Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505161
S. Krotosky, S.Y. Cheng, M. Trivedi
A real-time stereo-based head detection algorithm is presented and evaluated as an occupant posture analysis system for "smart" airbag deployment. The algorithm uses several constraints to limit the number of head ellipse "candidates" found in the image. These constraints are based on shape, size and depth of the occupant's head. Results of ground truth experiments show that the head detection can accurately estimate the three-dimensional location of the occupant head. Extended experiments illustrate the robustness of the algorithm to poor lighting conditions, to occlusion, and to the presence of other competing head-like objects in the scene.
{"title":"Real-time stereo-based head detection using size, shape and disparity constraints","authors":"S. Krotosky, S.Y. Cheng, M. Trivedi","doi":"10.1109/IVS.2005.1505161","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505161","url":null,"abstract":"A real-time stereo-based head detection algorithm is presented and evaluated as an occupant posture analysis system for \"smart\" airbag deployment. The algorithm uses several constraints to limit the number of head ellipse \"candidates\" found in the image. These constraints are based on shape, size and depth of the occupant's head. Results of ground truth experiments show that the head detection can accurately estimate the three-dimensional location of the occupant head. Extended experiments illustrate the robustness of the algorithm to poor lighting conditions, to occlusion, and to the presence of other competing head-like objects in the scene.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128328456","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505074
F. Biral, M. Da Lio, E. Bertolazzi
This paper outlines a methodology for combining user's preferred driving style and safety margins into an ADAS's module for optimal reference maneuver computation. The module for optimal reference maneuver computation is part of the system decision planning chain, which links scenario interpretation to warning intervention strategies. The module objective is the computation of a reference maneuver and produce a measure of the related risk by solving an optimal control problem. In this case, the optimal control problem consists in finding the control functions that minimize the integral of a given penalty function over a planning distance subject to a set of constraints. The penalty function is the mean to implement the safe maneuver concept, which has to comply with three top-level requirements: safety-margins, user acceptance and mobility. In the present work only the safe-speed functionality is addressed and a new penalty function formulation is proposed in order to include both safety criteria and preferred driving style. In this paper it is shown that each user's personal driving style can be characterized through a small set of parameters from the analysis of car longitudinal and lateral accelerations that can be easily used in optimal control formulation.
{"title":"Combining safety margins and user preferences into a driving criterion for optimal control-based computation of reference maneuvers for an ADAS of the next generation","authors":"F. Biral, M. Da Lio, E. Bertolazzi","doi":"10.1109/IVS.2005.1505074","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505074","url":null,"abstract":"This paper outlines a methodology for combining user's preferred driving style and safety margins into an ADAS's module for optimal reference maneuver computation. The module for optimal reference maneuver computation is part of the system decision planning chain, which links scenario interpretation to warning intervention strategies. The module objective is the computation of a reference maneuver and produce a measure of the related risk by solving an optimal control problem. In this case, the optimal control problem consists in finding the control functions that minimize the integral of a given penalty function over a planning distance subject to a set of constraints. The penalty function is the mean to implement the safe maneuver concept, which has to comply with three top-level requirements: safety-margins, user acceptance and mobility. In the present work only the safe-speed functionality is addressed and a new penalty function formulation is proposed in order to include both safety criteria and preferred driving style. In this paper it is shown that each user's personal driving style can be characterized through a small set of parameters from the analysis of car longitudinal and lateral accelerations that can be easily used in optimal control formulation.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124401833","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505215
Jin Wang, Q. Shi, Huapu Lu
Traffic flow forecasting has attracted much interest in current literature because of its importance in both the theoretical and empirical aspects of ITS deployment. Many models and methods have been presented in the past. But most of them regard the transportation system as the linear system and using the linear theory to predict the traffic flow. In fact, transportation system is a nonlinear system and traffic flow data exhibits chaotic properties. In this paper, we try to use the chaos theory to forecast the traffic flow in a short-term. Usually there is noise in the collected data which decrease the forecasting precision. So we denoise the data using wavelet transform before forecasting in this paper. The experiment is performed for inductance loop data collected in five minutes interval from the viaduct of Yan'an road in Shanghai in China. And at last our study concludes that techniques based on phase space reconstruction can be used to predict the traffic flow in a short-term. Furthermore, the prediction result is accurate and reliable.
