Pub Date : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287212
Y. Lim, S. De
In this paper, we present some of our recent advances in the simulation of surgical procedures including surgical cutting in multimodal virtual environments. Progressive cutting, without the generation of new primitives, is achieved by snapping the nearest nodes to the interaction point between the cutting tool and the underlying polygon edge. The realism of the simulation is enhanced by employing a local subdivision algorithm in the vicinity of the tool-tissue interaction region. A cutting gutter is constructed to display the interior of the cut surface as the cut opens up. A meshfree method is used to compute the deformation fields and interaction forces. Simulation examples involving the cutting of realistic organ models are presented.
{"title":"On the use of meshfree methods and a geometry based surgical cutting algorithm in multimodal medical simulations","authors":"Y. Lim, S. De","doi":"10.1109/HAPTIC.2004.1287212","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287212","url":null,"abstract":"In this paper, we present some of our recent advances in the simulation of surgical procedures including surgical cutting in multimodal virtual environments. Progressive cutting, without the generation of new primitives, is achieved by snapping the nearest nodes to the interaction point between the cutting tool and the underlying polygon edge. The realism of the simulation is enhanced by employing a local subdivision algorithm in the vicinity of the tool-tissue interaction region. A cutting gutter is constructed to display the interior of the cut surface as the cut opens up. A meshfree method is used to compute the deformation fields and interaction forces. Simulation examples involving the cutting of realistic organ models are presented.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121044225","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287209
David W. L. Wang, K. Tuer, L. Ni, Pino Porciello
Summary form only given. A demonstration has been developed that illustrates a bilateral telehaptics platform to enable a local user and a remote user to shake hands in real time over a telecommunications network. The platform has been developed around an off-the-shelf six DOF haptic manipulator and a real time operating system. Only the first three DOF of the device are enabled with haptics. The demonstration shows two devices connected in a bilateral telehaptic configuration on a local network with a network traffic simulator in between the two devices.
{"title":"Conducting a real-time remote handshake with haptics","authors":"David W. L. Wang, K. Tuer, L. Ni, Pino Porciello","doi":"10.1109/HAPTIC.2004.1287209","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287209","url":null,"abstract":"Summary form only given. A demonstration has been developed that illustrates a bilateral telehaptics platform to enable a local user and a remote user to shake hands in real time over a telecommunications network. The platform has been developed around an off-the-shelf six DOF haptic manipulator and a real time operating system. Only the first three DOF of the device are enabled with haptics. The demonstration shows two devices connected in a bilateral telehaptic configuration on a local network with a network traffic simulator in between the two devices.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133951675","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287227
Y. Yanagida, M. Kakita, R. Lindeman, Y. Kume, N. Tetsutani
Vibrotactile displays have been studied for several decades in the context of sensory substitution. Recently, a number of vibrotactile displays have been developed to extend sensory modalities in virtual reality. Some of these target the whole body as the stimulation region, but existing systems are only designed for discrete stimulation points at specific parts of the body. However, since human tactile sensation has more resolution, a higher density might be required in factor alignment in order to realize general-purpose vibrotactile displays. One problem with this approach is that it might result in an impractically high number of required tactors. Our current focus is to explore ways of simplifying the system while maintaining an acceptable level of expressive ability. As a first step, we chose a well-studied task: tactile letter reading. We examined the possibility of distinguishing alphanumeric letters by using only a 3-by-3 array of vibrating motors on the back of a chair. The tactors are driven sequentially in the same sequence as if someone were tracing the letter on the chair's back. The results showed 87% successful letter recognition in some cases, which was close to the results in previous research with much larger arrays.
