Pub Date : 2020-06-01DOI: 10.1109/UR49135.2020.9144837
Salua Hamaza, M. Kovač
Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.
{"title":"Omni-Drone: on the Design of a Novel Aerial Manipulator with Omni-directional Workspace","authors":"Salua Hamaza, M. Kovač","doi":"10.1109/UR49135.2020.9144837","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144837","url":null,"abstract":"Aerial manipulation is a nascent research area that offers major impact for infrastructure monitoring and repair. While several design and control methods have been presented, there is still a need for new mechatronic solutions that are structurally optimised for aerial manipulation tasks. In this paper we present a novel design for a manipulator tailored for aerial applications with a high level of morphological integration with the robot frame. A hybrid system is presented that comprises a 5-bar linkage parallel robot with an additional active joint for the swirling motion about a pivotal point. The design offers an omnidirectional workspace about the aerial vehicle, enhancing the versatility of the aerial system and the tasks that can be accomplished. The mechanical design of the proposed robot, the analysis of the kinematics and the study of the workspace are presented. The novel manipulator represents the first of its kind, enabling aerial interaction with ceilings, curved surfaces and side interaction with facades.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128546827","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144860
Daiyan Zhang, Ming-xing Lin, Chuanqi Ban, Boyang Lian
Aiming at the problem of human-computer interaction in the rehabilitation process of upper limb rehabilitation robots, a flexible surface pressure sensor was used to detect the human-computer contact force, and a position-based fuzzy impedance controller was used to adjust the human-computer interaction force. A dynamic model of the upper limb rehabilitation robot was established, a fuzzy impedance controller was designed, and a position-based fuzzy impedance control result was simulated. The experiment proves that the position-based fuzzy impedance control can ensure that the rehabilitation robot has good compliance, which not only ensures the safety of rehabilitation training, but also the effect of rehabilitation training.
{"title":"Fuzzy Impedance Control of Upper Limb Rehabilitation Robot*","authors":"Daiyan Zhang, Ming-xing Lin, Chuanqi Ban, Boyang Lian","doi":"10.1109/UR49135.2020.9144860","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144860","url":null,"abstract":"Aiming at the problem of human-computer interaction in the rehabilitation process of upper limb rehabilitation robots, a flexible surface pressure sensor was used to detect the human-computer contact force, and a position-based fuzzy impedance controller was used to adjust the human-computer interaction force. A dynamic model of the upper limb rehabilitation robot was established, a fuzzy impedance controller was designed, and a position-based fuzzy impedance control result was simulated. The experiment proves that the position-based fuzzy impedance control can ensure that the rehabilitation robot has good compliance, which not only ensures the safety of rehabilitation training, but also the effect of rehabilitation training.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128930955","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144697
Yi Wu, G. Cao, Su-Dan Huang, Yeping Peng
A distributed database of cloud platform for the lower-limb exoskeleton robot is developed in this paper, which is to solve the problem of large data storage when long-term monitoring of multiple exoskeleton robots. The architecture of the cloud platform is present. In terms of the data information of the robot and human body, a distributed database is built by using MyCat and MySQL. The interface between the database and the front-end web page is developed. The experiment indicates that the database of the cloud platform is able to remotely collect the information such as the joint angles of the robot which is also displayed on the web page.
{"title":"Distributed Database of Cloud Platform for the Lower-limb Exoskeleton Robot","authors":"Yi Wu, G. Cao, Su-Dan Huang, Yeping Peng","doi":"10.1109/UR49135.2020.9144697","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144697","url":null,"abstract":"A distributed database of cloud platform for the lower-limb exoskeleton robot is developed in this paper, which is to solve the problem of large data storage when long-term monitoring of multiple exoskeleton robots. The architecture of the cloud platform is present. In terms of the data information of the robot and human body, a distributed database is built by using MyCat and MySQL. The interface between the database and the front-end web page is developed. The experiment indicates that the database of the cloud platform is able to remotely collect the information such as the joint angles of the robot which is also displayed on the web page.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116256946","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144757
Haorui Peng, C. Recchiuto, A. Sgorbissa
The article describes the implementation of a collaborative approach for localization and mapping of large urban environments. This approach foresees the presence of multiple human operators, endowed with wearable sensors, whose outputs are processed in real-time in order to estimate human odometry. A Graph-based CLAM approach, generating a global map, is then applied: in order to improve the optimization phase of the algorithm, deterministic and probabilistic intervention approaches are proposed. More in detail, the loop closure procedure has been improved according to human sensing and the observations of external sensors. Experimental tests have been carried out in the historical center of Genova, proving that the proposed method overcomes classical multi-operator SLAM approaches.
