Pub Date : 2004-06-21DOI: 10.1109/ICIA.2004.1373360
Zhongcheng Wu, Ming Meng, Fei Shen
In robotic force feedback application, the acceleration and deceleration of end manipulator will add additional inertial forces/torques to six-axis wrist force/torque sensors. It is desirable to measure the interaction force of manipulator to its environment for controlling purpose. A 12 DOF (degree of freedom) force/torque sensor, which integrates a six-axis accelerometer in the six-axis wrist force/torque sensor, is designed to solve the problem in this paper. The sensor can measure all the three linear accelerations a/sub x/, a/sub y/, a/sub z/ and three angular accelerations a/sub x/, a/sub y/, a/sub z/ simultaneously in 3D space besides offering information of the forces F/sub x/, F/sub y/, F/sub z/ and the moments M/sub x/, M/sub y/, M/sub z/. We also give a kinetic model of six-axis wrist force/torque sensor while the end manipulator is in dynamic state. And the extraction method for interaction force from six-axis wrist force/torque sensor is presented. Some experiments are carried out to test the sensor and verify the data fusion method. The results show that the sensor could output decoupled interaction force, and identify the state of grasped object.
{"title":"Interaction force measurement of robotic manipulator based on 12DOF force sensor","authors":"Zhongcheng Wu, Ming Meng, Fei Shen","doi":"10.1109/ICIA.2004.1373360","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373360","url":null,"abstract":"In robotic force feedback application, the acceleration and deceleration of end manipulator will add additional inertial forces/torques to six-axis wrist force/torque sensors. It is desirable to measure the interaction force of manipulator to its environment for controlling purpose. A 12 DOF (degree of freedom) force/torque sensor, which integrates a six-axis accelerometer in the six-axis wrist force/torque sensor, is designed to solve the problem in this paper. The sensor can measure all the three linear accelerations a/sub x/, a/sub y/, a/sub z/ and three angular accelerations a/sub x/, a/sub y/, a/sub z/ simultaneously in 3D space besides offering information of the forces F/sub x/, F/sub y/, F/sub z/ and the moments M/sub x/, M/sub y/, M/sub z/. We also give a kinetic model of six-axis wrist force/torque sensor while the end manipulator is in dynamic state. And the extraction method for interaction force from six-axis wrist force/torque sensor is presented. Some experiments are carried out to test the sensor and verify the data fusion method. The results show that the sensor could output decoupled interaction force, and identify the state of grasped object.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128046360","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373319
Jinping Li, Q. Yang, Bohyun Yang
An interesting conclusion is drawn that Dempster -Shafer (DS) theory is a special case of vague set theory: DS theory shares the similar form in the fundamental definition of the measure of a proposition to that in the definition of grade membership of an element in a vague set, and when the elements in a vague set are concretized to be subsets of a total set and the grade membership of the subsets are redefined according to those of DS theory, the vague set becomes DS theory. So some useful conclusions of vague sets hold true in the DS theory when the grade membership of elements take the form of those in DS theory in the research of uncertainty and ignorance.
{"title":"Dempster-Shafer theory is a special case of vague sets theory","authors":"Jinping Li, Q. Yang, Bohyun Yang","doi":"10.1109/ICIA.2004.1373319","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373319","url":null,"abstract":"An interesting conclusion is drawn that Dempster -Shafer (DS) theory is a special case of vague set theory: DS theory shares the similar form in the fundamental definition of the measure of a proposition to that in the definition of grade membership of an element in a vague set, and when the elements in a vague set are concretized to be subsets of a total set and the grade membership of the subsets are redefined according to those of DS theory, the vague set becomes DS theory. So some useful conclusions of vague sets hold true in the DS theory when the grade membership of elements take the form of those in DS theory in the research of uncertainty and ignorance.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130412225","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373332
Guangyi Shi, Qiang Huang, W.J. Li, Wenqian Huang, Yanyun Ren, Jun Li, Kejie Li
A novel system for 3D microchannel fabrication based on CO/sub 2/ laser-micromachining is presented. The system consists of a CO/sub 2/, laser focusing system and a 3D precision positioning platform. The CO/sub 2/ laser focusing system can regulate a laser beam which is of high-energy and of micron dimension in beam diameter, and the movement precision of the 3D platform is of micron dimension. The fabrication of 3D microchannel system in PMMA (polymethyl methacrylate) can be realized by controlling the CO/sub 2/ laser and the platform. A special 'sacrificial mask' process was used to produce translucent channels of micron dimensions with low surface roughness using the developed system. The effectiveness of our developed system is confirmed by the experimental results. Potentially, our developed system can be automated to produce 3D micro channels in PMMA substrates without the requirement for the costly and time-consuming lithography and hot-embossing processes that are needed currently.
