In this paper, three-dimensional data reconstruction with a small scale based on micro stereo-vision is discussed. An inversion model of stereo-vision that connects the object space and the image space is derived to obtain three-dimensional coordinates of object point in the object space from two-dimensional image coordinates of a pair of image points in the image space. An algorithm based on multi similarity measurements and multi-matching areas is proposed for stereo matching of color images, which considers the impacts of similarity measurements and matching areas fully. In this algorithm, the samples of matching output are acquired by the statistics of multi similarity measurements and multi-matching areas. On the other hand, the false matching results and the wrong matching results are partially filtered by performing the mean-square error statistics of matching output samples. Furthermore, a sub-pixel matching accuracy is expected by calculating the average values of two new samples derived from the mean-square error statistics. In the software platform based on VC++ and OpenGL, computer-aided design is designed for filter of abnormal data.
{"title":"Three-dimensional shape reconstruction with small scale based on micro stereo vision","authors":"Yuezong Wang, Chenchen Zhang, Guodong Ma, Wenjia Yin","doi":"10.1109/ICINFA.2013.6720289","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720289","url":null,"abstract":"In this paper, three-dimensional data reconstruction with a small scale based on micro stereo-vision is discussed. An inversion model of stereo-vision that connects the object space and the image space is derived to obtain three-dimensional coordinates of object point in the object space from two-dimensional image coordinates of a pair of image points in the image space. An algorithm based on multi similarity measurements and multi-matching areas is proposed for stereo matching of color images, which considers the impacts of similarity measurements and matching areas fully. In this algorithm, the samples of matching output are acquired by the statistics of multi similarity measurements and multi-matching areas. On the other hand, the false matching results and the wrong matching results are partially filtered by performing the mean-square error statistics of matching output samples. Furthermore, a sub-pixel matching accuracy is expected by calculating the average values of two new samples derived from the mean-square error statistics. In the software platform based on VC++ and OpenGL, computer-aided design is designed for filter of abnormal data.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120996174","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}
A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.
{"title":"Analytical inverse kinematics and trajectory planning for a 6DOF grinding robot","authors":"Jianqing Peng, Wenfu Xu, Zhiying Wang, Deshan Meng","doi":"10.1109/ICINFA.2013.6720409","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720409","url":null,"abstract":"A grinding robot is composed of six joints, within which the second joint is a prismatic joint and the others are rotational joints. According to its configuration characteristic, the 6DOF of the inverse kinematics problem was decomposed into two 3DOF sub-problems: the position inverse kinematics and the attitude inverse kinematics. Then the two sub-problems were respectively solved analytically, and four sets of solutions of the joint variables were obtained. By adopting the configuration flag, the appropriate solution corresponding to the flag can be determined. Furthermore, the circular trajectory in Cartesian space of the grinding robot was planned to perform the grinding tasks. By taking advantage of the analytical inverse kinematics, the planned Cartesian trajectory is transformed into joint-space. Finally, a simulation system was developed by using Matlab/Simulink software. Based on the system, the analytical inverse kinematics solution and trajectory planning method was studied by numerical simulation. The simulation results showed the effectiveness of the proposed method.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121374984","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720293
Guangming Gao, Xiaojun Wu
Illumination is one of the most important elements to capture high quality images in machine vision systems, which can guarantee the efficiency and robustness of the applications. Contrary to the experience based trail and error convention to select a light system, a optimization model for LED illumination system design is proposed based on the surface reflection characteristics, e.g. the roughness, the index of surface reflectivity, direction, etc, to maximize the contrast between the features of interest and the background. The optimization model applies to a wide range of materials. And it can be used to get the optimal parameters which make the contrast between target and background be biggest, such as incidence angle, wavelength and intensity of light. Through experiments and simulations, our proposed scheme can achieve high quality images with biggest contrast, which would be an efficient methodology for optimal LED light system design in machine vision to simplify the algorithm.