{"title":"Collaboration and Interventions on Urban Environment Mapping with Graph-based SLAM Algorithm","authors":"Haorui Peng, C. Recchiuto, A. Sgorbissa","doi":"10.1109/UR49135.2020.9144757","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144757","url":null,"abstract":"The article describes the implementation of a collaborative approach for localization and mapping of large urban environments. This approach foresees the presence of multiple human operators, endowed with wearable sensors, whose outputs are processed in real-time in order to estimate human odometry. A Graph-based CLAM approach, generating a global map, is then applied: in order to improve the optimization phase of the algorithm, deterministic and probabilistic intervention approaches are proposed. More in detail, the loop closure procedure has been improved according to human sensing and the observations of external sensors. Experimental tests have been carried out in the historical center of Genova, proving that the proposed method overcomes classical multi-operator SLAM approaches.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127010306","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144834
A. Tabak
The medical micro-robotic applications are becoming more eminent by ever-flourishing possibilities presented by the robotics and biomedical communities in the past decade. Artificial and bio-hybrid designs started flooding the literature accompanied by fewer examples of closed-loop control of such systems until recently. The current focus is mainly on MRI systems and electromagnetic coil configurations as it has been long since they proliferated in mainstream medicine. In this paper, a closed-loop control approach to a rather rarely investigated robotic arrangement is proposed. A detailed mathematical model for the dynamics of an open kinematic chain and a single bacterium cell coupled with the help of a magnetic field is established, and a bilateral adaptive control is auspiciously fitted on top to maneuver the cell in a simulated environment.
{"title":"Simulated Bilateral Motion Control of a Magneto-Tactic Bacterium via an Open Kinematic Chain","authors":"A. Tabak","doi":"10.1109/UR49135.2020.9144834","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144834","url":null,"abstract":"The medical micro-robotic applications are becoming more eminent by ever-flourishing possibilities presented by the robotics and biomedical communities in the past decade. Artificial and bio-hybrid designs started flooding the literature accompanied by fewer examples of closed-loop control of such systems until recently. The current focus is mainly on MRI systems and electromagnetic coil configurations as it has been long since they proliferated in mainstream medicine. In this paper, a closed-loop control approach to a rather rarely investigated robotic arrangement is proposed. A detailed mathematical model for the dynamics of an open kinematic chain and a single bacterium cell coupled with the help of a magnetic field is established, and a bilateral adaptive control is auspiciously fitted on top to maneuver the cell in a simulated environment.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126107389","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144930
Hongje Seong, Junhyuk Hyun, Euntai Kim
Scene recognition is one of the visual tasks, classifying a place category on an image. Scene images may contain various objects, and these objects tend to become clues to recognize the scene of the image. Therefore, many previous approaches for scene recognition use the object information that appeared in the image to improve the performance. Here, we raise a question of whether whole object information is helpful for scene recognition. To find the answer to the question, we conduct experiments on Places365, which is the largest scene recognition dataset consist of real-world images. To find the object classes which disturbed scene recognition, we utilize the Class Conversion Matrix, which is a deep learning approach. Finally, we found that some object classes may contribute to disturbing scene recognition. It indicates that not only making good use of object information, but also dropping disturbed object information is also important.
