Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7419022
Peng Wang, Zhengke Qin, Z. Xiong, Jinyan Lu, De Xu, Xiaodong Yuan, Changchun Liu
The assembly of large scale components are still challenging tasks due to the heavy weights of the objects, and the requirements of high precision and high efficiency. Therefore, the design of robotic assembly system for large scale components, and the studies on the corresponding methods and strategies are still very important and very urgent. In this paper, we design a new robotic assembly system for large scale components guided by two vision sensors and three 1-D laser sensors. Novel high precision localization and alignment methods are proposed to automatically localize the components and search the best three-dimensional position and orientation between the object and the installation location. Experimental results show that the system can well complete the assembly task for large scale components automatically, including automatic detection and localization, automatic grasping, automatic guidance, and automatically insertion, with high precision and high efficiency.
{"title":"Robotic assembly system guided by multiple vision and laser sensors for large scale components","authors":"Peng Wang, Zhengke Qin, Z. Xiong, Jinyan Lu, De Xu, Xiaodong Yuan, Changchun Liu","doi":"10.1109/ROBIO.2015.7419022","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419022","url":null,"abstract":"The assembly of large scale components are still challenging tasks due to the heavy weights of the objects, and the requirements of high precision and high efficiency. Therefore, the design of robotic assembly system for large scale components, and the studies on the corresponding methods and strategies are still very important and very urgent. In this paper, we design a new robotic assembly system for large scale components guided by two vision sensors and three 1-D laser sensors. Novel high precision localization and alignment methods are proposed to automatically localize the components and search the best three-dimensional position and orientation between the object and the installation location. Experimental results show that the system can well complete the assembly task for large scale components automatically, including automatic detection and localization, automatic grasping, automatic guidance, and automatically insertion, with high precision and high efficiency.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2672 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132901088","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419733
Hesan Nobakht, Yong Liu
This paper addresses the accuracy problem of 3D positioning of a large-environment and visual servo control for a robot in an unstructured scene. The important issue in this application is the pixel measurement error in 3D reconstruction model. Because of large-task space corresponding to each pixel even a small measurement error can cause significant errors in reconstructing 3D scene. On the other hand, IBVS provides the complementary benefits of accuracy up to required criteria, as a result of close loop system and smaller task-space. However, it has problems of stability and convergence in large movements and rotations. In this approach instead of over calibrating or increasing the resolution of the picture in hand which usually takes a lot of time and process without any satisfying result; a hybrid algorithm is developed to compensate for the error in 3D model, using partitioned IBVS. The proposed method uses the 3D model to moves the end-effector near the target, which makes it possible to implement any complex motion-planning or object-recognition, then uses the partitioned IBVS to fix the error caused by 3D reconstruction. The accuracy by this method can be increased to meet the most requirements.
{"title":"A hybrid positioning method for eye-in-hand industrial robot by using 3D reconstruction and IBVS","authors":"Hesan Nobakht, Yong Liu","doi":"10.1109/ROBIO.2015.7419733","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419733","url":null,"abstract":"This paper addresses the accuracy problem of 3D positioning of a large-environment and visual servo control for a robot in an unstructured scene. The important issue in this application is the pixel measurement error in 3D reconstruction model. Because of large-task space corresponding to each pixel even a small measurement error can cause significant errors in reconstructing 3D scene. On the other hand, IBVS provides the complementary benefits of accuracy up to required criteria, as a result of close loop system and smaller task-space. However, it has problems of stability and convergence in large movements and rotations. In this approach instead of over calibrating or increasing the resolution of the picture in hand which usually takes a lot of time and process without any satisfying result; a hybrid algorithm is developed to compensate for the error in 3D model, using partitioned IBVS. The proposed method uses the 3D model to moves the end-effector near the target, which makes it possible to implement any complex motion-planning or object-recognition, then uses the partitioned IBVS to fix the error caused by 3D reconstruction. The accuracy by this method can be increased to meet the most requirements.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122237986","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418882
Yuanyuan Feng, Yonghong Song, Yuanlin Zhang
This paper presents a text detection method based on Extremal Regions (ERs) and Corner-HOG feature. Local Histogram of Oriented Gradient (HOG) extracted around corners (Corner-HOG) is used to effectively prune the non-text components in the component tree. Experimental results show that the Corner-HOG based pruning method can discard an average of 83.06% of all ERs in an image while preserving a recall of 90.51% of the text components. The remaining ERs are then grouped into text lines and candidate text lines are verified using black-white transition feature and the covariance descriptor of HOG. Experimental results on the 2011 Robust Reading Competition dataset show that the proposed text detection method provides promising performance.
