Pub Date : 2023-06-26DOI: 10.1109/MED59994.2023.10185854
Qingkai Meng, M. Polycarpou
The location selection of sensors in large-scale swarm systems is a prerequisite for further design of mechanisms to monitor the system states. This paper considers the required number and location of the sensors in a large-scale swarm system so that the observability of the overall system is satisfied. Firstly, by extending observability theory for swarm systems, some necessary and/or sufficient observability conditions related to the node-dynamics, network topology, coupling mode and measured outputs are obtained. Secondly, based on the above observability conditions, an algorithm for deciding how many and where to place the sensors is designed, which can be implemented in a polynomial complexity time. Finally, an unmanned aerial vehicle (UAV) swarm system is employed to verify the effectiveness of the theoretical results.
{"title":"Sensor Selection for High-dimensional Swarm Systems Based on Observability Analysis","authors":"Qingkai Meng, M. Polycarpou","doi":"10.1109/MED59994.2023.10185854","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185854","url":null,"abstract":"The location selection of sensors in large-scale swarm systems is a prerequisite for further design of mechanisms to monitor the system states. This paper considers the required number and location of the sensors in a large-scale swarm system so that the observability of the overall system is satisfied. Firstly, by extending observability theory for swarm systems, some necessary and/or sufficient observability conditions related to the node-dynamics, network topology, coupling mode and measured outputs are obtained. Secondly, based on the above observability conditions, an algorithm for deciding how many and where to place the sensors is designed, which can be implemented in a polynomial complexity time. Finally, an unmanned aerial vehicle (UAV) swarm system is employed to verify the effectiveness of the theoretical results.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128987452","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185821
Hanin Mizouri, R. Lamouchi, M. Amairi
A functional interval estimation method is proposed for Linear Parameter-Varying (LPV) multivariable systems with external disturbance and measurement noise. According to the interval analysis, the proposed estimator gives the upper and lower boundaries of the linear functional state. An L∞ criterion is used to enhance stability and estimation accuracy. The design conditions are stated in the form of Linear Matrix Inequalities (LMIs). Finally, a numerical example is considered to check the validity of the proposed methodology.
{"title":"L∞-Functional Interval Observers for Continuous-time Linear Parameter-Varying Multivariable Systems","authors":"Hanin Mizouri, R. Lamouchi, M. Amairi","doi":"10.1109/MED59994.2023.10185821","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185821","url":null,"abstract":"A functional interval estimation method is proposed for Linear Parameter-Varying (LPV) multivariable systems with external disturbance and measurement noise. According to the interval analysis, the proposed estimator gives the upper and lower boundaries of the linear functional state. An L∞ criterion is used to enhance stability and estimation accuracy. The design conditions are stated in the form of Linear Matrix Inequalities (LMIs). Finally, a numerical example is considered to check the validity of the proposed methodology.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122517628","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185754
Ramzi Gaagai, Felix Seeland, J. Horn
Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicle distances. Adjusting the spacing with both the preceding and the succeeding vehicles using bidirectional communication improves the cohesion of a vehicle string.. In this paper, a distributed consensus controller is presented which relies on bidirectional platoon communication. Along with the consensus-based controller synthesis, vehicle stability, and an extended string stability analysis, the effectiveness of the controller is demonstrated in a simulation study.
{"title":"Distributed Consensus Control of Homogeneous Vehicle Platoons With Bidirectional Communication","authors":"Ramzi Gaagai, Felix Seeland, J. Horn","doi":"10.1109/MED59994.2023.10185754","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185754","url":null,"abstract":"Vehicle platooning is deemed a promising solution to improve traffic safety, reduce fuel consumption and increase traffic throughput and road capacity. Road throughput can be increased by driving at small inter-vehicle distances. Adjusting the spacing with both the preceding and the succeeding vehicles using bidirectional communication improves the cohesion of a vehicle string.. In this paper, a distributed consensus controller is presented which relies on bidirectional platoon communication. Along with the consensus-based controller synthesis, vehicle stability, and an extended string stability analysis, the effectiveness of the controller is demonstrated in a simulation study.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116552831","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185671
Vittorio Casagrande, Martin Ferianc, Miguel L. Rodrigues, F. Boem
We propose a novel Model Predictive Control (MPC) scheme based on online-learning (OL) for microgrid energy management, where the control optimisation is embedded as the last layer of the neural network. The proposed MPC scheme deals with uncertainty on the load and renewable generation power profiles and on electricity prices, by employing the predictions provided by an online trained neural network in the optimisation problem. In order to adapt to possible changes in the environment, the neural network is online trained based on continuously received data. The network hyperparameters are selected by performing a hyperparameter optimisation before the deployment of the controller, using a pretraining dataset. We show the effectiveness of the proposed method for microgrid energy management through extensive experiments on real microgrid datasets. Moreover, we show that the proposed algorithm has good transfer learning (TL) capabilities among different microgrids.
