Pub Date : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107010
R. González, M. Kloetzer, C. Mahulea
This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance of the whole path planning algorithm. This paper also addresses the generation of random environments where obstacles are randomly placed according to a dispersion factor. The included comparison among cell decomposition key criteria is based on numerous simulation experiments that also accounts for the number of obstacles in the environment.
{"title":"Comparative study of trajectories resulted from cell decomposition path planning approaches","authors":"R. González, M. Kloetzer, C. Mahulea","doi":"10.1109/ICSTCC.2017.8107010","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107010","url":null,"abstract":"This paper is devoted to a quantitative study of the sensitivity of cell decomposition path planning to various key criteria dealing with optimality and computational complexity. More specifically, the work analyzes the influence of various types of cell decomposition approaches (e.g. trapezoidal, rectangular) and cost functions used during the trajectory search phase (e.g. L1, L2 norms) in the performance of the whole path planning algorithm. This paper also addresses the generation of random environments where obstacles are randomly placed according to a dispersion factor. The included comparison among cell decomposition key criteria is based on numerous simulation experiments that also accounts for the number of obstacles in the environment.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128314787","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107083
G. Kurina, M. Kalashnikova
The paper deals with linear-quadratic optimal control problems the performance index of which contains small parameters of two different orders of smallness at quadratic forms with respect to a control. Such problems can be considered as a result of applying the convolution method to problems with three performance indices where the cost of one cheap control is negligible compared with another one. Asymptotic approximations of a solution of arbitrary orders are constructed using the direct scheme method, which consists of an immediate substitution of a postulated asymptotic expansion of a solution into the problem condition and determining a series of optimal control problems for finding terms of an asymptotic expansion. At first, using the variables change, the original problem is transformed to a singularly perturbed optimal control problem with three-tempo state variables. The constructed asymptotic solution contains regular and boundary functions of four types.
{"title":"High order asymptotic solution of linear-quadratic optimal control problems under cheap controls with two different costs","authors":"G. Kurina, M. Kalashnikova","doi":"10.1109/ICSTCC.2017.8107083","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107083","url":null,"abstract":"The paper deals with linear-quadratic optimal control problems the performance index of which contains small parameters of two different orders of smallness at quadratic forms with respect to a control. Such problems can be considered as a result of applying the convolution method to problems with three performance indices where the cost of one cheap control is negligible compared with another one. Asymptotic approximations of a solution of arbitrary orders are constructed using the direct scheme method, which consists of an immediate substitution of a postulated asymptotic expansion of a solution into the problem condition and determining a series of optimal control problems for finding terms of an asymptotic expansion. At first, using the variables change, the original problem is transformed to a singularly perturbed optimal control problem with three-tempo state variables. The constructed asymptotic solution contains regular and boundary functions of four types.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132330214","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107026
C. Caruntu, Razvan C. Rafaila
Nowadays, the control systems based on communication networks are used various industries such as manufacturing, automotive, aerospace, power generation and distribution, with many advantages and a couple of disadvantages. The latter can seriously affect the performances and the stability of each control system in the network and of the complex system as a whole. Moreover, it is well known that packet losses or data-packet dropouts are key factors for determining the quality of time-critical applications. As such, in this paper, the error caused by the data-packet dropouts which appear while sending the data through a communication network from the remote process to the controller and vice versa is modeled as a disturbance. Moreover, a novel methodology to find the limits of the hypothetical disturbance is proposed. Furthermore, the boundaries of the disturbances caused by the data-packet dropouts are taken into account explicitly during the designing phase of a predictive controller with inherited robustness based on flexible control Lyapunov functions. The system's input-to-state stability is guaranteed in a non-conservative way by the control algorithm. The predictive controller designed based on the proposed modeling methodology was tested on an electric power assisted steering (EPAS) system controlled through controller area network (CAN). Simulations were performed in Matlab/Simulink and the obtained results show that the modeling methodology and the control strategy are effective in achieving the desired performances.
