Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496391
Jia Li, Xingsong Wang, Ruru Xi
Tendon-sheath actuated mechanism is widely adopted in many applications such as robot hands and surgical devices due to its small size, simple structure and light weight. However, there exist a lot of factors including the compliance and friction between the tendon and sheath which may contribute to the nonlinearity of the tendon-sheath system. In addition, the absence of sensors at distal end also sets a limit to the application of tendon-sheath. In this paper, a tendon-sheath-driven robot for searching and rescuing is introduced and the transmission models of tendon-sheath system are proposed. 3D reconstruction of tendon-sheath system is utilized for the identification of parameters involved in the model. Two methods are presented according to whether the sensor information at distal end can be obtained or not. In order to make up for the nonlinearity of the system, the sliding control method is adopted. Despite of the lack of feedback information, a combination of inverse compensation and sliding mode control is put forward. Furthermore, a set of experiments are carried out in order to validate our proposed models and methods.
{"title":"Tip force tracking control based on the tendon-sheath transmission model and 3D reconstruction of a long slender rescue robot","authors":"Jia Li, Xingsong Wang, Ruru Xi","doi":"10.1109/AMC.2016.7496391","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496391","url":null,"abstract":"Tendon-sheath actuated mechanism is widely adopted in many applications such as robot hands and surgical devices due to its small size, simple structure and light weight. However, there exist a lot of factors including the compliance and friction between the tendon and sheath which may contribute to the nonlinearity of the tendon-sheath system. In addition, the absence of sensors at distal end also sets a limit to the application of tendon-sheath. In this paper, a tendon-sheath-driven robot for searching and rescuing is introduced and the transmission models of tendon-sheath system are proposed. 3D reconstruction of tendon-sheath system is utilized for the identification of parameters involved in the model. Two methods are presented according to whether the sensor information at distal end can be obtained or not. In order to make up for the nonlinearity of the system, the sliding control method is adopted. Despite of the lack of feedback information, a combination of inverse compensation and sliding mode control is put forward. Furthermore, a set of experiments are carried out in order to validate our proposed models and methods.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115754149","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496345
Yusuke Kawai, Y. Yokokura, K. Ohishi, Kotaro Saito, Atsushi Shimamoto
This paper proposes high back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor. According to previous research, the back-drivability of torsion torque control using torsion torque sensor depends on load-side friction. Therefore, the authors focus on load-side torque control. Load-side torque is estimated using load-side torque observer because load-side torque cannot be detected in this system. Using estimated load-side torque feedback, the back-drivability of the proposed method becomes infinite. The back-drivability of the three methods (i.e., P-D, I-PD, and pseudo I-PD) are compared using the simulation and experimental results. Finally, the simulation and experimental results verify the effectiveness of the proposed method.
{"title":"High back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor","authors":"Yusuke Kawai, Y. Yokokura, K. Ohishi, Kotaro Saito, Atsushi Shimamoto","doi":"10.1109/AMC.2016.7496345","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496345","url":null,"abstract":"This paper proposes high back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor. According to previous research, the back-drivability of torsion torque control using torsion torque sensor depends on load-side friction. Therefore, the authors focus on load-side torque control. Load-side torque is estimated using load-side torque observer because load-side torque cannot be detected in this system. Using estimated load-side torque feedback, the back-drivability of the proposed method becomes infinite. The back-drivability of the three methods (i.e., P-D, I-PD, and pseudo I-PD) are compared using the simulation and experimental results. Finally, the simulation and experimental results verify the effectiveness of the proposed method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114584931","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496389
Yangjie Wei, Yuqing He
Shape reconstruction with an optical diffuser has some significant advantages such as high-precision depth estimation with a small lens, depth estimation for distant objects, and less sensitivity to lens aberrations. However, no optical diffusion model has been proposed to relate depth information to the basic principle of intensity distribution during optical diffusion. In this paper, heat diffusion equation in physics is introduced into optical diffusion, and a mathematic model of intensity distribution during optical diffusion is constructed. A high-precision shape reconstruction method with optical diffusion is proposed based on heat diffusion equation. First, an optical diffusion model is introduced to explain the basic principle of diffusion imaging process. Second, a novel shape reconstruction method based on global heat diffusion is proposed within our optical diffusion model. Finally, simulation with synthetic images and experiment with five playing cards are conducted, and the result proves the effectiveness and feasibility of the proposed method.
