Pub Date : 2014-12-01DOI: 10.1109/ROBIO.2014.7090399
Yuan Xing, Ke Liang, Shuxin Wang, Jianmin Li, Xuesheng Wang, Aimin Li
Nowadays robot-assisted minimally invasive surgery (MIS) is popular because of numerous benefits to patients. However, the surgical performance evaluation methods have always failed to catch up with the development speed of surgical robot system technology. In this paper, a method `SOE' to evaluate surgeons' robot-assisted MIS operation skill is provided. On the basis of third-person data and first-person data obtained in an experiment performed by an original master-slave surgical robot “MicroHand” in Tianjin University, not only the skills could be evaluated in details, but also the technology requirements for surgical robot are provided.
{"title":"Safety oriented evaluation (SOE) of robot-assisted minimally invasive surgery (MIS) performance skill","authors":"Yuan Xing, Ke Liang, Shuxin Wang, Jianmin Li, Xuesheng Wang, Aimin Li","doi":"10.1109/ROBIO.2014.7090399","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090399","url":null,"abstract":"Nowadays robot-assisted minimally invasive surgery (MIS) is popular because of numerous benefits to patients. However, the surgical performance evaluation methods have always failed to catch up with the development speed of surgical robot system technology. In this paper, a method `SOE' to evaluate surgeons' robot-assisted MIS operation skill is provided. On the basis of third-person data and first-person data obtained in an experiment performed by an original master-slave surgical robot “MicroHand” in Tianjin University, not only the skills could be evaluated in details, but also the technology requirements for surgical robot are provided.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"44 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":"130211817","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.2014.7090467
Zhengwei Hui, J. Rojas, Li Lin, HoLeung Ting, Chenyu Zhao
The advent of low-cost, functional robots has promoted swarm robotics research. However, an area of research that is yet untouched is how these types of robots could aid in teaching STEM subjects. In particular, there is little work concerning mathematics at the elementary level. The Kilobot robot's size, cost, and functionality offers a good test-bed to explore its use as a pedagogical tool. This work presents a swarm framework to teach elementary mathematical addition operations to children. A state-based synchronous algorithm was used to enable robots to represent both operands and result digits in mathematical operations, all the while exploiting the robots sounds, motion, and illumination to enhance children's learning factors. The system is demonstrated in the V-REP simulation environment to demonstrate the feasibility of the approach.
{"title":"A swarm framework for teaching elementary addition operations","authors":"Zhengwei Hui, J. Rojas, Li Lin, HoLeung Ting, Chenyu Zhao","doi":"10.1109/ROBIO.2014.7090467","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090467","url":null,"abstract":"The advent of low-cost, functional robots has promoted swarm robotics research. However, an area of research that is yet untouched is how these types of robots could aid in teaching STEM subjects. In particular, there is little work concerning mathematics at the elementary level. The Kilobot robot's size, cost, and functionality offers a good test-bed to explore its use as a pedagogical tool. This work presents a swarm framework to teach elementary mathematical addition operations to children. A state-based synchronous algorithm was used to enable robots to represent both operands and result digits in mathematical operations, all the while exploiting the robots sounds, motion, and illumination to enhance children's learning factors. The system is demonstrated in the V-REP simulation environment to demonstrate the feasibility of the approach.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"28 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":"134217247","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.2014.7090381
Di Chen, Mingzhu Sun, Xin Zhao
Life science researches and clinical experiment involve the positioning of the polar body. The microinjection operation of mammalian oocytes has been more and more widely used. In many cell manipulation researches, researchers need to operate the polar body of an oocyte under optical microscopy to achieve the purpose of the study. Recently, the automatic detection technology develops rapidly. The orientation of the polar body has a low accuracy rate and poor applicability. This paper proposes a novel method of automatic positioning polar body, which tracks the cell and recognizes the polar body. We obtain the position of the polar body by using support vector machine (SVM). Then we report our automatic positioning system. Moreover, experimental results demonstrate the reliability and accuracy for the method. The method with a high accuracy rate of 97% can be used for positioning a variety of cells.
