Pub Date : 2012-10-01DOI: 10.1109/CCA.2012.6402653
Jinsung Kim, Seibum B. Choi, Heerak Lee, J. Koh
This paper proposes a control scheme based on robust internal-loop compensator for a clutch positioning system. The purpose of control is to achieve a precise position control of automotive dry-clutch actuator system module. Overall system consists of the electric motor and the mechanical subsystem. A set of dynamic model is developed and validated experimentally. Robust internal-loop compensator is used to compensate unmodeled effect and unknown nonlinearities. Simulation and experimental results show that the proposed scheme has a better performance and tracking accuracy compared with simple PID controller.
{"title":"Design of a robust internal-loop compensator of clutch positioning systems","authors":"Jinsung Kim, Seibum B. Choi, Heerak Lee, J. Koh","doi":"10.1109/CCA.2012.6402653","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402653","url":null,"abstract":"This paper proposes a control scheme based on robust internal-loop compensator for a clutch positioning system. The purpose of control is to achieve a precise position control of automotive dry-clutch actuator system module. Overall system consists of the electric motor and the mechanical subsystem. A set of dynamic model is developed and validated experimentally. Robust internal-loop compensator is used to compensate unmodeled effect and unknown nonlinearities. Simulation and experimental results show that the proposed scheme has a better performance and tracking accuracy compared with simple PID controller.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121834812","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402670
Mine M. Ozyetkin, N. Nath, E. Tatlicioglu, D. Dawson
Diabetes mellitus is a growing health problem worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. Today, the aim of the researchers is to develop a fully automated closed loop control system (i. e., artificial pancreas which is capable of continuous glucose sensing and regulating) that replicates the function of pancreatic beta cells. This equipment is supposed to be capable of maintaining normal blood glucose level on a desired level (4-6.2 mmol/L) and taking all factors affecting glucose concentration into account without inducing hypoglycemia and hyperglycemia. In this paper, control of the Bergman minimal mathematical model to regulate blood glucose level is discussed. The control problem is complicated by the fact that the model is considered to be uncertain. Furthermore, only the glucose level is assumed to be available for control development and other states such as insulin concentration and plasma insulin concentration are assumed to be unavailable for measurement. A novel robust controller is proposed that guarantees practical tracking of a desired glucose concentration.
{"title":"A new robust nonlinear control algorithm for the regulation of blood glucose in diabetic patients","authors":"Mine M. Ozyetkin, N. Nath, E. Tatlicioglu, D. Dawson","doi":"10.1109/CCA.2012.6402670","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402670","url":null,"abstract":"Diabetes mellitus is a growing health problem worldwide. Especially, the patients with Type 1 diabetes need strict glycemic control because they have deficiency of insulin production. Today, the aim of the researchers is to develop a fully automated closed loop control system (i. e., artificial pancreas which is capable of continuous glucose sensing and regulating) that replicates the function of pancreatic beta cells. This equipment is supposed to be capable of maintaining normal blood glucose level on a desired level (4-6.2 mmol/L) and taking all factors affecting glucose concentration into account without inducing hypoglycemia and hyperglycemia. In this paper, control of the Bergman minimal mathematical model to regulate blood glucose level is discussed. The control problem is complicated by the fact that the model is considered to be uncertain. Furthermore, only the glucose level is assumed to be available for control development and other states such as insulin concentration and plasma insulin concentration are assumed to be unavailable for measurement. A novel robust controller is proposed that guarantees practical tracking of a desired glucose concentration.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121908579","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402663
M. Boukhnifer, A. Raisemche
Induction motor is an important system component in integrated electrical vehicle working on different operating conditions. Due to these operations, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an induction motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback speed control of the induction motor will be solely controlled by the proportional integral PI performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.
{"title":"Fault tolerant control for induction motor in electrical vehicle","authors":"M. Boukhnifer, A. Raisemche","doi":"10.1109/CCA.2012.6402663","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402663","url":null,"abstract":"Induction motor is an important system component in integrated electrical vehicle working on different operating conditions. Due to these operations, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parameterization for an induction motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback speed control of the induction motor will be solely controlled by the proportional integral PI performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123993299","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402364
N. Zoghlami, L. Beji, R. Mlayeh, A. Abichou
This paper deals with the finite-time stability of dynamic perturbed systems. The Lyapunov stability case is studied for nonautonomous systems and where the autonomous part is considered as finite-time stable and augmented by a separable function related to time-varying perturbations. As a result, the nonautonomous perturbed system is showed finite-time stable. Sufficient conditions are proposed for finite-time stability of homogeneous and T-periodic systems and where the averaging method has lead to a perturbed average system. The autonomous X4 flyer attitude and position stabilizations are obtained in finite-time. Some simulation results illustrate the proposed stability method.