{"title":"Shape reconstruction within an optical diffusion model","authors":"Yangjie Wei, Yuqing He","doi":"10.1109/AMC.2016.7496389","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496389","url":null,"abstract":"Shape reconstruction with an optical diffuser has some significant advantages such as high-precision depth estimation with a small lens, depth estimation for distant objects, and less sensitivity to lens aberrations. However, no optical diffusion model has been proposed to relate depth information to the basic principle of intensity distribution during optical diffusion. In this paper, heat diffusion equation in physics is introduced into optical diffusion, and a mathematic model of intensity distribution during optical diffusion is constructed. A high-precision shape reconstruction method with optical diffusion is proposed based on heat diffusion equation. First, an optical diffusion model is introduced to explain the basic principle of diffusion imaging process. Second, a novel shape reconstruction method based on global heat diffusion is proposed within our optical diffusion model. Finally, simulation with synthetic images and experiment with five playing cards are conducted, and the result proves the effectiveness and feasibility of the proposed method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121896094","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496355
Daisuke Noda, K. Seki, M. Iwasaki
This paper presents a design approach for composite filters based on the displacement and acceleration sensor signals to cover the entire frequency range of motion in the plant. A target piezo-driven stage is installed the capacitive sensor to detect the accurate stage displacement, while the sensing system generally includes the phase delay due to the data conversion process and the lowpass filters in the amplifier to remove the sensor noise. In this paper, MEMS accelerometer signal is integrated into the displacement signal detected by capacitive sensor to improve the phase characteristic at high frequency range, where the composite filters for integrating two sensor outputs are generally designed considering a summation result as 1. According to the sensor characteristic, however, a simple filter design approach causes the deterioration of the output characteristic by the interference. In order to solve the problem, PQ method as a filter design guideline is adopted to compensate for the interference between the sensor outputs. The effectiveness of the design approach has been verified by experiments using the piezo-driven stage system.
{"title":"Composite filter design and application to piezo-driven stage systems","authors":"Daisuke Noda, K. Seki, M. Iwasaki","doi":"10.1109/AMC.2016.7496355","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496355","url":null,"abstract":"This paper presents a design approach for composite filters based on the displacement and acceleration sensor signals to cover the entire frequency range of motion in the plant. A target piezo-driven stage is installed the capacitive sensor to detect the accurate stage displacement, while the sensing system generally includes the phase delay due to the data conversion process and the lowpass filters in the amplifier to remove the sensor noise. In this paper, MEMS accelerometer signal is integrated into the displacement signal detected by capacitive sensor to improve the phase characteristic at high frequency range, where the composite filters for integrating two sensor outputs are generally designed considering a summation result as 1. According to the sensor characteristic, however, a simple filter design approach causes the deterioration of the output characteristic by the interference. In order to solve the problem, PQ method as a filter design guideline is adopted to compensate for the interference between the sensor outputs. The effectiveness of the design approach has been verified by experiments using the piezo-driven stage system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121972104","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496401
M. A. Fernández, J. Chang
This paper presents the development of a permanent magnet-based magnetorheological fluid clutch for intended use in robotic arm applications, as well as other applications where compliance for human-robot interaction is of importance. The modelling of a cylindrical MR fluid-based clutch is presented, followed by design and verification processes. Finally, a prototype of the clutch is built along with a base apparatus to support the clutch and the other components such as the DC and stepper motor. This prototype was later used to study the torque-speed relationship of the clutch. The results of this study are presented at the end of the paper.