{"title":"Vibrotactile letter reading using a low-resolution tactor array","authors":"Y. Yanagida, M. Kakita, R. Lindeman, Y. Kume, N. Tetsutani","doi":"10.1109/HAPTIC.2004.1287227","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287227","url":null,"abstract":"Vibrotactile displays have been studied for several decades in the context of sensory substitution. Recently, a number of vibrotactile displays have been developed to extend sensory modalities in virtual reality. Some of these target the whole body as the stimulation region, but existing systems are only designed for discrete stimulation points at specific parts of the body. However, since human tactile sensation has more resolution, a higher density might be required in factor alignment in order to realize general-purpose vibrotactile displays. One problem with this approach is that it might result in an impractically high number of required tactors. Our current focus is to explore ways of simplifying the system while maintaining an acceptable level of expressive ability. As a first step, we chose a well-studied task: tactile letter reading. We examined the possibility of distinguishing alphanumeric letters by using only a 3-by-3 array of vibrating motors on the back of a chair. The tactors are driven sequentially in the same sequence as if someone were tracing the letter on the chair's back. The results showed 87% successful letter recognition in some cases, which was close to the results in previous research with much larger arrays.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126180394","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287173
David E. Johnson, P. Willemsen
In a prior paper, we described a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. In that paper, global search for local minimum distances provided repulsive forces between models. This paper augments that system with a local tracking algorithm that quickly updates and maintains globally computed minima. The global search continuously adds and deletes local minimum distance pairs being updated by the local search. This new system supports higher haptic interaction rates on more complex scenes than the previous approach.
{"title":"Accelerated haptic rendering of polygonal models through local descent","authors":"David E. Johnson, P. Willemsen","doi":"10.1109/HAPTIC.2004.1287173","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287173","url":null,"abstract":"In a prior paper, we described a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. In that paper, global search for local minimum distances provided repulsive forces between models. This paper augments that system with a local tracking algorithm that quickly updates and maintains globally computed minima. The global search continuously adds and deletes local minimum distance pairs being updated by the local search. This new system supports higher haptic interaction rates on more complex scenes than the previous approach.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128179734","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287217
June-Gyu Park, G. Niemeyer
Haptic rendering of large and detailed virtual objects can require a significant computational load. Built out of a vast number of primitives, the object models can strain algorithms such as collision detection and constrained optimization, which are widely used in haptics applications. Nevertheless, to provide the necessary fidelity, haptic servo loops need to operate at 1 kHz or above. Separating the haptic processes from the more time consuming processes has long been a standard technique to protect more sensitive servo loops from the computational burden of collision detection and graphic display. In addition, local approximation techniques have been developed to allow fast update rates on small areas of the overall model around a known contact point. Operations on the complete model are only executed at a much slower rate. However, none of the existing methods fully exploit the model's topological information. We propose the use of the quadedge data structure to store the object model in addition to a hierarchical data structure used in collision detection. The compact, edge-based graph structure provides a topological map and the necessary tools to navigate easily along the model's surface. Also, we propose to use a velocity vector as an indicator of the intended user's motion. Such information leads to the prediction of the user's position within a short time frame. The proposed methods allow us to efficiently build local intermediate models based on predictions of the contact point movement.
{"title":"Haptic rendering with predictive representation of local geometry","authors":"June-Gyu Park, G. Niemeyer","doi":"10.1109/HAPTIC.2004.1287217","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287217","url":null,"abstract":"Haptic rendering of large and detailed virtual objects can require a significant computational load. Built out of a vast number of primitives, the object models can strain algorithms such as collision detection and constrained optimization, which are widely used in haptics applications. Nevertheless, to provide the necessary fidelity, haptic servo loops need to operate at 1 kHz or above. Separating the haptic processes from the more time consuming processes has long been a standard technique to protect more sensitive servo loops from the computational burden of collision detection and graphic display. In addition, local approximation techniques have been developed to allow fast update rates on small areas of the overall model around a known contact point. Operations on the complete model are only executed at a much slower rate. However, none of the existing methods fully exploit the model's topological information. We propose the use of the quadedge data structure to store the object model in addition to a hierarchical data structure used in collision detection. The compact, edge-based graph structure provides a topological map and the necessary tools to navigate easily along the model's surface. Also, we propose to use a velocity vector as an indicator of the intended user's motion. Such information leads to the prediction of the user's position within a short time frame. The proposed methods allow us to efficiently build local intermediate models based on predictions of the contact point movement.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125730073","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287205
A. Gosline, S. Salcudean, Joseph Yan
A fast technique for simulating fluid pockets enclosed in an elastic body has been developed using the finite element method. By treating fluid pressure as a force boundary condition, the relationship between the volume and pressure of a fluid cavity can be enforced with an iterative solver. This computational approach has been shown to agree with experimental data taken from a gelatin phantom that contains a small fluid pocket. Combining linear methods and condensation techniques with this iterative solver, fast simulation of elastic bodies that include fluid pockets can be achieved. For example, an extension of a two dimensional needle insertion simulation can be carried out at 512Hz for a 24 node incompressible fluid pocket.
