Pub Date : 2011-07-07DOI: 10.1109/ISAM.2011.5942315
J. Rosell, Luis Cruz, R. Suárez, Alexander Pérez
Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to the problem. This paper introduces a novel importance sampling method that uses Principal Component Analysis to focalize the region where to sample in order to increase the probability of finding collision-free configurations. The proposal is illustrated with a 2D configuration space with a narrow passage and compared to the uniform random sampling method.
{"title":"Importance sampling based on adaptive principal component analysis","authors":"J. Rosell, Luis Cruz, R. Suárez, Alexander Pérez","doi":"10.1109/ISAM.2011.5942315","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942315","url":null,"abstract":"Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to the problem. This paper introduces a novel importance sampling method that uses Principal Component Analysis to focalize the region where to sample in order to increase the probability of finding collision-free configurations. The proposal is illustrated with a 2D configuration space with a narrow passage and compared to the uniform random sampling method.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123907393","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942340
S. Kwak, T. Hasegawa, S. Chung
In this paper, we propose a method to improve efficiency of generating a contact state graph by eliminating unnecessary elements. The method is based on our previously proposed framework for automatic generation of contact states using triangulation of faces, where contact states are formally represented with topologies of polyhedral objects' elements which are vertex, edge, and triangle. The adjacency of elements is defined to determine priority of elements to be used for developing a contact state graph. Starting from elements adjacent to the initial contact state, the priority of each element is determined by computing its adjacency to the target contact state. The unnecessary elements are eliminated by generating contact states from high priority elements until a generated contact state reaches to the target contact state. If a contact state graph is completed with elements of high priority, the number of contact states is significantly reduced because the other elements are not used. Finally, we can obtain at least a realizable contact sequence from the contact state graph.
{"title":"Efficiency improvement in generation of a contact state graph by eliminating unnecessary elements","authors":"S. Kwak, T. Hasegawa, S. Chung","doi":"10.1109/ISAM.2011.5942340","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942340","url":null,"abstract":"In this paper, we propose a method to improve efficiency of generating a contact state graph by eliminating unnecessary elements. The method is based on our previously proposed framework for automatic generation of contact states using triangulation of faces, where contact states are formally represented with topologies of polyhedral objects' elements which are vertex, edge, and triangle. The adjacency of elements is defined to determine priority of elements to be used for developing a contact state graph. Starting from elements adjacent to the initial contact state, the priority of each element is determined by computing its adjacency to the target contact state. The unnecessary elements are eliminated by generating contact states from high priority elements until a generated contact state reaches to the target contact state. If a contact state graph is completed with elements of high priority, the number of contact states is significantly reduced because the other elements are not used. Finally, we can obtain at least a realizable contact sequence from the contact state graph.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"13 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120840879","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942349
J. Heilala, K. Klobut, T. Salonen, Pekka Siltanen, Reino Ruusu, L. Urosevic, P. Reimer, A. Armijo, M. Sorli, Tomaz Fatur, Ziga Gantar, Andreas Jung
The European research project AmI-MoSES is focused on developing energy efficiency enhancement service solutions for SME manufacturing companies. The planned service concept is based on Industrial Ambient Intelligence (AmI) Reference Architecture and Energy Key Performance Indicators in the form of Energy Use Parameters (EUP). EUP indicators are based on monitored energy consumption data (ECD), other measured data and related energy use context data showing in detail how energy was used. AmI-MoSES project focuses on enabling manufacturing SMEs to efficiently and promptly (online) acquire/provide information/knowledge needed for optimisation of energy consumption. It also aims to assist in effective use of such knowledge to support decisions regarding Life-Cycle oriented Energy Use Management, applying the energy efficiency services. This paper provides theoretical background to RTD practitioners who would like to apply AmI-MoSES approaches in future energy efficiency optimisation activities. The topics comprise Energy Consumption Data (ECD) and Ambient Intelligence (AmI) Monitoring, Energy Use Parameters (EUP) Monitoring and Advisory and context modelling for turning EUPs into knowledge assets.
