Pub Date : 2016-04-22DOI: 10.1109/AMC.2016.7496347
Sakahisa Nagai, A. Kawamura
This study aims for the realization of a prototype tactile display which can interface with 2D haptic information. For this type of tactile display, multiple actuators with small volume and weight are required with the capability of position and force feedback control. The position and force sensors are usually large in terms of the volume. Thus, in this paper, compact solenoid actuators are used with a sensorless position and force estimation technique, and the estimated position and force information are used in bilateral control for communication of haptic information between master and slave actuators. A bilateral experimental system with master/slave actuators was constructed, and the experimental results indicated that the position and force were communicated in the master/slave system. As a result it was confirmed that the bilateral control was realized without position and force sensors with a small volume and light weight experimental setup.
{"title":"Realization of bilateral control by compact solenoid actuators without position and force sensors","authors":"Sakahisa Nagai, A. Kawamura","doi":"10.1109/AMC.2016.7496347","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496347","url":null,"abstract":"This study aims for the realization of a prototype tactile display which can interface with 2D haptic information. For this type of tactile display, multiple actuators with small volume and weight are required with the capability of position and force feedback control. The position and force sensors are usually large in terms of the volume. Thus, in this paper, compact solenoid actuators are used with a sensorless position and force estimation technique, and the estimated position and force information are used in bilateral control for communication of haptic information between master and slave actuators. A bilateral experimental system with master/slave actuators was constructed, and the experimental results indicated that the position and force were communicated in the master/slave system. As a result it was confirmed that the bilateral control was realized without position and force sensors with a small volume and light weight experimental setup.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"33 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":"122501912","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.2016.7496350
Benyan Huo, Xingang Zhao, Jianda Han, Weiliang Xu
The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to track a pre-plan path. In this paper, we propose an effective path tracking control method based on Model Predictive Control (MPC). The kinematics model of flexible needles is described firstly, according to which the control method is designed. Then, the path tracking control method is presented in detail. The finite prediction horizon of MPC is extended to infinite in order to obtain a global optimal solution. Due to the nonlinear model, the objective function of receding horizon optimization is also nonlinear, and Particle Swarm Optimization (PSO) is employed to search optimal predictive control series. At last, simulations are conducted and results illustrate that the proposed controller performs well to precisely drive the flexible needle to track a desired path.
{"title":"Path-tracking control of bevel-tip needles using Model Predictive Control","authors":"Benyan Huo, Xingang Zhao, Jianda Han, Weiliang Xu","doi":"10.1109/AMC.2016.7496350","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496350","url":null,"abstract":"The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to track a pre-plan path. In this paper, we propose an effective path tracking control method based on Model Predictive Control (MPC). The kinematics model of flexible needles is described firstly, according to which the control method is designed. Then, the path tracking control method is presented in detail. The finite prediction horizon of MPC is extended to infinite in order to obtain a global optimal solution. Due to the nonlinear model, the objective function of receding horizon optimization is also nonlinear, and Particle Swarm Optimization (PSO) is employed to search optimal predictive control series. At last, simulations are conducted and results illustrate that the proposed controller performs well to precisely drive the flexible needle to track a desired path.","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":"122960619","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.2016.7496398
Florent Hoareau, T. Murakami
Various situations can force people to rely on wheelchairs to be able to move. Despite the fact that cities are more and more aware of the difficulties that wheelchair users have to deal with and despite their increasing concern to provide them a friendlier environment, the gap between non-disabled people and disabled people still exists. To improve their quality of live, enhancements can also be done on the wheelchair itself. For example, electric wheelchairs reduce the required physical effort to move. But one of the trickiest situations are steps. They are omnipresent in cities and even if their rise height is small, they are still an obstacle. In this paper, a control method combining computer vision environment detection and modern control theory is proposed to achieve step-passage motion with a two-wheel wheelchair.
