Pub Date : 2013-10-01DOI: 10.1504/IJVAS.2013.056632
Shuqing Zeng
Radar sensors and camera based vision systems will be used to provide object data in many Advanced Driver Assistance Systems (ADAS). In this paper, a multi-sensor target tracking system that combines data from a Frequency-Modulated Continuous Wave (FMCW) radar, multiple Short-Range Radars (SRR), a camera-based object detection system and vehicular dynamic sensors is described. Each object sensor individually measures the range, range rate and azimuth angle information of all objects within the observation region. The proposed system 1 groups objects from different sensors in overlapped observation region; 2 tracks an object across different sensor field of views; 3 reports the Cartesian coordinates of objects with improved accuracy and reduced rates of false detection and missed detection. The proposed target tracking system was implemented in a retrofitted vehicle. Only about two-percent CPU usage is needed for an 800 MHz embedded processor. The output data was directly used by several vehicle features suc...
{"title":"A target tracking system using sensors of multiple modalities","authors":"Shuqing Zeng","doi":"10.1504/IJVAS.2013.056632","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.056632","url":null,"abstract":"Radar sensors and camera based vision systems will be used to provide object data in many Advanced Driver Assistance Systems (ADAS). In this paper, a multi-sensor target tracking system that combines data from a Frequency-Modulated Continuous Wave (FMCW) radar, multiple Short-Range Radars (SRR), a camera-based object detection system and vehicular dynamic sensors is described. Each object sensor individually measures the range, range rate and azimuth angle information of all objects within the observation region. The proposed system 1 groups objects from different sensors in overlapped observation region; 2 tracks an object across different sensor field of views; 3 reports the Cartesian coordinates of objects with improved accuracy and reduced rates of false detection and missed detection. The proposed target tracking system was implemented in a retrofitted vehicle. Only about two-percent CPU usage is needed for an 800 MHz embedded processor. The output data was directly used by several vehicle features suc...","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"384"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.056632","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820697","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 : 2013-10-01DOI: 10.1504/IJVAS.2013.056613
Ming Bai, Wei Wang, Yan Zhuang
An interactive mechanism and modular approaches are proposed for hybrid motion planning. A bidirectional interaction is designed by deliberative candidates negotiating with the feedback on reactive evaluation. The deliberative module constructs a multilayer state lattice with switching control sets. Furthermore, a heuristic multitask-parallel algorithm efficiently generates desirable paths. The reactive module designs a hierarchical structure to integrate reaction optimisation and situation-dependent adjustment. Based on manifold correlations, piecewise criteria rather than a single function are proposed to cater for different stages of planning. Extensive experiments verify the efficacy, reliability and robustness of the approach in complex environments.
{"title":"Stereovision-based robot motion planning with negotiation-selection mechanism in complex environments","authors":"Ming Bai, Wei Wang, Yan Zhuang","doi":"10.1504/IJVAS.2013.056613","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.056613","url":null,"abstract":"An interactive mechanism and modular approaches are proposed for hybrid motion planning. A bidirectional interaction is designed by deliberative candidates negotiating with the feedback on reactive evaluation. The deliberative module constructs a multilayer state lattice with switching control sets. Furthermore, a heuristic multitask-parallel algorithm efficiently generates desirable paths. The reactive module designs a hierarchical structure to integrate reaction optimisation and situation-dependent adjustment. Based on manifold correlations, piecewise criteria rather than a single function are proposed to cater for different stages of planning. Extensive experiments verify the efficacy, reliability and robustness of the approach in complex environments.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"334"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.056613","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820614","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053782
R. Minaki, Y. Hori
This paper proposes to control driver’s steering sensitivity and vehicle yaw motion based on human sensorial characteristics. Firstly, linearisation control of steering sensitivity enables the driver to recognize vehicle and road state via reaction torque of a steering wheel. It is power assist based on human kinesthetic sense by electric power steering. Secondly, linearisation control of vehicle yaw motion with in-wheel motors. Humans feel rotational motion by semicircular canal and vision. A driver controls yaw motion with the steering wheel. Therefore, this control increases operational performance for the vehicle. These controls will provide human-friendly manmachine interface to the driver.
