Pub Date : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680832
A. Balon, P. Beneš, Z. Šika
Two dimensional unsteady aerodynamic model in time domain is derived using approximated Wagner function. Strip theory is used to obtain three dimensional aeroelastic model of high aspect ratio morphing wing in state space form. Several simulations are performed to demonstrate the model properties including flutter analysis and influence of longitudinal maneuver on the wing. Aim of this paper is to obtain a aeoroelastic model of a wing that will be used for design and optimization of control strategies.
{"title":"Aeroelastic Model of a Morphing Wing for Control Design and Optimization","authors":"A. Balon, P. Beneš, Z. Šika","doi":"10.1109/ICMERR54363.2021.9680832","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680832","url":null,"abstract":"Two dimensional unsteady aerodynamic model in time domain is derived using approximated Wagner function. Strip theory is used to obtain three dimensional aeroelastic model of high aspect ratio morphing wing in state space form. Several simulations are performed to demonstrate the model properties including flutter analysis and influence of longitudinal maneuver on the wing. Aim of this paper is to obtain a aeoroelastic model of a wing that will be used for design and optimization of control strategies.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"115 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131635829","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680867
Linping Chan, Qingqing Huang, Ping Wang, Yan Han
This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observer. Firstly, a new adaptive fuzzy observer is developed to estimate the robot states, linearize the robot dynamics as well as eliminate model uncertainty and unknown disturbances. With the linearized robot model, a network disturbance observer is then proposed to estimate the ND by lumping all undesired effects caused by time delay into the ND. Furthermore, the proposed delay compensator is applied to a 4 channel time delayed bilateral control system to deal with the communication delay issue. The effectiveness of the proposed method is demonstrated through experiment study.
{"title":"An Adaptive Fuzzy Observer Based Delay Compensator for Time Delayed Bilateral Teleoperation Systems","authors":"Linping Chan, Qingqing Huang, Ping Wang, Yan Han","doi":"10.1109/ICMERR54363.2021.9680867","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680867","url":null,"abstract":"This paper presents a novel time delay-compensation method for delayed teleoperation systems based on the concept of network disturbance (ND) and an adaptive fuzzy observer. Firstly, a new adaptive fuzzy observer is developed to estimate the robot states, linearize the robot dynamics as well as eliminate model uncertainty and unknown disturbances. With the linearized robot model, a network disturbance observer is then proposed to estimate the ND by lumping all undesired effects caused by time delay into the ND. Furthermore, the proposed delay compensator is applied to a 4 channel time delayed bilateral control system to deal with the communication delay issue. The effectiveness of the proposed method is demonstrated through experiment study.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128013952","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680850
R. Maliks, R. Kadikis
Current global trends and green policies indicate the importance of smart waste sorting. Polymer type identification plays a key role in the circular economy model, where high precision is vital to reduce the impurities of recycled plastic flakes. In this paper, we present a robust, high-accuracy plastic bottle polymer type classification using Convolutional Neural Network (CNN). Near-infrared (NIR) absorbance spectroscopy is used to gather polypropylene (PP), polyethene terephthalate (PET), high-density polyethene (HDPE), and low-density polyethene (LDPE) spectra in a dry and wet state. We propose a data augmentation method that generates additional training examples, and we experimentally determine the impact of the ratio of real and generated samples on the accuracy of the classification. In addition, we compare this classification approach with Support Vector Machine (SVM), Principal Component Analysis (PCA) and t-distributed Stochastic Neighbour Embedding (t-SNE) clas-sification methods and also provide data-preprocessing steps for these methods. Finally, we combine pre-processing, component analysis, and CNN to achieve 98.4% accuracy rate while reducing the sizes of CNN input feature vectors and the CNN model itself.
