instances with up to 30 jobs to evaluate the algorithm's performance. It shows that the GDP approach achieves much better results than linear programming-based branch-and-bound algorithms such as those included in the commercial package, CPLEX.
{"title":"A new optimization approach to the general single machine earliness-tardiness problem","authors":"Yunpeng Pan, Leyuan Shi, Hoksung Yau","doi":"10.1109/COASE.2005.1506743","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506743","url":null,"abstract":"In this paper, we consider the single-machine earliness-tardiness (E-T) scheduling problem with distinct release dates, due dates, and E-T costs. The problem is formulated using dynamic programming. The solution procedure embodies a new hybrid optimization approach called generalized dynamic programming (GDP), which incorporates techniques from two methodologies: dynamic programming and branch-and-bound. An assignment-based lower bound is employed in branch-and-bound. We test 135 random instances with up to 30 jobs to evaluate the algorithm's performance. It shows that the GDP approach achieves much better results than linear programming-based branch-and-bound algorithms such as those included in the commercial package, CPLEX.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125628482","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506736
Andrew K. Miller, M. L. Stanton, C. Sanchez, Xiaohong Li, S. McQuaide
An epithelial tissue biopsy processor that produces stained cell nuclei as its output using microfabricated disaggregation structures is presented. Stained cell nuclei produced by the processor can be used for a variety of diagnostic tests to assess the presence of cancer or the risk of developing cancer in the future. To better understand the biopsy disaggregation process, biopsies prepared by a highly skilled technician were examined using fluorescence microscopy at various stages of the disaggregation process. Quantitative analysis of nuclei preparations were performed using flow cytometry of the end product. General device architecture, microfabricated glass blade tissue mincing structures, manual disaggregation microscopy evaluation results, DNA content flow cytometry results, and plans for further device development are presented.
{"title":"Biopsy preparation for flow analysis using microfabricated disaggregation blades","authors":"Andrew K. Miller, M. L. Stanton, C. Sanchez, Xiaohong Li, S. McQuaide","doi":"10.1109/COASE.2005.1506736","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506736","url":null,"abstract":"An epithelial tissue biopsy processor that produces stained cell nuclei as its output using microfabricated disaggregation structures is presented. Stained cell nuclei produced by the processor can be used for a variety of diagnostic tests to assess the presence of cancer or the risk of developing cancer in the future. To better understand the biopsy disaggregation process, biopsies prepared by a highly skilled technician were examined using fluorescence microscopy at various stages of the disaggregation process. Quantitative analysis of nuclei preparations were performed using flow cytometry of the end product. General device architecture, microfabricated glass blade tissue mincing structures, manual disaggregation microscopy evaluation results, DNA content flow cytometry results, and plans for further device development are presented.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130966432","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506770
Jingshan Li, D. Blumenfeld, S. Marin
In this paper, we investigate the impact of manufacturing system design parameters on product quality. Specifically, for a manufacturing system with repair and rework, we derive analytical formulas of product quality as a function of repair capacity. We show that product quality can be improved by designing the repair and rework subsystem more effectively. To illustrate this property, an application study is presented.
{"title":"Manufacturing system design to improve quality buy rate","authors":"Jingshan Li, D. Blumenfeld, S. Marin","doi":"10.1109/COASE.2005.1506770","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506770","url":null,"abstract":"In this paper, we investigate the impact of manufacturing system design parameters on product quality. Specifically, for a manufacturing system with repair and rework, we derive analytical formulas of product quality as a function of repair capacity. We show that product quality can be improved by designing the repair and rework subsystem more effectively. To illustrate this property, an application study is presented.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134262786","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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