{"title":"Haptic simulation of linear elastic media with fluid pockets","authors":"A. Gosline, S. Salcudean, Joseph Yan","doi":"10.1109/HAPTIC.2004.1287205","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287205","url":null,"abstract":"A fast technique for simulating fluid pockets enclosed in an elastic body has been developed using the finite element method. By treating fluid pressure as a force boundary condition, the relationship between the volume and pressure of a fluid cavity can be enforced with an iterative solver. This computational approach has been shown to agree with experimental data taken from a gelatin phantom that contains a small fluid pocket. Combining linear methods and condensation techniques with this iterative solver, fast simulation of elastic bodies that include fluid pockets can be achieved. For example, an extension of a two dimensional needle insertion simulation can be carried out at 512Hz for a 24 node incompressible fluid pocket.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134532653","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287211
M. S. O'Modhrain, Ian Oakley
Despite continual consumer demand for richer broadcast media, there have been few examinations of senses other than vision and hearing in this domain. This demonstration paper considers the role that touch may be able to play in future broadcast systems. We have begun to explore the addition of haptic cues to children's cartoons, and through this process unearthed a number of practical design issues unique to this domain. This paper discusses one such issue: how the psychological distinction between passive and active touch influences broadcast media, and how this in turn affects notions of interactivity. Demonstrations of broadcast content featuring active cues are shown to illustrate the points raised.
{"title":"Adding interactivity: active touch in broadcast media","authors":"M. S. O'Modhrain, Ian Oakley","doi":"10.1109/HAPTIC.2004.1287211","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287211","url":null,"abstract":"Despite continual consumer demand for richer broadcast media, there have been few examinations of senses other than vision and hearing in this domain. This demonstration paper considers the role that touch may be able to play in future broadcast systems. We have begun to explore the addition of haptic cues to children's cartoons, and through this process unearthed a number of practical design issues unique to this domain. This paper discusses one such issue: how the psychological distinction between passive and active touch influences broadcast media, and how this in turn affects notions of interactivity. Demonstrations of broadcast content featuring active cues are shown to illustrate the points raised.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133444688","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287208
David W. L. Wang, K. Tuer, M. Rossi, J. Shu
Summary form only given. In an effort to present users with an increasing amount of information, many industries including automotive and aerospace are adopting flat panel touch displays as a user interface. These interfaces are becoming popular due to their reconfigurability so that control and display functions can be embedded in multiple layers or menus. However, one of the disadvantages of this approach is the need for the user to constantly look at the display to operate it. In this paper, a haptic overlay device (HOD) is used to address user distraction issues. The HOD is comprised of a conventional off the shelf touch screen display, a custom haptic device, electronics and software. The haptic device has been designed to fit over top of the touch screen. With the HOD, a user is able to feel items, such as buttons and sliders, on the screen.