{"title":"Micro channel fabrication in PMMA substrates using CO/sub 2/ laser and sacrificial mask process","authors":"Guangyi Shi, Qiang Huang, W.J. Li, Wenqian Huang, Yanyun Ren, Jun Li, Kejie Li","doi":"10.1109/ICIA.2004.1373332","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373332","url":null,"abstract":"A novel system for 3D microchannel fabrication based on CO/sub 2/ laser-micromachining is presented. The system consists of a CO/sub 2/, laser focusing system and a 3D precision positioning platform. The CO/sub 2/ laser focusing system can regulate a laser beam which is of high-energy and of micron dimension in beam diameter, and the movement precision of the 3D platform is of micron dimension. The fabrication of 3D microchannel system in PMMA (polymethyl methacrylate) can be realized by controlling the CO/sub 2/ laser and the platform. A special 'sacrificial mask' process was used to produce translucent channels of micron dimensions with low surface roughness using the developed system. The effectiveness of our developed system is confirmed by the experimental results. Potentially, our developed system can be automated to produce 3D micro channels in PMMA substrates without the requirement for the costly and time-consuming lithography and hot-embossing processes that are needed currently.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"224 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134326517","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373311
Hui Yang, Wenqing Liu, Yihuai Lu, Zhiping Chen, Y. He, Xiangfeng Xue, Jiesong Ye
From the known transfer function of optical propagation, its impulse response function has been derived out. The resulted diffraction formula, which needn't be based upon the assumption of the Sommerfeld radiation condition and can then be applied to any infinite wave front case, shows the complete equivalence of the diffraction theory of Fourier optics with the Sommerfeld's scalar diffraction theory. The existence of the general cross radiation condition, which closely depends on the specific Green function employed by Sommerfeld but more general than the Sommerfeld radiation condition for the validity of Sommerfeld's theory, has been verified for a consequent wave field from any infinite wavefront propagating forward.
{"title":"The theoretical model of optical waveguide impulse response","authors":"Hui Yang, Wenqing Liu, Yihuai Lu, Zhiping Chen, Y. He, Xiangfeng Xue, Jiesong Ye","doi":"10.1109/ICIA.2004.1373311","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373311","url":null,"abstract":"From the known transfer function of optical propagation, its impulse response function has been derived out. The resulted diffraction formula, which needn't be based upon the assumption of the Sommerfeld radiation condition and can then be applied to any infinite wave front case, shows the complete equivalence of the diffraction theory of Fourier optics with the Sommerfeld's scalar diffraction theory. The existence of the general cross radiation condition, which closely depends on the specific Green function employed by Sommerfeld but more general than the Sommerfeld radiation condition for the validity of Sommerfeld's theory, has been verified for a consequent wave field from any infinite wavefront propagating forward.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126632383","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373370
Qu Dong-cai, Zhou Sheng-ming, Shi Xian-jun, Tang Da-quan
The methods of the objector intelligent recognition based on artificial neural networks (ANN) + Dempster-Shafter (D-S) evidence combination theory has been studied in this article. The intelligent recognition tactics has been set forth, and the method and procedure of multisensor data fusion intelligent recognition on account of calculating case has been presented; Because D-S evidence combination theory is another important uncertainty inducing method different from information processing by neural network, it is applied widely in intelligent information processing, and highly practical in engineering. On concisely introducing the Dempster-Shafer evidence combination theory frame, last put forward some questions to be inquired.