{"title":"A cell polar body positioning method based on SVM classification","authors":"Di Chen, Mingzhu Sun, Xin Zhao","doi":"10.1109/ROBIO.2014.7090381","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090381","url":null,"abstract":"Life science researches and clinical experiment involve the positioning of the polar body. The microinjection operation of mammalian oocytes has been more and more widely used. In many cell manipulation researches, researchers need to operate the polar body of an oocyte under optical microscopy to achieve the purpose of the study. Recently, the automatic detection technology develops rapidly. The orientation of the polar body has a low accuracy rate and poor applicability. This paper proposes a novel method of automatic positioning polar body, which tracks the cell and recognizes the polar body. We obtain the position of the polar body by using support vector machine (SVM). Then we report our automatic positioning system. Moreover, experimental results demonstrate the reliability and accuracy for the method. The method with a high accuracy rate of 97% can be used for positioning a variety of cells.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"131 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":"133888310","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.2014.7090391
G. Marafioti, Pål Liljebäck, A. Transeth
This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers the ability of handling constraints although requiring relatively significant computational resources. In detail, we show how NMPC can be applied to achieve straight line path following control of snake robots. The paper presents simulation results which illustrate the performance of the proposed control approach. Moreover, we discuss advantages and disadvantages of NMPC as a control approach for snake robots.
{"title":"A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following","authors":"G. Marafioti, Pål Liljebäck, A. Transeth","doi":"10.1109/ROBIO.2014.7090391","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090391","url":null,"abstract":"This paper considers Nonlinear Model Predictive Control (NMPC) in the context of snake robot locomotion. NMPC is an optimal control technique that offers the ability of handling constraints although requiring relatively significant computational resources. In detail, we show how NMPC can be applied to achieve straight line path following control of snake robots. The paper presents simulation results which illustrate the performance of the proposed control approach. Moreover, we discuss advantages and disadvantages of NMPC as a control approach for snake robots.","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":"134300809","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.2014.7090477
M. Uemura, S. Kawamura, Hiroaki Hirai, F. Miyazaki
This paper proposes an iterative motion learning method with stiffness adaptation for energy saving in multi-joint robots. The method iteratively updates both a desired motion and joint stiffness using time-series data of the actuator torque obtained in a control trial with the desired periodic motion. The iterative method is designed to realize the convergence of the desired motion to an energy-efficient motion. Although the trajectory of the desired motion is updated iteratively, we can specify the boundary conditions of the desired motion. The advantages of the updating process are that it does not require exact physical parameter values of the robots or elaborate numerical calculations. Therefore, if the control trials are accomplished without exact parameter values or elaborate numerical calculations, the whole process works without them. We mathematically analyzed the motion convergence, and showed that the updating process improves the desired motion. The simulation results illustrate the effectiveness of the proposed method.