{"title":"Driver-friendly motion control based on electric power steering and in-wheel motors on electric vehicle","authors":"R. Minaki, Y. Hori","doi":"10.1504/IJVAS.2013.053782","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053782","url":null,"abstract":"This paper proposes to control driver’s steering sensitivity and vehicle yaw motion based on human sensorial characteristics. Firstly, linearisation control of steering sensitivity enables the driver to recognize vehicle and road state via reaction torque of a steering wheel. It is power assist based on human kinesthetic sense by electric power steering. Secondly, linearisation control of vehicle yaw motion with in-wheel motors. Humans feel rotational motion by semicircular canal and vision. A driver controls yaw motion with the steering wheel. Therefore, this control increases operational performance for the vehicle. These controls will provide human-friendly manmachine interface to the driver.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"245-260"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053782","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821029","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053784
Guoqing Xu, Kun Xu, Weimin Li
The estimation of the friction coeffi cient and the slip ratio is crucial for advanced traction control or anti-brake control of electric vehicles. In this paper, dynamic behaviours of electrical parameters of the traction motor under road change are modelled and analysed. Novel estimation only using the measurements of the armature voltage and the current is proposed. The proposed method is much quicker than traditional methods, contributing to adjust the vehicle’s motion state more quickly and precisely. Further, it can eliminate the speed measuring devices of the wheel speed and the vehicle speed. Simulations verify the effectiveness.
{"title":"Novel estimation of tyre-road friction coefficient and slip ratio using electrical parameters of traction motor for electric vehicles","authors":"Guoqing Xu, Kun Xu, Weimin Li","doi":"10.1504/IJVAS.2013.053784","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053784","url":null,"abstract":"The estimation of the friction coeffi cient and the slip ratio is crucial for advanced traction control or anti-brake control of electric vehicles. In this paper, dynamic behaviours of electrical parameters of the traction motor under road change are modelled and analysed. Novel estimation only using the measurements of the armature voltage and the current is proposed. The proposed method is much quicker than traditional methods, contributing to adjust the vehicle’s motion state more quickly and precisely. Further, it can eliminate the speed measuring devices of the wheel speed and the vehicle speed. Simulations verify the effectiveness.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"261"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053784","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821046","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053777
Y. G. Liao, A. Quail
This paper presents the traction motor sizing, by means of motor rated torque and speed, for optimal urban fuel economy in two mild and three strong hybridisation powertrains on front-wheel-drive vehicles. The two mild hybrids are belt-integrated-starter-generator and Crankshaft-Integrated-Starter- Generator (C-ISG) systems. The three strong hybrids include an electric machine attached to the front axle, strong C-ISG system where motor is placed between a starting clutch and transmission, and single-mode electric variable transmission. Using the vehicle performance data as constraints and the motor rated torque and speed as the design variables, the objective function is to maximise the urban fuel economy.
{"title":"Sizing the traction motor for optimal fuel efficiency in vehicle electrification","authors":"Y. G. Liao, A. Quail","doi":"10.1504/IJVAS.2013.053777","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053777","url":null,"abstract":"This paper presents the traction motor sizing, by means of motor rated torque and speed, for optimal urban fuel economy in two mild and three strong hybridisation powertrains on front-wheel-drive vehicles. The two mild hybrids are belt-integrated-starter-generator and Crankshaft-Integrated-Starter- Generator (C-ISG) systems. The three strong hybrids include an electric machine attached to the front axle, strong C-ISG system where motor is placed between a starting clutch and transmission, and single-mode electric variable transmission. Using the vehicle performance data as constraints and the motor rated torque and speed as the design variables, the objective function is to maximise the urban fuel economy.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"140-156"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053777","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820956","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053780
C. Sandels, U. Franke, L. Nordström
Recent data have shown that it could be profitable on some control markets to use Plug-in Hybrid Electric Vehicles (PHEs) as control power resources. The concept where battery driven vehicles such as PHEVs provide ancillary service to the grid is commonly referred to as Vehicle to Grid (V2G). As each PHEV has a limited capacity, it is necessary to have a control system that aggregates a large number of vehicles. This paper investigates what is required in order to design such a system. The result is presented as reference architectures and contains propositions of important components, processes and information needs. It is shown that a PHEV can provide control power in two different ways that in turn generate several different system concepts. A mathematical model is presented that allows comparison between the different solutions.
