Pub Date : 2017-11-21DOI: 10.1109/ICCIAUTOM.2017.8258649
M. Baluchzadeh, A. Karimpour, N. Pariz
This paper presents optimal control of uncertain switched systems in presence of the external disturbance and parametric uncertainty and generally every uncertainty due to modeling error. In this paper, the switching signal is selected a priori and control input is designed to minimize a given cost function. Discrete Linear Quadratic (DLQ) control has been efficiently applied to certain systems as an optimal control. There would seem to be some difficulties to apply discrete linear quadratic control to uncertain switched system. To overcome the problems, this paper presents an appropriate model. Then uncertainties of the uncertain switched system are compensated by robust time-delay controller. Then control input is designed by discrete linear quadratic control. The stability analysis and simulation verify effectiveness of the proposed control approach.
{"title":"Discrete linear quadratic control of uncertain switched system","authors":"M. Baluchzadeh, A. Karimpour, N. Pariz","doi":"10.1109/ICCIAUTOM.2017.8258649","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258649","url":null,"abstract":"This paper presents optimal control of uncertain switched systems in presence of the external disturbance and parametric uncertainty and generally every uncertainty due to modeling error. In this paper, the switching signal is selected a priori and control input is designed to minimize a given cost function. Discrete Linear Quadratic (DLQ) control has been efficiently applied to certain systems as an optimal control. There would seem to be some difficulties to apply discrete linear quadratic control to uncertain switched system. To overcome the problems, this paper presents an appropriate model. Then uncertainties of the uncertain switched system are compensated by robust time-delay controller. Then control input is designed by discrete linear quadratic control. The stability analysis and simulation verify effectiveness of the proposed control approach.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131145898","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258672
H. Delavari, S. Naderian
Distribution networks include thousands of sensors and a large number of controllable devices such as flexible loads, batteries and distributed generators with an arbitrary configuration that can be parametrically uncertain or topologically unknown. In this paper a new nonlinear voltage control strategy based on backstepping and fractional order sliding mode control is presented for an islanded microgrid. Primary objective in this paper is to improve robust performance and disturbance rejection of the closed loop control system hence a backstepping fractional order terminal sliding mode control (FBTSMC) is proposed here. The proposed controller robustly regulates the microgrid voltages in the presence of parametric uncertainties, unmodeled dynamics, imbalanced loads and nonlinear loads with harmonic. Finally, the performance of the proposed technique is investigated under disturbance in an islanded micro grid. An in-depth comparative study is done to highlight the merits of the proposed controller. Simulation results revealed that the Total Harmonic Distortion (THD) and the steady-state error of output voltage are successfully decreased and the dynamic performances and the capability of perturbation rejection are efficiently improved.
{"title":"Backstepping fractional terminal sliding mode voltage control of an islanded microgrid","authors":"H. Delavari, S. Naderian","doi":"10.1109/ICCIAUTOM.2017.8258672","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258672","url":null,"abstract":"Distribution networks include thousands of sensors and a large number of controllable devices such as flexible loads, batteries and distributed generators with an arbitrary configuration that can be parametrically uncertain or topologically unknown. In this paper a new nonlinear voltage control strategy based on backstepping and fractional order sliding mode control is presented for an islanded microgrid. Primary objective in this paper is to improve robust performance and disturbance rejection of the closed loop control system hence a backstepping fractional order terminal sliding mode control (FBTSMC) is proposed here. The proposed controller robustly regulates the microgrid voltages in the presence of parametric uncertainties, unmodeled dynamics, imbalanced loads and nonlinear loads with harmonic. Finally, the performance of the proposed technique is investigated under disturbance in an islanded micro grid. An in-depth comparative study is done to highlight the merits of the proposed controller. Simulation results revealed that the Total Harmonic Distortion (THD) and the steady-state error of output voltage are successfully decreased and the dynamic performances and the capability of perturbation rejection are efficiently improved.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123176099","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258650
H. Chehardoli, M. Homaeinezhad
This paper deals with the adaptive control and identification of 1-D platoon of non-identical vehicles. Three common different topologies such as predecessor following (PF), bi-directional leader following (BDLF) and two predecessors following (TPF) are considered as the communication structures of platoon. For each topology, a new neighbor-based adaptive control law is introduced to estimate the parameter uncertainties. Constant time gap strategy (CTGS) is used to adjust the intervehicle spacing. For each topology, it is shown that the closed-loop dynamics of platoon is asymptotically stable. Afterwards, the necessary conditions on control parameters assuring the string stability for each topology are derived by presenting further theorems. Simulation results with different scenarios are provided to show the effectiveness of the presented approaches.