{"title":"Iterative motion learning with stiffness adaptation for multi-joint robots","authors":"M. Uemura, S. Kawamura, Hiroaki Hirai, F. Miyazaki","doi":"10.1109/ROBIO.2014.7090477","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090477","url":null,"abstract":"This paper proposes an iterative motion learning method with stiffness adaptation for energy saving in multi-joint robots. The method iteratively updates both a desired motion and joint stiffness using time-series data of the actuator torque obtained in a control trial with the desired periodic motion. The iterative method is designed to realize the convergence of the desired motion to an energy-efficient motion. Although the trajectory of the desired motion is updated iteratively, we can specify the boundary conditions of the desired motion. The advantages of the updating process are that it does not require exact physical parameter values of the robots or elaborate numerical calculations. Therefore, if the control trials are accomplished without exact parameter values or elaborate numerical calculations, the whole process works without them. We mathematically analyzed the motion convergence, and showed that the updating process improves the desired motion. The simulation results illustrate the effectiveness of the proposed method.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"35 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":"131507032","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.2014.7090339
Hui Liu, N. Stoll, S. Junginger, K. Thurow
An intelligent system named Laboratory Mobile Robot Transportation System (LMRTS) has been developed for the mobile robotic transportation in laboratory automation. In this paper, a new approach is presented to predict and manage the on-board battery voltages of the mobile robots for optimizing the LMRTS system. The LMRTS can select and optimize the best mobile robotic candidate for a transportation task by considering those battery forecasting results. The proposed predictor includes three components: (a) Measuring the online voltages of the robotic on-board batteries; (b) Using the wavelet method to decompose the original measured data into a series of sub-layers; (c) Building the ANFIS for all the decomposed sub-layers and make the predictions; and (d) Integrating the forecasting results of the sub-layers to have the final predictions for the original online voltage signal. Two real experimental results show that the proposed hybrid predictor has both high forecasting accuracy and fast time performance, which can provide a powerful assistance to the real mobile robotic transportation.
{"title":"A new approach to battery power tracking and predicting for mobile robot transportation using wavelet decomposition and ANFIS networks","authors":"Hui Liu, N. Stoll, S. Junginger, K. Thurow","doi":"10.1109/ROBIO.2014.7090339","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090339","url":null,"abstract":"An intelligent system named Laboratory Mobile Robot Transportation System (LMRTS) has been developed for the mobile robotic transportation in laboratory automation. In this paper, a new approach is presented to predict and manage the on-board battery voltages of the mobile robots for optimizing the LMRTS system. The LMRTS can select and optimize the best mobile robotic candidate for a transportation task by considering those battery forecasting results. The proposed predictor includes three components: (a) Measuring the online voltages of the robotic on-board batteries; (b) Using the wavelet method to decompose the original measured data into a series of sub-layers; (c) Building the ANFIS for all the decomposed sub-layers and make the predictions; and (d) Integrating the forecasting results of the sub-layers to have the final predictions for the original online voltage signal. Two real experimental results show that the proposed hybrid predictor has both high forecasting accuracy and fast time performance, which can provide a powerful assistance to the real mobile robotic transportation.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"69 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":"131562300","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.2014.7090356
Kazumi Kumagai, Jeong-Suk Baek, I. Mizuuchi
Long-term relationships between humans and robots will expand in the future. We therefore consider that an affinity to robots is one of the important components of a stable relationship. In this paper, we propose an action selection system for robots. We expect the system to select an appropriate action that matches human's individual preference. We used an emotion estimation system to achieve this. This is an approach to create an affinity to robots. As a human's preference will be affected by their emotions, we used emotion estimation to learn these preferences. In this paper, we outline the proposed system, experiments, and evaluation of its efficacy. We performed two types of experiments using a simulated robot over one week and four weeks. In each of the experiments, the robot was varying its behaviors, based on learning of individual's preferences.
{"title":"A situation-aware action selection based on individual's preference using emotion estimation","authors":"Kazumi Kumagai, Jeong-Suk Baek, I. Mizuuchi","doi":"10.1109/ROBIO.2014.7090356","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090356","url":null,"abstract":"Long-term relationships between humans and robots will expand in the future. We therefore consider that an affinity to robots is one of the important components of a stable relationship. In this paper, we propose an action selection system for robots. We expect the system to select an appropriate action that matches human's individual preference. We used an emotion estimation system to achieve this. This is an approach to create an affinity to robots. As a human's preference will be affected by their emotions, we used emotion estimation to learn these preferences. In this paper, we outline the proposed system, experiments, and evaluation of its efficacy. We performed two types of experiments using a simulated robot over one week and four weeks. In each of the experiments, the robot was varying its behaviors, based on learning of individual's preferences.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"8 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":"131649044","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.2014.7090334
Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu, Yongsheng Wang
Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.
