Pub Date : 2017-07-01DOI: 10.1109/ICAR.2017.8023672
Mandan Liu
There are many nature-inspired algorithms being proposed and researched to solve combinatorial optimization problems. The theory of Five-elements in Chinese traditional culture implies a possible approach to solve present-day problems of science and engineering. In this paper, the Five-elements Cycle Model (FECM) is developed based on the mechanism of generation and restriction among five elements, and Five-elements Cycle Optimization (FECO) algorithm is proposed for finding the optimal solution of travelling salesman problems. The performance and parameter comparison of FECO is given by experiments, the comparison with 7 optimization algorithms based on various mechanisms for some TSP instances from TSPLIB are also given, which indicate the availability of FECO.
{"title":"Five-elements cycle optimization algorithm for the travelling salesman problem","authors":"Mandan Liu","doi":"10.1109/ICAR.2017.8023672","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023672","url":null,"abstract":"There are many nature-inspired algorithms being proposed and researched to solve combinatorial optimization problems. The theory of Five-elements in Chinese traditional culture implies a possible approach to solve present-day problems of science and engineering. In this paper, the Five-elements Cycle Model (FECM) is developed based on the mechanism of generation and restriction among five elements, and Five-elements Cycle Optimization (FECO) algorithm is proposed for finding the optimal solution of travelling salesman problems. The performance and parameter comparison of FECO is given by experiments, the comparison with 7 optimization algorithms based on various mechanisms for some TSP instances from TSPLIB are also given, which indicate the availability of FECO.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129906139","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}
In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. The system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.
{"title":"Enabling ∼100fps detection on a landing unmanned aircraft for its on-ground vision-based recovery","authors":"Zhengjiang Cao, Kuang Zhao, Qiang Fang, Weiwei Kong, Dengqing Tang, Tianjiang Hu","doi":"10.1109/ICAR.2017.8023640","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023640","url":null,"abstract":"In this paper, a deep learning inspired solution is proposed and developed to enable timeliness and practicality of the pre-existing ground stereo vision guidance system for flxed-wing UAVs' safe landing. Since the ground guidance prototype was restricted within applications due to its untimeliness, eventually the vision-based detection less than 15 fps (frame per second). Under such circumstances, we employ a regression based deep learning algorithm into automatic detection on the flying aircraft in the landing sequential images. The system architecture is upgraded so as to be compatible with the novel deep learning requests, and furthermore, annotated datasets are conducted to support training and testing of the regression-based learning detection algorithm. Experimental results validate that the detection attaches 100 fps or more while the localization accuracy is kept in the same level.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"59 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120864295","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023653
M. Salameh, A. Abdullah, S. Sahran
In this paper, we describe a novel extension of the real-time appearance-based mapping (RTAB-Map), called the Ensemble of Real-Time Appearance-Based Mapping (ERTAB-Map). The original RTAB-Map calculates the probabilities of multiple beliefs for loop closure detection based on a single descriptor model. However, the ERTAB-Map can use an arbitrary number of descriptor models, in which a set of probability belief models are evaluated using an ensemble learning approach. The probability values are extracted from the active working memory and the passive long term memory of RTAB-Map. We have performed experiments on 388 images from the Lib6Indoor and 1063 images from Lib6Outdoor datasets. The results show that our ensemble of active and passive outperforms the original RTAB-Map. Furthermore, the ensemble achieves a recall of 91.59% and 98.65% on the Lib6Indoor and Lib6Outdoor respectively, with a corresponding precision of 100%.