{"title":"The finite-time stability of perturbed systems","authors":"N. Zoghlami, L. Beji, R. Mlayeh, A. Abichou","doi":"10.1109/CCA.2012.6402364","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402364","url":null,"abstract":"This paper deals with the finite-time stability of dynamic perturbed systems. The Lyapunov stability case is studied for nonautonomous systems and where the autonomous part is considered as finite-time stable and augmented by a separable function related to time-varying perturbations. As a result, the nonautonomous perturbed system is showed finite-time stable. Sufficient conditions are proposed for finite-time stability of homogeneous and T-periodic systems and where the averaging method has lead to a perturbed average system. The autonomous X4 flyer attitude and position stabilizations are obtained in finite-time. Some simulation results illustrate the proposed stability method.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124134419","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402371
G. Chesi
This paper addresses the estimation and control of the robust domain of attraction (RDA) of equilibrium points through rational Lyapunov functions (LFs). Specifically, continuous-time uncertain polynomial systems are considered. The uncertainty is represented by a vector that affects poly-nomially the system and is constrained in a semialgebraic set. The estimation problem consists of computing the largest estimate of the RDA (LERDA) provided by a given rational LF. The control problem consists of computing a polynomial static output controller of given degree for maximizing such a LERDA. It is shown that lower bounds of the LERDA in the estimation problem, or the maximum achievable LERDA in the control problem, can be obtained by solving either an eigenvalue problem or a generalized eigenvalue problem with smaller dimension. The conservatism of these lower bounds can be reduced by increasing the degree of some multipliers introduced in the construction of the optimization problems. Some numerical examples illustrate the use of the proposed results.
{"title":"Robust domain of attraction: Computing and controlling estimates with non-polynomial Lyapunov functions","authors":"G. Chesi","doi":"10.1109/CCA.2012.6402371","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402371","url":null,"abstract":"This paper addresses the estimation and control of the robust domain of attraction (RDA) of equilibrium points through rational Lyapunov functions (LFs). Specifically, continuous-time uncertain polynomial systems are considered. The uncertainty is represented by a vector that affects poly-nomially the system and is constrained in a semialgebraic set. The estimation problem consists of computing the largest estimate of the RDA (LERDA) provided by a given rational LF. The control problem consists of computing a polynomial static output controller of given degree for maximizing such a LERDA. It is shown that lower bounds of the LERDA in the estimation problem, or the maximum achievable LERDA in the control problem, can be obtained by solving either an eigenvalue problem or a generalized eigenvalue problem with smaller dimension. The conservatism of these lower bounds can be reduced by increasing the degree of some multipliers introduced in the construction of the optimization problems. Some numerical examples illustrate the use of the proposed results.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130886335","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402334
N. Groot, B. Schutter, H. Hellendoorn
The class of reverse Stackelberg games, also known as incentives, embodies a structure for sequential decision making that has been recognized as a suitable approach for hierarchical control problems like road tolling and electricity pricing. In this game, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variables. Compared to the original Stackelberg game, the reverse Stackelberg approach has several advantages that will be emphasized in this survey. Since the reverse Stackelberg game has been studied in different research areas, first a comprehensive overview is provided of the definition of the game. Further, several areas of application are stated. In the companion paper entitled `Reverse Stackelberg Games, Part II: Results and Open Issues', main contributions are subsequently summarized along with several characteristics of the game and open issues that are relevant for further research, are presented.
这类反向Stackelberg博弈，也被称为激励机制，体现了一种顺序决策的结构，这种结构被认为是解决道路收费和电价等分层控制问题的合适方法。在这个博弈中，领导者先宣布追随者的决策空间映射到领导者的决策空间，然后追随者确定自己的最优决策变量。与最初的Stackelberg游戏相比，反向Stackelberg方法有几个优势，将在本调查中强调。由于反向Stackelberg博弈已经在不同的研究领域进行了研究，因此首先对博弈的定义进行了全面的概述。此外，还说明了几个应用领域。在题为“反向Stackelberg游戏，Part II: Results and Open Issues”的论文中，作者总结了该游戏的主要贡献以及与进一步研究相关的几个特征和开放问题。
{"title":"Reverse Stackelberg games, Part I: Basic framework","authors":"N. Groot, B. Schutter, H. Hellendoorn","doi":"10.1109/CCA.2012.6402334","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402334","url":null,"abstract":"The class of reverse Stackelberg games, also known as incentives, embodies a structure for sequential decision making that has been recognized as a suitable approach for hierarchical control problems like road tolling and electricity pricing. In this game, a leader player announces a mapping of the follower's decision space into the leader's decision space, after which a follower player determines his optimal decision variables. Compared to the original Stackelberg game, the reverse Stackelberg approach has several advantages that will be emphasized in this survey. Since the reverse Stackelberg game has been studied in different research areas, first a comprehensive overview is provided of the definition of the game. Further, several areas of application are stated. In the companion paper entitled `Reverse Stackelberg Games, Part II: Results and Open Issues', main contributions are subsequently summarized along with several characteristics of the game and open issues that are relevant for further research, are presented.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128713996","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402353
Keisuke Sano, H. Kawai, T. Murao, M. Fujita
This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter.
