Pub Date : 2015-06-16DOI: 10.1109/MED.2015.7158839
Zhichao Liu, Jianliang Wang, E. Poh
Atomic force microscopy (AFM) can be used as an image tool in nanoscale for nanopositioning and other similar works. This problem can be seen as a visual servoing problem. Traditional works for this problem use position-based algorithms, however, the correspondence problem is needed to be solved by feature matching and tracking firstly, as a prerequisite for vision-based control. The correspondence problem refers to the problem of ascertaining which parts of one image correspond to which parts of another image. To solve the problem of AFM based nanomanipulations, we present a novel set-based direct visual servoing controller (SDVSC) for nanopositioning that is based on the whole gray image and does not require feature matching and tracking.
{"title":"Set-based direct visual servoing for nanopositioning","authors":"Zhichao Liu, Jianliang Wang, E. Poh","doi":"10.1109/MED.2015.7158839","DOIUrl":"https://doi.org/10.1109/MED.2015.7158839","url":null,"abstract":"Atomic force microscopy (AFM) can be used as an image tool in nanoscale for nanopositioning and other similar works. This problem can be seen as a visual servoing problem. Traditional works for this problem use position-based algorithms, however, the correspondence problem is needed to be solved by feature matching and tracking firstly, as a prerequisite for vision-based control. The correspondence problem refers to the problem of ascertaining which parts of one image correspond to which parts of another image. To solve the problem of AFM based nanomanipulations, we present a novel set-based direct visual servoing controller (SDVSC) for nanopositioning that is based on the whole gray image and does not require feature matching and tracking.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127630146","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 : 2015-06-16DOI: 10.1109/MED.2015.7158849
J. M. Bravo, T. Alamo, M. E. Gegúndez, D. Marín
This work proposes a new interval predictor for time-varying linear systems. An interval predictor is a method that provides an interval as outer estimation of the future system output. The center of the interval prediction can be used as point or nominal prediction. This interval center is obtained by a linear combination of stored past outputs. The interval width is obtained using an outer bound of the prediction error. Two different approaches have been considered in literature, based on deterministic and stochastic assumptions respectively. The novelty of this work is to use a combined deterministic and stochastic assumption on this bound to obtain the interval prediction. The aim is to achieve a low error in the central prediction and a small interval width. An example is provided to illustrate the improvement provided by the proposed predictor.
{"title":"Combined stochastic and deterministic interval predictor for time-varying systems","authors":"J. M. Bravo, T. Alamo, M. E. Gegúndez, D. Marín","doi":"10.1109/MED.2015.7158849","DOIUrl":"https://doi.org/10.1109/MED.2015.7158849","url":null,"abstract":"This work proposes a new interval predictor for time-varying linear systems. An interval predictor is a method that provides an interval as outer estimation of the future system output. The center of the interval prediction can be used as point or nominal prediction. This interval center is obtained by a linear combination of stored past outputs. The interval width is obtained using an outer bound of the prediction error. Two different approaches have been considered in literature, based on deterministic and stochastic assumptions respectively. The novelty of this work is to use a combined deterministic and stochastic assumption on this bound to obtain the interval prediction. The aim is to achieve a low error in the central prediction and a small interval width. An example is provided to illustrate the improvement provided by the proposed predictor.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"224 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133993293","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 : 2015-06-16DOI: 10.1109/MED.2015.7158877
R. Sanz, P. Garcia, Qing-Chang Zhong, P. Albertos
Disturbances and uncertainties make very difficult the control of Unmanned Aerial Vehicles (UAV). The problem is even worse, if delays are involved in the process. The uncertainty and disturbance estimator (UDE) is a technique based on the idea that the unknown dynamics and disturbances of a system can be accurately approximated by passing them through a filter with the appropriate bandwidth. This makes it very easy to design and tune a controller to deal with uncertainties and disturbances. But this solution is very sensitive to time delays. In this paper, this strategy is further developed for systems with measurement delays and hence the range of systems for which it can be applied is broadened.