{"title":"Ensemble of Bayesian filter with active and passive nodes for loop closure detection","authors":"M. Salameh, A. Abdullah, S. Sahran","doi":"10.1109/ICAR.2017.8023653","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023653","url":null,"abstract":"In this paper, we describe a novel extension of the real-time appearance-based mapping (RTAB-Map), called the Ensemble of Real-Time Appearance-Based Mapping (ERTAB-Map). The original RTAB-Map calculates the probabilities of multiple beliefs for loop closure detection based on a single descriptor model. However, the ERTAB-Map can use an arbitrary number of descriptor models, in which a set of probability belief models are evaluated using an ensemble learning approach. The probability values are extracted from the active working memory and the passive long term memory of RTAB-Map. We have performed experiments on 388 images from the Lib6Indoor and 1063 images from Lib6Outdoor datasets. The results show that our ensemble of active and passive outperforms the original RTAB-Map. Furthermore, the ensemble achieves a recall of 91.59% and 98.65% on the Lib6Indoor and Lib6Outdoor respectively, with a corresponding precision of 100%.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116315052","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023522
B. Nemec, L. Žlajpah, A. Ude
In this paper we address a problem of how to open the doors with an articulated robot. We propose a novel algorithm, that combines widely used reinforcement learning approach with intelligent control algorithms. In order to speed up learning, we formed more structured search, which exploits physical constraints of the problem to be solved. The underlying controller, which acts as a policy search agent, generates movements along the admissible directions defined by physical constraints of the task. This way we can efficiently solve many practical problems such as door opening without almost any previous knowledge of the environment. The approach was verified in simulation as well as with real robot experiment.
{"title":"Door opening by joining reinforcement learning and intelligent control","authors":"B. Nemec, L. Žlajpah, A. Ude","doi":"10.1109/ICAR.2017.8023522","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023522","url":null,"abstract":"In this paper we address a problem of how to open the doors with an articulated robot. We propose a novel algorithm, that combines widely used reinforcement learning approach with intelligent control algorithms. In order to speed up learning, we formed more structured search, which exploits physical constraints of the problem to be solved. The underlying controller, which acts as a policy search agent, generates movements along the admissible directions defined by physical constraints of the task. This way we can efficiently solve many practical problems such as door opening without almost any previous knowledge of the environment. The approach was verified in simulation as well as with real robot experiment.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124384650","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023658
Hongling Wang, Cheng-jin Zhang, Yong Song, Bao Pang
The information-fusion methods are developed in this paper for mobile robots performing simultaneous localization and mapping (SLAM) adapting search and rescue (SAR) environment. Fusion systems consist of laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. The integrated particle filter algorithms run through the proposed informationfusion systems to perform SLAM task in collapsed disaster scenarios. We discussed several fusion approaches which include parallel measurements filtering, exploration trajectories fusing, and combination sensors' measurements and mobile robots' trajectories. The different fusion errors are analyzed by comparing the estimated trajectories and fusion trajectory to true trajectories, respectively. The simulations and experiments validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.
{"title":"Information-fusion based robot simultaneous localization and mapping adapted to search and rescue cluttered environment","authors":"Hongling Wang, Cheng-jin Zhang, Yong Song, Bao Pang","doi":"10.1109/ICAR.2017.8023658","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023658","url":null,"abstract":"The information-fusion methods are developed in this paper for mobile robots performing simultaneous localization and mapping (SLAM) adapting search and rescue (SAR) environment. Fusion systems consist of laser range finder (LRF) sensors, localization sonars, gyro odometry, Kinect-sensor, RGB-D camera, and other proprioceptive sensors. The integrated particle filter algorithms run through the proposed informationfusion systems to perform SLAM task in collapsed disaster scenarios. We discussed several fusion approaches which include parallel measurements filtering, exploration trajectories fusing, and combination sensors' measurements and mobile robots' trajectories. The different fusion errors are analyzed by comparing the estimated trajectories and fusion trajectory to true trajectories, respectively. The simulations and experiments validate the effectiveness of the proposed information-fusion methods in improving SLAM performances adapting to SAR scenarios.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127745919","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023666
Zhongnan Qu
This paper describes an adaptive robust moving hands recognition algorithm using Kinect V2, which can detect the bare hands or hands with gloves in the real-time image stream under complex lighting condition. Firstly, according to the Bayes criterion, a novel skin color classification is built on the best separation plane in color space, which is found through linear discriminant analysis (LDA). Secondly, an adaptive learning rate and connected component theory are added to the traditional background subtraction. Finally, this new background subtraction and LDA skin color classification are combined together with an adaptive updated skin color look-up-table. In experiment results, this algorithm presents a satisfactory performance in hand detection under complex lighting condition.
