Pub Date : 2004-12-01DOI: 10.1109/RAMECH.2004.1438945
T. Zanma, Y. Takei, M. Ishida
This paper concerns a control problem for a specification which requires a finer description than the resolution of available sensors and actuators. Such a situation may arise when the sensors are kind of limit switches and actuators are on/off control architecture while control specification is to be achieved as accurate as possible. An experimental setup is taken to clarify our problem setup. The experimental setup is a ball position control system in which a small iron ball rotates on a beam. For the experimental setup, we propose a control algorithm based on discrete input and output and continuous state estimation. Finally, the proposed method is applied to the experimental setup to demonstrate its effectiveness as well as numerical simulation.
{"title":"A small iron ball position control by symbolic input and output","authors":"T. Zanma, Y. Takei, M. Ishida","doi":"10.1109/RAMECH.2004.1438945","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438945","url":null,"abstract":"This paper concerns a control problem for a specification which requires a finer description than the resolution of available sensors and actuators. Such a situation may arise when the sensors are kind of limit switches and actuators are on/off control architecture while control specification is to be achieved as accurate as possible. An experimental setup is taken to clarify our problem setup. The experimental setup is a ball position control system in which a small iron ball rotates on a beam. For the experimental setup, we propose a control algorithm based on discrete input and output and continuous state estimation. Finally, the proposed method is applied to the experimental setup to demonstrate its effectiveness as well as numerical simulation.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127230959","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438036
Yin Bai, H. Zhuang
Traditional robot calibrations implement model-based and modeless methods. The calibration of position error in model-based method implements four steps: kinematic model definition of the robot, measurement process of the robot's positions, identification of the kinematic model of the robot and compensation of the position errors. This method is both time consuming and complicated because of the identification and compensation processes. Most traditional modeless methods are relatively simple and practical, but the calibration accuracy is relatively low and most of them are only suitable for the robots calibration in 2D domain and in relative small workspaces. This paper provides a novel modeless fuzzy interpolation method to improve the compensation accuracy for the robots calibration in 3D workspace. A comparison between the model-based and modeless fuzzy interpolation calibration method is made. The simulated results show that the modeless fuzzy interpolation calibration method is compatible with the model-based calibration method, and even outperforms a model-based counterpart in terms of accuracy and complexity in small workspaces.
{"title":"On the comparison of model-based and modeless robotic calibration based on the fuzzy interpolation technique","authors":"Yin Bai, H. Zhuang","doi":"10.1109/RAMECH.2004.1438036","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438036","url":null,"abstract":"Traditional robot calibrations implement model-based and modeless methods. The calibration of position error in model-based method implements four steps: kinematic model definition of the robot, measurement process of the robot's positions, identification of the kinematic model of the robot and compensation of the position errors. This method is both time consuming and complicated because of the identification and compensation processes. Most traditional modeless methods are relatively simple and practical, but the calibration accuracy is relatively low and most of them are only suitable for the robots calibration in 2D domain and in relative small workspaces. This paper provides a novel modeless fuzzy interpolation method to improve the compensation accuracy for the robots calibration in 3D workspace. A comparison between the model-based and modeless fuzzy interpolation calibration method is made. The simulated results show that the modeless fuzzy interpolation calibration method is compatible with the model-based calibration method, and even outperforms a model-based counterpart in terms of accuracy and complexity in small workspaces.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126768814","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438085
Wang Wei, Liu Zongyu, X. Rongrong
The GPS/INS integration system has been widely applied for navigation due to its complementary characteristics. The tightly coupled integration approach has the advantage over the loosely coupled approach by using raw GPS measurements, but hence introduces nonlinearity into the measurement equation of the Kalman filter. So, linearization is usually used. Consequently, the errors of linearization may make the Kalman filter unstable or even divergent, especially under the situation that low quality inertial devices are included. To solve this problem, an improved tightly coupled approach by adding second-order derivative information to retain some nonlinear characteristics is proposed in this paper. Simulation results indicate that the nonlinear terms included in the filtering process greatly influence the performance of integration, especially in the case where the low quality INS is used in the integrated system.