{"title":"The study of short-term traffic flow forecasting based on theory of chaos","authors":"Jin Wang, Q. Shi, Huapu Lu","doi":"10.1109/IVS.2005.1505215","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505215","url":null,"abstract":"Traffic flow forecasting has attracted much interest in current literature because of its importance in both the theoretical and empirical aspects of ITS deployment. Many models and methods have been presented in the past. But most of them regard the transportation system as the linear system and using the linear theory to predict the traffic flow. In fact, transportation system is a nonlinear system and traffic flow data exhibits chaotic properties. In this paper, we try to use the chaos theory to forecast the traffic flow in a short-term. Usually there is noise in the collected data which decrease the forecasting precision. So we denoise the data using wavelet transform before forecasting in this paper. The experiment is performed for inductance loop data collected in five minutes interval from the viaduct of Yan'an road in Shanghai in China. And at last our study concludes that techniques based on phase space reconstruction can be used to predict the traffic flow in a short-term. Furthermore, the prediction result is accurate and reliable.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128069926","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505163
S. Chiricescu, S. Chai, K. Moat, B. Lucas, P. May, J. Norm, R. Essick, M. Schuette
A large number of sensors (i.e., video, radar, laser, ultrasound, etc.) that continuously monitor the environment are finding their way in the average automobile. The algorithms processing the data captured by these sensors are streaming in nature and require a high rate of computation. Due to the characteristics of the automotive environment, this computation has to be delivered under very low energy and cost budgets. The reconfigurable streaming vector processing (RSVP/spl trade/) architecture is a vector coprocessor architecture which accelerates streaming data processing. This paper presents the RSVP architecture and its second implementation, RSVP II. Our results show significant speedups on data streaming functions running compiled code. On a lane tracking application, RSVP II shows impressive performance results. From a performance/$ and performance/mW perspective, RSVP architecture compares favorably with leading DSP architectures. The time to market is substantially reduced due to ease of programmability, elimination of hand-tuned assembly code, and support for software re-use through binary compatibility across multiple implementations.
{"title":"RSVP II: a next generation automotive vector processor","authors":"S. Chiricescu, S. Chai, K. Moat, B. Lucas, P. May, J. Norm, R. Essick, M. Schuette","doi":"10.1109/IVS.2005.1505163","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505163","url":null,"abstract":"A large number of sensors (i.e., video, radar, laser, ultrasound, etc.) that continuously monitor the environment are finding their way in the average automobile. The algorithms processing the data captured by these sensors are streaming in nature and require a high rate of computation. Due to the characteristics of the automotive environment, this computation has to be delivered under very low energy and cost budgets. The reconfigurable streaming vector processing (RSVP/spl trade/) architecture is a vector coprocessor architecture which accelerates streaming data processing. This paper presents the RSVP architecture and its second implementation, RSVP II. Our results show significant speedups on data streaming functions running compiled code. On a lane tracking application, RSVP II shows impressive performance results. From a performance/$ and performance/mW perspective, RSVP architecture compares favorably with leading DSP architectures. The time to market is substantially reduced due to ease of programmability, elimination of hand-tuned assembly code, and support for software re-use through binary compatibility across multiple implementations.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126176227","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505120
A. Benmimoun, J. Chen, D. Neunzig, T. Suzuki, Y. Kato
The approach of communication-based intersection assistance is described. Different technology scenarios were analyzed in a realistic traffic simulator to cover a wide time horizon and a wide area of system complexity. The results regarding the specification of the necessary communication technology are proposed. Additionally the different technology scenarios are assessed regarding to the expected user acceptance and their effect on traffic safety. The most important parameter for the reduction of intersection accidents is the equipment rate with communication-based intersection assistant systems. The starting point of the technology concepts is today's available communication technology. -Based on the presented simulation study two technology concepts for communication based intersection assistance are recommended.