{"title":"Development of magnetorheological fluid clutch for robotic arm applications","authors":"M. A. Fernández, J. Chang","doi":"10.1109/AMC.2016.7496401","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496401","url":null,"abstract":"This paper presents the development of a permanent magnet-based magnetorheological fluid clutch for intended use in robotic arm applications, as well as other applications where compliance for human-robot interaction is of importance. The modelling of a cylindrical MR fluid-based clutch is presented, followed by design and verification processes. Finally, a prototype of the clutch is built along with a base apparatus to support the clutch and the other components such as the DC and stepper motor. This prototype was later used to study the torque-speed relationship of the clutch. The results of this study are presented at the end of the paper.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"66 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128300141","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496326
Daohui Zhang, Xingang Zhao, Jianda Han
In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model in the reference mode (in a given small pressure range). The equivalent state space representation of the reference model is obtained by applying the linearization approach. The model error is introduced to the equivalent state space model, and the joint estimation is adopted to estimate the system state and the model error simultaneously. Experimental studies are conducted to demonstrate the existence of the model error, and verify the necessity of introducing the model error to the reference model, and evaluate the effect of the proposed active modeling approach in changing modes (not in the given pressure range).
{"title":"Active modeling for pneumatic artificial muscle","authors":"Daohui Zhang, Xingang Zhao, Jianda Han","doi":"10.1109/AMC.2016.7496326","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496326","url":null,"abstract":"In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model in the reference mode (in a given small pressure range). The equivalent state space representation of the reference model is obtained by applying the linearization approach. The model error is introduced to the equivalent state space model, and the joint estimation is adopted to estimate the system state and the model error simultaneously. Experimental studies are conducted to demonstrate the existence of the model error, and verify the necessity of introducing the model error to the reference model, and evaluate the effect of the proposed active modeling approach in changing modes (not in the given pressure range).","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129835515","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496327
Hui Shan, Chong Jiang, Yuliang Mao, Xingsong Wang
In the past decades, many wearable powered orthoses have been developed with the aim of augmenting or assisting motion activities in daily life. Among many applications, they are particularly used to provide lower-limb moving assistance in locomotion-related rehabilitation tasks. This paper presents a wearable active knee orthosis consisting of an active knee joint, a double-tendon-sheath transmission system and a control system. The active knee joint and the double-tendon-sheath transmission system are applied to reduce the weight of the orthosis and achieve preferable maneuverability. A PID controller is used to validate the feasibility of the orthosis, and a fuzzy controller is developed to perform the walking assistance experiments. Finally, two groups of EMG signal tests were conducted to verify the assisting effectiveness of the orthosis. The results obtained from the two EMG evaluation experiments demonstrate that the proposed orthosis can reduce muscular power consumption during walking and proved the usability of the whole system.
{"title":"Design and control of a wearable active knee orthosis for walking assistance","authors":"Hui Shan, Chong Jiang, Yuliang Mao, Xingsong Wang","doi":"10.1109/AMC.2016.7496327","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496327","url":null,"abstract":"In the past decades, many wearable powered orthoses have been developed with the aim of augmenting or assisting motion activities in daily life. Among many applications, they are particularly used to provide lower-limb moving assistance in locomotion-related rehabilitation tasks. This paper presents a wearable active knee orthosis consisting of an active knee joint, a double-tendon-sheath transmission system and a control system. The active knee joint and the double-tendon-sheath transmission system are applied to reduce the weight of the orthosis and achieve preferable maneuverability. A PID controller is used to validate the feasibility of the orthosis, and a fuzzy controller is developed to perform the walking assistance experiments. Finally, two groups of EMG signal tests were conducted to verify the assisting effectiveness of the orthosis. The results obtained from the two EMG evaluation experiments demonstrate that the proposed orthosis can reduce muscular power consumption during walking and proved the usability of the whole system.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125504046","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496354
Robert Tubman, K. Arif
This paper describes the programming and application of human searching and gesture recognition using a neck-like swivel mechanism attached to a mobile robot Pioneer 3-DX interfaced with a Microsoft Kinect sensor. We utilize color, depth and skeleton data streams from the Kinect to find and track people for gesture commands to do basic robotic movements like wander around, follow-me etc. Our findings from experimental evaluation of the developed system suggest that mounting of the Kinect on a neck-like mechanism helps the robot efficiently search for a person and reduce the total accumulated error in its odometry compared to having the sensor fixed to the robot base. Overall, the developed platform is very robust and flexible in terms of expandability.