{"title":"Scene text localization using extremal regions and Corner-HOG feature","authors":"Yuanyuan Feng, Yonghong Song, Yuanlin Zhang","doi":"10.1109/ROBIO.2015.7418882","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418882","url":null,"abstract":"This paper presents a text detection method based on Extremal Regions (ERs) and Corner-HOG feature. Local Histogram of Oriented Gradient (HOG) extracted around corners (Corner-HOG) is used to effectively prune the non-text components in the component tree. Experimental results show that the Corner-HOG based pruning method can discard an average of 83.06% of all ERs in an image while preserving a recall of 90.51% of the text components. The remaining ERs are then grouped into text lines and candidate text lines are verified using black-white transition feature and the covariance descriptor of HOG. Experimental results on the 2011 Robust Reading Competition dataset show that the proposed text detection method provides promising performance.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121104653","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419713
Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Y. Kuniyoshi
We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.
{"title":"Scalable pneumatic actuator for easy creation of animated animal-shaped objects","authors":"Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Y. Kuniyoshi","doi":"10.1109/ROBIO.2015.7419713","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419713","url":null,"abstract":"We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117178129","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}
Video is a rich media widely used in many of our daily life applications like education, entertainment, surveillance, etc. In order to retrieve rapidly, it is necessary to establish digital archive for storing these videos. However, it is not realistic to store vast amounts of video data into digital archive artificially. This paper proposes a new method for the task of video digital archive management by employing scene recognition technology based on extreme learning machine (ELM). This paper only focuses on scene recognition technology which is the key step of digital video archive management. Dense scale invariant feature transform (dense SIFT) features are used as features in this proposed method. The 15-Scenes dataset with more than 4000 images is used. Experimental results have shown that this proposed method achieves not only high recognition accuracy but also extremely low computational cost.
{"title":"Scene recognition based on extreme learning machine for digital video archive management","authors":"Dongsheng Cheng, Wenjing Yu, Xiaoling He, Shilong Ni, Junyu Lv, Weibo Zeng, Yuanlong Yu","doi":"10.1109/ROBIO.2015.7419003","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419003","url":null,"abstract":"Video is a rich media widely used in many of our daily life applications like education, entertainment, surveillance, etc. In order to retrieve rapidly, it is necessary to establish digital archive for storing these videos. However, it is not realistic to store vast amounts of video data into digital archive artificially. This paper proposes a new method for the task of video digital archive management by employing scene recognition technology based on extreme learning machine (ELM). This paper only focuses on scene recognition technology which is the key step of digital video archive management. Dense scale invariant feature transform (dense SIFT) features are used as features in this proposed method. The 15-Scenes dataset with more than 4000 images is used. Experimental results have shown that this proposed method achieves not only high recognition accuracy but also extremely low computational cost.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114740897","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418887
Jianlong Sun, Xin Bo, Qian Wu, Fei Ye, Bingtuan Gao
Voltage stability problem is one of the most significant problems faced by grid-connected operation of wind farms. Traditionally, each wind farm adjusts its reactive power and voltage independently, which can not be able to optimize the regional power grid dispatching. In order to improve the voltage stability and operating economy of regional power grid connected with medium or large-scale wind farms, this paper presents a reactive power coordination optimization model to satisfy reactive power management of a wind farm group. To solve this multi-objective optimization problem, multi-objective particle swarm optimization algorithm was adopted for fast reactive power regulating of the wind farm group. Simulation results on case study demonstrated the effectiveness and feasibility of the proposed algorithm for reactive power coordination control considering voltage stability and economic operating.
{"title":"Multi-objective particle swarm optimization based reactive power coordination control strategy for wind farms","authors":"Jianlong Sun, Xin Bo, Qian Wu, Fei Ye, Bingtuan Gao","doi":"10.1109/ROBIO.2015.7418887","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418887","url":null,"abstract":"Voltage stability problem is one of the most significant problems faced by grid-connected operation of wind farms. Traditionally, each wind farm adjusts its reactive power and voltage independently, which can not be able to optimize the regional power grid dispatching. In order to improve the voltage stability and operating economy of regional power grid connected with medium or large-scale wind farms, this paper presents a reactive power coordination optimization model to satisfy reactive power management of a wind farm group. To solve this multi-objective optimization problem, multi-objective particle swarm optimization algorithm was adopted for fast reactive power regulating of the wind farm group. Simulation results on case study demonstrated the effectiveness and feasibility of the proposed algorithm for reactive power coordination control considering voltage stability and economic operating.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"889 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116381178","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419055
Anna M. Kohl, K. Pettersen, E. Kelasidi, J. Gravdahl
This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited link angles. As a basis for the analysis, an existing, control-oriented model is further simplified and extended to general sinusoidal gaits. Averaging theory is then employed to derive the averaged velocity dynamics of the underwater snake robot from that model. It is proven that the averaged velocity converges exponentially to an equilibrium, and an analytical expression for calculating the forward velocity of the robot in steady state is derived. A simulation study that validates both the proposed modelling approach and the theoretical results is presented.