{"title":"An improved tightly coupled approach for GPS/INS integration","authors":"Wang Wei, Liu Zongyu, X. Rongrong","doi":"10.1109/RAMECH.2004.1438085","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438085","url":null,"abstract":"The GPS/INS integration system has been widely applied for navigation due to its complementary characteristics. The tightly coupled integration approach has the advantage over the loosely coupled approach by using raw GPS measurements, but hence introduces nonlinearity into the measurement equation of the Kalman filter. So, linearization is usually used. Consequently, the errors of linearization may make the Kalman filter unstable or even divergent, especially under the situation that low quality inertial devices are included. To solve this problem, an improved tightly coupled approach by adding second-order derivative information to retain some nonlinear characteristics is proposed in this paper. Simulation results indicate that the nonlinear terms included in the filtering process greatly influence the performance of integration, especially in the case where the low quality INS is used in the integrated system.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126832932","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1437988
A. Panga, B. Seth
In this paper we have presented a programmable hybrid mechanism (PHM) capable of producing various types of translatory profiles while carrying loads of up to 5 kilograms. The output is driven by a five bar mechanism, which, in turn, is driven by a servo input and a reference input. By choosing the correct trajectories of the servo input and the starting position, the torque sharing characteristics can be improved, such that the lowest rating servo motor will suffice. Thus providing flexibility at a reduced cost. Also the reference input which can be a constant speed motion can be derived from some other source, thus not needing a dedicated motor. Such a device can replace cams in applications where the functional relationship between the input and the output motions changes from time to time, such as packaging equipment and control of valve timings of IC engines. The PHM setup has been designed and fabricated. Simulation of the mechanism is carried out using ADAMS, to determine the size of servo motor. An approach to determine optimal control input to the mechanism for a given output profile is discussed. The experimental setup allows users to generate various cam profiles and study the deviations. Various profiles were generated within reasonable accuracy. A typical cam profile has been considered and optimization of control trajectory results in RMS torque reduction of 57%.
{"title":"Experimental study of hybrid cam mechanism","authors":"A. Panga, B. Seth","doi":"10.1109/RAMECH.2004.1437988","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1437988","url":null,"abstract":"In this paper we have presented a programmable hybrid mechanism (PHM) capable of producing various types of translatory profiles while carrying loads of up to 5 kilograms. The output is driven by a five bar mechanism, which, in turn, is driven by a servo input and a reference input. By choosing the correct trajectories of the servo input and the starting position, the torque sharing characteristics can be improved, such that the lowest rating servo motor will suffice. Thus providing flexibility at a reduced cost. Also the reference input which can be a constant speed motion can be derived from some other source, thus not needing a dedicated motor. Such a device can replace cams in applications where the functional relationship between the input and the output motions changes from time to time, such as packaging equipment and control of valve timings of IC engines. The PHM setup has been designed and fabricated. Simulation of the mechanism is carried out using ADAMS, to determine the size of servo motor. An approach to determine optimal control input to the mechanism for a given output profile is discussed. The experimental setup allows users to generate various cam profiles and study the deviations. Various profiles were generated within reasonable accuracy. A typical cam profile has been considered and optimization of control trajectory results in RMS torque reduction of 57%.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126526201","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438043
Robert Smith, Glenn Smith, Aster Wardhani
Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level or software portability. It is proposed that the use of abstraction can enable the use or component software and bring with it the benefits or reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree or diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.