{"title":"Ambient Intelligence based monitoring and energy efficiency optimisation system","authors":"J. Heilala, K. Klobut, T. Salonen, Pekka Siltanen, Reino Ruusu, L. Urosevic, P. Reimer, A. Armijo, M. Sorli, Tomaz Fatur, Ziga Gantar, Andreas Jung","doi":"10.1109/ISAM.2011.5942349","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942349","url":null,"abstract":"The European research project AmI-MoSES is focused on developing energy efficiency enhancement service solutions for SME manufacturing companies. The planned service concept is based on Industrial Ambient Intelligence (AmI) Reference Architecture and Energy Key Performance Indicators in the form of Energy Use Parameters (EUP). EUP indicators are based on monitored energy consumption data (ECD), other measured data and related energy use context data showing in detail how energy was used. AmI-MoSES project focuses on enabling manufacturing SMEs to efficiently and promptly (online) acquire/provide information/knowledge needed for optimisation of energy consumption. It also aims to assist in effective use of such knowledge to support decisions regarding Life-Cycle oriented Energy Use Management, applying the energy efficiency services. This paper provides theoretical background to RTD practitioners who would like to apply AmI-MoSES approaches in future energy efficiency optimisation activities. The topics comprise Energy Consumption Data (ECD) and Ambient Intelligence (AmI) Monitoring, Energy Use Parameters (EUP) Monitoring and Advisory and context modelling for turning EUPs into knowledge assets.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125292119","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942303
I. Tanabe, Midori Watanabe
In this paper, permanent lubrication using grease with polymer for the sliders in the machine tool was developed and evaluated. Firstly, the grease with a polymer was developed for high cohesion property. The grease with a polymer has non-Newton property which can be followed with moving substances. Next, the W-rollers were developed for collecting and distributing of the grease around the slider in the machine tool permanently for the whole machine life. This device consists of the outside roller for collecting, holding and distribution of the grease and the inside roller for adjustment of thickness of the grease layer. Four W-rollers were fitted on the slider in the machine tool. Finally, the level of the “Eco-friendly” regarding the proposed method was evaluated by Life Cycle Assessment. It is concluded from the results that the permanent lubrication using grease with polymer and W-rollers for the slide in the machine tool was highly effective for both industrial and environment. This method is extremely useful for supporting both “Ecology” and “Economy” simultaneously.
{"title":"Development of cost-effective and eco-friendly permanent grease lubrication for the machine tool slildes","authors":"I. Tanabe, Midori Watanabe","doi":"10.1109/ISAM.2011.5942303","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942303","url":null,"abstract":"In this paper, permanent lubrication using grease with polymer for the sliders in the machine tool was developed and evaluated. Firstly, the grease with a polymer was developed for high cohesion property. The grease with a polymer has non-Newton property which can be followed with moving substances. Next, the W-rollers were developed for collecting and distributing of the grease around the slider in the machine tool permanently for the whole machine life. This device consists of the outside roller for collecting, holding and distribution of the grease and the inside roller for adjustment of thickness of the grease layer. Four W-rollers were fitted on the slider in the machine tool. Finally, the level of the “Eco-friendly” regarding the proposed method was evaluated by Life Cycle Assessment. It is concluded from the results that the permanent lubrication using grease with polymer and W-rollers for the slide in the machine tool was highly effective for both industrial and environment. This method is extremely useful for supporting both “Ecology” and “Economy” simultaneously.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123195988","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942333
N. Siltala, Timo Prusi, A. Vuola, R. Heikkila, R. Tuokko
This paper represents a case study of assembly of a gas sensor with desktop microfactory environment. The environment is illustrating the TUT Microfactory™ concept developed at Tampere University of Technology / Department of Production Engineering. This paper introduces and reports a case study of a microfactory system making assembly of a gas sensor. The sensor is a commercially available product. The assembly process and modules used including interfaces, controls, etc. are described and discussed.
