Pub Date : 2015-10-01DOI: 10.1109/SSRR.2015.7442942
Bin Li, Jian Chang, Lincang Zhu
In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in "T" configuration, the mathematical model of force is established and the whole process of climbing stairs is analyzed. Grouser-tread hooking, track-stair edge frictional force et al. are all considered during the process of climbing. A description of its dynamic model is also presented which is involved in the controller. The controller is comprised of center control and heading control, which can help the robot climb stairs safely and quickly. The effectiveness of the algorithms proposed are verified by experiment.
{"title":"Research on autonomous stairs climbing for the shape-shifting robot","authors":"Bin Li, Jian Chang, Lincang Zhu","doi":"10.1109/SSRR.2015.7442942","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442942","url":null,"abstract":"In this paper, we present an algorithm for a shape-shifting robot climbing stairs autonomously. The robot has been used several times for search and rescue missions. Because of the special environment of tasks, the robot must have the ability to climb stairs autonomously to help the operators. Due to the characters of robot in \"T\" configuration, the mathematical model of force is established and the whole process of climbing stairs is analyzed. Grouser-tread hooking, track-stair edge frictional force et al. are all considered during the process of climbing. A description of its dynamic model is also presented which is involved in the controller. The controller is comprised of center control and heading control, which can help the robot climb stairs safely and quickly. The effectiveness of the algorithms proposed are verified by experiment.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120994083","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7442941
Massimo Vespignani, Kamilo Melo, Mehmet Mutlu, A. Ijspeert
In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. Several attempts to reproduce such behaviors in snake robots range from compliant shape controllers (acting in joint space) to torque control strategies of elastic actuated joints. In our proposal, we incorporate compliant elements in a modular snake robot structure to passively adapt the robot's shape to the environment. The gait control remains simple by acting directly in the robot's joint space with known gait generation schemes. To validate our results we performed experiments with compliant modular snake robots rolling on pipes with different geometry characteristics such as different diameters, smooth surfaces, surfaces with presence of obstacles (terrain bumps), and considerable changes in diameter in a single robot run. We evaluated the performance across different robot's body-compliance values, measuring the speed of locomotion as well as the power consumption. Our results show that providing a good selection of body compliant elements is a way to maintain high locomotion performance (at least while rolling on pipes) without including additional complex control artifacts to the simple open-loop cyclic gait controller.
{"title":"Compliant snake robot locomotion on horizontal pipes","authors":"Massimo Vespignani, Kamilo Melo, Mehmet Mutlu, A. Ijspeert","doi":"10.1109/SSRR.2015.7442941","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442941","url":null,"abstract":"In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better performances than a simple pre-programmed stiff motion without feedback. Several attempts to reproduce such behaviors in snake robots range from compliant shape controllers (acting in joint space) to torque control strategies of elastic actuated joints. In our proposal, we incorporate compliant elements in a modular snake robot structure to passively adapt the robot's shape to the environment. The gait control remains simple by acting directly in the robot's joint space with known gait generation schemes. To validate our results we performed experiments with compliant modular snake robots rolling on pipes with different geometry characteristics such as different diameters, smooth surfaces, surfaces with presence of obstacles (terrain bumps), and considerable changes in diameter in a single robot run. We evaluated the performance across different robot's body-compliance values, measuring the speed of locomotion as well as the power consumption. Our results show that providing a good selection of body compliant elements is a way to maintain high locomotion performance (at least while rolling on pipes) without including additional complex control artifacts to the simple open-loop cyclic gait controller.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122561965","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443008
Ahmed A. Ambarak, J. Steele, H. Zhang
Robotic first responders have potential to significantly improve rescue efficiency and safety in search and rescue missions. To operate intelligently, a robot requires the capability to recognize critical objects in a disaster environment, in order to effectively locate victims and/or prevent secondary disasters. In this report, we introduce a novel dataset of Critical Objects for Response to Emergency (CORE) to facilitate future design of object detection systems for search and rescue missions. We also implement an object detection approach, using object proposals, deep features, and classifiers, to recognize objects in the CORE dataset. An average accuracy of 94.6% is achieved.
{"title":"CORE: A dataset of critical objects for response to emergency","authors":"Ahmed A. Ambarak, J. Steele, H. Zhang","doi":"10.1109/SSRR.2015.7443008","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443008","url":null,"abstract":"Robotic first responders have potential to significantly improve rescue efficiency and safety in search and rescue missions. To operate intelligently, a robot requires the capability to recognize critical objects in a disaster environment, in order to effectively locate victims and/or prevent secondary disasters. In this report, we introduce a novel dataset of Critical Objects for Response to Emergency (CORE) to facilitate future design of object detection systems for search and rescue missions. We also implement an object detection approach, using object proposals, deep features, and classifiers, to recognize objects in the CORE dataset. An average accuracy of 94.6% is achieved.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132997485","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443002
Jaeeun Shim, R. Arkin
By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered in SAR, it is important for robots to handle sensitively human victims' emotions. Deception can potentially be used effectively by robots to control human victims' fear and shock as used by human rescuers. In this paper, we introduce robotic deception in SAR contexts and present a novel computational approach for an autonomous rescue robot's deceptive action selection mechanism.