{"title":"Centralized and decentralized adaptive control of non-uniform platoon of vehicles: Constant time gap strategy","authors":"H. Chehardoli, M. Homaeinezhad","doi":"10.1109/ICCIAUTOM.2017.8258650","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258650","url":null,"abstract":"This paper deals with the adaptive control and identification of 1-D platoon of non-identical vehicles. Three common different topologies such as predecessor following (PF), bi-directional leader following (BDLF) and two predecessors following (TPF) are considered as the communication structures of platoon. For each topology, a new neighbor-based adaptive control law is introduced to estimate the parameter uncertainties. Constant time gap strategy (CTGS) is used to adjust the intervehicle spacing. For each topology, it is shown that the closed-loop dynamics of platoon is asymptotically stable. Afterwards, the necessary conditions on control parameters assuring the string stability for each topology are derived by presenting further theorems. Simulation results with different scenarios are provided to show the effectiveness of the presented approaches.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123797603","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258643
E. Khalili, J. Ghaisari, M. Danesh
In the last decade, intelligent transportation systems are used as a reliable method to improve the safety of road transportation system. Design of control system for path planning of a vehicle is the most important issue in this area. In this paper, a sliding mode controller is proposed for vehicle dynamic model. Also, the behavior of the vehicle during path planning is analyzed via Carsim software. At first, the Pride car is designed on it. Afterward, the reference path and designed controller are implemented. Finally, the result of MATLAB and Carsim simulations are compared. Simulation results illustrate the effectiveness of the proposed controller.
{"title":"Control and analysis of the vehicle motion using sliding mode controller and Carsim software","authors":"E. Khalili, J. Ghaisari, M. Danesh","doi":"10.1109/ICCIAUTOM.2017.8258643","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258643","url":null,"abstract":"In the last decade, intelligent transportation systems are used as a reliable method to improve the safety of road transportation system. Design of control system for path planning of a vehicle is the most important issue in this area. In this paper, a sliding mode controller is proposed for vehicle dynamic model. Also, the behavior of the vehicle during path planning is analyzed via Carsim software. At first, the Pride car is designed on it. Afterward, the reference path and designed controller are implemented. Finally, the result of MATLAB and Carsim simulations are compared. Simulation results illustrate the effectiveness of the proposed controller.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122408407","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258699
Farzad Iraji, Vahid Azarm, E. Farjah, T. Ghanbari
With further development of renewable resources in power systems, application of inverters as interface of these resources has been increased. Parallel connection of inverters is attractive in practice because of some merits such as improving reliability, system redundancy and extending output power. In order to have desirable operation of paralleled inverters, employing an efficient control approach is essential. Conventional control approaches adjust amplitude and frequency of the output voltage to achieve balance power sharing. However, these methods have several drawbacks such as complicated control algorithm as well as frequency and voltage deviations. In this paper, a backstepping control (BSC) method is proposed for parallel-connected inverters in microgrid applications. The proposed BSC scheme is able to achieve the output voltage with a low total harmonic distortion and accurate load sharing among paralleled inverters. The performance of the proposed method is evaluated using some simulations in MATLAB/Simulink and compared with a similar conventional method.
