Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396896
Christian Gotte, Martin Keller, C. Hass, K. Glander, Alois Seewald, T. Bertram
A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach by a suitable vehicle dynamics model, which facilitates stable vehicle guidance. The problem of trajectory generation is reformulated such that a nonlinear model predictive control (NMPC) method can be applied. The analysis of different traffic scenarios shows the functionality of the developed concept.
{"title":"A model predictive combined planning and control approach for guidance of automated vehicles","authors":"Christian Gotte, Martin Keller, C. Hass, K. Glander, Alois Seewald, T. Bertram","doi":"10.1109/ICVES.2015.7396896","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396896","url":null,"abstract":"A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach by a suitable vehicle dynamics model, which facilitates stable vehicle guidance. The problem of trajectory generation is reformulated such that a nonlinear model predictive control (NMPC) method can be applied. The analysis of different traffic scenarios shows the functionality of the developed concept.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122615572","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396922
S. M. Zabihi, S. Beauchemin, E. A. M. D. Medeiros, M. Bauer
Vehicle self-localization is an important aspect of intelligent transportation systems. Global Positioning Systems (GPS) which provide vehicle localization information play an important role in these systems. However, GPS is challenged in urban environments where satellite visibility and multipath situations are unavoidable. In this contribution we propose a method by which vehicular speed and a map-based lane detection process are called upon to improve the positional accuracy of GPS. Experimental results with urban driving sequences demonstrate that our approach significantly improves the accuracy of positioning the vehicle as compared with systems solely relying on GPS.
{"title":"Lane-based vehicle localization in urban environments","authors":"S. M. Zabihi, S. Beauchemin, E. A. M. D. Medeiros, M. Bauer","doi":"10.1109/ICVES.2015.7396922","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396922","url":null,"abstract":"Vehicle self-localization is an important aspect of intelligent transportation systems. Global Positioning Systems (GPS) which provide vehicle localization information play an important role in these systems. However, GPS is challenged in urban environments where satellite visibility and multipath situations are unavoidable. In this contribution we propose a method by which vehicular speed and a map-based lane detection process are called upon to improve the positional accuracy of GPS. Experimental results with urban driving sequences demonstrate that our approach significantly improves the accuracy of positioning the vehicle as compared with systems solely relying on GPS.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129800351","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396925
Carlos Flores, V. M. Montero, Joshué Pérez, F. Nashashibi
Cybernetic Transport Systems (CTS) are now available on some cities worldwide covering the so-called lastmile for people transportation. These electric vehicles are expecting to operate during several hours without interruptions. It implies that energy consumption plays a key role when it comes to extend its autonomy. This paper presents a new algorithm for reference speed generation of CTS with energy consumption considerations. It consists on a two layer controller: the first one is in charge of generating the speed reference based on an energetic model, and the second one is a high-level fuzzy system to improve some low-level undesirable behaviors. The designed system was compared with three other algorithms in a real platform, showing promising results in terms of energy saving.
{"title":"An energy-saving speed profile algorithm for cybernetic transport systems","authors":"Carlos Flores, V. M. Montero, Joshué Pérez, F. Nashashibi","doi":"10.1109/ICVES.2015.7396925","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396925","url":null,"abstract":"Cybernetic Transport Systems (CTS) are now available on some cities worldwide covering the so-called lastmile for people transportation. These electric vehicles are expecting to operate during several hours without interruptions. It implies that energy consumption plays a key role when it comes to extend its autonomy. This paper presents a new algorithm for reference speed generation of CTS with energy consumption considerations. It consists on a two layer controller: the first one is in charge of generating the speed reference based on an energetic model, and the second one is a high-level fuzzy system to improve some low-level undesirable behaviors. The designed system was compared with three other algorithms in a real platform, showing promising results in terms of energy saving.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124141406","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396891
Suhua Tang, Kiyoshi Saito, S. Obana
Pedestrian-to-vehicle communication is an effective method to reducing pedestrian accidents, but its performance is greatly degraded when many pedestrians contend to transmit frequently on the same channel. In this paper, we propose to solve this problem from three aspects, (i) defining accident models for intersections and straight roads where pedestrian accidents frequently occur, (ii) estimating the degree of risk by exploiting pedestrian context information, and (iii) differentiating pedestrian transmissions with different transmission intervals and channel access priorities so that messages from pedestrians in high risk can be quickly and reliably sent to potentially colliding vehicles. The proposed scheme is implemented via network simulator and extensively evaluated. Experimental results confirm that in dense scenarios with a large number of pedestrians, the proposed scheme can greatly improve packet delivery rate of pedestrians in high risk compared with the conventional schemes.
