Pub Date : 2014-12-01DOI: 10.1109/ROBIO.2014.7090556
Jelena Prsa, Juliane Müller, F. Irlinger, T. Lüth
This paper presents an evaluation of an algorithm that optimises the infills of the geometries that contain at least one pointed end. Computation of the infills, as a part of path planning, falls within the slicing procedure, which in turn is a standard process step in creating a 3D part via rapid prototyping techniques. The computation of the infill trajectories were conducted according to its final application - a droplet generating 3D printer that extrudes plastic droplets on a moving platform. The most commonly used infill techniques are several boundary contours followed by either raster lines or further contours. With these standard techniques particular geometries that contain narrow sub-geometries or pointed ends are not properly filled. The improper infilling results partly due to the limitation on the size of the extruding unit and partly due to the standard trajectories, that do not take in account particular geometry shapes. In particular, the faulty infilling results in voids (underfills) and/or bulges (over-fills). In their previous work, the authors presented a novel algorithm, that concentrates on the pointed end geometries and computes the trajectories for the droplet positioning such that the under-fills and over-fills are minimised. As an extension to the proposed algorithm, this paper presents the algorithm outcome in a form of a look-up table. To every sharp angle a number of insertions of additional droplets, as well as the number of deletions is assigned. Moreover, a 3D model of a pointed end has been sliced and filled according to the algorithmic results and compared with the 3D parts filled according to the standard infill techniques. The printed parts demonstrate the effectiveness of the improved infills. After measuring the height profile of the different parts, the parts printed as suggested by the algorithm led to the smoothest final surface.
{"title":"Evaluation of the infill algorithm for trajectory planning of pointed ends for droplet-generating 3D printers","authors":"Jelena Prsa, Juliane Müller, F. Irlinger, T. Lüth","doi":"10.1109/ROBIO.2014.7090556","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090556","url":null,"abstract":"This paper presents an evaluation of an algorithm that optimises the infills of the geometries that contain at least one pointed end. Computation of the infills, as a part of path planning, falls within the slicing procedure, which in turn is a standard process step in creating a 3D part via rapid prototyping techniques. The computation of the infill trajectories were conducted according to its final application - a droplet generating 3D printer that extrudes plastic droplets on a moving platform. The most commonly used infill techniques are several boundary contours followed by either raster lines or further contours. With these standard techniques particular geometries that contain narrow sub-geometries or pointed ends are not properly filled. The improper infilling results partly due to the limitation on the size of the extruding unit and partly due to the standard trajectories, that do not take in account particular geometry shapes. In particular, the faulty infilling results in voids (underfills) and/or bulges (over-fills). In their previous work, the authors presented a novel algorithm, that concentrates on the pointed end geometries and computes the trajectories for the droplet positioning such that the under-fills and over-fills are minimised. As an extension to the proposed algorithm, this paper presents the algorithm outcome in a form of a look-up table. To every sharp angle a number of insertions of additional droplets, as well as the number of deletions is assigned. Moreover, a 3D model of a pointed end has been sliced and filled according to the algorithmic results and compared with the 3D parts filled according to the standard infill techniques. The printed parts demonstrate the effectiveness of the improved infills. After measuring the height profile of the different parts, the parts printed as suggested by the algorithm led to the smoothest final surface.","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":"124350294","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.2014.7090632
Cong Dung Pham, P. From
This paper presents a new performance metric for serial manipulators with velocity constraints on the chain. These systems arise in several different applications such as serial manipulators in the presence of obstacles and in robotics-assisted minimally invasive surgery. It is important to know how constraints on the chain affect the mobility of the end effector and we therefore present a reformulation of the dynamic manipulability of the end effector for serial manipulators with velocity constraints on the chain. In this paper we propose to use the Constrained Jacobian Matrix, i.e., an analytical mapping between the end-effector and joint velocities that also takes the chain constraints into account. The approach allows us to compare the dynamic manipulability of serial manipulators with and without constraints and we show through a simple planar example how the dynamic manipulability is reduced as a result of the trocar constraint in minimally invasive surgery.
