Pub Date : 2017-10-01DOI: 10.1109/IRIS.2017.8250153
Abduljalil Radman, W. Ismail, M. Bahari
Upper limb rehabilitation plays an important role for stroke survivors to regain their functional abilities as much as possible after stroke. Robotic devices (RD) have been emerged as an effective intervention for upper limb rehabilitation in terms of consistency and reliability over repetitive exercises compared to the manual therapy intervention. In this paper, we present a literature survey on existing RD systems in perspective of performing thorough analysis to find potential research trends. Moreover, distinctive aspects and main shortages for various types of RD systems are provided. Based on this survey paper, although most researchers claimed that their RD systems improve upper limb functionality after stroke but there are still needs to make these systems more feasible.
{"title":"Robotic devices for upper limb stroke rehabilitation: Potential research trends","authors":"Abduljalil Radman, W. Ismail, M. Bahari","doi":"10.1109/IRIS.2017.8250153","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250153","url":null,"abstract":"Upper limb rehabilitation plays an important role for stroke survivors to regain their functional abilities as much as possible after stroke. Robotic devices (RD) have been emerged as an effective intervention for upper limb rehabilitation in terms of consistency and reliability over repetitive exercises compared to the manual therapy intervention. In this paper, we present a literature survey on existing RD systems in perspective of performing thorough analysis to find potential research trends. Moreover, distinctive aspects and main shortages for various types of RD systems are provided. Based on this survey paper, although most researchers claimed that their RD systems improve upper limb functionality after stroke but there are still needs to make these systems more feasible.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126065419","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250097
M. Ohka, Y. Aiba, Yusuke Motegi
The optical three-axis tactile sensor has attractive characteristics such as three-axis force distribution measurement, resilience against impact force, and flexible contact. In this paper, we demonstrate the usefulness of this tactile sensor in humanrobot collaboration and communication through a simple assembly task. In the task, we include two new skills that cannot be performed without three-axis tactile sensors: one of them is loose grip status; the other is to use an object grasped by a hand as a sensor. To accomplish these skills, we perform a series of basic experiments: one of them is the loose grip test, in which a hand-arm robot grasps a stick horizontally and then releases its grasping force to make the stick attitude vertical; the other is hole search tests, in which the hand-arm robot grasps a stick like a cane to search for a hole on a plate by sliding the stick on the plate and evaluating variation in moment measured by the tactile sensor. In the verification, the hand-arm robot assembles an arch composed of two columns, a top beam and a base through triaxial data obtained from the three-axis tactile sensor.
{"title":"Assembly task based on tri-axial tactile data using loose grip","authors":"M. Ohka, Y. Aiba, Yusuke Motegi","doi":"10.1109/IRIS.2017.8250097","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250097","url":null,"abstract":"The optical three-axis tactile sensor has attractive characteristics such as three-axis force distribution measurement, resilience against impact force, and flexible contact. In this paper, we demonstrate the usefulness of this tactile sensor in humanrobot collaboration and communication through a simple assembly task. In the task, we include two new skills that cannot be performed without three-axis tactile sensors: one of them is loose grip status; the other is to use an object grasped by a hand as a sensor. To accomplish these skills, we perform a series of basic experiments: one of them is the loose grip test, in which a hand-arm robot grasps a stick horizontally and then releases its grasping force to make the stick attitude vertical; the other is hole search tests, in which the hand-arm robot grasps a stick like a cane to search for a hole on a plate by sliding the stick on the plate and evaluating variation in moment measured by the tactile sensor. In the verification, the hand-arm robot assembles an arch composed of two columns, a top beam and a base through triaxial data obtained from the three-axis tactile sensor.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126720617","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250138
Ruslan Masinjila, P. Payeur
Probabilistic algorithms have widely been used with significant success in single-robot localization as well as mapping. However, when it comes to distributed, multirobot systems, probabilistic algorithms have a tendency to quickly converge to inconsistent, often overly optimistic estimates, whenever interdependencies in such systems are ignored. This paper presents a solution to consistent, decentralized, multirobot localization using a heuristically tuned Extended Kalman Filter. Extensive simulations show that the proposed solution is able to significantly improve the consistency of pose estimates for each robot in a system while maintaining the computational complexity of the classical Extended Kalman Filter.