{"title":"Multispectral data classification with deep CNN for plastic bottle sorting","authors":"R. Maliks, R. Kadikis","doi":"10.1109/ICMERR54363.2021.9680850","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680850","url":null,"abstract":"Current global trends and green policies indicate the importance of smart waste sorting. Polymer type identification plays a key role in the circular economy model, where high precision is vital to reduce the impurities of recycled plastic flakes. In this paper, we present a robust, high-accuracy plastic bottle polymer type classification using Convolutional Neural Network (CNN). Near-infrared (NIR) absorbance spectroscopy is used to gather polypropylene (PP), polyethene terephthalate (PET), high-density polyethene (HDPE), and low-density polyethene (LDPE) spectra in a dry and wet state. We propose a data augmentation method that generates additional training examples, and we experimentally determine the impact of the ratio of real and generated samples on the accuracy of the classification. In addition, we compare this classification approach with Support Vector Machine (SVM), Principal Component Analysis (PCA) and t-distributed Stochastic Neighbour Embedding (t-SNE) clas-sification methods and also provide data-preprocessing steps for these methods. Finally, we combine pre-processing, component analysis, and CNN to achieve 98.4% accuracy rate while reducing the sizes of CNN input feature vectors and the CNN model itself.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123109684","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680821
Anas Gouda, Abraham Ghanem, Pascal Kaiser, M. ten Hompel
The speed of adopting new technologies in industrial automation depends on two factors, reliability and ease of integration. CNN-based object segmentation is one of those technologies that are well developed in research and other industries but still not well established in industrial automation. It is an essential processing step for robotic grasping. Nevertheless, most of the grasping in the industry is still computed by classical non-learning algorithms or based on simple manually programmed hypotheses. The traditional setup in most research related to the object segmentation problem is to have a finite number of objects/classes. While this is suitable for some other problems, it is the hurdle stopping the ease of integrating CNN object segmentation in the industry. A more practical approach is to use object class-agnostic segmentation, where a CNN is used to segment objects in an image without classifying them. Then classical feature extractors can be used for the classification process. This method would avoid the need for manual tailoring of CNNs for each individual setup/environment. In this work, we propose an image processing pipeline that is general and invariant to setup. We also show the feasibility of the class-agnostic segmentation, discuss the feasibility of using purely synthetic data for the CNN training and its results when deployed and tested on our real setup.
{"title":"Object class-agnostic segmentation for practical CNN utilization in industry","authors":"Anas Gouda, Abraham Ghanem, Pascal Kaiser, M. ten Hompel","doi":"10.1109/ICMERR54363.2021.9680821","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680821","url":null,"abstract":"The speed of adopting new technologies in industrial automation depends on two factors, reliability and ease of integration. CNN-based object segmentation is one of those technologies that are well developed in research and other industries but still not well established in industrial automation. It is an essential processing step for robotic grasping. Nevertheless, most of the grasping in the industry is still computed by classical non-learning algorithms or based on simple manually programmed hypotheses. The traditional setup in most research related to the object segmentation problem is to have a finite number of objects/classes. While this is suitable for some other problems, it is the hurdle stopping the ease of integrating CNN object segmentation in the industry. A more practical approach is to use object class-agnostic segmentation, where a CNN is used to segment objects in an image without classifying them. Then classical feature extractors can be used for the classification process. This method would avoid the need for manual tailoring of CNNs for each individual setup/environment. In this work, we propose an image processing pipeline that is general and invariant to setup. We also show the feasibility of the class-agnostic segmentation, discuss the feasibility of using purely synthetic data for the CNN training and its results when deployed and tested on our real setup.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127848667","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680865
Tomohiro Watanabe, K. Iizuka
In planetary explorations, exploring robots which are called rovers has been used. They achieved significant results in these missions. In recent years, small wheel typed rovers are focused on as exploring rovers in order to reduce the cost of planetary explorations. The ground of some planets is covered with loose soil. Therefore, these rovers must be able to run on these ground. The purpose of this study is improving running performance of small wheel typed rovers using the changes of the ground by giving vibration. In previous study, we could get knowledge that the running performance for small wheel typed rovers was improved using the changes of the ground by giving vibration. However, it was also confirmed that sinkage of the wheels to the ground is increased when vibration is given to the ground from the wheels. Sinkage of the wheels to the ground decreases the running performance of these rovers. In this study, the relationship between shapes of wheels and resistance force from the ground is confirmed in order to propose the wheel which reduces subsidence amount to the ground when vibration is given to the ground. Moreover, the relationship between shapes of wheels and running performance of rovers is confirmed by the experiment that the testbed runs on the loose ground. In the experimental result, the running performance of the testbed is improved using the wheel which reduces subsidence amount to the ground.