{"title":"Vehicle to grid: system reference architectures and Monte Carlo simulations","authors":"C. Sandels, U. Franke, L. Nordström","doi":"10.1504/IJVAS.2013.053780","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053780","url":null,"abstract":"Recent data have shown that it could be profitable on some control markets to use Plug-in Hybrid Electric Vehicles (PHEs) as control power resources. The concept where battery driven vehicles such as PHEVs provide ancillary service to the grid is commonly referred to as Vehicle to Grid (V2G). As each PHEV has a limited capacity, it is necessary to have a control system that aggregates a large number of vehicles. This paper investigates what is required in order to design such a system. The result is presented as reference architectures and contains propositions of important components, processes and information needs. It is shown that a PHEV can provide control power in two different ways that in turn generate several different system concepts. A mathematical model is presented that allows comparison between the different solutions.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"205-228"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053780","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821016","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053783
Duo Zhang, Guohai Liu, Wenxiang Zhao
A five-phase in-wheel fault-tolerant interior permanent-magnet (FT-IPM) motor incorporates the merits of high effi ciency, high power density and high reliability, suitable for Electric Vehicles (EVs). A new remedial Neural Networks Inverse (NNI) control strategy is proposed to attain the post-fault operation. In this scheme, the NN is used to approximate the inverse model of the FT-IPM motor. With this NNI system and the original motor drive combined, a pseudo-linear compound system can be obtained. The simulation demonstrates that the proposed control strategy leads to excellent control performance at the faulty mode and offers good robustness against load disturbance.
{"title":"Remedial neural network inverse control of a multi-phase fault-tolerant permanent-magnet motor drive for electric vehicles","authors":"Duo Zhang, Guohai Liu, Wenxiang Zhao","doi":"10.1504/IJVAS.2013.053783","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053783","url":null,"abstract":"A five-phase in-wheel fault-tolerant interior permanent-magnet (FT-IPM) motor incorporates the merits of high effi ciency, high power density and high reliability, suitable for Electric Vehicles (EVs). A new remedial Neural Networks Inverse (NNI) control strategy is proposed to attain the post-fault operation. In this scheme, the NN is used to approximate the inverse model of the FT-IPM motor. With this NNI system and the original motor drive combined, a pseudo-linear compound system can be obtained. The simulation demonstrates that the proposed control strategy leads to excellent control performance at the faulty mode and offers good robustness against load disturbance.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"279"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053783","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66821038","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053779
Vikash Kumar, P. Gaur, A. Mittal, Bhim Singh
This paper deals with Extreme Learning Machine (ELM) based sensorless speed estimation and speed control of Permanent Magnet Synchronous Machines (PMSMs). ELM, first proposed by G.B. Huang as a new class of learning algorithm for Single-Hidden Layer Feedforward Neural Networks (SLFNs), is extremely fast and accurate, and has better generalisation performance than the traditional gradient-based training methods. To implement Field-Oriented Control (FOC) in PMSMs, the stator magnetic field is always kept 90 degrees ahead of the rotor. This requires rotor position information all the time. This information is accurately obtained with an ELM-based observer without the position sensor for PMSMs, and hence, the cost of the system is reduced, while the problems associated with the sensors are minimised.
{"title":"ELM-based sensorless speed control of permanent magnet synchronous machine","authors":"Vikash Kumar, P. Gaur, A. Mittal, Bhim Singh","doi":"10.1504/IJVAS.2013.053779","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053779","url":null,"abstract":"This paper deals with Extreme Learning Machine (ELM) based sensorless speed estimation and speed control of Permanent Magnet Synchronous Machines (PMSMs). ELM, first proposed by G.B. Huang as a new class of learning algorithm for Single-Hidden Layer Feedforward Neural Networks (SLFNs), is extremely fast and accurate, and has better generalisation performance than the traditional gradient-based training methods. To implement Field-Oriented Control (FOC) in PMSMs, the stator magnetic field is always kept 90 degrees ahead of the rotor. This requires rotor position information all the time. This information is accurately obtained with an ELM-based observer without the position sensor for PMSMs, and hence, the cost of the system is reduced, while the problems associated with the sensors are minimised.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"32 1","pages":"190"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053779","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820998","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053786
R. Rajendran, N. Devarajan
The conventional Direct Torque Control (DTC) is known to produce quick and robust response in ac drives. However, during steady state, notable torque and current pulsations occur. They are refl ected in speed estimation, torque response and also produce acoustic noise. In this paper, a novel Space Vector Modulated Direct Torque Control (SVM-DTC) with Low Pass Filter (LPF) for induction motor drive system is proposed, which features low torque ripple, low current distortion and fixed switching frequency. The proposed scheme has been implemented on the Xilinx Spartan 3E FPGA, both simulation and experimental results show that the proposed system can dramatically improve the steady state performance while preserving the dynamic performance of the conventional DTC.