{"title":"A step passage strategy using environment recognition for an electric two-wheel wheelchair","authors":"Florent Hoareau, T. Murakami","doi":"10.1109/AMC.2016.7496398","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496398","url":null,"abstract":"Various situations can force people to rely on wheelchairs to be able to move. Despite the fact that cities are more and more aware of the difficulties that wheelchair users have to deal with and despite their increasing concern to provide them a friendlier environment, the gap between non-disabled people and disabled people still exists. To improve their quality of live, enhancements can also be done on the wheelchair itself. For example, electric wheelchairs reduce the required physical effort to move. But one of the trickiest situations are steps. They are omnipresent in cities and even if their rise height is small, they are still an obstacle. In this paper, a control method combining computer vision environment detection and modern control theory is proposed to achieve step-passage motion with a two-wheel wheelchair.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"57 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":"116515449","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.2016.7496399
Ippei Toyomasu, Naoya Tojo, T. Shimono, T. Mizoguchi
Comprehension of the arm condition is important for realization of effective rehabilitation support. In this paper, the measurements of the estimation of the impedance at the end effector of the arm are performed based on frequency analysis. Two experiments of the active muscle condition and relaxed muscle condition of the arm are carried out on the three directions determined in accordance with the functionally effective muscle (FEM) theory that the output direction at the end effector of the arm is derived from the output of the specific muscle groups. These experiments indicate how much the arm can increase the stiffness of the each direction at the end effector of the arm on the FEM theory. The experimental results show that the condition of specific muscle group can be evaluated from the impedance at the end effector of the arm.
{"title":"Estimation of mechanical impedance at end effector of arm based on frequency analysis","authors":"Ippei Toyomasu, Naoya Tojo, T. Shimono, T. Mizoguchi","doi":"10.1109/AMC.2016.7496399","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496399","url":null,"abstract":"Comprehension of the arm condition is important for realization of effective rehabilitation support. In this paper, the measurements of the estimation of the impedance at the end effector of the arm are performed based on frequency analysis. Two experiments of the active muscle condition and relaxed muscle condition of the arm are carried out on the three directions determined in accordance with the functionally effective muscle (FEM) theory that the output direction at the end effector of the arm is derived from the output of the specific muscle groups. These experiments indicate how much the arm can increase the stiffness of the each direction at the end effector of the arm on the FEM theory. The experimental results show that the condition of specific muscle group can be evaluated from the impedance at the end effector of the arm.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"7 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":"125910653","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.2016.7496341
D. Yashiro
Communication delay between a master robot and a slave robot destabilizes a bilateral control system. And some recent researches show that an adaptive controller that dynamically determines the master's controller gain depending on a stiffness of a contact object is effective to improve stability. However few researches show an influence of time-varying communication delay in adaptive controller based bilateral control systems. This paper therefore verifies an influence of time-varying communication delay. A PI (polynomial interpolation) with a schmitt trigger is utilized to estimate a stiffness of a contact object. Simulation results show that the PI based estimation method has a robustness against a constant/time-varying communication delay. An experiment of a bilateral control over an IP (Internet Protocol) network emulator also show the validity of the estimation method.
{"title":"Influence of time-varying communication delay in adaptive controller based bilateral control system","authors":"D. Yashiro","doi":"10.1109/AMC.2016.7496341","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496341","url":null,"abstract":"Communication delay between a master robot and a slave robot destabilizes a bilateral control system. And some recent researches show that an adaptive controller that dynamically determines the master's controller gain depending on a stiffness of a contact object is effective to improve stability. However few researches show an influence of time-varying communication delay in adaptive controller based bilateral control systems. This paper therefore verifies an influence of time-varying communication delay. A PI (polynomial interpolation) with a schmitt trigger is utilized to estimate a stiffness of a contact object. Simulation results show that the PI based estimation method has a robustness against a constant/time-varying communication delay. An experiment of a bilateral control over an IP (Internet Protocol) network emulator also show the validity of the estimation method.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"83 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":"127103408","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.2016.7496325
Kamal Mohy El Dine, Chuan Yang, T. Nozaki, T. Murakami
Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their posture and estimate its Center Of Mass (COM) and Zero-Moment Point (ZMP) motions to be used by a differential mobile robot that synchronize with the user's walking motion. Furthermore, a manipulator mounted on the mobile device to support the users from their back, help them walk, and assist in dangerous situations. In this study, the walking is divided into phases according to the falling index defined, and the impedance of the manipulator is changed based on the stability of the situation. Experiments of the walking assist control were carried out, and by their results the validity of the proposed approach is confirmed and the fall avoidance is realized.