{"title":"Design of a novel surgical instrument for minimally invasive robotic surgery","authors":"Bo Pan, Guojun Niu, Yili Fu, Dianguo Xu, Yongsheng Wang","doi":"10.1109/ROBIO.2014.7090334","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090334","url":null,"abstract":"Minimally invasive robotic surgery (MIRS), compared to open surgery and traditional minimally invasive surgery, has advantages especially for patients and surgeons. In MIRS the surgeon's capabilities are extended for kinds of dexterous instruments, and surgeons could perform precise and dexterous movements which are difficult to carry out by means of rigid instruments. In this paper, the design of a novel 4DOF dexterous surgical instrument for MIRS is presented. After analyzing feature of surgical instrument for MIRS, a novel 4DOF dexterous surgical instrument based on pulley-tendon mechanism is developed. The end effector of such an instrument is articulated, providing 4DOF without coupled motions. Force limited function is realized by conical axis mechanism, and a new quick change interface is designed based on trapezoidal clutch plate and magnetic sensors to change instruments according to the operation requirement. Strength checking of key parts are also analyzed. The experimental results demonstrate that the proposed surgical instrument can perform 4DOF uncouple motions with 10 mm outer diameter, except that the fast interface meet the fast and reliable requirements. The surgical instrument proposed in this paper has a good motion performance, flexibility and maneuverability. The surgical instrument satisfies the requirements of MIRS, laying a solid technical foundation for clinical application.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"16 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":"131141528","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.2014.7090417
W. Shang, H. Ma, Hailong Zang
This paper uses the somatosensory system of Kinect to realize the hand gesture recognition involving action and digit of finger. The hand action is completed by using the NiTE library owning the framework of hand gesture recognition. Taking advantage of the information of the depth map, the digit expressed by hand is recognized by using OpenCV library. The simulated results demonstrate the work is very efficient for human interaction.
{"title":"Action and digit recognition of finger using kinect","authors":"W. Shang, H. Ma, Hailong Zang","doi":"10.1109/ROBIO.2014.7090417","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090417","url":null,"abstract":"This paper uses the somatosensory system of Kinect to realize the hand gesture recognition involving action and digit of finger. The hand action is completed by using the NiTE library owning the framework of hand gesture recognition. Taking advantage of the information of the depth map, the digit expressed by hand is recognized by using OpenCV library. The simulated results demonstrate the work is very efficient for human interaction.","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":"133044110","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.2014.7090505
V. Pano, P. Ouyang
Gain tuning is very important in order to obtain good performances for implementing a controller. In this paper, three popular evolutionary algorithms are utilized to optimize the control gains of a position domain PID controller for the improvement of contour tracking for robotic manipulators. Differential Evolution (DE), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are used to optimize the gains of the controller and three distinct fitness functions are also used to quantify the contour performance of each solution set. Simulation results show that PSO was proven to be quite efficient for the linear contour, while DE featured the highest performance for the nonlinear case. Both algorithms performed consistently better than GA that featured premature convergence in all cases.
{"title":"Comparative study of GA, PSO, and DE for tuning position domain PID controller","authors":"V. Pano, P. Ouyang","doi":"10.1109/ROBIO.2014.7090505","DOIUrl":"https://doi.org/10.1109/ROBIO.2014.7090505","url":null,"abstract":"Gain tuning is very important in order to obtain good performances for implementing a controller. In this paper, three popular evolutionary algorithms are utilized to optimize the control gains of a position domain PID controller for the improvement of contour tracking for robotic manipulators. Differential Evolution (DE), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) are used to optimize the gains of the controller and three distinct fitness functions are also used to quantify the contour performance of each solution set. Simulation results show that PSO was proven to be quite efficient for the linear contour, while DE featured the highest performance for the nonlinear case. Both algorithms performed consistently better than GA that featured premature convergence in all cases.","PeriodicalId":289829,"journal":{"name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","volume":"7 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":"127830622","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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