Pub Date : 2014-10-01DOI: 10.1109/CARPI.2014.7030041
Sandra C. R. Antunes, K. Bousson
The present work aims to improve the safety of overhead power line inspection and similar tasks. Due to the proximity of objects imposed by the inspection missions, the appliance of Extended Kalman Filter for quadrotor attitude control in a supervised environment was proposed. Verification of electrical lines and their infrastructure is an essential activity to ensure the undisturbed operation of the electrical grid and supply energy to final consumers. Development of versatile monitoring systems to inspect high voltage overhead lines represents an invaluable element for the maintenance of these, for corrective actions and especially preventive.
{"title":"Safe flight envelope for overhead line inspection","authors":"Sandra C. R. Antunes, K. Bousson","doi":"10.1109/CARPI.2014.7030041","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030041","url":null,"abstract":"The present work aims to improve the safety of overhead power line inspection and similar tasks. Due to the proximity of objects imposed by the inspection missions, the appliance of Extended Kalman Filter for quadrotor attitude control in a supervised environment was proposed. Verification of electrical lines and their infrastructure is an essential activity to ensure the undisturbed operation of the electrical grid and supply energy to final consumers. Development of versatile monitoring systems to inspect high voltage overhead lines represents an invaluable element for the maintenance of these, for corrective actions and especially preventive.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122672160","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030067
J. B. D. de Sousa, Breno C. Pinheiro, U. Moreno
This article discusses about the application of unmanned vehicles networks in several areas related to power systems. The main topics are related to the planning and mission control tools as well as coordination, communication and data sharing between the associated nodes. Throughout the work, some vehicles developed in the Underwater Systems and Technology Laboratory (LSTS) will also be presented, including examples of applications, and some work done in partnership with the Department of Automation and Systems (DAS).
{"title":"Unmanned vehicles network: Platforms and software toolchain","authors":"J. B. D. de Sousa, Breno C. Pinheiro, U. Moreno","doi":"10.1109/CARPI.2014.7030067","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030067","url":null,"abstract":"This article discusses about the application of unmanned vehicles networks in several areas related to power systems. The main topics are related to the planning and mission control tools as well as coordination, communication and data sharing between the associated nodes. Throughout the work, some vehicles developed in the Underwater Systems and Technology Laboratory (LSTS) will also be presented, including examples of applications, and some work done in partnership with the Department of Automation and Systems (DAS).","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132994547","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030051
B. Hazel, É. Boudreault, J. Côté, S. Godin
This paper presents a new robotic heat treatment process designed to performed in situ interventions in hydroelectric turbine runners. Considering the down-time required to dismantle a turbine unit, most utilities perform in-situ inspections and interventions to address issues such as cavitation and cracking. Repairs are primarily done by welding. Lacking a solution to perform in situ heat treatment, quality repair are impossible on modern martensitic stainless steel turbine runner. To perform on site local short duration post weld heat treatment, an induction heating system is coupled to a portable robot that can access the confined space between runner blades. The robot moves a pancake coil to inject heat and control temperature distribution to satisfy heat treatment requirements. A simulator using thermal finite element analysis is used for path planning. The system is validated on a full size Francis turbine runner blade.
{"title":"Robotic post-weld heat treatment for in situ repair of stainless steel turbine runners","authors":"B. Hazel, É. Boudreault, J. Côté, S. Godin","doi":"10.1109/CARPI.2014.7030051","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030051","url":null,"abstract":"This paper presents a new robotic heat treatment process designed to performed in situ interventions in hydroelectric turbine runners. Considering the down-time required to dismantle a turbine unit, most utilities perform in-situ inspections and interventions to address issues such as cavitation and cracking. Repairs are primarily done by welding. Lacking a solution to perform in situ heat treatment, quality repair are impossible on modern martensitic stainless steel turbine runner. To perform on site local short duration post weld heat treatment, an induction heating system is coupled to a portable robot that can access the confined space between runner blades. The robot moves a pancake coil to inject heat and control temperature distribution to satisfy heat treatment requirements. A simulator using thermal finite element analysis is used for path planning. The system is validated on a full size Francis turbine runner blade.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116880847","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030057
Pascal Gohl, M. Burri, Sammy Omari, J. Rehder, J. Nikolic, Markus Achtelik, R. Siegwart
The purpose of this paper is to evaluate the use of a micro aerial vehicle (MAV) for autonomous inspection and 3D reconstruction of underground mines. The goal is to manually fly an MAV equipped with cameras and a laser range sensor into a vertical shaft to collect data. This data can be used to evaluate the performance of the localization system as well as post processed to reconstruct a 3D model of the shaft. Due to its novelty of flying an MAV in a deep mine, we report gained experience of the effect of the hot, wet and dusty environment on the system as well as the influence of turbulences from vertical winds on the flight performance. Further we evaluated the quality of the recorded data and there applicability for a fully autonomous mine inspection system.