{"title":"Study on effectiveness of vibrating wheel's shape for improving running performance of small planetary exploration rovers with wheels on loose ground","authors":"Tomohiro Watanabe, K. Iizuka","doi":"10.1109/ICMERR54363.2021.9680865","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680865","url":null,"abstract":"In planetary explorations, exploring robots which are called rovers has been used. They achieved significant results in these missions. In recent years, small wheel typed rovers are focused on as exploring rovers in order to reduce the cost of planetary explorations. The ground of some planets is covered with loose soil. Therefore, these rovers must be able to run on these ground. The purpose of this study is improving running performance of small wheel typed rovers using the changes of the ground by giving vibration. In previous study, we could get knowledge that the running performance for small wheel typed rovers was improved using the changes of the ground by giving vibration. However, it was also confirmed that sinkage of the wheels to the ground is increased when vibration is given to the ground from the wheels. Sinkage of the wheels to the ground decreases the running performance of these rovers. In this study, the relationship between shapes of wheels and resistance force from the ground is confirmed in order to propose the wheel which reduces subsidence amount to the ground when vibration is given to the ground. Moreover, the relationship between shapes of wheels and running performance of rovers is confirmed by the experiment that the testbed runs on the loose ground. In the experimental result, the running performance of the testbed is improved using the wheel which reduces subsidence amount to the ground.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"75 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123182294","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680849
Marten Geschonke, M. Rössinger, B. Hecht, M. Todtermuschke, S. Ihlenfeldt
When planning and developing new production plants, the focus is no longer only on the required investment costs and the required unit output, but a shift in focus to operating costs, energy consumption and sustainability can be observed. In the case of car body production lines in vehicle manufacturing, there is also a demand for increasing flexibility due to ever shorter product life cycles and smaller product volumes. Concepts for increasing flexibility in car body construction and for more energy-efficient production are already being implemented. In this paper, a new concept is presented that takes both requirements into account and implements them. The impact of the implementation of lightweight engineering and of a new approach, process lightweight engineering, are investigated on a change of operating resources concept. The results of both studies are presented, and the potentials of the results are evaluated and discussed. The results shown that this method enables an increase in flexibility with reduced energy consumption. It is a method to improve the production lines and fulfill the requirements of the future car body shop.
{"title":"Robot-Guided Lightweight Engineering Fixtures: Process Lightweight Engineering for More Flexible, Resource-Saving and Energy-Efficient Production","authors":"Marten Geschonke, M. Rössinger, B. Hecht, M. Todtermuschke, S. Ihlenfeldt","doi":"10.1109/ICMERR54363.2021.9680849","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680849","url":null,"abstract":"When planning and developing new production plants, the focus is no longer only on the required investment costs and the required unit output, but a shift in focus to operating costs, energy consumption and sustainability can be observed. In the case of car body production lines in vehicle manufacturing, there is also a demand for increasing flexibility due to ever shorter product life cycles and smaller product volumes. Concepts for increasing flexibility in car body construction and for more energy-efficient production are already being implemented. In this paper, a new concept is presented that takes both requirements into account and implements them. The impact of the implementation of lightweight engineering and of a new approach, process lightweight engineering, are investigated on a change of operating resources concept. The results of both studies are presented, and the potentials of the results are evaluated and discussed. The results shown that this method enables an increase in flexibility with reduced energy consumption. It is a method to improve the production lines and fulfill the requirements of the future car body shop.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115459680","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680845
J. Ma
Because all-terrain vehicle has strong off-road performance, so it is widely used in military and civil fields, according to the characteristics of all-terrain vehicles, a kind of composite deformation wheel for all-terrain vehicle is designed. According to the result of design, using Solidworks software three-dimensional model of deformation wheel is established, and the extension mechanism of wheel and spring has carried on the finite element analysis using ANSYS software, the maximum stress is solved, the analysis results show that the design of structural parameters meets the requirements of deformation wheel using. The material of the extension auxiliary wheel is optimized and the geometric size is further optimized, which makes the structure of the deformation wheel more reasonable, lighter in weight, and improves the overall performance of the variant wheel. It provides the theoretical support for the design and production of key parts and components.