{"title":"Light optimal design for machine vision based on reflection","authors":"Guangming Gao, Xiaojun Wu","doi":"10.1109/ICINFA.2013.6720293","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720293","url":null,"abstract":"Illumination is one of the most important elements to capture high quality images in machine vision systems, which can guarantee the efficiency and robustness of the applications. Contrary to the experience based trail and error convention to select a light system, a optimization model for LED illumination system design is proposed based on the surface reflection characteristics, e.g. the roughness, the index of surface reflectivity, direction, etc, to maximize the contrast between the features of interest and the background. The optimization model applies to a wide range of materials. And it can be used to get the optimal parameters which make the contrast between target and background be biggest, such as incidence angle, wavelength and intensity of light. Through experiments and simulations, our proposed scheme can achieve high quality images with biggest contrast, which would be an efficient methodology for optimal LED light system design in machine vision to simplify the algorithm.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126155787","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720445
Dan Li, Muyu Li, Yi Shen, Yan Wang, Qiang Wang
The theory of compressive sensing (CS) mainly includes three aspects, i.e., sparse representation, uncorrelated sampling, and signal reconstruction, in which signal reconstruction serve as the core of CS. The constraint of signal sparsity can be implemented by l0 norm minimization, which is an NP-hard problem that requires exhaustively listing all possibilities of the original signal and is difficult to achieve by the traditional algorithm. This paper proposes a signal reconstruction algorithm based on intelligent optimization algorithm which combines genetic algorithm (GA) and Bacteria Foraging Optimization (BFO) algorithm. This method can find the global optimal solution by genetic and evolutionary operation to the group, which can solve l0 norm minimization directly. It has been proved through numerical simulations that the theoretical optimization performance can be achieved and the result is superior to that of OMP algorithm.
{"title":"GA-BFO based signal reconstruction for compressive sensing","authors":"Dan Li, Muyu Li, Yi Shen, Yan Wang, Qiang Wang","doi":"10.1109/ICINFA.2013.6720445","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720445","url":null,"abstract":"The theory of compressive sensing (CS) mainly includes three aspects, i.e., sparse representation, uncorrelated sampling, and signal reconstruction, in which signal reconstruction serve as the core of CS. The constraint of signal sparsity can be implemented by l0 norm minimization, which is an NP-hard problem that requires exhaustively listing all possibilities of the original signal and is difficult to achieve by the traditional algorithm. This paper proposes a signal reconstruction algorithm based on intelligent optimization algorithm which combines genetic algorithm (GA) and Bacteria Foraging Optimization (BFO) algorithm. This method can find the global optimal solution by genetic and evolutionary operation to the group, which can solve l0 norm minimization directly. It has been proved through numerical simulations that the theoretical optimization performance can be achieved and the result is superior to that of OMP algorithm.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126946632","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720412
Lei Liu, G. Tang, Songjie Hu
This paper studies the initial orbit determination based on sparse space-based angle measurement and genetic algorithm. The double rho iteration model used by the space-based initial orbit determination is briefly introduced firstly. Because of problems of iteration divergences and self-solutions in the space-based initial orbit determination, the genetic algorithm of SGA and MPGA are then adopted to solve the problems. According to the research results, the space-based initial orbit determination generally got more satisfied solutions by the genetic algorithm than common iteration algorithms. Furthermore, the MPGA genetic algorithm is very effective to overcome the above drawbacks on the initial orbit determination based on sparse space-based angle measurement.
{"title":"Initial orbit determination based on sparse space-based angle measurement and genetic algorithm","authors":"Lei Liu, G. Tang, Songjie Hu","doi":"10.1109/ICINFA.2013.6720412","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720412","url":null,"abstract":"This paper studies the initial orbit determination based on sparse space-based angle measurement and genetic algorithm. The double rho iteration model used by the space-based initial orbit determination is briefly introduced firstly. Because of problems of iteration divergences and self-solutions in the space-based initial orbit determination, the genetic algorithm of SGA and MPGA are then adopted to solve the problems. According to the research results, the space-based initial orbit determination generally got more satisfied solutions by the genetic algorithm than common iteration algorithms. Furthermore, the MPGA genetic algorithm is very effective to overcome the above drawbacks on the initial orbit determination based on sparse space-based angle measurement.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116393185","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720475
C. Li, Ying Yu, Zhenkun Zhu, Jiyu Yin
Aiming at the limits of continuum institutions surgery. This paper presents two modules design of continuum institutions surgical instruments which include the design of “backbone” and execution ends. We establish a kind of new snake-continuum institutions with 36 degrees of freedom which has four wire line driver. Its characteristics are better able to achieve “flexible” movement. We design a kind of the end actuator which has 4-DOF. Determine the coordinate position of its motion space. Establish a ball connection of flexible body and the kinematic model of the end actuator. Conducted a motion simulation and finite element analysis with ANSYS to the continuum institutions.Analysis shows: the maximum stress point is far less than the tensile strength and yield limit of parts. Used in minimally invasive surgery for the institution to provide a theoretical basis for the throat.