{"title":"Modular microfactory system for gas sensor assembly","authors":"N. Siltala, Timo Prusi, A. Vuola, R. Heikkila, R. Tuokko","doi":"10.1109/ISAM.2011.5942333","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942333","url":null,"abstract":"This paper represents a case study of assembly of a gas sensor with desktop microfactory environment. The environment is illustrating the TUT Microfactory™ concept developed at Tampere University of Technology / Department of Production Engineering. This paper introduces and reports a case study of a microfactory system making assembly of a gas sensor. The sensor is a commercially available product. The assembly process and modules used including interfaces, controls, etc. are described and discussed.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124491166","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942299
H. Zeng, Tie Li, Q. Jin, Yuelin Wang, Fangfang Xu
We present a novel experimental method for observing the lattice behavior of single crystal silicon (SCS) nanobeam in process of tensile testing. A TEM in-situ nanobeam tensile testing device has been fabricated and the lattice parameters of SCS nanobeam of different tensile stress have been measured using selected-area electron diffraction (SAED). The results suggest that the trends of the lattice parameters consists with the increasing tensile stress in the SCS nanobeam, and a certain degree of distortion of lattice and movements of crystal dislocations could happen during SCS nanobeam tensile testing.
{"title":"Determination of lattice parameters of SCS nanobeam in process of tensile test using MEMS actuator","authors":"H. Zeng, Tie Li, Q. Jin, Yuelin Wang, Fangfang Xu","doi":"10.1109/ISAM.2011.5942299","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942299","url":null,"abstract":"We present a novel experimental method for observing the lattice behavior of single crystal silicon (SCS) nanobeam in process of tensile testing. A TEM in-situ nanobeam tensile testing device has been fabricated and the lattice parameters of SCS nanobeam of different tensile stress have been measured using selected-area electron diffraction (SAED). The results suggest that the trends of the lattice parameters consists with the increasing tensile stress in the SCS nanobeam, and a certain degree of distortion of lattice and movements of crystal dislocations could happen during SCS nanobeam tensile testing.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130015165","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942335
J. T. Tan, T. Arai
In a close proximity of a human-robot collaboration production system, safety monitoring has a paramount importance to ensure the human operator is being well protected throughout the collaborative operation with the robot manipulator. Due to the requirement to allow overlapping of working envelopes between these two parties, physical separation or two-dimensional sensory system is not effective as the safety measure for the production system. In the early development, safety monitoring by stereo vision system with two cameras was introduced to track the human operator's motion throughout the operation. Camera is used to capture images for tracking of color areas on the human operator. The image coordinates by particle filter and human body model are combined to estimate the 3D positions for the human motion monitoring. However, several weaknesses were observed in this development. For instance, due to the fixed camera viewing direction, occlusion of the detecting areas can severely affect the effectiveness of the safety monitoring. Therefore, one additional camera is added into the system to produce three pairs of stereo vision to improve the robustness towards lost tracking and occlusion tolerance. Hand position tracking experiment is conducted to evaluate the performance of the 3D position estimation.
{"title":"Triple stereo vision system for safety monitoring of human-robot collaboration in cellular manufacturing","authors":"J. T. Tan, T. Arai","doi":"10.1109/ISAM.2011.5942335","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942335","url":null,"abstract":"In a close proximity of a human-robot collaboration production system, safety monitoring has a paramount importance to ensure the human operator is being well protected throughout the collaborative operation with the robot manipulator. Due to the requirement to allow overlapping of working envelopes between these two parties, physical separation or two-dimensional sensory system is not effective as the safety measure for the production system. In the early development, safety monitoring by stereo vision system with two cameras was introduced to track the human operator's motion throughout the operation. Camera is used to capture images for tracking of color areas on the human operator. The image coordinates by particle filter and human body model are combined to estimate the 3D positions for the human motion monitoring. However, several weaknesses were observed in this development. For instance, due to the fixed camera viewing direction, occlusion of the detecting areas can severely affect the effectiveness of the safety monitoring. Therefore, one additional camera is added into the system to produce three pairs of stereo vision to improve the robustness towards lost tracking and occlusion tolerance. Hand position tracking experiment is conducted to evaluate the performance of the 3D position estimation.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130888815","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942306
P. Kobel, R. Clavel
Flexible and miniaturized production lines, known as desktop-, pocket- or micro-factories, with an integrated cleanroom are needed to meet the performance requirement of today's microproducts. In respect thereof, a miniaturized, large workspace robot is developed for microassembly tasks. Improvements based on recent benchmark tests and simulations are rounding out the overall paper.