{"title":"Towards autonomous mine inspection","authors":"Pascal Gohl, M. Burri, Sammy Omari, J. Rehder, J. Nikolic, Markus Achtelik, R. Siegwart","doi":"10.1109/CARPI.2014.7030057","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030057","url":null,"abstract":"The purpose of this paper is to evaluate the use of a micro aerial vehicle (MAV) for autonomous inspection and 3D reconstruction of underground mines. The goal is to manually fly an MAV equipped with cameras and a laser range sensor into a vertical shaft to collect data. This data can be used to evaluate the performance of the localization system as well as post processed to reconstruct a 3D model of the shaft. Due to its novelty of flying an MAV in a deep mine, we report gained experience of the effect of the hot, wet and dusty environment on the system as well as the influence of turbulences from vertical winds on the flight performance. Further we evaluated the quality of the recorded data and there applicability for a fully autonomous mine inspection system.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129160263","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030066
A. Boonyaprapasorn, T. Maneewarn, Kaned Thung-od
In this research, the prototype of climbing robot carrying the electro-magnetic acoustic transducer (EMAT) probe and cameras to inspect the target position is developed. The EMAT probe can measure the thickness of the tubes without removing the scale covering the tubes. In order to reach the target position on each tube at the same height on the wall, the robot is designed to have mechanism switching from vertical motion to horizontal motion without steering. The adhesion force is provided by both magnetic wheels and the magnet bars under the robot. In the vertical direction, the robot climbs up and down using the belts driven by the magnetic wheels. For the horizontal motion, the magnetic wheels underneath of the robot provide locomotion for the robot. The feasibility of robot and EMAT device are tested. The results of tests are shown and discussed.
{"title":"A prototype of inspection robot for water wall tubes in boiler","authors":"A. Boonyaprapasorn, T. Maneewarn, Kaned Thung-od","doi":"10.1109/CARPI.2014.7030066","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030066","url":null,"abstract":"In this research, the prototype of climbing robot carrying the electro-magnetic acoustic transducer (EMAT) probe and cameras to inspect the target position is developed. The EMAT probe can measure the thickness of the tubes without removing the scale covering the tubes. In order to reach the target position on each tube at the same height on the wall, the robot is designed to have mechanism switching from vertical motion to horizontal motion without steering. The adhesion force is provided by both magnetic wheels and the magnet bars under the robot. In the vertical direction, the robot climbs up and down using the belts driven by the magnetic wheels. For the horizontal motion, the magnetic wheels underneath of the robot provide locomotion for the robot. The feasibility of robot and EMAT device are tested. The results of tests are shown and discussed.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115282082","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030071
Joao Alberto De Oliveira, A. Fonseca
The major contribution of this paper is to draw attention to that new designs of robots also seek the joint use of accessories that help its displacement along the transmission lines. Developed a project with technical features that enable low cost and simplified operation . For this a series of accessories that make a robot of a single engine, capable of traveling over long stretches of LT, traversing arrangements of suspension and cable anchor guard was created . With the use of the accessories we have achieved a lot of mechanical simplicity, higher load battery when compared with a robot that uses servo mechanism use to cross obstacle. If we reduce the complexity of the robot's mechanical system will reduce efforts for project development. Then we design robots with simple, low cost of maintenance and operation, consistent with the size of the transmission system that travels long distances across varying conditions of climate, topography, access network, infrastructure, etc. In order to demonstrate this theory, we show in this paper the prototype and testing with the use of an inspection robot for cable guard in transmission lines. Two devices developed for the feasibility study of the project will be presented. The first equipment is dedicated to visual inspection, endowed with Gimbal with zoom and a system of industrial remote control. The second device, presents electromagnetic shielding, brushless motors, and large load capacity batteries. Show actual inspections made in LT Foz do Iguacu - Ibiuna 600kV dc, and that may be presented during the event, in Furnas substation in Foz do Iguacu . With analysis of the results of the field work we present an approach to the inspection of transmission lines and potential processes that an autonomous system installed in cable guard can offer to replace the conventional method of field inspection.
