Pub Date : 2018-11-01DOI: 10.1109/CACS.2018.8606777
B. Smolka
In the paper a geneneralization of the Sharpening Vector Median Filter (SVMF) intended for the impulsive noise removal and edge sharpening in color images is presented. The novel enhancement technique utilizes a reachability measure between pixels, which combines the Euclidean distance and pixels similarities to the local neighborhoods. The performed experiments show that the new image enhancement framework offers much better denoising properties than the traditional Vector Median Filter and compares favorably with the SVMF.
{"title":"Robust Sharpening Vector Median Filter","authors":"B. Smolka","doi":"10.1109/CACS.2018.8606777","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606777","url":null,"abstract":"In the paper a geneneralization of the Sharpening Vector Median Filter (SVMF) intended for the impulsive noise removal and edge sharpening in color images is presented. The novel enhancement technique utilizes a reachability measure between pixels, which combines the Euclidean distance and pixels similarities to the local neighborhoods. The performed experiments show that the new image enhancement framework offers much better denoising properties than the traditional Vector Median Filter and compares favorably with the SVMF.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131206915","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606753
Chang-Ming Wu, Der-Cherng Liaw, Hung-Tse Lee
In this paper, we propose a potential modified route-searching algorithm to find all feasible paths in a new place which is like an unknown maze. The maze-like place is assumed to be a region constructed by grids and each grid is supposed to have at most four directions for moving. A searching algorithm is developed to accomplish the required tasks for patrolling every path in the new place. Based on the traditional depth-first graph traversal method, we build up a local-maze coordinate system to record the visited pathway. The main results of this paper will give an experiment simulation to demonstrate the success of proposed design.
{"title":"A Method for Finding the Routes of Mazes","authors":"Chang-Ming Wu, Der-Cherng Liaw, Hung-Tse Lee","doi":"10.1109/CACS.2018.8606753","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606753","url":null,"abstract":"In this paper, we propose a potential modified route-searching algorithm to find all feasible paths in a new place which is like an unknown maze. The maze-like place is assumed to be a region constructed by grids and each grid is supposed to have at most four directions for moving. A searching algorithm is developed to accomplish the required tasks for patrolling every path in the new place. Based on the traditional depth-first graph traversal method, we build up a local-maze coordinate system to record the visited pathway. The main results of this paper will give an experiment simulation to demonstrate the success of proposed design.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"206 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115378394","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606730
Ting-Hao Wang, Ding-Gong Sung, Pei-Chun Lin
This paper presents a behavior decision strategy for the leg-wheel transformable robot, TurboQuad-V. By using real-time RGBD information combined with the gait selection policy concluded from the single-leg-wheel dynamic simulation, the robot can perform autonomous gait switching and basic obstacle avoidance on multiple terrains.
{"title":"Terrain Classification, Navigation, and Gait Selection in a Leg-Wheel Transformable Robot by Using Environmental RGBD Information","authors":"Ting-Hao Wang, Ding-Gong Sung, Pei-Chun Lin","doi":"10.1109/CACS.2018.8606730","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606730","url":null,"abstract":"This paper presents a behavior decision strategy for the leg-wheel transformable robot, TurboQuad-V. By using real-time RGBD information combined with the gait selection policy concluded from the single-leg-wheel dynamic simulation, the robot can perform autonomous gait switching and basic obstacle avoidance on multiple terrains.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"535 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115842861","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606749
Umer Hameed Shah, K. Hong
This paper presents an active control scheme for suppressing the vortex-induced vibrations of a nuclear fuel rod transported under water. A refueling machine (RM), which is an overhead crane, is used for transporting the rod, vertically, such that one end of the rod is fixed to the RM and the other one hangs free (i.e., in cantilever configuration). First, Hamilton’s principle is used in developing a hybrid lumped-mass (i.e., the RM) and distributed parameter (i.e., the rod) model of the considered system. Then, a boundary control scheme is developed to suppress the vortex-induced vibrations of the rod by utilizing control actuation only at the top boundary (i.e., the rod/RM interface). Further, Lyapunov function-based analyses are performed to prove the uniform ultimate boundedness of the closed-loop system. To demonstrate the effectiveness of the proposed control scheme, simulations have been performed.