{"title":"A design of surgical actuator instruments of new continuum institutions and finite element analysis","authors":"C. Li, Ying Yu, Zhenkun Zhu, Jiyu Yin","doi":"10.1109/ICINFA.2013.6720475","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720475","url":null,"abstract":"Aiming at the limits of continuum institutions surgery. This paper presents two modules design of continuum institutions surgical instruments which include the design of “backbone” and execution ends. We establish a kind of new snake-continuum institutions with 36 degrees of freedom which has four wire line driver. Its characteristics are better able to achieve “flexible” movement. We design a kind of the end actuator which has 4-DOF. Determine the coordinate position of its motion space. Establish a ball connection of flexible body and the kinematic model of the end actuator. Conducted a motion simulation and finite element analysis with ANSYS to the continuum institutions.Analysis shows: the maximum stress point is far less than the tensile strength and yield limit of parts. Used in minimally invasive surgery for the institution to provide a theoretical basis for the throat.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"13 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114038126","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720275
Xuan Zhu, Ning Wang, Enbiao Lin, Qiuju Li, Xufeng Zhang
In this paper, we propose a new decomposition model combined with sparse representation and total variation (SRTV), which allows us to separate cartoon and texture components from an image. The SRTV model naturally fits into the framework of separation and produces separated layers, meanwhile, denoising and inpainting process appears as the byproducts. Therefore, the new approach incorporates separation, denoising, and inpainting as a unified framework. We demonstrate the performance of the new approach through several examples.
{"title":"Image decomposition model combined with sparse representation and total variation","authors":"Xuan Zhu, Ning Wang, Enbiao Lin, Qiuju Li, Xufeng Zhang","doi":"10.1109/ICINFA.2013.6720275","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720275","url":null,"abstract":"In this paper, we propose a new decomposition model combined with sparse representation and total variation (SRTV), which allows us to separate cartoon and texture components from an image. The SRTV model naturally fits into the framework of separation and produces separated layers, meanwhile, denoising and inpainting process appears as the byproducts. Therefore, the new approach incorporates separation, denoising, and inpainting as a unified framework. We demonstrate the performance of the new approach through several examples.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124657412","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720274
Naigong Yu, L. Wang, Huanzhao Chen
The entorhinal cortex (EC) plays a pivotal role for spatial representation and navigation in rat. Understanding how information is processed in the entorhinal cortex is essential to help us know the self-motion-based navigation. This article introduces the connection of entorhinal cortex and hippocampus, main cells in entorhinal cortex and their interactions, then put forward one model of the entorhinal cortex. The structure of this model is consistent with head direction cells and grid cells in entorhinal cortex, simulating grid cells firing fields very well.
{"title":"The computational model of entorhinal cortex","authors":"Naigong Yu, L. Wang, Huanzhao Chen","doi":"10.1109/ICINFA.2013.6720274","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720274","url":null,"abstract":"The entorhinal cortex (EC) plays a pivotal role for spatial representation and navigation in rat. Understanding how information is processed in the entorhinal cortex is essential to help us know the self-motion-based navigation. This article introduces the connection of entorhinal cortex and hippocampus, main cells in entorhinal cortex and their interactions, then put forward one model of the entorhinal cortex. The structure of this model is consistent with head direction cells and grid cells in entorhinal cortex, simulating grid cells firing fields very well.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115930919","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720385
Xiaojun Wu, Hongsheng Li
Light is absorbed and scattered by water when propagating underwater. Image quality of underwater objects is extremely contaminated and degenerated by the factors of backscatter and attenuation. So underwater images should be restored to recover the useful information. In this paper, we come up with a simple and comprehensive model by combining with the Jaffe-McGlamery computer model and the spread characteristic of the underwater light, which has fewer parameters and dose not need the experiential knowledge compared with the conventional methods. An automatic process is utilized to obtain the parameters of the model. Lots of images taken underwater are restored by the method of image restoration model proposed in this paper and the results are satisfiable.