{"title":"Consistent multirobot localization using heuristically tuned extended Kalman filter","authors":"Ruslan Masinjila, P. Payeur","doi":"10.1109/IRIS.2017.8250138","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250138","url":null,"abstract":"Probabilistic algorithms have widely been used with significant success in single-robot localization as well as mapping. However, when it comes to distributed, multirobot systems, probabilistic algorithms have a tendency to quickly converge to inconsistent, often overly optimistic estimates, whenever interdependencies in such systems are ignored. This paper presents a solution to consistent, decentralized, multirobot localization using a heuristically tuned Extended Kalman Filter. Extensive simulations show that the proposed solution is able to significantly improve the consistency of pose estimates for each robot in a system while maintaining the computational complexity of the classical Extended Kalman Filter.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130392092","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250133
C. Cheung, J. J. Valdés, A. Rubio, Richard Salas Chavez, Christopher Bayley
The amount of sensors installed for equipment health monitoring on board engines, aircraft, and vehicles has increased steadily in the digital age. Developing strategies and capabilities to extract useful information from the tremendous amounts of data collected is a separate challenge that can be used to establish the indicators of system health, a necessary precursor to the implementation of condition based maintenance, that could be explored through the use of data analytics tools and methods. In this work, initial analysis of the sensor data related to a diesel engine system and specifically its turbocharger subsystem was carried out. An incident involving seizure of the turbocharger was captured by the sensor data, and hence analysis of this event provides an opportunity to identify changes in equipment indicators with a known outcome. Several data analysis tools were used, including the transformation of the original highdimensional sensor data to a low-dimensional space. The data analysis is focused on characterizing the healthy and failed states of the turbocharger system and identifying the change in behaviour of the system during that transition.
{"title":"Low-dimensional spaces for the analysis of sensor network data: Identifying behavioural changes in a propulsion system","authors":"C. Cheung, J. J. Valdés, A. Rubio, Richard Salas Chavez, Christopher Bayley","doi":"10.1109/IRIS.2017.8250133","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250133","url":null,"abstract":"The amount of sensors installed for equipment health monitoring on board engines, aircraft, and vehicles has increased steadily in the digital age. Developing strategies and capabilities to extract useful information from the tremendous amounts of data collected is a separate challenge that can be used to establish the indicators of system health, a necessary precursor to the implementation of condition based maintenance, that could be explored through the use of data analytics tools and methods. In this work, initial analysis of the sensor data related to a diesel engine system and specifically its turbocharger subsystem was carried out. An incident involving seizure of the turbocharger was captured by the sensor data, and hence analysis of this event provides an opportunity to identify changes in equipment indicators with a known outcome. Several data analysis tools were used, including the transformation of the original highdimensional sensor data to a low-dimensional space. The data analysis is focused on characterizing the healthy and failed states of the turbocharger system and identifying the change in behaviour of the system during that transition.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"308 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124382638","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250123
Tako Nama, A. Gogoi, P. Tripathy
The work done in this paper provides a redundant method to detect the rotor position of a 3-phase BLDC motor. Such motors requires three numbers of hall effect sensor for detecting the rotor position. The information of the rotor position provided by these sensors are then used to obtain the accurate firing timing of the six switches of the 3-phase inverter in the 3-phase BLDC drive system, required for accomplishing the electronic commutation process of the motor. If one of the hall effect sensor stops working due to some damage, then the six firing sequences cannot be obtained and the motor stops running. The proposed work provides the intelligence to the hall sensor system to generate the necessary six firing sequence to run the motor, even when one of the hall sensor suddenly stops working in the middle of the run. This scheme is useful for emergency operation before replacing the damaged hall effect sensor.
