Pub Date : 2011-08-15DOI: 10.1109/ICMA.2011.5986307
S. Hutamarn, P. Pratumsuwan, W. Po-ngaen
Because of the friction nonlinearity characteristic in hydraulic system, high steady state error and overshoot have occurred in the position response as a typical imperfect implementation of associated control dynamic. In this situation, there is a necessity to be able to effectively utilizing the intelligent controller framework. The primary purpose of this research is to develop a control algorithm based on two neuro-fuzzy for a hydraulic servo system. This precompensator neuro-fuzzy combined with fuzzy controller will be implemented to enhance the overall performance. Experiments were carried out and the experimental results illustrated that the above pre-compensated intelligent framework can improve the overall the performance.
{"title":"Adaptive neuro-fuzzy friction compensator in servo hydraulic system","authors":"S. Hutamarn, P. Pratumsuwan, W. Po-ngaen","doi":"10.1109/ICMA.2011.5986307","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986307","url":null,"abstract":"Because of the friction nonlinearity characteristic in hydraulic system, high steady state error and overshoot have occurred in the position response as a typical imperfect implementation of associated control dynamic. In this situation, there is a necessity to be able to effectively utilizing the intelligent controller framework. The primary purpose of this research is to develop a control algorithm based on two neuro-fuzzy for a hydraulic servo system. This precompensator neuro-fuzzy combined with fuzzy controller will be implemented to enhance the overall performance. Experiments were carried out and the experimental results illustrated that the above pre-compensated intelligent framework can improve the overall the performance.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"352 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115896909","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985644
Cui Jianwen, Zhang Han
An intravenous infusion monitoring and alarm system based on wireless transmission technology is presented. And it can real-time monitor infusion process. Alarm signal is given when the infusion is blocked or at the end of the infusion, which will solve the inconvenience of clinical intravenous infusion, and increase the security and efficiency. In this system, the photoelectric sensor technology and signal processing technology are applied to acquire the reliable detection of the infusion drops signal. And Single Chip Microcomputer (SCM) and digital display technology are used to count, display and monitor the quantity and velocity of the liquid, and alarm when there has no liquid or a block. Using wireless communication technology to realize information network and infusion status of every ward are real-time monitored in nurse station. Experimental results show that the system meet the design requirements and is safe and reliable.
{"title":"Design of intravenous infusion monitoring and alarm system based on wireless communication technology","authors":"Cui Jianwen, Zhang Han","doi":"10.1109/ICMA.2011.5985644","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985644","url":null,"abstract":"An intravenous infusion monitoring and alarm system based on wireless transmission technology is presented. And it can real-time monitor infusion process. Alarm signal is given when the infusion is blocked or at the end of the infusion, which will solve the inconvenience of clinical intravenous infusion, and increase the security and efficiency. In this system, the photoelectric sensor technology and signal processing technology are applied to acquire the reliable detection of the infusion drops signal. And Single Chip Microcomputer (SCM) and digital display technology are used to count, display and monitor the quantity and velocity of the liquid, and alarm when there has no liquid or a block. Using wireless communication technology to realize information network and infusion status of every ward are real-time monitored in nurse station. Experimental results show that the system meet the design requirements and is safe and reliable.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114652705","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985798
Renbing Kuang, Heping Song, Guoli Wang
We propose a new approach for target localization via correlated link inference. The proposed method takes advantage of the motion-induced difference of received signal strength(RSS) made in a wireless peer-to-peer network. By using the multipath channel model, the signal strength on a wireless link is largely dependent on the power contained in multipath components that travel through space containing moving targets. The effect of target obstruction is dominated by RSS attenuation and RSS enhancement. We locate targets by imaging both RSS attenuation and RSS enhancement. Experimental results with 14 nodes RF sensor network deployed in indoor office environment are presented.