{"title":"Dynamic manipulability of velocity-constrained serial robotic manipulators","authors":"Cong Dung Pham, P. From","doi":"10.1109/ROBIO.2014.7090632","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090632","url":null,"abstract":"This paper presents a new performance metric for serial manipulators with velocity constraints on the chain. These systems arise in several different applications such as serial manipulators in the presence of obstacles and in robotics-assisted minimally invasive surgery. It is important to know how constraints on the chain affect the mobility of the end effector and we therefore present a reformulation of the dynamic manipulability of the end effector for serial manipulators with velocity constraints on the chain. In this paper we propose to use the Constrained Jacobian Matrix, i.e., an analytical mapping between the end-effector and joint velocities that also takes the chain constraints into account. The approach allows us to compare the dynamic manipulability of serial manipulators with and without constraints and we show through a simple planar example how the dynamic manipulability is reduced as a result of the trocar constraint in minimally invasive surgery.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"64 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":"124521408","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.2014.7090482
Cong Du, Kit-Hang Lee, W. Newman
Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder, turning a valve, and turning a door handle.
{"title":"Manipulation planning for the Atlas humanoid robot","authors":"Cong Du, Kit-Hang Lee, W. Newman","doi":"10.1109/ROBIO.2014.7090482","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090482","url":null,"abstract":"Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder, turning a valve, and turning a door handle.","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":"126383602","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.2014.7090445
Xiancui Wei, Zhiguo Shi
Leader-follower based formation control is a promising technique in multi-robot motion planning system. When the pose of leader-robot mutated or disturbed by external disturbance, the follower-robot usually cannot react quickly, resulting in loss tracing. A redundant adaptive robust Kalman filter (RAREKF) is adopted to predict the relative movement parameters between the leader and follower, so that the followers can reach the desired position and orientation quickly and accurately. According to the actual situation, the redundancy factor in RAREKF is designed to compensate the timeliness lack of the tracking process. This approach has the advantages of eliminating the system state noises and errors generated by the sudden change of formation, which can ensure rapidity and accuracy of the tracking process and maintain the stability of the formation. The validity of the method mentioned above has been verified by simulation experiments.
{"title":"Position adaptive formation control for multi-robot system using a redundant adaptive robust Kalman filter","authors":"Xiancui Wei, Zhiguo Shi","doi":"10.1109/ROBIO.2014.7090445","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090445","url":null,"abstract":"Leader-follower based formation control is a promising technique in multi-robot motion planning system. When the pose of leader-robot mutated or disturbed by external disturbance, the follower-robot usually cannot react quickly, resulting in loss tracing. A redundant adaptive robust Kalman filter (RAREKF) is adopted to predict the relative movement parameters between the leader and follower, so that the followers can reach the desired position and orientation quickly and accurately. According to the actual situation, the redundancy factor in RAREKF is designed to compensate the timeliness lack of the tracking process. This approach has the advantages of eliminating the system state noises and errors generated by the sudden change of formation, which can ensure rapidity and accuracy of the tracking process and maintain the stability of the formation. The validity of the method mentioned above has been verified by simulation experiments.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"2 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":"125257596","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.2014.7090747
Wei Song, X. Liu, Yang Zhou, Yanan Zhang, Linyong Shen
In Inertia Confinement Fusion (ICF) physical experiments, the accuracy of target positioning affects the successful rate of target hitting directly. A 3-CCD camera system is often used for tiny target measurement in ICF target positioning. Most of the current pose measurement methods utilize the well-known digital image processing technology to extract the target features in each image, then calculates the target's spatial coordinate and rotation matrix by integrating the feature values from three CCDs. Therefore, feature extraction errors in each image are superimposed in final result, which reduces the pose measurement precision. In this paper, we propose a solid model-based method which matching the target as a whole by the grey values in each image without utilizing image processing technology. The solid model matching optimistic problem is solved by an improved genetic algorithm (GA), called adaptive GA. Experiment is performed by using a 3-CCD camera system with general GA and adaptive GA respectively, the result shows the effectiveness of our adaptive GA in improving speed and accuracy.