{"title":"Adaptive robust moving hands recognition under complex lighting condition","authors":"Zhongnan Qu","doi":"10.1109/ICAR.2017.8023666","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023666","url":null,"abstract":"This paper describes an adaptive robust moving hands recognition algorithm using Kinect V2, which can detect the bare hands or hands with gloves in the real-time image stream under complex lighting condition. Firstly, according to the Bayes criterion, a novel skin color classification is built on the best separation plane in color space, which is found through linear discriminant analysis (LDA). Secondly, an adaptive learning rate and connected component theory are added to the traditional background subtraction. Finally, this new background subtraction and LDA skin color classification are combined together with an adaptive updated skin color look-up-table. In experiment results, this algorithm presents a satisfactory performance in hand detection under complex lighting condition.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132260548","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023622
W. Reis, G. S. Bastos
This paper aims to analyze the Multi-Robot Task Allocation (MRTA) problem from the perspective of Social Choice Theory. More specifically taking into account the conditions of Arrow's Impossibility Theorem in a robot collective preference aggregation. The scalar utility comparison between two robots becomes impractical with an inexact estimate. As argued by Arrow, the cardinal utility comparison can be replaced by an ordinal comparison. The work also examines two different MRTA problems from this Arrovian view, while establishing Multi-Robot Social Choice and Multi-Robot Social Welfare functions.
{"title":"An Arrovian view on the multi-robot task allocation problem","authors":"W. Reis, G. S. Bastos","doi":"10.1109/ICAR.2017.8023622","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023622","url":null,"abstract":"This paper aims to analyze the Multi-Robot Task Allocation (MRTA) problem from the perspective of Social Choice Theory. More specifically taking into account the conditions of Arrow's Impossibility Theorem in a robot collective preference aggregation. The scalar utility comparison between two robots becomes impractical with an inexact estimate. As argued by Arrow, the cardinal utility comparison can be replaced by an ordinal comparison. The work also examines two different MRTA problems from this Arrovian view, while establishing Multi-Robot Social Choice and Multi-Robot Social Welfare functions.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133194526","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023667
R. Koch, S. May, A. Nüchter
A favoured sensor for mapping is a 3D laser scanner since it allows a wide scanning range, precise measurements, and is usable indoor and outdoor. Hence, a mapping module delivers detailed and high resolution maps which makes it possible to navigate safely. Difficulties result from transparent and specular reflective objects which cause erroneous and dubious measurements. At such objects, based on the incident angle, measurements result from the object surface, an object behind the transparent surface, or an object mirrored with respect to the reflective surface. This paper describes an enhanced Pre-Filter-Module to distinguish between these cases. Two experiments demonstrate the usability and show that for single scans the identification of mentioned objects in 3D is possible. The first experiment was made in an empty room with a mirror. The second experiment was made in a stairway which contains a glass door. Further, results show that a discrimination between a specular reflective and a transparent object is possible. Especially for transparent objects the detected size is restricted to the incident angle. That is why future work concentrates on implementing a post-filter module. Gained experience shows that collecting the data of multiple scans and postprocess them as soon as the object was bypassed will improve the map.