{"title":"Target localization via correlated link inference","authors":"Renbing Kuang, Heping Song, Guoli Wang","doi":"10.1109/ICMA.2011.5985798","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985798","url":null,"abstract":"We propose a new approach for target localization via correlated link inference. The proposed method takes advantage of the motion-induced difference of received signal strength(RSS) made in a wireless peer-to-peer network. By using the multipath channel model, the signal strength on a wireless link is largely dependent on the power contained in multipath components that travel through space containing moving targets. The effect of target obstruction is dominated by RSS attenuation and RSS enhancement. We locate targets by imaging both RSS attenuation and RSS enhancement. Experimental results with 14 nodes RF sensor network deployed in indoor office environment are presented.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116950041","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985878
Xiaoguang Lin, Xiaoqi Hu, Jianhui Zhang
In this paper, a piezoelectric-stack pump with variable-cross-section oscillating (VCSO) vibrator is proposed, which imitates the swing of the caudal-fin of tuna, and the pump is neither the rotating type nor the volumetric type according to the taxonomy. The interaction between the oscillating vibrator and the fluid parcel is firstly analyzed from the viewpoint of momentum conservation, and the analytical expression of pump flow rate is obtained. At last, experimental measurement for the flow rates with different driving frequencies is conducted. The results show that the flow rate can reach 560 ml/min at 1370 Hz when the pump runs under the backpressure of 30 mm water column. And the flow rate is as much as 560% of that of experiment results carried out by Cícero R. De Limaa. The proposed pump innovates in both theory and taxonomy. In addition, the pump overcomes the drawbacks such as large flow fluctuation and low flow rate in the traditional FRD type pumps, which will help to broaden the applications of the valve-less piezoelectric pump.
本文提出了一种模拟金枪鱼尾鳍摆动的变截面振荡(VCSO)振子的压电堆叠泵，该泵在分类上既不是旋转式泵，也不是容积式泵。首先从动量守恒的角度分析了振动振子与流体包的相互作用，得到了泵流量的解析表达式。最后，对不同驱动频率下的流量进行了实验测量。结果表明:在30mm水柱背压条件下，泵在1370 Hz频率下的流量可达560ml /min;流量达到Cícero R. De Limaa实验结果的560%。所提出的泵在理论和分类上都有创新。此外，该泵还克服了传统FRD型泵流量波动大、流量小等缺点，有助于拓宽无阀压电泵的应用范围。
{"title":"Theoretical and experimental research of caudal-fin-type piezoelectric-stack pump with variable-cross-section oscillating vibrato","authors":"Xiaoguang Lin, Xiaoqi Hu, Jianhui Zhang","doi":"10.1109/ICMA.2011.5985878","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985878","url":null,"abstract":"In this paper, a piezoelectric-stack pump with variable-cross-section oscillating (VCSO) vibrator is proposed, which imitates the swing of the caudal-fin of tuna, and the pump is neither the rotating type nor the volumetric type according to the taxonomy. The interaction between the oscillating vibrator and the fluid parcel is firstly analyzed from the viewpoint of momentum conservation, and the analytical expression of pump flow rate is obtained. At last, experimental measurement for the flow rates with different driving frequencies is conducted. The results show that the flow rate can reach 560 ml/min at 1370 Hz when the pump runs under the backpressure of 30 mm water column. And the flow rate is as much as 560% of that of experiment results carried out by Cícero R. De Limaa. The proposed pump innovates in both theory and taxonomy. In addition, the pump overcomes the drawbacks such as large flow fluctuation and low flow rate in the traditional FRD type pumps, which will help to broaden the applications of the valve-less piezoelectric pump.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117280604","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985765
Ye Lezhi, L. Desheng, Jiao Bingfeng
The basic principle, structure, and function of an expert system for designing permanent magnet retarder (PMR) is described. The system takes into account the preliminary design process and has been achieved with a high interactivity level. The frame structure and work mode of the platform are introduced by analyzing function modules. The main parameters of the PMR structure are designed using robust optimization techniques. The functions of the simulation analysis and virtual assembly module are discussed. The expert system of the technology integration is developed.
{"title":"Research and development of expert system for permanent magnet retarder design","authors":"Ye Lezhi, L. Desheng, Jiao Bingfeng","doi":"10.1109/ICMA.2011.5985765","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985765","url":null,"abstract":"The basic principle, structure, and function of an expert system for designing permanent magnet retarder (PMR) is described. The system takes into account the preliminary design process and has been achieved with a high interactivity level. The frame structure and work mode of the platform are introduced by analyzing function modules. The main parameters of the PMR structure are designed using robust optimization techniques. The functions of the simulation analysis and virtual assembly module are discussed. The expert system of the technology integration is developed.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"223 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116041515","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986327
Liying Su, Shucai Wang, Yueqing Yu
In this paper, a new algorithm of moving objects detection is proposed for indoor environment, which can effectively overcome light changing and can better detect and extract moving objects in indoor environment. The algorithm first transforms images in the form of RGB into the form of HSI for better image processing, and then detects and extracts moving objects based on image and distance information. One core of the algorithm is effectively combining information of image and distance during the process of motion detection, which can better overcome light changing in indoor environment; the other is reasonable using of the background subtraction and the frame difference during the process of moving objects extraction, so that the moving objects can be extracted more accurately and completely. Experimental results have validated the feasibility and reliability of the algorithm.