{"title":"Is Whole Object Information Helpful for Scene Recognition?","authors":"Hongje Seong, Junhyuk Hyun, Euntai Kim","doi":"10.1109/UR49135.2020.9144930","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144930","url":null,"abstract":"Scene recognition is one of the visual tasks, classifying a place category on an image. Scene images may contain various objects, and these objects tend to become clues to recognize the scene of the image. Therefore, many previous approaches for scene recognition use the object information that appeared in the image to improve the performance. Here, we raise a question of whether whole object information is helpful for scene recognition. To find the answer to the question, we conduct experiments on Places365, which is the largest scene recognition dataset consist of real-world images. To find the object classes which disturbed scene recognition, we utilize the Class Conversion Matrix, which is a deep learning approach. Finally, we found that some object classes may contribute to disturbing scene recognition. It indicates that not only making good use of object information, but also dropping disturbed object information is also important.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121994251","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144815
Yongjiang Xue, Ye Zhang, Wenxiong Zheng, Chuanli Jiang, Xuan Xiao
In this paper, a novel snake-like robot is proposed by attaching a gripper on its head to enhance the exploration and operation abilities of the snake-like robots. First, the mechanical structures of the snake-like robot and the gripper are designed. Second, the physical prototype and its control system are built. Finally, the serpenoid, sidewinding, rolling gaits of our robot are designed based on the kinematics model, and the moving and gripping functions are verified through physical experiments. As a result, our robot has a high potential on moving in complex environments and performing a variety of tasks.
{"title":"Design, Control and Experiment of a Snake-like Robot with Gripper","authors":"Yongjiang Xue, Ye Zhang, Wenxiong Zheng, Chuanli Jiang, Xuan Xiao","doi":"10.1109/UR49135.2020.9144815","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144815","url":null,"abstract":"In this paper, a novel snake-like robot is proposed by attaching a gripper on its head to enhance the exploration and operation abilities of the snake-like robots. First, the mechanical structures of the snake-like robot and the gripper are designed. Second, the physical prototype and its control system are built. Finally, the serpenoid, sidewinding, rolling gaits of our robot are designed based on the kinematics model, and the moving and gripping functions are verified through physical experiments. As a result, our robot has a high potential on moving in complex environments and performing a variety of tasks.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126022004","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144864
Luca Garello, Francesco Grella, Stefano Castagnetta, Barbara Bruno, C. Recchiuto, A. Sgorbissa
It is a well-established fact in the field of Human-Robot Interaction that the personality a social robot is endowed with (i.e., the one it expresses by its gestures and words) plays a key role towards the engagement experienced by any person interacting with it. In this article, we address the problem of designing the conversational style of a social robot to convey different degrees of Agreeableness, which is one of the Big Five personality traits, and investigate the relation between the person’s engagement and the robot’s degree of agreeableness.We propose to use subjective perception of time elapsed as an indicator for engagement and design two robot behaviours, one making the robot always agree with the person’s opinion on topics of discussion (the compliant behaviour) and one making the robot always disagree (the contrasting behaviour). In an experiment involving 14 participants, we assess whether the robot adopting the contrasting behaviour is perceived as more engaging than the one adopting the compliant behaviour, and use participants’ previous interactions with vocal assistants as a reference for estimating the naturalness, enjoyability and politeness of the conversation with the robot. Results suggest that designing social robots that are able to disagree with the person they’re interacting with might be key to make them more engaging and entertaining.
