Pub Date : 2012-05-23DOI: 10.1109/CCDC.2012.6242925
N. Kablar
In this paper we present singular and singularly impulsive model of genetic regulatory networks. Concrete example consists of two gene — two proteins simple synthetic network, and posses two fundamentally present parts in biochemical networks — positive and negative feedback loops. These are important structural parts of biochemical networks and are interesting for control theoreticians. By investigating purpose of positive and negative feedback presence, we see for example that they lead either to bistability (or multistability, in general) in case of positive feedback or generate oscillatory behaviour in case of negative feedback what we show. Mathematical model is derived in form of nonlinear two dimensional dynamical system which is further approximated to singular and singularly impulsive dynamical system. Importance of this example is singular systems approximation which in this particular example leads to interesting and well known phenomena — of relaxation oscillation. This phenomena is consequence of multiple-scale network, i.e. fast-slow decomposition. Jump phenomena that appears as a consequence of time scale differences is very different from jumps (impulsive behaviour) that we have in impulsive systems approximation of, for example, sigmoidal function response by piece-wise linear function in order to reduce complexity.
{"title":"Singularly impulsive model of genetic regulatory networks","authors":"N. Kablar","doi":"10.1109/CCDC.2012.6242925","DOIUrl":"https://doi.org/10.1109/CCDC.2012.6242925","url":null,"abstract":"In this paper we present singular and singularly impulsive model of genetic regulatory networks. Concrete example consists of two gene — two proteins simple synthetic network, and posses two fundamentally present parts in biochemical networks — positive and negative feedback loops. These are important structural parts of biochemical networks and are interesting for control theoreticians. By investigating purpose of positive and negative feedback presence, we see for example that they lead either to bistability (or multistability, in general) in case of positive feedback or generate oscillatory behaviour in case of negative feedback what we show. Mathematical model is derived in form of nonlinear two dimensional dynamical system which is further approximated to singular and singularly impulsive dynamical system. Importance of this example is singular systems approximation which in this particular example leads to interesting and well known phenomena — of relaxation oscillation. This phenomena is consequence of multiple-scale network, i.e. fast-slow decomposition. Jump phenomena that appears as a consequence of time scale differences is very different from jumps (impulsive behaviour) that we have in impulsive systems approximation of, for example, sigmoidal function response by piece-wise linear function in order to reduce complexity.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122855679","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 : 2010-12-01DOI: 10.1109/CDC.2010.5717832
N. Kablar
In this paper we develop dissipativity results for discrete nonlinear and linear singular systems. To the best knowledge of author results are nonexistent. We generalize dissipativity theory to discrete nonlinear singular dynamical systems. Specifically, the classical concepts of system storage functions and supply rates are extended to singular dynamical systems providing a generalized system energy interpretation in terms of stored energy and dissipated energy over the discrete-time system dynamics. For the class of discrete singular systems we present Kalman-Yakubovich-Popov conditions in terms of the discrete singular system dynamics characterizing dissipativeness via system storage function. The framework is specialized to passive and nonexpansive discrete singular systems to provide a generalization of the classical notions of passivity and nonexpansivity for nonlinear discrete singular systems.
{"title":"Dissipativity theory for singular systems. Part II: Discrete-time case","authors":"N. Kablar","doi":"10.1109/CDC.2010.5717832","DOIUrl":"https://doi.org/10.1109/CDC.2010.5717832","url":null,"abstract":"In this paper we develop dissipativity results for discrete nonlinear and linear singular systems. To the best knowledge of author results are nonexistent. We generalize dissipativity theory to discrete nonlinear singular dynamical systems. Specifically, the classical concepts of system storage functions and supply rates are extended to singular dynamical systems providing a generalized system energy interpretation in terms of stored energy and dissipated energy over the discrete-time system dynamics. For the class of discrete singular systems we present Kalman-Yakubovich-Popov conditions in terms of the discrete singular system dynamics characterizing dissipativeness via system storage function. The framework is specialized to passive and nonexpansive discrete singular systems to provide a generalization of the classical notions of passivity and nonexpansivity for nonlinear discrete singular systems.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127363365","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587243
W. Mickiewicz, J. Sawicki, A. Biedka
There is a new measurement method of computerized temporomandibular joint axiography presented in the paper. In the article there is presented the results of the movement analysis of the optoelectronic markers coupled with mandible and the transformation method of camera views into the trajectory of invisible temporomandibular joint parts, especially in localization of invisible rotation axis. The new approach consists in a use of optoelectronic markers mechanically coupled with human mandible and tracking them in 3D space with the camera system. The proposed method, in opposition to other methods used nowadays, radically decreases the weight of elements directly coupled with teeth and therefore ensures more natural function of the temporomandibular joint during an examination. The recording and analysis of subject head image and optoelectronic markers views during joint movements allow estimating many useful medical parameters, e.g. geometric dimensions of the jawbone, localization and trajectory of invisible rotation axis of the temporomandibular joint. Presented method is competitive to the computer axiography based on ultrasonic measurement of distance between sensors located on the object head. The proposed method can be used in developing of quite simple optoelectronic axiographs and will allow recognizing dysfunctions of temporomandibular joint in early illness phase. It will also allow to make the joint diagnostics more objective and to objectively control the therapy progress.