{"title":"New concept for development of project for robot in inspection of transmission lines","authors":"Joao Alberto De Oliveira, A. Fonseca","doi":"10.1109/CARPI.2014.7030071","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030071","url":null,"abstract":"The major contribution of this paper is to draw attention to that new designs of robots also seek the joint use of accessories that help its displacement along the transmission lines. Developed a project with technical features that enable low cost and simplified operation . For this a series of accessories that make a robot of a single engine, capable of traveling over long stretches of LT, traversing arrangements of suspension and cable anchor guard was created . With the use of the accessories we have achieved a lot of mechanical simplicity, higher load battery when compared with a robot that uses servo mechanism use to cross obstacle. If we reduce the complexity of the robot's mechanical system will reduce efforts for project development. Then we design robots with simple, low cost of maintenance and operation, consistent with the size of the transmission system that travels long distances across varying conditions of climate, topography, access network, infrastructure, etc. In order to demonstrate this theory, we show in this paper the prototype and testing with the use of an inspection robot for cable guard in transmission lines. Two devices developed for the feasibility study of the project will be presented. The first equipment is dedicated to visual inspection, endowed with Gimbal with zoom and a system of industrial remote control. The second device, presents electromagnetic shielding, brushless motors, and large load capacity batteries. Show actual inspections made in LT Foz do Iguacu - Ibiuna 600kV dc, and that may be presented during the event, in Furnas substation in Foz do Iguacu . With analysis of the results of the field work we present an approach to the inspection of transmission lines and potential processes that an autonomous system installed in cable guard can offer to replace the conventional method of field inspection.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121458090","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030042
Stephen J. Schmugge, N. R. Nguyen, Cua Thao, J. Lindberg, R. Grizzi, Chris Joffe, M. Shin
Robust inspection is important to ensure the safety of nuclear power plant components. Manually inspecting 100+ hours of video for rarely occurring cracks is a tedious process. However, automatic inspection is challenging as the images often contain highly textured area including weld and concrete surface which causes fragmented and noisy segmentations. Moreover, lack of crack samples cause challenges in training classification methods. In this paper, we propose to improve the detection of cracks by (1) reducing the fragmentation of segmentation by iteratively linking of possibly broken short lines that we call “linelets,” (2) minimize the false positive rate by filtering out area with weld, and (3) using anomaly measure to improve the classification. Testing of 42 real images demonstrates 38% improvement over prior method.
{"title":"Automatic detection of cracks during power plant inspection","authors":"Stephen J. Schmugge, N. R. Nguyen, Cua Thao, J. Lindberg, R. Grizzi, Chris Joffe, M. Shin","doi":"10.1109/CARPI.2014.7030042","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030042","url":null,"abstract":"Robust inspection is important to ensure the safety of nuclear power plant components. Manually inspecting 100+ hours of video for rarely occurring cracks is a tedious process. However, automatic inspection is challenging as the images often contain highly textured area including weld and concrete surface which causes fragmented and noisy segmentations. Moreover, lack of crack samples cause challenges in training classification methods. In this paper, we propose to improve the detection of cracks by (1) reducing the fragmentation of segmentation by iteratively linking of possibly broken short lines that we call “linelets,” (2) minimize the false positive rate by filtering out area with weld, and (3) using anomaly measure to improve the classification. Testing of 42 real images demonstrates 38% improvement over prior method.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134197774","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030052
P. Debenest, M. Guarnieri, S. Hirose
Pipes are present in most of the infrastructure around us - in refineries, chemical plants, power plants, not to mention sewer, gas and water distribution networks. Inspection of these pipes is extremely important, as failures may result in catastrophic accidents with loss of lives. However, inspection of small pipes (from 3 to 6 inches) is usually neglected or performed only partially due to the lack of satisfactory tools. This paper introduces a new series of robots named PipeTron, developed especially for inspection of pipes in refineries and power plants. The mobility concept and design of each version will be described, follower by results of field deployment and considerations for future improvements.