{"title":"The benefits of robot deception in search and rescue: Computational approach for deceptive action selection via case-based reasoning","authors":"Jaeeun Shim, R. Arkin","doi":"10.1109/SSRR.2015.7443002","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443002","url":null,"abstract":"By increasing the use of autonomous rescue robots in search and rescue (SAR), the chance of interaction between rescue robots and human victims also grows. More specifically, when autonomous rescue robots are considered in SAR, it is important for robots to handle sensitively human victims' emotions. Deception can potentially be used effectively by robots to control human victims' fear and shock as used by human rescuers. In this paper, we introduce robotic deception in SAR contexts and present a novel computational approach for an autonomous rescue robot's deceptive action selection mechanism.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131105515","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443016
Seiga Kiribayashi, Jun Ashizawa, K. Nagatani
Recently, micro unmanned aerial vehicles (MUAVs), particularly multicopters, are expected to be used for rescue missions and investigations all over the world. However, their operating time for conducting actual missions is currently quite short, typically 20 minutes or less. To extend the flight time, and to prevent the multicopter from leaving the flight area caused by incorrect operations, it is proposed to use an electrical cable as a tether to supply electric power for to the multicopter. To realize such a system, the cable selection is critical. Therefore, in this research, we model the electrical devices (motors and ESCs) on the multicopter, and discuss the optimal cable selection. In this paper, we propose our cable selection method, and introduce our power-feeding tether system that can be carried by unmanned ground vehicles.
{"title":"Modeling and design of tether powered multicopter","authors":"Seiga Kiribayashi, Jun Ashizawa, K. Nagatani","doi":"10.1109/SSRR.2015.7443016","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443016","url":null,"abstract":"Recently, micro unmanned aerial vehicles (MUAVs), particularly multicopters, are expected to be used for rescue missions and investigations all over the world. However, their operating time for conducting actual missions is currently quite short, typically 20 minutes or less. To extend the flight time, and to prevent the multicopter from leaving the flight area caused by incorrect operations, it is proposed to use an electrical cable as a tether to supply electric power for to the multicopter. To realize such a system, the cable selection is critical. Therefore, in this research, we model the electrical devices (motors and ESCs) on the multicopter, and discuss the optimal cable selection. In this paper, we propose our cable selection method, and introduce our power-feeding tether system that can be carried by unmanned ground vehicles.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132245373","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443019
Lance Molyneaux, D. Carnegie, Chris Chitty
Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource to search and rescue teams, but have demonstrated limited success. Of all robot deployments in underground mine disasters, 75% have failed. This necessitates advancement in the field in order to increase the success rate. Identified through literature, the three primary concerns are: unreliable locomotion systems, severed tethers and lack of consideration for underground mine environments. Our robotic system addresses these issues with a unique chassis and novel locomotion system, along with a wireless mesh network and dedicated environmental design techniques.
{"title":"HADES: An underground mine disaster scouting robot","authors":"Lance Molyneaux, D. Carnegie, Chris Chitty","doi":"10.1109/SSRR.2015.7443019","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443019","url":null,"abstract":"Despite increased safety and improved technology in the mining industry, fatal disasters still occur. Robots have the potential to be an invaluable resource to search and rescue teams, but have demonstrated limited success. Of all robot deployments in underground mine disasters, 75% have failed. This necessitates advancement in the field in order to increase the success rate. Identified through literature, the three primary concerns are: unreliable locomotion systems, severed tethers and lack of consideration for underground mine environments. Our robotic system addresses these issues with a unique chassis and novel locomotion system, along with a wireless mesh network and dedicated environmental design techniques.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128647182","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443017
L. Roberts, Hugh Alan Bruck, Satyandra K. Gupta
For certain autonomous applications, flapping wing unmanned air vehicles (FWUAVs) provide a desirable balance between fixed wing and rotary air vehicles because they are fast, quiet, and maneuverable. Combined with autonomous stabilization and navigation, these platforms have the potential to allow close up chemical and visual inspections of areas using a dive maneuver. FWUAVs are good platforms for this task because they use limited wing motion and do not have to utilize propellers and rotors that would disturb the surrounding air. In this work, the diving behavior of a FWUAV is characterized and modelled. This model is then used in real time during flight to project dive paths and trigger an autonomous dive to descend to inspect an area.