{"title":"An algorithm of moving objects detection for indoor environment based on laser and vision","authors":"Liying Su, Shucai Wang, Yueqing Yu","doi":"10.1109/ICMA.2011.5986327","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986327","url":null,"abstract":"In this paper, a new algorithm of moving objects detection is proposed for indoor environment, which can effectively overcome light changing and can better detect and extract moving objects in indoor environment. The algorithm first transforms images in the form of RGB into the form of HSI for better image processing, and then detects and extracts moving objects based on image and distance information. One core of the algorithm is effectively combining information of image and distance during the process of motion detection, which can better overcome light changing in indoor environment; the other is reasonable using of the background subtraction and the frame difference during the process of moving objects extraction, so that the moving objects can be extracted more accurately and completely. Experimental results have validated the feasibility and reliability of the algorithm.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123552640","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985718
Guanghui Li, Y. Tamura, H. Asama
The inefficiency, exponential amount of communication and computational time are high undesirable for realistic applications under utilizing the existing distributed task allocation approaches, especially for the dynamical tasks that move randomly before assigned robots to execute them, and the condition of these tasks could vary over time. For such dynamical task assignment problem, we propose a dynamical task allocation and reallocation method for multiple robots coordination system based on multi-round negotiation and body expansion behaviour. For the first time round negotiation, robots sequentially negotiate and select tasks to perform according the proposed algorithm, and declare the information to other robots. When all robots have finished first time selecting, then the remaining un-selection robots choose the rest un-assigned tasks again sequentially. We set two distance thresholds for decision making so as to implement body expansion behavior. Based on the body expansion behavior, one robot can request, accept and refuse other robots to execute tasks by intention communication under the order of two distance thresholds. The advantages of dynamical task allocation and reallocation approach is demonstrated by comparing with existing task allocation algorithm in this paper. The simulation results show that the efficiency for whole multi-robot coordination system to accomplish all tasks is improved by utilizing our approach. Moreover, it is more conducive to reduce the numerous computational time and communication compare to the existing investigated task assignment methods.
{"title":"Dynamical task allocation and reallocation based on body expansion behavior for multi-robot coordination system","authors":"Guanghui Li, Y. Tamura, H. Asama","doi":"10.1109/ICMA.2011.5985718","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985718","url":null,"abstract":"The inefficiency, exponential amount of communication and computational time are high undesirable for realistic applications under utilizing the existing distributed task allocation approaches, especially for the dynamical tasks that move randomly before assigned robots to execute them, and the condition of these tasks could vary over time. For such dynamical task assignment problem, we propose a dynamical task allocation and reallocation method for multiple robots coordination system based on multi-round negotiation and body expansion behaviour. For the first time round negotiation, robots sequentially negotiate and select tasks to perform according the proposed algorithm, and declare the information to other robots. When all robots have finished first time selecting, then the remaining un-selection robots choose the rest un-assigned tasks again sequentially. We set two distance thresholds for decision making so as to implement body expansion behavior. Based on the body expansion behavior, one robot can request, accept and refuse other robots to execute tasks by intention communication under the order of two distance thresholds. The advantages of dynamical task allocation and reallocation approach is demonstrated by comparing with existing task allocation algorithm in this paper. The simulation results show that the efficiency for whole multi-robot coordination system to accomplish all tasks is improved by utilizing our approach. Moreover, it is more conducive to reduce the numerous computational time and communication compare to the existing investigated task assignment methods.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125992892","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985710
S. Yuta, M. Mizukawa, H. Hashimoto, H. Tashiro, Tsuyoshi Okubo
We have been organizing the “Tsukuba Challenge, ” every year since 2007 in Tsukuba, Japan. The “Tsukuba Challenge” is a Real World Robot Challenge which aims at intelligent robot technology for realizing a practical autonomous robot that works in the real environment of daily life. As the objective task of the Tsukuba Challenge, the robots were required to make their way, safely and autonomously, over 1 km down a pedestrian street and through a park in Tsukuba. In 2010, more than 60 autonomous mobile robots participated in this challenge, and seven robots completed the autonomous navigation of the designated course at the center area in Tsukuba City.