{"title":"Application of a smart hall effect sensor system for 3-phase BLDC drives","authors":"Tako Nama, A. Gogoi, P. Tripathy","doi":"10.1109/IRIS.2017.8250123","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250123","url":null,"abstract":"The work done in this paper provides a redundant method to detect the rotor position of a 3-phase BLDC motor. Such motors requires three numbers of hall effect sensor for detecting the rotor position. The information of the rotor position provided by these sensors are then used to obtain the accurate firing timing of the six switches of the 3-phase inverter in the 3-phase BLDC drive system, required for accomplishing the electronic commutation process of the motor. If one of the hall effect sensor stops working due to some damage, then the six firing sequences cannot be obtained and the motor stops running. The proposed work provides the intelligence to the hall sensor system to generate the necessary six firing sequence to run the motor, even when one of the hall sensor suddenly stops working in the middle of the run. This scheme is useful for emergency operation before replacing the damaged hall effect sensor.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134361153","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250114
R. Saleem, Sukhan Lee
To help with the further development of a micro star tracker, we need to design a baffle which is smaller than conventional stray light baffles. We devised an algorithm to generate hybrid baffle design which combines a minimum number of vanes and mathematically generated curve mirror surfaces between vanes to reflect back any stray light outside of the desired field of view (FOV) away from the image sensor. We generate three baffle designs for a 3mm image sensor with an FOV of 10°: 1) baffle diameter of 9mm and the length of the baffle of 17.01mm with 3 vanes and curved mirror surface, 2) baffle diameter of 8mm and the length of the baffle of 13mm with 3 vanes and curved mirror surface and 3) baffle diameter of 7mm and the length of the baffle of 9mm with 2 vanes and curved mirror surface. Light attenuation performance for all three designs is analyzed and verified through ray tracing software “OpticStudio™.”.
{"title":"Reflective curved baffle for micro star trackers","authors":"R. Saleem, Sukhan Lee","doi":"10.1109/IRIS.2017.8250114","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250114","url":null,"abstract":"To help with the further development of a micro star tracker, we need to design a baffle which is smaller than conventional stray light baffles. We devised an algorithm to generate hybrid baffle design which combines a minimum number of vanes and mathematically generated curve mirror surfaces between vanes to reflect back any stray light outside of the desired field of view (FOV) away from the image sensor. We generate three baffle designs for a 3mm image sensor with an FOV of 10°: 1) baffle diameter of 9mm and the length of the baffle of 17.01mm with 3 vanes and curved mirror surface, 2) baffle diameter of 8mm and the length of the baffle of 13mm with 3 vanes and curved mirror surface and 3) baffle diameter of 7mm and the length of the baffle of 9mm with 2 vanes and curved mirror surface. Light attenuation performance for all three designs is analyzed and verified through ray tracing software “OpticStudio™.”.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127178923","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250109
Tan Kah Hooi, M. Mahyuddin
This paper discusses the study of humanoid bipedal gait stability and the corresponding gait efficiency. The project involves the use of an open source humanoid robot, PLEN 2 to study the recently developed walking gait control system. The stability of a humanoid walking gait is studied from both static and dynamic point of view. Zero-moment Point or ZMP coupled with nonlinear feedback dynamic compensation method are employed to generate a stable walking gait, suitably implemented on a real humanoid robot platform. Nonlinear dynamics of the bipedal PLEN2 is considered in the walking gait analysis and control design. The primary contribution made in this work is the convenient verification of the enhanced walking gait control on a 3D printed small humanoid robot (PLEN2). The enhancement accomplished is the incorporation of pseudoinverse of the inertia mass matrix in the dead beat controller to guarantee numerical computation in the simulation. This facilitates fast iterative design process which involves both facets: the shaping of the joint trajectory in achieving bipedal gait and also the mechanical design variation which in this case, the length of the humanoid leg. Being a cost-effective open source humanoid robot platform, the mechanical design for the PLEN2's legs can be modified conveniently by the designer as to achieve a stable and yet efficient walking gait. The simulation result of the bipedal humanoid robot is verified by the real hardware implementation on the PLEN2.