{"title":"Novel walking assist device based on generic human motion tracking criteria","authors":"Kamal Mohy El Dine, Chuan Yang, T. Nozaki, T. Murakami","doi":"10.1109/AMC.2016.7496325","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496325","url":null,"abstract":"Replacing nurses and caregivers by human-friendly robots is drawing the attention of the next generation for elderly people assistance and those with special needs. However, the human-machine cooperative control is still a key challenge in this domain. This paper presents a new approach for walking assist control that uses Inertial Measurement Units (IMUs) fixed on elderly people's body to track their posture and estimate its Center Of Mass (COM) and Zero-Moment Point (ZMP) motions to be used by a differential mobile robot that synchronize with the user's walking motion. Furthermore, a manipulator mounted on the mobile device to support the users from their back, help them walk, and assist in dangerous situations. In this study, the walking is divided into phases according to the falling index defined, and the impedance of the manipulator is changed based on the stability of the situation. Experiments of the walking assist control were carried out, and by their results the validity of the proposed approach is confirmed and the fall avoidance is realized.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"24 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":"125231281","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.2016.7496368
D. Savitski, V. Ivanov, Dmitrij Schleinin, K. Augsburg, T. Putz, Chih Feng Lee
The paper presents results of analytical and experimental investigations on advanced control functions of decoupled electro-hydraulic brake system. These functions address continuous wheel slip control, variation of the brake pedal feel, and brake judder compensation. The performed study demonstrates that the electro-hydraulic brake system has improved performance by relevant criteria of safety and driving comfort both for conventional and electric vehicles.
{"title":"Advanced control functions of decoupled electro-hydraulic brake system","authors":"D. Savitski, V. Ivanov, Dmitrij Schleinin, K. Augsburg, T. Putz, Chih Feng Lee","doi":"10.1109/AMC.2016.7496368","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496368","url":null,"abstract":"The paper presents results of analytical and experimental investigations on advanced control functions of decoupled electro-hydraulic brake system. These functions address continuous wheel slip control, variation of the brake pedal feel, and brake judder compensation. The performed study demonstrates that the electro-hydraulic brake system has improved performance by relevant criteria of safety and driving comfort both for conventional and electric vehicles.","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":"130717994","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.2016.7496337
Sota Kaida, K. Seki, M. Iwasaki
This paper presents a development of shaking table mechanism, where the purpose is to generate vibrations in multiple directions in a space-saving manner as compared to the conventional shaking table mechanism. Since the proposed shaking table mechanism sets up each actuator in horizontal excitation direction on the side of the table, the movement of table requires the coordinated control of each actuator. In the proposed shaking table system, therefore, the references for each actuator are generated on the basis of the target table motion and geometric arrangement. In addition, zero phase error tracking algorithm as a feedforward compensator is applied to completely synchronize the motion of all actuators. The effectiveness of proposed shaking table mechanism and control system has been verified by numerical simulations using a horizontal shaken laboratory prototype.
{"title":"Development of space-saving mechanism in shaking table systems for earthquake simulators","authors":"Sota Kaida, K. Seki, M. Iwasaki","doi":"10.1109/AMC.2016.7496337","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496337","url":null,"abstract":"This paper presents a development of shaking table mechanism, where the purpose is to generate vibrations in multiple directions in a space-saving manner as compared to the conventional shaking table mechanism. Since the proposed shaking table mechanism sets up each actuator in horizontal excitation direction on the side of the table, the movement of table requires the coordinated control of each actuator. In the proposed shaking table system, therefore, the references for each actuator are generated on the basis of the target table motion and geometric arrangement. In addition, zero phase error tracking algorithm as a feedforward compensator is applied to completely synchronize the motion of all actuators. The effectiveness of proposed shaking table mechanism and control system has been verified by numerical simulations using a horizontal shaken laboratory prototype.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"354 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":"134497912","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.2016.7496349
L. Han, Zhi Ye
The linear vibratory feeding system plays an important role in the automated production line. It is often seen to use linear vibratory feeding system to transmit the part in an automated production line. The transmission efficiency of the linear vibratory feeding system has a great influence on the capacity of entire production line. So it has important value to research how to improve the efficiency of linear vibratory feeding system. We propose a novel linear vibratory feeding system based on servo motor technology. The servo control of linear vibratory feeding system and the related experiments are conducted in this paper. The result has a great value to improve the efficiency of linear vibratory feeding system.