{"title":"Study of objective intelligent recognition based on ANN+DS evidence theory","authors":"Qu Dong-cai, Zhou Sheng-ming, Shi Xian-jun, Tang Da-quan","doi":"10.1109/ICIA.2004.1373370","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373370","url":null,"abstract":"The methods of the objector intelligent recognition based on artificial neural networks (ANN) + Dempster-Shafter (D-S) evidence combination theory has been studied in this article. The intelligent recognition tactics has been set forth, and the method and procedure of multisensor data fusion intelligent recognition on account of calculating case has been presented; Because D-S evidence combination theory is another important uncertainty inducing method different from information processing by neural network, it is applied widely in intelligent information processing, and highly practical in engineering. On concisely introducing the Dempster-Shafer evidence combination theory frame, last put forward some questions to be inquired.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126650835","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373355
Yizhong Wang, Z. Zhao
A highly precise automated portable digital transmitter of electrical resistance temperature is provided. Many ways of electrical resistance measurement are discussed. Then a system of highly precise ratiometric resistance measurement based on MSC1210, a 24 bit analog-to-digital converter with enhanced 8051 MCU and high-performance peripherals, is designed. A series of electrical resistance measurement experiments are performed and the results are compared to the results of the standard thermometer - Keithley 2001 multimeter.
{"title":"A mini high-precision digital measurement system of electrical resistance temperature based on MSC1210","authors":"Yizhong Wang, Z. Zhao","doi":"10.1109/ICIA.2004.1373355","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373355","url":null,"abstract":"A highly precise automated portable digital transmitter of electrical resistance temperature is provided. Many ways of electrical resistance measurement are discussed. Then a system of highly precise ratiometric resistance measurement based on MSC1210, a 24 bit analog-to-digital converter with enhanced 8051 MCU and high-performance peripherals, is designed. A series of electrical resistance measurement experiments are performed and the results are compared to the results of the standard thermometer - Keithley 2001 multimeter.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122358546","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373376
Xueming Qian, Hong Zhu, Huan Wang, Chunlai Feng, Gang Chen
In order to measure bubble characteristic parameters in the aerated water flows, a new method based on image processing is proposed. Firstly, an image based measurement system is set up. Secondly, segment the captured image and extract bubbles, and then fit the extracted bubbles' area by minimum mean square error (MMSE) with ellipse fitting. Finally, calculate bubble volume by an ellipse fitting with MMSE, and measure bubbles velocities and kinetic locus by tracking and locating them in each frame. A smooth kinetic locus of each bubble is obtained by using cubic spline function to connect the discrete centroid points thus a visual measurement of flow field is guaranteed. The experiment results show that the proposed method both has higher accuracy in stationary and dynamic parameters measurement.
{"title":"Image measurement system of bubble characteristic parameters in aerated water flows","authors":"Xueming Qian, Hong Zhu, Huan Wang, Chunlai Feng, Gang Chen","doi":"10.1109/ICIA.2004.1373376","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373376","url":null,"abstract":"In order to measure bubble characteristic parameters in the aerated water flows, a new method based on image processing is proposed. Firstly, an image based measurement system is set up. Secondly, segment the captured image and extract bubbles, and then fit the extracted bubbles' area by minimum mean square error (MMSE) with ellipse fitting. Finally, calculate bubble volume by an ellipse fitting with MMSE, and measure bubbles velocities and kinetic locus by tracking and locating them in each frame. A smooth kinetic locus of each bubble is obtained by using cubic spline function to connect the discrete centroid points thus a visual measurement of flow field is guaranteed. The experiment results show that the proposed method both has higher accuracy in stationary and dynamic parameters measurement.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127952957","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373397
Liang-mei Hu, Jun Gao, Xiangfeng Luo
A method of forming line features of basic shapes based on fuzzy cognitive map is presented to avoid the direct handling of a large number of fragmented line features for shape recognition. The cognitive map, which is constructed by the linking features of the short lines, acts as a reasoning tool to judge whether some of the short lines can be treated as a single long line. The reasoning results of the constructed fuzzy cognitive map would form the meaningful line features, which are component parts of some basic shapes. The concept functions in the fuzzy cognitive map represent the changing range of the composing part of the basic shapes. And the construction of the fuzzy cognitive map network represents the relationships among those composing part of the line features. So, there appears the method of forming the basic line features based on fuzzy cognitive map. By matching reasoning with that model, belief of the combination of short lines into long ones can be obtained. Only when belief is greater than certain threshold, can the lines be regarded as the line features. Experiments show that this method has many advantages, such as simplicity, robustness, small amount of computation, and so on. In addition, this method is comparatively insensitive to rotation, shift and scale of the object. The method we propose in this paper is in a measure the perfection and extension of methods currently used in basic shapes recognition.