{"title":"Dynamics and Control of a Nuclear Refueling Machine","authors":"Umer Hameed Shah, K. Hong","doi":"10.1109/CACS.2018.8606749","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606749","url":null,"abstract":"This paper presents an active control scheme for suppressing the vortex-induced vibrations of a nuclear fuel rod transported under water. A refueling machine (RM), which is an overhead crane, is used for transporting the rod, vertically, such that one end of the rod is fixed to the RM and the other one hangs free (i.e., in cantilever configuration). First, Hamilton’s principle is used in developing a hybrid lumped-mass (i.e., the RM) and distributed parameter (i.e., the rod) model of the considered system. Then, a boundary control scheme is developed to suppress the vortex-induced vibrations of the rod by utilizing control actuation only at the top boundary (i.e., the rod/RM interface). Further, Lyapunov function-based analyses are performed to prove the uniform ultimate boundedness of the closed-loop system. To demonstrate the effectiveness of the proposed control scheme, simulations have been performed.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"336 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122136304","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606735
Zhenning Yu, S. Wong
The underactuated system adaptive control is a tough problem since its dynamic model limitation and nonlinear unknown parameters. In this paper, based on a two active wheels mobile robot kinematics and dynamics model, a Radial Basis Function neural network (RBFnn) was embedded into control system to approximate unknown terms. In mathematics aspect, the control algorithm is based on Lyapunov direct theory and backstepping method, which solving the states (position, orientation, velocity, etc) errors boundedness and convergence problem. The controller includes following aspects: 1.Driving robots states approach to predefined location, 2.Using saturation to avoid step signal disturbance, 3.Approximate unmodeled dynamic terms by RBF neural network. Moreover, a kind of cooperation control methodology was designed, to ensure several robots running in a specific formation. Finally, the simulation results performs that the system is stable and reasonable in the large modeling errors.
{"title":"Cooperation Control of Under-actuated Mobile Robots with RBF-NN Approximator","authors":"Zhenning Yu, S. Wong","doi":"10.1109/CACS.2018.8606735","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606735","url":null,"abstract":"The underactuated system adaptive control is a tough problem since its dynamic model limitation and nonlinear unknown parameters. In this paper, based on a two active wheels mobile robot kinematics and dynamics model, a Radial Basis Function neural network (RBFnn) was embedded into control system to approximate unknown terms. In mathematics aspect, the control algorithm is based on Lyapunov direct theory and backstepping method, which solving the states (position, orientation, velocity, etc) errors boundedness and convergence problem. The controller includes following aspects: 1.Driving robots states approach to predefined location, 2.Using saturation to avoid step signal disturbance, 3.Approximate unmodeled dynamic terms by RBF neural network. Moreover, a kind of cooperation control methodology was designed, to ensure several robots running in a specific formation. Finally, the simulation results performs that the system is stable and reasonable in the large modeling errors.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115939391","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606743
Chiawei Liang, T. Hsiao, C. Hsiao
Exoskeletons have been widely used as walking assistive devices for military and rehabilitation purposes. Many exoskeleton control systems detect users’ intention by directly sensing their biological signals such as EMG, EEG, force, etc. Therefore, additional sensors are required, resulting in high cost and inconvenience of putting on and taking off the exoskeleton. In this paper, the user’s intention is detected by estimating the torque exerted by the user based on exoskeleton dynamics as well as the current and angle of each joint motor; hence, requirements of sensors are diminished. Moreover, we conduct compliance control by modifying joint velocity commands according to the estimated torque and predefined mechanical admittance of each joint. Experiments are carried out to demonstrate that satisfactory estimation of the user’s torque can be achieved by the proposed method.
{"title":"Joint Torque Estimation of a Powered Exoskeleton Under Compliance Control Loop","authors":"Chiawei Liang, T. Hsiao, C. Hsiao","doi":"10.1109/CACS.2018.8606743","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606743","url":null,"abstract":"Exoskeletons have been widely used as walking assistive devices for military and rehabilitation purposes. Many exoskeleton control systems detect users’ intention by directly sensing their biological signals such as EMG, EEG, force, etc. Therefore, additional sensors are required, resulting in high cost and inconvenience of putting on and taking off the exoskeleton. In this paper, the user’s intention is detected by estimating the torque exerted by the user based on exoskeleton dynamics as well as the current and angle of each joint motor; hence, requirements of sensors are diminished. Moreover, we conduct compliance control by modifying joint velocity commands according to the estimated torque and predefined mechanical admittance of each joint. Experiments are carried out to demonstrate that satisfactory estimation of the user’s torque can be achieved by the proposed method.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121298521","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606748
Jhe-Yu Lin, Jing-Rong Chen, Yih-Guang Leu
This study designs a two-wheeled mobile platform with autonomous movement and face following functionality. The autonomous movement mechanism uses the change of the center of gravity to make the two-wheeled mobile platform move forward or backward, and utilizes simultaneously the PID controller to keep its balance. The face following functionality uses a tablet with an image sensor and an image processing to perform face recognition, and finds a tracking direction. Experimental results show that the two-wheeled mobile platform can perform autonomous balance, the movement and face tracking functionality.