{"title":"Finite Element Analysis of Key Parts of Deformation Wheel for All Terrain Vehicle","authors":"J. Ma","doi":"10.1109/ICMERR54363.2021.9680845","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680845","url":null,"abstract":"Because all-terrain vehicle has strong off-road performance, so it is widely used in military and civil fields, according to the characteristics of all-terrain vehicles, a kind of composite deformation wheel for all-terrain vehicle is designed. According to the result of design, using Solidworks software three-dimensional model of deformation wheel is established, and the extension mechanism of wheel and spring has carried on the finite element analysis using ANSYS software, the maximum stress is solved, the analysis results show that the design of structural parameters meets the requirements of deformation wheel using. The material of the extension auxiliary wheel is optimized and the geometric size is further optimized, which makes the structure of the deformation wheel more reasonable, lighter in weight, and improves the overall performance of the variant wheel. It provides the theoretical support for the design and production of key parts and components.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130013892","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 : 2021-12-11DOI: 10.1109/icmerr54363.2021.9680846
{"title":"Copyright","authors":"","doi":"10.1109/icmerr54363.2021.9680846","DOIUrl":"https://doi.org/10.1109/icmerr54363.2021.9680846","url":null,"abstract":"","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"739 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122951056","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680818
Rodrigo De Carvalho Techi, Plinio Thomaz Aquino
Mobile robots must operate autonomously for sev-eral hours without interruption in battery charging. Energy optimization systems and methods are essential for the applicability of this technology. Dynamic Power Management (DPM) has the objective to reduce a system's total energy demand, through idleness exploitation. If the equipment is not in use, its energy dissipation should be as low as possible. This work presents the existing DPM methods analysis, systems requirements to make it eligible for the DPM, and also the management applicability analysis on a mobile robot.
{"title":"Dynamic Power Management on a Mobile Robot","authors":"Rodrigo De Carvalho Techi, Plinio Thomaz Aquino","doi":"10.1109/ICMERR54363.2021.9680818","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680818","url":null,"abstract":"Mobile robots must operate autonomously for sev-eral hours without interruption in battery charging. Energy optimization systems and methods are essential for the applicability of this technology. Dynamic Power Management (DPM) has the objective to reduce a system's total energy demand, through idleness exploitation. If the equipment is not in use, its energy dissipation should be as low as possible. This work presents the existing DPM methods analysis, systems requirements to make it eligible for the DPM, and also the management applicability analysis on a mobile robot.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116726155","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 : 2021-12-11DOI: 10.1109/ICMERR54363.2021.9680860
Boxing Wang, Lihao Jia, Song Liu, Haoyu Zhang, Zeya Yin
With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates that a position-control-based robot could also achieve dynamically stable and robust locomotion. With the help of offline dynamic-model-based trajectory optimization algorithms and online simplified-model-based reactive controller, the tested quadruped robot Pupper achieved dynamically stable trot gait both on flat grounds and high slopes of at most 20 degrees. It also gained the ability to trot on and off a 10 mm plank blindly, proving the control framework's effectiveness as well as the potential of a position-control-based robot for indoor or structural environments.
{"title":"A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting","authors":"Boxing Wang, Lihao Jia, Song Liu, Haoyu Zhang, Zeya Yin","doi":"10.1109/ICMERR54363.2021.9680860","DOIUrl":"https://doi.org/10.1109/ICMERR54363.2021.9680860","url":null,"abstract":"With the emergence of more and more torque-controlled robots, the agility of leg locomotion has been promoted to a new level, which, however, seems also to imply that only torque-controlled robots are appropriate for leg locomotion. This paper demonstrates that a position-control-based robot could also achieve dynamically stable and robust locomotion. With the help of offline dynamic-model-based trajectory optimization algorithms and online simplified-model-based reactive controller, the tested quadruped robot Pupper achieved dynamically stable trot gait both on flat grounds and high slopes of at most 20 degrees. It also gained the ability to trot on and off a 10 mm plank blindly, proving the control framework's effectiveness as well as the potential of a position-control-based robot for indoor or structural environments.","PeriodicalId":339998,"journal":{"name":"2021 6th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129458168","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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