{"title":"PipeTron series - Robots for pipe inspection","authors":"P. Debenest, M. Guarnieri, S. Hirose","doi":"10.1109/CARPI.2014.7030052","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030052","url":null,"abstract":"Pipes are present in most of the infrastructure around us - in refineries, chemical plants, power plants, not to mention sewer, gas and water distribution networks. Inspection of these pipes is extremely important, as failures may result in catastrophic accidents with loss of lives. However, inspection of small pipes (from 3 to 6 inches) is usually neglected or performed only partially due to the lack of satisfactory tools. This paper introduces a new series of robots named PipeTron, developed especially for inspection of pipes in refineries and power plants. The mobility concept and design of each version will be described, follower by results of field deployment and considerations for future improvements.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127639851","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 discusses an application of the IPM (inverse perspective mapping) geometrical transform on the inspection power robot (SmartGuard). The SmartGuard is an autonomous robotic system for inspection substation equipment instead of people. Based on the stereo vision system, we proposed a Vision base road edge and obstacle detection system. Firstly, we construct the IPM( Inverse perspective mapping) structure from the vision system structure and the road plane in the substation. Secondly, make the monocular image transform of IPM, and get the edge of the road based on the line detection. Thirdly, do the stereo images IPM, based the transformed images, detect the different of the stereo remapping images to get the probable obstacle. Continues, we give a hypothesis testing obstacle detection approach to make the obstacle information more exactly. At last, we make the 2D map both the road edge and obstacle which could provide enough information for the robot navigation in the substation.
{"title":"Road edge and obstacle detection on the SmartGuard navigation system","authors":"Li Li, Binhai Wang, Haipeng Wang, Jingjing Zhang, Yiqing Luan, Wanguo Wang, Rui Guo","doi":"10.1109/CARPI.2014.7030037","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030037","url":null,"abstract":"This paper discusses an application of the IPM (inverse perspective mapping) geometrical transform on the inspection power robot (SmartGuard). The SmartGuard is an autonomous robotic system for inspection substation equipment instead of people. Based on the stereo vision system, we proposed a Vision base road edge and obstacle detection system. Firstly, we construct the IPM( Inverse perspective mapping) structure from the vision system structure and the road plane in the substation. Secondly, make the monocular image transform of IPM, and get the edge of the road based on the line detection. Thirdly, do the stereo images IPM, based the transformed images, detect the different of the stereo remapping images to get the probable obstacle. Continues, we give a hypothesis testing obstacle detection approach to make the obstacle information more exactly. At last, we make the 2D map both the road edge and obstacle which could provide enough information for the robot navigation in the substation.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126148440","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 : 2014-10-01DOI: 10.1109/CARPI.2014.7030053
Liang Zhong, Juan Jia, R. Guo, Jun Yong, Jie Ren
We transferred an insulator inspection robot from Korea Electric Power Corporation. The robot can inspect suspension insulator strings and tension insulator strings. And it can be operated at the highest voltage level of 345kV live-line. It can measure the resistance and the distribution voltage of the insulator, then judge the status of the insulator according to the detection result. We made some improvements on the basis of the Korean insulator inspection robot. We add the electric field measurement, visible inspection, hydrophobicity inspection functions to the robot. So it can be more comprehensive and objective to judge the insulator status. We improve the robot electromagnetic shielding and control system so that it can inspect insulators on highest voltage level of 1000kV. In order to verify the performance of the robot, we carried out a lot of experimental research.
{"title":"Mobile robot for inspection of porcelain insulator strings","authors":"Liang Zhong, Juan Jia, R. Guo, Jun Yong, Jie Ren","doi":"10.1109/CARPI.2014.7030053","DOIUrl":"https://doi.org/10.1109/CARPI.2014.7030053","url":null,"abstract":"We transferred an insulator inspection robot from Korea Electric Power Corporation. The robot can inspect suspension insulator strings and tension insulator strings. And it can be operated at the highest voltage level of 345kV live-line. It can measure the resistance and the distribution voltage of the insulator, then judge the status of the insulator according to the detection result. We made some improvements on the basis of the Korean insulator inspection robot. We add the electric field measurement, visible inspection, hydrophobicity inspection functions to the robot. So it can be more comprehensive and objective to judge the insulator status. We improve the robot electromagnetic shielding and control system so that it can inspect insulators on highest voltage level of 1000kV. In order to verify the performance of the robot, we carried out a lot of experimental research.","PeriodicalId":346429,"journal":{"name":"Proceedings of the 2014 3rd International Conference on Applied Robotics for the Power Industry","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134164180","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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