{"title":"An Online Learning Method for Microgrid Energy Management Control*","authors":"Vittorio Casagrande, Martin Ferianc, Miguel L. Rodrigues, F. Boem","doi":"10.1109/MED59994.2023.10185671","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185671","url":null,"abstract":"We propose a novel Model Predictive Control (MPC) scheme based on online-learning (OL) for microgrid energy management, where the control optimisation is embedded as the last layer of the neural network. The proposed MPC scheme deals with uncertainty on the load and renewable generation power profiles and on electricity prices, by employing the predictions provided by an online trained neural network in the optimisation problem. In order to adapt to possible changes in the environment, the neural network is online trained based on continuously received data. The network hyperparameters are selected by performing a hyperparameter optimisation before the deployment of the controller, using a pretraining dataset. We show the effectiveness of the proposed method for microgrid energy management through extensive experiments on real microgrid datasets. Moreover, we show that the proposed algorithm has good transfer learning (TL) capabilities among different microgrids.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115775489","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185736
Liraz Mudrik, Y. Oshman
In stochastic interception scenarios, an intercepting missile only has uncertain information about the target state, as this information is obtained from noisy measurements. The true dynamics of the target are also unavailable to the intercepting missile, so, instead, the interceptor can assume that the target possesses ideal dynamics, which amounts to adopting the worst-case scenario. Moreover, even when linear models and Gaussian noises are assumed, the notorious curse of dimensionality renders the straightforward optimal solution to this problem intractable in real-time. To alleviate the computational burden, this work uses an approach based on the notion of terminal sets to present an optimal interception strategy for stochastic scenarios. We show that using this approach greatly reduces the computational effort, as the number of modes diverges quadratically in time instead of exponentially. Another computational burden reduction is achieved via a novel decomposition of the interceptor’s terminal set. These results render the proposed strategy implementable in real-time, as the horizon is sufficiently short at the endgame stage of the engagement. A Monte Carlo simulation study is used to demonstrate the performance of the novel guidance law in stochastic scenarios, and to show that it achieves real-time performance despite its (still) considerable computational burden.
{"title":"Terminal-Set-Based Optimal Stochastic Guidance","authors":"Liraz Mudrik, Y. Oshman","doi":"10.1109/MED59994.2023.10185736","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185736","url":null,"abstract":"In stochastic interception scenarios, an intercepting missile only has uncertain information about the target state, as this information is obtained from noisy measurements. The true dynamics of the target are also unavailable to the intercepting missile, so, instead, the interceptor can assume that the target possesses ideal dynamics, which amounts to adopting the worst-case scenario. Moreover, even when linear models and Gaussian noises are assumed, the notorious curse of dimensionality renders the straightforward optimal solution to this problem intractable in real-time. To alleviate the computational burden, this work uses an approach based on the notion of terminal sets to present an optimal interception strategy for stochastic scenarios. We show that using this approach greatly reduces the computational effort, as the number of modes diverges quadratically in time instead of exponentially. Another computational burden reduction is achieved via a novel decomposition of the interceptor’s terminal set. These results render the proposed strategy implementable in real-time, as the horizon is sufficiently short at the endgame stage of the engagement. A Monte Carlo simulation study is used to demonstrate the performance of the novel guidance law in stochastic scenarios, and to show that it achieves real-time performance despite its (still) considerable computational burden.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123755222","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185753
Manuel Lanchares, W. Haddad
In this paper, we develop an energy-based dynamical system model driven by a Markov input process to present a unified framework for stochastic thermo-dynamics predicated on a stochastic dynamical systems formalism. Specifically, using a stochastic dissipativity, losslessness, and accumulativity theory, we develop a nonlinear stochastic port-Hamiltonian system model characterized by energy conservation and entropy nonconservation laws that are consistent with statistical thermodynamic principles. In particular, we show that the difference between the stored system energy and the supplied system energy for our stochastic thermodynamic model is a martingale with respect to the system filtration, whereas the system entropy is a submartingale with respect to the system filtration.