{"title":"A study of walking gait stability and gait efficiency of a cost-effective small humanoid bipedal robot: Analysis, simulation and implementation","authors":"Tan Kah Hooi, M. Mahyuddin","doi":"10.1109/IRIS.2017.8250109","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250109","url":null,"abstract":"This paper discusses the study of humanoid bipedal gait stability and the corresponding gait efficiency. The project involves the use of an open source humanoid robot, PLEN 2 to study the recently developed walking gait control system. The stability of a humanoid walking gait is studied from both static and dynamic point of view. Zero-moment Point or ZMP coupled with nonlinear feedback dynamic compensation method are employed to generate a stable walking gait, suitably implemented on a real humanoid robot platform. Nonlinear dynamics of the bipedal PLEN2 is considered in the walking gait analysis and control design. The primary contribution made in this work is the convenient verification of the enhanced walking gait control on a 3D printed small humanoid robot (PLEN2). The enhancement accomplished is the incorporation of pseudoinverse of the inertia mass matrix in the dead beat controller to guarantee numerical computation in the simulation. This facilitates fast iterative design process which involves both facets: the shaping of the joint trajectory in achieving bipedal gait and also the mechanical design variation which in this case, the length of the humanoid leg. Being a cost-effective open source humanoid robot platform, the mechanical design for the PLEN2's legs can be modified conveniently by the designer as to achieve a stable and yet efficient walking gait. The simulation result of the bipedal humanoid robot is verified by the real hardware implementation on the PLEN2.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127323276","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250101
V. Le, T. Ngo
Using modular robotics enables an innovative learning and teaching method in education and entertainment. In this paper, we present our unique feature modular robotic system, named moreBot. The robotic system can be used as an educational and entertaining tool for numerous “learning through playing” scenarios. We describe the design, implementation of the moreBot and demonstrate the key characteristics through a number of education and entertainment applications.
{"title":"moreBots: System development and integration of an educational and entertainment modular robot","authors":"V. Le, T. Ngo","doi":"10.1109/IRIS.2017.8250101","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250101","url":null,"abstract":"Using modular robotics enables an innovative learning and teaching method in education and entertainment. In this paper, we present our unique feature modular robotic system, named moreBot. The robotic system can be used as an educational and entertaining tool for numerous “learning through playing” scenarios. We describe the design, implementation of the moreBot and demonstrate the key characteristics through a number of education and entertainment applications.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115195486","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250102
A. Ellery
Through a recent confluence of technological capacities, self-replicating robots have become a potentially nearterm rather than speculative technology. In a practical sense, self-replicating robots can never become obsolete — the first self- replicating robots will spawn all future generations of robots, subject to deliberate upgrading and/or evolutionary change. Furthermore, this technology promises to revolutionise space exploration by bypassing the apparently-insurmountable problem of high launch costs. We present recent efforts in 3D printing the key robotic components required for any such self- replicating machine.
{"title":"Universal construction based on 3D printing electric motors: Steps towards self-replicating robots to transform space exploration","authors":"A. Ellery","doi":"10.1109/IRIS.2017.8250102","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250102","url":null,"abstract":"Through a recent confluence of technological capacities, self-replicating robots have become a potentially nearterm rather than speculative technology. In a practical sense, self-replicating robots can never become obsolete — the first self- replicating robots will spawn all future generations of robots, subject to deliberate upgrading and/or evolutionary change. Furthermore, this technology promises to revolutionise space exploration by bypassing the apparently-insurmountable problem of high launch costs. We present recent efforts in 3D printing the key robotic components required for any such self- replicating machine.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125996842","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 : 2017-10-01DOI: 10.1109/IRIS.2017.8250130
Junki Matsuda, Takayuki Tanaka, T. Kusaka
We developed a power assist system based on a method with considering the operator's trajectory and dynamics prediction by using approachability. In order to realize the assist system, we proposed a concept of guidance force field. Our guidance force field method helped to improve maneuverability for operator. In this paper, we propose a method to improve maneuverability based on guidance force field and approachability of traditional impedance-controlled power assist system. We propose an estimation method of the optimal spread of the guidance force field from the experimental evaluation value when it take minimum value. As the experimental results, we showed that the guidance force contributed to improving maneuverability by defining the estimated function, and we obtained a best value of spread for the guidance force field.
{"title":"Estimation of the optimal spread of a guidance force field for a power assist system","authors":"Junki Matsuda, Takayuki Tanaka, T. Kusaka","doi":"10.1109/IRIS.2017.8250130","DOIUrl":"https://doi.org/10.1109/IRIS.2017.8250130","url":null,"abstract":"We developed a power assist system based on a method with considering the operator's trajectory and dynamics prediction by using approachability. In order to realize the assist system, we proposed a concept of guidance force field. Our guidance force field method helped to improve maneuverability for operator. In this paper, we propose a method to improve maneuverability based on guidance force field and approachability of traditional impedance-controlled power assist system. We propose an estimation method of the optimal spread of the guidance force field from the experimental evaluation value when it take minimum value. As the experimental results, we showed that the guidance force contributed to improving maneuverability by defining the estimated function, and we obtained a best value of spread for the guidance force field.","PeriodicalId":213724,"journal":{"name":"2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134560732","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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