{"title":"Robust MPC for networked control systems with data-packet dropouts modeled as disturbances","authors":"C. Caruntu, Razvan C. Rafaila","doi":"10.1109/ICSTCC.2017.8107026","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107026","url":null,"abstract":"Nowadays, the control systems based on communication networks are used various industries such as manufacturing, automotive, aerospace, power generation and distribution, with many advantages and a couple of disadvantages. The latter can seriously affect the performances and the stability of each control system in the network and of the complex system as a whole. Moreover, it is well known that packet losses or data-packet dropouts are key factors for determining the quality of time-critical applications. As such, in this paper, the error caused by the data-packet dropouts which appear while sending the data through a communication network from the remote process to the controller and vice versa is modeled as a disturbance. Moreover, a novel methodology to find the limits of the hypothetical disturbance is proposed. Furthermore, the boundaries of the disturbances caused by the data-packet dropouts are taken into account explicitly during the designing phase of a predictive controller with inherited robustness based on flexible control Lyapunov functions. The system's input-to-state stability is guaranteed in a non-conservative way by the control algorithm. The predictive controller designed based on the proposed modeling methodology was tested on an electric power assisted steering (EPAS) system controlled through controller area network (CAN). Simulations were performed in Matlab/Simulink and the obtained results show that the modeling methodology and the control strategy are effective in achieving the desired performances.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114077144","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107033
Georgiana Brăteanu-Ungureanu, Andrei Prepeliţă, C. Budaciu
Two wheel balancing robot referred as inverted pendulum is analyzed and implemented using Lego Mindstorms kit. The mathematical model was derived based on inverted pendulum equations with real parameters values appropriate to the real robot. The linearized state space mathematical model was converted into δ-domain counterpart due to the advantages of discrete time δ-operator in the context of finite word length representation. The most important factors which have a decisive importance are the sampling period and the numerical integration technique. LQR controller is proposed in order to stabilize the self-balancing two-wheeled robot. This control strategy optimally balances the error and control effort based on a cost function. Implementation of the constrained LQ on a real inexpensive hardware with very fast dynamic justifies this control approach and δ-domain discretization method which is numerically more stable.
{"title":"Two wheels lego mindstorms balancing control based on discrete time delta representation","authors":"Georgiana Brăteanu-Ungureanu, Andrei Prepeliţă, C. Budaciu","doi":"10.1109/ICSTCC.2017.8107033","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107033","url":null,"abstract":"Two wheel balancing robot referred as inverted pendulum is analyzed and implemented using Lego Mindstorms kit. The mathematical model was derived based on inverted pendulum equations with real parameters values appropriate to the real robot. The linearized state space mathematical model was converted into δ-domain counterpart due to the advantages of discrete time δ-operator in the context of finite word length representation. The most important factors which have a decisive importance are the sampling period and the numerical integration technique. LQR controller is proposed in order to stabilize the self-balancing two-wheeled robot. This control strategy optimally balances the error and control effort based on a cost function. Implementation of the constrained LQ on a real inexpensive hardware with very fast dynamic justifies this control approach and δ-domain discretization method which is numerically more stable.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127870272","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107142
G. Mois, Z. Szilágyi, T. Sanislav, S. Folea
This paper presents the development of an energy efficient environmental sensor that sends measurement data to a cloud platform using HTTP (Hypertext Transfer Protocol) requests. The device is based on a programmable system-on-chip (PSoC), and is equipped with a temperature and relative humidity sensor for taking measurements and with a WLAN (wireless local area network) module for sending data to the server. The main characteristics of the device consist in low power consumption, robustness and small dimensions. The developed sensor node supports the addition of power harvesting elements and this possibility was evaluated. Testing showed that energy autonomous wireless sensors using HTTP-based services represent a feasible solution for environmental monitoring applications in the context of Internet-of-Things (IoT).