{"title":"The Design of a Two-wheeled Mobile Platform with Face Following Functionality","authors":"Jhe-Yu Lin, Jing-Rong Chen, Yih-Guang Leu","doi":"10.1109/CACS.2018.8606748","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606748","url":null,"abstract":"This study designs a two-wheeled mobile platform with autonomous movement and face following functionality. The autonomous movement mechanism uses the change of the center of gravity to make the two-wheeled mobile platform move forward or backward, and utilizes simultaneously the PID controller to keep its balance. The face following functionality uses a tablet with an image sensor and an image processing to perform face recognition, and finds a tracking direction. Experimental results show that the two-wheeled mobile platform can perform autonomous balance, the movement and face tracking functionality.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126667594","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606750
L. Ko, Yang Chang, Peilun Wu, Yi-Chen Lu, Chia-Lung Yeh, Yun-Ju Chen
Brain computer interface (BCI) is a method of communication between human brain and external device. Among the existing BCIs, steady-state visual evoked potential (SSVEP) is a common BCI technique due to its excellent signal-to-noise ratio (SNR) and relative immunity against artifacts. However, it remains some limitations regarding applying such technique in practical scenarios; one of the limitations is the trade-off between wet and dry EEG electrodes. In this study, we proposed a novel moisture retention sponge electrode and an innovative differentiable power algorithm for developing SSVEP-based BCI applications. The test of impedance suggested that the sponge electrode exhibited lower impedance compared with metal electrodes, which is adequate when hair is present. The proposed algorithm also demonstrated better accuracy regarding SSVEP-based BCI application. Adopting both innovations could strengthen the feasibility of the real-world applications of BCI.
{"title":"Novel Moisture Retention Sponge Electrodes for Developing a Wireless EEG SSVEP-based BCI System","authors":"L. Ko, Yang Chang, Peilun Wu, Yi-Chen Lu, Chia-Lung Yeh, Yun-Ju Chen","doi":"10.1109/CACS.2018.8606750","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606750","url":null,"abstract":"Brain computer interface (BCI) is a method of communication between human brain and external device. Among the existing BCIs, steady-state visual evoked potential (SSVEP) is a common BCI technique due to its excellent signal-to-noise ratio (SNR) and relative immunity against artifacts. However, it remains some limitations regarding applying such technique in practical scenarios; one of the limitations is the trade-off between wet and dry EEG electrodes. In this study, we proposed a novel moisture retention sponge electrode and an innovative differentiable power algorithm for developing SSVEP-based BCI applications. The test of impedance suggested that the sponge electrode exhibited lower impedance compared with metal electrodes, which is adequate when hair is present. The proposed algorithm also demonstrated better accuracy regarding SSVEP-based BCI application. Adopting both innovations could strengthen the feasibility of the real-world applications of BCI.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120958108","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606744
Chien Y. Huang, Bo-Fong Wu, Chun-Lin Chen, M. Tsai
The technological developments for wind power generation have attracted wide attention over past decades. One of the most interested topics is the frequency regulation of generated power that enables a wind turbine to be directly connected with the power grid under variable blade speeds. This study presents a generator-motor integrated structure which can maintain the required frequency by controlling a constant rotor speed of generator. Through the measured generator rotor position, a full closed-loop position control structure is realized to ensure zero steady-state speed tracking error. Moreover, the concept of compliance ratio control is also employed in this study to avoid vibration problem caused by conventional speed control approaches. The simulation results show the feasibility of the proposed control approach.