{"title":"An open experiment of mobile robot autonomous navigation at the pedestrian streets in the city — Tsukuba Challenge","authors":"S. Yuta, M. Mizukawa, H. Hashimoto, H. Tashiro, Tsuyoshi Okubo","doi":"10.1109/ICMA.2011.5985710","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985710","url":null,"abstract":"We have been organizing the “Tsukuba Challenge, ” every year since 2007 in Tsukuba, Japan. The “Tsukuba Challenge” is a Real World Robot Challenge which aims at intelligent robot technology for realizing a practical autonomous robot that works in the real environment of daily life. As the objective task of the Tsukuba Challenge, the robots were required to make their way, safely and autonomously, over 1 km down a pedestrian street and through a park in Tsukuba. In 2010, more than 60 autonomous mobile robots participated in this challenge, and seven robots completed the autonomous navigation of the designated course at the center area in Tsukuba City.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124789185","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5985857
Fei Liu, Hongwei Zhang, Bing Du
Autonomous underwater vehicles (AUVs) have become main tools for underwater survey in scientific, military, and commercial applications. A significant amount of onboard power is needed to execute long-range missions; however, energy storage is limited in AUV. This paper presents a novel landing AUV that can land on the sea floor to perform long-term monitoring and measuring tasks and save onboard electric energy. The AUV has following characteristics. Firstly, a triangular structure of the AUV which is composed of three cabins is used to achieve stable bottom sitting. Secondly, the releasing mechanism is designed to eject and recover the AUV. Bottom sitting and recovering is verified by ocean trials. This paper provides guidance for design of similar AUVs.
{"title":"Design and optimization of overall structure for a landing AUV","authors":"Fei Liu, Hongwei Zhang, Bing Du","doi":"10.1109/ICMA.2011.5985857","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5985857","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have become main tools for underwater survey in scientific, military, and commercial applications. A significant amount of onboard power is needed to execute long-range missions; however, energy storage is limited in AUV. This paper presents a novel landing AUV that can land on the sea floor to perform long-term monitoring and measuring tasks and save onboard electric energy. The AUV has following characteristics. Firstly, a triangular structure of the AUV which is composed of three cabins is used to achieve stable bottom sitting. Secondly, the releasing mechanism is designed to eject and recover the AUV. Bottom sitting and recovering is verified by ocean trials. This paper provides guidance for design of similar AUVs.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124832799","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 : 2011-08-15DOI: 10.1109/ICMA.2011.5986331
Hao Yanling, Zhang Yi, Sun Feng
An anomaly recognition algorithm for the Doppler velocity log (DVL) is proposed in this paper. The integration of strap-down inertial navigation system (SINS)/DVL is used in this approach. This approach use two SINS/DVL integration systems with different measurement noise covariance matrices and make each of them estimate the state vector simultaneously. As the two system respond difference to the growth of the DVL measurement noises, the anomaly of the DVL velocity measurement can be recognition though the difference between their heading outcomes. Simulation results show that this approach is available.
{"title":"An anomaly recognition algorithm for DVL","authors":"Hao Yanling, Zhang Yi, Sun Feng","doi":"10.1109/ICMA.2011.5986331","DOIUrl":"https://doi.org/10.1109/ICMA.2011.5986331","url":null,"abstract":"An anomaly recognition algorithm for the Doppler velocity log (DVL) is proposed in this paper. The integration of strap-down inertial navigation system (SINS)/DVL is used in this approach. This approach use two SINS/DVL integration systems with different measurement noise covariance matrices and make each of them estimate the state vector simultaneously. As the two system respond difference to the growth of the DVL measurement noises, the anomaly of the DVL velocity measurement can be recognition though the difference between their heading outcomes. Simulation results show that this approach is available.","PeriodicalId":317730,"journal":{"name":"2011 IEEE International Conference on Mechatronics and Automation","volume":"445 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129344553","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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