{"title":"Control of disturbed systems with measurement delays: Application to quadrotor vehicles","authors":"R. Sanz, P. Garcia, Qing-Chang Zhong, P. Albertos","doi":"10.1109/MED.2015.7158877","DOIUrl":"https://doi.org/10.1109/MED.2015.7158877","url":null,"abstract":"Disturbances and uncertainties make very difficult the control of Unmanned Aerial Vehicles (UAV). The problem is even worse, if delays are involved in the process. The uncertainty and disturbance estimator (UDE) is a technique based on the idea that the unknown dynamics and disturbances of a system can be accurately approximated by passing them through a filter with the appropriate bandwidth. This makes it very easy to design and tune a controller to deal with uncertainties and disturbances. But this solution is very sensitive to time delays. In this paper, this strategy is further developed for systems with measurement delays and hence the range of systems for which it can be applied is broadened.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116928585","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 : 2015-06-16DOI: 10.1109/MED.2015.7158800
R. L. Pereira, K. Kienitz
This paper presents an application of sliding mode controllers obtained via amplified linear quadratic regulator (ALQR) strategy to a hover with three degrees of freedom. The purpose of the designed control system is to track reference trajectories and ensure performance and stability in spite of disturbance, noise and unmodeled dynamics. Simulations were performed using MATLAB/Simulink in order to verify/compare the performance of the nonlinear controllers proposed. For validation of the algorithm a didactic plant (3DOF Hover) was chosen produced by Quanser Consulting, that simulates typical behaviors of an VTOL (“vertical taking-off landing”) aircraft, also known as X4-flyer. The dynamic of the hover can be described by a 6th order model taking as state variables the angles of yaw, pitch, roll and associated rates. The experiments showed that designed nonlinear controllers using sliding mode control via ALQR are robust to noises and for a range of unmodeled nonlinearities.
{"title":"Experimental investigation of nonlinear controllers applied to a 3DOF hover: SMC via ALQR approach","authors":"R. L. Pereira, K. Kienitz","doi":"10.1109/MED.2015.7158800","DOIUrl":"https://doi.org/10.1109/MED.2015.7158800","url":null,"abstract":"This paper presents an application of sliding mode controllers obtained via amplified linear quadratic regulator (ALQR) strategy to a hover with three degrees of freedom. The purpose of the designed control system is to track reference trajectories and ensure performance and stability in spite of disturbance, noise and unmodeled dynamics. Simulations were performed using MATLAB/Simulink in order to verify/compare the performance of the nonlinear controllers proposed. For validation of the algorithm a didactic plant (3DOF Hover) was chosen produced by Quanser Consulting, that simulates typical behaviors of an VTOL (“vertical taking-off landing”) aircraft, also known as X4-flyer. The dynamic of the hover can be described by a 6th order model taking as state variables the angles of yaw, pitch, roll and associated rates. The experiments showed that designed nonlinear controllers using sliding mode control via ALQR are robust to noises and for a range of unmodeled nonlinearities.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132566739","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 : 2015-06-16DOI: 10.1109/MED.2015.7158848
A. Soumelidis, Z. Szabó, P. Seiler, Abhineet Gupta, J. Bokor
This paper proposes a novel discrete time identification method for flexible wing aircraft models from simulated data. The special properties of the dynamics arise from the fact that all the poles are located very close to the unit circle and their location changes with the flight velocity. Using identification criteria based on Euclidean metrics suffers from the problem of obtaining instability in the search and also on the possible high number of poles. The paper offers an alternative approach and associated identification method to obtain the poles directly using Laguerre-representation of the impulse responses and hyperbolic metrics for identification criteria. The method utilises the hyperbolic geometrical properties of the descriptions of discrete-time signals and systems on the unit disc, and is strictly connected to the representations in rational orthogonal bases. Beyond the conceptual clarity, examples also confirm that it forms an adequate basis for estimating poles of systems as a significant part of an identification process.
{"title":"Identification of flexible wing aircraft models using hyperbolic metrics","authors":"A. Soumelidis, Z. Szabó, P. Seiler, Abhineet Gupta, J. Bokor","doi":"10.1109/MED.2015.7158848","DOIUrl":"https://doi.org/10.1109/MED.2015.7158848","url":null,"abstract":"This paper proposes a novel discrete time identification method for flexible wing aircraft models from simulated data. The special properties of the dynamics arise from the fact that all the poles are located very close to the unit circle and their location changes with the flight velocity. Using identification criteria based on Euclidean metrics suffers from the problem of obtaining instability in the search and also on the possible high number of poles. The paper offers an alternative approach and associated identification method to obtain the poles directly using Laguerre-representation of the impulse responses and hyperbolic metrics for identification criteria. The method utilises the hyperbolic geometrical properties of the descriptions of discrete-time signals and systems on the unit disc, and is strictly connected to the representations in rational orthogonal bases. Beyond the conceptual clarity, examples also confirm that it forms an adequate basis for estimating poles of systems as a significant part of an identification process.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"170 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133064680","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 : 2015-06-16DOI: 10.1109/MED.2015.7158900
F. J. Muros, J. Maestre, E. Algaba, T. Alamo, E. Camacho
In this paper, we deal with a distributed control scheme for linear systems in which the local controllers work cooperatively whenever the benefits from a control perspective are higher than the corresponding communication requirements. To this end, the network topology may vary with time so that all the communication links with a minor contribution to the overall performance are disconnected. Hence, there is also a change in the overall control law, which must be adapted to the information flows enabled by the network topology. This whole framework can be modeled as a cooperative game, which allows us to apply tools such as the Shapley value to gain an insight into the distributed control problem. In particular, we show an alternative way to impose restrictions on this value by using a more computationally efficient design procedure.
