Pub Date : 2013-12-16DOI: 10.1109/ICAT.2013.6684066
Erdinç Şahi̇n, M. Güzelkaya, I. Eksin
The peak observer method is firstly proposed and used for PID type fuzzy logic controllers. In this study, the peak observer method is adapted and then implemented to the classical PI control structure. The basic principle of the method is to change the controller parameters of the system using the peak values of the system response in order to improve system performance. Firstly, the peak observer method is reconsidered on a simple internal model control based classical PI controller. Later, the peak observer method is further developed and a new structure called model based peak observer is proposed and the parameters of PI controller are further tuned for a much better performance. The performances of the proposed methods are tested and compared on different systems based on simulations.
{"title":"Model based predictive peak observer method in parameter tuning of PI controllers","authors":"Erdinç Şahi̇n, M. Güzelkaya, I. Eksin","doi":"10.1109/ICAT.2013.6684066","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684066","url":null,"abstract":"The peak observer method is firstly proposed and used for PID type fuzzy logic controllers. In this study, the peak observer method is adapted and then implemented to the classical PI control structure. The basic principle of the method is to change the controller parameters of the system using the peak values of the system response in order to improve system performance. Firstly, the peak observer method is reconsidered on a simple internal model control based classical PI controller. Later, the peak observer method is further developed and a new structure called model based peak observer is proposed and the parameters of PI controller are further tuned for a much better performance. The performances of the proposed methods are tested and compared on different systems based on simulations.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134176481","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684038
A. Salihbegovic, E. Sokic, N. Osmic, M. Hebibovic
This paper addresses the challenges of the disturbance observer (DOB) algorithms faced with highly nonlinear electromechanical systems which are dealing with high resolution and high speed operations. It describes the synthesis of robust and stable controllers and their applications in controlling azimuth and elevation angles of the helicopter model CE 150 supplied by Humosoft. Description of the helicopter, including its mechanical characteristics and mathematical model, is given in the paper. Tracking error, transient performances, power consumption and motor strains are used for the validation of control quality. Implementation of the control system on the experimental setup is also explained. MATLAB and Simulink are used as tools for developing the simulation model of the helicopter system. Obtained simulations are showing that developed controllers provide significantly improved results even in the presence of unknown and unpredictable inputs (disturbance and noise), unpredictable and unknown dynamics, external forces (torques) and change of the system parameters.
{"title":"High performance disturbance observer based control of the nonlinear 2DOF helicopter system","authors":"A. Salihbegovic, E. Sokic, N. Osmic, M. Hebibovic","doi":"10.1109/ICAT.2013.6684038","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684038","url":null,"abstract":"This paper addresses the challenges of the disturbance observer (DOB) algorithms faced with highly nonlinear electromechanical systems which are dealing with high resolution and high speed operations. It describes the synthesis of robust and stable controllers and their applications in controlling azimuth and elevation angles of the helicopter model CE 150 supplied by Humosoft. Description of the helicopter, including its mechanical characteristics and mathematical model, is given in the paper. Tracking error, transient performances, power consumption and motor strains are used for the validation of control quality. Implementation of the control system on the experimental setup is also explained. MATLAB and Simulink are used as tools for developing the simulation model of the helicopter system. Obtained simulations are showing that developed controllers provide significantly improved results even in the presence of unknown and unpredictable inputs (disturbance and noise), unpredictable and unknown dynamics, external forces (torques) and change of the system parameters.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121763578","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684042
Andrej Zdešar, G. Klančar, G. Mušič, D. Matko, I. Škrjanc
This paper presents the design of the image-based control algorithm for interactive Earth observation. The image-based control algorithm is obtained from the modelling of the satellite pose in space. It is shown that the image-based control algorithm can be designed for two types of satellite attitude control problems: direction tracking and oriented-direction tracking. The reference target is not limited to the camera centre, but can be given anywhere in the image. The image-based control algorithm requires in-image tracking of one or two points on the Earth's surface (depending on the type of the controller). To achieve robust image-based tracking, the general framework for tracking points on the Earth's surface, which is assumed to be locally flat, is presented. The method is based on geometric local image features that are invariant to several image transformations and change in some environmental conditions. The presented methods are experimentally validated in simulation environment.