{"title":"Software reuse in robotics: Enabling portability in the face of diversity","authors":"Robert Smith, Glenn Smith, Aster Wardhani","doi":"10.1109/RAMECH.2004.1438043","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438043","url":null,"abstract":"Software development for robotics applications is characterised by a high degree of specialisation. The reasons for this may centre on the diversity of robotic hardware, limitations on performance, and the need to perform complex and diverse tasks. The result of using such specialised software is an almost non-existent level or software portability. It is proposed that the use of abstraction can enable the use or component software and bring with it the benefits or reuse. Abstraction of robotic hardware and software is difficult, and it is clear that a single robot abstraction is not practical due to the degree or diversity. It is proposed that some middle ground between specialisation and complete abstraction can be found. A second level component framework using fuzzy logic techniques is presented to illustrate how a significant degree of abstraction can be achieved, facilitating software portability, while accommodating the diversity of robotics.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121490810","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438912
Adel Akbari Majd, M. Yazdanpanah, G.K. Khosrowshahi
There are two major methods for motion control of non-holonomic mobile robots when the knowledge about the model is not complete: adaptive control and robust control. The combination of two methods allows tuning of the robust controller and assures a satisfactory performance in practical situations. In this paper, a mixed H/sub 2//H/sub /spl infin// PID controller incorporated with an adaptive term is developed for tracking control of a mobile robot The controller's parameters are optimally tuned to minimize the energy of control signals via a genetic algorithm. The proposed control technique is numerically simulated on a mobile robot and the results are compared with two other methods: an adaptive method and a robust H/sub /spl infin// method. The simulation results show that the proposed technique results in the smallest control energy. Also, it may tolerate uncertainties up to 99% in comparison to the corresponding values of 85% and 94% for the previously proposed methods, respectively.
{"title":"Tracking control of a mobile robot using a genetically tuned mixed H/sub 2//H/sub /spl infin// adaptive technique","authors":"Adel Akbari Majd, M. Yazdanpanah, G.K. Khosrowshahi","doi":"10.1109/RAMECH.2004.1438912","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438912","url":null,"abstract":"There are two major methods for motion control of non-holonomic mobile robots when the knowledge about the model is not complete: adaptive control and robust control. The combination of two methods allows tuning of the robust controller and assures a satisfactory performance in practical situations. In this paper, a mixed H/sub 2//H/sub /spl infin// PID controller incorporated with an adaptive term is developed for tracking control of a mobile robot The controller's parameters are optimally tuned to minimize the energy of control signals via a genetic algorithm. The proposed control technique is numerically simulated on a mobile robot and the results are compared with two other methods: an adaptive method and a robust H/sub /spl infin// method. The simulation results show that the proposed technique results in the smallest control energy. Also, it may tolerate uncertainties up to 99% in comparison to the corresponding values of 85% and 94% for the previously proposed methods, respectively.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121511655","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438950
Qinghua Yang, Libin Zhang, G. Bao, Sheng Xu, J. Ruan
A novel flexible pneumatic actuator FPA is proposed in this paper. The structure and properties of FPA are described. Based on FPA, flexible pneumatic bending joint, flexible pneumatic torsion joint and flexible pneumatic spherical joint are developed. The mathematical models of flexible pneumatic bending joint and flexible pneumatic spherical joint are established. Experiments are carried out to investigate the characteristics of these two joints by utilizing intelligent control techniques. Experimental results demonstrate that flexible pneumatic bending joint and flexible pneumatic spherical joint can meet the designed requirement of application. Finally, the aim and direction of the future work are forecasted.
{"title":"Research on novel flexible pneumatic actuator FPA","authors":"Qinghua Yang, Libin Zhang, G. Bao, Sheng Xu, J. Ruan","doi":"10.1109/RAMECH.2004.1438950","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438950","url":null,"abstract":"A novel flexible pneumatic actuator FPA is proposed in this paper. The structure and properties of FPA are described. Based on FPA, flexible pneumatic bending joint, flexible pneumatic torsion joint and flexible pneumatic spherical joint are developed. The mathematical models of flexible pneumatic bending joint and flexible pneumatic spherical joint are established. Experiments are carried out to investigate the characteristics of these two joints by utilizing intelligent control techniques. Experimental results demonstrate that flexible pneumatic bending joint and flexible pneumatic spherical joint can meet the designed requirement of application. Finally, the aim and direction of the future work are forecasted.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127367930","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438928
Abolfazl Jalilvand, S. Khanmohammadi
Control of hybrid systems is an area that is currently attended by world control communities. One of the main stages in control of hybrid systems is the recognition of the operating modes and the discrete events in the system. In this paper a method for identifying the operating modes and events is introduced in threshold event driven hybrid systems. The method is constructed based on fuzzy Petri net and the concepts of fuzzy ordering relation. Then the proposed method is used for control of an illustrative hybrid system example. The simulation results show that the proposed approach satisfies the expected demands.
