Pub Date : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228725
D. Sierociuk
This paper introduces the Fractional Variable Order Discrete System, described in the state space. The paper also introduces results on the controllability, reachability, observability and stability of that system. The definitions of the notions of controllability, reachability and observability for such models are proposed and the necessary and sufficient conditions for reachability and observability are given and proven. The sufficient conditions for controllability and local stability are proposed too.
{"title":"System properties of Fractional Variable Order Discrete state-space system","authors":"D. Sierociuk","doi":"10.1109/CARPATHIANCC.2012.6228725","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228725","url":null,"abstract":"This paper introduces the Fractional Variable Order Discrete System, described in the state space. The paper also introduces results on the controllability, reachability, observability and stability of that system. The definitions of the notions of controllability, reachability and observability for such models are proposed and the necessary and sufficient conditions for reachability and observability are given and proven. The sufficient conditions for controllability and local stability are proposed too.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122679457","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228734
J. Suto, Aditya Mate, J. Végh, I. Oniga
Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a general purpose data collector framework, which provides facilities for attaching and fitting different kinds of sensors and actuators. This general purpose framework provides an easy way to turn a general purpose robot into a special function one. The final concrete goal of the present development is to develop an autonomous robot assisting clinical patients and/or elderly persons. The work is going on towards the next phase, when the collector framework will be attached to a medical robot. The presented framework will handle the sensors and the motion of the medical robot it will be attach to an iRobot or a same instrument. Furthermore, users and developers can apply the framework several other implementations.
{"title":"Developing a general purpose data collector framework for robots","authors":"J. Suto, Aditya Mate, J. Végh, I. Oniga","doi":"10.1109/CARPATHIANCC.2012.6228734","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228734","url":null,"abstract":"Today a general need for robots assisting different human activities rises. The goal of the present project is to develop a general purpose data collector framework, which provides facilities for attaching and fitting different kinds of sensors and actuators. This general purpose framework provides an easy way to turn a general purpose robot into a special function one. The final concrete goal of the present development is to develop an autonomous robot assisting clinical patients and/or elderly persons. The work is going on towards the next phase, when the collector framework will be attached to a medical robot. The presented framework will handle the sensors and the motion of the medical robot it will be attach to an iRobot or a same instrument. Furthermore, users and developers can apply the framework several other implementations.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122844702","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228702
R. Pavlas, J. Zavadil
This article is focused on description of four ways of tracking control on the modeling yard. The yard is situated in the laboratory of Department of control systems and instrumentation. Control system was continuously developed by the help of students. First step was connecting the particular model's objects to input/output devices of the PLC control system and creating the basic programs. Next steps were design and creating of the hand control panel, creating of display views in InTouch software, design and creating of digital control panel and digitalization of locomotives. For every new created hardware and software control components, the program modules were developed (for PLC). The model yard is fully operable at present.
{"title":"Control system of small model railway - Four ways of tracking control","authors":"R. Pavlas, J. Zavadil","doi":"10.1109/CARPATHIANCC.2012.6228702","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228702","url":null,"abstract":"This article is focused on description of four ways of tracking control on the modeling yard. The yard is situated in the laboratory of Department of control systems and instrumentation. Control system was continuously developed by the help of students. First step was connecting the particular model's objects to input/output devices of the PLC control system and creating the basic programs. Next steps were design and creating of the hand control panel, creating of display views in InTouch software, design and creating of digital control panel and digitalization of locomotives. For every new created hardware and software control components, the program modules were developed (for PLC). The model yard is fully operable at present.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"539 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123113118","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228640
C. Hajiyev, M. Ata, M. Dinç, H. Soken
This article is basically focused on application of the Unscented Kalman Filter (UKF) algorithm to the estimation of high speed an autonomous underwater vehicle (AUV) dynamics. In the normal operation conditions of AUV, conventional UKF gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, UKF gives inaccurate results and diverges by time. This study, introduces Robust Unscented Kalman Filter (RUKF) algorithms with the filter gain correction for the case of measurement malfunctions. By the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. In the presented RUKF's, the filter gain correction is performed only in the case of malfunctions in the measurement system and in all other cases procedure is run optimally with regular UKF. Checkout is satisfied via a kind of statistical information. In order to achieve that, the fault detection procedure is introduced. Two different RUKF algorithms, one with single scale factor and one with multiple scale factors, are proposed and applied for the motion dynamics parameters estimation process of an AUV. The results of these algorithms are compared for different types of measurement faults in different estimation scenarios and recommendations about their applications are given.