{"title":"Design of the image-based satellite attitude control algorithm","authors":"Andrej Zdešar, G. Klančar, G. Mušič, D. Matko, I. Škrjanc","doi":"10.1109/ICAT.2013.6684042","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684042","url":null,"abstract":"This paper presents the design of the image-based control algorithm for interactive Earth observation. The image-based control algorithm is obtained from the modelling of the satellite pose in space. It is shown that the image-based control algorithm can be designed for two types of satellite attitude control problems: direction tracking and oriented-direction tracking. The reference target is not limited to the camera centre, but can be given anywhere in the image. The image-based control algorithm requires in-image tracking of one or two points on the Earth's surface (depending on the type of the controller). To achieve robust image-based tracking, the general framework for tracking points on the Earth's surface, which is assumed to be locally flat, is presented. The method is based on geometric local image features that are invariant to several image transformations and change in some environmental conditions. The presented methods are experimentally validated in simulation environment.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126715859","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684083
Haris Balta, Silvia Rossi, Salvatore Iengo, B. Siciliano, Alberto Finzi, G. D. Cubber
The main focus of the work presented in this paper is to investigate the application of certain biologically-inspired control strategies in the field of autonomous mobile robots, with particular emphasis on multi-robot navigation systems. The control architecture used in this work is based on the behavior-based approach. The main argument in favor of this approach is its impressive and rapid practical success. This powerful methodology has demonstrated simplicity, parallelism, perception-action mapping and real implementation. When a group of autonomous mobile robots needs to achieve a goal operating in complex dynamic environments, such a task involves high computational complexity and a large volume of data needed for continuous monitoring of internal states and the external environment. Most autonomous mobile robots have limited capabilities in computation power or energy sources with limited capability, such as batteries. Therefore, it becomes necessary to build additional mechanisms on top of the control architecture able to efficiently allocate resources for enhancing the performance of an autonomous mobile robot. For this purpose, it is necessary to build an adaptive behavior-based control system focused on sensory adaptation. This adaptive property will assure efficient use of robot's limited sensorial and cognitive resources. The proposed adaptive behavior-based control system is then validated through simulation in a multi-robot environment with a task of prey/predator scenario.
{"title":"Adaptive behavior-based control for robot navigation: A multi-robot case study","authors":"Haris Balta, Silvia Rossi, Salvatore Iengo, B. Siciliano, Alberto Finzi, G. D. Cubber","doi":"10.1109/ICAT.2013.6684083","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684083","url":null,"abstract":"The main focus of the work presented in this paper is to investigate the application of certain biologically-inspired control strategies in the field of autonomous mobile robots, with particular emphasis on multi-robot navigation systems. The control architecture used in this work is based on the behavior-based approach. The main argument in favor of this approach is its impressive and rapid practical success. This powerful methodology has demonstrated simplicity, parallelism, perception-action mapping and real implementation. When a group of autonomous mobile robots needs to achieve a goal operating in complex dynamic environments, such a task involves high computational complexity and a large volume of data needed for continuous monitoring of internal states and the external environment. Most autonomous mobile robots have limited capabilities in computation power or energy sources with limited capability, such as batteries. Therefore, it becomes necessary to build additional mechanisms on top of the control architecture able to efficiently allocate resources for enhancing the performance of an autonomous mobile robot. For this purpose, it is necessary to build an adaptive behavior-based control system focused on sensory adaptation. This adaptive property will assure efficient use of robot's limited sensorial and cognitive resources. The proposed adaptive behavior-based control system is then validated through simulation in a multi-robot environment with a task of prey/predator scenario.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117127899","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684065
M. Schwarz, J. Börcsök
In 1996, a new standard was announced that should serve as a software interface to exchange process data and to solve the problem to exchange process data using different industrial protocols and communication systems. A successful story started since then with few additional standards like the Alarm and Event standard using the OPC approach and some revisions and new editions. Ten years later a new approach was created that unified all existing standards and was also concerned with e.g. interoperability, security and web-based systems. This paper details the different OPC standards, tries to answer the question why this standard is important for industries and academia and where current research and development utilising those standards.