{"title":"A study on a linear vibratory feeding system based on servo motor technology","authors":"L. Han, Zhi Ye","doi":"10.1109/AMC.2016.7496349","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496349","url":null,"abstract":"The linear vibratory feeding system plays an important role in the automated production line. It is often seen to use linear vibratory feeding system to transmit the part in an automated production line. The transmission efficiency of the linear vibratory feeding system has a great influence on the capacity of entire production line. So it has important value to research how to improve the efficiency of linear vibratory feeding system. We propose a novel linear vibratory feeding system based on servo motor technology. The servo control of linear vibratory feeding system and the related experiments are conducted in this paper. The result has a great value to improve the efficiency of linear vibratory feeding system.","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":"131345576","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.2016.7496338
D. Luo, Yi Wang, Xihong Wu
In this paper, the issue on how a robot autonomously achieves its motion skills is addressed, and an alternative learning approach based on hierarchical motion modelling is proposed. Within the hierarchical model, each robot motion skill is firstly characterized by a family of trajectories that belong to different layers, where inherent constraints among layers will be great helpful in reducing the searching space. Through utilizing the piecewise monotone cubic interpolation method, those trajectories are then parameterized so that a large number of optimization techniques could be applied possibly in model learning. To further debase the learning complexity so that a online learning process can be obtained, a Design of Experiments based Active Learning (DEAL) is employed, which provides an effective exploring strategy with actively selecting samples from hypothesis space by taking advantages from relations among hypotheses in the searching space. To obtain a more robust solution, a random gradient strategy is adopted to adapt or refine the learned output of DEAL. Since the whole online learning process is completed not only under the trial-and-error paradigm, but also without the using of prior dynamic information, the achieving of robot motion skills could be regarded in a completely autonomous style. Experiments are performed on a physical humanoid robot PKU-HR4, and the results illustrate that the proposed approach is effective and promising, which not only speeds up the convergence of the learning process by taking the merits of layered structure and active learning, but also leads to a better locomotion controller since the physical conditions of the involved real robot are taken into account.
{"title":"Autonomously achieving bipedal locomotion skill via hierarchical motion modelling","authors":"D. Luo, Yi Wang, Xihong Wu","doi":"10.1109/AMC.2016.7496338","DOIUrl":"https://doi.org/10.1109/AMC.2016.7496338","url":null,"abstract":"In this paper, the issue on how a robot autonomously achieves its motion skills is addressed, and an alternative learning approach based on hierarchical motion modelling is proposed. Within the hierarchical model, each robot motion skill is firstly characterized by a family of trajectories that belong to different layers, where inherent constraints among layers will be great helpful in reducing the searching space. Through utilizing the piecewise monotone cubic interpolation method, those trajectories are then parameterized so that a large number of optimization techniques could be applied possibly in model learning. To further debase the learning complexity so that a online learning process can be obtained, a Design of Experiments based Active Learning (DEAL) is employed, which provides an effective exploring strategy with actively selecting samples from hypothesis space by taking advantages from relations among hypotheses in the searching space. To obtain a more robust solution, a random gradient strategy is adopted to adapt or refine the learned output of DEAL. Since the whole online learning process is completed not only under the trial-and-error paradigm, but also without the using of prior dynamic information, the achieving of robot motion skills could be regarded in a completely autonomous style. Experiments are performed on a physical humanoid robot PKU-HR4, and the results illustrate that the proposed approach is effective and promising, which not only speeds up the convergence of the learning process by taking the merits of layered structure and active learning, but also leads to a better locomotion controller since the physical conditions of the involved real robot are taken into account.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"48 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":"115933901","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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