{"title":"Effective distinction of transparent and specular reflective objects in point clouds of a multi-echo laser scanner","authors":"R. Koch, S. May, A. Nüchter","doi":"10.1109/ICAR.2017.8023667","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023667","url":null,"abstract":"A favoured sensor for mapping is a 3D laser scanner since it allows a wide scanning range, precise measurements, and is usable indoor and outdoor. Hence, a mapping module delivers detailed and high resolution maps which makes it possible to navigate safely. Difficulties result from transparent and specular reflective objects which cause erroneous and dubious measurements. At such objects, based on the incident angle, measurements result from the object surface, an object behind the transparent surface, or an object mirrored with respect to the reflective surface. This paper describes an enhanced Pre-Filter-Module to distinguish between these cases. Two experiments demonstrate the usability and show that for single scans the identification of mentioned objects in 3D is possible. The first experiment was made in an empty room with a mirror. The second experiment was made in a stairway which contains a glass door. Further, results show that a discrimination between a specular reflective and a transparent object is possible. Especially for transparent objects the detected size is restricted to the incident angle. That is why future work concentrates on implementing a post-filter module. Gained experience shows that collecting the data of multiple scans and postprocess them as soon as the object was bypassed will improve the map.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122705656","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023497
Martin Bem, Miha Deniša, Timotej Gaspar, Jaka Jereb, Robert Bevec, I. Kovac, A. Ude
To make robotics feasible for use in small and medium enterprises (SMEs) several issues have to be addressed. The most obvious is the ability to produce small batches of products with minimal changeover cost and time. In this paper an innovative flexible fixture based on a Gough-Stewart platform called the hexapod is proposed. The fixture is designed to be suitable for a whole family of automotive lights. The main characteristics of the hexapod is its passivity, i.e. the reconfiguration can be performed manually or by using an external mechanism e.g. a robot. Once a desirable configuration is reached a set of hydromechanical brakes is used to hold the mechanism in the desired pose. To show the effectiveness of the hexapods a set of automotive lights assembly in dedicated robot cell experiments were performed. Additionally, positioning repeatability and the locked system stiffness were measured. Finally, a robot cell for a complete light assembly has been implemented together with robot assisted fixture reconfiguration between different light models.
{"title":"Reconfigurable fixture evaluation for use in automotive light assembly","authors":"Martin Bem, Miha Deniša, Timotej Gaspar, Jaka Jereb, Robert Bevec, I. Kovac, A. Ude","doi":"10.1109/ICAR.2017.8023497","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023497","url":null,"abstract":"To make robotics feasible for use in small and medium enterprises (SMEs) several issues have to be addressed. The most obvious is the ability to produce small batches of products with minimal changeover cost and time. In this paper an innovative flexible fixture based on a Gough-Stewart platform called the hexapod is proposed. The fixture is designed to be suitable for a whole family of automotive lights. The main characteristics of the hexapod is its passivity, i.e. the reconfiguration can be performed manually or by using an external mechanism e.g. a robot. Once a desirable configuration is reached a set of hydromechanical brakes is used to hold the mechanism in the desired pose. To show the effectiveness of the hexapods a set of automotive lights assembly in dedicated robot cell experiments were performed. Additionally, positioning repeatability and the locked system stiffness were measured. Finally, a robot cell for a complete light assembly has been implemented together with robot assisted fixture reconfiguration between different light models.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116710044","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 : 2017-07-01DOI: 10.1109/ICAR.2017.8023514
R. G. Braga, Roberto C. da Silva, A. B. Ramos, F. Mora-Camino
Disasters involving gas leakage can cause serious damage to properties, to the environment and even endanger human lives. In these situations it is very important to locate the source of gas leakage as fast as possible. A swarm of robots is a solution specially efficient in missions involving exploration and search in unknown environments. This work proposes a strategy using behavioral rules and an idea inspired by the Particle Swarm Optimization algorithm to control a group of Unmanned Aerial Vehicles (UAVs) while searching for the source of a gas leakage. The solution was implemented in C++ using the ROS platform and was tested in simulations using the Pixhawk SITL simulator. Results show that after some time the UAVs converge to the source of leaking gas.
{"title":"UAV swarm control strategies: A case study for leak detection","authors":"R. G. Braga, Roberto C. da Silva, A. B. Ramos, F. Mora-Camino","doi":"10.1109/ICAR.2017.8023514","DOIUrl":"https://doi.org/10.1109/ICAR.2017.8023514","url":null,"abstract":"Disasters involving gas leakage can cause serious damage to properties, to the environment and even endanger human lives. In these situations it is very important to locate the source of gas leakage as fast as possible. A swarm of robots is a solution specially efficient in missions involving exploration and search in unknown environments. This work proposes a strategy using behavioral rules and an idea inspired by the Particle Swarm Optimization algorithm to control a group of Unmanned Aerial Vehicles (UAVs) while searching for the source of a gas leakage. The solution was implemented in C++ using the ROS platform and was tested in simulations using the Pixhawk SITL simulator. Results show that after some time the UAVs converge to the source of leaking gas.","PeriodicalId":198633,"journal":{"name":"2017 18th International Conference on Advanced Robotics (ICAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117352292","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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