{"title":"A survey on OPC and OPC-UA: About the standard, developments and investigations","authors":"M. Schwarz, J. Börcsök","doi":"10.1109/ICAT.2013.6684065","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684065","url":null,"abstract":"In 1996, a new standard was announced that should serve as a software interface to exchange process data and to solve the problem to exchange process data using different industrial protocols and communication systems. A successful story started since then with few additional standards like the Alarm and Event standard using the OPC approach and some revisions and new editions. Ten years later a new approach was created that unified all existing standards and was also concerned with e.g. interoperability, security and web-based systems. This paper details the different OPC standards, tries to answer the question why this standard is important for industries and academia and where current research and development utilising those standards.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133821200","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684050
S. Smaka, M. Cosovic, S. Masic
The effects of magnetic circuit geometry on torque generation of switched reluctance motor with higher number of rotor poles are investigated in this paper. Specifically, the torque generation of novel switched reluctance machine with 8 stator and 14 rotor poles (SRM 8/14) is explored. A few suggested values of design ratios are derived for this novel SRM. The machine characteristics are computed using two-dimensional finite element method (2-D FEM).
{"title":"The effects of magnetic circuit geometry on torque generation of 8/14 switched reluctance machine","authors":"S. Smaka, M. Cosovic, S. Masic","doi":"10.1109/ICAT.2013.6684050","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684050","url":null,"abstract":"The effects of magnetic circuit geometry on torque generation of switched reluctance motor with higher number of rotor poles are investigated in this paper. Specifically, the torque generation of novel switched reluctance machine with 8 stator and 14 rotor poles (SRM 8/14) is explored. A few suggested values of design ratios are derived for this novel SRM. The machine characteristics are computed using two-dimensional finite element method (2-D FEM).","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134539190","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684072
A. Kuşakcı, M. Can
Nature Inspired Algorithms (NIAs) are extensively employed to solve constrained optimization problems (COPs) in engineering design domain. Since the global optimum for almost all benchmark problems are already identified, improving the objective function value is not possible. However, an improvement in terms of number of objective function evaluations (FES) and reliability is still likely. This paper proposes an Evolution Strategy (ES) with a Covariance Matrix Adaptation (CMA)-like mutation operator and a ranking based constraint-handling method. The results indicate that the algorithm is able to find the global optimum in less FES and with high reliability when compared with the benchmarked methods.
{"title":"A novel evolution strategy for constrained optimization in engineering design","authors":"A. Kuşakcı, M. Can","doi":"10.1109/ICAT.2013.6684072","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684072","url":null,"abstract":"Nature Inspired Algorithms (NIAs) are extensively employed to solve constrained optimization problems (COPs) in engineering design domain. Since the global optimum for almost all benchmark problems are already identified, improving the objective function value is not possible. However, an improvement in terms of number of objective function evaluations (FES) and reliability is still likely. This paper proposes an Evolution Strategy (ES) with a Covariance Matrix Adaptation (CMA)-like mutation operator and a ranking based constraint-handling method. The results indicate that the algorithm is able to find the global optimum in less FES and with high reliability when compared with the benchmarked methods.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125593818","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684069
Carlos Andrade-Cabrera, J. Maciejowski
The solution time of the online optimization problems inherent to Model Predictive Control (MPC) can become a critical limitation when working in embedded systems. One proposed approach to reduce the solution time is to split the optimization problem into a number of reduced order problems, solve such reduced order problems in parallel and selecting the solution which minimises a global cost function. This approach is known as Parallel MPC. The potential capabilities of disturbance rejection are introduced using a simulation example. The algorithm is implemented in a linearised model of a Boeing 747-200 under nominal flight conditions and with an induced wind disturbance. Under significant output disturbances Parallel MPC provides a significant improvement in performance when compared to Multiplexed MPC (MMPC) and Linear Quadratic Synchronous MPC (SMPC).
