Pub Date : 2014-12-01DOI: 10.1109/ROBIO.2014.7090679
Jing Xia, Zainan Jiang, Hong Liu, H. Cai
This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.
{"title":"Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization","authors":"Jing Xia, Zainan Jiang, Hong Liu, H. Cai","doi":"10.1109/ROBIO.2014.7090679","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090679","url":null,"abstract":"This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131818336","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090321
T. Zou, F. Ni, Chuangqiang Guo, Weisi Ma, Hong Liu
Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.
{"title":"Parameter identification and controller design for flexible joint of Chinese space manipulator","authors":"T. Zou, F. Ni, Chuangqiang Guo, Weisi Ma, Hong Liu","doi":"10.1109/ROBIO.2014.7090321","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090321","url":null,"abstract":"Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint model. The controller is designed based on the theory of state feedback and pole assignment. To make the calculation of controller gains easier, more precise and more intuitive, the nominal stiffness is introduced. The simulation results and the experimental results indicate that the proposed controller can improve the dynamic performance and reduce the vibration of the manipulator compared with the traditional PD controller.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"236 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132274812","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090627
Shun Akamatsu, Naohiro Shimaji, T. Tomizawa
The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom from the top. The tracking component tracks the detected person using a Kalman filter. The counting component counts the number of people who enter and exit a structure. Experimental results obtained in the present study reveal that the proposed system can recognize individual pedestrians and count the number of people passing through crowded outdoor environments.
{"title":"Development of a person counting system using a 3D laser scanner","authors":"Shun Akamatsu, Naohiro Shimaji, T. Tomizawa","doi":"10.1109/ROBIO.2014.7090627","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090627","url":null,"abstract":"The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom from the top. The tracking component tracks the detected person using a Kalman filter. The counting component counts the number of people who enter and exit a structure. Experimental results obtained in the present study reveal that the proposed system can recognize individual pedestrians and count the number of people passing through crowded outdoor environments.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134429000","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090494
Lianhang Dou, Min Li, Y. Li, Qing-Ying Zhao, Jie Li, Zhongya Wang
This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot system in complicated environment. Based on standard ABC algorithm, a new objective function is derived for global planning of each robot's path. The initialization strategy and fitness function are also optimized to improve the performance of IABC algorithm. Compared with standard ABC algorithm, IABC algorithm simplifies the parameter setting and achieves better performance. The feasibility and availability of the proposed IABC algorithm have been verified by simulation results.
{"title":"A novel artificial bee colony optimization algorithm for global path planning of multi-robot systems","authors":"Lianhang Dou, Min Li, Y. Li, Qing-Ying Zhao, Jie Li, Zhongya Wang","doi":"10.1109/ROBIO.2014.7090494","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090494","url":null,"abstract":"This paper presents a path planning and collision avoidance method based on artificial bee colony (ABC) optimization algorithm for multi-robot systems. Standard ABC algorithm can find a proper way for the robots quickly, but it still has shortcomings. An improved artificial bee colony optimization algorithm (IABC) is proposed to plan a reasonable collision-free path for each robot of a multi-robot system in complicated environment. Based on standard ABC algorithm, a new objective function is derived for global planning of each robot's path. The initialization strategy and fitness function are also optimized to improve the performance of IABC algorithm. Compared with standard ABC algorithm, IABC algorithm simplifies the parameter setting and achieves better performance. The feasibility and availability of the proposed IABC algorithm have been verified by simulation results.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133789487","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090729
Lei Wang, Zhimin Zhou, Jun Wu, Yuncai Liu, Xu Zhao
Plane fitting plays an important role in image processing and computer vision. It is challenging because of the outliers that do not follow the plane pattern. In this work, we address the problem of support-plane fitting for room floor detection from point clouds that are generated from depth image. Based on the geometric layout of data, an optimization problem is derived to estimate the support-plane. Algorithms are also proposed to deal with data noise. The floor detection is achieved by support-plane fitting, and is employed as a reference to analyze the spatial organization of room scene. A projection method is presented to form the organization map. Experiments demonstrate the proposed method is more robust, and it achieves remarkable performance in understanding the spatial organization.
{"title":"Support-plane estimation for floor detection to understand regions' spatial organization","authors":"Lei Wang, Zhimin Zhou, Jun Wu, Yuncai Liu, Xu Zhao","doi":"10.1109/ROBIO.2014.7090729","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090729","url":null,"abstract":"Plane fitting plays an important role in image processing and computer vision. It is challenging because of the outliers that do not follow the plane pattern. In this work, we address the problem of support-plane fitting for room floor detection from point clouds that are generated from depth image. Based on the geometric layout of data, an optimization problem is derived to estimate the support-plane. Algorithms are also proposed to deal with data noise. The floor detection is achieved by support-plane fitting, and is employed as a reference to analyze the spatial organization of room scene. A projection method is presented to form the organization map. Experiments demonstrate the proposed method is more robust, and it achieves remarkable performance in understanding the spatial organization.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"12 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114046658","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090596
Yu Yang, Haoyao Chen, Y. Lou, Wei Lin
Intelligent robots have been using widely in medical field for the high precision, long working period, and lower costs. The integration of teleoperation system into surgical robots makes the remote surgery possible. This paper focuses on the force feedback and intelligent motion planning that enables master-slave control of heterogeneous manipulators. The slave arm works in a different scene from the master manipulator, which means that the arm assembled surgical instruments can't repeat master manipulator motion mechanical. To address the heterogeneous problem, the collision free trajectory is generated based on both manipulators' kinematic model and sample-based path planner. To improve the safety of surgical robots, virtual feedback-force is produced according to the distance between surgical instrument and the edge of surgical safe workspace.