{"title":"A simple and comprehensive model for underwater image restoration","authors":"Xiaojun Wu, Hongsheng Li","doi":"10.1109/ICINFA.2013.6720385","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720385","url":null,"abstract":"Light is absorbed and scattered by water when propagating underwater. Image quality of underwater objects is extremely contaminated and degenerated by the factors of backscatter and attenuation. So underwater images should be restored to recover the useful information. In this paper, we come up with a simple and comprehensive model by combining with the Jaffe-McGlamery computer model and the spread characteristic of the underwater light, which has fewer parameters and dose not need the experiential knowledge compared with the conventional methods. An automatic process is utilized to obtain the parameters of the model. Lots of images taken underwater are restored by the method of image restoration model proposed in this paper and the results are satisfiable.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132049402","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 : 2013-08-01DOI: 10.1109/ICINFA.2013.6720448
Shuxiang Guo, Maoxun Li, Chunfeng Yue
Various underwater microrobots were applied widely to underwater operations in narrow spaces in recent years. By having the compact structure, the robots had some limitations in locomotion velocity and enduring time. Hence, a mother-son robot cooperation system was proposed to solve these limitations. A novel amphibious spherical robot was designed as the mother robot to carry the microrobots as son robots for collaboration. The spherical mother robot consisted of a sealed hemispheroid, two openable quarter spherical shells, a plastic circular plate, a plastic shelf for carrying microrobots and four actuating units. Each unit was composed of a water jet propeller and two servo motors, each of which could rotate 90° in horizontal or vertical direction respectively. The robot could implement on-land locomotion, as well as underwater locomotion. In this paper, we developed the prototype mother robot and did the force analysis of the actuating system in horizontal direction and vertical direction. And plenty of underwater experiments of the robot in the semi-submerged state were conducted to evaluate the underwater performance, including the moving forward experiments in the moving forward experiments of the robot actuated by two main actuating units and four actuating units. From the results of the underwater experiments, we got a maximal moving forward velocity of 13.7 cm/s under the efficient actuating and a maximal rotating velocity of 64.3°/s under a duty of 100%.
{"title":"Underwater performance evaluation of an amphibious spherical mother robot","authors":"Shuxiang Guo, Maoxun Li, Chunfeng Yue","doi":"10.1109/ICINFA.2013.6720448","DOIUrl":"https://doi.org/10.1109/ICINFA.2013.6720448","url":null,"abstract":"Various underwater microrobots were applied widely to underwater operations in narrow spaces in recent years. By having the compact structure, the robots had some limitations in locomotion velocity and enduring time. Hence, a mother-son robot cooperation system was proposed to solve these limitations. A novel amphibious spherical robot was designed as the mother robot to carry the microrobots as son robots for collaboration. The spherical mother robot consisted of a sealed hemispheroid, two openable quarter spherical shells, a plastic circular plate, a plastic shelf for carrying microrobots and four actuating units. Each unit was composed of a water jet propeller and two servo motors, each of which could rotate 90° in horizontal or vertical direction respectively. The robot could implement on-land locomotion, as well as underwater locomotion. In this paper, we developed the prototype mother robot and did the force analysis of the actuating system in horizontal direction and vertical direction. And plenty of underwater experiments of the robot in the semi-submerged state were conducted to evaluate the underwater performance, including the moving forward experiments in the moving forward experiments of the robot actuated by two main actuating units and four actuating units. From the results of the underwater experiments, we got a maximal moving forward velocity of 13.7 cm/s under the efficient actuating and a maximal rotating velocity of 64.3°/s under a duty of 100%.","PeriodicalId":250844,"journal":{"name":"2013 IEEE International Conference on Information and Automation (ICIA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132228297","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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