{"title":"Automatic reconstruction of the human temporomandibular joint axis movement using optoelectronic sensors","authors":"W. Mickiewicz, J. Sawicki, A. Biedka","doi":"10.1109/MMAR.2010.5587243","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587243","url":null,"abstract":"There is a new measurement method of computerized temporomandibular joint axiography presented in the paper. In the article there is presented the results of the movement analysis of the optoelectronic markers coupled with mandible and the transformation method of camera views into the trajectory of invisible temporomandibular joint parts, especially in localization of invisible rotation axis. The new approach consists in a use of optoelectronic markers mechanically coupled with human mandible and tracking them in 3D space with the camera system. The proposed method, in opposition to other methods used nowadays, radically decreases the weight of elements directly coupled with teeth and therefore ensures more natural function of the temporomandibular joint during an examination. The recording and analysis of subject head image and optoelectronic markers views during joint movements allow estimating many useful medical parameters, e.g. geometric dimensions of the jawbone, localization and trajectory of invisible rotation axis of the temporomandibular joint. Presented method is competitive to the computer axiography based on ultrasonic measurement of distance between sensors located on the object head. The proposed method can be used in developing of quite simple optoelectronic axiographs and will allow recognizing dysfunctions of temporomandibular joint in early illness phase. It will also allow to make the joint diagnostics more objective and to objectively control the therapy progress.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121023979","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587241
P. Szecówka, A. Spyra, Jadwiga Pcdzinska-Rzany, A. Wolczowski
Smart hand prosthesis control, based on myoelectric signals, strongly depends on signal processing algorithms. This kind of application field forces specific requirements on computational complexity (for dexterity of prosthesis), processing speed (for fast reaction) and size (for portability). The paper presents a concept of reduction of DFT information extracted from EMG signals. Signals are acquisited from 8 channels with 1 kHz sampling frequency. Specialized digital hardware is proposed, capable of parallel processing of series of signals. The design was implemented in VHDL, verified and synthesized for FPGA. In-house developed floating point arithmetic was applied. Satisfying processing speed was obtained for implementation technique that enable embedding in prosthesis.
{"title":"Artificial hand control by myoelectric signals — reduced DFT approach","authors":"P. Szecówka, A. Spyra, Jadwiga Pcdzinska-Rzany, A. Wolczowski","doi":"10.1109/MMAR.2010.5587241","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587241","url":null,"abstract":"Smart hand prosthesis control, based on myoelectric signals, strongly depends on signal processing algorithms. This kind of application field forces specific requirements on computational complexity (for dexterity of prosthesis), processing speed (for fast reaction) and size (for portability). The paper presents a concept of reduction of DFT information extracted from EMG signals. Signals are acquisited from 8 channels with 1 kHz sampling frequency. Specialized digital hardware is proposed, capable of parallel processing of series of signals. The design was implemented in VHDL, verified and synthesized for FPGA. In-house developed floating point arithmetic was applied. Satisfying processing speed was obtained for implementation technique that enable embedding in prosthesis.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127535821","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587232
J. Będkowski, P. Kowalski, P. Musialik, A. Maslowski, M. Kacprzak, A. Kaczmarczyk, Tomasz Pichlak
In the paper the framework for RISE (risky intervention and environmental surveillance) mobile robot operator training design is presented. The basic idea of the framework is to provide advanced software tools to improve the performance of the mobile robot simulation design that are applicable for operator training. The simulator is the end product of the framework. To achieve realistic rigid body simulation and realistic rendering the NVIDIA PhysX engine and the OGRE engine are used. It has to be noticed that the compatibility between the framework software and CAD modeling tools such as Solid Works was essential, therefore virtual models are exchangeable via COLLADA files. The simulator can be integrated with control panel of the mobile robot. It is possible to simulate the behavior of several types of robots such as caterpillar or wheeled. It is important to emphasize that presented result is a new approach related to mobile robots applications and potentially can improve the process of advance mobile robot application design and professional training of the operators.