{"title":"Remote master-slave control of a 6D manipulator for cardiac surgery application","authors":"Yu Yang, Haoyao Chen, Y. Lou, Wei Lin","doi":"10.1109/ROBIO.2014.7090596","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090596","url":null,"abstract":"Intelligent robots have been using widely in medical field for the high precision, long working period, and lower costs. The integration of teleoperation system into surgical robots makes the remote surgery possible. This paper focuses on the force feedback and intelligent motion planning that enables master-slave control of heterogeneous manipulators. The slave arm works in a different scene from the master manipulator, which means that the arm assembled surgical instruments can't repeat master manipulator motion mechanical. To address the heterogeneous problem, the collision free trajectory is generated based on both manipulators' kinematic model and sample-based path planner. To improve the safety of surgical robots, virtual feedback-force is produced according to the distance between surgical instrument and the edge of surgical safe workspace.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114238911","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090335
Bing Li, Haiyang Jin, Min Fang, Ying Hu, Peng Zhang
During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.
{"title":"Spinal physiological motion simulator and compensation method for a robotic spinal surgical system","authors":"Bing Li, Haiyang Jin, Min Fang, Ying Hu, Peng Zhang","doi":"10.1109/ROBIO.2014.7090335","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090335","url":null,"abstract":"During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114823808","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090315
T. Guan, Dongxiang Zhou, Weihong Fan, Keju Peng, Chao Xu, Xuanping Cai
Cell image segmentation is one of the hot topics in medical image processing. Most of the classical cell image segmentation algorithms perform the segmentation directly on the original image and result in the loss of the cell nuclei with low intensity contrast. To solve this problem, this paper presents a novel nuclei segmentation method. Based on analyzing the characteristics of the cell nuclei, we first enhance the nuclei according to their unique features in the image. The proposed nuclei enhancement method combines the intensity and the color information of the image, and is thus effective to enhance the nuclei with relatively low intensity contrast. Then, the morphological reconstruction is employed to extract the regional maxima of the enhanced image, and several shape description parameters are finally used to screen out the true cell nuclei from the extracted regions. Experiments have been performed on real cervical smear images, and the results validate the effectiveness of the proposed method for nuclei segmentation in cervical smear images.
{"title":"Nuclei enhancement and segmentation in color cervical smear images","authors":"T. Guan, Dongxiang Zhou, Weihong Fan, Keju Peng, Chao Xu, Xuanping Cai","doi":"10.1109/ROBIO.2014.7090315","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090315","url":null,"abstract":"Cell image segmentation is one of the hot topics in medical image processing. Most of the classical cell image segmentation algorithms perform the segmentation directly on the original image and result in the loss of the cell nuclei with low intensity contrast. To solve this problem, this paper presents a novel nuclei segmentation method. Based on analyzing the characteristics of the cell nuclei, we first enhance the nuclei according to their unique features in the image. The proposed nuclei enhancement method combines the intensity and the color information of the image, and is thus effective to enhance the nuclei with relatively low intensity contrast. Then, the morphological reconstruction is employed to extract the regional maxima of the enhanced image, and several shape description parameters are finally used to screen out the true cell nuclei from the extracted regions. Experiments have been performed on real cervical smear images, and the results validate the effectiveness of the proposed method for nuclei segmentation in cervical smear images.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123321064","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090699
Elisa C. M. Pereira, Danilo Alves de Lima, A. Victorino
This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide a rich database containing information about the environment structure, like speed limit, number of lanes, traffic directions, etc. Associating the data extracted from the digital map with local navigation approaches, the vehicle is able to perform its global navigation task. The experiments take into account real data and a simulated scenario, which show the viability of this approach.
{"title":"Autonomous vehicle global navigation approach associating sensor based control and digital maps","authors":"Elisa C. M. Pereira, Danilo Alves de Lima, A. Victorino","doi":"10.1109/ROBIO.2014.7090699","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090699","url":null,"abstract":"This paper proposes a global navigation strategy for autonomous vehicle combining sensor based control and digital maps information. In order to avoid localization problems in urban environments, this approach intends to solve the global navigation focusing on two local navigation tasks: road lane following and road intersection maneuvers. For that, it is important to use digital maps, once they provide a rich database containing information about the environment structure, like speed limit, number of lanes, traffic directions, etc. Associating the data extracted from the digital map with local navigation approaches, the vehicle is able to perform its global navigation task. The experiments take into account real data and a simulated scenario, which show the viability of this approach.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124444114","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 : 2014-12-01DOI: 10.1109/ROBIO.2014.7090327
Qingzeng Ma, Guodong Yang, E. Li, Zi-ze Liang
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported by four serial chains with three degree of freedoms (DOFs). The kinematics analysis of the parallel mechanism with four serial chains is provided. To solve the coplanar problem of four screws, a control method based on linear interpolation with parabola transition is introduced. Surface fitting algorithm based on geometric relations is used to simulate the land surface. Experiment results demonstrate the effectiveness of the system and the methods proposed.
{"title":"Design, control and planning for a crustal movement simulation system","authors":"Qingzeng Ma, Guodong Yang, E. Li, Zi-ze Liang","doi":"10.1109/ROBIO.2014.7090327","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090327","url":null,"abstract":"Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported by four serial chains with three degree of freedoms (DOFs). The kinematics analysis of the parallel mechanism with four serial chains is provided. To solve the coplanar problem of four screws, a control method based on linear interpolation with parabola transition is introduced. Surface fitting algorithm based on geometric relations is used to simulate the land surface. Experiment results demonstrate the effectiveness of the system and the methods proposed.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124451760","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：