{"title":"Improved GA-based ICF target pose measurement","authors":"Wei Song, X. Liu, Yang Zhou, Yanan Zhang, Linyong Shen","doi":"10.1109/ROBIO.2014.7090747","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090747","url":null,"abstract":"In Inertia Confinement Fusion (ICF) physical experiments, the accuracy of target positioning affects the successful rate of target hitting directly. A 3-CCD camera system is often used for tiny target measurement in ICF target positioning. Most of the current pose measurement methods utilize the well-known digital image processing technology to extract the target features in each image, then calculates the target's spatial coordinate and rotation matrix by integrating the feature values from three CCDs. Therefore, feature extraction errors in each image are superimposed in final result, which reduces the pose measurement precision. In this paper, we propose a solid model-based method which matching the target as a whole by the grey values in each image without utilizing image processing technology. The solid model matching optimistic problem is solved by an improved genetic algorithm (GA), called adaptive GA. Experiment is performed by using a 3-CCD camera system with general GA and adaptive GA respectively, the result shows the effectiveness of our adaptive GA in improving speed and accuracy.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"25 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":"125712551","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.2014.7090463
T. Seki, Yinlai Jiang, H. Yokoi
For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.
{"title":"Approximate model for interactive-tendon driven mechanism of a multiple-DoFs myoelectric prosthetic hand","authors":"T. Seki, Yinlai Jiang, H. Yokoi","doi":"10.1109/ROBIO.2014.7090463","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090463","url":null,"abstract":"For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"9 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":"121752400","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.2014.7090437
Naoki Sugawara, E. Takeuchi, K. Ohno, S. Tadokoro
In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.
{"title":"Sensor observation area compensating path planning for avoiding collisions with unknown obstacles","authors":"Naoki Sugawara, E. Takeuchi, K. Ohno, S. Tadokoro","doi":"10.1109/ROBIO.2014.7090437","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090437","url":null,"abstract":"In this paper, we propose a path-planning algorithm for mobile robots having sensors with a limited field of view. The proposed method predicts the observable region in the planning phase and minimizes incursions into unobservable regions. The path-planning process of the proposed method not only involves the actions required for reaching a destination but also the actions required for obtaining information about obstacles on the path depending on the sensor's viewing angle. Using the proposed method, robots can detect obstacles before collision. In this paper, the effectiveness of the method is confirmed by simulated and real-world experiments.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"6 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":"115901979","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.2014.7090750
Shijie Zhang, Yi Ning
In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and a robust compensation problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.
{"title":"A stabilizing control technique for minimally invasive surgical robot with uncertain dynamic parameters","authors":"Shijie Zhang, Yi Ning","doi":"10.1109/ROBIO.2014.7090750","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090750","url":null,"abstract":"In order to realize the stabilization and the tracking performance of MIS (minimally invasive surgical) robot control system in the presence of uncertainty in the system dynamics, the linearization of the MIS tele-operation system model is processed firstly. Furthermore, the robust control problem is formulated as a robust state feedback stabilization problem subject to parameter uncertainties and a robust compensation problem. And then, based on the robust parametric approach, eigenstructure assignment and reference model tracking theory, a parametric optimization method for robust controller design is presented. The simulation results show the effectiveness of the proposed approach.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"14 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":"131962208","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.2014.7090651
Yang Bai, Z. J. Chong, M. Ang, Xueshan Gao
Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A new model is presented for this kind of intersection navigation as a Partially Observable Markov Decision Process problem. The proposed model can handle multiple numbers of cars in a dynamic environment. To validate the feasibility of the model, experiments are carried out with an autonomous golf cart in the university campus.
{"title":"An online approach for intersection navigation of autonomous vehicle","authors":"Yang Bai, Z. J. Chong, M. Ang, Xueshan Gao","doi":"10.1109/ROBIO.2014.7090651","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090651","url":null,"abstract":"Navigation through an intersection is a fundamental task that will enable an autonomous car to operate in a real traffic environment. Previous studies about intersection navigation generally assume vehicle to vehicle communication ability for all of the vehicles. Since this is unattainable in the near future, we focus on the scenario that vehicles on the road cannot communicate with each other. A new model is presented for this kind of intersection navigation as a Partially Observable Markov Decision Process problem. The proposed model can handle multiple numbers of cars in a dynamic environment. To validate the feasibility of the model, experiments are carried out with an autonomous golf cart in the university campus.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"323 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":"132529563","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.2014.7090388
Ehsan Rezapour, Andreas G. Hofmann, K. Pettersen
This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.
{"title":"Maneuvering control of planar snake robots based on a simplified model","authors":"Ehsan Rezapour, Andreas G. Hofmann, K. Pettersen","doi":"10.1109/ROBIO.2014.7090388","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090388","url":null,"abstract":"This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the position of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"27 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":"130008735","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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