{"title":"Transmission control for reliable pedestrian-to-vehicle communication by using context of pedestrians","authors":"Suhua Tang, Kiyoshi Saito, S. Obana","doi":"10.1109/ICVES.2015.7396891","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396891","url":null,"abstract":"Pedestrian-to-vehicle communication is an effective method to reducing pedestrian accidents, but its performance is greatly degraded when many pedestrians contend to transmit frequently on the same channel. In this paper, we propose to solve this problem from three aspects, (i) defining accident models for intersections and straight roads where pedestrian accidents frequently occur, (ii) estimating the degree of risk by exploiting pedestrian context information, and (iii) differentiating pedestrian transmissions with different transmission intervals and channel access priorities so that messages from pedestrians in high risk can be quickly and reliably sent to potentially colliding vehicles. The proposed scheme is implemented via network simulator and extensively evaluated. Experimental results confirm that in dense scenarios with a large number of pedestrians, the proposed scheme can greatly improve packet delivery rate of pedestrians in high risk compared with the conventional schemes.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131543601","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396917
Ulrich Vogele, C. Endisch
Optimizing the velocity of a vehicle over a known future route can reduce fuel consumption. This article studies the potential fuel-savings of such systems for conventional vehicles, employing an internal combustion engine, and its application to electric vehicles. A main drawback of many optimization algorithms is their computational complexity, which prevents them from being used in real-time applications. To overcome this drawback a fast algorithm is presented to optimize the velocity of a vehicle with known route slope. Using this algorithm the consumption for five real world scenarios is simulated and compared against a constant velocity policy. The results achieved for the conventional vehicle are comparable to real-world results reported in other articles and offer about 20% fuel saving using free-wheeling compared to driving with a constant velocity. For electric vehicles the consumption savings, which can be achieved using free-wheeling lie around 3.5%.
{"title":"Potential analysis of predictive optimal velocity control for electric and conventional vehicles","authors":"Ulrich Vogele, C. Endisch","doi":"10.1109/ICVES.2015.7396917","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396917","url":null,"abstract":"Optimizing the velocity of a vehicle over a known future route can reduce fuel consumption. This article studies the potential fuel-savings of such systems for conventional vehicles, employing an internal combustion engine, and its application to electric vehicles. A main drawback of many optimization algorithms is their computational complexity, which prevents them from being used in real-time applications. To overcome this drawback a fast algorithm is presented to optimize the velocity of a vehicle with known route slope. Using this algorithm the consumption for five real world scenarios is simulated and compared against a constant velocity policy. The results achieved for the conventional vehicle are comparable to real-world results reported in other articles and offer about 20% fuel saving using free-wheeling compared to driving with a constant velocity. For electric vehicles the consumption savings, which can be achieved using free-wheeling lie around 3.5%.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117017184","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396900
Gang Ye, Guang-ming Xiong, Ning Li, Min Zhu, Jian-wei Gong
In this paper, an automatic control system based on "x-by-wire" is introduced for a wheeled heavy duty off-road vehicle. Moreover, a vision-based recognition algorithm of unstructured roads for this automated wheeled heavy duty off-road vehicle is presented to extract the complete feasible road area. The road recognition method consists of the multilayer perceptron self-supervised on-line learning and post-process based on a road model assumption. The experimental results show the effectiveness of the proposed system.