{"title":"Analysis of underwater snake robot locomotion based on a control-oriented model","authors":"Anna M. Kohl, K. Pettersen, E. Kelasidi, J. Gravdahl","doi":"10.1109/ROBIO.2015.7419055","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419055","url":null,"abstract":"This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited link angles. As a basis for the analysis, an existing, control-oriented model is further simplified and extended to general sinusoidal gaits. Averaging theory is then employed to derive the averaged velocity dynamics of the underwater snake robot from that model. It is proven that the averaged velocity converges exponentially to an equilibrium, and an analytical expression for calculating the forward velocity of the robot in steady state is derived. A simulation study that validates both the proposed modelling approach and the theoretical results is presented.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115572928","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7419031
B. Gao, Hongbo Li, F. Sun
This paper analyzes the conventional moth inspired chemical plume tracking, and presents a 3D moth-inspired CPT using multi-sensors. The aim of CPT is tracking a target chemical flow back to its source and declaring its location. While the moths acturally perform their CPT in 3D space, the majority of related works are based on wheels robots in 2D. Nowadays the rapid development of rotorcrafts makes the 3D plume tracking possible. Hence in this paper, we first present a detailed analysis of moth-inspired CPT work flow, then extend the orthodox moth-inspired CPT from 2D to 3D. Our simulation results demonstrate that our the multi-sensor CPT strategy proposed is a feasible and efficient method to locate odour source.
{"title":"3D moth-inspired chemical plume tracking","authors":"B. Gao, Hongbo Li, F. Sun","doi":"10.1109/ROBIO.2015.7419031","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419031","url":null,"abstract":"This paper analyzes the conventional moth inspired chemical plume tracking, and presents a 3D moth-inspired CPT using multi-sensors. The aim of CPT is tracking a target chemical flow back to its source and declaring its location. While the moths acturally perform their CPT in 3D space, the majority of related works are based on wheels robots in 2D. Nowadays the rapid development of rotorcrafts makes the 3D plume tracking possible. Hence in this paper, we first present a detailed analysis of moth-inspired CPT work flow, then extend the orthodox moth-inspired CPT from 2D to 3D. Our simulation results demonstrate that our the multi-sensor CPT strategy proposed is a feasible and efficient method to locate odour source.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117077187","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}
This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.
{"title":"A momentum-based collision detection algorithm for industrial robots","authors":"Sumei He, Jinhua Ye, Zhijing Li, Shi-Yue Li, Guokui Wu, Haibin Wu","doi":"10.1109/ROBIO.2015.7418943","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418943","url":null,"abstract":"This paper presents a collision detection algorithm based on generalized momentum to improve the safety reaction of robots. According to the decoupling performance of generalized momentum and external torque of the manipulator, the impact force can be obtained which determine the position where collision occurred. In this paper, a performance-regulating function is introduced to improve the dynamic response characteristics of the algorithm. The algorithm can effectively depress the influence of acceleration and deceleration process. Moreover, it exhibits good real-time performance, and satisfies the expected requirements. The algorithm provides an approximate position and direction of the impact force, which are important for further security reaction control.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"326 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121839428","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 : 2015-12-01DOI: 10.1109/ROBIO.2015.7418918
Yiren Shen, Jianyu Yang, Youfu Li
Object recognition via shape matching has been a fundamental topic in robot vision. It is intuitive that the performance of recognition will be improved if the salient feature points of shapes are found while the redundant points are filtered out. In this paper, we propose an adaptive contour evolution (ACE) algorithm to capture the salient feature points of shape contour. The redundant contour points are removed from the original shape, which makes the shape contour compact and representative. The degree of evolution in our method can be controlled adaptively for various applications. In this work, the shape context (SC) descriptor is adopted to represent shapes. The proposed method can be used to process shape contours for any existing shape descriptors. A framework of shape recognition based on ACE and SC is proposed, where the dynamic programming (DP) algorithm is employed for shape matching. The using of the evolved shape contour not only reduce the computing cost of shape matching, but also increase the robustness to local noise. The conducted experiments validate the capability of the proposed method. The comparable results on benchmark datasets indicate that the shape recognition accuracy is essentially improved.
{"title":"Finding salient points of shape contour for object recognition","authors":"Yiren Shen, Jianyu Yang, Youfu Li","doi":"10.1109/ROBIO.2015.7418918","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418918","url":null,"abstract":"Object recognition via shape matching has been a fundamental topic in robot vision. It is intuitive that the performance of recognition will be improved if the salient feature points of shapes are found while the redundant points are filtered out. In this paper, we propose an adaptive contour evolution (ACE) algorithm to capture the salient feature points of shape contour. The redundant contour points are removed from the original shape, which makes the shape contour compact and representative. The degree of evolution in our method can be controlled adaptively for various applications. In this work, the shape context (SC) descriptor is adopted to represent shapes. The proposed method can be used to process shape contours for any existing shape descriptors. A framework of shape recognition based on ACE and SC is proposed, where the dynamic programming (DP) algorithm is employed for shape matching. The using of the evolved shape contour not only reduce the computing cost of shape matching, but also increase the robustness to local noise. The conducted experiments validate the capability of the proposed method. The comparable results on benchmark datasets indicate that the shape recognition accuracy is essentially improved.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121793803","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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