{"title":"RISE mobile robot operator training design","authors":"J. Będkowski, P. Kowalski, P. Musialik, A. Maslowski, M. Kacprzak, A. Kaczmarczyk, Tomasz Pichlak","doi":"10.1109/MMAR.2010.5587232","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587232","url":null,"abstract":"In the paper the framework for RISE (risky intervention and environmental surveillance) mobile robot operator training design is presented. The basic idea of the framework is to provide advanced software tools to improve the performance of the mobile robot simulation design that are applicable for operator training. The simulator is the end product of the framework. To achieve realistic rigid body simulation and realistic rendering the NVIDIA PhysX engine and the OGRE engine are used. It has to be noticed that the compatibility between the framework software and CAD modeling tools such as Solid Works was essential, therefore virtual models are exchangeable via COLLADA files. The simulator can be integrated with control panel of the mobile robot. It is possible to simulate the behavior of several types of robots such as caterpillar or wheeled. It is important to emphasize that presented result is a new approach related to mobile robots applications and potentially can improve the process of advance mobile robot application design and professional training of the operators.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116000163","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587260
A. Walaszek-Babiszewska
This paper is focused on the extending Takagi-Sugeno-Kang (TSK) types fuzzy models. The propositions of the models with a fuzzy set-valued function in the consequence part as well as the models with the fuzzy time series in the consequence part are presented. Also chosen theoretical aspects of the creating knowledge bases and the fuzzy reasoning procedure are presented.
{"title":"Takagi-Sugeno-Kang type fuzzy models with fuzzy equations in the consequence part","authors":"A. Walaszek-Babiszewska","doi":"10.1109/MMAR.2010.5587260","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587260","url":null,"abstract":"This paper is focused on the extending Takagi-Sugeno-Kang (TSK) types fuzzy models. The propositions of the models with a fuzzy set-valued function in the consequence part as well as the models with the fuzzy time series in the consequence part are presented. Also chosen theoretical aspects of the creating knowledge bases and the fuzzy reasoning procedure are presented.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116305642","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587210
A. Herberg, K. Jaroszewski
The article presents new way of learning, determining suitable Takagi-Sugeno (TS) fuzzy-neural network structure for modeling nonlinear process. The whole structure consists of the NARX models (Nonlinear Auto-Regressive model with eXogenous input) set. Offered algorithm uses for learning in its action cluster method to determine initial divisions of the input space. Then, according to this algorithm the fuzzy-neural network, in which the rules of the knowledge base arise as a combination "peer-to-peer" adequate areas of input is being created. The consequents parameters are determined by means of a well-known Least Squares Method (LSM). Algorithm in the learning process sets an appropriate amount of membership functions, their distribution centers and width. In order to reduce the knowledge base the annihilation method was used like in [1], moreover the fusion operator was proposed. The structure formed in described way is characterized by reduced unnecessary membership functions, lack of nearly activated rules and structure optimized through dividing input space on the worst match areas. In addition, the article presents review of methods using for teaching the TS. Moreover advantages and disadvantages of these methods and main differences in contrast to the presented methods for learning networks were described.