{"title":"Road recognition for a wheeled heavy duty off-road autonomous vehicle","authors":"Gang Ye, Guang-ming Xiong, Ning Li, Min Zhu, Jian-wei Gong","doi":"10.1109/ICVES.2015.7396900","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396900","url":null,"abstract":"In this paper, an automatic control system based on \"x-by-wire\" is introduced for a wheeled heavy duty off-road vehicle. Moreover, a vision-based recognition algorithm of unstructured roads for this automated wheeled heavy duty off-road vehicle is presented to extract the complete feasible road area. The road recognition method consists of the multilayer perceptron self-supervised on-line learning and post-process based on a road model assumption. The experimental results show the effectiveness of the proposed system.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127248579","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396894
Can Gocmenoglu, T. Acarman, B. Levrat
VANET Simulation schemes require a combination of mobility and wireless network simulation packages, coupled with custom scripts, visualization tools and various scenarios. The results of simulation studies need to be supported by special tools or scripts to analyze or visualize them easily. Some additional difficulties arise at sharing the results, visually comparing simulation runs across different platforms and showcasing the findings of a research to a larger audience. As a solution, we have developed a 3D Web-based Visualization Tool for VANET Simulations (WGL-VANET), which takes advantage of HTML5 and WebGL technologies to create a crossplatform, easy-to-use and flexible visualization tool for VANET simulations. WGL-VANET reads simulation data from a JSON document and supports a variety of visual features, and displays the simulation run on a WebGL canvas inside a web-browser.
{"title":"WGL-VANET: A web-based visualization tool for VANET simulations","authors":"Can Gocmenoglu, T. Acarman, B. Levrat","doi":"10.1109/ICVES.2015.7396894","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396894","url":null,"abstract":"VANET Simulation schemes require a combination of mobility and wireless network simulation packages, coupled with custom scripts, visualization tools and various scenarios. The results of simulation studies need to be supported by special tools or scripts to analyze or visualize them easily. Some additional difficulties arise at sharing the results, visually comparing simulation runs across different platforms and showcasing the findings of a research to a larger audience. As a solution, we have developed a 3D Web-based Visualization Tool for VANET Simulations (WGL-VANET), which takes advantage of HTML5 and WebGL technologies to create a crossplatform, easy-to-use and flexible visualization tool for VANET simulations. WGL-VANET reads simulation data from a JSON document and supports a variety of visual features, and displays the simulation run on a WebGL canvas inside a web-browser.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130970651","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396909
Junichi Tsurushiro, T. Nagaosa
This paper describes a study of vehicle localization using its vibration due to road surface roughness. The authors suggest a vehicle localization scheme in which a vehicle can identify its location on the road. The vehicle localization can be carried out matching the current vehicle vibration with the prior observed vehicle vibration in the database as a vibration map. In this paper, the longitudinal vehicle localization is carried out by observing the vehicle vibration with a smart phone on the dashboard. First, the authors examine the effect of the matching duration of the current vehicle vibration data to the prior observed vibration for the precise of vehicle localization. It is shown that the long duration matching is effective in more precise vehicle localization. Next, the authors evaluate the performance of the vehicle localization scheme using current vehicle vibration data and prior vibration data in the database observed from the same vehicle, and using the ones from a vehicle and the ones from another vehicle. It is shown that the vehicle localization error is about 2.5 meter when using vibration data from the same vehicle, and about 3.5 meter when using vibration data from a vehicle and another vehicle.