{"title":"Stochastic Thermodynamics: Dissipativity, Losslessness, Accumulativity, Energy Storage, and Entropy Production","authors":"Manuel Lanchares, W. Haddad","doi":"10.1109/MED59994.2023.10185753","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185753","url":null,"abstract":"In this paper, we develop an energy-based dynamical system model driven by a Markov input process to present a unified framework for stochastic thermo-dynamics predicated on a stochastic dynamical systems formalism. Specifically, using a stochastic dissipativity, losslessness, and accumulativity theory, we develop a nonlinear stochastic port-Hamiltonian system model characterized by energy conservation and entropy nonconservation laws that are consistent with statistical thermodynamic principles. In particular, we show that the difference between the stored system energy and the supplied system energy for our stochastic thermodynamic model is a martingale with respect to the system filtration, whereas the system entropy is a submartingale with respect to the system filtration.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123780069","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185676
A. Leva, F. Terraneo, W. Fornaciari
In the present and rapidly evolving industrial scenario, wireless networked controls are gaining importance. This brings about new problems concerning the use of the radio channel, as well as the energy efficiency of the involved devices (often running on battery). We argue that such problems, among which a fundamental one is clock synchronisation, should be addressed by dedicated control structures embedded in the used hardware/software architecture, and that the construction of the said controls should follow strictly system-theoretical principles to the maximum extent. In this paper, building on previous experience, we present such a synchronisation solution together with a formal model for its operation, also accounting for non-idealities in the reference time base. Some experimental results are reported to support the statements made.
{"title":"Wireless synchronisation as a control problem embedded in new-generation networked automation systems","authors":"A. Leva, F. Terraneo, W. Fornaciari","doi":"10.1109/MED59994.2023.10185676","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185676","url":null,"abstract":"In the present and rapidly evolving industrial scenario, wireless networked controls are gaining importance. This brings about new problems concerning the use of the radio channel, as well as the energy efficiency of the involved devices (often running on battery). We argue that such problems, among which a fundamental one is clock synchronisation, should be addressed by dedicated control structures embedded in the used hardware/software architecture, and that the construction of the said controls should follow strictly system-theoretical principles to the maximum extent. In this paper, building on previous experience, we present such a synchronisation solution together with a formal model for its operation, also accounting for non-idealities in the reference time base. Some experimental results are reported to support the statements made.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126228527","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185757
Danilo Menegatti, Emanuele Ciccarelli, Michele Viscione, A. Giuseppi
In recent years, stock price forecasting has become a challenging task commonly used to evaluate the performance of various machine learning solutions. This work explores a Federated Learning (FL) framework within a competitive collaboration scenario with the aim of training a centralised model advised by non-recoverable decentralised strategies so that no exchange of private data is required. The proposed Vertically-Advised Federated Learning (VAFL) framework combines elements from both horizontal and vertical FL, as each client trains two independent models. Furthermore, a novel forecasting architecture, based on a stochastic variant of an Attention-based Long Short Term Memory (LSTM) network, is proposed and validated on a simulated scenario based on real data from the stock market.