{"title":"Open-loop control for 2DOF robot manipulators with antagonistic bi-articular muscles","authors":"Keisuke Sano, H. Kawai, T. Murao, M. Fujita","doi":"10.1109/CCA.2012.6402353","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402353","url":null,"abstract":"This paper investigates open-loop control, which does not need the joint angles and velocities, for two degree of freedom(2DOF) robot manipulators with antagonistic bi-articular muscles which are passing over adjacent two joints and acting the both joints simultaneously. The manipulator dynamics of three muscle torques, we call the bi-articular manipulator dynamics, is constructed in order to design the control input. Stability analysis with respect to our proposed control law is discussed based on the Lyapunov method. Our approach is inspired by the fact that humans do not measure the joint angles and velocities explicitly, Finally, simulation results are shown in order to confirm the proposed method and given a design procedure in order to assign the tuning parameter.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125154001","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402362
Olof Sornmo, A. Robertsson, Anders Wanner
This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels. The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to that achieved manually.
{"title":"Force controlled knife-grinding with industrial robot","authors":"Olof Sornmo, A. Robertsson, Anders Wanner","doi":"10.1109/CCA.2012.6402362","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402362","url":null,"abstract":"This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels. The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to that achieved manually.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127971315","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402370
V. Makkapati, M. Reichhartinger, M. Horn
In this paper, the application of acceleration feedback technique for improving the performance of an industrial servo drive whose velocity loop bandwidth is limited by torsional oscillations, caused by mechanical resonance, is considered. Acceleration feedback works by effectively increasing the moment of inertia of the motor, thereby reducing the drive's sensitivity to mechanical resonance. The performance improvement achievable with this technique is limited due to the presence of dead time in the system. An extended version of this technique, using loop shaping techniques is proposed. It is shown experimentally that the extended version is superior to the original version in terms of achievable performance.
{"title":"Performance improvement of servo drives with mechanical elasticity via Extended Acceleration Feedback","authors":"V. Makkapati, M. Reichhartinger, M. Horn","doi":"10.1109/CCA.2012.6402370","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402370","url":null,"abstract":"In this paper, the application of acceleration feedback technique for improving the performance of an industrial servo drive whose velocity loop bandwidth is limited by torsional oscillations, caused by mechanical resonance, is considered. Acceleration feedback works by effectively increasing the moment of inertia of the motor, thereby reducing the drive's sensitivity to mechanical resonance. The performance improvement achievable with this technique is limited due to the presence of dead time in the system. An extended version of this technique, using loop shaping techniques is proposed. It is shown experimentally that the extended version is superior to the original version in terms of achievable performance.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126033952","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 : 2012-10-01DOI: 10.1109/CCA.2012.6402470
James H. Taylor, J. Åkerberg, Hazem M. S. Ibrahim, M. Gidlund
Wireless technology has gained much interest in industrial automation due to its flexibility, mobility, ease of installation, and lower cost. Wireless systems, in general, require additional and different engineering and maintenance tasks, for example cryptographic key management for security. The pace of application in process control has been impeded, however, by concern about the risks involved in incorporating wireless paths in feedback loops and making the accommodations necessary for reliable control. The issue is that there are conflicts between maintaining control loop performance and the usual objectives in managing a wireless sensor network. In this paper, we take a holistic approach that addresses safety, reliability and security in two primary aspects: communication and control; thus we hope to contribute a more complete roadmap for developing safe and secure wireless networked control systems. This proposed framework represents a synthesis of two formerly separate bodies of research, one primarily focussed on communication requirements for safety and security and the other on safe and reliable controls.
{"title":"Safe and secure wireless networked control systems","authors":"James H. Taylor, J. Åkerberg, Hazem M. S. Ibrahim, M. Gidlund","doi":"10.1109/CCA.2012.6402470","DOIUrl":"https://doi.org/10.1109/CCA.2012.6402470","url":null,"abstract":"Wireless technology has gained much interest in industrial automation due to its flexibility, mobility, ease of installation, and lower cost. Wireless systems, in general, require additional and different engineering and maintenance tasks, for example cryptographic key management for security. The pace of application in process control has been impeded, however, by concern about the risks involved in incorporating wireless paths in feedback loops and making the accommodations necessary for reliable control. The issue is that there are conflicts between maintaining control loop performance and the usual objectives in managing a wireless sensor network. In this paper, we take a holistic approach that addresses safety, reliability and security in two primary aspects: communication and control; thus we hope to contribute a more complete roadmap for developing safe and secure wireless networked control systems. This proposed framework represents a synthesis of two formerly separate bodies of research, one primarily focussed on communication requirements for safety and security and the other on safe and reliable controls.","PeriodicalId":284064,"journal":{"name":"2012 IEEE International Conference on Control Applications","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127236612","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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