{"title":"Research on forming line features of basic shapes based on fuzzy cognitive map","authors":"Liang-mei Hu, Jun Gao, Xiangfeng Luo","doi":"10.1109/ICIA.2004.1373397","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373397","url":null,"abstract":"A method of forming line features of basic shapes based on fuzzy cognitive map is presented to avoid the direct handling of a large number of fragmented line features for shape recognition. The cognitive map, which is constructed by the linking features of the short lines, acts as a reasoning tool to judge whether some of the short lines can be treated as a single long line. The reasoning results of the constructed fuzzy cognitive map would form the meaningful line features, which are component parts of some basic shapes. The concept functions in the fuzzy cognitive map represent the changing range of the composing part of the basic shapes. And the construction of the fuzzy cognitive map network represents the relationships among those composing part of the line features. So, there appears the method of forming the basic line features based on fuzzy cognitive map. By matching reasoning with that model, belief of the combination of short lines into long ones can be obtained. Only when belief is greater than certain threshold, can the lines be regarded as the line features. Experiments show that this method has many advantages, such as simplicity, robustness, small amount of computation, and so on. In addition, this method is comparatively insensitive to rotation, shift and scale of the object. The method we propose in this paper is in a measure the perfection and extension of methods currently used in basic shapes recognition.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114639736","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373392
Wanmi Chen, Zhibing Xie, M. Fei
In this paper, the algorithms of object tracking and identifying of vision system of RoboCup are researched, and the majorization strategies of improving the quality and rate of identifying greatly are made. These are sufficient to achieve a precise and fast system and to satisfy the need of real-time vision system. The error acceptance to error identifying is also mentioned in this paper, which enhances the correctness of the system. It helps the team of RoboCup of Shanghai University performance well in "Master" China Robot Competition in 2003.
{"title":"Research on majorization strategies of vision system of RoboCup","authors":"Wanmi Chen, Zhibing Xie, M. Fei","doi":"10.1109/ICIA.2004.1373392","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373392","url":null,"abstract":"In this paper, the algorithms of object tracking and identifying of vision system of RoboCup are researched, and the majorization strategies of improving the quality and rate of identifying greatly are made. These are sufficient to achieve a precise and fast system and to satisfy the need of real-time vision system. The error acceptance to error identifying is also mentioned in this paper, which enhances the correctness of the system. It helps the team of RoboCup of Shanghai University performance well in \"Master\" China Robot Competition in 2003.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114850850","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 : 2004-06-21DOI: 10.1109/ICIA.2004.1373369
Deyi Kong, T. Mei, Yongchun Tao, Lin Ni, Zhang Tao, W. Lu, Z. Zhang, Rui Wang
In this work, a micro-electro-mechanical system (MEMS) sensor array which is capable of detecting explosive particles has been designed and fabricated. The array consists of 12 silicon beams, on each beam there are a heater and a temperature sensor. AH silicon beams can be heated up to melting point of particular kind of explosive by the heaters, while each sensor is used to measure the temperature change of each beam caused by heat absorption of the explosive particles when they melt Experimental results show that the array is capable of detecting trinitrotoluene (TNT) and cyclotrimethylenetrinitramine (RDX) samples as little as 1/spl mu/g.
{"title":"A MEMS sensor array for explosive particle detection","authors":"Deyi Kong, T. Mei, Yongchun Tao, Lin Ni, Zhang Tao, W. Lu, Z. Zhang, Rui Wang","doi":"10.1109/ICIA.2004.1373369","DOIUrl":"https://doi.org/10.1109/ICIA.2004.1373369","url":null,"abstract":"In this work, a micro-electro-mechanical system (MEMS) sensor array which is capable of detecting explosive particles has been designed and fabricated. The array consists of 12 silicon beams, on each beam there are a heater and a temperature sensor. AH silicon beams can be heated up to melting point of particular kind of explosive by the heaters, while each sensor is used to measure the temperature change of each beam caused by heat absorption of the explosive particles when they melt Experimental results show that the array is capable of detecting trinitrotoluene (TNT) and cyclotrimethylenetrinitramine (RDX) samples as little as 1/spl mu/g.","PeriodicalId":297178,"journal":{"name":"International Conference on Information Acquisition, 2004. Proceedings.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130686104","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：