{"title":"Modeling of dive maneuvers in flapping wing unmanned aerial vehicles","authors":"L. Roberts, Hugh Alan Bruck, Satyandra K. Gupta","doi":"10.1109/SSRR.2015.7443017","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443017","url":null,"abstract":"For certain autonomous applications, flapping wing unmanned air vehicles (FWUAVs) provide a desirable balance between fixed wing and rotary air vehicles because they are fast, quiet, and maneuverable. Combined with autonomous stabilization and navigation, these platforms have the potential to allow close up chemical and visual inspections of areas using a dive maneuver. FWUAVs are good platforms for this task because they use limited wing motion and do not have to utilize propellers and rotors that would disturb the surrounding air. In this work, the diving behavior of a FWUAV is characterized and modelled. This model is then used in real time during flight to project dive paths and trigger an autonomous dive to descend to inspect an area.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125600114","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443005
M. Okugawa, K. Oogane, M. Shimizu, Y. Ohtsubo, Tetsuya Kimura, Tomoichi Takahashi, S. Tadokoro
For aging social infrastructure, robot technology is effective for the inspection and maintenance. Such capabilities are similar to those required in the disaster response robots. The application of response robot technology to frequently-used maintenance robots for infrastructure accelerate the social implementation of the response robots. In the paper, the concept and outlines of Japan Virtual Robotics Challenge (JVRC) task development have been introduced, in which ordinal inspection tasks and disaster response tasks of tunnel are carried out by an identical robot. In the paper, we propose a test scenario for robotic operations for inspection and rescue tasks. The tasks will be checked in Japan Virtual Robotics Challenge that will be held in October 2015.
{"title":"Proposal of inspection and rescue tasks for tunnel disasters — Task development of Japan virtual robotics challenge","authors":"M. Okugawa, K. Oogane, M. Shimizu, Y. Ohtsubo, Tetsuya Kimura, Tomoichi Takahashi, S. Tadokoro","doi":"10.1109/SSRR.2015.7443005","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443005","url":null,"abstract":"For aging social infrastructure, robot technology is effective for the inspection and maintenance. Such capabilities are similar to those required in the disaster response robots. The application of response robot technology to frequently-used maintenance robots for infrastructure accelerate the social implementation of the response robots. In the paper, the concept and outlines of Japan Virtual Robotics Challenge (JVRC) task development have been introduced, in which ordinal inspection tasks and disaster response tasks of tunnel are carried out by an identical robot. In the paper, we propose a test scenario for robotic operations for inspection and rescue tasks. The tasks will be checked in Japan Virtual Robotics Challenge that will be held in October 2015.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123819761","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7443015
Joshua T. Lane, R. Voyles
Hybridization of robots has led to great leaps in capability, often with minimal additional complexity, and refers to a synergistic combination of different actuation modes within a single platform. Doing so extends the capabilities and task space of a robot by pooling together the strengths of the individual modes and results in a single platform that is greater than the sum of its parts. In this paper we present a novel 2-D tread mechanism capable of exerting motive forces in two orthogonal directions. Early exploration into hybridization of this mechanism includes a holonomic differential drive configuration as well as a holonomic tread/limb/serpentine hybrid robot. Some preliminary results of the tread mechanism performance are presented as well.
{"title":"A 2-D tread mechanism for hybridization in USAR robotics","authors":"Joshua T. Lane, R. Voyles","doi":"10.1109/SSRR.2015.7443015","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7443015","url":null,"abstract":"Hybridization of robots has led to great leaps in capability, often with minimal additional complexity, and refers to a synergistic combination of different actuation modes within a single platform. Doing so extends the capabilities and task space of a robot by pooling together the strengths of the individual modes and results in a single platform that is greater than the sum of its parts. In this paper we present a novel 2-D tread mechanism capable of exerting motive forces in two orthogonal directions. Early exploration into hybridization of this mechanism includes a holonomic differential drive configuration as well as a holonomic tread/limb/serpentine hybrid robot. Some preliminary results of the tread mechanism performance are presented as well.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130592968","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 : 2015-10-01DOI: 10.1109/SSRR.2015.7442949
Yoshiaki Bando, Katsutoshi Itoyama, M. Konyo, S. Tadokoro, K. Nakadai, Kazuyoshi Yoshii, HIroshi G. Okuno
This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.
{"title":"Human-voice enhancement based on online RPCA for a hose-shaped rescue robot with a microphone array","authors":"Yoshiaki Bando, Katsutoshi Itoyama, M. Konyo, S. Tadokoro, K. Nakadai, Kazuyoshi Yoshii, HIroshi G. Okuno","doi":"10.1109/SSRR.2015.7442949","DOIUrl":"https://doi.org/10.1109/SSRR.2015.7442949","url":null,"abstract":"This paper presents an online real-time method that enhances human voices included in severely noisy audio signals captured by microphones of a hose-shaped rescue robot. To help a remote operator of such a robot pick up a weak voice of a human buried under rubble, it is crucial to suppress the loud ego-noise caused by the movements of the robot in real time. We tackle this task by using online robust principal component analysis (ORPCA) for decomposing the spectrogram of an observed noisy signal into the sum of low-rank and sparse spectrograms that are expected to correspond to periodic ego-noise and human voices. Using a microphone array distributed on the long body of a hose-shaped robot, ego-noise suppression can be further improved by combining the results of ORPCA applied to the observed signal captured by each microphone. Experiments using a 3-m hose-shaped rescue robot with eight microphones show that the proposed method improves the performance of conventional ego-noise suppression using only one microphone by 7.4 dB in SDR and 17.2 in SIR.","PeriodicalId":357384,"journal":{"name":"2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129521333","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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