{"title":"A suitable power sharing control of parallel-connected inverters in microgrids","authors":"Farzad Iraji, Vahid Azarm, E. Farjah, T. Ghanbari","doi":"10.1109/ICCIAUTOM.2017.8258699","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258699","url":null,"abstract":"With further development of renewable resources in power systems, application of inverters as interface of these resources has been increased. Parallel connection of inverters is attractive in practice because of some merits such as improving reliability, system redundancy and extending output power. In order to have desirable operation of paralleled inverters, employing an efficient control approach is essential. Conventional control approaches adjust amplitude and frequency of the output voltage to achieve balance power sharing. However, these methods have several drawbacks such as complicated control algorithm as well as frequency and voltage deviations. In this paper, a backstepping control (BSC) method is proposed for parallel-connected inverters in microgrid applications. The proposed BSC scheme is able to achieve the output voltage with a low total harmonic distortion and accurate load sharing among paralleled inverters. The performance of the proposed method is evaluated using some simulations in MATLAB/Simulink and compared with a similar conventional method.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122748750","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258683
Kiavash Hossein Sadeghi, A. Razminia, E. Roshandel
A dynamic model for a solar power plant is very vital to be obtained for power and control engineers. In order to achieve a suitable dynamic model that best describes the solar plant characteristics, we have utilized an effective parameter estimation method called prediction error method (PEM). Afterward the estimated parameters have been identified by the iterative and recursive algorithms. The results for each method have been performed numerically, and finally a comparison and analysis of the results have been discussed.
{"title":"Comparison of iterative and recursive algorithms for identifying a solar power plant system","authors":"Kiavash Hossein Sadeghi, A. Razminia, E. Roshandel","doi":"10.1109/ICCIAUTOM.2017.8258683","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258683","url":null,"abstract":"A dynamic model for a solar power plant is very vital to be obtained for power and control engineers. In order to achieve a suitable dynamic model that best describes the solar plant characteristics, we have utilized an effective parameter estimation method called prediction error method (PEM). Afterward the estimated parameters have been identified by the iterative and recursive algorithms. The results for each method have been performed numerically, and finally a comparison and analysis of the results have been discussed.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114519412","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258661
Motahare Abbasghorbani, M. H. Asemani
In this paper, we address the observer-based control of polytopic linear parameter varying (LPV) continuous-time systems for ensuring the closed-loop stability of the system in the absence of disturbance and to guarantee a pre-given induced L2-norm performance criteria when disturbance exists. Lyapunov function analysis method underlies the observer-based control design. Using singular value decomposition (SVD) of the output system matrix of the LPV model, sufficient conditions in the structure of linear matrix inequalities (LMI) are presented. The merit of the proposed design scheme is illustrated through a numerical simulating example.
{"title":"Induced L2-norm observer-based controller design for continuous-time polytopic LPV systems","authors":"Motahare Abbasghorbani, M. H. Asemani","doi":"10.1109/ICCIAUTOM.2017.8258661","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258661","url":null,"abstract":"In this paper, we address the observer-based control of polytopic linear parameter varying (LPV) continuous-time systems for ensuring the closed-loop stability of the system in the absence of disturbance and to guarantee a pre-given induced L2-norm performance criteria when disturbance exists. Lyapunov function analysis method underlies the observer-based control design. Using singular value decomposition (SVD) of the output system matrix of the LPV model, sufficient conditions in the structure of linear matrix inequalities (LMI) are presented. The merit of the proposed design scheme is illustrated through a numerical simulating example.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129049047","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258676
M. Rahmati, Mohammad Reza Arvan, Babak Nadjar Araabi
In this paper, state variables of eight-rotor Vertical Take-off and Landing (VTOL) aircraft are estimated and used in the feedback loop for altitude control. Due to output measurement noise, the measured signal cannot be directly used in estimation and control. To study the effect of filtering on system's performance, we consider three modes of filtering, namely, (1) no filter, (2) firstorder low-pass filter, and (3) hybrid extended Kalman filter. System control in the no filter mode is not favorable. There is significant tracking error, and control signal consists of frequent fluctuations with large amplitude. In the second mode, when using first-order low-pass filter, tracking condition of altitude reference signal is better, but the control signal still has frequent fluctuations with large amplitude and could not be implemented. In the third mode, when hybrid extended Kalman filter is used, tracking of reference signal is performed well and the control signal is in good condition with mitigated fluctuations and bounded amplitude.