{"title":"Communication-based intersection assistance","authors":"A. Benmimoun, J. Chen, D. Neunzig, T. Suzuki, Y. Kato","doi":"10.1109/IVS.2005.1505120","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505120","url":null,"abstract":"The approach of communication-based intersection assistance is described. Different technology scenarios were analyzed in a realistic traffic simulator to cover a wide time horizon and a wide area of system complexity. The results regarding the specification of the necessary communication technology are proposed. Additionally the different technology scenarios are assessed regarding to the expected user acceptance and their effect on traffic safety. The most important parameter for the reduction of intersection accidents is the equipment rate with communication-based intersection assistant systems. The starting point of the technology concepts is today's available communication technology. -Based on the presented simulation study two technology concepts for communication based intersection assistance are recommended.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127566564","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505183
C. Jouvray, S. Gérard, F. Terrier, S. Bouaziz, R. Reynaud
Real-time embedded (RT/E) applications aim at controlling/commanding/monitoring systems. To achieve this goal, RT/E applications are equipped with sensors to acquire specific representative data matching physical phenomena of the environment state. In parallel, work related to sensor design proposed a new concept, called smart sensor, ensuring better solution in this area. But the design of such smart sensors remains very difficult and requires high skill level in various domains. The purpose of this paper is then to suggest a UML based methodology easing the development of RT/E applications relying on smart sensors devices. The methodology has to integrate concepts for data exchange, real-time constraint management, and time coherence mechanisms.
{"title":"UML methodology for smart transducer integration in real-time embedded systems","authors":"C. Jouvray, S. Gérard, F. Terrier, S. Bouaziz, R. Reynaud","doi":"10.1109/IVS.2005.1505183","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505183","url":null,"abstract":"Real-time embedded (RT/E) applications aim at controlling/commanding/monitoring systems. To achieve this goal, RT/E applications are equipped with sensors to acquire specific representative data matching physical phenomena of the environment state. In parallel, work related to sensor design proposed a new concept, called smart sensor, ensuring better solution in this area. But the design of such smart sensors remains very difficult and requires high skill level in various domains. The purpose of this paper is then to suggest a UML based methodology easing the development of RT/E applications relying on smart sensors devices. The methodology has to integrate concepts for data exchange, real-time constraint management, and time coherence mechanisms.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127149023","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505104
D. Ngai, N. Yung
In this paper, we propose a new method for solving the reinforcement learning problem in a dynamically changing environment, as in vehicle navigation, in which the Markov decision process used in traditional reinforcement learning is modified so that the response of the environment is taken into consideration for determining the agent's next state. This is achieved by changing the action-value function to handle three parameters at a time, namely, the current state, action taken by the agent, and action taken by the environment. As it considers the actions by the agent and environment, it is termed "double action". Based on the Q-learning method, the proposed method is implemented and the update rule is modified to handle all of the three parameters. Preliminary results show that the proposed method has the sum of rewards (negative) 89.5% less than that of the traditional method. Apart from that, our new method also has the total number of collisions and mean steps used in one episode 89.5% and 15.5% lower than that of the traditional method respectively.
{"title":"Double action Q-learning for obstacle avoidance in a dynamically changing environment","authors":"D. Ngai, N. Yung","doi":"10.1109/IVS.2005.1505104","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505104","url":null,"abstract":"In this paper, we propose a new method for solving the reinforcement learning problem in a dynamically changing environment, as in vehicle navigation, in which the Markov decision process used in traditional reinforcement learning is modified so that the response of the environment is taken into consideration for determining the agent's next state. This is achieved by changing the action-value function to handle three parameters at a time, namely, the current state, action taken by the agent, and action taken by the environment. As it considers the actions by the agent and environment, it is termed \"double action\". Based on the Q-learning method, the proposed method is implemented and the update rule is modified to handle all of the three parameters. Preliminary results show that the proposed method has the sum of rewards (negative) 89.5% less than that of the traditional method. Apart from that, our new method also has the total number of collisions and mean steps used in one episode 89.5% and 15.5% lower than that of the traditional method respectively.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122275864","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505129
M. Kais, P. Bonnifait, D. Bétaille, F. Peyret
This paper tackles the problem of precise car localization for advance driver assistance system applications. Localization is performed by loosely coupling proprioceptive data with exteroceptive perceptions. Two localization systems were designed, one based on differential GPS and the other on real time kinematic GPS. In both cases, sensor latencies were precisely measured and taken into account to minimize their effects. Track experimentations were carried out with two vehicles at different speeds. A methodology based on a comparison with a post-processed kinematic GPS reference is presented to evaluate performances of the two systems.