{"title":"Fault tolerant estimation of autonomous underwater vehicle dynamics via robust UKF","authors":"C. Hajiyev, M. Ata, M. Dinç, H. Soken","doi":"10.1109/CARPATHIANCC.2012.6228640","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228640","url":null,"abstract":"This article is basically focused on application of the Unscented Kalman Filter (UKF) algorithm to the estimation of high speed an autonomous underwater vehicle (AUV) dynamics. In the normal operation conditions of AUV, conventional UKF gives sufficiently good estimation results. However, if the measurements are not reliable because of any kind of malfunction in the estimation system, UKF gives inaccurate results and diverges by time. This study, introduces Robust Unscented Kalman Filter (RUKF) algorithms with the filter gain correction for the case of measurement malfunctions. By the use of defined variables named as measurement noise scale factor, the faulty measurements are taken into the consideration with a small weight and the estimations are corrected without affecting the characteristic of the accurate ones. In the presented RUKF's, the filter gain correction is performed only in the case of malfunctions in the measurement system and in all other cases procedure is run optimally with regular UKF. Checkout is satisfied via a kind of statistical information. In order to achieve that, the fault detection procedure is introduced. Two different RUKF algorithms, one with single scale factor and one with multiple scale factors, are proposed and applied for the motion dynamics parameters estimation process of an AUV. The results of these algorithms are compared for different types of measurement faults in different estimation scenarios and recommendations about their applications are given.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116503900","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228739
M. Svejda, M. Goubej
The paper deals with kineto-static analysis of the AGgressive Environment roBOT (AGEBOT). Serio-parallel kinematic architecture of AGEBOT plays important role in aggressive environment applications such as manipulation in industrial degreasing and paint removing lines in the presence of high pressure and temperature, acid or lye. Standard 4DoF serial manipulator with PRRR joints is equipped with special 3DoF parallel spherical wrist which makes possible to separate vulnerable components (motors, sensors) from the rest of the end-effector by a water-proof barrier. Inverse and direct kinematics are discussed. The algorithm for velocity, acceleration and static forces (gravity compensation) is derived. In the case of known inverse and direct position dependencies proposed algorithm can be generalized for an arbitrary serial or parallel manipulator.
{"title":"Innovative design and control of robotic manipulator for chemically aggressive environments","authors":"M. Svejda, M. Goubej","doi":"10.1109/CARPATHIANCC.2012.6228739","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228739","url":null,"abstract":"The paper deals with kineto-static analysis of the AGgressive Environment roBOT (AGEBOT). Serio-parallel kinematic architecture of AGEBOT plays important role in aggressive environment applications such as manipulation in industrial degreasing and paint removing lines in the presence of high pressure and temperature, acid or lye. Standard 4DoF serial manipulator with PRRR joints is equipped with special 3DoF parallel spherical wrist which makes possible to separate vulnerable components (motors, sensors) from the rest of the end-effector by a water-proof barrier. Inverse and direct kinematics are discussed. The algorithm for velocity, acceleration and static forces (gravity compensation) is derived. In the case of known inverse and direct position dependencies proposed algorithm can be generalized for an arbitrary serial or parallel manipulator.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125980433","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228670
Viktor Kovács, G. Tevesz
The most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. These algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images.
{"title":"Improving viewpoint invariance of image feature extraction methods using intensity and range images","authors":"Viktor Kovács, G. Tevesz","doi":"10.1109/CARPATHIANCC.2012.6228670","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228670","url":null,"abstract":"The most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. These algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"155 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124889364","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228654
M. Kijonka, O. Kodym
Realizing the practical use of virtual reality possibilities in operative management does not exist today. This paper deals with new approaches in development and its uses in the operational management of the mining process. The proposed system will be universal with the option set for the various fields of industrial process. Design verification shall be carried out at specific coal cleaning plants.
{"title":"Coal industry technologies simulation with virtual reality utilization","authors":"M. Kijonka, O. Kodym","doi":"10.1109/CARPATHIANCC.2012.6228654","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228654","url":null,"abstract":"Realizing the practical use of virtual reality possibilities in operative management does not exist today. This paper deals with new approaches in development and its uses in the operational management of the mining process. The proposed system will be universal with the option set for the various fields of industrial process. Design verification shall be carried out at specific coal cleaning plants.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313469","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228689
M. Mahdal
Nowadays the power supply of electronic circuits which are beyond a reach of main power supply is relatively complicated problem. In our case, if we consider that wireless sensor network of IEEE 802.15.4 standard is not limited to the interior we rely on an alternative power source for the power supply of intelligent wireless modules. Leaving aside the purely alternative power source supplying energy directly into electricity distribution network, we are thrown upon a combination of battery - alternative source. The paper contains a solution of a functional system applying a solar panels and Li-ION batteries for power supply of intelligent wireless modules of sensor network.