{"title":"An algorithm with low computational requirements to constrain the Shapley value in coalitional networks","authors":"F. J. Muros, J. Maestre, E. Algaba, T. Alamo, E. Camacho","doi":"10.1109/MED.2015.7158900","DOIUrl":"https://doi.org/10.1109/MED.2015.7158900","url":null,"abstract":"In this paper, we deal with a distributed control scheme for linear systems in which the local controllers work cooperatively whenever the benefits from a control perspective are higher than the corresponding communication requirements. To this end, the network topology may vary with time so that all the communication links with a minor contribution to the overall performance are disconnected. Hence, there is also a change in the overall control law, which must be adapted to the information flows enabled by the network topology. This whole framework can be modeled as a cooperative game, which allows us to apply tools such as the Shapley value to gain an insight into the distributed control problem. In particular, we show an alternative way to impose restrictions on this value by using a more computationally efficient design procedure.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122888504","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 : 2015-06-16DOI: 10.1109/MED.2015.7158777
M. Pereira, D. Limón, D. M. D. L. Peña, T. Alamo
This work presents a linear quadratic model predictive controller (MPC) implemented in an industrial programable logic controller (PLC). The control law is calculated by solving on-line the quadratic programming problem derived from the optimization control problem of MPC. Nesterov's fast gradient algorithm has been used to solve the corresponding linear quadratic MPC problems with input constraints. The predictive controller has been implemented in a Schneider Electric M340 using the standard structured language from the IEC 1131.1 norm. The memory and computational time requirements of the proposed implementation have been characterized through extensive simulations. In addition, the properties of the proposed controller have been experimentally demonstrated using a test-bed in which the MPC running in the M340 controls a model of a quadruple-tank process simulated in Matlab/Simulink through an OPC server.
{"title":"MPC implementation in a PLC based on Nesterov's fast gradient method","authors":"M. Pereira, D. Limón, D. M. D. L. Peña, T. Alamo","doi":"10.1109/MED.2015.7158777","DOIUrl":"https://doi.org/10.1109/MED.2015.7158777","url":null,"abstract":"This work presents a linear quadratic model predictive controller (MPC) implemented in an industrial programable logic controller (PLC). The control law is calculated by solving on-line the quadratic programming problem derived from the optimization control problem of MPC. Nesterov's fast gradient algorithm has been used to solve the corresponding linear quadratic MPC problems with input constraints. The predictive controller has been implemented in a Schneider Electric M340 using the standard structured language from the IEC 1131.1 norm. The memory and computational time requirements of the proposed implementation have been characterized through extensive simulations. In addition, the properties of the proposed controller have been experimentally demonstrated using a test-bed in which the MPC running in the M340 controls a model of a quadruple-tank process simulated in Matlab/Simulink through an OPC server.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128701209","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 : 2015-06-16DOI: 10.1109/MED.2015.7158757
S. Battilotti, Federico Cimorelli, R. Cusani, F. D. Priscoli, C. Giorgi, V. Suraci, L. Zuccaro
current internet infrastructure is still configured and managed manually or adopting a limited level of automation. The Future Internet aims to provide the network resources as a service to ease the process of automatic designing, controlling and supervising the telecommunication infrastructure. A key enabler of the Future Internet is the virtualization of the available resources and of the related functionalities. The widespread of cloud computing, Software Defined Network (SDN) and Network Function Virtualization (NFV) technologies opened the way for a total control of programmable networks. Many open and commercial implementations have adopted this paradigm, but they expose a fragmented set of dissimilar interfaces that often offer similar or even overlapping functionalities. The result is that uncontrolled, open-loop routines and procedures still require a manual intervention. In this paper, we describe an open interface and its reference implementation, to control programmable networks adopting a novel, closed-loop approach based on end-users feedbacks. The proposed interface has been implemented as a Future Internet Generic Enabler named OFNIC.