{"title":"Robot Agreeableness and User Engagement in Verbal Human-Robot Interaction","authors":"Luca Garello, Francesco Grella, Stefano Castagnetta, Barbara Bruno, C. Recchiuto, A. Sgorbissa","doi":"10.1109/UR49135.2020.9144864","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144864","url":null,"abstract":"It is a well-established fact in the field of Human-Robot Interaction that the personality a social robot is endowed with (i.e., the one it expresses by its gestures and words) plays a key role towards the engagement experienced by any person interacting with it. In this article, we address the problem of designing the conversational style of a social robot to convey different degrees of Agreeableness, which is one of the Big Five personality traits, and investigate the relation between the person’s engagement and the robot’s degree of agreeableness.We propose to use subjective perception of time elapsed as an indicator for engagement and design two robot behaviours, one making the robot always agree with the person’s opinion on topics of discussion (the compliant behaviour) and one making the robot always disagree (the contrasting behaviour). In an experiment involving 14 participants, we assess whether the robot adopting the contrasting behaviour is perceived as more engaging than the one adopting the compliant behaviour, and use participants’ previous interactions with vocal assistants as a reference for estimating the naturalness, enjoyability and politeness of the conversation with the robot. Results suggest that designing social robots that are able to disagree with the person they’re interacting with might be key to make them more engaging and entertaining.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124439210","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144897
Tatsuki Satooka, H. Yamazoe, Joo-Ho Lee
In recent years, technology in the IoT field has been actively researched, and our lives have become more convenient. Among them, The Reconfigurable Intelligent Space (R+iSpace). In the R+iSpace has been proposed, all the devices in the environment can be relocated according to the current situation. Therefore, a mobile module called MoMo that can move on the walls and ceilings is utilized in the R + iSpace. However, since prototypes that have been developed have problems such as low moving speed, we need to newly devise a mechanism to solve it. This time, we developed a mechanism using protruding objects and rail. As the result, we achieved measuring the moving speed and stability of the new prototype and, also comparing it with the previous prototypes, and showed the superiority of the newly devised MoMo.
{"title":"Development of Mobile Module Ver.5.2 in reconfigurable intelligent space*","authors":"Tatsuki Satooka, H. Yamazoe, Joo-Ho Lee","doi":"10.1109/UR49135.2020.9144897","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144897","url":null,"abstract":"In recent years, technology in the IoT field has been actively researched, and our lives have become more convenient. Among them, The Reconfigurable Intelligent Space (R+iSpace). In the R+iSpace has been proposed, all the devices in the environment can be relocated according to the current situation. Therefore, a mobile module called MoMo that can move on the walls and ceilings is utilized in the R + iSpace. However, since prototypes that have been developed have problems such as low moving speed, we need to newly devise a mechanism to solve it. This time, we developed a mechanism using protruding objects and rail. As the result, we achieved measuring the moving speed and stability of the new prototype and, also comparing it with the previous prototypes, and showed the superiority of the newly devised MoMo.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121665662","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 : 2020-06-01DOI: 10.1109/UR49135.2020.9144913
Tetsuya Idota, Kyungim Baek
Cooperative localization by multiple robots, performing decentralized navigation, is a challenging task in an enclosed environment due to the lack of access to the external facilities. If there is a cyclic update, they suffer from inconsistent estimates with higher confidence, namely overconfidence. This paper proposes a conservative data exchange approach for the cooperative localization, in which a fractional exponent is applied to each robot’s estimate before passing the information to the other robots. This method preserves the amplitude of the original information so that they can avoid falling into a wrong estimated state by cyclic updates. We also show that, when the local estimates are assumed to follow normal distributions, the proposed method behaves similarly to the covariance intersection (CI). A simulation has been conducted in a two-dimensional space to evaluate the proposed method by comparing it with other approaches – the naive and the CI-based methods. The results show that the proposed conservative data exchange approach outperforms the other methods.
{"title":"Conservative Data Exchange for Decentralized Cooperative Localization","authors":"Tetsuya Idota, Kyungim Baek","doi":"10.1109/UR49135.2020.9144913","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144913","url":null,"abstract":"Cooperative localization by multiple robots, performing decentralized navigation, is a challenging task in an enclosed environment due to the lack of access to the external facilities. If there is a cyclic update, they suffer from inconsistent estimates with higher confidence, namely overconfidence. This paper proposes a conservative data exchange approach for the cooperative localization, in which a fractional exponent is applied to each robot’s estimate before passing the information to the other robots. This method preserves the amplitude of the original information so that they can avoid falling into a wrong estimated state by cyclic updates. We also show that, when the local estimates are assumed to follow normal distributions, the proposed method behaves similarly to the covariance intersection (CI). A simulation has been conducted in a two-dimensional space to evaluate the proposed method by comparing it with other approaches – the naive and the CI-based methods. The results show that the proposed conservative data exchange approach outperforms the other methods.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123149550","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}