{"title":"Micro robot for rotary desktop assembly line","authors":"P. Kobel, R. Clavel","doi":"10.1109/ISAM.2011.5942306","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942306","url":null,"abstract":"Flexible and miniaturized production lines, known as desktop-, pocket- or micro-factories, with an integrated cleanroom are needed to meet the performance requirement of today's microproducts. In respect thereof, a miniaturized, large workspace robot is developed for microassembly tasks. Improvements based on recent benchmark tests and simulations are rounding out the overall paper.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130915476","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942361
Andreas F. Hofmann, G. Bretthauer, N. Siltala, R. Tuokko
There exist a need for more cost effective and adaptable production solutions for miniaturised products. One promising approach to meet the market demands bases on so called desktop factories. They inherently offer a sustainable and energy efficient solution for the assembly of meso- and micro-sized parts. The realisation of adaptable automation solutions based on desktop factories under the paradigm of Evolvable Production Systems leads to the question of downscaling the implementation following the EPS guidelines. This paper describes some of the requirements and boundary conditions which occur in that process. The obligation to have an in-depth knowledge and understanding of all aspects along the production process is shown.
{"title":"Evolvable Micro Production Systems: Specific needs and differences to macro","authors":"Andreas F. Hofmann, G. Bretthauer, N. Siltala, R. Tuokko","doi":"10.1109/ISAM.2011.5942361","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942361","url":null,"abstract":"There exist a need for more cost effective and adaptable production solutions for miniaturised products. One promising approach to meet the market demands bases on so called desktop factories. They inherently offer a sustainable and energy efficient solution for the assembly of meso- and micro-sized parts. The realisation of adaptable automation solutions based on desktop factories under the paradigm of Evolvable Production Systems leads to the question of downscaling the implementation following the EPS guidelines. This paper describes some of the requirements and boundary conditions which occur in that process. The obligation to have an in-depth knowledge and understanding of all aspects along the production process is shown.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122027671","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 : 2011-05-25DOI: 10.1109/ISAM.2011.5942351
L. Ribeiro, J. Barata, J. Pimentão
Modern control approaches are either designated as complex or tackle complex systems. The concept of Evolv-able Production System (EPS) entails an iterative system design/control loop that supports system Adaptation and Evolution. Both concepts are borrowed from natural systems and, if properly instantiated and explored for the sake of production systems, may come to include a set of self-organizing and emergent process. One of the main challenges in EPS research is to frame these developing natural concepts and set them in a Mechatronic Agent-based framework. Such an approach also brings into the equation the possibility to handle and, potentially, exploit emergent behaviour. Inevitably, the coping of dynamically evolving setups with unforecasted behaviours raises the complexity issue quite substantially, hence the need to begin to analyse the EPS systems as Complex Systems. This paper provides an introduction to the context of Complex Systems, in particular about the self-organization and emergence components, and, from this integration, details how the bridging of the technological and functional challenges is being adopted within EPS. The work is based on assembly systems built within the framework of several European projects, including EUPASS, IPROMS and IDEAS. Finally, the article will provide with an initial evaluation and critical review of the complexity approach.
{"title":"Where evolvable production systems meet complexity science","authors":"L. Ribeiro, J. Barata, J. Pimentão","doi":"10.1109/ISAM.2011.5942351","DOIUrl":"https://doi.org/10.1109/ISAM.2011.5942351","url":null,"abstract":"Modern control approaches are either designated as complex or tackle complex systems. The concept of Evolv-able Production System (EPS) entails an iterative system design/control loop that supports system Adaptation and Evolution. Both concepts are borrowed from natural systems and, if properly instantiated and explored for the sake of production systems, may come to include a set of self-organizing and emergent process. One of the main challenges in EPS research is to frame these developing natural concepts and set them in a Mechatronic Agent-based framework. Such an approach also brings into the equation the possibility to handle and, potentially, exploit emergent behaviour. Inevitably, the coping of dynamically evolving setups with unforecasted behaviours raises the complexity issue quite substantially, hence the need to begin to analyse the EPS systems as Complex Systems. This paper provides an introduction to the context of Complex Systems, in particular about the self-organization and emergence components, and, from this integration, details how the bridging of the technological and functional challenges is being adopted within EPS. The work is based on assembly systems built within the framework of several European projects, including EUPASS, IPROMS and IDEAS. Finally, the article will provide with an initial evaluation and critical review of the complexity approach.","PeriodicalId":273573,"journal":{"name":"2011 IEEE International Symposium on Assembly and Manufacturing (ISAM)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127922997","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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