{"title":"Vertically-Advised Federated Learning for Multi-Strategic Stock Predictions through Stochastic Attention-based LSTM","authors":"Danilo Menegatti, Emanuele Ciccarelli, Michele Viscione, A. Giuseppi","doi":"10.1109/MED59994.2023.10185757","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185757","url":null,"abstract":"In recent years, stock price forecasting has become a challenging task commonly used to evaluate the performance of various machine learning solutions. This work explores a Federated Learning (FL) framework within a competitive collaboration scenario with the aim of training a centralised model advised by non-recoverable decentralised strategies so that no exchange of private data is required. The proposed Vertically-Advised Federated Learning (VAFL) framework combines elements from both horizontal and vertical FL, as each client trains two independent models. Furthermore, a novel forecasting architecture, based on a stochastic variant of an Attention-based Long Short Term Memory (LSTM) network, is proposed and validated on a simulated scenario based on real data from the stock market.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127408777","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185646
Atharva V. Suryavanshi, Aisha Alnajdi, Mohammed S. Alhajeri, Fahim Abdullah, P. Christofides
In recent years, cyber-security of networked control systems has become crucial, as these systems are vulnerable to targeted cyber-attacks that compromise the stability, integrity and safety of these systems. In this work, secure and private communication links are established between sensor-controller and controller-actuator elements using semi-homomorphic encryption to ensure cyber-security in Model Predictive Control (MPC) of nonlinear systems. Specifically, Paillier Cryptosystem is implemented for encryption-decryption operations in the communication links. Cryptosystems, in general, work on a subset of integers. As a direct consequence of this nature of encryption algorithms, quantization errors arise in the closed-loop MPC of non-linear systems. Thus, the closed-loop encrypted MPC is designed with a certain degree of robustness to the quantization errors. Furthermore, the trade-off between the accuracy of the encrypted MPC and the computational cost is discussed. Finally, a multi-input multi-output continuous stirred tank reactor (CSTR) example is presented to demonstrate the implementation of the proposed encrypted MPC design.
{"title":"Encrypted Model Predictive Control of Nonlinear Systems","authors":"Atharva V. Suryavanshi, Aisha Alnajdi, Mohammed S. Alhajeri, Fahim Abdullah, P. Christofides","doi":"10.1109/MED59994.2023.10185646","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185646","url":null,"abstract":"In recent years, cyber-security of networked control systems has become crucial, as these systems are vulnerable to targeted cyber-attacks that compromise the stability, integrity and safety of these systems. In this work, secure and private communication links are established between sensor-controller and controller-actuator elements using semi-homomorphic encryption to ensure cyber-security in Model Predictive Control (MPC) of nonlinear systems. Specifically, Paillier Cryptosystem is implemented for encryption-decryption operations in the communication links. Cryptosystems, in general, work on a subset of integers. As a direct consequence of this nature of encryption algorithms, quantization errors arise in the closed-loop MPC of non-linear systems. Thus, the closed-loop encrypted MPC is designed with a certain degree of robustness to the quantization errors. Furthermore, the trade-off between the accuracy of the encrypted MPC and the computational cost is discussed. Finally, a multi-input multi-output continuous stirred tank reactor (CSTR) example is presented to demonstrate the implementation of the proposed encrypted MPC design.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125493278","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 : 2023-06-26DOI: 10.1109/MED59994.2023.10185817
G. Horváth, G. Szederkényi, I. Reguly
In this paper, we quantify the impact of non-pharmaceutical interventions (NPIs) on the spread of COVID - both individually and in various combinations. We utilize the previously developed Pan-Sim agent-based model to accurately capture various aspects of the epidemic and the interventions and show how the transmission rate (β) commonly used in compartmental ODE models can be matched to the agent-based model and used to compare interventions. Through a specific example of targeting a desired level of peak hospitalization, we give several equivalent intervention packages that can be imposed at various times during a single wave to achieve this goal. By mapping out the effect of different combinations of interventions on the transmission rate, we pave the way for coupling the PanSim model with advanced feedback control.
{"title":"Quantifying and comparing the impact of combinations of non-pharmaceutical interventions on the spread of COVID-19","authors":"G. Horváth, G. Szederkényi, I. Reguly","doi":"10.1109/MED59994.2023.10185817","DOIUrl":"https://doi.org/10.1109/MED59994.2023.10185817","url":null,"abstract":"In this paper, we quantify the impact of non-pharmaceutical interventions (NPIs) on the spread of COVID - both individually and in various combinations. We utilize the previously developed Pan-Sim agent-based model to accurately capture various aspects of the epidemic and the interventions and show how the transmission rate (β) commonly used in compartmental ODE models can be matched to the agent-based model and used to compare interventions. Through a specific example of targeting a desired level of peak hospitalization, we give several equivalent intervention packages that can be imposed at various times during a single wave to achieve this goal. By mapping out the effect of different combinations of interventions on the transmission rate, we pave the way for coupling the PanSim model with advanced feedback control.","PeriodicalId":270226,"journal":{"name":"2023 31st Mediterranean Conference on Control and Automation (MED)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130632455","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：