{"title":"Haptic overlay device for flat panel touch displays","authors":"David W. L. Wang, K. Tuer, M. Rossi, J. Shu","doi":"10.1109/HAPTIC.2004.1287208","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287208","url":null,"abstract":"Summary form only given. In an effort to present users with an increasing amount of information, many industries including automotive and aerospace are adopting flat panel touch displays as a user interface. These interfaces are becoming popular due to their reconfigurability so that control and display functions can be embedded in multiple layers or menus. However, one of the disadvantages of this approach is the need for the user to constantly look at the display to operate it. In this paper, a haptic overlay device (HOD) is used to address user distraction issues. The HOD is comprised of a conventional off the shelf touch screen display, a custom haptic device, electronics and software. The haptic device has been designed to fit over top of the touch screen. With the HOD, a user is able to feel items, such as buttons and sliders, on the screen.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"64 40","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134195867","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287177
Doanna Weissgerber, B. Bridgeman, A. Pang
VisPad is a new haptics design for visualizing data, constructed from commodity massage chair pads with custom controllers and interfaces to a computer. It is an output device for information transmitted to a user who sits on the pad. The user interface is unique in that it has a large feedback area and is passive in nature, where unlike most current haptics devices, the user's hands are free to work on other things. VisPad can be used as the sole haptics device or can be used in conjunction with other haptics devices. We have tested the usefulness of VisPad in visualizing data by adding the VisPad interface to our protein structure-alignment program (ProtAlign) and performing usability studies. The data demonstrates that more information can be perceived at one time with our multi-modal presentation than with graphics-based visualization alone.
{"title":"VisPad: a novel device for vibrotactile force feedback","authors":"Doanna Weissgerber, B. Bridgeman, A. Pang","doi":"10.1109/HAPTIC.2004.1287177","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287177","url":null,"abstract":"VisPad is a new haptics design for visualizing data, constructed from commodity massage chair pads with custom controllers and interfaces to a computer. It is an output device for information transmitted to a user who sits on the pad. The user interface is unique in that it has a large feedback area and is passive in nature, where unlike most current haptics devices, the user's hands are free to work on other things. VisPad can be used as the sole haptics device or can be used in conjunction with other haptics devices. We have tested the usefulness of VisPad in visualizing data by adding the VisPad interface to our protein structure-alignment program (ProtAlign) and performing usability studies. The data demonstrates that more information can be perceived at one time with our multi-modal presentation than with graphics-based visualization alone.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131877038","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 : 2004-03-27DOI: 10.1109/HAPTIC.2004.1287210
David W. L. Wang, K. Tuer, M. Rossi, J. Shu
Summary form only given. The demonstration is called "identification friend or foe (IFF)". The demonstration hardware consists of a computer (including a monitor) and a custom 3 DOF haptic robotic device although only 2 DOF are required for the demonstration. When the demonstration begins, the user is presented with a 2 DOF map of objects (denoted by green square boxes) randomly situated within a rectangular region of interest. The user moves a cursor on the screen by moving the tip of the robotic device. The task at hand is to position the cursor over each green square in an effort to identify each object as either a friend or foe. When the cursor resides within the boundaries of the box for 1 second of consecutive time, the object is identified as either a friend (denoted by a blue triangle) or a foe (denoted by a red diamond). Through the user interface, the user is able to add haptic effects and random noise to illustrate the value of haptics, the sensitivity of haptics to time delay and noise and the effectiveness of time delay compensation to provide improved performance.
{"title":"Identification friend or foe application demonstrating effects of haptics and time delay","authors":"David W. L. Wang, K. Tuer, M. Rossi, J. Shu","doi":"10.1109/HAPTIC.2004.1287210","DOIUrl":"https://doi.org/10.1109/HAPTIC.2004.1287210","url":null,"abstract":"Summary form only given. The demonstration is called \"identification friend or foe (IFF)\". The demonstration hardware consists of a computer (including a monitor) and a custom 3 DOF haptic robotic device although only 2 DOF are required for the demonstration. When the demonstration begins, the user is presented with a 2 DOF map of objects (denoted by green square boxes) randomly situated within a rectangular region of interest. The user moves a cursor on the screen by moving the tip of the robotic device. The task at hand is to position the cursor over each green square in an effort to identify each object as either a friend or foe. When the cursor resides within the boundaries of the box for 1 second of consecutive time, the object is identified as either a friend (denoted by a blue triangle) or a foe (denoted by a red diamond). Through the user interface, the user is able to add haptic effects and random noise to illustrate the value of haptics, the sensitivity of haptics to time delay and noise and the effectiveness of time delay compensation to provide improved performance.","PeriodicalId":384123,"journal":{"name":"12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2004. HAPTICS '04. Proceedings.","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130765044","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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