{"title":"Vehicle localization using its vibration caused by road surface roughness","authors":"Junichi Tsurushiro, T. Nagaosa","doi":"10.1109/ICVES.2015.7396909","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396909","url":null,"abstract":"This paper describes a study of vehicle localization using its vibration due to road surface roughness. The authors suggest a vehicle localization scheme in which a vehicle can identify its location on the road. The vehicle localization can be carried out matching the current vehicle vibration with the prior observed vehicle vibration in the database as a vibration map. In this paper, the longitudinal vehicle localization is carried out by observing the vehicle vibration with a smart phone on the dashboard. First, the authors examine the effect of the matching duration of the current vehicle vibration data to the prior observed vibration for the precise of vehicle localization. It is shown that the long duration matching is effective in more precise vehicle localization. Next, the authors evaluate the performance of the vehicle localization scheme using current vehicle vibration data and prior vibration data in the database observed from the same vehicle, and using the ones from a vehicle and the ones from another vehicle. It is shown that the vehicle localization error is about 2.5 meter when using vibration data from the same vehicle, and about 3.5 meter when using vibration data from a vehicle and another vehicle.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128814585","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396924
T. Wada, Hiroki Yasuhara, Shigeo Nakano
Since the birth of vehicles, vehicles have given good and comfortable experiences for people to go anywhere in any time. However, traffic accidents such as vehicle to vehicle collision and vehicle to pedestrian collision are increasing with the increase of vehicles. For tracking vehicles, recognition systems of the license plate using cameras and image processing technology have been developed. However, these systems become expensive and complicated for dedicated usage. To solve these problems, we have proposed a recognition method of the vehicle code using infrared laser radar. We set up a two-dimensional code created by reflectors on the vehicle, and acquire the vehicle information by reading the reflector code by infrared laser radar. However, since the size of reflector code is large, the rear image of the vehicle becomes unnatural. In order to reduce the size of reflector code for recognizing 2D reflector code by using infrared laser radar, we propose a code size reduction method by using polarization film. Through experiments, we show that the proposed method is able to reduce the size of reflector code effectively.
{"title":"Reduction of reflector code size by polarization film for infrared laser radar","authors":"T. Wada, Hiroki Yasuhara, Shigeo Nakano","doi":"10.1109/ICVES.2015.7396924","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396924","url":null,"abstract":"Since the birth of vehicles, vehicles have given good and comfortable experiences for people to go anywhere in any time. However, traffic accidents such as vehicle to vehicle collision and vehicle to pedestrian collision are increasing with the increase of vehicles. For tracking vehicles, recognition systems of the license plate using cameras and image processing technology have been developed. However, these systems become expensive and complicated for dedicated usage. To solve these problems, we have proposed a recognition method of the vehicle code using infrared laser radar. We set up a two-dimensional code created by reflectors on the vehicle, and acquire the vehicle information by reading the reflector code by infrared laser radar. However, since the size of reflector code is large, the rear image of the vehicle becomes unnatural. In order to reduce the size of reflector code for recognizing 2D reflector code by using infrared laser radar, we propose a code size reduction method by using polarization film. Through experiments, we show that the proposed method is able to reduce the size of reflector code effectively.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115152061","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396905
T. Takano, Shintaro Ono, Y. Matsushita, Hiroshi Kawasaki, K. Ikeuchi
Fisheye cameras are widely adopted in the back view camera of vehicles and the surveillance camera. Compared to the normal digital cameras, their resolution and image quality are low. In this paper, we propose a method to restore the high resolution images from the fisheye camera by the reconstructed type of super resolution. First, we undistort the fisheye images and regularize these images. Then we super-resolve these regularized images. Blur kernel for super resolution includes the lens blur and the expansion and reduction by the undistortion. The experimental results confirms to the effectiveness of our method which applies to the images captured by the digital camera with fish-eye lens.
{"title":"Super resolution of fisheye images captured by on-vehicle camera for visibility support","authors":"T. Takano, Shintaro Ono, Y. Matsushita, Hiroshi Kawasaki, K. Ikeuchi","doi":"10.1109/ICVES.2015.7396905","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396905","url":null,"abstract":"Fisheye cameras are widely adopted in the back view camera of vehicles and the surveillance camera. Compared to the normal digital cameras, their resolution and image quality are low. In this paper, we propose a method to restore the high resolution images from the fisheye camera by the reconstructed type of super resolution. First, we undistort the fisheye images and regularize these images. Then we super-resolve these regularized images. Blur kernel for super resolution includes the lens blur and the expansion and reduction by the undistortion. The experimental results confirms to the effectiveness of our method which applies to the images captured by the digital camera with fish-eye lens.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114570937","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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