{"title":"A New Control Approach for Power Generation System Based on Compliance Ratio and Full Closed-loop Position Control","authors":"Chien Y. Huang, Bo-Fong Wu, Chun-Lin Chen, M. Tsai","doi":"10.1109/CACS.2018.8606744","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606744","url":null,"abstract":"The technological developments for wind power generation have attracted wide attention over past decades. One of the most interested topics is the frequency regulation of generated power that enables a wind turbine to be directly connected with the power grid under variable blade speeds. This study presents a generator-motor integrated structure which can maintain the required frequency by controlling a constant rotor speed of generator. Through the measured generator rotor position, a full closed-loop position control structure is realized to ensure zero steady-state speed tracking error. Moreover, the concept of compliance ratio control is also employed in this study to avoid vibration problem caused by conventional speed control approaches. The simulation results show the feasibility of the proposed control approach.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127929191","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 : 2018-11-01DOI: 10.1109/CACS.2018.8606765
Yu-Te Wu, Tzu-Hsuan Huang, Chun Yi Lin, S. Tsai, Po-Shan Wang
In this study, we used two machine learning algorithms, namely, linear support vector machine (SVM) and convolutional neural network (CNN), to classify the BCI (Brain Computer interface) competition IV-2a 2-class MI (motor imagery) data set which consists of EEG data from 9 subjects. For each subject, 5 sessions of signals from three electrodes (C3, Cz, and C4) were recorded with sampling rate 250Hz. The training data, which consisted of the first 3 sessions, included 400 trials. The evaluation data, which consisted of the last 2 sessions, included 320 trials. Each trial started with gazing at fix cross on screen for 3 seconds followed by a one-second visual cue pointing either to the left or right to instruct the subject for left or right motor imagery over a period of 4 seconds, and then followed by a short break of at least 1.5 seconds. Features were extracted from the 0.5 to 2.5 second signals after the cue for each trial from C3 and C4. Each EEG trial was band pass filtered into different frequency bands, namely, delta (0.5-3Hz), theta (4-8Hz), alpha (8-12Hz), beta bands (13-30Hz), gamma bands (31-60Hz). Those filtered signals were then used as the input data for training the linear SVM. In addition, we generated a 2 by 500 matrix by down sampling the training data from each trial. There are 5760 such matrices in total generated from all subjects and serve as the input data for training CNN and the trained model was evaluated by another 340 matrices from each subject. Our CNN architecture consisted of 2 convolution layer and 2 fully connect layers, and there was a batch normalization layer before the activated layer and a dropout layer with a probability of 50% after the activated layer. The classification accuracies evaluated by averaged kappa values obtained from linear SVM and CNN are 0.5 and 0.621, respectively, suggesting the deep learning CNN method is superior to the classical linear SVM on the EEG classification.
{"title":"Classification of EEG Motor Imagery Using Support Vector Machine and Convolutional Neural Network","authors":"Yu-Te Wu, Tzu-Hsuan Huang, Chun Yi Lin, S. Tsai, Po-Shan Wang","doi":"10.1109/CACS.2018.8606765","DOIUrl":"https://doi.org/10.1109/CACS.2018.8606765","url":null,"abstract":"In this study, we used two machine learning algorithms, namely, linear support vector machine (SVM) and convolutional neural network (CNN), to classify the BCI (Brain Computer interface) competition IV-2a 2-class MI (motor imagery) data set which consists of EEG data from 9 subjects. For each subject, 5 sessions of signals from three electrodes (C3, Cz, and C4) were recorded with sampling rate 250Hz. The training data, which consisted of the first 3 sessions, included 400 trials. The evaluation data, which consisted of the last 2 sessions, included 320 trials. Each trial started with gazing at fix cross on screen for 3 seconds followed by a one-second visual cue pointing either to the left or right to instruct the subject for left or right motor imagery over a period of 4 seconds, and then followed by a short break of at least 1.5 seconds. Features were extracted from the 0.5 to 2.5 second signals after the cue for each trial from C3 and C4. Each EEG trial was band pass filtered into different frequency bands, namely, delta (0.5-3Hz), theta (4-8Hz), alpha (8-12Hz), beta bands (13-30Hz), gamma bands (31-60Hz). Those filtered signals were then used as the input data for training the linear SVM. In addition, we generated a 2 by 500 matrix by down sampling the training data from each trial. There are 5760 such matrices in total generated from all subjects and serve as the input data for training CNN and the trained model was evaluated by another 340 matrices from each subject. Our CNN architecture consisted of 2 convolution layer and 2 fully connect layers, and there was a batch normalization layer before the activated layer and a dropout layer with a probability of 50% after the activated layer. The classification accuracies evaluated by averaged kappa values obtained from linear SVM and CNN are 0.5 and 0.621, respectively, suggesting the deep learning CNN method is superior to the classical linear SVM on the EEG classification.","PeriodicalId":282633,"journal":{"name":"2018 International Automatic Control Conference (CACS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131447308","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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