{"title":"An HTTP-based environmental monitoring system using power harvesting","authors":"G. Mois, Z. Szilágyi, T. Sanislav, S. Folea","doi":"10.1109/ICSTCC.2017.8107142","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107142","url":null,"abstract":"This paper presents the development of an energy efficient environmental sensor that sends measurement data to a cloud platform using HTTP (Hypertext Transfer Protocol) requests. The device is based on a programmable system-on-chip (PSoC), and is equipped with a temperature and relative humidity sensor for taking measurements and with a WLAN (wireless local area network) module for sending data to the server. The main characteristics of the device consist in low power consumption, robustness and small dimensions. The developed sensor node supports the addition of power harvesting elements and this possibility was evaluated. Testing showed that energy autonomous wireless sensors using HTTP-based services represent a feasible solution for environmental monitoring applications in the context of Internet-of-Things (IoT).","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115796095","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107032
M. Hulea, A. Barleanu
Spiking neural networks are designed for better modeling the natural neural tissue physiology in order to increase the biological plausibility of the artificial neural structures. In this paper we will present a simple structure of electronic spiking neurons that is able to model the classical conditioning starting from the Pavlov observations of the dog's central nervous system. For modeling the conditioned reflex formation and extinction the artificial neural network uses the associative learning mechanisms implemented by the electronic synapses. The results show that using just a few artificial neurons implemented in analogue hardware the network is able to build new neural paths between areas of electronic neurons when the trained neural paths are activated concurrently with untrained ones modeling in this way the reflex formation. Thus, after the learning phase the input neural areas that initially were not able to activate the output neural areas gain this ability due to simultaneous activation with the trained neural paths. On the other hand by using a couple of inhibitory neurons the neural network learns to inhibit the formed reflex. Using inhibition to reduce the output activity of the neural network represents a new approach in modeling the conditional reflex extinction. Also, from our knowledge this represents the neural structure with the lowest number of neurons that is able to model the principles of Pavlovian conditioning. The significant reduction of the number of neurons was possible because the analogue neurons implement intrinsically high complexity functions.
{"title":"Electronic neural network for modelling the Pavlovian conditioning","authors":"M. Hulea, A. Barleanu","doi":"10.1109/ICSTCC.2017.8107032","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107032","url":null,"abstract":"Spiking neural networks are designed for better modeling the natural neural tissue physiology in order to increase the biological plausibility of the artificial neural structures. In this paper we will present a simple structure of electronic spiking neurons that is able to model the classical conditioning starting from the Pavlov observations of the dog's central nervous system. For modeling the conditioned reflex formation and extinction the artificial neural network uses the associative learning mechanisms implemented by the electronic synapses. The results show that using just a few artificial neurons implemented in analogue hardware the network is able to build new neural paths between areas of electronic neurons when the trained neural paths are activated concurrently with untrained ones modeling in this way the reflex formation. Thus, after the learning phase the input neural areas that initially were not able to activate the output neural areas gain this ability due to simultaneous activation with the trained neural paths. On the other hand by using a couple of inhibitory neurons the neural network learns to inhibit the formed reflex. Using inhibition to reduce the output activity of the neural network represents a new approach in modeling the conditional reflex extinction. Also, from our knowledge this represents the neural structure with the lowest number of neurons that is able to model the principles of Pavlovian conditioning. The significant reduction of the number of neurons was possible because the analogue neurons implement intrinsically high complexity functions.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117147187","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107038
C. Copot, C. Ionescu, R. D. De Keyser
Contrary to their wheeled counterpart, multi-legged robots are capable of easily changing their body posture through reconfiguration of the legs (i.e. inclination or posture control). This capability is exploited in the paper at hand to level out a six-legged robot when placed on a plain slope with adjustable inclination. By extension such inclination control could then be used to let the legged robot mount plain slopes with its body horizontally which greatly benefits the way the robot absorbs the load posed on its mechanics. The implemented body levelling algorithm uses the hexapod's forward and inverse kinematic model, basic geometry, and the Cartesian plane equation to calculate the leg tip displacements able of counteracting the fused orientation data obtained from an inertial measurement unit (IMU). Experimental results show the approach to be successful, although the speed of the levelling process leaves room for improvement. To address the latter a more powerful processing unit and/or, more importantly, a simpler redesign of the legs is advised.