{"title":"Output disturbance rejection using parallel model predictive control","authors":"Carlos Andrade-Cabrera, J. Maciejowski","doi":"10.1109/ICAT.2013.6684069","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684069","url":null,"abstract":"The solution time of the online optimization problems inherent to Model Predictive Control (MPC) can become a critical limitation when working in embedded systems. One proposed approach to reduce the solution time is to split the optimization problem into a number of reduced order problems, solve such reduced order problems in parallel and selecting the solution which minimises a global cost function. This approach is known as Parallel MPC. The potential capabilities of disturbance rejection are introduced using a simulation example. The algorithm is implemented in a linearised model of a Boeing 747-200 under nominal flight conditions and with an induced wind disturbance. Under significant output disturbances Parallel MPC provides a significant improvement in performance when compared to Multiplexed MPC (MMPC) and Linear Quadratic Synchronous MPC (SMPC).","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116663901","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684047
M. Eid, Andres Fernandez
In this paper we present ReadGoGo!, a system that reminds readers when they are not focusing on the texts at hand. Towards developing such real-time system, we used a commercial ECG device, Mindwave by NeuroSky, to measure the attention level of readers, and combine the measurement with visual-based information. Existing related works involve only clinical experiments using EEG sensors to understand brain activities from specific set-ups. Little has been done to distinguish mental states between focusing and losing focus on word texts. In addition, there exist few market solutions, and most of them are not automated. The proposed system can automatically remind the reader when she/he is losing focus and eventually help the reader to quickly regain his/her focus on the text at hand. The implementation and usability analysis has demonstrated the ability of the proposed system to help readers regain attention during reading sessions.
{"title":"ReadGoGo!: Towards real-time notification on readers' state of attention","authors":"M. Eid, Andres Fernandez","doi":"10.1109/ICAT.2013.6684047","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684047","url":null,"abstract":"In this paper we present ReadGoGo!, a system that reminds readers when they are not focusing on the texts at hand. Towards developing such real-time system, we used a commercial ECG device, Mindwave by NeuroSky, to measure the attention level of readers, and combine the measurement with visual-based information. Existing related works involve only clinical experiments using EEG sensors to understand brain activities from specific set-ups. Little has been done to distinguish mental states between focusing and losing focus on word texts. In addition, there exist few market solutions, and most of them are not automated. The proposed system can automatically remind the reader when she/he is losing focus and eventually help the reader to quickly regain his/her focus on the text at hand. The implementation and usability analysis has demonstrated the ability of the proposed system to help readers regain attention during reading sessions.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129462878","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 : 2013-12-16DOI: 10.1109/ICAT.2013.6684052
Carlos Meza, R. Ortega
Photovoltaic (PV) systems that inject energy directly to the grid have attracted much attention over the last years due to their lower cost per watt with respect to other photovoltaic applications and the incentives that governments offer for such systems. In a grid-connected PV system a power inverter is required to optimize the energy transfer from the photovoltaic modules to the power grid. Considering the nonlinear time-varying nature of grid-connected PV systems allows to obtain well-defined mathematical description of the problem that can be useful for the design of control schemes. Nevertheless, control structures that explicitly take into account the non-linear electrical model of the PV modules usually depend on parameters that are unknown and/or difficult to measure. Consequently, such controllers should normally be used with estimator schemes. In the present paper a control and estimator scheme for a full-bridge central PV inverter which is valid for a wide range of PV technologies is presented. As shown with a simulation study, the required control objectives have been achieved and the unknown temperature dependent have been correctly estimated.
{"title":"Control and estimation scheme for PV central inverters","authors":"Carlos Meza, R. Ortega","doi":"10.1109/ICAT.2013.6684052","DOIUrl":"https://doi.org/10.1109/ICAT.2013.6684052","url":null,"abstract":"Photovoltaic (PV) systems that inject energy directly to the grid have attracted much attention over the last years due to their lower cost per watt with respect to other photovoltaic applications and the incentives that governments offer for such systems. In a grid-connected PV system a power inverter is required to optimize the energy transfer from the photovoltaic modules to the power grid. Considering the nonlinear time-varying nature of grid-connected PV systems allows to obtain well-defined mathematical description of the problem that can be useful for the design of control schemes. Nevertheless, control structures that explicitly take into account the non-linear electrical model of the PV modules usually depend on parameters that are unknown and/or difficult to measure. Consequently, such controllers should normally be used with estimator schemes. In the present paper a control and estimator scheme for a full-bridge central PV inverter which is valid for a wide range of PV technologies is presented. As shown with a simulation study, the required control objectives have been achieved and the unknown temperature dependent have been correctly estimated.","PeriodicalId":348701,"journal":{"name":"2013 XXIV International Conference on Information, Communication and Automation Technologies (ICAT)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126143156","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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