{"title":"Development of loosely-coupled FOG/DGPS and FOG/RTk systems for ADAS and a methodology to assess their real-time performances","authors":"M. Kais, P. Bonnifait, D. Bétaille, F. Peyret","doi":"10.1109/IVS.2005.1505129","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505129","url":null,"abstract":"This paper tackles the problem of precise car localization for advance driver assistance system applications. Localization is performed by loosely coupling proprioceptive data with exteroceptive perceptions. Two localization systems were designed, one based on differential GPS and the other on real time kinematic GPS. In both cases, sensor latencies were precisely measured and taken into account to minimize their effects. Track experimentations were carried out with two vehicles at different speeds. A methodology based on a comparison with a post-processed kinematic GPS reference is presented to evaluate performances of the two systems.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122295840","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505199
Ew Cathey, D. Dailey
The Washington State Department of Transportation (WSDOT) has a network of several hundred CCTV traffic surveillance cameras deployed on the freeways and arterials around Seattle for congestion monitoring. However, these cameras are not calibrated and can be panned, tilted and zoomed. This paper presents a novel method of automatically computing enough calibration information for these cameras so that they can produce reliable speed estimates. The method presented uses a straightening technique to remove perspective effects and a correlation technique to establish the necessary scale factor. Temporal correlation between sequential straightened frames of video is used to make robust speed estimates.
{"title":"A novel technique to dynamically measure vehicle speed using uncalibrated roadway cameras","authors":"Ew Cathey, D. Dailey","doi":"10.1109/IVS.2005.1505199","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505199","url":null,"abstract":"The Washington State Department of Transportation (WSDOT) has a network of several hundred CCTV traffic surveillance cameras deployed on the freeways and arterials around Seattle for congestion monitoring. However, these cameras are not calibrated and can be panned, tilted and zoomed. This paper presents a novel method of automatically computing enough calibration information for these cameras so that they can produce reliable speed estimates. The method presented uses a straightening technique to remove perspective effects and a correlation technique to establish the necessary scale factor. Temporal correlation between sequential straightened frames of video is used to make robust speed estimates.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"20 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127019551","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505140
K. Dresner, P. Stone
Traffic congestion is one of the leading causes of lost productivity and decreased standard of living in urban settings. Recent advances in artificial intelligence suggest vehicle navigation by autonomous agents will be possible in the near future. In a previous paper, we proposed a reservation-based system for alleviating traffic congestion, specifically at intersections. This paper extends our prototype implementation in several ways with the aim of making it more implementable in the real world. In particular, we 1) add the ability of vehicles to turn, 2) enable them to accelerate while in the intersection, 3) give a better sensor model and communication-efficient heuristic to our driver agent, and 4) augment their interaction capabilities with a detailed protocol such that the vehicles do not need to know anything about the intersection control policy. The use of this protocol limits the interaction of the driver agent and the intersection manager to the extent that it is a reasonable approximation of reliable wireless communication. We then use this protocol to implement a new control policy: the stop sign. All three improvements are fully implemented and tested, and we present detailed empirical results validating their effectiveness.
{"title":"Turning the corner: improved intersection control for autonomous vehicles","authors":"K. Dresner, P. Stone","doi":"10.1109/IVS.2005.1505140","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505140","url":null,"abstract":"Traffic congestion is one of the leading causes of lost productivity and decreased standard of living in urban settings. Recent advances in artificial intelligence suggest vehicle navigation by autonomous agents will be possible in the near future. In a previous paper, we proposed a reservation-based system for alleviating traffic congestion, specifically at intersections. This paper extends our prototype implementation in several ways with the aim of making it more implementable in the real world. In particular, we 1) add the ability of vehicles to turn, 2) enable them to accelerate while in the intersection, 3) give a better sensor model and communication-efficient heuristic to our driver agent, and 4) augment their interaction capabilities with a detailed protocol such that the vehicles do not need to know anything about the intersection control policy. The use of this protocol limits the interaction of the driver agent and the intersection manager to the extent that it is a reasonable approximation of reliable wireless communication. We then use this protocol to implement a new control policy: the stop sign. All three improvements are fully implemented and tested, and we present detailed empirical results validating their effectiveness.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133982892","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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