{"title":"A Future Internet interface to control programmable networks","authors":"S. Battilotti, Federico Cimorelli, R. Cusani, F. D. Priscoli, C. Giorgi, V. Suraci, L. Zuccaro","doi":"10.1109/MED.2015.7158757","DOIUrl":"https://doi.org/10.1109/MED.2015.7158757","url":null,"abstract":"current internet infrastructure is still configured and managed manually or adopting a limited level of automation. The Future Internet aims to provide the network resources as a service to ease the process of automatic designing, controlling and supervising the telecommunication infrastructure. A key enabler of the Future Internet is the virtualization of the available resources and of the related functionalities. The widespread of cloud computing, Software Defined Network (SDN) and Network Function Virtualization (NFV) technologies opened the way for a total control of programmable networks. Many open and commercial implementations have adopted this paradigm, but they expose a fragmented set of dissimilar interfaces that often offer similar or even overlapping functionalities. The result is that uncontrolled, open-loop routines and procedures still require a manual intervention. In this paper, we describe an open interface and its reference implementation, to control programmable networks adopting a novel, closed-loop approach based on end-users feedbacks. The proposed interface has been implemented as a Future Internet Generic Enabler named OFNIC.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115850541","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 : 2015-06-16DOI: 10.1109/MED.2015.7158828
A. Lindqvist, Emil Fresk, G. Nikolakopoulos
The aim of this article is to present an optimal model for the behavior of a tilt wing aircraft during its transition state. A tilt wing aircraft is a hybrid between a helicopter and a plane, which has the capabilities of both parts, meaning that it can stand still and hover and by tilting its wing 90 degrees to act like a regular plane. Overall, a tilt wing aircraft has the extended merits of vertical take offs and landings, to stand still and hover in mid air, while being able to travel in long distances efficiently. The novelty of this article stems from: a) the analysis of the aircraft during the transition between helicopter mode and plane for the angles between 0-90 degrees, b) the comparison between the model extracted from the simulations and tests from a wind tunnel for the wing, and c) the proposal for an optimal design for a tilt wing UAV. The efficiency of the proposed modeling approach has been evaluated in multiple simulated and experimental verification.
{"title":"Optimal design and modeling of a tilt wing aircraft","authors":"A. Lindqvist, Emil Fresk, G. Nikolakopoulos","doi":"10.1109/MED.2015.7158828","DOIUrl":"https://doi.org/10.1109/MED.2015.7158828","url":null,"abstract":"The aim of this article is to present an optimal model for the behavior of a tilt wing aircraft during its transition state. A tilt wing aircraft is a hybrid between a helicopter and a plane, which has the capabilities of both parts, meaning that it can stand still and hover and by tilting its wing 90 degrees to act like a regular plane. Overall, a tilt wing aircraft has the extended merits of vertical take offs and landings, to stand still and hover in mid air, while being able to travel in long distances efficiently. The novelty of this article stems from: a) the analysis of the aircraft during the transition between helicopter mode and plane for the angles between 0-90 degrees, b) the comparison between the model extracted from the simulations and tests from a wind tunnel for the wing, and c) the proposal for an optimal design for a tilt wing UAV. The efficiency of the proposed modeling approach has been evaluated in multiple simulated and experimental verification.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115975712","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 : 2015-06-16DOI: 10.1109/MED.2015.7158844
Mario L. Ruz, S. Fragoso, David Rodriguez, F. Vázquez
This paper presents an interactive software tool to monitor in real-time thermal comfort in buildings. Specifically, the tool is used to estimate predicted mean vote (PMV) and predicted percentage dissatisfied (PPD) indices, which are widely accepted in the framework of thermal comfort and recognized by international standards. In this work, the tool was tested in an office building with an HVAC system based on solar energy. To perform this task, a network architecture that enables communication between different protocols is proposed, with a TCP/IP-Modbus gateway and a web server as the main elements, providing in this way external connectivity and data collection from different sensors. The tool communicates remotely with the renewable system and proposes corrective control indications to maintain the indoor-air conditions inside the optimal comfort range.
{"title":"Real-time estimation of thermal comfort indices in an office building with a solar powered HVAC system","authors":"Mario L. Ruz, S. Fragoso, David Rodriguez, F. Vázquez","doi":"10.1109/MED.2015.7158844","DOIUrl":"https://doi.org/10.1109/MED.2015.7158844","url":null,"abstract":"This paper presents an interactive software tool to monitor in real-time thermal comfort in buildings. Specifically, the tool is used to estimate predicted mean vote (PMV) and predicted percentage dissatisfied (PPD) indices, which are widely accepted in the framework of thermal comfort and recognized by international standards. In this work, the tool was tested in an office building with an HVAC system based on solar energy. To perform this task, a network architecture that enables communication between different protocols is proposed, with a TCP/IP-Modbus gateway and a web server as the main elements, providing in this way external connectivity and data collection from different sensors. The tool communicates remotely with the renewable system and proposes corrective control indications to maintain the indoor-air conditions inside the optimal comfort range.","PeriodicalId":316642,"journal":{"name":"2015 23rd Mediterranean Conference on Control and Automation (MED)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115721155","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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