{"title":"Efficient people search and gesture recognition using a Kinect interfaced mobile robot","authors":"Robert Tubman, K. Arif","doi":"10.1109/AMC.2016.7496354","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496354","url":null,"abstract":"This paper describes the programming and application of human searching and gesture recognition using a neck-like swivel mechanism attached to a mobile robot Pioneer 3-DX interfaced with a Microsoft Kinect sensor. We utilize color, depth and skeleton data streams from the Kinect to find and track people for gesture commands to do basic robotic movements like wander around, follow-me etc. Our findings from experimental evaluation of the developed system suggest that mounting of the Kinect on a neck-like mechanism helps the robot efficiently search for a person and reduce the total accumulated error in its odometry compared to having the sensor fixed to the robot base. Overall, the developed platform is very robust and flexible in terms of expandability.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126890098","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496351
Xi Wen, Yu Song, Wei Li, Genshe Chen, B. Xian
This paper develops a Google Glass-based system to achieve hands-free remote control of humanoid robots. This system transforms operator's head movements into control instructions via a rotation vector sensor mounted on the Google Glass. When a head movement is detected, the corresponding control instruction is sent through WI-FI to the robot. In order to verify the system, this paper designs an experiment in which an operator navigates a Nao humanoid robot with obstacle avoidance. The result shows that the robot is able to smoothly pass by all obstacles and walk to the destination without need for operator's hands.
{"title":"Rotation vector sensor-based remote control of a humanoid robot through a Google Glass","authors":"Xi Wen, Yu Song, Wei Li, Genshe Chen, B. Xian","doi":"10.1109/AMC.2016.7496351","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496351","url":null,"abstract":"This paper develops a Google Glass-based system to achieve hands-free remote control of humanoid robots. This system transforms operator's head movements into control instructions via a rotation vector sensor mounted on the Google Glass. When a head movement is detected, the corresponding control instruction is sent through WI-FI to the robot. In order to verify the system, this paper designs an experiment in which an operator navigates a Nao humanoid robot with obstacle avoidance. The result shows that the robot is able to smoothly pass by all obstacles and walk to the destination without need for operator's hands.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123241695","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 : 2016-04-22DOI: 10.1109/AMC.2016.7496414
M. A. Khanesar, O. Kaynak
This paper presents a recurrent interval type-2 neuro-fuzzy controller which benefits from a sliding mode theory-based training algorithm. The recurrent interval type-2 neuro-fuzzy benefits from recurrent type-2 membership functions with interval variances which are trained by a novel training method. Furthermore, the adaptation laws considered for the parameters of the controller benefit from an adaptive learning rate. The stability of the proposed training method is considered using an appropriate Lyapunov function. The proposed method is simulated on an electro hydraulic servo system. The results of simulations show that the proposed method can control the system with a satisfactory performance.
{"title":"Recurrent interval type-2 neuro-fuzzy control of an electro hydraulic servo system","authors":"M. A. Khanesar, O. Kaynak","doi":"10.1109/AMC.2016.7496414","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496414","url":null,"abstract":"This paper presents a recurrent interval type-2 neuro-fuzzy controller which benefits from a sliding mode theory-based training algorithm. The recurrent interval type-2 neuro-fuzzy benefits from recurrent type-2 membership functions with interval variances which are trained by a novel training method. Furthermore, the adaptation laws considered for the parameters of the controller benefit from an adaptive learning rate. The stability of the proposed training method is considered using an appropriate Lyapunov function. The proposed method is simulated on an electro hydraulic servo system. The results of simulations show that the proposed method can control the system with a satisfactory performance.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123805926","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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