{"title":"State estimation of VTOL octorotor for altitude control by using hybrid extended Kalman filter","authors":"M. Rahmati, Mohammad Reza Arvan, Babak Nadjar Araabi","doi":"10.1109/ICCIAUTOM.2017.8258676","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258676","url":null,"abstract":"In this paper, state variables of eight-rotor Vertical Take-off and Landing (VTOL) aircraft are estimated and used in the feedback loop for altitude control. Due to output measurement noise, the measured signal cannot be directly used in estimation and control. To study the effect of filtering on system's performance, we consider three modes of filtering, namely, (1) no filter, (2) firstorder low-pass filter, and (3) hybrid extended Kalman filter. System control in the no filter mode is not favorable. There is significant tracking error, and control signal consists of frequent fluctuations with large amplitude. In the second mode, when using first-order low-pass filter, tracking condition of altitude reference signal is better, but the control signal still has frequent fluctuations with large amplitude and could not be implemented. In the third mode, when hybrid extended Kalman filter is used, tracking of reference signal is performed well and the control signal is in good condition with mitigated fluctuations and bounded amplitude.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114704831","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258677
M. Shahriari-kahkeshi
This paper considers the design of nonlinear dynamic surface control (DSC) scheme for the ball and beam system with parameter uncertainties. It invokes adaptive nonlinear-inparameter (NIP) approximator to model the uncertainty terms of the system. Then, the proposed scheme is designed by combining the DSC approach and the adaptive NIP approximator to control the position of the ball in the presence of parameter uncertainties. No prior knowledge about the uncertainties is required and all parameters of the approximator are adjusted during real time operation. Stability analysis of the closed-loop system is guaranteed by the Lyapunov theorem. Also, it is shown that all the signals of the closed-loop system are uniformly ultimately bounded. Finally, some simulation results are presented to verify the robustness and effectiveness of the propose scheme.
{"title":"Nonlinear dynamic surface control design for ball and beam system with parameter uncertainties","authors":"M. Shahriari-kahkeshi","doi":"10.1109/ICCIAUTOM.2017.8258677","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258677","url":null,"abstract":"This paper considers the design of nonlinear dynamic surface control (DSC) scheme for the ball and beam system with parameter uncertainties. It invokes adaptive nonlinear-inparameter (NIP) approximator to model the uncertainty terms of the system. Then, the proposed scheme is designed by combining the DSC approach and the adaptive NIP approximator to control the position of the ball in the presence of parameter uncertainties. No prior knowledge about the uncertainties is required and all parameters of the approximator are adjusted during real time operation. Stability analysis of the closed-loop system is guaranteed by the Lyapunov theorem. Also, it is shown that all the signals of the closed-loop system are uniformly ultimately bounded. Finally, some simulation results are presented to verify the robustness and effectiveness of the propose scheme.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124308383","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 : 2017-11-01DOI: 10.1109/ICCIAUTOM.2017.8258675
N. Kalamian, H. Khaloozadeh, M. Ayati
This paper has proposed a new state-dependent impulsive observer (SDIO) for nonlinear time-delay systems. This observer is based on extended pseudo-linearization, and its parameters are state-dependent. The SDIO is capable to estimate system states continuously by using system output that is just available at discrete impulse times. The stability of the proposed observer is proved by using time-varying Lyapunov function, and comparison system theory of impulsive differential equation systems. By new theorem, it is guaranteed that the estimation error asymptotically converges to zero under well-defined, and less-conservative sufficient conditions. Furthermore, the stability theorem gave an upper bound on the maximum allowable time interval between consequent impulses. The simulation results show effectiveness, and good performance of the proposed observer, for a wider classes of nonlinear time-delay systems.
{"title":"State-dependent impulsive observer design for nonlinear time-delay systems","authors":"N. Kalamian, H. Khaloozadeh, M. Ayati","doi":"10.1109/ICCIAUTOM.2017.8258675","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2017.8258675","url":null,"abstract":"This paper has proposed a new state-dependent impulsive observer (SDIO) for nonlinear time-delay systems. This observer is based on extended pseudo-linearization, and its parameters are state-dependent. The SDIO is capable to estimate system states continuously by using system output that is just available at discrete impulse times. The stability of the proposed observer is proved by using time-varying Lyapunov function, and comparison system theory of impulsive differential equation systems. By new theorem, it is guaranteed that the estimation error asymptotically converges to zero under well-defined, and less-conservative sufficient conditions. Furthermore, the stability theorem gave an upper bound on the maximum allowable time interval between consequent impulses. The simulation results show effectiveness, and good performance of the proposed observer, for a wider classes of nonlinear time-delay systems.","PeriodicalId":197207,"journal":{"name":"2017 5th International Conference on Control, Instrumentation, and Automation (ICCIA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127835179","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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