{"title":"Solar energy as alternative power supply for communication system IEEE 802.15.4 standard","authors":"M. Mahdal","doi":"10.1109/CARPATHIANCC.2012.6228689","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228689","url":null,"abstract":"Nowadays the power supply of electronic circuits which are beyond a reach of main power supply is relatively complicated problem. In our case, if we consider that wireless sensor network of IEEE 802.15.4 standard is not limited to the interior we rely on an alternative power source for the power supply of intelligent wireless modules. Leaving aside the purely alternative power source supplying energy directly into electricity distribution network, we are thrown upon a combination of battery - alternative source. The paper contains a solution of a functional system applying a solar panels and Li-ION batteries for power supply of intelligent wireless modules of sensor network.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131306139","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228668
I. Koštial, J. Spisak, D. Dorčák
Process control is one of the principal approaches to increase process quality and performance. Model based control system is based on real time mathematical model, which can be used at individual levels of the process hierarchy in the on line real time control system. The model is used for interpretation, planning, and execution of the tasks through the autonomous controllers. For the outlining tasks, a human operator controls a simulation model to generate a sequential list of desired sub-goals. The human operator is specifying controller's set-points and allowing the autonomous control capabilities of the furnace to coordinate the actual trajectory between set-points. Provision is made to preview the proposed trajectory for approval or modification before execution. Developed model is used for the support of direct and supervisory control. On the basic control level the model is used for process monitoring and process prediction. Supervisory level model is used for process planning, and execution of the task segments through the autonomous controllers. The autonomous control capabilities of the furnace are used to coordinate the actual trajectory between set-points. The rotary furnace predictive control, model was used on the direct and supervisory control level. Basic control level include process monitoring and process prediction.
{"title":"The rotary furnace model based predictive control","authors":"I. Koštial, J. Spisak, D. Dorčák","doi":"10.1109/CARPATHIANCC.2012.6228668","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228668","url":null,"abstract":"Process control is one of the principal approaches to increase process quality and performance. Model based control system is based on real time mathematical model, which can be used at individual levels of the process hierarchy in the on line real time control system. The model is used for interpretation, planning, and execution of the tasks through the autonomous controllers. For the outlining tasks, a human operator controls a simulation model to generate a sequential list of desired sub-goals. The human operator is specifying controller's set-points and allowing the autonomous control capabilities of the furnace to coordinate the actual trajectory between set-points. Provision is made to preview the proposed trajectory for approval or modification before execution. Developed model is used for the support of direct and supervisory control. On the basic control level the model is used for process monitoring and process prediction. Supervisory level model is used for process planning, and execution of the task segments through the autonomous controllers. The autonomous control capabilities of the furnace are used to coordinate the actual trajectory between set-points. The rotary furnace predictive control, model was used on the direct and supervisory control level. Basic control level include process monitoring and process prediction.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134181456","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 : 2012-05-28DOI: 10.1109/CARPATHIANCC.2012.6228658
J. Kokeš, N. Nghien
Hilbert-Huang Transform (HHT), proposed by N. E. Huang in 1998, is a novel algorithm for nonlinear and non-stationary signal processing. The key part of this method is decomposition the signal into finite number of Intrinsic Mode Functions (IMF) which will meet the requirements of Hilbert Transform. In this part, the algorithm uses natural cubic spline to connect all local maxima and local minima to produce upper and lower envelope of the signal. However natural cubic spline which may lead overshoot and undershoot at intermediate point. In this paper we propose to apply constrained cubic spline into first part of the HHT to eliminate overshoot in upper and lower envelope. We also propose an improvement on Improved Slope Base Method (ISBM) to limit swing at the end points. The experiments showed that our proposals get better result than original proposal and speed up Empirical Mode Decomposition (EMD) process.
Hilbert-Huang变换(HHT)是由N. E. Huang于1998年提出的一种处理非线性非平稳信号的新算法。该方法的关键部分是将信号分解为满足希尔伯特变换要求的有限个本征模态函数(IMF)。在这一部分中，算法使用自然三次样条将所有的局部最大值和局部最小值连接起来，得到信号的上下包络线。然而，自然三次样条可能导致中间点过冲和欠冲。在本文中，我们提出在HHT的第一部分中应用约束三次样条来消除上下包络的超调。我们还提出了一种改进的改进斜率基法(ISBM)，以限制端点的摆动。实验结果表明，本文提出的方法得到了较好的结果，并加快了经验模态分解(EMD)过程。
{"title":"Using constrained cubic spline instead of natural cubic spline to eliminate overshoot and undershoot in Hilbert Huang Transform","authors":"J. Kokeš, N. Nghien","doi":"10.1109/CARPATHIANCC.2012.6228658","DOIUrl":"https://doi.org/10.1109/CARPATHIANCC.2012.6228658","url":null,"abstract":"Hilbert-Huang Transform (HHT), proposed by N. E. Huang in 1998, is a novel algorithm for nonlinear and non-stationary signal processing. The key part of this method is decomposition the signal into finite number of Intrinsic Mode Functions (IMF) which will meet the requirements of Hilbert Transform. In this part, the algorithm uses natural cubic spline to connect all local maxima and local minima to produce upper and lower envelope of the signal. However natural cubic spline which may lead overshoot and undershoot at intermediate point. In this paper we propose to apply constrained cubic spline into first part of the HHT to eliminate overshoot in upper and lower envelope. We also propose an improvement on Improved Slope Base Method (ISBM) to limit swing at the end points. The experiments showed that our proposals get better result than original proposal and speed up Empirical Mode Decomposition (EMD) process.","PeriodicalId":334936,"journal":{"name":"Proceedings of the 13th International Carpathian Control Conference (ICCC)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121904621","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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