{"title":"Constructive algorithm determining knowledge base of NARX local model network","authors":"A. Herberg, K. Jaroszewski","doi":"10.1109/MMAR.2010.5587210","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587210","url":null,"abstract":"The article presents new way of learning, determining suitable Takagi-Sugeno (TS) fuzzy-neural network structure for modeling nonlinear process. The whole structure consists of the NARX models (Nonlinear Auto-Regressive model with eXogenous input) set. Offered algorithm uses for learning in its action cluster method to determine initial divisions of the input space. Then, according to this algorithm the fuzzy-neural network, in which the rules of the knowledge base arise as a combination \"peer-to-peer\" adequate areas of input is being created. The consequents parameters are determined by means of a well-known Least Squares Method (LSM). Algorithm in the learning process sets an appropriate amount of membership functions, their distribution centers and width. In order to reduce the knowledge base the annihilation method was used like in [1], moreover the fusion operator was proposed. The structure formed in described way is characterized by reduced unnecessary membership functions, lack of nearly activated rules and structure optimized through dividing input space on the worst match areas. In addition, the article presents review of methods using for teaching the TS. Moreover advantages and disadvantages of these methods and main differences in contrast to the presented methods for learning networks were described.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125804602","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587238
T. Kaczorek
The standard and positive hybrid linear systems described by the general model is addressed. The solution to the general model is derived. Necessary and sufficient conditions for the positivity of the general model are established. The relationship between the positive general model of the linear hybrid systems and of the positive 2D linear systems are analyzed.
{"title":"Standard and positive hybrid linear systems described by the general model","authors":"T. Kaczorek","doi":"10.1109/MMAR.2010.5587238","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587238","url":null,"abstract":"The standard and positive hybrid linear systems described by the general model is addressed. The solution to the general model is derived. Necessary and sufficient conditions for the positivity of the general model are established. The relationship between the positive general model of the linear hybrid systems and of the positive 2D linear systems are analyzed.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132739936","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587272
Feng Wang, A. Tsourdos, R. Zbikowski, B. White
A nonlinear controller based on polynomial eigen-structure assignment (PEA) is presented for a class of nonlinear systems. In this paper, the PEA approach used for LTI and LPV models is extended to QLTV model to realize the desired control performance of closed-loop system. With PEA approach, the eigenstructure assignment for the controller can be completed without imposing any particular eigenvalues. Using a polynomial matrix eigenspace for system and a coprime factorization for desired closed-loop transfer function, the designer is only left to choose the controller structure and calculate the controller gains by several simple formulas to produce a flexible design method for nonlinear system. As simple functions of varying parameters, the controller gains enable to realized the independence between the closed-loop system and the operating point. The stability of nominal closed-loop system and robustness of uncertain system are analyzed by using Lyapunov theorem. Finally, PEA approach is applied to a nonlinear control system and the corresponding simulation is carried out to verify the performance of system.
{"title":"Robust polynomial eigenstructure assignment control of a class of nonlinear systems","authors":"Feng Wang, A. Tsourdos, R. Zbikowski, B. White","doi":"10.1109/MMAR.2010.5587272","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587272","url":null,"abstract":"A nonlinear controller based on polynomial eigen-structure assignment (PEA) is presented for a class of nonlinear systems. In this paper, the PEA approach used for LTI and LPV models is extended to QLTV model to realize the desired control performance of closed-loop system. With PEA approach, the eigenstructure assignment for the controller can be completed without imposing any particular eigenvalues. Using a polynomial matrix eigenspace for system and a coprime factorization for desired closed-loop transfer function, the designer is only left to choose the controller structure and calculate the controller gains by several simple formulas to produce a flexible design method for nonlinear system. As simple functions of varying parameters, the controller gains enable to realized the independence between the closed-loop system and the operating point. The stability of nominal closed-loop system and robustness of uncertain system are analyzed by using Lyapunov theorem. Finally, PEA approach is applied to a nonlinear control system and the corresponding simulation is carried out to verify the performance of system.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"499 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127839050","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 : 2010-09-27DOI: 10.1109/MMAR.2010.5587207
Krzysztof Murawski
This article presents the method of determining the position of the pupil based on the labelling algorithm. Due to the speed of this method it is designed for use in Eye Tracking systems operating online. The essential requirement posed in front of such systems is the quick determination of the pupil's position. Studies have shown that the proposed method of calculating the average time is about 6.25 ms.
{"title":"Method for determining the position of the pupil for eyetracking applications","authors":"Krzysztof Murawski","doi":"10.1109/MMAR.2010.5587207","DOIUrl":"https://doi.org/10.1109/MMAR.2010.5587207","url":null,"abstract":"This article presents the method of determining the position of the pupil based on the labelling algorithm. Due to the speed of this method it is designed for use in Eye Tracking systems operating online. The essential requirement posed in front of such systems is the quick determination of the pupil's position. Studies have shown that the proposed method of calculating the average time is about 6.25 ms.","PeriodicalId":336219,"journal":{"name":"2010 15th International Conference on Methods and Models in Automation and Robotics","volume":"181 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124286206","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：