{"title":"Integrating of event detection and mode recognition in hybrid systems by fuzzy Petri net","authors":"Abolfazl Jalilvand, S. Khanmohammadi","doi":"10.1109/RAMECH.2004.1438928","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438928","url":null,"abstract":"Control of hybrid systems is an area that is currently attended by world control communities. One of the main stages in control of hybrid systems is the recognition of the operating modes and the discrete events in the system. In this paper a method for identifying the operating modes and events is introduced in threshold event driven hybrid systems. The method is constructed based on fuzzy Petri net and the concepts of fuzzy ordering relation. Then the proposed method is used for control of an illustrative hybrid system example. The simulation results show that the proposed approach satisfies the expected demands.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132762552","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 : 2004-12-01DOI: 10.1109/RAMECH.2004.1438919
N. Aouf, Hani Rajabi, Nadim Rajabi, H. Alanbari, C. Perron
In this paper, a visual servoing module based on look and move concept is presented. A Motoman UPJ industrial robot is used to track an object (laser beam projection), which moves within a 2D plane workspace. An industrial controller drives this UPJ robot using non-accessible control architecture. A serial communication protocol, a suitable way to transfer information from and to the robot controller, is used for the proposed visual tracking setup. This setup shows acceptable tracking performance, which is improved by a multi-iteration implementation strategy based on a continuous tracking.
{"title":"Visual object tracking by a camera mounted on a 6DOF industrial robot","authors":"N. Aouf, Hani Rajabi, Nadim Rajabi, H. Alanbari, C. Perron","doi":"10.1109/RAMECH.2004.1438919","DOIUrl":"https://doi.org/10.1109/RAMECH.2004.1438919","url":null,"abstract":"In this paper, a visual servoing module based on look and move concept is presented. A Motoman UPJ industrial robot is used to track an object (laser beam projection), which moves within a 2D plane workspace. An industrial controller drives this UPJ robot using non-accessible control architecture. A serial communication protocol, a suitable way to transfer information from and to the robot controller, is used for the proposed visual tracking setup. This setup shows acceptable tracking performance, which is improved by a multi-iteration implementation strategy based on a continuous tracking.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132293045","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 : 2004-12-01DOI: 10.1093/ietisy/e88-d.5.894
M. Bellamine, N. Abe, Kazuaki Tanaka, H. Taki
It is important to look for alternative forms of physical movement of people and equipment in order to assure diagnosis and maintenance tasks, especially in an environment where workers are subject to danger. An evident and classical solution is the use of tele-operation and tele-robotics. If tele-operation helps to solve real and technical problems, it is still unable to assure appropriate remote diagnosis and maintenance. The use of virtual reality techniques with tele-operation can be the solution for effective remote maintenance and diagnosis. We show that inefficiency occurred with the use of tele-operation only in remote maintenance. We introduce our original new system where we use 2D-3D matching and virtual reality techniques with tele-operation to remotely collect machinery vibration data. We explain its structure, implementation and advantages. We finished by experimenting the system, measuring the different operating times and precision and discussing the results.
{"title":"A remote diagnosis system for rotating machinery using virtual reality","authors":"M. Bellamine, N. Abe, Kazuaki Tanaka, H. Taki","doi":"10.1093/ietisy/e88-d.5.894","DOIUrl":"https://doi.org/10.1093/ietisy/e88-d.5.894","url":null,"abstract":"It is important to look for alternative forms of physical movement of people and equipment in order to assure diagnosis and maintenance tasks, especially in an environment where workers are subject to danger. An evident and classical solution is the use of tele-operation and tele-robotics. If tele-operation helps to solve real and technical problems, it is still unable to assure appropriate remote diagnosis and maintenance. The use of virtual reality techniques with tele-operation can be the solution for effective remote maintenance and diagnosis. We show that inefficiency occurred with the use of tele-operation only in remote maintenance. We introduce our original new system where we use 2D-3D matching and virtual reality techniques with tele-operation to remotely collect machinery vibration data. We explain its structure, implementation and advantages. We finished by experimenting the system, measuring the different operating times and precision and discussing the results.","PeriodicalId":252964,"journal":{"name":"IEEE Conference on Robotics, Automation and Mechatronics, 2004.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117235147","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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