众所周知，传统的直接转矩控制(DTC)在交流驱动器中产生快速而稳健的响应。然而，在稳态时，会出现明显的转矩和电流脉动。它们反映在转速估计、转矩响应中，同时也产生噪声。提出了一种基于低通滤波器的空间矢量调制直接转矩控制(SVM-DTC)方法，该方法具有低转矩纹波、低电流畸变和固定开关频率的特点。该方案已在Xilinx Spartan 3E FPGA上实现，仿真和实验结果表明，该方案在保持传统DTC动态性能的同时，显著提高了稳态性能。
{"title":"A novel direct torque control for induction motor drive system with low torque ripple and current distortion utilising FPGA","authors":"R. Rajendran, N. Devarajan","doi":"10.1504/IJVAS.2013.053786","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053786","url":null,"abstract":"The conventional Direct Torque Control (DTC) is known to produce quick and robust response in ac drives. However, during steady state, notable torque and current pulsations occur. They are refl ected in speed estimation, torque response and also produce acoustic noise. In this paper, a novel Space Vector Modulated Direct Torque Control (SVM-DTC) with Low Pass Filter (LPF) for induction motor drive system is proposed, which features low torque ripple, low current distortion and fixed switching frequency. The proposed scheme has been implemented on the Xilinx Spartan 3E FPGA, both simulation and experimental results show that the proposed system can dramatically improve the steady state performance while preserving the dynamic performance of the conventional DTC.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"292"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053786","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820604","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 : 2013-05-22DOI: 10.1504/IJVAS.2013.053776
J. Ji, Wenxiang Zhao
Fault-tolerant Permanent Magnet (PM) motors are good candidates for Electrical Vehicle (EV) applications, offering high power density, high effi ciency and high reliability. This paper investigates optimal design and fault-tolerant control strategy of a four-phase fault-tolerant PM motor with a Halbach PM array, aiming to deal with short-circuit and open-circuit faults, respectively. First, by comparing with a conventional array, the Halbach PM array is evaluated for the fault-tolerant PM motor. Second, by optimising the stator tooth shape, the short-circuit current is limited. Third, by doubling the current of the healthy phase, a remedial control strategy for the open-circuit fault is proposed. The predicted results of the motor’s performance are based on the finite element and co-simulation methoDs. Measurement results from tests on a laboratory prototype are used to verify the theoretical analysis.
{"title":"Optimal design and remedial control of fault-tolerant permanent magnet motors","authors":"J. Ji, Wenxiang Zhao","doi":"10.1504/IJVAS.2013.053776","DOIUrl":"https://doi.org/10.1504/IJVAS.2013.053776","url":null,"abstract":"Fault-tolerant Permanent Magnet (PM) motors are good candidates for Electrical Vehicle (EV) applications, offering high power density, high effi ciency and high reliability. This paper investigates optimal design and fault-tolerant control strategy of a four-phase fault-tolerant PM motor with a Halbach PM array, aiming to deal with short-circuit and open-circuit faults, respectively. First, by comparing with a conventional array, the Halbach PM array is evaluated for the fault-tolerant PM motor. Second, by optimising the stator tooth shape, the short-circuit current is limited. Third, by doubling the current of the healthy phase, a remedial control strategy for the open-circuit fault is proposed. The predicted results of the motor’s performance are based on the finite element and co-simulation methoDs. Measurement results from tests on a laboratory prototype are used to verify the theoretical analysis.","PeriodicalId":39322,"journal":{"name":"International Journal of Vehicle Autonomous Systems","volume":"11 1","pages":"126"},"PeriodicalIF":0.0,"publicationDate":"2013-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJVAS.2013.053776","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"66820853","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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