{"title":"Body levelling of a hexapod robot using the concept of sensor fusion","authors":"C. Copot, C. Ionescu, R. D. De Keyser","doi":"10.1109/ICSTCC.2017.8107038","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107038","url":null,"abstract":"Contrary to their wheeled counterpart, multi-legged robots are capable of easily changing their body posture through reconfiguration of the legs (i.e. inclination or posture control). This capability is exploited in the paper at hand to level out a six-legged robot when placed on a plain slope with adjustable inclination. By extension such inclination control could then be used to let the legged robot mount plain slopes with its body horizontally which greatly benefits the way the robot absorbs the load posed on its mechanics. The implemented body levelling algorithm uses the hexapod's forward and inverse kinematic model, basic geometry, and the Cartesian plane equation to calculate the leg tip displacements able of counteracting the fused orientation data obtained from an inertial measurement unit (IMU). Experimental results show the approach to be successful, although the speed of the levelling process leaves room for improvement. To address the latter a more powerful processing unit and/or, more importantly, a simpler redesign of the legs is advised.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114511600","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107067
Yulia E. Danik, M. Dmitriev
Five stabilizing controls for discrete-time quasilinear control systems based on the solution of the Discrete-Time State Dependent Riccati Equation (D-SDRE) are examined. One of the approaches has been proposed by the authors and uses the approximate solution of the D-SDRE. The main goal of this paper is to obtain the results on comparative computational characteristics of the discussed control synthesis algorithms, including the robustness properties.
{"title":"A comparison of numerical algorithms for discrete-time state dependent coefficients control systems","authors":"Yulia E. Danik, M. Dmitriev","doi":"10.1109/ICSTCC.2017.8107067","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107067","url":null,"abstract":"Five stabilizing controls for discrete-time quasilinear control systems based on the solution of the Discrete-Time State Dependent Riccati Equation (D-SDRE) are examined. One of the approaches has been proposed by the authors and uses the approximate solution of the D-SDRE. The main goal of this paper is to obtain the results on comparative computational characteristics of the discussed control synthesis algorithms, including the robustness properties.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114250275","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107124
A. Qayyum, A. Pironti
This paper defines an optimal quadratic cost bound as a performance index for linear time varying systems subject to a finite time stability constraint. In particular, a sufficient condition for achieving such a guaranteed cost bound satisfying simultaneously the finite time stable constraint is given in terms of differential linear matrix inequalities. This condition is then exploited for the design of a state feedback control which make the closed loop system finite time stable with a guaranteed cost bound as the performance index. This leads to the design of an optimal controller under finite time stability constraint in the realm of convex optimization by the solution of a suitable feasibility problem. The applicability of the proposed approach is illustrated by means of an example showing the control of an inverted pendulum.
{"title":"Finite time stability with guaranteed cost control for linear systems","authors":"A. Qayyum, A. Pironti","doi":"10.1109/ICSTCC.2017.8107124","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107124","url":null,"abstract":"This paper defines an optimal quadratic cost bound as a performance index for linear time varying systems subject to a finite time stability constraint. In particular, a sufficient condition for achieving such a guaranteed cost bound satisfying simultaneously the finite time stable constraint is given in terms of differential linear matrix inequalities. This condition is then exploited for the design of a state feedback control which make the closed loop system finite time stable with a guaranteed cost bound as the performance index. This leads to the design of an optimal controller under finite time stability constraint in the realm of convex optimization by the solution of a suitable feasibility problem. The applicability of the proposed approach is illustrated by means of an example showing the control of an inverted pendulum.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114741879","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 : 2017-10-01DOI: 10.1109/ICSTCC.2017.8107035
P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla
This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.
{"title":"Control system of a medical parallel robot for transperineal prostate biopsy","authors":"P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla","doi":"10.1109/ICSTCC.2017.8107035","DOIUrl":"https://doi.org/10.1109/ICSTCC.2017.8107035","url":null,"abstract":"This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.","PeriodicalId":374572,"journal":{"name":"2017 21st International Conference on System Theory, Control and Computing (ICSTCC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127206928","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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